+ python -m lidar_slam --no-model /working/19263b82-d54e-4276-9d33-1c75c134a9bd Lidar SLAM 0.0.12 ===================================================== The recording path: /working/19263b82-d54e-4276-9d33-1c75c134a9bd 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 0.019254154 Adjusted end_distance from 9.223372036854776e+18 to 1110.039254154 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019254154 meters 0.025885588522456027 Centerline is valid? [0, True] SLAMing on 0.049254153999999994 meters 0.026472464428579492 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:-0.00 [[ 9.99999982e-01 -7.51190697e-05 -1.71767664e-04 3.03258335e-02] [ 7.51173891e-05 9.99999997e-01 -9.79036466e-06 8.68254225e-04] [ 1.71768399e-04 9.77746175e-06 9.99999985e-01 -2.87440785e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.079254154 meters 0.02367296177623465 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:-0.00 [[ 9.99997824e-01 -2.06816312e-03 -2.72655804e-04 6.18625202e-02] [ 2.06815893e-03 9.99997861e-01 -1.56264250e-05 -5.14804750e-03] [ 2.72687539e-04 1.50624954e-05 9.99999963e-01 -8.82526822e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10925415399999998 meters 0.02706833602950057 Centerline is valid? [True, True] Translation: X:0.09, Y:0.00, Z:-0.00 [[ 9.99992146e-01 -3.87314069e-03 -8.40941848e-04 9.25609887e-02] [ 3.87310164e-03 9.99992498e-01 -4.80670086e-05 1.00110900e-04] [ 8.41121710e-04 4.48095778e-05 9.99999645e-01 -2.13537016e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139254154 meters 0.02463892044841524 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.00 [[ 9.99979129e-01 -6.41197462e-03 -7.92930510e-04 1.24344245e-01] [ 6.41194071e-03 9.99979442e-01 -4.53003493e-05 -2.92255172e-03] [ 7.93204674e-04 4.02151804e-05 9.99999685e-01 -2.85303902e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16925415399999996 meters 0.022675760287963222 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.01, Z:-0.00 [[ 9.99955152e-01 -9.43570738e-03 -8.13687218e-04 1.55985763e-01] [ 9.43567270e-03 9.99955482e-01 -4.64555117e-05 -5.67190114e-03] [ 8.14089335e-04 3.87757420e-05 9.99999668e-01 -2.43659233e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19925415399999996 meters 0.020195926183662706 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.01, Z:-0.00 [[ 9.99856778e-01 -1.69037845e-02 -8.28305286e-04 1.86994178e-01] [ 1.69037513e-02 9.99857120e-01 -4.71061360e-05 -1.20700608e-02] [ 8.28983210e-04 3.30979228e-05 9.99999656e-01 -1.71490519e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22925415399999996 meters 0.01916722202089628 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.01, Z:-0.00 [[ 9.99773005e-01 -2.12877859e-02 -8.77015458e-04 2.17749608e-01] [ 2.12877503e-02 9.99773389e-01 -4.98777768e-05 -1.49180146e-02] [ 8.77878504e-04 3.11967687e-05 9.99999614e-01 -2.19312271e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25925415399999996 meters 0.018190262518596456 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.02, Z:-0.00 [[ 9.99552799e-01 -2.98959854e-02 -6.56695722e-04 2.48906462e-01] [ 2.98959673e-02 9.99553015e-01 -3.73671851e-05 -2.28415012e-02] [ 6.57519317e-04 1.77179206e-05 9.99999784e-01 -2.49027028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.289254154 meters 0.016970152032710777 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.02, Z:-0.00 [[ 9.99395151e-01 -3.47666936e-02 -7.80500231e-04 2.79096303e-01] [ 3.47666695e-02 9.99395456e-01 -4.44615181e-05 -2.36245281e-02] [ 7.81574163e-04 1.72992320e-05 9.99999694e-01 -4.90073119e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31925415399999996 meters 0.01584300419653036 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.03, Z:-0.00 [[ 9.99241172e-01 -3.89414019e-02 -8.04252719e-04 3.11231702e-01] [ 3.89413776e-02 9.99241496e-01 -4.59390116e-05 -2.63856193e-02] [ 8.05431620e-04 1.45854430e-05 9.99999676e-01 -3.34518601e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.349254154 meters 0.014377333432714001 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.03, Z:-0.00 [[ 9.98911528e-01 -4.66418771e-02 -5.42590144e-04 3.43360571e-01] [ 4.66418671e-02 9.98911675e-01 -3.10534507e-05 -3.25359704e-02] [ 5.43448021e-04 5.71223248e-06 9.99999852e-01 -5.95228061e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.37925415399999995 meters 0.014012473915547346 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.03, Z:-0.00 [[ 9.98741786e-01 -5.01437874e-02 -6.68115122e-04 3.76243700e-01] [ 5.01437730e-02 9.98742009e-01 -3.82944870e-05 -3.40520402e-02] [ 6.69194870e-04 4.74449130e-06 9.99999776e-01 -2.56966382e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.409254154 meters 0.013757133630913349 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.04, Z:-0.00 [[ 9.98576126e-01 -5.33406368e-02 -7.04696029e-04 4.08981028e-01] [ 5.33406217e-02 9.98576375e-01 -4.02355906e-05 -3.54123844e-02] [ 7.05838998e-04 2.58937586e-06 9.99999751e-01 -9.40599261e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.43925415399999995 meters 0.013856672263573034 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.04, Z:-0.00 [[ 9.98277485e-01 -5.86625333e-02 -8.77393369e-04 4.42254548e-01] [ 5.86625113e-02 9.98277871e-01 -5.08315502e-05 -3.87910748e-02] [ 8.78864292e-04 -7.26106274e-07 9.99999614e-01 -6.93551176e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.469254154 meters 0.013883774901170955 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.04, Z:-0.00 [[ 9.98147495e-01 -6.08283469e-02 -1.22056458e-03 4.75753589e-01] [ 6.08283070e-02 9.98148242e-01 -6.98073884e-05 -3.88596627e-02] [ 1.22255065e-03 -4.56680685e-06 9.99999253e-01 -2.55470773e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.49925415399999995 meters 0.014229413901510949 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.04, Z:-0.00 [[ 9.98067013e-01 -6.21315848e-02 -1.37969541e-03 5.08252194e-01] [ 6.21315364e-02 9.98067967e-01 -7.79208438e-05 -3.87290665e-02] [ 1.38187113e-03 -7.95237144e-06 9.99999045e-01 -1.76702912e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5292541539999999 meters 0.014515863216143789 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.04, Z:-0.00 [[ 9.97995984e-01 -6.32554017e-02 -1.66440789e-03 5.41027378e-01] [ 6.32553331e-02 9.97997372e-01 -9.38715677e-05 -3.68228090e-02] [ 1.66701258e-03 -1.15992280e-05 9.99998610e-01 -5.75349788e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5592541539999999 meters 0.014573059417104534 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.03, Z:0.00 [[ 9.98043657e-01 -6.25037510e-02 -1.46292453e-03 5.73106233e-01] [ 6.25036977e-02 9.98044729e-01 -8.21881353e-05 -3.42361759e-02] [ 1.46520118e-03 -9.41084534e-06 9.99998927e-01 2.33721016e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5892541539999999 meters 0.014034674888018106 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.03, Z:0.00 [[ 9.98243360e-01 -5.92226509e-02 -1.69448420e-03 6.05345378e-01] [ 5.92225759e-02 9.98244798e-01 -9.44982667e-05 -2.79907746e-02] [ 1.69710648e-03 -6.01945194e-06 9.99998560e-01 6.42168584e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6192541539999998 meters 0.013919132920530647 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.02, Z:0.00 [[ 9.98388067e-01 -5.67244149e-02 -1.89969497e-03 6.36988641e-01] [ 5.67243172e-02 9.98389874e-01 -1.05349004e-04 -2.37856190e-02] [ 1.90261208e-03 -2.57971152e-06 9.99998190e-01 1.33374498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6492541539999999 meters 0.01424053883571055 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.02, Z:0.00 [[ 9.98499307e-01 -5.47566139e-02 -9.20350297e-04 6.69605592e-01] [ 5.47565903e-02 9.98499731e-01 -5.08171113e-05 -1.91909346e-02] [ 9.21752097e-04 3.45606229e-07 9.99999575e-01 1.47815017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6792541539999999 meters 0.01437812509573659 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.01, Z:0.00 [[ 9.98725553e-01 -5.04691374e-02 3.69776124e-04 7.01014697e-01] [ 5.04691338e-02 9.98725621e-01 1.89594355e-05 -1.23041519e-02] [-3.70261755e-04 -2.72992030e-07 9.99999931e-01 2.37966568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7092541539999999 meters 0.014456730790557662 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.01, Z:0.00 [[ 9.98801306e-01 -4.89456989e-02 5.19060136e-04 7.32956578e-01] [ 4.89456911e-02 9.98801441e-01 2.78342394e-05 -8.54722162e-03] [-5.19800379e-04 -2.39511760e-06 9.99999865e-01 2.45164170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7392541539999998 meters 0.014732637291876525 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.00, Z:0.00 [[ 9.98873646e-01 -4.74444228e-02 6.83082169e-04 7.64578071e-01] [ 4.74444088e-02 9.98873879e-01 3.66964163e-05 -4.75320152e-03] [-6.84053976e-04 -4.24665347e-06 9.99999766e-01 2.07091600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7692541539999999 meters 0.01482220704758879 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.00, Z:0.00 [[ 9.98937520e-01 -4.60837006e-02 3.50366331e-04 7.97054523e-01] [ 4.60836972e-02 9.98937582e-01 1.75581502e-05 -1.10594234e-03] [-3.50803240e-04 -1.39331912e-06 9.99999938e-01 1.65906100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7992541539999999 meters 0.01482220704758879 Centerline is valid? [True, True] Translation: X:0.83, Y:0.00, Z:0.00 [[ 9.98942545e-01 -4.59746652e-02 3.50324862e-04 8.29561021e-01] [ 4.59746616e-02 9.98942606e-01 1.83258025e-05 5.58947420e-04] [-3.50796953e-04 -2.20035679e-06 9.99999938e-01 1.82116792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8292541539999998 meters 0.0153645600607051 Centerline is valid? [True, True] Translation: X:0.86, Y:0.01, Z:0.00 [[ 9.99051462e-01 -4.35442551e-02 -2.71949817e-04 8.60556737e-01] [ 4.35442526e-02 9.99051499e-01 -1.49919578e-05 7.04925612e-03] [ 2.72344686e-04 3.13588579e-06 9.99999963e-01 1.04225973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8592541539999998 meters 0.01574031210079831 Centerline is valid? [True, True] Translation: X:0.89, Y:0.01, Z:0.00 [[ 9.99120266e-01 -4.19276106e-02 -8.77301907e-04 8.92855691e-01] [ 4.19275843e-02 9.99120651e-01 -4.83055449e-05 1.14082985e-02] [ 8.78555788e-04 1.14798992e-05 9.99999614e-01 6.70903074e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8892541539999999 meters 0.016290143873017894 Centerline is valid? [True, True] Translation: X:0.93, Y:0.02, Z:-0.00 [[ 9.99222318e-01 -3.94149525e-02 -1.10445137e-03 9.25077309e-01] [ 3.94149109e-02 9.99222929e-01 -5.93978286e-05 1.70101751e-02] [ 1.10593430e-03 1.58197836e-05 9.99999388e-01 -5.86651102e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9192541539999999 meters 0.016774151758198075 Centerline is valid? [True, True] Translation: X:0.96, Y:0.02, Z:-0.00 [[ 9.99275480e-01 -3.80400342e-02 -1.21254890e-03 9.56966719e-01] [ 3.80399832e-02 9.99276216e-01 -6.50831457e-05 2.10918343e-02] [ 1.21414704e-03 1.89106520e-05 9.99999263e-01 -1.20698736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9492541539999998 meters 0.017056440601900136 Centerline is valid? [True, True] Translation: X:0.99, Y:0.02, Z:-0.00 [[ 9.99305840e-01 -3.72433698e-02 -8.76678356e-04 9.88603165e-01] [ 3.72433428e-02 9.99306225e-01 -4.71007515e-05 2.40013090e-02] [ 8.77824330e-04 1.44176235e-05 9.99999615e-01 -2.06345322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9792541539999998 meters 0.018638419348236526 Centerline is valid? [True, True] Translation: X:1.02, Y:0.03, Z:-0.00 [[ 9.99365289e-01 -3.55975761e-02 -1.35304542e-03 1.01958197e+00] [ 3.55975107e-02 9.99366205e-01 -7.23968371e-05 3.17187520e-02] [ 1.35476502e-03 2.41858372e-05 9.99999082e-01 -2.48631530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.009254154 meters 0.019732956984485423 Centerline is valid? [True, True] Translation: X:1.05, Y:0.04, Z:-0.00 [[ 9.99411384e-01 -3.42723949e-02 -1.51296688e-03 1.05046968e+00] [ 3.42723119e-02 9.99412528e-01 -8.07316822e-05 3.64464871e-02] [ 1.51484493e-03 2.88312893e-05 9.99998852e-01 -2.39760875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0392541539999998 meters 0.020199948085275667 Centerline is valid? [True, True] Translation: X:1.08, Y:0.04, Z:-0.00 [[ 9.99468856e-01 -3.25546580e-02 -1.48323706e-03 1.08254631e+00] [ 3.25545763e-02 9.99469956e-01 -7.92100261e-05 3.92294586e-02] [ 1.48502954e-03 3.08818002e-05 9.99998897e-01 -3.15009315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0692541539999998 meters 0.02208206331034205 Centerline is valid? [True, True] Translation: X:1.11, Y:0.05, Z:-0.00 [[ 9.99538317e-01 -3.03539577e-02 -1.33757908e-03 1.11288567e+00] [ 3.03538896e-02 9.99539212e-01 -7.11549371e-05 4.53935320e-02] [ 1.33912258e-03 3.05213583e-05 9.99999103e-01 -2.85538489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0992541539999998 meters 0.023651442104616584 Centerline is valid? [True, True] Translation: X:1.14, Y:0.05, Z:-0.00 [[ 9.99655319e-01 -2.62524926e-02 -2.21702580e-04 1.14492723e+00] [ 2.62524905e-02 9.99655344e-01 -1.22066860e-05 5.03550583e-02] [ 2.21946625e-04 6.38223370e-06 9.99999975e-01 -2.82321471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1292541539999998 meters 0.025048509612447534 Centerline is valid? [True, True] Translation: X:1.18, Y:0.05, Z:-0.00 [[ 9.99702720e-01 -2.43775976e-02 4.51276980e-04 1.17691198e+00] [ 2.43775895e-02 9.99702822e-01 2.34952594e-05 5.44429979e-02] [-4.51715628e-04 -1.24872298e-05 9.99999898e-01 -2.69143065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1592541539999999 meters 0.028246787631998546 Centerline is valid? [True, True] Translation: X:1.21, Y:0.06, Z:-0.00 [[ 9.99762029e-01 -2.17884497e-02 1.07170507e-03 1.20799897e+00] [ 2.17884020e-02 9.99762603e-01 5.62282690e-05 6.09798787e-02] [-1.07267578e-03 -3.28641475e-05 9.99999424e-01 -2.71212132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.189254154 meters 0.03028700876922993 Centerline is valid? [True, True] Translation: X:1.24, Y:0.07, Z:-0.00 [[ 9.99776976e-01 -2.10598991e-02 1.57460472e-03 1.24017993e+00] [ 2.10597952e-02 9.99778215e-01 8.25420326e-05 6.54221114e-02] [-1.57599382e-03 -4.93627710e-05 9.99998757e-01 -2.34393592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2192541539999997 meters 0.030983839675925468 Centerline is valid? [True, True] Translation: X:1.27, Y:0.07, Z:-0.00 [[ 9.99780027e-01 -2.08283708e-02 2.46489791e-03 1.27235327e+00] [ 2.08281151e-02 9.99783063e-01 1.29363651e-04 6.65083619e-02] [-2.46705761e-03 -7.79960173e-05 9.99996954e-01 -2.74469049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2492541539999997 meters 0.03430179491834237 Centerline is valid? [True, True] Translation: X:1.30, Y:0.07, Z:-0.00 [[ 9.99745982e-01 -2.22988495e-02 3.27618459e-03 1.30423180e+00] [ 2.22984078e-02 9.99751345e-01 1.71279322e-04 6.94639024e-02] [-3.27918928e-03 -9.81821140e-05 9.99994619e-01 -2.21917514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2792541539999998 meters 0.0361648863550384 Centerline is valid? [True, True] Translation: X:1.34, Y:0.07, Z:-0.00 [[ 9.99713923e-01 -2.36709949e-02 3.42873227e-03 1.33582608e+00] [ 2.36705213e-02 9.99719798e-01 1.78656945e-04 7.08581102e-02] [-3.43200052e-03 -9.74459551e-05 9.99994106e-01 -1.94176914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3092541539999998 meters 0.038243356082542534 Centerline is valid? [True, True] Translation: X:1.37, Y:0.06, Z:-0.00 [[ 9.99554235e-01 -2.96654878e-02 3.36010079e-03 1.36817207e+00] [ 2.96650666e-02 9.99559880e-01 1.75133676e-04 6.13171659e-02] [-3.36381737e-03 -7.53779935e-05 9.99994340e-01 -4.87506286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3392541539999998 meters 0.040592147817271405 Centerline is valid? [True, True] Translation: X:1.40, Y:0.06, Z:-0.01 [[ 9.99444358e-01 -3.31213291e-02 3.73532311e-03 1.39945879e+00] [ 3.31208384e-02 9.99451336e-01 1.93176857e-04 6.07947148e-02] [-3.73967194e-03 -6.93524867e-05 9.99993005e-01 -5.09775840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3692541539999998 meters 0.04470950071977343 Centerline is valid? [True, True] Translation: X:1.43, Y:0.06, Z:-0.01 [[ 9.99324972e-01 -3.65204222e-02 3.98234776e-03 1.43162018e+00] [ 3.65198890e-02 9.99332905e-01 2.06542046e-04 5.84902253e-02] [-3.98723416e-03 -6.09677256e-05 9.99992049e-01 -5.59960753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3992541539999999 meters 0.04785688758454172 Centerline is valid? [True, True] Translation: X:1.46, Y:0.06, Z:-0.00 [[ 9.99193698e-01 -3.98954469e-02 4.50636285e-03 1.46341866e+00] [ 3.98948071e-02 9.99203858e-01 2.31810420e-04 5.79369785e-02] [-4.51202333e-03 -5.18430346e-05 9.99989819e-01 -4.77141284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4292541539999997 meters 0.05402485529694002 Centerline is valid? [True, True] Translation: X:1.50, Y:0.05, Z:-0.01 [[ 9.98945804e-01 -4.55623921e-02 5.59906659e-03 1.49651242e+00] [ 4.55614902e-02 9.98961494e-01 2.88590206e-04 5.24457927e-02] [-5.60640078e-03 -3.31841584e-05 9.99984283e-01 -5.36369001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4592541539999997 meters 0.058339898942978856 Centerline is valid? [True, True] Translation: X:1.53, Y:0.05, Z:-0.01 [[ 9.98871184e-01 -4.71394770e-02 5.85034353e-03 1.52924202e+00] [ 4.71385346e-02 9.98888317e-01 2.98949125e-04 5.18007678e-02] [-5.85793211e-03 -2.28350452e-05 9.99982842e-01 -5.16360013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4892541539999997 meters 0.06471590002517255 Centerline is valid? [True, True] Translation: X:1.56, Y:0.05, Z:-0.01 [[ 9.98790953e-01 -4.86425347e-02 7.10892427e-03 1.56186866e+00] [ 4.86411800e-02 9.98816251e-01 3.63430764e-04 4.94501348e-02] [-7.11818728e-03 -1.72048934e-05 9.99974665e-01 -5.13196430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5192541539999997 meters 0.06384173088529653 Centerline is valid? [True, True] Translation: X:1.59, Y:0.05, Z:-0.00 [[ 9.98745014e-01 -4.94840292e-02 7.72835406e-03 1.59388580e+00] [ 4.94824656e-02 9.98774915e-01 3.93516048e-04 4.90109363e-02] [-7.73835893e-03 -1.06041762e-05 9.99970058e-01 -3.35354809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5492541539999998 meters 0.07336083732592837 Centerline is valid? [True, True] Translation: X:1.63, Y:0.05, Z:-0.01 [[ 9.98762785e-01 -4.91662790e-02 7.45499960e-03 1.62716494e+00] [ 4.91648353e-02 9.98790607e-01 3.76908930e-04 4.79763456e-02] [-7.46451479e-03 -9.91878548e-06 9.99972140e-01 -6.34751510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5792541539999998 meters 0.0830283551837907 Centerline is valid? [True, True] Translation: X:1.66, Y:0.04, Z:-0.01 [[ 9.98720909e-01 -5.00904794e-02 6.89124092e-03 1.65981685e+00] [ 5.00892805e-02 9.98744684e-01 3.46566071e-04 4.44554352e-02] [-6.89994989e-03 -9.45482178e-07 9.99976195e-01 -8.99807162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6092541539999998 meters 0.08285855576942391 Centerline is valid? [True, True] Translation: X:1.69, Y:0.04, Z:-0.01 [[ 9.98668185e-01 -5.11016637e-02 7.10472115e-03 1.69262072e+00] [ 5.11004288e-02 9.98693456e-01 3.55347433e-04 4.28704937e-02] [-7.11359736e-03 8.18012104e-06 9.99974698e-01 -1.02183125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6392541539999996 meters 0.09114454141936704 Centerline is valid? [True, True] Translation: X:1.73, Y:0.04, Z:-0.01 [[ 9.98619573e-01 -5.20631568e-02 6.95528329e-03 1.72630752e+00] [ 5.20620102e-02 9.98643794e-01 3.45933834e-04 4.11807224e-02] [-6.96386090e-03 1.66497316e-05 9.99975752e-01 -1.15369303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6692541539999997 meters 0.1006886943886434 Centerline is valid? [True, False] Translation: X:1.73, Y:0.04, Z:-0.01 [[ 0.9990155 -0.04410462 0.00477574 1.72932381] [ 0.0441497 0.99897699 -0.0097868 0.03691777] [-0.00433921 0.00998802 0.9999407 -0.0121652 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6992541539999997 meters 0.10839604269610233 Centerline is valid? [False, False] Translation: X:1.73, Y:0.03, Z:-0.01 [[ 0.99922404 -0.03905816 0.0050763 1.7296092 ] [ 0.0390736 0.9992319 -0.00297801 0.02953278] [-0.00495609 0.00317405 0.99998268 -0.0139351 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7292541539999997 meters 0.11438434509153612 Centerline is valid? [False, False] Translation: X:1.73, Y:0.02, Z:-0.02 [[ 0.99913827 -0.04117234 0.00524857 1.73040048] [ 0.04119337 0.99914333 -0.00396343 0.02329185] [-0.00508089 0.00417622 0.99997837 -0.01531995] [ 0. 0. 0. 1. ]] SLAMing on 1.7592541539999997 meters 0.12043487943755635 Centerline is valid? [False, False] Translation: X:1.73, Y:0.02, Z:-0.02 [[ 0.99916487 -0.04049597 0.00544477 1.73051098] [ 0.04051025 0.9991759 -0.00253794 0.01947837] [-0.00533751 0.00275639 0.99998196 -0.01600881] [ 0. 0. 0. 1. ]] SLAMing on 1.7892541539999998 meters 0.1250671077739825 Centerline is valid? [False, False] Translation: X:1.73, Y:0.02, Z:-0.02 [[ 9.99187388e-01 -3.99086739e-02 5.64457597e-03 1.73056254e+00] [ 3.99164669e-02 9.99202207e-01 -1.27472786e-03 1.60315778e-02] [-5.58920007e-03 1.49900353e-03 9.99983257e-01 -1.66031498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8192541539999998 meters 0.1298007426365783 Centerline is valid? [False, False] Translation: X:1.73, Y:0.01, Z:-0.02 [[ 0.99947785 -0.03223312 0.00224937 1.73199933] [ 0.03225481 0.99942572 -0.01038502 0.01135303] [-0.00191334 0.01045215 0.99994354 -0.01707948] [ 0. 0. 0. 1. ]] SLAMing on 1.8492541539999996 meters 0.1378429192419209 Centerline is valid? [False, False] Translation: X:1.73, Y:0.00, Z:-0.02 [[ 0.99953066 -0.03055611 0.00218496 1.73324956] [ 0.03057195 0.9995035 -0.00762292 0.00463976] [-0.00195095 0.00768614 0.99996856 -0.01876136] [ 0. 0. 0. 1. ]] SLAMing on 1.8792541539999996 meters 0.14066963493928727 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.00, Z:-0.02 [[ 0.99964575 -0.02646699 0.00280539 1.73186688] [ 0.02647449 0.99964592 -0.00266957 -0.00178187] [-0.00273374 0.0027429 0.9999925 -0.01839008] [ 0. 0. 0. 1. ]] SLAMing on 1.9092541539999996 meters 0.14508849674371785 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.00, Z:-0.02 [[ 9.99658181e-01 -2.59735978e-02 2.98218544e-03 1.73158064e+00] [ 2.59786074e-02 9.99661131e-01 -1.65358306e-03 -4.71139306e-03] [-2.93822537e-03 1.73049086e-03 9.99994186e-01 -1.84052907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9392541539999997 meters 0.1466799271520154 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.01, Z:-0.02 [[ 9.99648986e-01 -2.62008193e-02 3.92710887e-03 1.72958427e+00] [ 2.62070422e-02 9.99655348e-01 -1.54159793e-03 -7.05632343e-03] [-3.88536426e-03 1.64397472e-03 9.99991101e-01 -1.78895916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9692541539999997 meters 0.1567414398604056 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.01, Z:-0.02 [[ 9.99659284e-01 -2.57310548e-02 4.38506906e-03 1.72839876e+00] [ 2.57330461e-02 9.99668771e-01 -3.98276246e-04 -1.17573648e-02] [-4.37336853e-03 5.10981731e-04 9.99990306e-01 -1.73406039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9992541539999997 meters 0.1572269142518729 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.01, Z:-0.02 [[ 9.99804963e-01 -1.96655833e-02 1.81660953e-03 1.72490983e+00] [ 1.96818795e-02 9.99761758e-01 -9.43662538e-03 -1.25537791e-02] [-1.63059999e-03 9.47053918e-03 9.99953824e-01 -1.74179421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0292541539999998 meters 0.1639721168641705 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.02, Z:-0.02 [[ 9.99899094e-01 -1.41284279e-02 1.47965748e-03 1.72629643e+00] [ 1.41322278e-02 9.99896781e-01 -2.58994583e-03 -1.95025162e-02] [-1.44291289e-03 2.61059535e-03 9.99995551e-01 -1.87947156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0592541539999996 meters 0.1659438133652712 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.02, Z:-0.02 [[ 9.99916784e-01 -1.28268695e-02 1.37713228e-03 1.72730619e+00] [ 1.28278040e-02 9.99917495e-01 -6.71861739e-04 -2.47117905e-02] [-1.36840077e-03 6.89471412e-04 9.99998826e-01 -1.98236101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.089254154 meters 0.16814672763071195 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.02 [[ 9.99970365e-01 -7.57573815e-03 1.37008850e-03 1.72788588e+00] [ 7.56809212e-03 9.99956223e-01 5.50232800e-03 -3.04852286e-02] [-1.41171272e-03 -5.49179599e-03 9.99983923e-01 -2.06921829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1192541539999996 meters 0.17366473661221218 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.02 [[ 9.99976566e-01 -6.74522168e-03 1.17018028e-03 1.72872163e+00] [ 6.73767580e-03 9.99957223e-01 6.33682099e-03 -3.20286731e-02] [-1.21287349e-03 -6.32878820e-03 9.99979237e-01 -2.11116310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.149254154 meters 0.17958716021942167 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.02 [[ 9.99978481e-01 -6.50213909e-03 8.71259212e-04 1.72962227e+00] [ 6.49640653e-03 9.99958235e-01 6.42839068e-03 -3.19224709e-02] [-9.13021114e-04 -6.42259230e-03 9.99978958e-01 -2.14325059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1792541539999997 meters 0.1768061337412051 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.02 [[ 9.99977735e-01 -6.62095580e-03 8.32671252e-04 1.72959198e+00] [ 6.61576519e-03 9.99959576e-01 6.08915084e-03 -3.12394548e-02] [-8.72953591e-04 -6.08350650e-03 9.99981114e-01 -2.11864549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2092541539999995 meters 0.178322159397072 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.02 [[ 9.99978417e-01 -6.54474355e-03 5.76553693e-04 1.72996700e+00] [ 6.54120277e-03 9.99960947e-01 5.94284664e-03 -3.09106507e-02] [-6.15425584e-04 -5.93894702e-03 9.99982175e-01 -2.09508502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2392541539999997 meters 0.18238163010551622 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.02 [[ 9.99990929e-01 -3.92943871e-03 1.64378323e-03 1.72809345e+00] [ 3.91650435e-03 9.99961916e-01 7.79922763e-03 -3.22400816e-02] [-1.67436722e-03 -7.79271899e-03 9.99968235e-01 -2.07212590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2692541539999995 meters 0.18676755538033457 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.02 [[ 9.99990883e-01 -4.01088088e-03 1.46525671e-03 1.72844893e+00] [ 3.99992882e-03 9.99964601e-01 7.40248766e-03 -3.14865028e-02] [-1.49489534e-03 -7.39655925e-03 9.99971528e-01 -2.06455140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2992541539999998 meters 0.1894480629027009 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.02 [[ 9.99990571e-01 -4.08804456e-03 1.46492560e-03 1.72856759e+00] [ 4.07759593e-03 9.99966722e-01 7.06591313e-03 -3.08855187e-02] [-1.49376261e-03 -7.05987313e-03 9.99973963e-01 -2.07686820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3292541539999996 meters 0.18753449631169694 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.02 [[ 9.99994033e-01 -3.07438336e-03 1.57535374e-03 1.72921252e+00] [ 3.06224832e-03 9.99966062e-01 7.64842210e-03 -3.17323249e-02] [-1.59881446e-03 -7.64355234e-03 9.99969509e-01 -2.17184719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.359254154 meters 0.1856329350189511 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.02 [[ 9.99994319e-01 -2.97903568e-03 1.57703555e-03 1.72952119e+00] [ 2.96670927e-03 9.99965477e-01 7.76166273e-03 -3.22911400e-02] [-1.60010337e-03 -7.75694003e-03 9.99968634e-01 -2.21632039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3892541539999996 meters 0.18832300172878252 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.02 [[ 9.99994873e-01 -2.72132470e-03 1.68777737e-03 1.72992556e+00] [ 2.70730462e-03 9.99962268e-01 8.25421831e-03 -3.44481251e-02] [-1.71017609e-03 -8.24960666e-03 9.99964509e-01 -2.30490914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4192541539999994 meters 0.18657833374246965 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.04, Z:-0.02 [[ 9.99995327e-01 -2.54374174e-03 1.69552392e-03 1.73019928e+00] [ 2.52873309e-03 9.99958117e-01 8.79605814e-03 -3.62163470e-02] [-1.71782780e-03 -8.79172952e-03 9.99959876e-01 -2.35321894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4492541539999997 meters 0.18913770751153294 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.04, Z:-0.02 [[ 9.99978637e-01 -6.43622530e-03 1.14006947e-03 1.73187828e+00] [ 6.43098462e-03 9.99969004e-01 4.54233118e-03 -3.51654202e-02] [-1.16926959e-03 -4.53490237e-03 9.99989034e-01 -2.43058362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4792541539999995 meters 0.17283812042514796 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.04, Z:-0.02 [[ 9.99945192e-01 -1.03945067e-02 1.25187999e-03 1.73186626e+00] [ 1.03932155e-02 9.99945455e-01 1.03353540e-03 -3.73248189e-02] [-1.26255479e-03 -1.02046770e-03 9.99998682e-01 -2.46350897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5092541539999997 meters 0.17282651247641942 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.04, Z:-0.03 [[ 9.99948927e-01 -1.00373902e-02 1.18110020e-03 1.73243151e+00] [ 1.00347675e-02 9.99947217e-01 2.20586745e-03 -4.03821880e-02] [-1.20317901e-03 -2.19390272e-03 9.99996870e-01 -2.53733318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5392541539999995 meters 0.17087229718807848 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.04, Z:-0.03 [[ 9.99951951e-01 -9.75738967e-03 9.42497821e-04 1.73358117e+00] [ 9.75423588e-03 9.99946998e-01 3.29476221e-03 -4.30336376e-02] [-9.74596146e-04 -3.28541056e-03 9.99994128e-01 -2.65328487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.569254154 meters 0.16111913952226437 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.04, Z:-0.03 [[ 9.99902573e-01 -1.39401887e-02 7.17962243e-04 1.73456383e+00] [ 1.39404289e-02 9.99902773e-01 -3.30676132e-04 -4.43285994e-02] [-7.13282750e-04 3.40652617e-04 9.99999688e-01 -2.73158547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5992541539999996 meters 0.16196024880459978 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.05, Z:-0.03 [[ 9.99905590e-01 -1.37343643e-02 4.22019009e-04 1.73584923e+00] [ 1.37341417e-02 9.99905544e-01 5.25963582e-04 -4.62961627e-02] [-4.29202923e-04 -5.20117857e-04 9.99999773e-01 -2.85552835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6292541539999994 meters 0.14995507786373696 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.05, Z:-0.03 [[ 9.99907796e-01 -1.35740296e-02 3.81891402e-04 1.73630170e+00] [ 1.35735396e-02 9.99907084e-01 1.25773535e-03 -4.81409885e-02] [-3.98928455e-04 -1.25243576e-03 9.99999136e-01 -2.92331710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6592541539999996 meters 0.13863269932989006 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.05, Z:-0.03 [[ 9.99897282e-01 -1.43326284e-02 3.85608261e-05 1.73737341e+00] [ 1.43325531e-02 9.99896124e-01 1.52254732e-03 -5.01697129e-02] [-6.03789254e-05 -1.52183825e-03 9.99998840e-01 -3.03407614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6892541539999995 meters 0.13863269932989006 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.05, Z:-0.03 [[ 9.99897282e-01 -1.43326284e-02 3.85608261e-05 1.73737341e+00] [ 1.43325531e-02 9.99896124e-01 1.52254732e-03 -5.01697129e-02] [-6.03789254e-05 -1.52183825e-03 9.99998840e-01 -3.03407614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7192541539999997 meters 0.1386646593478478 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.05, Z:-0.03 [[ 9.99895924e-01 -1.44261622e-02 -1.63884289e-04 1.73806029e+00] [ 1.44264019e-02 9.99894702e-01 1.56988241e-03 -5.05553791e-02] [ 1.41219654e-04 -1.57208328e-03 9.99998754e-01 -3.08981430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7492541539999995 meters 0.1261819733220734 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.05, Z:-0.03 [[ 9.99893318e-01 -1.46019718e-02 -3.68834066e-04 1.73912168e+00] [ 1.46024997e-02 9.99892295e-01 1.47170402e-03 -5.03603602e-02] [ 3.47304560e-04 -1.47693291e-03 9.99998849e-01 -3.20444382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7792541539999998 meters 0.11603043759331522 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.05, Z:-0.04 [[ 0.99995316 -0.00939638 0.00232253 1.7333752 ] [ 0.00940803 0.99994296 -0.00505702 -0.04725902] [-0.00227488 0.00507863 0.99998452 -0.03684833] [ 0. 0. 0. 1. ]] SLAMing on 2.8092541539999996 meters 0.1132766012851915 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.05, Z:-0.04 [[ 9.99985240e-01 -4.97675617e-03 2.18004097e-03 1.73405069e+00] [ 4.97708507e-03 9.99987604e-01 -1.45469267e-04 -4.87737626e-02] [-2.17928998e-03 1.56317369e-04 9.99997613e-01 -3.77575369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8392541539999994 meters 0.11668411716563357 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.05, Z:-0.04 [[ 9.99985807e-01 -5.04357047e-03 1.71700809e-03 1.73525663e+00] [ 5.04472452e-03 9.99987052e-01 -6.68461801e-04 -4.68534831e-02] [-1.71361442e-03 6.77114146e-04 9.99998303e-01 -3.83088200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8692541539999996 meters 0.10318383891264249 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.04, Z:-0.04 [[ 9.99997874e-01 -1.37315630e-03 1.53845272e-03 1.73547521e+00] [ 1.36965195e-03 9.99996471e-01 2.27658581e-03 -4.40622538e-02] [-1.54157340e-03 -2.27447382e-03 9.99996225e-01 -3.82544972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8992541539999994 meters 0.09453865223680279 Centerline is valid? [False, True] Translation: X:1.74, Y:-0.04, Z:-0.04 [[ 9.99998578e-01 -1.40922721e-03 9.26741117e-04 1.73662577e+00] [ 1.40855350e-03 9.99998744e-01 7.27218687e-04 -3.90063180e-02] [-9.27764769e-04 -7.25912289e-04 9.99999306e-01 -3.82737961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9292541539999997 meters 0.09271442711328677 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.04, Z:-0.04 [[ 9.99999905e-01 5.47755784e-05 -4.33444485e-04 1.76722856e+00] [-5.47751163e-05 9.99999998e-01 1.07794280e-06 -3.54157280e-02] [ 4.33444543e-04 -1.05420072e-06 9.99999906e-01 -3.84665580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9592541539999995 meters 0.08407856093511193 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.03, Z:-0.04 [[ 9.99997001e-01 1.55491356e-03 -1.89235086e-03 1.79760001e+00] [-1.55490648e-03 9.99998791e-01 5.20898174e-06 -3.22142378e-02] [ 1.89235667e-03 -2.26653749e-06 9.99998209e-01 -3.96304368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9892541539999997 meters 0.0816995731199488 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.03, Z:-0.04 [[ 9.99988144e-01 3.59470356e-03 -3.28481402e-03 1.82709343e+00] [-3.59469286e-03 9.99993539e-01 9.16180234e-06 -2.87155857e-02] [ 3.28482573e-03 2.64620379e-06 9.99994605e-01 -4.02852104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0192541539999995 meters 0.07755599680045264 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.02, Z:-0.04 [[ 9.99960594e-01 7.24536975e-03 -5.12977828e-03 1.85528151e+00] [-7.24539092e-03 9.99973752e-01 1.44566737e-05 -2.15350169e-02] [ 5.12974838e-03 2.27111450e-05 9.99986842e-01 -4.08460675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0492541539999993 meters 0.07597814493072211 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.02, Z:-0.04 [[ 9.99938611e-01 9.24468891e-03 -6.10818166e-03 1.88274502e+00] [-9.24476993e-03 9.99957266e-01 1.49711026e-05 -1.65991254e-02] [ 6.10805904e-03 4.14985507e-05 9.99981345e-01 -4.05963356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0792541539999996 meters 0.0742314984550976 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.01, Z:-0.04 [[ 9.99910434e-01 1.17763038e-02 -6.35953028e-03 1.91201125e+00] [-1.17764466e-02 9.99930655e-01 1.49975432e-05 -1.22770810e-02] [ 6.35926590e-03 5.98964687e-05 9.99979778e-01 -4.03371441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1092541539999994 meters 0.06753389481040045 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.00, Z:-0.04 [[ 9.99817435e-01 1.71331306e-02 -8.45885129e-03 1.94008022e+00] [-1.71335815e-02 9.99853209e-01 1.91724064e-05 -3.82704562e-03] [ 8.45793809e-03 1.25761511e-04 9.99964223e-01 -4.05307079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1392541539999996 meters 0.06343511708044718 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.00, Z:-0.04 [[ 9.99752887e-01 1.99531569e-02 -9.79980223e-03 1.96853945e+00] [-1.99539088e-02 9.99800901e-01 2.10476410e-05 -2.25263805e-03] [ 9.79827107e-03 1.74501920e-04 9.99951981e-01 -4.00905383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1692541539999994 meters 0.06048426822526698 Centerline is valid? [True, True] Translation: X:2.00, Y:0.00, Z:-0.04 [[ 9.99628855e-01 2.50088147e-02 -1.08033075e-02 1.99788641e+00] [-2.50100314e-02 9.99687200e-01 2.24808929e-05 2.96247068e-03] [ 1.08004904e-02 2.47718511e-04 9.99941642e-01 -3.90916254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1992541539999997 meters 0.06165390204043463 Centerline is valid? [True, True] Translation: X:2.03, Y:0.01, Z:-0.04 [[ 9.99554381e-01 2.75043899e-02 -1.15994391e-02 2.02645664e+00] [-2.75059688e-02 9.99621639e-01 2.34208448e-05 5.14867355e-03] [ 1.15956945e-02 2.95643403e-04 9.99932724e-01 -3.87354002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2292541539999995 meters 0.062467003613010885 Centerline is valid? [True, True] Translation: X:2.05, Y:0.01, Z:-0.04 [[ 9.99503090e-01 2.90151169e-02 -1.23165040e-02 2.05376442e+00] [-2.90170281e-02 9.99578917e-01 2.35326724e-05 8.82301888e-03] [ 1.23120005e-02 3.33867365e-04 9.99924149e-01 -3.85247286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2592541539999993 meters 0.06096963006347289 Centerline is valid? [True, True] Translation: X:2.08, Y:0.01, Z:-0.04 [[ 9.99452435e-01 3.04874257e-02 -1.28587332e-02 2.08289876e+00] [-3.04896634e-02 9.99535082e-01 2.20182654e-05 9.57704995e-03] [ 1.28534262e-02 3.70052238e-04 9.99917323e-01 -3.67696309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2892541539999995 meters 0.05650583818640778 Centerline is valid? [True, True] Translation: X:2.11, Y:0.01, Z:-0.04 [[ 9.99437446e-01 3.06267621e-02 -1.36672415e-02 2.11187964e+00] [-3.06293501e-02 9.99530811e-01 1.99667428e-05 1.05044283e-02] [ 1.36614405e-02 3.98663215e-04 9.99906599e-01 -3.64327105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3192541539999993 meters 0.05458090796834627 Centerline is valid? [True, True] Translation: X:2.14, Y:0.01, Z:-0.04 [[ 9.99468280e-01 2.91641855e-02 -1.45810818e-02 2.14005169e+00] [-2.91670115e-02 9.99574552e-01 1.88493455e-05 9.84677448e-03] [ 1.45754280e-02 4.06447257e-04 9.99893690e-01 -3.65492979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3492541539999996 meters 0.05263660511378145 Centerline is valid? [True, True] Translation: X:2.17, Y:0.01, Z:-0.04 [[ 9.99516958e-01 2.71457984e-02 -1.51312696e-02 2.16798152e+00] [-2.71486305e-02 9.99631408e-01 1.82453436e-05 8.39780494e-03] [ 1.51261876e-02 3.92556715e-04 9.99885516e-01 -3.64698196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3792541539999994 meters 0.053217077650852776 Centerline is valid? [True, True] Translation: X:2.20, Y:0.01, Z:-0.04 [[ 9.99529120e-01 2.55669855e-02 -1.69666380e-02 2.19584715e+00] [-2.55703447e-02 9.99673025e-01 1.89511464e-05 7.28650200e-03] [ 1.69615749e-02 4.14900560e-04 9.99856056e-01 -3.67389059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4092541539999996 meters 0.049149198633572096 Centerline is valid? [True, True] Translation: X:2.22, Y:0.00, Z:-0.04 [[ 9.99618702e-01 2.13426612e-02 -1.75197357e-02 2.22486275e+00] [-2.13456176e-02 9.99772156e-01 1.82565597e-05 3.44337286e-03] [ 1.75161336e-02 3.55719979e-04 9.99846517e-01 -3.56904719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4392541539999995 meters 0.048288946033054676 Centerline is valid? [True, True] Translation: X:2.25, Y:0.00, Z:-0.03 [[ 9.99657026e-01 1.92502717e-02 -1.77554962e-02 2.25405297e+00] [-1.92530282e-02 9.99814643e-01 1.56875080e-05 1.93000859e-03] [ 1.77525071e-02 3.26164942e-04 9.99842359e-01 -3.48131504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4692541539999993 meters 0.04624568769989594 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.00, Z:-0.03 [[ 9.99709548e-01 1.69397482e-02 -1.71424785e-02 2.28287288e+00] [-1.69420146e-02 9.99856474e-01 1.30159802e-05 -1.31067564e-04] [ 1.71402386e-02 2.77415921e-04 9.99853057e-01 -3.40021318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4992541539999995 meters 0.04432780741275302 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.00, Z:-0.03 [[ 9.99753012e-01 1.41397756e-02 -1.71459027e-02 2.31041740e+00] [-1.41416537e-02 9.99900002e-01 1.17105639e-05 -4.06735653e-03] [ 1.71443537e-02 2.30763746e-04 9.99852998e-01 -3.31608895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5292541539999993 meters 0.04265708194526436 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.01, Z:-0.03 [[ 9.99751620e-01 1.30314827e-02 -1.80797942e-02 2.33936593e+00] [-1.30334140e-02 9.99915061e-01 1.10106254e-05 -6.13540631e-03] [ 1.80784020e-02 2.24633551e-04 9.99836547e-01 -3.28298341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5592541539999996 meters 0.04223346306655837 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.01, Z:-0.03 [[ 9.99747077e-01 1.24782126e-02 -1.87103443e-02 2.36591800e+00] [-1.24802181e-02 9.99922119e-01 9.57857181e-06 -7.49423064e-03] [ 1.87090066e-02 2.23933029e-04 9.99824946e-01 -3.30979224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5892541539999994 meters 0.042004823929787855 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.01, Z:-0.03 [[ 9.99737900e-01 1.21351865e-02 -1.94130947e-02 2.39488761e+00] [-1.21373125e-02 9.99926340e-01 8.31104570e-06 -8.90799859e-03] [ 1.94117656e-02 2.27313930e-04 9.99811548e-01 -3.29824500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6192541539999996 meters 0.040519386423440454 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.01, Z:-0.03 [[ 9.99720372e-01 1.19613281e-02 -2.03986399e-02 2.42395324e+00] [-1.19637165e-02 9.99928432e-01 4.94885168e-06 -1.36251911e-02] [ 2.03972392e-02 2.39096077e-04 9.99791926e-01 -3.04043818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6492541539999994 meters 0.03932333615413316 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.01, Z:-0.03 [[ 9.99683438e-01 1.22311166e-02 -2.19868848e-02 2.45205516e+00] [-1.22340403e-02 9.99925161e-01 1.53786482e-06 -1.41824866e-02] [ 2.19852582e-02 2.67451056e-04 9.99758259e-01 -3.11007488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.679254153999999 meters 0.03770995696195567 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.02, Z:-0.03 [[ 9.99650630e-01 1.31543293e-02 -2.29255697e-02 2.48102322e+00] [-1.31578631e-02 9.99913432e-01 -3.29749494e-06 -1.81229396e-02] [ 2.29235416e-02 3.04947850e-04 9.99737175e-01 -3.05691788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7092541539999995 meters 0.037184906578122776 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.02, Z:-0.03 [[ 9.99626717e-01 1.36552909e-02 -2.36634835e-02 2.50979346e+00] [-1.36593365e-02 9.99906707e-01 -9.32693786e-06 -1.97793577e-02] [ 2.36611485e-02 3.32550939e-04 9.99719981e-01 -3.02149287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7392541539999993 meters 0.0361220843140206 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.02, Z:-0.03 [[ 9.99602345e-01 1.41404493e-02 -2.43966942e-02 2.53833483e+00] [-1.41450443e-02 9.99899954e-01 -1.57751632e-05 -2.15485345e-02] [ 2.43940304e-02 3.60861211e-04 9.99702356e-01 -2.98470105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7692541539999995 meters 0.034621072158633574 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.02, Z:-0.03 [[ 9.99570239e-01 1.69347969e-02 -2.39280248e-02 2.56616173e+00] [-1.69400942e-02 9.99856506e-01 -1.86881438e-05 -2.37187089e-02] [ 2.39242748e-02 4.24023105e-04 9.99713684e-01 -2.93901343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7992541539999993 meters 0.03402366106960908 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.02, Z:-0.03 [[ 9.99544107e-01 1.89080604e-02 -2.35385364e-02 2.59411849e+00] [-1.89137819e-02 9.99821118e-01 -2.04422979e-05 -2.42149026e-02] [ 2.35339393e-02 4.65635723e-04 9.99722930e-01 -2.88721652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8292541539999996 meters 0.0340623868460785 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.02, Z:-0.03 [[ 9.99511393e-01 2.05561340e-02 -2.35461416e-02 2.62172346e+00] [-2.05623645e-02 9.99788572e-01 -2.24963391e-05 -2.40347914e-02] [ 2.35407008e-02 5.06649693e-04 9.99722751e-01 -2.86252360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8592541539999994 meters 0.03360951822993559 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.03, Z:-0.03 [[ 9.99473963e-01 2.24507045e-02 -2.34043309e-02 2.65039177e+00] [-2.24574869e-02 9.99747798e-01 -2.69620659e-05 -2.53430412e-02] [ 2.33978230e-02 5.52550338e-04 9.99726081e-01 -2.78277992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.889254153999999 meters 0.03330968007251603 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.03, Z:-0.03 [[ 9.99396158e-01 2.52472143e-02 -2.38725320e-02 2.67837165e+00] [-2.52551613e-02 9.99681037e-01 -3.14103966e-05 -2.83284247e-02] [ 2.38641246e-02 6.34296078e-04 9.99715010e-01 -2.87910646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9192541539999994 meters 0.0327969562058922 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.03, Z:-0.03 [[ 9.99389868e-01 2.54405491e-02 -2.39305211e-02 2.70731516e+00] [-2.54487088e-02 9.99676128e-01 -3.64450371e-05 -3.09782913e-02] [ 2.39218435e-02 6.45423663e-04 9.99713623e-01 -2.91034380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9492541539999992 meters 0.0332798520120754 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.04, Z:-0.03 [[ 9.99332120e-01 2.60168241e-02 -2.56600751e-02 2.73462909e+00] [-2.60264906e-02 9.99661253e-01 -4.27547963e-05 -3.69073629e-02] [ 2.56502705e-02 7.10567946e-04 9.99670725e-01 -3.08594703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9792541539999995 meters 0.03193938821848451 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.04, Z:-0.03 [[ 9.99359213e-01 2.52978867e-02 -2.53215220e-02 2.76345796e+00] [-2.53071964e-02 9.99679721e-01 -4.72149653e-05 -4.05475315e-02] [ 2.53122176e-02 6.88001439e-04 9.99679358e-01 -3.10220317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.009254154 meters 0.030640497283885425 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.05, Z:-0.03 [[ 9.99369088e-01 2.41710954e-02 -2.60227776e-02 2.79126459e+00] [-2.41807282e-02 9.99707602e-01 -5.55099824e-05 -4.60401525e-02] [ 2.60138268e-02 6.84724672e-04 9.99661349e-01 -3.04601053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.039254154 meters 0.030387357270042624 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.05, Z:-0.03 [[ 9.99362281e-01 2.21059875e-02 -2.80420585e-02 2.81946150e+00] [-2.21164972e-02 9.99755398e-01 -6.46454237e-05 -5.32819567e-02] [ 2.80337703e-02 6.84796305e-04 9.99606742e-01 -3.13063105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.069254154 meters 0.02942436274454578 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.06, Z:-0.03 [[ 9.99420014e-01 2.02318955e-02 -2.73917239e-02 2.84754870e+00] [-2.02412918e-02 9.99795122e-01 -6.57749053e-05 -5.71038853e-02] [ 2.73847812e-02 6.20180632e-04 9.99624774e-01 -3.14706030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.099254154 meters 0.02810473139428293 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.07, Z:-0.03 [[ 9.99523981e-01 1.57640750e-02 -2.65199150e-02 2.87512156e+00] [-1.57713697e-02 9.99875622e-01 -6.59074518e-05 -6.67786864e-02] [ 2.65155776e-02 4.84131462e-04 9.99648283e-01 -3.13173881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.129254154 meters 0.027375850632726392 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.07, Z:-0.03 [[ 9.99557670e-01 1.28055622e-02 -2.68417957e-02 2.90420871e+00] [-1.28121115e-02 9.99917919e-01 -7.20238066e-05 -7.21659197e-02] [ 2.68386702e-02 4.15892029e-04 9.99639691e-01 -3.06862701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.159254154 meters 0.026105717206787463 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.08, Z:-0.03 [[ 9.99617438e-01 9.74667430e-03 -2.58839685e-02 2.93341813e+00] [-9.75183918e-03 9.99952447e-01 -7.33146873e-05 -7.72955156e-02] [ 2.58820231e-02 3.25702938e-04 9.99664951e-01 -3.04430142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1892541539999995 meters 0.025791620121186153 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.08, Z:-0.03 [[ 9.99635488e-01 7.52078670e-03 -2.59293172e-02 2.96253464e+00] [-7.52527575e-03 9.99971682e-01 -7.55500397e-05 -8.26514351e-02] [ 2.59280147e-02 2.70647762e-04 9.99663776e-01 -3.05988246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.219254154 meters 0.02443353162257368 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.09, Z:-0.03 [[ 9.99660750e-01 2.78639575e-03 -2.58963662e-02 2.99004920e+00] [-2.78935761e-03 9.99996107e-01 -7.82509824e-05 -9.38268320e-02] [ 2.58960473e-02 1.50458662e-04 9.99664630e-01 -3.12834700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.249254154 meters 0.023724095644583415 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.10, Z:-0.03 [[ 9.99657508e-01 2.72335113e-04 -2.61685562e-02 3.01776274e+00] [-2.74654598e-04 9.99999959e-01 -8.50421064e-05 -9.89169577e-02] [ 2.61685320e-02 9.22002944e-05 9.99657541e-01 -3.12007595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.279254154 meters 0.02351090199660766 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.10, Z:-0.03 [[ 9.99647080e-01 -1.52937074e-03 -2.65212626e-02 3.04581224e+00] [ 1.52752147e-03 9.99998829e-01 -8.99871180e-05 -1.03406505e-01] [ 2.65213692e-02 4.94435618e-05 9.99648245e-01 -3.14653775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.309254154 meters 0.023440169756489423 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.11, Z:-0.03 [[ 9.99570528e-01 -4.51831208e-03 -2.89541647e-02 3.07319196e+00] [ 4.51727730e-03 9.99989792e-01 -1.01149491e-04 -1.11750011e-01] [ 2.89543261e-02 -2.96879411e-05 9.99580735e-01 -3.27553079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.339254154 meters 0.022651290607723477 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.12, Z:-0.03 [[ 9.99571927e-01 -6.66290517e-03 -2.84880311e-02 3.10094688e+00] [ 6.66259571e-03 9.99977799e-01 -1.05785338e-04 -1.15765895e-01] [ 2.84881034e-02 -8.40641794e-05 9.99594128e-01 -3.22416993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.369254154 meters 0.02249156479085193 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.12, Z:-0.03 [[ 9.99563468e-01 -7.84037454e-03 -2.84851234e-02 3.12908999e+00] [ 7.84033338e-03 9.99969258e-01 -1.13136009e-04 -1.19476823e-01] [ 2.84851347e-02 -1.10246242e-04 9.99594210e-01 -3.20897008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.399254153999999 meters 0.021932105724698305 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.13, Z:-0.03 [[ 9.99543694e-01 -1.04040566e-02 -2.83577072e-02 3.15804462e+00] [ 1.04048603e-02 9.99945861e-01 -1.19218411e-04 -1.26880831e-01] [ 2.83574123e-02 -1.75893971e-04 9.99597832e-01 -3.12080363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.429254154 meters 0.02235150429156472 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.13, Z:-0.03 [[ 9.99532634e-01 -1.09711141e-02 -2.85332813e-02 3.18643343e+00] [ 1.09719571e-02 9.99939798e-01 -1.27027035e-04 -1.30122887e-01] [ 2.85329572e-02 -1.86098271e-04 9.99592835e-01 -3.08027642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.459254154 meters 0.02170313468065909 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.13, Z:-0.03 [[ 9.99549357e-01 -1.21028080e-02 -2.74700692e-02 3.21574044e+00] [ 1.21038536e-02 9.99926737e-01 -1.28220632e-04 -1.33243575e-01] [ 2.74696085e-02 -2.04330845e-04 9.99622618e-01 -2.99579781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.489254154 meters 0.02144796812735929 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.14, Z:-0.03 [[ 9.99543296e-01 -1.28689578e-02 -2.73420662e-02 3.24258566e+00] [ 1.28701801e-02 9.99917167e-01 -1.31287529e-04 -1.37509739e-01] [ 2.73414909e-02 -2.20669745e-04 9.99626127e-01 -2.96777311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5192541539999995 meters 0.021204125057253945 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.14, Z:-0.03 [[ 9.99521449e-01 -1.34541469e-02 -2.78542427e-02 3.27122390e+00] [ 1.34554931e-02 9.99909461e-01 -1.39110037e-04 -1.39222771e-01] [ 2.78535924e-02 -2.35749103e-04 9.99611986e-01 -2.96465004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.549254154 meters 0.0210113606958452 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.14, Z:-0.03 [[ 9.99517640e-01 -1.37750704e-02 -2.78340535e-02 3.29957751e+00] [ 1.37763517e-02 9.99905091e-01 -1.45738385e-04 -1.40448770e-01] [ 2.78334194e-02 -2.37783623e-04 9.99612547e-01 -2.99437272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.579254154 meters 0.02076375246563632 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.14, Z:-0.03 [[ 9.99508048e-01 -1.29927995e-02 -2.85455502e-02 3.32700383e+00] [ 1.29937300e-02 9.99915566e-01 -1.52902765e-04 -1.41560376e-01] [ 2.85451266e-02 -2.18085628e-04 9.99592481e-01 -3.02301079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.609254153999999 meters 0.02076375246563632 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.14, Z:-0.03 [[ 9.99504811e-01 -1.32395966e-02 -2.85455180e-02 3.35444613e+00] [ 1.32404602e-02 9.99912329e-01 -1.58772954e-04 -1.41285936e-01] [ 2.85451174e-02 -2.19261462e-04 9.99592481e-01 -3.00398214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.639254154 meters 0.020406094688712177 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.14, Z:-0.03 [[ 9.99516006e-01 -1.34123067e-02 -2.80689012e-02 3.38286512e+00] [ 1.34130343e-02 9.99910028e-01 -1.62370117e-04 -1.41704789e-01] [ 2.80685535e-02 -2.14197602e-04 9.99605978e-01 -2.90967671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.669254154 meters 0.01993838829886161 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.14, Z:-0.03 [[ 9.99519023e-01 -1.34857575e-02 -2.79259346e-02 3.41087398e+00] [ 1.34863147e-02 9.99909041e-01 -1.68400829e-04 -1.41326565e-01] [ 2.79256656e-02 -2.08298112e-04 9.99609981e-01 -2.65832366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.699254154 meters 0.019491356406860238 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.14, Z:-0.02 [[ 9.99554896e-01 -1.46887783e-02 -2.59663021e-02 3.43892442e+00] [ 1.46895838e-02 9.99892089e-01 -1.59738099e-04 -1.43495390e-01] [ 2.59658464e-02 -2.21767172e-04 9.99662806e-01 -2.44480784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7292541539999995 meters 0.01960281578072986 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.14, Z:-0.02 [[ 9.99551540e-01 -1.56068713e-02 -2.55566925e-02 3.46697312e+00] [ 1.56078178e-02 9.99878177e-01 -1.62450263e-04 -1.44808248e-01] [ 2.55561145e-02 -2.36506789e-04 9.99673361e-01 -2.36004066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.759254154 meters 0.019468398445693567 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.15, Z:-0.02 [[ 9.99548331e-01 -1.71306929e-02 -2.46915779e-02 3.49458480e+00] [ 1.71318894e-02 9.99853225e-01 -1.63095407e-04 -1.46528198e-01] [ 2.46907477e-02 -2.59991639e-04 9.99695103e-01 -2.25914762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.789254154 meters 0.019620581607584023 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.15, Z:-0.02 [[ 9.99542715e-01 -1.92195785e-02 -2.33445467e-02 3.52198976e+00] [ 1.92211373e-02 9.99815244e-01 -1.57629736e-04 -1.49000797e-01] [ 2.33432632e-02 -2.91151083e-04 9.99727467e-01 -2.14851186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.819254153999999 meters 0.0196551542019048 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.15, Z:-0.02 [[ 9.99519927e-01 -2.02848702e-02 -2.34188043e-02 3.55120904e+00] [ 2.02866299e-02 9.99794192e-01 -1.62457917e-04 -1.49206757e-01] [ 2.34172800e-02 -3.12708692e-04 9.99725729e-01 -2.12830264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.849254154 meters 0.01988066530875536 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.15, Z:-0.02 [[ 9.99521921e-01 -2.03278555e-02 -2.32960723e-02 3.57815945e+00] [ 2.03295327e-02 9.99793320e-01 -1.64856711e-04 -1.48312476e-01] [ 2.32946087e-02 -3.08820369e-04 9.99728596e-01 -2.18747187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.879254154 meters 0.019724121012423528 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.15, Z:-0.02 [[ 9.99527485e-01 -2.01299740e-02 -2.32290816e-02 3.60560648e+00] [ 2.01314790e-02 9.99797327e-01 -1.69079254e-04 -1.46799065e-01] [ 2.32277772e-02 -2.98636406e-04 9.99730154e-01 -2.17356018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.909254154 meters 0.0192052727822743 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.14, Z:-0.02 [[ 9.99546881e-01 -1.95670788e-02 -2.28727501e-02 3.63411696e+00] [ 1.95682759e-02 9.99808508e-01 -1.71499771e-04 -1.44768003e-01] [ 2.28717259e-02 -2.76158223e-04 9.99738370e-01 -2.11663248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9392541539999995 meters 0.018722313135976 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.14, Z:-0.02 [[ 9.99559013e-01 -1.85979888e-02 -2.31493710e-02 3.66177371e+00] [ 1.85988309e-02 9.99827011e-01 -1.78945606e-04 -1.41867681e-01] [ 2.31486944e-02 -2.51684543e-04 9.99732001e-01 -2.04932053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.969254154 meters 0.017687541218299952 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.14, Z:-0.02 [[ 9.99631331e-01 -1.65396843e-02 -2.15323394e-02 3.68989359e+00] [ 1.65398364e-02 9.99863193e-01 -1.71040022e-04 -1.36173356e-01] [ 2.15322225e-02 -1.85164405e-04 9.99768138e-01 -1.85033130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.999254154 meters 0.017592739008377385 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.13, Z:-0.02 [[ 9.99651054e-01 -1.57616470e-02 -2.11976654e-02 3.71885776e+00] [ 1.57615268e-02 9.99875764e-01 -1.72753786e-04 -1.33233184e-01] [ 2.11977548e-02 -1.61414067e-04 9.99775289e-01 -1.79435700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.029254153999999 meters 0.017298560450552985 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.13, Z:-0.02 [[ 9.99665679e-01 -1.53809602e-02 -2.07835449e-02 3.74792739e+00] [ 1.53806738e-02 9.99881695e-01 -1.73639413e-04 -1.30075511e-01] [ 2.07837568e-02 -1.46083562e-04 9.99783984e-01 -1.69237847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.059254154 meters 0.016867843401304084 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.12, Z:-0.02 [[ 9.99694326e-01 -1.52525550e-02 -1.94579887e-02 3.77540004e+00] [ 1.52522358e-02 9.99883664e-01 -1.64817472e-04 -1.24856474e-01] [ 1.94582390e-02 -1.32010741e-04 9.99810662e-01 -1.53653736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.089254154 meters 0.01680220961810543 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.12, Z:-0.02 [[ 9.99693533e-01 -1.57134849e-02 -1.91292028e-02 3.80365411e+00] [ 1.57131970e-02 9.99876526e-01 -1.65366855e-04 -1.22494765e-01] [ 1.91294393e-02 -1.35264756e-04 9.99817006e-01 -1.52156574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.119254154 meters 0.016603307499766063 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.12, Z:-0.01 [[ 9.99691240e-01 -1.64537044e-02 -1.86198845e-02 3.83132896e+00] [ 1.64534803e-02 9.99864619e-01 -1.65240445e-04 -1.20426110e-01] [ 1.86200825e-02 -1.41172477e-04 9.99826621e-01 -1.47737229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.149254153999999 meters 0.01724401465842034 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.12, Z:-0.02 [[ 9.99641764e-01 -1.81523257e-02 -1.96681593e-02 3.85870075e+00] [ 1.81523531e-02 9.99835217e-01 -1.77153706e-04 -1.17841756e-01] [ 1.96681341e-02 -1.79933129e-04 9.99806547e-01 -1.61487562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.179254154 meters 0.016709033485031062 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.11, Z:-0.01 [[ 9.99607863e-01 -1.93733160e-02 -2.02186555e-02 3.88771337e+00] [ 1.93735252e-02 9.99812298e-01 -1.85546152e-04 -1.14793248e-01] [ 2.02184551e-02 -2.06233239e-04 9.99795565e-01 -1.43381671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.209254154 meters 0.01803689191173677 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.12, Z:-0.02 [[ 9.99591262e-01 -2.05299133e-02 -1.98955148e-02 3.91506182e+00] [ 2.05302909e-02 9.99789214e-01 -1.85293460e-04 -1.15381628e-01] [ 1.98951251e-02 -2.23242983e-04 9.99802047e-01 -1.67565018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.239254153999999 meters 0.016984663576655217 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.11, Z:-0.01 [[ 9.99573057e-01 -2.20791813e-02 -1.91367156e-02 3.94264524e+00] [ 2.20797446e-02 9.99756196e-01 -1.81877882e-04 -1.09076261e-01] [ 1.91360657e-02 -2.40733562e-04 9.99816860e-01 -1.30377689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2692541539999995 meters 0.017361587463880657 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.11, Z:-0.01 [[ 9.99559003e-01 -2.28671245e-02 -1.89445053e-02 3.97093268e+00] [ 2.28677682e-02 9.99738482e-01 -1.82679367e-04 -1.06824526e-01] [ 1.89437283e-02 -2.50619750e-04 9.99820520e-01 -1.23938067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.299254154 meters 0.017064159488913315 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.10, Z:-0.01 [[ 9.99572170e-01 -2.31546773e-02 -1.78700283e-02 4.00003074e+00] [ 2.31552448e-02 9.99731866e-01 -1.75179128e-04 -1.04256936e-01] [ 1.78692929e-02 -2.38680698e-04 9.99840303e-01 -1.12374167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.329254154 meters 0.016825992912518163 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.10, Z:-0.01 [[ 9.99612216e-01 -2.29645482e-02 -1.57494888e-02 4.02743068e+00] [ 2.29649340e-02 9.99736259e-01 -1.56380040e-04 -9.86112185e-02] [ 1.57489262e-02 -2.05366574e-04 9.99875957e-01 -8.74285690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.359254153999999 meters 0.01655656627224651 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.09, Z:-0.01 [[ 9.99634150e-01 -2.25748597e-02 -1.48977047e-02 4.05656540e+00] [ 2.25751289e-02 9.99745138e-01 -1.50117093e-04 -9.46795495e-02] [ 1.48972968e-02 -1.86255432e-04 9.99889012e-01 -7.48640795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.389254154 meters 0.01616632512273552 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.09, Z:-0.01 [[ 9.99673283e-01 -2.13467859e-02 -1.40585131e-02 4.08399704e+00] [ 2.13468771e-02 9.99772119e-01 -1.43588356e-04 -8.99322757e-02] [ 1.40583746e-02 -1.56563909e-04 9.99901164e-01 -6.68219788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.419254154 meters 0.015070300955325433 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.08, Z:-0.01 [[ 9.99759216e-01 -1.69029680e-02 -1.39928336e-02 4.11243328e+00] [ 1.69026114e-02 9.99857130e-01 -1.43753630e-04 -7.81713338e-02] [ 1.39932644e-02 -9.27964127e-05 9.99902085e-01 -6.33899474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.449254153999999 meters 0.014365025020867672 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.07, Z:-0.01 [[ 9.99808836e-01 -1.37182306e-02 -1.39320663e-02 4.14100351e+00] [ 1.37175433e-02 9.99905900e-01 -1.44900293e-04 -7.08775624e-02] [ 1.39327431e-02 -4.62411293e-05 9.99902934e-01 -5.90395089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4792541539999995 meters 0.014245395383472472 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.06, Z:-0.01 [[ 9.99840997e-01 -1.09514308e-02 -1.40728818e-02 4.16891858e+00] [ 1.09504110e-02 9.99940031e-01 -1.49520425e-04 -6.38578302e-02] [ 1.40736753e-02 -4.60718889e-06 9.99900961e-01 -5.97393550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.509254154 meters 0.01514831008527624 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.05, Z:-0.01 [[ 9.99880912e-01 -4.49876726e-03 -1.47621811e-02 4.19670756e+00] [ 4.49690321e-03 9.99989876e-01 -1.59463435e-04 -4.98643724e-02] [ 1.47627491e-02 9.30603455e-05 9.99891020e-01 -6.07182234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.539254154 meters 0.016023448894837936 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.04, Z:-0.01 [[ 9.99891631e-01 -1.55857268e-03 -1.46388678e-02 4.22507517e+00] [ 1.55638999e-03 9.99998776e-01 -1.60493780e-04 -4.29648377e-02] [ 1.46391000e-02 1.37692600e-04 9.99892833e-01 -5.42655526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.569254153999999 meters 0.01806269251006318 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.03, Z:-0.00 [[ 9.99895407e-01 2.66109042e-03 -1.42159432e-02 4.25223592e+00] [-2.66360834e-03 9.99996440e-01 -1.58188837e-04 -3.12803795e-02] [ 1.42154716e-02 1.96037996e-04 9.99898936e-01 -4.63342905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.599254154 meters 0.015237528675107338 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.03, Z:-0.00 [[ 9.99893178e-01 4.06717667e-03 -1.40388896e-02 4.28123346e+00] [-4.06980879e-03 9.99991706e-01 -1.58923241e-04 -3.34504594e-02] [ 1.40381268e-02 2.16041861e-04 9.99901437e-01 -3.29856431e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.629254154 meters 0.01940048978073681 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.02, Z:-0.00 [[ 9.99889429e-01 5.18773532e-03 -1.39362178e-02 4.30859493e+00] [-5.19047103e-03 9.99986517e-01 -1.60140077e-04 -2.17232770e-02] [ 1.39351991e-02 2.32457905e-04 9.99902873e-01 -3.02377952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.659254153999999 meters 0.015529875035526696 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.03, Z:0.00 [[ 9.99881781e-01 5.74559791e-03 -1.42622661e-02 4.33786722e+00] [-5.74853650e-03 9.99983463e-01 -1.65051738e-04 -2.59404125e-02] [ 1.42610819e-02 2.47019383e-04 9.99898275e-01 3.80059793e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6892541539999995 meters 0.015143095469748168 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.02, Z:0.00 [[ 9.99869220e-01 5.81475373e-03 -1.50908011e-02 4.36665984e+00] [-5.81806861e-03 9.99983059e-01 -1.75768795e-04 -2.18804936e-02] [ 1.50895234e-02 2.63545124e-04 9.99886112e-01 1.32027907e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.719254154 meters 0.015955741093197598 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.02, Z:-0.00 [[ 9.99857007e-01 5.36923521e-03 -1.60355146e-02 4.39369765e+00] [-5.37294829e-03 9.99985548e-01 -1.88480443e-04 -1.78084411e-02] [ 1.60342709e-02 2.74611482e-04 9.99871405e-01 -1.02954177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.749254154 meters 0.02019449986289904 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.01, Z:-0.01 [[ 9.99850644e-01 4.79829908e-03 -1.66031969e-02 4.42080819e+00] [-4.80223582e-03 9.99988450e-01 -1.97246806e-04 -8.04119109e-03] [ 1.66020587e-02 2.76949813e-04 9.99862138e-01 -5.91308066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.779254153999999 meters 0.01531516337587024 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.01, Z:-0.00 [[ 9.99837449e-01 3.85321601e-03 -1.76133200e-02 4.45008686e+00] [-3.85752908e-03 9.99992537e-01 -2.10907446e-04 -1.23458001e-02] [ 1.76123759e-02 2.78817057e-04 9.99844851e-01 -1.18066371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.809254154 meters 0.015727242711903504 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.01, Z:-0.00 [[ 9.99836904e-01 2.93373662e-03 -1.78201627e-02 4.47822528e+00] [-2.93803185e-03 9.99995661e-01 -2.14856524e-04 -9.08552407e-03] [ 1.78194551e-02 2.67177688e-04 9.99841185e-01 -1.89277008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.839254154 meters 0.014850396101919884 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.01, Z:0.00 [[ 9.99834586e-01 1.56399726e-03 -1.81205813e-02 4.50726645e+00] [-1.56823990e-03 9.99998746e-01 -2.19926272e-04 -9.06231825e-03] [ 1.81202147e-02 2.48307312e-04 9.99835785e-01 1.91346915e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.869254153999999 meters 0.014534820018904637 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.01, Z:0.00 [[ 9.99843053e-01 -1.67559267e-03 -1.76369159e-02 4.53601220e+00] [ 1.67205492e-03 9.99998579e-01 -2.15331573e-04 -6.27860800e-03] [ 1.76372516e-02 1.85807886e-04 9.99844434e-01 6.43710460e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899254153999999 meters 0.014177162369172085 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.01, Z:0.00 [[ 9.99849671e-01 -3.57987956e-03 -1.69652528e-02 4.56476856e+00] [ 3.57685948e-03 9.99993581e-01 -2.08355924e-04 -5.33814637e-03] [ 1.69658898e-02 1.47642276e-04 9.99856058e-01 1.31153135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.929254154 meters 0.01379767993943013 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.00, Z:0.00 [[ 9.99844473e-01 -7.44806026e-03 -1.59861519e-02 4.59390180e+00] [ 7.44585469e-03 9.99972260e-01 -1.97483200e-04 -4.44704953e-03] [ 1.59871793e-02 7.84219219e-05 9.99872194e-01 1.99403419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.959254154 meters 0.013782334373283066 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.00, Z:0.00 [[ 9.99829330e-01 -9.20738894e-03 -1.60167261e-02 4.62048737e+00] [ 9.20536303e-03 9.99957610e-01 -2.00208927e-04 -3.32298318e-03] [ 1.60178906e-02 5.27349787e-05 9.99871704e-01 1.70394892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.989254153999999 meters 0.013677575014514791 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.00, Z:0.00 [[ 9.99821702e-01 -1.05146767e-02 -1.56845694e-02 4.64789321e+00] [ 1.05128332e-02 9.99944719e-01 -1.99986211e-04 -2.05997984e-03] [ 1.56858051e-02 3.50612918e-05 9.99876970e-01 1.85660274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0192541539999995 meters 0.013720570994521454 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.00, Z:0.00 [[ 9.99825759e-01 -1.09637526e-02 -1.51078488e-02 4.67596401e+00] [ 1.09620277e-02 9.99939896e-01 -1.96977944e-04 -3.22451506e-04] [ 1.51091004e-02 3.13309650e-05 9.99885851e-01 2.29109594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.049254154 meters 0.013652520093038044 Centerline is valid? [True, True] Translation: X:4.70, Y:0.00, Z:0.00 [[ 9.99856496e-01 -9.47347903e-03 -1.40442183e-02 4.70238150e+00] [ 9.47179494e-03 9.99955124e-01 -1.86425095e-04 4.17147008e-03] [ 1.40453542e-02 5.33743856e-05 9.99901358e-01 3.40022971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079254153999999 meters 0.013785924705460393 Centerline is valid? [True, True] Translation: X:4.73, Y:0.01, Z:0.00 [[ 9.99876867e-01 -8.04712594e-03 -1.34719632e-02 4.73007260e+00] [ 8.04540325e-03 9.99967619e-01 -1.82064196e-04 6.85985857e-03] [ 1.34729920e-02 7.36544019e-05 9.99909232e-01 4.01895239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.109254153999999 meters 0.013751262254293323 Centerline is valid? [True, True] Translation: X:4.76, Y:0.01, Z:0.00 [[ 9.99894182e-01 -6.42530923e-03 -1.30514582e-02 4.75863222e+00] [ 6.42350852e-03 9.99979353e-01 -1.79885845e-04 9.67139042e-03] [ 1.30523445e-02 9.60306565e-05 9.99914810e-01 4.51796056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.139254154 meters 0.014360393110381875 Centerline is valid? [True, True] Translation: X:4.79, Y:0.01, Z:0.00 [[ 9.99919690e-01 -2.60758489e-03 -1.24021993e-02 4.78676343e+00] [ 2.60563841e-03 9.99996590e-01 -1.73102324e-04 1.45419201e-02] [ 1.24026084e-02 1.40772775e-04 9.99923075e-01 4.12664389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.169254154 meters 0.01483717997210146 Centerline is valid? [True, True] Translation: X:4.81, Y:0.02, Z:0.00 [[ 9.99919494e-01 -7.34888461e-04 -1.26674994e-02 4.81415094e+00] [ 7.32689911e-04 9.99999716e-01 -1.78198263e-04 1.76290725e-02] [ 1.26676268e-02 1.68902568e-04 9.99919748e-01 3.89227560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199254153999999 meters 0.01466430347663179 Centerline is valid? [True, True] Translation: X:4.84, Y:0.02, Z:0.00 [[ 9.99914470e-01 1.74573393e-03 -1.29616995e-02 4.84305738e+00] [-1.74827646e-03 9.99998455e-01 -1.84829028e-04 1.98835318e-02] [ 1.29613568e-02 2.07473854e-04 9.99915977e-01 4.01974699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2292541539999995 meters 0.014878119693212816 Centerline is valid? [True, True] Translation: X:4.87, Y:0.02, Z:0.00 [[ 9.99907622e-01 2.50688877e-03 -1.33590358e-02 4.87076351e+00] [-2.50968996e-03 9.99996832e-01 -1.92925138e-04 2.19095477e-02] [ 1.33585099e-02 2.26434354e-04 9.99910745e-01 3.54977730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259254154 meters 0.015815219257041664 Centerline is valid? [True, True] Translation: X:4.90, Y:0.02, Z:0.00 [[ 9.99897518e-01 2.93607846e-03 -1.40118595e-02 4.89897435e+00] [-2.93922053e-03 9.99995660e-01 -2.03655604e-04 2.49526856e-02] [ 1.40112007e-02 2.44818678e-04 9.99901808e-01 2.23229894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.289254153999999 meters 0.015016901980533228 Centerline is valid? [True, True] Translation: X:4.93, Y:0.02, Z:0.00 [[ 9.99880348e-01 3.25000184e-03 -1.51237363e-02 4.92775804e+00] [-3.25371753e-03 9.99994682e-01 -2.21087207e-04 2.47906277e-02] [ 1.51229373e-02 2.70269119e-04 9.99885605e-01 1.52826961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319254153999999 meters 0.015207322955757167 Centerline is valid? [True, True] Translation: X:4.95, Y:0.03, Z:0.00 [[ 9.99869855e-01 2.81425018e-03 -1.58856258e-02 4.95492478e+00] [-2.81832112e-03 9.99996001e-01 -2.33884708e-04 2.59565308e-02] [ 1.58849041e-02 2.78625064e-04 9.99873788e-01 6.15524793e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.349254154 meters 0.015520747430979972 Centerline is valid? [True, True] Translation: X:4.98, Y:0.03, Z:-0.00 [[ 9.99867462e-01 2.37162880e-03 -1.61069752e-02 4.98191018e+00] [-2.37578932e-03 9.99997149e-01 -2.39175452e-04 2.72935657e-02] [ 1.61063620e-02 2.77410531e-04 9.99870246e-01 -3.01808556e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.379254154 meters 0.015300895985569331 Centerline is valid? [True, True] Translation: X:5.01, Y:0.03, Z:-0.00 [[ 9.99859633e-01 1.05887751e-03 -1.67210142e-02 5.01031683e+00] [-1.06320435e-03 9.99999404e-01 -2.49879011e-04 2.84391367e-02] [ 1.67207396e-02 2.67621791e-04 9.99860163e-01 -5.01059419e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.409254153999999 meters 0.014564980771517303 Centerline is valid? [True, True] Translation: X:5.04, Y:0.03, Z:0.00 [[ 9.99866201e-01 -2.83744934e-04 -1.63554211e-02 5.03937362e+00] [ 2.79765807e-04 9.99999931e-01 -2.45578499e-04 2.80862371e-02] [ 1.63554896e-02 2.40969954e-04 9.99866211e-01 3.79822332e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4392541539999995 meters 0.014453292983449577 Centerline is valid? [True, True] Translation: X:5.07, Y:0.03, Z:0.00 [[ 9.99869452e-01 -1.89076765e-03 -1.60469532e-02 5.06743431e+00] [ 1.88712297e-03 9.99998190e-01 -2.42265226e-04 2.89069337e-02] [ 1.60473822e-02 2.11951025e-04 9.99871210e-01 4.95623603e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.469254154 meters 0.013919310197693392 Centerline is valid? [True, True] Translation: X:5.10, Y:0.03, Z:0.00 [[ 9.99877627e-01 -5.67430273e-03 -1.45785147e-02 5.09608266e+00] [ 5.67168047e-03 9.99983891e-01 -2.21210154e-04 2.81733440e-02] [ 1.45795351e-02 1.38498406e-04 9.99893703e-01 1.43448434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499254153999999 meters 0.013919310197693392 Centerline is valid? [True, True] Translation: X:5.12, Y:0.03, Z:0.00 [[ 9.99875958e-01 -5.96120115e-03 -1.45784735e-02 5.12346771e+00] [ 5.95857018e-03 9.99982222e-01 -2.23899337e-04 2.86636348e-02] [ 1.45795491e-02 1.37004706e-04 9.99893703e-01 1.62446062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.529254153999999 meters 0.013670237975273315 Centerline is valid? [True, True] Translation: X:5.15, Y:0.03, Z:0.00 [[ 9.99870422e-01 -8.56286980e-03 -1.36314650e-02 5.15232825e+00] [ 8.56077934e-03 9.99963333e-01 -2.11699531e-04 2.79171743e-02] [ 1.36327780e-02 9.49761348e-05 9.99907065e-01 2.53082031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.559254154 meters 0.013270223277948355 Centerline is valid? [True, True] Translation: X:5.18, Y:0.03, Z:0.00 [[ 9.99830017e-01 -1.40350435e-02 -1.19563570e-02 5.18075163e+00] [ 1.40338168e-02 9.99901504e-01 -1.86497802e-04 2.57359371e-02] [ 1.19577968e-02 1.86727775e-05 9.99928503e-01 4.13536143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.589254154 meters 0.013112902813441782 Centerline is valid? [True, True] Translation: X:5.21, Y:0.03, Z:0.00 [[ 9.99798583e-01 -1.67321354e-02 -1.10828003e-02 5.21029563e+00] [ 1.67312401e-02 9.99860008e-01 -1.73503167e-04 2.50421953e-02] [ 1.10841519e-02 -1.19607729e-05 9.99938569e-01 4.96649812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619254153999999 meters 0.013282708947743836 Centerline is valid? [True, True] Translation: X:5.24, Y:0.02, Z:0.01 [[ 9.99755513e-01 -1.92555577e-02 -1.08691012e-02 5.24059027e+00] [ 1.92548429e-02 9.99814594e-01 -1.70410726e-04 2.43508442e-02] [ 1.08703673e-02 -3.89137730e-05 9.99940915e-01 5.29230248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.649254153999999 meters 0.01342359094428067 Centerline is valid? [True, True] Translation: X:5.27, Y:0.02, Z:0.01 [[ 9.99713960e-01 -2.15422491e-02 -1.03889329e-02 5.27125314e+00] [ 2.15417202e-02 9.99767937e-01 -1.62819005e-04 2.36401899e-02] [ 1.03900295e-02 -6.10230528e-05 9.99946020e-01 5.63457083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.679254154 meters 0.013711994916894468 Centerline is valid? [True, True] Translation: X:5.30, Y:0.02, Z:0.01 [[ 9.99612714e-01 -2.60036999e-02 -9.91107982e-03 5.30341361e+00] [ 2.60034412e-02 9.99661841e-01 -1.54987537e-04 2.23276707e-02] [ 9.91175855e-03 -1.02794669e-04 9.99950872e-01 5.77480898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.709254153999999 meters 0.01400248828693811 Centerline is valid? [True, True] Translation: X:5.33, Y:0.02, Z:0.01 [[ 9.99554005e-01 -2.80183676e-02 -1.03326045e-02 5.33427535e+00] [ 2.80182015e-02 9.99607400e-01 -1.60855320e-04 2.16072713e-02] [ 1.03330548e-02 -1.28717415e-04 9.99946604e-01 5.35271554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739254153999999 meters 0.014308552256567948 Centerline is valid? [True, True] Translation: X:5.37, Y:0.02, Z:0.01 [[ 9.99495850e-01 -2.98217721e-02 -1.08952646e-02 5.36675176e+00] [ 2.98217022e-02 9.99555220e-01 -1.68919994e-04 2.12855471e-02] [ 1.08954560e-02 -1.56080501e-04 9.99940631e-01 5.19100668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7692541539999995 meters 0.01479989847214594 Centerline is valid? [True, True] Translation: X:5.40, Y:0.02, Z:0.00 [[ 9.99403525e-01 -3.22823497e-02 -1.22655445e-02 5.39765250e+00] [ 3.22824568e-02 9.99478768e-01 -1.89300967e-04 2.10035462e-02] [ 1.22652624e-02 -2.06773858e-04 9.99924757e-01 4.38857916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.799254154 meters 0.015423045696673602 Centerline is valid? [True, True] Translation: X:5.43, Y:0.02, Z:0.00 [[ 9.99378244e-01 -3.29866626e-02 -1.24500882e-02 5.42870285e+00] [ 3.29868362e-02 9.99455768e-01 -1.91465657e-04 2.12332576e-02] [ 1.24496282e-02 -2.19342406e-04 9.99922476e-01 3.89486446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.829254153999999 meters 0.015068362831616744 Centerline is valid? [True, True] Translation: X:5.46, Y:0.02, Z:0.00 [[ 9.99364829e-01 -3.29616520e-02 -1.35450657e-02 5.46048727e+00] [ 3.29618672e-02 9.99456588e-01 -2.07419839e-04 2.45992717e-02] [ 1.35445420e-02 -2.39182565e-04 9.99908240e-01 4.01937562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859254153999999 meters 0.014934010762225055 Centerline is valid? [True, True] Translation: X:5.49, Y:0.03, Z:0.00 [[ 9.99375095e-01 -3.25520889e-02 -1.37760853e-02 5.49245048e+00] [ 3.25522864e-02 9.99470012e-01 -2.09952435e-04 2.68105056e-02] [ 1.37756185e-02 -2.38621840e-04 9.99905083e-01 3.92574386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.889254154 meters 0.014953985090813728 Centerline is valid? [True, True] Translation: X:5.52, Y:0.03, Z:0.00 [[ 9.99406553e-01 -3.15162842e-02 -1.39019833e-02 5.52345820e+00] [ 3.15163975e-02 9.99503213e-01 -2.10985916e-04 2.84205414e-02] [ 1.39017264e-02 -2.27279723e-04 9.99903341e-01 3.79454546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919254153999999 meters 0.013783749538528406 Centerline is valid? [True, True] Translation: X:5.56, Y:0.04, Z:0.01 [[ 9.99507062e-01 -2.83465614e-02 -1.34946374e-02 5.55549780e+00] [ 2.83463907e-02 9.99598140e-01 -2.03955539e-04 3.53612910e-02] [ 1.34949959e-02 -1.78669263e-04 9.99908922e-01 5.19862040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.949254153999999 meters 0.013711720725806797 Centerline is valid? [True, True] Translation: X:5.59, Y:0.04, Z:0.01 [[ 9.99561368e-01 -2.62882730e-02 -1.36381556e-02 5.58677015e+00] [ 2.62879192e-02 9.99654392e-01 -2.05239829e-04 3.84438237e-02] [ 1.36388375e-02 -1.53368928e-04 9.99906975e-01 5.34009415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9792541539999995 meters 0.013249670072157564 Centerline is valid? [True, True] Translation: X:5.62, Y:0.04, Z:0.01 [[ 9.99621052e-01 -2.41041655e-02 -1.32944193e-02 5.61845646e+00] [ 2.41036442e-02 9.99709445e-01 -1.99464519e-04 4.25467239e-02] [ 1.32953644e-02 -1.21055019e-04 9.99911605e-01 6.13957241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.009254154 meters 0.013285931324144766 Centerline is valid? [True, True] Translation: X:5.65, Y:0.05, Z:0.01 [[ 9.99670430e-01 -2.22154569e-02 -1.28648761e-02 5.64828855e+00] [ 2.22148169e-02 9.99753202e-01 -1.92668655e-04 4.60356119e-02] [ 1.28659813e-02 -9.31857087e-05 9.99917225e-01 6.51660980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039254153999999 meters 0.012897063937186277 Centerline is valid? [True, True] Translation: X:5.68, Y:0.05, Z:0.01 [[ 9.99734720e-01 -1.93811705e-02 -1.24442527e-02 5.67960898e+00] [ 1.93803561e-02 9.99812166e-01 -1.86047365e-04 5.24378214e-02] [ 1.24455211e-02 -5.51760382e-05 9.99922550e-01 7.80917631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.069254153999999 meters 0.012927378595096822 Centerline is valid? [True, True] Translation: X:5.71, Y:0.06, Z:0.01 [[ 9.99748234e-01 -1.85249008e-02 -1.26608711e-02 5.71110046e+00] [ 1.85239950e-02 9.99828398e-01 -1.88821190e-04 5.51852728e-02] [ 1.26621964e-02 -4.57562621e-05 9.99919830e-01 8.06887963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.099254154 meters 0.01289480855212995 Centerline is valid? [True, True] Translation: X:5.74, Y:0.06, Z:0.01 [[ 9.99745920e-01 -1.85182373e-02 -1.28518763e-02 5.74112592e+00] [ 1.85173080e-02 9.99828522e-01 -1.91308039e-04 5.95352020e-02] [ 1.28532151e-02 -4.67227203e-05 9.99917393e-01 8.38588029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.129254153999999 meters 0.012893495545800542 Centerline is valid? [True, True] Translation: X:5.77, Y:0.06, Z:0.01 [[ 9.99736594e-01 -1.88757173e-02 -1.30556405e-02 5.77108310e+00] [ 1.88747919e-02 9.99821836e-01 -1.94105503e-04 6.16471106e-02] [ 1.30569783e-02 -5.23681237e-05 9.99914753e-01 8.54931350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159254153999999 meters 0.013067230909441709 Centerline is valid? [True, True] Translation: X:5.80, Y:0.06, Z:0.01 [[ 9.99731459e-01 -1.92344621e-02 -1.29246169e-02 5.80181206e+00] [ 1.92335867e-02 9.99814999e-01 -1.92035571e-04 6.38892849e-02] [ 1.29259196e-02 -5.66027389e-05 9.99916455e-01 8.88175276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1892541539999995 meters 0.012927116941661692 Centerline is valid? [True, True] Translation: X:5.83, Y:0.07, Z:0.01 [[ 9.99740683e-01 -1.88911308e-02 -1.27158199e-02 5.83348453e+00] [ 1.88902584e-02 9.99821545e-01 -1.88725114e-04 6.90746450e-02] [ 1.27171160e-02 -5.15289494e-05 9.99919133e-01 9.44683856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219254154 meters 0.012924644729461365 Centerline is valid? [True, True] Translation: X:5.87, Y:0.07, Z:0.01 [[ 9.99754488e-01 -1.81889879e-02 -1.26539945e-02 5.86512131e+00] [ 1.81880735e-02 9.99834566e-01 -1.87349874e-04 7.21232884e-02] [ 1.26553088e-02 -4.28479052e-05 9.99919917e-01 9.66415401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.249254153999999 meters 0.012896167641991444 Centerline is valid? [True, True] Translation: X:5.90, Y:0.07, Z:0.01 [[ 9.99773778e-01 -1.73301406e-02 -1.23312169e-02 5.89547997e+00] [ 1.73292139e-02 9.99849821e-01 -1.82002971e-04 7.47342516e-02] [ 1.23325191e-02 -3.17284960e-05 9.99923951e-01 9.55916965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.279254153999999 meters 0.012874946417833023 Centerline is valid? [True, True] Translation: X:5.93, Y:0.08, Z:0.01 [[ 9.99804801e-01 -1.60050440e-02 -1.15844487e-02 5.92641181e+00] [ 1.60041427e-02 9.99871911e-01 -1.70509331e-04 8.01782982e-02] [ 1.15856939e-02 -1.49231226e-05 9.99932883e-01 1.02258151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.309254154 meters 0.012936141267230871 Centerline is valid? [True, True] Translation: X:5.96, Y:0.08, Z:0.01 [[ 9.99820821e-01 -1.54057578e-02 -1.09994699e-02 5.95690087e+00] [ 1.54049103e-02 9.99881324e-01 -1.61778685e-04 8.29752670e-02] [ 1.10006569e-02 -7.69614955e-06 9.99939491e-01 1.09255732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.339254153999999 meters 0.012906944115925021 Centerline is valid? [True, True] Translation: X:5.99, Y:0.09, Z:0.01 [[ 9.99827637e-01 -1.49915727e-02 -1.09521219e-02 5.98781037e+00] [ 1.49907076e-02 9.99887620e-01 -1.61082297e-04 8.55574511e-02] [ 1.09533060e-02 -3.12552514e-06 9.99940011e-01 1.09329586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.369254153999999 meters 0.012987718098164827 Centerline is valid? [True, True] Translation: X:6.02, Y:0.09, Z:0.01 [[ 9.99817827e-01 -1.55875182e-02 -1.10155579e-02 6.01825304e+00] [ 1.55866800e-02 9.99878507e-01 -1.61941118e-04 8.87336018e-02] [ 1.10167439e-02 -9.78436002e-06 9.99939314e-01 1.03632690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.399254153999999 meters 0.012878319900575592 Centerline is valid? [True, True] Translation: X:6.05, Y:0.09, Z:0.01 [[ 9.99809211e-01 -1.60901904e-02 -1.10746029e-02 6.04922753e+00] [ 1.60893771e-02 9.99870544e-01 -1.62533913e-04 9.01893233e-02] [ 1.10757845e-02 -1.56805599e-05 9.99938661e-01 1.03487047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.429254154 meters 0.012909992251395405 Centerline is valid? [True, True] Translation: X:6.08, Y:0.09, Z:0.01 [[ 9.99785636e-01 -1.74744139e-02 -1.11052595e-02 6.07944771e+00] [ 1.74736851e-02 9.99847310e-01 -1.62660118e-04 9.27385136e-02] [ 1.11064062e-02 -3.14245569e-05 9.99938321e-01 9.60612381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.459254153999999 meters 0.012992341939336656 Centerline is valid? [True, True] Translation: X:6.11, Y:0.09, Z:0.01 [[ 9.99777857e-01 -1.81454946e-02 -1.07228073e-02 6.11100782e+00] [ 1.81448565e-02 9.99835356e-01 -1.56802775e-04 9.42441975e-02] [ 1.07238871e-02 -3.77958575e-05 9.99942497e-01 9.86757519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.489254153999999 meters 0.013127716391091249 Centerline is valid? [True, True] Translation: X:6.14, Y:0.10, Z:0.01 [[ 9.99767356e-01 -1.87648958e-02 -1.06354129e-02 6.14319182e+00] [ 1.87643085e-02 9.99823923e-01 -1.55011701e-04 9.54009594e-02] [ 1.06364490e-02 -4.45905303e-05 9.99943430e-01 9.70285572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5192541539999995 meters 0.013371772689127339 Centerline is valid? [True, True] Translation: X:6.17, Y:0.09, Z:0.01 [[ 9.99725147e-01 -2.14265593e-02 -9.51487078e-03 6.17396418e+00] [ 2.14262153e-02 9.99770423e-01 -1.38096704e-04 9.36276363e-02] [ 9.51564532e-03 -6.58089218e-05 9.99954723e-01 9.87167614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.549254153999999 meters 0.014056657996279861 Centerline is valid? [True, True] Translation: X:6.21, Y:0.09, Z:0.01 [[ 9.99618441e-01 -2.60798821e-02 -9.10011452e-03 6.20584597e+00] [ 2.60797649e-02 9.99659856e-01 -1.31568509e-04 9.17761021e-02] [ 9.10045046e-03 -1.05810539e-04 9.99958584e-01 1.07821204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.579254153999999 meters 0.0144412418426922 Centerline is valid? [True, True] Translation: X:6.24, Y:0.09, Z:0.01 [[ 9.99563736e-01 -2.79143587e-02 -9.65022422e-03 6.23774211e+00] [ 2.79143193e-02 9.99610310e-01 -1.38805238e-04 9.14949927e-02] [ 9.65033828e-03 -1.30634758e-04 9.99953426e-01 1.06827033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.609254153999999 meters 0.014725050353332225 Centerline is valid? [True, True] Translation: X:6.27, Y:0.09, Z:0.01 [[ 9.99516012e-01 -2.94098431e-02 -1.01391566e-02 6.26978862e+00] [ 2.94098841e-02 9.99567425e-01 -1.45092785e-04 9.10833713e-02] [ 1.01390378e-02 -1.53168859e-04 9.99948587e-01 1.02946682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.639254154 meters 0.015501814128039502 Centerline is valid? [True, True] Translation: X:6.30, Y:0.09, Z:0.01 [[ 9.99383189e-01 -3.35084121e-02 -1.05085030e-02 6.30216558e+00] [ 3.35086906e-02 9.99438415e-01 -1.49610888e-04 8.70995155e-02] [ 1.05076149e-02 -2.02607571e-04 9.99944773e-01 8.47703910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.669254153999999 meters 0.01619618527836009 Centerline is valid? [True, True] Translation: X:6.33, Y:0.09, Z:0.01 [[ 9.99316408e-01 -3.53308409e-02 -1.08834098e-02 6.33411801e+00] [ 3.53312564e-02 9.99375644e-01 -1.54149613e-04 8.53067244e-02] [ 1.08820609e-02 -2.30480304e-04 9.99940762e-01 7.82808045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.699254153999999 meters 0.017072414990831786 Centerline is valid? [True, True] Translation: X:6.37, Y:0.08, Z:0.01 [[ 9.99201110e-01 -3.81477957e-02 -1.19116840e-02 6.36589646e+00] [ 3.81485071e-02 9.99272067e-01 -1.67563961e-04 8.30307608e-02] [ 1.19094053e-02 -2.86982867e-04 9.99929039e-01 6.53733838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7292541539999995 meters 0.01703538843051044 Centerline is valid? [True, True] Translation: X:6.40, Y:0.08, Z:0.01 [[ 9.99178434e-01 -3.86262924e-02 -1.22665007e-02 6.39781148e+00] [ 3.86270983e-02 9.99253680e-01 -1.71300917e-04 8.32508693e-02] [ 1.22639627e-02 -3.02659145e-04 9.99924749e-01 6.74279090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.759254153999999 meters 0.017327488353216382 Centerline is valid? [True, True] Translation: X:6.43, Y:0.08, Z:0.01 [[ 9.99182051e-01 -3.85117700e-02 -1.23317685e-02 6.43133273e+00] [ 3.85125891e-02 9.99258100e-01 -1.71130840e-04 8.34422773e-02] [ 1.23292101e-02 -3.03937469e-04 9.99923946e-01 7.14284273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.789254153999999 meters 0.0174728415051837 Centerline is valid? [True, True] Translation: X:6.46, Y:0.08, Z:0.01 [[ 9.99216079e-01 -3.76906866e-02 -1.21095011e-02 6.46208550e+00] [ 3.76914284e-02 9.99289412e-01 -1.67040248e-04 8.39905542e-02] [ 1.21071920e-02 -2.89515090e-04 9.99926663e-01 7.32604629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.819254153999999 meters 0.01742119449813584 Centerline is valid? [True, True] Translation: X:6.49, Y:0.08, Z:0.01 [[ 9.99228439e-01 -3.74603152e-02 -1.18005172e-02 6.49458641e+00] [ 3.74610118e-02 9.99298077e-01 -1.62077138e-04 8.42814372e-02] [ 1.17983056e-02 -2.80107230e-04 9.99930358e-01 7.72174294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.849254154 meters 0.01740871457243348 Centerline is valid? [True, True] Translation: X:6.53, Y:0.08, Z:0.01 [[ 9.99237606e-01 -3.72730117e-02 -1.16158709e-02 6.52744335e+00] [ 3.72736853e-02 9.99305082e-01 -1.58567047e-04 8.43105363e-02] [ 1.16137091e-02 -2.74520159e-04 9.99932521e-01 8.09173730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.879254153999999 meters 0.016708046401303033 Centerline is valid? [True, True] Translation: X:6.56, Y:0.09, Z:0.01 [[ 9.99254950e-01 -3.69932769e-02 -1.10019293e-02 6.55925466e+00] [ 3.69938752e-02 9.99315481e-01 -1.49197010e-04 8.52457482e-02] [ 1.09999176e-02 -2.57918150e-04 9.99939466e-01 8.93599940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.909254153999999 meters 0.016793874457823463 Centerline is valid? [True, True] Translation: X:6.59, Y:0.09, Z:0.01 [[ 9.99247904e-01 -3.71784564e-02 -1.10176202e-02 6.59186558e+00] [ 3.71790764e-02 9.99308608e-01 -1.48610499e-04 8.55089966e-02] [ 1.10155278e-02 -2.61126213e-04 9.99939293e-01 9.19665312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9392541539999995 meters 0.017181515050174172 Centerline is valid? [True, True] Translation: X:6.62, Y:0.08, Z:0.01 [[ 9.99236596e-01 -3.74662043e-02 -1.10683775e-02 6.62326151e+00] [ 3.74668558e-02 9.99297860e-01 -1.48565977e-04 8.48899385e-02] [ 1.10661721e-02 -2.66244741e-04 9.99938733e-01 8.85036040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.969254153999999 meters 0.01725377501312284 Centerline is valid? [True, True] Translation: X:6.66, Y:0.09, Z:0.01 [[ 9.99219001e-01 -3.78623073e-02 -1.13063303e-02 6.65534204e+00] [ 3.78630202e-02 9.99282927e-01 -1.51063964e-04 8.51105253e-02] [ 1.13039425e-02 -2.77145831e-04 9.99936070e-01 8.87597731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.999254153999999 meters 0.017616887783923747 Centerline is valid? [True, True] Translation: X:6.69, Y:0.09, Z:0.01 [[ 9.99194171e-01 -3.84109889e-02 -1.16449150e-02 6.68724201e+00] [ 3.84117924e-02 9.99261983e-01 -1.54740178e-04 8.50500951e-02] [ 1.16422646e-02 -2.92686573e-04 9.99932184e-01 8.42955483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.029254153999998 meters 0.01812932230155851 Centerline is valid? [True, True] Translation: X:6.72, Y:0.08, Z:0.01 [[ 9.99124345e-01 -3.96726781e-02 -1.32899118e-02 6.71956628e+00] [ 3.96738497e-02 9.99212667e-01 -1.75581916e-04 8.45100898e-02] [ 1.32864141e-02 -3.51833798e-04 9.99911670e-01 7.40797172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.059254154 meters 0.017486546189323035 Centerline is valid? [True, True] Translation: X:6.75, Y:0.09, Z:0.01 [[ 9.99103523e-01 -3.99901598e-02 -1.38901643e-02 6.75164308e+00] [ 3.99914845e-02 9.99200004e-01 -1.82486830e-04 8.63349708e-02] [ 1.38863499e-02 -3.73165055e-04 9.99903510e-01 7.26450416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.089254153999999 meters 0.017788385280394652 Centerline is valid? [True, True] Translation: X:6.78, Y:0.09, Z:0.01 [[ 9.99090030e-01 -4.00750330e-02 -1.45980701e-02 6.78274341e+00] [ 4.00765192e-02 9.99196595e-01 -1.90834921e-04 8.62796038e-02] [ 1.45939897e-02 -3.94378571e-04 9.99893424e-01 6.84357631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119254154 meters 0.01832890070410992 Centerline is valid? [True, True] Translation: X:6.81, Y:0.09, Z:0.01 [[ 9.99087716e-01 -3.99509952e-02 -1.50881963e-02 6.81489242e+00] [ 3.99525857e-02 9.99201557e-01 -1.96113488e-04 8.56619007e-02] [ 1.50839842e-02 -4.06877878e-04 9.99886147e-01 6.29474763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.149254154 meters 0.018136411075843753 Centerline is valid? [True, True] Translation: X:6.85, Y:0.09, Z:0.01 [[ 9.99116789e-01 -3.92346191e-02 -1.50428155e-02 6.84731728e+00] [ 3.92361370e-02 9.99229947e-01 -1.94321377e-04 8.71499418e-02] [ 1.50388559e-02 -3.96072220e-04 9.99886832e-01 6.56602368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179254153999999 meters 0.01800944175168162 Centerline is valid? [True, True] Translation: X:6.88, Y:0.09, Z:0.01 [[ 9.99134306e-01 -3.87921600e-02 -1.50268989e-02 6.87991250e+00] [ 3.87936408e-02 9.99247225e-01 -1.93047308e-04 8.82770062e-02] [ 1.50230757e-02 -3.90067929e-04 9.99887071e-01 7.11804293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.209254154 meters 0.01786276623154919 Centerline is valid? [True, True] Translation: X:6.91, Y:0.09, Z:0.01 [[ 9.99199916e-01 -3.75411870e-02 -1.37908558e-02 6.91225808e+00] [ 3.75423280e-02 9.99295023e-01 -1.76229743e-04 9.01400624e-02] [ 1.37877494e-02 -3.41652088e-04 9.99904886e-01 8.26435876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.239254154 meters 0.017836204169663996 Centerline is valid? [True, True] Translation: X:6.94, Y:0.09, Z:0.01 [[ 9.99242371e-01 -3.65960303e-02 -1.32444311e-02 6.94306516e+00] [ 3.65970103e-02 9.99330091e-01 -1.68441923e-04 9.03536020e-02] [ 1.32417229e-02 -3.16392277e-04 9.99912274e-01 8.96147284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.269254153999999 meters 0.017486970105600384 Centerline is valid? [True, True] Translation: X:6.97, Y:0.09, Z:0.01 [[ 9.99271595e-01 -3.60040326e-02 -1.26486697e-02 6.97484201e+00] [ 3.60048886e-02 9.99351601e-01 -1.60110385e-04 9.14968345e-02] [ 1.26462329e-02 -2.95420182e-04 9.99919990e-01 9.68139178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299254154 meters 0.016778295067157535 Centerline is valid? [True, True] Translation: X:7.01, Y:0.09, Z:0.01 [[ 9.99357329e-01 -3.38407876e-02 -1.18207544e-02 7.00737256e+00] [ 3.38413935e-02 9.99427205e-01 -1.48821726e-04 9.33446158e-02] [ 1.18190198e-02 -2.51304719e-04 9.99930121e-01 1.04155072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.329254154 meters 0.016449348366241453 Centerline is valid? [True, True] Translation: X:7.04, Y:0.09, Z:0.01 [[ 9.99399642e-01 -3.27785619e-02 -1.12214897e-02 7.03918880e+00] [ 3.27790497e-02 9.99462613e-01 -1.40498897e-04 9.44346485e-02] [ 1.12200648e-02 -2.27415222e-04 9.99937027e-01 1.06468897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359254153999998 meters 0.015828519471591574 Centerline is valid? [True, True] Translation: X:7.07, Y:0.10, Z:0.01 [[ 9.99482824e-01 -3.00279501e-02 -1.15068056e-02 7.07184882e+00] [ 3.00282913e-02 9.99549039e-01 -1.43152952e-04 9.66647179e-02] [ 1.15059150e-02 -2.02450793e-04 9.99933784e-01 1.08559378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.389254154 meters 0.015357037663222288 Centerline is valid? [True, True] Translation: X:7.10, Y:0.10, Z:0.01 [[ 9.99538559e-01 -2.82070365e-02 -1.12708332e-02 7.10379302e+00] [ 2.82072585e-02 9.99602086e-01 -1.39297575e-04 9.83061520e-02] [ 1.12702776e-02 -1.78686009e-04 9.99936472e-01 1.10592325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419254153999999 meters 0.015357037663222288 Centerline is valid? [True, True] Translation: X:7.14, Y:0.10, Z:0.01 [[ 9.99540591e-01 -2.81349365e-02 -1.12708432e-02 7.13549321e+00] [ 2.81351631e-02 9.99604118e-01 -1.38484890e-04 9.86358384e-02] [ 1.12702776e-02 -1.78685743e-04 9.99936472e-01 1.12787411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.449254153999998 meters 0.01521179311935309 Centerline is valid? [True, True] Translation: X:7.17, Y:0.10, Z:0.01 [[ 9.99574688e-01 -2.68224099e-02 -1.14455565e-02 7.16634162e+00] [ 2.68225661e-02 9.99640200e-01 -1.39881168e-04 9.99300827e-02] [ 1.14451903e-02 -1.67177519e-04 9.99934488e-01 1.16183538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479254154 meters 0.014829903458497424 Centerline is valid? [True, True] Translation: X:7.20, Y:0.10, Z:0.01 [[ 9.99652150e-01 -2.36820400e-02 -1.16077482e-02 7.19711978e+00] [ 2.36820004e-02 9.99719532e-01 -1.40883909e-04 1.01398726e-01] [ 1.16078290e-02 -1.34059795e-04 9.99932618e-01 1.13241643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.509254153999999 meters 0.014639607631807532 Centerline is valid? [True, True] Translation: X:7.23, Y:0.10, Z:0.01 [[ 9.99678854e-01 -2.24819011e-02 -1.16941226e-02 7.22899667e+00] [ 2.24817932e-02 9.99747243e-01 -1.40699495e-04 1.02223326e-01] [ 1.16943300e-02 -1.22250537e-04 9.99931612e-01 1.12060931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539254154 meters 0.014542554199426348 Centerline is valid? [True, True] Translation: X:7.26, Y:0.10, Z:0.01 [[ 9.99697532e-01 -2.16972473e-02 -1.15790487e-02 7.26133680e+00] [ 2.16970983e-02 9.99764581e-01 -1.38507546e-04 1.02396323e-01] [ 1.15793280e-02 -1.12766106e-04 9.99932951e-01 1.13762677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.569254154 meters 0.014333228716546288 Centerline is valid? [True, True] Translation: X:7.29, Y:0.10, Z:0.01 [[ 9.99718331e-01 -2.07561831e-02 -1.15082187e-02 7.29281411e+00] [ 2.07559809e-02 9.99784562e-01 -1.37016775e-04 1.02711425e-01] [ 1.15085834e-02 -1.01886186e-04 9.99933769e-01 1.18303343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599254153999999 meters 0.014224978247441379 Centerline is valid? [True, True] Translation: X:7.32, Y:0.10, Z:0.01 [[ 9.99717807e-01 -2.05353817e-02 -1.19416979e-02 7.32495374e+00] [ 2.05351556e-02 9.99789121e-01 -1.41565927e-04 1.02608546e-01] [ 1.19420868e-02 -1.03698646e-04 9.99928685e-01 1.21108640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.629254154 meters 0.014224131801147115 Centerline is valid? [True, True] Translation: X:7.36, Y:0.10, Z:0.01 [[ 9.99726716e-01 -2.01679427e-02 -1.18215186e-02 7.35681193e+00] [ 2.01677043e-02 9.99796601e-01 -1.39389176e-04 1.02642216e-01] [ 1.18219253e-02 -9.90618077e-05 9.99930114e-01 1.19324591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659254154 meters 0.014262905724507053 Centerline is valid? [True, True] Translation: X:7.39, Y:0.10, Z:0.01 [[ 9.99722680e-01 -1.99004803e-02 -1.25910545e-02 7.38895446e+00] [ 1.99001987e-02 9.99801961e-01 -1.47661286e-04 1.02833955e-01] [ 1.25914995e-02 -1.02944150e-04 9.99920719e-01 1.12279810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.689254153999999 meters 0.014093346448996876 Centerline is valid? [True, True] Translation: X:7.42, Y:0.10, Z:0.01 [[ 9.99742284e-01 -1.80950699e-02 -1.37089106e-02 7.41886201e+00] [ 1.80945755e-02 9.99836267e-01 -1.60111384e-04 1.03742613e-01] [ 1.37095633e-02 -8.79867977e-05 9.99906016e-01 1.06668848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719254154 meters 0.013976098595310175 Centerline is valid? [True, True] Translation: X:7.45, Y:0.11, Z:0.01 [[ 9.99755448e-01 -1.70994390e-02 -1.40232948e-02 7.44971454e+00] [ 1.70988254e-02 9.99853791e-01 -1.63657939e-04 1.05179103e-01] [ 1.40240429e-02 -7.61639533e-05 9.99901655e-01 1.13018276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.749254153999999 meters 0.0140364049626764 Centerline is valid? [True, True] Translation: X:7.48, Y:0.11, Z:0.01 [[ 9.99782756e-01 -1.57582498e-02 -1.36425135e-02 7.47912934e+00] [ 1.57575444e-02 9.99875830e-01 -1.59198405e-04 1.06210941e-01] [ 1.36433282e-02 -5.58086923e-05 9.99906924e-01 1.13267629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.779254153999998 meters 0.013940435595359577 Centerline is valid? [True, True] Translation: X:7.51, Y:0.11, Z:0.01 [[ 9.99818526e-01 -1.40780776e-02 -1.28344050e-02 7.50903350e+00] [ 1.40773124e-02 9.99900898e-01 -1.49962063e-04 1.08084269e-01] [ 1.28352443e-02 -3.07390793e-05 9.99917624e-01 1.31327031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.809254154 meters 0.013897533728303345 Centerline is valid? [True, True] Translation: X:7.54, Y:0.11, Z:0.01 [[ 9.99832149e-01 -1.35065343e-02 -1.23792997e-02 7.53840389e+00] [ 1.35057733e-02 9.99908782e-01 -1.45074559e-04 1.08552605e-01] [ 1.23801299e-02 -2.21418064e-05 9.99923363e-01 1.35380187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.839254153999999 meters 0.013862856529154264 Centerline is valid? [True, True] Translation: X:7.57, Y:0.11, Z:0.01 [[ 9.99833523e-01 -1.37214449e-02 -1.20269658e-02 7.56806239e+00] [ 1.37207371e-02 9.99905856e-01 -1.41366487e-04 1.08406069e-01] [ 1.20277733e-02 -2.36758833e-05 9.99927663e-01 1.42355372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.869254153999998 meters 0.013928877290591446 Centerline is valid? [True, True] Translation: X:7.60, Y:0.11, Z:0.02 [[ 9.99821599e-01 -1.48701045e-02 -1.16468661e-02 7.59731750e+00] [ 1.48695139e-02 9.99889433e-01 -1.37307625e-04 1.06943321e-01] [ 1.16476201e-02 -3.59001077e-05 9.99932164e-01 1.50290394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.899254154 meters 0.014053968147319322 Centerline is valid? [True, True] Translation: X:7.63, Y:0.11, Z:0.02 [[ 9.99812322e-01 -1.56939286e-02 -1.13587807e-02 7.62682577e+00] [ 1.56934174e-02 9.99876842e-01 -1.34137946e-04 1.06328663e-01] [ 1.13594869e-02 -4.41453147e-05 9.99935478e-01 1.52662385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.929254153999999 meters 0.014016767649108773 Centerline is valid? [True, True] Translation: X:7.66, Y:0.11, Z:0.02 [[ 9.99791046e-01 -1.68318134e-02 -1.15997288e-02 7.65734719e+00] [ 1.68313572e-02 9.99858333e-01 -1.36957158e-04 1.05499974e-01] [ 1.16003908e-02 -5.83106389e-05 9.99932712e-01 1.56277345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.959254154 meters 0.014348106996616473 Centerline is valid? [True, True] Translation: X:7.69, Y:0.10, Z:0.02 [[ 9.99735038e-01 -1.97392250e-02 -1.18412782e-02 7.68861068e+00] [ 1.97389557e-02 9.99805158e-01 -1.39628927e-04 1.02901210e-01] [ 1.18417271e-02 -9.41425347e-05 9.99929880e-01 1.54104056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.989254154 meters 0.014921165510220494 Centerline is valid? [True, True] Translation: X:7.72, Y:0.10, Z:0.01 [[ 9.99697427e-01 -2.13246055e-02 -1.22603412e-02 7.72027334e+00] [ 2.13244427e-02 9.99772598e-01 -1.44014602e-04 9.91055575e-02] [ 1.22606242e-02 -1.17473917e-04 9.99924829e-01 1.40137847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.019254153999999 meters 0.014982795190337276 Centerline is valid? [True, True] Translation: X:7.75, Y:0.10, Z:0.01 [[ 9.99602146e-01 -2.51116455e-02 -1.28434409e-02 7.75263451e+00] [ 2.51117901e-02 9.99684638e-01 -1.50034932e-04 9.70002837e-02] [ 1.28431582e-02 -1.72546551e-04 9.99917508e-01 1.49523213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.049254154 meters 0.015466874243093528 Centerline is valid? [True, True] Translation: X:7.78, Y:0.09, Z:0.01 [[ 9.99553858e-01 -2.68234509e-02 -1.31372700e-02 7.78396734e+00] [ 2.68237612e-02 9.99640167e-01 -1.52614417e-04 9.42028816e-02] [ 1.31366364e-02 -1.99844664e-04 9.99913691e-01 1.48836623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.079254154 meters 0.01572529957031007 Centerline is valid? [True, True] Translation: X:7.82, Y:0.09, Z:0.02 [[ 9.99501190e-01 -2.86833929e-02 -1.32149458e-02 7.81626765e+00] [ 2.86838804e-02 9.99588521e-01 -1.52679934e-04 9.32463665e-02] [ 1.32138875e-02 -2.26452149e-04 9.99912667e-01 1.50428072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.109254153999998 meters 0.01598553468003369 Centerline is valid? [True, True] Translation: X:7.85, Y:0.09, Z:0.02 [[ 9.99445723e-01 -3.02381891e-02 -1.39247403e-02 7.84848225e+00] [ 3.02388958e-02 9.99542687e-01 -1.59837097e-04 9.15880783e-02] [ 1.39232055e-02 -2.61320268e-04 9.99903033e-01 1.53614741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.139254154 meters 0.016946157024543794 Centerline is valid? [True, True] Translation: X:7.88, Y:0.09, Z:0.01 [[ 9.99338484e-01 -3.30453619e-02 -1.51854468e-02 7.87910968e+00] [ 3.30465393e-02 9.99453799e-01 -1.73456166e-04 8.83788129e-02] [ 1.51828844e-02 -3.28485042e-04 9.99884679e-01 1.44242714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.169254153999999 meters 0.01710615573352667 Centerline is valid? [True, True] Translation: X:7.91, Y:0.09, Z:0.01 [[ 9.99296585e-01 -3.39714634e-02 -1.58831817e-02 7.91167555e+00] [ 3.39728829e-02 9.99422739e-01 -1.80518096e-04 8.75386448e-02] [ 1.58801454e-02 -3.59206356e-04 9.99873838e-01 1.43808454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199254153999998 meters 0.01800563150305398 Centerline is valid? [True, True] Translation: X:7.94, Y:0.08, Z:0.01 [[ 9.99190917e-01 -3.61317585e-02 -1.76637596e-02 7.94302137e+00] [ 3.61338715e-02 9.99346938e-01 -1.99625127e-04 8.48097077e-02] [ 1.76594369e-02 -4.38796404e-04 9.99843964e-01 1.29436983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.229254154 meters 0.018559659227210156 Centerline is valid? [True, True] Translation: X:7.97, Y:0.08, Z:0.01 [[ 9.99143605e-01 -3.70773809e-02 -1.83664095e-02 7.97374847e+00] [ 3.70798395e-02 9.99312285e-01 -2.06773808e-04 8.34615672e-02] [ 1.83614452e-02 -4.74426787e-04 9.99831302e-01 1.24647580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.259254153999999 meters 0.018297374385864314 Centerline is valid? [True, True] Translation: X:8.01, Y:0.08, Z:0.01 [[ 9.99097950e-01 -3.78912769e-02 -1.91712591e-02 8.00603018e+00] [ 3.78941274e-02 9.99281737e-01 -2.14694680e-04 8.35136264e-02] [ 1.91656241e-02 -5.11977118e-04 9.99816191e-01 1.24395151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.289254153999998 meters 0.01951283400576559 Centerline is valid? [True, True] Translation: X:8.04, Y:0.08, Z:0.01 [[ 9.99028471e-01 -3.93055019e-02 -1.99296583e-02 8.03755465e+00] [ 3.93088879e-02 9.99227082e-01 -2.21968784e-04 8.06272752e-02] [ 1.99229789e-02 -5.61659570e-04 9.99801360e-01 1.26249718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319254154 meters 0.019255273917206352 Centerline is valid? [True, True] Translation: X:8.07, Y:0.08, Z:0.01 [[ 9.99029069e-01 -3.95223743e-02 -1.94653684e-02 8.06950312e+00] [ 3.95256700e-02 9.99218532e-01 -2.15540560e-04 8.13201886e-02] [ 1.94586755e-02 -5.54050442e-04 9.99810509e-01 1.38412005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.349254153999999 meters 0.019967442145223977 Centerline is valid? [True, True] Translation: X:8.10, Y:0.08, Z:0.01 [[ 9.99043093e-01 -3.94243700e-02 -1.89372084e-02 8.10054346e+00] [ 3.94274927e-02 9.99222412e-01 -2.08574597e-04 8.02079051e-02] [ 1.89307060e-02 -5.38271634e-04 9.99820653e-01 1.43047116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379254154 meters 0.018983432253632262 Centerline is valid? [True, True] Translation: X:8.13, Y:0.08, Z:0.02 [[ 9.99044953e-01 -3.95597223e-02 -1.85529048e-02 8.13273387e+00] [ 3.95627651e-02 9.99217067e-01 -2.03144296e-04 8.25133051e-02] [ 1.85464155e-02 -5.31053932e-04 9.99827859e-01 1.73241829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.409254154 meters 0.01902805461665543 Centerline is valid? [True, True] Translation: X:8.16, Y:0.08, Z:0.02 [[ 9.99054725e-01 -3.96419844e-02 -1.78373010e-02 8.16482488e+00] [ 3.96448326e-02 9.99213816e-01 -1.94043583e-04 8.27727272e-02] [ 1.78309699e-02 -5.13296653e-04 9.99840884e-01 1.87124306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.439254153999999 meters 0.01873549851253266 Centerline is valid? [True, True] Translation: X:8.20, Y:0.08, Z:0.02 [[ 9.99030514e-01 -4.03513332e-02 -1.76011766e-02 8.19747673e+00] [ 4.03542389e-02 9.99185418e-01 -1.90200241e-04 8.30728793e-02] [ 1.75945138e-02 -5.20266241e-04 9.99845069e-01 2.03926659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.469254154 meters 0.019290714883635214 Centerline is valid? [True, True] Translation: X:8.23, Y:0.08, Z:0.02 [[ 9.99000210e-01 -4.09690294e-02 -1.78918603e-02 8.22898921e+00] [ 4.09721507e-02 9.99160270e-01 -1.92226425e-04 8.18398634e-02] [ 1.78847113e-02 -5.41033757e-04 9.99839909e-01 2.00679882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499254153999999 meters 0.01908927995321498 Centerline is valid? [True, True] Translation: X:8.26, Y:0.08, Z:0.02 [[ 9.98970956e-01 -4.15733597e-02 -1.81296414e-02 8.26111847e+00] [ 4.15766859e-02 9.99135297e-01 -1.93574295e-04 8.15487384e-02] [ 1.81220121e-02 -5.60395306e-04 9.99835626e-01 2.02081896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.529254153999998 meters 0.022897925462846688 Centerline is valid? [True, True] Translation: X:8.29, Y:0.07, Z:0.02 [[ 9.98907104e-01 -4.24037538e-02 -1.96600937e-02 8.29278878e+00] [ 4.24078651e-02 9.99100360e-01 -2.07936107e-04 7.37409209e-02] [ 1.96512240e-02 -6.26033748e-04 9.99806700e-01 1.70565229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559254154 meters 0.019748506221301983 Centerline is valid? [True, True] Translation: X:8.33, Y:0.08, Z:0.02 [[ 9.98872659e-01 -4.27077593e-02 -2.07233570e-02 8.32528615e+00] [ 4.27124305e-02 9.99087384e-01 -2.17361367e-04 7.90603963e-02] [ 2.07137275e-02 -6.68028619e-04 9.99785225e-01 1.91544735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.589254153999999 meters 0.02015592718304808 Centerline is valid? [True, True] Translation: X:8.36, Y:0.08, Z:0.02 [[ 9.98866307e-01 -4.25394792e-02 -2.13657001e-02 8.35634762e+00] [ 4.25444541e-02 9.99094550e-01 -2.21858991e-04 7.83713415e-02] [ 2.13557923e-02 -6.87384574e-04 9.99771703e-01 1.89554153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619254153999998 meters 0.020493054594242766 Centerline is valid? [True, True] Translation: X:8.39, Y:0.08, Z:0.02 [[ 9.98843037e-01 -4.28131667e-02 -2.19002259e-02 8.38832477e+00] [ 4.28185013e-02 9.99082842e-01 -2.25495206e-04 7.80287204e-02] [ 2.18897941e-02 -7.12500533e-04 9.99760136e-01 1.91523226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.649254154 meters 0.02088203655380911 Centerline is valid? [True, True] Translation: X:8.42, Y:0.08, Z:0.02 [[ 9.98842075e-01 -4.29180229e-02 -2.17382697e-02 8.41919587e+00] [ 4.29233314e-02 9.99078344e-01 -2.22550075e-04 7.70513989e-02] [ 2.17277859e-02 -7.10786576e-04 9.99763671e-01 1.97325441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679254153999999 meters 0.021208366061599808 Centerline is valid? [True, True] Translation: X:8.45, Y:0.08, Z:0.02 [[ 9.98842711e-01 -4.29368613e-02 -2.16717636e-02 8.44992368e+00] [ 4.29421665e-02 9.99077535e-01 -2.20725146e-04 7.62621774e-02] [ 2.16612495e-02 -7.10162780e-04 9.99765115e-01 1.99437556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.709254153999998 meters 0.020985083843135268 Centerline is valid? [True, True] Translation: X:8.48, Y:0.08, Z:0.02 [[ 9.98866492e-01 -4.25376755e-02 -2.13606563e-02 8.48213682e+00] [ 4.25427677e-02 9.99094623e-01 -2.16182147e-04 7.65682170e-02] [ 2.13505127e-02 -6.92804334e-04 9.99771812e-01 2.08098409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739254154 meters 0.02101911418629421 Centerline is valid? [True, True] Translation: X:8.51, Y:0.08, Z:0.02 [[ 9.98930597e-01 -4.10896877e-02 -2.11966941e-02 8.51326913e+00] [ 4.10944024e-02 9.99155245e-01 -2.13293153e-04 7.64413191e-02] [ 2.11875523e-02 -6.58000422e-04 9.99775302e-01 2.08907129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.769254153999999 meters 0.020765811035653572 Centerline is valid? [True, True] Translation: X:8.54, Y:0.08, Z:0.02 [[ 9.98994431e-01 -3.94546022e-02 -2.12946398e-02 8.54463236e+00] [ 3.94590130e-02 9.99221167e-01 -2.13174483e-04 7.68567361e-02] [ 2.12864655e-02 -6.27305346e-04 9.99773221e-01 2.06733497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799254154 meters 0.02002942033412509 Centerline is valid? [True, True] Translation: X:8.58, Y:0.08, Z:0.02 [[ 9.99099009e-01 -3.66105733e-02 -2.14670736e-02 8.57516665e+00] [ 3.66144311e-02 9.99329444e-01 -2.13443758e-04 7.81989751e-02] [ 2.14604930e-02 -5.72753240e-04 9.99769533e-01 2.03782367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.829254154 meters 0.019279570639718257 Centerline is valid? [True, True] Translation: X:8.61, Y:0.08, Z:0.02 [[ 9.99154996e-01 -3.51892743e-02 -2.12369514e-02 8.60620773e+00] [ 3.51927451e-02 9.99380521e-01 -2.10395773e-04 7.94757450e-02] [ 2.12311993e-02 -5.37168631e-04 9.99774448e-01 2.08318143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859254153999998 meters 0.018489770945041867 Centerline is valid? [True, True] Translation: X:8.64, Y:0.08, Z:0.02 [[ 9.99278395e-01 -3.19977027e-02 -2.04654804e-02 8.63642774e+00] [ 3.20002638e-02 9.99487840e-01 -2.02411697e-04 8.07216620e-02] [ 2.04614755e-02 -4.52635136e-04 9.99790540e-01 2.11886074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.889254154 meters 0.017994592049959488 Centerline is valid? [True, True] Translation: X:8.67, Y:0.08, Z:0.02 [[ 9.99333323e-01 -3.01745611e-02 -2.05525264e-02 8.66741216e+00] [ 3.01767657e-02 9.99544557e-01 -2.02928732e-04 8.17700655e-02] [ 2.05492892e-02 -4.17415330e-04 9.99788754e-01 2.16550256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919254153999999 meters 0.017581428312316332 Centerline is valid? [True, True] Translation: X:8.70, Y:0.08, Z:0.02 [[ 9.99392583e-01 -2.84238880e-02 -2.01630206e-02 8.69722318e+00] [ 2.84256516e-02 9.99595890e-01 -1.99188442e-04 8.28200133e-02] [ 2.01605342e-02 -3.74079545e-04 9.99796686e-01 2.18457190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.949254153999998 meters 0.016356187582768054 Centerline is valid? [True, True] Translation: X:8.73, Y:0.09, Z:0.02 [[ 9.99450533e-01 -2.66854921e-02 -1.96600116e-02 8.72789816e+00] [ 2.66868304e-02 9.99643824e-01 -1.94330923e-04 8.55346043e-02] [ 1.96581950e-02 -3.30439249e-04 9.99806704e-01 2.33495109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979254154 meters 0.01548619555685326 Centerline is valid? [True, True] Translation: X:8.76, Y:0.09, Z:0.03 [[ 9.99494278e-01 -2.51991355e-02 -1.93956851e-02 8.75846651e+00] [ 2.52001582e-02 9.99682407e-01 -1.91718167e-04 8.82142837e-02] [ 1.93943563e-02 -2.97153121e-04 9.99811868e-01 2.50603629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.009254153999999 meters 0.015008188382357127 Centerline is valid? [True, True] Translation: X:8.79, Y:0.09, Z:0.02 [[ 9.99585516e-01 -2.16081128e-02 -1.90232833e-02 8.78828915e+00] [ 2.16084422e-02 9.99766493e-01 -1.88257936e-04 8.85917733e-02] [ 1.90229091e-02 -2.22883611e-04 9.99819023e-01 2.49603045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039254153999998 meters 0.01481470855994979 Centerline is valid? [True, True] Translation: X:8.82, Y:0.09, Z:0.02 [[ 9.99621617e-01 -1.99463913e-02 -1.89410860e-02 8.81674705e+00] [ 1.99463600e-02 9.99801033e-01 -1.90591471e-04 8.87624564e-02] [ 1.89411190e-02 -1.87286367e-04 9.99820583e-01 2.46095143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.069254154 meters 0.0148839079234902 Centerline is valid? [True, True] Translation: X:8.84, Y:0.09, Z:0.02 [[ 9.99657609e-01 -1.80189628e-02 -1.89732044e-02 8.84469504e+00] [ 1.80185308e-02 9.99837634e-01 -1.93732287e-04 8.90074679e-02] [ 1.89736147e-02 -1.48203314e-04 9.99819974e-01 2.37908635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099254153999999 meters 0.014515424043890033 Centerline is valid? [True, True] Translation: X:8.87, Y:0.09, Z:0.02 [[ 9.99730645e-01 -1.31654687e-02 -1.91130449e-02 8.87303118e+00] [ 1.31640729e-02 9.99913330e-01 -1.98845052e-04 9.15181056e-02] [ 1.91140063e-02 -5.28140251e-05 9.99817309e-01 2.41980787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.129254153999998 meters 0.01440191352724984 Centerline is valid? [True, True] Translation: X:8.90, Y:0.09, Z:0.02 [[ 9.99762741e-01 -1.05403476e-02 -1.90620949e-02 8.90122095e+00] [ 1.05383820e-02 9.99944449e-01 -2.03562116e-04 9.30637782e-02] [ 1.90631815e-02 2.63018050e-06 9.99818281e-01 2.47221106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159254154 meters 0.014575149258138406 Centerline is valid? [True, True] Translation: X:8.93, Y:0.09, Z:0.03 [[ 9.99801914e-01 -7.43896649e-03 -1.84606470e-02 8.92907950e+00] [ 7.43649606e-03 9.99972328e-01 -2.02465565e-04 9.47999486e-02] [ 1.84616423e-02 6.51429305e-05 9.99829567e-01 2.53289196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.189254153999999 meters 0.015066698890159705 Centerline is valid? [True, True] Translation: X:8.96, Y:0.10, Z:0.03 [[ 9.99835858e-01 -1.11187503e-03 -1.80836982e-02 8.95806333e+00] [ 1.10838172e-03 9.99999365e-01 -2.03196473e-04 9.74224018e-02] [ 1.80839126e-02 1.83119479e-04 9.99836456e-01 2.59243980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.219254154 meters 0.015498753704202181 Centerline is valid? [True, True] Translation: X:8.99, Y:0.10, Z:0.03 [[ 9.99840196e-01 1.70846573e-03 -1.77950398e-02 8.98598085e+00] [-1.71234383e-03 9.99998513e-01 -2.02697084e-04 9.87765342e-02] [ 1.77946670e-02 2.33135919e-04 9.99841635e-01 2.62218797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.249254153999999 meters 0.016142490528785115 Centerline is valid? [True, True] Translation: X:9.01, Y:0.10, Z:0.03 [[ 9.99834985e-01 5.94622698e-03 -1.71652377e-02 9.01470763e+00] [-5.95051484e-03 9.99982276e-01 -1.98734765e-04 9.94607705e-02] [ 1.71637518e-02 3.00843973e-04 9.99852647e-01 2.64570979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279254153999998 meters 0.01661854245875254 Centerline is valid? [True, True] Translation: X:9.04, Y:0.10, Z:0.03 [[ 9.99828953e-01 6.79967467e-03 -1.71996813e-02 9.04219645e+00] [-6.80415226e-03 9.99976831e-01 -2.01823405e-04 1.00061177e-01] [ 1.71979105e-02 3.18818135e-04 9.99852054e-01 2.62331156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.309254154 meters 0.01661854245875254 Centerline is valid? [True, True] Translation: X:9.07, Y:0.10, Z:0.03 [[ 9.99829678e-01 6.69229020e-03 -1.71996610e-02 9.06965473e+00] [-6.69678159e-03 9.99977556e-01 -2.03549526e-04 1.00473751e-01] [ 1.71979127e-02 3.18697230e-04 9.99852054e-01 2.64236494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.339254153999999 meters 0.016580263559749963 Centerline is valid? [True, True] Translation: X:9.10, Y:0.10, Z:0.03 [[ 9.99826986e-01 7.11764738e-03 -1.71853641e-02 9.09858344e+00] [-7.12221963e-03 9.99974616e-01 -2.04864959e-04 9.94457430e-02] [ 1.71834697e-02 3.27227452e-04 9.99852300e-01 2.66750036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.369254153999998 meters 0.01708973043609051 Centerline is valid? [True, True] Translation: X:9.13, Y:0.10, Z:0.03 [[ 9.99840306e-01 5.98519456e-03 -1.68386273e-02 9.12611337e+00] [-5.98944680e-03 9.99982043e-01 -2.02109333e-04 9.78025804e-02] [ 1.68371152e-02 3.02931119e-04 9.99858200e-01 2.52406270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399254154 meters 0.016512933341360198 Centerline is valid? [True, True] Translation: X:9.15, Y:0.10, Z:0.03 [[ 9.99848789e-01 4.79464170e-03 -1.67156030e-02 9.15493730e+00] [-4.79868758e-03 9.99988466e-01 -2.01941045e-04 9.51117876e-02] [ 1.67144420e-02 2.82123465e-04 9.99860264e-01 2.57410215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.429254153999999 meters 0.01616744730326589 Centerline is valid? [True, True] Translation: X:9.18, Y:0.09, Z:0.03 [[ 9.99855512e-01 3.40838322e-03 -1.66534620e-02 9.18391310e+00] [-3.41222647e-03 9.99994158e-01 -2.02368733e-04 9.30562634e-02] [ 1.66526749e-02 2.59164877e-04 9.99861301e-01 2.58480939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.459254153999998 meters 0.01553423426351037 Centerline is valid? [True, True] Translation: X:9.21, Y:0.09, Z:0.03 [[ 9.99867525e-01 1.65890224e-03 -1.61919959e-02 9.21261360e+00] [-1.66232477e-03 9.99998599e-01 -1.97914910e-04 9.03768879e-02] [ 1.61916449e-02 2.24805047e-04 9.99868881e-01 2.67112958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.489254154 meters 0.015501507463389004 Centerline is valid? [True, True] Translation: X:9.24, Y:0.09, Z:0.03 [[ 9.99867523e-01 -2.33830265e-03 -1.61080381e-02 9.24058375e+00] [ 2.33541266e-03 9.99997253e-01 -1.98221471e-04 8.63685972e-02] [ 1.61084573e-02 1.60576295e-04 9.99870237e-01 2.61151443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.519254153999999 meters 0.014963383163578857 Centerline is valid? [True, True] Translation: X:9.27, Y:0.08, Z:0.03 [[ 9.99866197e-01 -4.51499155e-03 -1.57226649e-02 9.26986529e+00] [ 4.51248749e-03 9.99989800e-01 -1.94736980e-04 8.30046890e-02] [ 1.57233838e-02 1.23762595e-04 9.99876372e-01 2.70070755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.549254153999998 meters 0.01469725006218061 Centerline is valid? [True, True] Translation: X:9.30, Y:0.08, Z:0.03 [[ 9.99853698e-01 -7.00608035e-03 -1.56043994e-02 9.29785274e+00] [ 7.00389227e-03 9.99975453e-01 -1.94867531e-04 8.05559333e-02] [ 1.56053816e-02 8.55474890e-05 9.99878225e-01 2.70030259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579254154 meters 0.014603033982996892 Centerline is valid? [True, True] Translation: X:9.33, Y:0.07, Z:0.03 [[ 9.99811477e-01 -1.28081777e-02 -1.45932159e-02 9.32597816e+00] [ 1.28068600e-02 9.99917972e-01 -1.83744336e-04 7.44428732e-02] [ 1.45943723e-02 -3.18357816e-06 9.99893496e-01 2.72854783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.609254153999998 meters 0.014567787120435344 Centerline is valid? [True, True] Translation: X:9.35, Y:0.07, Z:0.03 [[ 9.99774101e-01 -1.61381101e-02 -1.38314179e-02 9.35422972e+00] [ 1.61372087e-02 9.99869771e-01 -1.76782320e-04 7.15149891e-02] [ 1.38324696e-02 -4.64580929e-05 9.99904326e-01 2.83037019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.639254154 meters 0.014720841408000554 Centerline is valid? [True, True] Translation: X:9.38, Y:0.07, Z:0.03 [[ 9.99724358e-01 -1.95749683e-02 -1.29625961e-02 9.38301361e+00] [ 1.95744204e-02 9.99808388e-01 -1.69150647e-04 6.82821143e-02] [ 1.29634234e-02 -8.46312824e-05 9.99915968e-01 2.87554563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.669254153999999 meters 0.015571911231271428 Centerline is valid? [True, True] Translation: X:9.41, Y:0.06, Z:0.03 [[ 9.99577085e-01 -2.64993605e-02 -1.19764666e-02 9.41289760e+00] [ 2.64993699e-02 9.99648818e-01 -1.57932767e-04 6.09611167e-02] [ 1.19764458e-02 -1.59502843e-04 9.99928267e-01 2.87106101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.699254153999998 meters 0.016112909734234387 Centerline is valid? [True, True] Translation: X:9.45, Y:0.06, Z:0.03 [[ 9.99476163e-01 -3.00695018e-02 -1.19676117e-02 9.44548555e+00] [ 3.00697714e-02 9.99547790e-01 -1.57451172e-04 5.77269057e-02] [ 1.19669343e-02 -2.02494654e-04 9.99928373e-01 2.85793627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.729254154 meters 0.016844070021766303 Centerline is valid? [True, True] Translation: X:9.48, Y:0.05, Z:0.03 [[ 9.99358139e-01 -3.36596195e-02 -1.22612878e-02 9.47761322e+00] [ 3.36601836e-02 9.99433323e-01 -1.60415125e-04 5.46551080e-02] [ 1.22597391e-02 -2.52405036e-04 9.99924815e-01 2.83646757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.759254153999999 meters 0.01810607496186621 Centerline is valid? [True, True] Translation: X:9.51, Y:0.05, Z:0.03 [[ 9.99117275e-01 -4.01033509e-02 -1.25056800e-02 9.50927692e+00] [ 4.01044510e-02 9.99195480e-01 -1.62897159e-04 4.99234540e-02] [ 1.25021517e-02 -3.38780067e-04 9.99921788e-01 2.82295274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.789254153999998 meters 0.01917171174478186 Centerline is valid? [True, True] Translation: X:9.54, Y:0.05, Z:0.03 [[ 9.99007471e-01 -4.27882292e-02 -1.23790478e-02 9.54004052e+00] [ 4.27895248e-02 9.99084096e-01 -1.60301879e-04 4.73329842e-02] [ 1.23745688e-02 -3.69550797e-04 9.99923364e-01 2.78283270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819254154 meters 0.020727154928278445 Centerline is valid? [True, True] Translation: X:9.57, Y:0.04, Z:0.03 [[ 9.98902077e-01 -4.50697476e-02 -1.27811495e-02 9.57125886e+00] [ 4.50713310e-02 9.98983758e-01 -1.64279066e-04 4.43268803e-02] [ 1.27755648e-02 -4.11964720e-04 9.99918304e-01 2.75921548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.849254153999999 meters 0.021415536113592513 Centerline is valid? [True, True] Translation: X:9.60, Y:0.04, Z:0.03 [[ 9.98745335e-01 -4.82202019e-02 -1.35117427e-02 9.60293416e+00] [ 4.82222696e-02 9.98836615e-01 -1.72916583e-04 4.24585739e-02] [ 1.35043614e-02 -4.78867268e-04 9.99908697e-01 2.74510209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879254153999998 meters 0.022831815336192187 Centerline is valid? [True, True] Translation: X:9.63, Y:0.04, Z:0.03 [[ 9.98703448e-01 -4.89736600e-02 -1.38925398e-02 9.63379441e+00] [ 4.89759292e-02 9.98799943e-01 -1.77031225e-04 3.99697464e-02] [ 1.38845378e-02 -5.03598351e-04 9.99903478e-01 2.72280515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.909254154 meters 0.021326153053267183 Centerline is valid? [True, True] Translation: X:9.67, Y:0.04, Z:0.03 [[ 9.98668242e-01 -4.96767254e-02 -1.39271419e-02 9.66623730e+00] [ 4.96790865e-02 9.98765216e-01 -1.76586756e-04 4.25422621e-02] [ 1.39187172e-02 -5.15536104e-04 9.99902997e-01 2.73585056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939254153999999 meters 0.021015025158613105 Centerline is valid? [True, True] Translation: X:9.70, Y:0.04, Z:0.03 [[ 9.98670548e-01 -4.95220226e-02 -1.43075436e-02 9.69817273e+00] [ 4.95245139e-02 9.98772892e-01 -1.80345562e-04 4.36897878e-02] [ 1.42989178e-02 -5.28468340e-04 9.99897626e-01 2.77264930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.969254153999998 meters 0.021242364597185707 Centerline is valid? [True, True] Translation: X:9.73, Y:0.04, Z:0.03 [[ 9.98689642e-01 -4.90391260e-02 -1.46343131e-02 9.73075505e+00] [ 4.90416965e-02 9.98796715e-01 -1.83378537e-04 4.44913022e-02] [ 1.46256966e-02 -5.34553298e-04 9.99892896e-01 2.75566267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999254153999999 meters 0.021398257081539508 Centerline is valid? [True, True] Translation: X:9.76, Y:0.05, Z:0.03 [[ 9.98777126e-01 -4.74107901e-02 -1.40167490e-02 9.76199206e+00] [ 4.74130085e-02 9.98875356e-01 -1.74182980e-04 4.55185940e-02] [ 1.40092433e-02 -4.90606262e-04 9.99901745e-01 2.75161636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.029254153999998 meters 0.02035052216619315 Centerline is valid? [True, True] Translation: X:9.79, Y:0.05, Z:0.03 [[ 9.98819227e-01 -4.65089894e-02 -1.40380221e-02 9.79419878e+00] [ 4.65111462e-02 9.98917756e-01 -1.72975739e-04 4.83929472e-02] [ 1.40308745e-02 -4.80153005e-04 9.99901447e-01 2.79466093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.059254154 meters 0.02033569207282647 Centerline is valid? [True, True] Translation: X:9.83, Y:0.05, Z:0.03 [[ 9.98846821e-01 -4.60341934e-02 -1.36338164e-02 9.82645831e+00] [ 4.60361970e-02 9.98939758e-01 -1.67013348e-04 4.98725640e-02] [ 1.36270496e-02 -4.60828305e-04 9.99907041e-01 2.82406015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.089254153999999 meters 0.020388904944286683 Centerline is valid? [True, True] Translation: X:9.86, Y:0.05, Z:0.03 [[ 9.98885430e-01 -4.51212577e-02 -1.38553520e-02 9.85912108e+00] [ 4.51232550e-02 9.98981413e-01 -1.68587823e-04 5.20647239e-02] [ 1.38488460e-02 -4.56798663e-04 9.99903996e-01 2.83474588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.119254153999998 meters 0.021630807445310516 Centerline is valid? [True, True] Translation: X:9.89, Y:0.05, Z:0.03 [[ 9.98890057e-01 -4.50295441e-02 -1.38200979e-02 9.89021825e+00] [ 4.50315362e-02 9.98985552e-01 -1.67162717e-04 5.11505225e-02] [ 1.38136054e-02 -4.55363064e-04 9.99904484e-01 2.79934832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.149254154 meters 0.01983996367934749 Centerline is valid? [True, True] Translation: X:9.92, Y:0.06, Z:0.03 [[ 9.98885267e-01 -4.51343283e-02 -1.38244342e-02 9.92221370e+00] [ 4.51363439e-02 9.98980822e-01 -1.66333780e-04 5.57883242e-02] [ 1.38178520e-02 -4.57836056e-04 9.99904424e-01 2.92402783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.179254153999999 meters 0.020359535920810436 Centerline is valid? [True, True] Translation: X:9.95, Y:0.06, Z:0.03 [[ 9.98850291e-01 -4.58066978e-02 -1.41366009e-02 9.95303100e+00] [ 4.58088856e-02 9.98950208e-01 -1.69172913e-04 5.72117129e-02] [ 1.41295097e-02 -4.78603522e-04 9.99900059e-01 2.92855349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.209254153999998 meters 0.020395369538347533 Centerline is valid? [True, True] Translation: X:9.99, Y:0.06, Z:0.03 [[ 9.98854122e-01 -4.57906934e-02 -1.39160352e-02 9.98596308e+00] [ 4.57928278e-02 9.98950945e-01 -1.65393966e-04 5.81905459e-02] [ 1.39090100e-02 -4.72050160e-04 9.99903154e-01 2.98790728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239254154 meters 0.021098276830039932 Centerline is valid? [True, True] Translation: X:10.02, Y:0.06, Z:0.03 [[ 9.98847395e-01 -4.62227843e-02 -1.29358672e-02 1.00172238e+01] [ 4.62246781e-02 9.98931057e-01 -1.52713595e-04 5.92914215e-02] [ 1.29290983e-02 -4.45418719e-04 9.99916317e-01 3.07432503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.269254153999999 meters 0.021441965978917545 Centerline is valid? [True, True] Translation: X:10.05, Y:0.06, Z:0.03 [[ 9.98843525e-01 -4.63472244e-02 -1.27885731e-02 1.00482957e+01] [ 4.63490942e-02 9.98925292e-01 -1.50290010e-04 6.00402363e-02] [ 1.27817947e-02 -4.42622577e-04 9.99918212e-01 3.13597005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299254153999998 meters 0.02161418346879713 Centerline is valid? [True, True] Translation: X:10.08, Y:0.06, Z:0.03 [[ 9.98841164e-01 -4.64381818e-02 -1.26421306e-02 1.00804022e+01] [ 4.64400261e-02 9.98921069e-01 -1.47796684e-04 6.11909160e-02] [ 1.26353540e-02 -4.39475464e-04 9.99920074e-01 3.16177233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.329254154 meters 0.020535548766147306 Centerline is valid? [True, True] Translation: X:10.11, Y:0.06, Z:0.03 [[ 9.98855140e-01 -4.61765893e-02 -1.24952866e-02 1.01122537e+01] [ 4.61783817e-02 9.98933199e-01 -1.45187133e-04 6.42032575e-02] [ 1.24886609e-02 -4.31991202e-04 9.99921920e-01 3.20956147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359254153999998 meters 0.020534611762544765 Centerline is valid? [True, True] Translation: X:10.14, Y:0.07, Z:0.03 [[ 9.98869364e-01 -4.57690849e-02 -1.28523975e-02 1.01441685e+01] [ 4.57709597e-02 9.98951949e-01 -1.48384989e-04 6.62269022e-02] [ 1.28457190e-02 -4.40049350e-04 9.99917394e-01 3.22860093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.389254153999998 meters 0.019811323212254345 Centerline is valid? [True, True] Translation: X:10.18, Y:0.07, Z:0.03 [[ 9.98906323e-01 -4.51552012e-02 -1.21311873e-02 1.01765439e+01] [ 4.51568368e-02 9.98979900e-01 -1.39197608e-04 6.88611119e-02] [ 1.21250978e-02 -4.08760676e-04 9.99926405e-01 3.28482216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419254153999999 meters 0.019668859642380743 Centerline is valid? [True, True] Translation: X:10.21, Y:0.07, Z:0.03 [[ 9.98924782e-01 -4.47960161e-02 -1.19414125e-02 1.02086837e+01] [ 4.47975857e-02 9.98996075e-01 -1.36143958e-04 7.05674011e-02] [ 1.19355229e-02 -3.98948876e-04 9.99928690e-01 3.35342458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.449254153999998 meters 0.020313172794261494 Centerline is valid? [True, True] Translation: X:10.24, Y:0.07, Z:0.03 [[ 9.98928101e-01 -4.47850727e-02 -1.17023774e-02 1.02407572e+01] [ 4.47865904e-02 9.98996568e-01 -1.32473968e-04 7.10299695e-02] [ 1.16965677e-02 -3.91777612e-04 9.99931516e-01 3.42523484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479254154 meters 0.01976295904686769 Centerline is valid? [True, True] Translation: X:10.27, Y:0.07, Z:0.03 [[ 9.98936029e-01 -4.44351700e-02 -1.23420524e-02 1.02727379e+01] [ 4.44368447e-02 9.99012186e-01 -1.38640142e-04 7.45415975e-02] [ 1.23360212e-02 -4.09949231e-04 9.99923824e-01 3.46809612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.509254153999999 meters 0.020284255477440637 Centerline is valid? [True, True] Translation: X:10.30, Y:0.07, Z:0.03 [[ 9.98929099e-01 -4.45632727e-02 -1.24406667e-02 1.03043105e+01] [ 4.45649989e-02 9.99006477e-01 -1.38574048e-04 7.45856251e-02] [ 1.24344819e-02 -4.15992647e-04 9.99922602e-01 3.44748351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539254153999998 meters 0.02048646470483843 Centerline is valid? [True, True] Translation: X:10.34, Y:0.08, Z:0.03 [[ 9.98856946e-01 -4.60891418e-02 -1.26724694e-02 1.03361642e+01] [ 4.60910715e-02 9.98937232e-01 -1.39891584e-04 7.59163922e-02] [ 1.26654490e-02 -4.44356014e-04 9.99919691e-01 3.48240273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.569254154 meters 0.020453706118392152 Centerline is valid? [True, True] Translation: X:10.37, Y:0.08, Z:0.04 [[ 9.98809253e-01 -4.71588641e-02 -1.24947136e-02 1.03683540e+01] [ 4.71608350e-02 9.98887299e-01 -1.37014931e-04 7.65574621e-02] [ 1.24872722e-02 -4.52409344e-04 9.99921929e-01 3.55377363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599254153999999 meters 0.02131550772188368 Centerline is valid? [True, True] Translation: X:10.40, Y:0.08, Z:0.04 [[ 9.98756159e-01 -4.83948416e-02 -1.20030771e-02 1.03991893e+01] [ 4.83967590e-02 9.98828182e-01 -1.30850033e-04 7.56734393e-02] [ 1.19953441e-02 -4.50222751e-04 9.99927952e-01 3.58930257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.629254153999998 meters 0.022487445625271284 Centerline is valid? [True, True] Translation: X:10.43, Y:0.07, Z:0.04 [[ 9.98593533e-01 -5.16393875e-02 -1.20137122e-02 1.04303518e+01] [ 5.16415494e-02 9.98665676e-01 -1.30397512e-04 7.49413813e-02] [ 1.20044157e-02 -4.90192599e-04 9.99927824e-01 3.63444659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659254154 meters 0.022695431937351924 Centerline is valid? [True, True] Translation: X:10.46, Y:0.08, Z:0.04 [[ 9.98520097e-01 -5.30340558e-02 -1.20418036e-02 1.04625728e+01] [ 5.30363366e-02 9.98592575e-01 -1.30072819e-04 7.53537768e-02] [ 1.20317539e-02 -5.08772824e-04 9.99927486e-01 3.70805729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.689254153999999 meters 0.024256458029629422 Centerline is valid? [True, True] Translation: X:10.49, Y:0.07, Z:0.04 [[ 9.98347526e-01 -5.60593014e-02 -1.26321821e-02 1.04927352e+01] [ 5.60620662e-02 9.98427276e-01 -1.35404852e-04 7.47617234e-02] [ 1.26199059e-02 -5.73005133e-04 9.99920202e-01 3.73613447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719254153999998 meters 0.023949712658628886 Centerline is valid? [True, True] Translation: X:10.52, Y:0.08, Z:0.04 [[ 9.98284924e-01 -5.72471483e-02 -1.22464454e-02 1.05245146e+01] [ 5.72498471e-02 9.98359874e-01 -1.30373295e-04 7.66140200e-02] [ 1.22338231e-02 -5.70957430e-04 9.99925001e-01 3.77147586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.749254153999999 meters 0.026641641111332107 Centerline is valid? [True, True] Translation: X:10.56, Y:0.07, Z:0.04 [[ 9.98239404e-01 -5.80500682e-02 -1.21771314e-02 1.05558000e+01] [ 5.80528042e-02 9.98313506e-01 -1.28962130e-04 7.35164475e-02] [ 1.21640810e-02 -5.78181544e-04 9.99925848e-01 3.80127611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779254153999998 meters 0.026623914311932395 Centerline is valid? [True, True] Translation: X:10.59, Y:0.08, Z:0.04 [[ 9.98176599e-01 -5.93713611e-02 -1.08865991e-02 1.05873718e+01] [ 5.93736323e-02 9.98235823e-01 -1.14739273e-04 7.54280813e-02] [ 1.08742054e-02 -5.31846873e-04 9.99940733e-01 3.93258463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.809254153999998 meters 0.026228054592114632 Centerline is valid? [True, True] Translation: X:10.62, Y:0.08, Z:0.04 [[ 9.98140273e-01 -6.00691827e-02 -1.03773071e-02 1.06190496e+01] [ 6.00712897e-02 9.98194083e-01 -1.08827570e-04 7.70057648e-02] [ 1.03651037e-02 -5.14753039e-04 9.99946148e-01 4.02782447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839254153999999 meters 0.027715189159240965 Centerline is valid? [True, True] Translation: X:10.65, Y:0.08, Z:0.04 [[ 9.98145662e-01 -5.99719094e-02 -1.04214708e-02 1.06508348e+01] [ 5.99740396e-02 9.98199931e-01 -1.08281149e-04 7.66132328e-02] [ 1.04092053e-02 -5.16937345e-04 9.99945689e-01 4.01732285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.869254153999998 meters 0.02763892376859363 Centerline is valid? [True, True] Translation: X:10.68, Y:0.08, Z:0.04 [[ 9.98168052e-01 -5.95625928e-02 -1.06225384e-02 1.06834142e+01] [ 5.95647991e-02 9.98224435e-01 -1.08834451e-04 7.80460270e-02] [ 1.06101598e-02 -5.24094293e-04 9.99943573e-01 4.02938657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899254154 meters 0.02799173882827462 Centerline is valid? [True, True] Translation: X:10.71, Y:0.08, Z:0.04 [[ 9.98204070e-01 -5.88660705e-02 -1.11094783e-02 1.07147906e+01] [ 5.88684488e-02 9.98265743e-01 -1.13089381e-04 7.90870734e-02] [ 1.10968687e-02 -5.41111472e-04 9.99938281e-01 4.02198131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.929254153999999 meters 0.027884505172406385 Centerline is valid? [True, True] Translation: X:10.75, Y:0.08, Z:0.04 [[ 9.98281203e-01 -5.74937242e-02 -1.13626968e-02 1.07458580e+01] [ 5.74961304e-02 9.98345723e-01 -1.15061427e-04 8.05657527e-02] [ 1.13505151e-02 -5.38447438e-04 9.99935436e-01 4.03445917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959254153999998 meters 0.023412430300873872 Centerline is valid? [True, True] Translation: X:10.78, Y:0.09, Z:0.04 [[ 9.98436128e-01 -5.46985440e-02 -1.15485136e-02 1.07769921e+01] [ 5.47008491e-02 9.98502781e-01 -1.16403941e-04 8.97965456e-02] [ 1.15375900e-02 -5.15491599e-04 9.99933307e-01 4.08179494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.989254154 meters 0.023969741498388108 Centerline is valid? [True, True] Translation: X:10.81, Y:0.09, Z:0.04 [[ 9.98527304e-01 -5.29682300e-02 -1.17298912e-02 1.08078120e+01] [ 5.29704951e-02 9.98596071e-01 -1.17707992e-04 9.02220042e-02] [ 1.17196581e-02 -5.03803502e-04 9.99931196e-01 4.05718896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019254153999999 meters 0.02363688484621872 Centerline is valid? [True, True] Translation: X:10.84, Y:0.09, Z:0.04 [[ 9.98635127e-01 -5.08272229e-02 -1.20198273e-02 1.08387162e+01] [ 5.08294535e-02 9.98707341e-01 -1.20044406e-04 9.20287328e-02] [ 1.20103913e-02 -4.91080694e-04 9.99927752e-01 4.06008541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.049254153999998 meters 0.02203517909845449 Centerline is valid? [True, True] Translation: X:10.87, Y:0.10, Z:0.04 [[ 9.98836487e-01 -4.64635966e-02 -1.29153277e-02 1.08707361e+01] [ 4.64658152e-02 9.98919872e-01 -1.28405072e-04 9.73025036e-02] [ 1.29073436e-02 -4.71865558e-04 9.99916585e-01 4.03702110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079254154 meters 0.020041706789342664 Centerline is valid? [True, True] Translation: X:10.90, Y:0.10, Z:0.04 [[ 9.98926274e-01 -4.43620247e-02 -1.33533041e-02 1.09030351e+01] [ 4.43642201e-02 9.99015415e-01 -1.31909088e-04 1.02421010e-01] [ 1.33460084e-02 -4.60641470e-04 9.99910832e-01 4.06791101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.109254153999998 meters 0.019261885353853668 Centerline is valid? [True, True] Translation: X:10.93, Y:0.11, Z:0.04 [[ 9.99065027e-01 -4.04766514e-02 -1.51892352e-02 1.09337812e+01] [ 4.04790569e-02 9.99180376e-01 -1.49161974e-04 1.06675036e-01] [ 1.51828233e-02 -4.65823405e-04 9.99884626e-01 4.02413586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139254153999998 meters 0.01906937167012183 Centerline is valid? [True, True] Translation: X:10.97, Y:0.11, Z:0.04 [[ 9.99101018e-01 -3.91476238e-02 -1.62671123e-02 1.09661894e+01] [ 3.91502223e-02 9.99233324e-01 -1.58801501e-04 1.08762947e-01] [ 1.62608574e-02 -4.78202323e-04 9.99867669e-01 3.99838902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.169254153999999 meters 0.018813835279113265 Centerline is valid? [True, True] Translation: X:11.00, Y:0.11, Z:0.04 [[ 9.99134465e-01 -3.80314018e-02 -1.68503266e-02 1.09983357e+01] [ 3.80340522e-02 9.99276430e-01 -1.63263747e-04 1.10278723e-01] [ 1.68443433e-02 -4.77763764e-04 9.99858010e-01 3.95729333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199254153999998 meters 0.0187479265150051 Centerline is valid? [True, True] Translation: X:11.03, Y:0.11, Z:0.04 [[ 9.99138703e-01 -3.73721294e-02 -1.80326629e-02 1.10301359e+01] [ 3.73750816e-02 9.99301293e-01 -1.73390438e-04 1.11472864e-01] [ 1.80265433e-02 -5.00731151e-04 9.99837383e-01 3.92408620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.229254153999998 meters 0.0187479265150051 Centerline is valid? [True, True] Translation: X:11.06, Y:0.11, Z:0.04 [[ 9.99141371e-01 -3.73007096e-02 -1.80326753e-02 1.10618445e+01] [ 3.73036734e-02 9.99303961e-01 -1.72100293e-04 1.11715097e-01] [ 1.80265433e-02 -5.00732506e-04 9.99837383e-01 3.94604379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259254153999999 meters 0.01900839204162336 Centerline is valid? [True, True] Translation: X:11.09, Y:0.11, Z:0.04 [[ 9.99137486e-01 -3.68804764e-02 -1.90817827e-02 1.10933612e+01] [ 3.68837411e-02 9.99319547e-01 -1.80941313e-04 1.12607021e-01] [ 1.90754717e-02 -5.23022285e-04 9.99817910e-01 3.86806867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.289254153999998 meters 0.01882404284605064 Centerline is valid? [True, True] Translation: X:11.13, Y:0.11, Z:0.04 [[ 9.99107089e-01 -3.72445927e-02 -1.99465626e-02 1.11251137e+01] [ 3.72482699e-02 9.99306025e-01 -1.87269115e-04 1.14050198e-01] [ 1.99396950e-02 -5.55873047e-04 9.99801030e-01 3.90741261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319254154 meters 0.01879491611218643 Centerline is valid? [True, True] Translation: X:11.16, Y:0.12, Z:0.04 [[ 9.99081031e-01 -3.79074132e-02 -2.00030364e-02 1.11569483e+01] [ 3.79112787e-02 9.99281092e-01 -1.86063115e-04 1.15394013e-01] [ 1.99957092e-02 -5.72448560e-04 9.99799902e-01 3.97877328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.349254153999999 meters 0.019856368008675695 Centerline is valid? [True, True] Translation: X:11.19, Y:0.12, Z:0.04 [[ 9.99022533e-01 -3.96482438e-02 -1.95447015e-02 1.11877948e+01] [ 3.96522898e-02 9.99213522e-01 -1.80631951e-04 1.15251444e-01] [ 1.95364918e-02 -5.94536778e-04 9.99808968e-01 4.04268753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379254153999998 meters 0.01996697140559639 Centerline is valid? [True, True] Translation: X:11.22, Y:0.12, Z:0.04 [[ 9.98984585e-01 -4.04801407e-02 -1.97776924e-02 1.12200295e+01] [ 4.04844721e-02 9.99180151e-01 -1.81493348e-04 1.15699553e-01] [ 1.97688246e-02 -6.19380381e-04 9.99804386e-01 4.12357530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.409254154 meters 0.020579901212599682 Centerline is valid? [True, True] Translation: X:11.25, Y:0.12, Z:0.04 [[ 9.98891438e-01 -4.28030806e-02 -1.95905736e-02 1.12517898e+01] [ 4.28077995e-02 9.99083310e-01 -1.78607616e-04 1.15784686e-01] [ 1.95802601e-02 -6.60219729e-04 9.99808070e-01 4.19437345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439254153999999 meters 0.021043472848371162 Centerline is valid? [True, True] Translation: X:11.28, Y:0.12, Z:0.04 [[ 9.98850194e-01 -4.38572069e-02 -1.93606707e-02 1.12836930e+01] [ 4.38620377e-02 9.99037582e-01 -1.75257161e-04 1.15541505e-01] [ 1.93497239e-02 -6.74142818e-04 9.99812549e-01 4.22503860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.469254153999998 meters 0.02126788142703727 Centerline is valid? [True, True] Translation: X:11.32, Y:0.12, Z:0.04 [[ 9.98817185e-01 -4.46922283e-02 -1.91529690e-02 1.13157250e+01] [ 4.46971353e-02 9.99000569e-01 -1.72016854e-04 1.15584103e-01] [ 1.91415148e-02 -6.84269458e-04 9.99816550e-01 4.28559152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499254153999999 meters 0.02118525379250404 Centerline is valid? [True, True] Translation: X:11.35, Y:0.12, Z:0.04 [[ 9.98739939e-01 -4.66417487e-02 -1.85224372e-02 1.13482530e+01] [ 4.66466970e-02 9.98911437e-01 -1.65034189e-04 1.17197317e-01] [ 1.85099718e-02 -6.99184280e-04 9.99828431e-01 4.46804958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.529254153999998 meters 0.02158779448378983 Centerline is valid? [True, True] Translation: X:11.38, Y:0.12, Z:0.05 [[ 9.98723569e-01 -4.72172540e-02 -1.79377949e-02 1.13802786e+01] [ 4.72220105e-02 9.98884406e-01 -1.58538462e-04 1.17395789e-01] [ 1.79252694e-02 -6.88722642e-04 9.99839092e-01 4.54201331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.559254153999998 meters 0.021252655405240083 Centerline is valid? [True, True] Translation: X:11.41, Y:0.12, Z:0.05 [[ 9.98709899e-01 -4.78127942e-02 -1.71018983e-02 1.14120768e+01] [ 4.78172258e-02 9.98856091e-01 -1.49923119e-04 1.18669036e-01] [ 1.70895035e-02 -6.68035631e-04 9.99853741e-01 4.66317852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.589254153999999 meters 0.022932961858201907 Centerline is valid? [True, True] Translation: X:11.44, Y:0.12, Z:0.05 [[ 9.98645670e-01 -4.92679148e-02 -1.67182130e-02 1.14435877e+01] [ 4.92723706e-02 9.98785368e-01 -1.45525035e-04 1.17016734e-01] [ 1.67050762e-02 -6.78418040e-04 9.99860230e-01 4.66802046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619254153999998 meters 0.02261760932511827 Centerline is valid? [True, True] Translation: X:11.48, Y:0.12, Z:0.05 [[ 9.98633753e-01 -4.93956690e-02 -1.70497638e-02 1.14752904e+01] [ 4.94003378e-02 9.98779047e-01 -1.47475187e-04 1.17772837e-01] [ 1.70362315e-02 -6.94990392e-04 9.99854631e-01 4.68907474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.649254153999998 meters 0.023529174544411766 Centerline is valid? [True, True] Translation: X:11.51, Y:0.12, Z:0.05 [[ 9.98619494e-01 -4.97349795e-02 -1.68978753e-02 1.15069106e+01] [ 4.97396293e-02 9.98762208e-01 -1.45253284e-04 1.16949818e-01] [ 1.68841834e-02 -6.95441292e-04 9.99857210e-01 4.65515540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679254153999999 meters 0.022554038017562922 Centerline is valid? [True, True] Translation: X:11.54, Y:0.12, Z:0.05 [[ 9.98606189e-01 -4.97603882e-02 -1.75949863e-02 1.15395550e+01] [ 4.97654540e-02 9.98760921e-01 -1.50083054e-04 1.19767049e-01] [ 1.75806529e-02 -7.25748615e-04 9.99845185e-01 4.64329957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.709254153999998 meters 0.022241806611971313 Centerline is valid? [True, True] Translation: X:11.57, Y:0.12, Z:0.05 [[ 9.98610682e-01 -4.94043775e-02 -1.83279543e-02 1.15728710e+01] [ 4.94098470e-02 9.98778576e-01 -1.54560783e-04 1.21191198e-01] [ 1.83132041e-02 -7.51235370e-04 9.99832017e-01 4.63079376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739254154 meters 0.024940769399119062 Centerline is valid? [True, True] Translation: X:11.60, Y:0.12, Z:0.04 [[ 9.98666815e-01 -4.82360061e-02 -1.83815384e-02 1.16045515e+01] [ 4.82413392e-02 9.98835697e-01 -1.53423605e-04 1.18995101e-01] [ 1.83675372e-02 -7.33530964e-04 9.99831033e-01 4.48629613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.769254153999999 meters 0.022930680078561763 Centerline is valid? [True, True] Translation: X:11.64, Y:0.12, Z:0.05 [[ 9.98695531e-01 -4.75385785e-02 -1.86365361e-02 1.16368255e+01] [ 4.75439644e-02 9.98869134e-01 -1.54214401e-04 1.22921470e-01] [ 1.86227918e-02 -7.32041577e-04 9.99826313e-01 4.56901973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799254153999998 meters 0.021730303997166685 Centerline is valid? [True, True] Translation: X:11.67, Y:0.13, Z:0.05 [[ 9.98726977e-01 -4.67229587e-02 -1.90102895e-02 1.16692336e+01] [ 4.67284414e-02 9.98907618e-01 -1.55931993e-04 1.25802334e-01] [ 1.89968086e-02 -7.32587714e-04 9.99819276e-01 4.64006773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.829254154 meters 0.022088290655339158 Centerline is valid? [True, True] Translation: X:11.70, Y:0.13, Z:0.05 [[ 9.98781508e-01 -4.55854163e-02 -1.89068768e-02 1.17008866e+01] [ 4.55906617e-02 9.98960193e-01 -1.53726467e-04 1.26207323e-01] [ 1.88942250e-02 -7.08437873e-04 9.99821237e-01 4.60104955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859254153999998 meters 0.021012171996042772 Centerline is valid? [True, True] Translation: X:11.73, Y:0.13, Z:0.05 [[ 9.98881972e-01 -4.27500683e-02 -2.01801115e-02 1.17335003e+01] [ 4.27555006e-02 9.99085552e-01 -1.62380917e-04 1.30145101e-01] [ 2.01685997e-02 -7.00611400e-04 9.99796348e-01 4.55278192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.889254153999998 meters 0.021356482816854473 Centerline is valid? [True, True] Translation: X:11.77, Y:0.13, Z:0.04 [[ 9.98959755e-01 -4.06574884e-02 -2.06488705e-02 1.17650749e+01] [ 4.06627624e-02 9.99172914e-01 -1.64559896e-04 1.31226528e-01] [ 2.06384827e-02 -6.75251403e-04 9.99786776e-01 4.48708952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919254153999999 meters 0.01965741313634356 Centerline is valid? [True, True] Translation: X:11.80, Y:0.14, Z:0.05 [[ 9.99104848e-01 -3.63583334e-02 -2.16234528e-02 1.17964114e+01] [ 3.63631334e-02 9.99338628e-01 -1.71299889e-04 1.38080864e-01] [ 2.16153798e-02 -6.15149948e-04 9.99766171e-01 4.53054521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.949254153999998 meters 0.01798994915023508 Centerline is valid? [True, True] Translation: X:11.83, Y:0.14, Z:0.05 [[ 9.99194769e-01 -3.38616975e-02 -2.15220412e-02 1.18278718e+01] [ 3.38658904e-02 9.99426372e-01 -1.69731124e-04 1.43017481e-01] [ 2.15154429e-02 -5.59268638e-04 9.99768360e-01 4.65182402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979254153999998 meters 0.01703295708901911 Centerline is valid? [True, True] Translation: X:11.86, Y:0.15, Z:0.05 [[ 9.99359873e-01 -2.92655974e-02 -2.05759228e-02 1.18579255e+01] [ 2.92684659e-02 9.99571574e-01 -1.61785847e-04 1.48251421e-01] [ 2.05718423e-02 -4.40543412e-04 9.99788280e-01 4.75295909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.009254153999999 meters 0.016561324872550208 Centerline is valid? [True, True] Translation: X:11.89, Y:0.15, Z:0.05 [[ 9.99434413e-01 -2.72019224e-02 -1.97714259e-02 1.18887033e+01] [ 2.72041697e-02 9.99629886e-01 -1.55340141e-04 1.51054345e-01] [ 1.97683338e-02 -3.82612942e-04 9.99804514e-01 4.84953977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039254153999998 meters 0.01620969002648588 Centerline is valid? [True, True] Translation: X:11.92, Y:0.15, Z:0.05 [[ 9.99509197e-01 -2.50675405e-02 -1.87878629e-02 1.19192809e+01] [ 2.50691926e-02 9.99685708e-01 -1.47612483e-04 1.53442520e-01] [ 1.87856583e-02 -3.23456520e-04 9.99823482e-01 4.94166070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.069254153999998 meters 0.01575545825498567 Centerline is valid? [True, True] Translation: X:11.95, Y:0.16, Z:0.05 [[ 9.99575613e-01 -2.28047509e-02 -1.81256124e-02 1.19496242e+01] [ 2.28059167e-02 9.99739901e-01 -1.42409313e-04 1.55910804e-01] [ 1.81241456e-02 -2.71022331e-04 9.99835707e-01 5.01900212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099254153999999 meters 0.015297193688084423 Centerline is valid? [True, True] Translation: X:11.98, Y:0.16, Z:0.05 [[ 9.99663762e-01 -1.90184039e-02 -1.76256621e-02 1.19789345e+01] [ 1.90189145e-02 9.99819114e-01 -1.38667568e-04 1.59769663e-01] [ 1.76251111e-02 -1.96600019e-04 9.99844646e-01 5.04541093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.129254153999998 meters 0.014760216660266248 Centerline is valid? [True, True] Translation: X:12.01, Y:0.16, Z:0.05 [[ 9.99687127e-01 -1.74686675e-02 -1.79023458e-02 1.20084958e+01] [ 1.74689365e-02 9.99847396e-01 -1.41367305e-04 1.62663580e-01] [ 1.79020834e-02 -1.71411867e-04 9.99839730e-01 5.21258641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159254154 meters 0.014684783935905318 Centerline is valid? [True, True] Translation: X:12.04, Y:0.17, Z:0.05 [[ 9.99707222e-01 -1.61880498e-02 -1.79838148e-02 1.20367707e+01] [ 1.61880591e-02 9.99868954e-01 -1.45067183e-04 1.65129437e-01] [ 1.79838065e-02 -1.46098347e-04 9.99838268e-01 5.21932436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.189254153999999 meters 0.01471720722144878 Centerline is valid? [True, True] Translation: X:12.07, Y:0.17, Z:0.05 [[ 9.99698203e-01 -1.66829001e-02 -1.80328694e-02 1.20654037e+01] [ 1.66829072e-02 9.99860819e-01 -1.50045245e-04 1.65761022e-01] [ 1.80328627e-02 -1.50840725e-04 9.99837383e-01 5.24884466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219254153999998 meters 0.014863864331891394 Centerline is valid? [True, True] Translation: X:12.09, Y:0.16, Z:0.05 [[ 9.99671011e-01 -1.81280142e-02 -1.81451003e-02 1.20934898e+01] [ 1.81281985e-02 9.99835659e-01 -1.54336104e-04 1.64077173e-01] [ 1.81449161e-02 -1.74652651e-04 9.99835352e-01 5.18394465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.249254153999999 meters 0.015006546135776448 Centerline is valid? [True, True] Translation: X:12.12, Y:0.16, Z:0.05 [[ 9.99634299e-01 -2.04025127e-02 -1.77483767e-02 1.21222783e+01] [ 2.04029822e-02 9.99791826e-01 -1.54640884e-04 1.62318072e-01] [ 1.77478370e-02 -2.07535482e-04 9.99842473e-01 5.23149165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279254153999998 meters 0.015661308545728055 Centerline is valid? [True, True] Translation: X:12.15, Y:0.16, Z:0.05 [[ 9.99528934e-01 -2.47187125e-02 -1.81905321e-02 1.21523870e+01] [ 2.47198840e-02 9.99694404e-01 -1.60481470e-04 1.58179211e-01] [ 1.81889400e-02 -2.89261970e-04 9.99834526e-01 5.19561977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.309254153999998 meters 0.01611517977707078 Centerline is valid? [True, True] Translation: X:12.18, Y:0.16, Z:0.05 [[ 9.99481200e-01 -2.64935345e-02 -1.83145524e-02 1.21825172e+01] [ 2.64950213e-02 9.99648932e-01 -1.61497944e-04 1.55802110e-01] [ 1.83124014e-02 -3.23830297e-04 9.99832261e-01 5.15611604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339254153999999 meters 0.017379452677135886 Centerline is valid? [True, True] Translation: X:12.21, Y:0.15, Z:0.05 [[ 9.99375049e-01 -3.02402103e-02 -1.83041406e-02 1.22130217e+01] [ 3.02423352e-02 9.99542583e-01 -1.60764051e-04 1.51694551e-01] [ 1.83006295e-02 -3.92896374e-04 9.99832452e-01 5.14573731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.369254153999998 meters 0.01744915812172174 Centerline is valid? [True, True] Translation: X:12.24, Y:0.15, Z:0.05 [[ 9.99330309e-01 -3.19396482e-02 -1.78547577e-02 1.22446755e+01] [ 3.19419535e-02 9.99489713e-01 -1.56122208e-04 1.51284008e-01] [ 1.78506331e-02 -4.14298186e-04 9.99840579e-01 5.23503228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399254153999998 meters 0.018087016339639723 Centerline is valid? [True, True] Translation: X:12.28, Y:0.15, Z:0.05 [[ 9.99238422e-01 -3.49787434e-02 -1.72934513e-02 1.22766425e+01] [ 3.49813778e-02 9.99387953e-01 -1.50231738e-04 1.48359804e-01] [ 1.72881219e-02 -4.54831430e-04 9.99850446e-01 5.29275230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.429254153999999 meters 0.01861588057312953 Centerline is valid? [True, True] Translation: X:12.31, Y:0.15, Z:0.05 [[ 9.99196334e-01 -3.62590628e-02 -1.70870490e-02 1.23084632e+01] [ 3.62618425e-02 9.99342312e-01 -1.47219004e-04 1.46741344e-01] [ 1.70811490e-02 -4.72507190e-04 9.99853995e-01 5.31307317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.459254153999998 meters 0.018357879675597245 Centerline is valid? [True, True] Translation: X:12.34, Y:0.15, Z:0.05 [[ 9.99168578e-01 -3.71212998e-02 -1.68570954e-02 1.23407845e+01] [ 3.71241482e-02 9.99310651e-01 -1.44025674e-04 1.46388054e-01] [ 1.68508213e-02 -4.81899379e-04 9.99857899e-01 5.40340606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.489254153999997 meters 0.01837218998730615 Centerline is valid? [True, True] Translation: X:12.37, Y:0.15, Z:0.05 [[ 9.99159050e-01 -3.76134109e-02 -1.63224834e-02 1.23726930e+01] [ 3.76161663e-02 9.99292252e-01 -1.38281776e-04 1.45420705e-01] [ 1.63161324e-02 -4.75823762e-04 9.99866770e-01 5.47731741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519254153999999 meters 0.01885394581672563 Centerline is valid? [True, True] Translation: X:12.40, Y:0.14, Z:0.06 [[ 9.99180982e-01 -3.73358284e-02 -1.56013364e-02 1.24038911e+01] [ 3.73383268e-02 9.99302673e-01 -1.31212848e-04 1.44656953e-01] [ 1.55953561e-02 -4.51422416e-04 9.99878283e-01 5.55399054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.549254153999998 meters 0.018034786078393487 Centerline is valid? [True, True] Translation: X:12.44, Y:0.15, Z:0.06 [[ 9.99210716e-01 -3.67338292e-02 -1.51185894e-02 1.24364453e+01] [ 3.67361211e-02 9.99324993e-01 -1.26183711e-04 1.46614188e-01] [ 1.51130195e-02 -4.29314216e-04 9.99885700e-01 5.66521986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579254154 meters 0.017617001316314954 Centerline is valid? [True, True] Translation: X:12.47, Y:0.15, Z:0.06 [[ 9.99308359e-01 -3.39948996e-02 -1.50714941e-02 1.24685634e+01] [ 3.39968826e-02 9.99421931e-01 -1.24690267e-04 1.48224441e-01] [ 1.50670206e-02 -3.87779790e-04 9.99886411e-01 5.78958021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.609254153999998 meters 0.016888827515683692 Centerline is valid? [True, True] Translation: X:12.50, Y:0.15, Z:0.06 [[ 9.99378045e-01 -3.18984451e-02 -1.50337232e-02 1.25007276e+01] [ 3.19001976e-02 9.99491052e-01 -1.23275419e-04 1.50376223e-01] [ 1.50300041e-02 -3.56379995e-04 9.99886980e-01 5.81371960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639254153999998 meters 0.016002009483812484 Centerline is valid? [True, True] Translation: X:12.53, Y:0.15, Z:0.06 [[ 9.99544282e-01 -2.57761864e-02 -1.57104017e-02 1.25313867e+01] [ 2.57773578e-02 9.99667701e-01 -1.27966003e-04 1.53294703e-01] [ 1.57084796e-02 -2.77064959e-04 9.99876576e-01 5.78361740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.669254153999999 meters 0.015567476976438148 Centerline is valid? [True, True] Translation: X:12.56, Y:0.16, Z:0.06 [[ 9.99629285e-01 -2.20558055e-02 -1.59634933e-02 1.25613320e+01] [ 2.20565475e-02 9.99756716e-01 -1.29605907e-04 1.55518695e-01] [ 1.59624682e-02 -2.22541686e-04 9.99872567e-01 5.78007826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.699254153999998 meters 0.015075516008722204 Centerline is valid? [True, True] Translation: X:12.59, Y:0.16, Z:0.06 [[ 9.99711572e-01 -1.79033009e-02 -1.60076613e-02 1.25925942e+01] [ 1.79035220e-02 9.99839711e-01 -1.29506739e-04 1.58941048e-01] [ 1.60074141e-02 -1.57124130e-04 9.99871861e-01 5.84744929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.729254153999998 meters 0.01496420704921827 Centerline is valid? [True, True] Translation: X:12.62, Y:0.16, Z:0.06 [[ 9.99782511e-01 -1.32313669e-02 -1.61201966e-02 1.26221229e+01] [ 1.32309853e-02 9.99912458e-01 -1.30328783e-04 1.61971064e-01] [ 1.61205098e-02 -8.29856453e-05 9.99870053e-01 5.86129435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759254153999999 meters 0.015143203659325751 Centerline is valid? [True, True] Translation: X:12.65, Y:0.17, Z:0.06 [[ 9.99865237e-01 -3.75164366e-03 -1.59822623e-02 1.26500932e+01] [ 3.75004260e-03 9.99992960e-01 -1.30144767e-04 1.68745339e-01] [ 1.59826380e-02 7.01930638e-05 9.99872267e-01 5.97582601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.789254153999998 meters 0.01574609727424387 Centerline is valid? [True, True] Translation: X:12.68, Y:0.17, Z:0.06 [[ 9.99875580e-01 7.21564579e-04 -1.57576651e-02 1.26786124e+01] [-7.23720124e-04 9.99999730e-01 -1.31091436e-04 1.72069209e-01] [ 1.57575663e-02 1.42479265e-04 9.99875832e-01 6.03047261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819254153999998 meters 0.01643731839312483 Centerline is valid? [True, True] Translation: X:12.71, Y:0.17, Z:0.06 [[ 9.99869591e-01 4.74489476e-03 -1.54365451e-02 1.27069595e+01] [-4.74750060e-03 9.99988722e-01 -1.32169161e-04 1.74883949e-01] [ 1.54357438e-02 2.05436932e-04 9.99880841e-01 6.08306372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.849254153999999 meters 0.017642506091021026 Centerline is valid? [True, True] Translation: X:12.74, Y:0.18, Z:0.06 [[ 9.99819671e-01 1.14821078e-02 -1.51256797e-02 1.27364336e+01] [-1.14854099e-02 9.99934032e-01 -1.31459272e-04 1.78067849e-01] [ 1.51231725e-02 3.05160199e-04 9.99885592e-01 6.14139891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879254153999998 meters 0.01791310162957372 Centerline is valid? [True, True] Translation: X:12.77, Y:0.18, Z:0.06 [[ 9.99801478e-01 1.31958134e-02 -1.49289869e-02 1.27651697e+01] [-1.31992544e-02 9.99912877e-01 -1.31978129e-04 1.78623749e-01] [ 1.49259446e-02 3.29003424e-04 9.99888548e-01 6.15218070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.909254153999997 meters 0.018289216680197274 Centerline is valid? [True, True] Translation: X:12.79, Y:0.18, Z:0.06 [[ 9.99784751e-01 1.40184619e-02 -1.52948830e-02 1.27942707e+01] [-1.40222284e-02 9.99901674e-01 -1.39040730e-04 1.77901576e-01] [ 1.52914300e-02 3.53479145e-04 9.99883017e-01 6.07592133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.939254153999999 meters 0.01797521761036125 Centerline is valid? [True, True] Translation: X:12.82, Y:0.18, Z:0.06 [[ 9.99784248e-01 1.34504666e-02 -1.58285052e-02 1.28226500e+01] [-1.34544674e-02 9.99909474e-01 -1.46292926e-04 1.76249530e-01] [ 1.58251046e-02 3.59225470e-04 9.99874711e-01 6.07249706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.969254153999998 meters 0.01740414825643221 Centerline is valid? [True, True] Translation: X:12.85, Y:0.17, Z:0.06 [[ 9.99835181e-01 9.24386788e-03 -1.56256870e-02 1.28507094e+01] [-9.24727283e-03 9.99957232e-01 -1.45668322e-04 1.72878237e-01] [ 1.56236722e-02 2.90139304e-04 9.99877901e-01 6.01376406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.999254153999999 meters 0.016033898259077105 Centerline is valid? [True, True] Translation: X:12.88, Y:0.17, Z:0.06 [[ 9.99863652e-01 6.11240175e-03 -1.53400282e-02 1.28795891e+01] [-6.11533355e-03 9.99981291e-01 -1.44220750e-04 1.68526241e-01] [ 1.53388597e-02 2.38010475e-04 9.99882324e-01 6.15611092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.029254153999998 meters 0.015885720769138658 Centerline is valid? [True, True] Translation: X:12.91, Y:0.17, Z:0.06 [[ 9.99889848e-01 2.48453338e-03 -1.46327758e-02 1.29077231e+01] [-2.48683000e-03 9.99996898e-01 -1.38756862e-04 1.66937317e-01] [ 1.46323856e-02 1.75130803e-04 9.99892926e-01 6.12000312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059254153999998 meters 0.015015770833884062 Centerline is valid? [True, True] Translation: X:12.94, Y:0.16, Z:0.06 [[ 9.99894085e-01 -1.73529689e-03 -1.44501678e-02 1.29367576e+01] [ 1.73348094e-03 9.99998488e-01 -1.38194473e-04 1.62791954e-01] [ 1.44503857e-02 1.13130745e-04 9.99895581e-01 6.23182486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.089254153999999 meters 0.014584259331766459 Centerline is valid? [True, True] Translation: X:12.96, Y:0.16, Z:0.06 [[ 9.99850554e-01 -1.10071612e-02 -1.33308435e-02 1.29647934e+01] [ 1.10064252e-02 9.99939419e-01 -1.28575500e-04 1.55131979e-01] [ 1.33314511e-02 -1.81686468e-05 9.99911132e-01 6.23510975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119254153999998 meters 0.014584259331766459 Centerline is valid? [True, True] Translation: X:12.99, Y:0.16, Z:0.06 [[ 9.99847766e-01 -1.12576390e-02 -1.33308212e-02 1.29930152e+01] [ 1.12568949e-02 9.99936631e-01 -1.30850819e-04 1.55449455e-01] [ 1.33314495e-02 -1.92327541e-05 9.99911132e-01 6.25469444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.149254153999998 meters 0.014562082220364835 Centerline is valid? [True, True] Translation: X:13.02, Y:0.15, Z:0.06 [[ 9.99787377e-01 -1.59669337e-02 -1.30483157e-02 1.30220329e+01] [ 1.59665939e-02 9.99872517e-01 -1.30221404e-04 1.51176383e-01] [ 1.30487315e-02 -7.81434410e-05 9.99914859e-01 6.28392393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179254153999999 meters 0.015110275452373673 Centerline is valid? [True, True] Translation: X:13.05, Y:0.15, Z:0.06 [[ 9.99704473e-01 -2.08235840e-02 -1.25437409e-02 1.30518724e+01] [ 2.08236467e-02 9.99783156e-01 -1.25624354e-04 1.46296459e-01] [ 1.25436368e-02 -1.35619200e-04 9.99921316e-01 6.24255100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.209254153999998 meters 0.016249386421995093 Centerline is valid? [True, True] Translation: X:13.08, Y:0.14, Z:0.06 [[ 9.99481726e-01 -3.00964520e-02 -1.14229507e-02 1.30832828e+01] [ 3.00971117e-02 9.99546973e-01 -1.14184986e-04 1.38777849e-01] [ 1.14212124e-02 -2.29672017e-04 9.99934749e-01 6.28877258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239254153999997 meters 0.017251845463486588 Centerline is valid? [True, True] Translation: X:13.12, Y:0.14, Z:0.06 [[ 9.99343666e-01 -3.44696228e-02 -1.11391927e-02 1.31150953e+01] [ 3.44705269e-02 9.99405709e-01 -1.10869564e-04 1.35109992e-01] [ 1.11363944e-02 -2.73177045e-04 9.99937951e-01 6.29193248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.269254153999999 meters 0.01937550767426105 Centerline is valid? [True, True] Translation: X:13.15, Y:0.13, Z:0.06 [[ 9.99070507e-01 -4.16358510e-02 -1.11614190e-02 1.31454653e+01] [ 4.16372106e-02 9.99132789e-01 -1.10630736e-04 1.28041062e-01] [ 1.11563459e-02 -3.54202448e-04 9.99937703e-01 6.26253558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.299254153999998 meters 0.02014347575274896 Centerline is valid? [True, True] Translation: X:13.18, Y:0.13, Z:0.06 [[ 9.98960729e-01 -4.40701243e-02 -1.16312662e-02 1.31774798e+01] [ 4.40717712e-02 9.99028361e-01 -1.14814774e-04 1.26053562e-01] [ 1.16250247e-02 -3.97915051e-04 9.99932348e-01 6.28418839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.329254153999997 meters 0.021557522327380667 Centerline is valid? [True, True] Translation: X:13.21, Y:0.12, Z:0.06 [[ 9.98878309e-01 -4.58762061e-02 -1.17259125e-02 1.32087359e+01] [ 4.58780131e-02 9.98947043e-01 -1.14980991e-04 1.23349800e-01] [ 1.17188405e-02 -4.23109548e-04 9.99931243e-01 6.27807731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.359254153999998 meters 0.02158015731560821 Centerline is valid? [True, True] Translation: X:13.24, Y:0.12, Z:0.06 [[ 9.98825405e-01 -4.69532636e-02 -1.19666723e-02 1.32408650e+01] [ 4.69552317e-02 9.98896988e-01 -1.16596638e-04 1.22961423e-01] [ 1.19589475e-02 -4.45438186e-04 9.99928390e-01 6.28011665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.389254153999998 meters 0.021711264408786762 Centerline is valid? [True, True] Translation: X:13.27, Y:0.12, Z:0.06 [[ 9.98786760e-01 -4.78303167e-02 -1.17162117e-02 1.32730688e+01] [ 4.78322733e-02 9.98855375e-01 -1.13322843e-04 1.22554865e-01] [ 1.17082213e-02 -4.47227687e-04 9.99931356e-01 6.32360183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419254153999999 meters 0.022038215360403835 Centerline is valid? [True, True] Translation: X:13.31, Y:0.12, Z:0.06 [[ 9.98794573e-01 -4.76888356e-02 -1.16265555e-02 1.33064997e+01] [ 4.76907645e-02 9.98862142e-01 -1.11450737e-04 1.22726655e-01] [ 1.16186411e-02 -4.43162930e-04 9.99932403e-01 6.37671205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.449254153999998 meters 0.021915113453471417 Centerline is valid? [True, True] Translation: X:13.34, Y:0.12, Z:0.06 [[ 9.98806356e-01 -4.73540527e-02 -1.19773769e-02 1.33388443e+01] [ 4.73560893e-02 9.98878065e-01 -1.13680298e-04 1.23203149e-01] [ 1.19693222e-02 -4.53657123e-04 9.99928262e-01 6.36258645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479254153999998 meters 0.02198456364780038 Centerline is valid? [True, True] Translation: X:13.37, Y:0.12, Z:0.06 [[ 9.98823617e-01 -4.67770861e-02 -1.27783886e-02 1.33709172e+01] [ 4.67793692e-02 9.98905239e-01 -1.20335948e-04 1.23414944e-01] [ 1.27700283e-02 -4.77570570e-04 9.99918346e-01 6.28033474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.509254153999999 meters 0.020934080067149894 Centerline is valid? [True, True] Translation: X:13.40, Y:0.13, Z:0.06 [[ 9.98851285e-01 -4.55616675e-02 -1.48406354e-02 1.34030992e+01] [ 4.55646301e-02 9.98961383e-01 -1.38610035e-04 1.26178162e-01] [ 1.48315370e-02 -5.37757249e-04 9.99889862e-01 6.14127624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.539254153999998 meters 0.02063976490021295 Centerline is valid? [True, True] Translation: X:13.44, Y:0.13, Z:0.06 [[ 9.98873642e-01 -4.46935416e-02 -1.59353115e-02 1.34352996e+01] [ 4.46968661e-02 9.99000585e-01 -1.47644062e-04 1.27606047e-01] [ 1.59259842e-02 -5.64780722e-04 9.99873014e-01 6.08981101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.569254153999998 meters 0.020187508103751917 Centerline is valid? [True, True] Translation: X:13.47, Y:0.13, Z:0.06 [[ 9.98904771e-01 -4.36573750e-02 -1.68312556e-02 1.34671732e+01] [ 4.36609580e-02 9.99046394e-01 -1.54695781e-04 1.29534802e-01] [ 1.68219589e-02 -5.80342392e-04 9.99858332e-01 6.02379680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.599254153999999 meters 0.019744076121392156 Centerline is valid? [True, True] Translation: X:13.50, Y:0.13, Z:0.06 [[ 9.98977380e-01 -4.13151845e-02 -1.83643511e-02 1.34985278e+01] [ 4.13190764e-02 9.99145988e-01 -1.67618086e-04 1.32620965e-01] [ 1.83555929e-02 -5.91351349e-04 9.99831347e-01 5.96301352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.629254153999998 meters 0.01964291974616334 Centerline is valid? [True, True] Translation: X:13.53, Y:0.13, Z:0.06 [[ 9.99015112e-01 -4.02139340e-02 -1.87522351e-02 1.35308329e+01] [ 4.02178212e-02 9.99190922e-01 -1.69930045e-04 1.34214779e-01] [ 1.87438966e-02 -5.84411354e-04 9.99824147e-01 5.99410202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659254153999997 meters 0.019383359623731604 Centerline is valid? [True, True] Translation: X:13.56, Y:0.14, Z:0.06 [[ 9.99061998e-01 -3.91779688e-02 -1.84448308e-02 1.35635323e+01] [ 3.91815812e-02 9.99232093e-01 -1.65630043e-04 1.36239275e-01] [ 1.84371559e-02 -5.57222953e-04 9.99829866e-01 6.07113349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.689254153999999 meters 0.0186481798836273 Centerline is valid? [True, True] Translation: X:13.60, Y:0.14, Z:0.06 [[ 9.99173698e-01 -3.65797386e-02 -1.77156295e-02 1.35954502e+01] [ 3.65826836e-02 9.99330617e-01 -1.57911431e-04 1.40104100e-01] [ 1.77095473e-02 -4.90304321e-04 9.99843053e-01 6.23069995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719254153999998 meters 0.018690822782121343 Centerline is valid? [True, True] Translation: X:13.63, Y:0.14, Z:0.06 [[ 9.99220948e-01 -3.54517393e-02 -1.73398822e-02 1.36263174e+01] [ 3.54544200e-02 9.99371283e-01 -1.52885957e-04 1.41530826e-01] [ 1.73344004e-02 -4.62008615e-04 9.99849641e-01 6.29224311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.749254153999997 meters 0.01825415412653947 Centerline is valid? [True, True] Translation: X:13.66, Y:0.14, Z:0.06 [[ 9.99270971e-01 -3.41472455e-02 -1.70731169e-02 1.36588864e+01] [ 3.41496809e-02 9.99416718e-01 -1.48957601e-04 1.43872780e-01] [ 1.70682450e-02 -4.34192489e-04 9.99854233e-01 6.36881290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779254153999998 meters 0.01684823858756626 Centerline is valid? [True, True] Translation: X:13.69, Y:0.15, Z:0.06 [[ 9.99349165e-01 -3.16623423e-02 -1.72841898e-02 1.36908524e+01] [ 3.16644885e-02 9.99498543e-01 -1.49548387e-04 1.48781643e-01] [ 1.72802575e-02 -3.97843973e-04 9.99850606e-01 6.48680525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.809254153999998 meters 0.01694156462491344 Centerline is valid? [True, True] Translation: X:13.72, Y:0.15, Z:0.06 [[ 9.99399757e-01 -3.04761171e-02 -1.64721564e-02 1.37217415e+01] [ 3.04779218e-02 9.99535430e-01 -1.41521666e-04 1.49465230e-01] [ 1.64688170e-02 -3.60600376e-04 9.99864315e-01 6.45580874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839254153999999 meters 0.01602823910513165 Centerline is valid? [True, True] Translation: X:13.75, Y:0.15, Z:0.07 [[ 9.99488695e-01 -2.74414037e-02 -1.64109301e-02 1.37533622e+01] [ 2.74427979e-02 9.99623366e-01 -1.40276434e-04 1.53282227e-01] [ 1.64085986e-02 -3.10157130e-04 9.99865322e-01 6.51149250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.869254153999998 meters 0.015701531064412372 Centerline is valid? [True, True] Translation: X:13.78, Y:0.16, Z:0.07 [[ 9.99529088e-01 -2.59279516e-02 -1.64117096e-02 1.37842699e+01] [ 2.59291518e-02 9.99663773e-01 -1.39685959e-04 1.55122532e-01] [ 1.64098133e-02 -2.85921530e-04 9.99865309e-01 6.55958453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899254153999998 meters 0.015451561304328596 Centerline is valid? [True, True] Translation: X:13.82, Y:0.16, Z:0.07 [[ 9.99566135e-01 -2.44956670e-02 -1.63555235e-02 1.38155860e+01] [ 2.44966770e-02 9.99699902e-01 -1.38614784e-04 1.56399136e-01] [ 1.63540107e-02 -2.62101333e-04 9.99866230e-01 6.58361673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.929254153999999 meters 0.015310014180131755 Centerline is valid? [True, True] Translation: X:13.85, Y:0.16, Z:0.07 [[ 9.99636088e-01 -2.18691628e-02 -1.57933892e-02 1.38460202e+01] [ 2.18697832e-02 9.99760819e-01 -1.33449188e-04 1.58518064e-01] [ 1.57925301e-02 -2.11997372e-04 9.99875268e-01 6.61074681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959254153999998 meters 0.014927220046188823 Centerline is valid? [True, True] Translation: X:13.88, Y:0.16, Z:0.07 [[ 9.99662506e-01 -2.07392879e-02 -1.56447053e-02 1.38773322e+01] [ 2.07397651e-02 9.99784899e-01 -1.31755850e-04 1.59998052e-01] [ 1.56440726e-02 -1.92756130e-04 9.99877605e-01 6.68708996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.989254153999997 meters 0.014735111674389682 Centerline is valid? [True, True] Translation: X:13.91, Y:0.16, Z:0.07 [[ 9.99705245e-01 -1.90433940e-02 -1.50589675e-02 1.39077047e+01] [ 1.90436474e-02 9.99818645e-01 -1.26582852e-04 1.61242460e-01] [ 1.50586471e-02 -1.60232128e-04 9.99886599e-01 6.73787043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019254153999999 meters 0.014619726514997385 Centerline is valid? [True, True] Translation: X:13.94, Y:0.16, Z:0.07 [[ 9.99722178e-01 -1.85162291e-02 -1.45847888e-02 1.39370497e+01] [ 1.85164086e-02 9.99828549e-01 -1.22734250e-04 1.61705880e-01] [ 1.45845608e-02 -1.47357757e-04 9.99893629e-01 6.74887185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.049254153999998 meters 0.014635511787245082 Centerline is valid? [True, True] Translation: X:13.97, Y:0.16, Z:0.07 [[ 9.99740909e-01 -1.78286683e-02 -1.41510674e-02 1.39670575e+01] [ 1.78287668e-02 9.99841048e-01 -1.19204936e-04 1.61841800e-01] [ 1.41509433e-02 -1.33122029e-04 9.99899862e-01 6.75075515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079254153999997 meters 0.014607132990124302 Centerline is valid? [True, True] Translation: X:14.00, Y:0.16, Z:0.07 [[ 9.99750394e-01 -1.72460145e-02 -1.42029686e-02 1.39979051e+01] [ 1.72460549e-02 9.99851269e-01 -1.19642139e-04 1.61788669e-01] [ 1.42029195e-02 -1.25332901e-04 9.99899126e-01 6.68102604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.109254153999998 meters 0.014460572778886063 Centerline is valid? [True, True] Translation: X:14.03, Y:0.16, Z:0.07 [[ 9.99761328e-01 -1.70072959e-02 -1.37127025e-02 1.40284006e+01] [ 1.70073111e-02 9.99855359e-01 -1.15512264e-04 1.61577572e-01] [ 1.37126836e-02 -1.17731503e-04 9.99905970e-01 6.64242268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139254153999998 meters 0.014540904342968333 Centerline is valid? [True, True] Translation: X:14.06, Y:0.16, Z:0.07 [[ 9.99755718e-01 -1.71431440e-02 -1.39505475e-02 1.40579463e+01] [ 1.71431712e-02 9.99853038e-01 -1.17639657e-04 1.61196906e-01] [ 1.39505140e-02 -1.21545705e-04 9.99902679e-01 6.60759476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.169254153999997 meters 0.01478807992206129 Centerline is valid? [True, True] Translation: X:14.09, Y:0.16, Z:0.07 [[ 9.99729382e-01 -1.81462119e-02 -1.45560327e-02 1.40889349e+01] [ 1.81463460e-02 9.99835334e-01 -1.22873023e-04 1.60024462e-01] [ 1.45558655e-02 -1.41299036e-04 9.99894048e-01 6.53173723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199254153999998 meters 0.01484234305573083 Centerline is valid? [True, True] Translation: X:14.12, Y:0.16, Z:0.07 [[ 9.99711675e-01 -1.90214948e-02 -1.46543145e-02 1.41192409e+01] [ 1.90217248e-02 9.99819063e-01 -1.23702657e-04 1.59970068e-01] [ 1.46540160e-02 -1.55083347e-04 9.99892612e-01 6.52862280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.229254153999998 meters 0.014780481032342075 Centerline is valid? [True, True] Translation: X:14.15, Y:0.16, Z:0.07 [[ 9.99692313e-01 -2.00553178e-02 -1.45967245e-02 1.41500564e+01] [ 2.00556562e-02 9.99798858e-01 -1.23216518e-04 1.59331706e-01] [ 1.45962597e-02 -1.69568283e-04 9.99893455e-01 6.53834175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259254153999999 meters 0.015222938755592172 Centerline is valid? [True, True] Translation: X:14.18, Y:0.16, Z:0.07 [[ 9.99645147e-01 -2.22114070e-02 -1.47048605e-02 1.41805650e+01] [ 2.22119899e-02 9.99753276e-01 -1.23699264e-04 1.56699099e-01] [ 1.47039800e-02 -2.02968845e-04 9.99891870e-01 6.51802066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.289254153999998 meters 0.01531238139451457 Centerline is valid? [True, True] Translation: X:14.21, Y:0.16, Z:0.07 [[ 9.99624566e-01 -2.33629182e-02 -1.43143380e-02 1.42120201e+01] [ 2.33635977e-02 9.99727027e-01 -1.19774144e-04 1.55850118e-01] [ 1.43132289e-02 -2.14705258e-04 9.99897537e-01 6.57058797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319254153999998 meters 0.015741052237809614 Centerline is valid? [True, True] Translation: X:14.24, Y:0.15, Z:0.07 [[ 9.99582953e-01 -2.54429522e-02 -1.36593203e-02 1.42434283e+01] [ 2.54437717e-02 9.99676248e-01 -1.13812916e-04 1.53094054e-01] [ 1.36577938e-02 -2.33779175e-04 9.99906701e-01 6.61450347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.349254153999999 meters 0.015969379467516906 Centerline is valid? [True, True] Translation: X:14.28, Y:0.15, Z:0.07 [[ 9.99568843e-01 -2.62176029e-02 -1.32198488e-02 1.42754640e+01] [ 2.62184474e-02 9.99656231e-01 -1.09460543e-04 1.51890259e-01] [ 1.32181740e-02 -2.37190560e-04 9.99912608e-01 6.63155257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379254153999998 meters 0.015969960952190877 Centerline is valid? [True, True] Translation: X:14.31, Y:0.15, Z:0.07 [[ 9.99566300e-01 -2.65897611e-02 -1.26568700e-02 1.43076819e+01] [ 2.65905761e-02 9.99646403e-01 -1.03913658e-04 1.51110978e-01] [ 1.26551576e-02 -2.32684875e-04 9.99919893e-01 6.67373304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.409254153999997 meters 0.015761369537587562 Centerline is valid? [True, True] Translation: X:14.34, Y:0.15, Z:0.07 [[ 9.99562914e-01 -2.70588662e-02 -1.19079196e-02 1.43394937e+01] [ 2.70596308e-02 9.99633816e-01 -9.69300859e-05 1.50299445e-01] [ 1.19061819e-02 -2.25336189e-04 9.99929094e-01 6.75922295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439254153999999 meters 0.015730126496672207 Centerline is valid? [True, True] Translation: X:14.37, Y:0.15, Z:0.07 [[ 9.99573511e-01 -2.69950242e-02 -1.11384772e-02 1.43716855e+01] [ 2.69956980e-02 9.99635546e-01 -8.98793118e-05 1.49332014e-01] [ 1.11368440e-02 -2.10849987e-04 9.99937961e-01 6.76736036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.469254153999998 meters 0.015656394892663014 Centerline is valid? [True, True] Translation: X:14.40, Y:0.15, Z:0.07 [[ 9.99602924e-01 -2.62974132e-02 -1.01212691e-02 1.44037147e+01] [ 2.62979409e-02 9.99654146e-01 -8.09741140e-05 1.47519855e-01] [ 1.01198981e-02 -1.85226576e-04 9.99948775e-01 6.75786475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499254153999997 meters 0.015666941743403665 Centerline is valid? [True, True] Translation: X:14.44, Y:0.15, Z:0.07 [[ 9.99616764e-01 -2.58266619e-02 -9.96537098e-03 1.44359492e+01] [ 2.58271573e-02 9.99666420e-01 -7.90042481e-05 1.47254280e-01] [ 9.96408715e-03 -1.78403233e-04 9.99950341e-01 6.80508443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.529254153999998 meters 0.015332427942872207 Centerline is valid? [True, True] Translation: X:14.47, Y:0.15, Z:0.07 [[ 9.99634270e-01 -2.51474922e-02 -9.94639736e-03 1.44678517e+01] [ 2.51479593e-02 9.99683737e-01 -7.81241145e-05 1.47251168e-01] [ 9.94521630e-03 -1.72036054e-04 9.99950530e-01 6.85269667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559254153999998 meters 0.01556930008860228 Centerline is valid? [True, True] Translation: X:14.50, Y:0.15, Z:0.07 [[ 9.99650234e-01 -2.42393090e-02 -1.05766272e-02 1.44988801e+01] [ 2.42397967e-02 9.99706170e-01 -8.20977115e-05 1.46125298e-01] [ 1.05755095e-02 -1.74306296e-04 9.99944063e-01 6.76858027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.589254153999999 meters 0.015372893764889465 Centerline is valid? [True, True] Translation: X:14.53, Y:0.15, Z:0.07 [[ 9.99641826e-01 -2.41489921e-02 -1.15345499e-02 1.45309915e+01] [ 2.41495804e-02 9.99708352e-01 -8.83004458e-05 1.46043569e-01] [ 1.15333182e-02 -1.90285721e-04 9.99933471e-01 6.70708129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619254153999998 meters 0.01582290980796555 Centerline is valid? [True, True] Translation: X:14.56, Y:0.14, Z:0.07 [[ 9.99621660e-01 -2.43849783e-02 -1.27243921e-02 1.45626781e+01] [ 2.43857243e-02 9.99702619e-01 -9.65471774e-05 1.44567441e-01] [ 1.27229624e-02 -2.13782868e-04 9.99919037e-01 6.57648799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.649254153999998 meters 0.015816509713799106 Centerline is valid? [True, True] Translation: X:14.59, Y:0.14, Z:0.06 [[ 9.99576721e-01 -2.50819888e-02 -1.47401979e-02 1.45942962e+01] [ 2.50830762e-02 9.99685364e-01 -1.11134293e-04 1.43135406e-01] [ 1.47383476e-02 -2.58642254e-04 9.99891351e-01 6.40065016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679254153999999 meters 0.01558887472541107 Centerline is valid? [True, True] Translation: X:14.63, Y:0.14, Z:0.06 [[ 9.99557385e-01 -2.54641126e-02 -1.53822539e-02 1.46269131e+01] [ 2.54653554e-02 9.99675699e-01 -1.15097087e-04 1.43735365e-01] [ 1.53801962e-02 -2.76668420e-04 9.99881680e-01 6.40034845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.709254153999998 meters 0.016271167850633955 Centerline is valid? [True, True] Translation: X:14.66, Y:0.14, Z:0.06 [[ 9.99549880e-01 -2.56144703e-02 -1.56184512e-02 1.46584965e+01] [ 2.56157855e-02 9.99671855e-01 -1.15870920e-04 1.41469334e-01] [ 1.56162941e-02 -2.84260131e-04 9.99878018e-01 6.27332524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739254153999997 meters 0.015611010136426769 Centerline is valid? [True, True] Translation: X:14.69, Y:0.14, Z:0.06 [[ 9.99561095e-01 -2.51695642e-02 -1.56240633e-02 1.46902608e+01] [ 2.51708368e-02 9.99683158e-01 -1.15217382e-04 1.43417925e-01] [ 1.56220129e-02 -2.78103936e-04 9.99877930e-01 6.38523397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.769254153999999 meters 0.01567365680569454 Centerline is valid? [True, True] Translation: X:14.72, Y:0.14, Z:0.06 [[ 9.99572772e-01 -2.47841337e-02 -1.54925825e-02 1.47212556e+01] [ 2.47853474e-02 9.99692790e-01 -1.13689881e-04 1.44246792e-01] [ 1.54906407e-02 -2.70347730e-04 9.99879976e-01 6.43631321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799254153999998 meters 0.015271044387137967 Centerline is valid? [True, True] Translation: X:14.75, Y:0.15, Z:0.07 [[ 9.99595615e-01 -2.42076578e-02 -1.49196145e-02 1.47525352e+01] [ 2.42087271e-02 9.99706920e-01 -1.08952174e-04 1.45867990e-01] [ 1.49178794e-02 -2.52276762e-04 9.99888690e-01 6.54541567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.829254153999997 meters 0.01518033292623656 Centerline is valid? [True, True] Translation: X:14.78, Y:0.15, Z:0.07 [[ 9.99646191e-01 -2.30608246e-02 -1.32548868e-02 1.47824661e+01] [ 2.30615723e-02 9.99734042e-01 -9.64550923e-05 1.47558019e-01] [ 1.32535859e-02 -2.09257565e-04 9.99912145e-01 6.65626482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859254153999998 meters 0.015271401899411393 Centerline is valid? [True, True] Translation: X:14.81, Y:0.15, Z:0.07 [[ 9.99655900e-01 -2.30861043e-02 -1.24544874e-02 1.48137221e+01] [ 2.30867716e-02 9.99733461e-01 -9.02134032e-05 1.48122214e-01] [ 1.24532505e-02 -1.97351546e-04 9.99922436e-01 6.75790449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.889254153999998 meters 0.01522029164816616 Centerline is valid? [True, True] Translation: X:14.85, Y:0.15, Z:0.07 [[ 9.99652815e-01 -2.40704199e-02 -1.07174892e-02 1.48454590e+01] [ 2.40709770e-02 9.99710249e-01 -7.70312416e-05 1.48773996e-01] [ 1.07162379e-02 -1.80975937e-04 9.99942563e-01 6.93486262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919254153999997 meters 0.015823256715055082 Centerline is valid? [True, True] Translation: X:14.88, Y:0.15, Z:0.07 [[ 9.99629773e-01 -2.52440287e-02 -1.01516502e-02 1.48765327e+01] [ 2.52445956e-02 9.99681302e-01 -7.23072653e-05 1.47343873e-01] [ 1.01502402e-02 -1.83993809e-04 9.99948468e-01 6.93364142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.949254153999998 meters 0.016258332222613626 Centerline is valid? [True, True] Translation: X:14.91, Y:0.15, Z:0.07 [[ 9.99582823e-01 -2.70502119e-02 -1.01225756e-02 1.49087997e+01] [ 2.70508743e-02 9.99634056e-01 -7.14942287e-05 1.46430923e-01] [ 1.01208052e-02 -2.02360116e-04 9.99948763e-01 6.92427671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979254153999998 meters 0.017756540283814137 Centerline is valid? [True, True] Translation: X:14.94, Y:0.14, Z:0.07 [[ 9.99460751e-01 -3.09574218e-02 -1.09473938e-02 1.49400363e+01] [ 3.09584391e-02 9.99520670e-01 -7.65696213e-05 1.42958983e-01] [ 1.09445168e-02 -2.62385892e-04 9.99940073e-01 6.80827216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.009254153999997 meters 0.01806326817455868 Centerline is valid? [True, True] Translation: X:14.97, Y:0.14, Z:0.07 [[ 9.99391008e-01 -3.29782613e-02 -1.14038144e-02 1.49726184e+01] [ 3.29795046e-02 9.99456025e-01 -7.90598860e-05 1.42499879e-01] [ 1.14002183e-02 -2.97080411e-04 9.99934971e-01 6.76573601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039254153999995 meters 0.01806326817455868 Centerline is valid? [True, True] Translation: X:15.00, Y:0.14, Z:0.07 [[ 9.99393344e-01 -3.29074107e-02 -1.14038200e-02 1.50043243e+01] [ 3.29086586e-02 9.99458360e-01 -7.82516839e-05 1.42655871e-01] [ 1.14002183e-02 -2.97080206e-04 9.99934971e-01 6.78769150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.069254153999996 meters 0.019310827449483415 Centerline is valid? [True, True] Translation: X:15.04, Y:0.14, Z:0.07 [[ 9.99254211e-01 -3.67556920e-02 -1.18339172e-02 1.50365304e+01] [ 3.67573155e-02 9.99324218e-01 -8.03450637e-05 1.40939422e-01] [ 1.18288732e-02 -3.54697886e-04 9.99929974e-01 6.71214352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099254153999997 meters 0.019417307163463748 Centerline is valid? [True, True] Translation: X:15.07, Y:0.14, Z:0.07 [[ 9.99190011e-01 -3.83646577e-02 -1.21438941e-02 1.50687599e+01] [ 3.83664969e-02 9.99263732e-01 -8.15683879e-05 1.41504267e-01] [ 1.21380823e-02 -3.84416359e-04 9.99926257e-01 6.76066972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.129254153999995 meters 0.01967331518784929 Centerline is valid? [True, True] Translation: X:15.10, Y:0.14, Z:0.07 [[ 9.99137425e-01 -3.95595231e-02 -1.26273387e-02 1.51009059e+01] [ 3.95616187e-02 9.99217129e-01 -8.38828388e-05 1.41668692e-01] [ 1.26207714e-02 -4.15747474e-04 9.99920268e-01 6.77093545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159254153999996 meters 0.01970569736322956 Centerline is valid? [True, True] Translation: X:15.13, Y:0.14, Z:0.07 [[ 9.99089596e-01 -4.08707104e-02 -1.22296155e-02 1.51325383e+01] [ 4.08727837e-02 9.99164355e-01 -8.04617029e-05 1.43041961e-01] [ 1.22226844e-02 -4.19469979e-04 9.99925212e-01 6.82670764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.189254153999997 meters 0.02004615253299741 Centerline is valid? [True, True] Translation: X:15.16, Y:0.14, Z:0.07 [[ 9.99076684e-01 -4.12043152e-02 -1.21648638e-02 1.51643275e+01] [ 4.12064006e-02 9.99150652e-01 -7.92713319e-05 1.43227766e-01] [ 1.21577979e-02 -4.22072111e-04 9.99926002e-01 6.86743385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219254153999998 meters 0.02013189228910029 Centerline is valid? [True, True] Translation: X:15.20, Y:0.14, Z:0.07 [[ 9.99068752e-01 -4.15674902e-02 -1.15660141e-02 1.51960610e+01] [ 4.15694091e-02 9.99135616e-01 -7.45484111e-05 1.44609980e-01] [ 1.15591154e-02 -4.06313383e-04 9.99933109e-01 6.93963781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.249254153999996 meters 0.0223057412965446 Centerline is valid? [True, True] Translation: X:15.23, Y:0.14, Z:0.07 [[ 9.99069425e-01 -4.16484767e-02 -1.12110909e-02 1.52277244e+01] [ 4.16502946e-02 9.99132247e-01 -7.13804505e-05 1.42288967e-01] [ 1.12043353e-02 -3.95631212e-04 9.99937151e-01 6.97352815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279254153999997 meters 0.023113051570718083 Centerline is valid? [True, True] Translation: X:15.26, Y:0.14, Z:0.07 [[ 9.99078633e-01 -4.15179840e-02 -1.08693542e-02 1.52584890e+01] [ 4.15196939e-02 9.99137683e-01 -6.83888642e-05 1.42349469e-01] [ 1.08628207e-02 -3.82966405e-04 9.99940924e-01 7.00948937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.309254153999998 meters 0.020540796284188464 Centerline is valid? [True, True] Translation: X:15.29, Y:0.15, Z:0.07 [[ 9.99122325e-01 -4.05823010e-02 -1.03757504e-02 1.52902409e+01] [ 4.05838149e-02 9.99176136e-01 -6.46929510e-05 1.48347826e-01] [ 1.03698276e-02 -3.56451363e-04 9.99946168e-01 7.11842706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339254153999995 meters 0.020105788922268115 Centerline is valid? [True, True] Translation: X:15.32, Y:0.15, Z:0.07 [[ 9.99148312e-01 -3.99421050e-02 -1.03575603e-02 1.53223352e+01] [ 3.99435869e-02 9.99201934e-01 -6.38341269e-05 1.49941699e-01] [ 1.03518440e-02 -3.49938352e-04 9.99946357e-01 7.18094985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.369254153999997 meters 0.02324567281543699 Centerline is valid? [True, True] Translation: X:15.35, Y:0.15, Z:0.07 [[ 9.99196028e-01 -3.87928802e-02 -1.01197432e-02 1.53541069e+01] [ 3.87942432e-02 9.99247218e-01 -6.16501735e-05 1.46975160e-01] [ 1.01145169e-02 -3.30987171e-04 9.99948792e-01 7.18745611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399254153999998 meters 0.020768761539872203 Centerline is valid? [True, True] Translation: X:15.39, Y:0.15, Z:0.07 [[ 9.99215273e-01 -3.83201156e-02 -1.00202831e-02 1.53859397e+01] [ 3.83214353e-02 9.99265462e-01 -6.03351590e-05 1.51366000e-01] [ 1.00152349e-02 -3.23703819e-04 9.99949794e-01 7.28346052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.429254153999995 meters 0.020154401777709413 Centerline is valid? [True, True] Translation: X:15.42, Y:0.15, Z:0.07 [[ 9.99222770e-01 -3.80526026e-02 -1.02885978e-02 1.54181708e+01] [ 3.80539874e-02 9.99275683e-01 -6.12110500e-05 1.53068952e-01] [ 1.02834749e-02 -3.30358697e-04 9.99947069e-01 7.36349162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459254153999996 meters 0.019474493034892584 Centerline is valid? [True, True] Translation: X:15.45, Y:0.16, Z:0.07 [[ 9.99246550e-01 -3.75103194e-02 -9.96533393e-03 1.54502965e+01] [ 3.75115986e-02 9.99296191e-01 -5.85860316e-05 1.55680678e-01] [ 9.96051782e-03 -3.15273716e-04 9.99950343e-01 7.42574035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.489254153999997 meters 0.019945180154820604 Centerline is valid? [True, True] Translation: X:15.48, Y:0.16, Z:0.07 [[ 9.99264635e-01 -3.69848068e-02 -1.01149684e-02 1.54813374e+01] [ 3.69861047e-02 9.99315778e-01 -5.87792738e-05 1.55302398e-01] [ 1.01102215e-02 -3.15377231e-04 9.99948841e-01 7.42140004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519254153999995 meters 0.01959292777521628 Centerline is valid? [True, True] Translation: X:15.51, Y:0.16, Z:0.07 [[ 9.99314912e-01 -3.54868561e-02 -1.05066322e-02 1.55140897e+01] [ 3.54881812e-02 9.99370094e-01 -6.03450569e-05 1.55921026e-01] [ 1.05021555e-02 -3.12557552e-04 9.99944802e-01 7.35322253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.549254153999996 meters 0.01929801882961931 Centerline is valid? [True, True] Translation: X:15.55, Y:0.16, Z:0.07 [[ 9.99357770e-01 -3.42326238e-02 -1.05912802e-02 1.55464181e+01] [ 3.42339094e-02 9.99413846e-01 -5.99468563e-05 1.56533305e-01] [ 1.05871242e-02 -3.02672569e-04 9.99943909e-01 7.35081349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579254153999997 meters 0.018814249918631062 Centerline is valid? [True, True] Translation: X:15.58, Y:0.16, Z:0.07 [[ 9.99421050e-01 -3.22975884e-02 -1.06972335e-02 1.55784750e+01] [ 3.22987972e-02 9.99478256e-01 -5.97824655e-05 1.57648076e-01] [ 1.06935831e-02 -2.85759920e-04 9.99942781e-01 7.35922785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.609254153999995 meters 0.01820281495466513 Centerline is valid? [True, True] Translation: X:15.61, Y:0.16, Z:0.07 [[ 9.99492453e-01 -2.99257149e-02 -1.09219044e-02 1.56107679e+01] [ 2.99268420e-02 9.99552090e-01 -6.02584821e-05 1.59519337e-01] [ 1.09188157e-02 -2.66630210e-04 9.99940352e-01 7.38323305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639254153999996 meters 0.01583798026358583 Centerline is valid? [True, True] Translation: X:15.64, Y:0.17, Z:0.08 [[ 9.99667148e-01 -2.33681794e-02 -1.09326170e-02 1.56421057e+01] [ 2.33689236e-02 9.99726908e-01 -5.96831864e-05 1.66655857e-01] [ 1.09310261e-02 -1.95820172e-04 9.99940235e-01 7.50672728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.669254153999997 meters 0.015445899069056603 Centerline is valid? [True, True] Translation: X:15.67, Y:0.17, Z:0.07 [[ 9.99752628e-01 -1.94414720e-02 -1.08033357e-02 1.56730862e+01] [ 1.94419745e-02 9.99810985e-01 -5.85133357e-05 1.68890712e-01] [ 1.08024313e-02 -1.51539316e-04 9.99941641e-01 7.49404609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699254153999995 meters 0.014317947756323085 Centerline is valid? [True, True] Translation: X:15.70, Y:0.18, Z:0.08 [[ 9.99882461e-01 -1.10334949e-02 -1.06454558e-02 1.57047084e+01] [ 1.10335118e-02 9.99939127e-01 -5.71468699e-05 1.75828626e-01] [ 1.06454383e-02 -6.03166088e-05 9.99943334e-01 7.56707222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.729254153999996 meters 0.014172262151490861 Centerline is valid? [True, True] Translation: X:15.73, Y:0.18, Z:0.08 [[ 9.99924954e-01 -6.69191536e-03 -1.02618357e-02 1.57342561e+01] [ 6.69170520e-03 9.99977609e-01 -5.48155672e-05 1.78268046e-01] [ 1.02619727e-02 -1.38577258e-05 9.99947344e-01 7.60067045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759254153999997 meters 0.014259182161436346 Centerline is valid? [True, True] Translation: X:15.76, Y:0.18, Z:0.08 [[ 9.99945311e-01 -3.21168444e-03 -9.95290794e-03 1.57627037e+01] [ 3.21130727e-03 9.99994842e-01 -5.38764618e-05 1.80757367e-01] [ 9.95302964e-03 2.19116697e-05 9.99950467e-01 7.60605650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.789254153999995 meters 0.014690845028344023 Centerline is valid? [True, True] Translation: X:15.79, Y:0.18, Z:0.08 [[ 9.99951935e-01 3.11769407e-03 -9.29553998e-03 1.57903427e+01] [-3.11831358e-03 9.99995137e-01 -5.21536939e-05 1.84371833e-01] [ 9.29533217e-03 8.11375958e-05 9.99956794e-01 7.65502589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819254153999996 meters 0.01499009269408221 Centerline is valid? [True, True] Translation: X:15.82, Y:0.19, Z:0.08 [[ 9.99948447e-01 4.77549958e-03 -8.96090774e-03 1.58192589e+01] [-4.77615164e-03 9.99988593e-01 -5.13688645e-05 1.85406372e-01] [ 8.96056021e-03 9.41648705e-05 9.99959849e-01 7.66068289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.849254153999997 meters 0.014926746580698893 Centerline is valid? [True, True] Translation: X:15.85, Y:0.18, Z:0.08 [[ 9.99941443e-01 6.21973369e-03 -8.85581229e-03 1.58476710e+01] [-6.22044645e-03 9.99980651e-01 -5.29429936e-05 1.84837704e-01] [ 8.85531165e-03 1.08027000e-04 9.99960785e-01 7.71918213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879254153999995 meters 0.015092156043108807 Centerline is valid? [True, True] Translation: X:15.88, Y:0.18, Z:0.08 [[ 9.99950660e-01 6.41140086e-03 -7.58756318e-03 1.58750137e+01] [-6.41194198e-03 9.99979442e-01 -4.69923802e-05 1.84380511e-01] [ 7.58710591e-03 9.56410765e-05 9.99971213e-01 7.78764212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.909254153999996 meters 0.014925942865358187 Centerline is valid? [True, True] Translation: X:15.90, Y:0.18, Z:0.08 [[ 9.99958874e-01 5.48403659e-03 -7.22323548e-03 1.59041763e+01] [-5.48451074e-03 9.99984959e-01 -4.58361062e-05 1.82966843e-01] [ 7.22287546e-03 8.54501337e-05 9.99973911e-01 7.76695970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939254153999997 meters 0.014705150897466199 Centerline is valid? [True, True] Translation: X:15.93, Y:0.18, Z:0.08 [[ 9.99965381e-01 4.20277551e-03 -7.18143022e-03 1.59320047e+01] [-4.20321490e-03 9.99991165e-01 -4.60923187e-05 1.81278590e-01] [ 7.18117306e-03 7.62758175e-05 9.99974212e-01 7.77319652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.969254153999994 meters 0.014367795867834125 Centerline is valid? [True, True] Translation: X:15.96, Y:0.18, Z:0.08 [[ 9.99973301e-01 -1.61769579e-04 -7.30555818e-03 1.59596613e+01] [ 1.61426454e-04 9.99999986e-01 -4.75574097e-05 1.76366691e-01] [ 7.30556577e-03 4.63768296e-05 9.99973313e-01 7.72430142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999254153999996 meters 0.014189929752275125 Centerline is valid? [True, True] Translation: X:15.99, Y:0.17, Z:0.08 [[ 9.99965316e-01 -2.75151448e-03 -7.86102444e-03 1.59887890e+01] [ 2.75119133e-03 9.99996214e-01 -5.19210265e-05 1.73718475e-01] [ 7.86113754e-03 3.02920434e-05 9.99969100e-01 7.70499949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.029254153999997 meters 0.01422074186167811 Centerline is valid? [True, True] Translation: X:16.02, Y:0.17, Z:0.08 [[ 9.99926800e-01 -8.17862077e-03 -8.91650179e-03 1.60175996e+01] [ 8.17841456e-03 9.99966554e-01 -5.95895972e-05 1.66874205e-01] [ 8.91669094e-03 -1.33376128e-05 9.99960245e-01 7.54970242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059254153999998 meters 0.014188102518585122 Centerline is valid? [True, True] Translation: X:16.05, Y:0.16, Z:0.08 [[ 9.99896964e-01 -1.09033633e-02 -9.33693771e-03 1.60469797e+01] [ 1.09032503e-02 9.99940556e-01 -6.30001845e-05 1.63413781e-01] [ 9.33706960e-03 -3.88092759e-05 9.99956408e-01 7.51081850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.089254153999995 meters 0.01448724371045994 Centerline is valid? [True, True] Translation: X:16.08, Y:0.16, Z:0.07 [[ 9.99861116e-01 -1.36317099e-02 -9.58778679e-03 1.60763195e+01] [ 1.36317133e-02 9.99907082e-01 -6.49942446e-05 1.59761101e-01] [ 9.58778189e-03 -6.57127427e-05 9.99954034e-01 7.46052589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119254153999997 meters 0.015200818005490746 Centerline is valid? [True, True] Translation: X:16.11, Y:0.15, Z:0.07 [[ 9.99767814e-01 -1.88560518e-02 -1.04291767e-02 1.61071376e+01] [ 1.88563387e-02 9.99822201e-01 -7.08315901e-05 1.52793557e-01] [ 1.04286580e-02 -1.25840944e-04 9.99945612e-01 7.37152980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.149254153999998 meters 0.015409664018972112 Centerline is valid? [True, True] Translation: X:16.14, Y:0.15, Z:0.07 [[ 9.99722804e-01 -2.10819462e-02 -1.04817707e-02 1.61385764e+01] [ 2.10823596e-02 9.99777740e-01 -7.10598222e-05 1.50164024e-01] [ 1.04809391e-02 -1.49940335e-04 9.99945062e-01 7.38469428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179254153999995 meters 0.016192440197419233 Centerline is valid? [True, True] Translation: X:16.17, Y:0.14, Z:0.07 [[ 9.99646249e-01 -2.46348700e-02 -1.00249555e-02 1.61697914e+01] [ 2.46354309e-02 9.99696499e-01 -6.75543359e-05 1.43927447e-01] [ 1.00235771e-02 -1.79438660e-04 9.99949747e-01 7.38406893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.209254153999996 meters 0.016557015913179964 Centerline is valid? [True, True] Translation: X:16.20, Y:0.14, Z:0.07 [[ 9.99612654e-01 -2.59982519e-02 -9.93143253e-03 1.62016391e+01] [ 2.59988754e-02 9.99661970e-01 -6.63364328e-05 1.41525364e-01] [ 9.92980004e-03 -1.91895340e-04 9.99950680e-01 7.41293964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239254153999997 meters 0.016593188838229817 Centerline is valid? [True, True] Translation: X:16.23, Y:0.14, Z:0.07 [[ 9.99597282e-01 -2.67246518e-02 -9.54294114e-03 1.62333918e+01] [ 2.67252669e-02 9.99642814e-01 -6.30755640e-05 1.39632174e-01] [ 9.54121821e-03 -1.91987487e-04 9.99954463e-01 7.47325631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.269254153999995 meters 0.017046142828015462 Centerline is valid? [True, True] Translation: X:16.26, Y:0.14, Z:0.07 [[ 9.99579932e-01 -2.74733796e-02 -9.22889196e-03 1.62641630e+01] [ 2.74739925e-02 9.99622517e-01 -6.03928109e-05 1.37600413e-01] [ 9.22706740e-03 -1.93187066e-04 9.99957411e-01 7.49746479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299254153999996 meters 0.01748535875526803 Centerline is valid? [True, True] Translation: X:16.30, Y:0.13, Z:0.08 [[ 9.99535270e-01 -2.90108868e-02 -9.36011151e-03 1.62950908e+01] [ 2.90115894e-02 9.99579073e-01 -6.07442321e-05 1.33641503e-01] [ 9.35793384e-03 -2.10835709e-04 9.99956191e-01 7.54775753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.329254153999997 meters 0.017659994569388767 Centerline is valid? [True, True] Translation: X:16.33, Y:0.13, Z:0.08 [[ 9.99515896e-01 -2.96921377e-02 -9.29254254e-03 1.63272179e+01] [ 2.96928645e-02 9.99559068e-01 -5.97718347e-05 1.32007733e-01] [ 9.29021991e-03 -2.16179308e-04 9.99956822e-01 7.56652690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359254153999995 meters 0.01816877801107069 Centerline is valid? [True, True] Translation: X:16.36, Y:0.13, Z:0.07 [[ 9.99428542e-01 -3.20567159e-02 -1.07217775e-02 1.63589819e+01] [ 3.20578295e-02 9.99486013e-01 -6.80271184e-05 1.28272257e-01] [ 1.07184474e-02 -2.75728672e-04 9.99942518e-01 7.47081869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.389254153999996 meters 0.018506032139352688 Centerline is valid? [True, True] Translation: X:16.39, Y:0.13, Z:0.07 [[ 9.99389161e-01 -3.30222408e-02 -1.14383730e-02 1.63911806e+01] [ 3.30235834e-02 9.99454570e-01 -7.15268981e-05 1.26109562e-01] [ 1.14344962e-02 -3.06252859e-04 9.99934577e-01 7.41912306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419254153999997 meters 0.018084729171786395 Centerline is valid? [True, True] Translation: X:16.42, Y:0.13, Z:0.07 [[ 9.99346400e-01 -3.39241290e-02 -1.24870249e-02 1.64238253e+01] [ 3.39258113e-02 9.99424351e-01 -7.71343176e-05 1.25805338e-01] [ 1.24824535e-02 -3.46548548e-04 9.99922031e-01 7.38803387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.449254153999995 meters 0.019601968568823208 Centerline is valid? [True, True] Translation: X:16.46, Y:0.12, Z:0.07 [[ 9.99264358e-01 -3.56241388e-02 -1.42008287e-02 1.64553660e+01] [ 3.56265001e-02 9.99365171e-01 -8.67443764e-05 1.21375988e-01] [ 1.41949038e-02 -4.19245261e-04 9.99899159e-01 7.24254978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479254153999996 meters 0.019094044959802974 Centerline is valid? [True, True] Translation: X:16.49, Y:0.12, Z:0.07 [[ 9.99230572e-01 -3.62793108e-02 -1.49021969e-02 1.64876446e+01] [ 3.62819985e-02 9.99341587e-01 -9.00497854e-05 1.21589859e-01] [ 1.48956521e-02 -4.50700987e-04 9.99888952e-01 7.27129421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.509254153999997 meters 0.01893014824428209 Centerline is valid? [True, True] Translation: X:16.52, Y:0.12, Z:0.07 [[ 9.99167332e-01 -3.76332256e-02 -1.57601893e-02 1.65198854e+01] [ 3.76364187e-02 9.99291495e-01 -9.40463100e-05 1.20176329e-01] [ 1.57525624e-02 -4.99189084e-04 9.99875796e-01 7.27776049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539254153999995 meters 0.01891154604163416 Centerline is valid? [True, True] Translation: X:16.55, Y:0.12, Z:0.07 [[ 9.99144381e-01 -3.81329078e-02 -1.60120730e-02 1.65519542e+01] [ 3.81362872e-02 9.99272543e-01 -9.43506010e-05 1.19825180e-01] [ 1.60040227e-02 -5.16371140e-04 9.99871794e-01 7.28215454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.569254153999996 meters 0.018998025554615123 Centerline is valid? [True, True] Translation: X:16.58, Y:0.12, Z:0.07 [[ 9.99127412e-01 -3.83959977e-02 -1.64365797e-02 1.65840699e+01] [ 3.83996145e-02 9.99262458e-01 -9.56122390e-05 1.19280392e-01] [ 1.64281282e-02 -5.35629515e-04 9.99864906e-01 7.29317749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599254153999997 meters 0.021819196221451197 Centerline is valid? [True, True] Translation: X:16.62, Y:0.11, Z:0.07 [[ 9.99128225e-01 -3.83972228e-02 -1.63842695e-02 1.66154082e+01] [ 3.84008339e-02 9.99262412e-01 -9.42660256e-05 1.14249420e-01] [ 1.63758042e-02 -5.34985764e-04 9.99865764e-01 7.23774866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.629254153999995 meters 0.01901644184724937 Centerline is valid? [True, True] Translation: X:16.65, Y:0.12, Z:0.07 [[ 9.99143487e-01 -3.82746884e-02 -1.57270348e-02 1.66478348e+01] [ 3.82780165e-02 9.99267124e-01 -8.94563376e-05 1.19515763e-01] [ 1.57189327e-02 -5.12619980e-04 9.99876319e-01 7.42796632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659254153999996 meters 0.019956334209033606 Centerline is valid? [True, True] Translation: X:16.68, Y:0.12, Z:0.08 [[ 9.99148884e-01 -3.86023536e-02 -1.45384319e-02 1.66794442e+01] [ 3.86052453e-02 9.99254536e-01 -8.17934470e-05 1.18414042e-01] [ 1.45307514e-02 -4.79535898e-04 9.99894308e-01 7.52206537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.689254153999997 meters 0.019739405038472112 Centerline is valid? [True, True] Translation: X:16.71, Y:0.12, Z:0.08 [[ 9.99142335e-01 -3.88420888e-02 -1.43487321e-02 1.67111854e+01] [ 3.88449435e-02 9.99245247e-01 -7.98010581e-05 1.18983467e-01] [ 1.43410020e-02 -4.77643072e-04 9.99897048e-01 7.59362702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719254153999994 meters 0.020095855082068015 Centerline is valid? [True, True] Translation: X:16.74, Y:0.12, Z:0.08 [[ 9.99122961e-01 -3.96917351e-02 -1.33369667e-02 1.67431824e+01] [ 3.96942896e-02 9.99211868e-01 -7.32325030e-05 1.18519045e-01] [ 1.33293622e-02 -4.56233144e-04 9.99911056e-01 7.67255777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.749254153999996 meters 0.020482849251021645 Centerline is valid? [True, True] Translation: X:16.78, Y:0.12, Z:0.08 [[ 9.99105619e-01 -4.02292580e-02 -1.30218984e-02 1.67752490e+01] [ 4.02317509e-02 9.99190373e-01 -7.05652495e-05 1.18128373e-01] [ 1.30141943e-02 -4.53391636e-04 9.99915209e-01 7.71910906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779254153999997 meters 0.020475143971767282 Centerline is valid? [True, True] Translation: X:16.81, Y:0.12, Z:0.08 [[ 9.99090570e-01 -4.07395991e-02 -1.25824353e-02 1.68073757e+01] [ 4.07419784e-02 9.99169699e-01 -6.72841574e-05 1.18486463e-01] [ 1.25747292e-02 -4.45410340e-04 9.99920836e-01 7.76687007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.809254153999994 meters 0.021419237297497788 Centerline is valid? [True, True] Translation: X:16.84, Y:0.12, Z:0.08 [[ 9.99038545e-01 -4.20326441e-02 -1.24596041e-02 1.68386094e+01] [ 4.20350875e-02 9.99116133e-01 -6.58246624e-05 1.16552162e-01] [ 1.24513583e-02 -4.57979175e-04 9.99922374e-01 7.79075715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839254153999995 meters 0.02117985000257245 Centerline is valid? [True, True] Translation: X:16.87, Y:0.12, Z:0.08 [[ 9.99011232e-01 -4.26232422e-02 -1.26419198e-02 1.68711598e+01] [ 4.26258150e-02 9.99091105e-01 -6.59887234e-05 1.16823459e-01] [ 1.26332423e-02 -4.72948661e-04 9.99920086e-01 7.78521359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.869254153999997 meters 0.022507155872166434 Centerline is valid? [True, True] Translation: X:16.90, Y:0.11, Z:0.08 [[ 9.98946365e-01 -4.37832759e-02 -1.37544171e-02 1.69019910e+01] [ 4.37864439e-02 9.99040911e-01 -7.08751602e-05 1.14899804e-01] [ 1.37443285e-02 -5.31456529e-04 9.99905401e-01 7.63499186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899254153999998 meters 0.022796157743989975 Centerline is valid? [True, True] Translation: X:16.93, Y:0.11, Z:0.08 [[ 9.98932532e-01 -4.38439896e-02 -1.45430770e-02 1.69344501e+01] [ 4.38475515e-02 9.99038231e-01 -7.39994010e-05 1.14517811e-01] [ 1.45323343e-02 -5.63757907e-04 9.99894241e-01 7.60381269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.929254153999995 meters 0.022796157743989975 Centerline is valid? [True, True] Translation: X:16.97, Y:0.11, Z:0.08 [[ 9.98935648e-01 -4.37729391e-02 -1.45430822e-02 1.69661675e+01] [ 4.37765085e-02 9.99041346e-01 -7.29649618e-05 1.14615052e-01] [ 1.45323343e-02 -5.63758059e-04 9.99894241e-01 7.62577775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959254153999996 meters 0.023008513842834012 Centerline is valid? [True, True] Translation: X:17.00, Y:0.11, Z:0.08 [[ 9.98931150e-01 -4.38113956e-02 -1.47349540e-02 1.69980757e+01] [ 4.38150795e-02 9.99039656e-01 -7.28744257e-05 1.14820429e-01] [ 1.47239961e-02 -5.72816648e-04 9.99891432e-01 7.62350184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.989254153999997 meters 0.0234812174926498 Centerline is valid? [True, True] Translation: X:17.03, Y:0.12, Z:0.08 [[ 9.98955685e-01 -4.32164668e-02 -1.48282348e-02 1.70292331e+01] [ 4.32201456e-02 9.99065570e-01 -7.24234379e-05 1.15045243e-01] [ 1.48175088e-02 -5.68530662e-04 9.99890053e-01 7.65355803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019254153999995 meters 0.022349373007611174 Centerline is valid? [True, True] Translation: X:17.06, Y:0.12, Z:0.08 [[ 9.98991714e-01 -4.24245116e-02 -1.46873099e-02 1.70618676e+01] [ 4.24280508e-02 9.99099522e-01 -7.06834118e-05 1.17035456e-01] [ 1.46770830e-02 -5.52541789e-04 9.99892133e-01 7.74057598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.049254153999996 meters 0.02228033879805333 Centerline is valid? [True, True] Translation: X:17.09, Y:0.12, Z:0.08 [[ 9.99060782e-01 -4.10552490e-02 -1.38571473e-02 1.70944169e+01] [ 4.10582826e-02 9.99156751e-01 -6.56180436e-05 1.18451305e-01] [ 1.38481562e-02 -5.03394256e-04 9.99903983e-01 7.78505934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079254153999997 meters 0.021300513130475048 Centerline is valid? [True, True] Translation: X:17.13, Y:0.12, Z:0.08 [[ 9.99078233e-01 -4.06174638e-02 -1.38890334e-02 1.71267585e+01] [ 4.06204829e-02 9.99174645e-01 -6.47775874e-05 1.20665141e-01] [ 1.38802011e-02 -4.99461364e-04 9.99903541e-01 7.86343411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.109254153999995 meters 0.020683061778770252 Centerline is valid? [True, True] Translation: X:17.16, Y:0.12, Z:0.08 [[ 9.99104558e-01 -3.99244300e-02 -1.40043925e-02 1.71587208e+01] [ 3.99274458e-02 9.99202580e-01 -6.42979597e-05 1.22264457e-01] [ 1.39957921e-02 -4.94919235e-04 9.99901932e-01 7.87353327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139254153999996 meters 0.021172447731981018 Centerline is valid? [True, True] Translation: X:17.19, Y:0.12, Z:0.08 [[ 9.99121437e-01 -3.96489611e-02 -1.35762308e-02 1.71899491e+01] [ 3.96517813e-02 9.99213557e-01 -6.14825059e-05 1.22535465e-01] [ 1.35679916e-02 -4.76893245e-04 9.99907837e-01 7.86459622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.169254153999997 meters 0.022703651502417516 Centerline is valid? [True, True] Translation: X:17.22, Y:0.12, Z:0.08 [[ 9.99112584e-01 -3.98167838e-02 -1.37356786e-02 1.72214155e+01] [ 3.98196967e-02 9.99206879e-01 -6.14612168e-05 1.21140862e-01] [ 1.37272317e-02 -4.85543880e-04 9.99905659e-01 7.83079153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199254153999995 meters 0.02241560437851756 Centerline is valid? [True, True] Translation: X:17.25, Y:0.12, Z:0.08 [[ 9.99101682e-01 -3.99765335e-02 -1.40607915e-02 1.72537670e+01] [ 3.99796141e-02 9.99200494e-01 -6.20386114e-05 1.22721417e-01] [ 1.40520299e-02 -5.00162138e-04 9.99901140e-01 7.87650566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.229254153999996 meters 0.02109051622538199 Centerline is valid? [True, True] Translation: X:17.29, Y:0.13, Z:0.08 [[ 9.99070517e-01 -4.09770599e-02 -1.33784201e-02 1.72858689e+01] [ 4.09799508e-02 9.99159967e-01 -5.80970454e-05 1.26362904e-01] [ 1.33695625e-02 -4.90203954e-04 9.99910503e-01 8.00695598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259254153999997 meters 0.021601495726150294 Centerline is valid? [True, True] Translation: X:17.32, Y:0.13, Z:0.08 [[ 9.99044596e-01 -4.18394855e-02 -1.26235002e-02 1.73182948e+01] [ 4.18421392e-02 9.99124233e-01 -5.39289960e-05 1.26598698e-01] [ 1.26147013e-02 -4.74316782e-04 9.99920319e-01 8.08356951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.289254153999995 meters 0.022010946983887798 Centerline is valid? [True, True] Translation: X:17.35, Y:0.13, Z:0.08 [[ 9.98954751e-01 -4.41158817e-02 -1.19664006e-02 1.73507881e+01] [ 4.41184395e-02 9.99026306e-01 -5.02762722e-05 1.27376947e-01] [ 1.19569670e-02 -4.77715202e-04 9.99928399e-01 8.22613057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319254153999996 meters 0.022739277843193413 Centerline is valid? [True, True] Translation: X:17.38, Y:0.13, Z:0.08 [[ 9.98910481e-01 -4.53031408e-02 -1.12016472e-02 1.73826634e+01] [ 4.53054654e-02 9.98973179e-01 -4.62780034e-05 1.26969261e-01] [ 1.11922417e-02 -4.61268257e-04 9.99937259e-01 8.26242325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.349254153999997 meters 0.02387092672838285 Centerline is valid? [True, True] Translation: X:17.41, Y:0.13, Z:0.08 [[ 9.98859957e-01 -4.64077237e-02 -1.11852144e-02 1.74141070e+01] [ 4.64101188e-02 9.98922469e-01 -4.54754544e-05 1.25838071e-01] [ 1.11752724e-02 -4.73683519e-04 9.99937442e-01 8.31635888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379254153999995 meters 0.02484256256582395 Centerline is valid? [True, True] Translation: X:17.45, Y:0.13, Z:0.08 [[ 9.98782149e-01 -4.78983264e-02 -1.18308787e-02 1.74466776e+01] [ 4.79011192e-02 9.98852081e-01 -4.73525982e-05 1.25916313e-01] [ 1.18195659e-02 -5.19417401e-04 9.99930012e-01 8.32698064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.409254153999996 meters 0.025043467194271 Centerline is valid? [True, True] Translation: X:17.48, Y:0.13, Z:0.08 [[ 9.98759319e-01 -4.83304854e-02 -1.19994663e-02 1.74785968e+01] [ 4.83333999e-02 9.98831257e-01 -4.71629588e-05 1.26584738e-01] [ 1.19877215e-02 -5.32870561e-04 9.99928003e-01 8.32846279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439254153999997 meters 0.024150225772171584 Centerline is valid? [True, True] Translation: X:17.51, Y:0.13, Z:0.08 [[ 9.98732338e-01 -4.87178321e-02 -1.26605343e-02 1.75107656e+01] [ 4.87211196e-02 9.98812420e-01 -4.88215123e-05 1.28851350e-01] [ 1.26478774e-02 -5.68075784e-04 9.99919851e-01 8.34228133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.469254153999994 meters 0.023730952276333792 Centerline is valid? [True, True] Translation: X:17.54, Y:0.13, Z:0.08 [[ 9.98731957e-01 -4.86024231e-02 -1.31256545e-02 1.75442057e+01] [ 4.86059624e-02 9.98818030e-01 -4.94081714e-05 1.30125909e-01] [ 1.31125418e-02 -5.88639551e-04 9.99913854e-01 8.35496132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499254153999996 meters 0.022640682636061775 Centerline is valid? [True, True] Translation: X:17.58, Y:0.13, Z:0.08 [[ 9.98734270e-01 -4.82914524e-02 -1.40638912e-02 1.75774603e+01] [ 4.82955079e-02 9.98833090e-01 -5.13192147e-05 1.33250036e-01] [ 1.40499582e-02 -6.27968511e-04 9.99901097e-01 8.38759088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.529254153999997 meters 0.024657349375757733 Centerline is valid? [True, True] Translation: X:17.61, Y:0.13, Z:0.08 [[ 9.98750944e-01 -4.80030012e-02 -1.38659020e-02 1.76091285e+01] [ 4.80069316e-02 9.98847001e-01 -4.94444803e-05 1.31135631e-01] [ 1.38522881e-02 -6.16276685e-04 9.99903863e-01 8.38985370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559254153999994 meters 0.023677034632835704 Centerline is valid? [True, True] Translation: X:17.64, Y:0.13, Z:0.08 [[ 9.98759519e-01 -4.77016497e-02 -1.42819947e-02 1.76417027e+01] [ 4.77058021e-02 9.98861429e-01 -4.99949932e-05 1.33175291e-01] [ 1.42681185e-02 -6.31401038e-04 9.99898006e-01 8.40229462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.589254153999995 meters 0.023595918473267884 Centerline is valid? [True, True] Translation: X:17.67, Y:0.13, Z:0.08 [[ 9.98782729e-01 -4.71136652e-02 -1.46069277e-02 1.76737694e+01] [ 4.71179616e-02 9.98889331e-01 -5.00570389e-05 1.33776072e-01] [ 1.45930626e-02 -6.38252553e-04 9.99893312e-01 8.43355095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619254153999997 meters 0.022397687883757126 Centerline is valid? [True, True] Translation: X:17.71, Y:0.14, Z:0.08 [[ 9.98807633e-01 -4.64772818e-02 -1.49390296e-02 1.77064506e+01] [ 4.64817236e-02 9.98919139e-01 -4.99376713e-05 1.36759061e-01] [ 1.49252036e-02 -6.44513719e-04 9.99888405e-01 8.48262788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.649254153999994 meters 0.02254899779826966 Centerline is valid? [True, True] Translation: X:17.74, Y:0.14, Z:0.08 [[ 9.98890544e-01 -4.42960942e-02 -1.59854994e-02 1.77377229e+01] [ 4.43009203e-02 9.99018231e-01 -5.22469596e-05 1.38247498e-01] [ 1.59721197e-02 -6.55983343e-04 9.99872222e-01 8.47022207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679254153999995 meters 0.023241837012980136 Centerline is valid? [True, True] Translation: X:17.77, Y:0.14, Z:0.08 [[ 9.98941251e-01 -4.31489318e-02 -1.59545402e-02 1.77692472e+01] [ 4.31536071e-02 9.99068448e-01 -5.12732834e-05 1.38176566e-01] [ 1.59418901e-02 -6.37276961e-04 9.99872717e-01 8.41977353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.709254153999996 meters 0.021704265784944 Centerline is valid? [True, True] Translation: X:17.80, Y:0.14, Z:0.08 [[ 9.99079848e-01 -3.93877800e-02 -1.69723055e-02 1.78008788e+01] [ 3.93925451e-02 9.99223811e-01 -5.35952690e-05 1.43391226e-01] [ 1.69612428e-02 -6.15036356e-04 9.99855959e-01 8.37900836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739254153999997 meters 0.020710500583782515 Centerline is valid? [True, True] Translation: X:17.83, Y:0.15, Z:0.08 [[ 9.99161185e-01 -3.74075242e-02 -1.66614346e-02 1.78324559e+01] [ 3.74118592e-02 9.99299930e-01 -5.15407739e-05 1.45051693e-01] [ 1.66516984e-02 -5.71837704e-04 9.99861187e-01 8.44974674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.769254153999995 meters 0.0201610985077201 Centerline is valid? [True, True] Translation: X:17.86, Y:0.15, Z:0.08 [[ 9.99231971e-01 -3.51803506e-02 -1.72572152e-02 1.78633670e+01] [ 3.51846847e-02 9.99380826e-01 -5.25002631e-05 1.47105801e-01] [ 1.72483770e-02 -5.54729734e-04 9.99851082e-01 8.45664629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799254153999996 meters 0.018203525821190492 Centerline is valid? [True, True] Translation: X:17.89, Y:0.15, Z:0.08 [[ 9.99361246e-01 -3.08640529e-02 -1.80141647e-02 1.78945443e+01] [ 3.08680869e-02 9.99523466e-01 -5.41415712e-05 1.53443583e-01] [ 1.80072514e-02 -5.01955814e-04 9.99837730e-01 8.49915962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.829254153999997 meters 0.018716695824669075 Centerline is valid? [True, True] Translation: X:17.92, Y:0.15, Z:0.08 [[ 9.99427992e-01 -2.87427300e-02 -1.78197543e-02 1.79248745e+01] [ 2.87463589e-02 9.99586737e-01 -5.25221179e-05 1.54181067e-01] [ 1.78138997e-02 -4.59760979e-04 9.99841214e-01 8.42287540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859254153999995 meters 0.017311132761389687 Centerline is valid? [True, True] Translation: X:17.96, Y:0.16, Z:0.08 [[ 9.99508566e-01 -2.48936833e-02 -1.90507680e-02 1.79558684e+01] [ 2.48971465e-02 9.99690016e-01 -5.54037866e-05 1.59751079e-01] [ 1.90462418e-02 -4.18933201e-04 9.99818516e-01 8.44833582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.889254153999996 meters 0.016059420883227274 Centerline is valid? [True, True] Translation: X:17.99, Y:0.16, Z:0.09 [[ 9.99549339e-01 -2.29648411e-02 -1.93322463e-02 1.79859406e+01] [ 2.29680448e-02 9.99736198e-01 -5.63260391e-05 1.63902350e-01] [ 1.93284399e-02 -3.87723243e-04 9.99813113e-01 8.55396712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919254153999997 meters 0.015936730237204513 Centerline is valid? [True, True] Translation: X:18.01, Y:0.17, Z:0.09 [[ 9.99577061e-01 -2.14872596e-02 -1.95958609e-02 1.80144181e+01] [ 2.14902485e-02 9.99769056e-01 -5.80650302e-05 1.65700606e-01] [ 1.95925830e-02 -3.63079446e-04 9.99807981e-01 8.56447022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.949254153999995 meters 0.01585429250176379 Centerline is valid? [True, True] Translation: X:18.04, Y:0.17, Z:0.09 [[ 9.99615225e-01 -1.92315785e-02 -1.99887037e-02 1.80434128e+01] [ 1.92342114e-02 9.99815004e-01 -6.05464764e-05 1.68161964e-01] [ 1.99861703e-02 -3.23943772e-04 9.99800204e-01 8.51303286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979254153999996 meters 0.015653373167202892 Centerline is valid? [True, True] Translation: X:18.07, Y:0.17, Z:0.09 [[ 9.99612104e-01 -1.89940486e-02 -2.03682912e-02 1.80709449e+01] [ 1.89966459e-02 9.99819545e-01 -6.59759884e-05 1.69658994e-01] [ 2.03658688e-02 -3.20978820e-04 9.99792543e-01 8.55584185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.009254153999997 meters 0.015372839156321602 Centerline is valid? [True, True] Translation: X:18.10, Y:0.17, Z:0.09 [[ 9.99606878e-01 -1.92461191e-02 -2.03881393e-02 1.80987048e+01] [ 1.92486532e-02 9.99814725e-01 -7.19617774e-05 1.71651748e-01] [ 2.03857469e-02 -3.20510735e-04 9.99792138e-01 8.65821765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039254153999995 meters 0.015256152094569623 Centerline is valid? [True, True] Translation: X:18.13, Y:0.17, Z:0.09 [[ 9.99605288e-01 -1.94635049e-02 -2.02593305e-02 1.81269160e+01] [ 1.94659309e-02 9.99810518e-01 -7.74709758e-05 1.72854788e-01] [ 2.02569996e-02 -3.16926330e-04 9.99794756e-01 8.72845355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.069254153999996 meters 0.015679777147334612 Centerline is valid? [True, True] Translation: X:18.15, Y:0.17, Z:0.09 [[ 9.99593144e-01 -2.07271779e-02 -1.95941288e-02 1.81548394e+01] [ 2.07296282e-02 9.99785115e-01 -7.80680350e-05 1.73392441e-01] [ 1.95915365e-02 -3.28142733e-04 9.99808014e-01 8.76084445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099254153999997 meters 0.015746705554985765 Centerline is valid? [True, True] Translation: X:18.18, Y:0.17, Z:0.09 [[ 9.99572934e-01 -2.19008349e-02 -1.93469073e-02 1.81833272e+01] [ 2.19033699e-02 9.99760089e-01 -8.08867237e-05 1.73802050e-01] [ 1.93440373e-02 -3.42910287e-04 9.99812828e-01 8.82792796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.129254153999995 meters 0.016413714197676805 Centerline is valid? [True, True] Translation: X:18.21, Y:0.17, Z:0.09 [[ 9.99527477e-01 -2.48799976e-02 -1.80501712e-02 1.82118600e+01] [ 2.48826489e-02 9.99690376e-01 -7.77245676e-05 1.72159373e-01] [ 1.80465162e-02 -3.71448231e-04 9.99837079e-01 8.86802418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159254153999996 meters 0.016674725902636644 Centerline is valid? [True, True] Translation: X:18.24, Y:0.17, Z:0.09 [[ 9.99487748e-01 -2.66903643e-02 -1.76597496e-02 1.82425956e+01] [ 2.66931780e-02 9.99643671e-01 -7.64120842e-05 1.72385273e-01] [ 1.76554964e-02 -3.95021897e-04 9.99844052e-01 8.94390204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.189254153999997 meters 0.017485322228932502 Centerline is valid? [True, True] Translation: X:18.27, Y:0.17, Z:0.09 [[ 9.99435764e-01 -2.85600324e-02 -1.76770259e-02 1.82728538e+01] [ 2.85631472e-02 9.99591987e-01 -7.62924838e-05 1.70740041e-01] [ 1.76719924e-02 -4.28662057e-04 9.99843746e-01 8.94014108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219254153999994 meters 0.01868051151058702 Centerline is valid? [True, True] Translation: X:18.30, Y:0.17, Z:0.09 [[ 9.99291735e-01 -3.32400105e-02 -1.76389005e-02 1.83041167e+01] [ 3.32438494e-02 9.99447268e-01 -7.56176406e-05 1.69550220e-01] [ 1.76316644e-02 -5.10820867e-04 9.99844420e-01 8.96922568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.249254153999996 meters 0.019517730308236485 Centerline is valid? [True, True] Translation: X:18.34, Y:0.17, Z:0.09 [[ 9.99207523e-01 -3.56352599e-02 -1.77328362e-02 1.83359520e+01] [ 3.56395313e-02 9.99364707e-01 -7.51863721e-05 1.68142287e-01] [ 1.77242500e-02 -5.56863183e-04 9.99842758e-01 8.98896340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279254153999997 meters 0.020106666364312003 Centerline is valid? [True, True] Translation: X:18.37, Y:0.17, Z:0.09 [[ 9.99036397e-01 -4.00350670e-02 -1.79852967e-02 1.83667694e+01] [ 4.00401834e-02 9.99198067e-01 -7.56741849e-05 1.67000964e-01] [ 1.79739033e-02 -6.44533311e-04 9.99838249e-01 8.96848287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.309254153999994 meters 0.0206858862911298 Centerline is valid? [True, True] Translation: X:18.40, Y:0.17, Z:0.09 [[ 9.98976073e-01 -4.14462886e-02 -1.81386370e-02 1.83989085e+01] [ 4.14517421e-02 9.99140504e-01 -7.53673743e-05 1.65914628e-01] [ 1.81261706e-02 -6.76587899e-04 9.99835479e-01 8.95690261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339254153999995 meters 0.021303565189393737 Centerline is valid? [True, True] Translation: X:18.43, Y:0.16, Z:0.09 [[ 9.99000612e-01 -4.03994767e-02 -1.91222085e-02 1.84303778e+01] [ 4.04053695e-02 9.99183367e-01 -7.82510671e-05 1.64410229e-01] [ 1.91097539e-02 -6.94467034e-04 9.99817151e-01 8.74539480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.369254153999997 meters 0.021852219162452207 Centerline is valid? [True, True] Translation: X:18.46, Y:0.16, Z:0.09 [[ 9.99066744e-01 -3.88773960e-02 -1.88199063e-02 1.84619239e+01] [ 3.88828531e-02 9.99243773e-01 -7.60053419e-05 1.64287872e-01] [ 1.88086291e-02 -6.55837242e-04 9.99822887e-01 8.73612866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399254153999994 meters 0.02017594116742759 Centerline is valid? [True, True] Translation: X:18.49, Y:0.17, Z:0.09 [[ 9.99151132e-01 -3.67977069e-02 -1.85187765e-02 1.84937823e+01] [ 3.68026557e-02 9.99322550e-01 -7.36137482e-05 1.68412182e-01] [ 1.85089397e-02 -6.07988894e-04 9.99828510e-01 8.87418772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.429254153999995 meters 0.018044574616724072 Centerline is valid? [True, True] Translation: X:18.53, Y:0.18, Z:0.09 [[ 9.99341606e-01 -3.15225109e-02 -1.79634632e-02 1.85252533e+01] [ 3.15263348e-02 9.99502919e-01 -7.03404204e-05 1.76121078e-01] [ 1.79567512e-02 -4.96028048e-04 9.99838642e-01 9.10850061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459254153999996 meters 0.01785162892109484 Centerline is valid? [True, True] Translation: X:18.56, Y:0.18, Z:0.09 [[ 9.99447079e-01 -2.85107543e-02 -1.71077105e-02 1.85558251e+01] [ 2.85137908e-02 9.99593397e-01 -6.64504489e-05 1.78145753e-01] [ 1.71026490e-02 -4.21391970e-04 9.99853650e-01 9.14831451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.489254153999994 meters 0.016439160706122318 Centerline is valid? [True, True] Translation: X:18.59, Y:0.18, Z:0.09 [[ 9.99593754e-01 -2.34611667e-02 -1.61833166e-02 1.85869257e+01] [ 2.34632296e-02 9.99724699e-01 -6.24134002e-05 1.83207340e-01] [ 1.61803256e-02 -3.17324828e-04 9.99869040e-01 9.18357323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519254153999995 meters 0.01625122718124506 Centerline is valid? [True, True] Translation: X:18.62, Y:0.18, Z:0.09 [[ 9.99641744e-01 -2.14293194e-02 -1.60364868e-02 1.86174131e+01] [ 2.14310972e-02 9.99770326e-01 -6.10031223e-05 1.84437606e-01] [ 1.60341109e-02 -2.82698240e-04 9.99871405e-01 9.14413177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.549254153999996 meters 0.01526526546489298 Centerline is valid? [True, True] Translation: X:18.65, Y:0.19, Z:0.09 [[ 9.99669789e-01 -1.97604338e-02 -1.64267360e-02 1.86481331e+01] [ 1.97620816e-02 9.99804709e-01 -6.20199349e-05 1.87396535e-01] [ 1.64247535e-02 -2.62627041e-04 9.99865070e-01 9.21114118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579254153999997 meters 0.014912901866812045 Centerline is valid? [True, True] Translation: X:18.68, Y:0.19, Z:0.09 [[ 9.99705937e-01 -1.77960514e-02 -1.64724104e-02 1.86775668e+01] [ 1.77974361e-02 9.99841611e-01 -6.25414041e-05 1.89209263e-01] [ 1.64709143e-02 -2.30643658e-04 9.99864319e-01 9.15652522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.609254153999995 meters 0.014932606540942497 Centerline is valid? [True, True] Translation: X:18.71, Y:0.19, Z:0.09 [[ 9.99716619e-01 -1.70605126e-02 -1.66018169e-02 1.87061159e+01] [ 1.70618048e-02 9.99854435e-01 -6.38142067e-05 1.89242220e-01] [ 1.66004889e-02 -2.19460835e-04 9.99862178e-01 9.11704601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639254153999996 meters 0.014669417204336087 Centerline is valid? [True, True] Translation: X:18.73, Y:0.19, Z:0.09 [[ 9.99712249e-01 -1.67234343e-02 -1.71972730e-02 1.87347172e+01] [ 1.67247191e-02 9.99860130e-01 -6.91181725e-05 1.90160855e-01] [ 1.71960235e-02 -2.18521277e-04 9.99852114e-01 9.10828838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.669254153999997 meters 0.014906001102536792 Centerline is valid? [True, True] Translation: X:18.76, Y:0.19, Z:0.09 [[ 9.99682588e-01 -1.75686443e-02 -1.80572800e-02 1.87621550e+01] [ 1.75701470e-02 9.99845630e-01 -7.54405706e-05 1.89900490e-01] [ 1.80558179e-02 -2.41852440e-04 9.99836951e-01 9.08576068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699254153999995 meters 0.01515457300993784 Centerline is valid? [True, True] Translation: X:18.79, Y:0.19, Z:0.09 [[ 9.99672230e-01 -1.79554219e-02 -1.82492317e-02 1.87903330e+01] [ 1.79569911e-02 9.99838757e-01 -7.78890690e-05 1.89031751e-01] [ 1.82476877e-02 -2.49837751e-04 9.99833466e-01 9.02071389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.729254153999996 meters 0.01541283247538349 Centerline is valid? [True, True] Translation: X:18.82, Y:0.19, Z:0.09 [[ 9.99614764e-01 -1.98329842e-02 -1.94159017e-02 1.88191681e+01] [ 1.98350413e-02 9.99803262e-01 -8.66388174e-05 1.87028468e-01] [ 1.94138001e-02 -2.98509771e-04 9.99811490e-01 8.91433635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759254153999997 meters 0.015701674939585835 Centerline is valid? [True, True] Translation: X:18.85, Y:0.19, Z:0.09 [[ 9.99575361e-01 -2.13086254e-02 -1.98756043e-02 1.88479605e+01] [ 2.13109740e-02 9.99772891e-01 -9.36592893e-05 1.85526161e-01] [ 1.98730861e-02 -3.29948967e-04 9.99802456e-01 8.89262442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.789254153999995 meters 0.01585604871291197 Centerline is valid? [True, True] Translation: X:18.88, Y:0.18, Z:0.09 [[ 9.99541739e-01 -2.33363673e-02 -1.92801872e-02 1.88770220e+01] [ 2.33388620e-02 9.99727607e-01 -9.56349885e-05 1.83785041e-01] [ 1.92771672e-02 -3.54386467e-04 9.99814115e-01 8.93237227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819254153999996 meters 0.01622535968150544 Centerline is valid? [True, True] Translation: X:18.91, Y:0.18, Z:0.09 [[ 9.99529301e-01 -2.42848317e-02 -1.87462735e-02 1.89062792e+01] [ 2.42873211e-02 9.99705015e-01 -9.48990788e-05 1.83181606e-01] [ 1.87430483e-02 -3.60442354e-04 9.99824269e-01 8.98251347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.849254153999997 meters 0.01622535968150544 Centerline is valid? [True, True] Translation: X:18.94, Y:0.18, Z:0.09 [[ 9.99529301e-01 -2.42848326e-02 -1.87462729e-02 1.89362858e+01] [ 2.42873196e-02 9.99705015e-01 -9.50228667e-05 1.83333767e-01] [ 1.87430506e-02 -3.60318582e-04 9.99824269e-01 9.00331324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879254153999995 meters 0.016155590169508446 Centerline is valid? [True, True] Translation: X:18.97, Y:0.18, Z:0.09 [[ 9.99537837e-01 -2.45238426e-02 -1.79636596e-02 1.89667359e+01] [ 2.45261648e-02 9.99699184e-01 -9.10558831e-05 1.83328644e-01] [ 1.79604889e-02 -3.49565876e-04 9.99838636e-01 9.12333410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.909254153999996 meters 0.01629555757076064 Centerline is valid? [True, True] Translation: X:19.00, Y:0.18, Z:0.09 [[ 9.99574275e-01 -2.45425097e-02 -1.57776576e-02 1.89968387e+01] [ 2.45443124e-02 9.99698740e-01 -7.94009498e-05 1.83048872e-01] [ 1.57748532e-02 -3.07884611e-04 9.99875522e-01 9.32089428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939254153999997 meters 0.016303846820444542 Centerline is valid? [True, True] Translation: X:19.03, Y:0.18, Z:0.09 [[ 9.99589718e-01 -2.45327052e-02 -1.47831678e-02 1.90277162e+01] [ 2.45342970e-02 9.99698986e-01 -7.36978127e-05 1.82785056e-01] [ 1.47805258e-02 -2.89027052e-04 9.99890720e-01 9.41823800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.969254153999994 meters 0.01648580482320199 Centerline is valid? [True, True] Translation: X:19.06, Y:0.18, Z:0.09 [[ 9.99595321e-01 -2.47956449e-02 -1.39416953e-02 1.90586015e+01] [ 2.47970928e-02 9.99692502e-01 -6.90264577e-05 1.82490386e-01] [ 1.39391198e-02 -2.76714987e-04 9.99902807e-01 9.48030122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999254153999996 meters 0.017023930591602794 Centerline is valid? [True, True] Translation: X:19.09, Y:0.18, Z:0.10 [[ 9.99589459e-01 -2.59527955e-02 -1.21394715e-02 1.90902505e+01] [ 2.59539844e-02 9.99663137e-01 -5.96185440e-05 1.80086509e-01] [ 1.21369294e-02 -2.55473585e-04 9.99926312e-01 9.56889041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.029254153999997 meters 0.016959828059693097 Centerline is valid? [True, True] Translation: X:19.12, Y:0.18, Z:0.10 [[ 9.99579697e-01 -2.66874201e-02 -1.13229852e-02 1.91219666e+01] [ 2.66885080e-02 9.99643797e-01 -5.50359837e-05 1.79965874e-01] [ 1.13204207e-02 -2.47180730e-04 9.99935891e-01 9.63038587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059254153999994 meters 0.01822087072043831 Centerline is valid? [True, True] Translation: X:19.15, Y:0.18, Z:0.10 [[ 9.99541490e-01 -2.80786486e-02 -1.13313517e-02 1.91532905e+01] [ 2.80798343e-02 9.99605682e-01 -5.44753464e-05 1.77304205e-01] [ 1.13284132e-02 -2.63732111e-04 9.99935797e-01 9.62590938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.089254153999995 meters 0.01715339713124859 Centerline is valid? [True, True] Translation: X:19.19, Y:0.18, Z:0.10 [[ 9.99526338e-01 -2.87015495e-02 -1.11050029e-02 1.91850090e+01] [ 2.87027341e-02 9.99587990e-01 -5.27272222e-05 1.79252477e-01] [ 1.11019409e-02 -2.66041697e-04 9.99938336e-01 9.71027829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119254153999997 meters 0.01744805564625553 Centerline is valid? [True, True] Translation: X:19.22, Y:0.18, Z:0.10 [[ 9.99514554e-01 -2.91919041e-02 -1.08852247e-02 1.92167741e+01] [ 2.91930797e-02 9.99573790e-01 -5.09100891e-05 1.78484763e-01] [ 1.08820714e-02 -2.66887856e-04 9.99940753e-01 9.70921646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.149254153999994 meters 0.017589741139503283 Centerline is valid? [True, True] Translation: X:19.25, Y:0.18, Z:0.10 [[ 9.99454943e-01 -3.09257343e-02 -1.15506209e-02 1.92486110e+01] [ 3.09271838e-02 9.99521639e-01 -5.31577234e-05 1.77110968e-01] [ 1.15467395e-02 -3.04099427e-04 9.99933288e-01 9.65627279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179254153999995 meters 0.0177337368868068 Centerline is valid? [True, True] Translation: X:19.28, Y:0.18, Z:0.10 [[ 9.99430573e-01 -3.15886000e-02 -1.18612627e-02 1.92812578e+01] [ 3.15901855e-02 9.99500904e-01 -5.37083723e-05 1.75768473e-01] [ 1.18570393e-02 -3.21021699e-04 9.99929651e-01 9.60800633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.209254153999996 meters 0.018111057424968352 Centerline is valid? [True, True] Translation: X:19.31, Y:0.17, Z:0.10 [[ 9.99389362e-01 -3.25709092e-02 -1.26506363e-02 1.93135837e+01] [ 3.25728035e-02 9.99469364e-01 -5.63256972e-05 1.74529484e-01] [ 1.26457580e-02 -3.55775387e-04 9.99919976e-01 9.55236747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239254153999994 meters 0.018724659163816028 Centerline is valid? [True, True] Translation: X:19.35, Y:0.17, Z:0.09 [[ 9.99344151e-01 -3.33202667e-02 -1.41784495e-02 1.93451693e+01] [ 3.33227353e-02 9.99444642e-01 -6.21676866e-05 1.72315921e-01] [ 1.41726468e-02 -4.10337805e-04 9.99899479e-01 9.41234087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.269254153999995 meters 0.01897678543048847 Centerline is valid? [True, True] Translation: X:19.38, Y:0.17, Z:0.09 [[ 9.99335781e-01 -3.33150702e-02 -1.47683291e-02 1.93774737e+01] [ 3.33177619e-02 9.99444807e-01 -6.38020248e-05 1.71840158e-01] [ 1.47622554e-02 -4.28288028e-04 9.99890940e-01 9.39167770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299254153999996 meters 0.018388034874643334 Centerline is valid? [True, True] Translation: X:19.41, Y:0.17, Z:0.09 [[ 9.99381477e-01 -3.18217298e-02 -1.49680096e-02 1.94099346e+01] [ 3.18243437e-02 9.99493475e-01 -6.35823846e-05 1.73731321e-01] [ 1.49624513e-02 -4.12804026e-04 9.99887971e-01 9.48620456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.329254153999994 meters 0.01823268271548498 Centerline is valid? [True, True] Translation: X:19.44, Y:0.17, Z:0.10 [[ 9.99423408e-01 -3.05075770e-02 -1.49043462e-02 1.94410220e+01] [ 3.05100365e-02 9.99534459e-01 -6.23839423e-05 1.74257767e-01] [ 1.48993108e-02 -3.92384175e-04 9.99888922e-01 9.55301259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359254153999995 meters 0.017102883312057292 Centerline is valid? [True, True] Translation: X:19.47, Y:0.18, Z:0.10 [[ 9.99539996e-01 -2.68916150e-02 -1.40227643e-02 1.94727003e+01] [ 2.68934469e-02 9.99638304e-01 -5.79471796e-05 1.76857497e-01] [ 1.40192506e-02 -3.19199944e-04 9.99901675e-01 9.68811172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.389254153999996 meters 0.016348081266145304 Centerline is valid? [True, True] Translation: X:19.50, Y:0.18, Z:0.10 [[ 9.99599311e-01 -2.46712835e-02 -1.38760623e-02 1.95036647e+01] [ 2.46728723e-02 9.99695577e-01 -5.67068390e-05 1.78873636e-01] [ 1.38732372e-02 -2.85678197e-04 9.99903721e-01 9.72279591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419254153999997 meters 0.015647568013335385 Centerline is valid? [True, True] Translation: X:19.53, Y:0.18, Z:0.10 [[ 9.99708055e-01 -1.94774901e-02 -1.42979448e-02 1.95341750e+01] [ 1.94786515e-02 9.99810271e-01 -5.80399474e-05 1.81220713e-01] [ 1.42963626e-02 -2.20481682e-04 9.99897777e-01 9.67569707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.449254153999995 meters 0.014751090297095584 Centerline is valid? [True, True] Translation: X:19.56, Y:0.18, Z:0.10 [[ 9.99757230e-01 -1.65605488e-02 -1.45337376e-02 1.95644892e+01] [ 1.65614425e-02 9.99862848e-01 -5.88707204e-05 1.84234409e-01] [ 1.45327192e-02 -1.81843231e-04 9.99894378e-01 9.75412803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479254153999996 meters 0.014481288472204193 Centerline is valid? [True, True] Translation: X:19.59, Y:0.19, Z:0.10 [[ 9.99804226e-01 -1.30531753e-02 -1.48702625e-02 1.95942674e+01] [ 1.30537187e-02 9.99914795e-01 -6.05209473e-05 1.87110159e-01] [ 1.48697855e-02 -1.33603125e-04 9.99889430e-01 9.78847401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.509254153999997 meters 0.014263840201540647 Centerline is valid? [True, True] Translation: X:19.62, Y:0.19, Z:0.10 [[ 9.99843600e-01 -9.52698152e-03 -1.49000619e-02 1.96232451e+01] [ 9.52710188e-03 9.99954614e-01 -6.29050314e-05 1.90473110e-01] [ 1.48999849e-02 -7.90592143e-05 9.99888986e-01 9.85958122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539254153999995 meters 0.014318015906524805 Centerline is valid? [True, True] Translation: X:19.65, Y:0.20, Z:0.10 [[ 9.99879815e-01 -9.54031843e-04 -1.54740353e-02 1.96497008e+01] [ 9.53080754e-04 9.99999543e-01 -6.88378847e-05 1.97194070e-01] [ 1.54740940e-02 5.40816061e-05 9.99880268e-01 9.96898712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.569254153999996 meters 0.014635093508894999 Centerline is valid? [True, True] Translation: X:19.68, Y:0.20, Z:0.10 [[ 9.99875423e-01 3.00959990e-03 -1.54945627e-02 1.96779584e+01] [-3.01108402e-03 9.99995464e-01 -7.24547110e-05 2.00469581e-01] [ 1.54942744e-02 1.19101115e-04 9.99879949e-01 1.00565549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599254153999997 meters 0.015175739864742892 Centerline is valid? [True, True] Translation: X:19.71, Y:0.20, Z:0.10 [[ 9.99844825e-01 7.47104090e-03 -1.59533347e-02 1.97068184e+01] [-7.47324661e-03 9.99972072e-01 -7.86483021e-05 2.03574458e-01] [ 1.59523016e-02 1.97859303e-04 9.99872734e-01 1.01020788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.629254153999995 meters 0.016734519438230275 Centerline is valid? [True, True] Translation: X:19.74, Y:0.21, Z:0.10 [[ 9.99745636e-01 1.55920677e-02 -1.62957078e-02 1.97361981e+01] [-1.55954844e-02 9.99878380e-01 -8.26041386e-05 2.08418843e-01] [ 1.62924379e-02 3.36722584e-04 9.99867213e-01 1.01561413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659254153999996 meters 0.01772399732334914 Centerline is valid? [True, True] Translation: X:19.76, Y:0.21, Z:0.10 [[ 9.99685966e-01 1.89832211e-02 -1.63586787e-02 1.97640151e+01] [-1.89871445e-02 9.99819724e-01 -8.45416066e-05 2.11010912e-01] [ 1.63541248e-02 3.95119655e-04 9.99866184e-01 1.01758926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.689254153999997 meters 0.019230115622986335 Centerline is valid? [True, True] Translation: X:19.79, Y:0.21, Z:0.10 [[ 9.99598628e-01 2.31563410e-02 -1.63207305e-02 1.97928553e+01] [-2.31608248e-02 9.99731748e-01 -8.57501034e-05 2.14234923e-01] [ 1.63143668e-02 4.63717267e-04 9.99866804e-01 1.02790227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719254153999994 meters 0.018646440079129082 Centerline is valid? [True, True] Translation: X:19.82, Y:0.21, Z:0.10 [[ 9.99578907e-01 2.37433918e-02 -1.66811293e-02 1.98220100e+01] [-2.37482042e-02 9.99717968e-01 -9.04415435e-05 2.13043933e-01] [ 1.66742773e-02 4.86550325e-04 9.99860856e-01 1.03845304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.749254153999996 meters 0.01810739327208591 Centerline is valid? [True, True] Translation: X:19.85, Y:0.21, Z:0.10 [[ 9.99592936e-01 2.29007328e-02 -1.70152216e-02 1.98511411e+01] [-2.29056913e-02 9.99737626e-01 -9.65569332e-05 2.11524758e-01] [ 1.70085460e-02 4.86263041e-04 9.99855226e-01 1.04669319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779254153999997 meters 0.018437145047776292 Centerline is valid? [True, True] Translation: X:19.88, Y:0.21, Z:0.10 [[ 9.99626096e-01 2.13408659e-02 -1.70949190e-02 1.98787180e+01] [-2.13456885e-02 9.99772150e-01 -9.96720156e-05 2.11461303e-01] [ 1.70888968e-02 4.64537564e-04 9.99853866e-01 1.04845261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.809254153999994 meters 0.016778717234371947 Centerline is valid? [True, True] Translation: X:19.91, Y:0.20, Z:0.11 [[ 9.99731822e-01 1.54510646e-02 -1.72496118e-02 1.99090254e+01] [-1.54551126e-02 9.99880557e-01 -1.01380436e-04 2.04903780e-01] [ 1.72459850e-02 3.67947940e-04 9.99851209e-01 1.05091197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839254153999995 meters 0.015067687608598848 Centerline is valid? [True, True] Translation: X:19.94, Y:0.20, Z:0.11 [[ 9.99816853e-01 6.25617763e-03 -1.80864847e-02 1.99388994e+01] [-6.25913340e-03 9.99980406e-01 -1.06820869e-04 1.96128835e-01] [ 1.80854621e-02 2.20007026e-04 9.99836420e-01 1.05140151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.869254153999997 meters 0.014303422953851504 Centerline is valid? [True, True] Translation: X:19.97, Y:0.19, Z:0.11 [[ 9.99826821e-01 4.66223896e-04 -1.86040300e-02 1.99680255e+01] [-4.68369031e-04 9.99999884e-01 -1.10947827e-04 1.91166339e-01] [ 1.86039761e-02 1.19642164e-04 9.99826924e-01 1.05227210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899254153999994 meters 0.013880941739862967 Centerline is valid? [True, True] Translation: X:20.00, Y:0.19, Z:0.11 [[ 9.99802759e-01 -5.51599763e-03 -1.90792280e-02 1.99968016e+01] [ 5.51480481e-03 9.99984787e-01 -1.15132834e-04 1.86038013e-01] [ 1.90795728e-02 9.89190620e-06 9.99817968e-01 1.05286959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.929254153999995 meters 0.013810300904063075 Centerline is valid? [True, True] Translation: X:20.03, Y:0.18, Z:0.11 [[ 9.99742197e-01 -1.17117442e-02 -1.94518464e-02 2.00251425e+01] [ 1.17116375e-02 9.99931409e-01 -1.19405932e-04 1.80975171e-01] [ 1.94519107e-02 -1.08437826e-04 9.99810788e-01 1.06608739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959254153999996 meters 0.01538192119884834 Centerline is valid? [True, True] Translation: X:20.05, Y:0.17, Z:0.11 [[ 9.99536838e-01 -2.32740018e-02 -1.96068830e-02 2.00540424e+01] [ 2.32760826e-02 9.99729068e-01 -1.22104324e-04 1.69451584e-01] [ 1.96044127e-02 -3.34323660e-04 9.99807759e-01 1.05836439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.989254153999994 meters 0.01631941295048819 Centerline is valid? [True, True] Translation: X:20.08, Y:0.17, Z:0.11 [[ 9.99383424e-01 -2.87374025e-02 -2.01725929e-02 2.00832279e+01] [ 2.87406867e-02 9.99586893e-01 -1.27153935e-04 1.65015993e-01] [ 2.01679135e-02 -4.52698636e-04 9.99796504e-01 1.06274391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019254153999995 meters 0.01847877216911667 Centerline is valid? [True, True] Translation: X:20.11, Y:0.16, Z:0.11 [[ 9.99097394e-01 -3.74627317e-02 -2.00235102e-02 2.01137934e+01] [ 3.74677072e-02 9.99297831e-01 -1.26745957e-04 1.55598365e-01] [ 2.00141985e-02 -6.23603461e-04 9.99799501e-01 1.06888985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.049254153999996 meters 0.019123322715775975 Centerline is valid? [True, True] Translation: X:20.14, Y:0.15, Z:0.11 [[ 9.98968814e-01 -4.06803658e-02 -2.01597845e-02 2.01445744e+01] [ 4.06860777e-02 9.99171971e-01 -1.26913769e-04 1.52234985e-01] [ 2.01482545e-02 -6.93439661e-04 9.99796763e-01 1.07158998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079254153999994 meters 0.023394788733287205 Centerline is valid? [True, True] Translation: X:20.18, Y:0.14, Z:0.11 [[ 9.98846198e-01 -4.34962780e-02 -2.03554997e-02 2.01753422e+01] [ 4.35027027e-02 9.99053301e-01 -1.27285010e-04 1.43634540e-01] [ 2.03417656e-02 -7.58381101e-04 9.99792797e-01 1.05796313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.109254153999995 meters 0.021881814000563205 Centerline is valid? [True, True] Translation: X:20.21, Y:0.14, Z:0.11 [[ 9.98647182e-01 -4.78711948e-02 -2.03015769e-02 2.02059402e+01] [ 4.78784979e-02 9.98853159e-01 -1.26449648e-04 1.43283626e-01] [ 2.02843475e-02 -8.45730420e-04 9.99793894e-01 1.08250312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139254153999996 meters 0.023774456761172007 Centerline is valid? [True, True] Translation: X:20.24, Y:0.14, Z:0.11 [[ 9.98583252e-01 -4.93765327e-02 -1.98354875e-02 2.02368229e+01] [ 4.93838170e-02 9.98779867e-01 -1.22718875e-04 1.39378921e-01] [ 1.98173450e-02 -8.57007071e-04 9.99803250e-01 1.08539113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.169254153999994 meters 0.02445770526322312 Centerline is valid? [True, True] Translation: X:20.27, Y:0.14, Z:0.11 [[ 9.98532552e-01 -5.04725040e-02 -1.96282809e-02 2.02688735e+01] [ 5.04798732e-02 9.98725071e-01 -1.20160908e-04 1.37470732e-01] [ 1.96093210e-02 -8.70848551e-04 9.99807340e-01 1.09017943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199254153999995 meters 0.022881410156253803 Centerline is valid? [True, True] Translation: X:20.30, Y:0.14, Z:0.11 [[ 9.98424697e-01 -5.24697409e-02 -1.98758666e-02 2.03004853e+01] [ 5.24777306e-02 9.98622087e-01 -1.19736517e-04 1.38743465e-01] [ 1.98547619e-02 -9.23492475e-04 9.99802448e-01 1.10714351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.229254153999996 meters 0.024237989228056568 Centerline is valid? [True, True] Translation: X:20.33, Y:0.14, Z:0.11 [[ 9.98386745e-01 -5.30871707e-02 -2.01409747e-02 2.03319144e+01] [ 5.30955309e-02 9.98589430e-01 -1.19818706e-04 1.35604389e-01] [ 2.01189253e-02 -9.49770339e-04 9.99797143e-01 1.10185008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259254153999997 meters 0.024720462319381093 Centerline is valid? [True, True] Translation: X:20.36, Y:0.13, Z:0.11 [[ 9.98305376e-01 -5.44381322e-02 -2.05637058e-02 2.03640789e+01] [ 5.44471615e-02 9.98516646e-01 -1.20946186e-04 1.33287601e-01] [ 2.05397866e-02 -9.98894184e-04 9.99788537e-01 1.09935577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.289254153999995 meters 0.026252833568219624 Centerline is valid? [True, True] Translation: X:20.40, Y:0.13, Z:0.11 [[ 9.98252174e-01 -5.52101722e-02 -2.10816134e-02 2.03953002e+01] [ 5.52198611e-02 9.98474212e-01 -1.22703044e-04 1.30917595e-01] [ 2.10562218e-02 -1.04163518e-03 9.99777751e-01 1.09083356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319254153999996 meters 0.0260658233316329 Centerline is valid? [True, True] Translation: X:20.43, Y:0.13, Z:0.11 [[ 9.98211616e-01 -5.56733195e-02 -2.17727272e-02 2.04270300e+01] [ 5.56837902e-02 9.98448446e-01 -1.25531684e-04 1.30666293e-01] [ 2.17459344e-02 -1.08708079e-03 9.99762938e-01 1.09098630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.349254153999997 meters 0.026889215103113893 Centerline is valid? [True, True] Translation: X:20.46, Y:0.13, Z:0.11 [[ 9.98150365e-01 -5.64285392e-02 -2.26200954e-02 2.04588215e+01] [ 5.64400624e-02 9.98405981e-01 -1.29182637e-04 1.29215071e-01] [ 2.25913281e-02 -1.14773590e-03 9.99744125e-01 1.07794377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379254153999995 meters 0.026634135758522852 Centerline is valid? [True, True] Translation: X:20.49, Y:0.13, Z:0.11 [[ 9.98122221e-01 -5.67177093e-02 -2.31329718e-02 2.04909807e+01] [ 5.67298745e-02 9.98389555e-01 -1.30560424e-04 1.29542645e-01] [ 2.31031226e-02 -1.18201533e-03 9.99732388e-01 1.07756609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.409254153999996 meters 0.025673030554960688 Centerline is valid? [True, True] Translation: X:20.52, Y:0.13, Z:0.11 [[ 9.98095795e-01 -5.67125378e-02 -2.42584556e-02 2.05229917e+01] [ 5.67259582e-02 9.98389777e-01 -1.35114109e-04 1.30592330e-01] [ 2.42270568e-02 -1.24122732e-03 9.99705711e-01 1.07654624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439254153999997 meters 0.025332244441286057 Centerline is valid? [True, True] Translation: X:20.56, Y:0.13, Z:0.11 [[ 9.98089535e-01 -5.67419617e-02 -2.44464855e-02 2.05555052e+01] [ 5.67556440e-02 9.98388090e-01 -1.34352978e-04 1.31365012e-01] [ 2.44147034e-02 -1.25337973e-03 9.99701131e-01 1.07993326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.469254153999994 meters 0.028408208877223225 Centerline is valid? [True, True] Translation: X:20.59, Y:0.13, Z:0.11 [[ 9.98127221e-01 -5.62132185e-02 -2.41272467e-02 2.05869187e+01] [ 5.62264266e-02 9.98418035e-01 -1.31148143e-04 1.27128320e-01] [ 2.40964505e-02 -1.22568633e-03 9.99708887e-01 1.06742919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499254153999996 meters 0.024897182135879884 Centerline is valid? [True, True] Translation: X:20.62, Y:0.13, Z:0.11 [[ 9.98123635e-01 -5.62655307e-02 -2.41536780e-02 2.06187364e+01] [ 5.62788231e-02 9.98415083e-01 -1.29631311e-04 1.34173402e-01] [ 2.41226902e-02 -1.22995250e-03 9.99708249e-01 1.09861858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.529254153999997 meters 0.026801001372577724 Centerline is valid? [True, True] Translation: X:20.65, Y:0.13, Z:0.11 [[ 9.98163872e-01 -5.60233978e-02 -2.30274428e-02 2.06497379e+01] [ 5.60354464e-02 9.98428773e-01 -1.22205612e-04 1.31948272e-01] [ 2.29981078e-02 -1.16837181e-03 9.99734826e-01 1.10105789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559254153999994 meters 0.027442104989124905 Centerline is valid? [True, True] Translation: X:20.68, Y:0.13, Z:0.11 [[ 9.98170009e-01 -5.60644088e-02 -2.26586592e-02 2.06817542e+01] [ 5.60761189e-02 9.98426489e-01 -1.18750617e-04 1.31544944e-01] [ 2.26296632e-02 -1.15207636e-03 9.99743253e-01 1.09986623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.589254153999995 meters 0.027543183637799156 Centerline is valid? [True, True] Translation: X:20.71, Y:0.13, Z:0.11 [[ 9.98175201e-01 -5.60636877e-02 -2.24306027e-02 2.07138732e+01] [ 5.60751987e-02 9.98426541e-01 -1.15962379e-04 1.31532939e-01] [ 2.24018103e-02 -1.14204973e-03 9.99748396e-01 1.10011482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619254153999997 meters 0.027440570450831012 Centerline is valid? [True, True] Translation: X:20.75, Y:0.13, Z:0.11 [[ 9.98175364e-01 -5.62049745e-02 -2.20667902e-02 2.07461515e+01] [ 5.62161840e-02 9.98418614e-01 -1.12512521e-04 1.31926021e-01] [ 2.20382178e-02 -1.12820351e-03 9.99756492e-01 1.10679591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.649254153999994 meters 0.02754706951251281 Centerline is valid? [True, True] Translation: X:20.78, Y:0.13, Z:0.11 [[ 9.98200915e-01 -5.62249760e-02 -2.08251266e-02 2.07783643e+01] [ 5.62349939e-02 9.98417555e-01 -1.04718569e-04 1.32322446e-01] [ 2.07980598e-02 -1.06657070e-03 9.99783128e-01 1.11915696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679254153999995 meters 0.028696627421838965 Centerline is valid? [True, True] Translation: X:20.81, Y:0.13, Z:0.11 [[ 9.98232725e-01 -5.63109158e-02 -1.89870092e-02 2.08091326e+01] [ 5.63192791e-02 9.98412805e-01 -9.43781058e-05 1.30896582e-01] [ 1.89621877e-02 -9.75123358e-04 9.99819726e-01 1.12880789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.709254153999996 meters 0.028480700966823244 Centerline is valid? [True, True] Translation: X:20.84, Y:0.13, Z:0.11 [[ 9.98225213e-01 -5.66751263e-02 -1.82853501e-02 2.08417093e+01] [ 5.66829649e-02 9.98392224e-01 -8.97282990e-05 1.31175236e-01] [ 1.82610367e-02 -9.46898808e-04 9.99832805e-01 1.13796489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739254153999994 meters 0.028480700966823244 Centerline is valid? [True, True] Translation: X:20.87, Y:0.13, Z:0.11 [[ 9.98229231e-01 -5.66043140e-02 -1.82853564e-02 2.08734466e+01] [ 5.66121645e-02 9.98396241e-01 -8.84316463e-05 1.31265809e-01] [ 1.82610367e-02 -9.46898550e-04 9.99832805e-01 1.14016277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.769254153999995 meters 0.028920927436495176 Centerline is valid? [True, True] Translation: X:20.91, Y:0.13, Z:0.11 [[ 9.98228789e-01 -5.67738723e-02 -1.77767579e-02 2.09058794e+01] [ 5.67813409e-02 9.98386635e-01 -8.47286811e-05 1.30199723e-01] [ 1.77528879e-02 -9.24809542e-04 9.99841977e-01 1.14765068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799254153999996 meters 0.029639790045366793 Centerline is valid? [True, True] Translation: X:20.94, Y:0.13, Z:0.11 [[ 9.98217278e-01 -5.71761065e-02 -1.71218984e-02 2.09384643e+01] [ 5.71831141e-02 9.98363704e-01 -8.04229922e-05 1.28867574e-01] [ 1.70984801e-02 -8.98803847e-04 9.99853406e-01 1.14698319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.829254153999994 meters 0.030626061534381948 Centerline is valid? [True, True] Translation: X:20.97, Y:0.13, Z:0.11 [[ 9.98172934e-01 -5.79982614e-02 -1.69409136e-02 2.09698849e+01] [ 5.80052673e-02 9.98316274e-01 -7.79407457e-05 1.26619282e-01] [ 1.69169101e-02 -9.04863876e-04 9.99856489e-01 1.14725075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859254153999995 meters 0.031137941858914105 Centerline is valid? [True, True] Translation: X:21.00, Y:0.13, Z:0.11 [[ 9.98160286e-01 -5.82388691e-02 -1.68605361e-02 2.10016246e+01] [ 5.82458678e-02 9.98302265e-01 -7.60914215e-05 1.25297315e-01] [ 1.68363428e-02 -9.06105120e-04 9.99857848e-01 1.14714606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.889254153999996 meters 0.03246880884089976 Centerline is valid? [True, True] Translation: X:21.03, Y:0.12, Z:0.11 [[ 9.98114839e-01 -5.90622092e-02 -1.66860332e-02 2.10322910e+01] [ 5.90692058e-02 9.98253887e-01 -7.36602679e-05 1.21776094e-01] [ 1.66612481e-02 -9.12109324e-04 9.99860776e-01 1.13979566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919254153999994 meters 0.03291170889372615 Centerline is valid? [True, True] Translation: X:21.06, Y:0.12, Z:0.11 [[ 9.98108549e-01 -5.92497293e-02 -1.63949227e-02 2.10647149e+01] [ 5.92565329e-02 9.98242785e-01 -7.09135685e-05 1.20560717e-01] [ 1.63703149e-02 -9.00726835e-04 9.99865592e-01 1.14207367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.949254153999995 meters 0.03308846808680714 Centerline is valid? [True, True] Translation: X:21.10, Y:0.12, Z:0.11 [[ 9.98136365e-01 -5.88662596e-02 -1.60798225e-02 2.10968919e+01] [ 5.88727721e-02 9.98265492e-01 -6.84671125e-05 1.19675302e-01] [ 1.60559623e-02 -8.78324208e-04 9.99870709e-01 1.14211613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979254153999996 meters 0.026415520393441885 Centerline is valid? [True, True] Translation: X:21.13, Y:0.13, Z:0.12 [[ 9.98212322e-01 -5.75832489e-02 -1.60103210e-02 2.11293697e+01] [ 5.75895588e-02 9.98340342e-01 -6.70302188e-05 1.27796224e-01] [ 1.59876092e-02 -8.55116934e-04 9.99871824e-01 1.15911329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.009254153999994 meters 0.027263302499892533 Centerline is valid? [True, True] Translation: X:21.16, Y:0.13, Z:0.12 [[ 9.98358887e-01 -5.50460644e-02 -1.57944431e-02 2.11598136e+01] [ 5.50519120e-02 9.98483492e-01 -6.46416180e-05 1.26401921e-01] [ 1.57740490e-02 -8.04978760e-04 9.99875258e-01 1.15902449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039254153999995 meters 0.02557954161290479 Centerline is valid? [True, True] Translation: X:21.19, Y:0.13, Z:0.12 [[ 9.98440465e-01 -5.35517518e-02 -1.57749320e-02 2.11919394e+01] [ 5.35574212e-02 9.98564769e-01 -6.31507308e-05 1.28916022e-01] [ 1.57556732e-02 -7.81812434e-04 9.99875566e-01 1.16805145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.069254153999996 meters 0.025187590114681246 Centerline is valid? [True, True] Translation: X:21.22, Y:0.13, Z:0.12 [[ 9.98514435e-01 -5.21109304e-02 -1.59177018e-02 2.12244225e+01] [ 5.21165387e-02 9.98641008e-01 -6.25569985e-05 1.29131488e-01] [ 1.58993296e-02 -7.67111455e-04 9.99873303e-01 1.17052281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099254153999997 meters 0.025274500091981646 Centerline is valid? [True, True] Translation: X:21.26, Y:0.13, Z:0.12 [[ 9.98587522e-01 -5.07161829e-02 -1.58375862e-02 2.12562962e+01] [ 5.07215780e-02 9.98712830e-01 -6.10992504e-05 1.28273689e-01] [ 1.58202993e-02 -7.42294414e-04 9.99874576e-01 1.16745979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.129254153999995 meters 0.024005354272995418 Centerline is valid? [True, True] Translation: X:21.29, Y:0.13, Z:0.12 [[ 9.98732537e-01 -4.77708006e-02 -1.58515315e-02 2.12882348e+01] [ 4.77758506e-02 9.98858080e-01 -6.01696189e-05 1.28796972e-01] [ 1.58363047e-02 -6.97227045e-04 9.99874355e-01 1.16642818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159254153999996 meters 0.024220888934123164 Centerline is valid? [True, True] Translation: X:21.32, Y:0.13, Z:0.12 [[ 9.98810519e-01 -4.61308346e-02 -1.57953349e-02 2.13199847e+01] [ 4.61356600e-02 9.98935182e-01 -5.89473313e-05 1.27854665e-01] [ 1.57812350e-02 -6.69850985e-04 9.99875244e-01 1.15947761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.189254153999997 meters 0.02323459792556081 Centerline is valid? [True, True] Translation: X:21.35, Y:0.13, Z:0.12 [[ 9.98961015e-01 -4.28771639e-02 -1.54414561e-02 2.13519442e+01] [ 4.28814018e-02 9.99080168e-01 -5.66900299e-05 1.28651593e-01] [ 1.54296832e-02 -6.05520153e-04 9.99880772e-01 1.15298649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219254153999994 meters 0.020450687829326682 Centerline is valid? [True, True] Translation: X:21.38, Y:0.13, Z:0.12 [[ 9.99063628e-01 -4.06568822e-02 -1.47947521e-02 2.13830167e+01] [ 4.06605390e-02 9.99173017e-01 -5.36712617e-05 1.33162587e-01] [ 1.47846991e-02 -5.47941587e-04 9.99890550e-01 1.16320321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.249254153999996 meters 0.020065873483474175 Centerline is valid? [True, True] Translation: X:21.42, Y:0.13, Z:0.12 [[ 9.99157443e-01 -3.85085395e-02 -1.41949774e-02 2.14152409e+01] [ 3.85117002e-02 9.99258148e-01 -5.07166363e-05 1.34312822e-01] [ 1.41863999e-02 -4.95998812e-04 9.99899245e-01 1.16438306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279254153999997 meters 0.019105632613138645 Centerline is valid? [True, True] Translation: X:21.45, Y:0.14, Z:0.12 [[ 9.99349122e-01 -3.38531975e-02 -1.24616478e-02 2.14462418e+01] [ 3.38552798e-02 9.99426745e-01 -4.38760521e-05 1.36073376e-01] [ 1.24559895e-02 -3.78045081e-04 9.99922350e-01 1.17107863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.309254153999994 meters 0.018965287658217044 Centerline is valid? [True, True] Translation: X:21.48, Y:0.14, Z:0.12 [[ 9.99431995e-01 -3.15670354e-02 -1.17987271e-02 2.14772532e+01] [ 3.15687488e-02 9.99501582e-01 -4.10382895e-05 1.36486285e-01] [ 1.17941418e-02 -3.31456072e-04 9.99930392e-01 1.17285220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339254153999995 meters 0.018005948649587312 Centerline is valid? [True, True] Translation: X:21.51, Y:0.14, Z:0.12 [[ 9.99538808e-01 -2.81878956e-02 -1.12965981e-02 2.15083225e+01] [ 2.81892565e-02 9.99602603e-01 -3.87753467e-05 1.38271516e-01] [ 1.12932019e-02 -2.79685238e-04 9.99936191e-01 1.16977867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.369254153999997 meters 0.01775976009476452 Centerline is valid? [True, True] Translation: X:21.54, Y:0.14, Z:0.12 [[ 9.99571635e-01 -2.69301214e-02 -1.14592615e-02 2.15400958e+01] [ 2.69314457e-02 9.99637282e-01 -3.87575493e-05 1.38656731e-01] [ 1.14561488e-02 -2.69873533e-04 9.99934340e-01 1.16608659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399254153999994 meters 0.01769368305765962 Centerline is valid? [True, True] Translation: X:21.57, Y:0.14, Z:0.12 [[ 9.99593510e-01 -2.60409363e-02 -1.16053529e-02 2.15725734e+01] [ 2.60422443e-02 9.99660843e-01 -3.84198171e-05 1.38565735e-01] [ 1.16024174e-02 -2.63825236e-04 9.99932655e-01 1.16161146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.429254153999995 meters 0.017538363881784116 Centerline is valid? [True, True] Translation: X:21.60, Y:0.14, Z:0.12 [[ 9.99610373e-01 -2.53213436e-02 -1.17444407e-02 2.16044409e+01] [ 2.53226424e-02 9.99679330e-01 -3.81313010e-05 1.38231785e-01] [ 1.17416401e-02 -2.59283828e-04 9.99931031e-01 1.15137635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459254153999996 meters 0.016734831261370643 Centerline is valid? [True, True] Translation: X:21.64, Y:0.14, Z:0.12 [[ 9.99618623e-01 -2.51157874e-02 -1.14806721e-02 2.16360138e+01] [ 2.51170209e-02 9.99684517e-01 -3.67514185e-05 1.39980322e-01] [ 1.14779731e-02 -2.51622878e-04 9.99934094e-01 1.15376398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.489254153999994 meters 0.017347803992661653 Centerline is valid? [True, True] Translation: X:21.67, Y:0.14, Z:0.11 [[ 9.99612689e-01 -2.54176635e-02 -1.13319687e-02 2.16667371e+01] [ 2.54188903e-02 9.99676887e-01 -3.57808156e-05 1.38061229e-01] [ 1.13292166e-02 -2.52279111e-04 9.99935791e-01 1.14466628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519254153999995 meters 0.01717230319652887 Centerline is valid? [True, True] Translation: X:21.70, Y:0.14, Z:0.11 [[ 9.99610111e-01 -2.55158519e-02 -1.13387519e-02 2.16992199e+01] [ 2.55170944e-02 9.99674385e-01 -3.50997387e-05 1.38200944e-01] [ 1.13359554e-02 -2.54245949e-04 9.99935714e-01 1.14479085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.549254153999996 meters 0.01700368393524237 Centerline is valid? [True, True] Translation: X:21.73, Y:0.14, Z:0.11 [[ 9.99604313e-01 -2.57428028e-02 -1.13369320e-02 2.17318072e+01] [ 2.57440689e-02 9.99668566e-01 -3.42683753e-05 1.38083219e-01] [ 1.13340567e-02 -2.57603943e-04 9.99935734e-01 1.14317052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579254153999994 meters 0.01731198882021097 Centerline is valid? [True, True] Translation: X:21.76, Y:0.14, Z:0.11 [[ 9.99590174e-01 -2.62363138e-02 -1.14516558e-02 2.17635835e+01] [ 2.62376477e-02 9.99655733e-01 -3.37727218e-05 1.37801601e-01] [ 1.14485995e-02 -2.66705629e-04 9.99934427e-01 1.14047328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.609254153999995 meters 0.018035340216550115 Centerline is valid? [True, True] Translation: X:21.79, Y:0.14, Z:0.11 [[ 9.99560046e-01 -2.73167917e-02 -1.15545223e-02 2.17949757e+01] [ 2.73182306e-02 9.99626787e-01 -3.33130530e-05 1.36418079e-01] [ 1.15511200e-02 -2.82350707e-04 9.99933244e-01 1.13604340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639254153999996 meters 0.017647097924430685 Centerline is valid? [True, True] Translation: X:21.83, Y:0.14, Z:0.11 [[ 9.99553710e-01 -2.76712901e-02 -1.12552628e-02 2.18274008e+01] [ 2.76726856e-02 9.99617037e-01 -3.17671885e-05 1.37265268e-01] [ 1.12518315e-02 -2.79710338e-04 9.99936657e-01 1.14345373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.669254153999994 meters 0.018149605527444438 Centerline is valid? [True, True] Translation: X:21.86, Y:0.14, Z:0.11 [[ 9.99527813e-01 -2.87734260e-02 -1.07814753e-02 2.18586867e+01] [ 2.87747780e-02 9.99585920e-01 -2.97365177e-05 1.36616770e-01] [ 1.07778666e-02 -2.80512082e-04 9.99941878e-01 1.14379481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699254153999995 meters 0.018103972335542475 Centerline is valid? [True, True] Translation: X:21.89, Y:0.14, Z:0.11 [[ 9.99505327e-01 -2.95656160e-02 -1.07226435e-02 2.18906360e+01] [ 2.95670058e-02 9.99562800e-01 -2.89217339e-05 1.36937036e-01] [ 1.07188107e-02 -2.88129036e-04 9.99942510e-01 1.14784698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.729254153999996 meters 0.01840639002024241 Centerline is valid? [True, True] Translation: X:21.92, Y:0.14, Z:0.11 [[ 9.99488961e-01 -3.02795471e-02 -1.02452969e-02 2.19220120e+01] [ 3.02808602e-02 9.99541429e-01 -2.69686649e-05 1.35879332e-01] [ 1.02414153e-02 -2.83281520e-04 9.99947515e-01 1.14816536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759254153999994 meters 0.018575190956715396 Centerline is valid? [True, True] Translation: X:21.95, Y:0.14, Z:0.12 [[ 9.99430786e-01 -3.22883602e-02 -9.77578562e-03 2.19542171e+01] [ 3.22896573e-02 9.99478553e-01 -2.51621839e-05 1.36250633e-01] [ 9.77150051e-03 -2.90508906e-04 9.99952216e-01 1.15324197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.789254153999995 meters 0.019256745748052365 Centerline is valid? [True, True] Translation: X:21.99, Y:0.14, Z:0.12 [[ 9.99402032e-01 -3.33623447e-02 -9.08475092e-03 2.19853096e+01] [ 3.33635146e-02 9.99443283e-01 -2.27900545e-05 1.35451674e-01] [ 9.08045361e-03 -2.80322793e-04 9.99958733e-01 1.15754915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819254153999996 meters 0.019990601879548823 Centerline is valid? [True, True] Translation: X:22.02, Y:0.13, Z:0.12 [[ 9.99333158e-01 -3.54376403e-02 -8.79848102e-03 2.20174372e+01] [ 3.54388224e-02 9.99371847e-01 -2.15664898e-05 1.34916500e-01] [ 8.79371850e-03 -2.90255698e-04 9.99961292e-01 1.15868975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.849254153999993 meters 0.020705195047487333 Centerline is valid? [True, True] Translation: X:22.05, Y:0.13, Z:0.12 [[ 9.99293086e-01 -3.64915633e-02 -9.03846947e-03 2.20481793e+01] [ 3.64928592e-02 9.99333914e-01 -2.15589619e-05 1.33496888e-01] [ 9.03323579e-03 -3.08295872e-04 9.99959152e-01 1.15700172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879254153999995 meters 0.021598024752091143 Centerline is valid? [True, True] Translation: X:22.08, Y:0.13, Z:0.12 [[ 9.99179718e-01 -3.92850701e-02 -9.82727171e-03 2.20804777e+01] [ 3.92867417e-02 9.99227978e-01 -2.29565817e-05 1.32940091e-01] [ 9.82058669e-03 -3.63143735e-04 9.99951711e-01 1.15281801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.909254153999996 meters 0.022143642132313224 Centerline is valid? [True, True] Translation: X:22.11, Y:0.13, Z:0.12 [[ 9.99105255e-01 -4.09490639e-02 -1.05765392e-02 2.21130651e+01] [ 4.09511018e-02 9.99161152e-01 -2.39021065e-05 1.32524271e-01] [ 1.05686458e-02 -4.09240212e-04 9.99944067e-01 1.15278744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939254153999997 meters 0.02468244007287775 Centerline is valid? [True, True] Translation: X:22.14, Y:0.13, Z:0.11 [[ 9.98940481e-01 -4.45280667e-02 -1.16261606e-02 2.21427839e+01] [ 4.45307776e-02 9.99008013e-01 -2.57224349e-05 1.29197644e-01] [ 1.16157730e-02 -4.92026790e-04 9.99932414e-01 1.14471214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.969254153999994 meters 0.024021474935170015 Centerline is valid? [True, True] Translation: X:22.17, Y:0.13, Z:0.11 [[ 9.98880588e-01 -4.57514543e-02 -1.20156613e-02 2.21746283e+01] [ 4.57544426e-02 9.98952717e-01 -2.62173943e-05 1.30523544e-01] [ 1.20042770e-02 -5.23581841e-04 9.99927809e-01 1.14655512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999254153999996 meters 0.024975893607874087 Centerline is valid? [True, True] Translation: X:22.21, Y:0.13, Z:0.11 [[ 9.98826850e-01 -4.69270626e-02 -1.19488249e-02 2.22071264e+01] [ 4.69301119e-02 9.98898175e-01 -2.52151675e-05 1.30053518e-01] [ 1.19368426e-02 -5.35574103e-04 9.99928610e-01 1.14672567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.029254153999997 meters 0.025982477378337223 Centerline is valid? [True, True] Translation: X:22.24, Y:0.13, Z:0.12 [[ 9.98764675e-01 -4.82285082e-02 -1.19639180e-02 2.22396468e+01] [ 4.82316687e-02 9.98836176e-01 -2.43924945e-05 1.30668601e-01] [ 1.19511706e-02 -5.52677369e-04 9.99928429e-01 1.15292423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059254153999994 meters 0.026808294789068314 Centerline is valid? [True, True] Translation: X:22.27, Y:0.13, Z:0.12 [[ 9.98772500e-01 -4.82655482e-02 -1.11324205e-02 2.22714749e+01] [ 4.82682961e-02 9.98834406e-01 -2.18665181e-05 1.30524643e-01] [ 1.11205001e-02 -5.15503294e-04 9.99938032e-01 1.16069945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.089254153999995 meters 0.02617847524252025 Centerline is valid? [True, True] Translation: X:22.30, Y:0.13, Z:0.12 [[ 9.98780859e-01 -4.81275047e-02 -1.09790374e-02 2.23034039e+01] [ 4.81301789e-02 9.98841071e-01 -2.06726453e-05 1.33022632e-01] [ 1.09673084e-02 -5.07775589e-04 9.99939728e-01 1.16781996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119254153999997 meters 0.02668023233473006 Centerline is valid? [True, True] Translation: X:22.33, Y:0.14, Z:0.12 [[ 9.98829867e-01 -4.73082735e-02 -1.00411111e-02 2.23349648e+01] [ 4.73104750e-02 9.98880232e-01 -1.82935123e-05 1.35473227e-01] [ 1.00307328e-02 -4.56777628e-04 9.99949587e-01 1.17573327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.149254153999994 meters 0.026707543291708866 Centerline is valid? [True, True] Translation: X:22.37, Y:0.14, Z:0.12 [[ 9.98851946e-01 -4.68849970e-02 -9.82788580e-03 2.23668917e+01] [ 4.68870911e-02 9.98900195e-01 -1.73447577e-05 1.36948854e-01] [ 9.81789026e-03 -4.43476132e-04 9.99951705e-01 1.18136909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179254153999995 meters 0.027062436600809994 Centerline is valid? [True, True] Translation: X:22.40, Y:0.14, Z:0.12 [[ 9.98846620e-01 -4.69606717e-02 -1.00062779e-02 2.23995608e+01] [ 4.69628534e-02 9.98896636e-01 -1.69538146e-05 1.39187197e-01] [ 9.99603347e-03 -4.52989100e-04 9.99949936e-01 1.18829583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.209254153999996 meters 0.025207544448813436 Centerline is valid? [True, True] Translation: X:22.43, Y:0.14, Z:0.12 [[ 9.98799206e-01 -4.78464741e-02 -1.05290851e-02 2.24316066e+01] [ 4.78489469e-02 9.98854583e-01 -1.70745547e-05 1.43444411e-01] [ 1.05178419e-02 -4.86751583e-04 9.99944568e-01 1.19275179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239254153999994 meters 0.026751164194781997 Centerline is valid? [True, True] Translation: X:22.46, Y:0.14, Z:0.12 [[ 9.98761870e-01 -4.85629535e-02 -1.07873702e-02 2.24631273e+01] [ 4.85655985e-02 9.98819995e-01 -1.67745451e-05 1.42267875e-01] [ 1.07754556e-02 -5.07141313e-04 9.99941814e-01 1.19384151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.269254153999995 meters 0.02699265427773746 Centerline is valid? [True, True] Translation: X:22.50, Y:0.14, Z:0.12 [[ 9.98633285e-01 -5.07577297e-02 -1.24585526e-02 2.24953502e+01] [ 5.07614385e-02 9.98710807e-01 -1.85515315e-05 1.44188094e-01] [ 1.24434328e-02 -6.13887876e-04 9.99922389e-01 1.19181531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299254153999996 meters 0.027207251029289434 Centerline is valid? [True, True] Translation: X:22.53, Y:0.14, Z:0.12 [[ 9.98570675e-01 -5.18197778e-02 -1.30888586e-02 2.25277121e+01] [ 5.18239749e-02 9.98656235e-01 -1.85306402e-05 1.44883404e-01] [ 1.30722305e-02 -6.59812524e-04 9.99914337e-01 1.19150780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.329254153999994 meters 0.02876257103889975 Centerline is valid? [True, True] Translation: X:22.56, Y:0.14, Z:0.12 [[ 9.98450692e-01 -5.38371003e-02 -1.40635312e-02 2.25583985e+01] [ 5.38421565e-02 9.98549459e-01 -1.91201828e-05 1.44696716e-01] [ 1.40441608e-02 -7.38120286e-04 9.99901103e-01 1.18568088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359254153999995 meters 0.03380617870907865 Centerline is valid? [True, True] Translation: X:22.59, Y:0.14, Z:0.12 [[ 9.98422238e-01 -5.42765672e-02 -1.43905671e-02 2.25897807e+01] [ 5.42819163e-02 9.98525650e-01 -1.89152118e-05 1.38574705e-01] [ 1.43703770e-02 -7.62262192e-04 9.99896450e-01 1.17812912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.389254153999996 meters 0.034131180484506675 Centerline is valid? [True, True] Translation: X:22.62, Y:0.14, Z:0.12 [[ 9.98401140e-01 -5.47008510e-02 -1.42471155e-02 2.26221108e+01] [ 5.47061492e-02 9.98502497e-01 -1.78753070e-05 1.39305259e-01] [ 1.42267582e-02 -7.61558099e-04 9.99898505e-01 1.18239582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419254153999994 meters 0.03504190436782076 Centerline is valid? [True, True] Translation: X:22.65, Y:0.14, Z:0.12 [[ 9.98415855e-01 -5.43527917e-02 -1.45449390e-02 2.26535130e+01] [ 5.43582892e-02 9.98521495e-01 -1.74017131e-05 1.40528624e-01] [ 1.45243801e-02 -7.73263855e-04 9.99894217e-01 1.19276043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.449254153999995 meters 0.028486356737701255 Centerline is valid? [True, True] Translation: X:22.69, Y:0.15, Z:0.12 [[ 9.98448939e-01 -5.38150584e-02 -1.42708230e-02 2.26858084e+01] [ 5.38203080e-02 9.98550637e-01 -1.62118775e-05 1.50958538e-01] [ 1.42510119e-02 -7.51873360e-04 9.99898166e-01 1.21370648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479254153999996 meters 0.027418848831660854 Centerline is valid? [True, True] Translation: X:22.72, Y:0.15, Z:0.12 [[ 9.98499748e-01 -5.29773321e-02 -1.38439595e-02 2.27182272e+01] [ 5.29822056e-02 9.98595456e-01 -1.47466462e-05 1.54356661e-01] [ 1.38252963e-02 -7.18758984e-04 9.99904168e-01 1.22403317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.509254153999994 meters 0.027782629097660848 Centerline is valid? [True, True] Translation: X:22.75, Y:0.15, Z:0.12 [[ 9.98501925e-01 -5.29338269e-02 -1.38533544e-02 2.27508806e+01] [ 5.29387201e-02 9.98597763e-01 -1.35073716e-05 1.54298337e-01] [ 1.38346437e-02 -7.19891717e-04 9.99904038e-01 1.22811784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539254153999995 meters 0.02821660801869575 Centerline is valid? [True, True] Translation: X:22.78, Y:0.15, Z:0.12 [[ 9.98502333e-01 -5.29996675e-02 -1.35693016e-02 2.27828239e+01] [ 5.30043845e-02 9.98594280e-01 -1.20226108e-05 1.54135044e-01] [ 1.35508641e-02 -7.07227875e-04 9.99907933e-01 1.23378320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.569254153999996 meters 0.02905927022486547 Centerline is valid? [True, True] Translation: X:22.82, Y:0.15, Z:0.12 [[ 9.98455786e-01 -5.38995583e-02 -1.34491899e-02 2.28152090e+01] [ 5.39042864e-02 9.98546107e-01 -1.09625519e-05 1.54571167e-01] [ 1.34302271e-02 -7.14023359e-04 9.99909555e-01 1.24143409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599254153999993 meters 0.02920007842206595 Centerline is valid? [True, True] Translation: X:22.85, Y:0.15, Z:0.12 [[ 9.98448735e-01 -5.39369980e-02 -1.38174978e-02 2.28470744e+01] [ 5.39420059e-02 9.98544070e-01 -1.02686392e-05 1.54581751e-01] [ 1.37979344e-02 -7.35090839e-04 9.99904534e-01 1.24485569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.629254153999995 meters 0.029755799254356226 Centerline is valid? [True, True] Translation: X:22.88, Y:0.15, Z:0.12 [[ 9.98450143e-01 -5.37541388e-02 -1.44154025e-02 2.28802474e+01] [ 5.37595894e-02 9.98553908e-01 -9.40864629e-06 1.53990633e-01] [ 1.43950623e-02 -7.65572056e-04 9.99896093e-01 1.24363976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659254153999996 meters 0.029755799254356226 Centerline is valid? [True, True] Translation: X:22.91, Y:0.15, Z:0.12 [[ 9.98455829e-01 -5.36484250e-02 -1.44154034e-02 2.29128360e+01] [ 5.36538865e-02 9.98559593e-01 -7.88313915e-06 1.53912964e-01] [ 1.43950623e-02 -7.65571452e-04 9.99896093e-01 1.24589570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.689254153999997 meters 0.02994301935294531 Centerline is valid? [True, True] Translation: X:22.94, Y:0.15, Z:0.12 [[ 9.98514127e-01 -5.23772373e-02 -1.50387459e-02 2.29445346e+01] [ 5.23830577e-02 9.98627065e-01 -6.89278212e-06 1.53251429e-01] [ 1.50184597e-02 -7.80892952e-04 9.99886912e-01 1.24050663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719254153999994 meters 0.02999426427079986 Centerline is valid? [True, True] Translation: X:22.98, Y:0.15, Z:0.12 [[ 9.98529979e-01 -5.19937632e-02 -1.53143715e-02 2.29766082e+01] [ 5.19997703e-02 9.98647097e-01 -5.94488395e-06 1.53035021e-01] [ 1.52939618e-02 -7.90407658e-04 9.99882728e-01 1.23973374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.749254153999996 meters 0.030139678589804226 Centerline is valid? [True, True] Translation: X:23.01, Y:0.15, Z:0.12 [[ 9.98561910e-01 -5.12295106e-02 -1.58002916e-02 2.30087457e+01] [ 5.12358272e-02 9.98686582e-01 -5.02542922e-06 1.52878683e-01] [ 1.57797967e-02 -8.04522810e-04 9.99875168e-01 1.23606952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779254153999997 meters 0.029973915268180773 Centerline is valid? [True, True] Translation: X:23.04, Y:0.15, Z:0.12 [[ 9.98594721e-01 -5.05933657e-02 -1.57764082e-02 2.30406885e+01] [ 5.05996011e-02 9.98719020e-01 -3.93226489e-06 1.53266513e-01] [ 1.57563979e-02 -7.94353223e-04 9.99875545e-01 1.23879085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.809254153999994 meters 0.03000412494342859 Centerline is valid? [True, True] Translation: X:23.07, Y:0.15, Z:0.12 [[ 9.98643945e-01 -4.94762910e-02 -1.61977487e-02 2.30734629e+01] [ 4.94827381e-02 9.98774979e-01 -2.75865755e-06 1.53605425e-01] [ 1.61780426e-02 -7.98754038e-04 9.99868808e-01 1.23526583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839254153999995 meters 0.0293576420072844 Centerline is valid? [True, True] Translation: X:23.11, Y:0.15, Z:0.12 [[ 9.98693393e-01 -4.84524130e-02 -1.62441129e-02 2.31055532e+01] [ 4.84587819e-02 9.98825183e-01 -1.53806788e-06 1.53898168e-01] [ 1.62251036e-02 -7.85633866e-04 9.99868056e-01 1.23330054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.869254153999997 meters 0.028373644591982175 Centerline is valid? [True, True] Translation: X:23.14, Y:0.15, Z:0.12 [[ 9.98760650e-01 -4.70981751e-02 -1.60911577e-02 2.31378445e+01] [ 4.71042669e-02 9.98889978e-01 -4.24421136e-07 1.54646445e-01] [ 1.60733162e-02 -7.57538294e-04 9.99870529e-01 1.23530984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899254153999994 meters 0.026319241276352136 Centerline is valid? [True, True] Translation: X:23.17, Y:0.16, Z:0.12 [[ 9.98846208e-01 -4.51687720e-02 -1.63105988e-02 2.31696190e+01] [ 4.51747904e-02 9.98979098e-01 5.47280581e-07 1.57172363e-01] [ 1.62939226e-02 -7.37374531e-04 9.99866973e-01 1.23683642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.929254153999995 meters 0.025763220343045828 Centerline is valid? [True, True] Translation: X:23.20, Y:0.16, Z:0.12 [[ 9.98889542e-01 -4.42422984e-02 -1.61957162e-02 2.32020382e+01] [ 4.42481271e-02 9.99020572e-01 1.55675691e-06 1.58099570e-01] [ 1.61797848e-02 -7.18185138e-04 9.99868841e-01 1.23890971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959254153999996 meters 0.025416020287315575 Centerline is valid? [True, True] Translation: X:23.23, Y:0.16, Z:0.12 [[ 9.98920091e-01 -4.35080344e-02 -1.63003799e-02 2.32346997e+01] [ 4.35138626e-02 9.99052823e-01 2.87869963e-06 1.58830917e-01] [ 1.62848153e-02 -7.12168082e-04 9.99867140e-01 1.24303786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.989254153999994 meters 0.02563571072309088 Centerline is valid? [True, True] Translation: X:23.27, Y:0.16, Z:0.12 [[ 9.98954453e-01 -4.26896490e-02 -1.63583362e-02 2.32655772e+01] [ 4.26954384e-02 9.99088134e-01 4.67446788e-06 1.58613744e-01] [ 1.63432200e-02 -7.03095914e-04 9.99866193e-01 1.24314722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019254153999995 meters 0.026086242213879365 Centerline is valid? [True, True] Translation: X:23.30, Y:0.16, Z:0.12 [[ 9.98998490e-01 -4.16159886e-02 -1.64355257e-02 2.32964082e+01] [ 4.16217101e-02 9.99133441e-01 6.05828619e-06 1.56939550e-01] [ 1.64210312e-02 -6.90126904e-04 9.99864928e-01 1.24016584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.049254153999996 meters 0.02568464722463949 Centerline is valid? [True, True] Translation: X:23.33, Y:0.16, Z:0.12 [[ 9.98999800e-01 -4.15716973e-02 -1.64679707e-02 2.33281495e+01] [ 4.15774521e-02 9.99135284e-01 7.08813975e-06 1.56632729e-01] [ 1.64534359e-02 -6.91777312e-04 9.99864394e-01 1.24179786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079254153999994 meters 0.02350723057656923 Centerline is valid? [True, True] Translation: X:23.36, Y:0.16, Z:0.12 [[ 9.98958396e-01 -4.25079536e-02 -1.65890549e-02 2.33603124e+01] [ 4.25139418e-02 9.99095874e-01 8.32143655e-06 1.57826279e-01] [ 1.65737026e-02 -7.13578883e-04 9.99862392e-01 1.24815675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.109254153999995 meters 0.02664850720014036 Centerline is valid? [True, True] Translation: X:23.39, Y:0.15, Z:0.12 [[ 9.98915374e-01 -4.33212944e-02 -1.70686957e-02 2.33914842e+01] [ 4.33277789e-02 9.99060911e-01 1.01096359e-05 1.52447238e-01] [ 1.70522287e-02 -7.49647343e-04 9.99854319e-01 1.23779360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139254153999996 meters 0.029551368984906144 Centerline is valid? [True, True] Translation: X:23.42, Y:0.15, Z:0.12 [[ 9.98842678e-01 -4.45430678e-02 -1.81444182e-02 2.34221032e+01] [ 4.45506346e-02 9.99007127e-01 1.28388068e-05 1.47665814e-01] [ 1.81258312e-02 -8.21169292e-04 9.99835376e-01 1.22851847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.169254153999994 meters 0.025226947763548856 Centerline is valid? [True, True] Translation: X:23.45, Y:0.15, Z:0.12 [[ 9.98832940e-01 -4.48953372e-02 -1.78091937e-02 2.34539475e+01] [ 4.49027111e-02 9.98991364e-01 1.41941663e-05 1.53342537e-01] [ 1.77905935e-02 -8.13858682e-04 9.99841404e-01 1.24551892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199254153999995 meters 0.031029904889250105 Centerline is valid? [True, True] Translation: X:23.48, Y:0.14, Z:0.12 [[ 9.98806153e-01 -4.53515842e-02 -1.81521961e-02 2.34849359e+01] [ 4.53593402e-02 9.98970735e-01 1.55701266e-05 1.44763095e-01] [ 1.81328066e-02 -8.38923177e-04 9.99835235e-01 1.22620386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.229254153999996 meters 0.03195248708168944 Centerline is valid? [True, True] Translation: X:23.52, Y:0.14, Z:0.12 [[ 9.98758745e-01 -4.60951867e-02 -1.88733526e-02 2.35161709e+01] [ 4.61037220e-02 9.98936658e-01 1.71552738e-05 1.42925715e-01] [ 1.88524930e-02 -8.87265783e-04 9.99821882e-01 1.22933234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259254153999994 meters 0.026625008628248542 Centerline is valid? [True, True] Translation: X:23.55, Y:0.15, Z:0.13 [[ 9.98772235e-01 -4.58528417e-02 -1.87493684e-02 2.35486395e+01] [ 4.58612445e-02 9.98947819e-01 1.82119630e-05 1.50174154e-01] [ 1.87288056e-02 -8.78058969e-04 9.99824215e-01 1.25011135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.289254153999995 meters 0.02802681261885919 Centerline is valid? [True, True] Translation: X:23.58, Y:0.15, Z:0.13 [[ 9.98802031e-01 -4.52316279e-02 -1.86709219e-02 2.35800383e+01] [ 4.52398882e-02 9.98976152e-01 2.00650183e-05 1.48021390e-01] [ 1.86508982e-02 -8.64711403e-04 9.99825683e-01 1.25212834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319254153999996 meters 0.02685326845794106 Centerline is valid? [True, True] Translation: X:23.61, Y:0.15, Z:0.13 [[ 9.98811962e-01 -4.50137890e-02 -1.86661244e-02 2.36126885e+01] [ 4.50220383e-02 9.98985994e-01 2.17316451e-05 1.49953318e-01] [ 1.86462186e-02 -8.62092794e-04 9.99825772e-01 1.26032540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.349254153999993 meters 0.026234938837716753 Centerline is valid? [True, True] Translation: X:23.64, Y:0.15, Z:0.13 [[ 9.98856138e-01 -4.41058260e-02 -1.84686472e-02 2.36449686e+01] [ 4.41137706e-02 9.99026514e-01 2.27917305e-05 1.50797704e-01] [ 1.84496630e-02 -8.37487327e-04 9.99829440e-01 1.26773236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379254153999995 meters 0.026844319377756783 Centerline is valid? [True, True] Translation: X:23.68, Y:0.15, Z:0.13 [[ 9.98930492e-01 -4.27919554e-02 -1.75134645e-02 2.36766751e+01] [ 4.27989187e-02 9.99083706e-01 2.28134918e-05 1.49741106e-01] [ 1.74964408e-02 -7.72346436e-04 9.99846627e-01 1.26756769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.409254153999996 meters 0.026816076118475116 Centerline is valid? [True, True] Translation: X:23.71, Y:0.15, Z:0.13 [[ 9.98964004e-01 -4.21540247e-02 -1.71451686e-02 2.37093537e+01] [ 4.21606276e-02 9.99110845e-01 2.36859087e-05 1.49829102e-01] [ 1.71289254e-02 -7.46512436e-04 9.99853011e-01 1.27238903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439254153999993 meters 0.026513068966586298 Centerline is valid? [True, True] Translation: X:23.74, Y:0.15, Z:0.13 [[ 9.98996358e-01 -4.14299195e-02 -1.70246269e-02 2.37420633e+01] [ 4.14363496e-02 9.99141145e-01 2.49763834e-05 1.50506421e-01] [ 1.70089704e-02 -7.30389708e-04 9.99855070e-01 1.27801216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.469254153999994 meters 0.02688188631209403 Centerline is valid? [True, True] Translation: X:23.77, Y:0.15, Z:0.13 [[ 9.99020665e-01 -4.06676924e-02 -1.74312757e-02 2.37737035e+01] [ 4.06743407e-02 9.99172456e-01 2.68958328e-05 1.50225950e-01] [ 1.74157567e-02 -7.35875138e-04 9.99848063e-01 1.28011815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499254153999996 meters 0.02755327540869116 Centerline is valid? [True, True] Translation: X:23.81, Y:0.15, Z:0.13 [[ 9.99008107e-01 -4.11127500e-02 -1.71039380e-02 2.38059365e+01] [ 4.11192357e-02 9.99154246e-01 2.75368587e-05 1.48999816e-01] [ 1.70883402e-02 -7.30810404e-04 9.99853717e-01 1.28215857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.529254153999997 meters 0.029114477427939732 Centerline is valid? [True, True] Translation: X:23.84, Y:0.15, Z:0.13 [[ 9.98911483e-01 -4.32383100e-02 -1.75013798e-02 2.38384394e+01] [ 4.32454467e-02 9.99064478e-01 2.93550388e-05 1.46383668e-01] [ 1.74837376e-02 -7.86178073e-04 9.99846839e-01 1.28478759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559254153999994 meters 0.03017049896474452 Centerline is valid? [True, True] Translation: X:23.87, Y:0.14, Z:0.13 [[ 9.98848533e-01 -4.46256202e-02 -1.76114314e-02 2.38705463e+01] [ 4.46330829e-02 9.99003447e-01 3.07137515e-05 1.44309882e-01] [ 1.75925101e-02 -8.16730862e-04 9.99844906e-01 1.28718065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.589254153999995 meters 0.03149304340619683 Centerline is valid? [True, True] Translation: X:23.90, Y:0.14, Z:0.13 [[ 9.98762630e-01 -4.61482251e-02 -1.85350938e-02 2.39027463e+01] [ 4.61567760e-02 9.98934207e-01 3.35799079e-05 1.41638484e-01] [ 1.85137896e-02 -8.89058531e-04 9.99828210e-01 1.28138325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619254153999997 meters 0.03347549118231333 Centerline is valid? [True, True] Translation: X:23.93, Y:0.14, Z:0.13 [[ 9.98595013e-01 -4.91224206e-02 -1.98743085e-02 2.39338970e+01] [ 4.91328537e-02 9.98792251e-01 3.67120330e-05 1.38053704e-01] [ 1.98485019e-02 -1.01314194e-03 9.99802486e-01 1.27093489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.649254153999994 meters 0.03456878950630886 Centerline is valid? [True, True] Translation: X:23.97, Y:0.14, Z:0.13 [[ 9.98535003e-01 -5.01157030e-02 -2.04025439e-02 2.39658868e+01] [ 5.01269254e-02 9.98742855e-01 3.86855570e-05 1.35855576e-01] [ 2.03749561e-02 -1.06134568e-03 9.99791846e-01 1.26930594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679254153999995 meters 0.032383443871965054 Centerline is valid? [True, True] Translation: X:24.00, Y:0.14, Z:0.13 [[ 9.98445538e-01 -5.14995227e-02 -2.13144876e-02 2.39982312e+01] [ 5.15121163e-02 9.98672369e-01 4.18657120e-05 1.38030247e-01] [ 2.12840338e-02 -1.13975500e-03 9.99772820e-01 1.27650577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.709254153999996 meters 0.028859814343594744 Centerline is valid? [True, True] Translation: X:24.03, Y:0.14, Z:0.13 [[ 9.98468264e-01 -5.13557925e-02 -2.05841724e-02 2.40308162e+01] [ 5.13675365e-02 9.98679816e-01 4.18593499e-05 1.42223574e-01] [ 2.05548478e-02 -1.09915346e-03 9.99788123e-01 1.29678251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739254153999994 meters 0.037737728480267664 Centerline is valid? [True, True] Translation: X:24.06, Y:0.13, Z:0.13 [[ 9.98473200e-01 -5.12731852e-02 -2.05506335e-02 2.40623586e+01] [ 5.12848985e-02 9.98684063e-01 4.30078075e-05 1.30051035e-01] [ 2.05213850e-02 -1.09687930e-03 9.99788813e-01 1.27258233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.769254153999995 meters 0.03338041557653316 Centerline is valid? [True, True] Translation: X:24.09, Y:0.14, Z:0.13 [[ 9.98528068e-01 -5.02561880e-02 -2.03964030e-02 2.40941776e+01] [ 5.02675402e-02 9.98735787e-01 4.39475743e-05 1.35632449e-01] [ 2.03684089e-02 -1.06915989e-03 9.99791971e-01 1.30168182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799254153999996 meters 0.02526928220763399 Centerline is valid? [True, True] Translation: X:24.13, Y:0.15, Z:0.13 [[ 9.98601442e-01 -4.88936967e-02 -2.01138362e-02 2.41269800e+01] [ 4.89044977e-02 9.98803458e-01 4.51709188e-05 1.46804690e-01] [ 2.00875606e-02 -1.02876480e-03 9.99797695e-01 1.33589305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.829254153999994 meters 0.035622827611392835 Centerline is valid? [True, True] Translation: X:24.16, Y:0.13, Z:0.13 [[ 9.98797037e-01 -4.52537650e-02 -1.88831887e-02 2.41569277e+01] [ 4.52626482e-02 9.98975120e-01 4.30865657e-05 1.32234699e-01] [ 1.88618858e-02 -8.97737859e-04 9.99821696e-01 1.31548508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859254153999995 meters 0.02655674559104104 Centerline is valid? [True, True] Translation: X:24.19, Y:0.14, Z:0.14 [[ 9.98902832e-01 -4.31826545e-02 -1.81215721e-02 2.41885640e+01] [ 4.31905060e-02 9.99066854e-01 4.19380554e-05 1.44990027e-01] [ 1.81028511e-02 -8.24571912e-04 9.99835790e-01 1.35631709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.889254153999996 meters 0.0238543240620014 Centerline is valid? [True, True] Translation: X:24.22, Y:0.15, Z:0.14 [[ 9.99005178e-01 -4.10106326e-02 -1.75152196e-02 2.42199948e+01] [ 4.10176471e-02 9.99158421e-01 4.12727298e-05 1.48691013e-01] [ 1.74987865e-02 -7.59664766e-04 9.99846596e-01 1.37177159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919254153999994 meters 0.022722690917655945 Centerline is valid? [True, True] Translation: X:24.25, Y:0.15, Z:0.14 [[ 9.99083316e-01 -3.91425479e-02 -1.73316977e-02 2.42513167e+01] [ 3.91491465e-02 9.99233377e-01 4.14720036e-05 1.49854304e-01] [ 1.73167875e-02 -7.19955158e-04 9.99849794e-01 1.37849772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.949254153999995 meters 0.0216792434117216 Centerline is valid? [True, True] Translation: X:24.28, Y:0.15, Z:0.14 [[ 9.99204041e-01 -3.57523725e-02 -1.76932803e-02 2.42833409e+01] [ 3.57587350e-02 9.99360451e-01 4.32586753e-05 1.50039024e-01] [ 1.76804180e-02 -6.75913566e-04 9.99843461e-01 1.37455438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979254153999996 meters 0.02053472182806398 Centerline is valid? [True, True] Translation: X:24.32, Y:0.15, Z:0.14 [[ 9.99286123e-01 -3.23996604e-02 -1.94295266e-02 2.43151426e+01] [ 3.24067228e-02 9.99474763e-01 4.86603059e-05 1.50554609e-01] [ 1.94177449e-02 -6.78272850e-04 9.99811228e-01 1.37068192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.009254153999994 meters 0.01986847016599603 Centerline is valid? [True, True] Translation: X:24.35, Y:0.15, Z:0.14 [[ 9.99330284e-01 -3.05989533e-02 -2.00670527e-02 2.43468603e+01] [ 3.06061418e-02 9.99531521e-01 5.11353644e-05 1.51421063e-01] [ 2.00560870e-02 -6.65276180e-04 9.99798635e-01 1.37195359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039254153999995 meters 0.02014762603330344 Centerline is valid? [True, True] Translation: X:24.38, Y:0.15, Z:0.14 [[ 9.99377664e-01 -2.87279136e-02 -2.04692880e-02 2.43762484e+01] [ 2.87350016e-02 9.99587063e-01 5.21732296e-05 1.50767897e-01] [ 2.04593367e-02 -6.40325784e-04 9.99790481e-01 1.36856575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.069254153999996 meters 0.01943915542834674 Centerline is valid? [True, True] Translation: X:24.41, Y:0.15, Z:0.14 [[ 9.99472480e-01 -2.51211621e-02 -2.05837071e-02 2.44052436e+01] [ 2.51275528e-02 9.99684252e-01 5.18518796e-05 1.51325065e-01] [ 2.05759053e-02 -5.69042714e-04 9.99788132e-01 1.36966292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099254153999993 meters 0.01842575674726042 Centerline is valid? [True, True] Translation: X:24.43, Y:0.15, Z:0.14 [[ 9.99499044e-01 -2.37001545e-02 -2.09753042e-02 2.44337511e+01] [ 2.37063981e-02 9.99718963e-01 4.90289237e-05 1.52923991e-01] [ 2.09682474e-02 -5.46253275e-04 9.99779993e-01 1.37762584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.129254153999995 meters 0.018196581928358806 Centerline is valid? [True, True] Translation: X:24.46, Y:0.15, Z:0.14 [[ 9.99527250e-01 -2.25671395e-02 -2.08806362e-02 2.44621141e+01] [ 2.25729701e-02 9.99745197e-01 4.35517407e-05 1.52785666e-01] [ 2.08743329e-02 -5.14869127e-04 9.99781975e-01 1.37684702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159254153999996 meters 0.01774045921892079 Centerline is valid? [True, True] Translation: X:24.49, Y:0.15, Z:0.14 [[ 9.99570329e-01 -2.06892100e-02 -2.07632961e-02 2.44906441e+01] [ 2.06944623e-02 9.99785846e-01 3.81048472e-05 1.52560088e-01] [ 2.07580612e-02 -4.67773722e-04 9.99784419e-01 1.37798747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.189254153999993 meters 0.01732160837239451 Centerline is valid? [True, True] Translation: X:24.52, Y:0.15, Z:0.14 [[ 9.99581467e-01 -2.04677147e-02 -2.04441464e-02 2.45190892e+01] [ 2.04726551e-02 9.99790413e-01 3.23629307e-05 1.52880709e-01] [ 2.04391992e-02 -4.50895344e-04 9.99790996e-01 1.38844366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219254153999994 meters 0.01755537816654851 Centerline is valid? [True, True] Translation: X:24.55, Y:0.15, Z:0.14 [[ 9.99599635e-01 -2.05596922e-02 -1.94388704e-02 2.45472968e+01] [ 2.05641111e-02 9.99788536e-01 2.74361018e-05 1.51147345e-01] [ 1.94341957e-02 -4.27168207e-04 9.99811047e-01 1.38864604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.249254153999996 meters 0.0176853908934583 Centerline is valid? [True, True] Translation: X:24.58, Y:0.15, Z:0.14 [[ 9.99588433e-01 -2.11649982e-02 -1.93651086e-02 2.45754781e+01] [ 2.11694108e-02 9.99775903e-01 2.28714254e-05 1.49947851e-01] [ 1.93602849e-02 -4.32809951e-04 9.99812478e-01 1.38961400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279254153999993 meters 0.01743251621439775 Centerline is valid? [True, True] Translation: X:24.60, Y:0.15, Z:0.14 [[ 9.99549178e-01 -2.29810662e-02 -1.93212734e-02 2.46038559e+01] [ 2.29856981e-02 9.99735794e-01 1.76608605e-05 1.48509545e-01] [ 1.93157627e-02 -4.61765856e-04 9.99813327e-01 1.39091007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.309254153999994 meters 0.018312365437466234 Centerline is valid? [True, True] Translation: X:24.63, Y:0.14, Z:0.14 [[ 9.99456841e-01 -2.62706720e-02 -1.98965808e-02 2.46327289e+01] [ 2.62761326e-02 9.99654723e-01 1.30259743e-05 1.44783492e-01] [ 1.98893687e-02 -5.35824093e-04 9.99802043e-01 1.38913453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339254153999995 meters 0.019598164867182966 Centerline is valid? [True, True] Translation: X:24.66, Y:0.14, Z:0.14 [[ 9.99341875e-01 -3.00875476e-02 -2.02621927e-02 2.46611889e+01] [ 3.00939431e-02 9.99547075e-01 1.07291345e-05 1.39718277e-01] [ 2.02526927e-02 -6.20491349e-04 9.99794701e-01 1.38678114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.369254153999997 meters 0.019598164867182966 Centerline is valid? [True, True] Translation: X:24.69, Y:0.14, Z:0.14 [[ 9.99341875e-01 -3.00875502e-02 -2.02621929e-02 2.46912049e+01] [ 3.00939381e-02 9.99547075e-01 1.03515915e-05 1.39703123e-01] [ 2.02527042e-02 -6.20113959e-04 9.99794701e-01 1.38886252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399254153999994 meters 0.022108635938122095 Centerline is valid? [True, True] Translation: X:24.72, Y:0.13, Z:0.14 [[ 9.99195543e-01 -3.42710053e-02 -2.08270133e-02 2.47208069e+01] [ 3.42786561e-02 9.99412314e-01 1.03552979e-05 1.33545082e-01] [ 2.08144186e-02 -7.24268992e-04 9.99783094e-01 1.38468616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.429254153999995 meters 0.021096311617843595 Centerline is valid? [True, True] Translation: X:24.75, Y:0.13, Z:0.14 [[ 9.99124435e-01 -3.64073355e-02 -2.06123747e-02 2.47524777e+01] [ 3.64152907e-02 9.99336743e-01 1.06096810e-05 1.34417091e-01] [ 2.05983171e-02 -7.61206007e-04 9.99787542e-01 1.39827720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459254153999996 meters 0.022909428637072345 Centerline is valid? [True, True] Translation: X:24.78, Y:0.13, Z:0.14 [[ 9.99057575e-01 -3.84294294e-02 -2.01777314e-02 2.47830221e+01] [ 3.84374742e-02 9.99261007e-01 1.08755544e-05 1.30499233e-01] [ 2.01624022e-02 -7.86446335e-04 9.99796409e-01 1.39505910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.489254153999994 meters 0.02350780454752746 Centerline is valid? [True, True] Translation: X:24.81, Y:0.13, Z:0.14 [[ 9.98950942e-01 -4.13702590e-02 -1.96345917e-02 2.48141164e+01] [ 4.13784548e-02 9.99143545e-01 1.11625102e-05 1.27197156e-01] [ 1.96173138e-02 -8.23599865e-04 9.99807223e-01 1.40325175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519254153999995 meters 0.023846146039481854 Centerline is valid? [True, True] Translation: X:24.85, Y:0.13, Z:0.14 [[ 9.98918757e-01 -4.24100693e-02 -1.90447756e-02 2.48461277e+01] [ 4.24179899e-02 9.99099952e-01 1.19461183e-05 1.25618294e-01] [ 1.90271277e-02 -8.19774299e-04 9.99818632e-01 1.40300915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.549254153999996 meters 0.023846146039481854 Centerline is valid? [True, True] Translation: X:24.88, Y:0.13, Z:0.14 [[ 9.98921826e-01 -4.23377064e-02 -1.90447746e-02 2.48778524e+01] [ 4.23456401e-02 9.99103021e-01 1.33252796e-05 1.25536086e-01] [ 1.90271277e-02 -8.19774085e-04 9.99818632e-01 1.40520613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579254153999994 meters 0.023869209995931936 Centerline is valid? [True, True] Translation: X:24.91, Y:0.12, Z:0.14 [[ 9.98866673e-01 -4.36067833e-02 -1.90740156e-02 2.49100711e+01] [ 4.36149987e-02 9.99048413e-01 1.47341289e-05 1.24507239e-01] [ 1.90552225e-02 -8.46630595e-04 9.99818074e-01 1.41027759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.609254153999995 meters 0.024482511921389078 Centerline is valid? [True, True] Translation: X:24.94, Y:0.12, Z:0.14 [[ 9.98844001e-01 -4.40302520e-02 -1.92872678e-02 2.49422144e+01] [ 4.40387581e-02 9.99029823e-01 1.63049457e-05 1.23696768e-01] [ 1.92678378e-02 -8.65673419e-04 9.99813983e-01 1.41019018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639254153999996 meters 0.022864873081968048 Centerline is valid? [True, True] Translation: X:24.97, Y:0.13, Z:0.14 [[ 9.98833194e-01 -4.40997968e-02 -1.96839767e-02 2.49740512e+01] [ 4.41086989e-02 9.99026738e-01 1.81066674e-05 1.26134896e-01] [ 1.96640205e-02 -8.86320141e-04 9.99806252e-01 1.41836108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.669254153999994 meters 0.023748740759287422 Centerline is valid? [True, True] Translation: X:25.01, Y:0.13, Z:0.14 [[ 9.98834408e-01 -4.38712072e-02 -2.01281381e-02 2.50055838e+01] [ 4.38805130e-02 9.99036786e-01 2.06827876e-05 1.25137104e-01] [ 2.01078430e-02 -9.03891705e-04 9.99797408e-01 1.41455413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699254153999995 meters 0.024022711485937574 Centerline is valid? [True, True] Translation: X:25.04, Y:0.12, Z:0.14 [[ 9.98841974e-01 -4.34032706e-02 -2.07573559e-02 2.50363618e+01] [ 4.34131007e-02 9.99057207e-01 2.29733876e-05 1.24843234e-01] [ 2.07367888e-02 -9.24087963e-04 9.99784543e-01 1.40868983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.729254153999996 meters 0.025451743712229195 Centerline is valid? [True, True] Translation: X:25.07, Y:0.12, Z:0.14 [[ 9.98859384e-01 -4.29076191e-02 -2.09491676e-02 2.50679332e+01] [ 4.29175674e-02 9.99078616e-01 2.53127126e-05 1.22592030e-01] [ 2.09287793e-02 -9.24371154e-04 9.99780542e-01 1.40245726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759254153999994 meters 0.025203965319250936 Centerline is valid? [True, True] Translation: X:25.10, Y:0.12, Z:0.14 [[ 9.98850829e-01 -4.30296320e-02 -2.11062238e-02 2.50998291e+01] [ 4.30397969e-02 9.99073358e-01 2.73791289e-05 1.23235976e-01] [ 2.10854878e-02 -9.35755252e-04 9.99777238e-01 1.40685216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.789254153999995 meters 0.024374047695750387 Centerline is valid? [True, True] Translation: X:25.13, Y:0.12, Z:0.14 [[ 9.98836542e-01 -4.34355091e-02 -2.09503883e-02 2.51323910e+01] [ 4.34456450e-02 9.99055792e-01 2.86830706e-05 1.24690104e-01] [ 2.09293610e-02 -9.38852835e-04 9.99780516e-01 1.41700121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819254153999996 meters 0.026009126276111648 Centerline is valid? [True, True] Translation: X:25.16, Y:0.12, Z:0.14 [[ 9.98758896e-01 -4.52382353e-02 -2.08367584e-02 2.51624200e+01] [ 4.52486685e-02 9.98975754e-01 2.92769772e-05 1.21646769e-01] [ 2.08140920e-02 -9.72076216e-04 9.99782891e-01 1.41452468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.849254153999993 meters 0.026797680773136583 Centerline is valid? [True, True] Translation: X:25.19, Y:0.12, Z:0.14 [[ 9.98719973e-01 -4.60344652e-02 -2.09581247e-02 2.51935019e+01] [ 4.60452082e-02 9.98939356e-01 3.00671278e-05 1.20281012e-01] [ 2.09345115e-02 -9.95049857e-04 9.99780354e-01 1.41132599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879254153999995 meters 0.027883767674509376 Centerline is valid? [True, True] Translation: X:25.22, Y:0.12, Z:0.14 [[ 9.98628740e-01 -4.76609176e-02 -2.16581960e-02 2.52245591e+01] [ 4.76727888e-02 9.98863006e-01 3.18397767e-05 1.18450633e-01] [ 2.16320533e-02 -1.06430272e-03 9.99765433e-01 1.40715009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.909254153999996 meters 0.026626498363634364 Centerline is valid? [True, True] Translation: X:25.26, Y:0.12, Z:0.14 [[ 9.98598421e-01 -4.81519387e-02 -2.19678252e-02 2.52568623e+01] [ 4.81642995e-02 9.98839426e-01 3.36233288e-05 1.20222275e-01] [ 2.19407109e-02 -1.09164112e-03 9.99758678e-01 1.41713270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939254153999993 meters 0.02773197060737177 Centerline is valid? [True, True] Translation: X:25.29, Y:0.12, Z:0.14 [[ 9.98602828e-01 -4.83098232e-02 -2.14138249e-02 2.52882187e+01] [ 4.83216315e-02 9.98831827e-01 3.40386471e-05 1.18784846e-01] [ 2.13871655e-02 -1.06874205e-03 9.99770697e-01 1.41852966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.969254153999994 meters 0.028493329895608575 Centerline is valid? [True, True] Translation: X:25.32, Y:0.12, Z:0.14 [[ 9.98631988e-01 -4.81705973e-02 -2.03407343e-02 2.53197704e+01] [ 4.81812442e-02 9.98838609e-01 3.33946622e-05 1.18419380e-01] [ 2.03155021e-02 -1.01339086e-03 9.99793105e-01 1.43414128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999254153999996 meters 0.026132696601673822 Centerline is valid? [True, True] Translation: X:25.35, Y:0.12, Z:0.15 [[ 9.98666659e-01 -4.78398988e-02 -1.93971371e-02 2.53522910e+01] [ 4.78495426e-02 9.98854554e-01 3.30996622e-05 1.21705427e-01] [ 1.93733353e-02 -9.61199670e-04 9.99811857e-01 1.45295943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.029254153999993 meters 0.02810498067885262 Centerline is valid? [True, True] Translation: X:25.38, Y:0.12, Z:0.15 [[ 9.98689085e-01 -4.76828971e-02 -1.86132207e-02 2.53838320e+01] [ 4.76917704e-02 9.98862100e-01 3.28744108e-05 1.18949434e-01] [ 1.85904731e-02 -9.20528762e-04 9.99826758e-01 1.45398565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059254153999994 meters 0.025944581978651092 Centerline is valid? [True, True] Translation: X:25.42, Y:0.12, Z:0.15 [[ 9.98722676e-01 -4.72597829e-02 -1.78754007e-02 2.54162433e+01] [ 4.72679195e-02 9.98882247e-01 3.27231079e-05 1.22023317e-01] [ 1.78538740e-02 -8.77614314e-04 9.99840222e-01 1.47114302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.089254153999995 meters 0.02635083098970503 Centerline is valid? [True, True] Translation: X:25.45, Y:0.12, Z:0.15 [[ 9.98771212e-01 -4.66556669e-02 -1.67127026e-02 2.54477086e+01] [ 4.66627115e-02 9.98910702e-01 3.15921330e-05 1.21690674e-01] [ 1.66930235e-02 -8.11413332e-04 9.99860333e-01 1.47633556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119254153999993 meters 0.02683712998411597 Centerline is valid? [True, True] Translation: X:25.48, Y:0.12, Z:0.15 [[ 9.98773723e-01 -4.64928911e-02 -1.70135365e-02 2.54797292e+01] [ 4.65001868e-02 9.98918281e-01 3.32596947e-05 1.21289645e-01] [ 1.69935863e-02 -8.24351536e-04 9.99855259e-01 1.47791519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.149254153999994 meters 0.025194578580151825 Centerline is valid? [True, True] Translation: X:25.51, Y:0.12, Z:0.15 [[ 9.98768956e-01 -4.65155937e-02 -1.72299833e-02 2.55120785e+01] [ 4.65231012e-02 9.98917214e-01 3.49369058e-05 1.23391438e-01] [ 1.72097018e-02 -8.36486154e-04 9.99851552e-01 1.47980954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179254153999995 meters 0.02582336755277568 Centerline is valid? [True, True] Translation: X:25.54, Y:0.12, Z:0.15 [[ 9.98754798e-01 -4.66556730e-02 -1.76664156e-02 2.55443173e+01] [ 4.66636105e-02 9.98910660e-01 3.71218869e-05 1.22157525e-01] [ 1.76454389e-02 -8.61454400e-04 9.99843936e-01 1.47677969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.209254153999996 meters 0.02587343427665708 Centerline is valid? [True, True] Translation: X:25.58, Y:0.12, Z:0.15 [[ 9.98748787e-01 -4.67740600e-02 -1.76931816e-02 2.55760683e+01] [ 4.67820629e-02 9.98905119e-01 3.84645452e-05 1.21580949e-01] [ 1.76720105e-02 -8.66139953e-04 9.99843463e-01 1.47151219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239254153999994 meters 0.02575373142443089 Centerline is valid? [True, True] Translation: X:25.61, Y:0.12, Z:0.15 [[ 9.98700499e-01 -4.75646309e-02 -1.83008147e-02 2.56079988e+01] [ 4.75733502e-02 9.98867746e-01 4.11362366e-05 1.20973685e-01] [ 1.82781369e-02 -9.11713845e-04 9.99832525e-01 1.47077493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.269254153999995 meters 0.027298977152324412 Centerline is valid? [True, True] Translation: X:25.64, Y:0.12, Z:0.15 [[ 9.98668404e-01 -4.81636786e-02 -1.84845372e-02 2.56387965e+01] [ 4.81727076e-02 9.98839020e-01 4.32555692e-05 1.18369714e-01] [ 1.84609937e-02 -9.33648176e-04 9.99829145e-01 1.46395403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299254153999996 meters 0.024922966787667773 Centerline is valid? [True, True] Translation: X:25.67, Y:0.12, Z:0.15 [[ 9.98640027e-01 -4.86582062e-02 -1.87209793e-02 2.56711756e+01] [ 4.86675845e-02 9.98815030e-01 4.54138048e-05 1.21792790e-01] [ 1.86965857e-02 -9.56456884e-04 9.99824746e-01 1.47408572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.329254153999994 meters 0.02924673551515764 Centerline is valid? [True, True] Translation: X:25.70, Y:0.12, Z:0.15 [[ 9.98626319e-01 -4.91471594e-02 -1.81667532e-02 2.57027715e+01] [ 4.91560916e-02 9.98791108e-01 4.51944005e-05 1.15628364e-01] [ 1.81425704e-02 -9.38138901e-04 9.99834970e-01 1.46518358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359254153999995 meters 0.030415506099055425 Centerline is valid? [True, True] Translation: X:25.73, Y:0.11, Z:0.15 [[ 9.98617222e-01 -4.95309377e-02 -1.76161831e-02 2.57339156e+01] [ 4.95394125e-02 9.98772169e-01 4.47586723e-05 1.13756457e-01] [ 1.75923365e-02 -9.17392143e-04 9.99844822e-01 1.47017506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.389254153999996 meters 0.025451516293768125 Centerline is valid? [True, True] Translation: X:25.77, Y:0.12, Z:0.15 [[ 9.98574811e-01 -5.07067170e-02 -1.66486200e-02 2.57660949e+01] [ 5.07144670e-02 9.98713193e-01 4.33718060e-05 1.20449502e-01] [ 1.66249972e-02 -8.87635884e-04 9.99861401e-01 1.49376687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419254153999994 meters 0.026105703036064413 Centerline is valid? [True, True] Translation: X:25.80, Y:0.12, Z:0.15 [[ 9.98555975e-01 -5.12368215e-02 -1.61478587e-02 2.57982963e+01] [ 5.12442005e-02 9.98686152e-01 4.32568402e-05 1.19020662e-01] [ 1.61244266e-02 -8.70678487e-04 9.99869614e-01 1.49694840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.449254153999995 meters 0.03368046747447999 Centerline is valid? [True, True] Translation: X:25.83, Y:0.11, Z:0.15 [[ 9.98514465e-01 -5.22405445e-02 -1.54851368e-02 2.58289582e+01] [ 5.22474631e-02 9.98634168e-01 4.22938156e-05 1.08168223e-01] [ 1.54617773e-02 -8.51290100e-04 9.99880097e-01 1.48875174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479254153999996 meters 0.027013031439988476 Centerline is valid? [True, True] Translation: X:25.86, Y:0.12, Z:0.15 [[ 9.98489081e-01 -5.26846200e-02 -1.56168797e-02 2.58612129e+01] [ 5.26917250e-02 9.98610825e-01 4.35564746e-05 1.17528441e-01] [ 1.55928903e-02 -8.66370992e-04 9.99878048e-01 1.50990042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.509254153999994 meters 0.02745761512540883 Centerline is valid? [True, True] Translation: X:25.89, Y:0.12, Z:0.15 [[ 9.98485900e-01 -5.28408870e-02 -1.52888518e-02 2.58933709e+01] [ 5.28477320e-02 9.98602581e-01 4.37611318e-05 1.17040625e-01] [ 1.52651745e-02 -8.51676014e-04 9.99883118e-01 1.51106631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539254153999995 meters 0.036631977441098015 Centerline is valid? [True, True] Translation: X:25.92, Y:0.10, Z:0.15 [[ 9.98411725e-01 -5.42824868e-02 -1.50810735e-02 2.59245159e+01] [ 5.42893252e-02 9.98525246e-01 4.41199863e-05 1.04095058e-01] [ 1.50564377e-02 -8.62791216e-04 9.99886273e-01 1.50217474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.569254153999996 meters 0.028575306775106925 Centerline is valid? [True, True] Translation: X:25.96, Y:0.11, Z:0.15 [[ 9.98399064e-01 -5.46794594e-02 -1.44729389e-02 2.59567968e+01] [ 5.46858122e-02 9.98503610e-01 4.32617284e-05 1.14863344e-01] [ 1.44489162e-02 -8.34656889e-04 9.99895261e-01 1.51838228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599254153999993 meters 0.028548156439756004 Centerline is valid? [True, True] Translation: X:25.99, Y:0.11, Z:0.15 [[ 9.98351228e-01 -5.54960218e-02 -1.46634447e-02 2.59886767e+01] [ 5.55026467e-02 9.98458539e-01 4.49185359e-05 1.14445354e-01] [ 1.46383488e-02 -8.58704468e-04 9.99892485e-01 1.52472712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.629254153999995 meters 0.029951502707893044 Centerline is valid? [True, True] Translation: X:26.02, Y:0.11, Z:0.15 [[ 9.98359585e-01 -5.54651296e-02 -1.42041591e-02 2.60208197e+01] [ 5.54713594e-02 9.98460278e-01 4.46776444e-05 1.12162863e-01] [ 1.41798106e-02 -8.32528368e-04 9.99899115e-01 1.52265157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659254153999996 meters 0.030738700345653833 Centerline is valid? [True, True] Translation: X:26.05, Y:0.11, Z:0.15 [[ 9.98366002e-01 -5.53026064e-02 -1.43857101e-02 2.60517804e+01] [ 5.53089947e-02 9.98469285e-01 4.62985032e-05 1.11203405e-01] [ 1.43611293e-02 -8.41882017e-04 9.99896519e-01 1.52293007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.689254153999993 meters 0.029953527749224697 Centerline is valid? [True, True] Translation: X:26.08, Y:0.11, Z:0.15 [[ 9.98391226e-01 -5.48018033e-02 -1.45506846e-02 2.60836660e+01] [ 5.48082995e-02 9.98496894e-01 4.77606662e-05 1.12648822e-01] [ 1.45261961e-02 -8.45182112e-04 9.99894132e-01 1.52734125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719254153999994 meters 0.027028856441998594 Centerline is valid? [True, True] Translation: X:26.12, Y:0.12, Z:0.15 [[ 9.98499470e-01 -5.28428707e-02 -1.43680284e-02 2.61154384e+01] [ 5.28490158e-02 9.98602513e-01 4.80727883e-05 1.17780759e-01] [ 1.43454089e-02 -8.07336812e-04 9.99896773e-01 1.53670934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.749254153999996 meters 0.027271948781167187 Centerline is valid? [True, True] Translation: X:26.15, Y:0.12, Z:0.15 [[ 9.98646963e-01 -5.00304899e-02 -1.41842734e-02 2.61460517e+01] [ 5.00362052e-02 9.98747403e-01 4.81092201e-05 1.18135477e-01] [ 1.41640993e-02 -7.57771339e-04 9.99899397e-01 1.54072989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779254153999993 meters 0.02607263715186967 Centerline is valid? [True, True] Translation: X:26.18, Y:0.12, Z:0.15 [[ 9.98721720e-01 -4.86984710e-02 -1.35419348e-02 2.61786278e+01] [ 4.87035697e-02 9.98813276e-01 4.67858202e-05 1.20617931e-01] [ 1.35235859e-02 -7.06266581e-04 9.99908303e-01 1.54674999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.809254153999994 meters 0.02507410022410491 Centerline is valid? [True, True] Translation: X:26.21, Y:0.12, Z:0.15 [[ 9.98792383e-01 -4.71848018e-02 -1.36883540e-02 2.62109596e+01] [ 4.71898853e-02 9.98885936e-01 4.84404695e-05 1.22343993e-01] [ 1.36708187e-02 -6.94333828e-04 9.99906309e-01 1.54846214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839254153999995 meters 0.024524919967967244 Centerline is valid? [True, True] Translation: X:26.24, Y:0.12, Z:0.15 [[ 9.98857166e-01 -4.56407930e-02 -1.41873050e-02 2.62430718e+01] [ 4.56461138e-02 9.98957672e-01 5.12792013e-05 1.23488084e-01] [ 1.41701768e-02 -6.98815937e-04 9.99899354e-01 1.54786106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.869254153999993 meters 0.023657555042933213 Centerline is valid? [True, True] Translation: X:26.27, Y:0.13, Z:0.15 [[ 9.98956666e-01 -4.32695586e-02 -1.46056154e-02 2.62749233e+01] [ 4.32749589e-02 9.99063199e-01 5.37487433e-05 1.25663248e-01] [ 1.45896072e-02 -6.85750072e-04 9.99893331e-01 1.54186218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899254153999994 meters 0.02557276309595523 Centerline is valid? [True, True] Translation: X:26.31, Y:0.12, Z:0.15 [[ 9.98977914e-01 -4.22361247e-02 -1.61008284e-02 2.63063765e+01] [ 4.22425685e-02 9.99107383e-01 6.01836245e-05 1.23177419e-01] [ 1.60839146e-02 -7.40262459e-04 9.99870371e-01 1.53192064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.929254153999995 meters 0.024252432045268106 Centerline is valid? [True, True] Translation: X:26.34, Y:0.12, Z:0.15 [[ 9.98986344e-01 -4.19573379e-02 -1.63053822e-02 2.63386334e+01] [ 4.19639269e-02 9.99119125e-01 6.20188544e-05 1.24800893e-01] [ 1.62884170e-02 -7.46193855e-04 9.99867056e-01 1.53241832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959254153999993 meters 0.023979318763604793 Centerline is valid? [True, True] Translation: X:26.37, Y:0.12, Z:0.15 [[ 9.98989767e-01 -4.17331795e-02 -1.66669695e-02 2.63708242e+01] [ 4.17400534e-02 9.99128502e-01 6.46217956e-05 1.24959618e-01] [ 1.66497474e-02 -7.60236710e-04 9.99861094e-01 1.53384372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.989254153999994 meters 0.024276296317806215 Centerline is valid? [True, True] Translation: X:26.40, Y:0.12, Z:0.15 [[ 9.98985412e-01 -4.18537862e-02 -1.66255236e-02 2.64026553e+01] [ 4.18606628e-02 9.99123456e-01 6.56725533e-05 1.24244510e-01] [ 1.66082019e-02 -7.61561358e-04 9.99861784e-01 1.53117845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019254153999995 meters 0.02377914813004764 Centerline is valid? [True, True] Translation: X:26.43, Y:0.12, Z:0.15 [[ 9.98973428e-01 -4.18629135e-02 -1.73085605e-02 2.64349577e+01] [ 4.18703904e-02 9.99123048e-01 6.96580118e-05 1.24930609e-01] [ 1.72904656e-02 -7.94302687e-04 9.99850193e-01 1.53621804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.049254153999996 meters 0.02460261794883247 Centerline is valid? [True, True] Translation: X:26.47, Y:0.12, Z:0.15 [[ 9.98982049e-01 -4.16187996e-02 -1.73994801e-02 2.64663475e+01] [ 4.16263372e-02 9.99133246e-01 7.11075074e-05 1.24149057e-01] [ 1.73814396e-02 -7.95311747e-04 9.99848615e-01 1.53625559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079254153999994 meters 0.024720665332444432 Centerline is valid? [True, True] Translation: X:26.50, Y:0.12, Z:0.15 [[ 9.98992668e-01 -4.09629096e-02 -1.83218302e-02 2.64981052e+01] [ 4.09711799e-02 9.99160326e-01 7.60914826e-05 1.24945505e-01] [ 1.83033289e-02 -8.26681832e-04 9.99832138e-01 1.53583713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.109254153999995 meters 0.024078499746821885 Centerline is valid? [True, True] Translation: X:26.53, Y:0.13, Z:0.15 [[ 9.99012202e-01 -4.05324866e-02 -1.82136432e-02 2.65303894e+01] [ 4.05406119e-02 9.99177888e-01 7.69526549e-05 1.26189926e-01] [ 1.81955504e-02 -8.15268880e-04 9.99834115e-01 1.54212841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139254153999996 meters 0.023684841735301256 Centerline is valid? [True, True] Translation: X:26.56, Y:0.13, Z:0.16 [[ 9.99059622e-01 -3.97739713e-02 -1.72598802e-02 2.65629570e+01] [ 3.97811758e-02 9.99208413e-01 7.41485439e-05 1.27785606e-01] [ 1.72432683e-02 -7.60697146e-04 9.99851034e-01 1.55664785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.169254153999994 meters 0.023648771563524858 Centerline is valid? [True, True] Translation: X:26.59, Y:0.13, Z:0.16 [[ 9.99069155e-01 -3.96160035e-02 -1.70703085e-02 2.65949389e+01] [ 3.96230487e-02 9.99214696e-01 7.45675159e-05 1.28045289e-01] [ 1.70539491e-02 -7.50875772e-04 9.99854289e-01 1.56534855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199254153999995 meters 0.023834682033159887 Centerline is valid? [True, True] Translation: X:26.63, Y:0.13, Z:0.16 [[ 9.99068025e-01 -3.98491498e-02 -1.65869273e-02 2.66270248e+01] [ 3.98558533e-02 9.99205437e-01 7.36430653e-05 1.28048162e-01] [ 1.65708134e-02 -7.34660575e-04 9.99862425e-01 1.57039906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.229254153999996 meters 0.02281382345313049 Centerline is valid? [True, True] Translation: X:26.66, Y:0.13, Z:0.16 [[ 9.99064423e-01 -4.00808972e-02 -1.62419593e-02 2.66592245e+01] [ 4.00873745e-02 9.99196175e-01 7.32919331e-05 1.30236025e-01] [ 1.62259660e-02 -7.24320867e-04 9.99868088e-01 1.58274766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259254153999994 meters 0.023527513494274163 Centerline is valid? [True, True] Translation: X:26.69, Y:0.13, Z:0.16 [[ 9.99026869e-01 -4.10949915e-02 -1.60161226e-02 2.66904061e+01] [ 4.11014360e-02 9.99154976e-01 7.32801221e-05 1.30382916e-01] [ 1.59995772e-02 -7.31494448e-04 9.99871731e-01 1.59278858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.289254153999995 meters 0.024237069196890164 Centerline is valid? [True, True] Translation: X:26.72, Y:0.13, Z:0.16 [[ 9.98992374e-01 -4.22377231e-02 -1.51727049e-02 2.67220286e+01] [ 4.22436505e-02 9.99107336e-01 7.02354472e-05 1.30173573e-01] [ 1.51561942e-02 -7.11115121e-04 9.99884885e-01 1.60160112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319254153999996 meters 0.02549226663127737 Centerline is valid? [True, True] Translation: X:26.75, Y:0.13, Z:0.16 [[ 9.98960403e-01 -4.30223235e-02 -1.50729387e-02 2.67532270e+01] [ 4.30282746e-02 9.99073852e-01 7.05944599e-05 1.28849572e-01] [ 1.50559418e-02 -7.19083615e-04 9.99886394e-01 1.60196818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.349254153999993 meters 0.02567535122215864 Centerline is valid? [True, True] Translation: X:26.78, Y:0.13, Z:0.16 [[ 9.98927017e-01 -4.36697508e-02 -1.54197255e-02 2.67848967e+01] [ 4.36760689e-02 9.99045743e-01 7.30648149e-05 1.28716386e-01] [ 1.54018204e-02 -7.46459410e-04 9.99881106e-01 1.60198480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379254153999995 meters 0.026174628937404097 Centerline is valid? [True, True] Translation: X:26.82, Y:0.13, Z:0.16 [[ 9.98864783e-01 -4.48741757e-02 -1.59829474e-02 2.68168124e+01] [ 4.48811344e-02 9.98992331e-01 7.67766232e-05 1.28403338e-01] [ 1.59633966e-02 -7.94022277e-04 9.99872262e-01 1.59839591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.409254153999996 meters 0.024731010335688797 Centerline is valid? [True, True] Translation: X:26.85, Y:0.13, Z:0.16 [[ 9.98837740e-01 -4.54285541e-02 -1.61064145e-02 2.68486695e+01] [ 4.54357117e-02 9.98967262e-01 7.85561567e-05 1.30832342e-01] [ 1.60862121e-02 -8.10271260e-04 9.99870280e-01 1.60094697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439254153999993 meters 0.026752135970221382 Centerline is valid? [True, True] Translation: X:26.88, Y:0.13, Z:0.16 [[ 9.98821005e-01 -4.56381352e-02 -1.65457061e-02 2.68802666e+01] [ 4.56457349e-02 9.98957687e-01 8.17611940e-05 1.29286345e-01] [ 1.65247289e-02 -8.36905711e-04 9.99863107e-01 1.59238154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.469254153999994 meters 0.026752135970221382 Centerline is valid? [True, True] Translation: X:26.91, Y:0.13, Z:0.16 [[ 9.98824290e-01 -4.55661894e-02 -1.65457007e-02 2.69120016e+01] [ 4.55737970e-02 9.98960971e-01 8.28379792e-05 1.29066310e-01] [ 1.65247347e-02 -8.36790992e-04 9.99863107e-01 1.59457960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499254153999996 meters 0.02486763443618868 Centerline is valid? [True, True] Translation: X:26.94, Y:0.13, Z:0.16 [[ 9.98835631e-01 -4.52612175e-02 -1.66974275e-02 2.69446438e+01] [ 4.52689433e-02 9.98974832e-01 8.48254119e-05 1.32591736e-01] [ 1.66764706e-02 -8.40601544e-04 9.99860585e-01 1.60110977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.529254153999993 meters 0.02481912408401147 Centerline is valid? [True, True] Translation: X:26.98, Y:0.13, Z:0.16 [[ 9.98852609e-01 -4.48457997e-02 -1.68023840e-02 2.69773421e+01] [ 4.48535883e-02 9.98993568e-01 8.67882258e-05 1.33548843e-01] [ 1.67815815e-02 -8.40335860e-04 9.99858826e-01 1.59931838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559254153999994 meters 0.027254554658420135 Centerline is valid? [True, True] Translation: X:27.01, Y:0.13, Z:0.16 [[ 9.98886539e-01 -4.41443537e-02 -1.66420596e-02 2.70090651e+01] [ 4.41519196e-02 9.99024825e-01 8.73068550e-05 1.30654860e-01] [ 1.66219766e-02 -8.21988521e-04 9.99861508e-01 1.59603810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.589254153999995 meters 0.02490868886379795 Centerline is valid? [True, True] Translation: X:27.04, Y:0.14, Z:0.16 [[ 9.98962013e-01 -4.23129414e-02 -1.68674927e-02 2.70403977e+01] [ 4.23204681e-02 9.99104084e-01 8.93668318e-05 1.35739549e-01] [ 1.68485995e-02 -8.03114258e-04 9.99857730e-01 1.59915310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619254153999993 meters 0.023849418931513978 Centerline is valid? [True, True] Translation: X:27.07, Y:0.14, Z:0.16 [[ 9.98994301e-01 -4.13753323e-02 -1.72762231e-02 2.70723379e+01] [ 4.13831059e-02 9.99143348e-01 9.25530513e-05 1.37902745e-01] [ 1.72575940e-02 -8.07403744e-04 9.99850751e-01 1.60107383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.649254153999994 meters 0.024022594127882685 Centerline is valid? [True, True] Translation: X:27.10, Y:0.14, Z:0.16 [[ 9.99062110e-01 -3.97576780e-02 -1.71530441e-02 2.71035921e+01] [ 3.97651216e-02 9.99209050e-01 9.29606710e-05 1.38771180e-01] [ 1.71357810e-02 -7.74966368e-04 9.99852871e-01 1.59450122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679254153999995 meters 0.02356913389434643 Centerline is valid? [True, True] Translation: X:27.14, Y:0.14, Z:0.16 [[ 9.99081673e-01 -3.90595041e-02 -1.76115510e-02 2.71357141e+01] [ 3.90672633e-02 9.99236578e-01 9.66120232e-05 1.40153992e-01] [ 1.75943323e-02 -7.84558401e-04 9.99844900e-01 1.59815754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.709254153999993 meters 0.023801662039257303 Centerline is valid? [True, True] Translation: X:27.17, Y:0.14, Z:0.16 [[ 9.99103024e-01 -3.84311002e-02 -1.77819455e-02 2.71680966e+01] [ 3.84389339e-02 9.99260946e-01 9.88378546e-05 1.40537546e-01] [ 1.77650053e-02 -7.82268228e-04 9.99841884e-01 1.59702733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739254153999994 meters 0.022176909632259077 Centerline is valid? [True, True] Translation: X:27.20, Y:0.14, Z:0.16 [[ 9.99158726e-01 -3.68132676e-02 -1.80727178e-02 2.71992703e+01] [ 3.68211120e-02 9.99321868e-01 1.01370959e-04 1.44628083e-01] [ 1.80567304e-02 -7.66743247e-04 9.99836670e-01 1.60177665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.769254153999995 meters 0.023597343836287386 Centerline is valid? [True, True] Translation: X:27.23, Y:0.14, Z:0.16 [[ 9.99180677e-01 -3.61889730e-02 -1.81199471e-02 2.72302300e+01] [ 3.61967718e-02 9.99344677e-01 1.02504733e-04 1.42954008e-01] [ 1.81043632e-02 -7.58304339e-04 9.99835815e-01 1.59697203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799254153999993 meters 0.02400044401820336 Centerline is valid? [True, True] Translation: X:27.26, Y:0.14, Z:0.16 [[ 9.99179807e-01 -3.61932386e-02 -1.81593634e-02 2.72625056e+01] [ 3.62010934e-02 9.99344520e-01 1.03904117e-04 1.43370066e-01] [ 1.81436996e-02 -7.61207705e-04 9.99835100e-01 1.59763194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.829254153999994 meters 0.023496795598770524 Centerline is valid? [True, True] Translation: X:27.30, Y:0.14, Z:0.16 [[ 9.99168316e-01 -3.65367109e-02 -1.81037301e-02 2.72950726e+01] [ 3.65445972e-02 9.99332018e-01 1.04876717e-04 1.44776304e-01] [ 1.80878053e-02 -7.66383017e-04 9.99836109e-01 1.60805840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859254153999995 meters 0.0230600925488183 Centerline is valid? [True, True] Translation: X:27.33, Y:0.15, Z:0.16 [[ 9.99153299e-01 -3.72918517e-02 -1.73782271e-02 2.73270757e+01] [ 3.72992540e-02 9.99304136e-01 1.01912726e-04 1.45375413e-01] [ 1.73623337e-02 -7.50021344e-04 9.99848982e-01 1.61366670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.889254153999996 meters 0.02474270094720801 Centerline is valid? [True, True] Translation: X:27.36, Y:0.14, Z:0.16 [[ 9.99112342e-01 -3.86097445e-02 -1.68468267e-02 2.73579297e+01] [ 3.86169130e-02 9.99254084e-01 1.00287801e-04 1.42736770e-01] [ 1.68303883e-02 -7.50771220e-04 9.99858077e-01 1.61473764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919254153999994 meters 0.025898213330153273 Centerline is valid? [True, True] Translation: X:27.39, Y:0.14, Z:0.16 [[ 9.99085920e-01 -3.93748027e-02 -1.66417860e-02 2.73893020e+01] [ 3.93819329e-02 9.99224226e-01 1.00830910e-04 1.40994654e-01] [ 1.66249056e-02 -7.56124445e-04 9.99861511e-01 1.61594317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.949254153999995 meters 0.02507622121464036 Centerline is valid? [True, True] Translation: X:27.42, Y:0.14, Z:0.16 [[ 9.99049469e-01 -4.02659468e-02 -1.66976653e-02 2.74213067e+01] [ 4.02732738e-02 9.99188697e-01 1.02642386e-04 1.42356585e-01] [ 1.66799854e-02 -7.75014468e-04 9.99860579e-01 1.62410372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979254153999996 meters 0.02592712667973006 Centerline is valid? [True, True] Translation: X:27.45, Y:0.14, Z:0.16 [[ 9.98981981e-01 -4.18202590e-02 -1.69135302e-02 2.74530361e+01] [ 4.18280240e-02 9.99124820e-01 1.05447802e-04 1.41321701e-01] [ 1.68943180e-02 -8.12800003e-04 9.99856950e-01 1.62570368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.009254153999994 meters 0.026937616942072997 Centerline is valid? [True, True] Translation: X:27.48, Y:0.14, Z:0.16 [[ 9.98963605e-01 -4.23363673e-02 -1.67136916e-02 2.74838480e+01] [ 4.23440500e-02 9.99103083e-01 1.05880965e-04 1.39756443e-01] [ 1.66942182e-02 -8.13496624e-04 9.99860311e-01 1.62631215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039254153999995 meters 0.02720588412159723 Centerline is valid? [True, True] Translation: X:27.52, Y:0.14, Z:0.16 [[ 9.98935014e-01 -4.34127958e-02 -1.56258558e-02 2.75164373e+01] [ 4.34196622e-02 9.99056917e-01 1.00279049e-04 1.39524440e-01] [ 1.56067659e-02 -7.78641634e-04 9.99877904e-01 1.63892995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.069254153999996 meters 0.02684845422446567 Centerline is valid? [True, True] Translation: X:27.55, Y:0.14, Z:0.16 [[ 9.98929586e-01 -4.37575436e-02 -1.49986585e-02 2.75483762e+01] [ 4.37639244e-02 9.99041896e-01 9.73094326e-05 1.39941855e-01] [ 1.49800302e-02 -7.53605428e-04 9.99887509e-01 1.64749133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099254153999993 meters 0.02557838234738741 Centerline is valid? [True, True] Translation: X:27.58, Y:0.14, Z:0.17 [[ 9.98942379e-01 -4.37819198e-02 -1.40451790e-02 2.75811135e+01] [ 4.37875350e-02 9.99040862e-01 9.23794543e-05 1.41403634e-01] [ 1.40276631e-02 -7.07285517e-04 9.99901357e-01 1.65735240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.129254153999995 meters 0.027290577909592183 Centerline is valid? [True, True] Translation: X:27.61, Y:0.14, Z:0.17 [[ 9.98953820e-01 -4.36777678e-02 -1.35469078e-02 2.76124071e+01] [ 4.36829970e-02 9.99045438e-01 9.02042214e-05 1.39513289e-01] [ 1.35300365e-02 -6.81879383e-04 9.99908232e-01 1.66494333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159254153999996 meters 0.026353952103647656 Centerline is valid? [True, True] Translation: X:27.65, Y:0.14, Z:0.17 [[ 9.98960862e-01 -4.35481569e-02 -1.34445149e-02 2.76452765e+01] [ 4.35533102e-02 9.99051100e-01 9.06113280e-05 1.41050634e-01] [ 1.34278114e-02 -6.76070298e-04 9.99909614e-01 1.67036393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.189254153999993 meters 0.02818585422401983 Centerline is valid? [True, True] Translation: X:27.68, Y:0.14, Z:0.17 [[ 9.98926772e-01 -4.42329370e-02 -1.37386919e-02 2.76767311e+01] [ 4.42383986e-02 9.99020998e-01 9.37387143e-05 1.38796768e-01] [ 1.37210953e-02 -7.01415839e-04 9.99905615e-01 1.66787543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219254153999994 meters 0.02687463029869031 Centerline is valid? [True, True] Translation: X:27.71, Y:0.14, Z:0.17 [[ 9.98898502e-01 -4.47698749e-02 -1.40513672e-02 2.77091500e+01] [ 4.47756536e-02 9.98997063e-01 9.67728660e-05 1.40192654e-01] [ 1.40329420e-02 -7.25825420e-04 9.99901270e-01 1.66731947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.249254153999996 meters 0.026184045793811343 Centerline is valid? [True, True] Translation: X:27.74, Y:0.14, Z:0.17 [[ 9.98867451e-01 -4.54194140e-02 -1.41736512e-02 2.77416174e+01] [ 4.54253736e-02 9.98967730e-01 9.86537955e-05 1.40580662e-01] [ 1.41545394e-02 -7.42385468e-04 9.99899544e-01 1.66801371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279254153999993 meters 0.02735919553647599 Centerline is valid? [True, True] Translation: X:27.77, Y:0.14, Z:0.17 [[ 9.98813237e-01 -4.65730428e-02 -1.42502205e-02 2.77741759e+01] [ 4.65791990e-02 9.98914595e-01 1.00233292e-04 1.37801668e-01] [ 1.42300851e-02 -7.63878195e-04 9.99898455e-01 1.66708415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.309254153999994 meters 0.027533014405732942 Centerline is valid? [True, True] Translation: X:27.81, Y:0.14, Z:0.17 [[ 9.98799464e-01 -4.69399713e-02 -1.40096279e-02 2.78068142e+01] [ 4.69459715e-02 9.98897425e-01 9.95553719e-05 1.36643572e-01] [ 1.39895081e-02 -7.57131445e-04 9.99901855e-01 1.66897325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339254153999995 meters 0.032567513741535194 Centerline is valid? [True, True] Translation: X:27.84, Y:0.13, Z:0.17 [[ 9.98780828e-01 -4.73256030e-02 -1.40408046e-02 2.78383736e+01] [ 4.73316805e-02 9.98879223e-01 1.00669872e-04 1.28745612e-01] [ 1.40203037e-02 -7.65122014e-04 9.99901418e-01 1.66534805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.369254153999993 meters 0.02836924579114271 Centerline is valid? [True, True] Translation: X:27.87, Y:0.13, Z:0.17 [[ 9.98793914e-01 -4.71160734e-02 -1.38127561e-02 2.78705005e+01] [ 4.71219470e-02 9.98889139e-01 9.99006352e-05 1.34008286e-01] [ 1.37927052e-02 -7.50664108e-04 9.99904594e-01 1.67372657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399254153999994 meters 0.02564963369266411 Centerline is valid? [True, True] Translation: X:27.90, Y:0.14, Z:0.17 [[ 9.98810193e-01 -4.67395917e-02 -1.39143318e-02 2.79022559e+01] [ 4.67455299e-02 9.98906825e-01 1.01661556e-04 1.37143525e-01] [ 1.38943694e-02 -7.51973410e-04 9.99903186e-01 1.67820002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.429254153999995 meters 0.027310159673756274 Centerline is valid? [True, True] Translation: X:27.93, Y:0.13, Z:0.17 [[ 9.98844792e-01 -4.58910217e-02 -1.42511931e-02 2.79336915e+01] [ 4.58971782e-02 9.98946164e-01 1.05063098e-04 1.32819600e-01] [ 1.42313532e-02 -7.59031277e-04 9.99898441e-01 1.67157672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459254153999993 meters 0.026222527023370974 Centerline is valid? [True, True] Translation: X:27.97, Y:0.13, Z:0.17 [[ 9.98884175e-01 -4.50249099e-02 -1.42535105e-02 2.79656064e+01] [ 4.50309936e-02 9.98985585e-01 1.06006255e-04 1.33371480e-01] [ 1.42342786e-02 -7.47737711e-04 9.99898408e-01 1.67119617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.489254153999994 meters 0.024822911458975354 Centerline is valid? [True, True] Translation: X:28.00, Y:0.13, Z:0.17 [[ 9.98985190e-01 -4.26569575e-02 -1.44559630e-02 2.79973063e+01] [ 4.26629816e-02 9.99089515e-01 1.08448310e-04 1.34344032e-01] [ 1.44381750e-02 -7.25072738e-04 9.99895501e-01 1.67589197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519254153999995 meters 0.02684946404878389 Centerline is valid? [True, True] Translation: X:28.03, Y:0.13, Z:0.17 [[ 9.99048193e-01 -4.11327628e-02 -1.45191026e-02 2.80281998e+01] [ 4.11386907e-02 9.99153440e-01 1.09728635e-04 1.31194225e-01] [ 1.45022979e-02 -7.06921065e-04 9.99894586e-01 1.67624349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.549254153999993 meters 0.025465261801668224 Centerline is valid? [True, True] Translation: X:28.06, Y:0.13, Z:0.17 [[ 9.99115640e-01 -3.94638857e-02 -1.45099906e-02 2.80604692e+01] [ 3.94696440e-02 9.99220764e-01 1.10587378e-04 1.32751618e-01] [ 1.44943197e-02 -6.83193744e-04 9.99894718e-01 1.68184616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579254153999994 meters 0.0236235348576022 Centerline is valid? [True, True] Translation: X:28.09, Y:0.13, Z:0.17 [[ 9.99255513e-01 -3.56426009e-02 -1.47656415e-02 2.80912454e+01] [ 3.56481571e-02 9.99364396e-01 1.13184002e-04 1.34463570e-01] [ 1.47522222e-02 -6.39467647e-04 9.99890976e-01 1.68292787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.609254153999995 meters 0.022822675738623517 Centerline is valid? [True, True] Translation: X:28.12, Y:0.13, Z:0.17 [[ 9.99336894e-01 -3.34228077e-02 -1.44460426e-02 2.81229762e+01] [ 3.34279017e-02 9.99441125e-01 1.11237823e-04 1.34591756e-01] [ 1.44342512e-02 -5.94064952e-04 9.99895644e-01 1.68476872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639254153999993 meters 0.02142661342138903 Centerline is valid? [True, True] Translation: X:28.15, Y:0.14, Z:0.17 [[ 9.99403455e-01 -3.13924782e-02 -1.43960281e-02 2.81542387e+01] [ 3.13973357e-02 9.99506976e-01 1.11476817e-04 1.36018709e-01] [ 1.43854309e-02 -5.63407242e-04 9.99896366e-01 1.68955771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.669254153999994 meters 0.02044276515746992 Centerline is valid? [True, True] Translation: X:28.19, Y:0.14, Z:0.17 [[ 9.99537069e-01 -2.69000417e-02 -1.42138872e-02 2.81852733e+01] [ 2.69043307e-02 9.99638007e-01 1.10578207e-04 1.37091167e-01] [ 1.42057673e-02 -4.92942138e-04 9.99898971e-01 1.69553156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699254153999995 meters 0.019711861597890516 Centerline is valid? [True, True] Translation: X:28.22, Y:0.14, Z:0.17 [[ 9.99591625e-01 -2.46268909e-02 -1.44948355e-02 2.82169253e+01] [ 2.46311200e-02 9.99696602e-01 1.13287625e-04 1.38365749e-01] [ 1.44876479e-02 -4.70265394e-04 9.99894938e-01 1.69679620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.729254153999996 meters 0.017582621723296533 Centerline is valid? [True, True] Translation: X:28.25, Y:0.14, Z:0.17 [[ 9.99680457e-01 -2.04175760e-02 -1.49032112e-02 2.82483715e+01] [ 2.04215876e-02 9.99791451e-01 1.17029264e-04 1.41883249e-01] [ 1.48977137e-02 -4.21339103e-04 9.99888934e-01 1.70494795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759254153999994 meters 0.017296179526218394 Centerline is valid? [True, True] Translation: X:28.28, Y:0.14, Z:0.17 [[ 9.99717134e-01 -1.86980353e-02 -1.46981250e-02 2.82789581e+01] [ 1.87017553e-02 9.99825100e-01 1.15671802e-04 1.41924419e-01] [ 1.46933915e-02 -3.90519820e-04 9.99891970e-01 1.70532903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.789254153999995 meters 0.017175520819206293 Centerline is valid? [True, True] Translation: X:28.31, Y:0.14, Z:0.17 [[ 9.99741384e-01 -1.75609728e-02 -1.44491584e-02 2.83084483e+01] [ 1.75644452e-02 9.99845727e-01 1.13439490e-04 1.41775948e-01] [ 1.44449372e-02 -3.67201604e-04 9.99895599e-01 1.70814044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819254153999996 meters 0.01681622116620557 Centerline is valid? [True, True] Translation: X:28.34, Y:0.14, Z:0.17 [[ 9.99759030e-01 -1.67676980e-02 -1.41678136e-02 2.83382612e+01] [ 1.67709496e-02 9.99859352e-01 1.10719767e-04 1.41225802e-01] [ 1.41639644e-02 -3.48300775e-04 9.99899625e-01 1.70933526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.849254153999993 meters 0.01780147518616838 Centerline is valid? [True, True] Translation: X:28.37, Y:0.14, Z:0.17 [[ 9.99763320e-01 -1.66874610e-02 -1.39582208e-02 2.83667126e+01] [ 1.66906005e-02 9.99860696e-01 1.08451370e-04 1.38052595e-01] [ 1.39544666e-02 -3.41396789e-04 9.99902573e-01 1.70550491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879254153999995 meters 0.017159669806965813 Centerline is valid? [True, True] Translation: X:28.40, Y:0.14, Z:0.17 [[ 9.99753092e-01 -1.78496611e-02 -1.32342143e-02 2.83966813e+01] [ 1.78525774e-02 9.99840625e-01 1.02241204e-04 1.37397804e-01] [ 1.32302801e-02 -3.38480794e-04 9.99912419e-01 1.70892968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.909254153999996 meters 0.017575407138039286 Centerline is valid? [True, True] Translation: X:28.43, Y:0.14, Z:0.17 [[ 9.99724155e-01 -1.92896896e-02 -1.33985755e-02 2.84273738e+01] [ 1.92928045e-02 9.99813871e-01 1.03256726e-04 1.35217110e-01] [ 1.33940898e-02 -3.61724341e-04 9.99910230e-01 1.70891057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939254153999993 meters 0.017803874333849713 Centerline is valid? [True, True] Translation: X:28.46, Y:0.13, Z:0.17 [[ 9.99698953e-01 -2.05196038e-02 -1.34517172e-02 2.84579855e+01] [ 2.05228547e-02 9.99789379e-01 1.03666265e-04 1.33218938e-01] [ 1.34467568e-02 -3.79702694e-04 9.99909516e-01 1.70615968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.969254153999994 meters 0.018670567882469024 Centerline is valid? [True, True] Translation: X:28.49, Y:0.13, Z:0.17 [[ 9.99620976e-01 -2.35918884e-02 -1.41889546e-02 2.84886990e+01] [ 2.35958189e-02 9.99721574e-01 1.09644118e-04 1.29186329e-01] [ 1.41824173e-02 -4.44402564e-04 9.99899326e-01 1.69889377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999254153999996 meters 0.019944573702719817 Centerline is valid? [True, True] Translation: X:28.52, Y:0.13, Z:0.17 [[ 9.99587318e-01 -2.49447245e-02 -1.42462162e-02 2.85186573e+01] [ 2.49488299e-02 9.99688723e-01 1.10503447e-04 1.25505090e-01] [ 1.42390252e-02 -4.65884269e-04 9.99898511e-01 1.69460009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.029254153999993 meters 0.020643221826061844 Centerline is valid? [True, True] Translation: X:28.55, Y:0.12, Z:0.17 [[ 9.99546287e-01 -2.61960203e-02 -1.48656672e-02 2.85494239e+01] [ 2.62006329e-02 9.99656698e-01 1.15579622e-04 1.23101323e-01] [ 1.48575360e-02 -5.05017070e-04 9.99889493e-01 1.69245492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059254153999994 meters 0.01970716646621388 Centerline is valid? [True, True] Translation: X:28.58, Y:0.12, Z:0.17 [[ 9.99490520e-01 -2.78598572e-02 -1.55733155e-02 2.85809143e+01] [ 2.78651281e-02 9.99611685e-01 1.21527541e-04 1.22764042e-01] [ 1.55638824e-02 -5.55418058e-04 9.99878721e-01 1.69310587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.089254153999995 meters 0.020734056801338507 Centerline is valid? [True, True] Translation: X:28.61, Y:0.12, Z:0.17 [[ 9.99479175e-01 -2.82734707e-02 -1.55559998e-02 2.86114136e+01] [ 2.82787863e-02 9.99600068e-01 1.21804470e-04 1.19992487e-01] [ 1.55463346e-02 -5.61645823e-04 9.99878991e-01 1.69118154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119254153999993 meters 0.020984594394131067 Centerline is valid? [True, True] Translation: X:28.64, Y:0.12, Z:0.17 [[ 9.99502803e-01 -2.78431350e-02 -1.47955000e-02 2.86428026e+01] [ 2.78479023e-02 9.99612165e-01 1.16250809e-04 1.18385959e-01] [ 1.47865250e-02 -5.28216648e-04 9.99890534e-01 1.69826261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.149254153999994 meters 0.02053862581844718 Centerline is valid? [True, True] Translation: X:28.67, Y:0.12, Z:0.17 [[ 9.99532108e-01 -2.68687969e-02 -1.46162017e-02 2.86742956e+01] [ 2.68733529e-02 9.99638840e-01 1.15361435e-04 1.18417987e-01] [ 1.46078233e-02 -5.08093804e-04 9.99893171e-01 1.70166023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179254153999995 meters 0.021434602640017814 Centerline is valid? [True, True] Translation: X:28.70, Y:0.12, Z:0.17 [[ 9.99561754e-01 -2.56546973e-02 -1.47694423e-02 2.87047533e+01] [ 2.56592284e-02 9.99670741e-01 1.17344607e-04 1.16313767e-01] [ 1.47615689e-02 -4.96265675e-04 9.99890919e-01 1.70173797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.209254153999993 meters 0.01829568094137823 Centerline is valid? [True, True] Translation: X:28.74, Y:0.12, Z:0.17 [[ 9.99630968e-01 -2.27221944e-02 -1.48872496e-02 2.87363159e+01] [ 2.27264845e-02 9.99741713e-01 1.19039920e-04 1.21238809e-01] [ 1.48806996e-02 -4.57330839e-04 9.99889172e-01 1.71476015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239254153999994 meters 0.017497401004844888 Centerline is valid? [True, True] Translation: X:28.77, Y:0.12, Z:0.17 [[ 9.99669874e-01 -2.09583101e-02 -1.48624345e-02 2.87671240e+01] [ 2.09623949e-02 9.99780258e-01 1.19096409e-04 1.22078548e-01] [ 1.48566726e-02 -4.30609314e-04 9.99889541e-01 1.71858169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.269254153999995 meters 0.016436897113655854 Centerline is valid? [True, True] Translation: X:28.80, Y:0.12, Z:0.17 [[ 9.99746758e-01 -1.71424815e-02 -1.45792724e-02 2.87977859e+01] [ 1.71460067e-02 9.99852990e-01 1.16827360e-04 1.23818410e-01] [ 1.45751264e-02 -3.66774077e-04 9.99893710e-01 1.72102686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299254153999993 meters 0.0162795978665362 Centerline is valid? [True, True] Translation: X:28.83, Y:0.12, Z:0.17 [[ 9.99771958e-01 -1.53037632e-02 -1.48938794e-02 2.88270387e+01] [ 1.53072340e-02 9.99882830e-01 1.19056826e-04 1.24392845e-01] [ 1.48903123e-02 -3.47013773e-04 9.99889073e-01 1.72156889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.329254153999994 meters 0.015287338786803426 Centerline is valid? [True, True] Translation: X:28.86, Y:0.13, Z:0.17 [[ 9.99823203e-01 -1.11477813e-02 -1.51422928e-02 2.88559075e+01] [ 1.11508794e-02 9.99937820e-01 1.20184167e-04 1.26609463e-01] [ 1.51400115e-02 -2.89012800e-04 9.99885342e-01 1.72045328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359254153999995 meters 0.015287338786803426 Centerline is valid? [True, True] Translation: X:28.88, Y:0.13, Z:0.17 [[ 9.99819897e-01 -1.14404602e-02 -1.51423155e-02 2.88832963e+01] [ 1.14435478e-02 9.99934514e-01 1.17273579e-04 1.26462083e-01] [ 1.51399822e-02 -2.90534269e-04 9.99885342e-01 1.72235309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.389254153999993 meters 0.015219858757991402 Centerline is valid? [True, True] Translation: X:28.91, Y:0.13, Z:0.17 [[ 9.99842646e-01 -9.52859770e-03 -1.49629268e-02 2.89114241e+01] [ 9.53135770e-03 9.99954569e-01 1.13152613e-04 1.27055661e-01] [ 1.49611688e-02 -2.55751816e-04 9.99888043e-01 1.71875466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419254153999994 meters 0.014719808424611276 Centerline is valid? [True, True] Translation: X:28.94, Y:0.13, Z:0.17 [[ 9.99850784e-01 -7.91809598e-03 -1.53529622e-02 2.89397535e+01] [ 7.92076910e-03 9.99968624e-01 1.13310598e-04 1.28668846e-01] [ 1.53515833e-02 -2.34900959e-04 9.99882130e-01 1.72290332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.449254153999995 meters 0.01421725615187885 Centerline is valid? [True, True] Translation: X:28.97, Y:0.13, Z:0.17 [[ 9.99874243e-01 -4.89204872e-03 -1.50852755e-02 2.89689894e+01] [ 4.89423008e-03 9.99988017e-01 1.07687454e-04 1.30231149e-01] [ 1.50845680e-02 -1.81504721e-04 9.99886205e-01 1.71595968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479254153999992 meters 0.014187954162747497 Centerline is valid? [True, True] Translation: X:29.00, Y:0.13, Z:0.17 [[ 9.99872679e-01 -3.99474918e-03 -1.54488877e-02 2.89968898e+01] [ 3.99686639e-03 9.99992007e-01 1.06173413e-04 1.30634646e-01] [ 1.54483401e-02 -1.67907035e-04 9.99880653e-01 1.71575763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.509254153999994 meters 0.013992788873133788 Centerline is valid? [True, True] Translation: X:29.03, Y:0.13, Z:0.17 [[ 9.99880974e-01 -2.42816059e-03 -1.52362298e-02 2.90250729e+01] [ 2.42999201e-03 9.99997042e-01 1.01689330e-04 1.31694850e-01] [ 1.52359378e-02 -1.38701143e-04 9.99883917e-01 1.71494440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539254153999995 meters 0.013860564188762374 Centerline is valid? [True, True] Translation: X:29.05, Y:0.13, Z:0.17 [[ 9.99884538e-01 -2.15696802e-03 -1.50418696e-02 2.90526953e+01] [ 2.15867467e-03 9.99997665e-01 9.72246959e-05 1.32025342e-01] [ 1.50416248e-02 -1.29683973e-04 9.99886860e-01 1.71954368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.569254153999996 meters 0.01388966798850698 Centerline is valid? [True, True] Translation: X:29.08, Y:0.13, Z:0.17 [[ 9.99890323e-01 -2.33580162e-03 -1.46248209e-02 2.90797488e+01] [ 2.33739240e-03 9.99997264e-01 9.16808594e-05 1.31722983e-01] [ 1.46245668e-02 -1.25854749e-04 9.99893047e-01 1.72079401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599254153999993 meters 0.013987652047423993 Centerline is valid? [True, True] Translation: X:29.11, Y:0.13, Z:0.17 [[ 9.99896049e-01 -3.39533635e-03 -1.40129552e-02 2.91076258e+01] [ 3.39688083e-03 9.99994227e-01 8.64178801e-05 1.30294185e-01] [ 1.40125808e-02 -1.34009236e-04 9.99901810e-01 1.72586779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.629254153999995 meters 0.014006418003528441 Centerline is valid? [True, True] Translation: X:29.14, Y:0.13, Z:0.17 [[ 9.99899542e-01 -4.35677460e-03 -1.34879046e-02 2.91366991e+01] [ 4.35827874e-03 9.99990499e-01 8.21261761e-05 1.29958885e-01] [ 1.34874186e-02 -1.40901974e-04 9.99909031e-01 1.73256435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659254153999996 meters 0.014381837856727505 Centerline is valid? [True, True] Translation: X:29.17, Y:0.13, Z:0.17 [[ 9.99888734e-01 -7.27412700e-03 -1.30233155e-02 2.91651468e+01] [ 7.27576464e-03 9.99973528e-01 7.83711285e-05 1.26901756e-01] [ 1.30224007e-02 -1.73116987e-04 9.99915190e-01 1.73408099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.689254153999993 meters 0.014882320356724404 Centerline is valid? [True, True] Translation: X:29.19, Y:0.12, Z:0.17 [[ 9.99871788e-01 -9.16353190e-03 -1.31315018e-02 2.91933023e+01] [ 9.16534581e-03 9.99957994e-01 7.79596635e-05 1.24623366e-01] [ 1.31302358e-02 -1.98304423e-04 9.99913775e-01 1.73513479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719254153999994 meters 0.015829897077717123 Centerline is valid? [True, True] Translation: X:29.22, Y:0.12, Z:0.17 [[ 9.99821605e-01 -1.33440491e-02 -1.33676479e-02 2.92219793e+01] [ 1.33462878e-02 9.99910931e-01 7.82734202e-05 1.20826616e-01] [ 1.33654128e-02 -2.56667932e-04 9.99910646e-01 1.73319560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.749254153999996 meters 0.01655175075876545 Centerline is valid? [True, True] Translation: X:29.25, Y:0.12, Z:0.17 [[ 9.99787986e-01 -1.59063144e-02 -1.30756477e-02 2.92505164e+01] [ 1.59086493e-02 9.99873447e-01 7.45685763e-05 1.18495461e-01] [ 1.30728068e-02 -2.82568660e-04 9.99914507e-01 1.73108308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779254153999993 meters 0.01855249442333686 Centerline is valid? [True, True] Translation: X:29.28, Y:0.11, Z:0.17 [[ 9.99745773e-01 -1.80479741e-02 -1.35151468e-02 2.92794096e+01] [ 1.80506372e-02 9.99837071e-01 7.50774782e-05 1.13325408e-01] [ 1.35115898e-02 -3.19015403e-04 9.99908663e-01 1.72474988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.809254153999994 meters 0.01811808838790235 Centerline is valid? [True, True] Translation: X:29.31, Y:0.11, Z:0.17 [[ 9.99654564e-01 -2.26964814e-02 -1.32522553e-02 2.93094186e+01] [ 2.26994454e-02 9.99742332e-01 7.32657288e-05 1.12785307e-01] [ 1.32471777e-02 -3.74059265e-04 9.99912182e-01 1.72973565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839254153999995 meters 0.01810402038272167 Centerline is valid? [True, True] Translation: X:29.34, Y:0.11, Z:0.17 [[ 9.99599661e-01 -2.51069786e-02 -1.30444673e-02 2.93409519e+01] [ 2.51100568e-02 9.99684690e-01 7.22204253e-05 1.11988844e-01] [ 1.30385410e-02 -3.99738826e-04 9.99914915e-01 1.73344850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.869254153999993 meters 0.019000784224321794 Centerline is valid? [True, True] Translation: X:29.37, Y:0.11, Z:0.17 [[ 9.99530360e-01 -2.76428842e-02 -1.32261072e-02 2.93724848e+01] [ 2.76462769e-02 9.99617766e-01 7.37169086e-05 1.09158762e-01] [ 1.32190140e-02 -4.39334910e-04 9.99912529e-01 1.73542228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899254153999994 meters 0.02184713665599134 Centerline is valid? [True, True] Translation: X:29.40, Y:0.10, Z:0.17 [[ 9.99459493e-01 -3.02516852e-02 -1.28669486e-02 2.94033834e+01] [ 3.02551225e-02 9.99542206e-01 7.25244803e-05 1.03483600e-01] [ 1.28588642e-02 -4.61776387e-04 9.99917215e-01 1.73076474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.929254153999995 meters 0.022097526880387106 Centerline is valid? [True, True] Translation: X:29.43, Y:0.10, Z:0.17 [[ 9.99302601e-01 -3.53894367e-02 -1.19121530e-02 2.94344321e+01] [ 3.53927554e-02 9.99373478e-01 6.78403506e-05 1.02400109e-01] [ 1.19022889e-02 -4.89396955e-04 9.99929045e-01 1.74943474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959254153999993 meters 0.023347625983010083 Centerline is valid? [True, True] Translation: X:29.47, Y:0.10, Z:0.18 [[ 9.99221114e-01 -3.76924038e-02 -1.16810807e-02 2.94665173e+01] [ 3.76957575e-02 9.99289260e-01 6.69920907e-05 1.00030142e-01] [ 1.16702534e-02 -5.07267097e-04 9.99931772e-01 1.75388315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.989254153999994 meters 0.024808716697752534 Centerline is valid? [True, True] Translation: X:29.50, Y:0.10, Z:0.18 [[ 9.99061496e-01 -4.18276418e-02 -1.12505792e-02 2.94972646e+01] [ 4.18310208e-02 9.99124698e-01 6.50849027e-05 9.73525334e-02] [ 1.12380092e-02 -5.35647033e-04 9.99936708e-01 1.75867759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019254153999995 meters 0.025587519026721094 Centerline is valid? [True, True] Translation: X:29.53, Y:0.10, Z:0.18 [[ 9.98994071e-01 -4.33001225e-02 -1.16595433e-02 2.95293388e+01] [ 4.33038572e-02 9.99061946e-01 6.79239131e-05 9.58051467e-02] [ 1.16456649e-02 -5.72758787e-04 9.99932023e-01 1.76085829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.049254153999993 meters 0.025962249793014404 Centerline is valid? [True, True] Translation: X:29.56, Y:0.10, Z:0.18 [[ 9.98916906e-01 -4.50044321e-02 -1.18159401e-02 2.95614406e+01] [ 4.50083968e-02 9.98986606e-01 6.97000043e-05 9.50251631e-02] [ 1.18008291e-02 -6.01441033e-04 9.99930187e-01 1.76004341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079254153999994 meters 0.02685899377932094 Centerline is valid? [True, True] Translation: X:29.59, Y:0.09, Z:0.18 [[ 9.98773848e-01 -4.77919700e-02 -1.29123184e-02 2.95927335e+01] [ 4.77969469e-02 9.98857070e-01 7.69368527e-05 9.33345415e-02] [ 1.28938835e-02 -6.94011911e-04 9.99916630e-01 1.75235466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.109254153999995 meters 0.02618238756653831 Centerline is valid? [True, True] Translation: X:29.62, Y:0.09, Z:0.18 [[ 9.98713436e-01 -4.89120425e-02 -1.33822410e-02 2.96248340e+01] [ 4.89174985e-02 9.98802819e-01 8.04789796e-05 9.37745185e-02] [ 1.33622836e-02 -7.35001190e-04 9.99910451e-01 1.75242216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139254153999993 meters 0.027587163277537616 Centerline is valid? [True, True] Translation: X:29.66, Y:0.09, Z:0.17 [[ 9.98591813e-01 -5.09822967e-02 -1.46695928e-02 2.96552492e+01] [ 5.09890860e-02 9.98699207e-01 8.89288147e-05 9.14863248e-02] [ 1.46459769e-02 -8.36792717e-04 9.99892392e-01 1.74381250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.169254153999994 meters 0.02749824333311964 Centerline is valid? [True, True] Translation: X:29.69, Y:0.09, Z:0.17 [[ 9.98549182e-01 -5.16307720e-02 -1.52903264e-02 2.96875463e+01] [ 5.16382354e-02 9.98665852e-01 9.34441448e-05 9.12910285e-02] [ 1.52651022e-02 -8.82874046e-04 9.99883092e-01 1.74148130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199254153999995 meters 0.031627304551103574 Centerline is valid? [True, True] Translation: X:29.72, Y:0.09, Z:0.17 [[ 9.98523143e-01 -5.19727859e-02 -1.58228291e-02 2.97185114e+01] [ 5.19808452e-02 9.98648077e-01 9.82309838e-05 8.60706870e-02] [ 1.57963325e-02 -9.20569941e-04 9.99874806e-01 1.73328773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.229254153999992 meters 0.0271860855479634 Centerline is valid? [True, True] Translation: X:29.75, Y:0.09, Z:0.17 [[ 9.98533166e-01 -5.17086010e-02 -1.60542187e-02 2.97507177e+01] [ 5.17168874e-02 9.98661781e-01 1.01139973e-04 9.25753709e-02] [ 1.60275049e-02 -9.31265840e-04 9.99871118e-01 1.74441376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259254153999994 meters 0.02646537737054547 Centerline is valid? [True, True] Translation: X:29.78, Y:0.09, Z:0.17 [[ 9.98592044e-01 -5.06829929e-02 -1.56577126e-02 2.97832121e+01] [ 5.06907674e-02 9.98714392e-01 9.98012403e-05 9.38968166e-02] [ 1.56325247e-02 -8.93362191e-04 9.99877406e-01 1.74876571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.289254153999995 meters 0.02738119776448013 Centerline is valid? [True, True] Translation: X:29.81, Y:0.09, Z:0.18 [[ 9.98667928e-01 -4.91485905e-02 -1.57094402e-02 2.98146331e+01] [ 4.91562560e-02 9.98791095e-01 1.01962609e-04 9.33490751e-02] [ 1.56854376e-02 -8.74044050e-04 9.99876594e-01 1.75245459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319254153999992 meters 0.025641168385943297 Centerline is valid? [True, True] Translation: X:29.85, Y:0.10, Z:0.18 [[ 9.98892621e-01 -4.45699623e-02 -1.50681755e-02 2.98450728e+01] [ 4.45765119e-02 9.99005968e-01 9.89148400e-05 9.79342605e-02] [ 1.50487886e-02 -7.70492009e-04 9.99886464e-01 1.76445187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.349254153999993 meters 0.02481180488250997 Centerline is valid? [True, True] Translation: X:29.88, Y:0.10, Z:0.18 [[ 9.99032238e-01 -4.13614806e-02 -1.49604884e-02 2.98763575e+01] [ 4.13675839e-02 9.99143990e-01 9.86054139e-05 1.00511041e-01] [ 1.49436036e-02 -7.17389245e-04 9.99888081e-01 1.77047037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379254153999995 meters 0.022351122037283344 Centerline is valid? [True, True] Translation: X:29.91, Y:0.11, Z:0.18 [[ 9.99340118e-01 -3.32383930e-02 -1.46471061e-02 2.99062146e+01] [ 3.32433758e-02 9.99447282e-01 9.67814676e-05 1.07965722e-01] [ 1.46357935e-02 -5.83636857e-04 9.99892721e-01 1.77963746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.409254153999996 meters 0.019503090654735628 Centerline is valid? [True, True] Translation: X:29.94, Y:0.11, Z:0.18 [[ 9.99484999e-01 -2.85972208e-02 -1.45579876e-02 2.99366483e+01] [ 2.86016513e-02 9.99590884e-01 9.61866889e-05 1.14316012e-01] [ 1.45492810e-02 -5.12519639e-04 9.99894022e-01 1.79008330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439254153999993 meters 0.01837459648479197 Centerline is valid? [True, True] Translation: X:29.97, Y:0.12, Z:0.18 [[ 9.99620765e-01 -2.36361004e-02 -1.41301320e-02 2.99666620e+01] [ 2.36397792e-02 9.99720537e-01 9.33597860e-05 1.18103225e-01] [ 1.41239765e-02 -4.27357581e-04 9.99900160e-01 1.79661916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.469254153999994 meters 0.01561167881113632 Centerline is valid? [True, True] Translation: X:30.00, Y:0.13, Z:0.18 [[ 9.99813034e-01 -1.30754347e-02 -1.42453235e-02 2.99977515e+01] [ 1.30781030e-02 9.99914474e-01 9.41717906e-05 1.27328240e-01] [ 1.42428738e-02 -2.80455992e-04 9.99898526e-01 1.79922792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499254153999996 meters 0.014583381505442718 Centerline is valid? [True, True] Translation: X:30.03, Y:0.13, Z:0.18 [[ 9.99858450e-01 -7.90968994e-03 -1.48498328e-02 3.00267443e+01] [ 7.91201228e-03 9.99968695e-01 9.76450088e-05 1.31656463e-01] [ 1.48485956e-02 -2.15123246e-04 9.99889730e-01 1.79617264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.529254153999993 meters 0.013679489117102716 Centerline is valid? [True, True] Translation: X:30.05, Y:0.14, Z:0.18 [[ 9.99885515e-01 1.74602219e-03 -1.50302327e-02 3.00549879e+01] [-1.74475017e-03 9.99998473e-01 9.77433603e-05 1.40189040e-01] [ 1.50303804e-02 -7.15081692e-05 9.99887035e-01 1.79214425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559254153999994 meters 0.013514768993645749 Centerline is valid? [True, True] Translation: X:30.08, Y:0.14, Z:0.18 [[ 9.99871069e-01 5.85796878e-03 -1.49509136e-02 3.00837019e+01] [-5.85720702e-03 9.99982842e-01 9.47380545e-05 1.44019408e-01] [ 1.49512120e-02 -7.15524395e-06 9.99888224e-01 1.79726470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.589254153999995 meters 0.013834230587665636 Centerline is valid? [True, True] Translation: X:30.11, Y:0.15, Z:0.18 [[ 9.99823452e-01 1.31413977e-02 -1.34300990e-02 3.01118488e+01] [-1.31414724e-02 9.99913644e-01 8.26916203e-05 1.50243474e-01] [ 1.34300259e-02 9.38142537e-05 9.99909809e-01 1.80470541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619254153999993 meters 0.014144253324090266 Centerline is valid? [True, True] Translation: X:30.14, Y:0.15, Z:0.18 [[ 9.99796730e-01 1.55532533e-02 -1.28294528e-02 3.01404486e+01] [-1.55535499e-02 9.99879033e-01 7.66576576e-05 1.52033408e-01] [ 1.28290931e-02 1.22901459e-04 9.99917696e-01 1.81022265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.649254153999994 meters 0.014579994411884038 Centerline is valid? [True, True] Translation: X:30.17, Y:0.15, Z:0.18 [[ 9.99756971e-01 1.87887605e-02 -1.15317446e-02 3.01688678e+01] [-1.87892461e-02 9.99823464e-01 6.62323761e-05 1.54404462e-01] [ 1.15309532e-02 1.50456507e-04 9.99933505e-01 1.81785564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679254153999995 meters 0.014792841830972833 Centerline is valid? [True, True] Translation: X:30.20, Y:0.16, Z:0.18 [[ 9.99756192e-01 1.89339370e-02 -1.13605335e-02 3.01955397e+01] [-1.89344429e-02 9.99820725e-01 6.30324249e-05 1.55162948e-01] [ 1.13596903e-02 1.52088315e-04 9.99935465e-01 1.82373846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.709254153999993 meters 0.014625636071086457 Centerline is valid? [True, True] Translation: X:30.22, Y:0.15, Z:0.18 [[ 9.99779541e-01 1.80210439e-02 -1.07754546e-02 3.02244476e+01] [-1.80214575e-02 9.99837599e-01 5.87217217e-05 1.54624896e-01] [ 1.07747629e-02 1.35480621e-04 9.99941941e-01 1.82946802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739254153999994 meters 0.013712283428095386 Centerline is valid? [True, True] Translation: X:30.25, Y:0.15, Z:0.18 [[ 9.99856980e-01 1.35441289e-02 -1.01280010e-02 3.02529680e+01] [-1.35442715e-02 9.99908271e-01 5.45113084e-05 1.49430931e-01] [ 1.01278102e-02 8.26728829e-05 9.99948709e-01 1.83246732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.769254153999995 meters 0.013500026556344576 Centerline is valid? [True, True] Translation: X:30.28, Y:0.15, Z:0.18 [[ 9.99900570e-01 9.78107792e-03 -1.01577905e-02 3.02810470e+01] [-9.78103532e-03 9.99952163e-01 5.38728477e-05 1.46712113e-01] [ 1.01578315e-02 4.54862162e-05 9.99948407e-01 1.82841144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799254153999993 meters 0.013298990532113196 Centerline is valid? [True, True] Translation: X:30.31, Y:0.14, Z:0.18 [[ 9.99937109e-01 5.01913844e-03 -1.00293081e-02 3.03097502e+01] [-5.01886587e-03 9.99987404e-01 5.23464679e-05 1.42176065e-01] [ 1.00294445e-02 -2.00742372e-06 9.99949704e-01 1.82971279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.829254153999994 meters 0.014169125142283053 Centerline is valid? [True, True] Translation: X:30.34, Y:0.13, Z:0.18 [[ 9.99928739e-01 -6.08900158e-03 -1.02684944e-02 3.03371457e+01] [ 6.08986456e-03 9.99981455e-01 5.27763344e-05 1.31975968e-01] [ 1.02679826e-02 -1.15306314e-04 9.99947276e-01 1.82214791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859254153999995 meters 0.015323349005084587 Centerline is valid? [True, True] Translation: X:30.37, Y:0.13, Z:0.18 [[ 9.99876715e-01 -1.21899853e-02 -9.89741292e-03 3.03667769e+01] [ 1.21910788e-02 9.99925685e-01 5.01596352e-05 1.26664595e-01] [ 9.89606595e-03 -1.70813592e-04 9.99951018e-01 1.81853111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.889254153999993 meters 0.01922422875701713 Centerline is valid? [True, True] Translation: X:30.40, Y:0.11, Z:0.18 [[ 9.99651330e-01 -2.47026823e-02 -9.32718937e-03 3.03960723e+01] [ 2.47041951e-02 9.99694804e-01 4.69958211e-05 1.13985760e-01] [ 9.32318182e-03 -2.77400141e-04 9.99956500e-01 1.81638973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919254153999994 meters 0.02033772724889581 Centerline is valid? [True, True] Translation: X:30.43, Y:0.11, Z:0.18 [[ 9.99491741e-01 -3.04272838e-02 -9.50996883e-03 3.04271142e+01] [ 3.04291151e-02 9.99536926e-01 4.79042819e-05 1.09771560e-01] [ 9.50410742e-03 -3.37259871e-04 9.99954778e-01 1.82096195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.949254153999995 meters 0.021214225581070476 Centerline is valid? [True, True] Translation: X:30.46, Y:0.11, Z:0.18 [[ 9.99314907e-01 -3.58206103e-02 -9.30593062e-03 3.04586114e+01] [ 3.58226007e-02 9.99358164e-01 4.72382477e-05 1.06566710e-01] [ 9.29826563e-03 -3.80568522e-04 9.99956698e-01 1.82333409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979254153999992 meters 0.023747526478450288 Centerline is valid? [True, True] Translation: X:30.49, Y:0.10, Z:0.18 [[ 9.98967286e-01 -4.46204898e-02 -8.56588329e-03 3.04895173e+01] [ 4.46225014e-02 9.99003919e-01 4.37663217e-05 9.91272464e-02] [ 8.55539810e-03 -4.25952263e-04 9.99963311e-01 1.82923551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.009254153999994 meters 0.026297457022305463 Centerline is valid? [True, True] Translation: X:30.52, Y:0.09, Z:0.18 [[ 9.98829020e-01 -4.76594782e-02 -8.31636967e-03 3.05191934e+01] [ 4.76614820e-02 9.98863545e-01 4.28123490e-05 9.37029589e-02] [ 8.30487808e-03 -4.39132720e-04 9.99965417e-01 1.83085802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039254153999995 meters 0.02767192589069804 Centerline is valid? [True, True] Translation: X:30.55, Y:0.09, Z:0.18 [[ 9.98634605e-01 -5.17410045e-02 -7.19682312e-03 3.05498417e+01] [ 5.17426146e-02 9.98660453e-01 3.75818085e-05 8.87916478e-02] [ 7.18523812e-03 -4.09912940e-04 9.99974102e-01 1.84093070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.069254153999992 meters 0.029316867316603257 Centerline is valid? [True, True] Translation: X:30.58, Y:0.09, Z:0.18 [[ 9.98592762e-01 -5.26235908e-02 -6.57673972e-03 3.05813572e+01] [ 5.26249551e-02 9.98614346e-01 3.44410325e-05 8.51889858e-02] [ 6.56581423e-03 -3.80493198e-04 9.99978372e-01 1.84850936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099254153999993 meters 0.02737591433217478 Centerline is valid? [True, True] Translation: X:30.61, Y:0.09, Z:0.19 [[ 9.98592928e-01 -5.27056085e-02 -5.85517644e-03 3.06132554e+01] [ 5.27066928e-02 9.98610036e-01 3.09221571e-05 8.63911986e-02] [ 5.84540818e-03 -3.39485633e-04 9.99982858e-01 1.85520806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.129254153999995 meters 0.027854739822532122 Centerline is valid? [True, True] Translation: X:30.64, Y:0.08, Z:0.19 [[ 9.98638713e-01 -5.18761935e-02 -5.43897247e-03 3.06448186e+01] [ 5.18771190e-02 9.98653475e-01 2.91233714e-05 8.47235064e-02] [ 5.43013795e-03 -3.11241948e-04 9.99985208e-01 1.86038737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159254153999996 meters 0.027895508329654956 Centerline is valid? [True, True] Translation: X:30.68, Y:0.08, Z:0.19 [[ 9.98695849e-01 -5.07544598e-02 -5.53038825e-03 3.06770608e+01] [ 5.07554011e-02 9.98711114e-01 2.99029968e-05 8.36529103e-02] [ 5.52174250e-03 -3.10561073e-04 9.99984707e-01 1.85667473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.189254153999993 meters 0.025902208560495434 Centerline is valid? [True, True] Translation: X:30.71, Y:0.09, Z:0.18 [[ 9.98839109e-01 -4.76618091e-02 -6.98478448e-03 3.07087332e+01] [ 4.76632398e-02 9.98863461e-01 3.84166785e-05 8.50935542e-02] [ 6.97501499e-03 -3.71289539e-04 9.99975605e-01 1.83888450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219254153999994 meters 0.024731387574143466 Centerline is valid? [True, True] Translation: X:30.74, Y:0.09, Z:0.18 [[ 9.98911664e-01 -4.59104234e-02 -8.22929226e-03 3.07407486e+01] [ 4.59123564e-02 9.98945471e-01 4.60199573e-05 8.64217222e-02] [ 8.21850144e-03 -4.23796071e-04 9.99966138e-01 1.83080951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.249254153999996 meters 0.023867330349437638 Centerline is valid? [True, True] Translation: X:30.77, Y:0.09, Z:0.18 [[ 9.99086015e-01 -4.13579016e-02 -1.08008455e-02 3.07703561e+01] [ 4.13609732e-02 9.99144267e-01 6.10755448e-05 8.83196299e-02] [ 1.07890769e-02 -5.07753206e-04 9.99941667e-01 1.81175516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279254153999993 meters 0.023867330349437638 Centerline is valid? [True, True] Translation: X:30.80, Y:0.09, Z:0.18 [[ 9.99090618e-01 -4.12465650e-02 -1.08008431e-02 3.08029325e+01] [ 4.12496348e-02 9.99148870e-01 6.15069268e-05 8.80460219e-02] [ 1.07891132e-02 -5.06981826e-04 9.99941667e-01 1.81401280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.309254153999994 meters 0.02318540905515214 Centerline is valid? [True, True] Translation: X:30.83, Y:0.09, Z:0.18 [[ 9.99179279e-01 -3.86812991e-02 -1.20218364e-02 3.08346701e+01] [ 3.86849317e-02 9.99251455e-01 6.96907817e-05 8.95165356e-02] [ 1.20101418e-02 -5.34697506e-04 9.99927733e-01 1.80772168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339254153999995 meters 0.021222709088271043 Centerline is valid? [True, True] Translation: X:30.87, Y:0.09, Z:0.18 [[ 9.99389990e-01 -3.22900067e-02 -1.33042820e-02 3.08656486e+01] [ 3.22938986e-02 9.99478413e-01 7.77455883e-05 9.41775483e-02] [ 1.32948323e-02 -5.07345297e-04 9.99911491e-01 1.80091345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.369254153999993 meters 0.02027178315458052 Centerline is valid? [True, True] Translation: X:30.90, Y:0.10, Z:0.18 [[ 9.99497437e-01 -2.86210140e-02 -1.36275533e-02 3.08975008e+01] [ 2.86247627e-02 9.99590224e-01 8.00686563e-05 9.69729690e-02] [ 1.36196774e-02 -4.70113896e-04 9.99907137e-01 1.80425958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399254153999994 meters 0.01850245871417922 Centerline is valid? [True, True] Translation: X:30.93, Y:0.10, Z:0.18 [[ 9.99604863e-01 -2.46875946e-02 -1.34402637e-02 3.09286026e+01] [ 2.46908940e-02 9.99695130e-01 7.95829617e-05 1.01282531e-01] [ 1.34342015e-02 -4.11403642e-04 9.99909672e-01 1.81281285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.429254153999995 meters 0.018265903453143027 Centerline is valid? [True, True] Translation: X:30.96, Y:0.10, Z:0.18 [[ 9.99704779e-01 -2.03263093e-02 -1.33115044e-02 3.09590405e+01] [ 2.03291713e-02 9.99793338e-01 7.97146877e-05 1.02718497e-01] [ 1.33071331e-02 -3.50303007e-04 9.99911395e-01 1.81662204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459254153999993 meters 0.016905605910276216 Centerline is valid? [True, True] Translation: X:30.99, Y:0.11, Z:0.18 [[ 9.99785507e-01 -1.57356060e-02 -1.34659376e-02 3.09902323e+01] [ 1.57381297e-02 9.99876145e-01 8.14575384e-05 1.06969622e-01] [ 1.34629879e-02 -2.93368738e-04 9.99909327e-01 1.82237150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.489254153999994 meters 0.014586712724688563 Centerline is valid? [True, True] Translation: X:31.02, Y:0.12, Z:0.18 [[ 9.99902179e-01 -5.90862776e-03 -1.26775734e-02 3.10197760e+01] [ 5.91007369e-03 9.99982532e-01 7.65924346e-05 1.16713688e-01] [ 1.26768994e-02 -1.51510335e-04 9.99919633e-01 1.84188479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519254153999995 meters 0.013778229160079444 Centerline is valid? [True, True] Translation: X:31.05, Y:0.12, Z:0.19 [[ 9.99927975e-01 4.13296868e-03 -1.12677885e-02 3.10486555e+01] [-4.13247898e-03 9.99991459e-01 6.67425883e-05 1.24851107e-01] [ 1.12679681e-02 -2.01738820e-05 9.99936514e-01 1.85811415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.549254153999993 meters 0.01398190520667832 Centerline is valid? [True, True] Translation: X:31.08, Y:0.13, Z:0.19 [[ 9.99906629e-01 8.72123610e-03 -1.05201549e-02 3.10767667e+01] [-8.72109163e-03 9.99961969e-01 5.96081936e-05 1.28391924e-01] [ 1.05202746e-02 3.21446067e-05 9.99944660e-01 1.86641317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579254153999994 meters 0.014199553763226956 Centerline is valid? [True, True] Translation: X:31.11, Y:0.13, Z:0.19 [[ 9.99865209e-01 1.30489885e-02 -9.96433559e-03 3.11050784e+01] [-1.30490958e-02 9.99914855e-01 5.42506956e-05 1.31542023e-01] [ 9.96419509e-03 7.57821861e-05 9.99950353e-01 1.86987496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.609254153999995 meters 0.01479089734839894 Centerline is valid? [True, True] Translation: X:31.13, Y:0.14, Z:0.19 [[ 9.99773109e-01 1.86785643e-02 -1.02391864e-02 3.11333990e+01] [-1.86789825e-02 9.99825531e-01 5.47995526e-05 1.35936646e-01] [ 1.02384235e-02 1.36470464e-04 9.99947577e-01 1.87462965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639254153999993 meters 0.01488901570444951 Centerline is valid? [True, True] Translation: X:31.16, Y:0.14, Z:0.19 [[ 9.99745148e-01 1.99556504e-02 -1.05551672e-02 3.11618227e+01] [-1.99561756e-02 9.99800854e-01 5.55813305e-05 1.36766760e-01] [ 1.05541744e-02 1.55073605e-04 9.99944291e-01 1.87770658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.669254153999994 meters 0.015041532428273042 Centerline is valid? [True, True] Translation: X:31.19, Y:0.14, Z:0.19 [[ 9.99741835e-01 2.01046089e-02 -1.05862360e-02 3.11908429e+01] [-2.01051536e-02 9.99797869e-01 5.49778936e-05 1.36601429e-01] [ 1.05852015e-02 1.57874201e-04 9.99943963e-01 1.87634118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699254153999995 meters 0.014796293722799402 Centerline is valid? [True, True] Translation: X:31.22, Y:0.13, Z:0.19 [[ 9.99777864e-01 1.78141919e-02 -1.12639821e-02 3.12188709e+01] [-1.78146757e-02 9.99841304e-01 5.73887069e-05 1.33896851e-01] [ 1.12632169e-02 1.43288230e-04 9.99936558e-01 1.86739938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.729254153999992 meters 0.014766046229146278 Centerline is valid? [True, True] Translation: X:31.25, Y:0.13, Z:0.19 [[ 9.99815046e-01 1.52970075e-02 -1.16565438e-02 3.12463960e+01] [-1.52973728e-02 9.99882987e-01 5.78292717e-05 1.31798187e-01] [ 1.16560645e-02 1.20495920e-04 9.99932059e-01 1.86214841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759254153999994 meters 0.014143947541671632 Centerline is valid? [True, True] Translation: X:31.28, Y:0.13, Z:0.19 [[ 9.99845629e-01 1.26270361e-02 -1.22178657e-02 3.12751487e+01] [-1.26272542e-02 9.99920271e-01 5.92930548e-05 1.28349802e-01] [ 1.22176402e-02 9.49941944e-05 9.99925357e-01 1.86740641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.789254153999995 meters 0.01389095684080767 Centerline is valid? [True, True] Translation: X:31.30, Y:0.12, Z:0.19 [[ 9.99897461e-01 6.92706597e-03 -1.25332869e-02 3.13026124e+01] [-6.92686348e-03 9.99976007e-01 5.95662748e-05 1.23758678e-01] [ 1.25333988e-02 2.72562006e-05 9.99921454e-01 1.86299896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819254153999992 meters 0.013787324223311779 Centerline is valid? [True, True] Translation: X:31.33, Y:0.12, Z:0.19 [[ 9.99910232e-01 3.76851202e-03 -1.28579644e-02 3.13291049e+01] [-3.76806249e-03 9.99992899e-01 5.91873575e-05 1.20987557e-01] [ 1.28580962e-02 -1.07324309e-05 9.99917331e-01 1.86213229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.849254153999993 meters 0.013921178778768783 Centerline is valid? [True, True] Translation: X:31.36, Y:0.12, Z:0.19 [[ 9.99916821e-01 -1.56510924e-03 -1.28023952e-02 3.13574453e+01] [ 1.56597184e-03 9.99998772e-01 5.73537328e-05 1.15167460e-01] [ 1.28022898e-02 -7.73971526e-05 9.99918044e-01 1.86673676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879254153999995 meters 0.014048595405226245 Centerline is valid? [True, True] Translation: X:31.39, Y:0.11, Z:0.19 [[ 9.99912586e-01 -3.94573371e-03 -1.26194896e-02 3.13859307e+01] [ 3.94674993e-03 9.99992210e-01 5.56249317e-05 1.12701561e-01] [ 1.26191718e-02 -1.05426039e-04 9.99920370e-01 1.87142398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.909254153999992 meters 0.01435665225470269 Centerline is valid? [True, True] Translation: X:31.41, Y:0.11, Z:0.19 [[ 9.99906056e-01 -6.00736224e-03 -1.23203501e-02 3.14139278e+01] [ 6.00847516e-03 9.99981948e-01 5.33190040e-05 1.09746438e-01] [ 1.23198074e-02 -1.27340512e-04 9.99924100e-01 1.87548838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939254153999993 meters 0.014748060859069122 Centerline is valid? [True, True] Translation: X:31.44, Y:0.11, Z:0.19 [[ 9.99880149e-01 -9.79713163e-03 -1.19876671e-02 3.14422089e+01] [ 9.79844465e-03 9.99951993e-01 5.08026192e-05 1.05162108e-01] [ 1.19865939e-02 -1.68257023e-04 9.99928144e-01 1.88838237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.969254153999994 meters 0.014997994444566641 Centerline is valid? [True, True] Translation: X:31.47, Y:0.10, Z:0.19 [[ 9.99862485e-01 -1.16534306e-02 -1.17987014e-02 3.14709752e+01] [ 1.16548097e-02 9.99932079e-01 4.81302921e-05 1.02629816e-01] [ 1.17973392e-02 -1.85635293e-04 9.99930392e-01 1.89340538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999254153999996 meters 0.01597935532855318 Centerline is valid? [True, True] Translation: X:31.50, Y:0.10, Z:0.19 [[ 9.99832439e-01 -1.40157556e-02 -1.17750570e-02 3.14995390e+01] [ 1.40172689e-02 9.99901752e-01 4.59987337e-05 9.60889930e-02] [ 1.17732554e-02 -2.11045167e-04 9.99930671e-01 1.89111289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.029254154 meters 0.015805372342843894 Centerline is valid? [True, True] Translation: X:31.53, Y:0.09, Z:0.19 [[ 9.99818107e-01 -1.49726666e-02 -1.18140937e-02 3.15295478e+01] [ 1.49742503e-02 9.99887879e-01 4.55958209e-05 9.45923313e-02] [ 1.18120864e-02 -2.22494723e-04 9.99930210e-01 1.89049228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059254153999994 meters 0.016585088175284347 Centerline is valid? [True, True] Translation: X:31.56, Y:0.09, Z:0.19 [[ 9.99809116e-01 -1.54750027e-02 -1.19270759e-02 3.15591824e+01] [ 1.54766493e-02 9.99880228e-01 4.57663004e-05 9.09006324e-02] [ 1.19249391e-02 -2.30348735e-04 9.99928869e-01 1.88195664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.089254153999995 meters 0.01627718721427924 Centerline is valid? [True, True] Translation: X:31.59, Y:0.09, Z:0.19 [[ 9.99802409e-01 -1.50238844e-02 -1.30163307e-02 3.15892609e+01] [ 1.50258044e-02 9.99887105e-01 4.97157125e-05 8.78737677e-02] [ 1.30141143e-02 -2.45286727e-04 9.99915283e-01 1.87011843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119254154 meters 0.015761690826528882 Centerline is valid? [True, True] Translation: X:31.62, Y:0.09, Z:0.19 [[ 9.99794384e-01 -1.48999115e-02 -1.37543915e-02 3.16175821e+01] [ 1.49020164e-02 9.99888958e-01 5.05507215e-05 8.82155762e-02] [ 1.37521110e-02 -2.55508495e-04 9.99905403e-01 1.87089613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.149254154 meters 0.015591425472848194 Centerline is valid? [True, True] Translation: X:31.65, Y:0.09, Z:0.19 [[ 9.99794817e-01 -1.33787891e-02 -1.52096315e-02 3.16454533e+01] [ 1.33811462e-02 9.99910467e-01 5.32157512e-05 8.74318343e-02] [ 1.52075578e-02 -2.56727136e-04 9.99884325e-01 1.86335297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.179254154 meters 0.01533677341095651 Centerline is valid? [True, True] Translation: X:31.67, Y:0.09, Z:0.19 [[ 9.99805592e-01 -1.24234507e-02 -1.53112874e-02 3.16743653e+01] [ 1.24256857e-02 9.99922797e-01 5.08482319e-05 8.77844543e-02] [ 1.53094736e-02 -2.41091592e-04 9.99882774e-01 1.86270183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.209254154 meters 0.015143956168586879 Centerline is valid? [True, True] Translation: X:31.70, Y:0.09, Z:0.19 [[ 9.99799337e-01 -1.10949137e-02 -1.66789846e-02 3.17026093e+01] [ 1.10973093e-02 9.99938422e-01 5.10823872e-05 8.82218180e-02] [ 1.66773908e-02 -2.36163989e-04 9.99860895e-01 1.85825262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239254153999994 meters 0.015195597857176186 Centerline is valid? [True, True] Translation: X:31.73, Y:0.09, Z:0.19 [[ 9.99799036e-01 -1.09767012e-02 -1.67749727e-02 3.17292772e+01] [ 1.09790586e-02 9.99939727e-01 4.84411074e-05 8.81309802e-02] [ 1.67734299e-02 -2.32604782e-04 9.99859289e-01 1.85819063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.269254153999995 meters 0.014839299855384104 Centerline is valid? [True, True] Translation: X:31.76, Y:0.09, Z:0.19 [[ 9.99784877e-01 -1.14695485e-02 -1.72814792e-02 3.17577793e+01] [ 1.14720624e-02 9.99934193e-01 4.63367633e-05 8.92671663e-02] [ 1.72798105e-02 -2.44581003e-04 9.99850663e-01 1.86710241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299254153999996 meters 0.015264005100441293 Centerline is valid? [True, True] Translation: X:31.79, Y:0.09, Z:0.19 [[ 9.99746522e-01 -1.40787501e-02 -1.75692851e-02 3.17868643e+01] [ 1.40816706e-02 9.99900847e-01 4.25255336e-05 8.75813359e-02] [ 1.75669443e-02 -2.89919640e-04 9.99845647e-01 1.86656419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.329254154 meters 0.01547879585924976 Centerline is valid? [True, True] Translation: X:31.82, Y:0.09, Z:0.19 [[ 9.99710075e-01 -1.60077658e-02 -1.79866036e-02 3.18157676e+01] [ 1.60110549e-02 9.99871814e-01 3.88659864e-05 8.60558032e-02] [ 1.79836758e-02 -3.26839216e-04 9.99838227e-01 1.86557829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.359254154 meters 0.01615651072437546 Centerline is valid? [True, True] Translation: X:31.84, Y:0.08, Z:0.19 [[ 9.99666698e-01 -1.81129161e-02 -1.83960405e-02 3.18435594e+01] [ 1.81166603e-02 9.99835879e-01 3.68918100e-05 8.45258662e-02] [ 1.83923531e-02 -3.70154331e-04 9.99830778e-01 1.85829442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.389254154 meters 0.016879911172029895 Centerline is valid? [True, True] Translation: X:31.87, Y:0.08, Z:0.19 [[ 9.99566153e-01 -2.18204522e-02 -1.97831588e-02 3.18731964e+01] [ 2.18254856e-02 9.99761795e-01 3.85263212e-05 8.30882790e-02] [ 1.97776057e-02 -4.70286654e-04 9.99804293e-01 1.85108005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419254154 meters 0.01740435132053186 Centerline is valid? [True, True] Translation: X:31.90, Y:0.08, Z:0.18 [[ 9.99517718e-01 -2.36072809e-02 -2.01749197e-02 3.19013169e+01] [ 2.36128498e-02 9.99721177e-01 3.78266860e-05 8.23924829e-02] [ 2.01684015e-02 -5.14195792e-04 9.99796465e-01 1.84876879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.449254153999995 meters 0.019985158487316017 Centerline is valid? [True, True] Translation: X:31.93, Y:0.08, Z:0.18 [[ 9.99449446e-01 -2.63537289e-02 -2.01565333e-02 3.19293461e+01] [ 2.63598090e-02 9.99652519e-01 3.59728506e-05 7.89501420e-02] [ 2.01485813e-02 -5.67275415e-04 9.99796836e-01 1.83748935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479254153999996 meters 0.019308492001934442 Centerline is valid? [True, True] Translation: X:31.96, Y:0.08, Z:0.19 [[ 9.99412781e-01 -2.80582868e-02 -1.96679043e-02 3.19583078e+01] [ 2.80643316e-02 9.99606119e-01 3.13437523e-05 8.02907192e-02] [ 1.96592780e-02 -5.83291933e-04 9.99806568e-01 1.85436378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.509254154 meters 0.01872477753053395 Centerline is valid? [True, True] Translation: X:31.99, Y:0.08, Z:0.19 [[ 9.99389295e-01 -2.94328253e-02 -1.88346928e-02 3.19882968e+01] [ 2.94385734e-02 9.99566591e-01 2.79430489e-05 8.14856052e-02] [ 1.88257073e-02 -5.82392471e-04 9.99822611e-01 1.86806905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.539254154 meters 0.020188711779815446 Centerline is valid? [True, True] Translation: X:32.02, Y:0.08, Z:0.19 [[ 9.99325540e-01 -3.24389558e-02 -1.72098354e-02 3.20180747e+01] [ 3.24441942e-02 9.99473548e-01 2.52011632e-05 7.93291273e-02] [ 1.71999578e-02 -5.83543410e-04 9.99851899e-01 1.87961942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.569254154 meters 0.020025001496862493 Centerline is valid? [True, True] Translation: X:32.05, Y:0.08, Z:0.19 [[ 9.99286092e-01 -3.38104184e-02 -1.68571169e-02 3.20498492e+01] [ 3.38156441e-02 9.99428087e-01 2.49800037e-05 7.99355707e-02] [ 1.68466315e-02 -5.94996437e-04 9.99857908e-01 1.88694252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599254154 meters 0.02044944488559019 Centerline is valid? [True, True] Translation: X:32.08, Y:0.08, Z:0.19 [[ 9.99260977e-01 -3.47357582e-02 -1.64598493e-02 3.20816400e+01] [ 3.47408756e-02 9.99396353e-01 2.49844740e-05 7.95376520e-02] [ 1.64490456e-02 -5.96795589e-04 9.99864527e-01 1.89012526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.629254153999995 meters 0.0201193587734075 Centerline is valid? [True, True] Translation: X:32.11, Y:0.08, Z:0.19 [[ 9.99239400e-01 -3.56315608e-02 -1.58434215e-02 3.21134489e+01] [ 3.56364287e-02 9.99364820e-01 2.49504138e-05 8.10964842e-02] [ 1.58324691e-02 -5.89534397e-04 9.99874485e-01 1.89535568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659254153999996 meters 0.020376962374574745 Centerline is valid? [True, True] Translation: X:32.15, Y:0.08, Z:0.19 [[ 9.99241841e-01 -3.55837058e-02 -1.57969452e-02 3.21457164e+01] [ 3.55885576e-02 9.99366526e-01 2.60400100e-05 8.12188990e-02] [ 1.57860116e-02 -5.88210761e-04 9.99875220e-01 1.89585757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.689254154 meters 0.020139118940139037 Centerline is valid? [True, True] Translation: X:32.18, Y:0.08, Z:0.19 [[ 9.99295132e-01 -3.42673436e-02 -1.53293206e-02 3.21771099e+01] [ 3.42717699e-02 9.99412550e-01 2.60697098e-05 8.36357756e-02] [ 1.53194220e-02 -5.51414282e-04 9.99882499e-01 1.89593394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.719254154 meters 0.019855348243358464 Centerline is valid? [True, True] Translation: X:32.21, Y:0.09, Z:0.19 [[ 9.99338716e-01 -3.30496506e-02 -1.51608785e-02 3.22089391e+01] [ 3.30538508e-02 9.99453572e-01 2.64800358e-05 8.52847478e-02] [ 1.51517191e-02 -5.27587942e-04 9.99885067e-01 1.90152589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.749254154 meters 0.019455688321227748 Centerline is valid? [True, True] Translation: X:32.24, Y:0.09, Z:0.19 [[ 9.99386326e-01 -3.16283579e-02 -1.50538278e-02 3.22399919e+01] [ 3.16323480e-02 9.99499572e-01 2.69608003e-05 8.76677616e-02] [ 1.50454417e-02 -5.03132174e-04 9.99886684e-01 1.90527555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779254154 meters 0.018689532456527054 Centerline is valid? [True, True] Translation: X:32.27, Y:0.09, Z:0.19 [[ 9.99485090e-01 -2.78857573e-02 -1.58726267e-02 3.22702366e+01] [ 2.78897286e-02 9.99611005e-01 2.88546801e-05 9.25538562e-02] [ 1.58656477e-02 -4.71523074e-04 9.99874022e-01 1.90253848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.809254153999994 meters 0.018181170739243212 Centerline is valid? [True, True] Translation: X:32.30, Y:0.10, Z:0.19 [[ 9.99536811e-01 -2.57206614e-02 -1.62668741e-02 3.23005617e+01] [ 2.57245481e-02 9.99669069e-01 2.97007366e-05 9.55981071e-02] [ 1.62607270e-02 -4.48144965e-04 9.99867685e-01 1.90079930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839254153999995 meters 0.01705991686314428 Centerline is valid? [True, True] Translation: X:32.33, Y:0.10, Z:0.19 [[ 9.99641812e-01 -2.09093580e-02 -1.67046559e-02 3.23307885e+01] [ 2.09127854e-02 9.99781303e-01 3.05000568e-05 1.01949946e-01] [ 1.67003649e-02 -3.79830014e-04 9.99860467e-01 1.89748548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.869254154 meters 0.015602609394893828 Centerline is valid? [True, True] Translation: X:32.36, Y:0.11, Z:0.19 [[ 9.99694059e-01 -1.84326058e-02 -1.64932823e-02 3.23604191e+01] [ 1.84356042e-02 9.99830049e-01 2.97601953e-05 1.07495288e-01] [ 1.64899307e-02 -3.33814715e-04 9.99863976e-01 1.90591775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899254154 meters 0.01559669597199776 Centerline is valid? [True, True] Translation: X:32.39, Y:0.11, Z:0.19 [[ 9.99733039e-01 -1.59407304e-02 -1.67255156e-02 3.23894010e+01] [ 1.59434502e-02 9.99872895e-01 2.92790128e-05 1.09746034e-01] [ 1.67229229e-02 -2.95933621e-04 9.99860118e-01 1.90526619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.929254154 meters 0.015508789935612752 Centerline is valid? [True, True] Translation: X:32.42, Y:0.11, Z:0.19 [[ 9.99773960e-01 -1.35220610e-02 -1.64067935e-02 3.24171178e+01] [ 1.35243316e-02 9.99908542e-01 2.74424850e-05 1.12805053e-01] [ 1.64049219e-02 -2.49327197e-04 9.99865399e-01 1.90329267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959254154 meters 0.014342561447640704 Centerline is valid? [True, True] Translation: X:32.45, Y:0.12, Z:0.19 [[ 9.99824073e-01 -9.22714020e-03 -1.63304565e-02 3.24456643e+01] [ 9.22876781e-03 9.99957414e-01 2.43083508e-05 1.21576718e-01] [ 1.63295367e-02 -1.75014065e-04 9.99866649e-01 1.92044704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.989254153999994 meters 0.014225764226027818 Centerline is valid? [True, True] Translation: X:32.47, Y:0.12, Z:0.19 [[ 9.99844873e-01 -7.47798076e-03 -1.59471035e-02 3.24746428e+01] [ 7.47924645e-03 9.99972030e-01 1.97284214e-05 1.24422314e-01] [ 1.59465099e-02 -1.38997678e-04 9.99872837e-01 1.92070004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019254153999995 meters 0.01397090152824729 Centerline is valid? [True, True] Translation: X:32.50, Y:0.13, Z:0.19 [[ 9.99861677e-01 -5.99870120e-03 -1.55126336e-02 3.25029627e+01] [ 5.99966074e-03 9.99982002e-01 1.53175182e-05 1.27175518e-01] [ 1.55122625e-02 -1.08385938e-04 9.99879672e-01 1.92773277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.049254153999996 meters 0.013760511079018701 Centerline is valid? [True, True] Translation: X:32.53, Y:0.13, Z:0.19 [[ 9.99903186e-01 -3.47559127e-03 -1.34736561e-02 3.25308286e+01] [ 3.47605769e-03 9.99993958e-01 1.11992650e-05 1.31972441e-01] [ 1.34735357e-02 -5.80333866e-05 9.99909226e-01 1.94346319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079254154 meters 0.01375796422293425 Centerline is valid? [True, True] Translation: X:32.56, Y:0.13, Z:0.20 [[ 9.99914188e-01 -3.09193219e-03 -1.27301402e-02 3.25582909e+01] [ 3.09228902e-03 9.99995219e-01 8.34747799e-06 1.33889698e-01] [ 1.27300535e-02 -4.77120344e-05 9.99918968e-01 1.95525614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.109254154 meters 0.013820290326317647 Centerline is valid? [True, True] Translation: X:32.59, Y:0.14, Z:0.20 [[ 9.99930418e-01 -2.92484323e-03 -1.14282140e-02 3.25866671e+01] [ 2.92508582e-03 9.99995722e-01 4.51260484e-06 1.36837932e-01] [ 1.14281519e-02 -3.79407977e-05 9.99934696e-01 1.97364507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139254154 meters 0.013700239178834424 Centerline is valid? [True, True] Translation: X:32.61, Y:0.14, Z:0.20 [[ 9.99927012e-01 -3.65042424e-03 -1.15171593e-02 3.26147453e+01] [ 3.65068197e-03 9.99993336e-01 1.35441001e-06 1.37883550e-01] [ 1.15170776e-02 -4.33997969e-05 9.99933675e-01 1.98086666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.169254153999994 meters 0.013700239178834424 Centerline is valid? [True, True] Translation: X:32.64, Y:0.14, Z:0.20 [[ 9.99925929e-01 -3.93601861e-03 -1.15171589e-02 3.26421238e+01] [ 3.93625741e-03 9.99992253e-01 -1.93435507e-06 1.37961268e-01] [ 1.15170773e-02 -4.34002903e-05 9.99933675e-01 1.98277127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199254153999995 meters 0.013854275208852017 Centerline is valid? [True, True] Translation: X:32.67, Y:0.14, Z:0.20 [[ 9.99916115e-01 -5.85096391e-03 -1.15555155e-02 3.26708183e+01] [ 5.85130543e-03 9.99982881e-01 -4.25378514e-06 1.38342740e-01] [ 1.15553426e-02 -6.33614222e-05 9.99933233e-01 1.98201995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.229254153999996 meters 0.01409423041711736 Centerline is valid? [True, True] Translation: X:32.70, Y:0.14, Z:0.20 [[ 9.99903048e-01 -7.47459428e-03 -1.17484025e-02 3.26987418e+01] [ 7.47504853e-03 9.99972061e-01 -5.24650700e-06 1.37605720e-01] [ 1.17481135e-02 -8.25738806e-05 9.99930985e-01 1.97822453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259254154 meters 0.014343422907590744 Centerline is valid? [True, True] Translation: X:32.73, Y:0.14, Z:0.20 [[ 9.99871569e-01 -1.06011849e-02 -1.20191612e-02 3.27270572e+01] [ 1.06018734e-02 9.99943799e-01 -6.43943247e-06 1.35816382e-01] [ 1.20185539e-02 -1.20987019e-04 9.99927767e-01 1.97212468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.289254154 meters 0.014549156410252497 Centerline is valid? [True, True] Translation: X:32.76, Y:0.13, Z:0.20 [[ 9.99842629e-01 -1.26413184e-02 -1.24464568e-02 3.27559018e+01] [ 1.26421896e-02 9.99920084e-01 -8.67969848e-06 1.34911085e-01] [ 1.24455719e-02 -1.48672135e-04 9.99922540e-01 1.97150630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319254154 meters 0.014996592529142365 Centerline is valid? [True, True] Translation: X:32.78, Y:0.13, Z:0.20 [[ 9.99817325e-01 -1.43325824e-02 -1.26449436e-02 3.27843967e+01] [ 1.43335909e-02 9.99897269e-01 -1.08797509e-05 1.33314697e-01] [ 1.26438005e-02 -1.70369685e-04 9.99920049e-01 1.96966752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.349254154 meters 0.015290646949499293 Centerline is valid? [True, True] Translation: X:32.81, Y:0.13, Z:0.20 [[ 9.99781430e-01 -1.67990843e-02 -1.24452320e-02 3.28144243e+01] [ 1.68002451e-02 9.99858866e-01 -1.12695595e-05 1.32237822e-01] [ 1.24436648e-02 -1.97815852e-04 9.99922555e-01 1.97599823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379254153999995 meters 0.015392932765376488 Centerline is valid? [True, True] Translation: X:32.84, Y:0.13, Z:0.20 [[ 9.99772429e-01 -1.74571869e-02 -1.22611704e-02 3.28437153e+01] [ 1.74583599e-02 9.99847591e-01 -1.13627401e-05 1.31267803e-01] [ 1.22595001e-02 -2.02699772e-04 9.99924829e-01 1.98120612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.409254153999996 meters 0.01557176110594459 Centerline is valid? [True, True] Translation: X:32.87, Y:0.13, Z:0.20 [[ 9.99767599e-01 -1.77975406e-02 -1.21653531e-02 3.28740491e+01] [ 1.77987215e-02 9.99841590e-01 -1.11970738e-05 1.30531839e-01] [ 1.21636253e-02 -2.05333261e-04 9.99925999e-01 1.98460318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439254154 meters 0.015024004095550972 Centerline is valid? [True, True] Translation: X:32.91, Y:0.13, Z:0.20 [[ 9.99779762e-01 -1.68349489e-02 -1.25304499e-02 3.29051235e+01] [ 1.68361303e-02 9.99858262e-01 -1.12003851e-05 1.31924838e-01] [ 1.25288624e-02 -1.99766370e-04 9.99921491e-01 1.99532694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.469254154 meters 0.015272585262416604 Centerline is valid? [True, True] Translation: X:32.93, Y:0.13, Z:0.20 [[ 9.99796876e-01 -1.57345653e-02 -1.25948554e-02 3.29344928e+01] [ 1.57356752e-02 9.99876187e-01 -1.09738714e-05 1.31317874e-01] [ 1.25934687e-02 -1.87216912e-04 9.99920682e-01 1.99546586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.499254154 meters 0.014412401147139027 Centerline is valid? [True, True] Translation: X:32.96, Y:0.13, Z:0.20 [[ 9.99856137e-01 -1.21888120e-02 -1.17957036e-02 3.29649387e+01] [ 1.21895392e-02 9.99925705e-01 -1.02453755e-05 1.33524827e-01] [ 1.17949521e-02 -1.33540290e-04 9.99930428e-01 2.01262255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.529254154 meters 0.014047369393173845 Centerline is valid? [True, True] Translation: X:32.99, Y:0.13, Z:0.20 [[ 9.99889317e-01 -9.81322011e-03 -1.11827394e-02 3.29947321e+01] [ 9.81372340e-03 9.99951844e-01 -9.86801854e-06 1.34257150e-01] [ 1.11822978e-02 -9.98773853e-05 9.99937471e-01 2.01978173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559254153999994 meters 0.013994086061264526 Centerline is valid? [True, True] Translation: X:33.02, Y:0.13, Z:0.20 [[ 9.99917662e-01 -7.34632528e-03 -1.05214377e-02 3.30229091e+01] [ 7.34662970e-03 9.99973013e-01 -9.71684999e-06 1.34637350e-01] [ 1.05212252e-02 -6.75810570e-05 9.99944648e-01 2.02193899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.589254153999995 meters 0.013747792729862159 Centerline is valid? [True, True] Translation: X:33.05, Y:0.14, Z:0.20 [[ 9.99939496e-01 -4.84762634e-03 -9.87444603e-03 3.30516774e+01] [ 4.84776185e-03 9.99988249e-01 -1.02110186e-05 1.35368032e-01] [ 9.87437950e-03 -3.76585620e-05 9.99951246e-01 2.02988060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619254154 meters 0.013779752773392807 Centerline is valid? [True, True] Translation: X:33.08, Y:0.14, Z:0.20 [[ 9.99951924e-01 -8.18263847e-04 -9.77143453e-03 3.30796733e+01] [ 8.18179125e-04 9.99999665e-01 -1.26678896e-05 1.36960041e-01] [ 9.77144162e-03 4.67249679e-06 9.99952258e-01 2.03617390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.649254154 meters 0.013788682996643875 Centerline is valid? [True, True] Translation: X:33.11, Y:0.14, Z:0.20 [[ 9.99947973e-01 7.41225843e-04 -1.01736073e-02 3.31071898e+01] [-7.41423168e-04 9.99999725e-01 -1.56242078e-05 1.37420289e-01] [ 1.01735929e-02 2.31663431e-05 9.99948247e-01 2.03752362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.679254154 meters 0.013850275213248157 Centerline is valid? [True, True] Translation: X:33.14, Y:0.14, Z:0.20 [[ 9.99929355e-01 2.23220846e-03 -1.16748226e-02 3.31358412e+01] [-2.23259278e-03 9.99997508e-01 -1.98857175e-05 1.36592737e-01] [ 1.16747491e-02 4.59494373e-05 9.99931847e-01 2.03115091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.709254154 meters 0.013980561713187711 Centerline is valid? [True, True] Translation: X:33.16, Y:0.14, Z:0.20 [[ 9.99922124e-01 1.63924265e-03 -1.23717107e-02 3.31632568e+01] [-1.63966099e-03 9.99998655e-01 -2.36707418e-05 1.35874612e-01] [ 1.23716553e-02 4.39543099e-05 9.99923467e-01 2.02177711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739254153999994 meters 0.013964784664116969 Centerline is valid? [True, True] Translation: X:33.19, Y:0.13, Z:0.20 [[ 9.99912341e-01 4.93656414e-04 -1.32312426e-02 3.31898302e+01] [-4.94057537e-04 9.99999878e-01 -2.70477725e-05 1.34476997e-01] [ 1.32312276e-02 3.35823967e-05 9.99912463e-01 2.01445562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.769254153999995 meters 0.01386233646027309 Centerline is valid? [True, True] Translation: X:33.22, Y:0.13, Z:0.20 [[ 9.99888935e-01 -3.50969671e-03 -1.44844332e-02 3.32184660e+01] [ 3.50961432e-03 9.99993841e-01 -3.11073145e-05 1.30355305e-01] [ 1.44844532e-02 -1.97309146e-05 9.99895095e-01 2.01545050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799254153999996 meters 0.014034910164671881 Centerline is valid? [True, True] Translation: X:33.25, Y:0.13, Z:0.20 [[ 9.99872373e-01 -6.26581734e-03 -1.46961630e-02 3.32463568e+01] [ 6.26601219e-03 9.99980368e-01 -3.27875116e-05 1.27917889e-01] [ 1.46960800e-02 -5.93030098e-05 9.99892005e-01 2.01456283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.829254154 meters 0.014121591400285995 Centerline is valid? [True, True] Translation: X:33.28, Y:0.13, Z:0.20 [[ 9.99846879e-01 -9.30034724e-03 -1.48230194e-02 3.32753789e+01] [ 9.30086097e-03 9.99956745e-01 -3.42807954e-05 1.25518624e-01] [ 1.48226971e-02 -1.03591296e-04 9.99890132e-01 2.02159642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.859254154 meters 0.014226584905503818 Centerline is valid? [True, True] Translation: X:33.30, Y:0.12, Z:0.20 [[ 9.99822332e-01 -1.22066527e-02 -1.43632529e-02 3.33044094e+01] [ 1.22074200e-02 9.99925486e-01 -3.42558513e-05 1.23136517e-01] [ 1.43626008e-02 -1.41088496e-04 9.99896843e-01 2.02706341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.889254154 meters 0.015343292546889067 Centerline is valid? [True, True] Translation: X:33.33, Y:0.12, Z:0.20 [[ 9.99722309e-01 -1.88458517e-02 -1.41470608e-02 3.33332719e+01] [ 1.88472480e-02 9.99822374e-01 -3.46242890e-05 1.16966244e-01] [ 1.41452005e-02 -2.32018490e-04 9.99899925e-01 2.02672245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919254153999994 meters 0.015939307064269725 Centerline is valid? [True, True] Translation: X:33.36, Y:0.11, Z:0.20 [[ 9.99654786e-01 -2.22298206e-02 -1.40051568e-02 3.33634962e+01] [ 2.22315160e-02 9.99752849e-01 -3.46361936e-05 1.14190805e-01] [ 1.40024654e-02 -2.76731632e-04 9.99901922e-01 2.02897288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.949254153999995 meters 0.01790111713730585 Centerline is valid? [True, True] Translation: X:33.39, Y:0.11, Z:0.20 [[ 9.99468721e-01 -2.98056557e-02 -1.31870272e-02 3.33934919e+01] [ 2.98078176e-02 9.99555648e-01 -3.26128749e-05 1.07056660e-01] [ 1.31821396e-02 -3.60480954e-04 9.99913047e-01 2.03392018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979254153999996 meters 0.019466380259395944 Centerline is valid? [True, True] Translation: X:33.42, Y:0.10, Z:0.20 [[ 9.99339306e-01 -3.39585310e-02 -1.29525993e-02 3.34238823e+01] [ 3.39609667e-02 9.99423159e-01 -3.19244982e-05 1.02864997e-01] [ 1.29462118e-02 -4.07979386e-04 9.99916111e-01 2.04026074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.009254154 meters 0.022833097770616394 Centerline is valid? [True, True] Translation: X:33.45, Y:0.09, Z:0.20 [[ 9.99018462e-01 -4.25465899e-02 -1.23247916e-02 3.34538365e+01] [ 4.25494481e-02 9.99094362e-01 -3.03394699e-05 9.42514080e-02] [ 1.23149206e-02 -4.94103388e-04 9.99924046e-01 2.04551653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.039254154 meters 0.024836563495301 Centerline is valid? [True, True] Translation: X:33.49, Y:0.09, Z:0.20 [[ 9.98840884e-01 -4.65570993e-02 -1.22198203e-02 3.34852669e+01] [ 4.65602095e-02 9.98915485e-01 -2.99969012e-05 8.96279999e-02] [ 1.22079643e-02 -5.38995264e-04 9.99925335e-01 2.04872711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.069254154 meters 0.026559258185994156 Centerline is valid? [True, True] Translation: X:33.52, Y:0.09, Z:0.21 [[ 9.98646315e-01 -5.05512118e-02 -1.22520131e-02 3.35163923e+01] [ 5.05546425e-02 9.98721296e-01 -2.97351059e-05 8.57587298e-02] [ 1.22378496e-02 -5.89701291e-04 9.99924941e-01 2.05502499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099254154 meters 0.028587328089550716 Centerline is valid? [True, True] Translation: X:33.55, Y:0.08, Z:0.21 [[ 9.98468210e-01 -5.39094263e-02 -1.24502078e-02 3.35477427e+01] [ 5.39132333e-02 9.98545624e-01 -2.98968408e-05 8.13560252e-02] [ 1.24337122e-02 -6.41379912e-04 9.99922493e-01 2.05526810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.129254153999995 meters 0.032013368544326654 Centerline is valid? [True, True] Translation: X:33.58, Y:0.07, Z:0.20 [[ 9.98122486e-01 -5.99244551e-02 -1.26713415e-02 3.35767553e+01] [ 5.99288824e-02 9.98202649e-01 -3.03656819e-05 7.39925203e-02] [ 1.26503863e-02 -7.29070664e-04 9.99919715e-01 2.04862487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159254153999996 meters 0.033628866818797884 Centerline is valid? [True, True] Translation: X:33.61, Y:0.07, Z:0.20 [[ 9.97996133e-01 -6.18771845e-02 -1.32262185e-02 3.36070280e+01] [ 6.18821773e-02 9.98083461e-01 -3.18205571e-05 7.03573589e-02] [ 1.32028389e-02 -7.86710403e-04 9.99912529e-01 2.04848551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.189254154 meters 0.03479615151398363 Centerline is valid? [True, True] Translation: X:33.64, Y:0.07, Z:0.20 [[ 9.97890185e-01 -6.33849022e-02 -1.40546531e-02 3.36394070e+01] [ 6.33906978e-02 9.97988787e-01 -3.31922165e-05 6.75669110e-02] [ 1.40284901e-02 -8.57812080e-04 9.99901228e-01 2.04347983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.219254154 meters 0.032569596394487955 Centerline is valid? [True, True] Translation: X:33.67, Y:0.07, Z:0.20 [[ 9.97792081e-01 -6.44997489e-02 -1.58349310e-02 3.36711466e+01] [ 6.45072710e-02 9.97917236e-01 -3.58023790e-05 6.91045609e-02] [ 1.58042599e-02 -9.85744857e-04 9.99874619e-01 2.03167028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.249254154 meters 0.03536524324304657 Centerline is valid? [True, True] Translation: X:33.70, Y:0.07, Z:0.20 [[ 9.97796129e-01 -6.41203307e-02 -1.70724329e-02 3.37034122e+01] [ 6.41290652e-02 9.97941612e-01 -3.59167966e-05 6.52505791e-02] [ 1.70395943e-02 -1.05900153e-03 9.99854255e-01 2.01847994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279254154 meters 0.029419849938615746 Centerline is valid? [True, True] Translation: X:33.74, Y:0.07, Z:0.20 [[ 9.97929035e-01 -6.17516955e-02 -1.80102549e-02 3.37352913e+01] [ 6.17610662e-02 9.98090962e-01 -3.59816447e-05 7.44427957e-02] [ 1.79780946e-02 -1.07642542e-03 9.99837802e-01 2.02663885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.309254153999994 meters 0.03483752784869429 Centerline is valid? [True, True] Translation: X:33.77, Y:0.07, Z:0.20 [[ 9.98067395e-01 -5.94552940e-02 -1.80705145e-02 3.37663219e+01] [ 5.94643666e-02 9.98230428e-01 -3.53121819e-05 6.79775184e-02] [ 1.80406370e-02 -1.03930776e-03 9.99836714e-01 2.01373550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339254153999995 meters 0.028625004709104295 Centerline is valid? [True, True] Translation: X:33.80, Y:0.08, Z:0.20 [[ 9.98220687e-01 -5.68546692e-02 -1.79723710e-02 3.37976069e+01] [ 5.68632350e-02 9.98381977e-01 -3.44693921e-05 7.77460536e-02] [ 1.79452511e-02 -9.87559097e-04 9.99838483e-01 2.03499953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.369254154 meters 0.03154434276963076 Centerline is valid? [True, True] Translation: X:33.83, Y:0.08, Z:0.20 [[ 9.98551608e-01 -5.10216579e-02 -1.70726705e-02 3.38269245e+01] [ 5.10285380e-02 9.98697195e-01 -3.26841917e-05 7.76708059e-02] [ 1.70520957e-02 -8.38556562e-04 9.99854251e-01 2.03927605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.399254154 meters 0.025546334110002566 Centerline is valid? [True, True] Translation: X:33.86, Y:0.09, Z:0.21 [[ 9.98721283e-01 -4.79129372e-02 -1.61291757e-02 3.38587398e+01] [ 4.79186818e-02 9.98851240e-01 -3.03385319e-05 8.83403229e-02] [ 1.61121008e-02 -7.42589103e-04 9.99869916e-01 2.06907268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.429254154 meters 0.02460360535330367 Centerline is valid? [True, True] Translation: X:33.89, Y:0.09, Z:0.21 [[ 9.98874548e-01 -4.49446775e-02 -1.51529730e-02 3.38906473e+01] [ 4.49494204e-02 9.98989264e-01 -2.76017374e-05 9.17724498e-02] [ 1.51388979e-02 -6.53546683e-04 9.99885187e-01 2.08373928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459254154 meters 0.020828756873184986 Centerline is valid? [True, True] Translation: X:33.92, Y:0.10, Z:0.21 [[ 9.99097326e-01 -4.02688991e-02 -1.35258919e-02 3.39217582e+01] [ 4.02722563e-02 9.99188743e-01 -2.41875264e-05 1.00425360e-01] [ 1.35158930e-02 -5.20552493e-04 9.99908521e-01 2.10672231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.489254153999994 meters 0.02038488313901802 Centerline is valid? [True, True] Translation: X:33.95, Y:0.10, Z:0.21 [[ 9.99181890e-01 -3.82308922e-02 -1.31889727e-02 3.39542096e+01] [ 3.82339146e-02 9.99268816e-01 -2.30008989e-05 1.01925890e-01] [ 1.31802085e-02 -4.81283973e-04 9.99913021e-01 2.10908978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519254153999995 meters 0.01923545647354935 Centerline is valid? [True, True] Translation: X:33.99, Y:0.10, Z:0.21 [[ 9.99315747e-01 -3.44960314e-02 -1.33439596e-02 3.39861547e+01] [ 3.44988042e-02 9.99404739e-01 -2.24027002e-05 1.04597763e-01] [ 1.33367893e-02 -4.37963279e-04 9.99910965e-01 2.10409813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.549254153999996 meters 0.018407808711743107 Centerline is valid? [True, True] Translation: X:34.02, Y:0.11, Z:0.21 [[ 9.99368884e-01 -3.27086706e-02 -1.38555864e-02 3.40182830e+01] [ 3.27115011e-02 9.99464835e-01 -2.23513831e-05 1.06400574e-01] [ 1.38489025e-02 -4.30899753e-04 9.99904007e-01 2.10156941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579254154 meters 0.018073866954787562 Centerline is valid? [True, True] Translation: X:34.05, Y:0.11, Z:0.21 [[ 9.99411376e-01 -3.09688000e-02 -1.47592342e-02 3.40500603e+01] [ 3.09718389e-02 9.99520257e-01 -2.26836343e-05 1.07511530e-01] [ 1.47528560e-02 -4.34450341e-04 9.99891076e-01 2.09788889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.609254154 meters 0.01779410184031835 Centerline is valid? [True, True] Translation: X:34.08, Y:0.11, Z:0.21 [[ 9.99465621e-01 -2.88004606e-02 -1.54598164e-02 3.40815765e+01] [ 2.88035513e-02 9.99585091e-01 -2.27552433e-05 1.08449719e-01] [ 1.54540574e-02 -4.22554532e-04 9.99880490e-01 2.09361641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639254154 meters 0.016628201969267245 Centerline is valid? [True, True] Translation: X:34.11, Y:0.11, Z:0.21 [[ 9.99598152e-01 -2.30147687e-02 -1.65485510e-02 3.41121576e+01] [ 2.30175407e-02 9.99735061e-01 -2.29681053e-05 1.12009739e-01] [ 1.65446953e-02 -3.57948070e-04 9.99863063e-01 2.09061306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.669254153999994 meters 0.015927449879189478 Centerline is valid? [True, True] Translation: X:34.14, Y:0.11, Z:0.21 [[ 9.99671418e-01 -1.94183469e-02 -1.67327427e-02 3.41429851e+01] [ 1.94206892e-02 9.99811400e-01 -2.25087272e-05 1.14478129e-01] [ 1.67300240e-02 -3.02460064e-04 9.99859998e-01 2.09469784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699254153999995 meters 0.0145905817802759 Centerline is valid? [True, True] Translation: X:34.17, Y:0.12, Z:0.21 [[ 9.99795962e-01 -1.14672985e-02 -1.66293503e-02 3.41724588e+01] [ 1.14685066e-02 9.99934234e-01 -2.27193661e-05 1.19389575e-01] [ 1.66285172e-02 -1.67999082e-04 9.99861723e-01 2.10333790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.729254153999996 meters 0.01420504166463621 Centerline is valid? [True, True] Translation: X:34.20, Y:0.12, Z:0.21 [[ 9.99841968e-01 -7.04501185e-03 -1.63219917e-02 3.42003050e+01] [ 7.04556876e-03 9.99975179e-01 -2.33832859e-05 1.21614303e-01] [ 1.63217513e-02 -9.16181239e-05 9.99866787e-01 2.10695913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759254154 meters 0.014101938735295153 Centerline is valid? [True, True] Translation: X:34.23, Y:0.13, Z:0.21 [[ 9.99874041e-01 1.21738775e-03 -1.58246722e-02 3.42289027e+01] [-1.21794480e-03 9.99999258e-01 -2.55642208e-05 1.26004005e-01] [ 1.58246293e-02 4.48345780e-05 9.99874782e-01 2.11941040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.789254154 meters 0.014263605017738174 Centerline is valid? [True, True] Translation: X:34.26, Y:0.13, Z:0.21 [[ 9.99867905e-01 4.79023193e-03 -1.55314703e-02 3.42575452e+01] [-4.79126092e-03 9.99988521e-01 -2.90425797e-05 1.27966537e-01] [ 1.55311529e-02 1.03454070e-04 9.99879379e-01 2.12394481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819254154 meters 0.014738939788298554 Centerline is valid? [True, True] Translation: X:34.29, Y:0.13, Z:0.21 [[ 9.99854188e-01 8.40204872e-03 -1.48663601e-02 3.42859905e+01] [-8.40344585e-03 9.99964690e-01 -3.15130034e-05 1.29847676e-01] [ 1.48655704e-02 1.56437060e-04 9.99889489e-01 2.12667278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84925415399999 meters 0.015335246135231963 Centerline is valid? [True, True] Translation: X:34.31, Y:0.13, Z:0.21 [[ 9.99823479e-01 1.15189581e-02 -1.48433146e-02 3.43136339e+01] [-1.15207310e-02 9.99933634e-01 -3.39365665e-05 1.31418186e-01] [ 1.48419386e-02 2.04936411e-04 9.99889831e-01 2.12700497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879254153999995 meters 0.015938352020143563 Centerline is valid? [True, True] Translation: X:34.34, Y:0.13, Z:0.21 [[ 9.99747467e-01 1.65444437e-02 -1.52080322e-02 3.43426563e+01] [-1.65469026e-02 9.99863090e-01 -3.58603826e-05 1.31830767e-01] [ 1.52053568e-02 2.87497154e-04 9.99884351e-01 2.13158557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.909254153999996 meters 0.016650188048846885 Centerline is valid? [True, True] Translation: X:34.37, Y:0.13, Z:0.21 [[ 9.99714333e-01 1.84905543e-02 -1.51443962e-02 3.43699861e+01] [-1.84932350e-02 9.99828985e-01 -3.69735325e-05 1.31447026e-01] [ 1.51411226e-02 3.17031848e-04 9.99885316e-01 2.12707008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939254154 meters 0.01599654644492176 Centerline is valid? [True, True] Translation: X:34.40, Y:0.13, Z:0.21 [[ 9.99712858e-01 1.83231257e-02 -1.54423222e-02 3.43981307e+01] [-1.83259193e-02 9.99832065e-01 -3.94039463e-05 1.28417373e-01] [ 1.54390069e-02 3.22387382e-04 9.99880759e-01 2.13399548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.969254154 meters 0.01608048809699073 Centerline is valid? [True, True] Translation: X:34.43, Y:0.13, Z:0.21 [[ 9.99723469e-01 1.74166459e-02 -1.58001800e-02 3.44263738e+01] [-1.74194825e-02 9.99848268e-01 -4.19083946e-05 1.26881500e-01] [ 1.57970527e-02 3.17127764e-04 9.99875168e-01 2.13388653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.999254154 meters 0.015750289602561005 Centerline is valid? [True, True] Translation: X:34.46, Y:0.12, Z:0.21 [[ 9.99742663e-01 1.58629484e-02 -1.62165232e-02 3.44554316e+01] [-1.58657536e-02 9.99874130e-01 -4.43378054e-05 1.24431394e-01] [ 1.62137787e-02 3.01613757e-04 9.99868503e-01 2.13549692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.029254154 meters 0.01514918483429916 Centerline is valid? [True, True] Translation: X:34.48, Y:0.12, Z:0.21 [[ 9.99808956e-01 1.15792376e-02 -1.57471634e-02 3.44829795e+01] [-1.15813718e-02 9.99932933e-01 -4.43412355e-05 1.18932534e-01] [ 1.57455939e-02 2.26706519e-04 9.99876005e-01 2.13696137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059254153999994 meters 0.014915740285471216 Centerline is valid? [True, True] Translation: X:34.51, Y:0.12, Z:0.21 [[ 9.99841422e-01 8.77703854e-03 -1.54949946e-02 3.45122105e+01] [-8.77878758e-03 9.99961465e-01 -4.48621009e-05 1.15432333e-01] [ 1.54940037e-02 1.80882253e-04 9.99879944e-01 2.13815857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.089254153999995 meters 0.014915740285471216 Centerline is valid? [True, True] Translation: X:34.54, Y:0.12, Z:0.21 [[ 9.99842362e-01 8.66922521e-03 -1.54949904e-02 3.45396704e+01] [-8.67098333e-03 9.99962405e-01 -4.62832656e-05 1.15601416e-01] [ 1.54940066e-02 1.80632773e-04 9.99879944e-01 2.14006328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119254154 meters 0.01429879256280222 Centerline is valid? [True, True] Translation: X:34.57, Y:0.11, Z:0.21 [[ 9.99881077e-01 2.45244639e-03 -1.52255823e-02 3.45683821e+01] [-2.45344341e-03 9.99996989e-01 -4.68049336e-05 1.07529025e-01] [ 1.52254216e-02 8.41544719e-05 9.99884083e-01 2.13813247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.149254154 meters 0.014169453779707554 Centerline is valid? [True, True] Translation: X:34.60, Y:0.10, Z:0.21 [[ 9.99885624e-01 -1.00261507e-03 -1.50908232e-02 3.45962653e+01] [ 1.00201078e-03 9.99999497e-01 -4.76043558e-05 1.03210400e-01] [ 1.50908633e-02 3.24777435e-05 9.99886126e-01 2.13377388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.179254154 meters 0.014132146332178859 Centerline is valid? [True, True] Translation: X:34.63, Y:0.10, Z:0.21 [[ 9.99881371e-01 -4.42893507e-03 -1.47522417e-02 3.46250819e+01] [ 4.42871339e-03 9.99990192e-01 -4.76959807e-05 9.86931456e-02] [ 1.47523083e-02 -1.76431279e-05 9.99891179e-01 2.13885067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.209254154 meters 0.014481463988897894 Centerline is valid? [True, True] Translation: X:34.65, Y:0.09, Z:0.21 [[ 9.99826598e-01 -1.07994983e-02 -1.51705558e-02 3.46530542e+01] [ 1.07999768e-02 9.99941677e-01 -5.03882683e-05 9.00113688e-02] [ 1.51702152e-02 -1.13462120e-04 9.99884919e-01 2.13200285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239254153999994 meters 0.014954929604396858 Centerline is valid? [True, True] Translation: X:34.68, Y:0.09, Z:0.21 [[ 9.99786233e-01 -1.40925348e-02 -1.51290636e-02 3.46815188e+01] [ 1.40933468e-02 9.99900682e-01 -5.29514391e-05 8.61286051e-02] [ 1.51283073e-02 -1.60279021e-04 9.99885548e-01 2.13170256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.269254153999995 meters 0.01605046969982449 Centerline is valid? [True, True] Translation: X:34.71, Y:0.08, Z:0.21 [[ 9.99667057e-01 -2.07361280e-02 -1.53553731e-02 3.47107518e+01] [ 2.07377146e-02 9.99784949e-01 -5.59079603e-05 7.83882695e-02] [ 1.53532303e-02 -2.62546000e-04 9.99882098e-01 2.13246526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299254153999996 meters 0.016796252242808344 Centerline is valid? [True, True] Translation: X:34.74, Y:0.07, Z:0.21 [[ 9.99571060e-01 -2.45337921e-02 -1.59933911e-02 3.47406570e+01] [ 2.45359880e-02 9.99698946e-01 -5.89337873e-05 7.43462818e-02] [ 1.59900221e-02 -3.33505145e-04 9.99872096e-01 2.12851854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.329254154 meters 0.017492128904123924 Centerline is valid? [True, True] Translation: X:34.77, Y:0.07, Z:0.21 [[ 9.99452305e-01 -2.86652812e-02 -1.65345678e-02 3.47704403e+01] [ 2.86681833e-02 9.99588981e-01 -6.15317692e-05 7.09881683e-02] [ 1.65295356e-02 -4.12517951e-04 9.99863293e-01 2.12777829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.359254154 meters 0.021705240730443724 Centerline is valid? [True, True] Translation: X:34.80, Y:0.06, Z:0.21 [[ 9.99151439e-01 -3.75690730e-02 -1.68809444e-02 3.47998826e+01] [ 3.75733666e-02 9.99293870e-01 -6.28549290e-05 5.87897540e-02] [ 1.68713856e-02 -5.71472319e-04 9.99857505e-01 2.11080457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.389254154 meters 0.02232313550878304 Centerline is valid? [True, True] Translation: X:34.83, Y:0.06, Z:0.21 [[ 9.98972979e-01 -4.18741930e-02 -1.73072063e-02 3.48306523e+01] [ 4.18793596e-02 9.99122673e-01 -6.39650179e-05 5.54889545e-02] [ 1.72947007e-02 -6.60915393e-04 9.99850217e-01 2.11380037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419254153999994 meters 0.023966195957330603 Centerline is valid? [True, True] Translation: X:34.86, Y:0.05, Z:0.21 [[ 9.98791472e-01 -4.60207923e-02 -1.72534864e-02 3.48615036e+01] [ 4.60265511e-02 9.98940215e-01 -6.33711211e-05 5.13961846e-02] [ 1.72381178e-02 -7.30823937e-04 9.99851146e-01 2.10981436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.449254153999995 meters 0.02594219488334337 Centerline is valid? [True, True] Translation: X:34.89, Y:0.05, Z:0.21 [[ 9.98614250e-01 -4.95896734e-02 -1.76194290e-02 3.48915897e+01] [ 4.95962491e-02 9.98769347e-01 -6.38279031e-05 4.73566920e-02] [ 1.76009108e-02 -8.10118137e-04 9.99844764e-01 2.10866383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479254153999996 meters 0.027331363070250712 Centerline is valid? [True, True] Translation: X:34.92, Y:0.04, Z:0.21 [[ 9.98311365e-01 -5.53197468e-02 -1.77240924e-02 3.49223755e+01] [ 5.53273109e-02 9.98468269e-01 -6.36768068e-05 4.41820327e-02] [ 1.77004665e-02 -9.17057091e-04 9.99842914e-01 2.11320054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.509254154 meters 0.030218689051426197 Centerline is valid? [True, True] Translation: X:34.95, Y:0.04, Z:0.21 [[ 9.98211232e-01 -5.70645312e-02 -1.78318970e-02 3.49536725e+01] [ 5.70724760e-02 9.98370036e-01 -6.34559576e-05 3.98187808e-02] [ 1.78064527e-02 -9.54368062e-04 9.99840997e-01 2.10994912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.539254154 meters 0.030480623548763967 Centerline is valid? [True, True] Translation: X:34.99, Y:0.04, Z:0.21 [[ 9.98057884e-01 -5.94554417e-02 -1.85879336e-02 3.49852450e+01] [ 5.94645028e-02 9.98230419e-01 -6.53457145e-05 3.94728926e-02] [ 1.85589259e-02 -1.04010343e-03 9.99827227e-01 2.11258712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.569254154 meters 0.030779651531673727 Centerline is valid? [True, True] Translation: X:35.02, Y:0.04, Z:0.21 [[ 9.98023779e-01 -6.00453870e-02 -1.85226498e-02 3.50173111e+01] [ 6.00545055e-02 9.98195097e-01 -6.40502240e-05 3.90998268e-02] [ 1.84930642e-02 -1.04844493e-03 9.99828439e-01 2.11660204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59925415399999 meters 0.03112289690326228 Centerline is valid? [True, True] Translation: X:35.05, Y:0.04, Z:0.21 [[ 9.98022918e-01 -6.01440627e-02 -1.82468121e-02 3.50495683e+01] [ 6.01529514e-02 9.98189170e-01 -6.18123623e-05 3.87793556e-02] [ 1.82174879e-02 -1.03590945e-03 9.99833511e-01 2.12068347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.629254153999995 meters 0.027851733127692953 Centerline is valid? [True, True] Translation: X:35.08, Y:0.04, Z:0.21 [[ 9.98042895e-01 -6.00228153e-02 -1.75396831e-02 3.50813539e+01] [ 6.00310316e-02 9.98196510e-01 -5.81604621e-05 4.36269480e-02] [ 1.75115414e-02 -9.94878637e-04 9.99846166e-01 2.13618869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659254153999996 meters 0.02783122605876458 Centerline is valid? [True, True] Translation: X:35.11, Y:0.05, Z:0.22 [[ 9.98126770e-01 -5.91196716e-02 -1.57421648e-02 3.51132884e+01] [ 5.91261954e-02 9.98250515e-01 -5.10859722e-05 4.51251490e-02] [ 1.57176443e-02 -8.79784032e-04 9.99876083e-01 2.15463295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.689254154 meters 0.02816485258313141 Centerline is valid? [True, True] Translation: X:35.14, Y:0.05, Z:0.22 [[ 9.98197760e-01 -5.81661429e-02 -1.47625347e-02 3.51443755e+01] [ 5.81717894e-02 9.98306587e-01 -4.69908411e-05 4.55951940e-02] [ 1.47402689e-02 -8.11856906e-04 9.99891027e-01 2.16287757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.719254154 meters 0.029712523246968943 Centerline is valid? [True, True] Translation: X:35.17, Y:0.05, Z:0.22 [[ 9.98347665e-01 -5.54941568e-02 -1.49110339e-02 3.51744643e+01] [ 5.54996389e-02 9.98458706e-01 -4.62108708e-05 4.62676644e-02] [ 1.48906160e-02 -7.81422481e-04 9.99888823e-01 2.16833803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.749254154 meters 0.025855028427699128 Centerline is valid? [True, True] Translation: X:35.21, Y:0.05, Z:0.22 [[ 9.98451263e-01 -5.35287714e-02 -1.51573769e-02 3.52054377e+01] [ 5.35342265e-02 9.98566014e-01 -4.59083853e-05 5.31319608e-02] [ 1.51380988e-02 -7.65601160e-04 9.99885119e-01 2.17778954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779254154 meters 0.02544453832284254 Centerline is valid? [True, True] Translation: X:35.24, Y:0.06, Z:0.22 [[ 9.98546287e-01 -5.15776046e-02 -1.56544909e-02 3.52373808e+01] [ 5.15831959e-02 9.98668700e-01 -4.66720512e-05 5.55989406e-02] [ 1.56360573e-02 -7.60904469e-04 9.99877460e-01 2.17515489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.809254153999994 meters 0.02355384163157735 Centerline is valid? [True, True] Translation: X:35.27, Y:0.06, Z:0.22 [[ 9.98758396e-01 -4.69261023e-02 -1.67214843e-02 3.52683344e+01] [ 4.69318419e-02 9.98898093e-01 -4.92199390e-05 6.18107837e-02] [ 1.67053685e-02 -7.35611232e-04 9.99860185e-01 2.17204225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839254153999995 meters 0.02236057661727276 Centerline is valid? [True, True] Translation: X:35.30, Y:0.07, Z:0.22 [[ 9.98879176e-01 -4.41379030e-02 -1.70949289e-02 3.53001154e+01] [ 4.41435071e-02 9.99025199e-01 -4.95692115e-05 6.58496127e-02] [ 1.70804526e-02 -7.05116461e-04 9.99853870e-01 2.17642038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.869254154 meters 0.022145996880089343 Centerline is valid? [True, True] Translation: X:35.33, Y:0.07, Z:0.22 [[ 9.99002798e-01 -4.11491078e-02 -1.73251404e-02 3.53308827e+01] [ 4.11544286e-02 9.99152796e-01 -4.94533872e-05 6.85981710e-02] [ 1.73124975e-02 -6.63602183e-04 9.99849907e-01 2.17735493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.899254154 meters 0.01897091230805556 Centerline is valid? [True, True] Translation: X:35.36, Y:0.08, Z:0.22 [[ 9.99255445e-01 -3.47932335e-02 -1.66729496e-02 3.53613900e+01] [ 3.47972844e-02 9.99394390e-01 -4.71688433e-05 7.86336289e-02] [ 1.66644935e-02 -5.33039646e-04 9.99860996e-01 2.19157760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.929254154 meters 0.018848226606545237 Centerline is valid? [True, True] Translation: X:35.39, Y:0.08, Z:0.22 [[ 9.99362864e-01 -3.15832311e-02 -1.66242720e-02 3.53915983e+01] [ 3.15868198e-02 9.99501011e-01 -4.67262638e-05 8.11193752e-02] [ 1.66174524e-02 -4.78411389e-04 9.99861806e-01 2.18910486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959254154 meters 0.016972785392685156 Centerline is valid? [True, True] Translation: X:35.42, Y:0.09, Z:0.22 [[ 9.99521310e-01 -2.57327413e-02 -1.71748668e-02 3.54226079e+01] [ 2.57357139e-02 9.99668781e-01 -4.79561784e-05 8.88789364e-02] [ 1.71704122e-02 -3.94074236e-04 9.99852500e-01 2.18863456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.989254153999994 meters 0.016013517373543243 Centerline is valid? [True, True] Translation: X:35.45, Y:0.09, Z:0.22 [[ 9.99582828e-01 -2.29475360e-02 -1.75379911e-02 3.54526471e+01] [ 2.29502060e-02 9.99736608e-01 -4.90387426e-05 9.27897865e-02] [ 1.75344970e-02 -3.53482222e-04 9.99846196e-01 2.19420203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019254153999995 meters 0.016157099012865675 Centerline is valid? [True, True] Translation: X:35.48, Y:0.09, Z:0.22 [[ 9.99645250e-01 -1.99898839e-02 -1.76005532e-02 3.54818217e+01] [ 1.99921054e-02 9.99800137e-01 -4.97377032e-05 9.40358747e-02] [ 1.75980297e-02 -3.02152056e-04 9.99845097e-01 2.18403131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.049254153999996 meters 0.014898071179370977 Centerline is valid? [True, True] Translation: X:35.51, Y:0.10, Z:0.22 [[ 9.99739436e-01 -1.45975588e-02 -1.75490916e-02 3.55109981e+01] [ 1.45988878e-02 9.99893429e-01 -5.23793200e-05 1.01149908e-01] [ 1.75479860e-02 -2.03831548e-04 9.99846001e-01 2.19664395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.079254154 meters 0.014546651282411185 Centerline is valid? [True, True] Translation: X:35.54, Y:0.10, Z:0.22 [[ 9.99791305e-01 -1.20474761e-02 -1.64986048e-02 3.55394733e+01] [ 1.20482378e-02 9.99927416e-01 -5.32323210e-05 1.03592454e-01] [ 1.64980486e-02 -1.45557902e-04 9.99863887e-01 2.20361199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.109254154 meters 0.014372847250896133 Centerline is valid? [True, True] Translation: X:35.57, Y:0.11, Z:0.22 [[ 9.99830145e-01 -9.57276353e-03 -1.57494224e-02 3.55680293e+01] [ 9.57308890e-03 9.99954175e-01 -5.47324549e-05 1.05951630e-01] [ 1.57492247e-02 -9.60474630e-05 9.99875969e-01 2.21373857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139254154 meters 0.013993946089502489 Centerline is valid? [True, True] Translation: X:35.60, Y:0.11, Z:0.22 [[ 9.99894317e-01 -4.10648632e-03 -1.39460002e-02 3.55966237e+01] [ 4.10616323e-03 9.99991568e-01 -5.18008721e-05 1.10180622e-01] [ 1.39460953e-02 -5.46915541e-06 9.99902748e-01 2.22818206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.169254153999994 meters 0.013847322128847143 Centerline is valid? [True, True] Translation: X:35.62, Y:0.11, Z:0.22 [[ 9.99908724e-01 -1.81774278e-03 -1.33880491e-02 3.56242267e+01] [ 1.81719227e-03 9.99998347e-01 -5.32845528e-05 1.12097343e-01] [ 1.33881239e-02 2.89510298e-05 9.99910375e-01 2.24238558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199254153999995 meters 0.014034459979444074 Centerline is valid? [True, True] Translation: X:35.65, Y:0.11, Z:0.22 [[ 9.99928841e-01 1.64672059e-03 -1.18153316e-02 3.56519594e+01] [-1.64741725e-03 9.99998642e-01 -4.92297941e-05 1.13979327e-01] [ 1.18152344e-02 6.86910719e-05 9.99930195e-01 2.24965123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.229254153999996 meters 0.013936741863036936 Centerline is valid? [True, True] Translation: X:35.68, Y:0.11, Z:0.23 [[ 9.99932395e-01 2.24639791e-03 -1.14087141e-02 3.56802983e+01] [-2.24710803e-03 9.99997474e-01 -4.94259590e-05 1.13846018e-01] [ 1.14085742e-02 7.50592306e-05 9.99934917e-01 2.25201372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259254154 meters 0.013951817452542396 Centerline is valid? [True, True] Translation: X:35.71, Y:0.11, Z:0.22 [[ 9.99930121e-01 2.23425507e-03 -1.16086682e-02 3.57084815e+01] [-2.23501897e-03 9.99997501e-01 -5.28317327e-05 1.13195700e-01] [ 1.16085211e-02 7.87736344e-05 9.99932616e-01 2.24972760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.289254154 meters 0.013772473791705967 Centerline is valid? [True, True] Translation: X:35.74, Y:0.11, Z:0.22 [[ 9.99923263e-01 4.27578230e-04 -1.23808442e-02 3.57376094e+01] [-4.28323438e-04 9.99999907e-01 -5.75389048e-05 1.10266499e-01] [ 1.23808185e-02 6.28374952e-05 9.99923353e-01 2.23443907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319254154 meters 0.013605340878719402 Centerline is valid? [True, True] Translation: X:35.77, Y:0.11, Z:0.22 [[ 9.99909780e-01 -1.42985814e-03 -1.33561368e-02 3.57660674e+01] [ 1.42913994e-03 9.99998977e-01 -6.33166621e-05 1.08580268e-01] [ 1.33562136e-02 4.42231612e-05 9.99910801e-01 2.22932850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34925415399999 meters 0.013637007421047906 Centerline is valid? [True, True] Translation: X:35.79, Y:0.11, Z:0.22 [[ 9.99869593e-01 -6.10898197e-03 -1.49491479e-02 3.57948382e+01] [ 6.10858378e-03 9.99981340e-01 -7.22982264e-05 1.05012008e-01] [ 1.49493106e-02 -1.90293241e-05 9.99888253e-01 2.21747676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379254153999995 meters 0.013693975341845634 Centerline is valid? [True, True] Translation: X:35.82, Y:0.10, Z:0.22 [[ 9.99836558e-01 -8.99079556e-03 -1.56851296e-02 3.58222175e+01] [ 8.99069116e-03 9.99959580e-01 -7.71713873e-05 1.02795630e-01] [ 1.56851895e-02 -6.38613821e-05 9.99876978e-01 2.21101204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.409254153999996 meters 0.013790654933153821 Centerline is valid? [True, True] Translation: X:35.85, Y:0.10, Z:0.22 [[ 9.99805020e-01 -1.18647554e-02 -1.57844655e-02 3.58513262e+01] [ 1.18649877e-02 9.99929605e-01 -7.89335479e-05 1.00635070e-01] [ 1.57842909e-02 -1.08364331e-04 9.99875414e-01 2.21040731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439254154 meters 0.014891395818576071 Centerline is valid? [True, True] Translation: X:35.88, Y:0.09, Z:0.22 [[ 9.99733684e-01 -1.75018119e-02 -1.50415315e-02 3.58791295e+01] [ 1.75026424e-02 9.99846814e-01 -7.64338878e-05 9.46783009e-02] [ 1.50405651e-02 -1.86853015e-04 9.99886867e-01 2.21096097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.469254154 meters 0.01492565523680516 Centerline is valid? [True, True] Translation: X:35.91, Y:0.09, Z:0.22 [[ 9.99681674e-01 -2.05460365e-02 -1.46427768e-02 3.59082559e+01] [ 2.05471122e-02 9.99788883e-01 -7.69907957e-05 9.45030555e-02] [ 1.46412673e-02 -2.23900490e-04 9.99892786e-01 2.23013403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.499254154 meters 0.015761221333190047 Centerline is valid? [True, True] Translation: X:35.94, Y:0.09, Z:0.22 [[ 9.99640658e-01 -2.31788895e-02 -1.34645712e-02 3.59375344e+01] [ 2.31800142e-02 9.99731305e-01 -7.25441480e-05 9.13329165e-02] [ 1.34626349e-02 -2.39590873e-04 9.99909346e-01 2.23503620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52925415399999 meters 0.015680993216644797 Centerline is valid? [True, True] Translation: X:35.97, Y:0.09, Z:0.22 [[ 9.99578036e-01 -2.59320158e-02 -1.30874286e-02 3.59688263e+01] [ 2.59333156e-02 9.99663673e-01 -7.04067048e-05 9.08725091e-02] [ 1.30848527e-02 -2.69023420e-04 9.99914353e-01 2.24754628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559254153999994 meters 0.01802173251870417 Centerline is valid? [True, True] Translation: X:36.00, Y:0.08, Z:0.22 [[ 9.99420315e-01 -3.17122088e-02 -1.23842396e-02 3.59992844e+01] [ 3.17138203e-02 9.99496988e-01 -6.62816117e-05 8.43078735e-02] [ 1.23801122e-02 -3.26508362e-04 9.99923310e-01 2.24942046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.589254153999995 meters 0.020580373329420053 Centerline is valid? [True, True] Translation: X:36.03, Y:0.08, Z:0.22 [[ 9.99230209e-01 -3.73491059e-02 -1.20014168e-02 3.60297274e+01] [ 3.73510280e-02 9.99302205e-01 -6.40203168e-05 7.82608663e-02] [ 1.19954333e-02 -3.84294219e-04 9.99927978e-01 2.24909850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619254154 meters 0.019520455877811406 Centerline is valid? [True, True] Translation: X:36.06, Y:0.08, Z:0.23 [[ 9.99118321e-01 -4.01566665e-02 -1.22484020e-02 3.60616342e+01] [ 4.01588857e-02 9.99193304e-01 -6.48207090e-05 7.92187580e-02] [ 1.22411243e-02 -4.27118618e-04 9.99924983e-01 2.25497462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.649254154 meters 0.020481027022994144 Centerline is valid? [True, True] Translation: X:36.09, Y:0.08, Z:0.23 [[ 9.99000443e-01 -4.29356778e-02 -1.24355617e-02 3.60939733e+01] [ 4.29381918e-02 9.99077728e-01 -6.48843484e-05 7.72698437e-02] [ 1.24268786e-02 -4.69141041e-04 9.99922673e-01 2.25282933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.679254154 meters 0.023101413777963188 Centerline is valid? [True, True] Translation: X:36.12, Y:0.07, Z:0.22 [[ 9.98707972e-01 -4.89170449e-02 -1.37662590e-02 3.61240337e+01] [ 4.89207031e-02 9.98802663e-01 -7.10767547e-05 7.28697016e-02] [ 1.37532530e-02 -6.02470148e-04 9.99905238e-01 2.24562881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.709254154 meters 0.024735116389006346 Centerline is valid? [True, True] Translation: X:36.15, Y:0.07, Z:0.22 [[ 9.98544720e-01 -5.19777455e-02 -1.43789953e-02 3.61541511e+01] [ 5.19820561e-02 9.98648016e-01 -7.40465788e-05 7.04062899e-02] [ 1.43634039e-02 -6.73510922e-04 9.99896614e-01 2.24133718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739254153999994 meters 0.0250598417542807 Centerline is valid? [True, True] Translation: X:36.19, Y:0.07, Z:0.22 [[ 9.98375822e-01 -5.49810569e-02 -1.49265478e-02 3.61855406e+01] [ 5.49860413e-02 9.98487120e-01 -7.65732323e-05 6.97046448e-02] [ 1.49081758e-02 -7.44302909e-04 9.99888590e-01 2.23819489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.769254153999995 meters 0.030139635240257794 Centerline is valid? [True, True] Translation: X:36.22, Y:0.06, Z:0.22 [[ 9.98187497e-01 -5.80142233e-02 -1.60022013e-02 3.62153969e+01] [ 5.80203452e-02 9.98315397e-01 -8.18191093e-05 6.25015522e-02] [ 1.59799906e-02 -8.46782430e-04 9.99871953e-01 2.22326514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799254153999996 meters 0.028889363418427957 Centerline is valid? [True, True] Translation: X:36.25, Y:0.06, Z:0.22 [[ 9.97813432e-01 -6.38818184e-02 -1.69548646e-02 3.62460410e+01] [ 6.38895356e-02 9.97956973e-01 -8.66600108e-05 6.40973856e-02] [ 1.69257613e-02 -9.96767903e-04 9.99856252e-01 2.22313795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.829254154 meters 0.031910754347839826 Centerline is valid? [True, True] Translation: X:36.28, Y:0.06, Z:0.22 [[ 9.97644608e-01 -6.63232300e-02 -1.75061702e-02 3.62761403e+01] [ 6.63318322e-02 9.97797615e-01 -8.94564027e-05 6.04322547e-02] [ 1.74735479e-02 -1.07197064e-03 9.99846751e-01 2.21685267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.859254154 meters 0.03371237274817818 Centerline is valid? [True, True] Translation: X:36.31, Y:0.06, Z:0.22 [[ 9.97456475e-01 -6.90010012e-02 -1.78729388e-02 3.63067826e+01] [ 6.90104042e-02 9.97615936e-01 -9.08597516e-05 6.00394361e-02] [ 1.78365980e-02 -1.14279008e-03 9.99840262e-01 2.21516140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.889254154 meters 0.032927912117594355 Centerline is valid? [True, True] Translation: X:36.34, Y:0.06, Z:0.22 [[ 9.97450456e-01 -6.91975520e-02 -1.74437884e-02 3.63387164e+01] [ 6.92065569e-02 9.97602348e-01 -8.76312083e-05 6.23795013e-02] [ 1.74080281e-02 -1.11981675e-03 9.99847842e-01 2.22146619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919254153999994 meters 0.0307342987869446 Centerline is valid? [True, True] Translation: X:36.37, Y:0.07, Z:0.22 [[ 9.97471509e-01 -6.88378034e-02 -1.76619754e-02 3.63707368e+01] [ 6.88470016e-02 9.97627226e-01 -8.74313801e-05 6.70097595e-02] [ 1.76260861e-02 -1.12876374e-03 9.99844011e-01 2.23396453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.949254153999995 meters 0.030253330343854655 Centerline is valid? [True, True] Translation: X:36.40, Y:0.07, Z:0.22 [[ 9.97526903e-01 -6.80043391e-02 -1.77619734e-02 3.64034838e+01] [ 6.80135371e-02 9.97684395e-01 -8.64124918e-05 7.00230310e-02] [ 1.77267201e-02 -1.12185585e-03 9.99842240e-01 2.24266288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979254153999996 meters 0.030253330343854655 Centerline is valid? [True, True] Translation: X:36.44, Y:0.07, Z:0.22 [[ 9.97534444e-01 -6.78936318e-02 -1.77619822e-02 3.64360890e+01] [ 6.79028450e-02 9.97691935e-01 -8.45708030e-05 7.00892490e-02] [ 1.77267282e-02 -1.12172683e-03 9.99842240e-01 2.24492061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.009254154 meters 0.028295448106236236 Centerline is valid? [True, True] Translation: X:36.47, Y:0.08, Z:0.23 [[ 9.97708238e-01 -6.53257209e-02 -1.76301633e-02 3.64675383e+01] [ 6.53344188e-02 9.97863421e-01 -8.27787017e-05 7.77964309e-02] [ 1.75979026e-02 -1.06926748e-03 9.99844573e-01 2.26092765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.039254154 meters 0.0309899621067208 Centerline is valid? [True, True] Translation: X:36.50, Y:0.08, Z:0.23 [[ 9.97829697e-01 -6.35174596e-02 -1.73616986e-02 3.64976597e+01] [ 6.35256464e-02 9.97980203e-01 -8.01075904e-05 7.63124526e-02] [ 1.73317198e-02 -1.02297939e-03 9.99849271e-01 2.25872990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.069254154 meters 0.027944540489377157 Centerline is valid? [True, True] Translation: X:36.53, Y:0.08, Z:0.23 [[ 9.98015765e-01 -6.04834369e-02 -1.75010556e-02 3.65285622e+01] [ 6.04913075e-02 9.98168721e-01 -7.97846426e-05 8.46725590e-02] [ 1.74738319e-02 -9.79035406e-04 9.99846842e-01 2.26478019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09925415399999 meters 0.027045947382630945 Centerline is valid? [True, True] Translation: X:36.56, Y:0.09, Z:0.23 [[ 9.98096899e-01 -5.90998874e-02 -1.76006870e-02 3.65609504e+01] [ 5.91076494e-02 9.98251611e-01 -7.93273340e-05 8.77855766e-02] [ 1.75746024e-02 -9.61158872e-04 9.99845093e-01 2.26874548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.129254153999995 meters 0.027959946918008724 Centerline is valid? [True, True] Translation: X:36.59, Y:0.09, Z:0.23 [[ 9.98229995e-01 -5.68990653e-02 -1.73024118e-02 3.65912619e+01] [ 5.69062487e-02 9.98379523e-01 -7.72914430e-05 9.05792987e-02] [ 1.72787715e-02 -9.07460713e-04 9.99850299e-01 2.27524145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159254153999996 meters 0.026063497156454722 Centerline is valid? [True, True] Translation: X:36.62, Y:0.10, Z:0.23 [[ 9.98320285e-01 -5.55784359e-02 -1.63599108e-02 3.66238499e+01] [ 5.55846971e-02 9.98453973e-01 -7.21009654e-05 9.57214830e-02] [ 1.63386252e-02 -8.37380828e-04 9.99866165e-01 2.29002456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.189254154 meters 0.025691814100087952 Centerline is valid? [True, True] Translation: X:36.66, Y:0.10, Z:0.23 [[ 9.98436113e-01 -5.35900363e-02 -1.59196923e-02 3.66551502e+01] [ 5.35957278e-02 9.98562714e-01 -6.92184085e-05 9.82928792e-02] [ 1.59005206e-02 -7.84117337e-04 9.99873271e-01 2.29912576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219254154 meters 0.0241356869669719 Centerline is valid? [True, True] Translation: X:36.69, Y:0.10, Z:0.23 [[ 9.98677510e-01 -4.91032210e-02 -1.52349937e-02 3.66855718e+01] [ 4.91079160e-02 9.98793476e-01 -6.59996258e-05 1.04897332e-01] [ 1.52198531e-02 -6.82246448e-04 9.99883939e-01 2.31026206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.249254154 meters 0.023596096736526403 Centerline is valid? [True, True] Translation: X:36.72, Y:0.11, Z:0.23 [[ 9.98827408e-01 -4.61708206e-02 -1.45624080e-02 3.67159479e+01] [ 4.61748011e-02 9.98933373e-01 -6.29480308e-05 1.08208600e-01] [ 1.45497817e-02 -6.09542076e-04 9.99893961e-01 2.30960962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27925415399999 meters 0.02266688440036521 Centerline is valid? [True, True] Translation: X:36.75, Y:0.11, Z:0.23 [[ 9.98967906e-01 -4.28761564e-02 -1.49919252e-02 3.67465043e+01] [ 4.28800110e-02 9.99080227e-01 -6.43892248e-05 1.11947489e-01] [ 1.49808968e-02 -5.78531147e-04 9.99887613e-01 2.30985090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.309254153999994 meters 0.020464165261244355 Centerline is valid? [True, True] Translation: X:36.78, Y:0.12, Z:0.23 [[ 9.99236099e-01 -3.59314921e-02 -1.53670716e-02 3.67762164e+01] [ 3.59347248e-02 9.99354137e-01 -6.57928733e-05 1.20623359e-01] [ 1.53595106e-02 -4.86468876e-04 9.99881917e-01 2.31123787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339254153999995 meters 0.018036070032249853 Centerline is valid? [True, True] Translation: X:36.81, Y:0.13, Z:0.23 [[ 9.99364038e-01 -3.21905569e-02 -1.53390920e-02 3.68075873e+01] [ 3.21933417e-02 9.99481658e-01 -6.54037791e-05 1.27522777e-01] [ 1.53332465e-02 -4.28454445e-04 9.99882347e-01 2.32296738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.369254154 meters 0.01636205361101879 Centerline is valid? [True, True] Translation: X:36.84, Y:0.14, Z:0.23 [[ 9.99572746e-01 -2.51202773e-02 -1.49431411e-02 3.68371333e+01] [ 2.51221319e-02 9.99684387e-01 -6.36131797e-05 1.35367818e-01] [ 1.49400229e-02 -3.11817563e-04 9.99888343e-01 2.33431396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399254154 meters 0.015184394583616239 Centerline is valid? [True, True] Translation: X:36.87, Y:0.14, Z:0.23 [[ 9.99647726e-01 -2.20342693e-02 -1.47957845e-02 3.68688404e+01] [ 2.20357543e-02 9.99757181e-01 -6.26722525e-05 1.40383359e-01] [ 1.47935728e-02 -2.63386098e-04 9.99890534e-01 2.34400375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.429254154 meters 0.014847605045264148 Centerline is valid? [True, True] Translation: X:36.90, Y:0.14, Z:0.23 [[ 9.99711037e-01 -1.90437216e-02 -1.46690071e-02 3.68994669e+01] [ 1.90448731e-02 9.99818628e-01 -6.12038629e-05 1.42914105e-01] [ 1.46675121e-02 -2.18183202e-04 9.99892402e-01 2.34561816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459254154 meters 0.014612114326477769 Centerline is valid? [True, True] Translation: X:36.93, Y:0.15, Z:0.23 [[ 9.99761763e-01 -1.60435795e-02 -1.47993794e-02 3.69287249e+01] [ 1.60444282e-02 9.99871278e-01 -6.13902381e-05 1.45908327e-01] [ 1.47984593e-02 -1.76071968e-04 9.99890481e-01 2.34475442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.489254153999994 meters 0.013717125451539186 Centerline is valid? [True, True] Translation: X:36.96, Y:0.15, Z:0.23 [[ 9.99838597e-01 -9.32643703e-03 -1.53556892e-02 3.69583259e+01] [ 9.32655193e-03 9.99956505e-01 -6.41307937e-05 1.52965445e-01] [ 1.53556194e-02 -7.90951899e-05 9.99882092e-01 2.34383225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519254153999995 meters 0.013593614537750683 Centerline is valid? [True, True] Translation: X:36.99, Y:0.16, Z:0.23 [[ 9.99862929e-01 -5.75055715e-03 -1.55258934e-02 3.69862120e+01] [ 5.75020060e-03 9.99983465e-01 -6.76061658e-05 1.56559509e-01] [ 1.55260255e-02 -2.16801026e-05 9.99879464e-01 2.34968064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.549254153999996 meters 0.013919879503124273 Centerline is valid? [True, True] Translation: X:37.01, Y:0.16, Z:0.24 [[ 9.99889074e-01 2.33401906e-03 -1.47102414e-02 3.70134809e+01] [-2.33525460e-03 9.99997271e-01 -6.68159074e-05 1.63195465e-01] [ 1.47100453e-02 1.01160655e-04 9.99891796e-01 2.35295612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579254154 meters 0.014563155687208784 Centerline is valid? [True, True] Translation: X:37.04, Y:0.17, Z:0.24 [[ 9.99877369e-01 6.24570434e-03 -1.43610024e-02 3.70407091e+01] [-6.24731234e-03 9.99980483e-01 -6.71111260e-05 1.66828099e-01] [ 1.43603030e-02 1.56820564e-04 9.99896873e-01 2.35850728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.609254154 meters 0.015574797434126257 Centerline is valid? [True, True] Translation: X:37.07, Y:0.17, Z:0.24 [[ 9.99832968e-01 1.34270053e-02 -1.23996509e-02 3.70697535e+01] [-1.34287711e-02 9.99909828e-01 -5.91594615e-05 1.71019752e-01] [ 1.23977385e-02 2.25661654e-04 9.99923120e-01 2.37342790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639254154 meters 0.015537510734929129 Centerline is valid? [True, True] Translation: X:37.10, Y:0.17, Z:0.24 [[ 9.99810890e-01 1.54882902e-02 -1.17599482e-02 3.70982174e+01] [-1.54900397e-02 9.99880020e-01 -5.76923090e-05 1.71196916e-01] [ 1.17576437e-02 2.39843463e-04 9.99930848e-01 2.38344800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.669254153999994 meters 0.01608069602116673 Centerline is valid? [True, True] Translation: X:37.13, Y:0.17, Z:0.24 [[ 9.99786186e-01 1.69591148e-02 -1.18308927e-02 3.71256449e+01] [-1.69610173e-02 9.99856150e-01 -6.04889998e-05 1.72350171e-01] [ 1.18281650e-02 2.61140042e-04 9.99930011e-01 2.38277636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699254153999995 meters 0.016429015827073717 Centerline is valid? [True, True] Translation: X:37.15, Y:0.17, Z:0.24 [[ 9.99784984e-01 1.72380952e-02 -1.15253353e-02 3.71530817e+01] [-1.72399345e-02 9.99851379e-01 -6.02520117e-05 1.72610928e-01] [ 1.15225838e-02 2.58935083e-04 9.99933579e-01 2.38259945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.729254153999996 meters 0.016171398823609955 Centerline is valid? [True, True] Translation: X:37.18, Y:0.17, Z:0.24 [[ 9.99815892e-01 1.50288734e-02 -1.19295748e-02 3.71811622e+01] [-1.50306998e-02 9.99887031e-01 -6.34478919e-05 1.69790971e-01] [ 1.19272736e-02 2.42746068e-04 9.99928838e-01 2.37642484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759254154 meters 0.0156316140717235 Centerline is valid? [True, True] Translation: X:37.21, Y:0.17, Z:0.24 [[ 9.99840255e-01 1.25158794e-02 -1.27600039e-02 3.72100556e+01] [-1.25177779e-02 9.99921647e-01 -6.89293417e-05 1.67182603e-01] [ 1.27581414e-02 2.28645226e-04 9.99918585e-01 2.37086477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.789254154 meters 0.014911067212909778 Centerline is valid? [True, True] Translation: X:37.24, Y:0.16, Z:0.24 [[ 9.99870839e-01 9.13613304e-03 -1.32225769e-02 3.72388942e+01] [-9.13788884e-03 9.99958246e-01 -7.23774717e-05 1.63813411e-01] [ 1.32213636e-02 1.93194561e-04 9.99912575e-01 2.36965392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819254154 meters 0.013728984548387587 Centerline is valid? [True, True] Translation: X:37.27, Y:0.16, Z:0.24 [[ 9.99903091e-01 4.30881288e-04 -1.39148814e-02 3.72675705e+01] [-4.31997058e-04 9.99999904e-01 -7.71797499e-05 1.55269996e-01] [ 1.39148468e-02 8.31834582e-05 9.99903180e-01 2.36126867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84925415399999 meters 0.013643066435292985 Centerline is valid? [True, True] Translation: X:37.30, Y:0.15, Z:0.24 [[ 9.99894065e-01 -4.53583979e-03 -1.38305977e-02 3.72961281e+01] [ 4.53519887e-03 9.99989713e-01 -7.77046207e-05 1.50549137e-01] [ 1.38308079e-02 1.49718779e-05 9.99904350e-01 2.36193521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879254153999995 meters 0.013994032855787993 Centerline is valid? [True, True] Translation: X:37.33, Y:0.14, Z:0.24 [[ 9.99808444e-01 -1.51651873e-02 -1.23730463e-02 3.73252799e+01] [ 1.51654777e-02 9.99884995e-01 -7.03605075e-05 1.40417107e-01] [ 1.23726904e-02 -1.17296128e-04 9.99923448e-01 2.36699512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.909254153999996 meters 0.014750986502462886 Centerline is valid? [True, True] Translation: X:37.35, Y:0.14, Z:0.24 [[ 9.99729666e-01 -2.01121857e-02 -1.16659636e-02 3.73549464e+01] [ 2.01127741e-02 9.99797715e-01 -6.68984219e-05 1.35305085e-01] [ 1.16649492e-02 -1.67754553e-04 9.99931948e-01 2.37378080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939254154 meters 0.015618204330148776 Centerline is valid? [True, True] Translation: X:37.39, Y:0.13, Z:0.24 [[ 9.99636008e-01 -2.47889747e-02 -1.06470095e-02 3.73861661e+01] [ 2.47897301e-02 9.99692686e-01 -6.10343815e-05 1.30853828e-01] [ 1.06452505e-02 -2.02924328e-04 9.99943317e-01 2.38357892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.969254154 meters 0.01696731206302214 Centerline is valid? [True, True] Translation: X:37.42, Y:0.13, Z:0.24 [[ 9.99532204e-01 -2.88841823e-02 -1.00537137e-02 3.74171091e+01] [ 2.88850685e-02 9.99582738e-01 -5.70806091e-05 1.25687120e-01] [ 1.00511674e-02 -2.33348301e-04 9.99949459e-01 2.38887579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999254154 meters 0.018381811779464345 Centerline is valid? [True, True] Translation: X:37.45, Y:0.12, Z:0.24 [[ 9.99308690e-01 -3.59180375e-02 -9.59358240e-03 3.74485846e+01] [ 3.59191756e-02 9.99354697e-01 -5.37030792e-05 1.18339477e-01] [ 9.58932054e-03 -2.90927617e-04 9.99953979e-01 2.39326011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02925415399999 meters 0.01898840673564839 Centerline is valid? [True, True] Translation: X:37.48, Y:0.12, Z:0.24 [[ 9.99208177e-01 -3.86489958e-02 -9.44850497e-03 3.74810675e+01] [ 3.86502258e-02 9.99252799e-01 -5.24552440e-05 1.15043680e-01] [ 9.44347238e-03 -3.12773142e-04 9.99955361e-01 2.39247649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059254153999994 meters 0.021498858997993732 Centerline is valid? [True, True] Translation: X:37.51, Y:0.11, Z:0.24 [[ 9.99132684e-01 -4.04652828e-02 -9.82040565e-03 3.75121066e+01] [ 4.04667059e-02 9.99180886e-01 -5.38263075e-05 1.11279956e-01] [ 9.81453972e-03 -3.43619844e-04 9.99951777e-01 2.37227637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.089254153999995 meters 0.02233557772273266 Centerline is valid? [True, True] Translation: X:37.54, Y:0.10, Z:0.24 [[ 9.98988572e-01 -4.39324541e-02 -9.57976510e-03 3.75421983e+01] [ 4.39339711e-02 9.99034436e-01 -5.21334113e-05 1.03575171e-01] [ 9.57280557e-03 -3.68796441e-04 9.99954112e-01 2.38917545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119254154 meters 0.021006052353874784 Centerline is valid? [True, True] Translation: X:37.57, Y:0.10, Z:0.24 [[ 9.98942303e-01 -4.48959489e-02 -9.93118439e-03 3.75741249e+01] [ 4.48976290e-02 9.98991592e-01 -5.38233165e-05 1.03994727e-01] [ 9.92358615e-03 -3.92120244e-04 9.99950683e-01 2.38817584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.149254154 meters 0.022248156138252536 Centerline is valid? [True, True] Translation: X:37.61, Y:0.10, Z:0.24 [[ 9.98876339e-01 -4.59396012e-02 -1.16452543e-02 3.76050807e+01] [ 4.59419922e-02 9.98944107e-01 -6.22501101e-05 9.94558900e-02] [ 1.16358179e-02 -4.72826021e-04 9.99932190e-01 2.37232510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179254154 meters 0.021859833632190653 Centerline is valid? [True, True] Translation: X:37.64, Y:0.10, Z:0.24 [[ 9.98858744e-01 -4.59859848e-02 -1.29034703e-02 3.76376553e+01] [ 4.59889354e-02 9.98941947e-01 -6.81134309e-05 9.94243138e-02] [ 1.28929500e-02 -5.25381166e-04 9.99916744e-01 2.36460416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20925415399999 meters 0.021307959857442403 Centerline is valid? [True, True] Translation: X:37.67, Y:0.10, Z:0.24 [[ 9.98843609e-01 -4.59187762e-02 -1.42446740e-02 3.76693537e+01] [ 4.59223792e-02 9.98945008e-01 -7.42227263e-05 1.00059577e-01] [ 1.42330542e-02 -5.80012426e-04 9.99898537e-01 2.36050641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239254153999994 meters 0.023138334065431795 Centerline is valid? [True, True] Translation: X:37.70, Y:0.10, Z:0.23 [[ 9.98829176e-01 -4.56865195e-02 -1.59065979e-02 3.77001400e+01] [ 4.56909979e-02 9.98955618e-01 -8.19517194e-05 9.67339761e-02] [ 1.58937294e-02 -6.44932563e-04 9.99873479e-01 2.34328284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.269254153999995 meters 0.02332692351731941 Centerline is valid? [True, True] Translation: X:37.73, Y:0.10, Z:0.23 [[ 9.98822016e-01 -4.56991617e-02 -1.63146044e-02 3.77323005e+01] [ 4.57038919e-02 9.98955028e-01 -8.29890844e-05 9.65966050e-02] [ 1.63013487e-02 -6.62749592e-04 9.99866905e-01 2.34176968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299254153999996 meters 0.023666541946351236 Centerline is valid? [True, True] Translation: X:37.76, Y:0.10, Z:0.23 [[ 9.98822852e-01 -4.56908961e-02 -1.62865555e-02 3.77646444e+01] [ 4.56956278e-02 9.98955406e-01 -8.16885792e-05 9.63069544e-02] [ 1.62732751e-02 -6.62631959e-04 9.99867362e-01 2.34587825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.329254154 meters 0.02325573414771444 Centerline is valid? [True, True] Translation: X:37.80, Y:0.10, Z:0.24 [[ 9.98822804e-01 -4.56590640e-02 -1.63785258e-02 3.77971723e+01] [ 4.56638641e-02 9.98956858e-01 -8.09790622e-05 9.72785259e-02] [ 1.63651381e-02 -6.67023043e-04 9.99865860e-01 2.35384545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359254154 meters 0.022527507217704763 Centerline is valid? [True, True] Translation: X:37.83, Y:0.10, Z:0.24 [[ 9.98831334e-01 -4.56781236e-02 -1.57947600e-02 3.78291656e+01] [ 4.56826077e-02 9.98956002e-01 -7.69692762e-05 9.91363230e-02] [ 1.57817861e-02 -6.44666499e-04 9.99875252e-01 2.36174911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.389254154 meters 0.02334143994952366 Centerline is valid? [True, True] Translation: X:37.86, Y:0.10, Z:0.24 [[ 9.98850370e-01 -4.54014032e-02 -1.53834699e-02 3.78604533e+01] [ 4.54056386e-02 9.98968629e-01 -7.40159395e-05 9.86581103e-02] [ 1.53709643e-02 -6.24565426e-04 9.99881665e-01 2.36685380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419254153999994 meters 0.022702289278370695 Centerline is valid? [True, True] Translation: X:37.89, Y:0.10, Z:0.24 [[ 9.98906675e-01 -4.45551443e-02 -1.41524930e-02 3.78927623e+01] [ 4.45586564e-02 9.99006768e-01 -6.72282918e-05 1.01525618e-01] [ 1.41414317e-02 -5.63461283e-04 9.99899846e-01 2.38041990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.449254153999995 meters 0.022687515138840843 Centerline is valid? [True, True] Translation: X:37.93, Y:0.10, Z:0.24 [[ 9.98949128e-01 -4.37059549e-02 -1.37996285e-02 3.79252786e+01] [ 4.37092265e-02 9.99044293e-01 -6.45752524e-05 1.02598718e-01] [ 1.37892624e-02 -5.38663697e-04 9.99904779e-01 2.38653960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479254153999996 meters 0.022966719528781997 Centerline is valid? [True, True] Translation: X:37.96, Y:0.10, Z:0.24 [[ 9.99011841e-01 -4.26258797e-02 -1.25847314e-02 3.79562298e+01] [ 4.26285244e-02 9.99090990e-01 -5.81375768e-05 1.04168766e-01] [ 1.25757699e-02 -4.78388403e-04 9.99920807e-01 2.39819005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.509254154 meters 0.02313405866224658 Centerline is valid? [True, True] Translation: X:37.99, Y:0.11, Z:0.24 [[ 9.99011256e-01 -4.27259768e-02 -1.22882504e-02 3.79883854e+01] [ 4.27285150e-02 9.99086718e-01 -5.60311571e-05 1.05480980e-01] [ 1.22794218e-02 -4.69082937e-04 9.99924495e-01 2.40531865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.539254154 meters 0.02328105285086013 Centerline is valid? [True, True] Translation: X:38.02, Y:0.11, Z:0.24 [[ 9.99002330e-01 -4.30381491e-02 -1.19189828e-02 3.80208984e+01] [ 4.30405690e-02 9.99073324e-01 -5.35241496e-05 1.06146680e-01] [ 1.19102413e-02 -4.59529050e-04 9.99928965e-01 2.41039398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.569254154 meters 0.021670886975045902 Centerline is valid? [True, True] Translation: X:38.05, Y:0.11, Z:0.24 [[ 9.98976375e-01 -4.36359325e-02 -1.19208841e-02 3.80526404e+01] [ 4.36384058e-02 9.99047390e-01 -5.26790931e-05 1.09292221e-01] [ 1.19118269e-02 -4.67583210e-04 9.99928942e-01 2.41482410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59925415399999 meters 0.023721877618947226 Centerline is valid? [True, True] Translation: X:38.08, Y:0.11, Z:0.24 [[ 9.98859237e-01 -4.61582447e-02 -1.22328147e-02 3.80832132e+01] [ 4.61610467e-02 9.98934009e-01 -5.33425063e-05 1.07086838e-01] [ 1.22222368e-02 -5.11397874e-04 9.99925175e-01 2.40839225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.629254153999995 meters 0.023551579033082783 Centerline is valid? [True, True] Translation: X:38.12, Y:0.11, Z:0.24 [[ 9.98799723e-01 -4.72939815e-02 -1.27433467e-02 3.81152598e+01] [ 4.72971234e-02 9.98880863e-01 -5.48834359e-05 1.08076651e-01] [ 1.27316808e-02 -5.47906082e-04 9.99918799e-01 2.40996977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659254153999996 meters 0.024189229005982128 Centerline is valid? [True, True] Translation: X:38.15, Y:0.11, Z:0.24 [[ 9.98697622e-01 -4.91134742e-02 -1.38175962e-02 3.81476036e+01] [ 4.91173564e-02 9.98793013e-01 -5.84654691e-05 1.09008442e-01] [ 1.38037899e-02 -6.20294470e-04 9.99904531e-01 2.40727178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.689254154 meters 0.024288514039233246 Centerline is valid? [True, True] Translation: X:38.18, Y:0.11, Z:0.24 [[ 9.98683079e-01 -4.93646048e-02 -1.39729295e-02 3.81796250e+01] [ 4.93686135e-02 9.98780625e-01 -5.81038355e-05 1.10228281e-01] [ 1.39587595e-02 -6.31796838e-04 9.99902372e-01 2.40706362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.719254154 meters 0.02307966831857968 Centerline is valid? [True, True] Translation: X:38.21, Y:0.11, Z:0.24 [[ 9.98689687e-01 -4.91462933e-02 -1.42671061e-02 3.82128510e+01] [ 4.91504694e-02 9.98791384e-01 -5.79948321e-05 1.13566044e-01] [ 1.42527129e-02 -6.43316121e-04 9.99898218e-01 2.41292334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.749254154 meters 0.02429037640708316 Centerline is valid? [True, True] Translation: X:38.24, Y:0.11, Z:0.24 [[ 9.98758202e-01 -4.77648620e-02 -1.41623532e-02 3.82441274e+01] [ 4.77688549e-02 9.98858415e-01 -5.64016159e-05 1.14401639e-01] [ 1.41488797e-02 -6.20187816e-04 9.99899707e-01 2.41343659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77925415399999 meters 0.02293514760540588 Centerline is valid? [True, True] Translation: X:38.28, Y:0.12, Z:0.24 [[ 9.98836607e-01 -4.62289742e-02 -1.37227670e-02 3.82765832e+01] [ 4.62325901e-02 9.98930701e-01 -5.37848954e-05 1.17869415e-01] [ 1.37105796e-02 -5.80716738e-04 9.99905837e-01 2.42038217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.809254153999994 meters 0.02311793089986872 Centerline is valid? [True, True] Translation: X:38.31, Y:0.12, Z:0.24 [[ 9.98936876e-01 -4.40525315e-02 -1.35828211e-02 3.83070761e+01] [ 4.40558816e-02 9.99029067e-01 -5.26166451e-05 1.19215241e-01] [ 1.35719510e-02 -5.45842452e-04 9.99907748e-01 2.42372695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839254153999995 meters 0.020987615914655512 Centerline is valid? [True, True] Translation: X:38.34, Y:0.13, Z:0.24 [[ 9.99174134e-01 -3.84891251e-02 -1.30244885e-02 3.83376237e+01] [ 3.84917363e-02 9.99258917e-01 -5.02259503e-05 1.26183063e-01] [ 1.30167695e-02 -4.51150708e-04 9.99915176e-01 2.43245965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.869254154 meters 0.01897448144891087 Centerline is valid? [True, True] Translation: X:38.37, Y:0.13, Z:0.24 [[ 9.99304008e-01 -3.50885465e-02 -1.26607439e-02 3.83693788e+01] [ 3.50907468e-02 9.99384129e-01 -4.83889191e-05 1.31598803e-01] [ 1.26546444e-02 -3.95919716e-04 9.99919848e-01 2.43657961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.899254154 meters 0.01897448144891087 Centerline is valid? [True, True] Translation: X:38.40, Y:0.13, Z:0.24 [[ 9.99306573e-01 -3.50153935e-02 -1.26607469e-02 3.84010899e+01] [ 3.50175980e-02 9.99386695e-01 -4.75888822e-05 1.31658920e-01] [ 1.26546483e-02 -3.95793061e-04 9.99919848e-01 2.43877592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.929254154 meters 0.017345370853703464 Centerline is valid? [True, True] Translation: X:38.43, Y:0.14, Z:0.24 [[ 9.99525762e-01 -2.82838583e-02 -1.21767861e-02 3.84304579e+01] [ 2.82854030e-02 9.99599887e-01 -4.53768981e-05 1.38495437e-01] [ 1.21731975e-02 -2.99069924e-04 9.99925859e-01 2.44379547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95925415399999 meters 0.016555823464998218 Centerline is valid? [True, True] Translation: X:38.46, Y:0.14, Z:0.24 [[ 9.99619510e-01 -2.47785179e-02 -1.21186131e-02 3.84606953e+01] [ 2.47797900e-02 9.99692933e-01 -4.51924068e-05 1.41723824e-01] [ 1.21160117e-02 -2.55121478e-04 9.99926566e-01 2.44790167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.989254153999994 meters 0.015840547933415904 Centerline is valid? [True, True] Translation: X:38.49, Y:0.15, Z:0.25 [[ 9.99699400e-01 -2.14089705e-02 -1.19484312e-02 3.84926279e+01] [ 2.14099712e-02 9.99770779e-01 -4.41670717e-05 1.45372761e-01] [ 1.19466380e-02 -2.11661774e-04 9.99928614e-01 2.45137531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019254153999995 meters 0.01469375243281843 Centerline is valid? [True, True] Translation: X:38.52, Y:0.15, Z:0.25 [[ 9.99805518e-01 -1.56707376e-02 -1.19730413e-02 3.85241017e+01] [ 1.56713377e-02 9.99877196e-01 -4.37054384e-05 1.51124239e-01] [ 1.19722559e-02 -1.43936636e-04 9.99928320e-01 2.45449819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.049254153999996 meters 0.01415345534111041 Centerline is valid? [True, True] Translation: X:38.55, Y:0.16, Z:0.24 [[ 9.99854419e-01 -1.18416185e-02 -1.22848009e-02 3.85546699e+01] [ 1.18419644e-02 9.99929880e-01 -4.45887839e-05 1.55457112e-01] [ 1.22844675e-02 -1.00893883e-04 9.99924538e-01 2.44765516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.079254154 meters 0.013999420647287441 Centerline is valid? [True, True] Translation: X:38.58, Y:0.16, Z:0.24 [[ 9.99860801e-01 -1.09110866e-02 -1.26224786e-02 3.85829817e+01] [ 1.09113600e-02 9.99940468e-01 -4.72139987e-05 1.56927556e-01] [ 1.26222423e-02 -9.05209813e-05 9.99920332e-01 2.44235024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.109254154 meters 0.014360002808988503 Centerline is valid? [True, True] Translation: X:38.61, Y:0.16, Z:0.24 [[ 9.99863938e-01 -1.02763099e-02 -1.29035938e-02 3.86113418e+01] [ 1.02765012e-02 9.99947194e-01 -5.14791575e-05 1.58137020e-01] [ 1.29034414e-02 -8.11316445e-05 9.99916744e-01 2.43507866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139254154 meters 0.01400408650977449 Centerline is valid? [True, True] Translation: X:38.64, Y:0.16, Z:0.24 [[ 9.99860385e-01 -1.02936588e-02 -1.31624923e-02 3.86395395e+01] [ 1.02938293e-02 9.99947016e-01 -5.47972294e-05 1.58774827e-01] [ 1.31623590e-02 -8.07028699e-05 9.99913369e-01 2.43547815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.169254153999994 meters 0.013955993471439972 Centerline is valid? [True, True] Translation: X:38.67, Y:0.16, Z:0.24 [[ 9.99860730e-01 -1.07304113e-02 -1.27819717e-02 3.86682977e+01] [ 1.07305816e-02 9.99942424e-01 -5.52548471e-05 1.59685776e-01] [ 1.27818287e-02 -8.19108393e-05 9.99918306e-01 2.44091179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199254153999995 meters 0.013910828096734855 Centerline is valid? [True, True] Translation: X:38.70, Y:0.16, Z:0.24 [[ 9.99852153e-01 -1.18024600e-02 -1.25049260e-02 3.86972569e+01] [ 1.18026679e-02 9.99930344e-01 -5.71821061e-05 1.60577095e-01] [ 1.25047298e-02 -9.04178360e-05 9.99921809e-01 2.44870437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.229254153999996 meters 0.014376970801211256 Centerline is valid? [True, True] Translation: X:38.73, Y:0.16, Z:0.25 [[ 9.99823389e-01 -1.42382427e-02 -1.22663483e-02 3.87259700e+01] [ 1.42385996e-02 9.99898624e-01 -5.82370780e-05 1.59499741e-01] [ 1.22659340e-02 -1.16428830e-04 9.99924764e-01 2.45076057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259254154 meters 0.014431721041154581 Centerline is valid? [True, True] Translation: X:38.76, Y:0.16, Z:0.25 [[ 9.99800481e-01 -1.58714651e-02 -1.21282503e-02 3.87559668e+01] [ 1.58719258e-02 9.99874031e-01 -5.82684182e-05 1.59091979e-01] [ 1.21276473e-02 -1.34241897e-04 9.99926448e-01 2.45234082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.289254154 meters 0.014554529384088195 Centerline is valid? [True, True] Translation: X:38.79, Y:0.16, Z:0.25 [[ 9.99767026e-01 -1.78761801e-02 -1.20969499e-02 3.87860648e+01] [ 1.78767822e-02 9.99840196e-01 -5.83637611e-05 1.59025270e-01] [ 1.20960601e-02 -1.57904376e-04 9.99926828e-01 2.45516950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319254154 meters 0.015410003153215933 Centerline is valid? [True, True] Translation: X:38.82, Y:0.16, Z:0.25 [[ 9.99674995e-01 -2.23279344e-02 -1.23031246e-02 3.88168370e+01] [ 2.23288954e-02 9.99750677e-01 -5.92610040e-05 1.56545809e-01] [ 1.23013803e-02 -2.15473438e-04 9.99924312e-01 2.45131702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34925415399999 meters 0.016035375845875745 Centerline is valid? [True, True] Translation: X:38.85, Y:0.15, Z:0.24 [[ 9.99620566e-01 -2.46375037e-02 -1.23174016e-02 3.88480884e+01] [ 2.46386474e-02 9.99696421e-01 -5.89104077e-05 1.54778949e-01] [ 1.23151137e-02 -2.44596059e-04 9.99924136e-01 2.44981763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379254153999995 meters 0.017565438154120885 Centerline is valid? [True, True] Translation: X:38.88, Y:0.15, Z:0.25 [[ 9.99505464e-01 -2.92347584e-02 -1.15825920e-02 3.88787991e+01] [ 2.92360890e-02 9.99572533e-01 -5.44616971e-05 1.50869420e-01] [ 1.15792330e-02 -2.84194927e-04 9.99932918e-01 2.45181019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.409254153999996 meters 0.017519739494643104 Centerline is valid? [True, True] Translation: X:38.91, Y:0.15, Z:0.25 [[ 9.99438584e-01 -3.14991287e-02 -1.14158107e-02 3.89106261e+01] [ 3.15005837e-02 9.99503732e-01 -5.23726507e-05 1.50872146e-01] [ 1.14117951e-02 -3.07261454e-04 9.99934836e-01 2.45871927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439254154 meters 0.018099203949883354 Centerline is valid? [True, True] Translation: X:38.94, Y:0.15, Z:0.25 [[ 9.99378994e-01 -3.33883956e-02 -1.12623798e-02 3.89423216e+01] [ 3.33899422e-02 9.99442399e-01 -5.07369377e-05 1.49668576e-01] [ 1.12577939e-02 -3.25344781e-04 9.99936576e-01 2.45830351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.469254154 meters 0.01874401274287021 Centerline is valid? [True, True] Translation: X:38.97, Y:0.15, Z:0.25 [[ 9.99324231e-01 -3.49914567e-02 -1.12551840e-02 3.89746235e+01] [ 3.49931107e-02 9.99387552e-01 -5.00065178e-05 1.48188438e-01] [ 1.12500406e-02 -3.43881175e-04 9.99936657e-01 2.45716352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.499254154 meters 0.019954351820952506 Centerline is valid? [True, True] Translation: X:39.01, Y:0.15, Z:0.25 [[ 9.99212852e-01 -3.80766319e-02 -1.11286051e-02 3.90062914e+01] [ 3.80784509e-02 9.99274752e-01 -4.84642069e-05 1.45656250e-01] [ 1.11223795e-02 -3.75333985e-04 9.99938074e-01 2.45583486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52925415399999 meters 0.020955059709511902 Centerline is valid? [True, True] Translation: X:39.04, Y:0.14, Z:0.25 [[ 9.99161472e-01 -3.94421182e-02 -1.09851048e-02 3.90372111e+01] [ 3.94439841e-02 9.99221782e-01 -4.68378819e-05 1.43848359e-01] [ 1.09784034e-02 -3.86497692e-04 9.99939661e-01 2.45863682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559254153999994 meters 0.020890488358583387 Centerline is valid? [True, True] Translation: X:39.07, Y:0.14, Z:0.25 [[ 9.99115914e-01 -4.05966187e-02 -1.09226965e-02 3.90688618e+01] [ 4.05985387e-02 9.99175538e-01 -4.59823245e-05 1.43958217e-01] [ 1.09155578e-02 -3.97503843e-04 9.99940345e-01 2.46466777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.589254153999995 meters 0.02202255180035586 Centerline is valid? [True, True] Translation: X:39.10, Y:0.14, Z:0.25 [[ 9.99006690e-01 -4.32007778e-02 -1.09236237e-02 3.91005756e+01] [ 4.32028601e-02 9.99066320e-01 -4.53935898e-05 1.42349010e-01] [ 1.09153855e-02 -4.26583285e-04 9.99940334e-01 2.46806543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619254154 meters 0.023050930026305927 Centerline is valid? [True, True] Translation: X:39.13, Y:0.14, Z:0.25 [[ 9.98964795e-01 -4.41981831e-02 -1.07637448e-02 3.91320871e+01] [ 4.42002720e-02 9.99022689e-01 -4.38533761e-05 1.40784436e-01] [ 1.07551635e-02 -4.31952469e-04 9.99942068e-01 2.46497716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.649254154 meters 0.025240109050497773 Centerline is valid? [True, True] Translation: X:39.16, Y:0.14, Z:0.25 [[ 9.98872515e-01 -4.61289040e-02 -1.12171175e-02 3.91633916e+01] [ 4.61313105e-02 9.98935383e-01 -4.42384758e-05 1.37779211e-01] [ 1.12072162e-02 -4.73271733e-04 9.99937085e-01 2.46560772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679254154 meters 0.023712897381610098 Centerline is valid? [True, True] Translation: X:39.20, Y:0.14, Z:0.25 [[ 9.98821977e-01 -4.71202706e-02 -1.15904855e-02 3.91950982e+01] [ 4.71229194e-02 9.98889097e-01 -4.46125052e-05 1.40671436e-01] [ 1.15797118e-02 -5.01617565e-04 9.99932827e-01 2.46352263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70925415399999 meters 0.02629744123669009 Centerline is valid? [True, True] Translation: X:39.23, Y:0.14, Z:0.25 [[ 9.98753790e-01 -4.82146083e-02 -1.28925918e-02 3.92262747e+01] [ 4.82179862e-02 9.98836835e-01 -4.88878041e-05 1.37471369e-01] [ 1.28799527e-02 -5.72827934e-04 9.99916886e-01 2.45734394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739254153999994 meters 0.025407278421182244 Centerline is valid? [True, True] Translation: X:39.26, Y:0.14, Z:0.25 [[ 9.98653251e-01 -4.99453457e-02 -1.40408733e-02 3.92581828e+01] [ 4.99495357e-02 9.98751741e-01 -5.23311016e-05 1.39993083e-01] [ 1.40259603e-02 -6.49074476e-04 9.99901421e-01 2.45041492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.769254153999995 meters 0.02418165933726964 Centerline is valid? [True, True] Translation: X:39.29, Y:0.14, Z:0.25 [[ 9.98604179e-01 -5.07241538e-02 -1.47225559e-02 3.92906267e+01] [ 5.07288610e-02 9.98712461e-01 -5.37833353e-05 1.42362493e-01] [ 1.47063282e-02 -6.93150230e-04 9.99891616e-01 2.45417219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799254153999996 meters 0.02911082232678328 Centerline is valid? [True, True] Translation: X:39.32, Y:0.14, Z:0.24 [[ 9.98565240e-01 -5.14190294e-02 -1.49514119e-02 3.93221010e+01] [ 5.14239761e-02 9.98676911e-01 -5.36651190e-05 1.35643477e-01] [ 1.49343893e-02 -7.15272927e-04 9.99888220e-01 2.44090521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.829254154 meters 0.029968608715867446 Centerline is valid? [True, True] Translation: X:39.35, Y:0.14, Z:0.24 [[ 9.98526981e-01 -5.20878073e-02 -1.51897526e-02 3.93532359e+01] [ 5.20930024e-02 9.98642236e-01 -5.37170567e-05 1.35571170e-01] [ 1.51719265e-02 -7.37641887e-04 9.99884628e-01 2.44082181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.859254154 meters 0.030368023613827906 Centerline is valid? [True, True] Translation: X:39.39, Y:0.14, Z:0.24 [[ 9.98534306e-01 -5.19592875e-02 -1.51483331e-02 3.93852824e+01] [ 5.19644532e-02 9.98648934e-01 -5.26696373e-05 1.35977406e-01] [ 1.51306033e-02 -7.34582405e-04 9.99885256e-01 2.44495910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.889254154 meters 0.02579195140105064 Centerline is valid? [True, True] Translation: X:39.42, Y:0.14, Z:0.25 [[ 9.98593664e-01 -5.08402959e-02 -1.50319461e-02 3.94176639e+01] [ 5.08452716e-02 9.98706541e-01 -5.12254867e-05 1.44849670e-01] [ 1.50151072e-02 -7.13149935e-04 9.99887013e-01 2.46095472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919254153999994 meters 0.023285358427268473 Centerline is valid? [True, True] Translation: X:39.45, Y:0.15, Z:0.25 [[ 9.98658060e-01 -4.97311850e-02 -1.44529639e-02 3.94496984e+01] [ 4.97356838e-02 9.98762414e-01 -4.82184938e-05 1.49985886e-01] [ 1.44374750e-02 -6.70674253e-04 9.99895549e-01 2.47211169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.949254153999995 meters 0.02526623651227708 Centerline is valid? [True, True] Translation: X:39.48, Y:0.15, Z:0.25 [[ 9.98723684e-01 -4.84195565e-02 -1.43718101e-02 3.94811317e+01] [ 4.84238826e-02 9.98826875e-01 -4.70261490e-05 1.48104800e-01] [ 1.43572272e-02 -6.48972719e-04 9.99896719e-01 2.47278662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979254153999996 meters 0.021757211377250518 Centerline is valid? [True, True] Translation: X:39.51, Y:0.16, Z:0.25 [[ 9.98930536e-01 -4.43445622e-02 -1.30898639e-02 3.95117525e+01] [ 4.43478078e-02 9.99016151e-01 -4.23526704e-05 1.56223966e-01] [ 1.30788635e-02 -5.38199392e-04 9.99914323e-01 2.49538184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.009254154 meters 0.021405404160996767 Centerline is valid? [True, True] Translation: X:39.54, Y:0.16, Z:0.25 [[ 9.99047252e-01 -4.19017832e-02 -1.21995467e-02 3.95424285e+01] [ 4.19044245e-02 9.99121623e-01 -3.91416498e-05 1.58375899e-01] [ 1.21904710e-02 -4.72110627e-04 9.99925582e-01 2.50539579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039254154 meters 0.020720495491850066 Centerline is valid? [True, True] Translation: X:39.57, Y:0.16, Z:0.25 [[ 9.99168525e-01 -3.91034032e-02 -1.15405080e-02 3.95738867e+01] [ 3.91055851e-02 9.99235083e-01 -3.66188841e-05 1.60894235e-01] [ 1.15331124e-02 -4.14709882e-04 9.99933405e-01 2.52059300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.069254154 meters 0.018916797697105334 Centerline is valid? [True, True] Translation: X:39.60, Y:0.17, Z:0.25 [[ 9.99366441e-01 -3.39148545e-02 -1.07934915e-02 3.96045293e+01] [ 3.39164640e-02 9.99424671e-01 -3.39377898e-05 1.67236110e-01] [ 1.07884326e-02 -3.32160777e-04 9.99941748e-01 2.53670505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09925415399999 meters 0.018174453940982174 Centerline is valid? [True, True] Translation: X:39.64, Y:0.17, Z:0.25 [[ 9.99436466e-01 -3.16981918e-02 -1.10442225e-02 3.96369007e+01] [ 3.16997466e-02 9.99497436e-01 -3.42876168e-05 1.70305239e-01] [ 1.10397589e-02 -3.15830760e-04 9.99939010e-01 2.53806721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.129254153999995 meters 0.01700163974709057 Centerline is valid? [True, True] Translation: X:39.67, Y:0.17, Z:0.25 [[ 9.99564518e-01 -2.66525300e-02 -1.26656209e-02 3.96675539e+01] [ 2.66541801e-02 9.99644713e-01 -3.85319759e-05 1.74563673e-01] [ 1.26621480e-02 -2.99076545e-04 9.99919787e-01 2.52519481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159254153999996 meters 0.01675655036517918 Centerline is valid? [True, True] Translation: X:39.70, Y:0.18, Z:0.25 [[ 9.99615604e-01 -2.44056647e-02 -1.31532537e-02 3.96985840e+01] [ 2.44072577e-02 9.99702098e-01 -3.94208246e-05 1.76265123e-01] [ 1.31502974e-02 -2.81629182e-04 9.99913491e-01 2.51667094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.189254154 meters 0.015923685249380447 Centerline is valid? [True, True] Translation: X:39.73, Y:0.18, Z:0.25 [[ 9.99665245e-01 -2.19139675e-02 -1.37541442e-02 3.97297739e+01] [ 2.19154824e-02 9.99759826e-01 -4.05887389e-05 1.79073403e-01] [ 1.37517303e-02 -2.60853553e-04 9.99905406e-01 2.51352437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.219254154 meters 0.015563479478574506 Centerline is valid? [True, True] Translation: X:39.76, Y:0.18, Z:0.25 [[ 9.99703409e-01 -1.95142783e-02 -1.45700530e-02 3.97600349e+01] [ 1.95157293e-02 9.99809549e-01 -4.25968065e-05 1.80598966e-01] [ 1.45681093e-02 -2.41761037e-04 9.99893850e-01 2.51189943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.249254154 meters 0.014603088951395372 Centerline is valid? [True, True] Translation: X:39.79, Y:0.19, Z:0.25 [[ 9.99798571e-01 -1.39444691e-02 -1.44349679e-02 3.97911356e+01] [ 1.39453166e-02 9.99902758e-01 -4.19478441e-05 1.85491239e-01] [ 1.44341491e-02 -1.59360802e-04 9.99895810e-01 2.51438115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27925415399999 meters 0.014056543349323283 Centerline is valid? [True, True] Translation: X:39.82, Y:0.19, Z:0.25 [[ 9.99840143e-01 -1.10644684e-02 -1.40451478e-02 3.98208401e+01] [ 1.10649846e-02 9.99938780e-01 -4.09549800e-05 1.88512698e-01] [ 1.40447411e-02 -1.14460911e-04 9.99901361e-01 2.52647392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.309254153999994 meters 0.013912209438833005 Centerline is valid? [True, True] Translation: X:39.85, Y:0.19, Z:0.25 [[ 9.99864052e-01 -8.57963024e-03 -1.40807329e-02 3.98484501e+01] [ 8.57988557e-03 9.99963191e-01 -4.22761834e-05 1.90399635e-01] [ 1.40805773e-02 -7.85406409e-05 9.99900861e-01 2.52894020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339254153999995 meters 0.013702032872605317 Centerline is valid? [True, True] Translation: X:39.88, Y:0.19, Z:0.25 [[ 9.99904976e-01 -4.29664650e-03 -1.30987692e-02 3.98770725e+01] [ 4.29646804e-03 9.99990769e-01 -4.17644803e-05 1.93143639e-01] [ 1.30988278e-02 -1.45179318e-05 9.99914207e-01 2.53837204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.369254154 meters 0.013700829658843774 Centerline is valid? [True, True] Translation: X:39.90, Y:0.19, Z:0.25 [[ 9.99911680e-01 -2.97651927e-03 -1.29526924e-02 3.99044726e+01] [ 2.97618881e-03 9.99995570e-01 -4.47883391e-05 1.93701185e-01] [ 1.29527683e-02 6.23472522e-06 9.99916109e-01 2.54111465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.399254154 meters 0.01382706444297422 Centerline is valid? [True, True] Translation: X:39.93, Y:0.19, Z:0.25 [[ 9.99924936e-01 -9.20119418e-04 -1.22178408e-02 3.99316374e+01] [ 9.19640560e-04 9.99999576e-01 -4.48114529e-05 1.94110028e-01] [ 1.22178768e-02 3.35720673e-05 9.99925358e-01 2.54190313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.429254154 meters 0.01381795726501039 Centerline is valid? [True, True] Translation: X:39.96, Y:0.19, Z:0.25 [[ 9.99932000e-01 -6.62514697e-04 -1.16428464e-02 3.99594386e+01] [ 6.62037025e-04 9.99999780e-01 -4.48811719e-05 1.94140505e-01] [ 1.16428735e-02 3.71701246e-05 9.99932219e-01 2.54523794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45925415399999 meters 0.013828362025367249 Centerline is valid? [True, True] Translation: X:39.99, Y:0.19, Z:0.25 [[ 9.99931487e-01 -1.03534284e-03 -1.16597500e-02 3.99864312e+01] [ 1.03485916e-03 9.99999463e-01 -4.75167547e-05 1.93408197e-01] [ 1.16597930e-02 3.54473001e-05 9.99932022e-01 2.54603663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.489254153999994 meters 0.01371692212107862 Centerline is valid? [True, True] Translation: X:40.01, Y:0.19, Z:0.25 [[ 9.99916260e-01 -3.22696988e-03 -1.25323760e-02 4.00142719e+01] [ 3.22656426e-03 9.99994793e-01 -5.25839771e-05 1.90099068e-01] [ 1.25324804e-02 1.21430571e-05 9.99921465e-01 2.54122139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519254153999995 meters 0.013678292557918576 Centerline is valid? [True, True] Translation: X:40.04, Y:0.19, Z:0.25 [[ 9.99904470e-01 -4.64473654e-03 -1.30183167e-02 4.00424662e+01] [ 4.64440088e-03 9.99989213e-01 -5.60157722e-05 1.88015636e-01] [ 1.30184364e-02 -4.45186032e-06 9.99915257e-01 2.54074148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.549254153999996 meters 0.013766078020073371 Centerline is valid? [True, True] Translation: X:40.07, Y:0.19, Z:0.25 [[ 9.99892818e-01 -6.79308040e-03 -1.29694556e-02 4.00717225e+01] [ 6.79291319e-03 9.99976926e-01 -5.69454070e-05 1.85275255e-01] [ 1.29695432e-02 -3.11610826e-05 9.99915891e-01 2.53501794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.579254154 meters 0.014072350575934736 Centerline is valid? [True, True] Translation: X:40.10, Y:0.18, Z:0.25 [[ 9.99842030e-01 -1.17346603e-02 -1.33496446e-02 4.01007585e+01] [ 1.17349109e-02 9.99931142e-01 -5.95654996e-05 1.79259209e-01] [ 1.33494243e-02 -9.71007991e-05 9.99910888e-01 2.53410273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.609254154 meters 0.014659255590029516 Centerline is valid? [True, True] Translation: X:40.13, Y:0.17, Z:0.25 [[ 9.99752541e-01 -1.74908069e-02 -1.37451268e-02 4.01295791e+01] [ 1.74916028e-02 9.99847008e-01 -6.23200172e-05 1.72791471e-01] [ 1.37441139e-02 -1.78119703e-04 9.99905529e-01 2.53463701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63925415399999 meters 0.015283306565366056 Centerline is valid? [True, True] Translation: X:40.16, Y:0.17, Z:0.25 [[ 9.99696650e-01 -2.05063637e-02 -1.36417436e-02 4.01602296e+01] [ 2.05074217e-02 9.99789699e-01 -6.23378156e-05 1.69742529e-01] [ 1.36401530e-02 -2.17438083e-04 9.99906945e-01 2.53741638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.669254153999994 meters 0.01577372261027847 Centerline is valid? [True, True] Translation: X:40.19, Y:0.17, Z:0.25 [[ 9.99623122e-01 -2.39398501e-02 -1.34349670e-02 4.01917807e+01] [ 2.39411894e-02 9.99713367e-01 -6.11550809e-05 1.67318834e-01] [ 1.34325802e-02 -2.60517058e-04 9.99909745e-01 2.54396542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699254153999995 meters 0.01672126232663767 Centerline is valid? [True, True] Translation: X:40.22, Y:0.16, Z:0.26 [[ 9.99566300e-01 -2.67013812e-02 -1.24196685e-02 4.02224740e+01] [ 2.67027503e-02 9.99643416e-01 -5.56014943e-05 1.63140936e-01] [ 1.24167245e-02 -2.76061927e-04 9.99922871e-01 2.55056080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.729254153999996 meters 0.01880306783372067 Centerline is valid? [True, True] Translation: X:40.25, Y:0.16, Z:0.26 [[ 9.99404324e-01 -3.26016513e-02 -1.13194655e-02 4.02523933e+01] [ 3.26031758e-02 9.99468374e-01 -4.98732225e-05 1.55599096e-01] [ 1.13150737e-02 -3.19207009e-04 9.99935932e-01 2.55607665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759254154 meters 0.019132854937974737 Centerline is valid? [True, True] Translation: X:40.28, Y:0.15, Z:0.26 [[ 9.99312369e-01 -3.54574282e-02 -1.08425361e-02 4.02841741e+01] [ 3.54589972e-02 9.99371131e-01 -4.75590515e-05 1.53849620e-01] [ 1.08374039e-02 -3.36939108e-04 9.99941217e-01 2.56582569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.789254154 meters 0.019132854937974737 Centerline is valid? [True, True] Translation: X:40.32, Y:0.15, Z:0.26 [[ 9.99316233e-01 -3.53483382e-02 -1.08425396e-02 4.03167353e+01] [ 3.53499095e-02 9.99374996e-01 -4.67549919e-05 1.53900056e-01] [ 1.08374156e-02 -3.36559770e-04 9.99941217e-01 2.56808086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819254154 meters 0.019968731151035063 Centerline is valid? [True, True] Translation: X:40.35, Y:0.15, Z:0.26 [[ 9.99222949e-01 -3.80150273e-02 -1.04093805e-02 4.03489034e+01] [ 3.80166302e-02 9.99277106e-01 -4.39080459e-05 1.51432740e-01] [ 1.04035248e-02 -3.51855643e-04 9.99945820e-01 2.57558111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84925415399999 meters 0.021655928901668647 Centerline is valid? [True, True] Translation: X:40.38, Y:0.15, Z:0.26 [[ 9.99021664e-01 -4.31885740e-02 -9.51118484e-03 4.03803259e+01] [ 4.31901516e-02 9.99066869e-01 -3.95657536e-05 1.46375196e-01] [ 9.50401845e-03 -3.71262470e-04 9.99954767e-01 2.58240339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879254153999995 meters 0.02305065251221315 Centerline is valid? [True, True] Translation: X:40.41, Y:0.14, Z:0.26 [[ 9.98907080e-01 -4.57550262e-02 -9.54588504e-03 4.04110465e+01] [ 4.57567378e-02 9.98952611e-01 -3.91279207e-05 1.43273057e-01] [ 9.53767709e-03 -3.97703402e-04 9.99954436e-01 2.58535584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.909254153999996 meters 0.024858685124130826 Centerline is valid? [True, True] Translation: X:40.44, Y:0.14, Z:0.26 [[ 9.98693866e-01 -5.00156572e-02 -1.04401510e-02 4.04416475e+01] [ 5.00179476e-02 9.98748318e-01 -4.17737714e-05 1.37885546e-01] [ 1.04291726e-02 -4.80475715e-04 9.99945499e-01 2.57850153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939254154 meters 0.026142485688090567 Centerline is valid? [True, True] Translation: X:40.47, Y:0.13, Z:0.26 [[ 9.98589973e-01 -5.18965003e-02 -1.11722460e-02 4.04737079e+01] [ 5.18992455e-02 9.98652325e-01 -4.42665529e-05 1.34679869e-01] [ 1.11594867e-02 -5.35627001e-04 9.99937588e-01 2.57415352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.969254154 meters 0.02555712190653194 Centerline is valid? [True, True] Translation: X:40.51, Y:0.13, Z:0.26 [[ 9.98499618e-01 -5.34119100e-02 -1.20698144e-02 4.05055602e+01] [ 5.34152343e-02 9.98572386e-01 -4.70054048e-05 1.34254517e-01] [ 1.20550941e-02 -5.97777088e-04 9.99927156e-01 2.57262434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.999254154 meters 0.0271604619922831 Centerline is valid? [True, True] Translation: X:40.54, Y:0.13, Z:0.26 [[ 9.98378172e-01 -5.53920960e-02 -1.31430795e-02 4.05367221e+01] [ 5.53962189e-02 9.98464449e-01 -5.04329425e-05 1.29831573e-01] [ 1.31256912e-02 -6.77725758e-04 9.99913625e-01 2.56648456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02925415399999 meters 0.028575979598101573 Centerline is valid? [True, True] Translation: X:40.57, Y:0.13, Z:0.26 [[ 9.98344721e-01 -5.58662568e-02 -1.36667594e-02 4.05682423e+01] [ 5.58707769e-02 9.98438007e-01 -5.11443655e-05 1.27352913e-01] [ 1.36482693e-02 -7.12512758e-04 9.99906604e-01 2.56422270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059254153999994 meters 0.0250790412192943 Centerline is valid? [True, True] Translation: X:40.60, Y:0.13, Z:0.26 [[ 9.98353762e-01 -5.56846180e-02 -1.37473688e-02 4.06015682e+01] [ 5.56891978e-02 9.98448151e-01 -4.97448285e-05 1.31564485e-01] [ 1.37288050e-02 -7.15917001e-04 9.99905499e-01 2.57789461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.089254153999995 meters 0.025469108503724792 Centerline is valid? [True, True] Translation: X:40.63, Y:0.13, Z:0.26 [[ 9.98426010e-01 -5.43787727e-02 -1.37277612e-02 4.06328927e+01] [ 5.43832321e-02 9.98520136e-01 -4.85214146e-05 1.30251267e-01] [ 1.37100845e-02 -6.98114981e-04 9.99905769e-01 2.57862249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119254154 meters 0.02785105811332513 Centerline is valid? [True, True] Translation: X:40.66, Y:0.13, Z:0.26 [[ 9.98499187e-01 -5.29628523e-02 -1.39395324e-02 4.06644494e+01] [ 5.29673235e-02 9.98596245e-01 -4.84949077e-05 1.26858734e-01] [ 1.39225332e-02 -6.89917598e-04 9.99902839e-01 2.57509465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.149254154 meters 0.025011516445690943 Centerline is valid? [True, True] Translation: X:40.70, Y:0.13, Z:0.26 [[ 9.98603734e-01 -5.09229075e-02 -1.40513116e-02 4.06961908e+01] [ 5.09272601e-02 9.98702364e-01 -4.81121130e-05 1.31022208e-01] [ 1.40355281e-02 -6.67549865e-04 9.99901274e-01 2.57543213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.179254154 meters 0.02357213449193912 Centerline is valid? [True, True] Translation: X:40.73, Y:0.13, Z:0.26 [[ 9.98869542e-01 -4.53264095e-02 -1.43231936e-02 4.07257534e+01] [ 4.53303626e-02 9.98972050e-01 -4.87075187e-05 1.34165531e-01] [ 1.43106778e-02 -6.00623104e-04 9.99897417e-01 2.57778393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20925415399999 meters 0.02382795930740987 Centerline is valid? [True, True] Translation: X:40.76, Y:0.13, Z:0.26 [[ 9.99028261e-01 -4.17299158e-02 -1.41826934e-02 4.07559816e+01] [ 4.17334310e-02 9.99128780e-01 -4.81454155e-05 1.34996054e-01] [ 1.41723463e-02 -5.43793828e-04 9.99899419e-01 2.57476001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239254153999994 meters 0.020559847587036287 Centerline is valid? [True, True] Translation: X:40.79, Y:0.14, Z:0.26 [[ 9.99172224e-01 -3.81733811e-02 -1.40591454e-02 4.07872955e+01] [ 3.81764891e-02 9.99271011e-01 -4.73444791e-05 1.41406425e-01] [ 1.40507037e-02 -4.89423523e-04 9.99901164e-01 2.58877909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.269254153999995 meters 0.01778594346161584 Centerline is valid? [True, True] Translation: X:40.82, Y:0.15, Z:0.26 [[ 9.99429816e-01 -3.07530935e-02 -1.39388048e-02 4.08178377e+01] [ 3.07554326e-02 9.99526939e-01 -4.65624813e-05 1.48315668e-01] [ 1.39336428e-02 -3.82158040e-04 9.99902849e-01 2.59979436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299254153999996 meters 0.017357816500849478 Centerline is valid? [True, True] Translation: X:40.85, Y:0.15, Z:0.26 [[ 9.99542241e-01 -2.69272555e-02 -1.37924360e-02 4.08486582e+01] [ 2.69291869e-02 9.99637343e-01 -4.56991544e-05 1.50033069e-01] [ 1.37886646e-02 -3.25740851e-04 9.99904879e-01 2.60015414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.329254154 meters 0.015288991206798202 Centerline is valid? [True, True] Translation: X:40.88, Y:0.16, Z:0.26 [[ 9.99735307e-01 -1.86181251e-02 -1.35160024e-02 4.08793123e+01] [ 1.86192253e-02 9.99826646e-01 -4.44463956e-05 1.55927127e-01] [ 1.35144869e-02 -2.07222863e-04 9.99908654e-01 2.60477364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.359254154 meters 0.014526739891328333 Centerline is valid? [True, True] Translation: X:40.91, Y:0.16, Z:0.26 [[ 9.99795384e-01 -1.45605618e-02 -1.40421061e-02 4.09093990e+01] [ 1.45613505e-02 9.99893977e-01 -4.60778215e-05 1.59052595e-01] [ 1.40412883e-02 -1.58403636e-04 9.99901404e-01 2.60831894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38925415399999 meters 0.014112556192106641 Centerline is valid? [True, True] Translation: X:40.94, Y:0.16, Z:0.26 [[ 9.99846531e-01 -1.04964154e-02 -1.40263774e-02 4.09391368e+01] [ 1.04967988e-02 9.99944906e-01 -4.62862669e-05 1.61788707e-01] [ 1.40260904e-02 -1.00952898e-04 9.99901624e-01 2.60777635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419254153999994 meters 0.013965876035369194 Centerline is valid? [True, True] Translation: X:40.97, Y:0.16, Z:0.26 [[ 9.99871447e-01 -6.59675952e-03 -1.46141256e-02 4.09676679e+01] [ 6.59672664e-03 9.99978240e-01 -5.04556652e-05 1.64358985e-01] [ 1.46141404e-02 -4.59562124e-05 9.99893207e-01 2.60394632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.449254153999995 meters 0.013959779695762406 Centerline is valid? [True, True] Translation: X:41.00, Y:0.17, Z:0.26 [[ 9.99884118e-01 9.83474587e-04 -1.51915704e-02 4.09959371e+01] [-9.84444914e-04 9.99999514e-01 -5.63947796e-05 1.68994349e-01] [ 1.51915076e-02 7.13435086e-05 9.99884600e-01 2.60247863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479254153999996 meters 0.014369073552457241 Centerline is valid? [True, True] Translation: X:41.02, Y:0.17, Z:0.26 [[ 9.99881309e-01 4.20241253e-03 -1.48225228e-02 4.10239167e+01] [-4.20372597e-03 9.99991163e-01 -5.74555476e-05 1.71104578e-01] [ 1.48221503e-02 1.19758552e-04 9.99890139e-01 2.60081136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.509254154 meters 0.014838785518439946 Centerline is valid? [True, True] Translation: X:41.05, Y:0.17, Z:0.26 [[ 9.99853792e-01 8.72279043e-03 -1.47073810e-02 4.10527160e+01] [-8.72461022e-03 9.99961938e-01 -5.95744101e-05 1.73000152e-01] [ 1.47063015e-02 1.87881866e-04 9.99891839e-01 2.60472561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.539254154 meters 0.015182420152992824 Centerline is valid? [True, True] Translation: X:41.08, Y:0.17, Z:0.26 [[ 9.99842041e-01 1.01521102e-02 -1.45885900e-02 4.10816854e+01] [-1.01540859e-02 9.99948444e-01 -6.13579652e-05 1.73468968e-01] [ 1.45872150e-02 2.09482069e-04 9.99893579e-01 2.60883939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.569254154 meters 0.015274870962675555 Centerline is valid? [True, True] Translation: X:41.11, Y:0.17, Z:0.26 [[ 9.99841832e-01 1.06842761e-02 -1.42181965e-02 4.11101311e+01] [-1.06862207e-02 9.99942899e-01 -6.07964207e-05 1.73444257e-01] [ 1.42167351e-02 2.12725591e-04 9.99898914e-01 2.61464872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59925415399999 meters 0.015248027404873488 Centerline is valid? [True, True] Translation: X:41.14, Y:0.17, Z:0.26 [[ 9.99861278e-01 9.80926797e-03 -1.34611656e-02 4.11384434e+01] [-9.81094410e-03 9.99951870e-01 -5.84837521e-05 1.72038952e-01] [ 1.34599441e-02 1.90542383e-04 9.99909393e-01 2.61803147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.629254153999995 meters 0.014902537182867727 Centerline is valid? [True, True] Translation: X:41.17, Y:0.17, Z:0.26 [[ 9.99876176e-01 8.49796093e-03 -1.32444881e-02 4.11670935e+01] [-8.49948082e-03 9.99963877e-01 -5.84717152e-05 1.69917350e-01] [ 1.32435128e-02 1.71035748e-04 9.99912286e-01 2.62180008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659254153999996 meters 0.014463785591183212 Centerline is valid? [True, True] Translation: X:41.20, Y:0.17, Z:0.26 [[ 9.99903371e-01 4.54755907e-03 -1.31365481e-02 4.11960024e+01] [-4.54872563e-03 9.99989653e-01 -5.89250431e-05 1.65193450e-01] [ 1.31361442e-02 1.18673902e-04 9.99913710e-01 2.61718101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.689254154 meters 0.014219188238585393 Centerline is valid? [True, True] Translation: X:41.22, Y:0.16, Z:0.26 [[ 9.99913749e-01 2.33135463e-03 -1.29251643e-02 4.12237110e+01] [-2.33231189e-03 9.99997278e-01 -5.89881341e-05 1.62447185e-01] [ 1.29249916e-02 8.91285607e-05 9.99916465e-01 2.61832174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.719254154 meters 0.014039457391614524 Centerline is valid? [True, True] Translation: X:41.25, Y:0.16, Z:0.26 [[ 9.99918816e-01 7.95359175e-05 -1.27418518e-02 4.12521265e+01] [-8.02964446e-05 9.99999995e-01 -5.91757598e-05 1.59403772e-01] [ 1.27418471e-02 6.01940811e-05 9.99918818e-01 2.62205301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.749254154 meters 0.013955767051365076 Centerline is valid? [True, True] Translation: X:41.28, Y:0.15, Z:0.26 [[ 9.99904279e-01 -4.32312239e-03 -1.31431938e-02 4.12807056e+01] [ 4.32268075e-03 9.99990655e-01 -6.20098751e-05 1.54339382e-01] [ 1.31433391e-02 5.19010843e-06 9.99913623e-01 2.62653306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77925415399999 meters 0.01402114055740001 Centerline is valid? [True, True] Translation: X:41.31, Y:0.15, Z:0.26 [[ 9.99889069e-01 -6.68946637e-03 -1.33079405e-02 4.13085947e+01] [ 6.68920879e-03 9.99977625e-01 -6.38678729e-05 1.51726978e-01] [ 1.33080700e-02 -2.51588048e-05 9.99911443e-01 2.62159748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.809254153999994 meters 0.01407867146806757 Centerline is valid? [True, True] Translation: X:41.34, Y:0.15, Z:0.26 [[ 9.99872279e-01 -8.86009825e-03 -1.33012935e-02 4.13371609e+01] [ 8.86001860e-03 9.99960747e-01 -6.49168423e-05 1.49285457e-01] [ 1.33013466e-02 -5.29411570e-05 9.99911532e-01 2.62767719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839254153999995 meters 0.014292792368893515 Centerline is valid? [True, True] Translation: X:41.37, Y:0.15, Z:0.26 [[ 9.99850592e-01 -1.10618833e-02 -1.32826601e-02 4.13650193e+01] [ 1.10619797e-02 9.99938812e-01 -6.62174638e-05 1.46219087e-01] [ 1.32825798e-02 -8.07249457e-05 9.99911779e-01 2.62436760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.869254154 meters 0.014756752880931161 Centerline is valid? [True, True] Translation: X:41.39, Y:0.14, Z:0.26 [[ 9.99791786e-01 -1.51939655e-02 -1.36208905e-02 4.13936972e+01] [ 1.51944302e-02 9.99884556e-01 -6.93797813e-05 1.40055193e-01] [ 1.36203722e-02 -1.37596334e-04 9.99907229e-01 2.61712432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899254154 meters 0.01504894095358228 Centerline is valid? [True, True] Translation: X:41.42, Y:0.14, Z:0.26 [[ 9.99752730e-01 -1.71383031e-02 -1.41689215e-02 4.14231898e+01] [ 1.71389901e-02 9.99853114e-01 -7.29474030e-05 1.37341607e-01] [ 1.41680905e-02 -1.69911640e-04 9.99899613e-01 2.61364898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.929254154 meters 0.015693665644678424 Centerline is valid? [True, True] Translation: X:41.45, Y:0.13, Z:0.26 [[ 9.99696241e-01 -1.95938926e-02 -1.49501076e-02 4.14519314e+01] [ 1.95949216e-02 9.99807998e-01 -7.76656777e-05 1.31459879e-01] [ 1.49487589e-02 -2.15304099e-04 9.99888238e-01 2.60383692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95925415399999 meters 0.015246398146782811 Centerline is valid? [True, True] Translation: X:41.48, Y:0.13, Z:0.26 [[ 9.99685561e-01 -2.00171766e-02 -1.51027094e-02 4.14811730e+01] [ 2.00182647e-02 9.99799611e-01 -7.91380579e-05 1.31934780e-01] [ 1.51012671e-02 -2.23216861e-04 9.99885944e-01 2.61280670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.989254153999994 meters 0.01542287454784975 Centerline is valid? [True, True] Translation: X:41.51, Y:0.13, Z:0.26 [[ 9.99687862e-01 -1.95084328e-02 -1.56076873e-02 4.15105266e+01] [ 1.95095291e-02 9.99809668e-01 -8.20288690e-05 1.30440781e-01] [ 1.56063169e-02 -2.22495365e-04 9.99878189e-01 2.61247493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019254153999995 meters 0.015103732124249463 Centerline is valid? [True, True] Translation: X:41.54, Y:0.13, Z:0.26 [[ 9.99743757e-01 -1.62632274e-02 -1.57457088e-02 4.15391950e+01] [ 1.62639336e-02 9.99867730e-01 -8.32074146e-05 1.30153550e-01] [ 1.57449794e-02 -1.72901069e-04 9.99876025e-01 2.61641446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.049254153999996 meters 0.014764225823894004 Centerline is valid? [True, True] Translation: X:41.57, Y:0.13, Z:0.26 [[ 9.99775184e-01 -1.40887101e-02 -1.58457990e-02 4.15681335e+01] [ 1.40891107e-02 9.99900740e-01 -8.63604382e-05 1.31405565e-01] [ 1.58454428e-02 -1.36912193e-04 9.99874444e-01 2.62548564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.079254154 meters 0.014572362627732718 Centerline is valid? [True, True] Translation: X:41.60, Y:0.13, Z:0.26 [[ 9.99810003e-01 -1.14886398e-02 -1.57470430e-02 4.15965240e+01] [ 1.14886504e-02 9.99933999e-01 -8.97947371e-05 1.32574887e-01] [ 1.57470353e-02 -9.11345947e-05 9.99876004e-01 2.63157680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.109254154 meters 0.014244367965484964 Centerline is valid? [True, True] Translation: X:41.63, Y:0.13, Z:0.26 [[ 9.99854991e-01 -6.08815629e-03 -1.59038358e-02 4.16253195e+01] [ 6.08741987e-03 9.99981467e-01 -9.47142855e-05 1.34592830e-01] [ 1.59041177e-02 -2.11277507e-06 9.99873522e-01 2.63379058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13925415399999 meters 0.014407120736898562 Centerline is valid? [True, True] Translation: X:41.65, Y:0.14, Z:0.26 [[ 9.99862015e-01 -4.02736168e-03 -1.61161710e-02 4.16530185e+01] [ 4.02626639e-03 9.99991890e-01 -1.00407713e-04 1.35251130e-01] [ 1.61164447e-02 3.55058604e-05 9.99870121e-01 2.63040428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.169254153999994 meters 0.014666145795023506 Centerline is valid? [True, True] Translation: X:41.68, Y:0.14, Z:0.26 [[ 9.99858421e-01 -2.07314324e-03 -1.66984988e-02 4.16804681e+01] [ 2.07164541e-03 9.99997848e-01 -1.06996263e-04 1.35717031e-01] [ 1.66986847e-02 7.23877468e-05 9.99860565e-01 2.62509238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199254153999995 meters 0.014758043670984586 Centerline is valid? [True, True] Translation: X:41.71, Y:0.13, Z:0.26 [[ 9.99849278e-01 4.36018129e-04 -1.73559911e-02 4.17090637e+01] [-4.38070792e-04 9.99999897e-01 -1.14466592e-04 1.34899310e-01] [ 1.73559394e-02 1.22052493e-04 9.99849367e-01 2.62187872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.229254153999996 meters 0.014917277677957174 Centerline is valid? [True, True] Translation: X:41.74, Y:0.13, Z:0.26 [[ 9.99841212e-01 9.45332054e-04 -1.77948541e-02 4.17367687e+01] [-9.47627941e-04 9.99999544e-01 -1.20588043e-04 1.34080976e-01] [ 1.77947320e-02 1.37431796e-04 9.99841652e-01 2.61566389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.259254154 meters 0.014969848099911354 Centerline is valid? [True, True] Translation: X:41.76, Y:0.13, Z:0.26 [[ 9.99836443e-01 5.23865429e-04 -1.80779904e-02 4.17634132e+01] [-5.26221883e-04 9.99999854e-01 -1.25592708e-04 1.31992173e-01] [ 1.80779219e-02 1.35085201e-04 9.99836572e-01 2.61051655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.289254154 meters 0.014810059145227598 Centerline is valid? [True, True] Translation: X:41.79, Y:0.13, Z:0.26 [[ 9.99836507e-01 -3.25797388e-04 -1.80790756e-02 4.17926288e+01] [ 3.23541327e-04 9.99999940e-01 -1.27713284e-04 1.30641227e-01] [ 1.80791161e-02 1.21843076e-04 9.99836552e-01 2.61873876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31925415399999 meters 0.014743507641852494 Centerline is valid? [True, True] Translation: X:41.82, Y:0.13, Z:0.26 [[ 9.99843190e-01 -1.54415732e-03 -1.76411575e-02 4.18214001e+01] [ 1.54217746e-03 9.99998803e-01 -1.25833344e-04 1.29074172e-01] [ 1.76413307e-02 9.86078172e-05 9.99844375e-01 2.62160583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34925415399999 meters 0.014596848833259056 Centerline is valid? [True, True] Translation: X:41.85, Y:0.13, Z:0.26 [[ 9.99839505e-01 -3.05577620e-03 -1.76529246e-02 4.18498819e+01] [ 3.05400774e-03 9.99995328e-01 -1.27136858e-04 1.26987587e-01] [ 1.76532306e-02 7.32042851e-05 9.99844167e-01 2.62559265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379254153999995 meters 0.014316862533730731 Centerline is valid? [True, True] Translation: X:41.88, Y:0.12, Z:0.26 [[ 9.99840017e-01 -7.08933885e-03 -1.64220118e-02 4.18789706e+01] [ 7.08833380e-03 9.99974870e-01 -1.19407431e-04 1.21588198e-01] [ 1.64224457e-02 2.98362651e-06 9.99865143e-01 2.64380127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.409254153999996 meters 0.014313117428967508 Centerline is valid? [True, True] Translation: X:41.91, Y:0.12, Z:0.27 [[ 9.99829990e-01 -9.50758852e-03 -1.57986041e-02 4.19071322e+01] [ 9.50693732e-03 9.99954801e-01 -1.16322418e-04 1.19235658e-01] [ 1.57989960e-02 -3.38936973e-05 9.99875187e-01 2.65172247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439254154 meters 0.014463571525912083 Centerline is valid? [True, True] Translation: X:41.94, Y:0.11, Z:0.27 [[ 9.99792953e-01 -1.40838260e-02 -1.46866005e-02 4.19361239e+01] [ 1.40837384e-02 9.99900813e-01 -1.09395499e-04 1.14078271e-01] [ 1.46866845e-02 -9.74693901e-05 9.99892140e-01 2.65802449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.469254154 meters 0.014641730059663335 Centerline is valid? [True, True] Translation: X:41.96, Y:0.11, Z:0.27 [[ 9.99759977e-01 -1.67625690e-02 -1.41069340e-02 4.19649111e+01] [ 1.67627222e-02 9.99859490e-01 -1.07390552e-04 1.11592805e-01] [ 1.41067520e-02 -1.29105841e-04 9.99900486e-01 2.66387217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.499254154 meters 0.014900907906990753 Centerline is valid? [True, True] Translation: X:41.99, Y:0.11, Z:0.27 [[ 9.99716937e-01 -1.96391675e-02 -1.34294410e-02 4.19936674e+01] [ 1.96395211e-02 9.99807120e-01 -1.05564921e-04 1.08903511e-01] [ 1.34289239e-02 -1.58212749e-04 9.99909815e-01 2.66970896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52925415399999 meters 0.01618745175625437 Centerline is valid? [True, True] Translation: X:42.02, Y:0.10, Z:0.27 [[ 9.99609234e-01 -2.54054096e-02 -1.16595231e-02 4.20226759e+01] [ 2.54060484e-02 9.99677210e-01 -9.33481092e-05 1.02039098e-01] [ 1.16581311e-02 -2.02910776e-04 9.99932021e-01 2.67188270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559254153999994 meters 0.01695471920293192 Centerline is valid? [True, True] Translation: X:42.05, Y:0.10, Z:0.27 [[ 9.99531993e-01 -2.85292196e-02 -1.10398791e-02 4.20535298e+01] [ 2.85299827e-02 9.99592933e-01 -8.83914133e-05 9.88745762e-02] [ 1.10379069e-02 -2.26617515e-04 9.99939055e-01 2.67509974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.589254153999995 meters 0.01772129451084696 Centerline is valid? [True, True] Translation: X:42.09, Y:0.10, Z:0.27 [[ 9.99435607e-01 -3.19081724e-02 -1.05041247e-02 4.20859923e+01] [ 3.19090563e-02 9.99490773e-01 -8.34754147e-05 9.53236847e-02] [ 1.05014393e-02 -2.51748405e-04 9.99944827e-01 2.68109493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619254154 meters 0.019301804113816295 Centerline is valid? [True, True] Translation: X:42.12, Y:0.09, Z:0.27 [[ 9.99190731e-01 -3.89156883e-02 -1.01711640e-02 4.21166500e+01] [ 3.89168852e-02 9.99242448e-01 -8.02906838e-05 8.89269286e-02] [ 1.01665833e-02 -3.15604313e-04 9.99948269e-01 2.68026048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.649254154 meters 0.020531976501788184 Centerline is valid? [True, True] Translation: X:42.15, Y:0.09, Z:0.27 [[ 9.99030050e-01 -4.27650544e-02 -1.04932654e-02 4.21474787e+01] [ 4.27665424e-02 9.99085089e-01 -8.26390410e-05 8.57736700e-02] [ 1.04871991e-02 -3.66201795e-04 9.99944941e-01 2.67645878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679254154 meters 0.022227587714680995 Centerline is valid? [True, True] Translation: X:42.18, Y:0.08, Z:0.27 [[ 9.98684215e-01 -5.00346904e-02 -1.12413462e-02 4.21782902e+01] [ 5.00368596e-02 9.98747368e-01 -8.83808887e-05 8.05558939e-02] [ 1.12316870e-02 -4.74217062e-04 9.99936810e-01 2.66637020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70925415399999 meters 0.022227587714680995 Centerline is valid? [True, True] Translation: X:42.21, Y:0.08, Z:0.27 [[ 9.98689810e-01 -4.99228870e-02 -1.12413501e-02 4.22108555e+01] [ 4.99250548e-02 9.98752963e-01 -8.78746144e-05 8.07233326e-02] [ 1.12317187e-02 -4.73465540e-04 9.99936810e-01 2.66862696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739254153999994 meters 0.024433363576079697 Centerline is valid? [True, True] Translation: X:42.24, Y:0.08, Z:0.27 [[ 9.98526547e-01 -5.30234108e-02 -1.15435400e-02 4.22409772e+01] [ 5.30259174e-02 9.98593132e-01 -8.90233957e-05 7.64607108e-02] [ 1.15320201e-02 -5.23214575e-04 9.99933367e-01 2.66396741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.769254153999995 meters 0.0257757412526999 Centerline is valid? [True, True] Translation: X:42.27, Y:0.07, Z:0.27 [[ 9.98397729e-01 -5.53591085e-02 -1.17193930e-02 4.22731705e+01] [ 5.53618641e-02 9.98466352e-01 -8.93985446e-05 7.37564064e-02] [ 1.17063686e-02 -5.59552140e-04 9.99931322e-01 2.66168913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799254153999996 meters 0.02721240800364409 Centerline is valid? [True, True] Translation: X:42.30, Y:0.07, Z:0.27 [[ 9.98212257e-01 -5.87177717e-02 -1.11585085e-02 4.23038686e+01] [ 5.87204853e-02 9.98274460e-01 -8.45679169e-05 7.10285615e-02] [ 1.11442197e-02 -5.70816305e-04 9.99937738e-01 2.66683736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.829254154 meters 0.026846291872773057 Centerline is valid? [True, True] Translation: X:42.34, Y:0.07, Z:0.27 [[ 9.98179438e-01 -5.92625718e-02 -1.12141566e-02 4.23361904e+01] [ 5.92653517e-02 9.98242261e-01 -8.45510567e-05 7.10884430e-02] [ 1.11994558e-02 -5.80213811e-04 9.99937116e-01 2.66849752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.859254154 meters 0.02573489672537569 Centerline is valid? [True, True] Translation: X:42.37, Y:0.07, Z:0.27 [[ 9.98189362e-01 -5.91600345e-02 -1.08668060e-02 4.23691791e+01] [ 5.91626490e-02 9.98248353e-01 -8.10003843e-05 7.23412400e-02] [ 1.08525632e-02 -5.62055306e-04 9.99940951e-01 2.66955697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88925415399999 meters 0.02552174700234882 Centerline is valid? [True, True] Translation: X:42.40, Y:0.07, Z:0.27 [[ 9.98234998e-01 -5.82873820e-02 -1.13784665e-02 4.24015464e+01] [ 5.82902049e-02 9.98299677e-01 -8.36718332e-05 7.31111653e-02] [ 1.13639964e-02 -5.79728992e-04 9.99935260e-01 2.67159027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919254153999994 meters 0.027365545622625925 Centerline is valid? [True, True] Translation: X:42.43, Y:0.07, Z:0.27 [[ 9.98390309e-01 -5.53605774e-02 -1.23287063e-02 4.24318788e+01] [ 5.53636770e-02 9.98466251e-01 -9.00021010e-05 7.19838239e-02] [ 1.23147798e-02 -5.92705289e-04 9.99923995e-01 2.66416550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.949254153999995 meters 0.024777324460491294 Centerline is valid? [True, True] Translation: X:42.46, Y:0.08, Z:0.27 [[ 9.98489207e-01 -5.35349270e-02 -1.23820088e-02 4.24645728e+01] [ 5.35379211e-02 9.98565813e-01 -8.97647693e-05 7.68829008e-02] [ 1.23690562e-02 -5.73277857e-04 9.99923336e-01 2.66801932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979254153999996 meters 0.022902412486488874 Centerline is valid? [True, True] Translation: X:42.50, Y:0.08, Z:0.27 [[ 9.98602693e-01 -5.14390034e-02 -1.21115830e-02 4.24964890e+01] [ 5.14417265e-02 9.98675994e-01 -8.68019475e-05 8.07204811e-02] [ 1.21000122e-02 -5.36360082e-04 9.99926648e-01 2.67676809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.009254154 meters 0.0220264623711015 Centerline is valid? [True, True] Translation: X:42.53, Y:0.08, Z:0.27 [[ 9.98829347e-01 -4.71615090e-02 -1.07576375e-02 4.25275698e+01] [ 4.71634153e-02 9.98887184e-01 -7.65603462e-05 8.48935149e-02] [ 1.07492769e-02 -4.30896204e-04 9.99942132e-01 2.68615273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.039254154 meters 0.02176614527312207 Centerline is valid? [True, True] Translation: X:42.56, Y:0.09, Z:0.27 [[ 9.98925636e-01 -4.52297263e-02 -1.00918222e-02 4.25590615e+01] [ 4.52313086e-02 9.98976538e-01 -7.15094405e-05 8.68097719e-02] [ 1.00847280e-02 -3.85033711e-04 9.99949074e-01 2.69449324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06925415399999 meters 0.021127544098459905 Centerline is valid? [True, True] Translation: X:42.59, Y:0.09, Z:0.27 [[ 9.99034175e-01 -4.28824163e-02 -9.58201508e-03 4.25915828e+01] [ 4.28837407e-02 9.99080067e-01 -6.72955106e-05 8.92045182e-02] [ 9.57608606e-03 -3.43682135e-04 9.99954089e-01 2.70063058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09925415399999 meters 0.019048301223949543 Centerline is valid? [True, True] Translation: X:42.62, Y:0.10, Z:0.27 [[ 9.99236414e-01 -3.79853419e-02 -9.14892794e-03 4.26234651e+01] [ 3.79863507e-02 9.99278256e-01 -6.35345480e-05 9.50270775e-02] [ 9.14473814e-03 -2.84048352e-04 9.99958146e-01 2.70442469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.129254153999995 meters 0.018325429388668255 Centerline is valid? [True, True] Translation: X:42.66, Y:0.10, Z:0.27 [[ 9.99343122e-01 -3.50595325e-02 -9.17351192e-03 4.26561750e+01] [ 3.50604291e-02 9.99385192e-01 -6.31140904e-05 9.86112708e-02] [ 9.17008473e-03 -2.58554632e-04 9.99957920e-01 2.70423373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159254153999996 meters 0.01794638853298526 Centerline is valid? [True, True] Translation: X:42.69, Y:0.10, Z:0.27 [[ 9.99446087e-01 -3.18651668e-02 -9.59842447e-03 4.26875575e+01] [ 3.18660113e-02 9.99492148e-01 -6.49764472e-05 1.01646090e-01] [ 9.59562037e-03 -2.40923047e-04 9.99953932e-01 2.70419508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.189254154 meters 0.016564190354983712 Centerline is valid? [True, True] Translation: X:42.72, Y:0.11, Z:0.27 [[ 9.99618974e-01 -2.54950346e-02 -1.05787125e-02 4.27193874e+01] [ 2.54957178e-02 9.99674929e-01 -7.02942803e-05 1.08685063e-01] [ 1.05770658e-02 -1.99444373e-04 9.99944041e-01 2.69880812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219254154 meters 0.01605644062693114 Centerline is valid? [True, True] Translation: X:42.75, Y:0.11, Z:0.27 [[ 9.99686237e-01 -2.23640732e-02 -1.12816770e-02 4.27503637e+01] [ 2.23646572e-02 9.99749877e-01 -7.44038496e-05 1.11791795e-01] [ 1.12805191e-02 -1.77930334e-04 9.99936357e-01 2.69339422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.249254154 meters 0.015258484644819553 Centerline is valid? [True, True] Translation: X:42.78, Y:0.12, Z:0.27 [[ 9.99776259e-01 -1.70879883e-02 -1.24672883e-02 4.27806789e+01] [ 1.70882961e-02 9.99853981e-01 -8.18477067e-05 1.17465470e-01] [ 1.24668664e-02 -1.31215319e-04 9.99922277e-01 2.69216262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27925415399999 meters 0.015035232158756871 Centerline is valid? [True, True] Translation: X:42.81, Y:0.12, Z:0.27 [[ 9.99810927e-01 -1.47592170e-02 -1.26599898e-02 4.28099658e+01] [ 1.47593467e-02 9.99891071e-01 -8.31898579e-05 1.20520453e-01] [ 1.26598385e-02 -1.03679049e-04 9.99919856e-01 2.69270442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.309254153999994 meters 0.014773244297340638 Centerline is valid? [True, True] Translation: X:42.84, Y:0.12, Z:0.27 [[ 9.99836727e-01 -1.26493460e-02 -1.29039888e-02 4.28397940e+01] [ 1.26492991e-02 9.99919991e-01 -8.52537217e-05 1.23301228e-01] [ 1.29040347e-02 -7.79866112e-05 9.99916736e-01 2.69543338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339254153999995 meters 0.014694719938664443 Centerline is valid? [True, True] Translation: X:42.87, Y:0.13, Z:0.27 [[ 9.99875818e-01 -8.88431916e-03 -1.30160369e-02 4.28674937e+01] [ 8.88394232e-03 9.99960533e-01 -8.67720289e-05 1.28507970e-01] [ 1.30162941e-02 -2.88724674e-05 9.99915284e-01 2.70323500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.369254154 meters 0.014722187009328598 Centerline is valid? [True, True] Translation: X:42.90, Y:0.13, Z:0.27 [[ 9.99892521e-01 -7.67295992e-03 -1.24928685e-02 4.28954050e+01] [ 7.67249084e-03 9.99970562e-01 -8.54759083e-05 1.31008166e-01] [ 1.24931566e-02 -1.03846978e-05 9.99921957e-01 2.71716322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.399254154 meters 0.014662524173135872 Centerline is valid? [True, True] Translation: X:42.92, Y:0.13, Z:0.27 [[ 9.99905097e-01 -6.26630868e-03 -1.22690557e-02 4.29223643e+01] [ 6.26571799e-03 9.99980366e-01 -8.65833618e-05 1.32927419e-01] [ 1.22693573e-02 9.70070192e-06 9.99924729e-01 2.72160697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.429254154 meters 0.014670869864103379 Centerline is valid? [True, True] Translation: X:42.95, Y:0.13, Z:0.27 [[ 9.99911267e-01 -5.17209234e-03 -1.22763275e-02 4.29505391e+01] [ 5.17138906e-03 9.99986624e-01 -8.90308731e-05 1.34558160e-01] [ 1.22766238e-02 2.55373075e-05 9.99924639e-01 2.72358374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45925415399999 meters 0.014599935328230096 Centerline is valid? [True, True] Translation: X:42.98, Y:0.14, Z:0.27 [[ 9.99914892e-01 -3.88197893e-03 -1.24554851e-02 4.29782604e+01] [ 3.88110985e-03 9.99992464e-01 -9.39463908e-05 1.36575196e-01] [ 1.24557559e-02 4.55972895e-05 9.99922423e-01 2.73491876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.489254153999994 meters 0.014797101504824276 Centerline is valid? [True, True] Translation: X:43.01, Y:0.14, Z:0.27 [[ 9.99919535e-01 -4.12087750e-03 -1.19975803e-02 4.30053186e+01] [ 4.12005290e-03 9.99991508e-01 -9.34458831e-05 1.37116079e-01] [ 1.19978635e-02 4.40076983e-05 9.99928022e-01 2.73877999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519254153999995 meters 0.014596361288057918 Centerline is valid? [True, True] Translation: X:43.03, Y:0.14, Z:0.27 [[ 9.99919593e-01 -5.17890719e-03 -1.15752521e-02 4.30335545e+01] [ 5.17817969e-03 9.99986589e-01 -9.28193073e-05 1.37058241e-01] [ 1.15755776e-02 3.28731085e-05 9.99933000e-01 2.74627431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.549254153999996 meters 0.014585757193439774 Centerline is valid? [True, True] Translation: X:43.06, Y:0.13, Z:0.28 [[ 9.99892035e-01 -9.53966838e-03 -1.11764962e-02 4.30612507e+01] [ 9.53923697e-03 9.99954496e-01 -9.19098556e-05 1.34150992e-01] [ 1.11768644e-02 -1.47153132e-05 9.99937537e-01 2.75276633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.579254154 meters 0.01459910214730442 Centerline is valid? [True, True] Translation: X:43.09, Y:0.13, Z:0.28 [[ 9.99849407e-01 -1.29394903e-02 -1.15642617e-02 4.30902692e+01] [ 1.29392447e-02 9.99916280e-01 -9.60627915e-05 1.31827543e-01] [ 1.15645366e-02 -5.35844867e-05 9.99933127e-01 2.75398334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.609254154 meters 0.015380009893672244 Centerline is valid? [True, True] Translation: X:43.12, Y:0.13, Z:0.27 [[ 9.99700177e-01 -2.12446280e-02 -1.21746013e-02 4.31201852e+01] [ 2.12449628e-02 9.99774295e-01 -1.01843416e-04 1.25526908e-01] [ 1.21740171e-02 -1.56836072e-04 9.99925882e-01 2.74573245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63925415399999 meters 0.01612011034378442 Centerline is valid? [True, True] Translation: X:43.15, Y:0.12, Z:0.27 [[ 9.99581297e-01 -2.59744947e-02 -1.27497666e-02 4.31510704e+01] [ 2.59752445e-02 9.99662581e-01 -1.06814061e-04 1.21110907e-01] [ 1.27482390e-02 -2.24408967e-04 9.99918713e-01 2.73725951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.669254153999994 meters 0.017969201600368058 Centerline is valid? [True, True] Translation: X:43.18, Y:0.11, Z:0.27 [[ 9.99439599e-01 -3.06382364e-02 -1.34828171e-02 4.31820207e+01] [ 3.06395119e-02 9.99530494e-01 -1.11996839e-04 1.14972614e-01] [ 1.34799182e-02 -3.01172860e-04 9.99909096e-01 2.72315431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699254153999995 meters 0.019727637963804206 Centerline is valid? [True, True] Translation: X:43.21, Y:0.11, Z:0.27 [[ 9.99080664e-01 -4.03930175e-02 -1.43607467e-02 4.32124130e+01] [ 4.03954849e-02 9.99183762e-01 -1.18333862e-04 1.08431231e-01] [ 1.43538047e-02 -4.61884252e-04 9.99896872e-01 2.71541000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.729254153999996 meters 0.022966546737803465 Centerline is valid? [True, True] Translation: X:43.24, Y:0.10, Z:0.27 [[ 9.98909926e-01 -4.43739778e-02 -1.44882822e-02 4.32430783e+01] [ 4.43769097e-02 9.99014853e-01 -1.19224065e-04 1.01361453e-01] [ 1.44792996e-02 -5.23851090e-04 9.99895032e-01 2.71238901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.759254154 meters 0.02410602184035177 Centerline is valid? [True, True] Translation: X:43.27, Y:0.10, Z:0.27 [[ 9.98635594e-01 -5.03235861e-02 -1.39458456e-02 4.32742373e+01] [ 5.03268846e-02 9.98732793e-01 -1.14541798e-04 9.77223541e-02] [ 1.39339375e-02 -5.87465447e-04 9.99902745e-01 2.72295837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.789254154 meters 0.025488796952477195 Centerline is valid? [True, True] Translation: X:43.30, Y:0.10, Z:0.27 [[ 9.98536420e-01 -5.23412090e-02 -1.36167311e-02 4.33049901e+01] [ 5.23445534e-02 9.98629078e-01 -1.10917256e-04 9.52381551e-02] [ 1.36038691e-02 -6.02006787e-04 9.99907282e-01 2.72566668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81925415399999 meters 0.025027294780057517 Centerline is valid? [True, True] Translation: X:43.34, Y:0.10, Z:0.27 [[ 9.98470647e-01 -5.36279008e-02 -1.34318542e-02 4.33372827e+01] [ 5.36312887e-02 9.98560801e-01 -1.08097066e-04 9.54058033e-02] [ 1.34183201e-02 -6.12435903e-04 9.99909783e-01 2.73068485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84925415399999 meters 0.026781478392956477 Centerline is valid? [True, True] Translation: X:43.37, Y:0.09, Z:0.27 [[ 9.98445875e-01 -5.41965341e-02 -1.29834614e-02 4.33688335e+01] [ 5.41997581e-02 9.98530107e-01 -1.03679816e-04 9.23094238e-02] [ 1.29699962e-02 -6.00181781e-04 9.99915706e-01 2.73207899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879254153999995 meters 0.023353124118762295 Centerline is valid? [True, True] Translation: X:43.40, Y:0.10, Z:0.27 [[ 9.98446356e-01 -5.42989157e-02 -1.25100516e-02 4.34005685e+01] [ 5.43019266e-02 9.98524557e-01 -9.91224887e-05 9.79091170e-02] [ 1.24969760e-02 -5.80351415e-04 9.99921741e-01 2.74650981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.909254153999996 meters 0.022654850437176206 Centerline is valid? [True, True] Translation: X:43.43, Y:0.10, Z:0.28 [[ 9.98481922e-01 -5.37492900e-02 -1.20359652e-02 4.34329431e+01] [ 5.37520477e-02 9.98554309e-01 -9.44808392e-05 9.96073101e-02] [ 1.20236432e-02 -5.52620365e-04 9.99927561e-01 2.75019758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939254154 meters 0.022673875234755128 Centerline is valid? [True, True] Translation: X:43.47, Y:0.10, Z:0.28 [[ 9.98537746e-01 -5.27760539e-02 -1.17071841e-02 4.34650371e+01] [ 5.27786064e-02 9.98606234e-01 -9.10296116e-05 1.01013983e-01] [ 1.16956712e-02 -5.26992356e-04 9.99931464e-01 2.75528717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.969254154 meters 0.02280340320230879 Centerline is valid? [True, True] Translation: X:43.50, Y:0.10, Z:0.28 [[ 9.98563307e-01 -5.23510860e-02 -1.14317655e-02 4.34970210e+01] [ 5.23535018e-02 9.98628611e-01 -8.80393124e-05 1.01271961e-01] [ 1.14206970e-02 -5.10580126e-04 9.99934651e-01 2.75372611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99925415399999 meters 0.022920647911490045 Centerline is valid? [True, True] Translation: X:43.53, Y:0.10, Z:0.27 [[ 9.98558303e-01 -5.23648642e-02 -1.17998523e-02 4.35296948e+01] [ 5.23674496e-02 9.98627880e-01 -8.99728635e-05 1.01942031e-01] [ 1.17883729e-02 -5.28085022e-04 9.99930375e-01 2.74797337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02925415399999 meters 0.024129538154862244 Centerline is valid? [True, True] Translation: X:43.56, Y:0.10, Z:0.27 [[ 9.98521978e-01 -5.28848725e-02 -1.25319596e-02 4.35612488e+01] [ 5.28878404e-02 9.98600454e-01 -9.46936576e-05 1.00976685e-01] [ 1.25194284e-02 -5.68234579e-04 9.99921467e-01 2.74278804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059254153999994 meters 0.023430072206913028 Centerline is valid? [True, True] Translation: X:43.59, Y:0.10, Z:0.27 [[ 9.98488448e-01 -5.33147303e-02 -1.33551334e-02 4.35933959e+01] [ 5.33181512e-02 9.98577571e-01 -1.00024698e-04 1.02910792e-01] [ 1.33414695e-02 -6.12197518e-04 9.99910811e-01 2.74109579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.089254153999995 meters 0.02467303579656632 Centerline is valid? [True, True] Translation: X:43.62, Y:0.10, Z:0.27 [[ 9.98430063e-01 -5.39749974e-02 -1.49702480e-02 4.36248127e+01] [ 5.39793853e-02 9.98542044e-01 -1.11097551e-04 1.03250446e-01] [ 1.49544185e-02 -6.97161650e-04 9.99887933e-01 2.72947647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119254154 meters 0.02508957424970785 Centerline is valid? [True, True] Translation: X:43.66, Y:0.10, Z:0.27 [[ 9.98418682e-01 -5.39308559e-02 -1.58618739e-02 4.36562399e+01] [ 5.39357994e-02 9.98544399e-01 -1.16276128e-04 1.03885388e-01] [ 1.58450562e-02 -7.39430588e-04 9.99874186e-01 2.72835021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.149254154 meters 0.025043762335869444 Centerline is valid? [True, True] Translation: X:43.69, Y:0.11, Z:0.27 [[ 9.98453860e-01 -5.30102493e-02 -1.67273228e-02 4.36887332e+01] [ 5.30156441e-02 9.98593675e-01 -1.21069484e-04 1.06414386e-01] [ 1.67102167e-02 -7.65927500e-04 9.99860081e-01 2.72100497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.179254154 meters 0.022989346925859914 Centerline is valid? [True, True] Translation: X:43.72, Y:0.11, Z:0.27 [[ 9.98541718e-01 -5.14864699e-02 -1.62351934e-02 4.37205534e+01] [ 5.14913699e-02 9.98673433e-01 -1.16331036e-04 1.10964401e-01] [ 1.62196458e-02 -7.19810958e-04 9.99868194e-01 2.72987997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20925415399999 meters 0.022103134236129435 Centerline is valid? [True, True] Translation: X:43.75, Y:0.11, Z:0.27 [[ 9.98643223e-01 -4.96231018e-02 -1.57879838e-02 4.37533085e+01] [ 4.96275241e-02 9.98767789e-01 -1.11798926e-04 1.14266608e-01] [ 1.57740775e-02 -6.71871308e-04 9.99875356e-01 2.74183106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239254153999994 meters 0.021006462714212786 Centerline is valid? [True, True] Translation: X:43.78, Y:0.12, Z:0.28 [[ 9.98969351e-01 -4.32487167e-02 -1.37762464e-02 4.37827603e+01] [ 4.32514849e-02 9.99064212e-01 -9.70697442e-05 1.20249440e-01] [ 1.37675529e-02 -4.98873415e-04 9.99905098e-01 2.76003977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.269254153999995 meters 0.019630149830789787 Centerline is valid? [True, True] Translation: X:43.81, Y:0.13, Z:0.28 [[ 9.99159915e-01 -3.87364500e-02 -1.33773123e-02 4.38141915e+01] [ 3.87386583e-02 9.99249372e-01 -9.41017897e-05 1.25095652e-01] [ 1.33709161e-02 -4.24196395e-04 9.99910515e-01 2.77021944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299254153999996 meters 0.016705692981447317 Centerline is valid? [True, True] Translation: X:43.84, Y:0.14, Z:0.28 [[ 9.99536035e-01 -2.80121556e-02 -1.19596777e-02 4.38444061e+01] [ 2.80131563e-02 9.99607551e-01 -8.38765572e-05 1.35348154e-01] [ 1.19573337e-02 -2.51190678e-04 9.99928477e-01 2.78565355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.329254154 meters 0.015857509061998693 Centerline is valid? [True, True] Translation: X:43.88, Y:0.14, Z:0.28 [[ 9.99682482e-01 -2.24503476e-02 -1.14418662e-02 4.38761637e+01] [ 2.24509024e-02 9.99747944e-01 -7.99635205e-05 1.40313077e-01] [ 1.14407774e-02 -1.76942092e-04 9.99934537e-01 2.79243683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.359254154 meters 0.01513714397458541 Centerline is valid? [True, True] Translation: X:43.91, Y:0.14, Z:0.28 [[ 9.99794595e-01 -1.69413397e-02 -1.11247254e-02 4.39067144e+01] [ 1.69415282e-02 9.99856479e-01 -7.73013022e-05 1.44976125e-01] [ 1.11244384e-02 -1.11184425e-04 9.99938115e-01 2.80131148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38925415399999 meters 0.01478669548601945 Centerline is valid? [True, True] Translation: X:43.94, Y:0.15, Z:0.28 [[ 9.99869513e-01 -1.20348628e-02 -1.07758107e-02 4.39370114e+01] [ 1.20347560e-02 9.99927577e-01 -7.47555100e-05 1.49309092e-01] [ 1.07759299e-02 -5.49384968e-05 9.99941936e-01 2.80664060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419254153999994 meters 0.014596260488112307 Centerline is valid? [True, True] Translation: X:43.97, Y:0.16, Z:0.28 [[ 9.99938509e-01 -3.53432774e-03 -1.05112595e-02 4.39663385e+01] [ 3.53375511e-03 9.99993754e-01 -7.30500254e-05 1.55634530e-01] [ 1.05114520e-02 3.59013166e-05 9.99944753e-01 2.80927103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.449254153999995 meters 0.014831599836847113 Centerline is valid? [True, True] Translation: X:43.99, Y:0.16, Z:0.28 [[ 9.99939690e-01 -7.16016207e-04 -1.09591488e-02 4.39949944e+01] [ 7.15210446e-04 9.99999741e-01 -7.74430449e-05 1.57585542e-01] [ 1.09592014e-02 6.96002766e-05 9.99939944e-01 2.80368318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479254153999996 meters 0.015230060357118954 Centerline is valid? [True, True] Translation: X:44.02, Y:0.16, Z:0.28 [[ 9.99919690e-01 2.83968809e-03 -1.23511271e-02 4.40232755e+01] [-2.84101317e-03 9.99995960e-01 -8.97395398e-05 1.59720947e-01] [ 1.23508223e-02 1.24822047e-04 9.99923718e-01 2.78993724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.509254154 meters 0.01529257943001705 Centerline is valid? [True, True] Translation: X:44.05, Y:0.16, Z:0.28 [[ 9.99908925e-01 3.03007578e-03 -1.31514366e-02 4.40508169e+01] [-3.03161059e-03 9.99995400e-01 -9.67688375e-05 1.60762611e-01] [ 1.31510829e-02 1.36630059e-04 9.99913511e-01 2.78522377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.539254154 meters 0.015387395492460038 Centerline is valid? [True, True] Translation: X:44.08, Y:0.16, Z:0.28 [[ 9.99905192e-01 2.86279502e-03 -1.34688724e-02 4.40778909e+01] [-2.86440902e-03 9.99995893e-01 -1.00541812e-04 1.60982290e-01] [ 1.34685293e-02 1.39112640e-04 9.99909286e-01 2.78119729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.56925415399999 meters 0.015442978000449815 Centerline is valid? [True, True] Translation: X:44.11, Y:0.16, Z:0.28 [[ 9.99905922e-01 1.95962525e-03 -1.35759886e-02 4.41058787e+01] [-1.96120478e-03 9.99998072e-01 -1.03035252e-04 1.60637099e-01] [ 1.35757605e-02 1.29650852e-04 9.99907837e-01 2.77549535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59925415399999 meters 0.015442978000449815 Centerline is valid? [True, True] Translation: X:44.13, Y:0.16, Z:0.28 [[ 9.99906120e-01 1.85602806e-03 -1.35759766e-02 4.41333379e+01] [-1.85761917e-03 9.99998269e-01 -1.04591629e-04 1.60941799e-01] [ 1.35757590e-02 1.29800804e-04 9.99907837e-01 2.77740135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.629254153999995 meters 0.015013937479704411 Centerline is valid? [True, True] Translation: X:44.16, Y:0.16, Z:0.28 [[ 9.99904207e-01 -1.45902287e-03 -1.37640021e-02 4.41622381e+01] [ 1.45768488e-03 9.99998932e-01 -1.07241585e-04 1.57205107e-01] [ 1.37641438e-02 8.71677344e-05 9.99905266e-01 2.77659464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659254153999996 meters 0.01469546289231335 Centerline is valid? [True, True] Translation: X:44.19, Y:0.16, Z:0.28 [[ 9.99901790e-01 -3.80643110e-03 -1.34878282e-02 4.41908735e+01] [ 3.80534730e-03 9.99992754e-01 -1.06017475e-04 1.55135395e-01] [ 1.34881340e-02 5.46811927e-05 9.99909029e-01 2.77930648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.689254154 meters 0.01442618335526776 Centerline is valid? [True, True] Translation: X:44.22, Y:0.15, Z:0.28 [[ 9.99884762e-01 -8.91773071e-03 -1.22856021e-02 4.42198530e+01] [ 8.91720712e-03 9.99960236e-01 -9.73966748e-05 1.50932828e-01] [ 1.22859821e-02 -1.21678074e-05 9.99924524e-01 2.79399569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.719254154 meters 0.014482566810011237 Centerline is valid? [True, True] Translation: X:44.25, Y:0.15, Z:0.28 [[ 9.99858518e-01 -1.17575165e-02 -1.20293057e-02 4.42485462e+01] [ 1.17572096e-02 9.99930877e-01 -9.62314943e-05 1.49247929e-01] [ 1.20296056e-02 -4.52131887e-05 9.99927641e-01 2.80039292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74925415399999 meters 0.014745485541749967 Centerline is valid? [True, True] Translation: X:44.28, Y:0.15, Z:0.28 [[ 9.99825036e-01 -1.47079201e-02 -1.15574447e-02 4.42771175e+01] [ 1.47078253e-02 9.99891830e-01 -9.31973090e-05 1.46848483e-01] [ 1.15575653e-02 -7.68038755e-05 9.99933206e-01 2.80314275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77925415399999 meters 0.015172575726292886 Centerline is valid? [True, True] Translation: X:44.31, Y:0.14, Z:0.28 [[ 9.99719268e-01 -2.10796210e-02 -1.08182605e-02 4.43064957e+01] [ 2.10799056e-02 9.99777790e-01 -8.77342273e-05 1.41781584e-01] [ 1.08177060e-02 -1.40338313e-04 9.99941477e-01 2.81090858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.809254153999994 meters 0.016100171633331443 Centerline is valid? [True, True] Translation: X:44.34, Y:0.14, Z:0.28 [[ 9.99647211e-01 -2.41788675e-02 -1.09925815e-02 4.43378277e+01] [ 2.41793483e-02 9.99707633e-01 -8.91835205e-05 1.37012768e-01] [ 1.09915240e-02 -1.76641399e-04 9.99939576e-01 2.80636957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839254153999995 meters 0.017487603774553464 Centerline is valid? [True, True] Translation: X:44.37, Y:0.13, Z:0.28 [[ 9.99458661e-01 -3.10314310e-02 -1.09286057e-02 4.43690018e+01] [ 3.10323205e-02 9.99518378e-01 -8.82121633e-05 1.31113368e-01] [ 1.09260796e-02 -2.50975583e-04 9.99940277e-01 2.80721355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.869254154 meters 0.017780071807258595 Centerline is valid? [True, True] Translation: X:44.40, Y:0.13, Z:0.28 [[ 9.99348646e-01 -3.43332099e-02 -1.11137041e-02 4.44011228e+01] [ 3.43343387e-02 9.99410399e-01 -8.92733656e-05 1.29506797e-01] [ 1.11102165e-02 -2.92366463e-04 9.99938237e-01 2.80719471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.899254154 meters 0.018903065819627765 Centerline is valid? [True, True] Translation: X:44.43, Y:0.13, Z:0.28 [[ 9.99230000e-01 -3.74548662e-02 -1.16850440e-02 4.44324723e+01] [ 3.74563387e-02 9.99298261e-01 -9.28860117e-05 1.26391611e-01] [ 1.16803232e-02 -3.44864476e-04 9.99931723e-01 2.80497665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.929254154 meters 0.020455306237085483 Centerline is valid? [True, True] Translation: X:44.46, Y:0.12, Z:0.28 [[ 9.98994858e-01 -4.32963681e-02 -1.16059832e-02 4.44637688e+01] [ 4.32982238e-02 9.99062188e-01 -9.14484631e-05 1.22018295e-01] [ 1.15990584e-02 -4.11161914e-04 9.99932644e-01 2.80702482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95925415399999 meters 0.021303998109216404 Centerline is valid? [True, True] Translation: X:44.50, Y:0.12, Z:0.28 [[ 9.98897193e-01 -4.55092538e-02 -1.15458025e-02 4.44955717e+01] [ 4.55112437e-02 9.98963822e-01 -9.04685427e-05 1.19790427e-01] [ 1.15379561e-02 -4.35095057e-04 9.99933341e-01 2.80768366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.989254153999994 meters 0.023111841647881024 Centerline is valid? [True, True] Translation: X:44.53, Y:0.12, Z:0.28 [[ 9.98823783e-01 -4.71096278e-02 -1.14774803e-02 4.45271392e+01] [ 4.71117069e-02 9.98889623e-01 -8.93065682e-05 1.15585717e-01] [ 1.14689431e-02 -4.51522162e-04 9.99934128e-01 2.80571804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019254153999995 meters 0.025120295286916672 Centerline is valid? [True, True] Translation: X:44.56, Y:0.11, Z:0.28 [[ 9.98723148e-01 -4.90973671e-02 -1.18962917e-02 4.45577557e+01] [ 4.90997483e-02 9.98793876e-01 -9.19975359e-05 1.10962848e-01] [ 1.18864601e-02 -4.92224857e-04 9.99929232e-01 2.79562649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.049254153999996 meters 0.023405386099589653 Centerline is valid? [True, True] Translation: X:44.59, Y:0.11, Z:0.28 [[ 9.98707028e-01 -4.93506468e-02 -1.21977594e-02 4.45897596e+01] [ 4.93531767e-02 9.98781385e-01 -9.36958951e-05 1.13886116e-01] [ 1.21875190e-02 -5.08423428e-04 9.99925600e-01 2.79910032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.079254154 meters 0.02352526043785436 Centerline is valid? [True, True] Translation: X:44.62, Y:0.11, Z:0.28 [[ 9.98735225e-01 -4.87017315e-02 -1.24936896e-02 4.46207487e+01] [ 4.87043451e-02 9.98813235e-01 -9.51565121e-05 1.14892438e-01] [ 1.24834968e-02 -5.13460811e-04 9.99921946e-01 2.80009716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.109254154 meters 0.02372767322893475 Centerline is valid? [True, True] Translation: X:44.65, Y:0.12, Z:0.28 [[ 9.98776348e-01 -4.78169008e-02 -1.26233829e-02 4.46524507e+01] [ 4.78195083e-02 9.98855988e-01 -9.53632254e-05 1.15669244e-01] [ 1.26135015e-02 -5.08397428e-04 9.99920317e-01 2.79881483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13925415399999 meters 0.023629259967342803 Centerline is valid? [True, True] Translation: X:44.68, Y:0.12, Z:0.28 [[ 9.98815774e-01 -4.69149616e-02 -1.28854634e-02 4.46842413e+01] [ 4.69176155e-02 9.98898758e-01 -9.64208761e-05 1.16901808e-01] [ 1.28757969e-02 -5.08248524e-04 9.99916974e-01 2.79672680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.169254153999994 meters 0.02338725778113171 Centerline is valid? [True, True] Translation: X:44.72, Y:0.12, Z:0.28 [[ 9.98877057e-01 -4.53593358e-02 -1.36804687e-02 4.47154430e+01] [ 4.53621936e-02 9.98970601e-01 -1.01496000e-04 1.18738744e-01] [ 1.36709899e-02 -5.19194046e-04 9.99906413e-01 2.78887898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199254153999995 meters 0.023390118943030915 Centerline is valid? [True, True] Translation: X:44.75, Y:0.12, Z:0.28 [[ 9.98882848e-01 -4.50855929e-02 -1.41543070e-02 4.47476108e+01] [ 4.50886371e-02 9.98982985e-01 -1.04132385e-04 1.19521479e-01] [ 1.41446067e-02 -5.34182357e-04 9.99899817e-01 2.78694398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.229254153999996 meters 0.02430688150871849 Centerline is valid? [True, True] Translation: X:44.78, Y:0.12, Z:0.28 [[ 9.98862265e-01 -4.52969189e-02 -1.49119101e-02 4.47789210e+01] [ 4.53003350e-02 9.98973407e-01 -1.08784011e-04 1.20104615e-01] [ 1.49015292e-02 -5.66854279e-04 9.99888805e-01 2.77894958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259254154 meters 0.02479078920624386 Centerline is valid? [True, True] Translation: X:44.81, Y:0.12, Z:0.28 [[ 9.98850551e-01 -4.54682785e-02 -1.51727722e-02 4.48099196e+01] [ 4.54718469e-02 9.98965615e-01 -1.09898556e-04 1.20638586e-01] [ 1.51620746e-02 -5.80161743e-04 9.99884881e-01 2.77840945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.289254154 meters 0.02484419124768594 Centerline is valid? [True, True] Translation: X:44.84, Y:0.12, Z:0.28 [[ 9.98856318e-01 -4.54223164e-02 -1.49288307e-02 4.48416071e+01] [ 4.54257791e-02 9.98967711e-01 -1.07238888e-04 1.21796861e-01] [ 1.49182909e-02 -5.71037528e-04 9.99888553e-01 2.77861727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31925415399999 meters 0.023339476006136683 Centerline is valid? [True, True] Translation: X:44.87, Y:0.13, Z:0.28 [[ 9.98830121e-01 -4.57186040e-02 -1.57542933e-02 4.48735752e+01] [ 4.57225147e-02 9.98954173e-01 -1.12052546e-04 1.27084321e-01] [ 1.57429399e-02 -6.08404447e-04 9.99875887e-01 2.78626230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34925415399999 meters 0.023190621828030195 Centerline is valid? [True, True] Translation: X:44.91, Y:0.13, Z:0.28 [[ 9.98837818e-01 -4.54281617e-02 -1.61026782e-02 4.49061445e+01] [ 4.54322281e-02 9.98967417e-01 -1.13388709e-04 1.28742409e-01] [ 1.60912019e-02 -6.18323618e-04 9.99870337e-01 2.78802924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379254153999995 meters 0.023678512083610263 Centerline is valid? [True, True] Translation: X:44.94, Y:0.13, Z:0.28 [[ 9.98846102e-01 -4.53911299e-02 -1.56878929e-02 4.49375825e+01] [ 4.53949994e-02 9.98969110e-01 -1.09534586e-04 1.29825122e-01] [ 1.56766923e-02 -6.02743696e-04 9.99876931e-01 2.78957456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.409254153999996 meters 0.024034364694867555 Centerline is valid? [True, True] Translation: X:44.97, Y:0.13, Z:0.28 [[ 9.98844397e-01 -4.57003638e-02 -1.48777621e-02 4.49701947e+01] [ 4.57038915e-02 9.98955026e-01 -1.02982559e-04 1.33004457e-01] [ 1.48669215e-02 -5.77108071e-04 9.99889315e-01 2.80384692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439254154 meters 0.02070516315497765 Centerline is valid? [True, True] Translation: X:45.00, Y:0.14, Z:0.28 [[ 9.98858642e-01 -4.57173583e-02 -1.38324246e-02 4.50024666e+01] [ 4.57204226e-02 9.98954270e-01 -9.47838279e-05 1.40108624e-01] [ 1.38222928e-02 -5.37748650e-04 9.99904323e-01 2.82655122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.469254154 meters 0.022240745767542647 Centerline is valid? [True, True] Translation: X:45.03, Y:0.14, Z:0.28 [[ 9.98871204e-01 -4.57121923e-02 -1.29117670e-02 4.50343292e+01] [ 4.57148815e-02 9.98954525e-01 -8.69442770e-05 1.39575026e-01] [ 1.29022425e-02 -5.03413763e-04 9.99916636e-01 2.83339458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49925415399999 meters 0.023925521800547613 Centerline is valid? [True, True] Translation: X:45.07, Y:0.14, Z:0.28 [[ 9.98805266e-01 -4.75305274e-02 -1.13529249e-02 4.50650490e+01] [ 4.75327375e-02 9.98869678e-01 -7.52213959e-05 1.40133063e-01] [ 1.13436677e-02 -4.64504071e-04 9.99935551e-01 2.84048817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52925415399999 meters 0.022442201734598193 Centerline is valid? [True, True] Translation: X:45.10, Y:0.14, Z:0.28 [[ 9.98740855e-01 -4.89445683e-02 -1.10061040e-02 4.50972552e+01] [ 4.89467372e-02 9.98801388e-01 -7.23793375e-05 1.43763690e-01] [ 1.09964545e-02 -4.66424678e-04 9.99939428e-01 2.84667856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559254153999994 meters 0.026898857619622702 Centerline is valid? [True, True] Translation: X:45.13, Y:0.14, Z:0.28 [[ 9.98518507e-01 -5.33627372e-02 -1.06400298e-02 4.51271554e+01] [ 5.33650197e-02 9.98575070e-01 -6.94754982e-05 1.39706567e-01] [ 1.06285759e-02 -4.98432830e-04 9.99943391e-01 2.84285175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.589254153999995 meters 0.024681809879608062 Centerline is valid? [True, True] Translation: X:45.16, Y:0.14, Z:0.28 [[ 9.98383558e-01 -5.58501260e-02 -1.05372631e-02 4.51594096e+01] [ 5.58525057e-02 9.98439028e-01 -6.85392922e-05 1.44106634e-01] [ 1.05246427e-02 -5.20104045e-04 9.99944479e-01 2.84678125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619254154 meters 0.02640510427789714 Centerline is valid? [True, True] Translation: X:45.19, Y:0.14, Z:0.28 [[ 9.98219118e-01 -5.86695957e-02 -1.07921851e-02 4.51892232e+01] [ 5.86722619e-02 9.98277297e-01 -6.96757254e-05 1.42692801e-01] [ 1.07776813e-02 -5.63650272e-04 9.99941760e-01 2.84506755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.649254154 meters 0.027384479839329474 Centerline is valid? [True, True] Translation: X:45.22, Y:0.14, Z:0.28 [[ 9.98048502e-01 -6.14384144e-02 -1.11583380e-02 4.52200144e+01] [ 6.14414379e-02 9.98110688e-01 -7.19619291e-05 1.42345333e-01] [ 1.11416776e-02 -6.13762835e-04 9.99937741e-01 2.83934018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67925415399999 meters 0.03154445283642217 Centerline is valid? [True, True] Translation: X:45.25, Y:0.14, Z:0.28 [[ 9.97788726e-01 -6.54440659e-02 -1.16074519e-02 4.52499079e+01] [ 6.54476126e-02 9.97856004e-01 -7.44442742e-05 1.38525919e-01] [ 1.15874375e-02 -6.85400359e-04 9.99932628e-01 2.83440966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70925415399999 meters 0.032720516183900594 Centerline is valid? [True, True] Translation: X:45.28, Y:0.14, Z:0.28 [[ 9.97708085e-01 -6.66299185e-02 -1.17911571e-02 4.52817192e+01] [ 6.66336726e-02 9.97777504e-01 -7.46186991e-05 1.37963017e-01] [ 1.17699231e-02 -7.11240421e-04 9.99930479e-01 2.83509830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739254153999994 meters 0.030984457599059906 Centerline is valid? [True, True] Translation: X:45.31, Y:0.14, Z:0.28 [[ 9.97632761e-01 -6.76297972e-02 -1.24532935e-02 4.53142784e+01] [ 6.76340784e-02 9.97710191e-01 -7.75328147e-05 1.41992087e-01] [ 1.24300214e-02 -7.64917756e-04 9.99922452e-01 2.83712355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.769254153999995 meters 0.03186817708111791 Centerline is valid? [True, True] Translation: X:45.35, Y:0.14, Z:0.28 [[ 9.97630669e-01 -6.76924638e-02 -1.22792221e-02 4.53459534e+01] [ 6.76966405e-02 9.97705948e-01 -7.56598418e-05 1.42049226e-01] [ 1.22561745e-02 -7.55781506e-04 9.99924605e-01 2.83662026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799254153999996 meters 0.03221849841749899 Centerline is valid? [True, True] Translation: X:45.38, Y:0.14, Z:0.28 [[ 9.97701661e-01 -6.65089502e-02 -1.29597881e-02 4.53768715e+01] [ 6.65135126e-02 9.97785521e-01 -7.91322918e-05 1.44798273e-01] [ 1.29363519e-02 -7.83050608e-04 9.99916015e-01 2.83008678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.829254154 meters 0.029962980300680724 Centerline is valid? [True, True] Translation: X:45.41, Y:0.15, Z:0.28 [[ 9.97793211e-01 -6.50558009e-02 -1.32835131e-02 4.54095418e+01] [ 6.50604785e-02 9.97881319e-01 -8.01502894e-05 1.49763802e-01] [ 1.32605838e-02 -7.84258301e-04 9.99911767e-01 2.82981429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.859254154 meters 0.02811484801802915 Centerline is valid? [True, True] Translation: X:45.44, Y:0.16, Z:0.28 [[ 9.98050098e-01 -6.09150016e-02 -1.36148271e-02 4.54400331e+01] [ 6.09195419e-02 9.98142677e-01 -8.13822602e-05 1.55958327e-01] [ 1.35944973e-02 -7.48185456e-04 9.99907311e-01 2.82880846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88925415399999 meters 0.02795328531623627 Centerline is valid? [True, True] Translation: X:45.47, Y:0.16, Z:0.28 [[ 9.98209380e-01 -5.83471927e-02 -1.31772171e-02 4.54710203e+01] [ 5.83512272e-02 9.98296112e-01 -7.84190803e-05 1.58021707e-01] [ 1.31593401e-02 -6.90628127e-04 9.99913174e-01 2.83302498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919254153999994 meters 0.02668536554123072 Centerline is valid? [True, True] Translation: X:45.50, Y:0.16, Z:0.28 [[ 9.98365556e-01 -5.56119841e-02 -1.31728149e-02 4.55023915e+01] [ 5.56157846e-02 9.98452241e-01 -7.79159477e-05 1.61863457e-01] [ 1.31567596e-02 -6.54827836e-04 9.99913232e-01 2.83955967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.949254153999995 meters 0.02498929736986387 Centerline is valid? [True, True] Translation: X:45.53, Y:0.17, Z:0.29 [[ 9.98624564e-01 -5.10177297e-02 -1.20901111e-02 4.55331875e+01] [ 5.10205990e-02 9.98697599e-01 -7.11885391e-05 1.68327917e-01] [ 1.20779968e-02 -5.45754087e-04 9.99926909e-01 2.85234586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979254153999996 meters 0.024560049898262597 Centerline is valid? [True, True] Translation: X:45.57, Y:0.17, Z:0.29 [[ 9.98734076e-01 -4.89618569e-02 -1.15317958e-02 4.55651199e+01] [ 4.89643357e-02 9.98800525e-01 -6.74505858e-05 1.70981239e-01] [ 1.15212662e-02 -4.97281520e-04 9.99933504e-01 2.85796847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.009254154 meters 0.02306876860849588 Centerline is valid? [True, True] Translation: X:45.60, Y:0.18, Z:0.29 [[ 9.98880346e-01 -4.60965622e-02 -1.06376991e-02 4.55969151e+01] [ 4.60985163e-02 9.98936896e-01 -6.15594280e-05 1.76898157e-01] [ 1.06292278e-02 -4.28891642e-04 9.99943416e-01 2.86152319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.039254154 meters 0.02375070581882333 Centerline is valid? [True, True] Translation: X:45.63, Y:0.18, Z:0.29 [[ 9.98928852e-01 -4.49634762e-02 -1.09285671e-02 4.56285648e+01] [ 4.49654783e-02 9.98988539e-01 -6.25730435e-05 1.77042463e-01] [ 1.09203268e-02 -4.28902229e-04 9.99940279e-01 2.86103322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06925415399999 meters 0.022955778479477162 Centerline is valid? [True, True] Translation: X:45.66, Y:0.18, Z:0.29 [[ 9.98965637e-01 -4.42344002e-02 -1.05343811e-02 4.56605671e+01] [ 4.42362277e-02 9.99021097e-01 -5.95835623e-05 1.79646418e-01] [ 1.05267046e-02 -4.06479349e-04 9.99944510e-01 2.86143838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09925415399999 meters 0.022013124597862678 Centerline is valid? [True, True] Translation: X:45.69, Y:0.18, Z:0.29 [[ 9.98984930e-01 -4.37985981e-02 -1.05257530e-02 4.56925699e+01] [ 4.38004063e-02 9.99040300e-01 -5.87812813e-05 1.83447666e-01] [ 1.05182260e-02 -4.02310646e-04 9.99944601e-01 2.85826057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.129254153999995 meters 0.022899813794549886 Centerline is valid? [True, True] Translation: X:45.72, Y:0.18, Z:0.29 [[ 9.98964176e-01 -4.41221898e-02 -1.11268351e-02 4.57237595e+01] [ 4.41242389e-02 9.99026050e-01 -6.13824651e-05 1.83325863e-01] [ 1.11187064e-02 -4.29644247e-04 9.99938093e-01 2.85371568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159254153999996 meters 0.024033505169814322 Centerline is valid? [True, True] Translation: X:45.75, Y:0.18, Z:0.28 [[ 9.98907839e-01 -4.48297334e-02 -1.31690868e-02 4.57545902e+01] [ 4.48326817e-02 9.98994507e-01 -7.13969486e-05 1.83097738e-01] [ 1.31590461e-02 -5.19086505e-04 9.99913281e-01 2.83792007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.189254154 meters 0.02378826435907596 Centerline is valid? [True, True] Translation: X:45.79, Y:0.18, Z:0.28 [[ 9.98875488e-01 -4.50553428e-02 -1.47571966e-02 4.57871889e+01] [ 4.50590928e-02 9.98984320e-01 -7.84464504e-05 1.84285607e-01] [ 1.47457424e-02 -5.86587653e-04 9.99891104e-01 2.82213364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.219254154 meters 0.02299354079746085 Centerline is valid? [True, True] Translation: X:45.82, Y:0.19, Z:0.28 [[ 9.98857773e-01 -4.50154929e-02 -1.60235864e-02 4.58196284e+01] [ 4.50199281e-02 9.98986085e-01 -8.39990454e-05 1.85991149e-01] [ 1.60111212e-02 -6.37477610e-04 9.99871611e-01 2.81323079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24925415399999 meters 0.02268993652394947 Centerline is valid? [True, True] Translation: X:45.85, Y:0.19, Z:0.28 [[ 9.98847174e-01 -4.49114866e-02 -1.69493528e-02 4.58522451e+01] [ 4.49164553e-02 9.98990743e-01 -8.76079999e-05 1.87277564e-01] [ 1.69361811e-02 -6.73797842e-04 9.99856346e-01 2.80817692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27925415399999 meters 0.024863348624205903 Centerline is valid? [True, True] Translation: X:45.88, Y:0.19, Z:0.28 [[ 9.98885113e-01 -4.39973997e-02 -1.71102464e-02 4.58831827e+01] [ 4.40023473e-02 9.99031424e-01 -8.73904328e-05 1.85611309e-01] [ 1.70975188e-02 -6.65598003e-04 9.99853605e-01 2.80340998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.309254153999994 meters 0.022765321116113468 Centerline is valid? [True, True] Translation: X:45.92, Y:0.19, Z:0.28 [[ 9.98936214e-01 -4.30756537e-02 -1.64598829e-02 4.59155315e+01] [ 4.30801242e-02 9.99071617e-01 -8.30372640e-05 1.89934342e-01] [ 1.64481787e-02 -6.26144870e-04 9.99864524e-01 2.82343182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339254153999995 meters 0.021567272291793838 Centerline is valid? [True, True] Translation: X:45.95, Y:0.19, Z:0.28 [[ 9.99040831e-01 -4.13230069e-02 -1.44853754e-02 4.59474433e+01] [ 4.13262992e-02 9.99145701e-01 -7.21000727e-05 1.93868764e-01] [ 1.44759800e-02 -5.26596043e-04 9.99895079e-01 2.84727590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.369254154 meters 0.022657338778316025 Centerline is valid? [True, True] Translation: X:45.98, Y:0.19, Z:0.29 [[ 9.99097667e-01 -4.01778245e-02 -1.37692855e-02 4.59784686e+01] [ 4.01807089e-02 9.99192427e-01 -6.72097499e-05 1.92493592e-01] [ 1.37608662e-02 -4.86110550e-04 9.99905197e-01 2.85451191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.399254154 meters 0.021934620808928034 Centerline is valid? [True, True] Translation: X:46.01, Y:0.19, Z:0.29 [[ 9.99153732e-01 -3.89475453e-02 -1.32253267e-02 4.60108224e+01] [ 3.89501154e-02 9.99241154e-01 -6.32860008e-05 1.94328884e-01] [ 1.32177556e-02 -4.51895558e-04 9.99912540e-01 2.86474624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42925415399999 meters 0.020828688906446118 Centerline is valid? [True, True] Translation: X:46.04, Y:0.20, Z:0.29 [[ 9.99234224e-01 -3.71316852e-02 -1.23370613e-02 4.60435953e+01] [ 3.71337948e-02 9.99310301e-01 -5.81076086e-05 1.97529937e-01] [ 1.23307101e-02 -4.00058791e-04 9.99923894e-01 2.87722591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45925415399999 meters 0.019667799239120026 Centerline is valid? [True, True] Translation: X:46.08, Y:0.20, Z:0.29 [[ 9.99251029e-01 -3.66685647e-02 -1.23611055e-02 4.60759785e+01] [ 3.66706596e-02 9.99327404e-01 -5.72158753e-05 2.00174962e-01] [ 1.23548895e-02 -3.96116870e-04 9.99923597e-01 2.88621368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.489254153999994 meters 0.019351039351909727 Centerline is valid? [True, True] Translation: X:46.11, Y:0.20, Z:0.29 [[ 9.99261847e-01 -3.63263874e-02 -1.24961741e-02 4.61085157e+01] [ 3.63285130e-02 9.99339900e-01 -5.69254172e-05 2.00784355e-01] [ 1.24899933e-02 -3.97084027e-04 9.99921918e-01 2.88871704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519254153999995 meters 0.019351039351909727 Centerline is valid? [True, True] Translation: X:46.14, Y:0.20, Z:0.29 [[ 9.99265843e-01 -3.62162884e-02 -1.24961792e-02 4.61410794e+01] [ 3.62184194e-02 9.99343896e-01 -5.58056027e-05 2.00841132e-01] [ 1.24900014e-02 -3.96827225e-04 9.99921918e-01 2.89097185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.549254153999996 meters 0.019458441440883788 Centerline is valid? [True, True] Translation: X:46.17, Y:0.20, Z:0.29 [[ 9.99270364e-01 -3.61591104e-02 -1.22987054e-02 4.61741493e+01] [ 3.61611867e-02 9.99345969e-01 -5.35821063e-05 2.00621286e-01] [ 1.22925991e-02 -3.91192771e-04 9.99924367e-01 2.89062855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.579254154 meters 0.01996827112948358 Centerline is valid? [True, True] Translation: X:46.21, Y:0.20, Z:0.29 [[ 9.99255247e-01 -3.64255463e-02 -1.27330687e-02 4.62052408e+01] [ 3.64278126e-02 9.99336286e-01 -5.39738037e-05 1.99158366e-01] [ 1.27265836e-02 -4.09904233e-04 9.99918930e-01 2.88844175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.609254154 meters 0.019993405585377606 Centerline is valid? [True, True] Translation: X:46.24, Y:0.20, Z:0.29 [[ 9.99256533e-01 -3.62971376e-02 -1.29961342e-02 4.62379365e+01] [ 3.62995075e-02 9.99340954e-01 -5.35616246e-05 1.98571838e-01] [ 1.29895133e-02 -4.18231468e-04 9.99915545e-01 2.88794294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63925415399999 meters 0.019987025021316218 Centerline is valid? [True, True] Translation: X:46.27, Y:0.20, Z:0.29 [[ 9.99253395e-01 -3.60458181e-02 -1.39050853e-02 4.62707192e+01] [ 3.60485286e-02 9.99350039e-01 -5.57459226e-05 1.98086156e-01] [ 1.38980570e-02 -4.45553563e-04 9.99903318e-01 2.88551845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.669254153999994 meters 0.018896187175029958 Centerline is valid? [True, True] Translation: X:46.30, Y:0.20, Z:0.29 [[ 9.99269931e-01 -3.52762692e-02 -1.46693287e-02 4.63031444e+01] [ 3.52792231e-02 9.99377493e-01 -5.74441767e-05 1.99306272e-01] [ 1.46622233e-02 -4.60120279e-04 9.99892398e-01 2.88675948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699254153999995 meters 0.020120541108445585 Centerline is valid? [True, True] Translation: X:46.33, Y:0.20, Z:0.29 [[ 9.99285385e-01 -3.47215203e-02 -1.49377030e-02 4.63341670e+01] [ 3.47245357e-02 9.99396920e-01 -5.75298399e-05 1.97323015e-01] [ 1.49306918e-02 -4.61216072e-04 9.99888425e-01 2.88345493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.729254153999996 meters 0.019273562007042267 Centerline is valid? [True, True] Translation: X:46.37, Y:0.20, Z:0.29 [[ 9.99325413e-01 -3.35815238e-02 -1.48660889e-02 4.63668198e+01] [ 3.35844006e-02 9.99435883e-01 -5.61601496e-05 1.98780831e-01] [ 1.48595887e-02 -4.43146422e-04 9.99889492e-01 2.88721532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759254154 meters 0.01850467587116636 Centerline is valid? [True, True] Translation: X:46.40, Y:0.20, Z:0.29 [[ 9.99384465e-01 -3.13646843e-02 -1.57145396e-02 4.63989033e+01] [ 3.13676455e-02 9.99507913e-01 -5.80729206e-05 2.00311468e-01] [ 1.57086282e-02 -4.34890934e-04 9.99876517e-01 2.88606521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.789254154 meters 0.01846220506416814 Centerline is valid? [True, True] Translation: X:46.43, Y:0.20, Z:0.29 [[ 9.99423297e-01 -3.00870718e-02 -1.57429873e-02 4.64297930e+01] [ 3.00899006e-02 9.99547195e-01 -5.72027290e-05 2.00503898e-01] [ 1.57375799e-02 -4.16535184e-04 9.99876070e-01 2.88231760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81925415399999 meters 0.017476529926534957 Centerline is valid? [True, True] Translation: X:46.46, Y:0.20, Z:0.29 [[ 9.99527270e-01 -2.64909902e-02 -1.56033504e-02 4.64612704e+01] [ 2.64933417e-02 9.99648988e-01 -5.60157561e-05 2.02692619e-01] [ 1.55993573e-02 -3.57395618e-04 9.99878259e-01 2.88878651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84925415399999 meters 0.017142184802020063 Centerline is valid? [True, True] Translation: X:46.49, Y:0.20, Z:0.29 [[ 9.99579210e-01 -2.44628397e-02 -1.55875645e-02 4.64930840e+01] [ 2.44649509e-02 9.99700687e-01 -5.52544067e-05 2.04043888e-01] [ 1.55842506e-02 -3.26117845e-04 9.99878505e-01 2.89214141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879254153999995 meters 0.016597351618251776 Centerline is valid? [True, True] Translation: X:46.52, Y:0.21, Z:0.29 [[ 9.99636800e-01 -2.20187193e-02 -1.55384623e-02 4.65247268e+01] [ 2.20205325e-02 9.99757517e-01 -5.44142462e-05 2.05286827e-01] [ 1.55358927e-02 -2.87770732e-04 9.99879269e-01 2.89468905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.909254153999996 meters 0.015634382356592397 Centerline is valid? [True, True] Translation: X:46.56, Y:0.21, Z:0.29 [[ 9.99742094e-01 -1.72912388e-02 -1.47227420e-02 4.65558111e+01] [ 1.72923594e-02 9.99850475e-01 -5.11921947e-05 2.08386841e-01] [ 1.47214258e-02 -2.03411955e-04 9.99891613e-01 2.90301989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939254154 meters 0.015249967033722181 Centerline is valid? [True, True] Translation: X:46.59, Y:0.21, Z:0.29 [[ 9.99779474e-01 -1.51575333e-02 -1.45345189e-02 4.65852118e+01] [ 1.51583980e-02 9.99885104e-01 -5.06821366e-05 2.09894751e-01] [ 1.45336171e-02 -1.69649062e-04 9.99894367e-01 2.90587091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.969254154 meters 0.015123028669110758 Centerline is valid? [True, True] Translation: X:46.61, Y:0.21, Z:0.29 [[ 9.99807027e-01 -1.34897687e-02 -1.42805840e-02 4.66141246e+01] [ 1.34904245e-02 9.99908999e-01 -5.04114612e-05 2.10974306e-01] [ 1.42799645e-02 -1.42249408e-04 9.99898026e-01 2.90532991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99925415399999 meters 0.014729502128517187 Centerline is valid? [True, True] Translation: X:46.64, Y:0.21, Z:0.29 [[ 9.99811396e-01 -1.22445080e-02 -1.50746457e-02 4.66433010e+01] [ 1.22450610e-02 9.99925025e-01 -5.56195572e-05 2.12409927e-01] [ 1.50741966e-02 -1.28980889e-04 9.99886370e-01 2.90272931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02925415399999 meters 0.01491494534355952 Centerline is valid? [True, True] Translation: X:46.67, Y:0.21, Z:0.29 [[ 9.99789449e-01 -1.27289904e-02 -1.60944333e-02 4.66723678e+01] [ 1.27296174e-02 9.99918973e-01 -6.34916168e-05 2.12241087e-01] [ 1.60939374e-02 -1.41397730e-04 9.99870474e-01 2.89571816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059254153999994 meters 0.01471619585122412 Centerline is valid? [True, True] Translation: X:46.70, Y:0.21, Z:0.29 [[ 9.99746398e-01 -1.39570369e-02 -1.76731426e-02 4.67011535e+01] [ 1.39579027e-02 9.99902581e-01 -7.43645808e-05 2.11751842e-01] [ 1.76724588e-02 -1.72334284e-04 9.99843815e-01 2.88596226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.089254153999995 meters 0.014863871060953753 Centerline is valid? [True, True] Translation: X:46.73, Y:0.21, Z:0.29 [[ 9.99714244e-01 -1.50775416e-02 -1.85498580e-02 4.67286398e+01] [ 1.50786340e-02 9.99886308e-01 -8.09804788e-05 2.10655668e-01] [ 1.85489700e-02 -1.98749182e-04 9.99827933e-01 2.87674475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119254154 meters 0.015366852042823188 Centerline is valid? [True, True] Translation: X:46.76, Y:0.21, Z:0.29 [[ 9.99682669e-01 -1.62955898e-02 -1.92097881e-02 4.67566032e+01] [ 1.62969525e-02 9.99867192e-01 -8.56189801e-05 2.09065397e-01] [ 1.92086321e-02 -2.27469192e-04 9.99815471e-01 2.86301260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.149254154 meters 0.015362153761412351 Centerline is valid? [True, True] Translation: X:46.78, Y:0.21, Z:0.29 [[ 9.99654427e-01 -1.78216601e-02 -1.93239368e-02 4.67849278e+01] [ 1.78232522e-02 9.99841149e-01 -8.98436763e-05 2.08819517e-01] [ 1.93224683e-02 -2.54602771e-04 9.99813271e-01 2.87028761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17925415399999 meters 0.01561939194800728 Centerline is valid? [True, True] Translation: X:46.81, Y:0.21, Z:0.29 [[ 9.99625555e-01 -1.94695627e-02 -1.92272330e-02 4.68140792e+01] [ 1.94713514e-02 9.99810411e-01 -9.41950386e-05 2.08338063e-01] [ 1.92254216e-02 -2.80220441e-04 9.99815135e-01 2.87748916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20925415399999 meters 0.015976045472337618 Centerline is valid? [True, True] Translation: X:46.84, Y:0.21, Z:0.29 [[ 9.99613336e-01 -2.07917023e-02 -1.84630347e-02 4.68415377e+01] [ 2.07935273e-02 9.99783787e-01 -9.31433232e-05 2.07511566e-01] [ 1.84609794e-02 -2.90804307e-04 9.99829539e-01 2.88324148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239254153999994 meters 0.016473353140928022 Centerline is valid? [True, True] Translation: X:46.87, Y:0.21, Z:0.29 [[ 9.99589466e-01 -2.34008011e-02 -1.65318267e-02 4.68714912e+01] [ 2.34026061e-02 9.99726118e-01 -8.42898900e-05 2.05520538e-01] [ 1.65292714e-02 -3.02632542e-04 9.99863336e-01 2.90273507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.269254153999995 meters 0.016754050124667276 Centerline is valid? [True, True] Translation: X:46.90, Y:0.20, Z:0.29 [[ 9.99561296e-01 -2.50231811e-02 -1.58447715e-02 4.69022347e+01] [ 2.50250392e-02 9.99686821e-01 -8.10208252e-05 2.04639396e-01] [ 1.58418367e-02 -3.15530748e-04 9.99874460e-01 2.91417148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299254153999996 meters 0.017979778109698703 Centerline is valid? [True, True] Translation: X:46.93, Y:0.20, Z:0.29 [[ 9.99519841e-01 -2.80186414e-02 -1.32303932e-02 4.69337144e+01] [ 2.80202036e-02 9.99607355e-01 -6.73174129e-05 2.01614646e-01] [ 1.32270845e-02 -3.03433220e-04 9.99912472e-01 2.93128278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.329254154 meters 0.018567016221064585 Centerline is valid? [True, True] Translation: X:46.97, Y:0.20, Z:0.29 [[ 9.99478781e-01 -2.97520313e-02 -1.25292692e-02 4.69660130e+01] [ 2.97535776e-02 9.99557262e-01 -6.30118783e-05 2.00226867e-01] [ 1.25255967e-02 -3.09811547e-04 9.99921504e-01 2.94151479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359254154 meters 0.018583865951060007 Centerline is valid? [True, True] Translation: X:47.00, Y:0.20, Z:0.30 [[ 9.99374339e-01 -3.36418703e-02 -1.09158390e-02 4.69978036e+01] [ 3.36432827e-02 9.99433903e-01 -5.42593455e-05 1.99328882e-01] [ 1.09114849e-02 -3.13019259e-04 9.99940419e-01 2.95299973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38925415399999 meters 0.019570936053915737 Centerline is valid? [True, True] Translation: X:47.03, Y:0.20, Z:0.30 [[ 9.99299182e-01 -3.59651094e-02 -1.03757293e-02 4.70291425e+01] [ 3.59665163e-02 9.99352994e-01 -5.10252969e-05 1.96932606e-01] [ 1.03708512e-02 -3.22189299e-04 9.99946169e-01 2.95549442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419254153999994 meters 0.020337780733066687 Centerline is valid? [True, True] Translation: X:47.06, Y:0.19, Z:0.30 [[ 9.99212666e-01 -3.83439113e-02 -1.01878276e-02 4.70613034e+01] [ 3.83453975e-02 9.99264544e-01 -4.94939715e-05 1.94778964e-01] [ 1.01822327e-02 -3.41201297e-04 9.99948102e-01 2.95530871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.449254153999995 meters 0.020704358009273137 Centerline is valid? [True, True] Translation: X:47.09, Y:0.19, Z:0.30 [[ 9.99111777e-01 -4.08761082e-02 -1.02372590e-02 4.70930379e+01] [ 4.08777485e-02 9.99164154e-01 -4.90472632e-05 1.93101653e-01] [ 1.02307071e-02 -3.69472399e-04 9.99947597e-01 2.95020296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479254153999996 meters 0.023174834208105465 Centerline is valid? [True, True] Translation: X:47.12, Y:0.19, Z:0.29 [[ 9.98845412e-01 -4.66375378e-02 -1.15231657e-02 4.71226911e+01] [ 4.66400038e-02 9.98911761e-01 -5.47809429e-05 1.87125201e-01] [ 1.15131806e-02 -4.82722797e-04 9.99933605e-01 2.93296630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.509254154 meters 0.024452236526507437 Centerline is valid? [True, True] Translation: X:47.15, Y:0.18, Z:0.29 [[ 9.98713705e-01 -4.91015001e-02 -1.26482225e-02 4.71537697e+01] [ 4.91046723e-02 9.98793636e-01 -5.98255710e-05 1.84169357e-01] [ 1.26359016e-02 -5.61338201e-04 9.99920006e-01 2.92535859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.539254154 meters 0.026003624596920884 Centerline is valid? [True, True] Translation: X:47.18, Y:0.18, Z:0.29 [[ 9.98557259e-01 -5.19064053e-02 -1.37522782e-02 4.71843552e+01] [ 5.19104282e-02 9.98651743e-01 -6.45200374e-05 1.81349986e-01] [ 1.37370856e-02 -6.49459698e-04 9.99905431e-01 2.91652102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56925415399999 meters 0.02680848024630511 Centerline is valid? [True, True] Translation: X:47.22, Y:0.18, Z:0.29 [[ 9.98429387e-01 -5.40669886e-02 -1.46805912e-02 4.72159613e+01] [ 5.40718139e-02 9.98537047e-01 -6.83294531e-05 1.79569475e-01] [ 1.46628086e-02 -7.25584063e-04 9.99892232e-01 2.90926506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59925415399999 meters 0.02827763952565563 Centerline is valid? [True, True] Translation: X:47.25, Y:0.18, Z:0.29 [[ 9.98228141e-01 -5.72541207e-02 -1.62032409e-02 4.72473611e+01] [ 5.72604298e-02 9.98359273e-01 -7.46768297e-05 1.76371613e-01] [ 1.61809313e-02 -8.53260024e-04 9.99868716e-01 2.89782730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.629254153999995 meters 0.029615431629215743 Centerline is valid? [True, True] Translation: X:47.28, Y:0.17, Z:0.29 [[ 9.98207001e-01 -5.75691431e-02 -1.63883045e-02 4.72784917e+01] [ 5.75756518e-02 9.98341143e-01 -7.47739970e-05 1.74181421e-01] [ 1.63654233e-02 -8.68927386e-04 9.99865700e-01 2.89097873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659254153999996 meters 0.02798999398973114 Centerline is valid? [True, True] Translation: X:47.31, Y:0.18, Z:0.29 [[ 9.98301707e-01 -5.58874656e-02 -1.64405785e-02 4.73101023e+01] [ 5.58938001e-02 9.98436717e-01 -7.43005118e-05 1.76778015e-01] [ 1.64190297e-02 -8.44752080e-04 9.99864842e-01 2.89258243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.689254154 meters 0.028259849390725986 Centerline is valid? [True, True] Translation: X:47.34, Y:0.18, Z:0.29 [[ 9.98433216e-01 -5.36688272e-02 -1.58357005e-02 4.73401595e+01] [ 5.36744321e-02 9.98558486e-01 -7.11689539e-05 1.77103423e-01] [ 1.58166926e-02 -7.78914781e-04 9.99874605e-01 2.89405079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.719254154 meters 0.02746364189145536 Centerline is valid? [True, True] Translation: X:47.37, Y:0.18, Z:0.29 [[ 9.98595285e-01 -5.06616612e-02 -1.55194441e-02 4.73707603e+01] [ 5.06666885e-02 9.98715616e-01 -6.93271356e-05 1.79648080e-01] [ 1.55030234e-02 -7.17089089e-04 9.99879564e-01 2.89674032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74925415399999 meters 0.023461962011673776 Centerline is valid? [True, True] Translation: X:47.40, Y:0.19, Z:0.29 [[ 9.99002577e-01 -4.23242784e-02 -1.42304860e-02 4.74015339e+01] [ 4.23276654e-02 9.99103781e-01 -6.32276323e-05 1.89192351e-01] [ 1.42204084e-02 -5.39178683e-04 9.99898740e-01 2.91431970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77925415399999 meters 0.020592406548535662 Centerline is valid? [True, True] Translation: X:47.43, Y:0.20, Z:0.29 [[ 9.99192312e-01 -3.78831472e-02 -1.34011416e-02 4.74331521e+01] [ 3.78857580e-02 9.99282075e-01 -5.90912551e-05 1.95814429e-01] [ 1.33937591e-02 -4.48668879e-04 9.99910199e-01 2.92971759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.809254153999994 meters 0.018070018836137337 Centerline is valid? [True, True] Translation: X:47.46, Y:0.20, Z:0.29 [[ 9.99373912e-01 -3.31776332e-02 -1.22893905e-02 4.74649670e+01] [ 3.31794810e-02 9.99449408e-01 -5.35529275e-05 2.02371448e-01] [ 1.22844009e-02 -3.54236202e-04 9.99924481e-01 2.94530496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839254153999995 meters 0.016141050022317457 Centerline is valid? [True, True] Translation: X:47.49, Y:0.21, Z:0.30 [[ 9.99665240e-01 -2.37365252e-02 -1.02949315e-02 4.74947887e+01] [ 2.37373248e-02 9.99718229e-01 -4.45386369e-05 2.09880714e-01] [ 1.02930879e-02 -1.99850406e-04 9.99947005e-01 2.96550949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.869254154 meters 0.015420911395743236 Centerline is valid? [True, True] Translation: X:47.53, Y:0.21, Z:0.30 [[ 9.99764223e-01 -1.94346869e-02 -9.68457401e-03 4.75258633e+01] [ 1.94351936e-02 9.99811118e-01 -4.17977477e-05 2.13434500e-01] [ 9.68355709e-03 -1.46433678e-04 9.99953103e-01 2.97304857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.899254154 meters 0.014462720299932638 Centerline is valid? [True, True] Translation: X:47.56, Y:0.22, Z:0.30 [[ 9.99884381e-01 -1.20872744e-02 -9.22617235e-03 4.75562562e+01] [ 1.20874254e-02 9.99926944e-01 -3.93984525e-05 2.18807486e-01] [ 9.22597454e-03 -7.21267727e-05 9.99957437e-01 2.97267234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.92925415399999 meters 0.014101028125717846 Centerline is valid? [True, True] Translation: X:47.59, Y:0.22, Z:0.30 [[ 9.99917718e-01 -9.01126484e-03 -9.12988059e-03 4.75870165e+01] [ 9.01128975e-03 9.99959397e-01 -3.84093485e-05 2.21048865e-01] [ 9.12985601e-03 -4.38658114e-05 9.99958321e-01 2.97183584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95925415399999 meters 0.014161735530941254 Centerline is valid? [True, True] Translation: X:47.62, Y:0.22, Z:0.30 [[ 9.99931546e-01 -6.66252953e-03 -9.61843845e-03 4.76169803e+01] [ 6.66244884e-03 9.99977805e-01 -4.04314442e-05 2.23291479e-01] [ 9.61849434e-03 -2.36536776e-05 9.99953741e-01 2.96915438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.989254153999994 meters 0.01416571872793293 Centerline is valid? [True, True] Translation: X:47.64, Y:0.23, Z:0.29 [[ 9.99942639e-01 -2.71650219e-03 -1.03604725e-02 4.76446612e+01] [ 2.71619084e-03 9.99996310e-01 -4.41220188e-05 2.26048645e-01] [ 1.03605541e-02 1.59784674e-05 9.99946328e-01 2.94871386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019254153999995 meters 0.014220152147202882 Centerline is valid? [True, True] Translation: X:47.67, Y:0.23, Z:0.29 [[ 9.99938041e-01 -1.12045173e-03 -1.10751277e-02 4.76724081e+01] [ 1.11997788e-03 9.99999372e-01 -4.89866041e-05 2.26994633e-01] [ 1.10751756e-02 3.65796709e-05 9.99938668e-01 2.94253204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.049254153999996 meters 0.014294840302024832 Centerline is valid? [True, True] Translation: X:47.70, Y:0.23, Z:0.29 [[ 9.99931339e-01 1.76963488e-04 -1.17169511e-02 4.77007004e+01] [-1.77620854e-04 9.99999983e-01 -5.50632026e-05 2.27839240e-01] [ 1.17169411e-02 5.71405968e-05 9.99931353e-01 2.93789494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079254154 meters 0.01436291354219561 Centerline is valid? [True, True] Translation: X:47.73, Y:0.23, Z:0.29 [[ 9.99925666e-01 1.46500086e-03 -1.21043941e-02 4.77296844e+01] [-1.46583395e-03 9.99998924e-01 -5.99540027e-05 2.28398296e-01] [ 1.21042932e-02 7.76925778e-05 9.99926737e-01 2.93793592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10925415399999 meters 0.014827805390653316 Centerline is valid? [True, True] Translation: X:47.76, Y:0.23, Z:0.29 [[ 9.99917743e-01 3.95923077e-03 -1.21996759e-02 4.77576034e+01] [-3.96028990e-03 9.99992156e-01 -6.26590729e-05 2.30177606e-01] [ 1.21993321e-02 1.10968172e-04 9.99925579e-01 2.93332993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13925415399999 meters 0.014813586454793394 Centerline is valid? [True, True] Translation: X:47.79, Y:0.23, Z:0.29 [[ 9.99915589e-01 4.55466293e-03 -1.21684220e-02 4.77863362e+01] [-4.55577264e-03 9.99989620e-01 -6.34777489e-05 2.30094864e-01] [ 1.21680065e-02 1.18908955e-04 9.99925960e-01 2.93863590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.169254153999994 meters 0.014542252378714725 Centerline is valid? [True, True] Translation: X:47.81, Y:0.23, Z:0.29 [[ 9.99917956e-01 4.82749080e-03 -1.18649682e-02 4.78146741e+01] [-4.82857703e-03 9.99988340e-01 -6.29047328e-05 2.29011644e-01] [ 1.18645262e-02 1.20190485e-04 9.99929607e-01 2.94911730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199254153999995 meters 0.014335246138229093 Centerline is valid? [True, True] Translation: X:47.84, Y:0.23, Z:0.30 [[ 9.99926791e-01 3.92592956e-03 -1.14454973e-02 4.78427339e+01] [-3.92689632e-03 9.99992288e-01 -6.19940866e-05 2.27197007e-01] [ 1.14451656e-02 1.06934829e-04 9.99934496e-01 2.95204305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.229254153999996 meters 0.014344336364766171 Centerline is valid? [True, True] Translation: X:47.87, Y:0.23, Z:0.30 [[ 9.99929108e-01 2.70803410e-03 -1.15950472e-02 4.78720226e+01] [-2.70895880e-03 9.99996329e-01 -6.40442934e-05 2.25746224e-01] [ 1.15948312e-02 9.54502584e-05 9.99932773e-01 2.95170919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.259254154 meters 0.014021424885931081 Centerline is valid? [True, True] Translation: X:47.90, Y:0.22, Z:0.29 [[ 9.99928709e-01 -7.06345557e-04 -1.19196065e-02 4.79008399e+01] [ 7.05600415e-04 9.99999749e-01 -6.67192318e-05 2.21558652e-01] [ 1.19196506e-02 5.83039960e-05 9.99928957e-01 2.94985007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.289254154 meters 0.01404409748819197 Centerline is valid? [True, True] Translation: X:47.93, Y:0.22, Z:0.30 [[ 9.99925951e-01 -3.00396789e-03 -1.17927762e-02 4.79285127e+01] [ 3.00338722e-03 9.99995488e-01 -6.69489839e-05 2.19007373e-01] [ 1.17929241e-02 3.15257530e-05 9.99930461e-01 2.95003964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31925415399999 meters 0.013874136818913299 Centerline is valid? [True, True] Translation: X:47.96, Y:0.21, Z:0.30 [[ 9.99894514e-01 -8.94761394e-03 -1.14412414e-02 4.79574044e+01] [ 8.94744576e-03 9.99959969e-01 -6.58870671e-05 2.12451503e-01] [ 1.14413729e-02 -3.64897697e-05 9.99934545e-01 2.95569551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34925415399999 meters 0.014129828270189045 Centerline is valid? [True, True] Translation: X:47.98, Y:0.21, Z:0.30 [[ 9.99851871e-01 -1.27410453e-02 -1.15715688e-02 4.79848305e+01] [ 1.27411167e-02 9.99918826e-01 -6.75600081e-05 2.08725235e-01] [ 1.15714903e-02 -7.98847075e-05 9.99933045e-01 2.95869869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379254153999995 meters 0.01462014380609286 Centerline is valid? [True, True] Translation: X:48.01, Y:0.20, Z:0.30 [[ 9.99796584e-01 -1.68674109e-02 -1.10580913e-02 4.80146781e+01] [ 1.68677202e-02 9.99857728e-01 -6.53033623e-05 2.04653297e-01] [ 1.10576196e-02 -1.21234711e-04 9.99938855e-01 2.96155624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.409254153999996 meters 0.01462014380609286 Centerline is valid? [True, True] Translation: X:48.05, Y:0.20, Z:0.30 [[ 9.99797185e-01 -1.68317554e-02 -1.10580907e-02 4.80455275e+01] [ 1.68320614e-02 9.99858329e-01 -6.54033574e-05 2.04806004e-01] [ 1.10576250e-02 -1.20740370e-04 9.99938855e-01 2.96369505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439254154 meters 0.01512158758735704 Centerline is valid? [True, True] Translation: X:48.08, Y:0.20, Z:0.30 [[ 9.99708912e-01 -2.12986424e-02 -1.13339721e-02 4.80768731e+01] [ 2.12992555e-02 9.99773143e-01 -6.66236598e-05 2.00488361e-01] [ 1.13328199e-02 -1.74800900e-04 9.99935766e-01 2.96684248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.469254154 meters 0.015909249242386816 Centerline is valid? [True, True] Translation: X:48.11, Y:0.20, Z:0.30 [[ 9.99596947e-01 -2.59352342e-02 -1.15458866e-02 4.81087788e+01] [ 2.59361864e-02 9.99663598e-01 -6.72769476e-05 1.96317058e-01] [ 1.15437474e-02 -2.32206435e-04 9.99933342e-01 2.96728338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49925415399999 meters 0.01827011287702385 Centerline is valid? [True, True] Translation: X:48.14, Y:0.19, Z:0.30 [[ 9.99303569e-01 -3.51775973e-02 -1.24464408e-02 4.81399612e+01] [ 3.51794281e-02 9.99381010e-01 -7.18790338e-05 1.86119705e-01] [ 1.24412651e-02 -3.66029695e-04 9.99922537e-01 2.95479006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52925415399999 meters 0.020736308514531416 Centerline is valid? [True, True] Translation: X:48.17, Y:0.18, Z:0.30 [[ 9.99140449e-01 -3.94553490e-02 -1.27137272e-02 4.81702299e+01] [ 3.94576081e-02 9.99221243e-01 -7.31936324e-05 1.79433216e-01] [ 1.27067142e-02 -4.28522547e-04 9.99919175e-01 2.95127017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559254153999994 meters 0.023603127087094212 Centerline is valid? [True, True] Translation: X:48.20, Y:0.17, Z:0.29 [[ 9.98823623e-01 -4.66232333e-02 -1.33283132e-02 4.82013515e+01] [ 4.66263553e-02 9.98912397e-01 -7.65793101e-05 1.71003295e-01] [ 1.33173877e-02 -5.44961442e-04 9.99911171e-01 2.94992384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.589254153999995 meters 0.023721556394068595 Centerline is valid? [True, True] Translation: X:48.23, Y:0.17, Z:0.30 [[ 9.98703363e-01 -4.91736244e-02 -1.31737145e-02 4.82334643e+01] [ 4.91769019e-02 9.98790081e-01 -7.52183249e-05 1.69368215e-01] [ 1.31614741e-02 -5.72721672e-04 9.99913220e-01 2.95708304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619254154 meters 0.02721741274292467 Centerline is valid? [True, True] Translation: X:48.26, Y:0.16, Z:0.30 [[ 9.98626459e-01 -5.07333137e-02 -1.30891894e-02 4.82644414e+01] [ 5.07366989e-02 9.98712062e-01 -7.35230674e-05 1.62920160e-01] [ 1.30760614e-02 -5.90680180e-04 9.99914330e-01 2.95544095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.649254154 meters 0.025793845981303982 Centerline is valid? [True, True] Translation: X:48.30, Y:0.16, Z:0.30 [[ 9.98571620e-01 -5.17907571e-02 -1.31315597e-02 4.82967571e+01] [ 5.17942719e-02 9.98657773e-01 -7.25116592e-05 1.63094193e-01] [ 1.31176896e-02 -6.07731488e-04 9.99913775e-01 2.96495104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67925415399999 meters 0.024125305929951234 Centerline is valid? [True, True] Translation: X:48.33, Y:0.16, Z:0.30 [[ 9.98609119e-01 -5.11101159e-02 -1.29453866e-02 4.83288193e+01] [ 5.11134866e-02 9.98692849e-01 -7.05582464e-05 1.64902000e-01] [ 1.29320713e-02 -5.91223738e-04 9.99916202e-01 2.96951618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70925415399999 meters 0.0249684901252779 Centerline is valid? [True, True] Translation: X:48.36, Y:0.16, Z:0.30 [[ 9.98657724e-01 -5.00862529e-02 -1.31953351e-02 4.83603060e+01] [ 5.00896772e-02 9.98744722e-01 -7.10635931e-05 1.63290485e-01] [ 1.31823306e-02 -5.89981868e-04 9.99912935e-01 2.96953486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739254153999994 meters 0.024723256346470036 Centerline is valid? [True, True] Translation: X:48.39, Y:0.16, Z:0.30 [[ 9.98742876e-01 -4.83876219e-02 -1.30883548e-02 4.83912698e+01] [ 4.83908544e-02 9.98828474e-01 -6.97860394e-05 1.63734620e-01] [ 1.30763982e-02 -5.63658362e-04 9.99914341e-01 2.97173727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.769254153999995 meters 0.0214243653026363 Centerline is valid? [True, True] Translation: X:48.42, Y:0.17, Z:0.30 [[ 9.98936075e-01 -4.39042731e-02 -1.41114548e-02 4.84221768e+01] [ 4.39075916e-02 9.99035594e-01 -7.47136264e-05 1.69461603e-01] [ 1.41011259e-02 -5.44965859e-04 9.99900426e-01 2.97835456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799254153999996 meters 0.0212614331072035 Centerline is valid? [True, True] Translation: X:48.45, Y:0.17, Z:0.30 [[ 9.99040386e-01 -4.12847703e-02 -1.46244763e-02 4.84526808e+01] [ 4.12880582e-02 9.99147282e-01 -7.71604119e-05 1.70214621e-01] [ 1.46151913e-02 -5.26729861e-04 9.99893054e-01 2.97687181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.829254154 meters 0.018327273016803636 Centerline is valid? [True, True] Translation: X:48.48, Y:0.18, Z:0.30 [[ 9.99232104e-01 -3.58028711e-02 -1.59172074e-02 4.84836796e+01] [ 3.58060761e-02 9.99358753e-01 -8.36794243e-05 1.75611895e-01] [ 1.59099965e-02 -4.86317573e-04 9.99873310e-01 2.97908998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85925415399999 meters 0.018685613827963646 Centerline is valid? [True, True] Translation: X:48.51, Y:0.18, Z:0.30 [[ 9.99332241e-01 -3.27394413e-02 -1.62234565e-02 4.85141506e+01] [ 3.27423723e-02 9.99463821e-01 -8.49896505e-05 1.75358701e-01] [ 1.62175403e-02 -4.46261553e-04 9.99868387e-01 2.97584198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88925415399999 meters 0.017328526741836832 Centerline is valid? [True, True] Translation: X:48.55, Y:0.18, Z:0.30 [[ 9.99429040e-01 -2.97319625e-02 -1.60500371e-02 4.85453591e+01] [ 2.97344509e-02 9.99557830e-01 -8.36282577e-05 1.78156867e-01] [ 1.60454267e-02 -3.93658531e-04 9.99871186e-01 2.98311951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919254153999994 meters 0.016998937122316062 Centerline is valid? [True, True] Translation: X:48.58, Y:0.18, Z:0.30 [[ 9.99510167e-01 -2.68563143e-02 -1.60675136e-02 4.85756002e+01] [ 2.68584433e-02 9.99639243e-01 -8.33085979e-05 1.79396005e-01] [ 1.60639545e-02 -3.48280614e-04 9.99870906e-01 2.98277442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.949254153999995 meters 0.015088992031138285 Centerline is valid? [True, True] Translation: X:48.61, Y:0.18, Z:0.30 [[ 9.99679172e-01 -2.01198765e-02 -1.53864759e-02 4.86060740e+01] [ 2.01210329e-02 9.99797548e-01 -7.96602336e-05 1.84257860e-01] [ 1.53849637e-02 -2.29957112e-04 9.99881618e-01 2.99728030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979254153999996 meters 0.014068070112266845 Centerline is valid? [True, True] Translation: X:48.64, Y:0.19, Z:0.30 [[ 9.99812256e-01 -1.26934994e-02 -1.46399279e-02 4.86353701e+01] [ 1.26937462e-02 9.99919428e-01 -7.60712093e-05 1.89724473e-01] [ 1.46397140e-02 -1.09778602e-04 9.99892828e-01 3.00964276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.009254154 meters 0.013731249754990038 Centerline is valid? [True, True] Translation: X:48.66, Y:0.19, Z:0.30 [[ 9.99859024e-01 -8.76573028e-03 -1.43211111e-02 4.86642776e+01] [ 8.76553365e-03 9.99961579e-01 -7.65005372e-05 1.92623912e-01] [ 1.43212315e-02 -4.90424291e-05 9.99897445e-01 3.01493576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.039254154 meters 0.01381389247352212 Centerline is valid? [True, True] Translation: X:48.69, Y:0.20, Z:0.30 [[ 9.99886193e-01 -4.85095862e-03 -1.42852459e-02 4.86923928e+01] [ 4.85030781e-03 9.99988234e-01 -8.02040095e-05 1.95538172e-01] [ 1.42854669e-02 1.09070420e-05 9.99897957e-01 3.02323236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06925415399999 meters 0.013960226048042486 Centerline is valid? [True, True] Translation: X:48.72, Y:0.20, Z:0.30 [[ 9.99901009e-01 -8.94398283e-04 -1.40417920e-02 4.87202120e+01] [ 8.93341991e-04 9.99999598e-01 -8.14970687e-05 1.98005988e-01] [ 1.40418592e-02 6.89448789e-05 9.99901406e-01 3.02938886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09925415399999 meters 0.014254877311037537 Centerline is valid? [True, True] Translation: X:48.75, Y:0.20, Z:0.30 [[ 9.99903289e-01 2.69948642e-03 -1.36427775e-02 4.87475628e+01] [-2.70083468e-03 9.99996350e-01 -8.04023487e-05 2.00552133e-01] [ 1.36425106e-02 1.17241459e-04 9.99906930e-01 3.02973266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.129254153999995 meters 0.015158795372959428 Centerline is valid? [True, True] Translation: X:48.78, Y:0.20, Z:0.30 [[ 9.99873767e-01 8.72432625e-03 -1.32791999e-02 4.87760402e+01] [-8.72616422e-03 9.99961923e-01 -8.04743196e-05 2.02499427e-01] [ 1.32779921e-02 1.96340640e-04 9.99911824e-01 3.03673306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159254153999996 meters 0.015621548337304008 Centerline is valid? [True, True] Translation: X:48.80, Y:0.20, Z:0.30 [[ 9.99849403e-01 1.10010138e-02 -1.34219247e-02 4.88033250e+01] [-1.10031297e-02 9.99939460e-01 -8.38056009e-05 2.03332081e-01] [ 1.34201902e-02 2.31476159e-04 9.99909918e-01 3.03492177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.189254154 meters 0.01608337618045431 Centerline is valid? [True, True] Translation: X:48.83, Y:0.20, Z:0.30 [[ 9.99804361e-01 1.44015205e-02 -1.35586081e-02 4.88322874e+01] [-1.44040254e-02 9.99896253e-01 -8.71001304e-05 2.02485364e-01] [ 1.35559470e-02 2.82381625e-04 9.99908074e-01 3.03323220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219254154 meters 0.016316574752767574 Centerline is valid? [True, True] Translation: X:48.86, Y:0.20, Z:0.30 [[ 9.99789786e-01 1.53590568e-02 -1.35824417e-02 4.88608663e+01] [-1.53616893e-02 9.99881998e-01 -8.95060710e-05 2.02393112e-01] [ 1.35794642e-02 2.98136506e-04 9.99907750e-01 3.03696276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24925415399999 meters 0.0162979319429425 Centerline is valid? [True, True] Translation: X:48.89, Y:0.20, Z:0.30 [[ 9.99777860e-01 1.59248370e-02 -1.38069236e-02 4.88898236e+01] [-1.59276252e-02 9.99873143e-01 -9.19969571e-05 2.01717901e-01] [ 1.38037070e-02 3.11888024e-04 9.99904676e-01 3.04039580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27925415399999 meters 0.016333004564880484 Centerline is valid? [True, True] Translation: X:48.92, Y:0.20, Z:0.30 [[ 9.99776569e-01 1.60122296e-02 -1.37992690e-02 4.89184481e+01] [-1.60150369e-02 9.99871747e-01 -9.29518999e-05 2.00867175e-01] [ 1.37960108e-02 3.13926934e-04 9.99904781e-01 3.04434021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.309254153999994 meters 0.016871596323649124 Centerline is valid? [True, True] Translation: X:48.95, Y:0.20, Z:0.30 [[ 9.99783990e-01 1.54580938e-02 -1.38932180e-02 4.89464209e+01] [-1.54609018e-02 9.99880469e-01 -9.47237515e-05 1.98530351e-01] [ 1.38900931e-02 3.09504969e-04 9.99903480e-01 3.04162506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339254153999995 meters 0.016478106693367234 Centerline is valid? [True, True] Translation: X:48.98, Y:0.19, Z:0.30 [[ 9.99823750e-01 1.31227163e-02 -1.34262397e-02 4.89753353e+01] [-1.31251425e-02 9.99913857e-01 -9.26025497e-05 1.93371604e-01] [ 1.34238679e-02 2.68807538e-04 9.99909860e-01 3.04271529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.369254154 meters 0.015889454801994805 Centerline is valid? [True, True] Translation: X:49.00, Y:0.19, Z:0.30 [[ 9.99848782e-01 1.11765239e-02 -1.33228518e-02 4.90042505e+01] [-1.11787527e-02 9.99937511e-01 -9.28305698e-05 1.89829220e-01] [ 1.33209818e-02 2.41749398e-04 9.99911243e-01 3.04592702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.399254154 meters 0.015229873798110036 Centerline is valid? [True, True] Translation: X:49.03, Y:0.19, Z:0.31 [[ 9.99872135e-01 9.20410871e-03 -1.30766353e-02 4.90331508e+01] [-9.20609955e-03 9.99957619e-01 -9.20555590e-05 1.85829875e-01] [ 1.30752338e-02 2.12428595e-04 9.99914493e-01 3.05188752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.42925415399999 meters 0.015344061152735016 Centerline is valid? [True, True] Translation: X:49.06, Y:0.18, Z:0.31 [[ 9.99896904e-01 6.83417553e-03 -1.26283629e-02 4.90606217e+01] [-6.83585606e-03 9.99976631e-01 -8.99160962e-05 1.83515979e-01] [ 1.26274533e-02 1.76232497e-04 9.99920255e-01 3.05018467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45925415399999 meters 0.01462187890657163 Centerline is valid? [True, True] Translation: X:49.09, Y:0.18, Z:0.31 [[ 9.99922687e-01 1.71250603e-03 -1.23161569e-02 4.90895354e+01] [-1.71372835e-03 9.99998528e-01 -8.86919949e-05 1.75426570e-01] [ 1.23159869e-02 1.09791685e-04 9.99924149e-01 3.05417007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.489254153999994 meters 0.01439768341946414 Centerline is valid? [True, True] Translation: X:49.12, Y:0.17, Z:0.31 [[ 9.99922572e-01 -7.59689362e-04 -1.24206408e-02 4.91186767e+01] [ 7.58625923e-04 9.99999708e-01 -9.03299355e-05 1.71279755e-01] [ 1.24207058e-02 8.09003214e-05 9.99922857e-01 3.05593222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519254153999995 meters 0.01432309335112718 Centerline is valid? [True, True] Translation: X:49.15, Y:0.17, Z:0.31 [[ 9.99914423e-01 -3.38494326e-03 -1.26368124e-02 4.91470429e+01] [ 3.38404044e-03 9.99994270e-01 -9.28252889e-05 1.67003625e-01] [ 1.26370542e-02 5.00538610e-05 9.99920148e-01 3.05799049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.549254153999996 meters 0.014036989534868514 Centerline is valid? [True, True] Translation: X:49.18, Y:0.16, Z:0.31 [[ 9.99883659e-01 -7.86714645e-03 -1.30681784e-02 4.91757217e+01] [ 7.86655104e-03 9.99969054e-01 -9.69650933e-05 1.58410649e-01] [ 1.30685368e-02 -5.84768027e-06 9.99914603e-01 3.05397249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.579254154 meters 0.01425962396339677 Centerline is valid? [True, True] Translation: X:49.20, Y:0.15, Z:0.31 [[ 9.99866073e-01 -1.00395035e-02 -1.29245750e-02 4.92039177e+01] [ 1.00390876e-02 9.99949602e-01 -9.70549706e-05 1.54361874e-01] [ 1.29248980e-02 -3.27089681e-05 9.99916469e-01 3.05403487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.60925415399999 meters 0.014371027092680741 Centerline is valid? [True, True] Translation: X:49.23, Y:0.15, Z:0.30 [[ 9.99849271e-01 -1.15498321e-02 -1.29628648e-02 4.92320227e+01] [ 1.15495237e-02 9.99933297e-01 -9.86532292e-05 1.50450882e-01] [ 1.29631396e-02 -5.10765557e-05 9.99915974e-01 3.04992163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63925415399999 meters 0.014451546389062164 Centerline is valid? [True, True] Translation: X:49.26, Y:0.14, Z:0.31 [[ 9.99815693e-01 -1.39936900e-02 -1.31437312e-02 4.92606033e+01] [ 1.39935551e-02 9.99902080e-01 -1.02230510e-04 1.43069261e-01] [ 1.31438748e-02 -8.17158594e-05 9.99913612e-01 3.05509659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.669254153999994 meters 0.014480433559307684 Centerline is valid? [True, True] Translation: X:49.29, Y:0.14, Z:0.31 [[ 9.99800243e-01 -1.50444356e-02 -1.31582005e-02 4.92889291e+01] [ 1.50443479e-02 9.99886822e-01 -1.05653345e-04 1.40254993e-01] [ 1.31583007e-02 -9.23243052e-05 9.99913422e-01 3.05954649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699254153999995 meters 0.014324633859180577 Centerline is valid? [True, True] Translation: X:49.32, Y:0.14, Z:0.31 [[ 9.99782924e-01 -1.51595219e-02 -1.42931215e-02 4.93171689e+01] [ 1.51593938e-02 9.99885083e-01 -1.17314918e-04 1.37684604e-01] [ 1.42932574e-02 -9.93856057e-05 9.99897841e-01 3.05612174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.729254153999996 meters 0.014554250112023145 Centerline is valid? [True, True] Translation: X:49.35, Y:0.14, Z:0.30 [[ 9.99774648e-01 -1.48908864e-02 -1.51299425e-02 4.93455669e+01] [ 1.48906673e-02 9.99889120e-01 -1.27145855e-04 1.35738425e-01] [ 1.51301582e-02 -9.81777380e-05 9.99885528e-01 3.04615827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.759254154 meters 0.01446049208950574 Centerline is valid? [True, True] Translation: X:49.37, Y:0.13, Z:0.30 [[ 9.99777016e-01 -1.28797284e-02 -1.67340947e-02 4.93730091e+01] [ 1.28790965e-02 9.99917050e-01 -1.45532023e-04 1.33274650e-01] [ 1.67345811e-02 -7.00204494e-05 9.99859965e-01 3.04104959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.78925415399999 meters 0.01424554940429367 Centerline is valid? [True, True] Translation: X:49.40, Y:0.13, Z:0.30 [[ 9.99795987e-01 -1.11932120e-02 -1.68135962e-02 4.94012678e+01] [ 1.11922565e-02 9.99937353e-01 -1.50931763e-04 1.32561619e-01] [ 1.68142323e-02 -3.72811096e-05 9.99858630e-01 3.04185587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81925415399999 meters 0.01421352882501146 Centerline is valid? [True, True] Translation: X:49.43, Y:0.13, Z:0.30 [[ 9.99815073e-01 -9.24557464e-03 -1.68623743e-02 4.94295032e+01] [ 9.24425703e-03 9.99957259e-01 -1.56084899e-04 1.32334379e-01] [ 1.68630967e-02 1.75912746e-07 9.99857808e-01 3.04630511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84925415399999 meters 0.01433789929355203 Centerline is valid? [True, True] Translation: X:49.46, Y:0.13, Z:0.31 [[ 9.99843693e-01 -4.42490080e-03 -1.71175168e-02 4.94580227e+01] [ 4.42275929e-03 9.99990206e-01 -1.62960555e-04 1.32296980e-01] [ 1.71180702e-02 8.72284269e-05 9.99853471e-01 3.06174482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879254153999995 meters 0.014744349407400574 Centerline is valid? [True, True] Translation: X:49.49, Y:0.13, Z:0.31 [[ 9.99851450e-01 -2.19418841e-03 -1.70957029e-02 4.94864184e+01] [ 2.19165352e-03 9.99997584e-01 -1.67010258e-04 1.32684415e-01] [ 1.70960280e-02 1.29517591e-04 9.99853844e-01 3.06457252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.909254153999996 meters 0.01563033926182361 Centerline is valid? [True, True] Translation: X:49.51, Y:0.13, Z:0.31 [[ 9.99841274e-01 2.61053652e-03 -1.76241642e-02 4.95138296e+01] [-2.61402807e-03 9.99996568e-01 -1.75077321e-04 1.32944368e-01] [ 1.76236466e-02 2.21119591e-04 9.99844667e-01 3.06311912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939254154 meters 0.015825203849979312 Centerline is valid? [True, True] Translation: X:49.54, Y:0.13, Z:0.31 [[ 9.99830151e-01 4.35658040e-03 -1.79077858e-02 4.95421571e+01] [-4.36050440e-03 9.99990477e-01 -1.80081693e-04 1.32508920e-01] [ 1.79068307e-02 2.58138086e-04 9.99839627e-01 3.06629590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.969254154 meters 0.0162072461718098 Centerline is valid? [True, True] Translation: X:49.57, Y:0.13, Z:0.31 [[ 9.99825596e-01 5.70801624e-03 -1.77819042e-02 4.95697736e+01] [-5.71213185e-03 9.99983669e-01 -1.80667223e-04 1.32432243e-01] [ 1.77805825e-02 2.82208295e-04 9.99841873e-01 3.06545478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99925415399999 meters 0.016767910051062974 Centerline is valid? [True, True] Translation: X:49.60, Y:0.13, Z:0.31 [[ 9.99820532e-01 6.38603311e-03 -1.78359905e-02 4.95977958e+01] [-6.39030908e-03 9.99979565e-01 -1.82754508e-04 1.29366948e-01] [ 1.78344589e-02 2.96699202e-04 9.99840909e-01 3.06452285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02925415399999 meters 0.016485388164034585 Centerline is valid? [True, True] Translation: X:49.63, Y:0.13, Z:0.31 [[ 9.99827099e-01 5.70090642e-03 -1.76994784e-02 4.96270328e+01] [-5.70503324e-03 9.99983709e-01 -1.82676632e-04 1.26957148e-01] [ 1.76981486e-02 2.83621160e-04 9.99843335e-01 3.06815128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059254153999994 meters 0.015974383614536142 Centerline is valid? [True, True] Translation: X:49.66, Y:0.12, Z:0.31 [[ 9.99839200e-01 2.56423515e-03 -1.77481974e-02 4.96550777e+01] [-2.56791532e-03 9.99996686e-01 -1.84567575e-04 1.21326371e-01] [ 1.77476653e-02 2.30113764e-04 9.99842471e-01 3.06862887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.089254153999995 meters 0.014764859754437016 Centerline is valid? [True, True] Translation: X:49.68, Y:0.12, Z:0.31 [[ 9.99843237e-01 1.83465696e-06 -1.77059884e-02 4.96837924e+01] [-5.11987663e-06 9.99999983e-01 -1.85497529e-04 1.16310148e-01] [ 1.77059878e-02 1.85559102e-04 9.99843219e-01 3.09124416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119254154 meters 0.014646331789359783 Centerline is valid? [True, True] Translation: X:49.71, Y:0.11, Z:0.31 [[ 9.99850210e-01 -2.65498574e-03 -1.71028674e-02 4.97120094e+01] [ 2.65228513e-03 9.99996466e-01 -1.80584553e-04 1.13303813e-01] [ 1.71032864e-02 1.35195822e-04 9.99853719e-01 3.09264192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.149254154 meters 0.014336872429906911 Centerline is valid? [True, True] Translation: X:49.74, Y:0.11, Z:0.31 [[ 9.99819318e-01 -8.06577141e-03 -1.72126563e-02 4.97409379e+01] [ 8.06381407e-03 9.99967470e-01 -1.83118421e-04 1.06202479e-01] [ 1.72135734e-02 4.42856749e-05 9.99851834e-01 3.10072865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17925415399999 meters 0.014156098327422678 Centerline is valid? [True, True] Translation: X:49.77, Y:0.10, Z:0.31 [[ 9.99799723e-01 -1.05566107e-02 -1.70020887e-02 4.97695679e+01] [ 1.05550403e-02 9.99944277e-01 -1.82102244e-04 1.02889245e-01] [ 1.70030637e-02 2.60804245e-06 9.99855437e-01 3.10098967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20925415399999 meters 0.014284352298108916 Centerline is valid? [True, True] Translation: X:49.80, Y:0.10, Z:0.31 [[ 9.99770821e-01 -1.29071114e-02 -1.70795558e-02 4.97974853e+01] [ 1.29058108e-02 9.99916699e-01 -1.86371870e-04 9.98382060e-02] [ 1.70805386e-02 -3.40963573e-05 9.99854116e-01 3.10232036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239254153999994 meters 0.014324396824533472 Centerline is valid? [True, True] Translation: X:49.82, Y:0.10, Z:0.31 [[ 9.99749149e-01 -1.49268364e-02 -1.66981808e-02 4.98243550e+01] [ 1.49258217e-02 9.99888587e-01 -1.85395003e-04 9.70862102e-02] [ 1.66990877e-02 -6.38855732e-05 9.99860558e-01 3.10429496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.269254153999995 meters 0.014537952804624958 Centerline is valid? [True, True] Translation: X:49.85, Y:0.09, Z:0.31 [[ 9.99723480e-01 -1.80602204e-02 -1.50596007e-02 4.98525039e+01] [ 1.80597035e-02 9.99836896e-01 -1.70328386e-04 9.26121253e-02] [ 1.50602206e-02 -1.01690636e-04 9.99886583e-01 3.11630067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299254153999996 meters 0.014440446863202549 Centerline is valid? [True, True] Translation: X:49.88, Y:0.09, Z:0.31 [[ 9.99685697e-01 -2.05095421e-02 -1.44175551e-02 4.98813170e+01] [ 2.05092681e-02 9.99789649e-01 -1.66872301e-04 8.94171543e-02] [ 1.44179448e-02 -1.28873651e-04 9.99896048e-01 3.12466816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.329254154 meters 0.014440446863202549 Centerline is valid? [True, True] Translation: X:49.91, Y:0.09, Z:0.31 [[ 9.99680478e-01 -2.07624091e-02 -1.44175122e-02 4.99095752e+01] [ 2.07621088e-02 9.99784430e-01 -1.70518792e-04 8.97901216e-02] [ 1.44179446e-02 -1.28873649e-04 9.99896048e-01 3.12663074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35925415399999 meters 0.014739132148007967 Centerline is valid? [True, True] Translation: X:49.94, Y:0.09, Z:0.31 [[ 9.99661687e-01 -2.17029790e-02 -1.43349921e-02 4.99376817e+01] [ 2.17027444e-02 9.99764453e-01 -1.71948642e-04 8.85181067e-02] [ 1.43353473e-02 -1.39218200e-04 9.99897234e-01 3.12487423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38925415399999 meters 0.014946559777412313 Centerline is valid? [True, True] Translation: X:49.97, Y:0.09, Z:0.31 [[ 9.99633733e-01 -2.30049199e-02 -1.42539187e-02 4.99653316e+01] [ 2.30047974e-02 9.99735340e-01 -1.72575499e-04 8.72812544e-02] [ 1.42541163e-02 -1.55396221e-04 9.99898393e-01 3.12558784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419254153999994 meters 0.014968969354295683 Centerline is valid? [True, True] Translation: X:49.99, Y:0.09, Z:0.31 [[ 9.99565123e-01 -2.58418121e-02 -1.42044479e-02 4.99940635e+01] [ 2.58419375e-02 9.99666026e-01 -1.74749855e-04 8.52525320e-02] [ 1.42042198e-02 -1.92396593e-04 9.99899096e-01 3.12733679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.449254153999995 meters 0.01520019521456274 Centerline is valid? [True, True] Translation: X:50.02, Y:0.08, Z:0.31 [[ 9.99530607e-01 -2.74411691e-02 -1.36216055e-02 5.00241092e+01] [ 2.74414065e-02 9.99623399e-01 -1.69511933e-04 8.43219580e-02] [ 1.36211272e-02 -2.04363649e-04 9.99907207e-01 3.12653872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479254153999996 meters 0.01599793766096337 Centerline is valid? [True, True] Translation: X:50.05, Y:0.08, Z:0.31 [[ 9.99409835e-01 -3.12401516e-02 -1.42840453e-02 5.00530960e+01] [ 3.12407995e-02 9.99511871e-01 -1.77828681e-04 8.12494472e-02] [ 1.42826282e-02 -2.68521262e-04 9.99897962e-01 3.12490346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.509254154 meters 0.01678337617406381 Centerline is valid? [True, True] Translation: X:50.08, Y:0.08, Z:0.31 [[ 9.99267782e-01 -3.56195784e-02 -1.39694273e-02 5.00839567e+01] [ 3.56206282e-02 9.99365369e-01 -1.73733755e-04 7.94501279e-02] [ 1.39667502e-02 -3.23993233e-04 9.99902408e-01 3.12872366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53925415399999 meters 0.017829132031719975 Centerline is valid? [True, True] Translation: X:50.12, Y:0.08, Z:0.31 [[ 9.99108997e-01 -3.98592250e-02 -1.38727705e-02 5.01153993e+01] [ 3.98606722e-02 9.99205233e-01 -1.72277761e-04 7.73469476e-02] [ 1.38686117e-02 -3.80853695e-04 9.99903754e-01 3.13009172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56925415399999 meters 0.018647013452888654 Centerline is valid? [True, True] Translation: X:50.15, Y:0.08, Z:0.31 [[ 9.99021257e-01 -4.19997389e-02 -1.38762678e-02 5.01465124e+01] [ 4.20014001e-02 9.99117537e-01 -1.71814192e-04 7.62514092e-02] [ 1.38712387e-02 -4.11176648e-04 9.99903705e-01 3.12591396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59925415399999 meters 0.019282996141596197 Centerline is valid? [True, True] Translation: X:50.18, Y:0.08, Z:0.31 [[ 9.98944961e-01 -4.37317135e-02 -1.40179551e-02 5.01779527e+01] [ 4.37335863e-02 9.99043214e-01 -1.73055641e-04 7.52283977e-02] [ 1.40121109e-02 -4.40182388e-04 9.99901729e-01 3.12318228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.629254153999995 meters 0.019282996141596197 Centerline is valid? [True, True] Translation: X:50.21, Y:0.08, Z:0.31 [[ 9.98946548e-01 -4.36954412e-02 -1.40179613e-02 5.02088092e+01] [ 4.36973177e-02 9.99044801e-01 -1.72546692e-04 7.55784170e-02] [ 1.40121109e-02 -4.40182388e-04 9.99901729e-01 3.12532024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659254153999996 meters 0.02024086696894097 Centerline is valid? [True, True] Translation: X:50.24, Y:0.07, Z:0.31 [[ 9.98875532e-01 -4.53563265e-02 -1.38013106e-02 5.02393492e+01] [ 4.53583089e-02 9.98970768e-01 -1.69508390e-04 7.45525331e-02] [ 1.37947942e-02 -4.56686328e-04 9.99904743e-01 3.12247042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.689254154 meters 0.02069733285719668 Centerline is valid? [True, True] Translation: X:50.27, Y:0.07, Z:0.31 [[ 9.98817189e-01 -4.66229060e-02 -1.38031557e-02 5.02711146e+01] [ 4.66250148e-02 9.98912448e-01 -1.69158863e-04 7.48402924e-02] [ 1.37960307e-02 -4.74613557e-04 9.99904718e-01 3.12413386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.719254154 meters 0.021272022256115186 Centerline is valid? [True, True] Translation: X:50.30, Y:0.08, Z:0.31 [[ 9.98752810e-01 -4.80977495e-02 -1.33951696e-02 5.03028485e+01] [ 4.80998743e-02 9.98842518e-01 -1.63684685e-04 7.63887760e-02] [ 1.33875378e-02 -4.80825434e-04 9.99910267e-01 3.13219736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74925415399999 meters 0.020855483138611627 Centerline is valid? [True, True] Translation: X:50.33, Y:0.08, Z:0.31 [[ 9.98754352e-01 -4.80922981e-02 -1.32994296e-02 5.03345429e+01] [ 4.80944016e-02 9.98842782e-01 -1.61802507e-04 7.84483232e-02] [ 1.32918207e-02 -4.78027149e-04 9.99911546e-01 3.13702883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77925415399999 meters 0.02249384574018755 Centerline is valid? [True, True] Translation: X:50.37, Y:0.08, Z:0.31 [[ 9.98767854e-01 -4.78871696e-02 -1.30228173e-02 5.03662277e+01] [ 4.78891798e-02 9.98852643e-01 -1.57610775e-04 7.71696105e-02] [ 1.30154231e-02 -4.66235466e-04 9.99915187e-01 3.13922451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.809254153999994 meters 0.020167607493774085 Centerline is valid? [True, True] Translation: X:50.40, Y:0.08, Z:0.32 [[ 9.98832845e-01 -4.65598434e-02 -1.28502052e-02 5.03983077e+01] [ 4.65617013e-02 9.98915404e-01 -1.54716136e-04 8.45082990e-02] [ 1.28434715e-02 -4.43791859e-04 9.99917421e-01 3.15209667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839254153999995 meters 0.01985948526483143 Centerline is valid? [True, True] Translation: X:50.43, Y:0.09, Z:0.32 [[ 9.98879994e-01 -4.55941082e-02 -1.26465524e-02 5.04300879e+01] [ 4.55958407e-02 9.98959957e-01 -1.51449973e-04 8.73075012e-02] [ 1.26403046e-02 -4.25349839e-04 9.99920018e-01 3.15508145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.869254154 meters 0.01946581151695355 Centerline is valid? [True, True] Translation: X:50.46, Y:0.09, Z:0.32 [[ 9.98929438e-01 -4.45681672e-02 -1.23957874e-02 5.04623219e+01] [ 4.45697623e-02 9.99006263e-01 -1.47670549e-04 9.00902877e-02] [ 1.23900507e-02 -4.04964841e-04 9.99923158e-01 3.16063834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899254154 meters 0.018963854905210336 Centerline is valid? [True, True] Translation: X:50.49, Y:0.09, Z:0.32 [[ 9.99017097e-01 -4.26727877e-02 -1.19946890e-02 5.04938719e+01] [ 4.26741530e-02 9.99089033e-01 -1.42211454e-04 9.47425973e-02] [ 1.19898308e-02 -3.69791519e-04 9.99928051e-01 3.16643605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92925415399999 meters 0.01888038097608248 Centerline is valid? [True, True] Translation: X:50.53, Y:0.10, Z:0.32 [[ 9.99075493e-01 -4.13621928e-02 -1.17186795e-02 5.05258994e+01] [ 4.13634129e-02 9.99144158e-01 -1.38338206e-04 9.68980182e-02] [ 1.17143721e-02 -3.46514266e-04 9.99931324e-01 3.16729980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95925415399999 meters 0.01799081715208114 Centerline is valid? [True, True] Translation: X:50.56, Y:0.10, Z:0.32 [[ 9.99171907e-01 -3.88004376e-02 -1.22484841e-02 5.05569411e+01] [ 3.88015871e-02 9.99246925e-01 -1.43864962e-04 1.02112369e-01] [ 1.22448421e-02 -3.31514793e-04 9.99924974e-01 3.16891377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.989254153999994 meters 0.017917887151733012 Centerline is valid? [True, True] Translation: X:50.59, Y:0.10, Z:0.32 [[ 9.99223814e-01 -3.72491757e-02 -1.28167106e-02 5.05876883e+01] [ 3.72503130e-02 9.99305955e-01 -1.50057346e-04 1.04220441e-01] [ 1.28134047e-02 -3.27485607e-04 9.99917851e-01 3.16996818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019254153999995 meters 0.016752896241918697 Centerline is valid? [True, True] Translation: X:50.62, Y:0.11, Z:0.32 [[ 9.99342928e-01 -3.35702764e-02 -1.36656341e-02 5.06191328e+01] [ 3.35712327e-02 9.99436315e-01 -1.59475217e-04 1.10735594e-01] [ 1.36632846e-02 -2.99401752e-04 9.99906608e-01 3.16961298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.049254153999996 meters 0.016254914167632036 Centerline is valid? [True, True] Translation: X:50.65, Y:0.12, Z:0.32 [[ 9.99483703e-01 -2.86866791e-02 -1.44707161e-02 5.06497546e+01] [ 2.86872477e-02 9.99588422e-01 -1.68317209e-04 1.15992151e-01] [ 1.44695888e-02 -2.46894712e-04 9.99895280e-01 3.16392170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079254154 meters 0.016254914167632036 Centerline is valid? [True, True] Translation: X:50.68, Y:0.12, Z:0.32 [[ 9.99483703e-01 -2.86866773e-02 -1.44707191e-02 5.06797570e+01] [ 2.86872497e-02 9.99588422e-01 -1.68060844e-04 1.16340472e-01] [ 1.44695844e-02 -2.47151058e-04 9.99895280e-01 3.16600038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10925415399999 meters 0.015716608587081977 Centerline is valid? [True, True] Translation: X:50.71, Y:0.12, Z:0.32 [[ 9.99557298e-01 -2.58191155e-02 -1.47845033e-02 5.07101653e+01] [ 2.58193994e-02 9.99666609e-01 -1.71705088e-04 1.20068695e-01] [ 1.47840076e-02 -2.10097922e-04 9.99890689e-01 3.17145444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13925415399999 meters 0.015528206321985177 Centerline is valid? [True, True] Translation: X:50.74, Y:0.12, Z:0.32 [[ 9.99629054e-01 -2.27826828e-02 -1.49232859e-02 5.07397105e+01] [ 2.27826315e-02 9.99740427e-01 -1.73462828e-04 1.23493425e-01] [ 1.49233642e-02 -1.66593243e-04 9.99888627e-01 3.17587882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.169254153999994 meters 0.014936266452905342 Centerline is valid? [True, True] Translation: X:50.77, Y:0.13, Z:0.32 [[ 9.99733639e-01 -1.76795002e-02 -1.48353273e-02 5.07682288e+01] [ 1.76788795e-02 9.99843701e-01 -1.72994443e-04 1.29507575e-01] [ 1.48360670e-02 -8.93235983e-05 9.99889936e-01 3.18586645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199254153999995 meters 0.01473860545440221 Centerline is valid? [True, True] Translation: X:50.80, Y:0.13, Z:0.32 [[ 9.99766274e-01 -1.59415151e-02 -1.46036429e-02 5.07955356e+01] [ 1.59407128e-02 9.99872924e-01 -1.71345710e-04 1.31746161e-01] [ 1.46045186e-02 -6.14868140e-05 9.99893346e-01 3.18945222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.229254153999996 meters 0.01478872539456812 Centerline is valid? [True, True] Translation: X:50.82, Y:0.13, Z:0.32 [[ 9.99783005e-01 -1.48249912e-02 -1.46342718e-02 5.08239176e+01] [ 1.48240250e-02 9.99890103e-01 -1.74505911e-04 1.33108058e-01] [ 1.46352505e-02 -4.24707659e-05 9.99892898e-01 3.18767042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.259254154 meters 0.014810329655249718 Centerline is valid? [True, True] Translation: X:50.85, Y:0.13, Z:0.32 [[ 9.99784567e-01 -1.48618063e-02 -1.44895346e-02 5.08517400e+01] [ 1.48608029e-02 9.99889557e-01 -1.76927336e-04 1.34830324e-01] [ 1.44905638e-02 -3.84368970e-05 9.99895006e-01 3.19169780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28925415399999 meters 0.014758565045555477 Centerline is valid? [True, True] Translation: X:50.88, Y:0.14, Z:0.32 [[ 9.99779356e-01 -1.56639534e-02 -1.39956736e-02 5.08790809e+01] [ 1.56630560e-02 9.99877312e-01 -1.73740166e-04 1.35266752e-01] [ 1.39966780e-02 -4.55131879e-05 9.99902041e-01 3.19151824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31925415399999 meters 0.014810522854273919 Centerline is valid? [True, True] Translation: X:50.91, Y:0.14, Z:0.32 [[ 9.99754717e-01 -1.71370059e-02 -1.40295936e-02 5.09071101e+01] [ 1.71362075e-02 9.99853149e-01 -1.77127085e-04 1.35518686e-01] [ 1.40305688e-02 -6.33303896e-05 9.99901565e-01 3.19980964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34925415399999 meters 0.014933626801509597 Centerline is valid? [True, True] Translation: X:50.94, Y:0.13, Z:0.32 [[ 9.99667675e-01 -2.15642154e-02 -1.41253361e-02 5.09361992e+01] [ 2.15637926e-02 9.99767458e-01 -1.82260038e-04 1.33982449e-01] [ 1.41259817e-02 -1.22396349e-04 9.99900216e-01 3.20431772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379254153999995 meters 0.015441838682226601 Centerline is valid? [True, True] Translation: X:50.97, Y:0.13, Z:0.32 [[ 9.99600947e-01 -2.44162094e-02 -1.42054638e-02 5.09658900e+01] [ 2.44160401e-02 9.99701867e-01 -1.85374491e-04 1.32746027e-01] [ 1.42057548e-02 -1.61540656e-04 9.99899080e-01 3.20242024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.409254153999996 meters 0.015779754238869428 Centerline is valid? [True, True] Translation: X:51.00, Y:0.13, Z:0.32 [[ 9.99518496e-01 -2.74600907e-02 -1.44471428e-02 5.09955083e+01] [ 2.74602290e-02 9.99622879e-01 -1.88837238e-04 1.30722110e-01] [ 1.44468799e-02 -2.07975537e-04 9.99895617e-01 3.20013729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439254154 meters 0.016691193860155096 Centerline is valid? [True, True] Translation: X:51.03, Y:0.13, Z:0.32 [[ 9.99317131e-01 -3.38284049e-02 -1.48630600e-02 5.10259137e+01] [ 3.38292545e-02 9.99427608e-01 -1.94320322e-04 1.27030809e-01] [ 1.48611260e-02 -3.08618613e-04 9.99889520e-01 3.19928915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46925415399999 meters 0.018577746599269484 Centerline is valid? [True, True] Translation: X:51.06, Y:0.12, Z:0.32 [[ 9.99220765e-01 -3.67551788e-02 -1.43846994e-02 5.10557961e+01] [ 3.67562876e-02 9.99324242e-01 -1.87378208e-04 1.23048459e-01] [ 1.43818659e-02 -3.41495950e-04 9.99896517e-01 3.19441644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49925415399999 meters 0.019081880842206723 Centerline is valid? [True, True] Translation: X:51.09, Y:0.12, Z:0.32 [[ 9.99072899e-01 -4.08515990e-02 -1.35826941e-02 5.10874680e+01] [ 4.08529772e-02 9.99165153e-01 -1.76087193e-04 1.21865486e-01] [ 1.35785481e-02 -3.78969552e-04 9.99907735e-01 3.20939043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52925415399999 meters 0.018575856907109015 Centerline is valid? [True, True] Translation: X:51.12, Y:0.12, Z:0.32 [[ 9.99020817e-01 -4.22445742e-02 -1.31454568e-02 5.11196505e+01] [ 4.22459950e-02 9.99107225e-01 -1.69710325e-04 1.23119819e-01] [ 1.31408902e-02 -3.85798752e-04 9.99913580e-01 3.21598548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559254153999994 meters 0.018742440322608984 Centerline is valid? [True, True] Translation: X:51.15, Y:0.12, Z:0.32 [[ 9.98981843e-01 -4.31375084e-02 -1.32072889e-02 5.11513752e+01] [ 4.31390372e-02 9.99069064e-01 -1.69238513e-04 1.22819901e-01] [ 1.32022942e-02 -4.00683524e-04 9.99912766e-01 3.22028356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.589254153999995 meters 0.020092299633144437 Centerline is valid? [True, True] Translation: X:51.18, Y:0.12, Z:0.32 [[ 9.98946932e-01 -4.40080015e-02 -1.29739349e-02 5.11824951e+01] [ 4.40095651e-02 9.99031096e-01 -1.65100057e-04 1.20454748e-01] [ 1.29686301e-02 -4.06051035e-04 9.99915821e-01 3.21575940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619254154 meters 0.019418829411279943 Centerline is valid? [True, True] Translation: X:51.21, Y:0.12, Z:0.32 [[ 9.98953131e-01 -4.39111352e-02 -1.28239846e-02 5.12146682e+01] [ 4.39126653e-02 9.99035360e-01 -1.62372714e-04 1.21869819e-01] [ 1.28187440e-02 -4.00932612e-04 9.99917756e-01 3.22168095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.649254154 meters 0.01937288649249753 Centerline is valid? [True, True] Translation: X:51.25, Y:0.12, Z:0.32 [[ 9.99003972e-01 -4.29370231e-02 -1.21439683e-02 5.12462154e+01] [ 4.29383327e-02 9.99077713e-01 -1.52989246e-04 1.22087268e-01] [ 1.21393370e-02 -3.68604889e-04 9.99926248e-01 3.22385458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67925415399999 meters 0.019069816873710746 Centerline is valid? [True, True] Translation: X:51.28, Y:0.12, Z:0.32 [[ 9.99054135e-01 -4.17844487e-02 -1.20372584e-02 5.12783055e+01] [ 4.17856608e-02 9.99126586e-01 -1.50891289e-04 1.23657879e-01] [ 1.20330498e-02 -3.52236230e-04 9.99927538e-01 3.22753244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70925415399999 meters 0.01852081457197546 Centerline is valid? [True, True] Translation: X:51.31, Y:0.13, Z:0.32 [[ 9.99104220e-01 -4.05162683e-02 -1.22143593e-02 5.13100588e+01] [ 4.05174328e-02 9.99178820e-01 -1.52203362e-04 1.25866221e-01] [ 1.22104958e-02 -3.42827462e-04 9.99925390e-01 3.23397372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739254153999994 meters 0.01837648587033251 Centerline is valid? [True, True] Translation: X:51.34, Y:0.13, Z:0.32 [[ 9.99168151e-01 -3.89076756e-02 -1.22147177e-02 5.13410773e+01] [ 3.89087299e-02 9.99242757e-01 -1.51402694e-04 1.27389864e-01] [ 1.22113590e-02 -3.23982403e-04 9.99925386e-01 3.23590021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.769254153999995 meters 0.01765058047678851 Centerline is valid? [True, True] Translation: X:51.37, Y:0.13, Z:0.32 [[ 9.99277851e-01 -3.57545845e-02 -1.28602306e-02 5.13726850e+01] [ 3.57555002e-02 9.99360555e-01 -1.58785781e-04 1.31102486e-01] [ 1.28576845e-02 -3.01152864e-04 9.99917291e-01 3.23863296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799254153999996 meters 0.017323809394645968 Centerline is valid? [True, True] Translation: X:51.40, Y:0.13, Z:0.32 [[ 9.99333799e-01 -3.41528743e-02 -1.28662392e-02 5.14045526e+01] [ 3.41536656e-02 9.99416581e-01 -1.58286994e-04 1.32503603e-01] [ 1.28641387e-02 -2.81247686e-04 9.99917214e-01 3.23859798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.829254154 meters 0.0170046703045204 Centerline is valid? [True, True] Translation: X:51.44, Y:0.13, Z:0.32 [[ 9.99366497e-01 -3.31304687e-02 -1.29991314e-02 5.14358468e+01] [ 3.31311977e-02 9.99450998e-01 -1.59322439e-04 1.34200958e-01] [ 1.29972733e-02 -2.71455286e-04 9.99915495e-01 3.23881240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85925415399999 meters 0.017090729576046335 Centerline is valid? [True, True] Translation: X:51.47, Y:0.14, Z:0.32 [[ 9.99389863e-01 -3.20272053e-02 -1.39340956e-02 5.14673429e+01] [ 3.20279448e-02 9.99486959e-01 -1.70131501e-04 1.35445977e-01] [ 1.39323957e-02 -2.76252747e-04 9.99902901e-01 3.23336517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88925415399999 meters 0.01676135048755361 Centerline is valid? [True, True] Translation: X:51.50, Y:0.14, Z:0.32 [[ 9.99387595e-01 -3.18374587e-02 -1.45193283e-02 5.14988516e+01] [ 3.18382513e-02 9.99493019e-01 -1.76611487e-04 1.36976474e-01] [ 1.45175901e-02 -2.85766693e-04 9.99894573e-01 3.23348199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919254153999994 meters 0.01698729570175333 Centerline is valid? [True, True] Translation: X:51.53, Y:0.14, Z:0.32 [[ 9.99342099e-01 -3.25641340e-02 -1.59670208e-02 5.15299491e+01] [ 3.25651949e-02 9.99469595e-01 -1.93622211e-04 1.37995123e-01] [ 1.59648570e-02 -3.26474319e-04 9.99872500e-01 3.22441878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.949254153999995 meters 0.017382816347840183 Centerline is valid? [True, True] Translation: X:51.56, Y:0.14, Z:0.32 [[ 9.99305067e-01 -3.33552789e-02 -1.66375408e-02 5.15607702e+01] [ 3.33565447e-02 9.99443495e-01 -2.01494111e-04 1.38467233e-01] [ 1.66350028e-02 -3.53616786e-04 9.99861566e-01 3.22026287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979254153999996 meters 0.017907768330585994 Centerline is valid? [True, True] Translation: X:51.59, Y:0.14, Z:0.32 [[ 9.99268938e-01 -3.41327174e-02 -1.72205370e-02 5.15906797e+01] [ 3.41342046e-02 9.99417237e-01 -2.07643654e-04 1.38075787e-01] [ 1.72175889e-02 -3.80317478e-04 9.99851694e-01 3.21615017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.009254154 meters 0.018391689388385243 Centerline is valid? [True, True] Translation: X:51.62, Y:0.14, Z:0.32 [[ 9.99222652e-01 -3.50696519e-02 -1.80058770e-02 5.16214234e+01] [ 3.50714449e-02 9.99384784e-01 -2.16280103e-04 1.37779637e-01] [ 1.80023844e-02 -4.15380145e-04 9.99837858e-01 3.21214224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03925415399999 meters 0.019132990447869366 Centerline is valid? [True, True] Translation: X:51.65, Y:0.14, Z:0.32 [[ 9.99131682e-01 -3.74490288e-02 -1.82606587e-02 5.16522504e+01] [ 3.74512723e-02 9.99298431e-01 -2.19218791e-04 1.37599044e-01] [ 1.82560571e-02 -4.64856462e-04 9.99833236e-01 3.21324855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06925415399999 meters 0.02011132723591152 Centerline is valid? [True, True] Translation: X:51.68, Y:0.14, Z:0.32 [[ 9.99078330e-01 -3.90372866e-02 -1.78488175e-02 5.16823723e+01] [ 3.90396865e-02 9.99237638e-01 -2.14087344e-04 1.36762247e-01] [ 1.78435676e-02 -4.82922213e-04 9.99840674e-01 3.22037884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09925415399999 meters 0.018150856229317214 Centerline is valid? [True, True] Translation: X:51.71, Y:0.14, Z:0.33 [[ 9.99024670e-01 -4.06594836e-02 -1.72196040e-02 5.17139253e+01] [ 4.06619666e-02 9.99172939e-01 -2.06044189e-04 1.41324322e-01] [ 1.72137400e-02 -4.94339736e-04 9.99851710e-01 3.25120109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.129254153999995 meters 0.019933168634696987 Centerline is valid? [True, True] Translation: X:51.74, Y:0.14, Z:0.33 [[ 9.98889659e-01 -4.44568622e-02 -1.55896051e-02 5.17444860e+01] [ 4.44593652e-02 9.99011176e-01 -1.86148530e-04 1.39980690e-01] [ 1.55824653e-02 -5.07162103e-04 9.99878457e-01 3.26785791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159254153999996 meters 0.020110278858510834 Centerline is valid? [True, True] Translation: X:51.78, Y:0.14, Z:0.33 [[ 9.98825662e-01 -4.61265520e-02 -1.48202083e-02 5.17764359e+01] [ 4.61290080e-02 9.98935475e-01 -1.76261728e-04 1.40085940e-01] [ 1.48125622e-02 -5.07586770e-04 9.99890159e-01 3.27875805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.189254154 meters 0.022148487689968115 Centerline is valid? [True, True] Translation: X:51.81, Y:0.14, Z:0.33 [[ 9.98707808e-01 -4.90835821e-02 -1.31725260e-02 5.18076707e+01] [ 4.90857895e-02 9.98794554e-01 -1.55872480e-04 1.37716650e-01] [ 1.31642980e-02 -4.90912776e-04 9.99913226e-01 3.28559243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21925415399999 meters 0.022148487689968115 Centerline is valid? [True, True] Translation: X:51.84, Y:0.14, Z:0.33 [[ 9.98711320e-01 -4.90120717e-02 -1.31725357e-02 5.18393806e+01] [ 4.90142838e-02 9.98798066e-01 -1.55046952e-04 1.38028513e-01] [ 1.31643024e-02 -4.90795259e-04 9.99913226e-01 3.28778907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24925415399999 meters 0.021585012600699078 Centerline is valid? [True, True] Translation: X:51.87, Y:0.14, Z:0.33 [[ 9.98639656e-01 -5.04980455e-02 -1.29917192e-02 5.18710003e+01] [ 5.05003371e-02 9.98724032e-01 -1.51815135e-04 1.39684516e-01] [ 1.29828085e-02 -5.04477582e-04 9.99915593e-01 3.29414760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27925415399999 meters 0.022722054893036716 Centerline is valid? [True, True] Translation: X:51.90, Y:0.14, Z:0.33 [[ 9.98562598e-01 -5.19676604e-02 -1.31186621e-02 5.19019624e+01] [ 5.19701373e-02 9.98648628e-01 -1.52251557e-04 1.39039292e-01] [ 1.31088461e-02 -5.29745960e-04 9.99913935e-01 3.29427901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.309254153999994 meters 0.023159876380836098 Centerline is valid? [True, True] Translation: X:51.93, Y:0.14, Z:0.33 [[ 9.98383512e-01 -5.52721846e-02 -1.32419015e-02 5.19329508e+01] [ 5.52750050e-02 9.98471156e-01 -1.53184049e-04 1.41242268e-01] [ 1.32301235e-02 -5.79009741e-04 9.99912310e-01 3.30153873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339254153999995 meters 0.02497083266593574 Centerline is valid? [True, True] Translation: X:51.96, Y:0.14, Z:0.33 [[ 9.98321125e-01 -5.63197808e-02 -1.35282624e-02 5.19636894e+01] [ 5.63228336e-02 9.98412597e-01 -1.55525813e-04 1.39903993e-01] [ 1.35155467e-02 -6.06685366e-04 9.99908477e-01 3.30057302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.369254154 meters 0.023947871952394804 Centerline is valid? [True, True] Translation: X:52.00, Y:0.14, Z:0.33 [[ 9.98252567e-01 -5.73402217e-02 -1.42797567e-02 5.19955074e+01] [ 5.73437484e-02 9.98354480e-01 -1.62691690e-04 1.43155616e-01] [ 1.42655879e-02 -6.56447379e-04 9.99898026e-01 3.29986016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.399254154 meters 0.02552966909208684 Centerline is valid? [True, True] Translation: X:52.03, Y:0.14, Z:0.33 [[ 9.98210480e-01 -5.80032403e-02 -1.45417508e-02 5.20268116e+01] [ 5.80069876e-02 9.98316164e-01 -1.64316564e-04 1.43369730e-01] [ 1.45267958e-02 -6.79500643e-04 9.99894250e-01 3.29284622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.42925415399999 meters 0.027137429914165904 Centerline is valid? [True, True] Translation: X:52.06, Y:0.14, Z:0.33 [[ 9.98230105e-01 -5.76896322e-02 -1.44417066e-02 5.20581683e+01] [ 5.76933195e-02 9.98334340e-01 -1.61506777e-04 1.42660685e-01] [ 1.44269689e-02 -6.71969067e-04 9.99895700e-01 3.29180011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45925415399999 meters 0.02427928780174199 Centerline is valid? [True, True] Translation: X:52.09, Y:0.15, Z:0.33 [[ 9.98339094e-01 -5.58728580e-02 -1.40455388e-02 5.20903226e+01] [ 5.58761852e-02 9.98437693e-01 -1.55737628e-04 1.50411075e-01] [ 1.40322969e-02 -6.29332163e-04 9.99901344e-01 3.30096353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.489254153999994 meters 0.02324899078117336 Centerline is valid? [True, True] Translation: X:52.12, Y:0.15, Z:0.33 [[ 9.98417892e-01 -5.43367891e-02 -1.44646510e-02 5.21229836e+01] [ 5.43401763e-02 9.98522468e-01 -1.59047320e-04 1.54274492e-01] [ 1.44519211e-02 -6.27215993e-04 9.99895369e-01 3.30106018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519254153999995 meters 0.0230484298757459 Centerline is valid? [True, True] Translation: X:52.15, Y:0.16, Z:0.33 [[ 9.98518720e-01 -5.23030622e-02 -1.49918614e-02 5.21539854e+01] [ 5.23064903e-02 9.98631065e-01 -1.63620840e-04 1.56988138e-01] [ 1.49798964e-02 -6.20793181e-04 9.99887602e-01 3.29796075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.549254153999996 meters 0.02184286798915066 Centerline is valid? [True, True] Translation: X:52.18, Y:0.16, Z:0.33 [[ 9.98760843e-01 -4.71548851e-02 -1.59120937e-02 5.21838207e+01] [ 4.71581010e-02 9.98887423e-01 -1.73263030e-04 1.63839272e-01] [ 1.59025605e-02 -5.77335792e-04 9.99873380e-01 3.28645785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.579254154 meters 0.021204514494601326 Centerline is valid? [True, True] Translation: X:52.21, Y:0.17, Z:0.33 [[ 9.98876818e-01 -4.43733903e-02 -1.66164014e-02 5.22148469e+01] [ 4.43765185e-02 9.99014861e-01 -1.80588201e-04 1.67255539e-01] [ 1.66080453e-02 -5.56992678e-04 9.99861922e-01 3.27986704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.60925415399999 meters 0.019351337138310457 Centerline is valid? [True, True] Translation: X:52.24, Y:0.17, Z:0.33 [[ 9.99146627e-01 -3.81946594e-02 -1.57221539e-02 5.22443414e+01] [ 3.81966992e-02 9.99270225e-01 -1.70636730e-04 1.74433872e-01] [ 1.57171977e-02 -4.30043271e-04 9.99876385e-01 3.28323043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63925415399999 meters 0.017407089702069865 Centerline is valid? [True, True] Translation: X:52.28, Y:0.18, Z:0.33 [[ 9.99264674e-01 -3.52800363e-02 -1.50143357e-02 5.22758874e+01] [ 3.52815721e-02 9.99377398e-01 -1.62660823e-04 1.80722516e-01] [ 1.50107265e-02 -3.67188154e-04 9.99887265e-01 3.30007934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.669254153999994 meters 0.01648846852853303 Centerline is valid? [True, True] Translation: X:52.31, Y:0.19, Z:0.33 [[ 9.99452154e-01 -3.05281693e-02 -1.27836599e-02 5.23071384e+01] [ 3.05288994e-02 9.99533875e-01 -1.38067860e-04 1.87500091e-01] [ 1.27819161e-02 -2.52278848e-04 9.99918276e-01 3.31821188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699254153999995 meters 0.015847919278660617 Centerline is valid? [True, True] Translation: X:52.34, Y:0.19, Z:0.33 [[ 9.99512219e-01 -2.87295096e-02 -1.22449468e-02 5.23393045e+01] [ 2.87300523e-02 9.99587198e-01 -1.31620816e-04 1.90712267e-01] [ 1.22436734e-02 -2.20241347e-04 9.99925019e-01 3.32788882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.729254153999996 meters 0.015890684453075635 Centerline is valid? [True, True] Translation: X:52.37, Y:0.19, Z:0.33 [[ 9.99563044e-01 -2.73359537e-02 -1.12457648e-02 5.23706252e+01] [ 2.73363311e-02 9.99626285e-01 -1.20180943e-04 1.92247702e-01] [ 1.12448473e-02 -1.87289521e-04 9.99936757e-01 3.32941403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.759254154 meters 0.015516543297008719 Centerline is valid? [True, True] Translation: X:52.40, Y:0.20, Z:0.33 [[ 9.99625363e-01 -2.53544068e-02 -1.03095448e-02 5.24027535e+01] [ 2.53546246e-02 9.99678514e-01 -1.09591483e-04 1.96389733e-01] [ 1.03090090e-02 -1.51844212e-04 9.99946849e-01 3.33375091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.78925415399999 meters 0.015516543297008719 Centerline is valid? [True, True] Translation: X:52.43, Y:0.20, Z:0.33 [[ 9.99627149e-01 -2.52838930e-02 -1.03095525e-02 5.24344482e+01] [ 2.52841146e-02 9.99680300e-01 -1.08863828e-04 1.96662789e-01] [ 1.03090090e-02 -1.51844668e-04 9.99946849e-01 3.33594592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81925415399999 meters 0.014776840269101183 Centerline is valid? [True, True] Translation: X:52.47, Y:0.20, Z:0.33 [[ 9.99671914e-01 -2.35421512e-02 -1.00911209e-02 5.24662774e+01] [ 2.35422819e-02 9.99722836e-01 -1.05844749e-04 2.01245542e-01] [ 1.00908159e-02 -1.31757992e-04 9.99949078e-01 3.33083991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84925415399999 meters 0.014461828388421336 Centerline is valid? [True, True] Translation: X:52.50, Y:0.20, Z:0.33 [[ 9.99716018e-01 -2.15709096e-02 -1.01281477e-02 5.24981317e+01] [ 2.15709478e-02 9.99767314e-01 -1.05483164e-04 2.04883729e-01] [ 1.01280664e-02 -1.13020538e-04 9.99948703e-01 3.32516501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879254153999995 meters 0.01453560826018019 Centerline is valid? [True, True] Translation: X:52.53, Y:0.21, Z:0.33 [[ 9.99728856e-01 -2.08634996e-02 -1.03406733e-02 5.25300651e+01] [ 2.08635095e-02 9.99782328e-01 -1.06927992e-04 2.06970048e-01] [ 1.03406533e-02 -1.08843737e-04 9.99946528e-01 3.32245438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.909254153999996 meters 0.014300764457751497 Centerline is valid? [True, True] Translation: X:52.56, Y:0.21, Z:0.33 [[ 9.99741465e-01 -2.02728619e-02 -1.02963276e-02 5.25617805e+01] [ 2.02728481e-02 9.99794479e-01 -1.05721851e-04 2.08775672e-01] [ 1.02963548e-02 -1.03041368e-04 9.99946986e-01 3.32133442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.939254154 meters 0.01432407881304177 Centerline is valid? [True, True] Translation: X:52.59, Y:0.21, Z:0.33 [[ 9.99736701e-01 -1.99573578e-02 -1.13240229e-02 5.25943879e+01] [ 1.99573308e-02 9.99800826e-01 -1.15403355e-04 2.11562776e-01] [ 1.13240706e-02 -1.10624301e-04 9.99935875e-01 3.31400376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96925415399999 meters 0.01446769544701432 Centerline is valid? [True, True] Translation: X:52.63, Y:0.21, Z:0.33 [[ 9.99731127e-01 -2.01085954e-02 -1.15463357e-02 5.26251392e+01] [ 2.01085842e-02 9.99797795e-01 -1.17076413e-04 2.12690812e-01] [ 1.15463552e-02 -1.15135530e-04 9.99933332e-01 3.31128940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99925415399999 meters 0.01456403243888914 Centerline is valid? [True, True] Translation: X:52.66, Y:0.21, Z:0.33 [[ 9.99718390e-01 -2.09833893e-02 -1.10832426e-02 5.26562460e+01] [ 2.09834357e-02 9.99779817e-01 -1.12114818e-04 2.14263651e-01] [ 1.10831548e-02 -1.20481262e-04 9.99938573e-01 3.30879400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02925415399999 meters 0.01443358042266165 Centerline is valid? [True, True] Translation: X:52.69, Y:0.22, Z:0.33 [[ 9.99712390e-01 -2.14923944e-02 -1.06402090e-02 5.26873697e+01] [ 2.14924699e-02 9.99769004e-01 -1.07262207e-04 2.15504639e-01] [ 1.06400565e-02 -1.21453015e-04 9.99943386e-01 3.31340093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059254153999994 meters 0.014861293069830389 Centerline is valid? [True, True] Translation: X:52.72, Y:0.21, Z:0.33 [[ 9.99707658e-01 -2.18905890e-02 -1.02664764e-02 5.27182290e+01] [ 2.18906847e-02 9.99760365e-01 -1.03069181e-04 2.14803430e-01] [ 1.02662724e-02 -1.21701147e-04 9.99947293e-01 3.31233289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.089254153999995 meters 0.014861407667244616 Centerline is valid? [True, True] Translation: X:52.75, Y:0.22, Z:0.33 [[ 9.99695117e-01 -2.29433090e-02 -9.12563340e-03 5.27505644e+01] [ 2.29434329e-02 9.99736761e-01 -9.11197605e-05 2.17253590e-01] [ 9.12532176e-03 -1.18281378e-04 9.99958356e-01 3.32110888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119254154 meters 0.015397377562897002 Centerline is valid? [True, True] Translation: X:52.78, Y:0.22, Z:0.33 [[ 9.99655956e-01 -2.46831557e-02 -8.87189926e-03 5.27815037e+01] [ 2.46833466e-02 9.99695316e-01 -8.79881713e-05 2.17178836e-01] [ 8.87136796e-03 -1.31030265e-04 9.99960640e-01 3.32596428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14925415399999 meters 0.015781061196576934 Centerline is valid? [True, True] Translation: X:52.81, Y:0.22, Z:0.33 [[ 9.99627188e-01 -2.59451958e-02 -8.50481624e-03 5.28139550e+01] [ 2.59454210e-02 9.99663357e-01 -8.38745795e-05 2.17161781e-01] [ 8.50412930e-03 -1.36817728e-04 9.99963830e-01 3.32739245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17925415399999 meters 0.01578807489906142 Centerline is valid? [True, True] Translation: X:52.85, Y:0.22, Z:0.33 [[ 9.99538177e-01 -2.90036112e-02 -9.06773039e-03 5.28457850e+01] [ 2.90039991e-02 9.99579292e-01 -8.87446732e-05 2.18167085e-01] [ 9.06648944e-03 -1.74296756e-04 9.99958883e-01 3.32589952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20925415399999 meters 0.016319840874765238 Centerline is valid? [True, True] Translation: X:52.88, Y:0.22, Z:0.33 [[ 9.99468556e-01 -3.13085292e-02 -9.07642548e-03 5.28775663e+01] [ 3.13090186e-02 9.99509749e-01 -8.81927608e-05 2.17229112e-01] [ 9.07473693e-03 -1.96028083e-04 9.99958805e-01 3.32402104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239254153999994 meters 0.016319840874765238 Centerline is valid? [True, True] Translation: X:52.91, Y:0.22, Z:0.33 [[ 9.99470882e-01 -3.12341919e-02 -9.07643076e-03 5.29092675e+01] [ 3.12346832e-02 9.99512074e-01 -8.76463097e-05 2.17477930e-01] [ 9.07473970e-03 -1.95899505e-04 9.99958805e-01 3.32621673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.269254153999995 meters 0.017880656510568794 Centerline is valid? [True, True] Translation: X:52.94, Y:0.21, Z:0.33 [[ 9.99392137e-01 -3.36725489e-02 -9.02864746e-03 5.29406624e+01] [ 3.36731412e-02 9.99432895e-01 -8.64458999e-05 2.14284144e-01] [ 9.02643813e-03 -2.17629568e-04 9.99959237e-01 3.32118975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299254153999996 meters 0.018834749059196614 Centerline is valid? [True, True] Translation: X:52.97, Y:0.21, Z:0.33 [[ 9.99153853e-01 -3.99974870e-02 -9.58018189e-03 5.29715717e+01] [ 3.99984524e-02 9.99199738e-01 -9.08858385e-05 2.13068291e-01] [ 9.57615044e-03 -2.92383514e-04 9.99954105e-01 3.32213970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.329254154 meters 0.020043481314676256 Centerline is valid? [True, True] Translation: X:53.00, Y:0.21, Z:0.33 [[ 9.99012462e-01 -4.33788123e-02 -9.61136995e-03 5.30032451e+01] [ 4.33799429e-02 9.99058643e-01 -9.09084214e-05 2.11952418e-01] [ 9.60626572e-03 -3.26122034e-04 9.99953806e-01 3.32303165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35925415399999 meters 0.022079092964041584 Centerline is valid? [True, True] Translation: X:53.03, Y:0.21, Z:0.33 [[ 9.98736277e-01 -4.92568819e-02 -9.98043638e-03 5.30342656e+01] [ 4.92583985e-02 9.98786064e-01 -9.39495941e-05 2.09722827e-01] [ 9.97294843e-03 -3.97789445e-04 9.99950190e-01 3.31829288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38925415399999 meters 0.02277938247312319 Centerline is valid? [True, True] Translation: X:53.07, Y:0.21, Z:0.33 [[ 9.98612763e-01 -5.15892040e-02 -1.05406160e-02 5.30660814e+01] [ 5.15910288e-02 9.98668291e-01 -9.88917640e-05 2.09526653e-01] [ 1.05316807e-02 -4.45046646e-04 9.99944441e-01 3.32167596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419254153999994 meters 0.024305787706228172 Centerline is valid? [True, True] Translation: X:53.10, Y:0.21, Z:0.33 [[ 9.98527677e-01 -5.32786419e-02 -1.01914331e-02 5.30972931e+01] [ 5.32804412e-02 9.98579584e-01 -9.50704634e-05 2.08587334e-01] [ 1.01820223e-02 -4.48073564e-04 9.99948061e-01 3.32206852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.449254153999995 meters 0.025454406412051562 Centerline is valid? [True, True] Translation: X:53.13, Y:0.21, Z:0.33 [[ 9.98461377e-01 -5.45150064e-02 -1.01485579e-02 5.31285731e+01] [ 5.45168599e-02 9.98512846e-01 -9.41222287e-05 2.09398069e-01] [ 1.01385965e-02 -4.59290098e-04 9.99948498e-01 3.32952838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479254153999996 meters 0.025449274946974614 Centerline is valid? [True, True] Translation: X:53.16, Y:0.21, Z:0.33 [[ 9.98460637e-01 -5.46243106e-02 -9.61979838e-03 5.31603414e+01] [ 5.46259862e-02 9.98506882e-01 -8.86746723e-05 2.11264219e-01] [ 9.61027868e-03 -4.36952804e-04 9.99953725e-01 3.33979762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.509254154 meters 0.026265641695223056 Centerline is valid? [True, True] Translation: X:53.19, Y:0.21, Z:0.33 [[ 9.98493045e-01 -5.41649327e-02 -8.82042015e-03 5.31918831e+01] [ 5.41663284e-02 9.98531924e-01 -8.07523700e-05 2.11862120e-01] [ 8.81184505e-03 -3.97139095e-04 9.99961096e-01 3.34931761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53925415399999 meters 0.025032391027978492 Centerline is valid? [True, True] Translation: X:53.22, Y:0.22, Z:0.34 [[ 9.98560371e-01 -5.29793741e-02 -8.38875203e-03 5.32238649e+01] [ 5.29805986e-02 9.98595539e-01 -7.63469035e-05 2.17061296e-01] [ 8.38101517e-03 -3.68204112e-04 9.99964811e-01 3.35875934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56925415399999 meters 0.024738563932824316 Centerline is valid? [True, True] Translation: X:53.26, Y:0.22, Z:0.34 [[ 9.98586373e-01 -5.24811430e-02 -8.42526403e-03 5.32564252e+01] [ 5.24823656e-02 9.98621848e-01 -7.60783353e-05 2.19271932e-01] [ 8.41764542e-03 -3.66206998e-04 9.99964504e-01 3.35578703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59925415399999 meters 0.025304743156321936 Centerline is valid? [True, True] Translation: X:53.29, Y:0.22, Z:0.33 [[ 9.98609674e-01 -5.18265023e-02 -9.62979223e-03 5.32879095e+01] [ 5.18280781e-02 9.98656018e-01 -8.60120674e-05 2.21225677e-01] [ 9.62130767e-03 -4.13201141e-04 9.99953629e-01 3.34736217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.629254153999995 meters 0.022221102795479623 Centerline is valid? [True, True] Translation: X:53.32, Y:0.23, Z:0.33 [[ 9.98595866e-01 -5.19837940e-02 -1.01971010e-02 5.33204172e+01] [ 5.19855821e-02 9.98647831e-01 -8.98037317e-05 2.27395234e-01] [ 1.01879811e-02 -4.40424596e-04 9.99948004e-01 3.34692254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659254153999996 meters 0.022642166570456167 Centerline is valid? [True, True] Translation: X:53.35, Y:0.23, Z:0.33 [[ 9.98574539e-01 -5.22705876e-02 -1.08016321e-02 5.33528763e+01] [ 5.22726197e-02 9.98632848e-01 -9.42951435e-05 2.28318517e-01] [ 1.07917935e-02 -4.70468876e-04 9.99941656e-01 3.34696143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.689254154 meters 0.025404905910636943 Centerline is valid? [True, True] Translation: X:53.38, Y:0.23, Z:0.33 [[ 9.98548635e-01 -5.26200982e-02 -1.14782105e-02 5.33841929e+01] [ 5.26224296e-02 9.98614475e-01 -9.90204723e-05 2.27682279e-01] [ 1.14675176e-02 -5.05134564e-04 9.99934118e-01 3.34591351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71925415399999 meters 0.024513832265901172 Centerline is valid? [True, True] Translation: X:53.42, Y:0.23, Z:0.34 [[ 9.98535850e-01 -5.27597753e-02 -1.19399107e-02 5.34167411e+01] [ 5.27623243e-02 9.98607093e-01 -1.01635457e-04 2.32523183e-01] [ 1.19286417e-02 -5.28490791e-04 9.99928712e-01 3.35400640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74925415399999 meters 0.02827570933079326 Centerline is valid? [True, True] Translation: X:53.45, Y:0.23, Z:0.34 [[ 9.98534040e-01 -5.28831741e-02 -1.15386275e-02 5.34477453e+01] [ 5.28855712e-02 9.98600574e-01 -9.74932954e-05 2.29110671e-01] [ 1.15276358e-02 -5.12876534e-04 9.99933423e-01 3.35401535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77925415399999 meters 0.02494401007742627 Centerline is valid? [True, True] Translation: X:53.48, Y:0.24, Z:0.34 [[ 9.98552720e-01 -5.26096890e-02 -1.11662630e-02 5.34801728e+01] [ 5.26119242e-02 9.98615029e-01 -9.36866121e-05 2.35925396e-01] [ 1.11557268e-02 -4.93927559e-04 9.99937651e-01 3.36643732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.809254153999994 meters 0.024888300951897962 Centerline is valid? [True, True] Translation: X:53.51, Y:0.24, Z:0.34 [[ 9.98608521e-01 -5.15355449e-02 -1.11852020e-02 5.35121314e+01] [ 5.15377293e-02 9.98671044e-01 -9.30489777e-05 2.37783179e-01] [ 1.11751327e-02 -4.83540411e-04 9.99937439e-01 3.37051309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839254153999995 meters 0.021766355508892825 Centerline is valid? [True, True] Translation: X:53.54, Y:0.24, Z:0.34 [[ 9.98810088e-01 -4.75679396e-02 -1.07563752e-02 5.35440823e+01] [ 4.75697373e-02 9.98867915e-01 -8.88011096e-05 2.44994320e-01] [ 1.07484222e-02 -4.22982500e-04 9.99942145e-01 3.37519121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.869254154 meters 0.02105113428025722 Centerline is valid? [True, True] Translation: X:53.58, Y:0.25, Z:0.34 [[ 9.98920182e-01 -4.53008470e-02 -1.03103519e-02 5.35752417e+01] [ 4.53023831e-02 9.98973316e-01 -8.46328947e-05 2.47427644e-01] [ 1.03036004e-02 -3.82542004e-04 9.99946843e-01 3.38334286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89925415399999 meters 0.02139822811985612 Centerline is valid? [True, True] Translation: X:53.61, Y:0.25, Z:0.34 [[ 9.98990085e-01 -4.38227246e-02 -9.91857379e-03 5.36065714e+01] [ 4.38240774e-02 9.99039260e-01 -8.10106425e-05 2.48507538e-01] [ 9.91259473e-03 -3.53743517e-04 9.99950806e-01 3.38861108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.92925415399999 meters 0.02030142284060387 Centerline is valid? [True, True] Translation: X:53.64, Y:0.25, Z:0.34 [[ 9.99099325e-01 -4.13163463e-02 -9.66941004e-03 5.36381270e+01] [ 4.13175193e-02 9.99146064e-01 -7.85098053e-05 2.52632124e-01] [ 9.66439672e-03 -3.21076942e-04 9.99953247e-01 3.39496261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95925415399999 meters 0.020392140571474614 Centerline is valid? [True, True] Translation: X:53.67, Y:0.25, Z:0.34 [[ 9.99115033e-01 -4.07286524e-02 -1.05037056e-02 5.36702136e+01] [ 4.07300096e-02 9.99170185e-01 -8.47564588e-05 2.53756746e-01] [ 1.04984415e-02 -3.43134579e-04 9.99944831e-01 3.39048600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.989254153999994 meters 0.020011594270379705 Centerline is valid? [True, True] Translation: X:53.70, Y:0.26, Z:0.34 [[ 9.99114242e-01 -4.03570919e-02 -1.19179046e-02 5.37025026e+01] [ 4.03588238e-02 9.99185246e-01 -9.52461484e-05 2.55861888e-01] [ 1.19120383e-02 -3.85830829e-04 9.99928975e-01 3.37887027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019254153999995 meters 0.020244746416908148 Centerline is valid? [True, True] Translation: X:53.74, Y:0.26, Z:0.34 [[ 9.99098677e-01 -4.04879970e-02 -1.27497241e-02 5.37351696e+01] [ 4.04900020e-02 9.99179939e-01 -1.00941543e-04 2.55966355e-01] [ 1.27433554e-02 -4.15385790e-04 9.99918714e-01 3.37482482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.049254153999996 meters 0.02008036408549189 Centerline is valid? [True, True] Translation: X:53.77, Y:0.26, Z:0.34 [[ 9.99075202e-01 -4.07137096e-02 -1.38251383e-02 5.37678279e+01] [ 4.07161031e-02 9.99170750e-01 -1.08417774e-04 2.57620651e-01] [ 1.38180879e-02 -4.54588246e-04 9.99904422e-01 3.37290445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.079254154 meters 0.020541388048907865 Centerline is valid? [True, True] Translation: X:53.80, Y:0.26, Z:0.34 [[ 9.99091485e-01 -4.02346240e-02 -1.40491920e-02 5.37989839e+01] [ 4.02370672e-02 9.99190155e-01 -1.08826672e-04 2.57408235e-01] [ 1.40421930e-02 -4.56570482e-04 9.99901299e-01 3.37294834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.10925415399999 meters 0.01950680751103539 Centerline is valid? [True, True] Translation: X:53.83, Y:0.26, Z:0.34 [[ 9.99151338e-01 -3.90910085e-02 -1.29806399e-02 5.38309076e+01] [ 3.90930132e-02 9.99235571e-01 -9.93569029e-05 2.60618799e-01] [ 1.29746011e-02 -4.08179744e-04 9.99915743e-01 3.39066704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13925415399999 meters 0.01950680751103539 Centerline is valid? [True, True] Translation: X:53.86, Y:0.26, Z:0.34 [[ 9.99155597e-01 -3.89819914e-02 -1.29806487e-02 5.38634699e+01] [ 3.89840021e-02 9.99239830e-01 -9.81948237e-05 2.60775476e-01] [ 1.29746090e-02 -4.07925728e-04 9.99915743e-01 3.39292181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.169254153999994 meters 0.019725292154983788 Centerline is valid? [True, True] Translation: X:53.89, Y:0.26, Z:0.34 [[ 9.99198225e-01 -3.80382645e-02 -1.24899248e-02 5.38946426e+01] [ 3.80400652e-02 9.99276210e-01 -9.34547646e-05 2.60852796e-01] [ 1.24844395e-02 -3.81737717e-04 9.99921993e-01 3.39802112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199254153999995 meters 0.01936672290502411 Centerline is valid? [True, True] Translation: X:53.93, Y:0.26, Z:0.34 [[ 9.99250094e-01 -3.69210723e-02 -1.16654978e-02 5.39270795e+01] [ 3.69225750e-02 9.99318125e-01 -8.65982090e-05 2.61796740e-01] [ 1.16607407e-02 -3.44186951e-04 9.99931952e-01 3.40683813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.229254153999996 meters 0.01846789861070682 Centerline is valid? [True, True] Translation: X:53.96, Y:0.26, Z:0.34 [[ 9.99314109e-01 -3.54939776e-02 -1.05588755e-02 5.39595439e+01] [ 3.54951366e-02 9.99369846e-01 -7.76713641e-05 2.64028567e-01] [ 1.05549786e-02 -2.97170637e-04 9.99944251e-01 3.42424372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.259254154 meters 0.018518139825877276 Centerline is valid? [True, True] Translation: X:53.99, Y:0.26, Z:0.34 [[ 9.99348989e-01 -3.47302987e-02 -9.76750030e-03 5.39918321e+01] [ 3.47312605e-02 9.99396685e-01 -7.11798012e-05 2.63814112e-01] [ 9.76407952e-03 -2.68104135e-04 9.99952294e-01 3.43104525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.28925415399999 meters 0.019247487198863836 Centerline is valid? [True, True] Translation: X:54.02, Y:0.26, Z:0.34 [[ 9.99359580e-01 -3.43962834e-02 -9.86537949e-03 5.40227569e+01] [ 3.43972549e-02 9.99408237e-01 -7.12323629e-05 2.62732272e-01] [ 9.86199165e-03 -2.68155229e-04 9.99951333e-01 3.43171432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31925415399999 meters 0.017948902036484162 Centerline is valid? [True, True] Translation: X:54.05, Y:0.26, Z:0.34 [[ 9.99374220e-01 -3.40655534e-02 -9.52395692e-03 5.40545640e+01] [ 3.40664490e-02 9.99419568e-01 -6.82184994e-05 2.64897914e-01] [ 9.52075281e-03 -2.56271583e-04 9.99954644e-01 3.43699321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34925415399999 meters 0.01798904626469899 Centerline is valid? [True, True] Translation: X:54.09, Y:0.26, Z:0.34 [[ 9.99366420e-01 -3.39167517e-02 -1.07894485e-02 5.40881212e+01] [ 3.39179033e-02 9.99424619e-01 -7.62877062e-05 2.63669900e-01] [ 1.07858279e-02 -2.89716098e-04 9.99941789e-01 3.43005409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379254153999995 meters 0.01792934667607476 Centerline is valid? [True, True] Translation: X:54.12, Y:0.26, Z:0.34 [[ 9.99352141e-01 -3.41629794e-02 -1.13220449e-02 5.41200345e+01] [ 3.41642759e-02 9.99416228e-01 -7.89355596e-05 2.63233508e-01] [ 1.13181321e-02 -3.07925047e-04 9.99935900e-01 3.42792301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.409254153999996 meters 0.01867040411741998 Centerline is valid? [True, True] Translation: X:54.15, Y:0.26, Z:0.34 [[ 9.99323396e-01 -3.45909526e-02 -1.24986460e-02 5.41511435e+01] [ 3.45925769e-02 9.99401494e-01 -8.62747159e-05 2.60939200e-01] [ 1.24941498e-02 -3.46144031e-04 9.99921885e-01 3.42137058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.439254154 meters 0.02080645856094474 Centerline is valid? [True, True] Translation: X:54.18, Y:0.26, Z:0.34 [[ 9.99315856e-01 -3.47600295e-02 -1.26316942e-02 5.41818552e+01] [ 3.47617094e-02 9.99395625e-01 -8.66071252e-05 2.56710684e-01] [ 1.26270704e-02 -3.52551408e-04 9.99920213e-01 3.41208137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46925415399999 meters 0.01834332047319721 Centerline is valid? [True, True] Translation: X:54.21, Y:0.26, Z:0.34 [[ 9.99312269e-01 -3.46116318e-02 -1.33050529e-02 5.42141701e+01] [ 3.46134921e-02 9.99400769e-01 -9.05019269e-05 2.60103693e-01] [ 1.33002125e-02 -3.70094658e-04 9.99911480e-01 3.41923437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49925415399999 meters 0.018452282138612646 Centerline is valid? [True, True] Translation: X:54.25, Y:0.26, Z:0.34 [[ 9.99326801e-01 -3.41986789e-02 -1.32814081e-02 5.42463951e+01] [ 3.42005089e-02 9.99414987e-01 -8.93823958e-05 2.60045766e-01] [ 1.32766951e-02 -3.64908692e-04 9.99911794e-01 3.41621568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52925415399999 meters 0.01810736570435007 Centerline is valid? [True, True] Translation: X:54.28, Y:0.26, Z:0.34 [[ 9.99346503e-01 -3.35288147e-02 -1.35050470e-02 5.42784801e+01] [ 3.35306591e-02 9.99437685e-01 -8.99009876e-05 2.60701977e-01] [ 1.35004672e-02 -3.62990888e-04 9.99908799e-01 3.41489657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559254153999994 meters 0.018088047390600544 Centerline is valid? [True, True] Translation: X:54.31, Y:0.26, Z:0.34 [[ 9.99401381e-01 -3.17288652e-02 -1.37898111e-02 5.43097376e+01] [ 3.17306291e-02 9.99496453e-01 -9.09107854e-05 2.60860081e-01] [ 1.37857518e-02 -3.46703018e-04 9.99904912e-01 3.40960628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.589254153999995 meters 0.01746998241741029 Centerline is valid? [True, True] Translation: X:54.34, Y:0.26, Z:0.34 [[ 9.99440047e-01 -3.03636292e-02 -1.40585617e-02 5.43414884e+01] [ 3.03653402e-02 9.99538863e-01 -9.17879582e-05 2.62205508e-01] [ 1.40548658e-02 -3.35156446e-04 9.99901169e-01 3.41090787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619254154 meters 0.01723356299553664 Centerline is valid? [True, True] Translation: X:54.37, Y:0.26, Z:0.34 [[ 9.99473620e-01 -2.92736240e-02 -1.39834863e-02 5.43739332e+01] [ 2.92752240e-02 9.99571385e-01 -9.02989814e-05 2.63138591e-01] [ 1.39801361e-02 -3.19118244e-04 9.99902222e-01 3.41204399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.64925415399999 meters 0.016642330824328786 Centerline is valid? [True, True] Translation: X:54.41, Y:0.27, Z:0.34 [[ 9.99501793e-01 -2.83185674e-02 -1.39364248e-02 5.44066381e+01] [ 2.83200807e-02 9.99598902e-01 -8.87909982e-05 2.65071825e-01] [ 1.39333494e-02 -3.05933914e-04 9.99902879e-01 3.41903821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67925415399999 meters 0.017008156573925553 Centerline is valid? [True, True] Translation: X:54.44, Y:0.26, Z:0.34 [[ 9.99540123e-01 -2.74517087e-02 -1.28820396e-02 5.44381103e+01] [ 2.74529479e-02 9.99623094e-01 -8.06532307e-05 2.64567722e-01] [ 1.28793984e-02 -2.73033823e-04 9.99917020e-01 3.42745840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70925415399999 meters 0.017491016579995643 Centerline is valid? [True, True] Translation: X:54.47, Y:0.26, Z:0.34 [[ 9.99527469e-01 -2.82556172e-02 -1.21019934e-02 5.44690057e+01] [ 2.82567833e-02 9.99600695e-01 -7.46550422e-05 2.63640029e-01] [ 1.20992704e-02 -2.67343639e-04 9.99926765e-01 3.43353836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739254153999994 meters 0.017276218454087354 Centerline is valid? [True, True] Translation: X:54.50, Y:0.26, Z:0.34 [[ 9.99493245e-01 -2.94176542e-02 -1.21595419e-02 5.45012126e+01] [ 2.94189264e-02 9.99567167e-01 -7.42699570e-05 2.63886217e-01] [ 1.21564636e-02 -2.83488346e-04 9.99926067e-01 3.43982829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.769254153999995 meters 0.018247450921509964 Centerline is valid? [True, True] Translation: X:54.53, Y:0.26, Z:0.34 [[ 9.99387781e-01 -3.24425069e-02 -1.30976032e-02 5.45335935e+01] [ 3.24442553e-02 9.99473543e-01 -7.90271508e-05 2.61040120e-01] [ 1.30932717e-02 -3.45963212e-04 9.99914220e-01 3.43594974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799254153999996 meters 0.019041691633104926 Centerline is valid? [True, True] Translation: X:54.57, Y:0.26, Z:0.34 [[ 9.99317486e-01 -3.43284804e-02 -1.36424617e-02 5.45656402e+01] [ 3.43305663e-02 9.99410529e-01 -8.13265261e-05 2.59132292e-01] [ 1.36372117e-02 -3.87082418e-04 9.99906934e-01 3.42838453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.829254154 meters 0.01903211071530554 Centerline is valid? [True, True] Translation: X:54.60, Y:0.26, Z:0.34 [[ 9.99154090e-01 -3.82627908e-02 -1.50686209e-02 5.45972509e+01] [ 3.82657953e-02 9.99267592e-01 -8.89878046e-05 2.58069497e-01] [ 1.50609894e-02 -4.87700234e-04 9.99886458e-01 3.42470105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85925415399999 meters 0.021665450167492592 Centerline is valid? [True, True] Translation: X:54.63, Y:0.25, Z:0.34 [[ 9.99080353e-01 -4.01420476e-02 -1.50686203e-02 5.46279924e+01] [ 4.01452740e-02 9.99193850e-01 -8.84338991e-05 2.53014412e-01] [ 1.50600227e-02 -5.16581320e-04 9.99886458e-01 3.41369726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88925415399999 meters 0.020751536339176032 Centerline is valid? [True, True] Translation: X:54.66, Y:0.25, Z:0.34 [[ 9.99027957e-01 -4.15061234e-02 -1.48452858e-02 5.46602473e+01] [ 4.15094175e-02 9.99138109e-01 -8.62990983e-05 2.53758980e-01] [ 1.48360727e-02 -5.30003952e-04 9.99889799e-01 3.42161805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919254153999994 meters 0.021941181414258056 Centerline is valid? [True, True] Translation: X:54.69, Y:0.25, Z:0.34 [[ 9.99004608e-01 -4.23408987e-02 -1.40371487e-02 5.46917386e+01] [ 4.23439381e-02 9.99103090e-01 -8.07433454e-05 2.51522003e-01] [ 1.40279774e-02 -5.13725182e-04 9.99901471e-01 3.42664296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.949254153999995 meters 0.022090411853320033 Centerline is valid? [True, True] Translation: X:54.72, Y:0.25, Z:0.34 [[ 9.99001992e-01 -4.25013315e-02 -1.37352113e-02 5.47235622e+01] [ 4.25042684e-02 9.99096282e-01 -7.81584735e-05 2.51186706e-01] [ 1.37261204e-02 -5.05724636e-04 9.99905664e-01 3.43507763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979254153999996 meters 0.021298113897964894 Centerline is valid? [True, True] Translation: X:54.76, Y:0.25, Z:0.35 [[ 9.99071756e-01 -4.11186955e-02 -1.28405451e-02 5.47556966e+01] [ 4.11211594e-02 9.99154165e-01 -7.21868949e-05 2.52288621e-01] [ 1.28326524e-02 -4.55898215e-04 9.99917554e-01 3.45085048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.009254154 meters 0.022024387716035414 Centerline is valid? [True, True] Translation: X:54.79, Y:0.25, Z:0.35 [[ 9.99129655e-01 -3.99407812e-02 -1.20277020e-02 5.47867117e+01] [ 3.99428666e-02 9.99201963e-01 -6.68830573e-05 2.51528825e-01] [ 1.20207748e-02 -4.13596052e-04 9.99927662e-01 3.45862348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03925415399999 meters 0.022170035654336676 Centerline is valid? [True, True] Translation: X:54.82, Y:0.25, Z:0.35 [[ 9.99234400e-01 -3.76859014e-02 -1.05065249e-02 5.48177446e+01] [ 3.76873734e-02 9.99289577e-01 -5.79197936e-05 2.52138290e-01] [ 1.05012436e-02 -3.38087876e-04 9.99944803e-01 3.46915715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06925415399999 meters 0.02017458082165834 Centerline is valid? [True, True] Translation: X:54.85, Y:0.26, Z:0.35 [[ 9.99290962e-01 -3.63348306e-02 -9.86676546e-03 5.48498801e+01] [ 3.63360683e-02 9.99339626e-01 -5.38535416e-05 2.55702042e-01] [ 9.86220646e-03 -3.04704106e-04 9.99951321e-01 3.47569875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09925415399999 meters 0.01898697982908934 Centerline is valid? [True, True] Translation: X:54.88, Y:0.26, Z:0.35 [[ 9.99353744e-01 -3.45689974e-02 -9.85290414e-03 5.48821326e+01] [ 3.45701527e-02 9.99402272e-01 -5.30780260e-05 2.57697243e-01] [ 9.84884964e-03 -2.87572677e-04 9.99951458e-01 3.47708335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.129254153999995 meters 0.018347678997932156 Centerline is valid? [True, True] Translation: X:54.91, Y:0.26, Z:0.35 [[ 9.99460976e-01 -3.12297918e-02 -1.01221035e-02 5.49122091e+01] [ 3.12308457e-02 9.99512197e-01 -5.39597578e-05 2.59100881e-01] [ 1.01188511e-02 -2.62191181e-04 9.99948769e-01 3.46652447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159254153999996 meters 0.017981866754978544 Centerline is valid? [True, True] Translation: X:54.94, Y:0.26, Z:0.35 [[ 9.99515340e-01 -2.94577986e-02 -1.00658964e-02 5.49445313e+01] [ 2.94587546e-02 9.99565995e-01 -5.33171315e-05 2.59973922e-01] [ 1.00630984e-02 -2.43237482e-04 9.99949336e-01 3.46315164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.189254154 meters 0.017277295751369888 Centerline is valid? [True, True] Translation: X:54.98, Y:0.26, Z:0.35 [[ 9.99589001e-01 -2.64132610e-02 -1.11431468e-02 5.49762693e+01] [ 2.64142528e-02 9.99651081e-01 -5.81890997e-05 2.62061479e-01] [ 1.11407957e-02 -2.36172712e-04 9.99937912e-01 3.46018286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21925415399999 meters 0.01694552957665015 Centerline is valid? [True, True] Translation: X:55.01, Y:0.26, Z:0.35 [[ 9.99616988e-01 -2.50059403e-02 -1.18566409e-02 5.50087621e+01] [ 2.50069743e-02 9.99687275e-01 -6.10594941e-05 2.62995557e-01] [ 1.18544599e-02 -2.35462607e-04 9.99929706e-01 3.46091501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24925415399999 meters 0.01647208637293593 Centerline is valid? [True, True] Translation: X:55.04, Y:0.26, Z:0.35 [[ 9.99680049e-01 -2.22156384e-02 -1.20940491e-02 5.50402115e+01] [ 2.22165193e-02 9.99753181e-01 -6.15269617e-05 2.64509370e-01] [ 1.20924309e-02 -2.07180399e-04 9.99926862e-01 3.45536074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27925415399999 meters 0.01624647727286719 Centerline is valid? [True, True] Translation: X:55.07, Y:0.27, Z:0.34 [[ 9.99702927e-01 -2.09476714e-02 -1.24600230e-02 5.50719928e+01] [ 2.09485149e-02 9.99780554e-01 -6.28339653e-05 2.65308606e-01] [ 1.24586049e-02 -1.98203678e-04 9.99922369e-01 3.44958920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.309254153999994 meters 0.015309951756344118 Centerline is valid? [True, True] Translation: X:55.10, Y:0.27, Z:0.35 [[ 9.99725386e-01 -1.96208081e-02 -1.28131460e-02 5.51036054e+01] [ 1.96215968e-02 9.99807476e-01 -6.41634135e-05 2.67781069e-01] [ 1.28119381e-02 -1.87268592e-04 9.99917906e-01 3.45795457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339254153999995 meters 0.015430125943654532 Centerline is valid? [True, True] Translation: X:55.13, Y:0.27, Z:0.34 [[ 9.99764485e-01 -1.69661630e-02 -1.35323551e-02 5.51344825e+01] [ 1.69668063e-02 9.99856051e-01 -6.72690877e-05 2.67934998e-01] [ 1.35315484e-02 -1.62347603e-04 9.99908431e-01 3.44014352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.369254154 meters 0.014619374455498093 Centerline is valid? [True, True] Translation: X:55.17, Y:0.27, Z:0.34 [[ 9.99775623e-01 -1.54859971e-02 -1.44529354e-02 5.51650124e+01] [ 1.54865802e-02 9.99880073e-01 -7.15829681e-05 2.70689008e-01] [ 1.44523107e-02 -1.52259637e-04 9.99895548e-01 3.44902329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39925415399999 meters 0.014765922643467487 Centerline is valid? [True, True] Translation: X:55.19, Y:0.27, Z:0.34 [[ 9.99786646e-01 -1.42276026e-02 -1.49745593e-02 5.51932657e+01] [ 1.42280810e-02 9.99898773e-01 -7.45974640e-05 2.71118540e-01] [ 1.49741048e-02 -1.38477694e-04 9.99887872e-01 3.43911238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.42925415399999 meters 0.014343942605584479 Centerline is valid? [True, True] Translation: X:55.22, Y:0.27, Z:0.34 [[ 9.99801883e-01 -1.24048386e-02 -1.55664397e-02 5.52217865e+01] [ 1.24050941e-02 9.99923051e-01 -8.01464500e-05 2.73179829e-01] [ 1.55662361e-02 -1.12972577e-04 9.99878832e-01 3.44599887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45925415399999 meters 0.014181610003537555 Centerline is valid? [True, True] Translation: X:55.25, Y:0.27, Z:0.34 [[ 9.99817481e-01 -1.18458738e-02 -1.49893549e-02 5.52499608e+01] [ 1.18459869e-02 9.99929831e-01 -8.12478040e-05 2.73543554e-01] [ 1.49892655e-02 -9.63307265e-05 9.99887650e-01 3.44989078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.489254153999994 meters 0.013994350884045501 Centerline is valid? [True, True] Translation: X:55.28, Y:0.27, Z:0.35 [[ 9.99844841e-01 -1.08809583e-02 -1.38527597e-02 5.52781606e+01] [ 1.08809275e-02 9.99940798e-01 -7.75910726e-05 2.73567856e-01] [ 1.38527838e-02 -7.31518403e-05 9.99904043e-01 3.45842152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519254153999995 meters 0.014090904830349596 Centerline is valid? [True, True] Translation: X:55.31, Y:0.27, Z:0.35 [[ 9.99849327e-01 -1.13255399e-02 -1.31550733e-02 5.53061544e+01] [ 1.13255193e-02 9.99935861e-01 -7.60712888e-05 2.73501910e-01] [ 1.31550911e-02 -7.29282088e-05 9.99913465e-01 3.46606271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.549254153999996 meters 0.01444776494847636 Centerline is valid? [True, True] Translation: X:55.33, Y:0.27, Z:0.35 [[ 9.99851806e-01 -1.21357354e-02 -1.22102537e-02 5.53339074e+01] [ 1.21357496e-02 9.99926356e-01 -7.29285081e-05 2.71689733e-01] [ 1.22102396e-02 -7.52628816e-05 9.99925449e-01 3.46004689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57925415399999 meters 0.014329450957655946 Centerline is valid? [True, True] Translation: X:55.36, Y:0.27, Z:0.35 [[ 9.99820532e-01 -1.57197298e-02 -1.05732996e-02 5.53639817e+01] [ 1.57199339e-02 9.99876432e-01 -6.38175338e-05 2.70584545e-01] [ 1.05729962e-02 -1.02405489e-04 9.99944099e-01 3.48456937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.60925415399999 meters 0.014686000638650248 Centerline is valid? [True, True] Translation: X:55.40, Y:0.27, Z:0.35 [[ 9.99777191e-01 -1.85762337e-02 -1.00246074e-02 5.53954974e+01] [ 1.85765594e-02 9.99827439e-01 -6.06303991e-05 2.68519301e-01] [ 1.00240039e-02 -1.25605826e-04 9.99949751e-01 3.48876353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63925415399999 meters 0.016200550729380075 Centerline is valid? [True, True] Translation: X:55.43, Y:0.26, Z:0.35 [[ 9.99637601e-01 -2.53003649e-02 -9.19556146e-03 5.54262401e+01] [ 2.53009281e-02 9.99679879e-01 -5.50919275e-05 2.61434829e-01] [ 9.19401161e-03 -1.77584277e-04 9.99957718e-01 3.48865750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.669254153999994 meters 0.01728850362398 Centerline is valid? [True, True] Translation: X:55.46, Y:0.26, Z:0.35 [[ 9.99545172e-01 -2.89359616e-02 -8.49461424e-03 5.54580852e+01] [ 2.89365811e-02 9.99581248e-01 -4.99880558e-05 2.57418272e-01] [ 8.49250356e-03 -1.95839774e-04 9.99963919e-01 3.48883799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699254153999995 meters 0.017838706946049596 Centerline is valid? [True, True] Translation: X:55.49, Y:0.26, Z:0.35 [[ 9.99435162e-01 -3.26106175e-02 -8.11817618e-03 5.54903716e+01] [ 3.26113081e-02 9.99468109e-01 -4.73297066e-05 2.55327750e-01] [ 8.11540164e-03 -2.17441371e-04 9.99967046e-01 3.48834129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.729254153999996 meters 0.020650627459333694 Centerline is valid? [True, True] Translation: X:55.52, Y:0.25, Z:0.35 [[ 9.99234637e-01 -3.84046129e-02 -7.43143886e-03 5.55203878e+01] [ 3.84053551e-02 9.99262241e-01 -4.28598531e-05 2.48102978e-01] [ 7.42760226e-03 -2.42579998e-04 9.99972386e-01 3.49508909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.759254154 meters 0.020286002246884184 Centerline is valid? [True, True] Translation: X:55.55, Y:0.25, Z:0.35 [[ 9.99181728e-01 -3.97438932e-02 -7.50313113e-03 5.55523320e+01] [ 3.97446879e-02 9.99209867e-01 -4.32315515e-05 2.47564026e-01] [ 7.49892084e-03 -2.55013428e-04 9.99971850e-01 3.49034483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78925415399999 meters 0.02147535533492317 Centerline is valid? [True, True] Translation: X:55.58, Y:0.24, Z:0.35 [[ 9.99123489e-01 -4.11517801e-02 -7.66709975e-03 5.55835363e+01] [ 4.11526555e-02 9.99152870e-01 -4.36203025e-05 2.42443193e-01] [ 7.66239977e-03 -2.71939446e-04 9.99970606e-01 3.48568549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81925415399999 meters 0.02158106654919699 Centerline is valid? [True, True] Translation: X:55.62, Y:0.24, Z:0.35 [[ 9.99108593e-01 -4.15917145e-02 -7.22141935e-03 5.56157895e+01] [ 4.15925053e-02 9.99134657e-01 -4.07094012e-05 2.41357417e-01] [ 7.21686352e-03 -2.59683810e-04 9.99973924e-01 3.48531722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84925415399999 meters 0.02115048918717832 Centerline is valid? [True, True] Translation: X:55.65, Y:0.24, Z:0.35 [[ 9.99064950e-01 -4.25929371e-02 -7.42070807e-03 5.56482633e+01] [ 4.25938037e-02 9.99092471e-01 -4.12866524e-05 2.40507252e-01] [ 7.41573208e-03 -2.74828136e-04 9.99972465e-01 3.48618891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879254153999995 meters 0.021845287195229768 Centerline is valid? [True, True] Translation: X:55.68, Y:0.24, Z:0.35 [[ 9.99052577e-01 -4.27935032e-02 -7.91603111e-03 5.56797369e+01] [ 4.27945010e-02 9.99083895e-01 -4.33647226e-05 2.38900738e-01] [ 7.91063492e-03 -2.95438963e-04 9.99968667e-01 3.48444474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.909254153999996 meters 0.022635355193765253 Centerline is valid? [True, True] Translation: X:55.71, Y:0.24, Z:0.35 [[ 9.99036412e-01 -4.30702919e-02 -8.43787812e-03 5.57104508e+01] [ 4.30714447e-02 9.99071994e-01 -4.51366241e-05 2.37151685e-01] [ 8.43199176e-03 -3.18338470e-04 9.99964399e-01 3.47800850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.939254154 meters 0.022326389997624808 Centerline is valid? [True, True] Translation: X:55.74, Y:0.24, Z:0.35 [[ 9.99016904e-01 -4.32562555e-02 -9.70167491e-03 5.57423133e+01] [ 4.32577929e-02 9.99063942e-01 -5.14115468e-05 2.36270738e-01] [ 9.69481746e-03 -3.68312040e-04 9.99952936e-01 3.46682204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96925415399999 meters 0.022814715970617808 Centerline is valid? [True, True] Translation: X:55.77, Y:0.23, Z:0.35 [[ 9.99025980e-01 -4.31408876e-02 -9.27124093e-03 5.57742433e+01] [ 4.31422930e-02 9.99068937e-01 -4.84478415e-05 2.34848163e-01] [ 9.26469890e-03 -3.51581941e-04 9.99957020e-01 3.46551920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99925415399999 meters 0.021327019428043808 Centerline is valid? [True, True] Translation: X:55.81, Y:0.24, Z:0.35 [[ 9.99080892e-01 -4.20115503e-02 -8.50883208e-03 5.58066789e+01] [ 4.20126990e-02 9.99117076e-01 -4.37813285e-05 2.36956349e-01] [ 8.50315875e-03 -3.13737912e-04 9.99963798e-01 3.47301194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02925415399999 meters 0.021327019428043808 Centerline is valid? [True, True] Translation: X:55.84, Y:0.24, Z:0.35 [[ 9.99085485e-01 -4.19021960e-02 -8.50883552e-03 5.58392435e+01] [ 4.19033465e-02 9.99121668e-01 -4.31044960e-05 2.37030944e-01] [ 8.50316811e-03 -3.13483606e-04 9.99963798e-01 3.47526700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059254153999994 meters 0.02080934193079811 Centerline is valid? [True, True] Translation: X:55.87, Y:0.24, Z:0.35 [[ 9.99128013e-01 -4.07525614e-02 -9.07974091e-03 5.58710085e+01] [ 4.07538328e-02 9.99169216e-01 -4.50302847e-05 2.38304212e-01] [ 9.07403271e-03 -3.25043224e-04 9.99958777e-01 3.47271425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.089254153999995 meters 0.020810974012658984 Centerline is valid? [True, True] Translation: X:55.90, Y:0.24, Z:0.35 [[ 9.99167255e-01 -3.96118652e-02 -9.78242298e-03 5.59026532e+01] [ 3.96132937e-02 9.99215084e-01 -4.77639409e-05 2.38814794e-01] [ 9.77663662e-03 -3.39789829e-04 9.99952150e-01 3.47057574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119254154 meters 0.019674823321870406 Centerline is valid? [True, True] Translation: X:55.93, Y:0.24, Z:0.35 [[ 9.99246245e-01 -3.71466924e-02 -1.12723230e-02 5.59346821e+01] [ 3.71484427e-02 9.99309757e-01 -5.41451009e-05 2.41612423e-01] [ 1.12665537e-02 -3.64644956e-04 9.99936464e-01 3.46288518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.14925415399999 meters 0.019704362181609893 Centerline is valid? [True, True] Translation: X:55.97, Y:0.24, Z:0.35 [[ 9.99270639e-01 -3.63256674e-02 -1.17744062e-02 5.59661808e+01] [ 3.63275294e-02 9.99339936e-01 -5.57672461e-05 2.41720951e-01] [ 1.17686601e-02 -3.72008516e-04 9.99930678e-01 3.45788736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17925415399999 meters 0.019493826633970198 Centerline is valid? [True, True] Translation: X:56.00, Y:0.24, Z:0.35 [[ 9.99283943e-01 -3.57013961e-02 -1.25304304e-02 5.59988601e+01] [ 3.57034672e-02 9.99362426e-01 -5.84449994e-05 2.42176119e-01] [ 1.25245279e-02 -3.88976661e-04 9.99921489e-01 3.45438273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20925415399999 meters 0.019052097019258918 Centerline is valid? [True, True] Translation: X:56.03, Y:0.24, Z:0.34 [[ 9.99268711e-01 -3.56878734e-02 -1.37265485e-02 5.60307150e+01] [ 3.56903738e-02 9.99362894e-01 -6.28449630e-05 2.43239272e-01] [ 1.37200461e-02 -4.27106643e-04 9.99905785e-01 3.44865890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239254153999994 meters 0.01967622779372237 Centerline is valid? [True, True] Translation: X:56.06, Y:0.24, Z:0.34 [[ 9.99252554e-01 -3.60883234e-02 -1.38551683e-02 5.60622877e+01] [ 3.60909216e-02 9.99348509e-01 -6.25452999e-05 2.42156181e-01] [ 1.38483990e-02 -4.37547243e-04 9.99904011e-01 3.44840186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.269254153999995 meters 0.020206267959571898 Centerline is valid? [True, True] Translation: X:56.09, Y:0.24, Z:0.34 [[ 9.99224317e-01 -3.66611087e-02 -1.43780209e-02 5.60949051e+01] [ 3.66639792e-02 9.99327648e-01 -6.39812974e-05 2.41677835e-01] [ 1.43706995e-02 -4.63223793e-04 9.99896629e-01 3.44244223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299254153999996 meters 0.02075822002355306 Centerline is valid? [True, True] Translation: X:56.13, Y:0.24, Z:0.34 [[ 9.99211407e-01 -3.68487657e-02 -1.47896371e-02 5.61264239e+01] [ 3.68518372e-02 9.99320738e-01 -6.48840639e-05 2.41049676e-01] [ 1.47819820e-02 -4.80192403e-04 9.99890625e-01 3.44561840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.32925415399999 meters 0.020431954219826822 Centerline is valid? [True, True] Translation: X:56.16, Y:0.24, Z:0.35 [[ 9.99207555e-01 -3.69944974e-02 -1.46856553e-02 5.61587706e+01] [ 3.69975551e-02 9.99315354e-01 -6.35077544e-05 2.42292360e-01] [ 1.46779502e-02 -4.79875913e-04 9.99892158e-01 3.45368956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35925415399999 meters 0.020677194880975098 Centerline is valid? [True, True] Translation: X:56.19, Y:0.24, Z:0.35 [[ 9.99234975e-01 -3.66069939e-02 -1.37620194e-02 5.61907088e+01] [ 3.66096554e-02 9.99329640e-01 -5.85665227e-05 2.43516702e-01] [ 1.37549378e-02 -4.45301069e-04 9.99905297e-01 3.46851095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38925415399999 meters 0.019599680931731974 Centerline is valid? [True, True] Translation: X:56.22, Y:0.25, Z:0.35 [[ 9.99247391e-01 -3.64820684e-02 -1.31799087e-02 5.62232873e+01] [ 3.64845108e-02 9.99334217e-01 -5.51623508e-05 2.46199143e-01] [ 1.31731462e-02 -4.25741686e-04 9.99913140e-01 3.47837621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419254153999994 meters 0.019388704057007673 Centerline is valid? [True, True] Translation: X:56.26, Y:0.25, Z:0.35 [[ 9.99251738e-01 -3.64966622e-02 -1.28045831e-02 5.62551735e+01] [ 3.64989805e-02 9.99333689e-01 -5.26670916e-05 2.47325132e-01] [ 1.27979734e-02 -4.14726544e-04 9.99918017e-01 3.48315406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.449254153999995 meters 0.019564827232688674 Centerline is valid? [True, True] Translation: X:56.29, Y:0.25, Z:0.35 [[ 9.99240756e-01 -3.71383881e-02 -1.17750417e-02 5.62869798e+01] [ 3.71404027e-02 9.99310056e-01 -4.76065304e-05 2.48601278e-01] [ 1.17686857e-02 -3.89759407e-04 9.99930671e-01 3.49398193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479254153999996 meters 0.02020781915845138 Centerline is valid? [True, True] Translation: X:56.32, Y:0.25, Z:0.35 [[ 9.99215332e-01 -3.79428126e-02 -1.13605721e-02 5.63187320e+01] [ 3.79447492e-02 9.99279838e-01 -4.51144487e-05 2.48658797e-01] [ 1.13541024e-02 -3.85995010e-04 9.99935466e-01 3.49967113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.509254154 meters 0.020963504616562142 Centerline is valid? [True, True] Translation: X:56.35, Y:0.25, Z:0.35 [[ 9.99162978e-01 -3.96349931e-02 -1.01198323e-02 5.63512003e+01] [ 3.96366233e-02 9.99214159e-01 -3.95046660e-05 2.48857250e-01] [ 1.01134455e-02 -3.61644382e-04 9.99948792e-01 3.51244485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53925415399999 meters 0.02132003982958701 Centerline is valid? [True, True] Translation: X:56.38, Y:0.25, Z:0.35 [[ 9.99146230e-01 -4.00597220e-02 -1.01009784e-02 5.63834292e+01] [ 4.00613752e-02 9.99197220e-01 -3.86993437e-05 2.49330560e-01] [ 1.00944198e-02 -3.65992782e-04 9.99948983e-01 3.51583640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56925415399999 meters 0.02112621803549822 Centerline is valid? [True, True] Translation: X:56.41, Y:0.25, Z:0.35 [[ 9.99197694e-01 -3.86611397e-02 -1.04539060e-02 5.64149754e+01] [ 3.86628414e-02 9.99252312e-01 -3.93424652e-05 2.50738482e-01] [ 1.04476107e-02 -3.64866808e-04 9.99945356e-01 3.50799275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59925415399999 meters 0.021239625844335887 Centerline is valid? [True, True] Translation: X:56.45, Y:0.25, Z:0.35 [[ 9.99267508e-01 -3.67912943e-02 -1.05284580e-02 5.64459189e+01] [ 3.67929227e-02 9.99322910e-01 -3.90550019e-05 2.50910338e-01] [ 1.05227662e-02 -3.48346348e-04 9.99944573e-01 3.50209682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.629254153999995 meters 0.021637695278452197 Centerline is valid? [True, True] Translation: X:56.48, Y:0.25, Z:0.35 [[ 9.99291872e-01 -3.60597304e-02 -1.07447558e-02 5.64775456e+01] [ 3.60613903e-02 9.99349576e-01 -3.92787271e-05 2.50224709e-01] [ 1.07391835e-02 -3.48219920e-04 9.99942273e-01 3.50125396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659254153999996 meters 0.019351901463810536 Centerline is valid? [True, True] Translation: X:56.51, Y:0.25, Z:0.35 [[ 9.99322127e-01 -3.53313862e-02 -1.03431420e-02 5.65092714e+01] [ 3.53328916e-02 9.99375598e-01 -3.72079446e-05 2.53939715e-01] [ 1.03379983e-02 -3.28270393e-04 9.99946508e-01 3.50380952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.689254154 meters 0.02081507410147313 Centerline is valid? [True, True] Translation: X:56.54, Y:0.25, Z:0.35 [[ 9.99303050e-01 -3.57112586e-02 -1.08683217e-02 5.65399953e+01] [ 3.57129545e-02 9.99362088e-01 -3.80594717e-05 2.50511081e-01] [ 1.08627478e-02 -3.50106931e-04 9.99940937e-01 3.49418222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71925415399999 meters 0.020292378190654346 Centerline is valid? [True, True] Translation: X:56.57, Y:0.25, Z:0.35 [[ 9.99249895e-01 -3.72569139e-02 -1.05626835e-02 5.65720550e+01] [ 3.72586139e-02 9.99305656e-01 -3.58656923e-05 2.50654450e-01] [ 1.05566856e-02 -3.57712156e-04 9.99944213e-01 3.48783947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74925415399999 meters 0.021234984113758203 Centerline is valid? [True, True] Translation: X:56.60, Y:0.25, Z:0.35 [[ 9.99204205e-01 -3.85954431e-02 -1.00671672e-02 5.66034838e+01] [ 3.85970617e-02 9.99254855e-01 -3.35335144e-05 2.48466195e-01] [ 1.00609599e-02 -3.55056245e-04 9.99949324e-01 3.48791821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77925415399999 meters 0.021234984113758203 Centerline is valid? [True, True] Translation: X:56.64, Y:0.25, Z:0.35 [[ 9.99208364e-01 -3.84876230e-02 -1.00671695e-02 5.66360473e+01] [ 3.84892433e-02 9.99259014e-01 -3.28196038e-05 2.48480972e-01] [ 1.00609731e-02 -3.54684115e-04 9.99949324e-01 3.49017359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.809254153999994 meters 0.02156406705451179 Centerline is valid? [True, True] Translation: X:56.67, Y:0.25, Z:0.35 [[ 9.99192971e-01 -3.89196689e-02 -9.93307802e-03 5.66678150e+01] [ 3.89212771e-02 9.99242280e-01 -3.14296112e-05 2.47549541e-01] [ 9.92677476e-03 -3.55203835e-04 9.99950665e-01 3.49618953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839254153999995 meters 0.02102470313467513 Centerline is valid? [True, True] Translation: X:56.70, Y:0.25, Z:0.35 [[ 9.99222088e-01 -3.80900836e-02 -1.02158951e-02 5.67000997e+01] [ 3.80917490e-02 9.99274245e-01 -3.15771162e-05 2.47947962e-01] [ 1.02096836e-02 -3.57588758e-04 9.99947816e-01 3.49532849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.869254154 meters 0.021070721885839652 Centerline is valid? [True, True] Translation: X:56.73, Y:0.25, Z:0.35 [[ 9.99233923e-01 -3.75913689e-02 -1.08837377e-02 5.67318763e+01] [ 3.75932385e-02 9.99293124e-01 -3.28248945e-05 2.47818021e-01] [ 1.08772781e-02 -3.76355197e-04 9.99940770e-01 3.49049080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89925415399999 meters 0.021070721885839652 Centerline is valid? [True, True] Translation: X:56.76, Y:0.25, Z:0.35 [[ 9.99237978e-01 -3.74834408e-02 -1.08837404e-02 5.67644392e+01] [ 3.74853141e-02 9.99297178e-01 -3.19001200e-05 2.47821977e-01] [ 1.08772868e-02 -3.76104615e-04 9.99940770e-01 3.49274571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92925415399999 meters 0.021895689864052683 Centerline is valid? [True, True] Translation: X:56.80, Y:0.25, Z:0.35 [[ 9.99262960e-01 -3.67322097e-02 -1.11481905e-02 5.67955997e+01] [ 3.67341395e-02 9.99325073e-01 -3.16829559e-05 2.46146452e-01] [ 1.11418300e-02 -3.77859579e-04 9.99937856e-01 3.48562200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95925415399999 meters 0.02082962451480814 Centerline is valid? [True, True] Translation: X:56.83, Y:0.25, Z:0.35 [[ 9.99285726e-01 -3.60184549e-02 -1.14328121e-02 5.68273782e+01] [ 3.60204458e-02 9.99351053e-01 -3.17914062e-05 2.47897576e-01] [ 1.14265378e-02 -3.80046289e-04 9.99934643e-01 3.48669500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.989254153999994 meters 0.02185293847566294 Centerline is valid? [True, True] Translation: X:56.86, Y:0.25, Z:0.35 [[ 9.99309156e-01 -3.53403779e-02 -1.15007723e-02 5.68584760e+01] [ 3.53423562e-02 9.99375263e-01 -3.12422985e-05 2.46424755e-01] [ 1.14946915e-02 -3.75243678e-04 9.99933863e-01 3.48163732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019254153999995 meters 0.020662929005809037 Centerline is valid? [True, True] Translation: X:56.89, Y:0.25, Z:0.35 [[ 9.99345491e-01 -3.42444025e-02 -1.16580861e-02 5.68910257e+01] [ 3.42463691e-02 9.99413421e-01 -3.09648424e-05 2.48466382e-01] [ 1.16523081e-02 -3.68302545e-04 9.99932042e-01 3.48129341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.049254153999996 meters 0.01917452203307963 Centerline is valid? [True, True] Translation: X:56.92, Y:0.25, Z:0.35 [[ 9.99390002e-01 -3.26950484e-02 -1.22743109e-02 5.69231050e+01] [ 3.26971227e-02 9.99465306e-01 -3.17004737e-05 2.51897529e-01] [ 1.22687843e-02 -3.69653512e-04 9.99924667e-01 3.47980712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07925415399999 meters 0.018804086947121535 Centerline is valid? [True, True] Translation: X:56.96, Y:0.25, Z:0.35 [[ 9.99417109e-01 -3.16634178e-02 -1.27620482e-02 5.69554244e+01] [ 3.16655882e-02 9.99498519e-01 -3.20120167e-05 2.53232408e-01] [ 1.27566619e-02 -3.72124407e-04 9.99918561e-01 3.47909515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.10925415399999 meters 0.01803245294257817 Centerline is valid? [True, True] Translation: X:56.99, Y:0.26, Z:0.35 [[ 9.99475626e-01 -2.91841735e-02 -1.40270164e-02 5.69873772e+01] [ 2.91865667e-02 9.99573981e-01 -3.41092873e-05 2.56221672e-01] [ 1.40220360e-02 -3.75309048e-04 9.99901616e-01 3.47266682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13925415399999 meters 0.018432478344848294 Centerline is valid? [True, True] Translation: X:57.02, Y:0.26, Z:0.35 [[ 9.99515543e-01 -2.77142686e-02 -1.41632842e-02 5.70187748e+01] [ 2.77165817e-02 9.99615821e-01 -3.29809848e-05 2.55956745e-01] [ 1.41587570e-02 -3.59592817e-04 9.99899695e-01 3.46716693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.169254153999994 meters 0.01766054437989484 Centerline is valid? [True, True] Translation: X:57.05, Y:0.26, Z:0.35 [[ 9.99547306e-01 -2.63703967e-02 -1.44839609e-02 5.70506344e+01] [ 2.63726941e-02 9.99652179e-01 -3.23925153e-05 2.58389896e-01] [ 1.44797773e-02 -3.49603218e-04 9.99895101e-01 3.46933652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199254153999995 meters 0.017188144123295317 Centerline is valid? [True, True] Translation: X:57.08, Y:0.26, Z:0.35 [[ 9.99608874e-01 -2.40593582e-02 -1.42564516e-02 5.70816367e+01] [ 2.40613581e-02 9.99710483e-01 -3.12533211e-05 2.60986282e-01] [ 1.42530760e-02 -3.11788490e-04 9.99898371e-01 3.47933890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.229254153999996 meters 0.016770003457566757 Centerline is valid? [True, True] Translation: X:57.11, Y:0.26, Z:0.35 [[ 9.99648086e-01 -2.31326367e-02 -1.29840580e-02 5.71132386e+01] [ 2.31342231e-02 9.99732368e-01 -2.80202681e-05 2.62354006e-01] [ 1.29812312e-02 -2.72365688e-04 9.99915703e-01 3.49279782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25925415399999 meters 0.01694604158156964 Centerline is valid? [True, True] Translation: X:57.15, Y:0.26, Z:0.35 [[ 9.99652850e-01 -2.30944215e-02 -1.26818032e-02 5.71457264e+01] [ 2.30959401e-02 9.99733253e-01 -2.67118888e-05 2.61995488e-01] [ 1.26790373e-02 -2.66195552e-04 9.99919582e-01 3.49492453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.28925415399999 meters 0.016623893493025555 Centerline is valid? [True, True] Translation: X:57.18, Y:0.26, Z:0.35 [[ 9.99652496e-01 -2.32828951e-02 -1.23609897e-02 5.71778183e+01] [ 2.32843632e-02 9.99728882e-01 -2.51567876e-05 2.61919093e-01] [ 1.23582241e-02 -2.62669728e-04 9.99923600e-01 3.50397367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31925415399999 meters 0.017646119450321095 Centerline is valid? [True, True] Translation: X:57.21, Y:0.26, Z:0.35 [[ 9.99640506e-01 -2.44790919e-02 -1.09376621e-02 5.72085142e+01] [ 2.44803194e-02 9.99700312e-01 -2.16688925e-05 2.59412779e-01] [ 1.09349147e-02 -2.46096359e-04 9.99940182e-01 3.50615307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34925415399999 meters 0.017917051185094252 Centerline is valid? [True, True] Translation: X:57.24, Y:0.26, Z:0.35 [[ 9.99625371e-01 -2.51434705e-02 -1.08131647e-02 5.72411465e+01] [ 2.51447146e-02 9.99683821e-01 -2.09008680e-05 2.58541455e-01] [ 1.08102713e-02 -2.51000903e-04 9.99941536e-01 3.50801289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379254153999995 meters 0.018150075592469023 Centerline is valid? [True, True] Translation: X:57.27, Y:0.26, Z:0.35 [[ 9.99583839e-01 -2.71648523e-02 -9.70667046e-03 5.72737121e+01] [ 2.71659563e-02 9.99630937e-01 -1.81270243e-05 2.57517848e-01] [ 9.70358050e-03 -2.45571505e-04 9.99952889e-01 3.51566063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.409254153999996 meters 0.018230685321023756 Centerline is valid? [True, True] Translation: X:57.31, Y:0.26, Z:0.35 [[ 9.99534191e-01 -2.89879870e-02 -9.54454327e-03 5.73059870e+01] [ 2.89891439e-02 9.99579726e-01 -1.71485212e-05 2.57290656e-01] [ 9.54102905e-03 -2.59547605e-04 9.99954450e-01 3.51648132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439254154 meters 0.01959842192483386 Centerline is valid? [True, True] Translation: X:57.34, Y:0.25, Z:0.35 [[ 9.99381064e-01 -3.39309517e-02 -9.28323597e-03 5.73367340e+01] [ 3.39322647e-02 9.99424135e-01 -1.60760848e-05 2.52686187e-01] [ 9.27843555e-03 -2.98935086e-04 9.99956910e-01 3.51543593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46925415399999 meters 0.02135716105642436 Centerline is valid? [True, True] Translation: X:57.37, Y:0.25, Z:0.35 [[ 9.99292469e-01 -3.66005169e-02 -8.65819825e-03 5.73674511e+01] [ 3.66017637e-02 9.99329931e-01 -1.44633574e-05 2.48042137e-01] [ 8.65292603e-03 -3.02452202e-04 9.99962517e-01 3.51557246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49925415399999 meters 0.022270761435654807 Centerline is valid? [True, True] Translation: X:57.40, Y:0.24, Z:0.35 [[ 9.99195835e-01 -3.90890963e-02 -8.92898725e-03 5.73996319e+01] [ 3.90905308e-02 9.99235673e-01 -1.38712604e-05 2.44650385e-01] [ 8.92270480e-03 -3.35178746e-04 9.99960136e-01 3.51858043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52925415399999 meters 0.021987422020413976 Centerline is valid? [True, True] Translation: X:57.43, Y:0.24, Z:0.35 [[ 9.99054056e-01 -4.26325952e-02 -8.57061204e-03 5.74303629e+01] [ 4.26340513e-02 9.99090755e-01 -1.28099087e-05 2.41745944e-01] [ 8.56336538e-03 -3.52602122e-04 9.99963272e-01 3.51638329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559254153999994 meters 0.022731452831571065 Centerline is valid? [True, True] Translation: X:57.46, Y:0.24, Z:0.35 [[ 9.99006224e-01 -4.36968333e-02 -8.78355767e-03 5.74618981e+01] [ 4.36984059e-02 9.99044768e-01 -1.28943912e-05 2.39058189e-01] [ 8.77573078e-03 -3.70945891e-04 9.99961424e-01 3.51759954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.589254153999995 meters 0.023437553335448197 Centerline is valid? [True, True] Translation: X:57.49, Y:0.24, Z:0.35 [[ 9.98932556e-01 -4.53239136e-02 -8.91580206e-03 5.74941513e+01] [ 4.53256033e-02 9.98972267e-01 -1.25536397e-05 2.35187083e-01] [ 8.90720797e-03 -3.91573868e-04 9.99960253e-01 3.51444384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.619254154 meters 0.023527694168684513 Centerline is valid? [True, True] Translation: X:57.53, Y:0.23, Z:0.35 [[ 9.98897444e-01 -4.60397227e-02 -9.17822984e-03 5.75264084e+01] [ 4.60415499e-02 9.98939525e-01 -1.22349638e-05 2.33846945e-01] [ 9.16905985e-03 -4.10358453e-04 9.99957879e-01 3.51571800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.64925415399999 meters 0.02339765038569646 Centerline is valid? [True, True] Translation: X:57.56, Y:0.23, Z:0.35 [[ 9.98844576e-01 -4.72520025e-02 -8.76130532e-03 5.75581681e+01] [ 4.72537191e-02 9.98882919e-01 -1.10908715e-05 2.31663055e-01] [ 8.75204230e-03 -4.02926203e-04 9.99961619e-01 3.50757143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67925415399999 meters 0.023687741404753757 Centerline is valid? [True, True] Translation: X:57.59, Y:0.23, Z:0.35 [[ 9.98823696e-01 -4.76881376e-02 -8.77869193e-03 5.75905380e+01] [ 4.76898824e-02 9.98862190e-01 -1.05877028e-05 2.28861222e-01] [ 8.76920836e-03 -4.08079538e-04 9.99961466e-01 3.50320584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70925415399999 meters 0.023961060030284215 Centerline is valid? [True, True] Translation: X:57.62, Y:0.23, Z:0.35 [[ 9.98834768e-01 -4.73353036e-02 -9.40612059e-03 5.76232509e+01] [ 4.73372984e-02 9.98878962e-01 -1.05639357e-05 2.27475607e-01] [ 9.39607602e-03 -4.34708711e-04 9.99955761e-01 3.50152752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739254153999994 meters 0.02323521978782628 Centerline is valid? [True, True] Translation: X:57.66, Y:0.23, Z:0.35 [[ 9.98872972e-01 -4.62517333e-02 -1.06565703e-02 5.76552524e+01] [ 4.62542430e-02 9.98929700e-01 -1.09674895e-05 2.26981223e-01] [ 1.06456719e-02 -4.81956466e-04 9.99943217e-01 3.49052344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.769254153999995 meters 0.023811670850765937 Centerline is valid? [True, True] Translation: X:57.69, Y:0.23, Z:0.35 [[ 9.98887045e-01 -4.57264524e-02 -1.15655752e-02 5.76863369e+01] [ 4.57293829e-02 9.98953865e-01 -1.10895026e-05 2.25973264e-01] [ 1.15539831e-02 -5.17809454e-04 9.99933116e-01 3.48773939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799254153999996 meters 0.023020724196121636 Centerline is valid? [True, True] Translation: X:57.72, Y:0.23, Z:0.35 [[ 9.98912567e-01 -4.49965812e-02 -1.22061951e-02 5.77187302e+01] [ 4.49998006e-02 9.98986996e-01 -1.09095332e-05 2.26750674e-01] [ 1.21943211e-02 -5.38378677e-04 9.99925502e-01 3.48549235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82925415399999 meters 0.024038807511685897 Centerline is valid? [True, True] Translation: X:57.75, Y:0.22, Z:0.35 [[ 9.98936871e-01 -4.45166953e-02 -1.19745895e-02 5.77497823e+01] [ 4.45197727e-02 9.99008503e-01 -9.58390566e-06 2.24447809e-01] [ 1.19631434e-02 -5.23532287e-04 9.99928302e-01 3.48341574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85925415399999 meters 0.024971473224067838 Centerline is valid? [True, True] Translation: X:57.78, Y:0.22, Z:0.35 [[ 9.98940707e-01 -4.42345417e-02 -1.26794432e-02 5.77806277e+01] [ 4.42379845e-02 9.99021021e-01 -8.94397501e-06 2.21934884e-01] [ 1.26674259e-02 -5.51978511e-04 9.99919613e-01 3.47424880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88925415399999 meters 0.025963800755935306 Centerline is valid? [True, True] Translation: X:57.81, Y:0.22, Z:0.35 [[ 9.98943327e-01 -4.42212762e-02 -1.25182837e-02 5.78119622e+01] [ 4.42246394e-02 9.99021612e-01 -8.16723246e-06 2.20137387e-01] [ 1.25063971e-02 -5.45457978e-04 9.99921643e-01 3.46801761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919254153999994 meters 0.022868198878595845 Centerline is valid? [True, True] Translation: X:57.85, Y:0.22, Z:0.35 [[ 9.98941032e-01 -4.41355370e-02 -1.29949587e-02 5.78452706e+01] [ 4.41391677e-02 9.99025392e-01 -7.42365619e-06 2.24501319e-01] [ 1.29826214e-02 -5.66170868e-04 9.99915562e-01 3.47505608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.949254153999995 meters 0.022868198878595845 Centerline is valid? [True, True] Translation: X:57.88, Y:0.22, Z:0.35 [[ 9.98945942e-01 -4.40242698e-02 -1.29949594e-02 5.78778438e+01] [ 4.40279099e-02 9.99030301e-01 -5.97709659e-06 2.24428262e-01] [ 1.29826214e-02 -5.66170107e-04 9.99915562e-01 3.47731096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979254153999996 meters 0.023993379897951667 Centerline is valid? [True, True] Translation: X:57.91, Y:0.22, Z:0.35 [[ 9.98946875e-01 -4.37765449e-02 -1.37388273e-02 5.79099281e+01] [ 4.37806101e-02 9.99041169e-01 -4.87527448e-06 2.21928234e-01] [ 1.37258676e-02 -5.96624103e-04 9.99905618e-01 3.46924949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.00925415399999 meters 0.024216265285172418 Centerline is valid? [True, True] Translation: X:57.94, Y:0.22, Z:0.35 [[ 9.98942006e-01 -4.39045828e-02 -1.36841393e-02 5.79424873e+01] [ 4.39086430e-02 9.99035550e-01 -3.73325218e-06 2.21544522e-01] [ 1.36711056e-02 -5.97122686e-04 9.99906368e-01 3.46417788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03925415399999 meters 0.02446279292715768 Centerline is valid? [True, True] Translation: X:57.97, Y:0.22, Z:0.35 [[ 9.98917705e-01 -4.42297979e-02 -1.43925003e-02 5.79746031e+01] [ 4.42343383e-02 9.99021183e-01 -2.86719756e-06 2.21129445e-01] [ 1.43785395e-02 -6.33778634e-04 9.99896423e-01 3.46248492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06925415399999 meters 0.025810029162924686 Centerline is valid? [True, True] Translation: X:58.01, Y:0.22, Z:0.35 [[ 9.98834920e-01 -4.55757156e-02 -1.58636994e-02 5.80053990e+01] [ 4.55814151e-02 9.98960627e-01 -2.29396205e-06 2.19738702e-01] [ 1.58473156e-02 -7.20798578e-04 9.99874164e-01 3.45261032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09925415399999 meters 0.02611141545986622 Centerline is valid? [True, True] Translation: X:58.04, Y:0.22, Z:0.34 [[ 9.98786777e-01 -4.62968744e-02 -1.67801282e-02 5.80373896e+01] [ 4.63033692e-02 9.98927424e-01 -1.46811040e-06 2.19362158e-01] [ 1.67621982e-02 -7.75510143e-04 9.99859204e-01 3.44812156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.129254153999995 meters 0.026467516955746243 Centerline is valid? [True, True] Translation: X:58.07, Y:0.22, Z:0.34 [[ 9.98699930e-01 -4.80103021e-02 -1.71306889e-02 5.80693436e+01] [ 4.80173436e-02 9.98846502e-01 -2.70051831e-07 2.19188248e-01] [ 1.71109417e-02 -8.22300476e-04 9.99853259e-01 3.44694170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159254153999996 meters 0.026428999314704604 Centerline is valid? [True, True] Translation: X:58.10, Y:0.22, Z:0.35 [[ 9.98685064e-01 -4.83326141e-02 -1.70909926e-02 5.81013427e+01] [ 4.83396910e-02 9.98830954e-01 9.51823128e-07 2.19226708e-01] [ 1.70709665e-02 -8.27123874e-04 9.99853938e-01 3.45134879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.189254154 meters 0.02571492286347504 Centerline is valid? [True, True] Translation: X:58.13, Y:0.22, Z:0.35 [[ 9.98684833e-01 -4.84035298e-02 -1.69027421e-02 5.81339815e+01] [ 4.84104821e-02 9.98827525e-01 2.15371040e-06 2.20504916e-01] [ 1.68828198e-02 -8.20420770e-04 9.99857138e-01 3.45902746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21925415399999 meters 0.02735367908289664 Centerline is valid? [True, True] Translation: X:58.16, Y:0.22, Z:0.35 [[ 9.98739464e-01 -4.75476258e-02 -1.60843713e-02 5.81649631e+01] [ 4.75538260e-02 9.98868677e-01 3.02022462e-06 2.19522208e-01] [ 1.60660311e-02 -7.67889811e-04 9.99870638e-01 3.46702499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24925415399999 meters 0.023471697464260637 Centerline is valid? [True, True] Translation: X:58.20, Y:0.23, Z:0.35 [[ 9.98792925e-01 -4.64595015e-02 -1.59438783e-02 5.81969764e+01] [ 4.64654721e-02 9.98919897e-01 4.03467790e-06 2.26184656e-01] [ 1.59264698e-02 -7.44869638e-04 9.99872888e-01 3.48618784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27925415399999 meters 0.024049987148154043 Centerline is valid? [True, True] Translation: X:58.23, Y:0.23, Z:0.35 [[ 9.98903151e-01 -4.43543723e-02 -1.50061546e-02 5.82271050e+01] [ 4.43594336e-02 9.99015636e-01 4.43075903e-06 2.27432922e-01] [ 1.49911866e-02 -6.70090417e-04 9.99887401e-01 3.49160097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.309254153999994 meters 0.02297935094083751 Centerline is valid? [True, True] Translation: X:58.26, Y:0.23, Z:0.35 [[ 9.98977140e-01 -4.29444115e-02 -1.41580958e-02 5.82597568e+01] [ 4.29487865e-02 9.99077275e-01 4.96242426e-06 2.29532327e-01] [ 1.41448186e-02 -6.13030380e-04 9.99899769e-01 3.49832865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339254153999995 meters 0.023341799332830884 Centerline is valid? [True, True] Translation: X:58.29, Y:0.23, Z:0.35 [[ 9.99023054e-01 -4.19602916e-02 -1.38661876e-02 5.82906624e+01] [ 4.19644072e-02 9.99119106e-01 5.86076477e-06 2.29551444e-01] [ 1.38537271e-02 -5.87741384e-04 9.99903860e-01 3.50040346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.369254154 meters 0.026671383675157524 Centerline is valid? [True, True] Translation: X:58.32, Y:0.23, Z:0.35 [[ 9.99125197e-01 -3.98183214e-02 -1.27805192e-02 5.83206931e+01] [ 3.98216486e-02 9.99206804e-01 5.85535331e-06 2.26054860e-01] [ 1.27701485e-02 -5.14791574e-04 9.99918326e-01 3.49962203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39925415399999 meters 0.02232137085916269 Centerline is valid? [True, True] Translation: X:58.35, Y:0.23, Z:0.35 [[ 9.99149339e-01 -3.92894290e-02 -1.25274969e-02 5.83529406e+01] [ 3.92925908e-02 9.99227748e-01 6.26478200e-06 2.33447099e-01] [ 1.25175764e-02 -4.98497261e-04 9.99921528e-01 3.51244401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.42925415399999 meters 0.02274225955798894 Centerline is valid? [True, True] Translation: X:58.38, Y:0.23, Z:0.35 [[ 9.99158876e-01 -3.91003821e-02 -1.23572335e-02 5.83837579e+01] [ 3.91034538e-02 9.99235167e-01 6.96529058e-06 2.33494285e-01] [ 1.23475099e-02 -4.90169941e-04 9.99923646e-01 3.51734817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45925415399999 meters 0.023187076610483907 Centerline is valid? [True, True] Translation: X:58.42, Y:0.23, Z:0.35 [[ 9.99131212e-01 -3.99319386e-02 -1.19273372e-02 5.84159801e+01] [ 3.99348679e-02 9.99202285e-01 7.43890726e-06 2.33265993e-01] [ 1.19175255e-02 -4.83749080e-04 9.99928867e-01 3.52289092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.489254153999994 meters 0.023862318931957092 Centerline is valid? [True, True] Translation: X:58.45, Y:0.23, Z:0.35 [[ 9.99106900e-01 -4.05532553e-02 -1.18674053e-02 5.84480606e+01] [ 4.05562090e-02 9.99177258e-01 8.24181761e-06 2.32220680e-01] [ 1.18573072e-02 -4.89531424e-04 9.99929580e-01 3.52125448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519254153999995 meters 0.0229595353879698 Centerline is valid? [True, True] Translation: X:58.48, Y:0.23, Z:0.35 [[ 9.99018702e-01 -4.23253508e-02 -1.30459999e-02 5.84805844e+01] [ 4.23290841e-02 9.99103723e-01 1.00457033e-05 2.33436357e-01] [ 1.30338819e-02 -5.62261074e-04 9.99914897e-01 3.51350261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.549254153999996 meters 0.024689715259226287 Centerline is valid? [True, True] Translation: X:58.51, Y:0.23, Z:0.35 [[ 9.98964675e-01 -4.31628241e-02 -1.43717754e-02 5.85113855e+01] [ 4.31674628e-02 9.99067851e-01 1.25669639e-05 2.30553094e-01] [ 1.43578364e-02 -6.32947035e-04 9.99896721e-01 3.50313464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57925415399999 meters 0.02260207435754796 Centerline is valid? [True, True] Translation: X:58.54, Y:0.23, Z:0.35 [[ 9.98922745e-01 -4.37578395e-02 -1.54467083e-02 5.85434931e+01] [ 4.37632936e-02 9.99041928e-01 1.50842639e-05 2.33196920e-01] [ 1.54312492e-02 -6.91066846e-04 9.99880692e-01 3.50118667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60925415399999 meters 0.025482572087475012 Centerline is valid? [True, True] Translation: X:58.57, Y:0.23, Z:0.35 [[ 9.98833244e-01 -4.50341337e-02 -1.74378058e-02 5.85743055e+01] [ 4.50412958e-02 9.98985126e-01 1.80000050e-05 2.28898167e-01] [ 1.74192981e-02 -8.03400375e-04 9.99847950e-01 3.48215436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63925415399999 meters 0.025478102523686437 Centerline is valid? [True, True] Translation: X:58.61, Y:0.23, Z:0.35 [[ 9.98816676e-01 -4.52191825e-02 -1.79017462e-02 5.86063090e+01] [ 4.52267792e-02 9.98976746e-01 1.95256843e-05 2.29089563e-01] [ 1.78825452e-02 -8.29140902e-04 9.99839751e-01 3.48123442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.669254153999994 meters 0.02554555175144789 Centerline is valid? [True, True] Translation: X:58.64, Y:0.23, Z:0.35 [[ 9.98809772e-01 -4.54800160e-02 -1.76240376e-02 5.86380668e+01] [ 4.54874414e-02 9.98964910e-01 2.04736177e-05 2.29027251e-01] [ 1.76048640e-02 -8.22121629e-04 9.99844684e-01 3.49004581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699254153999995 meters 0.026111198940572403 Centerline is valid? [True, True] Translation: X:58.67, Y:0.23, Z:0.35 [[ 9.98837681e-01 -4.50497331e-02 -1.71408360e-02 5.86690227e+01] [ 4.50567111e-02 9.98984430e-01 2.09373841e-05 2.28222831e-01] [ 1.71224851e-02 -7.93222744e-04 9.99853085e-01 3.49614446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.729254153999996 meters 0.026482812999621606 Centerline is valid? [True, True] Translation: X:58.70, Y:0.23, Z:0.35 [[ 9.98866465e-01 -4.46568661e-02 -1.64787425e-02 5.87003952e+01] [ 4.46632872e-02 9.99002097e-01 2.16576481e-05 2.27931521e-01] [ 1.64613311e-02 -7.57627906e-04 9.99864216e-01 3.50395176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75925415399999 meters 0.026045522587908012 Centerline is valid? [True, True] Translation: X:58.73, Y:0.23, Z:0.35 [[ 9.98923775e-01 -4.39836520e-02 -1.47217268e-02 5.87321586e+01] [ 4.39887229e-02 9.99032027e-01 2.06578918e-05 2.28865071e-01] [ 1.47065680e-02 -6.68225623e-04 9.99891629e-01 3.52473694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78925415399999 meters 0.02631522755312272 Centerline is valid? [True, True] Translation: X:58.76, Y:0.23, Z:0.35 [[ 9.98995296e-01 -4.28655930e-02 -1.30743986e-02 5.87631286e+01] [ 4.28695131e-02 9.99080680e-01 1.95901617e-05 2.28523462e-01] [ 1.30615393e-02 -5.80063581e-04 9.99914526e-01 3.53443654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81925415399999 meters 0.023698119606012247 Centerline is valid? [True, True] Translation: X:58.80, Y:0.23, Z:0.35 [[ 9.99033018e-01 -4.20796559e-02 -1.27409083e-02 5.87954207e+01] [ 4.20833314e-02 9.99114104e-01 2.04031381e-05 2.32116651e-01] [ 1.27287626e-02 -5.56563274e-04 9.99918831e-01 3.54183300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84925415399999 meters 0.02245383474725543 Centerline is valid? [True, True] Translation: X:58.83, Y:0.23, Z:0.35 [[ 9.99050570e-01 -4.16808348e-02 -1.26754131e-02 5.88280864e+01] [ 4.16844524e-02 9.99130825e-01 2.12254216e-05 2.34012153e-01] [ 1.26635112e-02 -5.49572921e-04 9.99919663e-01 3.54514526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879254153999995 meters 0.026312723242917488 Centerline is valid? [True, True] Translation: X:58.86, Y:0.23, Z:0.35 [[ 9.99064480e-01 -4.13182681e-02 -1.27657831e-02 5.88590684e+01] [ 4.13219186e-02 9.99145885e-01 2.22187253e-05 2.27948852e-01] [ 1.27539616e-02 -5.49704588e-04 9.99918514e-01 3.53868341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.909254153999996 meters 0.022477561563963952 Centerline is valid? [True, True] Translation: X:58.89, Y:0.23, Z:0.35 [[ 9.99041321e-01 -4.17550487e-02 -1.31512060e-02 5.88912099e+01] [ 4.17589721e-02 9.99127713e-01 2.37464821e-05 2.32950379e-01] [ 1.31387428e-02 -5.72904560e-04 9.99913519e-01 3.54602138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93925415399999 meters 0.023088489915071193 Centerline is valid? [True, True] Translation: X:58.92, Y:0.23, Z:0.35 [[ 9.99008928e-01 -4.24450260e-02 -1.34007783e-02 5.89224763e+01] [ 4.24491735e-02 9.99098627e-01 2.50790794e-05 2.31070796e-01] [ 1.33876347e-02 -5.93906186e-04 9.99910205e-01 3.54340214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.96925415399999 meters 0.0304763794911016 Centerline is valid? [True, True] Translation: X:58.95, Y:0.22, Z:0.35 [[ 9.98977090e-01 -4.31217393e-02 -1.36120996e-02 5.89531174e+01] [ 4.31260899e-02 9.99069637e-01 2.61088572e-05 2.19698327e-01] [ 1.35983096e-02 -6.13118782e-04 9.99907351e-01 3.52291513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99925415399999 meters 0.02560841706256891 Centerline is valid? [True, True] Translation: X:58.98, Y:0.23, Z:0.35 [[ 9.98901747e-01 -4.45055733e-02 -1.46476431e-02 5.89847692e+01] [ 4.45107697e-02 9.99008904e-01 2.87824569e-05 2.25100947e-01] [ 1.46318449e-02 -6.80728716e-04 9.99892717e-01 3.52832451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02925415399999 meters 0.026404889714362858 Centerline is valid? [True, True] Translation: X:59.02, Y:0.22, Z:0.35 [[ 9.98866585e-01 -4.49312493e-02 -1.57075742e-02 5.90159246e+01] [ 4.49372912e-02 9.98989809e-01 3.17306295e-05 2.23280366e-01] [ 1.56902808e-02 -7.37550499e-04 9.99876628e-01 3.52402275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059254153999994 meters 0.02537486515396028 Centerline is valid? [True, True] Translation: X:59.05, Y:0.22, Z:0.35 [[ 9.98889506e-01 -4.41000075e-02 -1.65814482e-02 5.90479671e+01] [ 4.41066441e-02 9.99026828e-01 3.45753545e-05 2.24309635e-01] [ 1.65637868e-02 -7.65888994e-04 9.99862518e-01 3.51910917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.089254153999995 meters 0.02446875683400117 Centerline is valid? [True, True] Translation: X:59.08, Y:0.23, Z:0.35 [[ 9.99014213e-01 -4.13060156e-02 -1.62608795e-02 5.90795678e+01] [ 4.13120446e-02 9.99146292e-01 3.48919932e-05 2.25225515e-01] [ 1.62455562e-02 -7.06627777e-04 9.99867783e-01 3.52900477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.119254154 meters 0.024084290244651682 Centerline is valid? [True, True] Translation: X:59.11, Y:0.23, Z:0.35 [[ 9.99108561e-01 -3.92720113e-02 -1.54852056e-02 5.91104927e+01] [ 3.92772450e-02 9.99228351e-01 3.38838417e-05 2.25931772e-01] [ 1.54719258e-02 -6.42069851e-04 9.99880096e-01 3.53984785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14925415399999 meters 0.023101265224601066 Centerline is valid? [True, True] Translation: X:59.14, Y:0.23, Z:0.36 [[ 9.99234432e-01 -3.63642976e-02 -1.44287003e-02 5.91419479e+01] [ 3.63685459e-02 9.99338445e-01 3.20662648e-05 2.27579877e-01] [ 1.44179888e-02 -5.56792564e-04 9.99895900e-01 3.55152683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17925415399999 meters 0.02102516376786057 Centerline is valid? [True, True] Translation: X:59.17, Y:0.23, Z:0.36 [[ 9.99355314e-01 -3.32197815e-02 -1.36162729e-02 5.91739491e+01] [ 3.32232813e-02 9.99447954e-01 3.08524926e-05 2.30730628e-01] [ 1.36077312e-02 -4.83209868e-04 9.99907294e-01 3.56300480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20925415399999 meters 0.01901834272190013 Centerline is valid? [True, True] Translation: X:59.20, Y:0.23, Z:0.36 [[ 9.99575399e-01 -2.60168805e-02 -1.31203630e-02 5.92041000e+01] [ 2.60195147e-02 9.99661435e-01 3.00880383e-05 2.34105663e-01] [ 1.31151382e-02 -3.71460743e-04 9.99913924e-01 3.57084625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239254153999994 meters 0.018702468302809822 Centerline is valid? [True, True] Translation: X:59.24, Y:0.24, Z:0.36 [[ 9.99671040e-01 -2.20611739e-02 -1.30811131e-02 5.92350457e+01] [ 2.20634568e-02 9.99756572e-01 3.02147044e-05 2.35001972e-01] [ 1.30772622e-02 -3.18819339e-04 9.99914438e-01 3.57420940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.269254153999995 meters 0.016356860453419858 Centerline is valid? [True, True] Translation: X:59.26, Y:0.24, Z:0.36 [[ 9.99808444e-01 -1.41273868e-02 -1.35459577e-02 5.92645491e+01] [ 1.41291089e-02 9.99900179e-01 3.14305731e-05 2.40382587e-01] [ 1.35441615e-02 -2.22816864e-04 9.99908249e-01 3.57197987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299254153999996 meters 0.015567951291780457 Centerline is valid? [True, True] Translation: X:59.29, Y:0.24, Z:0.36 [[ 9.99845616e-01 -1.05804165e-02 -1.40284864e-02 5.92923182e+01] [ 1.05819044e-02 9.99944010e-01 3.18373442e-05 2.42697260e-01] [ 1.40273641e-02 -1.80280531e-04 9.99901595e-01 3.56841315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.32925415399999 meters 0.014857346251418824 Centerline is valid? [True, True] Translation: X:59.32, Y:0.24, Z:0.36 [[ 9.99867561e-01 -7.37911949e-03 -1.45055154e-02 5.93214256e+01] [ 7.38033919e-03 9.99972764e-01 3.05556845e-05 2.44852981e-01] [ 1.45048948e-02 -1.37607261e-04 9.99894789e-01 3.56476442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35925415399999 meters 0.013944401835668719 Centerline is valid? [True, True] Translation: X:59.35, Y:0.25, Z:0.36 [[ 9.99874198e-01 -2.47979248e-03 -1.56665103e-02 5.93498640e+01] [ 2.48055157e-03 9.99996923e-01 2.90212984e-05 2.47715293e-01] [ 1.56663901e-02 -6.78792343e-05 9.99877272e-01 3.57069376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38925415399999 meters 0.014001752984060733 Centerline is valid? [True, True] Translation: X:59.38, Y:0.25, Z:0.36 [[ 9.99867590e-01 -5.67807354e-04 -1.62628296e-02 5.93767581e+01] [ 5.68323303e-04 9.99999838e-01 2.71040462e-05 2.48064943e-01] [ 1.62628116e-02 -3.63430023e-05 9.99867751e-01 3.56503791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419254153999994 meters 0.013944430793849065 Centerline is valid? [True, True] Translation: X:59.41, Y:0.25, Z:0.36 [[ 9.99839379e-01 2.31957735e-03 -1.77717473e-02 5.94056749e+01] [-2.31948319e-03 9.99997310e-01 2.59104457e-05 2.48952628e-01] [ 1.77717596e-02 1.53149852e-05 9.99842070e-01 3.55984130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.449254153999995 meters 0.014159316124373447 Centerline is valid? [True, True] Translation: X:59.43, Y:0.25, Z:0.35 [[ 9.99825627e-01 3.33270570e-03 -1.83741319e-02 5.94337733e+01] [-3.33282835e-03 9.99994446e-01 2.39460228e-05 2.49652024e-01] [ 1.83741096e-02 3.72959804e-05 9.99831181e-01 3.54509799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479254153999996 meters 0.01394493030816677 Centerline is valid? [True, True] Translation: X:59.46, Y:0.25, Z:0.36 [[ 9.99804889e-01 4.21652586e-03 -1.92977904e-02 5.94623397e+01] [-4.21689944e-03 9.99991109e-01 2.13334036e-05 2.49921863e-01] [ 1.92977087e-02 6.00476002e-05 9.99813780e-01 3.55557850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.50925415399999 meters 0.014242308923056255 Centerline is valid? [True, True] Translation: X:59.49, Y:0.25, Z:0.35 [[ 9.99792481e-01 5.58906176e-03 -1.95897182e-02 5.94897241e+01] [-5.58976790e-03 9.99984377e-01 1.87102287e-05 2.50767388e-01] [ 1.95895167e-02 9.07956319e-05 9.99808103e-01 3.54916522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53925415399999 meters 0.014135805243738636 Centerline is valid? [True, True] Translation: X:59.52, Y:0.25, Z:0.36 [[ 9.99800333e-01 5.54972169e-03 -1.91962115e-02 5.95172038e+01] [-5.55047241e-03 9.99984596e-01 1.41716739e-05 2.50399564e-01] [ 1.91959945e-02 9.23791982e-05 9.99815736e-01 3.55902561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.56925415399999 meters 0.014257125672559622 Centerline is valid? [True, True] Translation: X:59.54, Y:0.25, Z:0.36 [[ 9.99806957e-01 5.25570055e-03 -1.89321491e-02 5.95436768e+01] [-5.25644391e-03 9.99986185e-01 1.04977323e-05 2.50033719e-01] [ 1.89319428e-02 8.90200744e-05 9.99820771e-01 3.55463076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59925415399999 meters 0.01392290455367302 Centerline is valid? [True, True] Translation: X:59.57, Y:0.25, Z:0.36 [[ 9.99847641e-01 3.37090956e-03 -1.71269079e-02 5.95723250e+01] [-3.37126717e-03 9.99994317e-01 7.99188072e-06 2.47603119e-01] [ 1.71268375e-02 4.97487192e-05 9.99853324e-01 3.57548056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.629254153999995 meters 0.013703179876415764 Centerline is valid? [True, True] Translation: X:59.60, Y:0.24, Z:0.36 [[ 9.99890851e-01 -7.36965373e-04 -1.47561424e-02 5.96015024e+01] [ 7.37132708e-04 9.99999728e-01 5.90114087e-06 2.44530263e-01] [ 1.47561341e-02 -1.67777320e-05 9.99891122e-01 3.60564572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659254153999996 meters 0.013719317481866729 Centerline is valid? [True, True] Translation: X:59.63, Y:0.24, Z:0.36 [[ 9.99898974e-01 -3.63973598e-03 -1.37402070e-02 5.96283926e+01] [ 3.64013705e-03 9.99993375e-01 4.18027843e-06 2.42118743e-01] [ 1.37401008e-02 -5.41960928e-05 9.99905599e-01 3.61979679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68925415399999 meters 0.013916740943983139 Centerline is valid? [True, True] Translation: X:59.66, Y:0.24, Z:0.36 [[ 9.99900660e-01 -6.92609999e-03 -1.22759335e-02 5.96568818e+01] [ 6.92665344e-03 9.99976010e-01 2.56720031e-06 2.39592130e-01] [ 1.22756212e-02 -8.75980824e-05 9.99924648e-01 3.63392968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71925415399999 meters 0.014857609325854936 Centerline is valid? [True, True] Translation: X:59.68, Y:0.23, Z:0.36 [[ 9.99833251e-01 -1.46593937e-02 -1.08890708e-02 5.96849804e+01] [ 1.46602818e-02 9.99892532e-01 1.73531025e-06 2.31969644e-01] [ 1.08878752e-02 -1.61371868e-04 9.99940712e-01 3.64722412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74925415399999 meters 0.01590086718564148 Centerline is valid? [True, True] Translation: X:59.71, Y:0.23, Z:0.37 [[ 9.99763615e-01 -1.89140731e-02 -1.07224707e-02 5.97145320e+01] [ 1.89151765e-02 9.99821092e-01 1.48762735e-06 2.27357395e-01] [ 1.07205242e-02 -2.04304700e-04 9.99942513e-01 3.65041260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77925415399999 meters 0.0176664425406288 Centerline is valid? [True, True] Translation: X:59.75, Y:0.22, Z:0.37 [[ 9.99580537e-01 -2.69279007e-02 -1.06601594e-02 5.97455603e+01] [ 2.69294460e-02 9.99637337e-01 1.42241764e-06 2.19527398e-01] [ 1.06562551e-02 -2.88494009e-04 9.99943179e-01 3.65390633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.809254153999994 meters 0.019059345452221214 Centerline is valid? [True, True] Translation: X:59.78, Y:0.21, Z:0.37 [[ 9.99480217e-01 -3.03611116e-02 -1.08397277e-02 5.97761605e+01] [ 3.03629179e-02 9.99538940e-01 2.07380578e-06 2.14742617e-01] [ 1.08346670e-02 -3.31198491e-04 9.99941248e-01 3.65381942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839254153999995 meters 0.019059345452221214 Centerline is valid? [True, True] Translation: X:59.81, Y:0.21, Z:0.37 [[ 9.99482412e-01 -3.02887450e-02 -1.08397274e-02 5.98078686e+01] [ 3.02905597e-02 9.99541136e-01 3.24012738e-06 2.14673007e-01] [ 1.08346553e-02 -3.31579861e-04 9.99941248e-01 3.65601404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.869254154 meters 0.019947265809730552 Centerline is valid? [True, True] Translation: X:59.84, Y:0.21, Z:0.37 [[ 9.99378724e-01 -3.34566629e-02 -1.10822814e-02 5.98394399e+01] [ 3.34587625e-02 9.99440099e-01 4.05195704e-06 2.10962433e-01] [ 1.10759408e-02 -3.74848860e-04 9.99938590e-01 3.65359986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89925415399999 meters 0.021425625548759576 Centerline is valid? [True, True] Translation: X:59.87, Y:0.21, Z:0.36 [[ 9.99272834e-01 -3.62557238e-02 -1.18035994e-02 5.98701087e+01] [ 3.62583126e-02 9.99342451e-01 5.33148830e-06 2.06873876e-01] [ 1.17956446e-02 -4.33306208e-04 9.99930335e-01 3.64999552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92925415399999 meters 0.02367055490569256 Centerline is valid? [True, True] Translation: X:59.90, Y:0.20, Z:0.36 [[ 9.99122972e-01 -3.97595460e-02 -1.31326385e-02 5.99000659e+01] [ 3.97630657e-02 9.99209137e-01 6.90212478e-06 1.99907831e-01] [ 1.31219780e-02 -5.29090039e-04 9.99913763e-01 3.63788608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95925415399999 meters 0.02295067099193522 Centerline is valid? [True, True] Translation: X:59.93, Y:0.20, Z:0.36 [[ 9.99080472e-01 -4.06129057e-02 -1.37405707e-02 5.99318084e+01] [ 4.06168444e-02 9.99174795e-01 7.59057285e-06 1.99330341e-01] [ 1.37289236e-02 -5.65682213e-04 9.99905594e-01 3.63653570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.989254153999994 meters 0.024154249250471268 Centerline is valid? [True, True] Translation: X:59.96, Y:0.20, Z:0.36 [[ 9.99085007e-01 -4.01955366e-02 -1.46105326e-02 5.99626443e+01] [ 4.01999572e-02 9.99191655e-01 8.88316854e-06 1.95746743e-01] [ 1.45983652e-02 -5.96217826e-04 9.99893260e-01 3.62853333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019254153999995 meters 0.02403659269434719 Centerline is valid? [True, True] Translation: X:59.99, Y:0.20, Z:0.36 [[ 9.99135621e-01 -3.85423460e-02 -1.55723552e-02 5.99941577e+01] [ 3.85471909e-02 9.99256781e-01 1.09769611e-05 1.95596928e-01] [ 1.55603585e-02 -6.11238022e-04 9.99878743e-01 3.62577840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.049254153999996 meters 0.02102733518724528 Centerline is valid? [True, True] Translation: X:60.03, Y:0.20, Z:0.36 [[ 9.99308118e-01 -3.32397974e-02 -1.66853669e-02 6.00250608e+01] [ 3.32446405e-02 9.99447244e-01 1.28991089e-05 2.00386878e-01] [ 1.66757152e-02 -5.67589210e-04 9.99860789e-01 3.62742819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07925415399999 meters 0.02035702460329503 Centerline is valid? [True, True] Translation: X:60.06, Y:0.20, Z:0.36 [[ 9.99413417e-01 -2.97602033e-02 -1.69455939e-02 6.00550523e+01] [ 2.97647013e-02 9.99556933e-01 1.32317762e-05 2.01994228e-01] [ 1.69376921e-02 -5.17604554e-04 9.99856413e-01 3.62725248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.10925415399999 meters 0.018606694401117 Centerline is valid? [True, True] Translation: X:60.09, Y:0.21, Z:0.36 [[ 9.99524553e-01 -2.57277208e-02 -1.69926959e-02 6.00861687e+01] [ 2.57316645e-02 9.99668886e-01 1.34463823e-05 2.05644905e-01] [ 1.69867235e-02 -4.50690339e-04 9.99855614e-01 3.63554989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13925415399999 meters 0.016706279425070247 Centerline is valid? [True, True] Translation: X:60.12, Y:0.21, Z:0.36 [[ 9.99707369e-01 -1.77356075e-02 -1.64506884e-02 6.01155839e+01] [ 1.77382184e-02 9.99842665e-01 1.28020968e-05 2.11314895e-01] [ 1.64478731e-02 -3.04604254e-04 9.99864678e-01 3.64592204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.169254153999994 meters 0.015765764877330533 Centerline is valid? [True, True] Translation: X:60.14, Y:0.21, Z:0.37 [[ 9.99767907e-01 -1.41936739e-02 -1.62071552e-02 6.01440213e+01] [ 1.41957022e-02 9.99899236e-01 1.01074251e-05 2.14002975e-01] [ 1.62053787e-02 -2.40177028e-04 9.99868655e-01 3.65229240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199254153999995 meters 0.015111493387223182 Centerline is valid? [True, True] Translation: X:60.17, Y:0.22, Z:0.37 [[ 9.99808627e-01 -1.13177655e-02 -1.59567180e-02 6.01731325e+01] [ 1.13193038e-02 9.99935935e-01 6.09224490e-06 2.16224773e-01] [ 1.59556268e-02 -1.86710018e-04 9.99872683e-01 3.65502538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.229254153999996 meters 0.014457534910106842 Centerline is valid? [True, True] Translation: X:60.20, Y:0.22, Z:0.37 [[ 9.99842918e-01 -7.63569378e-03 -1.59948724e-02 6.02015918e+01] [ 7.63670531e-03 9.99970840e-01 2.16247792e-06 2.19349061e-01] [ 1.59943895e-02 -1.24310265e-04 9.99872074e-01 3.66639719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25925415399999 meters 0.014412567071517786 Centerline is valid? [True, True] Translation: X:60.23, Y:0.22, Z:0.37 [[ 9.99848894e-01 -7.09687101e-03 -1.58689441e-02 6.02291096e+01] [ 7.09775915e-03 9.99974811e-01 -3.52914682e-07 2.19428215e-01] [ 1.58685468e-02 -1.12281082e-04 9.99874080e-01 3.66819555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.28925415399999 meters 0.014773366961247043 Centerline is valid? [True, True] Translation: X:60.26, Y:0.22, Z:0.37 [[ 9.99840623e-01 -8.64954101e-03 -1.56177369e-02 6.02571322e+01] [ 8.65056954e-03 9.99962583e-01 -1.69894181e-06 2.17071191e-01] [ 1.56171673e-02 -1.33403648e-04 9.99878036e-01 3.66684998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31925415399999 meters 0.01481708955279347 Centerline is valid? [True, True] Translation: X:60.29, Y:0.22, Z:0.37 [[ 9.99815400e-01 -1.07480516e-02 -1.59262457e-02 6.02861017e+01] [ 1.07493422e-02 9.99942224e-01 -4.56446514e-06 2.15561544e-01] [ 1.59253746e-02 -1.66633043e-04 9.99873169e-01 3.67242079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34925415399999 meters 0.01601980205949658 Centerline is valid? [True, True] Translation: X:60.31, Y:0.21, Z:0.37 [[ 9.99724801e-01 -1.64966395e-02 -1.66788224e-02 6.03136828e+01] [ 1.64988108e-02 9.99863885e-01 -7.41451473e-06 2.09731942e-01] [ 1.66766745e-02 -2.67768262e-04 9.99860899e-01 3.66418374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379254153999995 meters 0.016194999455429807 Centerline is valid? [True, True] Translation: X:60.34, Y:0.21, Z:0.37 [[ 9.99654590e-01 -2.02052435e-02 -1.68062252e-02 6.03423305e+01] [ 2.02079198e-02 9.99795799e-01 -1.05804165e-05 2.07950193e-01] [ 1.68030071e-02 -3.29042088e-04 9.99858765e-01 3.67208397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.409254153999996 meters 0.01804009882771401 Centerline is valid? [True, True] Translation: X:60.37, Y:0.20, Z:0.37 [[ 9.99491089e-01 -2.73131159e-02 -1.64789505e-02 6.03721480e+01] [ 2.73166202e-02 9.99626831e-01 -1.24406197e-05 2.01594952e-01] [ 1.64731409e-02 -4.37714943e-04 9.99864213e-01 3.67459470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43925415399999 meters 0.020644825602557173 Centerline is valid? [True, True] Translation: X:60.40, Y:0.19, Z:0.37 [[ 9.99286327e-01 -3.41086345e-02 -1.62307374e-02 6.04009777e+01] [ 3.41129200e-02 9.99417985e-01 -1.28317732e-05 1.94969205e-01] [ 1.62217286e-02 -5.40855231e-04 9.99868273e-01 3.68136355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.46925415399999 meters 0.021474605771724564 Centerline is valid? [True, True] Translation: X:60.43, Y:0.19, Z:0.37 [[ 9.99196097e-01 -3.68009805e-02 -1.59011815e-02 6.04322521e+01] [ 3.68054353e-02 9.99322450e-01 -1.24955256e-05 1.92632547e-01] [ 1.58908675e-02 -5.72764426e-04 9.99873568e-01 3.68769644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49925415399999 meters 0.02119344228964292 Centerline is valid? [True, True] Translation: X:60.46, Y:0.19, Z:0.37 [[ 9.99116008e-01 -3.91395252e-02 -1.53395089e-02 6.04632408e+01] [ 3.91439520e-02 9.99233582e-01 -1.16622749e-05 1.92534150e-01] [ 1.53282089e-02 -5.88797036e-04 9.99882343e-01 3.69549339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52925415399999 meters 0.021663621454479667 Centerline is valid? [True, True] Translation: X:60.49, Y:0.19, Z:0.37 [[ 9.99063823e-01 -4.05766866e-02 -1.50003119e-02 6.04949408e+01] [ 4.05810956e-02 9.99176248e-01 -1.04650714e-05 1.91393986e-01] [ 1.49883800e-02 -5.98273818e-04 9.99887489e-01 3.70299364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559254153999994 meters 0.022439390386311337 Centerline is valid? [True, True] Translation: X:60.53, Y:0.19, Z:0.37 [[ 9.99038684e-01 -4.13790654e-02 -1.44734504e-02 6.05274620e+01] [ 4.13832718e-02 9.99143345e-01 -8.87138867e-06 1.90073593e-01] [ 1.44614187e-02 -5.90095870e-04 9.99895254e-01 3.71192824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.589254153999995 meters 0.02332929160717255 Centerline is valid? [True, True] Translation: X:60.56, Y:0.19, Z:0.37 [[ 9.99068175e-01 -4.11380459e-02 -1.30553872e-02 6.05582946e+01] [ 4.11414581e-02 9.99153332e-01 -7.21175171e-06 1.89031326e-01] [ 1.30446303e-02 -5.29912635e-04 9.99914775e-01 3.72145992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61925415399999 meters 0.02295810792982036 Centerline is valid? [True, True] Translation: X:60.59, Y:0.19, Z:0.37 [[ 9.99122287e-01 -3.98316658e-02 -1.29651152e-02 6.05909746e+01] [ 3.98349330e-02 9.99206274e-01 -6.24858916e-06 1.89741691e-01] [ 1.29550733e-02 -5.10221389e-04 9.99915949e-01 3.72901776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.64925415399999 meters 0.022211694197803604 Centerline is valid? [True, True] Translation: X:60.62, Y:0.19, Z:0.37 [[ 9.99257749e-01 -3.64307872e-02 -1.25199399e-02 6.06212100e+01] [ 3.64335816e-02 9.99336077e-01 -4.89409008e-06 1.91546201e-01] [ 1.25118059e-02 -4.51255793e-04 9.99921622e-01 3.73351633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67925415399999 meters 0.019242160375916296 Centerline is valid? [True, True] Translation: X:60.65, Y:0.20, Z:0.37 [[ 9.99338349e-01 -3.42018916e-02 -1.23731491e-02 6.06527994e+01] [ 3.42044609e-02 9.99414856e-01 -3.96787165e-06 1.97034363e-01] [ 1.23660447e-02 -4.19251649e-04 9.99923450e-01 3.74208854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70925415399999 meters 0.01877516933119333 Centerline is valid? [True, True] Translation: X:60.68, Y:0.20, Z:0.37 [[ 9.99513040e-01 -2.87698993e-02 -1.20820747e-02 6.06827106e+01] [ 2.87719557e-02 9.99586002e-01 -3.62219919e-06 1.98913521e-01] [ 1.20771770e-02 -3.44004484e-04 9.99927009e-01 3.74258925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739254153999994 meters 0.018067911308602125 Centerline is valid? [True, True] Translation: X:60.71, Y:0.20, Z:0.37 [[ 9.99589598e-01 -2.60374172e-02 -1.19452588e-02 6.07144228e+01] [ 2.60392355e-02 9.99660922e-01 -3.31079844e-06 2.01088946e-01] [ 1.19412947e-02 -3.07735968e-04 9.99928653e-01 3.74671453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.769254153999995 meters 0.017343494714227546 Centerline is valid? [True, True] Translation: X:60.75, Y:0.20, Z:0.37 [[ 9.99653567e-01 -2.33910158e-02 -1.20667565e-02 6.07458241e+01] [ 2.33926854e-02 9.99726354e-01 -2.78378830e-06 2.03181878e-01] [ 1.20635195e-02 -2.79491013e-04 9.99927194e-01 3.74809401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799254153999996 meters 0.015723838732979178 Centerline is valid? [True, True] Translation: X:60.78, Y:0.21, Z:0.37 [[ 9.99734767e-01 -1.89654594e-02 -1.30654830e-02 6.07762100e+01] [ 1.89670425e-02 9.99820109e-01 -2.74645493e-06 2.07978248e-01] [ 1.30631847e-02 -2.45067845e-04 9.99914643e-01 3.74601186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.82925415399999 meters 0.015052877668403469 Centerline is valid? [True, True] Translation: X:60.81, Y:0.21, Z:0.37 [[ 9.99777613e-01 -1.46795841e-02 -1.51404678e-02 6.08057096e+01] [ 1.46812142e-02 9.99892225e-01 -3.48193568e-06 2.10919198e-01] [ 1.51388872e-02 -2.18799291e-04 9.99885377e-01 3.72752939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85925415399999 meters 0.015052877668403469 Centerline is valid? [True, True] Translation: X:60.83, Y:0.21, Z:0.37 [[ 9.99773284e-01 -1.49715066e-02 -1.51404668e-02 6.08331059e+01] [ 1.49731300e-02 9.99887896e-01 -6.13182442e-06 2.10995692e-01] [ 1.51388613e-02 -2.20569744e-04 9.99885377e-01 3.72942875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88925415399999 meters 0.015052877668403469 Centerline is valid? [True, True] Translation: X:60.86, Y:0.21, Z:0.37 [[ 9.99768870e-01 -1.52634400e-02 -1.51404641e-02 6.08605021e+01] [ 1.52650300e-02 9.99883483e-01 -1.05523378e-05 2.11081063e-01] [ 1.51388610e-02 -2.20569740e-04 9.99885377e-01 3.73133358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919254153999994 meters 0.015000367410312456 Centerline is valid? [True, True] Translation: X:60.89, Y:0.21, Z:0.37 [[ 9.99763146e-01 -1.46275689e-02 -1.61147577e-02 6.08879320e+01] [ 1.46292096e-02 9.99892987e-01 -1.60679461e-05 2.12592594e-01] [ 1.61132683e-02 -2.19682028e-04 9.99870149e-01 3.72315480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.949254153999995 meters 0.015026065176910403 Centerline is valid? [True, True] Translation: X:60.92, Y:0.21, Z:0.37 [[ 9.99754948e-01 -1.48475720e-02 -1.64192843e-02 6.09159223e+01] [ 1.48492257e-02 9.99889744e-01 -2.12023298e-05 2.12928216e-01] [ 1.64177888e-02 -2.22616524e-04 9.99865194e-01 3.71992295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979254153999996 meters 0.01517190708502851 Centerline is valid? [True, True] Translation: X:60.94, Y:0.21, Z:0.37 [[ 9.99717466e-01 -1.62735023e-02 -1.73251683e-02 6.09449426e+01] [ 1.62754748e-02 9.99867545e-01 -2.71519991e-05 2.12905398e-01] [ 1.73233153e-02 -2.54831012e-04 9.99849908e-01 3.71809951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.00925415399999 meters 0.015477533419737358 Centerline is valid? [True, True] Translation: X:60.97, Y:0.21, Z:0.37 [[ 9.99690759e-01 -1.77695118e-02 -1.73962668e-02 6.09727575e+01] [ 1.77716720e-02 9.99842071e-01 -3.04257971e-05 2.12315314e-01] [ 1.73940601e-02 -2.78744358e-04 9.99848673e-01 3.71816586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03925415399999 meters 0.015770818521811145 Centerline is valid? [True, True] Translation: X:61.00, Y:0.21, Z:0.37 [[ 9.99649473e-01 -1.96819190e-02 -1.77074581e-02 6.10011764e+01] [ 1.96843928e-02 9.99806243e-01 -3.45967538e-05 2.11686416e-01] [ 1.77047081e-02 -3.13975934e-04 9.99843210e-01 3.71656436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06925415399999 meters 0.016910231352957484 Centerline is valid? [True, True] Translation: X:61.03, Y:0.21, Z:0.37 [[ 9.99547735e-01 -2.43696316e-02 -1.76195128e-02 6.10307648e+01] [ 2.43727716e-02 9.99702939e-01 -3.65287971e-05 2.10184301e-01] [ 1.76151690e-02 -3.92924086e-04 9.99844764e-01 3.71958556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09925415399999 meters 0.018477311463072334 Centerline is valid? [True, True] Translation: X:61.06, Y:0.21, Z:0.37 [[ 9.99471274e-01 -2.73542137e-02 -1.75760784e-02 6.10595815e+01] [ 2.73577809e-02 9.99625705e-01 -3.74971764e-05 2.07391051e-01] [ 1.75705255e-02 -4.43365150e-04 9.99845528e-01 3.71855678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.129254153999995 meters 0.018568599817431017 Centerline is valid? [True, True] Translation: X:61.09, Y:0.21, Z:0.37 [[ 9.99299779e-01 -3.38108926e-02 -1.60242305e-02 6.10895681e+01] [ 3.38146764e-02 9.99428120e-01 -3.48357933e-05 2.07645296e-01] [ 1.60162444e-02 -5.07042768e-04 9.99871603e-01 3.73964921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159254153999996 meters 0.022106558555241643 Centerline is valid? [True, True] Translation: X:61.12, Y:0.20, Z:0.37 [[ 9.99170716e-01 -3.74807950e-02 -1.59082141e-02 6.11194779e+01] [ 3.74849866e-02 9.99297190e-01 -3.47109419e-05 2.02123833e-01] [ 1.58983347e-02 -5.61637037e-04 9.99873456e-01 3.73640727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18925415399999 meters 0.020999716836999475 Centerline is valid? [True, True] Translation: X:61.15, Y:0.20, Z:0.38 [[ 9.99043190e-01 -4.08894331e-02 -1.55164026e-02 6.11501808e+01] [ 4.08938337e-02 9.99163497e-01 -3.36979118e-05 2.04174987e-01] [ 1.55048010e-02 -6.00859520e-04 9.99879613e-01 3.75266480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21925415399999 meters 0.022856684291437248 Centerline is valid? [True, True] Translation: X:61.18, Y:0.20, Z:0.38 [[ 9.98900817e-01 -4.44295307e-02 -1.49390362e-02 6.11804364e+01] [ 4.44340091e-02 9.99012321e-01 -3.21747655e-05 2.01621077e-01] [ 1.49257107e-02 -6.31661870e-04 9.99888406e-01 3.75562620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24925415399999 meters 0.02612928935891381 Centerline is valid? [True, True] Translation: X:61.21, Y:0.20, Z:0.38 [[ 9.98594255e-01 -5.09418301e-02 -1.46438916e-02 6.12100023e+01] [ 5.09468319e-02 9.98701366e-01 -3.15306748e-05 1.97295393e-01] [ 1.46264808e-02 -7.14573534e-04 9.99892772e-01 3.75771021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27925415399999 meters 0.027502444773308866 Centerline is valid? [True, True] Translation: X:61.24, Y:0.20, Z:0.38 [[ 9.98449938e-01 -5.36873137e-02 -1.46763157e-02 6.12415231e+01] [ 5.36926359e-02 9.98557510e-01 -3.14266218e-05 1.95748363e-01] [ 1.46568324e-02 -7.56632165e-04 9.99892297e-01 3.76046015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.309254153999994 meters 0.028957823555028673 Centerline is valid? [True, True] Translation: X:61.27, Y:0.19, Z:0.38 [[ 9.98326964e-01 -5.59944678e-02 -1.44184516e-02 6.12725324e+01] [ 5.59998500e-02 9.98430777e-01 -3.04966438e-05 1.94002184e-01] [ 1.43975335e-02 -7.76985504e-04 9.99896048e-01 3.76223281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339254153999995 meters 0.030594323956362142 Centerline is valid? [True, True] Translation: X:61.30, Y:0.19, Z:0.38 [[ 9.98116307e-01 -5.97699745e-02 -1.38343242e-02 6.13038017e+01] [ 5.97752941e-02 9.98211858e-01 -2.90196757e-05 1.92676427e-01] [ 1.38113210e-02 -7.97985786e-04 9.99904301e-01 3.76972249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36925415399999 meters 0.03201999161917767 Centerline is valid? [True, True] Translation: X:61.33, Y:0.19, Z:0.38 [[ 9.98061597e-01 -6.07251251e-02 -1.36201024e-02 6.13349263e+01] [ 6.07303827e-02 9.98154206e-01 -2.76225397e-05 1.91073518e-01] [ 1.35966398e-02 -7.99585033e-04 9.99907242e-01 3.77290903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39925415399999 meters 0.028748373264162526 Centerline is valid? [True, True] Translation: X:61.37, Y:0.20, Z:0.38 [[ 9.98009976e-01 -6.15490324e-02 -1.37041928e-02 6.13666160e+01] [ 6.15544496e-02 9.98103727e-01 -2.65547778e-05 1.96084715e-01] [ 1.36798404e-02 -8.17052114e-04 9.99906093e-01 3.78142729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.42925415399999 meters 0.03040431695332536 Centerline is valid? [True, True] Translation: X:61.40, Y:0.20, Z:0.38 [[ 9.98001688e-01 -6.16106329e-02 -1.40271747e-02 6.13975538e+01] [ 6.16163256e-02 9.98099909e-01 -2.63938033e-05 1.95557093e-01] [ 1.40021479e-02 -8.37961904e-04 9.99901614e-01 3.77836609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45925415399999 meters 0.030501790873543617 Centerline is valid? [True, True] Translation: X:61.43, Y:0.20, Z:0.38 [[ 9.98046804e-01 -6.07383796e-02 -1.46091132e-02 6.14297391e+01] [ 6.07444752e-02 9.98153349e-01 -2.65369323e-05 1.96666124e-01] [ 1.45837471e-02 -8.60937816e-04 9.99893281e-01 3.77657978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.489254153999994 meters 0.0304439790747687 Centerline is valid? [True, True] Translation: X:61.46, Y:0.20, Z:0.38 [[ 9.98132552e-01 -5.91728386e-02 -1.51652418e-02 6.14617082e+01] [ 5.91792417e-02 9.98247372e-01 -2.65860406e-05 1.98202170e-01] [ 1.51402359e-02 -8.70931115e-04 9.99885001e-01 3.77313282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519254153999995 meters 0.02878319404766603 Centerline is valid? [True, True] Translation: X:61.49, Y:0.20, Z:0.38 [[ 9.98406924e-01 -5.38571313e-02 -1.68232793e-02 6.14917764e+01] [ 5.38642666e-02 9.98548266e-01 -2.90247346e-05 2.03652673e-01] [ 1.68004196e-02 -8.77195107e-04 9.99858478e-01 3.76078916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.549254153999996 meters 0.02447506604824643 Centerline is valid? [True, True] Translation: X:61.52, Y:0.21, Z:0.38 [[ 9.98766718e-01 -4.62299668e-02 -1.81061783e-02 6.15227085e+01] [ 4.62369857e-02 9.98930498e-01 -3.10043374e-05 2.14799636e-01] [ 1.80882470e-02 -8.06209006e-04 9.99836069e-01 3.75964145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57925415399999 meters 0.02241604479672632 Centerline is valid? [True, True] Translation: X:61.55, Y:0.22, Z:0.38 [[ 9.98950825e-01 -4.19879669e-02 -1.82827809e-02 6.15539270e+01] [ 4.19944201e-02 9.99117845e-01 -3.09809321e-05 2.20932608e-01] [ 1.82679535e-02 -7.36826355e-04 9.99832856e-01 3.76688912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.60925415399999 meters 0.020494037168055312 Centerline is valid? [True, True] Translation: X:61.58, Y:0.23, Z:0.38 [[ 9.99131359e-01 -3.73799161e-02 -1.84192764e-02 6.15847022e+01] [ 3.73856902e-02 9.99300910e-01 -3.08764340e-05 2.27258749e-01] [ 1.84075538e-02 -6.57767747e-04 9.99830350e-01 3.77225607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63925415399999 meters 0.0187508913328803 Centerline is valid? [True, True] Translation: X:61.61, Y:0.24, Z:0.38 [[ 9.99437349e-01 -2.82932626e-02 -1.80132317e-02 6.16139581e+01] [ 2.82973092e-02 9.99599551e-01 -3.02508601e-05 2.36534779e-01] [ 1.80068742e-02 -4.79492147e-04 9.99837748e-01 3.77365763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.669254153999994 meters 0.016241292098352435 Centerline is valid? [True, True] Translation: X:61.64, Y:0.24, Z:0.38 [[ 9.99569971e-01 -2.35390009e-02 -1.74867978e-02 6.16449714e+01] [ 2.35420888e-02 9.99722846e-01 -2.92807035e-05 2.44518427e-01] [ 1.74826405e-02 -3.82407634e-04 9.99847094e-01 3.79525771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699254153999995 meters 0.015679473193508726 Centerline is valid? [True, True] Translation: X:61.67, Y:0.25, Z:0.38 [[ 9.99674657e-01 -1.88997824e-02 -1.71282826e-02 6.16741950e+01] [ 1.89020631e-02 9.99821340e-01 -2.87414923e-05 2.49261772e-01] [ 1.71257656e-02 -2.95027736e-04 9.99853300e-01 3.80050002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.729254153999996 meters 0.014267178084385126 Centerline is valid? [True, True] Translation: X:61.70, Y:0.26, Z:0.38 [[ 9.99816626e-01 -9.68099043e-03 -1.65224742e-02 6.17035163e+01] [ 9.68181446e-03 9.99953130e-01 -3.01169149e-05 2.59523497e-01] [ 1.65219913e-02 -1.29856137e-04 9.99863494e-01 3.81039433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75925415399999 meters 0.014267178084385126 Centerline is valid? [True, True] Translation: X:61.73, Y:0.26, Z:0.38 [[ 9.99813764e-01 -9.97227719e-03 -1.65224652e-02 6.17308974e+01] [ 9.97306772e-03 9.99950267e-01 -3.45510931e-05 2.59646064e-01] [ 1.65219881e-02 -1.30235006e-04 9.99863494e-01 3.81229771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78925415399999 meters 0.014156117857092905 Centerline is valid? [True, True] Translation: X:61.76, Y:0.26, Z:0.38 [[ 9.99851219e-01 -5.63894684e-03 -1.63015730e-02 6.17588039e+01] [ 5.63909422e-03 9.99984099e-01 -3.69255753e-05 2.64474417e-01] [ 1.63015220e-02 -5.50060245e-05 9.99867120e-01 3.80840640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81925415399999 meters 0.014041335358153875 Centerline is valid? [True, True] Translation: X:61.79, Y:0.27, Z:0.38 [[ 9.99861914e-01 1.30580985e-03 -1.65664500e-02 6.17867810e+01] [-1.30666851e-03 9.99999145e-01 -4.10072114e-05 2.72933820e-01] [ 1.65663822e-02 6.26484073e-05 9.99862766e-01 3.82237831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84925415399999 meters 0.014243164289904396 Centerline is valid? [True, True] Translation: X:61.81, Y:0.28, Z:0.38 [[ 9.99859553e-01 3.22563811e-03 -1.64459371e-02 6.18148052e+01] [-3.22679173e-03 9.99994793e-01 -4.36109619e-05 2.76446015e-01] [ 1.64457108e-02 9.66724507e-05 9.99864755e-01 3.82375328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879254153999995 meters 0.014367846573431155 Centerline is valid? [True, True] Translation: X:61.84, Y:0.28, Z:0.38 [[ 9.99853178e-01 4.78127420e-03 -1.64548549e-02 6.18422974e+01] [-4.78266422e-03 9.99988562e-01 -4.51234286e-05 2.78953494e-01] [ 1.64544509e-02 1.23814849e-04 9.99864609e-01 3.82276932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.909254153999996 meters 0.014170797184189798 Centerline is valid? [True, True] Translation: X:61.87, Y:0.28, Z:0.38 [[ 9.99859131e-01 3.68777685e-03 -1.63743434e-02 6.18713294e+01] [-3.68902812e-03 9.99993194e-01 -4.62122542e-05 2.77747588e-01] [ 1.63740615e-02 1.06611158e-04 9.99865930e-01 3.83132914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93925415399999 meters 0.014135305484093492 Centerline is valid? [True, True] Translation: X:61.90, Y:0.28, Z:0.38 [[ 9.99858783e-01 2.11731502e-03 -1.66712653e-02 6.18995731e+01] [-2.11841713e-03 9.99997755e-01 -4.84490867e-05 2.76849253e-01] [ 1.66711253e-02 8.37589388e-05 9.99861024e-01 3.81669692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.96925415399999 meters 0.013988937406290772 Centerline is valid? [True, True] Translation: X:61.93, Y:0.28, Z:0.38 [[ 9.99852987e-01 -4.93501343e-04 -1.71394459e-02 6.19285621e+01] [ 4.92696360e-04 9.99999877e-01 -5.11892651e-05 2.75077092e-01] [ 1.71394691e-02 4.27371970e-05 9.99853108e-01 3.81714097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99925415399999 meters 0.014125128125621673 Centerline is valid? [True, True] Translation: X:61.96, Y:0.27, Z:0.38 [[ 9.99839089e-01 -3.56146036e-03 -1.75816027e-02 6.19550994e+01] [ 3.56104397e-03 9.99993658e-01 -5.49898084e-05 2.73511852e-01] [ 1.75816870e-02 -7.62790038e-06 9.99845430e-01 3.81119938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02925415399999 meters 0.014262627606049107 Centerline is valid? [True, True] Translation: X:61.98, Y:0.27, Z:0.38 [[ 9.99804595e-01 -1.01428873e-02 -1.69674534e-02 6.19838730e+01] [ 1.01434138e-02 9.99948553e-01 -5.50309807e-05 2.69295412e-01] [ 1.69671386e-02 -1.17087674e-04 9.99856041e-01 3.82562886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059254153999994 meters 0.01448784493477183 Centerline is valid? [True, True] Translation: X:62.01, Y:0.27, Z:0.38 [[ 9.99767923e-01 -1.38537841e-02 -1.64976581e-02 6.20125592e+01] [ 1.38547673e-02 9.99904017e-01 -5.46997221e-05 2.67324707e-01] [ 1.64968324e-02 -1.73884186e-04 9.99863903e-01 3.83522316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.089254153999995 meters 0.014937109411708649 Centerline is valid? [True, True] Translation: X:62.04, Y:0.26, Z:0.38 [[ 9.99717269e-01 -1.75704267e-02 -1.60206930e-02 6.20413164e+01] [ 1.75717857e-02 9.99845603e-01 -5.59463605e-05 2.64275260e-01] [ 1.60192024e-02 -2.25581641e-04 9.99871659e-01 3.83821627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11925415399999 meters 0.01630558345366506 Centerline is valid? [True, True] Translation: X:62.07, Y:0.26, Z:0.38 [[ 9.99586372e-01 -2.46799531e-02 -1.47643124e-02 6.20702172e+01] [ 2.46818520e-02 9.99695355e-01 -5.36153210e-05 2.56563390e-01] [ 1.47611377e-02 -3.10817428e-04 9.99891000e-01 3.84381427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.14925415399999 meters 0.01721786134262823 Centerline is valid? [True, True] Translation: X:62.10, Y:0.25, Z:0.38 [[ 9.99503097e-01 -2.82515602e-02 -1.39788581e-02 6.21010309e+01] [ 2.82536113e-02 9.99600786e-01 -5.07762491e-05 2.52850589e-01] [ 1.39747120e-02 -3.44202203e-04 9.99902290e-01 3.84667196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17925415399999 meters 0.019785586334180063 Centerline is valid? [True, True] Translation: X:62.13, Y:0.25, Z:0.39 [[ 9.99305346e-01 -3.48975877e-02 -1.30761108e-02 6.21312179e+01] [ 3.48999548e-02 9.99390810e-01 -4.71872639e-05 2.45307226e-01] [ 1.30697917e-02 -4.09201191e-04 9.99914503e-01 3.85045886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20925415399999 meters 0.02053424501170261 Centerline is valid? [True, True] Translation: X:62.16, Y:0.24, Z:0.39 [[ 9.99204566e-01 -3.76187040e-02 -1.32313089e-02 6.21634232e+01] [ 3.76213719e-02 9.99292064e-01 -4.72955191e-05 2.42853109e-01] [ 1.32237212e-02 -4.50522095e-04 9.99912461e-01 3.85873478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239254153999994 meters 0.02186843269324996 Centerline is valid? [True, True] Translation: X:62.20, Y:0.24, Z:0.39 [[ 9.99106888e-01 -4.03687449e-02 -1.24816443e-02 6.21956943e+01] [ 4.03713441e-02 9.99184744e-01 -4.37510984e-05 2.40150843e-01] [ 1.24732348e-02 -4.60188733e-04 9.99922100e-01 3.86257408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.269254153999995 meters 0.023696561598991122 Centerline is valid? [True, True] Translation: X:62.23, Y:0.24, Z:0.39 [[ 9.98935996e-01 -4.46076844e-02 -1.17059631e-02 6.22265460e+01] [ 4.46102675e-02 9.99004466e-01 -4.04838508e-05 2.35414920e-01] [ 1.16961153e-02 -4.81765368e-04 9.99931482e-01 3.86794027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299254153999996 meters 0.024844637124179246 Centerline is valid? [True, True] Translation: X:62.26, Y:0.23, Z:0.39 [[ 9.98869948e-01 -4.61666694e-02 -1.12900371e-02 6.22579390e+01] [ 4.61691786e-02 9.98933634e-01 -3.84207292e-05 2.32315396e-01] [ 1.12797716e-02 -4.82874429e-04 9.99936265e-01 3.86963856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.32925415399999 meters 0.025225706618619285 Centerline is valid? [True, True] Translation: X:62.29, Y:0.23, Z:0.39 [[ 9.98813559e-01 -4.74282976e-02 -1.10467986e-02 6.22897963e+01] [ 4.74307887e-02 9.98874526e-01 -3.65146151e-05 2.30220361e-01] [ 1.10360976e-02 -4.87487080e-04 9.99938982e-01 3.86915790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35925415399999 meters 0.025998241872954565 Centerline is valid? [True, True] Translation: X:62.32, Y:0.23, Z:0.39 [[ 9.98762174e-01 -4.85742100e-02 -1.07082525e-02 6.23216427e+01] [ 4.85766244e-02 9.98819458e-01 -3.46541377e-05 2.25890512e-01] [ 1.06972942e-02 -4.85559516e-04 9.99942664e-01 3.86730070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38925415399999 meters 0.026537500170948945 Centerline is valid? [True, True] Translation: X:62.35, Y:0.22, Z:0.39 [[ 9.98760054e-01 -4.86305329e-02 -1.06501753e-02 6.23543257e+01] [ 4.86329324e-02 9.98816718e-01 -3.37197886e-05 2.24042221e-01] [ 1.06392130e-02 -4.84271279e-04 9.99943285e-01 3.86869433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419254153999994 meters 0.025000593572529702 Centerline is valid? [True, True] Translation: X:62.39, Y:0.23, Z:0.39 [[ 9.98787616e-01 -4.80039515e-02 -1.09050179e-02 6.23862393e+01] [ 4.80064385e-02 9.98847026e-01 -3.37442852e-05 2.25402637e-01] [ 1.08940645e-02 -4.89807696e-04 9.99940538e-01 3.87249473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.449254153999995 meters 0.025688325382831632 Centerline is valid? [True, True] Translation: X:62.42, Y:0.22, Z:0.39 [[ 9.98922741e-01 -4.50685491e-02 -1.10536794e-02 6.24166752e+01] [ 4.50709353e-02 9.98983788e-01 -3.32620871e-05 2.24043495e-01] [ 1.10439456e-02 -4.64973412e-04 9.99938906e-01 3.87636990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479254153999996 meters 0.022721154443892597 Centerline is valid? [True, True] Translation: X:62.45, Y:0.23, Z:0.39 [[ 9.99017835e-01 -4.27939680e-02 -1.14909463e-02 6.24483278e+01] [ 4.27964082e-02 9.99083813e-01 -3.35662742e-05 2.28574451e-01] [ 1.14818548e-02 -4.58237920e-04 9.99933976e-01 3.87695042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.50925415399999 meters 0.0205415959698936 Centerline is valid? [True, True] Translation: X:62.48, Y:0.23, Z:0.39 [[ 9.99226662e-01 -3.71527480e-02 -1.28744315e-02 6.24793246e+01] [ 3.71553503e-02 9.99309501e-01 -3.70823813e-05 2.32449523e-01] [ 1.28669195e-02 -4.41300309e-04 9.99917120e-01 3.86581165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53925415399999 meters 0.018480290012546238 Centerline is valid? [True, True] Translation: X:62.51, Y:0.24, Z:0.39 [[ 9.99330205e-01 -3.40163779e-02 -1.34917854e-02 6.25109868e+01] [ 3.40189570e-02 9.99421187e-01 -3.83629076e-05 2.36236168e-01] [ 1.34852811e-02 -4.20639254e-04 9.99908981e-01 3.86414416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.56925415399999 meters 0.017694093151888964 Centerline is valid? [True, True] Translation: X:62.54, Y:0.24, Z:0.38 [[ 9.99494071e-01 -2.75569372e-02 -1.58813790e-02 6.25417810e+01] [ 2.75597086e-02 9.99620158e-01 -4.43681127e-05 2.38442260e-01] [ 1.58765692e-02 -3.93340512e-04 9.99873882e-01 3.84478832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59925415399999 meters 0.015935292210435312 Centerline is valid? [True, True] Translation: X:62.57, Y:0.24, Z:0.38 [[ 9.99620230e-01 -2.10286999e-02 -1.78098332e-02 6.25723673e+01] [ 2.10311548e-02 9.99778820e-01 -4.94668113e-05 2.44006956e-01] [ 1.78069342e-02 -3.25113333e-04 9.99841391e-01 3.83742233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.629254153999995 meters 0.015038961999134674 Centerline is valid? [True, True] Translation: X:62.60, Y:0.25, Z:0.38 [[ 9.99712583e-01 -1.47127754e-02 -1.89284326e-02 6.26012387e+01] [ 1.47144037e-02 9.99891736e-01 -5.32561379e-05 2.48022036e-01] [ 1.89271669e-02 -2.25279767e-04 9.99820840e-01 3.83519858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659254153999996 meters 0.014631666340479558 Centerline is valid? [True, True] Translation: X:62.63, Y:0.25, Z:0.38 [[ 9.99744358e-01 -1.21326096e-02 -1.90792431e-02 6.26304334e+01] [ 1.21337318e-02 9.99926382e-01 -5.69459900e-05 2.50927278e-01] [ 1.90785294e-02 -1.74570986e-04 9.99817973e-01 3.84787872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68925415399999 meters 0.01416814077078013 Centerline is valid? [True, True] Translation: X:62.66, Y:0.25, Z:0.39 [[ 9.99798065e-01 -7.01664942e-03 -1.88307170e-02 6.26593126e+01] [ 7.01674794e-03 9.99975380e-01 -6.08400204e-05 2.54319591e-01] [ 1.88306803e-02 -7.13026598e-05 9.99822684e-01 3.85695583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71925415399999 meters 0.014116914092407578 Centerline is valid? [True, True] Translation: X:62.69, Y:0.26, Z:0.39 [[ 9.99851475e-01 -2.20601038e-03 -1.70927490e-02 6.26876255e+01] [ 2.20531677e-03 9.99997567e-01 -5.94280622e-05 2.56742409e-01] [ 1.70928385e-02 2.17243097e-05 9.99853907e-01 3.87815553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74925415399999 meters 0.01410119979909082 Centerline is valid? [True, True] Translation: X:62.72, Y:0.26, Z:0.39 [[ 9.99865001e-01 -1.55089853e-03 -1.63577250e-02 6.27157891e+01] [ 1.55010256e-03 9.99998797e-01 -6.13390086e-05 2.57086954e-01] [ 1.63578004e-02 3.59745765e-05 9.99866202e-01 3.88674594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77925415399999 meters 0.01410119979909082 Centerline is valid? [True, True] Translation: X:62.74, Y:0.26, Z:0.39 [[ 9.99864502e-01 -1.84450215e-03 -1.63577060e-02 6.27431699e+01] [ 1.84366693e-03 9.99998298e-01 -6.61398940e-05 2.57258953e-01] [ 1.63578001e-02 3.59727707e-05 9.99866202e-01 3.88865060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.809254153999994 meters 0.01410119979909082 Centerline is valid? [True, True] Translation: X:62.77, Y:0.26, Z:0.39 [[ 9.99863918e-01 -2.13810563e-03 -1.63576855e-02 6.27705505e+01] [ 2.13723113e-03 9.99997714e-01 -7.09425788e-05 2.57438992e-01] [ 1.63577998e-02 3.59727701e-05 9.99866202e-01 3.89055526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839254153999995 meters 0.01410119979909082 Centerline is valid? [True, True] Translation: X:62.80, Y:0.26, Z:0.39 [[ 9.99863247e-01 -2.43170893e-03 -1.63576637e-02 6.27979311e+01] [ 2.43079514e-03 9.99997043e-01 -7.57452572e-05 2.57627070e-01] [ 1.63577995e-02 3.59727695e-05 9.99866202e-01 3.89245992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86925415399999 meters 0.01408597729287409 Centerline is valid? [True, True] Translation: X:62.82, Y:0.26, Z:0.39 [[ 9.99873403e-01 -1.91238637e-03 -1.57962108e-02 6.28249907e+01] [ 1.91142059e-03 9.99998170e-01 -7.62374954e-05 2.57864931e-01] [ 1.57963277e-02 4.60346414e-05 9.99875229e-01 3.89694157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89925415399999 meters 0.014030391829700553 Centerline is valid? [True, True] Translation: X:62.85, Y:0.26, Z:0.39 [[ 9.99887441e-01 -1.46498177e-03 -1.49318328e-02 6.28531103e+01] [ 1.46402117e-03 9.99998925e-01 -7.52625958e-05 2.57232377e-01] [ 1.49319270e-02 5.33936049e-05 9.99888511e-01 3.90980772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.92925415399999 meters 0.014000734408325699 Centerline is valid? [True, True] Translation: X:62.88, Y:0.26, Z:0.39 [[ 9.99895114e-01 -1.56362582e-03 -1.43984998e-02 6.28805484e+01] [ 1.56268289e-03 9.99998776e-01 -7.67388480e-05 2.56789251e-01] [ 1.43986021e-02 5.42305099e-05 9.99896333e-01 3.91278698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95925415399999 meters 0.014021833123138008 Centerline is valid? [True, True] Translation: X:62.91, Y:0.26, Z:0.39 [[ 9.99905167e-01 -1.96025750e-03 -1.36313791e-02 6.29070640e+01] [ 1.95940482e-03 9.99998077e-01 -7.59076116e-05 2.55015370e-01] [ 1.36315016e-02 4.91910233e-05 9.99907086e-01 3.91872623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.989254153999994 meters 0.013890968104312978 Centerline is valid? [True, True] Translation: X:62.94, Y:0.25, Z:0.39 [[ 9.99909177e-01 -2.58516663e-03 -1.32270476e-02 6.29362703e+01] [ 2.58439472e-03 9.99996658e-01 -7.54512045e-05 2.53480863e-01] [ 1.32271984e-02 4.12604399e-05 9.99912516e-01 3.92449759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019254153999995 meters 0.01394033208516027 Centerline is valid? [True, True] Translation: X:62.96, Y:0.25, Z:0.39 [[ 9.99893072e-01 -5.05519924e-03 -1.37218461e-02 6.29628527e+01] [ 5.05458215e-03 9.99987222e-01 -7.96520350e-05 2.49451669e-01] [ 1.37220734e-02 1.02853198e-05 9.99905848e-01 3.91964808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.04925415399999 meters 0.01398219786169449 Centerline is valid? [True, True] Translation: X:62.99, Y:0.25, Z:0.39 [[ 9.99875953e-01 -6.90540658e-03 -1.41560403e-02 6.29903056e+01] [ 6.90490485e-03 9.99976157e-01 -8.43186786e-05 2.47203671e-01] [ 1.41562851e-02 -1.34378922e-05 9.99899795e-01 3.91981195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07925415399999 meters 0.013937690678447016 Centerline is valid? [True, True] Translation: X:63.02, Y:0.24, Z:0.39 [[ 9.99854717e-01 -8.69949097e-03 -1.46582464e-02 6.30193361e+01] [ 8.69911941e-03 9.99962158e-01 -8.91099677e-05 2.44681145e-01] [ 1.46584670e-02 -3.84168146e-05 9.99892558e-01 3.91889427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.10925415399999 meters 0.01399876405043823 Centerline is valid? [True, True] Translation: X:63.05, Y:0.24, Z:0.39 [[ 9.99826266e-01 -1.08983749e-02 -1.51215905e-02 6.30478870e+01] [ 1.08981911e-02 9.99940608e-01 -9.45613230e-05 2.41945868e-01] [ 1.51217230e-02 -7.02530879e-05 9.99885658e-01 3.91634999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13925415399999 meters 0.01431755829488725 Centerline is valid? [True, True] Translation: X:63.08, Y:0.24, Z:0.39 [[ 9.99758378e-01 -1.50509973e-02 -1.60203798e-02 6.30766452e+01] [ 1.50512830e-02 9.99886718e-01 -1.02743825e-04 2.36248376e-01] [ 1.60201114e-02 -1.38408271e-04 9.99871660e-01 3.90851440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.169254153999994 meters 0.014525274613915484 Centerline is valid? [True, True] Translation: X:63.11, Y:0.23, Z:0.39 [[ 9.99729066e-01 -1.70785267e-02 -1.58151268e-02 6.31056204e+01] [ 1.70790149e-02 9.99854138e-01 -1.04205426e-04 2.33585621e-01] [ 1.58145997e-02 -1.65929593e-04 9.99874928e-01 3.90972288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199254153999995 meters 0.01473364450906861 Centerline is valid? [True, True] Translation: X:63.13, Y:0.23, Z:0.39 [[ 9.99701487e-01 -1.87258031e-02 -1.56933437e-02 6.31331121e+01] [ 1.87264466e-02 9.99824639e-01 -1.05958446e-04 2.31122233e-01] [ 1.56925759e-02 -1.87953747e-04 9.99876846e-01 3.90919246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.229254153999996 meters 0.015109379499131595 Centerline is valid? [True, True] Translation: X:63.16, Y:0.23, Z:0.39 [[ 9.99663050e-01 -2.07040388e-02 -1.56566198e-02 6.31613489e+01] [ 2.07049047e-02 9.99785625e-01 -1.06808847e-04 2.26301034e-01] [ 1.56554748e-02 -2.17395962e-04 9.99877422e-01 3.91181854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25925415399999 meters 0.015421459990403124 Centerline is valid? [True, True] Translation: X:63.19, Y:0.22, Z:0.39 [[ 9.99651596e-01 -2.14669004e-02 -1.53576914e-02 6.31911737e+01] [ 2.14678133e-02 9.99769534e-01 -1.05434301e-04 2.24397152e-01] [ 1.53564153e-02 -2.24298485e-04 9.99882058e-01 3.91581865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.28925415399999 meters 0.01566807572715321 Centerline is valid? [True, True] Translation: X:63.22, Y:0.22, Z:0.39 [[ 9.99656333e-01 -2.21843684e-02 -1.39667657e-02 6.32195664e+01] [ 2.21851851e-02 9.99753874e-01 -9.64776640e-05 2.20278250e-01] [ 1.39654684e-02 -2.13410774e-04 9.99902455e-01 3.92516048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31925415399999 meters 0.015660678587749076 Centerline is valid? [True, True] Translation: X:63.25, Y:0.22, Z:0.39 [[ 9.99658511e-01 -2.25096770e-02 -1.32731038e-02 6.32496694e+01] [ 2.25104387e-02 9.99746604e-01 -9.20322336e-05 2.18922245e-01] [ 1.32718120e-02 -2.06782583e-04 9.99911904e-01 3.93487353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34925415399999 meters 0.015397301652353828 Centerline is valid? [True, True] Translation: X:63.28, Y:0.22, Z:0.39 [[ 9.99656327e-01 -2.22281254e-02 -1.38974259e-02 6.32806427e+01] [ 2.22289332e-02 9.99752902e-01 -9.63611204e-05 2.16729055e-01] [ 1.38961338e-02 -2.12596948e-04 9.99903421e-01 3.94031886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379254153999995 meters 0.015347302575579596 Centerline is valid? [True, True] Translation: X:63.31, Y:0.22, Z:0.39 [[ 9.99663422e-01 -2.18419250e-02 -1.39990020e-02 6.33107175e+01] [ 2.18427068e-02 9.99761415e-01 -9.70654223e-05 2.15239469e-01] [ 1.39977821e-02 -2.08743344e-04 9.99902004e-01 3.93784612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.409254153999996 meters 0.01508086612988827 Centerline is valid? [True, True] Translation: X:63.34, Y:0.21, Z:0.39 [[ 9.99679579e-01 -2.10471321e-02 -1.40626543e-02 6.33411325e+01] [ 2.10478424e-02 9.99778465e-01 -9.75067705e-05 2.14835108e-01] [ 1.40615911e-02 -1.98513004e-04 9.99901111e-01 3.94195392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43925415399999 meters 0.014689861436190185 Centerline is valid? [True, True] Translation: X:63.37, Y:0.21, Z:0.39 [[ 9.99737026e-01 -1.82433147e-02 -1.38945945e-02 6.33713256e+01] [ 1.82437299e-02 9.99833565e-01 -9.68805708e-05 2.12849275e-01] [ 1.38940494e-02 -1.56634135e-04 9.99903461e-01 3.94535022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.46925415399999 meters 0.014554418525594826 Centerline is valid? [True, True] Translation: X:63.40, Y:0.21, Z:0.39 [[ 9.99773245e-01 -1.63792346e-02 -1.36080551e-02 6.34006082e+01] [ 1.63794498e-02 9.99865843e-01 -9.56506429e-05 2.12295442e-01] [ 1.36077962e-02 -1.27263501e-04 9.99907402e-01 3.94415432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49925415399999 meters 0.0143775804705216 Centerline is valid? [True, True] Translation: X:63.43, Y:0.21, Z:0.39 [[ 9.99801096e-01 -1.42072502e-02 -1.39971968e-02 6.34295789e+01] [ 1.42072358e-02 9.99899067e-01 -1.00467813e-04 2.12463402e-01] [ 1.39972114e-02 -9.84136466e-05 9.99902029e-01 3.94747264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52925415399999 meters 0.014141391002861997 Centerline is valid? [True, True] Translation: X:63.46, Y:0.21, Z:0.39 [[ 9.99848186e-01 -9.08213114e-03 -1.48701189e-02 6.34569302e+01] [ 9.08150912e-03 9.99958756e-01 -1.09356954e-04 2.13047489e-01] [ 1.48704988e-02 -2.57027690e-05 9.99889428e-01 3.94657860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559254153999994 meters 0.014218543867036526 Centerline is valid? [True, True] Translation: X:63.48, Y:0.21, Z:0.39 [[ 9.99859813e-01 -6.91530514e-03 -1.52490482e-02 6.34842995e+01] [ 6.91437306e-03 9.99976089e-01 -1.13845198e-04 2.13608073e-01] [ 1.52494709e-02 8.39163026e-06 9.99883720e-01 3.94358291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.589254153999995 meters 0.014333427864388574 Centerline is valid? [True, True] Translation: X:63.51, Y:0.21, Z:0.39 [[ 9.99869300e-01 -3.99669253e-03 -1.56655380e-02 6.35119139e+01] [ 3.99532430e-03 9.99992012e-01 -1.18635479e-04 2.13027888e-01] [ 1.56658870e-02 5.60310687e-05 9.99877281e-01 3.93565060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61925415399999 meters 0.01423802538821715 Centerline is valid? [True, True] Translation: X:63.54, Y:0.21, Z:0.39 [[ 9.99868159e-01 -3.72010721e-03 -1.58058491e-02 6.35394834e+01] [ 3.71862889e-03 9.99993078e-01 -1.22919005e-04 2.11650258e-01] [ 1.58061970e-02 6.41267124e-05 9.99875072e-01 3.93862657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64925415399999 meters 0.01423802538821715 Centerline is valid? [True, True] Translation: X:63.57, Y:0.21, Z:0.39 [[ 9.99867029e-01 -4.01255426e-03 -1.58058122e-02 6.35668790e+01] [ 4.01103940e-03 9.99991948e-01 -1.27541925e-04 2.11932956e-01] [ 1.58061967e-02 6.41272300e-05 9.99875072e-01 3.94053125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67925415399999 meters 0.014128371918398337 Centerline is valid? [True, True] Translation: X:63.59, Y:0.21, Z:0.39 [[ 9.99857625e-01 -5.37574093e-03 -1.59947352e-02 6.35944184e+01] [ 5.37431549e-03 9.99985550e-01 -1.32101915e-04 2.07309008e-01] [ 1.59952142e-02 4.61223542e-05 9.99872067e-01 3.93356606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70925415399999 meters 0.014074228265658316 Centerline is valid? [True, True] Translation: X:63.62, Y:0.20, Z:0.39 [[ 9.99851978e-01 -7.03395365e-03 -1.57017593e-02 6.36228882e+01] [ 7.03276275e-03 9.99975261e-01 -1.31060758e-04 2.04531034e-01] [ 1.57022928e-02 2.06146104e-05 9.99876711e-01 3.93527179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739254153999994 meters 0.013928760540274804 Centerline is valid? [True, True] Translation: X:63.65, Y:0.20, Z:0.39 [[ 9.99831570e-01 -9.52020511e-03 -1.56906845e-02 6.36508783e+01] [ 9.51929915e-03 9.99954682e-01 -1.32426215e-04 2.01792049e-01] [ 1.56912342e-02 -1.69604094e-05 9.99876885e-01 3.93854699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.769254153999995 meters 0.014405825569106905 Centerline is valid? [True, True] Translation: X:63.68, Y:0.20, Z:0.39 [[ 9.99746859e-01 -1.54714348e-02 -1.63356097e-02 6.36789419e+01] [ 1.54712205e-02 9.99880304e-01 -1.39499974e-04 1.95567623e-01] [ 1.63358127e-02 -1.13267159e-04 9.99866555e-01 3.93146246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.79925415399999 meters 0.014405825569106905 Centerline is valid? [True, True] Translation: X:63.71, Y:0.20, Z:0.39 [[ 9.99742383e-01 -1.57580880e-02 -1.63355809e-02 6.37063442e+01] [ 1.57578577e-02 9.99875827e-01 -1.42819939e-04 1.95877082e-01] [ 1.63358030e-02 -1.14630614e-04 9.99866555e-01 3.93336332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82925415399999 meters 0.01541860414349088 Centerline is valid? [True, True] Translation: X:63.73, Y:0.19, Z:0.39 [[ 9.99584422e-01 -2.31973952e-02 -1.71132920e-02 6.37345181e+01] [ 2.31981844e-02 9.99730874e-01 -1.52423600e-04 1.88491428e-01] [ 1.71122222e-02 -2.44637048e-04 9.99853545e-01 3.93327781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85925415399999 meters 0.016342603352484827 Centerline is valid? [True, True] Translation: X:63.76, Y:0.18, Z:0.39 [[ 9.99473223e-01 -2.74474247e-02 -1.73180630e-02 6.37632536e+01] [ 2.74488174e-02 9.99623198e-01 -1.57321394e-04 1.84288006e-01] [ 1.73158556e-02 -3.18121828e-04 9.99850019e-01 3.93276446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88925415399999 meters 0.01908956089122449 Centerline is valid? [True, True] Translation: X:63.79, Y:0.17, Z:0.39 [[ 9.99196123e-01 -3.63733124e-02 -1.68549825e-02 6.37922879e+01] [ 3.63758703e-02 9.99338167e-01 -1.54899658e-04 1.74661606e-01] [ 1.68494616e-02 -4.58339520e-04 9.99857933e-01 3.93921139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919254153999994 meters 0.020835658274152444 Centerline is valid? [True, True] Translation: X:63.82, Y:0.17, Z:0.39 [[ 9.99030267e-01 -4.08774514e-02 -1.63572552e-02 6.38231157e+01] [ 4.08804621e-02 9.99164033e-01 -1.50401784e-04 1.70053071e-01] [ 1.63497291e-02 -5.18436216e-04 9.99866200e-01 3.94612664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.949254153999995 meters 0.02275713344621191 Centerline is valid? [True, True] Translation: X:63.85, Y:0.17, Z:0.40 [[ 9.98853222e-01 -4.51480273e-02 -1.59341252e-02 6.38540818e+01] [ 4.51514294e-02 9.98980143e-01 -1.46355516e-04 1.65713114e-01] [ 1.59244824e-02 -5.73260851e-04 9.99873033e-01 3.95344017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979254153999996 meters 0.026822153806828068 Centerline is valid? [True, True] Translation: X:63.88, Y:0.16, Z:0.40 [[ 9.98480651e-01 -5.29641283e-02 -1.52049340e-02 6.38838146e+01] [ 5.29681304e-02 9.98596193e-01 -1.39661035e-04 1.57525480e-01] [ 1.51909863e-02 -6.65928086e-04 9.99884389e-01 3.96093134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00925415399999 meters 0.02491140851915611 Centerline is valid? [True, True] Translation: X:63.92, Y:0.16, Z:0.40 [[ 9.98322712e-01 -5.60726179e-02 -1.44091475e-02 6.39152942e+01] [ 5.60765376e-02 9.98426464e-01 -1.32173687e-04 1.59875301e-01] [ 1.43938855e-02 -6.76063106e-04 9.99896174e-01 3.97347680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03925415399999 meters 0.02569014870613964 Centerline is valid? [True, True] Translation: X:63.95, Y:0.16, Z:0.40 [[ 9.98185201e-01 -5.85692101e-02 -1.39982854e-02 6.39465596e+01] [ 5.85731613e-02 9.98283110e-01 -1.27903431e-04 1.58790980e-01] [ 1.39817431e-02 -6.92252517e-04 9.99902011e-01 3.97639974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06925415399999 meters 0.029573818910519037 Centerline is valid? [True, True] Translation: X:63.98, Y:0.15, Z:0.40 [[ 9.98010401e-01 -6.16590541e-02 -1.31681798e-02 6.39767785e+01] [ 6.16628288e-02 9.98097030e-01 -1.19556384e-04 1.53476825e-01] [ 1.31504929e-02 -6.92668701e-04 9.99913289e-01 3.98233921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09925415399998 meters 0.027525914148493258 Centerline is valid? [True, True] Translation: X:64.01, Y:0.16, Z:0.40 [[ 9.97980201e-01 -6.22223949e-02 -1.28020348e-02 6.40089418e+01] [ 6.22260215e-02 9.98062077e-01 -1.15238225e-04 1.56561609e-01] [ 1.27843958e-02 -6.81614225e-04 9.99918044e-01 3.99020770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12925415399998 meters 0.026883273002466603 Centerline is valid? [True, True] Translation: X:64.04, Y:0.16, Z:0.40 [[ 9.98030627e-01 -6.16433824e-02 -1.16172282e-02 6.40411665e+01] [ 6.16463388e-02 9.98098050e-01 -1.03771970e-04 1.58637123e-01] [ 1.16015296e-02 -6.12591978e-04 9.99932512e-01 3.99891732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15925415399998 meters 0.02709059417036999 Centerline is valid? [True, True] Translation: X:64.07, Y:0.16, Z:0.40 [[ 9.98071752e-01 -6.09934155e-02 -1.15143786e-02 6.40729956e+01] [ 6.09962863e-02 9.98137988e-01 -1.02015268e-04 1.59719854e-01] [ 1.14991610e-02 -6.00515779e-04 9.99933702e-01 4.00459956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.18925415399998 meters 0.028576604615592197 Centerline is valid? [True, True] Translation: X:64.10, Y:0.16, Z:0.40 [[ 9.98128552e-01 -6.00405707e-02 -1.15984291e-02 6.41046337e+01] [ 6.00434293e-02 9.98195760e-01 -1.01913702e-04 1.59049920e-01] [ 1.15836217e-02 -5.94686482e-04 9.99932731e-01 4.00312274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21925415399998 meters 0.02485824330442038 Centerline is valid? [True, True] Translation: X:64.14, Y:0.17, Z:0.40 [[ 9.98206412e-01 -5.84370908e-02 -1.30024801e-02 6.41371866e+01] [ 5.84405623e-02 9.98290883e-01 -1.13125692e-04 1.66591485e-01] [ 1.29868680e-02 -6.46949455e-04 9.99915458e-01 3.99482092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.24925415399998 meters 0.024649972585650878 Centerline is valid? [True, True] Translation: X:64.17, Y:0.17, Z:0.40 [[ 9.98229090e-01 -5.78475008e-02 -1.38690555e-02 6.41696583e+01] [ 5.78514105e-02 9.98325198e-01 -1.19463460e-04 1.68209844e-01] [ 1.38527382e-02 -6.83092522e-04 9.99903813e-01 3.98921165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27925415399999 meters 0.025086160683830027 Centerline is valid? [True, True] Translation: X:64.20, Y:0.17, Z:0.40 [[ 9.98247282e-01 -5.70133399e-02 -1.58695875e-02 6.42004833e+01] [ 5.70183711e-02 9.98373120e-01 -1.35612054e-04 1.70548256e-01] [ 1.58515013e-02 -7.69483667e-04 9.99874061e-01 3.97332081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30925415399999 meters 0.026772213480273893 Centerline is valid? [True, True] Translation: X:64.23, Y:0.17, Z:0.40 [[ 9.98266509e-01 -5.64686152e-02 -1.65913207e-02 6.42317079e+01] [ 5.64740549e-02 9.98404057e-01 -1.40850909e-04 1.69649626e-01] [ 1.65727956e-02 -7.96372411e-04 9.99862345e-01 3.96285794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33925415399999 meters 0.024311282416140233 Centerline is valid? [True, True] Translation: X:64.26, Y:0.18, Z:0.40 [[ 9.98319794e-01 -5.54715003e-02 -1.67481789e-02 6.42634955e+01] [ 5.54769219e-02 9.98459960e-01 -1.41074676e-04 1.75198867e-01] [ 1.67302117e-02 -7.88299773e-04 9.99859729e-01 3.96449174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36925415399999 meters 0.023266976959682533 Centerline is valid? [True, True] Translation: X:64.30, Y:0.18, Z:0.40 [[ 9.98492625e-01 -5.21598941e-02 -1.70828499e-02 6.42954956e+01] [ 5.21650693e-02 9.98638466e-01 -1.42810931e-04 1.80958556e-01] [ 1.70670401e-02 -7.48532390e-04 9.99854067e-01 3.97742266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39925415399999 meters 0.022293328099538216 Centerline is valid? [True, True] Translation: X:64.33, Y:0.19, Z:0.40 [[ 9.98639758e-01 -4.95724997e-02 -1.61617355e-02 6.43267187e+01] [ 4.95768049e-02 9.98770305e-01 -1.34407461e-04 1.85009173e-01] [ 1.61485244e-02 -6.67022575e-04 9.99869382e-01 3.98601934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42925415399999 meters 0.022081371166384006 Centerline is valid? [True, True] Translation: X:64.36, Y:0.19, Z:0.40 [[ 9.98792102e-01 -4.65927866e-02 -1.56028503e-02 6.43568849e+01] [ 4.65964528e-02 9.98913787e-01 -1.28682729e-04 1.88021787e-01] [ 1.55918980e-02 -5.98510184e-04 9.99878260e-01 3.99062786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45925415399998 meters 0.021173925284870117 Centerline is valid? [True, True] Translation: X:64.39, Y:0.19, Z:0.40 [[ 9.98942772e-01 -4.34466740e-02 -1.50241717e-02 6.43880799e+01] [ 4.34497319e-02 9.99055607e-01 -1.22979976e-04 1.91971032e-01] [ 1.50153260e-02 -5.29946274e-04 9.99887123e-01 3.99940633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48925415399998 meters 0.018552049135080868 Centerline is valid? [True, True] Translation: X:64.42, Y:0.20, Z:0.40 [[ 9.99224802e-01 -3.64896433e-02 -1.47749931e-02 6.44187204e+01] [ 3.64918464e-02 9.99333943e-01 -1.20552056e-04 2.01688874e-01] [ 1.47695510e-02 -4.18708174e-04 9.99890837e-01 4.01271434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51925415399998 meters 0.018342509038677332 Centerline is valid? [True, True] Translation: X:64.45, Y:0.20, Z:0.40 [[ 9.99351581e-01 -3.29143747e-02 -1.45966401e-02 6.44494055e+01] [ 3.29161496e-02 9.99458110e-01 -1.18694586e-04 2.04755891e-01] [ 1.45926370e-02 -3.61847566e-04 9.99893456e-01 4.01338370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54925415399998 meters 0.01727153053745833 Centerline is valid? [True, True] Translation: X:64.48, Y:0.21, Z:0.40 [[ 9.99471488e-01 -2.92500486e-02 -1.41837733e-02 6.44810181e+01] [ 2.92513628e-02 9.99572081e-01 -1.14836408e-04 2.08978008e-01] [ 1.41810628e-02 -3.00118985e-04 9.99899399e-01 4.01845670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57925415399998 meters 0.015392259989937337 Centerline is valid? [True, True] Translation: X:64.51, Y:0.22, Z:0.40 [[ 9.99648035e-01 -2.29452756e-02 -1.33161985e-02 6.45113617e+01] [ 2.29458778e-02 9.99736703e-01 -1.07581922e-04 2.16864817e-01] [ 1.33151609e-02 -1.98007806e-04 9.99911330e-01 4.03267048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60925415399998 meters 0.014990097313340615 Centerline is valid? [True, True] Translation: X:64.54, Y:0.22, Z:0.40 [[ 9.99715177e-01 -2.00439113e-02 -1.29540055e-02 6.45416632e+01] [ 2.00442376e-02 9.99799089e-01 -1.04655755e-04 2.19855258e-01] [ 1.29535006e-02 -1.55027217e-04 9.99916088e-01 4.03695239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63925415399999 meters 0.014536243565671141 Centerline is valid? [True, True] Translation: X:64.57, Y:0.22, Z:0.40 [[ 9.99805956e-01 -1.51846284e-02 -1.25489879e-02 6.45710672e+01] [ 1.51845506e-02 9.99884703e-01 -1.01484969e-04 2.24239987e-01] [ 1.25490820e-02 -8.90854642e-05 9.99921253e-01 4.04023698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66925415399999 meters 0.014228472347174836 Centerline is valid? [True, True] Translation: X:64.60, Y:0.23, Z:0.40 [[ 9.99830327e-01 -1.35498660e-02 -1.24787000e-02 6.46001520e+01] [ 1.35496423e-02 9.99908194e-01 -1.02477817e-04 2.26908317e-01] [ 1.24789430e-02 -6.66214920e-05 9.99922133e-01 4.04939929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69925415399999 meters 0.014139803576701141 Centerline is valid? [True, True] Translation: X:64.63, Y:0.23, Z:0.40 [[ 9.99855561e-01 -1.08570446e-02 -1.30760200e-02 6.46278451e+01] [ 1.08565367e-02 9.99941060e-01 -1.09826127e-04 2.29567654e-01] [ 1.30764417e-02 -3.21500268e-05 9.99914499e-01 4.04629760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72925415399999 meters 0.014213588275379066 Centerline is valid? [True, True] Translation: X:64.65, Y:0.23, Z:0.40 [[ 9.99861247e-01 -1.00387791e-02 -1.32932070e-02 6.46543030e+01] [ 1.00381626e-02 9.99949610e-01 -1.13098389e-04 2.30546313e-01] [ 1.32936726e-02 -2.03566780e-05 9.99911635e-01 4.04464189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75925415399999 meters 0.014092430409342353 Centerline is valid? [True, True] Translation: X:64.68, Y:0.23, Z:0.40 [[ 9.99867871e-01 -9.83299666e-03 -1.29441857e-02 6.46822101e+01] [ 9.83236149e-03 9.99951655e-01 -1.12708793e-04 2.31179537e-01] [ 1.29446682e-02 -1.45780117e-05 9.99916214e-01 4.04661578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78925415399999 meters 0.01405035397610446 Centerline is valid? [True, True] Translation: X:64.71, Y:0.23, Z:0.40 [[ 9.99859532e-01 -1.01623149e-02 -1.33282643e-02 6.47092976e+01] [ 1.01616328e-02 9.99948362e-01 -1.18899477e-04 2.30717640e-01] [ 1.33287844e-02 -1.65541512e-05 9.99911168e-01 4.04562039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81925415399999 meters 0.014119682603743801 Centerline is valid? [True, True] Translation: X:64.74, Y:0.23, Z:0.40 [[ 9.99858293e-01 -1.08494317e-02 -1.28718501e-02 6.47368043e+01] [ 1.08488202e-02 9.99941143e-01 -1.17333248e-04 2.30179893e-01] [ 1.28723655e-02 -2.23277660e-05 9.99917147e-01 4.04897432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84925415399998 meters 0.014146498032678362 Centerline is valid? [True, True] Translation: X:64.76, Y:0.23, Z:0.41 [[ 9.99848352e-01 -1.20002941e-02 -1.26200990e-02 6.47643194e+01] [ 1.19997537e-02 9.99927993e-01 -1.18546395e-04 2.29576502e-01] [ 1.26206128e-02 -3.29096607e-05 9.99920356e-01 4.05549735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87925415399998 meters 0.014240053111588685 Centerline is valid? [True, True] Translation: X:64.79, Y:0.23, Z:0.41 [[ 9.99823265e-01 -1.47411659e-02 -1.16677343e-02 6.47917620e+01] [ 1.47408540e-02 9.99891341e-01 -1.12742857e-04 2.27288552e-01] [ 1.16681285e-02 -5.92694360e-05 9.99931923e-01 4.06588429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.90925415399998 meters 0.014368365613056804 Centerline is valid? [True, True] Translation: X:64.82, Y:0.23, Z:0.41 [[ 9.99799507e-01 -1.62549799e-02 -1.16927857e-02 6.48215050e+01] [ 1.62547450e-02 9.99867876e-01 -1.15129609e-04 2.26084881e-01] [ 1.16931122e-02 -7.49567240e-05 9.99931630e-01 4.07016046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93925415399998 meters 0.014477595020369565 Centerline is valid? [True, True] Translation: X:64.85, Y:0.22, Z:0.41 [[ 9.99777137e-01 -1.74681345e-02 -1.18549971e-02 6.48513080e+01] [ 1.74679732e-02 9.99847416e-01 -1.17160341e-04 2.24456377e-01] [ 1.18552348e-02 -8.99485414e-05 9.99929720e-01 4.07035485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96925415399998 meters 0.014496215269501588 Centerline is valid? [True, True] Translation: X:64.88, Y:0.22, Z:0.41 [[ 9.99747528e-01 -1.89383811e-02 -1.20920307e-02 6.48811493e+01] [ 1.89383154e-02 9.99820647e-01 -1.19948146e-04 2.23053255e-01] [ 1.20921336e-02 -1.09084829e-04 9.99926882e-01 4.06933280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99925415399998 meters 0.014845396914986679 Centerline is valid? [True, True] Translation: X:64.91, Y:0.22, Z:0.41 [[ 9.99691763e-01 -2.06830112e-02 -1.37329016e-02 6.49109786e+01] [ 2.06830855e-02 9.99786073e-01 -1.36632510e-04 2.20446479e-01] [ 1.37327897e-02 -1.47448382e-04 9.99905690e-01 4.05647938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02925415399999 meters 0.014926667559199759 Centerline is valid? [True, True] Translation: X:64.94, Y:0.22, Z:0.41 [[ 9.99667640e-01 -2.12598313e-02 -1.45817894e-02 6.49408012e+01] [ 2.12599705e-02 9.99773971e-01 -1.45485085e-04 2.19716571e-01] [ 1.45815865e-02 -1.64571681e-04 9.99893669e-01 4.05288378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05925415399999 meters 0.01490871887283697 Centerline is valid? [True, True] Translation: X:64.97, Y:0.22, Z:0.41 [[ 9.99654560e-01 -2.15927166e-02 -1.49838239e-02 6.49705892e+01] [ 2.15928927e-02 9.99766835e-01 -1.50046183e-04 2.19884543e-01] [ 1.49835701e-02 -1.73549751e-04 9.99887725e-01 4.05513714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08925415399999 meters 0.014740794524890024 Centerline is valid? [True, True] Translation: X:65.00, Y:0.22, Z:0.41 [[ 9.99651996e-01 -2.15693256e-02 -1.51872248e-02 6.50003078e+01] [ 2.15694954e-02 9.99767340e-01 -1.52642813e-04 2.18989716e-01] [ 1.51869838e-02 -1.74991082e-04 9.99884656e-01 4.06058581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11925415399999 meters 0.014668779246676793 Centerline is valid? [True, True] Translation: X:65.03, Y:0.22, Z:0.41 [[ 9.99661712e-01 -2.13229625e-02 -1.48927423e-02 6.50294321e+01] [ 2.13230882e-02 9.99772626e-01 -1.50366819e-04 2.18276208e-01] [ 1.48925623e-02 -1.67243305e-04 9.99889086e-01 4.06357379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14925415399999 meters 0.014854932046555054 Centerline is valid? [True, True] Translation: X:65.06, Y:0.22, Z:0.41 [[ 9.99680256e-01 -2.08173209e-02 -1.43535734e-02 6.50583999e+01] [ 2.08173731e-02 9.99783284e-01 -1.45789156e-04 2.16940394e-01] [ 1.43534977e-02 -1.53061153e-04 9.99896972e-01 4.06042928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17925415399999 meters 0.01434907892412063 Centerline is valid? [True, True] Translation: X:65.09, Y:0.22, Z:0.41 [[ 9.99721661e-01 -1.90697852e-02 -1.38904552e-02 6.50877508e+01] [ 1.90696556e-02 9.99818148e-01 -1.41790454e-04 2.17732074e-01] [ 1.38906331e-02 -1.23135209e-04 9.99903513e-01 4.07295453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20925415399998 meters 0.014327619273899216 Centerline is valid? [True, True] Translation: X:65.12, Y:0.22, Z:0.41 [[ 9.99755507e-01 -1.76103203e-02 -1.33717300e-02 6.51159999e+01] [ 1.76100618e-02 9.99844921e-01 -1.37084128e-04 2.17894739e-01] [ 1.33720704e-02 -9.84263793e-05 9.99910585e-01 4.06878272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23925415399998 meters 0.014089004757607186 Centerline is valid? [True, True] Translation: X:65.14, Y:0.22, Z:0.41 [[ 9.99787142e-01 -1.59188918e-02 -1.31247557e-02 6.51449090e+01] [ 1.59184719e-02 9.99873284e-01 -1.36467688e-04 2.20068780e-01] [ 1.31252650e-02 -7.24874138e-05 9.99913857e-01 4.08242631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.26925415399998 meters 0.013729218718751235 Centerline is valid? [True, True] Translation: X:65.17, Y:0.22, Z:0.41 [[ 9.99851229e-01 -1.14533459e-02 -1.28972967e-02 6.51733307e+01] [ 1.14525271e-02 9.99934408e-01 -1.37340428e-04 2.23007429e-01] [ 1.28980238e-02 -1.03866453e-05 9.99916817e-01 4.08952245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29925415399998 meters 0.013838636324629436 Centerline is valid? [True, True] Translation: X:65.20, Y:0.22, Z:0.41 [[ 9.99871298e-01 -9.19695879e-03 -1.31454835e-02 6.52006072e+01] [ 9.19587892e-03 9.99957707e-01 -1.42591090e-04 2.24243471e-01] [ 1.31462389e-02 2.16884635e-05 9.99913584e-01 4.08913150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32925415399998 meters 0.013877714738301272 Centerline is valid? [True, True] Translation: X:65.23, Y:0.23, Z:0.41 [[ 9.99895805e-01 -5.68412644e-03 -1.32691035e-02 6.52295292e+01] [ 5.68268336e-03 9.99983843e-01 -1.46456281e-04 2.25178785e-01] [ 1.32697216e-02 7.10369076e-05 9.99911951e-01 4.08831484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35925415399998 meters 0.013836604753653696 Centerline is valid? [True, True] Translation: X:65.26, Y:0.23, Z:0.41 [[ 9.99897558e-01 -4.65831933e-03 -1.35341340e-02 6.52577272e+01] [ 4.65668694e-03 9.99989146e-01 -1.52123602e-04 2.25399323e-01] [ 1.35346957e-02 8.90837935e-05 9.99908398e-01 4.08678542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38925415399999 meters 0.013920603595100426 Centerline is valid? [True, True] Translation: X:65.29, Y:0.22, Z:0.41 [[ 9.99896886e-01 -4.90365615e-03 -1.34971261e-02 6.52860111e+01] [ 4.90201630e-03 9.99987973e-01 -1.54577301e-04 2.24978449e-01] [ 1.34977218e-02 8.83982291e-05 9.99908898e-01 4.08705334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41925415399999 meters 0.013748700099539603 Centerline is valid? [True, True] Translation: X:65.31, Y:0.22, Z:0.41 [[ 9.99869638e-01 -6.99614836e-03 -1.45520368e-02 6.53148328e+01] [ 6.99442408e-03 9.99975524e-01 -1.69381798e-04 2.22277513e-01] [ 1.45528657e-02 6.75766000e-05 9.99894099e-01 4.08248213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44925415399999 meters 0.01381068969340156 Centerline is valid? [True, True] Translation: X:65.34, Y:0.22, Z:0.41 [[ 9.99835974e-01 -9.54453292e-03 -1.53924026e-02 6.53424584e+01] [ 9.54288322e-03 9.99954449e-01 -1.80622721e-04 2.20560335e-01] [ 1.53934254e-02 3.37051940e-05 9.99881514e-01 4.07790441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47925415399999 meters 0.013668651312423166 Centerline is valid? [True, True] Translation: X:65.37, Y:0.22, Z:0.41 [[ 9.99792029e-01 -1.22458205e-02 -1.63076476e-02 6.53717070e+01] [ 1.22443038e-02 9.99925017e-01 -1.92849797e-04 2.18440708e-01] [ 1.63087864e-02 -6.86610198e-06 9.99867003e-01 4.07393250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50925415399999 meters 0.014044425912904402 Centerline is valid? [True, True] Translation: X:65.40, Y:0.21, Z:0.41 [[ 9.99673775e-01 -1.82332938e-02 -1.78855111e-02 6.53991413e+01] [ 1.82323963e-02 9.99833753e-01 -2.13251863e-04 2.12737190e-01] [ 1.78864259e-02 -1.12913431e-04 9.99840019e-01 4.06072221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53925415399999 meters 0.014185249248356567 Centerline is valid? [True, True] Translation: X:65.43, Y:0.21, Z:0.41 [[ 9.99604280e-01 -2.14851622e-02 -1.81568517e-02 6.54277933e+01] [ 2.14847080e-02 9.99769153e-01 -2.20099303e-04 2.10463301e-01] [ 1.81573891e-02 -1.70082453e-04 9.99835127e-01 4.06620908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56925415399998 meters 0.014185249248356567 Centerline is valid? [True, True] Translation: X:65.46, Y:0.21, Z:0.41 [[ 9.99597997e-01 -2.17755878e-02 -1.81567899e-02 6.54551954e+01] [ 2.17750904e-02 9.99762869e-01 -2.25118674e-04 2.10869686e-01] [ 1.81573865e-02 -1.70337565e-04 9.99835127e-01 4.06811316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59925415399998 meters 0.014822586268969566 Centerline is valid? [True, True] Translation: X:65.48, Y:0.21, Z:0.41 [[ 9.99491677e-01 -2.64835818e-02 -1.77484660e-02 6.54834826e+01] [ 2.64837961e-02 9.99649218e-01 -2.23010261e-04 2.06315883e-01] [ 1.77481463e-02 -2.47149856e-04 9.99842459e-01 4.07638112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.62925415399998 meters 0.015172391692923042 Centerline is valid? [True, True] Translation: X:65.51, Y:0.21, Z:0.41 [[ 9.99443727e-01 -2.84142403e-02 -1.74604588e-02 6.55124678e+01] [ 2.84146842e-02 9.99596197e-01 -2.22710451e-04 2.05124393e-01] [ 1.74597364e-02 -2.73546862e-04 9.99847530e-01 4.08531404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65925415399998 meters 0.015455259424619101 Centerline is valid? [True, True] Translation: X:65.54, Y:0.20, Z:0.41 [[ 9.99408942e-01 -2.98403622e-02 -1.70680585e-02 6.55408574e+01] [ 2.98409552e-02 9.99554635e-01 -2.19991768e-04 2.03845405e-01] [ 1.70670216e-02 -2.89465429e-04 9.99854306e-01 4.09315655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.68925415399998 meters 0.016016134629978123 Centerline is valid? [True, True] Translation: X:65.57, Y:0.20, Z:0.41 [[ 9.99400729e-01 -3.05316544e-02 -1.63095481e-02 6.55699921e+01] [ 3.05322793e-02 9.99533759e-01 -2.10743474e-04 2.02280054e-01] [ 1.63083783e-02 -2.87350498e-04 9.99866968e-01 4.09615380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71925415399998 meters 0.015542327792129476 Centerline is valid? [True, True] Translation: X:65.60, Y:0.20, Z:0.41 [[ 9.99414238e-01 -3.09170198e-02 -1.46737515e-02 6.56002313e+01] [ 3.09175654e-02 9.99521920e-01 -1.89718253e-04 2.02600289e-01] [ 1.46726018e-02 -2.64069549e-04 9.99892317e-01 4.11870142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.74925415399998 meters 0.016024957326571273 Centerline is valid? [True, True] Translation: X:65.63, Y:0.20, Z:0.41 [[ 9.99425665e-01 -3.08356460e-02 -1.40535637e-02 6.56304294e+01] [ 3.08361403e-02 9.99524437e-01 -1.81572224e-04 2.01731734e-01] [ 1.40524793e-02 -2.51889722e-04 9.99901227e-01 4.11741951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77925415399999 meters 0.01574775772097322 Centerline is valid? [True, True] Translation: X:65.66, Y:0.20, Z:0.41 [[ 9.99444578e-01 -3.01048320e-02 -1.42910669e-02 6.56622729e+01] [ 3.01052758e-02 9.99546717e-01 -1.84127139e-04 2.02133783e-01] [ 1.42901321e-02 -2.46211638e-04 9.99897861e-01 4.12258292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80925415399999 meters 0.014836660422790814 Centerline is valid? [True, True] Translation: X:65.69, Y:0.20, Z:0.41 [[ 9.99524314e-01 -2.75915418e-02 -1.37786798e-02 6.56927128e+01] [ 2.75917203e-02 9.99619260e-01 -1.77173901e-04 2.03798283e-01] [ 1.37783222e-02 -2.03087857e-04 9.99905054e-01 4.13220017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83925415399999 meters 0.014407431585420223 Centerline is valid? [True, True] Translation: X:65.72, Y:0.21, Z:0.41 [[ 9.99575177e-01 -2.58828642e-02 -1.33993908e-02 6.57230007e+01] [ 2.58828796e-02 9.99664967e-01 -1.72296793e-04 2.05165346e-01] [ 1.33993611e-02 -1.74591222e-04 9.99910209e-01 4.13510447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86925415399999 meters 0.014172052334217733 Centerline is valid? [True, True] Translation: X:65.75, Y:0.21, Z:0.41 [[ 9.99631877e-01 -2.35342776e-02 -1.34999267e-02 6.57540295e+01] [ 2.35340807e-02 9.99723020e-01 -1.73468570e-04 2.06502621e-01] [ 1.35002699e-02 -1.44303652e-04 9.99908857e-01 4.13676900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89925415399999 meters 0.013792200392219695 Centerline is valid? [True, True] Translation: X:65.78, Y:0.21, Z:0.41 [[ 9.99742031e-01 -1.80598106e-02 -1.37737067e-02 6.57832067e+01] [ 1.80590861e-02 9.99836906e-01 -1.76981402e-04 2.09501564e-01] [ 1.37746565e-02 -7.18048091e-05 9.99905122e-01 4.13528098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92925415399999 meters 0.013445393911308206 Centerline is valid? [True, True] Translation: X:65.81, Y:0.21, Z:0.41 [[ 9.99782451e-01 -1.57218577e-02 -1.37067231e-02 6.58119470e+01] [ 1.57208954e-02 9.99876403e-01 -1.77961540e-04 2.11328048e-01] [ 1.37078269e-02 -3.75591347e-05 9.99906043e-01 4.14062929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95925415399998 meters 0.01343186826823011 Centerline is valid? [True, True] Translation: X:65.84, Y:0.21, Z:0.41 [[ 9.99810366e-01 -1.34525218e-02 -1.40805371e-02 6.58404964e+01] [ 1.34512297e-02 9.99909511e-01 -1.86472472e-04 2.12545881e-01] [ 1.40817715e-02 -2.96342822e-06 9.99900847e-01 4.14249957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98925415399998 meters 0.013413814415483857 Centerline is valid? [True, True] Translation: X:65.87, Y:0.21, Z:0.41 [[ 9.99844077e-01 -9.91784896e-03 -1.46102191e-02 6.58693436e+01] [ 9.91602406e-03 9.99950816e-01 -1.97343389e-04 2.13817220e-01] [ 1.46114578e-02 5.24373342e-05 9.99893246e-01 4.14077052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01925415399998 meters 0.013390197490615346 Centerline is valid? [True, True] Translation: X:65.90, Y:0.21, Z:0.41 [[ 9.99848458e-01 -8.53968215e-03 -1.51701774e-02 6.58968610e+01] [ 8.53751633e-03 9.99963533e-01 -2.07525412e-04 2.14297978e-01] [ 1.51713964e-02 7.79783258e-05 9.99884905e-01 4.13900609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04925415399998 meters 0.013519226643013105 Centerline is valid? [True, True] Translation: X:65.92, Y:0.21, Z:0.41 [[ 9.99850749e-01 -7.94415209e-03 -1.53417690e-02 6.59249835e+01] [ 7.94181953e-03 9.99968441e-01 -2.12958914e-04 2.14422896e-01] [ 1.53429766e-02 9.10855684e-05 9.99882285e-01 4.13646377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07925415399998 meters 0.013528852685822986 Centerline is valid? [True, True] Translation: X:65.95, Y:0.21, Z:0.41 [[ 9.99842705e-01 -8.02621355e-03 -1.58159962e-02 6.59529207e+01] [ 8.02367067e-03 9.99967785e-01 -2.24228926e-04 2.12601497e-01] [ 1.58172864e-02 9.72913111e-05 9.99874894e-01 4.13175118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.10925415399998 meters 0.01366208973929317 Centerline is valid? [True, True] Translation: X:65.98, Y:0.21, Z:0.41 [[ 9.99832105e-01 -8.97331118e-03 -1.59763084e-02 6.59806837e+01] [ 8.97076201e-03 9.99959735e-01 -2.31217671e-04 2.11850770e-01] [ 1.59777399e-02 8.78591903e-05 9.99872344e-01 4.13232928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13925415399999 meters 0.013523508216563191 Centerline is valid? [True, True] Translation: X:66.01, Y:0.21, Z:0.41 [[ 9.99818612e-01 -1.04792968e-02 -1.59036877e-02 6.60083529e+01] [ 1.04768872e-02 9.99945088e-01 -2.34823350e-04 2.10798335e-01] [ 1.59052752e-02 6.81596143e-05 9.99873501e-01 4.13268146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16925415399999 meters 0.013442224309791322 Centerline is valid? [True, True] Translation: X:66.04, Y:0.21, Z:0.41 [[ 9.99779166e-01 -1.40574597e-02 -1.56207095e-02 6.60373112e+01] [ 1.40555307e-02 9.99901189e-01 -2.33278280e-04 2.06878572e-01] [ 1.56224453e-02 1.36694036e-05 9.99877962e-01 4.13547646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19925415399999 meters 0.013380073978425637 Centerline is valid? [True, True] Translation: X:66.07, Y:0.20, Z:0.41 [[ 9.99737323e-01 -1.67205991e-02 -1.56750085e-02 6.60651478e+01] [ 1.67189356e-02 9.99860201e-01 -2.37165391e-04 2.04635892e-01] [ 1.56767827e-02 -2.49663652e-05 9.99877111e-01 4.14011782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22925415399999 meters 0.013458256745957095 Centerline is valid? [True, True] Translation: X:66.09, Y:0.20, Z:0.41 [[ 9.99684826e-01 -1.97647873e-02 -1.54790948e-02 6.60931756e+01] [ 1.97634605e-02 9.99804655e-01 -2.38699692e-04 2.02358629e-01] [ 1.54807889e-02 -6.72960191e-05 9.99880163e-01 4.14382659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25925415399999 meters 0.01374880825046356 Centerline is valid? [True, True] Translation: X:66.12, Y:0.20, Z:0.41 [[ 9.99621302e-01 -2.28632691e-02 -1.53141500e-02 6.61219356e+01] [ 2.28622706e-02 9.99738595e-01 -2.40283173e-04 1.99966572e-01] [ 1.53156405e-02 -1.09924065e-04 9.99882703e-01 4.14853753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28925415399999 meters 0.014406623537615935 Centerline is valid? [True, True] Translation: X:66.15, Y:0.19, Z:0.42 [[ 9.99468045e-01 -2.93037336e-02 -1.43149867e-02 6.61506997e+01] [ 2.93034710e-02 9.99570535e-01 -2.28134346e-04 1.93969635e-01] [ 1.43155241e-02 -1.91465809e-04 9.99897509e-01 4.15608576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31925415399998 meters 0.014830164609138476 Centerline is valid? [True, True] Translation: X:66.18, Y:0.19, Z:0.42 [[ 9.99380877e-01 -3.23402168e-02 -1.38554694e-02 6.61808810e+01] [ 3.23402388e-02 9.99476893e-01 -2.22521526e-04 1.91564865e-01] [ 1.38554179e-02 -2.25705432e-04 9.99903984e-01 4.16338179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34925415399998 meters 0.015254348368302651 Centerline is valid? [True, True] Translation: X:66.21, Y:0.19, Z:0.42 [[ 9.99312154e-01 -3.47267843e-02 -1.30103193e-02 6.62117347e+01] [ 3.47270074e-02 9.99396814e-01 -2.08836818e-04 1.89021274e-01] [ 1.30097239e-02 -2.43116284e-04 9.99915340e-01 4.17022246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37925415399998 meters 0.016979395942395056 Centerline is valid? [True, True] Translation: X:66.24, Y:0.18, Z:0.42 [[ 9.99156862e-01 -3.94744809e-02 -1.12841196e-02 6.62420672e+01] [ 3.94749547e-02 9.99220544e-01 -1.80823580e-04 1.83196941e-01] [ 1.12824621e-02 -2.64768991e-04 9.99936316e-01 4.17695413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40925415399998 meters 0.016814013107930965 Centerline is valid? [True, True] Translation: X:66.27, Y:0.18, Z:0.42 [[ 9.99094445e-01 -4.11716641e-02 -1.07323709e-02 6.62747100e+01] [ 4.11721967e-02 9.99152051e-01 -1.71405623e-04 1.82073084e-01] [ 1.07303274e-02 -2.70624879e-04 9.99942392e-01 4.18277743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43925415399998 meters 0.017769076580602585 Centerline is valid? [True, True] Translation: X:66.31, Y:0.18, Z:0.42 [[ 9.98963948e-01 -4.42463058e-02 -1.06440474e-02 6.63056441e+01] [ 4.42470117e-02 9.99020607e-01 -1.69281211e-04 1.77792010e-01] [ 1.06411127e-02 -3.01861461e-04 9.99943336e-01 4.18190117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46925415399998 meters 0.01963738318047316 Centerline is valid? [True, True] Translation: X:66.34, Y:0.17, Z:0.42 [[ 9.98934247e-01 -4.48451085e-02 -1.09218646e-02 6.63366819e+01] [ 4.48458941e-02 9.98993902e-01 -1.73089250e-04 1.74128584e-01] [ 1.09186383e-02 -3.16896004e-04 9.99940340e-01 4.17473142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49925415399998 meters 0.019113258803702952 Centerline is valid? [True, True] Translation: X:66.37, Y:0.17, Z:0.42 [[ 9.98918515e-01 -4.49940265e-02 -1.17191548e-02 6.63690876e+01] [ 4.49949500e-02 9.98987197e-01 -1.84978848e-04 1.74844462e-01] [ 1.17156086e-02 -3.42523989e-04 9.99931311e-01 4.17465405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52925415399999 meters 0.01786950574177998 Centerline is valid? [True, True] Translation: X:66.40, Y:0.18, Z:0.42 [[ 9.98931381e-01 -4.45505831e-02 -1.23020862e-02 6.64017116e+01] [ 4.45515784e-02 9.99007067e-01 -1.93267712e-04 1.76478806e-01] [ 1.22984812e-02 -3.55016173e-04 9.99924308e-01 4.17707066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55925415399999 meters 0.018343412844057754 Centerline is valid? [True, True] Translation: X:66.43, Y:0.18, Z:0.42 [[ 9.98960144e-01 -4.38983768e-02 -1.23111330e-02 6.64328353e+01] [ 4.38993340e-02 9.99035941e-01 -1.92602658e-04 1.75927211e-01] [ 1.23077193e-02 -3.48048161e-04 9.99924197e-01 4.17859260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58925415399999 meters 0.018360133600385586 Centerline is valid? [True, True] Translation: X:66.46, Y:0.18, Z:0.42 [[ 9.99024292e-01 -4.24603095e-02 -1.21485250e-02 6.64637354e+01] [ 4.24611422e-02 9.99098101e-01 -1.89497132e-04 1.75738797e-01] [ 1.21456144e-02 -3.26528011e-04 9.99926186e-01 4.18629901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61925415399999 meters 0.017963234724549363 Centerline is valid? [True, True] Translation: X:66.50, Y:0.18, Z:0.42 [[ 9.99067679e-01 -4.14749266e-02 -1.19834570e-02 6.64953607e+01] [ 4.14756711e-02 9.99139497e-01 -1.86499919e-04 1.76984738e-01] [ 1.19808802e-02 -3.10695878e-04 9.99928178e-01 4.19224699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64925415399999 meters 0.01750010964627368 Centerline is valid? [True, True] Translation: X:66.53, Y:0.18, Z:0.42 [[ 9.99168293e-01 -3.90770473e-02 -1.16492869e-02 6.65259598e+01] [ 3.90775916e-02 9.99236163e-01 -1.80977910e-04 1.79223031e-01] [ 1.16474609e-02 -2.74398688e-04 9.99932128e-01 4.19855112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67925415399999 meters 0.017367792530642686 Centerline is valid? [True, True] Translation: X:66.56, Y:0.18, Z:0.42 [[ 9.99208670e-01 -3.80045409e-02 -1.17341213e-02 6.65560950e+01] [ 3.80050217e-02 9.99277532e-01 -1.82090158e-04 1.80358975e-01] [ 1.17325640e-02 -2.64009470e-04 9.99931136e-01 4.19879777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70925415399998 meters 0.016046925501104207 Centerline is valid? [True, True] Translation: X:66.59, Y:0.18, Z:0.42 [[ 9.99236976e-01 -3.72033640e-02 -1.18901070e-02 6.65883834e+01] [ 3.72038067e-02 9.99307682e-01 -1.84025382e-04 1.83725180e-01] [ 1.18887217e-02 -2.58472278e-04 9.99929293e-01 4.20549457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73925415399998 meters 0.016054509056068495 Centerline is valid? [True, True] Translation: X:66.62, Y:0.18, Z:0.42 [[ 9.99248347e-01 -3.67520426e-02 -1.23299968e-02 6.66208811e+01] [ 3.67524957e-02 9.99324381e-01 -1.89909537e-04 1.84934941e-01] [ 1.23286460e-02 -2.63391364e-04 9.99923965e-01 4.20469113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76925415399998 meters 0.015865118248251486 Centerline is valid? [True, True] Translation: X:66.65, Y:0.19, Z:0.42 [[ 9.99233716e-01 -3.64036533e-02 -1.43789704e-02 6.66522655e+01] [ 3.64042461e-02 9.99337121e-01 -2.20603021e-04 1.85843538e-01] [ 1.43774696e-02 -3.03021600e-04 9.99896593e-01 4.19780753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79925415399998 meters 0.016351270997481075 Centerline is valid? [True, True] Translation: X:66.68, Y:0.19, Z:0.42 [[ 9.99214185e-01 -3.67037700e-02 -1.49614735e-02 6.66822825e+01] [ 3.67044515e-02 9.99326138e-01 -2.29132686e-04 1.85757908e-01] [ 1.49598016e-02 -3.20200049e-04 9.99888045e-01 4.18977277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82925415399998 meters 0.01621448418364726 Centerline is valid? [True, True] Translation: X:66.71, Y:0.19, Z:0.42 [[ 9.99182450e-01 -3.71101323e-02 -1.60396473e-02 6.67135021e+01] [ 3.71109753e-02 9.99311120e-01 -2.45181844e-04 1.86631273e-01] [ 1.60376967e-02 -3.50265561e-04 9.99871327e-01 4.19122763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85925415399998 meters 0.016593890274953924 Centerline is valid? [True, True] Translation: X:66.74, Y:0.19, Z:0.42 [[ 9.99143472e-01 -3.79401774e-02 -1.65186145e-02 6.67435616e+01] [ 3.79411892e-02 9.99279942e-01 -2.52245761e-04 1.87011527e-01] [ 1.65162904e-02 -3.74706171e-04 9.99863527e-01 4.19109848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.88925415399999 meters 0.016382299672756038 Centerline is valid? [True, True] Translation: X:66.77, Y:0.19, Z:0.42 [[ 9.99091733e-01 -3.94531818e-02 -1.60983155e-02 6.67737519e+01] [ 3.94543391e-02 9.99221344e-01 -2.45827629e-04 1.88048763e-01] [ 1.60954791e-02 -3.89544045e-04 9.99870384e-01 4.20330840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91925415399999 meters 0.0167633258708306 Centerline is valid? [True, True] Translation: X:66.80, Y:0.19, Z:0.42 [[ 9.99050178e-01 -4.05129313e-02 -1.60450740e-02 6.68047586e+01] [ 4.05142228e-02 9.99178932e-01 -2.44680158e-04 1.87502750e-01] [ 1.60418126e-02 -4.05605947e-04 9.99871240e-01 4.21007729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94925415399999 meters 0.01792542341407139 Centerline is valid? [True, True] Translation: X:66.84, Y:0.19, Z:0.42 [[ 9.99016989e-01 -4.14445690e-02 -1.57290303e-02 6.68350910e+01] [ 4.14459319e-02 9.99140720e-01 -2.39451233e-04 1.85507310e-01] [ 1.57254387e-02 -4.12688471e-04 9.99876262e-01 4.20845677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97925415399999 meters 0.0188054131151434 Centerline is valid? [True, True] Translation: X:66.87, Y:0.19, Z:0.42 [[ 9.98937047e-01 -4.36023001e-02 -1.49537478e-02 6.68661587e+01] [ 4.36037796e-02 9.99048877e-01 -2.27245981e-04 1.85083270e-01] [ 1.49494334e-02 -4.25035495e-04 9.99888161e-01 4.21742701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00925415399999 meters 0.018840015520068573 Centerline is valid? [True, True] Translation: X:66.90, Y:0.19, Z:0.42 [[ 9.98900166e-01 -4.45179484e-02 -1.47176721e-02 6.68975265e+01] [ 4.45194884e-02 9.99008491e-01 -2.23140127e-04 1.86136872e-01] [ 1.47130131e-02 -4.32328520e-04 9.99891664e-01 4.22510761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03925415399999 meters 0.018356939612573293 Centerline is valid? [True, True] Translation: X:66.93, Y:0.19, Z:0.42 [[ 9.98855274e-01 -4.56931367e-02 -1.41520004e-02 6.69293535e+01] [ 4.56946894e-02 9.98955429e-01 -2.13790161e-04 1.88869823e-01] [ 1.41469864e-02 -4.33125832e-04 9.99899833e-01 4.23495793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06925415399998 meters 0.01880116431218012 Centerline is valid? [True, True] Translation: X:66.96, Y:0.19, Z:0.42 [[ 9.98871474e-01 -4.53572059e-02 -1.40890953e-02 6.69605883e+01] [ 4.53587241e-02 9.98970741e-01 -2.11932748e-04 1.89548200e-01] [ 1.40842066e-02 -4.27369810e-04 9.99900721e-01 4.23525433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09925415399998 meters 0.018316939094144342 Centerline is valid? [True, True] Translation: X:66.99, Y:0.19, Z:0.42 [[ 9.98893814e-01 -4.47974671e-02 -1.42946003e-02 6.69931128e+01] [ 4.47989861e-02 9.98995998e-01 -2.14091715e-04 1.91440745e-01] [ 1.42898392e-02 -4.26528709e-04 9.99897804e-01 4.24044457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.12925415399998 meters 0.01863975195699137 Centerline is valid? [True, True] Translation: X:67.02, Y:0.19, Z:0.42 [[ 9.98958211e-01 -4.33397044e-02 -1.42885507e-02 6.70239182e+01] [ 4.33410862e-02 9.99060311e-01 -2.13085136e-04 1.92845573e-01] [ 1.42843590e-02 -4.06418163e-04 9.99897891e-01 4.23972424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15925415399998 meters 0.01767374284548654 Centerline is valid? [True, True] Translation: X:67.06, Y:0.20, Z:0.42 [[ 9.98976720e-01 -4.28466328e-02 -1.44802982e-02 6.70560146e+01] [ 4.28480139e-02 9.99081579e-01 -2.14997273e-04 1.96310522e-01] [ 1.44762111e-02 -4.05674750e-04 9.99895132e-01 4.24630896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.18925415399998 meters 0.0188544699948447 Centerline is valid? [True, True] Translation: X:67.09, Y:0.20, Z:0.42 [[ 9.98975230e-01 -4.28224941e-02 -1.46534891e-02 6.70870304e+01] [ 4.28239273e-02 9.99082611e-01 -2.16100147e-04 1.95889273e-01] [ 1.46493001e-02 -4.11641258e-04 9.99892609e-01 4.24302332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21925415399998 meters 0.01772727305042855 Centerline is valid? [True, True] Translation: X:67.12, Y:0.20, Z:0.43 [[ 9.98961744e-01 -4.30487808e-02 -1.49075934e-02 6.71190403e+01] [ 4.30503110e-02 9.99072882e-01 -2.18390434e-04 1.99452095e-01] [ 1.49031738e-02 -4.23612845e-04 9.99888852e-01 4.25176522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.24925415399998 meters 0.019178276966483214 Centerline is valid? [True, True] Translation: X:67.15, Y:0.20, Z:0.42 [[ 9.98878947e-01 -4.46343131e-02 -1.57679129e-02 6.71502111e+01] [ 4.46362388e-02 9.99003280e-01 -2.29959587e-04 1.99404522e-01] [ 1.57624608e-02 -4.74118536e-04 9.99875652e-01 4.24148482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27925415399999 meters 0.019309931598952012 Centerline is valid? [True, True] Translation: X:67.18, Y:0.20, Z:0.42 [[ 9.98813313e-01 -4.57665709e-02 -1.66549473e-02 6.71819636e+01] [ 4.57688922e-02 9.98952026e-01 -2.41959500e-04 2.00609696e-01] [ 1.66485670e-02 -5.20606117e-04 9.99861267e-01 4.23873085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30925415399999 meters 0.019743231570256557 Centerline is valid? [True, True] Translation: X:67.21, Y:0.20, Z:0.42 [[ 9.98730634e-01 -4.71681676e-02 -1.76716033e-02 6.72132459e+01] [ 4.71710143e-02 9.98886795e-01 -2.55938410e-04 2.01106801e-01] [ 1.76640034e-02 -5.77973923e-04 9.99843812e-01 4.23562391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33925415399999 meters 0.02233436018802896 Centerline is valid? [True, True] Translation: X:67.24, Y:0.20, Z:0.42 [[ 9.98597648e-01 -4.98947635e-02 -1.76988535e-02 6.72437448e+01] [ 4.98980594e-02 9.98754283e-01 -2.55607945e-04 1.99019275e-01] [ 1.76895592e-02 -6.27888950e-04 9.99843330e-01 4.22067110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36925415399999 meters 0.020277944921578056 Centerline is valid? [True, True] Translation: X:67.28, Y:0.20, Z:0.42 [[ 9.98528354e-01 -5.11313258e-02 -1.80752062e-02 6.72752796e+01] [ 5.11349788e-02 9.98691717e-01 -2.60319697e-04 2.04140473e-01] [ 1.80648692e-02 -6.64338689e-04 9.99836596e-01 4.23577461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39925415399999 meters 0.02114360733983953 Centerline is valid? [True, True] Translation: X:67.31, Y:0.21, Z:0.42 [[ 9.98440886e-01 -5.27998556e-02 -1.81100080e-02 6.73064512e+01] [ 5.28038126e-02 9.98604872e-01 -2.59945472e-04 2.05364920e-01] [ 1.80984673e-02 -6.96737283e-04 9.99835967e-01 4.23683108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42925415399999 meters 0.022787604503223906 Centerline is valid? [True, True] Translation: X:67.34, Y:0.20, Z:0.42 [[ 9.98399011e-01 -5.36954117e-02 -1.77825326e-02 6.73377627e+01] [ 5.36993859e-02 9.98557115e-01 -2.54274477e-04 2.04456501e-01] [ 1.77705278e-02 -7.01043693e-04 9.99841846e-01 4.23220253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45925415399998 meters 0.022787604503223906 Centerline is valid? [True, True] Translation: X:67.37, Y:0.20, Z:0.42 [[ 9.98402851e-01 -5.36239483e-02 -1.77825490e-02 6.73694747e+01] [ 5.36279317e-02 9.98560955e-01 -2.53118512e-04 2.04846573e-01] [ 1.77705324e-02 -7.00927082e-04 9.99841846e-01 4.23439941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48925415399998 meters 0.022760181683494803 Centerline is valid? [True, True] Translation: X:67.40, Y:0.21, Z:0.42 [[ 9.98318926e-01 -5.50521636e-02 -1.81268197e-02 6.74012639e+01] [ 5.50565683e-02 9.98483204e-01 -2.56333900e-04 2.07809232e-01] [ 1.81134367e-02 -7.42097502e-04 9.99835663e-01 4.24115921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51925415399998 meters 0.02280317571166042 Centerline is valid? [True, True] Translation: X:67.43, Y:0.21, Z:0.42 [[ 9.98304564e-01 -5.53942954e-02 -1.78737302e-02 6.74329274e+01] [ 5.53986676e-02 9.98464283e-01 -2.50801018e-04 2.09290935e-01] [ 1.78601741e-02 -7.39805036e-04 9.99840221e-01 4.24739054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.54925415399998 meters 0.023243845469642834 Centerline is valid? [True, True] Translation: X:67.47, Y:0.21, Z:0.43 [[ 9.98280703e-01 -5.59441722e-02 -1.74896694e-02 6.74650210e+01] [ 5.59484694e-02 9.98433628e-01 -2.43885763e-04 2.10491925e-01] [ 1.74759181e-02 -7.35053783e-04 9.99847014e-01 4.25210212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57925415399998 meters 0.023968426086346285 Centerline is valid? [True, True] Translation: X:67.50, Y:0.21, Z:0.43 [[ 9.98262306e-01 -5.65807648e-02 -1.64616572e-02 6.74964802e+01] [ 5.65846741e-02 9.98397778e-01 -2.28568004e-04 2.12408440e-01] [ 1.64482146e-02 -7.03306687e-04 9.99864472e-01 4.25953811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.60925415399998 meters 0.02297488101630354 Centerline is valid? [True, True] Translation: X:67.53, Y:0.22, Z:0.43 [[ 9.98322211e-01 -5.59842568e-02 -1.47826398e-02 6.75283831e+01] [ 5.59873572e-02 9.98431457e-01 -2.04347048e-04 2.19181977e-01] [ 1.47708928e-02 -6.23636740e-04 9.99890710e-01 4.27371308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63925415399999 meters 0.021986456748655445 Centerline is valid? [True, True] Translation: X:67.56, Y:0.22, Z:0.43 [[ 9.98395198e-01 -5.47403062e-02 -1.45095977e-02 6.75610808e+01] [ 5.47431793e-02 9.98500448e-01 -1.99378968e-04 2.23029127e-01] [ 1.44987538e-02 -5.95242503e-04 9.99894710e-01 4.28044856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66925415399999 meters 0.021095279257028726 Centerline is valid? [True, True] Translation: X:67.59, Y:0.23, Z:0.43 [[ 9.98500197e-01 -5.26849088e-02 -1.48881480e-02 6.75929691e+01] [ 5.26877242e-02 9.98611017e-01 -2.03336896e-04 2.27037535e-01] [ 1.48781814e-02 -5.81390706e-04 9.99889145e-01 4.28109023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69925415399999 meters 0.021095279257028726 Centerline is valid? [True, True] Translation: X:67.62, Y:0.23, Z:0.43 [[ 9.98504095e-01 -5.26109846e-02 -1.48881630e-02 6.76246819e+01] [ 5.26138082e-02 9.98614914e-01 -2.02234046e-04 2.27410260e-01] [ 1.48781814e-02 -5.81391431e-04 9.99889145e-01 4.28328673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72925415399999 meters 0.020501337166444266 Centerline is valid? [True, True] Translation: X:67.66, Y:0.23, Z:0.43 [[ 9.98625914e-01 -5.02143091e-02 -1.49935474e-02 6.76557266e+01] [ 5.02169153e-02 9.98738314e-01 -2.02849907e-04 2.30735580e-01] [ 1.49848163e-02 -5.50358528e-04 9.99887570e-01 4.28247581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75925415399999 meters 0.019357131577928514 Centerline is valid? [True, True] Translation: X:67.69, Y:0.24, Z:0.43 [[ 9.98845435e-01 -4.55267224e-02 -1.53334605e-02 6.76874311e+01] [ 4.55289075e-02 9.98963000e-01 -2.06723693e-04 2.37130081e-01] [ 1.53269711e-02 -4.91630685e-04 9.99882414e-01 4.28202135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78925415399999 meters 0.01853483850004727 Centerline is valid? [True, True] Translation: X:67.72, Y:0.24, Z:0.43 [[ 9.98933749e-01 -4.36052971e-02 -1.51638868e-02 6.77194020e+01] [ 4.36072278e-02 9.99048732e-01 -2.03452582e-04 2.40902342e-01] [ 1.51583335e-02 -4.58019415e-04 9.99885001e-01 4.28408859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81925415399998 meters 0.018399749312914517 Centerline is valid? [True, True] Translation: X:67.75, Y:0.25, Z:0.43 [[ 9.99048881e-01 -4.08475855e-02 -1.52580786e-02 6.77505356e+01] [ 4.08492338e-02 9.99165301e-01 -2.03744890e-04 2.45098098e-01] [ 1.52536652e-02 -4.19729717e-04 9.99883568e-01 4.28093733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84925415399998 meters 0.018121449923194435 Centerline is valid? [True, True] Translation: X:67.78, Y:0.25, Z:0.43 [[ 9.99080152e-01 -3.99249123e-02 -1.56477014e-02 6.77829984e+01] [ 3.99265488e-02 9.99202596e-01 -2.07929123e-04 2.47393318e-01] [ 1.56435254e-02 -4.17020853e-04 9.99877546e-01 4.28045239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87925415399998 meters 0.01849299563543935 Centerline is valid? [True, True] Translation: X:67.81, Y:0.25, Z:0.43 [[ 9.99095217e-01 -3.94804927e-02 -1.58125795e-02 6.78140920e+01] [ 3.94821237e-02 9.99220255e-01 -2.09138021e-04 2.48238408e-01] [ 1.58085065e-02 -4.15365422e-04 9.99874951e-01 4.27162418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90925415399998 meters 0.017890486052608446 Centerline is valid? [True, True] Translation: X:67.85, Y:0.25, Z:0.43 [[ 9.99093576e-01 -3.92870963e-02 -1.63875380e-02 6.78458909e+01] [ 3.92888397e-02 9.99227872e-01 -2.15672970e-04 2.50639468e-01] [ 1.63833579e-02 -4.28369874e-04 9.99865692e-01 4.27197034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93925415399998 meters 0.017978998485030713 Centerline is valid? [True, True] Translation: X:67.88, Y:0.25, Z:0.43 [[ 9.99084134e-01 -3.94641361e-02 -1.65370869e-02 6.78784784e+01] [ 3.94659555e-02 9.99220892e-01 -2.16441451e-04 2.51704582e-01] [ 1.65327444e-02 -4.36408714e-04 9.99863230e-01 4.26654188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.96925415399998 meters 0.018069673645823098 Centerline is valid? [True, True] Translation: X:67.91, Y:0.25, Z:0.43 [[ 9.99047949e-01 -4.01394387e-02 -1.70885973e-02 6.79103150e+01] [ 4.01415017e-02 9.99193980e-01 -2.22404813e-04 2.53710195e-01] [ 1.70837507e-02 -4.63768884e-04 9.99853955e-01 4.26415479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99925415399998 meters 0.018755985045479193 Centerline is valid? [True, True] Translation: X:67.94, Y:0.25, Z:0.43 [[ 9.99030393e-01 -4.05951276e-02 -1.70384545e-02 6.79411773e+01] [ 4.05972626e-02 9.99175567e-01 -2.20703619e-04 2.53739097e-01] [ 1.70333669e-02 -4.71224987e-04 9.99854811e-01 4.25914307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02925415399999 meters 0.019051449371747384 Centerline is valid? [True, True] Translation: X:67.97, Y:0.25, Z:0.43 [[ 9.99005947e-01 -4.10328365e-02 -1.74190802e-02 6.79732575e+01] [ 4.10351541e-02 9.99157678e-01 -2.24503211e-04 2.54543885e-01] [ 1.74136198e-02 -4.90514599e-04 9.99848251e-01 4.25947462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05925415399999 meters 0.018546907880247463 Centerline is valid? [True, True] Translation: X:68.01, Y:0.26, Z:0.43 [[ 9.98970261e-01 -4.17159488e-02 -1.78380579e-02 6.80052812e+01] [ 4.17185113e-02 9.99129378e-01 -2.28601088e-04 2.58472132e-01] [ 1.78320640e-02 -5.15811530e-04 9.99840863e-01 4.27045410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08925415399999 meters 0.018703644898020764 Centerline is valid? [True, True] Translation: X:68.04, Y:0.26, Z:0.43 [[ 9.98964394e-01 -4.18659295e-02 -1.78152566e-02 6.80375107e+01] [ 4.18685323e-02 9.99123103e-01 -2.27015067e-04 2.59347263e-01] [ 1.78091386e-02 -5.19118677e-04 9.99841270e-01 4.27675579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11925415399999 meters 0.018546776084160863 Centerline is valid? [True, True] Translation: X:68.07, Y:0.26, Z:0.43 [[ 9.98961642e-01 -4.20608836e-02 -1.75077281e-02 6.80694763e+01] [ 4.20634495e-02 9.99114917e-01 -2.21827485e-04 2.61145147e-01] [ 1.75015626e-02 -5.14838289e-04 9.99846703e-01 4.28440282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14925415399999 meters 0.018511532207913163 Centerline is valid? [True, True] Translation: X:68.10, Y:0.26, Z:0.43 [[ 9.98969529e-01 -4.19569862e-02 -1.73057959e-02 6.81016928e+01] [ 4.19594995e-02 9.99119289e-01 -2.18004262e-04 2.61994645e-01] [ 1.72997013e-02 -5.08362918e-04 9.99850220e-01 4.29073938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17925415399999 meters 0.018215425925768188 Centerline is valid? [True, True] Translation: X:68.13, Y:0.26, Z:0.43 [[ 9.98983897e-01 -4.18162970e-02 -1.68098408e-02 6.81337819e+01] [ 4.18186691e-02 9.99125195e-01 -2.10527669e-04 2.63458961e-01] [ 1.68039389e-02 -4.92651416e-04 9.99858682e-01 4.30067117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20925415399998 meters 0.019763143821855143 Centerline is valid? [True, True] Translation: X:68.17, Y:0.26, Z:0.43 [[ 9.99033103e-01 -4.09803537e-02 -1.59207413e-02 6.81650096e+01] [ 4.09824017e-02 9.99159849e-01 -1.97729298e-04 2.61060016e-01] [ 1.59154685e-02 -4.54932101e-04 9.99873237e-01 4.29784576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23925415399998 meters 0.017708577373959096 Centerline is valid? [True, True] Translation: X:68.20, Y:0.27, Z:0.43 [[ 9.99144255e-01 -3.85457211e-02 -1.49995200e-02 6.81966011e+01] [ 3.85472820e-02 9.99256760e-01 -1.85138167e-04 2.66255590e-01] [ 1.49955080e-02 -3.93210990e-04 9.99887484e-01 4.31949103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26925415399998 meters 0.01704534590388622 Centerline is valid? [True, True] Translation: X:68.23, Y:0.27, Z:0.43 [[ 9.99236135e-01 -3.61987190e-02 -1.47241312e-02 6.82290641e+01] [ 3.61999806e-02 9.99344550e-01 -1.80913100e-04 2.68725236e-01] [ 1.47210291e-02 -3.52238359e-04 9.99891578e-01 4.32600908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29925415399998 meters 0.01654795771552046 Centerline is valid? [True, True] Translation: X:68.26, Y:0.27, Z:0.43 [[ 9.99330419e-01 -3.35336936e-02 -1.46357451e-02 6.82599739e+01] [ 3.35346681e-02 9.99437539e-01 -1.78894111e-04 2.70919386e-01] [ 1.46335120e-02 -3.12030527e-04 9.99892876e-01 4.33108993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32925415399998 meters 0.015529812771037363 Centerline is valid? [True, True] Translation: X:68.29, Y:0.28, Z:0.43 [[ 9.99517781e-01 -2.73691803e-02 -1.46674455e-02 6.82917763e+01] [ 2.73695073e-02 9.99625369e-01 -1.78477129e-04 2.75968911e-01] [ 1.46668354e-02 -2.23049693e-04 9.99892411e-01 4.32963740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35925415399998 meters 0.015135401355877813 Centerline is valid? [True, True] Translation: X:68.32, Y:0.28, Z:0.43 [[ 9.99594759e-01 -2.43505999e-02 -1.47433090e-02 6.83234255e+01] [ 2.43506118e-02 9.99703464e-01 -1.78737217e-04 2.78341667e-01] [ 1.47432894e-02 -1.80343808e-04 9.99891296e-01 4.32948457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.38925415399999 meters 0.014602239268838024 Centerline is valid? [True, True] Translation: X:68.35, Y:0.28, Z:0.43 [[ 9.99690520e-01 -1.96980771e-02 -1.51937393e-02 6.83534192e+01] [ 1.96975563e-02 9.99805967e-01 -1.83939435e-04 2.81222028e-01] [ 1.51944144e-02 -1.15397025e-04 9.99884552e-01 4.32013828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41925415399999 meters 0.014554008550411815 Centerline is valid? [True, True] Translation: X:68.38, Y:0.28, Z:0.43 [[ 9.99718209e-01 -1.79749415e-02 -1.55049748e-02 6.83824820e+01] [ 1.79741831e-02 9.99838434e-01 -1.88274007e-04 2.82386272e-01] [ 1.55058539e-02 -9.04683019e-05 9.99879773e-01 4.31685358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44925415399999 meters 0.014323006205040205 Centerline is valid? [True, True] Translation: X:68.41, Y:0.28, Z:0.43 [[ 9.99729642e-01 -1.71744078e-02 -1.56742527e-02 6.84111530e+01] [ 1.71734929e-02 9.99852506e-01 -1.92977402e-04 2.83481748e-01] [ 1.56752551e-02 -7.62564390e-05 9.99877133e-01 4.32201298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47925415399999 meters 0.014454860160540633 Centerline is valid? [True, True] Translation: X:68.44, Y:0.28, Z:0.43 [[ 9.99740231e-01 -1.66448019e-02 -1.55698652e-02 6.84396881e+01] [ 1.66437744e-02 9.99861464e-01 -1.95576324e-04 2.84166086e-01] [ 1.55709635e-02 -6.36158039e-05 9.99878763e-01 4.32203284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50925415399999 meters 0.014419227742329328 Centerline is valid? [True, True] Translation: X:68.47, Y:0.28, Z:0.43 [[ 9.99742781e-01 -1.66690363e-02 -1.53790279e-02 6.84680678e+01] [ 1.66679725e-02 9.99861060e-01 -1.97354802e-04 2.84579979e-01] [ 1.53801808e-02 -5.90331740e-05 9.99881716e-01 4.32757720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53925415399999 meters 0.01437600583198342 Centerline is valid? [True, True] Translation: X:68.50, Y:0.28, Z:0.43 [[ 9.99726136e-01 -1.73962440e-02 -1.56532098e-02 6.84963832e+01] [ 1.73951635e-02 9.99848672e-01 -2.05184833e-04 2.84408943e-01] [ 1.56544105e-02 -6.71615036e-05 9.99877460e-01 4.33046179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56925415399998 meters 0.014477668426965754 Centerline is valid? [True, True] Translation: X:68.52, Y:0.28, Z:0.43 [[ 9.99706054e-01 -1.82607140e-02 -1.59484252e-02 6.85238959e+01] [ 1.82596601e-02 9.99833256e-01 -2.11706903e-04 2.83778312e-01] [ 1.59496318e-02 -7.95681507e-05 9.99872793e-01 4.32370792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59925415399998 meters 0.014763198332503105 Centerline is valid? [True, True] Translation: X:68.55, Y:0.28, Z:0.43 [[ 9.99634282e-01 -2.10731403e-02 -1.69477384e-02 6.85528518e+01] [ 2.10723000e-02 9.99777928e-01 -2.28176713e-04 2.81735042e-01] [ 1.69487831e-02 -1.29034563e-04 9.99856351e-01 4.31718373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62925415399998 meters 0.01480570893130054 Centerline is valid? [True, True] Translation: X:68.58, Y:0.28, Z:0.43 [[ 9.99582860e-01 -2.29638406e-02 -1.75148087e-02 6.85814890e+01] [ 2.29631543e-02 9.99736283e-01 -2.40320286e-04 2.80556017e-01] [ 1.75157084e-02 -1.61975215e-04 9.99846575e-01 4.31575333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65925415399998 meters 0.015115475108808195 Centerline is valid? [True, True] Translation: X:68.61, Y:0.28, Z:0.43 [[ 9.99529999e-01 -2.48723038e-02 -1.79206728e-02 6.86101362e+01] [ 2.48718489e-02 9.99690617e-01 -2.48293776e-04 2.79012778e-01] [ 1.79213041e-02 -1.97543188e-04 9.99839381e-01 4.31047083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68925415399998 meters 0.01575054308498285 Centerline is valid? [True, True] Translation: X:68.64, Y:0.28, Z:0.43 [[ 9.99374547e-01 -2.97969243e-02 -1.90435937e-02 6.86392874e+01] [ 2.97972382e-02 9.99555928e-01 -2.67327480e-04 2.75349405e-01] [ 1.90431025e-02 -3.00286220e-04 9.99818619e-01 4.31103559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71925415399998 meters 0.016214890718528097 Centerline is valid? [True, True] Translation: X:68.67, Y:0.27, Z:0.43 [[ 9.99294423e-01 -3.25048112e-02 -1.88173768e-02 6.86691283e+01] [ 3.25055567e-02 9.99471519e-01 -2.66325349e-04 2.73860763e-01] [ 1.88160890e-02 -3.45531873e-04 9.99822902e-01 4.31456972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74925415399998 meters 0.01736590989811024 Centerline is valid? [True, True] Translation: X:68.70, Y:0.27, Z:0.43 [[ 9.99193123e-01 -3.52270233e-02 -1.92914573e-02 6.86989971e+01] [ 3.52283046e-02 9.99379253e-01 -2.73519211e-04 2.70618371e-01] [ 1.92891174e-02 -4.06306819e-04 9.99813865e-01 4.31001636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77925415399999 meters 0.017874153938814554 Centerline is valid? [True, True] Translation: X:68.73, Y:0.27, Z:0.43 [[ 9.99077746e-01 -3.81796281e-02 -1.96462071e-02 6.87299572e+01] [ 3.81815294e-02 9.99270781e-01 -2.78449167e-04 2.69176337e-01] [ 1.96425118e-02 -4.71929868e-04 9.99806956e-01 4.31733176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80925415399999 meters 0.018754605569301867 Centerline is valid? [True, True] Translation: X:68.76, Y:0.27, Z:0.43 [[ 9.98876205e-01 -4.34969664e-02 -1.88239346e-02 6.87612994e+01] [ 4.34996655e-02 9.99053406e-01 -2.66240867e-04 2.65444427e-01] [ 1.88176967e-02 -5.52893192e-04 9.99822779e-01 4.32710028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83925415399999 meters 0.020783080815629868 Centerline is valid? [True, True] Translation: X:68.79, Y:0.26, Z:0.43 [[ 9.98754713e-01 -4.63450628e-02 -1.84704817e-02 6.87914748e+01] [ 4.63481563e-02 9.98925313e-01 -2.60783177e-04 2.60896610e-01] [ 1.84627178e-02 -5.95614348e-04 9.99829372e-01 4.32465712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86925415399999 meters 0.02149385229667027 Centerline is valid? [True, True] Translation: X:68.82, Y:0.26, Z:0.43 [[ 9.98462603e-01 -5.22908406e-02 -1.83874253e-02 6.88225971e+01] [ 5.22949191e-02 9.98631651e-01 -2.59276548e-04 2.58163996e-01] [ 1.83758227e-02 -7.02690982e-04 9.99830903e-01 4.34002960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89925415399999 meters 0.023196294552366475 Centerline is valid? [True, True] Translation: X:68.85, Y:0.26, Z:0.43 [[ 9.98290585e-01 -5.54119170e-02 -1.85856904e-02 6.88529211e+01] [ 5.54166302e-02 9.98463284e-01 -2.61734118e-04 2.55174029e-01] [ 1.85716327e-02 -7.68669627e-04 9.99827237e-01 4.33834950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92925415399998 meters 0.024523679709254304 Centerline is valid? [True, True] Translation: X:68.88, Y:0.25, Z:0.43 [[ 9.98097818e-01 -5.86643421e-02 -1.89536351e-02 6.88843463e+01] [ 5.86698396e-02 9.98277406e-01 -2.66355567e-04 2.53129032e-01] [ 1.89366112e-02 -8.46157820e-04 9.99820328e-01 4.33765940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95925415399998 meters 0.027044681632970767 Centerline is valid? [True, True] Translation: X:68.92, Y:0.25, Z:0.43 [[ 9.97734923e-01 -6.43137779e-02 -1.97170152e-02 6.89152755e+01] [ 6.43208334e-02 9.97929233e-01 -2.76778436e-04 2.48743552e-01] [ 1.96939865e-02 -9.92063336e-04 9.99805562e-01 4.33503155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98925415399998 meters 0.02634637889982334 Centerline is valid? [True, True] Translation: X:68.95, Y:0.25, Z:0.43 [[ 9.97554218e-01 -6.68391993e-02 -2.04475689e-02 6.89467095e+01] [ 6.68473272e-02 9.97763175e-01 -2.86509676e-04 2.50119038e-01] [ 2.04209813e-02 -1.08105639e-03 9.99790886e-01 4.34045181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01925415399998 meters 0.02681763940756687 Centerline is valid? [True, True] Translation: X:68.98, Y:0.25, Z:0.43 [[ 9.97402986e-01 -6.89581782e-02 -2.07858814e-02 6.89792026e+01] [ 6.89670627e-02 9.97618895e-01 -2.89972215e-04 2.49764898e-01] [ 2.07563840e-02 -1.14432203e-03 9.99783908e-01 4.34492725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04925415399998 meters 0.028757669184893305 Centerline is valid? [True, True] Translation: X:69.01, Y:0.25, Z:0.43 [[ 9.97276006e-01 -7.07577543e-02 -2.08304812e-02 6.90101524e+01] [ 7.07670948e-02 9.97492824e-01 -2.89313562e-04 2.47573047e-01] [ 2.07987267e-02 -1.18558716e-03 9.99782980e-01 4.34284701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07925415399998 meters 0.029769406999855655 Centerline is valid? [True, True] Translation: X:69.04, Y:0.25, Z:0.44 [[ 9.97120474e-01 -7.29419369e-02 -2.07420930e-02 6.90411105e+01] [ 7.29516822e-02 9.97335435e-01 -2.87452278e-04 2.46843439e-01] [ 2.07077917e-02 -1.22654603e-03 9.99784818e-01 4.35433038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.10925415399998 meters 0.02985774203785988 Centerline is valid? [True, True] Translation: X:69.07, Y:0.25, Z:0.44 [[ 9.97060258e-01 -7.38582299e-02 -2.03912502e-02 6.90733024e+01] [ 7.38678618e-02 9.97267998e-01 -2.81478833e-04 2.48465876e-01] [ 2.03563308e-02 -1.22560670e-03 9.99792037e-01 4.36146360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13925415399999 meters 0.03180120884254655 Centerline is valid? [True, True] Translation: X:69.10, Y:0.25, Z:0.44 [[ 9.97052155e-01 -7.38630192e-02 -2.07666772e-02 6.91048622e+01] [ 7.38730366e-02 9.97267614e-01 -2.85386918e-04 2.47082940e-01] [ 2.07310142e-02 -1.24955187e-03 9.99784309e-01 4.35791403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16925415399999 meters 0.03202682966109551 Centerline is valid? [True, True] Translation: X:69.14, Y:0.25, Z:0.44 [[ 9.97071577e-01 -7.34868114e-02 -2.11650181e-02 6.91371784e+01] [ 7.34971621e-02 9.97295384e-01 -2.89460933e-04 2.48218570e-01] [ 2.11290464e-02 -1.26695549e-03 9.99775954e-01 4.35522767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19925415399999 meters 0.028642683469527867 Centerline is valid? [True, True] Translation: X:69.17, Y:0.25, Z:0.44 [[ 9.97082371e-01 -7.30525974e-02 -2.21373649e-02 6.91691857e+01] [ 7.30638512e-02 9.97327220e-01 -3.01113540e-04 2.54292048e-01] [ 2.21001937e-02 -1.31720613e-03 9.99754893e-01 4.36391353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22925415399999 meters 0.02994294755068851 Centerline is valid? [True, True] Translation: X:69.20, Y:0.26, Z:0.44 [[ 9.97135751e-01 -7.18446207e-02 -2.36356764e-02 6.92005359e+01] [ 7.18571468e-02 9.97414883e-01 -3.20019907e-04 2.55849467e-01] [ 2.35975671e-02 -1.37928898e-03 9.99720587e-01 4.35275835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25925415399999 meters 0.03133550752175246 Centerline is valid? [True, True] Translation: X:69.23, Y:0.26, Z:0.43 [[ 9.97205768e-01 -7.07172309e-02 -2.40775541e-02 6.92315235e+01] [ 7.07299342e-02 9.97495449e-01 -3.24685220e-04 2.55776760e-01] [ 2.40402115e-02 -1.37922585e-03 9.99710041e-01 4.34625575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28925415399999 meters 0.02808547296794366 Centerline is valid? [True, True] Translation: X:69.26, Y:0.26, Z:0.44 [[ 9.97362506e-01 -6.81167583e-02 -2.50626889e-02 6.92628980e+01] [ 6.81297308e-02 9.97676414e-01 -3.36917254e-04 2.64381047e-01] [ 2.50274033e-02 -1.37148561e-03 9.99685825e-01 4.36100604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31925415399998 meters 0.028770037491823875 Centerline is valid? [True, True] Translation: X:69.29, Y:0.27, Z:0.44 [[ 9.97492168e-01 -6.63191106e-02 -2.47214388e-02 6.92929454e+01] [ 6.63312264e-02 9.97797604e-01 -3.30514205e-04 2.65853831e-01] [ 2.46889118e-02 -1.31011802e-03 9.99694324e-01 4.36327838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34925415399998 meters 0.02857068866250145 Centerline is valid? [True, True] Translation: X:69.32, Y:0.27, Z:0.44 [[ 9.97625460e-01 -6.43359456e-02 -2.45830626e-02 6.93230000e+01] [ 6.43473483e-02 9.97927508e-01 -3.27742546e-04 2.68477250e-01] [ 2.45532000e-02 -1.25489058e-03 9.99697737e-01 4.36796562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37925415399998 meters 0.02857068866250145 Centerline is valid? [True, True] Translation: X:69.35, Y:0.27, Z:0.44 [[ 9.97629987e-01 -6.42657105e-02 -2.45830808e-02 6.93547347e+01] [ 6.42771255e-02 9.97932034e-01 -3.26376217e-04 2.68835678e-01] [ 2.45532186e-02 -1.25452707e-03 9.99697737e-01 4.37016462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40925415399998 meters 0.025646673860240856 Centerline is valid? [True, True] Translation: X:69.39, Y:0.28, Z:0.44 [[ 9.97918765e-01 -5.98427537e-02 -2.40204648e-02 6.93855238e+01] [ 5.98523948e-02 9.98207188e-01 -3.18020438e-04 2.77754629e-01] [ 2.39964318e-02 -1.12032378e-03 9.99711416e-01 4.39103046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43925415399998 meters 0.02311391182878105 Centerline is valid? [True, True] Translation: X:69.42, Y:0.28, Z:0.44 [[ 9.98089608e-01 -5.69940031e-02 -2.38499092e-02 6.94170604e+01] [ 5.70027222e-02 9.98373973e-01 -3.14661144e-04 2.84111168e-01] [ 2.38290624e-02 -1.04544973e-03 9.99715501e-01 4.40975114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46925415399998 meters 0.021396722031006392 Centerline is valid? [True, True] Translation: X:69.45, Y:0.29, Z:0.44 [[ 9.98450367e-01 -5.07055171e-02 -2.29306711e-02 6.94463893e+01] [ 5.07119241e-02 9.98713277e-01 -3.02386672e-04 2.92153066e-01] [ 2.29164984e-02 -8.60940371e-04 9.99737012e-01 4.42586984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49925415399998 meters 0.019654983830017587 Centerline is valid? [True, True] Translation: X:69.48, Y:0.30, Z:0.44 [[ 9.98637231e-01 -4.70093153e-02 -2.26672694e-02 6.94778649e+01] [ 4.70146359e-02 9.98894156e-01 -2.98424652e-04 2.97792326e-01] [ 2.26562317e-02 -7.67675449e-04 9.99743020e-01 4.43905975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52925415399999 meters 0.020436903206705243 Centerline is valid? [True, True] Translation: X:69.51, Y:0.30, Z:0.44 [[ 9.98836334e-01 -4.28706934e-02 -2.20925757e-02 6.95084763e+01] [ 4.28747540e-02 9.99080413e-01 -2.90050989e-04 2.99263950e-01] [ 2.20846943e-02 -6.57500282e-04 9.99755887e-01 4.42478238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55925415399999 meters 0.01913260673197067 Centerline is valid? [True, True] Translation: X:69.54, Y:0.30, Z:0.44 [[ 9.98993664e-01 -3.88296097e-02 -2.24481939e-02 6.95386742e+01] [ 3.88327885e-02 9.99245679e-01 -2.94461181e-04 3.04679197e-01] [ 2.24426946e-02 -5.77561112e-04 9.99747964e-01 4.42801851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58925415399999 meters 0.015785054848798004 Centerline is valid? [True, True] Translation: X:69.57, Y:0.32, Z:0.45 [[ 9.99283313e-01 -3.02211459e-02 -2.27934708e-02 6.95688393e+01] [ 3.02221845e-02 9.99543161e-01 -2.98990304e-04 3.16950257e-01] [ 2.27920937e-02 -3.90092459e-04 9.99740150e-01 4.45034105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61925415399999 meters 0.015150212514975647 Centerline is valid? [True, True] Translation: X:69.60, Y:0.32, Z:0.45 [[ 9.99401387e-01 -2.60904035e-02 -2.27191046e-02 6.95987162e+01] [ 2.60903552e-02 9.99659544e-01 -2.98590525e-04 3.21421437e-01] [ 2.27191601e-02 -2.94337723e-04 9.99741843e-01 4.45204474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64925415399999 meters 0.014602583784532663 Centerline is valid? [True, True] Translation: X:69.63, Y:0.33, Z:0.45 [[ 9.99548829e-01 -1.96399411e-02 -2.27246697e-02 6.96262284e+01] [ 1.96381877e-02 9.99807107e-01 -3.00342532e-04 3.28395737e-01] [ 2.27261850e-02 -1.46064303e-04 9.99741716e-01 4.45774401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67925415399998 meters 0.014506194479480417 Centerline is valid? [True, True] Translation: X:69.65, Y:0.33, Z:0.45 [[ 9.99604428e-01 -1.71640071e-02 -2.22796838e-02 6.96541667e+01] [ 1.71616626e-02 9.99852684e-01 -2.96442953e-04 3.31410007e-01] [ 2.22814898e-02 -8.60307284e-05 9.99751733e-01 4.45972534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70925415399998 meters 0.014441883765196733 Centerline is valid? [True, True] Translation: X:69.68, Y:0.33, Z:0.45 [[ 9.99646266e-01 -1.52274278e-02 -2.18052442e-02 6.96825287e+01] [ 1.52246277e-02 9.99884055e-01 -2.94425022e-04 3.33922438e-01] [ 2.18071993e-02 -3.76558516e-05 9.99762194e-01 4.46411397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73925415399998 meters 0.014469272053517562 Centerline is valid? [True, True] Translation: X:69.71, Y:0.34, Z:0.45 [[ 9.99701610e-01 -1.27707768e-02 -2.08230202e-02 6.97114848e+01] [ 1.27675819e-02 9.99918450e-01 -2.86373690e-04 3.37293404e-01] [ 2.08249793e-02 2.04286238e-05 9.99783136e-01 4.47751920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76925415399998 meters 0.014644151129085172 Centerline is valid? [True, True] Translation: X:69.74, Y:0.34, Z:0.45 [[ 9.99705540e-01 -1.21971540e-02 -2.09776683e-02 6.97385677e+01] [ 1.21937100e-02 9.99925611e-01 -2.92078834e-04 3.38941241e-01] [ 2.09796704e-02 3.61972236e-05 9.99779902e-01 4.46472651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79925415399998 meters 0.014549043076507184 Centerline is valid? [True, True] Translation: X:69.77, Y:0.34, Z:0.45 [[ 9.99692847e-01 -1.29209784e-02 -2.11485124e-02 6.97660486e+01] [ 1.29175350e-02 9.99916520e-01 -2.99424697e-04 3.39152997e-01] [ 2.11506158e-02 2.61460774e-05 9.99776300e-01 4.47195992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82925415399998 meters 0.014709518004400231 Centerline is valid? [True, True] Translation: X:69.79, Y:0.34, Z:0.45 [[ 9.99670225e-01 -1.43985390e-02 -2.12631779e-02 6.97929510e+01] [ 1.43952881e-02 9.99896336e-01 -3.05953124e-04 3.38683345e-01] [ 2.12653789e-02 -2.37342599e-07 9.99773866e-01 4.45810731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85925415399998 meters 0.014510898248158514 Centerline is valid? [True, True] Translation: X:69.82, Y:0.34, Z:0.45 [[ 9.99635491e-01 -1.63825328e-02 -2.14591992e-02 6.98207360e+01] [ 1.63795583e-02 9.99865797e-01 -3.14383258e-04 3.37846943e-01] [ 2.14614697e-02 -3.72235429e-05 9.99769675e-01 4.46728964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88925415399999 meters 0.014553216387139183 Centerline is valid? [True, True] Translation: X:69.85, Y:0.34, Z:0.45 [[ 9.99591473e-01 -1.86912903e-02 -2.16222581e-02 6.98485522e+01] [ 1.86886751e-02 9.99825299e-01 -3.23028712e-04 3.36594458e-01] [ 2.16245185e-02 -8.11946102e-05 9.99766159e-01 4.46469928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91925415399999 meters 0.015056762589576379 Centerline is valid? [True, True] Translation: X:69.88, Y:0.33, Z:0.45 [[ 9.99463499e-01 -2.47534409e-02 -2.14471591e-02 6.98776008e+01] [ 2.47521980e-02 9.99693565e-01 -3.23452462e-04 3.32853489e-01] [ 2.14485935e-02 -2.07585399e-04 9.99769931e-01 4.46641331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94925415399999 meters 0.01530322898815307 Centerline is valid? [True, True] Translation: X:69.91, Y:0.33, Z:0.45 [[ 9.99370947e-01 -2.84855856e-02 -2.11253574e-02 6.99062969e+01] [ 2.84851257e-02 9.99594164e-01 -3.22741391e-04 3.30512488e-01] [ 2.11259775e-02 -2.79220093e-04 9.99776783e-01 4.46724109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97925415399999 meters 0.01642912151439709 Centerline is valid? [True, True] Translation: X:69.93, Y:0.33, Z:0.45 [[ 9.99256538e-01 -3.23692962e-02 -2.09428011e-02 6.99349736e+01] [ 3.23696439e-02 9.99475914e-01 -3.22480777e-04 3.26534255e-01] [ 2.09422638e-02 -3.55669990e-04 9.99780623e-01 4.45687736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00925415399999 meters 0.01984073712835644 Centerline is valid? [True, True] Translation: X:69.97, Y:0.32, Z:0.44 [[ 9.99004402e-01 -4.00448779e-02 -1.96624411e-02 6.99652570e+01] [ 4.00466783e-02 9.99197764e-01 -3.02327908e-04 3.17486224e-01] [ 1.96587739e-02 -4.85388543e-04 9.99806630e-01 4.44749200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03925415399999 meters 0.018377126906252296 Centerline is valid? [True, True] Translation: X:70.00, Y:0.32, Z:0.45 [[ 9.98874617e-01 -4.34443255e-02 -1.90286872e-02 6.99969439e+01] [ 4.34466485e-02 9.99055706e-01 -2.91501230e-04 3.19330010e-01] [ 1.90233826e-02 -5.35559503e-04 9.99818896e-01 4.47557828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06925415399998 meters 0.018667261380347303 Centerline is valid? [True, True] Translation: X:70.03, Y:0.32, Z:0.45 [[ 9.98748615e-01 -4.66246289e-02 -1.80927454e-02 7.00287438e+01] [ 4.66272681e-02 9.98912319e-01 -2.76173791e-04 3.17966488e-01] [ 1.80859428e-02 -5.67787100e-04 9.99836275e-01 4.48398784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09925415399998 meters 0.020670981913018326 Centerline is valid? [True, True] Translation: X:70.06, Y:0.31, Z:0.45 [[ 9.98540337e-01 -5.14000598e-02 -1.65900598e-02 7.00585299e+01] [ 5.14029427e-02 9.98677963e-01 -2.52879060e-04 3.11874979e-01] [ 1.65811251e-02 -6.00267951e-04 9.99862344e-01 4.48274982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12925415399998 meters 0.021350697942412386 Centerline is valid? [True, True] Translation: X:70.09, Y:0.31, Z:0.45 [[ 9.98455073e-01 -5.32122173e-02 -1.59977114e-02 7.00907636e+01] [ 5.32151408e-02 9.98583041e-01 -2.43185660e-04 3.09985955e-01] [ 1.59879837e-02 -6.08510508e-04 9.99871999e-01 4.48639544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15925415399998 meters 0.023983307437668053 Centerline is valid? [True, True] Translation: X:70.12, Y:0.31, Z:0.45 [[ 9.98319268e-01 -5.59148242e-02 -1.52371635e-02 7.01220183e+01] [ 5.59178048e-02 9.98435349e-01 -2.30687007e-04 3.05046721e-01] [ 1.52262215e-02 -6.21729453e-04 9.99883881e-01 4.48299788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18925415399998 meters 0.02491241379167711 Centerline is valid? [True, True] Translation: X:70.15, Y:0.30, Z:0.45 [[ 9.98284335e-01 -5.66662273e-02 -1.47419530e-02 7.01532925e+01] [ 5.66691185e-02 9.98392990e-01 -2.21866755e-04 3.03222540e-01] [ 1.47308348e-02 -6.13927374e-04 9.99891307e-01 4.48185587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21925415399998 meters 0.02423517978816911 Centerline is valid? [True, True] Translation: X:70.18, Y:0.30, Z:0.45 [[ 9.98236832e-01 -5.75279746e-02 -1.46204852e-02 7.01849342e+01] [ 5.75309289e-02 9.98343701e-01 -2.18783961e-04 3.04399875e-01] [ 1.46088555e-02 -6.22731887e-04 9.99893091e-01 4.48536088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.24925415399998 meters 0.023092999914888213 Centerline is valid? [True, True] Translation: X:70.22, Y:0.31, Z:0.45 [[ 9.98135185e-01 -5.93110215e-02 -1.44345026e-02 7.02168135e+01] [ 5.93141005e-02 9.98239346e-01 -2.15078024e-04 3.05887349e-01] [ 1.44218449e-02 -6.41492596e-04 9.99895794e-01 4.48747165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27925415399999 meters 0.023942274296619763 Centerline is valid? [True, True] Translation: X:70.25, Y:0.30, Z:0.45 [[ 9.98072724e-01 -6.02907658e-02 -1.46922203e-02 7.02476509e+01] [ 6.02940840e-02 9.98180633e-01 -2.17399934e-04 3.04594349e-01] [ 1.46785970e-02 -6.68873022e-04 9.99892040e-01 4.48408820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30925415399999 meters 0.024399223667575638 Centerline is valid? [True, True] Translation: X:70.28, Y:0.30, Z:0.45 [[ 9.97991373e-01 -6.16262682e-02 -1.46772632e-02 7.02796082e+01] [ 6.16297451e-02 9.98099057e-01 -2.15720463e-04 3.04072601e-01] [ 1.46626566e-02 -6.89268830e-04 9.99892260e-01 4.48053439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33925415399999 meters 0.025585872408428856 Centerline is valid? [True, True] Translation: X:70.31, Y:0.30, Z:0.45 [[ 9.97750924e-01 -6.51195332e-02 -1.58915153e-02 7.03108939e+01] [ 6.51240653e-02 9.97877148e-01 -2.32686597e-04 3.02693980e-01] [ 1.58729324e-02 -8.02756815e-04 9.99873695e-01 4.46934744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36925415399999 meters 0.026831068290052624 Centerline is valid? [True, True] Translation: X:70.34, Y:0.30, Z:0.45 [[ 9.97604230e-01 -6.71174420e-02 -1.67645294e-02 7.03432869e+01] [ 6.71227837e-02 9.97744693e-01 -2.44483280e-04 3.01616054e-01] [ 1.67431293e-02 -8.81384327e-04 9.99859436e-01 4.46469959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39925415399999 meters 0.02784446519359047 Centerline is valid? [True, True] Translation: X:70.37, Y:0.30, Z:0.45 [[ 9.97477933e-01 -6.87687650e-02 -1.75678847e-02 7.03748541e+01] [ 6.87749059e-02 9.97632170e-01 -2.55086507e-04 3.00335897e-01] [ 1.75438289e-02 -9.53786457e-04 9.99845640e-01 4.45705288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42925415399998 meters 0.0296194458106326 Centerline is valid? [True, True] Translation: X:70.41, Y:0.30, Z:0.44 [[ 9.97354276e-01 -7.04732379e-02 -1.78317266e-02 7.04057974e+01] [ 7.04798536e-02 9.97513170e-01 -2.57939357e-04 2.98293881e-01] [ 1.78055600e-02 -9.99520561e-04 9.99840969e-01 4.44848018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45925415399998 meters 0.030341563455041437 Centerline is valid? [True, True] Translation: X:70.44, Y:0.30, Z:0.44 [[ 9.97228887e-01 -7.21245621e-02 -1.82371877e-02 7.04375900e+01] [ 7.21317756e-02 9.97395076e-01 -2.62808725e-04 2.98340938e-01] [ 1.82086362e-02 -1.05340028e-03 9.99833654e-01 4.43966035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48925415399998 meters 0.030923576516787815 Centerline is valid? [True, True] Translation: X:70.47, Y:0.30, Z:0.44 [[ 9.97271859e-01 -7.16018773e-02 -1.79446700e-02 7.04688471e+01] [ 7.16088115e-02 9.97432761e-01 -2.56658749e-04 2.99885810e-01] [ 1.79169790e-02 -1.02903795e-03 9.99838949e-01 4.44491312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51925415399998 meters 0.029971941217055747 Centerline is valid? [True, True] Translation: X:70.50, Y:0.30, Z:0.45 [[ 9.97365023e-01 -7.03435112e-02 -1.77426342e-02 7.05013558e+01] [ 7.03501259e-02 9.97522329e-01 -2.51832003e-04 3.03421766e-01] [ 1.77163885e-02 -9.97028118e-04 9.99842555e-01 4.45331147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54925415399998 meters 0.02721566958577833 Centerline is valid? [True, True] Translation: X:70.53, Y:0.31, Z:0.45 [[ 9.97490653e-01 -6.86211701e-02 -1.74221530e-02 7.05325262e+01] [ 6.86273033e-02 9.97642337e-01 -2.46290856e-04 3.09908348e-01] [ 1.73979782e-02 -9.49962553e-04 9.99848192e-01 4.46919806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57925415399998 meters 0.02534549810588457 Centerline is valid? [True, True] Translation: X:70.56, Y:0.32, Z:0.45 [[ 9.97761711e-01 -6.48599481e-02 -1.62713262e-02 7.05635159e+01] [ 6.48648054e-02 9.97894035e-01 -2.29611567e-04 3.17155504e-01] [ 1.62519519e-02 -8.26338775e-04 9.99867587e-01 4.48700719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.60925415399998 meters 0.025432426656670025 Centerline is valid? [True, True] Translation: X:70.59, Y:0.32, Z:0.45 [[ 9.97873810e-01 -6.32072028e-02 -1.58967950e-02 7.05936815e+01] [ 6.32116344e-02 9.98000120e-01 -2.24038073e-04 3.19134393e-01] [ 1.58791641e-02 -7.81300667e-04 9.99873613e-01 4.48724179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63925415399999 meters 0.02597017962334171 Centerline is valid? [True, True] Translation: X:70.62, Y:0.32, Z:0.45 [[ 9.98075093e-01 -6.00645592e-02 -1.54388012e-02 7.06244931e+01] [ 6.00683705e-02 9.98194241e-01 -2.17151804e-04 3.21496925e-01] [ 1.54239656e-02 -7.10649823e-04 9.99880791e-01 4.48458449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66925415399999 meters 0.02338634656045578 Centerline is valid? [True, True] Translation: X:70.66, Y:0.33, Z:0.45 [[ 9.98148159e-01 -5.87513149e-02 -1.57650298e-02 7.06562048e+01] [ 5.87551398e-02 9.98272400e-01 -2.20836303e-04 3.26684500e-01] [ 1.57507686e-02 -7.05849182e-04 9.99875700e-01 4.49251461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69925415399999 meters 0.022487274850944376 Centerline is valid? [True, True] Translation: X:70.69, Y:0.33, Z:0.45 [[ 9.98231395e-01 -5.72583637e-02 -1.59863279e-02 7.06879926e+01] [ 5.72621246e-02 9.98359154e-01 -2.22751589e-04 3.29538525e-01] [ 1.59728511e-02 -6.93053468e-04 9.99872186e-01 4.49661437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72925415399999 meters 0.021888877438827153 Centerline is valid? [True, True] Translation: X:70.72, Y:0.33, Z:0.45 [[ 9.98432431e-01 -5.37540428e-02 -1.55943140e-02 7.07188449e+01] [ 5.37572075e-02 9.98554012e-01 -2.16470465e-04 3.33463332e-01] [ 1.55834010e-02 -6.22175642e-04 9.99878378e-01 4.49753341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75925415399999 meters 0.021032774691046814 Centerline is valid? [True, True] Translation: X:70.75, Y:0.34, Z:0.45 [[ 9.98546573e-01 -5.15878061e-02 -1.56025492e-02 7.07508357e+01] [ 5.15907239e-02 9.98668289e-01 -2.15695791e-04 3.36805052e-01] [ 1.55928983e-02 -5.89564514e-04 9.99878250e-01 4.50212826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78925415399999 meters 0.020857478106882845 Centerline is valid? [True, True] Translation: X:70.78, Y:0.34, Z:0.45 [[ 9.98675301e-01 -4.91410499e-02 -1.52577769e-02 7.07814945e+01] [ 4.91435672e-02 9.98791703e-01 -2.10131156e-04 3.39249359e-01] [ 1.52496670e-02 -5.39968788e-04 9.99883571e-01 4.50337299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81925415399998 meters 0.018798123152169124 Centerline is valid? [True, True] Translation: X:70.81, Y:0.34, Z:0.45 [[ 9.98824260e-01 -4.61248026e-02 -1.49197965e-02 7.08133672e+01] [ 4.61268837e-02 9.98935568e-01 -2.04785343e-04 3.44950873e-01] [ 1.49133611e-02 -4.83659152e-04 9.99888673e-01 4.51045183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84925415399998 meters 0.017518108456359205 Centerline is valid? [True, True] Translation: X:70.84, Y:0.35, Z:0.45 [[ 9.99141401e-01 -3.88401894e-02 -1.44187611e-02 7.08432305e+01] [ 3.88413803e-02 9.99245369e-01 -1.97535785e-04 3.51256563e-01] [ 1.44155525e-02 -3.62678401e-04 9.99896025e-01 4.51351221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87925415399998 meters 0.016084725299018172 Centerline is valid? [True, True] Translation: X:70.87, Y:0.36, Z:0.45 [[ 9.99312989e-01 -3.44615336e-02 -1.36364491e-02 7.08745552e+01] [ 3.44621947e-02 9.99405985e-01 -1.86573092e-04 3.56934623e-01] [ 1.36347785e-02 -2.83497051e-04 9.99907002e-01 4.52171494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90925415399998 meters 0.015205986429001625 Centerline is valid? [True, True] Translation: X:70.91, Y:0.36, Z:0.45 [[ 9.99471046e-01 -2.97904328e-02 -1.30444521e-02 7.09058787e+01] [ 2.97906460e-02 9.99556144e-01 -1.78008061e-04 3.62074581e-01] [ 1.30439652e-02 -2.10688754e-04 9.99914902e-01 4.52678537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93925415399998 meters 0.013875986619675203 Centerline is valid? [True, True] Translation: X:70.94, Y:0.37, Z:0.45 [[ 9.99723203e-01 -1.94619624e-02 -1.32192454e-02 7.09364646e+01] [ 1.94612848e-02 9.99810595e-01 -1.79909343e-04 3.72381867e-01] [ 1.32202430e-02 -7.74039548e-05 9.99912606e-01 4.53632928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96925415399998 meters 0.01375153731831387 Centerline is valid? [True, True] Translation: X:70.97, Y:0.38, Z:0.45 [[ 9.99814971e-01 -1.42556927e-02 -1.29150807e-02 7.09680239e+01] [ 1.42546175e-02 9.99898382e-01 -1.75312389e-04 3.77693341e-01] [ 1.29162675e-02 -8.81958288e-06 9.99916581e-01 4.53938287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99925415399998 meters 0.013895566032593405 Centerline is valid? [True, True] Translation: X:71.00, Y:0.38, Z:0.45 [[ 9.99870512e-01 -9.51741407e-03 -1.29760248e-02 7.09976973e+01] [ 9.51592993e-03 9.99954707e-01 -1.76114598e-04 3.82540404e-01] [ 1.29771133e-02 5.26128503e-05 9.99915792e-01 4.54733915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02925415399999 meters 0.014833356457258242 Centerline is valid? [True, True] Translation: X:71.03, Y:0.39, Z:0.45 [[ 9.99910045e-01 -1.97151951e-03 -1.32670448e-02 7.10250484e+01] [ 1.96929278e-03 9.99998045e-01 -1.80900757e-04 3.90518249e-01] [ 1.32673755e-02 1.54757788e-04 9.99911973e-01 4.53102342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05925415399999 meters 0.015174516634820886 Centerline is valid? [True, True] Translation: X:71.05, Y:0.39, Z:0.45 [[ 9.99904487e-01 -4.40825903e-06 -1.38208681e-02 7.10534935e+01] [ 1.77154957e-06 9.99999982e-01 -1.90789651e-04 3.93375390e-01] [ 1.38208687e-02 1.90746943e-04 9.99904469e-01 4.52472870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08925415399999 meters 0.015324945089871471 Centerline is valid? [True, True] Translation: X:71.08, Y:0.40, Z:0.45 [[ 9.99903560e-01 1.34799050e-03 -1.38222030e-02 7.10817184e+01] [-1.35079286e-03 9.99999069e-01 -1.93409497e-04 3.95861128e-01] [ 1.38219294e-02 2.12061777e-04 9.99904450e-01 4.51894611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11925415399999 meters 0.015148243280205843 Centerline is valid? [True, True] Translation: X:71.11, Y:0.40, Z:0.45 [[ 9.99901519e-01 5.01147977e-05 -1.40339155e-02 7.11104695e+01] [-5.28960208e-05 9.99999979e-01 -1.97807576e-04 3.95865588e-01] [ 1.40339053e-02 1.98530434e-04 9.99901500e-01 4.51990962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14925415399999 meters 0.014656661406965968 Centerline is valid? [True, True] Translation: X:71.14, Y:0.40, Z:0.45 [[ 9.99900008e-01 -2.42375022e-03 -1.39319630e-02 7.11395047e+01] [ 2.42123555e-03 9.99997049e-01 -1.97360862e-04 3.95077656e-01] [ 1.39324002e-02 1.63608564e-04 9.99902926e-01 4.52130626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17925415399998 meters 0.014092432997160675 Centerline is valid? [True, True] Translation: X:71.17, Y:0.39, Z:0.45 [[ 9.99858084e-01 -1.03073815e-02 -1.33255344e-02 7.11673377e+01] [ 1.03057673e-02 9.99946876e-01 -1.89802897e-04 3.91268397e-01] [ 1.33267828e-02 5.24461051e-05 9.99911193e-01 4.51796236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20925415399998 meters 0.013810612130666245 Centerline is valid? [True, True] Translation: X:71.20, Y:0.39, Z:0.45 [[ 9.99801544e-01 -1.50066118e-02 -1.31024561e-02 7.11966059e+01] [ 1.50054412e-02 9.99887394e-01 -1.87651383e-04 3.88213635e-01] [ 1.31037967e-02 -8.99399304e-06 9.99914142e-01 4.52142817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23925415399998 meters 0.014620522614286379 Centerline is valid? [True, True] Translation: X:71.23, Y:0.38, Z:0.45 [[ 9.99608408e-01 -2.51849280e-02 -1.21962902e-02 7.12257523e+01] [ 2.51846634e-02 9.99682801e-01 -1.75305880e-04 3.80942946e-01] [ 1.21968366e-02 -1.31922232e-04 9.99925607e-01 4.53343964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26925415399998 meters 0.014620522614286379 Centerline is valid? [True, True] Translation: X:71.26, Y:0.38, Z:0.45 [[ 9.99610160e-01 -2.51153206e-02 -1.21962920e-02 7.12574484e+01] [ 2.51150523e-02 9.99684552e-01 -1.75178908e-04 3.81334997e-01] [ 1.21968444e-02 -1.31199896e-04 9.99925607e-01 4.53563724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29925415399998 meters 0.015591736040775713 Centerline is valid? [True, True] Translation: X:71.29, Y:0.38, Z:0.45 [[ 9.99506879e-01 -2.94562000e-02 -1.08780057e-02 7.12898664e+01] [ 2.94562512e-02 9.99566058e-01 -1.55538616e-04 3.78206770e-01] [ 1.08778669e-02 -1.64963352e-04 9.99940821e-01 4.54475821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32925415399998 meters 0.01777291037725765 Centerline is valid? [True, True] Translation: X:71.32, Y:0.37, Z:0.46 [[ 9.99250034e-01 -3.76401461e-02 -9.08779730e-03 7.13211213e+01] [ 3.76405241e-02 9.99291336e-01 -1.29500571e-04 3.71870400e-01] [ 9.08623152e-03 -2.12666003e-04 9.99958697e-01 4.55878170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35925415399998 meters 0.018099371445582015 Centerline is valid? [True, True] Translation: X:71.35, Y:0.37, Z:0.46 [[ 9.99131325e-01 -4.07952192e-02 -8.50557669e-03 7.13528500e+01] [ 4.07956662e-02 9.99167503e-01 -1.21004913e-04 3.70051349e-01] [ 8.50343224e-03 -2.26090868e-04 9.99963820e-01 4.56449873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38925415399999 meters 0.01899454147735588 Centerline is valid? [True, True] Translation: X:71.38, Y:0.37, Z:0.46 [[ 9.98925482e-01 -4.55783121e-02 -8.39634162e-03 7.13841673e+01] [ 4.55789201e-02 9.98960734e-01 -1.19026446e-04 3.66550609e-01] [ 8.39304062e-03 -2.63797634e-04 9.99964743e-01 4.56675162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41925415399999 meters 0.019820830153181757 Centerline is valid? [True, True] Translation: X:71.42, Y:0.36, Z:0.46 [[ 9.98880076e-01 -4.66010665e-02 -8.18130063e-03 7.14157909e+01] [ 4.66016814e-02 9.98913545e-01 -1.15558291e-04 3.64367441e-01] [ 8.17779715e-03 -2.65833491e-04 9.99966526e-01 4.56817291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44925415399999 meters 0.0198450412721146 Centerline is valid? [True, True] Translation: X:71.45, Y:0.36, Z:0.46 [[ 9.98842368e-01 -4.73573045e-02 -8.43859460e-03 7.14481511e+01] [ 4.73579949e-02 9.98877974e-01 -1.18100271e-04 3.63825905e-01] [ 8.43471918e-03 -2.81671366e-04 9.99964387e-01 4.56890111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47925415399999 meters 0.024017729786962917 Centerline is valid? [True, True] Translation: X:71.48, Y:0.36, Z:0.46 [[ 9.98815241e-01 -4.78694325e-02 -8.75396811e-03 7.14789770e+01] [ 4.78702003e-02 9.98853557e-01 -1.21921927e-04 3.56564109e-01] [ 8.74976852e-03 -2.97276728e-04 9.99961676e-01 4.56107359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50925415399999 meters 0.020539646424407688 Centerline is valid? [True, True] Translation: X:71.51, Y:0.36, Z:0.46 [[ 9.98838714e-01 -4.72171850e-02 -9.57915300e-03 7.15111492e+01] [ 4.72180789e-02 9.98884596e-01 -1.32948673e-04 3.60127215e-01] [ 9.57474583e-03 -3.19514920e-04 9.99954110e-01 4.55316862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53925415399999 meters 0.019995665529487717 Centerline is valid? [True, True] Translation: X:71.54, Y:0.36, Z:0.46 [[ 9.98883581e-01 -4.61674177e-02 -1.00080465e-02 7.15437298e+01] [ 4.61683482e-02 9.98933664e-01 -1.38161587e-04 3.60772924e-01] [ 1.00037531e-02 -3.24047636e-04 9.99949909e-01 4.55145876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56925415399998 meters 0.01980610158186457 Centerline is valid? [True, True] Translation: X:71.57, Y:0.36, Z:0.45 [[ 9.98955890e-01 -4.45064763e-02 -1.03103470e-02 7.15747851e+01] [ 4.45073826e-02 9.99009045e-01 -1.41639495e-04 3.60893679e-01] [ 1.03064338e-02 -3.17394953e-04 9.99946837e-01 4.54912432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59925415399998 meters 0.018090555076391585 Centerline is valid? [True, True] Translation: X:71.61, Y:0.36, Z:0.45 [[ 9.99166070e-01 -3.92193337e-02 -1.13581964e-02 7.16058619e+01] [ 3.92200987e-02 9.99230584e-01 -1.55467532e-04 3.63966431e-01] [ 1.13555546e-02 -2.90131701e-04 9.99935482e-01 4.54694027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62925415399998 meters 0.017581993333016646 Centerline is valid? [True, True] Translation: X:71.64, Y:0.37, Z:0.45 [[ 9.99274990e-01 -3.61408588e-02 -1.19721355e-02 7.16369818e+01] [ 3.61414942e-02 9.99346669e-01 -1.63345366e-04 3.65721891e-01] [ 1.19702172e-02 -2.69463927e-04 9.99928318e-01 4.54019159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65925415399998 meters 0.015476577075763682 Centerline is valid? [True, True] Translation: X:71.67, Y:0.37, Z:0.45 [[ 9.99466733e-01 -3.00091464e-02 -1.28724966e-02 7.16683187e+01] [ 3.00093804e-02 9.99549602e-01 -1.75019962e-04 3.70993926e-01] [ 1.28719510e-02 -2.11369017e-04 9.99917131e-01 4.53430107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68925415399998 meters 0.015152120670490862 Centerline is valid? [True, True] Translation: X:71.70, Y:0.37, Z:0.45 [[ 9.99537554e-01 -2.72141821e-02 -1.35670904e-02 7.16992041e+01] [ 2.72141931e-02 9.99629608e-01 -1.83838263e-04 3.72427483e-01] [ 1.35670683e-02 -1.85464172e-04 9.99907946e-01 4.53047693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71925415399998 meters 0.014844377575650053 Centerline is valid? [True, True] Translation: X:71.73, Y:0.37, Z:0.45 [[ 9.99594778e-01 -2.48506468e-02 -1.38825298e-02 7.17300712e+01] [ 2.48504409e-02 9.99691163e-01 -1.87360315e-04 3.74010917e-01] [ 1.38828983e-02 -1.57702594e-04 9.99903615e-01 4.52780271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.74925415399998 meters 0.014621486318783768 Centerline is valid? [True, True] Translation: X:71.76, Y:0.38, Z:0.45 [[ 9.99641791e-01 -2.24107407e-02 -1.46303612e-02 7.17617323e+01] [ 2.24102604e-02 9.99748839e-01 -1.96791600e-04 3.76292608e-01] [ 1.46310969e-02 -1.31149098e-04 9.99892951e-01 4.52384586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77925415399999 meters 0.0145521110532319 Centerline is valid? [True, True] Translation: X:71.79, Y:0.38, Z:0.45 [[ 9.99635713e-01 -2.21652660e-02 -1.53994334e-02 7.17931290e+01] [ 2.21647134e-02 9.99754311e-01 -2.06572192e-04 3.76919754e-01] [ 1.54002287e-02 -1.34827088e-04 9.99881400e-01 4.52507678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80925415399999 meters 0.014887972300650053 Centerline is valid? [True, True] Translation: X:71.82, Y:0.38, Z:0.45 [[ 9.99587633e-01 -2.36100847e-02 -1.63440636e-02 7.18237276e+01] [ 2.36096625e-02 9.99721229e-01 -2.18811721e-04 3.75815816e-01] [ 1.63446735e-02 -1.67156335e-04 9.99866403e-01 4.52185040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83925415399999 meters 0.015251370437361224 Centerline is valid? [True, True] Translation: X:71.85, Y:0.37, Z:0.45 [[ 9.99545061e-01 -2.52748744e-02 -1.64575960e-02 7.18538489e+01] [ 2.52746740e-02 9.99680520e-01 -2.20207269e-04 3.74575832e-01] [ 1.64579038e-02 -1.95853285e-04 9.99864540e-01 4.52278041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86925415399999 meters 0.015349376237673669 Centerline is valid? [True, True] Translation: X:71.88, Y:0.37, Z:0.45 [[ 9.99480725e-01 -2.75279990e-02 -1.67478199e-02 7.18848394e+01] [ 2.75281136e-02 9.99621005e-01 -2.23733187e-04 3.73921990e-01] [ 1.67476315e-02 -2.37418882e-04 9.99859720e-01 4.53436998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89925415399999 meters 0.01554237158772261 Centerline is valid? [True, True] Translation: X:71.92, Y:0.37, Z:0.45 [[ 9.99412284e-01 -3.00666610e-02 -1.64645905e-02 7.19162505e+01] [ 3.00671259e-02 9.99547858e-01 -2.19354208e-04 3.72092784e-01] [ 1.64637414e-02 -2.75817626e-04 9.99864425e-01 4.54151042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92925415399998 meters 0.017453286460014664 Centerline is valid? [True, True] Translation: X:71.95, Y:0.37, Z:0.45 [[ 9.99212713e-01 -3.61780782e-02 -1.62819185e-02 7.19465109e+01] [ 3.61793505e-02 9.99345290e-01 -2.16501629e-04 3.65882618e-01] [ 1.62790912e-02 -3.72738057e-04 9.99867417e-01 4.54122613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95925415399998 meters 0.0182146623837039 Centerline is valid? [True, True] Translation: X:71.98, Y:0.36, Z:0.45 [[ 9.99102654e-01 -3.93016614e-02 -1.57881447e-02 7.19786746e+01] [ 3.93032593e-02 9.99227306e-01 -2.09181046e-04 3.63712817e-01] [ 1.57841665e-02 -4.11532207e-04 9.99875338e-01 4.54828714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98925415399998 meters 0.019750810208719712 Centerline is valid? [True, True] Translation: X:72.01, Y:0.36, Z:0.46 [[ 9.98844276e-01 -4.56915631e-02 -1.49128418e-02 7.20093284e+01] [ 4.56937091e-02 9.98955478e-01 -1.96971704e-04 3.59280935e-01] [ 1.49062650e-02 -4.84678998e-04 9.99888778e-01 4.56719831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01925415399998 meters 0.022048579092070524 Centerline is valid? [True, True] Translation: X:72.04, Y:0.35, Z:0.46 [[ 9.98720199e-01 -4.85555240e-02 -1.41536582e-02 7.20403962e+01] [ 4.85577515e-02 9.98820359e-01 -1.86433528e-04 3.54914048e-01] [ 1.41460144e-02 -5.01074889e-04 9.99899815e-01 4.57461520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04925415399998 meters 0.023474632036036534 Centerline is valid? [True, True] Translation: X:72.07, Y:0.35, Z:0.46 [[ 9.98467134e-01 -5.38738399e-02 -1.26882287e-02 7.20719511e+01] [ 5.38760654e-02 9.98547616e-01 -1.66589471e-04 3.51134862e-01] [ 1.26787753e-02 -5.17257727e-04 9.99919487e-01 4.59527164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07925415399998 meters 0.02383045043394296 Centerline is valid? [True, True] Translation: X:72.10, Y:0.35, Z:0.46 [[ 9.98350599e-01 -5.61499247e-02 -1.19694026e-02 7.21040833e+01] [ 5.61520756e-02 9.98422215e-01 -1.56555617e-04 3.50029952e-01] [ 1.19593081e-02 -5.15809406e-04 9.99928352e-01 4.60300602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.10925415399998 meters 0.02461476498408535 Centerline is valid? [True, True] Translation: X:72.14, Y:0.35, Z:0.46 [[ 9.98254717e-01 -5.79362754e-02 -1.14415067e-02 7.21364426e+01] [ 5.79383671e-02 9.98320151e-01 -1.48846652e-04 3.47965915e-01] [ 1.14309103e-02 -5.14315341e-04 9.99934533e-01 4.60966394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13925415399999 meters 0.026994954070086136 Centerline is valid? [True, True] Translation: X:72.17, Y:0.34, Z:0.46 [[ 9.98166152e-01 -5.95167899e-02 -1.10492139e-02 7.21678653e+01] [ 5.95188482e-02 9.98227172e-01 -1.42738304e-04 3.43951863e-01] [ 1.10381208e-02 -5.15159939e-04 9.99938945e-01 4.61604920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16925415399999 meters 0.026631540426228412 Centerline is valid? [True, True] Translation: X:72.20, Y:0.34, Z:0.46 [[ 9.98068366e-01 -6.11301159e-02 -1.10745415e-02 7.21997354e+01] [ 6.11322981e-02 9.98129662e-01 -1.41685153e-04 3.42793870e-01] [ 1.10624896e-02 -5.35600700e-04 9.99938665e-01 4.62374959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19925415399999 meters 0.025582598286879088 Centerline is valid? [True, True] Translation: X:72.23, Y:0.34, Z:0.46 [[ 9.98047118e-01 -6.13188135e-02 -1.19143831e-02 7.22322425e+01] [ 6.13213677e-02 9.98118063e-01 -1.51165396e-04 3.43236662e-01] [ 1.19012303e-02 -5.79736081e-04 9.99929010e-01 4.62550081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22925415399999 meters 0.025739612810751846 Centerline is valid? [True, True] Translation: X:72.26, Y:0.34, Z:0.46 [[ 9.98068382e-01 -6.08813860e-02 -1.23677914e-02 7.22641439e+01] [ 6.08841161e-02 9.98144829e-01 -1.55999151e-04 3.42595171e-01] [ 1.23543445e-02 -5.97304230e-04 9.99923504e-01 4.61900047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25925415399999 meters 0.025741391320713444 Centerline is valid? [True, True] Translation: X:72.30, Y:0.34, Z:0.46 [[ 9.98115866e-01 -5.99465874e-02 -1.30814316e-02 7.22967687e+01] [ 5.99495744e-02 9.98201393e-01 -1.64026010e-04 3.42220974e-01] [ 1.30677360e-02 -6.20509291e-04 9.99914421e-01 4.61366696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28925415399999 meters 0.0254955472898759 Centerline is valid? [True, True] Translation: X:72.33, Y:0.34, Z:0.46 [[ 9.98201140e-01 -5.83065214e-02 -1.39582674e-02 7.23294691e+01] [ 5.83097823e-02 9.98298522e-01 -1.73588881e-04 3.42294212e-01] [ 1.39446391e-02 -6.40626913e-04 9.99902564e-01 4.60809927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31925415399998 meters 0.023465189341203986 Centerline is valid? [True, True] Translation: X:72.36, Y:0.35, Z:0.46 [[ 9.98393486e-01 -5.42691139e-02 -1.62883528e-02 7.23607282e+01] [ 5.42730406e-02 9.98526112e-01 -2.01193593e-04 3.45844695e-01] [ 1.62752642e-02 -6.83148063e-04 9.99867316e-01 4.60147301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34925415399998 meters 0.0216089707582853 Centerline is valid? [True, True] Translation: X:72.39, Y:0.35, Z:0.46 [[ 9.98531842e-01 -5.14306598e-02 -1.70014115e-02 7.23924706e+01] [ 5.14345410e-02 9.98676346e-01 -2.09183821e-04 3.49018935e-01] [ 1.69896660e-02 -6.65583089e-04 9.99855444e-01 4.60049911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37925415399998 meters 0.021603718536565168 Centerline is valid? [True, True] Translation: X:72.42, Y:0.35, Z:0.46 [[ 9.98831691e-01 -4.50488102e-02 -1.74887861e-02 7.24227167e+01] [ 4.50519469e-02 9.98984622e-01 -2.14787157e-04 3.50378491e-01] [ 1.74807043e-02 -5.73367642e-04 9.99847036e-01 4.58985895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40925415399998 meters 0.019248317484573615 Centerline is valid? [True, True] Translation: X:72.45, Y:0.36, Z:0.46 [[ 9.98977632e-01 -4.14675797e-02 -1.80036096e-02 7.24546235e+01] [ 4.14703335e-02 9.99139711e-01 -2.20511151e-04 3.55867032e-01] [ 1.79972653e-02 -5.26329985e-04 9.99837898e-01 4.60382395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43925415399998 meters 0.017692611767869786 Centerline is valid? [True, True] Translation: X:72.49, Y:0.36, Z:0.46 [[ 9.99119353e-01 -3.79157097e-02 -1.79699023e-02 7.24861465e+01] [ 3.79178932e-02 9.99280834e-01 -2.19319040e-04 3.59703038e-01] [ 1.79652946e-02 -4.62254936e-04 9.99838504e-01 4.61517957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46925415399998 meters 0.016348179055130894 Centerline is valid? [True, True] Translation: X:72.52, Y:0.36, Z:0.46 [[ 9.99361584e-01 -3.12422932e-02 -1.73304205e-02 7.25169486e+01] [ 3.12433284e-02 9.99511786e-01 -2.11081081e-04 3.64255130e-01] [ 1.73285542e-02 -3.30513696e-04 9.99849795e-01 4.62515157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49925415399998 meters 0.01564458426561316 Centerline is valid? [True, True] Translation: X:72.55, Y:0.37, Z:0.46 [[ 9.99455790e-01 -2.81515991e-02 -1.71933323e-02 7.25485000e+01] [ 2.81521693e-02 9.99603627e-01 -2.08913440e-04 3.66746247e-01] [ 1.71923985e-02 -2.75229853e-04 9.99852162e-01 4.63536461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52925415399999 meters 0.015146316901684474 Centerline is valid? [True, True] Translation: X:72.58, Y:0.37, Z:0.46 [[ 9.99539960e-01 -2.53923535e-02 -1.65860292e-02 7.25799553e+01] [ 2.53925143e-02 9.99677538e-01 -2.00938178e-04 3.68708240e-01] [ 1.65857831e-02 -2.20315244e-04 9.99862422e-01 4.64147555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55925415399999 meters 0.014658362469912936 Centerline is valid? [True, True] Translation: X:72.61, Y:0.37, Z:0.47 [[ 9.99663098e-01 -2.06964262e-02 -1.56636338e-02 7.26095687e+01] [ 2.06959989e-02 9.99785797e-01 -1.89394448e-04 3.70816310e-01] [ 1.56641984e-02 -1.34843908e-04 9.99877300e-01 4.65197863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58925415399999 meters 0.014735066743860133 Centerline is valid? [True, True] Translation: X:72.64, Y:0.37, Z:0.47 [[ 9.99702974e-01 -1.89692822e-02 -1.53013180e-02 7.26393926e+01] [ 1.89686691e-02 9.99820061e-01 -1.85211762e-04 3.71952369e-01] [ 1.53020780e-02 -1.05088889e-04 9.99882911e-01 4.65372022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61925415399999 meters 0.014505104615624643 Centerline is valid? [True, True] Translation: X:72.67, Y:0.37, Z:0.47 [[ 9.99750541e-01 -1.63213070e-02 -1.52470173e-02 7.26692952e+01] [ 1.63203843e-02 9.99866797e-01 -1.84948395e-04 3.73154840e-01] [ 1.52480049e-02 -6.39349231e-05 9.99883740e-01 4.65857259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64925415399999 meters 0.014431605378062805 Centerline is valid? [True, True] Translation: X:72.70, Y:0.37, Z:0.47 [[ 9.99751252e-01 -1.57347040e-02 -1.58067444e-02 7.26982588e+01] [ 1.57336022e-02 9.99876200e-01 -1.94066832e-04 3.73581328e-01] [ 1.58078412e-02 -5.46784705e-05 9.99875047e-01 4.66137666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67925415399998 meters 0.014345838513909226 Centerline is valid? [True, True] Translation: X:72.73, Y:0.37, Z:0.47 [[ 9.99753473e-01 -1.55844302e-02 -1.58151538e-02 7.27260561e+01] [ 1.55832626e-02 9.99878554e-01 -1.97064199e-04 3.73404896e-01] [ 1.58163043e-02 -4.94360780e-05 9.99874913e-01 4.65816846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70925415399998 meters 0.014456143535085918 Centerline is valid? [True, True] Translation: X:72.75, Y:0.37, Z:0.47 [[ 9.99741643e-01 -1.58545688e-02 -1.62874101e-02 7.27547563e+01] [ 1.58533116e-02 9.99874307e-01 -2.06304437e-04 3.72568496e-01] [ 1.62886338e-02 -5.19582520e-05 9.99867330e-01 4.66354092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73925415399998 meters 0.014364086079800012 Centerline is valid? [True, True] Translation: X:72.78, Y:0.37, Z:0.47 [[ 9.99731157e-01 -1.61903543e-02 -1.65977973e-02 7.27823431e+01] [ 1.61890180e-02 9.99868926e-01 -2.14880941e-04 3.72156803e-01] [ 1.65991008e-02 -5.38788666e-05 9.99862224e-01 4.66285676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76925415399998 meters 0.014432650390312498 Centerline is valid? [True, True] Translation: X:72.81, Y:0.37, Z:0.47 [[ 9.99716896e-01 -1.65747680e-02 -1.70705958e-02 7.28105017e+01] [ 1.65733592e-02 9.99862627e-01 -2.24000955e-04 3.71815516e-01] [ 1.70719636e-02 -5.89795776e-05 9.99854262e-01 4.65944068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79925415399998 meters 0.01462615792874492 Centerline is valid? [True, True] Translation: X:72.84, Y:0.37, Z:0.47 [[ 9.99701475e-01 -1.68362150e-02 -1.77060033e-02 7.28379548e+01] [ 1.68346741e-02 9.99858259e-01 -2.36085467e-04 3.71206719e-01] [ 1.77074684e-02 -6.20598055e-05 9.99843209e-01 4.66110854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82925415399998 meters 0.01451217276080902 Centerline is valid? [True, True] Translation: X:72.87, Y:0.37, Z:0.47 [[ 9.99699919e-01 -1.67410114e-02 -1.78832722e-02 7.28659523e+01] [ 1.67393312e-02 9.99859858e-01 -2.43644898e-04 3.71189527e-01] [ 1.78848448e-02 -5.57822316e-05 9.99840052e-01 4.66655324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85925415399998 meters 0.014407560730998591 Centerline is valid? [True, True] Translation: X:72.89, Y:0.37, Z:0.47 [[ 9.99718876e-01 -1.59047727e-02 -1.75842661e-02 7.28942098e+01] [ 1.59029673e-02 9.99873510e-01 -2.42510028e-04 3.69818104e-01] [ 1.75858990e-02 -3.72001563e-05 9.99845355e-01 4.66655353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88925415399999 meters 0.014345997268744493 Centerline is valid? [True, True] Translation: X:72.92, Y:0.37, Z:0.47 [[ 9.99723813e-01 -1.57187310e-02 -1.74705356e-02 7.29225414e+01] [ 1.57168571e-02 9.99876453e-01 -2.44564345e-04 3.69326739e-01] [ 1.74722214e-02 -3.00851113e-05 9.99847349e-01 4.67102019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91925415399999 meters 0.014454743591622327 Centerline is valid? [True, True] Translation: X:72.95, Y:0.37, Z:0.47 [[ 9.99733666e-01 -1.55068662e-02 -1.70919169e-02 7.29500984e+01] [ 1.55049585e-02 9.99879761e-01 -2.44134202e-04 3.68923727e-01] [ 1.70936475e-02 -2.09402800e-05 9.99853893e-01 4.67591793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94925415399999 meters 0.014434279049041068 Centerline is valid? [True, True] Translation: X:72.98, Y:0.37, Z:0.47 [[ 9.99761604e-01 -1.44684570e-02 -1.63523473e-02 7.29793995e+01] [ 1.44665190e-02 9.99895326e-01 -2.36804693e-04 3.67837798e-01] [ 1.63540619e-02 1.86697242e-07 9.99866263e-01 4.68584233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97925415399999 meters 0.014454595835908865 Centerline is valid? [True, True] Translation: X:73.01, Y:0.37, Z:0.47 [[ 9.99780852e-01 -1.43123639e-02 -1.52775682e-02 7.30073839e+01] [ 1.43106289e-02 9.99897573e-01 -2.22892016e-04 3.65988791e-01] [ 1.52791935e-02 4.21156116e-06 9.99883266e-01 4.68661132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00925415399999 meters 0.014421099971920827 Centerline is valid? [True, True] Translation: X:73.04, Y:0.36, Z:0.47 [[ 9.99779752e-01 -1.48208377e-02 -1.48589830e-02 7.30357082e+01] [ 1.48192106e-02 9.99890165e-01 -2.19607551e-04 3.64974840e-01] [ 1.48606057e-02 -6.39214527e-07 9.99889575e-01 4.69668600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03925415399998 meters 0.01433499188866693 Centerline is valid? [True, True] Translation: X:73.06, Y:0.36, Z:0.47 [[ 9.99767566e-01 -1.54438022e-02 -1.50433486e-02 7.30642278e+01] [ 1.54421456e-02 9.99880737e-01 -2.26282156e-04 3.63468212e-01] [ 1.50450492e-02 -6.07201961e-06 9.99886817e-01 4.69889694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06925415399998 meters 0.01436626127742772 Centerline is valid? [True, True] Translation: X:73.09, Y:0.36, Z:0.47 [[ 9.99747472e-01 -1.65493550e-02 -1.52023347e-02 7.30925674e+01] [ 1.65477332e-02 9.99863050e-01 -2.32478070e-04 3.61530819e-01] [ 1.52041001e-02 -1.91448151e-05 9.99884411e-01 4.70288273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09925415399998 meters 0.014506789189317653 Centerline is valid? [True, True] Translation: X:73.12, Y:0.36, Z:0.47 [[ 9.99692272e-01 -1.95166747e-02 -1.53121152e-02 7.31211498e+01] [ 1.95153177e-02 9.99809530e-01 -2.38053435e-04 3.56592805e-01] [ 1.53138447e-02 -6.08406136e-05 9.99882734e-01 4.70301701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.12925415399998 meters 0.01460698133160864 Centerline is valid? [True, True] Translation: X:73.15, Y:0.35, Z:0.47 [[ 9.99650839e-01 -2.13378278e-02 -1.55851427e-02 7.31506221e+01] [ 2.13366103e-02 9.99772319e-01 -2.44409060e-04 3.54229515e-01] [ 1.55868094e-02 -8.82103961e-05 9.99878514e-01 4.70630063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15925415399998 meters 0.014959264640457635 Centerline is valid? [True, True] Translation: X:73.18, Y:0.35, Z:0.47 [[ 9.99596175e-01 -2.39334486e-02 -1.53191534e-02 7.31794365e+01] [ 2.39325662e-02 9.99713546e-01 -2.40943409e-04 3.50975555e-01] [ 1.53205318e-02 -1.25780543e-04 9.99882626e-01 4.70045975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.18925415399998 meters 0.014959264640457635 Centerline is valid? [True, True] Translation: X:73.21, Y:0.35, Z:0.47 [[ 9.99596175e-01 -2.39334512e-02 -1.53191475e-02 7.32094341e+01] [ 2.39325631e-02 9.99713546e-01 -2.41320399e-04 3.51448286e-01] [ 1.53205349e-02 -1.25403515e-04 9.99882626e-01 4.70254005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21925415399998 meters 0.01522635971827618 Centerline is valid? [True, True] Translation: X:73.24, Y:0.35, Z:0.47 [[ 9.99528589e-01 -2.65576031e-02 -1.54043135e-02 7.32401976e+01] [ 2.65570167e-02 9.99647271e-01 -2.42662008e-04 3.48179815e-01] [ 1.54053245e-02 -1.66544996e-04 9.99881317e-01 4.70301843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.24925415399998 meters 0.01604018333288909 Centerline is valid? [True, True] Translation: X:73.27, Y:0.34, Z:0.47 [[ 9.99323439e-01 -3.33634571e-02 -1.54772061e-02 7.32710492e+01] [ 3.33636834e-02 9.99443248e-01 -2.43654362e-04 3.41601692e-01] [ 1.54767183e-02 -2.72887091e-04 9.99880191e-01 4.70748810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27925415399999 meters 0.018506613252072972 Centerline is valid? [True, True] Translation: X:73.30, Y:0.33, Z:0.47 [[ 9.99054420e-01 -4.04990408e-02 -1.58143482e-02 7.33012676e+01] [ 4.05001724e-02 9.99179500e-01 -2.48832792e-04 3.32536100e-01] [ 1.58114500e-02 -3.91886326e-04 9.99874914e-01 4.69448314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30925415399999 meters 0.018698743631426165 Centerline is valid? [True, True] Translation: X:73.33, Y:0.33, Z:0.47 [[ 9.98889534e-01 -4.41782601e-02 -1.63700835e-02 7.33333037e+01] [ 4.41799775e-02 9.99023555e-01 -2.56889576e-04 3.31109113e-01] [ 1.63654479e-02 -4.66625611e-04 9.99865968e-01 4.69844695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33925415399999 meters 0.02003276281103661 Centerline is valid? [True, True] Translation: X:73.36, Y:0.33, Z:0.47 [[ 9.98710618e-01 -4.79344484e-02 -1.67149723e-02 7.33645686e+01] [ 4.79367789e-02 9.98850338e-01 -2.61433826e-04 3.27470969e-01] [ 1.67082874e-02 -5.40165196e-04 9.99860261e-01 4.69847081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36925415399999 meters 0.02305585801821045 Centerline is valid? [True, True] Translation: X:73.39, Y:0.32, Z:0.47 [[ 9.98296993e-01 -5.59787519e-02 -1.64162429e-02 7.33949462e+01] [ 5.59820900e-02 9.98431740e-01 -2.56486977e-04 3.20055604e-01] [ 1.64048558e-02 -6.62965411e-04 9.99865212e-01 4.70077095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39925415399999 meters 0.022582030197989433 Centerline is valid? [True, True] Translation: X:73.43, Y:0.32, Z:0.47 [[ 9.98077589e-01 -5.99619727e-02 -1.56744514e-02 7.34261987e+01] [ 5.99655115e-02 9.98200420e-01 -2.44550075e-04 3.19862503e-01] [ 1.56609077e-02 -6.95846546e-04 9.99877118e-01 4.71316828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42925415399998 meters 0.025196158248170022 Centerline is valid? [True, True] Translation: X:73.46, Y:0.31, Z:0.47 [[ 9.97640320e-01 -6.71021565e-02 -1.45290434e-02 7.34566701e+01] [ 6.71059558e-02 9.97745829e-01 -2.26414481e-04 3.13439423e-01] [ 1.45114854e-02 -7.49105130e-04 9.99894422e-01 4.72476092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45925415399998 meters 0.031101952088228118 Centerline is valid? [True, True] Translation: X:73.49, Y:0.30, Z:0.47 [[ 9.97446401e-01 -7.01009985e-02 -1.36575160e-02 7.34865120e+01] [ 7.01046442e-02 9.97539620e-01 -2.12221425e-04 3.03879182e-01] [ 1.36387902e-02 -7.45775801e-04 9.99906709e-01 4.72135889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48925415399998 meters 0.031563102506111516 Centerline is valid? [True, True] Translation: X:73.52, Y:0.30, Z:0.47 [[ 9.97265338e-01 -7.26276952e-02 -1.36771389e-02 7.35173035e+01] [ 7.26315981e-02 9.97358815e-01 -2.11798882e-04 3.02179136e-01] [ 1.36563975e-02 -7.82172772e-04 9.99906441e-01 4.72679985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51925415399998 meters 0.030034178092525593 Centerline is valid? [True, True] Translation: X:73.55, Y:0.30, Z:0.47 [[ 9.97043265e-01 -7.56108472e-02 -1.37013845e-02 7.35488300e+01] [ 7.56150497e-02 9.97137061e-01 -2.11804023e-04 3.02708430e-01] [ 1.36781730e-02 -8.24853097e-04 9.99906109e-01 4.73068711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.54925415399998 meters 0.031366506979108484 Centerline is valid? [True, True] Translation: X:73.58, Y:0.30, Z:0.47 [[ 9.96987542e-01 -7.63660575e-02 -1.35670921e-02 7.35797434e+01] [ 7.63702559e-02 9.97079505e-01 -2.09113717e-04 3.01009977e-01] [ 1.35434387e-02 -8.27638526e-04 9.99907941e-01 4.73145765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57925415399998 meters 0.030163625853014634 Centerline is valid? [True, True] Translation: X:73.61, Y:0.30, Z:0.47 [[ 9.96996886e-01 -7.61660173e-02 -1.39981335e-02 7.36122932e+01] [ 7.61704799e-02 9.97094786e-01 -2.14846274e-04 3.02851622e-01] [ 1.39738299e-02 -8.52043477e-04 9.99901998e-01 4.73629432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.60925415399998 meters 0.031257333433773564 Centerline is valid? [True, True] Translation: X:73.64, Y:0.30, Z:0.47 [[ 9.97086494e-01 -7.48528212e-02 -1.46825830e-02 7.36432405e+01] [ 7.48576032e-02 9.97194208e-01 -2.24391314e-04 3.01628924e-01] [ 1.46581830e-02 -8.75365420e-04 9.99892180e-01 4.72866919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63925415399999 meters 0.029994333261113077 Centerline is valid? [True, True] Translation: X:73.68, Y:0.30, Z:0.47 [[ 9.97165522e-01 -7.37116758e-02 -1.50834783e-02 7.36759662e+01] [ 7.37166094e-02 9.97279203e-01 -2.29387211e-04 3.03706439e-01] [ 1.50593478e-02 -8.83165864e-04 9.99886212e-01 4.72860770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66925415399999 meters 0.030305864631111443 Centerline is valid? [True, True] Translation: X:73.71, Y:0.30, Z:0.47 [[ 9.97398696e-01 -7.02828319e-02 -1.60051625e-02 7.37054572e+01] [ 7.02879551e-02 9.97526714e-01 -2.42899636e-04 3.03814029e-01] [ 1.59826488e-02 -8.82702358e-04 9.99871880e-01 4.71792909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69925415399999 meters 0.02918172892713242 Centerline is valid? [True, True] Translation: X:73.74, Y:0.31, Z:0.47 [[ 9.97549463e-01 -6.79783380e-02 -1.65533886e-02 7.37367065e+01] [ 6.79835054e-02 9.97686414e-01 -2.51006029e-04 3.06140462e-01] [ 1.65321538e-02 -8.74966450e-04 9.99862952e-01 4.71975283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72925415399999 meters 0.026452499261848988 Centerline is valid? [True, True] Translation: X:73.77, Y:0.31, Z:0.47 [[ 9.97703475e-01 -6.55972746e-02 -1.68752223e-02 7.37683328e+01] [ 6.56023186e-02 9.97845815e-01 -2.55089533e-04 3.11684402e-01] [ 1.68556031e-02 -8.52549997e-04 9.99857571e-01 4.72492937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75925415399999 meters 0.024931020114047776 Centerline is valid? [True, True] Translation: X:73.80, Y:0.32, Z:0.47 [[ 9.97915236e-01 -6.22630558e-02 -1.69851159e-02 7.37998385e+01] [ 6.22676997e-02 9.98059451e-01 -2.55816352e-04 3.15610471e-01] [ 1.69680833e-02 -8.02341060e-04 9.99855710e-01 4.73160918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78925415399998 meters 0.02442330714638414 Centerline is valid? [True, True] Translation: X:73.83, Y:0.32, Z:0.47 [[ 9.98379396e-01 -5.43815501e-02 -1.67698906e-02 7.38294164e+01] [ 5.43849701e-02 9.98520010e-01 -2.52381395e-04 3.20702959e-01] [ 1.67587962e-02 -6.60057611e-04 9.99859344e-01 4.73257414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81925415399998 meters 0.02037265118795641 Centerline is valid? [True, True] Translation: X:73.86, Y:0.33, Z:0.48 [[ 9.98623892e-01 -4.97298251e-02 -1.66513486e-02 7.38596076e+01] [ 4.97325489e-02 9.98762540e-01 -2.50724705e-04 3.29597018e-01] [ 1.66432117e-02 -5.77734328e-04 9.99861325e-01 4.75087342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84925415399998 meters 0.018733069300314313 Centerline is valid? [True, True] Translation: X:73.89, Y:0.34, Z:0.48 [[ 9.99079090e-01 -3.98958339e-02 -1.57890422e-02 7.38891860e+01] [ 3.98970530e-02 9.99203767e-01 -2.37892561e-04 3.36691036e-01] [ 1.57859614e-02 -3.92262770e-04 9.99875317e-01 4.75187582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87925415399998 meters 0.016873716191710342 Centerline is valid? [True, True] Translation: X:73.92, Y:0.34, Z:0.48 [[ 9.99271632e-01 -3.49842523e-02 -1.52416256e-02 7.39206436e+01] [ 3.49848200e-02 9.99387817e-01 -2.29459869e-04 3.42606319e-01] [ 1.52403225e-02 -3.03932792e-04 9.99883813e-01 4.76315256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90925415399998 meters 0.015855205424968183 Centerline is valid? [True, True] Translation: X:73.95, Y:0.35, Z:0.48 [[ 9.99435015e-01 -3.01191687e-02 -1.49159482e-02 7.39520253e+01] [ 3.01191786e-02 9.99546290e-01 -2.24026291e-04 3.47501749e-01] [ 1.49159282e-02 -2.25356389e-04 9.99888726e-01 4.76733914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93925415399998 meters 0.014577886930119875 Centerline is valid? [True, True] Translation: X:73.98, Y:0.36, Z:0.48 [[ 9.99670946e-01 -2.10120328e-02 -1.47137391e-02 7.39820898e+01] [ 2.10110615e-02 9.99779219e-01 -2.20606945e-04 3.56630855e-01] [ 1.47151260e-02 -8.86169247e-05 9.99891723e-01 4.77778570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96925415399998 meters 0.015457955169617454 Centerline is valid? [True, True] Translation: X:74.01, Y:0.36, Z:0.48 [[ 9.99756644e-01 -1.68400457e-02 -1.42500902e-02 7.40114168e+01] [ 1.68387090e-02 9.99858196e-01 -2.13792987e-04 3.60674319e-01] [ 1.42516698e-02 -2.62121622e-05 9.99898439e-01 4.77394793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99925415399998 meters 0.014327326606497633 Centerline is valid? [True, True] Translation: X:74.04, Y:0.37, Z:0.48 [[ 9.99840872e-01 -1.12237766e-02 -1.38657153e-02 7.40396038e+01] [ 1.12219627e-02 9.99937010e-01 -2.08622830e-04 3.66682645e-01] [ 1.38671834e-02 5.29890930e-05 9.99903845e-01 4.78716127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02925415399999 meters 0.014570453659639175 Centerline is valid? [True, True] Translation: X:74.07, Y:0.37, Z:0.48 [[ 9.99859102e-01 -9.65731504e-03 -1.37300079e-02 7.40687986e+01] [ 9.65536135e-03 9.99953364e-01 -2.08574811e-04 3.68429378e-01] [ 1.37313819e-02 7.59772357e-05 9.99905717e-01 4.78746420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05925415399999 meters 0.014603765925848163 Centerline is valid? [True, True] Translation: X:74.10, Y:0.37, Z:0.48 [[ 9.99864624e-01 -8.82483909e-03 -1.38872600e-02 7.40977635e+01] [ 8.82271354e-03 9.99961056e-01 -2.14315439e-04 3.69388974e-01] [ 1.38886105e-02 9.17631094e-05 9.99903544e-01 4.78747218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08925415399999 meters 0.014571120437764686 Centerline is valid? [True, True] Translation: X:74.13, Y:0.37, Z:0.48 [[ 9.99839504e-01 -9.89125208e-03 -1.49375463e-02 7.41252148e+01] [ 9.88887102e-03 9.99951077e-01 -2.33256407e-04 3.68459376e-01] [ 1.49391227e-02 8.55035015e-05 9.99888401e-01 4.76706767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11925415399999 meters 0.014561099590256131 Centerline is valid? [True, True] Translation: X:74.15, Y:0.37, Z:0.48 [[ 9.99814651e-01 -1.14089163e-02 -1.55080977e-02 7.41529826e+01] [ 1.14064837e-02 9.99934914e-01 -2.45307922e-04 3.68053111e-01] [ 1.55098870e-02 6.83695903e-05 9.99879712e-01 4.76590652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14925415399999 meters 0.014407450182430852 Centerline is valid? [True, True] Translation: X:74.18, Y:0.37, Z:0.48 [[ 9.99787349e-01 -1.31927166e-02 -1.58495596e-02 7.41809486e+01] [ 1.31903322e-02 9.99912971e-01 -2.54972101e-04 3.66974169e-01] [ 1.58515441e-02 4.58569244e-05 9.99874355e-01 4.76292077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17925415399998 meters 0.014314784329747279 Centerline is valid? [True, True] Translation: X:74.21, Y:0.37, Z:0.48 [[ 9.99754579e-01 -1.52736268e-02 -1.60467511e-02 7.42084751e+01] [ 1.52713821e-02 9.99883351e-01 -2.62419287e-04 3.65451989e-01] [ 1.60488874e-02 1.72988156e-05 9.99871208e-01 4.76018550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20925415399998 meters 0.014333575301597292 Centerline is valid? [True, True] Translation: X:74.24, Y:0.36, Z:0.48 [[ 9.99724602e-01 -1.72502599e-02 -1.59106361e-02 7.42361844e+01] [ 1.72482370e-02 9.99851203e-01 -2.64365839e-04 3.63867012e-01] [ 1.59128291e-02 -1.01373896e-05 9.99873383e-01 4.75964085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23925415399998 meters 0.01449532248579226 Centerline is valid? [True, True] Translation: X:74.26, Y:0.36, Z:0.48 [[ 9.99686673e-01 -1.93442078e-02 -1.58857923e-02 7.42638139e+01] [ 1.93423895e-02 9.99812883e-01 -2.68111052e-04 3.62291624e-01] [ 1.58880062e-02 -3.92421368e-05 9.99873777e-01 4.76572307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.26925415399998 meters 0.014766009749363915 Centerline is valid? [True, True] Translation: X:74.29, Y:0.36, Z:0.48 [[ 9.99624349e-01 -2.29184850e-02 -1.50300678e-02 7.42913084e+01] [ 2.29172257e-02 9.99737333e-01 -2.56038920e-04 3.58417805e-01] [ 1.50319879e-02 -8.85047162e-05 9.99887009e-01 4.77369973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29925415399998 meters 0.015029147262398835 Centerline is valid? [True, True] Translation: X:74.32, Y:0.36, Z:0.48 [[ 9.99589127e-01 -2.46692097e-02 -1.45947562e-02 7.43209091e+01] [ 2.46681972e-02 9.99695663e-01 -2.49414389e-04 3.56826349e-01] [ 1.45964673e-02 -1.10714413e-04 9.99893460e-01 4.77918133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.32925415399998 meters 0.015734641922218923 Centerline is valid? [True, True] Translation: X:74.35, Y:0.35, Z:0.48 [[ 9.99514136e-01 -2.78404300e-02 -1.40143537e-02 7.43508307e+01] [ 2.78398048e-02 9.99612369e-01 -2.39738524e-04 3.52945651e-01] [ 1.40155957e-02 -1.50534826e-04 9.99901765e-01 4.78537113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35925415399998 meters 0.016226333883833027 Centerline is valid? [True, True] Translation: X:74.38, Y:0.35, Z:0.48 [[ 9.99464694e-01 -2.95354210e-02 -1.40706600e-02 7.43818264e+01] [ 2.95349614e-02 9.99563719e-01 -2.40504767e-04 3.50953940e-01] [ 1.40716246e-02 -1.75200375e-04 9.99900974e-01 4.78601118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38925415399999 meters 0.016784102956045745 Centerline is valid? [True, True] Translation: X:74.41, Y:0.35, Z:0.48 [[ 9.99413698e-01 -3.12335026e-02 -1.40259880e-02 7.44127012e+01] [ 3.12332177e-02 9.99512095e-01 -2.39411389e-04 3.48499252e-01] [ 1.40266223e-02 -1.98805717e-04 9.99901602e-01 4.78506006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41925415399999 meters 0.018432976808212466 Centerline is valid? [True, True] Translation: X:74.44, Y:0.34, Z:0.48 [[ 9.99295777e-01 -3.48933836e-02 -1.37986052e-02 7.44429921e+01] [ 3.48934596e-02 9.99391010e-01 -2.35315604e-04 3.42676994e-01] [ 1.37984129e-02 -2.46331182e-04 9.99904767e-01 4.78218749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44925415399999 meters 0.019538642950577185 Centerline is valid? [True, True] Translation: X:74.47, Y:0.34, Z:0.48 [[ 9.99225768e-01 -3.69096454e-02 -1.36214356e-02 7.44741096e+01] [ 3.69099110e-02 9.99318570e-01 -2.31979740e-04 3.39749891e-01] [ 1.36207158e-02 -2.70965842e-04 9.99907197e-01 4.78070751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47925415399999 meters 0.017466524096426635 Centerline is valid? [True, True] Translation: X:74.51, Y:0.34, Z:0.48 [[ 9.99090939e-01 -4.02431366e-02 -1.40636591e-02 7.45060650e+01] [ 4.02437601e-02 9.99189863e-01 -2.38775005e-04 3.41143833e-01] [ 1.40618746e-02 -3.27416578e-04 9.99901073e-01 4.79858263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50925415399999 meters 0.017780984950062338 Centerline is valid? [True, True] Translation: X:74.54, Y:0.34, Z:0.48 [[ 9.99032528e-01 -4.15823467e-02 -1.43148779e-02 7.45381339e+01] [ 4.15831450e-02 9.99135018e-01 -2.41999482e-04 3.39739918e-01] [ 1.43125587e-02 -3.53492290e-04 9.99897508e-01 4.80303746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53925415399998 meters 0.01752667086624702 Centerline is valid? [True, True] Translation: X:74.57, Y:0.34, Z:0.48 [[ 9.98969716e-01 -4.30308205e-02 -1.44172068e-02 7.45698290e+01] [ 4.30317944e-02 9.99073674e-01 -2.42806722e-04 3.40134358e-01] [ 1.44142999e-02 -3.77841715e-04 9.99896037e-01 4.81068141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56925415399998 meters 0.0181939444838829 Centerline is valid? [True, True] Translation: X:74.60, Y:0.34, Z:0.48 [[ 9.98903444e-01 -4.45927514e-02 -1.42617347e-02 7.46020261e+01] [ 4.45938766e-02 9.99005170e-01 -2.39262192e-04 3.37783924e-01] [ 1.42582160e-02 -3.96986209e-04 9.99898268e-01 4.81083679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59925415399998 meters 0.018333880342854027 Centerline is valid? [True, True] Translation: X:74.63, Y:0.34, Z:0.48 [[ 9.98892792e-01 -4.48173086e-02 -1.43038194e-02 7.46342077e+01] [ 4.48184785e-02 9.98995119e-01 -2.38910583e-04 3.36984609e-01] [ 1.43001531e-02 -4.02429364e-04 9.99897667e-01 4.81335558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.62925415399998 meters 0.018490377645954105 Centerline is valid? [True, True] Translation: X:74.67, Y:0.34, Z:0.48 [[ 9.98894721e-01 -4.48260471e-02 -1.41407853e-02 7.46665276e+01] [ 4.48272060e-02 9.98994728e-01 -2.35152830e-04 3.35708929e-01] [ 1.41371109e-02 -3.98998975e-04 9.99899986e-01 4.81530053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65925415399998 meters 0.01852915372077026 Centerline is valid? [True, True] Translation: X:74.70, Y:0.34, Z:0.48 [[ 9.98903052e-01 -4.47141841e-02 -1.39045108e-02 7.46983624e+01] [ 4.47153079e-02 9.98999744e-01 -2.30211903e-04 3.35800179e-01] [ 1.39008965e-02 -3.91785110e-04 9.99903301e-01 4.81926155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.68925415399998 meters 0.019229107417189317 Centerline is valid? [True, True] Translation: X:74.73, Y:0.33, Z:0.48 [[ 9.98902903e-01 -4.47260360e-02 -1.38770212e-02 7.47293564e+01] [ 4.47271688e-02 9.98999213e-01 -2.28870021e-04 3.34612283e-01] [ 1.38733697e-02 -3.92060941e-04 9.99903683e-01 4.81768417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71925415399998 meters 0.019676641362933307 Centerline is valid? [True, True] Translation: X:74.76, Y:0.33, Z:0.48 [[ 9.98889992e-01 -4.50692021e-02 -1.36948935e-02 7.47608249e+01] [ 4.50703476e-02 9.98983790e-01 -2.25132111e-04 3.33888317e-01] [ 1.36911232e-02 -3.92351399e-04 9.99906195e-01 4.81273232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.74925415399998 meters 0.01975044936821506 Centerline is valid? [True, True] Translation: X:74.79, Y:0.33, Z:0.48 [[ 9.98857527e-01 -4.56217268e-02 -1.42231469e-02 7.47925390e+01] [ 4.56230294e-02 9.98958700e-01 -2.33042673e-04 3.34035898e-01] [ 1.42189681e-02 -4.16126620e-04 9.99898819e-01 4.81291335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77925415399999 meters 0.02156654402316261 Centerline is valid? [True, True] Translation: X:74.82, Y:0.33, Z:0.48 [[ 9.98727824e-01 -4.82273216e-02 -1.47261523e-02 7.48236849e+01] [ 4.82290126e-02 9.98836275e-01 -2.40486531e-04 3.31036623e-01] [ 1.47206131e-02 -4.70047194e-04 9.99891535e-01 4.80855204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80925415399999 meters 0.01999824408237703 Centerline is valid? [True, True] Translation: X:74.86, Y:0.33, Z:0.48 [[ 9.98627711e-01 -5.01565400e-02 -1.50670871e-02 7.48560499e+01] [ 5.01585443e-02 9.98741238e-01 -2.45076750e-04 3.33976167e-01] [ 1.50604134e-02 -5.11002723e-04 9.99886455e-01 4.81784821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83925415399999 meters 0.020715711482936935 Centerline is valid? [True, True] Translation: X:74.89, Y:0.33, Z:0.48 [[ 9.98506461e-01 -5.23254992e-02 -1.57126996e-02 7.48881901e+01] [ 5.23279657e-02 9.98629921e-01 -2.54395344e-04 3.32971110e-01] [ 1.57044833e-02 -5.68198211e-04 9.99876516e-01 4.81765311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86925415399999 meters 0.02293818939344394 Centerline is valid? [True, True] Translation: X:74.92, Y:0.33, Z:0.48 [[ 9.98250858e-01 -5.69049697e-02 -1.60327728e-02 7.49178822e+01] [ 5.69081470e-02 9.98379385e-01 -2.58352109e-04 3.29362936e-01] [ 1.60214913e-02 -6.54495174e-04 9.99871433e-01 4.81959669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89925415399999 meters 0.023353917819387143 Centerline is valid? [True, True] Translation: X:74.95, Y:0.33, Z:0.48 [[ 9.97988146e-01 -6.15089804e-02 -1.53722440e-02 7.49491110e+01] [ 6.15124565e-02 9.98106285e-01 -2.47038519e-04 3.29032304e-01] [ 1.53583284e-02 -6.99042975e-04 9.99881810e-01 4.83398443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92925415399998 meters 0.02441560572037133 Centerline is valid? [True, True] Translation: X:74.98, Y:0.33, Z:0.48 [[ 9.97819422e-01 -6.44407635e-02 -1.42754971e-02 7.49798634e+01] [ 6.44440641e-02 9.97921295e-01 -2.29157040e-04 3.27379716e-01] [ 1.42605896e-02 -6.91313703e-04 9.99898074e-01 4.84539316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95925415399998 meters 0.02441560572037133 Centerline is valid? [True, True] Translation: X:75.01, Y:0.33, Z:0.48 [[ 9.97826657e-01 -6.43286210e-02 -1.42755123e-02 7.50124353e+01] [ 6.43319238e-02 9.97928530e-01 -2.28202559e-04 3.27813771e-01] [ 1.42606210e-02 -6.90664575e-04 9.99898074e-01 4.84765026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98925415399998 meters 0.024691643055570364 Centerline is valid? [True, True] Translation: X:75.04, Y:0.33, Z:0.49 [[ 9.97800733e-01 -6.47788419e-02 -1.40498493e-02 7.50447587e+01] [ 6.47821039e-02 9.97899408e-01 -2.23298084e-04 3.27404793e-01] [ 1.40348013e-02 -6.87371803e-04 9.99901271e-01 4.85547038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01925415399998 meters 0.02577794691060283 Centerline is valid? [True, True] Translation: X:75.08, Y:0.33, Z:0.49 [[ 9.97840211e-01 -6.43428298e-02 -1.32254951e-02 7.50756851e+01] [ 6.43456930e-02 9.97927647e-01 -2.09360736e-04 3.26868664e-01] [ 1.32115581e-02 -6.42095088e-04 9.99912517e-01 4.86035425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.04925415399998 meters 0.02708058006156955 Centerline is valid? [True, True] Translation: X:75.11, Y:0.33, Z:0.49 [[ 9.97932538e-01 -6.29256564e-02 -1.30771071e-02 7.51070943e+01] [ 6.29283509e-02 9.98018026e-01 -2.05734127e-04 3.26024766e-01] [ 1.30641346e-02 -6.17612007e-04 9.99914470e-01 4.86368475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07925415399998 meters 0.02708058006156955 Centerline is valid? [True, True] Translation: X:75.14, Y:0.33, Z:0.49 [[ 9.97939237e-01 -6.28193245e-02 -1.30771332e-02 7.51396627e+01] [ 6.28220317e-02 9.98024724e-01 -2.04068316e-04 3.26438366e-01] [ 1.30641217e-02 -6.17884295e-04 9.99914470e-01 4.86593928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.10925415399998 meters 0.02429357988650154 Centerline is valid? [True, True] Translation: X:75.17, Y:0.33, Z:0.49 [[ 9.98157699e-01 -5.93186370e-02 -1.27478496e-02 7.51709346e+01] [ 5.93209364e-02 9.98238943e-01 -1.97998305e-04 3.33681295e-01] [ 1.27371449e-02 -5.58580844e-04 9.99918723e-01 4.87848431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13925415399999 meters 0.023473608698341406 Centerline is valid? [True, True] Translation: X:75.20, Y:0.34, Z:0.49 [[ 9.98297608e-01 -5.68990492e-02 -1.28212353e-02 7.52028132e+01] [ 5.69011833e-02 9.98379795e-01 -1.98564193e-04 3.36330155e-01] [ 1.28117604e-02 -5.31317303e-04 9.99917785e-01 4.88403862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16925415399999 meters 0.021952437548815096 Centerline is valid? [True, True] Translation: X:75.23, Y:0.34, Z:0.49 [[ 9.98610386e-01 -5.10995732e-02 -1.28891638e-02 7.52329273e+01] [ 5.11012524e-02 9.98693458e-01 -1.99237527e-04 3.41151171e-01] [ 1.28825045e-02 -4.59691750e-04 9.99916911e-01 4.88640769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19925415399999 meters 0.019584921350784767 Centerline is valid? [True, True] Translation: X:75.26, Y:0.35, Z:0.49 [[ 9.98757427e-01 -4.80575214e-02 -1.31938255e-02 7.52642697e+01] [ 4.80590189e-02 9.98844477e-01 -2.03712985e-04 3.47009774e-01] [ 1.31883697e-02 -4.30622452e-04 9.99912937e-01 4.88995830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22925415399999 meters 0.018131156544973215 Centerline is valid? [True, True] Translation: X:75.29, Y:0.35, Z:0.49 [[ 9.99051345e-01 -4.12642493e-02 -1.39165723e-02 7.52944065e+01] [ 4.12652605e-02 9.99148203e-01 -2.14599322e-04 3.52207709e-01] [ 1.39135735e-02 -3.59875239e-04 9.99903137e-01 4.89253396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25925415399999 meters 0.01725479943330249 Centerline is valid? [True, True] Translation: X:75.33, Y:0.36, Z:0.49 [[ 9.99186670e-01 -3.77094004e-02 -1.42828708e-02 7.53259240e+01] [ 3.77101064e-02 9.99288697e-01 -2.19978694e-04 3.55661153e-01] [ 1.42810066e-02 -3.18808799e-04 9.99897970e-01 4.89294797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28925415399998 meters 0.016364644390283668 Centerline is valid? [True, True] Translation: X:75.36, Y:0.36, Z:0.49 [[ 9.99316153e-01 -3.38795198e-02 -1.48123035e-02 7.53576105e+01] [ 3.38798689e-02 9.99425887e-01 -2.27433602e-04 3.59379827e-01] [ 1.48115049e-02 -2.74560830e-04 9.99890266e-01 4.89509989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31925415399998 meters 0.01563312376396611 Centerline is valid? [True, True] Translation: X:75.39, Y:0.36, Z:0.49 [[ 9.99423595e-01 -3.00995837e-02 -1.57001143e-02 7.53891669e+01] [ 3.00995211e-02 9.99546878e-01 -2.40336731e-04 3.62678309e-01] [ 1.57002343e-02 -2.32367724e-04 9.99876717e-01 4.89269373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34925415399998 meters 0.014876821067732646 Centerline is valid? [True, True] Translation: X:75.42, Y:0.37, Z:0.49 [[ 9.99599363e-01 -2.24853588e-02 -1.71907742e-02 7.54193316e+01] [ 2.24841659e-02 9.99747165e-01 -2.62690064e-04 3.68435072e-01] [ 1.71923345e-02 -1.23935398e-04 9.99852193e-01 4.88089723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37925415399998 meters 0.014761361214491654 Centerline is valid? [True, True] Translation: X:75.45, Y:0.37, Z:0.49 [[ 9.99656982e-01 -1.93923120e-02 -1.76027246e-02 7.54481467e+01] [ 1.93905360e-02 9.99811949e-01 -2.71578691e-04 3.71655182e-01] [ 1.76046809e-02 -6.98407290e-05 9.99845023e-01 4.88069901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40925415399998 meters 0.014623348226521608 Centerline is valid? [True, True] Translation: X:75.48, Y:0.38, Z:0.49 [[ 9.99735486e-01 -1.43410856e-02 -1.79803190e-02 7.54760510e+01] [ 1.43383254e-02 9.99897161e-01 -2.82424572e-04 3.76344742e-01] [ 1.79825202e-02 2.45422016e-05 9.99838301e-01 4.88681993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43925415399998 meters 0.014606421474025447 Centerline is valid? [True, True] Translation: X:75.50, Y:0.38, Z:0.49 [[ 9.99757570e-01 -1.28538309e-02 -1.78768037e-02 7.55039753e+01] [ 1.28507722e-02 9.99917385e-01 -2.85969748e-04 3.77967656e-01] [ 1.78790026e-02 5.61696888e-05 9.99840156e-01 4.89201106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46925415399998 meters 0.01469301161181002 Centerline is valid? [True, True] Translation: X:75.53, Y:0.38, Z:0.49 [[ 9.99779150e-01 -1.19523852e-02 -1.72856111e-02 7.55321487e+01] [ 1.19493056e-02 9.99928565e-01 -2.81434587e-04 3.78942178e-01] [ 1.72877401e-02 7.48213825e-05 9.99850553e-01 4.89975195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49925415399998 meters 0.014716892188662886 Centerline is valid? [True, True] Translation: X:75.56, Y:0.38, Z:0.49 [[ 9.99796505e-01 -1.19312371e-02 -1.62663714e-02 7.55605009e+01] [ 1.19284329e-02 9.99928817e-01 -2.69405556e-04 3.79255092e-01] [ 1.62684279e-02 7.53184139e-05 9.99867658e-01 4.90898057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52925415399999 meters 0.014380906684046386 Centerline is valid? [True, True] Translation: X:75.59, Y:0.38, Z:0.49 [[ 9.99797901e-01 -1.31210276e-02 -1.52313957e-02 7.55886224e+01] [ 1.31186673e-02 9.99913914e-01 -2.54870662e-04 3.78412996e-01] [ 1.52334287e-02 5.50035399e-05 9.99883963e-01 4.91813653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55925415399999 meters 0.01430636782138839 Centerline is valid? [True, True] Translation: X:75.62, Y:0.38, Z:0.49 [[ 9.99773910e-01 -1.50405198e-02 -1.50303817e-02 7.56163623e+01] [ 1.50383942e-02 9.99886885e-01 -2.54436197e-04 3.77127020e-01] [ 1.50325084e-02 2.83458663e-05 9.99887005e-01 4.92282369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58925415399999 meters 0.014269191145945766 Centerline is valid? [True, True] Translation: X:75.65, Y:0.37, Z:0.49 [[ 9.99675637e-01 -2.06834931e-02 -1.48598395e-02 7.56457321e+01] [ 2.06820012e-02 9.99786072e-01 -2.54084444e-04 3.72657175e-01] [ 1.48619160e-02 -5.33291897e-05 9.99889554e-01 4.92260929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61925415399999 meters 0.014520301548954905 Centerline is valid? [True, True] Translation: X:75.68, Y:0.37, Z:0.49 [[ 9.99582063e-01 -2.44932231e-02 -1.53551737e-02 7.56756621e+01] [ 2.44920668e-02 9.99699990e-01 -2.63376848e-04 3.69992892e-01] [ 1.53570179e-02 -1.12813166e-04 9.99882068e-01 4.91993242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64925415399999 meters 0.014773705892968095 Centerline is valid? [True, True] Translation: X:75.71, Y:0.37, Z:0.49 [[ 9.99462294e-01 -2.86601888e-02 -1.59284653e-02 7.57056801e+01] [ 2.86594687e-02 9.99589196e-01 -2.73519087e-04 3.67012515e-01] [ 1.59297609e-02 -1.83129338e-04 9.99873097e-01 4.91956493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67925415399998 meters 0.016190337556072944 Centerline is valid? [True, True] Translation: X:75.74, Y:0.36, Z:0.49 [[ 9.99148407e-01 -3.76913483e-02 -1.67875902e-02 7.57364267e+01] [ 3.76918248e-02 9.99289369e-01 -2.88129196e-04 3.60077633e-01] [ 1.67865204e-02 -3.44871081e-04 9.99859037e-01 4.91464601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70925415399998 meters 0.018274060149954814 Centerline is valid? [True, True] Translation: X:75.77, Y:0.35, Z:0.49 [[ 9.98964645e-01 -4.22598614e-02 -1.68446199e-02 7.57667203e+01] [ 4.22609953e-02 9.99106563e-01 -2.88797851e-04 3.54499867e-01] [ 1.68417748e-02 -4.23371558e-04 9.99858078e-01 4.90911885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73925415399998 meters 0.019627802068483385 Centerline is valid? [True, True] Translation: X:75.80, Y:0.35, Z:0.49 [[ 9.98770830e-01 -4.65271510e-02 -1.70895953e-02 7.57979424e+01] [ 4.65289505e-02 9.98916899e-01 -2.92510934e-04 3.51168273e-01] [ 1.70846952e-02 -5.03009546e-04 9.99853919e-01 4.91188105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.76925415399998 meters 0.021414226351543105 Centerline is valid? [True, True] Translation: X:75.83, Y:0.35, Z:0.49 [[ 9.98400136e-01 -5.40565206e-02 -1.65849550e-02 7.58291949e+01] [ 5.40592603e-02 9.98537689e-01 -2.83410124e-04 3.46292324e-01] [ 1.65760228e-02 -6.13613693e-04 9.99862420e-01 4.91837341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79925415399998 meters 0.023984950573445105 Centerline is valid? [True, True] Translation: X:75.86, Y:0.34, Z:0.49 [[ 9.98217455e-01 -5.72941391e-02 -1.67121164e-02 7.58591165e+01] [ 5.72973766e-02 9.98357115e-01 -2.85419519e-04 3.41984093e-01] [ 1.67010132e-02 -6.72649680e-04 9.99860302e-01 4.91640506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.82925415399998 meters 0.023877485403097084 Centerline is valid? [True, True] Translation: X:75.89, Y:0.34, Z:0.49 [[ 9.97917641e-01 -6.23389324e-02 -1.65601994e-02 7.58900124e+01] [ 6.23428103e-02 9.98054755e-01 -2.82469067e-04 3.41761025e-01] [ 1.65455945e-02 -7.50528503e-04 9.99862831e-01 4.92008574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85925415399998 meters 0.024856566236389484 Centerline is valid? [True, True] Translation: X:75.92, Y:0.34, Z:0.49 [[ 9.97783681e-01 -6.44485976e-02 -1.65560946e-02 7.59216426e+01] [ 6.44527844e-02 9.97920718e-01 -2.81119468e-04 3.40512695e-01] [ 1.65397876e-02 -7.86589979e-04 9.99862899e-01 4.92210053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88925415399999 meters 0.026500126106283474 Centerline is valid? [True, True] Translation: X:75.95, Y:0.34, Z:0.49 [[ 9.97671068e-01 -6.62255408e-02 -1.63284399e-02 7.59523400e+01] [ 6.62298681e-02 9.97804354e-01 -2.76184263e-04 3.38369668e-01] [ 1.63108788e-02 -8.05889369e-04 9.99866644e-01 4.92464490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91925415399999 meters 0.025542771504098498 Centerline is valid? [True, True] Translation: X:75.98, Y:0.34, Z:0.49 [[ 9.97500389e-01 -6.90302531e-02 -1.50929902e-02 7.59832311e+01] [ 6.90342762e-02 9.97614256e-01 -2.54902182e-04 3.40346097e-01] [ 1.50745781e-02 -7.87668625e-04 9.99886062e-01 4.94107144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94925415399999 meters 0.027446309658739874 Centerline is valid? [True, True] Translation: X:76.01, Y:0.34, Z:0.49 [[ 9.97405770e-01 -7.04960452e-02 -1.45615194e-02 7.60141823e+01] [ 7.04999536e-02 9.97511752e-01 -2.45378724e-04 3.38582034e-01] [ 1.45425849e-02 -7.81844284e-04 9.99893945e-01 4.94060152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97925415399999 meters 0.02842526756941067 Centerline is valid? [True, True] Translation: X:76.05, Y:0.34, Z:0.49 [[ 9.97244088e-01 -7.27788730e-02 -1.44036273e-02 7.60453844e+01] [ 7.27829438e-02 9.97347775e-01 -2.42065677e-04 3.38911298e-01] [ 1.43830429e-02 -8.06939831e-04 9.99896233e-01 4.94088871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00925415399999 meters 0.027731636861168616 Centerline is valid? [True, True] Translation: X:76.08, Y:0.34, Z:0.49 [[ 9.97177278e-01 -7.36886304e-02 -1.44035265e-02 7.60773930e+01] [ 7.36928074e-02 9.97280959e-01 -2.41257182e-04 3.41177445e-01] [ 1.43821406e-02 -8.20860123e-04 9.99896235e-01 4.94562220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03925415399998 meters 0.027994235822571465 Centerline is valid? [True, True] Translation: X:76.11, Y:0.34, Z:0.49 [[ 9.97105450e-01 -7.45681805e-02 -1.48427607e-02 7.61099695e+01] [ 7.45727299e-02 9.97215547e-01 -2.47494952e-04 3.42298609e-01] [ 1.48198869e-02 -8.60086617e-04 9.99889810e-01 4.94508159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06925415399998 meters 0.03173525486566338 Centerline is valid? [True, True] Translation: X:76.14, Y:0.34, Z:0.49 [[ 9.97007900e-01 -7.57523529e-02 -1.53892207e-02 7.61409646e+01] [ 7.57573995e-02 9.97126246e-01 -2.55602187e-04 3.39298193e-01] [ 1.53643583e-02 -9.11009939e-04 9.99881546e-01 4.94175520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09925415399998 meters 0.03090191420376281 Centerline is valid? [True, True] Translation: X:76.17, Y:0.34, Z:0.49 [[ 9.97017799e-01 -7.56613189e-02 -1.51945269e-02 7.61742127e+01] [ 7.56662474e-02 9.97133169e-01 -2.51091302e-04 3.41607715e-01] [ 1.51699647e-02 -8.99370337e-04 9.99884525e-01 4.94391392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12925415399998 meters 0.031041142700422953 Centerline is valid? [True, True] Translation: X:76.21, Y:0.34, Z:0.49 [[ 9.97047126e-01 -7.51034087e-02 -1.60158186e-02 7.62063302e+01] [ 7.51088359e-02 9.97175307e-01 -2.63217356e-04 3.44240669e-01] [ 1.59903473e-02 -9.40489383e-04 9.99871704e-01 4.93854556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15925415399998 meters 0.031522997660123134 Centerline is valid? [True, True] Translation: X:76.24, Y:0.35, Z:0.49 [[ 9.97141163e-01 -7.37983629e-02 -1.62265837e-02 7.62376621e+01] [ 7.38037914e-02 9.97272746e-01 -2.64849770e-04 3.45576692e-01] [ 1.62018752e-02 -9.33490795e-04 9.99868305e-01 4.94042313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18925415399998 meters 0.03114202485261236 Centerline is valid? [True, True] Translation: X:76.27, Y:0.35, Z:0.49 [[ 9.97260472e-01 -7.21869987e-02 -1.61427633e-02 7.62691443e+01] [ 7.21921820e-02 9.97390706e-01 -2.62171834e-04 3.48223181e-01] [ 1.61195674e-02 -9.03927695e-04 9.99869663e-01 4.94421962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21925415399998 meters 0.02590194242133756 Centerline is valid? [True, True] Translation: X:76.30, Y:0.36, Z:0.50 [[ 9.97594307e-01 -6.73201252e-02 -1.65408667e-02 7.63001320e+01] [ 6.73249058e-02 9.97731069e-01 -2.68284550e-04 3.60527198e-01] [ 1.65213975e-02 -8.45973153e-04 9.99863155e-01 4.95736519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24925415399998 meters 0.02494806138616425 Centerline is valid? [True, True] Translation: X:76.33, Y:0.36, Z:0.50 [[ 9.97785516e-01 -6.41982625e-02 -1.73967654e-02 7.63316912e+01] [ 6.42030888e-02 9.97936814e-01 -2.81512879e-04 3.64879324e-01] [ 1.73789452e-02 -8.36036598e-04 9.99848625e-01 4.96113509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27925415399999 meters 0.023169231494759638 Centerline is valid? [True, True] Translation: X:76.36, Y:0.37, Z:0.50 [[ 9.98015276e-01 -6.05140552e-02 -1.74229438e-02 7.63632472e+01] [ 6.05183524e-02 9.98167045e-01 -2.80979136e-04 3.70359180e-01] [ 1.74080115e-02 -7.73986382e-04 9.99848170e-01 4.96585191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30925415399999 meters 0.020730482092626058 Centerline is valid? [True, True] Translation: X:76.39, Y:0.38, Z:0.50 [[ 9.98457649e-01 -5.27664336e-02 -1.72634399e-02 7.63931661e+01] [ 5.27695025e-02 9.98606680e-01 -2.78026477e-04 3.79985569e-01] [ 1.72540569e-02 -6.33385471e-04 9.99850937e-01 4.97705400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33925415399999 meters 0.019534822641566047 Centerline is valid? [True, True] Translation: X:76.42, Y:0.39, Z:0.50 [[ 9.98671456e-01 -4.86756795e-02 -1.69115753e-02 7.64243997e+01] [ 4.86780449e-02 9.98814484e-01 -2.71987996e-04 3.85023928e-01] [ 1.69047656e-02 -5.51595774e-04 9.99856952e-01 4.98442289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36925415399999 meters 0.017953213052468275 Centerline is valid? [True, True] Translation: X:76.45, Y:0.39, Z:0.50 [[ 9.99043028e-01 -4.08041655e-02 -1.57495543e-02 7.64536767e+01] [ 4.08052406e-02 9.99167087e-01 -2.53221394e-04 3.92827940e-01] [ 1.57467688e-02 -3.89685284e-04 9.99875936e-01 4.99647698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39925415399998 meters 0.01683059965807202 Centerline is valid? [True, True] Translation: X:76.48, Y:0.40, Z:0.50 [[ 9.99202496e-01 -3.69153116e-02 -1.52194432e-02 7.64847322e+01] [ 3.69158673e-02 9.99318347e-01 -2.44518890e-04 3.97906922e-01] [ 1.52180953e-02 -3.17515058e-04 9.99884148e-01 5.00728457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42925415399998 meters 0.015991125060093984 Centerline is valid? [True, True] Translation: X:76.52, Y:0.40, Z:0.50 [[ 9.99358558e-01 -3.27977337e-02 -1.43798716e-02 7.65153639e+01] [ 3.27978108e-02 9.99461980e-01 -2.30523977e-04 4.01778347e-01] [ 1.43796956e-02 -2.41252200e-04 9.99896578e-01 5.01603407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45925415399998 meters 0.015314650050513584 Centerline is valid? [True, True] Translation: X:76.55, Y:0.41, Z:0.50 [[ 9.99480369e-01 -2.90106973e-02 -1.40488942e-02 7.65471839e+01] [ 2.90104051e-02 9.99579084e-01 -2.24632404e-04 4.06105172e-01] [ 1.40494975e-02 -1.83048433e-04 9.99901284e-01 5.02089839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48925415399998 meters 0.014293514053634649 Centerline is valid? [True, True] Translation: X:76.58, Y:0.41, Z:0.50 [[ 9.99660024e-01 -2.20832602e-02 -1.38623610e-02 7.65782469e+01] [ 2.20823177e-02 9.99756131e-01 -2.21069838e-04 4.13958097e-01] [ 1.38638623e-02 -8.51183793e-05 9.99903888e-01 5.02642279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51925415399998 meters 0.01435885212323358 Centerline is valid? [True, True] Translation: X:76.61, Y:0.42, Z:0.50 [[ 9.99709862e-01 -1.95828690e-02 -1.40251181e-02 7.66087977e+01] [ 1.95816635e-02 9.99808236e-01 -2.23283105e-04 4.16836281e-01] [ 1.40268011e-02 -5.14168208e-05 9.99901618e-01 5.01818727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54925415399998 meters 0.014208845434622086 Centerline is valid? [True, True] Translation: X:76.64, Y:0.42, Z:0.50 [[ 9.99756637e-01 -1.63054121e-02 -1.48593265e-02 7.66389782e+01] [ 1.63036990e-02 9.99867058e-01 -2.36431662e-04 4.20437775e-01] [ 1.48612062e-02 -5.88786224e-06 9.99889566e-01 5.01586135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57925415399998 meters 0.01420930138274232 Centerline is valid? [True, True] Translation: X:76.67, Y:0.42, Z:0.50 [[ 9.99765778e-01 -1.58232365e-02 -1.47652803e-02 7.66674779e+01] [ 1.58214635e-02 9.99874805e-01 -2.36891241e-04 4.21462051e-01] [ 1.47671802e-02 3.22741202e-06 9.99890959e-01 5.01377823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60925415399998 meters 0.014124535582283526 Centerline is valid? [True, True] Translation: X:76.70, Y:0.42, Z:0.50 [[ 9.99739197e-01 -1.69809658e-02 -1.52703683e-02 7.66963862e+01] [ 1.69791450e-02 9.99855813e-01 -2.48884496e-04 4.21865615e-01] [ 1.52723928e-02 -1.04582107e-05 9.99883370e-01 5.01429421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63925415399999 meters 0.014185561760811996 Centerline is valid? [True, True] Translation: X:76.73, Y:0.42, Z:0.50 [[ 9.99712791e-01 -1.82524170e-02 -1.55301499e-02 7.67253539e+01] [ 1.82506524e-02 9.99833410e-01 -2.55353344e-04 4.21603110e-01] [ 1.55322236e-02 -2.81553642e-05 9.99879367e-01 5.01202793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66925415399999 meters 0.014213681235295712 Centerline is valid? [True, True] Translation: X:76.75, Y:0.42, Z:0.50 [[ 9.99677278e-01 -2.04042810e-02 -1.51328957e-02 7.67542785e+01] [ 2.04028143e-02 9.99791809e-01 -2.51312943e-04 4.21400738e-01] [ 1.51348731e-02 -5.75218228e-05 9.99885460e-01 5.02214137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69925415399999 meters 0.01440931938181292 Centerline is valid? [True, True] Translation: X:76.78, Y:0.42, Z:0.50 [[ 9.99601155e-01 -2.43444238e-02 -1.43136392e-02 7.67835198e+01] [ 2.43434873e-02 9.99703625e-01 -2.39681533e-04 4.18915381e-01] [ 1.43152319e-02 -1.08857957e-04 9.99897526e-01 5.02532700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72925415399999 meters 0.01463591129600255 Centerline is valid? [True, True] Translation: X:76.81, Y:0.42, Z:0.50 [[ 9.99564760e-01 -2.62353655e-02 -1.34906197e-02 7.68141938e+01] [ 2.62347041e-02 9.99655785e-01 -2.26020711e-04 4.17353181e-01] [ 1.34919058e-02 -1.28000079e-04 9.99908972e-01 5.02701351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75925415399999 meters 0.014692631254934634 Centerline is valid? [True, True] Translation: X:76.85, Y:0.42, Z:0.50 [[ 9.99511119e-01 -2.83441095e-02 -1.31960357e-02 7.68468447e+01] [ 2.83436681e-02 9.99598213e-01 -2.20503653e-04 4.16754647e-01] [ 1.31969837e-02 -1.53628203e-04 9.99912904e-01 5.03832757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78925415399998 meters 0.0152722253839644 Centerline is valid? [True, True] Translation: X:76.88, Y:0.41, Z:0.50 [[ 9.99395619e-01 -3.25721032e-02 -1.21431177e-02 7.68794113e+01] [ 3.25720518e-02 9.99469370e-01 -2.02060585e-04 4.14167801e-01] [ 1.21432557e-02 -1.93587795e-04 9.99926249e-01 5.04872224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81925415399998 meters 0.01563222279333874 Centerline is valid? [True, True] Translation: X:76.91, Y:0.41, Z:0.51 [[ 9.99319901e-01 -3.48023419e-02 -1.21874059e-02 7.69117631e+01] [ 3.48024668e-02 9.99394190e-01 -2.01897118e-04 4.13080490e-01] [ 1.21870492e-02 -2.22391982e-04 9.99925710e-01 5.05492978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84925415399998 meters 0.016520801201639863 Centerline is valid? [True, True] Translation: X:76.94, Y:0.41, Z:0.51 [[ 9.99171106e-01 -3.89464949e-02 -1.18436299e-02 7.69443452e+01] [ 3.89469141e-02 9.99241262e-01 -1.95339156e-04 4.10029026e-01] [ 1.18422515e-02 -2.66095597e-04 9.99929843e-01 5.05616411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87925415399998 meters 0.017564168633451033 Centerline is valid? [True, True] Translation: X:76.98, Y:0.41, Z:0.51 [[ 9.99085366e-01 -4.11315474e-02 -1.16887796e-02 7.69753013e+01] [ 4.11321141e-02 9.99153698e-01 -1.92013883e-04 4.07449221e-01] [ 1.16867852e-02 -2.88945955e-04 9.99931665e-01 5.05492185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90925415399998 meters 0.0185956943768053 Centerline is valid? [True, True] Translation: X:77.01, Y:0.40, Z:0.51 [[ 9.98951455e-01 -4.41991698e-02 -1.19341391e-02 7.70070998e+01] [ 4.41999872e-02 9.99022684e-01 -1.95381659e-04 4.03930588e-01] [ 1.19311113e-02 -3.32312001e-04 9.99928767e-01 5.05239640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93925415399998 meters 0.018078535970714925 Centerline is valid? [True, True] Translation: X:77.04, Y:0.40, Z:0.51 [[ 9.98895966e-01 -4.53313085e-02 -1.23256145e-02 7.70388374e+01] [ 4.53322750e-02 9.98971944e-01 -2.01102805e-04 4.04605029e-01] [ 1.23220594e-02 -3.57867366e-04 9.99924017e-01 5.05636928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96925415399998 meters 0.019058260844120743 Centerline is valid? [True, True] Translation: X:77.07, Y:0.40, Z:0.51 [[ 9.98862048e-01 -4.60877740e-02 -1.22689431e-02 7.70699696e+01] [ 4.60887969e-02 9.98937327e-01 -1.99498611e-04 4.02489554e-01] [ 1.22650997e-02 -3.66189237e-04 9.99924714e-01 5.05267725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99925415399998 meters 0.019058260844120743 Centerline is valid? [True, True] Translation: X:77.10, Y:0.40, Z:0.51 [[ 9.98867057e-01 -4.59790795e-02 -1.22689588e-02 7.71025214e+01] [ 4.59801061e-02 9.98942336e-01 -1.98534613e-04 4.02926523e-01] [ 1.22651108e-02 -3.65818341e-04 9.99924714e-01 5.05493212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02925415399999 meters 0.018314684241072278 Centerline is valid? [True, True] Translation: X:77.13, Y:0.40, Z:0.51 [[ 9.98874239e-01 -4.56428544e-02 -1.29222634e-02 7.71348746e+01] [ 4.56439811e-02 9.98957749e-01 -2.07868403e-04 4.03628778e-01] [ 1.29182829e-02 -3.82189154e-04 9.99916482e-01 5.05485202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05925415399999 meters 0.019472999644523085 Centerline is valid? [True, True] Translation: X:77.17, Y:0.40, Z:0.50 [[ 9.98929960e-01 -4.43682298e-02 -1.30535375e-02 7.71659042e+01] [ 4.43692820e-02 9.99015177e-01 -2.09124425e-04 4.01841264e-01] [ 1.30499606e-02 -3.70275434e-04 9.99914777e-01 5.04725702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08925415399999 meters 0.0175829225732866 Centerline is valid? [True, True] Translation: X:77.20, Y:0.41, Z:0.50 [[ 9.99113053e-01 -3.96620792e-02 -1.41430580e-02 7.71978320e+01] [ 3.96628545e-02 9.99213094e-01 -2.25777526e-04 4.05910846e-01] [ 1.41408835e-02 -3.35376778e-04 9.99899956e-01 5.04032869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11925415399999 meters 0.016007561565291272 Centerline is valid? [True, True] Translation: X:77.23, Y:0.41, Z:0.50 [[ 9.99243730e-01 -3.61539324e-02 -1.43129607e-02 7.72303443e+01] [ 3.61543820e-02 9.99346191e-01 -2.27422978e-04 4.09861217e-01] [ 1.43118250e-02 -2.90225264e-04 9.99897538e-01 5.04663085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14925415399998 meters 0.0156128369722656 Centerline is valid? [True, True] Translation: X:77.26, Y:0.41, Z:0.50 [[ 9.99370981e-01 -3.22686718e-02 -1.47096934e-02 7.72611987e+01] [ 3.22687400e-02 9.99479202e-01 -2.32773942e-04 4.11858257e-01] [ 1.47095439e-02 -2.42035748e-04 9.99891780e-01 5.04558939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17925415399998 meters 0.014480847165691103 Centerline is valid? [True, True] Translation: X:77.29, Y:0.42, Z:0.51 [[ 9.99610940e-01 -2.37404261e-02 -1.46410866e-02 7.72923999e+01] [ 2.37395867e-02 9.99718150e-01 -2.31149267e-04 4.18473408e-01] [ 1.46424476e-02 -1.16514009e-04 9.99892787e-01 5.05480908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20925415399998 meters 0.014312637745303157 Centerline is valid? [True, True] Translation: X:77.32, Y:0.42, Z:0.51 [[ 9.99701005e-01 -1.96063920e-02 -1.46112775e-02 7.73230190e+01] [ 1.96051182e-02 9.99807775e-01 -2.30423839e-04 4.21505883e-01] [ 1.46129866e-02 -5.61008789e-05 9.99893223e-01 5.05831680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23925415399998 meters 0.014373116140945627 Centerline is valid? [True, True] Translation: X:77.35, Y:0.43, Z:0.51 [[ 9.99804338e-01 -1.31134968e-02 -1.48095074e-02 7.73526869e+01] [ 1.31114716e-02 9.99914014e-01 -2.33838434e-04 4.25493269e-01] [ 1.48113004e-02 3.96182447e-05 9.99890306e-01 5.06078282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26925415399998 meters 0.014475115420163612 Centerline is valid? [True, True] Translation: X:77.38, Y:0.43, Z:0.51 [[ 9.99823508e-01 -1.13219819e-02 -1.49921591e-02 7.73814198e+01] [ 1.13196703e-02 9.99935902e-01 -2.39039015e-04 4.27144742e-01] [ 1.49939045e-02 6.92905293e-05 9.99887583e-01 5.06095565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29925415399998 meters 0.014688146178907515 Centerline is valid? [True, True] Translation: X:77.41, Y:0.43, Z:0.51 [[ 9.99837882e-01 -9.97590079e-03 -1.49897285e-02 7.74090769e+01] [ 9.97340122e-03 9.99950235e-01 -2.41498435e-04 4.28178056e-01] [ 1.49913917e-02 9.19607079e-05 9.99887619e-01 5.06164876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32925415399998 meters 0.014770395414138807 Centerline is valid? [True, True] Translation: X:77.44, Y:0.43, Z:0.51 [[ 9.99846467e-01 -9.11309138e-03 -1.49664099e-02 7.74368346e+01] [ 9.11048281e-03 9.99958469e-01 -2.42466390e-04 4.28038390e-01] [ 1.49679979e-02 1.06077943e-04 9.99887968e-01 5.06475660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35925415399998 meters 0.014516812878059537 Centerline is valid? [True, True] Translation: X:77.46, Y:0.43, Z:0.51 [[ 9.99830853e-01 -1.01387022e-02 -1.53451078e-02 7.74649744e+01] [ 1.01360331e-02 9.99948597e-01 -2.51701403e-04 4.27180737e-01] [ 1.53468709e-02 9.61203085e-05 9.99882225e-01 5.07139854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38925415399999 meters 0.01471823161823442 Centerline is valid? [True, True] Translation: X:77.49, Y:0.43, Z:0.51 [[ 9.99813305e-01 -1.17085729e-02 -1.53708691e-02 7.74920900e+01] [ 1.17060234e-02 9.99931449e-01 -2.55830071e-04 4.26267988e-01] [ 1.53728109e-02 7.58505551e-05 9.99881828e-01 5.06833759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41925415399999 meters 0.014557353570219795 Centerline is valid? [True, True] Translation: X:77.52, Y:0.42, Z:0.51 [[ 9.99733918e-01 -1.62032755e-02 -1.64178996e-02 7.75211729e+01] [ 1.62009373e-02 9.99868718e-01 -2.75417715e-04 4.22517695e-01] [ 1.64202069e-02 9.35907011e-06 9.99865179e-01 5.06549529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44925415399999 meters 0.014615104925908281 Centerline is valid? [True, True] Translation: X:77.55, Y:0.42, Z:0.51 [[ 9.99673664e-01 -1.95030219e-02 -1.64984313e-02 7.75487768e+01] [ 1.95010554e-02 9.99809797e-01 -2.80079845e-04 4.20456107e-01] [ 1.65007557e-02 -4.17483785e-05 9.99863852e-01 5.06223983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47925415399999 meters 0.014649756327977773 Centerline is valid? [True, True] Translation: X:77.58, Y:0.42, Z:0.51 [[ 9.99586485e-01 -2.32458554e-02 -1.69259833e-02 7.75776643e+01] [ 2.32442439e-02 9.99729773e-01 -2.91962010e-04 4.17728862e-01] [ 1.69281963e-02 -1.01590404e-04 9.99856703e-01 5.06233109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50925415399999 meters 0.015487153498908052 Centerline is valid? [True, True] Translation: X:77.61, Y:0.41, Z:0.51 [[ 9.99393593e-01 -3.07507075e-02 -1.63352596e-02 7.76074063e+01] [ 3.07501753e-02 9.99527061e-01 -2.83814587e-04 4.11582810e-01] [ 1.63362615e-02 -2.18669615e-04 9.99866530e-01 5.06112691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53925415399998 meters 0.01591936900162611 Centerline is valid? [True, True] Translation: X:77.64, Y:0.41, Z:0.51 [[ 9.99279061e-01 -3.44438506e-02 -1.59680695e-02 7.76391139e+01] [ 3.44438147e-02 9.99406597e-01 -2.77348012e-04 4.09210153e-01] [ 1.59681469e-02 -2.72853165e-04 9.99872464e-01 5.06866223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56925415399998 meters 0.017340490973367123 Centerline is valid? [True, True] Translation: X:77.67, Y:0.40, Z:0.51 [[ 9.99011194e-01 -4.17120069e-02 -1.53864623e-02 7.76706936e+01] [ 4.17128435e-02 9.99129605e-01 -2.66689466e-04 4.03965533e-01] [ 1.53841942e-02 -3.75387335e-04 9.99881586e-01 5.08389480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59925415399998 meters 0.018254384542028608 Centerline is valid? [True, True] Translation: X:77.70, Y:0.40, Z:0.51 [[ 9.98886072e-01 -4.47983613e-02 -1.48230171e-02 7.77025205e+01] [ 4.47994873e-02 9.98995966e-01 -2.56242848e-04 4.01454067e-01] [ 1.48196135e-02 -4.08106154e-04 9.99890100e-01 5.09042550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62925415399998 meters 0.0191559747439521 Centerline is valid? [True, True] Translation: X:77.73, Y:0.40, Z:0.51 [[ 9.98742223e-01 -4.80392876e-02 -1.43596398e-02 7.77348939e+01] [ 4.80406921e-02 9.98845349e-01 -2.47316823e-04 3.99237988e-01] [ 1.43549403e-02 -4.42841279e-04 9.99896864e-01 5.09597579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65925415399998 meters 0.019998048733775687 Centerline is valid? [True, True] Translation: X:77.77, Y:0.40, Z:0.51 [[ 9.98593906e-01 -5.11769412e-02 -1.38250127e-02 7.77668416e+01] [ 5.11785572e-02 9.98689491e-01 -2.37110550e-04 3.97219245e-01] [ 1.38190295e-02 -4.70767051e-04 9.99904402e-01 5.09970994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68925415399998 meters 0.022179571136735222 Centerline is valid? [True, True] Translation: X:77.80, Y:0.39, Z:0.51 [[ 9.98244950e-01 -5.77621514e-02 -1.30595854e-02 7.77972256e+01] [ 5.77641627e-02 9.98330232e-01 -2.23454173e-04 3.91680504e-01] [ 1.30506861e-02 -5.31314016e-04 9.99914695e-01 5.09868463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71925415399998 meters 0.023645107304846032 Centerline is valid? [True, True] Translation: X:77.83, Y:0.39, Z:0.51 [[ 9.98067164e-01 -6.07528509e-02 -1.30777066e-02 7.78278067e+01] [ 6.07551261e-02 9.98152676e-01 -2.23600020e-04 3.88417859e-01] [ 1.30671322e-02 -5.71369875e-04 9.99914458e-01 5.09842807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74925415399998 meters 0.02521113669380783 Centerline is valid? [True, True] Translation: X:77.86, Y:0.39, Z:0.51 [[ 9.97724351e-01 -6.62679000e-02 -1.24372575e-02 7.78580497e+01] [ 6.62703870e-02 9.97801679e-01 -2.12504485e-04 3.85608874e-01] [ 1.24239986e-02 -6.12200969e-04 9.99922632e-01 5.10400359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77925415399999 meters 0.02729755207874965 Centerline is valid? [True, True] Translation: X:77.89, Y:0.38, Z:0.51 [[ 9.97559819e-01 -6.86994367e-02 -1.24416506e-02 7.78879558e+01] [ 6.87021145e-02 9.97637196e-01 -2.12547913e-04 3.83089266e-01] [ 1.24268554e-02 -6.42738448e-04 9.99922577e-01 5.10960494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80925415399999 meters 0.02700886441280412 Centerline is valid? [True, True] Translation: X:77.92, Y:0.38, Z:0.51 [[ 9.97434342e-01 -7.04541116e-02 -1.26866764e-02 7.79200178e+01] [ 7.04570428e-02 9.97514791e-01 -2.16310227e-04 3.84160496e-01] [ 1.26703873e-02 -6.78110454e-04 9.99919497e-01 5.11128910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83925415399999 meters 0.029826570353799847 Centerline is valid? [True, True] Translation: X:77.95, Y:0.38, Z:0.51 [[ 9.97203819e-01 -7.35346112e-02 -1.33118194e-02 7.79499803e+01] [ 7.35381261e-02 9.97292381e-01 -2.25916276e-04 3.80753131e-01] [ 1.32923887e-02 -7.53641678e-04 9.99911368e-01 5.10391917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86925415399999 meters 0.030453069156111012 Centerline is valid? [True, True] Translation: X:77.98, Y:0.38, Z:0.51 [[ 9.97105218e-01 -7.48010019e-02 -1.36379524e-02 7.79823677e+01] [ 7.48048236e-02 9.97198168e-01 -2.30391821e-04 3.80151591e-01] [ 1.36169747e-02 -7.90459736e-04 9.99906972e-01 5.10615597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89925415399998 meters 0.031872765784740874 Centerline is valid? [True, True] Translation: X:78.01, Y:0.38, Z:0.51 [[ 9.97017495e-01 -7.59427978e-02 -1.37406990e-02 7.80137438e+01] [ 7.59467972e-02 9.97111845e-01 -2.31259225e-04 3.78916274e-01] [ 1.37185762e-02 -8.12992589e-04 9.99905565e-01 5.10324598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92925415399998 meters 0.029981064836488134 Centerline is valid? [True, True] Translation: X:78.05, Y:0.38, Z:0.51 [[ 9.96879338e-01 -7.75881927e-02 -1.45484880e-02 7.80457013e+01] [ 7.75928647e-02 9.96985099e-01 -2.43898884e-04 3.82877815e-01] [ 1.45235494e-02 -8.85721105e-04 9.99894135e-01 5.10323367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95925415399998 meters 0.031631061895620344 Centerline is valid? [True, True] Translation: X:78.08, Y:0.38, Z:0.51 [[ 9.96870790e-01 -7.76063658e-02 -1.50292731e-02 7.80770832e+01] [ 7.76113790e-02 9.96983656e-01 -2.50290887e-04 3.81573609e-01] [ 1.50033638e-02 -9.16934935e-04 9.99887023e-01 5.09690663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98925415399998 meters 0.031736651502385596 Centerline is valid? [True, True] Translation: X:78.11, Y:0.38, Z:0.51 [[ 9.96936184e-01 -7.66110774e-02 -1.57793590e-02 7.81088411e+01] [ 7.66165054e-02 9.97060601e-01 -2.61123287e-04 3.83731337e-01] [ 1.57529821e-02 -9.48636088e-04 9.99875464e-01 5.09580754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01925415399998 meters 0.03136062419660321 Centerline is valid? [True, True] Translation: X:78.14, Y:0.39, Z:0.51 [[ 9.97026042e-01 -7.54395173e-02 -1.57464272e-02 7.81413134e+01] [ 7.54447948e-02 9.97149946e-01 -2.59450496e-04 3.85802105e-01] [ 1.57211219e-02 -9.29307068e-04 9.99875984e-01 5.10024259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04925415399998 meters 0.029851355958104352 Centerline is valid? [True, True] Translation: X:78.17, Y:0.39, Z:0.51 [[ 9.97144202e-01 -7.39080447e-02 -1.55255107e-02 7.81731543e+01] [ 7.39130050e-02 9.97264660e-01 -2.54852780e-04 3.89401319e-01] [ 1.55018789e-02 -8.93412181e-04 9.99879440e-01 5.10670098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07925415399998 meters 0.02604375936092301 Centerline is valid? [True, True] Translation: X:78.20, Y:0.40, Z:0.51 [[ 9.97463720e-01 -6.97251294e-02 -1.43015344e-02 7.82042501e+01] [ 6.97289164e-02 9.97565949e-01 -2.34275600e-04 3.97955420e-01] [ 1.42830587e-02 -7.63549088e-04 9.99897700e-01 5.12680893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10925415399998 meters 0.02730547780539781 Centerline is valid? [True, True] Translation: X:78.24, Y:0.40, Z:0.51 [[ 9.97686278e-01 -6.66451202e-02 -1.34357099e-02 7.82351950e+01] [ 6.66481888e-02 9.97776513e-01 -2.19730873e-04 3.97991509e-01] [ 1.34204798e-02 -6.76243255e-04 9.99909713e-01 5.13192280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13925415399999 meters 0.023408646709686155 Centerline is valid? [True, True] Translation: X:78.27, Y:0.41, Z:0.52 [[ 9.98150188e-01 -5.95155956e-02 -1.24135150e-02 7.82653555e+01] [ 5.95176675e-02 9.98227232e-01 -2.02779913e-04 4.07627806e-01] [ 1.24035773e-02 -5.36418651e-04 9.99922929e-01 5.15100851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16925415399999 meters 0.021879074745737703 Centerline is valid? [True, True] Translation: X:78.30, Y:0.41, Z:0.52 [[ 9.98389758e-01 -5.54658160e-02 -1.18926160e-02 7.82972212e+01] [ 5.54674340e-02 9.98460478e-01 -1.94004079e-04 4.12062955e-01] [ 1.18850677e-02 -4.65961208e-04 9.99929262e-01 5.16193603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19925415399999 meters 0.020153070519212807 Centerline is valid? [True, True] Translation: X:78.33, Y:0.42, Z:0.52 [[ 9.98615357e-01 -5.13169021e-02 -1.15734376e-02 7.83289089e+01] [ 5.13181632e-02 9.98682337e-01 -1.88172395e-04 4.17204632e-01] [ 1.15678441e-02 -4.06015715e-04 9.99933008e-01 5.16658515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22925415399999 meters 0.01878602494156928 Centerline is valid? [True, True] Translation: X:78.36, Y:0.42, Z:0.52 [[ 9.99019669e-01 -4.27794906e-02 -1.13849342e-02 7.83580824e+01] [ 4.27801607e-02 9.99084493e-01 -1.84779827e-04 4.23032343e-01] [ 1.13824160e-02 -3.02450634e-04 9.99935172e-01 5.16709752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25925415399999 meters 0.017595476366769325 Centerline is valid? [True, True] Translation: X:78.39, Y:0.43, Z:0.52 [[ 9.99192235e-01 -3.85116975e-02 -1.14772057e-02 7.83898564e+01] [ 3.85120989e-02 9.99258117e-01 -1.86115462e-04 4.27299965e-01] [ 1.14758586e-02 -2.56046157e-04 9.99934117e-01 5.16836779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28925415399998 meters 0.016424593751964492 Centerline is valid? [True, True] Translation: X:78.42, Y:0.43, Z:0.52 [[ 9.99329610e-01 -3.46335240e-02 -1.18680218e-02 7.84225377e+01] [ 3.46336897e-02 9.99400055e-01 -1.91616788e-04 4.32283048e-01] [ 1.18675380e-02 -2.19545056e-04 9.99929554e-01 5.16729681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31925415399998 meters 0.015144445785076652 Centerline is valid? [True, True] Translation: X:78.45, Y:0.44, Z:0.52 [[ 9.99542606e-01 -2.73498142e-02 -1.29060388e-02 7.84528375e+01] [ 2.73494134e-02 9.99625913e-01 -2.07577318e-04 4.38379348e-01] [ 1.29068881e-02 -1.45490218e-04 9.99916692e-01 5.16378435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34925415399998 meters 0.014701616906028565 Centerline is valid? [True, True] Translation: X:78.48, Y:0.44, Z:0.52 [[ 9.99623727e-01 -2.41267834e-02 -1.30499771e-02 7.84846408e+01] [ 2.41261045e-02 9.99708901e-01 -2.09475037e-04 4.41463436e-01] [ 1.30512323e-02 -1.05448895e-04 9.99914823e-01 5.16830841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37925415399998 meters 0.014515894918798624 Centerline is valid? [True, True] Translation: X:78.51, Y:0.45, Z:0.52 [[ 9.99726187e-01 -1.93650016e-02 -1.31357216e-02 7.85147907e+01] [ 1.93639085e-02 9.99812480e-01 -2.10409688e-04 4.45430084e-01] [ 1.31373330e-02 -4.40068358e-05 9.99913701e-01 5.16581675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40925415399998 meters 0.01455058890816995 Centerline is valid? [True, True] Translation: X:78.54, Y:0.45, Z:0.52 [[ 9.99757909e-01 -1.75453429e-02 -1.32772395e-02 7.85447247e+01] [ 1.75440658e-02 9.99846068e-01 -2.12662984e-04 4.47113727e-01] [ 1.32789270e-02 -2.03252640e-05 9.99911831e-01 5.16706111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43925415399998 meters 0.014525140930269858 Centerline is valid? [True, True] Translation: X:78.57, Y:0.45, Z:0.52 [[ 9.99790060e-01 -1.60818071e-02 -1.26969253e-02 7.85745932e+01] [ 1.60805171e-02 9.99870679e-01 -2.03686000e-04 4.48456759e-01] [ 1.26985590e-02 -5.29887603e-07 9.99919370e-01 5.17021532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46925415399998 meters 0.014589186118998636 Centerline is valid? [True, True] Translation: X:78.60, Y:0.45, Z:0.52 [[ 9.99825264e-01 -1.38140934e-02 -1.25941145e-02 7.86042823e+01] [ 1.38126401e-02 9.99904580e-01 -2.02374878e-04 4.50226252e-01] [ 1.25957084e-02 2.83815450e-05 9.99920671e-01 5.17687402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49925415399998 meters 0.01452952869565273 Centerline is valid? [True, True] Translation: X:78.63, Y:0.45, Z:0.52 [[ 9.99837944e-01 -1.32018782e-02 -1.22391302e-02 7.86327880e+01] [ 1.32004427e-02 9.99912851e-01 -1.98064512e-04 4.50924095e-01] [ 1.22406784e-02 3.64704769e-05 9.99925079e-01 5.17983693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52925415399999 meters 0.014558046364008556 Centerline is valid? [True, True] Translation: X:78.66, Y:0.45, Z:0.52 [[ 9.99849659e-01 -1.24354283e-02 -1.20838499e-02 7.86610338e+01] [ 1.24339500e-02 9.99922676e-01 -1.97460650e-04 4.51251983e-01] [ 1.20853711e-02 4.71809782e-05 9.99926968e-01 5.18075885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55925415399999 meters 0.014538022976684568 Centerline is valid? [True, True] Translation: X:78.69, Y:0.45, Z:0.52 [[ 9.99844969e-01 -1.28001629e-02 -1.20910602e-02 7.86901336e+01] [ 1.27986904e-02 9.99918074e-01 -1.99156922e-04 4.49975773e-01] [ 1.20926188e-02 4.43763104e-05 9.99926881e-01 5.18235926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58925415399999 meters 0.014564509444609651 Centerline is valid? [True, True] Translation: X:78.72, Y:0.45, Z:0.52 [[ 9.99833429e-01 -1.39233081e-02 -1.18006673e-02 7.87191159e+01] [ 1.39219512e-02 9.99903066e-01 -1.97127234e-04 4.48880271e-01] [ 1.18022681e-02 3.28060840e-05 9.99930350e-01 5.18090834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61925415399999 meters 0.014553814892740194 Centerline is valid? [True, True] Translation: X:78.75, Y:0.44, Z:0.52 [[ 9.99776603e-01 -1.71393073e-02 -1.23688314e-02 7.87478226e+01] [ 1.71380381e-02 9.99853111e-01 -2.08605330e-04 4.44176909e-01] [ 1.23705899e-02 -3.41877484e-06 9.99923481e-01 5.17113184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64925415399998 meters 0.014595394442377126 Centerline is valid? [True, True] Translation: X:78.78, Y:0.44, Z:0.52 [[ 9.99727545e-01 -1.98064612e-02 -1.23506843e-02 7.87777415e+01] [ 1.98053939e-02 9.99803832e-01 -2.08735675e-04 4.41167769e-01] [ 1.23523958e-02 -3.59313641e-05 9.99923706e-01 5.17230279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67925415399998 meters 0.014632262242941386 Centerline is valid? [True, True] Translation: X:78.81, Y:0.44, Z:0.52 [[ 9.99664912e-01 -2.26008703e-02 -1.26200166e-02 7.88086342e+01] [ 2.25999784e-02 9.99744565e-01 -2.13303246e-04 4.38587077e-01] [ 1.26216139e-02 -7.19803328e-05 9.99920342e-01 5.18008633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70925415399998 meters 0.015459992275246887 Centerline is valid? [True, True] Translation: X:78.84, Y:0.43, Z:0.52 [[ 9.99494675e-01 -2.91308107e-02 -1.27196970e-02 7.88391959e+01] [ 2.91304361e-02 9.99575596e-01 -2.14761532e-04 4.31222608e-01] [ 1.27205549e-02 -1.55877314e-04 9.99919078e-01 5.17682083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73925415399998 meters 0.016088037381387896 Centerline is valid? [True, True] Translation: X:78.87, Y:0.43, Z:0.52 [[ 9.99391979e-01 -3.22670013e-02 -1.32103340e-02 7.88714639e+01] [ 3.22668787e-02 9.99479264e-01 -2.22470980e-04 4.28112138e-01] [ 1.32106334e-02 -2.03920532e-04 9.99912715e-01 5.17711031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76925415399998 meters 0.017391029113907892 Centerline is valid? [True, True] Translation: X:78.90, Y:0.42, Z:0.52 [[ 9.99176443e-01 -3.84234776e-02 -1.30411420e-02 7.89028957e+01] [ 3.84238914e-02 9.99261506e-01 -2.18918367e-04 4.21699710e-01] [ 1.30399228e-02 -2.82353349e-04 9.99914937e-01 5.17722943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79925415399998 meters 0.01819675424937371 Centerline is valid? [True, True] Translation: X:78.94, Y:0.42, Z:0.52 [[ 9.99063618e-01 -4.11980505e-02 -1.32139404e-02 7.89354240e+01] [ 4.11987270e-02 9.99150948e-01 -2.21125015e-04 4.19021056e-01] [ 1.32118310e-02 -3.23479566e-04 9.99912668e-01 5.17997018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82925415399998 meters 0.019146996464747233 Centerline is valid? [True, True] Translation: X:78.97, Y:0.42, Z:0.52 [[ 9.98957559e-01 -4.37698486e-02 -1.29613296e-02 7.89670807e+01] [ 4.37707297e-02 9.99041579e-01 -2.15821916e-04 4.16337974e-01] [ 1.29583536e-02 -3.51729919e-04 9.99915975e-01 5.18312895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85925415399998 meters 0.020609086460614632 Centerline is valid? [True, True] Translation: X:79.00, Y:0.41, Z:0.52 [[ 9.98828842e-01 -4.66009208e-02 -1.30115133e-02 7.89980329e+01] [ 4.66020618e-02 9.98913510e-01 -2.15652778e-04 4.12856812e-01] [ 1.30074260e-02 -3.90963131e-04 9.99915323e-01 5.18317972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88925415399999 meters 0.020609086460614632 Centerline is valid? [True, True] Translation: X:79.03, Y:0.41, Z:0.52 [[ 9.98832071e-01 -4.65316463e-02 -1.30115263e-02 7.90297345e+01] [ 4.65327917e-02 9.98916740e-01 -2.14866328e-04 4.13316576e-01] [ 1.30074295e-02 -3.90847262e-04 9.99915323e-01 5.18537583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91925415399999 meters 0.023396101780857614 Centerline is valid? [True, True] Translation: X:79.06, Y:0.41, Z:0.52 [[ 9.98572429e-01 -5.19481234e-02 -1.24296504e-02 7.90597900e+01] [ 5.19495984e-02 9.98649687e-01 -2.04392046e-04 4.06844818e-01] [ 1.24234843e-02 -4.41615085e-04 9.99922728e-01 5.18617260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94925415399999 meters 0.021279846665156085 Centerline is valid? [True, True] Translation: X:79.09, Y:0.41, Z:0.52 [[ 9.98422608e-01 -5.46020559e-02 -1.30732684e-02 7.90916810e+01] [ 5.46039278e-02 9.98508070e-01 -2.13984507e-04 4.09400040e-01] [ 1.30654480e-02 -5.00204834e-04 9.99914518e-01 5.19491661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97925415399999 meters 0.022444994428788504 Centerline is valid? [True, True] Translation: X:79.12, Y:0.41, Z:0.52 [[ 9.98272644e-01 -5.72347870e-02 -1.32629957e-02 7.91237733e+01] [ 5.72369586e-02 9.98360598e-01 -2.16108124e-04 4.07012644e-01] [ 1.32536212e-02 -5.43398707e-04 9.99912019e-01 5.19539238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00925415399999 meters 0.024157890583265063 Centerline is valid? [True, True] Translation: X:79.15, Y:0.40, Z:0.52 [[ 9.97944387e-01 -6.26220265e-02 -1.36191627e-02 7.91543350e+01] [ 6.26248248e-02 9.98037115e-01 -2.21323423e-04 4.03563261e-01] [ 1.36062896e-02 -6.32029212e-04 9.99907230e-01 5.19764022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03925415399998 meters 0.025934051913557694 Centerline is valid? [True, True] Translation: X:79.18, Y:0.40, Z:0.52 [[ 9.97776132e-01 -6.52212814e-02 -1.37468029e-02 7.91845493e+01] [ 6.52243812e-02 9.97870598e-01 -2.23203410e-04 4.00965586e-01] [ 1.37320881e-02 -6.73919680e-04 9.99905483e-01 5.19904937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06925415399998 meters 0.028047143233797533 Centerline is valid? [True, True] Translation: X:79.22, Y:0.40, Z:0.52 [[ 9.97460214e-01 -6.98001493e-02 -1.41795923e-02 7.92151738e+01] [ 6.98039111e-02 9.97560705e-01 -2.30055150e-04 3.97791769e-01] [ 1.41610620e-02 -7.60320140e-04 9.99899438e-01 5.20332152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09925415399998 meters 0.026936110437476776 Centerline is valid? [True, True] Translation: X:79.25, Y:0.40, Z:0.52 [[ 9.97366926e-01 -7.11691187e-02 -1.39345578e-02 7.92467971e+01] [ 7.11728978e-02 9.97463968e-01 -2.25142609e-04 3.99867687e-01] [ 1.39152425e-02 -7.67213063e-04 9.99902884e-01 5.21059886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12925415399998 meters 0.02855260306047157 Centerline is valid? [True, True] Translation: X:79.28, Y:0.40, Z:0.52 [[ 9.97290419e-01 -7.22415428e-02 -1.38916966e-02 7.92777307e+01] [ 7.22454200e-02 9.97386860e-01 -2.23182191e-04 3.98350079e-01] [ 1.38715186e-02 -7.81033992e-04 9.99903481e-01 5.21152553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15925415399998 meters 0.02825984257301574 Centerline is valid? [True, True] Translation: X:79.31, Y:0.40, Z:0.52 [[ 9.97222793e-01 -7.30522866e-02 -1.44936246e-02 7.93093506e+01] [ 7.30566044e-02 9.97327769e-01 -2.32032574e-04 4.00266767e-01] [ 1.44718448e-02 -8.27466830e-04 9.99894935e-01 5.21162357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18925415399998 meters 0.02878683156014449 Centerline is valid? [True, True] Translation: X:79.34, Y:0.40, Z:0.52 [[ 9.97242183e-01 -7.27452286e-02 -1.47023961e-02 7.93410237e+01] [ 7.27496525e-02 9.97350206e-01 -2.34415501e-04 4.00519899e-01] [ 1.46804904e-02 -8.35825179e-04 9.99891886e-01 5.20982353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21925415399998 meters 0.028370215870690118 Centerline is valid? [True, True] Translation: X:79.37, Y:0.40, Z:0.52 [[ 9.97273823e-01 -7.22946177e-02 -1.47787271e-02 7.93736915e+01] [ 7.22990565e-02 9.97382971e-01 -2.34402969e-04 4.02607295e-01] [ 1.47569968e-02 -8.34724078e-04 9.99890761e-01 5.21025321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24925415399998 meters 0.029001157478435437 Centerline is valid? [True, True] Translation: X:79.40, Y:0.40, Z:0.52 [[ 9.97329215e-01 -7.15126249e-02 -1.48452793e-02 7.94048408e+01] [ 7.15170440e-02 9.97439350e-01 -2.33665822e-04 4.03561689e-01] [ 1.48239758e-02 -8.28648742e-04 9.99889775e-01 5.21411823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27925415399999 meters 0.03342211568678484 Centerline is valid? [True, True] Translation: X:79.44, Y:0.40, Z:0.52 [[ 9.97444233e-01 -6.96761216e-02 -1.58189634e-02 7.94350734e+01] [ 6.96809288e-02 9.97569299e-01 -2.47755321e-04 4.01232902e-01] [ 1.57977748e-02 -8.55157943e-04 9.99874842e-01 5.20226839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30925415399999 meters 0.028171018543093156 Centerline is valid? [True, True] Translation: X:79.47, Y:0.41, Z:0.52 [[ 9.97557376e-01 -6.79904196e-02 -1.60182408e-02 7.94675538e+01] [ 6.79951469e-02 9.97685621e-01 -2.49942575e-04 4.10634243e-01] [ 1.59981622e-02 -8.39830574e-04 9.99871669e-01 5.21526313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33925415399999 meters 0.027615743563796796 Centerline is valid? [True, True] Translation: X:79.50, Y:0.42, Z:0.52 [[ 9.97803821e-01 -6.43269248e-02 -1.57981405e-02 7.94976097e+01] [ 6.43310746e-02 9.97928581e-01 -2.45900536e-04 4.15617685e-01] [ 1.57812340e-02 -7.70950863e-04 9.99875171e-01 5.21875984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36925415399999 meters 0.02557368207426791 Centerline is valid? [True, True] Translation: X:79.53, Y:0.42, Z:0.52 [[ 9.97936124e-01 -6.23592244e-02 -1.53238043e-02 7.95292142e+01] [ 6.23629041e-02 9.98053511e-01 -2.38063102e-04 4.21296343e-01] [ 1.53088221e-02 -7.18065167e-04 9.99882555e-01 5.23106033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39925415399998 meters 0.025522521292838985 Centerline is valid? [True, True] Translation: X:79.56, Y:0.42, Z:0.52 [[ 9.98083048e-01 -6.01475118e-02 -1.45775625e-02 7.95593626e+01] [ 6.01506136e-02 9.98189287e-01 -2.25974950e-04 4.23627108e-01] [ 1.45647586e-02 -6.51307563e-04 9.99893716e-01 5.23927832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42925415399998 meters 0.02243732257030384 Centerline is valid? [True, True] Translation: X:79.59, Y:0.43, Z:0.53 [[ 9.98346157e-01 -5.56493269e-02 -1.44258134e-02 7.95895049e+01] [ 5.56518974e-02 9.98450207e-01 -2.23498713e-04 4.33371535e-01] [ 1.44158940e-02 -5.79694807e-04 9.99895918e-01 5.25350747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45925415399998 meters 0.02190481190356585 Centerline is valid? [True, True] Translation: X:79.62, Y:0.44, Z:0.53 [[ 9.98475305e-01 -5.32806528e-02 -1.44304528e-02 7.96211779e+01] [ 5.32829859e-02 9.98579428e-01 -2.23019990e-04 4.37181370e-01] [ 1.44218360e-02 -5.46217662e-04 9.99895851e-01 5.25446260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48925415399998 meters 0.021718612518267757 Centerline is valid? [True, True] Translation: X:79.65, Y:0.44, Z:0.53 [[ 9.98594107e-01 -5.09353225e-02 -1.46765799e-02 7.96524212e+01] [ 5.09375067e-02 9.98701817e-01 -2.25193173e-04 4.40424742e-01] [ 1.46689973e-02 -5.22711810e-04 9.99892268e-01 5.25590506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51925415399998 meters 0.01876714319169456 Centerline is valid? [True, True] Translation: X:79.68, Y:0.45, Z:0.53 [[ 9.98807531e-01 -4.62644421e-02 -1.55922306e-02 7.96837718e+01] [ 4.62663604e-02 9.98929110e-01 -2.37860519e-04 4.50494271e-01] [ 1.55865376e-02 -4.83818884e-04 9.99878405e-01 5.25658781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54925415399998 meters 0.019418008072539215 Centerline is valid? [True, True] Translation: X:79.71, Y:0.45, Z:0.53 [[ 9.98926361e-01 -4.35887583e-02 -1.56890014e-02 7.97147327e+01] [ 4.35903825e-02 9.99049459e-01 -2.38591351e-04 4.51841153e-01] [ 1.56844882e-02 -4.45554380e-04 9.99876892e-01 5.25065137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57925415399998 meters 0.017226361328778302 Centerline is valid? [True, True] Translation: X:79.75, Y:0.46, Z:0.53 [[ 9.99155710e-01 -3.79227115e-02 -1.58030015e-02 7.97463415e+01] [ 3.79236647e-02 9.99280610e-01 -2.39455889e-04 4.61621643e-01] [ 1.58007138e-02 -3.60054011e-04 9.99875096e-01 5.26120591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60925415399998 meters 0.016534203273699068 Centerline is valid? [True, True] Translation: X:79.78, Y:0.47, Z:0.53 [[ 9.99274526e-01 -3.47386252e-02 -1.56093025e-02 7.97786599e+01] [ 3.47391825e-02 9.99396385e-01 -2.35518243e-04 4.66022359e-01] [ 1.56080621e-02 -3.06907029e-04 9.99878140e-01 5.26678382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63925415399999 meters 0.015237599466854337 Centerline is valid? [True, True] Translation: X:79.81, Y:0.47, Z:0.53 [[ 9.99473096e-01 -2.85203191e-02 -1.54958904e-02 7.98101606e+01] [ 2.85201337e-02 9.99593191e-01 -2.32993026e-04 4.73977423e-01] [ 1.54962315e-02 -2.09074604e-04 9.99879904e-01 5.28241108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66925415399999 meters 0.014771821991801952 Centerline is valid? [True, True] Translation: X:79.84, Y:0.48, Z:0.53 [[ 9.99551218e-01 -2.57634331e-02 -1.52842480e-02 7.98410284e+01] [ 2.57629390e-02 9.99668054e-01 -2.29252586e-04 4.77942863e-01] [ 1.52850808e-02 -1.64617448e-04 9.99883163e-01 5.28947602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69925415399999 meters 0.014668597847664146 Centerline is valid? [True, True] Translation: X:79.87, Y:0.48, Z:0.53 [[ 9.99608805e-01 -2.33434512e-02 -1.54052335e-02 7.98726184e+01] [ 2.33426707e-02 9.99727496e-01 -2.30499761e-04 4.81112050e-01] [ 1.54064162e-02 -1.29189702e-04 9.99881306e-01 5.29466036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72925415399999 meters 0.014714157944306328 Centerline is valid? [True, True] Translation: X:79.90, Y:0.48, Z:0.53 [[ 9.99652654e-01 -2.14127757e-02 -1.53643670e-02 7.99033023e+01] [ 2.14117775e-02 9.99770715e-01 -2.29481396e-04 4.83541698e-01] [ 1.53657580e-02 -9.95767202e-05 9.99881935e-01 5.29342795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75925415399999 meters 0.014338963440406131 Centerline is valid? [True, True] Translation: X:79.93, Y:0.49, Z:0.53 [[ 9.99701150e-01 -1.93168363e-02 -1.49823152e-02 7.99336892e+01] [ 1.93156536e-02 9.99813410e-01 -2.23652151e-04 4.87092769e-01] [ 1.49838399e-02 -6.58078974e-05 9.99887734e-01 5.29902904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78925415399998 meters 0.014430317171757393 Centerline is valid? [True, True] Translation: X:79.96, Y:0.49, Z:0.53 [[ 9.99688136e-01 -1.96557598e-02 -1.54039645e-02 7.99631760e+01] [ 1.96545475e-02 9.99806804e-01 -2.30099175e-04 4.88291052e-01] [ 1.54055113e-02 -7.27305369e-05 9.99881325e-01 5.29539099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81925415399998 meters 0.014509670521658913 Centerline is valid? [True, True] Translation: X:79.99, Y:0.49, Z:0.53 [[ 9.99664305e-01 -2.07374277e-02 -1.55317941e-02 7.99931232e+01] [ 2.07363190e-02 9.99784952e-01 -2.32442141e-04 4.88174449e-01] [ 1.55332742e-02 -8.97081255e-05 9.99879347e-01 5.29581875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84925415399998 meters 0.014713129112900708 Centerline is valid? [True, True] Translation: X:80.02, Y:0.49, Z:0.53 [[ 9.99630492e-01 -2.26646275e-02 -1.50064505e-02 8.00226881e+01] [ 2.26638039e-02 9.99743118e-01 -2.24962890e-04 4.87574209e-01] [ 1.50076943e-02 -1.15223487e-04 9.99887372e-01 5.29942498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87925415399998 meters 0.014836015596657901 Centerline is valid? [True, True] Translation: X:80.05, Y:0.49, Z:0.53 [[ 9.99585279e-01 -2.48212912e-02 -1.46004712e-02 8.00527520e+01] [ 2.48207399e-02 9.99691894e-01 -2.18996563e-04 4.86632255e-01] [ 1.46014085e-02 -1.43488757e-04 9.99893383e-01 5.30423399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90925415399998 meters 0.015977808855177474 Centerline is valid? [True, True] Translation: X:80.08, Y:0.48, Z:0.53 [[ 9.99440501e-01 -3.03940490e-02 -1.39602038e-02 8.00835462e+01] [ 3.03940918e-02 9.99537971e-01 -2.09145759e-04 4.83003831e-01] [ 1.39601106e-02 -2.15278975e-04 9.99902530e-01 5.30810711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93925415399998 meters 0.01619000984120824 Centerline is valid? [True, True] Translation: X:80.12, Y:0.48, Z:0.53 [[ 9.99341338e-01 -3.34222674e-02 -1.41365466e-02 8.01153471e+01] [ 3.34226232e-02 9.99441286e-01 -2.11149320e-04 4.82137009e-01] [ 1.41357054e-02 -2.61470227e-04 9.99900052e-01 5.31471699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96925415399998 meters 0.017042946744582496 Centerline is valid? [True, True] Translation: X:80.15, Y:0.48, Z:0.53 [[ 9.99231829e-01 -3.64390978e-02 -1.44202901e-02 8.01465754e+01] [ 3.64397933e-02 9.99335827e-01 -2.14599755e-04 4.79538155e-01] [ 1.44185323e-02 -3.11037483e-04 9.99895999e-01 5.31310170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99925415399998 meters 0.017687184205148032 Centerline is valid? [True, True] Translation: X:80.18, Y:0.48, Z:0.53 [[ 9.99128471e-01 -3.91279692e-02 -1.45361468e-02 8.01786111e+01] [ 3.91289738e-02 9.99234145e-01 -2.15402489e-04 4.78072972e-01] [ 1.45334424e-02 -3.53569745e-04 9.99894321e-01 5.31181914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02925415399999 meters 0.019395921122021872 Centerline is valid? [True, True] Translation: X:80.21, Y:0.47, Z:0.53 [[ 9.98952533e-01 -4.33327336e-02 -1.47007323e-02 8.02098727e+01] [ 4.33342293e-02 9.99060608e-01 -2.16928190e-04 4.73995630e-01] [ 1.46963226e-02 -4.20343939e-04 9.99891915e-01 5.30678643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05925415399999 meters 0.020296601368332154 Centerline is valid? [True, True] Translation: X:80.24, Y:0.47, Z:0.53 [[ 9.98879922e-01 -4.48822782e-02 -1.49827413e-02 8.02407849e+01] [ 4.48840180e-02 9.98992180e-01 -2.20292705e-04 4.71483506e-01] [ 1.49775286e-02 -4.52439669e-04 9.99887728e-01 5.30330659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08925415399999 meters 0.020542084827646422 Centerline is valid? [True, True] Translation: X:80.27, Y:0.47, Z:0.53 [[ 9.98884907e-01 -4.46903928e-02 -1.52220865e-02 8.02719233e+01] [ 4.46921786e-02 9.99000781e-01 -2.23009703e-04 4.70939090e-01] [ 1.52168427e-02 -4.57547182e-04 9.99884112e-01 5.30291068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11925415399999 meters 0.020406451084324793 Centerline is valid? [True, True] Translation: X:80.30, Y:0.47, Z:0.53 [[ 9.98917818e-01 -4.39144722e-02 -1.53202812e-02 8.03040208e+01] [ 4.39162044e-02 9.99035193e-01 -2.23504126e-04 4.71032713e-01] [ 1.53153152e-02 -4.49546347e-04 9.99882613e-01 5.30382237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14925415399998 meters 0.017877559499661997 Centerline is valid? [True, True] Translation: X:80.33, Y:0.48, Z:0.53 [[ 9.99059234e-01 -4.06229980e-02 -1.51795597e-02 8.03349588e+01] [ 4.06243307e-02 9.99174467e-01 -2.20671948e-04 4.75943039e-01] [ 1.51759928e-02 -3.96195105e-04 9.99884759e-01 5.31791534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17925415399998 meters 0.018046360970387566 Centerline is valid? [True, True] Translation: X:80.37, Y:0.48, Z:0.53 [[ 9.99153709e-01 -3.83423815e-02 -1.48904908e-02 8.03664391e+01] [ 3.83434209e-02 9.99264597e-01 -2.15785778e-04 4.76179460e-01] [ 1.48878141e-02 -3.55349197e-04 9.99889107e-01 5.31831960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20925415399998 meters 0.016581149479665606 Centerline is valid? [True, True] Translation: X:80.40, Y:0.48, Z:0.53 [[ 9.99377745e-01 -3.21149249e-02 -1.45861315e-02 8.03979743e+01] [ 3.21152704e-02 9.99484149e-01 -2.10601675e-04 4.79498943e-01] [ 1.45853707e-02 -2.57966932e-04 9.99893595e-01 5.32460760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23925415399998 meters 0.015817638251660937 Centerline is valid? [True, True] Translation: X:80.43, Y:0.48, Z:0.53 [[ 9.99469799e-01 -2.91130385e-02 -1.45791813e-02 8.04296134e+01] [ 2.91130775e-02 9.99576103e-01 -2.09603137e-04 4.81162043e-01] [ 1.45791034e-02 -2.14952829e-04 9.99893696e-01 5.32980008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26925415399998 meters 0.014919059604984445 Centerline is valid? [True, True] Translation: X:80.46, Y:0.48, Z:0.53 [[ 9.99619216e-01 -2.32172599e-02 -1.49124905e-02 8.04613503e+01] [ 2.32166585e-02 9.99730434e-01 -2.13468699e-04 4.84800698e-01] [ 1.49134267e-02 -1.32830785e-04 9.99888780e-01 5.33437925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29925415399998 meters 0.01460392549852424 Centerline is valid? [True, True] Translation: X:80.49, Y:0.49, Z:0.53 [[ 9.99666513e-01 -2.06613491e-02 -1.54909956e-02 8.04929570e+01] [ 2.06604041e-02 9.99786527e-01 -2.21052007e-04 4.85731656e-01] [ 1.54922559e-02 -9.90719397e-05 9.99879983e-01 5.33341436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32925415399998 meters 0.014648939896640713 Centerline is valid? [True, True] Translation: X:80.52, Y:0.49, Z:0.53 [[ 9.99693936e-01 -1.87503148e-02 -1.61387959e-02 8.05237603e+01] [ 1.87490443e-02 9.99824195e-01 -2.30036555e-04 4.86372292e-01] [ 1.61402718e-02 -7.26208497e-05 9.99869735e-01 5.33262155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35925415399998 meters 0.014508513805546647 Centerline is valid? [True, True] Translation: X:80.55, Y:0.49, Z:0.53 [[ 9.99711191e-01 -1.73497856e-02 -1.66288929e-02 8.05537716e+01] [ 1.73482373e-02 9.99849480e-01 -2.37369924e-04 4.86521538e-01] [ 1.66305082e-02 -5.11806092e-05 9.99861702e-01 5.33035381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38925415399999 meters 0.014427327087233878 Centerline is valid? [True, True] Translation: X:80.58, Y:0.49, Z:0.53 [[ 9.99711859e-01 -1.62237729e-02 -1.76914598e-02 8.05821853e+01] [ 1.62217919e-02 9.99868385e-01 -2.55486228e-04 4.85395495e-01] [ 1.76932763e-02 -3.15745674e-05 9.99843461e-01 5.32611205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41925415399999 meters 0.014529201669013406 Centerline is valid? [True, True] Translation: X:80.61, Y:0.48, Z:0.53 [[ 9.99694156e-01 -1.67484784e-02 -1.81956986e-02 8.06099158e+01] [ 1.67463772e-02 9.99859734e-01 -2.67851271e-04 4.84501243e-01] [ 1.81976324e-02 -3.69426813e-05 9.99834409e-01 5.32909476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44925415399999 meters 0.01456540980381563 Centerline is valid? [True, True] Translation: X:80.64, Y:0.48, Z:0.53 [[ 9.99662235e-01 -1.74950205e-02 -1.92182045e-02 8.06374961e+01] [ 1.74927517e-02 9.99846949e-01 -2.86163986e-04 4.83062083e-01] [ 1.92202696e-02 -5.01119490e-05 9.99815272e-01 5.32407128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47925415399999 meters 0.014808372382705721 Centerline is valid? [True, True] Translation: X:80.67, Y:0.48, Z:0.53 [[ 9.99562642e-01 -2.09512170e-02 -2.08703312e-02 8.06665150e+01] [ 2.09492050e-02 9.99780492e-01 -3.15056463e-04 4.78554752e-01] [ 2.08723508e-02 -1.22298176e-04 9.99782141e-01 5.31679797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50925415399998 meters 0.01505481830502286 Centerline is valid? [True, True] Translation: X:80.69, Y:0.48, Z:0.53 [[ 9.99517562e-01 -2.31791543e-02 -2.06729387e-02 8.06946090e+01] [ 2.31775794e-02 9.99731314e-01 -3.15810742e-04 4.76205453e-01] [ 2.06747044e-02 -1.63490295e-04 9.99786242e-01 5.31204926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53925415399998 meters 0.01539150582673119 Centerline is valid? [True, True] Translation: X:80.72, Y:0.47, Z:0.53 [[ 9.99401805e-01 -2.77508386e-02 -2.06378980e-02 8.07231581e+01] [ 2.77501506e-02 9.99614839e-01 -3.19774632e-04 4.71250305e-01] [ 2.06388231e-02 -2.53121433e-04 9.99786965e-01 5.31931747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56925415399998 meters 0.015575684988128604 Centerline is valid? [True, True] Translation: X:80.75, Y:0.47, Z:0.53 [[ 9.99361904e-01 -2.95354419e-02 -2.00858691e-02 8.07527117e+01] [ 2.95351060e-02 9.99563694e-01 -3.13434252e-04 4.69452327e-01] [ 2.00863629e-02 -2.80004022e-04 9.99798209e-01 5.32704010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59925415399998 meters 0.015769961492964217 Centerline is valid? [True, True] Translation: X:80.78, Y:0.47, Z:0.53 [[ 9.99333004e-01 -3.07445923e-02 -1.97057824e-02 8.07826091e+01] [ 3.07444945e-02 9.99527229e-01 -3.07986598e-04 4.67264221e-01] [ 1.97059350e-02 -2.98063148e-04 9.99805775e-01 5.33240734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62925415399998 meters 0.016004567378697158 Centerline is valid? [True, True] Translation: X:80.81, Y:0.47, Z:0.53 [[ 9.99313978e-01 -3.19657265e-02 -1.87020307e-02 8.08128499e+01] [ 3.19658499e-02 9.99488919e-01 -2.92418714e-04 4.65656485e-01] [ 1.87018198e-02 -3.05608197e-04 9.99825059e-01 5.34460974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65925415399998 meters 0.016103323585951346 Centerline is valid? [True, True] Translation: X:80.84, Y:0.46, Z:0.54 [[ 9.99305379e-01 -3.26237876e-02 -1.80124139e-02 8.08438888e+01] [ 3.26240162e-02 9.99467656e-01 -2.81228490e-04 4.63177713e-01] [ 1.80119998e-02 -3.06604139e-04 9.99837724e-01 5.35743329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68925415399998 meters 0.01634346313471822 Centerline is valid? [True, True] Translation: X:80.87, Y:0.46, Z:0.54 [[ 9.99322067e-01 -3.24223801e-02 -1.74412059e-02 8.08745829e+01] [ 3.24225714e-02 9.99474213e-01 -2.71871662e-04 4.61351651e-01] [ 1.74408502e-02 -2.93801391e-04 9.99847854e-01 5.35659090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71925415399998 meters 0.01579430325397879 Centerline is valid? [True, True] Translation: X:80.91, Y:0.46, Z:0.54 [[ 9.99374932e-01 -3.11021449e-02 -1.68048260e-02 8.09061800e+01] [ 3.11021439e-02 9.99516177e-01 -2.61471866e-04 4.59858518e-01] [ 1.68048277e-02 -2.61357687e-04 9.99858755e-01 5.36506438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74925415399998 meters 0.015810077316328195 Centerline is valid? [True, True] Translation: X:80.94, Y:0.46, Z:0.54 [[ 9.99401039e-01 -3.04302973e-02 -1.64790860e-02 8.09374354e+01] [ 3.04302148e-02 9.99536861e-01 -2.55813202e-04 4.59069183e-01] [ 1.64792384e-02 -2.45802147e-04 9.99864178e-01 5.36292873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77925415399999 meters 0.015582667061915936 Centerline is valid? [True, True] Translation: X:80.97, Y:0.46, Z:0.54 [[ 9.99415496e-01 -2.98710664e-02 -1.66248398e-02 8.09688249e+01] [ 2.98709152e-02 9.99553731e-01 -2.57466986e-04 4.58857383e-01] [ 1.66251114e-02 -2.39282684e-04 9.99861765e-01 5.36871488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80925415399999 meters 0.015582667061915936 Centerline is valid? [True, True] Translation: X:81.00, Y:0.46, Z:0.54 [[ 9.99416595e-01 -2.98342653e-02 -1.66248492e-02 8.09996721e+01] [ 2.98341192e-02 9.99554831e-01 -2.56854900e-04 4.59305515e-01] [ 1.66251114e-02 -2.39282683e-04 9.99861765e-01 5.37085205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83925415399999 meters 0.01563302393780083 Centerline is valid? [True, True] Translation: X:81.03, Y:0.46, Z:0.54 [[ 9.99452874e-01 -2.88763145e-02 -1.61279564e-02 8.10304312e+01] [ 2.88760590e-02 9.99582969e-01 -2.48762256e-04 4.56070088e-01] [ 1.61284138e-02 -2.17085667e-04 9.99869905e-01 5.36320087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86925415399999 meters 0.015511759878410997 Centerline is valid? [True, True] Translation: X:81.06, Y:0.46, Z:0.54 [[ 9.99461130e-01 -2.84360696e-02 -1.63963387e-02 8.10618324e+01] [ 2.84357540e-02 9.99595590e-01 -2.52429039e-04 4.55672519e-01] [ 1.63968860e-02 -2.13949243e-04 9.99865539e-01 5.36518036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89925415399998 meters 0.015514927357661346 Centerline is valid? [True, True] Translation: X:81.09, Y:0.45, Z:0.54 [[ 9.99481176e-01 -2.76744230e-02 -1.64774089e-02 8.10922539e+01] [ 2.76740050e-02 9.99616969e-01 -2.53424069e-04 4.54773900e-01] [ 1.64781109e-02 -2.02703309e-04 9.99864206e-01 5.36336735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92925415399998 meters 0.015409868840551792 Centerline is valid? [True, True] Translation: X:81.12, Y:0.45, Z:0.54 [[ 9.99524387e-01 -2.56899824e-02 -1.70594272e-02 8.11227148e+01] [ 2.56892485e-02 9.99669942e-01 -2.62194500e-04 4.53258053e-01] [ 1.70605324e-02 -1.76174069e-04 9.99854443e-01 5.36050988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95925415399998 meters 0.01517262224592607 Centerline is valid? [True, True] Translation: X:81.15, Y:0.45, Z:0.54 [[ 9.99571150e-01 -2.41200995e-02 -1.66053393e-02 8.11524358e+01] [ 2.41191837e-02 9.99709058e-01 -2.55443172e-04 4.53406554e-01] [ 1.66066694e-02 -1.45173604e-04 9.99862089e-01 5.36326350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98925415399998 meters 0.014947298816766727 Centerline is valid? [True, True] Translation: X:81.18, Y:0.45, Z:0.54 [[ 9.99643878e-01 -2.06233931e-02 -1.69349834e-02 8.11824682e+01] [ 2.06219285e-02 9.99787311e-01 -2.61128024e-04 4.53477763e-01] [ 1.69367669e-02 -8.81969861e-05 9.99856559e-01 5.36277356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01925415399998 meters 0.01486051272722423 Centerline is valid? [True, True] Translation: X:81.21, Y:0.45, Z:0.54 [[ 9.99663150e-01 -1.92698942e-02 -1.73855593e-02 8.12109646e+01] [ 1.92680940e-02 9.99814316e-01 -2.71058834e-04 4.54087341e-01] [ 1.73875544e-02 -6.40190630e-05 9.99848823e-01 5.36994650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04925415399998 meters 0.014779121564768434 Centerline is valid? [True, True] Translation: X:81.24, Y:0.45, Z:0.54 [[ 9.99685733e-01 -1.76031468e-02 -1.78483874e-02 8.12383079e+01] [ 1.76009327e-02 9.99845052e-01 -2.81137463e-04 4.54077195e-01] [ 1.78505707e-02 -3.30991553e-05 9.99840665e-01 5.36803024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07925415399998 meters 0.015037583686861637 Centerline is valid? [True, True] Translation: X:81.27, Y:0.45, Z:0.54 [[ 9.99706853e-01 -1.54145817e-02 -1.86708229e-02 8.12658132e+01] [ 1.54117447e-02 9.99881188e-01 -2.95833562e-04 4.53161773e-01] [ 1.86731648e-02 7.99688270e-06 9.99825641e-01 5.36476578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10925415399998 meters 0.015030357632341541 Centerline is valid? [True, True] Translation: X:81.29, Y:0.45, Z:0.54 [[ 9.99708370e-01 -1.50808524e-02 -1.88611340e-02 8.12934573e+01] [ 1.50778198e-02 9.99886277e-01 -3.02984934e-04 4.52613638e-01] [ 1.88635583e-02 1.85117950e-05 9.99822067e-01 5.36502564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13925415399999 meters 0.014993384876374477 Centerline is valid? [True, True] Translation: X:81.32, Y:0.45, Z:0.54 [[ 9.99716875e-01 -1.46294658e-02 -1.87656091e-02 8.13209481e+01] [ 1.46262813e-02 9.99892983e-01 -3.06943523e-04 4.52089888e-01] [ 1.87680913e-02 3.23855428e-05 9.99823863e-01 5.36752414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16925415399999 meters 0.015021195952363252 Centerline is valid? [True, True] Translation: X:81.35, Y:0.45, Z:0.54 [[ 9.99731339e-01 -1.43933028e-02 -1.81681834e-02 8.13484460e+01] [ 1.43902246e-02 9.99896410e-01 -3.00158966e-04 4.50176750e-01] [ 1.81706216e-02 3.86340861e-05 9.99834900e-01 5.37159720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19925415399999 meters 0.015231899259082641 Centerline is valid? [True, True] Translation: X:81.38, Y:0.45, Z:0.54 [[ 9.99725115e-01 -1.47548290e-02 -1.82205931e-02 8.13763769e+01] [ 1.47517219e-02 9.99891141e-01 -3.04927840e-04 4.49367067e-01] [ 1.82231088e-02 3.60588984e-05 9.99833945e-01 5.37601250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22925415399999 meters 0.0149701551627304 Centerline is valid? [True, True] Translation: X:81.40, Y:0.45, Z:0.54 [[ 9.99724385e-01 -1.60125118e-02 -1.71683716e-02 8.14047904e+01] [ 1.60098616e-02 9.99871791e-01 -2.91807372e-04 4.46417481e-01] [ 1.71708431e-02 1.68636927e-05 9.99852570e-01 5.38832761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25925415399998 meters 0.014868213774474568 Centerline is valid? [True, True] Translation: X:81.43, Y:0.44, Z:0.54 [[ 9.99714427e-01 -1.72472352e-02 -1.65407742e-02 8.14326626e+01] [ 1.72448699e-02 9.99851255e-01 -2.85625350e-04 4.44733519e-01] [ 1.65432401e-02 3.00283318e-07 9.99863151e-01 5.39531511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28925415399998 meters 0.014819514571173729 Centerline is valid? [True, True] Translation: X:81.46, Y:0.44, Z:0.54 [[ 9.99707199e-01 -1.82183973e-02 -1.59250134e-02 8.14607284e+01] [ 1.82162844e-02 9.99834031e-01 -2.77738881e-04 4.42830643e-01] [ 1.59274303e-02 -1.24370138e-05 9.99873150e-01 5.39610071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31925415399998 meters 0.014844895668405363 Centerline is valid? [True, True] Translation: X:81.49, Y:0.44, Z:0.54 [[ 9.99671603e-01 -2.07941652e-02 -1.49762725e-02 8.14887553e+01] [ 2.07925413e-02 9.99783777e-01 -2.64148296e-04 4.38604716e-01] [ 1.49785270e-02 -4.73332130e-05 9.99887814e-01 5.40820960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34925415399998 meters 0.014935947045896639 Centerline is valid? [True, True] Translation: X:81.52, Y:0.44, Z:0.54 [[ 9.99637892e-01 -2.23629056e-02 -1.49661683e-02 8.15171638e+01] [ 2.23613983e-02 9.99749917e-01 -2.68068427e-04 4.36779993e-01] [ 1.49684203e-02 -6.66930925e-05 9.99887965e-01 5.40881990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37925415399998 meters 0.015016907719068657 Centerline is valid? [True, True] Translation: X:81.55, Y:0.43, Z:0.54 [[ 9.99599356e-01 -2.41204587e-02 -1.48098496e-02 8.15465240e+01] [ 2.41191453e-02 9.99709055e-01 -2.67311840e-04 4.34720222e-01] [ 1.48119884e-02 -8.99961710e-05 9.99890292e-01 5.40856724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40925415399998 meters 0.015203351829615208 Centerline is valid? [True, True] Translation: X:81.58, Y:0.43, Z:0.54 [[ 9.99486425e-01 -2.81441180e-02 -1.53230292e-02 8.15763666e+01] [ 2.81431761e-02 9.99603864e-01 -2.77142465e-04 4.29921709e-01] [ 1.53247592e-02 -1.54238578e-04 9.99882557e-01 5.40572105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43925415399998 meters 0.015540981388125739 Centerline is valid? [True, True] Translation: X:81.61, Y:0.43, Z:0.54 [[ 9.99421417e-01 -3.02314279e-02 -1.55849960e-02 8.16065984e+01] [ 3.02307032e-02 9.99542908e-01 -2.82138276e-04 4.27383204e-01] [ 1.55864017e-02 -1.89170353e-04 9.99878507e-01 5.40254240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.46925415399998 meters 0.015828012688353443 Centerline is valid? [True, True] Translation: X:81.64, Y:0.42, Z:0.54 [[ 9.99351210e-01 -3.23068882e-02 -1.59193099e-02 8.16369279e+01] [ 3.23063979e-02 9.99477971e-01 -2.88027720e-04 4.24609909e-01] [ 1.59203048e-02 -2.26454708e-04 9.99873238e-01 5.40000019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49925415399998 meters 0.01622427315169976 Centerline is valid? [True, True] Translation: X:81.67, Y:0.42, Z:0.54 [[ 9.99220320e-01 -3.60286506e-02 -1.61458793e-02 8.16676720e+01] [ 3.60286340e-02 9.99350715e-01 -2.91999869e-04 4.20472273e-01] [ 1.61459164e-02 -2.89941774e-04 9.99869604e-01 5.40106050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52925415399999 meters 0.016976832238092772 Centerline is valid? [True, True] Translation: X:81.70, Y:0.42, Z:0.54 [[ 9.99162269e-01 -3.77576442e-02 -1.57835470e-02 8.16982364e+01] [ 3.77578464e-02 9.99286878e-01 -2.85285307e-04 4.17754037e-01] [ 1.57830631e-02 -3.10906428e-04 9.99875391e-01 5.40018832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55925415399999 meters 0.017773270824343757 Centerline is valid? [True, True] Translation: X:81.73, Y:0.42, Z:0.54 [[ 9.99104615e-01 -3.91602623e-02 -1.60137991e-02 8.17283851e+01] [ 3.91606552e-02 9.99232886e-01 -2.89156728e-04 4.15283324e-01] [ 1.60128381e-02 -3.38213043e-04 9.99871729e-01 5.40001334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58925415399999 meters 0.016924279624155446 Centerline is valid? [True, True] Translation: X:81.76, Y:0.42, Z:0.54 [[ 9.99027284e-01 -4.13272714e-02 -1.53799198e-02 8.17597505e+01] [ 4.13278972e-02 9.99145599e-01 -2.77275551e-04 4.15706773e-01] [ 1.53782382e-02 -3.58613904e-04 9.99881684e-01 5.41998845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61925415399999 meters 0.017364831213673892 Centerline is valid? [True, True] Translation: X:81.79, Y:0.41, Z:0.54 [[ 9.98993686e-01 -4.19865980e-02 -1.57715047e-02 8.17910551e+01] [ 4.19873591e-02 9.99118102e-01 -2.83004883e-04 4.13980465e-01] [ 1.57694782e-02 -3.79483738e-04 9.99875582e-01 5.42261010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64925415399998 meters 0.017452606582329753 Centerline is valid? [True, True] Translation: X:81.82, Y:0.41, Z:0.54 [[ 9.98932128e-01 -4.33321696e-02 -1.60289216e-02 8.18223225e+01] [ 4.33331478e-02 9.99060637e-01 -2.86440920e-04 4.11450783e-01] [ 1.60262767e-02 -4.08448590e-04 9.99871488e-01 5.42004485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67925415399998 meters 0.017900250447380986 Centerline is valid? [True, True] Translation: X:81.85, Y:0.41, Z:0.54 [[ 9.98819799e-01 -4.55832923e-02 -1.67682107e-02 8.18539941e+01] [ 4.55846905e-02 9.98960433e-01 -2.99018950e-04 4.08744450e-01] [ 1.67644093e-02 -4.65707649e-04 9.99859359e-01 5.41901220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70925415399998 meters 0.018764984435874765 Centerline is valid? [True, True] Translation: X:81.89, Y:0.41, Z:0.54 [[ 9.98781951e-01 -4.63820398e-02 -1.68321266e-02 8.18853428e+01] [ 4.63835756e-02 9.98923658e-01 -2.99349572e-04 4.06038632e-01] [ 1.68278939e-02 -4.81749269e-04 9.99858285e-01 5.41417610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73925415399998 meters 0.021186785250534277 Centerline is valid? [True, True] Translation: X:81.92, Y:0.40, Z:0.54 [[ 9.98724535e-01 -4.76477960e-02 -1.67030169e-02 8.19162306e+01] [ 4.76495097e-02 9.98864073e-01 -2.95583479e-04 4.01614399e-01] [ 1.66981274e-02 -5.00684096e-04 9.99860451e-01 5.40442723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76925415399998 meters 0.019469044699355106 Centerline is valid? [True, True] Translation: X:81.95, Y:0.40, Z:0.54 [[ 9.98572503e-01 -5.08901345e-02 -1.62219082e-02 8.19474851e+01] [ 5.08921959e-02 9.98704112e-01 -2.85977710e-04 4.02859916e-01] [ 1.62154398e-02 -5.39999051e-04 9.99868375e-01 5.42225941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79925415399998 meters 0.021283025723178937 Centerline is valid? [True, True] Translation: X:81.98, Y:0.40, Z:0.54 [[ 9.98488443e-01 -5.26766616e-02 -1.56843468e-02 8.19790490e+01] [ 5.26788202e-02 9.98611469e-01 -2.75770316e-04 3.98937658e-01] [ 1.56770953e-02 -5.50879413e-04 9.99876955e-01 5.41964707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82925415399998 meters 0.020799605954736622 Centerline is valid? [True, True] Translation: X:82.01, Y:0.40, Z:0.54 [[ 9.98392036e-01 -5.44905190e-02 -1.56245005e-02 8.20113706e+01] [ 5.44928989e-02 9.98514121e-01 -2.73697347e-04 3.98727723e-01] [ 1.56161983e-02 -5.78167076e-04 9.99877893e-01 5.42682384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85925415399998 meters 0.02289346201588586 Centerline is valid? [True, True] Translation: X:82.04, Y:0.39, Z:0.54 [[ 9.98295579e-01 -5.63487302e-02 -1.51907326e-02 8.20427944e+01] [ 5.63512090e-02 9.98410973e-01 -2.65150499e-04 3.94488095e-01] [ 1.51815350e-02 -5.91317577e-04 9.99884579e-01 5.42412808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88925415399999 meters 0.022324165990015115 Centerline is valid? [True, True] Translation: X:82.07, Y:0.39, Z:0.54 [[ 9.98113310e-01 -5.95278865e-02 -1.50416346e-02 8.20736944e+01] [ 5.95306891e-02 9.98226442e-01 -2.61750088e-04 3.93753439e-01] [ 1.50305388e-02 -6.34182625e-04 9.99886834e-01 5.42606282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91925415399999 meters 0.02401657594704639 Centerline is valid? [True, True] Translation: X:82.10, Y:0.39, Z:0.54 [[ 9.98040449e-01 -6.05862343e-02 -1.56387247e-02 8.21043672e+01] [ 6.05894045e-02 9.98162737e-01 -2.71445258e-04 3.90715789e-01] [ 1.56264381e-02 -6.76627667e-04 9.99877671e-01 5.42016340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94925415399999 meters 0.02417621460412596 Centerline is valid? [True, True] Translation: X:82.14, Y:0.39, Z:0.54 [[ 9.97981254e-01 -6.15639503e-02 -1.55979731e-02 8.21368512e+01] [ 6.15672369e-02 9.98102902e-01 -2.69854553e-04 3.90304953e-01] [ 1.55849955e-02 -6.91014319e-04 9.99878308e-01 5.42135044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97925415399999 meters 0.024008693493188762 Centerline is valid? [True, True] Translation: X:82.17, Y:0.39, Z:0.54 [[ 9.98009558e-01 -6.11364150e-02 -1.54680520e-02 8.21691680e+01] [ 6.11396131e-02 9.98129188e-01 -2.66489083e-04 3.90848188e-01] [ 1.54554064e-02 -6.79752062e-04 9.99880327e-01 5.42294511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00925415399998 meters 0.0225704454451688 Centerline is valid? [True, True] Translation: X:82.20, Y:0.39, Z:0.54 [[ 9.98122550e-01 -5.94437165e-02 -1.47587029e-02 8.22012046e+01] [ 5.94464587e-02 9.98231463e-01 -2.53210832e-04 3.93747893e-01] [ 1.47476533e-02 -6.24617179e-04 9.99891052e-01 5.42912193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03925415399998 meters 0.022251120281726867 Centerline is valid? [True, True] Translation: X:82.23, Y:0.40, Z:0.54 [[ 9.98217183e-01 -5.79660172e-02 -1.42266326e-02 8.22338261e+01] [ 5.79684320e-02 9.98318387e-01 -2.42919137e-04 3.95018313e-01] [ 1.42167900e-02 -5.82209531e-04 9.99898767e-01 5.42902602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06925415399998 meters 0.021293185382919758 Centerline is valid? [True, True] Translation: X:82.27, Y:0.40, Z:0.54 [[ 9.98318590e-01 -5.62104733e-02 -1.41554247e-02 8.22657049e+01] [ 5.62127043e-02 9.98418787e-01 -2.40534076e-04 3.97418446e-01] [ 1.41465625e-02 -5.55585063e-04 9.99899778e-01 5.43199501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09925415399998 meters 0.02023164003384849 Centerline is valid? [True, True] Translation: X:82.30, Y:0.40, Z:0.54 [[ 9.98443131e-01 -5.39959766e-02 -1.39910329e-02 8.22969576e+01] [ 5.39979498e-02 9.98541018e-01 -2.36967027e-04 4.00277953e-01] [ 1.39834155e-02 -5.18888991e-04 9.99902093e-01 5.43753218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12925415399998 meters 0.020695121118931535 Centerline is valid? [True, True] Translation: X:82.33, Y:0.40, Z:0.54 [[ 9.98713341e-01 -4.87691603e-02 -1.39007558e-02 8.23271953e+01] [ 4.87706059e-02 9.98809978e-01 -2.35179098e-04 4.01231573e-01] [ 1.38956831e-02 -4.43071780e-04 9.99903352e-01 5.43400134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15925415399998 meters 0.01851646499595031 Centerline is valid? [True, True] Translation: X:82.36, Y:0.41, Z:0.54 [[ 9.98848511e-01 -4.59134286e-02 -1.39143494e-02 8.23583125e+01] [ 4.59146037e-02 9.98945341e-01 -2.35151505e-04 4.06260577e-01] [ 1.39104712e-02 -4.03991110e-04 9.99903163e-01 5.44340708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18925415399998 meters 0.01657720157409209 Centerline is valid? [True, True] Translation: X:82.39, Y:0.41, Z:0.55 [[ 9.99080421e-01 -4.06870096e-02 -1.35232664e-02 8.23896815e+01] [ 4.06876478e-02 9.99171889e-01 -2.28045999e-04 4.11274359e-01] [ 1.35213462e-02 -3.22393608e-04 9.99908530e-01 5.45115480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21925415399998 meters 0.016165947606889556 Centerline is valid? [True, True] Translation: X:82.42, Y:0.41, Z:0.55 [[ 9.99180280e-01 -3.83739669e-02 -1.28921290e-02 8.24211733e+01] [ 3.83743605e-02 9.99263409e-01 -2.16932957e-04 4.12851081e-01] [ 1.28909574e-02 -2.77972073e-04 9.99916870e-01 5.45336831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24925415399998 meters 0.015752167632758877 Centerline is valid? [True, True] Translation: X:82.45, Y:0.41, Z:0.55 [[ 9.99257664e-01 -3.63560530e-02 -1.27419529e-02 8.24523223e+01] [ 3.63562795e-02 9.99338869e-01 -2.13934076e-04 4.14439965e-01] [ 1.27413066e-02 -2.49474736e-04 9.99918795e-01 5.45420350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27925415399999 meters 0.015628311469912722 Centerline is valid? [True, True] Translation: X:82.48, Y:0.41, Z:0.54 [[ 9.99342798e-01 -3.37088413e-02 -1.33298749e-02 8.24825390e+01] [ 3.37088590e-02 9.99431670e-01 -2.23415571e-04 4.14740171e-01] [ 1.33298302e-02 -2.26066131e-04 9.99911128e-01 5.44550897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30925415399999 meters 0.015581007921523818 Centerline is valid? [True, True] Translation: X:82.51, Y:0.42, Z:0.54 [[ 9.99357638e-01 -3.31436886e-02 -1.36311375e-02 8.25143088e+01] [ 3.31436596e-02 9.99450572e-01 -2.28090023e-04 4.15953367e-01] [ 1.36312079e-02 -2.23842273e-04 9.99907066e-01 5.44350202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33925415399999 meters 0.015159322077184768 Centerline is valid? [True, True] Translation: X:82.55, Y:0.42, Z:0.54 [[ 9.99367735e-01 -3.25999021e-02 -1.41907289e-02 8.25454582e+01] [ 3.25998235e-02 9.99468456e-01 -2.36925024e-04 4.16799218e-01] [ 1.41909096e-02 -2.25840031e-04 9.99899278e-01 5.44454672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36925415399999 meters 0.015185709057860316 Centerline is valid? [True, True] Translation: X:82.58, Y:0.42, Z:0.54 [[ 9.99361820e-01 -3.26806821e-02 -1.44196017e-02 8.25768222e+01] [ 3.26806170e-02 9.99465817e-01 -2.40213302e-04 4.16654697e-01] [ 1.44197494e-02 -2.31181479e-04 9.99896003e-01 5.44464215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39925415399998 meters 0.015189710985612233 Centerline is valid? [True, True] Translation: X:82.61, Y:0.42, Z:0.54 [[ 9.99345411e-01 -3.31065411e-02 -1.45844323e-02 8.26076898e+01] [ 3.31065302e-02 9.99451799e-01 -2.42242805e-04 4.16274761e-01] [ 1.45844569e-02 -2.40755712e-04 9.99893612e-01 5.44595518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42925415399998 meters 0.015490094495420515 Centerline is valid? [True, True] Translation: X:82.64, Y:0.41, Z:0.55 [[ 9.99292714e-01 -3.51276307e-02 -1.34209318e-02 8.26380574e+01] [ 3.51278088e-02 9.99382803e-01 -2.22534755e-04 4.14209202e-01] [ 1.34204655e-02 -2.49070566e-04 9.99909910e-01 5.45486598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45925415399998 meters 0.015878568739018984 Centerline is valid? [True, True] Translation: X:82.67, Y:0.41, Z:0.55 [[ 9.99258265e-01 -3.63068544e-02 -1.28348098e-02 8.26692279e+01] [ 3.63071173e-02 9.99340657e-01 -2.12599459e-04 4.13373129e-01] [ 1.28340661e-02 -2.53553178e-04 9.99917608e-01 5.46227907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48925415399998 meters 0.01643264259193646 Centerline is valid? [True, True] Translation: X:82.70, Y:0.41, Z:0.55 [[ 9.99187510e-01 -3.86702923e-02 -1.13546642e-02 8.26996211e+01] [ 3.86706540e-02 9.99251993e-01 -1.87776377e-04 4.10559471e-01] [ 1.13534322e-02 -2.51468480e-04 9.99935516e-01 5.47313204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51925415399998 meters 0.016647510401023604 Centerline is valid? [True, True] Translation: X:82.73, Y:0.41, Z:0.55 [[ 9.99143327e-01 -3.99734055e-02 -1.07116708e-02 8.27319272e+01] [ 3.99738065e-02 9.99200712e-01 -1.76746387e-04 4.09591716e-01] [ 1.07101743e-02 -2.51591285e-04 9.99942613e-01 5.47629433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54925415399998 meters 0.016907257245662995 Centerline is valid? [True, True] Translation: X:82.76, Y:0.41, Z:0.55 [[ 9.99105577e-01 -4.09967991e-02 -1.03590224e-02 8.27642756e+01] [ 4.09972368e-02 9.99159245e-01 -1.70182685e-04 4.08929850e-01] [ 1.03572900e-02 -2.54660827e-04 9.99946329e-01 5.47933889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57925415399998 meters 0.017652732953634877 Centerline is valid? [True, True] Translation: X:82.80, Y:0.41, Z:0.55 [[ 9.99078289e-01 -4.16915966e-02 -1.02168295e-02 8.27956573e+01] [ 4.16920657e-02 9.99130494e-01 -1.67161032e-04 4.06861278e-01] [ 1.02149151e-02 -2.58953769e-04 9.99947793e-01 5.47941265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.60925415399998 meters 0.017781477984149658 Centerline is valid? [True, True] Translation: X:82.83, Y:0.41, Z:0.55 [[ 9.99014453e-01 -4.32827622e-02 -9.83485082e-03 8.28280268e+01] [ 4.32832796e-02 9.99062827e-01 -1.60331691e-04 4.05716792e-01] [ 9.83257346e-03 -2.65510921e-04 9.99951624e-01 5.48162071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63925415399999 meters 0.01785747497945202 Centerline is valid? [True, True] Translation: X:82.86, Y:0.41, Z:0.55 [[ 9.98991487e-01 -4.38486683e-02 -9.65940407e-03 8.28604685e+01] [ 4.38492006e-02 9.99038149e-01 -1.56773287e-04 4.05142158e-01] [ 9.65698746e-03 -2.66941967e-04 9.99953335e-01 5.48048799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66925415399999 meters 0.018929607878096964 Centerline is valid? [True, True] Translation: X:82.89, Y:0.40, Z:0.55 [[ 9.98935027e-01 -4.52241505e-02 -9.14260181e-03 8.28917116e+01] [ 4.52246905e-02 9.98976829e-01 -1.47782847e-04 4.01779604e-01] [ 9.13993072e-03 -2.65845874e-04 9.99958195e-01 5.47721111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69925415399999 meters 0.018929607878096964 Centerline is valid? [True, True] Translation: X:82.92, Y:0.40, Z:0.55 [[ 9.98938266e-01 -4.51525593e-02 -9.14261046e-03 8.29234076e+01] [ 4.51531011e-02 9.98980068e-01 -1.47245737e-04 4.02228922e-01] [ 9.13993414e-03 -2.65727813e-04 9.99958195e-01 5.47940705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72925415399999 meters 0.018349988318344654 Centerline is valid? [True, True] Translation: X:82.96, Y:0.40, Z:0.55 [[ 9.98933258e-01 -4.53880704e-02 -8.50115858e-03 8.29551251e+01] [ 4.53885523e-02 9.98969399e-01 -1.36337544e-04 4.02848144e-01] [ 8.49858538e-03 -2.49663174e-04 9.99963855e-01 5.48288846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75925415399998 meters 0.01882459990680256 Centerline is valid? [True, True] Translation: X:82.99, Y:0.40, Z:0.55 [[ 9.98932662e-01 -4.54139373e-02 -8.43274734e-03 8.29863051e+01] [ 4.54144174e-02 9.98968224e-01 -1.34653247e-04 4.02149790e-01] [ 8.43016177e-03 -2.48458781e-04 9.99964435e-01 5.48304042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78925415399998 meters 0.01860030089098109 Centerline is valid? [True, True] Translation: X:83.02, Y:0.40, Z:0.55 [[ 9.98961334e-01 -4.48319801e-02 -8.14536976e-03 8.30183973e+01] [ 4.48324123e-02 9.98994513e-01 -1.29609764e-04 4.02387160e-01] [ 8.14299036e-03 -2.35701433e-04 9.99966818e-01 5.48745902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81925415399998 meters 0.017833352272458313 Centerline is valid? [True, True] Translation: X:83.05, Y:0.40, Z:0.55 [[ 9.99054567e-01 -4.27243759e-02 -8.03737246e-03 8.30501734e+01] [ 4.27247332e-02 9.99086874e-01 -1.27312394e-04 4.04463719e-01] [ 8.03547267e-03 -2.16202565e-04 9.99967692e-01 5.48810598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84925415399998 meters 0.01765873503086799 Centerline is valid? [True, True] Translation: X:83.08, Y:0.40, Z:0.55 [[ 9.99123363e-01 -4.10997372e-02 -7.95724847e-03 8.30811487e+01] [ 4.11000411e-02 9.99155028e-01 -1.25401312e-04 4.04968241e-01] [ 7.95567878e-03 -2.01751858e-04 9.99968333e-01 5.48917949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87925415399998 meters 0.0169093375474556 Centerline is valid? [True, True] Translation: X:83.11, Y:0.41, Z:0.55 [[ 9.99236600e-01 -3.82327826e-02 -8.02935762e-03 8.31134988e+01] [ 3.82330075e-02 9.99268843e-01 -1.25532515e-04 4.06676131e-01] [ 8.02828635e-03 -1.81549806e-04 9.99967756e-01 5.48736405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90925415399998 meters 0.016892258103419565 Centerline is valid? [True, True] Translation: X:83.15, Y:0.41, Z:0.55 [[ 9.99289623e-01 -3.69223745e-02 -7.54904593e-03 8.31450814e+01] [ 3.69225402e-02 9.99318124e-01 -1.17470274e-04 4.07138293e-01] [ 7.54823569e-03 -1.61343126e-04 9.99971499e-01 5.48804388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93925415399998 meters 0.01623695925925155 Centerline is valid? [True, True] Translation: X:83.18, Y:0.41, Z:0.55 [[ 9.99337033e-01 -3.56378308e-02 -7.44580258e-03 8.31777243e+01] [ 3.56379632e-02 9.99364759e-01 -1.14945317e-04 4.08818540e-01] [ 7.44516910e-03 -1.50484126e-04 9.99972273e-01 5.48937169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96925415399998 meters 0.016148571086793222 Centerline is valid? [True, True] Translation: X:83.21, Y:0.41, Z:0.55 [[ 9.99372786e-01 -3.45590652e-02 -7.72689319e-03 8.32094736e+01] [ 3.45591810e-02 9.99402646e-01 -1.18570249e-04 4.09684811e-01] [ 7.72637518e-03 -1.48539220e-04 9.99970140e-01 5.48579815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99925415399998 meters 0.015997010632807732 Centerline is valid? [True, True] Translation: X:83.24, Y:0.41, Z:0.55 [[ 9.99385781e-01 -3.42218170e-02 -7.54502203e-03 8.32414763e+01] [ 3.42219219e-02 9.99414252e-01 -1.15240774e-04 4.10210192e-01] [ 7.54454629e-03 -1.43035163e-04 9.99971529e-01 5.48600686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02925415399999 meters 0.01654101331929568 Centerline is valid? [True, True] Translation: X:83.27, Y:0.41, Z:0.55 [[ 9.99384887e-01 -3.41740072e-02 -7.87309791e-03 8.32725525e+01] [ 3.41741245e-02 9.99415887e-01 -1.19670637e-04 4.09598536e-01] [ 7.87258875e-03 -1.49459202e-04 9.99969000e-01 5.48598931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05925415399999 meters 0.016747754179792008 Centerline is valid? [True, True] Translation: X:83.30, Y:0.41, Z:0.55 [[ 9.99364744e-01 -3.48419206e-02 -7.49331642e-03 8.33043078e+01] [ 3.48420486e-02 9.99392825e-01 -1.13498309e-04 4.09447601e-01] [ 7.49272117e-03 -1.47656286e-04 9.99971918e-01 5.48857261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08925415399999 meters 0.01676357014284913 Centerline is valid? [True, True] Translation: X:83.34, Y:0.41, Z:0.55 [[ 9.99349310e-01 -3.52962304e-02 -7.42515732e-03 8.33369692e+01] [ 3.52963725e-02 9.99376883e-01 -1.11943183e-04 4.09969538e-01] [ 7.42448175e-03 -1.50210776e-04 9.99972427e-01 5.48874268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11925415399999 meters 0.017186502282222228 Centerline is valid? [True, True] Translation: X:83.37, Y:0.41, Z:0.55 [[ 9.99316128e-01 -3.62023651e-02 -7.52757909e-03 8.33685965e+01] [ 3.62025409e-02 9.99344467e-01 -1.12949597e-04 4.08896318e-01] [ 7.52673355e-03 -1.59645136e-04 9.99971661e-01 5.49246646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14925415399998 meters 0.016990304491214674 Centerline is valid? [True, True] Translation: X:83.40, Y:0.41, Z:0.55 [[ 9.99295506e-01 -3.67803306e-02 -7.46319937e-03 8.34003022e+01] [ 3.67805226e-02 9.99323361e-01 -1.11576329e-04 4.09960905e-01] [ 7.46225329e-03 -1.63002649e-04 9.99972144e-01 5.49322909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17925415399998 meters 0.01669709103928644 Centerline is valid? [True, True] Translation: X:83.43, Y:0.41, Z:0.55 [[ 9.99284255e-01 -3.71021557e-02 -7.37620921e-03 8.34327951e+01] [ 3.71023559e-02 9.99311465e-01 -1.09745586e-04 4.10839651e-01] [ 7.37520222e-03 -1.64007703e-04 9.99972789e-01 5.49616061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20925415399998 meters 0.017000862646112894 Centerline is valid? [True, True] Translation: X:83.46, Y:0.41, Z:0.55 [[ 9.99240269e-01 -3.83774439e-02 -6.78645244e-03 8.34644700e+01] [ 3.83776459e-02 9.99263302e-01 -1.00505534e-04 4.10079365e-01] [ 6.78531002e-03 -1.60018892e-04 9.99976967e-01 5.49966624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23925415399998 meters 0.016955907325850426 Centerline is valid? [True, True] Translation: X:83.50, Y:0.41, Z:0.55 [[ 9.99220267e-01 -3.89946410e-02 -6.18671842e-03 8.34962970e+01] [ 3.89948226e-02 9.99239408e-01 -9.13269889e-05 4.10269329e-01] [ 6.18557412e-03 -1.49994209e-04 9.99980858e-01 5.49965228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26925415399998 meters 0.01822820346822444 Centerline is valid? [True, True] Translation: X:83.53, Y:0.41, Z:0.55 [[ 9.99123927e-01 -4.13777134e-02 -6.26607490e-03 8.35273075e+01] [ 4.13779496e-02 9.99143562e-01 -9.20079289e-05 4.07465957e-01] [ 6.26451547e-03 -1.67350008e-04 9.99980364e-01 5.50114483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29925415399998 meters 0.01869021130813206 Centerline is valid? [True, True] Translation: X:83.56, Y:0.41, Z:0.55 [[ 9.99085170e-01 -4.23776530e-02 -5.74087185e-03 8.35587653e+01] [ 4.23778690e-02 9.99101651e-01 -8.40667653e-05 4.06256039e-01] [ 5.73927710e-03 -1.59296057e-04 9.99983518e-01 5.50269317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32925415399998 meters 0.019285355221797376 Centerline is valid? [True, True] Translation: X:83.59, Y:0.41, Z:0.55 [[ 9.99022105e-01 -4.38560685e-02 -5.61065328e-03 8.35908952e+01] [ 4.38563017e-02 9.99037846e-01 -8.15369644e-05 4.05291691e-01] [ 5.60883086e-03 -1.64605273e-04 9.99984257e-01 5.50746684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35925415399998 meters 0.020550052759838067 Centerline is valid? [True, True] Translation: X:83.62, Y:0.40, Z:0.55 [[ 9.98893659e-01 -4.67430411e-02 -5.15237774e-03 8.36229933e+01] [ 4.67432778e-02 9.98906933e-01 -7.45467805e-05 4.03474995e-01] [ 5.15023039e-03 -1.66374718e-04 9.99986724e-01 5.51068611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38925415399999 meters 0.020704634686361325 Centerline is valid? [True, True] Translation: X:83.66, Y:0.40, Z:0.55 [[ 9.98804316e-01 -4.86405343e-02 -4.90267876e-03 8.36551544e+01] [ 4.86407730e-02 9.98816335e-01 -7.06103018e-05 4.03920347e-01] [ 4.90031015e-03 -1.67944211e-04 9.99987979e-01 5.51321195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41925415399999 meters 0.02110462671770549 Centerline is valid? [True, True] Translation: X:83.69, Y:0.40, Z:0.55 [[ 9.98765991e-01 -4.94002740e-02 -5.10965437e-03 8.36871390e+01] [ 4.94005452e-02 9.98779045e-01 -7.31987952e-05 4.03849889e-01] [ 5.10703176e-03 -1.79311245e-04 9.99986943e-01 5.51477556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44925415399999 meters 0.021166736117147904 Centerline is valid? [True, True] Translation: X:83.72, Y:0.40, Z:0.55 [[ 9.98727679e-01 -5.01681422e-02 -5.11662628e-03 8.37196473e+01] [ 5.01684261e-02 9.98740769e-01 -7.29278137e-05 4.04287207e-01] [ 5.11384192e-03 -1.83858061e-04 9.99986907e-01 5.51863796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47925415399999 meters 0.022855803178174622 Centerline is valid? [True, True] Translation: X:83.75, Y:0.40, Z:0.55 [[ 9.98653180e-01 -5.15694405e-02 -5.69367386e-03 8.37511935e+01] [ 5.15698176e-02 9.98669388e-01 -8.06570511e-05 4.02537025e-01] [ 5.69025723e-03 -2.13073302e-04 9.99983788e-01 5.51927477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50925415399998 meters 0.023103267367691672 Centerline is valid? [True, True] Translation: X:83.78, Y:0.40, Z:0.55 [[ 9.98615219e-01 -5.22635781e-02 -6.01361974e-03 8.37831710e+01] [ 5.22640133e-02 9.98633299e-01 -8.48562855e-05 4.03105393e-01] [ 6.00983581e-03 -2.29557124e-04 9.99981914e-01 5.51767128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53925415399998 meters 0.02292522980710545 Centerline is valid? [True, True] Translation: X:83.81, Y:0.40, Z:0.55 [[ 9.98590798e-01 -5.27070328e-02 -6.19571216e-03 8.38149714e+01] [ 5.27075062e-02 9.98609990e-01 -8.69709415e-05 4.04273612e-01] [ 6.19168404e-03 -2.39712155e-04 9.99980803e-01 5.51642334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56925415399998 meters 0.023295219615638456 Centerline is valid? [True, True] Translation: X:83.85, Y:0.40, Z:0.55 [[ 9.98556359e-01 -5.32675101e-02 -6.91165239e-03 8.38467001e+01] [ 5.32681164e-02 9.98580241e-01 -9.64679550e-05 4.04698481e-01] [ 6.90697812e-03 -2.71842015e-04 9.99976110e-01 5.51587239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59925415399998 meters 0.024338573299156317 Centerline is valid? [True, True] Translation: X:83.88, Y:0.40, Z:0.55 [[ 9.98519339e-01 -5.39041990e-02 -7.31216571e-03 8.38781480e+01] [ 5.39048979e-02 9.98546069e-01 -1.01622997e-04 4.04780902e-01] [ 7.30701223e-03 -2.92689018e-04 9.99973261e-01 5.51431632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62925415399998 meters 0.02423905725151537 Centerline is valid? [True, True] Translation: X:83.91, Y:0.41, Z:0.55 [[ 9.98502836e-01 -5.42047256e-02 -7.34402521e-03 8.39106362e+01] [ 5.42054445e-02 9.98529799e-01 -1.01269688e-04 4.05830775e-01] [ 7.33871731e-03 -2.96968080e-04 9.99973027e-01 5.51726596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65925415399998 meters 0.023552269208885247 Centerline is valid? [True, True] Translation: X:83.94, Y:0.41, Z:0.55 [[ 9.98472488e-01 -5.48112897e-02 -6.95802542e-03 8.39429018e+01] [ 5.48119529e-02 9.98496690e-01 -9.54821310e-05 4.09137436e-01] [ 6.95279885e-03 -2.86046681e-04 9.99975788e-01 5.52459507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68925415399998 meters 0.024621806176116413 Centerline is valid? [True, True] Translation: X:83.97, Y:0.41, Z:0.55 [[ 9.98438722e-01 -5.53594709e-02 -7.44629373e-03 8.39735717e+01] [ 5.53602498e-02 9.98466440e-01 -1.01629650e-04 4.09132534e-01] [ 7.44050056e-03 -3.10757703e-04 9.99972271e-01 5.53141484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71925415399998 meters 0.024804969194703326 Centerline is valid? [True, True] Translation: X:84.01, Y:0.41, Z:0.55 [[ 9.98405448e-01 -5.59174266e-02 -7.73325620e-03 8.40055954e+01] [ 5.59182859e-02 9.98435343e-01 -1.05230859e-04 4.10595251e-01] [ 7.72704054e-03 -3.27367368e-04 9.99970092e-01 5.53540446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.74925415399998 meters 0.024286712966324373 Centerline is valid? [True, True] Translation: X:84.04, Y:0.41, Z:0.55 [[ 9.98315037e-01 -5.74411443e-02 -8.22206401e-03 8.40380380e+01] [ 5.74421723e-02 9.98348829e-01 -1.11265546e-04 4.13874547e-01] [ 8.21487920e-03 -3.61215150e-04 9.99966192e-01 5.53838658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77925415399999 meters 0.026344277863024734 Centerline is valid? [True, True] Translation: X:84.07, Y:0.41, Z:0.55 [[ 9.98258191e-01 -5.84308415e-02 -8.14989799e-03 8.40693342e+01] [ 5.84318890e-02 9.98291391e-01 -1.09726309e-04 4.12124206e-01] [ 8.14238441e-03 -3.66678749e-04 9.99966783e-01 5.54036898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80925415399999 meters 0.025719759381982354 Centerline is valid? [True, True] Translation: X:84.10, Y:0.41, Z:0.55 [[ 9.98187489e-01 -5.96383186e-02 -8.06279079e-03 8.41012981e+01] [ 5.96393868e-02 9.98219982e-01 -1.08102837e-04 4.13969616e-01] [ 8.05488595e-03 -3.72952999e-04 9.99967489e-01 5.54492731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83925415399999 meters 0.027140009143856152 Centerline is valid? [True, True] Translation: X:84.13, Y:0.41, Z:0.56 [[ 9.98079722e-01 -6.15293676e-02 -7.14176737e-03 8.41322787e+01] [ 6.15302572e-02 9.98105214e-01 -9.52936208e-05 4.14020631e-01] [ 7.13409860e-03 -3.44324152e-04 9.99974493e-01 5.55267982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86925415399998 meters 0.02604994036956977 Centerline is valid? [True, True] Translation: X:84.16, Y:0.42, Z:0.56 [[ 9.98030449e-01 -6.23280142e-02 -7.10220613e-03 8.41639284e+01] [ 6.23289189e-02 9.98055658e-01 -9.40976939e-05 4.17564582e-01] [ 7.09426194e-03 -3.48760466e-04 9.99974775e-01 5.55526313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89925415399998 meters 0.025839730605237265 Centerline is valid? [True, True] Translation: X:84.20, Y:0.42, Z:0.56 [[ 9.97946121e-01 -6.36225354e-02 -7.46409510e-03 8.41954986e+01] [ 6.36235740e-02 9.97973963e-01 -9.84643503e-05 4.21821498e-01] [ 7.45523712e-03 -3.76630290e-04 9.99972138e-01 5.55654986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92925415399998 meters 0.02736690028743859 Centerline is valid? [True, True] Translation: X:84.23, Y:0.42, Z:0.56 [[ 9.97915347e-01 -6.40874129e-02 -7.60022117e-03 8.42266801e+01] [ 6.40885064e-02 9.97944214e-01 -9.98320694e-05 4.21875063e-01] [ 7.59099472e-03 -3.87462868e-04 9.99971113e-01 5.55700150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95925415399998 meters 0.026147247671557534 Centerline is valid? [True, True] Translation: X:84.26, Y:0.43, Z:0.56 [[ 9.97881469e-01 -6.45178664e-02 -8.36770093e-03 8.42585438e+01] [ 6.45192114e-02 9.97916459e-01 -1.09387281e-04 4.27414117e-01] [ 8.35732391e-03 -4.30721924e-04 9.99964984e-01 5.55235497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98925415399998 meters 0.026036148100778856 Centerline is valid? [True, True] Translation: X:84.29, Y:0.43, Z:0.56 [[ 9.97916440e-01 -6.39535013e-02 -8.52804463e-03 8.42906210e+01] [ 6.39548832e-02 9.97952785e-01 -1.10844172e-04 4.29589459e-01] [ 8.51767476e-03 -4.34796876e-04 9.99963629e-01 5.55663725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01925415399998 meters 0.02619483042128665 Centerline is valid? [True, True] Translation: X:84.32, Y:0.43, Z:0.56 [[ 9.97972128e-01 -6.31082251e-02 -8.30569503e-03 8.43227219e+01] [ 6.31095116e-02 9.98006602e-01 -1.07356422e-04 4.31766001e-01] [ 8.29591355e-03 -4.17029641e-04 9.99965501e-01 5.55768854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04925415399998 meters 0.02641041986056934 Centerline is valid? [True, True] Translation: X:84.35, Y:0.44, Z:0.56 [[ 9.98161327e-01 -5.99197290e-02 -9.14277800e-03 8.43533484e+01] [ 5.99211603e-02 9.98203106e-01 -1.17537792e-04 4.37044301e-01] [ 9.13339223e-03 -4.30524188e-04 9.99958197e-01 5.56134639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07925415399998 meters 0.024445304724167893 Centerline is valid? [True, True] Translation: X:84.39, Y:0.44, Z:0.56 [[ 9.98294217e-01 -5.76683775e-02 -9.11121054e-03 8.43852293e+01] [ 5.76697087e-02 9.98335711e-01 -1.16761593e-04 4.43088740e-01] [ 9.10278030e-03 -4.08878435e-04 9.99958485e-01 5.56852062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10925415399998 meters 0.02363512890133776 Centerline is valid? [True, True] Translation: X:84.42, Y:0.45, Z:0.56 [[ 9.98572529e-01 -5.26768883e-02 -8.83462927e-03 8.44153160e+01] [ 5.26779481e-02 9.98611547e-01 -1.12850706e-04 4.50115596e-01] [ 8.82830743e-03 -3.52700528e-04 9.99960968e-01 5.57200205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13925415399999 meters 0.020926207931286005 Centerline is valid? [True, True] Translation: X:84.45, Y:0.46, Z:0.56 [[ 9.98683655e-01 -5.05364109e-02 -8.77660181e-03 8.44472330e+01] [ 5.05373756e-02 9.98722164e-01 -1.11972125e-04 4.57374796e-01] [ 8.77104542e-03 -3.31721691e-04 9.99961479e-01 5.57815940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16925415399999 meters 0.02001593915241794 Centerline is valid? [True, True] Translation: X:84.48, Y:0.46, Z:0.56 [[ 9.98810655e-01 -4.79922527e-02 -8.60346898e-03 8.44786376e+01] [ 4.79930902e-02 9.98847662e-01 -1.09195547e-04 4.61467165e-01] [ 8.59879541e-03 -3.03841387e-04 9.99962984e-01 5.58020539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19925415399999 meters 0.019128058198560182 Centerline is valid? [True, True] Translation: X:84.51, Y:0.47, Z:0.56 [[ 9.98917661e-01 -4.56850062e-02 -8.73994628e-03 8.45111006e+01] [ 4.56857858e-02 9.98955853e-01 -1.10527765e-04 4.65887815e-01] [ 8.73586996e-03 -2.88883178e-04 9.99961800e-01 5.58462171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22925415399999 meters 0.018089776609874476 Centerline is valid? [True, True] Translation: X:84.54, Y:0.47, Z:0.56 [[ 9.99120488e-01 -4.10056023e-02 -8.76302799e-03 8.45413991e+01] [ 4.10062126e-02 9.99158885e-01 -1.10091119e-04 4.72432761e-01] [ 8.76017163e-03 -2.49344296e-04 9.99961598e-01 5.59134754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25925415399998 meters 0.017856943504506603 Centerline is valid? [True, True] Translation: X:84.57, Y:0.48, Z:0.56 [[ 9.99214329e-01 -3.86028118e-02 -8.97484792e-03 8.45725038e+01] [ 3.86033633e-02 9.99254606e-01 -1.11844695e-04 4.75707425e-01] [ 8.97247564e-03 -2.34702493e-04 9.99959719e-01 5.59196365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28925415399998 meters 0.016770876348272474 Centerline is valid? [True, True] Translation: X:84.60, Y:0.48, Z:0.56 [[ 9.99382447e-01 -3.38534973e-02 -9.41620469e-03 8.46040588e+01] [ 3.38538986e-02 9.99426786e-01 -1.16805629e-04 4.83038319e-01] [ 9.41476147e-03 -2.02041744e-04 9.99955660e-01 5.59492603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31925415399998 meters 0.016125281112676183 Centerline is valid? [True, True] Translation: X:84.64, Y:0.49, Z:0.56 [[ 9.99444046e-01 -3.18083288e-02 -9.99150103e-03 8.46367622e+01] [ 3.18086854e-02 9.99493968e-01 -1.23257869e-04 4.86819311e-01] [ 9.99036564e-03 -1.94627170e-04 9.99950076e-01 5.59732595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34925415399998 meters 0.016084561028358035 Centerline is valid? [True, True] Translation: X:84.67, Y:0.49, Z:0.56 [[ 9.99517494e-01 -2.94723327e-02 -9.80616417e-03 8.46681658e+01] [ 2.94725737e-02 9.99565582e-01 -1.19967851e-04 4.89322535e-01] [ 9.80543993e-03 -1.69102930e-04 9.99951911e-01 5.59806357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37925415399998 meters 0.015383207524399846 Centerline is valid? [True, True] Translation: X:84.70, Y:0.49, Z:0.56 [[ 9.99614679e-01 -2.61221755e-02 -9.38747574e-03 8.46999898e+01] [ 2.61222581e-02 9.99658749e-01 -1.13835621e-04 4.94537372e-01] [ 9.38724588e-03 -1.31430306e-04 9.99955930e-01 5.60399146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40925415399998 meters 0.015317771695167395 Centerline is valid? [True, True] Translation: X:84.73, Y:0.50, Z:0.56 [[ 9.99654977e-01 -2.45618312e-02 -9.30821874e-03 8.47314685e+01] [ 2.45618495e-02 9.99698306e-01 -1.12372805e-04 4.96221887e-01] [ 9.30817059e-03 -1.16293033e-04 9.99956671e-01 5.60581184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43925415399998 meters 0.014806124740567613 Centerline is valid? [True, True] Translation: X:84.76, Y:0.50, Z:0.56 [[ 9.99707534e-01 -2.24050507e-02 -9.10277768e-03 8.47635019e+01] [ 2.24049835e-02 9.99748971e-01 -1.09369394e-04 5.00850675e-01] [ 9.10294304e-03 -9.46101770e-05 9.99958563e-01 5.61278008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46925415399998 meters 0.014794862644725718 Centerline is valid? [True, True] Translation: X:84.79, Y:0.50, Z:0.56 [[ 9.99728382e-01 -2.15759489e-02 -8.81144915e-03 8.47945403e+01] [ 2.15758586e-02 9.99767209e-01 -1.05318902e-04 5.02341369e-01] [ 8.81167028e-03 -8.48242856e-05 9.99961173e-01 5.60858184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49925415399998 meters 0.014582920917397298 Centerline is valid? [True, True] Translation: X:84.83, Y:0.50, Z:0.56 [[ 9.99745534e-01 -2.07618241e-02 -8.82117521e-03 8.48261630e+01] [ 2.07617047e-02 9.99784447e-01 -1.05118102e-04 5.04043196e-01] [ 8.82145623e-03 -7.80512822e-05 9.99961087e-01 5.60862105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52925415399999 meters 0.014632885764715607 Centerline is valid? [True, True] Translation: X:84.86, Y:0.51, Z:0.56 [[ 9.99773798e-01 -1.92739143e-02 -8.99270112e-03 8.48565979e+01] [ 1.92737327e-02 9.99814239e-01 -1.06869393e-04 5.06713406e-01] [ 8.99309042e-03 -6.64776990e-05 9.99959559e-01 5.60365918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55925415399999 meters 0.014363393237060028 Centerline is valid? [True, True] Translation: X:84.89, Y:0.51, Z:0.56 [[ 9.99783943e-01 -1.85711600e-02 -9.33699546e-03 8.48873724e+01] [ 1.85709360e-02 9.99827539e-01 -1.10702871e-04 5.08002167e-01] [ 9.33744108e-03 -6.27177919e-05 9.99956403e-01 5.60249665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58925415399999 meters 0.014404558046490084 Centerline is valid? [True, True] Translation: X:84.92, Y:0.51, Z:0.56 [[ 9.99787017e-01 -1.82125541e-02 -9.70691685e-03 8.49189687e+01] [ 1.82122998e-02 9.99834136e-01 -1.14600369e-04 5.09383635e-01] [ 9.70739399e-03 -6.22093187e-05 9.99952880e-01 5.60074187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61925415399998 meters 0.014404558046490084 Centerline is valid? [True, True] Translation: X:84.95, Y:0.51, Z:0.56 [[ 9.99787688e-01 -1.81756587e-02 -9.70692107e-03 8.49498132e+01] [ 1.81754061e-02 9.99834807e-01 -1.14242031e-04 5.09718181e-01] [ 9.70739398e-03 -6.22094567e-05 9.99952880e-01 5.60287876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64925415399998 meters 0.014405926922074184 Centerline is valid? [True, True] Translation: X:84.98, Y:0.51, Z:0.56 [[ 9.99789384e-01 -1.79053072e-02 -1.00293248e-02 8.49813041e+01] [ 1.79050278e-02 9.99839685e-01 -1.17658650e-04 5.10283810e-01] [ 1.00298237e-02 -6.19414696e-05 9.99949698e-01 5.60467778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67925415399998 meters 0.01452050427074449 Centerline is valid? [True, True] Translation: X:85.01, Y:0.51, Z:0.56 [[ 9.99798143e-01 -1.75779055e-02 -9.73086527e-03 8.50118453e+01] [ 1.75776293e-02 9.99845495e-01 -1.13910999e-04 5.10859599e-01] [ 9.73136412e-03 -5.71575377e-05 9.99952648e-01 5.60413347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70925415399998 meters 0.0145411518625826 Centerline is valid? [True, True] Translation: X:85.04, Y:0.51, Z:0.56 [[ 9.99804107e-01 -1.73199897e-02 -9.57943756e-03 8.50436024e+01] [ 1.73197112e-02 9.99849996e-01 -1.12042491e-04 5.11325835e-01] [ 9.57994119e-03 -5.38925492e-05 9.99954110e-01 5.60987995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73925415399998 meters 0.014388352823141595 Centerline is valid? [True, True] Translation: X:85.08, Y:0.51, Z:0.56 [[ 9.99824434e-01 -1.65359433e-02 -8.81270426e-03 8.50750635e+01] [ 1.65356798e-02 9.99863271e-01 -1.02775310e-04 5.11510700e-01] [ 8.81319879e-03 -4.29667893e-05 9.99961162e-01 5.61540513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76925415399998 meters 0.014460390245903459 Centerline is valid? [True, True] Translation: X:85.10, Y:0.51, Z:0.56 [[ 9.99827906e-01 -1.63787441e-02 -8.71182033e-03 8.51049261e+01] [ 1.63784831e-02 9.99865859e-01 -1.01316499e-04 5.11341073e-01] [ 8.71231115e-03 -4.13873391e-05 9.99962046e-01 5.61542439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79925415399998 meters 0.014468314889186294 Centerline is valid? [True, True] Translation: X:85.14, Y:0.51, Z:0.56 [[ 9.99827051e-01 -1.65736978e-02 -8.43686079e-03 8.51359963e+01] [ 1.65734614e-02 9.99862646e-01 -9.79409669e-05 5.11447510e-01] [ 8.43732520e-03 -4.19039582e-05 9.99964404e-01 5.61853545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82925415399998 meters 0.014426856224277803 Centerline is valid? [True, True] Translation: X:85.17, Y:0.51, Z:0.56 [[ 9.99808699e-01 -1.75814399e-02 -8.57080517e-03 8.51666282e+01] [ 1.75812355e-02 9.99845433e-01 -9.92024111e-05 5.09694572e-01] [ 8.57122453e-03 -5.15019101e-05 9.99963265e-01 5.61665733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85925415399998 meters 0.014571265596329609 Centerline is valid? [True, True] Translation: X:85.20, Y:0.51, Z:0.56 [[ 9.99786434e-01 -1.86717100e-02 -8.85739154e-03 8.51973303e+01] [ 1.86715363e-02 9.99825666e-01 -1.02315952e-04 5.08172964e-01] [ 8.85775781e-03 -6.30870065e-05 9.99960767e-01 5.61391182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88925415399999 meters 0.014935567267137158 Centerline is valid? [True, True] Translation: X:85.23, Y:0.50, Z:0.56 [[ 9.99712709e-01 -2.20050360e-02 -9.50148802e-03 8.52286960e+01] [ 2.20049901e-02 9.99757855e-01 -1.09390853e-04 5.04690648e-01] [ 9.50159443e-03 -9.97207232e-05 9.99954854e-01 5.60308797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91925415399999 meters 0.01494758019637769 Centerline is valid? [True, True] Translation: X:85.26, Y:0.50, Z:0.56 [[ 9.99668190e-01 -2.37221084e-02 -1.00384610e-02 8.52606288e+01] [ 2.37221485e-02 9.99718584e-01 -1.15084572e-04 5.03018097e-01] [ 1.00383660e-02 -1.23087476e-04 9.99949607e-01 5.60360122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94925415399999 meters 0.015535058615022662 Centerline is valid? [True, True] Translation: X:85.29, Y:0.50, Z:0.56 [[ 9.99613694e-01 -2.57285422e-02 -1.05120837e-02 8.52919715e+01] [ 2.57287048e-02 9.99668955e-01 -1.19794556e-04 5.00879744e-01] [ 1.05116858e-02 -1.50714018e-04 9.99944739e-01 5.60177916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97925415399999 meters 0.01676519696270591 Centerline is valid? [True, True] Translation: X:85.32, Y:0.50, Z:0.56 [[ 9.99509376e-01 -2.94130805e-02 -1.07646846e-02 8.53234539e+01] [ 2.94134709e-02 9.99567323e-01 -1.22085281e-04 4.96435318e-01] [ 1.07636178e-02 -1.94601353e-04 9.99942052e-01 5.60397004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00925415399998 meters 0.0172221106392868 Centerline is valid? [True, True] Translation: X:85.36, Y:0.49, Z:0.56 [[ 9.99465059e-01 -3.08838540e-02 -1.07602239e-02 8.53557499e+01] [ 3.08843361e-02 9.99522958e-01 -1.21403473e-04 4.94879085e-01] [ 1.07588402e-02 -2.10983842e-04 9.99942100e-01 5.60771695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03925415399998 meters 0.018131320492211327 Centerline is valid? [True, True] Translation: X:85.39, Y:0.49, Z:0.56 [[ 9.99406415e-01 -3.25893883e-02 -1.11691380e-02 8.53873931e+01] [ 3.25900221e-02 9.99468796e-01 -1.25308444e-04 4.93351208e-01] [ 1.11672887e-02 -2.38768392e-04 9.99937615e-01 5.60725705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06925415399998 meters 0.0182238951018807 Centerline is valid? [True, True] Translation: X:85.42, Y:0.49, Z:0.56 [[ 9.99305428e-01 -3.57601156e-02 -1.04821631e-02 8.54195864e+01] [ 3.57608542e-02 9.99360369e-01 -1.17019337e-04 4.92071003e-01] [ 1.04796430e-02 -2.57913047e-04 9.99945054e-01 5.61354979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09925415399998 meters 0.018064579289703942 Centerline is valid? [True, True] Translation: X:85.45, Y:0.49, Z:0.56 [[ 9.99160684e-01 -3.96394072e-02 -1.03269418e-02 8.54515936e+01] [ 3.96403386e-02 9.99214006e-01 -1.14555032e-04 4.91253836e-01] [ 1.03233658e-02 -2.94904587e-04 9.99946669e-01 5.62045613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12925415399998 meters 0.02252383467377262 Centerline is valid? [True, True] Translation: X:85.48, Y:0.48, Z:0.56 [[ 9.99077138e-01 -4.17800807e-02 -9.96476709e-03 8.54825298e+01] [ 4.17810632e-02 9.99126784e-01 -1.09654492e-04 4.83475746e-01] [ 9.96064707e-03 -3.06785267e-04 9.99950344e-01 5.61355776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15925415399998 meters 0.019719817678050613 Centerline is valid? [True, True] Translation: X:85.51, Y:0.49, Z:0.56 [[ 9.98973149e-01 -4.41559397e-02 -1.01439595e-02 8.55145794e+01] [ 4.41570917e-02 9.99024594e-01 -1.10485463e-04 4.88261746e-01] [ 1.01389436e-02 -3.37555739e-04 9.99948543e-01 5.61863031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18925415399998 meters 0.019752503946221092 Centerline is valid? [True, True] Translation: X:85.55, Y:0.49, Z:0.56 [[ 9.98858458e-01 -4.67222218e-02 -9.94060971e-03 8.55463707e+01] [ 4.67234616e-02 9.98907857e-01 -1.07600731e-04 4.87844758e-01] [ 9.93478049e-03 -3.56981796e-04 9.99950585e-01 5.62228845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21925415399998 meters 0.022821192432738786 Centerline is valid? [True, True] Translation: X:85.58, Y:0.48, Z:0.56 [[ 9.98561977e-01 -5.27353667e-02 -9.64149619e-03 8.55766772e+01] [ 5.27368181e-02 9.98608440e-01 -1.03815875e-04 4.83488472e-01] [ 9.63355424e-03 -4.04795245e-04 9.99953514e-01 5.62885823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24925415399998 meters 0.023607000451137346 Centerline is valid? [True, True] Translation: X:85.61, Y:0.48, Z:0.56 [[ 9.98391902e-01 -5.58819955e-02 -9.52955431e-03 8.56080770e+01] [ 5.58835613e-02 9.98437288e-01 -1.02090422e-04 4.82327206e-01] [ 9.52036737e-03 -4.30619182e-04 9.99954588e-01 5.63224025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27925415399999 meters 0.02578285364119135 Centerline is valid? [True, True] Translation: X:85.64, Y:0.48, Z:0.56 [[ 9.97989678e-01 -6.25752001e-02 -1.00472765e-02 8.56382067e+01] [ 6.25772820e-02 9.98040116e-01 -1.07336070e-04 4.79006912e-01] [ 1.00343016e-02 -5.21610963e-04 9.99949519e-01 5.62720546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30925415399999 meters 0.027457527747276455 Centerline is valid? [True, True] Translation: X:85.67, Y:0.48, Z:0.56 [[ 9.97790042e-01 -6.55849873e-02 -1.06602599e-02 8.56680287e+01] [ 6.55875030e-02 9.97846815e-01 -1.13812824e-04 4.76989067e-01] [ 1.06447708e-02 -5.85618526e-04 9.99943171e-01 5.62501523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33925415399999 meters 0.03142726486759271 Centerline is valid? [True, True] Translation: X:85.70, Y:0.47, Z:0.56 [[ 9.97632429e-01 -6.78606148e-02 -1.11567595e-02 8.56982122e+01] [ 6.78635130e-02 9.97694607e-01 -1.19036436e-04 4.72108867e-01] [ 1.11391167e-02 -6.38382288e-04 9.99937754e-01 5.62319664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36925415399998 meters 0.029625635340388885 Centerline is valid? [True, True] Translation: X:85.73, Y:0.48, Z:0.56 [[ 9.97379935e-01 -7.13549258e-02 -1.19054236e-02 8.57292227e+01] [ 7.13584769e-02 9.97450726e-01 -1.26797513e-04 4.76713032e-01] [ 1.18841210e-02 -7.23087598e-04 9.99929120e-01 5.62022285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39925415399998 meters 0.030782096770046917 Centerline is valid? [True, True] Translation: X:85.76, Y:0.48, Z:0.56 [[ 9.97316223e-01 -7.22038883e-02 -1.21223272e-02 8.57603904e+01] [ 7.22076374e-02 9.97389613e-01 -1.28691510e-04 4.76299862e-01] [ 1.20999752e-02 -7.46978476e-04 9.99926514e-01 5.61686179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42925415399998 meters 0.030841573816788752 Centerline is valid? [True, True] Translation: X:85.79, Y:0.48, Z:0.56 [[ 9.97287052e-01 -7.25538216e-02 -1.24289325e-02 8.57922617e+01] [ 7.25577997e-02 9.97364201e-01 -1.31151345e-04 4.77634879e-01] [ 1.24056879e-02 -7.71020456e-04 9.99922749e-01 5.61887729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45925415399998 meters 0.031158004391958115 Centerline is valid? [True, True] Translation: X:85.82, Y:0.48, Z:0.56 [[ 9.97335872e-01 -7.17758445e-02 -1.30148362e-02 8.58235191e+01] [ 7.17801518e-02 9.97420469e-01 -1.36467961e-04 4.80453417e-01] [ 1.29910591e-02 -7.98102523e-04 9.99915294e-01 5.62072435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48925415399998 meters 0.03544022192380837 Centerline is valid? [True, True] Translation: X:85.85, Y:0.48, Z:0.56 [[ 9.97434990e-01 -7.03646466e-02 -1.31246678e-02 8.58547641e+01] [ 7.03689146e-02 9.97521026e-01 -1.36903675e-04 4.76615814e-01] [ 1.31017652e-02 -7.87016111e-04 9.99913858e-01 5.61719548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51925415399998 meters 0.034894660606783555 Centerline is valid? [True, True] Translation: X:85.89, Y:0.48, Z:0.56 [[ 9.97565752e-01 -6.84484433e-02 -1.33184731e-02 8.58867432e+01] [ 6.84526775e-02 9.97654355e-01 -1.38220025e-04 4.79621074e-01] [ 1.32966936e-02 -7.73801580e-04 9.99911296e-01 5.61899232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54925415399998 meters 0.028447392902519835 Centerline is valid? [True, True] Translation: X:85.92, Y:0.49, Z:0.56 [[ 9.97911987e-01 -6.33436933e-02 -1.26191756e-02 8.59170431e+01] [ 6.33470918e-02 9.97991548e-01 -1.30616712e-04 4.93414663e-01] [ 1.26021043e-02 -6.69044092e-04 9.99920367e-01 5.63576232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57925415399998 meters 0.02795831595585884 Centerline is valid? [True, True] Translation: X:85.95, Y:0.50, Z:0.56 [[ 9.98124431e-01 -5.99811417e-02 -1.22426689e-02 8.59471479e+01] [ 5.99840882e-02 9.98199325e-01 -1.26707812e-04 4.96828225e-01] [ 1.22282240e-02 -6.07895171e-04 9.99925048e-01 5.64341042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.60925415399998 meters 0.02504667625140012 Centerline is valid? [True, True] Translation: X:85.98, Y:0.51, Z:0.57 [[ 9.98593235e-01 -5.18466155e-02 -1.11121361e-02 8.59770731e+01] [ 5.18485401e-02 9.98654953e-01 -1.15012049e-04 5.06582783e-01] [ 1.11031527e-02 -4.61297779e-04 9.99938252e-01 5.65701164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63925415399999 meters 0.023332093440953803 Centerline is valid? [True, True] Translation: X:86.01, Y:0.51, Z:0.57 [[ 9.98832885e-01 -4.71583658e-02 -1.04381792e-02 8.60079469e+01] [ 4.71598088e-02 9.98887351e-01 -1.07983411e-04 5.12064108e-01] [ 1.04316574e-02 -3.84405152e-04 9.99945515e-01 5.66463753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66925415399999 meters 0.020128999182652714 Centerline is valid? [True, True] Translation: X:86.04, Y:0.52, Z:0.57 [[ 9.99056409e-01 -4.21897117e-02 -1.03111482e-02 8.60388162e+01] [ 4.21908573e-02 9.99109564e-01 -1.06490364e-04 5.20060171e-01] [ 1.03064596e-02 -3.28646303e-04 9.99946833e-01 5.67277853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69925415399999 meters 0.016590609473126603 Centerline is valid? [True, True] Translation: X:86.07, Y:0.53, Z:0.57 [[ 9.99407873e-01 -3.29823284e-02 -9.80150366e-03 8.60700384e+01] [ 3.29829228e-02 9.99455910e-01 -1.01035656e-04 5.32403745e-01] [ 9.79950315e-03 -2.22306409e-04 9.99951959e-01 5.67831457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72925415399999 meters 0.016194425842416673 Centerline is valid? [True, True] Translation: X:86.10, Y:0.54, Z:0.57 [[ 9.99532809e-01 -2.89531791e-02 -9.79164921e-03 8.61009321e+01] [ 2.89535818e-02 9.99580752e-01 -1.00650489e-04 5.35819413e-01] [ 9.79045824e-03 -1.82899850e-04 9.99952056e-01 5.67775602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75925415399998 meters 0.015360134364867514 Centerline is valid? [True, True] Translation: X:86.13, Y:0.54, Z:0.57 [[ 9.99628523e-01 -2.52731041e-02 -1.02022903e-02 8.61333710e+01] [ 2.52733549e-02 9.99680572e-01 -1.04364642e-04 5.40523807e-01] [ 1.02016690e-02 -1.53520229e-04 9.99947950e-01 5.67569345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78925415399998 meters 0.014547508906900201 Centerline is valid? [True, True] Translation: X:86.16, Y:0.55, Z:0.57 [[ 9.99748387e-01 -1.94908614e-02 -1.11026426e-02 8.61644193e+01] [ 1.94908097e-02 9.99810030e-01 -1.12872997e-04 5.47964775e-01] [ 1.11027334e-02 -1.03554897e-04 9.99938357e-01 5.67024714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81925415399998 meters 0.014299654174370876 Centerline is valid? [True, True] Translation: X:86.20, Y:0.55, Z:0.57 [[ 9.99779852e-01 -1.74239990e-02 -1.16897801e-02 8.61958467e+01] [ 1.74238055e-02 9.99848187e-01 -1.18402175e-04 5.50834409e-01] [ 1.16900685e-02 -8.53043475e-05 9.99931665e-01 5.66799414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84925415399998 meters 0.014210043440513785 Centerline is valid? [True, True] Translation: X:86.23, Y:0.55, Z:0.57 [[ 9.99801955e-01 -1.50372814e-02 -1.30357333e-02 8.62262649e+01] [ 1.50368431e-02 9.99886932e-01 -1.31641789e-04 5.54100312e-01] [ 1.30362389e-02 -6.44005586e-05 9.99915023e-01 5.65242983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87925415399998 meters 0.01416953533579129 Centerline is valid? [True, True] Translation: X:86.26, Y:0.56, Z:0.57 [[ 9.99794875e-01 -1.48855423e-02 -1.37342197e-02 8.62556297e+01] [ 1.48850398e-02 9.99889202e-01 -1.38808790e-04 5.56052860e-01] [ 1.37347643e-02 -6.56540913e-05 9.99905672e-01 5.65586713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90925415399998 meters 0.014320717990405013 Centerline is valid? [True, True] Translation: X:86.28, Y:0.56, Z:0.57 [[ 9.99792200e-01 -1.50142734e-02 -1.37886703e-02 8.62839480e+01] [ 1.50137707e-02 9.99887277e-01 -1.39978804e-04 5.57062633e-01] [ 1.37892177e-02 -6.70702172e-05 9.99904922e-01 5.65400495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93925415399998 meters 0.014252210653742874 Centerline is valid? [True, True] Translation: X:86.31, Y:0.56, Z:0.57 [[ 9.99778182e-01 -1.64222501e-02 -1.31869929e-02 8.63122702e+01] [ 1.64218869e-02 9.99865142e-01 -1.35829891e-04 5.58793507e-01] [ 1.31874452e-02 -8.07555450e-05 9.99913039e-01 5.67035247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96925415399998 meters 0.014321231419689386 Centerline is valid? [True, True] Translation: X:86.34, Y:0.56, Z:0.57 [[ 9.99767797e-01 -1.72241845e-02 -1.29491175e-02 8.63415955e+01] [ 1.72238762e-02 9.99851649e-01 -1.35343924e-04 5.59407276e-01] [ 1.29495277e-02 -8.77214998e-05 9.99916148e-01 5.67794077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99925415399998 meters 0.014526434855582344 Centerline is valid? [True, True] Translation: X:86.37, Y:0.56, Z:0.57 [[ 9.99738810e-01 -1.94070770e-02 -1.20697077e-02 8.63711418e+01] [ 1.94069629e-02 9.99811659e-01 -1.26580989e-04 5.59328844e-01] [ 1.20698910e-02 -1.07688443e-04 9.99927150e-01 5.68720114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02925415399999 meters 0.014618298438509307 Centerline is valid? [True, True] Translation: X:86.40, Y:0.56, Z:0.57 [[ 9.99719186e-01 -2.06902808e-02 -1.15525465e-02 8.64012218e+01] [ 2.06902601e-02 9.99785926e-01 -1.21318898e-04 5.58747118e-01] [ 1.15525835e-02 -1.17740361e-04 9.99933260e-01 5.69258982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05925415399999 meters 0.01483439271837948 Centerline is valid? [True, True] Translation: X:86.43, Y:0.56, Z:0.57 [[ 9.99700004e-01 -2.19141430e-02 -1.09395112e-02 8.64328731e+01] [ 2.19142044e-02 9.99759848e-01 -1.14279068e-04 5.57815739e-01] [ 1.09393884e-02 -1.25485899e-04 9.99940155e-01 5.69527378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08925415399999 meters 0.015097279613151918 Centerline is valid? [True, True] Translation: X:86.47, Y:0.56, Z:0.57 [[ 9.99671770e-01 -2.33217150e-02 -1.06042362e-02 8.64653761e+01] [ 2.33218632e-02 9.99728002e-01 -1.09699631e-04 5.57843725e-01] [ 1.06039103e-02 -1.37646922e-04 9.99943767e-01 5.69762555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11925415399998 meters 0.015553225127134085 Centerline is valid? [True, True] Translation: X:86.50, Y:0.56, Z:0.57 [[ 9.99612354e-01 -2.57960784e-02 -1.04740143e-02 8.64968240e+01] [ 2.57963662e-02 9.99667213e-01 -1.07651265e-04 5.55938101e-01] [ 1.04733056e-02 -1.62581973e-04 9.99945140e-01 5.69667907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14925415399998 meters 0.015744763255414084 Centerline is valid? [True, True] Translation: X:86.53, Y:0.56, Z:0.57 [[ 9.99580313e-01 -2.68529947e-02 -1.08680871e-02 8.65287598e+01] [ 2.68533743e-02 9.99639377e-01 -1.11021130e-04 5.55253879e-01] [ 1.08671491e-02 -1.80870276e-04 9.99940934e-01 5.69287301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17925415399998 meters 0.0158504040087593 Centerline is valid? [True, True] Translation: X:86.56, Y:0.56, Z:0.57 [[ 9.99543734e-01 -2.79404512e-02 -1.14741053e-02 8.65606038e+01] [ 2.79409559e-02 9.99609569e-01 -1.16349912e-04 5.55169945e-01] [ 1.14728763e-02 -2.04300645e-04 9.99934164e-01 5.69119099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20925415399998 meters 0.016751580822008273 Centerline is valid? [True, True] Translation: X:86.59, Y:0.55, Z:0.57 [[ 9.99472045e-01 -3.02068845e-02 -1.19655872e-02 8.65921592e+01] [ 3.02076053e-02 9.99543639e-01 -1.20528274e-04 5.52565173e-01] [ 1.19637674e-02 -2.40987096e-04 9.99928403e-01 5.68696930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23925415399998 meters 0.016991917539209235 Centerline is valid? [True, True] Translation: X:86.62, Y:0.55, Z:0.57 [[ 9.99455193e-01 -3.08146973e-02 -1.18225443e-02 8.66239463e+01] [ 3.08154520e-02 9.99525084e-01 -1.18365274e-04 5.51763501e-01] [ 1.18205769e-02 -2.46016258e-04 9.99930104e-01 5.68849057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26925415399998 meters 0.016211234934155477 Centerline is valid? [True, True] Translation: X:86.66, Y:0.55, Z:0.57 [[ 9.99471354e-01 -3.04944973e-02 -1.12738204e-02 8.66562617e+01] [ 3.04951721e-02 9.99534908e-01 -1.12079466e-04 5.53440738e-01] [ 1.12719949e-02 -2.31776879e-04 9.99936442e-01 5.69472225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29925415399998 meters 0.016201606890178764 Centerline is valid? [True, True] Translation: X:86.69, Y:0.55, Z:0.57 [[ 9.99491597e-01 -2.96900824e-02 -1.16209852e-02 8.66886564e+01] [ 2.96907553e-02 9.99559126e-01 -1.14654653e-04 5.53959368e-01] [ 1.16192659e-02 -2.30439466e-04 9.99932467e-01 5.69542411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32925415399998 meters 0.016052746923161467 Centerline is valid? [True, True] Translation: X:86.72, Y:0.55, Z:0.57 [[ 9.99509149e-01 -2.90014713e-02 -1.18479879e-02 8.67212794e+01] [ 2.90021328e-02 9.99579343e-01 -1.16011587e-04 5.54490388e-01] [ 1.18463685e-02 -2.27662276e-04 9.99929803e-01 5.69229652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35925415399998 meters 0.015366005823462989 Centerline is valid? [True, True] Translation: X:86.75, Y:0.56, Z:0.57 [[ 9.99580507e-01 -2.61334719e-02 -1.24840727e-02 8.67530286e+01] [ 2.61339933e-02 9.99658441e-01 -1.21395379e-04 5.56414787e-01] [ 1.24829812e-02 -2.04914219e-04 9.99922064e-01 5.68842295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38925415399999 meters 0.0154137709018667 Centerline is valid? [True, True] Translation: X:86.78, Y:0.56, Z:0.57 [[ 9.99621523e-01 -2.43436199e-02 -1.28140154e-02 8.67841005e+01] [ 2.43440301e-02 9.99703632e-01 -1.23990961e-04 5.57458830e-01] [ 1.28132362e-02 -1.88000745e-04 9.99917889e-01 5.68130163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41925415399999 meters 0.014892422643074235 Centerline is valid? [True, True] Translation: X:86.82, Y:0.56, Z:0.57 [[ 9.99674879e-01 -2.20626908e-02 -1.27818207e-02 8.68150215e+01] [ 2.20629185e-02 9.99756577e-01 -1.23208351e-04 5.59120556e-01] [ 1.27814277e-02 -1.58835976e-04 9.99918302e-01 5.68618162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44925415399999 meters 0.014469426995119345 Centerline is valid? [True, True] Translation: X:86.85, Y:0.56, Z:0.57 [[ 9.99762338e-01 -1.75640650e-02 -1.29139704e-02 8.68464199e+01] [ 1.75639284e-02 9.99845735e-01 -1.24002253e-04 5.61704806e-01] [ 1.29141562e-02 -1.02847268e-04 9.99916604e-01 5.69196493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47925415399999 meters 0.014378102520218173 Centerline is valid? [True, True] Translation: X:86.88, Y:0.56, Z:0.57 [[ 9.99796550e-01 -1.56058732e-02 -1.27795209e-02 8.68760402e+01] [ 1.56055832e-02 9.99878218e-01 -1.22419620e-04 5.62615440e-01] [ 1.27798751e-02 -7.70371638e-05 9.99918331e-01 5.69655802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50925415399998 meters 0.014378102520218173 Centerline is valid? [True, True] Translation: X:86.91, Y:0.56, Z:0.57 [[ 9.99795987e-01 -1.56418564e-02 -1.27795194e-02 8.69051915e+01] [ 1.56415673e-02 9.99877656e-01 -1.22584072e-04 5.62924341e-01] [ 1.27798733e-02 -7.73326488e-05 9.99918331e-01 5.69857816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53925415399998 meters 0.014302470052653657 Centerline is valid? [True, True] Translation: X:86.93, Y:0.56, Z:0.57 [[ 9.99838675e-01 -1.33394186e-02 -1.20284930e-02 8.69335161e+01] [ 1.33389897e-02 9.99911025e-01 -1.15887990e-04 5.63417539e-01] [ 1.20289686e-02 -4.45786499e-05 9.99927648e-01 5.70509226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56925415399998 meters 0.014220747335407272 Centerline is valid? [True, True] Translation: X:86.96, Y:0.56, Z:0.57 [[ 9.99842844e-01 -1.29470618e-02 -1.21103531e-02 8.69633457e+01] [ 1.29465914e-02 9.99916182e-01 -1.17240207e-04 5.63292762e-01] [ 1.21108559e-02 -3.95660103e-05 9.99926660e-01 5.70831187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59925415399998 meters 0.014248540859056589 Centerline is valid? [True, True] Translation: X:86.99, Y:0.56, Z:0.57 [[ 9.99834698e-01 -1.30217619e-02 -1.26890118e-02 8.69916109e+01] [ 1.30212294e-02 9.99915212e-01 -1.24584366e-04 5.62387420e-01] [ 1.26895583e-02 -4.06627613e-05 9.99919483e-01 5.70267304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62925415399998 meters 0.014246720596462616 Centerline is valid? [True, True] Translation: X:87.02, Y:0.56, Z:0.57 [[ 9.99803046e-01 -1.38298391e-02 -1.42339555e-02 8.70199785e+01] [ 1.38292169e-02 9.99904362e-01 -1.42143016e-04 5.59616925e-01] [ 1.42345600e-02 -5.47294379e-05 9.99898682e-01 5.68683369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65925415399998 meters 0.014416530609394088 Centerline is valid? [True, True] Translation: X:87.05, Y:0.56, Z:0.57 [[ 9.99771718e-01 -1.48727423e-02 -1.53399002e-02 8.70490964e+01] [ 1.48721036e-02 9.99889392e-01 -1.55715794e-04 5.58337458e-01] [ 1.53405194e-02 -7.24563376e-05 9.99882325e-01 5.67727203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68925415399998 meters 0.014553815081223503 Centerline is valid? [True, True] Translation: X:87.08, Y:0.56, Z:0.57 [[ 9.99736691e-01 -1.62988258e-02 -1.61522813e-02 8.70773922e+01] [ 1.62982359e-02 9.99867161e-01 -1.68164955e-04 5.57282737e-01] [ 1.61528765e-02 -9.51330145e-05 9.99869529e-01 5.67506131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71925415399998 meters 0.014768691109445006 Centerline is valid? [True, True] Translation: X:87.10, Y:0.55, Z:0.57 [[ 9.99657116e-01 -1.97108131e-02 -1.72375575e-02 8.71049034e+01] [ 1.97105997e-02 9.99805711e-01 -1.82292021e-04 5.53309933e-01] [ 1.72378016e-02 -1.57533080e-04 9.99851406e-01 5.66492238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74925415399998 meters 0.015282085647089449 Centerline is valid? [True, True] Translation: X:87.13, Y:0.55, Z:0.57 [[ 9.99590274e-01 -2.23527115e-02 -1.78784679e-02 8.71333393e+01] [ 2.23528441e-02 9.99750125e-01 -1.92439052e-04 5.51395345e-01] [ 1.78783021e-02 -2.07274402e-04 9.99840149e-01 5.66523396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77925415399999 meters 0.01624804527953929 Centerline is valid? [True, True] Translation: X:87.16, Y:0.55, Z:0.57 [[ 9.99461618e-01 -2.75560029e-02 -1.78084656e-02 8.71617208e+01] [ 2.75569194e-02 9.99620217e-01 -1.93972186e-04 5.46033463e-01] [ 1.78070474e-02 -2.96878697e-04 9.99841398e-01 5.66561776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80925415399999 meters 0.016240359834958903 Centerline is valid? [True, True] Translation: X:87.19, Y:0.55, Z:0.57 [[ 9.99383535e-01 -3.03962292e-02 -1.75675467e-02 8.71925985e+01] [ 3.03975533e-02 9.99537869e-01 -1.91708376e-04 5.45626113e-01] [ 1.75652554e-02 -3.42420241e-04 9.99845660e-01 5.67852685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83925415399999 meters 0.0166470795761475 Centerline is valid? [True, True] Translation: X:87.22, Y:0.54, Z:0.57 [[ 9.99319470e-01 -3.26092872e-02 -1.72404017e-02 8.72233700e+01] [ 3.26108949e-02 9.99468106e-01 -1.87949528e-04 5.43348400e-01] [ 1.72373605e-02 -3.74403303e-04 9.99851356e-01 5.68367151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86925415399998 meters 0.018412110146534287 Centerline is valid? [True, True] Translation: X:87.25, Y:0.54, Z:0.57 [[ 9.99190036e-01 -3.71323871e-02 -1.55067003e-02 8.72536383e+01] [ 3.71342361e-02 9.99310272e-01 -1.68780075e-04 5.39028899e-01] [ 1.55022721e-02 -4.07186101e-04 9.99879750e-01 5.69232439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89925415399998 meters 0.018659053120147494 Centerline is valid? [True, True] Translation: X:87.29, Y:0.54, Z:0.57 [[ 9.99123587e-01 -3.90516627e-02 -1.50673600e-02 8.72856672e+01] [ 3.90536371e-02 9.99237102e-01 -1.63287513e-04 5.38341767e-01] [ 1.50622418e-02 -4.25290803e-04 9.99886468e-01 5.69819529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92925415399998 meters 0.019606028011587437 Centerline is valid? [True, True] Translation: X:87.32, Y:0.54, Z:0.57 [[ 9.98995019e-01 -4.24513821e-02 -1.43816511e-02 8.73173298e+01] [ 4.24535455e-02 9.99098430e-01 -1.54971159e-04 5.35054761e-01] [ 1.43752638e-02 -4.55736664e-04 9.99896567e-01 5.69944195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95925415399998 meters 0.019852774844180982 Centerline is valid? [True, True] Translation: X:87.35, Y:0.53, Z:0.57 [[ 9.98931465e-01 -4.40793482e-02 -1.38902712e-02 8.73498728e+01] [ 4.40815356e-02 9.99027926e-01 -1.48800581e-04 5.33983414e-01] [ 1.38833278e-02 -4.63662900e-04 9.99903514e-01 5.70206482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98925415399998 meters 0.021545599345378873 Centerline is valid? [True, True] Translation: X:87.38, Y:0.53, Z:0.57 [[ 9.98873607e-01 -4.55264369e-02 -1.33738884e-02 8.73812754e+01] [ 4.55286055e-02 9.98963025e-01 -1.42427392e-04 5.30680531e-01] [ 1.33665042e-02 -4.66627525e-04 9.99910555e-01 5.70286535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01925415399998 meters 0.021197800208129457 Centerline is valid? [True, True] Translation: X:87.41, Y:0.53, Z:0.57 [[ 9.98733350e-01 -4.87050161e-02 -1.26300018e-02 8.74135029e+01] [ 4.87072137e-02 9.98813090e-01 -1.33727424e-04 5.30823533e-01] [ 1.26215244e-02 -4.81614161e-04 9.99920229e-01 5.71280422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04925415399998 meters 0.021530094986771314 Centerline is valid? [True, True] Translation: X:87.45, Y:0.53, Z:0.57 [[ 9.98675363e-01 -4.99451711e-02 -1.23692954e-02 8.74454345e+01] [ 4.99473850e-02 9.98751842e-01 -1.30064462e-04 5.30029083e-01] [ 1.23603527e-02 -4.87921786e-04 9.99923489e-01 5.71245696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07925415399998 meters 0.022247391076770862 Centerline is valid? [True, True] Translation: X:87.48, Y:0.53, Z:0.57 [[ 9.98594282e-01 -5.14448839e-02 -1.27626078e-02 8.74774403e+01] [ 5.14473754e-02 9.98675698e-01 -1.33241690e-04 5.28943482e-01] [ 1.27525609e-02 -5.23548286e-04 9.99918546e-01 5.70959222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.10925415399998 meters 0.023243737761681236 Centerline is valid? [True, True] Translation: X:87.51, Y:0.53, Z:0.57 [[ 9.98443977e-01 -5.39677805e-02 -1.40393628e-02 8.75097256e+01] [ 5.39710595e-02 9.98542490e-01 -1.45491699e-04 5.26858049e-01] [ 1.40267522e-02 -6.12453975e-04 9.99901433e-01 5.70025173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13925415399999 meters 0.02301604944315289 Centerline is valid? [True, True] Translation: X:87.54, Y:0.53, Z:0.57 [[ 9.98387594e-01 -5.48042095e-02 -1.47888807e-02 8.75422253e+01] [ 5.48079561e-02 9.98496903e-01 -1.52143812e-04 5.27495283e-01] [ 1.47749897e-02 -6.58649829e-04 9.99890627e-01 5.69805851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16925415399999 meters 0.02259119722284541 Centerline is valid? [True, True] Translation: X:87.57, Y:0.53, Z:0.57 [[ 9.98374537e-01 -5.50063038e-02 -1.49194360e-02 8.75743098e+01] [ 5.50101560e-02 9.98485783e-01 -1.52367012e-04 5.29053104e-01] [ 1.49052259e-02 -6.68601157e-04 9.99888687e-01 5.69878915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19925415399999 meters 0.023056382531533887 Centerline is valid? [True, True] Translation: X:87.61, Y:0.53, Z:0.57 [[ 9.98409841e-01 -5.43185542e-02 -1.50759749e-02 8.76050480e+01] [ 5.43224243e-02 9.98523435e-01 -1.52983087e-04 5.29160663e-01] [ 1.50620241e-02 -6.66223686e-04 9.99886339e-01 5.70002261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22925415399999 meters 0.021956458009651413 Centerline is valid? [True, True] Translation: X:87.64, Y:0.53, Z:0.57 [[ 9.98472167e-01 -5.31529014e-02 -1.51030091e-02 8.76376856e+01] [ 5.31566697e-02 9.98586173e-01 -1.52101395e-04 5.32378439e-01] [ 1.50897407e-02 -6.50956660e-04 9.99885931e-01 5.70691997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25925415399998 meters 0.02116679986173469 Centerline is valid? [True, True] Translation: X:87.67, Y:0.54, Z:0.57 [[ 9.98629963e-01 -4.99780790e-02 -1.55044649e-02 8.76692459e+01] [ 4.99816861e-02 9.98750122e-01 -1.54995886e-04 5.36415729e-01] [ 1.54928326e-02 -6.20155760e-04 9.99879787e-01 5.70603953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28925415399998 meters 0.02133229037262854 Centerline is valid? [True, True] Translation: X:87.70, Y:0.54, Z:0.57 [[ 9.98732001e-01 -4.78886010e-02 -1.55265076e-02 8.77002563e+01] [ 4.78919917e-02 9.98852508e-01 -1.53576133e-04 5.37586066e-01] [ 1.55160456e-02 -5.90213975e-04 9.99879445e-01 5.70005842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31925415399998 meters 0.0203073516884888 Centerline is valid? [True, True] Translation: X:87.73, Y:0.54, Z:0.57 [[ 9.98875363e-01 -4.44768864e-02 -1.64260642e-02 8.77315898e+01] [ 4.44802440e-02 9.99010251e-01 -1.61058189e-04 5.43040551e-01] [ 1.64169699e-02 -5.69758285e-04 9.99865070e-01 5.69314524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34925415399998 meters 0.019592294092672567 Centerline is valid? [True, True] Translation: X:87.76, Y:0.55, Z:0.57 [[ 9.98955863e-01 -4.25730204e-02 -1.65747048e-02 8.77638888e+01] [ 4.25761933e-02 9.99093210e-01 -1.61552311e-04 5.45851378e-01] [ 1.65665528e-02 -5.44304205e-04 9.99862617e-01 5.69640921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37925415399998 meters 0.019075591622141598 Centerline is valid? [True, True] Translation: X:87.80, Y:0.55, Z:0.57 [[ 9.99026039e-01 -4.08000349e-02 -1.68026731e-02 8.77966310e+01] [ 4.08030690e-02 9.99167195e-01 -1.62356372e-04 5.48725969e-01] [ 1.67953039e-02 -5.23402386e-04 9.99858812e-01 5.69842699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40925415399998 meters 0.019033301225026045 Centerline is valid? [True, True] Translation: X:87.83, Y:0.55, Z:0.57 [[ 9.99090968e-01 -3.90960930e-02 -1.69921242e-02 8.78275295e+01] [ 3.90989699e-02 9.99235330e-01 -1.62996280e-04 5.50530066e-01] [ 1.69855034e-02 -5.01526444e-04 9.99855610e-01 5.70036546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43925415399998 meters 0.01741357330177717 Centerline is valid? [True, True] Translation: X:87.86, Y:0.56, Z:0.57 [[ 9.99230516e-01 -3.56291832e-02 -1.63993345e-02 8.78587096e+01] [ 3.56314080e-02 9.99364987e-01 -1.56594712e-04 5.57196404e-01] [ 1.63945000e-02 -4.27857162e-04 9.99865510e-01 5.71805901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46925415399998 meters 0.017387973557696397 Centerline is valid? [True, True] Translation: X:87.89, Y:0.56, Z:0.57 [[ 9.99298329e-01 -3.38040255e-02 -1.61287843e-02 8.78897532e+01] [ 3.38059521e-02 9.99428404e-01 -1.53254905e-04 5.59188536e-01] [ 1.61247458e-02 -3.92101540e-04 9.99869911e-01 5.72322202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49925415399998 meters 0.016650847904104663 Centerline is valid? [True, True] Translation: X:87.92, Y:0.56, Z:0.57 [[ 9.99421972e-01 -3.05575040e-02 -1.48983187e-02 8.79213855e+01] [ 3.05587988e-02 9.99532961e-01 -1.40784893e-04 5.63758933e-01] [ 1.48956626e-02 -3.14571208e-04 9.99889004e-01 5.73378130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52925415399999 meters 0.016444922745794423 Centerline is valid? [True, True] Translation: X:87.95, Y:0.57, Z:0.57 [[ 9.99476437e-01 -2.91321213e-02 -1.40773331e-02 8.79523495e+01] [ 2.91331464e-02 9.99575531e-01 -1.32291208e-04 5.65597225e-01] [ 1.40752117e-02 -2.77895062e-04 9.99900901e-01 5.73784993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55925415399999 meters 0.015819943295014516 Centerline is valid? [True, True] Translation: X:87.98, Y:0.57, Z:0.57 [[ 9.99518328e-01 -2.78626071e-02 -1.36669882e-02 8.79847861e+01] [ 2.78634663e-02 9.99611730e-01 -1.27579137e-04 5.68806838e-01] [ 1.36652364e-02 -2.53291980e-04 9.99906594e-01 5.74466523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58925415399999 meters 0.015331468522504778 Centerline is valid? [True, True] Translation: X:88.02, Y:0.57, Z:0.57 [[ 9.99588540e-01 -2.54618009e-02 -1.32078819e-02 8.80162189e+01] [ 2.54624033e-02 9.99675773e-01 -1.22573517e-04 5.73101629e-01] [ 1.32067205e-02 -2.13781333e-04 9.99912765e-01 5.74782061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61925415399998 meters 0.015117934069764869 Centerline is valid? [True, True] Translation: X:88.05, Y:0.58, Z:0.58 [[ 9.99618787e-01 -2.42365643e-02 -1.32238421e-02 8.80474631e+01] [ 2.42370674e-02 9.99706232e-01 -1.22241174e-04 5.75313146e-01] [ 1.32229201e-02 -1.98312579e-04 9.99912554e-01 5.75182489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64925415399998 meters 0.015142744640231187 Centerline is valid? [True, True] Translation: X:88.08, Y:0.58, Z:0.57 [[ 9.99654711e-01 -2.28475418e-02 -1.29787758e-02 8.80779364e+01] [ 2.28479139e-02 9.99738945e-01 -1.19621741e-04 5.77173814e-01] [ 1.29781207e-02 -1.76957515e-04 9.99915765e-01 5.74964729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67925415399998 meters 0.014602966447307042 Centerline is valid? [True, True] Translation: X:88.11, Y:0.58, Z:0.58 [[ 9.99712856e-01 -2.01016597e-02 -1.30433183e-02 8.81097764e+01] [ 2.01018078e-02 9.99797931e-01 -1.19766506e-04 5.81836409e-01] [ 1.30430902e-02 -1.42462162e-04 9.99914925e-01 5.75771384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70925415399998 meters 0.014372381820443172 Centerline is valid? [True, True] Translation: X:88.14, Y:0.58, Z:0.58 [[ 9.99739822e-01 -1.88803087e-02 -1.27993360e-02 8.81401828e+01] [ 1.88803558e-02 9.99821743e-01 -1.17164333e-04 5.84404546e-01] [ 1.27992666e-02 -1.24522169e-04 9.99918078e-01 5.76276710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73925415399998 meters 0.014239775244038157 Centerline is valid? [True, True] Translation: X:88.17, Y:0.59, Z:0.58 [[ 9.99766370e-01 -1.73101972e-02 -1.29446290e-02 8.81703334e+01] [ 1.73101138e-02 9.99850162e-01 -1.18494335e-04 5.87884772e-01] [ 1.29447405e-02 -1.05606349e-04 9.99916208e-01 5.76980185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76925415399998 meters 0.0142412888918073 Centerline is valid? [True, True] Translation: X:88.20, Y:0.59, Z:0.58 [[ 9.99776163e-01 -1.69172672e-02 -1.27055077e-02 8.81997259e+01] [ 1.69171538e-02 9.99856888e-01 -1.16407971e-04 5.88659374e-01] [ 1.27056587e-02 -9.85591133e-05 9.99919275e-01 5.76709453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79925415399998 meters 0.014042486962175497 Centerline is valid? [True, True] Translation: X:88.23, Y:0.59, Z:0.58 [[ 9.99772575e-01 -1.69464454e-02 -1.29466612e-02 8.82304183e+01] [ 1.69463285e-02 9.99856394e-01 -1.18742769e-04 5.90017096e-01] [ 1.29468143e-02 -1.00682610e-04 9.99916181e-01 5.76878909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82925415399998 meters 0.014155386790050498 Centerline is valid? [True, True] Translation: X:88.26, Y:0.59, Z:0.58 [[ 9.99758268e-01 -1.75945061e-02 -1.31847690e-02 8.82609603e+01] [ 1.75944412e-02 9.99845199e-01 -1.20926619e-04 5.91121279e-01] [ 1.31848556e-02 -1.11081255e-04 9.99913070e-01 5.76669809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85925415399998 meters 0.0142035132189879 Centerline is valid? [True, True] Translation: X:88.29, Y:0.59, Z:0.58 [[ 9.99748134e-01 -1.82634761e-02 -1.30428024e-02 8.82918296e+01] [ 1.82634695e-02 9.99833202e-01 -1.19624546e-04 5.91265345e-01] [ 1.30428117e-02 -1.18612408e-04 9.99914932e-01 5.76530264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88925415399999 meters 0.014258063411677008 Centerline is valid? [True, True] Translation: X:88.32, Y:0.59, Z:0.58 [[ 9.99734911e-01 -1.90616510e-02 -1.29136103e-02 8.83218521e+01] [ 1.90617111e-02 9.99818302e-01 -1.18439636e-04 5.91702969e-01] [ 1.29135216e-02 -1.27747270e-04 9.99916609e-01 5.76584795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91925415399999 meters 0.014397839795078854 Centerline is valid? [True, True] Translation: X:88.35, Y:0.59, Z:0.58 [[ 9.99688357e-01 -2.12339903e-02 -1.31265415e-02 8.83518515e+01] [ 2.12342411e-02 9.99774521e-01 -1.20279565e-04 5.90777006e-01] [ 1.31261358e-02 -1.58490066e-04 9.99913836e-01 5.76824074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94925415399999 meters 0.014631952632514572 Centerline is valid? [True, True] Translation: X:88.38, Y:0.59, Z:0.58 [[ 9.99662573e-01 -2.23676996e-02 -1.32070395e-02 8.83835327e+01] [ 2.23680571e-02 9.99749796e-01 -1.20660702e-04 5.90595253e-01] [ 1.32064339e-02 -1.74795826e-04 9.99912776e-01 5.77120780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97925415399997 meters 0.015535594360654393 Centerline is valid? [True, True] Translation: X:88.41, Y:0.59, Z:0.58 [[ 9.99573146e-01 -2.61737448e-02 -1.29792110e-02 8.84144296e+01] [ 2.61744183e-02 9.99657384e-01 -1.17999989e-04 5.88450594e-01] [ 1.29778526e-02 -2.21773678e-04 9.99915760e-01 5.77176002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00925415399998 meters 0.015685258366583597 Centerline is valid? [True, True] Translation: X:88.45, Y:0.59, Z:0.58 [[ 9.99511354e-01 -2.83844411e-02 -1.30910630e-02 8.84469105e+01] [ 2.83853268e-02 9.99597048e-01 -1.18181698e-04 5.87799752e-01] [ 1.30891424e-02 -2.53470152e-04 9.99914301e-01 5.77227633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03925415399998 meters 0.016606275982024833 Centerline is valid? [True, True] Translation: X:88.48, Y:0.59, Z:0.58 [[ 9.99424422e-01 -3.08691337e-02 -1.40684188e-02 8.84777506e+01] [ 3.08704232e-02 9.99523387e-01 -1.25544646e-04 5.85479366e-01] [ 1.40655890e-02 -3.08825655e-04 9.99901027e-01 5.76819598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06925415399998 meters 0.01755909651743419 Centerline is valid? [True, True] Translation: X:88.51, Y:0.58, Z:0.58 [[ 9.99228792e-01 -3.60620824e-02 -1.55353418e-02 8.85092185e+01] [ 3.60643021e-02 9.99349462e-01 -1.37341721e-04 5.82800949e-01] [ 1.55301883e-02 -4.23035460e-04 9.99879310e-01 5.75639355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09925415399998 meters 0.018383975039749718 Centerline is valid? [True, True] Translation: X:88.54, Y:0.58, Z:0.57 [[ 9.99141561e-01 -3.82774586e-02 -1.58422615e-02 8.85404427e+01] [ 3.82800569e-02 9.99267040e-01 -1.39306960e-04 5.80910621e-01] [ 1.58359821e-02 -4.67255298e-04 9.99874494e-01 5.74840864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12925415399998 meters 0.019130394760830286 Centerline is valid? [True, True] Translation: X:88.57, Y:0.58, Z:0.57 [[ 9.99049163e-01 -4.04753759e-02 -1.62023059e-02 8.85722365e+01] [ 4.04783969e-02 9.99180404e-01 -1.41577685e-04 5.79448366e-01] [ 1.61947569e-02 -5.14400300e-04 9.99868724e-01 5.74695283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15925415399998 meters 0.02159059310865608 Centerline is valid? [True, True] Translation: X:88.60, Y:0.58, Z:0.57 [[ 9.98895068e-01 -4.39221362e-02 -1.67179023e-02 8.86019525e+01] [ 4.39258412e-02 9.99034784e-01 -1.45692468e-04 5.75309808e-01] [ 1.67081650e-02 -5.88816432e-04 9.99860235e-01 5.73639200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18925415399998 meters 0.021205811638057445 Centerline is valid? [True, True] Translation: X:88.63, Y:0.58, Z:0.57 [[ 9.98839247e-01 -4.51205922e-02 -1.68609011e-02 8.86342308e+01] [ 4.51245434e-02 9.98981358e-01 -1.46224303e-04 5.76756427e-01] [ 1.68503236e-02 -6.14785889e-04 9.99857834e-01 5.74304001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21925415399998 meters 0.02222574850455118 Centerline is valid? [True, True] Translation: X:88.67, Y:0.58, Z:0.57 [[ 9.98732344e-01 -4.74026781e-02 -1.69319833e-02 8.86663428e+01] [ 4.74070108e-02 9.98875645e-01 -1.45624025e-04 5.76664240e-01] [ 1.69198487e-02 -6.57255291e-04 9.99856633e-01 5.74660311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24925415399998 meters 0.021223750693358422 Centerline is valid? [True, True] Translation: X:88.70, Y:0.58, Z:0.58 [[ 9.98682383e-01 -4.87004905e-02 -1.61790210e-02 8.86987212e+01] [ 4.87046351e-02 9.98813216e-01 -1.37990547e-04 5.78955968e-01] [ 1.61665402e-02 -6.50184584e-04 9.99869102e-01 5.75633675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27925415399999 meters 0.024083325671920248 Centerline is valid? [True, True] Translation: X:88.73, Y:0.58, Z:0.58 [[ 9.98627575e-01 -4.98499402e-02 -1.60608081e-02 8.87301700e+01] [ 4.98541890e-02 9.98756498e-01 -1.35971001e-04 5.75487619e-01] [ 1.60476145e-02 -6.64914169e-04 9.99871008e-01 5.75362908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30925415399999 meters 0.02401722189609612 Centerline is valid? [True, True] Translation: X:88.76, Y:0.58, Z:0.58 [[ 9.98519012e-01 -5.22802099e-02 -1.50520146e-02 8.87617790e+01] [ 5.22842355e-02 9.98632236e-01 -1.26209186e-04 5.77216036e-01] [ 1.50380253e-02 -6.60960806e-04 9.99886704e-01 5.76864795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33925415399999 meters 0.023891834774282496 Centerline is valid? [True, True] Translation: X:88.79, Y:0.58, Z:0.58 [[ 9.98453212e-01 -5.36279487e-02 -1.46706106e-02 8.87938791e+01] [ 5.36319368e-02 9.98560765e-01 -1.21728690e-04 5.78407156e-01] [ 1.46560242e-02 -6.65272858e-04 9.99892373e-01 5.77458265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36925415399998 meters 0.025317448259457503 Centerline is valid? [True, True] Translation: X:88.82, Y:0.58, Z:0.58 [[ 9.98328343e-01 -5.59553670e-02 -1.44746750e-02 8.88249213e+01] [ 5.59595133e-02 9.98433032e-01 -1.18721785e-04 5.78128953e-01] [ 1.44586368e-02 -6.91472445e-04 9.99895229e-01 5.77907812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39925415399998 meters 0.027268127351722706 Centerline is valid? [True, True] Translation: X:88.86, Y:0.58, Z:0.58 [[ 9.98286394e-01 -5.66168372e-02 -1.47922091e-02 8.88559949e+01] [ 5.66212675e-02 9.98395722e-01 -1.19458844e-04 5.76356442e-01] [ 1.47752417e-02 -7.18299490e-04 9.99890582e-01 5.77330668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42925415399998 meters 0.027268127351722706 Centerline is valid? [True, True] Translation: X:88.89, Y:0.58, Z:0.58 [[ 9.98292401e-01 -5.65108093e-02 -1.47922231e-02 8.88885749e+01] [ 5.65152539e-02 9.98401729e-01 -1.17708292e-04 5.76520806e-01] [ 1.47752329e-02 -7.18478951e-04 9.99890582e-01 5.77556148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45925415399998 meters 0.025952364422936497 Centerline is valid? [True, True] Translation: X:88.92, Y:0.58, Z:0.58 [[ 9.98245128e-01 -5.72749301e-02 -1.50415247e-02 8.89206366e+01] [ 5.72796324e-02 9.98358167e-01 -1.18355686e-04 5.79551042e-01] [ 1.50236078e-02 -7.43425017e-04 9.99886863e-01 5.77876958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48925415399998 meters 0.02631950298326404 Centerline is valid? [True, True] Translation: X:88.95, Y:0.58, Z:0.58 [[ 9.98191416e-01 -5.78323516e-02 -1.64108269e-02 8.89527894e+01] [ 5.78380446e-02 9.98325971e-01 -1.27896358e-04 5.80569237e-01] [ 1.63907513e-02 -8.21505092e-04 9.99865325e-01 5.76764704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51925415399998 meters 0.028123819586224903 Centerline is valid? [True, True] Translation: X:88.98, Y:0.58, Z:0.58 [[ 9.98176815e-01 -5.78640116e-02 -1.71697966e-02 8.89841033e+01] [ 5.78702814e-02 9.98324102e-01 -1.31875671e-04 5.78813720e-01] [ 1.71486527e-02 -8.61985726e-04 9.99852579e-01 5.75705182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54925415399998 meters 0.025219372717921514 Centerline is valid? [True, True] Translation: X:89.02, Y:0.58, Z:0.58 [[ 9.98176276e-01 -5.76256505e-02 -1.79835275e-02 8.90172994e+01] [ 5.76325302e-02 9.98337855e-01 -1.35899414e-04 5.83914351e-01] [ 1.79614676e-02 -9.00784623e-04 9.99838274e-01 5.76195582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57925415399998 meters 0.026985805762473437 Centerline is valid? [True, True] Translation: X:89.05, Y:0.58, Z:0.57 [[ 9.98216328e-01 -5.64804047e-02 -1.93423618e-02 8.90486314e+01] [ 5.64881784e-02 9.98403258e-01 -1.44658857e-04 5.84023344e-01] [ 1.93196474e-02 -9.48213949e-04 9.99812909e-01 5.74759274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60925415399998 meters 0.02588311843261686 Centerline is valid? [True, True] Translation: X:89.08, Y:0.59, Z:0.58 [[ 9.98289165e-01 -5.49773621e-02 -1.99055974e-02 8.90808959e+01] [ 5.49853234e-02 9.98487152e-01 -1.47550783e-04 5.87334445e-01] [ 1.98835952e-02 -9.47217365e-04 9.99801853e-01 5.75037901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63925415399999 meters 0.023339463569025755 Centerline is valid? [True, True] Translation: X:89.11, Y:0.59, Z:0.58 [[ 9.98520511e-01 -5.05029892e-02 -2.01553022e-02 8.91116390e+01] [ 5.05102568e-02 9.98723531e-01 -1.48660898e-04 5.94739956e-01] [ 2.01370824e-02 -8.69608535e-04 9.99796850e-01 5.75993507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66925415399999 meters 0.022290843043545467 Centerline is valid? [True, True] Translation: X:89.14, Y:0.60, Z:0.58 [[ 9.98687191e-01 -4.73074027e-02 -1.96444540e-02 8.91435297e+01] [ 4.73137051e-02 9.98880069e-01 -1.44082078e-04 5.98530932e-01] [ 1.96292697e-02 -7.85558976e-04 9.99807019e-01 5.76927693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69925415399999 meters 0.020962468558817563 Centerline is valid? [True, True] Translation: X:89.18, Y:0.60, Z:0.58 [[ 9.98875872e-01 -4.34680058e-02 -1.89083200e-02 8.91753675e+01] [ 4.34731808e-02 9.99054585e-01 -1.37460283e-04 6.02860625e-01] [ 1.88964189e-02 -6.84699053e-04 9.99821212e-01 5.78102255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72925415399997 meters 0.01780436546226859 Centerline is valid? [True, True] Translation: X:89.21, Y:0.61, Z:0.58 [[ 9.99265109e-01 -3.44865433e-02 -1.67308475e-02 8.92058495e+01] [ 3.44893442e-02 9.99405058e-01 -1.21183519e-04 6.12947328e-01] [ 1.67250728e-02 -4.55941496e-04 9.99860022e-01 5.80506648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75925415399998 meters 0.016923646869143702 Centerline is valid? [True, True] Translation: X:89.24, Y:0.62, Z:0.58 [[ 9.99424867e-01 -2.99338189e-02 -1.59343091e-02 8.92364941e+01] [ 2.99357864e-02 9.99551817e-01 -1.15084769e-04 6.17174920e-01] [ 1.59306125e-02 -3.61987492e-04 9.99873034e-01 5.81335568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78925415399998 meters 0.014721775025278837 Centerline is valid? [True, True] Translation: X:89.27, Y:0.63, Z:0.58 [[ 9.99667864e-01 -2.10554275e-02 -1.48603837e-02 8.92670746e+01] [ 2.10561634e-02 9.99778289e-01 -1.06951030e-04 6.27508466e-01] [ 1.48593408e-02 -2.05987159e-04 9.99889573e-01 5.83176004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81925415399998 meters 0.014212965926195772 Centerline is valid? [True, True] Translation: X:89.30, Y:0.63, Z:0.58 [[ 9.99749191e-01 -1.71048496e-02 -1.44561206e-02 8.92981155e+01] [ 1.71051369e-02 9.99853691e-01 -1.03783154e-04 6.31757497e-01] [ 1.44557808e-02 -1.43516797e-04 9.99895499e-01 5.83780066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84925415399998 meters 0.013708082335611346 Centerline is valid? [True, True] Translation: X:89.33, Y:0.64, Z:0.58 [[ 9.99804017e-01 -1.35870593e-02 -1.43986143e-02 8.93281902e+01] [ 1.35869728e-02 9.99907687e-01 -1.03832602e-04 6.35555649e-01] [ 1.43986959e-02 -9.18213287e-05 9.99896329e-01 5.84112067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87925415399998 meters 0.013642707190366381 Centerline is valid? [True, True] Translation: X:89.36, Y:0.64, Z:0.58 [[ 9.99835407e-01 -1.09185216e-02 -1.44894617e-02 8.93568284e+01] [ 1.09181182e-02 9.99940390e-01 -1.06947075e-04 6.38489927e-01] [ 1.44897657e-02 -5.12681831e-05 9.99895017e-01 5.84048931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90925415399998 meters 0.01363314819761086 Centerline is valid? [True, True] Translation: X:89.38, Y:0.64, Z:0.58 [[ 9.99857170e-01 -6.62755418e-03 -1.55471753e-02 8.93846657e+01] [ 6.62652978e-03 9.99978037e-01 -1.17404417e-04 6.42879419e-01] [ 1.55476120e-02 1.43638282e-05 9.99879128e-01 5.83442734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93925415399998 meters 0.013724593543876775 Centerline is valid? [True, True] Translation: X:89.41, Y:0.64, Z:0.58 [[ 9.99856942e-01 -5.25708477e-03 -1.60766249e-02 8.94126818e+01] [ 5.25576030e-03 9.99986181e-01 -1.24634111e-04 6.44436962e-01] [ 1.60770579e-02 4.01213945e-05 9.99870755e-01 5.82770191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96925415399998 meters 0.013948241400059957 Centerline is valid? [True, True] Translation: X:89.44, Y:0.65, Z:0.58 [[ 9.99853546e-01 -3.59190309e-03 -1.67327228e-02 8.94404551e+01] [ 3.59018658e-03 9.99993546e-01 -1.32622248e-04 6.45817187e-01] [ 1.67330912e-02 7.25292277e-05 9.99859989e-01 5.82046250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99925415399998 meters 0.013904662452313256 Centerline is valid? [True, True] Translation: X:89.47, Y:0.65, Z:0.58 [[ 9.99850500e-01 -3.49563469e-03 -1.69339456e-02 8.94682177e+01] [ 3.49380500e-03 9.99993887e-01 -1.37631765e-04 6.46206603e-01] [ 1.69343232e-02 7.84472855e-05 9.99856601e-01 5.82487512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02925415399999 meters 0.01396271228515245 Centerline is valid? [True, True] Translation: X:89.50, Y:0.65, Z:0.58 [[ 9.99853453e-01 -3.51336151e-03 -1.67549404e-02 8.94956571e+01] [ 3.51149471e-03 9.99993825e-01 -1.40836297e-04 6.46456752e-01] [ 1.67553318e-02 8.19807735e-05 9.99859616e-01 5.82840471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05925415399999 meters 0.013833961277237792 Centerline is valid? [True, True] Translation: X:89.52, Y:0.64, Z:0.58 [[ 9.99868905e-01 -4.03622327e-03 -1.56806364e-02 8.95233621e+01] [ 4.03461230e-03 9.99991852e-01 -1.34369376e-04 6.44767323e-01] [ 1.56810510e-02 7.10864729e-05 9.99877042e-01 5.83351388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08925415399999 meters 0.013926518494106418 Centerline is valid? [True, True] Translation: X:89.55, Y:0.64, Z:0.58 [[ 9.99875130e-01 -4.89562178e-03 -1.50251992e-02 8.95515363e+01] [ 4.89419773e-03 9.99988015e-01 -1.31546803e-04 6.43453130e-01] [ 1.50256631e-02 5.79940809e-05 9.99887107e-01 5.83665623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11925415399998 meters 0.013763299990260325 Centerline is valid? [True, True] Translation: X:89.58, Y:0.64, Z:0.58 [[ 9.99876919e-01 -6.18033565e-03 -1.44205113e-02 8.95799338e+01] [ 6.17910307e-03 9.99980901e-01 -1.30027953e-04 6.41785833e-01] [ 1.44210395e-02 4.09061233e-05 9.99896011e-01 5.84277576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14925415399998 meters 0.013676593469407456 Centerline is valid? [True, True] Translation: X:89.61, Y:0.64, Z:0.59 [[ 9.99864282e-01 -8.86715001e-03 -1.38849445e-02 8.96091610e+01] [ 8.86623543e-03 9.99960686e-01 -1.27425229e-04 6.37927320e-01] [ 1.38855285e-02 4.30074799e-06 9.99903591e-01 5.85211572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17925415399998 meters 0.013754329553889744 Centerline is valid? [True, True] Translation: X:89.64, Y:0.64, Z:0.59 [[ 9.99851857e-01 -1.07342283e-02 -1.34551531e-02 8.96362840e+01] [ 1.07335214e-02 9.99942386e-01 -1.24749565e-04 6.35893352e-01] [ 1.34557170e-02 -1.96900897e-05 9.99909468e-01 5.85355152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20925415399998 meters 0.013802700896673889 Centerline is valid? [True, True] Translation: X:89.66, Y:0.63, Z:0.59 [[ 9.99811525e-01 -1.47459677e-02 -1.26281705e-02 8.96649209e+01] [ 1.47456498e-02 9.99891270e-01 -1.18288966e-04 6.31191541e-01] [ 1.26285418e-02 -6.79439087e-05 9.99920254e-01 5.86683272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23925415399998 meters 0.013948184624924463 Centerline is valid? [True, True] Translation: X:89.69, Y:0.63, Z:0.59 [[ 9.99782548e-01 -1.68906864e-02 -1.22295575e-02 8.96942495e+01] [ 1.68905404e-02 9.99857338e-01 -1.15234883e-04 6.28609032e-01] [ 1.22297592e-02 -9.13540096e-05 9.99925210e-01 5.87004095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26925415399998 meters 0.014148404942261796 Centerline is valid? [True, True] Translation: X:89.72, Y:0.63, Z:0.59 [[ 9.99743633e-01 -1.91048363e-02 -1.21520676e-02 8.97246380e+01] [ 1.91048526e-02 9.99817479e-01 -1.14755657e-04 6.25826805e-01] [ 1.21520420e-02 -1.17437222e-04 9.99926154e-01 5.87335950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29925415399998 meters 0.014827512312432168 Centerline is valid? [True, True] Translation: X:89.75, Y:0.62, Z:0.59 [[ 9.99636297e-01 -2.38500560e-02 -1.25876516e-02 8.97548137e+01] [ 2.38504509e-02 9.99715530e-01 -1.18766920e-04 6.18637641e-01] [ 1.25869034e-02 -1.81497442e-04 9.99920765e-01 5.86447773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32925415399998 meters 0.01529661976617857 Centerline is valid? [True, True] Translation: X:89.79, Y:0.62, Z:0.59 [[ 9.99574738e-01 -2.61370448e-02 -1.29304895e-02 8.97870922e+01] [ 2.61376600e-02 9.99658346e-01 -1.21440161e-04 6.15382212e-01] [ 1.29292458e-02 -2.16584221e-04 9.99916390e-01 5.86212685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35925415399998 meters 0.01680878103466428 Centerline is valid? [True, True] Translation: X:89.82, Y:0.61, Z:0.58 [[ 9.99447853e-01 -3.05564865e-02 -1.30495388e-02 8.98189130e+01] [ 3.05575005e-02 9.99533003e-01 -1.21722026e-04 6.08405046e-01] [ 1.30471641e-02 -2.77106472e-04 9.99914844e-01 5.84654258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38925415399999 meters 0.016230978514136817 Centerline is valid? [True, True] Translation: X:89.85, Y:0.61, Z:0.59 [[ 9.99379007e-01 -3.26638292e-02 -1.32164456e-02 8.98510933e+01] [ 3.26650646e-02 9.99466347e-01 -1.22433237e-04 6.06367603e-01] [ 1.32133917e-02 -3.09358842e-04 9.99912651e-01 5.85884750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41925415399999 meters 0.017394033299681012 Centerline is valid? [True, True] Translation: X:89.88, Y:0.60, Z:0.59 [[ 9.99295078e-01 -3.52437368e-02 -1.29315664e-02 8.98825061e+01] [ 3.52451462e-02 9.99378690e-01 -1.18960834e-04 6.00482040e-01] [ 1.29277245e-02 -3.36897971e-04 9.99916377e-01 5.86033789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44925415399999 meters 0.01922588756560996 Centerline is valid? [True, True] Translation: X:89.92, Y:0.60, Z:0.58 [[ 9.99294259e-01 -3.55333624e-02 -1.21804699e-02 8.99150085e+01] [ 3.55346433e-02 9.99368439e-01 -1.11314045e-04 5.97866145e-01] [ 1.21767326e-02 -3.21593169e-04 9.99925809e-01 5.84871858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47925415399997 meters 0.017418395408505573 Centerline is valid? [True, True] Translation: X:89.95, Y:0.60, Z:0.59 [[ 9.99261676e-01 -3.65414228e-02 -1.18670805e-02 8.99476255e+01] [ 3.65427197e-02 9.99332086e-01 -1.07601177e-04 5.97617653e-01] [ 1.18630862e-02 -3.26133664e-04 9.99929578e-01 5.87186284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50925415399998 meters 0.018076566942470767 Centerline is valid? [True, True] Translation: X:89.98, Y:0.59, Z:0.59 [[ 9.99218269e-01 -3.79645342e-02 -1.10247522e-02 8.99787277e+01] [ 3.79657477e-02 9.99279036e-01 -9.92632756e-05 5.93617011e-01] [ 1.10205723e-02 -3.19377284e-04 9.99939221e-01 5.87874633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53925415399998 meters 0.01923535956559377 Centerline is valid? [True, True] Translation: X:90.01, Y:0.59, Z:0.59 [[ 9.99195612e-01 -3.87179595e-02 -1.04426382e-02 9.00103901e+01] [ 3.87190952e-02 9.99250130e-01 -9.34695409e-05 5.90010306e-01] [ 1.04384265e-02 -3.10935146e-04 9.99945470e-01 5.87938122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56925415399998 meters 0.01933636744367953 Centerline is valid? [True, True] Translation: X:90.04, Y:0.59, Z:0.59 [[ 9.99087521e-01 -4.14606303e-02 -1.02538562e-02 9.00427040e+01] [ 4.14618759e-02 9.99140083e-01 -9.11673808e-05 5.86452761e-01] [ 1.02488185e-02 -3.34059919e-04 9.99947424e-01 5.88197589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59925415399998 meters 0.020226309345393805 Centerline is valid? [True, True] Translation: X:90.07, Y:0.58, Z:0.59 [[ 9.98998261e-01 -4.34805687e-02 -1.05789761e-02 9.00746686e+01] [ 4.34820159e-02 9.99054206e-01 -9.32745515e-05 5.83570451e-01] [ 1.05730262e-02 -3.66814091e-04 9.99944037e-01 5.87843942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62925415399998 meters 0.020748804394517005 Centerline is valid? [True, True] Translation: X:90.11, Y:0.58, Z:0.59 [[ 9.98889745e-01 -4.56950059e-02 -1.14561971e-02 9.01065828e+01] [ 4.56968585e-02 9.98955348e-01 -1.00136337e-04 5.81505395e-01] [ 1.14488051e-02 -4.23487060e-04 9.99934371e-01 5.87263856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65925415399998 meters 0.022308967911975865 Centerline is valid? [True, True] Translation: X:90.14, Y:0.58, Z:0.59 [[ 9.98698107e-01 -4.92947212e-02 -1.31195249e-02 9.01362856e+01] [ 4.92974756e-02 9.98784134e-01 -1.13566807e-04 5.76345311e-01] [ 1.31091716e-02 -5.33340504e-04 9.99913929e-01 5.85787476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68925415399998 meters 0.022712716470068426 Centerline is valid? [True, True] Translation: X:90.17, Y:0.58, Z:0.59 [[ 9.98622023e-01 -5.06634228e-02 -1.36847840e-02 9.01680536e+01] [ 5.06665613e-02 9.98715618e-01 -1.17472544e-04 5.75111786e-01] [ 1.36731591e-02 -5.76050281e-04 9.99906352e-01 5.85282900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71925415399998 meters 0.02279004486355911 Centerline is valid? [True, True] Translation: X:90.20, Y:0.57, Z:0.59 [[ 9.98522567e-01 -5.24407453e-02 -1.42355890e-02 9.02000415e+01] [ 5.24443352e-02 9.98623842e-01 -1.21271363e-04 5.73961930e-01] [ 1.42223581e-02 -6.25483806e-04 9.99898662e-01 5.85932736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74925415399998 meters 0.023220002153262132 Centerline is valid? [True, True] Translation: X:90.23, Y:0.57, Z:0.59 [[ 9.98492526e-01 -5.30922842e-02 -1.39242653e-02 9.02319294e+01] [ 5.30957960e-02 9.98589416e-01 -1.17608905e-04 5.73095716e-01] [ 1.39108681e-02 -6.21888339e-04 9.99903046e-01 5.86382880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77925415399999 meters 0.024561463047083947 Centerline is valid? [True, True] Translation: X:90.26, Y:0.57, Z:0.59 [[ 9.98461042e-01 -5.37187353e-02 -1.37784596e-02 9.02634497e+01] [ 5.37222455e-02 9.98555911e-01 -1.15500400e-04 5.71324611e-01] [ 1.37647668e-02 -6.24887142e-04 9.99905066e-01 5.86501982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80925415399999 meters 0.02410127275729131 Centerline is valid? [True, True] Translation: X:90.30, Y:0.57, Z:0.59 [[ 9.98447406e-01 -5.38955216e-02 -1.40730538e-02 9.02958039e+01] [ 5.38992138e-02 9.98546374e-01 -1.17063254e-04 5.71719108e-01] [ 1.40589061e-02 -6.41645036e-04 9.99900963e-01 5.86955292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83925415399999 meters 0.023148421761972578 Centerline is valid? [True, True] Translation: X:90.33, Y:0.57, Z:0.59 [[ 9.98422960e-01 -5.41856166e-02 -1.46803512e-02 9.03277984e+01] [ 5.41896819e-02 9.98530652e-01 -1.21013480e-04 5.72779615e-01] [ 1.46653379e-02 -6.74700926e-04 9.99892231e-01 5.86797013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86925415399998 meters 0.022569545852067004 Centerline is valid? [True, True] Translation: X:90.36, Y:0.57, Z:0.59 [[ 9.98436798e-01 -5.37636154e-02 -1.52785785e-02 9.03599557e+01] [ 5.37679872e-02 9.98553448e-01 -1.24783865e-04 5.74304671e-01] [ 1.52631861e-02 -6.96909612e-04 9.99883268e-01 5.86719916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89925415399998 meters 0.02466600439126774 Centerline is valid? [True, True] Translation: X:90.39, Y:0.57, Z:0.59 [[ 9.98471917e-01 -5.30588987e-02 -1.54461670e-02 9.03915155e+01] [ 5.30632983e-02 9.98591143e-01 -1.25152823e-04 5.71572432e-01] [ 1.54310461e-02 -6.94662990e-04 9.99880693e-01 5.86329403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92925415399998 meters 0.02502296394637987 Centerline is valid? [True, True] Translation: X:90.42, Y:0.57, Z:0.59 [[ 9.98519198e-01 -5.21578712e-02 -1.54585495e-02 9.04225903e+01] [ 5.21621830e-02 9.98638619e-01 -1.24411667e-04 5.71664915e-01] [ 1.54439936e-02 -6.82124250e-04 9.99880502e-01 5.86749678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95925415399998 meters 0.02260143298675535 Centerline is valid? [True, True] Translation: X:90.46, Y:0.58, Z:0.59 [[ 9.98599497e-01 -5.08254477e-02 -1.46907667e-02 9.04550343e+01] [ 5.08292114e-02 9.98707353e-01 -1.17310514e-04 5.75925815e-01] [ 1.46777391e-02 -6.29573864e-04 9.99892078e-01 5.88146521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98925415399998 meters 0.023053436943445187 Centerline is valid? [True, True] Translation: X:90.49, Y:0.58, Z:0.59 [[ 9.98815006e-01 -4.68333822e-02 -1.32370237e-02 9.04851113e+01] [ 4.68360939e-02 9.98902582e-01 -1.05242671e-04 5.77217503e-01] [ 1.32274260e-02 -5.14852523e-04 9.99912381e-01 5.89740054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01925415399998 meters 0.02013829604462634 Centerline is valid? [True, True] Translation: X:90.52, Y:0.58, Z:0.59 [[ 9.98946182e-01 -4.40111737e-02 -1.30207973e-02 9.05161724e+01] [ 4.40135610e-02 9.99030928e-01 -1.03298033e-04 5.83076720e-01] [ 1.30127254e-02 -4.69902478e-04 9.99915220e-01 5.91512823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04925415399998 meters 0.019028170555549454 Centerline is valid? [True, True] Translation: X:90.55, Y:0.59, Z:0.59 [[ 9.99105224e-01 -4.06329674e-02 -1.17351505e-02 9.05474396e+01] [ 4.06346785e-02 9.99174066e-01 -9.26888313e-05 5.86497420e-01] [ 1.17292243e-02 -3.84248173e-04 9.99931136e-01 5.92471531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07925415399998 meters 0.017255862290076616 Centerline is valid? [True, True] Translation: X:90.58, Y:0.59, Z:0.59 [[ 9.99381509e-01 -3.33476906e-02 -1.11593755e-02 9.05767054e+01] [ 3.33487858e-02 9.99443771e-01 -8.79736784e-05 5.92390887e-01] [ 1.11561021e-02 -2.84232357e-04 9.99937728e-01 5.93582034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10925415399998 meters 0.016298397975849904 Centerline is valid? [True, True] Translation: X:90.61, Y:0.60, Z:0.59 [[ 9.99506317e-01 -2.92564134e-02 -1.14535954e-02 9.06079553e+01] [ 2.92572991e-02 9.99571910e-01 -9.02582786e-05 5.95924454e-01] [ 1.14513329e-02 -2.44887546e-04 9.99934401e-01 5.93747463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13925415399999 meters 0.015499689709780145 Centerline is valid? [True, True] Translation: X:90.64, Y:0.60, Z:0.59 [[ 9.99714910e-01 -2.03426434e-02 -1.25010198e-02 9.06394444e+01] [ 2.03430076e-02 9.99793055e-01 -9.80314466e-05 6.02932442e-01] [ 1.25004270e-02 -1.56304842e-04 9.99921854e-01 5.92368529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16925415399999 meters 0.013988201908659896 Centerline is valid? [True, True] Translation: X:90.67, Y:0.61, Z:0.59 [[ 9.99781906e-01 -1.58150319e-02 -1.36390858e-02 9.06711206e+01] [ 1.58150514e-02 9.99874929e-01 -1.06432865e-04 6.06535857e-01] [ 1.36390631e-02 -1.09293189e-04 9.99906978e-01 5.93183020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19925415399999 meters 0.013854549273554482 Centerline is valid? [True, True] Translation: X:90.70, Y:0.61, Z:0.59 [[ 9.99827391e-01 -1.16141074e-02 -1.45017159e-02 9.07008352e+01] [ 1.16136875e-02 9.99932552e-01 -1.13171449e-04 6.09711918e-01] [ 1.45020521e-02 -5.52664814e-05 9.99894838e-01 5.92525845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22925415399997 meters 0.013933064518954678 Centerline is valid? [True, True] Translation: X:90.73, Y:0.62, Z:0.59 [[ 9.99865274e-01 -3.74547473e-03 -1.59814147e-02 9.07292397e+01] [ 3.74391817e-03 9.99992983e-01 -1.27315690e-04 6.15600361e-01] [ 1.59817794e-02 6.74654286e-05 9.99872281e-01 5.92415246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25925415399998 meters 0.014276871740815022 Centerline is valid? [True, True] Translation: X:90.76, Y:0.62, Z:0.59 [[ 9.99866526e-01 -5.54153449e-04 -1.63286125e-02 9.07576456e+01] [ 5.52034155e-04 9.99999839e-01 -1.34297241e-04 6.18405238e-01] [ 1.63286843e-02 1.25265364e-04 9.99866670e-01 5.92466696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28925415399998 meters 0.01508513537601076 Centerline is valid? [True, True] Translation: X:90.78, Y:0.62, Z:0.59 [[ 9.99841872e-01 5.71786586e-03 -1.68385483e-02 9.07848748e+01] [-5.72106691e-03 9.99983624e-01 -1.41937046e-04 6.23001135e-01] [ 1.68374609e-02 2.38249063e-04 9.99858212e-01 5.92862822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31925415399998 meters 0.01508513537601076 Centerline is valid? [True, True] Translation: X:90.81, Y:0.62, Z:0.59 [[ 9.99842477e-01 5.61107199e-03 -1.68385296e-02 9.08123326e+01] [-5.61429478e-03 9.99984229e-01 -1.44127619e-04 6.23324660e-01] [ 1.68374553e-02 2.38641384e-04 9.99858212e-01 5.93053526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34925415399998 meters 0.015453633395923372 Centerline is valid? [True, True] Translation: X:90.84, Y:0.62, Z:0.59 [[ 9.99823545e-01 7.98276203e-03 -1.70045316e-02 9.08408940e+01] [-7.98644755e-03 9.99968097e-01 -1.48839613e-04 6.24698043e-01] [ 1.70028009e-02 2.84619149e-04 9.99855401e-01 5.93569837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37925415399998 meters 0.015754351426905133 Centerline is valid? [True, True] Translation: X:90.87, Y:0.63, Z:0.59 [[ 9.99809239e-01 9.86350846e-03 -1.68581668e-02 9.08692203e+01] [-9.86744231e-03 9.99951304e-01 -1.50184353e-04 6.26045829e-01] [ 1.68558646e-02 3.16502692e-04 9.99857880e-01 5.94383556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40925415399998 meters 0.016057463191732985 Centerline is valid? [True, True] Translation: X:90.90, Y:0.63, Z:0.60 [[ 9.99793300e-01 1.14431523e-02 -1.68050919e-02 9.08983059e+01] [-1.14473370e-02 9.99934465e-01 -1.52840675e-04 6.25751640e-01] [ 1.68022416e-02 3.45182633e-04 9.99858773e-01 5.95198722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43925415399998 meters 0.015637425802292597 Centerline is valid? [True, True] Translation: X:90.93, Y:0.62, Z:0.60 [[ 9.99803355e-01 1.08190312e-02 -1.66192413e-02 9.09273700e+01] [-1.08230785e-02 9.99941417e-01 -1.53602556e-04 6.24655371e-01] [ 1.66166059e-02 3.33443703e-04 9.99861879e-01 5.96328922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46925415399998 meters 0.01712607040786406 Centerline is valid? [True, True] Translation: X:90.96, Y:0.62, Z:0.59 [[ 9.99825592e-01 6.95227900e-03 -1.73335572e-02 9.09556714e+01] [-6.95612315e-03 9.99975793e-01 -1.61492716e-04 6.21429157e-01] [ 1.73320149e-02 2.82038908e-04 9.99849750e-01 5.94877737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49925415399998 meters 0.014821586085436938 Centerline is valid? [True, True] Translation: X:90.98, Y:0.62, Z:0.60 [[ 9.99847610e-01 2.92947857e-03 -1.72097256e-02 9.09847936e+01] [-2.93269356e-03 9.99995687e-01 -1.61578279e-04 6.18236921e-01] [ 1.72091780e-02 2.12024507e-04 9.99851889e-01 5.97163576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52925415399999 meters 0.014361423354193185 Centerline is valid? [True, True] Translation: X:91.01, Y:0.61, Z:0.60 [[ 9.99845917e-01 -1.55496276e-03 -1.74849849e-02 9.10131427e+01] [ 1.55230768e-03 9.99998781e-01 -1.65420078e-04 6.14665605e-01] [ 1.74852209e-02 1.38252513e-04 9.99847112e-01 5.96889942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55925415399999 meters 0.013909742052307796 Centerline is valid? [True, True] Translation: X:91.04, Y:0.60, Z:0.60 [[ 9.99749108e-01 -1.27105670e-02 -1.84434689e-02 9.10416038e+01] [ 1.27094858e-02 9.99919216e-01 -1.75840867e-04 6.04729146e-01] [ 1.84442140e-02 -5.86102556e-05 9.99829889e-01 5.97386912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58925415399999 meters 0.014414049674173741 Centerline is valid? [True, True] Translation: X:91.07, Y:0.60, Z:0.60 [[ 9.99639103e-01 -1.87600849e-02 -1.92281954e-02 9.10707995e+01] [ 1.87600015e-02 9.99823999e-01 -1.84728354e-04 5.99489838e-01] [ 1.92282768e-02 -1.76059290e-04 9.99815104e-01 5.97425608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61925415399998 meters 0.015197652222217186 Centerline is valid? [True, True] Translation: X:91.10, Y:0.59, Z:0.60 [[ 9.99504875e-01 -2.47705693e-02 -1.94016451e-02 9.10997218e+01] [ 2.47715892e-02 9.99693119e-01 -1.87797442e-04 5.94488748e-01] [ 1.94003429e-02 -2.92905122e-04 9.99811753e-01 5.97700988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64925415399998 meters 0.018140052501036643 Centerline is valid? [True, True] Translation: X:91.13, Y:0.58, Z:0.60 [[ 9.99158251e-01 -3.57497995e-02 -2.01181603e-02 9.11294284e+01] [ 3.57531045e-02 9.99360634e-01 -1.95488189e-04 5.83493479e-01] [ 2.01122861e-02 -5.23963051e-04 9.99797590e-01 5.97869599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67925415399998 meters 0.018931838264717834 Centerline is valid? [True, True] Translation: X:91.16, Y:0.58, Z:0.60 [[ 9.98977388e-01 -4.04825756e-02 -2.01330620e-02 9.11610880e+01] [ 4.04868529e-02 9.99180052e-01 -1.95277729e-04 5.80486536e-01] [ 2.01244593e-02 -6.20046284e-04 9.99797290e-01 5.98631979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70925415399998 meters 0.02240335511334831 Centerline is valid? [True, True] Translation: X:91.19, Y:0.57, Z:0.60 [[ 9.98622474e-01 -4.82694247e-02 -2.05722285e-02 9.11917645e+01] [ 4.82755465e-02 9.98834036e-01 -1.99229945e-04 5.72582590e-01] [ 2.05578588e-02 -7.94180074e-04 9.99788349e-01 5.98764134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73925415399998 meters 0.023137330302382877 Centerline is valid? [True, True] Translation: X:91.22, Y:0.57, Z:0.60 [[ 9.98461935e-01 -5.15178991e-02 -2.04858724e-02 9.12232341e+01] [ 5.15246625e-02 9.98671703e-01 -1.97880916e-04 5.69355615e-01] [ 2.04688555e-02 -8.57951098e-04 9.99790123e-01 6.00045756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76925415399998 meters 0.024621883136128182 Centerline is valid? [True, True] Translation: X:91.25, Y:0.57, Z:0.60 [[ 9.98334544e-01 -5.40054653e-02 -2.02866222e-02 9.12546566e+01] [ 5.40126297e-02 9.98540233e-01 -1.94996026e-04 5.65789525e-01] [ 2.02675393e-02 -9.01062542e-04 9.99794186e-01 6.00268254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79925415399998 meters 0.027471144838394405 Centerline is valid? [True, True] Translation: X:91.28, Y:0.56, Z:0.60 [[ 9.98094569e-01 -5.82326480e-02 -2.04007427e-02 9.12848134e+01] [ 5.82407817e-02 9.98302546e-01 -1.95720712e-04 5.59077151e-01] [ 2.03775108e-02 -9.92807424e-04 9.99791864e-01 6.00822515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82925415399998 meters 0.02652956865241939 Centerline is valid? [True, True] Translation: X:91.32, Y:0.56, Z:0.60 [[ 9.98019838e-01 -5.95598124e-02 -2.02245488e-02 9.13172577e+01] [ 5.95680973e-02 9.98224226e-01 -1.93074297e-04 5.59672471e-01] [ 2.02001341e-02 -1.01204591e-03 9.99795444e-01 6.01912133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85925415399998 meters 0.029334196177828217 Centerline is valid? [True, True] Translation: X:91.35, Y:0.55, Z:0.60 [[ 9.97863438e-01 -6.17915134e-02 -2.12218754e-02 9.13474691e+01] [ 6.18011556e-02 9.98088461e-01 -2.01818364e-04 5.54944890e-01] [ 2.11937797e-02 -1.11014926e-03 9.99774770e-01 6.01678319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88925415399999 meters 0.029136351726827332 Centerline is valid? [True, True] Translation: X:91.38, Y:0.56, Z:0.60 [[ 9.97821708e-01 -6.23123754e-02 -2.16565541e-02 9.13795211e+01] [ 6.23225643e-02 9.98056039e-01 -2.04787034e-04 5.55390987e-01] [ 2.16272153e-02 -1.14535103e-03 9.99765448e-01 6.01804723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91925415399999 meters 0.02599566862659574 Centerline is valid? [True, True] Translation: X:91.41, Y:0.56, Z:0.60 [[ 9.97781103e-01 -6.22280755e-02 -2.36756463e-02 9.14118879e+01] [ 6.22402720e-02 9.98061170e-01 -2.22106624e-04 5.60352164e-01] [ 2.36435645e-02 -1.25196487e-03 9.99719668e-01 6.02472772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94925415399999 meters 0.028409745012253605 Centerline is valid? [True, True] Translation: X:91.44, Y:0.56, Z:0.60 [[ 9.97794245e-01 -6.15589262e-02 -2.48423591e-02 9.14433290e+01] [ 6.15721862e-02 9.98102606e-01 -2.31527327e-04 5.57303476e-01] [ 2.48094759e-02 -1.29858172e-03 9.99691354e-01 6.00862433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97925415399997 meters 0.025663734059397446 Centerline is valid? [True, True] Translation: X:91.48, Y:0.56, Z:0.60 [[ 9.97840556e-01 -6.03178560e-02 -2.59996172e-02 9.14756704e+01] [ 6.03320075e-02 9.98178336e-01 -2.40510614e-04 5.61750028e-01] [ 2.59667617e-02 -1.32861785e-03 9.99661924e-01 6.01711687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00925415399998 meters 0.02516293024344146 Centerline is valid? [True, True] Translation: X:91.51, Y:0.56, Z:0.60 [[ 9.97972345e-01 -5.73839044e-02 -2.75369807e-02 9.15062355e+01] [ 5.73986913e-02 9.98351304e-01 -2.53812311e-04 5.64104290e-01] [ 2.75061453e-02 -1.32728898e-03 9.99620753e-01 6.01157262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03925415399998 meters 0.025814710809450834 Centerline is valid? [True, True] Translation: X:91.54, Y:0.56, Z:0.60 [[ 9.98069694e-01 -5.51460261e-02 -2.85622259e-02 9.15362830e+01] [ 5.51610737e-02 9.98477435e-01 -2.61415769e-04 5.64091008e-01] [ 2.85331541e-02 -1.31461189e-03 9.99591982e-01 6.00453617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06925415399998 meters 0.021620951699546895 Centerline is valid? [True, True] Translation: X:91.57, Y:0.57, Z:0.60 [[ 9.98338954e-01 -4.98544655e-02 -2.88767182e-02 9.15671662e+01] [ 4.98676648e-02 9.98755799e-01 -2.63335063e-04 5.73157620e-01] [ 2.88539181e-02 -1.17711685e-03 9.99582946e-01 6.03017614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09925415399998 meters 0.021639126315070725 Centerline is valid? [True, True] Translation: X:91.60, Y:0.58, Z:0.60 [[ 9.98486668e-01 -4.66482618e-02 -2.91258182e-02 9.15964287e+01] [ 4.66603200e-02 9.98910779e-01 -2.65883600e-04 5.75005513e-01] [ 2.91064967e-02 -1.09353877e-03 9.99575718e-01 6.03024414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12925415399998 meters 0.020841965532155934 Centerline is valid? [True, True] Translation: X:91.62, Y:0.58, Z:0.60 [[ 9.98660344e-01 -4.32482480e-02 -2.84096125e-02 9.16249471e+01] [ 4.32583100e-02 9.99063887e-01 -2.60616604e-04 5.78182159e-01] [ 2.83942891e-02 -9.68684355e-04 9.99596332e-01 6.03728598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15925415399998 meters 0.01831448706703133 Centerline is valid? [True, True] Translation: X:91.66, Y:0.59, Z:0.61 [[ 9.98986828e-01 -3.58667295e-02 -2.71826157e-02 9.16552750e+01] [ 3.58731981e-02 9.99356318e-01 -2.49803081e-04 5.86752346e-01] [ 2.71740783e-02 -7.25577369e-04 9.99630453e-01 6.05917371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18925415399998 meters 0.017339158413354292 Centerline is valid? [True, True] Translation: X:91.68, Y:0.59, Z:0.61 [[ 9.99121125e-01 -3.24287124e-02 -2.65585369e-02 9.16843348e+01] [ 3.24335504e-02 9.99473863e-01 -2.48699125e-04 5.91500835e-01] [ 2.65526285e-02 -6.12907096e-04 9.99647229e-01 6.07057550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21925415399998 meters 0.016047365554317374 Centerline is valid? [True, True] Translation: X:91.71, Y:0.60, Z:0.61 [[ 9.99364100e-01 -2.48934234e-02 -2.55286647e-02 9.17130591e+01] [ 2.48953787e-02 9.99690033e-01 -2.41281175e-04 5.98870265e-01] [ 2.55267580e-02 -3.94418030e-04 9.99674061e-01 6.08194590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24925415399998 meters 0.015196899609421454 Centerline is valid? [True, True] Translation: X:91.74, Y:0.60, Z:0.61 [[ 9.99439889e-01 -2.17091916e-02 -2.54679917e-02 9.17414385e+01] [ 2.17099811e-02 9.99764280e-01 -2.45531623e-04 6.03218461e-01] [ 2.54673187e-02 -3.07515519e-04 9.99675608e-01 6.09119207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27925415399999 meters 0.014910573762733647 Centerline is valid? [True, True] Translation: X:91.77, Y:0.61, Z:0.61 [[ 9.99509074e-01 -1.86759587e-02 -2.51559126e-02 9.17695211e+01] [ 1.86756859e-02 9.99825564e-01 -2.45804401e-04 6.06702127e-01] [ 2.51561152e-02 -2.24120193e-04 9.99683510e-01 6.08955462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30925415399999 meters 0.014610860987214595 Centerline is valid? [True, True] Translation: X:91.80, Y:0.61, Z:0.61 [[ 9.99567707e-01 -1.43875862e-02 -2.56397561e-02 9.17986204e+01] [ 1.43857597e-02 9.99896487e-01 -2.55699766e-04 6.13025613e-01] [ 2.56407809e-02 -1.13258142e-04 9.99671215e-01 6.09473556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33925415399997 meters 0.014455352139809398 Centerline is valid? [True, True] Translation: X:91.83, Y:0.62, Z:0.61 [[ 9.99590654e-01 -1.27977679e-02 -2.55879149e-02 9.18262927e+01] [ 1.27952525e-02 9.99918103e-01 -2.62035752e-04 6.15558255e-01] [ 2.55891728e-02 -6.54753435e-05 9.99672541e-01 6.09641339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36925415399998 meters 0.014599722930081304 Centerline is valid? [True, True] Translation: X:91.85, Y:0.62, Z:0.61 [[ 9.99605451e-01 -1.23029669e-02 -2.52503521e-02 9.18537163e+01] [ 1.23001832e-02 9.99924315e-01 -2.65563750e-04 6.17258803e-01] [ 2.52517082e-02 -4.51249843e-05 9.99681124e-01 6.09940297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39925415399998 meters 0.014378971416242486 Centerline is valid? [True, True] Translation: X:91.88, Y:0.62, Z:0.61 [[ 9.99610134e-01 -1.21585307e-02 -2.51346259e-02 9.18816210e+01] [ 1.21555469e-02 9.99926082e-01 -2.71504408e-04 6.19233000e-01] [ 2.51360691e-02 -3.41265647e-05 9.99684039e-01 6.12072204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42925415399998 meters 0.014171319545410854 Centerline is valid? [True, True] Translation: X:91.91, Y:0.62, Z:0.61 [[ 9.99622171e-01 -1.25106358e-02 -2.44744783e-02 9.19102862e+01] [ 1.25077564e-02 9.99921738e-01 -2.70736869e-04 6.20002188e-01] [ 2.44759500e-02 -3.54862363e-05 9.99700418e-01 6.12966519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45925415399998 meters 0.01419523840894982 Centerline is valid? [True, True] Translation: X:91.94, Y:0.62, Z:0.61 [[ 9.99617834e-01 -1.30905236e-02 -2.43479737e-02 9.19380100e+01] [ 1.30876816e-02 9.99914315e-01 -2.76077062e-04 6.20688835e-01] [ 2.43495014e-02 -4.26869731e-05 9.99703506e-01 6.13591291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48925415399998 meters 0.014088040611150737 Centerline is valid? [True, True] Translation: X:91.97, Y:0.62, Z:0.62 [[ 9.99603309e-01 -1.40063341e-02 -2.44345569e-02 9.19656945e+01] [ 1.40035725e-02 9.99901905e-01 -2.84136112e-04 6.21528045e-01] [ 2.44361397e-02 -5.81476900e-05 9.99701391e-01 6.15147780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51925415399998 meters 0.014623149958835008 Centerline is valid? [True, True] Translation: X:91.99, Y:0.62, Z:0.61 [[ 9.99595044e-01 -1.40924312e-02 -2.47214838e-02 9.19937087e+01] [ 1.40895408e-02 9.99900695e-01 -2.91105184e-04 6.21569376e-01] [ 2.47231313e-02 -5.73270571e-05 9.99694335e-01 6.12695747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54925415399998 meters 0.013990902591592295 Centerline is valid? [True, True] Translation: X:92.02, Y:0.62, Z:0.62 [[ 9.99588368e-01 -1.50448835e-02 -2.44283752e-02 9.20217344e+01] [ 1.50422067e-02 9.99886817e-01 -2.93342189e-04 6.21571514e-01] [ 2.44300236e-02 -7.42352278e-05 9.99701540e-01 6.16778553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57925415399998 meters 0.013885185095893182 Centerline is valid? [True, True] Translation: X:92.05, Y:0.62, Z:0.62 [[ 9.99575858e-01 -1.56023089e-02 -2.45900926e-02 9.20491403e+01] [ 1.55995901e-02 9.99878273e-01 -3.02399574e-04 6.21082298e-01] [ 2.45918175e-02 -8.13240515e-05 9.99697572e-01 6.16995647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60925415399998 meters 0.014109807833127104 Centerline is valid? [True, True] Translation: X:92.08, Y:0.62, Z:0.62 [[ 9.99556692e-01 -1.66428938e-02 -2.46867180e-02 9.20766573e+01] [ 1.66403821e-02 9.99861492e-01 -3.07182413e-04 6.20225562e-01] [ 2.46884111e-02 -1.03750184e-04 9.99695189e-01 6.16806716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63925415399999 meters 0.014228631683373717 Centerline is valid? [True, True] Translation: X:92.10, Y:0.62, Z:0.62 [[ 9.99490009e-01 -1.94357227e-02 -2.53372005e-02 9.21049903e+01] [ 1.94338403e-02 9.99811094e-01 -3.20554483e-04 6.17470687e-01] [ 2.53386443e-02 -1.72008105e-04 9.99678910e-01 6.16890104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66925415399999 meters 0.014380805409096033 Centerline is valid? [True, True] Translation: X:92.13, Y:0.62, Z:0.62 [[ 9.99447407e-01 -2.12791248e-02 -2.55358556e-02 9.21336484e+01] [ 2.12776500e-02 9.99773551e-01 -3.29501086e-04 6.15937637e-01] [ 2.55370846e-02 -2.14023994e-04 9.99673853e-01 6.16653586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69925415399999 meters 0.014368290940945423 Centerline is valid? [True, True] Translation: X:92.16, Y:0.61, Z:0.62 [[ 9.99407980e-01 -2.30704245e-02 -2.55234295e-02 9.21619601e+01] [ 2.30693699e-02 9.99733810e-01 -3.35808631e-04 6.14690906e-01] [ 2.55243826e-02 -2.53199611e-04 9.99674168e-01 6.17600452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72925415399997 meters 0.016700840007174016 Centerline is valid? [True, True] Translation: X:92.19, Y:0.61, Z:0.61 [[ 9.99326692e-01 -2.62609684e-02 -2.56227428e-02 9.21893393e+01] [ 2.62608568e-02 9.99655066e-01 -3.40903817e-04 6.07444864e-01] [ 2.56228571e-02 -3.32200896e-04 9.99671626e-01 6.12720157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75925415399998 meters 0.015098418410737082 Centerline is valid? [True, True] Translation: X:92.22, Y:0.61, Z:0.62 [[ 9.99297442e-01 -2.78833221e-02 -2.50427995e-02 9.22179639e+01] [ 2.78835921e-02 9.99611120e-01 -3.38480842e-04 6.09173818e-01] [ 2.50424988e-02 -3.60040167e-04 9.99686323e-01 6.18317707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78925415399998 meters 0.015346947866940281 Centerline is valid? [True, True] Translation: X:92.25, Y:0.61, Z:0.62 [[ 9.99244067e-01 -3.10886610e-02 -2.33407125e-02 9.22463994e+01] [ 3.10896337e-02 9.99516549e-01 -3.21288719e-04 6.05241446e-01] [ 2.33394169e-02 -4.04608357e-04 9.99727517e-01 6.19362864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81925415399998 meters 0.015407643580294148 Centerline is valid? [True, True] Translation: X:92.28, Y:0.60, Z:0.62 [[ 9.99212435e-01 -3.24315719e-02 -2.28626747e-02 9.22757299e+01] [ 3.24328036e-02 9.99473868e-01 -3.17022503e-04 6.03383784e-01] [ 2.28609275e-02 -4.24727811e-04 9.99738565e-01 6.19970733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84925415399998 meters 0.015973659135927645 Centerline is valid? [True, True] Translation: X:92.31, Y:0.60, Z:0.62 [[ 9.99166291e-01 -3.41290233e-02 -2.24038394e-02 9.23055814e+01] [ 3.41306253e-02 9.99417332e-01 -3.10979586e-04 6.00838899e-01] [ 2.24013989e-02 -4.53936730e-04 9.99748954e-01 6.19692278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87925415399998 meters 0.016392060840999746 Centerline is valid? [True, True] Translation: X:92.34, Y:0.60, Z:0.62 [[ 9.99061261e-01 -3.74997691e-02 -2.16878787e-02 9.23360602e+01] [ 3.75020632e-02 9.99296505e-01 -3.01072470e-04 5.96741999e-01] [ 2.16839115e-02 -5.12550356e-04 9.99764745e-01 6.19622438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90925415399998 meters 0.016601762157613574 Centerline is valid? [True, True] Translation: X:92.37, Y:0.60, Z:0.62 [[ 9.98970265e-01 -3.97678815e-02 -2.18386266e-02 9.23671155e+01] [ 3.97707613e-02 9.99208784e-01 -3.02609059e-04 5.95318560e-01] [ 2.18333817e-02 -5.66241355e-04 9.99761463e-01 6.19645302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93925415399998 meters 0.018585573335229255 Centerline is valid? [True, True] Translation: X:92.40, Y:0.59, Z:0.62 [[ 9.98749705e-01 -4.48272402e-02 -2.21256629e-02 9.23968541e+01] [ 4.48314421e-02 9.98994518e-01 -3.06324603e-04 5.88609919e-01] [ 2.21171477e-02 -6.85983769e-04 9.99755151e-01 6.17616562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96925415399998 meters 0.020478935268793984 Centerline is valid? [True, True] Translation: X:92.43, Y:0.59, Z:0.62 [[ 9.98621957e-01 -4.73822086e-02 -2.25635443e-02 9.24284126e+01] [ 4.73872427e-02 9.98876545e-01 -3.11820279e-04 5.85770271e-01] [ 2.25529699e-02 -7.57833573e-04 9.99745362e-01 6.16699319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99925415399998 meters 0.019833937871333113 Centerline is valid? [True, True] Translation: X:92.46, Y:0.58, Z:0.62 [[ 9.98498763e-01 -5.02500499e-02 -2.17980201e-02 9.24600374e+01] [ 5.02554537e-02 9.98736351e-01 -3.00174958e-04 5.84296498e-01] [ 2.17855589e-02 -7.95745066e-04 9.99762350e-01 6.17302895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02925415399999 meters 0.022342391339670073 Centerline is valid? [True, True] Translation: X:92.49, Y:0.58, Z:0.62 [[ 9.98214118e-01 -5.57937534e-02 -2.13455321e-02 9.24900522e+01] [ 5.58002080e-02 9.98441911e-01 -2.93568143e-04 5.78658810e-01] [ 2.13286532e-02 -8.98041267e-04 9.99772115e-01 6.16713028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05925415399999 meters 0.024089236107089212 Centerline is valid? [True, True] Translation: X:92.52, Y:0.58, Z:0.62 [[ 9.98083062e-01 -5.81214693e-02 -2.12625353e-02 9.25211948e+01] [ 5.81284175e-02 9.98309071e-01 -2.91647172e-04 5.75269167e-01] [ 2.12435329e-02 -9.44869429e-04 9.99773884e-01 6.16458374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08925415399997 meters 0.02434894134894066 Centerline is valid? [True, True] Translation: X:92.55, Y:0.57, Z:0.62 [[ 9.97859405e-01 -6.19496597e-02 -2.09486658e-02 9.25522736e+01] [ 6.19572588e-02 9.98078762e-01 -2.86715072e-04 5.73762727e-01] [ 2.09261803e-02 -1.01182057e-03 9.99780512e-01 6.17078786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11925415399998 meters 0.026664897922144774 Centerline is valid? [True, True] Translation: X:92.58, Y:0.57, Z:0.62 [[ 9.97808180e-01 -6.30259152e-02 -2.01636027e-02 9.25832243e+01] [ 6.30331913e-02 9.98011393e-01 -2.75126597e-04 5.70391108e-01] [ 2.01408454e-02 -9.96452660e-04 9.99796656e-01 6.16401959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14925415399998 meters 0.025671264397123007 Centerline is valid? [True, True] Translation: X:92.62, Y:0.57, Z:0.62 [[ 9.97786701e-01 -6.34187625e-02 -1.99940032e-02 9.26155915e+01] [ 6.34260218e-02 9.97986506e-01 -2.71489458e-04 5.72155303e-01] [ 1.99709629e-02 -9.97251511e-04 9.99800063e-01 6.17389380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17925415399998 meters 0.02706123276470586 Centerline is valid? [True, True] Translation: X:92.65, Y:0.57, Z:0.62 [[ 9.97840483e-01 -6.30071953e-02 -1.85597570e-02 9.26469725e+01] [ 6.30133994e-02 9.98012649e-01 -2.50918438e-04 5.70759751e-01] [ 1.85386819e-02 -9.19136806e-04 9.99827721e-01 6.17424305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20925415399998 meters 0.024470194428352632 Centerline is valid? [True, True] Translation: X:92.68, Y:0.58, Z:0.62 [[ 9.97976149e-01 -6.09209258e-02 -1.82276319e-02 9.26783923e+01] [ 6.09265769e-02 9.98142220e-01 -2.45648004e-04 5.75499729e-01] [ 1.82087341e-02 -8.65396366e-04 9.99833833e-01 6.18115461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23925415399998 meters 0.024470194428352632 Centerline is valid? [True, True] Translation: X:92.71, Y:0.58, Z:0.62 [[ 9.97980573e-01 -6.08484025e-02 -1.82276463e-02 9.27101195e+01] [ 6.08540611e-02 9.98146644e-01 -2.44574362e-04 5.75865307e-01] [ 1.82087460e-02 -8.65145841e-04 9.99833833e-01 6.18335271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26925415399998 meters 0.02456042801902456 Centerline is valid? [True, True] Translation: X:92.74, Y:0.58, Z:0.62 [[ 9.98048753e-01 -5.97049153e-02 -1.82759511e-02 9.27409657e+01] [ 5.97104330e-02 9.98215710e-01 -2.44103120e-04 5.76828752e-01] [ 1.82579157e-02 -8.47638141e-04 9.99832951e-01 6.18286543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29925415399998 meters 0.02388913401354133 Centerline is valid? [True, True] Translation: X:92.77, Y:0.58, Z:0.62 [[ 9.98105958e-01 -5.87970099e-02 -1.80944016e-02 9.27727571e+01] [ 5.88022910e-02 9.98269619e-01 -2.40499359e-04 5.79269519e-01] [ 1.80772321e-02 -8.23948426e-04 9.99836254e-01 6.18561596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32925415399998 meters 0.02311130995642966 Centerline is valid? [True, True] Translation: X:92.81, Y:0.58, Z:0.62 [[ 9.98166456e-01 -5.78106461e-02 -1.79347694e-02 9.28052226e+01] [ 5.78156988e-02 9.98327245e-01 -2.37080084e-04 5.81357685e-01] [ 1.79184747e-02 -8.00265837e-04 9.99839131e-01 6.18989282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35925415399998 meters 0.02358583311875632 Centerline is valid? [True, True] Translation: X:92.84, Y:0.58, Z:0.62 [[ 9.98227960e-01 -5.66242321e-02 -1.82930446e-02 9.28376010e+01] [ 5.66293144e-02 9.98395244e-01 -2.40477803e-04 5.83118961e-01] [ 1.82773056e-02 -7.95870907e-04 9.99832639e-01 6.18310466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38925415399999 meters 0.02365379417193305 Centerline is valid? [True, True] Translation: X:92.87, Y:0.58, Z:0.62 [[ 9.98302509e-01 -5.53473519e-02 -1.81320564e-02 9.28685464e+01] [ 5.53521712e-02 9.98466865e-01 -2.36355336e-04 5.84818993e-01] [ 1.81173392e-02 -7.67694566e-04 9.99835573e-01 6.17778921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41925415399999 meters 0.022394031354267298 Centerline is valid? [True, True] Translation: X:92.90, Y:0.59, Z:0.62 [[ 9.98359841e-01 -5.44409181e-02 -1.77147889e-02 9.29002805e+01] [ 5.44454055e-02 9.98516723e-01 -2.29228920e-04 5.87421170e-01] [ 1.77009924e-02 -7.35635914e-04 9.99843055e-01 6.18449062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44925415399999 meters 0.02202999546732067 Centerline is valid? [True, True] Translation: X:92.93, Y:0.59, Z:0.62 [[ 9.98439907e-01 -5.29102187e-02 -1.78398585e-02 9.29326694e+01] [ 5.29145486e-02 9.98599018e-01 -2.29563578e-04 5.89595861e-01] [ 1.78270114e-02 -7.14782621e-04 9.99840831e-01 6.18318597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47925415399997 meters 0.019201654754593768 Centerline is valid? [True, True] Translation: X:92.96, Y:0.60, Z:0.62 [[ 9.98689133e-01 -4.83865859e-02 -1.66959325e-02 9.29631277e+01] [ 4.83897547e-02 9.98828507e-01 -2.14378921e-04 5.98258392e-01] [ 1.66867464e-02 -5.93814180e-04 9.99860590e-01 6.20123368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50925415399998 meters 0.018019304166833037 Centerline is valid? [True, True] Translation: X:92.99, Y:0.60, Z:0.62 [[ 9.98857103e-01 -4.50852272e-02 -1.58685272e-02 9.29944137e+01] [ 4.50876786e-02 9.98983013e-01 -2.03424836e-04 6.02320479e-01] [ 1.58615605e-02 -5.12282712e-04 9.99874066e-01 6.21091440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53925415399998 meters 0.017026909783482667 Centerline is valid? [True, True] Translation: X:93.03, Y:0.61, Z:0.62 [[ 9.99021243e-01 -4.15207645e-02 -1.52506212e-02 9.30262303e+01] [ 4.15226245e-02 9.99137545e-01 -1.94794738e-04 6.06949810e-01] [ 1.52455563e-02 -4.38641736e-04 9.99883684e-01 6.21813815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56925415399998 meters 0.01565064989523697 Centerline is valid? [True, True] Translation: X:93.06, Y:0.61, Z:0.62 [[ 9.99322450e-01 -3.43083057e-02 -1.33259537e-02 9.30557145e+01] [ 3.43090877e-02 9.99411255e-01 -1.69991349e-04 6.12988828e-01] [ 1.33239402e-02 -2.87325143e-04 9.99911191e-01 6.22523789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59925415399998 meters 0.014958030421312624 Centerline is valid? [True, True] Translation: X:93.09, Y:0.62, Z:0.62 [[ 9.99442940e-01 -3.06399979e-02 -1.32287893e-02 9.30880516e+01] [ 3.06404517e-02 9.99530457e-01 -1.68417658e-04 6.17762331e-01] [ 1.32277381e-02 -2.37012239e-04 9.99912482e-01 6.23048187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62925415399998 meters 0.01324586014349938 Centerline is valid? [True, True] Translation: X:93.12, Y:0.62, Z:0.62 [[ 9.99589115e-01 -2.57305664e-02 -1.26308659e-02 9.31195699e+01] [ 2.57305970e-02 9.99668901e-01 -1.60111454e-04 6.24188458e-01] [ 1.26308036e-02 -1.64954054e-04 9.99920215e-01 6.23465442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65925415399998 meters 0.01268759679415326 Centerline is valid? [True, True] Translation: X:93.15, Y:0.63, Z:0.62 [[ 9.99628394e-01 -2.39852479e-02 -1.29530308e-02 9.31514025e+01] [ 2.39851427e-02 9.99712302e-01 -1.63490842e-04 6.26351569e-01] [ 1.29532256e-02 -1.47250204e-04 9.99916093e-01 6.23153810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68925415399998 meters 0.012683107735518843 Centerline is valid? [True, True] Translation: X:93.18, Y:0.63, Z:0.62 [[ 9.99638600e-01 -2.30750425e-02 -1.37917132e-02 9.31825317e+01] [ 2.30748476e-02 9.99733725e-01 -1.73283365e-04 6.28200776e-01] [ 1.37920394e-02 -1.45020940e-04 9.99904875e-01 6.22395651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71925415399998 meters 0.01502702783855289 Centerline is valid? [True, True] Translation: X:93.21, Y:0.63, Z:0.62 [[ 9.99638643e-01 -2.20876353e-02 -1.53205909e-02 9.32141409e+01] [ 2.20872879e-02 9.99756028e-01 -1.91904316e-04 6.29250754e-01] [ 1.53210918e-02 -1.46555331e-04 9.99882614e-01 6.20685223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74925415399998 meters 0.012777347932288918 Centerline is valid? [True, True] Translation: X:93.24, Y:0.63, Z:0.62 [[ 9.99626212e-01 -2.35548677e-02 -1.38782378e-02 9.32447417e+01] [ 2.35547271e-02 9.99722534e-01 -1.73608878e-04 6.30012675e-01] [ 1.38784764e-02 -1.53354119e-04 9.99903678e-01 6.21469084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77925415399999 meters 0.013155467513788557 Centerline is valid? [True, True] Translation: X:93.28, Y:0.63, Z:0.62 [[ 9.99612268e-01 -2.49485607e-02 -1.23645889e-02 9.32764162e+01] [ 2.49485593e-02 9.99688724e-01 -1.54379355e-04 6.29488052e-01] [ 1.23645916e-02 -1.54159182e-04 9.99923544e-01 6.21962937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80925415399999 meters 0.013430988808121349 Centerline is valid? [True, True] Translation: X:93.31, Y:0.63, Z:0.62 [[ 9.99596366e-01 -2.59205065e-02 -1.16289565e-02 9.33087175e+01] [ 2.59205791e-02 9.99663995e-01 -1.44507340e-04 6.29652094e-01] [ 1.16287948e-02 -1.56980275e-04 9.99932371e-01 6.22605835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83925415399997 meters 0.013518349275127357 Centerline is valid? [True, True] Translation: X:93.34, Y:0.63, Z:0.62 [[ 9.99593797e-01 -2.63851318e-02 -1.07733823e-02 9.33408999e+01] [ 2.63852289e-02 9.99651840e-01 -1.33145517e-04 6.30235382e-01] [ 1.07731445e-02 -1.51166725e-04 9.99941957e-01 6.23340354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86925415399998 meters 0.013365031256833918 Centerline is valid? [True, True] Translation: X:93.37, Y:0.63, Z:0.62 [[ 9.99593323e-01 -2.68798664e-02 -9.52159032e-03 9.33734193e+01] [ 2.68799707e-02 9.99638661e-01 -1.17049591e-04 6.32448180e-01] [ 9.52129608e-03 -1.38938079e-04 9.99954662e-01 6.24036961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89925415399998 meters 0.014636175946580943 Centerline is valid? [True, True] Translation: X:93.41, Y:0.63, Z:0.62 [[ 9.99598949e-01 -2.65609333e-02 -9.82133650e-03 9.34050911e+01] [ 2.65610355e-02 9.99647186e-01 -1.20056057e-04 6.32368946e-01] [ 9.82106020e-03 -1.40856959e-04 9.99951762e-01 6.23660477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92925415399998 meters 0.014495752329522665 Centerline is valid? [True, True] Translation: X:93.44, Y:0.63, Z:0.62 [[ 9.99559218e-01 -2.82592658e-02 -9.09855732e-03 9.34363528e+01] [ 2.82594280e-02 9.99600616e-01 -1.10758404e-04 6.33003745e-01] [ 9.09805345e-03 -1.46410442e-04 9.99958601e-01 6.23935271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95925415399998 meters 0.01447879311835283 Centerline is valid? [True, True] Translation: X:93.47, Y:0.63, Z:0.62 [[ 9.99537079e-01 -2.89489015e-02 -9.35888987e-03 9.34681423e+01] [ 2.89491084e-02 9.99580880e-01 -1.13380608e-04 6.34610212e-01] [ 9.35824962e-03 -1.57603396e-04 9.99956198e-01 6.23918286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98925415399998 meters 0.01428537396207491 Centerline is valid? [True, True] Translation: X:93.50, Y:0.64, Z:0.62 [[ 9.99494062e-01 -3.04587505e-02 -9.15880673e-03 9.34999066e+01] [ 3.04590180e-02 9.99536010e-01 -1.10308550e-04 6.35353008e-01] [ 9.15791700e-03 -1.68715519e-04 9.99958051e-01 6.24057145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01925415399998 meters 0.015180535510165122 Centerline is valid? [True, True] Translation: X:93.53, Y:0.64, Z:0.62 [[ 9.99388782e-01 -3.35781578e-02 -9.72471640e-03 9.35320232e+01] [ 3.35786142e-02 9.99436073e-01 -1.16385379e-04 6.35430006e-01] [ 9.72314037e-03 -2.10228258e-04 9.99952707e-01 6.24284033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04925415399998 meters 0.01547549848471957 Centerline is valid? [True, True] Translation: X:93.56, Y:0.64, Z:0.62 [[ 9.99343666e-01 -3.48954648e-02 -9.72332391e-03 9.35642005e+01] [ 3.48959902e-02 9.99390943e-01 -1.15660747e-04 6.35950904e-01] [ 9.72143788e-03 -2.23720181e-04 9.99952721e-01 6.24222708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07925415399998 meters 0.017528156140455702 Centerline is valid? [True, True] Translation: X:93.60, Y:0.63, Z:0.62 [[ 9.99265889e-01 -3.68081838e-02 -1.06226762e-02 9.35954801e+01] [ 3.68089270e-02 9.99322314e-01 -1.25604779e-04 6.33406612e-01] [ 1.06201007e-02 -2.65496743e-04 9.99943570e-01 6.23386711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.10925415399998 meters 0.01694803969991893 Centerline is valid? [True, True] Translation: X:93.63, Y:0.64, Z:0.62 [[ 9.99249344e-01 -3.72384018e-02 -1.06794377e-02 9.36278684e+01] [ 3.72391844e-02 9.99306373e-01 -1.25630912e-04 6.35391886e-01] [ 1.06767085e-02 -2.72156944e-04 9.99942965e-01 6.23646270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13925415399999 meters 0.016951892341784614 Centerline is valid? [True, True] Translation: X:93.66, Y:0.64, Z:0.62 [[ 9.99228762e-01 -3.75279163e-02 -1.15558040e-02 9.36599201e+01] [ 3.75288620e-02 9.99295535e-01 -1.35078606e-04 6.37835635e-01] [ 1.15527326e-02 -2.98701745e-04 9.99933220e-01 6.23656517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16925415399999 meters 0.017448823662916054 Centerline is valid? [True, True] Translation: X:93.69, Y:0.64, Z:0.62 [[ 9.99247147e-01 -3.71506798e-02 -1.11787939e-02 9.36907539e+01] [ 3.71515490e-02 9.99309634e-01 -1.29965828e-04 6.38245395e-01] [ 1.11759048e-02 -2.85441527e-04 9.99937507e-01 6.23804427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19925415399999 meters 0.016165131303854243 Centerline is valid? [True, True] Translation: X:93.72, Y:0.64, Z:0.63 [[ 9.99322424e-01 -3.52726628e-02 -1.05134309e-02 9.37229886e+01] [ 3.52733341e-02 9.99377695e-01 -1.21624632e-04 6.42272148e-01] [ 1.05111784e-02 -2.49301539e-04 9.99944725e-01 6.25275490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22925415399997 meters 0.015552548322516376 Centerline is valid? [True, True] Translation: X:93.76, Y:0.64, Z:0.63 [[ 9.99364264e-01 -3.41510478e-02 -1.02359527e-02 9.37557012e+01] [ 3.41516334e-02 9.99416656e-01 -1.17625959e-04 6.44497780e-01] [ 1.02339987e-02 -2.32023324e-04 9.99947604e-01 6.25900496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25925415399998 meters 0.01548589382196989 Centerline is valid? [True, True] Translation: X:93.79, Y:0.65, Z:0.63 [[ 9.99394943e-01 -3.32553727e-02 -1.01895589e-02 9.37882662e+01] [ 3.32559153e-02 9.99446862e-01 -1.16223742e-04 6.45975404e-01] [ 1.01877878e-02 -2.22709689e-04 9.99948078e-01 6.26000926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28925415399998 meters 0.015184793074714212 Centerline is valid? [True, True] Translation: X:93.82, Y:0.65, Z:0.63 [[ 9.99458090e-01 -3.12716337e-02 -1.02766888e-02 9.38196653e+01] [ 3.12720879e-02 9.99510902e-01 -1.16525142e-04 6.48291846e-01] [ 1.02753064e-02 -2.04911520e-04 9.99947187e-01 6.26089405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31925415399998 meters 0.015080795251980866 Centerline is valid? [True, True] Translation: X:93.85, Y:0.65, Z:0.63 [[ 9.99472693e-01 -3.05489332e-02 -1.10045095e-02 9.38521007e+01] [ 3.05494180e-02 9.99533250e-01 -1.24080853e-04 6.49743873e-01] [ 1.10031636e-02 -2.12165935e-04 9.99939441e-01 6.25750879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34925415399998 meters 0.015124937948181375 Centerline is valid? [True, True] Translation: X:93.88, Y:0.65, Z:0.62 [[ 9.99473259e-01 -2.96665463e-02 -1.31567723e-02 9.38830082e+01] [ 2.96671751e-02 9.99559822e-01 -1.47417597e-04 6.51214919e-01] [ 1.31553544e-02 -2.42984322e-04 9.99913435e-01 6.24368213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37925415399998 meters 0.015245387900691527 Centerline is valid? [True, True] Translation: X:93.91, Y:0.65, Z:0.62 [[ 9.99459925e-01 -2.95456897e-02 -1.43844019e-02 9.39148391e+01] [ 2.95464423e-02 9.99563396e-01 -1.60239353e-04 6.51647221e-01] [ 1.43828560e-02 -2.64855090e-04 9.99896526e-01 6.23624348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40925415399998 meters 0.015336447281055947 Centerline is valid? [True, True] Translation: X:93.95, Y:0.65, Z:0.62 [[ 9.99446690e-01 -2.93509385e-02 -1.56472607e-02 9.39463458e+01] [ 2.93518208e-02 9.99569127e-01 -1.73314934e-04 6.52348093e-01] [ 1.56456057e-02 -2.86056554e-04 9.99877559e-01 6.22660057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43925415399998 meters 0.015187732188245194 Centerline is valid? [True, True] Translation: X:93.98, Y:0.65, Z:0.62 [[ 9.99427479e-01 -2.92340626e-02 -1.70318611e-02 9.39780980e+01] [ 2.92351100e-02 9.99572545e-01 -1.87535097e-04 6.53700189e-01] [ 1.70300631e-02 -3.10500603e-04 9.99854930e-01 6.22510250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46925415399998 meters 0.015334300301097194 Centerline is valid? [True, True] Translation: X:94.01, Y:0.66, Z:0.62 [[ 9.99384639e-01 -2.93461305e-02 -1.92132400e-02 9.40098667e+01] [ 2.93475032e-02 9.99569247e-01 -2.10564969e-04 6.55101641e-01] [ 1.92111431e-02 -3.53425227e-04 9.99815386e-01 6.21362106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49925415399998 meters 0.015161393579057053 Centerline is valid? [True, True] Translation: X:94.04, Y:0.66, Z:0.62 [[ 9.99391411e-01 -2.90286008e-02 -1.93429164e-02 9.40411609e+01] [ 2.90299460e-02 9.99578520e-01 -2.11301456e-04 6.57370597e-01] [ 1.93408975e-02 -3.50350957e-04 9.99812886e-01 6.22409417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52925415399999 meters 0.015014515397534192 Centerline is valid? [True, True] Translation: X:94.07, Y:0.66, Z:0.62 [[ 9.99407237e-01 -2.87430501e-02 -1.89475934e-02 9.40726407e+01] [ 2.87443022e-02 9.99586776e-01 -2.06312250e-04 6.59164988e-01] [ 1.89456938e-02 -3.38445396e-04 9.99820457e-01 6.23543021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55925415399999 meters 0.01466606392996359 Centerline is valid? [True, True] Translation: X:94.10, Y:0.66, Z:0.62 [[ 9.99431377e-01 -2.85186259e-02 -1.79891564e-02 9.41035032e+01] [ 2.85197297e-02 9.99593211e-01 -1.95235633e-04 6.61154811e-01] [ 1.79874064e-02 -3.17921260e-04 9.99838163e-01 6.24929917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58925415399997 meters 0.015104112996615985 Centerline is valid? [True, True] Translation: X:94.13, Y:0.66, Z:0.63 [[ 9.99452947e-01 -2.81496234e-02 -1.73610523e-02 9.41336507e+01] [ 2.81506033e-02 9.99603676e-01 -1.87984563e-04 6.61019831e-01] [ 1.73594634e-02 -3.00842370e-04 9.99849268e-01 6.25132256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61925415399998 meters 0.01588932481760399 Centerline is valid? [True, True] Translation: X:94.16, Y:0.66, Z:0.63 [[ 9.99513198e-01 -2.66718268e-02 -1.61858081e-02 9.41647325e+01] [ 2.66724919e-02 9.99644211e-01 -1.74816286e-04 6.63959710e-01] [ 1.61847121e-02 -2.56984651e-04 9.99868986e-01 6.26633456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64925415399998 meters 0.014392056748925406 Centerline is valid? [True, True] Translation: X:94.20, Y:0.67, Z:0.63 [[ 9.99533539e-01 -2.68138235e-02 -1.46192953e-02 9.41961801e+01] [ 2.68143885e-02 9.99640417e-01 -1.57400564e-04 6.66524777e-01] [ 1.46182589e-02 -2.34680320e-04 9.99893120e-01 6.28188606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67925415399998 meters 0.014711907379093555 Centerline is valid? [True, True] Translation: X:94.23, Y:0.67, Z:0.63 [[ 9.99539571e-01 -2.73147815e-02 -1.32117235e-02 9.42273069e+01] [ 2.73152941e-02 9.99626858e-01 -1.41682778e-04 6.67255160e-01] [ 1.32106637e-02 -2.19264571e-04 9.99912711e-01 6.29196923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70925415399998 meters 0.01479304191678644 Centerline is valid? [True, True] Translation: X:94.26, Y:0.67, Z:0.63 [[ 9.99520754e-01 -2.82641298e-02 -1.26253896e-02 9.42596700e+01] [ 2.82646832e-02 9.99600465e-01 -1.34635838e-04 6.67232696e-01] [ 1.26241506e-02 -2.22281322e-04 9.99920288e-01 6.29839798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73925415399998 meters 0.01642960138206368 Centerline is valid? [True, True] Translation: X:94.29, Y:0.67, Z:0.63 [[ 9.99478499e-01 -2.96819864e-02 -1.27164837e-02 9.42918364e+01] [ 2.96826740e-02 9.99559363e-01 -1.34701167e-04 6.66349377e-01] [ 1.27148785e-02 -2.42828320e-04 9.99919133e-01 6.29514090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76925415399998 meters 0.016440148124899023 Centerline is valid? [True, True] Translation: X:94.32, Y:0.66, Z:0.63 [[ 9.99318728e-01 -3.46019895e-02 -1.28367586e-02 9.43237245e+01] [ 3.46031064e-02 9.99401124e-01 -1.35159212e-04 6.64024860e-01] [ 1.28337477e-02 -3.09124591e-04 9.99917596e-01 6.29169080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79925415399998 meters 0.017572794371592308 Centerline is valid? [True, True] Translation: X:94.35, Y:0.66, Z:0.63 [[ 9.99214612e-01 -3.72468212e-02 -1.35216049e-02 9.43548485e+01] [ 3.72483124e-02 9.99306031e-01 -1.41625971e-04 6.61865127e-01] [ 1.35174964e-02 -3.62142222e-04 9.99908569e-01 6.28540554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82925415399998 meters 0.019478535302841563 Centerline is valid? [True, True] Translation: X:94.39, Y:0.66, Z:0.63 [[ 9.98973820e-01 -4.27424337e-02 -1.49797182e-02 9.43860560e+01] [ 4.27448893e-02 9.99086007e-01 -1.56346078e-04 6.57859156e-01] [ 1.49727095e-02 -4.84120761e-04 9.99887786e-01 6.27311864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85925415399998 meters 0.019652251949268295 Centerline is valid? [True, True] Translation: X:94.42, Y:0.66, Z:0.63 [[ 9.98850734e-01 -4.51477281e-02 -1.60901631e-02 9.44186180e+01] [ 4.51508860e-02 9.98980165e-01 -1.67138303e-04 6.57702579e-01] [ 1.60812997e-02 -5.59538901e-04 9.99870531e-01 6.26604056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88925415399999 meters 0.02135343944689598 Centerline is valid? [True, True] Translation: X:94.45, Y:0.66, Z:0.63 [[ 9.98737429e-01 -4.72321932e-02 -1.71075404e-02 9.44495754e+01] [ 4.72360870e-02 9.98883737e-01 -1.76623127e-04 6.55239284e-01] [ 1.70967862e-02 -6.31693139e-04 9.99853640e-01 6.25466967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91925415399999 meters 0.02253022693786565 Centerline is valid? [True, True] Translation: X:94.48, Y:0.65, Z:0.62 [[ 9.98642827e-01 -4.88538091e-02 -1.80502169e-02 9.44803216e+01] [ 4.88584402e-02 9.98805696e-01 -1.84597549e-04 6.52981660e-01] [ 1.80376777e-02 -6.97558424e-04 9.99837065e-01 6.24198639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94925415399999 meters 0.022639749749390037 Centerline is valid? [True, True] Translation: X:94.51, Y:0.65, Z:0.62 [[ 9.98648210e-01 -4.85620382e-02 -1.85332607e-02 9.45122283e+01] [ 4.85669015e-02 9.98819914e-01 -1.87855483e-04 6.53100203e-01] [ 1.85205125e-02 -7.12501507e-04 9.99828227e-01 6.24049528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97925415399997 meters 0.020526319875729095 Centerline is valid? [True, True] Translation: X:94.54, Y:0.66, Z:0.62 [[ 9.98811125e-01 -4.53475814e-02 -1.78867082e-02 9.45433903e+01] [ 4.53516118e-02 9.98971070e-01 -1.80443418e-04 6.57790761e-01] [ 1.78764867e-02 -6.30962152e-04 9.99840004e-01 6.24965599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00925415399998 meters 0.019289855164388213 Centerline is valid? [True, True] Translation: X:94.57, Y:0.66, Z:0.63 [[ 9.98944168e-01 -4.26793465e-02 -1.70006480e-02 9.45744407e+01] [ 4.26826116e-02 9.99088667e-01 -1.70905442e-04 6.61015199e-01] [ 1.69924488e-02 -5.54907059e-04 9.99855464e-01 6.25897464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03925415399998 meters 0.017991103164011948 Centerline is valid? [True, True] Translation: X:94.60, Y:0.67, Z:0.63 [[ 9.99176434e-01 -3.76065630e-02 -1.52381420e-02 9.46041687e+01] [ 3.76086000e-02 9.99292535e-01 -1.52962984e-04 6.66066243e-01] [ 1.52331139e-02 -4.20248177e-04 9.99883881e-01 6.27873471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06925415399998 meters 0.01625173203328872 Centerline is valid? [True, True] Translation: X:94.64, Y:0.67, Z:0.63 [[ 9.99282254e-01 -3.50644074e-02 -1.43339944e-02 9.46360438e+01] [ 3.50659562e-02 9.99384990e-01 -1.43338500e-04 6.70682843e-01] [ 1.43302049e-02 -3.59399599e-04 9.99897253e-01 6.29464507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09925415399998 meters 0.016264751993563222 Centerline is valid? [True, True] Translation: X:94.67, Y:0.67, Z:0.63 [[ 9.99372661e-01 -3.27995147e-02 -1.33595181e-02 9.46672542e+01] [ 3.28006690e-02 9.99461904e-01 -1.32761039e-04 6.71847215e-01] [ 1.33566839e-02 -3.05523379e-04 9.99910749e-01 6.29833554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12925415399998 meters 0.016264751993563222 Centerline is valid? [True, True] Translation: X:94.70, Y:0.67, Z:0.63 [[ 9.99375030e-01 -3.27272571e-02 -1.33595265e-02 9.46989593e+01] [ 3.27284162e-02 9.99464273e-01 -1.31914273e-04 6.72101035e-01] [ 1.33566866e-02 -3.05404313e-04 9.99910749e-01 6.30053136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15925415399998 meters 0.015578003843841266 Centerline is valid? [True, True] Translation: X:94.73, Y:0.67, Z:0.63 [[ 9.99520606e-01 -2.86478112e-02 -1.17414255e-02 9.47294675e+01] [ 2.86484313e-02 9.99589543e-01 -1.15410489e-04 6.74858051e-01] [ 1.17399124e-02 -2.21018260e-04 9.99931060e-01 6.30756912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18925415399998 meters 0.015119060596217706 Centerline is valid? [True, True] Translation: X:94.76, Y:0.68, Z:0.63 [[ 9.99584100e-01 -2.64487791e-02 -1.14930006e-02 9.47617794e+01] [ 2.64492331e-02 9.99650152e-01 -1.12521755e-04 6.76291038e-01] [ 1.14919559e-02 -1.91506096e-04 9.99933947e-01 6.31064252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21925415399998 meters 0.014238114871564022 Centerline is valid? [True, True] Translation: X:94.79, Y:0.68, Z:0.63 [[ 9.99681878e-01 -2.23077813e-02 -1.17688589e-02 9.47937788e+01] [ 2.23079805e-02 9.99751139e-01 -1.14367790e-04 6.79287217e-01] [ 1.17684814e-02 -1.48208067e-04 9.99930738e-01 6.30278651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24925415399998 meters 0.013896087914812236 Centerline is valid? [True, True] Translation: X:94.82, Y:0.68, Z:0.63 [[ 9.99725391e-01 -1.99885279e-02 -1.22311575e-02 9.48246893e+01] [ 1.99885793e-02 9.99800201e-01 -1.18057539e-04 6.80469407e-01] [ 1.22310735e-02 -1.26458343e-04 9.99925190e-01 6.29797256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27925415399999 meters 0.013368025741349598 Centerline is valid? [True, True] Translation: X:94.86, Y:0.68, Z:0.63 [[ 9.99787400e-01 -1.58896907e-02 -1.31405174e-02 9.48564831e+01] [ 1.58894057e-02 9.99873747e-01 -1.26095513e-04 6.83496472e-01] [ 1.31408620e-02 -8.27263057e-05 9.99913652e-01 6.29045848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30925415399999 meters 0.013223179872784742 Centerline is valid? [True, True] Translation: X:94.89, Y:0.68, Z:0.63 [[ 9.99812262e-01 -1.41918273e-02 -1.31921129e-02 9.48871938e+01] [ 1.41913973e-02 9.99899289e-01 -1.26209554e-04 6.84657429e-01] [ 1.31925755e-02 -6.10286561e-05 9.99912972e-01 6.29031135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33925415399997 meters 0.013141560221502112 Centerline is valid? [True, True] Translation: X:94.92, Y:0.69, Z:0.63 [[ 9.99832285e-01 -1.20673390e-02 -1.37761403e-02 9.49165680e+01] [ 1.20666667e-02 9.99927186e-01 -1.31922958e-04 6.85496820e-01] [ 1.37767291e-02 -3.43312606e-05 9.99905096e-01 6.28340386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36925415399998 meters 0.013093866433943453 Centerline is valid? [True, True] Translation: X:94.95, Y:0.69, Z:0.63 [[ 9.99860562e-01 -8.77947035e-03 -1.42048716e-02 9.49456730e+01] [ 8.77839597e-03 9.99961460e-01 -1.37985240e-04 6.86454141e-01] [ 1.42055355e-02 1.32700126e-05 9.99899096e-01 6.27467874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39925415399998 meters 0.013264008412953544 Centerline is valid? [True, True] Translation: X:94.97, Y:0.69, Z:0.63 [[ 9.99866444e-01 -7.73194615e-03 -1.43982853e-02 9.49739341e+01] [ 7.73067748e-03 9.99970108e-01 -1.43768688e-04 6.86890165e-01] [ 1.43989665e-02 3.24409872e-05 9.99896329e-01 6.27336687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42925415399998 meters 0.013241619956417292 Centerline is valid? [True, True] Translation: X:95.00, Y:0.69, Z:0.63 [[ 9.99874318e-01 -6.93443826e-03 -1.42569871e-02 9.50019288e+01] [ 6.93305497e-03 9.99975955e-01 -1.46448569e-04 6.86965130e-01] [ 1.42576598e-02 4.75856883e-05 9.99898353e-01 6.27365753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45925415399998 meters 0.013351583762218925 Centerline is valid? [True, True] Translation: X:95.03, Y:0.69, Z:0.63 [[ 9.99887041e-01 -6.56755521e-03 -1.35192996e-02 9.50300238e+01] [ 6.56622620e-03 9.99978432e-01 -1.42689985e-04 6.86019403e-01] [ 1.35199451e-02 5.39030883e-05 9.99908600e-01 6.27659467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48925415399998 meters 0.013234482299846065 Centerline is valid? [True, True] Translation: X:95.06, Y:0.69, Z:0.63 [[ 9.99893144e-01 -6.95648935e-03 -1.28571804e-02 9.50578535e+01] [ 6.95527279e-03 9.99975802e-01 -1.39333529e-04 6.85441172e-01] [ 1.28578386e-02 4.98934436e-05 9.99917333e-01 6.28280358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51925415399998 meters 0.013200267510025374 Centerline is valid? [True, True] Translation: X:95.09, Y:0.68, Z:0.63 [[ 9.99897117e-01 -8.43075375e-03 -1.16050730e-02 9.50856427e+01] [ 8.42982528e-03 9.99964460e-01 -1.28920074e-04 6.82964320e-01] [ 1.16057474e-02 3.10780725e-05 9.99932651e-01 6.29147826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54925415399998 meters 0.013171206827618145 Centerline is valid? [True, True] Translation: X:95.11, Y:0.68, Z:0.63 [[ 9.99891651e-01 -9.60190730e-03 -1.11575034e-02 9.51141090e+01] [ 9.60108875e-03 9.99953900e-01 -1.26926563e-04 6.81406886e-01] [ 1.11582078e-02 1.97886304e-05 9.99937745e-01 6.29684124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57925415399998 meters 0.01338280235877897 Centerline is valid? [True, True] Translation: X:95.14, Y:0.68, Z:0.63 [[ 9.99879031e-01 -1.09997042e-02 -1.09967732e-02 9.51423840e+01] [ 1.09989723e-02 9.99939501e-01 -1.27030859e-04 6.79826556e-01] [ 1.09975052e-02 6.06228793e-06 9.99939526e-01 6.29885358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.60925415399998 meters 0.013333404029570011 Centerline is valid? [True, True] Translation: X:95.17, Y:0.68, Z:0.63 [[ 9.99840858e-01 -1.42354729e-02 -1.07522370e-02 9.51716086e+01] [ 1.42349550e-02 9.99898670e-01 -1.24703319e-04 6.75940290e-01] [ 1.07529227e-02 -2.83741372e-05 9.99942185e-01 6.30889666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63925415399999 meters 0.01331384821059323 Centerline is valid? [True, True] Translation: X:95.20, Y:0.67, Z:0.63 [[ 9.99812869e-01 -1.61331682e-02 -1.06746241e-02 9.52020189e+01] [ 1.61327633e-02 9.99869851e-01 -1.24047431e-04 6.74173348e-01] [ 1.06752361e-02 -4.81869655e-05 9.99943017e-01 6.31504776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66925415399999 meters 0.013965642736627926 Centerline is valid? [True, True] Translation: X:95.23, Y:0.67, Z:0.63 [[ 9.99715617e-01 -2.09883332e-02 -1.13213980e-02 9.52320664e+01] [ 2.09881899e-02 9.99779715e-01 -1.31484667e-04 6.69060509e-01] [ 1.13216638e-02 -1.06168377e-04 9.99935902e-01 6.31277165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69925415399999 meters 0.014169273270679242 Centerline is valid? [True, True] Translation: X:95.26, Y:0.67, Z:0.63 [[ 9.99656203e-01 -2.31534650e-02 -1.23041481e-02 9.52636548e+01] [ 2.31534649e-02 9.99731912e-01 -1.42475449e-04 6.66305110e-01] [ 1.23041483e-02 -1.42457195e-04 9.99924291e-01 6.30914248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72925415399997 meters 0.014669847062839926 Centerline is valid? [True, True] Translation: X:95.30, Y:0.66, Z:0.63 [[ 9.99584481e-01 -2.56666055e-02 -1.31183594e-02 9.52958733e+01] [ 2.56668328e-02 9.99670541e-01 -1.51063187e-04 6.64023704e-01] [ 1.31179148e-02 -1.85706321e-04 9.99913939e-01 6.30560994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75925415399998 meters 0.015980446143412996 Centerline is valid? [True, True] Translation: X:95.33, Y:0.66, Z:0.63 [[ 9.99442499e-01 -3.00979580e-02 -1.44500530e-02 9.53270426e+01] [ 3.00987105e-02 9.99546917e-01 -1.65445926e-04 6.57994769e-01] [ 1.44484855e-02 -2.69574272e-04 9.99895579e-01 6.29563993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78925415399998 meters 0.016309575886721692 Centerline is valid? [True, True] Translation: X:95.36, Y:0.66, Z:0.63 [[ 9.99378902e-01 -3.20267591e-02 -1.47002108e-02 9.53595510e+01] [ 3.20277601e-02 9.99486966e-01 -1.67378824e-04 6.56663266e-01] [ 1.46980297e-02 -3.03539960e-04 9.99891932e-01 6.29900985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81925415399998 meters 0.01612681594570927 Centerline is valid? [True, True] Translation: X:95.39, Y:0.66, Z:0.63 [[ 9.99319133e-01 -3.35743094e-02 -1.52982233e-02 9.53913529e+01] [ 3.35755920e-02 9.99436166e-01 -1.73060937e-04 6.55118357e-01] [ 1.52954081e-02 -3.40703799e-04 9.99882960e-01 6.30383084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84925415399998 meters 0.016755844748892666 Centerline is valid? [True, True] Translation: X:95.42, Y:0.65, Z:0.63 [[ 9.99319733e-01 -3.34611404e-02 -1.55055940e-02 9.54222345e+01] [ 3.34624597e-02 9.99439960e-01 -1.74422924e-04 6.53471925e-01] [ 1.55027466e-02 -3.44551045e-04 9.99879766e-01 6.30161773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87925415399998 meters 0.016191855004076914 Centerline is valid? [True, True] Translation: X:95.45, Y:0.65, Z:0.63 [[ 9.99321421e-01 -3.32753375e-02 -1.57939405e-02 9.54546887e+01] [ 3.32766995e-02 9.99446162e-01 -1.76632465e-04 6.54978454e-01] [ 1.57910707e-02 -3.49057607e-04 9.99875252e-01 6.31101680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90925415399998 meters 0.01618757026588567 Centerline is valid? [True, True] Translation: X:95.49, Y:0.66, Z:0.63 [[ 9.99390277e-01 -3.14576160e-02 -1.51490100e-02 9.54857607e+01] [ 3.14586744e-02 9.99505039e-01 -1.68485077e-04 6.55070429e-01] [ 1.51468120e-02 -3.08185427e-04 9.99885233e-01 6.31809081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93925415399998 meters 0.015444666626344793 Centerline is valid? [True, True] Translation: X:95.52, Y:0.66, Z:0.63 [[ 9.99442165e-01 -3.00894600e-02 -1.44908083e-02 9.55181076e+01] [ 3.00902980e-02 9.99547172e-01 -1.60242835e-04 6.56810746e-01] [ 1.44890680e-02 -2.75879293e-04 9.99894990e-01 6.33329555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96925415399998 meters 0.015236924087370025 Centerline is valid? [True, True] Translation: X:95.55, Y:0.66, Z:0.63 [[ 9.99520953e-01 -2.73569657e-02 -1.44727331e-02 9.55495063e+01] [ 2.73575287e-02 9.99625700e-01 -1.59113805e-04 6.56635713e-01] [ 1.44716688e-02 -2.36900629e-04 9.99895252e-01 6.33962293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99925415399998 meters 0.01523719584045855 Centerline is valid? [True, True] Translation: X:95.58, Y:0.66, Z:0.63 [[ 9.99550225e-01 -2.60820228e-02 -1.48011850e-02 9.55806023e+01] [ 2.60824840e-02 9.99659781e-01 -1.61910153e-04 6.56667215e-01] [ 1.48003723e-02 -2.24214341e-04 9.99890443e-01 6.33868205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02925415399999 meters 0.015239595702681021 Centerline is valid? [True, True] Translation: X:95.61, Y:0.66, Z:0.63 [[ 9.99560391e-01 -2.52237816e-02 -1.55815470e-02 9.56123754e+01] [ 2.52241993e-02 9.99681805e-01 -1.69749350e-04 6.57308065e-01] [ 1.55808708e-02 -2.23357321e-04 9.99878586e-01 6.33733118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05925415399999 meters 0.015405568317451416 Centerline is valid? [True, True] Translation: X:95.64, Y:0.66, Z:0.63 [[ 9.99560642e-01 -2.38929179e-02 -1.75399968e-02 9.56434110e+01] [ 2.38932541e-02 9.99714497e-01 -1.90423640e-04 6.58566605e-01] [ 1.75395388e-02 -2.28747624e-04 9.99846144e-01 6.33067346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08925415399997 meters 0.014902057369755748 Centerline is valid? [True, True] Translation: X:95.67, Y:0.66, Z:0.63 [[ 9.99531729e-01 -2.41622736e-02 -1.87751939e-02 9.56726009e+01] [ 2.41627074e-02 9.99708018e-01 -2.03777560e-04 6.58232508e-01] [ 1.87746357e-02 -2.49977381e-04 9.99823710e-01 6.32507155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11925415399998 meters 0.014986657046408199 Centerline is valid? [True, True] Translation: X:95.70, Y:0.66, Z:0.63 [[ 9.99499230e-01 -2.45501691e-02 -1.99644369e-02 9.57023118e+01] [ 2.45507249e-02 9.99698562e-01 -2.17291380e-04 6.57952375e-01] [ 1.99637534e-02 -2.72958831e-04 9.99800667e-01 6.31989650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14925415399998 meters 0.015434956208450461 Centerline is valid? [True, True] Translation: X:95.73, Y:0.66, Z:0.63 [[ 9.99428531e-01 -2.55241046e-02 -2.21614992e-02 9.57313286e+01] [ 2.55250046e-02 9.99674155e-01 -2.42306738e-04 6.56587636e-01] [ 2.21604627e-02 -3.23504102e-04 9.99754374e-01 6.30484627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17925415399998 meters 0.015509700950463775 Centerline is valid? [True, True] Translation: X:95.76, Y:0.66, Z:0.63 [[ 9.99389618e-01 -2.63236093e-02 -2.29664734e-02 9.57603482e+01] [ 2.63246842e-02 9.99653413e-01 -2.55581284e-04 6.57232945e-01] [ 2.29652413e-02 -3.49159875e-04 9.99736203e-01 6.31358728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20925415399998 meters 0.015647569501500473 Centerline is valid? [True, True] Translation: X:95.79, Y:0.66, Z:0.63 [[ 9.99361426e-01 -2.68374980e-02 -2.35900084e-02 9.57883959e+01] [ 2.68386786e-02 9.99639742e-01 -2.66615139e-04 6.57762133e-01] [ 2.35886652e-02 -3.66679769e-04 9.99721681e-01 6.31942189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23925415399998 meters 0.015667623461165833 Centerline is valid? [True, True] Translation: X:95.82, Y:0.66, Z:0.63 [[ 9.99342766e-01 -2.73739053e-02 -2.37635316e-02 9.58172403e+01] [ 2.73751320e-02 9.99625193e-01 -2.73750065e-04 6.58287384e-01] [ 2.37621185e-02 -3.76959668e-04 9.99717570e-01 6.32564359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26925415399998 meters 0.015384804098186166 Centerline is valid? [True, True] Translation: X:95.85, Y:0.66, Z:0.63 [[ 9.99328100e-01 -2.80192294e-02 -2.36277757e-02 9.58462047e+01] [ 2.80204794e-02 9.99607311e-01 -2.78236754e-04 6.59785152e-01] [ 2.36262933e-02 -3.84011796e-04 9.99720786e-01 6.34308761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29925415399998 meters 0.015401532082194677 Centerline is valid? [True, True] Translation: X:95.88, Y:0.66, Z:0.64 [[ 9.99293709e-01 -3.01502252e-02 -2.24287219e-02 9.58752033e+01] [ 3.01517589e-02 9.99545296e-01 -2.69867631e-04 6.59352873e-01] [ 2.24266601e-02 -4.06588391e-04 9.99748408e-01 6.35882331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32925415399998 meters 0.016009530306880862 Centerline is valid? [True, True] Translation: X:95.90, Y:0.66, Z:0.64 [[ 9.99271021e-01 -3.14239523e-02 -2.16786133e-02 9.59048205e+01] [ 3.14256408e-02 9.99506058e-01 -2.62863442e-04 6.57554022e-01] [ 2.16761655e-02 -4.18592493e-04 9.99764957e-01 6.35592956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35925415399998 meters 0.016487617639472072 Centerline is valid? [True, True] Translation: X:95.93, Y:0.66, Z:0.64 [[ 9.99197672e-01 -3.43307134e-02 -2.06255756e-02 9.59349343e+01] [ 3.43328581e-02 9.99410422e-01 -2.50216682e-04 6.55902255e-01] [ 2.06220053e-02 -4.58119032e-04 9.99787239e-01 6.37018011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38925415399999 meters 0.01678773661478634 Centerline is valid? [True, True] Translation: X:95.97, Y:0.66, Z:0.64 [[ 9.99143625e-01 -3.58945493e-02 -2.05814985e-02 9.59663781e+01] [ 3.58970265e-02 9.99355463e-01 -2.49187784e-04 6.55466951e-01] [ 2.05771775e-02 -4.89840212e-04 9.99788147e-01 6.37716502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41925415399999 meters 0.01671480939643172 Centerline is valid? [True, True] Translation: X:96.00, Y:0.66, Z:0.64 [[ 9.99085854e-01 -3.76999175e-02 -2.01537085e-02 9.59981030e+01] [ 3.77026747e-02 9.99288972e-01 -2.43271399e-04 6.56080265e-01] [ 2.01485499e-02 -5.16799702e-04 9.99796864e-01 6.39031084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44925415399997 meters 0.01875382805647364 Centerline is valid? [True, True] Translation: X:96.03, Y:0.65, Z:0.64 [[ 9.98934101e-01 -4.16025631e-02 -1.99971919e-02 9.60287378e+01] [ 4.16060687e-02 9.99134064e-01 -2.40885657e-04 6.51970255e-01] [ 1.99898971e-02 -5.91375645e-04 9.99800007e-01 6.39144114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47925415399997 meters 0.01904120965935049 Centerline is valid? [True, True] Translation: X:96.06, Y:0.65, Z:0.64 [[ 9.98744030e-01 -4.60157250e-02 -1.98220796e-02 9.60594943e+01] [ 4.60200448e-02 9.98940488e-01 -2.38411266e-04 6.50675169e-01] [ 1.98120485e-02 -6.74101161e-04 9.99803495e-01 6.40392470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50925415399998 meters 0.01941274967493069 Centerline is valid? [True, True] Translation: X:96.09, Y:0.65, Z:0.64 [[ 9.98645567e-01 -4.80714445e-02 -1.99039815e-02 9.60913536e+01] [ 4.80762248e-02 9.98843641e-01 -2.38541352e-04 6.49296479e-01] [ 1.98924324e-02 -7.18690028e-04 9.99801868e-01 6.40299853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53925415399998 meters 0.021260716996989344 Centerline is valid? [True, True] Translation: X:96.12, Y:0.65, Z:0.64 [[ 9.98565367e-01 -4.96233643e-02 -2.01179054e-02 9.61223860e+01] [ 4.96285850e-02 9.98767714e-01 -2.39980344e-04 6.45663796e-01] [ 2.01050230e-02 -7.58787118e-04 9.99797586e-01 6.39261312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56925415399998 meters 0.02211985655168319 Centerline is valid? [True, True] Translation: X:96.15, Y:0.64, Z:0.64 [[ 9.98479411e-01 -5.10867073e-02 -2.07126662e-02 9.61538431e+01] [ 5.10925793e-02 9.98693891e-01 -2.45937013e-04 6.43868432e-01] [ 2.06981773e-02 -8.12700498e-04 9.99785439e-01 6.38891887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59925415399998 meters 0.022311824817318863 Centerline is valid? [True, True] Translation: X:96.19, Y:0.64, Z:0.64 [[ 9.98365279e-01 -5.30190504e-02 -2.13483223e-02 9.61855682e+01] [ 5.30257544e-02 9.98593113e-01 -2.52314381e-04 6.43134114e-01] [ 2.13316651e-02 -8.80108976e-04 9.99772067e-01 6.38543953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62925415399998 meters 0.020813810515955825 Centerline is valid? [True, True] Translation: X:96.22, Y:0.65, Z:0.64 [[ 9.98373797e-01 -5.28101608e-02 -2.14673978e-02 9.62181350e+01] [ 5.28169231e-02 9.98604180e-01 -2.52254673e-04 6.45474615e-01] [ 2.14507548e-02 -8.81997444e-04 9.99769517e-01 6.39574081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65925415399998 meters 0.02096320698415239 Centerline is valid? [True, True] Translation: X:96.25, Y:0.65, Z:0.64 [[ 9.98461438e-01 -5.10831955e-02 -2.15699569e-02 9.62498593e+01] [ 5.10896550e-02 9.98694039e-01 -2.51853160e-04 6.46321839e-01] [ 2.15546529e-02 -8.50535989e-04 9.99767310e-01 6.39602781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68925415399998 meters 0.02083562934880333 Centerline is valid? [True, True] Translation: X:96.28, Y:0.65, Z:0.64 [[ 9.98567391e-01 -4.90228830e-02 -2.14458042e-02 9.62812069e+01] [ 4.90288219e-02 9.98797333e-01 -2.49094653e-04 6.46820825e-01] [ 2.14322234e-02 -8.02724715e-04 9.99769981e-01 6.39617392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71925415399998 meters 0.02043475912066255 Centerline is valid? [True, True] Translation: X:96.31, Y:0.65, Z:0.64 [[ 9.98683534e-01 -4.66236748e-02 -2.13876596e-02 9.63127707e+01] [ 4.66290514e-02 9.98912244e-01 -2.47515814e-04 6.48616875e-01] [ 2.13759351e-02 -7.50096312e-04 9.99771227e-01 6.39516015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74925415399998 meters 0.017808440831764305 Centerline is valid? [True, True] Translation: X:96.34, Y:0.66, Z:0.64 [[ 9.98933633e-01 -4.11065367e-02 -2.10202267e-02 9.63439357e+01] [ 4.11105203e-02 9.99154576e-01 -2.42756418e-04 6.55059836e-01] [ 2.10124346e-02 -6.21654907e-04 9.99779021e-01 6.40936605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77925415399999 meters 0.017241987514498392 Centerline is valid? [True, True] Translation: X:96.37, Y:0.66, Z:0.64 [[ 9.99074297e-01 -3.79580286e-02 -2.02419466e-02 9.63748597e+01] [ 3.79610893e-02 9.99279191e-01 -2.33153704e-04 6.57196589e-01] [ 2.02362060e-02 -5.35468469e-04 9.99795084e-01 6.40955497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80925415399999 meters 0.01585730725969448 Centerline is valid? [True, True] Translation: X:96.41, Y:0.66, Z:0.64 [[ 9.99304045e-01 -3.20535424e-02 -1.90786955e-02 9.64059668e+01] [ 3.20551945e-02 9.99486076e-01 -2.19292614e-04 6.62377555e-01] [ 1.90759196e-02 -3.92431299e-04 9.99817961e-01 6.41723843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83925415399997 meters 0.01515086250668088 Centerline is valid? [True, True] Translation: X:96.44, Y:0.67, Z:0.64 [[ 9.99404080e-01 -2.92292936e-02 -1.83612044e-02 9.64370106e+01] [ 2.92303571e-02 9.99572680e-01 -2.10505349e-04 6.65186356e-01] [ 1.83595113e-02 -3.26324659e-04 9.99831397e-01 6.42281417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86925415399998 meters 0.014825732218121135 Centerline is valid? [True, True] Translation: X:96.47, Y:0.67, Z:0.64 [[ 9.99488576e-01 -2.66040745e-02 -1.77428678e-02 9.64677144e+01] [ 2.66046619e-02 9.99646013e-01 -2.02974545e-04 6.67287160e-01] [ 1.77419870e-02 -2.69172261e-04 9.99842562e-01 6.42420046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89925415399998 meters 0.01407791370302492 Centerline is valid? [True, True] Translation: X:96.50, Y:0.67, Z:0.64 [[ 9.99630002e-01 -2.17235174e-02 -1.63691071e-02 9.64985742e+01] [ 2.17233647e-02 9.99764002e-01 -1.87157074e-04 6.71124873e-01] [ 1.63693098e-02 -1.68504258e-04 9.99866000e-01 6.42771289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92925415399998 meters 0.013887583012878391 Centerline is valid? [True, True] Translation: X:96.53, Y:0.67, Z:0.64 [[ 9.99691687e-01 -1.93654979e-02 -1.55405361e-02 9.65283617e+01] [ 1.93650764e-02 9.99812464e-01 -1.77615612e-04 6.73056491e-01] [ 1.55410613e-02 -1.23382817e-04 9.99879223e-01 6.42815518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95925415399998 meters 0.013572225594046756 Centerline is valid? [True, True] Translation: X:96.56, Y:0.68, Z:0.64 [[ 9.99772123e-01 -1.50812670e-02 -1.51081738e-02 9.65582644e+01] [ 1.50803759e-02 9.99886270e-01 -1.72912511e-04 6.77308309e-01] [ 1.51090633e-02 -5.49638317e-05 9.99885850e-01 6.43436905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98925415399998 meters 0.013510483676397695 Centerline is valid? [True, True] Translation: X:96.59, Y:0.68, Z:0.64 [[ 9.99807668e-01 -1.29281254e-02 -1.47475475e-02 9.65869259e+01] [ 1.29270321e-02 9.99916428e-01 -1.69458510e-04 6.79533014e-01] [ 1.47485058e-02 -2.12161025e-05 9.99891235e-01 6.43338528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01925415399998 meters 0.013652209759613001 Centerline is valid? [True, True] Translation: X:96.62, Y:0.68, Z:0.64 [[ 9.99829363e-01 -1.08310234e-02 -1.49644155e-02 9.66160355e+01] [ 1.08296271e-02 9.99941343e-01 -1.74341016e-04 6.81654602e-01] [ 1.49654260e-02 1.22522269e-05 9.99888012e-01 6.43264738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04925415399998 meters 0.013652209759613001 Centerline is valid? [True, True] Translation: X:96.64, Y:0.68, Z:0.64 [[ 9.99826227e-01 -1.11168152e-02 -1.49643678e-02 9.66434146e+01] [ 1.11153907e-02 9.99938206e-01 -1.78368596e-04 6.82052860e-01] [ 1.49654259e-02 1.20028068e-05 9.99888012e-01 6.43455113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07925415399998 meters 0.013845353590390784 Centerline is valid? [True, True] Translation: X:96.67, Y:0.68, Z:0.64 [[ 9.99861086e-01 -7.32285010e-03 -1.49728252e-02 9.66721310e+01] [ 7.32093822e-03 9.99973185e-01 -1.82497246e-04 6.84850285e-01] [ 1.49737601e-02 7.28567667e-05 9.99887884e-01 6.43615630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10925415399998 meters 0.014023018883355994 Centerline is valid? [True, True] Translation: X:96.70, Y:0.69, Z:0.64 [[ 9.99879744e-01 -5.23272973e-03 -1.45984633e-02 9.67002207e+01] [ 5.23065436e-03 9.99986304e-01 -1.80341673e-04 6.86566639e-01] [ 1.45992070e-02 1.03960470e-04 9.99893420e-01 6.43022795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13925415399999 meters 0.01447004630132964 Centerline is valid? [True, True] Translation: X:96.73, Y:0.69, Z:0.64 [[ 9.99907556e-01 -2.24641482e-03 -1.34101699e-02 9.67290221e+01] [ 2.24436553e-03 9.99997467e-01 -1.67863588e-04 6.87394463e-01] [ 1.34105130e-02 1.37750747e-04 9.99910066e-01 6.43965662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16925415399999 meters 0.014417430867860317 Centerline is valid? [True, True] Translation: X:96.76, Y:0.69, Z:0.64 [[ 9.99921213e-01 -1.42039996e-03 -1.24719771e-02 9.67568516e+01] [ 1.41852247e-03 9.99998981e-01 -1.59381586e-04 6.87083418e-01] [ 1.24721908e-02 1.41677249e-04 9.99922209e-01 6.44527692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19925415399997 meters 0.015073289590768023 Centerline is valid? [True, True] Translation: X:96.78, Y:0.69, Z:0.64 [[ 9.99927464e-01 -9.93204322e-04 -1.20033360e-02 9.67840198e+01] [ 9.91398406e-04 9.99999496e-01 -1.56400465e-04 6.88013843e-01] [ 1.20034853e-02 1.44489032e-04 9.99927945e-01 6.44576752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22925415399997 meters 0.014418123552907077 Centerline is valid? [True, True] Translation: X:96.81, Y:0.69, Z:0.65 [[ 9.99935995e-01 -1.71959483e-03 -1.11824989e-02 9.68127021e+01] [ 1.71805468e-03 9.99998513e-01 -1.47333520e-04 6.85071404e-01] [ 1.11827356e-02 1.28111946e-04 9.99937463e-01 6.45194172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25925415399998 meters 0.014399863911907158 Centerline is valid? [True, True] Translation: X:96.84, Y:0.68, Z:0.64 [[ 9.99935458e-01 -2.92626615e-03 -1.09779841e-02 9.68406908e+01] [ 2.92484492e-03 9.99995712e-01 -1.45513712e-04 6.83672541e-01] [ 1.09783629e-02 1.13395419e-04 9.99939730e-01 6.44998380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28925415399998 meters 0.0140649778490238 Centerline is valid? [True, True] Translation: X:96.87, Y:0.68, Z:0.64 [[ 9.99917007e-01 -6.64321467e-03 -1.10384002e-02 9.68694914e+01] [ 6.64199382e-03 9.99977931e-01 -1.47255783e-04 6.78430096e-01] [ 1.10391348e-02 7.39265761e-05 9.99939064e-01 6.44416703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31925415399998 meters 0.013909438426997737 Centerline is valid? [True, True] Translation: X:96.90, Y:0.68, Z:0.64 [[ 9.99894889e-01 -9.16814035e-03 -1.12319403e-02 9.68979986e+01] [ 9.16702625e-03 9.99957971e-01 -1.50670995e-04 6.75889849e-01] [ 1.12328496e-02 4.76916666e-05 9.99936908e-01 6.44428949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34925415399998 meters 0.013870405338054332 Centerline is valid? [True, True] Translation: X:96.93, Y:0.67, Z:0.64 [[ 9.99864786e-01 -1.17648043e-02 -1.14890443e-02 9.69269242e+01] [ 1.17638002e-02 9.99930792e-01 -1.54973822e-04 6.73346699e-01] [ 1.14900724e-02 1.97980452e-05 9.99933987e-01 6.44357036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37925415399998 meters 0.013903209382452247 Centerline is valid? [True, True] Translation: X:96.96, Y:0.67, Z:0.64 [[ 9.99781889e-01 -1.77217994e-02 -1.10504060e-02 9.69559159e+01] [ 1.77212256e-02 9.99842956e-01 -1.49846279e-04 6.66793380e-01] [ 1.10513262e-02 -4.60131423e-05 9.99938931e-01 6.44065332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40925415399998 meters 0.01410597893994701 Centerline is valid? [True, True] Translation: X:96.99, Y:0.66, Z:0.64 [[ 9.99724264e-01 -2.08051155e-02 -1.08877808e-02 9.69871598e+01] [ 2.08047374e-02 9.99783547e-01 -1.47997736e-04 6.63212237e-01] [ 1.08885032e-02 -7.85604929e-05 9.99940715e-01 6.44040163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43925415399998 meters 0.014910898261157995 Centerline is valid? [True, True] Translation: X:97.02, Y:0.66, Z:0.64 [[ 9.99581128e-01 -2.69610872e-02 -1.05199277e-02 9.70187032e+01] [ 2.69610865e-02 9.99636474e-01 -1.41905468e-04 6.55392595e-01] [ 1.05199293e-02 -1.41782653e-04 9.99944654e-01 6.44008379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46925415399998 meters 0.015559262709034042 Centerline is valid? [True, True] Translation: X:97.05, Y:0.65, Z:0.64 [[ 9.99496195e-01 -2.99905366e-02 -1.03885973e-02 9.70503882e+01] [ 2.99907183e-02 9.99550168e-01 -1.38331026e-04 6.51891584e-01] [ 1.03880728e-02 -1.73300160e-04 9.99946027e-01 6.43885600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49925415399998 meters 0.015986801504596006 Centerline is valid? [True, True] Translation: X:97.08, Y:0.65, Z:0.64 [[ 9.99422099e-01 -3.25036790e-02 -9.94885752e-03 9.70822387e+01] [ 3.25039758e-02 9.99471597e-01 -1.31894605e-04 6.48828132e-01] [ 9.94788758e-03 -1.91559042e-04 9.99950500e-01 6.43654003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52925415399999 meters 0.01684438936007111 Centerline is valid? [True, True] Translation: X:97.11, Y:0.65, Z:0.64 [[ 9.99349429e-01 -3.45604105e-02 -1.03100380e-02 9.71133735e+01] [ 3.45608478e-02 9.99402586e-01 -1.35803564e-04 6.45303754e-01] [ 1.03085721e-02 -2.20608440e-04 9.99946841e-01 6.43486665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55925415399999 meters 0.017513059307892525 Centerline is valid? [True, True] Translation: X:97.15, Y:0.64, Z:0.64 [[ 9.99224724e-01 -3.79869384e-02 -1.03413750e-02 9.71459127e+01] [ 3.79875718e-02 9.99278203e-01 -1.35237518e-04 6.40908135e-01] [ 1.03390479e-02 -2.57711055e-04 9.99946517e-01 6.43487477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58925415399997 meters 0.01826378956059072 Centerline is valid? [True, True] Translation: X:97.18, Y:0.64, Z:0.64 [[ 9.99127407e-01 -4.06457266e-02 -9.60987536e-03 9.71783384e+01] [ 4.06464028e-02 9.99173586e-01 -1.25012731e-04 6.37287174e-01] [ 9.60701485e-03 -2.65703219e-04 9.99953816e-01 6.43820517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61925415399998 meters 0.018737952256089308 Centerline is valid? [True, True] Translation: X:97.21, Y:0.64, Z:0.64 [[ 9.99081614e-01 -4.18423619e-02 -9.22740425e-03 9.72100718e+01] [ 4.18430432e-02 9.99124189e-01 -1.19289876e-04 6.35798248e-01] [ 9.22431416e-03 -2.66922352e-04 9.99957419e-01 6.44021581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64925415399998 meters 0.019143523238437328 Centerline is valid? [True, True] Translation: X:97.24, Y:0.63, Z:0.64 [[ 9.99039920e-01 -4.29719936e-02 -8.52329647e-03 9.72419812e+01] [ 4.29726233e-02 9.99076244e-01 -1.09330525e-04 6.34064076e-01] [ 8.52012118e-03 -2.57042850e-04 9.99963670e-01 6.44407231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67925415399998 meters 0.020292601486442286 Centerline is valid? [True, True] Translation: X:97.27, Y:0.63, Z:0.64 [[ 9.98931014e-01 -4.55448060e-02 -7.90565020e-03 9.72738544e+01] [ 4.55454323e-02 9.98962263e-01 -1.00891110e-04 6.30256487e-01] [ 7.90204128e-03 -2.59282997e-04 9.99968745e-01 6.44061227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70925415399998 meters 0.02139920687386023 Centerline is valid? [True, True] Translation: X:97.31, Y:0.63, Z:0.64 [[ 9.98868437e-01 -4.68341839e-02 -8.27074676e-03 9.73053482e+01] [ 4.68349182e-02 9.98902638e-01 -1.04984166e-04 6.28095981e-01] [ 8.26658760e-03 -2.82494378e-04 9.99965791e-01 6.44069861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73925415399998 meters 0.02227485745587388 Centerline is valid? [True, True] Translation: X:97.34, Y:0.63, Z:0.64 [[ 9.98735514e-01 -4.95770612e-02 -8.33600841e-03 9.73375835e+01] [ 4.95779110e-02 9.98770254e-01 -1.04799678e-04 6.25906883e-01] [ 8.33095289e-03 -3.08614723e-04 9.99965249e-01 6.43621712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76925415399998 meters 0.02171593018214538 Centerline is valid? [True, True] Translation: X:97.37, Y:0.63, Z:0.64 [[ 9.98692734e-01 -5.04218267e-02 -8.39424839e-03 9.73693638e+01] [ 5.04227241e-02 9.98727960e-01 -1.04836019e-04 6.26131783e-01] [ 8.38885660e-03 -3.18561900e-04 9.99964762e-01 6.43810749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79925415399998 meters 0.023566839580307353 Centerline is valid? [True, True] Translation: X:97.40, Y:0.62, Z:0.64 [[ 9.98635697e-01 -5.15333447e-02 -8.42965800e-03 9.74002555e+01] [ 5.15342978e-02 9.98671220e-01 -1.04253510e-04 6.23282964e-01] [ 8.42382937e-03 -3.30305229e-04 9.99964464e-01 6.43478096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82925415399998 meters 0.023951673142925525 Centerline is valid? [True, True] Translation: X:97.43, Y:0.62, Z:0.64 [[ 9.98534249e-01 -5.33803926e-02 -8.93800525e-03 9.74319557e+01] [ 5.33815425e-02 9.98574183e-01 -1.10036913e-04 6.22757508e-01] [ 8.93113510e-03 -3.67248881e-04 9.99960049e-01 6.42782213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85925415399998 meters 0.02265903385750832 Centerline is valid? [True, True] Translation: X:97.46, Y:0.63, Z:0.64 [[ 9.98492524e-01 -5.40968628e-02 -9.28486239e-03 9.74640613e+01] [ 5.40981398e-02 9.98535617e-01 -1.13750172e-04 6.25071643e-01] [ 9.27741932e-03 -3.88715087e-04 9.99956888e-01 6.42826502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88925415399999 meters 0.025477309867585906 Centerline is valid? [True, True] Translation: X:97.50, Y:0.62, Z:0.64 [[ 9.98407397e-01 -5.55531090e-02 -9.82452747e-03 9.74953817e+01] [ 5.55546160e-02 9.98455643e-01 -1.19664719e-04 6.21616579e-01] [ 9.81600264e-03 -4.26323710e-04 9.99951731e-01 6.42380492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91925415399999 meters 0.02392055379610291 Centerline is valid? [True, True] Translation: X:97.53, Y:0.62, Z:0.64 [[ 9.98381358e-01 -5.59633821e-02 -1.01372805e-02 9.75274723e+01] [ 5.59650140e-02 9.98432723e-01 -1.22849783e-04 6.24478015e-01] [ 1.01282677e-02 -4.44682113e-04 9.99948609e-01 6.42391494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94925415399997 meters 0.025870195589836543 Centerline is valid? [True, True] Translation: X:97.56, Y:0.62, Z:0.64 [[ 9.98370255e-01 -5.61330149e-02 -1.02916957e-02 9.75583992e+01] [ 5.61347129e-02 9.98423196e-01 -1.24029314e-04 6.22232289e-01] [ 1.02824298e-02 -4.53894204e-04 9.99947031e-01 6.42143912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97925415399997 meters 0.02454118047330006 Centerline is valid? [True, True] Translation: X:97.59, Y:0.63, Z:0.64 [[ 9.98396640e-01 -5.54558139e-02 -1.13491075e-02 9.75901042e+01] [ 5.54578434e-02 9.98461020e-01 -1.36043789e-04 6.25780182e-01] [ 1.13391859e-02 -4.93571365e-04 9.99935588e-01 6.42083772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00925415399998 meters 0.023064339605828165 Centerline is valid? [True, True] Translation: X:97.62, Y:0.63, Z:0.64 [[ 9.98431584e-01 -5.48575075e-02 -1.11814861e-02 9.76224969e+01] [ 5.48594490e-02 9.98494078e-01 -1.33235192e-04 6.28971767e-01] [ 1.11719566e-02 -4.80383943e-04 9.99937476e-01 6.42566916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03925415399998 meters 0.023613177396625582 Centerline is valid? [True, True] Translation: X:97.65, Y:0.63, Z:0.64 [[ 9.98492061e-01 -5.37260045e-02 -1.12747919e-02 9.76540529e+01] [ 5.37279149e-02 9.98555604e-01 -1.33598743e-04 6.28985519e-01] [ 1.12656843e-02 -4.72373774e-04 9.99936429e-01 6.42959226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06925415399998 meters 0.025985934044576515 Centerline is valid? [True, True] Translation: X:97.69, Y:0.63, Z:0.64 [[ 9.98631487e-01 -5.12950933e-02 -1.01964367e-02 9.76850718e+01] [ 5.12965339e-02 9.98683459e-01 -1.20362964e-04 6.27220152e-01] [ 1.01891867e-02 -4.02843615e-04 9.99948008e-01 6.43569314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09925415399998 meters 0.02087402526846483 Centerline is valid? [True, True] Translation: X:97.72, Y:0.64, Z:0.65 [[ 9.98723610e-01 -4.96527808e-02 -9.26021787e-03 9.77172113e+01] [ 4.96539021e-02 9.98766478e-01 -1.08914099e-04 6.36406022e-01] [ 9.25420308e-03 -3.51030870e-04 9.99957117e-01 6.45015511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12925415399998 meters 0.021023885804176284 Centerline is valid? [True, True] Translation: X:97.75, Y:0.64, Z:0.65 [[ 9.98904389e-01 -4.59671115e-02 -8.77761293e-03 9.77472659e+01] [ 4.59679814e-02 9.98942908e-01 -1.02716753e-04 6.37999037e-01] [ 8.77305578e-03 -3.00884932e-04 9.99961471e-01 6.46123763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15925415399998 meters 0.020491904191591855 Centerline is valid? [True, True] Translation: X:97.78, Y:0.64, Z:0.65 [[ 9.99011414e-01 -4.36871388e-02 -8.22371671e-03 9.77791541e+01] [ 4.36878270e-02 9.99045226e-01 -9.60226123e-05 6.40267194e-01] [ 8.22005988e-03 -2.63348627e-04 9.99966180e-01 6.46380210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18925415399998 meters 0.01785062016092269 Centerline is valid? [True, True] Translation: X:97.81, Y:0.65, Z:0.65 [[ 9.99213550e-01 -3.88378710e-02 -7.99377709e-03 9.78106023e+01] [ 3.88383703e-02 9.99245502e-01 -9.28226706e-05 6.47169807e-01] [ 7.99135084e-03 -2.17715605e-04 9.99968045e-01 6.47124325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21925415399998 meters 0.01694246141279023 Centerline is valid? [True, True] Translation: X:97.84, Y:0.65, Z:0.65 [[ 9.99317651e-01 -3.60255676e-02 -8.14801612e-03 9.78433623e+01] [ 3.60259959e-02 9.99350849e-01 -9.42429086e-05 6.50152824e-01] [ 8.14612198e-03 -1.99361794e-04 9.99966800e-01 6.47563616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24925415399998 meters 0.01614329079806098 Centerline is valid? [True, True] Translation: X:97.88, Y:0.65, Z:0.65 [[ 9.99403882e-01 -3.34177435e-02 -8.66803999e-03 9.78752848e+01] [ 3.34181372e-02 9.99441453e-01 -9.94536965e-05 6.53054500e-01] [ 8.66652200e-03 -1.90275339e-04 9.99962427e-01 6.47686638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27925415399999 meters 0.015223462610172734 Centerline is valid? [True, True] Translation: X:97.91, Y:0.66, Z:0.65 [[ 9.99556174e-01 -2.81704896e-02 -9.68911038e-03 9.79056338e+01] [ 2.81707411e-02 9.99603120e-01 -1.10547650e-04 6.57203735e-01] [ 9.68837915e-03 -1.62450834e-04 9.99953053e-01 6.47202440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30925415399999 meters 0.01468983547870834 Centerline is valid? [True, True] Translation: X:97.94, Y:0.66, Z:0.65 [[ 9.99618669e-01 -2.56520371e-02 -1.02220506e-02 9.79381872e+01] [ 2.56521892e-02 9.99670922e-01 -1.16255474e-04 6.59263679e-01] [ 1.02216690e-02 -1.46006834e-04 9.99947747e-01 6.46900022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33925415399997 meters 0.014373144273603828 Centerline is valid? [True, True] Translation: X:97.97, Y:0.66, Z:0.65 [[ 9.99675243e-01 -2.33766570e-02 -1.01459505e-02 9.79700846e+01] [ 2.33766971e-02 9.99726721e-01 -1.14656659e-04 6.61145536e-01] [ 1.01458582e-02 -1.22559389e-04 9.99948522e-01 6.46881296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36925415399998 meters 0.013730076327985249 Centerline is valid? [True, True] Translation: X:98.00, Y:0.66, Z:0.65 [[ 9.99750574e-01 -1.96433310e-02 -1.06268003e-02 9.80023754e+01] [ 1.96431726e-02 9.99807047e-01 -1.19292687e-04 6.64131038e-01] [ 1.06270931e-02 -8.94811394e-05 9.99943527e-01 6.47065489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39925415399998 meters 0.013702990257412315 Centerline is valid? [True, True] Translation: X:98.03, Y:0.67, Z:0.65 [[ 9.99784529e-01 -1.78079842e-02 -1.06663336e-02 9.80337577e+01] [ 1.78077272e-02 9.99841423e-01 -1.19084513e-04 6.65768209e-01] [ 1.06667628e-02 -7.08843045e-05 9.99943106e-01 6.47264596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42925415399998 meters 0.013636455026343856 Centerline is valid? [True, True] Translation: X:98.06, Y:0.67, Z:0.65 [[ 9.99821962e-01 -1.53920308e-02 -1.09146194e-02 9.80640129e+01] [ 1.53916213e-02 9.99881535e-01 -1.21515980e-04 6.67432480e-01] [ 1.09151968e-02 -4.64993432e-05 9.99940426e-01 6.47184905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45925415399998 meters 0.013612492913330469 Centerline is valid? [True, True] Translation: X:98.09, Y:0.67, Z:0.65 [[ 9.99834116e-01 -1.44221786e-02 -1.11238668e-02 9.80935584e+01] [ 1.44216939e-02 9.99895994e-01 -1.23790639e-04 6.68076409e-01] [ 1.11244952e-02 -3.66548978e-05 9.99938120e-01 6.47688135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48925415399998 meters 0.013601922035045632 Centerline is valid? [True, True] Translation: X:98.12, Y:0.67, Z:0.65 [[ 9.99842097e-01 -1.39632658e-02 -1.09913030e-02 9.81232879e+01] [ 1.39627627e-02 9.99902508e-01 -1.22513545e-04 6.68482547e-01] [ 1.09919421e-02 -3.09747565e-05 9.99939586e-01 6.47792839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51925415399998 meters 0.014884559414814999 Centerline is valid? [True, True] Translation: X:98.15, Y:0.67, Z:0.65 [[ 9.99867793e-01 -1.25926779e-02 -1.02869370e-02 9.81527831e+01] [ 1.25921622e-02 9.99920709e-01 -1.14901061e-04 6.68570681e-01] [ 1.02875683e-02 -1.46489102e-05 9.99947081e-01 6.47664290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54925415399998 meters 0.01358328302445088 Centerline is valid? [True, True] Translation: X:98.18, Y:0.67, Z:0.65 [[ 9.99860061e-01 -1.31920529e-02 -1.02872701e-02 9.81819371e+01] [ 1.31915650e-02 9.99912981e-01 -1.15278381e-04 6.68405968e-01] [ 1.02878957e-02 -2.04429437e-05 9.99947078e-01 6.48979272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57925415399998 meters 0.01357116114236907 Centerline is valid? [True, True] Translation: X:98.21, Y:0.67, Z:0.65 [[ 9.99856623e-01 -1.35806960e-02 -1.01143022e-02 9.82115655e+01] [ 1.35802412e-02 9.99907778e-01 -1.13645893e-04 6.67697495e-01] [ 1.01149128e-02 -2.37250648e-05 9.99948843e-01 6.49606896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60925415399998 meters 0.013635481798702146 Centerline is valid? [True, True] Translation: X:98.24, Y:0.67, Z:0.65 [[ 9.99832342e-01 -1.55225846e-02 -9.71273776e-03 9.82411441e+01] [ 1.55222546e-02 9.99879517e-01 -1.09356053e-04 6.65155922e-01] [ 9.71326502e-03 -4.14258699e-05 9.99952824e-01 6.49980699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63925415399999 meters 0.013751510055853575 Centerline is valid? [True, True] Translation: X:98.27, Y:0.66, Z:0.65 [[ 9.99802928e-01 -1.71239388e-02 -1.00436554e-02 9.82713883e+01] [ 1.71236642e-02 9.99853373e-01 -1.13344589e-04 6.63471103e-01] [ 1.00441237e-02 -5.86619306e-05 9.99949555e-01 6.50041667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66925415399999 meters 0.014092939563523928 Centerline is valid? [True, True] Translation: X:98.30, Y:0.66, Z:0.65 [[ 9.99711799e-01 -2.15436606e-02 -1.05919296e-02 9.83016220e+01] [ 2.15436039e-02 9.99767902e-01 -1.19464612e-04 6.57883013e-01] [ 1.05920449e-02 -1.08758153e-04 9.99943897e-01 6.49376728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69925415399997 meters 0.014363359944541425 Centerline is valid? [True, True] Translation: X:98.33, Y:0.66, Z:0.65 [[ 9.99644586e-01 -2.41558177e-02 -1.12782391e-02 9.83329457e+01] [ 2.41559229e-02 9.99708195e-01 -1.26909919e-04 6.55729617e-01] [ 1.12780136e-02 -1.45571460e-04 9.99936391e-01 6.49421880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72925415399997 meters 0.015472136872759746 Centerline is valid? [True, True] Translation: X:98.36, Y:0.65, Z:0.65 [[ 9.99487167e-01 -2.97299343e-02 -1.18967839e-02 9.83640703e+01] [ 2.97304525e-02 9.99557944e-01 -1.33328380e-04 6.49977087e-01] [ 1.18954886e-02 -2.20436763e-04 9.99929222e-01 6.48585216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75925415399998 meters 0.016298538348436108 Centerline is valid? [True, True] Translation: X:98.39, Y:0.65, Z:0.65 [[ 9.99401544e-01 -3.24007383e-02 -1.21138703e-02 9.83949339e+01] [ 3.24014798e-02 9.99474925e-01 -1.35091882e-04 6.47162845e-01] [ 1.21118867e-02 -2.57496290e-04 9.99926615e-01 6.48218577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78925415399998 meters 0.016806212780209103 Centerline is valid? [True, True] Translation: X:98.43, Y:0.65, Z:0.65 [[ 9.99317576e-01 -3.47180352e-02 -1.26111450e-02 9.84268294e+01] [ 3.47190335e-02 9.99397103e-01 -1.39833339e-04 6.45101540e-01] [ 1.26083966e-02 -2.98108853e-04 9.99920467e-01 6.48104637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81925415399998 meters 0.017972047340533887 Centerline is valid? [True, True] Translation: X:98.46, Y:0.64, Z:0.65 [[ 9.99172551e-01 -3.88157085e-02 -1.21471769e-02 9.84587199e+01] [ 3.88169488e-02 9.99246329e-01 -1.33737464e-04 6.40625395e-01] [ 1.21432130e-02 -3.37889539e-04 9.99926211e-01 6.48378606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84925415399998 meters 0.017601376672945146 Centerline is valid? [True, True] Translation: X:98.49, Y:0.64, Z:0.65 [[ 9.99113349e-01 -4.04231782e-02 -1.17678746e-02 9.84905170e+01] [ 4.04244649e-02 9.99182589e-01 -1.28599043e-04 6.40948919e-01] [ 1.17634538e-02 -3.47225014e-04 9.99930748e-01 6.48932298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87925415399998 meters 0.01980182760705846 Centerline is valid? [True, True] Translation: X:98.52, Y:0.64, Z:0.65 [[ 9.99063599e-01 -4.17181233e-02 -1.14683584e-02 9.85218627e+01] [ 4.17194392e-02 9.99129357e-01 -1.24567211e-04 6.36183064e-01] [ 1.14635702e-02 -3.54002914e-04 9.99934228e-01 6.48606879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90925415399998 meters 0.020303530671985353 Centerline is valid? [True, True] Translation: X:98.55, Y:0.63, Z:0.65 [[ 9.98967163e-01 -4.40832991e-02 -1.10122454e-02 9.85535018e+01] [ 4.40846625e-02 9.99027792e-01 -1.19022628e-04 6.34720382e-01] [ 1.10067861e-02 -3.66571424e-04 9.99939356e-01 6.49101269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93925415399998 meters 0.020303530671985353 Centerline is valid? [True, True] Translation: X:98.59, Y:0.63, Z:0.65 [[ 9.98970311e-01 -4.40118997e-02 -1.10122525e-02 9.85852093e+01] [ 4.40132661e-02 9.99030940e-01 -1.18359017e-04 6.34999674e-01] [ 1.10067902e-02 -3.66448055e-04 9.99939356e-01 6.49320903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96925415399998 meters 0.019616228285897996 Centerline is valid? [True, True] Translation: X:98.62, Y:0.64, Z:0.65 [[ 9.98940823e-01 -4.47757019e-02 -1.06004325e-02 9.86172000e+01] [ 4.47770188e-02 9.98997000e-01 -1.13186903e-04 6.36092726e-01] [ 1.05948683e-02 -3.61588747e-04 9.99943807e-01 6.49705708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99925415399998 meters 0.02024712861958231 Centerline is valid? [True, True] Translation: X:98.65, Y:0.64, Z:0.65 [[ 9.98885534e-01 -4.59549952e-02 -1.07623539e-02 9.86494955e+01] [ 4.59564296e-02 9.98943439e-01 -1.14120142e-04 6.35561846e-01] [ 1.07562272e-02 -3.80606400e-04 9.99942078e-01 6.49574159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02925415399999 meters 0.02297310903110835 Centerline is valid? [True, True] Translation: X:98.68, Y:0.63, Z:0.65 [[ 9.98865419e-01 -4.63652200e-02 -1.08692828e-02 9.86804821e+01] [ 4.63667177e-02 9.98924479e-01 -1.14295112e-04 6.31466385e-01] [ 1.08628919e-02 -3.89807531e-04 9.99940921e-01 6.48912311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05925415399999 meters 0.021245003985145918 Centerline is valid? [True, True] Translation: X:98.71, Y:0.63, Z:0.65 [[ 9.98825398e-01 -4.72080692e-02 -1.09188635e-02 9.87121339e+01] [ 4.72096419e-02 9.98884997e-01 -1.13808354e-04 6.34665040e-01] [ 1.09120616e-02 -4.01800960e-04 9.99940381e-01 6.49054724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08925415399997 meters 0.02141573784825132 Centerline is valid? [True, True] Translation: X:98.74, Y:0.64, Z:0.65 [[ 9.98762472e-01 -4.84142579e-02 -1.13834947e-02 9.87439861e+01] [ 4.84160538e-02 9.98827248e-01 -1.17927375e-04 6.35934865e-01] [ 1.13758541e-02 -4.33362457e-04 9.99935199e-01 6.48040984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11925415399998 meters 0.021389695190518202 Centerline is valid? [True, True] Translation: X:98.78, Y:0.64, Z:0.65 [[ 9.98691579e-01 -4.98172280e-02 -1.15487872e-02 9.87763612e+01] [ 4.98191801e-02 9.98758247e-01 -1.18776945e-04 6.35446459e-01] [ 1.15403636e-02 -4.56729575e-04 9.99933303e-01 6.48775427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14925415399998 meters 0.023684071814771054 Centerline is valid? [True, True] Translation: X:98.81, Y:0.63, Z:0.65 [[ 9.98559052e-01 -5.21568100e-02 -1.26288304e-02 9.88071776e+01] [ 5.21593407e-02 9.98638767e-01 -1.29116774e-04 6.33523421e-01] [ 1.26183739e-02 -5.29780743e-04 9.99920245e-01 6.47911977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17925415399998 meters 0.02237770508552161 Centerline is valid? [True, True] Translation: X:98.84, Y:0.64, Z:0.65 [[ 9.98495372e-01 -5.32583605e-02 -1.30590985e-02 9.88393706e+01] [ 5.32611700e-02 9.98580608e-01 -1.32799119e-04 6.36721703e-01] [ 1.30476352e-02 -5.62943560e-04 9.99914718e-01 6.48300476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20925415399998 meters 0.024454722885759533 Centerline is valid? [True, True] Translation: X:98.87, Y:0.63, Z:0.65 [[ 9.98446406e-01 -5.41112675e-02 -1.32945266e-02 9.88707011e+01] [ 5.41142664e-02 9.98534741e-01 -1.34320802e-04 6.34978075e-01] [ 1.32823150e-02 -5.85311434e-04 9.99911615e-01 6.48012050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23925415399998 meters 0.02274293814377222 Centerline is valid? [True, True] Translation: X:98.90, Y:0.64, Z:0.65 [[ 9.98373074e-01 -5.53681586e-02 -1.36224971e-02 9.89031438e+01] [ 5.53714361e-02 9.98465816e-01 -1.36744047e-04 6.39876265e-01] [ 1.36091690e-02 -6.17775655e-04 9.99907200e-01 6.49265676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26925415399998 meters 0.023581841826763168 Centerline is valid? [True, True] Translation: X:98.94, Y:0.64, Z:0.65 [[ 9.98384055e-01 -5.52887003e-02 -1.31315722e-02 9.89354491e+01] [ 5.52917531e-02 9.98470232e-01 -1.30741353e-04 6.40846385e-01] [ 1.31187124e-02 -5.95537562e-04 9.99913769e-01 6.49040336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29925415399998 meters 0.02257267946769007 Centerline is valid? [True, True] Translation: X:98.97, Y:0.65, Z:0.65 [[ 9.98409984e-01 -5.49835928e-02 -1.24221044e-02 9.89679709e+01] [ 5.49863136e-02 9.98487101e-01 -1.22657272e-04 6.46105841e-01] [ 1.24100552e-02 -5.60583486e-04 9.99922835e-01 6.50551263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32925415399998 meters 0.023297946425058634 Centerline is valid? [True, True] Translation: X:99.00, Y:0.65, Z:0.65 [[ 9.98428033e-01 -5.47341773e-02 -1.20678491e-02 9.89990227e+01] [ 5.47367365e-02 9.98500814e-01 -1.18369248e-04 6.46721078e-01] [ 1.20562360e-02 -5.42371501e-04 9.99927174e-01 6.51083824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35925415399998 meters 0.024738328329180288 Centerline is valid? [True, True] Translation: X:99.03, Y:0.65, Z:0.65 [[ 9.98470759e-01 -5.40345302e-02 -1.16796234e-02 9.90304452e+01] [ 5.40368870e-02 9.98538934e-01 -1.13927209e-04 6.48087201e-01] [ 1.16687147e-02 -5.17377506e-04 9.99931784e-01 6.51010649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38925415399999 meters 0.022985010591244057 Centerline is valid? [True, True] Translation: X:99.06, Y:0.65, Z:0.65 [[ 9.98487923e-01 -5.37157106e-02 -1.16828648e-02 9.90628376e+01] [ 5.37180555e-02 9.98556136e-01 -1.13228816e-04 6.52863841e-01] [ 1.16720785e-02 -5.14523174e-04 9.99931747e-01 6.51402835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41925415399999 meters 0.023465185997538156 Centerline is valid? [True, True] Translation: X:99.09, Y:0.65, Z:0.65 [[ 9.98500393e-01 -5.34956987e-02 -1.16264940e-02 9.90945721e+01] [ 5.34980220e-02 9.98567949e-01 -1.11316400e-04 6.54501734e-01] [ 1.16157993e-02 -5.10844965e-04 9.99932404e-01 6.51404560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44925415399997 meters 0.024010204753366387 Centerline is valid? [True, True] Translation: X:99.13, Y:0.66, Z:0.65 [[ 9.98453678e-01 -5.42041702e-02 -1.23353452e-02 9.91270859e+01] [ 5.42068608e-02 9.98529720e-01 -1.16368263e-04 6.57474709e-01] [ 1.23235165e-02 -5.52472021e-04 9.99923910e-01 6.51417784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47925415399997 meters 0.02468600463205107 Centerline is valid? [True, True] Translation: X:99.16, Y:0.66, Z:0.65 [[ 9.98406723e-01 -5.49032832e-02 -1.30247461e-02 9.91589178e+01] [ 5.49063549e-02 9.98491501e-01 -1.21901714e-04 6.58595433e-01] [ 1.30117911e-02 -5.93433841e-04 9.99915167e-01 6.51613984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50925415399998 meters 0.026095394455747368 Centerline is valid? [True, True] Translation: X:99.19, Y:0.66, Z:0.65 [[ 9.98267553e-01 -5.72955862e-02 -1.33831363e-02 9.91908183e+01] [ 5.72990552e-02 9.98357052e-01 -1.24399633e-04 6.60423050e-01] [ 1.33682761e-02 -6.42656949e-04 9.99910434e-01 6.51421778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53925415399998 meters 0.027540058555514505 Centerline is valid? [True, True] Translation: X:99.22, Y:0.66, Z:0.65 [[ 9.98213017e-01 -5.81015556e-02 -1.39636164e-02 9.92225161e+01] [ 5.81054214e-02 9.98310444e-01 -1.29033612e-04 6.61093622e-01] [ 1.39475212e-02 -6.82558786e-04 9.99902496e-01 6.50295571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56925415399998 meters 0.028307986700050018 Centerline is valid? [True, True] Translation: X:99.25, Y:0.66, Z:0.65 [[ 9.98115808e-01 -5.97506773e-02 -1.39531193e-02 9.92532642e+01] [ 5.97547153e-02 9.98213082e-01 -1.27695160e-04 6.60639468e-01] [ 1.39358161e-02 -7.06310115e-04 9.99902642e-01 6.51693639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59925415399998 meters 0.0296097143789778 Centerline is valid? [True, True] Translation: X:99.28, Y:0.66, Z:0.65 [[ 9.97967309e-01 -6.22264397e-02 -1.37520752e-02 9.92848570e+01] [ 6.22306115e-02 9.98061789e-01 -1.24770215e-04 6.62348105e-01] [ 1.37331847e-02 -7.31283449e-04 9.99905428e-01 6.52497532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62925415399998 meters 0.030162102493160026 Centerline is valid? [True, True] Translation: X:99.32, Y:0.66, Z:0.65 [[ 9.97940136e-01 -6.27246147e-02 -1.34576564e-02 9.93171928e+01] [ 6.27286643e-02 9.98030611e-01 -1.21402971e-04 6.63395164e-01] [ 1.34387680e-02 -7.23027913e-04 9.99909434e-01 6.52941834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65925415399998 meters 0.030640197358101345 Centerline is valid? [True, True] Translation: X:99.35, Y:0.67, Z:0.65 [[ 9.97911055e-01 -6.31255495e-02 -1.37364961e-02 9.93489954e+01] [ 6.31298198e-02 9.98005316e-01 -1.22944719e-04 6.66918248e-01] [ 1.37168571e-02 -7.44494630e-04 9.99905642e-01 6.53591441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68925415399998 meters 0.03158498795210303 Centerline is valid? [True, True] Translation: X:99.38, Y:0.67, Z:0.65 [[ 9.97930312e-01 -6.28236202e-02 -1.37216751e-02 9.93798763e+01] [ 6.28278645e-02 9.98024371e-01 -1.21972064e-04 6.67771268e-01] [ 1.37022289e-02 -7.40383926e-04 9.99905846e-01 6.53953168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71925415399998 meters 0.032307542610954455 Centerline is valid? [True, True] Translation: X:99.41, Y:0.67, Z:0.65 [[ 9.97971798e-01 -6.21318732e-02 -1.38535665e-02 9.94107300e+01] [ 6.21361429e-02 9.98067675e-01 -1.22423027e-04 6.69375593e-01] [ 1.38344033e-02 -7.38632461e-04 9.99904027e-01 6.54227177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74925415399998 meters 0.031022839859470873 Centerline is valid? [True, True] Translation: X:99.44, Y:0.67, Z:0.66 [[ 9.98021811e-01 -6.13103887e-02 -1.39104449e-02 9.94427454e+01] [ 6.13146257e-02 9.98118481e-01 -1.22087718e-04 6.73528682e-01] [ 1.38917574e-02 -7.31067518e-04 9.99903238e-01 6.55439240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77925415399999 meters 0.0310088127411336 Centerline is valid? [True, True] Translation: X:99.47, Y:0.68, Z:0.66 [[ 9.98136735e-01 -5.95709629e-02 -1.32045088e-02 9.94736353e+01] [ 5.95746377e-02 9.98223847e-01 -1.15224479e-04 6.78292916e-01] [ 1.31879196e-02 -6.71644041e-04 9.99912810e-01 6.56500732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80925415399997 meters 0.02542937087475505 Centerline is valid? [True, True] Translation: X:99.50, Y:0.69, Z:0.66 [[ 9.98296147e-01 -5.70408520e-02 -1.22940788e-02 9.95045926e+01] [ 5.70438512e-02 9.98371668e-01 -1.06862712e-04 6.90574539e-01] [ 1.22801555e-02 -5.94620968e-04 9.99924419e-01 6.58319630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83925415399997 meters 0.03009615176659261 Centerline is valid? [True, True] Translation: X:99.54, Y:0.69, Z:0.66 [[ 9.98404960e-01 -5.50939211e-02 -1.23367991e-02 9.95355809e+01] [ 5.50967984e-02 9.98481012e-01 -1.06783555e-04 6.86042696e-01] [ 1.23239428e-02 -5.73104901e-04 9.99923893e-01 6.58185507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86925415399998 meters 0.02960663589176583 Centerline is valid? [True, True] Translation: X:99.57, Y:0.69, Z:0.66 [[ 9.98530350e-01 -5.27370823e-02 -1.24876335e-02 9.95665786e+01] [ 5.27398519e-02 9.98608280e-01 -1.07650645e-04 6.89064449e-01] [ 1.24759314e-02 -5.51103505e-04 9.99922021e-01 6.58061382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89925415399998 meters 0.02330315596860173 Centerline is valid? [True, True] Translation: X:99.60, Y:0.70, Z:0.66 [[ 9.98643262e-01 -5.05340789e-02 -1.25674661e-02 9.95976658e+01] [ 5.05367154e-02 9.98722198e-01 -1.07902181e-04 7.00723143e-01] [ 1.25568601e-02 -5.27362670e-04 9.99921020e-01 6.58984236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92925415399998 meters 0.02303317016049832 Centerline is valid? [True, True] Translation: X:99.63, Y:0.71, Z:0.66 [[ 9.98861443e-01 -4.59779950e-02 -1.27217121e-02 9.96279343e+01] [ 4.59803308e-02 9.98942339e-01 -1.08970450e-04 7.07202363e-01] [ 1.27132671e-02 -4.76102150e-04 9.99919070e-01 6.57646282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95925415399998 meters 0.0219544873387311 Centerline is valid? [True, True] Translation: X:99.66, Y:0.71, Z:0.66 [[ 9.98908667e-01 -4.50422021e-02 -1.23562047e-02 9.96592312e+01] [ 4.50443378e-02 9.98984983e-01 -1.05547097e-04 7.09088783e-01] [ 1.23484170e-02 -4.51145149e-04 9.99923654e-01 6.59897490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98925415399998 meters 0.02082111515927756 Centerline is valid? [True, True] Translation: X:99.69, Y:0.71, Z:0.66 [[ 9.99052600e-01 -4.16491560e-02 -1.26194697e-02 9.96907221e+01] [ 4.16511206e-02 9.99132210e-01 -1.07210717e-04 7.13555012e-01] [ 1.26129839e-02 -4.18505909e-04 9.99920366e-01 6.59734522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01925415399998 meters 0.020259888758875296 Centerline is valid? [True, True] Translation: X:99.72, Y:0.72, Z:0.66 [[ 9.99089541e-01 -4.05636153e-02 -1.32167322e-02 9.97230133e+01] [ 4.05656848e-02 9.99176868e-01 -1.11576259e-04 7.15851739e-01] [ 1.32103790e-02 -4.24671118e-04 9.99912649e-01 6.59735935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04925415399998 meters 0.019675930108381638 Centerline is valid? [True, True] Translation: X:99.76, Y:0.72, Z:0.66 [[ 9.99143795e-01 -3.92288861e-02 -1.31442352e-02 9.97551995e+01] [ 3.92308299e-02 9.99230169e-01 -1.10026506e-04 7.17973141e-01] [ 1.31384326e-02 -4.05726955e-04 9.99913605e-01 6.59537615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07925415399998 meters 0.0196335808099911 Centerline is valid? [True, True] Translation: X:99.79, Y:0.72, Z:0.66 [[ 9.99228134e-01 -3.68711827e-02 -1.35518663e-02 9.97866372e+01] [ 3.68730441e-02 9.99319952e-01 -1.12572080e-04 7.19591079e-01] [ 1.35468010e-02 -3.87213372e-04 9.99908163e-01 6.58523607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.10925415399998 meters 0.01863776103902041 Centerline is valid? [True, True] Translation: X:99.82, Y:0.72, Z:0.66 [[ 9.99276854e-01 -3.55033531e-02 -1.36117610e-02 9.98192475e+01] [ 3.55051173e-02 9.99369488e-01 -1.12099994e-04 7.22419725e-01] [ 1.36071586e-02 -3.71268243e-04 9.99907349e-01 6.58852653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13925415399999 meters 0.01772018448560148 Centerline is valid? [True, True] Translation: X:99.85, Y:0.73, Z:0.66 [[ 9.99372917e-01 -3.27333828e-02 -1.35017961e-02 9.98519715e+01] [ 3.27348823e-02 9.99464064e-01 -1.09986432e-04 7.26178098e-01] [ 1.34981602e-02 -3.32062244e-04 9.99908841e-01 6.59073289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16925415399999 meters 0.017602331737763904 Centerline is valid? [True, True] Translation: X:99.88, Y:0.73, Z:0.66 [[ 9.99413774e-01 -3.13478886e-02 -1.37629482e-02 9.98836854e+01] [ 3.13493309e-02 9.99508483e-01 -1.10987021e-04 7.27285020e-01] [ 1.37596627e-02 -3.20537261e-04 9.99905280e-01 6.59247303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19925415399997 meters 0.017226771700848367 Centerline is valid? [True, True] Translation: X:99.92, Y:0.73, Z:0.66 [[ 9.99454754e-01 -3.00106068e-02 -1.37680353e-02 9.99157006e+01] [ 3.00119369e-02 9.99549534e-01 -1.10045523e-04 7.28606623e-01] [ 1.37651358e-02 -3.03219885e-04 9.99905210e-01 6.59292437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22925415399997 meters 0.016389382360611385 Centerline is valid? [True, True] Translation: X:99.95, Y:0.73, Z:0.66 [[ 9.99530757e-01 -2.75791359e-02 -1.33287702e-02 9.99480602e+01] [ 2.75801789e-02 9.99619589e-01 -1.05593469e-04 7.31754095e-01] [ 1.33266119e-02 -2.62065945e-04 9.99911162e-01 6.59984198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25925415399998 meters 0.01636449709058996 Centerline is valid? [True, True] Translation: X:99.98, Y:0.73, Z:0.66 [[ 9.99559924e-01 -2.65784994e-02 -1.31735153e-02 9.99802761e+01] [ 2.65794438e-02 9.99646699e-01 -1.03415743e-04 7.32675751e-01] [ 1.31716097e-02 -2.46774477e-04 9.99913220e-01 6.60047795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28925415399998 meters 0.015931507325624438 Centerline is valid? [True, True] Translation: X:100.01, Y:0.73, Z:0.66 [[ 9.99610203e-01 -2.47302143e-02 -1.29559907e-02 1.00012302e+02] [ 2.47309845e-02 9.99694137e-01 -1.00782535e-04 7.33619664e-01] [ 1.29545204e-02 -2.19671156e-04 9.99916063e-01 6.59933820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31925415399998 meters 0.015846342835536386 Centerline is valid? [True, True] Translation: X:100.04, Y:0.73, Z:0.66 [[ 9.99631817e-01 -2.39014322e-02 -1.28433764e-02 1.00044149e+02] [ 2.39021312e-02 9.99714298e-01 -9.90959582e-05 7.33986135e-01] [ 1.28420755e-02 -2.07924594e-04 9.99917516e-01 6.59676088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34925415399998 meters 0.01546407816992776 Centerline is valid? [True, True] Translation: X:100.08, Y:0.74, Z:0.66 [[ 9.99670221e-01 -2.22211505e-02 -1.28713055e-02 1.00076361e+02] [ 2.22217236e-02 9.99753062e-01 -9.85053897e-05 7.35262011e-01] [ 1.28703159e-02 -1.87549688e-04 9.99917156e-01 6.59834643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37925415399998 meters 0.0153698133545407 Centerline is valid? [True, True] Translation: X:100.11, Y:0.74, Z:0.66 [[ 9.99676921e-01 -2.19151095e-02 -1.28756107e-02 1.00108915e+02] [ 2.19156697e-02 9.99759818e-01 -9.75974395e-05 7.35575223e-01] [ 1.28746571e-02 -1.84611724e-04 9.99917101e-01 6.59832519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40925415399998 meters 0.015483281270208087 Centerline is valid? [True, True] Translation: X:100.14, Y:0.73, Z:0.66 [[ 9.99683471e-01 -2.14720620e-02 -1.31113739e-02 1.00140072e+02] [ 2.14726160e-02 9.99769432e-01 -9.85324247e-05 7.34864836e-01] [ 1.31104665e-02 -1.83034261e-04 9.99914037e-01 6.59053176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43925415399998 meters 0.015473498059973407 Centerline is valid? [True, True] Translation: X:100.17, Y:0.73, Z:0.66 [[ 9.99681906e-01 -2.14049269e-02 -1.33384816e-02 1.00171115e+02] [ 2.14055040e-02 9.99770871e-01 -9.95128845e-05 7.34530677e-01] [ 1.33375554e-02 -1.86035690e-04 9.99911034e-01 6.58764962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46925415399998 meters 0.015375941396859013 Centerline is valid? [True, True] Translation: X:100.20, Y:0.74, Z:0.66 [[ 9.99675938e-01 -2.14517736e-02 -1.37054823e-02 1.00202568e+02] [ 2.14523959e-02 9.99769866e-01 -1.01626205e-04 7.35024349e-01] [ 1.37045083e-02 -1.92422161e-04 9.99906070e-01 6.58863134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49925415399998 meters 0.015524924744573433 Centerline is valid? [True, True] Translation: X:100.23, Y:0.73, Z:0.66 [[ 9.99675933e-01 -2.17002320e-02 -1.33090137e-02 1.00233418e+02] [ 2.17008542e-02 9.99764504e-01 -9.76847053e-05 7.34913983e-01] [ 1.33079993e-02 -1.91163917e-04 9.99911426e-01 6.58426286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52925415399999 meters 0.01536913381478135 Centerline is valid? [True, True] Translation: X:100.27, Y:0.74, Z:0.66 [[ 9.99675641e-01 -2.16505076e-02 -1.34114998e-02 1.00265854e+02] [ 2.16511524e-02 9.99765582e-01 -9.71328474e-05 7.35263518e-01] [ 1.34104589e-02 -1.93273086e-04 9.99910057e-01 6.58986759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55925415399997 meters 0.017431409736090427 Centerline is valid? [True, True] Translation: X:100.30, Y:0.73, Z:0.66 [[ 9.99659780e-01 -2.27751891e-02 -1.27127636e-02 1.00296634e+02] [ 2.27758747e-02 9.99740592e-01 -9.08622847e-05 7.29853957e-01] [ 1.27115352e-02 -1.98712939e-04 9.99919185e-01 6.57359860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58925415399997 meters 0.015768315086744724 Centerline is valid? [True, True] Translation: X:100.33, Y:0.73, Z:0.66 [[ 9.99646571e-01 -2.36034895e-02 -1.22314618e-02 1.00328720e+02] [ 2.36042011e-02 9.99721378e-01 -8.61993658e-05 7.33050126e-01] [ 1.22300884e-02 -2.02544983e-04 9.99925189e-01 6.59450759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61925415399998 meters 0.01648276633548135 Centerline is valid? [True, True] Translation: X:100.36, Y:0.73, Z:0.66 [[ 9.99601606e-01 -2.61883346e-02 -1.05261702e-02 1.00360845e+02] [ 2.61890121e-02 9.99657006e-01 -7.34964216e-05 7.30171229e-01] [ 1.05244846e-02 -2.02202858e-04 9.99944596e-01 6.59789214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64925415399998 meters 0.016842549507785336 Centerline is valid? [True, True] Translation: X:100.39, Y:0.73, Z:0.66 [[ 9.99566098e-01 -2.77217467e-02 -9.95597056e-03 1.00392518e+02] [ 2.77224351e-02 9.99615657e-01 -6.88838966e-05 7.28630440e-01] [ 9.95405363e-03 -2.07149740e-04 9.99950436e-01 6.60031727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67925415399998 meters 0.017456331065370447 Centerline is valid? [True, True] Translation: X:100.42, Y:0.73, Z:0.66 [[ 9.99530486e-01 -2.91813717e-02 -9.34108187e-03 1.00424042e+02] [ 2.91820458e-02 9.99574111e-01 -6.41531083e-05 7.26658566e-01] [ 9.33897569e-03 -2.08468891e-04 9.99956369e-01 6.60535974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70925415399998 meters 0.018155891073632163 Centerline is valid? [True, True] Translation: X:100.46, Y:0.72, Z:0.66 [[ 9.99486871e-01 -3.06834584e-02 -9.19353333e-03 1.00455966e+02] [ 3.06841796e-02 9.99529128e-01 -6.26184067e-05 7.24965511e-01] [ 9.19112570e-03 -2.19509753e-04 9.99957737e-01 6.60438534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73925415399998 meters 0.019157119058565514 Centerline is valid? [True, True] Translation: X:100.49, Y:0.72, Z:0.66 [[ 9.99405914e-01 -3.32654652e-02 -9.01263850e-03 1.00486608e+02] [ 3.32662699e-02 9.99446523e-01 -6.06538319e-05 7.21969621e-01] [ 9.00966788e-03 -2.39199066e-04 9.99959384e-01 6.60255524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76925415399998 meters 0.019813033653660387 Centerline is valid? [True, True] Translation: X:100.52, Y:0.72, Z:0.66 [[ 9.99368140e-01 -3.43783076e-02 -9.02515153e-03 1.00518203e+02] [ 3.43791686e-02 9.99408860e-01 -5.97787805e-05 7.20195138e-01] [ 9.02187149e-03 -2.50536197e-04 9.99959271e-01 6.59982967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79925415399998 meters 0.020497119275306373 Centerline is valid? [True, True] Translation: X:100.55, Y:0.72, Z:0.66 [[ 9.99327447e-01 -3.55816932e-02 -8.86543794e-03 1.00550122e+02] [ 3.55825756e-02 9.99366738e-01 -5.82336650e-05 7.18648350e-01] [ 8.86189585e-03 -2.57260616e-04 9.99960700e-01 6.59918994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.82925415399998 meters 0.019749133380255007 Centerline is valid? [True, True] Translation: X:100.58, Y:0.72, Z:0.66 [[ 9.99258567e-01 -3.74015504e-02 -9.13452622e-03 1.00581750e+02] [ 3.74025686e-02 9.99300277e-01 -5.93919809e-05 7.18576273e-01] [ 9.13035593e-03 -2.82306798e-04 9.99958278e-01 6.59257627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85925415399998 meters 0.019749133380255007 Centerline is valid? [True, True] Translation: X:100.61, Y:0.72, Z:0.66 [[ 9.99262598e-01 -3.72937129e-02 -9.13453015e-03 1.00614310e+02] [ 3.72947322e-02 9.99304308e-01 -5.87807290e-05 7.18694570e-01] [ 9.13036748e-03 -2.81932472e-04 9.99958278e-01 6.59483139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88925415399999 meters 0.019883340657766417 Centerline is valid? [True, True] Translation: X:100.65, Y:0.72, Z:0.66 [[ 9.99249909e-01 -3.75448355e-02 -9.48709564e-03 1.00646814e+02] [ 3.75459555e-02 9.99294900e-01 -6.00891613e-05 7.17576487e-01] [ 9.48266233e-03 -2.96157982e-04 9.99954995e-01 6.59132979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91925415399999 meters 0.022209215146133613 Centerline is valid? [True, True] Translation: X:100.68, Y:0.71, Z:0.66 [[ 9.99266854e-01 -3.70313421e-02 -9.71768417e-03 1.00677625e+02] [ 3.70324993e-02 9.99314060e-01 -6.08907819e-05 7.12351939e-01] [ 9.71327329e-03 -2.99023992e-04 9.99952780e-01 6.58020040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94925415399997 meters 0.0195776688206073 Centerline is valid? [True, True] Translation: X:100.71, Y:0.72, Z:0.66 [[ 9.99297921e-01 -3.62102923e-02 -9.61661587e-03 1.00710176e+02] [ 3.62113929e-02 9.99344151e-01 -5.96984268e-05 7.16644444e-01] [ 9.61247051e-03 -2.88574542e-04 9.99953757e-01 6.58470252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97925415399997 meters 0.0191940992815398 Centerline is valid? [True, True] Translation: X:100.74, Y:0.72, Z:0.66 [[ 9.99346117e-01 -3.48862447e-02 -9.50206092e-03 1.00742659e+02] [ 3.48872658e-02 9.99391252e-01 -5.83144650e-05 7.17513946e-01] [ 9.49831094e-03 -2.73224591e-04 9.99954853e-01 6.58832743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00925415399998 meters 0.01866743051416016 Centerline is valid? [True, True] Translation: X:100.78, Y:0.72, Z:0.66 [[ 9.99403153e-01 -3.33618945e-02 -8.96219485e-03 1.00775394e+02] [ 3.33627475e-02 9.99443307e-01 -5.43522126e-05 7.19093289e-01] [ 8.95901895e-03 -2.44683671e-04 9.99959837e-01 6.59376172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03925415399998 meters 0.017861531254989238 Centerline is valid? [True, True] Translation: X:100.81, Y:0.72, Z:0.66 [[ 9.99514339e-01 -2.99872255e-02 -8.47654852e-03 1.00806933e+02] [ 2.99878727e-02 9.99550261e-01 -5.07635054e-05 7.22364461e-01] [ 8.47425855e-03 -2.03454806e-04 9.99964072e-01 6.60307782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06925415399998 meters 0.016607874412297455 Centerline is valid? [True, True] Translation: X:100.84, Y:0.73, Z:0.66 [[ 9.99602379e-01 -2.69806322e-02 -8.19321995e-03 1.00839039e+02] [ 2.69811386e-02 9.99635942e-01 -4.87342420e-05 7.26042939e-01] [ 8.19155202e-03 -1.72347539e-04 9.99966434e-01 6.60521738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09925415399998 meters 0.016616973889266945 Centerline is valid? [True, True] Translation: X:100.87, Y:0.73, Z:0.66 [[ 9.99634257e-01 -2.57148133e-02 -8.37266070e-03 1.00869835e+02] [ 2.57153027e-02 9.99669306e-01 -4.92068641e-05 7.26121750e-01] [ 8.37115725e-03 -1.66116637e-04 9.99964947e-01 6.60368686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12925415399998 meters 0.016471782259021232 Centerline is valid? [True, True] Translation: X:100.90, Y:0.73, Z:0.66 [[ 9.99656029e-01 -2.48723487e-02 -8.31800997e-03 1.00902479e+02] [ 2.48728066e-02 9.99690623e-01 -4.84130402e-05 7.26187390e-01] [ 8.31664071e-03 -1.58495866e-04 9.99965404e-01 6.59880056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15925415399998 meters 0.01645690301883965 Centerline is valid? [True, True] Translation: X:100.93, Y:0.73, Z:0.66 [[ 9.99669030e-01 -2.43328430e-02 -8.35118532e-03 1.00934651e+02] [ 2.43332907e-02 9.99703900e-01 -4.80082041e-05 7.26153521e-01] [ 8.34988072e-03 -1.55219505e-04 9.99965127e-01 6.59250126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18925415399998 meters 0.01608361463293196 Centerline is valid? [True, True] Translation: X:100.97, Y:0.73, Z:0.66 [[ 9.99666000e-01 -2.40866507e-02 -9.36598573e-03 1.00966582e+02] [ 2.40872098e-02 9.99709860e-01 -5.31124220e-05 7.26700903e-01] [ 9.36454758e-03 -1.72505781e-04 9.99956137e-01 6.58399679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21925415399998 meters 0.016315028452879927 Centerline is valid? [True, True] Translation: X:101.00, Y:0.73, Z:0.66 [[ 9.99630134e-01 -2.50332757e-02 -1.06268242e-02 1.00999011e+02] [ 2.50340579e-02 9.99686597e-01 -5.94243213e-05 7.26668290e-01] [ 1.06249813e-02 -2.06630189e-04 9.99943532e-01 6.57837387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24925415399998 meters 0.01655953517185194 Centerline is valid? [True, True] Translation: X:101.03, Y:0.73, Z:0.66 [[ 9.99607727e-01 -2.56968794e-02 -1.11382942e-02 1.01030847e+02] [ 2.56977892e-02 9.99669755e-01 -6.14570288e-05 7.26683735e-01] [ 1.11361951e-02 -2.24796616e-04 9.99937965e-01 6.57603627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27925415399999 meters 0.016340983640624588 Centerline is valid? [True, True] Translation: X:101.06, Y:0.73, Z:0.66 [[ 9.99586576e-01 -2.62650812e-02 -1.16970928e-02 1.01063337e+02] [ 2.62661336e-02 9.99654984e-01 -6.36681958e-05 7.27559870e-01] [ 1.16947294e-02 -2.43595530e-04 9.99931585e-01 6.57566441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30925415399997 meters 0.017503779643109972 Centerline is valid? [True, True] Translation: X:101.09, Y:0.73, Z:0.66 [[ 9.99534601e-01 -2.80954473e-02 -1.18839449e-02 1.01094703e+02] [ 2.80966723e-02 9.99605209e-01 -6.38991138e-05 7.25009716e-01] [ 1.18810485e-02 -2.70029930e-04 9.99929381e-01 6.56992617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33925415399997 meters 0.017794545239207128 Centerline is valid? [True, True] Translation: X:101.13, Y:0.72, Z:0.66 [[ 9.99517896e-01 -2.87573271e-02 -1.17043178e-02 1.01127207e+02] [ 2.87585690e-02 9.99586385e-01 -6.22254765e-05 7.24289392e-01] [ 1.17012662e-02 -2.74403954e-04 9.99931500e-01 6.57147933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36925415399998 meters 0.01749513544022963 Centerline is valid? [True, True] Translation: X:101.16, Y:0.73, Z:0.66 [[ 9.99481736e-01 -3.02503315e-02 -1.10080480e-02 1.01159009e+02] [ 3.02515288e-02 9.99542316e-01 -5.77716880e-05 7.25181362e-01] [ 1.10047574e-02 -2.75268535e-04 9.99939408e-01 6.58581422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39925415399998 meters 0.0181063914639572 Centerline is valid? [True, True] Translation: X:101.19, Y:0.72, Z:0.66 [[ 9.99475861e-01 -3.06266544e-02 -1.04886250e-02 1.01190148e+02] [ 3.06277690e-02 9.99530858e-01 -5.43784644e-05 7.24541188e-01] [ 1.04853697e-02 -2.66893220e-04 9.99944991e-01 6.59126286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42925415399998 meters 0.017984043816641905 Centerline is valid? [True, True] Translation: X:101.22, Y:0.73, Z:0.66 [[ 9.99479382e-01 -3.07809656e-02 -9.66934376e-03 1.01221880e+02] [ 3.07819253e-02 9.99526123e-01 -4.95927197e-05 7.25282745e-01] [ 9.66628819e-03 -2.48074117e-04 9.99953250e-01 6.59910707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45925415399998 meters 0.017845591300172745 Centerline is valid? [True, True] Translation: X:101.25, Y:0.73, Z:0.66 [[ 9.99506862e-01 -3.02430116e-02 -8.44939966e-03 1.01254220e+02] [ 3.02437297e-02 9.99542553e-01 -4.27952992e-05 7.27034638e-01] [ 8.44682876e-03 -2.12767164e-04 9.99964302e-01 6.61656904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48925415399998 meters 0.017460142749962528 Centerline is valid? [True, True] Translation: X:101.29, Y:0.73, Z:0.66 [[ 9.99531710e-01 -2.95711513e-02 -7.86817243e-03 1.01286504e+02] [ 2.95717574e-02 9.99562659e-01 -3.93223833e-05 7.28418350e-01] [ 7.86589417e-03 -1.93371717e-04 9.99969045e-01 6.62479618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51925415399998 meters 0.017602643086551156 Centerline is valid? [True, True] Translation: X:101.32, Y:0.73, Z:0.66 [[ 9.99574967e-01 -2.84344248e-02 -6.43179642e-03 1.01317496e+02] [ 2.84348087e-02 9.99595649e-01 -3.17622062e-05 7.29011724e-01] [ 6.43009885e-03 -1.51138195e-04 9.99979315e-01 6.63778561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54925415399998 meters 0.017028222292307608 Centerline is valid? [True, True] Translation: X:101.35, Y:0.73, Z:0.66 [[ 9.99593452e-01 -2.78969167e-02 -5.89007451e-03 1.01349764e+02] [ 2.78972309e-02 9.99610796e-01 -2.88205465e-05 7.30524327e-01] [ 5.88858608e-03 -1.35507939e-04 9.99982653e-01 6.64450768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57925415399998 meters 0.0174715042593652 Centerline is valid? [True, True] Translation: X:101.38, Y:0.73, Z:0.67 [[ 9.99605053e-01 -2.75625704e-02 -5.48113445e-03 1.01381203e+02] [ 2.75628390e-02 9.99620072e-01 -2.65475727e-05 7.29983541e-01] [ 5.47978373e-03 -1.24538538e-04 9.99984978e-01 6.65009600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60925415399998 meters 0.016621426156417214 Centerline is valid? [True, True] Translation: X:101.41, Y:0.73, Z:0.66 [[ 9.99595972e-01 -2.78269964e-02 -5.79228236e-03 1.01413576e+02] [ 2.78273059e-02 9.99612745e-01 -2.71775735e-05 7.32616656e-01] [ 5.79079554e-03 -1.34017020e-04 9.99983224e-01 6.64951009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63925415399999 meters 0.016747382065573312 Centerline is valid? [True, True] Translation: X:101.45, Y:0.73, Z:0.66 [[ 9.99585618e-01 -2.81294343e-02 -6.10957551e-03 1.01445526e+02] [ 2.81297871e-02 9.99604279e-01 -2.81911516e-05 7.32224082e-01] [ 6.10795082e-03 -1.43681589e-04 9.99981336e-01 6.64652907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66925415399999 meters 0.017344951115997702 Centerline is valid? [True, True] Translation: X:101.48, Y:0.73, Z:0.66 [[ 9.99521468e-01 -2.99588493e-02 -7.70074217e-03 1.01477387e+02] [ 2.99594694e-02 9.99551114e-01 -3.48390777e-05 7.30516862e-01] [ 7.69832916e-03 -1.95887743e-04 9.99970348e-01 6.63388163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69925415399997 meters 0.017936736952696816 Centerline is valid? [True, True] Translation: X:101.51, Y:0.73, Z:0.66 [[ 9.99486047e-01 -3.09170187e-02 -8.47224948e-03 1.01508986e+02] [ 3.09178092e-02 9.99521930e-01 -3.76868674e-05 7.28590634e-01] [ 8.46936431e-03 -2.24275894e-04 9.99964109e-01 6.62858112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72925415399997 meters 0.01829963769166863 Centerline is valid? [True, True] Translation: X:101.54, Y:0.73, Z:0.66 [[ 9.99453082e-01 -3.17564782e-02 -9.22291182e-03 1.01540932e+02] [ 3.17574560e-02 9.99495604e-01 -4.04492033e-05 7.27350891e-01] [ 9.21954435e-03 -2.52469136e-04 9.99957467e-01 6.62255393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75925415399998 meters 0.018575006631003272 Centerline is valid? [True, True] Translation: X:101.57, Y:0.73, Z:0.66 [[ 9.99404343e-01 -3.27419899e-02 -1.09051261e-02 1.01572822e+02] [ 3.27434252e-02 9.99463789e-01 -4.69521720e-05 7.26032709e-01] [ 1.09008160e-02 -3.10146977e-04 9.99940536e-01 6.61092059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78925415399998 meters 0.0187432139532336 Centerline is valid? [True, True] Translation: X:101.60, Y:0.73, Z:0.66 [[ 9.99394915e-01 -3.28962903e-02 -1.12976926e-02 1.01604831e+02] [ 3.28978500e-02 9.99458718e-01 -4.78141452e-05 7.25883516e-01] [ 1.12931502e-02 -3.23884582e-04 9.99936178e-01 6.61028911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81925415399998 meters 0.01923477267981665 Centerline is valid? [True, True] Translation: X:101.64, Y:0.73, Z:0.66 [[ 9.99411899e-01 -3.21343717e-02 -1.19681795e-02 1.01636375e+02] [ 3.21360769e-02 9.99483502e-01 -4.98573243e-05 7.25631845e-01] [ 1.19636001e-02 -3.34782334e-04 9.99928378e-01 6.61078296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84925415399998 meters 0.018340009973488412 Centerline is valid? [True, True] Translation: X:101.67, Y:0.73, Z:0.66 [[ 9.99431536e-01 -3.13997270e-02 -1.22744064e-02 1.01668486e+02] [ 3.14014745e-02 9.99506851e-01 -5.03716276e-05 7.27500141e-01] [ 1.22699350e-02 -3.35091467e-04 9.99924665e-01 6.61781745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87925415399998 meters 0.018646722978868293 Centerline is valid? [True, True] Translation: X:101.70, Y:0.73, Z:0.66 [[ 9.99470546e-01 -3.03740634e-02 -1.16637774e-02 1.01700218e+02] [ 3.03755810e-02 9.99538554e-01 -4.70597579e-05 7.27059105e-01] [ 1.16598246e-02 -3.07259173e-04 9.99931975e-01 6.61958353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90925415399998 meters 0.017219062444595035 Centerline is valid? [True, True] Translation: X:101.73, Y:0.73, Z:0.66 [[ 9.99529223e-01 -2.85142246e-02 -1.13257043e-02 1.01732716e+02] [ 2.85155452e-02 9.99593348e-01 -4.49011448e-05 7.30197554e-01] [ 1.13223790e-02 -2.78078626e-04 9.99935861e-01 6.63145724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93925415399998 meters 0.016655150728169518 Centerline is valid? [True, True] Translation: X:101.77, Y:0.73, Z:0.66 [[ 9.99562072e-01 -2.74501704e-02 -1.10522989e-02 1.01765085e+02] [ 2.74513717e-02 9.99623139e-01 -4.30253260e-05 7.31565066e-01] [ 1.10493148e-02 -2.60394281e-04 9.99938921e-01 6.63933257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96925415399998 meters 0.016587490723480647 Centerline is valid? [True, True] Translation: X:101.80, Y:0.73, Z:0.66 [[ 9.99617849e-01 -2.55246256e-02 -1.06136141e-02 1.01796674e+02] [ 2.55256323e-02 9.99674167e-01 -4.06283741e-05 7.32404351e-01] [ 1.06111929e-02 -2.30306362e-04 9.99943673e-01 6.64304934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99925415399998 meters 0.01602962559571422 Centerline is valid? [True, True] Translation: X:101.83, Y:0.73, Z:0.66 [[ 9.99634893e-01 -2.46360078e-02 -1.10971566e-02 1.01828583e+02] [ 2.46370613e-02 9.99696461e-01 -4.17769873e-05 7.34324413e-01] [ 1.10948174e-02 -2.31639593e-04 9.99938424e-01 6.64698224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02925415399999 meters 0.01641790697303914 Centerline is valid? [True, True] Translation: X:101.86, Y:0.73, Z:0.66 [[ 9.99650867e-01 -2.38241303e-02 -1.14260575e-02 1.01859998e+02] [ 2.38252030e-02 9.99716139e-01 -4.22435427e-05 7.33936939e-01] [ 1.14238205e-02 -2.29999345e-04 9.99934720e-01 6.64790583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05925415399997 meters 0.01582487260418097 Centerline is valid? [True, True] Translation: X:101.89, Y:0.74, Z:0.67 [[ 9.99670439e-01 -2.27697379e-02 -1.18554476e-02 1.01892223e+02] [ 2.27708277e-02 9.99740710e-01 -4.30769436e-05 7.35892426e-01] [ 1.18533545e-02 -2.26895608e-04 9.99929721e-01 6.65219236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08925415399997 meters 0.016160084899988308 Centerline is valid? [True, True] Translation: X:101.92, Y:0.74, Z:0.67 [[ 9.99663489e-01 -2.27358802e-02 -1.24895150e-02 1.01923619e+02] [ 2.27370974e-02 9.99741478e-01 -4.45443542e-05 7.35315733e-01] [ 1.24872989e-02 -2.39445954e-04 9.99922002e-01 6.65274498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11925415399998 meters 0.016253360695271436 Centerline is valid? [True, True] Translation: X:101.96, Y:0.73, Z:0.67 [[ 9.99647812e-01 -2.31018676e-02 -1.30597199e-02 1.01956226e+02] [ 2.31032406e-02 9.99733083e-01 -4.57447848e-05 7.34899493e-01] [ 1.30572908e-02 -2.55993177e-04 9.99914717e-01 6.65552369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14925415399998 meters 0.016208998825529713 Centerline is valid? [True, True] Translation: X:101.99, Y:0.74, Z:0.67 [[ 9.99632530e-01 -2.35488273e-02 -1.34260032e-02 1.01988286e+02] [ 2.35503319e-02 9.99722651e-01 -4.60450509e-05 7.35117732e-01] [ 1.34233638e-02 -2.70158701e-04 9.99909866e-01 6.65615728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17925415399998 meters 0.016750416806398036 Centerline is valid? [True, True] Translation: X:102.02, Y:0.73, Z:0.67 [[ 9.99616793e-01 -2.41537046e-02 -1.35228009e-02 1.02019839e+02] [ 2.41552980e-02 9.99708217e-01 -4.55110994e-05 7.33107647e-01] [ 1.35199545e-02 -2.81153627e-04 9.99908562e-01 6.65570753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20925415399998 meters 0.01696239220822659 Centerline is valid? [True, True] Translation: X:102.05, Y:0.73, Z:0.67 [[ 9.99582855e-01 -2.56289863e-02 -1.33143150e-02 1.02052325e+02] [ 2.56306728e-02 9.99671479e-01 -4.39815329e-05 7.30687903e-01] [ 1.33110681e-02 -2.97291663e-04 9.99911360e-01 6.65926125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23925415399998 meters 0.01773110034769332 Centerline is valid? [True, True] Translation: X:102.08, Y:0.73, Z:0.67 [[ 9.99559943e-01 -2.64922817e-02 -1.33446323e-02 1.02083629e+02] [ 2.64940640e-02 9.99648970e-01 -4.32411830e-05 7.28282952e-01] [ 1.33410935e-02 -3.10331389e-04 9.99910955e-01 6.65923232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26925415399998 meters 0.017962366356727502 Centerline is valid? [True, True] Translation: X:102.12, Y:0.73, Z:0.67 [[ 9.99551366e-01 -2.69497463e-02 -1.30681745e-02 1.02115332e+02] [ 2.69515034e-02 9.99636741e-01 -4.16613354e-05 7.27129789e-01] [ 1.30645501e-02 -3.10564304e-04 9.99914607e-01 6.66601708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29925415399998 meters 0.018309016721224737 Centerline is valid? [True, True] Translation: X:102.15, Y:0.73, Z:0.67 [[ 9.99541843e-01 -2.71560874e-02 -1.33660336e-02 1.02147558e+02] [ 2.71579550e-02 9.99631154e-01 -4.17936057e-05 7.25454819e-01] [ 1.33622385e-02 -3.21219681e-04 9.99910670e-01 6.67143659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32925415399998 meters 0.01743538086842929 Centerline is valid? [True, True] Translation: X:102.18, Y:0.73, Z:0.67 [[ 9.99547971e-01 -2.67924228e-02 -1.36388933e-02 1.02179280e+02] [ 2.67943468e-02 9.99640966e-01 -4.16781461e-05 7.26575853e-01] [ 1.36351132e-02 -3.23785931e-04 9.99906985e-01 6.67894650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35925415399998 meters 0.01746143724312717 Centerline is valid? [True, True] Translation: X:102.21, Y:0.73, Z:0.67 [[ 9.99569944e-01 -2.58195201e-02 -1.39024669e-02 1.02210913e+02] [ 2.58214373e-02 9.99666570e-01 -4.16086822e-05 7.26533303e-01] [ 1.38989057e-02 -3.17390889e-04 9.99903355e-01 6.68017424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38925415399999 meters 0.01846961406676848 Centerline is valid? [True, True] Translation: X:102.24, Y:0.73, Z:0.67 [[ 9.99592465e-01 -2.48822996e-02 -1.39919372e-02 1.02242557e+02] [ 2.48841584e-02 9.99690341e-01 -4.12569376e-05 7.26541261e-01] [ 1.39886310e-02 -3.06937457e-04 9.99902107e-01 6.66771977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41925415399999 meters 0.017125805329705018 Centerline is valid? [True, True] Translation: X:102.27, Y:0.73, Z:0.67 [[ 9.99604781e-01 -2.43133924e-02 -1.41117320e-02 1.02274207e+02] [ 2.43152336e-02 9.99704340e-01 -4.11099897e-05 7.26759507e-01] [ 1.41085593e-02 -3.02036319e-04 9.99900424e-01 6.68319749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44925415399997 meters 0.017519054689635764 Centerline is valid? [True, True] Translation: X:102.30, Y:0.73, Z:0.67 [[ 9.99616637e-01 -2.39037383e-02 -1.39710668e-02 1.02304953e+02] [ 2.39055081e-02 9.99714222e-01 -4.03336692e-05 7.25892929e-01] [ 1.39680383e-02 -2.93667244e-04 9.99902399e-01 6.67813479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47925415399997 meters 0.0167871794304026 Centerline is valid? [True, True] Translation: X:102.34, Y:0.73, Z:0.67 [[ 9.99656672e-01 -2.19208099e-02 -1.43532560e-02 1.02336167e+02] [ 2.19224790e-02 9.99759673e-01 -4.10542898e-05 7.26280008e-01] [ 1.43507065e-02 -2.73618760e-04 9.99896986e-01 6.68009530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50925415399998 meters 0.016555763304749373 Centerline is valid? [True, True] Translation: X:102.37, Y:0.73, Z:0.67 [[ 9.99684790e-01 -2.06206919e-02 -1.43215605e-02 1.02367425e+02] [ 2.06222274e-02 9.99787338e-01 -4.04682608e-05 7.26775283e-01] [ 1.43193493e-02 -2.54886972e-04 9.99897440e-01 6.68134745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53925415399998 meters 0.016273588618574652 Centerline is valid? [True, True] Translation: X:102.40, Y:0.73, Z:0.67 [[ 9.99708025e-01 -1.90506936e-02 -1.48638774e-02 1.02397779e+02] [ 1.90521778e-02 9.99818490e-01 -4.17520757e-05 7.27713328e-01] [ 1.48619748e-02 -2.41449350e-04 9.99889526e-01 6.68272436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56925415399998 meters 0.016054992789282407 Centerline is valid? [True, True] Translation: X:102.43, Y:0.73, Z:0.67 [[ 9.99741277e-01 -1.71947889e-02 -1.48901946e-02 1.02427091e+02] [ 1.71960737e-02 9.99852136e-01 -4.17549728e-05 7.28671372e-01] [ 1.48887108e-02 -2.14308714e-04 9.99889134e-01 6.67862962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59925415399998 meters 0.015257720171683638 Centerline is valid? [True, True] Translation: X:102.46, Y:0.73, Z:0.67 [[ 9.99796013e-01 -1.32484816e-02 -1.52449931e-02 1.02457033e+02] [ 1.32493663e-02 9.99912222e-01 -4.29681526e-05 7.31345346e-01] [ 1.52442242e-02 -1.59027110e-04 9.99883787e-01 6.67627945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62925415399998 meters 0.014445320011307947 Centerline is valid? [True, True] Translation: X:102.49, Y:0.73, Z:0.67 [[ 9.99824349e-01 -9.78450262e-03 -1.59854687e-02 1.02485509e+02] [ 9.78499159e-03 9.99952125e-01 -4.76269874e-05 7.34590599e-01] [ 1.59851694e-02 -1.08799055e-04 9.99872223e-01 6.68968760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65925415399998 meters 0.014542765741293602 Centerline is valid? [True, True] Translation: X:102.51, Y:0.73, Z:0.67 [[ 9.99831791e-01 -8.54620707e-03 -1.62281368e-02 1.02512724e+02] [ 8.54648811e-03 9.99963477e-01 -5.20345679e-05 7.34326054e-01] [ 1.62279888e-02 -8.66677630e-05 9.99868314e-01 6.67410581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68925415399998 meters 0.014493354969776542 Centerline is valid? [True, True] Translation: X:102.54, Y:0.73, Z:0.67 [[ 9.99836075e-01 -7.53360393e-03 -1.64641290e-02 1.02539485e+02] [ 7.53371449e-03 9.99971620e-01 -5.53076709e-05 7.34834713e-01] [ 1.64640784e-02 -6.87374426e-05 9.99864456e-01 6.67387407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71925415399998 meters 0.014199846969109774 Centerline is valid? [True, True] Translation: X:102.57, Y:0.74, Z:0.67 [[ 9.99831121e-01 -6.97854090e-03 -1.70008623e-02 1.02567263e+02] [ 6.97851475e-03 9.99975648e-01 -6.08634752e-05 7.35343207e-01] [ 1.70008730e-02 -5.77875715e-05 9.99855473e-01 6.69612699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74925415399998 meters 0.014199846969109774 Centerline is valid? [True, True] Translation: X:102.59, Y:0.74, Z:0.67 [[ 9.99829049e-01 -7.26943235e-03 -1.70008436e-02 1.02594640e+02] [ 7.26936416e-03 9.99973576e-01 -6.58090026e-05 7.35513687e-01] [ 1.70008727e-02 -5.77875705e-05 9.99855473e-01 6.69803167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77925415399999 meters 0.014230192121393192 Centerline is valid? [True, True] Translation: X:102.62, Y:0.73, Z:0.67 [[ 9.99826236e-01 -7.85992292e-03 -1.69032149e-02 1.02622642e+02] [ 7.85985676e-03 9.99969108e-01 -7.03481148e-05 7.34755637e-01] [ 1.69032456e-02 -6.25209568e-05 9.99857128e-01 6.69847930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80925415399997 meters 0.0144648243817593 Centerline is valid? [True, True] Translation: X:102.65, Y:0.73, Z:0.67 [[ 9.99808010e-01 -9.64904080e-03 -1.70540229e-02 1.02650898e+02] [ 9.64917520e-03 9.99953443e-01 -7.44055882e-05 7.32299486e-01] [ 1.70539469e-02 -9.01659522e-05 9.99854567e-01 6.69881092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83925415399997 meters 0.014424309393720608 Centerline is valid? [True, True] Translation: X:102.68, Y:0.73, Z:0.67 [[ 9.99797010e-01 -1.13385311e-02 -1.66546512e-02 1.02678387e+02] [ 1.13388316e-02 9.99935710e-01 -7.63906721e-05 7.30972441e-01] [ 1.66544467e-02 -1.12469120e-04 9.99861299e-01 6.70289884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86925415399998 meters 0.014584388986589052 Centerline is valid? [True, True] Translation: X:102.71, Y:0.73, Z:0.67 [[ 9.99770825e-01 -1.32414445e-02 -1.68214702e-02 1.02706445e+02] [ 1.32419640e-02 9.99912318e-01 -8.05021502e-05 7.28805308e-01] [ 1.68210612e-02 -1.42265602e-04 9.99858506e-01 6.70042595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89925415399998 meters 0.014774632222727263 Centerline is valid? [True, True] Translation: X:102.73, Y:0.73, Z:0.67 [[ 9.99733939e-01 -1.53482819e-02 -1.72186231e-02 1.02734742e+02] [ 1.53491065e-02 9.99882192e-01 -8.42736226e-05 7.26541050e-01] [ 1.72178880e-02 -1.80039278e-04 9.99851745e-01 6.70143698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92925415399998 meters 0.016732851582064993 Centerline is valid? [True, True] Translation: X:102.76, Y:0.72, Z:0.67 [[ 9.99636777e-01 -1.97977565e-02 -1.82856070e-02 1.02763070e+02] [ 1.97993907e-02 9.99803969e-01 -9.16809487e-05 7.21318645e-01] [ 1.82838376e-02 -2.70396230e-04 9.99832800e-01 6.68279644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95925415399998 meters 0.017079948947552527 Centerline is valid? [True, True] Translation: X:102.79, Y:0.72, Z:0.67 [[ 9.99516967e-01 -2.50241767e-02 -1.84288548e-02 1.02791438e+02] [ 2.50266959e-02 9.99686779e-01 -9.39504926e-05 7.15652161e-01] [ 1.84254335e-02 -3.67308233e-04 9.99830170e-01 6.68913918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98925415399998 meters 0.01745111640774797 Centerline is valid? [True, True] Translation: X:102.82, Y:0.71, Z:0.67 [[ 9.99459372e-01 -2.72385950e-02 -1.84125612e-02 1.02820713e+02] [ 2.72414711e-02 9.99628878e-01 -9.46395190e-05 7.13252447e-01] [ 1.84083057e-02 -4.06996899e-04 9.99830470e-01 6.69212148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01925415399998 meters 0.017419677618679665 Centerline is valid? [True, True] Translation: X:102.85, Y:0.71, Z:0.67 [[ 9.99418443e-01 -2.86815427e-02 -1.84430023e-02 1.02850849e+02] [ 2.86846694e-02 9.99588506e-01 -9.50405115e-05 7.12020139e-01] [ 1.84381391e-02 -4.34046184e-04 9.99829909e-01 6.70036782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04925415399998 meters 0.01774495229945321 Centerline is valid? [True, True] Translation: X:102.88, Y:0.71, Z:0.67 [[ 9.99389880e-01 -2.96793651e-02 -1.84120311e-02 1.02881665e+02] [ 2.96826505e-02 9.99559369e-01 -9.48809104e-05 7.10193373e-01] [ 1.84067342e-02 -4.51694862e-04 9.99830480e-01 6.70832852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07925415399998 meters 0.018143079921923374 Centerline is valid? [True, True] Translation: X:102.91, Y:0.71, Z:0.67 [[ 9.99387979e-01 -3.05040681e-02 -1.71221692e-02 1.02912511e+02] [ 3.05070333e-02 9.99534548e-01 -8.80530153e-05 7.08116178e-01] [ 1.71168856e-02 -4.34347460e-04 9.99853401e-01 6.72111831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10925415399998 meters 0.01760157212018501 Centerline is valid? [True, True] Translation: X:102.94, Y:0.71, Z:0.67 [[ 9.99416571e-01 -2.99484213e-02 -1.64197668e-02 1.02943944e+02] [ 2.99510807e-02 9.99551362e-01 -8.39826493e-05 7.08130613e-01] [ 1.64149154e-02 -4.07856109e-04 9.99865183e-01 6.73276058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13925415399999 meters 0.017213113193997865 Centerline is valid? [True, True] Translation: X:102.97, Y:0.71, Z:0.67 [[ 9.99468466e-01 -2.84395697e-02 -1.59366561e-02 1.02974916e+02] [ 2.84418921e-02 9.99595444e-01 -8.09459490e-05 7.07643760e-01] [ 1.59325109e-02 -3.72365729e-04 9.99873000e-01 6.73364643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16925415399999 meters 0.016969992291785585 Centerline is valid? [True, True] Translation: X:103.01, Y:0.71, Z:0.67 [[ 9.99503196e-01 -2.74402878e-02 -1.55045987e-02 1.03006681e+02] [ 2.74423744e-02 9.99623384e-01 -7.81981273e-05 7.07726187e-01] [ 1.55009052e-02 -3.47323723e-04 9.99879793e-01 6.73472464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19925415399997 meters 0.016563429228012926 Centerline is valid? [True, True] Translation: X:103.04, Y:0.71, Z:0.67 [[ 9.99570677e-01 -2.50557327e-02 -1.51878617e-02 1.03036993e+02] [ 2.50574658e-02 9.99686010e-01 -7.62068315e-05 7.06924138e-01] [ 1.51850023e-02 -3.04395211e-04 9.99884655e-01 6.73534238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22925415399997 meters 0.016436841065824107 Centerline is valid? [True, True] Translation: X:103.07, Y:0.71, Z:0.67 [[ 9.99594550e-01 -2.41344911e-02 -1.51083548e-02 1.03068495e+02] [ 2.41361071e-02 9.99708679e-01 -7.53947614e-05 7.06570298e-01] [ 1.51057730e-02 -2.89292676e-04 9.99885859e-01 6.73552128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25925415399998 meters 0.016285717161489265 Centerline is valid? [True, True] Translation: X:103.10, Y:0.71, Z:0.67 [[ 9.99608826e-01 -2.33567187e-02 -1.53837451e-02 1.03099770e+02] [ 2.33583105e-02 9.99727155e-01 -7.62213342e-05 7.06242113e-01] [ 1.53813280e-02 -2.83146777e-04 9.99881660e-01 6.73544940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28925415399998 meters 0.016369942931740374 Centerline is valid? [True, True] Translation: X:103.13, Y:0.71, Z:0.67 [[ 9.99620378e-01 -2.23701676e-02 -1.60834185e-02 1.03130131e+02] [ 2.23717866e-02 9.99749717e-01 -7.92724028e-05 7.05231359e-01] [ 1.60811664e-02 -2.80572497e-04 9.99870650e-01 6.73134944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31925415399998 meters 0.016366609174778998 Centerline is valid? [True, True] Translation: X:103.16, Y:0.70, Z:0.67 [[ 9.99619112e-01 -2.21600997e-02 -1.64487212e-02 1.03159371e+02] [ 2.21617640e-02 9.99754395e-01 -8.11134731e-05 7.04437696e-01] [ 1.64464788e-02 -2.83450100e-04 9.99864707e-01 6.73052199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34925415399998 meters 0.01653132941332957 Centerline is valid? [True, True] Translation: X:103.19, Y:0.70, Z:0.67 [[ 9.99596092e-01 -2.24566857e-02 -1.74169416e-02 1.03188625e+02] [ 2.24585883e-02 9.99747770e-01 -8.63765822e-05 7.02182823e-01] [ 1.74144883e-02 -3.04818227e-04 9.99848310e-01 6.71956193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37925415399998 meters 0.018300656900456153 Centerline is valid? [True, True] Translation: X:103.22, Y:0.70, Z:0.67 [[ 9.99587725e-01 -2.22220674e-02 -1.81812857e-02 1.03218370e+02] [ 2.22240899e-02 9.99753010e-01 -9.08242218e-05 7.02292820e-01] [ 1.81788134e-02 -3.13275751e-04 9.99834703e-01 6.70011904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40925415399998 meters 0.016885911739356427 Centerline is valid? [True, True] Translation: X:103.25, Y:0.70, Z:0.67 [[ 9.99561841e-01 -2.31509966e-02 -1.84433716e-02 1.03247436e+02] [ 2.31532198e-02 9.99731924e-01 -9.30071034e-05 6.99015106e-01] [ 1.84405806e-02 -3.34057085e-04 9.99829902e-01 6.70728919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43925415399998 meters 0.016454172057796156 Centerline is valid? [True, True] Translation: X:103.28, Y:0.70, Z:0.67 [[ 9.99537427e-01 -2.39325804e-02 -1.87660241e-02 1.03276565e+02] [ 2.39350008e-02 9.99713512e-01 -9.56459024e-05 6.98178126e-01] [ 1.87629369e-02 -3.53563143e-04 9.99823898e-01 6.71242339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46925415399998 meters 0.01628833084899713 Centerline is valid? [True, True] Translation: X:103.31, Y:0.70, Z:0.67 [[ 9.99526751e-01 -2.45047995e-02 -1.85954094e-02 1.03305462e+02] [ 2.45072133e-02 9.99699648e-01 -9.81008120e-05 6.97911334e-01] [ 1.85922282e-02 -3.57667278e-04 9.99827086e-01 6.71709304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49925415399998 meters 0.01618559637458099 Centerline is valid? [True, True] Translation: X:103.34, Y:0.70, Z:0.67 [[ 9.99544106e-01 -2.46395115e-02 -1.74492198e-02 1.03335295e+02] [ 2.46416219e-02 9.99696345e-01 -9.40818782e-05 6.96311895e-01] [ 1.74462394e-02 -3.35938092e-04 9.99847746e-01 6.72946837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52925415399999 meters 0.016682241110426932 Centerline is valid? [True, True] Translation: X:103.36, Y:0.69, Z:0.67 [[ 9.99564118e-01 -2.43853650e-02 -1.66411747e-02 1.03364647e+02] [ 2.43872424e-02 9.99702583e-01 -9.01371343e-05 6.94691422e-01] [ 1.66384233e-02 -3.15734515e-04 9.99861522e-01 6.73328808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55925415399997 meters 0.016050216523887596 Centerline is valid? [True, True] Translation: X:103.39, Y:0.70, Z:0.67 [[ 9.99588573e-01 -2.40306231e-02 -1.56593129e-02 1.03394772e+02] [ 2.40322291e-02 9.99711181e-01 -8.56359524e-05 6.95946848e-01] [ 1.56568481e-02 -2.90727475e-04 9.99877382e-01 6.74842767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58925415399997 meters 0.015974399410369572 Centerline is valid? [True, True] Translation: X:103.42, Y:0.69, Z:0.68 [[ 9.99621330e-01 -2.32572867e-02 -1.47069852e-02 1.03424121e+02] [ 2.32586098e-02 9.99729479e-01 -8.10904573e-05 6.94701380e-01] [ 1.47048926e-02 -2.61004281e-04 9.99891843e-01 6.76069866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61925415399998 meters 0.016036165890747918 Centerline is valid? [True, True] Translation: X:103.45, Y:0.69, Z:0.68 [[ 9.99627245e-01 -2.32506436e-02 -1.43100703e-02 1.03454831e+02] [ 2.32518939e-02 9.99729635e-01 -7.90235880e-05 6.94108806e-01] [ 1.43080388e-02 -2.53742106e-04 9.99897603e-01 6.76272225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64925415399998 meters 0.015755305819737882 Centerline is valid? [True, True] Translation: X:103.49, Y:0.69, Z:0.68 [[ 9.99617804e-01 -2.40783427e-02 -1.35822954e-02 1.03485230e+02] [ 2.40795454e-02 9.99710043e-01 -7.50046427e-05 6.93169515e-01] [ 1.35801631e-02 -2.52079522e-04 9.99907754e-01 6.77252023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67925415399998 meters 0.01614013100115616 Centerline is valid? [True, True] Translation: X:103.52, Y:0.69, Z:0.68 [[ 9.99596887e-01 -2.48453955e-02 -1.37393630e-02 1.03515664e+02] [ 2.48467003e-02 9.99691270e-01 -7.57482426e-05 6.91631147e-01] [ 1.37370033e-02 -2.65660128e-04 9.99905608e-01 6.76892639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70925415399998 meters 0.016659281958700912 Centerline is valid? [True, True] Translation: X:103.55, Y:0.69, Z:0.68 [[ 9.99562329e-01 -2.58271768e-02 -1.44259568e-02 1.03546257e+02] [ 2.58287214e-02 9.99666380e-01 -7.92667224e-05 6.89166339e-01] [ 1.44231912e-02 -2.93371989e-04 9.99895937e-01 6.76340128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73925415399998 meters 0.016555818075881013 Centerline is valid? [True, True] Translation: X:103.58, Y:0.69, Z:0.68 [[ 9.99511624e-01 -2.79347103e-02 -1.40059130e-02 1.03577957e+02] [ 2.79363783e-02 9.99609700e-01 -7.65774382e-05 6.86546644e-01] [ 1.40025857e-02 -3.14734445e-04 9.99901909e-01 6.76484204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76925415399998 meters 0.01745328119854082 Centerline is valid? [True, True] Translation: X:103.61, Y:0.68, Z:0.68 [[ 9.99481328e-01 -2.91177046e-02 -1.37562715e-02 1.03608388e+02] [ 2.91194339e-02 9.99575937e-01 -7.46120431e-05 6.83575932e-01] [ 1.37526105e-02 -3.26001494e-04 9.99905375e-01 6.76338744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79925415399998 meters 0.01744998606325465 Centerline is valid? [True, True] Translation: X:103.64, Y:0.68, Z:0.68 [[ 9.99450892e-01 -3.02086806e-02 -1.36143085e-02 1.03639451e+02] [ 3.02104836e-02 9.99543556e-01 -7.32478458e-05 6.82846199e-01] [ 1.36103070e-02 -3.38087218e-04 9.99907318e-01 6.76699868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82925415399998 meters 0.017932431356507735 Centerline is valid? [True, True] Translation: X:103.67, Y:0.68, Z:0.68 [[ 9.99390276e-01 -3.18518680e-02 -1.43015822e-02 1.03671014e+02] [ 3.18540334e-02 9.99492529e-01 -7.64135300e-05 6.80301826e-01] [ 1.42967584e-02 -3.79196137e-04 9.99897724e-01 6.76349097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85925415399998 meters 0.018550180209368872 Centerline is valid? [True, True] Translation: X:103.70, Y:0.68, Z:0.68 [[ 9.99374485e-01 -3.23404622e-02 -1.43085145e-02 1.03702649e+02] [ 3.23426948e-02 9.99476835e-01 -7.54029668e-05 6.78279832e-01] [ 1.43034674e-02 -3.87420117e-04 9.99897625e-01 6.76327765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88925415399999 meters 0.017892780719852088 Centerline is valid? [True, True] Translation: X:103.73, Y:0.68, Z:0.68 [[ 9.99367129e-01 -3.22589105e-02 -1.49901565e-02 1.03734769e+02] [ 3.22613723e-02 9.99479463e-01 -7.76227239e-05 6.78255638e-01] [ 1.49848576e-02 -4.06029421e-04 9.99887638e-01 6.76383172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91925415399997 meters 0.01807771596527973 Centerline is valid? [True, True] Translation: X:103.77, Y:0.68, Z:0.68 [[ 9.99373216e-01 -3.19783464e-02 -1.51842397e-02 1.03766340e+02] [ 3.19808546e-02 9.99488479e-01 -7.76653468e-05 6.77504936e-01] [ 1.51789563e-02 -4.07988295e-04 9.99884710e-01 6.76585493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94925415399997 meters 0.017996561943252175 Centerline is valid? [True, True] Translation: X:103.80, Y:0.68, Z:0.68 [[ 9.99387150e-01 -3.14610558e-02 -1.53468474e-02 1.03797763e+02] [ 3.14635676e-02 9.99504896e-01 -7.78136288e-05 6.77248699e-01] [ 1.53416972e-02 -4.05100630e-04 9.99882227e-01 6.76826900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97925415399997 meters 0.017780895573331054 Centerline is valid? [True, True] Translation: X:103.83, Y:0.68, Z:0.68 [[ 9.99438369e-01 -2.98631881e-02 -1.52031680e-02 1.03828736e+02] [ 2.98654765e-02 9.99553924e-01 -7.65434132e-05 6.77373895e-01] [ 1.51986721e-02 -3.77549432e-04 9.99884422e-01 6.77063388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00925415399998 meters 0.017850991926187842 Centerline is valid? [True, True] Translation: X:103.86, Y:0.68, Z:0.68 [[ 9.99488179e-01 -2.80536590e-02 -1.53744267e-02 1.03859794e+02] [ 2.80557940e-02 9.99606356e-01 -7.68465359e-05 6.79108388e-01] [ 1.53705305e-02 -3.54534544e-04 9.99881804e-01 6.76657046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03925415399998 meters 0.01608232726114999 Centerline is valid? [True, True] Translation: X:103.89, Y:0.68, Z:0.68 [[ 9.99595320e-01 -2.45034763e-02 -1.44491120e-02 1.03890318e+02] [ 2.45049946e-02 9.99699705e-01 -7.19830663e-05 6.81128990e-01] [ 1.44465369e-02 -2.82121476e-04 9.99895604e-01 6.78199905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06925415399998 meters 0.015687409127542948 Centerline is valid? [True, True] Translation: X:103.92, Y:0.68, Z:0.68 [[ 9.99657250e-01 -2.18270419e-02 -1.44555625e-02 1.03920458e+02] [ 2.18282895e-02 9.99761732e-01 -7.14881846e-05 6.82567458e-01] [ 1.44536786e-02 -2.44076521e-04 9.99895510e-01 6.78572518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09925415399998 meters 0.01512485060424492 Centerline is valid? [True, True] Translation: X:103.95, Y:0.68, Z:0.68 [[ 9.99724119e-01 -1.86094593e-02 -1.43308679e-02 1.03950577e+02] [ 1.86103618e-02 9.99826810e-01 -7.03904606e-05 6.84848533e-01] [ 1.43296958e-02 -1.96331595e-04 9.99897305e-01 6.79121669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12925415399998 meters 0.014331439238291558 Centerline is valid? [True, True] Translation: X:103.98, Y:0.69, Z:0.68 [[ 9.99823531e-01 -1.24997595e-02 -1.40236585e-02 1.03979730e+02] [ 1.25000091e-02 9.99921869e-01 -6.98568423e-05 6.89376293e-01] [ 1.40234360e-02 -1.05451344e-04 9.99901661e-01 6.80057042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15925415399998 meters 0.015192000220294584 Centerline is valid? [True, True] Translation: X:104.01, Y:0.69, Z:0.68 [[ 9.99851813e-01 -9.53627130e-03 -1.43321672e-02 1.04007857e+02] [ 9.53620402e-03 9.99954527e-01 -7.30364950e-05 6.90951798e-01] [ 1.43322119e-02 -6.36487982e-05 9.99897287e-01 6.79139980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18925415399998 meters 0.01385944240561357 Centerline is valid? [True, True] Translation: X:104.04, Y:0.69, Z:0.68 [[ 9.99884657e-01 -5.84262514e-03 -1.40191347e-02 1.04036472e+02] [ 5.84216412e-03 9.99982932e-01 -7.38385640e-05 6.93377719e-01] [ 1.40193268e-02 -8.07203841e-06 9.99901724e-01 6.81056367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21925415399998 meters 0.013993130080911947 Centerline is valid? [True, True] Translation: X:104.06, Y:0.69, Z:0.68 [[ 9.99892781e-01 -4.52720159e-03 -1.39259449e-02 1.04063718e+02] [ 4.52658283e-03 9.99989752e-01 -7.59518158e-05 6.94145682e-01] [ 1.39261461e-02 1.29067292e-05 9.99903026e-01 6.80751270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24925415399998 meters 0.013894253290555145 Centerline is valid? [True, True] Translation: X:104.09, Y:0.69, Z:0.68 [[ 9.99898505e-01 -3.13586101e-03 -1.38976675e-02 1.04091957e+02] [ 3.13507092e-03 9.99995083e-01 -7.86365668e-05 6.94486926e-01] [ 1.38978458e-02 3.50584124e-05 9.99903420e-01 6.81416392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27925415399999 meters 0.013899590923068098 Centerline is valid? [True, True] Translation: X:104.12, Y:0.69, Z:0.68 [[ 9.99900551e-01 -3.26487624e-03 -1.37196570e-02 1.04119929e+02] [ 3.26406531e-03 9.99994670e-01 -8.14991382e-05 6.94069847e-01] [ 1.37198500e-02 3.67091766e-05 9.99905878e-01 6.81518374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30925415399997 meters 0.013945482786040526 Centerline is valid? [True, True] Translation: X:104.15, Y:0.69, Z:0.68 [[ 9.99892568e-01 -3.62755324e-03 -1.42018610e-02 1.04147385e+02] [ 3.62666247e-03 9.99993420e-01 -8.84753739e-05 6.93433035e-01] [ 1.42020885e-02 3.69605123e-05 9.99899145e-01 6.81140254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33925415399997 meters 0.014057089563853367 Centerline is valid? [True, True] Translation: X:104.18, Y:0.69, Z:0.68 [[ 9.99874757e-01 -4.44007957e-03 -1.51906316e-02 1.04175898e+02] [ 4.43911293e-03 9.99990142e-01 -9.73513738e-05 6.91844680e-01] [ 1.51909141e-02 2.99062522e-05 9.99884611e-01 6.80531419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36925415399998 meters 0.014126740243571929 Centerline is valid? [True, True] Translation: X:104.20, Y:0.69, Z:0.68 [[ 9.99864763e-01 -4.95924619e-03 -1.56800057e-02 1.04203454e+02] [ 4.95825953e-03 9.99987703e-01 -1.01799411e-04 6.91587817e-01] [ 1.56803177e-02 2.40401059e-05 9.99877056e-01 6.79721043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39925415399998 meters 0.014186812882700383 Centerline is valid? [True, True] Translation: X:104.23, Y:0.69, Z:0.68 [[ 9.99837840e-01 -6.26668376e-03 -1.68825772e-02 1.04232538e+02] [ 6.26567333e-03 9.99980364e-01 -1.12744370e-04 6.90723169e-01] [ 1.68829523e-02 6.94537315e-06 9.99857473e-01 6.79206048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42925415399998 meters 0.014184330095575058 Centerline is valid? [True, True] Translation: X:104.26, Y:0.69, Z:0.68 [[ 9.99829573e-01 -7.05318829e-03 -1.70610220e-02 1.04260183e+02] [ 7.05219190e-03 9.99975126e-01 -1.18564849e-04 6.90312884e-01] [ 1.70614339e-02 -1.77295881e-06 9.99854443e-01 6.79443297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45925415399998 meters 0.014281172901374772 Centerline is valid? [True, True] Translation: X:104.29, Y:0.69, Z:0.68 [[ 9.99815452e-01 -8.09915369e-03 -1.74202590e-02 1.04287726e+02] [ 8.09818645e-03 9.99967201e-01 -1.26065933e-04 6.89843842e-01] [ 1.74207086e-02 -1.50298371e-05 9.99848248e-01 6.79307502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48925415399998 meters 0.014446598766624767 Centerline is valid? [True, True] Translation: X:104.31, Y:0.69, Z:0.68 [[ 9.99799889e-01 -9.82156853e-03 -1.74275105e-02 1.04314306e+02] [ 9.82080528e-03 9.99951766e-01 -1.29380315e-04 6.88179646e-01] [ 1.74279406e-02 -4.17977628e-05 9.99848121e-01 6.79410343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51925415399998 meters 0.01452004801480247 Centerline is valid? [True, True] Translation: X:104.34, Y:0.69, Z:0.68 [[ 9.99799137e-01 -1.07931020e-02 -1.68877207e-02 1.04341744e+02] [ 1.07924894e-02 9.99941751e-01 -1.27410104e-04 6.87486007e-01] [ 1.68881121e-02 -5.48760349e-05 9.99857384e-01 6.79692828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54925415399998 meters 0.014474563554889085 Centerline is valid? [True, True] Translation: X:104.37, Y:0.69, Z:0.68 [[ 9.99814748e-01 -1.13780389e-02 -1.55244721e-02 1.04370499e+02] [ 1.13775474e-02 9.99935266e-01 -1.19980939e-04 6.86971987e-01] [ 1.55248323e-02 -5.66717048e-05 9.99879481e-01 6.81673948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57925415399998 meters 0.01452256001435284 Centerline is valid? [True, True] Translation: X:104.40, Y:0.69, Z:0.68 [[ 9.99824096e-01 -1.13060424e-02 -1.49649814e-02 1.04398188e+02] [ 1.13055201e-02 9.99936083e-01 -1.19501956e-04 6.87478867e-01] [ 1.49653760e-02 -4.97059630e-05 9.99888011e-01 6.82298961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60925415399998 meters 0.014547324665891592 Centerline is valid? [True, True] Translation: X:104.43, Y:0.69, Z:0.68 [[ 9.99843462e-01 -1.02154840e-02 -1.44462824e-02 1.04426366e+02] [ 1.02148474e-02 9.99947820e-01 -1.17859100e-04 6.88239263e-01] [ 1.44467326e-02 -2.97259188e-05 9.99895640e-01 6.82202590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63925415399999 meters 0.014552861296946376 Centerline is valid? [True, True] Translation: X:104.45, Y:0.69, Z:0.68 [[ 9.99884277e-01 -6.37765088e-03 -1.38115029e-02 1.04453985e+02] [ 6.37666748e-03 9.99979662e-01 -1.15239092e-04 6.91209859e-01] [ 1.38119570e-02 2.71543949e-05 9.99904610e-01 6.83947308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66925415399997 meters 0.014552861296946376 Centerline is valid? [True, True] Translation: X:104.48, Y:0.69, Z:0.68 [[ 9.99882395e-01 -6.66631832e-03 -1.38114688e-02 1.04481376e+02] [ 6.66530733e-03 9.99977779e-01 -1.19229875e-04 6.91513240e-01] [ 1.38119567e-02 2.71581694e-05 9.99904610e-01 6.84137769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69925415399997 meters 0.014653178579826056 Centerline is valid? [True, True] Translation: X:104.51, Y:0.69, Z:0.68 [[ 9.99899202e-01 -4.39733906e-03 -1.34999563e-02 1.04509452e+02] [ 4.39611388e-03 9.99990330e-01 -1.20428059e-04 6.93267702e-01] [ 1.35003553e-02 6.10685746e-05 9.99908864e-01 6.84840906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72925415399997 meters 0.015187493396154576 Centerline is valid? [True, True] Translation: X:104.54, Y:0.70, Z:0.69 [[ 9.99913241e-01 1.03221927e-03 -1.31318065e-02 1.04536690e+02] [-1.03388164e-03 9.99999458e-01 -1.19802816e-04 6.96947691e-01] [ 1.31316757e-02 1.33369156e-04 9.99913767e-01 6.85865609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75925415399998 meters 0.015354184990932725 Centerline is valid? [True, True] Translation: X:104.57, Y:0.70, Z:0.69 [[ 9.99917838e-01 3.21691817e-03 -1.24084338e-02 1.04565401e+02] [-3.21859684e-03 9.99994814e-01 -1.15316775e-04 6.98092904e-01] [ 1.24079985e-02 1.55245046e-04 9.99923006e-01 6.86419778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78925415399998 meters 0.015384866576417206 Centerline is valid? [True, True] Translation: X:104.59, Y:0.70, Z:0.69 [[ 9.99905903e-01 4.72824997e-03 -1.28774620e-02 1.04594131e+02] [-4.73022673e-03 9.99988805e-01 -1.23052226e-04 6.98610952e-01] [ 1.28767360e-02 1.83953962e-04 9.99917074e-01 6.86789922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81925415399998 meters 0.0161186274802281 Centerline is valid? [True, True] Translation: X:104.62, Y:0.70, Z:0.69 [[ 9.99903310e-01 5.97938102e-03 -1.25546107e-02 1.04622095e+02] [-5.98138694e-03 9.99982104e-01 -1.22232435e-04 7.00371897e-01] [ 1.25536551e-02 1.97314600e-04 9.99921180e-01 6.86270590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84925415399998 meters 0.015590098980780981 Centerline is valid? [True, True] Translation: X:104.65, Y:0.70, Z:0.69 [[ 9.99895020e-01 6.26931038e-03 -1.30631427e-02 1.04650587e+02] [-6.27152134e-03 9.99980326e-01 -1.28293884e-04 6.98569822e-01] [ 1.30620814e-02 2.10206193e-04 9.99914665e-01 6.86746867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87925415399998 meters 0.015448086623272045 Centerline is valid? [True, True] Translation: X:104.68, Y:0.70, Z:0.69 [[ 9.99892041e-01 3.80299499e-03 -1.41930832e-02 1.04678374e+02] [-3.80537385e-03 9.99992750e-01 -1.40604027e-04 6.96094506e-01] [ 1.41924456e-02 1.94598835e-04 9.99899263e-01 6.85279277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90925415399998 meters 0.015094180511200957 Centerline is valid? [True, True] Translation: X:104.71, Y:0.69, Z:0.68 [[ 9.99887176e-01 1.50029405e-03 -1.49460528e-02 1.04707258e+02] [-1.50269356e-03 9.99998860e-01 -1.49315699e-04 6.93696330e-01] [ 1.49458117e-02 1.71758190e-04 9.99888290e-01 6.84932369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93925415399998 meters 0.01491194641208484 Centerline is valid? [True, True] Translation: X:104.74, Y:0.69, Z:0.68 [[ 9.99874753e-01 -1.10933716e-03 -1.57875650e-02 1.04735665e+02] [ 1.10696628e-03 9.99999375e-01 -1.58911916e-04 6.91604238e-01] [ 1.57877314e-02 1.41415710e-04 9.99875356e-01 6.84251442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96925415399998 meters 0.01459514037637443 Centerline is valid? [True, True] Translation: X:104.76, Y:0.69, Z:0.68 [[ 9.99861336e-01 -3.91382687e-03 -1.61861064e-02 1.04763578e+02] [ 3.91168003e-03 9.99992336e-01 -1.64292503e-04 6.89492093e-01] [ 1.61866254e-02 1.00954853e-04 9.99868983e-01 6.83371117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99925415399998 meters 0.014355038350065696 Centerline is valid? [True, True] Translation: X:104.79, Y:0.68, Z:0.68 [[ 9.99800377e-01 -9.80192308e-03 -1.74106107e-02 1.04792408e+02] [ 9.80030644e-03 9.99951960e-01 -1.78174230e-04 6.84637829e-01] [ 1.74115207e-02 7.50934245e-06 9.99848408e-01 6.83052012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02925415399999 meters 0.014326607167826836 Centerline is valid? [True, True] Translation: X:104.82, Y:0.68, Z:0.68 [[ 9.99760423e-01 -1.23392778e-02 -1.80786999e-02 1.04820787e+02] [ 1.23379252e-02 9.99923868e-01 -1.86360625e-04 6.82841677e-01] [ 1.80796231e-02 -3.67376690e-05 9.99836550e-01 6.83092494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05925415399997 meters 0.01441832153979626 Centerline is valid? [True, True] Translation: X:104.85, Y:0.68, Z:0.68 [[ 9.99677470e-01 -1.72866663e-02 -1.86044939e-02 1.04849995e+02] [ 1.72860647e-02 9.99850566e-01 -1.93159599e-04 6.79250226e-01] [ 1.86050528e-02 -1.28501186e-04 9.99826903e-01 6.83517446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08925415399997 meters 0.014740185616940644 Centerline is valid? [True, True] Translation: X:104.88, Y:0.68, Z:0.68 [[ 9.99641674e-01 -1.98763169e-02 -1.79291721e-02 1.04878526e+02] [ 1.98761153e-02 9.99802433e-01 -1.89455028e-04 6.77515689e-01] [ 1.79293956e-02 -1.66975152e-04 9.99839242e-01 6.84158435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11925415399998 meters 0.01536190398008456 Centerline is valid? [True, True] Translation: X:104.91, Y:0.67, Z:0.69 [[ 9.99574039e-01 -2.40143714e-02 -1.65846544e-02 1.04906714e+02] [ 2.40147266e-02 9.99711589e-01 -1.77766194e-04 6.72936968e-01] [ 1.65841401e-02 -2.20585468e-04 9.99862449e-01 6.85371758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14925415399998 meters 0.015267222276778972 Centerline is valid? [True, True] Translation: X:104.94, Y:0.67, Z:0.69 [[ 9.99546491e-01 -2.59216030e-02 -1.53259075e-02 1.04936770e+02] [ 2.59221168e-02 9.99663952e-01 -1.65160420e-04 6.72356089e-01] [ 1.53250384e-02 -2.32194444e-04 9.99882538e-01 6.86976043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17925415399998 meters 0.0162234199165133 Centerline is valid? [True, True] Translation: X:104.97, Y:0.67, Z:0.69 [[ 9.99502239e-01 -2.80748766e-02 -1.43901122e-02 1.04966693e+02] [ 2.80755473e-02 9.99605792e-01 -1.55446919e-04 6.69972136e-01] [ 1.43888037e-02 -2.48640733e-04 9.99896445e-01 6.87226847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20925415399998 meters 0.01687309311357111 Centerline is valid? [True, True] Translation: X:105.00, Y:0.67, Z:0.69 [[ 9.99429571e-01 -3.10639530e-02 -1.32500240e-02 1.04997941e+02] [ 3.10647857e-02 9.99517363e-01 -1.43014283e-04 6.68587465e-01] [ 1.32480717e-02 -2.68676453e-04 9.99912204e-01 6.88052207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23925415399998 meters 0.01748401076318267 Centerline is valid? [True, True] Translation: X:105.03, Y:0.67, Z:0.69 [[ 9.99382811e-01 -3.28265703e-02 -1.25065155e-02 1.05029030e+02] [ 3.28274569e-02 9.99461025e-01 -1.34442129e-04 6.65594581e-01] [ 1.25041881e-02 -2.76197946e-04 9.99921781e-01 6.88495526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26925415399998 meters 0.019277107340300918 Centerline is valid? [True, True] Translation: X:105.06, Y:0.66, Z:0.69 [[ 9.99238770e-01 -3.70224224e-02 -1.22971541e-02 1.05059976e+02] [ 3.70236097e-02 9.99314383e-01 -1.31164407e-04 6.61371988e-01] [ 1.22935790e-02 -3.24220472e-04 9.99924379e-01 6.88945377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29925415399998 meters 0.0203475062258469 Centerline is valid? [True, True] Translation: X:105.09, Y:0.66, Z:0.69 [[ 9.99137404e-01 -3.96953056e-02 -1.21955214e-02 1.05092476e+02] [ 3.96966869e-02 9.99211768e-01 -1.28882856e-04 6.59040890e-01] [ 1.21910245e-02 -3.55350111e-04 9.99925624e-01 6.88891629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32925415399998 meters 0.022341605761269732 Centerline is valid? [True, True] Translation: X:105.12, Y:0.66, Z:0.69 [[ 9.98873801e-01 -4.57616921e-02 -1.25298564e-02 1.05124032e+02] [ 4.57636354e-02 9.98952287e-01 -1.31731338e-04 6.55333541e-01] [ 1.25227570e-02 -4.41828799e-04 9.99921490e-01 6.88696224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35925415399998 meters 0.02324075974935054 Centerline is valid? [True, True] Translation: X:105.15, Y:0.65, Z:0.69 [[ 9.98558576e-01 -5.19041588e-02 -1.36648561e-02 1.05154869e+02] [ 5.19070483e-02 9.98651910e-01 -1.43368929e-04 6.52637994e-01] [ 1.36538760e-02 -5.66140069e-04 9.99906621e-01 6.88247908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38925415399999 meters 0.02324075974935054 Centerline is valid? [True, True] Translation: X:105.19, Y:0.65, Z:0.69 [[ 9.98562327e-01 -5.18319394e-02 -1.36648615e-02 1.05186585e+02] [ 5.18348293e-02 9.98655661e-01 -1.42848766e-04 6.52908633e-01] [ 1.36538954e-02 -5.65672366e-04 9.99906621e-01 6.88467700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41925415399997 meters 0.024283360529587416 Centerline is valid? [True, True] Translation: X:105.22, Y:0.65, Z:0.69 [[ 9.98276892e-01 -5.68569608e-02 -1.45097205e-02 1.05217343e+02] [ 5.68607584e-02 9.98382107e-01 -1.51012069e-04 6.50764892e-01] [ 1.44948314e-02 -6.74281852e-04 9.99894717e-01 6.87564995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44925415399997 meters 0.02556473592748965 Centerline is valid? [True, True] Translation: X:105.25, Y:0.65, Z:0.69 [[ 9.98162550e-01 -5.87313729e-02 -1.49046710e-02 1.05248457e+02] [ 5.87355969e-02 9.98273563e-01 -1.54558721e-04 6.49119461e-01] [ 1.48880164e-02 -7.21160019e-04 9.99888907e-01 6.87253920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47925415399997 meters 0.02541174345110455 Centerline is valid? [True, True] Translation: X:105.28, Y:0.65, Z:0.69 [[ 9.98002328e-01 -6.10498394e-02 -1.62564108e-02 1.05279812e+02] [ 6.10551835e-02 9.98134378e-01 -1.67820156e-04 6.49837763e-01] [ 1.62363278e-02 -8.25053236e-04 9.99867842e-01 6.86393434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50925415399998 meters 0.02538666653860557 Centerline is valid? [True, True] Translation: X:105.31, Y:0.65, Z:0.69 [[ 9.97963221e-01 -6.13917368e-02 -1.73338971e-02 1.05312262e+02] [ 6.13978825e-02 9.98113354e-01 -1.77899981e-04 6.50819392e-01] [ 1.73121157e-02 -8.86726939e-04 9.99849741e-01 6.85664546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53925415399998 meters 0.029214693781173088 Centerline is valid? [True, True] Translation: X:105.34, Y:0.65, Z:0.68 [[ 9.97981665e-01 -6.09419219e-02 -1.78515501e-02 1.05343784e+02] [ 6.09483887e-02 9.98140902e-01 -1.82080314e-04 6.46242451e-01] [ 1.78294587e-02 -9.06310400e-04 9.99840632e-01 6.84458214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56925415399998 meters 0.024639226748584857 Centerline is valid? [True, True] Translation: X:105.38, Y:0.66, Z:0.69 [[ 9.98114927e-01 -5.87379552e-02 -1.77889248e-02 1.05375347e+02] [ 5.87440451e-02 9.98273061e-01 -1.80456872e-04 6.56293967e-01] [ 1.77688041e-02 -8.64876704e-04 9.99841748e-01 6.86121706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59925415399998 meters 0.023799423954302724 Centerline is valid? [True, True] Translation: X:105.41, Y:0.66, Z:0.69 [[ 9.98215434e-01 -5.71039169e-02 -1.74668369e-02 1.05407194e+02] [ 5.71095588e-02 9.98367902e-01 -1.76028670e-04 6.59665831e-01] [ 1.74483813e-02 -8.21808815e-04 9.99847428e-01 6.87152161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62925415399998 meters 0.02352173942988133 Centerline is valid? [True, True] Translation: X:105.44, Y:0.66, Z:0.69 [[ 9.98339665e-01 -5.51508884e-02 -1.66220590e-02 1.05439017e+02] [ 5.51557468e-02 9.98477749e-01 -1.66351144e-04 6.62014592e-01] [ 1.66059305e-02 -7.50727131e-04 9.99861830e-01 6.88056190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65925415399998 meters 0.022724957552292313 Centerline is valid? [True, True] Translation: X:105.47, Y:0.67, Z:0.69 [[ 9.98553695e-01 -5.16723000e-02 -1.48489711e-02 1.05469196e+02] [ 5.16758016e-02 9.98663902e-01 -1.48036306e-04 6.66858148e-01] [ 1.48367808e-02 -6.19510283e-04 9.99889737e-01 6.90220837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68925415399998 meters 0.02201909373241814 Centerline is valid? [True, True] Translation: X:105.50, Y:0.67, Z:0.69 [[ 9.98645480e-01 -5.00779966e-02 -1.41209147e-02 1.05501213e+02] [ 5.00810131e-02 9.98745149e-01 -1.40135124e-04 6.70007747e-01] [ 1.41102127e-02 -5.67244404e-04 9.99900285e-01 6.91261029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71925415399998 meters 0.02154314139689814 Centerline is valid? [True, True] Translation: X:105.53, Y:0.67, Z:0.69 [[ 9.98814083e-01 -4.69269345e-02 -1.29726469e-02 1.05532170e+02] [ 4.69292238e-02 9.98898209e-01 -1.28053233e-04 6.74293010e-01] [ 1.29643629e-02 -4.80894878e-04 9.99915843e-01 6.92118443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74925415399998 meters 0.021544056493040285 Centerline is valid? [True, True] Translation: X:105.56, Y:0.68, Z:0.69 [[ 9.98905804e-01 -4.50582795e-02 -1.25277787e-02 1.05563915e+02] [ 4.50602757e-02 9.98984262e-01 -1.23016596e-04 6.75802731e-01] [ 1.25205967e-02 -4.41623169e-04 9.99921517e-01 6.92609324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77925415399999 meters 0.020370503399326455 Centerline is valid? [True, True] Translation: X:105.60, Y:0.68, Z:0.69 [[ 9.99055475e-01 -4.17794279e-02 -1.19430836e-02 1.05595482e+02] [ 4.17810170e-02 9.99126785e-01 -1.16533188e-04 6.81514746e-01] [ 1.19375234e-02 -3.82571061e-04 9.99928672e-01 6.93313478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80925415399997 meters 0.020015650265051237 Centerline is valid? [True, True] Translation: X:105.63, Y:0.68, Z:0.69 [[ 9.99122506e-01 -4.01573621e-02 -1.18997790e-02 1.05628196e+02] [ 4.01588343e-02 9.99193302e-01 -1.15300905e-04 6.84127873e-01] [ 1.18948097e-02 -3.62681526e-04 9.99929188e-01 6.93392130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83925415399997 meters 0.019475916821798805 Centerline is valid? [True, True] Translation: X:105.66, Y:0.69, Z:0.69 [[ 9.99214817e-01 -3.76025744e-02 -1.24818546e-02 1.05659376e+02] [ 3.76040126e-02 9.99292712e-01 -1.19536417e-04 6.87896582e-01] [ 1.24775212e-02 -3.49925259e-04 9.99922091e-01 6.92919377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86925415399998 meters 0.017829814331106225 Centerline is valid? [True, True] Translation: X:105.69, Y:0.69, Z:0.69 [[ 9.99241908e-01 -3.66236016e-02 -1.32030655e-02 1.05691902e+02] [ 3.66251448e-02 9.99329066e-01 -1.24976646e-04 6.92293829e-01] [ 1.31987842e-02 -3.58682283e-04 9.99912828e-01 6.93096641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89925415399998 meters 0.018637981448683887 Centerline is valid? [True, True] Translation: X:105.72, Y:0.69, Z:0.69 [[ 9.99251608e-01 -3.61039910e-02 -1.38825975e-02 1.05722925e+02] [ 3.61056598e-02 9.99347970e-01 -1.30489562e-04 6.92359527e-01] [ 1.38782568e-02 -3.70848438e-04 9.99903624e-01 6.92215311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92925415399998 meters 0.01861750715943646 Centerline is valid? [True, True] Translation: X:105.75, Y:0.69, Z:0.69 [[ 9.99246716e-01 -3.59659626e-02 -1.45756633e-02 1.05754667e+02] [ 3.59678013e-02 9.99352940e-01 -1.36057878e-04 6.93603257e-01] [ 1.45711254e-02 -3.88299174e-04 9.99893760e-01 6.91814659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95925415399998 meters 0.01931654513257646 Centerline is valid? [True, True] Translation: X:105.79, Y:0.69, Z:0.69 [[ 9.99213722e-01 -3.63546130e-02 -1.58202457e-02 1.05786046e+02] [ 3.63568439e-02 9.99338861e-01 -1.46664978e-04 6.94252043e-01] [ 1.58151183e-02 -4.28624544e-04 9.99874841e-01 6.90999606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98925415399998 meters 0.019564277473579843 Centerline is valid? [True, True] Translation: X:105.82, Y:0.70, Z:0.69 [[ 9.99204845e-01 -3.65781203e-02 -1.58656310e-02 1.05818023e+02] [ 3.65804078e-02 9.99330702e-01 -1.46093785e-04 6.96341205e-01] [ 1.58603560e-02 -4.34393635e-04 9.99874122e-01 6.91445826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01925415399998 meters 0.019744468251830512 Centerline is valid? [True, True] Translation: X:105.85, Y:0.70, Z:0.69 [[ 9.99217825e-01 -3.62497190e-02 -1.58017622e-02 1.05849343e+02] [ 3.62519620e-02 9.99342671e-01 -1.44564681e-04 6.96852376e-01] [ 1.57966157e-02 -4.28393277e-04 9.99875134e-01 6.91488667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04925415399998 meters 0.019798795196898512 Centerline is valid? [True, True] Translation: X:105.88, Y:0.70, Z:0.69 [[ 9.99244527e-01 -3.58816331e-02 -1.49292915e-02 1.05881485e+02] [ 3.58836075e-02 9.99355967e-01 -1.35694331e-04 6.97494846e-01] [ 1.49245454e-02 -4.00125017e-04 9.99888543e-01 6.92151432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07925415399998 meters 0.019655125578613496 Centerline is valid? [True, True] Translation: X:105.91, Y:0.70, Z:0.69 [[ 9.99303534e-01 -3.48648115e-02 -1.33000979e-02 1.05912234e+02] [ 3.48662968e-02 9.99391979e-01 -1.20247125e-04 6.98817243e-01] [ 1.32962036e-02 -3.43561785e-04 9.99911543e-01 6.93484264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10925415399998 meters 0.018973429559335692 Centerline is valid? [True, True] Translation: X:105.94, Y:0.70, Z:0.69 [[ 9.99320234e-01 -3.46225916e-02 -1.26627712e-02 1.05943986e+02] [ 3.46239265e-02 9.99400406e-01 -1.13861593e-04 7.01251740e-01] [ 1.26591209e-02 -3.24650665e-04 9.99919817e-01 6.94585619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13925415399999 meters 0.020009569093143637 Centerline is valid? [True, True] Translation: X:105.97, Y:0.70, Z:0.69 [[ 9.99334171e-01 -3.44264515e-02 -1.20844236e-02 1.05974905e+02] [ 3.44276617e-02 9.99407187e-01 -1.07932207e-04 7.00423683e-01] [ 1.20809755e-02 -3.08178105e-04 9.99926975e-01 6.94655077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16925415399997 meters 0.018322756001349052 Centerline is valid? [True, True] Translation: X:106.01, Y:0.70, Z:0.70 [[ 9.99320851e-01 -3.50892229e-02 -1.12509005e-02 1.06007153e+02] [ 3.50903211e-02 9.99384140e-01 -9.98416463e-05 7.04857192e-01] [ 1.12474749e-02 -2.95023873e-04 9.99936702e-01 6.96126646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19925415399997 meters 0.021146784307090664 Centerline is valid? [True, True] Translation: X:106.04, Y:0.70, Z:0.70 [[ 9.99280182e-01 -3.61945510e-02 -1.13609798e-02 1.06038133e+02] [ 3.61957505e-02 9.99344714e-01 -1.00077908e-04 7.00445252e-01] [ 1.13571574e-02 -3.11213320e-04 9.99935457e-01 6.95506363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22925415399997 meters 0.01853101596392024 Centerline is valid? [True, True] Translation: X:106.07, Y:0.71, Z:0.70 [[ 9.99221503e-01 -3.78243558e-02 -1.12118376e-02 1.06069841e+02] [ 3.78256361e-02 9.99284350e-01 -9.79151319e-05 7.05766673e-01] [ 1.12075174e-02 -3.26255983e-04 9.99937141e-01 6.96346068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25925415399998 meters 0.02100137377637428 Centerline is valid? [True, True] Translation: X:106.10, Y:0.70, Z:0.70 [[ 9.99014751e-01 -4.27350361e-02 -1.19684529e-02 1.06099586e+02] [ 4.27368570e-02 9.99086358e-01 -1.03689224e-04 7.02168816e-01] [ 1.19619492e-02 -4.07906994e-04 9.99928370e-01 6.96114159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28925415399998 meters 0.022213586309924108 Centerline is valid? [True, True] Translation: X:106.13, Y:0.70, Z:0.70 [[ 9.98772245e-01 -4.80354042e-02 -1.21079943e-02 1.06130307e+02] [ 4.80376578e-02 9.98845520e-01 -1.04804326e-04 7.01096771e-01] [ 1.20990501e-02 -4.76964032e-04 9.99926690e-01 6.95991254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31925415399998 meters 0.022658423393228638 Centerline is valid? [True, True] Translation: X:106.16, Y:0.70, Z:0.70 [[ 9.98658836e-01 -5.02344321e-02 -1.25312276e-02 1.06162708e+02] [ 5.02370256e-02 9.98737318e-01 -1.07927918e-04 7.01073551e-01] [ 1.25208264e-02 -5.21748434e-04 9.99921475e-01 6.95899431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34925415399998 meters 0.024387621026395828 Centerline is valid? [True, True] Translation: X:106.19, Y:0.70, Z:0.70 [[ 9.98457564e-01 -5.38609041e-02 -1.34720427e-02 1.06193907e+02] [ 5.38642425e-02 9.98548261e-01 -1.15186098e-04 7.00293232e-01] [ 1.34586889e-02 -6.10652945e-04 9.99909241e-01 6.95339222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37925415399998 meters 0.024387621026395828 Centerline is valid? [True, True] Translation: X:106.23, Y:0.70, Z:0.70 [[ 9.98463459e-01 -5.37515073e-02 -1.34720515e-02 1.06226480e+02] [ 5.37548497e-02 9.98554156e-01 -1.14151926e-04 7.00479472e-01] [ 1.34587089e-02 -6.10211577e-04 9.99909241e-01 6.95564860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40925415399998 meters 0.024164932507250766 Centerline is valid? [True, True] Translation: X:106.26, Y:0.70, Z:0.70 [[ 9.98378936e-01 -5.52937894e-02 -1.34943373e-02 1.06258784e+02] [ 5.52973002e-02 9.98469927e-01 -1.13094203e-04 7.02914478e-01] [ 1.34799434e-02 -6.33289550e-04 9.99908941e-01 6.95643713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43925415399998 meters 0.024472412115065248 Centerline is valid? [True, True] Translation: X:106.29, Y:0.70, Z:0.70 [[ 9.98378114e-01 -5.52177724e-02 -1.38614371e-02 1.06291544e+02] [ 5.52214875e-02 9.98474123e-01 -1.14874300e-04 7.03483502e-01] [ 1.38466294e-02 -6.50761191e-04 9.99903919e-01 6.95822859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46925415399998 meters 0.024599916366870058 Centerline is valid? [True, True] Translation: X:106.32, Y:0.71, Z:0.70 [[ 9.98462867e-01 -5.36346114e-02 -1.39725077e-02 1.06322693e+02] [ 5.36382478e-02 9.98560426e-01 -1.14633228e-04 7.05422446e-01] [ 1.39585416e-02 -6.35003811e-04 9.99902373e-01 6.95960510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49925415399998 meters 0.024860179424048834 Centerline is valid? [True, True] Translation: X:106.35, Y:0.71, Z:0.70 [[ 9.98561878e-01 -5.17879740e-02 -1.38629755e-02 1.06353864e+02] [ 5.17913864e-02 9.98657919e-01 -1.12984021e-04 7.06552954e-01] [ 1.38502215e-02 -6.05161185e-04 9.99903898e-01 6.96224205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52925415399999 meters 0.024391915882258086 Centerline is valid? [True, True] Translation: X:106.39, Y:0.71, Z:0.70 [[ 9.98673678e-01 -4.96893739e-02 -1.34852082e-02 1.06385248e+02] [ 4.96924198e-02 9.98764563e-01 -1.09309057e-04 7.09012197e-01] [ 1.34739796e-02 -5.60948551e-04 9.99909064e-01 6.97199685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55925415399997 meters 0.024391915882258086 Centerline is valid? [True, True] Translation: X:106.42, Y:0.71, Z:0.70 [[ 9.98677192e-01 -4.96186990e-02 -1.34852139e-02 1.06416968e+02] [ 4.96217481e-02 9.98768076e-01 -1.08598968e-04 7.09205247e-01] [ 1.34739897e-02 -5.60704578e-04 9.99909064e-01 6.97419431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58925415399997 meters 0.022046527922879637 Centerline is valid? [True, True] Translation: X:106.45, Y:0.72, Z:0.70 [[ 9.98949300e-01 -4.41551950e-02 -1.22725057e-02 1.06448117e+02] [ 4.41573152e-02 9.99024585e-01 -9.82917563e-05 7.16180916e-01] [ 1.22648750e-02 -4.43732423e-04 9.99924685e-01 6.99164290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61925415399998 meters 0.02119313333199014 Centerline is valid? [True, True] Translation: X:106.48, Y:0.72, Z:0.70 [[ 9.99074376e-01 -4.12946385e-02 -1.20475615e-02 1.06480081e+02] [ 4.12964786e-02 9.99146932e-01 -9.60977164e-05 7.19440045e-01] [ 1.20412524e-02 -4.01513100e-04 9.99927421e-01 6.99658874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64925415399998 meters 0.020264187715321066 Centerline is valid? [True, True] Translation: X:106.51, Y:0.72, Z:0.70 [[ 9.99190949e-01 -3.82991742e-02 -1.22727506e-02 1.06511339e+02] [ 3.83008650e-02 9.99266248e-01 -9.73296671e-05 7.22675284e-01] [ 1.22674730e-02 -3.72806039e-04 9.99924682e-01 6.99562571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67925415399998 meters 0.017612048964732327 Centerline is valid? [True, True] Translation: X:106.54, Y:0.73, Z:0.70 [[ 9.99395334e-01 -3.23192370e-02 -1.28231816e-02 1.06542387e+02] [ 3.23205970e-02 9.99477548e-01 -1.01222397e-04 7.30469323e-01] [ 1.28197535e-02 -3.13291693e-04 9.99917775e-01 6.99320858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70925415399998 meters 0.017012802932119157 Centerline is valid? [True, True] Translation: X:106.57, Y:0.73, Z:0.70 [[ 9.99481204e-01 -2.93020933e-02 -1.33682665e-02 1.06573978e+02] [ 2.93033082e-02 9.99570560e-01 -1.05027107e-04 7.33242450e-01] [ 1.33656032e-02 -2.86761814e-04 9.99910635e-01 6.98814031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73925415399998 meters 0.015917879002758657 Centerline is valid? [True, True] Translation: X:106.60, Y:0.74, Z:0.70 [[ 9.99635045e-01 -2.29485756e-02 -1.42526902e-02 1.06604836e+02] [ 2.29493186e-02 9.99736623e-01 -1.11442436e-04 7.38983715e-01] [ 1.42514938e-02 -2.15687763e-04 9.99898419e-01 6.97724508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76925415399998 meters 0.015272466441928112 Centerline is valid? [True, True] Translation: X:106.64, Y:0.74, Z:0.70 [[ 9.99709380e-01 -1.94573017e-02 -1.42326584e-02 1.06635857e+02] [ 1.94576943e-02 9.99810675e-01 -1.10903900e-04 7.42847414e-01] [ 1.42321217e-02 -1.66063049e-04 9.99898704e-01 6.98148907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79925415399998 meters 0.014548904249418083 Centerline is valid? [True, True] Translation: X:106.67, Y:0.75, Z:0.70 [[ 9.99832301e-01 -1.16620939e-02 -1.41196800e-02 1.06665054e+02] [ 1.16617029e-02 9.99931994e-01 -1.10028292e-04 7.50116877e-01] [ 1.41200030e-02 -5.46496732e-05 9.99900306e-01 6.98841061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82925415399998 meters 0.014584650800509462 Centerline is valid? [True, True] Translation: X:106.69, Y:0.75, Z:0.70 [[ 9.99861570e-01 -8.26400005e-03 -1.44411274e-02 1.06692598e+02] [ 8.26320393e-03 9.99965853e-01 -1.14796926e-04 7.54046674e-01] [ 1.44415829e-02 -4.54894597e-06 9.99895715e-01 6.99220328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85925415399998 meters 0.014578284956644521 Centerline is valid? [True, True] Translation: X:106.72, Y:0.76, Z:0.70 [[ 9.99882584e-01 -4.85921214e-03 -1.45329239e-02 1.06720344e+02] [ 4.85798474e-03 9.99988193e-01 -1.19757655e-04 7.57462324e-01] [ 1.45333342e-02 4.91428712e-05 9.99894384e-01 6.99971122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88925415399999 meters 0.01512972214388976 Centerline is valid? [True, True] Translation: X:106.75, Y:0.76, Z:0.70 [[ 9.99897553e-01 1.38823093e-03 -1.42462948e-02 1.06747604e+02] [-1.39008447e-03 9.99999027e-01 -1.20205605e-04 7.62978841e-01] [ 1.42461141e-02 1.39996844e-04 9.99898509e-01 7.00240908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91925415399997 meters 0.015552499683148424 Centerline is valid? [True, True] Translation: X:106.78, Y:0.77, Z:0.70 [[ 9.99898675e-01 3.59765100e-03 -1.37730709e-02 1.06775544e+02] [-3.59961560e-03 9.99993514e-01 -1.17853081e-04 7.65310372e-01] [ 1.37725576e-02 1.67418900e-04 9.99905140e-01 7.00295494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94925415399997 meters 0.015456652720980584 Centerline is valid? [True, True] Translation: X:106.80, Y:0.77, Z:0.70 [[ 9.99885093e-01 6.41905856e-03 -1.37330336e-02 1.06804443e+02] [-6.42131452e-03 9.99979376e-01 -1.20184083e-04 7.65928374e-01] [ 1.37319789e-02 2.08354401e-04 9.99905690e-01 7.01342848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97925415399997 meters 0.015568583341974241 Centerline is valid? [True, True] Translation: X:106.83, Y:0.77, Z:0.70 [[ 9.99884621e-01 6.97298295e-03 -1.34952324e-02 1.06832184e+02] [-6.97524375e-03 9.99975665e-01 -1.20464038e-04 7.66817698e-01] [ 1.34940640e-02 2.14582674e-04 9.99908928e-01 7.01311813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00925415399998 meters 0.01567435521664596 Centerline is valid? [True, True] Translation: X:106.86, Y:0.77, Z:0.70 [[ 9.99887405e-01 6.95734926e-03 -1.32956092e-02 1.06859899e+02] [-6.95955982e-03 9.99975775e-01 -1.20001233e-04 7.67091909e-01] [ 1.32944522e-02 2.12519308e-04 9.99911602e-01 7.01295623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03925415399998 meters 0.015374863572252354 Centerline is valid? [True, True] Translation: X:106.89, Y:0.77, Z:0.70 [[ 9.99906860e-01 4.58885580e-03 -1.28535677e-02 1.06889128e+02] [-4.59074589e-03 9.99989456e-01 -1.17546657e-04 7.65199806e-01] [ 1.28528928e-02 1.76543172e-04 9.99917383e-01 7.00843410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06925415399998 meters 0.01506225569756893 Centerline is valid? [True, True] Translation: X:106.92, Y:0.76, Z:0.70 [[ 9.99907726e-01 2.28837073e-03 -1.33904115e-02 1.06918394e+02] [-2.29023512e-03 9.99997370e-01 -1.23900599e-04 7.63549888e-01] [ 1.33900927e-02 1.54556357e-04 9.99910337e-01 7.00928582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09925415399998 meters 0.014456858009316087 Centerline is valid? [True, True] Translation: X:106.95, Y:0.76, Z:0.70 [[ 9.99895908e-01 -4.06882112e-03 -1.38425784e-02 1.06947690e+02] [ 4.06742554e-03 9.99991720e-01 -1.28970059e-04 7.58483591e-01] [ 1.38429885e-02 7.26529775e-05 9.99904179e-01 7.00358545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12925415399998 meters 0.014321318504324792 Centerline is valid? [True, True] Translation: X:106.98, Y:0.76, Z:0.70 [[ 9.99870421e-01 -8.16707931e-03 -1.38722544e-02 1.06976152e+02] [ 8.16606013e-03 9.99966649e-01 -1.30111869e-04 7.55345161e-01] [ 1.38728544e-02 1.68133454e-05 9.99903767e-01 7.00125288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15925415399998 meters 0.014367989017319165 Centerline is valid? [True, True] Translation: X:107.00, Y:0.75, Z:0.70 [[ 9.99824156e-01 -1.24686403e-02 -1.40068125e-02 1.07004830e+02] [ 1.24680093e-02 9.99922263e-01 -1.32372417e-04 7.51887037e-01] [ 1.40073741e-02 -4.22879285e-05 9.99901891e-01 6.99850866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18925415399998 meters 0.01465988923837367 Centerline is valid? [True, True] Translation: X:107.03, Y:0.75, Z:0.70 [[ 9.99749982e-01 -1.69820525e-02 -1.45459288e-02 1.07033746e+02] [ 1.69818345e-02 9.99855789e-01 -1.38512699e-04 7.48258706e-01] [ 1.45461833e-02 -1.08538487e-04 9.99894193e-01 6.99747295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21925415399998 meters 0.016484565016699135 Centerline is valid? [True, True] Translation: X:107.06, Y:0.74, Z:0.70 [[ 9.99570045e-01 -2.53793703e-02 -1.46837668e-02 1.07063106e+02] [ 2.53800406e-02 9.99677865e-01 -1.40725633e-04 7.40627318e-01] [ 1.46826082e-02 -2.32009469e-04 9.99892178e-01 6.98893430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24925415399998 meters 0.01695008485911243 Centerline is valid? [True, True] Translation: X:107.09, Y:0.74, Z:0.70 [[ 9.99344843e-01 -3.30880890e-02 -1.46650569e-02 1.07093965e+02] [ 3.30895838e-02 9.99452380e-01 -1.40769716e-04 7.35467926e-01] [ 1.46616838e-02 -3.44583140e-04 9.99892452e-01 6.99808500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27925415399997 meters 0.018306169433319076 Centerline is valid? [True, True] Translation: X:107.13, Y:0.73, Z:0.70 [[ 9.99239212e-01 -3.61938743e-02 -1.45258557e-02 1.07125122e+02] [ 3.61956765e-02 9.99344712e-01 -1.38894671e-04 7.31688706e-01] [ 1.45213642e-02 -3.86984172e-04 9.99894485e-01 6.99367122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30925415399997 meters 0.020076263852069398 Centerline is valid? [True, True] Translation: X:107.16, Y:0.73, Z:0.70 [[ 9.99145596e-01 -3.88594445e-02 -1.40720399e-02 1.07156510e+02] [ 3.88614105e-02 9.99244601e-01 -1.33808924e-04 7.27760118e-01] [ 1.40666096e-02 -4.13164722e-04 9.99900975e-01 6.99348085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33925415399997 meters 0.021040219634756763 Centerline is valid? [True, True] Translation: X:107.19, Y:0.73, Z:0.70 [[ 9.99072231e-01 -4.08305544e-02 -1.36946319e-02 1.07187795e+02] [ 4.08326111e-02 9.99165993e-01 -1.29509287e-04 7.25510091e-01] [ 1.36884984e-02 -4.29798446e-04 9.99906216e-01 6.99731125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36925415399998 meters 0.019752229550656402 Centerline is valid? [True, True] Translation: X:107.22, Y:0.73, Z:0.70 [[ 9.98980243e-01 -4.30996398e-02 -1.34497150e-02 1.07220209e+02] [ 4.31018402e-02 9.99070676e-01 -1.26361482e-04 7.27318578e-01] [ 1.34426620e-02 -4.53474844e-04 9.99909541e-01 7.01057127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39925415399998 meters 0.019275553881523036 Centerline is valid? [True, True] Translation: X:107.25, Y:0.73, Z:0.70 [[ 9.98966748e-01 -4.33841853e-02 -1.35369251e-02 1.07252481e+02] [ 4.33864540e-02 9.99058356e-01 -1.26176138e-04 7.28563879e-01] [ 1.35296522e-02 -4.61273413e-04 9.99908364e-01 7.01919767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42925415399998 meters 0.01929851830117487 Centerline is valid? [True, True] Translation: X:107.28, Y:0.73, Z:0.70 [[ 9.99006867e-01 -4.24239469e-02 -1.36194496e-02 1.07284909e+02] [ 4.24261680e-02 9.99099597e-01 -1.25928044e-04 7.29581698e-01] [ 1.36125290e-02 -4.52018076e-04 9.99907243e-01 7.02103084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45925415399998 meters 0.01925394677200936 Centerline is valid? [True, True] Translation: X:107.32, Y:0.73, Z:0.70 [[ 9.99044366e-01 -4.14720734e-02 -1.37993279e-02 1.07316302e+02] [ 4.14742753e-02 9.99139564e-01 -1.26690051e-04 7.30167837e-01] [ 1.37927085e-02 -4.45748142e-04 9.99904777e-01 7.02294355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48925415399998 meters 0.018967449931109295 Centerline is valid? [True, True] Translation: X:107.35, Y:0.73, Z:0.70 [[ 9.99087359e-01 -4.02501219e-02 -1.42960531e-02 1.07348795e+02] [ 4.02523737e-02 9.99189536e-01 -1.30311404e-04 7.31302394e-01] [ 1.42897118e-02 -4.45257598e-04 9.99897798e-01 7.02142517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51925415399998 meters 0.0221937638819089 Centerline is valid? [True, True] Translation: X:107.38, Y:0.73, Z:0.70 [[ 9.99159385e-01 -3.83349138e-02 -1.45244094e-02 1.07380497e+02] [ 3.83370515e-02 9.99264856e-01 -1.31320430e-04 7.26468458e-01] [ 1.45187660e-02 -4.25612989e-04 9.99894507e-01 7.00285035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54925415399998 meters 0.020163319200938255 Centerline is valid? [True, True] Translation: X:107.41, Y:0.73, Z:0.70 [[ 9.99189734e-01 -3.74968025e-02 -1.46240996e-02 1.07412787e+02] [ 3.74988952e-02 9.99296660e-01 -1.31184096e-04 7.30188098e-01] [ 1.46187328e-02 -4.17309775e-04 9.99893054e-01 7.01064418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57925415399998 meters 0.018332645223118102 Centerline is valid? [True, True] Translation: X:107.45, Y:0.73, Z:0.70 [[ 9.99223091e-01 -3.65845444e-02 -1.46555437e-02 1.07445125e+02] [ 3.65865632e-02 9.99330479e-01 -1.30427917e-04 7.34403284e-01] [ 1.46505031e-02 -4.05869389e-04 9.99892593e-01 7.01996165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60925415399998 meters 0.01797879425219294 Centerline is valid? [True, True] Translation: X:107.48, Y:0.74, Z:0.70 [[ 9.99293624e-01 -3.42646679e-02 -1.54332437e-02 1.07475974e+02] [ 3.42666455e-02 9.99412717e-01 -1.36358371e-04 7.36748906e-01] [ 1.54288523e-02 -3.92583441e-04 9.99880891e-01 7.01542275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63925415399999 meters 0.017962587836684477 Centerline is valid? [True, True] Translation: X:107.51, Y:0.74, Z:0.70 [[ 9.99341147e-01 -3.25906669e-02 -1.59725049e-02 1.07506909e+02] [ 3.25925854e-02 9.99468711e-01 -1.40250659e-04 7.37754315e-01] [ 1.59685897e-02 -3.80426976e-04 9.99872422e-01 7.00732211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66925415399997 meters 0.017370746598896467 Centerline is valid? [True, True] Translation: X:107.54, Y:0.74, Z:0.70 [[ 9.99387976e-01 -3.07719094e-02 -1.66362036e-02 1.07538796e+02] [ 3.07737538e-02 9.99526365e-01 -1.45179097e-04 7.40084953e-01] [ 1.66327916e-02 -3.66868190e-04 9.99861598e-01 7.00440311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69925415399997 meters 0.015879969810224794 Centerline is valid? [True, True] Translation: X:107.57, Y:0.75, Z:0.70 [[ 9.99477173e-01 -2.62907507e-02 -1.88195958e-02 1.07570365e+02] [ 2.62923331e-02 9.99654284e-01 -1.63382950e-04 7.46649590e-01] [ 1.88173850e-02 -3.31513552e-04 9.99822882e-01 7.00262635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72925415399997 meters 0.015437630386565399 Centerline is valid? [True, True] Translation: X:107.60, Y:0.75, Z:0.70 [[ 9.99518567e-01 -2.42238173e-02 -1.93866223e-02 1.07600452e+02] [ 2.42251129e-02 9.99706515e-01 -1.68044122e-04 7.49800258e-01] [ 1.93850033e-02 -3.01679894e-04 9.99812048e-01 7.00436350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75925415399998 meters 0.015080883463184449 Centerline is valid? [True, True] Translation: X:107.63, Y:0.75, Z:0.70 [[ 9.99601982e-01 -1.98699974e-02 -2.00265177e-02 1.07629525e+02] [ 1.98704968e-02 9.99802547e-01 -1.74069828e-04 7.54926183e-01] [ 2.00260222e-02 -2.23936311e-04 9.99799434e-01 7.00298072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78925415399998 meters 0.014814488382599375 Centerline is valid? [True, True] Translation: X:107.66, Y:0.76, Z:0.70 [[ 9.99649497e-01 -1.77794190e-02 -1.96157023e-02 1.07658212e+02] [ 1.77794276e-02 9.99841918e-01 -1.73967380e-04 7.57849392e-01] [ 1.96156945e-02 -1.74849557e-04 9.99807578e-01 7.01131751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81925415399998 meters 0.014677608661257117 Centerline is valid? [True, True] Translation: X:107.69, Y:0.76, Z:0.70 [[ 9.99701235e-01 -1.55680380e-02 -1.88434698e-02 1.07686409e+02] [ 1.55675648e-02 9.99878803e-01 -1.71807261e-04 7.60374690e-01] [ 1.88438608e-02 -1.21591008e-04 9.99822431e-01 7.01217148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84925415399998 meters 0.014342822941206887 Centerline is valid? [True, True] Translation: X:107.71, Y:0.77, Z:0.70 [[ 9.99791023e-01 -1.09744240e-02 -1.72473607e-02 1.07714631e+02] [ 1.09732705e-02 9.99939779e-01 -1.61514283e-04 7.66348507e-01] [ 1.72480945e-02 -2.77794246e-05 9.99851240e-01 7.03862964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87925415399998 meters 0.014391337267975387 Centerline is valid? [True, True] Translation: X:107.74, Y:0.77, Z:0.70 [[ 9.99834333e-01 -8.37599892e-03 -1.61601385e-02 1.07741963e+02] [ 8.37457607e-03 9.99964920e-01 -1.55717329e-04 7.69375440e-01] [ 1.61608759e-02 2.03572223e-05 9.99869404e-01 7.04832826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90925415399998 meters 0.014599914326345654 Centerline is valid? [True, True] Translation: X:107.77, Y:0.78, Z:0.71 [[ 9.99891732e-01 -3.16451019e-03 -1.43704405e-02 1.07769731e+02] [ 3.16279012e-03 9.99994988e-01 -1.42419519e-04 7.75560283e-01] [ 1.43708192e-02 9.69534119e-05 9.99896730e-01 7.06690898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93925415399998 meters 0.014873272694267727 Centerline is valid? [True, True] Translation: X:107.80, Y:0.78, Z:0.71 [[ 9.99909007e-01 -6.87209818e-04 -1.34723648e-02 1.07797183e+02] [ 6.85440211e-04 9.99999756e-01 -1.35967910e-04 7.78685925e-01] [ 1.34724550e-02 1.26721038e-04 9.99909234e-01 7.07748371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96925415399998 meters 0.01519209472779095 Centerline is valid? [True, True] Translation: X:107.83, Y:0.78, Z:0.71 [[ 9.99918430e-01 1.20402232e-03 -1.27154557e-02 1.07825968e+02] [-1.20577707e-03 9.99999265e-01 -1.30335920e-04 7.81169311e-01] [ 1.27152895e-02 1.45657293e-04 9.99919147e-01 7.08271741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99925415399998 meters 0.015547164707708705 Centerline is valid? [True, True] Translation: X:107.85, Y:0.78, Z:0.71 [[ 9.99929027e-01 2.68001499e-03 -1.16085292e-02 1.07854945e+02] [-2.68160833e-03 9.99996397e-01 -1.21692849e-04 7.83140237e-01] [ 1.16081612e-02 1.52813741e-04 9.99932611e-01 7.09136736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02925415399997 meters 0.01526994653308638 Centerline is valid? [True, True] Translation: X:107.88, Y:0.78, Z:0.71 [[ 9.99927700e-01 2.20522298e-03 -1.18208489e-02 1.07883492e+02] [-2.20686648e-03 9.99997557e-01 -1.25991988e-04 7.82596731e-01] [ 1.18205422e-02 1.52069914e-04 9.99930123e-01 7.09397026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05925415399997 meters 0.014885787676061727 Centerline is valid? [True, True] Translation: X:107.91, Y:0.78, Z:0.71 [[ 9.99919328e-01 -2.25158958e-03 -1.25007167e-02 1.07910923e+02] [ 2.25008712e-03 9.99997460e-01 -1.34252894e-04 7.80112081e-01] [ 1.25009872e-02 1.06114362e-04 9.99921854e-01 7.07951553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08925415399997 meters 0.014267992441664323 Centerline is valid? [True, True] Translation: X:107.94, Y:0.78, Z:0.71 [[ 9.99902268e-01 -5.90420574e-03 -1.26726389e-02 1.07939539e+02] [ 5.90294203e-03 9.99982568e-01 -1.37121417e-04 7.76799914e-01] [ 1.26732276e-02 6.23021628e-05 9.99919689e-01 7.07821600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11925415399998 meters 0.014059001112582742 Centerline is valid? [True, True] Translation: X:107.97, Y:0.77, Z:0.71 [[ 9.99863202e-01 -1.01789166e-02 -1.30371710e-02 1.07968032e+02] [ 1.01779302e-02 9.99948193e-01 -1.42011538e-04 7.73337417e-01] [ 1.30379411e-02 9.30069490e-06 9.99915002e-01 7.07937883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14925415399998 meters 0.014345955478480296 Centerline is valid? [True, True] Translation: X:108.00, Y:0.77, Z:0.71 [[ 9.99720168e-01 -1.93470991e-02 -1.36116064e-02 1.07996945e+02] [ 1.93468596e-02 9.99812821e-01 -1.49286598e-04 7.66298307e-01] [ 1.36119469e-02 -1.14097015e-04 9.99907347e-01 7.07023514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17925415399998 meters 0.014857420787623315 Centerline is valid? [True, True] Translation: X:108.03, Y:0.76, Z:0.71 [[ 9.99617390e-01 -2.38638407e-02 -1.39853739e-02 1.08027511e+02] [ 2.38640226e-02 9.99715202e-01 -1.53905116e-04 7.62817098e-01] [ 1.39850636e-02 -1.79901047e-04 9.99902188e-01 7.06875785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20925415399998 meters 0.01646854315997336 Centerline is valid? [True, True] Translation: X:108.06, Y:0.76, Z:0.71 [[ 9.99389674e-01 -3.20148589e-02 -1.39760160e-02 1.08058177e+02] [ 3.20158388e-02 9.99487350e-01 -1.53674284e-04 7.55376588e-01] [ 1.39737711e-02 -2.93873385e-04 9.99902319e-01 7.06436526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23925415399998 meters 0.017146481868670804 Centerline is valid? [True, True] Translation: X:108.09, Y:0.75, Z:0.71 [[ 9.99283893e-01 -3.52394488e-02 -1.37797888e-02 1.08090179e+02] [ 3.52407164e-02 9.99378842e-01 -1.50888858e-04 7.52954139e-01] [ 1.37765466e-02 -3.34828823e-04 9.99905043e-01 7.06690823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26925415399998 meters 0.017913470707377477 Centerline is valid? [True, True] Translation: X:108.12, Y:0.75, Z:0.71 [[ 9.99186911e-01 -3.80472219e-02 -1.33388878e-02 1.08121954e+02] [ 3.80486709e-02 9.99275877e-01 -1.45215562e-04 7.50399060e-01] [ 1.33347539e-02 -3.62429464e-04 9.99911023e-01 7.07252564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29925415399998 meters 0.019410862291722116 Centerline is valid? [True, True] Translation: X:108.15, Y:0.75, Z:0.71 [[ 9.99040599e-01 -4.20346035e-02 -1.22871263e-02 1.08152960e+02] [ 4.20361421e-02 9.99116082e-01 -1.33122759e-04 7.46158464e-01] [ 1.22818612e-02 -3.83508345e-04 9.99924502e-01 7.07923876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32925415399998 meters 0.02003491709022832 Centerline is valid? [True, True] Translation: X:108.18, Y:0.74, Z:0.71 [[ 9.98975408e-01 -4.36531692e-02 -1.19388409e-02 1.08184942e+02] [ 4.36547460e-02 9.99046669e-01 -1.28620626e-04 7.44838291e-01] [ 1.19330739e-02 -3.92698225e-04 9.99928721e-01 7.08231549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35925415399998 meters 0.020682941385749616 Centerline is valid? [True, True] Translation: X:108.22, Y:0.74, Z:0.71 [[ 9.98861371e-01 -4.62624477e-02 -1.16510651e-02 1.08216792e+02] [ 4.62641354e-02 9.98929234e-01 -1.24773871e-04 7.43195296e-01] [ 1.16443619e-02 -4.14394653e-04 9.99932116e-01 7.08254609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38925415399999 meters 0.021448592907834154 Centerline is valid? [True, True] Translation: X:108.25, Y:0.74, Z:0.71 [[ 9.98795513e-01 -4.77299195e-02 -1.13744834e-02 1.08249360e+02] [ 4.77316309e-02 9.98860189e-01 -1.21120176e-04 7.41774347e-01] [ 1.13672997e-02 -4.21948354e-04 9.99935301e-01 7.08326869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41925415399997 meters 0.022147058949733945 Centerline is valid? [True, True] Translation: X:108.28, Y:0.74, Z:0.71 [[ 9.98718162e-01 -4.92828696e-02 -1.15425592e-02 1.08281273e+02] [ 4.92847452e-02 9.98784761e-01 -1.22068091e-04 7.40213101e-01] [ 1.15345481e-02 -4.46960468e-04 9.99933375e-01 7.08291569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44925415399997 meters 0.023496688451204315 Centerline is valid? [True, True] Translation: X:108.31, Y:0.74, Z:0.71 [[ 9.98566312e-01 -5.22954720e-02 -1.14238337e-02 1.08312556e+02] [ 5.22975135e-02 9.98631541e-01 -1.20156881e-04 7.37059262e-01] [ 1.14144844e-02 -4.77453486e-04 9.99934739e-01 7.08177085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47925415399997 meters 0.023496688451204315 Centerline is valid? [True, True] Translation: X:108.35, Y:0.74, Z:0.71 [[ 9.98571967e-01 -5.21873777e-02 -1.14238414e-02 1.08345125e+02] [ 5.21894205e-02 9.98637196e-01 -1.19422231e-04 7.37307858e-01] [ 1.14145053e-02 -4.76951971e-04 9.99934739e-01 7.08402712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50925415399998 meters 0.024083812426420704 Centerline is valid? [True, True] Translation: X:108.38, Y:0.74, Z:0.71 [[ 9.98497306e-01 -5.36330179e-02 -1.12529953e-02 1.08376951e+02] [ 5.36351026e-02 9.98560595e-01 -1.16664016e-04 7.36693159e-01] [ 1.12430547e-02 -4.87066851e-04 9.99936676e-01 7.08720580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53925415399998 meters 0.025845794994271913 Centerline is valid? [True, True] Translation: X:108.41, Y:0.73, Z:0.71 [[ 9.98398658e-01 -5.53777027e-02 -1.15512141e-02 1.08408458e+02] [ 5.53800232e-02 9.98465342e-01 -1.19124644e-04 7.34500619e-01] [ 1.15400838e-02 -5.20772620e-04 9.99933275e-01 7.08699516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56925415399998 meters 0.02649854561703358 Centerline is valid? [True, True] Translation: X:108.44, Y:0.73, Z:0.71 [[ 9.98357937e-01 -5.60755558e-02 -1.17030476e-02 1.08440426e+02] [ 5.60779938e-02 9.98426384e-01 -1.19979674e-04 7.34304515e-01] [ 1.16913594e-02 -5.36500772e-04 9.99931510e-01 7.08538916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59925415399998 meters 0.026959389549958464 Centerline is valid? [True, True] Translation: X:108.47, Y:0.73, Z:0.71 [[ 9.98355653e-01 -5.61469714e-02 -1.15545336e-02 1.08472432e+02] [ 5.61493620e-02 9.98422373e-01 -1.17654756e-04 7.34029982e-01] [ 1.15429108e-02 -5.31318400e-04 9.99933237e-01 7.08967373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62925415399998 meters 0.025773375555631833 Centerline is valid? [True, True] Translation: X:108.50, Y:0.74, Z:0.71 [[ 9.98366140e-01 -5.59837927e-02 -1.14396137e-02 1.08504696e+02] [ 5.59861344e-02 9.98431540e-01 -1.15686093e-04 7.36145128e-01] [ 1.14281477e-02 -5.24962673e-04 9.99934559e-01 7.08831663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65925415399998 meters 0.026486901865746596 Centerline is valid? [True, True] Translation: X:108.54, Y:0.74, Z:0.71 [[ 9.98372598e-01 -5.57915508e-02 -1.18092545e-02 1.08537245e+02] [ 5.57940450e-02 9.98442292e-01 -1.18397174e-04 7.35642110e-01] [ 1.17974647e-02 -5.40681586e-04 9.99930261e-01 7.08681825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68925415399998 meters 0.024179495159412357 Centerline is valid? [True, True] Translation: X:108.57, Y:0.74, Z:0.71 [[ 9.98395200e-01 -5.52572590e-02 -1.23959810e-02 1.08569063e+02] [ 5.52599807e-02 9.98471992e-01 -1.23108880e-04 7.39485004e-01] [ 1.23838425e-02 -5.62090358e-04 9.99923159e-01 7.08559922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71925415399998 meters 0.02499189524659797 Centerline is valid? [True, True] Translation: X:108.60, Y:0.74, Z:0.71 [[ 9.98451494e-01 -5.39165225e-02 -1.36975616e-02 1.08599933e+02] [ 5.39197409e-02 9.98545264e-01 -1.34498372e-04 7.39255961e-01] [ 1.36848870e-02 -6.04278875e-04 9.99906175e-01 7.07525648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74925415399998 meters 0.024356912039179775 Centerline is valid? [True, True] Translation: X:108.63, Y:0.74, Z:0.71 [[ 9.98495166e-01 -5.29434580e-02 -1.42966158e-02 1.08632509e+02] [ 5.29468871e-02 9.98597320e-01 -1.38807804e-04 7.41219008e-01] [ 1.42839112e-02 -6.18362382e-04 9.99897789e-01 7.07493906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77925415399997 meters 0.02433141657572633 Centerline is valid? [True, True] Translation: X:108.67, Y:0.74, Z:0.71 [[ 9.98538531e-01 -5.18300241e-02 -1.53117638e-02 1.08665049e+02] [ 5.18338440e-02 9.98655712e-01 -1.47539257e-04 7.42462951e-01] [ 1.52988274e-02 -6.46343946e-04 9.99882757e-01 7.07374556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80925415399997 meters 0.02147616092821947 Centerline is valid? [True, True] Translation: X:108.70, Y:0.75, Z:0.71 [[ 9.98708452e-01 -4.81236576e-02 -1.62954289e-02 1.08696422e+02] [ 4.81275057e-02 9.98841188e-01 -1.56151010e-04 7.49346513e-01] [ 1.62840602e-02 -6.28309017e-04 9.99867208e-01 7.08408488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83925415399997 meters 0.021243710879550688 Centerline is valid? [True, True] Translation: X:108.73, Y:0.75, Z:0.71 [[ 9.98839605e-01 -4.54200239e-02 -1.60145049e-02 1.08726543e+02] [ 4.54234001e-02 9.98967813e-01 -1.53045459e-04 7.51365307e-01] [ 1.60049263e-02 -5.74565398e-04 9.99871748e-01 7.08525787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86925415399998 meters 0.019233503845913363 Centerline is valid? [True, True] Translation: X:108.76, Y:0.76, Z:0.71 [[ 9.99106827e-01 -3.92578590e-02 -1.56323233e-02 1.08757477e+02] [ 3.92603267e-02 9.99229005e-01 -1.49115469e-04 7.57775382e-01] [ 1.56261248e-02 -4.64747835e-04 9.99877797e-01 7.10052533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89925415399998 meters 0.017931770244526735 Centerline is valid? [True, True] Translation: X:108.79, Y:0.76, Z:0.71 [[ 9.99254321e-01 -3.56219057e-02 -1.48956735e-02 1.08788529e+02] [ 3.56237486e-02 9.99365263e-01 -1.41680962e-04 7.62026112e-01] [ 1.48912656e-02 -3.89064413e-04 9.99889043e-01 7.11149492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92925415399998 meters 0.017234560803264666 Centerline is valid? [True, True] Translation: X:108.82, Y:0.77, Z:0.71 [[ 9.99394680e-01 -3.16948886e-02 -1.43425033e-02 1.08819356e+02] [ 3.16962003e-02 9.99497540e-01 -1.35909643e-04 7.65388604e-01] [ 1.43396044e-02 -3.18775482e-04 9.99897132e-01 7.11984245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95925415399998 meters 0.01645005910601323 Centerline is valid? [True, True] Translation: X:108.85, Y:0.77, Z:0.71 [[ 9.99522832e-01 -2.77405111e-02 -1.35857702e-02 1.08850173e+02] [ 2.77413292e-02 9.99615127e-01 -1.28267414e-04 7.69460949e-01] [ 1.35840996e-02 -2.48681115e-04 9.99907701e-01 7.12847975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98925415399998 meters 0.01447233166622017 Centerline is valid? [True, True] Translation: X:108.88, Y:0.78, Z:0.72 [[ 9.99738271e-01 -1.92558183e-02 -1.23532867e-02 1.08881840e+02] [ 1.92558535e-02 9.99814582e-01 -1.16105972e-04 7.79127586e-01] [ 1.23532319e-02 -1.21797496e-04 9.99923689e-01 7.15049615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01925415399998 meters 0.014069893288193188 Centerline is valid? [True, True] Translation: X:108.91, Y:0.79, Z:0.72 [[ 9.99873089e-01 -1.07163102e-02 -1.17884434e-02 1.08912036e+02] [ 1.07157530e-02 9.99942579e-01 -1.10427780e-04 7.86239020e-01] [ 1.17889498e-02 -1.59082823e-05 9.99930508e-01 7.15230844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04925415399998 meters 0.014209683639413903 Centerline is valid? [True, True] Translation: X:108.94, Y:0.79, Z:0.72 [[ 9.99905319e-01 -6.72158388e-03 -1.20072236e-02 1.08940511e+02] [ 6.72071357e-03 9.99977409e-01 -1.12831277e-04 7.89656774e-01] [ 1.20077108e-02 3.21234834e-05 9.99927904e-01 7.15263923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07925415399998 meters 0.014444412937515404 Centerline is valid? [True, True] Translation: X:108.97, Y:0.79, Z:0.72 [[ 9.99922895e-01 -2.91644938e-03 -1.20705474e-02 1.08968223e+02] [ 2.91528116e-03 9.99995744e-01 -1.14376166e-04 7.93075015e-01] [ 1.20708296e-02 7.91783077e-05 9.99927142e-01 7.15270653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10925415399998 meters 0.01543429645031485 Centerline is valid? [True, True] Translation: X:109.00, Y:0.80, Z:0.72 [[ 9.99909174e-01 4.40926228e-03 -1.27358554e-02 1.08996502e+02] [-4.41117542e-03 9.99990263e-01 -1.22129122e-04 7.99345712e-01] [ 1.27351929e-02 1.78298121e-04 9.99918888e-01 7.15526519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13925415399999 meters 0.016071559245136764 Centerline is valid? [True, True] Translation: X:109.02, Y:0.80, Z:0.72 [[ 9.99886904e-01 7.39154398e-03 -1.30974987e-02 1.09024314e+02] [-7.39384293e-03 9.99972657e-01 -1.27111370e-04 8.02526379e-01] [ 1.30962010e-02 2.23937843e-04 9.99914216e-01 7.15744589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16925415399997 meters 0.0165690742429521 Centerline is valid? [True, True] Translation: X:109.05, Y:0.80, Z:0.72 [[ 9.99866848e-01 9.73624848e-03 -1.30955122e-02 1.09053315e+02] [-9.73877587e-03 9.99952569e-01 -1.29238986e-04 8.04493665e-01] [ 1.30936327e-02 2.56756036e-04 9.99914242e-01 7.15899660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19925415399997 meters 0.016997924324033412 Centerline is valid? [True, True] Translation: X:109.08, Y:0.81, Z:0.72 [[ 9.99844917e-01 1.16232994e-02 -1.32303368e-02 1.09081847e+02] [-1.16260731e-02 9.99932406e-01 -1.32757977e-04 8.06026555e-01] [ 1.32278995e-02 2.86554252e-04 9.99912466e-01 7.16201628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22925415399997 meters 0.016758086798083726 Centerline is valid? [True, True] Translation: X:109.11, Y:0.81, Z:0.72 [[ 9.99829059e-01 1.29948260e-02 -1.31524261e-02 1.09110266e+02] [-1.29976982e-02 9.99915518e-01 -1.32920408e-04 8.05070074e-01] [ 1.31495877e-02 3.03848951e-04 9.99913494e-01 7.16488996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25925415399998 meters 0.016656775990226125 Centerline is valid? [True, True] Translation: X:109.14, Y:0.80, Z:0.72 [[ 9.99831797e-01 1.21233554e-02 -1.37623615e-02 1.09138647e+02] [-1.21264509e-02 9.99926462e-01 -1.41497540e-04 8.04054860e-01] [ 1.37596341e-02 3.08362341e-04 9.99905284e-01 7.16139091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28925415399998 meters 0.0168113744562354 Centerline is valid? [True, True] Translation: X:109.17, Y:0.80, Z:0.72 [[ 9.99841672e-01 1.09862089e-02 -1.39976374e-02 1.09166695e+02] [-1.09893360e-02 9.99939605e-01 -1.46501365e-04 8.03206134e-01] [ 1.39951825e-02 3.00302910e-04 9.99902018e-01 7.15404815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31925415399998 meters 0.01598489542161722 Centerline is valid? [True, True] Translation: X:109.20, Y:0.80, Z:0.71 [[ 9.99864708e-01 7.04133834e-03 -1.48655913e-02 1.09196117e+02] [-7.04444583e-03 9.99975175e-01 -1.56685861e-04 7.99153012e-01] [ 1.48641190e-02 2.61384516e-04 9.99889489e-01 7.14990018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34925415399998 meters 0.01568694504989918 Centerline is valid? [True, True] Translation: X:109.23, Y:0.80, Z:0.72 [[ 9.99873238e-01 4.38536058e-03 -1.53060779e-02 1.09225306e+02] [-4.38835910e-03 9.99990358e-01 -1.62322526e-04 7.97013576e-01] [ 1.53052185e-02 2.29470516e-04 9.99882842e-01 7.15083347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37925415399998 meters 0.014671202938458512 Centerline is valid? [True, True] Translation: X:109.25, Y:0.79, Z:0.72 [[ 9.99876676e-01 -2.11612093e-03 -1.55613329e-02 1.09254259e+02] [ 2.11379094e-03 9.99997752e-01 -1.66175528e-04 7.91062530e-01] [ 1.55616496e-02 1.33261630e-04 9.99878901e-01 7.15978823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40925415399998 meters 0.014679271875571416 Centerline is valid? [True, True] Translation: X:109.28, Y:0.79, Z:0.72 [[ 9.99857550e-01 -5.57189547e-03 -1.59321665e-02 1.09281728e+02] [ 5.56987029e-03 9.99984473e-01 -1.71483047e-04 7.88590794e-01] [ 1.59328746e-02 8.27185181e-05 9.99873060e-01 7.15566110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43925415399998 meters 0.014456339951153228 Centerline is valid? [True, True] Translation: X:109.31, Y:0.79, Z:0.72 [[ 9.99825353e-01 -9.32836301e-03 -1.61940010e-02 1.09309103e+02] [ 9.32673966e-03 9.99956490e-01 -1.75766127e-04 7.85244791e-01] [ 1.61949360e-02 2.46981984e-05 9.99868853e-01 7.15144646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46925415399998 meters 0.014461621569048294 Centerline is valid? [True, True] Translation: X:109.34, Y:0.78, Z:0.72 [[ 9.99781253e-01 -1.31180229e-02 -1.62899922e-02 1.09336778e+02] [ 1.31168563e-02 9.99913954e-01 -1.78461778e-04 7.81678818e-01] [ 1.62909316e-02 -3.52507465e-05 9.99867293e-01 7.15915180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49925415399998 meters 0.014784957366516494 Centerline is valid? [True, True] Translation: X:109.37, Y:0.77, Z:0.72 [[ 9.99653769e-01 -2.04992697e-02 -1.64961481e-02 1.09365329e+02] [ 2.04990536e-02 9.99789856e-01 -1.82203132e-04 7.74914057e-01] [ 1.64964166e-02 -1.56015377e-04 9.99863913e-01 7.16293736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52925415399997 meters 0.015123701405673729 Centerline is valid? [True, True] Translation: X:109.39, Y:0.77, Z:0.72 [[ 9.99572907e-01 -2.40680126e-02 -1.65751006e-02 1.09394743e+02] [ 2.40682706e-02 9.99710300e-01 -1.83943091e-04 7.71926581e-01] [ 1.65747260e-02 -2.15069478e-04 9.99862607e-01 7.16838038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55925415399997 meters 0.016457699669431083 Centerline is valid? [True, True] Translation: X:109.42, Y:0.77, Z:0.72 [[ 9.99400245e-01 -3.07669514e-02 -1.58916384e-02 1.09424685e+02] [ 3.07680311e-02 9.99526536e-01 -1.76602463e-04 7.65092288e-01] [ 1.58895478e-02 -3.12457882e-04 9.99873704e-01 7.17226831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58925415399997 meters 0.016946295530849566 Centerline is valid? [True, True] Translation: X:109.46, Y:0.76, Z:0.72 [[ 9.99298286e-01 -3.39725814e-02 -1.57734049e-02 1.09456407e+02] [ 3.39740520e-02 9.99422700e-01 -1.74796232e-04 7.62473285e-01] [ 1.57702372e-02 -3.61212904e-04 9.99875577e-01 7.17720616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61925415399998 meters 0.017722696534320896 Centerline is valid? [True, True] Translation: X:109.49, Y:0.76, Z:0.72 [[ 9.99204697e-01 -3.68559402e-02 -1.52188683e-02 1.09488979e+02] [ 3.68576584e-02 9.99320512e-01 -1.67667135e-04 7.59189661e-01] [ 1.52147068e-02 -3.93398059e-04 9.99884172e-01 7.17616927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64925415399998 meters 0.019245467838078924 Centerline is valid? [True, True] Translation: X:109.52, Y:0.75, Z:0.72 [[ 9.98969072e-01 -4.26425245e-02 -1.55694377e-02 1.09519800e+02] [ 4.26450354e-02 9.99090272e-01 -1.70847518e-04 7.53453037e-01] [ 1.55625591e-02 -4.93287834e-04 9.99878774e-01 7.17619847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67925415399998 meters 0.020276383025977635 Centerline is valid? [True, True] Translation: X:109.55, Y:0.75, Z:0.72 [[ 9.98858285e-01 -4.49998323e-02 -1.60356655e-02 1.09550611e+02] [ 4.50028067e-02 9.98986845e-01 -1.75498194e-04 7.50890888e-01] [ 1.60273163e-02 -5.46352131e-04 9.99871405e-01 7.17805773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70925415399998 meters 0.021069516355953905 Centerline is valid? [True, True] Translation: X:109.58, Y:0.75, Z:0.72 [[ 9.98613012e-01 -4.96742919e-02 -1.74504318e-02 1.09581859e+02] [ 4.96785386e-02 9.98765241e-01 -1.90315191e-04 7.49720989e-01] [ 1.74383385e-02 -6.76860725e-04 9.99847712e-01 7.17923833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73925415399998 meters 0.02375969608569125 Centerline is valid? [True, True] Translation: X:109.61, Y:0.75, Z:0.72 [[ 9.98508108e-01 -5.14436151e-02 -1.83060674e-02 1.09612492e+02] [ 5.14485980e-02 9.98675624e-01 -1.98955967e-04 7.45352106e-01] [ 1.82920583e-02 -7.43162356e-04 9.99832410e-01 7.16728003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76925415399998 meters 0.022578808222778347 Centerline is valid? [True, True] Translation: X:109.64, Y:0.75, Z:0.72 [[ 9.98422358e-01 -5.28447935e-02 -1.89795509e-02 1.09644320e+02] [ 5.28504246e-02 9.98602419e-01 -2.05120526e-04 7.47325278e-01] [ 1.89638650e-02 -7.98280405e-04 9.99819851e-01 7.17162769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79925415399998 meters 0.02476107197122682 Centerline is valid? [True, True] Translation: X:109.68, Y:0.74, Z:0.72 [[ 9.98325150e-01 -5.42987081e-02 -1.99636113e-02 1.09675364e+02] [ 5.43052536e-02 9.98524358e-01 -2.14502379e-04 7.43969694e-01] [ 1.99457994e-02 -8.69985855e-04 9.99800684e-01 7.16242172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82925415399998 meters 0.024745560283894984 Centerline is valid? [True, True] Translation: X:109.71, Y:0.74, Z:0.72 [[ 9.98202290e-01 -5.61420381e-02 -2.09823897e-02 1.09706982e+02] [ 5.61496998e-02 9.98422336e-01 -2.24282293e-04 7.43572781e-01] [ 2.09618782e-02 -9.54275783e-04 9.99779820e-01 7.16315805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85925415399998 meters 0.024097222888785668 Centerline is valid? [True, True] Translation: X:109.74, Y:0.74, Z:0.72 [[ 9.98157294e-01 -5.68931982e-02 -2.10993198e-02 1.09738689e+02] [ 5.69011376e-02 9.98379793e-01 -2.24365869e-04 7.44754861e-01] [ 2.10778994e-02 -9.76622870e-04 9.99777359e-01 7.16780884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88925415399999 meters 0.023934703128175232 Centerline is valid? [True, True] Translation: X:109.77, Y:0.75, Z:0.72 [[ 9.98118117e-01 -5.72130870e-02 -2.20655112e-02 1.09771249e+02] [ 5.72218821e-02 9.98361459e-01 -2.33111582e-04 7.45199588e-01] [ 2.20426930e-02 -1.02995719e-03 9.99756500e-01 7.16696701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91925415399997 meters 0.026459136751606143 Centerline is valid? [True, True] Translation: X:109.80, Y:0.74, Z:0.71 [[ 9.98129354e-01 -5.62697498e-02 -2.39062258e-02 1.09802177e+02] [ 5.62798676e-02 9.98415001e-01 -2.49908604e-04 7.41975501e-01] [ 2.38823967e-02 -1.09599811e-03 9.99714174e-01 7.14253410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94925415399997 meters 0.02525150523424426 Centerline is valid? [True, True] Translation: X:109.83, Y:0.75, Z:0.71 [[ 9.98172867e-01 -5.51480275e-02 -2.46905284e-02 1.09834563e+02] [ 5.51585313e-02 9.98477577e-01 -2.55952203e-04 7.45093052e-01] [ 2.46670542e-02 -1.10640874e-03 9.99695110e-01 7.14566532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97925415399997 meters 0.023369577264151797 Centerline is valid? [True, True] Translation: X:109.87, Y:0.75, Z:0.72 [[ 9.98258779e-01 -5.32754313e-02 -2.53207087e-02 1.09866447e+02] [ 5.32859157e-02 9.98579262e-01 -2.60961438e-04 7.49536900e-01] [ 2.52986375e-02 -1.08873011e-03 9.99679345e-01 7.15356866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00925415399998 meters 0.024257351864783665 Centerline is valid? [True, True] Translation: X:109.90, Y:0.75, Z:0.71 [[ 9.98521063e-01 -4.80197241e-02 -2.54910375e-02 1.09896157e+02] [ 4.80286499e-02 9.98845924e-01 -2.62332430e-04 7.51228381e-01] [ 2.54742160e-02 -9.62355659e-04 9.99675016e-01 7.14307817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03925415399998 meters 0.020750052787409844 Centerline is valid? [True, True] Translation: X:109.93, Y:0.76, Z:0.72 [[ 9.98687743e-01 -4.44234898e-02 -2.54822630e-02 1.09926905e+02] [ 4.44312489e-02 9.99012410e-01 -2.61902954e-04 7.58968007e-01] [ 2.54687317e-02 -8.70649503e-04 9.99675240e-01 7.17283167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06925415399998 meters 0.019880857528388255 Centerline is valid? [True, True] Translation: X:109.96, Y:0.76, Z:0.72 [[ 9.98842808e-01 -4.08195061e-02 -2.54325262e-02 1.09957837e+02] [ 4.08260797e-02 9.99166234e-01 -2.60929905e-04 7.62715984e-01] [ 2.54219724e-02 -7.77682381e-04 9.99676507e-01 7.17983883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09925415399998 meters 0.0181164884529207 Centerline is valid? [True, True] Translation: X:109.99, Y:0.77, Z:0.72 [[ 9.99164922e-01 -3.26397501e-02 -2.45785461e-02 1.09987948e+02] [ 3.26434163e-02 9.99467030e-01 -2.52154399e-04 7.70220104e-01] [ 2.45736767e-02 -5.50383882e-04 9.99697870e-01 7.19697135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12925415399998 meters 0.017359902395636596 Centerline is valid? [True, True] Translation: X:110.02, Y:0.77, Z:0.72 [[ 9.99309739e-01 -2.85823660e-02 -2.37296193e-02 1.10017260e+02] [ 2.85846247e-02 9.99591346e-01 -2.44079927e-04 7.74114213e-01] [ 2.37268985e-02 -4.34390813e-04 9.99718383e-01 7.20289089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15925415399998 meters 0.016013264038301257 Centerline is valid? [True, True] Translation: X:110.05, Y:0.78, Z:0.72 [[ 9.99550028e-01 -1.96777383e-02 -2.26391000e-02 1.10045931e+02] [ 1.96774905e-02 9.99806352e-01 -2.33735876e-04 7.82240084e-01] [ 2.26393153e-02 -2.11849972e-04 9.99743675e-01 7.21575682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18925415399998 meters 0.01566335199448828 Centerline is valid? [True, True] Translation: X:110.07, Y:0.79, Z:0.72 [[ 9.99639535e-01 -1.54052368e-02 -2.19881512e-02 1.10074276e+02] [ 1.54038830e-02 9.99881326e-01 -2.30950047e-04 7.86510716e-01] [ 2.19890996e-02 -1.07836111e-04 9.99758205e-01 7.22291201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21925415399998 meters 0.01548335275402718 Centerline is valid? [True, True] Translation: X:110.10, Y:0.79, Z:0.72 [[ 9.99699080e-01 -1.13831293e-02 -2.17295656e-02 1.10103169e+02] [ 1.13807401e-02 9.99935210e-01 -2.33615999e-04 7.90981383e-01] [ 2.17308170e-02 -1.37528386e-05 9.99763858e-01 7.23772146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24925415399998 meters 0.015705441317430624 Centerline is valid? [True, True] Translation: X:110.13, Y:0.80, Z:0.72 [[ 9.99739577e-01 -7.30018277e-03 -2.16214329e-02 1.10130042e+02] [ 7.29676241e-03 9.99973350e-01 -2.37082434e-04 7.95136654e-01] [ 2.16225875e-02 7.92542327e-05 9.99766201e-01 7.23117619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27925415399997 meters 0.016272841285361234 Centerline is valid? [True, True] Translation: X:110.16, Y:0.80, Z:0.72 [[ 9.99771887e-01 8.04733633e-04 -2.13430686e-02 1.10159064e+02] [-8.10018870e-04 9.99999643e-01 -2.38988506e-04 8.01321226e-01] [ 2.13428687e-02 2.56222278e-04 9.99772182e-01 7.24273413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30925415399997 meters 0.016829473973971776 Centerline is valid? [True, True] Translation: X:110.19, Y:0.80, Z:0.72 [[ 9.99769827e-01 3.98445108e-03 -2.10812039e-02 1.10187967e+02] [-3.99042471e-03 9.99992009e-01 -2.41304475e-04 8.04113543e-01] [ 2.10800739e-02 3.25371890e-04 9.99777738e-01 7.24373281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33925415399997 meters 0.0182358829274114 Centerline is valid? [True, True] Translation: X:110.22, Y:0.81, Z:0.72 [[ 9.99745384e-01 9.21522572e-03 -2.05972316e-02 1.10216319e+02] [-9.22209294e-03 9.99957447e-01 -2.38442921e-04 8.09537796e-01] [ 2.05941578e-02 4.28331794e-04 9.99787826e-01 7.24499830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36925415399998 meters 0.0182358829274114 Centerline is valid? [True, True] Translation: X:110.24, Y:0.81, Z:0.72 [[ 9.99747915e-01 8.93656105e-03 -2.05971810e-02 1.10243702e+02] [-8.94345791e-03 9.99959977e-01 -2.42752686e-04 8.09938393e-01] [ 2.05941873e-02 4.26901514e-04 9.99787826e-01 7.24689802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39925415399998 meters 0.018291050459978666 Centerline is valid? [True, True] Translation: X:110.27, Y:0.81, Z:0.73 [[ 9.99740093e-01 1.02939456e-02 -2.03416093e-02 1.10272390e+02] [-1.03010590e-02 9.99946913e-01 -2.44944415e-04 8.11155480e-01] [ 2.03380080e-02 4.54420870e-04 9.99793058e-01 7.25438725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42925415399998 meters 0.01842332001979112 Centerline is valid? [True, True] Translation: X:110.30, Y:0.81, Z:0.73 [[ 9.99736974e-01 1.04684443e-02 -2.04057314e-02 1.10300799e+02] [-1.04757411e-02 9.99945096e-01 -2.50719535e-04 8.11947893e-01] [ 2.04019864e-02 4.64418748e-04 9.99791750e-01 7.25615747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45925415399998 meters 0.01757979071141602 Centerline is valid? [True, True] Translation: X:110.33, Y:0.81, Z:0.73 [[ 9.99769118e-01 8.70181267e-03 -1.96466082e-02 1.10329776e+02] [-8.70828542e-03 9.99962052e-01 -2.43929156e-04 8.09182942e-01] [ 1.96437400e-02 4.14961109e-04 9.99806957e-01 7.26328020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48925415399998 meters 0.016785206783210813 Centerline is valid? [True, True] Translation: X:110.36, Y:0.81, Z:0.73 [[ 9.99792958e-01 6.40971346e-03 -1.93121072e-02 1.10358607e+02] [-6.41556691e-03 9.99979391e-01 -2.41157176e-04 8.06641742e-01] [ 1.93101634e-02 3.65005362e-04 9.99813475e-01 7.26878341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51925415399998 meters 0.016190000220270714 Centerline is valid? [True, True] Translation: X:110.39, Y:0.80, Z:0.73 [[ 9.99814786e-01 3.32848488e-03 -1.89555981e-02 1.10387717e+02] [-3.33359644e-03 9.99994415e-01 -2.38068312e-04 8.03814333e-01] [ 1.89546998e-02 3.01214533e-04 9.99820298e-01 7.26646561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54925415399998 meters 0.01512738641546847 Centerline is valid? [True, True] Translation: X:110.42, Y:0.80, Z:0.73 [[ 9.99811192e-01 -4.90492963e-03 -1.88021606e-02 1.10417187e+02] [ 4.90133447e-03 9.99987960e-01 -2.37287647e-04 7.95780912e-01] [ 1.88030981e-02 1.45087167e-04 9.99823196e-01 7.25676590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57925415399998 meters 0.014922154643347788 Centerline is valid? [True, True] Translation: X:110.44, Y:0.79, Z:0.73 [[ 9.99772674e-01 -9.92598939e-03 -1.88699293e-02 1.10444665e+02] [ 9.92323488e-03 9.99950735e-01 -2.39603818e-04 7.91534177e-01] [ 1.88713779e-02 5.22986093e-05 9.99821918e-01 7.25097333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60925415399998 meters 0.014729259649479678 Centerline is valid? [True, True] Translation: X:110.47, Y:0.79, Z:0.73 [[ 9.99711573e-01 -1.51228304e-02 -1.86566747e-02 1.10473519e+02] [ 1.51210150e-02 9.99885643e-01 -2.38372982e-04 7.87009554e-01] [ 1.86581460e-02 -4.38036294e-05 9.99825921e-01 7.25168633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63925415399999 meters 0.015454834684321421 Centerline is valid? [True, True] Translation: X:110.50, Y:0.78, Z:0.72 [[ 9.99502105e-01 -2.53633047e-02 -1.87681690e-02 1.10501481e+02] [ 2.53632426e-02 9.99678272e-01 -2.41380611e-04 7.77098398e-01] [ 1.87682530e-02 -2.34761194e-04 9.99823833e-01 7.24601595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66925415399997 meters 0.016297090421482013 Centerline is valid? [True, True] Translation: X:110.53, Y:0.77, Z:0.72 [[ 9.99360439e-01 -3.03899820e-02 -1.88457544e-02 1.10531109e+02] [ 3.03907927e-02 9.99538064e-01 -2.43438225e-04 7.72407540e-01] [ 1.88444470e-02 -3.29454884e-04 9.99822373e-01 7.24404809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69925415399997 meters 0.01691612941026731 Centerline is valid? [True, True] Translation: X:110.56, Y:0.77, Z:0.72 [[ 9.99202962e-01 -3.50298594e-02 -1.91402607e-02 1.10561930e+02] [ 3.50315415e-02 9.99386177e-01 -2.47495651e-04 7.68404985e-01] [ 1.91371817e-02 -4.23214450e-04 9.99816778e-01 7.24848614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72925415399997 meters 0.019792296553597228 Centerline is valid? [True, True] Translation: X:110.59, Y:0.76, Z:0.72 [[ 9.98863893e-01 -4.36516147e-02 -1.91169926e-02 1.10591732e+02] [ 4.36548818e-02 9.99046641e-01 -2.46578660e-04 7.58633536e-01] [ 1.91095308e-02 -5.88251532e-04 9.99817223e-01 7.24187003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75925415399998 meters 0.02067998380558954 Centerline is valid? [True, True] Translation: X:110.62, Y:0.76, Z:0.72 [[ 9.98691892e-01 -4.74274567e-02 -1.91086833e-02 1.10622854e+02] [ 4.74314220e-02 9.98874466e-01 -2.45901613e-04 7.55306343e-01] [ 1.90988383e-02 -6.60772076e-04 9.99817382e-01 7.24417837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78925415399998 meters 0.024258939049456033 Centerline is valid? [True, True] Translation: X:110.65, Y:0.75, Z:0.72 [[ 9.98354476e-01 -5.43246078e-02 -1.83624071e-02 1.10652590e+02] [ 5.43294330e-02 9.98523038e-01 -2.36342469e-04 7.45931103e-01] [ 1.83481257e-02 -7.61665603e-04 9.99831369e-01 7.23685009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81925415399998 meters 0.02474661932378652 Centerline is valid? [True, True] Translation: X:110.68, Y:0.74, Z:0.72 [[ 9.98209114e-01 -5.71560682e-02 -1.76563836e-02 1.10684933e+02] [ 5.71609832e-02 9.98364949e-01 -2.26587128e-04 7.43862039e-01] [ 1.76404653e-02 -7.83074908e-04 9.99844088e-01 7.24101786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84925415399998 meters 0.023822370797345966 Centerline is valid? [True, True] Translation: X:110.72, Y:0.74, Z:0.72 [[ 9.98097569e-01 -5.91839333e-02 -1.72772929e-02 1.10717335e+02] [ 5.91889642e-02 9.98246772e-01 -2.20470988e-04 7.43627809e-01] [ 1.72600502e-02 -8.02573511e-04 9.99850712e-01 7.24927105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87925415399998 meters 0.025409784296037435 Centerline is valid? [True, True] Translation: X:110.75, Y:0.74, Z:0.72 [[ 9.97935629e-01 -6.21327380e-02 -1.62481608e-02 1.10747750e+02] [ 6.21375877e-02 9.98067572e-01 -2.06683373e-04 7.39352098e-01] [ 1.62296042e-02 -8.03364818e-04 9.99867969e-01 7.24854579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90925415399998 meters 0.027226937819575813 Centerline is valid? [True, True] Translation: X:110.78, Y:0.74, Z:0.72 [[ 9.97898934e-01 -6.27329391e-02 -1.61955684e-02 1.10779416e+02] [ 6.27378465e-02 9.98030020e-01 -2.05379275e-04 7.36647029e-01] [ 1.61765475e-02 -8.11127327e-04 9.99868822e-01 7.24508188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93925415399998 meters 0.025987041789365718 Centerline is valid? [True, True] Translation: X:110.81, Y:0.74, Z:0.72 [[ 9.97885697e-01 -6.29525710e-02 -1.61588798e-02 1.10811422e+02] [ 6.29575020e-02 9.98016188e-01 -2.03857014e-04 7.38513309e-01] [ 1.61396569e-02 -8.13896707e-04 9.99869416e-01 7.24785149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96925415399998 meters 0.027537525923152218 Centerline is valid? [True, True] Translation: X:110.84, Y:0.74, Z:0.72 [[ 9.97870510e-01 -6.29802308e-02 -1.69686716e-02 1.10842919e+02] [ 6.29857038e-02 9.98014407e-01 -2.12230327e-04 7.36570598e-01] [ 1.69483451e-02 -8.57005341e-04 9.99855999e-01 7.23644503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99925415399998 meters 0.03028404495392088 Centerline is valid? [True, True] Translation: X:110.87, Y:0.73, Z:0.72 [[ 9.97881535e-01 -6.27941893e-02 -1.70097389e-02 1.10874533e+02] [ 6.27996865e-02 9.98026129e-01 -2.11300717e-04 7.33116396e-01] [ 1.69894323e-02 -8.57353185e-04 9.99855302e-01 7.22793005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02925415399997 meters 0.025912655774876638 Centerline is valid? [True, True] Translation: X:110.91, Y:0.74, Z:0.72 [[ 9.97892905e-01 -6.26011216e-02 -1.70543423e-02 1.10906920e+02] [ 6.26066384e-02 9.98038258e-01 -2.10742322e-04 7.39941784e-01] [ 1.70340787e-02 -8.57416772e-04 9.99854542e-01 7.23981690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05925415399997 meters 0.026621019021994475 Centerline is valid? [True, True] Translation: X:110.94, Y:0.74, Z:0.72 [[ 9.97894010e-01 -6.24465213e-02 -1.75492414e-02 1.10939346e+02] [ 6.24523654e-02 9.98047923e-01 -2.15366335e-04 7.39472458e-01] [ 1.75284328e-02 -8.81078857e-04 9.99845977e-01 7.22995011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08925415399997 meters 0.026499718532851775 Centerline is valid? [True, True] Translation: X:110.97, Y:0.74, Z:0.72 [[ 9.97896730e-01 -6.22589898e-02 -1.80536721e-02 1.10972609e+02] [ 6.22651778e-02 9.98059617e-01 -2.19691812e-04 7.39909802e-01] [ 1.80323189e-02 -9.04885363e-04 9.99836995e-01 7.22879963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11925415399998 meters 0.02554006891155755 Centerline is valid? [True, True] Translation: X:111.00, Y:0.74, Z:0.72 [[ 9.97921076e-01 -6.18542948e-02 -1.80989841e-02 1.11004863e+02] [ 6.18604761e-02 9.98084783e-01 -2.18664515e-04 7.41985253e-01] [ 1.80778459e-02 -9.01401843e-04 9.99836176e-01 7.22795447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14925415399998 meters 0.024999740757034167 Centerline is valid? [True, True] Translation: X:111.04, Y:0.74, Z:0.72 [[ 9.97981233e-01 -6.05129474e-02 -1.92780009e-02 1.11037211e+02] [ 6.05197387e-02 9.98166974e-01 -2.31459856e-04 7.44331366e-01] [ 1.92566701e-02 -9.35706984e-04 9.99814135e-01 7.22055473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17925415399998 meters 0.02597250220066499 Centerline is valid? [True, True] Translation: X:111.07, Y:0.74, Z:0.72 [[ 9.98053467e-01 -5.92195516e-02 -1.95530477e-02 1.11068503e+02] [ 5.92263141e-02 9.98244554e-01 -2.33555419e-04 7.43980273e-01] [ 1.95325545e-02 -9.24954152e-04 9.99808794e-01 7.21215220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20925415399998 meters 0.024307743094926306 Centerline is valid? [True, True] Translation: X:111.10, Y:0.75, Z:0.72 [[ 9.98267972e-01 -5.51550014e-02 -2.04690554e-02 1.11098808e+02] [ 5.51615679e-02 9.98477412e-01 -2.44100067e-04 7.49183847e-01] [ 2.04513528e-02 -8.85427911e-04 9.99790457e-01 7.21038594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23925415399998 meters 0.023231469708265687 Centerline is valid? [True, True] Translation: X:111.13, Y:0.75, Z:0.72 [[ 9.98411034e-01 -5.25747590e-02 -2.02805588e-02 1.11130113e+02] [ 5.25806834e-02 9.98616650e-01 -2.41370788e-04 7.52586510e-01] [ 2.02651937e-02 -8.25378381e-04 9.99794299e-01 7.21318544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26925415399998 meters 0.02292989605888109 Centerline is valid? [True, True] Translation: X:111.16, Y:0.75, Z:0.72 [[ 9.98562323e-01 -4.97401931e-02 -1.99800026e-02 1.11160718e+02] [ 4.97453909e-02 9.98761903e-01 -2.37081130e-04 7.54993005e-01] [ 1.99670579e-02 -7.57172756e-04 9.99800352e-01 7.21418848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29925415399998 meters 0.02112145683461026 Centerline is valid? [True, True] Translation: X:111.19, Y:0.76, Z:0.72 [[ 9.98724174e-01 -4.64171685e-02 -1.98864574e-02 1.11192694e+02] [ 4.64216786e-02 9.98921905e-01 -2.35026379e-04 7.59808498e-01] [ 1.98759272e-02 -6.88436210e-04 9.99802217e-01 7.22468024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32925415399998 meters 0.019533602328784542 Centerline is valid? [True, True] Translation: X:111.22, Y:0.77, Z:0.72 [[ 9.99045550e-01 -3.97151481e-02 -1.81850731e-02 1.11221966e+02] [ 3.97178123e-02 9.99210913e-01 -2.14777110e-04 7.66988562e-01] [ 1.81792534e-02 -5.07699206e-04 9.99834615e-01 7.24479681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35925415399998 meters 0.0181978083004589 Centerline is valid? [True, True] Translation: X:111.25, Y:0.77, Z:0.73 [[ 9.99218883e-01 -3.58217686e-02 -1.66860644e-02 1.11252936e+02] [ 3.58234729e-02 9.99358114e-01 -1.96839249e-04 7.71470270e-01] [ 1.66824050e-02 -4.01067283e-04 9.99860759e-01 7.26063509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38925415399997 meters 0.015622169584583269 Centerline is valid? [True, True] Translation: X:111.28, Y:0.78, Z:0.73 [[ 9.99510099e-01 -2.76791741e-02 -1.46090533e-02 1.11283691e+02] [ 2.76796160e-02 9.99616831e-01 -1.71981041e-04 7.81465684e-01] [ 1.46082158e-02 -2.32476198e-04 9.99893267e-01 7.29494906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41925415399997 meters 0.015030782834235552 Centerline is valid? [True, True] Translation: X:111.31, Y:0.79, Z:0.73 [[ 9.99642949e-01 -2.31529555e-02 -1.33384916e-02 1.11313813e+02] [ 2.31529241e-02 9.99731923e-01 -1.56790841e-04 7.85470001e-01] [ 1.33385461e-02 -1.52090227e-04 9.99911026e-01 7.29970844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44925415399997 meters 0.014560958598671295 Centerline is valid? [True, True] Translation: X:111.34, Y:0.79, Z:0.73 [[ 9.99742702e-01 -1.88065721e-02 -1.26823544e-02 1.11344985e+02] [ 1.88061983e-02 9.99823137e-01 -1.48743514e-04 7.89951722e-01] [ 1.26829087e-02 -8.98016289e-05 9.99919565e-01 7.30881357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47925415399997 meters 0.014316781409057584 Centerline is valid? [True, True] Translation: X:111.37, Y:0.80, Z:0.73 [[ 9.99879775e-01 -1.05699342e-02 -1.13451109e-02 1.11374375e+02] [ 1.05691065e-02 9.99944137e-01 -1.32910181e-04 7.95987287e-01] [ 1.13458820e-02 1.29865167e-05 9.99935633e-01 7.30333909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50925415399998 meters 0.014541705103617651 Centerline is valid? [True, True] Translation: X:111.40, Y:0.80, Z:0.73 [[ 9.99908059e-01 -7.09336428e-03 -1.15567190e-02 1.11403021e+02] [ 7.09225829e-03 9.99974840e-01 -1.36682244e-04 7.99154205e-01] [ 1.15573978e-02 5.47064406e-05 9.99933210e-01 7.30471208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53925415399998 meters 0.0147507238890265 Centerline is valid? [True, True] Translation: X:111.43, Y:0.80, Z:0.73 [[ 9.99922728e-01 -4.17596996e-03 -1.17089688e-02 1.11431397e+02] [ 4.17459960e-03 9.99991276e-01 -1.41473491e-04 8.01995246e-01] [ 1.17094575e-02 9.25823024e-05 9.99931438e-01 7.30476538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56925415399998 meters 0.015150110787824524 Centerline is valid? [True, True] Translation: X:111.46, Y:0.81, Z:0.73 [[ 9.99925158e-01 1.16878910e-04 -1.22337137e-02 1.11460334e+02] [-1.18735361e-04 9.99999982e-01 -1.51022542e-04 8.06683120e-01] [ 1.22336958e-02 1.52463814e-04 9.99925154e-01 7.30601813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59925415399998 meters 0.015514521583223969 Centerline is valid? [True, True] Translation: X:111.49, Y:0.81, Z:0.73 [[ 9.99925043e-01 1.27047996e-03 -1.21776089e-02 1.11488408e+02] [-1.27243209e-03 9.99999179e-01 -1.52557930e-04 8.08404399e-01] [ 1.21774051e-02 1.68041675e-04 9.99925839e-01 7.30738050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62925415399998 meters 0.015452389756909397 Centerline is valid? [True, True] Translation: X:111.52, Y:0.81, Z:0.73 [[ 9.99926518e-01 1.40274021e-03 -1.20412511e-02 1.11516845e+02] [-1.40467252e-03 9.99999002e-01 -1.52018568e-04 8.08617373e-01] [ 1.20410258e-02 1.68921412e-04 9.99927490e-01 7.31083638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65925415399998 meters 0.015301313931499855 Centerline is valid? [True, True] Translation: X:111.55, Y:0.81, Z:0.73 [[ 9.99931352e-01 8.32584361e-04 -1.16874796e-02 1.11545206e+02] [-8.34378336e-04 9.99999641e-01 -1.48620299e-04 8.08528693e-01] [ 1.16873516e-02 1.58361876e-04 9.99931688e-01 7.31275966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68925415399998 meters 0.015353063246715013 Centerline is valid? [True, True] Translation: X:111.57, Y:0.81, Z:0.73 [[ 9.99930313e-01 -1.64980224e-04 -1.18043162e-02 1.11573384e+02] [ 1.63208664e-04 9.99999975e-01 -1.51040463e-04 8.08014085e-01] [ 1.18043408e-02 1.49103371e-04 9.99930315e-01 7.30962794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71925415399998 meters 0.015182047429002355 Centerline is valid? [True, True] Translation: X:111.60, Y:0.81, Z:0.73 [[ 9.99930570e-01 -1.47035694e-03 -1.16915760e-02 1.11602634e+02] [ 1.46869721e-03 9.99998910e-01 -1.50544328e-04 8.06986048e-01] [ 1.16917846e-02 1.33362490e-04 9.99931640e-01 7.30746124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74925415399998 meters 0.014749866333534539 Centerline is valid? [True, True] Translation: X:111.63, Y:0.80, Z:0.73 [[ 9.99924034e-01 -4.28387510e-03 -1.15574343e-02 1.11631710e+02] [ 4.28243173e-03 9.99990819e-01 -1.49632349e-04 8.03793223e-01] [ 1.15579692e-02 1.00127058e-04 9.99933199e-01 7.30769261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77925415399997 meters 0.014500053215363684 Centerline is valid? [True, True] Translation: X:111.66, Y:0.80, Z:0.73 [[ 9.99920574e-01 -5.60196898e-03 -1.12899362e-02 1.11660373e+02] [ 5.60066664e-03 9.99984305e-01 -1.46967552e-04 8.02615849e-01] [ 1.12905823e-02 8.37247095e-05 9.99936256e-01 7.31374699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80925415399997 meters 0.014251014069506695 Centerline is valid? [True, True] Translation: X:111.69, Y:0.80, Z:0.73 [[ 9.99894147e-01 -9.18106299e-03 -1.12873124e-02 1.11689648e+02] [ 9.17998008e-03 9.99957852e-01 -1.47747709e-04 7.99129468e-01] [ 1.12881932e-02 4.41147661e-05 9.99936285e-01 7.32091404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83925415399997 meters 0.014184910691941461 Centerline is valid? [True, True] Translation: X:111.72, Y:0.80, Z:0.73 [[ 9.99875725e-01 -1.12053295e-02 -1.10894477e-02 1.11717152e+02] [ 1.12043991e-02 9.99937218e-01 -1.46025620e-04 7.97103287e-01] [ 1.10903878e-02 2.17568739e-05 9.99938500e-01 7.31924230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86925415399998 meters 0.014018606361557691 Centerline is valid? [True, True] Translation: X:111.75, Y:0.79, Z:0.73 [[ 9.99849709e-01 -1.32914270e-02 -1.11309387e-02 1.11745743e+02] [ 1.32905998e-02 9.99911665e-01 -1.48282226e-04 7.94651577e-01] [ 1.11319263e-02 3.23088560e-07 9.99938038e-01 7.32702934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89925415399998 meters 0.013922511722718472 Centerline is valid? [True, True] Translation: X:111.78, Y:0.79, Z:0.73 [[ 9.99797378e-01 -1.70682211e-02 -1.06714042e-02 1.11775942e+02] [ 1.70676562e-02 9.99854327e-01 -1.44011862e-04 7.89734087e-01] [ 1.06723077e-02 -3.81531764e-05 9.99943049e-01 7.33372556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92925415399998 meters 0.014093942274856674 Centerline is valid? [True, True] Translation: X:111.81, Y:0.79, Z:0.73 [[ 9.99771923e-01 -1.86907206e-02 -1.03323800e-02 1.11806764e+02] [ 1.86902751e-02 9.99825312e-01 -1.39681555e-04 7.87235918e-01] [ 1.03331858e-02 -5.34653279e-05 9.99946610e-01 7.33708513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95925415399998 meters 0.014284593499588967 Centerline is valid? [True, True] Translation: X:111.84, Y:0.78, Z:0.73 [[ 9.99737026e-01 -2.08005351e-02 -9.65491734e-03 1.11838385e+02] [ 2.08002455e-02 9.99783643e-01 -1.30423388e-04 7.82898841e-01] [ 9.65554131e-03 -7.04355612e-05 9.99953382e-01 7.34137061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98925415399998 meters 0.014261621357269192 Centerline is valid? [True, True] Translation: X:111.87, Y:0.78, Z:0.73 [[ 9.99730355e-01 -2.09203135e-02 -1.00776281e-02 1.11870568e+02] [ 2.09200090e-02 9.99781143e-01 -1.35637921e-04 7.81445434e-01] [ 1.00782601e-02 -7.52227228e-05 9.99949210e-01 7.34384376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01925415399998 meters 0.014102750699770792 Centerline is valid? [True, True] Translation: X:111.90, Y:0.78, Z:0.73 [[ 9.99740491e-01 -2.03244412e-02 -1.02892291e-02 1.11903212e+02] [ 2.03241001e-02 9.99793435e-01 -1.37721153e-04 7.80057793e-01] [ 1.02899028e-02 -7.14339083e-05 9.99947055e-01 7.34481445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04925415399998 meters 0.014214453938842686 Centerline is valid? [True, True] Translation: X:111.93, Y:0.78, Z:0.73 [[ 9.99782267e-01 -1.77941131e-02 -1.08990147e-02 1.11934318e+02] [ 1.77935874e-02 9.99841671e-01 -1.45202219e-04 7.78446676e-01] [ 1.08998728e-02 -4.87619679e-05 9.99940593e-01 7.34016129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07925415399998 meters 0.014153105724362413 Centerline is valid? [True, True] Translation: X:111.97, Y:0.78, Z:0.73 [[ 9.99819056e-01 -1.57909218e-02 -1.06066807e-02 1.11965112e+02] [ 1.57903146e-02 9.99875315e-01 -1.40994530e-04 7.78193270e-01] [ 1.06075847e-02 -2.65138072e-05 9.99943738e-01 7.33585287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10925415399998 meters 0.014055595058355448 Centerline is valid? [True, True] Translation: X:112.00, Y:0.78, Z:0.73 [[ 9.99850296e-01 -1.34473268e-02 -1.08883190e-02 1.11995599e+02] [ 1.34465494e-02 9.99909581e-01 -1.44609339e-04 7.78395250e-01] [ 1.08892791e-02 -1.82262886e-06 9.99940710e-01 7.33915424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13925415399997 meters 0.014409327197415599 Centerline is valid? [True, True] Translation: X:112.02, Y:0.78, Z:0.73 [[ 9.99892675e-01 -8.84900495e-03 -1.16762136e-02 1.12023989e+02] [ 8.84779438e-03 9.99960845e-01 -1.55331566e-04 7.78618981e-01] [ 1.16771310e-02 5.20061577e-05 9.99931819e-01 7.33289176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16925415399997 meters 0.014514619017387074 Centerline is valid? [True, True] Translation: X:112.05, Y:0.78, Z:0.73 [[ 9.99903459e-01 -7.00722819e-03 -1.19987805e-02 1.12052852e+02] [ 7.00579705e-03 9.99975446e-01 -1.61302446e-04 7.78611533e-01] [ 1.19996161e-02 7.72258533e-05 9.99927999e-01 7.33593353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19925415399997 meters 0.01465107330504521 Centerline is valid? [True, True] Translation: X:112.08, Y:0.78, Z:0.73 [[ 9.99911074e-01 -5.41488279e-03 -1.21870170e-02 1.12081356e+02] [ 5.41324990e-03 9.99985334e-01 -1.66968834e-04 7.78721214e-01] [ 1.21877424e-02 1.00982617e-04 9.99925722e-01 7.33626778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22925415399997 meters 0.014848361060293443 Centerline is valid? [True, True] Translation: X:112.11, Y:0.78, Z:0.73 [[ 9.99907888e-01 -3.61829430e-03 -1.30814181e-02 1.12110263e+02] [ 3.61621392e-03 9.99993445e-01 -1.82683451e-04 7.77161494e-01] [ 1.30819934e-02 1.35361417e-04 9.99914418e-01 7.33484328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25925415399998 meters 0.014854550647960584 Centerline is valid? [True, True] Translation: X:112.14, Y:0.78, Z:0.73 [[ 9.99901944e-01 -3.83785019e-03 -1.34674619e-02 1.12138401e+02] [ 3.83561512e-03 9.99992626e-01 -1.91785896e-04 7.75818983e-01] [ 1.34680986e-02 1.40111090e-04 9.99909291e-01 7.33251506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28925415399998 meters 0.014854550647960584 Centerline is valid? [True, True] Translation: X:112.17, Y:0.78, Z:0.73 [[ 9.99900788e-01 -4.12826939e-03 -1.34674053e-02 1.12165789e+02] [ 4.12600799e-03 9.99991469e-01 -1.95696613e-04 7.76280557e-01] [ 1.34680983e-02 1.40110575e-04 9.99909291e-01 7.33441977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31925415399998 meters 0.014901250188484061 Centerline is valid? [True, True] Translation: X:112.19, Y:0.77, Z:0.73 [[ 9.99894504e-01 -4.65562756e-03 -1.37588220e-02 1.12192381e+02] [ 4.65327702e-03 9.99989153e-01 -2.02846898e-04 7.74857818e-01] [ 1.37596171e-02 1.38801888e-04 9.99905322e-01 7.33171686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34925415399998 meters 0.014540953424382027 Centerline is valid? [True, True] Translation: X:112.22, Y:0.77, Z:0.73 [[ 9.99870135e-01 -6.22099677e-03 -1.48664635e-02 1.12221354e+02] [ 6.21840288e-03 9.99980641e-01 -2.20698636e-04 7.71028984e-01] [ 1.48675487e-02 1.28224315e-04 9.99889464e-01 7.33541538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37925415399998 meters 0.01454876342423883 Centerline is valid? [True, True] Translation: X:112.25, Y:0.77, Z:0.73 [[ 9.99857654e-01 -7.71141743e-03 -1.50068677e-02 1.12249293e+02] [ 7.70889889e-03 9.99970261e-01 -2.25665483e-04 7.69321784e-01] [ 1.50081616e-02 1.09946934e-04 9.99887365e-01 7.33566978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40925415399998 meters 0.01449309648242577 Centerline is valid? [True, True] Translation: X:112.28, Y:0.76, Z:0.73 [[ 9.99821063e-01 -1.07957203e-02 -1.55336298e-02 1.12277773e+02] [ 1.07933516e-02 9.99941722e-01 -2.36319301e-04 7.64988323e-01] [ 1.55352758e-02 6.86170861e-05 9.99879318e-01 7.33392371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43925415399998 meters 0.014214975720748849 Centerline is valid? [True, True] Translation: X:112.31, Y:0.76, Z:0.73 [[ 9.99787317e-01 -1.27706958e-02 -1.61935204e-02 1.12305875e+02] [ 1.27683282e-02 9.99918450e-01 -2.49590429e-04 7.62782084e-01] [ 1.61953872e-02 4.27731620e-05 9.99868845e-01 7.33827402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46925415399998 meters 0.014356725319451952 Centerline is valid? [True, True] Translation: X:112.33, Y:0.76, Z:0.73 [[ 9.99760177e-01 -1.49375668e-02 -1.60143177e-02 1.12333838e+02] [ 1.49354546e-02 9.99888428e-01 -2.51487841e-04 7.60629244e-01] [ 1.60162876e-02 1.22464130e-05 9.99871731e-01 7.34000491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49925415399998 meters 0.014221280347508566 Centerline is valid? [True, True] Translation: X:112.36, Y:0.76, Z:0.73 [[ 9.99709643e-01 -1.88975601e-02 -1.49503043e-02 1.12361777e+02] [ 1.88961229e-02 9.99821424e-01 -2.37398491e-04 7.55209912e-01] [ 1.49521208e-02 -4.51732279e-05 9.99888210e-01 7.34678306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52925415399997 meters 0.014175921799796293 Centerline is valid? [True, True] Translation: X:112.39, Y:0.75, Z:0.74 [[ 9.99678571e-01 -2.08956193e-02 -1.43571369e-02 1.12390080e+02] [ 2.08944637e-02 9.99781660e-01 -2.30504884e-04 7.53067657e-01] [ 1.43588187e-02 -6.95538818e-05 9.99896904e-01 7.36201304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55925415399997 meters 0.014528119121675025 Centerline is valid? [True, True] Translation: X:112.42, Y:0.75, Z:0.74 [[ 9.99644417e-01 -2.35033902e-02 -1.25948835e-02 1.12419204e+02] [ 2.35026841e-02 9.99723753e-01 -2.04095979e-04 7.48737645e-01] [ 1.25962012e-02 -9.19901630e-05 9.99920660e-01 7.37503977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58925415399997 meters 0.014554245193558642 Centerline is valid? [True, True] Translation: X:112.45, Y:0.75, Z:0.74 [[ 9.99638900e-01 -2.40127674e-02 -1.20605625e-02 1.12449371e+02] [ 2.40121537e-02 9.99711648e-01 -1.95709208e-04 7.46747226e-01] [ 1.20617843e-02 -9.39615420e-05 9.99927250e-01 7.38034772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61925415399998 meters 0.014455008452228496 Centerline is valid? [True, True] Translation: X:112.48, Y:0.75, Z:0.74 [[ 9.99650987e-01 -2.37686944e-02 -1.15305098e-02 1.12480956e+02] [ 2.37681206e-02 9.99717481e-01 -1.86819330e-04 7.46405307e-01] [ 1.15316926e-02 -8.73044178e-05 9.99933504e-01 7.39232218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64925415399998 meters 0.01428536378875029 Centerline is valid? [True, True] Translation: X:112.51, Y:0.74, Z:0.74 [[ 9.99705007e-01 -2.16535917e-02 -1.10009966e-02 1.12511440e+02] [ 2.16529447e-02 9.99765532e-01 -1.77923708e-04 7.44807092e-01] [ 1.10022699e-02 -6.03327496e-05 9.99939471e-01 7.39883072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67925415399998 meters 0.01424930233909431 Centerline is valid? [True, True] Translation: X:112.54, Y:0.74, Z:0.74 [[ 9.99734172e-01 -2.03548054e-02 -1.08289751e-02 1.12543265e+02] [ 2.03541052e-02 9.99792818e-01 -1.74875697e-04 7.44822393e-01] [ 1.08302911e-02 -4.55848888e-05 9.99941350e-01 7.40372137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70925415399998 meters 0.015952082926212204 Centerline is valid? [True, True] Translation: X:112.57, Y:0.74, Z:0.74 [[ 9.99769525e-01 -1.83007430e-02 -1.12240921e-02 1.12573726e+02] [ 1.82998643e-02 9.99832527e-01 -1.80995215e-04 7.44689427e-01] [ 1.12255247e-02 -2.44458623e-05 9.99936992e-01 7.38863157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73925415399998 meters 0.014082875386436267 Centerline is valid? [True, True] Translation: X:112.60, Y:0.74, Z:0.74 [[ 9.99788404e-01 -1.70740226e-02 -1.14728354e-02 1.12603872e+02] [ 1.70730237e-02 9.99854228e-01 -1.85006350e-04 7.44889952e-01] [ 1.14743218e-02 -1.09087882e-05 9.99934168e-01 7.40707821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76925415399998 meters 0.014257580618623264 Centerline is valid? [True, True] Translation: X:112.63, Y:0.74, Z:0.74 [[ 9.99814644e-01 -1.45011088e-02 -1.26647611e-02 1.12633912e+02] [ 1.44996825e-02 9.99894853e-01 -2.04435540e-04 7.44480215e-01] [ 1.26663940e-02 2.07626319e-05 9.99919778e-01 7.40052082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79925415399998 meters 0.014133128082765727 Centerline is valid? [True, True] Translation: X:112.66, Y:0.74, Z:0.74 [[ 9.99812888e-01 -1.33581121e-02 -1.39910898e-02 1.12662550e+02] [ 1.33562306e-02 9.99910776e-01 -2.27914934e-04 7.43126539e-01] [ 1.39928860e-02 4.10040672e-05 9.99902094e-01 7.39629410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82925415399998 meters 0.014298175136976121 Centerline is valid? [True, True] Translation: X:112.69, Y:0.74, Z:0.74 [[ 9.99801172e-01 -1.33823978e-02 -1.47826680e-02 1.12690031e+02] [ 1.33802389e-02 9.99910451e-01 -2.44939228e-04 7.42242624e-01] [ 1.47846221e-02 4.70948974e-05 9.99890700e-01 7.39136828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85925415399998 meters 0.014347973225025316 Centerline is valid? [True, True] Translation: X:112.72, Y:0.74, Z:0.74 [[ 9.99783067e-01 -1.38555667e-02 -1.55513014e-02 1.12718284e+02] [ 1.38531633e-02 9.99904006e-01 -2.62269704e-04 7.41339766e-01] [ 1.55534425e-02 4.67780912e-05 9.99879037e-01 7.38798669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88925415399997 meters 0.014480993186168786 Centerline is valid? [True, True] Translation: X:112.75, Y:0.74, Z:0.74 [[ 9.99775132e-01 -1.41342210e-02 -1.58085291e-02 1.12745673e+02] [ 1.41317226e-02 9.99900106e-01 -2.69746296e-04 7.40412210e-01] [ 1.58107625e-02 4.62838912e-05 9.99875001e-01 7.38230052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91925415399997 meters 0.01726617191205705 Centerline is valid? [True, True] Translation: X:112.77, Y:0.74, Z:0.74 [[ 9.99743340e-01 -1.53902741e-02 -1.66251100e-02 1.12773372e+02] [ 1.53876218e-02 9.99881562e-01 -2.87450614e-04 7.36740812e-01] [ 1.66275649e-02 3.15559324e-05 9.99861752e-01 7.36596867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94925415399997 meters 0.014446460277823592 Centerline is valid? [True, True] Translation: X:112.80, Y:0.74, Z:0.74 [[ 9.99721535e-01 -1.70707011e-02 -1.62924417e-02 1.12800590e+02] [ 1.70683249e-02 9.99854285e-01 -2.84898189e-04 7.35646938e-01] [ 1.62949311e-02 6.73416614e-06 9.99867229e-01 7.38424333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97925415399997 meters 0.014375961508378068 Centerline is valid? [True, True] Translation: X:112.83, Y:0.73, Z:0.74 [[ 9.99686577e-01 -1.90839454e-02 -1.62034282e-02 1.12828641e+02] [ 1.90818010e-02 9.99817885e-01 -2.86951616e-04 7.34006220e-01] [ 1.62059535e-02 -2.23289140e-05 9.99868675e-01 7.40037024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00925415399998 meters 0.014662333870995031 Centerline is valid? [True, True] Translation: X:112.86, Y:0.73, Z:0.74 [[ 9.99589293e-01 -2.34972441e-02 -1.64049983e-02 1.12857053e+02] [ 2.34955921e-02 9.99723897e-01 -2.93460521e-04 7.29121748e-01] [ 1.64073644e-02 -9.21051530e-05 9.99865386e-01 7.40455036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03925415399998 meters 0.017085387309314325 Centerline is valid? [True, True] Translation: X:112.89, Y:0.73, Z:0.74 [[ 9.99532304e-01 -2.55639337e-02 -1.67826871e-02 1.12885221e+02] [ 2.55624698e-02 9.99673181e-01 -3.01773621e-04 7.25268552e-01] [ 1.67849167e-02 -1.27374449e-04 9.99859115e-01 7.37609693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06925415399998 meters 0.016085145800615642 Centerline is valid? [True, True] Translation: X:112.91, Y:0.72, Z:0.74 [[ 9.99363328e-01 -3.21658147e-02 -1.54369075e-02 1.12913366e+02] [ 3.21653432e-02 9.99482523e-01 -2.78888583e-04 7.17876925e-01] [ 1.54378899e-02 -2.17822404e-04 9.99880805e-01 7.40677791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09925415399998 meters 0.016689695627439625 Centerline is valid? [True, True] Translation: X:112.94, Y:0.71, Z:0.74 [[ 9.99264121e-01 -3.52275607e-02 -1.51735390e-02 1.12944190e+02] [ 3.52274491e-02 9.99379283e-01 -2.74714762e-04 7.14498702e-01] [ 1.51737981e-02 -2.60012469e-04 9.99884837e-01 7.41628196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12925415399998 meters 0.016514437101467522 Centerline is valid? [True, True] Translation: X:112.98, Y:0.71, Z:0.74 [[ 9.99161536e-01 -3.79388336e-02 -1.53905826e-02 1.12975170e+02] [ 3.79390450e-02 9.99280017e-01 -2.78335818e-04 7.14070619e-01] [ 1.53900614e-02 -3.05801562e-04 9.99881519e-01 7.43163748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15925415399998 meters 0.018058996208027762 Centerline is valid? [True, True] Translation: X:113.01, Y:0.71, Z:0.74 [[ 9.98975758e-01 -4.26366661e-02 -1.51508818e-02 1.13005840e+02] [ 4.26374169e-02 9.99090574e-01 -2.73603227e-04 7.08481785e-01] [ 1.51487687e-02 -3.72671472e-04 9.99885181e-01 7.43550882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18925415399998 meters 0.01812715678633692 Centerline is valid? [True, True] Translation: X:113.04, Y:0.71, Z:0.74 [[ 9.98909280e-01 -4.41841164e-02 -1.51001704e-02 1.13037516e+02] [ 4.41850453e-02 9.99023327e-01 -2.72264831e-04 7.07149629e-01] [ 1.50974522e-02 -3.95233845e-04 9.99885949e-01 7.44044314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21925415399998 meters 0.019111344021078138 Centerline is valid? [True, True] Translation: X:113.07, Y:0.70, Z:0.74 [[ 9.98837542e-01 -4.58410055e-02 -1.49052839e-02 1.13069334e+02] [ 4.58421052e-02 9.98948662e-01 -2.68061388e-04 7.03679606e-01] [ 1.49019016e-02 -4.15539814e-04 9.99888874e-01 7.43998750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24925415399998 meters 0.02134991235272006 Centerline is valid? [True, True] Translation: X:113.10, Y:0.70, Z:0.74 [[ 9.98813992e-01 -4.60880043e-02 -1.57004678e-02 1.13100176e+02] [ 4.60892687e-02 9.98937285e-01 -2.81479143e-04 7.01841221e-01] [ 1.56967555e-02 -4.42477775e-04 9.99876700e-01 7.42361112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27925415399997 meters 0.018946594075702015 Centerline is valid? [True, True] Translation: X:113.13, Y:0.70, Z:0.75 [[ 9.98783043e-01 -4.69672362e-02 -1.50502998e-02 1.13131740e+02] [ 4.69685077e-02 9.98896334e-01 -2.69163502e-04 7.01814966e-01] [ 1.50463312e-02 -4.38054181e-04 9.99886702e-01 7.45126633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30925415399997 meters 0.018676669866317996 Centerline is valid? [True, True] Translation: X:113.16, Y:0.70, Z:0.75 [[ 9.98779856e-01 -4.68995476e-02 -1.54671336e-02 1.13163731e+02] [ 4.69008962e-02 9.98899509e-01 -2.75730071e-04 7.01746299e-01] [ 1.54630438e-02 -4.50028788e-04 9.99880339e-01 7.45139508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33925415399997 meters 0.019484894363206204 Centerline is valid? [True, True] Translation: X:113.19, Y:0.70, Z:0.74 [[ 9.98759561e-01 -4.68621963e-02 -1.68307200e-02 1.13194868e+02] [ 4.68638065e-02 9.98901244e-01 -2.98940507e-04 6.99916622e-01] [ 1.68262362e-02 -4.90181915e-04 9.99858309e-01 7.43826565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36925415399998 meters 0.020127037696649898 Centerline is valid? [True, True] Translation: X:113.23, Y:0.70, Z:0.74 [[ 9.98759175e-01 -4.63412910e-02 -1.82371753e-02 1.13226055e+02] [ 4.63431099e-02 9.98925529e-01 -3.23096438e-04 7.01285203e-01] [ 1.82325527e-02 -5.22471889e-04 9.99833637e-01 7.42434634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39925415399998 meters 0.0191496762707396 Centerline is valid? [True, True] Translation: X:113.26, Y:0.70, Z:0.74 [[ 9.98732432e-01 -4.67878281e-02 -1.85587890e-02 1.13256034e+02] [ 4.67897975e-02 9.98904704e-01 -3.28325380e-04 7.01059133e-01] [ 1.85538233e-02 -5.40452777e-04 9.99827717e-01 7.43322627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42925415399998 meters 0.018923251297660804 Centerline is valid? [True, True] Translation: X:113.29, Y:0.70, Z:0.74 [[ 9.98713998e-01 -4.70329493e-02 -1.89275208e-02 1.13287392e+02] [ 4.70350525e-02 9.98893184e-01 -3.34281914e-04 7.01894902e-01] [ 1.89222938e-02 -5.56404909e-04 9.99820803e-01 7.43824433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45925415399998 meters 0.018776211854774866 Centerline is valid? [True, True] Translation: X:113.32, Y:0.70, Z:0.74 [[ 9.98696427e-01 -4.74296856e-02 -1.88645365e-02 1.13318495e+02] [ 4.74318586e-02 9.98874421e-01 -3.32477237e-04 7.02270423e-01] [ 1.88590723e-02 -5.62736200e-04 9.99821994e-01 7.44257789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48925415399998 meters 0.01913946062577264 Centerline is valid? [True, True] Translation: X:113.35, Y:0.70, Z:0.74 [[ 9.98676704e-01 -4.79588312e-02 -1.85685797e-02 1.13349005e+02] [ 4.79610365e-02 9.98849154e-01 -3.26796870e-04 7.01640090e-01] [ 1.85628829e-02 -5.64203906e-04 9.99827536e-01 7.44489605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51925415399998 meters 0.021651487004710063 Centerline is valid? [True, True] Translation: X:113.38, Y:0.70, Z:0.74 [[ 9.98593219e-01 -4.94862526e-02 -1.90445134e-02 1.13378924e+02] [ 4.94888482e-02 9.98774620e-01 -3.35262468e-04 6.97840762e-01] [ 1.90377675e-02 -6.07700207e-04 9.99818581e-01 7.43390070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54925415399998 meters 0.019369361936169574 Centerline is valid? [True, True] Translation: X:113.41, Y:0.70, Z:0.75 [[ 9.98541443e-01 -5.04731086e-02 -1.91690448e-02 1.13409787e+02] [ 5.04759262e-02 9.98725221e-01 -3.37127001e-04 7.02499932e-01] [ 1.91616244e-02 -6.30940011e-04 9.99816200e-01 7.45366615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57925415399998 meters 0.02154735058119328 Centerline is valid? [True, True] Translation: X:113.44, Y:0.70, Z:0.74 [[ 9.98409096e-01 -5.30395888e-02 -1.91332084e-02 1.13440553e+02] [ 5.30428819e-02 9.98592179e-01 -3.35690798e-04 6.99480603e-01] [ 1.91240772e-02 -6.79723766e-04 9.99816887e-01 7.44356924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60925415399998 meters 0.02190342366073514 Centerline is valid? [True, True] Translation: X:113.47, Y:0.70, Z:0.74 [[ 9.98344203e-01 -5.41724580e-02 -1.93441735e-02 1.13471067e+02] [ 5.41760426e-02 9.98531342e-01 -3.39076823e-04 6.99655172e-01] [ 1.93341321e-02 -7.09475385e-04 9.99812826e-01 7.44198710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63925415399997 meters 0.02252601434200686 Centerline is valid? [True, True] Translation: X:113.50, Y:0.70, Z:0.74 [[ 9.98264378e-01 -5.56371584e-02 -1.93064085e-02 1.13502747e+02] [ 5.56410110e-02 9.98450782e-01 -3.37973635e-04 6.99054765e-01] [ 1.92953025e-02 -7.36841047e-04 9.99813557e-01 7.44531784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66925415399997 meters 0.02259683514643637 Centerline is valid? [True, True] Translation: X:113.53, Y:0.70, Z:0.75 [[ 9.98171422e-01 -5.73965552e-02 -1.89590936e-02 1.13533636e+02] [ 5.74005959e-02 9.98351172e-01 -3.31434496e-04 6.99804950e-01] [ 1.89468565e-02 -7.57434827e-04 9.99820205e-01 7.45347630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69925415399997 meters 0.02286010749534666 Centerline is valid? [True, True] Translation: X:113.56, Y:0.70, Z:0.75 [[ 9.98157179e-01 -5.77761148e-02 -1.85517085e-02 1.13564539e+02] [ 5.77800591e-02 9.98329284e-01 -3.23772806e-04 7.00847542e-01] [ 1.85394202e-02 -7.48742660e-04 9.99827850e-01 7.45982574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72925415399997 meters 0.022967678251681927 Centerline is valid? [True, True] Translation: X:113.60, Y:0.70, Z:0.75 [[ 9.98174573e-01 -5.76489893e-02 -1.80032001e-02 1.13595537e+02] [ 5.76526946e-02 9.98336651e-01 -3.13560791e-04 7.02195997e-01] [ 1.79913309e-02 -7.24944585e-04 9.99837880e-01 7.46651310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75925415399998 meters 0.02463804892576172 Centerline is valid? [True, True] Translation: X:113.63, Y:0.70, Z:0.75 [[ 9.98254218e-01 -5.61763114e-02 -1.82411232e-02 1.13625946e+02] [ 5.61798781e-02 9.98420613e-01 -3.17251179e-04 7.03793189e-01] [ 1.82301354e-02 -7.08086748e-04 9.99833567e-01 7.45592613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78925415399998 meters 0.02298762217997462 Centerline is valid? [True, True] Translation: X:113.66, Y:0.71, Z:0.75 [[ 9.98306533e-01 -5.56099076e-02 -1.70764179e-02 1.13657602e+02] [ 5.56129586e-02 9.98452358e-01 -2.96520502e-04 7.06192741e-01] [ 1.70664792e-02 -6.53651770e-04 9.99854143e-01 7.48004754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81925415399998 meters 0.022923461303662906 Centerline is valid? [True, True] Translation: X:113.69, Y:0.71, Z:0.75 [[ 9.98367193e-01 -5.44991814e-02 -1.71110029e-02 1.13688559e+02] [ 5.45020952e-02 9.98513612e-01 -2.96337662e-04 7.07920695e-01] [ 1.71017195e-02 -6.36731710e-04 9.99853552e-01 7.48431250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84925415399998 meters 0.02333556406700536 Centerline is valid? [True, True] Translation: X:113.72, Y:0.71, Z:0.75 [[ 9.98504060e-01 -5.15201227e-02 -1.83117284e-02 1.13719737e+02] [ 5.15229744e-02 9.98671759e-01 -3.16325728e-04 7.14487271e-01] [ 1.83037032e-02 -6.27622190e-04 9.99832276e-01 7.46738530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87925415399998 meters 0.022295598895259148 Centerline is valid? [True, True] Translation: X:113.75, Y:0.72, Z:0.75 [[ 9.98555802e-01 -5.05564327e-02 -1.81757248e-02 1.13750889e+02] [ 5.05590947e-02 9.98721022e-01 -3.13312415e-04 7.17845602e-01] [ 1.81683184e-02 -6.06088264e-04 9.99834759e-01 7.47507960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90925415399998 meters 0.01968745762954738 Centerline is valid? [True, True] Translation: X:113.78, Y:0.72, Z:0.75 [[ 9.98571995e-01 -5.04859032e-02 -1.74684033e-02 1.13782144e+02] [ 5.04883622e-02 9.98724604e-01 -3.00488754e-04 7.20697630e-01] [ 1.74612947e-02 -5.81891422e-04 9.99847371e-01 7.49900548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93925415399998 meters 0.019803702089797683 Centerline is valid? [True, True] Translation: X:113.81, Y:0.72, Z:0.75 [[ 9.98614003e-01 -4.91655295e-02 -1.87836041e-02 1.13812479e+02] [ 4.91681488e-02 9.98790463e-01 -3.22624311e-04 7.24515678e-01] [ 1.87767467e-02 -6.01377888e-04 9.99823520e-01 7.48618203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.96925415399998 meters 0.020703149135372023 Centerline is valid? [True, True] Translation: X:113.84, Y:0.72, Z:0.75 [[ 9.98623417e-01 -4.89097020e-02 -1.89502359e-02 1.13842801e+02] [ 4.89123285e-02 9.98803023e-01 -3.25143925e-04 7.24606562e-01] [ 1.89434556e-02 -6.02203825e-04 9.99820375e-01 7.47686478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99925415399998 meters 0.020596813147450013 Centerline is valid? [True, True] Translation: X:113.87, Y:0.73, Z:0.75 [[ 9.98613280e-01 -4.89678800e-02 -1.93303689e-02 1.13874366e+02] [ 4.89706347e-02 9.98800164e-01 -3.31103368e-04 7.26234239e-01] [ 1.93233891e-02 -6.15976214e-04 9.99813096e-01 7.48109960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02925415399997 meters 0.021161144376523944 Centerline is valid? [True, True] Translation: X:113.90, Y:0.73, Z:0.75 [[ 9.98598662e-01 -4.92825852e-02 -1.92857105e-02 1.13904485e+02] [ 4.92853948e-02 9.98784682e-01 -3.29879489e-04 7.27729552e-01] [ 1.92785295e-02 -6.21086636e-04 9.99813959e-01 7.48058706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05925415399997 meters 0.01957664099942795 Centerline is valid? [True, True] Translation: X:113.94, Y:0.73, Z:0.75 [[ 9.98595664e-01 -4.95042619e-02 -1.88687022e-02 1.13935604e+02] [ 4.95070011e-02 9.98773725e-01 -3.22191770e-04 7.32287978e-01] [ 1.88615139e-02 -6.12393558e-04 9.99821918e-01 7.49481580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08925415399997 meters 0.01952652036996789 Centerline is valid? [True, True] Translation: X:113.97, Y:0.73, Z:0.75 [[ 9.98607667e-01 -4.94368730e-02 -1.84044334e-02 1.13966479e+02] [ 4.94394799e-02 9.98777072e-01 -3.13595697e-04 7.34381950e-01] [ 1.83974293e-02 -5.96746547e-04 9.99830575e-01 7.50112709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11925415399998 meters 0.01894976863194948 Centerline is valid? [True, True] Translation: X:114.00, Y:0.74, Z:0.75 [[ 9.98654748e-01 -4.87341861e-02 -1.77108513e-02 1.13997508e+02] [ 4.87365013e-02 9.98811625e-01 -3.01132149e-04 7.38745815e-01] [ 1.77044796e-02 -5.62437877e-04 9.99843105e-01 7.51678468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14925415399998 meters 0.019119115338845794 Centerline is valid? [True, True] Translation: X:114.03, Y:0.74, Z:0.75 [[ 9.98707389e-01 -4.78610029e-02 -1.71136340e-02 1.14029031e+02] [ 4.78630503e-02 9.98853865e-01 -2.90163885e-04 7.40056273e-01] [ 1.71079070e-02 -5.29321907e-04 9.99853509e-01 7.52322857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17925415399998 meters 0.019119115338845794 Centerline is valid? [True, True] Translation: X:114.06, Y:0.74, Z:0.75 [[ 9.98710877e-01 -4.77881548e-02 -1.71136530e-02 1.14060733e+02] [ 4.77902108e-02 9.98857353e-01 -2.89036690e-04 7.40532892e-01] [ 1.71079107e-02 -5.29200999e-04 9.99853509e-01 7.52542479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20925415399998 meters 0.019190972403835698 Centerline is valid? [True, True] Translation: X:114.09, Y:0.74, Z:0.75 [[ 9.98768488e-01 -4.68910595e-02 -1.62091162e-02 1.14092230e+02] [ 4.68927990e-02 9.98899890e-01 -2.72944751e-04 7.42735590e-01] [ 1.62040830e-02 -4.87482210e-04 9.99868586e-01 7.53576194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23925415399998 meters 0.018965082426579776 Centerline is valid? [True, True] Translation: X:114.12, Y:0.75, Z:0.75 [[ 9.98879553e-01 -4.48868005e-02 -1.49938080e-02 1.14122607e+02] [ 4.48880690e-02 9.98991991e-01 -2.52102996e-04 7.45638347e-01] [ 1.49900102e-02 -4.21222559e-04 9.99887555e-01 7.54590069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26925415399998 meters 0.01878528463283325 Centerline is valid? [True, True] Translation: X:114.16, Y:0.75, Z:0.75 [[ 9.98933911e-01 -4.38839142e-02 -1.43262914e-02 1.14155072e+02] [ 4.38849783e-02 9.99036561e-01 -2.40231840e-04 7.47549124e-01] [ 1.43230312e-02 -3.88733255e-04 9.99897345e-01 7.54890838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29925415399998 meters 0.018405829742818926 Centerline is valid? [True, True] Translation: X:114.19, Y:0.75, Z:0.76 [[ 9.99015198e-01 -4.20075504e-02 -1.42828383e-02 1.14186874e+02] [ 4.20084310e-02 9.99117228e-01 -2.38487173e-04 7.51336910e-01] [ 1.42802480e-02 -3.61747315e-04 9.99897967e-01 7.55208298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32925415399998 meters 0.018274675035113024 Centerline is valid? [True, True] Translation: X:114.22, Y:0.75, Z:0.76 [[ 9.99061882e-01 -4.07924192e-02 -1.45373326e-02 1.14219338e+02] [ 4.07932180e-02 9.99167581e-01 -2.41698802e-04 7.53642764e-01] [ 1.45350909e-02 -3.51552518e-04 9.99894298e-01 7.55237653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35925415399998 meters 0.017207491655798858 Centerline is valid? [True, True] Translation: X:114.25, Y:0.76, Z:0.76 [[ 9.99115321e-01 -3.93974125e-02 -1.47112077e-02 1.14250599e+02] [ 3.93980908e-02 9.99223564e-01 -2.43811806e-04 7.58020802e-01] [ 1.47093909e-02 -3.35997385e-04 9.99891755e-01 7.55939175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38925415399997 meters 0.016734482988240262 Centerline is valid? [True, True] Translation: X:114.28, Y:0.76, Z:0.76 [[ 9.99178893e-01 -3.76506115e-02 -1.49656469e-02 1.14282202e+02] [ 3.76511259e-02 9.99290914e-01 -2.47479261e-04 7.60813553e-01] [ 1.49643527e-02 -3.16197400e-04 9.99887978e-01 7.56117180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41925415399997 meters 0.015966802702215472 Centerline is valid? [True, True] Translation: X:114.31, Y:0.77, Z:0.76 [[ 9.99290385e-01 -3.45454594e-02 -1.50112470e-02 1.14313964e+02] [ 3.45456373e-02 9.99403091e-01 -2.47528698e-04 7.65182334e-01] [ 1.50108376e-02 -2.71220046e-04 9.99887294e-01 7.56602294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44925415399997 meters 0.015774906608607593 Centerline is valid? [True, True] Translation: X:114.35, Y:0.77, Z:0.76 [[ 9.99346480e-01 -3.29363513e-02 -1.48933024e-02 1.14345574e+02] [ 3.29363578e-02 9.99457421e-01 -2.44906453e-04 7.66923257e-01] [ 1.48932879e-02 -2.45784736e-04 9.99889059e-01 7.56978346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47925415399997 meters 0.0152959998627174 Centerline is valid? [True, True] Translation: X:114.38, Y:0.77, Z:0.76 [[ 9.99422813e-01 -3.05228856e-02 -1.49129080e-02 1.14377023e+02] [ 3.05226317e-02 9.99534046e-01 -2.44678958e-04 7.69883881e-01] [ 1.49134276e-02 -2.10643466e-04 9.99888766e-01 7.57708913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50925415399998 meters 0.015437951894949427 Centerline is valid? [True, True] Translation: X:114.41, Y:0.77, Z:0.76 [[ 9.99451918e-01 -2.97557750e-02 -1.45071675e-02 1.14407245e+02] [ 2.97554596e-02 9.99557180e-01 -2.37635087e-04 7.70969539e-01] [ 1.45078145e-02 -1.94162594e-04 9.99894737e-01 7.57624692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53925415399998 meters 0.01542303750435163 Centerline is valid? [True, True] Translation: X:114.44, Y:0.77, Z:0.76 [[ 9.99459503e-01 -2.94488368e-02 -1.46105143e-02 1.14438481e+02] [ 2.94484900e-02 9.99566271e-01 -2.38920582e-04 7.71729293e-01] [ 1.46112132e-02 -1.91466139e-04 9.99893232e-01 7.57787144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56925415399998 meters 0.015552948921955955 Centerline is valid? [True, True] Translation: X:114.47, Y:0.77, Z:0.76 [[ 9.99447643e-01 -2.99051886e-02 -1.44944567e-02 1.14468660e+02] [ 2.99049009e-02 9.99552720e-01 -2.36635526e-04 7.71492806e-01] [ 1.44950503e-02 -1.96950473e-04 9.99894922e-01 7.57502852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59925415399998 meters 0.01564110379207979 Centerline is valid? [True, True] Translation: X:114.50, Y:0.77, Z:0.76 [[ 9.99406801e-01 -3.11269441e-02 -1.47363377e-02 1.14500370e+02] [ 3.11267855e-02 9.99515415e-01 -2.40175634e-04 7.71489297e-01] [ 1.47366727e-02 -2.18661662e-04 9.99891385e-01 7.57756315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62925415399998 meters 0.016081968083842168 Centerline is valid? [True, True] Translation: X:114.53, Y:0.77, Z:0.76 [[ 9.99357481e-01 -3.25776720e-02 -1.49438980e-02 1.14530490e+02] [ 3.25776771e-02 9.99469177e-01 -2.43161792e-04 7.70172483e-01] [ 1.49438871e-02 -2.43831928e-04 9.99888304e-01 7.57284024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65925415399998 meters 0.016440460767343273 Centerline is valid? [True, True] Translation: X:114.56, Y:0.77, Z:0.76 [[ 9.99197494e-01 -3.69693471e-02 -1.54154287e-02 1.14562018e+02] [ 3.69698816e-02 9.99316349e-01 -2.50395273e-04 7.67599848e-01] [ 1.54141469e-02 -3.19712245e-04 9.99881144e-01 7.57425598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68925415399998 meters 0.017834252153643846 Centerline is valid? [True, True] Translation: X:114.59, Y:0.77, Z:0.76 [[ 9.99120445e-01 -3.89374901e-02 -1.55630475e-02 1.14593058e+02] [ 3.89382825e-02 9.99241586e-01 -2.52216310e-04 7.66567526e-01] [ 1.55610649e-02 -3.54003866e-04 9.99878857e-01 7.56594327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71925415399998 meters 0.01775081988079266 Centerline is valid? [True, True] Translation: X:114.62, Y:0.76, Z:0.76 [[ 9.99023512e-01 -4.13817392e-02 -1.54781866e-02 1.14624372e+02] [ 4.13828274e-02 9.99143333e-01 -2.50111319e-04 7.64753279e-01] [ 1.54752770e-02 -3.90664037e-04 9.99880174e-01 7.57766041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74925415399997 meters 0.019344150870219824 Centerline is valid? [True, True] Translation: X:114.65, Y:0.76, Z:0.76 [[ 9.98812976e-01 -4.62567884e-02 -1.52626279e-02 1.14654792e+02] [ 4.62584231e-02 9.98929476e-01 -2.46098523e-04 7.61260844e-01] [ 1.52576726e-02 -4.60218702e-04 9.99883489e-01 7.58375889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77925415399997 meters 0.019856902357085846 Centerline is valid? [True, True] Translation: X:114.69, Y:0.76, Z:0.76 [[ 9.98726834e-01 -4.82833922e-02 -1.46091028e-02 1.14687205e+02] [ 4.82851163e-02 9.98833566e-01 -2.34883283e-04 7.59904904e-01] [ 1.46034032e-02 -4.70817990e-04 9.99893254e-01 7.58889413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80925415399997 meters 0.021571485184959962 Centerline is valid? [True, True] Translation: X:114.72, Y:0.76, Z:0.76 [[ 9.98552144e-01 -5.19611593e-02 -1.39159466e-02 1.14717679e+02] [ 5.19630888e-02 9.98648981e-01 -2.23134076e-04 7.55891529e-01] [ 1.39087402e-02 -5.00304558e-04 9.99903144e-01 7.59322167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83925415399997 meters 0.021243405231853182 Centerline is valid? [True, True] Translation: X:114.75, Y:0.76, Z:0.76 [[ 9.98487538e-01 -5.32138869e-02 -1.38173200e-02 1.14749424e+02] [ 5.32159158e-02 9.98583005e-01 -2.21049394e-04 7.56391128e-01] [ 1.38095039e-02 -5.14586274e-04 9.99904512e-01 7.59548429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86925415399998 meters 0.022152998608241162 Centerline is valid? [True, True] Translation: X:114.78, Y:0.75, Z:0.76 [[ 9.98458298e-01 -5.37695524e-02 -1.37790568e-02 1.14780154e+02] [ 5.37716316e-02 9.98553235e-01 -2.19805605e-04 7.54760570e-01] [ 1.37709406e-02 -5.21455634e-04 9.99905040e-01 7.59706496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89925415399998 meters 0.0208526265615624 Centerline is valid? [True, True] Translation: X:114.81, Y:0.76, Z:0.76 [[ 9.98488899e-01 -5.32727766e-02 -1.34881585e-02 1.14812182e+02] [ 5.32747335e-02 9.98579870e-01 -2.14431176e-04 7.57444782e-01] [ 1.34804269e-02 -5.04470900e-04 9.99909008e-01 7.60060100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92925415399998 meters 0.020754794165382055 Centerline is valid? [True, True] Translation: X:114.84, Y:0.76, Z:0.76 [[ 9.98553851e-01 -5.20433845e-02 -1.34793682e-02 1.14844528e+02] [ 5.20452404e-02 9.98644705e-01 -2.13296353e-04 7.58121753e-01] [ 1.34722004e-02 -4.88549064e-04 9.99909126e-01 7.60238212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95925415399998 meters 0.021424334786863845 Centerline is valid? [True, True] Translation: X:114.88, Y:0.76, Z:0.76 [[ 9.98616971e-01 -5.07633093e-02 -1.36832279e-02 1.14876094e+02] [ 5.07651140e-02 9.98710597e-01 -2.15633345e-04 7.57746300e-01] [ 1.36765309e-02 -4.79295504e-04 9.99906357e-01 7.59999398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98925415399998 meters 0.021382317372729023 Centerline is valid? [True, True] Translation: X:114.91, Y:0.76, Z:0.76 [[ 9.98705456e-01 -4.89075890e-02 -1.39807106e-02 1.14907073e+02] [ 4.89093021e-02 9.98803200e-01 -2.19556713e-04 7.58765348e-01] [ 1.39747164e-02 -4.64514309e-04 9.99902241e-01 7.59940931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01925415399998 meters 0.01790119983243755 Centerline is valid? [True, True] Translation: X:114.94, Y:0.77, Z:0.76 [[ 9.98913560e-01 -4.44543906e-02 -1.39823619e-02 1.14938046e+02] [ 4.44556770e-02 9.99011334e-01 -2.18946733e-04 7.66599493e-01] [ 1.39782712e-02 -4.02886505e-04 9.99902218e-01 7.61167955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04925415399998 meters 0.017345251077679143 Centerline is valid? [True, True] Translation: X:114.97, Y:0.77, Z:0.76 [[ 9.99024460e-01 -4.19341726e-02 -1.38439278e-02 1.14969973e+02] [ 4.19352027e-02 9.99120309e-01 -2.16001593e-04 7.68820802e-01] [ 1.38408073e-02 -3.64757043e-04 9.99904145e-01 7.61543493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07925415399998 meters 0.017216446491772817 Centerline is valid? [True, True] Translation: X:115.00, Y:0.77, Z:0.76 [[ 9.99193032e-01 -3.76043163e-02 -1.41138126e-02 1.15000167e+02] [ 3.76049645e-02 9.99292659e-01 -2.19550157e-04 7.71801276e-01] [ 1.41120853e-02 -3.11376434e-04 9.99900371e-01 7.61668163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10925415399998 meters 0.016321238349465226 Centerline is valid? [True, True] Translation: X:115.03, Y:0.78, Z:0.76 [[ 9.99264671e-01 -3.56593830e-02 -1.40898992e-02 1.15031115e+02] [ 3.56598413e-02 9.99363962e-01 -2.18786869e-04 7.75113292e-01] [ 1.40887393e-02 -2.83817581e-04 9.99900709e-01 7.62118575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13925415399997 meters 0.016067886204666416 Centerline is valid? [True, True] Translation: X:115.06, Y:0.78, Z:0.76 [[ 9.99311440e-01 -3.40692094e-02 -1.46947231e-02 1.15062870e+02] [ 3.40695483e-02 9.99419439e-01 -2.27341846e-04 7.77012344e-01] [ 1.46939372e-02 -2.73457270e-04 9.99892001e-01 7.62150691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16925415399997 meters 0.015772840432838452 Centerline is valid? [True, True] Translation: X:115.09, Y:0.78, Z:0.76 [[ 9.99361586e-01 -3.22012100e-02 -1.54758439e-02 1.15093730e+02] [ 3.22013751e-02 9.99481373e-01 -2.38578557e-04 7.80004170e-01] [ 1.54755002e-02 -2.59917210e-04 9.99880213e-01 7.61397332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19925415399997 meters 0.015673186244578318 Centerline is valid? [True, True] Translation: X:115.13, Y:0.78, Z:0.76 [[ 9.99357815e-01 -3.21467087e-02 -1.58286891e-02 1.15125146e+02] [ 3.21468840e-02 9.99483126e-01 -2.43432724e-04 7.81963055e-01] [ 1.58283332e-02 -2.65566637e-04 9.99874689e-01 7.61390369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22925415399997 meters 0.016328399234516764 Centerline is valid? [True, True] Translation: X:115.16, Y:0.78, Z:0.76 [[ 9.99307688e-01 -3.30187378e-02 -1.71437224e-02 1.15155315e+02] [ 3.30190862e-02 9.99454687e-01 -2.62810536e-04 7.82381100e-01] [ 1.71430513e-02 -3.03441458e-04 9.99853001e-01 7.59903989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25925415399998 meters 0.016160108637372404 Centerline is valid? [True, True] Translation: X:115.19, Y:0.78, Z:0.76 [[ 9.99259994e-01 -3.41716081e-02 -1.76568573e-02 1.15186117e+02] [ 3.41721680e-02 9.99415924e-01 -2.70083517e-04 7.83611383e-01] [ 1.76557735e-02 -3.33489440e-04 9.99844069e-01 7.60065509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28925415399998 meters 0.016160619994272873 Centerline is valid? [True, True] Translation: X:115.22, Y:0.78, Z:0.76 [[ 9.99193793e-01 -3.58628216e-02 -1.80450204e-02 1.15216972e+02] [ 3.58636882e-02 9.99356653e-01 -2.75686128e-04 7.84670439e-01] [ 1.80432980e-02 -3.71697115e-04 9.99837137e-01 7.60673249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31925415399998 meters 0.017176063035143782 Centerline is valid? [True, True] Translation: X:115.25, Y:0.78, Z:0.76 [[ 9.99029078e-01 -4.02121272e-02 -1.79968555e-02 1.15248482e+02] [ 4.02137040e-02 9.99191064e-01 -2.74410622e-04 7.84425445e-01] [ 1.79933319e-02 -4.49576031e-04 9.99838006e-01 7.61160017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34925415399998 meters 0.018371214332252424 Centerline is valid? [True, True] Translation: X:115.28, Y:0.78, Z:0.76 [[ 9.98937969e-01 -4.25480269e-02 -1.76804700e-02 1.15279175e+02] [ 4.25499434e-02 9.99094305e-01 -2.67941433e-04 7.82994729e-01] [ 1.76758573e-02 -4.84646129e-04 9.99843652e-01 7.61302621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37925415399998 meters 0.020331651726757022 Centerline is valid? [True, True] Translation: X:115.31, Y:0.78, Z:0.76 [[ 9.98677886e-01 -4.84782825e-02 -1.70978363e-02 1.15310114e+02] [ 4.84809607e-02 9.98824074e-01 -2.58060925e-04 7.81363823e-01] [ 1.70902409e-02 -5.71199791e-04 9.99853788e-01 7.62347998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40925415399998 meters 0.020122963978546286 Centerline is valid? [True, True] Translation: X:115.34, Y:0.78, Z:0.76 [[ 9.98524887e-01 -5.17323131e-02 -1.64868803e-02 1.15342111e+02] [ 5.17352599e-02 9.98660804e-01 -2.48003948e-04 7.82727154e-01] [ 1.64776309e-02 -6.05314921e-04 9.99864051e-01 7.63506659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43925415399998 meters 0.021081972877921677 Centerline is valid? [True, True] Translation: X:115.37, Y:0.78, Z:0.76 [[ 9.98351764e-01 -5.51317952e-02 -1.59449111e-02 1.15372891e+02] [ 5.51349949e-02 9.98478881e-01 -2.39181622e-04 7.81886097e-01] [ 1.59338435e-02 -6.40335197e-04 9.99872843e-01 7.64085262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.46925415399998 meters 0.023984393664998303 Centerline is valid? [True, True] Translation: X:115.40, Y:0.78, Z:0.76 [[ 9.97976563e-01 -6.16251364e-02 -1.56563614e-02 1.15402452e+02] [ 6.16290184e-02 9.98099098e-01 -2.34861385e-04 7.79252275e-01] [ 1.56410736e-02 -7.30500030e-04 9.99877404e-01 7.64373656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49925415399997 meters 0.02658694436223852 Centerline is valid? [True, True] Translation: X:115.43, Y:0.78, Z:0.76 [[ 9.97813563e-01 -6.43318719e-02 -1.51493937e-02 1.15432822e+02] [ 6.43358183e-02 9.97928279e-01 -2.27209931e-04 7.76913729e-01] [ 1.51326252e-02 -7.47935489e-04 9.99885216e-01 7.64153770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52925415399997 meters 0.025473462137358027 Centerline is valid? [True, True] Translation: X:115.46, Y:0.78, Z:0.77 [[ 9.97625394e-01 -6.71303523e-02 -1.53976881e-02 1.15463852e+02] [ 6.71347703e-02 9.97743890e-01 -2.30374424e-04 7.80603604e-01] [ 1.53784144e-02 -8.03892879e-04 9.99881422e-01 7.65135953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55925415399997 meters 0.0284819551136376 Centerline is valid? [True, True] Translation: X:115.49, Y:0.78, Z:0.76 [[ 9.97371956e-01 -7.07196088e-02 -1.57454316e-02 1.15493629e+02] [ 7.07246901e-02 9.97495846e-01 -2.34576802e-04 7.79512583e-01] [ 1.57225918e-02 -8.79630450e-04 9.99876005e-01 7.64794248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58925415399997 meters 0.028474487123594856 Centerline is valid? [True, True] Translation: X:115.53, Y:0.78, Z:0.77 [[ 9.97289345e-01 -7.19388490e-02 -1.54520041e-02 1.15525804e+02] [ 7.19439058e-02 9.97408653e-01 -2.29083203e-04 7.81531164e-01] [ 1.54284425e-02 -8.83215288e-04 9.99880584e-01 7.65142954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61925415399998 meters 0.028165286013385207 Centerline is valid? [True, True] Translation: X:115.56, Y:0.78, Z:0.77 [[ 9.97233927e-01 -7.27484982e-02 -1.52365125e-02 1.15558282e+02] [ 7.27535262e-02 9.97349926e-01 -2.24767223e-04 7.83927583e-01] [ 1.52124860e-02 -8.84364509e-04 9.99883892e-01 7.65920726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64925415399998 meters 0.030978060953062294 Centerline is valid? [True, True] Translation: X:115.59, Y:0.78, Z:0.77 [[ 9.97157320e-01 -7.38086118e-02 -1.51514718e-02 1.15589012e+02] [ 7.38137295e-02 9.97272021e-01 -2.21942275e-04 7.83389021e-01] [ 1.51265201e-02 -8.97075276e-04 9.99885185e-01 7.65769298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67925415399998 meters 0.029935933439156168 Centerline is valid? [True, True] Translation: X:115.62, Y:0.79, Z:0.77 [[ 9.97148662e-01 -7.38667714e-02 -1.54352200e-02 1.15620915e+02] [ 7.38721131e-02 9.97267697e-01 -2.24567329e-04 7.87114940e-01] [ 1.54096344e-02 -9.16305309e-04 9.99880845e-01 7.65740785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70925415399998 meters 0.0304082894591412 Centerline is valid? [True, True] Translation: X:115.65, Y:0.79, Z:0.77 [[ 9.97127561e-01 -7.41008298e-02 -1.56746143e-02 1.15652747e+02] [ 7.41063854e-02 9.97250316e-01 -2.26898922e-04 7.88470618e-01] [ 1.56483274e-02 -9.35341837e-04 9.99877120e-01 7.65983830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73925415399998 meters 0.029927983045063136 Centerline is valid? [True, True] Translation: X:115.68, Y:0.79, Z:0.76 [[ 9.97152620e-01 -7.33699422e-02 -1.74213435e-02 1.15684705e+02] [ 7.33767172e-02 9.97304264e-01 -2.50859411e-04 7.93093218e-01] [ 1.73927857e-02 -1.02817588e-03 9.99848205e-01 7.64856540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76925415399998 meters 0.028635655775103665 Centerline is valid? [True, True] Translation: X:115.72, Y:0.80, Z:0.76 [[ 9.97192951e-01 -7.27537363e-02 -1.76949587e-02 1.15716734e+02] [ 7.27606523e-02 9.97349399e-01 -2.53491404e-04 7.97081784e-01] [ 1.76664989e-02 -1.03471690e-03 9.99843400e-01 7.64441418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79925415399998 meters 0.03055540847871707 Centerline is valid? [True, True] Translation: X:115.75, Y:0.80, Z:0.76 [[ 9.97335559e-01 -7.04883491e-02 -1.87929632e-02 1.15747221e+02] [ 7.04957638e-02 9.97512043e-01 -2.68457672e-04 7.98973017e-01] [ 1.87651303e-02 -1.05708191e-03 9.99823361e-01 7.62747008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82925415399998 meters 0.030569215726798618 Centerline is valid? [True, True] Translation: X:115.78, Y:0.80, Z:0.76 [[ 9.97438924e-01 -6.89613898e-02 -1.89715302e-02 1.15778930e+02] [ 6.89686892e-02 9.97618788e-01 -2.70033088e-04 8.01988286e-01] [ 1.89449768e-02 -1.03910006e-03 9.99819988e-01 7.62984522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85925415399998 meters 0.026121137420022398 Centerline is valid? [True, True] Translation: X:115.81, Y:0.81, Z:0.76 [[ 9.97543576e-01 -6.75087866e-02 -1.86916476e-02 1.15811197e+02] [ 6.75156432e-02 9.97718181e-01 -2.64696072e-04 8.11642155e-01] [ 1.86668659e-02 -9.97932741e-04 9.99825261e-01 7.64795358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88925415399997 meters 0.026390077779079896 Centerline is valid? [True, True] Translation: X:115.84, Y:0.82, Z:0.77 [[ 9.97762795e-01 -6.43624413e-02 -1.80798535e-02 1.15840649e+02] [ 6.43683463e-02 9.97926175e-01 -2.55739137e-04 8.17439443e-01] [ 1.80588191e-02 -9.08603277e-04 9.99836513e-01 7.65761685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91925415399997 meters 0.025854659746027586 Centerline is valid? [True, True] Translation: X:115.87, Y:0.82, Z:0.77 [[ 9.97883390e-01 -6.26337106e-02 -1.74859472e-02 1.15871995e+02] [ 6.26389737e-02 9.98036221e-01 -2.47077327e-04 8.21143382e-01] [ 1.74670840e-02 -8.48747426e-04 9.99847079e-01 7.66807465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94925415399997 meters 0.024782089681683477 Centerline is valid? [True, True] Translation: X:115.90, Y:0.83, Z:0.77 [[ 9.98105628e-01 -5.94642580e-02 -1.57847214e-02 1.15903188e+02] [ 5.94681597e-02 9.98230178e-01 -2.22497640e-04 8.28699309e-01] [ 1.57700159e-02 -7.16612186e-04 9.99875389e-01 7.68800129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97925415399997 meters 0.024382018071328716 Centerline is valid? [True, True] Translation: X:115.94, Y:0.83, Z:0.77 [[ 9.98198243e-01 -5.81143891e-02 -1.49326723e-02 1.15935629e+02] [ 5.81177421e-02 9.98309714e-01 -2.09680311e-04 8.31841876e-01] [ 1.49196173e-02 -6.58550679e-04 9.99888479e-01 7.69723254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00925415399998 meters 0.022644802959201623 Centerline is valid? [True, True] Translation: X:115.97, Y:0.84, Z:0.77 [[ 9.98291214e-01 -5.67741136e-02 -1.38330056e-02 1.15967845e+02] [ 5.67768758e-02 9.98386873e-01 -1.93269780e-04 8.36853007e-01] [ 1.38216639e-02 -5.92455316e-04 9.99904301e-01 7.70872904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03925415399998 meters 0.022426255972058287 Centerline is valid? [True, True] Translation: X:116.00, Y:0.84, Z:0.77 [[ 9.98406758e-01 -5.47752036e-02 -1.35507081e-02 1.15998383e+02] [ 5.47776787e-02 9.98498558e-01 -1.88705350e-04 8.41183882e-01] [ 1.35406988e-02 -5.53871637e-04 9.99908167e-01 7.71348292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06925415399998 meters 0.023149371025658665 Centerline is valid? [True, True] Translation: X:116.03, Y:0.84, Z:0.77 [[ 9.98442686e-01 -5.40804526e-02 -1.36933172e-02 1.16030078e+02] [ 5.40829234e-02 9.98536430e-01 -1.90076116e-04 8.41922626e-01] [ 1.36835555e-02 -5.50794518e-04 9.99906224e-01 7.70714679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09925415399998 meters 0.023149371025658665 Centerline is valid? [True, True] Translation: X:116.06, Y:0.84, Z:0.77 [[ 9.98448484e-01 -5.39732979e-02 -1.36933341e-02 1.16062644e+02] [ 5.39757754e-02 9.98542227e-01 -1.88850646e-04 8.42279721e-01] [ 1.36835653e-02 -5.50550687e-04 9.99906224e-01 7.70940212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12925415399998 meters 0.0224961022814341 Centerline is valid? [True, True] Translation: X:116.09, Y:0.84, Z:0.77 [[ 9.98464249e-01 -5.35241920e-02 -1.42935224e-02 1.16094948e+02] [ 5.35268641e-02 9.98566391e-01 -1.95821283e-04 8.44880552e-01] [ 1.42835122e-02 -5.69566880e-04 9.99897823e-01 7.70742687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15925415399998 meters 0.02299333305270677 Centerline is valid? [True, True] Translation: X:116.13, Y:0.85, Z:0.77 [[ 9.98461903e-01 -5.31879377e-02 -1.56483906e-02 1.16126808e+02] [ 5.31911323e-02 9.98584327e-01 -2.12278558e-04 8.47385720e-01] [ 1.56375283e-02 -6.20403563e-04 9.99877534e-01 7.69611334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18925415399998 meters 0.02409638524870821 Centerline is valid? [True, True] Translation: X:116.16, Y:0.85, Z:0.77 [[ 9.98436826e-01 -5.32379762e-02 -1.70182716e-02 1.16157602e+02] [ 5.32417941e-02 9.98581624e-01 -2.28978503e-04 8.47617544e-01] [ 1.70063237e-02 -6.77462743e-04 9.99855153e-01 7.68789497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21925415399998 meters 0.021522238393867535 Centerline is valid? [True, True] Translation: X:116.19, Y:0.86, Z:0.77 [[ 9.98387527e-01 -5.36668094e-02 -1.84992007e-02 1.16189197e+02] [ 5.36714295e-02 9.98558620e-01 -2.47000823e-04 8.55344647e-01] [ 1.84857920e-02 -7.46276003e-04 9.99828845e-01 7.68915013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24925415399997 meters 0.02225229554510118 Centerline is valid? [True, True] Translation: X:116.22, Y:0.86, Z:0.77 [[ 9.98369406e-01 -5.39396748e-02 -1.86826131e-02 1.16220466e+02] [ 5.39444638e-02 9.98543907e-01 -2.47890997e-04 8.55623256e-01] [ 1.86687806e-02 -7.60336757e-04 9.99825434e-01 7.68627987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27925415399997 meters 0.02245511504456022 Centerline is valid? [True, True] Translation: X:116.25, Y:0.86, Z:0.77 [[ 9.98378861e-01 -5.37646311e-02 -1.86819478e-02 1.16252261e+02] [ 5.37694123e-02 9.98553348e-01 -2.46641784e-04 8.57052062e-01] [ 1.86681822e-02 -7.58275413e-04 9.99825447e-01 7.68683603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30925415399997 meters 0.02120176981025103 Centerline is valid? [True, True] Translation: X:116.28, Y:0.86, Z:0.77 [[ 9.98420022e-01 -5.31940293e-02 -1.81067864e-02 1.16284575e+02] [ 5.31984509e-02 9.98583932e-01 -2.37724650e-04 8.60714934e-01] [ 1.80937914e-02 -7.25903936e-04 9.99836030e-01 7.69875884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33925415399997 meters 0.022890161341584003 Centerline is valid? [True, True] Translation: X:116.32, Y:0.86, Z:0.77 [[ 9.98524755e-01 -5.18271498e-02 -1.61944267e-02 1.16315545e+02] [ 5.18305229e-02 9.98655873e-01 -2.11640038e-04 8.61416623e-01] [ 1.61836281e-02 -6.28037789e-04 9.99868839e-01 7.70942059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36925415399998 meters 0.021925067829478926 Centerline is valid? [True, True] Translation: X:116.35, Y:0.86, Z:0.77 [[ 9.98584179e-01 -5.09976005e-02 -1.51288413e-02 1.16347687e+02] [ 5.10004635e-02 9.98698610e-01 -1.96763014e-04 8.64925619e-01] [ 1.51191872e-02 -5.75093484e-04 9.99885533e-01 7.72236874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39925415399998 meters 0.0210783414654023 Centerline is valid? [True, True] Translation: X:116.38, Y:0.87, Z:0.77 [[ 9.98654389e-01 -5.00346612e-02 -1.36361465e-02 1.16379451e+02] [ 5.00369102e-02 9.98747354e-01 -1.76407504e-04 8.68371523e-01] [ 1.36278917e-02 -5.06140507e-04 9.99907008e-01 7.73266263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42925415399998 meters 0.021009208947293894 Centerline is valid? [True, True] Translation: X:116.41, Y:0.87, Z:0.77 [[ 9.98739734e-01 -4.88202844e-02 -1.16414635e-02 1.16411550e+02] [ 4.88218501e-02 9.98807491e-01 -1.49826437e-04 8.72193780e-01] [ 1.16348955e-02 -4.18720171e-04 9.99932225e-01 7.74792993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45925415399998 meters 0.020985191046127886 Centerline is valid? [True, True] Translation: X:116.44, Y:0.87, Z:0.77 [[ 9.98786936e-01 -4.79169765e-02 -1.13410413e-02 1.16443952e+02] [ 4.79184134e-02 9.98851242e-01 -1.45150426e-04 8.73473432e-01] [ 1.13349684e-02 -3.98470357e-04 9.99935678e-01 7.74968997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48925415399998 meters 0.020775736810943125 Centerline is valid? [True, True] Translation: X:116.48, Y:0.88, Z:0.77 [[ 9.98885287e-01 -4.57141017e-02 -1.17645490e-02 1.16475612e+02] [ 4.57155056e-02 9.98954489e-01 -1.49706537e-04 8.75498949e-01] [ 1.17590927e-02 -3.88282648e-04 9.99930784e-01 7.73872537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51925415399998 meters 0.02096749235109759 Centerline is valid? [True, True] Translation: X:116.51, Y:0.88, Z:0.77 [[ 9.98911412e-01 -4.50719435e-02 -1.20212742e-02 1.16508062e+02] [ 4.50733733e-02 9.98983667e-01 -1.52105947e-04 8.76537368e-01] [ 1.20159123e-02 -3.89899012e-04 9.99927730e-01 7.73271962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54925415399998 meters 0.019690845216907293 Centerline is valid? [True, True] Translation: X:116.54, Y:0.88, Z:0.77 [[ 9.98910898e-01 -4.50646671e-02 -1.20910161e-02 1.16541432e+02] [ 4.50661258e-02 9.98983994e-01 -1.51930364e-04 8.79191984e-01] [ 1.20855782e-02 -3.93130355e-04 9.99926889e-01 7.73865288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57925415399998 meters 0.019965493184235614 Centerline is valid? [True, True] Translation: X:116.57, Y:0.88, Z:0.77 [[ 9.98909525e-01 -4.49388956e-02 -1.26592527e-02 1.16574235e+02] [ 4.49405024e-02 9.98989653e-01 -1.57655672e-04 8.79235333e-01] [ 1.26535474e-02 -4.11429426e-04 9.99919856e-01 7.73608788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60925415399998 meters 0.020056052985969804 Centerline is valid? [True, True] Translation: X:116.61, Y:0.88, Z:0.77 [[ 9.98915005e-01 -4.48770328e-02 -1.24444823e-02 1.16606827e+02] [ 4.48785974e-02 9.98992436e-01 -1.53643816e-04 8.79335991e-01] [ 1.24388388e-02 -4.05013798e-04 9.99922553e-01 7.73621693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63925415399997 meters 0.019797044116703282 Centerline is valid? [True, True] Translation: X:116.64, Y:0.88, Z:0.77 [[ 9.98906415e-01 -4.50329021e-02 -1.25702851e-02 1.16639418e+02] [ 4.50345255e-02 9.98985419e-01 -1.54027855e-04 8.80165559e-01] [ 1.25644679e-02 -4.12237412e-04 9.99920979e-01 7.73865147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66925415399997 meters 0.02055715531493819 Centerline is valid? [True, True] Translation: X:116.67, Y:0.88, Z:0.77 [[ 9.98910121e-01 -4.49768629e-02 -1.24760778e-02 1.16671239e+02] [ 4.49784764e-02 9.98987945e-01 -1.51370808e-04 8.78994401e-01] [ 1.24702595e-02 -4.09949139e-04 9.99922159e-01 7.73129953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69925415399997 meters 0.020959882412088165 Centerline is valid? [True, True] Translation: X:116.70, Y:0.88, Z:0.77 [[ 9.98935459e-01 -4.44930611e-02 -1.21785251e-02 1.16702130e+02] [ 4.44945810e-02 9.99009615e-01 -1.46259626e-04 8.78203901e-01] [ 1.21729712e-02 -3.95774446e-04 9.99925828e-01 7.72623692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72925415399997 meters 0.020842203196263447 Centerline is valid? [True, True] Translation: X:116.73, Y:0.88, Z:0.77 [[ 9.98946790e-01 -4.42677196e-02 -1.20697889e-02 1.16734478e+02] [ 4.42692047e-02 9.99019628e-01 -1.44226350e-04 8.78925151e-01] [ 1.20643405e-02 -3.90245504e-04 9.99927147e-01 7.72819697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75925415399998 meters 0.021015362269289788 Centerline is valid? [True, True] Translation: X:116.77, Y:0.88, Z:0.77 [[ 9.98963982e-01 -4.40320302e-02 -1.14953846e-02 1.16765465e+02] [ 4.40333699e-02 9.99030051e-01 -1.36657821e-04 8.79089432e-01] [ 1.14902520e-02 -3.69664283e-04 9.99933917e-01 7.73337131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78925415399998 meters 0.021176299189223282 Centerline is valid? [True, True] Translation: X:116.80, Y:0.88, Z:0.77 [[ 9.98975425e-01 -4.38342018e-02 -1.12544473e-02 1.16797200e+02] [ 4.38354807e-02 9.99038754e-01 -1.33136363e-04 8.79178269e-01] [ 1.12494649e-02 -3.60344153e-04 9.99936658e-01 7.73480643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81925415399998 meters 0.0207622416715783 Centerline is valid? [True, True] Translation: X:116.83, Y:0.88, Z:0.77 [[ 9.98988763e-01 -4.36116169e-02 -1.09306296e-02 1.16829085e+02] [ 4.36128182e-02 9.99048500e-01 -1.28556298e-04 8.79725438e-01] [ 1.09258357e-02 -3.48289266e-04 9.99940251e-01 7.73783204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84925415399998 meters 0.01993237830955399 Centerline is valid? [True, True] Translation: X:116.86, Y:0.88, Z:0.77 [[ 9.98990952e-01 -4.35724725e-02 -1.08866128e-02 1.16861888e+02] [ 4.35736717e-02 9.99050208e-01 -1.27124461e-04 8.81081432e-01] [ 1.08818119e-02 -3.47373504e-04 9.99940731e-01 7.74094217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87925415399998 meters 0.019595716567297767 Centerline is valid? [True, True] Translation: X:116.89, Y:0.88, Z:0.77 [[ 9.98972965e-01 -4.39314027e-02 -1.10926411e-02 1.16893934e+02] [ 4.39326817e-02 9.99034485e-01 -1.28460083e-04 8.81807996e-01] [ 1.10875744e-02 -3.59001322e-04 9.99938467e-01 7.74363762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90925415399998 meters 0.019957997714146428 Centerline is valid? [True, True] Translation: X:116.93, Y:0.88, Z:0.77 [[ 9.98951045e-01 -4.43972646e-02 -1.12112695e-02 1.16926467e+02] [ 4.43986097e-02 9.99013887e-01 -1.29011147e-04 8.80910917e-01] [ 1.12059417e-02 -3.68888960e-04 9.99937143e-01 7.74236753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93925415399998 meters 0.021278867938931044 Centerline is valid? [True, True] Translation: X:116.96, Y:0.88, Z:0.77 [[ 9.98839570e-01 -4.66649221e-02 -1.19121051e-02 1.16957268e+02] [ 4.66666155e-02 9.98910511e-01 -1.35914244e-04 8.77634703e-01] [ 1.19054694e-02 -4.20141103e-04 9.99929039e-01 7.73458193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96925415399998 meters 0.020676582061296994 Centerline is valid? [True, True] Translation: X:116.99, Y:0.88, Z:0.77 [[ 9.98772517e-01 -4.79434719e-02 -1.24452285e-02 1.16989059e+02] [ 4.79454346e-02 9.98849946e-01 -1.40780915e-04 8.78172206e-01] [ 1.24376653e-02 -4.56083779e-04 9.99922545e-01 7.73216525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99925415399997 meters 0.020807003061186522 Centerline is valid? [True, True] Translation: X:117.02, Y:0.88, Z:0.77 [[ 9.98649717e-01 -5.00574981e-02 -1.38920634e-02 1.17021536e+02] [ 5.00601611e-02 9.98746192e-01 -1.56201781e-04 8.76140140e-01] [ 1.38824645e-02 -5.39448066e-04 9.99903488e-01 7.72242502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02925415399997 meters 0.02136630231099325 Centerline is valid? [True, True] Translation: X:117.05, Y:0.87, Z:0.77 [[ 9.98597910e-01 -5.10539696e-02 -1.39894893e-02 1.17053803e+02] [ 5.10567822e-02 9.98695740e-01 -1.56254625e-04 8.74736952e-01] [ 1.39792208e-02 -5.58222765e-04 9.99902130e-01 7.72016985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05925415399997 meters 0.02180727807904347 Centerline is valid? [True, True] Translation: X:117.09, Y:0.87, Z:0.77 [[ 9.98515441e-01 -5.24882915e-02 -1.45565437e-02 1.17085538e+02] [ 5.24915028e-02 9.98621358e-01 -1.61630232e-04 8.73443772e-01] [ 1.45449591e-02 -6.02704574e-04 9.99894035e-01 7.72717582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08925415399997 meters 0.022872819801130782 Centerline is valid? [True, True] Translation: X:117.12, Y:0.87, Z:0.77 [[ 9.98473390e-01 -5.34859474e-02 -1.37891997e-02 1.17117143e+02] [ 5.34889343e-02 9.98568431e-01 -1.52366608e-04 8.72091143e-01] [ 1.37776090e-02 -5.85435591e-04 9.99904913e-01 7.73937913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11925415399998 meters 0.022872819801130782 Centerline is valid? [True, True] Translation: X:117.15, Y:0.87, Z:0.77 [[ 9.98479281e-01 -5.33758740e-02 -1.37892122e-02 1.17149716e+02] [ 5.33788661e-02 9.98574321e-01 -1.51228161e-04 8.72359464e-01] [ 1.37776251e-02 -5.85054325e-04 9.99904913e-01 7.74163520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14925415399998 meters 0.02333113785411995 Centerline is valid? [True, True] Translation: X:117.18, Y:0.87, Z:0.78 [[ 9.98512425e-01 -5.31014136e-02 -1.23764591e-02 1.17180745e+02] [ 5.31038150e-02 9.98588988e-01 -1.34751337e-04 8.70598891e-01] [ 1.23661513e-02 -5.22686312e-04 9.99923400e-01 7.75717442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17925415399998 meters 0.023462751242762352 Centerline is valid? [True, True] Translation: X:117.21, Y:0.87, Z:0.78 [[ 9.98500929e-01 -5.35049073e-02 -1.15377279e-02 1.17212973e+02] [ 5.35070290e-02 9.98567465e-01 -1.24933680e-04 8.70233523e-01] [ 1.15278842e-02 -4.92603144e-04 9.99933430e-01 7.76624040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20925415399998 meters 0.024516634280908636 Centerline is valid? [True, True] Translation: X:117.24, Y:0.87, Z:0.78 [[ 9.98482159e-01 -5.40748937e-02 -1.04538738e-02 1.17244039e+02] [ 5.40766734e-02 9.98536780e-01 -1.12553634e-04 8.67819433e-01] [ 1.04446638e-02 -4.52927924e-04 9.99945350e-01 7.77626183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23925415399998 meters 0.02573600371753198 Centerline is valid? [True, True] Translation: X:117.27, Y:0.87, Z:0.78 [[ 9.98453958e-01 -5.46705334e-02 -1.00412261e-02 1.17274945e+02] [ 5.46722107e-02 9.98504350e-01 -1.07587299e-04 8.65785035e-01] [ 1.00320898e-02 -4.41555062e-04 9.99949580e-01 7.77787647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26925415399998 meters 0.02524798987282579 Centerline is valid? [True, True] Translation: X:117.31, Y:0.87, Z:0.78 [[ 9.98430170e-01 -5.50635968e-02 -1.02565099e-02 1.17306626e+02] [ 5.50653731e-02 9.98482745e-01 -1.09341919e-04 8.66039792e-01] [ 1.02469690e-02 -4.55608276e-04 9.99947395e-01 7.78276879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29925415399998 meters 0.02526669801089461 Centerline is valid? [True, True] Translation: X:117.34, Y:0.86, Z:0.78 [[ 9.98327333e-01 -5.68254509e-02 -1.06491391e-02 1.17338451e+02] [ 5.68274720e-02 9.98384007e-01 -1.12945236e-04 8.64766379e-01] [ 1.06383483e-02 -4.92407338e-04 9.99943290e-01 7.77487000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32925415399998 meters 0.027300305596222405 Centerline is valid? [True, True] Translation: X:117.37, Y:0.86, Z:0.78 [[ 9.98268261e-01 -5.77456538e-02 -1.12213675e-02 1.17369975e+02] [ 5.77479666e-02 9.98331187e-01 -1.18061955e-04 8.61151438e-01] [ 1.12094587e-02 -5.30153656e-04 9.99937032e-01 7.76555015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35925415399998 meters 0.027961362846546583 Centerline is valid? [True, True] Translation: X:117.40, Y:0.86, Z:0.77 [[ 9.98131412e-01 -5.97679146e-02 -1.27075340e-02 1.17401677e+02] [ 5.97710657e-02 9.98212103e-01 -1.32012604e-04 8.58109484e-01] [ 1.26927044e-02 -6.27776923e-04 9.99919247e-01 7.74979541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38925415399997 meters 0.02917317942512472 Centerline is valid? [True, True] Translation: X:117.43, Y:0.86, Z:0.77 [[ 9.98072145e-01 -6.06131393e-02 -1.33431739e-02 1.17433238e+02] [ 6.06167045e-02 9.98161107e-01 -1.37444796e-04 8.55603047e-01] [ 1.33269682e-02 -6.71639405e-04 9.99910966e-01 7.74621191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41925415399997 meters 0.02768340933967736 Centerline is valid? [True, True] Translation: X:117.47, Y:0.86, Z:0.78 [[ 9.98037448e-01 -6.11154437e-02 -1.36438303e-02 1.17465817e+02] [ 6.11192298e-02 9.98130463e-01 -1.39691206e-04 8.57303968e-01] [ 1.36268599e-02 -6.94483343e-04 9.99906909e-01 7.75154092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44925415399997 meters 0.02647208889097847 Centerline is valid? [True, True] Translation: X:117.50, Y:0.86, Z:0.78 [[ 9.98012543e-01 -6.14035216e-02 -1.41623137e-02 1.17498427e+02] [ 6.14076447e-02 9.98112759e-01 -1.43958514e-04 8.59009219e-01] [ 1.41444256e-02 -7.26001925e-04 9.99899699e-01 7.75558484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47925415399997 meters 0.0271802793368725 Centerline is valid? [True, True] Translation: X:117.53, Y:0.86, Z:0.78 [[ 9.97998536e-01 -6.15532245e-02 -1.44956219e-02 1.17529192e+02] [ 6.15575810e-02 9.98103523e-01 -1.45874335e-04 8.57608452e-01] [ 1.44771103e-02 -7.46733044e-04 9.99894922e-01 7.75559576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50925415399998 meters 0.028108609048907326 Centerline is valid? [True, True] Translation: X:117.56, Y:0.86, Z:0.78 [[ 9.98003181e-01 -6.14436397e-02 -1.46400057e-02 1.17561197e+02] [ 6.14480947e-02 9.98110270e-01 -1.45751098e-04 8.55982373e-01] [ 1.46212955e-02 -7.54140395e-04 9.99892819e-01 7.75313426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53925415399998 meters 0.02676717378386596 Centerline is valid? [True, True] Translation: X:117.59, Y:0.86, Z:0.77 [[ 9.98043916e-01 -6.07032919e-02 -1.49482972e-02 1.17593246e+02] [ 6.07078718e-02 9.98155565e-01 -1.47606052e-04 8.57098584e-01] [ 1.49296863e-02 -7.60161991e-04 9.99888257e-01 7.74996540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56925415399998 meters 0.027325477862982527 Centerline is valid? [True, True] Translation: X:117.62, Y:0.86, Z:0.78 [[ 9.98081187e-01 -6.00913162e-02 -1.49324350e-02 1.17624845e+02] [ 6.00958320e-02 9.98192601e-01 -1.46519690e-04 8.56301642e-01] [ 1.49142507e-02 -7.51138559e-04 9.99888494e-01 7.75309720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59925415399998 meters 0.02514213864228967 Centerline is valid? [True, True] Translation: X:117.66, Y:0.86, Z:0.78 [[ 9.98159962e-01 -5.87431624e-02 -1.50309735e-02 1.17657249e+02] [ 5.87476002e-02 9.98272857e-01 -1.46512752e-04 8.59946095e-01] [ 1.50136194e-02 -7.36790456e-04 9.99887018e-01 7.75181183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62925415399998 meters 0.02619146984317598 Centerline is valid? [True, True] Translation: X:117.69, Y:0.86, Z:0.78 [[ 9.98298152e-01 -5.64997280e-02 -1.44423275e-02 1.17687377e+02] [ 5.65035998e-02 9.98402386e-01 -1.40143863e-04 8.58330145e-01] [ 1.44271723e-02 -6.76138131e-04 9.99895694e-01 7.76418920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65925415399998 meters 0.02388886716149081 Centerline is valid? [True, True] Translation: X:117.72, Y:0.86, Z:0.78 [[ 9.98387635e-01 -5.49663089e-02 -1.41716408e-02 1.17719997e+02] [ 5.49698938e-02 9.98488003e-01 -1.36731067e-04 8.62042563e-01] [ 1.41577289e-02 -6.42502981e-04 9.99899568e-01 7.77609637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68925415399998 meters 0.02371164661414909 Centerline is valid? [True, True] Translation: X:117.75, Y:0.86, Z:0.78 [[ 9.98455916e-01 -5.37816370e-02 -1.39039240e-02 1.17752545e+02] [ 5.37849888e-02 9.98552531e-01 -1.33021720e-04 8.63003707e-01] [ 1.38909527e-02 -6.15006074e-04 9.99903327e-01 7.78815618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71925415399998 meters 0.02319127603869164 Centerline is valid? [True, True] Translation: X:117.78, Y:0.86, Z:0.78 [[ 9.98576830e-01 -5.17548133e-02 -1.28745325e-02 1.17784256e+02] [ 5.17575290e-02 9.98659673e-01 -1.22384246e-04 8.64279099e-01] [ 1.28636104e-02 -5.44143920e-04 9.99917112e-01 7.80186269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74925415399997 meters 0.024538365885214002 Centerline is valid? [True, True] Translation: X:117.82, Y:0.86, Z:0.78 [[ 9.98639238e-01 -5.05951098e-02 -1.26415251e-02 1.17815917e+02] [ 5.05976452e-02 9.98719112e-01 -1.19388744e-04 8.63777271e-01] [ 1.26313732e-02 -5.20405118e-04 9.99920086e-01 7.78308517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77925415399997 meters 0.023906873901629877 Centerline is valid? [True, True] Translation: X:117.85, Y:0.86, Z:0.78 [[ 9.98639193e-01 -5.04675795e-02 -1.31447908e-02 1.17847693e+02] [ 5.04703240e-02 9.98725554e-01 -1.23066602e-04 8.62232911e-01] [ 1.31342493e-02 -5.40522717e-04 9.99913596e-01 7.79139614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80925415399997 meters 0.021689788346789262 Centerline is valid? [True, True] Translation: X:117.88, Y:0.87, Z:0.78 [[ 9.98627982e-01 -5.05091955e-02 -1.38193312e-02 1.17879524e+02] [ 5.05122490e-02 9.98723433e-01 -1.28218426e-04 8.65307500e-01] [ 1.38081661e-02 -5.70002992e-04 9.99904500e-01 7.78998655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83925415399997 meters 0.022747266738839356 Centerline is valid? [True, True] Translation: X:117.91, Y:0.86, Z:0.78 [[ 9.98611618e-01 -5.05676722e-02 -1.47562750e-02 1.17911171e+02] [ 5.05711847e-02 9.98720450e-01 -1.35254601e-04 8.63331782e-01] [ 1.47442331e-02 -6.11175493e-04 9.99891111e-01 7.77972242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86925415399998 meters 0.024754976837546464 Centerline is valid? [True, True] Translation: X:117.94, Y:0.86, Z:0.78 [[ 9.98555623e-01 -5.11420554e-02 -1.64668585e-02 1.17942577e+02] [ 5.11465449e-02 9.98691148e-01 -1.48662312e-04 8.59858115e-01] [ 1.64529087e-02 -6.93775329e-04 9.99864401e-01 7.75809489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89925415399998 meters 0.023503124925445044 Centerline is valid? [True, True] Translation: X:117.97, Y:0.86, Z:0.78 [[ 9.98558295e-01 -5.09114146e-02 -1.70105420e-02 1.17974864e+02] [ 5.09161994e-02 9.98702918e-01 -1.51965965e-04 8.61622820e-01] [ 1.69962147e-02 -7.14365271e-04 9.99855299e-01 7.75914109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92925415399998 meters 0.021704138567936522 Centerline is valid? [True, True] Translation: X:118.01, Y:0.86, Z:0.78 [[ 9.98568490e-01 -5.05737836e-02 -1.74144428e-02 1.18006858e+02] [ 5.05787695e-02 9.98720063e-01 -1.54289658e-04 8.64483101e-01] [ 1.73999564e-02 -7.26732299e-04 9.99848345e-01 7.76658122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95925415399998 meters 0.021698271506063797 Centerline is valid? [True, True] Translation: X:118.04, Y:0.86, Z:0.78 [[ 9.98637918e-01 -4.93356836e-02 -1.69793982e-02 1.18039447e+02] [ 4.93402658e-02 9.98782016e-01 -1.49196276e-04 8.64006502e-01] [ 1.69660782e-02 -6.88774960e-04 9.99855828e-01 7.77195974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98925415399998 meters 0.021698271506063797 Centerline is valid? [True, True] Translation: X:118.07, Y:0.86, Z:0.78 [[ 9.98641537e-01 -4.92623606e-02 -1.69794091e-02 1.18071169e+02] [ 4.92669533e-02 9.98785635e-01 -1.47949341e-04 8.64224277e-01] [ 1.69660782e-02 -6.88775398e-04 9.99855828e-01 7.77415641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01925415399998 meters 0.02170835589273737 Centerline is valid? [True, True] Translation: X:118.10, Y:0.86, Z:0.78 [[ 9.98717706e-01 -4.79571736e-02 -1.62189452e-02 1.18102315e+02] [ 4.79612084e-02 9.98849189e-01 -1.40328913e-04 8.64017816e-01] [ 1.62070100e-02 -6.37731237e-04 9.99868454e-01 7.77696052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04925415399998 meters 0.02187213074031016 Centerline is valid? [True, True] Translation: X:118.13, Y:0.87, Z:0.78 [[ 9.98891627e-01 -4.47189559e-02 -1.46878030e-02 1.18132962e+02] [ 4.47219243e-02 9.98999466e-01 -1.26457482e-04 8.65106667e-01] [ 1.46787624e-02 -5.30549493e-04 9.99892120e-01 7.78712809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07925415399998 meters 0.02056370423322445 Centerline is valid? [True, True] Translation: X:118.17, Y:0.87, Z:0.78 [[ 9.98989284e-01 -4.27156776e-02 -1.39921749e-02 1.18165492e+02] [ 4.27181874e-02 9.99087154e-01 -1.19596728e-04 8.67580527e-01] [ 1.39845108e-02 -4.78244498e-04 9.99902098e-01 7.80290874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10925415399998 meters 0.018683326133674343 Centerline is valid? [True, True] Translation: X:118.20, Y:0.87, Z:0.78 [[ 9.99080672e-01 -4.07198126e-02 -1.34054748e-02 1.18197440e+02] [ 4.07219512e-02 9.99170511e-01 -1.13505228e-04 8.71444728e-01] [ 1.33989770e-02 -4.32496211e-04 9.99910136e-01 7.81596703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13925415399997 meters 0.018500405968187656 Centerline is valid? [True, True] Translation: X:118.23, Y:0.87, Z:0.78 [[ 9.99227143e-01 -3.72945143e-02 -1.24191694e-02 1.18227894e+02] [ 3.72960926e-02 9.99304253e-01 -1.04574135e-04 8.72214434e-01] [ 1.24144288e-02 -3.58693178e-04 9.99922874e-01 7.81939593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16925415399997 meters 0.01764720110897099 Centerline is valid? [True, True] Translation: X:118.26, Y:0.87, Z:0.78 [[ 9.99266820e-01 -3.61247653e-02 -1.26816401e-02 1.18260352e+02] [ 3.61263240e-02 9.99347226e-01 -1.06227757e-04 8.74021644e-01] [ 1.26771993e-02 -3.51991165e-04 9.99919579e-01 7.82056207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19925415399997 meters 0.01720421879008245 Centerline is valid? [True, True] Translation: X:118.29, Y:0.87, Z:0.78 [[ 9.99328761e-01 -3.44206592e-02 -1.25397442e-02 1.18293096e+02] [ 3.44220619e-02 9.99407380e-01 -1.04017757e-04 8.74135456e-01] [ 1.25358933e-02 -3.27695915e-04 9.99921369e-01 7.81498495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22925415399997 meters 0.017577339453875313 Centerline is valid? [True, True] Translation: X:118.32, Y:0.87, Z:0.78 [[ 9.99347243e-01 -3.38828415e-02 -1.25315973e-02 1.18324558e+02] [ 3.38842119e-02 9.99425760e-01 -1.03006049e-04 8.73272343e-01] [ 1.25278913e-02 -3.21684488e-04 9.99921471e-01 7.81431226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25925415399998 meters 0.017365701260668512 Centerline is valid? [True, True] Translation: X:118.36, Y:0.87, Z:0.78 [[ 9.99353793e-01 -3.37172394e-02 -1.24556998e-02 1.18356799e+02] [ 3.37185901e-02 9.99431362e-01 -1.01603734e-04 8.73877279e-01] [ 1.24520428e-02 -3.18450560e-04 9.99922420e-01 7.81697248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28925415399998 meters 0.017723414017617057 Centerline is valid? [True, True] Translation: X:118.39, Y:0.87, Z:0.78 [[ 9.99340577e-01 -3.37154158e-02 -1.34789532e-02 1.18388361e+02] [ 3.37170095e-02 9.99431414e-01 -1.09053710e-04 8.73196930e-01] [ 1.34749661e-02 -3.45488197e-04 9.99909149e-01 7.80796991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31925415399998 meters 0.018337185292851107 Centerline is valid? [True, True] Translation: X:118.42, Y:0.87, Z:0.78 [[ 9.99320781e-01 -3.39912364e-02 -1.42327704e-02 1.18419618e+02] [ 3.39930526e-02 9.99422063e-01 -1.14367909e-04 8.72116336e-01] [ 1.42284323e-02 -3.69525085e-04 9.99898702e-01 7.80136358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34925415399998 meters 0.01848757641910889 Centerline is valid? [True, True] Translation: X:118.45, Y:0.87, Z:0.78 [[ 9.99269094e-01 -3.50601036e-02 -1.52337521e-02 1.18451703e+02] [ 3.50623233e-02 9.99385120e-01 -1.21427864e-04 8.71179866e-01] [ 1.52286424e-02 -4.12791630e-04 9.99883952e-01 7.79576046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37925415399998 meters 0.017275054840649676 Centerline is valid? [True, True] Translation: X:118.48, Y:0.87, Z:0.78 [[ 9.99237858e-01 -3.56980430e-02 -1.57908965e-02 1.18483367e+02] [ 3.57005235e-02 9.99362525e-01 -1.24864696e-04 8.73065220e-01] [ 1.57852877e-02 -4.38973742e-04 9.99875308e-01 7.80053393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40925415399998 meters 0.017853342900475605 Centerline is valid? [True, True] Translation: X:118.51, Y:0.87, Z:0.78 [[ 9.99214316e-01 -3.63821531e-02 -1.57191054e-02 1.18514049e+02] [ 3.63847068e-02 9.99337850e-01 -1.23584794e-04 8.71699026e-01] [ 1.57131932e-02 -4.48447345e-04 9.99876440e-01 7.80189319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43925415399998 meters 0.017914490377027546 Centerline is valid? [True, True] Translation: X:118.55, Y:0.87, Z:0.78 [[ 9.99209347e-01 -3.70120349e-02 -1.45185935e-02 1.18545777e+02] [ 3.70142915e-02 9.99314730e-01 -1.13347430e-04 8.70227891e-01] [ 1.45128396e-02 -4.24137641e-04 9.99894593e-01 7.81064323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46925415399998 meters 0.017630061759105593 Centerline is valid? [True, True] Translation: X:118.58, Y:0.87, Z:0.78 [[ 9.99237872e-01 -3.65435329e-02 -1.37202654e-02 1.18578067e+02] [ 3.65455175e-02 9.99331984e-01 -1.06123995e-04 8.70500355e-01] [ 1.37149782e-02 -3.95371085e-04 9.99905867e-01 7.81833419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49925415399997 meters 0.017952934121819312 Centerline is valid? [True, True] Translation: X:118.61, Y:0.87, Z:0.78 [[ 9.99256351e-01 -3.61343174e-02 -1.34557282e-02 1.18609752e+02] [ 3.61362064e-02 9.99346869e-01 -1.02796017e-04 8.69631147e-01] [ 1.34506543e-02 -3.83519399e-04 9.99909462e-01 7.82403884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52925415399997 meters 0.017537406654881953 Centerline is valid? [True, True] Translation: X:118.64, Y:0.87, Z:0.78 [[ 9.99333775e-01 -3.41207301e-02 -1.29530361e-02 1.18641928e+02] [ 3.41223275e-02 9.99417659e-01 -9.77256806e-05 8.70761925e-01] [ 1.29488275e-02 -3.44327167e-04 9.99916101e-01 7.83394044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55925415399997 meters 0.016815470051669324 Centerline is valid? [True, True] Translation: X:118.67, Y:0.87, Z:0.78 [[ 9.99379864e-01 -3.27159390e-02 -1.30213531e-02 1.18674525e+02] [ 3.27174466e-02 9.99464636e-01 -9.72846944e-05 8.72276245e-01] [ 1.30175647e-02 -3.28801059e-04 9.99915214e-01 7.83714316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58925415399997 meters 0.01639624359438223 Centerline is valid? [True, True] Translation: X:118.71, Y:0.87, Z:0.78 [[ 9.99444879e-01 -3.04203625e-02 -1.35844028e-02 1.18706616e+02] [ 3.04218053e-02 9.99537145e-01 -1.00468160e-04 8.72901078e-01] [ 1.35811715e-02 -3.12849670e-04 9.99907723e-01 7.83941288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61925415399998 meters 0.016418236617006123 Centerline is valid? [True, True] Translation: X:118.74, Y:0.87, Z:0.78 [[ 9.99467825e-01 -2.95977633e-02 -1.37127036e-02 1.18737365e+02] [ 2.95991683e-02 9.99561844e-01 -1.00531445e-04 8.72399848e-01] [ 1.37096707e-02 -3.05406675e-04 9.99905971e-01 7.83892164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64925415399998 meters 0.01654402639465977 Centerline is valid? [True, True] Translation: X:118.77, Y:0.87, Z:0.78 [[ 9.99477818e-01 -2.92268221e-02 -1.37798459e-02 1.18768572e+02] [ 2.92282160e-02 9.99572759e-01 -1.00270449e-04 8.71253561e-01] [ 1.37768892e-02 -3.02542223e-04 9.99905048e-01 7.83812366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67925415399998 meters 0.017006272530298617 Centerline is valid? [True, True] Translation: X:118.80, Y:0.87, Z:0.78 [[ 9.99460629e-01 -2.96532745e-02 -1.41114777e-02 1.18799515e+02] [ 2.96547896e-02 9.99560195e-01 -1.01914152e-04 8.68245911e-01] [ 1.41082934e-02 -3.16613718e-04 9.99900423e-01 7.82990429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70925415399998 meters 0.016847919388073875 Centerline is valid? [True, True] Translation: X:118.83, Y:0.87, Z:0.78 [[ 9.99439818e-01 -3.02315052e-02 -1.43564062e-02 1.18831227e+02] [ 3.02331441e-02 9.99542869e-01 -1.02904380e-04 8.67863982e-01] [ 1.43529544e-02 -3.31192563e-04 9.99896936e-01 7.82948123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73925415399998 meters 0.017763937980820415 Centerline is valid? [True, True] Translation: X:118.86, Y:0.86, Z:0.78 [[ 9.99367649e-01 -3.22292209e-02 -1.50193171e-02 1.18862376e+02] [ 3.22312526e-02 9.99480432e-01 -1.06830319e-04 8.64785858e-01] [ 1.50149566e-02 -3.77328638e-04 9.99887198e-01 7.82590336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76925415399998 meters 0.01823048365791284 Centerline is valid? [True, True] Translation: X:118.89, Y:0.86, Z:0.78 [[ 9.99331817e-01 -3.31561548e-02 -1.53814496e-02 1.18894514e+02] [ 3.31584105e-02 9.99450103e-01 -1.08427617e-04 8.63255091e-01] [ 1.53765864e-02 -4.01669251e-04 9.99881693e-01 7.82262387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79925415399998 meters 0.017846911046133947 Centerline is valid? [True, True] Translation: X:118.93, Y:0.86, Z:0.78 [[ 9.99286647e-01 -3.41550128e-02 -1.61131318e-02 1.18926964e+02] [ 3.41576369e-02 9.99416451e-01 -1.12407502e-04 8.62834143e-01] [ 1.61075683e-02 -4.38059190e-04 9.99870169e-01 7.82670847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82925415399998 meters 0.018582896857270836 Centerline is valid? [True, True] Translation: X:118.96, Y:0.86, Z:0.78 [[ 9.99200827e-01 -3.63582622e-02 -1.66067538e-02 1.18959298e+02] [ 3.63613737e-02 9.99338700e-01 -1.14638086e-04 8.59518950e-01] [ 1.65999398e-02 -4.89297911e-04 9.99862092e-01 7.82414799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85925415399997 meters 0.0198268105972775 Centerline is valid? [True, True] Translation: X:118.99, Y:0.86, Z:0.78 [[ 9.99151263e-01 -3.75570950e-02 -1.69179891e-02 1.18990313e+02] [ 3.75605136e-02 9.99294348e-01 -1.15742578e-04 8.56998943e-01] [ 1.69103978e-02 -5.19804016e-04 9.99856874e-01 7.82185192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88925415399997 meters 0.02015904433943336 Centerline is valid? [True, True] Translation: X:119.02, Y:0.86, Z:0.78 [[ 9.99094895e-01 -3.90589052e-02 -1.68461241e-02 1.19022248e+02] [ 3.90625261e-02 9.99236762e-01 -1.14179186e-04 8.55920053e-01] [ 1.68377262e-02 -5.43976322e-04 9.99858087e-01 7.82720813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91925415399997 meters 0.021817250556082197 Centerline is valid? [True, True] Translation: X:119.05, Y:0.85, Z:0.78 [[ 9.99036890e-01 -4.05252585e-02 -1.68224631e-02 1.19052914e+02] [ 4.05291056e-02 9.99178352e-01 -1.12314250e-04 8.53634125e-01] [ 1.68131925e-02 -5.69593303e-04 9.99858486e-01 7.82383637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94925415399997 meters 0.021967084373659275 Centerline is valid? [True, True] Translation: X:119.08, Y:0.85, Z:0.78 [[ 9.98890241e-01 -4.42573693e-02 -1.61112588e-02 1.19083705e+02] [ 4.42614026e-02 9.99019978e-01 -1.06322932e-04 8.51735385e-01] [ 1.61001750e-02 -6.06901972e-04 9.99870200e-01 7.84999429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97925415399997 meters 0.0218913706075119 Centerline is valid? [True, True] Translation: X:119.12, Y:0.85, Z:0.79 [[ 9.98831075e-01 -4.57060854e-02 -1.57301245e-02 1.19115641e+02] [ 4.57101246e-02 9.98954741e-01 -1.02847006e-04 8.52150237e-01] [ 1.57183832e-02 -6.16299167e-04 9.99876269e-01 7.85394520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00925415399998 meters 0.024049525494260468 Centerline is valid? [True, True] Translation: X:119.15, Y:0.85, Z:0.79 [[ 9.98709220e-01 -4.84513072e-02 -1.52435033e-02 1.19147205e+02] [ 4.84554391e-02 9.98825340e-01 -9.83784125e-05 8.46444933e-01] [ 1.52303640e-02 -6.40379219e-04 9.99883806e-01 7.86178442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03925415399998 meters 0.023862146202003463 Centerline is valid? [True, True] Translation: X:119.18, Y:0.85, Z:0.79 [[ 9.98660430e-01 -4.94960497e-02 -1.50826870e-02 1.19179563e+02] [ 4.95002324e-02 9.98774107e-01 -9.61010100e-05 8.45974765e-01] [ 1.50689539e-02 -6.50624237e-04 9.99886245e-01 7.86868018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06925415399998 meters 0.02276591391522937 Centerline is valid? [True, True] Translation: X:119.21, Y:0.85, Z:0.79 [[ 9.98622450e-01 -5.02146980e-02 -1.52212325e-02 1.19212065e+02] [ 5.02190582e-02 9.98738222e-01 -9.58721295e-05 8.47093862e-01] [ 1.52068409e-02 -6.68655901e-04 9.99884146e-01 7.87315320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09925415399998 meters 0.025231455085297637 Centerline is valid? [True, True] Translation: X:119.24, Y:0.84, Z:0.79 [[ 9.98536164e-01 -5.18654831e-02 -1.53460635e-02 1.19243152e+02] [ 5.18701246e-02 9.98653834e-01 -9.56823766e-05 8.42474440e-01] [ 1.53303677e-02 -7.00459911e-04 9.99882238e-01 7.86918230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12925415399998 meters 0.023411944967422743 Centerline is valid? [True, True] Translation: X:119.28, Y:0.84, Z:0.79 [[ 9.98488944e-01 -5.26468709e-02 -1.57523083e-02 1.19275651e+02] [ 5.26518750e-02 9.98612923e-01 -9.71707829e-05 8.44780101e-01] [ 1.57355743e-02 -7.32364613e-04 9.99875920e-01 7.87664735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15925415399998 meters 0.024422097226417593 Centerline is valid? [True, True] Translation: X:119.31, Y:0.84, Z:0.79 [[ 9.98474147e-01 -5.29213627e-02 -1.57704330e-02 1.19307087e+02] [ 5.29264282e-02 9.98598410e-01 -9.62792300e-05 8.42963620e-01] [ 1.57534245e-02 -7.38540367e-04 9.99875634e-01 7.87657808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18925415399998 meters 0.022779211157755924 Centerline is valid? [True, True] Translation: X:119.34, Y:0.85, Z:0.79 [[ 9.98448116e-01 -5.32047721e-02 -1.64503042e-02 1.19339726e+02] [ 5.32103405e-02 9.98583321e-01 -9.93151989e-05 8.45384149e-01] [ 1.64322835e-02 -7.76165217e-04 9.99864680e-01 7.88692802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21925415399998 meters 0.02365760037458656 Centerline is valid? [True, True] Translation: X:119.37, Y:0.84, Z:0.79 [[ 9.98453523e-01 -5.30375199e-02 -1.66608324e-02 1.19370452e+02] [ 5.30432264e-02 9.98592212e-01 -9.95138872e-05 8.44251319e-01] [ 1.66426554e-02 -7.84384313e-04 9.99861194e-01 7.88723491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24925415399997 meters 0.023593404214588058 Centerline is valid? [True, True] Translation: X:119.40, Y:0.85, Z:0.79 [[ 9.98503787e-01 -5.22041240e-02 -1.62762345e-02 1.19402408e+02] [ 5.22094770e-02 9.98636151e-01 -9.61467423e-05 8.45427897e-01] [ 1.62590554e-02 -7.53770802e-04 9.99867529e-01 7.89211789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27925415399997 meters 0.02321524939710856 Centerline is valid? [True, True] Translation: X:119.43, Y:0.85, Z:0.79 [[ 9.98562798e-01 -5.11261431e-02 -1.60765880e-02 1.19434332e+02] [ 5.11312451e-02 9.98691938e-01 -9.37844052e-05 8.46757973e-01] [ 1.60603537e-02 -7.28366343e-04 9.99870759e-01 7.89492745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30925415399997 meters 0.023861528830444213 Centerline is valid? [True, True] Translation: X:119.47, Y:0.85, Z:0.79 [[ 9.98638300e-01 -4.96258524e-02 -1.60878792e-02 1.19465814e+02] [ 4.96307837e-02 9.98767629e-01 -9.28328368e-05 8.46342523e-01] [ 1.60726599e-02 -7.05747627e-04 9.99870577e-01 7.89635746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33925415399997 meters 0.021774972006302976 Centerline is valid? [True, True] Translation: X:119.50, Y:0.85, Z:0.79 [[ 9.98823544e-01 -4.58607488e-02 -1.57581828e-02 1.19497029e+02] [ 4.58650232e-02 9.98947642e-01 -9.02310517e-05 8.50765242e-01] [ 1.57457376e-02 -6.32624519e-04 9.99875828e-01 7.90174763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36925415399998 meters 0.021672926324423678 Centerline is valid? [True, True] Translation: X:119.53, Y:0.85, Z:0.79 [[ 9.98926060e-01 -4.36550838e-02 -1.55228677e-02 1.19527771e+02] [ 4.36589743e-02 9.99046488e-01 -8.83170739e-05 8.52238209e-01] [ 1.55119220e-02 -5.89490255e-04 9.99879509e-01 7.90471036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39925415399998 meters 0.022394070185569555 Centerline is valid? [True, True] Translation: X:119.56, Y:0.85, Z:0.79 [[ 9.99053651e-01 -4.05823847e-02 -1.56484239e-02 1.19558551e+02] [ 4.05859709e-02 9.99176046e-01 -8.84610197e-05 8.53937942e-01] [ 1.56391203e-02 -5.46729171e-04 9.99877552e-01 7.89169599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42925415399998 meters 0.02071605674199566 Centerline is valid? [True, True] Translation: X:119.59, Y:0.86, Z:0.79 [[ 9.99263619e-01 -3.49918895e-02 -1.57412772e-02 1.19589242e+02] [ 3.49948319e-02 9.99387489e-01 -8.85717549e-05 8.61258276e-01] [ 1.57347348e-02 -4.62356816e-04 9.99876094e-01 7.89896184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45925415399998 meters 0.018087610854341504 Centerline is valid? [True, True] Translation: X:119.62, Y:0.86, Z:0.79 [[ 9.99338577e-01 -3.30291142e-02 -1.52146651e-02 1.19620292e+02] [ 3.30316548e-02 9.99454302e-01 -8.43497156e-05 8.63460744e-01] [ 1.52091485e-02 -4.18271642e-04 9.99884247e-01 7.92899637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48925415399998 meters 0.0168201876442851 Centerline is valid? [True, True] Translation: X:119.65, Y:0.87, Z:0.79 [[ 9.99456392e-01 -2.91503859e-02 -1.54005315e-02 1.19651602e+02] [ 2.91525485e-02 9.99574971e-01 -8.41038231e-05 8.67305430e-01] [ 1.53964375e-02 -3.64906637e-04 9.99881401e-01 7.93689463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51925415399998 meters 0.01679560722634644 Centerline is valid? [True, True] Translation: X:119.68, Y:0.87, Z:0.79 [[ 9.99506064e-01 -2.76149127e-02 -1.50014779e-02 1.19681651e+02] [ 2.76167977e-02 9.99618580e-01 -8.15255857e-05 8.67944490e-01] [ 1.49980074e-02 -3.32807465e-04 9.99887468e-01 7.93725950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54925415399998 meters 0.016469611397923953 Centerline is valid? [True, True] Translation: X:119.71, Y:0.87, Z:0.79 [[ 9.99529655e-01 -2.66818512e-02 -1.51178199e-02 1.19713230e+02] [ 2.66836654e-02 9.99643924e-01 -8.17290444e-05 8.68565182e-01] [ 1.51146175e-02 -3.21708245e-04 9.99885716e-01 7.94477251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57925415399998 meters 0.016605865513392663 Centerline is valid? [True, True] Translation: X:119.74, Y:0.87, Z:0.79 [[ 9.99544695e-01 -2.60736720e-02 -1.51844244e-02 1.19743949e+02] [ 2.60754382e-02 9.99659975e-01 -8.16825280e-05 8.67620136e-01] [ 1.51813911e-02 -3.14295183e-04 9.99884707e-01 7.94314757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60925415399997 meters 0.016531797877669525 Centerline is valid? [True, True] Translation: X:119.77, Y:0.87, Z:0.79 [[ 9.99529443e-01 -2.63602902e-02 -1.56852861e-02 1.19774962e+02] [ 2.63622172e-02 9.99652453e-01 -8.39274593e-05 8.67189516e-01] [ 1.56820471e-02 -3.29610954e-04 9.99876975e-01 7.94287305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63925415399997 meters 0.01746539446338438 Centerline is valid? [True, True] Translation: X:119.81, Y:0.87, Z:0.79 [[ 9.99519943e-01 -2.67102086e-02 -1.56986540e-02 1.19806225e+02] [ 2.67121911e-02 9.99643162e-01 -8.34286612e-05 8.66056468e-01] [ 1.56952805e-02 -3.35956835e-04 9.99876765e-01 7.93268675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66925415399997 meters 0.017561612621546263 Centerline is valid? [True, True] Translation: X:119.84, Y:0.86, Z:0.79 [[ 9.99456934e-01 -2.85449507e-02 -1.64627819e-02 1.19836510e+02] [ 2.85473868e-02 9.99592437e-01 -8.70546035e-05 8.63083555e-01] [ 1.64585572e-02 -3.82962076e-04 9.99864475e-01 7.93470708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69925415399997 meters 0.01715191887004523 Centerline is valid? [True, True] Translation: X:119.87, Y:0.86, Z:0.79 [[ 9.99431204e-01 -2.93472804e-02 -1.66134193e-02 1.19867662e+02] [ 2.93498800e-02 9.99569196e-01 -8.73675014e-05 8.63310258e-01] [ 1.66088262e-02 -4.00284057e-04 9.99861984e-01 7.93636475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72925415399997 meters 0.018044879817962312 Centerline is valid? [True, True] Translation: X:119.90, Y:0.86, Z:0.79 [[ 9.99371230e-01 -3.11505572e-02 -1.69348023e-02 1.19898072e+02] [ 3.11535247e-02 9.99514607e-01 -8.86131627e-05 8.59373195e-01] [ 1.69293426e-02 -4.39021335e-04 9.99856592e-01 7.92989908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75925415399998 meters 0.01775507691855225 Centerline is valid? [True, True] Translation: X:119.93, Y:0.86, Z:0.79 [[ 9.99342002e-01 -3.21217450e-02 -1.68450698e-02 1.19929622e+02] [ 3.21248272e-02 9.99483861e-01 -8.76508620e-05 8.59391587e-01] [ 1.68391909e-02 -4.53551770e-04 9.99858108e-01 7.93627447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78925415399998 meters 0.018758665995421562 Centerline is valid? [True, True] Translation: X:119.96, Y:0.86, Z:0.79 [[ 9.99313169e-01 -3.29462186e-02 -1.69628094e-02 1.19959840e+02] [ 3.29494769e-02 9.99457015e-01 -8.74324214e-05 8.56842870e-01] [ 1.69564794e-02 -4.71543326e-04 9.99856117e-01 7.93652657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81925415399998 meters 0.01812600542393464 Centerline is valid? [True, True] Translation: X:119.99, Y:0.86, Z:0.79 [[ 9.99295426e-01 -3.35119032e-02 -1.68998092e-02 1.19991441e+02] [ 3.35152311e-02 9.99438203e-01 -8.63469013e-05 8.57042745e-01] [ 1.68932086e-02 -4.80114947e-04 9.99857184e-01 7.94985107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84925415399998 meters 0.017992718374992146 Centerline is valid? [True, True] Translation: X:120.02, Y:0.86, Z:0.80 [[ 9.99273279e-01 -3.45342457e-02 -1.61338278e-02 1.20022363e+02] [ 3.45374212e-02 9.99403402e-01 -8.18475853e-05 8.55744187e-01] [ 1.61270289e-02 -4.75432700e-04 9.99869838e-01 7.96188652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87925415399998 meters 0.018442284423911905 Centerline is valid? [True, True] Translation: X:120.05, Y:0.85, Z:0.80 [[ 9.99265244e-01 -3.49941078e-02 -1.56328306e-02 1.20053129e+02] [ 3.49971645e-02 9.99387409e-01 -7.80838166e-05 8.53889890e-01] [ 1.56259865e-02 -4.69078298e-04 9.99877797e-01 7.96546147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90925415399998 meters 0.018442284423911905 Centerline is valid? [True, True] Translation: X:120.08, Y:0.85, Z:0.80 [[ 9.99267825e-01 -3.49203011e-02 -1.56328375e-02 1.20084837e+02] [ 3.49233708e-02 9.99389990e-01 -7.66669620e-05 8.53987534e-01] [ 1.56259786e-02 -4.69340554e-04 9.99877797e-01 7.96765646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93925415399998 meters 0.020308558017763725 Centerline is valid? [True, True] Translation: X:120.12, Y:0.85, Z:0.80 [[ 9.99258851e-01 -3.53084692e-02 -1.53316832e-02 1.20115968e+02] [ 3.53114906e-02 9.99376352e-01 -7.36797993e-05 8.49660305e-01] [ 1.53247232e-02 -4.67759397e-04 9.99882460e-01 7.96043028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96925415399998 meters 0.019035033569543416 Centerline is valid? [True, True] Translation: X:120.15, Y:0.85, Z:0.80 [[ 9.99239699e-01 -3.56027965e-02 -1.58891684e-02 1.20148032e+02] [ 3.56061029e-02 9.99365899e-01 -7.48424202e-05 8.50142221e-01] [ 1.58817577e-02 -4.90965849e-04 9.99873756e-01 7.96581936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99925415399997 meters 0.019080776463748835 Centerline is valid? [True, True] Translation: X:120.18, Y:0.85, Z:0.80 [[ 9.99245296e-01 -3.55229966e-02 -1.57148009e-02 1.20180162e+02] [ 3.55262389e-02 9.99368741e-01 -7.28811002e-05 8.48079375e-01] [ 1.57074698e-02 -4.85461675e-04 9.99876512e-01 7.96013588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02925415399997 meters 0.018604470981162486 Centerline is valid? [True, True] Translation: X:120.21, Y:0.85, Z:0.80 [[ 9.99257154e-01 -3.52305693e-02 -1.56188234e-02 1.20212446e+02] [ 3.52337542e-02 9.99379096e-01 -7.12951441e-05 8.47954368e-01] [ 1.56116374e-02 -4.79067601e-04 9.99878016e-01 7.96576067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05925415399997 meters 0.018559974091442256 Centerline is valid? [True, True] Translation: X:120.24, Y:0.85, Z:0.80 [[ 9.99288110e-01 -3.44838470e-02 -1.53015419e-02 1.20244511e+02] [ 3.44868334e-02 9.99405150e-01 -6.87307811e-05 8.47300744e-01] [ 1.52948099e-02 -4.59019874e-04 9.99882922e-01 7.96615586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08925415399997 meters 0.01866281881493932 Centerline is valid? [True, True] Translation: X:120.28, Y:0.85, Z:0.80 [[ 9.99311446e-01 -3.38476613e-02 -1.51976618e-02 1.20275722e+02] [ 3.38505484e-02 9.99426904e-01 -6.73025114e-05 8.46892689e-01] [ 1.51912302e-02 -4.47193018e-04 9.99884507e-01 7.97032425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11925415399998 meters 0.0182406074574744 Centerline is valid? [True, True] Translation: X:120.31, Y:0.85, Z:0.80 [[ 9.99364615e-01 -3.24085828e-02 -1.48341027e-02 1.20307563e+02] [ 3.24111869e-02 9.99474617e-01 -6.48896960e-05 8.46730815e-01] [ 1.48284121e-02 -4.15942409e-04 9.99889967e-01 7.97406025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14925415399998 meters 0.01888199864353541 Centerline is valid? [True, True] Translation: X:120.34, Y:0.85, Z:0.80 [[ 9.99369521e-01 -3.18609124e-02 -1.56666428e-02 1.20339120e+02] [ 3.18637635e-02 9.99492219e-01 -6.76582892e-05 8.45872196e-01] [ 1.56608433e-02 -4.31582571e-04 9.99877268e-01 7.96677175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17925415399998 meters 0.01782707604523804 Centerline is valid? [True, True] Translation: X:120.37, Y:0.85, Z:0.80 [[ 9.99358940e-01 -3.20407823e-02 -1.59717684e-02 1.20370627e+02] [ 3.20437799e-02 9.99486464e-01 -6.82595285e-05 8.45414560e-01] [ 1.59657534e-02 -4.43580061e-04 9.99872441e-01 7.97025902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20925415399998 meters 0.018034211411942447 Centerline is valid? [True, True] Translation: X:120.40, Y:0.84, Z:0.80 [[ 9.99329640e-01 -3.25624469e-02 -1.67319175e-02 1.20401859e+02] [ 3.25658203e-02 9.99469590e-01 -7.08813900e-05 8.44271375e-01] [ 1.67253508e-02 -4.74054746e-04 9.99860009e-01 7.96584152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23925415399998 meters 0.018178267575105597 Centerline is valid? [True, True] Translation: X:120.43, Y:0.84, Z:0.80 [[ 9.99299072e-01 -3.31416207e-02 -1.74068307e-02 1.20432776e+02] [ 3.31453709e-02 9.99450539e-01 -7.30920152e-05 8.43310112e-01] [ 1.73996887e-02 -5.03915075e-04 9.99848487e-01 7.96107182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26925415399998 meters 0.0183475335682821 Centerline is valid? [True, True] Translation: X:120.46, Y:0.84, Z:0.80 [[ 9.99245087e-01 -3.41178851e-02 -1.85802618e-02 1.20463813e+02] [ 3.41223397e-02 9.99417660e-01 -7.73182917e-05 8.41468502e-01] [ 1.85720797e-02 -5.56742082e-04 9.99827369e-01 7.95003980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29925415399998 meters 0.018611932385267663 Centerline is valid? [True, True] Translation: X:120.49, Y:0.84, Z:0.79 [[ 9.99231869e-01 -3.43721227e-02 -1.88209959e-02 1.20494816e+02] [ 3.43767516e-02 9.99408942e-01 -7.76254276e-05 8.40732645e-01] [ 1.88125398e-02 -5.69438900e-04 9.99822866e-01 7.94850545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32925415399998 meters 0.018551177099699653 Centerline is valid? [True, True] Translation: X:120.53, Y:0.84, Z:0.80 [[ 9.99230331e-01 -3.41673533e-02 -1.92701345e-02 1.20525728e+02] [ 3.41721816e-02 9.99415957e-01 -7.87655079e-05 8.40658347e-01] [ 1.92615712e-02 -5.79797651e-04 9.99814311e-01 7.95106519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35925415399997 meters 0.018470718627934393 Centerline is valid? [True, True] Translation: X:120.56, Y:0.84, Z:0.80 [[ 9.99269748e-01 -3.27756113e-02 -1.96399907e-02 1.20556597e+02] [ 3.27803633e-02 9.99462576e-01 -8.00183473e-05 8.41394018e-01] [ 1.96320584e-02 -5.63846116e-04 9.99807114e-01 7.95542107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38925415399997 meters 0.017834297415059323 Centerline is valid? [True, True] Translation: X:120.59, Y:0.84, Z:0.80 [[ 9.99303296e-01 -3.18224724e-02 -1.95000920e-02 1.20587257e+02] [ 3.18269756e-02 9.99493390e-01 -7.94483640e-05 8.42796019e-01] [ 1.94927413e-02 -5.41235939e-04 9.99809852e-01 7.96626278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41925415399997 meters 0.01898921715096209 Centerline is valid? [True, True] Translation: X:120.62, Y:0.84, Z:0.80 [[ 9.99326440e-01 -3.11831822e-02 -1.93461937e-02 1.20617078e+02] [ 3.11874967e-02 9.99513549e-01 -7.87281350e-05 8.40704784e-01] [ 1.93392377e-02 -5.24684245e-04 9.99812842e-01 7.96131903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44925415399997 meters 0.017420384605692674 Centerline is valid? [True, True] Translation: X:120.65, Y:0.84, Z:0.80 [[ 9.99381776e-01 -2.98764750e-02 -1.85327293e-02 1.20647601e+02] [ 2.98802105e-02 9.99553484e-01 -7.53679651e-05 8.43679382e-01] [ 1.85267059e-02 -4.78440483e-04 9.99828251e-01 7.98133685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47925415399997 meters 0.017121921907158923 Centerline is valid? [True, True] Translation: X:120.68, Y:0.84, Z:0.80 [[ 9.99416724e-01 -2.90747146e-02 -1.79129027e-02 1.20677798e+02] [ 2.90780757e-02 9.99577141e-01 -7.28472855e-05 8.44370373e-01] [ 1.79074461e-02 -4.48067946e-04 9.99839548e-01 7.98673221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50925415399998 meters 0.0169304278977675 Centerline is valid? [True, True] Translation: X:120.71, Y:0.84, Z:0.80 [[ 9.99439545e-01 -2.83714835e-02 -1.77666548e-02 1.20707932e+02] [ 2.83746789e-02 9.99597355e-01 -7.22525319e-05 8.44816656e-01] [ 1.77615510e-02 -4.31911087e-04 9.99842158e-01 7.99128559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53925415399998 meters 0.016569626392995165 Centerline is valid? [True, True] Translation: X:120.74, Y:0.85, Z:0.80 [[ 9.99519064e-01 -2.59430633e-02 -1.69881943e-02 1.20737535e+02] [ 2.59456311e-02 9.99663353e-01 -6.92709498e-05 8.45512053e-01] [ 1.69842724e-02 -3.71531787e-04 9.99855688e-01 7.99819201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56925415399998 meters 0.01636068824903019 Centerline is valid? [True, True] Translation: X:120.77, Y:0.85, Z:0.80 [[ 9.99570544e-01 -2.42399754e-02 -1.64666457e-02 1.20767229e+02] [ 2.42421492e-02 9.99706114e-01 -6.76125914e-05 8.46494932e-01] [ 1.64634453e-02 -3.31603328e-04 9.99864413e-01 8.00231789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59925415399998 meters 0.01531731205856248 Centerline is valid? [True, True] Translation: X:120.80, Y:0.85, Z:0.80 [[ 9.99662694e-01 -2.06762003e-02 -1.57160103e-02 1.20796918e+02] [ 2.06777312e-02 9.99786191e-01 -6.50958155e-05 8.49058908e-01] [ 1.57139960e-02 -2.59897578e-04 9.99876494e-01 8.01555974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62925415399998 meters 0.015385789572752757 Centerline is valid? [True, True] Translation: X:120.83, Y:0.85, Z:0.80 [[ 9.99706545e-01 -1.87384036e-02 -1.53524242e-02 1.20825520e+02] [ 1.87396251e-02 9.99824396e-01 -6.43056597e-05 8.48991540e-01] [ 1.53509332e-02 -2.23411884e-04 9.99882143e-01 8.00862724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65925415399998 meters 0.01491289181007799 Centerline is valid? [True, True] Translation: X:120.85, Y:0.85, Z:0.80 [[ 9.99732511e-01 -1.72828473e-02 -1.53690825e-02 1.20853975e+02] [ 1.72838609e-02 9.99850621e-01 -6.68839696e-05 8.49850475e-01] [ 1.53679426e-02 -1.98771006e-04 9.99881886e-01 8.01397365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68925415399998 meters 0.01460799484519886 Centerline is valid? [True, True] Translation: X:120.88, Y:0.85, Z:0.80 [[ 9.99755539e-01 -1.61656659e-02 -1.50842280e-02 1.20882863e+02] [ 1.61664577e-02 9.99869312e-01 -6.94483182e-05 8.50809444e-01] [ 1.50833794e-02 -1.74427194e-04 9.99886224e-01 8.01868543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71925415399998 meters 0.014430687513763094 Centerline is valid? [True, True] Translation: X:120.91, Y:0.85, Z:0.80 [[ 9.99769048e-01 -1.49480909e-02 -1.54403731e-02 1.20912059e+02] [ 1.49487134e-02 9.99888259e-01 -7.51064435e-05 8.50784186e-01] [ 1.54397705e-02 -1.55724615e-04 9.99880788e-01 8.01574447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74925415399997 meters 0.01444217375780865 Centerline is valid? [True, True] Translation: X:120.94, Y:0.85, Z:0.80 [[ 9.99765733e-01 -1.50625733e-02 -1.55434165e-02 1.20939467e+02] [ 1.50631506e-02 9.99886541e-01 -7.99368665e-05 8.50201396e-01] [ 1.55428571e-02 -1.54214685e-04 9.99879191e-01 8.01210439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77925415399997 meters 0.014456861050597979 Centerline is valid? [True, True] Translation: X:120.97, Y:0.85, Z:0.80 [[ 9.99756647e-01 -1.55422975e-02 -1.56551418e-02 1.20967727e+02] [ 1.55428698e-02 9.99879199e-01 -8.51215934e-05 8.49520431e-01] [ 1.56545736e-02 -1.58224951e-04 9.99877447e-01 8.01039305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80925415399997 meters 0.014600944221627844 Centerline is valid? [True, True] Translation: X:121.00, Y:0.85, Z:0.80 [[ 9.99742705e-01 -1.63213291e-02 -1.57523758e-02 1.20995806e+02] [ 1.63219324e-02 9.99866784e-01 -9.02730220e-05 8.48555739e-01] [ 1.57517507e-02 -1.66859418e-04 9.99875920e-01 8.01138022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83925415399997 meters 0.014814815159867526 Centerline is valid? [True, True] Translation: X:121.02, Y:0.85, Z:0.80 [[ 9.99709402e-01 -1.78738835e-02 -1.61751723e-02 1.21023851e+02] [ 1.78746757e-02 9.99840231e-01 -9.56064154e-05 8.45630752e-01] [ 1.61742968e-02 -1.93547327e-04 9.99869169e-01 8.00342933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86925415399998 meters 0.01504380419040644 Centerline is valid? [True, True] Translation: X:121.05, Y:0.84, Z:0.80 [[ 9.99688223e-01 -1.91210690e-02 -1.60574414e-02 1.21052313e+02] [ 1.91219631e-02 9.99817154e-01 -9.78657483e-05 8.44605412e-01] [ 1.60563767e-02 -2.09214565e-04 9.99871066e-01 8.00407996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89925415399998 meters 0.01518991147580671 Centerline is valid? [True, True] Translation: X:121.08, Y:0.84, Z:0.80 [[ 9.99653041e-01 -2.06577133e-02 -1.63418843e-02 1.21080619e+02] [ 2.06588010e-02 9.99786579e-01 -1.02266982e-04 8.42264208e-01] [ 1.63405092e-02 -2.35372236e-04 9.99866457e-01 8.00276129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92925415399998 meters 0.015530358262363117 Centerline is valid? [True, True] Translation: X:121.11, Y:0.84, Z:0.80 [[ 9.99639469e-01 -2.13350554e-02 -1.63017330e-02 1.21107982e+02] [ 2.13362036e-02 9.99772352e-01 -1.03502565e-04 8.40590754e-01] [ 1.63002302e-02 -2.44351845e-04 9.99867113e-01 7.99849100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95925415399998 meters 0.0158833753291469 Centerline is valid? [True, True] Translation: X:121.14, Y:0.84, Z:0.80 [[ 9.99636484e-01 -2.17183272e-02 -1.59754344e-02 1.21136490e+02] [ 2.17194613e-02 9.99764099e-01 -1.02525841e-04 8.39574997e-01] [ 1.59738925e-02 -2.44489258e-04 9.99872379e-01 7.99716015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98925415399998 meters 0.015379411187662223 Centerline is valid? [True, True] Translation: X:121.17, Y:0.84, Z:0.80 [[ 9.99642626e-01 -2.18804902e-02 -1.53578529e-02 1.21165541e+02] [ 2.18815190e-02 9.99760566e-01 -1.01067086e-04 8.40485049e-01] [ 1.53563871e-02 -2.35022183e-04 9.99882056e-01 8.01339646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01925415399998 meters 0.0152581226821088 Centerline is valid? [True, True] Translation: X:121.19, Y:0.84, Z:0.80 [[ 9.99658971e-01 -2.15465182e-02 -1.47542841e-02 1.21194959e+02] [ 2.15474019e-02 9.99767823e-01 -9.90861016e-05 8.40838707e-01] [ 1.47529934e-02 -2.18864179e-04 9.99891145e-01 8.02034619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04925415399998 meters 0.01510274828377657 Centerline is valid? [True, True] Translation: X:121.22, Y:0.84, Z:0.80 [[ 9.99674978e-01 -2.09624272e-02 -1.45091677e-02 1.21224712e+02] [ 2.09632126e-02 9.99780243e-01 -9.79736019e-05 8.40708841e-01] [ 1.45080330e-02 -2.06217008e-04 9.99894732e-01 8.02588154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07925415399998 meters 0.015084831838520042 Centerline is valid? [True, True] Translation: X:121.25, Y:0.84, Z:0.80 [[ 9.99713334e-01 -1.97922676e-02 -1.34727736e-02 1.21253566e+02] [ 1.97928305e-02 9.99804099e-01 -9.15734901e-05 8.39872175e-01] [ 1.34719467e-02 -1.75117085e-04 9.99909234e-01 8.03604755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10925415399997 meters 0.014761317131514653 Centerline is valid? [True, True] Translation: X:121.28, Y:0.84, Z:0.80 [[ 9.99743425e-01 -1.88808222e-02 -1.25139649e-02 1.21282818e+02] [ 1.88812294e-02 9.99821730e-01 -8.56153992e-05 8.39910863e-01] [ 1.25133505e-02 -1.50685609e-04 9.99921694e-01 8.04585625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13925415399997 meters 0.014558724349731484 Centerline is valid? [True, True] Translation: X:121.31, Y:0.84, Z:0.81 [[ 9.99769095e-01 -1.82029967e-02 -1.14196345e-02 1.21312914e+02] [ 1.82032870e-02 9.99834303e-01 -7.85256261e-05 8.39768165e-01] [ 1.14191717e-02 -1.29367390e-04 9.99934791e-01 8.05450487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16925415399997 meters 0.01457941503541787 Centerline is valid? [True, True] Translation: X:121.34, Y:0.84, Z:0.81 [[ 9.99791772e-01 -1.73218927e-02 -1.07872133e-02 1.21343158e+02] [ 1.73220979e-02 9.99849958e-01 -7.44176267e-05 8.39532087e-01] [ 1.07868838e-02 -1.12455034e-04 9.99941814e-01 8.06031268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19925415399997 meters 0.014343442395750151 Centerline is valid? [True, True] Translation: X:121.37, Y:0.84, Z:0.81 [[ 9.99829925e-01 -1.51983793e-02 -1.04465744e-02 1.21373523e+02] [ 1.51984558e-02 9.99884494e-01 -7.20676650e-05 8.39016291e-01] [ 1.04464631e-02 -8.67163918e-05 9.99945430e-01 8.06600340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22925415399997 meters 0.0141956571227719 Centerline is valid? [True, True] Translation: X:121.40, Y:0.84, Z:0.81 [[ 9.99848972e-01 -1.39140329e-02 -1.04130949e-02 1.21403046e+02] [ 1.39140380e-02 9.99903192e-01 -7.19639885e-05 8.38833399e-01] [ 1.04130882e-02 -7.29350785e-05 9.99945780e-01 8.06482069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25925415399998 meters 0.014089713701718454 Centerline is valid? [True, True] Translation: X:121.43, Y:0.84, Z:0.81 [[ 9.99860406e-01 -1.28779468e-02 -1.06454722e-02 1.21431385e+02] [ 1.28778884e-02 9.99917074e-01 -7.40307830e-05 8.38384135e-01] [ 1.06455428e-02 -6.30707547e-05 9.99943333e-01 8.06418150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28925415399998 meters 0.013986815207873109 Centerline is valid? [True, True] Translation: X:121.46, Y:0.84, Z:0.81 [[ 9.99863215e-01 -1.22378156e-02 -1.11259606e-02 1.21460354e+02] [ 1.22376957e-02 9.99925113e-01 -7.88525467e-05 8.38146130e-01] [ 1.11260924e-02 -5.73143592e-05 9.99938101e-01 8.06278616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31925415399998 meters 0.014014700612657156 Centerline is valid? [True, True] Translation: X:121.49, Y:0.84, Z:0.81 [[ 9.99867132e-01 -1.16270231e-02 -1.14249806e-02 1.21489072e+02] [ 1.16268224e-02 9.99932403e-01 -8.39848581e-05 8.36261286e-01] [ 1.14251848e-02 -4.88625217e-05 9.99934729e-01 8.05937329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34925415399998 meters 0.013996854165176636 Centerline is valid? [True, True] Translation: X:121.52, Y:0.83, Z:0.81 [[ 9.99864749e-01 -1.20068580e-02 -1.12392189e-02 1.21518263e+02] [ 1.20066554e-02 9.99927914e-01 -8.55091284e-05 8.34973047e-01] [ 1.12394354e-02 -4.94478644e-05 9.99936834e-01 8.05740471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37925415399998 meters 0.01395890759364078 Centerline is valid? [True, True] Translation: X:121.55, Y:0.83, Z:0.81 [[ 9.99845733e-01 -1.30780852e-02 -1.17249115e-02 1.21547396e+02] [ 1.30779020e-02 9.99914476e-01 -9.23041466e-05 8.33333054e-01] [ 1.17251159e-02 -6.10473358e-05 9.99931257e-01 8.05595373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40925415399998 meters 0.014153694019229775 Centerline is valid? [True, True] Translation: X:121.58, Y:0.83, Z:0.81 [[ 9.99798204e-01 -1.62340899e-02 -1.18324178e-02 1.21576426e+02] [ 1.62340881e-02 9.99868214e-01 -9.61978943e-05 8.28818014e-01] [ 1.18324202e-02 -9.59100320e-05 9.99929990e-01 8.05293821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43925415399998 meters 0.01422543286783813 Centerline is valid? [True, True] Translation: X:121.61, Y:0.83, Z:0.81 [[ 9.99767614e-01 -1.79473732e-02 -1.19419647e-02 1.21606300e+02] [ 1.79474701e-02 9.99838926e-01 -9.90602865e-05 8.26427932e-01] [ 1.19418191e-02 -1.15290789e-04 9.99928687e-01 8.05285827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46925415399998 meters 0.01462724189437957 Centerline is valid? [True, True] Translation: X:121.64, Y:0.82, Z:0.81 [[ 9.99728004e-01 -1.97682237e-02 -1.23748031e-02 1.21636092e+02] [ 1.97684616e-02 9.99804580e-01 -1.03109641e-04 8.23893239e-01] [ 1.23744231e-02 -1.41549224e-04 9.99923424e-01 8.05166070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49925415399997 meters 0.015696247567925665 Centerline is valid? [True, True] Translation: X:121.67, Y:0.82, Z:0.80 [[ 9.99640967e-01 -2.35262866e-02 -1.28238757e-02 1.21665780e+02] [ 2.35268465e-02 9.99723200e-01 -1.07217454e-04 8.17481222e-01] [ 1.28228485e-02 -1.94526397e-04 9.99917765e-01 8.04495796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52925415399997 meters 0.015450527028981389 Centerline is valid? [True, True] Translation: X:121.70, Y:0.82, Z:0.81 [[ 9.99596714e-01 -2.54963133e-02 -1.25039275e-02 1.21695756e+02] [ 2.54969969e-02 9.99674893e-01 -1.04765865e-04 8.16624603e-01] [ 1.25025335e-02 -2.14088987e-04 9.99921817e-01 8.05326970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55925415399997 meters 0.015843636673495854 Centerline is valid? [True, True] Translation: X:121.73, Y:0.81, Z:0.81 [[ 9.99553180e-01 -2.72366935e-02 -1.23126808e-02 1.21725867e+02] [ 2.72374880e-02 9.99628985e-01 -1.03190575e-04 8.13868895e-01] [ 1.23109232e-02 -2.32222029e-04 9.99924191e-01 8.05609143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58925415399997 meters 0.01687132287987567 Centerline is valid? [True, True] Translation: X:121.76, Y:0.81, Z:0.81 [[ 9.99454080e-01 -3.08763826e-02 -1.17555024e-02 1.21755951e+02] [ 3.08773625e-02 9.99523176e-01 -9.81731572e-05 8.07768871e-01] [ 1.17529283e-02 -2.64859347e-04 9.99930897e-01 8.05993896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61925415399998 meters 0.01792216067202516 Centerline is valid? [True, True] Translation: X:121.79, Y:0.80, Z:0.81 [[ 9.99401216e-01 -3.28127891e-02 -1.09786477e-02 1.21786524e+02] [ 3.28137646e-02 9.99461479e-01 -9.13081396e-05 8.03915255e-01] [ 1.09757315e-02 -2.68997296e-04 9.99939729e-01 8.06368772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64925415399998 meters 0.018857527611966702 Centerline is valid? [True, True] Translation: X:121.82, Y:0.80, Z:0.81 [[ 9.99342834e-01 -3.48190173e-02 -1.00765237e-02 1.21818122e+02] [ 3.48199433e-02 9.99393598e-01 -8.35826704e-05 8.00980954e-01] [ 1.00733235e-02 -2.67336241e-04 9.99949227e-01 8.06927419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67925415399998 meters 0.018223752461826163 Centerline is valid? [True, True] Translation: X:121.85, Y:0.80, Z:0.81 [[ 9.99207841e-01 -3.87989148e-02 -8.85074269e-03 1.21849470e+02] [ 3.87997876e-02 9.99247002e-01 -7.31318824e-05 7.99460466e-01] [ 8.84691554e-03 -2.70332986e-04 9.99960829e-01 8.08459181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70925415399998 meters 0.021733962276329483 Centerline is valid? [True, True] Translation: X:121.88, Y:0.79, Z:0.81 [[ 9.99139104e-01 -4.05844388e-02 -8.59965541e-03 1.21881114e+02] [ 4.05853318e-02 9.99176073e-01 -7.07137567e-05 7.92887103e-01] [ 8.59543980e-03 -2.78366989e-04 9.99963020e-01 8.07596280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73925415399998 meters 0.020746952110268776 Centerline is valid? [True, True] Translation: X:121.91, Y:0.79, Z:0.81 [[ 9.99066555e-01 -4.24056270e-02 -8.23296293e-03 1.21913701e+02] [ 4.24065111e-02 9.99100437e-01 -6.72318628e-05 7.94823469e-01] [ 8.22840788e-03 -2.81962128e-04 9.99966106e-01 8.07086466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76925415399998 meters 0.02380831617419667 Centerline is valid? [True, True] Translation: X:121.94, Y:0.79, Z:0.81 [[ 9.98857471e-01 -4.69535842e-02 -8.89455438e-03 1.21943903e+02] [ 4.69548025e-02 9.98897012e-01 -7.19123313e-05 7.88833745e-01] [ 8.88812033e-03 -3.45811875e-04 9.99960440e-01 8.06363927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79925415399998 meters 0.02380831617419667 Centerline is valid? [True, True] Translation: X:121.98, Y:0.79, Z:0.81 [[ 9.98860887e-01 -4.68808640e-02 -8.89456013e-03 1.21975614e+02] [ 4.68820859e-02 9.98900428e-01 -7.11947634e-05 7.89027102e-01] [ 8.88811759e-03 -3.45881867e-04 9.99960440e-01 8.06583552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82925415399998 meters 0.023613599027757226 Centerline is valid? [True, True] Translation: X:122.01, Y:0.79, Z:0.81 [[ 9.98731128e-01 -4.96016938e-02 -8.70662700e-03 1.22007048e+02] [ 4.96029729e-02 9.98769012e-01 -6.91002344e-05 7.85990202e-01] [ 8.69933674e-03 -3.62862028e-04 9.99962094e-01 8.08339445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85925415399997 meters 0.023865078801428127 Centerline is valid? [True, True] Translation: X:122.04, Y:0.78, Z:0.81 [[ 9.98609659e-01 -5.19069451e-02 -9.18793841e-03 1.22039512e+02] [ 5.19084721e-02 9.98651844e-01 -7.23592410e-05 7.84875969e-01] [ 9.17930758e-03 -4.04673207e-04 9.99957787e-01 8.08355706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88925415399997 meters 0.026046932442446526 Centerline is valid? [True, True] Translation: X:122.07, Y:0.78, Z:0.81 [[ 9.98490013e-01 -5.41056492e-02 -9.50123172e-03 1.22070400e+02] [ 5.41073873e-02 9.98535120e-01 -7.42123401e-05 7.81323836e-01] [ 9.49132886e-03 -4.39986544e-04 9.99954860e-01 8.07785108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91925415399997 meters 0.02891165244271261 Centerline is valid? [True, True] Translation: X:122.10, Y:0.78, Z:0.81 [[ 9.98278699e-01 -5.76268505e-02 -1.08988704e-02 1.22101374e+02] [ 5.76293508e-02 9.98338044e-01 -8.47703270e-05 7.78219039e-01] [ 1.08856420e-02 -5.43470414e-04 9.99940602e-01 8.05350185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94925415399997 meters 0.028312873548255898 Centerline is valid? [True, True] Translation: X:122.13, Y:0.78, Z:0.81 [[ 9.98180456e-01 -5.92871938e-02 -1.09911488e-02 1.22133889e+02] [ 5.92898415e-02 9.98240806e-01 -8.50751025e-05 7.77536861e-01] [ 1.09768571e-02 -5.66743166e-04 9.99939592e-01 8.07182625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97925415399997 meters 0.029122424882235418 Centerline is valid? [True, True] Translation: X:122.17, Y:0.78, Z:0.81 [[ 9.98144444e-01 -5.99027828e-02 -1.09236597e-02 1.22166130e+02] [ 5.99054433e-02 9.98204053e-01 -8.37802657e-05 7.76243723e-01] [ 1.09090601e-02 -5.70761871e-04 9.99940332e-01 8.07149173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00925415399998 meters 0.029974365283684756 Centerline is valid? [True, True] Translation: X:122.20, Y:0.78, Z:0.81 [[ 9.98111694e-01 -6.04599980e-02 -1.08459801e-02 1.22198175e+02] [ 6.04626619e-02 9.98170456e-01 -8.24223740e-05 7.75877306e-01] [ 1.08311201e-02 -5.73510090e-04 9.99941177e-01 8.07921885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03925415399998 meters 0.030282049541306623 Centerline is valid? [True, True] Translation: X:122.23, Y:0.78, Z:0.81 [[ 9.98134507e-01 -6.00233042e-02 -1.11672827e-02 1.22230408e+02] [ 6.00261099e-02 9.98196804e-01 -8.40667246e-05 7.76039707e-01] [ 1.11521919e-02 -5.86418641e-04 9.99937640e-01 8.08294278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06925415399998 meters 0.03017593478283602 Centerline is valid? [True, True] Translation: X:122.26, Y:0.78, Z:0.81 [[ 9.98177171e-01 -5.93152152e-02 -1.11373612e-02 1.22262304e+02] [ 5.93179705e-02 9.98239135e-01 -8.30669956e-05 7.76549640e-01] [ 1.11226770e-02 -5.77730087e-04 9.99937974e-01 8.08438743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09925415399998 meters 0.03016839278044594 Centerline is valid? [True, True] Translation: X:122.29, Y:0.78, Z:0.81 [[ 9.98291167e-01 -5.72260847e-02 -1.18288225e-02 1.22292993e+02] [ 5.72290546e-02 9.98361071e-01 -8.75444177e-05 7.77741892e-01] [ 1.18144457e-02 -5.89557507e-04 9.99930033e-01 8.08197345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12925415399998 meters 0.029672146804766434 Centerline is valid? [True, True] Translation: X:122.32, Y:0.78, Z:0.81 [[ 9.98358829e-01 -5.60166859e-02 -1.19071409e-02 1.22324989e+02] [ 5.60196163e-02 9.98429664e-01 -8.75428779e-05 7.79413930e-01] [ 1.18933465e-02 -5.79634257e-04 9.99929104e-01 8.08488609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15925415399998 meters 0.029194496355278637 Centerline is valid? [True, True] Translation: X:122.36, Y:0.78, Z:0.81 [[ 9.98453710e-01 -5.42857438e-02 -1.19686101e-02 1.22356818e+02] [ 5.42885897e-02 9.98525283e-01 -8.72181917e-05 7.81182318e-01] [ 1.19556944e-02 -5.62675634e-04 9.99928370e-01 8.08397608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18925415399998 meters 0.023057394966000695 Centerline is valid? [True, True] Translation: X:122.39, Y:0.79, Z:0.81 [[ 9.98565907e-01 -5.21797852e-02 -1.19749392e-02 1.22388498e+02] [ 5.21824919e-02 9.98637562e-01 -8.65169052e-05 7.91409113e-01] [ 1.19631385e-02 -5.38489335e-04 9.99928294e-01 8.09877917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21925415399997 meters 0.02694093697431189 Centerline is valid? [True, True] Translation: X:122.42, Y:0.79, Z:0.81 [[ 9.98800289e-01 -4.75269972e-02 -1.17968989e-02 1.22418332e+02] [ 4.75293054e-02 9.98869840e-01 -8.47782648e-05 7.88278676e-01] [ 1.17875958e-02 -4.76021858e-04 9.99930411e-01 8.09483759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24925415399997 meters 0.026199791658196477 Centerline is valid? [True, True] Translation: X:122.45, Y:0.79, Z:0.81 [[ 9.98912070e-01 -4.50480872e-02 -1.20559285e-02 1.22448509e+02] [ 4.50503186e-02 9.98984715e-01 -8.65552463e-05 7.90787975e-01] [ 1.20475875e-02 -4.56662342e-04 9.99927321e-01 8.09508101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27925415399997 meters 0.023843293859413257 Centerline is valid? [True, True] Translation: X:122.48, Y:0.80, Z:0.81 [[ 9.99137296e-01 -3.95810667e-02 -1.25698848e-02 1.22478844e+02] [ 3.95830618e-02 9.99216279e-01 -9.01260471e-05 7.96656248e-01] [ 1.25636008e-02 -4.07506230e-04 9.99920992e-01 8.09460436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30925415399997 meters 0.022347087440709356 Centerline is valid? [True, True] Translation: X:122.51, Y:0.80, Z:0.81 [[ 9.99256222e-01 -3.65127830e-02 -1.24024334e-02 1.22509953e+02] [ 3.65144914e-02 9.99333120e-01 -8.87465842e-05 7.99716078e-01] [ 1.23974028e-02 -3.64187969e-04 9.99923083e-01 8.09789202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33925415399997 meters 0.021178104769616006 Centerline is valid? [True, True] Translation: X:122.54, Y:0.80, Z:0.81 [[ 9.99361712e-01 -3.35157911e-02 -1.23637052e-02 1.22541749e+02] [ 3.35172656e-02 9.99438135e-01 -8.79795555e-05 8.02928991e-01] [ 1.23597072e-02 -3.26474192e-04 9.99923563e-01 8.10086856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36925415399998 meters 0.01700814820244544 Centerline is valid? [True, True] Translation: X:122.57, Y:0.81, Z:0.81 [[ 9.99466776e-01 -3.05163573e-02 -1.16152981e-02 1.22572948e+02] [ 3.05174620e-02 9.99534230e-01 -8.21639972e-05 8.12210687e-01] [ 1.16123954e-02 -2.72349232e-04 9.99932537e-01 8.11782313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39925415399998 meters 0.015797814726731547 Centerline is valid? [True, True] Translation: X:122.60, Y:0.82, Z:0.81 [[ 9.99651765e-01 -2.40309111e-02 -1.09024806e-02 1.22603043e+02] [ 2.40315021e-02 9.99711199e-01 -7.68075062e-05 8.16991338e-01] [ 1.09011777e-02 -1.85222227e-04 9.99940563e-01 8.13001153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42925415399998 meters 0.015279394836598693 Centerline is valid? [True, True] Translation: X:122.63, Y:0.82, Z:0.81 [[ 9.99724519e-01 -2.09191493e-02 -1.06430567e-02 1.22633522e+02] [ 2.09195383e-02 9.99781160e-01 -7.47894564e-05 8.19926006e-01] [ 1.06422921e-02 -1.47878979e-04 9.99943358e-01 8.13616770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45925415399998 meters 0.014357148264389592 Centerline is valid? [True, True] Translation: X:122.66, Y:0.83, Z:0.81 [[ 9.99820710e-01 -1.58710839e-02 -1.03274647e-02 1.22664204e+02] [ 1.58711821e-02 9.99874042e-01 -7.24533431e-05 8.25923682e-01] [ 1.03273138e-02 -9.14687198e-05 9.99946668e-01 8.14827621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48925415399998 meters 0.014198368314656254 Centerline is valid? [True, True] Translation: X:122.69, Y:0.83, Z:0.81 [[ 9.99845622e-01 -1.41475254e-02 -1.04201501e-02 1.22694037e+02] [ 1.41475304e-02 9.99899916e-01 -7.32318620e-05 8.27182176e-01] [ 1.04201432e-02 -7.41988335e-05 9.99945706e-01 8.14593968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51925415399998 meters 0.014147614177725549 Centerline is valid? [True, True] Translation: X:122.72, Y:0.83, Z:0.81 [[ 9.99853885e-01 -1.32830387e-02 -1.07596030e-02 1.22724004e+02] [ 1.32829897e-02 9.99911774e-01 -7.60214690e-05 8.27922982e-01] [ 1.07596635e-02 -6.69093337e-05 9.99942111e-01 8.14593070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54925415399998 meters 0.013987719752581847 Centerline is valid? [True, True] Translation: X:122.75, Y:0.83, Z:0.81 [[ 9.99847753e-01 -1.35708825e-02 -1.09681869e-02 1.22752575e+02] [ 1.35708346e-02 9.99907909e-01 -7.87971538e-05 8.27924872e-01] [ 1.09682462e-02 -7.00622928e-05 9.99939845e-01 8.14877522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57925415399998 meters 0.014067181958353393 Centerline is valid? [True, True] Translation: X:122.78, Y:0.83, Z:0.82 [[ 9.99825610e-01 -1.50817635e-02 -1.10132116e-02 1.22781671e+02] [ 1.50817840e-02 9.99886260e-01 -8.11910782e-05 8.26474406e-01] [ 1.10131834e-02 -8.49219591e-05 9.99939349e-01 8.15042531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60925415399997 meters 0.01440372035175866 Centerline is valid? [True, True] Translation: X:122.81, Y:0.83, Z:0.82 [[ 9.99806497e-01 -1.65162670e-02 -1.06855699e-02 1.22810922e+02] [ 1.65163620e-02 9.99863592e-01 -7.93635858e-05 8.25379815e-01] [ 1.06854231e-02 -9.71385115e-05 9.99942905e-01 8.15244270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63925415399997 meters 0.014679204285924662 Centerline is valid? [True, True] Translation: X:122.84, Y:0.82, Z:0.82 [[ 9.99772836e-01 -1.85020642e-02 -1.05806650e-02 1.22840386e+02] [ 1.85022645e-02 9.99828815e-01 -7.89608230e-05 8.24069788e-01] [ 1.05803147e-02 -1.16823377e-04 9.99944020e-01 8.16028806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66925415399997 meters 0.015060376577419718 Centerline is valid? [True, True] Translation: X:122.87, Y:0.82, Z:0.82 [[ 9.99731921e-01 -2.05228967e-02 -1.07189494e-02 1.22870502e+02] [ 2.05232157e-02 9.99789373e-01 -8.02443008e-05 8.22001436e-01] [ 1.07183385e-02 -1.39764521e-04 9.99942547e-01 8.16178133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69925415399997 meters 0.015582926219552333 Centerline is valid? [True, True] Translation: X:122.90, Y:0.82, Z:0.82 [[ 9.99628486e-01 -2.49842313e-02 -1.08939527e-02 1.22900476e+02] [ 2.49848249e-02 9.99687827e-01 -8.16269899e-05 8.18338822e-01] [ 1.08925913e-02 -1.90586837e-04 9.99940656e-01 8.16094818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72925415399997 meters 0.015908191980490136 Centerline is valid? [True, True] Translation: X:122.93, Y:0.82, Z:0.82 [[ 9.99560953e-01 -2.73956393e-02 -1.12862911e-02 1.22931996e+02] [ 2.73964304e-02 9.99624644e-01 -8.45362233e-05 8.16904547e-01] [ 1.12843706e-02 -2.24704980e-04 9.99936304e-01 8.16156965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75925415399998 meters 0.01604006381457487 Centerline is valid? [True, True] Translation: X:122.96, Y:0.82, Z:0.82 [[ 9.99499814e-01 -2.92972734e-02 -1.19075932e-02 1.22962974e+02] [ 2.92982943e-02 9.99570709e-01 -8.87331843e-05 8.15067618e-01] [ 1.19050810e-02 -2.60183369e-04 9.99929098e-01 8.16353684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78925415399998 meters 0.01723283088054893 Centerline is valid? [True, True] Translation: X:122.99, Y:0.81, Z:0.82 [[ 9.99399824e-01 -3.22600334e-02 -1.26207104e-02 1.22993398e+02] [ 3.22614212e-02 9.99479460e-01 -9.36693340e-05 8.11274664e-01] [ 1.26171626e-02 -3.13548938e-04 9.99920351e-01 8.15357768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81925415399998 meters 0.018237505970500847 Centerline is valid? [True, True] Translation: X:123.02, Y:0.81, Z:0.82 [[ 9.99363419e-01 -3.32355378e-02 -1.29674628e-02 1.23023514e+02] [ 3.32370910e-02 9.99447491e-01 -9.57744176e-05 8.09053528e-01] [ 1.29634813e-02 -3.35287292e-04 9.99915914e-01 8.15352728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84925415399998 meters 0.018001558947478354 Centerline is valid? [True, True] Translation: X:123.05, Y:0.81, Z:0.82 [[ 9.99338936e-01 -3.40216740e-02 -1.28147448e-02 1.23054453e+02] [ 3.40232631e-02 9.99421037e-01 -9.40504590e-05 8.09457022e-01] [ 1.28105253e-02 -3.42011147e-04 9.99917883e-01 8.16051280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87925415399998 meters 0.0174167804890931 Centerline is valid? [True, True] Translation: X:123.09, Y:0.81, Z:0.82 [[ 9.99324839e-01 -3.44202575e-02 -1.28495906e-02 1.23085507e+02] [ 3.44218942e-02 9.99407387e-01 -9.38338915e-05 8.09953361e-01] [ 1.28452055e-02 -3.48536709e-04 9.99917436e-01 8.16902331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90925415399998 meters 0.01811486133692323 Centerline is valid? [True, True] Translation: X:123.12, Y:0.81, Z:0.82 [[ 9.99284075e-01 -3.56030651e-02 -1.27968674e-02 1.23116548e+02] [ 3.56047914e-02 9.99365944e-01 -9.29758524e-05 8.07257855e-01] [ 1.27920637e-02 -3.62720507e-04 9.99918112e-01 8.16494005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93925415399998 meters 0.018384214446146428 Centerline is valid? [True, True] Translation: X:123.15, Y:0.81, Z:0.82 [[ 9.99271720e-01 -3.60069486e-02 -1.26304764e-02 1.23147579e+02] [ 3.60086696e-02 9.99351473e-01 -9.12000043e-05 8.05627020e-01] [ 1.26255690e-02 -3.63673065e-04 9.99920228e-01 8.16646183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96925415399997 meters 0.018986416488702012 Centerline is valid? [True, True] Translation: X:123.18, Y:0.80, Z:0.82 [[ 9.99238609e-01 -3.68462772e-02 -1.28278474e-02 1.23178512e+02] [ 3.68481306e-02 9.99320873e-01 -9.19142156e-05 8.04447107e-01] [ 1.28225223e-02 -3.80837963e-04 9.99917716e-01 8.16668992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99925415399997 meters 0.01985542718110919 Centerline is valid? [True, True] Translation: X:123.21, Y:0.80, Z:0.82 [[ 9.99122801e-01 -3.97252225e-02 -1.32489532e-02 1.23209367e+02] [ 3.97274592e-02 9.99210548e-01 -9.44257145e-05 8.02216707e-01] [ 1.32422449e-02 -4.32004363e-04 9.99912224e-01 8.16519509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02925415399997 meters 0.021420817865306425 Centerline is valid? [True, True] Translation: X:123.24, Y:0.80, Z:0.82 [[ 9.99054049e-01 -4.13541106e-02 -1.34478747e-02 1.23240890e+02] [ 4.13565726e-02 9.99144446e-01 -9.50786316e-05 7.99343547e-01] [ 1.34403013e-02 -4.61169317e-04 9.99909569e-01 8.16127406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05925415399997 meters 0.020298887074273686 Centerline is valid? [True, True] Translation: X:123.27, Y:0.80, Z:0.82 [[ 9.98964619e-01 -4.33331779e-02 -1.38537268e-02 1.23272500e+02] [ 4.33359941e-02 9.99060550e-01 -9.69946003e-05 8.00729729e-01] [ 1.38449150e-02 -5.03470849e-04 9.99904028e-01 8.16438530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08925415399997 meters 0.02053467034019746 Centerline is valid? [True, True] Translation: X:123.30, Y:0.80, Z:0.82 [[ 9.98869306e-01 -4.54547431e-02 -1.39275172e-02 1.23304077e+02] [ 4.54578024e-02 9.98966255e-01 -9.69930025e-05 8.00278763e-01] [ 1.39175285e-02 -5.36230992e-04 9.99903003e-01 8.16542978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11925415399998 meters 0.022052301079177654 Centerline is valid? [True, True] Translation: X:123.33, Y:0.80, Z:0.82 [[ 9.98666775e-01 -4.96649448e-02 -1.40735941e-02 1.23334755e+02] [ 4.96684915e-02 9.98765754e-01 -9.76157420e-05 7.96783257e-01] [ 1.40610719e-02 -6.01528591e-04 9.99900957e-01 8.16718146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14925415399998 meters 0.023054623071858057 Centerline is valid? [True, True] Translation: X:123.37, Y:0.79, Z:0.82 [[ 9.98564076e-01 -5.17717210e-02 -1.37650214e-02 1.23366343e+02] [ 5.17753206e-02 9.98658754e-01 -9.49676348e-05 7.94989832e-01] [ 1.37514757e-02 -6.17857126e-04 9.99905253e-01 8.16962834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17925415399998 meters 0.024155746835617376 Centerline is valid? [True, True] Translation: X:123.40, Y:0.79, Z:0.82 [[ 9.98469004e-01 -5.36132639e-02 -1.36112376e-02 1.23398298e+02] [ 5.36169662e-02 9.98561572e-01 -9.30305419e-05 7.93653300e-01] [ 1.35966465e-02 -6.36905156e-04 9.99907358e-01 8.17481298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20925415399998 meters 0.02541669622568901 Centerline is valid? [True, True] Translation: X:123.43, Y:0.79, Z:0.82 [[ 9.98279970e-01 -5.69981950e-02 -1.37225161e-02 1.23429824e+02] [ 5.70022875e-02 9.98374043e-01 -9.30251808e-05 7.92784259e-01] [ 1.37055061e-02 -6.89349631e-04 9.99905838e-01 8.18491183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23925415399998 meters 0.02543375188792946 Centerline is valid? [True, True] Translation: X:123.46, Y:0.79, Z:0.82 [[ 9.98177336e-01 -5.86276920e-02 -1.43108374e-02 1.23462253e+02] [ 5.86323217e-02 9.98279641e-01 -9.61929622e-05 7.93758803e-01] [ 1.42918572e-02 -7.43059989e-04 9.99897590e-01 8.18235302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26925415399998 meters 0.026240223971148616 Centerline is valid? [True, True] Translation: X:123.49, Y:0.79, Z:0.82 [[ 9.98077570e-01 -6.03030022e-02 -1.43077699e-02 1.23494033e+02] [ 6.03078150e-02 9.98179823e-01 -9.52388621e-05 7.92828577e-01] [ 1.42874704e-02 -7.67814569e-04 9.99897634e-01 8.18711846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29925415399998 meters 0.02668827166712574 Centerline is valid? [True, True] Translation: X:123.53, Y:0.79, Z:0.82 [[ 9.97992431e-01 -6.15801877e-02 -1.47982218e-02 1.23526609e+02] [ 6.15854906e-02 9.98101807e-01 -9.75156643e-05 7.92524086e-01] [ 1.47761370e-02 -8.14035858e-04 9.99890496e-01 8.18786400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32925415399998 meters 0.028324413024518654 Centerline is valid? [True, True] Translation: X:123.56, Y:0.79, Z:0.82 [[ 9.97812046e-01 -6.42406162e-02 -1.56289602e-02 1.23557976e+02] [ 6.42468701e-02 9.97934031e-01 -1.02123706e-04 7.91328130e-01] [ 1.56032317e-02 -9.02211509e-04 9.99877855e-01 8.18171355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35925415399997 meters 0.0283844959324887 Centerline is valid? [True, True] Translation: X:123.59, Y:0.79, Z:0.82 [[ 9.97725429e-01 -6.55163149e-02 -1.58613104e-02 1.23589886e+02] [ 6.55229315e-02 9.97851058e-01 -1.02717483e-04 7.92084418e-01] [ 1.58339550e-02 -9.36795709e-04 9.99874196e-01 8.17953923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38925415399997 meters 0.03194211389789148 Centerline is valid? [True, True] Translation: X:123.62, Y:0.79, Z:0.82 [[ 9.97638037e-01 -6.67128674e-02 -1.63627756e-02 1.23620506e+02] [ 6.67200839e-02 9.97771727e-01 -1.05082869e-04 7.88439535e-01] [ 1.63333253e-02 -9.86891095e-04 9.99866115e-01 8.17231017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41925415399997 meters 0.03249296745659924 Centerline is valid? [True, True] Translation: X:123.65, Y:0.79, Z:0.82 [[ 9.97571363e-01 -6.73309212e-02 -1.78303686e-02 1.23652572e+02] [ 6.73396080e-02 9.97730106e-01 -1.13435536e-04 7.90872715e-01] [ 1.77975332e-02 -1.08752999e-03 9.99841020e-01 8.15259036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44925415399997 meters 0.030205212064017477 Centerline is valid? [True, True] Translation: X:123.68, Y:0.80, Z:0.82 [[ 9.97416100e-01 -6.96026780e-02 -1.77929788e-02 1.23683898e+02] [ 6.96117044e-02 9.97574157e-01 -1.12292578e-04 7.96227223e-01] [ 1.77576317e-02 -1.12659716e-03 9.99841686e-01 8.17770502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47925415399997 meters 0.02977176830252873 Centerline is valid? [True, True] Translation: X:123.72, Y:0.80, Z:0.82 [[ 9.97367569e-01 -7.02977265e-02 -1.77809606e-02 1.23716077e+02] [ 7.03068698e-02 9.97525404e-01 -1.11146875e-04 7.98433386e-01] [ 1.77447733e-02 -1.13926939e-03 9.99841900e-01 8.18259890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50925415399998 meters 0.030745463828259753 Centerline is valid? [True, True] Translation: X:123.75, Y:0.80, Z:0.82 [[ 9.97338684e-01 -7.07575978e-02 -1.75758793e-02 1.23748431e+02] [ 7.07666254e-02 9.97492894e-01 -1.08558575e-04 7.98887453e-01] [ 1.75394960e-02 -1.13551600e-03 9.99845526e-01 8.18312749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53925415399998 meters 0.032572084767124136 Centerline is valid? [True, True] Translation: X:123.78, Y:0.80, Z:0.82 [[ 9.97359478e-01 -7.07681295e-02 -1.63077581e-02 1.23779885e+02] [ 7.07759187e-02 9.97492235e-01 -9.97258064e-05 7.99828964e-01] [ 1.62739195e-02 -1.05473408e-03 9.99867015e-01 8.19230076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56925415399998 meters 0.03192581596918471 Centerline is valid? [True, True] Translation: X:123.81, Y:0.80, Z:0.82 [[ 9.97411192e-01 -7.02576337e-02 -1.53224931e-02 1.23811773e+02] [ 7.02644650e-02 9.97528394e-01 -9.27238249e-05 8.02794410e-01] [ 1.52911365e-02 -9.84143000e-04 9.99882599e-01 8.20206492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59925415399998 meters 0.0328259260745742 Centerline is valid? [True, True] Translation: X:123.84, Y:0.80, Z:0.82 [[ 9.97485532e-01 -6.92957133e-02 -1.48565708e-02 1.23843140e+02] [ 6.93020427e-02 9.97595719e-01 -8.89795548e-05 8.03927925e-01] [ 1.48270173e-02 -9.40834887e-04 9.99889631e-01 8.21068463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62925415399998 meters 0.03204600917931149 Centerline is valid? [True, True] Translation: X:123.87, Y:0.81, Z:0.82 [[ 9.97709440e-01 -6.62987313e-02 -1.34294837e-02 1.23874149e+02] [ 6.63036387e-02 9.97799489e-01 -7.99744590e-05 8.10270113e-01] [ 1.34052342e-02 -8.10632365e-04 9.99909817e-01 8.21992619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65925415399998 meters 0.02847082480303826 Centerline is valid? [True, True] Translation: X:123.91, Y:0.82, Z:0.82 [[ 9.97846161e-01 -6.42821960e-02 -1.30704946e-02 1.23905832e+02] [ 6.42866781e-02 9.97931469e-01 -7.73736925e-05 8.17573905e-01] [ 1.30484316e-02 -7.63051638e-04 9.99914574e-01 8.22947737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68925415399998 meters 0.027528766276530812 Centerline is valid? [True, True] Translation: X:123.94, Y:0.82, Z:0.82 [[ 9.97993057e-01 -6.20497618e-02 -1.26367010e-02 1.23936955e+02] [ 6.20537803e-02 9.98072804e-01 -7.42193921e-05 8.21243049e-01] [ 1.26169529e-02 -7.10084629e-04 9.99920151e-01 8.23263010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71925415399997 meters 0.027528766276530812 Centerline is valid? [True, True] Translation: X:123.97, Y:0.82, Z:0.82 [[ 9.97999985e-01 -6.19382262e-02 -1.26367062e-02 1.23969542e+02] [ 6.19422471e-02 9.98079733e-01 -7.33231385e-05 8.21343857e-01] [ 1.26169818e-02 -7.09569487e-04 9.99920151e-01 8.23488769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74925415399997 meters 0.028746285710660253 Centerline is valid? [True, True] Translation: X:124.00, Y:0.82, Z:0.82 [[ 9.98141033e-01 -5.96043099e-02 -1.27202729e-02 1.23999808e+02] [ 5.96082064e-02 9.98221847e-01 -7.29206337e-05 8.21505974e-01] [ 1.27020006e-02 -6.85447573e-04 9.99919091e-01 8.23085454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77925415399997 meters 0.026655225653408283 Centerline is valid? [True, True] Translation: X:124.03, Y:0.83, Z:0.82 [[ 9.98260021e-01 -5.74968730e-02 -1.30782164e-02 1.24031742e+02] [ 5.75008193e-02 9.98345456e-01 -7.43838683e-05 8.26820460e-01] [ 1.30608547e-02 -6.77753715e-04 9.99914474e-01 8.23294289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80925415399997 meters 0.02548275774019086 Centerline is valid? [True, True] Translation: X:124.06, Y:0.83, Z:0.82 [[ 9.98388320e-01 -5.51693899e-02 -1.33079415e-02 1.24063422e+02] [ 5.51732815e-02 9.98476792e-01 -7.48148785e-05 8.31034404e-01] [ 1.32917982e-02 -6.59548501e-04 9.99911443e-01 8.23132240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83925415399997 meters 0.025677603807820287 Centerline is valid? [True, True] Translation: X:124.09, Y:0.84, Z:0.82 [[ 9.98616913e-01 -5.06813799e-02 -1.39878256e-02 1.24093453e+02] [ 5.06852456e-02 9.98714674e-01 -7.82344470e-05 8.35100395e-01] [ 1.39738117e-02 -6.30850132e-04 9.99902163e-01 8.22829358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86925415399998 meters 0.02201169710348819 Centerline is valid? [True, True] Translation: X:124.13, Y:0.84, Z:0.82 [[ 9.98719716e-01 -4.85661300e-02 -1.41513075e-02 1.24125363e+02] [ 4.85698822e-02 9.98819784e-01 -7.86150499e-05 8.42983516e-01] [ 1.41384240e-02 -6.08812939e-04 9.99899862e-01 8.23418018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89925415399998 meters 0.021557616572837158 Centerline is valid? [True, True] Translation: X:124.16, Y:0.85, Z:0.82 [[ 9.98795297e-01 -4.67586724e-02 -1.48855857e-02 1.24157311e+02] [ 4.67626407e-02 9.98906026e-01 -8.15577773e-05 8.46172019e-01] [ 1.48731148e-02 -6.14629772e-04 9.99889200e-01 8.23229235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92925415399998 meters 0.021500371772315247 Centerline is valid? [True, True] Translation: X:124.19, Y:0.85, Z:0.82 [[ 9.98871958e-01 -4.47869940e-02 -1.57777450e-02 1.24188157e+02] [ 4.47912354e-02 9.98996365e-01 -8.46227061e-05 8.48146332e-01] [ 1.57656999e-02 -6.22177445e-04 9.99875520e-01 8.22855822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95925415399998 meters 0.020686405544165627 Centerline is valid? [True, True] Translation: X:124.22, Y:0.85, Z:0.82 [[ 9.99014400e-01 -4.11708510e-02 -1.65888588e-02 1.24219206e+02] [ 4.11750653e-02 9.99151944e-01 -8.75699411e-05 8.53553136e-01] [ 1.65783958e-02 -5.95563711e-04 9.99862392e-01 8.21889389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98925415399998 meters 0.020561067999873426 Centerline is valid? [True, True] Translation: X:124.25, Y:0.86, Z:0.82 [[ 9.99074792e-01 -3.95884495e-02 -1.68021954e-02 1.24250806e+02] [ 3.95925597e-02 9.99215903e-01 -8.80786274e-05 8.56104398e-01] [ 1.67925078e-02 -5.77244790e-04 9.99858829e-01 8.21814909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01925415399998 meters 0.019582746103690374 Centerline is valid? [True, True] Translation: X:124.28, Y:0.86, Z:0.82 [[ 9.99144038e-01 -3.79117056e-02 -1.65497407e-02 1.24281924e+02] [ 3.79154735e-02 9.99280946e-01 -8.61535842e-05 8.59916089e-01] [ 1.65411068e-02 -5.41411414e-04 9.99863040e-01 8.22580667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04925415399998 meters 0.01933305907358968 Centerline is valid? [True, True] Translation: X:124.31, Y:0.86, Z:0.82 [[ 9.99268492e-01 -3.49787704e-02 -1.54585329e-02 1.24312108e+02] [ 3.49817217e-02 9.99387949e-01 -7.95253825e-05 8.64474354e-01] [ 1.54518532e-02 -4.61298886e-04 9.99880507e-01 8.23742599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07925415399998 meters 0.018031255512159294 Centerline is valid? [True, True] Translation: X:124.34, Y:0.87, Z:0.83 [[ 9.99312816e-01 -3.38780383e-02 -1.50390634e-02 1.24344026e+02] [ 3.38807246e-02 9.99425881e-01 -7.61990324e-05 8.68938294e-01] [ 1.50330107e-02 -4.33387696e-04 9.99886904e-01 8.25028218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10925415399997 meters 0.018692370496759085 Centerline is valid? [True, True] Translation: X:124.38, Y:0.87, Z:0.83 [[ 9.99337121e-01 -3.32546578e-02 -1.48137448e-02 1.24375367e+02] [ 3.32572098e-02 9.99446823e-01 -7.41062166e-05 8.69513699e-01] [ 1.48080146e-02 -4.18606727e-04 9.99890268e-01 8.25363223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13925415399997 meters 0.01820785759261645 Centerline is valid? [True, True] Translation: X:124.41, Y:0.87, Z:0.83 [[ 9.99351196e-01 -3.30305476e-02 -1.43586343e-02 1.24407724e+02] [ 3.30329353e-02 9.99454261e-01 -7.09039660e-05 8.72039158e-01] [ 1.43531403e-02 -4.03449876e-04 9.99896907e-01 8.26088703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16925415399997 meters 0.018527821030441115 Centerline is valid? [True, True] Translation: X:124.44, Y:0.87, Z:0.83 [[ 9.99316522e-01 -3.42557493e-02 -1.38936348e-02 1.24439675e+02] [ 3.42581172e-02 9.99413016e-01 -6.75960451e-05 8.73549400e-01] [ 1.38877950e-02 -4.08419925e-04 9.99903477e-01 8.26882253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19925415399997 meters 0.02042608531764466 Centerline is valid? [True, True] Translation: X:124.47, Y:0.87, Z:0.83 [[ 9.99270790e-01 -3.55521141e-02 -1.39260616e-02 1.24470662e+02] [ 3.55546314e-02 9.99367732e-01 -6.68558986e-05 8.70821959e-01] [ 1.39196335e-02 -4.28328842e-04 9.99903025e-01 8.26181891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22925415399997 meters 0.02034482187186904 Centerline is valid? [True, True] Translation: X:124.50, Y:0.87, Z:0.83 [[ 9.99197210e-01 -3.73847257e-02 -1.43985392e-02 1.24503227e+02] [ 3.73876202e-02 9.99300836e-01 -6.81937109e-05 8.71759784e-01] [ 1.43910216e-02 -4.70188148e-04 9.99896333e-01 8.26555166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25925415399998 meters 0.020780431827690377 Centerline is valid? [True, True] Translation: X:124.54, Y:0.87, Z:0.83 [[ 9.99107229e-01 -3.95950712e-02 -1.47300932e-02 1.24535212e+02] [ 3.95983563e-02 9.99215675e-01 -6.86892957e-05 8.71774016e-01] [ 1.47212597e-02 -5.14659505e-04 9.99891504e-01 8.26713364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28925415399998 meters 0.021241470414237965 Centerline is valid? [True, True] Translation: X:124.57, Y:0.87, Z:0.83 [[ 9.98916897e-01 -4.40802725e-02 -1.48984138e-02 1.24566695e+02] [ 4.40841431e-02 9.99027819e-01 -6.86709489e-05 8.71707590e-01] [ 1.48869569e-02 -5.88187234e-04 9.99889010e-01 8.26898975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31925415399998 meters 0.022402016564420032 Centerline is valid? [True, True] Translation: X:124.60, Y:0.87, Z:0.83 [[ 9.98820052e-01 -4.60756820e-02 -1.53471323e-02 1.24597473e+02] [ 4.60800332e-02 9.98937749e-01 -7.01631113e-05 8.70275259e-01] [ 1.53340626e-02 -6.37116042e-04 9.99882223e-01 8.26668418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34925415399998 meters 0.02237457502160093 Centerline is valid? [True, True] Translation: X:124.63, Y:0.87, Z:0.83 [[ 9.98753617e-01 -4.75055536e-02 -1.53112982e-02 1.24629210e+02] [ 4.75100634e-02 9.98870757e-01 -6.92747905e-05 8.70713640e-01] [ 1.52972989e-02 -6.58252298e-04 9.99882773e-01 8.27125054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37925415399998 meters 0.023632620969068745 Centerline is valid? [True, True] Translation: X:124.66, Y:0.87, Z:0.83 [[ 9.98729690e-01 -4.80306569e-02 -1.52336147e-02 1.24659982e+02] [ 4.80351949e-02 9.98845641e-01 -6.80775122e-05 8.69418357e-01] [ 1.52192995e-02 -6.63758620e-04 9.99883959e-01 8.26609771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40925415399998 meters 0.024048912500364363 Centerline is valid? [True, True] Translation: X:124.69, Y:0.87, Z:0.83 [[ 9.98736824e-01 -4.77259271e-02 -1.57159588e-02 1.24691198e+02] [ 4.77307424e-02 9.98860236e-01 -6.87632379e-05 8.70755634e-01] [ 1.57013282e-02 -6.81458006e-04 9.99876494e-01 8.26463544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43925415399998 meters 0.02431585793427588 Centerline is valid? [True, True] Translation: X:124.72, Y:0.87, Z:0.83 [[ 9.98776746e-01 -4.67318507e-02 -1.61600287e-02 1.24722767e+02] [ 4.67368342e-02 9.98907235e-01 -6.93398072e-05 8.71777784e-01] [ 1.61456100e-02 -6.86013596e-04 9.99869416e-01 8.26436400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46925415399997 meters 0.023340677364720067 Centerline is valid? [True, True] Translation: X:124.75, Y:0.87, Z:0.83 [[ 9.98850448e-01 -4.52493456e-02 -1.58202014e-02 1.24754801e+02] [ 4.52539519e-02 9.98975513e-01 -6.68797052e-05 8.74526158e-01] [ 1.58070201e-02 -6.49123811e-04 9.99874851e-01 8.27158718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49925415399997 meters 0.022992124823090744 Centerline is valid? [True, True] Translation: X:124.79, Y:0.88, Z:0.83 [[ 9.98931157e-01 -4.35253033e-02 -1.55592804e-02 1.24787542e+02] [ 4.35295697e-02 9.99052137e-01 -6.45198543e-05 8.76807228e-01] [ 1.55473406e-02 -6.12837889e-04 9.99878945e-01 8.27664351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52925415399997 meters 0.020881693531780265 Centerline is valid? [True, True] Translation: X:124.82, Y:0.88, Z:0.83 [[ 9.99008634e-01 -4.17489936e-02 -1.54521933e-02 1.24819684e+02] [ 4.17530084e-02 9.99127961e-01 -6.28338395e-05 8.81875568e-01] [ 1.54413417e-02 -5.82404010e-04 9.99880606e-01 8.28961698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55925415399997 meters 0.01943879782467355 Centerline is valid? [True, True] Translation: X:124.85, Y:0.89, Z:0.83 [[ 9.99153138e-01 -3.81244516e-02 -1.54768325e-02 1.24850929e+02] [ 3.81280578e-02 9.99272859e-01 -6.21023834e-05 8.87060751e-01] [ 1.54679463e-02 -5.28051772e-04 9.99880225e-01 8.29415876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58925415399997 meters 0.01937007398650053 Centerline is valid? [True, True] Translation: X:124.88, Y:0.89, Z:0.83 [[ 9.99219418e-01 -3.62386922e-02 -1.57261658e-02 1.24881783e+02] [ 3.62421940e-02 9.99343034e-01 -6.23529485e-05 8.88187187e-01] [ 1.57180939e-02 -5.07646476e-04 9.99876334e-01 8.28973776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61925415399998 meters 0.019116002619521556 Centerline is valid? [True, True] Translation: X:124.91, Y:0.89, Z:0.83 [[ 9.99276120e-01 -3.46456680e-02 -1.57134769e-02 1.24913701e+02] [ 3.46489836e-02 9.99399542e-01 -6.12774564e-05 8.90012061e-01] [ 1.57061646e-02 -4.83222904e-04 9.99876534e-01 8.28662845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64925415399998 meters 0.018900101030833193 Centerline is valid? [True, True] Translation: X:124.95, Y:0.89, Z:0.83 [[ 9.99314246e-01 -3.33090720e-02 -1.61723264e-02 1.24946303e+02] [ 3.33124285e-02 9.99444985e-01 -6.18746987e-05 8.91512968e-01] [ 1.61654115e-02 -4.76907199e-04 9.99869217e-01 8.28579221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67925415399998 meters 0.018162093384495016 Centerline is valid? [True, True] Translation: X:124.98, Y:0.90, Z:0.83 [[ 9.99368520e-01 -3.10750052e-02 -1.72309241e-02 1.24977632e+02] [ 3.10784994e-02 9.99516945e-01 -6.50165367e-05 8.95337728e-01] [ 1.72246210e-02 -4.70535783e-04 9.99851534e-01 8.27840852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70925415399998 meters 0.01842722630619219 Centerline is valid? [True, True] Translation: X:125.01, Y:0.90, Z:0.83 [[ 9.99385990e-01 -3.03759721e-02 -1.74626520e-02 1.25008332e+02] [ 3.03794703e-02 9.99538435e-01 -6.49798149e-05 8.96343840e-01] [ 1.74565656e-02 -4.65566199e-04 9.99847514e-01 8.27335732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73925415399998 meters 0.017902920372758074 Centerline is valid? [True, True] Translation: X:125.04, Y:0.90, Z:0.83 [[ 9.99396945e-01 -2.95656223e-02 -1.82104539e-02 1.25039397e+02] [ 2.95693076e-02 9.99562730e-01 -6.69064342e-05 8.98374170e-01] [ 1.82044691e-02 -4.71604426e-04 9.99834174e-01 8.27550769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76925415399998 meters 0.017969511546182395 Centerline is valid? [True, True] Translation: X:125.07, Y:0.90, Z:0.83 [[ 9.99420833e-01 -2.87362911e-02 -1.82270212e-02 1.25070058e+02] [ 2.87398536e-02 9.99586923e-01 -6.65170945e-05 9.00049022e-01] [ 1.82214035e-02 -4.57363351e-04 9.99833872e-01 8.27455253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79925415399998 meters 0.017126613553804137 Centerline is valid? [True, True] Translation: X:125.10, Y:0.90, Z:0.83 [[ 9.99422508e-01 -2.86976166e-02 -1.81960755e-02 1.25100358e+02] [ 2.87011628e-02 9.99588035e-01 -6.62809937e-05 9.02829552e-01] [ 1.81904814e-02 -4.56005808e-04 9.99834436e-01 8.28628827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82925415399998 meters 0.017224033570086082 Centerline is valid? [True, True] Translation: X:125.13, Y:0.90, Z:0.83 [[ 9.99418623e-01 -2.89622277e-02 -1.79890467e-02 1.25131039e+02] [ 2.89657365e-02 9.99580403e-01 -6.55268712e-05 9.03608363e-01] [ 1.79833964e-02 -4.55577212e-04 9.99838182e-01 8.29316326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85925415399997 meters 0.017274163881887194 Centerline is valid? [True, True] Translation: X:125.16, Y:0.90, Z:0.83 [[ 9.99431532e-01 -2.91358334e-02 -1.69622080e-02 1.25162575e+02] [ 2.91389842e-02 9.99575368e-01 -6.14188327e-05 9.04787536e-01] [ 1.69567948e-02 -4.32877592e-04 9.99856130e-01 8.29787059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88925415399997 meters 0.017754469038144278 Centerline is valid? [True, True] Translation: X:125.19, Y:0.90, Z:0.83 [[ 9.99419054e-01 -2.96174126e-02 -1.68630489e-02 1.25193383e+02] [ 2.96206024e-02 9.99561212e-01 -6.06263638e-05 9.04754981e-01] [ 1.68574452e-02 -4.38902525e-04 9.99857807e-01 8.29947110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91925415399997 meters 0.01741309744101057 Centerline is valid? [True, True] Translation: X:125.22, Y:0.91, Z:0.83 [[ 9.99400637e-01 -3.03755330e-02 -1.66040022e-02 1.25224401e+02] [ 3.03787380e-02 9.99538458e-01 -5.92145414e-05 9.06031030e-01] [ 1.65981374e-02 -4.45229583e-04 9.99862142e-01 8.30641953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94925415399997 meters 0.018373689481672346 Centerline is valid? [True, True] Translation: X:125.25, Y:0.90, Z:0.83 [[ 9.99371744e-01 -3.15332578e-02 -1.61793292e-02 1.25254486e+02] [ 3.15364594e-02 9.99502601e-01 -5.72824602e-05 9.04745998e-01] [ 1.61730879e-02 -4.52992285e-04 9.99869104e-01 8.30378372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97925415399997 meters 0.01873127223348398 Centerline is valid? [True, True] Translation: X:125.29, Y:0.90, Z:0.83 [[ 9.99321255e-01 -3.32431190e-02 -1.58721502e-02 1.25286254e+02] [ 3.32464253e-02 9.99447183e-01 -5.55826703e-05 9.04618401e-01] [ 1.58652236e-02 -4.72147312e-04 9.99874028e-01 8.30629997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00925415399998 meters 0.020882099385991816 Centerline is valid? [True, True] Translation: X:125.32, Y:0.90, Z:0.83 [[ 9.99140250e-01 -3.82884793e-02 -1.58982331e-02 1.25316216e+02] [ 3.82924509e-02 9.99266574e-01 -5.46315155e-05 9.00928755e-01] [ 1.58886646e-02 -5.54197763e-04 9.99873614e-01 8.30209221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03925415399998 meters 0.021902336339817665 Centerline is valid? [True, True] Translation: X:125.35, Y:0.90, Z:0.83 [[ 9.99005872e-01 -4.17052309e-02 -1.57461597e-02 1.25347211e+02] [ 4.17095611e-02 9.99129776e-01 -5.34430185e-05 8.99348812e-01] [ 1.57346858e-02 -6.03375520e-04 9.99876020e-01 8.29854520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06925415399998 meters 0.023502106975849795 Centerline is valid? [True, True] Translation: X:125.38, Y:0.90, Z:0.83 [[ 9.98847995e-01 -4.53268302e-02 -1.57531585e-02 1.25378548e+02] [ 4.53316208e-02 9.98971992e-01 -5.30278142e-05 8.96845886e-01] [ 1.57393677e-02 -6.61149482e-04 9.99875910e-01 8.29755402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09925415399998 meters 0.02553020531839778 Centerline is valid? [True, True] Translation: X:125.41, Y:0.89, Z:0.83 [[ 9.98669105e-01 -4.90802022e-02 -1.58478063e-02 1.25408269e+02] [ 4.90855260e-02 9.98794578e-01 -5.30977940e-05 8.94017923e-01] [ 1.58313090e-02 -7.24870779e-04 9.99874414e-01 8.29885189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12925415399998 meters 0.028884081419159213 Centerline is valid? [True, True] Translation: X:125.44, Y:0.89, Z:0.83 [[ 9.98314588e-01 -5.59242587e-02 -1.55067893e-02 1.25438568e+02] [ 5.59301796e-02 9.98434681e-01 -5.19277814e-05 8.89633663e-01] [ 1.54854203e-02 -8.15457250e-04 9.99879761e-01 8.29841189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15925415399998 meters 0.03098368592784966 Centerline is valid? [True, True] Translation: X:125.47, Y:0.89, Z:0.83 [[ 9.98167049e-01 -5.85484872e-02 -1.53172306e-02 1.25468380e+02] [ 5.85545725e-02 9.98284208e-01 -5.12711050e-05 8.86762363e-01] [ 1.52939513e-02 -8.45716763e-04 9.99882683e-01 8.30224007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18925415399998 meters 0.029714438892320068 Centerline is valid? [True, True] Translation: X:125.50, Y:0.89, Z:0.83 [[ 9.98049338e-01 -6.05519890e-02 -1.51978598e-02 1.25500401e+02] [ 6.05582203e-02 9.98164665e-01 -5.02795523e-05 8.88742147e-01] [ 1.51730112e-02 -8.70173869e-04 9.99884505e-01 8.30978255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21925415399997 meters 0.032381871752455146 Centerline is valid? [True, True] Translation: X:125.53, Y:0.89, Z:0.83 [[ 9.97952951e-01 -6.22188467e-02 -1.47892690e-02 1.25531664e+02] [ 6.22249432e-02 9.98062149e-01 -4.80230969e-05 8.85364157e-01] [ 1.47635975e-02 -8.72336631e-04 9.99890632e-01 8.31130346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24925415399997 meters 0.03477994124618139 Centerline is valid? [True, True] Translation: X:125.56, Y:0.88, Z:0.83 [[ 9.97859030e-01 -6.38791751e-02 -1.40288250e-02 1.25562831e+02] [ 6.38848342e-02 9.97957277e-01 -4.48290289e-05 8.82421910e-01] [ 1.40030317e-02 -8.51496111e-04 9.99901590e-01 8.31269225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27925415399997 meters 0.035396609852541984 Centerline is valid? [True, True] Translation: X:125.60, Y:0.88, Z:0.83 [[ 9.97864131e-01 -6.38431046e-02 -1.38287668e-02 1.25595617e+02] [ 6.38486148e-02 9.97959595e-01 -4.31171829e-05 8.81998535e-01] [ 1.38033032e-02 -8.39922512e-04 9.99904377e-01 8.31337590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30925415399997 meters 0.03569664849119445 Centerline is valid? [True, True] Translation: X:125.63, Y:0.88, Z:0.83 [[ 9.97905244e-01 -6.31949483e-02 -1.38391867e-02 1.25626562e+02] [ 6.32004196e-02 9.98000854e-01 -4.20767121e-05 8.82243207e-01] [ 1.38141792e-02 -8.32653834e-04 9.99904233e-01 8.31406059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33925415399997 meters 0.035122370423547065 Centerline is valid? [True, True] Translation: X:125.66, Y:0.88, Z:0.83 [[ 9.97966288e-01 -6.22132899e-02 -1.38850423e-02 1.25658583e+02] [ 6.22187144e-02 9.98062538e-01 -4.13853387e-05 8.83899711e-01] [ 1.38607153e-02 -8.22608311e-04 9.99903597e-01 8.31311215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36925415399998 meters 0.034710272902263424 Centerline is valid? [True, True] Translation: X:125.69, Y:0.89, Z:0.83 [[ 9.98149822e-01 -5.91096774e-02 -1.42470998e-02 1.25688681e+02] [ 5.91150802e-02 9.98251174e-01 -4.19799102e-05 8.86194887e-01] [ 1.42246655e-02 -8.00316205e-04 9.99898504e-01 8.30851579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39925415399998 meters 0.02821998978097196 Centerline is valid? [True, True] Translation: X:125.72, Y:0.90, Z:0.83 [[ 9.98257977e-01 -5.71272650e-02 -1.47474181e-02 1.25719845e+02] [ 5.71328425e-02 9.98366584e-01 -4.31704941e-05 8.95979146e-01] [ 1.47257956e-02 -7.99466623e-04 9.99891250e-01 8.32297030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42925415399998 meters 0.03200453922206545 Centerline is valid? [True, True] Translation: X:125.75, Y:0.89, Z:0.83 [[ 9.98503538e-01 -5.26321236e-02 -1.48507611e-02 1.25749506e+02] [ 5.26372873e-02 9.98613696e-01 -4.32199995e-05 8.93268229e-01] [ 1.48324482e-02 -7.38548457e-04 9.99889720e-01 8.31380428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45925415399998 meters 0.02528671091988712 Centerline is valid? [True, True] Translation: X:125.78, Y:0.90, Z:0.83 [[ 9.98647629e-01 -4.98939574e-02 -1.46118459e-02 1.25780542e+02] [ 4.98986679e-02 9.98754285e-01 -4.22464586e-05 9.04116466e-01] [ 1.45957515e-02 -6.86922319e-04 9.99893240e-01 8.33029266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48925415399998 meters 0.023215255892029427 Centerline is valid? [True, True] Translation: X:125.81, Y:0.91, Z:0.83 [[ 9.98815354e-01 -4.64474691e-02 -1.45093786e-02 1.25812322e+02] [ 4.64517605e-02 9.98920533e-01 -4.12846401e-05 9.08146619e-01] [ 1.44956338e-02 -6.32750449e-04 9.99894733e-01 8.33932341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51925415399998 meters 0.022166906318705517 Centerline is valid? [True, True] Translation: X:125.84, Y:0.91, Z:0.83 [[ 9.98972276e-01 -4.31276001e-02 -1.39428221e-02 1.25843616e+02] [ 4.31312487e-02 9.99069414e-01 -3.90496119e-05 9.11273497e-01] [ 1.39315312e-02 -5.62361847e-04 9.99902793e-01 8.34521699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54925415399998 meters 0.020710771317573734 Centerline is valid? [True, True] Translation: X:125.88, Y:0.92, Z:0.84 [[ 9.99122643e-01 -3.94801986e-02 -1.39734868e-02 1.25875014e+02] [ 3.94835142e-02 9.99220221e-01 -3.86214242e-05 9.15085780e-01] [ 1.39641154e-02 -5.13134827e-04 9.99902365e-01 8.35045876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57925415399998 meters 0.01831163594852456 Centerline is valid? [True, True] Translation: X:125.91, Y:0.92, Z:0.84 [[ 9.99442611e-01 -3.06222820e-02 -1.32945127e-02 1.25905738e+02] [ 3.06245035e-02 9.99530959e-01 -3.64904336e-05 9.22218992e-01] [ 1.32893945e-02 -3.70667757e-04 9.99911623e-01 8.35454899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60925415399997 meters 0.01831163594852456 Centerline is valid? [True, True] Translation: X:125.94, Y:0.92, Z:0.84 [[ 9.99444826e-01 -3.05498913e-02 -1.32945140e-02 1.25937447e+02] [ 3.05521127e-02 9.99533175e-01 -3.60167177e-05 9.22245352e-01] [ 1.32894081e-02 -3.70178768e-04 9.99911623e-01 8.35674633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63925415399997 meters 0.017058794464847694 Centerline is valid? [True, True] Translation: X:125.97, Y:0.93, Z:0.84 [[ 9.99585415e-01 -2.57439988e-02 -1.28935949e-02 1.25969422e+02] [ 2.57456991e-02 9.99668524e-01 -3.41197892e-05 9.25990958e-01] [ 1.28901994e-02 -2.97848972e-04 9.99916874e-01 8.36062189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66925415399997 meters 0.015642010772145786 Centerline is valid? [True, True] Translation: X:126.00, Y:0.93, Z:0.84 [[ 9.99695004e-01 -2.10825809e-02 -1.28616925e-02 1.26000999e+02] [ 2.10838948e-02 9.99777709e-01 -3.34399393e-05 9.30479249e-01] [ 1.28595385e-02 -2.37744832e-04 9.99917284e-01 8.36944442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69925415399997 meters 0.014908325310988959 Centerline is valid? [True, True] Translation: X:126.03, Y:0.93, Z:0.84 [[ 9.99792067e-01 -1.61970060e-02 -1.23887068e-02 1.26031765e+02] [ 1.61978531e-02 9.99868806e-01 -3.19627832e-05 9.34008984e-01] [ 1.23875992e-02 -1.68714316e-04 9.99923257e-01 8.37082829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72925415399997 meters 0.014072657944077282 Centerline is valid? [True, True] Translation: X:126.06, Y:0.94, Z:0.84 [[ 9.99893509e-01 -7.72439037e-03 -1.23816383e-02 1.26061931e+02] [ 7.72458573e-03 9.99970164e-01 -3.20459629e-05 9.40142783e-01] [ 1.23815164e-02 -6.36004763e-05 9.99923344e-01 8.37577516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75925415399998 meters 0.013929719562264041 Centerline is valid? [True, True] Translation: X:126.09, Y:0.94, Z:0.84 [[ 9.99915334e-01 -4.20955465e-03 -1.23128046e-02 1.26090195e+02] [ 4.20947368e-03 9.99991140e-01 -3.24922100e-05 9.42413939e-01] [ 1.23128323e-02 -1.93409679e-05 9.99924194e-01 8.37438002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78925415399998 meters 0.014016368903289783 Centerline is valid? [True, True] Translation: X:126.12, Y:0.94, Z:0.84 [[ 9.99918421e-01 -1.30071835e-03 -1.27067020e-02 1.26117642e+02] [ 1.30036706e-03 9.99999154e-01 -3.59082770e-05 9.44269845e-01] [ 1.27067380e-02 1.93819710e-05 9.99919266e-01 8.37771478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81925415399998 meters 0.014117241980928555 Centerline is valid? [True, True] Translation: X:126.15, Y:0.95, Z:0.84 [[ 9.99919019e-01 1.27454276e-03 -1.26621989e-02 1.26145904e+02] [-1.27513074e-03 9.99999186e-01 -3.83622941e-05 9.45787749e-01] [ 1.26621397e-02 5.45051464e-05 9.99919830e-01 8.37907240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84925415399998 meters 0.014290520106459472 Centerline is valid? [True, True] Translation: X:126.17, Y:0.95, Z:0.84 [[ 9.99915828e-01 4.16423805e-03 -1.22880293e-02 1.26173718e+02] [-4.16502689e-03 9.99991325e-01 -3.86056734e-05 9.46875872e-01] [ 1.22877619e-02 8.97823964e-05 9.99924499e-01 8.38089465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87925415399998 meters 0.014397438518226804 Centerline is valid? [True, True] Translation: X:126.20, Y:0.95, Z:0.84 [[ 9.99920017e-01 4.40121212e-03 -1.18570346e-02 1.26202074e+02] [-4.40198069e-03 9.99990310e-01 -3.87221254e-05 9.46304216e-01] [ 1.18567493e-02 9.09134657e-05 9.99929702e-01 8.38364817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90925415399998 meters 0.014284074350080661 Centerline is valid? [True, True] Translation: X:126.23, Y:0.94, Z:0.84 [[ 9.99926106e-01 3.83130711e-03 -1.15370260e-02 1.26230879e+02] [-3.83200884e-03 9.99992657e-01 -3.87194995e-05 9.44946242e-01] [ 1.15367929e-02 8.29266240e-05 9.99933446e-01 8.38737869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93925415399998 meters 0.014240123315177919 Centerline is valid? [True, True] Translation: X:126.26, Y:0.94, Z:0.84 [[ 9.99937456e-01 2.30530428e-03 -1.09439087e-02 1.26260084e+02] [-2.30585252e-03 9.99997341e-01 -3.74778787e-05 9.42791578e-01] [ 1.09437932e-02 6.27105742e-05 9.99940113e-01 8.38805450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96925415399997 meters 0.013995529533716017 Centerline is valid? [True, True] Translation: X:126.29, Y:0.94, Z:0.84 [[ 9.99942629e-01 -6.44708217e-05 -1.07114086e-02 1.26289162e+02] [ 6.40735278e-05 9.99999997e-01 -3.74338918e-05 9.39756312e-01] [ 1.07114110e-02 3.67454264e-05 9.99942631e-01 8.39321415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99925415399997 meters 0.013877369469677594 Centerline is valid? [True, True] Translation: X:126.32, Y:0.93, Z:0.84 [[ 9.99922439e-01 -6.94632114e-03 -1.03375747e-02 1.26318064e+02] [ 6.94631133e-03 9.99975873e-01 -3.68544045e-05 9.32081643e-01] [ 1.03375813e-02 -3.49564662e-05 9.99946565e-01 8.39254225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02925415399997 meters 0.01405279362483892 Centerline is valid? [True, True] Translation: X:126.35, Y:0.93, Z:0.84 [[ 9.99882705e-01 -1.14685983e-02 -1.01512256e-02 1.26346951e+02] [ 1.14688145e-02 9.99934230e-01 -3.69174861e-05 9.28224733e-01] [ 1.01509814e-02 -7.95093683e-05 9.99948474e-01 8.39489166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05925415399997 meters 0.014770461402058947 Centerline is valid? [True, True] Translation: X:126.38, Y:0.92, Z:0.84 [[ 9.99821739e-01 -1.62121537e-02 -9.67763557e-03 1.26376067e+02] [ 1.62125671e-02 9.99868567e-01 -3.57345007e-05 9.23111536e-01] [ 9.67694294e-03 -1.21171185e-04 9.99953170e-01 8.39316877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08925415399997 meters 0.015449604157344728 Centerline is valid? [True, True] Translation: X:126.41, Y:0.92, Z:0.84 [[ 9.99727452e-01 -2.11570209e-02 -9.86922074e-03 1.26407065e+02] [ 2.11576910e-02 9.99776150e-01 -3.65178524e-05 9.18848969e-01] [ 9.86778413e-03 -1.72302023e-04 9.99951297e-01 8.39473411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11925415399998 meters 0.017214714953386678 Centerline is valid? [True, True] Translation: X:126.44, Y:0.91, Z:0.84 [[ 9.99491710e-01 -3.02943895e-02 -9.92836159e-03 1.26437714e+02] [ 3.02955199e-02 9.99540985e-01 -3.65527346e-05 9.09287735e-01] [ 9.92491166e-03 -2.64250721e-04 9.99950712e-01 8.39318330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14925415399998 meters 0.019333611943598297 Centerline is valid? [True, True] Translation: X:126.47, Y:0.90, Z:0.84 [[ 9.99351716e-01 -3.46299091e-02 -9.84461930e-03 1.26467788e+02] [ 3.46312319e-02 9.99400158e-01 -3.61176082e-05 9.02984889e-01] [ 9.83996484e-03 -3.04837101e-04 9.99951540e-01 8.39212521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17925415399998 meters 0.02076651643057929 Centerline is valid? [True, True] Translation: X:126.50, Y:0.90, Z:0.84 [[ 9.99212722e-01 -3.84507794e-02 -9.77105090e-03 1.26498536e+02] [ 3.84522655e-02 9.99260438e-01 -3.57967445e-05 8.97964761e-01] [ 9.76520101e-03 -3.39950481e-04 9.99952262e-01 8.39151406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20925415399998 meters 0.02231221609149344 Centerline is valid? [True, True] Translation: X:126.53, Y:0.89, Z:0.84 [[ 9.98957472e-01 -4.47374111e-02 -9.08479730e-03 1.26529335e+02] [ 4.47389566e-02 9.98998711e-01 -3.31457757e-05 8.90329766e-01] [ 9.07718365e-03 -3.73333132e-04 9.99958732e-01 8.39627469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23925415399998 meters 0.024411552797746074 Centerline is valid? [True, True] Translation: X:126.56, Y:0.88, Z:0.84 [[ 9.98849877e-01 -4.71789385e-02 -8.54810429e-03 1.26560246e+02] [ 4.71803982e-02 9.98886384e-01 -3.09178738e-05 8.84748958e-01] [ 8.54004366e-03 -3.72420650e-04 9.99963464e-01 8.39718073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26925415399998 meters 0.023834579446052006 Centerline is valid? [True, True] Translation: X:126.59, Y:0.88, Z:0.84 [[ 9.98758603e-01 -4.91525615e-02 -8.07955501e-03 1.26592219e+02] [ 4.91539374e-02 9.98791214e-01 -2.83075454e-05 8.83023239e-01] [ 8.07117994e-03 -3.68869537e-04 9.99967359e-01 8.39667706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29925415399998 meters 0.024889317782919397 Centerline is valid? [True, True] Translation: X:126.62, Y:0.88, Z:0.84 [[ 9.98676234e-01 -5.08514556e-02 -7.74014067e-03 1.26624006e+02] [ 5.08527734e-02 9.98706160e-01 -2.65864032e-05 8.79212187e-01] [ 7.73147813e-03 -3.67056411e-04 9.99970044e-01 8.39734899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32925415399997 meters 0.023759832030552888 Centerline is valid? [True, True] Translation: X:126.66, Y:0.88, Z:0.84 [[ 9.98620816e-01 -5.19361445e-02 -7.68778810e-03 1.26655663e+02] [ 5.19374798e-02 9.98650338e-01 -2.59861517e-05 8.78514935e-01] [ 7.67876180e-03 -3.73334027e-04 9.99970448e-01 8.39449947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35925415399997 meters 0.024014224446079802 Centerline is valid? [True, True] Translation: X:126.69, Y:0.87, Z:0.84 [[ 9.98584671e-01 -5.26137107e-02 -7.77511980e-03 1.26687983e+02] [ 5.26151005e-02 9.98614866e-01 -2.58210753e-05 8.73759542e-01] [ 7.76570876e-03 -3.83304180e-04 9.99969773e-01 8.38823969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38925415399997 meters 0.02484709917458477 Centerline is valid? [True, True] Translation: X:126.72, Y:0.87, Z:0.84 [[ 9.98587820e-01 -5.24676841e-02 -8.33717598e-03 1.26719183e+02] [ 5.24692824e-02 9.98622538e-01 -2.70491625e-05 8.70781980e-01] [ 8.32711104e-03 -4.10434677e-04 9.99965245e-01 8.38111941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41925415399997 meters 0.024640488980556315 Centerline is valid? [True, True] Translation: X:126.75, Y:0.87, Z:0.84 [[ 9.98605640e-01 -5.20398719e-02 -8.86716639e-03 1.26751592e+02] [ 5.20416680e-02 9.98644914e-01 -2.82121395e-05 8.69649162e-01] [ 8.85661877e-03 -4.33289328e-04 9.99960686e-01 8.37833783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44925415399997 meters 0.025773406987621136 Centerline is valid? [True, True] Translation: X:126.78, Y:0.87, Z:0.84 [[ 9.98654370e-01 -5.09934929e-02 -9.43997850e-03 1.26782771e+02] [ 5.09954906e-02 9.98698883e-01 -2.91186763e-05 8.66302987e-01] [ 9.42918085e-03 -4.52316842e-04 9.99955442e-01 8.37347125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47925415399997 meters 0.023848577162506008 Centerline is valid? [True, True] Translation: X:126.81, Y:0.87, Z:0.84 [[ 9.98713359e-01 -4.94617661e-02 -1.11875468e-02 1.26814810e+02] [ 4.94644931e-02 9.98775882e-01 -3.29863464e-05 8.67261765e-01] [ 1.11754835e-02 -5.20442427e-04 9.99937417e-01 8.36460505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50925415399998 meters 0.022910615668312286 Centerline is valid? [True, True] Translation: X:126.85, Y:0.87, Z:0.84 [[ 9.98750609e-01 -4.85593401e-02 -1.17987667e-02 1.26847422e+02] [ 4.85623210e-02 9.98820154e-01 -3.38833384e-05 8.68001601e-01] [ 1.17864913e-02 -5.39134489e-04 9.99930392e-01 8.35647393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53925415399998 meters 0.023352413761712515 Centerline is valid? [True, True] Translation: X:126.88, Y:0.87, Z:0.83 [[ 9.98777096e-01 -4.78303703e-02 -1.25126815e-02 1.26878920e+02] [ 4.78336767e-02 9.98855314e-01 -3.50711182e-05 8.66554419e-01] [ 1.25000359e-02 -5.63499334e-04 9.99921713e-01 8.34983552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56925415399998 meters 0.022649040935767174 Centerline is valid? [True, True] Translation: X:126.91, Y:0.87, Z:0.83 [[ 9.98809970e-01 -4.68890082e-02 -1.34188183e-02 1.26911179e+02] [ 4.68927382e-02 9.98899930e-01 -3.67111152e-05 8.66732565e-01] [ 1.34057780e-02 -5.92577706e-04 9.99909963e-01 8.34176511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59925415399998 meters 0.022420735503170287 Centerline is valid? [True, True] Translation: X:126.94, Y:0.87, Z:0.83 [[ 9.98818501e-01 -4.60200088e-02 -1.56128499e-02 1.26943504e+02] [ 4.60249719e-02 9.98940289e-01 -4.14645127e-05 8.66416493e-01] [ 1.55982130e-02 -6.77165457e-04 9.99878111e-01 8.33370834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62925415399998 meters 0.02233416254440269 Centerline is valid? [True, True] Translation: X:126.98, Y:0.87, Z:0.83 [[ 9.98818697e-01 -4.57948152e-02 -1.62494766e-02 1.26975346e+02] [ 4.58001817e-02 9.98950620e-01 -4.19247782e-05 8.66590941e-01] [ 1.62343446e-02 -7.02353727e-04 9.99867968e-01 8.33504425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65925415399998 meters 0.024922237144262907 Centerline is valid? [True, True] Translation: X:127.01, Y:0.86, Z:0.83 [[ 9.98818228e-01 -4.56983691e-02 -1.65471037e-02 1.27006476e+02] [ 4.57039490e-02 9.98955028e-01 -4.09872286e-05 8.62606080e-01] [ 1.65316855e-02 -7.15329192e-04 9.99863086e-01 8.32687055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68925415399998 meters 0.02427232456105752 Centerline is valid? [True, True] Translation: X:127.04, Y:0.86, Z:0.83 [[ 9.98802619e-01 -4.59857803e-02 -1.66923771e-02 1.27038183e+02] [ 4.59915218e-02 9.98941829e-01 -3.99625054e-05 8.63801824e-01] [ 1.66765514e-02 -7.27793170e-04 9.99860672e-01 8.32916523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71925415399997 meters 0.02264833815756788 Centerline is valid? [True, True] Translation: X:127.07, Y:0.87, Z:0.83 [[ 9.98778913e-01 -4.64235870e-02 -1.68977499e-02 1.27070601e+02] [ 4.64295521e-02 9.98921566e-01 -3.93332320e-05 8.66477522e-01] [ 1.68813528e-02 -7.45269758e-04 9.99857222e-01 8.33990520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74925415399997 meters 0.02595580432315601 Centerline is valid? [True, True] Translation: X:127.10, Y:0.86, Z:0.83 [[ 9.98746558e-01 -4.71405675e-02 -1.68249759e-02 1.27101396e+02] [ 4.71466008e-02 9.98887980e-01 -3.80999051e-05 8.61957537e-01] [ 1.68080622e-02 -7.55188272e-04 9.99858449e-01 8.33323030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77925415399997 meters 0.024133907768382572 Centerline is valid? [True, True] Translation: X:127.13, Y:0.87, Z:0.84 [[ 9.98668283e-01 -4.87534282e-02 -1.68749434e-02 1.27133056e+02] [ 4.87597428e-02 9.98810536e-01 -3.72773678e-05 8.65508788e-01] [ 1.68566887e-02 -7.85590177e-04 9.99857607e-01 8.35355520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80925415399997 meters 0.023638627469977545 Centerline is valid? [True, True] Translation: X:127.16, Y:0.87, Z:0.84 [[ 9.98629174e-01 -4.97614209e-02 -1.62349589e-02 1.27164727e+02] [ 4.97674205e-02 9.98760834e-01 -3.45104262e-05 8.66725599e-01] [ 1.62165584e-02 -7.73508907e-04 9.99868204e-01 8.36609194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83925415399997 meters 0.024908074425714535 Centerline is valid? [True, True] Translation: X:127.20, Y:0.87, Z:0.84 [[ 9.98519825e-01 -5.22680812e-02 -1.50401420e-02 1.27197016e+02] [ 5.22735328e-02 9.98632804e-01 -3.06899125e-05 8.65226460e-01] [ 1.50211833e-02 -7.55556871e-04 9.99886890e-01 8.38433883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86925415399998 meters 0.02496494105459795 Centerline is valid? [True, True] Translation: X:127.23, Y:0.87, Z:0.84 [[ 9.98454621e-01 -5.37038579e-02 -1.42921225e-02 1.27229309e+02] [ 5.37089422e-02 9.98556633e-01 -2.81246849e-05 8.65182321e-01] [ 1.42730041e-02 -7.39533558e-04 9.99897862e-01 8.38869360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89925415399998 meters 0.02715966208031184 Centerline is valid? [True, True] Translation: X:127.26, Y:0.86, Z:0.84 [[ 9.98371217e-01 -5.52876346e-02 -1.40780338e-02 1.27260109e+02] [ 5.52927356e-02 9.98470186e-01 -2.69264837e-05 8.61970913e-01] [ 1.40579858e-02 -7.51530377e-04 9.99900899e-01 8.39156131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92925415399998 meters 0.02881724318629946 Centerline is valid? [True, True] Translation: X:127.29, Y:0.86, Z:0.84 [[ 9.98292083e-01 -5.68087407e-02 -1.36265553e-02 1.27290912e+02] [ 5.68136760e-02 9.98384798e-01 -2.49618477e-05 8.59655396e-01] [ 1.36059637e-02 -7.49255485e-04 9.99907154e-01 8.39244025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95925415399998 meters 0.03131012791829401 Centerline is valid? [True, True] Translation: X:127.32, Y:0.86, Z:0.84 [[ 9.98189782e-01 -5.86745981e-02 -1.32079495e-02 1.27322163e+02] [ 5.86794133e-02 9.98276878e-01 -2.30033578e-05 8.56296262e-01] [ 1.31865403e-02 -7.52073009e-04 9.99912771e-01 8.39486989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98925415399998 meters 0.02999354398603219 Centerline is valid? [True, True] Translation: X:127.35, Y:0.86, Z:0.84 [[ 9.97954446e-01 -6.26417241e-02 -1.27646929e-02 1.27353253e+02] [ 6.26465507e-02 9.98035776e-01 -2.17676481e-05 8.57738129e-01] [ 1.27409838e-02 -7.77940862e-04 9.99918528e-01 8.40093968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01925415399998 meters 0.03158755438624803 Centerline is valid? [True, True] Translation: X:127.38, Y:0.86, Z:0.84 [[ 9.97824528e-01 -6.46562663e-02 -1.28755298e-02 1.27384411e+02] [ 6.46613485e-02 9.97907265e-01 -2.16171113e-05 8.55357555e-01] [ 1.28499824e-02 -8.10979038e-04 9.99917107e-01 8.39729652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04925415399998 meters 0.032068104433716126 Centerline is valid? [True, True] Translation: X:127.42, Y:0.85, Z:0.84 [[ 9.97718212e-01 -6.62632985e-02 -1.29438744e-02 1.27416538e+02] [ 6.62685784e-02 9.97801822e-01 -2.10386910e-05 8.54728505e-01] [ 1.29168156e-02 -8.36781473e-04 9.99916224e-01 8.40060814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07925415399997 meters 0.03379904748396373 Centerline is valid? [True, True] Translation: X:127.45, Y:0.85, Z:0.84 [[ 9.97608003e-01 -6.78157479e-02 -1.33901496e-02 1.27447514e+02] [ 6.78215492e-02 9.97697468e-01 -2.08868927e-05 8.52720429e-01] [ 1.33607348e-02 -8.87303756e-04 9.99910348e-01 8.39989388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10925415399997 meters 0.031688106555976606 Centerline is valid? [True, True] Translation: X:127.48, Y:0.86, Z:0.84 [[ 9.97518029e-01 -6.90578719e-02 -1.37401752e-02 1.27479443e+02] [ 6.90641101e-02 9.97612223e-01 -2.05372290e-05 8.56036756e-01] [ 1.37087850e-02 -9.28466715e-04 9.99905599e-01 8.40250908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13925415399997 meters 0.0363449355804734 Centerline is valid? [True, True] Translation: X:127.51, Y:0.85, Z:0.84 [[ 9.97449338e-01 -6.99798426e-02 -1.40584382e-02 1.27510393e+02] [ 6.99864773e-02 9.97547940e-01 -2.00882930e-05 8.50071803e-01] [ 1.40253719e-02 -9.63863514e-04 9.99901175e-01 8.39728131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16925415399997 meters 0.03733733112344057 Centerline is valid? [True, True] Translation: X:127.54, Y:0.85, Z:0.84 [[ 9.97377941e-01 -7.08949602e-02 -1.45309319e-02 1.27542743e+02] [ 7.09021586e-02 9.97483275e-01 -1.98271861e-05 8.49924085e-01] [ 1.44957672e-02 -1.01049924e-03 9.99894420e-01 8.39182110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19925415399997 meters 0.03662920186811031 Centerline is valid? [True, True] Translation: X:127.58, Y:0.85, Z:0.84 [[ 9.97387314e-01 -7.07251537e-02 -1.47138769e-02 1.27575419e+02] [ 7.07325358e-02 9.97495317e-01 -1.87444050e-05 8.51444049e-01] [ 1.46783490e-02 -1.02205439e-03 9.99891745e-01 8.39241160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22925415399997 meters 0.03893049236480129 Centerline is valid? [True, True] Translation: X:127.61, Y:0.85, Z:0.84 [[ 9.97423311e-01 -7.02551547e-02 -1.45241720e-02 1.27607151e+02] [ 7.02623164e-02 9.97528549e-01 -1.72314021e-05 8.48978273e-01] [ 1.44894868e-02 -1.00331497e-03 9.99894519e-01 8.38914594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25925415399998 meters 0.031779659739432024 Centerline is valid? [True, True] Translation: X:127.64, Y:0.86, Z:0.84 [[ 9.97531749e-01 -6.87416552e-02 -1.43176572e-02 1.27638245e+02] [ 6.87484703e-02 9.97634025e-01 -1.62268557e-05 8.60667257e-01] [ 1.42848975e-02 -9.68130229e-04 9.99897497e-01 8.40289401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28925415399998 meters 0.03255612782789668 Centerline is valid? [True, True] Translation: X:127.67, Y:0.86, Z:0.84 [[ 9.97610577e-01 -6.76532138e-02 -1.40064323e-02 1.27669311e+02] [ 6.76596472e-02 9.97708460e-01 -1.45736294e-05 8.61228065e-01] [ 1.39753219e-02 -9.33131458e-04 9.99901905e-01 8.40737758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31925415399998 meters 0.03143494455619233 Centerline is valid? [True, True] Translation: X:127.70, Y:0.86, Z:0.84 [[ 9.97687569e-01 -6.65441493e-02 -1.38343797e-02 1.27701850e+02] [ 6.65503405e-02 9.97783069e-01 -1.28699570e-05 8.64512803e-01] [ 1.38045663e-02 -9.07842485e-04 9.99904300e-01 8.41307467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34925415399998 meters 0.032729859327422055 Centerline is valid? [True, True] Translation: X:127.73, Y:0.87, Z:0.84 [[ 9.97813106e-01 -6.47362911e-02 -1.33498052e-02 1.27732229e+02] [ 6.47419031e-02 9.97902042e-01 -1.18038004e-05 8.66167210e-01] [ 1.33225620e-02 -8.52513806e-04 9.99910887e-01 8.41736979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37925415399998 meters 0.033313131325224586 Centerline is valid? [True, True] Translation: X:127.76, Y:0.87, Z:0.84 [[ 9.97847404e-01 -6.42077763e-02 -1.33386670e-02 1.27764462e+02] [ 6.42133398e-02 9.97936194e-01 -1.12050188e-05 8.66664014e-01] [ 1.33118580e-02 -8.45339459e-04 9.99911036e-01 8.42000790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40925415399998 meters 0.030756474062313712 Centerline is valid? [True, True] Translation: X:127.80, Y:0.87, Z:0.84 [[ 9.97867647e-01 -6.39676521e-02 -1.29729980e-02 1.27796489e+02] [ 6.39729065e-02 9.97951636e-01 -9.96743100e-06 8.71130723e-01] [ 1.29470622e-02 -8.19974214e-04 9.99915847e-01 8.42541504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43925415399998 meters 0.031178662673533704 Centerline is valid? [True, True] Translation: X:127.83, Y:0.87, Z:0.84 [[ 9.97872526e-01 -6.39076798e-02 -1.28930044e-02 1.27829569e+02] [ 6.39128797e-02 9.97955482e-01 -8.73796043e-06 8.71087978e-01] [ 1.28672028e-02 -8.15309666e-04 9.99916882e-01 8.42732632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46925415399997 meters 0.03183445944824069 Centerline is valid? [True, True] Translation: X:127.86, Y:0.87, Z:0.84 [[ 9.97869764e-01 -6.40509236e-02 -1.23860398e-02 1.27861959e+02] [ 6.40557476e-02 9.97946322e-01 -7.26009622e-06 8.70634990e-01] [ 1.23610679e-02 -7.86152407e-04 9.99923290e-01 8.42973806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49925415399997 meters 0.03370182220455066 Centerline is valid? [True, True] Translation: X:127.89, Y:0.87, Z:0.84 [[ 9.97839660e-01 -6.45808781e-02 -1.20549927e-02 1.27893127e+02] [ 6.45854954e-02 9.97912177e-01 -6.29486214e-06 8.68772307e-01] [ 1.20302306e-02 -7.72296414e-04 9.99927336e-01 8.43087224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52925415399997 meters 0.03370182220455066 Centerline is valid? [True, True] Translation: X:127.93, Y:0.87, Z:0.84 [[ 9.97846614e-01 -6.44733380e-02 -1.20549931e-02 1.27925732e+02] [ 6.44779587e-02 9.97919131e-01 -5.36574850e-06 8.68692854e-01] [ 1.20302542e-02 -7.71927156e-04 9.99927336e-01 8.43313066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55925415399997 meters 0.03424675383465491 Centerline is valid? [True, True] Translation: X:127.96, Y:0.87, Z:0.84 [[ 9.97746325e-01 -6.59826166e-02 -1.21887265e-02 1.27958028e+02] [ 6.59874663e-02 9.97820452e-01 -4.29314552e-06 8.69368941e-01] [ 1.21624439e-02 -8.00019710e-04 9.99925715e-01 8.43568155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58925415399997 meters 0.03548310757973568 Centerline is valid? [True, True] Translation: X:127.99, Y:0.87, Z:0.84 [[ 9.97686048e-01 -6.67921467e-02 -1.27026748e-02 1.27989650e+02] [ 6.67974898e-02 9.97766554e-01 -3.64805865e-06 8.68183011e-01] [ 1.26745477e-02 -8.44867175e-04 9.99919318e-01 8.43223627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61925415399998 meters 0.03627180932352596 Centerline is valid? [True, True] Translation: X:128.02, Y:0.87, Z:0.84 [[ 9.97632328e-01 -6.75400700e-02 -1.29644446e-02 1.28022146e+02] [ 6.75457089e-02 9.97716181e-01 -2.91805225e-06 8.67585670e-01] [ 1.29350332e-02 -8.72781457e-04 9.99915958e-01 8.42782463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64925415399998 meters 0.03485373268839957 Centerline is valid? [True, True] Translation: X:128.05, Y:0.87, Z:0.84 [[ 9.97586121e-01 -6.81537094e-02 -1.33042327e-02 1.28054328e+02] [ 6.81597149e-02 9.97674422e-01 -2.03041418e-06 8.69693001e-01] [ 1.32734310e-02 -9.04787194e-04 9.99911495e-01 8.42695395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67925415399998 meters 0.03345723048093066 Centerline is valid? [True, True] Translation: X:128.09, Y:0.87, Z:0.84 [[ 9.97523117e-01 -6.88512644e-02 -1.43921999e-02 1.28086863e+02] [ 6.88583804e-02 9.97626445e-01 -1.10568114e-06 8.71544124e-01] [ 1.43581154e-02 -9.89920635e-04 9.99896427e-01 8.41888744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70925415399998 meters 0.0340072073428828 Centerline is valid? [True, True] Translation: X:128.12, Y:0.87, Z:0.84 [[ 9.97487611e-01 -6.92682429e-02 -1.48450833e-02 1.28119200e+02] [ 6.92758762e-02 9.97597541e-01 -3.43623870e-08 8.70774880e-01] [ 1.48094210e-02 -1.02837188e-03 9.99889806e-01 8.41350661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73925415399998 meters 0.03495581889337503 Centerline is valid? [True, True] Translation: X:128.15, Y:0.87, Z:0.84 [[ 9.97465534e-01 -6.94648808e-02 -1.53992799e-02 1.28149976e+02] [ 6.94731333e-02 9.97583823e-01 9.53717448e-07 8.69974148e-01] [ 1.53620062e-02 -1.07078752e-03 9.99881424e-01 8.41076727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76925415399998 meters 0.03472712875271217 Centerline is valid? [True, True] Translation: X:128.18, Y:0.87, Z:0.84 [[ 9.97491653e-01 -6.90272539e-02 -1.56729360e-02 1.28182105e+02] [ 6.90357646e-02 9.97614186e-01 1.99184087e-06 8.70970500e-01] [ 1.56354058e-02 -1.08397997e-03 9.99877172e-01 8.41410571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79925415399998 meters 0.03580587011172068 Centerline is valid? [True, True] Translation: X:128.21, Y:0.87, Z:0.84 [[ 9.97556202e-01 -6.81370832e-02 -1.54583599e-02 1.28213268e+02] [ 6.81452708e-02 9.97675409e-01 2.92453786e-06 8.70628040e-01] [ 1.54222262e-02 -1.05633151e-03 9.99880512e-01 8.41830138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82925415399997 meters 0.03191456200734765 Centerline is valid? [True, True] Translation: X:128.24, Y:0.88, Z:0.84 [[ 9.97837008e-01 -6.41676176e-02 -1.42766425e-02 1.28243527e+02] [ 6.41742019e-02 9.97938711e-01 3.08170962e-06 8.78739293e-01] [ 1.42470165e-02 -9.19267183e-04 9.99898084e-01 8.43783078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85925415399997 meters 0.030906309883650597 Centerline is valid? [True, True] Translation: X:128.27, Y:0.88, Z:0.84 [[ 9.98033943e-01 -6.11754477e-02 -1.36313178e-02 1.28273922e+02] [ 6.11811725e-02 9.98126677e-01 2.97249219e-06 8.81470432e-01] [ 1.36056001e-02 -8.36946653e-04 9.99907089e-01 8.44744697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88925415399997 meters 0.029954702069729746 Centerline is valid? [True, True] Translation: X:128.31, Y:0.88, Z:0.85 [[ 9.98234542e-01 -5.79318074e-02 -1.31036413e-02 1.28305080e+02] [ 5.79368205e-02 9.98320252e-01 2.96924331e-06 8.84613336e-01] [ 1.30814585e-02 -7.62147316e-04 9.99914144e-01 8.45569726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91925415399997 meters 0.027271441254050448 Centerline is valid? [True, True] Translation: X:128.34, Y:0.89, Z:0.85 [[ 9.98469147e-01 -5.38638007e-02 -1.25719662e-02 1.28335659e+02] [ 5.38680965e-02 9.98548060e-01 3.07280186e-06 8.90166192e-01] [ 1.25535469e-02 -6.80295986e-04 9.99920970e-01 8.46248935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94925415399997 meters 0.026293282044167903 Centerline is valid? [True, True] Translation: X:128.37, Y:0.89, Z:0.85 [[ 9.98691674e-01 -4.96755542e-02 -1.21358914e-02 1.28365866e+02] [ 4.96792501e-02 9.98765224e-01 3.08906929e-06 8.93176129e-01] [ 1.21207529e-02 -6.05987014e-04 9.99926357e-01 8.46401494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97925415399997 meters 0.026786093645508935 Centerline is valid? [True, True] Translation: X:128.40, Y:0.90, Z:0.85 [[ 9.99079002e-01 -4.12304307e-02 -1.18827317e-02 1.28395814e+02] [ 4.12333777e-02 9.99149543e-01 3.01819190e-06 8.95780990e-01] [ 1.18725015e-02 -4.92980577e-04 9.99929398e-01 8.46298377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00925415399998 meters 0.021608804995966246 Centerline is valid? [True, True] Translation: X:128.43, Y:0.91, Z:0.85 [[ 9.99236596e-01 -3.71330540e-02 -1.21392452e-02 1.28427104e+02] [ 3.71358299e-02 9.99310227e-01 3.26448628e-06 9.05681016e-01] [ 1.21307506e-02 -4.54062937e-04 9.99926317e-01 8.47258864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03925415399998 meters 0.02008684424612236 Centerline is valid? [True, True] Translation: X:128.46, Y:0.91, Z:0.85 [[ 9.99367003e-01 -3.32635843e-02 -1.26145980e-02 1.28458388e+02] [ 3.32662800e-02 9.99446524e-01 3.86466095e-06 9.09937523e-01] [ 1.26074876e-02 -4.23502964e-04 9.99920433e-01 8.47301467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06925415399998 meters 0.01896691637565831 Centerline is valid? [True, True] Translation: X:128.49, Y:0.91, Z:0.85 [[ 9.99530528e-01 -2.72261231e-02 -1.40521312e-02 1.28487908e+02] [ 2.72288742e-02 9.99629225e-01 4.46030912e-06 9.14311981e-01] [ 1.40467995e-02 -3.87081927e-04 9.99901264e-01 8.45740283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09925415399998 meters 0.01789514163133726 Centerline is valid? [True, True] Translation: X:128.52, Y:0.92, Z:0.85 [[ 9.99580510e-01 -2.49877864e-02 -1.46428980e-02 1.28519691e+02] [ 2.49905380e-02 9.99687688e-01 4.93788769e-06 9.17389651e-01] [ 1.46382014e-02 -3.70869715e-04 9.99892787e-01 8.45872493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12925415399998 meters 0.017855341040916795 Centerline is valid? [True, True] Translation: X:128.55, Y:0.92, Z:0.85 [[ 9.99623076e-01 -2.31290434e-02 -1.47902848e-02 1.28549796e+02] [ 2.31316551e-02 9.99732427e-01 5.51125560e-06 9.17996128e-01] [ 1.47861999e-02 -3.47632946e-04 9.99890618e-01 8.45274339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15925415399998 meters 0.017101344586354775 Centerline is valid? [True, True] Translation: X:128.58, Y:0.92, Z:0.85 [[ 9.99649135e-01 -2.17692404e-02 -1.50899838e-02 1.28580659e+02] [ 2.17718061e-02 9.99762966e-01 5.75054859e-06 9.20414821e-01] [ 1.50862818e-02 -3.34284731e-04 9.99886140e-01 8.45946529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18925415399998 meters 0.016627790423074787 Centerline is valid? [True, True] Translation: X:128.61, Y:0.92, Z:0.85 [[ 9.99674131e-01 -2.06288335e-02 -1.50360348e-02 1.28610781e+02] [ 2.06312497e-02 9.99787153e-01 5.58066534e-06 9.21988062e-01] [ 1.50327193e-02 -3.15791035e-04 9.99886952e-01 8.46354978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21925415399997 meters 0.016520998027176548 Centerline is valid? [True, True] Translation: X:128.64, Y:0.92, Z:0.85 [[ 9.99705607e-01 -1.92456657e-02 -1.47750975e-02 1.28641314e+02] [ 1.92478459e-02 9.99814743e-01 5.35838761e-06 9.23023080e-01] [ 1.47722572e-02 -2.89745610e-04 9.99890842e-01 8.46594941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24925415399997 meters 0.016496601167908756 Centerline is valid? [True, True] Translation: X:128.67, Y:0.92, Z:0.85 [[ 9.99714182e-01 -1.90160492e-02 -1.44894408e-02 1.28670529e+02] [ 1.90181178e-02 9.99819139e-01 4.97995250e-06 9.23077774e-01] [ 1.44867256e-02 -2.80540422e-04 9.99895023e-01 8.46817984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27925415399997 meters 0.016252445879348907 Centerline is valid? [True, True] Translation: X:128.70, Y:0.92, Z:0.85 [[ 9.99723076e-01 -1.87814258e-02 -1.41785138e-02 1.28700266e+02] [ 1.87833757e-02 9.99823577e-01 4.35769252e-06 9.23971326e-01] [ 1.41759305e-02 -2.70676837e-04 9.99899480e-01 8.46904153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30925415399997 meters 0.0166039179051451 Centerline is valid? [True, True] Translation: X:128.73, Y:0.92, Z:0.85 [[ 9.99720903e-01 -1.88405807e-02 -1.42530386e-02 1.28729854e+02] [ 1.88425538e-02 9.99822463e-01 4.14519477e-06 9.22824313e-01] [ 1.42504301e-02 -2.72707685e-04 9.99898420e-01 8.46524576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33925415399997 meters 0.01671343081671948 Centerline is valid? [True, True] Translation: X:128.76, Y:0.92, Z:0.85 [[ 9.99704176e-01 -1.97296293e-02 -1.42233072e-02 1.28759263e+02] [ 1.97316807e-02 9.99805311e-01 3.89345446e-06 9.22774185e-01] [ 1.42204613e-02 -2.84542059e-04 9.99898844e-01 8.46312715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36925415399998 meters 0.016662475850369472 Centerline is valid? [True, True] Translation: X:128.79, Y:0.92, Z:0.85 [[ 9.99689656e-01 -2.05187128e-02 -1.41270411e-02 1.28789977e+02] [ 2.05208117e-02 9.99789426e-01 3.61722890e-06 9.22986401e-01] [ 1.41239921e-02 -2.93514457e-04 9.99900208e-01 8.46668382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39925415399998 meters 0.016892724325442064 Centerline is valid? [True, True] Translation: X:128.82, Y:0.92, Z:0.85 [[ 9.99679671e-01 -2.13310832e-02 -1.36213390e-02 1.28820566e+02] [ 2.13331098e-02 9.99772423e-01 3.48774386e-06 9.22630954e-01] [ 1.36181647e-02 -2.94072146e-04 9.99907225e-01 8.46746709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42925415399998 meters 0.017386039893859423 Centerline is valid? [True, True] Translation: X:128.85, Y:0.92, Z:0.85 [[ 9.99621135e-01 -2.40565205e-02 -1.33742370e-02 1.28851434e+02] [ 2.40587180e-02 9.99710547e-01 3.42447341e-06 9.21637053e-01] [ 1.33702835e-02 -3.25190174e-04 9.99910561e-01 8.47419341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45925415399998 meters 0.018280000886942014 Centerline is valid? [True, True] Translation: X:128.88, Y:0.92, Z:0.85 [[ 9.99568629e-01 -2.62032222e-02 -1.32645041e-02 1.28883058e+02] [ 2.62055758e-02 9.99656575e-01 3.62681699e-06 9.19897131e-01] [ 1.32598537e-02 -3.51229218e-04 9.99912023e-01 8.47305743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48925415399998 meters 0.018429388527505808 Centerline is valid? [True, True] Translation: X:128.91, Y:0.92, Z:0.85 [[ 9.99515347e-01 -2.82128505e-02 -1.31569856e-02 1.28914172e+02] [ 2.82153463e-02 9.99601868e-01 4.07620829e-06 9.18400402e-01] [ 1.31516323e-02 -3.75303137e-04 9.99913443e-01 8.47527003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51925415399998 meters 0.019169752609436933 Centerline is valid? [True, True] Translation: X:128.95, Y:0.92, Z:0.85 [[ 9.99438398e-01 -3.07425728e-02 -1.33335029e-02 1.28946622e+02] [ 3.07453706e-02 9.99527249e-01 4.86025598e-06 9.16164071e-01] [ 1.33270501e-02 -4.14801016e-04 9.99911105e-01 8.47439874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54925415399998 meters 0.02001239820721706 Centerline is valid? [True, True] Translation: X:128.98, Y:0.91, Z:0.85 [[ 9.99356088e-01 -3.34237515e-02 -1.30484911e-02 1.28978852e+02] [ 3.34266717e-02 9.99441173e-01 5.70557906e-06 9.13815139e-01] [ 1.30410085e-02 -4.41869532e-04 9.99914865e-01 8.47262166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57925415399997 meters 0.02265363349842697 Centerline is valid? [True, True] Translation: X:129.01, Y:0.91, Z:0.85 [[ 9.99149503e-01 -3.90075010e-02 -1.33673505e-02 1.29008430e+02] [ 3.90110716e-02 9.99238778e-01 6.36711473e-06 9.07724366e-01] [ 1.33569266e-02 -5.27836366e-04 9.99910653e-01 8.46757143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60925415399997 meters 0.024825882655032237 Centerline is valid? [True, True] Translation: X:129.04, Y:0.90, Z:0.85 [[ 9.99070262e-01 -4.10016580e-02 -1.33220097e-02 1.29040347e+02] [ 4.10053874e-02 9.99158925e-01 6.80276057e-06 9.04750322e-01] [ 1.33105259e-02 -5.53070603e-04 9.99911258e-01 8.45646923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63925415399997 meters 0.024331022647794496 Centerline is valid? [True, True] Translation: X:129.07, Y:0.90, Z:0.85 [[ 9.98964743e-01 -4.36046877e-02 -1.29643464e-02 1.29072748e+02] [ 4.36084502e-02 9.99048699e-01 7.53854919e-06 9.04124391e-01] [ 1.29516847e-02 -5.72885800e-04 9.99915959e-01 8.47589088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66925415399997 meters 0.024564306307952748 Centerline is valid? [True, True] Translation: X:129.10, Y:0.90, Z:0.85 [[ 9.98838895e-01 -4.65599233e-02 -1.23707697e-02 1.29103666e+02] [ 4.65635824e-02 9.98915328e-01 7.77087133e-06 9.02586079e-01] [ 1.23569897e-02 -5.83789204e-04 9.99923479e-01 8.48419959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69925415399997 meters 0.025339497503807092 Centerline is valid? [True, True] Translation: X:129.14, Y:0.90, Z:0.85 [[ 9.98808463e-01 -4.72809419e-02 -1.20899816e-02 1.29135698e+02] [ 4.72844956e-02 9.98881463e-01 8.09542881e-06 9.00753382e-01] [ 1.20760757e-02 -5.79754464e-04 9.99926913e-01 8.48696323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72925415399997 meters 0.02398323717968152 Centerline is valid? [True, True] Translation: X:129.17, Y:0.90, Z:0.85 [[ 9.98804921e-01 -4.73775591e-02 -1.20040317e-02 1.29167717e+02] [ 4.73810799e-02 9.98876886e-01 8.92140781e-06 9.02169283e-01] [ 1.19901272e-02 -5.77674733e-04 9.99927949e-01 8.49125076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75925415399998 meters 0.02593981004427963 Centerline is valid? [True, True] Translation: X:129.20, Y:0.90, Z:0.85 [[ 9.98831224e-01 -4.68404175e-02 -1.19231605e-02 1.29198617e+02] [ 4.68438624e-02 9.98902224e-01 9.65749374e-06 8.98760967e-01] [ 1.19096192e-02 -5.68173096e-04 9.99928917e-01 8.48875608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78925415399998 meters 0.025790118015683976 Centerline is valid? [True, True] Translation: X:129.23, Y:0.90, Z:0.85 [[ 9.98864789e-01 -4.61164996e-02 -1.19332555e-02 1.29230491e+02] [ 4.61199077e-02 9.98935911e-01 1.04150713e-05 8.98898706e-01] [ 1.19200771e-02 -5.60763890e-04 9.99928796e-01 8.49221326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81925415399998 meters 0.025969613073571342 Centerline is valid? [True, True] Translation: X:129.26, Y:0.90, Z:0.85 [[ 9.98945216e-01 -4.42088899e-02 -1.24108869e-02 1.29261444e+02] [ 4.42124394e-02 9.99022152e-01 1.16432370e-05 8.98995467e-01] [ 1.23982362e-02 -5.60346542e-04 9.99922982e-01 8.49346559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84925415399998 meters 0.024071473837594656 Centerline is valid? [True, True] Translation: X:129.29, Y:0.90, Z:0.85 [[ 9.99005858e-01 -4.27049582e-02 -1.27899443e-02 1.29293629e+02] [ 4.27086151e-02 9.99087571e-01 1.28013377e-05 9.01897644e-01] [ 1.27777277e-02 -5.59029420e-04 9.99918205e-01 8.49736694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87925415399998 meters 0.022902922581668733 Centerline is valid? [True, True] Translation: X:129.33, Y:0.90, Z:0.85 [[ 9.99068204e-01 -4.10635572e-02 -1.32856436e-02 1.29325614e+02] [ 4.10673714e-02 9.99156380e-01 1.42844493e-05 9.04089743e-01] [ 1.32738490e-02 -5.59877600e-04 9.99911742e-01 8.49376538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90925415399998 meters 0.02215785746318937 Centerline is valid? [True, True] Translation: X:129.36, Y:0.91, Z:0.85 [[ 9.99135652e-01 -3.92383566e-02 -1.37222797e-02 1.29357529e+02] [ 3.92422678e-02 9.99229725e-01 1.57788192e-05 9.05299367e-01] [ 1.37110907e-02 -5.54258558e-04 9.99905845e-01 8.49178818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93925415399998 meters 0.021058667002206963 Centerline is valid? [True, True] Translation: X:129.39, Y:0.91, Z:0.85 [[ 9.99268718e-01 -3.52517351e-02 -1.48102544e-02 1.29389126e+02] [ 3.52558699e-02 9.99378318e-01 1.81103847e-05 9.07681337e-01] [ 1.48004087e-02 -5.40245543e-04 9.99890322e-01 8.48404215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96925415399997 meters 0.019438901233021666 Centerline is valid? [True, True] Translation: X:129.42, Y:0.91, Z:0.85 [[ 9.99413746e-01 -3.03871503e-02 -1.57729036e-02 1.29421084e+02] [ 3.03912506e-02 9.99538079e-01 2.02725074e-05 9.11547628e-01] [ 1.57650018e-02 -4.99618889e-04 9.99875600e-01 8.48372982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99925415399997 meters 0.019438901233021666 Centerline is valid? [True, True] Translation: X:129.45, Y:0.91, Z:0.85 [[ 9.99414859e-01 -3.03505231e-02 -1.57729027e-02 1.29451948e+02] [ 3.03546299e-02 9.99539192e-01 2.09790546e-05 9.11477356e-01] [ 1.57649977e-02 -4.99747403e-04 9.99875600e-01 8.48586737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.029254154 meters 0.018680523091150647 Centerline is valid? [True, True] Translation: X:129.48, Y:0.91, Z:0.85 [[ 9.99486034e-01 -2.77500083e-02 -1.60500624e-02 1.29483149e+02] [ 2.77539353e-02 9.99614785e-01 2.19404652e-05 9.13744609e-01] [ 1.60432709e-02 -4.67381584e-04 9.99871189e-01 8.48973718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059254154 meters 0.017802197859493708 Centerline is valid? [True, True] Translation: X:129.51, Y:0.92, Z:0.85 [[ 9.99607488e-01 -2.24224605e-02 -1.67959110e-02 1.29513495e+02] [ 2.24260170e-02 9.99748505e-01 2.34077980e-05 9.17511159e-01] [ 1.67911620e-02 -4.00063995e-04 9.99858938e-01 8.49094166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.089254154 meters 0.017073338476233945 Centerline is valid? [True, True] Translation: X:129.54, Y:0.92, Z:0.85 [[ 9.99660472e-01 -1.98063150e-02 -1.69307736e-02 1.29543418e+02] [ 1.98095499e-02 9.99803771e-01 2.33631262e-05 9.19991668e-01] [ 1.69269886e-02 -3.58746198e-04 9.99856664e-01 8.49601886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119254154 meters 0.016660485896520236 Centerline is valid? [True, True] Translation: X:129.57, Y:0.92, Z:0.85 [[ 9.99716993e-01 -1.67106512e-02 -1.69318902e-02 1.29571995e+02] [ 1.67134294e-02 9.99860321e-01 2.25765019e-05 9.21488630e-01] [ 1.69291479e-02 -3.05560064e-04 9.99856645e-01 8.49545346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14925415399998 meters 0.015365424222654746 Centerline is valid? [True, True] Translation: X:129.60, Y:0.93, Z:0.85 [[ 9.99812443e-01 -1.07513090e-02 -1.61086335e-02 1.29600992e+02] [ 1.07530336e-02 9.99942184e-01 2.04504402e-05 9.26593928e-01] [ 1.61074823e-02 -1.93663281e-04 9.99870247e-01 8.51196023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17925415399998 meters 0.015236357952631419 Centerline is valid? [True, True] Translation: X:129.63, Y:0.93, Z:0.85 [[ 9.99847367e-01 -8.07909726e-03 -1.54909787e-02 1.29629189e+02] [ 8.08033013e-03 9.99967353e-01 1.69966390e-05 9.27786555e-01] [ 1.54903356e-02 -1.42166267e-04 9.99880007e-01 8.51349421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20925415399998 meters 0.014805118616964553 Centerline is valid? [True, True] Translation: X:129.66, Y:0.93, Z:0.85 [[ 9.99875832e-01 -5.23573351e-03 -1.48629750e-02 1.29658058e+02] [ 5.23649951e-03 9.99986289e-01 1.26211117e-05 9.29953196e-01] [ 1.48627051e-02 -9.04495057e-05 9.99889540e-01 8.52403857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23925415399998 meters 0.014761000972006978 Centerline is valid? [True, True] Translation: X:129.69, Y:0.93, Z:0.85 [[ 9.99896530e-01 -2.83272335e-03 -1.41033813e-02 1.29686342e+02] [ 2.83312499e-03 9.99995987e-01 8.49916343e-06 9.31870061e-01] [ 1.41033006e-02 -4.84549261e-05 9.99900542e-01 8.53521779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26925415399998 meters 0.014672285825732184 Centerline is valid? [True, True] Translation: X:129.71, Y:0.93, Z:0.85 [[ 9.99906891e-01 -5.19546348e-04 -1.36359878e-02 1.29713749e+02] [ 5.19675257e-04 9.99999865e-01 5.91029941e-06 9.33296505e-01] [ 1.36359829e-02 -1.29960346e-05 9.99907026e-01 8.54000168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29925415399998 meters 0.014703633351918585 Centerline is valid? [True, True] Translation: X:129.74, Y:0.93, Z:0.85 [[ 9.99916259e-01 1.08013195e-03 -1.28960606e-02 1.29741291e+02] [-1.08017974e-03 9.99999417e-01 3.26003194e-06 9.34220689e-01] [ 1.28960566e-02 1.06703043e-05 9.99916842e-01 8.54855668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32925415399998 meters 0.014622084532008594 Centerline is valid? [True, True] Translation: X:129.77, Y:0.93, Z:0.86 [[ 9.99913961e-01 2.96697332e-03 -1.27776003e-02 1.29769002e+02] [-2.96720662e-03 9.99995598e-01 6.98853686e-07 9.33910714e-01] [ 1.27775461e-02 3.72149865e-05 9.99918363e-01 8.55145832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35925415399998 meters 0.01474832155579216 Centerline is valid? [True, True] Translation: X:129.80, Y:0.93, Z:0.86 [[ 9.99908322e-01 2.89186494e-03 -1.32281850e-02 1.29797651e+02] [-2.89212298e-03 9.99995818e-01 -3.77619476e-07 9.32954809e-01] [ 1.32281286e-02 3.86351227e-05 9.99912504e-01 8.55045860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38925415399999 meters 0.014699927743944973 Centerline is valid? [True, True] Translation: X:129.83, Y:0.93, Z:0.86 [[ 9.99909443e-01 2.20427880e-03 -1.32758405e-02 1.29825726e+02] [-2.20449406e-03 9.99997570e-01 -1.58038802e-06 9.31577767e-01] [ 1.32758048e-02 3.08467565e-05 9.99911872e-01 8.55183796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.419254154 meters 0.014699927743944973 Centerline is valid? [True, True] Translation: X:129.85, Y:0.93, Z:0.86 [[ 9.99909680e-01 2.09387195e-03 -1.32758402e-02 1.29853181e+02] [-2.09409694e-03 9.99997807e-01 -3.04679989e-06 9.31668557e-01] [ 1.32758048e-02 3.08474212e-05 9.99911872e-01 8.55374332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.449254154 meters 0.014574250861778978 Centerline is valid? [True, True] Translation: X:129.88, Y:0.93, Z:0.85 [[ 9.99908996e-01 7.56262921e-04 -1.34695485e-02 1.29879639e+02] [-7.56394891e-04 9.99999714e-01 -4.70327207e-06 9.29903230e-01] [ 1.34695411e-02 1.48911417e-05 9.99909282e-01 8.54795818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.479254154 meters 0.014532904625916714 Centerline is valid? [True, True] Translation: X:129.91, Y:0.92, Z:0.85 [[ 9.99892034e-01 -3.44226794e-03 -1.42853726e-02 1.29908686e+02] [ 3.44252698e-03 9.99994074e-01 -6.45706618e-06 9.24658020e-01] [ 1.42853101e-02 -4.27214114e-05 9.99897959e-01 8.53869855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.509254154 meters 0.01453536479456076 Centerline is valid? [True, True] Translation: X:129.94, Y:0.92, Z:0.85 [[ 9.99879962e-01 -5.98122166e-03 -1.42929057e-02 1.29937196e+02] [ 5.98172547e-03 9.99982109e-01 -7.50165014e-06 9.21710865e-01] [ 1.42926948e-02 -7.79954881e-05 9.99897851e-01 8.54169596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.539254154 meters 0.014894997853489066 Centerline is valid? [True, True] Translation: X:129.97, Y:0.92, Z:0.85 [[ 9.99850810e-01 -9.11035684e-03 -1.46750908e-02 1.29965234e+02] [ 9.11120415e-03 9.99958492e-01 -9.12008416e-06 9.18069538e-01] [ 1.46745647e-02 -1.24589024e-04 9.99892315e-01 8.53703705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.569254154 meters 0.015105560018765047 Centerline is valid? [True, True] Translation: X:129.99, Y:0.92, Z:0.85 [[ 9.99824254e-01 -1.18786116e-02 -1.45037656e-02 1.29994122e+02] [ 1.18797109e-02 9.99929434e-01 -1.03588383e-05 9.15021716e-01] [ 1.45028652e-02 -1.61943526e-04 9.99894815e-01 8.53902224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.599254154 meters 0.01591435335894605 Centerline is valid? [True, True] Translation: X:130.02, Y:0.91, Z:0.85 [[ 9.99752775e-01 -1.73058205e-02 -1.39605950e-02 1.30023064e+02] [ 1.73073541e-02 9.99850216e-01 -1.09699936e-05 9.07810988e-01] [ 1.39586938e-02 -2.30653680e-04 9.99902546e-01 8.53937836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.629254154 meters 0.016565679909466027 Centerline is valid? [True, True] Translation: X:130.05, Y:0.90, Z:0.85 [[ 9.99712225e-01 -1.99222234e-02 -1.33630864e-02 1.30051305e+02] [ 1.99238510e-02 9.99801500e-01 -1.13301073e-05 9.03838022e-01] [ 1.33606596e-02 -2.54917296e-04 9.99910710e-01 8.53890055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.659254154 meters 0.016645766546016325 Centerline is valid? [True, True] Translation: X:130.08, Y:0.90, Z:0.85 [[ 9.99664524e-01 -2.22593521e-02 -1.32423805e-02 1.30081452e+02] [ 2.22611505e-02 9.99752190e-01 -1.15989847e-05 9.01644124e-01] [ 1.32393570e-02 -2.83195531e-04 9.99912316e-01 8.54442158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.689254154 meters 0.017549255090964777 Centerline is valid? [True, True] Translation: X:130.11, Y:0.90, Z:0.85 [[ 9.99567564e-01 -2.64131366e-02 -1.29240766e-02 1.30111926e+02] [ 2.64151965e-02 9.99651058e-01 -1.13201828e-05 8.96471860e-01] [ 1.29198659e-02 -3.30076736e-04 9.99916481e-01 8.54687839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.719254154 meters 0.018670821962170972 Centerline is valid? [True, True] Translation: X:130.14, Y:0.89, Z:0.85 [[ 9.99511412e-01 -2.84805207e-02 -1.28762543e-02 1.30141956e+02] [ 2.84827382e-02 9.99594284e-01 -1.11694085e-05 8.92623901e-01] [ 1.28713484e-02 -3.55587031e-04 9.99917098e-01 8.54667768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.749254154 meters 0.018875626527130984 Centerline is valid? [True, True] Translation: X:130.17, Y:0.89, Z:0.86 [[ 9.99452342e-01 -3.05370070e-02 -1.27478099e-02 1.30173507e+02] [ 3.05393519e-02 9.99533565e-01 -1.07206544e-05 8.90155528e-01] [ 1.27421913e-02 -3.78595070e-04 9.99918743e-01 8.55154083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.779254154 meters 0.019976430510822357 Centerline is valid? [True, True] Translation: X:130.21, Y:0.88, Z:0.86 [[ 9.99331079e-01 -3.46086733e-02 -1.18166525e-02 1.30205165e+02] [ 3.46109773e-02 9.99400861e-01 -9.52465799e-06 8.84619915e-01] [ 1.18099023e-02 -3.99467605e-04 9.99930181e-01 8.55653127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.809254154 meters 0.020934345034039313 Centerline is valid? [True, True] Translation: X:130.24, Y:0.88, Z:0.86 [[ 9.99264300e-01 -3.65879843e-02 -1.14968544e-02 1.30236632e+02] [ 3.65903044e-02 9.99330351e-01 -8.54664161e-06 8.80830856e-01] [ 1.14894683e-02 -4.12133050e-04 9.99933909e-01 8.55838801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839254154 meters 0.021278732439524967 Centerline is valid? [True, True] Translation: X:130.27, Y:0.88, Z:0.86 [[ 9.99171135e-01 -3.89991486e-02 -1.16665816e-02 1.30268333e+02] [ 3.90017134e-02 9.99239144e-01 -7.68131879e-06 8.78620469e-01] [ 1.16580046e-02 -4.47341719e-04 9.99931943e-01 8.55650369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.869254154 meters 0.021870690082356873 Centerline is valid? [True, True] Translation: X:130.30, Y:0.88, Z:0.86 [[ 9.99074821e-01 -4.12904361e-02 -1.20250344e-02 1.30300413e+02] [ 4.12933359e-02 9.99147066e-01 -7.14300318e-06 8.76010060e-01] [ 1.20150728e-02 -4.89417391e-04 9.99927697e-01 8.55784339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89925415399998 meters 0.02406633812734931 Centerline is valid? [True, True] Translation: X:130.33, Y:0.87, Z:0.85 [[ 9.98918219e-01 -4.46046759e-02 -1.31459000e-02 1.30330714e+02] [ 4.46084369e-02 9.99004548e-01 -7.13353644e-06 8.70108245e-01] [ 1.31331320e-02 -5.79292230e-04 9.99913589e-01 8.54787764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92925415399998 meters 0.0235181048377135 Centerline is valid? [True, True] Translation: X:130.36, Y:0.87, Z:0.85 [[ 9.98867141e-01 -4.56597785e-02 -1.34021805e-02 1.30362473e+02] [ 4.56637931e-02 9.98956865e-01 -6.46602419e-06 8.69701783e-01] [ 1.33884955e-02 -6.05535700e-04 9.99910187e-01 8.54900194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95925415399998 meters 0.025124699022375623 Centerline is valid? [True, True] Translation: X:130.39, Y:0.87, Z:0.85 [[ 9.98833694e-01 -4.63600760e-02 -1.34905912e-02 1.30393759e+02] [ 4.63642222e-02 9.98924601e-01 -5.41774128e-06 8.66082220e-01] [ 1.34763346e-02 -6.20069343e-04 9.99908998e-01 8.54388365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.98925415399998 meters 0.0242316748662798 Centerline is valid? [True, True] Translation: X:130.43, Y:0.87, Z:0.85 [[ 9.98796617e-01 -4.71303067e-02 -1.35666008e-02 1.30425723e+02] [ 4.71345826e-02 9.98888548e-01 -4.57577452e-06 8.66490905e-01] [ 1.35517378e-02 -6.34885798e-04 9.99907969e-01 8.54675343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01925415399998 meters 0.02485918130145151 Centerline is valid? [True, True] Translation: X:130.46, Y:0.86, Z:0.86 [[ 9.98752451e-01 -4.80368645e-02 -1.36382602e-02 1.30457391e+02] [ 4.80412820e-02 9.98845351e-01 -3.71767715e-06 8.64010842e-01] [ 1.36226914e-02 -6.51486467e-04 9.99906995e-01 8.55171827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.04925415399998 meters 0.024966551285210022 Centerline is valid? [True, True] Translation: X:130.49, Y:0.86, Z:0.86 [[ 9.98760787e-01 -4.77662356e-02 -1.39741760e-02 1.30489364e+02] [ 4.77708596e-02 9.98858321e-01 -2.90349885e-06 8.63220550e-01] [ 1.39583606e-02 -6.64658498e-04 9.99902356e-01 8.55218171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07925415399998 meters 0.023476806764248175 Centerline is valid? [True, True] Translation: X:130.52, Y:0.87, Z:0.86 [[ 9.98769832e-01 -4.73449437e-02 -1.47404008e-02 1.30521449e+02] [ 4.73500595e-02 9.98878357e-01 -1.94344472e-06 8.65088508e-01] [ 1.47239594e-02 -6.96017802e-04 9.99891354e-01 8.55316189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10925415399998 meters 0.024300686571470373 Centerline is valid? [True, True] Translation: X:130.55, Y:0.86, Z:0.85 [[ 9.98791469e-01 -4.65732069e-02 -1.57015319e-02 1.30552203e+02] [ 4.65789328e-02 9.98914612e-01 -1.02871921e-06 8.63682957e-01] [ 1.56845376e-02 -7.30333125e-04 9.99876723e-01 8.54819482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13925415399999 meters 0.023387291120848953 Centerline is valid? [True, True] Translation: X:130.58, Y:0.87, Z:0.85 [[ 9.98841671e-01 -4.52080799e-02 -1.64786215e-02 1.30584697e+02] [ 4.52142197e-02 9.98977314e-01 3.28138130e-08 8.65227589e-01] [ 1.64617676e-02 -7.45100788e-04 9.99864218e-01 8.54511366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.169254154 meters 0.02229654124976191 Centerline is valid? [True, True] Translation: X:130.62, Y:0.87, Z:0.85 [[ 9.98918928e-01 -4.31594576e-02 -1.72695191e-02 1.30616421e+02] [ 4.31659148e-02 9.99067918e-01 1.15027126e-06 8.67110503e-01] [ 1.72533728e-02 -7.46603615e-04 9.99850871e-01 8.54574723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.199254154 meters 0.02036966570084748 Centerline is valid? [True, True] Translation: X:130.65, Y:0.87, Z:0.85 [[ 9.99095475e-01 -3.82073418e-02 -1.86663241e-02 1.30646716e+02] [ 3.82140309e-02 9.99269577e-01 1.66198618e-06 8.71863607e-01] [ 1.86526263e-02 -7.14975968e-04 9.99825769e-01 8.53758122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.229254154 meters 0.019675708198439324 Centerline is valid? [True, True] Translation: X:130.68, Y:0.87, Z:0.85 [[ 9.99197160e-01 -3.51829410e-02 -1.91623540e-02 1.30677503e+02] [ 3.51894438e-02 9.99380660e-01 2.16437609e-06 8.73388426e-01] [ 1.91504098e-02 -6.76475217e-04 9.99816385e-01 8.53708564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.259254154 meters 0.019272908212460086 Centerline is valid? [True, True] Translation: X:130.71, Y:0.88, Z:0.85 [[ 9.99400745e-01 -2.89160940e-02 -1.90265957e-02 1.30707373e+02] [ 2.89213752e-02 9.99581690e-01 2.40675950e-06 8.76034919e-01] [ 1.90185671e-02 -5.52680630e-04 9.99818978e-01 8.53587767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.289254154 meters 0.01730299761784432 Centerline is valid? [True, True] Translation: X:130.74, Y:0.88, Z:0.86 [[ 9.99497534e-01 -2.54089803e-02 -1.89489482e-02 1.30737182e+02] [ 2.54135802e-02 9.99677023e-01 1.95217010e-06 8.80791814e-01] [ 1.89427785e-02 -4.83511805e-04 9.99820453e-01 8.55248946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.319254154 meters 0.016593125032498105 Centerline is valid? [True, True] Translation: X:130.77, Y:0.88, Z:0.86 [[ 9.99588000e-01 -2.20174329e-02 -1.84136797e-02 1.30766394e+02] [ 2.20211459e-02 9.99757505e-01 -1.12031392e-06 8.83963693e-01] [ 1.84092391e-02 -4.04370474e-04 9.99830454e-01 8.56093820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.349254154 meters 0.01599833868403106 Centerline is valid? [True, True] Translation: X:130.79, Y:0.89, Z:0.86 [[ 9.99674146e-01 -1.79972190e-02 -1.81025533e-02 1.30794379e+02] [ 1.80000931e-02 9.99837985e-01 -4.16771728e-06 8.86711193e-01] [ 1.80996955e-02 -3.21681286e-04 9.99836135e-01 8.56737063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.379254154 meters 0.014978462589773119 Centerline is valid? [True, True] Translation: X:130.82, Y:0.89, Z:0.86 [[ 9.99753059e-01 -1.37150937e-02 -1.74847784e-02 1.30823460e+02] [ 1.37170604e-02 9.99905917e-01 -7.44954537e-06 8.90651483e-01] [ 1.74832355e-02 -2.32392055e-04 9.99847130e-01 8.57937670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.409254154 meters 0.01441363482760458 Centerline is valid? [True, True] Translation: X:130.85, Y:0.90, Z:0.86 [[ 9.99846155e-01 -4.66631639e-03 -1.69083408e-02 1.30851653e+02] [ 4.66682164e-03 9.99989110e-01 -9.57530159e-06 8.97194180e-01] [ 1.69082013e-02 -6.93343821e-05 9.99857044e-01 8.58494460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.439254154 meters 0.014269310981596218 Centerline is valid? [True, True] Translation: X:130.88, Y:0.90, Z:0.86 [[ 9.99865456e-01 -4.62980211e-04 -1.63968104e-02 1.30880608e+02] [ 4.62843386e-04 9.99999893e-01 -1.21394414e-05 9.00640593e-01] [ 1.63968142e-02 4.54865293e-06 9.99865563e-01 8.58967770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.469254154 meters 0.014505997995374751 Centerline is valid? [True, True] Translation: X:130.91, Y:0.90, Z:0.86 [[ 9.99860907e-01 3.26375336e-03 -1.63558580e-02 1.30909521e+02] [-3.26445484e-03 9.99994672e-01 -1.61905753e-05 9.03539446e-01] [ 1.63557180e-02 6.95812832e-05 9.99866234e-01 8.59335395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499254154 meters 0.015536793594225167 Centerline is valid? [True, True] Translation: X:130.94, Y:0.91, Z:0.86 [[ 9.99851638e-01 6.66533290e-03 -1.58831868e-02 1.30938466e+02] [-6.66648634e-03 9.99977779e-01 -1.96745056e-05 9.05145470e-01] [ 1.58827027e-02 1.25556634e-04 9.99873854e-01 8.59256756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.529254154 meters 0.015042939500625362 Centerline is valid? [True, True] Translation: X:130.97, Y:0.91, Z:0.86 [[ 9.99843334e-01 8.83462060e-03 -1.53380903e-02 1.30966758e+02] [-8.83598896e-03 9.99960962e-01 -2.14467219e-05 9.06949519e-01] [ 1.53373021e-02 1.56970559e-04 9.99882364e-01 8.60109932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559254154 meters 0.0154218025166887 Centerline is valid? [True, True] Translation: X:130.99, Y:0.91, Z:0.86 [[ 9.99820709e-01 1.14743011e-02 -1.50628514e-02 1.30994404e+02] [-1.14759404e-02 9.99934149e-01 -2.23947701e-05 9.08284557e-01] [ 1.50616025e-02 1.95251139e-04 9.99886549e-01 8.60765185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.589254154 meters 0.015460503339587452 Centerline is valid? [True, True] Translation: X:131.02, Y:0.91, Z:0.86 [[ 9.99824933e-01 1.15054907e-02 -1.47555996e-02 1.31021109e+02] [-1.15070982e-02 9.99933791e-01 -2.40433900e-05 9.08226656e-01] [ 1.47543460e-02 1.93833314e-04 9.99891130e-01 8.60864254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619254154 meters 0.014955249771039058 Centerline is valid? [True, True] Translation: X:131.05, Y:0.91, Z:0.86 [[ 9.99833196e-01 1.06970502e-02 -1.48038314e-02 1.31049719e+02] [-1.06986079e-02 9.99942768e-01 -2.60297415e-05 9.06302210e-01] [ 1.48027057e-02 1.84405786e-04 9.99890417e-01 8.61806408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64925415399998 meters 0.01508463449668465 Centerline is valid? [True, True] Translation: X:131.08, Y:0.91, Z:0.86 [[ 9.99847816e-01 9.09844712e-03 -1.48849624e-02 1.31077573e+02] [-9.09986820e-03 9.99958595e-01 -2.77426252e-05 9.05948774e-01] [ 1.48840937e-02 1.63189599e-04 9.99889212e-01 8.61117317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67925415399998 meters 0.014206129482534394 Centerline is valid? [True, True] Translation: X:131.11, Y:0.90, Z:0.86 [[ 9.99877674e-01 4.12180307e-03 -1.50879707e-02 1.31106303e+02] [-4.12271969e-03 9.99991501e-01 -2.96485289e-05 9.00808783e-01] [ 1.50877203e-02 9.18483762e-05 9.99886170e-01 8.61352031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70925415399998 meters 0.013963282331077262 Centerline is valid? [True, True] Translation: X:131.14, Y:0.90, Z:0.86 [[ 9.99880644e-01 1.29481250e-03 -1.53955227e-02 1.31135014e+02] [-1.29544909e-03 9.99999160e-01 -3.13770498e-05 8.97914063e-01] [ 1.53954691e-02 5.13174206e-05 9.99881481e-01 8.61270208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73925415399998 meters 0.013838650338981528 Centerline is valid? [True, True] Translation: X:131.16, Y:0.89, Z:0.86 [[ 9.99875697e-01 -2.19466738e-03 -1.56132354e-02 1.31163484e+02] [ 2.19442024e-03 9.99997592e-01 -3.29606713e-05 8.94563629e-01] [ 1.56132701e-02 -1.30542565e-06 9.99878105e-01 8.60813892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76925415399998 meters 0.014022791417739664 Centerline is valid? [True, True] Translation: X:131.19, Y:0.89, Z:0.86 [[ 9.99838422e-01 -9.03786372e-03 -1.55385560e-02 1.31192105e+02] [ 9.03842768e-03 9.99959152e-01 -3.39329994e-05 8.87861875e-01] [ 1.55382280e-02 -1.06516598e-04 9.99879269e-01 8.61121961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79925415399998 meters 0.014265011628702336 Centerline is valid? [True, True] Translation: X:131.22, Y:0.88, Z:0.86 [[ 9.99808477e-01 -1.24938467e-02 -1.50636261e-02 1.31220964e+02] [ 1.24947524e-02 9.99921937e-01 -3.39897574e-05 8.84824999e-01] [ 1.50628748e-02 -1.54233030e-04 9.99886537e-01 8.61497154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82925415399998 meters 0.014882950037699717 Centerline is valid? [True, True] Translation: X:131.25, Y:0.88, Z:0.86 [[ 9.99768663e-01 -1.58154114e-02 -1.45771385e-02 1.31248373e+02] [ 1.58165951e-02 9.99874909e-01 -3.40913752e-05 8.81427501e-01] [ 1.45758542e-02 -1.96477208e-04 9.99893747e-01 8.61564107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85925415399998 meters 0.015582617748798266 Centerline is valid? [True, True] Translation: X:131.28, Y:0.88, Z:0.86 [[ 9.99715787e-01 -1.88248296e-02 -1.46277171e-02 1.31275835e+02] [ 1.88263239e-02 9.99822768e-01 -3.55502268e-05 8.78027853e-01] [ 1.46257939e-02 -2.39846019e-04 9.99893009e-01 8.61778179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88925415399999 meters 0.016748596627020513 Centerline is valid? [True, True] Translation: X:131.31, Y:0.87, Z:0.86 [[ 9.99581175e-01 -2.45128504e-02 -1.53816343e-02 1.31305173e+02] [ 2.45151585e-02 9.99699458e-01 -3.85081385e-05 8.72805556e-01] [ 1.53779554e-02 -3.38591192e-04 9.99881695e-01 8.61908849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.919254154 meters 0.01771796172734114 Centerline is valid? [True, True] Translation: X:131.33, Y:0.87, Z:0.86 [[ 9.99519928e-01 -2.69127604e-02 -1.53498085e-02 1.31334275e+02] [ 2.69153400e-02 9.99637716e-01 -3.85465557e-05 8.70239402e-01] [ 1.53452849e-02 -3.74617264e-04 9.99882184e-01 8.61726733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.949254154 meters 0.01818671927689277 Centerline is valid? [True, True] Translation: X:131.37, Y:0.87, Z:0.86 [[ 9.99460461e-01 -2.91287400e-02 -1.51757298e-02 1.31365050e+02] [ 2.91315198e-02 9.99575586e-01 -3.78985117e-05 8.68357304e-01] [ 1.51703930e-02 -4.04214009e-04 9.99884841e-01 8.62094561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.979254154 meters 0.01837126801569296 Centerline is valid? [True, True] Translation: X:131.40, Y:0.87, Z:0.86 [[ 9.99407727e-01 -3.09707942e-02 -1.50001922e-02 1.31396428e+02] [ 3.09737218e-02 9.99520198e-01 -3.71627383e-05 8.66813360e-01] [ 1.49941460e-02 -4.27471052e-04 9.99887490e-01 8.62330486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.009254154 meters 0.019828744259790327 Centerline is valid? [True, True] Translation: X:131.43, Y:0.86, Z:0.86 [[ 9.99300613e-01 -3.43683812e-02 -1.47342967e-02 1.31426646e+02] [ 3.43715807e-02 9.99409122e-01 -3.61103253e-05 8.61236016e-01] [ 1.47268316e-02 -4.70355999e-04 9.99891444e-01 8.62466031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.039254154 meters 0.019510306797891598 Centerline is valid? [True, True] Translation: X:131.46, Y:0.86, Z:0.86 [[ 9.99257905e-01 -3.56170505e-02 -1.46650678e-02 1.31457611e+02] [ 3.56203603e-02 9.99365393e-01 -3.55295107e-05 8.60608450e-01] [ 1.46570267e-02 -4.86871855e-04 9.99892461e-01 8.63277685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.069254154 meters 0.020881703185635918 Centerline is valid? [True, True] Translation: X:131.49, Y:0.86, Z:0.86 [[ 9.99206679e-01 -3.69480607e-02 -1.48611523e-02 1.31488232e+02] [ 3.69516148e-02 9.99317055e-01 -3.54537229e-05 8.57460790e-01] [ 1.48523129e-02 -5.13717979e-04 9.99889566e-01 8.63216494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099254154 meters 0.020435641729799964 Centerline is valid? [True, True] Translation: X:131.52, Y:0.86, Z:0.86 [[ 9.99121584e-01 -3.92128573e-02 -1.47787845e-02 1.31519193e+02] [ 3.92166254e-02 9.99230732e-01 -3.48581460e-05 8.56914261e-01] [ 1.47687825e-02 -5.44746530e-04 9.99890787e-01 8.64005229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.129254154 meters 0.020755518515172593 Centerline is valid? [True, True] Translation: X:131.55, Y:0.86, Z:0.86 [[ 9.99070246e-01 -4.05098396e-02 -1.47511678e-02 1.31551247e+02] [ 4.05137453e-02 9.99178981e-01 -3.40815946e-05 8.56041027e-01] [ 1.47404374e-02 -5.63575147e-04 9.99891195e-01 8.64431205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159254154 meters 0.02127253501494951 Centerline is valid? [True, True] Translation: X:131.58, Y:0.86, Z:0.86 [[ 9.98996867e-01 -4.21569636e-02 -1.51012986e-02 1.31583334e+02] [ 4.21612620e-02 9.99110818e-01 -3.37517919e-05 8.55020690e-01] [ 1.50892937e-02 -6.02971872e-04 9.99885968e-01 8.64626623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.189254154 meters 0.023144378138841275 Centerline is valid? [True, True] Translation: X:131.61, Y:0.85, Z:0.86 [[ 9.98915282e-01 -4.40734708e-02 -1.50262822e-02 1.31614656e+02] [ 4.40779575e-02 9.99028094e-01 -3.26200232e-05 8.51862623e-01] [ 1.50131158e-02 -6.29743190e-04 9.99887099e-01 8.64327535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219254154 meters 0.024359078036853714 Centerline is valid? [True, True] Translation: X:131.65, Y:0.85, Z:0.86 [[ 9.98699090e-01 -4.84626861e-02 -1.58586068e-02 1.31645600e+02] [ 4.84682450e-02 9.98824723e-01 -3.38575252e-05 8.48370273e-01] [ 1.58416094e-02 -7.34825361e-04 9.99874244e-01 8.64149730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.249254154 meters 0.025526647100068463 Centerline is valid? [True, True] Translation: X:131.68, Y:0.85, Z:0.86 [[ 9.98588967e-01 -5.05088143e-02 -1.63991993e-02 1.31677387e+02] [ 5.05150445e-02 9.98723300e-01 -3.43625190e-05 8.46069032e-01] [ 1.63799980e-02 -7.94092247e-04 9.99865523e-01 8.63909105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279254154 meters 0.029518640236656835 Centerline is valid? [True, True] Translation: X:131.71, Y:0.84, Z:0.86 [[ 9.98485855e-01 -5.22814882e-02 -1.71068075e-02 1.31708012e+02] [ 5.22885404e-02 9.98632018e-01 -3.50795975e-05 8.39966562e-01] [ 1.70852397e-02 -8.59463515e-04 9.99853667e-01 8.62664016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.309254154 meters 0.026687004772591616 Centerline is valid? [True, True] Translation: X:131.74, Y:0.84, Z:0.86 [[ 9.98396791e-01 -5.38332555e-02 -1.74879294e-02 1.31740015e+02] [ 5.38408808e-02 9.98549527e-01 -3.48324403e-05 8.43605030e-01] [ 1.74644388e-02 -9.06788927e-04 9.99847074e-01 8.63740490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339254154 meters 0.026687004772591616 Centerline is valid? [True, True] Translation: X:131.77, Y:0.84, Z:0.86 [[ 9.98400721e-01 -5.37603271e-02 -1.74879319e-02 1.31771749e+02] [ 5.37679636e-02 9.98553456e-01 -3.35552243e-05 8.43605739e-01] [ 1.74644388e-02 -9.06788926e-04 9.99847074e-01 8.63960272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36925415399998 meters 0.027847546090238616 Centerline is valid? [True, True] Translation: X:131.80, Y:0.84, Z:0.86 [[ 9.98328772e-01 -5.49801979e-02 -1.78000115e-02 1.31802884e+02] [ 5.49883225e-02 9.98486997e-01 -3.30472974e-05 8.41799476e-01] [ 1.77748969e-02 -9.45800702e-04 9.99841567e-01 8.63756569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39925415399998 meters 0.029435799019782924 Centerline is valid? [True, True] Translation: X:131.83, Y:0.84, Z:0.86 [[ 9.98239376e-01 -5.66160659e-02 -1.76853047e-02 1.31833824e+02] [ 5.66243589e-02 9.98395553e-01 -3.18786067e-05 8.38981326e-01] [ 1.76587344e-02 -9.69596559e-04 9.99843602e-01 8.64294134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42925415399998 meters 0.03031870825373993 Centerline is valid? [True, True] Translation: X:131.86, Y:0.84, Z:0.86 [[ 9.98230727e-01 -5.67818816e-02 -1.76418233e-02 1.31864994e+02] [ 5.67901763e-02 9.98386135e-01 -3.08582404e-05 8.37926548e-01] [ 1.76151040e-02 -9.71078611e-04 9.99844370e-01 8.64401986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45925415399998 meters 0.027393547009595235 Centerline is valid? [True, True] Translation: X:131.90, Y:0.84, Z:0.87 [[ 9.98241730e-01 -5.66215916e-02 -1.75341036e-02 1.31897403e+02] [ 5.66297807e-02 9.98395246e-01 -2.95254240e-05 8.42170566e-01] [ 1.75076375e-02 -9.63478933e-04 9.99846265e-01 8.65652459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48925415399998 meters 0.02958846221797071 Centerline is valid? [True, True] Translation: X:131.93, Y:0.84, Z:0.87 [[ 9.98283889e-01 -5.58096923e-02 -1.77356989e-02 1.31928556e+02] [ 5.58179765e-02 9.98440961e-01 -2.79720695e-05 8.39466000e-01] [ 1.77096094e-02 -9.62046757e-04 9.99842710e-01 8.65267776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51925415399998 meters 0.027868549354910743 Centerline is valid? [True, True] Translation: X:131.96, Y:0.84, Z:0.87 [[ 9.98454694e-01 -5.27743572e-02 -1.74095256e-02 1.31959043e+02] [ 5.27818944e-02 9.98606064e-01 -2.65902439e-05 8.43670143e-01] [ 1.73866611e-02 -8.92358585e-04 9.99848442e-01 8.66316647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54925415399998 meters 0.027686374810077134 Centerline is valid? [True, True] Translation: X:131.99, Y:0.85, Z:0.87 [[ 9.98567257e-01 -5.06844971e-02 -1.71614457e-02 1.31990871e+02] [ 5.06915224e-02 9.98714358e-01 -2.56682482e-05 8.45697613e-01] [ 1.71406832e-02 -8.44308337e-04 9.99852731e-01 8.66938891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57925415399998 meters 0.023391952233059312 Centerline is valid? [True, True] Translation: X:132.02, Y:0.85, Z:0.87 [[ 9.98702569e-01 -4.80927183e-02 -1.67412152e-02 1.32022497e+02] [ 4.80990562e-02 9.98842570e-01 -2.40908493e-05 8.53205060e-01] [ 1.67229970e-02 -7.81177057e-04 9.99859856e-01 8.69273726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60925415399998 meters 0.025067116124491112 Centerline is valid? [True, True] Translation: X:132.05, Y:0.85, Z:0.87 [[ 9.98848062e-01 -4.53108124e-02 -1.57948995e-02 1.32053413e+02] [ 4.53161182e-02 9.98972697e-01 -2.20061921e-05 8.51878563e-01] [ 1.57796705e-02 -6.93782691e-04 9.99875253e-01 8.69300534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63925415399999 meters 0.021220921124993585 Centerline is valid? [True, True] Translation: X:132.08, Y:0.86, Z:0.87 [[ 9.99128946e-01 -3.88749934e-02 -1.51685069e-02 1.32083755e+02] [ 3.88791505e-02 9.99243920e-01 -2.08388314e-05 8.59897664e-01] [ 1.51578484e-02 -5.68917981e-04 9.99884951e-01 8.71158926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.669254154 meters 0.020270643050676794 Centerline is valid? [True, True] Translation: X:132.12, Y:0.86, Z:0.87 [[ 9.99266090e-01 -3.53616920e-02 -1.47252146e-02 1.32115203e+02] [ 3.53652334e-02 9.99374454e-01 -1.99063839e-05 8.62828734e-01] [ 1.47167072e-02 -5.00868875e-04 9.99891578e-01 8.71750419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.699254154 meters 0.019593723901603237 Centerline is valid? [True, True] Translation: X:132.15, Y:0.87, Z:0.87 [[ 9.99388997e-01 -3.19345840e-02 -1.42061932e-02 1.32145211e+02] [ 3.19375396e-02 9.99489866e-01 -1.88274044e-05 8.65639945e-01] [ 1.41995474e-02 -4.34894957e-04 9.99899087e-01 8.72057941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.729254154 meters 0.017074065081106645 Centerline is valid? [True, True] Translation: X:132.18, Y:0.87, Z:0.87 [[ 9.99605176e-01 -2.42367030e-02 -1.42152888e-02 1.32175763e+02] [ 2.42388862e-02 9.99706195e-01 -1.87127495e-05 8.73267512e-01] [ 1.42115658e-02 -3.25857405e-04 9.99898958e-01 8.72608137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.759254154 meters 0.01595961149084219 Centerline is valid? [True, True] Translation: X:132.21, Y:0.88, Z:0.87 [[ 9.99688205e-01 -2.05784913e-02 -1.41427809e-02 1.32206057e+02] [ 2.05802864e-02 9.99788203e-01 -1.86173015e-05 8.77351763e-01] [ 1.41401687e-02 -2.72450985e-04 9.99899986e-01 8.73359832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.789254154 meters 0.015924587526772206 Centerline is valid? [True, True] Translation: X:132.24, Y:0.88, Z:0.87 [[ 9.99750913e-01 -1.73563367e-02 -1.40310265e-02 1.32235184e+02] [ 1.73577826e-02 9.99849342e-01 -1.87314891e-05 8.78847286e-01] [ 1.40292377e-02 -2.24820684e-04 9.99901560e-01 8.73089751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.819254154 meters 0.015064209711732834 Centerline is valid? [True, True] Translation: X:132.26, Y:0.88, Z:0.87 [[ 9.99786597e-01 -1.47592609e-02 -1.44542187e-02 1.32263574e+02] [ 1.47604926e-02 9.99891058e-01 -2.14675276e-05 8.82604897e-01] [ 1.44529608e-02 -1.91888442e-04 9.99895532e-01 8.73414742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.849254154 meters 0.014547610589211375 Centerline is valid? [True, True] Translation: X:132.29, Y:0.89, Z:0.87 [[ 9.99823432e-01 -1.11658585e-02 -1.51138573e-02 1.32292468e+02] [ 1.11667350e-02 9.99937650e-01 -2.64001746e-05 8.86687882e-01] [ 1.51132097e-02 -1.42376926e-04 9.99885779e-01 8.72727706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.879254154 meters 0.014644563770432995 Centerline is valid? [True, True] Translation: X:132.32, Y:0.89, Z:0.87 [[ 9.99810950e-01 -1.04809624e-02 -1.63772117e-02 1.32319784e+02] [ 1.04818538e-02 9.99945063e-01 -3.14107267e-05 8.87508574e-01] [ 1.63766412e-02 -1.40258751e-04 9.99865884e-01 8.71839759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.909254154 meters 0.01472429056259831 Centerline is valid? [True, True] Translation: X:132.35, Y:0.89, Z:0.87 [[ 9.99796320e-01 -1.09630412e-02 -1.69448989e-02 1.32347627e+02] [ 1.09640042e-02 9.99939893e-01 -3.60728260e-05 8.88609827e-01] [ 1.69442758e-02 -1.49718463e-04 9.99856424e-01 8.71630483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.939254154 meters 0.015009705420239996 Centerline is valid? [True, True] Translation: X:132.38, Y:0.89, Z:0.87 [[ 9.99774924e-01 -1.16855087e-02 -1.77073553e-02 1.32375425e+02] [ 1.16866109e-02 9.99931708e-01 -4.12353320e-05 8.88546600e-01] [ 1.77066279e-02 -1.65712920e-04 9.99843212e-01 8.70693759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.969254154 meters 0.014874924882914031 Centerline is valid? [True, True] Translation: X:132.40, Y:0.89, Z:0.87 [[ 9.99742274e-01 -1.32895774e-02 -1.84057893e-02 1.32403805e+02] [ 1.32909686e-02 9.99911670e-01 -4.67439298e-05 8.88486310e-01] [ 1.84047847e-02 -1.97898884e-04 9.99830598e-01 8.71106672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.999254154 meters 0.015603399305043768 Centerline is valid? [True, True] Translation: X:132.43, Y:0.89, Z:0.87 [[ 9.99691298e-01 -1.73842840e-02 -1.77509224e-02 1.32431758e+02] [ 1.73861757e-02 9.99848848e-01 -4.77624495e-05 8.85848992e-01] [ 1.77490697e-02 -2.60872951e-04 9.99842439e-01 8.71123659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.029254154 meters 0.015872787610421695 Centerline is valid? [True, True] Translation: X:132.46, Y:0.88, Z:0.87 [[ 9.99648200e-01 -1.98300150e-02 -1.76138262e-02 1.32460610e+02] [ 1.98321988e-02 9.99803321e-01 -5.07008109e-05 8.84717215e-01] [ 1.76113673e-02 -2.98637929e-04 9.99844863e-01 8.72065983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059254154 meters 0.016097959768008537 Centerline is valid? [True, True] Translation: X:132.49, Y:0.88, Z:0.87 [[ 9.99607105e-01 -2.24074839e-02 -1.68386338e-02 1.32489585e+02] [ 2.24097745e-02 9.99748868e-01 -5.26645053e-05 8.83851334e-01] [ 1.68355851e-02 -3.24706173e-04 9.99858219e-01 8.72984095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.089254154 meters 0.018375950340669807 Centerline is valid? [True, True] Translation: X:132.52, Y:0.88, Z:0.87 [[ 9.99564840e-01 -2.45901057e-02 -1.62928877e-02 1.32518594e+02] [ 2.45925008e-02 9.99697557e-01 -5.33670068e-05 8.81433653e-01] [ 1.62892723e-02 -3.47339070e-04 9.99867261e-01 8.71754629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11925415399998 meters 0.016985151153683476 Centerline is valid? [True, True] Translation: X:132.55, Y:0.88, Z:0.87 [[ 9.99510141e-01 -2.71403364e-02 -1.55845833e-02 1.32548543e+02] [ 2.71428249e-02 9.99631564e-01 -5.18603089e-05 8.81333848e-01] [ 1.55802489e-02 -3.71174711e-04 9.99878552e-01 8.74527425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14925415399998 meters 0.017900938499607638 Centerline is valid? [True, True] Translation: X:132.58, Y:0.88, Z:0.88 [[ 9.99422502e-01 -3.06593877e-02 -1.46514256e-02 1.32579370e+02] [ 3.06619634e-02 9.99529810e-01 -4.88539224e-05 8.78302318e-01] [ 1.46460345e-02 -4.00415765e-04 9.99892661e-01 8.75575046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17925415399998 meters 0.01863545207091529 Centerline is valid? [True, True] Translation: X:132.61, Y:0.88, Z:0.88 [[ 9.99384680e-01 -3.21406767e-02 -1.40441545e-02 1.32609552e+02] [ 3.21431929e-02 9.99483273e-01 -4.65777334e-05 8.76559210e-01] [ 1.40383946e-02 -4.04874896e-04 9.99901375e-01 8.75751104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20925415399998 meters 0.019970815850328994 Centerline is valid? [True, True] Translation: X:132.64, Y:0.87, Z:0.88 [[ 9.99331235e-01 -3.40174186e-02 -1.34126004e-02 1.32641166e+02] [ 3.40198888e-02 9.99421155e-01 -4.40109580e-05 8.73546281e-01] [ 1.34063338e-02 -4.12313650e-04 9.99910046e-01 8.75910186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23925415399998 meters 0.02012318775703254 Centerline is valid? [True, True] Translation: X:132.67, Y:0.87, Z:0.88 [[ 9.99332938e-01 -3.41372611e-02 -1.29740730e-02 1.32673586e+02] [ 3.41395930e-02 9.99417073e-01 -4.17619310e-05 8.74332860e-01] [ 1.29679358e-02 -4.01195500e-04 9.99915832e-01 8.75818785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26925415399998 meters 0.019519285824453284 Centerline is valid? [True, True] Translation: X:132.70, Y:0.87, Z:0.88 [[ 9.99314035e-01 -3.47374352e-02 -1.28363079e-02 1.32704883e+02] [ 3.47397780e-02 9.99396391e-01 -4.04871722e-05 8.73390953e-01] [ 1.28299662e-02 -4.05471088e-04 9.99917610e-01 8.77125947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29925415399998 meters 0.020194653907217537 Centerline is valid? [True, True] Translation: X:132.74, Y:0.87, Z:0.88 [[ 9.99318934e-01 -3.45432925e-02 -1.29780263e-02 1.32736009e+02] [ 3.45456802e-02 9.99403119e-01 -4.02189831e-05 8.71461676e-01] [ 1.29716693e-02 -4.08143155e-04 9.99915781e-01 8.76829361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32925415399998 meters 0.02008302593919006 Centerline is valid? [True, True] Translation: X:132.77, Y:0.87, Z:0.88 [[ 9.99387527e-01 -3.24441405e-02 -1.31128950e-02 1.32766600e+02] [ 3.24464040e-02 9.99473476e-01 -4.01456047e-05 8.70465572e-01] [ 1.31072933e-02 -3.85345274e-04 9.99914021e-01 8.76426086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35925415399998 meters 0.01854474198466271 Centerline is valid? [True, True] Translation: X:132.80, Y:0.87, Z:0.88 [[ 9.99453110e-01 -3.01162780e-02 -1.36561238e-02 1.32797804e+02] [ 3.01185209e-02 9.99546334e-01 -4.14373712e-05 8.73140910e-01] [ 1.36511764e-02 -3.69887540e-04 9.99906750e-01 8.76731223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38925415399999 meters 0.01722142480179092 Centerline is valid? [True, True] Translation: X:132.83, Y:0.88, Z:0.88 [[ 9.99538363e-01 -2.69149655e-02 -1.40941579e-02 1.32829024e+02] [ 2.69170439e-02 9.99637670e-01 -4.22420847e-05 8.75317496e-01] [ 1.40901881e-02 -3.37150484e-04 9.99900672e-01 8.77245545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.419254154 meters 0.016420422881943265 Centerline is valid? [True, True] Translation: X:132.86, Y:0.88, Z:0.88 [[ 9.99630389e-01 -2.29849619e-02 -1.45181485e-02 1.32859437e+02] [ 2.29867568e-02 9.99735769e-01 -4.32482288e-05 8.77574759e-01] [ 1.45153064e-02 -2.90492905e-04 9.99894605e-01 8.77117936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.449254154 meters 0.014964334094483353 Centerline is valid? [True, True] Translation: X:132.89, Y:0.88, Z:0.88 [[ 9.99802680e-01 -1.31715514e-02 -1.48698392e-02 1.32889100e+02] [ 1.31723448e-02 9.99913240e-01 -4.45909853e-05 8.82263750e-01] [ 1.48691364e-02 -1.51288462e-04 9.99889437e-01 8.77291037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.479254154 meters 0.016273554073570753 Centerline is valid? [True, True] Translation: X:132.92, Y:0.88, Z:0.88 [[ 9.99862595e-01 -7.75979598e-03 -1.46484572e-02 1.32917039e+02] [ 7.75997102e-03 9.99969890e-01 -4.48902715e-05 8.84358158e-01] [ 1.46483645e-02 -6.87874998e-05 9.99892705e-01 8.76282675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.509254154 meters 0.014442404426632648 Centerline is valid? [True, True] Translation: X:132.95, Y:0.89, Z:0.88 [[ 9.99888418e-01 -3.38209063e-03 -1.45503380e-02 1.32945139e+02] [ 3.38175784e-03 9.99994281e-01 -4.74758820e-05 8.86958539e-01] [ 1.45504153e-02 -1.73513496e-06 9.99894137e-01 8.78216087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.539254154 meters 0.014884228198174752 Centerline is valid? [True, True] Translation: X:132.97, Y:0.89, Z:0.88 [[ 9.99885480e-01 4.64052071e-03 -1.44045997e-02 1.32973153e+02] [-4.64171838e-03 9.99989226e-01 -4.97132385e-05 8.90569762e-01] [ 1.44042138e-02 1.16569641e-04 9.99896247e-01 8.78452915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.569254154 meters 0.015188386090415885 Centerline is valid? [True, True] Translation: X:133.00, Y:0.89, Z:0.88 [[ 9.99872902e-01 7.54296658e-03 -1.40457881e-02 1.33001424e+02] [-7.54440942e-03 9.99971539e-01 -4.97402015e-05 8.90971180e-01] [ 1.40450132e-02 1.55701056e-04 9.99901352e-01 8.78912948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.599254154 meters 0.015320711654579575 Centerline is valid? [True, True] Translation: X:133.03, Y:0.89, Z:0.88 [[ 9.99855463e-01 9.22428797e-03 -1.42816802e-02 1.33030362e+02] [-9.22598694e-03 9.99957438e-01 -5.30798605e-05 8.90996914e-01] [ 1.42805827e-02 1.84834784e-04 9.99898010e-01 8.79247417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.629254154 meters 0.015520273860947554 Centerline is valid? [True, True] Translation: X:133.06, Y:0.89, Z:0.88 [[ 9.99840725e-01 1.01178091e-02 -1.47022216e-02 1.33058919e+02] [-1.01197411e-02 9.99948792e-01 -5.70175038e-05 8.89959446e-01] [ 1.47008918e-02 2.05791098e-04 9.99891915e-01 8.79266365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.659254154 meters 0.015537049941222417 Centerline is valid? [True, True] Translation: X:133.09, Y:0.89, Z:0.88 [[ 9.99853838e-01 8.69728725e-03 -1.47193909e-02 1.33087803e+02] [-8.69908563e-03 9.99962161e-01 -5.81545780e-05 8.86110362e-01] [ 1.47183282e-02 1.86191320e-04 9.99891662e-01 8.79091777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.689254154 meters 0.01538281431824685 Centerline is valid? [True, True] Translation: X:133.12, Y:0.88, Z:0.88 [[ 9.99864814e-01 6.44112004e-03 -1.51282844e-02 1.33115585e+02] [-6.44278053e-03 9.99979243e-01 -6.10257612e-05 8.83432319e-01] [ 1.51275773e-02 1.58485727e-04 9.99885559e-01 8.79273361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.719254154 meters 0.015093558430936932 Centerline is valid? [True, True] Translation: X:133.14, Y:0.88, Z:0.88 [[ 9.99870439e-01 3.58978419e-03 -1.56913335e-02 1.33144283e+02] [-3.59123967e-03 9.99993549e-01 -6.45802547e-05 8.79995204e-01] [ 1.56910005e-02 1.20923227e-04 9.99876881e-01 8.79724298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.749254154 meters 0.014698023082791329 Centerline is valid? [True, True] Translation: X:133.17, Y:0.88, Z:0.88 [[ 9.99869396e-01 -1.44207904e-04 -1.61607752e-02 1.33171984e+02] [ 1.43129918e-04 9.99999987e-01 -6.78604403e-05 8.76355798e-01] [ 1.61607848e-02 6.55384870e-05 9.99869404e-01 8.79615652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.779254154 meters 0.014807995708953126 Centerline is valid? [True, True] Translation: X:133.20, Y:0.87, Z:0.88 [[ 9.99813498e-01 -8.98335994e-03 -1.70958716e-02 1.33200735e+02] [ 8.98342167e-03 9.99959646e-01 -7.31861262e-05 8.67441119e-01] [ 1.70958392e-02 -8.04069468e-05 9.99853852e-01 8.79804843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.809254154 meters 0.015234609396791436 Centerline is valid? [True, True] Translation: X:133.23, Y:0.86, Z:0.88 [[ 9.99756979e-01 -1.38822184e-02 -1.71250212e-02 1.33229418e+02] [ 1.38829775e-02 9.99903624e-01 -7.45575440e-05 8.62578787e-01] [ 1.71244058e-02 -1.63206860e-04 9.99853353e-01 8.79577199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839254154 meters 0.015931024776768814 Centerline is valid? [True, True] Translation: X:133.26, Y:0.86, Z:0.88 [[ 9.99676881e-01 -1.88201451e-02 -1.70861080e-02 1.33258417e+02] [ 1.88216006e-02 9.99822855e-01 -7.56316625e-05 8.57800423e-01] [ 1.70845047e-02 -2.45980677e-04 9.99854019e-01 8.79939990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86925415399998 meters 0.018177254514910663 Centerline is valid? [True, True] Translation: X:133.29, Y:0.85, Z:0.88 [[ 9.99471813e-01 -2.78752170e-02 -1.67053320e-02 1.33287129e+02] [ 2.78778553e-02 9.99611334e-01 -7.49630057e-05 8.48188577e-01] [ 1.67009288e-02 -3.90785418e-04 9.99860453e-01 8.80065881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89925415399998 meters 0.018467387722963344 Centerline is valid? [True, True] Translation: X:133.32, Y:0.85, Z:0.88 [[ 9.99348119e-01 -3.18723460e-02 -1.69555277e-02 1.33317010e+02] [ 3.18756261e-02 9.99491840e-01 -7.68302817e-05 8.46706163e-01] [ 1.69493604e-02 -4.63687865e-04 9.99856242e-01 8.81403969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92925415399998 meters 0.018893353805982983 Centerline is valid? [True, True] Translation: X:133.35, Y:0.84, Z:0.88 [[ 9.99230643e-01 -3.54820484e-02 -1.67076794e-02 1.33347556e+02] [ 3.54857332e-02 9.99370180e-01 -7.59581050e-05 8.44846988e-01] [ 1.66998517e-02 -5.16984588e-04 9.99860414e-01 8.82296391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95925415399998 meters 0.022070954952073594 Centerline is valid? [True, True] Translation: X:133.38, Y:0.84, Z:0.88 [[ 9.99119449e-01 -3.84622988e-02 -1.67623850e-02 1.33377555e+02] [ 3.84664267e-02 9.99259890e-01 -7.62068130e-05 8.38953515e-01] [ 1.67529101e-02 -5.68649346e-04 9.99859498e-01 8.81158171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98925415399998 meters 0.023366410496699193 Centerline is valid? [True, True] Translation: X:133.41, Y:0.83, Z:0.88 [[ 9.98866683e-01 -4.44761284e-02 -1.69476602e-02 1.33408114e+02] [ 4.44812143e-02 9.99010218e-01 -7.69276405e-05 8.33979051e-01] [ 1.69343071e-02 -6.77012049e-04 9.99856375e-01 8.82529898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01925415399998 meters 0.02597456729247211 Centerline is valid? [True, True] Translation: X:133.44, Y:0.83, Z:0.88 [[ 9.98744956e-01 -4.71243253e-02 -1.69650168e-02 1.33438347e+02] [ 4.71298074e-02 9.98888770e-01 -7.67446048e-05 8.28728284e-01] [ 1.69497813e-02 -7.22909689e-04 9.99856081e-01 8.82364217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04925415399998 meters 0.024917441550789884 Centerline is valid? [True, True] Translation: X:133.47, Y:0.83, Z:0.88 [[ 9.98632402e-01 -4.94274724e-02 -1.70367564e-02 1.33469712e+02] [ 4.94333438e-02 9.98777422e-01 -7.65787435e-05 8.30362813e-01] [ 1.70197127e-02 -7.65709822e-04 9.99854861e-01 8.83111743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07925415399998 meters 0.027013446981107664 Centerline is valid? [True, True] Translation: X:133.50, Y:0.83, Z:0.89 [[ 9.98378316e-01 -5.44281633e-02 -1.66827135e-02 1.33499677e+02] [ 5.44344921e-02 9.98517341e-01 -7.48276882e-05 8.25843564e-01] [ 1.66620514e-02 -8.33408694e-04 9.99860831e-01 8.85025423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10925415399998 meters 0.028228321763873687 Centerline is valid? [True, True] Translation: X:133.53, Y:0.82, Z:0.89 [[ 9.98255470e-01 -5.65998350e-02 -1.68069939e-02 1.33530403e+02] [ 5.66065673e-02 9.98396560e-01 -7.52709408e-05 8.23899377e-01] [ 1.67843052e-02 -8.76246604e-04 9.99858750e-01 8.85388986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13925415399999 meters 0.027148575857700634 Centerline is valid? [True, True] Translation: X:133.56, Y:0.83, Z:0.89 [[ 9.98120580e-01 -5.88712557e-02 -1.70141875e-02 1.33561507e+02] [ 5.88784925e-02 9.98265154e-01 -7.57026931e-05 8.25504593e-01] [ 1.69891272e-02 -9.26209294e-04 9.99855245e-01 8.86152189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.169254154 meters 0.030505473411450688 Centerline is valid? [True, True] Translation: X:133.59, Y:0.82, Z:0.89 [[ 9.97994839e-01 -6.08717084e-02 -1.73475067e-02 1.33591907e+02] [ 6.08795470e-02 9.98145117e-01 -7.63652981e-05 8.20518485e-01] [ 1.73199776e-02 -9.79896175e-04 9.99849518e-01 8.85750879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.199254154 meters 0.030412675109182826 Centerline is valid? [True, True] Translation: X:133.62, Y:0.82, Z:0.89 [[ 9.97868433e-01 -6.27380304e-02 -1.79591028e-02 1.33623404e+02] [ 6.27467469e-02 9.98029478e-01 -7.82746431e-05 8.20626054e-01] [ 1.79286248e-02 -1.04876748e-03 9.99838719e-01 8.86048211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.229254154 meters 0.030412675109182826 Centerline is valid? [True, True] Translation: X:133.66, Y:0.82, Z:0.89 [[ 9.97872955e-01 -6.26660759e-02 -1.79591073e-02 1.33655147e+02] [ 6.26747996e-02 9.98033999e-01 -7.72300406e-05 8.20701192e-01] [ 1.79286394e-02 -1.04851768e-03 9.99838719e-01 8.86268133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.259254154 meters 0.0317293882537428 Centerline is valid? [True, True] Translation: X:133.69, Y:0.82, Z:0.89 [[ 9.97686668e-01 -6.53403881e-02 -1.87602529e-02 1.33686156e+02] [ 6.53503924e-02 9.97862375e-01 -7.99402801e-05 8.18820307e-01] [ 1.87253739e-02 -1.14623454e-03 9.99824008e-01 8.85862994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.289254154 meters 0.0326255357960332 Centerline is valid? [True, True] Translation: X:133.72, Y:0.82, Z:0.89 [[ 9.97652510e-01 -6.56662262e-02 -1.94271810e-02 1.33717079e+02] [ 6.56770317e-02 9.97840930e-01 -8.19774241e-05 8.17531533e-01] [ 1.93906195e-02 -1.19413460e-03 9.99811271e-01 8.85656814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.319254154 meters 0.03056693622477209 Centerline is valid? [True, True] Translation: X:133.75, Y:0.82, Z:0.89 [[ 9.97639018e-01 -6.56526304e-02 -2.01524714e-02 1.33749191e+02] [ 6.56642826e-02 9.97841769e-01 -8.36819131e-05 8.20947527e-01] [ 2.01144717e-02 -1.23981324e-03 9.99796915e-01 8.85733104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.349254154 meters 0.032338488279137004 Centerline is valid? [True, True] Translation: X:133.78, Y:0.82, Z:0.88 [[ 9.97644468e-01 -6.51286502e-02 -2.15354108e-02 1.33780182e+02] [ 6.51418643e-02 9.97876009e-01 -8.80870785e-05 8.19919169e-01] [ 2.14954068e-02 -1.31497722e-03 9.99768082e-01 8.84304435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.379254154 meters 0.03090275793878328 Centerline is valid? [True, True] Translation: X:133.81, Y:0.82, Z:0.88 [[ 9.97711449e-01 -6.36035634e-02 -2.29445325e-02 1.33811883e+02] [ 6.36181913e-02 9.97974307e-01 -9.25829420e-05 8.23470720e-01] [ 2.29039425e-02 -1.36731859e-03 9.99736735e-01 8.84496407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.409254154 meters 0.030971023900353452 Centerline is valid? [True, True] Translation: X:133.84, Y:0.82, Z:0.88 [[ 9.97746745e-01 -6.27808565e-02 -2.36642642e-02 1.33843260e+02] [ 6.27962096e-02 9.98026366e-01 -9.45031189e-05 8.24905480e-01] [ 2.36234926e-02 -1.39173592e-03 9.99719958e-01 8.84056617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.439254154 meters 0.030058722234764818 Centerline is valid? [True, True] Translation: X:133.87, Y:0.83, Z:0.88 [[ 9.97835018e-01 -6.11997495e-02 -2.40804378e-02 1.33874504e+02] [ 6.12152097e-02 9.98124586e-01 -9.52936109e-05 8.27417115e-01] [ 2.40411089e-02 -1.37900175e-03 9.99710020e-01 8.84207385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.469254154 meters 0.02913177396525466 Centerline is valid? [True, True] Translation: X:133.90, Y:0.83, Z:0.88 [[ 9.97943035e-01 -5.91819642e-02 -2.46413123e-02 1.33904699e+02] [ 5.91975465e-02 9.98246283e-01 -9.72569951e-05 8.30401418e-01] [ 2.46038543e-02 -1.36164829e-03 9.99696352e-01 8.84370510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.499254154 meters 0.027702251782676518 Centerline is valid? [True, True] Translation: X:133.93, Y:0.84, Z:0.88 [[ 9.98235239e-01 -5.38807675e-02 -2.49653955e-02 1.33934386e+02] [ 5.38951022e-02 9.98546598e-01 -9.88120591e-05 8.35392783e-01] [ 2.49344348e-02 -1.24687486e-03 9.99688311e-01 8.84858826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.529254154 meters 0.026492523417871273 Centerline is valid? [True, True] Translation: X:133.96, Y:0.84, Z:0.89 [[ 9.98436617e-01 -5.02892890e-02 -2.43989751e-02 1.33964559e+02] [ 5.03018877e-02 9.98734054e-01 -9.75010830e-05 8.39065733e-01] [ 2.43729905e-02 -1.12996585e-03 9.99702296e-01 8.85656782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559254154 meters 0.025131409981776938 Centerline is valid? [True, True] Translation: X:133.99, Y:0.84, Z:0.89 [[ 9.98641102e-01 -4.62959771e-02 -2.39297146e-02 1.33994334e+02] [ 4.63069365e-02 9.98927254e-01 -9.62435953e-05 8.43372540e-01] [ 2.39084998e-02 -1.01199897e-03 9.99713639e-01 8.86604667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.589254154 meters 0.021720520509411454 Centerline is valid? [True, True] Translation: X:134.02, Y:0.85, Z:0.89 [[ 9.99039719e-01 -3.69733344e-02 -2.35076987e-02 1.34023773e+02] [ 3.69813196e-02 9.99315953e-01 -9.51083359e-05 8.52912365e-01] [ 2.34951348e-02 -7.74328712e-04 9.99723651e-01 8.88228306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61925415399998 meters 0.020080801236906604 Centerline is valid? [True, True] Translation: X:134.05, Y:0.86, Z:0.89 [[ 9.99220288e-01 -3.20444616e-02 -2.30644231e-02 1.34053344e+02] [ 3.20508195e-02 9.99486236e-01 -9.40500875e-05 8.58253650e-01] [ 2.30555872e-02 -6.45256906e-04 9.99733976e-01 8.88960721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64925415399998 meters 0.018509134259016666 Centerline is valid? [True, True] Translation: X:134.08, Y:0.86, Z:0.89 [[ 9.99367951e-01 -2.73072513e-02 -2.27598754e-02 1.34083661e+02] [ 2.73122031e-02 9.99626948e-01 -9.33119417e-05 8.63168831e-01] [ 2.27539329e-02 -5.28369376e-04 9.99740956e-01 8.89415141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67925415399998 meters 0.01726231012185631 Centerline is valid? [True, True] Translation: X:134.11, Y:0.87, Z:0.89 [[ 9.99491944e-01 -2.30662499e-02 -2.19954842e-02 1.34112666e+02] [ 2.30697727e-02 9.99733853e-01 -9.36052165e-05 8.67614995e-01] [ 2.19917893e-02 -4.13873162e-04 9.99758066e-01 8.90049653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70925415399998 meters 0.015591503568592542 Centerline is valid? [True, True] Translation: X:134.14, Y:0.87, Z:0.89 [[ 9.99647735e-01 -1.58438399e-02 -2.12927119e-02 1.34141654e+02] [ 1.58454614e-02 9.99874449e-01 -9.25711234e-05 8.74841949e-01] [ 2.12915053e-02 -2.44854331e-04 9.99773280e-01 8.90784004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73925415399998 meters 0.014450319706740673 Centerline is valid? [True, True] Translation: X:134.17, Y:0.88, Z:0.89 [[ 9.99689157e-01 -1.36916791e-02 -2.08357339e-02 1.34169918e+02] [ 1.36926873e-02 9.99906246e-01 -9.42788583e-05 8.78935036e-01] [ 2.08350713e-02 -1.91047638e-04 9.99782908e-01 8.93340748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76925415399998 meters 0.014478001158815826 Centerline is valid? [True, True] Translation: X:134.20, Y:0.88, Z:0.89 [[ 9.99712078e-01 -1.21857182e-02 -2.06704991e-02 1.34199023e+02] [ 1.21862822e-02 9.99925740e-01 -9.86802897e-05 8.81103262e-01] [ 2.06701666e-02 -1.53244658e-04 9.99786338e-01 8.93413540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79925415399998 meters 0.014310276247772449 Centerline is valid? [True, True] Translation: X:134.23, Y:0.88, Z:0.89 [[ 9.99718698e-01 -1.08211961e-02 -2.11051336e-02 1.34226235e+02] [ 1.08213826e-02 9.99941442e-01 -1.05373024e-04 8.83171966e-01] [ 2.11050379e-02 -1.23043343e-04 9.99777256e-01 8.92909909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82925415399998 meters 0.014392902936938038 Centerline is valid? [True, True] Translation: X:134.25, Y:0.88, Z:0.89 [[ 9.99702211e-01 -1.11411848e-02 -2.17109220e-02 1.34254715e+02] [ 1.11413479e-02 9.99937927e-01 -1.13452299e-04 8.83448259e-01] [ 2.17108383e-02 -1.28470421e-04 9.99764284e-01 8.92258152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85925415399998 meters 0.014590702655862575 Centerline is valid? [True, True] Translation: X:134.28, Y:0.88, Z:0.89 [[ 9.99679006e-01 -1.20691985e-02 -2.22759990e-02 1.34283260e+02] [ 1.20694784e-02 9.99927154e-01 -1.21890287e-04 8.83746848e-01] [ 2.22758474e-02 -1.47008527e-04 9.99751852e-01 8.92125062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88925415399999 meters 0.014494299961031963 Centerline is valid? [True, True] Translation: X:134.31, Y:0.88, Z:0.89 [[ 9.99661992e-01 -1.32967714e-02 -2.23405119e-02 1.34311427e+02] [ 1.32972203e-02 9.99911580e-01 -1.28464337e-04 8.84138630e-01] [ 2.23402447e-02 -1.68645794e-04 9.99750411e-01 8.93353842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.919254154 meters 0.014923242418034853 Centerline is valid? [True, True] Translation: X:134.34, Y:0.88, Z:0.89 [[ 9.99616476e-01 -1.57074765e-02 -2.28073598e-02 1.34338787e+02] [ 1.57084848e-02 9.99876605e-01 -1.34958275e-04 8.82343260e-01] [ 2.28066654e-02 -2.23362550e-04 9.99739869e-01 8.92236363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.949254154 meters 0.015552962000174069 Centerline is valid? [True, True] Translation: X:134.37, Y:0.88, Z:0.89 [[ 9.99599007e-01 -1.70120816e-02 -2.26365838e-02 1.34366916e+02] [ 1.70133612e-02 9.99855253e-01 -1.36074102e-04 8.80631504e-01] [ 2.26356221e-02 -2.49104838e-04 9.99743750e-01 8.91143597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.979254154 meters 0.015716146031566954 Centerline is valid? [True, True] Translation: X:134.40, Y:0.88, Z:0.89 [[ 9.99581052e-01 -1.86014834e-02 -2.21744092e-02 1.34395757e+02] [ 1.86030095e-02 9.99826940e-01 -1.37476853e-04 8.79415762e-01] [ 2.21731290e-02 -2.75091488e-04 9.99754108e-01 8.91406164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.009254154 meters 0.015390775448507256 Centerline is valid? [True, True] Translation: X:134.42, Y:0.88, Z:0.89 [[ 9.99559095e-01 -2.03259065e-02 -2.16442391e-02 1.34424790e+02] [ 2.03276503e-02 9.99793362e-01 -1.39470583e-04 8.79743729e-01] [ 2.16426014e-02 -3.00567433e-04 9.99765726e-01 8.93724774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.039254154 meters 0.017125700618193164 Centerline is valid? [True, True] Translation: X:134.45, Y:0.87, Z:0.89 [[ 9.99519103e-01 -2.35572094e-02 -2.01648354e-02 1.34452715e+02] [ 2.35593238e-02 9.99722432e-01 -1.32728966e-04 8.73830828e-01] [ 2.01623650e-02 -3.42404749e-04 9.99796660e-01 8.92396475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.069254154 meters 0.016636264478484968 Centerline is valid? [True, True] Translation: X:134.48, Y:0.87, Z:0.89 [[ 9.99492300e-01 -2.51814531e-02 -1.95201782e-02 1.34481034e+02] [ 2.51837111e-02 9.99682832e-01 -1.30171401e-04 8.73714042e-01] [ 1.95172649e-02 -3.61485216e-04 9.99809455e-01 8.94171714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.099254154 meters 0.0170803607790736 Centerline is valid? [True, True] Translation: X:134.51, Y:0.87, Z:0.89 [[ 9.99449504e-01 -2.71384073e-02 -1.90838965e-02 1.34509667e+02] [ 2.71408544e-02 9.99631611e-01 -1.30805894e-04 8.72024912e-01] [ 1.90804161e-02 -3.87219372e-04 9.99817877e-01 8.94701165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.129254154 meters 0.017973448668505577 Centerline is valid? [True, True] Translation: X:134.54, Y:0.87, Z:0.89 [[ 9.99354912e-01 -3.06604545e-02 -1.87001752e-02 1.34538095e+02] [ 3.06633360e-02 9.99529761e-01 -1.32689480e-04 8.68027607e-01] [ 1.86954500e-02 -4.40805873e-04 9.99825128e-01 8.94962543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.159254154 meters 0.018764053164749342 Centerline is valid? [True, True] Translation: X:134.57, Y:0.87, Z:0.89 [[ 9.99297882e-01 -3.25526969e-02 -1.85489929e-02 1.34567888e+02] [ 3.25558192e-02 9.99469910e-01 -1.33690962e-04 8.65621382e-01] [ 1.85435122e-02 -4.70280564e-04 9.99827944e-01 8.94962974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.189254154 meters 0.01997192886471739 Centerline is valid? [True, True] Translation: X:134.60, Y:0.86, Z:0.89 [[ 9.99235086e-01 -3.45319164e-02 -1.83518219e-02 1.34597597e+02] [ 3.45352982e-02 9.99403470e-01 -1.32704366e-04 8.61975517e-01] [ 1.83454571e-02 -5.01182785e-04 9.99831582e-01 8.94643519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.219254154 meters 0.02019013729227549 Centerline is valid? [True, True] Translation: X:134.63, Y:0.86, Z:0.89 [[ 9.99169570e-01 -3.64971018e-02 -1.81143865e-02 1.34627740e+02] [ 3.65007172e-02 9.99333618e-01 -1.31105227e-04 8.60367401e-01] [ 1.81071003e-02 -5.30191745e-04 9.99835912e-01 8.94980977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.249254154 meters 0.02318245780385446 Centerline is valid? [True, True] Translation: X:134.66, Y:0.85, Z:0.89 [[ 9.99050713e-01 -3.97894600e-02 -1.77333677e-02 1.34658261e+02] [ 3.97934462e-02 9.99207919e-01 -1.28161503e-04 8.52891920e-01] [ 1.77244209e-02 -5.77631972e-04 9.99842743e-01 8.93756136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.279254154 meters 0.022965254685607006 Centerline is valid? [True, True] Translation: X:134.69, Y:0.85, Z:0.89 [[ 9.98984626e-01 -4.14797244e-02 -1.75826249e-02 1.34689170e+02] [ 4.14839067e-02 9.99139164e-01 -1.26953756e-04 8.52368360e-01] [ 1.75727552e-02 -6.02571122e-04 9.99845406e-01 8.93964361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.309254154 meters 0.023898138938039982 Centerline is valid? [True, True] Translation: X:134.72, Y:0.85, Z:0.89 [[ 9.98913870e-01 -4.28635665e-02 -1.82700361e-02 1.34720442e+02] [ 4.28683204e-02 9.99080722e-01 -1.31534215e-04 8.50297615e-01] [ 1.82588789e-02 -6.51814410e-04 9.99833080e-01 8.93148228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339254154 meters 0.02554635791625009 Centerline is valid? [True, True] Translation: X:134.75, Y:0.85, Z:0.89 [[ 9.98788907e-01 -4.52755777e-02 -1.92572558e-02 1.34751045e+02] [ 4.52813204e-02 9.98974265e-01 -1.37943441e-04 8.46215253e-01] [ 1.92437484e-02 -7.34217592e-04 9.99814552e-01 8.91233522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36925415399998 meters 0.022346050999782683 Centerline is valid? [True, True] Translation: X:134.78, Y:0.85, Z:0.89 [[ 9.98750364e-01 -4.59812946e-02 -1.95813835e-02 1.34782559e+02] [ 4.59873818e-02 9.98942011e-01 -1.39551967e-04 8.50586721e-01] [ 1.95670834e-02 -7.61118981e-04 9.99808257e-01 8.92423532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39925415399998 meters 0.022855205654854355 Centerline is valid? [True, True] Translation: X:134.81, Y:0.85, Z:0.89 [[ 9.98719077e-01 -4.65338431e-02 -1.98697252e-02 1.34813898e+02] [ 4.65402343e-02 9.98916406e-01 -1.40891604e-04 8.49289428e-01] [ 1.98547507e-02 -7.84030531e-04 9.99802568e-01 8.91817095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42925415399998 meters 0.023490976268156244 Centerline is valid? [True, True] Translation: X:134.84, Y:0.85, Z:0.89 [[ 9.98702897e-01 -4.68841463e-02 -1.98594960e-02 1.34844640e+02] [ 4.68906095e-02 9.98900021e-01 -1.40342039e-04 8.48340616e-01] [ 1.98442308e-02 -7.91063872e-04 9.99802771e-01 8.91338773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45925415399998 meters 0.0239091959966314 Centerline is valid? [True, True] Translation: X:134.87, Y:0.85, Z:0.89 [[ 9.98718443e-01 -4.65803664e-02 -1.97924255e-02 1.34874503e+02] [ 4.65867333e-02 9.98914239e-01 -1.39519506e-04 8.48092046e-01] [ 1.97774345e-02 -7.82723744e-04 9.99804101e-01 8.91437021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48925415399998 meters 0.02375106536463941 Centerline is valid? [True, True] Translation: X:134.91, Y:0.85, Z:0.89 [[ 9.98742021e-01 -4.61640444e-02 -1.95769405e-02 1.34906290e+02] [ 4.61702046e-02 9.98933578e-01 -1.37437712e-04 8.48706373e-01] [ 1.95624079e-02 -7.66606529e-04 9.99808344e-01 8.91844500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51925415399998 meters 0.023762772904984117 Centerline is valid? [True, True] Translation: X:134.94, Y:0.85, Z:0.89 [[ 9.98761572e-01 -4.58528092e-02 -1.93091037e-02 1.34937653e+02] [ 4.58587568e-02 9.98947925e-01 -1.34887136e-04 8.49070539e-01] [ 1.92949740e-02 -7.50771402e-04 9.99813553e-01 8.92003943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54925415399998 meters 0.02435910049734868 Centerline is valid? [True, True] Translation: X:134.97, Y:0.85, Z:0.89 [[ 9.98786951e-01 -4.57779459e-02 -1.81385062e-02 1.34967759e+02] [ 4.57831894e-02 9.98951392e-01 -1.26288985e-04 8.48875338e-01] [ 1.81252673e-02 -7.04302874e-04 9.99835476e-01 8.92068440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57925415399998 meters 0.0246961948433928 Centerline is valid? [True, True] Translation: X:135.00, Y:0.85, Z:0.89 [[ 9.98781734e-01 -4.59046214e-02 -1.81056326e-02 1.34999159e+02] [ 4.59098757e-02 9.98945578e-01 -1.25558225e-04 8.48888653e-01] [ 1.80923053e-02 -7.05822081e-04 9.99836072e-01 8.92248357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60925415399998 meters 0.02116747910613349 Centerline is valid? [True, True] Translation: X:135.03, Y:0.85, Z:0.89 [[ 9.98774333e-01 -4.62525079e-02 -1.76220451e-02 1.35031504e+02] [ 4.62575574e-02 9.98929539e-01 -1.21177180e-04 8.54701455e-01] [ 1.76087861e-02 -6.94124106e-04 9.99844712e-01 8.94126504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63925415399999 meters 0.02542205734002614 Centerline is valid? [True, True] Translation: X:135.06, Y:0.85, Z:0.89 [[ 9.98764044e-01 -4.67508221e-02 -1.68743680e-02 1.35062602e+02] [ 4.67555407e-02 9.98906355e-01 -1.14987779e-04 8.48540846e-01] [ 1.68612892e-02 -6.74124540e-04 9.99857611e-01 8.92689888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.669254154 meters 0.026854296947571486 Centerline is valid? [True, True] Translation: X:135.09, Y:0.85, Z:0.89 [[ 9.98717723e-01 -4.78607352e-02 -1.65002951e-02 1.35093006e+02] [ 4.78654112e-02 9.98853788e-01 -1.11648538e-04 8.46809305e-01] [ 1.64867258e-02 -6.78288034e-04 9.99863855e-01 8.93050187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.699254154 meters 0.022997817847252012 Centerline is valid? [True, True] Translation: X:135.12, Y:0.85, Z:0.89 [[ 9.98686552e-01 -4.85691932e-02 -1.63157875e-02 1.35124897e+02] [ 4.85738754e-02 9.98819587e-01 -1.09421090e-04 8.52955026e-01] [ 1.63018426e-02 -6.83243656e-04 9.99866883e-01 8.94522892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.729254154 meters 0.0244538020985098 Centerline is valid? [True, True] Translation: X:135.16, Y:0.85, Z:0.89 [[ 9.98662870e-01 -4.90494683e-02 -1.63285540e-02 1.35156488e+02] [ 4.90542477e-02 9.98796110e-01 -1.07930206e-04 8.51003863e-01] [ 1.63141901e-02 -6.93199044e-04 9.99866674e-01 8.93906066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.759254154 meters 0.025758994557055877 Centerline is valid? [True, True] Translation: X:135.19, Y:0.85, Z:0.89 [[ 9.98610403e-01 -5.00352259e-02 -1.65450897e-02 1.35187565e+02] [ 5.00402895e-02 9.98747194e-01 -1.08052392e-04 8.49661393e-01] [ 1.65297683e-02 -7.20018836e-04 9.99863115e-01 8.93301130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.789254154 meters 0.025886754746553515 Centerline is valid? [True, True] Translation: X:135.22, Y:0.85, Z:0.89 [[ 9.98617304e-01 -4.97563125e-02 -1.69643527e-02 1.35219990e+02] [ 4.97616142e-02 9.98761117e-01 -1.09715654e-04 8.49999087e-01] [ 1.69487949e-02 -7.34609626e-04 9.99856089e-01 8.93327146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.819254154 meters 0.025833860319417146 Centerline is valid? [True, True] Translation: X:135.25, Y:0.85, Z:0.89 [[ 9.98640961e-01 -4.93343476e-02 -1.68033491e-02 1.35252025e+02] [ 4.93395090e-02 9.98782059e-01 -1.07509885e-04 8.51144779e-01] [ 1.67881876e-02 -7.21705220e-04 9.99858808e-01 8.93610769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.849254154 meters 0.024231549895397303 Centerline is valid? [True, True] Translation: X:135.28, Y:0.85, Z:0.89 [[ 9.98689067e-01 -4.83851010e-02 -1.67041895e-02 1.35284583e+02] [ 4.83900888e-02 9.98828508e-01 -1.05702742e-04 8.54520180e-01] [ 1.66897352e-02 -7.02753042e-04 9.99860470e-01 8.94689854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.879254154 meters 0.02155836657499068 Centerline is valid? [True, True] Translation: X:135.32, Y:0.86, Z:0.90 [[ 9.98854834e-01 -4.52627007e-02 -1.55018852e-02 1.35316212e+02] [ 4.52666351e-02 9.98974936e-01 -9.71656781e-05 8.60923304e-01] [ 1.54903927e-02 -6.04663772e-04 9.99879834e-01 8.96424836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.909254154 meters 0.020349090223984154 Centerline is valid? [True, True] Translation: X:135.35, Y:0.86, Z:0.90 [[ 9.98965135e-01 -4.28832556e-02 -1.51553689e-02 1.35347318e+02] [ 4.28867528e-02 9.99079936e-01 -9.43145487e-05 8.64067324e-01] [ 1.51454694e-02 -5.55747612e-04 9.99885146e-01 8.97154021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.939254154 meters 0.019862628224347617 Centerline is valid? [True, True] Translation: X:135.38, Y:0.87, Z:0.90 [[ 9.99085801e-01 -4.03016364e-02 -1.42597291e-02 1.35378534e+02] [ 4.03044772e-02 9.99187441e-01 -8.82277479e-05 8.66596299e-01] [ 1.42516979e-02 -4.86583835e-04 9.99898321e-01 8.97961323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.969254154 meters 0.018381513997465772 Centerline is valid? [True, True] Translation: X:135.41, Y:0.87, Z:0.90 [[ 9.99314962e-01 -3.43447847e-02 -1.37856018e-02 1.35409549e+02] [ 3.43468784e-02 9.99409968e-01 -8.49217974e-05 8.72553302e-01] [ 1.37803845e-02 -3.88628768e-04 9.99904970e-01 8.98566614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.999254154 meters 0.01737291073857301 Centerline is valid? [True, True] Translation: X:135.44, Y:0.88, Z:0.90 [[ 9.99413526e-01 -3.14626085e-02 -1.35169575e-02 1.35440822e+02] [ 3.14643629e-02 9.99504871e-01 -8.28993704e-05 8.75862144e-01] [ 1.35128730e-02 -3.42451703e-04 9.99908638e-01 8.98697348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.029254154 meters 0.01670751424991629 Centerline is valid? [True, True] Translation: X:135.47, Y:0.88, Z:0.90 [[ 9.99492732e-01 -2.87587069e-02 -1.36827054e-02 1.35472601e+02] [ 2.87602601e-02 9.99586335e-01 -8.32830194e-05 8.78728853e-01] [ 1.36794404e-02 -3.10277392e-04 9.99906384e-01 8.99012214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059254154 meters 0.016258043756789787 Centerline is valid? [True, True] Translation: X:135.50, Y:0.88, Z:0.90 [[ 9.99556536e-01 -2.64870914e-02 -1.36075733e-02 1.35504283e+02] [ 2.64884257e-02 9.99649117e-01 -8.21995174e-05 8.81367266e-01] [ 1.36049759e-02 -2.78280130e-04 9.99907409e-01 8.99041009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.089254154 meters 0.015644213588062894 Centerline is valid? [True, True] Translation: X:135.54, Y:0.89, Z:0.90 [[ 9.99613102e-01 -2.38249460e-02 -1.43533690e-02 1.35535291e+02] [ 2.38261621e-02 9.99716113e-01 -8.63001946e-05 8.85213803e-01] [ 1.43513503e-02 -2.55718890e-04 9.99896981e-01 8.98889941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11925415399998 meters 0.015701941984619203 Centerline is valid? [True, True] Translation: X:135.57, Y:0.89, Z:0.90 [[ 9.99623480e-01 -2.33854431e-02 -1.43533800e-02 1.35565723e+02] [ 2.33866157e-02 9.99726492e-01 -8.61731173e-05 8.86092992e-01] [ 1.43514694e-02 -2.49536309e-04 9.99896981e-01 8.98522090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14925415399998 meters 0.015701941984619203 Centerline is valid? [True, True] Translation: X:135.60, Y:0.89, Z:0.90 [[ 9.99623480e-01 -2.33854431e-02 -1.43533800e-02 1.35595727e+02] [ 2.33866157e-02 9.99726492e-01 -8.61731173e-05 8.86273127e-01] [ 1.43514694e-02 -2.49536309e-04 9.99896981e-01 8.98730021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17925415399998 meters 0.015766765667962555 Centerline is valid? [True, True] Translation: X:135.63, Y:0.89, Z:0.90 [[ 9.99607997e-01 -2.38691234e-02 -1.46327130e-02 1.35626124e+02] [ 2.38703938e-02 9.99715058e-01 -8.78501437e-05 8.86632129e-01] [ 1.46306404e-02 -2.61472915e-04 9.99892932e-01 8.98746701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20925415399998 meters 0.016116658292338302 Centerline is valid? [True, True] Translation: X:135.66, Y:0.89, Z:0.90 [[ 9.99574294e-01 -2.52188805e-02 -1.46710213e-02 1.35656387e+02] [ 2.52203029e-02 9.99681914e-01 -8.80801349e-05 8.85940040e-01] [ 1.46685760e-02 -2.81964963e-04 9.99892371e-01 8.98611197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23925415399998 meters 0.017089154259163 Centerline is valid? [True, True] Translation: X:135.69, Y:0.88, Z:0.90 [[ 9.99469045e-01 -2.91582151e-02 -1.45404880e-02 1.35686439e+02] [ 2.91600269e-02 9.99574752e-01 -8.74348070e-05 8.83311135e-01] [ 1.45368541e-02 -3.36612639e-04 9.99894278e-01 8.98141260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.26925415399998 meters 0.017759699049172226 Centerline is valid? [True, True] Translation: X:135.72, Y:0.88, Z:0.90 [[ 9.99390783e-01 -3.16692927e-02 -1.46669473e-02 1.35717456e+02] [ 3.16714086e-02 9.99498331e-01 -8.80423719e-05 8.81502391e-01] [ 1.46623776e-02 -3.76534148e-04 9.99892431e-01 8.97946674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29925415399998 meters 0.018985218792864314 Centerline is valid? [True, True] Translation: X:135.75, Y:0.88, Z:0.90 [[ 9.99292709e-01 -3.44366475e-02 -1.51062562e-02 1.35748198e+02] [ 3.44392171e-02 9.99406790e-01 -9.00813391e-05 8.78926949e-01] [ 1.51003971e-02 -4.30230011e-04 9.99885890e-01 8.97784370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32925415399998 meters 0.02043424188908461 Centerline is valid? [True, True] Translation: X:135.78, Y:0.88, Z:0.90 [[ 9.99185298e-01 -3.74725806e-02 -1.49848718e-02 1.35778541e+02] [ 3.74754566e-02 9.99297544e-01 -8.89291053e-05 8.76151082e-01] [ 1.49776780e-02 -4.72708259e-04 9.99887717e-01 8.97724480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35925415399998 meters 0.021372081829059274 Centerline is valid? [True, True] Translation: X:135.81, Y:0.87, Z:0.90 [[ 9.99074264e-01 -4.04290546e-02 -1.47005367e-02 1.35810027e+02] [ 4.04321478e-02 9.99182283e-01 -8.68478737e-05 8.74550158e-01] [ 1.46920270e-02 -5.07606797e-04 9.99891938e-01 8.98125395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38925415399999 meters 0.024467236626766045 Centerline is valid? [True, True] Translation: X:135.84, Y:0.87, Z:0.90 [[ 9.98807189e-01 -4.68177513e-02 -1.38671411e-02 1.35839986e+02] [ 4.68211203e-02 9.98903287e-01 -8.17863683e-05 8.70055253e-01] [ 1.38557619e-02 -5.67586268e-04 9.99903843e-01 8.98928017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.419254154 meters 0.026273783116633562 Centerline is valid? [True, True] Translation: X:135.87, Y:0.87, Z:0.90 [[ 9.98682789e-01 -4.95195828e-02 -1.34349199e-02 1.35870592e+02] [ 4.95229908e-02 9.98772981e-01 -7.91046443e-05 8.67517581e-01] [ 1.34223523e-02 -5.86336970e-04 9.99909744e-01 8.99137506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.449254154 meters 0.027944174658430604 Centerline is valid? [True, True] Translation: X:135.90, Y:0.87, Z:0.90 [[ 9.98543486e-01 -5.23176467e-02 -1.31821867e-02 1.35901271e+02] [ 5.23211754e-02 9.98630306e-01 -7.72773720e-05 8.65274891e-01] [ 1.31681741e-02 -6.12542684e-04 9.99913108e-01 8.99933598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.479254154 meters 0.031621759354605886 Centerline is valid? [True, True] Translation: X:135.93, Y:0.86, Z:0.90 [[ 9.98262325e-01 -5.75086573e-02 -1.28485222e-02 1.35930812e+02] [ 5.75124388e-02 9.98344787e-01 -7.52886703e-05 8.60779229e-01] [ 1.28315849e-02 -6.63792005e-04 9.99917451e-01 9.00768071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.509254154 meters 0.030304203409679348 Centerline is valid? [True, True] Translation: X:135.96, Y:0.86, Z:0.90 [[ 9.98150808e-01 -5.94889086e-02 -1.24913817e-02 1.35962890e+02] [ 5.94926411e-02 9.98228741e-01 -7.29012983e-05 8.63226844e-01] [ 1.24735931e-02 -6.70378799e-04 9.99921977e-01 9.02142760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.539254154 meters 0.027501106249923093 Centerline is valid? [True, True] Translation: X:136.00, Y:0.87, Z:0.90 [[ 9.98051527e-01 -6.10975817e-02 -1.26584178e-02 1.35995042e+02] [ 6.11015552e-02 9.98131552e-01 -7.29618050e-05 8.68225793e-01] [ 1.26392240e-02 -7.00629372e-04 9.99919876e-01 9.03076964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.569254154 meters 0.03589815223630734 Centerline is valid? [True, True] Translation: X:136.03, Y:0.86, Z:0.90 [[ 9.97989246e-01 -6.22500005e-02 -1.19332188e-02 1.36026076e+02] [ 6.22536229e-02 9.98060360e-01 -6.80255504e-05 8.57638521e-01] [ 1.19143072e-02 -6.74997333e-04 9.99928794e-01 9.02527024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.599254154 meters 0.03389352843069028 Centerline is valid? [True, True] Translation: X:136.06, Y:0.86, Z:0.90 [[ 9.97934665e-01 -6.30584695e-02 -1.22487943e-02 1.36058180e+02] [ 6.30623559e-02 9.98009586e-01 -6.90681191e-05 8.60997946e-01] [ 1.22287695e-02 -7.03512357e-04 9.99924978e-01 9.02748453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.629254154 meters 0.030392774790981517 Centerline is valid? [True, True] Translation: X:136.09, Y:0.87, Z:0.90 [[ 9.97891029e-01 -6.37150598e-02 -1.24050674e-02 1.36089895e+02] [ 6.37191108e-02 9.97967870e-01 -6.88051798e-05 8.66841258e-01] [ 1.23842426e-02 -7.21779789e-04 9.99923052e-01 9.03244056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.659254154 meters 0.03250394431171433 Centerline is valid? [True, True] Translation: X:136.12, Y:0.86, Z:0.90 [[ 9.97911847e-01 -6.33231372e-02 -1.27328685e-02 1.36120776e+02] [ 6.33273940e-02 9.97992804e-01 -6.89955540e-05 8.64630990e-01] [ 1.27116801e-02 -7.37487897e-04 9.99918931e-01 9.02954400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.689254154 meters 0.028245228960879457 Centerline is valid? [True, True] Translation: X:136.15, Y:0.87, Z:0.90 [[ 9.97914448e-01 -6.31295580e-02 -1.34689860e-02 1.36154125e+02] [ 6.31343266e-02 9.98005036e-01 -7.12848095e-05 8.71396970e-01] [ 1.34466160e-02 -7.79219218e-04 9.99909287e-01 9.03226343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.719254154 meters 0.02858154265993358 Centerline is valid? [True, True] Translation: X:136.19, Y:0.87, Z:0.90 [[ 9.97970539e-01 -6.19513830e-02 -1.47251097e-02 1.36185233e+02] [ 6.19569736e-02 9.98078818e-01 -7.66587962e-05 8.72488115e-01] [ 1.47015692e-02 -8.35820009e-04 9.99891577e-01 9.02449707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.749254154 meters 0.02884387227831935 Centerline is valid? [True, True] Translation: X:136.22, Y:0.87, Z:0.90 [[ 9.98012033e-01 -6.11757208e-02 -1.51497224e-02 1.36217570e+02] [ 6.11815644e-02 9.98126650e-01 -7.78792672e-05 8.73463755e-01] [ 1.51261060e-02 -8.49159270e-04 9.99885233e-01 9.02342198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.779254154 meters 0.027251640618269797 Centerline is valid? [True, True] Translation: X:136.25, Y:0.88, Z:0.90 [[ 9.98072546e-01 -6.00939348e-02 -1.54890830e-02 1.36249786e+02] [ 6.00999311e-02 9.98192362e-01 -7.84770713e-05 8.77211199e-01] [ 1.54658004e-02 -8.52567012e-04 9.99880034e-01 9.02372761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.809254154 meters 0.0277539843341777 Centerline is valid? [True, True] Translation: X:136.28, Y:0.88, Z:0.90 [[ 9.98133339e-01 -5.89556495e-02 -1.59395480e-02 1.36280815e+02] [ 5.89618712e-02 9.98260232e-01 -7.97373147e-05 8.78048645e-01] [ 1.59165179e-02 -8.60237106e-04 9.99872954e-01 9.02497577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839254154 meters 0.025920886199604226 Centerline is valid? [True, True] Translation: X:136.31, Y:0.88, Z:0.90 [[ 9.98234142e-01 -5.72828734e-02 -1.57248332e-02 1.36312349e+02] [ 5.72887326e-02 9.98357649e-01 -7.79603672e-05 8.82010645e-01] [ 1.57034733e-02 -8.23033067e-04 9.99876354e-01 9.03284844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86925415399998 meters 0.02556786237887061 Centerline is valid? [True, True] Translation: X:136.34, Y:0.89, Z:0.90 [[ 9.98480562e-01 -5.29716530e-02 -1.51845983e-02 1.36342520e+02] [ 5.29766229e-02 9.98595750e-01 -7.50332350e-05 8.85691990e-01] [ 1.51672499e-02 -7.29509510e-04 9.99884705e-01 9.04020213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89925415399998 meters 0.023733118558572526 Centerline is valid? [True, True] Translation: X:136.37, Y:0.89, Z:0.91 [[ 9.98631346e-01 -5.01689608e-02 -1.47821221e-02 1.36374045e+02] [ 5.01733685e-02 9.98740521e-01 -7.27548455e-05 8.90184043e-01] [ 1.47671544e-02 -6.69013592e-04 9.99890736e-01 9.05211692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92925415399998 meters 0.023147847643718845 Centerline is valid? [True, True] Translation: X:136.41, Y:0.89, Z:0.91 [[ 9.98796410e-01 -4.69435722e-02 -1.42137839e-02 1.36405029e+02] [ 4.69473287e-02 9.98897364e-01 -6.94460032e-05 8.93055291e-01] [ 1.42013713e-02 -5.97936764e-04 9.99898977e-01 9.05734799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95925415399998 meters 0.020280734892155487 Centerline is valid? [True, True] Translation: X:136.44, Y:0.90, Z:0.91 [[ 9.99101416e-01 -4.01644451e-02 -1.35343418e-02 1.36435704e+02] [ 4.01672336e-02 9.99192969e-01 -6.58454366e-05 9.01224538e-01] [ 1.35260638e-02 -4.77850799e-04 9.99908404e-01 9.06878208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.98925415399998 meters 0.019819703125954168 Centerline is valid? [True, True] Translation: X:136.47, Y:0.90, Z:0.91 [[ 9.99243076e-01 -3.65572124e-02 -1.32983491e-02 1.36466314e+02] [ 3.65595951e-02 9.99331472e-01 -6.39611470e-05 9.03477763e-01] [ 1.32917971e-02 -4.22269527e-04 9.99911571e-01 9.07114783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01925415399998 meters 0.01824450606783748 Centerline is valid? [True, True] Translation: X:136.50, Y:0.91, Z:0.91 [[ 9.99362672e-01 -3.30952388e-02 -1.33773716e-02 1.36498210e+02] [ 3.30973550e-02 9.99452130e-01 -6.32243077e-05 9.08042005e-01] [ 1.33721349e-02 -3.79571603e-04 9.99910517e-01 9.07458444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.04925415399998 meters 0.017493826826498898 Centerline is valid? [True, True] Translation: X:136.53, Y:0.91, Z:0.91 [[ 9.99467152e-01 -2.97280648e-02 -1.34779246e-02 1.36529356e+02] [ 2.97299154e-02 9.99557966e-01 -6.30734774e-05 9.10760857e-01] [ 1.34738419e-02 -3.37657689e-04 9.99909167e-01 9.07684390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07925415399998 meters 0.016447634205291137 Centerline is valid? [True, True] Translation: X:136.56, Y:0.91, Z:0.91 [[ 9.99612830e-01 -2.42543620e-02 -1.36350945e-02 1.36560034e+02] [ 2.42557539e-02 9.99705784e-01 -6.33082947e-05 9.14659027e-01] [ 1.36326184e-02 -2.67445714e-04 9.99907036e-01 9.07007202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10925415399998 meters 0.016220263170812897 Centerline is valid? [True, True] Translation: X:136.59, Y:0.92, Z:0.91 [[ 9.99647538e-01 -2.22935276e-02 -1.44152035e-02 1.36590019e+02] [ 2.22948853e-02 9.99751436e-01 -6.65314671e-05 9.16345743e-01] [ 1.44131036e-02 -2.54877291e-04 9.99896093e-01 9.06746572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13925415399999 meters 0.015586169458657114 Centerline is valid? [True, True] Translation: X:136.62, Y:0.92, Z:0.91 [[ 9.99675463e-01 -2.06192049e-02 -1.49604912e-02 1.36620614e+02] [ 2.06204817e-02 9.99787373e-01 -6.89206409e-05 9.18981744e-01] [ 1.49587313e-02 -2.39594261e-04 9.99888083e-01 9.06817245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.169254154 meters 0.015181395111194642 Centerline is valid? [True, True] Translation: X:136.65, Y:0.92, Z:0.91 [[ 9.99693773e-01 -1.85169868e-02 -1.64159146e-02 1.36650351e+02] [ 1.85182351e-02 9.99828520e-01 -7.59746517e-05 9.21507581e-01] [ 1.64145064e-02 -2.28042380e-04 9.99865247e-01 9.06152540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.199254154 meters 0.015095834346233482 Centerline is valid? [True, True] Translation: X:136.68, Y:0.92, Z:0.91 [[ 9.99688973e-01 -1.83044570e-02 -1.69382300e-02 1.36679250e+02] [ 1.83057073e-02 9.99832433e-01 -8.12364857e-05 9.21919253e-01] [ 1.69368787e-02 -2.28855061e-04 9.99856535e-01 9.05953739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.229254154 meters 0.01549753875750442 Centerline is valid? [True, True] Translation: X:136.71, Y:0.92, Z:0.91 [[ 9.99684911e-01 -1.83559169e-02 -1.71212823e-02 1.36706890e+02] [ 1.83571470e-02 9.99831490e-01 -8.53248544e-05 9.20918143e-01] [ 1.71199634e-02 -2.28999927e-04 9.99853416e-01 9.05054425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.259254154 meters 0.015123299346184926 Centerline is valid? [True, True] Translation: X:136.73, Y:0.92, Z:0.91 [[ 9.99674910e-01 -1.87144964e-02 -1.73159458e-02 1.36734434e+02] [ 1.87157389e-02 9.99824841e-01 -9.03072939e-05 9.22271763e-01] [ 1.73146028e-02 -2.33802785e-04 9.99850064e-01 9.06369294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.289254154 meters 0.015234046469121717 Centerline is valid? [True, True] Translation: X:136.76, Y:0.92, Z:0.91 [[ 9.99667065e-01 -1.91822337e-02 -1.72569012e-02 1.36762442e+02] [ 1.91834503e-02 9.99815976e-01 -9.50505403e-05 9.22243818e-01] [ 1.72555488e-02 -2.36028012e-04 9.99851084e-01 9.06946849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319254154 meters 0.015375040000924777 Centerline is valid? [True, True] Translation: X:136.79, Y:0.92, Z:0.91 [[ 9.99647080e-01 -2.06364163e-02 -1.67288410e-02 1.36791449e+02] [ 2.06376879e-02 9.99787016e-01 -9.66354221e-05 9.21687228e-01] [ 1.67272722e-02 -2.48643283e-04 9.99860058e-01 9.07992005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.349254154 meters 0.015528396801972509 Centerline is valid? [True, True] Translation: X:136.82, Y:0.92, Z:0.91 [[ 9.99623726e-01 -2.18817621e-02 -1.65406824e-02 1.36820053e+02] [ 2.18831054e-02 9.99760531e-01 -9.97949893e-05 9.20871466e-01] [ 1.65389051e-02 -2.62204058e-04 9.99863189e-01 9.08458276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379254154 meters 0.016775771517909096 Centerline is valid? [True, True] Translation: X:136.85, Y:0.92, Z:0.91 [[ 9.99601678e-01 -2.27759339e-02 -1.66655962e-02 1.36849062e+02] [ 2.27773859e-02 9.99740556e-01 -1.02706524e-04 9.19357952e-01] [ 1.66636117e-02 -2.76933103e-04 9.99861114e-01 9.08148001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.409254154 meters 0.01644409708237652 Centerline is valid? [True, True] Translation: X:136.88, Y:0.92, Z:0.91 [[ 9.99527442e-01 -2.61851802e-02 -1.61006209e-02 1.36878644e+02] [ 2.61869682e-02 9.99657058e-01 -9.98014571e-05 9.16630153e-01] [ 1.60977126e-02 -3.21872152e-04 9.99870372e-01 9.09002398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439254154 meters 0.01674803945775364 Centerline is valid? [True, True] Translation: X:136.91, Y:0.92, Z:0.91 [[ 9.99462660e-01 -2.83195673e-02 -1.65043581e-02 1.36909412e+02] [ 2.83217327e-02 9.99598854e-01 -1.02561212e-04 9.15510037e-01] [ 1.65006419e-02 -3.64925916e-04 9.99863789e-01 9.09329351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.469254154 meters 0.017154301023298908 Centerline is valid? [True, True] Translation: X:136.94, Y:0.91, Z:0.91 [[ 9.99387351e-01 -3.05112999e-02 -1.71459292e-02 1.36940754e+02] [ 3.05139658e-02 9.99534335e-01 -1.06171689e-04 9.14265520e-01] [ 1.71411844e-02 -4.17083656e-04 9.99852992e-01 9.09616023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499254154 meters 0.019042510966584745 Centerline is valid? [True, True] Translation: X:136.97, Y:0.91, Z:0.91 [[ 9.99302499e-01 -3.31095996e-02 -1.72705016e-02 1.36970934e+02] [ 3.31126998e-02 9.99451619e-01 -1.06496932e-04 9.10207541e-01] [ 1.72645568e-02 -4.65450286e-04 9.99850848e-01 9.08875927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.529254154 meters 0.020302261580639577 Centerline is valid? [True, True] Translation: X:137.00, Y:0.91, Z:0.91 [[ 9.99117080e-01 -3.84620638e-02 -1.69035491e-02 1.37001819e+02] [ 3.84658039e-02 9.99259912e-01 -1.03932443e-04 9.05985392e-01] [ 1.68950364e-02 -5.46367923e-04 9.99857119e-01 9.09420691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559254154 meters 0.021104510573444705 Centerline is valid? [True, True] Translation: X:137.03, Y:0.90, Z:0.91 [[ 9.98998500e-01 -4.14254000e-02 -1.69095786e-02 1.37033084e+02] [ 4.14295748e-02 9.99141421e-01 -1.03488765e-04 9.03515251e-01] [ 1.68993474e-02 -5.97171529e-04 9.99857017e-01 9.09613948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.589254154 meters 0.02204137616641924 Centerline is valid? [True, True] Translation: X:137.06, Y:0.90, Z:0.91 [[ 9.98892753e-01 -4.37232383e-02 -1.73650759e-02 1.37064685e+02] [ 4.37280023e-02 9.99043468e-01 -1.05441987e-04 9.02806208e-01] [ 1.73530759e-02 -6.54014842e-04 9.99849210e-01 9.09042702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61925415399998 meters 0.024263015979112346 Centerline is valid? [True, True] Translation: X:137.10, Y:0.90, Z:0.91 [[ 9.98760552e-01 -4.66476469e-02 -1.73596452e-02 1.37095608e+02] [ 4.66528621e-02 9.98911157e-01 -1.04643528e-04 8.96734314e-01] [ 1.73456246e-02 -7.05363304e-04 9.99849305e-01 9.08828205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64925415399998 meters 0.025567727522511505 Centerline is valid? [True, True] Translation: X:137.13, Y:0.89, Z:0.91 [[ 9.98546152e-01 -5.07012130e-02 -1.83021645e-02 1.37127111e+02] [ 5.07077018e-02 9.98713531e-01 -1.09656960e-04 8.94498911e-01] [ 1.82841791e-02 -8.18563165e-04 9.99832495e-01 9.08108003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67925415399998 meters 0.023695752848632092 Centerline is valid? [True, True] Translation: X:137.16, Y:0.90, Z:0.91 [[ 9.98462927e-01 -5.20717277e-02 -1.89820848e-02 1.37158913e+02] [ 5.20789825e-02 9.98642963e-01 -1.12271377e-04 8.97535842e-01] [ 1.89621715e-02 -8.76468852e-04 9.99819818e-01 9.08737938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70925415399998 meters 0.023926021834501404 Centerline is valid? [True, True] Translation: X:137.19, Y:0.90, Z:0.91 [[ 9.98395815e-01 -5.29809838e-02 -1.99702532e-02 1.37191030e+02] [ 5.29892292e-02 9.98595077e-01 -1.16418215e-04 8.97465209e-01] [ 1.99483645e-02 -9.41976863e-04 9.99800568e-01 9.08610510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73925415399998 meters 0.024879041421572674 Centerline is valid? [True, True] Translation: X:137.22, Y:0.90, Z:0.91 [[ 9.98357423e-01 -5.37440371e-02 -1.98503119e-02 1.37222042e+02] [ 5.37523585e-02 9.98554290e-01 -1.14492024e-04 8.96386627e-01] [ 1.98277673e-02 -9.52697118e-04 9.99802957e-01 9.08587253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.76925415399998 meters 0.02361763138030861 Centerline is valid? [True, True] Translation: X:137.25, Y:0.90, Z:0.91 [[ 9.98368861e-01 -5.35601913e-02 -1.97717825e-02 1.37254437e+02] [ 5.35684375e-02 9.98564174e-01 -1.12696283e-04 8.98635398e-01] [ 1.97494297e-02 -9.46631034e-04 9.99804513e-01 9.09498440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79925415399998 meters 0.026505798457772872 Centerline is valid? [True, True] Translation: X:137.29, Y:0.89, Z:0.91 [[ 9.98407322e-01 -5.28254489e-02 -1.98063403e-02 1.37285884e+02] [ 5.28336236e-02 9.98603323e-01 -1.10675774e-04 8.94460869e-01] [ 1.97845237e-02 -9.35941226e-04 9.99803829e-01 9.08979525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82925415399998 meters 0.025480272851694425 Centerline is valid? [True, True] Translation: X:137.32, Y:0.90, Z:0.91 [[ 9.98458633e-01 -5.19790214e-02 -1.94560905e-02 1.37317969e+02] [ 5.19867841e-02 9.98647767e-01 -1.06921193e-04 8.96691396e-01] [ 1.94353390e-02 -9.04703189e-04 9.99810707e-01 9.09727295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85925415399998 meters 0.0243760111172635 Centerline is valid? [True, True] Translation: X:137.35, Y:0.90, Z:0.91 [[ 9.98612656e-01 -4.90377177e-02 -1.91850393e-02 1.37349833e+02] [ 4.90447479e-02 9.98796577e-01 -1.04173579e-04 9.00310665e-01] [ 1.91670600e-02 -8.36896362e-04 9.99815945e-01 9.11093588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88925415399999 meters 0.023943956779050465 Centerline is valid? [True, True] Translation: X:137.38, Y:0.90, Z:0.91 [[ 9.98696630e-01 -4.71866416e-02 -1.94541005e-02 1.37381708e+02] [ 4.71935459e-02 9.98885758e-01 -1.04299869e-04 9.02353978e-01] [ 1.94373455e-02 -8.13944059e-04 9.99810746e-01 9.11049170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.919254154 meters 0.022293438234456803 Centerline is valid? [True, True] Translation: X:137.41, Y:0.91, Z:0.91 [[ 9.98779356e-01 -4.52809970e-02 -1.97339804e-02 1.37412956e+02] [ 4.52877491e-02 9.98973978e-01 -1.04834368e-04 9.06133507e-01] [ 1.97184799e-02 -7.89001151e-04 9.99805261e-01 9.11694911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.949254154 meters 0.02202894448652466 Centerline is valid? [True, True] Translation: X:137.44, Y:0.91, Z:0.91 [[ 9.98867093e-01 -4.30789205e-02 -2.02172614e-02 1.37443023e+02] [ 4.30855671e-02 9.99071380e-01 -1.06905594e-04 9.07589820e-01] [ 2.02030926e-02 -7.64287693e-04 9.99795605e-01 9.11530393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.979254154 meters 0.020441043315780977 Centerline is valid? [True, True] Translation: X:137.47, Y:0.91, Z:0.91 [[ 9.98948194e-01 -4.07565562e-02 -2.10097460e-02 1.37474573e+02] [ 4.07632349e-02 9.99168828e-01 -1.10452256e-04 9.11622178e-01] [ 2.09967849e-02 -7.46089130e-04 9.99779265e-01 9.11847245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.009254154 meters 0.020435515934594566 Centerline is valid? [True, True] Translation: X:137.50, Y:0.91, Z:0.91 [[ 9.99042332e-01 -3.80825716e-02 -2.15438510e-02 1.37504974e+02] [ 3.80889847e-02 9.99274345e-01 -1.12735688e-04 9.12819066e-01] [ 2.15325109e-02 -7.07955688e-04 9.99767898e-01 9.11148977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.039254154 meters 0.020435515934594566 Centerline is valid? [True, True] Translation: X:137.54, Y:0.91, Z:0.91 [[ 9.99043690e-01 -3.80469044e-02 -2.15438544e-02 1.37535839e+02] [ 3.80533231e-02 9.99275704e-01 -1.12088433e-04 9.12949278e-01] [ 2.15325149e-02 -7.07834010e-04 9.99767898e-01 9.11362836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.069254154 meters 0.019011140249719238 Centerline is valid? [True, True] Translation: X:137.57, Y:0.92, Z:0.91 [[ 9.99237917e-01 -3.21254111e-02 -2.21707509e-02 1.37565451e+02] [ 3.21307728e-02 9.99483667e-01 -1.14439365e-04 9.18072800e-01] [ 2.21629798e-02 -5.98011207e-04 9.99754192e-01 9.11322026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.099254154 meters 0.017137153100985066 Centerline is valid? [True, True] Translation: X:137.60, Y:0.92, Z:0.91 [[ 9.99327439e-01 -2.91512250e-02 -2.22457846e-02 1.37595222e+02] [ 2.91558809e-02 9.99574870e-01 -1.15086503e-04 9.23322317e-01] [ 2.22396822e-02 -5.33586345e-04 9.99752525e-01 9.13088864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.129254154 meters 0.01691493994925804 Centerline is valid? [True, True] Translation: X:137.62, Y:0.93, Z:0.91 [[ 9.99411495e-01 -2.61416106e-02 -2.22098908e-02 1.37623317e+02] [ 2.61454170e-02 9.99658143e-01 -1.19028139e-04 9.25729182e-01] [ 2.22054098e-02 -4.61728766e-04 9.99753323e-01 9.12739078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159254154 meters 0.015508074659893477 Centerline is valid? [True, True] Translation: X:137.65, Y:0.93, Z:0.91 [[ 9.99548168e-01 -2.07859095e-02 -2.17118944e-02 1.37652245e+02] [ 2.07882237e-02 9.99783894e-01 -1.19136934e-04 9.32438866e-01] [ 2.17096787e-02 -3.32268613e-04 9.99764262e-01 9.14366020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.189254154 meters 0.015125089982250161 Centerline is valid? [True, True] Translation: X:137.68, Y:0.94, Z:0.91 [[ 9.99597943e-01 -1.85941799e-02 -2.14058068e-02 1.37680759e+02] [ 1.85958380e-02 9.99827075e-01 -1.21606364e-04 9.35163352e-01] [ 2.14043664e-02 -2.76501444e-04 9.99770862e-01 9.14791275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219254154 meters 0.0147155678094023 Centerline is valid? [True, True] Translation: X:137.71, Y:0.94, Z:0.92 [[ 9.99637182e-01 -1.66876976e-02 -2.11429584e-02 1.37709463e+02] [ 1.66887751e-02 9.99860725e-01 -1.25496086e-04 9.37672083e-01] [ 2.11421080e-02 -2.27399524e-04 9.99776455e-01 9.15754402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.249254154 meters 0.014362964958716468 Centerline is valid? [True, True] Translation: X:137.74, Y:0.94, Z:0.92 [[ 9.99698053e-01 -1.37808102e-02 -2.03443215e-02 1.37736878e+02] [ 1.37811350e-02 9.99905028e-01 -1.24239516e-04 9.40448860e-01] [ 2.03441015e-02 -1.56165838e-04 9.99793025e-01 9.16025227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279254154 meters 0.014165276020564393 Centerline is valid? [True, True] Translation: X:137.77, Y:0.94, Z:0.92 [[ 9.99730607e-01 -1.25889637e-02 -1.94995483e-02 1.37765321e+02] [ 1.25889558e-02 9.99920748e-01 -1.23157076e-04 9.41687968e-01] [ 1.94995534e-02 -1.22355055e-04 9.99809858e-01 9.16703250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.309254154 meters 0.014157523687360314 Centerline is valid? [True, True] Translation: X:137.79, Y:0.94, Z:0.92 [[ 9.99763026e-01 -1.15197469e-02 -1.84712293e-02 1.37793427e+02] [ 1.15195073e-02 9.99933641e-01 -1.19375656e-04 9.42120442e-01] [ 1.84713787e-02 -9.34320929e-05 9.99829385e-01 9.16354474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339254154 meters 0.014159924898489584 Centerline is valid? [True, True] Translation: X:137.82, Y:0.94, Z:0.92 [[ 9.99784838e-01 -1.07395486e-02 -1.77465529e-02 1.37822006e+02] [ 1.07391462e-02 9.99942327e-01 -1.17977654e-04 9.43343056e-01] [ 1.77467964e-02 -7.26305564e-05 9.99842511e-01 9.17762707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36925415399998 meters 0.014016642421832306 Centerline is valid? [True, True] Translation: X:137.85, Y:0.94, Z:0.92 [[ 9.99815155e-01 -9.91700302e-03 -1.64714723e-02 1.37849350e+02] [ 9.91650462e-03 9.99950824e-01 -1.11935184e-04 9.44165496e-01] [ 1.64717724e-02 -5.14249375e-05 9.99864330e-01 9.19035935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39925415399998 meters 0.013886995098600691 Centerline is valid? [True, True] Translation: X:137.88, Y:0.94, Z:0.92 [[ 9.99809870e-01 -1.06799835e-02 -1.63144406e-02 1.37876776e+02] [ 1.06795415e-02 9.99942966e-01 -1.14211974e-04 9.44040198e-01] [ 1.63147299e-02 -6.00404871e-05 9.99866904e-01 9.20244990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42925415399998 meters 0.014009460838793017 Centerline is valid? [True, True] Translation: X:137.90, Y:0.94, Z:0.92 [[ 9.99809935e-01 -1.17747762e-02 -1.55386013e-02 1.37903569e+02] [ 1.17744506e-02 9.99930672e-01 -1.12440203e-04 9.42322953e-01] [ 1.55388480e-02 -7.05396623e-05 9.99879262e-01 9.19522802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45925415399998 meters 0.014026709735247452 Centerline is valid? [True, True] Translation: X:137.93, Y:0.94, Z:0.92 [[ 9.99785798e-01 -1.34868529e-02 -1.56991097e-02 1.37931923e+02] [ 1.34866744e-02 9.99909044e-01 -1.17246394e-04 9.40849633e-01] [ 1.56992630e-02 -9.45075005e-05 9.99876755e-01 9.20250984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.48925415399998 meters 0.014175135358104211 Centerline is valid? [True, True] Translation: X:137.96, Y:0.94, Z:0.92 [[ 9.99754642e-01 -1.55346186e-02 -1.57902253e-02 1.37960731e+02] [ 1.55346298e-02 9.99879323e-01 -1.21950446e-04 9.38486084e-01] [ 1.57902143e-02 -1.23374781e-04 9.99875319e-01 9.19407871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51925415399998 meters 0.014585638467006544 Centerline is valid? [True, True] Translation: X:137.99, Y:0.93, Z:0.92 [[ 9.99661312e-01 -2.00221390e-02 -1.66245284e-02 1.37989238e+02] [ 2.00227294e-02 9.99799516e-01 -1.30947106e-04 9.33728748e-01] [ 1.66238173e-02 -2.01965679e-04 9.99861794e-01 9.18474482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.54925415399998 meters 0.015032506039746941 Centerline is valid? [True, True] Translation: X:138.02, Y:0.93, Z:0.92 [[ 9.99609896e-01 -2.22736484e-02 -1.68505465e-02 1.38018416e+02] [ 2.22745571e-02 9.99751882e-01 -1.33778202e-04 9.31494400e-01] [ 1.68493454e-02 -2.41612446e-04 9.99858011e-01 9.18067571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57925415399998 meters 0.01623653606918656 Centerline is valid? [True, True] Translation: X:138.05, Y:0.93, Z:0.92 [[ 9.99558647e-01 -2.43591101e-02 -1.70042439e-02 1.38047148e+02] [ 2.43603214e-02 9.99703234e-01 -1.35924943e-04 9.28401250e-01] [ 1.70025086e-02 -2.78363893e-04 9.99855408e-01 9.16956767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60925415399998 meters 0.016069429366290345 Centerline is valid? [True, True] Translation: X:138.08, Y:0.93, Z:0.92 [[ 9.99493627e-01 -2.67679347e-02 -1.72037203e-02 1.38077196e+02] [ 2.67695216e-02 9.99641623e-01 -1.38080733e-04 9.26291107e-01] [ 1.72012510e-02 -3.22524550e-04 9.99851996e-01 9.17626768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63925415399999 meters 0.01629871941994559 Centerline is valid? [True, True] Translation: X:138.11, Y:0.93, Z:0.92 [[ 9.99431860e-01 -2.89647043e-02 -1.72337545e-02 1.38107685e+02] [ 2.89666210e-02 9.99580370e-01 -1.38444681e-04 9.25221531e-01] [ 1.72305327e-02 -3.60837610e-04 9.99851478e-01 9.18024130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.669254154 meters 0.016986029991239132 Centerline is valid? [True, True] Translation: X:138.14, Y:0.92, Z:0.92 [[ 9.99312227e-01 -3.32114929e-02 -1.64945075e-02 1.38138266e+02] [ 3.32138267e-02 9.99448260e-01 -1.32506055e-04 9.22232222e-01] [ 1.64898076e-02 -4.15430794e-04 9.99863948e-01 9.18843935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.699254154 meters 0.018059925128081897 Centerline is valid? [True, True] Translation: X:138.17, Y:0.92, Z:0.92 [[ 9.99246461e-01 -3.52332788e-02 -1.62826678e-02 1.38169713e+02] [ 3.52358297e-02 9.99379017e-01 -1.30285124e-04 9.18700577e-01] [ 1.62771469e-02 -4.43546358e-04 9.99867420e-01 9.18665355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.729254154 meters 0.018000372999473293 Centerline is valid? [True, True] Translation: X:138.20, Y:0.92, Z:0.92 [[ 9.99173630e-01 -3.73023742e-02 -1.61427733e-02 1.38201861e+02] [ 3.73051684e-02 9.99303912e-01 -1.28099473e-04 9.18265436e-01] [ 1.61363149e-02 -4.74215260e-04 9.99869689e-01 9.19646807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.759254154 meters 0.01892285963376922 Centerline is valid? [True, True] Translation: X:138.23, Y:0.92, Z:0.92 [[ 9.99030749e-01 -4.12801684e-02 -1.52810250e-02 1.38232732e+02] [ 4.12831468e-02 9.99147480e-01 -1.20617935e-04 9.15764026e-01] [ 1.52729768e-02 -5.10347773e-04 9.99883231e-01 9.20320190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.789254154 meters 0.019686547400666148 Centerline is valid? [True, True] Translation: X:138.27, Y:0.91, Z:0.92 [[ 9.98965032e-01 -4.30246573e-02 -1.47561520e-02 1.38265157e+02] [ 4.30276351e-02 9.99073876e-01 -1.15768999e-04 9.14194264e-01] [ 1.47474669e-02 -5.19273140e-04 9.99891115e-01 9.20616103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819254154 meters 0.020222020441342272 Centerline is valid? [True, True] Translation: X:138.30, Y:0.91, Z:0.92 [[ 9.98890836e-01 -4.47721845e-02 -1.45790804e-02 1.38297005e+02] [ 4.47752963e-02 9.98997077e-01 -1.13056298e-04 9.13080745e-01] [ 1.45695205e-02 -5.39851745e-04 9.99893713e-01 9.20812040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.849254154 meters 0.021702737019467035 Centerline is valid? [True, True] Translation: X:138.33, Y:0.91, Z:0.92 [[ 9.98714789e-01 -4.88117011e-02 -1.36450583e-02 1.38328148e+02] [ 4.88148144e-02 9.98807841e-01 -1.04998324e-04 9.09685809e-01] [ 1.36339164e-02 -5.61217610e-04 9.99906896e-01 9.21379292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879254154 meters 0.02742195036983227 Centerline is valid? [True, True] Translation: X:138.36, Y:0.90, Z:0.92 [[ 9.98609306e-01 -5.09910778e-02 -1.33926805e-02 1.38358947e+02] [ 5.09942854e-02 9.98698940e-01 -1.02101137e-04 9.00564448e-01] [ 1.33804621e-02 -5.80991027e-04 9.99910309e-01 9.20170613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.909254154 meters 0.028747780418850476 Centerline is valid? [True, True] Translation: X:138.39, Y:0.90, Z:0.92 [[ 9.98494174e-01 -5.31610020e-02 -1.35385538e-02 1.38391218e+02] [ 5.31644970e-02 9.98585763e-01 -1.01868655e-04 8.98129096e-01] [ 1.35248225e-02 -6.18055144e-04 9.99908344e-01 9.19875010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939254154 meters 0.024568179896930276 Centerline is valid? [True, True] Translation: X:138.42, Y:0.90, Z:0.92 [[ 9.98385784e-01 -5.51283348e-02 -1.36635539e-02 1.38423366e+02] [ 5.51320917e-02 9.98479064e-01 -1.01844156e-04 9.03596994e-01] [ 1.36483870e-02 -6.51620547e-04 9.99906644e-01 9.20814256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.969254154 meters 0.026722925586765825 Centerline is valid? [True, True] Translation: X:138.45, Y:0.90, Z:0.92 [[ 9.98174615e-01 -5.87110767e-02 -1.41579419e-02 1.38453588e+02] [ 5.87154850e-02 9.98274752e-01 -1.04459546e-04 9.00663244e-01] [ 1.41396489e-02 -7.27021560e-04 9.99899766e-01 9.20260573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999254154 meters 0.02723155391527905 Centerline is valid? [True, True] Translation: X:138.49, Y:0.90, Z:0.92 [[ 9.98106927e-01 -5.97954245e-02 -1.43899240e-02 1.38485382e+02] [ 5.98001042e-02 9.98210367e-01 -1.05236031e-04 9.00176687e-01] [ 1.43704639e-02 -7.55482142e-04 9.99896454e-01 9.20524842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.029254154 meters 0.02896303061052571 Centerline is valid? [True, True] Translation: X:138.52, Y:0.90, Z:0.92 [[ 9.98037819e-01 -6.08765231e-02 -1.46479115e-02 1.38516574e+02] [ 6.08815000e-02 9.98144995e-01 -1.06323163e-04 8.98488416e-01] [ 1.46272121e-02 -7.85672285e-04 9.99892708e-01 9.20258093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059254154 meters 0.02795023852105952 Centerline is valid? [True, True] Translation: X:138.55, Y:0.90, Z:0.92 [[ 9.98002507e-01 -6.13238663e-02 -1.51782230e-02 1.38548506e+02] [ 6.13292767e-02 9.98117582e-01 -1.09186529e-04 9.00576901e-01] [ 1.51563470e-02 -8.21901009e-04 9.99884798e-01 9.20319054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.089254154 meters 0.032112685397517805 Centerline is valid? [True, True] Translation: X:138.58, Y:0.90, Z:0.92 [[ 9.97989542e-01 -6.14892354e-02 -1.53606252e-02 1.38579395e+02] [ 6.14948110e-02 9.98107397e-01 -1.09532829e-04 8.95358912e-01] [ 1.53382888e-02 -8.35286129e-04 9.99882013e-01 9.19571357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11925415399998 meters 0.02908726483465992 Centerline is valid? [True, True] Translation: X:138.61, Y:0.90, Z:0.92 [[ 9.98051420e-01 -6.02787063e-02 -1.61195945e-02 1.38611405e+02] [ 6.02847060e-02 9.98181217e-01 -1.13899571e-04 9.01044476e-01] [ 1.60971421e-02 -8.58087385e-04 9.99870064e-01 9.20460950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14925415399998 meters 0.028567312423079257 Centerline is valid? [True, True] Translation: X:138.64, Y:0.90, Z:0.92 [[ 9.98128819e-01 -5.90081576e-02 -1.60280078e-02 1.38643690e+02] [ 5.90139440e-02 9.98257152e-01 -1.12118347e-04 9.03210022e-01] [ 1.60066893e-02 -8.33967402e-04 9.99871537e-01 9.20809357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17925415399998 meters 0.02884905513336763 Centerline is valid? [True, True] Translation: X:138.68, Y:0.90, Z:0.92 [[ 9.98223115e-01 -5.73371078e-02 -1.62193778e-02 1.38675259e+02] [ 5.73428319e-02 9.98354540e-01 -1.12310052e-04 9.04319363e-01] [ 1.61991290e-02 -8.17954566e-04 9.99868451e-01 9.20814982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20925415399998 meters 0.028115933785785436 Centerline is valid? [True, True] Translation: X:138.71, Y:0.91, Z:0.92 [[ 9.98334905e-01 -5.53129576e-02 -1.63674525e-02 1.38706320e+02] [ 5.53185287e-02 9.98468751e-01 -1.12517222e-04 9.07000181e-01] [ 1.63486135e-02 -7.93093521e-04 9.99866038e-01 9.21220672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23925415399998 meters 0.02647648920524176 Centerline is valid? [True, True] Translation: X:138.74, Y:0.91, Z:0.92 [[ 9.98580993e-01 -5.05538540e-02 -1.67424150e-02 1.38736371e+02] [ 5.05590198e-02 9.98721068e-01 -1.14847525e-04 9.12812660e-01] [ 1.67268086e-02 -7.31795538e-04 9.99859829e-01 9.21076995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26925415399998 meters 0.025465359146708062 Centerline is valid? [True, True] Translation: X:138.77, Y:0.92, Z:0.92 [[ 9.98716797e-01 -4.76914590e-02 -1.70377436e-02 1.38768339e+02] [ 4.76964018e-02 9.98861872e-01 -1.16354075e-04 9.16263625e-01] [ 1.70239016e-02 -6.96434295e-04 9.99854840e-01 9.21391416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29925415399998 meters 0.021738315811635177 Centerline is valid? [True, True] Translation: X:138.80, Y:0.92, Z:0.92 [[ 9.98844461e-01 -4.49294769e-02 -1.70611838e-02 1.38799826e+02] [ 4.49340433e-02 9.98989949e-01 -1.15789727e-04 9.24185247e-01] [ 1.70491535e-02 -6.50972043e-04 9.99854441e-01 9.22987638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32925415399998 meters 0.02021714074084273 Centerline is valid? [True, True] Translation: X:138.83, Y:0.93, Z:0.92 [[ 9.99089662e-01 -3.91563447e-02 -1.69300672e-02 1.38829155e+02] [ 3.91600144e-02 9.99232946e-01 -1.14829145e-04 9.30251965e-01] [ 1.69215772e-02 -5.48257063e-04 9.99856670e-01 9.23939287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35925415399998 meters 0.01945502111824411 Centerline is valid? [True, True] Translation: X:138.86, Y:0.93, Z:0.92 [[ 9.99205983e-01 -3.63734642e-02 -1.62595842e-02 1.38860729e+02] [ 3.63764843e-02 9.99338151e-01 -1.10069348e-04 9.33319355e-01] [ 1.62528264e-02 -4.81484558e-04 9.99867798e-01 9.24842612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38925415399999 meters 0.018796149085837745 Centerline is valid? [True, True] Translation: X:138.89, Y:0.94, Z:0.93 [[ 9.99303692e-01 -3.37540515e-02 -1.58995221e-02 1.38892398e+02] [ 3.37566189e-02 9.99430077e-01 -1.06942089e-04 9.36348088e-01] [ 1.58940703e-02 -4.29846483e-04 9.99873589e-01 9.25865580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.419254154 meters 0.016818995559451277 Centerline is valid? [True, True] Translation: X:138.92, Y:0.94, Z:0.93 [[ 9.99390633e-01 -3.14884023e-02 -1.50612926e-02 1.38924019e+02] [ 3.14904585e-02 9.99504047e-01 -1.00675219e-04 9.41805012e-01] [ 1.50569930e-02 -3.73673137e-04 9.99886567e-01 9.27830976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.449254154 meters 0.01619452914725359 Centerline is valid? [True, True] Translation: X:138.96, Y:0.94, Z:0.93 [[ 9.99468669e-01 -2.91692507e-02 -1.45442049e-02 1.38955089e+02] [ 2.91709304e-02 9.99574433e-01 -9.66889717e-05 9.44830347e-01] [ 1.45408357e-02 -3.27630392e-04 9.99894223e-01 9.28933353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.479254154 meters 0.01574066198015097 Centerline is valid? [True, True] Translation: X:138.99, Y:0.95, Z:0.93 [[ 9.99576997e-01 -2.53752609e-02 -1.42099981e-02 1.38985091e+02] [ 2.53764865e-02 9.99677961e-01 -9.40815539e-05 9.48240989e-01] [ 1.42078093e-02 -2.66558068e-04 9.99899028e-01 9.29469226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.509254154 meters 0.01585697607695501 Centerline is valid? [True, True] Translation: X:139.02, Y:0.95, Z:0.93 [[ 9.99605566e-01 -2.41525419e-02 -1.43306515e-02 1.39015963e+02] [ 2.41536685e-02 9.99708253e-01 -9.44853767e-05 9.49130871e-01] [ 1.43287526e-02 -2.51689697e-04 9.99897306e-01 9.29380901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.539254154 meters 0.015186169089630752 Centerline is valid? [True, True] Translation: X:139.05, Y:0.95, Z:0.93 [[ 9.99642142e-01 -2.27138379e-02 -1.41304739e-02 1.39047495e+02] [ 2.27147967e-02 9.99741981e-01 -9.26558760e-05 9.51602266e-01] [ 1.41289325e-02 -2.28348123e-04 9.99900156e-01 9.29875554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.569254154 meters 0.014951998756542085 Centerline is valid? [True, True] Translation: X:139.08, Y:0.95, Z:0.93 [[ 9.99671926e-01 -2.11292995e-02 -1.44773160e-02 1.39079164e+02] [ 2.11301476e-02 9.99776729e-01 -9.43935171e-05 9.52914733e-01] [ 1.44760781e-02 -2.11545275e-04 9.99895194e-01 9.29722960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599254154 meters 0.014629522541080096 Centerline is valid? [True, True] Translation: X:139.11, Y:0.96, Z:0.93 [[ 9.99728336e-01 -1.72177840e-02 -1.57099095e-02 1.39109075e+02] [ 1.72183042e-02 9.99851749e-01 -1.02154691e-04 9.55781691e-01] [ 1.57093394e-02 -1.68371062e-04 9.99876587e-01 9.29104149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.629254154 meters 0.014204811427159389 Centerline is valid? [True, True] Translation: X:139.14, Y:0.96, Z:0.93 [[ 9.99753788e-01 -1.54494538e-02 -1.59272686e-02 1.39138306e+02] [ 1.54497295e-02 9.99880640e-01 -1.05746761e-04 9.58234355e-01] [ 1.59270013e-02 -1.40351266e-04 9.99873147e-01 9.29842636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659254154 meters 0.014282205450721008 Centerline is valid? [True, True] Translation: X:139.17, Y:0.96, Z:0.93 [[ 9.99772840e-01 -1.35488152e-02 -1.64528854e-02 1.39167433e+02] [ 1.35487829e-02 9.99908205e-01 -1.13435249e-04 9.60036710e-01] [ 1.64529120e-02 -1.09507091e-04 9.99864636e-01 9.29865525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.689254154 meters 0.013926779082512488 Centerline is valid? [True, True] Translation: X:139.19, Y:0.96, Z:0.93 [[ 9.99813036e-01 -9.91908461e-03 -1.65983571e-02 1.39194851e+02] [ 9.91849917e-03 9.99950804e-01 -1.17593659e-04 9.63510171e-01] [ 1.65987069e-02 -4.70591178e-05 9.99862231e-01 9.30461842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719254154 meters 0.014136903369668864 Centerline is valid? [True, True] Translation: X:139.22, Y:0.96, Z:0.93 [[ 9.99820887e-01 -8.48279290e-03 -1.69185146e-02 1.39221620e+02] [ 8.48194098e-03 9.99964020e-01 -1.22111424e-04 9.64636398e-01] [ 1.69189417e-02 -2.14122900e-05 9.99856864e-01 9.30085157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.749254154 meters 0.013971224699703197 Centerline is valid? [True, True] Translation: X:139.25, Y:0.97, Z:0.93 [[ 9.99827293e-01 -7.49695555e-03 -1.70052898e-02 1.39249044e+02] [ 7.49588721e-03 9.99971897e-01 -1.26563623e-04 9.65492119e-01] [ 1.70057607e-02 -9.27969195e-07 9.99855392e-01 9.30508216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779254154 meters 0.014133929125969929 Centerline is valid? [True, True] Translation: X:139.28, Y:0.97, Z:0.93 [[ 9.99825378e-01 -7.06246226e-03 -1.73012839e-02 1.39277236e+02] [ 7.06120241e-03 9.99975060e-01 -1.33906361e-04 9.65980941e-01] [ 1.73017981e-02 1.17151108e-05 9.99850313e-01 9.30884582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.809254154 meters 0.014032913183835344 Centerline is valid? [True, True] Translation: X:139.30, Y:0.97, Z:0.93 [[ 9.99819431e-01 -7.15992530e-03 -1.76023128e-02 1.39304246e+02] [ 7.15856112e-03 9.99974367e-01 -1.40508021e-04 9.65848923e-01] [ 1.76028676e-02 1.44754173e-05 9.99845057e-01 9.30425568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83925415399997 meters 0.013997173265591077 Centerline is valid? [True, True] Translation: X:139.33, Y:0.97, Z:0.93 [[ 9.99812149e-01 -7.90352370e-03 -1.76974996e-02 1.39330852e+02] [ 7.90221225e-03 9.99968767e-01 -1.44033708e-04 9.65603194e-01] [ 1.76980853e-02 4.15725250e-06 9.99843377e-01 9.30752454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86925415399998 meters 0.013998469695215825 Centerline is valid? [True, True] Translation: X:139.36, Y:0.96, Z:0.93 [[ 9.99806540e-01 -9.29220281e-03 -1.73359951e-02 1.39359015e+02] [ 9.29108611e-03 9.99956826e-01 -1.44956563e-04 9.64843178e-01] [ 1.73365936e-02 -1.61417032e-05 9.99849710e-01 9.31533915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89925415399998 meters 0.014003208788490453 Centerline is valid? [True, True] Translation: X:139.39, Y:0.96, Z:0.93 [[ 9.99791337e-01 -1.16190013e-02 -1.68012552e-02 1.39387391e+02] [ 1.16182002e-02 9.99932496e-01 -1.45291151e-04 9.63483751e-01] [ 1.68018092e-02 -4.99395129e-05 9.99858838e-01 9.31979558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92925415399998 meters 0.014131439723381701 Centerline is valid? [True, True] Translation: X:139.42, Y:0.96, Z:0.93 [[ 9.99753699e-01 -1.45343482e-02 -1.67718390e-02 1.39415349e+02] [ 1.45339117e-02 9.99894366e-01 -1.47921008e-04 9.61183893e-01] [ 1.67722173e-02 -9.58758521e-05 9.99859332e-01 9.31923201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95925415399998 meters 0.014131439723381701 Centerline is valid? [True, True] Translation: X:139.44, Y:0.96, Z:0.93 [[ 9.99749584e-01 -1.48146925e-02 -1.67718087e-02 1.39442735e+02] [ 1.48142387e-02 9.99890252e-01 -1.51301098e-04 9.61509390e-01] [ 1.67722095e-02 -9.71983674e-05 9.99859332e-01 9.32113213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98925415399998 meters 0.014689292857555783 Centerline is valid? [True, True] Translation: X:139.47, Y:0.96, Z:0.93 [[ 9.99633094e-01 -2.17474373e-02 -1.61470260e-02 1.39471329e+02] [ 2.17478800e-02 9.99763476e-01 -1.48199019e-04 9.55484045e-01] [ 1.61464298e-02 -2.03018939e-04 9.99869617e-01 9.32999807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01925415399998 meters 0.015282967149462444 Centerline is valid? [True, True] Translation: X:139.50, Y:0.95, Z:0.93 [[ 9.99529693e-01 -2.60936021e-02 -1.61094961e-02 1.39500716e+02] [ 2.60945936e-02 9.99659467e-01 -1.48688017e-04 9.52345364e-01] [ 1.61078901e-02 -2.71752666e-04 9.99870223e-01 9.33349975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.04925415399998 meters 0.016785514739386977 Centerline is valid? [True, True] Translation: X:139.53, Y:0.95, Z:0.93 [[ 9.99409280e-01 -3.03176063e-02 -1.61843941e-02 1.39530761e+02] [ 3.03191700e-02 9.99540257e-01 -1.48794146e-04 9.47103102e-01] [ 1.61814645e-02 -3.41991147e-04 9.99869013e-01 9.32579017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07925415399998 meters 0.01702566122543784 Centerline is valid? [True, True] Translation: X:139.56, Y:0.94, Z:0.93 [[ 9.99264740e-01 -3.46191500e-02 -1.64770604e-02 1.39561533e+02] [ 3.46213726e-02 9.99400489e-01 -1.50424544e-04 9.44732713e-01] [ 1.64723898e-02 -4.20144504e-04 9.99864233e-01 9.33149122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10925415399998 meters 0.019488875437162725 Centerline is valid? [True, True] Translation: X:139.59, Y:0.94, Z:0.93 [[ 9.98945871e-01 -4.29680788e-02 -1.61521436e-02 1.39592372e+02] [ 4.29713102e-02 9.99076296e-01 -1.47108720e-04 9.36823029e-01] [ 1.61435448e-02 -5.47125127e-04 9.99869535e-01 9.32777846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13925415399999 meters 0.021018298289700386 Centerline is valid? [True, True] Translation: X:139.62, Y:0.93, Z:0.93 [[ 9.98786180e-01 -4.65077109e-02 -1.62234529e-02 1.39622186e+02] [ 4.65114515e-02 9.98917746e-01 -1.46874294e-04 9.32512954e-01] [ 1.62127257e-02 -6.07880325e-04 9.99868380e-01 9.32510199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.169254154 meters 0.022134283301309704 Centerline is valid? [True, True] Translation: X:139.65, Y:0.93, Z:0.93 [[ 9.98643506e-01 -4.96255681e-02 -1.57623209e-02 1.39654300e+02] [ 4.96295064e-02 9.98767687e-01 -1.41448631e-04 9.29043396e-01] [ 1.57499162e-02 -6.41019448e-04 9.99875757e-01 9.32607069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.199254154 meters 0.024249570525704024 Centerline is valid? [True, True] Translation: X:139.68, Y:0.92, Z:0.93 [[ 9.98432317e-01 -5.38594184e-02 -1.52338881e-02 1.39684190e+02] [ 5.38635962e-02 9.98548293e-01 -1.36222564e-04 9.23094048e-01] [ 1.52191099e-02 -6.84542988e-04 9.99883948e-01 9.32789804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.229254154 meters 0.024604916536215608 Centerline is valid? [True, True] Translation: X:139.72, Y:0.92, Z:0.93 [[ 9.98384668e-01 -5.46976188e-02 -1.53696141e-02 1.39716502e+02] [ 5.47019798e-02 9.98502716e-01 -1.36824937e-04 9.21904313e-01] [ 1.53540854e-02 -7.04144400e-04 9.99881871e-01 9.32829265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.259254154 meters 0.023550959003409005 Centerline is valid? [True, True] Translation: X:139.75, Y:0.92, Z:0.93 [[ 9.98368169e-01 -5.50327808e-02 -1.52444201e-02 1.39748898e+02] [ 5.50371270e-02 9.98484300e-01 -1.34596725e-04 9.22944401e-01] [ 1.52287213e-02 -7.04631999e-04 9.99883788e-01 9.33360418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.289254154 meters 0.025509078912209538 Centerline is valid? [True, True] Translation: X:139.78, Y:0.92, Z:0.93 [[ 9.98375106e-01 -5.48191159e-02 -1.55567177e-02 1.39781258e+02] [ 5.48236367e-02 9.98496044e-01 -1.36033422e-04 9.19370639e-01] [ 1.55407784e-02 -7.17063460e-04 9.99878978e-01 9.32601973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319254154 meters 0.026217878113320516 Centerline is valid? [True, True] Translation: X:139.81, Y:0.92, Z:0.93 [[ 9.98390484e-01 -5.44174902e-02 -1.59742854e-02 1.39812193e+02] [ 5.44222239e-02 9.98518003e-01 -1.38545968e-04 9.18394213e-01] [ 1.59581508e-02 -7.31033159e-04 9.99872393e-01 9.32457889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.349254154 meters 0.0245614976655401 Centerline is valid? [True, True] Translation: X:139.84, Y:0.92, Z:0.93 [[ 9.98429986e-01 -5.36492929e-02 -1.61032737e-02 1.39844121e+02] [ 5.36540203e-02 9.98559576e-01 -1.38632533e-04 9.20787570e-01] [ 1.60875157e-02 -7.25590498e-04 9.99870324e-01 9.32878761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379254154 meters 0.0234823280253094 Centerline is valid? [True, True] Translation: X:139.88, Y:0.92, Z:0.93 [[ 9.98461019e-01 -5.30106843e-02 -1.62929459e-02 1.39876056e+02] [ 5.30154583e-02 9.98593682e-01 -1.39074742e-04 9.22301216e-01] [ 1.62774053e-02 -7.24917285e-04 9.99867251e-01 9.33113644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.409254154 meters 0.024167492155683614 Centerline is valid? [True, True] Translation: X:139.91, Y:0.92, Z:0.93 [[ 9.98494729e-01 -5.23273117e-02 -1.64356156e-02 1.39906814e+02] [ 5.23320942e-02 9.98629727e-01 -1.39260578e-04 9.20951720e-01] [ 1.64203814e-02 -7.21059229e-04 9.99864916e-01 9.32986853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439254154 meters 0.025334356496559737 Centerline is valid? [True, True] Translation: X:139.94, Y:0.92, Z:0.93 [[ 9.98528048e-01 -5.16313965e-02 -1.66113355e-02 1.39938085e+02] [ 5.16362007e-02 9.98665952e-01 -1.39847270e-04 9.18958681e-01] [ 1.65963957e-02 -7.18104832e-04 9.99862012e-01 9.32805940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.469254154 meters 0.023928916230740428 Centerline is valid? [True, True] Translation: X:139.97, Y:0.92, Z:0.93 [[ 9.98550758e-01 -5.12337181e-02 -1.64769724e-02 1.39969791e+02] [ 5.12384082e-02 9.98686441e-01 -1.37661668e-04 9.21216640e-01] [ 1.64623819e-02 -7.06791676e-04 9.99864236e-01 9.33347174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499254154 meters 0.023018989011469496 Centerline is valid? [True, True] Translation: X:140.00, Y:0.92, Z:0.93 [[ 9.98564046e-01 -5.10017342e-02 -1.63911473e-02 1.40002308e+02] [ 5.10063638e-02 9.98698319e-01 -1.35759363e-04 9.22737810e-01] [ 1.63767353e-02 -7.00488405e-04 9.99865647e-01 9.33781696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.529254154 meters 0.022795009021305764 Centerline is valid? [True, True] Translation: X:140.03, Y:0.92, Z:0.93 [[ 9.98524043e-01 -5.11519878e-02 -1.82540228e-02 1.40033976e+02] [ 5.11577765e-02 9.98690572e-01 -1.50003067e-04 9.23314236e-01] [ 1.82377935e-02 -7.84053551e-04 9.99833370e-01 9.33427723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559254154 meters 0.022963270938542994 Centerline is valid? [True, True] Translation: X:140.07, Y:0.92, Z:0.93 [[ 9.98493442e-01 -5.15026994e-02 -1.89292834e-02 1.40065688e+02] [ 5.15090073e-02 9.98672518e-01 -1.54497428e-04 9.23326622e-01] [ 1.89121122e-02 -8.20763929e-04 9.99820813e-01 9.33125283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58925415399997 meters 0.024451726580178284 Centerline is valid? [True, True] Translation: X:140.10, Y:0.92, Z:0.93 [[ 9.98453300e-01 -5.20676982e-02 -1.94926079e-02 1.40096535e+02] [ 5.20745157e-02 9.98643189e-01 -1.58018570e-04 9.21265718e-01] [ 1.94743878e-02 -8.57293952e-04 9.99809989e-01 9.32168413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61925415399998 meters 0.02412039073207395 Centerline is valid? [True, True] Translation: X:140.13, Y:0.92, Z:0.93 [[ 9.98424851e-01 -5.25879411e-02 -1.95531179e-02 1.40128250e+02] [ 5.25949338e-02 9.98615916e-01 -1.56805291e-04 9.21714021e-01] [ 1.95343008e-02 -8.71836642e-04 9.99808807e-01 9.32664749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64925415399998 meters 0.02463949627956923 Centerline is valid? [True, True] Translation: X:140.16, Y:0.92, Z:0.93 [[ 9.98382473e-01 -5.33411251e-02 -1.96764496e-02 1.40160255e+02] [ 5.33483848e-02 9.98575949e-01 -1.56141636e-04 9.21426133e-01] [ 1.96567581e-02 -8.93817730e-04 9.99806388e-01 9.32931679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67925415399998 meters 0.02467198860188371 Centerline is valid? [True, True] Translation: X:140.19, Y:0.92, Z:0.93 [[ 9.98366679e-01 -5.36942179e-02 -1.95168134e-02 1.40192848e+02] [ 5.37014550e-02 9.98557024e-01 -1.53468776e-04 9.21843056e-01] [ 1.94968914e-02 -8.94863162e-04 9.99809517e-01 9.33842771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70925415399998 meters 0.02560845093502123 Centerline is valid? [True, True] Translation: X:140.22, Y:0.92, Z:0.94 [[ 9.98392590e-01 -5.34745681e-02 -1.87804935e-02 1.40224032e+02] [ 5.34812663e-02 9.98568842e-01 -1.45764544e-04 9.21574187e-01] [ 1.87614103e-02 -8.58874332e-04 9.99823620e-01 9.35162770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73925415399998 meters 0.02410768071592021 Centerline is valid? [True, True] Translation: X:140.26, Y:0.92, Z:0.94 [[ 9.98450686e-01 -5.26254774e-02 -1.80772231e-02 1.40255823e+02] [ 5.26315736e-02 9.98613989e-01 -1.38690621e-04 9.24456487e-01] [ 1.80594665e-02 -8.12956949e-04 9.99836584e-01 9.36420125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76925415399998 meters 0.023793803531140204 Centerline is valid? [True, True] Translation: X:140.29, Y:0.93, Z:0.94 [[ 9.98545110e-01 -5.09970650e-02 -1.75203590e-02 1.40288399e+02] [ 5.10025664e-02 9.98698513e-01 -1.32977196e-04 9.25493348e-01] [ 1.75043380e-02 -7.60799545e-04 9.99846498e-01 9.37241043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79925415399998 meters 0.020717413939142844 Centerline is valid? [True, True] Translation: X:140.32, Y:0.93, Z:0.94 [[ 9.98811433e-01 -4.60953541e-02 -1.58410926e-02 1.40319410e+02] [ 4.60992479e-02 9.98936857e-01 -1.19452032e-04 9.32641260e-01] [ 1.58297574e-02 -6.10952400e-04 9.99874515e-01 9.39296759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82925415399998 meters 0.022401718229186355 Centerline is valid? [True, True] Translation: X:140.35, Y:0.93, Z:0.94 [[ 9.98941815e-01 -4.32851452e-02 -1.55449563e-02 1.40349701e+02] [ 4.32885601e-02 9.99062604e-01 -1.16895796e-04 9.31087757e-01] [ 1.55354444e-02 -5.56146676e-04 9.99879163e-01 9.39036676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85925415399998 meters 0.01874032064281874 Centerline is valid? [True, True] Translation: X:140.38, Y:0.94, Z:0.94 [[ 9.99067551e-01 -4.04274556e-02 -1.51542092e-02 1.40380755e+02] [ 4.04303790e-02 9.99182352e-01 -1.13524279e-04 9.38517787e-01] [ 1.51464079e-02 -4.99271999e-04 9.99885162e-01 9.40849977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88925415399999 meters 0.020389697653481486 Centerline is valid? [True, True] Translation: X:140.41, Y:0.94, Z:0.94 [[ 9.99166333e-01 -3.79547863e-02 -1.50357132e-02 1.40412536e+02] [ 3.79573975e-02 9.99279352e-01 -1.11777417e-04 9.36755923e-01] [ 1.50291202e-02 -4.59032309e-04 9.99886951e-01 9.40155803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.919254154 meters 0.017545129342487708 Centerline is valid? [True, True] Translation: X:140.44, Y:0.94, Z:0.94 [[ 9.99283803e-01 -3.45663094e-02 -1.53964434e-02 1.40444158e+02] [ 3.45686607e-02 9.99402319e-01 -1.13465439e-04 9.43612183e-01] [ 1.53911633e-02 -4.18850253e-04 9.99881461e-01 9.41103144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.949254154 meters 0.017743303886081176 Centerline is valid? [True, True] Translation: X:140.48, Y:0.94, Z:0.94 [[ 9.99317559e-01 -3.34428257e-02 -1.56841991e-02 1.40475164e+02] [ 3.34451412e-02 9.99440548e-01 -1.14716435e-04 9.43815970e-01] [ 1.56792610e-02 -4.09922105e-04 9.99876989e-01 9.40543102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.979254154 meters 0.017503943445975383 Centerline is valid? [True, True] Translation: X:140.51, Y:0.94, Z:0.94 [[ 9.99331320e-01 -3.29454228e-02 -1.58591352e-02 1.40507492e+02] [ 3.29477440e-02 9.99457069e-01 -1.14963964e-04 9.44449677e-01] [ 1.58543124e-02 -4.07635639e-04 9.99874229e-01 9.40084604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.009254154 meters 0.017137815410139468 Centerline is valid? [True, True] Translation: X:140.54, Y:0.95, Z:0.94 [[ 9.99322060e-01 -3.27888633e-02 -1.67424847e-02 1.40539950e+02] [ 3.27914493e-02 9.99462209e-01 -1.20115537e-04 9.45058349e-01] [ 1.67374191e-02 -4.28976231e-04 9.99859828e-01 9.39807311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.039254154 meters 0.01826810659918093 Centerline is valid? [True, True] Translation: X:140.57, Y:0.94, Z:0.94 [[ 9.99245555e-01 -3.41954317e-02 -1.84117584e-02 1.40571167e+02] [ 3.41988197e-02 9.99415041e-01 -1.30905054e-04 9.43180547e-01] [ 1.84054646e-02 -4.98854112e-04 9.99830481e-01 9.38398470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.069254154 meters 0.018157134396494065 Centerline is valid? [True, True] Translation: X:140.60, Y:0.94, Z:0.94 [[ 9.99208441e-01 -3.50770823e-02 -1.87640366e-02 1.40602639e+02] [ 3.50807718e-02 9.99384471e-01 -1.32598111e-04 9.43680442e-01] [ 1.87571380e-02 -5.25763735e-04 9.99823931e-01 9.38482870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099254154 meters 0.019812395321904586 Centerline is valid? [True, True] Translation: X:140.63, Y:0.94, Z:0.94 [[ 9.99116437e-01 -3.71702912e-02 -1.96141544e-02 1.40632528e+02] [ 3.71747308e-02 9.99308771e-01 -1.38344635e-04 9.41026723e-01] [ 1.96057388e-02 -5.90928511e-04 9.99807614e-01 9.37488965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.129254154 meters 0.02016598889115954 Centerline is valid? [True, True] Translation: X:140.66, Y:0.94, Z:0.94 [[ 9.99072542e-01 -3.83362782e-02 -1.96057321e-02 1.40664203e+02] [ 3.83409469e-02 9.99264706e-01 -1.37841158e-04 9.40688582e-01] [ 1.95966005e-02 -6.13989017e-04 9.99807780e-01 9.37774335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.159254154 meters 0.021118327487112735 Centerline is valid? [True, True] Translation: X:140.70, Y:0.94, Z:0.94 [[ 9.99034134e-01 -3.94117469e-02 -1.94297252e-02 1.40695265e+02] [ 3.94165527e-02 9.99222857e-01 -1.35707613e-04 9.39364128e-01] [ 1.94199740e-02 -6.30276251e-04 9.99811216e-01 9.37832699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.189254154 meters 0.02136811109766949 Centerline is valid? [True, True] Translation: X:140.73, Y:0.94, Z:0.94 [[ 9.98969534e-01 -4.12474458e-02 -1.89346071e-02 1.40726118e+02] [ 4.12523497e-02 9.99148751e-01 -1.31685019e-04 9.39941082e-01] [ 1.89239207e-02 -6.49547713e-04 9.99820716e-01 9.38780298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.219254154 meters 0.021203669492296087 Centerline is valid? [True, True] Translation: X:140.76, Y:0.94, Z:0.94 [[ 9.98948354e-01 -4.19533265e-02 -1.84960812e-02 1.40758057e+02] [ 4.19581440e-02 9.99119361e-01 -1.27697290e-04 9.40884039e-01] [ 1.84851502e-02 -6.48498241e-04 9.99828925e-01 9.39647888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.249254154 meters 0.021630349184918175 Centerline is valid? [True, True] Translation: X:140.79, Y:0.94, Z:0.94 [[ 9.98912056e-01 -4.28555700e-02 -1.83876037e-02 1.40790334e+02] [ 4.28605077e-02 9.99081058e-01 -1.25650299e-04 9.41086697e-01] [ 1.83760914e-02 -6.62588433e-04 9.99830926e-01 9.40146652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.279254154 meters 0.02255066394052635 Centerline is valid? [True, True] Translation: X:140.82, Y:0.94, Z:0.94 [[ 9.98868981e-01 -4.41377029e-02 -1.76811079e-02 1.40822447e+02] [ 4.41424905e-02 9.99025238e-01 -1.19595977e-04 9.40681124e-01] [ 1.76691517e-02 -6.61027427e-04 9.99843670e-01 9.40299867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.309254154 meters 0.02345711394066756 Centerline is valid? [True, True] Translation: X:140.85, Y:0.94, Z:0.94 [[ 9.98796048e-01 -4.58231919e-02 -1.75125758e-02 1.40854406e+02] [ 4.58281688e-02 9.98949331e-01 -1.17233838e-04 9.40000981e-01] [ 1.74995479e-02 -6.85476586e-04 9.99846636e-01 9.40726776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33925415399997 meters 0.024008866728737963 Centerline is valid? [True, True] Translation: X:140.89, Y:0.94, Z:0.94 [[ 9.98707412e-01 -4.77486917e-02 -1.74232091e-02 1.40886797e+02] [ 4.77539316e-02 9.98859124e-01 -1.15414276e-04 9.39805051e-01] [ 1.74088422e-02 -7.16761644e-04 9.99848198e-01 9.41041718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36925415399998 meters 0.023967322455169974 Centerline is valid? [True, True] Translation: X:140.92, Y:0.94, Z:0.94 [[ 9.98456241e-01 -5.27630920e-02 -1.73548748e-02 1.40917532e+02] [ 5.27690584e-02 9.98606736e-01 -1.14285159e-04 9.40874992e-01] [ 1.73367249e-02 -8.01691674e-04 9.99849386e-01 9.41885944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39925415399998 meters 0.02544427988935291 Centerline is valid? [True, True] Translation: X:140.95, Y:0.94, Z:0.94 [[ 9.98330723e-01 -5.51491890e-02 -1.71561977e-02 1.40949731e+02] [ 5.51553858e-02 9.98477777e-01 -1.12110485e-04 9.39491748e-01] [ 1.71362649e-02 -8.34333360e-04 9.99852815e-01 9.42076523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42925415399998 meters 0.02917204560590289 Centerline is valid? [True, True] Translation: X:140.98, Y:0.94, Z:0.94 [[ 9.98045094e-01 -6.02124260e-02 -1.67467876e-02 1.40978883e+02] [ 6.02190470e-02 9.98185180e-01 -1.09087967e-04 9.35688834e-01] [ 1.67229637e-02 -8.99600882e-04 9.99859757e-01 9.41854431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45925415399998 meters 0.029484092552839798 Centerline is valid? [True, True] Translation: X:141.01, Y:0.94, Z:0.94 [[ 9.97933363e-01 -6.20859360e-02 -1.65632148e-02 1.41010896e+02] [ 6.20926797e-02 9.98070382e-01 -1.07304228e-04 9.36059071e-01] [ 1.65379163e-02 -9.21371925e-04 9.99862815e-01 9.42299924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.48925415399998 meters 0.029190498384613992 Centerline is valid? [True, True] Translation: X:141.04, Y:0.94, Z:0.94 [[ 9.97843413e-01 -6.36190360e-02 -1.61598864e-02 1.41043356e+02] [ 6.36256741e-02 9.97973829e-01 -1.03539035e-04 9.37213815e-01] [ 1.61337307e-02 -9.24867919e-04 9.99869415e-01 9.42958008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51925415399998 meters 0.036177459223524354 Centerline is valid? [True, True] Translation: X:141.07, Y:0.93, Z:0.94 [[ 9.97767149e-01 -6.48190781e-02 -1.60997942e-02 1.41074514e+02] [ 6.48258386e-02 9.97896588e-01 -1.02157409e-04 9.28357542e-01] [ 1.60725514e-02 -9.41753352e-04 9.99870385e-01 9.41910280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.54925415399998 meters 0.031065247835061864 Centerline is valid? [True, True] Translation: X:141.11, Y:0.94, Z:0.94 [[ 9.97721415e-01 -6.56503730e-02 -1.55565637e-02 1.41106783e+02] [ 6.56568008e-02 9.97842260e-01 -9.77307081e-05 9.35993540e-01] [ 1.55294127e-02 -9.23886184e-04 9.99878985e-01 9.43572727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57925415399998 meters 0.03184418791451158 Centerline is valid? [True, True] Translation: X:141.14, Y:0.94, Z:0.94 [[ 9.97724528e-01 -6.56365093e-02 -1.54147579e-02 1.41138836e+02] [ 6.56428380e-02 9.97843178e-01 -9.55912127e-05 9.35882287e-01] [ 1.53877853e-02 -9.16494758e-04 9.99881181e-01 9.43773843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60925415399998 meters 0.03226518783650752 Centerline is valid? [True, True] Translation: X:141.17, Y:0.94, Z:0.94 [[ 9.97728812e-01 -6.56359657e-02 -1.51373032e-02 1.41172066e+02] [ 6.56420909e-02 9.97843228e-01 -9.23910682e-05 9.36275632e-01] [ 1.51107197e-02 -9.01463003e-04 9.99885420e-01 9.43619263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63925415399999 meters 0.03248283164005623 Centerline is valid? [True, True] Translation: X:141.20, Y:0.94, Z:0.94 [[ 9.97759547e-01 -6.50357462e-02 -1.56919616e-02 1.41204697e+02] [ 6.50422761e-02 9.97882505e-01 -9.43974938e-05 9.36518248e-01] [ 1.56648732e-02 -9.26454900e-04 9.99876869e-01 9.43373248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.669254154 meters 0.03299139267269107 Centerline is valid? [True, True] Translation: X:141.24, Y:0.94, Z:0.94 [[ 9.97778398e-01 -6.46575970e-02 -1.60518802e-02 1.41237271e+02] [ 6.46643995e-02 9.97907063e-01 -9.54279653e-05 9.36366184e-01] [ 1.60244548e-02 -9.42769232e-04 9.99871156e-01 9.42922363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.699254154 meters 0.0327025226981397 Centerline is valid? [True, True] Translation: X:141.27, Y:0.94, Z:0.94 [[ 9.97881806e-01 -6.28722821e-02 -1.67026258e-02 1.41268378e+02] [ 6.28794123e-02 9.98021127e-01 -9.84524928e-05 9.37829290e-01] [ 1.66757634e-02 -9.52007344e-04 9.99860497e-01 9.42277784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.729254154 meters 0.03134624648325402 Centerline is valid? [True, True] Translation: X:141.30, Y:0.94, Z:0.94 [[ 9.97977977e-01 -6.12612910e-02 -1.69414263e-02 1.41299456e+02] [ 6.12684052e-02 9.98121322e-01 -9.92644218e-05 9.40568421e-01] [ 1.69156799e-02 -9.38910463e-04 9.99856479e-01 9.42352644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.759254154 meters 0.026989217537188148 Centerline is valid? [True, True] Translation: X:141.33, Y:0.95, Z:0.94 [[ 9.98088013e-01 -5.94269582e-02 -1.69928022e-02 1.41330542e+02] [ 5.94338610e-02 9.98232241e-01 -9.89532034e-05 9.47911387e-01] [ 1.69686435e-02 -9.11183838e-04 9.99855607e-01 9.43621660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.789254154 meters 0.030134185444782854 Centerline is valid? [True, True] Translation: X:141.36, Y:0.95, Z:0.94 [[ 9.98229886e-01 -5.69722254e-02 -1.70663567e-02 1.41360731e+02] [ 5.69788378e-02 9.98375381e-01 -9.89408487e-05 9.45144241e-01] [ 1.70442672e-02 -8.73655456e-04 9.99854354e-01 9.42962096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819254154 meters 0.02292301668086774 Centerline is valid? [True, True] Translation: X:141.39, Y:0.96, Z:0.95 [[ 9.98558455e-01 -5.09812124e-02 -1.67906839e-02 1.41391418e+02] [ 5.09867701e-02 9.98699324e-01 -9.71975794e-05 9.59302470e-01] [ 1.67737999e-02 -7.59045275e-04 9.99859022e-01 9.45447141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.849254154 meters 0.02292301668086774 Centerline is valid? [True, True] Translation: X:141.42, Y:0.96, Z:0.95 [[ 9.98564125e-01 -5.08700482e-02 -1.67906903e-02 1.41423995e+02] [ 5.08756089e-02 9.98704993e-01 -9.60856419e-05 9.59401899e-01] [ 1.67738341e-02 -7.58288916e-04 9.99859022e-01 9.45672896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879254154 meters 0.024182803022531663 Centerline is valid? [True, True] Translation: X:141.45, Y:0.96, Z:0.95 [[ 9.98739970e-01 -4.72369594e-02 -1.69452677e-02 1.41454782e+02] [ 4.72421204e-02 9.98883463e-01 -9.58231094e-05 9.59413065e-01] [ 1.69308741e-02 -7.04828007e-04 9.99856414e-01 9.45603677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.909254154 meters 0.02211244021624554 Centerline is valid? [True, True] Translation: X:141.49, Y:0.96, Z:0.95 [[ 9.98927154e-01 -4.33436646e-02 -1.63054722e-02 1.41486578e+02] [ 4.33479373e-02 9.99060032e-01 -9.14630379e-05 9.64433164e-01] [ 1.62941099e-02 -6.15443674e-04 9.99867053e-01 9.46537684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939254154 meters 0.018737464744792598 Centerline is valid? [True, True] Translation: X:141.52, Y:0.97, Z:0.95 [[ 9.99096305e-01 -3.93672665e-02 -1.60247342e-02 1.41518016e+02] [ 3.93708937e-02 9.99224662e-01 -8.91863247e-05 9.71260427e-01] [ 1.60158206e-02 -5.41802380e-04 9.99871592e-01 9.48030643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.969254154 meters 0.017390860747239622 Centerline is valid? [True, True] Translation: X:141.55, Y:0.98, Z:0.95 [[ 9.99363736e-01 -3.18365377e-02 -1.60797243e-02 1.41548323e+02] [ 3.18392199e-02 9.99493000e-01 -8.92315424e-05 9.76185693e-01] [ 1.60744127e-02 -4.22791112e-04 9.99870709e-01 9.47723602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999254154 meters 0.015905385669401365 Centerline is valid? [True, True] Translation: X:141.58, Y:0.98, Z:0.95 [[ 9.99481534e-01 -2.78954527e-02 -1.60781357e-02 1.41579981e+02] [ 2.78976333e-02 9.99610781e-01 -8.86899094e-05 9.79933339e-01] [ 1.60743518e-02 -3.59898007e-04 9.99870734e-01 9.48312464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.029254154 meters 0.01567915442733088 Centerline is valid? [True, True] Translation: X:141.61, Y:0.98, Z:0.95 [[ 9.99569664e-01 -2.44867607e-02 -1.61519753e-02 1.41610519e+02] [ 2.44885258e-02 9.99700107e-01 -8.85215899e-05 9.81541346e-01] [ 1.61492990e-02 -3.07054568e-04 9.99869544e-01 9.47943511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059254154 meters 0.01453851105380936 Centerline is valid? [True, True] Translation: X:141.64, Y:0.99, Z:0.95 [[ 9.99717763e-01 -1.75382644e-02 -1.60251157e-02 1.41641249e+02] [ 1.75391113e-02 9.99846174e-01 -8.76994433e-05 9.86238206e-01] [ 1.60241887e-02 -1.93391596e-04 9.99871586e-01 9.48681113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08925415399997 meters 0.01400179220462871 Centerline is valid? [True, True] Translation: X:141.67, Y:0.99, Z:0.95 [[ 9.99774185e-01 -1.42690614e-02 -1.57471837e-02 1.41670491e+02] [ 1.42694547e-02 9.99898182e-01 -8.73932654e-05 9.88437039e-01] [ 1.57468274e-02 -1.37330193e-04 9.99876002e-01 9.49304026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11925415399998 meters 0.01390410633154658 Centerline is valid? [True, True] Translation: X:141.70, Y:0.99, Z:0.95 [[ 9.99817318e-01 -1.13109321e-02 -1.54075607e-02 1.41698616e+02] [ 1.13109251e-02 9.99936026e-01 -8.75964456e-05 9.89699208e-01] [ 1.54075658e-02 -8.66933214e-05 9.99881293e-01 9.49306529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14925415399998 meters 0.013773180092091266 Centerline is valid? [True, True] Translation: X:141.73, Y:0.99, Z:0.95 [[ 9.99845921e-01 -8.46612248e-03 -1.53772219e-02 1.41727525e+02] [ 8.46573220e-03 9.99964161e-01 -9.04747685e-05 9.91118133e-01] [ 1.53774367e-02 -3.97186142e-05 9.99881759e-01 9.49804648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17925415399998 meters 0.013801900749331141 Centerline is valid? [True, True] Translation: X:141.76, Y:0.99, Z:0.95 [[ 9.99879690e-01 -3.32501300e-03 -1.51509106e-02 1.41755808e+02] [ 3.32398167e-03 9.99994471e-01 -9.32525855e-05 9.92376805e-01] [ 1.51511369e-02 4.28800172e-05 9.99885214e-01 9.50529437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20925415399998 meters 0.013943649448130943 Centerline is valid? [True, True] Translation: X:141.78, Y:0.99, Z:0.95 [[ 9.99888929e-01 -1.68776193e-03 -1.48081748e-02 1.41783584e+02] [ 1.68653372e-03 9.99998573e-01 -9.54286302e-05 9.92334235e-01] [ 1.48083147e-02 7.04435447e-05 9.99890348e-01 9.50648431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23925415399998 meters 0.014059702525943884 Centerline is valid? [True, True] Translation: X:141.81, Y:0.99, Z:0.95 [[ 9.99892466e-01 -1.14727606e-04 -1.46643821e-02 1.41811386e+02] [ 1.13308717e-04 9.99999989e-01 -9.75882872e-05 9.92202192e-01] [ 1.46643932e-02 9.59161908e-05 9.99892467e-01 9.50634669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.26925415399998 meters 0.014167238999986129 Centerline is valid? [True, True] Translation: X:141.84, Y:0.99, Z:0.95 [[ 9.99891284e-01 5.13017761e-04 -1.47362537e-02 1.41839560e+02] [-5.14566096e-04 9.99999862e-01 -1.01278392e-04 9.91545008e-01] [ 1.47361997e-02 1.08850158e-04 9.99891410e-01 9.50701143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29925415399998 meters 0.014255972952991892 Centerline is valid? [True, True] Translation: X:141.87, Y:0.99, Z:0.95 [[ 9.99882776e-01 1.13743531e-03 -1.52689112e-02 1.41867786e+02] [-1.13921319e-03 9.99999345e-01 -1.07740741e-04 9.88848956e-01] [ 1.52687787e-02 1.25122657e-04 9.99883418e-01 9.49846289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32925415399998 meters 0.014370162418170608 Centerline is valid? [True, True] Translation: X:141.90, Y:0.99, Z:0.95 [[ 9.99877965e-01 9.36838646e-04 -1.55941630e-02 1.41895938e+02] [-9.38692707e-04 9.99999553e-01 -1.11575438e-04 9.87270530e-01] [ 1.55940515e-02 1.26199949e-04 9.99878397e-01 9.49282923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35925415399998 meters 0.014445896867168361 Centerline is valid? [True, True] Translation: X:141.92, Y:0.99, Z:0.95 [[ 9.99866234e-01 7.04201916e-04 -1.63407140e-02 1.41924291e+02] [-7.06229907e-04 9.99999744e-01 -1.18336429e-04 9.85481751e-01] [ 1.63406265e-02 1.29860900e-04 9.99866475e-01 9.48896451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38925415399999 meters 0.015062383182939426 Centerline is valid? [True, True] Translation: X:141.95, Y:0.98, Z:0.95 [[ 9.99844843e-01 4.73241005e-05 -1.76150050e-02 1.41953477e+02] [-4.96016641e-05 9.99999990e-01 -1.28859916e-04 9.80756817e-01] [ 1.76149987e-02 1.29713656e-04 9.99844835e-01 9.48395414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.419254154 meters 0.014019886940882834 Centerline is valid? [True, True] Translation: X:141.98, Y:0.98, Z:0.95 [[ 9.99847811e-01 -1.10190744e-03 -1.74109583e-02 1.41982398e+02] [ 1.09983478e-03 9.99999387e-01 -1.28618228e-04 9.78524238e-01] [ 1.74110893e-02 1.09449476e-04 9.99848410e-01 9.48692122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.449254154 meters 0.014030219274566075 Centerline is valid? [True, True] Translation: X:142.01, Y:0.98, Z:0.95 [[ 9.99848965e-01 -2.01683649e-03 -1.72621043e-02 1.42011103e+02] [ 2.01491394e-03 9.99997962e-01 -1.28765503e-04 9.75849517e-01] [ 1.72623288e-02 9.39644005e-05 9.99850990e-01 9.48857524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.479254154 meters 0.013931061573295276 Centerline is valid? [True, True] Translation: X:142.04, Y:0.97, Z:0.95 [[ 9.99853186e-01 -4.81901881e-03 -1.64433679e-02 1.42040429e+02] [ 4.81763681e-03 9.99988387e-01 -1.23656877e-04 9.69632071e-01] [ 1.64437729e-02 4.44205480e-05 9.99864791e-01 9.49474640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.509254154 meters 0.013891102175502133 Centerline is valid? [True, True] Translation: X:142.07, Y:0.97, Z:0.95 [[ 9.99855513e-01 -6.59528551e-03 -1.56669865e-02 1.42068117e+02] [ 6.59423101e-03 9.99978251e-01 -1.18965599e-04 9.66195053e-01] [ 1.56674304e-02 1.56366816e-05 9.99877258e-01 9.49567141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.539254154 meters 0.013829335315930997 Centerline is valid? [True, True] Translation: X:142.10, Y:0.96, Z:0.95 [[ 9.99840092e-01 -8.83186994e-03 -1.55495388e-02 1.42096342e+02] [ 8.83107751e-03 9.99960998e-01 -1.19625823e-04 9.62250001e-01] [ 1.55499889e-02 -1.77124888e-05 9.99879091e-01 9.50153450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.569254154 meters 0.013859485875618402 Centerline is valid? [True, True] Translation: X:142.12, Y:0.96, Z:0.95 [[ 9.99824423e-01 -1.10738287e-02 -1.51159683e-02 1.42124503e+02] [ 1.10733113e-02 9.99938682e-01 -1.17927137e-04 9.58611859e-01] [ 1.51163473e-02 -4.94773915e-05 9.99885740e-01 9.51160540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.599254154 meters 0.01405241579018414 Centerline is valid? [True, True] Translation: X:142.15, Y:0.95, Z:0.95 [[ 9.99809687e-01 -1.31707983e-02 -1.43916606e-02 1.42151866e+02] [ 1.31705222e-02 9.99913258e-01 -1.13967569e-04 9.53875069e-01] [ 1.43919133e-02 -7.55998060e-05 9.99896428e-01 9.50129385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.629254154 meters 0.014398879959349312 Centerline is valid? [True, True] Translation: X:142.18, Y:0.95, Z:0.95 [[ 9.99771553e-01 -1.61119011e-02 -1.40445101e-02 1.42179942e+02] [ 1.61119079e-02 9.99870188e-01 -1.12670323e-04 9.46430512e-01] [ 1.40445023e-02 -1.13639270e-04 9.99901365e-01 9.50613949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.659254154 meters 0.01401021870190654 Centerline is valid? [True, True] Translation: X:142.21, Y:0.95, Z:0.95 [[ 9.99753482e-01 -1.72494201e-02 -1.39797473e-02 1.42208559e+02] [ 1.72495047e-02 9.99851210e-01 -1.14537211e-04 9.45259071e-01] [ 1.39796429e-02 -1.26634740e-04 9.99902272e-01 9.52039053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.689254154 meters 0.014252818807118194 Centerline is valid? [True, True] Translation: X:142.24, Y:0.94, Z:0.95 [[ 9.99738691e-01 -1.78700898e-02 -1.42551925e-02 1.42237350e+02] [ 1.78701879e-02 9.99840308e-01 -1.20504929e-04 9.42501136e-01] [ 1.42550695e-02 -1.34269529e-04 9.99898382e-01 9.51818282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.719254154 meters 0.014345102994607586 Centerline is valid? [True, True] Translation: X:142.27, Y:0.94, Z:0.95 [[ 9.99728003e-01 -1.74173482e-02 -1.55098754e-02 1.42266032e+02] [ 1.74173725e-02 9.99848297e-01 -1.33520126e-04 9.36957799e-01] [ 1.55098480e-02 -1.36657468e-04 9.99879706e-01 9.49917138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.749254154 meters 0.0141796588140156 Centerline is valid? [True, True] Translation: X:142.29, Y:0.94, Z:0.95 [[ 9.99723689e-01 -1.69817240e-02 -1.62531953e-02 1.42294734e+02] [ 1.69816478e-02 9.99855791e-01 -1.42711995e-04 9.35939589e-01] [ 1.62532749e-02 -1.33333475e-04 9.99867898e-01 9.50114701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.779254154 meters 0.01406905513660898 Centerline is valid? [True, True] Translation: X:142.32, Y:0.93, Z:0.95 [[ 9.99725857e-01 -1.63908561e-02 -1.67197942e-02 1.42322219e+02] [ 1.63906134e-02 9.99865653e-01 -1.51555989e-04 9.34697056e-01] [ 1.67200321e-02 -1.22533243e-04 9.99860203e-01 9.50041385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.809254154 meters 0.014087707457122425 Centerline is valid? [True, True] Translation: X:142.35, Y:0.93, Z:0.95 [[ 9.99727278e-01 -1.56723064e-02 -1.73132281e-02 1.42349006e+02] [ 1.56718784e-02 9.99877176e-01 -1.60407839e-04 9.33287382e-01] [ 1.73136156e-02 -1.10966714e-04 9.99850102e-01 9.49801603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83925415399997 meters 0.013950615354582951 Centerline is valid? [True, True] Translation: X:142.38, Y:0.93, Z:0.95 [[ 9.99754620e-01 -1.41533150e-02 -1.70406587e-02 1.42378294e+02] [ 1.41526239e-02 9.99899834e-01 -1.61158019e-04 9.30760614e-01] [ 1.70412327e-02 -8.00515590e-05 9.99854784e-01 9.50103962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86925415399998 meters 0.013915810818175695 Centerline is valid? [True, True] Translation: X:142.41, Y:0.93, Z:0.95 [[ 9.99756290e-01 -1.39702509e-02 -1.70936317e-02 1.42406357e+02] [ 1.39694496e-02 9.99902409e-01 -1.66283517e-04 9.29454573e-01] [ 1.70942865e-02 -7.25456345e-05 9.99853879e-01 9.50545140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89925415399998 meters 0.013917657539918585 Centerline is valid? [True, True] Translation: X:142.43, Y:0.93, Z:0.95 [[ 9.99754382e-01 -1.41168196e-02 -1.70848237e-02 1.42434711e+02] [ 1.41159550e-02 9.99900350e-01 -1.71202831e-04 9.27671635e-01] [ 1.70855381e-02 -7.00078227e-05 9.99854029e-01 9.50694478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92925415399998 meters 0.01399566521055185 Centerline is valid? [True, True] Translation: X:142.46, Y:0.93, Z:0.95 [[ 9.99750350e-01 -1.46780068e-02 -1.68461905e-02 1.42462408e+02] [ 1.46771636e-02 9.99892270e-01 -1.73699596e-04 9.25764703e-01] [ 1.68469252e-02 -7.35980611e-05 9.99858078e-01 9.50523823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95925415399998 meters 0.013966611249909304 Centerline is valid? [True, True] Translation: X:142.49, Y:0.92, Z:0.95 [[ 9.99728034e-01 -1.57714874e-02 -1.71790049e-02 1.42490792e+02] [ 1.57706856e-02 9.99875618e-01 -1.82150227e-04 9.21682269e-01] [ 1.71797409e-02 -8.88239973e-05 9.99852413e-01 9.50479817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.98925415399998 meters 0.014158642722361517 Centerline is valid? [True, True] Translation: X:142.52, Y:0.92, Z:0.95 [[ 9.99712373e-01 -1.67187900e-02 -1.71945664e-02 1.42518722e+02] [ 1.67180415e-02 9.99860226e-01 -1.87280666e-04 9.20171583e-01] [ 1.71952941e-02 -1.00232676e-04 9.99852145e-01 9.50525012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01925415399998 meters 0.014102384208475231 Centerline is valid? [True, True] Translation: X:142.55, Y:0.92, Z:0.95 [[ 9.99691242e-01 -1.76691419e-02 -1.74706249e-02 1.42546485e+02] [ 1.76684244e-02 9.99843882e-01 -1.95434248e-04 9.18711622e-01] [ 1.74713506e-02 -1.13304509e-04 9.99847358e-01 9.51241754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.04925415399998 meters 0.01428433237471835 Centerline is valid? [True, True] Translation: X:142.57, Y:0.91, Z:0.95 [[ 9.99665249e-01 -1.98096126e-02 -1.66424105e-02 1.42573853e+02] [ 1.98092078e-02 9.99803760e-01 -1.89186911e-04 9.13804193e-01] [ 1.66428923e-02 -1.40549387e-04 9.99861488e-01 9.51263188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07925415399998 meters 0.014433218909901674 Centerline is valid? [True, True] Translation: X:142.60, Y:0.91, Z:0.95 [[ 9.99634853e-01 -2.15687292e-02 -1.62772762e-02 1.42602832e+02] [ 2.15685243e-02 9.99767355e-01 -1.88159976e-04 9.11653132e-01] [ 1.62775477e-02 -1.62985556e-04 9.99867499e-01 9.52086230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10925415399998 meters 0.01470000986023159 Centerline is valid? [True, True] Translation: X:142.63, Y:0.91, Z:0.95 [[ 9.99604074e-01 -2.35460015e-02 -1.54039603e-02 1.42631155e+02] [ 2.35459937e-02 9.99722738e-01 -1.81891860e-04 9.09104804e-01] [ 1.54039722e-02 -1.80881710e-04 9.99881335e-01 9.52951595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13925415399999 meters 0.0149994257261833 Centerline is valid? [True, True] Translation: X:142.66, Y:0.91, Z:0.95 [[ 9.99559068e-01 -2.56788820e-02 -1.49085132e-02 1.42660708e+02] [ 2.56790821e-02 9.99670222e-01 -1.78039749e-04 9.06485509e-01] [ 1.49081685e-02 -2.04875688e-04 9.99888846e-01 9.53479540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.169254154 meters 0.015231507702887073 Centerline is valid? [True, True] Translation: X:142.69, Y:0.90, Z:0.95 [[ 9.99498252e-01 -2.83799593e-02 -1.40648937e-02 1.42690449e+02] [ 2.83803977e-02 9.99597181e-01 -1.68464860e-04 9.03413203e-01] [ 1.40640091e-02 -2.30786944e-04 9.99901070e-01 9.54157078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.199254154 meters 0.01721152854046605 Centerline is valid? [True, True] Translation: X:142.72, Y:0.89, Z:0.95 [[ 9.99309364e-01 -3.45383331e-02 -1.37075996e-02 1.42720690e+02] [ 3.45393289e-02 9.99403326e-01 -1.64158464e-04 8.94754619e-01] [ 1.37050904e-02 -3.09406200e-04 9.99906033e-01 9.54159144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.229254154 meters 0.018190934822544347 Centerline is valid? [True, True] Translation: X:142.75, Y:0.89, Z:0.95 [[ 9.99196511e-01 -3.77593267e-02 -1.34374480e-02 1.42751853e+02] [ 3.77605814e-02 9.99286802e-01 -1.60418485e-04 8.90869462e-01] [ 1.34339217e-02 -3.47116258e-04 9.99909701e-01 9.54327810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.259254154 meters 0.018694388098170974 Centerline is valid? [True, True] Translation: X:142.78, Y:0.89, Z:0.95 [[ 9.99067846e-01 -4.10174540e-02 -1.34538908e-02 1.42783513e+02] [ 4.10190134e-02 9.99158353e-01 -1.60133718e-04 8.88565965e-01] [ 1.34491357e-02 -3.91880879e-04 9.99909479e-01 9.54626654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.289254154 meters 0.019030143247060358 Centerline is valid? [True, True] Translation: X:142.81, Y:0.89, Z:0.95 [[ 9.98933165e-01 -4.42000779e-02 -1.33747705e-02 1.42814643e+02] [ 4.42019105e-02 9.99022605e-01 -1.58705860e-04 8.85795436e-01] [ 1.33687129e-02 -4.32653863e-04 9.99910541e-01 9.54965126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.319254154 meters 0.021290918835604866 Centerline is valid? [True, True] Translation: X:142.85, Y:0.88, Z:0.95 [[ 9.98624436e-01 -5.08388125e-02 -1.28316578e-02 1.42845718e+02] [ 5.08410509e-02 9.98706746e-01 -1.51912397e-04 8.78645452e-01] [ 1.28227863e-02 -5.00671537e-04 9.99917659e-01 9.54928835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.349254154 meters 0.02246915745743777 Centerline is valid? [True, True] Translation: X:142.88, Y:0.88, Z:0.96 [[ 9.98462858e-01 -5.39397374e-02 -1.27446038e-02 1.42877126e+02] [ 5.39422019e-02 9.98544048e-01 -1.50546489e-04 8.75846333e-01] [ 1.27341687e-02 -5.37156913e-04 9.99918773e-01 9.55224959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.379254154 meters 0.023199206177527874 Centerline is valid? [True, True] Translation: X:142.91, Y:0.87, Z:0.96 [[ 9.98293529e-01 -5.69495656e-02 -1.29142423e-02 1.42907996e+02] [ 5.69523522e-02 9.98376886e-01 -1.52181932e-04 8.73747074e-01] [ 1.29019477e-02 -5.83574236e-04 9.99916596e-01 9.55351044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.409254154 meters 0.024311297664296412 Centerline is valid? [True, True] Translation: X:142.94, Y:0.87, Z:0.96 [[ 9.98123367e-01 -5.97864392e-02 -1.32410876e-02 1.42939309e+02] [ 5.97896225e-02 9.98210988e-01 -1.55668098e-04 8.71143984e-01] [ 1.32267060e-02 -6.36303664e-04 9.99912321e-01 9.55308263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439254154 meters 0.026589082864414287 Centerline is valid? [True, True] Translation: X:142.97, Y:0.87, Z:0.96 [[ 9.97808794e-01 -6.48123652e-02 -1.33029370e-02 1.42970059e+02] [ 6.48160275e-02 9.97897218e-01 -1.56110173e-04 8.66173330e-01] [ 1.32850816e-02 -7.06475423e-04 9.99911500e-01 9.55263504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.469254154 meters 0.02943071968730423 Centerline is valid? [True, True] Translation: X:143.00, Y:0.86, Z:0.95 [[ 9.97656539e-01 -6.70539247e-02 -1.36088946e-02 1.42999940e+02] [ 6.70579657e-02 9.97749069e-01 -1.59670523e-04 8.61923915e-01] [ 1.35889685e-02 -7.53288447e-04 9.99907382e-01 9.54866823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499254154 meters 0.0297972692178386 Centerline is valid? [True, True] Translation: X:143.03, Y:0.86, Z:0.95 [[ 9.97527910e-01 -6.89453007e-02 -1.35872817e-02 1.43031653e+02] [ 6.89495123e-02 9.97620138e-01 -1.58786033e-04 8.61353415e-01] [ 1.35658934e-02 -7.78442946e-04 9.99907676e-01 9.54920141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.529254154 meters 0.031975420602620076 Centerline is valid? [True, True] Translation: X:143.06, Y:0.86, Z:0.95 [[ 9.97351903e-01 -7.14033949e-02 -1.38107402e-02 1.43061856e+02] [ 7.14079920e-02 9.97447178e-01 -1.60606966e-04 8.57858005e-01] [ 1.37869517e-02 -8.26015562e-04 9.99904614e-01 9.54591250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559254154 meters 0.03247830045224722 Centerline is valid? [True, True] Translation: X:143.09, Y:0.86, Z:0.95 [[ 9.97309433e-01 -7.19233082e-02 -1.41750491e-02 1.43093511e+02] [ 7.19282106e-02 9.97409798e-01 -1.64328398e-04 8.57426535e-01] [ 1.41501519e-02 -8.55699659e-04 9.99899515e-01 9.54600881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58925415399997 meters 0.033289329209227114 Centerline is valid? [True, True] Translation: X:143.12, Y:0.86, Z:0.95 [[ 9.97310075e-01 -7.20147005e-02 -1.36563717e-02 1.43124557e+02] [ 7.20192689e-02 9.97403228e-01 -1.57600811e-04 8.56597747e-01] [ 1.36322588e-02 -8.26345027e-04 9.99906735e-01 9.54588725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61925415399998 meters 0.02912215007734742 Centerline is valid? [True, True] Translation: X:143.16, Y:0.86, Z:0.96 [[ 9.97317135e-01 -7.19347686e-02 -1.35617251e-02 1.43156996e+02] [ 7.19392781e-02 9.97409001e-01 -1.55649919e-04 8.62952950e-01] [ 1.35377833e-02 -8.20388383e-04 9.99908023e-01 9.55561227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64925415399998 meters 0.03240276929374955 Centerline is valid? [True, True] Translation: X:143.19, Y:0.86, Z:0.96 [[ 9.97431620e-01 -7.03619935e-02 -1.33923085e-02 1.43187356e+02] [ 7.03662660e-02 9.97521210e-01 -1.52499924e-04 8.60072596e-01] [ 1.33698420e-02 -7.90258497e-04 9.99910307e-01 9.55961723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67925415399998 meters 0.03215718982625836 Centerline is valid? [True, True] Translation: X:143.22, Y:0.86, Z:0.96 [[ 9.97521406e-01 -6.91619376e-02 -1.29487739e-02 1.43219544e+02] [ 6.91658457e-02 9.97605165e-01 -1.46303171e-04 8.61950323e-01] [ 1.29278823e-02 -7.49672350e-04 9.99916150e-01 9.56526466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70925415399998 meters 0.027093536495778742 Centerline is valid? [True, True] Translation: X:143.25, Y:0.87, Z:0.96 [[ 9.97624529e-01 -6.75442908e-02 -1.35302796e-02 1.43251366e+02] [ 6.75484231e-02 9.97715985e-01 -1.51871586e-04 8.70802925e-01] [ 1.35096343e-02 -7.62438233e-04 9.99908450e-01 9.57492591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73925415399998 meters 0.027402581786192485 Centerline is valid? [True, True] Translation: X:143.28, Y:0.87, Z:0.96 [[ 9.97752094e-01 -6.56378010e-02 -1.35069296e-02 1.43281780e+02] [ 6.56417616e-02 9.97843242e-01 -1.50369981e-04 8.72063965e-01] [ 1.34876683e-02 -7.36586686e-04 9.99908766e-01 9.57603528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.76925415399998 meters 0.027402581786192485 Centerline is valid? [True, True] Translation: X:143.31, Y:0.87, Z:0.96 [[ 9.97756926e-01 -6.55643074e-02 -1.35069433e-02 1.43313514e+02] [ 6.55682781e-02 9.97848074e-01 -1.49122898e-04 8.72354319e-01] [ 1.34876545e-02 -7.36838613e-04 9.99908766e-01 9.57823277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79925415399998 meters 0.02571350080421222 Centerline is valid? [True, True] Translation: X:143.34, Y:0.88, Z:0.96 [[ 9.98015532e-01 -6.14562897e-02 -1.37157930e-02 1.43343770e+02] [ 6.14600043e-02 9.98109536e-01 -1.50910401e-04 8.78450241e-01] [ 1.36991382e-02 -6.92361772e-04 9.99905923e-01 9.58299281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82925415399998 meters 0.02496787888280546 Centerline is valid? [True, True] Translation: X:143.38, Y:0.88, Z:0.96 [[ 9.98164704e-01 -5.90438659e-02 -1.34553264e-02 1.43375263e+02] [ 5.90472253e-02 9.98255179e-01 -1.47803669e-04 8.81441885e-01] [ 1.34405762e-02 -6.46967285e-04 9.99909462e-01 9.58724925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85925415399998 meters 0.026970759940698124 Centerline is valid? [True, True] Translation: X:143.41, Y:0.88, Z:0.96 [[ 9.98300186e-01 -5.67258910e-02 -1.33757909e-02 1.43405880e+02] [ 5.67290082e-02 9.98389602e-01 -1.46556859e-04 8.80358561e-01] [ 1.33625641e-02 -6.12487614e-04 9.99910529e-01 9.58248682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88925415399999 meters 0.02374304390956975 Centerline is valid? [True, True] Translation: X:143.44, Y:0.89, Z:0.96 [[ 9.98450267e-01 -5.40795912e-02 -1.31325115e-02 1.43437103e+02] [ 5.40823721e-02 9.98536467e-01 -1.43539821e-04 8.86615545e-01] [ 1.31210543e-02 -5.66920004e-04 9.99913755e-01 9.59080956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.919254154 meters 0.022867984873494934 Centerline is valid? [True, True] Translation: X:143.47, Y:0.89, Z:0.96 [[ 9.98595975e-01 -5.13378218e-02 -1.30578084e-02 1.43468552e+02] [ 5.13403434e-02 9.98681205e-01 -1.42250397e-04 8.89718678e-01] [ 1.30478906e-02 -5.28341691e-04 9.99914733e-01 9.59324916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.949254154 meters 0.02112154894195783 Centerline is valid? [True, True] Translation: X:143.50, Y:0.90, Z:0.96 [[ 9.98908836e-01 -4.48612921e-02 -1.29846816e-02 1.43498664e+02] [ 4.48632420e-02 9.98993128e-01 -1.41213506e-04 8.96976098e-01] [ 1.29779427e-02 -4.41475493e-04 9.99915685e-01 9.59688713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.979254154 meters 0.020055608345246414 Centerline is valid? [True, True] Translation: X:143.53, Y:0.90, Z:0.96 [[ 9.99066710e-01 -4.11060423e-02 -1.32666191e-02 1.43530409e+02] [ 4.11077515e-02 9.99154709e-01 -1.43953383e-04 9.01582624e-01] [ 1.32613223e-02 -4.01541846e-04 9.99911984e-01 9.59571271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.009254154 meters 0.019006325883573087 Centerline is valid? [True, True] Translation: X:143.56, Y:0.91, Z:0.96 [[ 9.99213754e-01 -3.72650294e-02 -1.35348138e-02 1.43560496e+02] [ 3.72664629e-02 9.99305353e-01 -1.46370189e-04 9.05975997e-01] [ 1.35308664e-02 -3.58139531e-04 9.99908389e-01 9.59853286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.039254154 meters 0.016714960335698883 Centerline is valid? [True, True] Translation: X:143.59, Y:0.92, Z:0.96 [[ 9.99478238e-01 -2.88921797e-02 -1.44393451e-02 1.43590559e+02] [ 2.88929396e-02 9.99582500e-01 -1.56020800e-04 9.15252414e-01] [ 1.44378245e-02 -2.61255732e-04 9.99895735e-01 9.59589473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.069254154 meters 0.01587402967478015 Centerline is valid? [True, True] Translation: X:143.62, Y:0.92, Z:0.96 [[ 9.99578861e-01 -2.49000064e-02 -1.49026877e-02 1.43620654e+02] [ 2.49003723e-02 9.99689925e-01 -1.61027335e-04 9.19773162e-01] [ 1.49020763e-02 -2.10122952e-04 9.99888936e-01 9.59415176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.099254154 meters 0.014831520879180443 Centerline is valid? [True, True] Translation: X:143.65, Y:0.93, Z:0.96 [[ 9.99664991e-01 -2.09111596e-02 -1.52522027e-02 1.43650256e+02] [ 2.09110740e-02 9.99781326e-01 -1.65107820e-04 9.25453235e-01] [ 1.52523200e-02 -1.53887431e-04 9.99883665e-01 9.60324609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.129254154 meters 0.01440182397208863 Centerline is valid? [True, True] Translation: X:143.68, Y:0.93, Z:0.96 [[ 9.99735429e-01 -1.71909177e-02 -1.52821740e-02 1.43678906e+02] [ 1.71903608e-02 9.99852221e-01 -1.67812860e-04 9.28979702e-01] [ 1.52828005e-02 -9.49376230e-05 9.99883207e-01 9.60608647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.159254154 meters 0.01431663330700803 Centerline is valid? [True, True] Translation: X:143.71, Y:0.94, Z:0.96 [[ 9.99833520e-01 -1.05162300e-02 -1.49111180e-02 1.43707047e+02] [ 1.05149211e-02 9.99944703e-01 -1.66177944e-04 9.35635456e-01] [ 1.49120410e-02 9.36104896e-06 9.99888809e-01 9.61274414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.189254154 meters 0.014377103472385291 Centerline is valid? [True, True] Translation: X:143.74, Y:0.94, Z:0.96 [[ 9.99865250e-01 -7.86189850e-03 -1.44108281e-02 1.43735097e+02] [ 7.86036059e-03 9.99969094e-01 -1.63357013e-04 9.38851447e-01] [ 1.44116670e-02 5.00606961e-05 9.99896145e-01 9.61813551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.219254154 meters 0.014348469951284018 Centerline is valid? [True, True] Translation: X:143.76, Y:0.94, Z:0.96 [[ 9.99882335e-01 -6.15171813e-03 -1.40525031e-02 1.43762959e+02] [ 6.15002969e-03 9.99981075e-01 -1.63362802e-04 9.41067941e-01] [ 1.40532421e-02 7.69202688e-05 9.99901245e-01 9.62914062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.249254154 meters 0.014455317153768733 Centerline is valid? [True, True] Translation: X:143.79, Y:0.94, Z:0.96 [[ 9.99900565e-01 -4.08443782e-03 -1.34973141e-02 1.43791209e+02] [ 4.08265689e-03 9.99991653e-01 -1.59498241e-04 9.43842794e-01] [ 1.34978529e-02 1.04377479e-04 9.99908894e-01 9.63368685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.279254154 meters 0.014539386385496735 Centerline is valid? [True, True] Translation: X:143.82, Y:0.94, Z:0.96 [[ 9.99897832e-01 -4.53589830e-03 -1.35554489e-02 1.43819272e+02] [ 4.53410856e-03 9.99989708e-01 -1.62760166e-04 9.44347445e-01] [ 1.35560476e-02 1.01281660e-04 9.99908107e-01 9.63467377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.309254154 meters 0.014348783250322704 Centerline is valid? [True, True] Translation: X:143.85, Y:0.94, Z:0.96 [[ 9.99888231e-01 -5.49283671e-03 -1.39051713e-02 1.43846784e+02] [ 5.49098883e-03 9.99984910e-01 -1.71066531e-04 9.44310026e-01] [ 1.39059011e-02 9.46942710e-05 9.99903304e-01 9.63543147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33925415399997 meters 0.014380153679820283 Centerline is valid? [True, True] Translation: X:143.88, Y:0.94, Z:0.96 [[ 9.99873757e-01 -7.12820031e-03 -1.42006771e-02 1.43875174e+02] [ 7.12640123e-03 9.99974591e-01 -1.77288609e-04 9.44021764e-01] [ 1.42015800e-02 7.60665047e-05 9.99899150e-01 9.63353249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36925415399998 meters 0.014392761857811116 Centerline is valid? [True, True] Translation: X:143.90, Y:0.94, Z:0.96 [[ 9.99821299e-01 -1.16837405e-02 -1.48613675e-02 1.43903453e+02] [ 1.16822550e-02 9.99931743e-01 -1.86769937e-04 9.41418032e-01] [ 1.48625352e-02 1.31222766e-05 9.99889546e-01 9.62679723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39925415399998 meters 0.01445042839783234 Centerline is valid? [True, True] Translation: X:143.93, Y:0.94, Z:0.96 [[ 9.99776356e-01 -1.49140721e-02 -1.49936099e-02 1.43931139e+02] [ 1.49128796e-02 9.99888779e-01 -1.91343579e-04 9.39550816e-01] [ 1.49947960e-02 -3.22971130e-05 9.99887571e-01 9.62851697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42925415399998 meters 0.014433314165230974 Centerline is valid? [True, True] Translation: X:143.96, Y:0.94, Z:0.96 [[ 9.99720193e-01 -1.84328579e-02 -1.48244771e-02 1.43959604e+02] [ 1.84320204e-02 9.99830097e-01 -1.93138287e-04 9.37523749e-01] [ 1.48255184e-02 -8.01608178e-05 9.99890093e-01 9.63674141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45925415399998 meters 0.015401056573262748 Centerline is valid? [True, True] Translation: X:143.99, Y:0.93, Z:0.96 [[ 9.99576256e-01 -2.54625506e-02 -1.41055850e-02 1.43987559e+02] [ 2.54624593e-02 9.99675762e-01 -1.86098753e-04 9.30985852e-01] [ 1.41057500e-02 -1.73142989e-04 9.99900494e-01 9.63440834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48925415399998 meters 0.01597982750762036 Centerline is valid? [True, True] Translation: X:144.02, Y:0.93, Z:0.96 [[ 9.99482746e-01 -2.89143427e-02 -1.40784157e-02 1.44018006e+02] [ 2.89145852e-02 9.99581869e-01 -1.86363837e-04 9.27723263e-01] [ 1.40779177e-02 -2.20804112e-04 9.99900877e-01 9.63609405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51925415399998 meters 0.01617965360905906 Centerline is valid? [True, True] Translation: X:144.05, Y:0.93, Z:0.96 [[ 9.99381685e-01 -3.23195292e-02 -1.38454371e-02 1.44049088e+02] [ 3.23200939e-02 9.99477553e-01 -1.83027561e-04 9.26190429e-01] [ 1.38441190e-02 -2.64571435e-04 9.99904131e-01 9.64643094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54925415399998 meters 0.017641366535156865 Centerline is valid? [True, True] Translation: X:144.08, Y:0.92, Z:0.96 [[ 9.99274367e-01 -3.56226871e-02 -1.34819458e-02 1.44079528e+02] [ 3.56235278e-02 9.99365265e-01 -1.77857730e-04 9.22166506e-01] [ 1.34797241e-02 -3.02545800e-04 9.99909099e-01 9.64501754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57925415399998 meters 0.018080571752350394 Centerline is valid? [True, True] Translation: X:144.11, Y:0.92, Z:0.97 [[ 9.99042258e-01 -4.15808657e-02 -1.36234662e-02 1.44110300e+02] [ 4.15822811e-02 9.99135067e-01 -1.79473854e-04 9.19718423e-01] [ 1.36191455e-02 -3.87192839e-04 9.99907180e-01 9.65089942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60925415399998 meters 0.020527173334448826 Centerline is valid? [True, True] Translation: X:144.14, Y:0.91, Z:0.96 [[ 9.98932273e-01 -4.40530681e-02 -1.39154977e-02 1.44141492e+02] [ 4.40547917e-02 9.99029100e-01 -1.82802079e-04 9.14973141e-01] [ 1.39100401e-02 -4.30437456e-04 9.99903158e-01 9.64090168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63925415399999 meters 0.020559135362723868 Centerline is valid? [True, True] Translation: X:144.17, Y:0.91, Z:0.96 [[ 9.98824471e-01 -4.63753934e-02 -1.41066663e-02 1.44173447e+02] [ 4.63774088e-02 9.98923972e-01 -1.84407363e-04 9.14157156e-01] [ 1.41000391e-02 -4.70040044e-04 9.99900479e-01 9.64284140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.669254154 meters 0.020064875785600476 Centerline is valid? [True, True] Translation: X:144.21, Y:0.91, Z:0.96 [[ 9.98718464e-01 -4.85578172e-02 -1.42677401e-02 1.44205626e+02] [ 4.85601163e-02 9.98820244e-01 -1.85463329e-04 9.14647066e-01] [ 1.42599133e-02 -5.07617465e-04 9.99898193e-01 9.64810092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.699254154 meters 0.022970162138562445 Centerline is valid? [True, True] Translation: X:144.24, Y:0.91, Z:0.96 [[ 9.98493099e-01 -5.28754613e-02 -1.46873035e-02 1.44235754e+02] [ 5.28783717e-02 9.98600942e-01 -1.90386731e-04 9.08800304e-01] [ 1.46768219e-02 -5.86540857e-04 9.99892118e-01 9.63954041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.729254154 meters 0.021979481514428773 Centerline is valid? [True, True] Translation: X:144.27, Y:0.91, Z:0.96 [[ 9.98384881e-01 -5.49399697e-02 -1.44647206e-02 1.44267316e+02] [ 5.49430149e-02 9.98489474e-01 -1.87079163e-04 9.10063265e-01] [ 1.44531494e-02 -6.07958354e-04 9.99895363e-01 9.64903252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.759254154 meters 0.023104131705366023 Centerline is valid? [True, True] Translation: X:144.30, Y:0.91, Z:0.97 [[ 9.98260390e-01 -5.72492302e-02 -1.40967562e-02 1.44299426e+02] [ 5.72523650e-02 9.98359722e-01 -1.81408669e-04 9.08866503e-01] [ 1.40840191e-02 -6.25979546e-04 9.99900619e-01 9.65285933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.789254154 meters 0.034414104126104274 Centerline is valid? [True, True] Translation: X:144.33, Y:0.89, Z:0.96 [[ 9.97964463e-01 -6.23271258e-02 -1.35004049e-02 1.44329220e+02] [ 6.23304762e-02 9.98055550e-01 -1.72854813e-04 8.92503471e-01] [ 1.34849276e-02 -6.68983707e-04 9.99908850e-01 9.64211975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819254154 meters 0.03097301218878788 Centerline is valid? [True, True] Translation: X:144.36, Y:0.90, Z:0.97 [[ 9.97789902e-01 -6.50414112e-02 -1.35987518e-02 1.44360603e+02] [ 6.50450707e-02 9.97882312e-01 -1.73474818e-04 8.97424958e-01] [ 1.35812369e-02 -7.11440350e-04 9.99907518e-01 9.65246540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.849254154 meters 0.026236698300969512 Centerline is valid? [True, True] Translation: X:144.39, Y:0.90, Z:0.97 [[ 9.97621494e-01 -6.75021864e-02 -1.39573935e-02 1.44392001e+02] [ 6.75062887e-02 9.97718833e-01 -1.77542431e-04 9.04557227e-01] [ 1.39375389e-02 -7.65091692e-04 9.99902575e-01 9.66228309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879254154 meters 0.027374085481684445 Centerline is valid? [True, True] Translation: X:144.42, Y:0.90, Z:0.97 [[ 9.97464413e-01 -6.97032934e-02 -1.43594981e-02 1.44423166e+02] [ 6.97078707e-02 9.97567431e-01 -1.82113735e-04 9.03529115e-01] [ 1.43372615e-02 -8.19318065e-04 9.99896881e-01 9.66461486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.909254154 meters 0.029844443216692246 Centerline is valid? [True, True] Translation: X:144.45, Y:0.90, Z:0.97 [[ 9.97247143e-01 -7.24940381e-02 -1.55804324e-02 1.44453093e+02] [ 7.24997707e-02 9.97368410e-01 -1.97318188e-04 9.01540553e-01] [ 1.55537355e-02 -9.32802777e-04 9.99878598e-01 9.65828636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939254154 meters 0.03288175766837464 Centerline is valid? [True, True] Translation: X:144.48, Y:0.90, Z:0.97 [[ 9.97186253e-01 -7.32374638e-02 -1.59953128e-02 1.44484715e+02] [ 7.32436090e-02 9.97314059e-01 -2.02077772e-04 8.98916191e-01] [ 1.59671500e-02 -9.70045257e-04 9.99872046e-01 9.65420538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.969254154 meters 0.029131013244332375 Centerline is valid? [True, True] Translation: X:144.52, Y:0.91, Z:0.97 [[ 9.97193342e-01 -7.29788707e-02 -1.67189501e-02 1.44516965e+02] [ 7.29855672e-02 9.97332975e-01 -2.10095378e-04 9.07253435e-01] [ 1.66896928e-02 -1.01073634e-03 9.99860207e-01 9.66881689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999254154 meters 0.028457978658892834 Centerline is valid? [True, True] Translation: X:144.55, Y:0.91, Z:0.97 [[ 9.97257532e-01 -7.20222907e-02 -1.70353989e-02 1.44548697e+02] [ 7.20291259e-02 9.97402506e-01 -2.12791320e-04 9.10161058e-01] [ 1.70064753e-02 -1.01483715e-03 9.99854864e-01 9.67573438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.029254154 meters 0.028371012465436257 Centerline is valid? [True, True] Translation: X:144.58, Y:0.91, Z:0.97 [[ 9.97375203e-01 -7.03810549e-02 -1.70062343e-02 1.44579723e+02] [ 7.03876440e-02 9.97519691e-01 -2.11535661e-04 9.12498573e-01] [ 1.69789417e-02 -9.86048341e-04 9.99855361e-01 9.67905023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059254154 meters 0.029248424111980902 Centerline is valid? [True, True] Translation: X:144.61, Y:0.91, Z:0.97 [[ 9.97521171e-01 -6.82828483e-02 -1.69989958e-02 1.44610406e+02] [ 6.82891388e-02 9.97665550e-01 -2.10816739e-04 9.13720639e-01] [ 1.69737077e-02 -9.50552627e-04 9.99855484e-01 9.68449122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08925415399997 meters 0.025021274279578083 Centerline is valid? [True, True] Translation: X:144.64, Y:0.92, Z:0.97 [[ 9.97919581e-01 -6.24917837e-02 -1.58520212e-02 1.44641128e+02] [ 6.24965288e-02 9.98045162e-01 -1.96349638e-04 9.24469925e-01] [ 1.58333033e-02 -7.94755153e-04 9.99874330e-01 9.70485403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11925415399998 meters 0.026160560914870137 Centerline is valid? [True, True] Translation: X:144.67, Y:0.93, Z:0.97 [[ 9.98131386e-01 -5.90504318e-02 -1.57093381e-02 1.44672150e+02] [ 5.90546716e-02 9.98254731e-01 -1.94258662e-04 9.25309890e-01] [ 1.56933921e-02 -7.33814134e-04 9.99876582e-01 9.70787118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14925415399998 meters 0.02340110135842622 Centerline is valid? [True, True] Translation: X:144.70, Y:0.93, Z:0.97 [[ 9.98359905e-01 -5.51513441e-02 -1.53567517e-02 1.44703239e+02] [ 5.51549415e-02 9.98477790e-01 -1.89497967e-04 9.32337111e-01] [ 1.53438266e-02 -6.57813572e-04 9.99882060e-01 9.72144796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17925415399998 meters 0.022338427968708628 Centerline is valid? [True, True] Translation: X:144.73, Y:0.94, Z:0.97 [[ 9.98559971e-01 -5.14580368e-02 -1.51675720e-02 1.44734844e+02] [ 5.14611293e-02 9.98674981e-01 -1.86588439e-04 9.36821724e-01] [ 1.51570762e-02 -5.94220638e-04 9.99884948e-01 9.72984387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20925415399998 meters 0.02101562899064164 Centerline is valid? [True, True] Translation: X:144.77, Y:0.94, Z:0.97 [[ 9.98760427e-01 -4.75339616e-02 -1.47692796e-02 1.44766605e+02] [ 4.75364771e-02 9.98869486e-01 -1.80891530e-04 9.41611307e-01] [ 1.47611812e-02 -5.21412218e-04 9.99890912e-01 9.73754415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23925415399998 meters 0.018149503409351102 Centerline is valid? [True, True] Translation: X:144.80, Y:0.95, Z:0.97 [[ 9.99093610e-01 -4.01090979e-02 -1.42554833e-02 1.44797109e+02] [ 4.01106933e-02 9.99195227e-01 -1.74098208e-04 9.51417760e-01] [ 1.42509938e-02 -3.97856909e-04 9.99898370e-01 9.74947965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26925415399998 meters 0.018117587176308323 Centerline is valid? [True, True] Translation: X:144.83, Y:0.95, Z:0.97 [[ 9.99220511e-01 -3.66960658e-02 -1.45523223e-02 1.44827185e+02] [ 3.66973798e-02 9.99326409e-01 -1.76816680e-04 9.53871892e-01] [ 1.45490084e-02 -3.57353244e-04 9.99894094e-01 9.74683211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29925415399998 meters 0.0172930738745413 Centerline is valid? [True, True] Translation: X:144.86, Y:0.96, Z:0.97 [[ 9.99333588e-01 -3.35634414e-02 -1.43483203e-02 1.44858325e+02] [ 3.35644098e-02 9.99436541e-01 -1.73378969e-04 9.57793832e-01] [ 1.43460548e-02 -3.08329474e-04 9.99897043e-01 9.74966325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32925415399998 meters 0.016494900488109206 Centerline is valid? [True, True] Translation: X:144.89, Y:0.96, Z:0.97 [[ 9.99409654e-01 -3.08050821e-02 -1.52114919e-02 1.44889673e+02] [ 3.08058596e-02 9.99525370e-01 -1.83253136e-04 9.61464199e-01] [ 1.52099172e-02 -2.85458131e-04 9.99884282e-01 9.74893501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35925415399998 meters 0.015826922298321625 Centerline is valid? [True, True] Translation: X:144.92, Y:0.97, Z:0.98 [[ 9.99482781e-01 -2.82799880e-02 -1.53105159e-02 1.44920867e+02] [ 2.82804880e-02 9.99600010e-01 -1.83891860e-04 9.65196297e-01] [ 1.53095923e-02 -2.49192114e-04 9.99882770e-01 9.75136763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38925415399999 meters 0.015273759882252946 Centerline is valid? [True, True] Translation: X:144.95, Y:0.97, Z:0.97 [[ 9.99570844e-01 -2.43646535e-02 -1.62632085e-02 1.44950940e+02] [ 2.43647067e-02 9.99703117e-01 -1.94897586e-04 9.69157666e-01] [ 1.62631288e-02 -2.01434360e-04 9.99867726e-01 9.74521320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.419254154 meters 0.016337145981213757 Centerline is valid? [True, True] Translation: X:144.98, Y:0.97, Z:0.97 [[ 9.99596659e-01 -2.26474947e-02 -1.71350334e-02 1.44980482e+02] [ 2.26472975e-02 9.99743496e-01 -2.05578759e-04 9.70972623e-01] [ 1.71352941e-02 -1.82566360e-04 9.99853163e-01 9.73354953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.449254154 meters 0.01478075483254183 Centerline is valid? [True, True] Translation: X:145.01, Y:0.97, Z:0.98 [[ 9.99619351e-01 -2.20245133e-02 -1.66154855e-02 1.45010279e+02] [ 2.20242319e-02 9.99757417e-01 -1.99944327e-04 9.73060542e-01] [ 1.66158586e-02 -1.66075087e-04 9.99861933e-01 9.75167921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.479254154 meters 0.01474649530457325 Centerline is valid? [True, True] Translation: X:145.04, Y:0.97, Z:0.97 [[ 9.99626118e-01 -2.15631111e-02 -1.68124028e-02 1.45038694e+02] [ 2.15627442e-02 9.99767476e-01 -2.03117756e-04 9.73686477e-01] [ 1.68128734e-02 -1.59479727e-04 9.99858641e-01 9.74996477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.509254154 meters 0.014736221390970305 Centerline is valid? [True, True] Translation: X:145.07, Y:0.97, Z:0.97 [[ 9.99611285e-01 -2.18811804e-02 -1.72769452e-02 1.45067266e+02] [ 2.18808239e-02 9.99760564e-01 -2.09684339e-04 9.73294067e-01] [ 1.72773966e-02 -1.68430965e-04 9.99850720e-01 9.74727697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.539254154 meters 0.014850355525118342 Centerline is valid? [True, True] Translation: X:145.10, Y:0.97, Z:0.97 [[ 9.99590220e-01 -2.29964146e-02 -1.70457477e-02 1.45096060e+02] [ 2.29961799e-02 9.99735531e-01 -2.09802391e-04 9.72804270e-01] [ 1.70460643e-02 -1.82270661e-04 9.99854689e-01 9.74430868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.569254154 meters 0.014825809255579603 Centerline is valid? [True, True] Translation: X:145.13, Y:0.97, Z:0.97 [[ 9.99562422e-01 -2.39893718e-02 -1.73053056e-02 1.45125413e+02] [ 2.39892413e-02 9.99712194e-01 -2.15155486e-04 9.72646282e-01] [ 1.73054865e-02 -2.00079814e-04 9.99850229e-01 9.74957874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599254154 meters 0.01565742702345571 Centerline is valid? [True, True] Translation: X:145.15, Y:0.97, Z:0.97 [[ 9.99500139e-01 -2.68298486e-02 -1.67221922e-02 1.45154105e+02] [ 2.68301110e-02 9.99639986e-01 -2.08691738e-04 9.69589934e-01] [ 1.67217711e-02 -2.40070851e-04 9.99860153e-01 9.74464712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.629254154 meters 0.015478610674014199 Centerline is valid? [True, True] Translation: X:145.18, Y:0.97, Z:0.98 [[ 9.99467760e-01 -2.83470671e-02 -1.61443917e-02 1.45184591e+02] [ 2.83475036e-02 9.99598108e-01 -2.01848741e-04 9.69941799e-01] [ 1.61436252e-02 -2.55911892e-04 9.99869650e-01 9.75974483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.659254154 meters 0.015478610674014199 Centerline is valid? [True, True] Translation: X:145.22, Y:0.97, Z:0.98 [[ 9.99468815e-01 -2.83098107e-02 -1.61443960e-02 1.45215440e+02] [ 2.83102479e-02 9.99599164e-01 -2.01505252e-04 9.70298955e-01] [ 1.61436293e-02 -2.55653636e-04 9.99869650e-01 9.76188278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.689254154 meters 0.015516590186388717 Centerline is valid? [True, True] Translation: X:145.25, Y:0.97, Z:0.98 [[ 9.99446310e-01 -2.94335408e-02 -1.55157702e-02 1.45245521e+02] [ 2.94340863e-02 9.99566705e-01 -1.93252043e-04 9.69092233e-01] [ 1.55147354e-02 -2.63547478e-04 9.99879605e-01 9.76757431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.719254154 meters 0.01571419913151919 Centerline is valid? [True, True] Translation: X:145.28, Y:0.97, Z:0.98 [[ 9.99419817e-01 -3.05109668e-02 -1.51364031e-02 1.45276864e+02] [ 3.05116159e-02 9.99534395e-01 -1.88099020e-04 9.68439344e-01] [ 1.51350946e-02 -2.73846228e-04 9.99885420e-01 9.77737431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.749254154 meters 0.016557687606311308 Centerline is valid? [True, True] Translation: X:145.31, Y:0.97, Z:0.98 [[ 9.99372449e-01 -3.22724829e-02 -1.46011996e-02 1.45307428e+02] [ 3.22732841e-02 9.99479066e-01 -1.80814035e-04 9.65049022e-01] [ 1.45994286e-02 -2.90528096e-04 9.99893380e-01 9.77699660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.779254154 meters 0.016692838555684368 Centerline is valid? [True, True] Translation: X:145.34, Y:0.96, Z:0.98 [[ 9.99368104e-01 -3.25091978e-02 -1.43716864e-02 1.45338324e+02] [ 3.25100072e-02 9.99471394e-01 -1.77363260e-04 9.64311050e-01] [ 1.43698554e-02 -2.89972445e-04 9.99896706e-01 9.78039898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.809254154 meters 0.016077987749342562 Centerline is valid? [True, True] Translation: X:145.37, Y:0.97, Z:0.98 [[ 9.99390346e-01 -3.19266085e-02 -1.41289829e-02 1.45370121e+02] [ 3.19273397e-02 9.99490177e-01 -1.73862879e-04 9.65203240e-01] [ 1.41273305e-02 -2.77343955e-04 9.99900166e-01 9.79037311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83925415399997 meters 0.015729633437501653 Centerline is valid? [True, True] Translation: X:145.40, Y:0.97, Z:0.98 [[ 9.99412805e-01 -3.11763012e-02 -1.42156091e-02 1.45401272e+02] [ 3.11769730e-02 9.99513865e-01 -1.74405120e-04 9.65523347e-01] [ 1.42141357e-02 -2.68896952e-04 9.99898938e-01 9.78869190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86925415399998 meters 0.015678501693301643 Centerline is valid? [True, True] Translation: X:145.43, Y:0.97, Z:0.98 [[ 9.99443023e-01 -3.01458633e-02 -1.43133191e-02 1.45433013e+02] [ 3.01464464e-02 9.99545477e-01 -1.75073322e-04 9.65570764e-01] [ 1.43120911e-02 -2.56519896e-04 9.99897544e-01 9.78726169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89925415399998 meters 0.015271206305704844 Centerline is valid? [True, True] Translation: X:145.46, Y:0.97, Z:0.98 [[ 9.99478000e-01 -2.89828050e-02 -1.42732283e-02 1.45464867e+02] [ 2.89832757e-02 9.99579881e-01 -1.73918115e-04 9.65957720e-01] [ 1.42722724e-02 -2.39857580e-04 9.99898117e-01 9.78780159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92925415399998 meters 0.015174620065349212 Centerline is valid? [True, True] Translation: X:145.49, Y:0.97, Z:0.98 [[ 9.99548148e-01 -2.64672564e-02 -1.42472186e-02 1.45494788e+02] [ 2.64674773e-02 9.99649660e-01 -1.73080917e-04 9.65052196e-01] [ 1.42468082e-02 -2.04085225e-04 9.99898488e-01 9.77627514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95925415399998 meters 0.01618329488614073 Centerline is valid? [True, True] Translation: X:145.53, Y:0.97, Z:0.98 [[ 9.99586089e-01 -2.48567731e-02 -1.44841575e-02 1.45525917e+02] [ 2.48568382e-02 9.99691006e-01 -1.75553242e-04 9.65643548e-01] [ 1.44840456e-02 -1.84549780e-04 9.99895084e-01 9.76170799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98925415399998 meters 0.015196149425415082 Centerline is valid? [True, True] Translation: X:145.56, Y:0.97, Z:0.98 [[ 9.99632658e-01 -2.25789717e-02 -1.49913328e-02 1.45556259e+02] [ 2.25787894e-02 9.99745050e-01 -1.81438152e-04 9.66357484e-01] [ 1.49916074e-02 -1.57114643e-04 9.99887607e-01 9.76218103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01925415399998 meters 0.014426250955141164 Centerline is valid? [True, True] Translation: X:145.59, Y:0.97, Z:0.98 [[ 9.99660854e-01 -2.14486688e-02 -1.47692785e-02 1.45586319e+02] [ 2.14483642e-02 9.99769941e-01 -1.79038809e-04 9.67040349e-01] [ 1.47697208e-02 -1.37798776e-04 9.99890912e-01 9.76781135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04925415399998 meters 0.014502822882744501 Centerline is valid? [True, True] Translation: X:145.62, Y:0.97, Z:0.98 [[ 9.99691765e-01 -1.99300394e-02 -1.48043734e-02 1.45616100e+02] [ 1.99295609e-02 9.99801370e-01 -1.79863021e-04 9.67186595e-01] [ 1.48050175e-02 -1.15237081e-04 9.99890393e-01 9.76509450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07925415399998 meters 0.014112315357319142 Centerline is valid? [True, True] Translation: X:145.65, Y:0.97, Z:0.98 [[ 9.99724562e-01 -1.82910569e-02 -1.47049834e-02 1.45646023e+02] [ 1.82904014e-02 9.99832701e-01 -1.79070333e-04 9.68603382e-01] [ 1.47057986e-02 -8.99390390e-05 9.99891860e-01 9.77504889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10925415399998 meters 0.014029729133912745 Centerline is valid? [True, True] Translation: X:145.67, Y:0.97, Z:0.98 [[ 9.99755736e-01 -1.67096834e-02 -1.44656351e-02 1.45674947e+02] [ 1.67088515e-02 9.99860381e-01 -1.78374116e-04 9.69088433e-01] [ 1.44665960e-02 -6.33736039e-05 9.99895351e-01 9.77937252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13925415399999 meters 0.01402641998738603 Centerline is valid? [True, True] Translation: X:145.70, Y:0.97, Z:0.98 [[ 9.99806875e-01 -1.40087732e-02 -1.37828806e-02 1.45703508e+02] [ 1.40077130e-02 9.99901872e-01 -1.73460504e-04 9.69230865e-01] [ 1.37839581e-02 -1.96396313e-05 9.99904997e-01 9.78416751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.169254154 meters 0.014071603360621677 Centerline is valid? [True, True] Translation: X:145.73, Y:0.97, Z:0.98 [[ 9.99814814e-01 -1.34748279e-02 -1.37392677e-02 1.45731705e+02] [ 1.34736716e-02 9.99909210e-01 -1.76725268e-04 9.68951555e-01] [ 1.37404017e-02 -8.42584033e-06 9.99905596e-01 9.78400629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.199254154 meters 0.013940911966665956 Centerline is valid? [True, True] Translation: X:145.76, Y:0.97, Z:0.98 [[ 9.99827305e-01 -1.28624240e-02 -1.34133527e-02 1.45759520e+02] [ 1.28612320e-02 9.99917276e-01 -1.75128200e-04 9.68321686e-01] [ 1.34144957e-02 2.58571588e-06 9.99910022e-01 9.78375852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.229254154 meters 0.01399574151608487 Centerline is valid? [True, True] Translation: X:145.79, Y:0.97, Z:0.98 [[ 9.99818924e-01 -1.30749870e-02 -1.38262041e-02 1.45787507e+02] [ 1.30737040e-02 9.99914519e-01 -1.83177967e-04 9.67435807e-01] [ 1.38274173e-02 2.38509730e-06 9.99904397e-01 9.78013741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.259254154 meters 0.013985181969080234 Centerline is valid? [True, True] Translation: X:145.82, Y:0.97, Z:0.98 [[ 9.99813579e-01 -1.35707299e-02 -1.37347428e-02 1.45815610e+02] [ 1.35694746e-02 9.99907913e-01 -1.84580586e-04 9.66287876e-01] [ 1.37359829e-02 -1.82706775e-06 9.99905657e-01 9.77667489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.289254154 meters 0.016414699570301314 Centerline is valid? [True, True] Translation: X:145.84, Y:0.96, Z:0.98 [[ 9.99783639e-01 -1.54173150e-02 -1.39636080e-02 1.45843250e+02] [ 1.54161604e-02 9.99881146e-01 -1.90330013e-04 9.62728431e-01] [ 1.39648827e-02 -2.49763869e-05 9.99902486e-01 9.75929955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.319254154 meters 0.013879733516677541 Centerline is valid? [True, True] Translation: X:145.87, Y:0.96, Z:0.98 [[ 9.99746874e-01 -1.77981149e-02 -1.37628187e-02 1.45871130e+02] [ 1.77971831e-02 9.99841600e-01 -1.90186729e-04 9.60908717e-01] [ 1.37640236e-02 -5.48008172e-05 9.99905270e-01 9.77778980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.349254154 meters 0.014111325318327117 Centerline is valid? [True, True] Translation: X:145.90, Y:0.96, Z:0.98 [[ 9.99707670e-01 -2.00370373e-02 -1.35311037e-02 1.45900045e+02] [ 2.00363110e-02 9.99799235e-01 -1.89248850e-04 9.58863480e-01] [ 1.35321792e-02 -8.19198761e-05 9.99908433e-01 9.78102241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.379254154 meters 0.014517326248378834 Centerline is valid? [True, True] Translation: X:145.93, Y:0.95, Z:0.98 [[ 9.99596350e-01 -2.48767036e-02 -1.37217924e-02 1.45929396e+02] [ 2.48763850e-02 9.99690516e-01 -1.93925310e-04 9.54865466e-01] [ 1.37223700e-02 -1.47501559e-04 9.99905833e-01 9.78547827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.409254154 meters 0.014650309906566239 Centerline is valid? [True, True] Translation: X:145.96, Y:0.95, Z:0.98 [[ 9.99534349e-01 -2.73593856e-02 -1.35111096e-02 1.45960086e+02] [ 2.73593001e-02 9.99625646e-01 -1.91199026e-04 9.52752954e-01] [ 1.35112828e-02 -1.78544509e-04 9.99908703e-01 9.79096631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439254154 meters 0.015194288593549694 Centerline is valid? [True, True] Translation: X:145.99, Y:0.95, Z:0.98 [[ 9.99461348e-01 -2.99107580e-02 -1.35040689e-02 1.45990883e+02] [ 2.99109087e-02 9.99552550e-01 -1.90857017e-04 9.50194807e-01] [ 1.35037351e-02 -2.13164758e-04 9.99908798e-01 9.79086169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.469254154 meters 0.015891577969586564 Centerline is valid? [True, True] Translation: X:146.02, Y:0.95, Z:0.98 [[ 9.99330928e-01 -3.46043396e-02 -1.18421360e-02 1.46021905e+02] [ 3.46047903e-02 9.99401061e-01 -1.66909219e-04 9.45712960e-01] [ 1.18408190e-02 -2.42997087e-04 9.99929866e-01 9.79987847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499254154 meters 0.018028456142440127 Centerline is valid? [True, True] Translation: X:146.05, Y:0.94, Z:0.98 [[ 9.99281570e-01 -3.61525839e-02 -1.13725609e-02 1.46053811e+02] [ 3.61531071e-02 9.99346250e-01 -1.59639904e-04 9.44387351e-01] [ 1.13708975e-02 -2.51628198e-04 9.99935318e-01 9.78948409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.529254154 meters 0.016398705708784458 Centerline is valid? [True, True] Translation: X:146.09, Y:0.94, Z:0.98 [[ 9.99227159e-01 -3.79978561e-02 -1.00622278e-02 1.46086118e+02] [ 3.79983661e-02 9.99277791e-01 -1.40553051e-04 9.43241472e-01] [ 1.00603015e-02 -2.41903791e-04 9.99949365e-01 9.81620730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559254154 meters 0.016735183965854578 Centerline is valid? [True, True] Translation: X:146.12, Y:0.94, Z:0.98 [[ 9.99180950e-01 -3.92870554e-02 -9.69316064e-03 1.46118534e+02] [ 3.92875962e-02 9.99227935e-01 -1.34690595e-04 9.41916119e-01] [ 9.69096849e-03 -2.46240704e-04 9.99953011e-01 9.82143931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58925415399997 meters 0.0177283004007418 Centerline is valid? [True, True] Translation: X:146.15, Y:0.94, Z:0.98 [[ 9.99135050e-01 -4.08240215e-02 -7.90889679e-03 1.46149590e+02] [ 4.08244334e-02 9.99166329e-01 -1.09419804e-04 9.38893342e-01] [ 7.90677033e-03 -2.13551069e-04 9.99968718e-01 9.82765985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61925415399998 meters 0.017339700529145283 Centerline is valid? [True, True] Translation: X:146.18, Y:0.94, Z:0.98 [[ 9.99134736e-01 -4.09426903e-02 -7.31262444e-03 1.46181420e+02] [ 4.09430484e-02 9.99161477e-01 -1.00784202e-04 9.39643325e-01] [ 7.31061902e-03 -1.98704140e-04 9.99973257e-01 9.83398667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64925415399998 meters 0.017676309500720765 Centerline is valid? [True, True] Translation: X:146.21, Y:0.94, Z:0.98 [[ 9.99167195e-01 -4.02126211e-02 -6.91813708e-03 1.46212918e+02] [ 4.02129276e-02 9.99191129e-01 -9.48574733e-05 9.38904044e-01] [ 6.91635567e-03 -1.83420070e-04 9.99976065e-01 9.83826363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67925415399998 meters 0.01748701618079717 Centerline is valid? [True, True] Translation: X:146.24, Y:0.94, Z:0.98 [[ 9.99202154e-01 -3.93767158e-02 -6.67304933e-03 1.46244977e+02] [ 3.93769847e-02 9.99224422e-01 -9.11439922e-05 9.39798919e-01] [ 6.67146281e-03 -1.71693288e-04 9.99977731e-01 9.83504390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70925415399998 meters 0.016976729530259256 Centerline is valid? [True, True] Translation: X:146.28, Y:0.94, Z:0.98 [[ 9.99320067e-01 -3.63417080e-02 -6.21956273e-03 1.46277405e+02] [ 3.63418854e-02 9.99339412e-01 -8.45258104e-05 9.40918634e-01] [ 6.21852597e-03 -1.41562298e-04 9.99980655e-01 9.83403292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73925415399998 meters 0.01624998272473678 Centerline is valid? [True, True] Translation: X:146.31, Y:0.94, Z:0.98 [[ 9.99382053e-01 -3.46231923e-02 -6.06191245e-03 1.46309587e+02] [ 3.46233318e-02 9.99400429e-01 -8.19535213e-05 9.42593857e-01] [ 6.06111539e-03 -1.27980728e-04 9.99981623e-01 9.83313056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76925415399998 meters 0.015757973789035463 Centerline is valid? [True, True] Translation: X:146.34, Y:0.94, Z:0.98 [[ 9.99450729e-01 -3.25919781e-02 -6.00026349e-03 1.46341516e+02] [ 3.25920808e-02 9.99468734e-01 -8.06795686e-05 9.43345104e-01] [ 5.99970526e-03 -1.14925819e-04 9.99981995e-01 9.83399162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79925415399998 meters 0.015524018161937507 Centerline is valid? [True, True] Translation: X:146.37, Y:0.94, Z:0.98 [[ 9.99571802e-01 -2.86709477e-02 -5.84715269e-03 1.46372895e+02] [ 2.86709808e-02 9.99588900e-01 -7.81774578e-05 9.43922360e-01] [ 5.84699034e-03 -8.94996199e-05 9.99982902e-01 9.82584707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82925415399998 meters 0.01513503179801311 Centerline is valid? [True, True] Translation: X:146.40, Y:0.94, Z:0.98 [[ 9.99624732e-01 -2.65730143e-02 -6.65357353e-03 1.46403922e+02] [ 2.65730135e-02 9.99646871e-01 -8.85362208e-05 9.44514268e-01] [ 6.65357663e-03 -8.83025032e-05 9.99977861e-01 9.82484464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85925415399998 meters 0.015125564113347674 Centerline is valid? [True, True] Translation: X:146.44, Y:0.95, Z:0.98 [[ 9.99670324e-01 -2.46838175e-02 -7.06776582e-03 1.46435282e+02] [ 2.46837722e-02 9.99695305e-01 -9.36426458e-05 9.45049158e-01] [ 7.06792377e-03 -8.08473478e-05 9.99975019e-01 9.81986492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88925415399999 meters 0.014450406379245963 Centerline is valid? [True, True] Translation: X:146.47, Y:0.95, Z:0.98 [[ 9.99733904e-01 -2.13856283e-02 -8.64731397e-03 1.46467185e+02] [ 2.13854422e-02 9.99771299e-01 -1.13997842e-04 9.47353464e-01] [ 8.64777423e-03 -7.09591253e-05 9.99962605e-01 9.80628257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.919254154 meters 0.014593518118230077 Centerline is valid? [True, True] Translation: X:146.50, Y:0.95, Z:0.98 [[ 9.99748425e-01 -2.03115720e-02 -9.51459428e-03 1.46498252e+02] [ 2.03113041e-02 9.99793696e-01 -1.24796528e-04 9.48129077e-01] [ 9.51516620e-03 -6.84886850e-05 9.99954727e-01 9.79829314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.949254154 meters 0.01444416492296257 Centerline is valid? [True, True] Translation: X:146.53, Y:0.95, Z:0.98 [[ 9.99755951e-01 -1.96135104e-02 -1.01660082e-02 1.46530071e+02] [ 1.96131724e-02 9.99807634e-01 -1.32953405e-04 9.48445614e-01] [ 1.01666602e-02 -6.64667127e-05 9.99948316e-01 9.79532310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.979254154 meters 0.014392501594891595 Centerline is valid? [True, True] Translation: X:146.56, Y:0.95, Z:0.98 [[ 9.99759997e-01 -1.91082057e-02 -1.07156643e-02 1.46560263e+02] [ 1.91078048e-02 9.99817419e-01 -1.39802133e-04 9.48022142e-01] [ 1.07163792e-02 -6.49842420e-05 9.99942576e-01 9.79180642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.009254154 meters 0.014525851676071625 Centerline is valid? [True, True] Translation: X:146.59, Y:0.95, Z:0.98 [[ 9.99748538e-01 -1.95351110e-02 -1.10109522e-02 1.46590755e+02] [ 1.95347150e-02 9.99809169e-01 -1.43523976e-04 9.47964369e-01] [ 1.10116547e-02 -7.16079274e-05 9.99939367e-01 9.79772950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.039254154 meters 0.014642254026253564 Centerline is valid? [True, True] Translation: X:146.62, Y:0.95, Z:0.98 [[ 9.99738965e-01 -2.01045039e-02 -1.08540278e-02 1.46620794e+02] [ 2.01041526e-02 9.99797881e-01 -1.41478521e-04 9.48068829e-01] [ 1.08546783e-02 -7.67694410e-05 9.99941083e-01 9.80331444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.069254154 meters 0.014688185605066226 Centerline is valid? [True, True] Translation: X:146.65, Y:0.95, Z:0.98 [[ 9.99728311e-01 -2.08994843e-02 -1.03206479e-02 1.46650624e+02] [ 2.08992092e-02 9.99781579e-01 -1.34515204e-04 9.47421193e-01] [ 1.03212049e-02 -8.12147204e-05 9.99946732e-01 9.81052214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.099254154 meters 0.014745709657725422 Centerline is valid? [True, True] Translation: X:146.68, Y:0.95, Z:0.98 [[ 9.99703181e-01 -2.23836125e-02 -9.61887735e-03 1.46681072e+02] [ 2.23834424e-02 9.99749452e-01 -1.25347867e-04 9.47184826e-01] [ 9.61927310e-03 -8.99929258e-05 9.99953730e-01 9.81986486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.129254154 meters 0.01541314714709068 Centerline is valid? [True, True] Translation: X:146.71, Y:0.94, Z:0.98 [[ 9.99624393e-01 -2.62963793e-02 -7.71837786e-03 1.46711540e+02] [ 2.62963865e-02 9.99654185e-01 -1.00567147e-04 9.43911482e-01] [ 7.71835328e-03 -1.02436074e-04 9.99970208e-01 9.82987382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159254154 meters 0.015501418528242219 Centerline is valid? [True, True] Translation: X:146.74, Y:0.94, Z:0.98 [[ 9.99567449e-01 -2.85479024e-02 -7.06629084e-03 1.46743388e+02] [ 2.85479656e-02 9.99592420e-01 -9.19443303e-05 9.42419214e-01] [ 7.06603558e-03 -1.09823668e-04 9.99975029e-01 9.83610746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.189254154 meters 0.016067892120974623 Centerline is valid? [True, True] Translation: X:146.78, Y:0.94, Z:0.98 [[ 9.99491480e-01 -3.11982453e-02 -6.59176674e-03 1.46775682e+02] [ 3.11983609e-02 9.99513209e-01 -8.53174031e-05 9.40432052e-01] [ 6.59121968e-03 -1.20378300e-04 9.99978270e-01 9.84243618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219254154 meters 0.018153605770912212 Centerline is valid? [True, True] Translation: X:146.81, Y:0.93, Z:0.98 [[ 9.99292965e-01 -3.71902199e-02 -5.51881010e-03 1.46806109e+02] [ 3.71903945e-02 9.99308195e-01 -7.10307392e-05 9.34832781e-01] [ 5.51763381e-03 -1.34266207e-04 9.99984769e-01 9.84800972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.249254154 meters 0.01853590870342887 Centerline is valid? [True, True] Translation: X:146.84, Y:0.93, Z:0.98 [[ 9.99170888e-01 -4.03468332e-02 -5.44701920e-03 1.46838646e+02] [ 4.03470501e-02 9.99185724e-01 -7.00910420e-05 9.33566719e-01] [ 5.44541177e-03 -1.49738228e-04 9.99985162e-01 9.84997502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.279254154 meters 0.019933021840410983 Centerline is valid? [True, True] Translation: X:146.87, Y:0.93, Z:0.99 [[ 9.99023463e-01 -4.38124392e-02 -5.70883194e-03 1.46870133e+02] [ 4.38127367e-02 9.99039758e-01 -7.29964232e-05 9.30270102e-01] [ 5.70654823e-03 -1.77194411e-04 9.99983702e-01 9.85222374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30925415399997 meters 0.020224052958886695 Centerline is valid? [True, True] Translation: X:146.90, Y:0.93, Z:0.98 [[ 9.98833977e-01 -4.78588593e-02 -6.34157845e-03 1.46901303e+02] [ 4.78593104e-02 9.98854083e-01 -8.06900273e-05 9.29461172e-01] [ 6.33817326e-03 -2.22907630e-04 9.99979889e-01 9.84889710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33925415399997 meters 0.02323466492138149 Centerline is valid? [True, True] Translation: X:146.93, Y:0.92, Z:0.98 [[ 9.98624348e-01 -5.20192569e-02 -6.58852118e-03 1.46931322e+02] [ 5.20198360e-02 9.98646048e-01 -8.35657851e-05 9.23776671e-01] [ 6.58394767e-03 -2.59282963e-04 9.99978292e-01 9.84509867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36925415399998 meters 0.02465333636845864 Centerline is valid? [True, True] Translation: X:146.96, Y:0.92, Z:0.98 [[ 9.98108021e-01 -6.09079757e-02 -8.40224423e-03 1.46962014e+02] [ 6.09092322e-02 9.98143303e-01 -1.06510973e-04 9.19916061e-01] [ 8.39313118e-03 -4.05464788e-04 9.99964695e-01 9.82922932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39925415399998 meters 0.02693678538067085 Centerline is valid? [True, True] Translation: X:146.99, Y:0.92, Z:0.98 [[ 9.97839762e-01 -6.50689416e-02 -9.04672237e-03 1.46992540e+02] [ 6.50705718e-02 9.97880658e-01 -1.14341816e-04 9.16418937e-01] [ 9.03498938e-03 -4.74580587e-04 9.99959071e-01 9.82226203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42925415399998 meters 0.028121955768298505 Centerline is valid? [True, True] Translation: X:147.02, Y:0.91, Z:0.98 [[ 9.97597658e-01 -6.86491254e-02 -9.28496934e-03 1.47023289e+02] [ 6.86509987e-02 9.97640730e-01 -1.17179493e-04 9.14835303e-01] [ 9.27110786e-03 -5.20524430e-04 9.99956887e-01 9.82287319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45925415399998 meters 0.03006371326401048 Centerline is valid? [True, True] Translation: X:147.05, Y:0.91, Z:0.98 [[ 9.97378023e-01 -7.16866607e-02 -9.90465568e-03 1.47052931e+02] [ 7.16889455e-02 9.97427030e-01 -1.24625032e-04 9.12895616e-01] [ 9.88810525e-03 -5.85756053e-04 9.99950940e-01 9.82014401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48925415399998 meters 0.031103925491216215 Centerline is valid? [True, True] Translation: X:147.08, Y:0.91, Z:0.98 [[ 9.97216789e-01 -7.38309993e-02 -1.03758657e-02 1.47084292e+02] [ 7.38336296e-02 9.97270564e-01 -1.29844322e-04 9.12649569e-01] [ 1.03571320e-02 -6.36604889e-04 9.99946161e-01 9.82015482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51925415399998 meters 0.031248494847022787 Centerline is valid? [True, True] Translation: X:147.12, Y:0.91, Z:0.98 [[ 9.97105730e-01 -7.52471011e-02 -1.08644865e-02 1.47116698e+02] [ 7.52500747e-02 9.97164684e-01 -1.35407500e-04 9.14894139e-01] [ 1.08438713e-02 -6.82537830e-04 9.99940971e-01 9.81557658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54925415399998 meters 0.02978955651004894 Centerline is valid? [True, True] Translation: X:147.15, Y:0.92, Z:0.98 [[ 9.97143754e-01 -7.47038862e-02 -1.11203998e-02 1.47148439e+02] [ 7.47069772e-02 9.97205520e-01 -1.37765988e-04 9.18841727e-01] [ 1.10996158e-02 -6.93398963e-04 9.99938157e-01 9.81745791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57925415399998 meters 0.02978955651004894 Centerline is valid? [True, True] Translation: X:147.18, Y:0.92, Z:0.98 [[ 9.97152123e-01 -7.45920925e-02 -1.11204120e-02 1.47181033e+02] [ 7.45951875e-02 9.97213888e-01 -1.36780703e-04 9.19153321e-01] [ 1.10996320e-02 -6.93138047e-04 9.99938157e-01 9.81971555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60925415399998 meters 0.028400312318014764 Centerline is valid? [True, True] Translation: X:147.21, Y:0.92, Z:0.98 [[ 9.97258921e-01 -7.31745796e-02 -1.09602057e-02 1.47213206e+02] [ 7.31775124e-02 9.97318923e-01 -1.33740795e-04 9.23426886e-01] [ 1.09406070e-02 -6.68666388e-04 9.99939926e-01 9.82138779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63925415399999 meters 0.029476379652827324 Centerline is valid? [True, True] Translation: X:147.24, Y:0.92, Z:0.98 [[ 9.97400011e-01 -7.12404413e-02 -1.08635736e-02 1.47243712e+02] [ 7.12432148e-02 9.97458965e-01 -1.31970026e-04 9.24278568e-01] [ 1.08453704e-02 -6.42328999e-04 9.99940981e-01 9.82265215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.669254154 meters 0.027259794709575708 Centerline is valid? [True, True] Translation: X:147.27, Y:0.93, Z:0.98 [[ 9.97700181e-01 -6.69275250e-02 -1.07264037e-02 1.47274014e+02] [ 6.69299817e-02 9.97757666e-01 -1.30176667e-04 9.32628420e-01] [ 1.07110639e-02 -5.88040718e-04 9.99942462e-01 9.82812576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.699254154 meters 0.026629024001836255 Centerline is valid? [True, True] Translation: X:147.31, Y:0.94, Z:0.98 [[ 9.97846753e-01 -6.46795574e-02 -1.08817036e-02 1.47305283e+02] [ 6.46819540e-02 9.97905921e-01 -1.31919496e-04 9.36438209e-01] [ 1.08674489e-02 -5.72214410e-04 9.99940784e-01 9.83200452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.729254154 meters 0.025094512896852425 Centerline is valid? [True, True] Translation: X:147.34, Y:0.94, Z:0.98 [[ 9.98070221e-01 -6.10822253e-02 -1.11712225e-02 1.47335802e+02] [ 6.10845293e-02 9.98132587e-01 -1.35166755e-04 9.44094643e-01] [ 1.11586175e-02 -5.47482955e-04 9.99937591e-01 9.83158709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.759254154 meters 0.024838322029966785 Centerline is valid? [True, True] Translation: X:147.37, Y:0.95, Z:0.98 [[ 9.98152615e-01 -5.96913387e-02 -1.13270277e-02 1.47367705e+02] [ 5.96936217e-02 9.98216736e-01 -1.36729201e-04 9.47026097e-01] [ 1.13149902e-02 -5.39674697e-04 9.99935838e-01 9.83090411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.789254154 meters 0.02385985939706431 Centerline is valid? [True, True] Translation: X:147.40, Y:0.95, Z:0.98 [[ 9.98204034e-01 -5.87951460e-02 -1.14820757e-02 1.47400117e+02] [ 5.87974426e-02 9.98269924e-01 -1.37747306e-04 9.50853731e-01] [ 1.14703097e-02 -5.37616768e-04 9.99934069e-01 9.83495612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.819254154 meters 0.02450372889699976 Centerline is valid? [True, True] Translation: X:147.43, Y:0.95, Z:0.98 [[ 9.98242063e-01 -5.80881940e-02 -1.17705104e-02 1.47431395e+02] [ 5.80905677e-02 9.98311307e-01 -1.40412351e-04 9.52269605e-01] [ 1.17587899e-02 -5.43590116e-04 9.99930715e-01 9.83366575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.849254154 meters 0.02558419078497558 Centerline is valid? [True, True] Translation: X:147.46, Y:0.95, Z:0.98 [[ 9.98286956e-01 -5.72603889e-02 -1.20167047e-02 1.47462741e+02] [ 5.72628112e-02 9.98359129e-01 -1.42681475e-04 9.53002496e-01] [ 1.20051568e-02 -5.45673236e-04 9.99927787e-01 9.83060699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879254154 meters 0.024090412236575987 Centerline is valid? [True, True] Translation: X:147.49, Y:0.96, Z:0.98 [[ 9.98419464e-01 -5.47177186e-02 -1.28274846e-02 1.47494402e+02] [ 5.47202786e-02 9.98501712e-01 -1.51583114e-04 9.60785413e-01] [ 1.28165596e-02 -5.50579998e-04 9.99917713e-01 9.82343183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.909254154 meters 0.023042773673039977 Centerline is valid? [True, True] Translation: X:147.53, Y:0.96, Z:0.98 [[ 9.98494839e-01 -5.32846009e-02 -1.29926191e-02 1.47527085e+02] [ 5.32871182e-02 9.98579221e-01 -1.52601276e-04 9.64154632e-01] [ 1.29822908e-02 -5.39967645e-04 9.99915581e-01 9.84043597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.939254154 meters 0.022281547455475996 Centerline is valid? [True, True] Translation: X:147.56, Y:0.97, Z:0.98 [[ 9.98635519e-01 -5.06512870e-02 -1.27101617e-02 1.47558063e+02] [ 5.06534935e-02 9.98716277e-01 -1.48461304e-04 9.68062577e-01] [ 1.27013651e-02 -4.95555362e-04 9.99919212e-01 9.84667626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.969254154 meters 0.020480693930808626 Centerline is valid? [True, True] Translation: X:147.59, Y:0.98, Z:0.99 [[ 9.98976779e-01 -4.36664569e-02 -1.17743743e-02 1.47588005e+02] [ 4.36678680e-02 9.99046094e-01 -1.37347925e-04 9.76308956e-01] [ 1.17691401e-02 -3.76954433e-04 9.99930670e-01 9.85704387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.999254154 meters 0.018861333232285577 Centerline is valid? [True, True] Translation: X:147.62, Y:0.98, Z:0.99 [[ 9.99170341e-01 -3.91736716e-02 -1.11379025e-02 1.47619075e+02] [ 3.91746562e-02 9.99232370e-01 -1.29841686e-04 9.81850736e-01] [ 1.11344390e-02 -3.06589537e-04 9.99937963e-01 9.86459987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.029254154 meters 0.01725139177726721 Centerline is valid? [True, True] Translation: X:147.65, Y:0.99, Z:0.99 [[ 9.99358455e-01 -3.41167057e-02 -1.08962760e-02 1.47649367e+02] [ 3.41173509e-02 9.99417826e-01 -1.26715395e-04 9.87083515e-01] [ 1.08942556e-02 -2.45117970e-04 9.99940626e-01 9.87227123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05925415399997 meters 0.014422475170386521 Centerline is valid? [True, True] Translation: X:147.68, Y:1.00, Z:0.99 [[ 9.99655785e-01 -2.41032069e-02 -1.03608812e-02 1.47679770e+02] [ 2.41032537e-02 9.99709467e-01 -1.20373009e-04 9.99257960e-01] [ 1.03607724e-02 -1.29399373e-04 9.99946317e-01 9.87953663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08925415399997 meters 0.013730654307257993 Centerline is valid? [True, True] Translation: X:147.71, Y:1.00, Z:0.99 [[ 9.99762757e-01 -1.94044134e-02 -9.89440538e-03 1.47711104e+02] [ 1.94042271e-02 9.99811714e-01 -1.14844860e-04 1.00438764e+00] [ 9.89477089e-03 -7.71756746e-05 9.99951043e-01 9.88604162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11925415399998 meters 0.01345176618331271 Centerline is valid? [True, True] Translation: X:147.74, Y:1.01, Z:0.99 [[ 9.99831926e-01 -1.53104173e-02 -1.00851502e-02 1.47741227e+02] [ 1.53100186e-02 9.99882788e-01 -1.16742777e-04 1.00888265e+00] [ 1.00857554e-02 -3.76806801e-05 9.99949137e-01 9.88829850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14925415399998 meters 0.013424853514966556 Centerline is valid? [True, True] Translation: X:147.77, Y:1.01, Z:0.99 [[ 9.99881381e-01 -1.20198222e-02 -9.63059009e-03 1.47771678e+02] [ 1.20193071e-02 9.99927759e-01 -1.11360701e-04 1.01279412e+00] [ 9.63123291e-03 -4.40552884e-06 9.99953619e-01 9.89063568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17925415399998 meters 0.013532993353565389 Centerline is valid? [True, True] Translation: X:147.80, Y:1.02, Z:0.99 [[ 9.99901921e-01 -9.84488655e-03 -9.96122999e-03 1.47801150e+02] [ 9.84422703e-03 9.99951538e-01 -1.15238932e-04 1.01571691e+00] [ 9.96188176e-03 1.71670204e-05 9.99950379e-01 9.88851957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20925415399998 meters 0.013597828452260532 Centerline is valid? [True, True] Translation: X:147.83, Y:1.02, Z:0.99 [[ 9.99910142e-01 -8.39837622e-03 -1.04486608e-02 1.47829740e+02] [ 8.39756085e-03 9.99964732e-01 -1.21907557e-04 1.01857276e+00] [ 1.04493161e-02 3.41533379e-05 9.99945404e-01 9.88074486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23925415399998 meters 0.013671056640290787 Centerline is valid? [True, True] Translation: X:147.86, Y:1.02, Z:0.99 [[ 9.99900153e-01 -9.21063932e-03 -1.07166904e-02 1.47858658e+02] [ 9.20979836e-03 9.99957581e-01 -1.27820531e-04 1.01915599e+00] [ 1.07174131e-02 2.91092108e-05 9.99942566e-01 9.87757995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26925415399998 meters 0.013740574485513406 Centerline is valid? [True, True] Translation: X:147.89, Y:1.02, Z:0.99 [[ 9.99875631e-01 -1.08998982e-02 -1.13980142e-02 1.47887571e+02] [ 1.08990221e-02 9.99940594e-01 -1.38982160e-04 1.01932069e+00] [ 1.13988520e-02 1.47376667e-05 9.99935031e-01 9.87645813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29925415399998 meters 0.013718047658077393 Centerline is valid? [True, True] Translation: X:147.92, Y:1.02, Z:0.99 [[ 9.99845623e-01 -1.30589519e-02 -1.17556009e-02 1.47916563e+02] [ 1.30581331e-02 9.99914728e-01 -1.46412584e-04 1.01901901e+00] [ 1.17565105e-02 -7.11621989e-06 9.99930890e-01 9.87585998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32925415399998 meters 0.01391069207402804 Centerline is valid? [True, True] Translation: X:147.95, Y:1.02, Z:0.99 [[ 9.99753725e-01 -1.85967779e-02 -1.21098968e-02 1.47945027e+02] [ 1.85962895e-02 9.99827062e-01 -1.52945981e-04 1.01705071e+00] [ 1.21106468e-02 -7.22908313e-05 9.99926661e-01 9.87551346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35925415399998 meters 0.014176326494206455 Centerline is valid? [True, True] Translation: X:147.98, Y:1.02, Z:0.99 [[ 9.99688180e-01 -2.18246459e-02 -1.21337194e-02 1.47975882e+02] [ 2.18243887e-02 9.99761808e-01 -1.53626084e-04 1.01580185e+00] [ 1.21341821e-02 -1.11232830e-04 9.99926372e-01 9.87803795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38925415399999 meters 0.014726912454980909 Centerline is valid? [True, True] Translation: X:148.01, Y:1.01, Z:0.99 [[ 9.99603020e-01 -2.52695867e-02 -1.24599781e-02 1.48007263e+02] [ 2.52695855e-02 9.99680661e-01 -1.57555106e-04 1.01420919e+00] [ 1.24599805e-02 -1.57365922e-04 9.99922359e-01 9.87702511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.419254154 meters 0.015205146000201435 Centerline is valid? [True, True] Translation: X:148.04, Y:1.01, Z:0.99 [[ 9.99514080e-01 -2.86077940e-02 -1.23773575e-02 1.48038519e+02] [ 2.86080543e-02 9.99590694e-01 -1.56057058e-04 1.01300386e+00] [ 1.23767558e-02 -1.98110888e-04 9.99923385e-01 9.87697756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.449254154 meters 0.017881423977210955 Centerline is valid? [True, True] Translation: X:148.07, Y:1.01, Z:0.99 [[ 9.99299144e-01 -3.51690844e-02 -1.28201276e-02 1.48068806e+02] [ 3.51699107e-02 9.99381334e-01 -1.61062406e-04 1.00640241e+00] [ 1.28178607e-02 -2.89933220e-04 9.99917806e-01 9.87070079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.479254154 meters 0.01705732946270127 Centerline is valid? [True, True] Translation: X:148.10, Y:1.01, Z:0.99 [[ 9.99187899e-01 -3.82279408e-02 -1.27344684e-02 1.48101090e+02] [ 3.82290144e-02 9.99268991e-01 -1.59191861e-04 1.00811956e+00] [ 1.27312450e-02 -3.27763596e-04 9.99918901e-01 9.88225535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.509254154 meters 0.018076880629057764 Centerline is valid? [True, True] Translation: X:148.13, Y:1.01, Z:0.99 [[ 9.99086295e-01 -4.09320428e-02 -1.22939841e-02 1.48132713e+02] [ 4.09332577e-02 9.99161871e-01 -1.52891317e-04 1.00656741e+00] [ 1.22899383e-02 -3.50481199e-04 9.99924414e-01 9.88402445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.539254154 meters 0.019081040585620383 Centerline is valid? [True, True] Translation: X:148.16, Y:1.01, Z:0.99 [[ 9.98971562e-01 -4.36556883e-02 -1.22473776e-02 1.48163902e+02] [ 4.36571068e-02 9.99046562e-01 -1.51636719e-04 1.00513844e+00] [ 1.22423203e-02 -3.83204302e-04 9.99924987e-01 9.88789911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.569254154 meters 0.020427974057678096 Centerline is valid? [True, True] Translation: X:148.20, Y:1.00, Z:0.99 [[ 9.98717874e-01 -4.91354631e-02 -1.21784554e-02 1.48195338e+02] [ 4.91372794e-02 9.98792023e-01 -1.50211484e-04 1.00274709e+00] [ 1.21711248e-02 -4.48397273e-04 9.99925829e-01 9.88946679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599254154 meters 0.021289866895316468 Centerline is valid? [True, True] Translation: X:148.23, Y:1.00, Z:0.99 [[ 9.98569754e-01 -5.20480570e-02 -1.22248316e-02 1.48227831e+02] [ 5.20501130e-02 9.98644463e-01 -1.50135872e-04 1.00159025e+00] [ 1.22160747e-02 -4.86382727e-04 9.99925263e-01 9.88934974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.629254154 meters 0.024920610304355054 Centerline is valid? [True, True] Translation: X:148.26, Y:1.00, Z:0.99 [[ 9.98408305e-01 -5.50858600e-02 -1.20997824e-02 1.48257859e+02] [ 5.50881030e-02 9.98481487e-01 -1.48092342e-04 9.96192557e-01] [ 1.20895665e-02 -5.18697436e-04 9.99926784e-01 9.88545141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659254154 meters 0.025563358861183556 Centerline is valid? [True, True] Translation: X:148.29, Y:1.00, Z:0.99 [[ 9.98051264e-01 -6.11244594e-02 -1.25489349e-02 1.48288607e+02] [ 6.11273484e-02 9.98129963e-01 -1.53571320e-04 9.95701027e-01] [ 1.25348549e-02 -6.13811067e-04 9.99921247e-01 9.87968330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.689254154 meters 0.027718901137448793 Centerline is valid? [True, True] Translation: X:148.32, Y:0.99, Z:0.99 [[ 9.97922461e-01 -6.31227851e-02 -1.28947644e-02 1.48320867e+02] [ 6.31260077e-02 9.98005552e-01 -1.57348760e-04 9.94175553e-01] [ 1.28789787e-02 -6.56973132e-04 9.99916847e-01 9.86366761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719254154 meters 0.027527000192637867 Centerline is valid? [True, True] Translation: X:148.35, Y:0.99, Z:0.99 [[ 9.97761217e-01 -6.56622254e-02 -1.26896139e-02 1.48352161e+02] [ 6.56655600e-02 9.97841676e-01 -1.54143449e-04 9.94418535e-01] [ 1.26723470e-02 -6.79472249e-04 9.99919472e-01 9.88230985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.749254154 meters 0.027165710356846822 Centerline is valid? [True, True] Translation: X:148.38, Y:1.00, Z:0.99 [[ 9.97653357e-01 -6.72502660e-02 -1.28523075e-02 1.48383860e+02] [ 6.72538308e-02 9.97735886e-01 -1.55126918e-04 9.96022156e-01] [ 1.28336407e-02 -7.09604020e-04 9.99917394e-01 9.88496446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779254154 meters 0.03057119519225117 Centerline is valid? [True, True] Translation: X:148.42, Y:0.99, Z:0.99 [[ 9.97525743e-01 -6.90787806e-02 -1.30581215e-02 1.48415190e+02] [ 6.90826325e-02 9.97610929e-01 -1.56396234e-04 9.93325333e-01] [ 1.30377283e-02 -7.46080136e-04 9.99914727e-01 9.88318881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80925415399997 meters 0.030710505869294847 Centerline is valid? [True, True] Translation: X:148.45, Y:0.99, Z:0.99 [[ 9.97504437e-01 -6.92717363e-02 -1.36501139e-02 1.48447001e+02] [ 6.92759754e-02 9.97597520e-01 -1.62609487e-04 9.94475162e-01] [ 1.36285840e-02 -7.83421270e-04 9.99906820e-01 9.88342151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83925415399997 meters 0.03112331845649075 Centerline is valid? [True, True] Translation: X:148.48, Y:1.00, Z:0.99 [[ 9.97503161e-01 -6.92803711e-02 -1.36994200e-02 1.48479064e+02] [ 6.92846550e-02 9.97596918e-01 -1.62221135e-04 9.95658784e-01] [ 1.36777379e-02 -7.87343496e-04 9.99906145e-01 9.88125246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86925415399998 meters 0.02907000735750317 Centerline is valid? [True, True] Translation: X:148.51, Y:1.00, Z:0.99 [[ 9.97527840e-01 -6.88311898e-02 -1.41589347e-02 1.48511447e+02] [ 6.88357354e-02 9.97627994e-01 -1.66628619e-04 9.99746097e-01] [ 1.41368189e-02 -8.08424000e-04 9.99899743e-01 9.88349748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89925415399998 meters 0.031445233936430936 Centerline is valid? [True, True] Translation: X:148.54, Y:1.00, Z:0.99 [[ 9.97587111e-01 -6.77093445e-02 -1.53427763e-02 1.48543160e+02] [ 6.77145676e-02 9.97704718e-01 -1.79407962e-04 9.99330849e-01] [ 1.53197079e-02 -8.59954392e-04 9.99882277e-01 9.87147316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92925415399998 meters 0.031336538332795816 Centerline is valid? [True, True] Translation: X:148.58, Y:1.00, Z:0.99 [[ 9.97652358e-01 -6.66163781e-02 -1.58755030e-02 1.48575706e+02] [ 6.66218504e-02 9.97778279e-01 -1.84498902e-04 1.00112201e+00] [ 1.58525227e-02 -8.73589620e-04 9.99873959e-01 9.86438926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95925415399998 meters 0.02726435936257275 Centerline is valid? [True, True] Translation: X:148.61, Y:1.01, Z:0.99 [[ 9.97718662e-01 -6.54189036e-02 -1.66684902e-02 1.48608391e+02] [ 6.54247929e-02 9.97857485e-01 -1.92323451e-04 1.00827451e+00] [ 1.66453593e-02 -8.98647824e-04 9.99861053e-01 9.86987442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98925415399998 meters 0.026688167298655873 Centerline is valid? [True, True] Translation: X:148.64, Y:1.01, Z:0.99 [[ 9.97915285e-01 -6.18806391e-02 -1.83267595e-02 1.48638532e+02] [ 6.18871764e-02 9.98083129e-01 -2.10763835e-04 1.01239111e+00] [ 1.83046717e-02 -9.23866948e-04 9.99832029e-01 9.85366656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01925415399998 meters 0.02643632755755394 Centerline is valid? [True, True] Translation: X:148.67, Y:1.02, Z:0.99 [[ 9.98051909e-01 -5.94885255e-02 -1.88016823e-02 1.48669177e+02] [ 5.94949906e-02 9.98228581e-01 -2.15799931e-04 1.01520506e+00] [ 1.87812142e-02 -9.03226378e-04 9.99823209e-01 9.85205510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04925415399998 meters 0.02490050205037428 Centerline is valid? [True, True] Translation: X:148.70, Y:1.02, Z:0.99 [[ 9.98233210e-01 -5.64363408e-02 -1.85848914e-02 1.48700358e+02] [ 5.64421421e-02 9.98405849e-01 -2.12647998e-04 1.01993784e+00] [ 1.85672654e-02 -8.36698791e-04 9.99827263e-01 9.85985973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07925415399998 meters 0.02401499633458568 Centerline is valid? [True, True] Translation: X:148.73, Y:1.02, Z:0.99 [[ 9.98420140e-01 -5.30345065e-02 -1.85624842e-02 1.48731012e+02] [ 5.30397193e-02 9.98592381e-01 -2.11730788e-04 1.02410663e+00] [ 1.85475843e-02 -7.73152668e-04 9.99827680e-01 9.86749801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10925415399998 meters 0.020148187966446927 Centerline is valid? [True, True] Translation: X:148.76, Y:1.04, Z:0.99 [[ 9.98830541e-01 -4.49777631e-02 -1.77355773e-02 1.48761131e+02] [ 4.49812571e-02 9.98987811e-01 -2.02062617e-04 1.03562406e+00] [ 1.77267139e-02 -5.95942250e-04 9.99842692e-01 9.89284765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13925415399999 meters 0.01968575705672813 Centerline is valid? [True, True] Translation: X:148.79, Y:1.04, Z:0.99 [[ 9.99043191e-01 -4.03932984e-02 -1.67655844e-02 1.48791706e+02] [ 4.03957814e-02 9.99183739e-01 -1.90659471e-04 1.03921910e+00] [ 1.67596007e-02 -4.86781838e-04 9.99859430e-01 9.90116210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.169254154 meters 0.018251986053241083 Centerline is valid? [True, True] Translation: X:148.82, Y:1.04, Z:0.99 [[ 9.99236835e-01 -3.58633958e-02 -1.54778764e-02 1.48822761e+02] [ 3.58649771e-02 9.99356629e-01 -1.75490840e-04 1.04450151e+00] [ 1.54742121e-02 -3.79756769e-04 9.99880195e-01 9.91527422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.199254154 meters 0.015971053185315432 Centerline is valid? [True, True] Translation: X:148.85, Y:1.05, Z:0.99 [[ 9.99414942e-01 -3.10498966e-02 -1.43414554e-02 1.48854028e+02] [ 3.10507657e-02 9.99517796e-01 -1.62113842e-04 1.05174646e+00] [ 1.43395735e-02 -2.83294177e-04 9.99897143e-01 9.93500379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.229254154 meters 0.01429443674651485 Centerline is valid? [True, True] Translation: X:148.89, Y:1.06, Z:1.00 [[ 9.99680642e-01 -2.19314275e-02 -1.25549567e-02 1.48885296e+02] [ 2.19313798e-02 9.99759468e-01 -1.41490904e-04 1.06204703e+00] [ 1.25550399e-02 -1.33901806e-04 9.99921173e-01 9.96016950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.259254154 meters 0.013911774328390412 Centerline is valid? [True, True] Translation: X:148.92, Y:1.07, Z:1.00 [[ 9.99776279e-01 -1.76046316e-02 -1.17247077e-02 1.48915152e+02] [ 1.76042963e-02 9.99845024e-01 -1.31807641e-04 1.06622776e+00] [ 1.17252111e-02 -7.46270758e-05 9.99931255e-01 9.96466276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.289254154 meters 0.013766085460873828 Centerline is valid? [True, True] Translation: X:148.95, Y:1.07, Z:1.00 [[ 9.99841080e-01 -1.38507479e-02 -1.12236659e-02 1.48946183e+02] [ 1.38502073e-02 9.99904073e-01 -1.25895875e-04 1.07014121e+00] [ 1.12243330e-02 -2.95742314e-05 9.99937005e-01 9.96937996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319254154 meters 0.013829058621307282 Centerline is valid? [True, True] Translation: X:148.98, Y:1.08, Z:1.00 [[ 9.99911108e-01 -8.08085439e-03 -1.06054253e-02 1.48976002e+02] [ 8.08004900e-03 9.99967349e-01 -1.18786801e-04 1.07552074e+00] [ 1.06060389e-02 3.30838860e-05 9.99943754e-01 9.97142625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.349254154 meters 0.013952848550655534 Centerline is valid? [True, True] Translation: X:149.00, Y:1.08, Z:1.00 [[ 9.99917067e-01 -6.44996393e-03 -1.11470701e-02 1.49004258e+02] [ 6.44895941e-03 9.99979197e-01 -1.26057958e-04 1.07733078e+00] [ 1.11476512e-02 5.41605008e-05 9.99937862e-01 9.97168910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379254154 meters 0.01404870827961229 Centerline is valid? [True, True] Translation: X:149.03, Y:1.08, Z:1.00 [[ 9.99912733e-01 -5.99068057e-03 -1.17744568e-02 1.49031767e+02] [ 5.98948944e-03 9.99982054e-01 -1.36422801e-04 1.07832692e+00] [ 1.17750628e-02 6.58879108e-05 9.99930669e-01 9.96643991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.409254154 meters 0.014096348549836588 Centerline is valid? [True, True] Translation: X:149.06, Y:1.08, Z:1.00 [[ 9.99901687e-01 -6.34038805e-03 -1.25066207e-02 1.49059589e+02] [ 6.33902447e-03 9.99979897e-01 -1.48667869e-04 1.07894112e+00] [ 1.25073119e-02 6.93734787e-05 9.99921778e-01 9.95920690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439254154 meters 0.013956646456217506 Centerline is valid? [True, True] Translation: X:149.09, Y:1.08, Z:1.00 [[ 9.99857681e-01 -8.91574219e-03 -1.43222608e-02 1.49087207e+02] [ 8.91417341e-03 9.99960253e-01 -1.73370318e-04 1.07780479e+00] [ 1.43232372e-02 4.56745285e-05 9.99897416e-01 9.95132809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.469254154 meters 0.013956646456217506 Centerline is valid? [True, True] Translation: X:149.11, Y:1.08, Z:1.00 [[ 9.99855005e-01 -9.21098097e-03 -1.43222246e-02 1.49114581e+02] [ 9.20940024e-03 9.99957577e-01 -1.76319240e-04 1.07819936e+00] [ 1.43232411e-02 4.43945760e-05 9.99897416e-01 9.95322805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499254154 meters 0.01388768567456395 Centerline is valid? [True, True] Translation: X:149.14, Y:1.08, Z:0.99 [[ 9.99822475e-01 -1.15409255e-02 -1.48937783e-02 1.49142769e+02] [ 1.15394298e-02 9.99933401e-01 -1.86362917e-04 1.07710847e+00] [ 1.48949372e-02 1.44641242e-05 9.99889064e-01 9.94697613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.529254154 meters 0.013965608552847241 Centerline is valid? [True, True] Translation: X:149.17, Y:1.08, Z:0.99 [[ 9.99779763e-01 -1.44844007e-02 -1.51864555e-02 1.49170034e+02] [ 1.44831480e-02 9.99895095e-01 -1.92469120e-04 1.07544019e+00] [ 1.51876501e-02 -2.75209514e-05 9.99884661e-01 9.94355916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55925415399997 meters 0.014029281741550978 Centerline is valid? [True, True] Translation: X:149.20, Y:1.07, Z:0.99 [[ 9.99727662e-01 -1.74212136e-02 -1.55275152e-02 1.49198355e+02] [ 1.74202020e-02 9.99848237e-01 -2.00410884e-04 1.07347587e+00] [ 1.55286501e-02 -7.01361466e-05 9.99879421e-01 9.94019111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58925415399997 meters 0.014461757816611135 Centerline is valid? [True, True] Translation: X:149.23, Y:1.07, Z:0.99 [[ 9.99609373e-01 -2.33222262e-02 -1.54004936e-02 1.49227634e+02] [ 2.33218982e-02 9.99727987e-01 -2.00918920e-04 1.06938526e+00] [ 1.54009904e-02 -1.58328309e-04 9.99881385e-01 9.94658529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61925415399998 meters 0.014951765385448144 Centerline is valid? [True, True] Translation: X:149.26, Y:1.07, Z:1.00 [[ 9.99549881e-01 -2.62170974e-02 -1.45841888e-02 1.49258182e+02] [ 2.62171089e-02 9.99656254e-01 -1.90435188e-04 1.06671088e+00] [ 1.45841682e-02 -1.92005797e-04 9.99893627e-01 9.95321945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64925415399998 meters 0.015615180079605828 Centerline is valid? [True, True] Translation: X:149.29, Y:1.06, Z:1.00 [[ 9.99483180e-01 -2.89763874e-02 -1.39191066e-02 1.49289631e+02] [ 2.89766722e-02 9.99580072e-01 -1.81256291e-04 1.06419849e+00] [ 1.39185138e-02 -2.22166777e-04 9.99903108e-01 9.96327433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67925415399998 meters 0.017167038797835786 Centerline is valid? [True, True] Translation: X:149.32, Y:1.06, Z:1.00 [[ 9.99325818e-01 -3.45172829e-02 -1.25087007e-02 1.49321155e+02] [ 3.45179574e-02 9.99404065e-01 -1.62033729e-04 1.05873465e+00] [ 1.25068393e-02 -2.69850310e-04 9.99921750e-01 9.98225326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70925415399998 meters 0.01814091232259454 Centerline is valid? [True, True] Translation: X:149.35, Y:1.06, Z:1.00 [[ 9.99257621e-01 -3.64485601e-02 -1.24783642e-02 1.49353532e+02] [ 3.64493949e-02 9.99335487e-01 -1.60589997e-04 1.05749488e+00] [ 1.24759254e-02 -2.94358045e-04 9.99922129e-01 9.98555616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73925415399998 meters 0.01782308324038865 Centerline is valid? [True, True] Translation: X:149.39, Y:1.06, Z:1.00 [[ 9.99160362e-01 -3.93207079e-02 -1.15088014e-02 1.49386037e+02] [ 3.93216176e-02 9.99226595e-01 -1.47315317e-04 1.05632870e+00] [ 1.15056929e-02 -3.05353060e-04 9.99933761e-01 1.00124261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76925415399998 meters 0.017802922344689186 Centerline is valid? [True, True] Translation: X:149.42, Y:1.06, Z:1.00 [[ 9.99096381e-01 -4.10486013e-02 -1.10196888e-02 1.49417950e+02] [ 4.10495490e-02 9.99157102e-01 -1.40266474e-04 1.05545788e+00] [ 1.10161581e-02 -3.12213530e-04 9.99939272e-01 1.00217158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79925415399998 meters 0.018678965668659363 Centerline is valid? [True, True] Translation: X:149.45, Y:1.05, Z:1.00 [[ 9.98960087e-01 -4.41205598e-02 -1.14943879e-02 1.49450202e+02] [ 4.41218041e-02 9.99026148e-01 -1.45432686e-04 1.05168259e+00] [ 1.14896106e-02 -3.61871680e-04 9.99933927e-01 1.00314864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82925415399998 meters 0.01900853374883237 Centerline is valid? [True, True] Translation: X:149.48, Y:1.05, Z:1.00 [[ 9.98915537e-01 -4.49907113e-02 -1.19827597e-02 1.49482668e+02] [ 4.49921371e-02 9.98987330e-01 -1.50702362e-04 1.05039029e+00] [ 1.19774054e-02 -3.88591038e-04 9.99928193e-01 1.00327377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85925415399998 meters 0.019356314597641106 Centerline is valid? [True, True] Translation: X:149.51, Y:1.05, Z:1.00 [[ 9.98883179e-01 -4.55001236e-02 -1.27331583e-02 1.49514567e+02] [ 4.55017872e-02 9.98964245e-01 -1.59169702e-04 1.04949856e+00] [ 1.27272121e-02 -4.20389523e-04 9.99918917e-01 1.00314082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88925415399999 meters 0.01980703534858622 Centerline is valid? [True, True] Translation: X:149.55, Y:1.05, Z:1.00 [[ 9.98886741e-01 -4.48541855e-02 -1.46075848e-02 1.49545808e+02] [ 4.48563208e-02 9.98993432e-01 -1.81597831e-04 1.04783005e+00] [ 1.46010266e-02 -4.73846841e-04 9.99893287e-01 1.00146550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.919254154 meters 0.019512792224495656 Centerline is valid? [True, True] Translation: X:149.58, Y:1.05, Z:1.00 [[ 9.98905951e-01 -4.41246326e-02 -1.54892582e-02 1.49578025e+02] [ 4.41269615e-02 9.99025913e-01 -1.91539864e-04 1.04812575e+00] [ 1.54826220e-02 -4.92163592e-04 9.99880016e-01 1.00099529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.949254154 meters 0.01929273931625081 Centerline is valid? [True, True] Translation: X:149.61, Y:1.05, Z:1.00 [[ 9.98946752e-01 -4.27716116e-02 -1.66125466e-02 1.49610630e+02] [ 4.27741243e-02 9.99084747e-01 -2.04199504e-04 1.04860050e+00] [ 1.66060758e-02 -5.06602700e-04 9.99861981e-01 1.00022193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.979254154 meters 0.01880134353091955 Centerline is valid? [True, True] Translation: X:149.64, Y:1.05, Z:1.00 [[ 9.99005348e-01 -4.09705004e-02 -1.75991981e-02 1.49643105e+02] [ 4.09730640e-02 9.99160228e-01 -2.15037514e-04 1.04946217e+00] [ 1.75932290e-02 -5.06269445e-04 9.99845099e-01 9.99781186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.009254154 meters 0.017729022312329184 Centerline is valid? [True, True] Translation: X:149.67, Y:1.05, Z:1.00 [[ 9.99143149e-01 -3.64047492e-02 -1.96891269e-02 1.49673654e+02] [ 3.64070875e-02 9.99337013e-01 -2.39793745e-04 1.05247604e+00] [ 1.96848029e-02 -4.77235489e-04 9.99806122e-01 9.98810146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.039254154 meters 0.017058209252138766 Centerline is valid? [True, True] Translation: X:149.70, Y:1.06, Z:1.00 [[ 9.99220946e-01 -3.37147688e-02 -2.05138038e-02 1.49704788e+02] [ 3.37167531e-02 9.99431398e-01 -2.49228764e-04 1.05547041e+00] [ 2.05105423e-02 -4.42624256e-04 9.99789539e-01 9.98806353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.069254154 meters 0.01647390909151728 Centerline is valid? [True, True] Translation: X:149.73, Y:1.06, Z:1.00 [[ 9.99301704e-01 -3.05953796e-02 -2.14482458e-02 1.49734794e+02] [ 3.05968416e-02 9.99531773e-01 -2.60070700e-04 1.05801499e+00] [ 2.14461601e-02 -3.96359484e-04 9.99769926e-01 9.98612982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099254154 meters 0.016090742374876284 Centerline is valid? [True, True] Translation: X:149.76, Y:1.06, Z:1.00 [[ 9.99400869e-01 -2.69955977e-02 -2.16596377e-02 1.49764377e+02] [ 2.69962407e-02 9.99635501e-01 -2.62767087e-04 1.06060395e+00] [ 2.16588364e-02 -3.22119138e-04 9.99765368e-01 9.98273066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.129254154 meters 0.014475974829699555 Centerline is valid? [True, True] Translation: X:149.79, Y:1.07, Z:1.00 [[ 9.99549043e-01 -2.05813341e-02 -2.18659474e-02 1.49793364e+02] [ 2.05803745e-02 9.99788165e-01 -2.68943680e-04 1.06780762e+00] [ 2.18668507e-02 -1.81186988e-04 9.99760875e-01 1.00111155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159254154 meters 0.014402668917950983 Centerline is valid? [True, True] Translation: X:149.82, Y:1.07, Z:1.00 [[ 9.99608315e-01 -1.74144330e-02 -2.19078507e-02 1.49821457e+02] [ 1.74126432e-02 9.99848351e-01 -2.72465927e-04 1.07016514e+00] [ 2.19092732e-02 -1.09114382e-04 9.99759957e-01 1.00103370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.189254154 meters 0.014296601123491941 Centerline is valid? [True, True] Translation: X:149.85, Y:1.07, Z:1.00 [[ 9.99659598e-01 -1.46899349e-02 -2.15613837e-02 1.49850222e+02] [ 1.46874750e-02 9.99892096e-01 -2.72452954e-04 1.07271885e+00] [ 2.15630595e-02 -4.43220745e-05 9.99767489e-01 1.00196574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219254154 meters 0.014276890313766057 Centerline is valid? [True, True] Translation: X:149.88, Y:1.07, Z:1.00 [[ 9.99691820e-01 -1.22436204e-02 -2.15953591e-02 1.49878360e+02] [ 1.22404518e-02 9.99925044e-01 -2.78907112e-04 1.07494049e+00] [ 2.15971552e-02 1.44842056e-05 9.99766754e-01 1.00288727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.249254154 meters 0.014478201588711739 Centerline is valid? [True, True] Translation: X:149.91, Y:1.08, Z:1.00 [[ 9.99713233e-01 -8.92009238e-03 -2.22235110e-02 1.49906311e+02] [ 8.91583871e-03 9.99960211e-01 -2.90481494e-04 1.07779590e+00] [ 2.22252178e-02 9.22569540e-05 9.99752985e-01 1.00257078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279254154 meters 0.014504247779343877 Centerline is valid? [True, True] Translation: X:149.93, Y:1.08, Z:1.00 [[ 9.99714771e-01 -8.46544934e-03 -2.23318623e-02 1.49934152e+02] [ 8.46092665e-03 9.99964162e-01 -2.97001768e-04 1.07852492e+00] [ 2.23335762e-02 1.07968806e-04 9.99750569e-01 1.00313096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30925415399997 meters 0.014433891552131426 Centerline is valid? [True, True] Translation: X:149.96, Y:1.08, Z:1.00 [[ 9.99699822e-01 -8.88272460e-03 -2.28333787e-02 1.49962260e+02] [ 8.87795227e-03 9.99960542e-01 -3.10370398e-04 1.07872115e+00] [ 2.28352346e-02 1.07563585e-04 9.99739236e-01 1.00335192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33925415399997 meters 0.014516011995577824 Centerline is valid? [True, True] Translation: X:149.99, Y:1.08, Z:1.00 [[ 9.99679782e-01 -9.76486272e-03 -2.33448330e-02 1.49988878e+02] [ 9.75999038e-03 9.99952318e-01 -3.22643348e-04 1.07832918e+00] [ 2.33468704e-02 9.46946865e-05 9.99727420e-01 1.00286919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36925415399998 meters 0.014313401524837694 Centerline is valid? [True, True] Translation: X:150.02, Y:1.08, Z:1.00 [[ 9.99614041e-01 -1.36199373e-02 -2.42129372e-02 1.50017570e+02] [ 1.36157620e-02 9.99907244e-01 -3.37302594e-04 1.07590772e+00] [ 2.42152854e-02 7.49481720e-06 9.99706767e-01 1.00281677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39925415399998 meters 0.014331149739675076 Centerline is valid? [True, True] Translation: X:150.05, Y:1.07, Z:1.00 [[ 9.99560974e-01 -1.65758723e-02 -2.45580911e-02 1.50046389e+02] [ 1.65723479e-02 9.99862609e-01 -3.47043027e-04 1.07419986e+00] [ 2.45604696e-02 -6.00945640e-05 9.99698344e-01 1.00320651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42925415399998 meters 0.014319364203925575 Centerline is valid? [True, True] Translation: X:150.08, Y:1.07, Z:1.00 [[ 9.99496627e-01 -1.98372066e-02 -2.47583777e-02 1.50075370e+02] [ 1.98344707e-02 9.99803214e-01 -3.56095597e-04 1.07260488e+00] [ 2.47605696e-02 -1.35152969e-04 9.99693401e-01 1.00346304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45925415399998 meters 0.014576679473858078 Centerline is valid? [True, True] Translation: X:150.10, Y:1.07, Z:1.00 [[ 9.99428978e-01 -2.29580373e-02 -2.47920637e-02 1.50103998e+02] [ 2.29561003e-02 9.99736408e-01 -3.62774916e-04 1.07075321e+00] [ 2.47938573e-02 -2.06561337e-04 9.99692564e-01 1.00397333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48925415399998 meters 0.015374193205662792 Centerline is valid? [True, True] Translation: X:150.13, Y:1.07, Z:1.00 [[ 9.99297990e-01 -2.86837808e-02 -2.40991161e-02 1.50131916e+02] [ 2.86835377e-02 9.99588479e-01 -3.55831395e-04 1.06701154e+00] [ 2.40994054e-02 -3.35666307e-04 9.99709511e-01 1.00485877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51925415399998 meters 0.0157514591477264 Centerline is valid? [True, True] Translation: X:150.16, Y:1.07, Z:1.01 [[ 9.99233008e-01 -3.13739310e-02 -2.34323007e-02 1.50160688e+02] [ 3.13743318e-02 9.99507643e-01 -3.50619973e-04 1.06536030e+00] [ 2.34317640e-02 -3.84821727e-04 9.99725364e-01 1.00593407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54925415399998 meters 0.015887893363341756 Centerline is valid? [True, True] Translation: X:150.19, Y:1.06, Z:1.01 [[ 9.99159910e-01 -3.39816609e-02 -2.29067776e-02 1.50189829e+02] [ 3.39826712e-02 9.99422363e-01 -3.45277422e-04 1.06480287e+00] [ 2.29052789e-02 -4.33446133e-04 9.99737546e-01 1.00745680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57925415399998 meters 0.016741527476335834 Centerline is valid? [True, True] Translation: X:150.22, Y:1.06, Z:1.01 [[ 9.99027396e-01 -3.84879521e-02 -2.15160207e-02 1.50219838e+02] [ 3.84898773e-02 9.99258937e-01 -3.24791383e-04 1.06225287e+00] [ 2.15125766e-02 -5.03673508e-04 9.99768451e-01 1.00876572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60925415399998 meters 0.017861220395779556 Centerline is valid? [True, True] Translation: X:150.25, Y:1.06, Z:1.01 [[ 9.98953993e-01 -4.05951852e-02 -2.10463924e-02 1.50250313e+02] [ 4.05974987e-02 9.99175531e-01 -3.17506884e-04 1.05976968e+00] [ 2.10419296e-02 -5.37256119e-04 9.99778450e-01 1.00867133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63925415399999 meters 0.01814175572888941 Centerline is valid? [True, True] Translation: X:150.28, Y:1.06, Z:1.01 [[ 9.98870080e-01 -4.29502720e-02 -2.03429763e-02 1.50282095e+02] [ 4.29529384e-02 9.99077050e-01 -3.06049998e-04 1.05937639e+00] [ 2.03373457e-02 -5.68086423e-04 9.99793013e-01 1.00967797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.669254154 meters 0.01939828838023107 Centerline is valid? [True, True] Translation: X:150.31, Y:1.06, Z:1.01 [[ 9.98747919e-01 -4.56647235e-02 -2.04285743e-02 1.50313209e+02] [ 4.56680021e-02 9.98956626e-01 -3.06238977e-04 1.05709644e+00] [ 2.04212440e-02 -6.27076633e-04 9.99791268e-01 1.00978005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.699254154 meters 0.020603338315488155 Centerline is valid? [True, True] Translation: X:150.34, Y:1.05, Z:1.01 [[ 9.98436037e-01 -5.21579317e-02 -2.01253482e-02 1.50344465e+02] [ 5.21624428e-02 9.98638568e-01 -3.01088902e-04 1.05359056e+00] [ 2.01136531e-02 -7.49169315e-04 9.99797419e-01 1.01039898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.729254154 meters 0.021434502764189192 Centerline is valid? [True, True] Translation: X:150.38, Y:1.05, Z:1.01 [[ 9.98258769e-01 -5.55642636e-02 -1.98000794e-02 1.50376084e+02] [ 5.55693106e-02 9.98454788e-01 -2.95627435e-04 1.05167475e+00] [ 1.97859104e-02 -8.05164085e-04 9.99803916e-01 1.01041428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.759254154 meters 0.02419204518083666 Centerline is valid? [True, True] Translation: X:150.41, Y:1.05, Z:1.01 [[ 9.98061965e-01 -5.89117953e-02 -2.00428234e-02 1.50406642e+02] [ 5.89176504e-02 9.98262802e-01 -2.98755748e-04 1.04694669e+00] [ 2.00256053e-02 -8.82699313e-04 9.99799078e-01 1.00933017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.789254154 meters 0.02588607835610916 Centerline is valid? [True, True] Translation: X:150.44, Y:1.04, Z:1.01 [[ 9.97845230e-01 -6.23187795e-02 -2.05247720e-02 1.50437516e+02] [ 6.23256462e-02 9.98055820e-01 -3.05569858e-04 1.04433927e+00] [ 2.05039109e-02 -9.74308256e-04 9.99789298e-01 1.00923865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819254154 meters 0.02655449339976118 Centerline is valid? [True, True] Translation: X:150.47, Y:1.04, Z:1.01 [[ 9.97493971e-01 -6.73510833e-02 -2.16704669e-02 1.50467900e+02] [ 6.73599263e-02 9.97728689e-01 -3.22448034e-04 1.04300497e+00] [ 2.16429638e-02 -1.13808109e-03 9.99765116e-01 1.00837873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.849254154 meters 0.030070504974531103 Centerline is valid? [True, True] Translation: X:150.50, Y:1.04, Z:1.01 [[ 9.97385212e-01 -6.87026123e-02 -2.24207368e-02 1.50499146e+02] [ 6.87124383e-02 9.97636452e-01 -3.32748246e-04 1.03809351e+00] [ 2.23906050e-02 -1.20870532e-03 9.99748568e-01 1.00686772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879254154 meters 0.027009974389354412 Centerline is valid? [True, True] Translation: X:150.53, Y:1.04, Z:1.01 [[ 9.97335254e-01 -6.93248239e-02 -2.27257643e-02 1.50530989e+02] [ 6.93351151e-02 9.97593369e-01 -3.35740151e-04 1.04255839e+00] [ 2.26943469e-02 -1.24084800e-03 9.99741680e-01 1.00753585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.909254154 meters 0.026216864401872705 Centerline is valid? [True, True] Translation: X:150.56, Y:1.04, Z:1.01 [[ 9.97379818e-01 -6.87621018e-02 -2.24782733e-02 1.50562904e+02] [ 6.87720645e-02 9.97632344e-01 -3.30437999e-04 1.04440402e+00] [ 2.24477741e-02 -1.21630507e-03 9.99747277e-01 1.00764243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939254154 meters 0.030436020588001746 Centerline is valid? [True, True] Translation: X:150.59, Y:1.04, Z:1.01 [[ 9.97490053e-01 -6.71091378e-02 -2.25822566e-02 1.50594060e+02] [ 6.71188012e-02 9.97744936e-01 -3.30606051e-04 1.03942064e+00] [ 2.25535189e-02 -1.18591774e-03 9.99744934e-01 1.00591251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.969254154 meters 0.025994666830045872 Centerline is valid? [True, True] Translation: X:150.63, Y:1.05, Z:1.01 [[ 9.97641702e-01 -6.50399156e-02 -2.19281455e-02 1.50625050e+02] [ 6.50485485e-02 9.97882049e-01 -3.20120004e-04 1.04691336e+00] [ 2.19025233e-02 -1.10702897e-03 9.99759498e-01 1.00786434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999254154 meters 0.024004003349109206 Centerline is valid? [True, True] Translation: X:150.66, Y:1.05, Z:1.01 [[ 9.98014049e-01 -5.93313552e-02 -2.11600687e-02 1.50655313e+02] [ 5.93381189e-02 9.98237894e-01 -3.08633462e-04 1.05363545e+00] [ 2.11410941e-02 -9.47578143e-04 9.99776053e-01 1.00833095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.029254154 meters 0.021704246381289934 Centerline is valid? [True, True] Translation: X:150.69, Y:1.06, Z:1.01 [[ 9.98235091e-01 -5.56028913e-02 -2.08571909e-02 1.50686581e+02] [ 5.56086612e-02 9.98452595e-01 -3.03691235e-04 1.05963985e+00] [ 2.08418025e-02 -8.56685215e-04 9.99782419e-01 1.00976749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05925415399997 meters 0.020683304949274756 Centerline is valid? [True, True] Translation: X:150.72, Y:1.06, Z:1.01 [[ 9.98478208e-01 -5.13617097e-02 -2.00809288e-02 1.50716977e+02] [ 5.13662063e-02 9.98679842e-01 -2.92144297e-04 1.06359790e+00] [ 2.00694238e-02 -7.39781417e-04 9.99798315e-01 1.01035049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08925415399997 meters 0.018365180034267854 Centerline is valid? [True, True] Translation: X:150.75, Y:1.07, Z:1.01 [[ 9.98938699e-01 -4.22696942e-02 -1.82961216e-02 1.50745939e+02] [ 4.22718992e-02 9.99106108e-01 -2.66378990e-04 1.07129412e+00] [ 1.82910266e-02 -5.07315525e-04 9.99832576e-01 1.01115139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11925415399998 meters 0.01674446111080183 Centerline is valid? [True, True] Translation: X:150.78, Y:1.08, Z:1.01 [[ 9.99140659e-01 -3.76645444e-02 -1.73010400e-02 1.50777122e+02] [ 3.76658305e-02 9.99290359e-01 -2.51623823e-04 1.07656869e+00] [ 1.72982398e-02 -4.00250448e-04 9.99850294e-01 1.01250932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14925415399998 meters 0.01600667261575266 Centerline is valid? [True, True] Translation: X:150.81, Y:1.08, Z:1.01 [[ 9.99328705e-01 -3.30149555e-02 -1.58793108e-02 1.50807851e+02] [ 3.30154610e-02 9.99454815e-01 -2.30384305e-04 1.07945019e+00] [ 1.58782597e-02 -2.94033116e-04 9.99873889e-01 1.01254095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17925415399998 meters 0.015195286631529826 Centerline is valid? [True, True] Translation: X:150.84, Y:1.08, Z:1.01 [[ 9.99477570e-01 -2.86316289e-02 -1.49939176e-02 1.50839534e+02] [ 2.86315964e-02 9.99590008e-01 -2.16871263e-04 1.08354653e+00] [ 1.49939796e-02 -2.12541835e-04 9.99887561e-01 1.01302277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20925415399998 meters 0.01416665243414593 Centerline is valid? [True, True] Translation: X:150.87, Y:1.09, Z:1.01 [[ 9.99667204e-01 -2.12374596e-02 -1.46441869e-02 1.50870656e+02] [ 2.12366446e-02 9.99774455e-01 -2.11174653e-04 1.09097974e+00] [ 1.46453688e-02 -9.98890169e-05 9.99892746e-01 1.01320824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23925415399998 meters 0.014021570414530452 Centerline is valid? [True, True] Translation: X:150.90, Y:1.09, Z:1.01 [[ 9.99736977e-01 -1.77156806e-02 -1.45647524e-02 1.50901185e+02] [ 1.77145043e-02 9.99843064e-01 -2.09780119e-04 1.09425324e+00] [ 1.45661831e-02 -4.82824267e-05 9.99893906e-01 1.01282591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26925415399998 meters 0.014096300468356224 Centerline is valid? [True, True] Translation: X:150.93, Y:1.10, Z:1.01 [[ 9.99789035e-01 -1.45148332e-02 -1.45328864e-02 1.50930386e+02] [ 1.45133219e-02 9.99894654e-01 -2.09456388e-04 1.09717374e+00] [ 1.45343956e-02 -1.50825866e-06 9.99894370e-01 1.01192183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29925415399998 meters 0.014502079631492476 Centerline is valid? [True, True] Translation: X:150.96, Y:1.10, Z:1.01 [[ 9.99850801e-01 -8.32815871e-03 -1.51332991e-02 1.50959210e+02] [ 8.32580304e-03 9.99965316e-01 -2.18657406e-04 1.10240214e+00] [ 1.51345952e-02 9.26279155e-05 9.99885461e-01 1.01063721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32925415399998 meters 0.0146903416519126 Centerline is valid? [True, True] Translation: X:150.99, Y:1.10, Z:1.01 [[ 9.99870826e-01 -5.86677166e-03 -1.49636913e-02 1.50988132e+02] [ 5.86415854e-03 9.99982782e-01 -2.18502200e-04 1.10454326e+00] [ 1.49647156e-02 1.30724517e-04 9.99888014e-01 1.01077927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35925415399998 meters 0.014676228837722453 Centerline is valid? [True, True] Translation: X:151.02, Y:1.11, Z:1.01 [[ 9.99879631e-01 -3.66052757e-03 -1.50772855e-02 1.51016407e+02] [ 3.65756663e-03 9.99993286e-01 -2.23954714e-04 1.10539849e+00] [ 1.50780041e-02 1.68781580e-04 9.99886306e-01 1.01167128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38925415399999 meters 0.014676228837722453 Centerline is valid? [True, True] Translation: X:151.04, Y:1.11, Z:1.01 [[ 9.99878509e-01 -3.95536777e-03 -1.50772224e-02 1.51043781e+02] [ 3.95237715e-03 9.99992163e-01 -2.28145468e-04 1.10587060e+00] [ 1.50780067e-02 1.68526880e-04 9.99886306e-01 1.01186166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.419254154 meters 0.015102421211129263 Centerline is valid? [True, True] Translation: X:151.07, Y:1.11, Z:1.01 [[ 9.99890405e-01 -1.78304891e-03 -1.46969115e-02 1.51071964e+02] [ 1.77993297e-03 9.99998391e-01 -2.25091059e-04 1.10828881e+00] [ 1.46972891e-02 1.98906873e-04 9.99891969e-01 1.01175579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.449254154 meters 0.015632496547153867 Centerline is valid? [True, True] Translation: X:151.10, Y:1.11, Z:1.01 [[ 9.99898876e-01 1.43250318e-03 -1.41487186e-02 1.51100249e+02] [-1.43573056e-03 9.99998946e-01 -2.17949828e-04 1.11085873e+00] [ 1.41483915e-02 2.38241536e-04 9.99899878e-01 1.01176787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.479254154 meters 0.015541772182974757 Centerline is valid? [True, True] Translation: X:151.13, Y:1.11, Z:1.01 [[ 9.99893540e-01 2.27067212e-03 -1.44136527e-02 1.51129126e+02] [-2.27414533e-03 9.99997389e-01 -2.24581416e-04 1.11124987e+00] [ 1.44131052e-02 2.57336248e-04 9.99896093e-01 1.01198706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.509254154 meters 0.015593418475931384 Centerline is valid? [True, True] Translation: X:151.16, Y:1.11, Z:1.01 [[ 9.99899789e-01 3.04267539e-03 -1.38258267e-02 1.51157814e+02] [-3.04597538e-03 9.99995337e-01 -2.17631472e-04 1.11176450e+00] [ 1.38251001e-02 2.59722791e-04 9.99904395e-01 1.01232905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.539254154 meters 0.015869925961921882 Centerline is valid? [True, True] Translation: X:151.18, Y:1.11, Z:1.01 [[ 9.99901850e-01 3.14878128e-03 -1.36519659e-02 1.51184211e+02] [-3.15203525e-03 9.99995009e-01 -2.16841429e-04 1.11269556e+00] [ 1.36512150e-02 2.59851624e-04 9.99906784e-01 1.01218655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.569254154 meters 0.015663821694322955 Centerline is valid? [True, True] Translation: X:151.21, Y:1.11, Z:1.01 [[ 9.99915778e-01 1.72490663e-03 -1.28632236e-02 1.51213342e+02] [-1.72770118e-03 9.99998486e-01 -2.06142244e-04 1.11057123e+00] [ 1.28628486e-02 2.28348689e-04 9.99917244e-01 1.01243417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599254154 meters 0.015766487648165448 Centerline is valid? [True, True] Translation: X:151.24, Y:1.11, Z:1.01 [[ 9.99929360e-01 -1.04316671e-04 -1.18854617e-02 1.51240763e+02] [ 1.02049330e-04 9.99999976e-01 -1.91372202e-04 1.11000396e+00] [ 1.18854814e-02 1.90145780e-04 9.99929347e-01 1.01230418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.629254154 meters 0.015049595866235074 Centerline is valid? [True, True] Translation: X:151.27, Y:1.11, Z:1.01 [[ 9.99935715e-01 -2.40376107e-03 -1.10809933e-02 1.51269226e+02] [ 2.40192180e-03 9.99997099e-01 -1.79289398e-04 1.10676032e+00] [ 1.10813921e-02 1.52662194e-04 9.99938588e-01 1.01308540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659254154 meters 0.016197580473152194 Centerline is valid? [True, True] Translation: X:151.30, Y:1.10, Z:1.01 [[ 9.99917448e-01 -9.03663049e-03 -9.13440171e-03 1.51297831e+02] [ 9.03565221e-03 9.99959167e-01 -1.48361898e-04 1.09932838e+00] [ 9.13536941e-03 6.58143737e-05 9.99958269e-01 1.01402828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.689254154 meters 0.013728366798653278 Centerline is valid? [True, True] Translation: X:151.33, Y:1.10, Z:1.01 [[ 9.99881657e-01 -1.23879084e-02 -9.12206586e-03 1.51327220e+02] [ 1.23870665e-02 9.99923266e-01 -1.48786915e-04 1.09597382e+00] [ 9.12320905e-03 3.57736706e-05 9.99958382e-01 1.01458200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719254154 meters 0.013682645142187852 Centerline is valid? [True, True] Translation: X:151.36, Y:1.09, Z:1.01 [[ 9.99835130e-01 -1.60044187e-02 -8.57734740e-03 1.51356364e+02] [ 1.60038046e-02 9.99871921e-01 -1.40225318e-04 1.09236004e+00] [ 8.57849305e-03 2.93200686e-06 9.99963204e-01 1.01487534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.749254154 meters 0.013585135556343594 Centerline is valid? [True, True] Translation: X:151.39, Y:1.09, Z:1.02 [[ 9.99776812e-01 -1.92885167e-02 -8.61848964e-03 1.51388128e+02] [ 1.92880207e-02 9.99813959e-01 -1.40679457e-04 1.08869086e+00] [ 8.61959974e-03 -2.55855468e-05 9.99962850e-01 1.01516781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779254154 meters 0.01405548514975658 Centerline is valid? [True, True] Translation: X:151.42, Y:1.08, Z:1.01 [[ 9.99650092e-01 -2.46262211e-02 -9.65618684e-03 1.51419453e+02] [ 2.46258516e-02 9.99696725e-01 -1.57178274e-04 1.08085294e+00] [ 9.65712907e-03 -8.06685485e-05 9.99953366e-01 1.01465743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80925415399997 meters 0.014202287428410957 Centerline is valid? [True, True] Translation: X:151.45, Y:1.08, Z:1.01 [[ 9.99600285e-01 -2.64476253e-02 -9.98961204e-03 1.51452057e+02] [ 2.64473271e-02 9.99650195e-01 -1.61981849e-04 1.07774368e+00] [ 9.99040166e-03 -1.02281435e-04 9.99950089e-01 1.01464141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83925415399997 meters 0.014293516278056247 Centerline is valid? [True, True] Translation: X:151.48, Y:1.07, Z:1.01 [[ 9.99568009e-01 -2.73848385e-02 -1.06708023e-02 1.51483494e+02] [ 2.73845622e-02 9.99624958e-01 -1.72034958e-04 1.07478184e+00] [ 1.06715114e-02 -1.20254609e-04 9.99943051e-01 1.01444059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86925415399998 meters 0.016348243972632563 Centerline is valid? [True, True] Translation: X:151.52, Y:1.07, Z:1.01 [[ 9.99551613e-01 -2.79983464e-02 -1.06144354e-02 1.51515857e+02] [ 2.79981192e-02 9.99607961e-01 -1.70035501e-04 1.07208860e+00] [ 1.06150349e-02 -1.27224968e-04 9.99943651e-01 1.01437338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89925415399998 meters 0.014414615071269267 Centerline is valid? [True, True] Translation: X:151.55, Y:1.07, Z:1.01 [[ 9.99570715e-01 -2.70393891e-02 -1.12808470e-02 1.51547687e+02] [ 2.70390810e-02 9.99634361e-01 -1.79854566e-04 1.06793864e+00] [ 1.12815855e-02 -1.25246380e-04 9.99936353e-01 1.01439758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92925415399998 meters 0.014296667044166201 Centerline is valid? [True, True] Translation: X:151.58, Y:1.07, Z:1.01 [[ 9.99608855e-01 -2.55665363e-02 -1.13352983e-02 1.51578700e+02] [ 2.55661390e-02 9.99673117e-01 -1.79974041e-04 1.06622692e+00] [ 1.13361943e-02 -1.09896168e-04 9.99935737e-01 1.01456805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95925415399998 meters 0.014156020522970051 Centerline is valid? [True, True] Translation: X:151.61, Y:1.07, Z:1.01 [[ 9.99653330e-01 -2.39104999e-02 -1.10230860e-02 1.51610144e+02] [ 2.39100293e-02 9.99714099e-01 -1.74500284e-04 1.06609797e+00] [ 1.10241069e-02 -8.91225195e-05 9.99939229e-01 1.01493639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98925415399998 meters 0.01386423633126078 Centerline is valid? [True, True] Translation: X:151.64, Y:1.07, Z:1.02 [[ 9.99744463e-01 -1.95267211e-02 -1.13892677e-02 1.51641381e+02] [ 1.95259390e-02 9.99809334e-01 -1.79872249e-04 1.06572210e+00] [ 1.13906085e-02 -4.25598623e-05 9.99935124e-01 1.01524270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01925415399998 meters 0.013802564041751652 Centerline is valid? [True, True] Translation: X:151.67, Y:1.07, Z:1.02 [[ 9.99788726e-01 -1.70191758e-02 -1.15260741e-02 1.51671973e+02] [ 1.70182121e-02 9.99855163e-01 -1.81692453e-04 1.06608656e+00] [ 1.15274969e-02 -1.44991067e-05 9.99933556e-01 1.01512197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04925415399998 meters 0.014000509327545634 Centerline is valid? [True, True] Translation: X:151.70, Y:1.07, Z:1.02 [[ 9.99822146e-01 -1.43510073e-02 -1.22362510e-02 1.51702722e+02] [ 1.43497229e-02 9.99897019e-01 -1.92753798e-04 1.06651425e+00] [ 1.22377571e-02 1.71327043e-05 9.99925116e-01 1.01521612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07925415399998 meters 0.013834915637316814 Centerline is valid? [True, True] Translation: X:151.73, Y:1.07, Z:1.02 [[ 9.99853608e-01 -1.16018548e-02 -1.25761707e-02 1.51732446e+02] [ 1.16002780e-02 9.99932695e-01 -1.98316902e-04 1.06662253e+00] [ 1.25776251e-02 5.24007937e-05 9.99920897e-01 1.01506429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10925415399998 meters 0.014025329750371194 Centerline is valid? [True, True] Translation: X:151.76, Y:1.07, Z:1.01 [[ 9.99885517e-01 -7.69256410e-03 -1.30298654e-02 1.51760769e+02] [ 7.69052887e-03 9.99970406e-01 -2.06296179e-04 1.06574363e+00] [ 1.30310667e-02 1.06066006e-04 9.99915086e-01 1.01494161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13925415399999 meters 0.014217936373550427 Centerline is valid? [True, True] Translation: X:151.79, Y:1.06, Z:1.02 [[ 9.99892619e-01 -6.78415401e-03 -1.29894189e-02 1.51789973e+02] [ 6.78202616e-03 9.99976980e-01 -2.07856433e-04 1.06464930e+00] [ 1.29905300e-02 1.19739535e-04 9.99915612e-01 1.01501742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.169254154 meters 0.014226293959007794 Centerline is valid? [True, True] Translation: X:151.82, Y:1.06, Z:1.02 [[ 9.99893490e-01 -6.68938279e-03 -1.29715535e-02 1.51817818e+02] [ 6.68720644e-03 9.99977618e-01 -2.11145352e-04 1.06338522e+00] [ 1.29726756e-02 1.24379407e-04 9.99915844e-01 1.01537627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.199254154 meters 0.014245091689208077 Centerline is valid? [True, True] Translation: X:151.85, Y:1.06, Z:1.02 [[ 9.99894125e-01 -7.06967810e-03 -1.27184082e-02 1.51845346e+02] [ 7.06756945e-03 9.99975002e-01 -2.10733485e-04 1.06164745e+00] [ 1.27195801e-02 1.20822940e-04 9.99919096e-01 1.01555432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.229254154 meters 0.014088912309748259 Centerline is valid? [True, True] Translation: X:151.87, Y:1.06, Z:1.02 [[ 9.99867990e-01 -9.40900356e-03 -1.32466526e-02 1.51873370e+02] [ 9.40688568e-03 9.99955730e-01 -2.22180373e-04 1.05682815e+00] [ 1.32481566e-02 9.75412968e-05 9.99912235e-01 1.01524274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259254154 meters 0.013948199435674939 Centerline is valid? [True, True] Translation: X:151.90, Y:1.05, Z:1.01 [[ 9.99833295e-01 -1.10870512e-02 -1.45071926e-02 1.51901492e+02] [ 1.10846457e-02 9.99938533e-01 -2.46212417e-04 1.05420707e+00] [ 1.45090307e-02 8.53642819e-05 9.99894735e-01 1.01470883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.289254154 meters 0.01380647557247738 Centerline is valid? [True, True] Translation: X:151.93, Y:1.05, Z:1.01 [[ 9.99793795e-01 -1.29902616e-02 -1.56083672e-02 1.51929297e+02] [ 1.29876356e-02 9.99915621e-01 -2.69601233e-04 1.05116678e+00] [ 1.56105524e-02 6.68298544e-05 9.99878146e-01 1.01414311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319254154 meters 0.013830925165123931 Centerline is valid? [True, True] Translation: X:151.96, Y:1.04, Z:1.01 [[ 9.99710984e-01 -1.68362404e-02 -1.71606765e-02 1.51957491e+02] [ 1.68335727e-02 9.99858260e-01 -2.99902844e-04 1.04405452e+00] [ 1.71632934e-02 1.09406723e-05 9.99852700e-01 1.01275785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.349254154 meters 0.014866255920478338 Centerline is valid? [True, True] Translation: X:151.99, Y:1.04, Z:1.01 [[ 9.99656391e-01 -1.88115364e-02 -1.82545035e-02 1.51986136e+02] [ 1.88087778e-02 9.99823047e-01 -3.22804503e-04 1.04065020e+00] [ 1.82573457e-02 -2.06513161e-05 9.99833321e-01 1.01273999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379254154 meters 0.013868468101145377 Centerline is valid? [True, True] Translation: X:152.01, Y:1.03, Z:1.01 [[ 9.99588715e-01 -2.24760663e-02 -1.78108620e-02 1.52014485e+02] [ 2.24739348e-02 9.99747378e-01 -3.19847882e-04 1.03414871e+00] [ 1.78135515e-02 -8.05638185e-05 9.99841323e-01 1.01364995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.409254154 meters 0.014061291613068736 Centerline is valid? [True, True] Translation: X:152.04, Y:1.03, Z:1.01 [[ 9.99561575e-01 -2.39658968e-02 -1.73866072e-02 1.52042220e+02] [ 2.39640039e-02 9.99712772e-01 -3.17237958e-04 1.03151307e+00] [ 1.73892162e-02 -9.95538498e-05 9.99848791e-01 1.01427008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439254154 meters 0.014132928581315034 Centerline is valid? [True, True] Translation: X:152.07, Y:1.03, Z:1.01 [[ 9.99540372e-01 -2.51019616e-02 -1.69981103e-02 1.52070565e+02] [ 2.51002399e-02 9.99684890e-01 -3.14656285e-04 1.02899250e+00] [ 1.70006525e-02 -1.12144986e-04 9.99855472e-01 1.01473664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.469254154 meters 0.014215194804116156 Centerline is valid? [True, True] Translation: X:152.10, Y:1.03, Z:1.02 [[ 9.99525481e-01 -2.60581369e-02 -1.64251920e-02 1.52099744e+02] [ 2.60566223e-02 9.99660422e-01 -3.06247896e-04 1.02670301e+00] [ 1.64275946e-02 -1.21882450e-04 9.99865051e-01 1.01537207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499254154 meters 0.01419881378921989 Centerline is valid? [True, True] Translation: X:152.13, Y:1.02, Z:1.02 [[ 9.99510802e-01 -2.67605487e-02 -1.61873045e-02 1.52129549e+02] [ 2.67591585e-02 9.99641864e-01 -3.02507598e-04 1.02479008e+00] [ 1.61896025e-02 -1.30799035e-04 9.99868931e-01 1.01622939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.529254154 meters 0.014395059784252701 Centerline is valid? [True, True] Translation: X:152.16, Y:1.02, Z:1.02 [[ 9.99495641e-01 -2.73352210e-02 -1.61631947e-02 1.52158615e+02] [ 2.73338961e-02 9.99626313e-01 -3.02924463e-04 1.02304050e+00] [ 1.61654352e-02 -1.39031402e-04 9.99869321e-01 1.01648578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55925415399997 meters 0.014484505728404519 Centerline is valid? [True, True] Translation: X:152.19, Y:1.02, Z:1.02 [[ 9.99461030e-01 -2.84471793e-02 -1.63831691e-02 1.52188451e+02] [ 2.84459542e-02 9.99595285e-01 -3.07850420e-04 1.01891392e+00] [ 1.63852961e-02 -1.58350382e-04 9.99865739e-01 1.01683612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58925415399997 meters 0.014685963477416386 Centerline is valid? [True, True] Translation: X:152.22, Y:1.02, Z:1.02 [[ 9.99427263e-01 -2.94884016e-02 -1.66006211e-02 1.52217747e+02] [ 2.94872778e-02 9.99565107e-01 -3.12518875e-04 1.01702120e+00] [ 1.66026173e-02 -1.77167241e-04 9.99862151e-01 1.01681189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61925415399998 meters 0.014911295866946454 Centerline is valid? [True, True] Translation: X:152.25, Y:1.01, Z:1.02 [[ 9.99366593e-01 -3.13077348e-02 -1.69185907e-02 1.52247292e+02] [ 3.13068181e-02 9.99509770e-01 -3.19100134e-04 1.01283077e+00] [ 1.69202870e-02 -2.10769226e-04 9.99856819e-01 1.01659470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64925415399998 meters 0.015362413141438904 Centerline is valid? [True, True] Translation: X:152.28, Y:1.01, Z:1.02 [[ 9.99333345e-01 -3.25343511e-02 -1.65644893e-02 1.52276485e+02] [ 3.25336341e-02 9.99470592e-01 -3.12826036e-04 1.01036831e+00] [ 1.65658975e-02 -2.26285546e-04 9.99862750e-01 1.01665910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67925415399998 meters 0.016145749401802887 Centerline is valid? [True, True] Translation: X:152.31, Y:1.01, Z:1.02 [[ 9.99293823e-01 -3.36430686e-02 -1.67331491e-02 1.52306212e+02] [ 3.36424875e-02 9.99433881e-01 -3.16300727e-04 1.00753834e+00] [ 1.67343175e-02 -2.46867396e-04 9.99859941e-01 1.01632806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70925415399998 meters 0.015319118710513328 Centerline is valid? [True, True] Translation: X:152.34, Y:1.01, Z:1.02 [[ 9.99247672e-01 -3.49820855e-02 -1.67434676e-02 1.52336532e+02] [ 3.49816896e-02 9.99387903e-01 -3.16614525e-04 1.00778676e+00] [ 1.67442948e-02 -2.69338458e-04 9.99859768e-01 1.01781411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73925415399998 meters 0.01627216984311514 Centerline is valid? [True, True] Translation: X:152.37, Y:1.00, Z:1.02 [[ 9.99131839e-01 -3.78521074e-02 -1.74007720e-02 1.52366908e+02] [ 3.78521148e-02 9.99283298e-01 -3.29043976e-04 1.00477188e+00] [ 1.74007558e-02 -3.29897705e-04 9.99848541e-01 1.01797695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76925415399998 meters 0.01627920906761308 Centerline is valid? [True, True] Translation: X:152.40, Y:1.00, Z:1.02 [[ 9.99071405e-01 -3.94898770e-02 -1.72301515e-02 1.52396606e+02] [ 3.94901245e-02 9.99219908e-01 -3.26006064e-04 1.00219987e+00] [ 1.72295843e-02 -3.54717489e-04 9.99851497e-01 1.01754552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79925415399998 meters 0.016233347772490803 Centerline is valid? [True, True] Translation: X:152.43, Y:1.00, Z:1.02 [[ 9.99004832e-01 -4.09414288e-02 -1.76959101e-02 1.52427415e+02] [ 4.09419255e-02 9.99161472e-01 -3.34360969e-04 1.00176126e+00] [ 1.76947608e-02 -3.90476408e-04 9.99843359e-01 1.01798276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82925415399998 meters 0.016745243404508534 Centerline is valid? [True, True] Translation: X:152.46, Y:1.00, Z:1.02 [[ 9.98924743e-01 -4.27232225e-02 -1.80023215e-02 1.52458328e+02] [ 4.27240363e-02 9.99086854e-01 -3.39562914e-04 1.00030515e+00] [ 1.80003900e-02 -4.29934043e-04 9.99837887e-01 1.01765452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85925415399998 meters 0.01757327471448686 Centerline is valid? [True, True] Translation: X:152.49, Y:1.00, Z:1.02 [[ 9.98795542e-01 -4.54639201e-02 -1.84525553e-02 1.52488556e+02] [ 4.54652488e-02 9.98965860e-01 -3.47715647e-04 9.96862944e-01] [ 1.84492813e-02 -4.91653182e-04 9.99829677e-01 1.01686361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88925415399999 meters 0.018172937318467804 Centerline is valid? [True, True] Translation: X:152.52, Y:1.00, Z:1.02 [[ 9.98744545e-01 -4.65213765e-02 -1.85767219e-02 1.52518958e+02] [ 4.65229197e-02 9.98917162e-01 -3.49312990e-04 9.95507121e-01] [ 1.85728568e-02 -5.15368896e-04 9.99827377e-01 1.01666967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.919254154 meters 0.019010376600205846 Centerline is valid? [True, True] Translation: X:152.55, Y:0.99, Z:1.02 [[ 9.98688248e-01 -4.76743346e-02 -1.86799822e-02 1.52548399e+02] [ 4.76760994e-02 9.98862787e-01 -3.51096405e-04 9.94352352e-01] [ 1.86754774e-02 -5.39952835e-04 9.99825452e-01 1.01642278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.949254154 meters 0.019397066760973598 Centerline is valid? [True, True] Translation: X:152.58, Y:0.99, Z:1.02 [[ 9.98609237e-01 -4.93955201e-02 -1.84302754e-02 1.52578997e+02] [ 4.93975287e-02 9.98779137e-01 -3.46525172e-04 9.93665785e-01] [ 1.84248913e-02 -5.64366818e-04 9.99830088e-01 1.01657783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.979254154 meters 0.019613728159722493 Centerline is valid? [True, True] Translation: X:152.61, Y:0.99, Z:1.02 [[ 9.98592313e-01 -5.00354548e-02 -1.76024437e-02 1.52609841e+02] [ 5.00373862e-02 9.98747291e-01 -3.30960321e-04 9.94368234e-01] [ 1.75969527e-02 -5.50285842e-04 9.99845010e-01 1.01720308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.009254154 meters 0.020598222463437746 Centerline is valid? [True, True] Translation: X:152.64, Y:0.99, Z:1.02 [[ 9.98556490e-01 -5.08371761e-02 -1.73354571e-02 1.52640177e+02] [ 5.08391732e-02 9.98706800e-01 -3.25755180e-04 9.93784493e-01] [ 1.73295994e-02 -5.56035358e-04 9.99849677e-01 1.01749630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039254154 meters 0.019408834908092133 Centerline is valid? [True, True] Translation: X:152.67, Y:1.00, Z:1.02 [[ 9.98539722e-01 -5.13737263e-02 -1.67082005e-02 1.52671016e+02] [ 5.13756644e-02 9.98679349e-01 -3.13491484e-04 9.96860957e-01] [ 1.67022400e-02 -5.45361202e-04 9.99860359e-01 1.01907227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.069254154 meters 0.02143756605722812 Centerline is valid? [True, True] Translation: X:152.70, Y:0.99, Z:1.02 [[ 9.98530798e-01 -5.18781603e-02 -1.56493291e-02 1.52702075e+02] [ 5.18799336e-02 9.98653287e-01 -2.92909266e-04 9.94854234e-01] [ 1.56434496e-02 -5.19407231e-04 9.99877499e-01 1.01893595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099254154 meters 0.02045778394125309 Centerline is valid? [True, True] Translation: X:152.73, Y:1.00, Z:1.02 [[ 9.98501550e-01 -5.29078548e-02 -1.39790435e-02 1.52734200e+02] [ 5.29093823e-02 9.98599284e-01 -2.60795432e-04 9.98137286e-01] [ 1.39732609e-02 -4.79217914e-04 9.99902254e-01 1.02089637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.129254154 meters 0.020921476165633626 Centerline is valid? [True, True] Translation: X:152.76, Y:1.00, Z:1.02 [[ 9.98501474e-01 -5.31516297e-02 -1.30273180e-02 1.52764874e+02] [ 5.31529860e-02 9.98586351e-01 -2.42350413e-04 9.98376254e-01] [ 1.30217833e-02 -4.50453607e-04 9.99915112e-01 1.02148788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159254154 meters 0.023183621318212947 Centerline is valid? [True, True] Translation: X:152.80, Y:1.00, Z:1.02 [[ 9.98497606e-01 -5.33588199e-02 -1.24646724e-02 1.52796421e+02] [ 5.33600884e-02 9.98575309e-01 -2.31019289e-04 9.96258750e-01] [ 1.24592410e-02 -4.34443814e-04 9.99922286e-01 1.02146946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.189254154 meters 0.021439552168500842 Centerline is valid? [True, True] Translation: X:152.83, Y:1.00, Z:1.02 [[ 9.98489179e-01 -5.36399765e-02 -1.19210474e-02 1.52828360e+02] [ 5.36411699e-02 9.98560252e-01 -2.19840007e-04 1.00064285e+00] [ 1.19156764e-02 -4.19951064e-04 9.99928918e-01 1.02235662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219254154 meters 0.021763855324539984 Centerline is valid? [True, True] Translation: X:152.86, Y:1.00, Z:1.02 [[ 9.98541470e-01 -5.28665600e-02 -1.09571320e-02 1.52859406e+02] [ 5.28675290e-02 9.98601514e-01 -2.01395476e-04 1.00282246e+00] [ 1.09524557e-02 -3.78174759e-04 9.99939949e-01 1.02259660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.249254154 meters 0.019853956566702184 Centerline is valid? [True, True] Translation: X:152.89, Y:1.01, Z:1.02 [[ 9.98602542e-01 -5.16852087e-02 -1.10273051e-02 1.52891471e+02] [ 5.16861256e-02 9.98663358e-01 -2.02013886e-04 1.00785689e+00] [ 1.10230066e-02 -3.68227096e-04 9.99939177e-01 1.02290655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279254154 meters 0.019853956566702184 Centerline is valid? [True, True] Translation: X:152.92, Y:1.01, Z:1.02 [[ 9.98606332e-01 -5.16119341e-02 -1.10273198e-02 1.52923172e+02] [ 5.16128554e-02 9.98667148e-01 -2.01205001e-04 1.00837607e+00] [ 1.10230066e-02 -3.68226877e-04 9.99939177e-01 1.02312615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30925415399997 meters 0.01905928790269176 Centerline is valid? [True, True] Translation: X:152.96, Y:1.01, Z:1.02 [[ 9.98680422e-01 -5.01641727e-02 -1.09986295e-02 1.52955212e+02] [ 5.01650105e-02 9.98740923e-01 -1.99872186e-04 1.01180447e+00] [ 1.09948078e-02 -3.52137923e-04 9.99939493e-01 1.02307699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33925415399997 meters 0.018912390852985492 Centerline is valid? [True, True] Translation: X:152.99, Y:1.02, Z:1.02 [[ 9.98829545e-01 -4.69952674e-02 -1.14448294e-02 1.52986007e+02] [ 4.69959747e-02 9.98895057e-01 -2.07278879e-04 1.01575352e+00] [ 1.14419247e-02 -3.30824644e-04 9.99934484e-01 1.02256709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36925415399998 meters 0.018593618325682407 Centerline is valid? [True, True] Translation: X:153.02, Y:1.02, Z:1.02 [[ 9.98908304e-01 -4.51450203e-02 -1.20052667e-02 1.53017583e+02] [ 4.51456727e-02 9.98980391e-01 -2.16796186e-04 1.01822740e+00] [ 1.20028133e-02 -3.25426331e-04 9.99927911e-01 1.02225935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39925415399998 meters 0.019095604594734115 Centerline is valid? [True, True] Translation: X:153.05, Y:1.02, Z:1.02 [[ 9.98989541e-01 -4.33237799e-02 -1.19560465e-02 1.53048868e+02] [ 4.33243057e-02 9.99061038e-01 -2.15144508e-04 1.01958071e+00] [ 1.19541411e-02 -3.03060300e-04 9.99928501e-01 1.02174456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42925415399998 meters 0.017390405528915125 Centerline is valid? [True, True] Translation: X:153.08, Y:1.02, Z:1.02 [[ 9.99059827e-01 -4.15308391e-02 -1.24359123e-02 1.53081428e+02] [ 4.15312811e-02 9.99137179e-01 -2.22814676e-04 1.02447742e+00] [ 1.24344361e-02 -2.93874179e-04 9.99922646e-01 1.02213759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45925415399998 meters 0.01649831426792646 Centerline is valid? [True, True] Translation: X:153.11, Y:1.03, Z:1.02 [[ 9.99185663e-01 -3.83754227e-02 -1.24634364e-02 1.53112809e+02] [ 3.83756330e-02 9.99263359e-01 -2.22372943e-04 1.03005777e+00] [ 1.24627890e-02 -2.56100405e-04 9.99922304e-01 1.02184812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48925415399998 meters 0.016025732917317476 Centerline is valid? [True, True] Translation: X:153.14, Y:1.03, Z:1.02 [[ 9.99248679e-01 -3.67720503e-02 -1.22431006e-02 1.53144396e+02] [ 3.67721383e-02 9.99323652e-01 -2.17997212e-04 1.03345797e+00] [ 1.22428362e-02 -2.32371561e-04 9.99925027e-01 1.02219932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51925415399998 meters 0.016141578241752393 Centerline is valid? [True, True] Translation: X:153.18, Y:1.03, Z:1.02 [[ 9.99299553e-01 -3.52546887e-02 -1.25503250e-02 1.53175213e+02] [ 3.52546740e-02 9.99378336e-01 -2.22477692e-04 1.03484072e+00] [ 1.25503663e-02 -2.20135758e-04 9.99921217e-01 1.02207311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54925415399998 meters 0.015449532838241863 Centerline is valid? [True, True] Translation: X:153.21, Y:1.04, Z:1.02 [[ 9.99368892e-01 -3.32703235e-02 -1.24460273e-02 1.53207348e+02] [ 3.32701714e-02 9.99446371e-01 -2.19334444e-04 1.03997397e+00] [ 1.24464342e-02 -1.94885441e-04 9.99922521e-01 1.02244499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57925415399998 meters 0.015441838213460195 Centerline is valid? [True, True] Translation: X:153.24, Y:1.04, Z:1.02 [[ 9.99382893e-01 -3.27298084e-02 -1.27511617e-02 1.53238107e+02] [ 3.27296154e-02 9.99464218e-01 -2.23870528e-04 1.04171334e+00] [ 1.27516571e-02 -1.93608244e-04 9.99918676e-01 1.02271801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60925415399998 meters 0.015355302554234097 Centerline is valid? [True, True] Translation: X:153.27, Y:1.04, Z:1.02 [[ 9.99395916e-01 -3.22483825e-02 -1.29555131e-02 1.53269815e+02] [ 3.22481507e-02 9.99479867e-01 -2.26855516e-04 1.04341032e+00] [ 1.29560903e-02 -1.91072863e-04 9.99916048e-01 1.02306391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63925415399999 meters 0.015402798515787202 Centerline is valid? [True, True] Translation: X:153.30, Y:1.05, Z:1.02 [[ 9.99392395e-01 -3.23622561e-02 -1.29431870e-02 1.53300929e+02] [ 3.23620403e-02 9.99476186e-01 -2.26171223e-04 1.04535078e+00] [ 1.29437266e-02 -1.92834140e-04 9.99916208e-01 1.02328278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.669254154 meters 0.01576380287522686 Centerline is valid? [True, True] Translation: X:153.33, Y:1.05, Z:1.02 [[ 9.99324965e-01 -3.43652345e-02 -1.29863619e-02 1.53332064e+02] [ 3.43651924e-02 9.99409317e-01 -2.26453081e-04 1.04659580e+00] [ 1.29864732e-02 -2.19978609e-04 9.99915648e-01 1.02346841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.699254154 meters 0.01618578999397421 Centerline is valid? [True, True] Translation: X:153.36, Y:1.05, Z:1.02 [[ 9.99269373e-01 -3.59628511e-02 -1.29381004e-02 1.53363679e+02] [ 3.59629492e-02 9.99353099e-01 -2.25145457e-04 1.04653735e+00] [ 1.29378276e-02 -2.40311289e-04 9.99916274e-01 1.02386810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.729254154 meters 0.016462002983800638 Centerline is valid? [True, True] Translation: X:153.40, Y:1.05, Z:1.02 [[ 9.99188245e-01 -3.83219368e-02 -1.24209233e-02 1.53395601e+02] [ 3.83222174e-02 9.99265411e-01 -2.15505393e-04 1.04626216e+00] [ 1.24200576e-02 -2.60666866e-04 9.99922834e-01 1.02424668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.759254154 meters 0.016917658259970002 Centerline is valid? [True, True] Translation: X:153.43, Y:1.05, Z:1.02 [[ 9.99094205e-01 -4.08292606e-02 -1.19891684e-02 1.53428051e+02] [ 4.08297128e-02 9.99166098e-01 -2.07152899e-04 1.04569058e+00] [ 1.19876285e-02 -2.82549039e-04 9.99928106e-01 1.02485101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.789254154 meters 0.018243214956635823 Centerline is valid? [True, True] Translation: X:153.46, Y:1.04, Z:1.03 [[ 9.98863713e-01 -4.63761464e-02 -1.09788657e-02 1.53459095e+02] [ 4.63768662e-02 9.98923996e-01 -1.89154107e-04 1.04329583e+00] [ 1.09758246e-02 -3.20226211e-04 9.99939713e-01 1.02562589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819254154 meters 0.019166804290207805 Centerline is valid? [True, True] Translation: X:153.49, Y:1.04, Z:1.03 [[ 9.98743084e-01 -4.89056720e-02 -1.09766993e-02 1.53491265e+02] [ 4.89065488e-02 9.98803341e-01 -1.88691412e-04 1.04226053e+00] [ 1.09727920e-02 -3.48378238e-04 9.99939736e-01 1.02591955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.849254154 meters 0.020593875651582903 Centerline is valid? [True, True] Translation: X:153.52, Y:1.04, Z:1.03 [[ 9.98652284e-01 -5.07060195e-02 -1.10686254e-02 1.53522760e+02] [ 5.07070297e-02 9.98713553e-01 -1.89530550e-04 1.04031160e+00] [ 1.10639966e-02 -3.71982001e-04 9.99938723e-01 1.02553411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879254154 meters 0.021355212780094328 Centerline is valid? [True, True] Translation: X:153.55, Y:1.04, Z:1.03 [[ 9.98590800e-01 -5.17852950e-02 -1.16059425e-02 1.53553436e+02] [ 5.17864851e-02 9.98658160e-01 -1.98165227e-04 1.03993776e+00] [ 1.16006312e-02 -4.03144995e-04 9.99932629e-01 1.02538053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.909254154 meters 0.021773968137004385 Centerline is valid? [True, True] Translation: X:153.58, Y:1.04, Z:1.03 [[ 9.98588535e-01 -5.16720712e-02 -1.22855393e-02 1.53584212e+02] [ 5.16734029e-02 9.98664015e-01 -2.09222462e-04 1.04121254e+00] [ 1.22799370e-02 -4.25908470e-04 9.99924508e-01 1.02504581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939254154 meters 0.020289921886899636 Centerline is valid? [True, True] Translation: X:153.62, Y:1.05, Z:1.03 [[ 9.98645415e-01 -5.05996643e-02 -1.21247639e-02 1.53616084e+02] [ 5.06008914e-02 9.98718933e-01 -2.05744827e-04 1.04500948e+00] [ 1.21196419e-02 -4.08057733e-04 9.99926471e-01 1.02545646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.969254154 meters 0.018926321475579388 Centerline is valid? [True, True] Translation: X:153.65, Y:1.05, Z:1.03 [[ 9.98745466e-01 -4.86204974e-02 -1.19808912e-02 1.53648456e+02] [ 4.86215637e-02 9.98817252e-01 -2.02431964e-04 1.04817490e+00] [ 1.19765632e-02 -3.80351658e-04 9.99928206e-01 1.02615168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999254154 meters 0.018657553782170308 Centerline is valid? [True, True] Translation: X:153.68, Y:1.05, Z:1.03 [[ 9.98975134e-01 -4.38318660e-02 -1.12893114e-02 1.53678920e+02] [ 4.38325135e-02 9.99038875e-01 -1.90181381e-04 1.05109602e+00] [ 1.12867970e-02 -3.04852423e-04 9.99936256e-01 1.02694262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.029254154 meters 0.017707417106172154 Centerline is valid? [True, True] Translation: X:153.71, Y:1.05, Z:1.03 [[ 9.99105327e-01 -4.07877356e-02 -1.11761543e-02 1.53711656e+02] [ 4.07881864e-02 9.99167798e-01 -1.87690642e-04 1.05411637e+00] [ 1.11745089e-02 -2.68332343e-04 9.99937527e-01 1.02774146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05925415399997 meters 0.017086154915497784 Centerline is valid? [True, True] Translation: X:153.74, Y:1.06, Z:1.03 [[ 9.99206353e-01 -3.83757368e-02 -1.06755343e-02 1.53743587e+02] [ 3.83760210e-02 9.99263353e-01 -1.78304110e-04 1.05704425e+00] [ 1.06745127e-02 -2.31521927e-04 9.99942999e-01 1.02822263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08925415399997 meters 0.016155839833125324 Centerline is valid? [True, True] Translation: X:153.78, Y:1.06, Z:1.03 [[ 9.99299770e-01 -3.59166618e-02 -1.04863264e-02 1.53776003e+02] [ 3.59168085e-02 9.99354768e-01 -1.74397264e-04 1.06055369e+00] [ 1.04858241e-02 -2.02360233e-04 9.99945002e-01 1.02871463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11925415399998 meters 0.016056943936119665 Centerline is valid? [True, True] Translation: X:153.81, Y:1.06, Z:1.03 [[ 9.99422049e-01 -3.23320157e-02 -1.04980715e-02 1.53806749e+02] [ 3.23319717e-02 9.99477170e-01 -1.73953726e-04 1.06256457e+00] [ 1.04982071e-02 -1.65570160e-04 9.99944879e-01 1.02810638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14925415399998 meters 0.015919311390891543 Centerline is valid? [True, True] Translation: X:153.84, Y:1.06, Z:1.03 [[ 9.99449500e-01 -3.12525256e-02 -1.11344419e-02 1.53838481e+02] [ 3.12524154e-02 9.99511507e-01 -1.83939245e-04 1.06352733e+00] [ 1.11347514e-02 -1.64140217e-04 9.99937993e-01 1.02776824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17925415399998 meters 0.015570981199384744 Centerline is valid? [True, True] Translation: X:153.87, Y:1.06, Z:1.03 [[ 9.99452798e-01 -3.10166814e-02 -1.14921477e-02 1.53871004e+02] [ 3.10165578e-02 9.99518853e-01 -1.89028460e-04 1.06423195e+00] [ 1.14924814e-02 -1.67521842e-04 9.99933945e-01 1.02734208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20925415399998 meters 0.01610188229054289 Centerline is valid? [True, True] Translation: X:153.90, Y:1.06, Z:1.03 [[ 9.99389182e-01 -3.25085912e-02 -1.28240116e-02 1.53902031e+02] [ 3.25085711e-02 9.99471435e-01 -2.10078761e-04 1.06294730e+00] [ 1.28240626e-02 -2.06939850e-04 9.99917747e-01 1.02606825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23925415399998 meters 0.016237969917545815 Centerline is valid? [True, True] Translation: X:153.93, Y:1.06, Z:1.03 [[ 9.99334690e-01 -3.39712441e-02 -1.32714487e-02 1.53933426e+02] [ 3.39713595e-02 9.99422783e-01 -2.16807760e-04 1.06321131e+00] [ 1.32711534e-02 -2.34185639e-04 9.99911907e-01 1.02629797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26925415399998 meters 0.017113789954285186 Centerline is valid? [True, True] Translation: X:153.96, Y:1.06, Z:1.03 [[ 9.99262153e-01 -3.58000236e-02 -1.39107137e-02 1.53964757e+02] [ 3.58003362e-02 9.99358937e-01 -2.26627172e-04 1.06191492e+00] [ 1.39099093e-02 -2.71548272e-04 9.99903216e-01 1.02605866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29925415399998 meters 0.016553504705669537 Centerline is valid? [True, True] Translation: X:154.00, Y:1.06, Z:1.03 [[ 9.99180109e-01 -3.78064800e-02 -1.44837962e-02 1.53997153e+02] [ 3.78070431e-02 9.99285031e-01 -2.35028461e-04 1.06334633e+00] [ 1.44823263e-02 -3.12753744e-04 9.99895077e-01 1.02687524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32925415399998 meters 0.018568117556072315 Centerline is valid? [True, True] Translation: X:154.03, Y:1.06, Z:1.03 [[ 9.98993413e-01 -4.22590213e-02 -1.50444603e-02 1.54027518e+02] [ 4.22601435e-02 9.99106611e-01 -2.43450463e-04 1.06008181e+00] [ 1.50413077e-02 -3.92575642e-04 9.99886796e-01 1.02646655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35925415399998 meters 0.01972988102932393 Centerline is valid? [True, True] Translation: X:154.06, Y:1.06, Z:1.03 [[ 9.98891698e-01 -4.46477029e-02 -1.48982492e-02 1.54058371e+02] [ 4.46490749e-02 9.99002704e-01 -2.40672192e-04 1.05701507e+00] [ 1.48941367e-02 -4.24787592e-04 9.99888986e-01 1.02674021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38925415399999 meters 0.020627708481163718 Centerline is valid? [True, True] Translation: X:154.09, Y:1.06, Z:1.03 [[ 9.98807751e-01 -4.64687644e-02 -1.49576508e-02 1.54089885e+02] [ 4.64703614e-02 9.98919640e-01 -2.40964070e-04 1.05561975e+00] [ 1.49526885e-02 -4.54410660e-04 9.99888099e-01 1.02701635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.419254154 meters 0.019847936077168907 Centerline is valid? [True, True] Translation: X:154.12, Y:1.06, Z:1.03 [[ 9.98738101e-01 -4.81428190e-02 -1.42994770e-02 1.54122125e+02] [ 4.81444624e-02 9.98840357e-01 -2.29485791e-04 1.05728917e+00] [ 1.42939428e-02 -4.59244429e-04 9.99897731e-01 1.02832172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.449254154 meters 0.02157370092229044 Centerline is valid? [True, True] Translation: X:154.15, Y:1.06, Z:1.03 [[ 9.98641963e-01 -5.05264812e-02 -1.27005630e-02 1.54153004e+02] [ 5.05279849e-02 9.98722625e-01 -2.02660007e-04 1.05510145e+00] [ 1.26945793e-02 -4.39349066e-04 9.99919324e-01 1.02911412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.479254154 meters 0.021686728590214296 Centerline is valid? [True, True] Translation: X:154.19, Y:1.06, Z:1.03 [[ 9.98625174e-01 -5.09581143e-02 -1.22895303e-02 1.54185382e+02] [ 5.09595698e-02 9.98700698e-01 -1.94884602e-04 1.05546084e+00] [ 1.22834935e-02 -4.31652508e-04 9.99924462e-01 1.03009738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.509254154 meters 0.022972002963349534 Centerline is valid? [True, True] Translation: X:154.22, Y:1.06, Z:1.03 [[ 9.98649841e-01 -5.05097980e-02 -1.21348775e-02 1.54216715e+02] [ 5.05111933e-02 9.98723477e-01 -1.91675650e-04 1.05560791e+00] [ 1.21290686e-02 -4.21530285e-04 9.99926351e-01 1.02958124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.539254154 meters 0.02127777851810738 Centerline is valid? [True, True] Translation: X:154.25, Y:1.06, Z:1.03 [[ 9.98722382e-01 -4.91906039e-02 -1.15709643e-02 1.54249080e+02] [ 4.91917918e-02 9.98789334e-01 -1.82094692e-04 1.05899032e+00] [ 1.15659131e-02 -3.87334423e-04 9.99933038e-01 1.03091589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.569254154 meters 0.020443112592886427 Centerline is valid? [True, True] Translation: X:154.28, Y:1.06, Z:1.03 [[ 9.98794956e-01 -4.77047375e-02 -1.15279848e-02 1.54281467e+02] [ 4.77058271e-02 9.98861413e-01 -1.80607075e-04 1.06150933e+00] [ 1.15234750e-02 -3.69562614e-04 9.99933534e-01 1.03136855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599254154 meters 0.020223366164276616 Centerline is valid? [True, True] Translation: X:154.31, Y:1.06, Z:1.03 [[ 9.98876941e-01 -4.60159628e-02 -1.12866165e-02 1.54313200e+02] [ 4.60169084e-02 9.98940645e-01 -1.76037922e-04 1.06264627e+00] [ 1.12827605e-02 -3.43534978e-04 9.99936289e-01 1.03178818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.629254154 meters 0.01965436814468075 Centerline is valid? [True, True] Translation: X:154.35, Y:1.06, Z:1.03 [[ 9.98950366e-01 -4.43924136e-02 -1.12906718e-02 1.54345108e+02] [ 4.43932652e-02 9.99014118e-01 -1.75308256e-04 1.06496914e+00] [ 1.12873229e-02 -3.26105540e-04 9.99936243e-01 1.03223368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659254154 meters 0.01865539312791078 Centerline is valid? [True, True] Translation: X:154.38, Y:1.07, Z:1.03 [[ 9.99089102e-01 -4.10072547e-02 -1.18055830e-02 1.54375829e+02] [ 4.10079576e-02 9.99158803e-01 -1.82626356e-04 1.06883468e+00] [ 1.18031412e-02 -3.01662847e-04 9.99930295e-01 1.03247691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.689254154 meters 0.018732126538332013 Centerline is valid? [True, True] Translation: X:154.41, Y:1.07, Z:1.03 [[ 9.99150828e-01 -3.94029075e-02 -1.20430060e-02 1.54406776e+02] [ 3.94035286e-02 9.99223362e-01 -1.85789462e-04 1.06989942e+00] [ 1.20409736e-02 -2.88905237e-04 9.99927463e-01 1.03242493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719254154 meters 0.017697047240507816 Centerline is valid? [True, True] Translation: X:154.44, Y:1.07, Z:1.03 [[ 9.99200376e-01 -3.79176442e-02 -1.26830799e-02 1.54439376e+02] [ 3.79182255e-02 9.99280827e-01 -1.94720965e-04 1.07292809e+00] [ 1.26813420e-02 -2.86354624e-04 9.99919548e-01 1.03245203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.749254154 meters 0.017195653998861384 Centerline is valid? [True, True] Translation: X:154.47, Y:1.08, Z:1.03 [[ 9.99274918e-01 -3.54629918e-02 -1.38568949e-02 1.54470327e+02] [ 3.54634651e-02 9.99370951e-01 -2.11640861e-04 1.07567193e+00] [ 1.38556837e-02 -2.79926105e-04 9.99903966e-01 1.03066847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77925415399997 meters 0.0171914883698933 Centerline is valid? [True, True] Translation: X:154.50, Y:1.08, Z:1.03 [[ 9.99298118e-01 -3.43683355e-02 -1.49026717e-02 1.54502365e+02] [ 3.43687749e-02 9.99409193e-01 -2.26697343e-04 1.07753674e+00] [ 1.49016583e-02 -2.85648341e-04 9.99888923e-01 1.02981247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80925415399997 meters 0.015249088155797997 Centerline is valid? [True, True] Translation: X:154.53, Y:1.08, Z:1.03 [[ 9.99328697e-01 -3.32990353e-02 -1.52751205e-02 1.54534005e+02] [ 3.32993841e-02 9.99445395e-01 -2.31580588e-04 1.08280874e+00] [ 1.52743602e-02 -2.77226976e-04 9.99883302e-01 1.03095032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83925415399997 meters 0.01530936654507407 Centerline is valid? [True, True] Translation: X:154.57, Y:1.08, Z:1.03 [[ 9.99341992e-01 -3.24781971e-02 -1.61477585e-02 1.54565788e+02] [ 3.24784895e-02 9.99472405e-01 -2.44204323e-04 1.08434270e+00] [ 1.61471704e-02 -2.80411171e-04 9.99869587e-01 1.03042896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86925415399998 meters 0.014817870883755926 Centerline is valid? [True, True] Translation: X:154.60, Y:1.09, Z:1.03 [[ 9.99366034e-01 -3.08634583e-02 -1.77475925e-02 1.54597130e+02] [ 3.08635692e-02 9.99523571e-01 -2.67715140e-04 1.08816240e+00] [ 1.77473996e-02 -2.80208631e-04 9.99842463e-01 1.02994192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89925415399998 meters 0.01511952623339877 Centerline is valid? [True, True] Translation: X:154.63, Y:1.09, Z:1.03 [[ 9.99384004e-01 -3.00009681e-02 -1.82086613e-02 1.54627006e+02] [ 3.00009477e-02 9.99549833e-01 -2.74340393e-04 1.08859813e+00] [ 1.82086949e-02 -2.72105697e-04 9.99834171e-01 1.02898022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92925415399998 meters 0.014841146217435276 Centerline is valid? [True, True] Translation: X:154.66, Y:1.09, Z:1.03 [[ 9.99388408e-01 -2.95105502e-02 -1.87600087e-02 1.54656690e+02] [ 2.95104349e-02 9.99564432e-01 -2.83039173e-04 1.09113215e+00] [ 1.87601901e-02 -2.70749945e-04 9.99823975e-01 1.02987031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95925415399998 meters 0.014716578210005294 Centerline is valid? [True, True] Translation: X:154.69, Y:1.09, Z:1.03 [[ 9.99404222e-01 -2.90762516e-02 -1.85949788e-02 1.54686448e+02] [ 2.90760506e-02 9.99577163e-01 -2.81228474e-04 1.09305174e+00] [ 1.85952932e-02 -2.59607620e-04 9.99827059e-01 1.03047460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98925415399998 meters 0.014851162858546924 Centerline is valid? [True, True] Translation: X:154.72, Y:1.09, Z:1.03 [[ 9.99421440e-01 -2.87165769e-02 -1.82248205e-02 1.54715671e+02] [ 2.87163156e-02 9.99587563e-01 -2.76085259e-04 1.09433525e+00] [ 1.82252321e-02 -2.47424170e-04 9.99833876e-01 1.03102488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01925415399998 meters 0.014705230854027446 Centerline is valid? [True, True] Translation: X:154.74, Y:1.10, Z:1.03 [[ 9.99455248e-01 -2.83989776e-02 -1.68138367e-02 1.54744865e+02] [ 2.83987024e-02 9.99596643e-01 -2.55182805e-04 1.09658958e+00] [ 1.68143017e-02 -2.22447351e-04 9.99858605e-01 1.03312876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04925415399998 meters 0.01468346061409296 Centerline is valid? [True, True] Translation: X:154.78, Y:1.10, Z:1.03 [[ 9.99460981e-01 -2.86333364e-02 -1.60586192e-02 1.54775657e+02] [ 2.86331117e-02 9.99589959e-01 -2.43959194e-04 1.09751949e+00] [ 1.60590198e-02 -2.15980541e-04 9.99871022e-01 1.03407009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07925415399998 meters 0.014787894349501418 Centerline is valid? [True, True] Translation: X:154.81, Y:1.10, Z:1.03 [[ 9.99453845e-01 -2.91947506e-02 -1.54815714e-02 1.54805993e+02] [ 2.91946170e-02 9.99573719e-01 -2.34680099e-04 1.09779194e+00] [ 1.54818233e-02 -2.17426621e-04 9.99880126e-01 1.03437630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10925415399998 meters 0.01498578854808488 Centerline is valid? [True, True] Translation: X:154.84, Y:1.10, Z:1.03 [[ 9.99428895e-01 -3.00932818e-02 -1.53713688e-02 1.54837068e+02] [ 3.00932674e-02 9.99547068e-01 -2.32292989e-04 1.09829485e+00] [ 1.53713971e-02 -2.30414385e-04 9.99881827e-01 1.03482699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13925415399999 meters 0.015307609611086148 Centerline is valid? [True, True] Translation: X:154.87, Y:1.10, Z:1.03 [[ 9.99339348e-01 -3.28569653e-02 -1.55334549e-02 1.54868701e+02] [ 3.28572930e-02 9.99460026e-01 -2.34177847e-04 1.09791744e+00] [ 1.55327616e-02 -2.76364142e-04 9.99879321e-01 1.03469666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.169254154 meters 0.016467582528609234 Centerline is valid? [True, True] Translation: X:154.90, Y:1.10, Z:1.03 [[ 9.99268931e-01 -3.48615324e-02 -1.56932337e-02 1.54899334e+02] [ 3.48621204e-02 9.99392104e-01 -2.36174767e-04 1.09596721e+00] [ 1.56919273e-02 -3.11097298e-04 9.99876826e-01 1.03388776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.199254154 meters 0.016467582528609234 Centerline is valid? [True, True] Translation: X:154.93, Y:1.10, Z:1.03 [[ 9.99270150e-01 -3.48265580e-02 -1.56932402e-02 1.54930183e+02] [ 3.48271485e-02 9.99393323e-01 -2.35743329e-04 1.09639956e+00] [ 1.56919296e-02 -3.10979536e-04 9.99876826e-01 1.03410153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.229254154 meters 0.017091061507057016 Centerline is valid? [True, True] Translation: X:154.96, Y:1.10, Z:1.03 [[ 9.99200850e-01 -3.67109835e-02 -1.58102682e-02 1.54961837e+02] [ 3.67118274e-02 9.99325866e-01 -2.36947070e-04 1.09550843e+00] [ 1.58083085e-02 -3.43666123e-04 9.99874982e-01 1.03415964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259254154 meters 0.01873756717878061 Centerline is valid? [True, True] Translation: X:154.99, Y:1.09, Z:1.03 [[ 9.99051707e-01 -4.03567961e-02 -1.63405998e-02 1.54991925e+02] [ 4.03581916e-02 9.99185246e-01 -2.44482348e-04 1.09298285e+00] [ 1.63371527e-02 -4.15226550e-04 9.99866454e-01 1.03388866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.289254154 meters 0.018478960521366345 Centerline is valid? [True, True] Translation: X:155.02, Y:1.09, Z:1.03 [[ 9.98986478e-01 -4.18003574e-02 -1.66956974e-02 1.55023892e+02] [ 4.18020293e-02 9.99125882e-01 -2.48984453e-04 1.09401215e+00] [ 1.66915110e-02 -4.49181929e-04 9.99860586e-01 1.03456920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319254154 meters 0.019509355918469414 Centerline is valid? [True, True] Translation: X:155.05, Y:1.09, Z:1.03 [[ 9.98937074e-01 -4.28447011e-02 -1.70015632e-02 1.55054828e+02] [ 4.28466033e-02 9.99081631e-01 -2.52519652e-04 1.09283029e+00] [ 1.69967686e-02 -4.76207990e-04 9.99855431e-01 1.03440788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.349254154 meters 0.02006749103757901 Centerline is valid? [True, True] Translation: X:155.09, Y:1.09, Z:1.03 [[ 9.98901609e-01 -4.35442311e-02 -1.73053768e-02 1.55087047e+02] [ 4.35463256e-02 9.99051376e-01 -2.55952473e-04 1.09287303e+00] [ 1.73001058e-02 -4.97914235e-04 9.99850218e-01 1.03440115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379254154 meters 0.018444598129558346 Centerline is valid? [True, True] Translation: X:155.12, Y:1.10, Z:1.04 [[ 9.98854856e-01 -4.42418752e-02 -1.82107985e-02 1.55119530e+02] [ 4.42443345e-02 9.99020704e-01 -2.68027518e-04 1.09708167e+00] [ 1.82048228e-02 -5.38004073e-04 9.99834134e-01 1.03546668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.409254154 meters 0.020425505675401728 Centerline is valid? [True, True] Translation: X:155.15, Y:1.09, Z:1.03 [[ 9.98850924e-01 -4.38870989e-02 -1.92549804e-02 1.55150687e+02] [ 4.38898210e-02 9.99036338e-01 -2.81396735e-04 1.09491939e+00] [ 1.92487748e-02 -5.64024255e-04 9.99814566e-01 1.03405233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439254154 meters 0.01842440822982055 Centerline is valid? [True, True] Translation: X:155.18, Y:1.10, Z:1.04 [[ 9.98865510e-01 -4.34322071e-02 -1.95278426e-02 1.55183166e+02] [ 4.34349543e-02 9.99056217e-01 -2.83635291e-04 1.09946556e+00] [ 1.95217315e-02 -5.64877442e-04 9.99809273e-01 1.03526489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.469254154 meters 0.018689150915116807 Centerline is valid? [True, True] Translation: X:155.21, Y:1.10, Z:1.03 [[ 9.98879067e-01 -4.28123350e-02 -2.01919313e-02 1.55213999e+02] [ 4.28151888e-02 9.99082967e-01 -2.91148779e-04 1.10029568e+00] [ 2.01858793e-02 -5.73698927e-04 9.99796080e-01 1.03485404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499254154 meters 0.01801147361550126 Centerline is valid? [True, True] Translation: X:155.25, Y:1.10, Z:1.03 [[ 9.98944862e-01 -4.06071466e-02 -2.14527769e-02 1.55245529e+02] [ 4.06098904e-02 9.99175031e-01 -3.07914766e-04 1.10374697e+00] [ 2.14475826e-02 -5.63605045e-04 9.99769815e-01 1.03442614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52925415399997 meters 0.017789599646833475 Centerline is valid? [True, True] Translation: X:155.28, Y:1.11, Z:1.03 [[ 9.98999933e-01 -3.90459238e-02 -2.17841634e-02 1.55276216e+02] [ 3.90483933e-02 9.99237272e-01 -3.12157016e-04 1.10545344e+00] [ 2.17797364e-02 -5.38791740e-04 9.99762648e-01 1.03441349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55925415399997 meters 0.01773724011804656 Centerline is valid? [True, True] Translation: X:155.31, Y:1.11, Z:1.03 [[ 9.99061411e-01 -3.74641861e-02 -2.17423998e-02 1.55305437e+02] [ 3.74662768e-02 9.99297844e-01 -3.11328047e-04 1.10718275e+00] [ 2.17387969e-02 -5.03570932e-04 9.99763558e-01 1.03452034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58925415399997 meters 0.01735508828146973 Centerline is valid? [True, True] Translation: X:155.34, Y:1.11, Z:1.04 [[ 9.99102123e-01 -3.61917770e-02 -2.20250426e-02 1.55335810e+02] [ 3.61936146e-02 9.99344747e-01 -3.15323954e-04 1.10951728e+00] [ 2.20220228e-02 -4.82125072e-04 9.99757370e-01 1.03509776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61925415399998 meters 0.01679596725893796 Centerline is valid? [True, True] Translation: X:155.37, Y:1.11, Z:1.04 [[ 9.99172102e-01 -3.40491791e-02 -2.22657710e-02 1.55366187e+02] [ 3.40505254e-02 9.99420062e-01 -3.18770368e-04 1.11307794e+00] [ 2.22637121e-02 -4.39654743e-04 9.99752036e-01 1.03615532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64925415399998 meters 0.01577236917976163 Centerline is valid? [True, True] Translation: X:155.40, Y:1.12, Z:1.04 [[ 9.99193250e-01 -3.32122710e-02 -2.25786158e-02 1.55395734e+02] [ 3.32134290e-02 9.99448229e-01 -3.23819614e-04 1.11650168e+00] [ 2.25769124e-02 -4.26354882e-04 9.99745018e-01 1.03793095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67925415399998 meters 0.016726425617461925 Centerline is valid? [True, True] Translation: X:155.42, Y:1.12, Z:1.04 [[ 9.99193563e-01 -3.29371614e-02 -2.29644856e-02 1.55424143e+02] [ 3.29382548e-02 9.99457334e-01 -3.30745904e-04 1.11513173e+00] [ 2.29629174e-02 -4.25930900e-04 9.99736227e-01 1.03618317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70925415399998 meters 0.016723953955021832 Centerline is valid? [True, True] Translation: X:155.45, Y:1.12, Z:1.04 [[ 9.99180729e-01 -3.32835653e-02 -2.30233489e-02 1.55452383e+02] [ 3.32846558e-02 9.99445856e-01 -3.35952548e-04 1.11615501e+00] [ 2.30217724e-02 -4.30646933e-04 9.99734871e-01 1.03673800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73925415399998 meters 0.01610078440830727 Centerline is valid? [True, True] Translation: X:155.48, Y:1.12, Z:1.04 [[ 9.99150771e-01 -3.43325898e-02 -2.27817979e-02 1.55482225e+02] [ 3.43338794e-02 9.99410363e-01 -3.34648293e-04 1.11826703e+00] [ 2.27798543e-02 -4.47823403e-04 9.99740405e-01 1.03904432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76925415399998 meters 0.0180114284621665 Centerline is valid? [True, True] Translation: X:155.51, Y:1.12, Z:1.04 [[ 9.99106587e-01 -3.56387304e-02 -2.27136359e-02 1.55510581e+02] [ 3.56403246e-02 9.99364626e-01 -3.34748363e-04 1.11528521e+00] [ 2.27111343e-02 -4.75072065e-04 9.99741956e-01 1.03715186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79925415399998 meters 0.01670488022858951 Centerline is valid? [True, True] Translation: X:155.54, Y:1.12, Z:1.04 [[ 9.99069255e-01 -3.67971266e-02 -2.25076631e-02 1.55540563e+02] [ 3.67989649e-02 9.99322633e-01 -3.32644903e-04 1.11848419e+00] [ 2.25046575e-02 -4.95923407e-04 9.99746615e-01 1.03993863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82925415399998 meters 0.01779637320158796 Centerline is valid? [True, True] Translation: X:155.57, Y:1.12, Z:1.04 [[ 9.99018536e-01 -3.80153738e-02 -2.27331368e-02 1.55570186e+02] [ 3.80175521e-02 9.99277015e-01 -3.36512336e-04 1.11704295e+00] [ 2.27294937e-02 -5.28076150e-04 9.99741512e-01 1.03915596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85925415399998 meters 0.017338295163114168 Centerline is valid? [True, True] Translation: X:155.60, Y:1.12, Z:1.04 [[ 9.98994249e-01 -3.90208177e-02 -2.20876932e-02 1.55601055e+02] [ 3.90231169e-02 9.99238255e-01 -3.27078456e-04 1.11851588e+00] [ 2.20836308e-02 -5.35181135e-04 9.99755984e-01 1.04037321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88925415399999 meters 0.01844465758401824 Centerline is valid? [True, True] Translation: X:155.63, Y:1.12, Z:1.04 [[ 9.98943070e-01 -4.03385633e-02 -2.20350554e-02 1.55631677e+02] [ 4.03411778e-02 9.99185910e-01 -3.26028875e-04 1.11775566e+00] [ 2.20302684e-02 -5.63235803e-04 9.99757146e-01 1.04022427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.919254154 meters 0.017473143104609526 Centerline is valid? [True, True] Translation: X:155.66, Y:1.12, Z:1.04 [[ 9.98926898e-01 -4.07852927e-02 -2.19456752e-02 1.55662519e+02] [ 4.07880084e-02 9.99167770e-01 -3.24035931e-04 1.12047809e+00] [ 2.19406273e-02 -5.71432179e-04 9.99759112e-01 1.04153166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.949254154 meters 0.017732797889072498 Centerline is valid? [True, True] Translation: X:155.69, Y:1.12, Z:1.04 [[ 9.98912660e-01 -4.10071965e-02 -2.21789718e-02 1.55693705e+02] [ 4.10100430e-02 9.99158681e-01 -3.26673018e-04 1.12127744e+00] [ 2.21737081e-02 -5.83242772e-04 9.99753963e-01 1.04167695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.979254154 meters 0.017289087371498278 Centerline is valid? [True, True] Translation: X:155.72, Y:1.12, Z:1.04 [[ 9.98959522e-01 -4.03163707e-02 -2.13181511e-02 1.55724640e+02] [ 4.03188540e-02 9.99186815e-01 -3.13489202e-04 1.12403655e+00] [ 2.13134543e-02 -5.46360399e-04 9.99772693e-01 1.04245748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.009254154 meters 0.01778169173084274 Centerline is valid? [True, True] Translation: X:155.76, Y:1.12, Z:1.04 [[ 9.98984393e-01 -3.99837716e-02 -2.07720882e-02 1.55755103e+02] [ 3.99860651e-02 9.99200191e-01 -3.05084116e-04 1.12408932e+00] [ 2.07676729e-02 -5.25819801e-04 9.99784190e-01 1.04232031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039254154 meters 0.017733046297354036 Centerline is valid? [True, True] Translation: X:155.79, Y:1.13, Z:1.04 [[ 9.99006020e-01 -3.95883854e-02 -2.04873529e-02 1.55786587e+02] [ 3.95905458e-02 9.99215942e-01 -3.00292636e-04 1.12528354e+00] [ 2.04831777e-02 -5.11111331e-04 9.99790067e-01 1.04276415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.069254154 meters 0.017307096103684833 Centerline is valid? [True, True] Translation: X:155.82, Y:1.13, Z:1.04 [[ 9.99061666e-01 -3.87617210e-02 -1.93213836e-02 1.55817537e+02] [ 3.87634967e-02 9.99248373e-01 -2.82745824e-04 1.12691938e+00] [ 1.93178208e-02 -4.66483874e-04 9.99813285e-01 1.04306427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099254154 meters 0.016948566856658874 Centerline is valid? [True, True] Translation: X:155.85, Y:1.13, Z:1.04 [[ 9.99088467e-01 -3.83529938e-02 -1.87425375e-02 1.55848906e+02] [ 3.83546031e-02 9.99264154e-01 -2.73725085e-04 1.12828891e+00] [ 1.87392440e-02 -4.45387011e-04 9.99824306e-01 1.04318996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.129254154 meters 0.016855892149568206 Centerline is valid? [True, True] Translation: X:155.88, Y:1.13, Z:1.04 [[ 9.99092216e-01 -3.81856601e-02 -1.88838293e-02 1.55880450e+02] [ 3.81872770e-02 9.99270562e-01 -2.75097404e-04 1.12937921e+00] [ 1.88805595e-02 -4.46274343e-04 9.99821647e-01 1.04347532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159254154 meters 0.017168996462455944 Centerline is valid? [True, True] Translation: X:155.91, Y:1.13, Z:1.04 [[ 9.99100956e-01 -3.79929171e-02 -1.88100557e-02 1.55911148e+02] [ 3.79945042e-02 9.99277911e-01 -2.73119991e-04 1.12970151e+00] [ 1.88068498e-02 -4.41804295e-04 9.99823038e-01 1.04291205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.189254154 meters 0.016812157498291132 Centerline is valid? [True, True] Translation: X:155.94, Y:1.13, Z:1.04 [[ 9.99120309e-01 -3.76056097e-02 -1.85587438e-02 1.55942805e+02] [ 3.76071027e-02 9.99292567e-01 -2.68671463e-04 1.13100836e+00] [ 1.85557183e-02 -4.29505469e-04 9.99827736e-01 1.04338767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219254154 meters 0.01683807052723356 Centerline is valid? [True, True] Translation: X:155.97, Y:1.13, Z:1.04 [[ 9.99113257e-01 -3.79502776e-02 -1.82339024e-02 1.55974046e+02] [ 3.79517882e-02 9.99279537e-01 -2.63305587e-04 1.13156415e+00] [ 1.82307581e-02 -4.28937101e-04 9.99833714e-01 1.04340873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.249254154 meters 0.017693177336639113 Centerline is valid? [True, True] Translation: X:156.00, Y:1.13, Z:1.04 [[ 9.99097033e-01 -3.85219559e-02 -1.79214082e-02 1.56004825e+02] [ 3.85235223e-02 9.99257660e-01 -2.57941572e-04 1.13007685e+00] [ 1.79180408e-02 -4.32687107e-04 9.99839365e-01 1.04291830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27925415399997 meters 0.01730686712583537 Centerline is valid? [True, True] Translation: X:156.04, Y:1.13, Z:1.04 [[ 9.99069319e-01 -3.91472923e-02 -1.81103783e-02 1.56037471e+02] [ 3.91490164e-02 9.99233350e-01 -2.59457026e-04 1.13127037e+00] [ 1.81066510e-02 -4.49787940e-04 9.99835960e-01 1.04363955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30925415399997 meters 0.017382575509263382 Centerline is valid? [True, True] Translation: X:156.07, Y:1.13, Z:1.04 [[ 9.99030412e-01 -4.00827728e-02 -1.82101026e-02 1.56069738e+02] [ 4.00846958e-02 9.99196252e-01 -2.59540463e-04 1.13142074e+00] [ 1.82058694e-02 -4.70657608e-04 9.99834149e-01 1.04411705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33925415399997 meters 0.017827899646684554 Centerline is valid? [True, True] Translation: X:156.10, Y:1.13, Z:1.04 [[ 9.98985089e-01 -4.12616513e-02 -1.80629196e-02 1.56101737e+02] [ 4.12637598e-02 9.99148256e-01 -2.56116100e-04 1.13075578e+00] [ 1.80581024e-02 -4.89487812e-04 9.99836819e-01 1.04405369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36925415399998 meters 0.01926286649294747 Centerline is valid? [True, True] Translation: X:156.13, Y:1.13, Z:1.04 [[ 9.98860919e-01 -4.40548064e-02 -1.83313549e-02 1.56133297e+02] [ 4.40574688e-02 9.99028965e-01 -2.58779674e-04 1.12824369e+00] [ 1.83249550e-02 -5.49148193e-04 9.99831933e-01 1.04333230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39925415399998 meters 0.018689289781547786 Centerline is valid? [True, True] Translation: X:156.17, Y:1.13, Z:1.04 [[ 9.98812850e-01 -4.50623531e-02 -1.85006839e-02 1.56165869e+02] [ 4.50652605e-02 9.98984011e-01 -2.59933974e-04 1.12901431e+00] [ 1.84936006e-02 -5.74112745e-04 9.99828814e-01 1.04399006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42925415399998 meters 0.019117322452653955 Centerline is valid? [True, True] Translation: X:156.20, Y:1.13, Z:1.04 [[ 9.98755721e-01 -4.64047292e-02 -1.82649948e-02 1.56197799e+02] [ 4.64078117e-02 9.98922544e-01 -2.55282842e-04 1.12870507e+00] [ 1.82571614e-02 -5.92673240e-04 9.99833148e-01 1.04409979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45925415399998 meters 0.020349915613229203 Centerline is valid? [True, True] Translation: X:156.23, Y:1.13, Z:1.04 [[ 9.98664733e-01 -4.84345532e-02 -1.79678734e-02 1.56228668e+02] [ 4.84378842e-02 9.98826165e-01 -2.50021027e-04 1.12706904e+00] [ 1.79588917e-02 -6.20638587e-04 9.99838533e-01 1.04424907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48925415399998 meters 0.020995494234371605 Centerline is valid? [True, True] Translation: X:156.26, Y:1.13, Z:1.04 [[ 9.98641073e-01 -4.89839011e-02 -1.77928467e-02 1.56259478e+02] [ 4.89872717e-02 9.98799372e-01 -2.46621264e-04 1.12674471e+00] [ 1.77835646e-02 -6.25336892e-04 9.99841664e-01 1.04444038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51925415399998 meters 0.02073480023790409 Centerline is valid? [True, True] Translation: X:156.29, Y:1.13, Z:1.05 [[ 9.98656264e-01 -4.89818344e-02 -1.69247262e-02 1.56291545e+02] [ 4.89849020e-02 9.98799492e-01 -2.33510097e-04 1.12777066e+00] [ 1.69158457e-02 -5.95859734e-04 9.99856739e-01 1.04536146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54925415399998 meters 0.01990383625709829 Centerline is valid? [True, True] Translation: X:156.32, Y:1.13, Z:1.05 [[ 9.98696547e-01 -4.82378965e-02 -1.66826978e-02 1.56323940e+02] [ 4.82407934e-02 9.98835709e-01 -2.28960637e-04 1.12992890e+00] [ 1.66743188e-02 -5.76124379e-04 9.99860808e-01 1.04643135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57925415399998 meters 0.019439854650648732 Centerline is valid? [True, True] Translation: X:156.36, Y:1.13, Z:1.05 [[ 9.98834645e-01 -4.55518053e-02 -1.59494797e-02 1.56355067e+02] [ 4.55541241e-02 9.98961848e-01 -2.18080605e-04 1.13282885e+00] [ 1.59428557e-02 -5.08738112e-04 9.99872775e-01 1.04790356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60925415399998 meters 0.018948585465861534 Centerline is valid? [True, True] Translation: X:156.39, Y:1.14, Z:1.05 [[ 9.98925963e-01 -4.36641840e-02 -1.55035406e-02 1.56387176e+02] [ 4.36661614e-02 9.99046156e-01 -2.11108594e-04 1.13514681e+00] [ 1.54979705e-02 -4.66098249e-04 9.99879791e-01 1.04886481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63925415399999 meters 0.018252530894057276 Centerline is valid? [True, True] Translation: X:156.42, Y:1.14, Z:1.05 [[ 9.99017077e-01 -4.16475136e-02 -1.51777629e-02 1.56419030e+02] [ 4.16491928e-02 9.99132275e-01 -2.05571725e-04 1.13705663e+00] [ 1.51731543e-02 -4.26771908e-04 9.99884790e-01 1.04961180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.669254154 meters 0.01772558457047894 Centerline is valid? [True, True] Translation: X:156.45, Y:1.14, Z:1.05 [[ 9.99095379e-01 -3.98226791e-02 -1.49190168e-02 1.56451213e+02] [ 3.98241145e-02 9.99206685e-01 -2.00979995e-04 1.13903975e+00] [ 1.49151849e-02 -3.93338451e-04 9.99888685e-01 1.05004797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.699254154 meters 0.017496553908732643 Centerline is valid? [True, True] Translation: X:156.48, Y:1.14, Z:1.05 [[ 9.99156564e-01 -3.81682939e-02 -1.51440324e-02 1.56483314e+02] [ 3.81695999e-02 9.99271255e-01 -2.02894026e-04 1.13987647e+00] [ 1.51407403e-02 -3.75318758e-04 9.99885302e-01 1.05003531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.729254154 meters 0.01745585713964832 Centerline is valid? [True, True] Translation: X:156.52, Y:1.14, Z:1.05 [[ 9.99188631e-01 -3.70931149e-02 -1.56901458e-02 1.56515660e+02] [ 3.70944026e-02 9.99311744e-01 -2.09050070e-04 1.14078822e+00] [ 1.56871013e-02 -3.73136131e-04 9.99876880e-01 1.04989859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759254154 meters 0.0173839399462301 Centerline is valid? [True, True] Translation: X:156.55, Y:1.14, Z:1.05 [[ 9.99228638e-01 -3.54276710e-02 -1.69413605e-02 1.56546456e+02] [ 3.54289515e-02 9.99372172e-01 -2.24635115e-04 1.14111098e+00] [ 1.69386825e-02 -3.75752798e-04 9.99856460e-01 1.04865890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.789254154 meters 0.01747828148909264 Centerline is valid? [True, True] Translation: X:156.58, Y:1.14, Z:1.05 [[ 9.99242934e-01 -3.48256949e-02 -1.73415488e-02 1.56578206e+02] [ 3.48269654e-02 9.99393331e-01 -2.28817769e-04 1.14102469e+00] [ 1.73389970e-02 -3.75308983e-04 9.99849598e-01 1.04808497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819254154 meters 0.017528162362937746 Centerline is valid? [True, True] Translation: X:156.61, Y:1.14, Z:1.05 [[ 9.99240089e-01 -3.45241221e-02 -1.80922531e-02 1.56610030e+02] [ 3.45254721e-02 9.99403790e-01 -2.37814845e-04 1.14128361e+00] [ 1.80896767e-02 -3.87009453e-04 9.99836294e-01 1.04769318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.849254154 meters 0.01681815890981126 Centerline is valid? [True, True] Translation: X:156.64, Y:1.14, Z:1.05 [[ 9.99248713e-01 -3.38018605e-02 -1.89589908e-02 1.56641160e+02] [ 3.38032263e-02 9.99428477e-01 -2.48512190e-04 1.14296246e+00] [ 1.89565555e-02 -3.92549572e-04 9.99820231e-01 1.04828895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879254154 meters 0.016910424885922825 Centerline is valid? [True, True] Translation: X:156.67, Y:1.14, Z:1.05 [[ 9.99242829e-01 -3.38188830e-02 -1.92367176e-02 1.56672540e+02] [ 3.38203058e-02 9.99427898e-01 -2.51448761e-04 1.14301358e+00] [ 1.92342160e-02 -3.99333301e-04 9.99814926e-01 1.04836298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.909254154 meters 0.01750461003966478 Centerline is valid? [True, True] Translation: X:156.70, Y:1.14, Z:1.05 [[ 9.99231730e-01 -3.38869785e-02 -1.96881446e-02 1.56702435e+02] [ 3.38884918e-02 9.99425587e-01 -2.56861411e-04 1.14195583e+00] [ 1.96855397e-02 -4.10537453e-04 9.99806137e-01 1.04784058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939254154 meters 0.01769113254759792 Centerline is valid? [True, True] Translation: X:156.73, Y:1.14, Z:1.05 [[ 9.99222943e-01 -3.42333034e-02 -1.95343437e-02 1.56733379e+02] [ 3.42348703e-02 9.99413783e-01 -2.54287333e-04 1.14191836e+00] [ 1.95315974e-02 -4.14665986e-04 9.99809154e-01 1.04802858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.969254154 meters 0.017041027948095002 Centerline is valid? [True, True] Translation: X:156.76, Y:1.14, Z:1.05 [[ 9.99221738e-01 -3.39311507e-02 -2.01145431e-02 1.56764829e+02] [ 3.39327657e-02 9.99424084e-01 -2.61108678e-04 1.14383095e+00] [ 2.01118185e-02 -4.21636610e-04 9.99797648e-01 1.04919126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999254154 meters 0.017646696333935785 Centerline is valid? [True, True] Translation: X:156.80, Y:1.14, Z:1.05 [[ 9.99234157e-01 -3.34463278e-02 -2.03087084e-02 1.56795052e+02] [ 3.34478959e-02 9.99440428e-01 -2.62554287e-04 1.14262919e+00] [ 2.03061257e-02 -4.16930351e-04 9.99793722e-01 1.04844054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02925415399997 meters 0.01773244069242054 Centerline is valid? [True, True] Translation: X:156.83, Y:1.14, Z:1.05 [[ 9.99238093e-01 -3.31558306e-02 -2.05894465e-02 1.56825430e+02] [ 3.31573896e-02 9.99450107e-01 -2.65753231e-04 1.14332321e+00] [ 2.05869358e-02 -4.17141548e-04 9.99787980e-01 1.04860207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05925415399997 meters 0.017894619988561008 Centerline is valid? [True, True] Translation: X:156.86, Y:1.14, Z:1.05 [[ 9.99254904e-01 -3.24976471e-02 -2.08216181e-02 1.56855878e+02] [ 3.24990987e-02 9.99471729e-01 -2.68749929e-04 1.14478629e+00] [ 2.08193524e-02 -4.08134138e-04 9.99783170e-01 1.04906549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08925415399997 meters 0.017894619988561008 Centerline is valid? [True, True] Translation: X:156.89, Y:1.15, Z:1.05 [[ 9.99254904e-01 -3.24976471e-02 -2.08216181e-02 1.56885883e+02] [ 3.24990987e-02 9.99471729e-01 -2.68749929e-04 1.14517358e+00] [ 2.08193524e-02 -4.08134138e-04 9.99783170e-01 1.04927345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11925415399998 meters 0.01675746553676019 Centerline is valid? [True, True] Translation: X:156.92, Y:1.15, Z:1.05 [[ 9.99297197e-01 -3.13504494e-02 -2.05489997e-02 1.56915995e+02] [ 3.13516207e-02 9.99508382e-01 -2.65231174e-04 1.14747694e+00] [ 2.05472126e-02 -3.79199677e-04 9.99788812e-01 1.05065733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14925415399998 meters 0.0165395624064986 Centerline is valid? [True, True] Translation: X:156.95, Y:1.15, Z:1.05 [[ 9.99314141e-01 -3.09661139e-02 -2.03063248e-02 1.56946320e+02] [ 3.09671784e-02 9.99520368e-01 -2.62098906e-04 1.14837865e+00] [ 2.03047014e-02 -3.66910437e-04 9.99793771e-01 1.05129313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17925415399998 meters 0.015946209813227107 Centerline is valid? [True, True] Translation: X:156.98, Y:1.15, Z:1.05 [[ 9.99333013e-01 -3.06251400e-02 -1.98904709e-02 1.56977214e+02] [ 3.06260938e-02 9.99530878e-01 -2.56731374e-04 1.15004610e+00] [ 1.98890022e-02 -3.52607289e-04 9.99802132e-01 1.05277695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20925415399998 meters 0.0168505377662918 Centerline is valid? [True, True] Translation: X:157.01, Y:1.15, Z:1.05 [[ 9.99334261e-01 -3.04958363e-02 -2.00259726e-02 1.57006729e+02] [ 3.04967724e-02 9.99534832e-01 -2.58721144e-04 1.14856353e+00] [ 2.00245471e-02 -3.52178625e-04 9.99799427e-01 1.05159894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23925415399998 meters 0.017660184057387552 Centerline is valid? [True, True] Translation: X:157.04, Y:1.15, Z:1.05 [[ 9.99339006e-01 -2.99225567e-02 -2.06444313e-02 1.57036853e+02] [ 2.99234266e-02 9.99552158e-01 -2.66842512e-04 1.15033226e+00] [ 2.06431705e-02 -3.51085995e-04 9.99786845e-01 1.05254092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26925415399998 meters 0.015764255865097915 Centerline is valid? [True, True] Translation: X:157.07, Y:1.15, Z:1.05 [[ 9.99348319e-01 -2.97270645e-02 -2.04753084e-02 1.57066952e+02] [ 2.97278689e-02 9.99557994e-01 -2.65155732e-04 1.15194842e+00] [ 2.04741405e-02 -3.43704348e-04 9.99790324e-01 1.05344167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29925415399998 meters 0.015717281744899197 Centerline is valid? [True, True] Translation: X:157.10, Y:1.15, Z:1.05 [[ 9.99349467e-01 -2.94617561e-02 -2.08001760e-02 1.57097098e+02] [ 2.94625181e-02 9.99565849e-01 -2.69879401e-04 1.15293466e+00] [ 2.07990967e-02 -3.43121725e-04 9.99783617e-01 1.05401012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32925415399998 meters 0.015846985221043972 Centerline is valid? [True, True] Translation: X:157.13, Y:1.15, Z:1.05 [[ 9.99356601e-01 -2.88151747e-02 -2.13557997e-02 1.57126297e+02] [ 2.88158219e-02 9.99584699e-01 -2.77486214e-04 1.15357830e+00] [ 2.13549265e-02 -3.38077243e-04 9.99771900e-01 1.05407387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35925415399998 meters 0.015413120657740271 Centerline is valid? [True, True] Translation: X:157.16, Y:1.16, Z:1.05 [[ 9.99434839e-01 -2.66565165e-02 -2.04800759e-02 1.57155829e+02] [ 2.66566459e-02 9.99644613e-01 -2.66728672e-04 1.15507464e+00] [ 2.04799076e-02 -2.79352203e-04 9.99790226e-01 1.05469657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38925415399999 meters 0.015233905777667362 Centerline is valid? [True, True] Translation: X:157.18, Y:1.16, Z:1.06 [[ 9.99465855e-01 -2.55727207e-02 -2.03479709e-02 1.57184429e+02] [ 2.55725486e-02 9.99672933e-01 -2.68701279e-04 1.15579809e+00] [ 2.03481872e-02 -2.51791721e-04 9.99792922e-01 1.05517999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.419254154 meters 0.015218655494934301 Centerline is valid? [True, True] Translation: X:157.21, Y:1.16, Z:1.06 [[ 9.99503785e-01 -2.41933964e-02 -2.01708733e-02 1.57213035e+02] [ 2.41928426e-02 9.99707273e-01 -2.71510429e-04 1.15678701e+00] [ 2.01715375e-02 -2.16615060e-04 9.99796510e-01 1.05602274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.449254154 meters 0.015009854738541918 Centerline is valid? [True, True] Translation: X:157.24, Y:1.16, Z:1.06 [[ 9.99546077e-01 -2.27165661e-02 -1.97888165e-02 1.57241964e+02] [ 2.27156439e-02 9.99741930e-01 -2.71409057e-04 1.15813904e+00] [ 1.97898750e-02 -1.78229851e-04 9.99804145e-01 1.05676113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.479254154 meters 0.01503845510547374 Centerline is valid? [True, True] Translation: X:157.27, Y:1.16, Z:1.06 [[ 9.99571938e-01 -2.13108511e-02 -2.00446580e-02 1.57269746e+02] [ 2.13095623e-02 9.99772887e-01 -2.77911630e-04 1.15893509e+00] [ 2.00460281e-02 -1.49350221e-04 9.99799047e-01 1.05657776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.509254154 meters 0.014651174412412529 Centerline is valid? [True, True] Translation: X:157.30, Y:1.16, Z:1.06 [[ 9.99601175e-01 -1.90914912e-02 -2.08087946e-02 1.57297150e+02] [ 1.90895242e-02 9.99817735e-01 -2.93181214e-04 1.16098024e+00] [ 2.08105991e-02 -1.04165701e-04 9.99783431e-01 1.05680207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539254154 meters 0.014789653980968695 Centerline is valid? [True, True] Translation: X:157.32, Y:1.16, Z:1.06 [[ 9.99591510e-01 -1.87900323e-02 -2.15348048e-02 1.57324757e+02] [ 1.87877827e-02 9.99823447e-01 -3.06796828e-04 1.16158159e+00] [ 2.15367675e-02 -9.79197294e-05 9.99768052e-01 1.05598534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.569254154 meters 0.01474642351250591 Centerline is valid? [True, True] Translation: X:157.35, Y:1.16, Z:1.06 [[ 9.99579899e-01 -1.88245898e-02 -2.20376822e-02 1.57353012e+02] [ 1.88221326e-02 9.99822797e-01 -3.18933635e-04 1.16170711e+00] [ 2.20397809e-02 -9.59965260e-05 9.99757090e-01 1.05602056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599254154 meters 0.014903935343638364 Centerline is valid? [True, True] Translation: X:157.38, Y:1.16, Z:1.06 [[ 9.99559077e-01 -1.93521377e-02 -2.25199078e-02 1.57382225e+02] [ 1.93495723e-02 9.99812724e-01 -3.31834488e-04 1.16105151e+00] [ 2.25221121e-02 -1.04062410e-04 9.99746340e-01 1.05583084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.629254154 meters 0.01613874815022501 Centerline is valid? [True, True] Translation: X:157.41, Y:1.16, Z:1.05 [[ 9.99511414e-01 -2.10429624e-02 -2.31111843e-02 1.57410144e+02] [ 2.10406384e-02 9.99778562e-01 -3.43749740e-04 1.15810318e+00] [ 2.31133001e-02 -1.42692283e-04 9.99732842e-01 1.05487052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659254154 meters 0.015248856341920664 Centerline is valid? [True, True] Translation: X:157.44, Y:1.16, Z:1.06 [[ 9.99480945e-01 -2.32515092e-02 -2.22981462e-02 1.57438433e+02] [ 2.32497858e-02 9.99729631e-01 -3.36565877e-04 1.15639173e+00] [ 2.22999431e-02 -1.82035943e-04 9.99751309e-01 1.05519139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.689254154 meters 0.01543930829639074 Centerline is valid? [True, True] Translation: X:157.47, Y:1.15, Z:1.06 [[ 9.99435832e-01 -2.50888024e-02 -2.23286623e-02 1.57467020e+02] [ 2.50874050e-02 9.99685203e-01 -3.42745354e-04 1.15467843e+00] [ 2.23302324e-02 -2.17616206e-04 9.99750626e-01 1.05537861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719254154 meters 0.015562245960778162 Centerline is valid? [True, True] Translation: X:157.50, Y:1.15, Z:1.06 [[ 9.99399420e-01 -2.69907296e-02 -2.17324688e-02 1.57496253e+02] [ 2.69897402e-02 9.99635653e-01 -3.38891310e-04 1.15323887e+00] [ 2.17336976e-02 -2.47865908e-04 9.99763765e-01 1.05610200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.749254154 meters 0.015546023728354499 Centerline is valid? [True, True] Translation: X:157.52, Y:1.15, Z:1.06 [[ 9.99356486e-01 -2.90677495e-02 -2.10161975e-02 1.57524881e+02] [ 2.90671730e-02 9.99577405e-01 -3.32966248e-04 1.15263596e+00] [ 2.10169947e-02 -2.78129469e-04 9.99779080e-01 1.05734269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77925415399997 meters 0.016250087353474964 Centerline is valid? [True, True] Translation: X:157.55, Y:1.15, Z:1.06 [[ 9.99257627e-01 -3.27372737e-02 -2.03092514e-02 1.57554037e+02] [ 3.27374431e-02 9.99463934e-01 -3.24217811e-04 1.14989503e+00] [ 2.03089783e-02 -3.40895842e-04 9.99793693e-01 1.05791692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80925415399997 meters 0.01657961827625647 Centerline is valid? [True, True] Translation: X:157.58, Y:1.15, Z:1.06 [[ 9.99218338e-01 -3.42030268e-02 -1.98208416e-02 1.57583727e+02] [ 3.42034680e-02 9.99414840e-01 -3.16841245e-04 1.14769065e+00] [ 1.98200802e-02 -3.61347940e-04 9.99803498e-01 1.05741795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83925415399997 meters 0.01669308295346812 Centerline is valid? [True, True] Translation: X:157.61, Y:1.15, Z:1.06 [[ 9.99173287e-01 -3.56322369e-02 -1.95725871e-02 1.57613855e+02] [ 3.56329407e-02 9.99364896e-01 -3.12896428e-04 1.14618414e+00] [ 1.95713057e-02 -3.84791084e-04 9.99808390e-01 1.05744242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86925415399998 meters 0.017493020199897118 Centerline is valid? [True, True] Translation: X:157.64, Y:1.14, Z:1.06 [[ 9.99084993e-01 -3.83797499e-02 -1.88724997e-02 1.57644352e+02] [ 3.83808982e-02 9.99263136e-01 -3.01488258e-04 1.14251058e+00] [ 1.88701643e-02 -4.23131095e-04 9.99821853e-01 1.05718947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89925415399998 meters 0.017622410954026346 Centerline is valid? [True, True] Translation: X:157.68, Y:1.14, Z:1.06 [[ 9.99027714e-01 -3.99211139e-02 -1.87064560e-02 1.57675329e+02] [ 3.99225224e-02 9.99202734e-01 -2.98284414e-04 1.14140509e+00] [ 1.87034498e-02 -4.48814511e-04 9.99824974e-01 1.05778971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92925415399998 meters 0.01825920083489709 Centerline is valid? [True, True] Translation: X:157.71, Y:1.14, Z:1.06 [[ 9.98983932e-01 -4.13881085e-02 -1.78361274e-02 1.57707082e+02] [ 4.13896339e-02 9.99143042e-01 -2.83774442e-04 1.14005720e+00] [ 1.78325875e-02 -4.54744676e-04 9.99840883e-01 1.05815557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95925415399998 meters 0.01884713642352063 Centerline is valid? [True, True] Translation: X:157.74, Y:1.14, Z:1.06 [[ 9.98923606e-01 -4.30657085e-02 -1.72329235e-02 1.57738335e+02] [ 4.30673955e-02 9.99072132e-01 -2.73381943e-04 1.13813002e+00] [ 1.72287070e-02 -4.69089457e-04 9.99851465e-01 1.05863895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98925415399998 meters 0.02024912281858332 Centerline is valid? [True, True] Translation: X:157.77, Y:1.13, Z:1.06 [[ 9.98747634e-01 -4.72356904e-02 -1.64909986e-02 1.57769586e+02] [ 4.72378145e-02 9.98883637e-01 -2.60914050e-04 1.13429235e+00] [ 1.64849131e-02 -5.18411441e-04 9.99863980e-01 1.05898299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01925415399998 meters 0.022445110346748447 Centerline is valid? [True, True] Translation: X:157.80, Y:1.13, Z:1.06 [[ 9.98644841e-01 -4.89772540e-02 -1.75985844e-02 1.57801510e+02] [ 4.89799613e-02 9.98799723e-01 -2.77414929e-04 1.13198083e+00] [ 1.75910482e-02 -5.84938995e-04 9.99845094e-01 1.05865270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04925415399998 meters 0.022307492805000304 Centerline is valid? [True, True] Translation: X:157.83, Y:1.13, Z:1.06 [[ 9.98529683e-01 -5.16006013e-02 -1.66087649e-02 1.57832230e+02] [ 5.16033882e-02 9.98667623e-01 -2.61003607e-04 1.12904605e+00] [ 1.66001038e-02 -5.96448697e-04 9.99862031e-01 1.05863985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07925415399998 meters 0.023258624555440602 Centerline is valid? [True, True] Translation: X:157.86, Y:1.13, Z:1.06 [[ 9.98425786e-01 -5.36260570e-02 -1.64376283e-02 1.57864139e+02] [ 5.36290759e-02 9.98560892e-01 -2.57401965e-04 1.12736164e+00] [ 1.64277762e-02 -6.24538055e-04 9.99864860e-01 1.05879857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10925415399998 meters 0.02440860933162016 Centerline is valid? [True, True] Translation: X:157.90, Y:1.13, Z:1.06 [[ 9.98345319e-01 -5.52047052e-02 -1.60954737e-02 1.57896730e+02] [ 5.52078225e-02 9.98474854e-01 -2.50925921e-04 1.12572560e+00] [ 1.60847781e-02 -6.38085337e-04 9.99870428e-01 1.05875199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13925415399999 meters 0.026276452886179753 Centerline is valid? [True, True] Translation: X:157.93, Y:1.12, Z:1.06 [[ 9.98205601e-01 -5.76504583e-02 -1.61865246e-02 1.57927967e+02] [ 5.76539476e-02 9.98336596e-01 -2.51375368e-04 1.12316809e+00] [ 1.61740918e-02 -6.82292741e-04 9.99868958e-01 1.05901089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.169254154 meters 0.02375502927326354 Centerline is valid? [True, True] Translation: X:157.96, Y:1.13, Z:1.06 [[ 9.98179367e-01 -5.79997221e-02 -1.65524684e-02 1.57960486e+02] [ 5.80034365e-02 9.98316351e-01 -2.55991582e-04 1.12739430e+00] [ 1.65394473e-02 -7.04574534e-04 9.99862966e-01 1.05968645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.199254154 meters 0.027254843344169888 Centerline is valid? [True, True] Translation: X:157.99, Y:1.12, Z:1.06 [[ 9.98162669e-01 -5.82033343e-02 -1.68421465e-02 1.57991295e+02] [ 5.82072384e-02 9.98304488e-01 -2.58718041e-04 1.12277903e+00] [ 1.68286487e-02 -7.22092146e-04 9.99858128e-01 1.05830508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.229254154 meters 0.027665343948469263 Centerline is valid? [True, True] Translation: X:158.02, Y:1.12, Z:1.06 [[ 9.98144191e-01 -5.83065422e-02 -1.75647667e-02 1.58023230e+02] [ 5.83108331e-02 9.98298440e-01 -2.68194963e-04 1.12313723e+00] [ 1.75505167e-02 -7.56518933e-04 9.99845692e-01 1.05801082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259254154 meters 0.027850482370588334 Centerline is valid? [True, True] Translation: X:158.05, Y:1.12, Z:1.06 [[ 9.98179438e-01 -5.76360313e-02 -1.77734779e-02 1.58054057e+02] [ 5.76403500e-02 9.98337377e-01 -2.69620136e-04 1.12441970e+00] [ 1.77594671e-02 -7.55340209e-04 9.99842003e-01 1.05737679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.289254154 meters 0.02825933686379923 Centerline is valid? [True, True] Translation: X:158.09, Y:1.13, Z:1.06 [[ 9.98190406e-01 -5.74187992e-02 -1.78604012e-02 1.58085198e+02] [ 5.74231501e-02 9.98349893e-01 -2.69566254e-04 1.12506304e+00] [ 1.78464078e-02 -7.56522049e-04 9.99840454e-01 1.05724136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319254154 meters 0.02853876704302685 Centerline is valid? [True, True] Translation: X:158.12, Y:1.13, Z:1.06 [[ 9.98218223e-01 -5.69810083e-02 -1.77071530e-02 1.58117904e+02] [ 5.69852395e-02 9.98374986e-01 -2.65927002e-04 1.12617132e+00] [ 1.76935314e-02 -7.43593175e-04 9.99843181e-01 1.05713665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.349254154 meters 0.028729490416460477 Centerline is valid? [True, True] Translation: X:158.15, Y:1.13, Z:1.06 [[ 9.98246855e-01 -5.63250404e-02 -1.81853303e-02 1.58150444e+02] [ 5.63294199e-02 9.98412201e-01 -2.71719414e-04 1.12753312e+00] [ 1.81717603e-02 -7.53126057e-04 9.99834596e-01 1.05721053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379254154 meters 0.02264591868256452 Centerline is valid? [True, True] Translation: X:158.18, Y:1.14, Z:1.06 [[ 9.98373296e-01 -5.41652250e-02 -1.78013857e-02 1.58182225e+02] [ 5.41690972e-02 9.98531741e-01 -2.64942974e-04 1.13937073e+00] [ 1.77895993e-02 -6.99773001e-04 9.99841508e-01 1.05931612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.409254154 meters 0.022287511196452225 Centerline is valid? [True, True] Translation: X:158.21, Y:1.14, Z:1.06 [[ 9.98457560e-01 -5.26597322e-02 -1.75912879e-02 1.58214196e+02] [ 5.26633002e-02 9.98612292e-01 -2.60672970e-04 1.14096282e+00] [ 1.75806032e-02 -6.66144376e-04 9.99845227e-01 1.05931950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439254154 meters 0.02156588784025891 Centerline is valid? [True, True] Translation: X:158.25, Y:1.14, Z:1.06 [[ 9.98552943e-01 -5.10425193e-02 -1.69316355e-02 1.58246263e+02] [ 5.10456129e-02 9.98696292e-01 -2.49693172e-04 1.14361129e+00] [ 1.69223065e-02 -6.14953858e-04 9.99856618e-01 1.05984734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.469254154 meters 0.020823782215137407 Centerline is valid? [True, True] Translation: X:158.28, Y:1.15, Z:1.06 [[ 9.98719506e-01 -4.79797898e-02 -1.60402081e-02 1.58277299e+02] [ 4.79821845e-02 9.98848164e-01 -2.35742392e-04 1.14870124e+00] [ 1.60330433e-02 -5.34203698e-04 9.99871320e-01 1.06087442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499254154 meters 0.020271595157304992 Centerline is valid? [True, True] Translation: X:158.31, Y:1.15, Z:1.06 [[ 9.98808790e-01 -4.62230051e-02 -1.56344221e-02 1.58309758e+02] [ 4.62250787e-02 9.98931023e-01 -2.28906981e-04 1.15144718e+00] [ 1.56282900e-02 -4.94068087e-04 9.99877749e-01 1.06119950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52925415399997 meters 0.02017017185233404 Centerline is valid? [True, True] Translation: X:158.34, Y:1.15, Z:1.06 [[ 9.98889848e-01 -4.46738560e-02 -1.49438064e-02 1.58341255e+02] [ 4.46755908e-02 9.99001524e-01 -2.17888243e-04 1.15322858e+00] [ 1.49386192e-02 -4.49977024e-04 9.99888311e-01 1.06142441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55925415399997 meters 0.01928501095991526 Centerline is valid? [True, True] Translation: X:158.37, Y:1.16, Z:1.06 [[ 9.98954450e-01 -4.32331486e-02 -1.48627542e-02 1.58373394e+02] [ 4.32347193e-02 9.99064919e-01 -2.15764236e-04 1.15637693e+00] [ 1.48581845e-02 -4.27048363e-04 9.99889520e-01 1.06175571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58925415399997 meters 0.018375769142710156 Centerline is valid? [True, True] Translation: X:158.41, Y:1.16, Z:1.06 [[ 9.99028383e-01 -4.15622303e-02 -1.46584467e-02 1.58405375e+02] [ 4.15635940e-02 9.99135838e-01 -2.11738266e-04 1.15961226e+00] [ 1.46545798e-02 -3.97725191e-04 9.99892537e-01 1.06214296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61925415399998 meters 0.017787951733371325 Centerline is valid? [True, True] Translation: X:158.44, Y:1.16, Z:1.06 [[ 9.99147379e-01 -3.85309084e-02 -1.48285048e-02 1.58437230e+02] [ 3.85319864e-02 9.99257345e-01 -2.13103484e-04 1.16426713e+00] [ 1.48257034e-02 -3.58449958e-04 9.99890029e-01 1.06198208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64925415399998 meters 0.017263962283126176 Centerline is valid? [True, True] Translation: X:158.47, Y:1.17, Z:1.06 [[ 9.99218930e-01 -3.65585748e-02 -1.49999925e-02 1.58469137e+02] [ 3.65594723e-02 9.99331456e-01 -2.14465049e-04 1.16682270e+00] [ 1.49978049e-02 -3.34094275e-04 9.99887471e-01 1.06219850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67925415399998 meters 0.016683804028067517 Centerline is valid? [True, True] Translation: X:158.50, Y:1.17, Z:1.06 [[ 9.99292975e-01 -3.44676663e-02 -1.50176302e-02 1.58501067e+02] [ 3.44683465e-02 9.99405767e-01 -2.13612639e-04 1.16964077e+00] [ 1.50160689e-02 -3.04171271e-04 9.99887206e-01 1.06239926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70925415399998 meters 0.01635102897850807 Centerline is valid? [True, True] Translation: X:158.53, Y:1.17, Z:1.06 [[ 9.99363352e-01 -3.24396618e-02 -1.48512444e-02 1.58532190e+02] [ 3.24401150e-02 9.99473659e-01 -2.10449833e-04 1.17233636e+00] [ 1.48502545e-02 -2.71460224e-04 9.99889692e-01 1.06272258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73925415399998 meters 0.015604607588714663 Centerline is valid? [True, True] Translation: X:158.56, Y:1.18, Z:1.06 [[ 9.99498040e-01 -2.81052625e-02 -1.46206427e-02 1.58562325e+02] [ 2.81052438e-02 9.99604948e-01 -2.06791816e-04 1.17656685e+00] [ 1.46206787e-02 -2.04228712e-04 9.99893091e-01 1.06274188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76925415399998 meters 0.015179197694606478 Centerline is valid? [True, True] Translation: X:158.59, Y:1.18, Z:1.06 [[ 9.99563144e-01 -2.57702313e-02 -1.44712095e-02 1.58593408e+02] [ 2.57699740e-02 9.99667878e-01 -2.04277098e-04 1.17921062e+00] [ 1.44716675e-02 -1.68734834e-04 9.99895266e-01 1.06308504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79925415399998 meters 0.0148800371981035 Centerline is valid? [True, True] Translation: X:158.62, Y:1.18, Z:1.06 [[ 9.99621485e-01 -2.35301127e-02 -1.42555634e-02 1.58624689e+02] [ 2.35296427e-02 9.99723119e-01 -2.00711366e-04 1.18163680e+00] [ 1.42563391e-02 -1.34792920e-04 9.99898364e-01 1.06335340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82925415399998 meters 0.014771458124647736 Centerline is valid? [True, True] Translation: X:158.66, Y:1.18, Z:1.06 [[ 9.99669688e-01 -2.12623019e-02 -1.44370864e-02 1.58655309e+02] [ 2.12615942e-02 9.99773926e-01 -2.02521785e-04 1.18366691e+00] [ 1.44381286e-02 -1.04500582e-04 9.99895759e-01 1.06325400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85925415399998 meters 0.014462002399480959 Centerline is valid? [True, True] Translation: X:158.69, Y:1.19, Z:1.06 [[ 9.99711039e-01 -1.91273303e-02 -1.45596701e-02 1.58685383e+02] [ 1.91263907e-02 9.99817053e-01 -2.03789797e-04 1.18583367e+00] [ 1.45609044e-02 -7.47430280e-05 9.99893982e-01 1.06327289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88925415399999 meters 0.014395088081675755 Centerline is valid? [True, True] Translation: X:158.72, Y:1.19, Z:1.06 [[ 9.99773070e-01 -1.61072498e-02 -1.39414835e-02 1.58715263e+02] [ 1.61060911e-02 9.99870269e-01 -1.95389205e-04 1.18825196e+00] [ 1.39428221e-02 -2.91979394e-05 9.99902794e-01 1.06379947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.919254154 meters 0.014363112203352426 Centerline is valid? [True, True] Translation: X:158.75, Y:1.19, Z:1.06 [[ 9.99797426e-01 -1.52550467e-02 -1.31297275e-02 1.58745098e+02] [ 1.52539395e-02 9.99883635e-01 -1.84469349e-04 1.18890918e+00] [ 1.31310138e-02 -1.58480892e-05 9.99913784e-01 1.06413151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.949254154 meters 0.014287208517243206 Centerline is valid? [True, True] Translation: X:158.77, Y:1.19, Z:1.07 [[ 9.99813605e-01 -1.51656159e-02 -1.19482088e-02 1.58774966e+02] [ 1.51646878e-02 9.99884995e-01 -1.68277261e-04 1.18843748e+00] [ 1.19493867e-02 -1.29449616e-05 9.99928603e-01 1.06531659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.979254154 meters 0.014389059462244282 Centerline is valid? [True, True] Translation: X:158.80, Y:1.19, Z:1.07 [[ 9.99806385e-01 -1.59115365e-02 -1.15765372e-02 1.58804434e+02] [ 1.59107105e-02 9.99873403e-01 -1.63453127e-04 1.18787741e+00] [ 1.15776724e-02 -2.07694517e-05 9.99932976e-01 1.06572615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.009254154 meters 0.014389059462244282 Centerline is valid? [True, True] Translation: X:158.83, Y:1.19, Z:1.07 [[ 9.99806385e-01 -1.59115382e-02 -1.15765337e-02 1.58834431e+02] [ 1.59107093e-02 9.99873403e-01 -1.63702263e-04 1.18830171e+00] [ 1.15776729e-02 -2.05202951e-05 9.99932976e-01 1.06593413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039254154 meters 0.014365780481677009 Centerline is valid? [True, True] Translation: X:158.87, Y:1.19, Z:1.07 [[ 9.99793231e-01 -1.67879022e-02 -1.14744102e-02 1.58865443e+02] [ 1.67871455e-02 9.99859073e-01 -1.62258148e-04 1.18732384e+00] [ 1.14755171e-02 -3.03979963e-05 9.99934154e-01 1.06627721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.069254154 meters 0.01435952869406824 Centerline is valid? [True, True] Translation: X:158.90, Y:1.19, Z:1.07 [[ 9.99770150e-01 -1.81208282e-02 -1.14578645e-02 1.58896031e+02] [ 1.81201613e-02 9.99835803e-01 -1.62024177e-04 1.18604823e+00] [ 1.14589192e-02 -4.56314166e-05 9.99934343e-01 1.06620187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099254154 meters 0.01465381865976066 Centerline is valid? [True, True] Translation: X:158.93, Y:1.18, Z:1.07 [[ 9.99703421e-01 -2.10405211e-02 -1.22623763e-02 1.58926279e+02] [ 2.10399768e-02 9.99778620e-01 -1.73400675e-04 1.18230150e+00] [ 1.22633101e-02 -8.46508659e-05 9.99924799e-01 1.06527573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.129254154 meters 0.014674341309649704 Centerline is valid? [True, True] Translation: X:158.96, Y:1.18, Z:1.06 [[ 9.99664815e-01 -2.24032470e-02 -1.29750679e-02 1.58957648e+02] [ 2.24027553e-02 9.99749010e-01 -1.83257351e-04 1.18037972e+00] [ 1.29759168e-02 -1.07481345e-04 9.99915803e-01 1.06471838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159254154 meters 0.0149620541338772 Centerline is valid? [True, True] Translation: X:158.99, Y:1.18, Z:1.06 [[ 9.99610911e-01 -2.43443876e-02 -1.36153141e-02 1.58989264e+02] [ 2.43440332e-02 9.99703622e-01 -1.91790874e-04 1.17850222e+00] [ 1.36159478e-02 -1.39735406e-04 9.99907289e-01 1.06441485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.189254154 meters 0.01520299152494059 Centerline is valid? [True, True] Translation: X:159.02, Y:1.18, Z:1.06 [[ 9.99571293e-01 -2.58380149e-02 -1.37704884e-02 1.59020827e+02] [ 2.58378010e-02 9.99666130e-01 -1.93474581e-04 1.17660665e+00] [ 1.37708898e-02 -1.62407501e-04 9.99905164e-01 1.06436781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219254154 meters 0.01555336646365967 Centerline is valid? [True, True] Translation: X:159.05, Y:1.17, Z:1.06 [[ 9.99539164e-01 -2.69796017e-02 -1.39125845e-02 1.59052448e+02] [ 2.69795027e-02 9.99635968e-01 -1.94839861e-04 1.17450262e+00] [ 1.39127766e-02 -1.80604540e-04 9.99903196e-01 1.06400085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.249254154 meters 0.01562978620603501 Centerline is valid? [True, True] Translation: X:159.08, Y:1.17, Z:1.06 [[ 9.99515041e-01 -2.77709510e-02 -1.40875125e-02 1.59083707e+02] [ 2.77709370e-02 9.99614294e-01 -1.96654655e-04 1.17366509e+00] [ 1.40875402e-02 -1.94664137e-04 9.99900747e-01 1.06426983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27925415399997 meters 0.015732343975556864 Centerline is valid? [True, True] Translation: X:159.11, Y:1.17, Z:1.06 [[ 9.99508333e-01 -2.79423243e-02 -1.42238899e-02 1.59114460e+02] [ 2.79423328e-02 9.99609517e-01 -1.98179491e-04 1.17155605e+00] [ 1.42238733e-02 -1.99366612e-04 9.99898816e-01 1.06373097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30925415399997 meters 0.015312854616287772 Centerline is valid? [True, True] Translation: X:159.15, Y:1.17, Z:1.06 [[ 9.99522153e-01 -2.74591649e-02 -1.41936561e-02 1.59145463e+02] [ 2.74591301e-02 9.99622908e-01 -1.97369976e-04 1.17238481e+00] [ 1.41937234e-02 -1.92469786e-04 9.99899246e-01 1.06435911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33925415399997 meters 0.015186343433954908 Centerline is valid? [True, True] Translation: X:159.18, Y:1.17, Z:1.06 [[ 9.99539953e-01 -2.66552419e-02 -1.44699831e-02 1.59176864e+02] [ 2.66551293e-02 9.99644669e-01 -2.00678616e-04 1.17224892e+00] [ 1.44701906e-02 -1.85112976e-04 9.99895284e-01 1.06457093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36925415399998 meters 0.014992767714334535 Centerline is valid? [True, True] Translation: X:159.21, Y:1.17, Z:1.07 [[ 9.99574528e-01 -2.55050800e-02 -1.41511030e-02 1.59208574e+02] [ 2.55048643e-02 9.99674679e-01 -1.95742143e-04 1.17238736e+00] [ 1.41514917e-02 -1.65263102e-04 9.99899849e-01 1.06516758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39925415399998 meters 0.014537185417810364 Centerline is valid? [True, True] Translation: X:159.24, Y:1.17, Z:1.07 [[ 9.99669261e-01 -2.23469458e-02 -1.27272617e-02 1.59239654e+02] [ 2.23465210e-02 9.99750270e-01 -1.75601683e-04 1.17196098e+00] [ 1.27280075e-02 -1.08866417e-04 9.99918990e-01 1.06649091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42925415399998 meters 0.014488408659881229 Centerline is valid? [True, True] Translation: X:159.27, Y:1.17, Z:1.07 [[ 9.99715023e-01 -2.03622635e-02 -1.24600131e-02 1.59270772e+02] [ 2.03617079e-02 9.99792664e-01 -1.71457576e-04 1.17214754e+00] [ 1.24609210e-02 -8.22984336e-05 9.99922356e-01 1.06698962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45925415399998 meters 0.014359342600458978 Centerline is valid? [True, True] Translation: X:159.30, Y:1.17, Z:1.07 [[ 9.99758334e-01 -1.82599655e-02 -1.22412006e-02 1.59301377e+02] [ 1.82592760e-02 9.99833271e-01 -1.68097211e-04 1.17221615e+00] [ 1.22422291e-02 -5.54588723e-05 9.99925060e-01 1.06736118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48925415399998 meters 0.014155384790258123 Centerline is valid? [True, True] Translation: X:159.33, Y:1.17, Z:1.07 [[ 9.99823141e-01 -1.43946968e-02 -1.21028576e-02 1.59331900e+02] [ 1.43937411e-02 9.99896391e-01 -1.66071711e-04 1.17261193e+00] [ 1.21039942e-02 -8.16306074e-06 9.99926744e-01 1.06852756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51925415399998 meters 0.01417808393980308 Centerline is valid? [True, True] Translation: X:159.36, Y:1.17, Z:1.07 [[ 9.99842938e-01 -1.27095765e-02 -1.23517366e-02 1.59361897e+02] [ 1.27084500e-02 9.99919230e-01 -1.69687186e-04 1.17233700e+00] [ 1.23528956e-02 1.26891081e-05 9.99923700e-01 1.06847035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54925415399998 meters 0.014135913328985419 Centerline is valid? [True, True] Translation: X:159.39, Y:1.17, Z:1.07 [[ 9.99857853e-01 -1.11929925e-02 -1.26091140e-02 1.59389428e+02] [ 1.11916881e-02 9.99937356e-01 -1.74005162e-04 1.17198623e+00] [ 1.26102718e-02 3.28631558e-05 9.99920487e-01 1.06785812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57925415399998 meters 0.014191009774218263 Centerline is valid? [True, True] Translation: X:159.42, Y:1.17, Z:1.07 [[ 9.99861528e-01 -1.05096687e-02 -1.29023813e-02 1.59417186e+02] [ 1.05082150e-02 9.99944771e-01 -1.80460832e-04 1.17086912e+00] [ 1.29035653e-02 4.48548474e-05 9.99916745e-01 1.06806103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60925415399998 meters 0.014151877603704031 Centerline is valid? [True, True] Translation: X:159.45, Y:1.17, Z:1.07 [[ 9.99861410e-01 -9.57297231e-03 -1.36205248e-02 1.59445367e+02] [ 9.57122772e-03 9.99954176e-01 -1.93267070e-04 1.16790719e+00] [ 1.36217508e-02 6.28751406e-05 9.99907218e-01 1.06727472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63925415399999 meters 0.014102482893613886 Centerline is valid? [True, True] Translation: X:159.47, Y:1.17, Z:1.07 [[ 9.99847097e-01 -1.01881218e-02 -1.42121297e-02 1.59472956e+02] [ 1.01862454e-02 9.99948098e-01 -2.04415205e-04 1.16613361e+00] [ 1.42134747e-02 5.96157087e-05 9.99898982e-01 1.06671807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.669254154 meters 0.014130498318245801 Centerline is valid? [True, True] Translation: X:159.50, Y:1.16, Z:1.07 [[ 9.99826126e-01 -1.12842382e-02 -1.48453419e-02 1.59501198e+02] [ 1.12822462e-02 9.99936330e-01 -2.17924933e-04 1.16397647e+00] [ 1.48468558e-02 5.03982389e-05 9.99889778e-01 1.06659558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.699254154 meters 0.014026370056458374 Centerline is valid? [True, True] Translation: X:159.53, Y:1.16, Z:1.07 [[ 9.99802463e-01 -1.25632693e-02 -1.54012578e-02 1.59528053e+02] [ 1.25612281e-02 9.99921078e-01 -2.29266119e-04 1.16169756e+00] [ 1.54029226e-02 3.57621180e-05 9.99881367e-01 1.06566214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.729254154 meters 0.013898972464854935 Centerline is valid? [True, True] Translation: X:159.56, Y:1.16, Z:1.07 [[ 9.99769824e-01 -1.45042571e-02 -1.58090171e-02 1.59555806e+02] [ 1.45022949e-02 9.99894808e-01 -2.38763317e-04 1.15931259e+00] [ 1.58108172e-02 9.44133279e-06 9.99875001e-01 1.06571682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759254154 meters 0.013851358841642828 Centerline is valid? [True, True] Translation: X:159.58, Y:1.15, Z:1.07 [[ 9.99713377e-01 -1.77377210e-02 -1.60790822e-02 1.59583622e+02] [ 1.77360339e-02 9.99842674e-01 -2.47532992e-04 1.15385632e+00] [ 1.60809432e-02 -3.77171037e-05 9.99870693e-01 1.06618902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.789254154 meters 0.01381860803773475 Centerline is valid? [True, True] Translation: X:159.61, Y:1.15, Z:1.07 [[ 9.99694789e-01 -1.91969130e-02 -1.55501564e-02 1.59611133e+02] [ 1.91954687e-02 9.99815721e-01 -2.42141947e-04 1.15138451e+00] [ 1.55519392e-02 -5.64244992e-05 9.99879060e-01 1.06626610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819254154 meters 0.01391219574701472 Centerline is valid? [True, True] Translation: X:159.64, Y:1.15, Z:1.07 [[ 9.99674042e-01 -2.05450428e-02 -1.51562495e-02 1.59638587e+02] [ 2.05438052e-02 9.99788926e-01 -2.37363263e-04 1.14844707e+00] [ 1.51579271e-02 -7.40811445e-05 9.99885109e-01 1.06613262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.849254154 meters 0.014721629020465591 Centerline is valid? [True, True] Translation: X:159.67, Y:1.15, Z:1.07 [[ 9.99656277e-01 -2.17563301e-02 -1.46284260e-02 1.59667208e+02] [ 2.17552695e-02 9.99763299e-01 -2.31643737e-04 1.14652160e+00] [ 1.46300032e-02 -8.66812353e-05 9.99892972e-01 1.06740325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879254154 meters 0.013914141936871627 Centerline is valid? [True, True] Translation: X:159.70, Y:1.14, Z:1.07 [[ 9.99635300e-01 -2.32265916e-02 -1.37764870e-02 1.59696643e+02] [ 2.32257645e-02 9.99730221e-01 -2.20048745e-04 1.14446066e+00] [ 1.37778813e-02 -1.00000949e-04 9.99905075e-01 1.06852366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.909254154 meters 0.014176016235963847 Centerline is valid? [True, True] Translation: X:159.73, Y:1.14, Z:1.07 [[ 9.99584206e-01 -2.57725468e-02 -1.29301986e-02 1.59726741e+02] [ 2.57720267e-02 9.99667825e-01 -2.06874933e-04 1.13951963e+00] [ 1.29312352e-02 -1.26448508e-04 9.99916380e-01 1.06929524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939254154 meters 0.01451963458657475 Centerline is valid? [True, True] Translation: X:159.76, Y:1.14, Z:1.07 [[ 9.99540489e-01 -2.75410093e-02 -1.26611459e-02 1.59756993e+02] [ 2.75406522e-02 9.99620664e-01 -2.02589987e-04 1.13682073e+00] [ 1.26619226e-02 -1.46199320e-04 9.99919824e-01 1.06949756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.969254154 meters 0.014716918298804525 Centerline is valid? [True, True] Translation: X:159.79, Y:1.13, Z:1.07 [[ 9.99490935e-01 -2.94284500e-02 -1.23222338e-02 1.59788539e+02] [ 2.94282591e-02 9.99566876e-01 -1.96853150e-04 1.13440161e+00] [ 1.23226899e-02 -1.65868951e-04 9.99924059e-01 1.06977998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999254154 meters 0.015645761102777635 Centerline is valid? [True, True] Translation: X:159.82, Y:1.13, Z:1.07 [[ 9.99334307e-01 -3.43070479e-02 -1.24084148e-02 1.59820212e+02] [ 3.43072357e-02 9.99411314e-01 -1.97784045e-04 1.12777619e+00] [ 1.24078955e-02 -2.28046029e-04 9.99922993e-01 1.06965023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02925415399997 meters 0.016603292160132697 Centerline is valid? [True, True] Translation: X:159.85, Y:1.12, Z:1.07 [[ 9.99233705e-01 -3.72160419e-02 -1.21230366e-02 1.59851606e+02] [ 3.72164415e-02 9.99307210e-01 -1.92714919e-04 1.12394924e+00] [ 1.21218099e-02 -2.58609039e-04 9.99926495e-01 1.06957638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05925415399997 meters 0.01776485354998428 Centerline is valid? [True, True] Translation: X:159.88, Y:1.12, Z:1.07 [[ 9.99122021e-01 -4.00369180e-02 -1.23382729e-02 1.59882918e+02] [ 4.00375550e-02 9.99198157e-01 -1.95472657e-04 1.11941628e+00] [ 1.23362056e-02 -2.98693243e-04 9.99923862e-01 1.06929199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08925415399997 meters 0.018244546362860433 Centerline is valid? [True, True] Translation: X:159.91, Y:1.12, Z:1.07 [[ 9.98828089e-01 -4.67052107e-02 -1.26914066e-02 1.59913567e+02] [ 4.67064286e-02 9.98908639e-01 -2.00583883e-04 1.11518976e+00] [ 1.26869240e-02 -3.92421461e-04 9.99919441e-01 1.06967262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11925415399998 meters 0.0194118812059404 Centerline is valid? [True, True] Translation: X:159.95, Y:1.11, Z:1.07 [[ 9.98666952e-01 -5.00784491e-02 -1.25087066e-02 1.59945722e+02] [ 5.00799030e-02 9.98745195e-01 -1.97163158e-04 1.11207304e+00] [ 1.25028843e-02 -4.29534486e-04 9.99921744e-01 1.06935290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14925415399998 meters 0.020187452024834504 Centerline is valid? [True, True] Translation: X:159.98, Y:1.11, Z:1.07 [[ 9.98476059e-01 -5.36277978e-02 -1.30237530e-02 1.59976695e+02] [ 5.36296838e-02 9.98560872e-01 -2.04641529e-04 1.10963396e+00] [ 1.30159846e-02 -4.94130087e-04 9.99915166e-01 1.06931567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17925415399998 meters 0.02181430235511974 Centerline is valid? [True, True] Translation: X:160.01, Y:1.11, Z:1.07 [[ 9.98303495e-01 -5.67115941e-02 -1.31881407e-02 1.60007154e+02] [ 5.67137998e-02 9.98390456e-01 -2.06979408e-04 1.10590865e+00] [ 1.31786519e-02 -5.41321305e-04 9.99913011e-01 1.06895051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20925415399998 meters 0.024372706653846776 Centerline is valid? [True, True] Translation: X:160.04, Y:1.10, Z:1.07 [[ 9.97898406e-01 -6.32758775e-02 -1.39619173e-02 1.60037609e+02] [ 6.32789929e-02 9.97995852e-01 -2.18963538e-04 1.10012382e+00] [ 1.39477907e-02 -6.64992702e-04 9.99902504e-01 1.06781857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23925415399998 meters 0.027138860960256698 Centerline is valid? [True, True] Translation: X:160.07, Y:1.10, Z:1.07 [[ 9.97696416e-01 -6.62991277e-02 -1.43626708e-02 1.60067860e+02] [ 6.63027393e-02 9.97799527e-01 -2.25088207e-04 1.09559564e+00] [ 1.43459893e-02 -7.27714722e-04 9.99896826e-01 1.06713200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26925415399998 meters 0.026962452160722572 Centerline is valid? [True, True] Translation: X:160.10, Y:1.10, Z:1.07 [[ 9.97515148e-01 -6.88419334e-02 -1.49772220e-02 1.60098928e+02] [ 6.88461506e-02 9.97627261e-01 -2.34441823e-04 1.09565076e+00] [ 1.49578244e-02 -7.97264811e-04 9.99887808e-01 1.06720019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29925415399998 meters 0.02901890276984554 Centerline is valid? [True, True] Translation: X:160.13, Y:1.09, Z:1.07 [[ 9.97343495e-01 -7.12170590e-02 -1.52997633e-02 1.60129536e+02] [ 7.12217427e-02 9.97460478e-01 -2.39211109e-04 1.09330644e+00] [ 1.52779451e-02 -8.51100160e-04 9.99882923e-01 1.06723761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32925415399998 meters 0.030257578651574343 Centerline is valid? [True, True] Translation: X:160.16, Y:1.09, Z:1.07 [[ 9.97203412e-01 -7.30899604e-02 -1.55952832e-02 1.60161753e+02] [ 7.30950668e-02 9.97324948e-01 -2.43085946e-04 1.09240165e+00] [ 1.55713322e-02 -8.97532136e-04 9.99878357e-01 1.06726164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35925415399998 meters 0.032020069670540656 Centerline is valid? [True, True] Translation: X:160.19, Y:1.09, Z:1.07 [[ 9.96985839e-01 -7.59109527e-02 -1.60238627e-02 1.60192372e+02] [ 7.59167174e-02 9.97114131e-01 -2.49097012e-04 1.09199723e+00] [ 1.59965291e-02 -9.68132859e-04 9.99871579e-01 1.06748765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38925415399999 meters 0.03271285457239922 Centerline is valid? [True, True] Translation: X:160.22, Y:1.09, Z:1.07 [[ 9.96928001e-01 -7.66628417e-02 -1.60427432e-02 1.60224066e+02] [ 7.66687267e-02 9.97056590e-01 -2.48781393e-04 1.09268229e+00] [ 1.60145951e-02 -9.81959558e-04 9.99871276e-01 1.06782414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.419254154 meters 0.033750899937446434 Centerline is valid? [True, True] Translation: X:160.25, Y:1.09, Z:1.07 [[ 9.96896585e-01 -7.70023745e-02 -1.63656030e-02 1.60254993e+02] [ 7.70085587e-02 9.97030400e-01 -2.52912001e-04 1.09289999e+00] [ 1.63364785e-02 -1.00816439e-03 9.99866043e-01 1.06811564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.449254154 meters 0.03405801974586353 Centerline is valid? [True, True] Translation: X:160.29, Y:1.09, Z:1.07 [[ 9.96923475e-01 -7.66703203e-02 -1.62863900e-02 1.60287470e+02] [ 7.66764172e-02 9.97055999e-01 -2.50669005e-04 1.09412829e+00] [ 1.62576617e-02 -9.98884220e-04 9.99867337e-01 1.06855639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.479254154 meters 0.034095528774988657 Centerline is valid? [True, True] Translation: X:160.32, Y:1.10, Z:1.07 [[ 9.96972016e-01 -7.60505726e-02 -1.62206351e-02 1.60319233e+02] [ 7.60565569e-02 9.97103474e-01 -2.48528317e-04 1.09561115e+00] [ 1.61925523e-02 -9.85909877e-04 9.99868406e-01 1.06916825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.509254154 meters 0.0341935520857945 Centerline is valid? [True, True] Translation: X:160.35, Y:1.10, Z:1.07 [[ 9.97099099e-01 -7.44871233e-02 -1.56542642e-02 1.60349243e+02] [ 7.44925145e-02 9.97221544e-01 -2.39235452e-04 1.09842090e+00] [ 1.56285895e-02 -9.27584051e-04 9.99877436e-01 1.06995316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539254154 meters 0.033990458432506386 Centerline is valid? [True, True] Translation: X:160.38, Y:1.10, Z:1.07 [[ 9.97178324e-01 -7.34439183e-02 -1.55364683e-02 1.60381669e+02] [ 7.34491135e-02 9.97298938e-01 -2.36725888e-04 1.10071526e+00] [ 1.55118894e-02 -9.05081896e-04 9.99879274e-01 1.07042517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.569254154 meters 0.03374905847247878 Centerline is valid? [True, True] Translation: X:160.41, Y:1.10, Z:1.07 [[ 9.97371232e-01 -7.07786472e-02 -1.55244777e-02 1.60411736e+02] [ 7.07835221e-02 9.97491673e-01 -2.35923176e-04 1.10449869e+00] [ 1.55022355e-02 -8.63574220e-04 9.99879460e-01 1.07053127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599254154 meters 0.03077096724948504 Centerline is valid? [True, True] Translation: X:160.44, Y:1.11, Z:1.07 [[ 9.97468466e-01 -6.92967413e-02 -1.59568162e-02 1.60443095e+02] [ 6.93017094e-02 9.97595717e-01 -2.42058507e-04 1.11047117e+00] [ 1.59352254e-02 -8.64388916e-04 9.99872653e-01 1.07078290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.629254154 meters 0.02823198139260734 Centerline is valid? [True, True] Translation: X:160.47, Y:1.12, Z:1.07 [[ 9.97586232e-01 -6.74087085e-02 -1.66666228e-02 1.60474764e+02] [ 6.74138788e-02 9.97725065e-01 -2.52047379e-04 1.11688006e+00] [ 1.66456975e-02 -8.72122694e-04 9.99861070e-01 1.07071046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659254154 meters 0.0293215660719971 Centerline is valid? [True, True] Translation: X:160.51, Y:1.12, Z:1.07 [[ 9.97692140e-01 -6.58496115e-02 -1.65596809e-02 1.60505483e+02] [ 6.58545133e-02 9.97829204e-01 -2.49713373e-04 1.11640740e+00] [ 1.65401768e-02 -8.41392658e-04 9.99862848e-01 1.07069144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.689254154 meters 0.023501059845538633 Centerline is valid? [True, True] Translation: X:160.54, Y:1.13, Z:1.07 [[ 9.97983370e-01 -6.13199164e-02 -1.64031100e-02 1.60536060e+02] [ 6.13241223e-02 9.98117874e-01 -2.46932894e-04 1.12869246e+00] [ 1.63873792e-02 -7.59471401e-04 9.99865429e-01 1.07257516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719254154 meters 0.02372674696020326 Centerline is valid? [True, True] Translation: X:160.57, Y:1.13, Z:1.07 [[ 9.98169608e-01 -5.80483093e-02 -1.69654525e-02 1.60567823e+02] [ 5.80523487e-02 9.98313508e-01 -2.54703447e-04 1.13394285e+00] [ 1.69516255e-02 -7.30647121e-04 9.99856044e-01 1.07221894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.749254154 meters 0.02079288880029205 Centerline is valid? [True, True] Translation: X:160.60, Y:1.14, Z:1.07 [[ 9.98330388e-01 -5.53944738e-02 -1.63672912e-02 1.60599063e+02] [ 5.53978891e-02 9.98464328e-01 -2.44994753e-04 1.13861370e+00] [ 1.63557278e-02 -6.62127675e-04 9.99866017e-01 1.07415325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77925415399997 meters 0.020396477642635333 Centerline is valid? [True, True] Translation: X:160.63, Y:1.14, Z:1.07 [[ 9.98520952e-01 -5.17414407e-02 -1.66952477e-02 1.60630078e+02] [ 5.17444948e-02 9.98660325e-01 -2.49275381e-04 1.14342139e+00] [ 1.66857794e-02 -6.14980467e-04 9.99860594e-01 1.07432189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80925415399997 meters 0.02496345821517761 Centerline is valid? [True, True] Translation: X:160.66, Y:1.14, Z:1.07 [[ 9.98722046e-01 -4.77934631e-02 -1.64334895e-02 1.60660652e+02] [ 4.77958954e-02 9.98857093e-01 -2.44936231e-04 1.13904282e+00] [ 1.64264139e-02 -5.40830134e-04 9.99864931e-01 1.07190287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83925415399997 meters 0.016711466515110025 Centerline is valid? [True, True] Translation: X:160.69, Y:1.16, Z:1.07 [[ 9.99084227e-01 -3.95267028e-02 -1.63813021e-02 1.60691246e+02] [ 3.95280150e-02 9.99218433e-01 -2.43800909e-04 1.15708278e+00] [ 1.63781356e-02 -4.03942710e-04 9.99865788e-01 1.07450837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86925415399998 meters 0.015291965209642754 Centerline is valid? [True, True] Translation: X:160.72, Y:1.16, Z:1.07 [[ 9.99238756e-01 -3.53856446e-02 -1.64245095e-02 1.60722562e+02] [ 3.53864130e-02 9.99373675e-01 -2.43926166e-04 1.16275231e+00] [ 1.64228539e-02 -3.37463997e-04 9.99865079e-01 1.07496331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89925415399998 meters 0.015291965209642754 Centerline is valid? [True, True] Translation: X:160.75, Y:1.16, Z:1.08 [[ 9.99240047e-01 -3.53491774e-02 -1.64245184e-02 1.60753412e+02] [ 3.53499507e-02 9.99374966e-01 -2.43324759e-04 1.16318024e+00] [ 1.64228538e-02 -3.37466073e-04 9.99865079e-01 1.07517704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92925415399998 meters 0.014417294076839542 Centerline is valid? [True, True] Translation: X:160.78, Y:1.17, Z:1.08 [[ 9.99384694e-01 -3.12683241e-02 -1.58910425e-02 1.60784986e+02] [ 3.12685414e-02 9.99510992e-01 -2.34849893e-04 1.16764187e+00] [ 1.58906150e-02 -2.62184331e-04 9.99873702e-01 1.07565410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95925415399998 meters 0.013650297516578314 Centerline is valid? [True, True] Translation: X:160.82, Y:1.17, Z:1.08 [[ 9.99513611e-01 -2.72065926e-02 -1.52428193e-02 1.60815839e+02] [ 2.72063235e-02 9.99629814e-01 -2.25057427e-04 1.17238744e+00] [ 1.52432996e-02 -1.89753110e-04 9.99883796e-01 1.07637747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98925415399998 meters 0.013030004670762216 Centerline is valid? [True, True] Translation: X:160.85, Y:1.18, Z:1.08 [[ 9.99689963e-01 -2.08241098e-02 -1.36504281e-02 1.60846371e+02] [ 2.08232986e-02 9.99783151e-01 -2.01568365e-04 1.18033525e+00] [ 1.36516655e-02 -8.27410694e-05 9.99906808e-01 1.07757008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01925415399998 meters 0.01298817592275034 Centerline is valid? [True, True] Translation: X:160.88, Y:1.18, Z:1.08 [[ 9.99743636e-01 -1.84789926e-02 -1.30839615e-02 1.60875780e+02] [ 1.84780451e-02 9.99829248e-01 -1.93315990e-04 1.18353096e+00] [ 1.30852996e-02 -4.84995991e-05 9.99914383e-01 1.07751873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04925415399998 meters 0.01286635424709332 Centerline is valid? [True, True] Translation: X:160.91, Y:1.19, Z:1.08 [[ 9.99774614e-01 -1.71054356e-02 -1.25748239e-02 1.60905638e+02] [ 1.71044489e-02 9.99853691e-01 -1.86014290e-04 1.18652221e+00] [ 1.25761659e-02 -2.91130678e-05 9.99920916e-01 1.07785849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07925415399998 meters 0.013074766209665665 Centerline is valid? [True, True] Translation: X:160.93, Y:1.19, Z:1.08 [[ 9.99780408e-01 -1.69907224e-02 -1.22658507e-02 1.60934968e+02] [ 1.69897711e-02 9.99855647e-01 -1.81758870e-04 1.18881452e+00] [ 1.22671683e-02 -2.66750394e-05 9.99924755e-01 1.07869934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10925415399998 meters 0.013363111855882695 Centerline is valid? [True, True] Translation: X:160.96, Y:1.19, Z:1.08 [[ 9.99756123e-01 -1.90282527e-02 -1.12079982e-02 1.60964102e+02] [ 1.90275829e-02 9.99818945e-01 -1.66394080e-04 1.18935051e+00] [ 1.12091351e-02 -4.69076147e-05 9.99937175e-01 1.07905792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13925415399999 meters 0.013944938485806727 Centerline is valid? [True, True] Translation: X:160.99, Y:1.19, Z:1.08 [[ 9.99718623e-01 -2.10394483e-02 -1.09551867e-02 1.60994361e+02] [ 2.10389279e-02 9.99778644e-01 -1.62764263e-04 1.18910634e+00] [ 1.09561862e-02 -6.77669184e-05 9.99939977e-01 1.07925622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.169254154 meters 0.01360716657150778 Centerline is valid? [True, True] Translation: X:161.03, Y:1.19, Z:1.08 [[ 9.99654371e-01 -2.40742894e-02 -1.05625350e-02 1.61025105e+02] [ 2.40739757e-02 9.99710168e-01 -1.56863914e-04 1.18803295e+00] [ 1.05632500e-02 -9.74725135e-05 9.99944203e-01 1.07961598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.199254154 meters 0.014059722387026295 Centerline is valid? [True, True] Translation: X:161.06, Y:1.19, Z:1.08 [[ 9.99575622e-01 -2.71909216e-02 -1.04513329e-02 1.61055793e+02] [ 2.71907875e-02 9.99630250e-01 -1.54959255e-04 1.18647485e+00] [ 1.04516820e-02 -1.29286478e-04 9.99945371e-01 1.07974375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.229254154 meters 0.015149782272804014 Centerline is valid? [True, True] Translation: X:161.09, Y:1.18, Z:1.08 [[ 9.99372027e-01 -3.38674187e-02 -1.04187270e-02 1.61087792e+02] [ 3.38676532e-02 9.99426315e-01 -1.53970126e-04 1.18380392e+00] [ 1.04179645e-02 -1.98984395e-04 9.99945712e-01 1.07940159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259254154 meters 0.01601872570209757 Centerline is valid? [True, True] Translation: X:161.12, Y:1.18, Z:1.08 [[ 9.99242736e-01 -3.75126629e-02 -1.03321976e-02 1.61120145e+02] [ 3.75130961e-02 9.99296125e-01 -1.51938956e-04 1.18195540e+00] [ 1.03306247e-02 -2.35768825e-04 9.99946610e-01 1.07949214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.289254154 meters 0.0169302696528401 Centerline is valid? [True, True] Translation: X:161.15, Y:1.18, Z:1.08 [[ 9.99130827e-01 -4.04914278e-02 -9.90127286e-03 1.61152599e+02] [ 4.04919787e-02 9.99179853e-01 -1.44899375e-04 1.18029281e+00] [ 9.89901955e-03 -2.56148697e-04 9.99950971e-01 1.07993417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319254154 meters 0.017654417791832903 Centerline is valid? [True, True] Translation: X:161.18, Y:1.18, Z:1.08 [[ 9.99029370e-01 -4.29129647e-02 -9.93959535e-03 1.61184212e+02] [ 4.29136464e-02 9.99078775e-01 -1.44788212e-04 1.17901398e+00] [ 9.93665203e-03 -2.81896603e-04 9.99950591e-01 1.08001583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.349254154 meters 0.01928247152921525 Centerline is valid? [True, True] Translation: X:161.22, Y:1.18, Z:1.08 [[ 9.98877124e-01 -4.61291297e-02 -1.07978870e-02 1.61216477e+02] [ 4.61301294e-02 9.98935427e-01 -1.56598507e-04 1.17797507e+00] [ 1.07936156e-02 -3.41685258e-04 9.99941689e-01 1.07973878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379254154 meters 0.020135527529396575 Centerline is valid? [True, True] Translation: X:161.25, Y:1.18, Z:1.08 [[ 9.98862608e-01 -4.62966086e-02 -1.14067329e-02 1.61248087e+02] [ 4.62977439e-02 9.98927671e-01 -1.64656146e-04 1.17777824e+00] [ 1.14021242e-02 -3.63637132e-04 9.99934928e-01 1.07950969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.409254154 meters 0.0205697181091152 Centerline is valid? [True, True] Translation: X:161.28, Y:1.18, Z:1.08 [[ 9.98882858e-01 -4.57659333e-02 -1.17692411e-02 1.61279371e+02] [ 4.57671127e-02 9.98952122e-01 -1.69246782e-04 1.17879156e+00] [ 1.17646541e-02 -3.69586473e-04 9.99930726e-01 1.07954096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439254154 meters 0.01856892986556974 Centerline is valid? [True, True] Translation: X:161.31, Y:1.18, Z:1.08 [[ 9.99017986e-01 -4.27889161e-02 -1.14966054e-02 1.61311200e+02] [ 4.27898515e-02 9.99084081e-01 -1.64719945e-04 1.18415669e+00] [ 1.14931236e-02 -3.27379848e-04 9.99933898e-01 1.08044862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.469254154 meters 0.01813687318199856 Centerline is valid? [True, True] Translation: X:161.34, Y:1.19, Z:1.08 [[ 9.99112004e-01 -4.05506375e-02 -1.14389339e-02 1.61342319e+02] [ 4.05514239e-02 9.99177439e-01 -1.63274925e-04 1.18579725e+00] [ 1.14361456e-02 -3.00735119e-04 9.99934560e-01 1.08088548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499254154 meters 0.01767183901853071 Centerline is valid? [True, True] Translation: X:161.37, Y:1.19, Z:1.08 [[ 9.99217363e-01 -3.80537971e-02 -1.07967139e-02 1.61373778e+02] [ 3.80543581e-02 9.99275659e-01 -1.53548314e-04 1.18750601e+00] [ 1.07947365e-02 -2.57433875e-04 9.99941702e-01 1.08117311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52925415399997 meters 0.01544541460831647 Centerline is valid? [True, True] Translation: X:161.41, Y:1.19, Z:1.08 [[ 9.99412143e-01 -3.25967706e-02 -1.06215830e-02 1.61405448e+02] [ 3.25970114e-02 9.99468565e-01 -1.50487426e-04 1.19357765e+00] [ 1.06208437e-02 -1.95832901e-04 9.99943578e-01 1.08184496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55925415399997 meters 0.015137002472199759 Centerline is valid? [True, True] Translation: X:161.44, Y:1.20, Z:1.08 [[ 9.99489662e-01 -2.99908947e-02 -1.09982421e-02 1.61437812e+02] [ 2.99910029e-02 9.99550157e-01 -1.55124896e-04 1.19585261e+00] [ 1.09979470e-02 -1.74802581e-04 9.99939505e-01 1.08190541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58925415399997 meters 0.014788505813623388 Centerline is valid? [True, True] Translation: X:161.47, Y:1.20, Z:1.08 [[ 9.99563623e-01 -2.73706882e-02 -1.11089169e-02 1.61469289e+02] [ 2.73706452e-02 9.99625342e-01 -1.55940937e-04 1.19806626e+00] [ 1.11090231e-02 -1.48185335e-04 9.99938282e-01 1.08192724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61925415399998 meters 0.014674589154009118 Centerline is valid? [True, True] Translation: X:161.50, Y:1.20, Z:1.08 [[ 9.99616887e-01 -2.51787338e-02 -1.14939326e-02 1.61501051e+02] [ 2.51785511e-02 9.99682957e-01 -1.60619510e-04 1.20017751e+00] [ 1.14943327e-02 -1.28842596e-04 9.99933930e-01 1.08171479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64925415399998 meters 0.014195217757429908 Centerline is valid? [True, True] Translation: X:161.53, Y:1.20, Z:1.08 [[ 9.99695945e-01 -2.13607213e-02 -1.23181304e-02 1.61532090e+02] [ 2.13602308e-02 9.99771830e-01 -1.71400695e-04 1.20325336e+00] [ 1.23189810e-02 -9.17695276e-05 9.99924114e-01 1.08167803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67925415399998 meters 0.01413117456218965 Centerline is valid? [True, True] Translation: X:161.56, Y:1.20, Z:1.08 [[ 9.99726376e-01 -1.94802346e-02 -1.29496387e-02 1.61562530e+02] [ 1.94795430e-02 9.99810240e-01 -1.79545117e-04 1.20435033e+00] [ 1.29506789e-02 -7.27570544e-05 9.99916134e-01 1.08181927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70925415399998 meters 0.014134230414398964 Centerline is valid? [True, True] Translation: X:161.59, Y:1.21, Z:1.08 [[ 9.99751123e-01 -1.79704110e-02 -1.32195754e-02 1.61593480e+02] [ 1.79695642e-02 9.99838518e-01 -1.82843876e-04 1.20558471e+00] [ 1.32207265e-02 -5.47516393e-05 9.99912601e-01 1.08166045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73925415399998 meters 0.014167770084189974 Centerline is valid? [True, True] Translation: X:161.62, Y:1.21, Z:1.08 [[ 9.99770477e-01 -1.68062589e-02 -1.32869529e-02 1.61622707e+02] [ 1.68052976e-02 9.99858764e-01 -1.84004661e-04 1.20662619e+00] [ 1.32881688e-02 -3.93287702e-05 9.99911708e-01 1.08181926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76925415399998 meters 0.013918317815082801 Centerline is valid? [True, True] Translation: X:161.65, Y:1.21, Z:1.08 [[ 9.99795002e-01 -1.50983657e-02 -1.34904638e-02 1.61652065e+02] [ 1.50972126e-02 9.99886013e-01 -1.87316019e-04 1.20760914e+00] [ 1.34917542e-02 -1.63907802e-05 9.99908982e-01 1.08260470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79925415399998 meters 0.01401996580896649 Centerline is valid? [True, True] Translation: X:161.68, Y:1.21, Z:1.08 [[ 9.99798372e-01 -1.49293847e-02 -1.34286758e-02 1.61680552e+02] [ 1.49282010e-02 9.99888550e-01 -1.88388761e-04 1.20801253e+00] [ 1.34299917e-02 -1.21151946e-05 9.99909814e-01 1.08274586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82925415399998 meters 0.01668082887331474 Centerline is valid? [True, True] Translation: X:161.71, Y:1.21, Z:1.08 [[ 9.99809362e-01 -1.38989964e-02 -1.37134373e-02 1.61709754e+02] [ 1.38976157e-02 9.99903404e-01 -1.95972317e-04 1.20785790e+00] [ 1.37148364e-02 5.35087527e-06 9.99905947e-01 1.08097128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85925415399998 meters 0.013938408885823992 Centerline is valid? [True, True] Translation: X:161.74, Y:1.21, Z:1.08 [[ 9.99797129e-01 -1.46383834e-02 -1.38354261e-02 1.61738600e+02] [ 1.46369992e-02 9.99892853e-01 -2.01309877e-04 1.20800166e+00] [ 1.38368905e-02 -1.24008246e-06 9.99904266e-01 1.08266090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88925415399999 meters 0.013828187349724425 Centerline is valid? [True, True] Translation: X:161.77, Y:1.21, Z:1.08 [[ 9.99788151e-01 -1.49627418e-02 -1.41340042e-02 1.61767071e+02] [ 1.49612775e-02 9.99888052e-01 -2.09341977e-04 1.20668320e+00] [ 1.41355542e-02 -2.16513061e-06 9.99900088e-01 1.08316322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.919254154 meters 0.01484753634501941 Centerline is valid? [True, True] Translation: X:161.79, Y:1.21, Z:1.08 [[ 9.99789777e-01 -1.52546702e-02 -1.37002493e-02 1.61794880e+02] [ 1.52532894e-02 9.99883641e-01 -2.05273696e-04 1.20577022e+00] [ 1.37017865e-02 -3.74332413e-06 9.99906126e-01 1.08237428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.949254154 meters 0.013937538791058706 Centerline is valid? [True, True] Translation: X:161.82, Y:1.20, Z:1.08 [[ 9.99769964e-01 -1.68083152e-02 -1.33228686e-02 1.61823288e+02] [ 1.68071163e-02 9.99858730e-01 -2.01949646e-04 1.20496284e+00] [ 1.33243809e-02 -2.20158126e-05 9.99911226e-01 1.08342023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.979254154 meters 0.01408081791814521 Centerline is valid? [True, True] Translation: X:161.85, Y:1.20, Z:1.08 [[ 9.99721305e-01 -1.96821926e-02 -1.30354931e-02 1.61852065e+02] [ 1.96812453e-02 9.99806285e-01 -2.00965332e-04 1.20250707e+00] [ 1.30369233e-02 -5.56454129e-05 9.99915014e-01 1.08433320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.009254154 meters 0.01422477986585352 Centerline is valid? [True, True] Translation: X:161.88, Y:1.20, Z:1.08 [[ 9.99686889e-01 -2.15810717e-02 -1.26642109e-02 1.61881555e+02] [ 2.15803056e-02 9.99767099e-01 -1.97164449e-04 1.20089797e+00] [ 1.26655164e-02 -7.61948258e-05 9.99919786e-01 1.08486847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039254154 meters 0.014249637741980428 Centerline is valid? [True, True] Translation: X:161.91, Y:1.20, Z:1.08 [[ 9.99632087e-01 -2.39870387e-02 -1.26614935e-02 1.61912303e+02] [ 2.39864639e-02 9.99712264e-01 -1.97271797e-04 1.19831271e+00] [ 1.26625823e-02 -1.06505240e-04 9.99919821e-01 1.08497644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.069254154 meters 0.015071321011576285 Centerline is valid? [True, True] Translation: X:161.94, Y:1.19, Z:1.09 [[ 9.99447218e-01 -3.07730107e-02 -1.25809292e-02 1.61943416e+02] [ 3.07729849e-02 9.99526380e-01 -1.95682675e-04 1.19209521e+00] [ 1.25809923e-02 -1.91578238e-04 9.99920838e-01 1.08510562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099254154 meters 0.015927960707995445 Centerline is valid? [True, True] Translation: X:161.97, Y:1.19, Z:1.09 [[ 9.99318381e-01 -3.46371260e-02 -1.27688362e-02 1.61974656e+02] [ 3.46374207e-02 9.99399925e-01 -1.98131629e-04 1.18860788e+00] [ 1.27680367e-02 -2.44282973e-04 9.99918455e-01 1.08507394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.129254154 meters 0.017045648896337504 Centerline is valid? [True, True] Translation: X:162.01, Y:1.18, Z:1.09 [[ 9.99183947e-01 -3.83382459e-02 -1.27129454e-02 1.62005599e+02] [ 3.83388447e-02 9.99264777e-01 -1.96693651e-04 1.18413544e+00] [ 1.27111395e-02 -2.90866503e-04 9.99919168e-01 1.08509815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159254154 meters 0.018706983075195416 Centerline is valid? [True, True] Translation: X:162.04, Y:1.18, Z:1.08 [[ 9.99027244e-01 -4.20675005e-02 -1.32246776e-02 1.62037918e+02] [ 4.20684863e-02 9.99114709e-01 -2.03754097e-04 1.18139785e+00] [ 1.32215413e-02 -3.52786273e-04 9.99912529e-01 1.08417521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.189254154 meters 0.01897357824544464 Centerline is valid? [True, True] Translation: X:162.07, Y:1.18, Z:1.09 [[ 9.98843971e-01 -4.62878983e-02 -1.29673130e-02 1.62068438e+02] [ 4.62892092e-02 9.98928060e-01 -1.99181586e-04 1.17741092e+00] [ 1.29626326e-02 -4.01295340e-04 9.99915901e-01 1.08544744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219254154 meters 0.02069434467961456 Centerline is valid? [True, True] Translation: X:162.10, Y:1.17, Z:1.09 [[ 9.98643209e-01 -5.04071061e-02 -1.30715139e-02 1.62099197e+02] [ 5.04087937e-02 9.98728648e-01 -2.00544909e-04 1.17339056e+00] [ 1.30650043e-02 -4.58646434e-04 9.99914544e-01 1.08536571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24925415399997 meters 0.02194604946062047 Centerline is valid? [True, True] Translation: X:162.13, Y:1.17, Z:1.09 [[ 9.98420166e-01 -5.47324420e-02 -1.27095000e-02 1.62130005e+02] [ 5.47343901e-02 9.98500931e-01 -1.94764623e-04 1.17055937e+00] [ 1.27011075e-02 -5.01189803e-04 9.99919212e-01 1.08541683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27925415399997 meters 0.024698934344579187 Centerline is valid? [True, True] Translation: X:162.16, Y:1.16, Z:1.09 [[ 9.97975826e-01 -6.23154853e-02 -1.26898380e-02 1.62160713e+02] [ 6.23180406e-02 9.98056323e-01 -1.94334744e-04 1.16343919e+00] [ 1.26772831e-02 -5.96864465e-04 9.99919462e-01 1.08559172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30925415399997 meters 0.025722404387507412 Centerline is valid? [True, True] Translation: X:162.19, Y:1.16, Z:1.09 [[ 9.97743335e-01 -6.59610832e-02 -1.25448692e-02 1.62192202e+02] [ 6.59638705e-02 9.97821994e-01 -1.91905593e-04 1.16141564e+00] [ 1.25302047e-02 -6.36035604e-04 9.99921292e-01 1.08600413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33925415399997 meters 0.028385435654567245 Centerline is valid? [True, True] Translation: X:162.22, Y:1.16, Z:1.09 [[ 9.97341898e-01 -7.17777737e-02 -1.25335475e-02 1.62222784e+02] [ 7.17810171e-02 9.97420397e-01 -1.91461024e-04 1.15666988e+00] [ 1.25149586e-02 -7.08718689e-04 9.99921434e-01 1.08611874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36925415399998 meters 0.030326684372649227 Centerline is valid? [True, True] Translation: X:162.25, Y:1.15, Z:1.09 [[ 9.97184849e-01 -7.39404482e-02 -1.24573858e-02 1.62252795e+02] [ 7.39438208e-02 9.97262390e-01 -1.90275630e-04 1.15408877e+00] [ 1.24373514e-02 -7.31406726e-04 9.99922386e-01 1.08619109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39925415399998 meters 0.03308448209456808 Centerline is valid? [True, True] Translation: X:162.28, Y:1.15, Z:1.09 [[ 9.97077629e-01 -7.53775101e-02 -1.24270899e-02 1.62284347e+02] [ 7.53809811e-02 9.97154788e-01 -1.89516618e-04 1.15064575e+00] [ 1.24060175e-02 -7.47803448e-04 9.99922763e-01 1.08629168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42925415399998 meters 0.032249869109871564 Centerline is valid? [True, True] Translation: X:162.32, Y:1.15, Z:1.09 [[ 9.97015746e-01 -7.61731800e-02 -1.25398944e-02 1.62316816e+02] [ 7.61767868e-02 9.97094309e-01 -1.90458176e-04 1.15209772e+00] [ 1.25179652e-02 -7.65359065e-04 9.99921354e-01 1.08696966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45925415399998 meters 0.0335690598851312 Centerline is valid? [True, True] Translation: X:162.35, Y:1.15, Z:1.09 [[ 9.96975612e-01 -7.67152402e-02 -1.24258298e-02 1.62347871e+02] [ 7.67188375e-02 9.97052749e-01 -1.87611264e-04 1.15119721e+00] [ 1.24036004e-02 -7.66251363e-04 9.99922779e-01 1.08728868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48925415399998 meters 0.03404225494450431 Centerline is valid? [True, True] Translation: X:162.38, Y:1.15, Z:1.09 [[ 9.97023485e-01 -7.61270225e-02 -1.22003072e-02 1.62378733e+02] [ 7.61304638e-02 9.97097848e-01 -1.82781892e-04 1.15111388e+00] [ 1.21788147e-02 -7.46577204e-04 9.99925557e-01 1.08753007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51925415399998 meters 0.03429878988078707 Centerline is valid? [True, True] Translation: X:162.41, Y:1.15, Z:1.09 [[ 9.97060038e-01 -7.56151772e-02 -1.23945557e-02 1.62411069e+02] [ 7.56187051e-02 9.97136790e-01 -1.84437669e-04 1.15159438e+00] [ 1.23730138e-02 -7.53364823e-04 9.99923168e-01 1.08777145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54925415399998 meters 0.0342856931290364 Centerline is valid? [True, True] Translation: X:162.44, Y:1.15, Z:1.09 [[ 9.97107515e-01 -7.48892903e-02 -1.29691330e-02 1.62443723e+02] [ 7.48931051e-02 9.97191549e-01 -1.91958067e-04 1.15254414e+00] [ 1.29470855e-02 -7.79895812e-04 9.99915879e-01 1.08754743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57925415399998 meters 0.03412370712769661 Centerline is valid? [True, True] Translation: X:162.48, Y:1.15, Z:1.09 [[ 9.97229537e-01 -7.30587353e-02 -1.39882587e-02 1.62475594e+02] [ 7.30630080e-02 9.97327306e-01 -2.06028841e-04 1.15419879e+00] [ 1.39659245e-02 -8.16566209e-04 9.99902138e-01 1.08648711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60925415399998 meters 0.03458484201221405 Centerline is valid? [True, True] Translation: X:162.51, Y:1.15, Z:1.09 [[ 9.97284935e-01 -7.21491746e-02 -1.47395782e-02 1.62507015e+02] [ 7.21538311e-02 9.97393492e-01 -2.16315778e-04 1.15449545e+00] [ 1.47167664e-02 -8.47788571e-04 9.99891343e-01 1.08662669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63925415399999 meters 0.03470472470121242 Centerline is valid? [True, True] Translation: X:162.54, Y:1.16, Z:1.09 [[ 9.97356355e-01 -7.10896082e-02 -1.50522118e-02 1.62539245e+02] [ 7.10943578e-02 9.97469570e-01 -2.19991145e-04 1.15556042e+00] [ 1.50297623e-02 -8.50717764e-04 9.99886685e-01 1.08634489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.669254154 meters 0.027281955386184113 Centerline is valid? [True, True] Translation: X:162.57, Y:1.17, Z:1.09 [[ 9.97541159e-01 -6.83705477e-02 -1.53981642e-02 1.62571034e+02] [ 6.83752098e-02 9.97659652e-01 -2.24101223e-04 1.16800210e+00] [ 1.53774491e-02 -8.29302517e-04 9.99881416e-01 1.08800873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.699254154 meters 0.033387782794001016 Centerline is valid? [True, True] Translation: X:162.60, Y:1.16, Z:1.09 [[ 9.97666269e-01 -6.64286918e-02 -1.57875116e-02 1.62602051e+02] [ 6.64333615e-02 9.97790838e-01 -2.29053130e-04 1.16088537e+00] [ 1.57678502e-02 -8.20298886e-04 9.99875343e-01 1.08694988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.729254154 meters 0.025689812553506955 Centerline is valid? [True, True] Translation: X:162.63, Y:1.17, Z:1.09 [[ 9.97832253e-01 -6.39823497e-02 -1.53965582e-02 1.62633873e+02] [ 6.39865114e-02 9.97950739e-01 -2.22669429e-04 1.17350557e+00] [ 1.53792535e-02 -7.62985308e-04 9.99881441e-01 1.08926464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759254154 meters 0.0314877948043919 Centerline is valid? [True, True] Translation: X:162.66, Y:1.17, Z:1.09 [[ 9.98007827e-01 -6.12832144e-02 -1.49914607e-02 1.62664043e+02] [ 6.12868747e-02 9.98120169e-01 -2.15565322e-04 1.16726585e+00] [ 1.49764898e-02 -7.03643893e-04 9.99887599e-01 1.08833492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.789254154 meters 0.021111026342748578 Centerline is valid? [True, True] Translation: X:162.69, Y:1.19, Z:1.09 [[ 9.98395344e-01 -5.49716267e-02 -1.35962051e-02 1.62694092e+02] [ 5.49740626e-02 9.98487764e-01 -1.94797715e-04 1.18573881e+00] [ 1.35863528e-02 -5.52953497e-04 9.99907548e-01 1.09182678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819254154 meters 0.021111026342748578 Centerline is valid? [True, True] Translation: X:162.73, Y:1.19, Z:1.09 [[ 9.98399469e-01 -5.48966551e-02 -1.35962126e-02 1.62725807e+02] [ 5.48990911e-02 9.98491889e-01 -1.94273146e-04 1.18613507e+00] [ 1.35863729e-02 -5.52457508e-04 9.99907548e-01 1.09204657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.849254154 meters 0.020616874315722886 Centerline is valid? [True, True] Translation: X:162.76, Y:1.19, Z:1.09 [[ 9.98590780e-01 -5.13172481e-02 -1.35275224e-02 1.62755860e+02] [ 5.13193403e-02 9.98682276e-01 -1.92649591e-04 1.18898089e+00] [ 1.35195831e-02 -5.01845420e-04 9.99908480e-01 1.09260989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879254154 meters 0.020085962463174144 Centerline is valid? [True, True] Translation: X:162.79, Y:1.19, Z:1.09 [[ 9.98779415e-01 -4.76129550e-02 -1.31410357e-02 1.62785919e+02] [ 4.76146123e-02 9.98865764e-01 -1.86903250e-04 1.19182377e+00] [ 1.31350297e-02 -4.39030202e-04 9.99913635e-01 1.09276614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.909254154 meters 0.017095165402256265 Centerline is valid? [True, True] Translation: X:162.82, Y:1.20, Z:1.09 [[ 9.99132180e-01 -3.94629921e-02 -1.33251006e-02 1.62816667e+02] [ 3.94639750e-02 9.99220976e-01 -1.89272257e-04 1.20067670e+00] [ 1.33221893e-02 -3.36753434e-04 9.99911199e-01 1.09359745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939254154 meters 0.015962259252127735 Centerline is valid? [True, True] Translation: X:162.85, Y:1.20, Z:1.09 [[ 9.99286210e-01 -3.52762792e-02 -1.35149926e-02 1.62848137e+02] [ 3.52769127e-02 9.99377558e-01 -1.91592628e-04 1.20466624e+00] [ 1.35133390e-02 -2.85311343e-04 9.99908650e-01 1.09386185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.969254154 meters 0.01567684994604819 Centerline is valid? [True, True] Translation: X:162.88, Y:1.21, Z:1.09 [[ 9.99414117e-01 -3.12735894e-02 -1.39063107e-02 1.62878226e+02] [ 3.12738841e-02 9.99510833e-01 -1.96322019e-04 1.20717537e+00] [ 1.39056479e-02 -2.38697352e-04 9.99903283e-01 1.09330344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99925415399997 meters 0.014906707949116933 Centerline is valid? [True, True] Translation: X:162.91, Y:1.21, Z:1.09 [[ 9.99535550e-01 -2.71082527e-02 -1.39221502e-02 1.62910054e+02] [ 2.71081567e-02 9.99632487e-01 -1.95640571e-04 1.21129221e+00] [ 1.39223371e-02 -1.81854123e-04 9.99903063e-01 1.09360269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02925415399997 meters 0.01444081832786171 Centerline is valid? [True, True] Translation: X:162.94, Y:1.22, Z:1.09 [[ 9.99636215e-01 -2.31367271e-02 -1.38610980e-02 1.62941808e+02] [ 2.31362604e-02 9.99732302e-01 -1.94044652e-04 1.21513018e+00] [ 1.38618770e-02 -1.26719912e-04 9.99903912e-01 1.09405730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05925415399997 meters 0.013850552315056944 Centerline is valid? [True, True] Translation: X:162.97, Y:1.22, Z:1.09 [[ 9.99799392e-01 -1.48746181e-02 -1.34134872e-02 1.62971565e+02] [ 1.48734409e-02 9.99889367e-01 -1.87524833e-04 1.22115659e+00] [ 1.34147926e-02 -1.20174954e-05 9.99910018e-01 1.09476266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08925415399997 meters 0.013942500744583529 Centerline is valid? [True, True] Translation: X:163.00, Y:1.22, Z:1.10 [[ 9.99848172e-01 -1.12558419e-02 -1.33018122e-02 1.62999907e+02] [ 1.12543404e-02 9.99936650e-01 -1.87732953e-04 1.22417771e+00] [ 1.33030827e-02 3.80013267e-05 9.99911509e-01 1.09516496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11925415399998 meters 0.01433335543618936 Centerline is valid? [True, True] Translation: X:163.03, Y:1.23, Z:1.10 [[ 9.99889281e-01 -7.63172941e-03 -1.27743000e-02 1.63028123e+02] [ 7.63002014e-03 9.99970874e-01 -1.82536825e-04 1.22712508e+00] [ 1.27753211e-02 8.50484483e-05 9.99918389e-01 1.09517105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14925415399998 meters 0.014272785363681786 Centerline is valid? [True, True] Translation: X:163.06, Y:1.23, Z:1.10 [[ 9.99912241e-01 -4.44204502e-03 -1.24811639e-02 1.63056430e+02] [ 4.44013915e-03 9.99990126e-01 -1.80405925e-04 1.22884476e+00] [ 1.24818420e-02 1.24971988e-04 9.99922091e-01 1.09612285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17925415399998 meters 0.015180872330665778 Centerline is valid? [True, True] Translation: X:163.08, Y:1.23, Z:1.10 [[ 9.99932746e-01 3.21972243e-04 -1.15930960e-02 1.63083860e+02] [-3.23963778e-04 9.99999933e-01 -1.69908718e-04 1.23208973e+00] [ 1.15930405e-02 1.73653034e-04 9.99932783e-01 1.09631111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20925415399998 meters 0.01515939793201013 Centerline is valid? [True, True] Translation: X:163.11, Y:1.23, Z:1.10 [[ 9.99936622e-01 1.61440505e-03 -1.11421061e-02 1.63112308e+02] [-1.61634740e-03 9.99998680e-01 -1.65322281e-04 1.23195653e+00] [ 1.11418245e-02 1.83321318e-04 9.99937911e-01 1.09642172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23925415399998 meters 0.01564251282447938 Centerline is valid? [True, True] Translation: X:163.14, Y:1.23, Z:1.10 [[ 9.99938359e-01 1.80179738e-03 -1.09558637e-02 1.63140896e+02] [-1.80370867e-03 9.99998360e-01 -1.64575690e-04 1.23163780e+00] [ 1.09555492e-02 1.84326732e-04 9.99939969e-01 1.09595358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26925415399998 meters 0.0152969776054811 Centerline is valid? [True, True] Translation: X:163.17, Y:1.23, Z:1.10 [[ 9.99942003e-01 1.66346918e-03 -1.06406850e-02 1.63168535e+02] [-1.66527375e-03 9.99998601e-01 -1.60734055e-04 1.23031989e+00] [ 1.06404028e-02 1.78444387e-04 9.99943373e-01 1.09613723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29925415399998 meters 0.01487303998062902 Centerline is valid? [True, True] Translation: X:163.20, Y:1.23, Z:1.10 [[ 9.99944787e-01 -9.83050939e-04 -1.04621490e-02 1.63197719e+02] [ 9.81440677e-04 9.99999506e-01 -1.59046173e-04 1.22641724e+00] [ 1.04623002e-02 1.48769413e-04 9.99945258e-01 1.09621475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32925415399998 meters 0.014659148571347886 Centerline is valid? [True, True] Translation: X:163.23, Y:1.22, Z:1.10 [[ 9.99940687e-01 -3.15132319e-03 -1.04255601e-02 1.63225800e+02] [ 3.14983330e-03 9.99995027e-01 -1.59324209e-04 1.22465575e+00] [ 1.04260104e-02 1.26475982e-04 9.99945640e-01 1.09625711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35925415399998 meters 0.01434605740730602 Centerline is valid? [True, True] Translation: X:163.25, Y:1.22, Z:1.10 [[ 9.99930227e-01 -5.84464366e-03 -1.02655237e-02 1.63253811e+02] [ 5.84333150e-03 9.99982915e-01 -1.57810245e-04 1.22252801e+00] [ 1.02662706e-02 9.78143760e-05 9.99947296e-01 1.09635785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38925415399999 meters 0.014230187583766986 Centerline is valid? [True, True] Translation: X:163.28, Y:1.22, Z:1.10 [[ 9.99869646e-01 -1.25199527e-02 -1.01951953e-02 1.63282984e+02] [ 1.25189966e-02 9.99921622e-01 -1.57595323e-04 1.21568884e+00] [ 1.01963693e-02 2.99411648e-05 9.99948015e-01 1.09549574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.419254154 meters 0.014025054347042747 Centerline is valid? [True, True] Translation: X:163.31, Y:1.21, Z:1.10 [[ 9.99807569e-01 -1.64550099e-02 -1.06798060e-02 1.63311587e+02] [ 1.64541773e-02 9.99864607e-01 -1.65821516e-04 1.21191228e+00] [ 1.06810887e-02 -9.93781553e-06 9.99942955e-01 1.09523688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.449254154 meters 0.014273088272670317 Centerline is valid? [True, True] Translation: X:163.34, Y:1.21, Z:1.10 [[ 9.99735099e-01 -2.04075028e-02 -1.06426785e-02 1.63341772e+02] [ 2.04068946e-02 9.99791744e-01 -1.65754555e-04 1.20778050e+00] [ 1.06438448e-02 -5.14733727e-05 9.99943351e-01 1.09504439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.479254154 meters 0.014887867480599578 Centerline is valid? [True, True] Translation: X:163.37, Y:1.20, Z:1.09 [[ 9.99640030e-01 -2.45348018e-02 -1.08560547e-02 1.63372260e+02] [ 2.45344103e-02 9.99698972e-01 -1.69261628e-04 1.20280780e+00] [ 1.08569395e-02 -9.71462014e-05 9.99941057e-01 1.09444247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.509254154 meters 0.015820048070152325 Centerline is valid? [True, True] Translation: X:163.40, Y:1.20, Z:1.09 [[ 9.99421174e-01 -3.22609552e-02 -1.07956917e-02 1.63403781e+02] [ 3.22610214e-02 9.99479464e-01 -1.68060340e-04 1.19502286e+00] [ 1.07954940e-02 -1.80316980e-04 9.99941711e-01 1.09464070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539254154 meters 0.016904014913882656 Centerline is valid? [True, True] Translation: X:163.44, Y:1.19, Z:1.09 [[ 9.99299522e-01 -3.58781779e-02 -1.06405209e-02 1.63436307e+02] [ 3.58784525e-02 9.99356147e-01 -1.65138936e-04 1.19137333e+00] [ 1.06395949e-02 -2.16742164e-04 9.99943374e-01 1.09474076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.569254154 meters 0.01766282130649456 Centerline is valid? [True, True] Translation: X:163.47, Y:1.19, Z:1.10 [[ 9.99197587e-01 -3.86319019e-02 -1.05716055e-02 1.63468728e+02] [ 3.86323349e-02 9.99253479e-01 -1.63323671e-04 1.18810307e+00] [ 1.05700231e-02 -2.45213186e-04 9.99944106e-01 1.09501722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599254154 meters 0.018717455549379387 Centerline is valid? [True, True] Translation: X:163.50, Y:1.18, Z:1.10 [[ 9.99096893e-01 -4.11802870e-02 -1.04681686e-02 1.63500930e+02] [ 4.11808591e-02 9.99151696e-01 -1.60991970e-04 1.18488830e+00] [ 1.04659181e-02 -2.70241598e-04 9.99945194e-01 1.09503474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.629254154 meters 0.02177895073770777 Centerline is valid? [True, True] Translation: X:163.53, Y:1.18, Z:1.09 [[ 9.98924749e-01 -4.50989008e-02 -1.07440537e-02 1.63531887e+02] [ 4.50997366e-02 9.98982476e-01 -1.64603778e-04 1.17852702e+00] [ 1.07405448e-02 -3.20127204e-04 9.99942267e-01 1.09313935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659254154 meters 0.021100296221104126 Centerline is valid? [True, True] Translation: X:163.56, Y:1.18, Z:1.09 [[ 9.98840108e-01 -4.69996097e-02 -1.04630871e-02 1.63563706e+02] [ 4.70005108e-02 9.98894853e-01 -1.59882055e-04 1.17658688e+00] [ 1.04590382e-02 -3.32073829e-04 9.99945248e-01 1.09484099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.689254154 meters 0.022925842998825243 Centerline is valid? [True, True] Translation: X:163.59, Y:1.17, Z:1.09 [[ 9.98769703e-01 -4.83665238e-02 -1.09434981e-02 1.63594425e+02] [ 4.83675972e-02 9.98829589e-01 -1.66706710e-04 1.17417447e+00] [ 1.09387528e-02 -3.62809098e-04 9.99940104e-01 1.09342800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719254154 meters 0.024289237882366334 Centerline is valid? [True, True] Translation: X:163.62, Y:1.17, Z:1.10 [[ 9.98565680e-01 -5.25068756e-02 -1.04695424e-02 1.63624294e+02] [ 5.25080906e-02 9.98620486e-01 -1.58976428e-04 1.17029955e+00] [ 1.04634469e-02 -3.90987277e-04 9.99945180e-01 1.09525725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74925415399997 meters 0.025307557813918132 Centerline is valid? [True, True] Translation: X:163.66, Y:1.17, Z:1.10 [[ 9.98467429e-01 -5.43463764e-02 -1.04529422e-02 1.63656375e+02] [ 5.43476964e-02 9.98522059e-01 -1.57935300e-04 1.16860730e+00] [ 1.04460766e-02 -4.10400076e-04 9.99945354e-01 1.09526618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77925415399997 meters 0.02709138922030128 Centerline is valid? [True, True] Translation: X:163.69, Y:1.17, Z:1.09 [[ 9.98345055e-01 -5.65522823e-02 -1.04398737e-02 1.63687808e+02] [ 5.65537262e-02 9.98399545e-01 -1.57089540e-04 1.16625086e+00] [ 1.04320489e-02 -4.33584195e-04 9.99945491e-01 1.09491282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80925415399997 meters 0.025603995839117884 Centerline is valid? [True, True] Translation: X:163.72, Y:1.17, Z:1.09 [[ 9.98212982e-01 -5.87742348e-02 -1.07903326e-02 1.63720247e+02] [ 5.87759137e-02 9.98271189e-01 -1.61728523e-04 1.16833527e+00] [ 1.07811837e-02 -4.72772148e-04 9.99941770e-01 1.09499465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83925415399997 meters 0.02796689401349175 Centerline is valid? [True, True] Translation: X:163.75, Y:1.17, Z:1.09 [[ 9.97967726e-01 -6.26306082e-02 -1.17398820e-02 1.63751776e+02] [ 6.26328701e-02 9.98036619e-01 -1.75257964e-04 1.16706323e+00] [ 1.17278087e-02 -5.60400713e-04 9.99931070e-01 1.09205907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86925415399998 meters 0.028614967682974068 Centerline is valid? [True, True] Translation: X:163.78, Y:1.16, Z:1.09 [[ 9.97832889e-01 -6.48325555e-02 -1.12368291e-02 1.63783075e+02] [ 6.48347722e-02 9.97895999e-01 -1.67279894e-04 1.16461079e+00] [ 1.12240320e-02 -5.61619876e-04 9.99936851e-01 1.09428376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89925415399998 meters 0.024942899643087466 Centerline is valid? [True, True] Translation: X:163.82, Y:1.17, Z:1.09 [[ 9.97732933e-01 -6.62156827e-02 -1.20198964e-02 1.63815011e+02] [ 6.62183286e-02 9.97805142e-01 -1.78156907e-04 1.17072591e+00] [ 1.20053112e-02 -6.18184435e-04 9.99927743e-01 1.09471589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92925415399998 meters 0.02641953385386259 Centerline is valid? [True, True] Translation: X:163.85, Y:1.17, Z:1.09 [[ 9.97649937e-01 -6.73118324e-02 -1.27953514e-02 1.63846618e+02] [ 6.73149320e-02 9.97731760e-01 -1.88766298e-04 1.16990691e+00] [ 1.27790346e-02 -6.72995522e-04 9.99918118e-01 1.09429434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95925415399998 meters 0.02657402637785183 Centerline is valid? [True, True] Translation: X:163.88, Y:1.17, Z:1.09 [[ 9.97593335e-01 -6.79796084e-02 -1.36496010e-02 1.63879034e+02] [ 6.79832106e-02 9.97686445e-01 -2.00457752e-04 1.17292862e+00] [ 1.36316490e-02 -7.27968383e-04 9.99906820e-01 1.09452830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98925415399998 meters 0.027096346389291783 Centerline is valid? [True, True] Translation: X:163.91, Y:1.17, Z:1.09 [[ 9.97610023e-01 -6.77491406e-02 -1.35755493e-02 1.63911408e+02] [ 6.77526959e-02 9.97702126e-01 -1.98374467e-04 1.17438809e+00] [ 1.35577942e-02 -7.21879710e-04 9.99907828e-01 1.09449726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01925415399998 meters 0.027791572126791748 Centerline is valid? [True, True] Translation: X:163.94, Y:1.18, Z:1.09 [[ 9.97673314e-01 -6.68167910e-02 -1.35452624e-02 1.63943416e+02] [ 6.68202582e-02 9.97765010e-01 -1.96944355e-04 1.17563899e+00] [ 1.35281481e-02 -7.08611804e-04 9.99908239e-01 1.09362328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04925415399998 meters 0.026927636896780828 Centerline is valid? [True, True] Translation: X:163.98, Y:1.18, Z:1.10 [[ 9.97738322e-01 -6.58635297e-02 -1.34251866e-02 1.63975401e+02] [ 6.58668626e-02 9.97828401e-01 -1.94227408e-04 1.17821977e+00] [ 1.34088250e-02 -6.90486792e-04 9.99909859e-01 1.09514016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07925415399998 meters 0.026721175206499127 Centerline is valid? [True, True] Translation: X:164.01, Y:1.18, Z:1.10 [[ 9.97846525e-01 -6.42707848e-02 -1.30987892e-02 1.64007466e+02] [ 6.42738330e-02 9.97932282e-01 -1.88568710e-04 1.18062953e+00] [ 1.30838240e-02 -6.53746755e-04 9.99914189e-01 1.09543188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10925415399998 meters 0.025993624208502507 Centerline is valid? [True, True] Translation: X:164.04, Y:1.19, Z:1.10 [[ 9.98107405e-01 -6.02562209e-02 -1.22799281e-02 1.64036774e+02] [ 6.02586012e-02 9.98182784e-01 -1.76406817e-04 1.18651673e+00] [ 1.22682424e-02 -5.63898337e-04 9.99924583e-01 1.09614778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13925415399999 meters 0.026756507545375167 Centerline is valid? [True, True] Translation: X:164.07, Y:1.19, Z:1.09 [[ 9.98273564e-01 -5.74606535e-02 -1.21722873e-02 1.64068656e+02] [ 5.74627868e-02 9.98347634e-01 -1.74703919e-04 1.19053472e+00] [ 1.21622128e-02 -5.25051246e-04 9.99925900e-01 1.09475170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.169254154 meters 0.02444339625079945 Centerline is valid? [True, True] Translation: X:164.10, Y:1.20, Z:1.10 [[ 9.98435174e-01 -5.48016237e-02 -1.11348652e-02 1.64098623e+02] [ 5.48032524e-02 9.98497160e-01 -1.59033118e-04 1.19516720e+00] [ 1.11268465e-02 -4.51442567e-04 9.99937993e-01 1.09845622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.199254154 meters 0.023381388739774633 Centerline is valid? [True, True] Translation: X:164.13, Y:1.20, Z:1.10 [[ 9.98611302e-01 -5.15953540e-02 -1.06483326e-02 1.64130458e+02] [ 5.15966709e-02 9.98667993e-01 -1.51190038e-04 1.20010310e+00] [ 1.06419496e-02 -3.98438432e-04 9.99943293e-01 1.09910187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.229254154 meters 0.021173474531306243 Centerline is valid? [True, True] Translation: X:164.16, Y:1.21, Z:1.10 [[ 9.98944462e-01 -4.47946532e-02 -1.01686337e-02 1.64160529e+02] [ 4.47955056e-02 9.98996167e-01 -1.44033493e-04 1.20850299e+00] [ 1.01648780e-02 -3.11627626e-04 9.99948288e-01 1.09960787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259254154 meters 0.020111162644513247 Centerline is valid? [True, True] Translation: X:164.19, Y:1.21, Z:1.10 [[ 9.99093325e-01 -4.13739072e-02 -1.00363674e-02 1.64192204e+02] [ 4.13745667e-02 9.99143696e-01 -1.42004837e-04 1.21281605e+00] [ 1.00336485e-02 -2.73374268e-04 9.99949624e-01 1.10003801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.289254154 meters 0.019139081782691213 Centerline is valid? [True, True] Translation: X:164.22, Y:1.22, Z:1.10 [[ 9.99231564e-01 -3.80015338e-02 -9.60025344e-03 1.64223525e+02] [ 3.80019858e-02 9.99277654e-01 -1.35402574e-04 1.21704652e+00] [ 9.59846424e-03 -2.29530168e-04 9.99953907e-01 1.10046522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319254154 meters 0.01757393860759538 Centerline is valid? [True, True] Translation: X:164.25, Y:1.22, Z:1.10 [[ 9.99425211e-01 -3.27449433e-02 -8.77585853e-03 1.64253752e+02] [ 3.27451206e-02 9.99463727e-01 -1.23527705e-04 1.22395405e+00] [ 8.77519718e-03 -1.63909843e-04 9.99961484e-01 1.10107754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.349254154 meters 0.01711533937694656 Centerline is valid? [True, True] Translation: X:164.28, Y:1.23, Z:1.10 [[ 9.99493277e-01 -3.05186124e-02 -9.04457330e-03 1.64284885e+02] [ 3.05187129e-02 9.99534188e-01 -1.26931899e-04 1.22710883e+00] [ 9.04423401e-03 -1.49161156e-04 9.99959089e-01 1.10124362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379254154 meters 0.016595667134067293 Centerline is valid? [True, True] Translation: X:164.32, Y:1.23, Z:1.10 [[ 9.99545007e-01 -2.87317174e-02 -9.17973994e-03 1.64317247e+02] [ 2.87317548e-02 9.99587150e-01 -1.27826695e-04 1.23009650e+00] [ 9.17962276e-03 -1.35981502e-04 9.99957857e-01 1.10137807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.409254154 meters 0.01632943660802253 Centerline is valid? [True, True] Translation: X:164.35, Y:1.23, Z:1.10 [[ 9.99586158e-01 -2.72714214e-02 -9.15322683e-03 1.64349924e+02] [ 2.72714033e-02 9.99628058e-01 -1.26815151e-04 1.23262557e+00] [ 9.15328079e-03 -1.22858670e-04 9.99958100e-01 1.10118428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439254154 meters 0.015819505629895002 Centerline is valid? [True, True] Translation: X:164.38, Y:1.24, Z:1.10 [[ 9.99635509e-01 -2.48844632e-02 -1.04695956e-02 1.64381399e+02] [ 2.48843173e-02 9.99690327e-01 -1.44226370e-04 1.23630875e+00] [ 1.04699425e-02 -1.16354939e-04 9.99945182e-01 1.10023136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.469254154 meters 0.01566202397278766 Centerline is valid? [True, True] Translation: X:164.41, Y:1.24, Z:1.10 [[ 9.99655559e-01 -2.38440761e-02 -1.09646207e-02 1.64413030e+02] [ 2.38438588e-02 9.99715683e-01 -1.50558426e-04 1.23794481e+00] [ 1.09650932e-02 -1.10932300e-04 9.99939875e-01 1.09973210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49925415399997 meters 0.015390724874172782 Centerline is valid? [True, True] Translation: X:164.44, Y:1.24, Z:1.10 [[ 9.99680227e-01 -2.26574074e-02 -1.12288099e-02 1.64444748e+02] [ 2.26571088e-02 9.99743283e-01 -1.53818600e-04 1.23976096e+00] [ 1.12294124e-02 -1.00642955e-04 9.99936943e-01 1.09942736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52925415399997 meters 0.01478834956045785 Centerline is valid? [True, True] Translation: X:164.48, Y:1.24, Z:1.10 [[ 9.99699530e-01 -2.17183583e-02 -1.13650085e-02 1.64476277e+02] [ 2.17179961e-02 9.99764124e-01 -1.55297747e-04 1.24380289e+00] [ 1.13657005e-02 -9.15741246e-05 9.99935404e-01 1.10071791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55925415399997 meters 0.015205514608872433 Centerline is valid? [True, True] Translation: X:164.51, Y:1.24, Z:1.10 [[ 9.99729225e-01 -2.04944107e-02 -1.10207160e-02 1.64506873e+02] [ 2.04939993e-02 9.99789965e-01 -1.50274737e-04 1.24492386e+00] [ 1.10214810e-02 -7.56244990e-05 9.99939259e-01 1.10036523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58925415399997 meters 0.015248949845895199 Centerline is valid? [True, True] Translation: X:164.54, Y:1.25, Z:1.10 [[ 9.99750000e-01 -1.98196710e-02 -1.03497905e-02 1.64538141e+02] [ 1.98192744e-02 9.99803569e-01 -1.40901496e-04 1.24641235e+00] [ 1.03505501e-02 -6.42590666e-05 9.99946430e-01 1.10092275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61925415399998 meters 0.014892272607363942 Centerline is valid? [True, True] Translation: X:164.57, Y:1.25, Z:1.10 [[ 9.99757636e-01 -1.95125959e-02 -1.01944874e-02 1.64569641e+02] [ 1.95121983e-02 9.99809609e-01 -1.38470969e-04 1.24737497e+00] [ 1.01952484e-02 -6.04794503e-05 9.99948025e-01 1.10188762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64925415399998 meters 0.014769992763764313 Centerline is valid? [True, True] Translation: X:164.60, Y:1.25, Z:1.10 [[ 9.99756438e-01 -1.97323217e-02 -9.88433498e-03 1.64600479e+02] [ 1.97319618e-02 9.99805297e-01 -1.33940696e-04 1.24962593e+00] [ 9.88505343e-03 -6.11292472e-05 9.99951140e-01 1.10321071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67925415399998 meters 0.014853681157447717 Centerline is valid? [True, True] Translation: X:164.63, Y:1.25, Z:1.10 [[ 9.99739195e-01 -2.10316748e-02 -8.90000831e-03 1.64631822e+02] [ 2.10314375e-02 9.99778808e-01 -1.20269235e-04 1.24836843e+00] [ 8.90056916e-03 -6.69420998e-05 9.99960387e-01 1.10375356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70925415399998 meters 0.014853681157447717 Centerline is valid? [True, True] Translation: X:164.66, Y:1.25, Z:1.10 [[ 9.99740674e-01 -2.09612422e-02 -8.90001524e-03 1.64663513e+02] [ 2.09610066e-02 9.99780287e-01 -1.19755002e-04 1.24873305e+00] [ 8.90057000e-03 -6.68293317e-05 9.99960387e-01 1.10397308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73925415399998 meters 0.015019401002409005 Centerline is valid? [True, True] Translation: X:164.70, Y:1.25, Z:1.10 [[ 9.99723274e-01 -2.19623673e-02 -8.42788670e-03 1.64695874e+02] [ 2.19621965e-02 9.99758796e-01 -1.12832962e-04 1.24822506e+00] [ 8.42833193e-03 -7.22931654e-05 9.99964478e-01 1.10438485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76925415399998 meters 0.015248726271654606 Centerline is valid? [True, True] Translation: X:164.73, Y:1.25, Z:1.10 [[ 9.99690393e-01 -2.34814504e-02 -8.23041000e-03 1.64728066e+02] [ 2.34813437e-02 9.99724269e-01 -1.09614003e-04 1.24722061e+00] [ 8.23071452e-03 -8.36810197e-05 9.99966124e-01 1.10464017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79925415399998 meters 0.01545349243125787 Centerline is valid? [True, True] Translation: X:164.76, Y:1.25, Z:1.11 [[ 9.99648797e-01 -2.53181902e-02 -7.82757934e-03 1.64760667e+02] [ 2.53181541e-02 9.99679439e-01 -1.03716599e-04 1.24670038e+00] [ 7.82769604e-03 -9.44996866e-05 9.99969359e-01 1.10515521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82925415399998 meters 0.01577127477068167 Centerline is valid? [True, True] Translation: X:164.79, Y:1.25, Z:1.11 [[ 9.99546239e-01 -2.89232815e-02 -8.41193575e-03 1.64792727e+02] [ 2.89233729e-02 9.99581626e-01 -1.10812999e-04 1.24513837e+00] [ 8.41162148e-03 -1.32538838e-04 9.99964613e-01 1.10562752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85925415399998 meters 0.016359463994666205 Centerline is valid? [True, True] Translation: X:164.82, Y:1.24, Z:1.11 [[ 9.99491710e-01 -3.06292681e-02 -8.84140672e-03 1.64824360e+02] [ 3.06294415e-02 9.99530802e-01 -1.15828874e-04 1.24332596e+00] [ 8.84080610e-03 -1.55037350e-04 9.99960907e-01 1.10513005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88925415399999 meters 0.016654047578691746 Centerline is valid? [True, True] Translation: X:164.86, Y:1.24, Z:1.11 [[ 9.99437696e-01 -3.22025794e-02 -9.34265323e-03 1.64856555e+02] [ 3.22028470e-02 9.99481346e-01 -1.21819559e-04 1.24188243e+00] [ 9.34173053e-03 -1.79108973e-04 9.99956349e-01 1.10504567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.919254154 meters 0.017622928049114448 Centerline is valid? [True, True] Translation: X:164.89, Y:1.24, Z:1.10 [[ 9.99401608e-01 -3.31064319e-02 -1.00194885e-02 1.64888885e+02] [ 3.31067928e-02 9.99451811e-01 -1.29887058e-04 1.24049494e+00] [ 1.00182960e-02 -2.01903793e-04 9.99949795e-01 1.10309837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.949254154 meters 0.018091452646638084 Centerline is valid? [True, True] Translation: X:164.92, Y:1.24, Z:1.10 [[ 9.99336922e-01 -3.45213378e-02 -1.15755962e-02 1.64921234e+02] [ 3.45219249e-02 9.99403930e-01 -1.49147846e-04 1.23943204e+00] [ 1.15738451e-02 -2.50562913e-04 9.99932989e-01 1.10144632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.979254154 meters 0.017221124523770594 Centerline is valid? [True, True] Translation: X:164.95, Y:1.24, Z:1.10 [[ 9.99319199e-01 -3.47601175e-02 -1.23642013e-02 1.64953082e+02] [ 3.47608172e-02 9.99395648e-01 -1.58373247e-04 1.23983105e+00] [ 1.23622341e-02 -2.71524316e-04 9.99923548e-01 1.10255430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.009254154 meters 0.017182201665150835 Centerline is valid? [True, True] Translation: X:164.98, Y:1.24, Z:1.10 [[ 9.99327897e-01 -3.44206957e-02 -1.26083422e-02 1.64984989e+02] [ 3.44214081e-02 9.99407395e-01 -1.60567489e-04 1.24014198e+00] [ 1.26063972e-02 -2.73537319e-04 9.99920499e-01 1.10254926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039254154 meters 0.01698522848249693 Centerline is valid? [True, True] Translation: X:165.02, Y:1.24, Z:1.10 [[ 9.99352955e-01 -3.34647436e-02 -1.31826812e-02 1.65016900e+02] [ 3.34654522e-02 9.99439861e-01 -1.66893161e-04 1.24140451e+00] [ 1.31808821e-02 -2.74379213e-04 9.99913091e-01 1.10257700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.069254154 meters 0.01629971898910622 Centerline is valid? [True, True] Translation: X:165.05, Y:1.24, Z:1.10 [[ 9.99463075e-01 -2.98895080e-02 -1.34230847e-02 1.65048628e+02] [ 2.98899319e-02 9.99553182e-01 -1.69081494e-04 1.24362473e+00] [ 1.34221408e-02 -2.32224378e-04 9.99909892e-01 1.10243692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099254154 meters 0.01572594430161233 Centerline is valid? [True, True] Translation: X:165.08, Y:1.25, Z:1.10 [[ 9.99546968e-01 -2.69832943e-02 -1.33326916e-02 1.65079676e+02] [ 2.69834619e-02 9.99635866e-01 -1.67348040e-04 1.24577203e+00] [ 1.33323523e-02 -1.92489950e-04 9.99911102e-01 1.10284380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.129254154 meters 0.015049722031664114 Centerline is valid? [True, True] Translation: X:165.11, Y:1.25, Z:1.10 [[ 9.99709656e-01 -2.00755304e-02 -1.33257590e-02 1.65110118e+02] [ 2.00750948e-02 9.99798461e-01 -1.66464977e-04 1.25006298e+00] [ 1.33264152e-02 -1.01099229e-04 9.99911194e-01 1.10376253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159254154 meters 0.014966879543962204 Centerline is valid? [True, True] Translation: X:165.14, Y:1.25, Z:1.10 [[ 9.99776121e-01 -1.64419410e-02 -1.33180522e-02 1.65140995e+02] [ 1.64411913e-02 9.99864821e-01 -1.65784307e-04 1.25302274e+00] [ 1.33189777e-02 -5.32174526e-05 9.99911297e-01 1.10403766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.189254154 meters 0.014986715919191648 Centerline is valid? [True, True] Translation: X:165.17, Y:1.26, Z:1.10 [[ 9.99827223e-01 -1.30935393e-02 -1.31940617e-02 1.65170872e+02] [ 1.30925089e-02 9.99914276e-01 -1.64469492e-04 1.25584338e+00] [ 1.31950841e-02 -8.30229536e-06 9.99912941e-01 1.10441868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219254154 meters 0.014902515261041069 Centerline is valid? [True, True] Translation: X:165.20, Y:1.26, Z:1.10 [[ 9.99859206e-01 -1.00691876e-02 -1.34230742e-02 1.65198751e+02] [ 1.00678333e-02 9.99949304e-01 -1.68467066e-04 1.25823139e+00] [ 1.34240900e-02 3.33020743e-05 9.99909892e-01 1.10491047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24925415399997 meters 0.015070273281260331 Centerline is valid? [True, True] Translation: X:165.23, Y:1.26, Z:1.10 [[ 9.99872036e-01 -7.95388054e-03 -1.38797235e-02 1.65226386e+02] [ 7.95220649e-03 9.99968365e-01 -1.75797665e-04 1.26000945e+00] [ 1.38806827e-02 6.54007416e-05 9.99903657e-01 1.10490234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27925415399997 meters 0.015175132846496884 Centerline is valid? [True, True] Translation: X:165.26, Y:1.26, Z:1.10 [[ 9.99880537e-01 -5.93094616e-03 -1.42735649e-02 1.65255544e+02] [ 5.92893438e-03 9.99982407e-01 -1.83256583e-04 1.26040629e+00] [ 1.42744007e-02 9.86076612e-05 9.99898111e-01 1.10457193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30925415399997 meters 0.014911038538394254 Centerline is valid? [True, True] Translation: X:165.28, Y:1.26, Z:1.10 [[ 9.99867358e-01 -6.55165086e-03 -1.49111765e-02 1.65283702e+02] [ 6.54946284e-03 9.99978533e-01 -1.95565524e-04 1.25922451e+00] [ 1.49121377e-02 9.78793871e-05 9.99888803e-01 1.10483759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33925415399997 meters 0.014919014330025591 Centerline is valid? [True, True] Translation: X:165.31, Y:1.26, Z:1.10 [[ 9.99848972e-01 -8.00345938e-03 -1.54265248e-02 1.65311567e+02] [ 8.00122021e-03 9.99967968e-01 -2.06865163e-04 1.25787675e+00] [ 1.54276863e-02 8.34028987e-05 9.99880983e-01 1.10441791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36925415399998 meters 0.014900399481042293 Centerline is valid? [True, True] Translation: X:165.34, Y:1.26, Z:1.10 [[ 9.99828588e-01 -1.01064450e-02 -1.55130522e-02 1.65339690e+02] [ 1.01043905e-02 9.99948927e-01 -2.10811815e-04 1.25627885e+00] [ 1.55143905e-02 5.40257410e-05 9.99879643e-01 1.10406472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39925415399998 meters 0.01481775207857749 Centerline is valid? [True, True] Translation: X:165.37, Y:1.25, Z:1.10 [[ 9.99751588e-01 -1.54655636e-02 -1.60492850e-02 1.65367727e+02] [ 1.54640291e-02 9.99880401e-01 -2.19716951e-04 1.25189130e+00] [ 1.60507636e-02 -2.85242396e-05 9.99871178e-01 1.10477624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42925415399998 meters 0.014920521350875945 Centerline is valid? [True, True] Translation: X:165.40, Y:1.25, Z:1.10 [[ 9.99694762e-01 -1.84532002e-02 -1.64274844e-02 1.65395209e+02] [ 1.84519696e-02 9.99829722e-01 -2.26494374e-04 1.24948091e+00] [ 1.64288667e-02 -7.66942037e-05 9.99865034e-01 1.10444171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45925415399998 meters 0.015636000557390384 Centerline is valid? [True, True] Translation: X:165.42, Y:1.24, Z:1.10 [[ 9.99572541e-01 -2.42295161e-02 -1.63604767e-02 1.65424263e+02] [ 2.42290220e-02 9.99706408e-01 -2.28443019e-04 1.24405309e+00] [ 1.63612084e-02 -1.68052980e-04 9.99866132e-01 1.10447272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48925415399998 meters 0.01545857416668793 Centerline is valid? [True, True] Translation: X:165.45, Y:1.24, Z:1.11 [[ 9.99512110e-01 -2.68079866e-02 -1.60272592e-02 1.65454101e+02] [ 2.68078122e-02 9.99640581e-01 -2.25755705e-04 1.24317070e+00] [ 1.60275508e-02 -2.04010196e-04 9.99871530e-01 1.10597958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51925415399998 meters 0.015868198050314343 Centerline is valid? [True, True] Translation: X:165.48, Y:1.24, Z:1.11 [[ 9.99451532e-01 -2.92032159e-02 -1.56143150e-02 1.65483279e+02] [ 2.92033363e-02 9.99573467e-01 -2.20349727e-04 1.24070158e+00] [ 1.56140899e-02 -2.35761220e-04 9.99878065e-01 1.10610687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54925415399998 meters 0.016267143128366662 Centerline is valid? [True, True] Translation: X:165.51, Y:1.24, Z:1.11 [[ 9.99386752e-01 -3.13764184e-02 -1.55447866e-02 1.65514212e+02] [ 3.13768009e-02 9.99507603e-01 -2.19336404e-04 1.23911535e+00] [ 1.55440143e-02 -2.68543777e-04 9.99879148e-01 1.10655175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57925415399998 meters 0.016598493208840808 Centerline is valid? [True, True] Translation: X:165.54, Y:1.24, Z:1.11 [[ 9.99336058e-01 -3.33039866e-02 -1.47745839e-02 1.65544531e+02] [ 3.33045467e-02 9.99445228e-01 -2.08203497e-04 1.23688374e+00] [ 1.47733214e-02 -2.83995559e-04 9.99890828e-01 1.10726420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60925415399998 meters 0.01796857756054393 Centerline is valid? [True, True] Translation: X:165.57, Y:1.23, Z:1.11 [[ 9.99213970e-01 -3.71029581e-02 -1.39575083e-02 1.65574999e+02] [ 3.71038318e-02 9.99311396e-01 -1.96443025e-04 1.23238545e+00] [ 1.39551858e-02 -3.21588427e-04 9.99902570e-01 1.10769994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63925415399999 meters 0.01788160593719613 Centerline is valid? [True, True] Translation: X:165.61, Y:1.23, Z:1.11 [[ 9.99159745e-01 -3.88720269e-02 -1.29911172e-02 1.65607150e+02] [ 3.88729404e-02 9.99244145e-01 -1.82283100e-04 1.23183665e+00] [ 1.29883835e-02 -3.22872988e-04 9.99915595e-01 1.10830925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.669254154 meters 0.01862704476183062 Centerline is valid? [True, True] Translation: X:165.64, Y:1.23, Z:1.11 [[ 9.99088962e-01 -4.06686349e-02 -1.29347845e-02 1.65637893e+02] [ 4.06697003e-02 9.99172629e-01 -1.80770109e-04 1.22962511e+00] [ 1.29314343e-02 -3.45448388e-04 9.99916326e-01 1.10823481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.699254154 meters 0.01915960263710216 Centerline is valid? [True, True] Translation: X:165.67, Y:1.23, Z:1.11 [[ 9.99006262e-01 -4.26731544e-02 -1.28643179e-02 1.65669864e+02] [ 4.26743830e-02 9.99089018e-01 -1.79103697e-04 1.22779589e+00] [ 1.28602416e-02 -3.70051112e-04 9.99917235e-01 1.10824427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.729254154 meters 0.021309424507601753 Centerline is valid? [True, True] Translation: X:165.70, Y:1.22, Z:1.11 [[ 9.98784949e-01 -4.75566740e-02 -1.29224189e-02 1.65700309e+02] [ 4.75583299e-02 9.98868446e-01 -1.79300288e-04 1.22237222e+00] [ 1.29163235e-02 -4.35486233e-04 9.99916486e-01 1.10731376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759254154 meters 0.02258256861700066 Centerline is valid? [True, True] Translation: X:165.73, Y:1.22, Z:1.11 [[ 9.98648527e-01 -5.03117758e-02 -1.30324862e-02 1.65732593e+02] [ 5.03137016e-02 9.98733447e-01 -1.80269612e-04 1.21942780e+00] [ 1.30250495e-02 -4.75686637e-04 9.99915057e-01 1.10718982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.789254154 meters 0.022021447164219065 Centerline is valid? [True, True] Translation: X:165.76, Y:1.22, Z:1.11 [[ 9.98490950e-01 -5.33402790e-02 -1.30628123e-02 1.65764164e+02] [ 5.33424833e-02 9.98576260e-01 -1.79859288e-04 1.21950577e+00] [ 1.30538080e-02 -5.17214979e-04 9.99914662e-01 1.10760572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819254154 meters 0.02387036414974471 Centerline is valid? [True, True] Translation: X:165.79, Y:1.22, Z:1.11 [[ 9.98306377e-01 -5.67297296e-02 -1.28885624e-02 1.65794400e+02] [ 5.67321637e-02 9.98389418e-01 -1.76974974e-04 1.21612561e+00] [ 1.28778441e-02 -5.54520789e-04 9.99916923e-01 1.10783025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.849254154 meters 0.026307099717328943 Centerline is valid? [True, True] Translation: X:165.82, Y:1.21, Z:1.11 [[ 9.97942745e-01 -6.28014307e-02 -1.28940903e-02 1.65824662e+02] [ 6.28043742e-02 9.98025841e-01 -1.76905858e-04 1.21208991e+00] [ 1.28797453e-02 -6.33263358e-04 9.99916852e-01 1.10805049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879254154 meters 0.026951523772550987 Centerline is valid? [True, True] Translation: X:165.86, Y:1.21, Z:1.11 [[ 9.97792758e-01 -6.50722053e-02 -1.32371130e-02 1.65856280e+02] [ 6.50755117e-02 9.97880326e-01 -1.81249629e-04 1.21121900e+00] [ 1.32208489e-02 -6.80562333e-04 9.99912369e-01 1.10802411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.909254154 meters 0.02853550877051135 Centerline is valid? [True, True] Translation: X:165.89, Y:1.21, Z:1.11 [[ 9.97660933e-01 -6.69536302e-02 -1.37794900e-02 1.65887436e+02] [ 6.69574025e-02 9.97755817e-01 -1.87914938e-04 1.20920996e+00] [ 1.37611479e-02 -7.35163468e-04 9.99905041e-01 1.10749763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939254154 meters 0.0289768971622011 Centerline is valid? [True, True] Translation: X:165.92, Y:1.21, Z:1.11 [[ 9.97559434e-01 -6.83440401e-02 -1.42922130e-02 1.65919258e+02] [ 6.83482520e-02 9.97661505e-01 -1.94117823e-04 1.20881497e+00] [ 1.42720575e-02 -7.83203707e-04 9.99897842e-01 1.10759970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.969254154 meters 0.03005152666257624 Centerline is valid? [True, True] Translation: X:165.95, Y:1.21, Z:1.11 [[ 9.97460671e-01 -6.96564056e-02 -1.48389413e-02 1.65951480e+02] [ 6.96611049e-02 9.97570694e-01 -2.00586274e-04 1.20865937e+00] [ 1.48168651e-02 -8.33620125e-04 9.99889877e-01 1.10653946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99925415399997 meters 0.0304267625287392 Centerline is valid? [True, True] Translation: X:165.98, Y:1.21, Z:1.11 [[ 9.97437255e-01 -6.99160564e-02 -1.51877589e-02 1.65983480e+02] [ 6.99210259e-02 9.97552509e-01 -2.04202723e-04 1.20899232e+00] [ 1.51648641e-02 -8.58264280e-04 9.99884638e-01 1.10638987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02925415399997 meters 0.03141683529601196 Centerline is valid? [True, True] Translation: X:166.02, Y:1.21, Z:1.11 [[ 9.97440299e-01 -6.98203182e-02 -1.54263922e-02 1.66015966e+02] [ 6.98254531e-02 9.97559203e-01 -2.06151883e-04 1.20859562e+00] [ 1.54031331e-02 -8.71530631e-04 9.99880985e-01 1.10644596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05925415399997 meters 0.031166992477727876 Centerline is valid? [True, True] Translation: X:166.05, Y:1.21, Z:1.11 [[ 9.97447646e-01 -6.95475040e-02 -1.61659809e-02 1.66049053e+02] [ 6.95531339e-02 9.97578225e-01 -2.14396258e-04 1.21091792e+00] [ 1.61417413e-02 -9.10545592e-04 9.99869299e-01 1.10566738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08925415399997 meters 0.03017042991109096 Centerline is valid? [True, True] Translation: X:166.08, Y:1.21, Z:1.11 [[ 9.97448532e-01 -6.94275976e-02 -1.66202956e-02 1.66081261e+02] [ 6.94335562e-02 9.97586554e-01 -2.18960585e-04 1.21476862e+00] [ 1.65953853e-02 -9.35604315e-04 9.99861849e-01 1.10676490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11925415399998 meters 0.03170975268136082 Centerline is valid? [True, True] Translation: X:166.11, Y:1.21, Z:1.11 [[ 9.97473192e-01 -6.91300419e-02 -1.63788940e-02 1.66112744e+02] [ 6.91358048e-02 9.97607235e-01 -2.14787426e-04 1.21441257e+00] [ 1.63545514e-02 -9.18123320e-04 9.99865834e-01 1.10664865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14925415399998 meters 0.029530337788150136 Centerline is valid? [True, True] Translation: X:166.14, Y:1.22, Z:1.11 [[ 9.97490087e-01 -6.89228036e-02 -1.62226416e-02 1.66144592e+02] [ 6.89284465e-02 9.97621584e-01 -2.11704179e-04 1.21938700e+00] [ 1.61986486e-02 -9.07028663e-04 9.99868382e-01 1.10774219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17925415399998 meters 0.031847633355642585 Centerline is valid? [True, True] Translation: X:166.18, Y:1.22, Z:1.11 [[ 9.97519993e-01 -6.86251502e-02 -1.56349433e-02 1.66175917e+02] [ 6.86303699e-02 9.97642136e-01 -2.03087557e-04 1.21780231e+00] [ 1.56120151e-02 -8.70448042e-04 9.99877746e-01 1.10828609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20925415399998 meters 0.03178759659726405 Centerline is valid? [True, True] Translation: X:166.21, Y:1.22, Z:1.11 [[ 9.97603719e-01 -6.77672697e-02 -1.39433372e-02 1.66207806e+02] [ 6.77713487e-02 9.97700863e-01 -1.80297813e-04 1.22094959e+00] [ 1.39234978e-02 -7.65092997e-04 9.99902771e-01 1.11009499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23925415399998 meters 0.02916139397163903 Centerline is valid? [True, True] Translation: X:166.24, Y:1.23, Z:1.11 [[ 9.97647856e-01 -6.72528300e-02 -1.32594452e-02 1.66239750e+02] [ 6.72564853e-02 9.97735705e-01 -1.70544776e-04 1.22653830e+00] [ 1.32408915e-02 -7.21640052e-04 9.99912075e-01 1.11152522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26925415399998 meters 0.03210923562257557 Centerline is valid? [True, True] Translation: X:166.27, Y:1.22, Z:1.11 [[ 9.97701796e-01 -6.66724564e-02 -1.20793526e-02 1.66270758e+02] [ 6.66754614e-02 9.97774704e-01 -1.54222976e-04 1.22416182e+00] [ 1.20627549e-02 -6.51527869e-04 9.99927030e-01 1.11217965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29925415399998 meters 0.027177001505114196 Centerline is valid? [True, True] Translation: X:166.30, Y:1.23, Z:1.11 [[ 9.97818543e-01 -6.51487646e-02 -1.06674583e-02 1.66303025e+02] [ 6.51510328e-02 9.97875405e-01 -1.35104963e-04 1.23381497e+00] [ 1.06535962e-02 -5.60185689e-04 9.99943092e-01 1.11413011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32925415399998 meters 0.033017967892107376 Centerline is valid? [True, True] Translation: X:166.33, Y:1.23, Z:1.11 [[ 9.97864487e-01 -6.44547406e-02 -1.05854809e-02 1.66334099e+02] [ 6.44569426e-02 9.97920480e-01 -1.33370089e-04 1.22728098e+00] [ 1.05720645e-02 -5.49222459e-04 9.99943963e-01 1.11401448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35925415399998 meters 0.02776497215009927 Centerline is valid? [True, True] Translation: X:166.37, Y:1.24, Z:1.11 [[ 9.97902914e-01 -6.38993745e-02 -1.03268373e-02 1.66366498e+02] [ 6.39014468e-02 9.97956206e-01 -1.29499892e-04 1.23619244e+00] [ 1.03140063e-02 -5.30671523e-04 9.99946668e-01 1.11425008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38925415399999 meters 0.02964069471845591 Centerline is valid? [True, True] Translation: X:166.40, Y:1.24, Z:1.11 [[ 9.97930542e-01 -6.32765193e-02 -1.14330871e-02 1.66397510e+02] [ 6.32790277e-02 9.97995864e-01 -1.42581538e-04 1.23582263e+00] [ 1.14191957e-02 -5.81188166e-04 9.99934630e-01 1.11245631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.419254154 meters 0.027162582063805518 Centerline is valid? [True, True] Translation: X:166.43, Y:1.24, Z:1.11 [[ 9.97910134e-01 -6.34262421e-02 -1.23480921e-02 1.66429772e+02] [ 6.34291893e-02 9.97986330e-01 -1.53200381e-04 1.24067496e+00] [ 1.23329441e-02 -6.30349259e-04 9.99923748e-01 1.11205144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.449254154 meters 0.024992270705186986 Centerline is valid? [True, True] Translation: X:166.46, Y:1.25, Z:1.11 [[ 9.97895511e-01 -6.33499263e-02 -1.38324074e-02 1.66462044e+02] [ 6.33536324e-02 9.97991126e-01 -1.70538036e-04 1.24515054e+00] [ 1.38154234e-02 -7.06154111e-04 9.99904313e-01 1.11193793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.479254154 meters 0.026131128231169004 Centerline is valid? [True, True] Translation: X:166.49, Y:1.24, Z:1.11 [[ 9.97881892e-01 -6.33747535e-02 -1.46754919e-02 1.66493131e+02] [ 6.33789423e-02 9.97989518e-01 -1.79951572e-04 1.24498088e+00] [ 1.46573915e-02 -7.50546742e-04 9.99892293e-01 1.11091943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.509254154 meters 0.027130029394245084 Centerline is valid? [True, True] Translation: X:166.52, Y:1.25, Z:1.11 [[ 9.97807802e-01 -6.40465870e-02 -1.66620828e-02 1.66524531e+02] [ 6.40520964e-02 9.97946535e-01 -2.03342471e-04 1.24660241e+00] [ 1.66408911e-02 -8.64344627e-04 9.99861157e-01 1.10936855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539254154 meters 0.025188410656622987 Centerline is valid? [True, True] Translation: X:166.56, Y:1.25, Z:1.11 [[ 9.97812692e-01 -6.37561106e-02 -1.74639886e-02 1.66557550e+02] [ 6.37621464e-02 9.97965102e-01 -2.11546810e-04 1.25060883e+00] [ 1.74419385e-02 -9.02457304e-04 9.99847471e-01 1.10987389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.569254154 meters 0.02649371663821184 Centerline is valid? [True, True] Translation: X:166.59, Y:1.25, Z:1.11 [[ 9.97833428e-01 -6.34100622e-02 -1.75389274e-02 1.66588932e+02] [ 6.34161363e-02 9.97987149e-01 -2.10188183e-04 1.25004419e+00] [ 1.75169522e-02 -9.02518213e-04 9.99846159e-01 1.10950165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599254154 meters 0.02878066332462209 Centerline is valid? [True, True] Translation: X:166.62, Y:1.25, Z:1.11 [[ 9.97859370e-01 -6.29642196e-02 -1.76687774e-02 1.66620191e+02] [ 6.29703419e-02 9.98015377e-01 -2.10183442e-04 1.24840263e+00] [ 1.76469455e-02 -9.02875434e-04 9.99843873e-01 1.10908737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.629254154 meters 0.02878066332462209 Centerline is valid? [True, True] Translation: X:166.65, Y:1.25, Z:1.11 [[ 9.97863797e-01 -6.28940055e-02 -1.76687908e-02 1.66651924e+02] [ 6.29001368e-02 9.98019804e-01 -2.09050387e-04 1.24871476e+00] [ 1.76469511e-02 -9.02765545e-04 9.99843873e-01 1.10930717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659254154 meters 0.026501640879410662 Centerline is valid? [True, True] Translation: X:166.68, Y:1.25, Z:1.11 [[ 9.97935905e-01 -6.18005645e-02 -1.74533534e-02 1.66684459e+02] [ 6.18064054e-02 9.98088135e-01 -2.05069505e-04 1.25363769e+00] [ 1.74326584e-02 -8.74082816e-04 9.99847658e-01 1.11042853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.689254154 meters 0.025922836709461078 Centerline is valid? [True, True] Translation: X:166.72, Y:1.26, Z:1.11 [[ 9.98005636e-01 -6.06735001e-02 -1.74205938e-02 1.66716260e+02] [ 6.06791719e-02 9.98157301e-01 -2.03298017e-04 1.25642886e+00] [ 1.74008277e-02 -8.54174638e-04 9.99848229e-01 1.11075628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719254154 meters 0.023143280762724094 Centerline is valid? [True, True] Translation: X:166.75, Y:1.26, Z:1.11 [[ 9.98243109e-01 -5.69266171e-02 -1.64333871e-02 1.66746822e+02] [ 5.69311682e-02 9.98378087e-01 -1.91126241e-04 1.26381977e+00] [ 1.64176137e-02 -7.44781469e-04 9.99864945e-01 1.11215005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74925415399997 meters 0.02260788907440083 Centerline is valid? [True, True] Translation: X:166.78, Y:1.27, Z:1.11 [[ 9.98370669e-01 -5.48192288e-02 -1.58385288e-02 1.66778078e+02] [ 5.48231987e-02 9.98496061e-01 -1.83752538e-04 1.26659035e+00] [ 1.58247818e-02 -6.84865668e-04 9.99874546e-01 1.11266353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77925415399997 meters 0.023637073295920963 Centerline is valid? [True, True] Translation: X:166.81, Y:1.27, Z:1.11 [[ 9.98494809e-01 -5.27203827e-02 -1.51220739e-02 1.66808267e+02] [ 5.27237672e-02 9.98609120e-01 -1.75044658e-04 1.26693091e+00] [ 1.51102694e-02 -6.22511524e-04 9.99885640e-01 1.11292705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80925415399997 meters 0.022094436649037315 Centerline is valid? [True, True] Translation: X:166.84, Y:1.27, Z:1.11 [[ 9.98598600e-01 -5.07993840e-02 -1.48410835e-02 1.66840361e+02] [ 5.08024424e-02 9.98708708e-01 -1.71093290e-04 1.27122293e+00] [ 1.48306108e-02 -5.83109770e-04 9.99889850e-01 1.11394107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83925415399997 meters 0.020544905777879964 Centerline is valid? [True, True] Translation: X:166.87, Y:1.28, Z:1.11 [[ 9.98773815e-01 -4.74288057e-02 -1.41906609e-02 1.66871968e+02] [ 4.74312746e-02 9.98874490e-01 -1.62713273e-04 1.27644310e+00] [ 1.41824065e-02 -5.10567380e-04 9.99899294e-01 1.11485665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86925415399998 meters 0.020997537620056093 Centerline is valid? [True, True] Translation: X:166.90, Y:1.28, Z:1.11 [[ 9.98827968e-01 -4.63419026e-02 -1.39684989e-02 1.66903605e+02] [ 4.63442010e-02 9.98925518e-01 -1.59276832e-04 1.27691604e+00] [ 1.39608712e-02 -4.88268768e-04 9.99902423e-01 1.11494997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89925415399998 meters 0.021010647460665787 Centerline is valid? [True, True] Translation: X:166.94, Y:1.28, Z:1.11 [[ 9.98858584e-01 -4.55667764e-02 -1.43247468e-02 1.66935726e+02] [ 4.55691290e-02 9.98961174e-01 -1.62292750e-04 1.27847652e+00] [ 1.43172610e-02 -4.90658728e-04 9.99897382e-01 1.11484378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92925415399998 meters 0.02138910137395414 Centerline is valid? [True, True] Translation: X:166.97, Y:1.28, Z:1.11 [[ 9.98878137e-01 -4.49678848e-02 -1.48444328e-02 1.66966961e+02] [ 4.49703591e-02 9.98988308e-01 -1.67245636e-04 1.27917094e+00] [ 1.48369355e-02 -5.00501465e-04 9.99889801e-01 1.11429096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95925415399998 meters 0.021010356589115185 Centerline is valid? [True, True] Translation: X:167.00, Y:1.28, Z:1.11 [[ 9.98949234e-01 -4.31164997e-02 -1.55368897e-02 1.66997944e+02] [ 4.31189995e-02 9.99069928e-01 -1.74207690e-04 1.28188001e+00] [ 1.55299505e-02 -4.95910502e-04 9.99879280e-01 1.11348815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98925415399998 meters 0.01893845331591844 Centerline is valid? [True, True] Translation: X:167.03, Y:1.29, Z:1.11 [[ 9.99000492e-01 -4.17749270e-02 -1.59019490e-02 1.67030306e+02] [ 4.17773924e-02 9.99126928e-01 -1.77271207e-04 1.28709767e+00] [ 1.58954709e-02 -4.87247939e-04 9.99873540e-01 1.11426683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01925415399998 meters 0.01827483234102738 Centerline is valid? [True, True] Translation: X:167.06, Y:1.29, Z:1.11 [[ 9.99089363e-01 -3.96228972e-02 -1.58262664e-02 1.67062840e+02] [ 3.96250876e-02 9.99214602e-01 -1.75272034e-04 1.28945280e+00] [ 1.58207813e-02 -4.52004768e-04 9.99874741e-01 1.11459710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04925415399998 meters 0.01752386711482591 Centerline is valid? [True, True] Translation: X:167.10, Y:1.29, Z:1.12 [[ 9.99178244e-01 -3.72272017e-02 -1.60303634e-02 1.67095289e+02] [ 3.72291599e-02 9.99306739e-01 -1.76352203e-04 1.29225952e+00] [ 1.60258153e-02 -4.20589678e-04 9.99871490e-01 1.11507319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07925415399998 meters 0.016223980354818087 Centerline is valid? [True, True] Translation: X:167.13, Y:1.30, Z:1.12 [[ 9.99399822e-01 -3.09012997e-02 -1.56558423e-02 1.67126246e+02] [ 3.09024043e-02 9.99522392e-01 -1.71418728e-04 1.29755325e+00] [ 1.56536620e-02 -3.12487322e-04 9.99877425e-01 1.11509072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10925415399998 meters 0.015731934397007975 Centerline is valid? [True, True] Translation: X:167.16, Y:1.30, Z:1.12 [[ 9.99502478e-01 -2.73734230e-02 -1.56681793e-02 1.67157365e+02] [ 2.73741048e-02 9.99625244e-01 -1.70990237e-04 1.30056813e+00] [ 1.56669882e-02 -2.57997217e-04 9.99877232e-01 1.11544451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13925415399999 meters 0.01584912775902376 Centerline is valid? [True, True] Translation: X:167.19, Y:1.30, Z:1.11 [[ 9.99598352e-01 -2.37972958e-02 -1.53890743e-02 1.67187658e+02] [ 2.37975335e-02 9.99716785e-01 -1.67702015e-04 1.30382916e+00] [ 1.53887068e-02 -1.98587354e-04 9.99881567e-01 1.11460050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.169254154 meters 0.014373182830543915 Centerline is valid? [True, True] Translation: X:167.22, Y:1.31, Z:1.12 [[ 9.99665849e-01 -2.12063105e-02 -1.47811838e-02 1.67218190e+02] [ 2.12062466e-02 9.99775109e-01 -1.61077545e-04 1.30739254e+00] [ 1.47812755e-02 -1.52429708e-04 9.99890739e-01 1.11676440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.199254154 meters 0.014030036312503555 Centerline is valid? [True, True] Translation: X:167.25, Y:1.31, Z:1.12 [[ 9.99753751e-01 -1.68802721e-02 -1.44046394e-02 1.67247708e+02] [ 1.68797604e-02 9.99857514e-01 -1.57110514e-04 1.31060309e+00] [ 1.44052390e-02 -8.60750370e-05 9.99896235e-01 1.11654719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.229254154 meters 0.0145435106804521 Centerline is valid? [True, True] Translation: X:167.28, Y:1.31, Z:1.12 [[ 9.99781610e-01 -1.53958229e-02 -1.41315918e-02 1.67277300e+02] [ 1.53951767e-02 9.99881475e-01 -1.54512815e-04 1.31221763e+00] [ 1.41322957e-02 -6.30792823e-05 9.99900132e-01 1.11577349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259254154 meters 0.013851400968175968 Centerline is valid? [True, True] Translation: X:167.31, Y:1.31, Z:1.12 [[ 9.99781504e-01 -1.53957436e-02 -1.41391422e-02 1.67306425e+02] [ 1.53950677e-02 9.99881477e-01 -1.56652244e-04 1.31289912e+00] [ 1.41398781e-02 -6.10550348e-05 9.99900025e-01 1.11692354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.289254154 meters 0.013790207872429303 Centerline is valid? [True, True] Translation: X:167.34, Y:1.31, Z:1.12 [[ 9.99758699e-01 -1.59389433e-02 -1.51160321e-02 1.67335559e+02] [ 1.59381730e-02 9.99872965e-01 -1.71434188e-04 1.31311488e+00] [ 1.51168443e-02 -6.95291138e-05 9.99885732e-01 1.11690911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319254154 meters 0.014007833464392515 Centerline is valid? [True, True] Translation: X:167.36, Y:1.31, Z:1.12 [[ 9.99687589e-01 -1.91121502e-02 -1.61074849e-02 1.67362966e+02] [ 1.91116365e-02 9.99817339e-01 -1.85835794e-04 1.31098370e+00] [ 1.61080944e-02 -1.22062660e-04 9.99870249e-01 1.11617310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.349254154 meters 0.014489456202328893 Centerline is valid? [True, True] Translation: X:167.39, Y:1.31, Z:1.12 [[ 9.99625260e-01 -2.18371610e-02 -1.65068857e-02 1.67391532e+02] [ 2.18369683e-02 9.99761527e-01 -1.91938566e-04 1.30840917e+00] [ 1.65071406e-02 -1.68593701e-04 9.99863734e-01 1.11516090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379254154 meters 0.014726116411788986 Centerline is valid? [True, True] Translation: X:167.42, Y:1.31, Z:1.12 [[ 9.99551260e-01 -2.48606156e-02 -1.67101384e-02 1.67420788e+02] [ 2.48608282e-02 9.99690903e-01 -1.95037425e-04 1.30724752e+00] [ 1.67098221e-02 -2.20477976e-04 9.99860357e-01 1.11542892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.409254154 meters 0.015932044231675335 Centerline is valid? [True, True] Translation: X:167.45, Y:1.30, Z:1.12 [[ 9.99356591e-01 -3.15425560e-02 -1.70725125e-02 1.67451451e+02] [ 3.15437480e-02 9.99502352e-01 -1.99525460e-04 1.30236664e+00] [ 1.70703100e-02 -3.39133949e-04 9.99854234e-01 1.11514192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439254154 meters 0.016725327210042367 Centerline is valid? [True, True] Translation: X:167.48, Y:1.30, Z:1.12 [[ 9.99247489e-01 -3.47172257e-02 -1.72965305e-02 1.67483157e+02] [ 3.47189310e-02 9.99397096e-01 -2.01767239e-04 1.30021071e+00] [ 1.72931072e-02 -3.98901644e-04 9.99850383e-01 1.11529390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.469254154 meters 0.020422422860828005 Centerline is valid? [True, True] Translation: X:167.51, Y:1.29, Z:1.11 [[ 9.99129261e-01 -3.78644064e-02 -1.75216066e-02 1.67513455e+02] [ 3.78666478e-02 9.99282780e-01 -2.03947242e-04 1.29321465e+00] [ 1.75167621e-02 -4.59714850e-04 9.99846464e-01 1.11345423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49925415399997 meters 0.01869028607883687 Centerline is valid? [True, True] Translation: X:167.54, Y:1.30, Z:1.12 [[ 9.99021689e-01 -4.06639071e-02 -1.73813415e-02 1.67544855e+02] [ 4.06665448e-02 9.99172754e-01 -2.01815055e-04 1.29592419e+00] [ 1.73751695e-02 -5.05221486e-04 9.99848913e-01 1.11568596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52925415399997 meters 0.01973866369311358 Centerline is valid? [True, True] Translation: X:167.58, Y:1.29, Z:1.12 [[ 9.98838234e-01 -4.53030800e-02 -1.64259863e-02 1.67576017e+02] [ 4.53060717e-02 9.98973135e-01 -1.90134151e-04 1.29493684e+00] [ 1.64177327e-02 -5.54283654e-04 9.99865066e-01 1.11589861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55925415399997 meters 0.020095700450711605 Centerline is valid? [True, True] Translation: X:167.61, Y:1.29, Z:1.12 [[ 9.98736258e-01 -4.77371424e-02 -1.57179063e-02 1.67606762e+02] [ 4.77401917e-02 9.98859771e-01 -1.81365052e-04 1.29344843e+00] [ 1.57086421e-02 -5.69240005e-04 9.99876450e-01 1.11809321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58925415399997 meters 0.02085825630877764 Centerline is valid? [True, True] Translation: X:167.64, Y:1.29, Z:1.12 [[ 9.98676791e-01 -4.92859164e-02 -1.46821205e-02 1.67638420e+02] [ 4.92887539e-02 9.98784556e-01 -1.68744575e-04 1.29219417e+00] [ 1.46725919e-02 -5.55142133e-04 9.99892198e-01 1.11930941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61925415399998 meters 0.021827119033969937 Centerline is valid? [True, True] Translation: X:167.67, Y:1.29, Z:1.12 [[ 9.98630005e-01 -5.06091221e-02 -1.32977160e-02 1.67669934e+02] [ 5.06115760e-02 9.98718401e-01 -1.52137731e-04 1.29110570e+00] [ 1.32883733e-02 -5.21089062e-04 9.99911570e-01 1.12030410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64925415399998 meters 0.022835215807084676 Centerline is valid? [True, True] Translation: X:167.70, Y:1.29, Z:1.12 [[ 9.98579885e-01 -5.19502158e-02 -1.18062699e-02 1.67702405e+02] [ 5.19522517e-02 9.98649561e-01 -1.34385389e-04 1.29053253e+00] [ 1.17973076e-02 -4.79167761e-04 9.99930295e-01 1.12192132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67925415399998 meters 0.02349602894521134 Centerline is valid? [True, True] Translation: X:167.73, Y:1.29, Z:1.12 [[ 9.98568712e-01 -5.23348300e-02 -1.10269149e-02 1.67733540e+02] [ 5.23366370e-02 9.98629491e-01 -1.24827008e-04 1.29017422e+00] [ 1.10183352e-02 -4.52463297e-04 9.99939194e-01 1.12264654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70925415399998 meters 0.02397950204522897 Centerline is valid? [True, True] Translation: X:167.77, Y:1.29, Z:1.12 [[ 9.98562109e-01 -5.24852501e-02 -1.09092945e-02 1.67765096e+02] [ 5.24870340e-02 9.98621598e-01 -1.22914270e-04 1.29025687e+00] [ 1.09007082e-02 -4.49858976e-04 9.99940484e-01 1.12308367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73925415399998 meters 0.024443523114931375 Centerline is valid? [True, True] Translation: X:167.80, Y:1.29, Z:1.12 [[ 9.98541675e-01 -5.28077396e-02 -1.12189592e-02 1.67797322e+02] [ 5.28096543e-02 9.98604589e-01 -1.25720339e-04 1.29044830e+00] [ 1.12099431e-02 -4.66932358e-04 9.99937058e-01 1.12323633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.76925415399998 meters 0.02540946690579895 Centerline is valid? [True, True] Translation: X:167.83, Y:1.29, Z:1.12 [[ 9.98479312e-01 -5.38454737e-02 -1.18207123e-02 1.67829311e+02] [ 5.38476820e-02 9.98549152e-01 -1.31603828e-04 1.29036409e+00] [ 1.18106485e-02 -5.05114255e-04 9.99930124e-01 1.12159533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79925415399998 meters 0.02642612385944532 Centerline is valid? [True, True] Translation: X:167.86, Y:1.29, Z:1.12 [[ 9.98433091e-01 -5.46214931e-02 -1.21595546e-02 1.67860480e+02] [ 5.46238967e-02 9.98506991e-01 -1.34599627e-04 1.28841464e+00] [ 1.21487523e-02 -5.29813535e-04 9.99926061e-01 1.12222822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82925415399998 meters 0.026641452422741983 Centerline is valid? [True, True] Translation: X:167.89, Y:1.29, Z:1.12 [[ 9.98382147e-01 -5.55179303e-02 -1.22819870e-02 1.67892377e+02] [ 5.55204593e-02 9.98457541e-01 -1.35216902e-04 1.28825857e+00] [ 1.22705495e-02 -5.46903416e-04 9.99924564e-01 1.12180215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85925415399998 meters 0.02797539461772039 Centerline is valid? [True, True] Translation: X:167.92, Y:1.29, Z:1.12 [[ 9.98342113e-01 -5.61142647e-02 -1.28145939e-02 1.67923917e+02] [ 5.61170772e-02 9.98424185e-01 -1.40275371e-04 1.28655576e+00] [ 1.28022719e-02 -5.79074745e-04 9.99917880e-01 1.12137968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88925415399999 meters 0.028702767847210552 Centerline is valid? [True, True] Translation: X:167.96, Y:1.29, Z:1.12 [[ 9.98293923e-01 -5.68017618e-02 -1.35204720e-02 1.67956488e+02] [ 5.68049668e-02 9.98385283e-01 -1.47177139e-04 1.28587601e+00] [ 1.35070002e-02 -6.21103922e-04 9.99908583e-01 1.12086579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.919254154 meters 0.025687558178175553 Centerline is valid? [True, True] Translation: X:167.99, Y:1.29, Z:1.12 [[ 9.98212622e-01 -5.76805160e-02 -1.56371322e-02 1.67988113e+02] [ 5.76849266e-02 9.98334824e-01 -1.69204954e-04 1.29154385e+00] [ 1.56208534e-02 -7.33124301e-04 9.99877718e-01 1.12067554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.949254154 meters 0.028864102510604013 Centerline is valid? [True, True] Translation: X:168.02, Y:1.29, Z:1.12 [[ 9.98218777e-01 -5.73532508e-02 -1.64279809e-02 1.68019028e+02] [ 5.73580896e-02 9.98353654e-01 -1.76862646e-04 1.28764889e+00] [ 1.64110784e-02 -7.65729986e-04 9.99865036e-01 1.11908359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.979254154 meters 0.02966371547021397 Centerline is valid? [True, True] Translation: X:168.05, Y:1.29, Z:1.12 [[ 9.98235937e-01 -5.66670330e-02 -1.77161467e-02 1.68050012e+02] [ 5.66725832e-02 9.98392800e-01 -1.89010357e-04 1.28754425e+00] [ 1.76983840e-02 -8.15342868e-04 9.99843039e-01 1.11806736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.009254154 meters 0.02500250946073741 Centerline is valid? [True, True] Translation: X:168.08, Y:1.30, Z:1.12 [[ 9.98382195e-01 -5.35114307e-02 -1.92228942e-02 1.68081874e+02] [ 5.35174119e-02 9.98566896e-01 -2.03511155e-04 1.29620764e+00] [ 1.92062360e-02 -8.25577633e-04 9.99815202e-01 1.11878381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039254154 meters 0.023680380013418347 Centerline is valid? [True, True] Translation: X:168.11, Y:1.30, Z:1.12 [[ 9.98524530e-01 -5.09682213e-02 -1.87350679e-02 1.68113300e+02] [ 5.09734704e-02 9.98699988e-01 -1.97566587e-04 1.29926720e+00] [ 1.87207817e-02 -7.57716347e-04 9.99824464e-01 1.11964483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.069254154 meters 0.023154094344336452 Centerline is valid? [True, True] Translation: X:168.14, Y:1.30, Z:1.12 [[ 9.98698792e-01 -4.75951733e-02 -1.83145311e-02 1.68143511e+02] [ 4.75996311e-02 9.98866477e-01 -1.92687663e-04 1.30135333e+00] [ 1.83029422e-02 -6.79327989e-04 9.99832256e-01 1.12054271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099254154 meters 0.019782918161098863 Centerline is valid? [True, True] Translation: X:168.17, Y:1.31, Z:1.12 [[ 9.98878598e-01 -4.39989261e-02 -1.74826176e-02 1.68174688e+02] [ 4.40024467e-02 9.99031406e-01 -1.83427709e-04 1.30874523e+00] [ 1.74737547e-02 -5.86055937e-04 9.99847151e-01 1.12324667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.129254154 meters 0.018857893644480858 Centerline is valid? [True, True] Translation: X:168.21, Y:1.31, Z:1.12 [[ 9.99067998e-01 -3.99314492e-02 -1.63894904e-02 1.68206302e+02] [ 3.99340088e-02 9.99202305e-01 -1.71200976e-04 1.31233671e+00] [ 1.63832529e-02 -4.83456640e-04 9.99865669e-01 1.12494790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159254154 meters 0.016168135078866584 Centerline is valid? [True, True] Translation: X:168.24, Y:1.32, Z:1.13 [[ 9.99408815e-01 -3.13792821e-02 -1.40485271e-02 1.68237344e+02] [ 3.13803244e-02 9.99507506e-01 -1.46290143e-04 1.32186520e+00] [ 1.40461988e-02 -2.94643681e-04 9.99901304e-01 1.12836800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.189254154 meters 0.01587427395660738 Centerline is valid? [True, True] Translation: X:168.27, Y:1.32, Z:1.13 [[ 9.99550692e-01 -2.70266925e-02 -1.29603847e-02 1.68267858e+02] [ 2.70272167e-02 9.99634689e-01 -1.34728961e-04 1.32458674e+00] [ 1.29592914e-02 -2.15614701e-04 9.99916002e-01 1.12901483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219254154 meters 0.014882040803577364 Centerline is valid? [True, True] Translation: X:168.30, Y:1.33, Z:1.13 [[ 9.99661448e-01 -2.28237260e-02 -1.24926773e-02 1.68299690e+02] [ 2.28238901e-02 9.99739493e-01 -1.29447803e-04 1.32895743e+00] [ 1.24923774e-02 -1.55727517e-04 9.99921955e-01 1.13010386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24925415399997 meters 0.014570054826201414 Centerline is valid? [True, True] Translation: X:168.33, Y:1.33, Z:1.13 [[ 9.99753683e-01 -1.87928921e-02 -1.18068338e-02 1.68330624e+02] [ 1.87927639e-02 9.99823393e-01 -1.21814052e-04 1.33215870e+00] [ 1.18070379e-02 -1.00098994e-04 9.99930289e-01 1.13066566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27925415399997 meters 0.014193793395800697 Centerline is valid? [True, True] Translation: X:168.36, Y:1.33, Z:1.13 [[ 9.99819917e-01 -1.51417012e-02 -1.14394983e-02 1.68361567e+02] [ 1.51413440e-02 9.99885356e-01 -1.17835049e-04 1.33485787e+00] [ 1.14399711e-02 -5.53955504e-05 9.99934560e-01 1.13078519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30925415399997 meters 0.014155674100923641 Centerline is valid? [True, True] Translation: X:168.39, Y:1.34, Z:1.13 [[ 9.99882568e-01 -9.27220116e-03 -1.22015308e-02 1.68390817e+02] [ 9.27135549e-03 9.99957012e-01 -1.25872393e-04 1.33928582e+00] [ 1.22021734e-02 1.27328819e-05 9.99925551e-01 1.13038127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33925415399997 meters 0.014092600615874211 Centerline is valid? [True, True] Translation: X:168.42, Y:1.34, Z:1.13 [[ 9.99887818e-01 -7.52822809e-03 -1.29490031e-02 1.68419132e+02] [ 7.52710801e-03 9.99971662e-01 -1.35234643e-04 1.34101354e+00] [ 1.29496542e-02 3.77509271e-05 9.99916149e-01 1.13043171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36925415399998 meters 0.015602495397194131 Centerline is valid? [True, True] Translation: X:168.45, Y:1.34, Z:1.13 [[ 9.99887041e-01 -6.15610613e-03 -1.37115532e-02 1.68448342e+02] [ 6.15467253e-03 9.99981049e-01 -1.46749273e-04 1.34194046e+00] [ 1.37121967e-02 6.23425768e-05 9.99905981e-01 1.12830750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39925415399998 meters 0.014106463117681548 Centerline is valid? [True, True] Translation: X:168.48, Y:1.34, Z:1.13 [[ 9.99882518e-01 -6.59267237e-03 -1.38378831e-02 1.68476457e+02] [ 6.59120186e-03 9.99978266e-01 -1.51871047e-04 1.34229764e+00] [ 1.38385836e-02 6.06449242e-05 9.99904240e-01 1.12999340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42925415399998 meters 0.01397397811422655 Centerline is valid? [True, True] Translation: X:168.51, Y:1.34, Z:1.13 [[ 9.99850638e-01 -8.45431843e-03 -1.50740443e-02 1.68505301e+02] [ 8.45274278e-03 9.99964261e-01 -1.68238164e-04 1.34026247e+00] [ 1.50749279e-02 4.07960166e-05 9.99886366e-01 1.12907571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45925415399998 meters 0.013991595628558196 Centerline is valid? [True, True] Translation: X:168.53, Y:1.34, Z:1.13 [[ 9.99819095e-01 -1.05433037e-02 -1.58308612e-02 1.68532910e+02] [ 1.05417779e-02 9.99944418e-01 -1.79830723e-04 1.33839747e+00] [ 1.58318773e-02 1.29127684e-05 9.99874668e-01 1.12852875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48925415399998 meters 0.014160205969927819 Centerline is valid? [True, True] Translation: X:168.56, Y:1.33, Z:1.13 [[ 9.99735366e-01 -1.57746471e-02 -1.67439099e-02 1.68561191e+02] [ 1.57736211e-02 9.99875570e-01 -1.93345775e-04 1.33324888e+00] [ 1.67448764e-02 -7.08174811e-05 9.99859792e-01 1.12657156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51925415399998 meters 0.014160205969927819 Centerline is valid? [True, True] Translation: X:168.59, Y:1.33, Z:1.13 [[ 9.99730972e-01 -1.60507179e-02 -1.67438700e-02 1.68588576e+02] [ 1.60496735e-02 9.99871176e-01 -1.96755909e-04 1.33365541e+00] [ 1.67448711e-02 -7.20306703e-05 9.99859792e-01 1.12676160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54925415399998 meters 0.014341007987453299 Centerline is valid? [True, True] Translation: X:168.62, Y:1.33, Z:1.13 [[ 9.99668858e-01 -1.91929429e-02 -1.71407530e-02 1.68616926e+02] [ 1.91922323e-02 9.99815791e-01 -2.05966980e-04 1.33195753e+00] [ 1.71415486e-02 -1.23070537e-04 9.99853065e-01 1.12763554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57925415399998 meters 0.015086640401888831 Centerline is valid? [True, True] Translation: X:168.65, Y:1.33, Z:1.13 [[ 9.99611835e-01 -2.17316473e-02 -1.74331361e-02 1.68646015e+02] [ 2.17312209e-02 9.99763826e-01 -2.13917076e-04 1.32996355e+00] [ 1.74336677e-02 -1.65009291e-04 9.99848008e-01 1.12731502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60925415399998 meters 0.01475324245451478 Centerline is valid? [True, True] Translation: X:168.68, Y:1.33, Z:1.13 [[ 9.99562486e-01 -2.42491721e-02 -1.69356061e-02 1.68675463e+02] [ 2.42490961e-02 9.99705925e-01 -2.09873263e-04 1.32848322e+00] [ 1.69357151e-02 -2.00891700e-04 9.99856560e-01 1.12885796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63925415399999 meters 0.015849156520244514 Centerline is valid? [True, True] Translation: X:168.71, Y:1.33, Z:1.13 [[ 9.99521749e-01 -2.59926700e-02 -1.67527237e-02 1.68705374e+02] [ 2.59928510e-02 9.99662107e-01 -2.06971466e-04 1.32608175e+00] [ 1.67524428e-02 -2.28578569e-04 9.99859642e-01 1.12810497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.669254154 meters 0.015523233614570817 Centerline is valid? [True, True] Translation: X:168.74, Y:1.32, Z:1.13 [[ 9.99485970e-01 -2.76588983e-02 -1.62105257e-02 1.68735604e+02] [ 2.76592966e-02 9.99617389e-01 -1.99669589e-04 1.32429353e+00] [ 1.62098460e-02 -2.48804786e-04 9.99868581e-01 1.12957443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.699254154 meters 0.015734523763359848 Centerline is valid? [True, True] Translation: X:168.77, Y:1.32, Z:1.13 [[ 9.99438474e-01 -2.96647545e-02 -1.55800823e-02 1.68767124e+02] [ 2.96653710e-02 9.99559868e-01 -1.91593281e-04 1.32191138e+00] [ 1.55789086e-02 -2.70703224e-04 9.99878605e-01 1.13077273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.729254154 meters 0.015867895363381623 Centerline is valid? [True, True] Translation: X:168.80, Y:1.32, Z:1.13 [[ 9.99418699e-01 -3.04800973e-02 -1.52718146e-02 1.68798377e+02] [ 3.04807932e-02 9.99535335e-01 -1.87252958e-04 1.32190531e+00] [ 1.52704258e-02 -2.78352914e-04 9.99883362e-01 1.13174825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759254154 meters 0.015747943212359488 Centerline is valid? [True, True] Translation: X:168.83, Y:1.32, Z:1.13 [[ 9.99401719e-01 -3.09857814e-02 -1.53650776e-02 1.68830079e+02] [ 3.09865565e-02 9.99519784e-01 -1.87673540e-04 1.32147606e+00] [ 1.53635143e-02 -2.88549588e-04 9.99881933e-01 1.13265504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.789254154 meters 0.016069167477591417 Centerline is valid? [True, True] Translation: X:168.86, Y:1.32, Z:1.13 [[ 9.99379199e-01 -3.16785588e-02 -1.54170260e-02 1.68862593e+02] [ 3.16794371e-02 9.99498063e-01 -1.87300167e-04 1.32060639e+00] [ 1.54152211e-02 -3.01218816e-04 9.99881133e-01 1.13297461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819254154 meters 0.01658540384805445 Centerline is valid? [True, True] Translation: X:168.89, Y:1.32, Z:1.13 [[ 9.99356795e-01 -3.25257094e-02 -1.51021156e-02 1.68893365e+02] [ 3.25266721e-02 9.99470851e-01 -1.81937945e-04 1.31754484e+00] [ 1.51000420e-02 -3.09400640e-04 9.99885940e-01 1.13289271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.849254154 meters 0.016686077121381215 Centerline is valid? [True, True] Translation: X:168.93, Y:1.32, Z:1.13 [[ 9.99351474e-01 -3.28085312e-02 -1.48402296e-02 1.68925167e+02] [ 3.28095133e-02 9.99461607e-01 -1.77347744e-04 1.31634404e+00] [ 1.48380583e-02 -3.09667982e-04 9.99889862e-01 1.13295842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879254154 meters 0.01682066511189612 Centerline is valid? [True, True] Translation: X:168.96, Y:1.32, Z:1.13 [[ 9.99348106e-01 -3.29980899e-02 -1.46454289e-02 1.68957247e+02] [ 3.29990820e-02 9.99455367e-01 -1.73973098e-04 1.31527263e+00] [ 1.46431933e-02 -3.09426023e-04 9.99892735e-01 1.13320267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.909254154 meters 0.016438795674844537 Centerline is valid? [True, True] Translation: X:168.99, Y:1.32, Z:1.13 [[ 9.99352799e-01 -3.29576878e-02 -1.44143729e-02 1.68989571e+02] [ 3.29586596e-02 9.99456701e-01 -1.70190889e-04 1.31568782e+00] [ 1.44121507e-02 -3.04997668e-04 9.99896093e-01 1.13367754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939254154 meters 0.018035283699287447 Centerline is valid? [True, True] Translation: X:169.02, Y:1.32, Z:1.13 [[ 9.99412144e-01 -3.08608597e-02 -1.49323292e-02 1.69021742e+02] [ 3.08616853e-02 9.99523649e-01 -1.75193519e-04 1.31602100e+00] [ 1.49306228e-02 -2.85746315e-04 9.99888491e-01 1.13197798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.969254154 meters 0.015654966315430365 Centerline is valid? [True, True] Translation: X:169.05, Y:1.32, Z:1.13 [[ 9.99447908e-01 -2.95738393e-02 -1.51415860e-02 1.69053534e+02] [ 2.95745576e-02 9.99562562e-01 -1.76525837e-04 1.31744670e+00] [ 1.51401830e-02 -2.71377328e-04 9.99885344e-01 1.13444487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99925415399997 meters 0.015404246634304484 Centerline is valid? [True, True] Translation: X:169.08, Y:1.32, Z:1.13 [[ 9.99494386e-01 -2.78851235e-02 -1.52771735e-02 1.69084700e+02] [ 2.78856701e-02 9.99611103e-01 -1.77282786e-04 1.31870661e+00] [ 1.52761758e-02 -2.48821069e-04 9.99883281e-01 1.13444924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02925415399997 meters 0.014733176945571445 Centerline is valid? [True, True] Translation: X:169.12, Y:1.32, Z:1.13 [[ 9.99591387e-01 -2.39947844e-02 -1.55341467e-02 1.69116403e+02] [ 2.39948888e-02 9.99712065e-01 -1.79691254e-04 1.32032384e+00] [ 1.55339855e-02 -1.93122291e-04 9.99879322e-01 1.13440760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05925415399997 meters 0.014636272811109758 Centerline is valid? [True, True] Translation: X:169.15, Y:1.32, Z:1.13 [[ 9.99628703e-01 -2.24443230e-02 -1.54502229e-02 1.69146622e+02] [ 2.24442450e-02 9.99748080e-01 -1.78468716e-04 1.32083531e+00] [ 1.54503363e-02 -1.68366137e-04 9.99880622e-01 1.13440486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08925415399997 meters 0.014480416989473978 Centerline is valid? [True, True] Translation: X:169.18, Y:1.32, Z:1.13 [[ 9.99654406e-01 -2.13250392e-02 -1.53723941e-02 1.69176562e+02] [ 2.13248304e-02 9.99772584e-01 -1.77517135e-04 1.32116048e+00] [ 1.53726837e-02 -1.50357910e-04 9.99881822e-01 1.13429342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11925415399998 meters 0.014526706978126384 Centerline is valid? [True, True] Translation: X:169.21, Y:1.32, Z:1.13 [[ 9.99668191e-01 -2.04679716e-02 -1.56387559e-02 1.69206231e+02] [ 2.04676489e-02 9.99790499e-01 -1.80704607e-04 1.32156398e+00] [ 1.56391782e-02 -1.39443918e-04 9.99877691e-01 1.13397320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14925415399998 meters 0.014400608899181053 Centerline is valid? [True, True] Translation: X:169.24, Y:1.32, Z:1.13 [[ 9.99658891e-01 -1.99828540e-02 -1.68162818e-02 1.69235682e+02] [ 1.99824042e-02 9.99800313e-01 -1.94792665e-04 1.32195239e+00] [ 1.68168163e-02 -1.41303519e-04 9.99858577e-01 1.13339682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17925415399998 meters 0.014549115271606817 Centerline is valid? [True, True] Translation: X:169.26, Y:1.32, Z:1.13 [[ 9.99644536e-01 -2.04452656e-02 -1.71111856e-02 1.69264366e+02] [ 2.04448204e-02 9.99790963e-01 -2.00963374e-04 1.32174440e+00] [ 1.71117175e-02 -1.48943178e-04 9.99853573e-01 1.13302776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20925415399998 meters 0.016056845097987524 Centerline is valid? [True, True] Translation: X:169.29, Y:1.32, Z:1.13 [[ 9.99628704e-01 -2.09171828e-02 -1.74621266e-02 1.69293527e+02] [ 2.09167157e-02 9.99781200e-01 -2.09407153e-04 1.32088609e+00] [ 1.74626861e-02 -1.55920936e-04 9.99847504e-01 1.13148722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23925415399998 meters 0.01494728355878419 Centerline is valid? [True, True] Translation: X:169.32, Y:1.32, Z:1.13 [[ 9.99596558e-01 -2.24844328e-02 -1.73542956e-02 1.69321852e+02] [ 2.24841689e-02 9.99747177e-01 -2.10344472e-04 1.31972828e+00] [ 1.73546376e-02 -1.79937305e-04 9.99849381e-01 1.13279537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26925415399998 meters 0.01482666221510809 Centerline is valid? [True, True] Translation: X:169.35, Y:1.32, Z:1.13 [[ 9.99535904e-01 -2.50463954e-02 -1.73393948e-02 1.69351428e+02] [ 2.50465046e-02 9.99686265e-01 -2.10902126e-04 1.31755992e+00] [ 1.73392372e-02 -2.23486985e-04 9.99849639e-01 1.13397190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29925415399998 meters 0.015810644001234126 Centerline is valid? [True, True] Translation: X:169.38, Y:1.32, Z:1.13 [[ 9.99506423e-01 -2.62136409e-02 -1.73134372e-02 1.69381474e+02] [ 2.62139172e-02 9.99656334e-01 -2.11025018e-04 1.31631931e+00] [ 1.73130189e-02 -2.42932148e-04 9.99850089e-01 1.13311130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32925415399998 meters 0.015373538702966547 Centerline is valid? [True, True] Translation: X:169.41, Y:1.32, Z:1.13 [[ 9.99467436e-01 -2.76499445e-02 -1.73298782e-02 1.69412051e+02] [ 2.76504350e-02 9.99617631e-01 -2.11350572e-04 1.31628842e+00] [ 1.73290956e-02 -2.67940655e-04 9.99849804e-01 1.13488062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35925415399998 meters 0.01562139992015446 Centerline is valid? [True, True] Translation: X:169.44, Y:1.32, Z:1.14 [[ 9.99448014e-01 -2.86753793e-02 -1.67746978e-02 1.69442325e+02] [ 2.86759862e-02 9.99588738e-01 -2.04402481e-04 1.31573016e+00] [ 1.67736603e-02 -2.76741349e-04 9.99859274e-01 1.13554075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38925415399999 meters 0.015511667663155114 Centerline is valid? [True, True] Translation: X:169.47, Y:1.32, Z:1.14 [[ 9.99416251e-01 -2.98113459e-02 -1.66865605e-02 1.69473280e+02] [ 2.98121127e-02 9.99555500e-01 -2.02844924e-04 1.31610367e+00] [ 1.66851904e-02 -2.94735108e-04 9.99860749e-01 1.13657162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.419254154 meters 0.017347870505518958 Centerline is valid? [True, True] Translation: X:169.50, Y:1.31, Z:1.14 [[ 9.99383613e-01 -3.07585036e-02 -1.69206462e-02 1.69503727e+02] [ 3.07594353e-02 9.99526796e-01 -2.05248766e-04 1.31482320e+00] [ 1.69189524e-02 -3.15347269e-04 9.99856815e-01 1.13500818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.449254154 meters 0.01633850597809559 Centerline is valid? [True, True] Translation: X:169.54, Y:1.31, Z:1.14 [[ 9.99313392e-01 -3.36375935e-02 -1.55324141e-02 1.69535139e+02] [ 3.36387328e-02 9.99434040e-01 -1.87977646e-04 1.31304532e+00] [ 1.55299465e-02 -3.34642148e-04 9.99879347e-01 1.13739304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.479254154 meters 0.017469740595638703 Centerline is valid? [True, True] Translation: X:169.57, Y:1.31, Z:1.14 [[ 9.99275921e-01 -3.49410543e-02 -1.50584606e-02 1.69566373e+02] [ 3.49422835e-02 9.99389315e-01 -1.81549548e-04 1.31099120e+00] [ 1.50556081e-02 -3.44758906e-04 9.99886598e-01 1.13695270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.509254154 meters 0.017277437430473615 Centerline is valid? [True, True] Translation: X:169.60, Y:1.31, Z:1.14 [[ 9.99226397e-01 -3.64496517e-02 -1.47658404e-02 1.69598782e+02] [ 3.64510120e-02 9.99335425e-01 -1.77078364e-04 1.31048636e+00] [ 1.47624818e-02 -3.61288450e-04 9.99890963e-01 1.13782547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539254154 meters 0.018138329959929603 Centerline is valid? [True, True] Translation: X:169.63, Y:1.31, Z:1.14 [[ 9.99142310e-01 -3.90472786e-02 -1.37824157e-02 1.69631188e+02] [ 3.90487240e-02 9.99237294e-01 -1.64318992e-04 1.30777232e+00] [ 1.37783200e-02 -3.74007689e-04 9.99905004e-01 1.13821296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.569254154 meters 0.018605242206361852 Centerline is valid? [True, True] Translation: X:169.66, Y:1.31, Z:1.14 [[ 9.99094909e-01 -4.01830694e-02 -1.39528804e-02 1.69663124e+02] [ 4.01846756e-02 9.99192256e-01 -1.65338821e-04 1.30699899e+00] [ 1.39482538e-02 -3.95502798e-04 9.99902640e-01 1.13862973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599254154 meters 0.019325349474226705 Centerline is valid? [True, True] Translation: X:169.69, Y:1.31, Z:1.14 [[ 9.99052440e-01 -4.12718588e-02 -1.38150359e-02 1.69694285e+02] [ 4.12735493e-02 9.99147871e-01 -1.62841160e-04 1.30583488e+00] [ 1.38099844e-02 -4.07508706e-04 9.99904555e-01 1.13901815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.629254154 meters 0.01952940737405726 Centerline is valid? [True, True] Translation: X:169.73, Y:1.31, Z:1.14 [[ 9.98972620e-01 -4.30540728e-02 -1.41439808e-02 1.69726016e+02] [ 4.30560342e-02 9.99072645e-01 -1.65946414e-04 1.30562366e+00] [ 1.41380090e-02 -4.43207799e-04 9.99899955e-01 1.13950779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659254154 meters 0.01933140921158855 Centerline is valid? [True, True] Translation: X:169.76, Y:1.31, Z:1.14 [[ 9.98938900e-01 -4.36609293e-02 -1.46559615e-02 1.69757986e+02] [ 4.36631144e-02 9.99046297e-01 -1.71001748e-04 1.30554202e+00] [ 1.46494501e-02 -4.69104624e-04 9.99892581e-01 1.13978272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.689254154 meters 0.019997807901285733 Centerline is valid? [True, True] Translation: X:169.79, Y:1.30, Z:1.14 [[ 9.98925037e-01 -4.40059912e-02 -1.45685350e-02 1.69789327e+02] [ 4.40082004e-02 9.99031156e-01 -1.69065966e-04 1.30402346e+00] [ 1.45618602e-02 -4.72250779e-04 9.99893859e-01 1.13954506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71925415399997 meters 0.02027268870980517 Centerline is valid? [True, True] Translation: X:169.82, Y:1.30, Z:1.14 [[ 9.98902472e-01 -4.44542450e-02 -1.47537027e-02 1.69821928e+02] [ 4.44565734e-02 9.99011303e-01 -1.70272985e-04 1.30341273e+00] [ 1.47466851e-02 -4.85812960e-04 9.99891144e-01 1.13980789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74925415399997 meters 0.019241205101029505 Centerline is valid? [True, True] Translation: X:169.85, Y:1.30, Z:1.14 [[ 9.98855853e-01 -4.51493116e-02 -1.57646940e-02 1.69853925e+02] [ 4.51520753e-02 9.98980109e-01 -1.80752803e-04 1.30467370e+00] [ 1.57567766e-02 -5.31262658e-04 9.99875713e-01 1.13957505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77925415399997 meters 0.01979160345334485 Centerline is valid? [True, True] Translation: X:169.88, Y:1.30, Z:1.14 [[ 9.98837187e-01 -4.53822312e-02 -1.62704441e-02 1.69884946e+02] [ 4.53852231e-02 9.98969543e-01 -1.85503018e-04 1.30364424e+00] [ 1.62620967e-02 -5.53150424e-04 9.99867610e-01 1.13897123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80925415399997 meters 0.020575086598509332 Centerline is valid? [True, True] Translation: X:169.92, Y:1.30, Z:1.14 [[ 9.98810219e-01 -4.57383167e-02 -1.69160774e-02 1.69915664e+02] [ 4.57416300e-02 9.98953286e-01 -1.91196188e-04 1.30233430e+00] [ 1.69071161e-02 -5.82800248e-04 9.99856895e-01 1.13833820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83925415399997 meters 0.020467553154447708 Centerline is valid? [True, True] Translation: X:169.95, Y:1.30, Z:1.14 [[ 9.98816836e-01 -4.56136002e-02 -1.68620050e-02 1.69948141e+02] [ 4.56169015e-02 9.98958989e-01 -1.88988790e-04 1.30194438e+00] [ 1.68530719e-02 -5.80427235e-04 9.99857808e-01 1.13812418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86925415399998 meters 0.020216500309933487 Centerline is valid? [True, True] Translation: X:169.98, Y:1.30, Z:1.14 [[ 9.98800725e-01 -4.57862426e-02 -1.73416236e-02 1.69980230e+02] [ 4.57897826e-02 9.98951079e-01 -1.93086300e-04 1.30224935e+00] [ 1.73322743e-02 -6.01214439e-04 9.99849604e-01 1.13787112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89925415399998 meters 0.02175407422740477 Centerline is valid? [True, True] Translation: X:170.01, Y:1.30, Z:1.14 [[ 9.98812880e-01 -4.53047475e-02 -1.78972033e-02 1.70011811e+02] [ 4.53084744e-02 9.98973024e-01 -1.97392565e-04 1.30059658e+00] [ 1.78877662e-02 -6.13736744e-04 9.99839813e-01 1.13679470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92925415399998 meters 0.01961668236986359 Centerline is valid? [True, True] Translation: X:170.04, Y:1.30, Z:1.14 [[ 9.98842275e-01 -4.48056875e-02 -1.75088377e-02 1.70044107e+02] [ 4.48092061e-02 9.98995545e-01 -1.91490855e-04 1.30374789e+00] [ 1.74998308e-02 -5.93287958e-04 9.99846690e-01 1.13875663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95925415399998 meters 0.02018628601317272 Centerline is valid? [True, True] Translation: X:170.08, Y:1.30, Z:1.14 [[ 9.98877329e-01 -4.39989276e-02 -1.75549360e-02 1.70075725e+02] [ 4.40023596e-02 9.99031409e-01 -1.90899664e-04 1.30347708e+00] [ 1.75463318e-02 -5.81773259e-04 9.99845882e-01 1.13901370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98925415399998 meters 0.01919326157552947 Centerline is valid? [True, True] Translation: X:170.11, Y:1.31, Z:1.14 [[ 9.98970801e-01 -4.17736457e-02 -1.76720372e-02 1.70107172e+02] [ 4.17767894e-02 9.99126951e-01 -1.91400467e-04 1.30653618e+00] [ 1.76646041e-02 -5.47077498e-04 9.99843819e-01 1.14013286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01925415399998 meters 0.018576013906400658 Centerline is valid? [True, True] Translation: X:170.14, Y:1.31, Z:1.14 [[ 9.99018122e-01 -4.06948493e-02 -1.75134648e-02 1.70139325e+02] [ 4.06977892e-02 9.99171484e-01 -1.88655320e-04 1.30852145e+00] [ 1.75066319e-02 -5.24289216e-04 9.99846610e-01 1.14068667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04925415399998 meters 0.018540746466030544 Centerline is valid? [True, True] Translation: X:170.17, Y:1.31, Z:1.14 [[ 9.99056252e-01 -3.97649424e-02 -1.74744005e-02 1.70171392e+02] [ 3.97677494e-02 9.99208933e-01 -1.86956528e-04 1.30896189e+00] [ 1.74680114e-02 -5.08137494e-04 9.99847294e-01 1.14086993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07925415399998 meters 0.018054657227482052 Centerline is valid? [True, True] Translation: X:170.20, Y:1.31, Z:1.14 [[ 9.99080772e-01 -3.90759662e-02 -1.76260887e-02 1.70203681e+02] [ 3.90787379e-02 9.99236117e-01 -1.87281134e-04 1.31022167e+00] [ 1.76199427e-02 -5.01696323e-04 9.99844631e-01 1.14113529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10925415399998 meters 0.018251281277638514 Centerline is valid? [True, True] Translation: X:170.24, Y:1.31, Z:1.14 [[ 9.99105268e-01 -3.84748039e-02 -1.75600078e-02 1.70235295e+02] [ 3.84774813e-02 9.99259450e-01 -1.85487395e-04 1.31020000e+00] [ 1.75541403e-02 -4.90343437e-04 9.99845794e-01 1.14068452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13925415399999 meters 0.017915865062372277 Centerline is valid? [True, True] Translation: X:170.27, Y:1.31, Z:1.14 [[ 9.99150967e-01 -3.74793226e-02 -1.71068884e-02 1.70266788e+02] [ 3.74817304e-02 9.99297297e-01 -1.79961370e-04 1.31111451e+00] [ 1.71016122e-02 -4.61387203e-04 9.99853650e-01 1.14102339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.169254154 meters 0.01817998706816449 Centerline is valid? [True, True] Translation: X:170.30, Y:1.31, Z:1.14 [[ 9.99182699e-01 -3.68246604e-02 -1.66696595e-02 1.70297782e+02] [ 3.68268685e-02 9.99321646e-01 -1.74588146e-04 1.31132585e+00] [ 1.66647807e-02 -4.39445902e-04 9.99861036e-01 1.14122360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.199254154 meters 0.017770734596472326 Centerline is valid? [True, True] Translation: X:170.33, Y:1.31, Z:1.14 [[ 9.99225751e-01 -3.58512688e-02 -1.62044619e-02 1.70329355e+02] [ 3.58532388e-02 9.99357052e-01 -1.69016933e-04 1.31291231e+00] [ 1.62001027e-02 -4.12096369e-04 9.99868685e-01 1.14191335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.229254154 meters 0.016960867927717733 Centerline is valid? [True, True] Translation: X:170.36, Y:1.32, Z:1.14 [[ 9.99329582e-01 -3.30765269e-02 -1.56948741e-02 1.70360573e+02] [ 3.30780417e-02 9.99452759e-01 -1.63144514e-04 1.31649533e+00] [ 1.56916814e-02 -3.56120559e-04 9.99876815e-01 1.14310171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259254154 meters 0.016390773384892178 Centerline is valid? [True, True] Translation: X:170.39, Y:1.32, Z:1.14 [[ 9.99389473e-01 -3.15627238e-02 -1.49824900e-02 1.70392129e+02] [ 3.15639421e-02 9.99501723e-01 -1.55207529e-04 1.31878157e+00] [ 1.49799234e-02 -3.17793677e-04 9.99887744e-01 1.14377118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.289254154 meters 0.015932986274209464 Centerline is valid? [True, True] Translation: X:170.42, Y:1.32, Z:1.14 [[ 9.99440208e-01 -2.99948561e-02 -1.48182399e-02 1.70424519e+02] [ 2.99958878e-02 9.99550010e-01 -1.52676840e-04 1.32040847e+00] [ 1.48161514e-02 -2.91894889e-04 9.99890192e-01 1.14427265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319254154 meters 0.015733277176524157 Centerline is valid? [True, True] Translation: X:170.46, Y:1.32, Z:1.14 [[ 9.99475161e-01 -2.86746982e-02 -1.50719989e-02 1.70455826e+02] [ 2.86756278e-02 9.99588758e-01 -1.54476200e-04 1.32183609e+00] [ 1.50702302e-02 -2.77803905e-04 9.99886399e-01 1.14463121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.349254154 meters 0.016174280093621686 Centerline is valid? [True, True] Translation: X:170.49, Y:1.32, Z:1.14 [[ 9.99511712e-01 -2.76182050e-02 -1.46140978e-02 1.70485841e+02] [ 2.76189717e-02 9.99618512e-01 -1.49398307e-04 1.32118497e+00] [ 1.46126488e-02 -2.54300994e-04 9.99893197e-01 1.14407932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379254154 meters 0.01554008270007853 Centerline is valid? [True, True] Translation: X:170.52, Y:1.32, Z:1.14 [[ 9.99554240e-01 -2.60174712e-02 -1.46428376e-02 1.70517016e+02] [ 2.60180751e-02 9.99661461e-01 -1.49288017e-04 1.32276682e+00] [ 1.46417646e-02 -2.31756979e-04 9.99892777e-01 1.14429761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.409254154 meters 0.015402388974695059 Centerline is valid? [True, True] Translation: X:170.55, Y:1.32, Z:1.14 [[ 9.99576978e-01 -2.51286363e-02 -1.46430011e-02 1.70547147e+02] [ 2.51291506e-02 9.99684202e-01 -1.48901263e-04 1.32297484e+00] [ 1.46421186e-02 -2.19127907e-04 9.99892774e-01 1.14428633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439254154 meters 0.015402388974695059 Centerline is valid? [True, True] Translation: X:170.58, Y:1.32, Z:1.14 [[ 9.99577869e-01 -2.50931445e-02 -1.46430052e-02 1.70577996e+02] [ 2.50936608e-02 9.99685093e-01 -1.48503068e-04 1.32325759e+00] [ 1.46421204e-02 -2.19006224e-04 9.99892774e-01 1.14450008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46925415399997 meters 0.015073800357731659 Centerline is valid? [True, True] Translation: X:170.61, Y:1.33, Z:1.14 [[ 9.99621874e-01 -2.32391121e-02 -1.46987291e-02 1.70609567e+02] [ 2.32394397e-02 9.99729917e-01 -1.48540153e-04 1.32500578e+00] [ 1.46982111e-02 -1.93106242e-04 9.99891957e-01 1.14456865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49925415399997 meters 0.015091692283933323 Centerline is valid? [True, True] Translation: X:170.64, Y:1.33, Z:1.14 [[ 9.99639229e-01 -2.24421227e-02 -1.47567845e-02 1.70640170e+02] [ 2.24423719e-02 9.99748127e-01 -1.48734725e-04 1.32548400e+00] [ 1.47564056e-02 -1.82496179e-04 9.99891102e-01 1.14439901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52925415399997 meters 0.014910703358818701 Centerline is valid? [True, True] Translation: X:170.67, Y:1.33, Z:1.14 [[ 9.99663443e-01 -2.12374588e-02 -1.48986696e-02 1.70670962e+02] [ 2.12375809e-02 9.99774446e-01 -1.50039264e-04 1.32598707e+00] [ 1.48984956e-02 -1.66422934e-04 9.99888997e-01 1.14422500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55925415399997 meters 0.014691312446947841 Centerline is valid? [True, True] Translation: X:170.70, Y:1.33, Z:1.14 [[ 9.99679930e-01 -2.02558544e-02 -1.51571071e-02 1.70701046e+02] [ 2.02558635e-02 9.99794817e-01 -1.52935472e-04 1.32646451e+00] [ 1.51570950e-02 -1.54133770e-04 9.99885113e-01 1.14412991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58925415399997 meters 0.01458254503282019 Centerline is valid? [True, True] Translation: X:170.73, Y:1.33, Z:1.14 [[ 9.99708818e-01 -1.86285995e-02 -1.53380055e-02 1.70729740e+02] [ 1.86284067e-02 9.99826464e-01 -1.55457173e-04 1.32701669e+00] [ 1.53382398e-02 -1.30310697e-04 9.99882354e-01 1.14347781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61925415399998 meters 0.014622413091979746 Centerline is valid? [True, True] Translation: X:170.76, Y:1.33, Z:1.14 [[ 9.99707902e-01 -1.81731196e-02 -1.59326313e-02 1.70758891e+02] [ 1.81728110e-02 9.99834847e-01 -1.64159179e-04 1.32816746e+00] [ 1.59329833e-02 -1.25429469e-04 9.99873054e-01 1.14366498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64925415399998 meters 0.014550293915213428 Centerline is valid? [True, True] Translation: X:170.79, Y:1.33, Z:1.14 [[ 9.99722781e-01 -1.71292937e-02 -1.61538842e-02 1.70787106e+02] [ 1.71287979e-02 9.99853277e-01 -1.69059807e-04 1.32863227e+00] [ 1.61544100e-02 -1.07683677e-04 9.99869503e-01 1.14361029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67925415399998 meters 0.014370335484038882 Centerline is valid? [True, True] Translation: X:170.82, Y:1.33, Z:1.14 [[ 9.99726778e-01 -1.65716326e-02 -1.64848398e-02 1.70816168e+02] [ 1.65709899e-02 9.99862676e-01 -1.75593139e-04 1.32985273e+00] [ 1.64854859e-02 -9.76249514e-05 9.99864100e-01 1.14429296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70925415399998 meters 0.014355790940210897 Centerline is valid? [True, True] Translation: X:170.84, Y:1.33, Z:1.14 [[ 9.99748726e-01 -1.53846983e-02 -1.63032582e-02 1.70844422e+02] [ 1.53838390e-02 9.99881646e-01 -1.78124616e-04 1.33020697e+00] [ 1.63040691e-02 -7.27268421e-05 9.99867077e-01 1.14451174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73925415399998 meters 0.014449698862189022 Centerline is valid? [True, True] Translation: X:170.87, Y:1.33, Z:1.14 [[ 9.99765195e-01 -1.49128652e-02 -1.57213733e-02 1.70871985e+02] [ 1.49119649e-02 9.99888795e-01 -1.74495900e-04 1.32998719e+00] [ 1.57222272e-02 -5.99816383e-05 9.99876396e-01 1.14450480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76925415399998 meters 0.01436103954593201 Centerline is valid? [True, True] Translation: X:170.90, Y:1.33, Z:1.14 [[ 9.99775421e-01 -1.47421623e-02 -1.52241827e-02 1.70899872e+02] [ 1.47412529e-02 9.99891327e-01 -1.71950725e-04 1.32986011e+00] [ 1.52250631e-02 -5.25114186e-05 9.99884091e-01 1.14493657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79925415399998 meters 0.014326041696869164 Centerline is valid? [True, True] Translation: X:170.93, Y:1.33, Z:1.15 [[ 9.99797717e-01 -1.43812471e-02 -1.40607443e-02 1.70927747e+02] [ 1.43803806e-02 9.99896584e-01 -1.62730161e-04 1.32907467e+00] [ 1.40616305e-02 -3.95016115e-05 9.99901130e-01 1.14610363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82925415399998 meters 0.014302328936673757 Centerline is valid? [True, True] Translation: X:170.96, Y:1.33, Z:1.15 [[ 9.99803153e-01 -1.41442253e-02 -1.39139153e-02 1.70955936e+02] [ 1.41433171e-02 9.99899965e-01 -1.63674201e-04 1.32872473e+00] [ 1.39148385e-02 -3.31469348e-05 9.99903183e-01 1.14616823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85925415399998 meters 0.014184877062875795 Centerline is valid? [True, True] Translation: X:170.98, Y:1.33, Z:1.15 [[ 9.99802687e-01 -1.45109382e-02 -1.35653614e-02 1.70984794e+02] [ 1.45100776e-02 9.99894710e-01 -1.61869437e-04 1.32841085e+00] [ 1.35662820e-02 -3.49969480e-05 9.99907973e-01 1.14656914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88925415399999 meters 0.014211405179801758 Centerline is valid? [True, True] Translation: X:171.01, Y:1.33, Z:1.15 [[ 9.99804357e-01 -1.44686914e-02 -1.34871712e-02 1.71013890e+02] [ 1.44677906e-02 9.99895323e-01 -1.64356287e-04 1.32795263e+00] [ 1.34881374e-02 -3.08054365e-05 9.99909030e-01 1.14698002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.919254154 meters 0.016906930365389428 Centerline is valid? [True, True] Translation: X:171.04, Y:1.33, Z:1.14 [[ 9.99807479e-01 -1.36949480e-02 -1.40518427e-02 1.71042534e+02] [ 1.36938426e-02 9.99906220e-01 -1.74881042e-04 1.32621308e+00] [ 1.40529199e-02 -1.75763488e-05 9.99901253e-01 1.14460303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.949254154 meters 0.01421960892351605 Centerline is valid? [True, True] Translation: X:171.07, Y:1.33, Z:1.15 [[ 9.99807748e-01 -1.43927452e-02 -1.33160068e-02 1.71070073e+02] [ 1.43917673e-02 9.99896419e-01 -1.69263760e-04 1.32567190e+00] [ 1.33170637e-02 -2.24096517e-05 9.99911324e-01 1.14723809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979254154 meters 0.014120116119145265 Centerline is valid? [True, True] Translation: X:171.10, Y:1.32, Z:1.15 [[ 9.99808538e-01 -1.45556952e-02 -1.30774512e-02 1.71098857e+02] [ 1.45547192e-02 9.99894060e-01 -1.69805845e-04 1.32482198e+00] [ 1.30785374e-02 -2.05652968e-05 9.99914472e-01 1.14777664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.009254154 meters 0.014051582368962383 Centerline is valid? [True, True] Translation: X:171.13, Y:1.32, Z:1.15 [[ 9.99809485e-01 -1.45962383e-02 -1.29593223e-02 1.71127712e+02] [ 1.45952406e-02 9.99893469e-01 -1.71567205e-04 1.32352801e+00] [ 1.29604460e-02 -1.76099074e-05 9.99916010e-01 1.14790110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039254154 meters 0.014230089861001922 Centerline is valid? [True, True] Translation: X:171.16, Y:1.32, Z:1.15 [[ 9.99793059e-01 -1.56322008e-02 -1.30181732e-02 1.71156138e+02] [ 1.56312385e-02 9.99877809e-01 -1.75668013e-04 1.31970411e+00] [ 1.30193286e-02 -2.78585106e-05 9.99915245e-01 1.14789320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.069254154 meters 0.01420463992669431 Centerline is valid? [True, True] Translation: X:171.18, Y:1.32, Z:1.15 [[ 9.99786352e-01 -1.62191218e-02 -1.28136833e-02 1.71184516e+02] [ 1.62181966e-02 9.99868461e-01 -1.76120892e-04 1.31812395e+00] [ 1.28148543e-02 -3.17315705e-05 9.99917886e-01 1.14822037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099254154 meters 0.014259423865035889 Centerline is valid? [True, True] Translation: X:171.21, Y:1.31, Z:1.15 [[ 9.99765759e-01 -1.71218743e-02 -1.32388717e-02 1.71214233e+02] [ 1.71209389e-02 9.99853409e-01 -1.83993348e-04 1.31417759e+00] [ 1.32400813e-02 -4.27116647e-05 9.99912345e-01 1.14779671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.129254154 meters 0.014165422778705703 Centerline is valid? [True, True] Translation: X:171.24, Y:1.31, Z:1.15 [[ 9.99747881e-01 -1.75302549e-02 -1.40308676e-02 1.71243615e+02] [ 1.75292372e-02 9.99846332e-01 -1.95520486e-04 1.31225285e+00] [ 1.40321390e-02 -5.04792143e-05 9.99901543e-01 1.14781699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159254154 meters 0.01415406481391577 Centerline is valid? [True, True] Translation: X:171.27, Y:1.31, Z:1.15 [[ 9.99728117e-01 -1.79656934e-02 -1.48635599e-02 1.71272148e+02] [ 1.79645891e-02 9.99838602e-01 -2.07818117e-04 1.30983725e+00] [ 1.48648945e-02 -5.92561307e-05 9.99889510e-01 1.14682793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.189254154 meters 0.014326998189157418 Centerline is valid? [True, True] Translation: X:171.30, Y:1.31, Z:1.15 [[ 9.99715492e-01 -1.86272091e-02 -1.48984229e-02 1.71300487e+02] [ 1.86261381e-02 9.99826496e-01 -2.10650499e-04 1.30816571e+00] [ 1.48997618e-02 -6.69095161e-05 9.99888990e-01 1.14655587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21925415399997 meters 0.014042481092391113 Centerline is valid? [True, True] Translation: X:171.33, Y:1.31, Z:1.15 [[ 9.99701436e-01 -1.91395866e-02 -1.51893338e-02 1.71329318e+02] [ 1.91384734e-02 9.99816819e-01 -2.18658675e-04 1.30519316e+00] [ 1.51907364e-02 -7.21072693e-05 9.99884612e-01 1.14753511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24925415399997 meters 0.014219280829642418 Centerline is valid? [True, True] Translation: X:171.36, Y:1.30, Z:1.15 [[ 9.99692758e-01 -1.96051627e-02 -1.51666186e-02 1.71357382e+02] [ 1.96040675e-02 9.99807797e-01 -2.20888827e-04 1.30371555e+00] [ 1.51680341e-02 -7.65064545e-05 9.99884956e-01 1.14756987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27925415399997 meters 0.014237565827946275 Centerline is valid? [True, True] Translation: X:171.39, Y:1.30, Z:1.15 [[ 9.99685923e-01 -2.00861351e-02 -1.49867481e-02 1.71386423e+02] [ 2.00850796e-02 9.99798250e-01 -2.20953457e-04 1.30190591e+00] [ 1.49881626e-02 -8.01259678e-05 9.99887668e-01 1.14799903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30925415399997 meters 0.014276035105589098 Centerline is valid? [True, True] Translation: X:171.41, Y:1.30, Z:1.15 [[ 9.99672143e-01 -2.07795954e-02 -1.49604741e-02 1.71414878e+02] [ 2.07785884e-02 9.99784077e-01 -2.22764320e-04 1.29973613e+00] [ 1.49618728e-02 -8.81662488e-05 9.99888061e-01 1.14829410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33925415399997 meters 0.014713510423042732 Centerline is valid? [True, True] Translation: X:171.44, Y:1.29, Z:1.15 [[ 9.99629608e-01 -2.34330149e-02 -1.38398109e-02 1.71443611e+02] [ 2.34323960e-02 9.99725402e-01 -2.06895608e-04 1.29313369e+00] [ 1.38408587e-02 -1.17480954e-04 9.99904204e-01 1.14836568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36925415399998 meters 0.014728277076260092 Centerline is valid? [True, True] Translation: X:171.47, Y:1.29, Z:1.15 [[ 9.99588577e-01 -2.53494974e-02 -1.34193674e-02 1.71472838e+02] [ 2.53490790e-02 9.99678640e-01 -2.01299193e-04 1.29057444e+00] [ 1.34201578e-02 -1.38952231e-04 9.99909936e-01 1.14942297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39925415399998 meters 0.014958633362134396 Centerline is valid? [True, True] Translation: X:171.50, Y:1.29, Z:1.15 [[ 9.99529615e-01 -2.76681166e-02 -1.32296623e-02 1.71503277e+02] [ 2.76679097e-02 9.99617150e-01 -1.98696384e-04 1.28769647e+00] [ 1.32300949e-02 -1.67434182e-04 9.99912464e-01 1.15010887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42925415399998 meters 0.015736921042501642 Centerline is valid? [True, True] Translation: X:171.53, Y:1.28, Z:1.15 [[ 9.99392359e-01 -3.25086073e-02 -1.25739332e-02 1.71534365e+02] [ 3.25088047e-02 9.99471431e-01 -1.88744928e-04 1.28024293e+00] [ 1.25734228e-02 -2.20133300e-04 9.99920927e-01 1.15007306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45925415399998 meters 0.016366927415716437 Centerline is valid? [True, True] Translation: X:171.57, Y:1.28, Z:1.15 [[ 9.99302428e-01 -3.51899219e-02 -1.25030911e-02 1.71565743e+02] [ 3.51903309e-02 9.99380611e-01 -1.87352846e-04 1.27665122e+00] [ 1.25019398e-02 -2.52765761e-04 9.99921816e-01 1.14989175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48925415399998 meters 0.016990849977813423 Centerline is valid? [True, True] Translation: X:171.60, Y:1.27, Z:1.15 [[ 9.99201846e-01 -3.78198006e-02 -1.28582341e-02 1.71597943e+02] [ 3.78204597e-02 9.99284532e-01 -1.91983361e-04 1.27302946e+00] [ 1.28562952e-02 -2.94474196e-04 9.99917311e-01 1.14966300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51925415399998 meters 0.017672162225632393 Centerline is valid? [True, True] Translation: X:171.63, Y:1.27, Z:1.15 [[ 9.99115625e-01 -4.00836139e-02 -1.26992649e-02 1.71629968e+02] [ 4.00844513e-02 9.99196278e-01 -1.88690638e-04 1.26976253e+00] [ 1.26966216e-02 -3.20519300e-04 9.99919343e-01 1.14918875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54925415399998 meters 0.019597424515491395 Centerline is valid? [True, True] Translation: X:171.66, Y:1.26, Z:1.15 [[ 9.98859375e-01 -4.58730223e-02 -1.32520028e-02 1.71659877e+02] [ 4.58744501e-02 9.98947194e-01 -1.96376043e-04 1.26222060e+00] [ 1.32470594e-02 -4.11776290e-04 9.99912169e-01 1.14843035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57925415399998 meters 0.0206731418131741 Centerline is valid? [True, True] Translation: X:171.69, Y:1.26, Z:1.15 [[ 9.98706782e-01 -4.90355184e-02 -1.34269264e-02 1.71691407e+02] [ 4.90372727e-02 9.98796930e-01 -1.98734654e-04 1.25865944e+00] [ 1.34205180e-02 -4.59942206e-04 9.99909835e-01 1.14829608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60925415399998 meters 0.021883764440416478 Centerline is valid? [True, True] Translation: X:171.72, Y:1.26, Z:1.15 [[ 9.98529874e-01 -5.24468091e-02 -1.36902230e-02 1.71722662e+02] [ 5.24489599e-02 9.98623586e-01 -2.02134247e-04 1.25532961e+00] [ 1.36819809e-02 -5.16200873e-04 9.99906264e-01 1.14812740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63925415399999 meters 0.023418574080731832 Centerline is valid? [True, True] Translation: X:171.75, Y:1.25, Z:1.15 [[ 9.98129794e-01 -5.96333137e-02 -1.34455211e-02 1.71753483e+02] [ 5.96360424e-02 9.98220168e-01 -1.98256037e-04 1.24967786e+00] [ 1.34334130e-02 -6.03952407e-04 9.99909585e-01 1.14877282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.669254154 meters 0.024866527287097068 Centerline is valid? [True, True] Translation: X:171.78, Y:1.25, Z:1.15 [[ 9.97909030e-01 -6.32774361e-02 -1.31732624e-02 1.71784895e+02] [ 6.32803755e-02 9.97995770e-01 -1.93990972e-04 1.24682314e+00] [ 1.31591354e-02 -6.40023647e-04 9.99913210e-01 1.14924819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.699254154 meters 0.02619698604338369 Centerline is valid? [True, True] Translation: X:171.82, Y:1.24, Z:1.15 [[ 9.97709589e-01 -6.63350297e-02 -1.32378381e-02 1.71815784e+02] [ 6.63382736e-02 9.97797172e-01 -1.94388436e-04 1.24415628e+00] [ 1.32215721e-02 -6.84232116e-04 9.99912357e-01 1.14979929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.729254154 meters 0.027160248819517546 Centerline is valid? [True, True] Translation: X:171.85, Y:1.24, Z:1.15 [[ 9.97529643e-01 -6.89455467e-02 -1.34581552e-02 1.71847308e+02] [ 6.89491441e-02 9.97620157e-01 -1.97051691e-04 1.24239948e+00] [ 1.34397128e-02 -7.31363380e-04 9.99909416e-01 1.14997989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759254154 meters 0.030380175471993894 Centerline is valid? [True, True] Translation: X:171.88, Y:1.24, Z:1.15 [[ 9.97314800e-01 -7.19643744e-02 -1.35763841e-02 1.71877928e+02] [ 7.19683215e-02 9.97406899e-01 -1.98235468e-04 1.23773626e+00] [ 1.35554450e-02 -7.79366408e-04 9.99907817e-01 1.14971161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.789254154 meters 0.028474194015072313 Centerline is valid? [True, True] Translation: X:171.91, Y:1.24, Z:1.15 [[ 9.97291673e-01 -7.22007835e-02 -1.40130747e-02 1.71910529e+02] [ 7.22050236e-02 9.97389790e-01 -2.03775801e-04 1.24103923e+00] [ 1.39912104e-02 -8.08590479e-04 9.99901791e-01 1.15039747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819254154 meters 0.030433336263291307 Centerline is valid? [True, True] Translation: X:171.94, Y:1.24, Z:1.15 [[ 9.97342600e-01 -7.12280047e-02 -1.53071418e-02 1.71943031e+02] [ 7.12329680e-02 9.97459681e-01 -2.21418539e-04 1.24100318e+00] [ 1.52840280e-02 -8.69543000e-04 9.99882814e-01 1.14810328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.849254154 meters 0.02821510012047944 Centerline is valid? [True, True] Translation: X:171.97, Y:1.24, Z:1.15 [[ 9.97340746e-01 -7.14096754e-02 -1.45634829e-02 1.71974912e+02] [ 7.14142026e-02 9.97446724e-01 -2.09611455e-04 1.24328803e+00] [ 1.45412666e-02 -8.30985476e-04 9.99893925e-01 1.15096030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879254154 meters 0.027199811632221516 Centerline is valid? [True, True] Translation: X:172.01, Y:1.25, Z:1.15 [[ 9.97485067e-01 -6.91016548e-02 -1.57639678e-02 1.72005999e+02] [ 6.91066859e-02 9.97609250e-01 -2.26005787e-04 1.24728977e+00] [ 1.57418974e-02 -8.63958173e-04 9.99875715e-01 1.15092316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.909254154 meters 0.026399403567952527 Centerline is valid? [True, True] Translation: X:172.04, Y:1.25, Z:1.15 [[ 9.97596852e-01 -6.71781609e-02 -1.69592526e-02 1.72037070e+02] [ 6.71837181e-02 9.97740592e-01 -2.42485572e-04 1.25135515e+00] [ 1.69372245e-02 -8.97482801e-04 9.99856152e-01 1.14973540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939254154 meters 0.02619291140319913 Centerline is valid? [True, True] Translation: X:172.07, Y:1.25, Z:1.15 [[ 9.97665630e-01 -6.62650672e-02 -1.64994458e-02 1.72068209e+02] [ 6.62702270e-02 9.97801685e-01 -2.34423842e-04 1.25206114e+00] [ 1.64787089e-02 -8.59545406e-04 9.99863847e-01 1.15123543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96925415399997 meters 0.025038122588179935 Centerline is valid? [True, True] Translation: X:172.10, Y:1.26, Z:1.15 [[ 9.97841783e-01 -6.36110995e-02 -1.62912267e-02 1.72099630e+02] [ 6.36157971e-02 9.97974437e-01 -2.30235637e-04 1.25619954e+00] [ 1.62728733e-02 -8.06640632e-04 9.99867263e-01 1.15195075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99925415399997 meters 0.024826004808028844 Centerline is valid? [True, True] Translation: X:172.13, Y:1.26, Z:1.15 [[ 9.97949171e-01 -6.19626518e-02 -1.60649351e-02 1.72131487e+02] [ 6.19670209e-02 9.98078172e-01 -2.26152179e-04 1.25836072e+00] [ 1.60480740e-02 -7.69807788e-04 9.99870925e-01 1.15246088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02925415399997 meters 0.02410385201271969 Centerline is valid? [True, True] Translation: X:172.16, Y:1.26, Z:1.15 [[ 9.98050519e-01 -6.04172831e-02 -1.56496938e-02 1.72164039e+02] [ 6.04212595e-02 9.98172943e-01 -2.19035838e-04 1.26130433e+00] [ 1.56343344e-02 -7.26965377e-04 9.99877512e-01 1.15323154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05925415399997 meters 0.02252169154921836 Centerline is valid? [True, True] Translation: X:172.20, Y:1.27, Z:1.15 [[ 9.98275580e-01 -5.66951490e-02 -1.52160240e-02 1.72195678e+02] [ 5.66984928e-02 9.98391324e-01 -2.11887644e-04 1.26724956e+00] [ 1.52035593e-02 -6.51203364e-04 9.99884207e-01 1.15439976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08925415399997 meters 0.021935752277083387 Centerline is valid? [True, True] Translation: X:172.23, Y:1.27, Z:1.15 [[ 9.98387408e-01 -5.45655028e-02 -1.56585305e-02 1.72226880e+02] [ 5.45687938e-02 9.98509990e-01 -2.17332875e-04 1.27009530e+00] [ 1.56470580e-02 -6.37484715e-04 9.99877374e-01 1.15448954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11925415399998 meters 0.02138657447617991 Centerline is valid? [True, True] Translation: X:172.26, Y:1.27, Z:1.15 [[ 9.98521128e-01 -5.20284893e-02 -1.57668462e-02 1.72257978e+02] [ 5.20315193e-02 9.98645419e-01 -2.18251746e-04 1.27306193e+00] [ 1.57568440e-02 -6.02443983e-04 9.99875672e-01 1.15475864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14925415399998 meters 0.021034831955074426 Centerline is valid? [True, True] Translation: X:172.29, Y:1.28, Z:1.15 [[ 9.98755093e-01 -4.69567671e-02 -1.68323030e-02 1.72287413e+02] [ 4.69595027e-02 9.98896767e-01 -2.32907478e-04 1.27676748e+00] [ 1.68246696e-02 -5.57819047e-04 9.99858300e-01 1.15406781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17925415399998 meters 0.0190756236824195 Centerline is valid? [True, True] Translation: X:172.32, Y:1.28, Z:1.15 [[ 9.98862865e-01 -4.44184471e-02 -1.73198641e-02 1.72318731e+02] [ 4.44209667e-02 9.99012873e-01 -2.39403820e-04 1.28210044e+00] [ 1.73134011e-02 -5.30233519e-04 9.99849971e-01 1.15467085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20925415399998 meters 0.019719351576689075 Centerline is valid? [True, True] Translation: X:172.35, Y:1.28, Z:1.15 [[ 9.98975676e-01 -4.16815348e-02 -1.76138906e-02 1.72349613e+02] [ 4.16837269e-02 9.99130826e-01 -2.42821345e-04 1.28294707e+00] [ 1.76087022e-02 -4.91639989e-04 9.99844834e-01 1.15412067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23925415399998 meters 0.017054066045732726 Centerline is valid? [True, True] Translation: X:172.38, Y:1.29, Z:1.16 [[ 9.99198291e-01 -3.61477623e-02 -1.72079657e-02 1.72380685e+02] [ 3.61490391e-02 9.99346382e-01 -2.36946227e-04 1.29165830e+00] [ 1.72052833e-02 -3.85295158e-04 9.99851904e-01 1.15613940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26925415399998 meters 0.016120094286357245 Centerline is valid? [True, True] Translation: X:172.41, Y:1.30, Z:1.16 [[ 9.99304416e-01 -3.32353437e-02 -1.69143783e-02 1.72411277e+02] [ 3.32361606e-02 9.99447499e-01 -2.32882141e-04 1.29568377e+00] [ 1.69127730e-02 -3.29448841e-04 9.99856915e-01 1.15724389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29925415399998 meters 0.015783437602784587 Centerline is valid? [True, True] Translation: X:172.44, Y:1.30, Z:1.16 [[ 9.99400898e-01 -3.01403080e-02 -1.70119530e-02 1.72441020e+02] [ 3.01406830e-02 9.99545639e-01 -2.34409587e-04 1.29850417e+00] [ 1.70112886e-02 -2.78482730e-04 9.99855259e-01 1.15753945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32925415399998 meters 0.015783437602784587 Centerline is valid? [True, True] Translation: X:172.47, Y:1.30, Z:1.16 [[ 9.99400898e-01 -3.01403089e-02 -1.70119512e-02 1.72471022e+02] [ 3.01406817e-02 9.99545639e-01 -2.34536004e-04 1.29891786e+00] [ 1.70112906e-02 -2.78356314e-04 9.99855259e-01 1.15774742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35925415399998 meters 0.01513024776110835 Centerline is valid? [True, True] Translation: X:172.50, Y:1.30, Z:1.16 [[ 9.99496109e-01 -2.71480484e-02 -1.64472516e-02 1.72501409e+02] [ 2.71479918e-02 9.99631400e-01 -2.26750748e-04 1.30282160e+00] [ 1.64473450e-02 -2.19873361e-04 9.99864709e-01 1.15890745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38925415399999 meters 0.014315262539025876 Centerline is valid? [True, True] Translation: X:172.53, Y:1.31, Z:1.16 [[ 9.99648964e-01 -2.13479524e-02 -1.56912043e-02 1.72530767e+02] [ 2.13471813e-02 9.99772099e-01 -2.16652722e-04 1.30835201e+00] [ 1.56922533e-02 -1.18386313e-04 9.99876862e-01 1.16025542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.419254154 meters 0.015213053076336863 Centerline is valid? [True, True] Translation: X:172.56, Y:1.31, Z:1.16 [[ 9.99694792e-01 -1.87630625e-02 -1.60708215e-02 1.72559142e+02] [ 1.87619073e-02 9.99823955e-01 -2.22662333e-04 1.30992942e+00] [ 1.60721702e-02 -7.89248894e-05 9.99870831e-01 1.15876317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.449254154 meters 0.014141866409125911 Centerline is valid? [True, True] Translation: X:172.59, Y:1.31, Z:1.16 [[ 9.99731571e-01 -1.72558128e-02 -1.54603902e-02 1.72588156e+02] [ 1.72545237e-02 9.99851106e-01 -2.16775081e-04 1.31230733e+00] [ 1.54618289e-02 -5.00447767e-05 9.99880458e-01 1.16069828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479254154 meters 0.014218340478471956 Centerline is valid? [True, True] Translation: X:172.62, Y:1.31, Z:1.16 [[ 9.99763207e-01 -1.52429616e-02 -1.55300290e-02 1.72616387e+02] [ 1.52413718e-02 9.99883819e-01 -2.20731027e-04 1.31427245e+00] [ 1.55315893e-02 -1.60201856e-05 9.99879377e-01 1.16051068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.509254154 meters 0.014211681213182826 Centerline is valid? [True, True] Translation: X:172.64, Y:1.31, Z:1.16 [[ 9.99757787e-01 -1.57172776e-02 -1.54056701e-02 1.72644579e+02] [ 1.57157172e-02 9.99876476e-01 -2.22356296e-04 1.31468650e+00] [ 1.54072620e-02 -1.98087159e-05 9.99881301e-01 1.16051808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539254154 meters 0.014204882726392963 Centerline is valid? [True, True] Translation: X:172.67, Y:1.31, Z:1.16 [[ 9.99732680e-01 -1.70702566e-02 -1.55940895e-02 1.72672502e+02] [ 1.70687787e-02 9.99854292e-01 -2.27874733e-04 1.31417079e+00] [ 1.55957072e-02 -3.83582452e-05 9.99878379e-01 1.16050109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.569254154 meters 0.014449707043633403 Centerline is valid? [True, True] Translation: X:172.70, Y:1.31, Z:1.16 [[ 9.99637170e-01 -2.18787646e-02 -1.57114077e-02 1.72701706e+02] [ 2.18778136e-02 9.99760625e-01 -2.32421125e-04 1.31097245e+00] [ 1.57127318e-02 -1.11394454e-04 9.99876541e-01 1.16060084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599254154 meters 0.014758814682833197 Centerline is valid? [True, True] Translation: X:172.73, Y:1.31, Z:1.16 [[ 9.99551670e-01 -2.53174783e-02 -1.59839035e-02 1.72730285e+02] [ 2.53168688e-02 9.99679448e-01 -2.40505087e-04 1.30887235e+00] [ 1.59848688e-02 -1.64265127e-04 9.99872220e-01 1.16100424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.629254154 meters 0.01558634989736055 Centerline is valid? [True, True] Translation: X:172.76, Y:1.31, Z:1.16 [[ 9.99451761e-01 -2.88991691e-02 -1.61559553e-02 1.72759191e+02] [ 2.88989778e-02 9.99582307e-01 -2.45350490e-04 1.30566729e+00] [ 1.61562975e-02 -2.21674615e-04 9.99869454e-01 1.16064361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659254154 meters 0.0171149525401984 Centerline is valid? [True, True] Translation: X:172.79, Y:1.30, Z:1.16 [[ 9.99226830e-01 -3.61141092e-02 -1.55407194e-02 1.72788865e+02] [ 3.61147941e-02 9.99347620e-01 -2.36665611e-04 1.29970342e+00] [ 1.55391279e-02 -3.24767253e-04 9.99879208e-01 1.16104887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.689254154 meters 0.019205437296042332 Centerline is valid? [True, True] Translation: X:172.82, Y:1.30, Z:1.16 [[ 9.99101698e-01 -3.93186280e-02 -1.58064394e-02 1.72819862e+02] [ 3.93197401e-02 9.99226651e-01 -2.40533936e-04 1.29753308e+00] [ 1.58036730e-02 -3.81187225e-04 9.99875042e-01 1.15958166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71925415399997 meters 0.017730167867989897 Centerline is valid? [True, True] Translation: X:172.85, Y:1.30, Z:1.16 [[ 9.98956035e-01 -4.30915955e-02 -1.51642249e-02 1.72850964e+02] [ 4.30930628e-02 9.99071036e-01 -2.30135423e-04 1.29696761e+00] [ 1.51600548e-02 -4.23577725e-04 9.99884990e-01 1.16180425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74925415399997 meters 0.019541823286531666 Centerline is valid? [True, True] Translation: X:172.88, Y:1.29, Z:1.16 [[ 9.98707346e-01 -4.84880850e-02 -1.52493528e-02 1.72880741e+02] [ 4.84902107e-02 9.98823631e-01 -2.30534603e-04 1.29170858e+00] [ 1.52425921e-02 -5.09207730e-04 9.99883695e-01 1.16134345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77925415399997 meters 0.020855908845180064 Centerline is valid? [True, True] Translation: X:172.91, Y:1.29, Z:1.16 [[ 9.98603010e-01 -5.05955127e-02 -1.52355611e-02 1.72911916e+02] [ 5.05978945e-02 9.98719080e-01 -2.29342854e-04 1.28932117e+00] [ 1.52276493e-02 -5.41864850e-04 9.99883906e-01 1.16120277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80925415399997 meters 0.021103933511181436 Centerline is valid? [True, True] Translation: X:172.94, Y:1.29, Z:1.16 [[ 9.98450121e-01 -5.36372160e-02 -1.48460706e-02 1.72943936e+02] [ 5.36398273e-02 9.98560323e-01 -2.22530028e-04 1.28840435e+00] [ 1.48366329e-02 -5.74155529e-04 9.99889766e-01 1.16149540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83925415399997 meters 0.021103933511181436 Centerline is valid? [True, True] Translation: X:172.98, Y:1.29, Z:1.16 [[ 9.98454094e-01 -5.35631910e-02 -1.48460869e-02 1.72975647e+02] [ 5.35658103e-02 9.98564297e-01 -2.21436820e-04 1.28881914e+00] [ 1.48366332e-02 -5.74148176e-04 9.99889766e-01 1.16171505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86925415399998 meters 0.022167657881211018 Centerline is valid? [True, True] Translation: X:173.01, Y:1.29, Z:1.16 [[ 9.98404544e-01 -5.45232681e-02 -1.46826651e-02 1.73007058e+02] [ 5.45259475e-02 9.98512330e-01 -2.18062817e-04 1.28713014e+00] [ 1.46727117e-02 -5.82871320e-04 9.99892180e-01 1.16200210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89925415399998 meters 0.022279442053238206 Centerline is valid? [True, True] Translation: X:173.04, Y:1.29, Z:1.16 [[ 9.98296363e-01 -5.65534158e-02 -1.43555765e-02 1.73038909e+02] [ 5.65561979e-02 9.98399395e-01 -2.12419197e-04 1.28693495e+00] [ 1.43446119e-02 -5.99839511e-04 9.99896931e-01 1.16292012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92925415399998 meters 0.024036155923218505 Centerline is valid? [True, True] Translation: X:173.07, Y:1.28, Z:1.16 [[ 9.98242114e-01 -5.75284528e-02 -1.42534077e-02 1.73070549e+02] [ 5.75313058e-02 9.98343681e-01 -2.10123594e-04 1.28444922e+00] [ 1.42418876e-02 -6.10262936e-04 9.99898393e-01 1.16233005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95925415399998 meters 0.022298806892852477 Centerline is valid? [True, True] Translation: X:173.10, Y:1.29, Z:1.16 [[ 9.98193659e-01 -5.83982831e-02 -1.41088340e-02 1.73102561e+02] [ 5.84011781e-02 9.98293173e-01 -2.07078283e-04 1.28720133e+00] [ 1.40968456e-02 -6.17268296e-04 9.99900444e-01 1.16296952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98925415399998 meters 0.023011712041105047 Centerline is valid? [True, True] Translation: X:173.13, Y:1.29, Z:1.16 [[ 9.98131693e-01 -5.93021530e-02 -1.47097781e-02 1.73134383e+02] [ 5.93054143e-02 9.98239862e-01 -2.14779346e-04 1.28656228e+00] [ 1.46966237e-02 -6.57991412e-04 9.99891782e-01 1.16249059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01925415399998 meters 0.026972571778010084 Centerline is valid? [True, True] Translation: X:173.17, Y:1.28, Z:1.16 [[ 9.98117804e-01 -5.93776709e-02 -1.53343244e-02 1.73165291e+02] [ 5.93812394e-02 9.98235352e-01 -2.22894954e-04 1.28114228e+00] [ 1.53204997e-02 -6.88095764e-04 9.99882397e-01 1.16157489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04925415399998 meters 0.02395268663373767 Centerline is valid? [True, True] Translation: X:173.20, Y:1.29, Z:1.16 [[ 9.98129896e-01 -5.90568289e-02 -1.57797863e-02 1.73197228e+02] [ 5.90605844e-02 9.98254374e-01 -2.28321131e-04 1.28733269e+00] [ 1.57657247e-02 -7.04069256e-04 9.99875465e-01 1.16137483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07925415399998 meters 0.022487404890433955 Centerline is valid? [True, True] Translation: X:173.23, Y:1.29, Z:1.16 [[ 9.98171650e-01 -5.80952557e-02 -1.66822722e-02 1.73228971e+02] [ 5.80993402e-02 9.98310778e-01 -2.40110206e-04 1.29115538e+00] [ 1.66680414e-02 -7.29557806e-04 9.99860812e-01 1.16225810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10925415399998 meters 0.02222653190375341 Centerline is valid? [True, True] Translation: X:173.26, Y:1.29, Z:1.16 [[ 9.98222885e-01 -5.70646931e-02 -1.71666120e-02 1.73261255e+02] [ 5.70688884e-02 9.98370213e-01 -2.45787348e-04 1.29303351e+00] [ 1.71526598e-02 -7.34328908e-04 9.99852613e-01 1.16270803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13925415399999 meters 0.022261233377772298 Centerline is valid? [True, True] Translation: X:173.29, Y:1.29, Z:1.16 [[ 9.98288132e-01 -5.58241457e-02 -1.74490651e-02 1.73293629e+02] [ 5.58283138e-02 9.98440353e-01 -2.48529351e-04 1.29485026e+00] [ 1.74357246e-02 -7.26047979e-04 9.99847723e-01 1.16253872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.169254154 meters 0.02182131812945341 Centerline is valid? [True, True] Translation: X:173.32, Y:1.30, Z:1.16 [[ 9.98453255e-01 -5.27466530e-02 -1.75751911e-02 1.73323771e+02] [ 5.27504181e-02 9.98607696e-01 -2.49612141e-04 1.29844561e+00] [ 1.75638873e-02 -6.77872623e-04 9.99845513e-01 1.16249176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.199254154 meters 0.02096476914557843 Centerline is valid? [True, True] Translation: X:173.36, Y:1.30, Z:1.16 [[ 9.98560112e-01 -5.07118121e-02 -1.74932573e-02 1.73355193e+02] [ 5.07152393e-02 9.98713123e-01 -2.47935137e-04 1.30150893e+00] [ 1.74833189e-02 -6.39596594e-04 9.99846951e-01 1.16333122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.229254154 meters 0.02040602000448062 Centerline is valid? [True, True] Translation: X:173.39, Y:1.30, Z:1.16 [[ 9.98671959e-01 -4.86577494e-02 -1.69334706e-02 1.73386656e+02] [ 4.86606762e-02 9.98815339e-01 -2.39389000e-04 1.30463855e+00] [ 1.69250583e-02 -5.84923047e-04 9.99856590e-01 1.16384967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259254154 meters 0.019366473283824206 Centerline is valid? [True, True] Translation: X:173.42, Y:1.31, Z:1.17 [[ 9.98790429e-01 -4.63791541e-02 -1.63295128e-02 1.73417996e+02] [ 4.63815812e-02 9.98923769e-01 -2.30257693e-04 1.30825042e+00] [ 1.63226176e-02 -5.27409445e-04 9.99866638e-01 1.16531352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.289254154 meters 0.01904299588164333 Centerline is valid? [True, True] Translation: X:173.45, Y:1.31, Z:1.17 [[ 9.98997982e-01 -4.19854680e-02 -1.55000774e-02 1.73448850e+02] [ 4.19871349e-02 9.99118128e-01 -2.18004687e-04 1.31231007e+00] [ 1.54955614e-02 -4.33017600e-04 9.99879843e-01 1.16605440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319254154 meters 0.0182526293510166 Centerline is valid? [True, True] Translation: X:173.48, Y:1.32, Z:1.17 [[ 9.99098543e-01 -3.95513115e-02 -1.54206337e-02 1.73480621e+02] [ 3.95526821e-02 9.99217463e-01 -2.16207162e-04 1.31640493e+00] [ 1.54171177e-02 -3.93915162e-04 9.99881072e-01 1.16641289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.349254154 meters 0.01740809777541466 Centerline is valid? [True, True] Translation: X:173.51, Y:1.32, Z:1.17 [[ 9.99148948e-01 -3.82667764e-02 -1.53958757e-02 1.73512442e+02] [ 3.82680017e-02 9.99267489e-01 -2.15117631e-04 1.31897205e+00] [ 1.53928299e-02 -3.74234842e-04 9.99881453e-01 1.16746417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379254154 meters 0.017768865322961964 Centerline is valid? [True, True] Translation: X:173.54, Y:1.32, Z:1.17 [[ 9.99205903e-01 -3.66923128e-02 -1.55318199e-02 1.73542992e+02] [ 3.66933771e-02 9.99326548e-01 -2.16536224e-04 1.31971538e+00] [ 1.55293051e-02 -3.53550651e-04 9.99879351e-01 1.16708718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.409254154 meters 0.016835583984071995 Centerline is valid? [True, True] Translation: X:173.57, Y:1.32, Z:1.17 [[ 9.99270051e-01 -3.48791724e-02 -1.55823274e-02 1.73574341e+02] [ 3.48800302e-02 9.99391483e-01 -2.16800904e-04 1.32447526e+00] [ 1.55804072e-02 -3.26869401e-04 9.99878565e-01 1.16749498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439254154 meters 0.017506436339005095 Centerline is valid? [True, True] Translation: X:173.60, Y:1.32, Z:1.17 [[ 9.99290408e-01 -3.42848683e-02 -1.55957708e-02 1.73604437e+02] [ 3.42856616e-02 9.99412050e-01 -2.16580635e-04 1.32384821e+00] [ 1.55940267e-02 -3.18284367e-04 9.99878355e-01 1.16716595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46925415399997 meters 0.017757862495936506 Centerline is valid? [True, True] Translation: X:173.64, Y:1.32, Z:1.17 [[ 9.99289412e-01 -3.43184981e-02 -1.55856577e-02 1.73635932e+02] [ 3.43193010e-02 9.99410896e-01 -2.16020068e-04 1.32459814e+00] [ 1.55838896e-02 -3.19022314e-04 9.99878513e-01 1.16719874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49925415399997 meters 0.01815320695511783 Centerline is valid? [True, True] Translation: X:173.67, Y:1.33, Z:1.17 [[ 9.99243827e-01 -3.58835097e-02 -1.49715650e-02 1.73667125e+02] [ 3.58844336e-02 9.99355925e-01 -2.07006208e-04 1.32555506e+00] [ 1.49693503e-02 -3.30396455e-04 9.99887898e-01 1.16816340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52925415399997 meters 0.018501440202739448 Centerline is valid? [True, True] Translation: X:173.70, Y:1.33, Z:1.17 [[ 9.99226410e-01 -3.63369613e-02 -1.50401572e-02 1.73698989e+02] [ 3.63379577e-02 9.99339537e-01 -2.07113107e-04 1.32874074e+00] [ 1.50377496e-02 -3.39575709e-04 9.99886869e-01 1.16759372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55925415399997 meters 0.017562618243297533 Centerline is valid? [True, True] Translation: X:173.73, Y:1.33, Z:1.17 [[ 9.99135495e-01 -3.89219336e-02 -1.46063526e-02 1.73730763e+02] [ 3.89231629e-02 9.99242187e-01 -2.00213001e-04 1.32853930e+00] [ 1.46030764e-02 -3.68485527e-04 9.99893301e-01 1.16997690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58925415399997 meters 0.018767494189152346 Centerline is valid? [True, True] Translation: X:173.76, Y:1.33, Z:1.17 [[ 9.98991269e-01 -4.26668795e-02 -1.39993854e-02 1.73761700e+02] [ 4.26683867e-02 9.99089271e-01 -1.91135846e-04 1.32665483e+00] [ 1.39947909e-02 -4.06388149e-04 9.99901986e-01 1.16975780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61925415399998 meters 0.02116286196754779 Centerline is valid? [True, True] Translation: X:173.79, Y:1.32, Z:1.17 [[ 9.98923693e-01 -4.40135185e-02 -1.46378030e-02 1.73793078e+02] [ 4.40153292e-02 9.99030836e-01 -1.98594932e-04 1.32471311e+00] [ 1.46323575e-02 -4.45906536e-04 9.99892842e-01 1.16748527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64925415399998 meters 0.022257813897616132 Centerline is valid? [True, True] Translation: X:173.83, Y:1.32, Z:1.17 [[ 9.98855933e-01 -4.54756762e-02 -1.47914716e-02 1.73825355e+02] [ 4.54777052e-02 9.98965334e-01 -1.99331380e-04 1.32495379e+00] [ 1.47852321e-02 -4.73578853e-04 9.99890580e-01 1.16693150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67925415399998 meters 0.021271352835524168 Centerline is valid? [True, True] Translation: X:173.86, Y:1.33, Z:1.17 [[ 9.98669490e-01 -4.94983248e-02 -1.44625708e-02 1.73856390e+02] [ 4.95006987e-02 9.98774070e-01 -1.94006439e-04 1.32696918e+00] [ 1.44544437e-02 -5.22159045e-04 9.99895393e-01 1.16900790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70925415399998 meters 0.021745332276068847 Centerline is valid? [True, True] Translation: X:173.89, Y:1.33, Z:1.17 [[ 9.98560333e-01 -5.17204804e-02 -1.42216001e-02 1.73887452e+02] [ 5.17230118e-02 9.98661451e-01 -1.90001213e-04 1.32536818e+00] [ 1.42123907e-02 -5.45856314e-04 9.99898850e-01 1.17062499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73925415399998 meters 0.023303906872865855 Centerline is valid? [True, True] Translation: X:173.92, Y:1.33, Z:1.17 [[ 9.98502549e-01 -5.26897111e-02 -1.47123902e-02 1.73919327e+02] [ 5.26925399e-02 9.98610764e-01 -1.95571063e-04 1.32670074e+00] [ 1.47022558e-02 -5.79955004e-04 9.99891748e-01 1.16844737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76925415399998 meters 0.02291045152540449 Centerline is valid? [True, True] Translation: X:173.95, Y:1.32, Z:1.17 [[ 9.98387286e-01 -5.49920644e-02 -1.40960739e-02 1.73950132e+02] [ 5.49949009e-02 9.98486618e-01 -1.86610663e-04 1.32499521e+00] [ 1.40850032e-02 -5.88902473e-04 9.99900628e-01 1.17162308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79925415399998 meters 0.02272026130718438 Centerline is valid? [True, True] Translation: X:173.98, Y:1.33, Z:1.17 [[ 9.98268236e-01 -5.70769815e-02 -1.42389071e-02 1.73982386e+02] [ 5.70800990e-02 9.98369584e-01 -1.87693760e-04 1.32701165e+00] [ 1.42264047e-02 -6.25389506e-04 9.99898604e-01 1.17240972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82925415399998 meters 0.023361577889417305 Centerline is valid? [True, True] Translation: X:174.01, Y:1.33, Z:1.17 [[ 9.98227437e-01 -5.79104599e-02 -1.37244970e-02 1.74014064e+02] [ 5.79134469e-02 9.98321592e-01 -1.80035022e-04 1.32706970e+00] [ 1.37118876e-02 -6.15117031e-04 9.99905798e-01 1.17307040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85925415399998 meters 0.023413097819115953 Centerline is valid? [True, True] Translation: X:174.05, Y:1.33, Z:1.17 [[ 9.98203102e-01 -5.84019128e-02 -1.34083708e-02 1.74045958e+02] [ 5.84048194e-02 9.98292966e-01 -1.75027263e-04 1.32789419e+00] [ 1.33957042e-02 -6.08400719e-04 9.99910088e-01 1.17344276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88925415399999 meters 0.02380422029339087 Centerline is valid? [True, True] Translation: X:174.08, Y:1.33, Z:1.17 [[ 9.98168509e-01 -5.90466265e-02 -1.31576796e-02 1.74078579e+02] [ 5.90494941e-02 9.98255042e-01 -1.70785359e-04 1.32824524e+00] [ 1.31448043e-02 -6.06481755e-04 9.99913419e-01 1.17378271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.919254154 meters 0.02535625023983115 Centerline is valid? [True, True] Translation: X:174.11, Y:1.33, Z:1.17 [[ 9.98165022e-01 -5.91330586e-02 -1.30334449e-02 1.74109902e+02] [ 5.91358907e-02 9.98249928e-01 -1.68325476e-04 1.32667133e+00] [ 1.30205891e-02 -6.02727772e-04 9.99915047e-01 1.17369132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.949254154 meters 0.023008085960937303 Centerline is valid? [True, True] Translation: X:174.14, Y:1.33, Z:1.17 [[ 9.98159491e-01 -5.91179931e-02 -1.35163790e-02 1.74142211e+02] [ 5.91210497e-02 9.98250806e-01 -1.73667627e-04 1.33123072e+00] [ 1.35030031e-02 -6.25754524e-04 9.99908634e-01 1.17405238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979254154 meters 0.024155121188071883 Centerline is valid? [True, True] Translation: X:174.17, Y:1.33, Z:1.17 [[ 9.98190003e-01 -5.85230083e-02 -1.38482645e-02 1.74173173e+02] [ 5.85261725e-02 9.98285859e-01 -1.77006724e-04 1.33089383e+00] [ 1.38348855e-02 -6.33799573e-04 9.99904093e-01 1.17290612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.009254154 meters 0.024793210186373635 Centerline is valid? [True, True] Translation: X:174.20, Y:1.33, Z:1.17 [[ 9.98228323e-01 -5.77388502e-02 -1.43680250e-02 1.74204437e+02] [ 5.77421871e-02 9.98331511e-01 -1.82834086e-04 1.33175660e+00] [ 1.43546087e-02 -6.47131025e-04 9.99896758e-01 1.17253544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039254154 meters 0.024729794354007184 Centerline is valid? [True, True] Translation: X:174.24, Y:1.33, Z:1.17 [[ 9.98236056e-01 -5.75186964e-02 -1.47097460e-02 1.74236435e+02] [ 5.75221863e-02 9.98344211e-01 -1.86081125e-04 1.33275750e+00] [ 1.46960929e-02 -6.60383863e-04 9.99891789e-01 1.17384004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.069254154 meters 0.024986179381310935 Centerline is valid? [True, True] Translation: X:174.27, Y:1.33, Z:1.17 [[ 9.98260755e-01 -5.69892218e-02 -1.50895497e-02 1.74267725e+02] [ 5.69928503e-02 9.98374568e-01 -1.89797984e-04 1.33382602e+00] [ 1.50758391e-02 -6.70528570e-04 9.99886128e-01 1.17387849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099254154 meters 0.02240087662463204 Centerline is valid? [True, True] Translation: X:174.30, Y:1.34, Z:1.17 [[ 9.98315066e-01 -5.59490117e-02 -1.53862911e-02 1.74299533e+02] [ 5.59526767e-02 9.98433403e-01 -1.92513449e-04 1.34013278e+00] [ 1.53729579e-02 -6.68715093e-04 9.99881605e-01 1.17449324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.129254154 meters 0.025295653137345303 Centerline is valid? [True, True] Translation: X:174.33, Y:1.34, Z:1.17 [[ 9.98356984e-01 -5.51786001e-02 -1.54484553e-02 1.74331274e+02] [ 5.51822206e-02 9.98476282e-01 -1.92132650e-04 1.33698332e+00] [ 1.54355178e-02 -6.60663093e-04 9.99880647e-01 1.17384235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159254154 meters 0.022092637281835113 Centerline is valid? [True, True] Translation: X:174.36, Y:1.34, Z:1.18 [[ 9.98413513e-01 -5.41114695e-02 -1.55693707e-02 1.74363947e+02] [ 5.41150380e-02 9.98534689e-01 -1.92309720e-04 1.34348047e+00] [ 1.55569629e-02 -6.50532466e-04 9.99878772e-01 1.17523375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.189254154 meters 0.024130995399058223 Centerline is valid? [True, True] Translation: X:174.40, Y:1.34, Z:1.18 [[ 9.98508569e-01 -5.23930673e-02 -1.53493837e-02 1.74395043e+02] [ 5.23963499e-02 9.98626350e-01 -1.88486518e-04 1.34163663e+00] [ 1.53381744e-02 -6.16046275e-04 9.99882174e-01 1.17513102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21925415399997 meters 0.021798989217896126 Centerline is valid? [True, True] Translation: X:174.43, Y:1.35, Z:1.17 [[ 9.98757003e-01 -4.73262170e-02 -1.56422000e-02 1.74425993e+02] [ 4.73290144e-02 9.98879336e-01 -1.91508150e-04 1.34992454e+00] [ 1.56337337e-02 -5.49059804e-04 9.99877635e-01 1.17454366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24925415399997 meters 0.021798989217896126 Centerline is valid? [True, True] Translation: X:174.46, Y:1.35, Z:1.17 [[ 9.98760456e-01 -4.72532751e-02 -1.56422095e-02 1.74457704e+02] [ 4.72560758e-02 9.98882789e-01 -1.90728067e-04 1.35025215e+00] [ 1.56337464e-02 -5.48697789e-04 9.99877635e-01 1.17476338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27925415399997 meters 0.020116365352583352 Centerline is valid? [True, True] Translation: X:174.49, Y:1.35, Z:1.18 [[ 9.98878371e-01 -4.47814412e-02 -1.53825651e-02 1.74489989e+02] [ 4.47838739e-02 9.98996682e-01 -1.86454921e-04 1.35374218e+00] [ 1.53754812e-02 -5.02645066e-04 9.99881664e-01 1.17692737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30925415399997 meters 0.018578633626450257 Centerline is valid? [True, True] Translation: X:174.52, Y:1.36, Z:1.18 [[ 9.99018966e-01 -4.16925155e-02 -1.49278307e-02 1.74521430e+02] [ 4.16944736e-02 9.99130391e-01 -1.80158593e-04 1.35915180e+00] [ 1.49223606e-02 -4.42426194e-04 9.99888557e-01 1.17794866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33925415399997 meters 0.018757473622254543 Centerline is valid? [True, True] Translation: X:174.55, Y:1.36, Z:1.18 [[ 9.99141566e-01 -3.87379432e-02 -1.46800186e-02 1.74552672e+02] [ 3.87395387e-02 9.99249327e-01 -1.75772246e-04 1.36082389e+00] [ 1.46758077e-02 -3.93075790e-04 9.99892227e-01 1.17825300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36925415399998 meters 0.018337760418778805 Centerline is valid? [True, True] Translation: X:174.58, Y:1.37, Z:1.18 [[ 9.99316336e-01 -3.40897411e-02 -1.43090872e-02 1.74583212e+02] [ 3.40908047e-02 9.99418725e-01 -1.69652345e-04 1.36620848e+00] [ 1.43065531e-02 -3.18271937e-04 9.99897605e-01 1.17790421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39925415399998 meters 0.0185640784825425 Centerline is valid? [True, True] Translation: X:174.61, Y:1.37, Z:1.18 [[ 9.99365346e-01 -3.23826684e-02 -1.48414167e-02 1.74614964e+02] [ 3.23836429e-02 9.99475497e-01 -1.74723027e-04 1.36913058e+00] [ 1.48392904e-02 -3.06007001e-04 9.99889845e-01 1.17743888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42925415399998 meters 0.01665991655456714 Centerline is valid? [True, True] Translation: X:174.65, Y:1.37, Z:1.18 [[ 9.99380278e-01 -3.18646165e-02 -1.49568184e-02 1.74646748e+02] [ 3.18655645e-02 9.99492149e-01 -1.74987433e-04 1.37158527e+00] [ 1.49547985e-02 -3.01728473e-04 9.99888125e-01 1.17943608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45925415399998 meters 0.016794247961896092 Centerline is valid? [True, True] Translation: X:174.68, Y:1.37, Z:1.18 [[ 9.99362909e-01 -3.22881747e-02 -1.52069032e-02 1.74678671e+02] [ 3.22892208e-02 9.99478552e-01 -1.76794004e-04 1.37174545e+00] [ 1.52046819e-02 -3.14337683e-04 9.99884353e-01 1.17917752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48925415399998 meters 0.017327513505904283 Centerline is valid? [True, True] Translation: X:174.71, Y:1.37, Z:1.18 [[ 9.99326911e-01 -3.31433758e-02 -1.57239392e-02 1.74710298e+02] [ 3.31446158e-02 9.99450550e-01 -1.81804584e-04 1.37121624e+00] [ 1.57213253e-02 -3.39481709e-04 9.99876355e-01 1.17913014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51925415399998 meters 0.018012094490433454 Centerline is valid? [True, True] Translation: X:174.74, Y:1.37, Z:1.18 [[ 9.99274343e-01 -3.45805665e-02 -1.59678640e-02 1.74741083e+02] [ 3.45820425e-02 9.99401845e-01 -1.83758094e-04 1.37031499e+00] [ 1.59646672e-02 -3.68576603e-04 9.99872489e-01 1.17906436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54925415399998 meters 0.018294244393419985 Centerline is valid? [True, True] Translation: X:174.77, Y:1.37, Z:1.18 [[ 9.99169427e-01 -3.75262787e-02 -1.58819224e-02 1.74773398e+02] [ 3.75281268e-02 9.99295555e-01 -1.81755102e-04 1.37093805e+00] [ 1.58775551e-02 -4.14414657e-04 9.99873858e-01 1.17980597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57925415399998 meters 0.01884670395216592 Centerline is valid? [True, True] Translation: X:174.81, Y:1.37, Z:1.18 [[ 9.99114718e-01 -3.87718627e-02 -1.63255131e-02 1.74805842e+02] [ 3.87740010e-02 9.99247988e-01 -1.85643754e-04 1.37033058e+00] [ 1.63204338e-02 -4.47526052e-04 9.99866713e-01 1.17954142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60925415399998 meters 0.019031934745340644 Centerline is valid? [True, True] Translation: X:174.84, Y:1.37, Z:1.18 [[ 9.99059566e-01 -4.00291730e-02 -1.66628030e-02 1.74838434e+02] [ 4.00315955e-02 9.99198397e-01 -1.88267452e-04 1.37019857e+00] [ 1.66569822e-02 -4.78948191e-04 9.99861148e-01 1.17944811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63925415399999 meters 0.02033650215740881 Centerline is valid? [True, True] Translation: X:174.87, Y:1.37, Z:1.18 [[ 9.99008841e-01 -4.11321375e-02 -1.70142114e-02 1.74869726e+02] [ 4.11348410e-02 9.99153586e-01 -1.91183226e-04 1.36822611e+00] [ 1.70076741e-02 -5.08883145e-04 9.99855230e-01 1.17863878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.669254154 meters 0.020547686953391035 Centerline is valid? [True, True] Translation: X:174.90, Y:1.37, Z:1.18 [[ 9.98927552e-01 -4.28811038e-02 -1.74630202e-02 1.74901826e+02] [ 4.28842386e-02 9.99080029e-01 -1.95096102e-04 1.36847422e+00] [ 1.74553206e-02 -5.54001452e-04 9.99847491e-01 1.17894963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.699254154 meters 0.01941881479401528 Centerline is valid? [True, True] Translation: X:174.93, Y:1.37, Z:1.18 [[ 9.98906234e-01 -4.33855116e-02 -1.74365309e-02 1.74934033e+02] [ 4.33887357e-02 9.99058247e-01 -1.93532142e-04 1.37124672e+00] [ 1.74285065e-02 -5.63228570e-04 9.99847953e-01 1.18008625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.729254154 meters 0.0203877145712162 Centerline is valid? [True, True] Translation: X:174.96, Y:1.37, Z:1.18 [[ 9.98899318e-01 -4.35019721e-02 -1.75422471e-02 1.74964817e+02] [ 4.35052727e-02 9.99053179e-01 -1.93604878e-04 1.37087769e+00] [ 1.75340600e-02 -5.69788465e-04 9.99846104e-01 1.17963983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759254154 meters 0.019391485200904668 Centerline is valid? [True, True] Translation: X:175.00, Y:1.37, Z:1.18 [[ 9.98913129e-01 -4.34358633e-02 -1.69081752e-02 1.74996920e+02] [ 4.34389389e-02 9.99056067e-01 -1.85496883e-04 1.37307467e+00] [ 1.69002723e-02 -5.49177919e-04 9.99857029e-01 1.18187122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.789254154 meters 0.019239595841306387 Centerline is valid? [True, True] Translation: X:175.03, Y:1.37, Z:1.18 [[ 9.98952088e-01 -4.24041997e-02 -1.72223810e-02 1.75029303e+02] [ 4.24072596e-02 9.99100390e-01 -1.87660372e-04 1.37372759e+00] [ 1.72148452e-02 -5.42890262e-04 9.99851666e-01 1.18177668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819254154 meters 0.019055099999740848 Centerline is valid? [True, True] Translation: X:175.06, Y:1.37, Z:1.18 [[ 9.98998117e-01 -4.11791669e-02 -1.75225342e-02 1.75061181e+02] [ 4.11821689e-02 9.99151637e-01 -1.89632746e-04 1.37475849e+00] [ 1.75154776e-02 -5.32173206e-04 9.99846451e-01 1.18222249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.849254154 meters 0.018399450727070693 Centerline is valid? [True, True] Translation: X:175.09, Y:1.38, Z:1.18 [[ 9.99073545e-01 -3.93190675e-02 -1.74946517e-02 1.75093108e+02] [ 3.93217975e-02 9.99226581e-01 -1.88043706e-04 1.37661287e+00] [ 1.74885147e-02 -5.00051659e-04 9.99846939e-01 1.18277036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879254154 meters 0.017512522934367353 Centerline is valid? [True, True] Translation: X:175.12, Y:1.38, Z:1.18 [[ 9.99222039e-01 -3.54085601e-02 -1.73652392e-02 1.75124191e+02] [ 3.54106752e-02 9.99372828e-01 -1.85759992e-04 1.38041287e+00] [ 1.73609257e-02 -4.29299366e-04 9.99849196e-01 1.18365039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.909254154 meters 0.016867933018239526 Centerline is valid? [True, True] Translation: X:175.16, Y:1.38, Z:1.18 [[ 9.99295788e-01 -3.33794189e-02 -1.71389240e-02 1.75155681e+02] [ 3.33811917e-02 9.99442676e-01 -1.82708790e-04 1.38270870e+00] [ 1.71354708e-02 -3.89537585e-04 9.99853101e-01 1.18453087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939254154 meters 0.016640517492973114 Centerline is valid? [True, True] Translation: X:175.19, Y:1.38, Z:1.18 [[ 9.99365976e-01 -3.12935432e-02 -1.69811758e-02 1.75186297e+02] [ 3.12949989e-02 9.99510175e-01 -1.80065778e-04 1.38423467e+00] [ 1.69784929e-02 -3.51474267e-04 9.99855793e-01 1.18466957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96925415399997 meters 0.016094092084087956 Centerline is valid? [True, True] Translation: X:175.22, Y:1.39, Z:1.19 [[ 9.99422418e-01 -2.94608463e-02 -1.69377723e-02 1.75218099e+02] [ 2.94620491e-02 9.99565884e-01 -1.78564111e-04 1.38638936e+00] [ 1.69356800e-02 -3.20560503e-04 9.99856530e-01 1.18547078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99925415399997 meters 0.01697699190986521 Centerline is valid? [True, True] Translation: X:175.25, Y:1.39, Z:1.18 [[ 9.99496517e-01 -2.61139857e-02 -1.80214227e-02 1.75248183e+02] [ 2.61148109e-02 9.99658932e-01 -1.89579542e-04 1.38762704e+00] [ 1.80202269e-02 -2.81141954e-04 9.99837583e-01 1.18346002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02925415399997 meters 0.016084937989758546 Centerline is valid? [True, True] Translation: X:175.28, Y:1.39, Z:1.18 [[ 9.99523950e-01 -2.52041518e-02 -1.77939250e-02 1.75277260e+02] [ 2.52048086e-02 9.99682291e-01 -1.87384237e-04 1.38844426e+00] [ 1.77929946e-02 -2.61197442e-04 9.99841658e-01 1.18409436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05925415399997 meters 0.015369879840853504 Centerline is valid? [True, True] Translation: X:175.31, Y:1.39, Z:1.18 [[ 9.99543926e-01 -2.42364626e-02 -1.80148221e-02 1.75307754e+02] [ 2.42369764e-02 9.99706223e-01 -1.89838232e-04 1.38999202e+00] [ 1.80141308e-02 -2.46873168e-04 9.99837702e-01 1.18465579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08925415399997 meters 0.015283695375830466 Centerline is valid? [True, True] Translation: X:175.34, Y:1.39, Z:1.18 [[ 9.99546405e-01 -2.40972838e-02 -1.80639256e-02 1.75337038e+02] [ 2.40977741e-02 9.99709588e-01 -1.90558408e-04 1.38983261e+00] [ 1.80632716e-02 -2.44828427e-04 9.99836816e-01 1.18455046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11925415399998 meters 0.015230969662864092 Centerline is valid? [True, True] Translation: X:175.37, Y:1.39, Z:1.19 [[ 9.99534121e-01 -2.44091087e-02 -1.83230929e-02 1.75366570e+02] [ 2.44096554e-02 9.99702021e-01 -1.93845026e-04 1.39060702e+00] [ 1.83223646e-02 -2.53505667e-04 9.99832099e-01 1.18522653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14925415399998 meters 0.01530519457149006 Centerline is valid? [True, True] Translation: X:175.40, Y:1.39, Z:1.18 [[ 9.99507967e-01 -2.51336137e-02 -1.87649914e-02 1.75395619e+02] [ 2.51342975e-02 9.99684064e-01 -1.99439426e-04 1.38950249e+00] [ 1.87640755e-02 -2.72303581e-04 9.99823902e-01 1.18420694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17925415399998 meters 0.016950181645009194 Centerline is valid? [True, True] Translation: X:175.42, Y:1.39, Z:1.18 [[ 9.99478788e-01 -2.54626657e-02 -1.98445434e-02 1.75424314e+02] [ 2.54634732e-02 9.99675731e-01 -2.12027687e-04 1.38826957e+00] [ 1.98435073e-02 -2.93393825e-04 9.99803055e-01 1.18240982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20925415399998 meters 0.015531761896586244 Centerline is valid? [True, True] Translation: X:175.45, Y:1.39, Z:1.18 [[ 9.99445248e-01 -2.67758598e-02 -1.98052749e-02 1.75453310e+02] [ 2.67768481e-02 9.99641413e-01 -2.15330993e-04 1.38874020e+00] [ 1.98039387e-02 -3.15111302e-04 9.99803833e-01 1.18424612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23925415399998 meters 0.01716492273319914 Centerline is valid? [True, True] Translation: X:175.48, Y:1.39, Z:1.18 [[ 9.99427661e-01 -2.71887978e-02 -2.01276074e-02 1.75482327e+02] [ 2.71898557e-02 9.99630263e-01 -2.21148186e-04 1.38723574e+00] [ 2.01261783e-02 -3.26245128e-04 9.99797395e-01 1.18242443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26925415399998 meters 0.01597865697480584 Centerline is valid? [True, True] Translation: X:175.51, Y:1.39, Z:1.18 [[ 9.99412039e-01 -2.84696465e-02 -1.91064481e-02 1.75511233e+02] [ 2.84708165e-02 9.99594602e-01 -2.10829975e-04 1.38684993e+00] [ 1.91047047e-02 -3.33270163e-04 9.99817433e-01 1.18422667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29925415399998 meters 0.015831070176288934 Centerline is valid? [True, True] Translation: X:175.54, Y:1.39, Z:1.19 [[ 9.99383837e-01 -2.97713957e-02 -1.85905977e-02 1.75541586e+02] [ 2.97727217e-02 9.99556673e-01 -2.05503322e-04 1.38711302e+00] [ 1.85884741e-02 -3.48115992e-04 9.99827159e-01 1.18582997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32925415399998 meters 0.018165104700735134 Centerline is valid? [True, True] Translation: X:175.57, Y:1.39, Z:1.18 [[ 9.99377540e-01 -2.98301352e-02 -1.88333641e-02 1.75572399e+02] [ 2.98315106e-02 9.99554920e-01 -2.07967451e-04 1.38546199e+00] [ 1.88311854e-02 -3.53989701e-04 9.99822615e-01 1.18415085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35925415399998 meters 0.016324414448819345 Centerline is valid? [True, True] Translation: X:175.60, Y:1.39, Z:1.19 [[ 9.99378617e-01 -3.06981680e-02 -1.73205804e-02 1.75602838e+02] [ 3.06994636e-02 9.99528642e-01 -1.91145068e-04 1.38531338e+00] [ 1.73182840e-02 -3.40706233e-04 9.99849969e-01 1.18613560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38925415399999 meters 0.016209589631831244 Centerline is valid? [True, True] Translation: X:175.63, Y:1.38, Z:1.19 [[ 9.99368901e-01 -3.17317342e-02 -1.59654892e-02 1.75634006e+02] [ 3.17329721e-02 9.99496367e-01 -1.75856038e-04 1.38441157e+00] [ 1.59630287e-02 -3.30887367e-04 9.99872528e-01 1.18738534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.419254154 meters 0.016521059371653404 Centerline is valid? [True, True] Translation: X:175.67, Y:1.38, Z:1.19 [[ 9.99368649e-01 -3.20464936e-02 -1.53403040e-02 1.75665296e+02] [ 3.20476844e-02 9.99486327e-01 -1.68257269e-04 1.38303116e+00] [ 1.53378162e-02 -3.23470183e-04 9.99882316e-01 1.18758168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.449254154 meters 0.01745598781609648 Centerline is valid? [True, True] Translation: X:175.70, Y:1.38, Z:1.19 [[ 9.99376463e-01 -3.19481020e-02 -1.50334187e-02 1.75696590e+02] [ 3.19492447e-02 9.99489479e-01 -1.64213855e-04 1.38269974e+00] [ 1.50309901e-02 -3.16194911e-04 9.99886978e-01 1.18694863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479254154 meters 0.017845737200229566 Centerline is valid? [True, True] Translation: X:175.73, Y:1.38, Z:1.19 [[ 9.99367926e-01 -3.26289199e-02 -1.41103202e-02 1.75728603e+02] [ 3.26300052e-02 9.99467488e-01 -1.53357457e-04 1.38079835e+00] [ 1.41078102e-02 -3.07159297e-04 9.99900433e-01 1.18708975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.509254154 meters 0.01657242094036287 Centerline is valid? [True, True] Translation: X:175.76, Y:1.38, Z:1.19 [[ 9.99344610e-01 -3.34208394e-02 -1.39067839e-02 1.75760348e+02] [ 3.34219845e-02 9.99441318e-01 -1.50120643e-04 1.38039966e+00] [ 1.39040315e-02 -3.14770059e-04 9.99903285e-01 1.18855715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539254154 meters 0.01674857875528288 Centerline is valid? [True, True] Translation: X:175.79, Y:1.38, Z:1.19 [[ 9.99311920e-01 -3.43543664e-02 -1.39808201e-02 1.75792997e+02] [ 3.43556297e-02 9.99409660e-01 -1.49874808e-04 1.37805176e+00] [ 1.39777155e-02 -3.30548197e-04 9.99902252e-01 1.18816570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.569254154 meters 0.01674857875528288 Centerline is valid? [True, True] Translation: X:175.82, Y:1.38, Z:1.19 [[ 9.99314485e-01 -3.42796764e-02 -1.39808313e-02 1.75824699e+02] [ 3.42809470e-02 9.99412225e-01 -1.48830417e-04 1.37833278e+00] [ 1.39777155e-02 -3.30547743e-04 9.99902252e-01 1.18838523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599254154 meters 0.01722778194344997 Centerline is valid? [True, True] Translation: X:175.86, Y:1.38, Z:1.19 [[ 9.99295143e-01 -3.48046436e-02 -1.40660812e-02 1.75855988e+02] [ 3.48059946e-02 9.99394077e-01 -1.48819428e-04 1.37566603e+00] [ 1.40627378e-02 -3.40869413e-04 9.99901057e-01 1.18831711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.629254154 meters 0.017289264778679165 Centerline is valid? [True, True] Translation: X:175.89, Y:1.38, Z:1.19 [[ 9.99291018e-01 -3.51089081e-02 -1.35950971e-02 1.75888463e+02] [ 3.51102100e-02 9.99383436e-01 -1.42970588e-04 1.37545704e+00] [ 1.35917344e-02 -3.34457490e-04 9.99907572e-01 1.18850619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659254154 meters 0.017297590969636685 Centerline is valid? [True, True] Translation: X:175.92, Y:1.37, Z:1.19 [[ 9.99281999e-01 -3.54593656e-02 -1.33461785e-02 1.75920630e+02] [ 3.54606646e-02 9.99371063e-01 -1.39373287e-04 1.37451934e+00] [ 1.33427267e-02 -3.33991143e-04 9.99910926e-01 1.18866860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.689254154 meters 0.01782608434606571 Centerline is valid? [True, True] Translation: X:175.95, Y:1.37, Z:1.19 [[ 9.99284720e-01 -3.53326708e-02 -1.34777966e-02 1.75951563e+02] [ 3.53339959e-02 9.99375550e-01 -1.39866212e-04 1.37250771e+00] [ 1.34743222e-02 -3.36458240e-04 9.99909161e-01 1.18841239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71925415399997 meters 0.020740522842264908 Centerline is valid? [True, True] Translation: X:175.98, Y:1.37, Z:1.19 [[ 9.99294566e-01 -3.49687333e-02 -1.36951854e-02 1.75982439e+02] [ 3.49700777e-02 9.99388350e-01 -1.41371422e-04 1.36960915e+00] [ 1.36917523e-02 -3.37650003e-04 9.99906207e-01 1.18548633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74925415399997 meters 0.017749063241739794 Centerline is valid? [True, True] Translation: X:176.01, Y:1.37, Z:1.19 [[ 9.99272438e-01 -3.54536697e-02 -1.40581908e-02 1.76014222e+02] [ 3.54551468e-02 9.99371258e-01 -1.44220279e-04 1.37180081e+00] [ 1.40544650e-02 -3.54319870e-04 9.99901168e-01 1.18789143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77925415399997 meters 0.017343367194030828 Centerline is valid? [True, True] Translation: X:176.05, Y:1.37, Z:1.19 [[ 9.99289977e-01 -3.49363558e-02 -1.41065032e-02 1.76046658e+02] [ 3.49378063e-02 9.99389478e-01 -1.43679972e-04 1.37181181e+00] [ 1.41029106e-02 -3.49272322e-04 9.99900488e-01 1.18787904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80925415399997 meters 0.01712608313785192 Centerline is valid? [True, True] Translation: X:176.08, Y:1.37, Z:1.19 [[ 9.99308374e-01 -3.45408776e-02 -1.37731936e-02 1.76078904e+02] [ 3.45422366e-02 9.99403229e-01 -1.39273555e-04 1.37233991e+00] [ 1.37697848e-02 -3.36579682e-04 9.99905135e-01 1.18860703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83925415399997 meters 0.017152170690109502 Centerline is valid? [True, True] Translation: X:176.11, Y:1.37, Z:1.19 [[ 9.99332003e-01 -3.40765840e-02 -1.32035357e-02 1.76111389e+02] [ 3.40778051e-02 9.99419174e-01 -1.32550000e-04 1.37239851e+00] [ 1.32003836e-02 -3.17486059e-04 9.99912821e-01 1.18921957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86925415399998 meters 0.01698560399089058 Centerline is valid? [True, True] Translation: X:176.14, Y:1.37, Z:1.19 [[ 9.99383625e-01 -3.30811233e-02 -1.17477302e-02 1.76142806e+02] [ 3.30820341e-02 9.99452633e-01 -1.16845712e-04 1.37200388e+00] [ 1.17451653e-02 -2.71865120e-04 9.99930986e-01 1.19052204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89925415399998 meters 0.016931160036450316 Centerline is valid? [True, True] Translation: X:176.18, Y:1.37, Z:1.19 [[ 9.99407585e-01 -3.25911188e-02 -1.10588018e-02 1.76175196e+02] [ 3.25919086e-02 9.99468737e-01 -1.08836402e-04 1.37200863e+00] [ 1.10564738e-02 -2.51655532e-04 9.99938844e-01 1.19124039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92925415399998 meters 0.018459062773732837 Centerline is valid? [True, True] Translation: X:176.21, Y:1.37, Z:1.19 [[ 9.99434108e-01 -3.20334205e-02 -1.02626898e-02 1.76206942e+02] [ 3.20340787e-02 9.99486772e-01 -1.00282138e-04 1.37169163e+00] [ 1.02606351e-02 -2.28530424e-04 9.99947332e-01 1.19014159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95925415399998 meters 0.017119141755417063 Centerline is valid? [True, True] Translation: X:176.24, Y:1.37, Z:1.19 [[ 9.99427851e-01 -3.25029259e-02 -9.35580249e-03 1.76237764e+02] [ 3.25034991e-02 9.99471618e-01 -9.08187435e-05 1.36981637e+00] [ 9.35381092e-03 -2.13329536e-04 9.99956229e-01 1.19206692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98925415399998 meters 0.017585564086602206 Centerline is valid? [True, True] Translation: X:176.27, Y:1.37, Z:1.19 [[ 9.99387979e-01 -3.38160809e-02 -8.95205420e-03 1.76269580e+02] [ 3.38166629e-02 9.99428049e-01 -8.63864273e-05 1.36724373e+00] [ 8.94985531e-03 -2.16395042e-04 9.99959926e-01 1.19167536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01925415399998 meters 0.01816280102855783 Centerline is valid? [True, True] Translation: X:176.30, Y:1.37, Z:1.19 [[ 9.99355796e-01 -3.48822979e-02 -8.43908619e-03 1.76300264e+02] [ 3.48828576e-02 9.99391405e-01 -8.09052592e-05 1.36551549e+00] [ 8.43677236e-03 -2.13526302e-04 9.99964387e-01 1.19153403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04925415399998 meters 0.018333290473324045 Centerline is valid? [True, True] Translation: X:176.33, Y:1.36, Z:1.19 [[ 9.99281249e-01 -3.69384661e-02 -8.51680761e-03 1.76332852e+02] [ 3.69391139e-02 9.99317515e-01 -8.12800996e-05 1.36277044e+00] [ 8.51399738e-03 -2.33381647e-04 9.99963728e-01 1.19101117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07925415399998 meters 0.0198865255412999 Centerline is valid? [True, True] Translation: X:176.36, Y:1.36, Z:1.19 [[ 9.99236304e-01 -3.80507106e-02 -8.88548372e-03 1.76363909e+02] [ 3.80514654e-02 9.99275777e-01 -8.41633743e-05 1.35906752e+00] [ 8.88225113e-03 -2.54006577e-04 9.99960520e-01 1.19064549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10925415399998 meters 0.0198865255412999 Centerline is valid? [True, True] Translation: X:176.40, Y:1.36, Z:1.19 [[ 9.99238958e-01 -3.79809490e-02 -8.88548856e-03 1.76395612e+02] [ 3.79817055e-02 9.99278431e-01 -8.36496935e-05 1.35930233e+00] [ 8.88225416e-03 -2.53899977e-04 9.99960520e-01 1.19086508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13925415399999 meters 0.0198865255412999 Centerline is valid? [True, True] Translation: X:176.43, Y:1.36, Z:1.19 [[ 9.99241607e-01 -3.79111864e-02 -8.88549436e-03 1.76427314e+02] [ 3.79119457e-02 9.99281080e-01 -8.30293719e-05 1.35953486e+00] [ 8.88225414e-03 -2.53899977e-04 9.99960520e-01 1.19108464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.169254154 meters 0.020271242619508044 Centerline is valid? [True, True] Translation: X:176.46, Y:1.36, Z:1.19 [[ 9.99198193e-01 -3.89650261e-02 -9.20317393e-03 1.76459035e+02] [ 3.89658911e-02 9.99240538e-01 -8.53771257e-05 1.35813585e+00] [ 9.19951118e-03 -2.73301203e-04 9.99957646e-01 1.19069493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.199254154 meters 0.01944962828751819 Centerline is valid? [True, True] Translation: X:176.49, Y:1.36, Z:1.19 [[ 9.99103685e-01 -4.11546322e-02 -9.90569322e-03 1.76491222e+02] [ 4.11557478e-02 9.99152739e-01 -9.12832468e-05 1.35770528e+00] [ 9.90105724e-03 -3.16474784e-04 9.99950933e-01 1.19030188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.229254154 meters 0.02018878494672416 Centerline is valid? [True, True] Translation: X:176.52, Y:1.36, Z:1.19 [[ 9.99078995e-01 -4.17388120e-02 -9.95154345e-03 1.76522909e+02] [ 4.17399755e-02 9.99128503e-01 -9.08379323e-05 1.35571010e+00] [ 9.94666218e-03 -3.24622909e-04 9.99950478e-01 1.19013939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259254154 meters 0.020406460880795868 Centerline is valid? [True, True] Translation: X:176.56, Y:1.36, Z:1.19 [[ 9.99042274e-01 -4.26045498e-02 -9.96933792e-03 1.76555270e+02] [ 4.26057709e-02 9.99091958e-01 -8.99609184e-05 1.35522063e+00] [ 9.96411809e-03 -3.34876567e-04 9.99950301e-01 1.18989493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.289254154 meters 0.019745642596187066 Centerline is valid? [True, True] Translation: X:176.59, Y:1.36, Z:1.19 [[ 9.99009238e-01 -4.32872633e-02 -1.03322008e-02 1.76587739e+02] [ 4.32886194e-02 9.99062604e-01 -9.24618713e-05 1.35614842e+00] [ 1.03265178e-02 -3.54896443e-04 9.99946617e-01 1.19043026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319254154 meters 0.021102434566448326 Centerline is valid? [True, True] Translation: X:176.62, Y:1.35, Z:1.19 [[ 9.98947524e-01 -4.45158003e-02 -1.10538406e-02 1.76618441e+02] [ 4.45174395e-02 9.99008603e-01 -9.78382281e-05 1.35337219e+00] [ 1.10472372e-02 -3.94353427e-04 9.99938900e-01 1.19001498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.349254154 meters 0.02265828810921913 Centerline is valid? [True, True] Translation: X:176.65, Y:1.35, Z:1.19 [[ 9.98938742e-01 -4.47655912e-02 -1.08365635e-02 1.76649942e+02] [ 4.47671930e-02 9.98997442e-01 -9.48302588e-05 1.35143511e+00] [ 1.08299444e-02 -3.90392910e-04 9.99941278e-01 1.18866768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379254154 meters 0.02100469008311212 Centerline is valid? [True, True] Translation: X:176.68, Y:1.35, Z:1.19 [[ 9.98909424e-01 -4.54364059e-02 -1.07469251e-02 1.76681788e+02] [ 4.54380271e-02 9.98967155e-01 -9.33957830e-05 1.35328373e+00] [ 1.07400688e-02 -3.95025147e-04 9.99942246e-01 1.19001879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.409254154 meters 0.02061033800525962 Centerline is valid? [True, True] Translation: X:176.71, Y:1.35, Z:1.19 [[ 9.98891831e-01 -4.57954445e-02 -1.08576099e-02 1.76714172e+02] [ 4.57971292e-02 9.98950757e-01 -9.35528742e-05 1.35384362e+00] [ 1.08505019e-02 -4.03798160e-04 9.99941050e-01 1.19020310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439254154 meters 0.021277774985678642 Centerline is valid? [True, True] Translation: X:176.75, Y:1.35, Z:1.19 [[ 9.98872754e-01 -4.62096601e-02 -1.08576102e-02 1.76745634e+02] [ 4.62113771e-02 9.98931679e-01 -9.28217583e-05 1.35240441e+00] [ 1.08503001e-02 -4.09027996e-04 9.99941050e-01 1.19049315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46925415399997 meters 0.020587616376283764 Centerline is valid? [True, True] Translation: X:176.78, Y:1.35, Z:1.19 [[ 9.98866029e-01 -4.63113659e-02 -1.10414472e-02 1.76778117e+02] [ 4.63131554e-02 9.98926966e-01 -9.36964080e-05 1.35436314e+00] [ 1.10339385e-02 -4.17774100e-04 9.99939037e-01 1.19055765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49925415399997 meters 0.02085579871069053 Centerline is valid? [True, True] Translation: X:176.81, Y:1.35, Z:1.19 [[ 9.98868186e-01 -4.63187749e-02 -1.08128374e-02 1.76810708e+02] [ 4.63205017e-02 9.98926625e-01 -9.08154069e-05 1.35423216e+00] [ 1.08054377e-02 -4.10143433e-04 9.99941535e-01 1.19049624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52925415399997 meters 0.021069983989033286 Centerline is valid? [True, True] Translation: X:176.84, Y:1.36, Z:1.19 [[ 9.98860211e-01 -4.62830845e-02 -1.16685589e-02 1.76843294e+02] [ 4.62851069e-02 9.98928265e-01 -9.68180554e-05 1.35524627e+00] [ 1.16605344e-02 -4.43372794e-04 9.99931915e-01 1.19026658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55925415399997 meters 0.022905085694720887 Centerline is valid? [True, True] Translation: X:176.87, Y:1.35, Z:1.19 [[ 9.98852366e-01 -4.63995453e-02 -1.18757040e-02 1.76874471e+02] [ 4.64016577e-02 9.98922858e-01 -9.77450995e-05 1.35332874e+00] [ 1.18674475e-02 -4.53419430e-04 9.99929477e-01 1.18985891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58925415399997 meters 0.021044421808814964 Centerline is valid? [True, True] Translation: X:176.91, Y:1.36, Z:1.19 [[ 9.98842871e-01 -4.64914398e-02 -1.23070845e-02 1.76906597e+02] [ 4.64937252e-02 9.98918577e-01 -1.00503068e-04 1.35716485e+00] [ 1.22984478e-02 -4.71815431e-04 9.99924260e-01 1.19044318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61925415399998 meters 0.0218430889751688 Centerline is valid? [True, True] Translation: X:176.94, Y:1.36, Z:1.19 [[ 9.98847728e-01 -4.65519222e-02 -1.16676532e-02 1.76938714e+02] [ 4.65539912e-02 9.98915771e-01 -9.43577207e-05 1.35746092e+00] [ 1.16593953e-02 -4.48926829e-04 9.99931926e-01 1.19079000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64925415399998 meters 0.021400134699672217 Centerline is valid? [True, True] Translation: X:176.97, Y:1.36, Z:1.19 [[ 9.98864953e-01 -4.63847251e-02 -1.08287684e-02 1.76970709e+02] [ 4.63865069e-02 9.98923563e-01 -8.66935867e-05 1.35917261e+00] [ 1.08211331e-02 -4.15713553e-04 9.99941363e-01 1.19141501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67925415399998 meters 0.02086916806382815 Centerline is valid? [True, True] Translation: X:177.00, Y:1.36, Z:1.19 [[ 9.98902677e-01 -4.56721519e-02 -1.03680532e-02 1.77003106e+02] [ 4.56737547e-02 9.98956406e-01 -8.22624744e-05 1.36102879e+00] [ 1.03609903e-02 -3.91375713e-04 9.99946247e-01 1.19199893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70925415399998 meters 0.02184903796070929 Centerline is valid? [True, True] Translation: X:177.03, Y:1.36, Z:1.19 [[ 9.98957230e-01 -4.44742108e-02 -1.03197793e-02 1.77034422e+02] [ 4.44757421e-02 9.99010461e-01 -8.11815540e-05 1.36076513e+00] [ 1.03131779e-02 -3.77882941e-04 9.99946746e-01 1.19230225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73925415399998 meters 0.019890209865918888 Centerline is valid? [True, True] Translation: X:177.07, Y:1.37, Z:1.19 [[ 9.99120841e-01 -4.05365262e-02 -1.06927484e-02 1.77066274e+02] [ 4.05379513e-02 9.99177996e-01 -8.35139805e-05 1.36743487e+00] [ 1.06873443e-02 -3.50021555e-04 9.99942827e-01 1.19240727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.76925415399998 meters 0.019871030532789956 Centerline is valid? [True, True] Translation: X:177.10, Y:1.37, Z:1.19 [[ 9.99217044e-01 -3.80387868e-02 -1.08789028e-02 1.77097997e+02] [ 3.80401213e-02 9.99276209e-01 -8.42981636e-05 1.36886792e+00] [ 1.08742354e-02 -3.29602622e-04 9.99940819e-01 1.19234964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79925415399998 meters 0.017090239407152544 Centerline is valid? [True, True] Translation: X:177.13, Y:1.38, Z:1.19 [[ 9.99384197e-01 -3.32434495e-02 -1.12294583e-02 1.77129895e+02] [ 3.32445774e-02 9.99447243e-01 -8.62587973e-05 1.37718936e+00] [ 1.12261186e-02 -2.87112915e-04 9.99936944e-01 1.19255707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82925415399998 meters 0.016808942868848955 Centerline is valid? [True, True] Translation: X:177.16, Y:1.38, Z:1.19 [[ 9.99449405e-01 -3.12415439e-02 -1.11737199e-02 1.77160834e+02] [ 3.12425425e-02 9.99511829e-01 -8.52105884e-05 1.37883858e+00] [ 1.11709273e-02 -2.63931747e-04 9.99937568e-01 1.19247148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85925415399998 meters 0.01678121306010747 Centerline is valid? [True, True] Translation: X:177.19, Y:1.38, Z:1.19 [[ 9.99492361e-01 -2.97525627e-02 -1.13931798e-02 1.77192606e+02] [ 2.97535124e-02 9.99557263e-01 -8.61664528e-05 1.38064584e+00] [ 1.13906993e-02 -2.52864406e-04 9.99935092e-01 1.19192814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88925415399999 meters 0.01597153948982893 Centerline is valid? [True, True] Translation: X:177.22, Y:1.38, Z:1.19 [[ 9.99517170e-01 -2.87258021e-02 -1.18429014e-02 1.77224890e+02] [ 2.87267668e-02 9.99587297e-01 -8.86800486e-05 1.38253150e+00] [ 1.18405612e-02 -2.51571036e-04 9.99929866e-01 1.19239086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.919254154 meters 0.015580456106703446 Centerline is valid? [True, True] Translation: X:177.26, Y:1.39, Z:1.19 [[ 9.99526295e-01 -2.80157464e-02 -1.27398375e-02 1.77257435e+02] [ 2.80168176e-02 9.99607447e-01 -9.44161915e-05 1.38505165e+00] [ 1.27374816e-02 -2.62558237e-04 9.99918841e-01 1.19222465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.949254154 meters 0.016063038372723326 Centerline is valid? [True, True] Translation: X:177.29, Y:1.39, Z:1.19 [[ 9.99527100e-01 -2.80520182e-02 -1.25960451e-02 1.77288254e+02] [ 2.80530787e-02 9.99606431e-01 -9.25263254e-05 1.38551495e+00] [ 1.25936833e-02 -2.60875275e-04 9.99920662e-01 1.19172603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979254154 meters 0.015867325956914608 Centerline is valid? [True, True] Translation: X:177.32, Y:1.39, Z:1.19 [[ 9.99523897e-01 -2.81336579e-02 -1.26679670e-02 1.77320698e+02] [ 2.81347473e-02 9.99604135e-01 -9.22422021e-05 1.38640818e+00] [ 1.26655473e-02 -2.64211765e-04 9.99919754e-01 1.19261444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.009254154 meters 0.016523504686531635 Centerline is valid? [True, True] Translation: X:177.35, Y:1.39, Z:1.19 [[ 9.99528319e-01 -2.81216519e-02 -1.23415099e-02 1.77351700e+02] [ 2.81226948e-02 9.99604475e-01 -8.90648767e-05 1.38536466e+00] [ 1.23391331e-02 -2.58053649e-04 9.99923837e-01 1.19232958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039254154 meters 0.016486368805863096 Centerline is valid? [True, True] Translation: X:177.38, Y:1.39, Z:1.19 [[ 9.99533639e-01 -2.82575662e-02 -1.15764294e-02 1.77382778e+02] [ 2.82584991e-02 9.99600645e-01 -8.30180122e-05 1.38660302e+00] [ 1.15741522e-02 -2.44153225e-04 9.99932987e-01 1.19309743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.069254154 meters 0.01632787791566159 Centerline is valid? [True, True] Translation: X:177.41, Y:1.39, Z:1.19 [[ 9.99536148e-01 -2.81732729e-02 -1.15652583e-02 1.77414489e+02] [ 2.81742051e-02 9.99603025e-01 -8.23551474e-05 1.38760330e+00] [ 1.15629874e-02 -2.43525011e-04 9.99933117e-01 1.19378459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099254154 meters 0.015985174405536307 Centerline is valid? [True, True] Translation: X:177.45, Y:1.39, Z:1.19 [[ 9.99543173e-01 -2.80796086e-02 -1.11795250e-02 1.77447077e+02] [ 2.80804826e-02 9.99605662e-01 -7.88120752e-05 1.38869465e+00] [ 1.11773295e-02 -2.35150387e-04 9.99937504e-01 1.19436174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.129254154 meters 0.016219301786505644 Centerline is valid? [True, True] Translation: X:177.48, Y:1.39, Z:1.19 [[ 9.99545890e-01 -2.79902627e-02 -1.11605677e-02 1.77477845e+02] [ 2.79911364e-02 9.99608168e-01 -7.79398154e-05 1.38918317e+00] [ 1.11583762e-02 -2.34492551e-04 9.99937716e-01 1.19468298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159254154 meters 0.017023588764883867 Centerline is valid? [True, True] Translation: X:177.51, Y:1.39, Z:1.19 [[ 9.99545643e-01 -2.80280546e-02 -1.10876086e-02 1.77509460e+02] [ 2.80289259e-02 9.99607110e-01 -7.68297933e-05 1.38797408e+00] [ 1.10854058e-02 -2.33978875e-04 9.99938528e-01 1.19424054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18925415399997 meters 0.01578879362892948 Centerline is valid? [True, True] Translation: X:177.54, Y:1.39, Z:1.19 [[ 9.99538290e-01 -2.81678985e-02 -1.13919004e-02 1.77541158e+02] [ 2.81688355e-02 9.99603177e-01 -7.82187673e-05 1.39075678e+00] [ 1.13895831e-02 -2.42713916e-04 9.99935107e-01 1.19486818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21925415399997 meters 0.016138562858487426 Centerline is valid? [True, True] Translation: X:177.57, Y:1.39, Z:1.19 [[ 9.99539144e-01 -2.80982665e-02 -1.14885532e-02 1.77572211e+02] [ 2.80992239e-02 9.99605136e-01 -7.81035295e-05 1.38981082e+00] [ 1.14862114e-02 -2.44751894e-04 9.99934001e-01 1.19443625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24925415399997 meters 0.016119835416352212 Centerline is valid? [True, True] Translation: X:177.60, Y:1.39, Z:1.19 [[ 9.99529517e-01 -2.82125262e-02 -1.20332212e-02 1.77604734e+02] [ 2.82135942e-02 9.99601914e-01 -8.10246736e-05 1.38980477e+00] [ 1.20307169e-02 -2.58513867e-04 9.99927595e-01 1.19425217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27925415399997 meters 0.01644474329989735 Centerline is valid? [True, True] Translation: X:177.64, Y:1.39, Z:1.19 [[ 9.99531830e-01 -2.80439903e-02 -1.22334037e-02 1.77635534e+02] [ 2.80450915e-02 9.99606656e-01 -8.15600307e-05 1.38929119e+00] [ 1.22308790e-02 -2.61565079e-04 9.99925166e-01 1.19421633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30925415399997 meters 0.016553626600257876 Centerline is valid? [True, True] Translation: X:177.67, Y:1.39, Z:1.19 [[ 9.99536684e-01 -2.77654595e-02 -1.24697916e-02 1.77666622e+02] [ 2.77665893e-02 9.99614431e-01 -8.25471791e-05 1.38955439e+00] [ 1.24672756e-02 -2.63734649e-04 9.99922246e-01 1.19426228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33925415399997 meters 0.015982142748568604 Centerline is valid? [True, True] Translation: X:177.70, Y:1.39, Z:1.19 [[ 9.99560895e-01 -2.68785844e-02 -1.24722892e-02 1.77698415e+02] [ 2.68796513e-02 9.99638674e-01 -8.21127403e-05 1.39061802e+00] [ 1.24699897e-02 -2.53174100e-04 9.99922215e-01 1.19484187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36925415399998 meters 0.015535976214048956 Centerline is valid? [True, True] Translation: X:177.73, Y:1.39, Z:1.20 [[ 9.99623789e-01 -2.45645276e-02 -1.22009717e-02 1.77730215e+02] [ 2.45653828e-02 9.99698222e-01 -7.97923267e-05 1.39217946e+00] [ 1.21992497e-02 -2.19959231e-04 9.99925562e-01 1.19542612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39925415399998 meters 0.015283353208603663 Centerline is valid? [True, True] Translation: X:177.76, Y:1.39, Z:1.20 [[ 9.99667545e-01 -2.28322959e-02 -1.19785679e-02 1.77761724e+02] [ 2.28330025e-02 9.99739290e-01 -7.77833268e-05 1.39313933e+00] [ 1.19772210e-02 -1.95749203e-04 9.99928251e-01 1.19584586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42925415399998 meters 0.01504452489862496 Centerline is valid? [True, True] Translation: X:177.79, Y:1.39, Z:1.20 [[ 9.99715148e-01 -2.07499139e-02 -1.17925536e-02 1.77792846e+02] [ 2.07504589e-02 9.99784683e-01 -7.61515489e-05 1.39436079e+00] [ 1.17915946e-02 -1.68571042e-04 9.99930463e-01 1.19588709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45925415399998 meters 0.015333664124081211 Centerline is valid? [True, True] Translation: X:177.82, Y:1.40, Z:1.20 [[ 9.99807615e-01 -1.57881639e-02 -1.16389842e-02 1.77823138e+02] [ 1.57883615e-02 9.99875353e-01 -7.49118804e-05 1.39672466e+00] [ 1.16387162e-02 -1.08863021e-04 9.99932262e-01 1.19534519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48925415399998 meters 0.014160331621662628 Centerline is valid? [True, True] Translation: X:177.85, Y:1.40, Z:1.20 [[ 9.99843604e-01 -1.36863385e-02 -1.12004988e-02 1.77852168e+02] [ 1.36863888e-02 9.99906334e-01 -7.21666570e-05 1.39800567e+00] [ 1.12004374e-02 -8.11390100e-05 9.99937270e-01 1.19686464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51925415399998 meters 0.01407671100626125 Centerline is valid? [True, True] Translation: X:177.88, Y:1.40, Z:1.20 [[ 9.99872490e-01 -1.15641019e-02 -1.10124932e-02 1.77880515e+02] [ 1.15640180e-02 9.99933132e-01 -7.12967531e-05 1.39878580e+00] [ 1.10125813e-02 -5.60610077e-05 9.99939358e-01 1.19672034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54925415399998 meters 0.013762143675816827 Centerline is valid? [True, True] Translation: X:177.91, Y:1.40, Z:1.20 [[ 9.99897637e-01 -8.43110304e-03 -1.15599497e-02 1.77909358e+02] [ 8.43078321e-03 9.99964457e-01 -7.63995982e-05 1.39991907e+00] [ 1.15601830e-02 -2.10676524e-05 9.99933179e-01 1.19707508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57925415399998 meters 0.013953359950342845 Centerline is valid? [True, True] Translation: X:177.94, Y:1.40, Z:1.20 [[ 9.99902272e-01 -7.58721776e-03 -1.17422716e-02 1.77937319e+02] [ 7.58679232e-03 9.99971217e-01 -8.07762759e-05 1.40012946e+00] [ 1.17425464e-02 -8.31779387e-06 9.99931054e-01 1.19639247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60925415399998 meters 0.013755038641390296 Centerline is valid? [True, True] Translation: X:177.97, Y:1.40, Z:1.20 [[ 9.99887448e-01 -6.68896568e-03 -1.34293750e-02 1.77965784e+02] [ 6.68827479e-03 9.99977629e-01 -9.63573776e-05 1.39932242e+00] [ 1.34297191e-02 6.52718245e-06 9.99909817e-01 1.19550131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63925415399999 meters 0.014028666777955823 Centerline is valid? [True, True] Translation: X:177.99, Y:1.40, Z:1.19 [[ 9.99879208e-01 -6.60268335e-03 -1.40703477e-02 1.77992769e+02] [ 6.60186960e-03 9.99978202e-01 -1.04281222e-04 1.39875269e+00] [ 1.40707296e-02 1.13780246e-05 9.99901002e-01 1.19446398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.669254154 meters 0.01436130070159643 Centerline is valid? [True, True] Translation: X:178.02, Y:1.40, Z:1.19 [[ 9.99863008e-01 -6.80072356e-03 -1.50902490e-02 1.78020831e+02] [ 6.79975137e-03 9.99976875e-01 -1.15732544e-04 1.39810070e+00] [ 1.50906871e-02 1.31067486e-05 9.99886129e-01 1.19372332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.699254154 meters 0.014040517160578058 Centerline is valid? [True, True] Translation: X:178.05, Y:1.40, Z:1.19 [[ 9.99852732e-01 -7.54629292e-03 -1.54132571e-02 1.78048898e+02] [ 7.54529700e-03 9.99971526e-01 -1.22766669e-04 1.39751502e+00] [ 1.54137446e-02 6.45098720e-06 9.99881201e-01 1.19409252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.729254154 meters 0.013887785627110256 Centerline is valid? [True, True] Translation: X:178.08, Y:1.40, Z:1.19 [[ 9.99841046e-01 -8.12060415e-03 -1.58725803e-02 1.78076442e+02] [ 8.11957422e-03 9.99967027e-01 -1.29330516e-04 1.39679774e+00] [ 1.58731072e-02 4.31364664e-07 9.99874014e-01 1.19402220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759254154 meters 0.013949724764818188 Centerline is valid? [True, True] Translation: X:178.10, Y:1.40, Z:1.19 [[ 9.99828715e-01 -9.05975927e-03 -1.61388476e-02 1.78104151e+02] [ 9.05876323e-03 9.99958959e-01 -1.34820931e-04 1.39574353e+00] [ 1.61394067e-02 -1.14001617e-05 9.99869751e-01 1.19403707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.789254154 meters 0.01395399339253107 Centerline is valid? [True, True] Translation: X:178.13, Y:1.39, Z:1.19 [[ 9.99818144e-01 -1.02766665e-02 -1.60645384e-02 1.78131749e+02] [ 1.02757613e-02 9.99947193e-01 -1.38890862e-04 1.39433158e+00] [ 1.60651174e-02 -2.62097582e-05 9.99870947e-01 1.19438164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819254154 meters 0.013997664456079485 Centerline is valid? [True, True] Translation: X:178.16, Y:1.39, Z:1.19 [[ 9.99784839e-01 -1.30314613e-02 -1.61386645e-02 1.78159896e+02] [ 1.30308601e-02 9.99915085e-01 -1.42412830e-04 1.39150053e+00] [ 1.61391499e-02 -6.79184911e-05 9.99869753e-01 1.19462741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.849254154 meters 0.014032814546673603 Centerline is valid? [True, True] Translation: X:178.19, Y:1.39, Z:1.20 [[ 9.99768506e-01 -1.44395970e-02 -1.59509458e-02 1.78187461e+02] [ 1.44391660e-02 9.99895740e-01 -1.42188086e-04 1.39016421e+00] [ 1.59513359e-02 -8.81631845e-05 9.99872765e-01 1.19502466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879254154 meters 0.014250753650438541 Centerline is valid? [True, True] Translation: X:178.22, Y:1.39, Z:1.20 [[ 9.99750406e-01 -1.61330666e-02 -1.54547489e-02 1.78215069e+02] [ 1.61328166e-02 9.99869848e-01 -1.40854332e-04 1.38869819e+00] [ 1.54550099e-02 -1.08509455e-04 9.99880558e-01 1.19541090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.909254154 meters 0.014369580857263024 Centerline is valid? [True, True] Translation: X:178.24, Y:1.38, Z:1.20 [[ 9.99715956e-01 -1.94647331e-02 -1.37525238e-02 1.78243392e+02] [ 1.94648171e-02 9.99810534e-01 -1.27755895e-04 1.38489363e+00] [ 1.37524049e-02 -1.39970754e-04 9.99905421e-01 1.19652348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93925415399997 meters 0.014665359651729323 Centerline is valid? [True, True] Translation: X:178.27, Y:1.38, Z:1.20 [[ 9.99685957e-01 -2.13123882e-02 -1.31822008e-02 1.78271718e+02] [ 2.13126137e-02 9.99772853e-01 -1.23394858e-04 1.38325103e+00] [ 1.31818363e-02 -1.57591045e-04 9.99913103e-01 1.19729159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96925415399997 meters 0.01515270350219311 Centerline is valid? [True, True] Translation: X:178.30, Y:1.38, Z:1.20 [[ 9.99646143e-01 -2.32510759e-02 -1.29219674e-02 1.78302690e+02] [ 2.32514497e-02 9.99729641e-01 -1.21324598e-04 1.38152484e+00] [ 1.29212948e-02 -1.79172809e-04 9.99916501e-01 1.19764018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99925415399997 meters 0.015305854518752908 Centerline is valid? [True, True] Translation: X:178.33, Y:1.38, Z:1.20 [[ 9.99602061e-01 -2.52340099e-02 -1.26081333e-02 1.78333504e+02] [ 2.52345234e-02 9.99681552e-01 -1.18378004e-04 1.37983435e+00] [ 1.26071054e-02 -1.99829339e-04 9.99920507e-01 1.19823729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02925415399997 meters 0.017478780221037358 Centerline is valid? [True, True] Translation: X:178.36, Y:1.37, Z:1.20 [[ 9.99443165e-01 -3.08883631e-02 -1.26201543e-02 1.78363963e+02] [ 3.08893312e-02 9.99522804e-01 -1.18253547e-04 1.37273492e+00] [ 1.26177847e-02 -2.71640427e-04 9.99920356e-01 1.19788734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05925415399997 meters 0.017478780221037358 Centerline is valid? [True, True] Translation: X:178.39, Y:1.37, Z:1.20 [[ 9.99444225e-01 -3.08540534e-02 -1.26201588e-02 1.78394814e+02] [ 3.08550249e-02 9.99523863e-01 -1.17769260e-04 1.37299081e+00] [ 1.26177836e-02 -2.71691508e-04 9.99920356e-01 1.19810106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08925415399997 meters 0.01782344480826543 Centerline is valid? [True, True] Translation: X:178.43, Y:1.37, Z:1.20 [[ 9.99332642e-01 -3.41344741e-02 -1.30041422e-02 1.78426332e+02] [ 3.41357891e-02 9.99417197e-01 -1.20892123e-04 1.37107314e+00] [ 1.30006899e-02 -3.23095211e-04 9.99915435e-01 1.19827348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11925415399998 meters 0.021083982585921243 Centerline is valid? [True, True] Translation: X:178.46, Y:1.36, Z:1.20 [[ 9.99044350e-01 -4.17231865e-02 -1.30215824e-02 1.78455932e+02] [ 4.17251521e-02 9.99129119e-01 -1.20809557e-04 1.36226964e+00] [ 1.30152827e-02 -4.22633402e-04 9.99915208e-01 1.19791476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14925415399998 meters 0.022062913268833924 Centerline is valid? [True, True] Translation: X:178.49, Y:1.36, Z:1.20 [[ 9.98864913e-01 -4.57599276e-02 -1.32255239e-02 1.78487406e+02] [ 4.57623115e-02 9.98952349e-01 -1.22480719e-04 1.35980638e+00] [ 1.32172729e-02 -4.82888852e-04 9.99912531e-01 1.19792126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17925415399998 meters 0.02590669464871344 Centerline is valid? [True, True] Translation: X:178.52, Y:1.35, Z:1.20 [[ 9.98704273e-01 -4.90122615e-02 -1.36957366e-02 1.78517642e+02] [ 4.90151311e-02 9.98798028e-01 -1.26259211e-04 1.35400564e+00] [ 1.36854630e-02 -5.45202712e-04 9.99906201e-01 1.19644860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20925415399998 meters 0.022960171302512326 Centerline is valid? [True, True] Translation: X:178.55, Y:1.36, Z:1.20 [[ 9.98517575e-01 -5.26948398e-02 -1.36347729e-02 1.78548622e+02] [ 5.26980328e-02 9.98610485e-01 -1.25244858e-04 1.35713488e+00] [ 1.36224269e-02 -5.93466517e-04 9.99907034e-01 1.19878444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23925415399998 meters 0.025279742997544815 Centerline is valid? [True, True] Translation: X:178.58, Y:1.35, Z:1.20 [[ 9.98361791e-01 -5.55199964e-02 -1.38298664e-02 1.78579156e+02] [ 5.55235554e-02 9.98457370e-01 -1.26781664e-04 1.35303270e+00] [ 1.38155710e-02 -6.41309385e-04 9.99904355e-01 1.19859094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.26925415399998 meters 0.02556642737074875 Centerline is valid? [True, True] Translation: X:178.61, Y:1.35, Z:1.20 [[ 9.98145439e-01 -5.92802720e-02 -1.38395056e-02 1.78610599e+02] [ 5.92842018e-02 9.98241137e-01 -1.26490033e-04 1.35200475e+00] [ 1.38226622e-02 -6.94208592e-04 9.99904221e-01 1.19892715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.29925415399998 meters 0.02650015602380046 Centerline is valid? [True, True] Translation: X:178.64, Y:1.35, Z:1.20 [[ 9.98099113e-01 -6.00311144e-02 -1.39436867e-02 1.78641449e+02] [ 6.00351855e-02 9.98196253e-01 -1.26801801e-04 1.35082226e+00] [ 1.39261479e-02 -7.10551051e-04 9.99902774e-01 1.19942239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32925415399998 meters 0.033209902934926025 Centerline is valid? [True, True] Translation: X:178.67, Y:1.34, Z:1.20 [[ 9.98073893e-01 -6.04421419e-02 -1.39732567e-02 1.78672213e+02] [ 6.04462793e-02 9.98171444e-01 -1.26434566e-04 1.34229505e+00] [ 1.39553478e-02 -7.18440340e-04 9.99902361e-01 1.19839082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35925415399998 meters 0.025444704157850898 Centerline is valid? [True, True] Translation: X:178.70, Y:1.36, Z:1.20 [[ 9.98108230e-01 -5.97621263e-02 -1.44378080e-02 1.78704272e+02] [ 5.97664843e-02 9.98212377e-01 -1.29822825e-04 1.35508141e+00] [ 1.44197571e-02 -7.33319795e-04 9.99895761e-01 1.20025036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38925415399999 meters 0.024965049244885303 Centerline is valid? [True, True] Translation: X:178.74, Y:1.36, Z:1.20 [[ 9.98169366e-01 -5.88186855e-02 -1.40811731e-02 1.78736127e+02] [ 5.88227517e-02 9.98268435e-01 -1.25585089e-04 1.35692708e+00] [ 1.40641773e-02 -7.02938158e-04 9.99900847e-01 1.20071471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.419254154 meters 0.025578153422122427 Centerline is valid? [True, True] Translation: X:178.77, Y:1.36, Z:1.20 [[ 9.98244289e-01 -5.75481850e-02 -1.40194906e-02 1.78767199e+02] [ 5.75521033e-02 9.98342496e-01 -1.24130113e-04 1.35716969e+00] [ 1.40033967e-02 -6.82938992e-04 9.99901714e-01 1.20138735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.449254154 meters 0.023466123714527647 Centerline is valid? [True, True] Translation: X:178.80, Y:1.36, Z:1.20 [[ 9.98345803e-01 -5.58863894e-02 -1.35043783e-02 1.78799482e+02] [ 5.58898849e-02 9.98436932e-01 -1.18708243e-04 1.36159276e+00] [ 1.34899042e-02 -6.36246274e-04 9.99908805e-01 1.20271217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479254154 meters 0.024662492103635622 Centerline is valid? [True, True] Translation: X:178.83, Y:1.36, Z:1.20 [[ 9.98584875e-01 -5.18604272e-02 -1.17789392e-02 1.78829355e+02] [ 5.18628122e-02 9.98654213e-01 -1.03089300e-04 1.36261610e+00] [ 1.17684336e-02 -5.07945497e-04 9.99930621e-01 1.20383031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.509254154 meters 0.021963956669002888 Centerline is valid? [True, True] Translation: X:178.86, Y:1.37, Z:1.20 [[ 9.98730310e-01 -4.91297456e-02 -1.11371438e-02 1.78860765e+02] [ 4.91317100e-02 9.98792304e-01 -9.73169713e-05 1.36840299e+00] [ 1.11284747e-02 -4.49993512e-04 9.99937975e-01 1.20488833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539254154 meters 0.021361057569955325 Centerline is valid? [True, True] Translation: X:178.89, Y:1.37, Z:1.21 [[ 9.98869423e-01 -4.63025734e-02 -1.07678523e-02 1.78892295e+02] [ 4.63042498e-02 9.98927379e-01 -9.37023186e-05 1.37140975e+00] [ 1.07606411e-02 -4.05000940e-04 9.99942021e-01 1.20560605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.569254154 meters 0.01896815264095559 Centerline is valid? [True, True] Translation: X:178.92, Y:1.38, Z:1.21 [[ 9.99149465e-01 -3.98513412e-02 -1.05932291e-02 1.78922894e+02] [ 3.98526048e-02 9.99205565e-01 -9.18661286e-05 1.37952366e+00] [ 1.05884744e-02 -3.30379778e-04 9.99943886e-01 1.20635896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599254154 meters 0.018012155091888873 Centerline is valid? [True, True] Translation: X:178.95, Y:1.38, Z:1.21 [[ 9.99267892e-01 -3.66063250e-02 -1.11201410e-02 1.78954709e+02] [ 3.66075207e-02 9.99329715e-01 -9.60712896e-05 1.38301991e+00] [ 1.11162042e-02 -3.11079838e-04 9.99938165e-01 1.20641684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.629254154 meters 0.017280230843557096 Centerline is valid? [True, True] Translation: X:178.99, Y:1.39, Z:1.21 [[ 9.99380361e-01 -3.32655585e-02 -1.15020471e-02 1.78985966e+02] [ 3.32666231e-02 9.99446508e-01 -9.88075814e-05 1.38655227e+00] [ 1.14989677e-02 -2.83887909e-04 9.99933844e-01 1.20621549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659254154 meters 0.01660170848970637 Centerline is valid? [True, True] Translation: X:179.02, Y:1.39, Z:1.21 [[ 9.99471905e-01 -3.04042748e-02 -1.14669980e-02 1.79017684e+02] [ 3.04051505e-02 9.99537652e-01 -9.80005281e-05 1.39019044e+00] [ 1.14646758e-02 -2.50707024e-04 9.99934247e-01 1.20619724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68925415399997 meters 0.01629688869536653 Centerline is valid? [True, True] Translation: X:179.05, Y:1.39, Z:1.21 [[ 9.99584176e-01 -2.63219448e-02 -1.17741201e-02 1.79048365e+02] [ 2.63225917e-02 9.99653496e-01 -1.00052446e-04 1.39389062e+00] [ 1.17726739e-02 -2.09914514e-04 9.99930678e-01 1.20618057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71925415399997 meters 0.015612926725954894 Centerline is valid? [True, True] Translation: X:179.08, Y:1.40, Z:1.21 [[ 9.99615904e-01 -2.52396396e-02 -1.14457689e-02 1.79080020e+02] [ 2.52401846e-02 9.99681411e-01 -9.68495898e-05 1.39683167e+00] [ 1.14445669e-02 -1.92080931e-04 9.99934490e-01 1.20694703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74925415399997 meters 0.015595137925734316 Centerline is valid? [True, True] Translation: X:179.11, Y:1.40, Z:1.21 [[ 9.99612922e-01 -2.48624750e-02 -1.24845190e-02 1.79111329e+02] [ 2.48631001e-02 9.99690860e-01 -1.05161559e-04 1.39818200e+00] [ 1.24832742e-02 -2.05282993e-04 9.99922060e-01 1.20648408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77925415399997 meters 0.01583685663568486 Centerline is valid? [True, True] Translation: X:179.14, Y:1.40, Z:1.21 [[ 9.99591377e-01 -2.53423834e-02 -1.32227990e-02 1.79142599e+02] [ 2.53431331e-02 9.99678805e-01 -1.10888069e-04 1.39825565e+00] [ 1.32213621e-02 -2.24264399e-04 9.99912569e-01 1.20569857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80925415399997 meters 0.015431103907684781 Centerline is valid? [True, True] Translation: X:179.17, Y:1.40, Z:1.21 [[ 9.99566124e-01 -2.59973729e-02 -1.38455564e-02 1.79173595e+02] [ 2.59982649e-02 9.99661981e-01 -1.15592625e-04 1.39934817e+00] [ 1.38438815e-02 -2.44417971e-04 9.99904139e-01 1.20560342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83925415399997 meters 0.015888374280196224 Centerline is valid? [True, True] Translation: X:179.20, Y:1.40, Z:1.21 [[ 9.99532694e-01 -2.69560066e-02 -1.44141315e-02 1.79204111e+02] [ 2.69570789e-02 9.99636585e-01 -1.19933492e-04 1.39878798e+00] [ 1.44121261e-02 -2.68685434e-04 9.99896104e-01 1.20503893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86925415399998 meters 0.01753162538976896 Centerline is valid? [True, True] Translation: X:179.23, Y:1.40, Z:1.20 [[ 9.99507941e-01 -2.74976140e-02 -1.50916076e-02 1.79234517e+02] [ 2.74988554e-02 9.99621827e-01 -1.25289132e-04 1.39828002e+00] [ 1.50893456e-02 -2.89774454e-04 9.99886107e-01 1.20298726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89925415399998 meters 0.018535355276403976 Centerline is valid? [True, True] Translation: X:179.26, Y:1.40, Z:1.20 [[ 9.99455678e-01 -2.94193895e-02 -1.49280997e-02 1.79264897e+02] [ 2.94208224e-02 9.99567106e-01 -1.23664172e-04 1.39758735e+00] [ 1.49252756e-02 -3.15600111e-04 9.99888562e-01 1.20281933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92925415399998 meters 0.01665417475625266 Centerline is valid? [True, True] Translation: X:179.30, Y:1.40, Z:1.21 [[ 9.99420529e-01 -3.10101851e-02 -1.40347814e-02 1.79295799e+02] [ 3.10116136e-02 9.99519018e-01 -1.15887106e-04 1.39875270e+00] [ 1.40316245e-02 -3.19421264e-04 9.99901501e-01 1.20612622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95925415399998 meters 0.016875545264250343 Centerline is valid? [True, True] Translation: X:179.33, Y:1.40, Z:1.21 [[ 9.99395641e-01 -3.19543893e-02 -1.36846467e-02 1.79327057e+02] [ 3.19558427e-02 9.99489275e-01 -1.12500687e-04 1.39904146e+00] [ 1.36812525e-02 -3.24871720e-04 9.99906355e-01 1.20684702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98925415399998 meters 0.017312533006357024 Centerline is valid? [True, True] Translation: X:179.36, Y:1.40, Z:1.21 [[ 9.99370587e-01 -3.29385684e-02 -1.31711937e-02 1.79358750e+02] [ 3.29400079e-02 9.99457325e-01 -1.07691586e-04 1.39878945e+00] [ 1.31675933e-02 -3.26235422e-04 9.99913250e-01 1.20767617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.01925415399998 meters 0.01777764035298302 Centerline is valid? [True, True] Translation: X:179.39, Y:1.40, Z:1.21 [[ 9.99293487e-01 -3.55847372e-02 -1.20935181e-02 1.79390594e+02] [ 3.55861532e-02 9.99366607e-01 -9.81501898e-05 1.39782591e+00] [ 1.20893508e-02 -3.32280942e-04 9.99926866e-01 1.20902231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.04925415399998 meters 0.018601663713516098 Centerline is valid? [True, True] Translation: X:179.42, Y:1.40, Z:1.21 [[ 9.99232364e-01 -3.74488634e-02 -1.15006607e-02 1.79421863e+02] [ 3.74502758e-02 9.99298488e-01 -9.26025085e-05 1.39603698e+00] [ 1.14960607e-02 -3.38171490e-04 9.99933861e-01 1.20941155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07925415399998 meters 0.01996574246485345 Centerline is valid? [True, True] Translation: X:179.45, Y:1.40, Z:1.21 [[ 9.99162534e-01 -3.91694172e-02 -1.18316475e-02 1.79454245e+02] [ 3.91710415e-02 9.99232516e-01 -9.45129128e-05 1.39531066e+00] [ 1.18262689e-02 -3.69024195e-04 9.99929999e-01 1.20799356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10925415399998 meters 0.020807304069492386 Centerline is valid? [True, True] Translation: X:179.49, Y:1.39, Z:1.21 [[ 9.98928857e-01 -4.46069749e-02 -1.23026848e-02 1.79485116e+02] [ 4.46091507e-02 9.99004512e-01 -9.76419052e-05 1.39172211e+00] [ 1.22947931e-02 -4.51275004e-04 9.99924314e-01 1.20810456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13925415399999 meters 0.02358018977344736 Centerline is valid? [True, True] Translation: X:179.52, Y:1.39, Z:1.21 [[ 9.98781355e-01 -4.77787349e-02 -1.23692369e-02 1.79515036e+02] [ 4.77811787e-02 9.98857822e-01 -9.80413349e-05 1.38634839e+00] [ 1.23597933e-02 -4.93094860e-04 9.99923493e-01 1.20785688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.169254154 meters 0.02414181604105143 Centerline is valid? [True, True] Translation: X:179.55, Y:1.39, Z:1.21 [[ 9.98631658e-01 -5.07142462e-02 -1.27623461e-02 1.79546218e+02] [ 5.07170898e-02 9.98713055e-01 -1.00949538e-04 1.38526595e+00] [ 1.27510413e-02 -5.46457651e-04 9.99918553e-01 1.20776998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.199254154 meters 0.02322336088611663 Centerline is valid? [True, True] Translation: X:179.58, Y:1.39, Z:1.21 [[ 9.98481262e-01 -5.34176056e-02 -1.34806628e-02 1.79577738e+02] [ 5.34210310e-02 9.98572072e-01 -1.06128346e-04 1.38662461e+00] [ 1.34670825e-02 -6.14183739e-04 9.99909126e-01 1.20758308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.229254154 meters 0.02741768011693406 Centerline is valid? [True, True] Translation: X:179.61, Y:1.38, Z:1.20 [[ 9.98194405e-01 -5.80355733e-02 -1.54855147e-02 1.79608782e+02] [ 5.80406544e-02 9.98314213e-01 -1.21479612e-04 1.38296904e+00] [ 1.54664596e-02 -7.77529141e-04 9.99880085e-01 1.20373721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259254154 meters 0.026373195662036084 Centerline is valid? [True, True] Translation: X:179.64, Y:1.38, Z:1.21 [[ 9.98051633e-01 -6.06466258e-02 -1.46602877e-02 1.79640077e+02] [ 6.06514663e-02 9.98158999e-01 -1.14616839e-04 1.38208057e+00] [ 1.46402492e-02 -7.74774423e-04 9.99892526e-01 1.20655084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.289254154 meters 0.027603188297325068 Centerline is valid? [True, True] Translation: X:179.67, Y:1.38, Z:1.21 [[ 9.97947980e-01 -6.22144970e-02 -1.51388781e-02 1.79671674e+02] [ 6.22198569e-02 9.98062461e-01 -1.17145162e-04 1.38087439e+00] [ 1.51168340e-02 -8.25034048e-04 9.99885394e-01 1.20625998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319254154 meters 0.031147954141452976 Centerline is valid? [True, True] Translation: X:179.70, Y:1.38, Z:1.21 [[ 9.97872712e-01 -6.33723818e-02 -1.52968162e-02 1.79702809e+02] [ 6.33780092e-02 9.97989586e-01 -1.17100063e-04 1.37663863e+00] [ 1.52734842e-02 -8.52630803e-04 9.99882990e-01 1.20583925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.349254154 meters 0.029904266477433605 Centerline is valid? [True, True] Translation: X:179.73, Y:1.38, Z:1.21 [[ 9.97830121e-01 -6.41176240e-02 -1.49659300e-02 1.79734440e+02] [ 6.41231060e-02 9.97941989e-01 -1.13763802e-04 1.38006471e+00] [ 1.49424242e-02 -8.46144969e-04 9.99887998e-01 1.20671187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379254154 meters 0.028878697433017516 Centerline is valid? [True, True] Translation: X:179.77, Y:1.38, Z:1.21 [[ 9.97882366e-01 -6.32606686e-02 -1.51285037e-02 1.79766470e+02] [ 6.32661870e-02 9.97996682e-01 -1.14018875e-04 1.38351057e+00] [ 1.51054094e-02 -8.43345320e-04 9.99885551e-01 1.20608195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.409254154 meters 0.02789413330666274 Centerline is valid? [True, True] Translation: X:179.80, Y:1.39, Z:1.21 [[ 9.97918517e-01 -6.28714592e-02 -1.43462193e-02 1.79798550e+02] [ 6.28763961e-02 9.98021316e-01 -1.07097530e-04 1.38513127e+00] [ 1.43245660e-02 -7.95163958e-04 9.99897082e-01 1.20833349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43925415399997 meters 0.025332575075753767 Centerline is valid? [True, True] Translation: X:179.83, Y:1.39, Z:1.21 [[ 9.98034812e-01 -6.10807069e-02 -1.39878911e-02 1.79830349e+02] [ 6.10852374e-02 9.98132548e-01 -1.03529655e-04 1.39103512e+00] [ 1.39680930e-02 -7.51127448e-04 9.99902159e-01 1.20912603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46925415399997 meters 0.025813376275396246 Centerline is valid? [True, True] Translation: X:179.86, Y:1.39, Z:1.21 [[ 9.98115261e-01 -5.98080971e-02 -1.37447461e-02 1.79862078e+02] [ 5.98123634e-02 9.98209633e-01 -1.00837896e-04 1.39143582e+00] [ 1.37261689e-02 -7.21457908e-04 9.99905531e-01 1.20890233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49925415399997 meters 0.026936628986861694 Centerline is valid? [True, True] Translation: X:179.89, Y:1.39, Z:1.21 [[ 9.98176931e-01 -5.87654320e-02 -1.37636603e-02 1.79893055e+02] [ 5.87696235e-02 9.98271567e-01 -1.00081937e-04 1.39081216e+00] [ 1.37457521e-02 -7.08985653e-04 9.99905271e-01 1.20928959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52925415399997 meters 0.024559560998522346 Centerline is valid? [True, True] Translation: X:179.93, Y:1.40, Z:1.21 [[ 9.98268077e-01 -5.72708069e-02 -1.34499610e-02 1.79925034e+02] [ 5.72746857e-02 9.98358453e-01 -9.69412681e-05 1.39541128e+00] [ 1.34334342e-02 -6.73568915e-04 9.99909540e-01 1.20962423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55925415399997 meters 0.02371175416200858 Centerline is valid? [True, True] Translation: X:179.96, Y:1.40, Z:1.21 [[ 9.98446068e-01 -5.39415851e-02 -1.39912417e-02 1.79956452e+02] [ 5.39454674e-02 9.98543878e-01 -1.00044946e-04 1.39957695e+00] [ 1.39762653e-02 -6.54874591e-04 9.99902113e-01 1.20947590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58925415399997 meters 0.02368585000388532 Centerline is valid? [True, True] Translation: X:179.99, Y:1.40, Z:1.21 [[ 9.98549523e-01 -5.18568907e-02 -1.44815004e-02 1.79986880e+02] [ 5.18608370e-02 9.98654316e-01 -1.03147332e-04 1.40131989e+00] [ 1.44673618e-02 -6.48025014e-04 9.99895132e-01 1.20938957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61925415399998 meters 0.02286671445620497 Centerline is valid? [True, True] Translation: X:180.02, Y:1.40, Z:1.21 [[ 9.98650286e-01 -4.97557115e-02 -1.48988721e-02 1.80018203e+02] [ 4.97596614e-02 9.98761215e-01 -1.05698820e-04 1.40453361e+00] [ 1.48856748e-02 -6.35806675e-04 9.99889000e-01 1.20952208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64925415399998 meters 0.020413424897463714 Centerline is valid? [True, True] Translation: X:180.05, Y:1.41, Z:1.21 [[ 9.98843404e-01 -4.53025049e-02 -1.61101383e-02 1.80049383e+02] [ 4.53065548e-02 9.98973124e-01 -1.13682337e-04 1.41199043e+00] [ 1.60987452e-02 -6.16344009e-04 9.99870217e-01 1.20973039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67925415399998 meters 0.020157844578148145 Centerline is valid? [True, True] Translation: X:180.08, Y:1.42, Z:1.21 [[ 9.99047557e-01 -4.04188201e-02 -1.64407474e-02 1.80078794e+02] [ 4.04223788e-02 9.99182675e-01 -1.15931658e-04 1.41584847e+00] [ 1.64319958e-02 -5.48752879e-04 9.99864835e-01 1.20893253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70925415399998 meters 0.018630846808413835 Centerline is valid? [True, True] Translation: X:180.11, Y:1.42, Z:1.21 [[ 9.99162755e-01 -3.73718493e-02 -1.66473214e-02 1.80110282e+02] [ 3.73750792e-02 9.99301301e-01 -1.17162516e-04 1.42016087e+00] [ 1.66400685e-02 -5.05130533e-04 9.99861417e-01 1.20947016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73925415399998 meters 0.018630846808413835 Centerline is valid? [True, True] Translation: X:180.14, Y:1.42, Z:1.21 [[ 9.99165466e-01 -3.72993036e-02 -1.66473281e-02 1.80141991e+02] [ 3.73025395e-02 9.99304011e-01 -1.16203964e-04 1.42032313e+00] [ 1.66400760e-02 -5.04880624e-04 9.99861417e-01 1.20968983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.76925415399998 meters 0.0181499466405399 Centerline is valid? [True, True] Translation: X:180.17, Y:1.42, Z:1.21 [[ 9.99293932e-01 -3.37996266e-02 -1.64080245e-02 1.80172412e+02] [ 3.38023096e-02 9.99428532e-01 -1.13867537e-04 1.42305395e+00] [ 1.64024965e-02 -4.40841985e-04 9.99865373e-01 1.20989278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79925415399998 meters 0.015597002911762421 Centerline is valid? [True, True] Translation: X:180.20, Y:1.43, Z:1.21 [[ 9.99523041e-01 -2.63936223e-02 -1.60333418e-02 1.80202917e+02] [ 2.63952337e-02 9.99651579e-01 -1.11145778e-04 1.43229260e+00] [ 1.60306890e-02 -3.12111037e-04 9.99871452e-01 1.21157520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82925415399998 meters 0.014784152786727548 Centerline is valid? [True, True] Translation: X:180.23, Y:1.44, Z:1.21 [[ 9.99629385e-01 -2.23875869e-02 -1.54883155e-02 1.80233122e+02] [ 2.23886098e-02 9.99749338e-01 -1.07367566e-04 1.43646602e+00] [ 1.54868369e-02 -2.39434079e-04 9.99880043e-01 1.21247268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85925415399998 meters 0.015777634586893224 Centerline is valid? [True, True] Translation: X:180.26, Y:1.44, Z:1.21 [[ 9.99713544e-01 -1.80687319e-02 -1.56955636e-02 1.80262843e+02] [ 1.80692477e-02 9.99836732e-01 -1.08964643e-04 1.43948352e+00] [ 1.56949699e-02 -1.74673597e-04 9.99876811e-01 1.21132534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88925415399999 meters 0.014770641793019205 Centerline is valid? [True, True] Translation: X:180.29, Y:1.44, Z:1.21 [[ 9.99778671e-01 -1.44736440e-02 -1.52683594e-02 1.80292104e+02] [ 1.44736938e-02 9.99895245e-01 -1.07249146e-04 1.44345121e+00] [ 1.52683123e-02 -1.13764150e-04 9.99883426e-01 1.21229986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.919254154 meters 0.013506185216341914 Centerline is valid? [True, True] Translation: X:180.32, Y:1.45, Z:1.21 [[ 9.99848077e-01 -8.08759340e-03 -1.54406613e-02 1.80321054e+02] [ 8.08683481e-03 9.99967295e-01 -1.11566749e-04 1.44955419e+00] [ 1.54410586e-02 -1.33162772e-05 9.99880780e-01 1.21326143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.949254154 meters 0.013506185216341914 Centerline is valid? [True, True] Translation: X:180.35, Y:1.45, Z:1.21 [[ 9.99845692e-01 -8.37734701e-03 -1.54406299e-02 1.80348436e+02] [ 8.37655772e-03 9.99964909e-01 -1.15791679e-04 1.44982553e+00] [ 1.54410581e-02 -1.35655164e-05 9.99880780e-01 1.21345181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979254154 meters 0.013675192653925208 Centerline is valid? [True, True] Translation: X:180.38, Y:1.45, Z:1.21 [[ 9.99856440e-01 -6.12029976e-03 -1.58000572e-02 1.80376458e+02] [ 6.11911848e-03 9.99981270e-01 -1.23107555e-04 1.45216667e+00] [ 1.58005147e-02 2.64074598e-05 9.99875164e-01 1.21340222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.009254154 meters 0.013705521593290611 Centerline is valid? [True, True] Translation: X:180.40, Y:1.45, Z:1.21 [[ 9.99858800e-01 -4.27159219e-03 -1.62521727e-02 1.80404126e+02] [ 4.27004329e-03 9.99990875e-01 -1.30003638e-04 1.45375913e+00] [ 1.62525798e-02 6.05878000e-05 9.99867916e-01 1.21332539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039254154 meters 0.013760588049004433 Centerline is valid? [True, True] Translation: X:180.43, Y:1.46, Z:1.21 [[ 9.99861073e-01 -2.13398599e-03 -1.65311926e-02 1.80431965e+02] [ 2.13206086e-03 9.99997718e-01 -1.34077741e-04 1.45537316e+00] [ 1.65314410e-02 9.88136055e-05 9.99863342e-01 1.21337016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.069254154 meters 0.013732093721367815 Centerline is valid? [True, True] Translation: X:180.46, Y:1.46, Z:1.21 [[ 9.99859519e-01 -1.94826349e-03 -1.66477213e-02 1.80460018e+02] [ 1.94622873e-03 9.99998097e-01 -1.38424944e-04 1.45550159e+00] [ 1.66479593e-02 1.06005225e-04 9.99861408e-01 1.21393180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099254154 meters 0.013835251157759113 Centerline is valid? [True, True] Translation: X:180.49, Y:1.46, Z:1.21 [[ 9.99859239e-01 -1.97417007e-03 -1.66614788e-02 1.80486931e+02] [ 1.97207088e-03 9.99998045e-01 -1.42419365e-04 1.45587857e+00] [ 1.66617274e-02 1.09541701e-04 9.99861178e-01 1.21398126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.129254154 meters 0.013881612424185164 Centerline is valid? [True, True] Translation: X:180.51, Y:1.45, Z:1.21 [[ 9.99868211e-01 -1.86034399e-03 -1.61276332e-02 1.80513461e+02] [ 1.85832331e-03 9.99998263e-01 -1.40278352e-04 1.45495305e+00] [ 1.61278661e-02 1.10289508e-04 9.99869931e-01 1.21381796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159254154 meters 0.013927787300582384 Centerline is valid? [True, True] Translation: X:180.54, Y:1.45, Z:1.21 [[ 9.99868763e-01 -2.15477237e-03 -1.60565700e-02 1.80541703e+02] [ 2.15275378e-03 9.99997673e-01 -1.43000052e-04 1.45435480e+00] [ 1.60568407e-02 1.08415444e-04 9.99871075e-01 1.21386770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18925415399997 meters 0.013680977407149473 Centerline is valid? [True, True] Translation: X:180.57, Y:1.45, Z:1.22 [[ 9.99873061e-01 -2.70781298e-03 -1.57012351e-02 1.80570698e+02] [ 2.70591157e-03 9.99996329e-01 -1.42342952e-04 1.45236026e+00] [ 1.57015629e-02 9.98387294e-05 9.99876718e-01 1.21519858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21925415399997 meters 0.013641431303430198 Centerline is valid? [True, True] Translation: X:180.60, Y:1.45, Z:1.21 [[ 9.99874613e-01 -3.26142030e-03 -1.54958336e-02 1.80597250e+02] [ 3.25960988e-03 9.99994677e-01 -1.42087852e-04 1.45181542e+00] [ 1.54962145e-02 9.15596642e-05 9.99879922e-01 1.21492021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24925415399997 meters 0.013612147020420504 Centerline is valid? [True, True] Translation: X:180.63, Y:1.45, Z:1.22 [[ 9.99874030e-01 -4.40212437e-03 -1.52494573e-02 1.80625907e+02] [ 4.40048114e-03 9.99990308e-01 -1.41309689e-04 1.44825876e+00] [ 1.52499316e-02 7.41869386e-05 9.99883710e-01 1.21562749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27925415399997 meters 0.013795838706617382 Centerline is valid? [True, True] Translation: X:180.65, Y:1.45, Z:1.22 [[ 9.99874986e-01 -5.39163762e-03 -1.48641349e-02 1.80653969e+02] [ 5.39016777e-03 9.99985463e-01 -1.38946432e-04 1.44689911e+00] [ 1.48646680e-02 5.88088806e-05 9.99889513e-01 1.21558363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30925415399997 meters 0.013876974489427308 Centerline is valid? [True, True] Translation: X:180.68, Y:1.45, Z:1.22 [[ 9.99865555e-01 -6.26953240e-03 -1.51514293e-02 1.80681814e+02] [ 6.26806011e-03 9.99980345e-01 -1.44658051e-04 1.44569212e+00] [ 1.51520384e-02 4.96685326e-05 9.99885200e-01 1.21591385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33925415399997 meters 0.013880318691814234 Centerline is valid? [True, True] Translation: X:180.71, Y:1.44, Z:1.22 [[ 9.99863381e-01 -6.73648699e-03 -1.50943076e-02 1.80710054e+02] [ 6.73501262e-03 9.99977309e-01 -1.48509018e-04 1.44436368e+00] [ 1.50949655e-02 4.68283764e-05 9.99886063e-01 1.21634732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36925415399998 meters 0.01406233338453031 Centerline is valid? [True, True] Translation: X:180.74, Y:1.44, Z:1.22 [[ 9.99863580e-01 -6.57481564e-03 -1.51523082e-02 1.80736708e+02] [ 6.57326468e-03 9.99978384e-01 -1.52159120e-04 1.44094322e+00] [ 1.51529811e-02 5.25382299e-05 9.99885186e-01 1.21551508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39925415399998 meters 0.014139826017602374 Centerline is valid? [True, True] Translation: X:180.77, Y:1.44, Z:1.22 [[ 9.99861503e-01 -6.57325033e-03 -1.52894328e-02 1.80765102e+02] [ 6.57162013e-03 9.99978394e-01 -1.56861733e-04 1.43932951e+00] [ 1.52901336e-02 5.63636640e-05 9.99883097e-01 1.21591360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42925415399998 meters 0.014091933242142847 Centerline is valid? [True, True] Translation: X:180.79, Y:1.44, Z:1.22 [[ 9.99865339e-01 -6.05009962e-03 -1.52545275e-02 1.80793196e+02] [ 6.04834802e-03 9.99981696e-01 -1.60957699e-04 1.43812352e+00] [ 1.52552221e-02 6.86713329e-05 9.99883630e-01 1.21638010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45925415399998 meters 0.014352293637735887 Centerline is valid? [True, True] Translation: X:180.82, Y:1.44, Z:1.22 [[ 9.99869251e-01 -5.41178828e-03 -1.52379137e-02 1.80820999e+02] [ 5.40989773e-03 9.99985353e-01 -1.65285980e-04 1.43695432e+00] [ 1.52385850e-02 8.28288142e-05 9.99883883e-01 1.21685883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48925415399998 meters 0.014436975235867304 Centerline is valid? [True, True] Translation: X:180.85, Y:1.44, Z:1.22 [[ 9.99871858e-01 -4.46222410e-03 -1.53738779e-02 1.80849858e+02] [ 4.46012162e-03 9.99990039e-01 -1.71040938e-04 1.43618823e+00] [ 1.53744880e-02 1.02449655e-04 9.99881800e-01 1.21667090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51925415399998 meters 0.01480112931638147 Centerline is valid? [True, True] Translation: X:180.88, Y:1.44, Z:1.22 [[ 9.99873473e-01 -1.07553426e-03 -1.58707521e-02 1.80877250e+02] [ 1.07282453e-03 9.99999408e-01 -1.79250318e-04 1.43500600e+00] [ 1.58709355e-02 1.62201106e-04 9.99874036e-01 1.21652544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.54925415399998 meters 0.014891461453297294 Centerline is valid? [True, True] Translation: X:180.91, Y:1.43, Z:1.22 [[ 9.99866999e-01 5.96454483e-04 -1.62980967e-02 1.80905901e+02] [-5.99583981e-04 9.99999803e-01 -1.87130471e-04 1.43453265e+00] [ 1.62979819e-02 1.96877660e-04 9.99867160e-01 1.21693242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57925415399998 meters 0.015821242806000828 Centerline is valid? [True, True] Translation: X:180.93, Y:1.43, Z:1.22 [[ 9.99854661e-01 4.26104489e-03 -1.65075610e-02 1.80933735e+02] [-4.26479868e-03 9.99990887e-01 -1.92201441e-04 1.43368051e+00] [ 1.65065916e-02 2.62574931e-04 9.99863722e-01 1.21621828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60925415399998 meters 0.01616015943715362 Centerline is valid? [True, True] Translation: X:180.96, Y:1.43, Z:1.22 [[ 9.99850180e-01 5.65517946e-03 -1.63596272e-02 1.80962728e+02] [-5.65910168e-03 9.99983968e-01 -1.93466437e-04 1.43278538e+00] [ 1.63582709e-02 2.86018246e-04 9.99866154e-01 1.21620834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63925415399999 meters 0.016241495605285584 Centerline is valid? [True, True] Translation: X:180.99, Y:1.43, Z:1.22 [[ 9.99839466e-01 6.87763052e-03 -1.65451063e-02 1.80991549e+02] [-6.88187844e-03 9.99976300e-01 -1.99826332e-04 1.43149064e+00] [ 1.65433398e-02 3.13655663e-04 9.99863100e-01 1.21637535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.669254154 meters 0.016656129575628235 Centerline is valid? [True, True] Translation: X:181.02, Y:1.43, Z:1.22 [[ 9.99821208e-01 7.91329838e-03 -1.71735574e-02 1.81020011e+02] [-7.91807137e-03 9.99968630e-01 -2.09947971e-04 1.43016770e+00] [ 1.71713573e-02 3.45891888e-04 9.99852502e-01 1.21652273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.699254154 meters 0.01687793595330643 Centerline is valid? [True, True] Translation: X:181.05, Y:1.43, Z:1.22 [[ 9.99815431e-01 8.41353647e-03 -1.72718235e-02 1.81049006e+02] [-8.41846015e-03 9.99964542e-01 -2.12381959e-04 1.42831587e+00] [ 1.72694242e-02 3.57744918e-04 9.99850808e-01 1.21629927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.729254154 meters 0.016215916238852407 Centerline is valid? [True, True] Translation: X:181.08, Y:1.42, Z:1.22 [[ 9.99828907e-01 8.16767304e-03 -1.65965492e-02 1.81078352e+02] [-8.17220493e-03 9.99966586e-01 -2.05259482e-04 1.42177765e+00] [ 1.65943181e-02 3.40854764e-04 9.99862247e-01 1.21786505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759254154 meters 0.016096038081783913 Centerline is valid? [True, True] Translation: X:181.11, Y:1.42, Z:1.22 [[ 9.99841356e-01 7.22550204e-03 -1.62805165e-02 1.81107278e+02] [-7.22975741e-03 9.99973844e-01 -2.02536256e-04 1.41818738e+00] [ 1.62786272e-02 3.20208310e-04 9.99867443e-01 1.21824072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.789254154 meters 0.016665566018798497 Centerline is valid? [True, True] Translation: X:181.13, Y:1.42, Z:1.22 [[ 9.99865007e-01 5.37901629e-03 -1.55252909e-02 1.81134857e+02] [-5.38268319e-03 9.99985494e-01 -1.94411656e-04 1.41612185e+00] [ 1.55240199e-02 2.77953134e-04 9.99879457e-01 1.21788325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819254154 meters 0.01540317592578636 Centerline is valid? [True, True] Translation: X:181.16, Y:1.41, Z:1.22 [[ 9.99881505e-01 1.72806643e-03 -1.52966977e-02 1.81164247e+02] [-1.73121557e-03 9.99998483e-01 -1.92630966e-04 1.40583118e+00] [ 1.52963416e-02 2.19090021e-04 9.99882980e-01 1.21900690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.849254154 meters 0.016132549538435046 Centerline is valid? [True, True] Translation: X:181.19, Y:1.40, Z:1.22 [[ 9.99869160e-01 -2.19200337e-04 -1.61745323e-02 1.81192731e+02] [ 2.15916523e-04 9.99999956e-01 -2.04769763e-04 1.40050814e+00] [ 1.61745765e-02 2.01250622e-04 9.99869163e-01 1.21822995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879254154 meters 0.014606317255269702 Centerline is valid? [True, True] Translation: X:181.22, Y:1.40, Z:1.22 [[ 9.99876844e-01 -3.17670886e-03 -1.53689830e-02 1.81221813e+02] [ 3.17407635e-03 9.99994943e-01 -1.95676698e-04 1.39595996e+00] [ 1.53695269e-02 1.46870274e-04 9.99881871e-01 1.21918268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.909254154 meters 0.014335666065844455 Centerline is valid? [True, True] Translation: X:181.25, Y:1.39, Z:1.22 [[ 9.99846884e-01 -8.98770348e-03 -1.50143445e-02 1.81250209e+02] [ 8.98582988e-03 9.99959608e-01 -1.92245857e-04 1.38540469e+00] [ 1.50154659e-02 5.73000751e-05 9.99887260e-01 1.21825756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93925415399997 meters 0.014101490751510109 Centerline is valid? [True, True] Translation: X:181.28, Y:1.38, Z:1.22 [[ 9.99819114e-01 -1.20698202e-02 -1.46989166e-02 1.81279235e+02] [ 1.20683418e-02 9.99927157e-01 -1.89274829e-04 1.37974373e+00] [ 1.47001304e-02 1.18490429e-05 9.99891947e-01 1.21978641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96925415399997 meters 0.014122763175017795 Centerline is valid? [True, True] Translation: X:181.31, Y:1.37, Z:1.22 [[ 9.99782437e-01 -1.52440605e-02 -1.42371899e-02 1.81307679e+02] [ 1.52429767e-02 9.99883802e-01 -1.84637205e-04 1.37450536e+00] [ 1.42383502e-02 -3.24201205e-05 9.99898629e-01 1.21994449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99925415399997 meters 0.014151068969569537 Centerline is valid? [True, True] Translation: X:181.34, Y:1.37, Z:1.22 [[ 9.99741519e-01 -1.85370581e-02 -1.31633386e-02 1.81335319e+02] [ 1.85363835e-02 9.99828171e-01 -1.73260223e-04 1.36921572e+00] [ 1.31642885e-02 -7.07852539e-05 9.99913344e-01 1.22057447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02925415399997 meters 0.014466394284815885 Centerline is valid? [True, True] Translation: X:181.36, Y:1.36, Z:1.22 [[ 9.99655762e-01 -2.39306538e-02 -1.07555274e-02 1.81364337e+02] [ 2.39304946e-02 9.99713614e-01 -1.43519033e-04 1.35827880e+00] [ 1.07558817e-02 -1.13915461e-04 9.99942147e-01 1.22153303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05925415399997 meters 0.015066354975905128 Centerline is valid? [True, True] Translation: X:181.39, Y:1.35, Z:1.22 [[ 9.99611285e-01 -2.59385023e-02 -1.02212122e-02 1.81394678e+02] [ 2.59384591e-02 9.99663532e-01 -1.36814455e-04 1.35212077e+00] [ 1.02213219e-02 -1.28361221e-04 9.99947753e-01 1.22164605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08925415399997 meters 0.014967270710841422 Centerline is valid? [True, True] Translation: X:181.43, Y:1.35, Z:1.22 [[ 9.99567447e-01 -2.79668487e-02 -9.09801518e-03 1.81426453e+02] [ 2.79669002e-02 9.99608842e-01 -1.21587876e-04 1.34801222e+00] [ 9.09785686e-03 -1.32907999e-04 9.99958605e-01 1.22187557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11925415399998 meters 0.015583422153296703 Centerline is valid? [True, True] Translation: X:181.46, Y:1.34, Z:1.22 [[ 9.99494749e-01 -3.04777745e-02 -9.01947930e-03 1.81458570e+02] [ 3.04779310e-02 9.99535433e-01 -1.20134090e-04 1.33959912e+00] [ 9.01895057e-03 -1.54821675e-04 9.99959316e-01 1.22130731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14925415399998 meters 0.015429069373782725 Centerline is valid? [True, True] Translation: X:181.49, Y:1.34, Z:1.22 [[ 9.99475339e-01 -3.11546213e-02 -8.85645760e-03 1.81490295e+02] [ 3.11548038e-02 9.99514564e-01 -1.17393653e-04 1.33669782e+00] [ 8.85581571e-03 -1.58589138e-04 9.99960774e-01 1.22105940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17925415399998 meters 0.015607998575797418 Centerline is valid? [True, True] Translation: X:181.52, Y:1.33, Z:1.22 [[ 9.99471069e-01 -3.13563885e-02 -8.62316305e-03 1.81521934e+02] [ 3.13565716e-02 9.99508255e-01 -1.13988743e-04 1.33308898e+00] [ 8.62249693e-03 -1.56464379e-04 9.99962813e-01 1.22061018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20925415399998 meters 0.01590749169694383 Centerline is valid? [True, True] Translation: X:181.55, Y:1.33, Z:1.22 [[ 9.99468470e-01 -3.14340714e-02 -8.64156888e-03 1.81553578e+02] [ 3.14342613e-02 9.99505815e-01 -1.13881595e-04 1.32901295e+00] [ 8.64087811e-03 -1.57820270e-04 9.99962654e-01 1.22056494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23925415399998 meters 0.01564593660534645 Centerline is valid? [True, True] Translation: X:181.58, Y:1.32, Z:1.22 [[ 9.99470442e-01 -3.13742401e-02 -8.63091575e-03 1.81584572e+02] [ 3.13744311e-02 9.99507695e-01 -1.13298081e-04 1.32341903e+00] [ 8.63022135e-03 -1.57551988e-04 9.99962747e-01 1.22038053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.26925415399998 meters 0.015805609676878215 Centerline is valid? [True, True] Translation: X:181.62, Y:1.32, Z:1.22 [[ 9.99473560e-01 -3.12829344e-02 -8.60117676e-03 1.81616415e+02] [ 3.12831234e-02 9.99510557e-01 -1.12596925e-04 1.32077829e+00] [ 8.60048934e-03 -1.56534025e-04 9.99963003e-01 1.22050335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29925415399998 meters 0.015377744935759342 Centerline is valid? [True, True] Translation: X:181.65, Y:1.32, Z:1.22 [[ 9.99477789e-01 -3.12748024e-02 -8.12628695e-03 1.81648009e+02] [ 3.12749731e-02 9.99510813e-01 -1.06098212e-04 1.31913077e+00] [ 8.12562988e-03 -1.48106599e-04 9.99966976e-01 1.22068725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32925415399998 meters 0.015326639808107449 Centerline is valid? [True, True] Translation: X:181.68, Y:1.32, Z:1.22 [[ 9.99469945e-01 -3.14412629e-02 -8.44246024e-03 1.81679060e+02] [ 3.14414559e-02 9.99505589e-01 -1.09899929e-04 1.31694531e+00] [ 8.44174159e-03 -1.55601565e-04 9.99964356e-01 1.22079161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35925415399998 meters 0.018406573609347245 Centerline is valid? [True, True] Translation: X:181.71, Y:1.31, Z:1.22 [[ 9.99439573e-01 -3.20413285e-02 -9.68985232e-03 1.81710194e+02] [ 3.20416148e-02 9.99486528e-01 -1.25735516e-04 1.31104205e+00] [ 9.68890558e-03 -1.84813465e-04 9.99953044e-01 1.21850008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38925415399999 meters 0.015470949058145434 Centerline is valid? [True, True] Translation: X:181.74, Y:1.31, Z:1.22 [[ 9.99409888e-01 -3.29364793e-02 -9.75012075e-03 1.81741257e+02] [ 3.29368153e-02 9.99457428e-01 -1.26152058e-04 1.30892943e+00] [ 9.74898561e-03 -1.95060313e-04 9.99952458e-01 1.22009249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.419254154 meters 0.017510544856122405 Centerline is valid? [True, True] Translation: X:181.77, Y:1.31, Z:1.22 [[ 9.99368046e-01 -3.39742454e-02 -1.04526920e-02 1.81772723e+02] [ 3.39746926e-02 9.99422684e-01 -1.34835231e-04 1.30621080e+00] [ 1.04512384e-02 -2.20376976e-04 9.99945360e-01 1.21837029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.449254154 meters 0.018342692876209418 Centerline is valid? [True, True] Translation: X:181.80, Y:1.30, Z:1.22 [[ 9.99266617e-01 -3.65349214e-02 -1.14642240e-02 1.81803245e+02] [ 3.65356333e-02 9.99332340e-01 -1.47397196e-04 1.30066428e+00] [ 1.14619549e-02 -2.71563585e-04 9.99934273e-01 1.21739405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479254154 meters 0.017420440830406326 Centerline is valid? [True, True] Translation: X:181.83, Y:1.30, Z:1.22 [[ 9.99193153e-01 -3.84422504e-02 -1.16291034e-02 1.81833868e+02] [ 3.84431167e-02 9.99260779e-01 -1.49115260e-04 1.29849314e+00] [ 1.16262392e-02 -2.98064032e-04 9.99932369e-01 1.21853110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.509254154 meters 0.01780263956907517 Centerline is valid? [True, True] Translation: X:181.86, Y:1.30, Z:1.22 [[ 9.99128137e-01 -4.00772830e-02 -1.16952045e-02 1.81864719e+02] [ 4.00782737e-02 9.99196532e-01 -1.49748963e-04 1.29639687e+00] [ 1.16918093e-02 -3.19105205e-04 9.99931598e-01 1.21873977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539254154 meters 0.017768726288225633 Centerline is valid? [True, True] Translation: X:181.90, Y:1.29, Z:1.22 [[ 9.99068705e-01 -4.15307221e-02 -1.17013687e-02 1.81896379e+02] [ 4.15318169e-02 9.99137171e-01 -1.49525553e-04 1.29498721e+00] [ 1.16974823e-02 -3.36592801e-04 9.99931525e-01 1.21939338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.569254154 meters 0.020014550471454347 Centerline is valid? [True, True] Translation: X:181.93, Y:1.29, Z:1.22 [[ 9.98907098e-01 -4.54719633e-02 -1.08124723e-02 1.81926632e+02] [ 4.54731320e-02 9.98965553e-01 -1.37859801e-04 1.28878221e+00] [ 1.08075561e-02 -3.53967848e-04 9.99941534e-01 1.21993451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599254154 meters 0.020014550471454347 Centerline is valid? [True, True] Translation: X:181.96, Y:1.29, Z:1.22 [[ 9.98908722e-01 -4.54362698e-02 -1.08124757e-02 1.81957488e+02] [ 4.54374393e-02 9.98967177e-01 -1.37594343e-04 1.28914422e+00] [ 1.08075601e-02 -3.53847020e-04 9.99941534e-01 1.22014833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.629254154 meters 0.019840858679730438 Centerline is valid? [True, True] Translation: X:181.99, Y:1.29, Z:1.22 [[ 9.98780149e-01 -4.84892083e-02 -9.32799933e-03 1.81988752e+02] [ 4.84902145e-02 9.98823651e-01 -1.18401449e-04 1.28768816e+00] [ 9.32276753e-03 -3.34059671e-04 9.99956486e-01 1.22184099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659254154 meters 0.022232008749506142 Centerline is valid? [True, True] Translation: X:182.02, Y:1.29, Z:1.22 [[ 9.98729393e-01 -4.96668067e-02 -8.53275396e-03 1.82019995e+02] [ 4.96676943e-02 9.98765793e-01 -1.07984854e-04 1.28537470e+00] [ 8.52758604e-03 -3.15954568e-04 9.99963590e-01 1.22119387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68925415399997 meters 0.02144860482936293 Centerline is valid? [True, True] Translation: X:182.05, Y:1.28, Z:1.22 [[ 9.98677805e-01 -5.07705980e-02 -8.06157985e-03 1.82051524e+02] [ 5.07714294e-02 9.98710294e-01 -1.01619614e-04 1.28458445e+00] [ 8.05634207e-03 -3.07812679e-04 9.99967500e-01 1.22331072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71925415399997 meters 0.021216339735156933 Centerline is valid? [True, True] Translation: X:182.08, Y:1.28, Z:1.22 [[ 9.98663461e-01 -5.11141050e-02 -7.65773462e-03 1.82083259e+02] [ 5.11148675e-02 9.98692776e-01 -9.62370574e-05 1.28483501e+00] [ 7.65264332e-03 -2.95315658e-04 9.99970674e-01 1.22398813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74925415399997 meters 0.021657313180397368 Centerline is valid? [True, True] Translation: X:182.11, Y:1.28, Z:1.22 [[ 9.98621859e-01 -5.19960199e-02 -7.12717567e-03 1.82114898e+02] [ 5.19967063e-02 9.98647252e-01 -8.90852040e-05 1.28397985e+00] [ 7.12216647e-03 -2.81627228e-04 9.99974597e-01 1.22409004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77925415399997 meters 0.022225422900472035 Centerline is valid? [True, True] Translation: X:182.15, Y:1.28, Z:1.22 [[ 9.98600769e-01 -5.23697924e-02 -7.34227633e-03 1.82146165e+02] [ 5.23705339e-02 9.98627718e-01 -9.13583719e-05 1.28347370e+00] [ 7.33698507e-03 -2.93288391e-04 9.99973041e-01 1.22414787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80925415399997 meters 0.022997242090859595 Centerline is valid? [True, True] Translation: X:182.18, Y:1.29, Z:1.22 [[ 9.98586592e-01 -5.25809347e-02 -7.75003431e-03 1.82178297e+02] [ 5.25817709e-02 9.98616617e-01 -9.59720756e-05 1.28551973e+00] [ 7.74435934e-03 -3.11674100e-04 9.99969963e-01 1.22250629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83925415399997 meters 0.02131125138192062 Centerline is valid? [True, True] Translation: X:182.21, Y:1.29, Z:1.22 [[ 9.98570936e-01 -5.28474147e-02 -7.95217593e-03 1.82210926e+02] [ 5.28483082e-02 9.98602547e-01 -9.78731228e-05 1.28764459e+00] [ 7.94623548e-03 -3.22525789e-04 9.99968376e-01 1.22428509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86925415399998 meters 0.02131125138192062 Centerline is valid? [True, True] Translation: X:182.24, Y:1.29, Z:1.22 [[ 9.98574870e-01 -5.27730299e-02 -7.95218318e-03 1.82242633e+02] [ 5.27739257e-02 9.98606481e-01 -9.72807742e-05 1.28797362e+00] [ 7.94623546e-03 -3.22525788e-04 9.99968376e-01 1.22450475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89925415399998 meters 0.0217462270304627 Centerline is valid? [True, True] Translation: X:182.27, Y:1.29, Z:1.22 [[ 9.98572117e-01 -5.27594383e-02 -8.37668526e-03 1.82273851e+02] [ 5.27604371e-02 9.98607193e-01 -1.01849671e-04 1.28857472e+00] [ 8.37039169e-03 -3.40253335e-04 9.99964910e-01 1.22465448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92925415399998 meters 0.022583857100610224 Centerline is valid? [True, True] Translation: X:182.30, Y:1.29, Z:1.22 [[ 9.98563954e-01 -5.29051091e-02 -8.43083566e-03 1.82304620e+02] [ 5.29061301e-02 9.98599485e-01 -1.02038463e-04 1.28888404e+00] [ 8.42442650e-03 -3.44150957e-04 9.99964455e-01 1.22471932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95925415399998 meters 0.02210735417709193 Centerline is valid? [True, True] Translation: X:182.34, Y:1.29, Z:1.22 [[ 9.98550538e-01 -5.31051609e-02 -8.75587038e-03 1.82336827e+02] [ 5.31062744e-02 9.98588861e-01 -1.05443042e-04 1.29073842e+00] [ 8.74911420e-03 -3.59701448e-04 9.99961661e-01 1.22499152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98925415399998 meters 0.024669305435907105 Centerline is valid? [True, True] Translation: X:182.37, Y:1.29, Z:1.22 [[ 9.98505147e-01 -5.38674866e-02 -9.26090839e-03 1.82368021e+02] [ 5.38687712e-02 9.98548017e-01 -1.10859848e-04 1.29119169e+00] [ 9.25343345e-03 -3.88179626e-04 9.99957111e-01 1.22282931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01925415399998 meters 0.026506732736715808 Centerline is valid? [True, True] Translation: X:182.40, Y:1.29, Z:1.22 [[ 9.98478813e-01 -5.43796070e-02 -9.10589645e-03 1.82398875e+02] [ 5.43808746e-02 9.98520260e-01 -1.08514233e-04 1.29041177e+00] [ 9.09832304e-03 -3.86837450e-04 9.99958535e-01 1.22250894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04925415399998 meters 0.02660091304431194 Centerline is valid? [True, True] Translation: X:182.43, Y:1.29, Z:1.22 [[ 9.98440290e-01 -5.50824893e-02 -9.10526607e-03 1.82430933e+02] [ 5.50837907e-02 9.98481730e-01 -1.07978665e-04 1.29242109e+00] [ 9.09738955e-03 -3.93742321e-04 9.99958540e-01 1.22234300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07925415399998 meters 0.02529688856040983 Centerline is valid? [True, True] Translation: X:182.46, Y:1.30, Z:1.22 [[ 9.98330120e-01 -5.69599851e-02 -9.61937995e-03 1.82462766e+02] [ 5.69615314e-02 9.98376367e-01 -1.13363211e-04 1.29551447e+00] [ 9.61021877e-03 -4.34760706e-04 9.99953726e-01 1.22427965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10925415399998 meters 0.026109345283177633 Centerline is valid? [True, True] Translation: X:182.50, Y:1.30, Z:1.22 [[ 9.98272139e-01 -5.79315832e-02 -9.83195599e-03 1.82495109e+02] [ 5.79332527e-02 9.98320452e-01 -1.15157269e-04 1.29608382e+00] [ 9.82211400e-03 -4.54638897e-04 9.99951659e-01 1.22424085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13925415399999 meters 0.02411625197359112 Centerline is valid? [True, True] Translation: X:182.53, Y:1.30, Z:1.22 [[ 9.98211984e-01 -5.89360530e-02 -9.96874689e-03 1.82526744e+02] [ 5.89378259e-02 9.98261649e-01 -1.16092073e-04 1.30060979e+00] [ 9.95825972e-03 -4.71651770e-04 9.99950304e-01 1.22454002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.169254154 meters 0.024794315361132635 Centerline is valid? [True, True] Translation: X:182.56, Y:1.30, Z:1.22 [[ 9.98147971e-01 -6.00343832e-02 -9.82350830e-03 1.82559056e+02] [ 6.00361637e-02 9.98196196e-01 -1.13807004e-04 1.30194802e+00] [ 9.81262095e-03 -4.76169522e-04 9.99951742e-01 1.22443614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.199254154 meters 0.025611511212411727 Centerline is valid? [True, True] Translation: X:182.59, Y:1.30, Z:1.23 [[ 9.98055443e-01 -6.15886435e-02 -9.60059098e-03 1.82590193e+02] [ 6.15904220e-02 9.98101502e-01 -1.10575091e-04 1.30395986e+00] [ 9.58917444e-03 -4.80944379e-04 9.99953907e-01 1.22577553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.229254154 meters 0.026582642135100386 Centerline is valid? [True, True] Translation: X:182.62, Y:1.30, Z:1.23 [[ 9.98026526e-01 -6.21146364e-02 -9.21011392e-03 1.82621765e+02] [ 6.21163001e-02 9.98068913e-01 -1.05585680e-04 1.30458940e+00] [ 9.19888680e-03 -4.66720891e-04 9.99957580e-01 1.22635126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259254154 meters 0.027628185157390548 Centerline is valid? [True, True] Translation: X:182.65, Y:1.31, Z:1.23 [[ 9.98018813e-01 -6.23691170e-02 -8.27904792e-03 1.82654141e+02] [ 6.23704737e-02 9.98053062e-01 -9.44727116e-05 1.30814028e+00] [ 8.26882131e-03 -4.22082597e-04 9.99965724e-01 1.22634990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.289254154 meters 0.02739890225418856 Centerline is valid? [True, True] Translation: X:182.69, Y:1.31, Z:1.23 [[ 9.98045759e-01 -6.19846599e-02 -7.90981586e-03 1.82685296e+02] [ 6.19858904e-02 9.98077022e-01 -8.97271310e-05 1.31016634e+00] [ 7.90016717e-03 -4.00745197e-04 9.99968713e-01 1.22787071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319254154 meters 0.026589212482224553 Centerline is valid? [True, True] Translation: X:182.72, Y:1.31, Z:1.23 [[ 9.98123500e-01 -6.07385671e-02 -7.76558851e-03 1.82717406e+02] [ 6.07397189e-02 9.98153635e-01 -8.76636834e-05 1.31388554e+00] [ 7.75657496e-03 -3.84180480e-04 9.99969844e-01 1.22814954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.349254154 meters 0.027655032061222874 Centerline is valid? [True, True] Translation: X:182.75, Y:1.32, Z:1.23 [[ 9.98245751e-01 -5.86989826e-02 -7.73632012e-03 1.82748741e+02] [ 5.87000686e-02 9.98275661e-01 -8.68062565e-05 1.31655744e+00] [ 7.72807551e-03 -3.67468545e-04 9.99970070e-01 1.22617847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379254154 meters 0.023838095177204643 Centerline is valid? [True, True] Translation: X:182.78, Y:1.32, Z:1.23 [[ 9.98370749e-01 -5.64916388e-02 -8.03387894e-03 1.82780598e+02] [ 5.64927412e-02 9.98403006e-01 -8.98250187e-05 1.32312914e+00] [ 8.02612324e-03 -3.64177173e-04 9.99967724e-01 1.22864084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.409254154 meters 0.02184201391234591 Centerline is valid? [True, True] Translation: X:182.81, Y:1.33, Z:1.23 [[ 9.98712015e-01 -5.00733909e-02 -8.18327734e-03 1.82811525e+02] [ 5.00743228e-02 9.98745490e-01 -9.10986755e-05 1.33198935e+00] [ 8.17757295e-03 -3.18790729e-04 9.99966512e-01 1.22887683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43925415399997 meters 0.020411201974886734 Centerline is valid? [True, True] Translation: X:182.84, Y:1.34, Z:1.23 [[ 9.98908519e-01 -4.60085472e-02 -8.06132695e-03 1.82842957e+02] [ 4.60093200e-02 9.98941006e-01 -8.96637313e-05 1.33692234e+00] [ 8.05691536e-03 -2.81330306e-04 9.99967503e-01 1.22928723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46925415399997 meters 0.020656815180722744 Centerline is valid? [True, True] Translation: X:182.87, Y:1.34, Z:1.23 [[ 9.99085033e-01 -4.19471378e-02 -8.33874518e-03 1.82873060e+02] [ 4.19478258e-02 9.99119798e-01 -9.24606855e-05 1.33985675e+00] [ 8.33528387e-03 -2.57416143e-04 9.99965228e-01 1.22921797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49925415399997 meters 0.018772933683368225 Centerline is valid? [True, True] Translation: X:182.90, Y:1.35, Z:1.23 [[ 9.99399334e-01 -3.34580481e-02 -9.02943286e-03 1.82903513e+02] [ 3.34585100e-02 9.99440102e-01 -9.99439506e-05 1.35169397e+00] [ 9.02772123e-03 -2.02227452e-04 9.99959229e-01 1.22770233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52925415399997 meters 0.016613893561929667 Centerline is valid? [True, True] Translation: X:182.93, Y:1.36, Z:1.23 [[ 9.99503704e-01 -3.00247713e-02 -9.53200910e-03 1.82933780e+02] [ 3.00251316e-02 9.99549139e-01 -1.05328942e-04 1.35640979e+00] [ 9.53087396e-03 -1.80923160e-04 9.99954564e-01 1.22921169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55925415399997 meters 0.015745722304319757 Centerline is valid? [True, True] Translation: X:182.97, Y:1.36, Z:1.23 [[ 9.99590508e-01 -2.68707474e-02 -9.83766417e-03 1.82965546e+02] [ 2.68709813e-02 9.99638904e-01 -1.08424066e-04 1.36079207e+00] [ 9.83702526e-03 -1.55968023e-04 9.99951603e-01 1.22933719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58925415399997 meters 0.015792042069246236 Centerline is valid? [True, True] Translation: X:183.00, Y:1.36, Z:1.23 [[ 9.99653594e-01 -2.42780271e-02 -1.01621885e-02 1.82995695e+02] [ 2.42781472e-02 9.99705236e-01 -1.11562505e-04 1.36387374e+00] [ 1.01619016e-02 -1.35195250e-04 9.99948357e-01 1.22882924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61925415399998 meters 0.01477928820295312 Centerline is valid? [True, True] Translation: X:183.03, Y:1.37, Z:1.23 [[ 9.99720079e-01 -2.13650182e-02 -1.01636899e-02 1.83027261e+02] [ 2.13649902e-02 9.99771736e-01 -1.11339373e-04 1.37081682e+00] [ 1.01637487e-02 -1.05838930e-04 9.99948342e-01 1.22961046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64925415399998 meters 0.015129689634001136 Centerline is valid? [True, True] Translation: X:183.06, Y:1.37, Z:1.23 [[ 9.99732597e-01 -2.08256036e-02 -1.00512703e-02 1.83057377e+02] [ 2.08255521e-02 9.99783119e-01 -1.09801313e-04 1.37195298e+00] [ 1.00513771e-02 -9.95513010e-05 9.99949479e-01 1.22916571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67925415399998 meters 0.014935214403868056 Centerline is valid? [True, True] Translation: X:183.09, Y:1.37, Z:1.23 [[ 9.99718399e-01 -2.15048382e-02 -1.00332253e-02 1.83086661e+02] [ 2.15048217e-02 9.99768739e-01 -1.09534597e-04 1.37257770e+00] [ 1.00332605e-02 -1.06258969e-04 9.99949660e-01 1.22956847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70925415399998 meters 0.015332262810499214 Centerline is valid? [True, True] Translation: X:183.12, Y:1.37, Z:1.23 [[ 9.99656936e-01 -2.41537227e-02 -1.01295251e-02 1.83116987e+02] [ 2.41538407e-02 9.99708247e-01 -1.10711016e-04 1.37210986e+00] [ 1.01292439e-02 -1.33993902e-04 9.99948689e-01 1.22955193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73925415399998 meters 0.015875499766511033 Centerline is valid? [True, True] Translation: X:183.15, Y:1.37, Z:1.23 [[ 9.99600372e-01 -2.63775033e-02 -1.01647998e-02 1.83148342e+02] [ 2.63777382e-02 9.99652041e-01 -1.10981568e-04 1.37173375e+00] [ 1.01641903e-02 -1.57187211e-04 9.99948331e-01 1.22972592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76925415399998 meters 0.016327769574655673 Centerline is valid? [True, True] Translation: X:183.18, Y:1.37, Z:1.23 [[ 9.99533865e-01 -2.87641795e-02 -1.02311060e-02 1.83179754e+02] [ 2.87645462e-02 9.99586209e-01 -1.11340475e-04 1.37086395e+00] [ 1.02300751e-02 -1.83004547e-04 9.99947655e-01 1.22983547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79925415399998 meters 0.017175833304249058 Centerline is valid? [True, True] Translation: X:183.21, Y:1.37, Z:1.23 [[ 9.99450657e-01 -3.14900339e-02 -1.03326172e-02 1.83210523e+02] [ 3.14905576e-02 9.99504043e-01 -1.12041066e-04 1.36945384e+00] [ 1.03310208e-02 -2.13400359e-04 9.99946611e-01 1.23010812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82925415399998 meters 0.018633869294059722 Centerline is valid? [True, True] Translation: X:183.24, Y:1.37, Z:1.23 [[ 9.99219939e-01 -3.79698529e-02 -1.08537627e-02 1.83241944e+02] [ 3.79708179e-02 9.99278842e-01 -1.17214727e-04 1.36826064e+00] [ 1.08503861e-02 -2.95002956e-04 9.99941089e-01 1.22911249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85925415399998 meters 0.01910851386469744 Centerline is valid? [True, True] Translation: X:183.27, Y:1.37, Z:1.23 [[ 9.99084173e-01 -4.12644153e-02 -1.13164784e-02 1.83272502e+02] [ 4.12656804e-02 9.99148202e-01 -1.21784855e-04 1.36616075e+00] [ 1.13118644e-02 -3.45308861e-04 9.99935959e-01 1.22969967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88925415399999 meters 0.02055117017181718 Centerline is valid? [True, True] Translation: X:183.30, Y:1.36, Z:1.23 [[ 9.98952766e-01 -4.42963330e-02 -1.14545304e-02 1.83304914e+02] [ 4.42978348e-02 9.99018362e-01 -1.22691597e-04 1.36431051e+00] [ 1.14487210e-02 -3.84847785e-04 9.99934387e-01 1.22864727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.919254154 meters 0.021159125556694587 Centerline is valid? [True, True] Translation: X:183.34, Y:1.36, Z:1.23 [[ 9.98813578e-01 -4.73006702e-02 -1.15793909e-02 1.83336678e+02] [ 4.73024153e-02 9.98880607e-01 -1.23277062e-04 1.36263119e+00] [ 1.15722601e-02 -4.24602356e-04 9.99932949e-01 1.22951453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.949254154 meters 0.023096130405939223 Centerline is valid? [True, True] Translation: X:183.37, Y:1.36, Z:1.23 [[ 9.98599424e-01 -5.17547561e-02 -1.09834197e-02 1.83367587e+02] [ 5.17565999e-02 9.98659722e-01 -1.16498179e-04 1.36025696e+00] [ 1.09747282e-02 -4.52129442e-04 9.99939674e-01 1.22987136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979254154 meters 0.024178809435963546 Centerline is valid? [True, True] Translation: X:183.40, Y:1.36, Z:1.23 [[ 9.98507140e-01 -5.35098300e-02 -1.09631281e-02 1.83399035e+02] [ 5.35117763e-02 9.98567212e-01 -1.15939791e-04 1.35930894e+00] [ 1.09536242e-02 -4.70889749e-04 9.99939896e-01 1.23043210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.009254154 meters 0.025083674407740356 Centerline is valid? [True, True] Translation: X:183.43, Y:1.36, Z:1.23 [[ 9.98427971e-01 -5.49662030e-02 -1.09682927e-02 1.83431396e+02] [ 5.49682461e-02 9.98488096e-01 -1.15331088e-04 1.35836446e+00] [ 1.09580490e-02 -4.87758026e-04 9.99939840e-01 1.23068717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039254154 meters 0.026765740605232513 Centerline is valid? [True, True] Translation: X:183.46, Y:1.36, Z:1.23 [[ 9.98264082e-01 -5.78101292e-02 -1.12610787e-02 1.83462091e+02] [ 5.78124715e-02 9.98327453e-01 -1.17689237e-04 1.35680565e+00] [ 1.12490477e-02 -5.33545854e-04 9.99936585e-01 1.23054047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.069254154 meters 0.02451435140191088 Centerline is valid? [True, True] Translation: X:183.49, Y:1.36, Z:1.23 [[ 9.98193531e-01 -5.90444603e-02 -1.11097078e-02 1.83493719e+02] [ 5.90468227e-02 9.98255208e-01 -1.15536516e-04 1.36123949e+00] [ 1.10971455e-02 -5.40665145e-04 9.99938279e-01 1.23050569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099254154 meters 0.02883823409348123 Centerline is valid? [True, True] Translation: X:183.52, Y:1.36, Z:1.23 [[ 9.98102646e-01 -6.06109639e-02 -1.08360114e-02 1.83524797e+02] [ 6.06133098e-02 9.98161317e-01 -1.12091225e-04 1.35529348e+00] [ 1.08228814e-02 -5.44927967e-04 9.99941282e-01 1.23100814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.129254154 meters 0.029660468910052234 Centerline is valid? [True, True] Translation: X:183.56, Y:1.36, Z:1.23 [[ 9.98025540e-01 -6.19165269e-02 -1.05529364e-02 1.83556990e+02] [ 6.19188313e-02 9.98081182e-01 -1.08532506e-04 1.35512175e+00] [ 1.05394072e-02 -5.45107273e-04 9.99944310e-01 1.23125934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159254154 meters 0.02730301352097912 Centerline is valid? [True, True] Translation: X:183.59, Y:1.36, Z:1.23 [[ 9.97848967e-01 -6.47690735e-02 -1.01195668e-02 1.83588419e+02] [ 6.47713446e-02 9.97900126e-01 -1.03493331e-04 1.36080499e+00] [ 1.01050202e-02 -5.52187236e-04 9.99948791e-01 1.23226980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18925415399997 meters 0.028091931480743935 Centerline is valid? [True, True] Translation: X:183.62, Y:1.36, Z:1.23 [[ 9.97772947e-01 -6.58976241e-02 -1.03271218e-02 1.83620280e+02] [ 6.59000549e-02 9.97826223e-01 -1.05105739e-04 1.36105105e+00] [ 1.03115992e-02 -5.75686231e-04 9.99946668e-01 1.23248544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21925415399997 meters 0.03007157241633952 Centerline is valid? [True, True] Translation: X:183.65, Y:1.36, Z:1.23 [[ 9.97710655e-01 -6.67732251e-02 -1.07138226e-02 1.83651096e+02] [ 6.67759025e-02 9.97767993e-01 -1.08028571e-04 1.35969031e+00] [ 1.06971227e-02 -6.07643918e-04 9.99942600e-01 1.23221241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24925415399997 meters 0.029962955647497434 Centerline is valid? [True, True] Translation: X:183.68, Y:1.36, Z:1.23 [[ 9.97639118e-01 -6.77740505e-02 -1.10846396e-02 1.83683088e+02] [ 6.77769915e-02 9.97700490e-01 -1.10549669e-04 1.36144670e+00] [ 1.10666427e-02 -6.40994849e-04 9.99938557e-01 1.23198291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27925415399997 meters 0.030241804454950866 Centerline is valid? [True, True] Translation: X:183.72, Y:1.37, Z:1.23 [[ 9.97573251e-01 -6.83873467e-02 -1.30682518e-02 1.83715432e+02] [ 6.83915007e-02 9.97658552e-01 -1.29284812e-04 1.36572144e+00] [ 1.30464946e-02 -7.64786282e-04 9.99914598e-01 1.22969234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30925415399997 meters 0.028666237234901852 Centerline is valid? [True, True] Translation: X:183.75, Y:1.37, Z:1.23 [[ 9.97544228e-01 -6.89223552e-02 -1.24588164e-02 1.83747334e+02] [ 6.89261835e-02 9.97621755e-01 -1.22354999e-04 1.36811851e+00] [ 1.24376193e-02 -7.36684143e-04 9.99922378e-01 1.23199276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33925415399997 meters 0.02989110754661331 Centerline is valid? [True, True] Translation: X:183.78, Y:1.37, Z:1.23 [[ 9.97571749e-01 -6.81385334e-02 -1.44133910e-02 1.83780001e+02] [ 6.81435960e-02 9.97675514e-01 -1.40152697e-04 1.37131488e+00] [ 1.43894371e-02 -8.42367925e-04 9.99896112e-01 1.22968739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36925415399998 meters 0.029869968208696737 Centerline is valid? [True, True] Translation: X:183.81, Y:1.37, Z:1.23 [[ 9.97603834e-01 -6.74310875e-02 -1.54802716e-02 1.83811880e+02] [ 6.74368646e-02 9.97723532e-01 -1.49102072e-04 1.37331954e+00] [ 1.54550854e-02 -8.95196185e-04 9.99880162e-01 1.22939717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39925415399998 meters 0.029207954664165193 Centerline is valid? [True, True] Translation: X:183.84, Y:1.38, Z:1.23 [[ 9.97649281e-01 -6.67702658e-02 -1.54157249e-02 1.83842594e+02] [ 6.67759311e-02 9.97767986e-01 -1.47509279e-04 1.37572181e+00] [ 1.53911661e-02 -8.82236861e-04 9.99881160e-01 1.23080305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42925415399998 meters 0.0289364730714774 Centerline is valid? [True, True] Translation: X:183.87, Y:1.38, Z:1.23 [[ 9.97747345e-01 -6.51094158e-02 -1.61554513e-02 1.83873927e+02] [ 6.51154328e-02 9.97877726e-01 -1.53854832e-04 1.37870652e+00] [ 1.61311824e-02 -8.98460957e-04 9.99869480e-01 1.23085246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45925415399998 meters 0.028218676267429632 Centerline is valid? [True, True] Translation: X:183.91, Y:1.38, Z:1.23 [[ 9.97868498e-01 -6.30943686e-02 -1.66601877e-02 1.83905144e+02] [ 6.31004977e-02 9.98007165e-01 -1.58049843e-04 1.38275149e+00] [ 1.66369587e-02 -8.93553173e-04 9.99861197e-01 1.23141543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48925415399998 meters 0.027611023295173565 Centerline is valid? [True, True] Translation: X:183.94, Y:1.39, Z:1.23 [[ 9.98225333e-01 -5.69945511e-02 -1.72570741e-02 1.83935801e+02] [ 5.70002224e-02 9.98374152e-01 -1.63446137e-04 1.39077161e+00] [ 1.72383323e-02 -8.20500988e-04 9.99851072e-01 1.22998477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51925415399998 meters 0.025491737372745085 Centerline is valid? [True, True] Translation: X:183.97, Y:1.40, Z:1.23 [[ 9.98426095e-01 -5.39635146e-02 -1.52732400e-02 1.83967787e+02] [ 5.39676096e-02 9.98542676e-01 -1.44209896e-04 1.39530422e+00] [ 1.52587640e-02 -6.80277332e-04 9.99883347e-01 1.23295031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54925415399998 meters 0.024280196781735184 Centerline is valid? [True, True] Translation: X:184.00, Y:1.40, Z:1.23 [[ 9.98642848e-01 -5.01042544e-02 -1.42136012e-02 1.83998020e+02] [ 5.01074155e-02 9.98743826e-01 -1.33862420e-04 1.40034295e+00] [ 1.42024535e-02 -5.78526072e-04 9.99898973e-01 1.23400710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57925415399998 meters 0.019050120908194607 Centerline is valid? [True, True] Translation: X:184.03, Y:1.41, Z:1.24 [[ 9.99033321e-01 -4.20136011e-02 -1.29336826e-02 1.84028443e+02] [ 4.20155415e-02 9.99116950e-01 -1.21777670e-04 1.41491072e+00] [ 1.29273778e-02 -4.21755728e-04 9.99916349e-01 1.23660551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60925415399998 meters 0.020291375659560074 Centerline is valid? [True, True] Translation: X:184.06, Y:1.42, Z:1.24 [[ 9.99192120e-01 -3.81571111e-02 -1.26151893e-02 1.84058776e+02] [ 3.81586517e-02 9.99271686e-01 -1.18638872e-04 1.41621478e+00] [ 1.26105284e-02 -3.62835588e-04 9.99920418e-01 1.23638996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63925415399999 meters 0.01904845572387236 Centerline is valid? [True, True] Translation: X:184.09, Y:1.42, Z:1.24 [[ 9.99333201e-01 -3.45127586e-02 -1.19173397e-02 1.84090487e+02] [ 3.45138790e-02 9.99404212e-01 -1.11697400e-04 1.42115035e+00] [ 1.19140945e-02 -2.99690700e-04 9.99928980e-01 1.23708397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.669254154 meters 0.016248474052374916 Centerline is valid? [True, True] Translation: X:184.12, Y:1.43, Z:1.24 [[ 9.99449460e-01 -3.11073636e-02 -1.15373021e-02 1.84121577e+02] [ 3.11081929e-02 9.99516017e-01 -1.07615975e-04 1.42955872e+00] [ 1.15350659e-02 -2.51347892e-04 9.99933437e-01 1.23815930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.699254154 meters 0.015544000245040487 Centerline is valid? [True, True] Translation: X:184.15, Y:1.43, Z:1.24 [[ 9.99612700e-01 -2.54406340e-02 -1.12793804e-02 1.84151541e+02] [ 2.54410697e-02 9.99676318e-01 -1.04874067e-04 1.43481160e+00] [ 1.12783975e-02 -1.82126054e-04 9.99936380e-01 1.23770610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.729254154 meters 0.014815901836503682 Centerline is valid? [True, True] Translation: X:184.18, Y:1.44, Z:1.24 [[ 9.99658527e-01 -2.33786826e-02 -1.16733633e-02 1.84182849e+02] [ 2.33790124e-02 9.99726668e-01 -1.08228828e-04 1.43857126e+00] [ 1.16727029e-02 -1.64719836e-04 9.99931858e-01 1.23792756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759254154 meters 0.014815901836503682 Centerline is valid? [True, True] Translation: X:184.21, Y:1.44, Z:1.24 [[ 9.99659390e-01 -2.33417353e-02 -1.16733673e-02 1.84213697e+02] [ 2.33420676e-02 9.99727531e-01 -1.07797187e-04 1.43882770e+00] [ 1.16727029e-02 -1.64720059e-04 9.99931858e-01 1.23814126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.789254154 meters 0.014705865686709008 Centerline is valid? [True, True] Translation: X:184.24, Y:1.44, Z:1.24 [[ 9.99692779e-01 -2.17945853e-02 -1.18043755e-02 1.84244937e+02] [ 2.17948224e-02 9.99762459e-01 -1.08568409e-04 1.44114029e+00] [ 1.18039377e-02 -1.48739214e-04 9.99930320e-01 1.23797310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819254154 meters 0.014560419673830016 Centerline is valid? [True, True] Translation: X:184.28, Y:1.44, Z:1.24 [[ 9.99707310e-01 -2.04584530e-02 -1.29130236e-02 1.84275333e+02] [ 2.04586303e-02 9.99790693e-01 -1.18376378e-04 1.44406611e+00] [ 1.29127426e-02 -1.45841047e-04 9.99916616e-01 1.23745297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.849254154 meters 0.017093889267528542 Centerline is valid? [True, True] Translation: X:184.31, Y:1.45, Z:1.24 [[ 9.99697958e-01 -1.97575738e-02 -1.46161105e-02 1.84306329e+02] [ 1.97577283e-02 9.99804788e-01 -1.33845564e-04 1.44507526e+00] [ 1.46159017e-02 -1.54976001e-04 9.99893170e-01 1.23572759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879254154 meters 0.014370109078517613 Centerline is valid? [True, True] Translation: X:184.34, Y:1.45, Z:1.24 [[ 9.99696978e-01 -2.07844699e-02 -1.31893326e-02 1.84335379e+02] [ 2.07846791e-02 9.99783968e-01 -1.21227701e-04 1.44549647e+00] [ 1.31890029e-02 -1.52945079e-04 9.99913010e-01 1.23764757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.909254154 meters 0.01474598505953583 Centerline is valid? [True, True] Translation: X:184.37, Y:1.45, Z:1.24 [[ 9.99660120e-01 -2.23424874e-02 -1.34334561e-02 1.84366022e+02] [ 2.23428383e-02 9.99750360e-01 -1.23976275e-04 1.44556772e+00] [ 1.34328725e-02 -1.76207400e-04 9.99909759e-01 1.23765420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93925415399997 meters 0.01494738090705448 Centerline is valid? [True, True] Translation: X:184.40, Y:1.45, Z:1.24 [[ 9.99633165e-01 -2.34934166e-02 -1.34757020e-02 1.84396546e+02] [ 2.34938742e-02 9.99723973e-01 -1.24366159e-04 1.44503767e+00] [ 1.34749042e-02 -1.92275911e-04 9.99909191e-01 1.23754273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96925415399997 meters 0.015117668931972644 Centerline is valid? [True, True] Translation: X:184.43, Y:1.44, Z:1.24 [[ 9.99600535e-01 -2.48741677e-02 -1.34181182e-02 1.84427144e+02] [ 2.48747458e-02 9.99690568e-01 -1.23834723e-04 1.44491091e+00] [ 1.34170465e-02 -2.09987025e-04 9.99909965e-01 1.23785805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99925415399997 meters 0.015376510556072923 Centerline is valid? [True, True] Translation: X:184.46, Y:1.44, Z:1.24 [[ 9.99573896e-01 -2.61043351e-02 -1.30610194e-02 1.84458769e+02] [ 2.61049906e-02 9.99659199e-01 -1.20318188e-04 1.44411857e+00] [ 1.30597091e-02 -2.20690870e-04 9.99914694e-01 1.23802462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02925415399997 meters 0.01633479901160241 Centerline is valid? [True, True] Translation: X:184.49, Y:1.44, Z:1.24 [[ 9.99495762e-01 -2.87346648e-02 -1.35107309e-02 1.84488631e+02] [ 2.87356100e-02 9.99587039e-01 -1.24202705e-04 1.44214978e+00] [ 1.35087204e-02 -2.64099017e-04 9.99908718e-01 1.23747271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05925415399997 meters 0.017077235810936984 Centerline is valid? [True, True] Translation: X:184.52, Y:1.44, Z:1.24 [[ 9.99450043e-01 -3.03570161e-02 -1.33440650e-02 1.84519357e+02] [ 3.03580842e-02 9.99539080e-01 -1.22559171e-04 1.44070461e+00] [ 1.33416350e-02 -2.82608481e-04 9.99910956e-01 1.23752295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08925415399997 meters 0.018056212716225456 Centerline is valid? [True, True] Translation: X:184.55, Y:1.44, Z:1.24 [[ 9.99391027e-01 -3.23483982e-02 -1.30826919e-02 1.84550378e+02] [ 3.23496011e-02 9.99476608e-01 -1.19721899e-04 1.43941132e+00] [ 1.30797173e-02 -3.03570871e-04 9.99914411e-01 1.23742653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11925415399998 meters 0.017944409684559445 Centerline is valid? [True, True] Translation: X:184.58, Y:1.44, Z:1.24 [[ 9.99276227e-01 -3.61090576e-02 -1.19648537e-02 1.84582325e+02] [ 3.61103413e-02 9.99347803e-01 -1.08799598e-04 1.43856445e+00] [ 1.19609790e-02 -3.23334100e-04 9.99928413e-01 1.23822702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14925415399998 meters 0.01829262977622523 Centerline is valid? [True, True] Translation: X:184.61, Y:1.44, Z:1.24 [[ 9.99206540e-01 -3.80741554e-02 -1.16897306e-02 1.84614490e+02] [ 3.80755249e-02 9.99274859e-01 -1.05459718e-04 1.43769084e+00] [ 1.16852692e-02 -3.39716588e-04 9.99931667e-01 1.23870375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17925415399998 meters 0.019105495603021203 Centerline is valid? [True, True] Translation: X:184.65, Y:1.44, Z:1.24 [[ 9.99136745e-01 -3.98152173e-02 -1.18538032e-02 1.84645350e+02] [ 3.98167600e-02 9.99206993e-01 -1.05921512e-04 1.43603622e+00] [ 1.18486204e-02 -3.66149964e-04 9.99929736e-01 1.23867235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20925415399998 meters 0.01913594482344447 Centerline is valid? [True, True] Translation: X:184.68, Y:1.44, Z:1.24 [[ 9.99041768e-01 -4.20426642e-02 -1.21638790e-02 1.84677064e+02] [ 4.20444660e-02 9.99115735e-01 -1.07673178e-04 1.43613842e+00] [ 1.21576498e-02 -4.03853793e-04 9.99926011e-01 1.23889990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23925415399998 meters 0.0200607199479307 Centerline is valid? [True, True] Translation: X:184.71, Y:1.43, Z:1.24 [[ 9.98947509e-01 -4.40991639e-02 -1.26149602e-02 1.84709425e+02] [ 4.41012758e-02 9.99027059e-01 -1.10850995e-04 1.43469653e+00] [ 1.26075751e-02 -4.45601515e-04 9.99920422e-01 1.23861776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26925415399998 meters 0.02020512496095035 Centerline is valid? [True, True] Translation: X:184.74, Y:1.43, Z:1.24 [[ 9.98870586e-01 -4.57382334e-02 -1.28672474e-02 1.84741113e+02] [ 4.57405773e-02 9.98953346e-01 -1.12218732e-04 1.43464477e+00] [ 1.28589125e-02 -4.76463334e-04 9.99917207e-01 1.23854333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29925415399998 meters 0.021413332851489286 Centerline is valid? [True, True] Translation: X:184.77, Y:1.43, Z:1.24 [[ 9.98723021e-01 -4.88036761e-02 -1.30586248e-02 1.84773051e+02] [ 4.88063615e-02 9.98808253e-01 -1.13160766e-04 1.43295977e+00] [ 1.30485849e-02 -5.24327698e-04 9.99914726e-01 1.23789374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32925415399998 meters 0.02252908428406041 Centerline is valid? [True, True] Translation: X:184.80, Y:1.43, Z:1.24 [[ 9.98659329e-01 -5.00646049e-02 -1.31559815e-02 1.84803840e+02] [ 5.00674552e-02 9.98745832e-01 -1.12825096e-04 1.43180684e+00] [ 1.31451302e-02 -5.46012679e-04 9.99913450e-01 1.23726034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35925415399998 meters 0.023037570159265545 Centerline is valid? [True, True] Translation: X:184.83, Y:1.43, Z:1.24 [[ 9.98637482e-01 -5.05191992e-02 -1.30763543e-02 1.84834859e+02] [ 5.05220699e-02 9.98722939e-01 -1.10925292e-04 1.43091073e+00] [ 1.30652589e-02 -5.49870333e-04 9.99914495e-01 1.23726482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38925415399999 meters 0.022943229723432625 Centerline is valid? [True, True] Translation: X:184.87, Y:1.43, Z:1.24 [[ 9.98659446e-01 -5.00443677e-02 -1.32239037e-02 1.84867151e+02] [ 5.00472730e-02 9.98746844e-01 -1.11341002e-04 1.43237680e+00] [ 1.32129040e-02 -5.50628573e-04 9.99912554e-01 1.23701091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.419254154 meters 0.02229107891764292 Centerline is valid? [True, True] Translation: X:184.90, Y:1.43, Z:1.24 [[ 9.98734332e-01 -4.85602256e-02 -1.31010592e-02 1.84899384e+02] [ 4.85629620e-02 9.98820117e-01 -1.09362547e-04 1.43495639e+00] [ 1.30909122e-02 -5.27002111e-04 9.99914171e-01 1.23721047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.449254154 meters 0.020604860418429346 Centerline is valid? [True, True] Translation: X:184.93, Y:1.44, Z:1.24 [[ 9.98938598e-01 -4.40415509e-02 -1.34914285e-02 1.84930478e+02] [ 4.40440499e-02 9.99029584e-01 -1.11984549e-04 1.44153711e+00] [ 1.34832682e-02 -4.82351461e-04 9.99908980e-01 1.23773178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479254154 meters 0.020323299631314864 Centerline is valid? [True, True] Translation: X:184.96, Y:1.44, Z:1.24 [[ 9.99045503e-01 -4.15483687e-02 -1.34839431e-02 1.84961960e+02] [ 4.15506460e-02 9.99136393e-01 -1.11331001e-04 1.44438261e+00] [ 1.34769239e-02 -4.49041812e-04 9.99909081e-01 1.23775875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.509254154 meters 0.020631715068410838 Centerline is valid? [True, True] Translation: X:184.99, Y:1.45, Z:1.24 [[ 9.99149228e-01 -3.90141622e-02 -1.33684347e-02 1.84993200e+02] [ 3.90161852e-02 9.99238573e-01 -1.09546771e-04 1.44565579e+00] [ 1.33625294e-02 -4.12131750e-04 9.99910632e-01 1.23760228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539254154 meters 0.019997659115119457 Centerline is valid? [True, True] Translation: X:185.03, Y:1.45, Z:1.24 [[ 9.99226742e-01 -3.70257544e-02 -1.32291782e-02 1.85025460e+02] [ 3.70275719e-02 9.99314239e-01 -1.07604968e-04 1.44886990e+00] [ 1.32240903e-02 -3.82322584e-04 9.99912485e-01 1.23806417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.569254154 meters 0.017524428875812476 Centerline is valid? [True, True] Translation: X:185.06, Y:1.45, Z:1.24 [[ 9.99287538e-01 -3.53432376e-02 -1.32390663e-02 1.85057699e+02] [ 3.53449228e-02 9.99375167e-01 -1.06738832e-04 1.45492567e+00] [ 1.32345666e-02 -3.61270993e-04 9.99912354e-01 1.23933556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599254154 meters 0.017359498887457234 Centerline is valid? [True, True] Translation: X:185.09, Y:1.46, Z:1.24 [[ 9.99333105e-01 -3.36673066e-02 -1.41371115e-02 1.85088811e+02] [ 3.36690740e-02 9.99433030e-01 -1.13035939e-04 1.45822938e+00] [ 1.41329018e-02 -3.63022898e-04 9.99900060e-01 1.23881767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.629254154 meters 0.017218876001469926 Centerline is valid? [True, True] Translation: X:185.12, Y:1.46, Z:1.24 [[ 9.99331176e-01 -3.33789226e-02 -1.49348077e-02 1.85120962e+02] [ 3.33808777e-02 9.99442696e-01 -1.18424183e-04 1.46011908e+00] [ 1.49304373e-02 -3.80192010e-04 9.99888463e-01 1.23845859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65925415399997 meters 0.017273034542461606 Centerline is valid? [True, True] Translation: X:185.15, Y:1.46, Z:1.24 [[ 9.99311393e-01 -3.37518720e-02 -1.54126658e-02 1.85153317e+02] [ 3.37540161e-02 9.99430164e-01 -1.21068939e-04 1.46136604e+00] [ 1.54079694e-02 -3.99253800e-04 9.99881210e-01 1.23829052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68925415399997 meters 0.01777451671507594 Centerline is valid? [True, True] Translation: X:185.19, Y:1.46, Z:1.24 [[ 9.99283612e-01 -3.42698803e-02 -1.60573442e-02 1.85185608e+02] [ 3.42722936e-02 9.99412525e-01 -1.24942841e-04 1.46228078e+00] [ 1.60521927e-02 -4.25468682e-04 9.99871065e-01 1.23779330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71925415399997 meters 0.017545323410833227 Centerline is valid? [True, True] Translation: X:185.22, Y:1.46, Z:1.24 [[ 9.99255300e-01 -3.47407248e-02 -1.67907057e-02 1.85216571e+02] [ 3.47434449e-02 9.99396256e-01 -1.29763291e-04 1.46412959e+00] [ 1.67850765e-02 -4.53700304e-04 9.99859018e-01 1.23805639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74925415399997 meters 0.018777449023922366 Centerline is valid? [True, True] Translation: X:185.25, Y:1.46, Z:1.24 [[ 9.99233744e-01 -3.52322807e-02 -1.70472964e-02 1.85247729e+02] [ 3.52351699e-02 9.99379040e-01 -1.30937643e-04 1.46499581e+00] [ 1.70413240e-02 -4.69827075e-04 9.99854676e-01 1.23760689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77925415399997 meters 0.018116641828836048 Centerline is valid? [True, True] Translation: X:185.28, Y:1.47, Z:1.24 [[ 9.99236053e-01 -3.49845115e-02 -1.74181955e-02 1.85279296e+02] [ 3.49875034e-02 9.99387741e-01 -1.33024941e-04 1.46767888e+00] [ 1.74121849e-02 -4.76495858e-04 9.99848283e-01 1.23839649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80925415399997 meters 0.017819560685746017 Centerline is valid? [True, True] Translation: X:185.31, Y:1.47, Z:1.24 [[ 9.99262273e-01 -3.44479509e-02 -1.69779057e-02 1.85311049e+02] [ 3.44507263e-02 9.99406389e-01 -1.29058871e-04 1.47176480e+00] [ 1.69722732e-02 -4.55937520e-04 9.99855857e-01 1.23944027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83925415399997 meters 0.01777128186988778 Centerline is valid? [True, True] Translation: X:185.34, Y:1.47, Z:1.24 [[ 9.99283320e-01 -3.39633741e-02 -1.67133146e-02 1.85342570e+02] [ 3.39660059e-02 9.99422981e-01 -1.26452204e-04 1.47342295e+00] [ 1.67079655e-02 -4.41322964e-04 9.99860315e-01 1.24030354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86925415399998 meters 0.018278555162110945 Centerline is valid? [True, True] Translation: X:185.37, Y:1.48, Z:1.24 [[ 9.99314907e-01 -3.33726120e-02 -1.59995162e-02 1.85373908e+02] [ 3.33749571e-02 9.99442894e-01 -1.20487607e-04 1.47566827e+00] [ 1.59946238e-02 -4.13578107e-04 9.99871992e-01 1.24050832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89925415399998 meters 0.017664458302741506 Centerline is valid? [True, True] Translation: X:185.41, Y:1.48, Z:1.24 [[ 9.99357973e-01 -3.28329013e-02 -1.43402649e-02 1.85405605e+02] [ 3.28347404e-02 9.99460789e-01 -1.07236784e-04 1.47829332e+00] [ 1.43360534e-02 -3.63690941e-04 9.99897167e-01 1.24275129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92925415399998 meters 0.017320619991116455 Centerline is valid? [True, True] Translation: X:185.44, Y:1.48, Z:1.24 [[ 9.99392835e-01 -3.21001005e-02 -1.35478418e-02 1.85437974e+02] [ 3.21016874e-02 9.99484603e-01 -1.00369004e-04 1.48027230e+00] [ 1.35440811e-02 -3.34600518e-04 9.99908219e-01 1.24342856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95925415399998 meters 0.017382179494704997 Centerline is valid? [True, True] Translation: X:185.47, Y:1.48, Z:1.24 [[ 9.99429764e-01 -3.12146154e-02 -1.28760961e-02 1.85469047e+02] [ 3.12159855e-02 9.99512658e-01 -9.46064071e-05 1.48176237e+00] [ 1.28727741e-02 -3.07387571e-04 9.99917095e-01 1.24382646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98925415399998 meters 0.016866771327758157 Centerline is valid? [True, True] Translation: X:185.50, Y:1.48, Z:1.24 [[ 9.99471510e-01 -2.99644616e-02 -1.26028482e-02 1.85501533e+02] [ 2.99656845e-02 9.99550924e-01 -9.18360581e-05 1.48371718e+00] [ 1.25999404e-02 -2.85865450e-04 9.99920577e-01 1.24420730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01925415399998 meters 0.01798535173115829 Centerline is valid? [True, True] Translation: X:185.53, Y:1.49, Z:1.24 [[ 9.99513014e-01 -2.84160323e-02 -1.28943109e-02 1.85533051e+02] [ 2.84171941e-02 9.99596146e-01 -9.31417741e-05 1.48543318e+00] [ 1.28917502e-02 -2.73323720e-04 9.99916861e-01 1.24331804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04925415399998 meters 0.016297477929014134 Centerline is valid? [True, True] Translation: X:185.56, Y:1.49, Z:1.25 [[ 9.99580417e-01 -2.64067238e-02 -1.19026904e-02 1.85563811e+02] [ 2.64075775e-02 9.99651255e-01 -8.54680734e-05 1.48947488e+00] [ 1.19007964e-02 -2.28889007e-04 9.99929157e-01 1.24500569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07925415399998 meters 0.015692911869340874 Centerline is valid? [True, True] Translation: X:185.60, Y:1.49, Z:1.25 [[ 9.99596885e-01 -2.57112591e-02 -1.20415003e-02 1.85596163e+02] [ 2.57120897e-02 9.99669386e-01 -8.58563296e-05 1.49207560e+00] [ 1.20397267e-02 -2.23790415e-04 9.99927495e-01 1.24572806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10925415399998 meters 0.01616633641162368 Centerline is valid? [True, True] Translation: X:185.63, Y:1.49, Z:1.25 [[ 9.99600950e-01 -2.54189671e-02 -1.23214145e-02 1.85627416e+02] [ 2.54198243e-02 9.99676860e-01 -8.70587838e-05 1.49191295e+00] [ 1.23196459e-02 -2.26184150e-04 9.99924085e-01 1.24535432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13925415399999 meters 0.015479038860056558 Centerline is valid? [True, True] Translation: X:185.66, Y:1.49, Z:1.24 [[ 9.99581267e-01 -2.58109785e-02 -1.30798976e-02 1.85659820e+02] [ 2.58119891e-02 9.99666811e-01 -9.15768587e-05 1.49431262e+00] [ 1.30779032e-02 -2.46079661e-04 9.99914450e-01 1.24471563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.169254154 meters 0.016511980139591712 Centerline is valid? [True, True] Translation: X:185.69, Y:1.49, Z:1.24 [[ 9.99557731e-01 -2.62520191e-02 -1.39704847e-02 1.85691386e+02] [ 2.62532280e-02 9.99655320e-01 -9.68876820e-05 1.49192917e+00] [ 1.39682128e-02 -2.69925487e-04 9.99902403e-01 1.24376148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.199254154 meters 0.015384443323141614 Centerline is valid? [True, True] Translation: X:185.72, Y:1.49, Z:1.24 [[ 9.99536643e-01 -2.67915663e-02 -1.44468231e-02 1.85723469e+02] [ 2.67929291e-02 9.99641000e-01 -9.92422818e-05 1.49477268e+00] [ 1.44442955e-02 -2.87876410e-04 9.99895634e-01 1.24411161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.229254154 meters 0.016568055189828585 Centerline is valid? [True, True] Translation: X:185.75, Y:1.49, Z:1.24 [[ 9.99514022e-01 -2.72040432e-02 -1.52204052e-02 1.85754310e+02] [ 2.72056264e-02 9.99629853e-01 -1.03057998e-04 1.49241538e+00] [ 1.52175750e-02 -3.11072743e-04 9.99884158e-01 1.24298112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259254154 meters 0.017432714486303912 Centerline is valid? [True, True] Translation: X:185.78, Y:1.49, Z:1.24 [[ 9.99511665e-01 -2.72361856e-02 -1.53173703e-02 1.85784301e+02] [ 2.72378074e-02 9.99628977e-01 -1.02766028e-04 1.49138757e+00] [ 1.53144861e-02 -3.14495737e-04 9.99882677e-01 1.24188997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.289254154 meters 0.015624017013451308 Centerline is valid? [True, True] Translation: X:185.82, Y:1.50, Z:1.24 [[ 9.99526765e-01 -2.66932864e-02 -1.52877367e-02 1.85815198e+02] [ 2.66948450e-02 9.99643624e-01 -1.02141705e-04 1.49554529e+00] [ 1.52850150e-02 -3.06010393e-04 9.99883131e-01 1.24360793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319254154 meters 0.015426662384349008 Centerline is valid? [True, True] Translation: X:185.85, Y:1.50, Z:1.24 [[ 9.99552780e-01 -2.57836899e-02 -1.51473119e-02 1.85846167e+02] [ 2.57851239e-02 9.99667503e-01 -1.00652632e-04 1.49651444e+00] [ 1.51448707e-02 -2.89967696e-04 9.99885268e-01 1.24415074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.349254154 meters 0.014927652398007788 Centerline is valid? [True, True] Translation: X:185.88, Y:1.50, Z:1.24 [[ 9.99623877e-01 -2.31896808e-02 -1.46404404e-02 1.85877411e+02] [ 2.31907500e-02 9.99731054e-01 -9.67605542e-05 1.49883833e+00] [ 1.46387468e-02 -2.42798633e-04 9.99892818e-01 1.24496186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379254154 meters 0.014908876641805072 Centerline is valid? [True, True] Translation: X:185.91, Y:1.50, Z:1.24 [[ 9.99654946e-01 -2.17668425e-02 -1.47035490e-02 1.85908047e+02] [ 2.17677728e-02 9.99763049e-01 -9.67849598e-05 1.49964277e+00] [ 1.47021717e-02 -2.23311950e-04 9.99891892e-01 1.24492407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40925415399997 meters 0.014681315016006677 Centerline is valid? [True, True] Translation: X:185.94, Y:1.50, Z:1.25 [[ 9.99681148e-01 -2.08209897e-02 -1.42859618e-02 1.85939045e+02] [ 2.08217749e-02 9.99783199e-01 -9.37833172e-05 1.50105170e+00] [ 1.42848173e-02 -2.03705667e-04 9.99897946e-01 1.24549874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43925415399997 meters 0.014602554328698912 Centerline is valid? [True, True] Translation: X:185.97, Y:1.50, Z:1.25 [[ 9.99699712e-01 -1.98337880e-02 -1.43912093e-02 1.85969179e+02] [ 1.98344863e-02 9.99803273e-01 -9.42166408e-05 1.50146788e+00] [ 1.43902469e-02 -1.91253896e-04 9.99896437e-01 1.24531897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46925415399997 meters 0.014508549460051253 Centerline is valid? [True, True] Translation: X:186.00, Y:1.50, Z:1.25 [[ 9.99717309e-01 -1.92246076e-02 -1.39898779e-02 1.85999974e+02] [ 1.92252096e-02 9.99815174e-01 -9.14694295e-05 1.50196697e+00] [ 1.39890507e-02 -1.77514763e-04 9.99902133e-01 1.24549655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49925415399997 meters 0.014092287082303045 Centerline is valid? [True, True] Translation: X:186.03, Y:1.50, Z:1.25 [[ 9.99753510e-01 -1.75211720e-02 -1.36355282e-02 1.86030556e+02] [ 1.75215855e-02 9.99846481e-01 -8.91525999e-05 1.50314331e+00] [ 1.36349970e-02 -1.49785448e-04 9.99907028e-01 1.24575167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52925415399997 meters 0.014232653367642808 Centerline is valid? [True, True] Translation: X:186.06, Y:1.50, Z:1.25 [[ 9.99771584e-01 -1.64615043e-02 -1.36308284e-02 1.86060422e+02] [ 1.64618173e-02 9.99864491e-01 -8.92427984e-05 1.50279832e+00] [ 1.36304504e-02 -1.35165794e-04 9.99907092e-01 1.24535021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55925415399997 meters 0.013826866019753503 Centerline is valid? [True, True] Translation: X:186.09, Y:1.50, Z:1.25 [[ 9.99796547e-01 -1.48739196e-02 -1.36246456e-02 1.86089706e+02] [ 1.48740799e-02 9.99889371e-01 -8.95680441e-05 1.50409799e+00] [ 1.36244705e-02 -1.13104247e-04 9.99907176e-01 1.24618067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58925415399997 meters 0.013781769035186039 Centerline is valid? [True, True] Translation: X:186.12, Y:1.51, Z:1.25 [[ 9.99844353e-01 -1.18935250e-02 -1.30312887e-02 1.86118629e+02] [ 1.18933954e-02 9.99929267e-01 -8.74482898e-05 1.50509027e+00] [ 1.30314071e-02 -6.75515905e-05 9.99915085e-01 1.24653696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61925415399998 meters 0.01358794165662581 Centerline is valid? [True, True] Translation: X:186.15, Y:1.51, Z:1.25 [[ 9.99859439e-01 -1.06516325e-02 -1.29477586e-02 1.86147132e+02] [ 1.06513577e-02 9.99943269e-01 -9.01799014e-05 1.50552790e+00] [ 1.29479847e-02 -4.77439835e-05 9.99916170e-01 1.24692671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64925415399998 meters 0.01378063599881179 Centerline is valid? [True, True] Translation: X:186.18, Y:1.51, Z:1.25 [[ 9.99874664e-01 -9.65475406e-03 -1.25475663e-02 1.86175313e+02] [ 9.65437511e-03 9.99953391e-01 -9.07742102e-05 1.50546089e+00] [ 1.25478579e-02 -3.03760790e-05 9.99921272e-01 1.24667137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67925415399998 meters 0.01378063599881179 Centerline is valid? [True, True] Translation: X:186.20, Y:1.51, Z:1.25 [[ 9.99871787e-01 -9.94834402e-03 -1.25475388e-02 1.86202692e+02] [ 9.94794194e-03 9.99950514e-01 -9.44592664e-05 1.50572947e+00] [ 1.25478576e-02 -3.03750323e-05 9.99921272e-01 1.24686183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70925415399998 meters 0.013871805207458166 Centerline is valid? [True, True] Translation: X:186.23, Y:1.51, Z:1.25 [[ 9.99873886e-01 -9.19484841e-03 -1.29486006e-02 1.86230133e+02] [ 9.19432276e-03 9.99957726e-01 -1.00124806e-04 1.50506633e+00] [ 1.29489738e-02 -1.89414341e-05 9.99916158e-01 1.24633536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73925415399998 meters 0.013912935697657095 Centerline is valid? [True, True] Translation: X:186.26, Y:1.50, Z:1.25 [[ 9.99871728e-01 -8.91797652e-03 -1.33040343e-02 1.86258111e+02] [ 8.91736377e-03 9.99960234e-01 -1.05379433e-04 1.50417528e+00] [ 1.33044450e-02 -1.32709978e-05 9.99911492e-01 1.24607076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76925415399998 meters 0.013966827938076512 Centerline is valid? [True, True] Translation: X:186.29, Y:1.50, Z:1.24 [[ 9.99853151e-01 -9.45510370e-03 -1.42925364e-02 1.86286365e+02] [ 9.45441083e-03 9.99955299e-01 -1.16045928e-04 1.50094631e+00] [ 1.42929948e-02 -1.90986240e-05 9.99897850e-01 1.24482257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79925415399998 meters 0.014009923389869523 Centerline is valid? [True, True] Translation: X:186.31, Y:1.50, Z:1.24 [[ 9.99834161e-01 -1.04408019e-02 -1.49211351e-02 1.86313967e+02] [ 1.04401130e-02 9.99945493e-01 -1.24067726e-04 1.49896093e+00] [ 1.49216172e-02 -3.17311856e-05 9.99888666e-01 1.24448671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82925415399998 meters 0.014003766486562352 Centerline is valid? [True, True] Translation: X:186.34, Y:1.50, Z:1.24 [[ 9.99813766e-01 -1.19037246e-02 -1.51899218e-02 1.86341463e+02] [ 1.19031137e-02 9.99929147e-01 -1.30626667e-04 1.49659764e+00] [ 1.51904005e-02 -5.02050274e-05 9.99884618e-01 1.24413370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85925415399998 meters 0.014134968994358111 Centerline is valid? [True, True] Translation: X:186.37, Y:1.49, Z:1.24 [[ 9.99793449e-01 -1.35851511e-02 -1.51163072e-02 1.86368910e+02] [ 1.35846981e-02 9.99907715e-01 -1.32649575e-04 1.49369162e+00] [ 1.51167142e-02 -7.27282941e-05 9.99885733e-01 1.24349700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88925415399999 meters 0.014599815560608449 Centerline is valid? [True, True] Translation: X:186.40, Y:1.49, Z:1.24 [[ 9.99721201e-01 -1.77174573e-02 -1.56080509e-02 1.86397926e+02] [ 1.77174587e-02 9.99843024e-01 -1.38195523e-04 1.48716259e+00] [ 1.56080493e-02 -1.38378004e-04 9.99878177e-01 1.24303590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.919254154 meters 0.014817547866822468 Centerline is valid? [True, True] Translation: X:186.43, Y:1.48, Z:1.24 [[ 9.99674669e-01 -2.01724303e-02 -1.56086218e-02 1.86426243e+02] [ 2.01726898e-02 9.99796501e-01 -1.40832758e-04 1.48401167e+00] [ 1.56082864e-02 -1.74080944e-04 9.99878168e-01 1.24295301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.949254154 meters 0.015094679869818009 Centerline is valid? [True, True] Translation: X:186.46, Y:1.48, Z:1.24 [[ 9.99614750e-01 -2.27778380e-02 -1.58594247e-02 1.86455875e+02] [ 2.27784010e-02 9.99740528e-01 -1.45161753e-04 1.48124044e+00] [ 1.58586161e-02 -2.16146506e-04 9.99874221e-01 1.24289668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979254154 meters 0.015567514992221596 Centerline is valid? [True, True] Translation: X:186.49, Y:1.48, Z:1.24 [[ 9.99539718e-01 -2.55242101e-02 -1.63971696e-02 1.86485836e+02] [ 2.55251743e-02 9.99674168e-01 -1.50514060e-04 1.47800103e+00] [ 1.63956686e-02 -2.68095830e-04 9.99865546e-01 1.24270140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.009254154 meters 0.01698808285779204 Centerline is valid? [True, True] Translation: X:186.52, Y:1.47, Z:1.24 [[ 9.99384094e-01 -3.09118017e-02 -1.66100257e-02 1.86515177e+02] [ 3.09135298e-02 9.99522051e-01 -1.52768086e-04 1.47084507e+00] [ 1.66068093e-02 -3.60800529e-04 9.99862032e-01 1.24214543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039254154 meters 0.017342295386293654 Centerline is valid? [True, True] Translation: X:186.55, Y:1.47, Z:1.24 [[ 9.99308873e-01 -3.33702354e-02 -1.63769550e-02 1.86546274e+02] [ 3.33722488e-02 9.99442980e-01 -1.50406013e-04 1.46835402e+00] [ 1.63728518e-02 -3.96233753e-04 9.99865877e-01 1.24239229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.069254154 meters 0.018058781922067273 Centerline is valid? [True, True] Translation: X:186.58, Y:1.47, Z:1.24 [[ 9.99236179e-01 -3.56888167e-02 -1.59174813e-02 1.86577278e+02] [ 3.56910216e-02 9.99362862e-01 -1.45620294e-04 1.46530016e+00] [ 1.59125367e-02 -4.22602104e-04 9.99873298e-01 1.24273078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099254154 meters 0.018492387975140877 Centerline is valid? [True, True] Translation: X:186.61, Y:1.46, Z:1.24 [[ 9.99156838e-01 -3.79571433e-02 -1.56482481e-02 1.86609681e+02] [ 3.79595660e-02 9.99279266e-01 -1.42276585e-04 1.46301631e+00] [ 1.56423703e-02 -4.51844082e-04 9.99877549e-01 1.24350693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.129254154 meters 0.019817901897742476 Centerline is valid? [True, True] Translation: X:186.64, Y:1.46, Z:1.24 [[ 9.98980258e-01 -4.27607835e-02 -1.44899914e-02 1.86640848e+02] [ 4.27633742e-02 9.99085220e-01 -1.31139370e-04 1.45840120e+00] [ 1.44823439e-02 -4.88635282e-04 9.99895006e-01 1.24445802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15925415399997 meters 0.020743662214782025 Centerline is valid? [True, True] Translation: X:186.67, Y:1.46, Z:1.25 [[ 9.98883968e-01 -4.49963440e-02 -1.43578407e-02 1.86673414e+02] [ 4.49991278e-02 9.98987018e-01 -1.29275797e-04 1.45588502e+00] [ 1.43491134e-02 -5.16958786e-04 9.99896913e-01 1.24505828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18925415399997 meters 0.0212440445158461 Centerline is valid? [True, True] Translation: X:186.71, Y:1.45, Z:1.25 [[ 9.98785660e-01 -4.71219919e-02 -1.43778870e-02 1.86705411e+02] [ 4.71250186e-02 9.98888991e-01 -1.28401619e-04 1.45458735e+00] [ 1.43679635e-02 -5.49312494e-04 9.99896625e-01 1.24529471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21925415399997 meters 0.023391744516229905 Centerline is valid? [True, True] Translation: X:186.74, Y:1.45, Z:1.24 [[ 9.98704984e-01 -4.85592851e-02 -1.51772919e-02 1.86736830e+02] [ 4.85628385e-02 9.98820120e-01 -1.34550368e-04 1.45172170e+00] [ 1.51659182e-02 -6.02676253e-04 9.99884809e-01 1.24450485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24925415399997 meters 0.024511888969191202 Centerline is valid? [True, True] Translation: X:186.77, Y:1.45, Z:1.24 [[ 9.98529447e-01 -5.22080059e-02 -1.46036776e-02 1.86766605e+02] [ 5.22116906e-02 9.98636031e-01 -1.29099876e-04 1.44682960e+00] [ 1.45904987e-02 -6.33572670e-04 9.99893352e-01 1.24496401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27925415399997 meters 0.024753584498357024 Centerline is valid? [True, True] Translation: X:186.80, Y:1.45, Z:1.25 [[ 9.98470613e-01 -5.32822683e-02 -1.47457019e-02 1.86798836e+02] [ 5.32861501e-02 9.98579275e-01 -1.29795487e-04 1.44575107e+00] [ 1.47316681e-02 -6.56144705e-04 9.99891268e-01 1.24513856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30925415399997 meters 0.025784150241509554 Centerline is valid? [True, True] Translation: X:186.83, Y:1.44, Z:1.25 [[ 9.98422435e-01 -5.42450992e-02 -1.44951825e-02 1.86829683e+02] [ 5.42489644e-02 9.98527433e-01 -1.26698677e-04 1.44407705e+00] [ 1.44807102e-02 -6.59849839e-04 9.99894931e-01 1.24555172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33925415399997 meters 0.024100652021986906 Centerline is valid? [True, True] Translation: X:186.86, Y:1.45, Z:1.25 [[ 9.98375735e-01 -5.49528293e-02 -1.50359243e-02 1.86861643e+02] [ 5.49570832e-02 9.98488709e-01 -1.30444816e-04 1.44674284e+00] [ 1.50203690e-02 -6.96097605e-04 9.99886946e-01 1.24625722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36925415399998 meters 0.02787703027416342 Centerline is valid? [True, True] Translation: X:186.89, Y:1.44, Z:1.24 [[ 9.98318089e-01 -5.53886469e-02 -1.71199099e-02 1.86893078e+02] [ 5.53942453e-02 9.98464549e-01 -1.47384713e-04 1.44189013e+00] [ 1.71017865e-02 -8.01207662e-04 9.99853433e-01 1.24477528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39925415399998 meters 0.02433601382097577 Centerline is valid? [True, True] Translation: X:186.93, Y:1.45, Z:1.25 [[ 9.98304693e-01 -5.58246130e-02 -1.64727737e-02 1.86925609e+02] [ 5.58298729e-02 9.98440286e-01 -1.40745558e-04 1.44617842e+00] [ 1.64549379e-02 -7.79165909e-04 9.99864305e-01 1.24621910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42925415399998 meters 0.026443356708922932 Centerline is valid? [True, True] Translation: X:186.96, Y:1.44, Z:1.25 [[ 9.98302530e-01 -5.57052449e-02 -1.69995588e-02 1.86956587e+02] [ 5.57108477e-02 9.98446934e-01 -1.44168367e-04 1.44284966e+00] [ 1.69811883e-02 -8.03136184e-04 9.99855487e-01 1.24547297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45925415399998 meters 0.024929838860016797 Centerline is valid? [True, True] Translation: X:186.99, Y:1.45, Z:1.25 [[ 9.98298374e-01 -5.55901572e-02 -1.76094148e-02 1.86989004e+02] [ 5.55961720e-02 9.98453326e-01 -1.48169410e-04 1.44552423e+00] [ 1.75904155e-02 -8.31098771e-04 9.99844931e-01 1.24619197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48925415399998 meters 0.025303830759506617 Centerline is valid? [True, True] Translation: X:187.02, Y:1.45, Z:1.25 [[ 9.98326439e-01 -5.49839700e-02 -1.79188500e-02 1.87020106e+02] [ 5.49901206e-02 9.98486887e-01 -1.49662733e-04 1.44508711e+00] [ 1.78999658e-02 -8.35947460e-04 9.99839433e-01 1.24594439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51925415399998 meters 0.025107452845924395 Centerline is valid? [True, True] Translation: X:187.05, Y:1.45, Z:1.25 [[ 9.98392719e-01 -5.31760297e-02 -1.96032924e-02 1.87052795e+02] [ 5.31830738e-02 9.98584766e-01 -1.62192699e-04 1.44659696e+00] [ 1.95841739e-02 -8.80631338e-04 9.99807824e-01 1.24516305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.54925415399998 meters 0.024436050676912843 Centerline is valid? [True, True] Translation: X:187.08, Y:1.45, Z:1.24 [[ 9.98451109e-01 -5.16653931e-02 -2.06414581e-02 1.87084601e+02] [ 5.16729147e-02 9.98664048e-01 -1.69155963e-04 1.44846875e+00] [ 2.06226216e-02 -8.97710344e-04 9.99786928e-01 1.24493846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57925415399998 meters 0.02254005861670344 Centerline is valid? [True, True] Translation: X:187.12, Y:1.45, Z:1.25 [[ 9.98521570e-01 -4.99241805e-02 -2.14999968e-02 1.87115625e+02] [ 4.99319606e-02 9.98752606e-01 -1.75146964e-04 1.45267316e+00] [ 2.14819219e-02 -8.98648970e-04 9.99768833e-01 1.24546359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60925415399998 meters 0.023138617825025652 Centerline is valid? [True, True] Translation: X:187.15, Y:1.45, Z:1.24 [[ 9.98613166e-01 -4.77984011e-02 -2.20693959e-02 1.87146500e+02] [ 4.78060985e-02 9.98856619e-01 -1.78977277e-04 1.45329258e+00] [ 2.20527170e-02 -8.76322648e-04 9.99756425e-01 1.24491174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63925415399999 meters 0.022419385315433686 Centerline is valid? [True, True] Translation: X:187.18, Y:1.46, Z:1.25 [[ 9.98722896e-01 -4.54564315e-02 -2.20519908e-02 1.87177842e+02] [ 4.54635641e-02 9.98965982e-01 -1.78048607e-04 1.45624223e+00] [ 2.20372821e-02 -8.24740875e-04 9.99756809e-01 1.24548549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.669254154 meters 0.019167478041695742 Centerline is valid? [True, True] Translation: X:187.21, Y:1.47, Z:1.25 [[ 9.98985395e-01 -3.97244689e-02 -2.12166932e-02 1.87208601e+02] [ 3.97297903e-02 9.99210446e-01 -1.70808866e-04 1.46505642e+00] [ 2.12067268e-02 -6.72299211e-04 9.99774886e-01 1.24801349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.699254154 meters 0.018820853360719095 Centerline is valid? [True, True] Translation: X:187.24, Y:1.47, Z:1.25 [[ 9.99122268e-01 -3.63390088e-02 -2.08367326e-02 1.87238580e+02] [ 3.63434082e-02 9.99339346e-01 -1.67626516e-04 1.46755266e+00] [ 2.08290581e-02 -5.89798495e-04 9.99782878e-01 1.24884686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.729254154 meters 0.01711428306364209 Centerline is valid? [True, True] Translation: X:187.27, Y:1.47, Z:1.25 [[ 9.99265066e-01 -3.27050912e-02 -1.99926070e-02 1.87269165e+02] [ 3.27084144e-02 9.99464924e-01 -1.60835728e-04 1.47238982e+00] [ 1.99871696e-02 -4.93208951e-04 9.99800115e-01 1.25028431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759254154 meters 0.016294291036323447 Centerline is valid? [True, True] Translation: X:187.30, Y:1.48, Z:1.25 [[ 9.99387848e-01 -2.90321197e-02 -1.95209071e-02 1.87299441e+02] [ 2.90345876e-02 9.99578395e-01 -1.57041015e-04 1.47606442e+00] [ 1.95172362e-02 -4.09836605e-04 9.99809437e-01 1.25087660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.789254154 meters 0.014272965818595214 Centerline is valid? [True, True] Translation: X:187.33, Y:1.48, Z:1.25 [[ 9.99597777e-01 -2.11175222e-02 -1.89297368e-02 1.87329663e+02] [ 2.11184198e-02 9.99776970e-01 -1.52505004e-04 1.48452658e+00] [ 1.89287354e-02 -2.47322464e-04 9.99820805e-01 1.25234678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819254154 meters 0.014040167418239718 Centerline is valid? [True, True] Translation: X:187.36, Y:1.49, Z:1.25 [[ 9.99667129e-01 -1.76403781e-02 -1.88267900e-02 1.87357931e+02] [ 1.76405901e-02 9.99844381e-01 -1.54827260e-04 1.48752036e+00] [ 1.88265914e-02 -1.77339961e-04 9.99822748e-01 1.25169420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.849254154 meters 0.013625768209367766 Centerline is valid? [True, True] Translation: X:187.39, Y:1.49, Z:1.25 [[ 9.99724340e-01 -1.43917658e-02 -1.85504742e-02 1.87387034e+02] [ 1.43913257e-02 9.99896427e-01 -1.57226442e-04 1.49153146e+00] [ 1.85508157e-02 -1.09782816e-04 9.99827913e-01 1.25286527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879254154 meters 0.013402498595355318 Centerline is valid? [True, True] Translation: X:187.42, Y:1.49, Z:1.25 [[ 9.99756985e-01 -1.13832827e-02 -1.88783205e-02 1.87415195e+02] [ 1.13822266e-02 9.99935207e-01 -1.63393366e-04 1.49426277e+00] [ 1.88789573e-02 -5.15236634e-05 9.99821775e-01 1.25231706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90925415399997 meters 0.013193590188217167 Centerline is valid? [True, True] Translation: X:187.44, Y:1.50, Z:1.25 [[ 9.99776568e-01 -9.21770179e-03 -1.90223264e-02 1.87442834e+02] [ 9.21615324e-03 9.99957516e-01 -1.69071825e-04 1.49673674e+00] [ 1.90230767e-02 -6.27862671e-06 9.99819045e-01 1.25357118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93925415399997 meters 0.01327910222749558 Centerline is valid? [True, True] Translation: X:187.47, Y:1.50, Z:1.25 [[ 9.99791056e-01 -7.45346408e-03 -1.90339231e-02 1.87469569e+02] [ 7.45151009e-03 9.99972222e-01 -1.73579438e-04 1.49836027e+00] [ 1.90346881e-02 3.17117001e-05 9.99818823e-01 1.25337381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96925415399997 meters 0.013628143493532146 Centerline is valid? [True, True] Translation: X:187.50, Y:1.50, Z:1.25 [[ 9.99803841e-01 -5.80820318e-03 -1.89352703e-02 1.87496957e+02] [ 5.80590359e-03 9.99983130e-01 -1.76416222e-04 1.50021213e+00] [ 1.89359756e-02 6.64452620e-05 9.99820696e-01 1.25241945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99925415399997 meters 0.013462790648341091 Centerline is valid? [True, True] Translation: X:187.52, Y:1.50, Z:1.25 [[ 9.99804029e-01 -6.04301122e-03 -1.88516667e-02 1.87524661e+02] [ 6.04068373e-03 9.99981739e-01 -1.80404504e-04 1.50001432e+00] [ 1.88524126e-02 6.64921939e-05 9.99822275e-01 1.25419087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02925415399997 meters 0.013352100201362481 Centerline is valid? [True, True] Translation: X:187.55, Y:1.50, Z:1.26 [[ 9.99794411e-01 -6.87479635e-03 -1.90754702e-02 1.87552721e+02] [ 6.87245893e-03 9.99976367e-01 -1.88087066e-04 1.49973049e+00] [ 1.90763124e-02 5.69530116e-05 9.99818029e-01 1.25505713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05925415399997 meters 0.013448295980964815 Centerline is valid? [True, True] Translation: X:187.58, Y:1.50, Z:1.25 [[ 9.99772880e-01 -8.89291830e-03 -1.93676136e-02 1.87579491e+02] [ 8.89081729e-03 9.99960457e-01 -1.94584551e-04 1.49855093e+00] [ 1.93685782e-02 2.23464430e-05 9.99812411e-01 1.25443068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08925415399997 meters 0.013249070662196757 Centerline is valid? [True, True] Translation: X:187.61, Y:1.50, Z:1.26 [[ 9.99743947e-01 -1.06339467e-02 -1.99739786e-02 1.87607647e+02] [ 1.06319657e-02 9.99943458e-01 -2.05369702e-04 1.49765162e+00] [ 1.99750331e-02 -7.04553996e-06 9.99800479e-01 1.25517517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11925415399998 meters 0.01340079143351302 Centerline is valid? [True, True] Translation: X:187.64, Y:1.50, Z:1.26 [[ 9.99719293e-01 -1.21332240e-02 -2.03499242e-02 1.87635246e+02] [ 1.21314120e-02 9.99926389e-01 -2.12495510e-04 1.49657385e+00] [ 2.03510045e-02 -3.44374524e-05 9.99792896e-01 1.25507389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14925415399998 meters 0.014627640117339472 Centerline is valid? [True, True] Translation: X:187.66, Y:1.49, Z:1.26 [[ 9.99668254e-01 -1.59275013e-02 -2.02409807e-02 1.87663693e+02] [ 1.59264538e-02 9.99873143e-01 -2.12959939e-04 1.49369169e+00] [ 2.02418049e-02 -1.09477755e-04 9.99795108e-01 1.25551150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17925415399998 meters 0.013860085094841445 Centerline is valid? [True, True] Translation: X:187.69, Y:1.49, Z:1.26 [[ 9.99634902e-01 -1.89393803e-02 -1.92707691e-02 1.87691169e+02] [ 1.89389112e-02 9.99820621e-01 -2.06860319e-04 1.49208847e+00] [ 1.92712302e-02 -1.58182589e-04 9.99814280e-01 1.25605108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20925415399998 meters 0.014340428130288848 Centerline is valid? [True, True] Translation: X:187.72, Y:1.49, Z:1.26 [[ 9.99591318e-01 -2.16726807e-02 -1.86411329e-02 1.87718466e+02] [ 2.16726564e-02 9.99765100e-01 -2.03345482e-04 1.49024017e+00] [ 1.86411611e-02 -2.00740489e-04 9.99826218e-01 1.25619213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23925415399998 meters 0.015495137078594574 Centerline is valid? [True, True] Translation: X:187.75, Y:1.49, Z:1.26 [[ 9.99537046e-01 -2.44131672e-02 -1.81574138e-02 1.87746415e+02] [ 2.44135646e-02 9.99701925e-01 -1.99808820e-04 1.48694359e+00] [ 1.81568795e-02 -2.43570876e-04 9.99835121e-01 1.25532589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26925415399998 meters 0.015364485625961164 Centerline is valid? [True, True] Translation: X:187.78, Y:1.49, Z:1.26 [[ 9.99482384e-01 -2.68103979e-02 -1.77810554e-02 1.87775924e+02] [ 2.68111406e-02 9.99640497e-01 -1.96656850e-04 1.48661687e+00] [ 1.77799355e-02 -2.80175318e-04 9.99841885e-01 1.25699691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29925415399998 meters 0.01618780562631578 Centerline is valid? [True, True] Translation: X:187.81, Y:1.48, Z:1.26 [[ 9.99402364e-01 -2.99770075e-02 -1.72131722e-02 1.87805737e+02] [ 2.99781626e-02 9.99550536e-01 -1.90975890e-04 1.48424065e+00] [ 1.72111603e-02 -3.25157518e-04 9.99851824e-01 1.25717277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32925415399998 meters 0.01558745655764158 Centerline is valid? [True, True] Translation: X:187.84, Y:1.49, Z:1.26 [[ 9.99383399e-01 -3.07444950e-02 -1.69586816e-02 1.87836916e+02] [ 3.07457288e-02 9.99527221e-01 -1.88026376e-04 1.48507372e+00] [ 1.69564446e-02 -3.33496586e-04 9.99856174e-01 1.25806571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35925415399998 meters 0.015561189884800286 Centerline is valid? [True, True] Translation: X:187.87, Y:1.49, Z:1.26 [[ 9.99355396e-01 -3.14462346e-02 -1.73183895e-02 1.87868092e+02] [ 3.14476378e-02 9.99505382e-01 -1.91370686e-04 1.48534597e+00] [ 1.73158414e-02 -3.53375113e-04 9.99850007e-01 1.25840609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38925415399999 meters 0.01588772680377546 Centerline is valid? [True, True] Translation: X:187.90, Y:1.48, Z:1.26 [[ 9.99352176e-01 -3.16587870e-02 -1.71157859e-02 1.87898806e+02] [ 3.16601962e-02 9.99498673e-01 -1.88690933e-04 1.48420653e+00] [ 1.71131790e-02 -3.53320444e-04 9.99853496e-01 1.25778453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.419254154 meters 0.015685529418976666 Centerline is valid? [True, True] Translation: X:187.93, Y:1.48, Z:1.26 [[ 9.99351625e-01 -3.17030437e-02 -1.70659557e-02 1.87930002e+02] [ 3.17044597e-02 9.99497270e-01 -1.87642022e-04 1.48442812e+00] [ 1.70633250e-02 -3.53546547e-04 9.99854348e-01 1.25783217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.449254154 meters 0.015778455658895397 Centerline is valid? [True, True] Translation: X:187.96, Y:1.48, Z:1.26 [[ 9.99365998e-01 -3.13897764e-02 -1.68013162e-02 1.87961709e+02] [ 3.13911149e-02 9.99507161e-01 -1.84120269e-04 1.48413121e+00] [ 1.67988153e-02 -3.43408510e-04 9.99858831e-01 1.25716128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479254154 meters 0.015923052170031964 Centerline is valid? [True, True] Translation: X:187.99, Y:1.48, Z:1.26 [[ 9.99373206e-01 -3.11629318e-02 -1.67948503e-02 1.87993474e+02] [ 3.11642474e-02 9.99514260e-01 -1.83438187e-04 1.48423733e+00] [ 1.67924088e-02 -3.40075661e-04 9.99858940e-01 1.25685723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.509254154 meters 0.015827145958526318 Centerline is valid? [True, True] Translation: X:188.03, Y:1.48, Z:1.26 [[ 9.99388165e-01 -3.05780502e-02 -1.69787511e-02 1.88025158e+02] [ 3.05793210e-02 9.99532326e-01 -1.84827882e-04 1.48464935e+00] [ 1.69764623e-02 -3.34483882e-04 9.99855834e-01 1.25667245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539254154 meters 0.015928661048581143 Centerline is valid? [True, True] Translation: X:188.06, Y:1.48, Z:1.26 [[ 9.99396499e-01 -3.02438989e-02 -1.70863751e-02 1.88055667e+02] [ 3.02451445e-02 9.99542494e-01 -1.85563419e-04 1.48490479e+00] [ 1.70841701e-02 -3.31328452e-04 9.99854000e-01 1.25613022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.569254154 meters 0.015928661048581143 Centerline is valid? [True, True] Translation: X:188.09, Y:1.49, Z:1.26 [[ 9.99397584e-01 -3.02080076e-02 -1.70863804e-02 1.88086518e+02] [ 3.02092563e-02 9.99543579e-01 -1.85073967e-04 1.48520925e+00] [ 1.70841725e-02 -3.31204370e-04 9.99854000e-01 1.25634399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599254154 meters 0.015610418871079048 Centerline is valid? [True, True] Translation: X:188.12, Y:1.49, Z:1.26 [[ 9.99412804e-01 -2.96737270e-02 -1.71323644e-02 1.88117584e+02] [ 2.96749147e-02 9.99559586e-01 -1.84949297e-04 1.48631199e+00] [ 1.71303072e-02 -3.23560756e-04 9.99853213e-01 1.25573947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.629254154 meters 0.015545216525369531 Centerline is valid? [True, True] Translation: X:188.15, Y:1.49, Z:1.26 [[ 9.99406224e-01 -2.98706485e-02 -1.71739246e-02 1.88148540e+02] [ 2.98718818e-02 9.99553719e-01 -1.84765570e-04 1.48715880e+00] [ 1.71717792e-02 -3.28361584e-04 9.99852500e-01 1.25642252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65925415399997 meters 0.01595667435610556 Centerline is valid? [True, True] Translation: X:188.18, Y:1.49, Z:1.26 [[ 9.99391569e-01 -3.04641896e-02 -1.69831035e-02 1.88179072e+02] [ 3.04654887e-02 9.99535803e-01 -1.82275489e-04 1.48652109e+00] [ 1.69807729e-02 -3.35233963e-04 9.99855760e-01 1.25605733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68925415399997 meters 0.016066181376471516 Centerline is valid? [True, True] Translation: X:188.21, Y:1.49, Z:1.26 [[ 9.99313351e-01 -3.31269085e-02 -1.65962398e-02 1.88210642e+02] [ 3.31285241e-02 9.99451084e-01 -1.77642214e-04 1.48598996e+00] [ 1.65930146e-02 -3.72288694e-04 9.99862257e-01 1.25686227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71925415399997 meters 0.017392985759903282 Centerline is valid? [True, True] Translation: X:188.24, Y:1.48, Z:1.26 [[ 9.99247885e-01 -3.50323976e-02 -1.66251282e-02 1.88241379e+02] [ 3.50342954e-02 9.99386095e-01 -1.77168334e-04 1.48297573e+00] [ 1.66211286e-02 -4.05414569e-04 9.99861777e-01 1.25621714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74925415399997 meters 0.017759184657076977 Centerline is valid? [True, True] Translation: X:188.27, Y:1.48, Z:1.26 [[ 9.99154046e-01 -3.76489626e-02 -1.65453280e-02 1.88273000e+02] [ 3.76512126e-02 9.99290926e-01 -1.75595947e-04 1.48218213e+00] [ 1.65402072e-02 -4.47504262e-04 9.99863101e-01 1.25652065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77925415399997 meters 0.019073378067979516 Centerline is valid? [True, True] Translation: X:188.30, Y:1.48, Z:1.26 [[ 9.98924226e-01 -4.32255514e-02 -1.67911461e-02 1.88303666e+02] [ 4.32286630e-02 9.99065189e-01 -1.77769978e-04 1.47905353e+00] [ 1.67831338e-02 -5.48280059e-04 9.99859003e-01 1.25624651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80925415399997 meters 0.020034159150381523 Centerline is valid? [True, True] Translation: X:188.34, Y:1.48, Z:1.26 [[ 9.98802424e-01 -4.59026819e-02 -1.69310806e-02 1.88335423e+02] [ 4.59062412e-02 9.98945737e-01 -1.78572126e-04 1.47721574e+00] [ 1.69214277e-02 -5.98883995e-04 9.99856643e-01 1.25603524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83925415399997 meters 0.021150910853306424 Centerline is valid? [True, True] Translation: X:188.37, Y:1.48, Z:1.26 [[ 9.98688818e-01 -4.82946239e-02 -1.69786081e-02 1.88367495e+02] [ 4.82985673e-02 9.98832927e-01 -1.77957794e-04 1.47560530e+00] [ 1.69673873e-02 -6.42317988e-04 9.99855837e-01 1.25565982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86925415399998 meters 0.021284028866265264 Centerline is valid? [True, True] Translation: X:188.40, Y:1.48, Z:1.26 [[ 9.98594728e-01 -5.01196601e-02 -1.72217509e-02 1.88399593e+02] [ 5.01240100e-02 9.98742986e-01 -1.79235401e-04 1.47577515e+00] [ 1.72090861e-02 -6.84239686e-04 9.99851679e-01 1.25560460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89925415399998 meters 0.023259149171832923 Centerline is valid? [True, True] Translation: X:188.43, Y:1.47, Z:1.25 [[ 9.98500300e-01 -5.19491862e-02 -1.72752284e-02 1.88430949e+02] [ 5.19538552e-02 9.98649471e-01 -1.78711439e-04 1.47366794e+00] [ 1.72611816e-02 -7.19071293e-04 9.99850756e-01 1.25499602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92925415399998 meters 0.02317352231477554 Centerline is valid? [True, True] Translation: X:188.46, Y:1.47, Z:1.26 [[ 9.98434880e-01 -5.33637588e-02 -1.67362010e-02 1.88463094e+02] [ 5.33683573e-02 9.98574879e-01 -1.72054418e-04 1.47490872e+00] [ 1.67215313e-02 -7.21398423e-04 9.99859925e-01 1.25585147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95925415399998 meters 0.02328984979165453 Centerline is valid? [True, True] Translation: X:188.50, Y:1.48, Z:1.26 [[ 9.98435611e-01 -5.35826062e-02 -1.59760681e-02 1.88495619e+02] [ 5.35868426e-02 9.98563180e-01 -1.63101114e-04 1.47595267e+00] [ 1.59618528e-02 -6.93261087e-04 9.99872361e-01 1.25634005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98925415399998 meters 0.022560184198991213 Centerline is valid? [True, True] Translation: X:188.53, Y:1.48, Z:1.26 [[ 9.98475670e-01 -5.30866632e-02 -1.51044139e-02 1.88527367e+02] [ 5.30904094e-02 9.98589698e-01 -1.53123558e-04 1.47827842e+00] [ 1.50912409e-02 -6.49009370e-04 9.99885910e-01 1.25753314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01925415399998 meters 0.021426375976573278 Centerline is valid? [True, True] Translation: X:188.56, Y:1.48, Z:1.26 [[ 9.98588921e-01 -5.13359288e-02 -1.35937301e-02 1.88559192e+02] [ 5.13388140e-02 9.98681284e-01 -1.36853172e-04 1.48309282e+00] [ 1.35828293e-02 -5.61225920e-04 9.99907592e-01 1.25932468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.04925415399998 meters 0.021426375976573278 Centerline is valid? [True, True] Translation: X:188.59, Y:1.48, Z:1.26 [[ 9.98594668e-01 -5.12240050e-02 -1.35937427e-02 1.88591760e+02] [ 5.12268970e-02 9.98687031e-01 -1.35590109e-04 1.48333148e+00] [ 1.35828400e-02 -5.60965698e-04 9.99907592e-01 1.25955022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07925415399998 meters 0.021575206428085126 Centerline is valid? [True, True] Translation: X:188.62, Y:1.49, Z:1.26 [[ 9.98743901e-01 -4.86915833e-02 -1.18216076e-02 1.88622152e+02] [ 4.86936024e-02 9.98813756e-01 -1.17147256e-04 1.48665218e+00] [ 1.18132883e-02 -4.58636551e-04 9.99930115e-01 1.26079438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10925415399998 meters 0.022188353019814536 Centerline is valid? [True, True] Translation: X:188.65, Y:1.49, Z:1.26 [[ 9.98811003e-01 -4.75306487e-02 -1.08359770e-02 1.88653208e+02] [ 4.75322805e-02 9.98869697e-01 -1.07048895e-04 1.48755102e+00] [ 1.08288172e-02 -4.08137086e-04 9.99941283e-01 1.26139362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13925415399999 meters 0.021903566692186245 Centerline is valid? [True, True] Translation: X:188.69, Y:1.49, Z:1.26 [[ 9.98885913e-01 -4.61434545e-02 -9.88504005e-03 1.88685138e+02] [ 4.61447500e-02 9.98934759e-01 -9.71007141e-05 1.48960887e+00] [ 9.87899066e-03 -3.59150166e-04 9.99951137e-01 1.26229181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.169254154 meters 0.01984618239598201 Centerline is valid? [True, True] Translation: X:188.72, Y:1.50, Z:1.26 [[ 9.99026805e-01 -4.32572600e-02 -8.61697739e-03 1.88716326e+02] [ 4.32581414e-02 9.99063925e-01 -8.41536256e-05 1.49624255e+00] [ 8.61255151e-03 -2.88682698e-04 9.99962870e-01 1.26326622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.199254154 meters 0.019150633795364965 Centerline is valid? [True, True] Translation: X:188.75, Y:1.50, Z:1.26 [[ 9.99104478e-01 -4.14373662e-02 -8.55493566e-03 1.88748423e+02] [ 4.14381715e-02 9.99141067e-01 -8.31764162e-05 1.49906695e+00] [ 8.55103415e-03 -2.71398962e-04 9.99963402e-01 1.26335546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.229254154 meters 0.019280846586882304 Centerline is valid? [True, True] Translation: X:188.78, Y:1.50, Z:1.26 [[ 9.99181985e-01 -3.95547411e-02 -8.41331131e-03 1.88779523e+02] [ 3.95554581e-02 9.99217373e-01 -8.12191068e-05 1.50066864e+00] [ 8.40993943e-03 -2.51639715e-04 9.99964604e-01 1.26326609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259254154 meters 0.0185837173172966 Centerline is valid? [True, True] Translation: X:188.81, Y:1.50, Z:1.26 [[ 9.99272456e-01 -3.72648399e-02 -8.11724448e-03 1.88811425e+02] [ 3.72654356e-02 9.99305399e-01 -7.79106743e-05 1.50345487e+00] [ 8.11450957e-03 -2.24638660e-04 9.99967052e-01 1.26329654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.289254154 meters 0.016978365912864193 Centerline is valid? [True, True] Translation: X:188.84, Y:1.51, Z:1.26 [[ 9.99432595e-01 -3.28014123e-02 -7.65208504e-03 1.88843030e+02] [ 3.28018148e-02 9.99461873e-01 -7.29365909e-05 1.50978724e+00] [ 7.65035967e-03 -1.78107070e-04 9.99970720e-01 1.26350789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319254154 meters 0.016747121837407522 Centerline is valid? [True, True] Translation: X:188.87, Y:1.51, Z:1.26 [[ 9.99495027e-01 -3.08324903e-02 -7.68431102e-03 1.88874883e+02] [ 3.08328413e-02 9.99524552e-01 -7.28067771e-05 1.51253912e+00] [ 7.68290234e-03 -1.64159131e-04 9.99970473e-01 1.26368103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.349254154 meters 0.016349847449398863 Centerline is valid? [True, True] Translation: X:188.91, Y:1.51, Z:1.26 [[ 9.99553710e-01 -2.88498464e-02 -7.75024732e-03 1.88905703e+02] [ 2.88501482e-02 9.99583745e-01 -7.28794924e-05 1.51488324e+00] [ 7.74912380e-03 -1.50748816e-04 9.99969964e-01 1.26375261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379254154 meters 0.016053520261311224 Centerline is valid? [True, True] Translation: X:188.94, Y:1.52, Z:1.26 [[ 9.99601575e-01 -2.71801593e-02 -7.61119467e-03 1.88937614e+02] [ 2.71804051e-02 9.99630542e-01 -7.11548076e-05 1.51708101e+00] [ 7.61031666e-03 -1.35748897e-04 9.99971032e-01 1.26361984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40925415399997 meters 0.015856234142203118 Centerline is valid? [True, True] Translation: X:188.97, Y:1.52, Z:1.26 [[ 9.99637590e-01 -2.56484717e-02 -8.17582846e-03 1.88970095e+02] [ 2.56487093e-02 9.99671015e-01 -7.58123679e-05 1.51890634e+00] [ 8.17508320e-03 -1.33914555e-04 9.99966574e-01 1.26346306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43925415399997 meters 0.015790434526868003 Centerline is valid? [True, True] Translation: X:189.00, Y:1.52, Z:1.26 [[ 9.99655856e-01 -2.48310866e-02 -8.46092817e-03 1.89001573e+02] [ 2.48313168e-02 9.99691652e-01 -7.78644832e-05 1.52021926e+00] [ 8.46025272e-03 -1.32258301e-04 9.99964203e-01 1.26315193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46925415399997 meters 0.015335189850808416 Centerline is valid? [True, True] Translation: X:189.03, Y:1.52, Z:1.26 [[ 9.99674917e-01 -2.37790702e-02 -9.19873585e-03 1.89033573e+02] [ 2.37793029e-02 9.99717229e-01 -8.40921807e-05 1.52275885e+00] [ 9.19813434e-03 -1.34674682e-04 9.99957687e-01 1.26230849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49925415399997 meters 0.015623490549481228 Centerline is valid? [True, True] Translation: X:189.06, Y:1.52, Z:1.26 [[ 9.99675180e-01 -2.37378043e-02 -9.27634658e-03 1.89064498e+02] [ 2.37380463e-02 9.99718209e-01 -8.40285267e-05 1.52258664e+00] [ 9.27572724e-03 -1.36201112e-04 9.99956970e-01 1.26200862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52925415399997 meters 0.016294971248177404 Centerline is valid? [True, True] Translation: X:189.10, Y:1.52, Z:1.26 [[ 9.99692085e-01 -2.33346329e-02 -8.43974757e-03 1.89097199e+02] [ 2.33348261e-02 9.99727703e-01 -7.55912135e-05 1.52365580e+00] [ 8.43921335e-03 -1.21372104e-04 9.99964382e-01 1.26160296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55925415399997 meters 0.015588804899627681 Centerline is valid? [True, True] Translation: X:189.13, Y:1.52, Z:1.26 [[ 9.99677226e-01 -2.39412163e-02 -8.50070016e-03 1.89129215e+02] [ 2.39414404e-02 9.99713360e-01 -7.54072508e-05 1.52418382e+00] [ 8.50006886e-03 -1.28136095e-04 9.99963866e-01 1.26278592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58925415399997 meters 0.015479924523891138 Centerline is valid? [True, True] Translation: X:189.16, Y:1.52, Z:1.26 [[ 9.99678761e-01 -2.41579720e-02 -7.66592982e-03 1.89161239e+02] [ 2.41581645e-02 9.99708147e-01 -6.75059318e-05 1.52495792e+00] [ 7.66532330e-03 -1.17710547e-04 9.99970614e-01 1.26404629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61925415399998 meters 0.015350397858967073 Centerline is valid? [True, True] Translation: X:189.19, Y:1.53, Z:1.26 [[ 9.99680202e-01 -2.41728672e-02 -7.42745669e-03 1.89193238e+02] [ 2.41730521e-02 9.99707787e-01 -6.48835776e-05 1.52582980e+00] [ 7.42685471e-03 -1.14681470e-04 9.99972414e-01 1.26455517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64925415399998 meters 0.015488816955190157 Centerline is valid? [True, True] Translation: X:189.23, Y:1.53, Z:1.26 [[ 9.99670124e-01 -2.45696091e-02 -7.48177415e-03 1.89225394e+02] [ 2.45698120e-02 9.99698115e-01 -6.48056923e-05 1.52612981e+00] [ 7.48110776e-03 -1.19041470e-04 9.99972009e-01 1.26479942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67925415399998 meters 0.015795797402347194 Centerline is valid? [True, True] Translation: X:189.26, Y:1.53, Z:1.26 [[ 9.99629276e-01 -2.63120690e-02 -6.99892733e-03 1.89257999e+02] [ 2.63122926e-02 9.99653770e-01 -6.01432812e-05 1.52525729e+00] [ 6.99808659e-03 -1.24036839e-04 9.99975505e-01 1.26457347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70925415399998 meters 0.016128730077717326 Centerline is valid? [True, True] Translation: X:189.29, Y:1.52, Z:1.26 [[ 9.99593010e-01 -2.76751661e-02 -6.92092595e-03 1.89289492e+02] [ 2.76754209e-02 9.99616960e-01 -5.89708779e-05 1.52398562e+00] [ 6.91990699e-03 -1.32592662e-04 9.99976048e-01 1.26492939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73925415399998 meters 0.016410563184440573 Centerline is valid? [True, True] Translation: X:189.32, Y:1.52, Z:1.26 [[ 9.99546697e-01 -2.93277104e-02 -6.80344669e-03 1.89321737e+02] [ 2.93279973e-02 9.99569840e-01 -5.76072034e-05 1.52354587e+00] [ 6.80220961e-03 -1.41950376e-04 9.99976855e-01 1.26496176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76925415399998 meters 0.017410356082636 Centerline is valid? [True, True] Translation: X:189.35, Y:1.52, Z:1.26 [[ 9.99446574e-01 -3.25101629e-02 -7.04517498e-03 1.89352684e+02] [ 3.25105533e-02 9.99471390e-01 -5.91200959e-05 1.52054825e+00] [ 7.04337284e-03 -1.69955160e-04 9.99975181e-01 1.26452290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.79925415399998 meters 0.017188922544413305 Centerline is valid? [True, True] Translation: X:189.38, Y:1.52, Z:1.26 [[ 9.99400917e-01 -3.38189507e-02 -7.35423907e-03 1.89384817e+02] [ 3.38194148e-02 9.99427958e-01 -6.12852668e-05 1.52056693e+00] [ 7.35210474e-03 -1.87467509e-04 9.99972955e-01 1.26448366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82925415399998 meters 0.01844033120098056 Centerline is valid? [True, True] Translation: X:189.42, Y:1.52, Z:1.26 [[ 9.99373330e-01 -3.45748626e-02 -7.58465928e-03 1.89415492e+02] [ 3.45753821e-02 9.99402091e-01 -6.26498187e-05 1.51792878e+00] [ 7.58229045e-03 -1.99631935e-04 9.99971234e-01 1.26456176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85925415399998 meters 0.01794085783047373 Centerline is valid? [True, True] Translation: X:189.45, Y:1.52, Z:1.26 [[ 9.99359299e-01 -3.50159683e-02 -7.40768752e-03 1.89447696e+02] [ 3.50164781e-02 9.99386733e-01 -6.09021058e-05 1.51917461e+00] [ 7.40527718e-03 -1.98528042e-04 9.99972561e-01 1.26464352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88925415399999 meters 0.017701420169554317 Centerline is valid? [True, True] Translation: X:189.48, Y:1.52, Z:1.27 [[ 9.99380820e-01 -3.44333778e-02 -7.23317315e-03 1.89479496e+02] [ 3.44338524e-02 9.99406977e-01 -5.89489219e-05 1.51970921e+00] [ 7.23091352e-03 -1.90153595e-04 9.99973839e-01 1.26537398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.919254154 meters 0.017591191119060007 Centerline is valid? [True, True] Translation: X:189.51, Y:1.52, Z:1.27 [[ 9.99411418e-01 -3.35669819e-02 -7.07633889e-03 1.89511359e+02] [ 3.35674180e-02 9.99436454e-01 -5.71609269e-05 1.52000762e+00] [ 7.07426976e-03 -1.80407143e-04 9.99974961e-01 1.26603224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.949254154 meters 0.017527798196136198 Centerline is valid? [True, True] Translation: X:189.54, Y:1.52, Z:1.27 [[ 9.99447995e-01 -3.25560470e-02 -6.61877460e-03 1.89543493e+02] [ 3.25564094e-02 9.99469898e-01 -5.30120911e-05 1.52028278e+00] [ 6.61699184e-03 -1.62500707e-04 9.99978094e-01 1.26641980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979254154 meters 0.017592244480038363 Centerline is valid? [True, True] Translation: X:189.57, Y:1.52, Z:1.27 [[ 9.99481790e-01 -3.14812452e-02 -6.71435435e-03 1.89574245e+02] [ 3.14815972e-02 9.99504330e-01 -5.32770728e-05 1.52003706e+00] [ 6.71270347e-03 -1.58129135e-04 9.99977457e-01 1.26657299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.009254154 meters 0.0170744855166579 Centerline is valid? [True, True] Translation: X:189.61, Y:1.52, Z:1.27 [[ 9.99521241e-01 -3.01232366e-02 -7.06250399e-03 1.89606943e+02] [ 3.01235951e-02 9.99546180e-01 -5.56321998e-05 1.52065784e+00] [ 7.06097470e-03 -1.57142445e-04 9.99975059e-01 1.26631221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039254154 meters 0.01695391843694803 Centerline is valid? [True, True] Translation: X:189.64, Y:1.52, Z:1.27 [[ 9.99553113e-01 -2.90654366e-02 -6.98394326e-03 1.89638385e+02] [ 2.90657657e-02 9.99577500e-01 -5.43935141e-05 1.52055493e+00] [ 6.98257352e-03 -1.48624453e-04 9.99975610e-01 1.26573534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.069254154 meters 0.01633755332543793 Centerline is valid? [True, True] Translation: X:189.67, Y:1.52, Z:1.27 [[ 9.99595608e-01 -2.73225880e-02 -7.88015539e-03 1.89670425e+02] [ 2.73229567e-02 9.99626656e-01 -6.08845182e-05 1.52092220e+00] [ 7.87887691e-03 -1.54449248e-04 9.99968949e-01 1.26500092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099254154 meters 0.016386180477483355 Centerline is valid? [True, True] Translation: X:189.70, Y:1.52, Z:1.26 [[ 9.99615489e-01 -2.65462585e-02 -8.01058826e-03 1.89701648e+02] [ 2.65466196e-02 9.99647575e-01 -6.12585772e-05 1.52049552e+00] [ 8.00939131e-03 -1.51419017e-04 9.99967913e-01 1.26495990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.129254154 meters 0.016475387550033124 Centerline is valid? [True, True] Translation: X:189.73, Y:1.52, Z:1.27 [[ 9.99628744e-01 -2.59176612e-02 -8.40524174e-03 1.89732854e+02] [ 2.59180452e-02 9.99664069e-01 -6.32635036e-05 1.51976221e+00] [ 8.40405781e-03 -1.54607419e-04 9.99964673e-01 1.26513967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15925415399997 meters 0.016170267157271153 Centerline is valid? [True, True] Translation: X:189.76, Y:1.52, Z:1.26 [[ 9.99632653e-01 -2.54921686e-02 -9.20367389e-03 1.89764826e+02] [ 2.54926203e-02 9.99675008e-01 -6.82526888e-05 1.51953525e+00] [ 9.20242268e-03 -1.66398147e-04 9.99957643e-01 1.26477134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18925415399997 meters 0.015806661489000593 Centerline is valid? [True, True] Translation: X:189.80, Y:1.52, Z:1.26 [[ 9.99609692e-01 -2.61297317e-02 -9.88438422e-03 1.89796635e+02] [ 2.61302913e-02 9.99658543e-01 -7.25530292e-05 1.52025661e+00] [ 9.88290492e-03 -1.85757128e-04 9.99951146e-01 1.26490453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21925415399997 meters 0.016687668297821468 Centerline is valid? [True, True] Translation: X:189.83, Y:1.52, Z:1.26 [[ 9.99544902e-01 -2.80028658e-02 -1.12173379e-02 1.89827971e+02] [ 2.80037135e-02 9.99607816e-01 -8.15208728e-05 1.51726441e+00] [ 1.12152214e-02 -2.32643343e-04 9.99937080e-01 1.26391342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24925415399997 meters 0.016950282932354673 Centerline is valid? [True, True] Translation: X:189.86, Y:1.52, Z:1.26 [[ 9.99494478e-01 -2.94875301e-02 -1.18858429e-02 1.89860341e+02] [ 2.94885959e-02 9.99565113e-01 -8.56181526e-05 1.51625123e+00] [ 1.18831985e-02 -2.64921946e-04 9.99929357e-01 1.26413317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27925415399997 meters 0.01737497649489219 Centerline is valid? [True, True] Translation: X:189.89, Y:1.52, Z:1.26 [[ 9.99436706e-01 -3.11992591e-02 -1.23643561e-02 1.89892666e+02] [ 3.12005546e-02 9.99513140e-01 -8.81518746e-05 1.51505258e+00] [ 1.23610867e-02 -2.97672549e-04 9.99923555e-01 1.26392506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30925415399997 meters 0.01830323753529245 Centerline is valid? [True, True] Translation: X:189.92, Y:1.51, Z:1.26 [[ 9.99366742e-01 -3.30846334e-02 -1.30966774e-02 1.89923626e+02] [ 3.30862600e-02 9.99452496e-01 -9.25095843e-05 1.51268093e+00] [ 1.30925676e-02 -3.40869073e-04 9.99914231e-01 1.26372320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33925415399997 meters 0.018924676548856913 Centerline is valid? [True, True] Translation: X:189.95, Y:1.51, Z:1.26 [[ 9.99199137e-01 -3.77379707e-02 -1.33015425e-02 1.89954973e+02] [ 3.77400687e-02 9.99287585e-01 -9.33450785e-05 1.51043302e+00] [ 1.32955889e-02 -4.08730805e-04 9.99911526e-01 1.26407853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36925415399998 meters 0.01972891280765904 Centerline is valid? [True, True] Translation: X:189.99, Y:1.51, Z:1.26 [[ 9.99106061e-01 -4.01385755e-02 -1.32655222e-02 1.89987004e+02] [ 4.01408829e-02 9.99194026e-01 -9.23768591e-05 1.50846357e+00] [ 1.32585384e-02 -4.40195495e-04 9.99912005e-01 1.26417834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39925415399998 meters 0.020626629925411363 Centerline is valid? [True, True] Translation: X:190.02, Y:1.51, Z:1.26 [[ 9.99001576e-01 -4.27136078e-02 -1.30919382e-02 1.90018790e+02] [ 4.27160870e-02 9.99087247e-01 -9.03289321e-05 1.50679104e+00] [ 1.30838468e-02 -4.68997625e-04 9.99914293e-01 1.26486511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42925415399998 meters 0.022400707313648766 Centerline is valid? [True, True] Translation: X:190.05, Y:1.50, Z:1.27 [[ 9.98785971e-01 -4.76294271e-02 -1.25706556e-02 1.90050031e+02] [ 4.76321073e-02 9.98864943e-01 -8.62634042e-05 1.50371378e+00] [ 1.25604959e-02 -5.12608139e-04 9.99920982e-01 1.26591273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45925415399998 meters 0.02346880839644168 Centerline is valid? [True, True] Translation: X:190.08, Y:1.50, Z:1.27 [[ 9.98692751e-01 -4.96077262e-02 -1.23232436e-02 1.90082419e+02] [ 4.96104586e-02 9.98768640e-01 -8.40499570e-05 1.50209384e+00] [ 1.23122387e-02 -5.27421682e-04 9.99924062e-01 1.26637534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48925415399998 meters 0.02346880839644168 Centerline is valid? [True, True] Translation: X:190.11, Y:1.50, Z:1.27 [[ 9.98698168e-01 -4.94985493e-02 -1.23232509e-02 1.90114990e+02] [ 4.95012869e-02 9.98774056e-01 -8.29570669e-05 1.50222261e+00] [ 1.23122496e-02 -5.27167709e-04 9.99924062e-01 1.26660090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51925415399998 meters 0.02587266372478079 Centerline is valid? [True, True] Translation: X:190.15, Y:1.50, Z:1.27 [[ 9.98549547e-01 -5.24421910e-02 -1.21909514e-02 1.90145074e+02] [ 5.24450982e-02 9.98623806e-01 -8.13170770e-05 1.49866461e+00] [ 1.21784387e-02 -5.58156511e-04 9.99925684e-01 1.26755215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54925415399998 meters 0.024514684952735562 Centerline is valid? [True, True] Translation: X:190.18, Y:1.50, Z:1.27 [[ 9.98493191e-01 -5.36917906e-02 -1.13374825e-02 1.90176930e+02] [ 5.36943890e-02 9.98557413e-01 -7.53001670e-05 1.50029704e+00] [ 1.13251702e-02 -5.33572494e-04 9.99935726e-01 1.26885253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57925415399998 meters 0.02569067730498652 Centerline is valid? [True, True] Translation: X:190.21, Y:1.50, Z:1.27 [[ 9.98481770e-01 -5.39795878e-02 -1.09708111e-02 1.90208061e+02] [ 5.39820459e-02 9.98541904e-01 -7.21505636e-05 1.49826822e+00] [ 1.09587093e-02 -5.20185807e-04 9.99939816e-01 1.26948147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60925415399998 meters 0.02569067730498652 Centerline is valid? [True, True] Translation: X:190.24, Y:1.50, Z:1.27 [[ 9.98487611e-01 -5.38714441e-02 -1.09708164e-02 1.90240638e+02] [ 5.38739047e-02 9.98547744e-01 -7.13333219e-05 1.49838807e+00] [ 1.09587268e-02 -5.19815282e-04 9.99939816e-01 1.26970711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63925415399999 meters 0.026026044364730307 Centerline is valid? [True, True] Translation: X:190.27, Y:1.50, Z:1.27 [[ 9.98534102e-01 -5.31256975e-02 -1.03589652e-02 1.90272767e+02] [ 5.31278612e-02 9.98587716e-01 -6.63938856e-05 1.49927447e+00] [ 1.03478627e-02 -4.84053109e-04 9.99946342e-01 1.26736195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.669254154 meters 0.024887756005465726 Centerline is valid? [True, True] Translation: X:190.30, Y:1.50, Z:1.27 [[ 9.98497673e-01 -5.37652368e-02 -1.05686406e-02 1.90304834e+02] [ 5.37675330e-02 9.98553478e-01 -6.69498170e-05 1.49940979e+00] [ 1.05569524e-02 -5.01400495e-04 9.99944148e-01 1.26994705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.699254154 meters 0.024624281269635184 Centerline is valid? [True, True] Translation: X:190.34, Y:1.50, Z:1.27 [[ 9.98551882e-01 -5.25847088e-02 -1.13572361e-02 1.90336957e+02] [ 5.25872942e-02 9.98616328e-01 -7.10747320e-05 1.49959345e+00] [ 1.13452588e-02 -5.26274506e-04 9.99935502e-01 1.26868747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.729254154 meters 0.02397146818633673 Centerline is valid? [True, True] Translation: X:190.37, Y:1.50, Z:1.27 [[ 9.98589358e-01 -5.17796216e-02 -1.17543790e-02 1.90368801e+02] [ 5.17823456e-02 9.98658392e-01 -7.26828244e-05 1.50059472e+00] [ 1.17423727e-02 -5.36089019e-04 9.99930912e-01 1.26841199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759254154 meters 0.024835689734006988 Centerline is valid? [True, True] Translation: X:190.40, Y:1.50, Z:1.27 [[ 9.98661529e-01 -5.03473503e-02 -1.18446112e-02 1.90400124e+02] [ 5.03500250e-02 9.98731630e-01 -7.24604023e-05 1.49960931e+00] [ 1.18332360e-02 -5.24013052e-04 9.99929848e-01 1.26802756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.789254154 meters 0.02384135068703686 Centerline is valid? [True, True] Translation: X:190.43, Y:1.50, Z:1.27 [[ 9.98743209e-01 -4.86234488e-02 -1.21557816e-02 1.90432749e+02] [ 4.86261489e-02 9.98817046e-01 -7.35056486e-05 1.50149686e+00] [ 1.21449760e-02 -5.17675580e-04 9.99926113e-01 1.26801104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819254154 meters 0.02311775174279487 Centerline is valid? [True, True] Translation: X:190.46, Y:1.50, Z:1.27 [[ 9.98938114e-01 -4.43664605e-02 -1.24202006e-02 1.90462876e+02] [ 4.43689587e-02 9.99015210e-01 -7.44680380e-05 1.50418419e+00] [ 1.24112732e-02 -4.76682406e-04 9.99922864e-01 1.26780670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.849254154 meters 0.021178122145867975 Centerline is valid? [True, True] Translation: X:190.49, Y:1.51, Z:1.27 [[ 9.99051895e-01 -4.16385919e-02 -1.27097626e-02 1.90494624e+02] [ 4.16409915e-02 9.99132635e-01 -7.58908587e-05 1.50858907e+00] [ 1.27018986e-02 -4.53428209e-04 9.99919225e-01 1.26834824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879254154 meters 0.019901545733619453 Centerline is valid? [True, True] Translation: X:190.53, Y:1.51, Z:1.27 [[ 9.99180555e-01 -3.83499997e-02 -1.29420192e-02 1.90526237e+02] [ 3.83522214e-02 9.99264280e-01 -7.65684097e-05 1.51195025e+00] [ 1.29354339e-02 -4.19849520e-04 9.99916246e-01 1.26858137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90925415399997 meters 0.019875190087179896 Centerline is valid? [True, True] Translation: X:190.56, Y:1.51, Z:1.27 [[ 9.99304139e-01 -3.48277387e-02 -1.33516518e-02 1.90556841e+02] [ 3.48297960e-02 9.99393256e-01 -7.84884738e-05 1.51330428e+00] [ 1.33462843e-02 -3.86601451e-04 9.99910860e-01 1.26833818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93925415399997 meters 0.01705931705559373 Centerline is valid? [True, True] Translation: X:190.59, Y:1.52, Z:1.27 [[ 9.99556952e-01 -2.66980544e-02 -1.31572578e-02 1.90587955e+02] [ 2.66993515e-02 9.99643506e-01 -7.70882324e-05 1.52119098e+00] [ 1.31546254e-02 -2.74236171e-04 9.99913437e-01 1.26897403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96925415399997 meters 0.015911782729100085 Centerline is valid? [True, True] Translation: X:190.62, Y:1.53, Z:1.27 [[ 9.99669171e-01 -2.22799831e-02 -1.28511147e-02 1.90619119e+02] [ 2.22808602e-02 9.99751748e-01 -7.49351648e-05 1.52516121e+00] [ 1.28495939e-02 -2.11423516e-04 9.99917418e-01 1.26969936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99925415399997 meters 0.01509654050902652 Centerline is valid? [True, True] Translation: X:190.65, Y:1.53, Z:1.27 [[ 9.99768071e-01 -1.76911163e-02 -1.22812589e-02 1.90649218e+02] [ 1.76915752e-02 9.99843489e-01 -7.12803621e-05 1.52829004e+00] [ 1.22805977e-02 -1.46010985e-04 9.99924580e-01 1.27014302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02925415399997 meters 0.014287137583992308 Centerline is valid? [True, True] Translation: X:190.68, Y:1.53, Z:1.27 [[ 9.99893862e-01 -9.03334545e-03 -1.14308134e-02 1.90678474e+02] [ 9.03317952e-03 9.99959198e-01 -6.61467891e-05 1.53399807e+00] [ 1.14309445e-02 -3.71168209e-05 9.99934664e-01 1.27088980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05925415399997 meters 0.01407176577904165 Centerline is valid? [True, True] Translation: X:190.71, Y:1.54, Z:1.27 [[ 9.99928171e-01 -5.31813583e-03 -1.07410984e-02 1.90706555e+02] [ 5.31776491e-03 9.99985859e-01 -6.30929205e-05 1.53681711e+00] [ 1.07412820e-02 5.96975241e-06 9.99942311e-01 1.27171241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08925415399997 meters 0.01436234034917499 Centerline is valid? [True, True] Translation: X:190.73, Y:1.54, Z:1.27 [[ 9.99939872e-01 -1.89585081e-03 -1.08008067e-02 1.90734751e+02] [ 1.89525163e-03 9.99998202e-01 -6.57108440e-05 1.53937163e+00] [ 1.08009118e-02 4.52366466e-05 9.99941667e-01 1.27187189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11925415399998 meters 0.015002292740620397 Centerline is valid? [True, True] Translation: X:190.76, Y:1.54, Z:1.27 [[ 9.99945290e-01 1.01533686e-03 -1.04108937e-02 1.90763072e+02] [-1.01606601e-03 9.99999482e-01 -6.47484196e-05 1.54119910e+00] [ 1.04108226e-02 7.53230324e-05 9.99945803e-01 1.27157386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14925415399998 meters 0.016091494613976142 Centerline is valid? [True, True] Translation: X:190.79, Y:1.54, Z:1.27 [[ 9.99940093e-01 3.69526139e-03 -1.03031641e-02 1.90791814e+02] [-3.69614305e-03 9.99993167e-01 -6.65307815e-05 1.54266936e+00] [ 1.03028478e-02 1.04608764e-04 9.99946919e-01 1.27111506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17925415399998 meters 0.01559742572275549 Centerline is valid? [True, True] Translation: X:190.82, Y:1.54, Z:1.27 [[ 9.99932359e-01 5.89765981e-03 -1.00247300e-02 1.90819540e+02] [-5.89862387e-03 9.99982601e-01 -6.66036868e-05 1.54350319e+00] [ 1.00241628e-02 1.25731293e-04 9.99949749e-01 1.27289011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20925415399998 meters 0.015718758102757763 Centerline is valid? [True, True] Translation: X:190.85, Y:1.54, Z:1.27 [[ 9.99934480e-01 5.90681357e-03 -9.80534573e-03 1.90847501e+02] [-5.90774477e-03 9.99982547e-01 -6.60070793e-05 1.54237057e+00] [ 9.80478470e-03 1.23930234e-04 9.99951924e-01 1.27311866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23925415399998 meters 0.01564417177454682 Centerline is valid? [True, True] Translation: X:190.88, Y:1.54, Z:1.27 [[ 9.99939119e-01 5.07313711e-03 -9.79911018e-03 1.90875382e+02] [-5.07403625e-03 9.99987125e-01 -6.68982160e-05 1.54056359e+00] [ 9.79864464e-03 1.16615183e-04 9.99951985e-01 1.27310707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26925415399998 meters 0.014928849657221846 Centerline is valid? [True, True] Translation: X:190.90, Y:1.53, Z:1.27 [[ 9.99954514e-01 8.14685805e-04 -9.50296202e-03 1.90904155e+02] [-8.15346043e-04 9.99999665e-01 -6.56031373e-05 1.53429516e+00] [ 9.50290540e-03 7.33483557e-05 9.99954844e-01 1.27313611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29925415399998 meters 0.014423517982270895 Centerline is valid? [True, True] Translation: X:190.93, Y:1.53, Z:1.27 [[ 9.99952737e-01 -2.58761732e-03 -9.37168400e-03 1.90932030e+02] [ 2.58711854e-03 9.99996651e-01 -6.53440687e-05 1.53001239e+00] [ 9.37182170e-03 4.10953229e-05 9.99956083e-01 1.27344394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32925415399998 meters 0.014203052986494666 Centerline is valid? [True, True] Translation: X:190.96, Y:1.53, Z:1.27 [[ 9.99933071e-01 -6.49821989e-03 -9.57219646e-03 1.90961060e+02] [ 6.49787156e-03 9.99978886e-01 -6.74899205e-05 1.52515285e+00] [ 9.57243292e-03 5.28650035e-06 9.99954183e-01 1.27331624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35925415399998 meters 0.014402539684257351 Centerline is valid? [True, True] Translation: X:190.99, Y:1.52, Z:1.27 [[ 9.99895311e-01 -1.07450964e-02 -9.69066737e-03 1.90989496e+02] [ 1.07449325e-02 9.99942269e-01 -6.89792792e-05 1.52052004e+00] [ 9.69084910e-03 -3.51535091e-05 9.99953042e-01 1.27351767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38925415399999 meters 0.015090385020303552 Centerline is valid? [True, True] Translation: X:191.02, Y:1.51, Z:1.27 [[ 9.99764469e-01 -1.92863757e-02 -9.95198224e-03 1.91018081e+02] [ 1.92866193e-02 9.99813993e-01 -7.15090473e-05 1.51036611e+00] [ 9.95151026e-03 -1.20447888e-04 9.99950475e-01 1.27330041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.419254154 meters 0.015809396686733847 Centerline is valid? [True, True] Translation: X:191.05, Y:1.51, Z:1.27 [[ 9.99668230e-01 -2.36575753e-02 -1.01857183e-02 1.91048952e+02] [ 2.36580541e-02 9.99720106e-01 -7.34971528e-05 1.50579499e+00] [ 1.01846062e-02 -1.67501507e-04 9.99948122e-01 1.27308847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.449254154 meters 0.019363510798684116 Centerline is valid? [True, True] Translation: X:191.08, Y:1.50, Z:1.27 [[ 9.99560586e-01 -2.76851069e-02 -1.05910384e-02 1.91080188e+02] [ 2.76858540e-02 9.99616670e-01 -7.60943252e-05 1.49578477e+00] [ 1.05890852e-02 -2.17161055e-04 9.99943910e-01 1.27199916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479254154 meters 0.01910500725487201 Centerline is valid? [True, True] Translation: X:191.11, Y:1.49, Z:1.27 [[ 9.99306487e-01 -3.54280889e-02 -1.14627561e-02 1.91110835e+02] [ 3.54294798e-02 9.99372176e-01 -8.17726966e-05 1.49244547e+00] [ 1.14584565e-02 -3.24403498e-04 9.99934297e-01 1.27282457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.509254154 meters 0.025665780802905724 Centerline is valid? [True, True] Translation: X:191.14, Y:1.48, Z:1.27 [[ 9.99182512e-01 -3.87219725e-02 -1.16153669e-02 1.91142054e+02] [ 3.87236291e-02 9.99249956e-01 -8.23318289e-05 1.48006983e+00] [ 1.16098429e-02 -3.67524634e-04 9.99932536e-01 1.27149612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539254154 meters 0.02187829780321993 Centerline is valid? [True, True] Translation: X:191.17, Y:1.48, Z:1.27 [[ 9.99061414e-01 -4.16213588e-02 -1.19980445e-02 1.91174443e+02] [ 4.16233440e-02 9.99133370e-01 -8.43061546e-05 1.48389464e+00] [ 1.19911556e-02 -4.15171707e-04 9.99928017e-01 1.27300309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.569254154 meters 0.022666487211283934 Centerline is valid? [True, True] Translation: X:191.21, Y:1.48, Z:1.27 [[ 9.98795003e-01 -4.77940438e-02 -1.11477187e-02 1.91205731e+02] [ 4.77961472e-02 9.98857108e-01 -7.78050351e-05 1.47972431e+00] [ 1.11386967e-02 -4.55106725e-04 9.99937859e-01 1.27396183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599254154 meters 0.023157918100671967 Centerline is valid? [True, True] Translation: X:191.24, Y:1.48, Z:1.27 [[ 9.98664757e-01 -5.05257813e-02 -1.07633081e-02 1.91238007e+02] [ 5.05279048e-02 9.98722647e-01 -7.47201792e-05 1.47748565e+00] [ 1.07533348e-02 -4.69226995e-04 9.99942071e-01 1.27487118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.629254154 meters 0.0236977714497489 Centerline is valid? [True, True] Translation: X:191.27, Y:1.48, Z:1.28 [[ 9.98548483e-01 -5.29738085e-02 -9.73156434e-03 1.91270534e+02] [ 5.29756669e-02 9.98595801e-01 -6.68858342e-05 1.47510308e+00] [ 9.72144249e-03 -4.48747363e-04 9.99952645e-01 1.27541956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65925415399997 meters 0.026544774955644106 Centerline is valid? [True, True] Translation: X:191.30, Y:1.47, Z:1.28 [[ 9.98439793e-01 -5.51012307e-02 -9.04620623e-03 1.91301787e+02] [ 5.51029291e-02 9.98480678e-01 -6.15773051e-05 1.46973650e+00] [ 9.03585511e-03 -4.36991228e-04 9.99959080e-01 1.27622258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68925415399997 meters 0.026602589173008954 Centerline is valid? [True, True] Translation: X:191.33, Y:1.47, Z:1.28 [[ 9.98258771e-01 -5.83229544e-02 -8.82380840e-03 1.91333389e+02] [ 5.83246998e-02 9.98297664e-01 -5.96191039e-05 1.46751706e+00] [ 8.81226447e-03 -4.55130682e-04 9.99961068e-01 1.27710870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71925415399997 meters 0.027542737789109484 Centerline is valid? [True, True] Translation: X:191.36, Y:1.47, Z:1.28 [[ 9.98213022e-01 -5.90735380e-02 -9.00439355e-03 1.91364372e+02] [ 5.90753893e-02 9.98253522e-01 -6.04675574e-05 1.46535896e+00] [ 8.99223961e-03 -4.71578551e-04 9.99959458e-01 1.27694967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74925415399997 meters 0.028262652911146602 Centerline is valid? [True, True] Translation: X:191.40, Y:1.46, Z:1.28 [[ 9.98193950e-01 -5.93986449e-02 -8.97989431e-03 1.91396581e+02] [ 5.94005040e-02 9.98234229e-01 -5.97772475e-05 1.46381521e+00] [ 8.96758856e-03 -4.73740961e-04 9.99959678e-01 1.27679180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77925415399997 meters 0.027243903811527286 Centerline is valid? [True, True] Translation: X:191.43, Y:1.46, Z:1.28 [[ 9.98199036e-01 -5.92652270e-02 -9.29066958e-03 1.91429410e+02] [ 5.92672185e-02 9.98242152e-01 -6.10679853e-05 1.46467640e+00] [ 9.27795720e-03 -4.89674139e-04 9.99956839e-01 1.27692956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80925415399997 meters 0.02843237076486313 Centerline is valid? [True, True] Translation: X:191.46, Y:1.46, Z:1.28 [[ 9.98189038e-01 -5.93790225e-02 -9.63202256e-03 1.91460697e+02] [ 5.93811773e-02 9.98235379e-01 -6.23725290e-05 1.46207191e+00] [ 9.61872931e-03 -5.09701265e-04 9.99953609e-01 1.27657511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83925415399997 meters 0.02644300444802878 Centerline is valid? [True, True] Translation: X:191.49, Y:1.46, Z:1.28 [[ 9.98158506e-01 -5.97661173e-02 -1.03734689e-02 1.91493073e+02] [ 5.97686444e-02 9.98212254e-01 -6.65099100e-05 1.46469960e+00] [ 1.03588988e-02 -5.53620740e-04 9.99946192e-01 1.27647535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86925415399998 meters 0.029603209584536484 Centerline is valid? [True, True] Translation: X:191.52, Y:1.46, Z:1.28 [[ 9.98128212e-01 -6.00190071e-02 -1.17384153e-02 1.91524102e+02] [ 6.00222705e-02 9.98197035e-01 -7.44105025e-05 1.45989075e+00] [ 1.17217174e-02 -6.30295118e-04 9.99931100e-01 1.27557300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89925415399998 meters 0.027496803320046295 Centerline is valid? [True, True] Translation: X:191.56, Y:1.46, Z:1.27 [[ 9.98041696e-01 -6.07605359e-02 -1.48637006e-02 1.91555856e+02] [ 6.07658643e-02 9.98152043e-01 -9.32963292e-05 1.46306591e+00] [ 1.48419019e-02 -8.10091987e-04 9.99889525e-01 1.27389957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92925415399998 meters 0.027380419271564708 Centerline is valid? [True, True] Translation: X:191.59, Y:1.46, Z:1.27 [[ 9.98016136e-01 -6.08795951e-02 -1.60457972e-02 1.91588291e+02] [ 6.08858377e-02 9.98144731e-01 -9.96295698e-05 1.46404618e+00] [ 1.60220933e-02 -8.77529886e-04 9.99871253e-01 1.27353541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95925415399998 meters 0.02838636760051646 Centerline is valid? [True, True] Translation: X:191.62, Y:1.46, Z:1.27 [[ 9.98007974e-01 -6.08478990e-02 -1.66618427e-02 1.91619580e+02] [ 6.08546436e-02 9.98146633e-01 -1.02388587e-04 1.46362955e+00] [ 1.66371923e-02 -9.11765871e-04 9.99861177e-01 1.27310240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98925415399998 meters 0.027928406598225073 Centerline is valid? [True, True] Translation: X:191.65, Y:1.47, Z:1.27 [[ 9.98022950e-01 -6.03539579e-02 -1.75382920e-02 1.91652066e+02] [ 6.03613755e-02 9.98176584e-01 -1.06597917e-04 1.46530865e+00] [ 1.75127460e-02 -9.52248261e-04 9.99846187e-01 1.27341377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01925415399998 meters 0.027973123329821516 Centerline is valid? [True, True] Translation: X:191.68, Y:1.47, Z:1.27 [[ 9.98121528e-01 -5.84168395e-02 -1.84631716e-02 1.91682643e+02] [ 5.84247435e-02 9.98291810e-01 -1.11477593e-04 1.46795189e+00] [ 1.84381452e-02 -9.67437882e-04 9.99829535e-01 1.27307888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04925415399998 meters 0.027480385604113484 Centerline is valid? [True, True] Translation: X:191.71, Y:1.47, Z:1.27 [[ 9.98234530e-01 -5.64060853e-02 -1.86058070e-02 1.91714259e+02] [ 5.64137737e-02 9.98407469e-01 -1.11792327e-04 1.47063407e+00] [ 1.85824824e-02 -9.38028822e-04 9.99826891e-01 1.27359625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07925415399998 meters 0.027181283183255724 Centerline is valid? [True, True] Translation: X:191.74, Y:1.47, Z:1.27 [[ 9.98372407e-01 -5.38634068e-02 -1.87422069e-02 1.91744682e+02] [ 5.38707876e-02 9.98547909e-01 -1.11210589e-04 1.47328551e+00] [ 1.87209816e-02 -8.98627862e-04 9.99824343e-01 1.27406421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10925415399998 meters 0.025132757036965665 Centerline is valid? [True, True] Translation: X:191.77, Y:1.48, Z:1.28 [[ 9.98707370e-01 -4.75133147e-02 -1.80574981e-02 1.91774530e+02] [ 4.75191381e-02 9.98870322e-01 -1.06684968e-04 1.48087464e+00] [ 1.80421679e-02 -7.51529683e-04 9.99836944e-01 1.27546781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13925415399999 meters 0.023899183871592542 Centerline is valid? [True, True] Translation: X:191.80, Y:1.49, Z:1.28 [[ 9.98896201e-01 -4.36827692e-02 -1.72683072e-02 1.91804835e+02] [ 4.36875212e-02 9.99045239e-01 -1.02133805e-04 1.48518131e+00] [ 1.72562816e-02 -6.52388466e-04 9.99850886e-01 1.27689856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.169254154 meters 0.022475952896656434 Centerline is valid? [True, True] Translation: X:191.84, Y:1.49, Z:1.28 [[ 9.99078958e-01 -3.95094782e-02 -1.67402807e-02 1.91835983e+02] [ 3.95133642e-02 9.99219037e-01 -9.86833942e-05 1.48975536e+00] [ 1.67311061e-02 -5.62872305e-04 9.99859867e-01 1.27791801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.199254154 meters 0.020935479852561327 Centerline is valid? [True, True] Translation: X:191.87, Y:1.49, Z:1.28 [[ 9.99242041e-01 -3.52773836e-02 -1.64575367e-02 1.91867483e+02] [ 3.52805752e-02 9.99377442e-01 -9.64595687e-05 1.49439930e+00] [ 1.64506937e-02 -4.84244903e-04 9.99864561e-01 1.27936804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.229254154 meters 0.017111936227249266 Centerline is valid? [True, True] Translation: X:191.90, Y:1.51, Z:1.28 [[ 9.99509817e-01 -2.70912516e-02 -1.56904486e-02 1.91898452e+02] [ 2.70931504e-02 9.99632909e-01 -9.15730679e-05 1.50641327e+00] [ 1.56871696e-02 -3.33575504e-04 9.99876893e-01 1.28222266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259254154 meters 0.01675858360795201 Centerline is valid? [True, True] Translation: X:191.93, Y:1.51, Z:1.28 [[ 9.99601609e-01 -2.34471718e-02 -1.57115547e-02 1.91928416e+02] [ 2.34486278e-02 9.99725039e-01 -9.15680378e-05 1.50931353e+00] [ 1.57093816e-02 -2.76882839e-04 9.99876562e-01 1.28246759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.289254154 meters 0.016212932772952705 Centerline is valid? [True, True] Translation: X:191.96, Y:1.51, Z:1.28 [[ 9.99667679e-01 -2.01213203e-02 -1.61140796e-02 1.91958111e+02] [ 2.01224173e-02 9.99797519e-01 -9.40786538e-05 1.51212142e+00] [ 1.61127098e-02 -2.30206843e-04 9.99870155e-01 1.28236130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319254154 meters 0.015360839578956453 Centerline is valid? [True, True] Translation: X:191.99, Y:1.52, Z:1.28 [[ 9.99734268e-01 -1.49422245e-02 -1.75534374e-02 1.91987313e+02] [ 1.49426999e-02 9.99888346e-01 -1.04082676e-04 1.51768270e+00] [ 1.75530327e-02 -1.58240729e-04 9.99845921e-01 1.28247388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.349254154 meters 0.015386205412525632 Centerline is valid? [True, True] Translation: X:192.02, Y:1.52, Z:1.28 [[ 9.99749760e-01 -1.31815078e-02 -1.80739063e-02 1.92015246e+02] [ 1.31816879e-02 9.99913112e-01 -1.09176271e-04 1.51874252e+00] [ 1.80737750e-02 -1.29095642e-04 9.99836648e-01 1.28143788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379254154 meters 0.015386205412525632 Centerline is valid? [True, True] Translation: X:192.04, Y:1.52, Z:1.28 [[ 9.99745953e-01 -1.34671410e-02 -1.80738827e-02 1.92042639e+02] [ 1.34672987e-02 9.99909305e-01 -1.12996271e-04 1.51898565e+00] [ 1.80737652e-02 -1.30438811e-04 9.99836648e-01 1.28162792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40925415399997 meters 0.015337849874677381 Centerline is valid? [True, True] Translation: X:192.07, Y:1.52, Z:1.28 [[ 9.99735839e-01 -1.29560958e-02 -1.89839897e-02 1.92071007e+02] [ 1.29560707e-02 9.99916059e-01 -1.24320759e-04 1.52052022e+00] [ 1.89840069e-02 -1.21669994e-04 9.99819780e-01 1.28190630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43925415399997 meters 0.015185601771108661 Centerline is valid? [True, True] Translation: X:192.10, Y:1.52, Z:1.28 [[ 9.99730548e-01 -1.27004757e-02 -1.94301241e-02 1.92097786e+02] [ 1.27003112e-02 9.99919339e-01 -1.31865221e-04 1.52087632e+00] [ 1.94302316e-02 -1.14938933e-04 9.99811209e-01 1.28201100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46925415399997 meters 0.015325916792819414 Centerline is valid? [True, True] Translation: X:192.13, Y:1.52, Z:1.28 [[ 9.99705273e-01 -1.35644300e-02 -2.01338815e-02 1.92126835e+02] [ 1.35643311e-02 9.99907990e-01 -1.41481878e-04 1.52106181e+00] [ 2.01339481e-02 -1.31662456e-04 9.99797283e-01 1.28193835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49925415399997 meters 0.01519762474322707 Centerline is valid? [True, True] Translation: X:192.16, Y:1.52, Z:1.28 [[ 9.99677886e-01 -1.45357232e-02 -2.08047454e-02 1.92155527e+02] [ 1.45357156e-02 9.99894339e-01 -1.51596162e-04 1.52116283e+00] [ 2.08047507e-02 -1.50864532e-04 9.99783546e-01 1.28227996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52925415399997 meters 0.016626111597477893 Centerline is valid? [True, True] Translation: X:192.18, Y:1.52, Z:1.28 [[ 9.99648135e-01 -1.55140391e-02 -2.15155984e-02 1.92183548e+02] [ 1.55141748e-02 9.99879635e-01 -1.60621806e-04 1.52017753e+00] [ 2.15155005e-02 -1.73231466e-04 9.99768500e-01 1.28100141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55925415399997 meters 0.015187747646966614 Centerline is valid? [True, True] Translation: X:192.21, Y:1.52, Z:1.28 [[ 9.99636463e-01 -1.70725080e-02 -2.08679484e-02 1.92211560e+02] [ 1.70728704e-02 9.99854235e-01 -1.60801071e-04 1.52039435e+00] [ 2.08676519e-02 -1.95533166e-04 9.99782228e-01 1.28318342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58925415399997 meters 0.015677308872919297 Centerline is valid? [True, True] Translation: X:192.24, Y:1.52, Z:1.28 [[ 9.99591928e-01 -1.99767008e-02 -2.04183562e-02 1.92239392e+02] [ 1.99775879e-02 9.99800415e-01 -1.60550590e-04 1.51791963e+00] [ 2.04174883e-02 -2.47424432e-04 9.99791511e-01 1.28349125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61925415399998 meters 0.017774543523320738 Centerline is valid? [True, True] Translation: X:192.27, Y:1.52, Z:1.28 [[ 9.99543063e-01 -2.16784905e-02 -2.10643638e-02 1.92267704e+02] [ 2.16797224e-02 9.99764953e-01 -1.69901995e-04 1.51681507e+00] [ 2.10630959e-02 -2.86845198e-04 9.99778107e-01 1.28313479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64925415399998 meters 0.017354767260716653 Centerline is valid? [True, True] Translation: X:192.30, Y:1.52, Z:1.28 [[ 9.99507786e-01 -2.38607849e-02 -2.03678290e-02 1.92295523e+02] [ 2.38623298e-02 9.99715240e-01 -1.67219128e-04 1.51523549e+00] [ 2.03660191e-02 -3.18887033e-04 9.99792540e-01 1.28388483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67925415399998 meters 0.01698402028843753 Centerline is valid? [True, True] Translation: X:192.32, Y:1.51, Z:1.29 [[ 9.99405332e-01 -2.91100044e-02 -1.84821269e-02 1.92322952e+02] [ 2.91121399e-02 9.99576140e-01 -1.53551621e-04 1.51136291e+00] [ 1.84787629e-02 -3.84593956e-04 9.99829179e-01 1.28569815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70925415399998 meters 0.017838378058144866 Centerline is valid? [True, True] Translation: X:192.35, Y:1.51, Z:1.29 [[ 9.99337199e-01 -3.18715037e-02 -1.75888998e-02 1.92352978e+02] [ 3.18738460e-02 9.99491889e-01 -1.47220156e-04 1.50895299e+00] [ 1.75846548e-02 -4.13503307e-04 9.99845292e-01 1.28614573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73925415399998 meters 0.018683567852820288 Centerline is valid? [True, True] Translation: X:192.38, Y:1.51, Z:1.29 [[ 9.99242621e-01 -3.49790658e-02 -1.70484486e-02 1.92383826e+02] [ 3.49817173e-02 9.99387942e-01 -1.42755454e-04 1.50620676e+00] [ 1.70430074e-02 -4.53736675e-04 9.99854654e-01 1.28669954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76925415399998 meters 0.02170325919832737 Centerline is valid? [True, True] Translation: X:192.41, Y:1.50, Z:1.29 [[ 9.98984304e-01 -4.24261585e-02 -1.51783436e-02 1.92414385e+02] [ 4.24291233e-02 9.99099471e-01 -1.26781762e-04 1.49745033e+00] [ 1.51700539e-02 -5.17350820e-04 9.99884794e-01 1.28667412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79925415399998 meters 0.023542661072878994 Centerline is valid? [True, True] Translation: X:192.45, Y:1.49, Z:1.29 [[ 9.98795726e-01 -4.69033893e-02 -1.43933706e-02 1.92445817e+02] [ 4.69065255e-02 9.98899276e-01 -1.19801252e-04 1.49311127e+00] [ 1.43831466e-02 -5.55486027e-04 9.99896403e-01 1.28691123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82925415399998 meters 0.024305442857584666 Centerline is valid? [True, True] Translation: X:192.48, Y:1.49, Z:1.29 [[ 9.98359816e-01 -5.55338245e-02 -1.39166273e-02 1.92476530e+02] [ 5.55375970e-02 9.98456590e-01 -1.15538255e-04 1.48982082e+00] [ 1.39015645e-02 -6.57547290e-04 9.99903152e-01 1.28677472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85925415399998 meters 0.024305442857584666 Centerline is valid? [True, True] Translation: X:192.51, Y:1.49, Z:1.29 [[ 9.98363961e-01 -5.54592499e-02 -1.39166321e-02 1.92508257e+02] [ 5.54630233e-02 9.98460735e-01 -1.14956143e-04 1.49002533e+00] [ 1.39015861e-02 -6.57090423e-04 9.99903152e-01 1.28699457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88925415399999 meters 0.026697415076239465 Centerline is valid? [True, True] Translation: X:192.54, Y:1.48, Z:1.29 [[ 9.97911794e-01 -6.31211737e-02 -1.37028536e-02 1.92539799e+02] [ 6.31255618e-02 9.98005587e-01 -1.12482878e-04 1.48422328e+00] [ 1.36826245e-02 -7.52752342e-04 9.99906105e-01 1.28662654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.919254154 meters 0.02744390296468703 Centerline is valid? [True, True] Translation: X:192.57, Y:1.48, Z:1.29 [[ 9.97732578e-01 -6.58379843e-02 -1.39664615e-02 1.92570574e+02] [ 6.58428158e-02 9.97830001e-01 -1.14099515e-04 1.48238435e+00] [ 1.39436663e-02 -8.05750347e-04 9.99902458e-01 1.28630847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.949254154 meters 0.027804759313244925 Centerline is valid? [True, True] Translation: X:192.60, Y:1.48, Z:1.29 [[ 9.97594372e-01 -6.78699896e-02 -1.41114834e-02 1.92602304e+02] [ 6.78751349e-02 9.97693817e-01 -1.14545189e-04 1.48156227e+00] [ 1.40867139e-02 -8.43549203e-04 9.99900421e-01 1.28596692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979254154 meters 0.03155890646657961 Centerline is valid? [True, True] Translation: X:192.63, Y:1.48, Z:1.29 [[ 9.97478888e-01 -6.95981127e-02 -1.38553699e-02 1.92633335e+02] [ 6.96032559e-02 9.97574746e-01 -1.11248065e-04 1.47594390e+00] [ 1.38295098e-02 -8.53411261e-04 9.99904004e-01 1.28505380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.009254154 meters 0.029040051219599634 Centerline is valid? [True, True] Translation: X:192.67, Y:1.48, Z:1.29 [[ 9.97491792e-01 -6.94414860e-02 -1.37114796e-02 1.92665537e+02] [ 6.94465264e-02 9.97585670e-01 -1.08754189e-04 1.47974327e+00] [ 1.36859276e-02 -8.43733219e-04 9.99905987e-01 1.28553450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039254154 meters 0.029763357044013602 Centerline is valid? [True, True] Translation: X:192.70, Y:1.48, Z:1.29 [[ 9.97528369e-01 -6.88258489e-02 -1.41476391e-02 1.92696281e+02] [ 6.88311668e-02 9.97628317e-01 -1.11276632e-04 1.47972102e+00] [ 1.41217441e-02 -8.62796907e-04 9.99899911e-01 1.28548248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.069254154 meters 0.029825810142365124 Centerline is valid? [True, True] Translation: X:192.73, Y:1.48, Z:1.29 [[ 9.97604538e-01 -6.77167438e-02 -1.41290170e-02 1.92729051e+02] [ 6.77219515e-02 9.97704227e-01 -1.10086450e-04 1.48062033e+00] [ 1.41040347e-02 -8.47021860e-04 9.99900174e-01 1.28557062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099254154 meters 0.027202125769195003 Centerline is valid? [True, True] Translation: X:192.76, Y:1.49, Z:1.29 [[ 9.97752581e-01 -6.53389369e-02 -1.48529691e-02 1.92760613e+02] [ 6.53444459e-02 9.97862761e-01 -1.14615313e-04 1.48676608e+00] [ 1.48287136e-02 -8.56201315e-04 9.99889682e-01 1.28528749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12925415399997 meters 0.02925170287522291 Centerline is valid? [True, True] Translation: X:192.79, Y:1.48, Z:1.28 [[ 9.97837879e-01 -6.36143760e-02 -1.65160154e-02 1.92792186e+02] [ 6.36209715e-02 9.97974126e-01 -1.26303106e-04 1.48495868e+00] [ 1.64905908e-02 -9.24734924e-04 9.99863593e-01 1.28336927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15925415399997 meters 0.02875527122183709 Centerline is valid? [True, True] Translation: X:192.82, Y:1.49, Z:1.28 [[ 9.97930365e-01 -6.17232574e-02 -1.80340330e-02 1.92824919e+02] [ 6.17308414e-02 9.98092824e-01 -1.36362008e-04 1.48672843e+00] [ 1.80080556e-02 -9.77176241e-04 9.99837364e-01 1.28189144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18925415399997 meters 0.02511472278576785 Centerline is valid? [True, True] Translation: X:192.86, Y:1.49, Z:1.28 [[ 9.98163708e-01 -5.72250341e-02 -1.98621920e-02 1.92855603e+02] [ 5.72333641e-02 9.98360816e-01 -1.49268253e-04 1.49430524e+00] [ 1.98381761e-02 -9.87785913e-04 9.99802716e-01 1.28075715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21925415399997 meters 0.02428223908094381 Centerline is valid? [True, True] Translation: X:192.89, Y:1.50, Z:1.28 [[ 9.98295217e-01 -5.46490894e-02 -2.04972172e-02 1.92887116e+02] [ 5.46574320e-02 9.98505154e-01 -1.53406230e-04 1.49729558e+00] [ 2.04749605e-02 -9.67180548e-04 9.99789898e-01 1.28046519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24925415399997 meters 0.022477655650387483 Centerline is valid? [True, True] Translation: X:192.92, Y:1.50, Z:1.28 [[ 9.98612240e-01 -4.84449992e-02 -2.06561493e-02 1.92917210e+02] [ 4.84521534e-02 9.98825493e-01 -1.54276616e-04 1.50332867e+00] [ 2.06393625e-02 -8.46772399e-04 9.99786627e-01 1.28092422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27925415399997 meters 0.02124878472790355 Centerline is valid? [True, True] Translation: X:192.95, Y:1.51, Z:1.28 [[ 9.98788557e-01 -4.49435430e-02 -2.00373979e-02 1.92949061e+02] [ 4.49495863e-02 9.98989245e-01 -1.48905547e-04 1.50700243e+00] [ 2.00238374e-02 -7.51947592e-04 9.99799220e-01 1.28213434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30925415399997 meters 0.020478283596821672 Centerline is valid? [True, True] Translation: X:192.98, Y:1.51, Z:1.28 [[ 9.98969112e-01 -4.11634720e-02 -1.91384711e-02 1.92979775e+02] [ 4.11683076e-02 9.99152216e-01 -1.41417899e-04 1.50978549e+00] [ 1.91280670e-02 -6.46626352e-04 9.99816833e-01 1.28297914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33925415399997 meters 0.017356720434097344 Centerline is valid? [True, True] Translation: X:193.01, Y:1.52, Z:1.29 [[ 9.99305471e-01 -3.29178165e-02 -1.74640556e-02 1.93010668e+02] [ 3.29205899e-02 9.99457962e-01 -1.28732259e-04 1.51878595e+00] [ 1.74588270e-02 -4.46284163e-04 9.99847483e-01 1.28577534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36925415399998 meters 0.016274141504326916 Centerline is valid? [True, True] Translation: X:193.04, Y:1.52, Z:1.29 [[ 9.99461578e-01 -2.82593152e-02 -1.66722880e-02 1.93041742e+02] [ 2.82611989e-02 9.99600565e-01 -1.22663372e-04 1.52306827e+00] [ 1.66690949e-02 -3.48581519e-04 9.99861000e-01 1.28664523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39925415399998 meters 0.015061021545787109 Centerline is valid? [True, True] Translation: X:193.07, Y:1.53, Z:1.29 [[ 9.99687509e-01 -1.93182610e-02 -1.58647045e-02 1.93071107e+02] [ 1.93188401e-02 9.99813367e-01 -1.16763597e-04 1.53045114e+00] [ 1.58639993e-02 -1.89760581e-04 9.99874141e-01 1.28747005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42925415399998 meters 0.015061021545787109 Centerline is valid? [True, True] Translation: X:193.10, Y:1.53, Z:1.29 [[ 9.99682538e-01 -1.95738277e-02 -1.58646865e-02 1.93099345e+02] [ 1.95744007e-02 9.99808396e-01 -1.19174813e-04 1.53069804e+00] [ 1.58639794e-02 -1.91404750e-04 9.99874141e-01 1.28766578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45925415399998 meters 0.014244647798766552 Centerline is valid? [True, True] Translation: X:193.13, Y:1.54, Z:1.29 [[ 9.99802552e-01 -1.25364546e-02 -1.54173450e-02 1.93127653e+02] [ 1.25360986e-02 9.99921413e-01 -1.19733866e-04 1.53647363e+00] [ 1.54176345e-02 -7.35631337e-05 9.99881139e-01 1.28871044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48925415399998 meters 0.014324729842460604 Centerline is valid? [True, True] Translation: X:193.16, Y:1.54, Z:1.29 [[ 9.99833640e-01 -1.00292017e-02 -1.52350548e-02 1.93155187e+02] [ 1.00285244e-02 9.99949706e-01 -1.20851536e-04 1.53831516e+00] [ 1.52355006e-02 -3.19536882e-05 9.99883933e-01 1.28839139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51925415399998 meters 0.014204126590438447 Centerline is valid? [True, True] Translation: X:193.18, Y:1.54, Z:1.29 [[ 9.99844528e-01 -8.70340706e-03 -1.53352883e-02 1.93182827e+02] [ 8.70251737e-03 9.99962125e-01 -1.24747616e-04 1.53968580e+00] [ 1.53357932e-02 -8.72739241e-06 9.99882400e-01 1.28864208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54925415399998 meters 0.014332639410017483 Centerline is valid? [True, True] Translation: X:193.21, Y:1.54, Z:1.29 [[ 9.99846368e-01 -8.22087032e-03 -1.54808650e-02 1.93209287e+02] [ 8.21985730e-03 9.99966208e-01 -1.29065839e-04 1.54045726e+00] [ 1.54814029e-02 1.79550945e-06 9.99880156e-01 1.28813482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57925415399998 meters 0.014311403986463515 Centerline is valid? [True, True] Translation: X:193.24, Y:1.54, Z:1.29 [[ 9.99837908e-01 -9.57301515e-03 -1.52484255e-02 1.93237446e+02] [ 9.57214008e-03 9.99954178e-01 -1.30372505e-04 1.54035719e+00] [ 1.52489748e-02 -1.56086918e-05 9.99883728e-01 1.28839702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60925415399998 meters 0.014247369281826357 Centerline is valid? [True, True] Translation: X:193.26, Y:1.54, Z:1.29 [[ 9.99822599e-01 -1.15328493e-02 -1.48917145e-02 1.93264507e+02] [ 1.15321799e-02 9.99933494e-01 -1.30821921e-04 1.53968152e+00] [ 1.48922328e-02 -4.09352179e-05 9.99889104e-01 1.28889152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63925415399999 meters 0.014426261981345624 Centerline is valid? [True, True] Translation: X:193.29, Y:1.54, Z:1.29 [[ 9.99778778e-01 -1.61223740e-02 -1.35079491e-02 1.93293766e+02] [ 1.61222190e-02 9.99870021e-01 -1.20370181e-04 1.53570617e+00] [ 1.35081340e-02 -9.74345618e-05 9.99908756e-01 1.28941108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.669254154 meters 0.014837185780331542 Centerline is valid? [True, True] Translation: X:193.32, Y:1.53, Z:1.29 [[ 9.99736006e-01 -1.89942140e-02 -1.29282237e-02 1.93322801e+02] [ 1.89943019e-02 9.99819585e-01 -1.15996423e-04 1.53287065e+00] [ 1.29280945e-02 -1.29596783e-04 9.99916420e-01 1.28979801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.699254154 meters 0.014836257561297249 Centerline is valid? [True, True] Translation: X:193.35, Y:1.53, Z:1.29 [[ 9.99693687e-01 -2.15748319e-02 -1.21267535e-02 1.93353343e+02] [ 2.15750949e-02 9.99767225e-01 -1.09150718e-04 1.53180706e+00] [ 1.21262856e-02 -1.52518575e-04 9.99926462e-01 1.29096244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.729254154 meters 0.015274887486358264 Centerline is valid? [True, True] Translation: X:193.38, Y:1.53, Z:1.29 [[ 9.99633288e-01 -2.43752438e-02 -1.17956182e-02 1.93383629e+02] [ 2.43756886e-02 9.99702863e-01 -1.06081078e-04 1.52909940e+00] [ 1.17946990e-02 -1.81484140e-04 9.99930424e-01 1.29115625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759254154 meters 0.015904112776284514 Centerline is valid? [True, True] Translation: X:193.42, Y:1.53, Z:1.29 [[ 9.99570849e-01 -2.69014050e-02 -1.15944647e-02 1.93415876e+02] [ 2.69020100e-02 9.99638070e-01 -1.03806238e-04 1.52647088e+00] [ 1.15930608e-02 -2.08152715e-04 9.99932777e-01 1.29065964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.789254154 meters 0.017077635283507454 Centerline is valid? [True, True] Translation: X:193.45, Y:1.52, Z:1.29 [[ 9.99396265e-01 -3.28117544e-02 -1.14234343e-02 1.93446927e+02] [ 3.28127342e-02 9.99461512e-01 -1.01693690e-04 1.52102888e+00] [ 1.14206197e-02 -2.73201821e-04 9.99934745e-01 1.29079305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819254154 meters 0.01870331413266834 Centerline is valid? [True, True] Translation: X:193.48, Y:1.52, Z:1.29 [[ 9.99296731e-01 -3.57506386e-02 -1.13108680e-02 1.93478244e+02] [ 3.57517935e-02 9.99360695e-01 -1.00143493e-04 1.51663747e+00] [ 1.13072171e-02 -3.04310753e-04 9.99936025e-01 1.29053256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.849254154 meters 0.0189394487882029 Centerline is valid? [True, True] Translation: X:193.51, Y:1.51, Z:1.29 [[ 9.99110911e-01 -4.09367357e-02 -1.00782920e-02 1.93509539e+02] [ 4.09379233e-02 9.99161688e-01 -8.85184877e-05 1.51204759e+00] [ 1.00734669e-02 -3.24144557e-04 9.99949209e-01 1.29108637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87925415399997 meters 0.02131434298880331 Centerline is valid? [True, True] Translation: X:193.54, Y:1.51, Z:1.29 [[ 9.98966093e-01 -4.45323837e-02 -9.14396161e-03 1.93540475e+02] [ 4.45335146e-02 9.99007888e-01 -7.99992016e-05 1.50550869e+00] [ 9.13845233e-03 -3.27296258e-04 9.99958190e-01 1.29178082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90925415399997 meters 0.020739376296115174 Centerline is valid? [True, True] Translation: X:193.57, Y:1.51, Z:1.29 [[ 9.98929839e-01 -4.52270523e-02 -9.67938455e-03 1.93572795e+02] [ 4.52283566e-02 9.98976671e-01 -8.42160497e-05 1.50530230e+00] [ 9.67328820e-03 -3.53656732e-04 9.99953150e-01 1.29230228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93925415399997 meters 0.020371966056858135 Centerline is valid? [True, True] Translation: X:193.61, Y:1.50, Z:1.29 [[ 9.98924497e-01 -4.52025615e-02 -1.03236294e-02 1.93605355e+02] [ 4.52040528e-02 9.98977770e-01 -8.89615149e-05 1.50371269e+00] [ 1.03170975e-02 -3.77804050e-04 9.99946706e-01 1.29158645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96925415399997 meters 0.02048973766572501 Centerline is valid? [True, True] Translation: X:193.64, Y:1.50, Z:1.29 [[ 9.99100791e-01 -4.10026018e-02 -1.07886694e-02 1.93635575e+02] [ 4.10039939e-02 9.99158978e-01 -9.22201692e-05 1.50172113e+00] [ 1.07833772e-02 -3.50241290e-04 9.99941796e-01 1.29097872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99925415399997 meters 0.02048973766572501 Centerline is valid? [True, True] Translation: X:193.67, Y:1.50, Z:1.29 [[ 9.99103715e-01 -4.09312920e-02 -1.07886728e-02 1.93667282e+02] [ 4.09326843e-02 9.99161902e-01 -9.18155774e-05 1.50192955e+00] [ 1.07833890e-02 -3.49876055e-04 9.99941796e-01 1.29119841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02925415399997 meters 0.02048973766572501 Centerline is valid? [True, True] Translation: X:193.70, Y:1.50, Z:1.29 [[ 9.99106634e-01 -4.08599795e-02 -1.07886793e-02 1.93698989e+02] [ 4.08613760e-02 9.99164821e-01 -9.10455653e-05 1.50213553e+00] [ 1.07833890e-02 -3.49876055e-04 9.99941796e-01 1.29141800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05925415399997 meters 0.018949280042255004 Centerline is valid? [True, True] Translation: X:193.73, Y:1.50, Z:1.29 [[ 9.99195580e-01 -3.85999517e-02 -1.08736235e-02 1.93731694e+02] [ 3.86012459e-02 9.99254690e-01 -9.09053190e-05 1.50435979e+00] [ 1.08690283e-02 -3.28903223e-04 9.99940876e-01 1.29157041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08925415399997 meters 0.018244596536503052 Centerline is valid? [True, True] Translation: X:193.76, Y:1.51, Z:1.29 [[ 9.99279458e-01 -3.62095730e-02 -1.13767829e-02 1.93763643e+02] [ 3.62108461e-02 9.99344168e-01 -9.41264696e-05 1.50548735e+00] [ 1.13727299e-02 -3.17904288e-04 9.99935278e-01 1.29155021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11925415399998 meters 0.01671454558593589 Centerline is valid? [True, True] Translation: X:193.79, Y:1.51, Z:1.29 [[ 9.99420939e-01 -3.17965386e-02 -1.21147077e-02 1.93794646e+02] [ 3.17976671e-02 9.99494321e-01 -9.94967244e-05 1.50832317e+00] [ 1.21117452e-02 -2.85780333e-04 9.99926609e-01 1.29113609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14925415399998 meters 0.0165178584586413 Centerline is valid? [True, True] Translation: X:193.83, Y:1.51, Z:1.29 [[ 9.99475570e-01 -2.97129171e-02 -1.28735574e-02 1.93825500e+02] [ 2.97140252e-02 9.99558435e-01 -1.05235428e-04 1.50915496e+00] [ 1.28709998e-02 -2.77344970e-04 9.99917127e-01 1.29081337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17925415399998 meters 0.016358235106550892 Centerline is valid? [True, True] Translation: X:193.86, Y:1.51, Z:1.29 [[ 9.99515269e-01 -2.81075815e-02 -1.33862161e-02 1.93857325e+02] [ 2.81086439e-02 9.99604868e-01 -1.08807860e-04 1.50980869e+00] [ 1.33839851e-02 -2.67513264e-04 9.99910395e-01 1.29036564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20925415399998 meters 0.016021235462443172 Centerline is valid? [True, True] Translation: X:193.89, Y:1.51, Z:1.29 [[ 9.99532527e-01 -2.71858952e-02 -1.39876471e-02 1.93889021e+02] [ 2.71869742e-02 9.99630360e-01 -1.13038441e-04 1.51065617e+00] [ 1.39855498e-02 -2.67296203e-04 9.99902162e-01 1.28994996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23925415399998 meters 0.01590404408366752 Centerline is valid? [True, True] Translation: X:193.92, Y:1.51, Z:1.29 [[ 9.99538080e-01 -2.62190589e-02 -1.53684191e-02 1.93920677e+02] [ 2.62202564e-02 9.99656182e-01 -1.23602818e-04 1.51016974e+00] [ 1.53663759e-02 -2.79418166e-04 9.99881891e-01 1.28927883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26925415399998 meters 0.015940789725690668 Centerline is valid? [True, True] Translation: X:193.95, Y:1.51, Z:1.29 [[ 9.99532699e-01 -2.64084987e-02 -1.53940036e-02 1.93950900e+02] [ 2.64097266e-02 9.99651195e-01 -1.23552082e-04 1.50930564e+00] [ 1.53918970e-02 -2.83057081e-04 9.99881498e-01 1.28910325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29925415399998 meters 0.015940789725690668 Centerline is valid? [True, True] Translation: X:193.98, Y:1.51, Z:1.29 [[ 9.99532699e-01 -2.64084987e-02 -1.53940036e-02 1.93980905e+02] [ 2.64097266e-02 9.99651195e-01 -1.23552082e-04 1.50954645e+00] [ 1.53918970e-02 -2.83057081e-04 9.99881498e-01 1.28931119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32925415399998 meters 0.016032962103768793 Centerline is valid? [True, True] Translation: X:194.01, Y:1.51, Z:1.29 [[ 9.99508084e-01 -2.71701698e-02 -1.56643737e-02 1.94011589e+02] [ 2.71715348e-02 9.99630778e-01 -1.25722069e-04 1.50876231e+00] [ 1.56620059e-02 -2.99964850e-04 9.99877298e-01 1.28964590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35925415399998 meters 0.016635686972445086 Centerline is valid? [True, True] Translation: X:194.04, Y:1.51, Z:1.29 [[ 9.99485552e-01 -2.80303956e-02 -1.55861402e-02 1.94040754e+02] [ 2.80318511e-02 9.99607023e-01 -1.25119871e-04 1.50598826e+00] [ 1.55835224e-02 -3.11852859e-04 9.99878521e-01 1.28924447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38925415399999 meters 0.016480860548051 Centerline is valid? [True, True] Translation: X:194.07, Y:1.51, Z:1.29 [[ 9.99453023e-01 -2.92468350e-02 -1.54362185e-02 1.94071200e+02] [ 2.92484073e-02 9.99572166e-01 -1.23936729e-04 1.50508945e+00] [ 1.54332392e-02 -3.27615869e-04 9.99880847e-01 1.28994814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.419254154 meters 0.01684156891780343 Centerline is valid? [True, True] Translation: X:194.10, Y:1.50, Z:1.29 [[ 9.99405357e-01 -3.10118255e-02 -1.50731028e-02 1.94101486e+02] [ 3.10135253e-02 9.99518958e-01 -1.21021288e-04 1.50373578e+00] [ 1.50696051e-02 -3.46520731e-04 9.99886387e-01 1.29061609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.449254154 meters 0.017796529874264545 Centerline is valid? [True, True] Translation: X:194.13, Y:1.50, Z:1.29 [[ 9.99297420e-01 -3.46331476e-02 -1.43252381e-02 1.94132497e+02] [ 3.46350566e-02 9.99400020e-01 -1.14880783e-04 1.49978313e+00] [ 1.43206219e-02 -3.81355363e-04 9.99897382e-01 1.29091244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479254154 meters 0.018396178508993437 Centerline is valid? [True, True] Translation: X:194.16, Y:1.50, Z:1.29 [[ 9.99217117e-01 -3.68562532e-02 -1.43794743e-02 1.94164193e+02] [ 3.68584145e-02 9.99320491e-01 -1.14775769e-04 1.49753093e+00] [ 1.43739335e-02 -4.15318710e-04 9.99896603e-01 1.29118172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.509254154 meters 0.01935308460446196 Centerline is valid? [True, True] Translation: X:194.20, Y:1.49, Z:1.29 [[ 9.99132281e-01 -3.90662359e-02 -1.44399912e-02 1.94195042e+02] [ 3.90686555e-02 9.99236522e-01 -1.14598499e-04 1.49427581e+00] [ 1.44334435e-02 -4.49651983e-04 9.99895731e-01 1.29113881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539254154 meters 0.020450123927217255 Centerline is valid? [True, True] Translation: X:194.23, Y:1.49, Z:1.29 [[ 9.98914490e-01 -4.44163539e-02 -1.40367275e-02 1.94225758e+02] [ 4.44191730e-02 9.99012975e-01 -1.11019893e-04 1.49008862e+00] [ 1.40278040e-02 -5.12600448e-04 9.99901474e-01 1.29182658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.569254154 meters 0.02332090952009197 Centerline is valid? [True, True] Translation: X:194.26, Y:1.48, Z:1.29 [[ 9.98803789e-01 -4.70431988e-02 -1.33390062e-02 1.94256900e+02] [ 4.70459882e-02 9.98892719e-01 -1.04765680e-04 1.48433539e+00] [ 1.33291647e-02 -5.22906371e-04 9.99911026e-01 1.29178129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599254154 meters 0.022663539752224383 Centerline is valid? [True, True] Translation: X:194.29, Y:1.48, Z:1.29 [[ 9.98666464e-01 -4.98739478e-02 -1.33372833e-02 1.94288927e+02] [ 4.98770036e-02 9.98755362e-01 -1.03620973e-04 1.48450002e+00] [ 1.33258512e-02 -5.61740935e-04 9.99911049e-01 1.29264184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62925415399997 meters 0.024614258908823253 Centerline is valid? [True, True] Translation: X:194.32, Y:1.48, Z:1.29 [[ 9.98397533e-01 -5.51338234e-02 -1.27525308e-02 1.94320051e+02] [ 5.51370526e-02 9.98478791e-01 -9.84915278e-05 1.48012279e+00] [ 1.27385618e-02 -6.04803265e-04 9.99918678e-01 1.29348949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65925415399997 meters 0.02525555018444142 Centerline is valid? [True, True] Translation: X:194.35, Y:1.48, Z:1.29 [[ 9.98302358e-01 -5.69665845e-02 -1.21330221e-02 1.94352045e+02] [ 5.69696486e-02 9.98375906e-01 -9.32057191e-05 1.47904717e+00] [ 1.21186266e-02 -5.98166518e-04 9.99926388e-01 1.29400662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68925415399997 meters 0.02621688595406522 Centerline is valid? [True, True] Translation: X:194.38, Y:1.48, Z:1.30 [[ 9.98169836e-01 -5.93580178e-02 -1.15587564e-02 1.94383946e+02] [ 5.93609671e-02 9.98236579e-01 -8.80537562e-05 1.47773583e+00] [ 1.15436002e-02 -5.98246357e-04 9.99933191e-01 1.29547572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71925415399997 meters 0.02942770530420432 Centerline is valid? [True, True] Translation: X:194.42, Y:1.47, Z:1.30 [[ 9.98145754e-01 -5.98457041e-02 -1.11150881e-02 1.94415340e+02] [ 5.98484681e-02 9.98207470e-01 -8.40800384e-05 1.47374701e+00] [ 1.11001958e-02 -5.81296864e-04 9.99938222e-01 1.29550644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74925415399997 meters 0.02638219636542763 Centerline is valid? [True, True] Translation: X:194.45, Y:1.48, Z:1.30 [[ 9.98123211e-01 -6.02298401e-02 -1.10644851e-02 1.94447463e+02] [ 6.02326101e-02 9.98184365e-01 -8.30126631e-05 1.47846548e+00] [ 1.10493959e-02 -5.83585950e-04 9.99938783e-01 1.29634813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77925415399997 meters 0.02803909940831521 Centerline is valid? [True, True] Translation: X:194.48, Y:1.48, Z:1.30 [[ 9.98108329e-01 -6.05020017e-02 -1.09211399e-02 1.94479087e+02] [ 6.05047282e-02 9.98167907e-01 -8.08716654e-05 1.47652780e+00] [ 1.09060243e-02 -5.80061920e-04 9.99940359e-01 1.29607097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80925415399997 meters 0.0282234304078506 Centerline is valid? [True, True] Translation: X:194.51, Y:1.48, Z:1.30 [[ 9.98088749e-01 -6.07327351e-02 -1.14185653e-02 1.94511626e+02] [ 6.07357460e-02 9.98153877e-01 -8.32143521e-05 1.47678356e+00] [ 1.14025390e-02 -6.10459771e-04 9.99934803e-01 1.29569685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83925415399997 meters 0.026657857786533325 Centerline is valid? [True, True] Translation: X:194.54, Y:1.48, Z:1.30 [[ 9.98079781e-01 -6.06564132e-02 -1.25518753e-02 1.94543666e+02] [ 6.06600577e-02 9.98158479e-01 -9.05069575e-05 1.47995669e+00] [ 1.25342506e-02 -6.71064315e-04 9.99921218e-01 1.29518654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86925415399998 meters 0.027765187824381025 Centerline is valid? [True, True] Translation: X:194.58, Y:1.48, Z:1.29 [[ 9.98084124e-01 -6.05262685e-02 -1.28316927e-02 1.94575536e+02] [ 6.05300803e-02 9.98166369e-01 -9.14562702e-05 1.47918689e+00] [ 1.28136996e-02 -6.85422338e-04 9.99917666e-01 1.29480980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89925415399998 meters 0.02803496318620372 Centerline is valid? [True, True] Translation: X:194.61, Y:1.48, Z:1.29 [[ 9.98111492e-01 -6.00093062e-02 -1.31275275e-02 1.94608207e+02] [ 6.00132671e-02 9.98197575e-01 -9.23516351e-05 1.47957805e+00] [ 1.31094080e-02 -6.95648584e-04 9.99913826e-01 1.29464524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92925415399998 meters 0.0269331421865275 Centerline is valid? [True, True] Translation: X:194.64, Y:1.48, Z:1.29 [[ 9.98142089e-01 -5.94390899e-02 -1.33926838e-02 1.94640241e+02] [ 5.94431762e-02 9.98231687e-01 -9.31063935e-05 1.48208953e+00] [ 1.33745355e-02 -7.03170251e-04 9.99910310e-01 1.29485033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95925415399998 meters 0.027698819912389358 Centerline is valid? [True, True] Translation: X:194.67, Y:1.48, Z:1.29 [[ 9.98256709e-01 -5.73436166e-02 -1.39733156e-02 1.94670408e+02] [ 5.73478692e-02 9.98354252e-01 -9.64869217e-05 1.48368281e+00] [ 1.39558519e-02 -7.05021156e-04 9.99902364e-01 1.29477977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98925415399998 meters 0.028521035969876693 Centerline is valid? [True, True] Translation: X:194.70, Y:1.48, Z:1.29 [[ 9.98348884e-01 -5.56223827e-02 -1.43407455e-02 1.94701249e+02] [ 5.56266923e-02 9.98451632e-01 -9.85040125e-05 1.48374509e+00] [ 1.43240197e-02 -6.99386864e-04 9.99897161e-01 1.29450527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01925415399998 meters 0.024436113718486533 Centerline is valid? [True, True] Translation: X:194.73, Y:1.49, Z:1.29 [[ 9.98588885e-01 -5.08819223e-02 -1.52075203e-02 1.94731855e+02] [ 5.08862289e-02 9.98704451e-01 -1.03875237e-04 1.49245576e+00] [ 1.51931036e-02 -6.70124703e-04 9.99884354e-01 1.29464622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.04925415399998 meters 0.024016146626786375 Centerline is valid? [True, True] Translation: X:194.76, Y:1.49, Z:1.29 [[ 9.98745344e-01 -4.77052299e-02 -1.52298972e-02 1.94762389e+02] [ 4.77091852e-02 9.98861263e-01 -1.03715372e-04 1.49488092e+00] [ 1.52175021e-02 -6.23020740e-04 9.99884013e-01 1.29466821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07925415399998 meters 0.022768435271349117 Centerline is valid? [True, True] Translation: X:194.79, Y:1.50, Z:1.30 [[ 9.98920112e-01 -4.39276716e-02 -1.51317493e-02 1.94793923e+02] [ 4.39311518e-02 9.99034556e-01 -1.02488276e-04 1.49885593e+00] [ 1.51216425e-02 -5.62377574e-04 9.99885503e-01 1.29504081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10925415399998 meters 0.02183791792278203 Centerline is valid? [True, True] Translation: X:194.82, Y:1.50, Z:1.30 [[ 9.99099254e-01 -3.97478101e-02 -1.48590934e-02 1.94824742e+02] [ 3.97507137e-02 9.99209623e-01 -1.00002331e-04 1.50209418e+00] [ 1.48513240e-02 -4.90747313e-04 9.99889593e-01 1.29532308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13925415399999 meters 0.020201824446704 Centerline is valid? [True, True] Translation: X:194.86, Y:1.51, Z:1.30 [[ 9.99265684e-01 -3.54306895e-02 -1.45862286e-02 1.94856426e+02] [ 3.54330376e-02 9.99372048e-01 -9.75004842e-05 1.50671733e+00] [ 1.45805237e-02 -4.19405500e-04 9.99893611e-01 1.29614414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.169254154 meters 0.01765500840371022 Centerline is valid? [True, True] Translation: X:194.89, Y:1.51, Z:1.30 [[ 9.99408687e-01 -3.13228324e-02 -1.41829322e-02 1.94888093e+02] [ 3.13246500e-02 9.99509258e-01 -9.40332771e-05 1.51363464e+00] [ 1.41789174e-02 -3.50297713e-04 9.99899413e-01 1.29742284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.199254154 meters 0.015956176846129082 Centerline is valid? [True, True] Translation: X:194.92, Y:1.52, Z:1.30 [[ 9.99630017e-01 -2.37906595e-02 -1.31845955e-02 1.94917395e+02] [ 2.37915784e-02 9.99716937e-01 -8.71748039e-05 1.51987601e+00] [ 1.31829373e-02 -2.26539786e-04 9.99913076e-01 1.29825931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.229254154 meters 0.015420732254956047 Centerline is valid? [True, True] Translation: X:194.95, Y:1.52, Z:1.30 [[ 9.99703778e-01 -2.06926972e-02 -1.28128487e-02 1.94947587e+02] [ 2.06933090e-02 9.99785867e-01 -8.48379305e-05 1.52271987e+00] [ 1.28118606e-02 -1.80327438e-04 9.99917908e-01 1.29841914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259254154 meters 0.014936952947053429 Centerline is valid? [True, True] Translation: X:194.98, Y:1.53, Z:1.30 [[ 9.99759927e-01 -1.80400333e-02 -1.24356635e-02 1.94977920e+02] [ 1.80404045e-02 9.99837255e-01 -8.23404676e-05 1.52502016e+00] [ 1.24351251e-02 -1.42023699e-04 9.99922671e-01 1.29882401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.289254154 meters 0.01479143684518817 Centerline is valid? [True, True] Translation: X:195.01, Y:1.53, Z:1.30 [[ 9.99786543e-01 -1.61136027e-02 -1.29313836e-02 1.95007286e+02] [ 1.61138416e-02 9.99870160e-01 -8.57293859e-05 1.52643311e+00] [ 1.29310860e-02 -1.22663181e-04 9.99916382e-01 1.29858427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319254154 meters 0.014412640104525653 Centerline is valid? [True, True] Translation: X:195.04, Y:1.53, Z:1.30 [[ 9.99800733e-01 -1.45672675e-02 -1.36487673e-02 1.95036507e+02] [ 1.45673668e-02 9.99893886e-01 -9.21463371e-05 1.52882641e+00] [ 1.36486613e-02 -1.06698625e-04 9.99906847e-01 1.29799290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.349254154 meters 0.014618336882963745 Centerline is valid? [True, True] Translation: X:195.06, Y:1.53, Z:1.30 [[ 9.99782446e-01 -1.50703516e-02 -1.44202961e-02 1.95064812e+02] [ 1.50704769e-02 9.99886429e-01 -9.99838403e-05 1.52936957e+00] [ 1.44201651e-02 -1.17358651e-04 9.99896017e-01 1.29751045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37925415399997 meters 0.015120309773753714 Centerline is valid? [True, True] Translation: X:195.09, Y:1.53, Z:1.30 [[ 9.99735476e-01 -1.81461333e-02 -1.41313714e-02 1.95092117e+02] [ 1.81465379e-02 9.99835333e-01 -9.95997930e-05 1.52731300e+00] [ 1.41308517e-02 -1.56862020e-04 9.99900142e-01 1.29709238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40925415399997 meters 0.015577028735537573 Centerline is valid? [True, True] Translation: X:195.12, Y:1.53, Z:1.30 [[ 9.99691552e-01 -2.06109542e-02 -1.38560100e-02 1.95121301e+02] [ 2.06115652e-02 9.99787554e-01 -9.87219674e-05 1.52544533e+00] [ 1.38551011e-02 -1.86902536e-04 9.99903996e-01 1.29733124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43925415399997 meters 0.016326859569650992 Centerline is valid? [True, True] Translation: X:195.15, Y:1.52, Z:1.30 [[ 9.99621053e-01 -2.38927515e-02 -1.36706450e-02 1.95151158e+02] [ 2.38936450e-02 9.99714501e-01 -9.79830966e-05 1.52272725e+00] [ 1.36690832e-02 -2.28695573e-04 9.99906548e-01 1.29740284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46925415399997 meters 0.016530287480782037 Centerline is valid? [True, True] Translation: X:195.18, Y:1.52, Z:1.30 [[ 9.99516239e-01 -2.79462142e-02 -1.36490514e-02 1.95181958e+02] [ 2.79474795e-02 9.99609388e-01 -9.80640448e-05 1.52170774e+00] [ 1.36464604e-02 -2.83439977e-04 9.99906843e-01 1.29791318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49925415399997 meters 0.01714848350739356 Centerline is valid? [True, True] Translation: X:195.21, Y:1.52, Z:1.30 [[ 9.99379411e-01 -3.26166383e-02 -1.33022006e-02 1.95212998e+02] [ 3.26182551e-02 9.99467879e-01 -9.54542976e-05 1.51932289e+00] [ 1.32982357e-02 -3.38499514e-04 9.99911517e-01 1.29812875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52925415399997 meters 0.02029098582339784 Centerline is valid? [True, True] Translation: X:195.24, Y:1.51, Z:1.30 [[ 9.99001156e-01 -4.29376302e-02 -1.23713768e-02 1.95242617e+02] [ 4.29398193e-02 9.99077657e-01 -8.87394325e-05 1.51162740e+00] [ 1.23637764e-02 -4.42573891e-04 9.99923468e-01 1.29840529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55925415399997 meters 0.02191766936623836 Centerline is valid? [True, True] Translation: X:195.27, Y:1.51, Z:1.30 [[ 9.98772924e-01 -4.80425985e-02 -1.20231200e-02 1.95273572e+02] [ 4.80450352e-02 9.98845167e-01 -8.62513109e-05 1.50849836e+00] [ 1.20133791e-02 -4.91505750e-04 9.99927716e-01 1.29896330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58925415399997 meters 0.030367280424199287 Centerline is valid? [True, True] Translation: X:195.30, Y:1.50, Z:1.30 [[ 9.98533198e-01 -5.28857558e-02 -1.15995695e-02 1.95303954e+02] [ 5.28883550e-02 9.98600428e-01 -8.27731769e-05 1.49550186e+00] [ 1.15877125e-02 -5.30830382e-04 9.99932719e-01 1.29835148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61925415399998 meters 0.026671668972245093 Centerline is valid? [True, True] Translation: X:195.34, Y:1.50, Z:1.30 [[ 9.98297995e-01 -5.71802871e-02 -1.14685729e-02 1.95335235e+02] [ 5.71831178e-02 9.98363703e-01 -8.12102529e-05 1.50012991e+00] [ 1.14544506e-02 -5.74736724e-04 9.99934230e-01 1.29908417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64925415399998 meters 0.028518474322012297 Centerline is valid? [True, True] Translation: X:195.37, Y:1.50, Z:1.30 [[ 9.98105924e-01 -6.05064778e-02 -1.11143939e-02 1.95365410e+02] [ 6.05093447e-02 9.98167628e-01 -7.84606586e-05 1.49677212e+00] [ 1.10987756e-02 -5.94212644e-04 9.99938230e-01 1.29927009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67925415399998 meters 0.02852115799022751 Centerline is valid? [True, True] Translation: X:195.40, Y:1.50, Z:1.30 [[ 9.97814524e-01 -6.51771128e-02 -1.08682680e-02 1.95396268e+02] [ 6.51801304e-02 9.97873511e-01 -7.67077632e-05 1.49655990e+00] [ 1.08501564e-02 -6.31855008e-04 9.99940936e-01 1.29964115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70925415399998 meters 0.028377323925518835 Centerline is valid? [True, True] Translation: X:195.43, Y:1.50, Z:1.30 [[ 9.97731356e-01 -6.64754813e-02 -1.06373072e-02 1.95428163e+02] [ 6.64784487e-02 9.97787858e-01 -7.47742618e-05 1.49706514e+00] [ 1.06187466e-02 -6.32547056e-04 9.99943419e-01 1.29995221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73925415399998 meters 0.029216596778780423 Centerline is valid? [True, True] Translation: X:195.46, Y:1.50, Z:1.30 [[ 9.97691240e-01 -6.71314273e-02 -1.02742698e-02 1.95459143e+02] [ 6.71342373e-02 9.97743950e-01 -7.15361783e-05 1.49600410e+00] [ 1.02558928e-02 -6.18384246e-04 9.99947216e-01 1.30010216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76925415399998 meters 0.03189863887386924 Centerline is valid? [True, True] Translation: X:195.49, Y:1.49, Z:1.30 [[ 9.97676027e-01 -6.73822728e-02 -1.01081771e-02 1.95489967e+02] [ 6.73850111e-02 9.97727045e-01 -6.98247851e-05 1.49234370e+00] [ 1.00899066e-02 -6.11477113e-04 9.99948909e-01 1.29987655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79925415399998 meters 0.030429433085832024 Centerline is valid? [True, True] Translation: X:195.52, Y:1.49, Z:1.30 [[ 9.97664672e-01 -6.73679074e-02 -1.12591100e-02 1.95522186e+02] [ 6.73713122e-02 9.97727969e-01 -7.70337438e-05 1.49481797e+00] [ 1.12387186e-02 -6.81687170e-04 9.99936611e-01 1.29927373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82925415399998 meters 0.03399429657590038 Centerline is valid? [True, True] Translation: X:195.55, Y:1.49, Z:1.30 [[ 9.97706488e-01 -6.66791151e-02 -1.16473055e-02 1.95553056e+02] [ 6.66827211e-02 9.97774227e-01 -7.89096016e-05 1.49038030e+00] [ 1.16266429e-02 -6.97945406e-04 9.99932165e-01 1.29832925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85925415399998 meters 0.028466362979911473 Centerline is valid? [True, True] Translation: X:195.58, Y:1.50, Z:1.30 [[ 9.97786111e-01 -6.54103353e-02 -1.20152028e-02 1.95584851e+02] [ 6.54140902e-02 9.97858201e-01 -8.06362002e-05 1.49838340e+00] [ 1.19947431e-02 -7.05505881e-04 9.99927812e-01 1.29803591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88925415399999 meters 0.02965842451027373 Centerline is valid? [True, True] Translation: X:195.62, Y:1.50, Z:1.30 [[ 9.98030614e-01 -6.13605634e-02 -1.30297997e-02 1.95615180e+02] [ 6.13646425e-02 9.98115411e-01 -8.68882473e-05 1.49839007e+00] [ 1.30105753e-02 -7.12851868e-04 9.99915105e-01 1.29668426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.919254154 meters 0.027024129813138457 Centerline is valid? [True, True] Translation: X:195.65, Y:1.50, Z:1.30 [[ 9.98193594e-01 -5.85969945e-02 -1.32642979e-02 1.95646833e+02] [ 5.86009849e-02 9.98281482e-01 -8.79648853e-05 1.50380267e+00] [ 1.32466574e-02 -6.89494934e-04 9.99912021e-01 1.29662004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.949254154 meters 0.027176976822807633 Centerline is valid? [True, True] Translation: X:195.68, Y:1.51, Z:1.30 [[ 9.98400503e-01 -5.49317412e-02 -1.33768181e-02 1.95676596e+02] [ 5.49354786e-02 9.98489903e-01 -8.81737544e-05 1.50532233e+00] [ 1.33614613e-02 -6.46829181e-04 9.99910522e-01 1.29677549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979254154 meters 0.024352576304763177 Centerline is valid? [True, True] Translation: X:195.71, Y:1.51, Z:1.30 [[ 9.98613335e-01 -5.09138636e-02 -1.33859938e-02 1.95707353e+02] [ 5.09172474e-02 9.98702872e-01 -8.81185758e-05 1.51136630e+00] [ 1.33731169e-02 -5.93581574e-04 9.99910400e-01 1.29717426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.009254154 meters 0.02330852319632539 Centerline is valid? [True, True] Translation: X:195.74, Y:1.52, Z:1.30 [[ 9.98833872e-01 -4.63731338e-02 -1.34323724e-02 1.95736885e+02] [ 4.63761313e-02 9.98924044e-01 -8.84149607e-05 1.51508685e+00] [ 1.34220198e-02 -5.34629607e-04 9.99909778e-01 1.29726122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039254154 meters 0.0191588542181919 Centerline is valid? [True, True] Translation: X:195.77, Y:1.53, Z:1.30 [[ 9.99244513e-01 -3.64755295e-02 -1.34141699e-02 1.95767005e+02] [ 3.64776261e-02 9.99334466e-01 -8.84222776e-05 1.52580103e+00] [ 1.34084676e-02 -4.00961598e-04 9.99910022e-01 1.29732558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.069254154 meters 0.017276506694593016 Centerline is valid? [True, True] Translation: X:195.80, Y:1.53, Z:1.30 [[ 9.99401668e-01 -3.16179435e-02 -1.40217922e-02 1.95798962e+02] [ 3.16197619e-02 9.99499966e-01 -9.20454795e-05 1.53173555e+00] [ 1.40176911e-02 -3.51375324e-04 9.99901686e-01 1.29753505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099254154 meters 0.016648476838117272 Centerline is valid? [True, True] Translation: X:195.83, Y:1.54, Z:1.30 [[ 9.99540717e-01 -2.67172534e-02 -1.43018719e-02 1.95829500e+02] [ 2.67186511e-02 9.99642989e-01 -9.33646133e-05 1.53537163e+00] [ 1.42992604e-02 -2.88804992e-04 9.99897719e-01 1.29729829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12925415399997 meters 0.014243880520311478 Centerline is valid? [True, True] Translation: X:195.86, Y:1.55, Z:1.30 [[ 9.99744202e-01 -1.74599015e-02 -1.43764712e-02 1.95859724e+02] [ 1.74603587e-02 9.99847552e-01 -9.37248494e-05 1.54618530e+00] [ 1.43759160e-02 -1.57317469e-04 9.99896649e-01 1.29810508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15925415399997 meters 0.01385042710921832 Centerline is valid? [True, True] Translation: X:195.89, Y:1.55, Z:1.30 [[ 9.99803469e-01 -1.36984358e-02 -1.43309277e-02 1.95888535e+02] [ 1.36984763e-02 9.99906167e-01 -9.53400482e-05 1.54982072e+00] [ 1.43308890e-02 -1.00990563e-04 9.99897302e-01 1.29826829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18925415399997 meters 0.01385042710921832 Centerline is valid? [True, True] Translation: X:195.92, Y:1.55, Z:1.30 [[ 9.99799381e-01 -1.39936655e-02 -1.43309005e-02 1.95915923e+02] [ 1.39936794e-02 9.99902079e-01 -9.93154749e-05 1.55007039e+00] [ 1.43308870e-02 -1.01246476e-04 9.99897302e-01 1.29845867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21925415399997 meters 0.013778188902299184 Centerline is valid? [True, True] Translation: X:195.94, Y:1.55, Z:1.30 [[ 9.99838387e-01 -1.04695840e-02 -1.46146439e-02 1.95944032e+02] [ 1.04691812e-02 9.99945191e-01 -1.04070279e-04 1.55314329e+00] [ 1.46149324e-02 -4.89498946e-05 9.99893195e-01 1.29812465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24925415399997 meters 0.013570285220373967 Centerline is valid? [True, True] Translation: X:195.97, Y:1.56, Z:1.30 [[ 9.99852673e-01 -7.67641618e-03 -1.53526827e-02 1.95971406e+02] [ 7.67559431e-03 9.99970536e-01 -1.12456313e-04 1.55599859e+00] [ 1.53530936e-02 -5.40121916e-06 9.99882134e-01 1.29813959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27925415399997 meters 0.01374996821061654 Centerline is valid? [True, True] Translation: X:196.00, Y:1.56, Z:1.30 [[ 9.99860621e-01 -5.64284352e-03 -1.57129620e-02 1.95999172e+02] [ 5.64165864e-03 9.99984079e-01 -1.19733714e-04 1.55830804e+00] [ 1.57133874e-02 3.10698577e-05 9.99876537e-01 1.29778099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30925415399997 meters 0.01381771518814743 Centerline is valid? [True, True] Translation: X:196.03, Y:1.56, Z:1.30 [[ 9.99864811e-01 -2.95920326e-03 -1.61741227e-02 1.96027907e+02] [ 2.95752490e-03 9.99995618e-01 -1.27686460e-04 1.56099848e+00] [ 1.61744296e-02 7.98338272e-05 9.99869182e-01 1.29810309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33925415399997 meters 0.013894718614175423 Centerline is valid? [True, True] Translation: X:196.06, Y:1.56, Z:1.30 [[ 9.99872112e-01 -2.62153306e-03 -1.57761764e-02 1.96055832e+02] [ 2.61982650e-03 9.99996560e-01 -1.28838849e-04 1.56181565e+00] [ 1.57764598e-02 8.74915274e-05 9.99875540e-01 1.29847497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36925415399998 meters 0.013820207613793925 Centerline is valid? [True, True] Translation: X:196.08, Y:1.56, Z:1.30 [[ 9.99875734e-01 -2.81203763e-03 -1.55115849e-02 1.96084056e+02] [ 2.81034161e-03 9.99996042e-01 -1.31135600e-04 1.56225954e+00] [ 1.55118923e-02 8.75264521e-05 9.99879680e-01 1.29939438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39925415399998 meters 0.01388206063943121 Centerline is valid? [True, True] Translation: X:196.11, Y:1.56, Z:1.30 [[ 9.99885217e-01 -3.33885955e-03 -1.47785000e-02 1.96111669e+02] [ 3.33733450e-03 9.99994423e-01 -1.27854283e-04 1.56251090e+00] [ 1.47788445e-02 7.85188098e-05 9.99890784e-01 1.29987343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42925415399998 meters 0.013696320252180122 Centerline is valid? [True, True] Translation: X:196.14, Y:1.56, Z:1.30 [[ 9.99897172e-01 -5.63728711e-03 -1.31858475e-02 1.96140151e+02] [ 5.63625658e-03 9.99984110e-01 -1.15314107e-04 1.56081987e+00] [ 1.31862881e-02 4.09834294e-05 9.99913056e-01 1.30102298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45925415399998 meters 0.013503467068150218 Centerline is valid? [True, True] Translation: X:196.17, Y:1.56, Z:1.30 [[ 9.99892292e-01 -7.31167742e-03 -1.27257145e-02 1.96169057e+02] [ 7.31084176e-03 9.99973269e-01 -1.12186166e-04 1.55924315e+00] [ 1.27261946e-02 1.91383978e-05 9.99919019e-01 1.30173156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48925415399998 meters 0.013703019509475813 Centerline is valid? [True, True] Translation: X:196.20, Y:1.56, Z:1.30 [[ 9.99875078e-01 -9.81858495e-03 -1.23864672e-02 1.96197062e+02] [ 9.81797214e-03 9.99951796e-01 -1.10282356e-04 1.55765809e+00] [ 1.23869530e-02 -1.13414110e-05 9.99923279e-01 1.30215957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51925415399998 meters 0.013896369196559476 Centerline is valid? [True, True] Translation: X:196.23, Y:1.55, Z:1.30 [[ 9.99809571e-01 -1.57126590e-02 -1.15729813e-02 1.96226046e+02] [ 1.57125067e-02 9.99876546e-01 -1.04087557e-04 1.55280197e+00] [ 1.15731881e-02 -7.77728114e-05 9.99933025e-01 1.30289994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54925415399998 meters 0.014349186757752751 Centerline is valid? [True, True] Translation: X:196.26, Y:1.55, Z:1.30 [[ 9.99746103e-01 -1.93606522e-02 -1.15279662e-02 1.96255192e+02] [ 1.93607374e-02 9.99812558e-01 -1.04214451e-04 1.54930100e+00] [ 1.15278230e-02 -1.19001934e-04 9.99933545e-01 1.30288427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57925415399998 meters 0.014868905522974828 Centerline is valid? [True, True] Translation: X:196.29, Y:1.55, Z:1.30 [[ 9.99661295e-01 -2.32259899e-02 -1.17409275e-02 1.96286174e+02] [ 2.32263473e-02 9.99730226e-01 -1.05928984e-04 1.54600451e+00] [ 1.17402204e-02 -1.66805754e-04 9.99931067e-01 1.30292553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60925415399998 meters 0.016677120779595607 Centerline is valid? [True, True] Translation: X:196.32, Y:1.54, Z:1.30 [[ 9.99409629e-01 -3.20907246e-02 -1.22710941e-02 1.96316853e+02] [ 3.20917905e-02 9.99484920e-01 -1.10085347e-04 1.53801778e+00] [ 1.22683062e-02 -2.83781024e-04 9.99924701e-01 1.30198574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63925415399999 meters 0.018447722687008627 Centerline is valid? [True, True] Translation: X:196.35, Y:1.53, Z:1.30 [[ 9.99242721e-01 -3.68587864e-02 -1.24665194e-02 1.96346572e+02] [ 3.68602615e-02 9.99320423e-01 -1.11502362e-04 1.53310693e+00] [ 1.24621573e-02 -3.48101241e-04 9.99922284e-01 1.30145260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.669254154 meters 0.02143597533495655 Centerline is valid? [True, True] Translation: X:196.38, Y:1.52, Z:1.30 [[ 9.98870032e-01 -4.57087798e-02 -1.30141030e-02 1.96377668e+02] [ 4.57111376e-02 9.98954693e-01 -1.16379489e-04 1.52429842e+00] [ 1.30058188e-02 -4.78641471e-04 9.99915306e-01 1.30103636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.699254154 meters 0.02143597533495655 Centerline is valid? [True, True] Translation: X:196.41, Y:1.52, Z:1.30 [[ 9.98873322e-01 -4.56368289e-02 -1.30141071e-02 1.96409380e+02] [ 4.56391866e-02 9.98957983e-01 -1.15917815e-04 1.52452016e+00] [ 1.30058363e-02 -4.78166051e-04 9.99915306e-01 1.30125612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.729254154 meters 0.02344977695680867 Centerline is valid? [True, True] Translation: X:196.44, Y:1.52, Z:1.30 [[ 9.98691854e-01 -4.95124517e-02 -1.27710116e-02 1.96439758e+02] [ 4.95150461e-02 9.98773371e-01 -1.13158648e-04 1.51981381e+00] [ 1.27609491e-02 -5.19346608e-04 9.99918441e-01 1.30140812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759254154 meters 0.02593333694434288 Centerline is valid? [True, True] Translation: X:196.47, Y:1.51, Z:1.30 [[ 9.98350938e-01 -5.59851422e-02 -1.26912778e-02 1.96470819e+02] [ 5.59882279e-02 9.98431423e-01 -1.12311410e-04 1.51384800e+00] [ 1.26776583e-02 -5.98435952e-04 9.99919456e-01 1.30167353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.789254154 meters 0.026516254557147054 Centerline is valid? [True, True] Translation: X:196.50, Y:1.51, Z:1.30 [[ 9.98239140e-01 -5.79389253e-02 -1.27161753e-02 1.96502970e+02] [ 5.79421867e-02 9.98319934e-01 -1.12094984e-04 1.51168374e+00] [ 1.27013060e-02 -6.24905404e-04 9.99919140e-01 1.30172160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819254154 meters 0.028017664968783072 Centerline is valid? [True, True] Translation: X:196.53, Y:1.51, Z:1.30 [[ 9.98173218e-01 -5.90224291e-02 -1.29066084e-02 1.96534183e+02] [ 5.90258900e-02 9.98256446e-01 -1.12949908e-04 1.50866956e+00] [ 1.28907716e-02 -6.49080474e-04 9.99916700e-01 1.30161830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.849254154 meters 0.026826243314303336 Centerline is valid? [True, True] Translation: X:196.57, Y:1.51, Z:1.30 [[ 9.98155573e-01 -5.93566087e-02 -1.27375571e-02 1.96566687e+02] [ 5.93600166e-02 9.98236633e-01 -1.10685470e-04 1.50959601e+00] [ 1.27216660e-02 -6.45620280e-04 9.99918868e-01 1.30200095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87925415399997 meters 0.028057160380050957 Centerline is valid? [True, True] Translation: X:196.60, Y:1.51, Z:1.30 [[ 9.98165006e-01 -5.90859984e-02 -1.32463162e-02 1.96597449e+02] [ 5.90896716e-02 9.98252672e-01 -1.14246184e-04 1.50750140e+00] [ 1.32299209e-02 -6.68683934e-04 9.99912257e-01 1.30164943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90925415399997 meters 0.02478630252611152 Centerline is valid? [True, True] Translation: X:196.63, Y:1.51, Z:1.30 [[ 9.98217495e-01 -5.80911019e-02 -1.36841389e-02 1.96629639e+02] [ 5.80949409e-02 9.98311056e-01 -1.17136266e-04 1.51216909e+00] [ 1.36678317e-02 -6.78051771e-04 9.99906361e-01 1.30235206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93925415399997 meters 0.02373321891004931 Centerline is valid? [True, True] Translation: X:196.66, Y:1.51, Z:1.30 [[ 9.98432708e-01 -5.41967364e-02 -1.39585635e-02 1.96660900e+02] [ 5.42003602e-02 9.98530073e-01 -1.18831930e-04 1.51394239e+00] [ 1.39444857e-02 -6.37913485e-04 9.99902567e-01 1.30232227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96925415399997 meters 0.023548853880307127 Centerline is valid? [True, True] Translation: X:196.69, Y:1.51, Z:1.30 [[ 9.98574193e-01 -5.15100915e-02 -1.40104089e-02 1.96691271e+02] [ 5.15134820e-02 9.98672292e-01 -1.19014507e-04 1.51493679e+00] [ 1.39979376e-02 -6.02880132e-04 9.99901842e-01 1.30236971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99925415399997 meters 0.020671125503824158 Centerline is valid? [True, True] Translation: X:196.72, Y:1.52, Z:1.30 [[ 9.98848070e-01 -4.54564577e-02 -1.53702285e-02 1.96722075e+02] [ 4.54598273e-02 9.98966159e-01 -1.30270089e-04 1.52083743e+00] [ 1.53602598e-02 -5.68607907e-04 9.99881863e-01 1.30230977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02925415399997 meters 0.020167063084981594 Centerline is valid? [True, True] Translation: X:196.75, Y:1.52, Z:1.30 [[ 9.98968258e-01 -4.23850548e-02 -1.63072459e-02 1.96753968e+02] [ 4.23884497e-02 9.99101196e-01 -1.37556444e-04 1.52350251e+00] [ 1.62984192e-02 -5.53824352e-04 9.99867019e-01 1.30124049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05925415399997 meters 0.01933385697773284 Centerline is valid? [True, True] Translation: X:196.78, Y:1.52, Z:1.30 [[ 9.99046099e-01 -3.98783707e-02 -1.77934884e-02 1.96784590e+02] [ 3.98820380e-02 9.99204384e-01 -1.48835194e-04 1.52479446e+00] [ 1.77852669e-02 -5.60947363e-04 9.99841672e-01 1.30146426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08925415399997 meters 0.018618907365055948 Centerline is valid? [True, True] Translation: X:196.82, Y:1.53, Z:1.30 [[ 9.99123882e-01 -3.75049321e-02 -1.85701133e-02 1.96816233e+02] [ 3.75085353e-02 9.99296295e-01 -1.54351780e-04 1.52698350e+00] [ 1.85628344e-02 -5.42321202e-04 9.99827549e-01 1.30106850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11925415399998 meters 0.017949320126816225 Centerline is valid? [True, True] Translation: X:196.85, Y:1.53, Z:1.30 [[ 9.99204317e-01 -3.41594016e-02 -2.05880392e-02 1.96846580e+02] [ 3.41631491e-02 9.99416255e-01 -1.69765301e-04 1.52981133e+00] [ 2.05818201e-02 -5.33722030e-04 9.99788029e-01 1.30057049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14925415399998 meters 0.018291882718170473 Centerline is valid? [True, True] Translation: X:196.88, Y:1.53, Z:1.30 [[ 9.99242629e-01 -3.27879972e-02 -2.09550990e-02 1.96875918e+02] [ 3.27915924e-02 9.99462196e-01 -1.72118523e-04 1.53019277e+00] [ 2.09494727e-02 -5.15162901e-04 9.99780403e-01 1.30005418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17925415399998 meters 0.017286617644195302 Centerline is valid? [True, True] Translation: X:196.91, Y:1.53, Z:1.30 [[ 9.99262370e-01 -3.19491952e-02 -2.13064626e-02 1.96905570e+02] [ 3.19527117e-02 9.99489366e-01 -1.75462665e-04 1.53297949e+00] [ 2.13011887e-02 -5.05466017e-04 9.99772976e-01 1.30134289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20925415399998 meters 0.017658028942691015 Centerline is valid? [True, True] Translation: X:196.93, Y:1.53, Z:1.30 [[ 9.99265885e-01 -3.16648439e-02 -2.15645336e-02 1.96934693e+02] [ 3.16682956e-02 9.99498417e-01 -1.81498683e-04 1.53388583e+00] [ 2.15594643e-02 -5.01546582e-04 9.99767442e-01 1.30110357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23925415399998 meters 0.017582738958035103 Centerline is valid? [True, True] Translation: X:196.96, Y:1.53, Z:1.30 [[ 9.99273565e-01 -3.15587375e-02 -2.13632458e-02 1.96962974e+02] [ 3.15620478e-02 9.99501778e-01 -1.82286915e-04 1.53404029e+00] [ 2.13583549e-02 -4.92113288e-04 9.99771763e-01 1.30141310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26925415399998 meters 0.01696161255852669 Centerline is valid? [True, True] Translation: X:196.99, Y:1.54, Z:1.30 [[ 9.99257997e-01 -3.22473479e-02 -2.10609758e-02 1.96991711e+02] [ 3.22506351e-02 9.99479796e-01 -1.83645779e-04 1.53564722e+00] [ 2.10559419e-02 -4.95720332e-04 9.99778176e-01 1.30278714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.29925415399998 meters 0.01694540271256285 Centerline is valid? [True, True] Translation: X:197.02, Y:1.54, Z:1.30 [[ 9.99253389e-01 -3.26519827e-02 -2.06521695e-02 1.97020996e+02] [ 3.26551839e-02 9.99466661e-01 -1.82298249e-04 1.53615032e+00] [ 2.06471073e-02 -4.92238252e-04 9.99786705e-01 1.30372733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32925415399998 meters 0.017181014816820064 Centerline is valid? [True, True] Translation: X:197.05, Y:1.54, Z:1.31 [[ 9.99214423e-01 -3.41042697e-02 -2.01850352e-02 1.97050448e+02] [ 3.41076091e-02 9.99418150e-01 -1.78901918e-04 1.53659277e+00] [ 2.01793918e-02 -5.09701912e-04 9.99796245e-01 1.30524750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35925415399998 meters 0.018371811800349032 Centerline is valid? [True, True] Translation: X:197.08, Y:1.54, Z:1.30 [[ 9.99191938e-01 -3.49641528e-02 -1.98236998e-02 1.97079927e+02] [ 3.49675370e-02 9.99388433e-01 -1.75993639e-04 1.53509448e+00] [ 1.98177298e-02 -5.17334531e-04 9.99803476e-01 1.30484724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38925415399999 meters 0.01753601453171349 Centerline is valid? [True, True] Translation: X:197.11, Y:1.54, Z:1.31 [[ 9.99171346e-01 -3.56912406e-02 -1.95641668e-02 1.97110535e+02] [ 3.56946755e-02 9.99362727e-01 -1.73714568e-04 1.53661956e+00] [ 1.95578992e-02 -5.24765968e-04 9.99808588e-01 1.30644132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.419254154 meters 0.017695470244501056 Centerline is valid? [True, True] Translation: X:197.14, Y:1.54, Z:1.31 [[ 9.99131668e-01 -3.68984831e-02 -1.93497047e-02 1.97141237e+02] [ 3.69020693e-02 9.99318872e-01 -1.71810311e-04 1.53708226e+00] [ 1.93428646e-02 -5.42383021e-04 9.99812762e-01 1.30715605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.449254154 meters 0.01803673475053442 Centerline is valid? [True, True] Translation: X:197.17, Y:1.54, Z:1.31 [[ 9.99108513e-01 -3.78485324e-02 -1.86994122e-02 1.97172722e+02] [ 3.78520558e-02 9.99283340e-01 -1.65605065e-04 1.53632732e+00] [ 1.86922790e-02 -5.42353765e-04 9.99825137e-01 1.30763449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479254154 meters 0.0181950062086487 Centerline is valid? [True, True] Translation: X:197.20, Y:1.54, Z:1.31 [[ 9.99072059e-01 -3.90415761e-02 -1.81872527e-02 1.97203584e+02] [ 3.90451148e-02 9.99237436e-01 -1.60614439e-04 1.53597391e+00] [ 1.81796544e-02 -5.49657973e-04 9.99834585e-01 1.30833443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.509254154 meters 0.018929823657381904 Centerline is valid? [True, True] Translation: X:197.24, Y:1.53, Z:1.31 [[ 9.98983665e-01 -4.19658956e-02 -1.64469259e-02 1.97235051e+02] [ 4.19691929e-02 9.99118895e-01 -1.44777454e-04 1.53383767e+00] [ 1.64385101e-02 -5.45633892e-04 9.99864730e-01 1.30984851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539254154 meters 0.019739113783129536 Centerline is valid? [True, True] Translation: X:197.27, Y:1.53, Z:1.31 [[ 9.98918119e-01 -4.37207247e-02 -1.58458289e-02 1.97266302e+02] [ 4.37240175e-02 9.99043638e-01 -1.38745883e-04 1.53221908e+00] [ 1.58367406e-02 -5.54247522e-04 9.99874437e-01 1.31064777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.569254154 meters 0.020299409968941907 Centerline is valid? [True, True] Translation: X:197.30, Y:1.53, Z:1.31 [[ 9.98861117e-01 -4.52580857e-02 -1.51054206e-02 1.97298842e+02] [ 4.52612681e-02 9.98975175e-01 -1.31296643e-04 1.53101513e+00] [ 1.50958824e-02 -5.52543380e-04 9.99885898e-01 1.31141005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599254154 meters 0.02076252947046652 Centerline is valid? [True, True] Translation: X:197.33, Y:1.53, Z:1.31 [[ 9.98801970e-01 -4.67750569e-02 -1.43776991e-02 1.97330876e+02] [ 4.67781117e-02 9.98905297e-01 -1.23937776e-04 1.52986731e+00] [ 1.43677570e-02 -5.48772320e-04 9.99896628e-01 1.31207889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62925415399997 meters 0.022329317321465442 Centerline is valid? [True, True] Translation: X:197.36, Y:1.53, Z:1.31 [[ 9.98691493e-01 -4.93353656e-02 -1.34656552e-02 1.97361945e+02] [ 4.93382923e-02 9.98782118e-01 -1.14967993e-04 1.52630374e+00] [ 1.34549276e-02 -5.49554874e-04 9.99909327e-01 1.31200399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65925415399997 meters 0.023902927797221647 Centerline is valid? [True, True] Translation: X:197.39, Y:1.53, Z:1.31 [[ 9.98663006e-01 -4.97917776e-02 -1.38917104e-02 1.97393883e+02] [ 4.97949532e-02 9.98759455e-01 -1.17409178e-04 1.52562311e+00] [ 1.38803231e-02 -5.74484868e-04 9.99903499e-01 1.31030114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68925415399997 meters 0.02416960452081151 Centerline is valid? [True, True] Translation: X:197.42, Y:1.52, Z:1.31 [[ 9.98606154e-01 -5.10305840e-02 -1.34769704e-02 1.97424659e+02] [ 5.10337031e-02 9.98696925e-01 -1.12586079e-04 1.52310364e+00] [ 1.34651543e-02 -5.75350556e-04 9.99909175e-01 1.31184848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71925415399997 meters 0.024312370534400017 Centerline is valid? [True, True] Translation: X:197.46, Y:1.52, Z:1.31 [[ 9.98579412e-01 -5.15440658e-02 -1.35043608e-02 1.97456400e+02] [ 5.15472611e-02 9.98670550e-01 -1.11584555e-04 1.52245252e+00] [ 1.34921589e-02 -5.84686770e-04 9.99908806e-01 1.31151721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74925415399997 meters 0.0230264236470709 Centerline is valid? [True, True] Translation: X:197.49, Y:1.52, Z:1.31 [[ 9.98547464e-01 -5.17920023e-02 -1.48509769e-02 1.97488914e+02] [ 5.17959088e-02 9.98657684e-01 -1.21721011e-04 1.52349297e+00] [ 1.48373463e-02 -6.47675636e-04 9.99889711e-01 1.31088403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77925415399997 meters 0.02328908680688491 Centerline is valid? [True, True] Translation: X:197.52, Y:1.52, Z:1.31 [[ 9.98535869e-01 -5.17430900e-02 -1.57724587e-02 1.97521548e+02] [ 5.17475090e-02 9.98660192e-01 -1.28086660e-04 1.52328196e+00] [ 1.57579542e-02 -6.88286323e-04 9.99875599e-01 1.31022930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80925415399997 meters 0.0229461419834991 Centerline is valid? [True, True] Translation: X:197.55, Y:1.52, Z:1.31 [[ 9.98540580e-01 -5.13530287e-02 -1.67205127e-02 1.97553981e+02] [ 5.13579615e-02 9.98680300e-01 -1.34530659e-04 1.52384933e+00] [ 1.67053552e-02 -7.24397125e-04 9.99860193e-01 1.30962698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83925415399997 meters 0.025821350158367277 Centerline is valid? [True, True] Translation: X:197.59, Y:1.52, Z:1.31 [[ 9.98550449e-01 -5.07960828e-02 -1.77977038e-02 1.97585188e+02] [ 5.08016037e-02 9.98708755e-01 -1.42062824e-04 1.51968392e+00] [ 1.77819388e-02 -7.62294997e-04 9.99841598e-01 1.30785414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86925415399998 meters 0.021544667399149682 Centerline is valid? [True, True] Translation: X:197.62, Y:1.53, Z:1.31 [[ 9.98613792e-01 -4.89759452e-02 -1.92834341e-02 1.97617456e+02] [ 4.89821135e-02 9.98799644e-01 -1.52594922e-04 1.52660149e+00] [ 1.92677606e-02 -7.92159964e-04 9.99814046e-01 1.30892367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89925415399998 meters 0.021305950106727603 Centerline is valid? [True, True] Translation: X:197.65, Y:1.53, Z:1.31 [[ 9.98671676e-01 -4.77407361e-02 -1.93831392e-02 1.97649756e+02] [ 4.77467639e-02 9.98859461e-01 -1.51945966e-04 1.52748801e+00] [ 1.93682860e-02 -7.73738037e-04 9.99812118e-01 1.30930824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92925415399998 meters 0.02124052754943373 Centerline is valid? [True, True] Translation: X:197.68, Y:1.53, Z:1.31 [[ 9.98747347e-01 -4.62286373e-02 -1.91480804e-02 1.97679842e+02] [ 4.62342710e-02 9.98930613e-01 -1.48603273e-04 1.52807933e+00] [ 1.91344735e-02 -7.36880415e-04 9.99816648e-01 1.30959432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95925415399998 meters 0.021624298308851733 Centerline is valid? [True, True] Translation: X:197.71, Y:1.53, Z:1.31 [[ 9.98829701e-01 -4.45542893e-02 -1.88187295e-02 1.97710521e+02] [ 4.45594621e-02 9.99006723e-01 -1.44556298e-04 1.52810394e+00] [ 1.88064779e-02 -6.94165338e-04 9.99822902e-01 1.30983415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98925415399998 meters 0.02188421431433991 Centerline is valid? [True, True] Translation: X:197.74, Y:1.53, Z:1.31 [[ 9.98925135e-01 -4.25191043e-02 -1.84580462e-02 1.97741454e+02] [ 4.25237511e-02 9.99095446e-01 -1.40838985e-04 1.52875634e+00] [ 1.84473383e-02 -6.44217761e-04 9.99829626e-01 1.31018497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01925415399998 meters 0.018988776513844962 Centerline is valid? [True, True] Translation: X:197.77, Y:1.54, Z:1.31 [[ 9.99166121e-01 -3.73151613e-02 -1.65723064e-02 1.97771952e+02] [ 3.73181955e-02 9.99303426e-01 -1.26228559e-04 1.53518733e+00] [ 1.65654728e-02 -4.92325272e-04 9.99862662e-01 1.31315486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.04925415399998 meters 0.01823179723789885 Centerline is valid? [True, True] Translation: X:197.80, Y:1.54, Z:1.31 [[ 9.99275196e-01 -3.44488417e-02 -1.61975436e-02 1.97803171e+02] [ 3.44513693e-02 9.99406368e-01 -1.23040373e-04 1.53738391e+00] [ 1.61921668e-02 -4.35076363e-04 9.99868804e-01 1.31424594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07925415399998 meters 0.017457120629024447 Centerline is valid? [True, True] Translation: X:197.83, Y:1.54, Z:1.32 [[ 9.99384788e-01 -3.14472005e-02 -1.55280168e-02 1.97834371e+02] [ 3.14491698e-02 9.99505346e-01 -1.17407492e-04 1.53958715e+00] [ 1.55240280e-02 -3.71007978e-04 9.99879426e-01 1.31510656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10925415399998 meters 0.017457120629024447 Centerline is valid? [True, True] Translation: X:197.87, Y:1.54, Z:1.32 [[ 9.99385903e-01 -3.14117326e-02 -1.55280210e-02 1.97865225e+02] [ 3.14137062e-02 9.99506461e-01 -1.16854301e-04 1.53978880e+00] [ 1.55240279e-02 -3.71010149e-04 9.99879426e-01 1.31532031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13925415399999 meters 0.016115008395500507 Centerline is valid? [True, True] Translation: X:197.90, Y:1.54, Z:1.32 [[ 9.99555381e-01 -2.55565328e-02 -1.53591739e-02 1.97895115e+02] [ 2.55577764e-02 9.99673340e-01 -1.15340433e-04 1.54388734e+00] [ 1.53571044e-02 -2.77257183e-04 9.99882034e-01 1.31581683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.169254154 meters 0.015567535750291808 Centerline is valid? [True, True] Translation: X:197.93, Y:1.55, Z:1.32 [[ 9.99622140e-01 -2.28640072e-02 -1.52582392e-02 1.97925933e+02] [ 2.28649210e-02 9.99738557e-01 -1.14582459e-04 1.54557758e+00] [ 1.52568698e-02 -2.34339270e-04 9.99883580e-01 1.31556701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.199254154 meters 0.015097869232907611 Centerline is valid? [True, True] Translation: X:197.96, Y:1.55, Z:1.32 [[ 9.99658963e-01 -2.06119639e-02 -1.60344904e-02 1.97955178e+02] [ 2.06126809e-02 9.99787529e-01 -1.20569680e-04 1.54690804e+00] [ 1.60335688e-02 -2.09985272e-04 9.99871432e-01 1.31554138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.229254154 meters 0.014751093753660231 Centerline is valid? [True, True] Translation: X:197.98, Y:1.55, Z:1.32 [[ 9.99686013e-01 -1.89926738e-02 -1.63448246e-02 1.97983794e+02] [ 1.89931627e-02 9.99819606e-01 -1.25333985e-04 1.54855481e+00] [ 1.63442565e-02 -1.85145280e-04 9.99866407e-01 1.31552994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259254154 meters 0.014188253151803417 Centerline is valid? [True, True] Translation: X:198.01, Y:1.55, Z:1.32 [[ 9.99704789e-01 -1.78287486e-02 -1.65067099e-02 1.98012346e+02] [ 1.78290198e-02 9.99841042e-01 -1.30744430e-04 1.55055855e+00] [ 1.65064171e-02 -1.63592626e-04 9.99863746e-01 1.31638800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.289254154 meters 0.014455118401532368 Centerline is valid? [True, True] Translation: X:198.04, Y:1.55, Z:1.31 [[ 9.99720914e-01 -1.63706220e-02 -1.70322355e-02 1.98040420e+02] [ 1.63706452e-02 9.99865982e-01 -1.38073178e-04 1.54989515e+00] [ 1.70322132e-02 -1.40794040e-04 9.99854931e-01 1.31463519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319254154 meters 0.013941466509638546 Centerline is valid? [True, True] Translation: X:198.07, Y:1.55, Z:1.32 [[ 9.99715439e-01 -1.64348471e-02 -1.72897755e-02 1.98067961e+02] [ 1.64348119e-02 9.99864929e-01 -1.44131483e-04 1.55087375e+00] [ 1.72898090e-02 -1.40063740e-04 9.99850510e-01 1.31645716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.349254154 meters 0.01422654634945624 Centerline is valid? [True, True] Translation: X:198.10, Y:1.55, Z:1.32 [[ 9.99700300e-01 -1.70200429e-02 -1.75962604e-02 1.98095593e+02] [ 1.70200055e-02 9.99855138e-01 -1.51888661e-04 1.55005855e+00] [ 1.75962965e-02 -1.47645310e-04 9.99845162e-01 1.31619829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37925415399997 meters 0.014332128026918151 Centerline is valid? [True, True] Translation: X:198.12, Y:1.55, Z:1.32 [[ 9.99663550e-01 -1.83919448e-02 -1.82899932e-02 1.98123697e+02] [ 1.83920765e-02 9.99830838e-01 -1.61024310e-04 1.54802985e+00] [ 1.82898608e-02 -1.75420820e-04 9.99832711e-01 1.31511382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40925415399997 meters 0.014332128026918151 Centerline is valid? [True, True] Translation: X:198.15, Y:1.55, Z:1.32 [[ 9.99658205e-01 -1.86802347e-02 -1.82899582e-02 1.98151093e+02] [ 1.86803432e-02 9.99825494e-01 -1.64930006e-04 1.54834504e+00] [ 1.82898474e-02 -1.76789061e-04 9.99832711e-01 1.31530388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43925415399997 meters 0.01453399261549026 Centerline is valid? [True, True] Translation: X:198.18, Y:1.55, Z:1.31 [[ 9.99613207e-01 -2.08941568e-02 -1.83540119e-02 1.98180043e+02] [ 2.08945498e-02 9.99781671e-01 -1.70371057e-04 1.54576363e+00] [ 1.83535645e-02 -2.13193658e-04 9.99831536e-01 1.31496484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46925415399997 meters 0.014867184378114576 Centerline is valid? [True, True] Translation: X:198.21, Y:1.54, Z:1.32 [[ 9.99584845e-01 -2.24541602e-02 -1.80540153e-02 1.98208407e+02] [ 2.24547138e-02 9.99747846e-01 -1.72074143e-04 1.54454367e+00] [ 1.80533267e-02 -2.33395042e-04 9.99836998e-01 1.31537152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49925415399997 meters 0.015061059369115386 Centerline is valid? [True, True] Translation: X:198.24, Y:1.54, Z:1.32 [[ 9.99551548e-01 -2.41909758e-02 -1.76493443e-02 1.98236375e+02] [ 2.41917203e-02 9.99707323e-01 -1.71346629e-04 1.54315168e+00] [ 1.76483237e-02 -2.55698212e-04 9.99844224e-01 1.31587456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52925415399997 meters 0.015309975867375524 Centerline is valid? [True, True] Translation: X:198.27, Y:1.54, Z:1.32 [[ 9.99515454e-01 -2.59800167e-02 -1.71433791e-02 1.98265374e+02] [ 2.59809230e-02 9.99662424e-01 -1.69885791e-04 1.54199571e+00] [ 1.71420056e-02 -2.75597338e-04 9.99853027e-01 1.31646474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55925415399997 meters 0.016997707000859702 Centerline is valid? [True, True] Translation: X:198.29, Y:1.54, Z:1.32 [[ 9.99423144e-01 -2.96366938e-02 -1.65845200e-02 1.98294035e+02] [ 2.96380090e-02 9.99560684e-01 -1.66533182e-04 1.53679185e+00] [ 1.65821697e-02 -3.25095037e-04 9.99862454e-01 1.31596058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58925415399997 meters 0.016454666510043705 Centerline is valid? [True, True] Translation: X:198.32, Y:1.54, Z:1.32 [[ 9.99355633e-01 -3.20153647e-02 -1.62276353e-02 1.98324838e+02] [ 3.20169314e-02 9.99487313e-01 -1.63308996e-04 1.53623927e+00] [ 1.62245440e-02 -3.56355321e-04 9.99868310e-01 1.31740932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61925415399998 meters 0.01817498174025637 Centerline is valid? [True, True] Translation: X:198.36, Y:1.53, Z:1.32 [[ 9.99283814e-01 -3.42383428e-02 -1.61119594e-02 1.98355187e+02] [ 3.42401787e-02 9.99413620e-01 -1.61979943e-04 1.53169240e+00] [ 1.61080576e-02 -3.89812435e-04 9.99870181e-01 1.31662560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64925415399998 meters 0.017535810877635737 Centerline is valid? [True, True] Translation: X:198.39, Y:1.53, Z:1.32 [[ 9.99192452e-01 -3.67215078e-02 -1.63087622e-02 1.98385999e+02] [ 3.67237241e-02 9.99325443e-01 -1.63661933e-04 1.53238138e+00] [ 1.63037710e-02 -4.35388717e-04 9.99866990e-01 1.31791798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67925415399998 meters 0.017940459993579436 Centerline is valid? [True, True] Translation: X:198.42, Y:1.53, Z:1.32 [[ 9.99114621e-01 -3.89010540e-02 -1.60213004e-02 1.98417595e+02] [ 3.89034801e-02 9.99242960e-01 -1.60321242e-04 1.53068123e+00] [ 1.60154083e-02 -4.63105044e-04 9.99871638e-01 1.31804952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70925415399998 meters 0.018873497682426976 Centerline is valid? [True, True] Translation: X:198.45, Y:1.53, Z:1.32 [[ 9.98960338e-01 -4.25228491e-02 -1.64332258e-02 1.98448572e+02] [ 4.25258982e-02 9.99095351e-01 -1.64008929e-04 1.52666046e+00] [ 1.64253336e-02 -5.34999273e-04 9.99864952e-01 1.31826196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73925415399998 meters 0.019332565912256 Centerline is valid? [True, True] Translation: X:198.48, Y:1.52, Z:1.32 [[ 9.98915556e-01 -4.36305736e-02 -1.62506673e-02 1.98480292e+02] [ 4.36337121e-02 9.99047583e-01 -1.61545764e-04 1.52480787e+00] [ 1.62422382e-02 -5.47706360e-04 9.99867936e-01 1.31843674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76925415399998 meters 0.02372022656102108 Centerline is valid? [True, True] Translation: X:198.51, Y:1.52, Z:1.32 [[ 9.98869830e-01 -4.48057221e-02 -1.58590669e-02 1.98511722e+02] [ 4.48088728e-02 9.98995566e-01 -1.56789937e-04 1.51731070e+00] [ 1.58501626e-02 -5.54014173e-04 9.99874225e-01 1.31723118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79925415399998 meters 0.021294746405200415 Centerline is valid? [True, True] Translation: X:198.54, Y:1.52, Z:1.32 [[ 9.98824412e-01 -4.58519116e-02 -1.57288150e-02 1.98543833e+02] [ 4.58551561e-02 9.98948087e-01 -1.54496410e-04 1.51991534e+00] [ 1.57193536e-02 -5.66932480e-04 9.99876283e-01 1.31873344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82925415399998 meters 0.020310903456113905 Centerline is valid? [True, True] Translation: X:198.58, Y:1.52, Z:1.32 [[ 9.98816837e-01 -4.59273580e-02 -1.59876458e-02 1.98576095e+02] [ 4.59307385e-02 9.98944615e-01 -1.55869448e-04 1.52133650e+00] [ 1.59779313e-02 -5.78639349e-04 9.99872177e-01 1.31942268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85925415399998 meters 0.01974422825945094 Centerline is valid? [True, True] Translation: X:198.61, Y:1.52, Z:1.32 [[ 9.98825014e-01 -4.58105289e-02 -1.58109796e-02 1.98608199e+02] [ 4.58138389e-02 9.98949983e-01 -1.52982151e-04 1.52225727e+00] [ 1.58013860e-02 -5.71559275e-04 9.99874987e-01 1.32001741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88925415399999 meters 0.01962360305647882 Centerline is valid? [True, True] Translation: X:198.64, Y:1.52, Z:1.32 [[ 9.98844166e-01 -4.55241852e-02 -1.54233975e-02 1.98640120e+02] [ 4.55273183e-02 9.98963083e-01 -1.48095924e-04 1.52271400e+00] [ 1.54141467e-02 -5.54261177e-04 9.99881041e-01 1.32012993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.919254154 meters 0.019994593562455074 Centerline is valid? [True, True] Translation: X:198.67, Y:1.52, Z:1.32 [[ 9.98863050e-01 -4.50433547e-02 -1.56110216e-02 1.98671576e+02] [ 4.50465215e-02 9.98984879e-01 -1.48893344e-04 1.52233470e+00] [ 1.56018812e-02 -5.54498160e-04 9.99878129e-01 1.31977315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.949254154 meters 0.02067192351536993 Centerline is valid? [True, True] Translation: X:198.70, Y:1.52, Z:1.32 [[ 9.98863208e-01 -4.49705109e-02 -1.58096152e-02 1.98702636e+02] [ 4.49737636e-02 9.98988157e-01 -1.49909851e-04 1.52131063e+00] [ 1.58003599e-02 -5.61278463e-04 9.99875009e-01 1.31967074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979254154 meters 0.020594171385541156 Centerline is valid? [True, True] Translation: X:198.73, Y:1.52, Z:1.32 [[ 9.98863275e-01 -4.50376581e-02 -1.56130145e-02 1.98734917e+02] [ 4.50408542e-02 9.98985135e-01 -1.47040976e-04 1.52177173e+00] [ 1.56037918e-02 -5.56349679e-04 9.99878099e-01 1.32014211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.009254154 meters 0.020560011210574002 Centerline is valid? [True, True] Translation: X:198.77, Y:1.52, Z:1.32 [[ 9.98852392e-01 -4.51946566e-02 -1.58537781e-02 1.98767553e+02] [ 4.51979902e-02 9.98978038e-01 -1.48148965e-04 1.52254700e+00] [ 1.58442716e-02 -5.68579957e-04 9.99874310e-01 1.32007927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039254154 meters 0.019979989166979937 Centerline is valid? [True, True] Translation: X:198.80, Y:1.52, Z:1.32 [[ 9.98816834e-01 -4.57274044e-02 -1.65510580e-02 1.98799338e+02] [ 4.57311313e-02 9.98953773e-01 -1.53423357e-04 1.52353525e+00] [ 1.65407575e-02 -6.03656775e-04 9.99863010e-01 1.32010456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.069254154 meters 0.021538413581944547 Centerline is valid? [True, True] Translation: X:198.83, Y:1.52, Z:1.32 [[ 9.98683523e-01 -4.80211280e-02 -1.80330772e-02 1.98830690e+02] [ 4.80259470e-02 9.98846075e-01 -1.65986136e-04 1.52101029e+00] [ 1.80202392e-02 -7.00287989e-04 9.99837377e-01 1.31861238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099254154 meters 0.02184961196154925 Centerline is valid? [True, True] Translation: X:198.86, Y:1.52, Z:1.32 [[ 9.98619287e-01 -4.93876889e-02 -1.78990499e-02 1.98861680e+02] [ 4.93926696e-02 9.98779424e-01 -1.63972217e-04 1.52041180e+00] [ 1.78853010e-02 -7.20336041e-04 9.99839786e-01 1.31852670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12925415399997 meters 0.022756053081695107 Centerline is valid? [True, True] Translation: X:198.89, Y:1.52, Z:1.32 [[ 9.98542814e-01 -5.08462894e-02 -1.80804889e-02 1.98893169e+02] [ 5.08516222e-02 9.98706206e-01 -1.64975621e-04 1.51937131e+00] [ 1.80654849e-02 -7.54686971e-04 9.99836521e-01 1.31845196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15925415399997 meters 0.022372061576297574 Centerline is valid? [True, True] Translation: X:198.92, Y:1.52, Z:1.32 [[ 9.98457406e-01 -5.24556623e-02 -1.81992077e-02 1.98924898e+02] [ 5.24613482e-02 9.98622942e-01 -1.65179276e-04 1.52004324e+00] [ 1.81828109e-02 -7.89830499e-04 9.99834367e-01 1.31905464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18925415399997 meters 0.024647658795349754 Centerline is valid? [True, True] Translation: X:198.96, Y:1.52, Z:1.32 [[ 9.98404251e-01 -5.35255741e-02 -1.79990066e-02 1.98955980e+02] [ 5.35313381e-02 9.98566157e-01 -1.61748424e-04 1.51680706e+00] [ 1.79818565e-02 -8.02020591e-04 9.99837992e-01 1.31857689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21925415399997 meters 0.026920264628439623 Centerline is valid? [True, True] Translation: X:198.99, Y:1.51, Z:1.32 [[ 9.98289615e-01 -5.57506520e-02 -1.75985898e-02 1.98986888e+02] [ 5.57565304e-02 9.98444382e-01 -1.56833342e-04 1.51387817e+00] [ 1.75799567e-02 -8.24671209e-04 9.99845121e-01 1.31951089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24925415399997 meters 0.02513043541445354 Centerline is valid? [True, True] Translation: X:199.02, Y:1.52, Z:1.32 [[ 9.98260527e-01 -5.64659842e-02 -1.69561797e-02 1.99019440e+02] [ 5.64715624e-02 9.98404197e-01 -1.50027213e-04 1.51674606e+00] [ 1.69375924e-02 -8.07775713e-04 9.99856222e-01 1.32035559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27925415399997 meters 0.024224857401929784 Centerline is valid? [True, True] Translation: X:199.05, Y:1.52, Z:1.32 [[ 9.98233024e-01 -5.70776980e-02 -1.65216647e-02 1.99051281e+02] [ 5.70830974e-02 9.98369420e-01 -1.44980773e-04 1.51813980e+00] [ 1.65030000e-02 -7.98383200e-04 9.99863497e-01 1.32211562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30925415399997 meters 0.024296090637646435 Centerline is valid? [True, True] Translation: X:199.08, Y:1.52, Z:1.32 [[ 9.98279660e-01 -5.64732419e-02 -1.57636915e-02 1.99083981e+02] [ 5.64781024e-02 9.98403829e-01 -1.37024614e-04 1.51837731e+00] [ 1.57462682e-02 -7.53514500e-04 9.99875736e-01 1.32267363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33925415399997 meters 0.02547839659380409 Centerline is valid? [True, True] Translation: X:199.12, Y:1.52, Z:1.32 [[ 9.98321870e-01 -5.57473300e-02 -1.56741468e-02 1.99115415e+02] [ 5.57520737e-02 9.98444635e-01 -1.34492368e-04 1.51664759e+00] [ 1.56572654e-02 -7.39599515e-04 9.99877144e-01 1.32260185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36925415399998 meters 0.023019702879459984 Centerline is valid? [True, True] Translation: X:199.15, Y:1.52, Z:1.32 [[ 9.98375591e-01 -5.48132311e-02 -1.55463636e-02 1.99147184e+02] [ 5.48178085e-02 9.98496365e-01 -1.31870733e-04 1.52049758e+00] [ 1.55302158e-02 -7.20561060e-04 9.99879139e-01 1.32313635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39925415399998 meters 0.02587230855497502 Centerline is valid? [True, True] Translation: X:199.18, Y:1.52, Z:1.32 [[ 9.98444435e-01 -5.35545282e-02 -1.55120456e-02 1.99178780e+02] [ 5.35589492e-02 9.98564681e-01 -1.30581353e-04 1.51620703e+00] [ 1.54967741e-02 -7.00430639e-04 9.99879672e-01 1.32261256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42925415399998 meters 0.02508655383939684 Centerline is valid? [True, True] Translation: X:199.21, Y:1.52, Z:1.32 [[ 9.98540589e-01 -5.18447150e-02 -1.51266929e-02 1.99210574e+02] [ 5.18487375e-02 9.98654942e-01 -1.26390424e-04 1.51787636e+00] [ 1.51128993e-02 -6.58093961e-04 9.99885577e-01 1.32299158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45925415399998 meters 0.022837783527907073 Centerline is valid? [True, True] Translation: X:199.24, Y:1.52, Z:1.32 [[ 9.98722191e-01 -4.82297830e-02 -1.50954668e-02 1.99242191e+02] [ 4.82333918e-02 9.98836085e-01 -1.25130214e-04 1.52314035e+00] [ 1.50839319e-02 -6.03135241e-04 9.99886049e-01 1.32395420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48925415399998 meters 0.0216805113552693 Centerline is valid? [True, True] Translation: X:199.27, Y:1.53, Z:1.32 [[ 9.98836366e-01 -4.57755427e-02 -1.51826681e-02 1.99273980e+02] [ 4.57789235e-02 9.98951588e-01 -1.24977336e-04 1.52559260e+00] [ 1.51724714e-02 -5.70214295e-04 9.99884729e-01 1.32419348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51925415399998 meters 0.019904388813954153 Centerline is valid? [True, True] Translation: X:199.31, Y:1.53, Z:1.33 [[ 9.98939928e-01 -4.33389622e-02 -1.55162398e-02 1.99305699e+02] [ 4.33422128e-02 9.99060277e-01 -1.26875444e-04 1.52951262e+00] [ 1.55071574e-02 -5.45767217e-04 9.99879608e-01 1.32505060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54925415399998 meters 0.0189363510737936 Centerline is valid? [True, True] Translation: X:199.34, Y:1.53, Z:1.33 [[ 9.99058989e-01 -4.05025646e-02 -1.55137927e-02 1.99337457e+02] [ 4.05054859e-02 9.99179308e-01 -1.25993385e-04 1.53201853e+00] [ 1.55061637e-02 -5.02518889e-04 9.99879646e-01 1.32520435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57925415399998 meters 0.0177145329965774 Centerline is valid? [True, True] Translation: X:199.37, Y:1.54, Z:1.33 [[ 9.99267783e-01 -3.48570204e-02 -1.57761403e-02 1.99367563e+02] [ 3.48593445e-02 9.99392220e-01 -1.27731941e-04 1.53625050e+00] [ 1.57710042e-02 -4.22307497e-04 9.99875541e-01 1.32515261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60925415399998 meters 0.0172637881533483 Centerline is valid? [True, True] Translation: X:199.40, Y:1.54, Z:1.33 [[ 9.99373544e-01 -3.17900915e-02 -1.55534173e-02 1.99397916e+02] [ 3.17919816e-02 9.99494499e-01 -1.25773207e-04 1.53866816e+00] [ 1.55495534e-02 -3.68779541e-04 9.99879030e-01 1.32519962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63925415399999 meters 0.016563993090660766 Centerline is valid? [True, True] Translation: X:199.43, Y:1.54, Z:1.33 [[ 9.99470919e-01 -2.87898140e-02 -1.51336753e-02 1.99428368e+02] [ 2.87912616e-02 9.99585438e-01 -1.22257421e-04 1.54166571e+00] [ 1.51309212e-02 -3.13524866e-04 9.99885472e-01 1.32542190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.669254154 meters 0.01613021245607543 Centerline is valid? [True, True] Translation: X:199.46, Y:1.54, Z:1.33 [[ 9.99550091e-01 -2.60354843e-02 -1.48919056e-02 1.99458315e+02] [ 2.60365804e-02 9.99660984e-01 -1.20304284e-04 1.54412882e+00] [ 1.48899892e-02 -2.67484139e-04 9.99889102e-01 1.32550774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.699254154 meters 0.014876517738257546 Centerline is valid? [True, True] Translation: X:199.49, Y:1.55, Z:1.33 [[ 9.99611652e-01 -2.34433438e-02 -1.50650075e-02 1.99488400e+02] [ 2.34441712e-02 9.99725140e-01 -1.21702688e-04 1.54837289e+00] [ 1.50637198e-02 -2.31531189e-04 9.99886509e-01 1.32630565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.729254154 meters 0.014806786352978702 Centerline is valid? [True, True] Translation: X:199.52, Y:1.55, Z:1.33 [[ 9.99697097e-01 -1.91940623e-02 -1.54046114e-02 1.99517594e+02] [ 1.91944182e-02 9.99815762e-01 -1.24758797e-04 1.55141010e+00] [ 1.54041679e-02 -1.70961547e-04 9.99881334e-01 1.32505389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759254154 meters 0.014592361448932454 Centerline is valid? [True, True] Translation: X:199.55, Y:1.55, Z:1.33 [[ 9.99721307e-01 -1.79136208e-02 -1.53756397e-02 1.99545715e+02] [ 1.79138086e-02 9.99839527e-01 -1.25519638e-04 1.55281997e+00] [ 1.53754208e-02 -1.49951611e-04 9.99881780e-01 1.32502805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.789254154 meters 0.014272944294963045 Centerline is valid? [True, True] Translation: X:199.57, Y:1.56, Z:1.33 [[ 9.99739662e-01 -1.70455948e-02 -1.51676155e-02 1.99574867e+02] [ 1.70456364e-02 9.99854705e-01 -1.26538991e-04 1.55520959e+00] [ 1.51675687e-02 -1.32035612e-04 9.99884957e-01 1.32613977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819254154 meters 0.014157002972885054 Centerline is valid? [True, True] Translation: X:199.60, Y:1.56, Z:1.33 [[ 9.99760291e-01 -1.61164846e-02 -1.48195551e-02 1.99603667e+02] [ 1.61163664e-02 9.99870115e-01 -1.27413597e-04 1.55663122e+00] [ 1.48196837e-02 -1.11454324e-04 9.99890176e-01 1.32692930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.849254154 meters 0.014101653268728783 Centerline is valid? [True, True] Translation: X:199.63, Y:1.56, Z:1.33 [[ 9.99761922e-01 -1.59951550e-02 -1.48409681e-02 1.99631340e+02] [ 1.59949857e-02 9.99872064e-01 -1.30111829e-04 1.55682182e+00] [ 1.48411505e-02 -1.07300220e-04 9.99889858e-01 1.32727290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87925415399997 meters 0.013976569008070825 Centerline is valid? [True, True] Translation: X:199.66, Y:1.56, Z:1.33 [[ 9.99750922e-01 -1.65593647e-02 -1.49626777e-02 1.99659411e+02] [ 1.65592108e-02 9.99862878e-01 -1.34182681e-04 1.55723256e+00] [ 1.49628479e-02 -1.13620875e-04 9.99888044e-01 1.32786523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90925415399997 meters 0.014161212534645052 Centerline is valid? [True, True] Translation: X:199.69, Y:1.56, Z:1.33 [[ 9.99735593e-01 -1.73660297e-02 -1.50720251e-02 1.99687476e+02] [ 1.73659230e-02 9.99849191e-01 -1.37961279e-04 1.55594068e+00] [ 1.50721479e-02 -1.23814827e-04 9.99886401e-01 1.32753071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93925415399997 meters 0.014204178028504063 Centerline is valid? [True, True] Translation: X:199.72, Y:1.55, Z:1.33 [[ 9.99698419e-01 -1.90386447e-02 -1.55113504e-02 1.99716060e+02] [ 1.90386894e-02 9.99818737e-01 -1.44803437e-04 1.55347129e+00] [ 1.55112957e-02 -1.50556016e-04 9.99879681e-01 1.32724209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96925415399997 meters 0.014204178028504063 Centerline is valid? [True, True] Translation: X:199.74, Y:1.55, Z:1.33 [[ 9.99693570e-01 -1.92915769e-02 -1.55113131e-02 1.99744304e+02] [ 1.92915911e-02 9.99813889e-01 -1.48727070e-04 1.55378103e+00] [ 1.55112954e-02 -1.50556414e-04 9.99879681e-01 1.32743835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99925415399997 meters 0.014340866617433641 Centerline is valid? [True, True] Translation: X:199.77, Y:1.55, Z:1.33 [[ 9.99669750e-01 -2.03823887e-02 -1.56508524e-02 1.99773112e+02] [ 2.03824748e-02 9.99792244e-01 -1.54026882e-04 1.55222697e+00] [ 1.56507403e-02 -1.65027090e-04 9.99877506e-01 1.32744259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02925415399997 meters 0.014340866617433641 Centerline is valid? [True, True] Translation: X:199.80, Y:1.55, Z:1.33 [[ 9.99664594e-01 -2.06337537e-02 -1.56508130e-02 1.99801357e+02] [ 2.06338090e-02 9.99787088e-01 -1.57961778e-04 1.55255310e+00] [ 1.56507401e-02 -1.65027088e-04 9.99877506e-01 1.32763885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05925415399997 meters 0.014329390222440298 Centerline is valid? [True, True] Translation: X:199.83, Y:1.55, Z:1.33 [[ 9.99644488e-01 -2.16761694e-02 -1.55255249e-02 1.99830329e+02] [ 2.16762891e-02 9.99765029e-01 -1.60587118e-04 1.55109459e+00] [ 1.55253577e-02 -1.76005739e-04 9.99879459e-01 1.32770083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08925415399997 meters 0.014534393508014925 Centerline is valid? [True, True] Translation: X:199.86, Y:1.55, Z:1.33 [[ 9.99621147e-01 -2.26604226e-02 -1.56226366e-02 1.99858687e+02] [ 2.26606027e-02 9.99743202e-01 -1.65518307e-04 1.54974781e+00] [ 1.56223754e-02 -1.88562760e-04 9.99877945e-01 1.32780609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11925415399998 meters 0.014676841161576429 Centerline is valid? [True, True] Translation: X:199.89, Y:1.55, Z:1.33 [[ 9.99617609e-01 -2.29496338e-02 -1.54256114e-02 1.99886892e+02] [ 2.29498086e-02 9.99736605e-01 -1.65712669e-04 1.54866161e+00] [ 1.54253514e-02 -1.88365526e-04 9.99881004e-01 1.32781538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14925415399998 meters 0.014408181767341757 Centerline is valid? [True, True] Translation: X:199.92, Y:1.55, Z:1.33 [[ 9.99624269e-01 -2.27996655e-02 -1.52149760e-02 1.99916782e+02] [ 2.27998066e-02 9.99740037e-01 -1.64211206e-04 1.54919011e+00] [ 1.52147647e-02 -1.82749004e-04 9.99884232e-01 1.32860202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17925415399998 meters 0.0146463936009249 Centerline is valid? [True, True] Translation: X:199.95, Y:1.55, Z:1.33 [[ 9.99621605e-01 -2.21103423e-02 -1.63639536e-02 1.99945230e+02] [ 2.21104004e-02 9.99755519e-01 -1.77394557e-04 1.54841009e+00] [ 1.63638752e-02 -1.84486135e-04 9.99866086e-01 1.32746646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20925415399998 meters 0.014621584020866465 Centerline is valid? [True, True] Translation: X:199.97, Y:1.55, Z:1.33 [[ 9.99625584e-01 -2.13800964e-02 -1.70758124e-02 1.99973188e+02] [ 2.13800315e-02 9.99771404e-01 -1.86379889e-04 1.54869230e+00] [ 1.70758938e-02 -1.78771302e-04 9.99854180e-01 1.32716548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23925415399998 meters 0.014593823682815373 Centerline is valid? [True, True] Translation: X:200.00, Y:1.55, Z:1.33 [[ 9.99626950e-01 -2.09619096e-02 -1.75088267e-02 2.00001015e+02] [ 2.09617505e-02 9.99780260e-01 -1.92627079e-04 1.54892316e+00] [ 1.75090172e-02 -1.74460438e-04 9.99846690e-01 1.32670194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26925415399998 meters 0.014233297457157394 Centerline is valid? [True, True] Translation: X:200.03, Y:1.55, Z:1.33 [[ 9.99632845e-01 -2.06424251e-02 -1.75518033e-02 2.00029332e+02] [ 2.06421521e-02 9.99786909e-01 -1.96739526e-04 1.55002273e+00] [ 1.75521243e-02 -1.65639701e-04 9.99845936e-01 1.32737822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29925415399998 meters 0.0144974733917211 Centerline is valid? [True, True] Translation: X:200.06, Y:1.55, Z:1.33 [[ 9.99614677e-01 -2.07862272e-02 -1.83964505e-02 2.00057042e+02] [ 2.07858947e-02 9.99783928e-01 -2.09304461e-04 1.54900229e+00] [ 1.83968262e-02 -1.73162870e-04 9.99830749e-01 1.32649948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32925415399998 meters 0.01453916167042908 Centerline is valid? [True, True] Translation: X:200.09, Y:1.55, Z:1.33 [[ 9.99586006e-01 -2.19165065e-02 -1.86408893e-02 2.00085836e+02] [ 2.19162961e-02 9.99759786e-01 -2.15598479e-04 1.54828317e+00] [ 1.86411366e-02 -1.93030026e-04 9.99826220e-01 1.32655312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35925415399998 meters 0.014373412898919758 Centerline is valid? [True, True] Translation: X:200.11, Y:1.55, Z:1.33 [[ 9.99542017e-01 -2.36319135e-02 -1.89020669e-02 2.00114574e+02] [ 2.36319131e-02 9.99720702e-01 -2.23416620e-04 1.54811251e+00] [ 1.89020674e-02 -2.23377705e-04 9.99821315e-01 1.32752174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38925415399999 meters 0.015694265184231393 Centerline is valid? [True, True] Translation: X:200.14, Y:1.54, Z:1.33 [[ 9.99425776e-01 -2.84658998e-02 -1.83796117e-02 2.00142222e+02] [ 2.84666657e-02 9.99594718e-01 -2.20002144e-04 1.54370663e+00] [ 1.83784253e-02 -3.03330448e-04 9.99831056e-01 1.32661275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.419254154 meters 0.016885822499955554 Centerline is valid? [True, True] Translation: X:200.17, Y:1.54, Z:1.33 [[ 9.99321641e-01 -3.17501424e-02 -1.86597658e-02 2.00170982e+02] [ 3.17514808e-02 9.99495769e-01 -2.24602895e-04 1.54089632e+00] [ 1.86574882e-02 -3.68024664e-04 9.99825866e-01 1.32665264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.449254154 meters 0.01795424105293113 Centerline is valid? [True, True] Translation: X:200.20, Y:1.54, Z:1.33 [[ 9.99212768e-01 -3.50691908e-02 -1.85471224e-02 2.00200811e+02] [ 3.50710704e-02 9.99384796e-01 -2.24005445e-04 1.53809334e+00] [ 1.85435678e-02 -4.26638336e-04 9.99827962e-01 1.32662191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479254154 meters 0.019702874153039552 Centerline is valid? [True, True] Translation: X:200.23, Y:1.53, Z:1.33 [[ 9.99070630e-01 -3.87818481e-02 -1.88107444e-02 2.00230821e+02] [ 3.87844270e-02 9.99247575e-01 -2.27837674e-04 1.53479196e+00] [ 1.88054267e-02 -5.01938014e-04 9.99823036e-01 1.32606770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.509254154 meters 0.021439409707021514 Centerline is valid? [True, True] Translation: X:200.26, Y:1.53, Z:1.33 [[ 9.98909062e-01 -4.25250255e-02 -1.92952962e-02 2.00260200e+02] [ 4.25284281e-02 9.99095230e-01 -2.34145915e-04 1.53098752e+00] [ 1.92877954e-02 -5.86708139e-04 9.99813801e-01 1.32580729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539254154 meters 0.02344983200568223 Centerline is valid? [True, True] Translation: X:200.29, Y:1.53, Z:1.33 [[ 9.98714464e-01 -4.65742985e-02 -2.00063615e-02 2.00289668e+02] [ 4.65787613e-02 9.98914591e-01 -2.43109233e-04 1.52707712e+00] [ 1.99959691e-02 -6.89074830e-04 9.99799823e-01 1.32522622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.569254154 meters 0.024462944188122344 Centerline is valid? [True, True] Translation: X:200.32, Y:1.52, Z:1.33 [[ 9.98318340e-01 -5.46370449e-02 -1.93722661e-02 2.00320134e+02] [ 5.46427427e-02 9.98505942e-01 -2.35480209e-04 1.52362188e+00] [ 1.93561887e-02 -8.23469538e-04 9.99812312e-01 1.32691856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59925415399996 meters 0.02535904174223074 Centerline is valid? [True, True] Translation: X:200.35, Y:1.52, Z:1.33 [[ 9.98122888e-01 -5.82351083e-02 -1.89571084e-02 2.00351732e+02] [ 5.82412205e-02 9.98302513e-01 -2.29979859e-04 1.52228888e+00] [ 1.89383219e-02 -8.74536970e-04 9.99820271e-01 1.32775243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62925415399997 meters 0.0270242803395684 Centerline is valid? [True, True] Translation: X:200.38, Y:1.52, Z:1.33 [[ 9.97941235e-01 -6.15042746e-02 -1.81801030e-02 2.00382173e+02] [ 6.15104449e-02 9.98106416e-01 -2.20112745e-04 1.51907614e+00] [ 1.81592153e-02 -8.98606639e-04 9.99834704e-01 1.32911153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65925415399997 meters 0.027339072868699063 Centerline is valid? [True, True] Translation: X:200.41, Y:1.52, Z:1.33 [[ 9.97786236e-01 -6.42166917e-02 -1.72870862e-02 2.00413316e+02] [ 6.42226851e-02 9.97935571e-01 -2.08808466e-04 1.51856327e+00] [ 1.72648072e-02 -9.01876879e-04 9.99850545e-01 1.33042265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68925415399997 meters 0.029713074564765067 Centerline is valid? [True, True] Translation: X:200.44, Y:1.52, Z:1.33 [[ 9.97542817e-01 -6.79466049e-02 -1.70759328e-02 2.00444769e+02] [ 6.79530078e-02 9.97688502e-01 -2.05645658e-04 1.51556754e+00] [ 1.70504347e-02 -9.55220643e-04 9.99854174e-01 1.33049440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71925415399997 meters 0.028501232775562255 Centerline is valid? [True, True] Translation: X:200.48, Y:1.52, Z:1.33 [[ 9.97450342e-01 -6.93084819e-02 -1.70043856e-02 2.00476668e+02] [ 6.93150453e-02 9.97594799e-01 -2.03793784e-04 1.51735784e+00] [ 1.69776113e-02 -9.75385579e-04 9.99855394e-01 1.33191896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74925415399997 meters 0.029213453109802563 Centerline is valid? [True, True] Translation: X:200.51, Y:1.52, Z:1.33 [[ 9.97398000e-01 -6.98723660e-02 -1.77505367e-02 2.00509267e+02] [ 6.98796307e-02 9.97555408e-01 -2.11412370e-04 1.51702716e+00] [ 1.77219157e-02 -1.02953867e-03 9.99842424e-01 1.33191402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77925415399997 meters 0.03053265006718128 Centerline is valid? [True, True] Translation: X:200.54, Y:1.52, Z:1.33 [[ 9.97359105e-01 -6.97919652e-02 -2.00972104e-02 2.00540480e+02] [ 6.98012881e-02 9.97560887e-01 -2.38071727e-04 1.51685941e+00] [ 2.00648066e-02 -1.16536817e-03 9.99798002e-01 1.33058360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80925415399997 meters 0.03125749687139487 Centerline is valid? [True, True] Translation: X:200.57, Y:1.52, Z:1.33 [[ 9.97371240e-01 -6.93279126e-02 -2.10772222e-02 2.00571679e+02] [ 6.93380882e-02 9.97593188e-01 -2.48527756e-04 1.51730408e+00] [ 2.10437232e-02 -1.21357985e-03 9.99777820e-01 1.32979564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83925415399997 meters 0.027801506356171807 Centerline is valid? [True, True] Translation: X:200.60, Y:1.52, Z:1.33 [[ 9.97396014e-01 -6.86510060e-02 -2.20959488e-02 2.00603969e+02] [ 6.86620573e-02 9.97639942e-01 -2.59026754e-04 1.52371963e+00] [ 2.20615835e-02 -1.25880105e-03 9.99755821e-01 1.33090671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86925415399998 meters 0.03255536981701224 Centerline is valid? [True, True] Translation: X:200.64, Y:1.52, Z:1.33 [[ 9.97445867e-01 -6.77590466e-02 -2.25932432e-02 2.00635081e+02] [ 6.77704045e-02 9.97700909e-01 -2.63467635e-04 1.51860753e+00] [ 2.25591516e-02 -1.26835853e-03 9.99744705e-01 1.32941848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89925415399998 meters 0.02677849213932777 Centerline is valid? [True, True] Translation: X:200.67, Y:1.53, Z:1.33 [[ 9.97498693e-01 -6.69227561e-02 -2.27530555e-02 2.00666827e+02] [ 6.69340938e-02 9.97757364e-01 -2.63770938e-04 1.52812571e+00] [ 2.27196809e-02 -1.25984398e-03 9.99741081e-01 1.33201294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92925415399998 meters 0.027926311811634092 Centerline is valid? [True, True] Translation: X:200.70, Y:1.53, Z:1.33 [[ 9.97674450e-01 -6.43746350e-02 -2.23963899e-02 2.00697507e+02] [ 6.43850038e-02 9.97925100e-01 -2.58557781e-04 1.52979983e+00] [ 2.23665642e-02 -1.18403516e-03 9.99749136e-01 1.33258131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95925415399998 meters 0.02509131817053196 Centerline is valid? [True, True] Translation: X:200.73, Y:1.54, Z:1.33 [[ 9.97811753e-01 -6.23768549e-02 -2.19279147e-02 2.00729258e+02] [ 6.23863371e-02 9.98052043e-01 -2.52060453e-04 1.53600545e+00] [ 2.19009228e-02 -1.11649340e-03 9.99759523e-01 1.33473181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98925415399998 meters 0.02593641320147333 Centerline is valid? [True, True] Translation: X:200.76, Y:1.54, Z:1.34 [[ 9.97974696e-01 -5.98562771e-02 -2.15344391e-02 2.00759382e+02] [ 5.98648739e-02 9.98206460e-01 -2.45795542e-04 1.53731036e+00] [ 2.15105286e-02 -1.04385875e-03 9.99768077e-01 1.33516029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01925415399998 meters 0.02373280366239176 Centerline is valid? [True, True] Translation: X:200.79, Y:1.55, Z:1.34 [[ 9.98381785e-01 -5.29593833e-02 -2.07151014e-02 2.00789137e+02] [ 5.29658640e-02 9.98596296e-01 -2.36068470e-04 1.54577331e+00] [ 2.06985255e-02 -8.61506780e-04 9.99785391e-01 1.33733646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04925415399998 meters 0.021328322174479258 Centerline is valid? [True, True] Translation: X:200.82, Y:1.55, Z:1.34 [[ 9.98590976e-01 -4.90585089e-02 -2.02318018e-02 2.00820148e+02] [ 4.90638936e-02 9.98795615e-01 -2.30439272e-04 1.55240009e+00] [ 2.02187400e-02 -7.62536394e-04 9.99795290e-01 1.33913582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07925415399998 meters 0.019605405342144052 Centerline is valid? [True, True] Translation: X:200.85, Y:1.56, Z:1.34 [[ 9.98800111e-01 -4.49906615e-02 -1.93437110e-02 2.00851389e+02] [ 4.49948328e-02 9.98987195e-01 -2.19751370e-04 1.55806893e+00] [ 1.93340064e-02 -6.50879351e-04 9.99812869e-01 1.34056540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10925415399998 meters 0.018399761020595085 Centerline is valid? [True, True] Translation: X:200.88, Y:1.56, Z:1.34 [[ 9.98994487e-01 -4.06953984e-02 -1.88121920e-02 2.00883035e+02] [ 4.06985998e-02 9.99171446e-01 -2.12802194e-04 1.56249381e+00] [ 1.88052651e-02 -5.53041653e-04 9.99823012e-01 1.34172495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13925415399999 meters 0.017563390250926524 Centerline is valid? [True, True] Translation: X:200.91, Y:1.57, Z:1.34 [[ 9.99155881e-01 -3.66211512e-02 -1.86122683e-02 2.00914549e+02] [ 3.66235937e-02 9.99329109e-01 -2.09722941e-04 1.56617912e+00] [ 1.86074618e-02 -4.72102243e-04 9.99826755e-01 1.34248248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.169254154 meters 0.01618494722198818 Centerline is valid? [True, True] Translation: X:200.95, Y:1.57, Z:1.34 [[ 9.99386002e-01 -2.98613633e-02 -1.83280773e-02 2.00945539e+02] [ 2.98626039e-02 9.99553992e-01 -2.06057145e-04 1.57339271e+00] [ 1.83260560e-02 -3.41393485e-04 9.99832005e-01 1.34360030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.199254154 meters 0.015852730843800872 Centerline is valid? [True, True] Translation: X:200.98, Y:1.58, Z:1.34 [[ 9.99445209e-01 -2.75262778e-02 -1.87504398e-02 2.00975251e+02] [ 2.75271702e-02 9.99621033e-01 -2.10549052e-04 1.57560150e+00] [ 1.87491296e-02 -3.05714306e-04 9.99824173e-01 1.34344021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.229254154 meters 0.015655454787375383 Centerline is valid? [True, True] Translation: X:201.00, Y:1.58, Z:1.34 [[ 9.99468134e-01 -2.61854815e-02 -1.94363039e-02 2.01004612e+02] [ 2.61861797e-02 9.99657059e-01 -2.18626236e-04 1.57721158e+00] [ 1.94353632e-02 -2.90452591e-04 9.99811073e-01 1.34303840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259254154 meters 0.015528182766366774 Centerline is valid? [True, True] Translation: X:201.03, Y:1.58, Z:1.34 [[ 9.99449117e-01 -2.54162584e-02 -2.13418689e-02 2.01033779e+02] [ 2.54168409e-02 9.99676910e-01 -2.44002651e-04 1.57879760e+00] [ 2.13411752e-02 -2.98574653e-04 9.99772207e-01 1.34221936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.289254154 meters 0.015465056325830452 Centerline is valid? [True, True] Translation: X:201.06, Y:1.58, Z:1.34 [[ 9.99422741e-01 -2.59218550e-02 -2.19600162e-02 2.01062295e+02] [ 2.59224689e-02 9.99663923e-01 -2.56755528e-04 1.57933429e+00] [ 2.19592916e-02 -3.12650523e-04 9.99758817e-01 1.34225612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319254154 meters 0.015672886089535893 Centerline is valid? [True, True] Translation: X:201.09, Y:1.58, Z:1.34 [[ 9.99388365e-01 -2.66699185e-02 -2.26188298e-02 2.01091407e+02] [ 2.66706287e-02 9.99644239e-01 -2.70319183e-04 1.57923590e+00] [ 2.26179923e-02 -3.33104565e-04 9.99744125e-01 1.34208223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34925415399996 meters 0.01596802546961956 Centerline is valid? [True, True] Translation: X:201.12, Y:1.58, Z:1.34 [[ 9.99368371e-01 -2.75043111e-02 -2.25027057e-02 2.01118924e+02] [ 2.75051539e-02 9.99621625e-01 -2.72114283e-04 1.57768725e+00] [ 2.25016755e-02 -3.46997975e-04 9.99746745e-01 1.34162230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37925415399997 meters 0.01591214976862518 Centerline is valid? [True, True] Translation: X:201.15, Y:1.58, Z:1.34 [[ 9.99306779e-01 -2.96836604e-02 -2.24686753e-02 2.01147846e+02] [ 2.96849470e-02 9.99559267e-01 -2.76344849e-04 1.57747842e+00] [ 2.24669756e-02 -3.90828154e-04 9.99747509e-01 1.34325673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40925415399997 meters 0.01612655372893405 Centerline is valid? [True, True] Translation: X:201.18, Y:1.58, Z:1.34 [[ 9.99267965e-01 -3.08824017e-02 -2.25789868e-02 2.01176109e+02] [ 3.08839339e-02 9.99522938e-01 -2.80929615e-04 1.57671337e+00] [ 2.25768910e-02 -4.16603970e-04 9.99745023e-01 1.34342185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43925415399997 meters 0.016489037919027536 Centerline is valid? [True, True] Translation: X:201.21, Y:1.58, Z:1.34 [[ 9.99210907e-01 -3.27770867e-02 -2.24326841e-02 2.01205067e+02] [ 3.27789733e-02 9.99462585e-01 -2.83701290e-04 1.57615523e+00] [ 2.24299273e-02 -4.51842929e-04 9.99748315e-01 1.34371015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46925415399997 meters 0.0167711537880154 Centerline is valid? [True, True] Translation: X:201.23, Y:1.58, Z:1.34 [[ 9.99160659e-01 -3.44459821e-02 -2.21686917e-02 2.01233875e+02] [ 3.44481096e-02 9.99406447e-01 -2.86016462e-04 1.57524999e+00] [ 2.21653855e-02 -4.77893126e-04 9.99754203e-01 1.34401589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49925415399997 meters 0.017697652842896282 Centerline is valid? [True, True] Translation: X:201.26, Y:1.57, Z:1.34 [[ 9.99039728e-01 -3.78969580e-02 -2.19873308e-02 2.01262885e+02] [ 3.78998293e-02 9.99281502e-01 -2.86255419e-04 1.57226166e+00] [ 2.19823812e-02 -5.47335549e-04 9.99758208e-01 1.34433515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52925415399997 meters 0.017930117792395443 Centerline is valid? [True, True] Translation: X:201.29, Y:1.57, Z:1.35 [[ 9.98987222e-01 -3.95793388e-02 -2.14011020e-02 2.01293727e+02] [ 3.95824368e-02 9.99216269e-01 -2.78989870e-04 1.57174077e+00] [ 2.13953716e-02 -5.68400452e-04 9.99770931e-01 1.34511189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55925415399997 meters 0.018447654793583547 Centerline is valid? [True, True] Translation: X:201.32, Y:1.57, Z:1.35 [[ 9.98925371e-01 -4.14016893e-02 -2.08327322e-02 2.01324282e+02] [ 4.14050208e-02 9.99142408e-01 -2.71580466e-04 1.57053533e+00] [ 2.08261101e-02 -5.91291092e-04 9.99782938e-01 1.34565901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58925415399997 meters 0.019024256404502768 Centerline is valid? [True, True] Translation: X:201.36, Y:1.57, Z:1.35 [[ 9.98852284e-01 -4.32734314e-02 -2.05310573e-02 2.01355665e+02] [ 4.32770721e-02 9.99063073e-01 -2.67154231e-04 1.56926422e+00] [ 2.05233819e-02 -6.21676435e-04 9.99789180e-01 1.34606415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61925415399998 meters 0.019814409577672075 Centerline is valid? [True, True] Translation: X:201.39, Y:1.57, Z:1.35 [[ 9.98770067e-01 -4.52957636e-02 -2.01655150e-02 2.01386542e+02] [ 4.52997058e-02 9.98973407e-01 -2.61491221e-04 1.56760474e+00] [ 2.01566577e-02 -6.52322293e-04 9.99796621e-01 1.34622631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64925415399998 meters 0.0207156116783262 Centerline is valid? [True, True] Translation: X:201.42, Y:1.56, Z:1.35 [[ 9.98579890e-01 -4.96112543e-02 -1.94145953e-02 2.01417336e+02] [ 4.96157336e-02 9.98768349e-01 -2.51193243e-04 1.56444164e+00] [ 1.94031453e-02 -7.12432865e-04 9.99811487e-01 1.34722393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67925415399998 meters 0.02154519842346578 Centerline is valid? [True, True] Translation: X:201.45, Y:1.56, Z:1.35 [[ 9.98463627e-01 -5.19144047e-02 -1.93721536e-02 2.01449532e+02] [ 5.19193172e-02 9.98651252e-01 -2.49606251e-04 1.56288739e+00] [ 1.93589836e-02 -7.56566225e-04 9.99812311e-01 1.34766395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70925415399998 meters 0.02145170457072818 Centerline is valid? [True, True] Translation: X:201.48, Y:1.56, Z:1.35 [[ 9.98340417e-01 -5.41833517e-02 -1.95083597e-02 2.01481708e+02] [ 5.41887942e-02 9.98530677e-01 -2.49912015e-04 1.56266264e+00] [ 1.94932367e-02 -8.07637224e-04 9.99809663e-01 1.34816063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73925415399998 meters 0.023765818252767038 Centerline is valid? [True, True] Translation: X:201.51, Y:1.56, Z:1.35 [[ 9.98210844e-01 -5.63817993e-02 -1.99048817e-02 2.01513090e+02] [ 5.63879265e-02 9.98408903e-01 -2.53743847e-04 1.55832242e+00] [ 1.98875176e-02 -8.69105144e-04 9.99801846e-01 1.34715072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76925415399998 meters 0.026773677854922302 Centerline is valid? [True, True] Translation: X:201.54, Y:1.55, Z:1.35 [[ 9.97904397e-01 -6.14532389e-02 -2.02561923e-02 2.01542505e+02] [ 6.14606428e-02 9.98109475e-01 -2.57415431e-04 1.55267493e+00] [ 2.02337165e-02 -9.88082608e-04 9.99794789e-01 1.34626039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79925415399998 meters 0.02607552129886277 Centerline is valid? [True, True] Translation: X:201.57, Y:1.55, Z:1.35 [[ 9.97735383e-01 -6.39849664e-02 -2.07371411e-02 2.01573204e+02] [ 6.39932813e-02 9.97950295e-01 -2.63053407e-04 1.55363843e+00] [ 2.07114676e-02 -1.06458002e-03 9.99784928e-01 1.34684091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82925415399998 meters 0.027109065835566142 Centerline is valid? [True, True] Translation: X:201.60, Y:1.55, Z:1.35 [[ 9.97564082e-01 -6.65731706e-02 -2.08306516e-02 2.01604732e+02] [ 6.65821365e-02 9.97780913e-01 -2.63603350e-04 1.55162955e+00] [ 2.08019754e-02 -1.12398805e-03 9.99782984e-01 1.34698445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85925415399998 meters 0.028882995991534443 Centerline is valid? [True, True] Translation: X:201.64, Y:1.55, Z:1.35 [[ 9.97388852e-01 -6.89746336e-02 -2.14003967e-02 2.01635061e+02] [ 6.89846591e-02 9.97617684e-01 -2.70290273e-04 1.54908623e+00] [ 2.13680574e-02 -1.20671457e-03 9.99770949e-01 1.34674063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88925415399999 meters 0.031152690190638023 Centerline is valid? [True, True] Translation: X:201.66, Y:1.55, Z:1.35 [[ 9.97099087e-01 -7.29070209e-02 -2.18626790e-02 2.01664754e+02] [ 7.29184250e-02 9.97337870e-01 -2.76174900e-04 1.54626122e+00] [ 2.18246128e-02 -1.31881838e-03 9.99760945e-01 1.34646242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.919254154 meters 0.031152690190638023 Centerline is valid? [True, True] Translation: X:201.70, Y:1.55, Z:1.35 [[ 9.97104342e-01 -7.28351185e-02 -2.18626916e-02 2.01696503e+02] [ 7.28465271e-02 9.97343124e-01 -2.75179014e-04 1.54659934e+00] [ 2.18246478e-02 -1.31823896e-03 9.99760945e-01 1.34668247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.949254154 meters 0.03154961626250758 Centerline is valid? [True, True] Translation: X:201.73, Y:1.55, Z:1.35 [[ 9.96976360e-01 -7.43916716e-02 -2.24503051e-02 2.01728353e+02] [ 7.44041255e-02 9.97228132e-01 -2.81217657e-04 1.54686691e+00] [ 2.24089960e-02 -1.39002796e-03 9.99747921e-01 1.34668883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.979254154 meters 0.029811824848283517 Centerline is valid? [True, True] Translation: X:201.76, Y:1.55, Z:1.35 [[ 9.96872197e-01 -7.54915946e-02 -2.33846526e-02 2.01760471e+02] [ 7.55054464e-02 9.97145347e-01 -2.91305838e-04 1.55003071e+00] [ 2.33398887e-02 -1.47527394e-03 9.99726499e-01 1.34760846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.009254154 meters 0.031689015044894395 Centerline is valid? [True, True] Translation: X:201.79, Y:1.55, Z:1.35 [[ 9.96807681e-01 -7.63059689e-02 -2.34914161e-02 2.01791957e+02] [ 7.63202253e-02 9.97083316e-01 -2.90388439e-04 1.54802416e+00] [ 2.34450574e-02 -1.50340874e-03 9.99723996e-01 1.34717517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.039254154 meters 0.03199411724207901 Centerline is valid? [True, True] Translation: X:201.82, Y:1.55, Z:1.35 [[ 9.96703230e-01 -7.76630587e-02 -2.34759654e-02 2.01823788e+02] [ 7.76777095e-02 9.96978480e-01 -2.88563812e-04 1.54877884e+00] [ 2.34274431e-02 -1.53594674e-03 9.99724360e-01 1.34730862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.069254154 meters 0.034710823228533194 Centerline is valid? [True, True] Translation: X:201.86, Y:1.55, Z:1.35 [[ 9.96662223e-01 -7.80963128e-02 -2.37776904e-02 2.01855255e+02] [ 7.81114965e-02 9.96944587e-01 -2.90966809e-04 1.54560905e+00] [ 2.37277632e-02 -1.56731535e-03 9.99717228e-01 1.34663213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09925415399996 meters 0.03399665674111605 Centerline is valid? [True, True] Translation: X:201.89, Y:1.55, Z:1.35 [[ 9.96654792e-01 -7.81237375e-02 -2.39980519e-02 2.01887664e+02] [ 7.81392508e-02 9.96942412e-01 -2.92046889e-04 1.54758805e+00] [ 2.39474915e-02 -1.58411986e-03 9.99711963e-01 1.34653404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12925415399997 meters 0.03325189202407768 Centerline is valid? [True, True] Translation: X:201.92, Y:1.55, Z:1.35 [[ 9.96663757e-01 -7.80408189e-02 -2.38952948e-02 2.01920228e+02] [ 7.80562170e-02 9.96948917e-01 -2.89066571e-04 1.54998499e+00] [ 2.38449473e-02 -1.57707415e-03 9.99714425e-01 1.34801474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15925415399997 meters 0.03342267625088952 Centerline is valid? [True, True] Translation: X:201.95, Y:1.55, Z:1.35 [[ 9.96792494e-01 -7.63576604e-02 -2.39631404e-02 2.01951166e+02] [ 7.63726886e-02 9.97079299e-01 -2.88768026e-04 1.55216253e+00] [ 2.39152009e-02 -1.54228766e-03 9.99712801e-01 1.34841559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18925415399997 meters 0.03342267625088952 Centerline is valid? [True, True] Translation: X:201.98, Y:1.55, Z:1.35 [[ 9.96797959e-01 -7.62862736e-02 -2.39631580e-02 2.01982925e+02] [ 7.63013165e-02 9.97084764e-01 -2.87298160e-04 1.55248115e+00] [ 2.39152167e-02 -1.54204229e-03 9.99712801e-01 1.34863561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21925415399997 meters 0.030273153575790492 Centerline is valid? [True, True] Translation: X:202.01, Y:1.56, Z:1.35 [[ 9.96919772e-01 -7.47405664e-02 -2.37658696e-02 2.02014770e+02] [ 7.47549589e-02 9.97201893e-01 -2.83508649e-04 1.55825257e+00] [ 2.37205598e-02 -1.49398123e-03 9.99717512e-01 1.35016845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24925415399997 meters 0.03467380171152279 Centerline is valid? [True, True] Translation: X:202.05, Y:1.55, Z:1.35 [[ 9.97102524e-01 -7.23581562e-02 -2.34702856e-02 2.02045585e+02] [ 7.23715582e-02 9.97377702e-01 -2.78997074e-04 1.55395794e+00] [ 2.34289273e-02 -1.42039246e-03 9.99724496e-01 1.34899466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27925415399997 meters 0.03325491309359287 Centerline is valid? [True, True] Translation: X:202.08, Y:1.56, Z:1.35 [[ 9.97311411e-01 -6.95313492e-02 -2.31374515e-02 2.02076226e+02] [ 6.95436278e-02 9.97578873e-01 -2.74511405e-04 1.55777267e+00] [ 2.31005199e-02 -1.33528896e-03 9.99732256e-01 1.35016140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30925415399997 meters 0.02554561293578021 Centerline is valid? [True, True] Translation: X:202.11, Y:1.57, Z:1.35 [[ 9.97785556e-01 -6.27102433e-02 -2.21677524e-02 2.02107039e+02] [ 6.27198399e-02 9.98031138e-01 -2.62775622e-04 1.57260222e+00] [ 2.21405859e-02 -1.12816416e-03 9.99754231e-01 1.35371538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33925415399997 meters 0.023848771656664998 Centerline is valid? [True, True] Translation: X:202.14, Y:1.58, Z:1.35 [[ 9.98048089e-01 -5.87612458e-02 -2.11453807e-02 2.02137946e+02] [ 5.87690996e-02 9.98271571e-01 -2.50343728e-04 1.57707394e+00] [ 2.11235430e-02 -9.92839907e-04 9.99776380e-01 1.35497122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36925415399998 meters 0.02297383760012698 Centerline is valid? [True, True] Translation: X:202.17, Y:1.58, Z:1.36 [[ 9.98286905e-01 -5.47559766e-02 -2.06164431e-02 2.02167492e+02] [ 5.47625871e-02 9.98499374e-01 -2.44207270e-04 1.58048213e+00] [ 2.05988774e-02 -8.85220844e-04 9.99787429e-01 1.35603890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39925415399998 meters 0.020138454801192827 Centerline is valid? [True, True] Translation: X:202.20, Y:1.59, Z:1.36 [[ 9.98749490e-01 -4.64283641e-02 -1.85435627e-02 2.02197880e+02] [ 4.64322758e-02 9.98921416e-01 -2.19774705e-04 1.58922113e+00] [ 1.85337657e-02 -6.41519946e-04 9.99828029e-01 1.35818470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42925415399998 meters 0.018734725999817438 Centerline is valid? [True, True] Translation: X:202.23, Y:1.59, Z:1.36 [[ 9.98939822e-01 -4.22886398e-02 -1.81907573e-02 2.02229789e+02] [ 4.22917296e-02 9.99105281e-01 -2.14975072e-04 1.59349443e+00] [ 1.81835727e-02 -5.54571427e-04 9.99834511e-01 1.35885856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45925415399998 meters 0.017408459177687775 Centerline is valid? [True, True] Translation: X:202.26, Y:1.60, Z:1.36 [[ 9.99099607e-01 -3.84321167e-02 -1.79707202e-02 2.02261702e+02] [ 3.84345267e-02 9.99261098e-01 -2.11378953e-04 1.59748251e+00] [ 1.79655654e-02 -4.79507496e-04 9.99838491e-01 1.35896541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48925415399998 meters 0.01673241537291324 Centerline is valid? [True, True] Translation: X:202.29, Y:1.60, Z:1.36 [[ 9.99221900e-01 -3.49428619e-02 -1.82918455e-02 2.02293152e+02] [ 3.49447894e-02 9.99389221e-01 -2.14339155e-04 1.60057109e+00] [ 1.82881629e-02 -4.25032313e-04 9.99832667e-01 1.35869536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51925415399998 meters 0.01616607456210292 Centerline is valid? [True, True] Translation: X:202.32, Y:1.60, Z:1.36 [[ 9.99333663e-01 -3.13699628e-02 -1.86589028e-02 2.02324161e+02] [ 3.13713589e-02 9.99507774e-01 -2.17947031e-04 1.60389859e+00] [ 1.86565554e-02 -3.67553331e-04 9.99825884e-01 1.35817479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54925415399998 meters 0.015229020461311107 Centerline is valid? [True, True] Translation: X:202.36, Y:1.61, Z:1.36 [[ 9.99477717e-01 -2.49110329e-02 -2.05847963e-02 2.02355107e+02] [ 2.49113736e-02 9.99689635e-01 -2.39912417e-04 1.60992999e+00] [ 2.05843840e-02 -2.73008437e-04 9.99788082e-01 1.35686834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57925415399998 meters 0.01489536366225699 Centerline is valid? [True, True] Translation: X:202.38, Y:1.61, Z:1.36 [[ 9.99530946e-01 -2.22506658e-02 -2.10426936e-02 2.02383399e+02] [ 2.22503584e-02 9.99752399e-01 -2.48767907e-04 1.61275461e+00] [ 2.10430187e-02 -2.19556254e-04 9.99778547e-01 1.35693505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60925415399998 meters 0.014726143372613493 Centerline is valid? [True, True] Translation: X:202.41, Y:1.62, Z:1.36 [[ 9.99581476e-01 -1.94765709e-02 -2.13900860e-02 2.02411299e+02] [ 1.94755510e-02 9.99810301e-01 -2.56017236e-04 1.61526483e+00] [ 2.13910146e-02 -1.60673623e-04 9.99771173e-01 1.35683007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63925415399999 meters 0.014634688413517474 Centerline is valid? [True, True] Translation: X:202.44, Y:1.62, Z:1.36 [[ 9.99634954e-01 -1.68293897e-02 -2.11359799e-02 2.02440075e+02] [ 1.68277124e-02 9.99858371e-01 -2.57223891e-04 1.61780732e+00] [ 2.11373154e-02 -9.85401988e-05 9.99776577e-01 1.35726006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.669254154 meters 0.014526063450638883 Centerline is valid? [True, True] Translation: X:202.47, Y:1.62, Z:1.36 [[ 9.99724798e-01 -1.17866084e-02 -2.02830794e-02 2.02468810e+02] [ 1.17839225e-02 9.99930535e-01 -2.51940135e-04 1.62227671e+00] [ 2.02846399e-02 1.28565648e-05 9.99794245e-01 1.35852858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.699254154 meters 0.014600864868735733 Centerline is valid? [True, True] Translation: X:202.50, Y:1.62, Z:1.36 [[ 9.99756772e-01 -9.66395288e-03 -1.98243311e-02 2.02496469e+02] [ 9.66086153e-03 9.99953301e-01 -2.51702834e-04 1.62432491e+00] [ 1.98258378e-02 6.01214953e-05 9.99803447e-01 1.35938938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.729254154 meters 0.014799377028012293 Centerline is valid? [True, True] Translation: X:202.52, Y:1.63, Z:1.36 [[ 9.99788075e-01 -7.74064687e-03 -1.90758506e-02 2.02523597e+02] [ 7.73736857e-03 9.99970036e-01 -2.45656123e-04 1.62615778e+00] [ 1.90771805e-02 9.80071754e-05 9.99818009e-01 1.35982916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759254154 meters 0.014798721991925123 Centerline is valid? [True, True] Translation: X:202.55, Y:1.63, Z:1.36 [[ 9.99805581e-01 -6.59343116e-03 -1.85829801e-02 2.02551867e+02] [ 6.59004365e-03 9.99978256e-01 -2.43521988e-04 1.62702939e+00] [ 1.85841817e-02 1.21011993e-04 9.99827292e-01 1.36093265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.789254154 meters 0.01470240581997329 Centerline is valid? [True, True] Translation: X:202.58, Y:1.63, Z:1.36 [[ 9.99821089e-01 -5.37431252e-03 -1.81357707e-02 2.02579891e+02] [ 5.37078980e-03 9.99985548e-01 -2.42941816e-04 1.62622597e+00] [ 1.81368142e-02 1.45494939e-04 9.99835504e-01 1.36164552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819254154 meters 0.014679990968240153 Centerline is valid? [True, True] Translation: X:202.61, Y:1.63, Z:1.36 [[ 9.99825610e-01 -5.84927881e-03 -1.77351669e-02 2.02607773e+02] [ 5.84589236e-03 9.99982883e-01 -2.42783012e-04 1.62535059e+00] [ 1.77362834e-02 1.39062796e-04 9.99842690e-01 1.36140500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84925415399996 meters 0.01482701907047777 Centerline is valid? [True, True] Translation: X:202.63, Y:1.62, Z:1.36 [[ 9.99811747e-01 -6.90538942e-03 -1.81324887e-02 2.02634839e+02] [ 6.90195917e-03 9.99976150e-01 -2.51750955e-04 1.62444607e+00] [ 1.81337946e-02 1.26553865e-04 9.99835561e-01 1.36084837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87925415399997 meters 0.01454262175941653 Centerline is valid? [True, True] Translation: X:202.66, Y:1.62, Z:1.36 [[ 9.99790807e-01 -8.63060673e-03 -1.85433452e-02 2.02663237e+02] [ 8.62723559e-03 9.99962750e-01 -2.61787357e-04 1.62260975e+00] [ 1.85449139e-02 1.01754785e-04 9.99828023e-01 1.36129575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90925415399997 meters 0.014513397854047583 Centerline is valid? [True, True] Translation: X:202.69, Y:1.62, Z:1.36 [[ 9.99763922e-01 -1.08069018e-02 -1.88496924e-02 2.02690990e+02] [ 1.08037455e-02 9.99941602e-01 -2.69277041e-04 1.62092305e+00] [ 1.88515017e-02 6.55661914e-05 9.99822293e-01 1.36114840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93925415399997 meters 0.014385154288006888 Centerline is valid? [True, True] Translation: X:202.72, Y:1.62, Z:1.36 [[ 9.99691472e-01 -1.66565319e-02 -1.84260960e-02 2.02719929e+02] [ 1.66544825e-02 9.99861269e-01 -2.64677649e-04 1.61549179e+00] [ 1.84279484e-02 -4.22811048e-05 9.99830190e-01 1.36192290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96925415399997 meters 0.014477021815754746 Centerline is valid? [True, True] Translation: X:202.75, Y:1.61, Z:1.36 [[ 9.99621284e-01 -2.06498447e-02 -1.81899126e-02 2.02749085e+02] [ 2.06484474e-02 9.99786763e-01 -2.64646414e-04 1.61198464e+00] [ 1.81914987e-02 -1.11047266e-04 9.99834515e-01 1.36231907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99925415399997 meters 0.015051047867572167 Centerline is valid? [True, True] Translation: X:202.78, Y:1.61, Z:1.36 [[ 9.99521191e-01 -2.48669055e-02 -1.84126481e-02 2.02776755e+02] [ 2.48661372e-02 9.99690753e-01 -2.70705538e-04 1.60773367e+00] [ 1.84136856e-02 -1.87275512e-04 9.99830436e-01 1.36186141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02925415399997 meters 0.016537531950200683 Centerline is valid? [True, True] Translation: X:202.81, Y:1.60, Z:1.36 [[ 9.99405113e-01 -2.89823657e-02 -1.86933902e-02 2.02805833e+02] [ 2.89822264e-02 9.99579888e-01 -2.78416892e-04 1.60305204e+00] [ 1.86936061e-02 -2.63524802e-04 9.99825225e-01 1.36054147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05925415399997 meters 0.017243436751816735 Centerline is valid? [True, True] Translation: X:202.84, Y:1.59, Z:1.36 [[ 9.99142320e-01 -3.73778283e-02 -1.78191607e-02 2.02835661e+02] [ 3.73789995e-02 9.99301125e-01 -2.67444198e-04 1.59461483e+00] [ 1.78167038e-02 -3.98847582e-04 9.99841190e-01 1.36225815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08925415399997 meters 0.0182063613041041 Centerline is valid? [True, True] Translation: X:202.87, Y:1.59, Z:1.36 [[ 9.99015833e-01 -4.07924653e-02 -1.74166735e-02 2.02866748e+02] [ 4.07941049e-02 9.99167540e-01 -2.61272762e-04 1.59073018e+00] [ 1.74128328e-02 -4.49481979e-04 9.99848284e-01 1.36270369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11925415399998 meters 0.018822686582751356 Centerline is valid? [True, True] Translation: X:202.90, Y:1.59, Z:1.36 [[ 9.98890519e-01 -4.39921812e-02 -1.68053328e-02 2.02897772e+02] [ 4.39941670e-02 9.99031756e-01 -2.51684564e-04 1.58819478e+00] [ 1.68001333e-02 -4.87931294e-04 9.99858749e-01 1.36362965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14925415399998 meters 0.020470242904402206 Centerline is valid? [True, True] Translation: X:202.93, Y:1.58, Z:1.36 [[ 9.98788304e-01 -4.65560169e-02 -1.59518226e-02 2.02928724e+02] [ 4.65581425e-02 9.98915553e-01 -2.38294453e-04 1.58389442e+00] [ 1.59456177e-02 -5.04681516e-04 9.99872733e-01 1.36387299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17925415399998 meters 0.02233682974662815 Centerline is valid? [True, True] Translation: X:202.96, Y:1.58, Z:1.36 [[ 9.98609082e-01 -5.03996362e-02 -1.54847523e-02 2.02958868e+02] [ 5.04021061e-02 9.98728979e-01 -2.30953075e-04 1.57788735e+00] [ 1.54767108e-02 -5.49832291e-04 9.99880077e-01 1.36453455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20925415399998 meters 0.022799575877087773 Centerline is valid? [True, True] Translation: X:202.99, Y:1.58, Z:1.36 [[ 9.98543916e-01 -5.16839131e-02 -1.54538186e-02 2.02990877e+02] [ 5.16865360e-02 9.98663331e-01 -2.29895061e-04 1.57578363e+00] [ 1.54450439e-02 -5.69194038e-04 9.99880556e-01 1.36494360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23925415399998 meters 0.023887876702514837 Centerline is valid? [True, True] Translation: X:203.02, Y:1.57, Z:1.36 [[ 9.98475849e-01 -5.28447193e-02 -1.59190268e-02 2.03021809e+02] [ 5.28476653e-02 9.98602558e-01 -2.35846444e-04 1.57305057e+00] [ 1.59092442e-02 -6.05796424e-04 9.99873256e-01 1.36431627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26925415399998 meters 0.025848742995472605 Centerline is valid? [True, True] Translation: X:203.05, Y:1.57, Z:1.36 [[ 9.98302826e-01 -5.56795017e-02 -1.70663400e-02 2.03052523e+02] [ 5.56833108e-02 9.98448449e-01 -2.52283040e-04 1.56803972e+00] [ 1.70539077e-02 -6.98455442e-04 9.99854328e-01 1.36319117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29925415399998 meters 0.027126252980627905 Centerline is valid? [True, True] Translation: X:203.09, Y:1.57, Z:1.36 [[ 9.98232725e-01 -5.67479275e-02 -1.76380019e-02 2.03085066e+02] [ 5.67521777e-02 9.98388263e-01 -2.59878108e-04 1.56642309e+00] [ 1.76243216e-02 -7.41576185e-04 9.99844405e-01 1.36139557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32925415399998 meters 0.02394124257953582 Centerline is valid? [True, True] Translation: X:203.12, Y:1.57, Z:1.36 [[ 9.98112144e-01 -5.88636891e-02 -1.75275339e-02 2.03116993e+02] [ 5.88682335e-02 9.98265729e-01 -2.57009580e-04 1.56927474e+00] [ 1.75122650e-02 -7.75290576e-04 9.99846348e-01 1.36385824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35925415399998 meters 0.024026111164003397 Centerline is valid? [True, True] Translation: X:203.15, Y:1.57, Z:1.36 [[ 9.97976088e-01 -6.08347884e-02 -1.85163787e-02 2.03149412e+02] [ 6.08402244e-02 9.98147481e-01 -2.70125792e-04 1.56823276e+00] [ 1.84985098e-02 -8.56961553e-04 9.99828521e-01 1.36400221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38925415399999 meters 0.027711514659077136 Centerline is valid? [True, True] Translation: X:203.18, Y:1.56, Z:1.36 [[ 9.97693931e-01 -6.48500573e-02 -2.00322225e-02 2.03180685e+02] [ 6.48572430e-02 9.97894510e-01 -2.91449781e-04 1.56329690e+00] [ 2.00089453e-02 -1.00845704e-03 9.99799292e-01 1.36117916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.419254154 meters 0.027391574023853914 Centerline is valid? [True, True] Translation: X:203.21, Y:1.56, Z:1.36 [[ 9.97528264e-01 -6.74906200e-02 -1.95545230e-02 2.03210599e+02] [ 6.74979974e-02 9.97719369e-01 -2.83243482e-04 1.56119015e+00] [ 1.95290426e-02 -1.03734776e-03 9.99808752e-01 1.36368608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.449254154 meters 0.029646630841445136 Centerline is valid? [True, True] Translation: X:203.24, Y:1.56, Z:1.36 [[ 9.97396970e-01 -6.93675688e-02 -1.96831193e-02 2.03241492e+02] [ 6.93754293e-02 9.97590582e-01 -2.84019092e-04 1.55811803e+00] [ 1.96553962e-02 -1.08224507e-03 9.99806228e-01 1.36398108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479254154 meters 0.03179009688543994 Centerline is valid? [True, True] Translation: X:203.27, Y:1.56, Z:1.36 [[ 9.97292562e-01 -7.08260590e-02 -1.97791353e-02 2.03272607e+02] [ 7.08343008e-02 9.97488056e-01 -2.84469633e-04 1.55564669e+00] [ 1.97495991e-02 -1.11734177e-03 9.99804333e-01 1.36368501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.509254154 meters 0.029184432417653172 Centerline is valid? [True, True] Translation: X:203.30, Y:1.56, Z:1.37 [[ 9.97176338e-01 -7.25303061e-02 -1.94603676e-02 2.03304291e+02] [ 7.25386281e-02 9.97365565e-01 -2.78832528e-04 1.56048912e+00] [ 1.94293243e-02 -1.13358317e-03 9.99810590e-01 1.36642318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539254154 meters 0.03022043126450227 Centerline is valid? [True, True] Translation: X:203.34, Y:1.56, Z:1.37 [[ 9.97183066e-01 -7.24519191e-02 -1.94075232e-02 2.03335633e+02] [ 7.24602165e-02 9.97371265e-01 -2.76250403e-04 1.56011677e+00] [ 1.93765208e-02 -1.13080111e-03 9.99811618e-01 1.36703286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.569254154 meters 0.02926163985711937 Centerline is valid? [True, True] Translation: X:203.37, Y:1.56, Z:1.37 [[ 9.97209853e-01 -7.20361406e-02 -1.95781407e-02 2.03367656e+02] [ 7.20445386e-02 9.97401377e-01 -2.76946043e-04 1.56275291e+00] [ 1.95472147e-02 -1.13432479e-03 9.99808291e-01 1.36789157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59925415399996 meters 0.030768485559568945 Centerline is valid? [True, True] Translation: X:203.40, Y:1.56, Z:1.37 [[ 9.97242212e-01 -7.16192311e-02 -1.94591162e-02 2.03399151e+02] [ 7.16274712e-02 9.97431416e-01 -2.74076993e-04 1.56179980e+00] [ 1.94287630e-02 -1.12048614e-03 9.99810616e-01 1.36811725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62925415399997 meters 0.02896136422333521 Centerline is valid? [True, True] Translation: X:203.43, Y:1.57, Z:1.37 [[ 9.97311822e-01 -7.07550309e-02 -1.90487858e-02 2.03431751e+02] [ 7.07627979e-02 9.97493135e-01 -2.66826757e-04 1.56616304e+00] [ 1.90199124e-02 -1.08183590e-03 9.99818520e-01 1.37026656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65925415399997 meters 0.028117977103159043 Centerline is valid? [True, True] Translation: X:203.46, Y:1.57, Z:1.37 [[ 9.97335526e-01 -7.03958276e-02 -1.91383196e-02 2.03463837e+02] [ 7.04036312e-02 9.97518550e-01 -2.66550607e-04 1.56872296e+00] [ 1.91095928e-02 -1.08156680e-03 9.99816810e-01 1.37138184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68925415399997 meters 0.02819489480622624 Centerline is valid? [True, True] Translation: X:203.50, Y:1.57, Z:1.37 [[ 9.97374959e-01 -6.99313890e-02 -1.87827610e-02 2.03496032e+02] [ 6.99388489e-02 9.97551247e-01 -2.60228287e-04 1.56994797e+00] [ 1.87549647e-02 -1.05409950e-03 9.99823555e-01 1.37184825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71925415399997 meters 0.02809911989765894 Centerline is valid? [True, True] Translation: X:203.53, Y:1.57, Z:1.37 [[ 9.97423598e-01 -6.92640594e-02 -1.86723437e-02 2.03528425e+02] [ 6.92713407e-02 9.97597822e-01 -2.57332640e-04 1.57137688e+00] [ 1.86453133e-02 -1.03678863e-03 9.99825623e-01 1.37242168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74925415399997 meters 0.02857398436451602 Centerline is valid? [True, True] Translation: X:203.56, Y:1.57, Z:1.37 [[ 9.97586901e-01 -6.68371290e-02 -1.87928928e-02 2.03559269e+02] [ 6.68440929e-02 9.97763399e-01 -2.58050918e-04 1.57316887e+00] [ 1.87681080e-02 -9.98765659e-04 9.99823365e-01 1.37285219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77925415399997 meters 0.02564267954042506 Centerline is valid? [True, True] Translation: X:203.59, Y:1.58, Z:1.37 [[ 9.97690022e-01 -6.52595899e-02 -1.88628018e-02 2.03591107e+02] [ 6.52663459e-02 9.97867846e-01 -2.57872970e-04 1.57911093e+00] [ 1.88394121e-02 -9.73828862e-04 9.99822048e-01 1.37411182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80925415399997 meters 0.02564267954042506 Centerline is valid? [True, True] Translation: X:203.62, Y:1.58, Z:1.37 [[ 9.97694854e-01 -6.51856803e-02 -1.88628209e-02 2.03622840e+02] [ 6.51924496e-02 9.97872677e-01 -2.56475629e-04 1.57948392e+00] [ 1.88394121e-02 -9.73829083e-04 9.99822048e-01 1.37433160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83925415399997 meters 0.02707559480203614 Centerline is valid? [True, True] Translation: X:203.65, Y:1.58, Z:1.37 [[ 9.97825373e-01 -6.32197570e-02 -1.86490455e-02 2.03653450e+02] [ 6.32260447e-02 9.97999200e-01 -2.52843723e-04 1.57888338e+00] [ 1.86277172e-02 -9.26811502e-04 9.99826059e-01 1.37422642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86925415399998 meters 0.024425893725369595 Centerline is valid? [True, True] Translation: X:203.68, Y:1.58, Z:1.38 [[ 9.97949122e-01 -6.10276114e-02 -1.93178750e-02 2.03684422e+02] [ 6.10339600e-02 9.98135656e-01 -2.61319901e-04 1.58459222e+00] [ 1.92978076e-02 -9.18262445e-04 9.99813358e-01 1.37536721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89925415399998 meters 0.02703436625444243 Centerline is valid? [True, True] Translation: X:203.72, Y:1.58, Z:1.37 [[ 9.98111122e-01 -5.82874029e-02 -1.94104794e-02 2.03715342e+02] [ 5.82933093e-02 9.98299465e-01 -2.61857617e-04 1.58262981e+00] [ 1.93927342e-02 -8.70138082e-04 9.99811565e-01 1.37423470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92925415399998 meters 0.024641100001729668 Centerline is valid? [True, True] Translation: X:203.74, Y:1.59, Z:1.37 [[ 9.98473461e-01 -5.16301415e-02 -1.96233361e-02 2.03744309e+02] [ 5.16348956e-02 9.98665994e-01 -2.64668212e-04 1.58948300e+00] [ 1.96108233e-02 -7.48984723e-04 9.99807409e-01 1.37476203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95925415399998 meters 0.022085787349473963 Centerline is valid? [True, True] Translation: X:203.78, Y:1.60, Z:1.38 [[ 9.98669116e-01 -4.77042320e-02 -1.96036624e-02 2.03775433e+02] [ 4.77082277e-02 9.98861279e-01 -2.64064851e-04 1.59562971e+00] [ 1.95939363e-02 -6.71542577e-04 9.99807795e-01 1.37621477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98925415399998 meters 0.01966312804723126 Centerline is valid? [True, True] Translation: X:203.81, Y:1.60, Z:1.38 [[ 9.98869222e-01 -4.32797683e-02 -1.96758387e-02 2.03807287e+02] [ 4.32829542e-02 9.99062819e-01 -2.64111090e-04 1.60135550e+00] [ 1.96688295e-02 -5.87815985e-04 9.99806377e-01 1.37727895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01925415399998 meters 0.016594289960929494 Centerline is valid? [True, True] Translation: X:203.84, Y:1.61, Z:1.38 [[ 9.99247031e-01 -3.37065981e-02 -1.92155190e-02 2.03837866e+02] [ 3.37078783e-02 9.99431695e-01 -2.57353598e-04 1.61101926e+00] [ 1.92132732e-02 -3.90554557e-04 9.99815332e-01 1.37903314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04925415399998 meters 0.015810976462077693 Centerline is valid? [True, True] Translation: X:203.87, Y:1.61, Z:1.38 [[ 9.99392703e-01 -2.90984577e-02 -1.91704371e-02 2.03867675e+02] [ 2.90988866e-02 9.99576505e-01 -2.56627989e-04 1.61459208e+00] [ 1.91697860e-02 -3.01366236e-04 9.99816197e-01 1.37952071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07925415399998 meters 0.01514697883455309 Centerline is valid? [True, True] Translation: X:203.90, Y:1.62, Z:1.38 [[ 9.99511239e-01 -2.46722259e-02 -1.91980531e-02 2.03897743e+02] [ 2.46718356e-02 9.99695571e-01 -2.57216339e-04 1.61796354e+00] [ 1.91985548e-02 -2.16560588e-04 9.99815667e-01 1.37982645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10925415399998 meters 0.014579244388231181 Centerline is valid? [True, True] Translation: X:203.93, Y:1.62, Z:1.38 [[ 9.99649635e-01 -1.77489476e-02 -1.96362508e-02 2.03926099e+02] [ 1.77471376e-02 9.99842472e-01 -2.66446112e-04 1.62285232e+00] [ 1.96378867e-02 -8.21344869e-05 9.99807155e-01 1.37971407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13925415399999 meters 0.015179185272862982 Centerline is valid? [True, True] Translation: X:203.95, Y:1.62, Z:1.38 [[ 9.99681689e-01 -1.48570544e-02 -2.03909095e-02 2.03953335e+02] [ 1.48544292e-02 9.99889628e-01 -2.80210171e-04 1.62400749e+00] [ 2.03928220e-02 -2.27743436e-05 9.99792045e-01 1.37839841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.169254154 meters 0.014479202897235399 Centerline is valid? [True, True] Translation: X:203.98, Y:1.62, Z:1.38 [[ 9.99704844e-01 -1.37135755e-02 -2.00540084e-02 2.03981121e+02] [ 1.37107123e-02 9.99905964e-01 -2.80265486e-04 1.62474751e+00] [ 2.00559661e-02 5.22802443e-06 9.99798859e-01 1.37950741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199254154 meters 0.014688253117749057 Centerline is valid? [True, True] Translation: X:204.01, Y:1.63, Z:1.38 [[ 9.99706567e-01 -1.31011947e-02 -2.03749463e-02 2.04009200e+02] [ 1.30980454e-02 9.99914175e-01 -2.88015325e-04 1.62500120e+00] [ 2.03769709e-02 2.10588396e-05 9.99792368e-01 1.37889767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.229254154 meters 0.014607145468317647 Centerline is valid? [True, True] Translation: X:204.04, Y:1.62, Z:1.38 [[ 9.99709831e-01 -1.32144252e-02 -2.01403390e-02 2.04036360e+02] [ 1.32113260e-02 9.99912685e-01 -2.86931943e-04 1.62475377e+00] [ 2.01423721e-02 2.07681002e-05 9.99797122e-01 1.37885640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259254154 meters 0.014400028424812639 Centerline is valid? [True, True] Translation: X:204.06, Y:1.62, Z:1.38 [[ 9.99663539e-01 -1.61101180e-02 -2.03291121e-02 2.04064562e+02] [ 1.61074634e-02 9.99870223e-01 -2.94326555e-04 1.62069637e+00] [ 2.03312155e-02 -3.32229042e-05 9.99793299e-01 1.37984058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.289254154 meters 0.015310544932289323 Centerline is valid? [True, True] Translation: X:204.09, Y:1.62, Z:1.38 [[ 9.99620316e-01 -1.84889242e-02 -2.04299742e-02 2.04092261e+02] [ 1.84866186e-02 9.99829062e-01 -3.01723598e-04 1.61766499e+00] [ 2.04320605e-02 -7.60721026e-05 9.99791241e-01 1.37957746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319254154 meters 0.015039097577656394 Centerline is valid? [True, True] Translation: X:204.12, Y:1.61, Z:1.38 [[ 9.99568874e-01 -2.17681504e-02 -1.97031480e-02 2.04119902e+02] [ 2.17665817e-02 9.99763037e-01 -2.94090883e-04 1.61368353e+00] [ 1.97048809e-02 -1.34906089e-04 9.99805831e-01 1.37917394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34925415399996 meters 0.015397922230790216 Centerline is valid? [True, True] Translation: X:204.15, Y:1.61, Z:1.38 [[ 9.99492189e-01 -2.54893460e-02 -1.91221786e-02 2.04148610e+02] [ 2.54884820e-02 9.99675074e-01 -2.88940263e-04 1.60963056e+00] [ 1.91233302e-02 -1.98601769e-04 9.99817113e-01 1.37970736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37925415399997 meters 0.016206355147008217 Centerline is valid? [True, True] Translation: X:204.18, Y:1.60, Z:1.38 [[ 9.99284599e-01 -3.34954908e-02 -1.75596969e-02 2.04178419e+02] [ 3.34959641e-02 9.99438817e-01 -2.67239003e-04 1.60253855e+00] [ 1.75587940e-02 -3.21131159e-04 9.99845781e-01 1.38193118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40925415399997 meters 0.018871508131052223 Centerline is valid? [True, True] Translation: X:204.21, Y:1.59, Z:1.38 [[ 9.99147927e-01 -3.77891382e-02 -1.65952115e-02 2.04209071e+02] [ 3.77901517e-02 9.99285665e-01 -2.52624247e-04 1.59461983e+00] [ 1.65929035e-02 -3.74726570e-04 9.99862258e-01 1.38085166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43925415399997 meters 0.019631293952117105 Centerline is valid? [True, True] Translation: X:204.24, Y:1.59, Z:1.38 [[ 9.98812154e-01 -4.60618131e-02 -1.58931133e-02 2.04239731e+02] [ 4.60637932e-02 9.98938471e-01 -2.41654795e-04 1.58893330e+00] [ 1.58873734e-02 -4.90729338e-04 9.99873667e-01 1.38263579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46925415399997 meters 0.023046575631734643 Centerline is valid? [True, True] Translation: X:204.27, Y:1.58, Z:1.38 [[ 9.98645684e-01 -4.94368928e-02 -1.62108494e-02 2.04270595e+02] [ 4.94394044e-02 9.98777095e-01 -2.46029275e-04 1.58196466e+00] [ 1.62031880e-02 -5.55758664e-04 9.99868565e-01 1.38120717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49925415399997 meters 0.021025304472107147 Centerline is valid? [True, True] Translation: X:204.30, Y:1.58, Z:1.38 [[ 9.98466542e-01 -5.29776501e-02 -1.60603248e-02 2.04301286e+02] [ 5.29805792e-02 9.98595513e-01 -2.43332536e-04 1.58267266e+00] [ 1.60506595e-02 -6.07925916e-04 9.99870995e-01 1.38261891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52925415399997 meters 0.024707842701944514 Centerline is valid? [True, True] Translation: X:204.33, Y:1.57, Z:1.38 [[ 9.98179234e-01 -5.81706539e-02 -1.59496782e-02 2.04331083e+02] [ 5.81742162e-02 9.98306417e-01 -2.40912932e-04 1.57369913e+00] [ 1.59366802e-02 -6.87385745e-04 9.99872767e-01 1.38178957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55925415399997 meters 0.024308187016193524 Centerline is valid? [True, True] Translation: X:204.36, Y:1.57, Z:1.38 [[ 9.98070938e-01 -6.00526386e-02 -1.57506909e-02 2.04363432e+02] [ 6.00563639e-02 9.98194959e-01 -2.36796765e-04 1.57367244e+00] [ 1.57364805e-02 -7.09589255e-04 9.99875922e-01 1.38240797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58925415399997 meters 0.023371712539169618 Centerline is valid? [True, True] Translation: X:204.40, Y:1.57, Z:1.38 [[ 9.97982705e-01 -6.15292167e-02 -1.56421166e-02 2.04395924e+02] [ 6.15330898e-02 9.98105017e-01 -2.34008918e-04 1.57410854e+00] [ 1.56268734e-02 -7.28970909e-04 9.99877627e-01 1.38302011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61925415399998 meters 0.025177531759722985 Centerline is valid? [True, True] Translation: X:204.43, Y:1.57, Z:1.38 [[ 9.97911888e-01 -6.27788670e-02 -1.51880833e-02 2.04426952e+02] [ 6.27826776e-02 9.98027196e-01 -2.26249905e-04 1.57043879e+00] [ 1.51723239e-02 -7.27771066e-04 9.99884629e-01 1.38294875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64925415399998 meters 0.026620335279959686 Centerline is valid? [True, True] Translation: X:204.46, Y:1.57, Z:1.38 [[ 9.97821759e-01 -6.43078206e-02 -1.47051389e-02 2.04458504e+02] [ 6.43115700e-02 9.97929844e-01 -2.18255804e-04 1.56615093e+00] [ 1.46887325e-02 -7.27930176e-04 9.99891850e-01 1.38248217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67925415399998 meters 0.026718658182106232 Centerline is valid? [True, True] Translation: X:204.49, Y:1.57, Z:1.38 [[ 9.97815276e-01 -6.44124307e-02 -1.46872059e-02 2.04490284e+02] [ 6.44161960e-02 9.97923097e-01 -2.17052071e-04 1.56520732e+00] [ 1.46706828e-02 -7.29516061e-04 9.99892114e-01 1.38251523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70925415399998 meters 0.02675202726619403 Centerline is valid? [True, True] Translation: X:204.52, Y:1.56, Z:1.38 [[ 9.97815234e-01 -6.44123151e-02 -1.46905665e-02 2.04522884e+02] [ 6.44160976e-02 9.97923103e-01 -2.16042526e-04 1.56485030e+00] [ 1.46739715e-02 -7.30738444e-04 9.99892064e-01 1.38270571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73925415399998 meters 0.024996919519193615 Centerline is valid? [True, True] Translation: X:204.55, Y:1.57, Z:1.38 [[ 9.97846814e-01 -6.38806751e-02 -1.48658998e-02 2.04554758e+02] [ 6.38845060e-02 9.97957275e-01 -2.17527396e-04 1.56745940e+00] [ 1.48494286e-02 -7.32641645e-04 9.99889473e-01 1.38283441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76925415399998 meters 0.024056102982750946 Centerline is valid? [True, True] Translation: X:204.59, Y:1.57, Z:1.38 [[ 9.97901476e-01 -6.28963791e-02 -1.53847066e-02 2.04586669e+02] [ 6.29003833e-02 9.98019785e-01 -2.23954125e-04 1.56911406e+00] [ 1.53683274e-02 -7.44219788e-04 9.99881623e-01 1.38270161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79925415399998 meters 0.024850590228455264 Centerline is valid? [True, True] Translation: X:204.62, Y:1.57, Z:1.38 [[ 9.97986358e-01 -6.14175600e-02 -1.58465488e-02 2.04618234e+02] [ 6.14216385e-02 9.98111882e-01 -2.29645450e-04 1.56826024e+00] [ 1.58307329e-02 -7.44137966e-04 9.99874409e-01 1.38219317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82925415399998 meters 0.023323301346764944 Centerline is valid? [True, True] Translation: X:204.65, Y:1.57, Z:1.38 [[ 9.98208506e-01 -5.74128323e-02 -1.68387742e-02 2.04649336e+02] [ 5.74168789e-02 9.98350261e-01 -2.43432551e-04 1.57189434e+00] [ 1.68249708e-02 -7.23833416e-04 9.99858188e-01 1.38189393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85925415399998 meters 0.022077941179474418 Centerline is valid? [True, True] Translation: X:204.68, Y:1.57, Z:1.38 [[ 9.98307032e-01 -5.56580521e-02 -1.68893897e-02 2.04681274e+02] [ 5.56618870e-02 9.98449646e-01 -2.43298368e-04 1.57471895e+00] [ 1.68767467e-02 -6.97208829e-04 9.99857334e-01 1.38268174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88925415399999 meters 0.022160945947472904 Centerline is valid? [True, True] Translation: X:204.71, Y:1.58, Z:1.38 [[ 9.98406861e-01 -5.37518053e-02 -1.71605386e-02 2.04712654e+02] [ 5.37555019e-02 9.98554097e-01 -2.46117350e-04 1.57554097e+00] [ 1.71489554e-02 -6.76748114e-04 9.99852717e-01 1.38274191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.919254154 meters 0.02176791596849058 Centerline is valid? [True, True] Translation: X:204.74, Y:1.58, Z:1.38 [[ 9.98487504e-01 -5.21621252e-02 -1.73728938e-02 2.04744889e+02] [ 5.21656936e-02 9.98638412e-01 -2.48012743e-04 1.57727161e+00] [ 1.73621760e-02 -6.58631432e-04 9.99849049e-01 1.38288256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.949254154 meters 0.020718341557157783 Centerline is valid? [True, True] Translation: X:204.78, Y:1.58, Z:1.38 [[ 9.98597692e-01 -4.99442288e-02 -1.75563102e-02 2.04776505e+02] [ 4.99475465e-02 9.98751811e-01 -2.49728133e-04 1.58034486e+00] [ 1.75468691e-02 -6.27516684e-04 9.99845845e-01 1.38337644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979254154 meters 0.02069898669027615 Centerline is valid? [True, True] Translation: X:204.81, Y:1.58, Z:1.38 [[ 9.98635340e-01 -4.91029465e-02 -1.77864697e-02 2.04809061e+02] [ 4.91062372e-02 9.98793529e-01 -2.51952409e-04 1.58110014e+00] [ 1.77773825e-02 -6.21818021e-04 9.99841776e-01 1.38354788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.009254154 meters 0.021170124402849797 Centerline is valid? [True, True] Translation: X:204.84, Y:1.58, Z:1.38 [[ 9.98651060e-01 -4.87355591e-02 -1.79138243e-02 2.04840573e+02] [ 4.87388578e-02 9.98811524e-01 -2.52652357e-04 1.58147277e+00] [ 1.79048473e-02 -6.20787790e-04 9.99839503e-01 1.38329632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039254154 meters 0.021488576237317532 Centerline is valid? [True, True] Translation: X:204.87, Y:1.58, Z:1.38 [[ 9.98684355e-01 -4.80750094e-02 -1.78424153e-02 2.04872123e+02] [ 4.80781937e-02 9.98843544e-01 -2.50687158e-04 1.58254955e+00] [ 1.78338332e-02 -6.07473757e-04 9.99840780e-01 1.38309150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.069254154 meters 0.020574156037629278 Centerline is valid? [True, True] Translation: X:204.90, Y:1.59, Z:1.38 [[ 9.98703853e-01 -4.76425098e-02 -1.79110421e-02 2.04904365e+02] [ 4.76456700e-02 9.98864269e-01 -2.50484906e-04 1.58537350e+00] [ 1.79026337e-02 -6.03223361e-04 9.99839553e-01 1.38411768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09925415399996 meters 0.020908138633009242 Centerline is valid? [True, True] Translation: X:204.94, Y:1.59, Z:1.38 [[ 9.98763202e-01 -4.64206591e-02 -1.78098019e-02 2.04935419e+02] [ 4.64236090e-02 9.98921812e-01 -2.47984916e-04 1.58803871e+00] [ 1.78021112e-02 -5.79117071e-04 9.99841362e-01 1.38469518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12925415399997 meters 0.02076682502165113 Centerline is valid? [True, True] Translation: X:204.97, Y:1.59, Z:1.39 [[ 9.98807103e-01 -4.55990996e-02 -1.74669351e-02 2.04967012e+02] [ 4.56018243e-02 9.98959666e-01 -2.42472814e-04 1.59000758e+00] [ 1.74598202e-02 -5.54340538e-04 9.99847412e-01 1.38528449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15925415399997 meters 0.020311323037332615 Centerline is valid? [True, True] Translation: X:205.00, Y:1.59, Z:1.39 [[ 9.98869007e-01 -4.44715418e-02 -1.68222455e-02 2.04998294e+02] [ 4.44739192e-02 9.99010519e-01 -2.32939235e-04 1.59194453e+00] [ 1.68159594e-02 -5.15475404e-04 9.99858469e-01 1.38659445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18925415399997 meters 0.019777976323636336 Centerline is valid? [True, True] Translation: X:205.03, Y:1.59, Z:1.39 [[ 9.98925682e-01 -4.33658028e-02 -1.63367464e-02 2.05030146e+02] [ 4.33679077e-02 9.99059144e-01 -2.25568620e-04 1.59463448e+00] [ 1.63311579e-02 -4.83164223e-04 9.99866521e-01 1.38726205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21925415399997 meters 0.01831033826154264 Centerline is valid? [True, True] Translation: X:205.06, Y:1.60, Z:1.39 [[ 9.99048183e-01 -4.07036930e-02 -1.56824023e-02 2.05061531e+02] [ 4.07053145e-02 9.99171172e-01 -2.15921951e-04 1.60083190e+00] [ 1.56781931e-02 -4.22640687e-04 9.99877000e-01 1.38927276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24925415399997 meters 0.0190441798931224 Centerline is valid? [True, True] Translation: X:205.09, Y:1.60, Z:1.39 [[ 9.99113858e-01 -3.90476331e-02 -1.57092732e-02 2.05092562e+02] [ 3.90490671e-02 9.99237271e-01 -2.15558948e-04 1.60128609e+00] [ 1.57057084e-02 -3.98064533e-04 9.99876579e-01 1.38926820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27925415399997 meters 0.01805701244880987 Centerline is valid? [True, True] Translation: X:205.12, Y:1.61, Z:1.39 [[ 9.99187136e-01 -3.72576860e-02 -1.53926080e-02 2.05123525e+02] [ 3.72588608e-02 9.99305625e-01 -2.10545500e-04 1.60505127e+00] [ 1.53897642e-02 -3.63136684e-04 9.99881505e-01 1.39017098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30925415399997 meters 0.01881253113139555 Centerline is valid? [True, True] Translation: X:205.16, Y:1.61, Z:1.39 [[ 9.99275433e-01 -3.47608828e-02 -1.55013078e-02 2.05155185e+02] [ 3.47617826e-02 9.99395604e-01 -2.11474054e-04 1.60886633e+00] [ 1.54992899e-02 -3.27532266e-04 9.99879825e-01 1.38933469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33925415399997 meters 0.016891180533712247 Centerline is valid? [True, True] Translation: X:205.19, Y:1.61, Z:1.39 [[ 9.99420141e-01 -3.05917248e-02 -1.49508676e-02 2.05186098e+02] [ 3.05921034e-02 9.99531931e-01 -2.03429072e-04 1.61458562e+00] [ 1.49500929e-02 -2.54067377e-04 9.99888209e-01 1.39061164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36925415399998 meters 0.015787631938388138 Centerline is valid? [True, True] Translation: X:205.22, Y:1.62, Z:1.39 [[ 9.99493127e-01 -2.82706257e-02 -1.46376483e-02 2.05216674e+02] [ 2.82707510e-02 9.99600283e-01 -1.98401132e-04 1.61778398e+00] [ 1.46374063e-02 -2.15516741e-04 9.99892844e-01 1.39191641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39925415399998 meters 0.015547624460171399 Centerline is valid? [True, True] Translation: X:205.25, Y:1.62, Z:1.39 [[ 9.99567657e-01 -2.55048979e-02 -1.46287349e-02 2.05247971e+02] [ 2.55047377e-02 9.99674682e-01 -1.97538906e-04 1.62107852e+00] [ 1.46290141e-02 -1.75648545e-04 9.99892975e-01 1.39243838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42925415399998 meters 0.015222991386477303 Centerline is valid? [True, True] Translation: X:205.28, Y:1.62, Z:1.39 [[ 9.99640860e-01 -2.26411894e-02 -1.43362293e-02 2.05278133e+02] [ 2.26407465e-02 9.99743647e-01 -1.93214857e-04 1.62417010e+00] [ 1.43369287e-02 -1.31437466e-04 9.99897212e-01 1.39276372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45925415399998 meters 0.014762801320404612 Centerline is valid? [True, True] Translation: X:205.31, Y:1.63, Z:1.39 [[ 9.99745109e-01 -1.74780593e-02 -1.42910758e-02 2.05308918e+02] [ 1.74770934e-02 9.99847245e-01 -1.92483753e-04 1.63001867e+00] [ 1.42922570e-02 -5.73317762e-05 9.99897859e-01 1.39379618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48925415399998 meters 0.014713350252240793 Centerline is valid? [True, True] Translation: X:205.34, Y:1.63, Z:1.39 [[ 9.99771197e-01 -1.54279253e-02 -1.48166103e-02 2.05338022e+02] [ 1.54266556e-02 9.99880982e-01 -1.99990545e-04 1.63231565e+00] [ 1.48179323e-02 -2.86259568e-05 9.99890208e-01 1.39362590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51925415399998 meters 0.014812237585616084 Centerline is valid? [True, True] Translation: X:205.37, Y:1.63, Z:1.39 [[ 9.99785267e-01 -1.40703098e-02 -1.52133596e-02 2.05366568e+02] [ 1.40687763e-02 9.99901008e-01 -2.07821694e-04 1.63431268e+00] [ 1.52147777e-02 -6.25628598e-06 9.99884249e-01 1.39363030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54925415399998 meters 0.014906345353835846 Centerline is valid? [True, True] Translation: X:205.39, Y:1.64, Z:1.39 [[ 9.99791897e-01 -1.32588358e-02 -1.55037504e-02 2.05394372e+02] [ 1.32570799e-02 9.99912098e-01 -2.16028372e-04 1.63584460e+00] [ 1.55052519e-02 1.04489579e-05 9.99879786e-01 1.39354993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57925415399998 meters 0.014935541262347337 Centerline is valid? [True, True] Translation: X:205.42, Y:1.64, Z:1.39 [[ 9.99779199e-01 -1.23781304e-02 -1.69804613e-02 2.05422377e+02] [ 1.23758372e-02 9.99923388e-01 -2.40130330e-04 1.63636057e+00] [ 1.69821327e-02 2.99298846e-05 9.99855793e-01 1.39273021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60925415399998 meters 0.01486245807814183 Centerline is valid? [True, True] Translation: X:205.45, Y:1.64, Z:1.39 [[ 9.99762787e-01 -1.27613439e-02 -1.76498581e-02 2.05449932e+02] [ 1.27588558e-02 9.99918570e-01 -2.53570175e-04 1.63622984e+00] [ 1.76516567e-02 2.83180305e-05 9.99844197e-01 1.39264452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63925415399999 meters 0.014890940112768083 Centerline is valid? [True, True] Translation: X:205.48, Y:1.64, Z:1.39 [[ 9.99747671e-01 -1.32489398e-02 -1.81399950e-02 2.05477378e+02] [ 1.32462987e-02 9.99912229e-01 -2.65744635e-04 1.63570745e+00] [ 1.81419237e-02 2.53897871e-05 9.99835421e-01 1.39241431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.669254154 meters 0.01498852432056012 Centerline is valid? [True, True] Translation: X:205.51, Y:1.63, Z:1.39 [[ 9.99709939e-01 -1.50932966e-02 -1.87677971e-02 2.05505643e+02] [ 1.50907376e-02 9.99886090e-01 -2.77971297e-04 1.63407848e+00] [ 1.87698548e-02 -5.32923386e-06 9.99823831e-01 1.39226228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699254154 meters 0.015081525128841523 Centerline is valid? [True, True] Translation: X:205.53, Y:1.63, Z:1.39 [[ 9.99692723e-01 -1.64428953e-02 -1.85496808e-02 2.05533937e+02] [ 1.64405575e-02 9.99864806e-01 -2.78529152e-04 1.63296134e+00] [ 1.85517528e-02 -2.65235264e-05 9.99827901e-01 1.39255942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.729254154 meters 0.015081525128841523 Centerline is valid? [True, True] Translation: X:205.56, Y:1.63, Z:1.39 [[ 9.99688170e-01 -1.67175232e-02 -1.85496033e-02 2.05561335e+02] [ 1.67151381e-02 9.99860252e-01 -2.83625930e-04 1.63346576e+00] [ 1.85517525e-02 -2.65216940e-05 9.99827901e-01 1.39274989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759254154 meters 0.015049780164669494 Centerline is valid? [True, True] Translation: X:205.59, Y:1.63, Z:1.39 [[ 9.99657091e-01 -1.85330109e-02 -1.84993883e-02 2.05589225e+02] [ 1.85308558e-02 9.99828247e-01 -2.87921026e-04 1.63186366e+00] [ 1.85015470e-02 -5.49872011e-05 9.99828830e-01 1.39313159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.789254154 meters 0.015079548050019724 Centerline is valid? [True, True] Translation: X:205.62, Y:1.63, Z:1.39 [[ 9.99623057e-01 -2.04521792e-02 -1.83153577e-02 2.05617149e+02] [ 2.04503369e-02 9.99790829e-01 -2.87897554e-04 1.62970838e+00] [ 1.83174148e-02 -8.67662020e-05 9.99832218e-01 1.39319590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819254154 meters 0.01573320380570963 Centerline is valid? [True, True] Translation: X:205.64, Y:1.62, Z:1.39 [[ 9.99515294e-01 -2.51954796e-02 -1.82856490e-02 2.05644798e+02] [ 2.51944087e-02 9.99682529e-01 -2.88970153e-04 1.62372180e+00] [ 1.82871245e-02 -1.71866026e-04 9.99832762e-01 1.39330749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84925415399996 meters 0.01626793466774409 Centerline is valid? [True, True] Translation: X:205.67, Y:1.62, Z:1.39 [[ 9.99438190e-01 -2.83523438e-02 -1.78731303e-02 2.05673443e+02] [ 2.83517693e-02 9.99597967e-01 -2.85583835e-04 1.62052254e+00] [ 1.78740417e-02 -2.21311476e-04 9.99840222e-01 1.39377215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87925415399997 meters 0.016931063990988815 Centerline is valid? [True, True] Translation: X:205.70, Y:1.62, Z:1.39 [[ 9.99352923e-01 -3.14183643e-02 -1.75106314e-02 2.05702789e+02] [ 3.14182493e-02 9.99506285e-01 -2.81734627e-04 1.61712030e+00] [ 1.75108378e-02 -2.68601060e-04 9.99846637e-01 1.39443595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90925415399997 meters 0.01782341017086286 Centerline is valid? [True, True] Translation: X:205.73, Y:1.61, Z:1.39 [[ 9.99263297e-01 -3.45173675e-02 -1.67753943e-02 2.05732277e+02] [ 3.45176920e-02 9.99404050e-01 -2.70289507e-04 1.61310247e+00] [ 1.67747267e-02 -3.08957508e-04 9.99859247e-01 1.39499168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93925415399997 meters 0.02054165361189477 Centerline is valid? [True, True] Translation: X:205.76, Y:1.60, Z:1.40 [[ 9.99021072e-01 -4.13815572e-02 -1.56353601e-02 2.05762766e+02] [ 4.13826774e-02 9.99143338e-01 -2.52027990e-04 1.60401719e+00] [ 1.56323952e-02 -3.95251791e-04 9.99877729e-01 1.39525211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96925415399997 meters 0.018216033229934855 Centerline is valid? [True, True] Translation: X:205.79, Y:1.61, Z:1.40 [[ 9.98893382e-01 -4.44548197e-02 -1.53551350e-02 2.05794293e+02] [ 4.44562700e-02 9.99011301e-01 -2.47041018e-04 1.60616529e+00] [ 1.53509355e-02 -4.35864388e-04 9.99882072e-01 1.39763500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99925415399997 meters 0.0239603513000791 Centerline is valid? [True, True] Translation: X:205.83, Y:1.59, Z:1.40 [[ 9.98739312e-01 -4.78341263e-02 -1.52211334e-02 2.05825760e+02] [ 4.78359562e-02 9.98855176e-01 -2.44042808e-04 1.59466692e+00] [ 1.52153815e-02 -4.84382326e-04 9.99884122e-01 1.39552596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02925415399997 meters 0.023610940156068193 Centerline is valid? [True, True] Translation: X:205.86, Y:1.59, Z:1.40 [[ 9.98447918e-01 -5.37416137e-02 -1.46148751e-02 2.05857288e+02] [ 5.37439418e-02 9.98554723e-01 -2.33687464e-04 1.59220145e+00] [ 1.46063113e-02 -5.52136234e-04 9.99893170e-01 1.39675431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05925415399997 meters 0.023445180509551775 Centerline is valid? [True, True] Translation: X:205.89, Y:1.59, Z:1.40 [[ 9.98320495e-01 -5.58959834e-02 -1.52259345e-02 2.05889197e+02] [ 5.58987735e-02 9.98436412e-01 -2.42602641e-04 1.59223629e+00] [ 1.52156880e-02 -6.08915878e-04 9.99884049e-01 1.39626858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08925415399997 meters 0.022111781712014267 Centerline is valid? [True, True] Translation: X:205.92, Y:1.59, Z:1.40 [[ 9.98190899e-01 -5.82005846e-02 -1.50871469e-02 2.05921714e+02] [ 5.82036036e-02 9.98304705e-01 -2.39282502e-04 1.59168011e+00] [ 1.50754961e-02 -6.39276702e-04 9.99886154e-01 1.39762840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11925415399998 meters 0.025456333290393218 Centerline is valid? [True, True] Translation: X:205.95, Y:1.59, Z:1.39 [[ 9.97962576e-01 -6.16695569e-02 -1.63573170e-02 2.05951756e+02] [ 6.16735798e-02 9.98096339e-01 -2.58867491e-04 1.58573359e+00] [ 1.63421424e-02 -7.50474225e-04 9.99866177e-01 1.39481566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14925415399998 meters 0.026826857392055693 Centerline is valid? [True, True] Translation: X:205.98, Y:1.58, Z:1.40 [[ 9.97848768e-01 -6.36734779e-02 -1.56052918e-02 2.05983352e+02] [ 6.36773913e-02 9.97970505e-01 -2.46488931e-04 1.58156603e+00] [ 1.55893157e-02 -7.47745594e-04 9.99878200e-01 1.39576782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17925415399998 meters 0.02730483798245166 Centerline is valid? [True, True] Translation: X:206.02, Y:1.58, Z:1.40 [[ 9.97786029e-01 -6.47131473e-02 -1.53377939e-02 2.06015391e+02] [ 6.47170650e-02 9.97903624e-01 -2.41291859e-04 1.58008472e+00] [ 1.53212549e-02 -7.51859360e-04 9.99882340e-01 1.39602745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20925415399998 meters 0.026711962691300297 Centerline is valid? [True, True] Translation: X:206.05, Y:1.58, Z:1.40 [[ 9.97736140e-01 -6.55828832e-02 -1.48822167e-02 2.06047616e+02] [ 6.55866837e-02 9.97846848e-01 -2.33072892e-04 1.58066938e+00] [ 1.48654586e-02 -7.43529991e-04 9.99889227e-01 1.39708386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23925415399998 meters 0.028486110092066266 Centerline is valid? [True, True] Translation: X:206.08, Y:1.58, Z:1.40 [[ 9.97746323e-01 -6.54785256e-02 -1.46573346e-02 2.06079044e+02] [ 6.54822142e-02 9.97853710e-01 -2.28641953e-04 1.57926873e+00] [ 1.46408469e-02 -7.31668055e-04 9.99892549e-01 1.39613055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26925415399998 meters 0.027710067691948462 Centerline is valid? [True, True] Translation: X:206.11, Y:1.58, Z:1.40 [[ 9.97750812e-01 -6.56399081e-02 -1.35911860e-02 2.06111302e+02] [ 6.56431056e-02 9.97843143e-01 -2.11190556e-04 1.57980927e+00] [ 1.35757342e-02 -6.81452106e-04 9.99907613e-01 1.39774767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29925415399998 meters 0.02724832946130698 Centerline is valid? [True, True] Translation: X:206.14, Y:1.58, Z:1.40 [[ 9.97794221e-01 -6.49983526e-02 -1.34872822e-02 2.06143557e+02] [ 6.50014558e-02 9.97885147e-01 -2.08617254e-04 1.58084968e+00] [ 1.34723184e-02 -6.68535890e-04 9.99909021e-01 1.39751657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32925415399998 meters 0.027800617947707513 Centerline is valid? [True, True] Translation: X:206.18, Y:1.58, Z:1.40 [[ 9.97824279e-01 -6.44665639e-02 -1.38119879e-02 2.06175636e+02] [ 6.44697813e-02 9.97919637e-01 -2.12642910e-04 1.58064357e+00] [ 1.37969623e-02 -6.78275581e-04 9.99904587e-01 1.39674565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35925415399998 meters 0.027466836897199868 Centerline is valid? [True, True] Translation: X:206.21, Y:1.58, Z:1.40 [[ 9.97878512e-01 -6.35695845e-02 -1.40492806e-02 2.06207495e+02] [ 6.35728388e-02 9.97977178e-01 -2.15292697e-04 1.58131656e+00] [ 1.40345475e-02 -6.78316694e-04 9.99901281e-01 1.39651719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38925415399999 meters 0.028465017198033016 Centerline is valid? [True, True] Translation: X:206.24, Y:1.58, Z:1.40 [[ 9.97936597e-01 -6.25977419e-02 -1.42853443e-02 2.06238540e+02] [ 6.26010271e-02 9.98038609e-01 -2.17511752e-04 1.58057749e+00] [ 1.42709409e-02 -6.77214291e-04 9.99897936e-01 1.39607421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.419254154 meters 0.027794848708782665 Centerline is valid? [True, True] Translation: X:206.27, Y:1.58, Z:1.40 [[ 9.97977893e-01 -6.17674719e-02 -1.49968174e-02 2.06270868e+02] [ 6.17710208e-02 9.98090321e-01 -2.26895097e-04 1.58251274e+00] [ 1.49821930e-02 -6.99932427e-04 9.99887516e-01 1.39614266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.449254154 meters 0.023933367238407596 Centerline is valid? [True, True] Translation: X:206.30, Y:1.59, Z:1.40 [[ 9.98055920e-01 -6.04137435e-02 -1.53153513e-02 2.06302714e+02] [ 6.04173026e-02 9.98173180e-01 -2.30609184e-04 1.58919676e+00] [ 1.53013049e-02 -6.95151354e-04 9.99882687e-01 1.39714907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479254154 meters 0.025590466465375973 Centerline is valid? [True, True] Translation: X:206.33, Y:1.59, Z:1.39 [[ 9.98232243e-01 -5.70960990e-02 -1.65052799e-02 2.06332941e+02] [ 5.70997921e-02 9.98368445e-01 -2.47802679e-04 1.59120891e+00] [ 1.64924992e-02 -6.95083426e-04 9.99863748e-01 1.39431890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.509254154 meters 0.023295930188206613 Centerline is valid? [True, True] Translation: X:206.37, Y:1.59, Z:1.40 [[ 9.98308145e-01 -5.60418245e-02 -1.54971189e-02 2.06365476e+02] [ 5.60449646e-02 9.98428219e-01 -2.31930832e-04 1.59312686e+00] [ 1.54857586e-02 -6.36997041e-04 9.99879886e-01 1.39666124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539254154 meters 0.02330509440296084 Centerline is valid? [True, True] Translation: X:206.40, Y:1.59, Z:1.40 [[ 9.98412458e-01 -5.42689969e-02 -1.50811180e-02 2.06396539e+02] [ 5.42717826e-02 9.98526175e-01 -2.24783144e-04 1.59452585e+00] [ 1.50710899e-02 -5.94052868e-04 9.99886248e-01 1.39645330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.569254154 meters 0.022716769755419284 Centerline is valid? [True, True] Translation: X:206.43, Y:1.60, Z:1.40 [[ 9.98521887e-01 -5.23217888e-02 -1.47129468e-02 2.06427654e+02] [ 5.23242385e-02 9.98630125e-01 -2.18657100e-04 1.59636111e+00] [ 1.47042324e-02 -5.51509835e-04 9.99891735e-01 1.39712193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59925415399996 meters 0.021879706320996582 Centerline is valid? [True, True] Translation: X:206.46, Y:1.60, Z:1.40 [[ 9.98721660e-01 -4.86267348e-02 -1.38016792e-02 2.06458134e+02] [ 4.86285507e-02 9.98816911e-01 -2.04188930e-04 1.59965217e+00] [ 1.37952797e-02 -4.67227752e-04 9.99904731e-01 1.39760380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62925415399997 meters 0.021631468909460456 Centerline is valid? [True, True] Translation: X:206.49, Y:1.60, Z:1.40 [[ 9.98820611e-01 -4.67213037e-02 -1.32100896e-02 2.06489223e+02] [ 4.67228140e-02 9.98907874e-01 -1.94438811e-04 1.60095285e+00] [ 1.32047470e-02 -4.23003068e-04 9.99912724e-01 1.39766419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65925415399997 meters 0.02023126445560928 Centerline is valid? [True, True] Translation: X:206.52, Y:1.60, Z:1.40 [[ 9.98893683e-01 -4.51077403e-02 -1.32928882e-02 2.06521698e+02] [ 4.51091376e-02 9.98982046e-01 -1.94844168e-04 1.60438546e+00] [ 1.32881456e-02 -4.05002116e-04 9.99911627e-01 1.39830154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68925415399997 meters 0.019694471692168408 Centerline is valid? [True, True] Translation: X:206.55, Y:1.61, Z:1.40 [[ 9.98978171e-01 -4.33454531e-02 -1.27978623e-02 2.06554067e+02] [ 4.33466151e-02 9.99060076e-01 -1.86702099e-04 1.60647093e+00] [ 1.27939260e-02 -3.68232691e-04 9.99918087e-01 1.39835002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71925415399997 meters 0.019666952203295732 Centerline is valid? [True, True] Translation: X:206.59, Y:1.61, Z:1.40 [[ 9.99067453e-01 -4.12601777e-02 -1.27209524e-02 2.06586687e+02] [ 4.12611696e-02 9.99148378e-01 -1.84576210e-04 1.60920327e+00] [ 1.27177346e-02 -3.40477289e-04 9.99919068e-01 1.39788904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74925415399997 meters 0.0183959621644813 Centerline is valid? [True, True] Translation: X:206.62, Y:1.61, Z:1.40 [[ 9.99186854e-01 -3.84327874e-02 -1.21881909e-02 2.06617347e+02] [ 3.84334973e-02 9.99261145e-01 -1.76067345e-04 1.61156501e+00] [ 1.21859524e-02 -2.92510626e-04 9.99925706e-01 1.39866572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77925415399997 meters 0.016992738812273846 Centerline is valid? [True, True] Translation: X:206.65, Y:1.62, Z:1.40 [[ 9.99236078e-01 -3.70403403e-02 -1.24608503e-02 2.06649116e+02] [ 3.70409822e-02 9.99313731e-01 -1.79349709e-04 1.61525494e+00] [ 1.24589420e-02 -2.82349433e-04 9.99922345e-01 1.39894825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80925415399997 meters 0.016884489084540707 Centerline is valid? [True, True] Translation: X:206.68, Y:1.62, Z:1.40 [[ 9.99287335e-01 -3.56020558e-02 -1.25425184e-02 2.06681072e+02] [ 3.56026045e-02 9.99366010e-01 -1.79596416e-04 1.61683225e+00] [ 1.25409606e-02 -2.67077899e-04 9.99921323e-01 1.39839425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83925415399997 meters 0.01630557031597518 Centerline is valid? [True, True] Translation: X:206.71, Y:1.62, Z:1.40 [[ 9.99320937e-01 -3.45488342e-02 -1.28079090e-02 2.06712099e+02] [ 3.45493309e-02 9.99402977e-01 -1.82545972e-04 1.61786904e+00] [ 1.28065692e-02 -2.60082675e-04 9.99917959e-01 1.39901554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86925415399998 meters 0.01563646909972858 Centerline is valid? [True, True] Translation: X:206.74, Y:1.62, Z:1.40 [[ 9.99401272e-01 -3.23774285e-02 -1.21983541e-02 2.06743022e+02] [ 3.23777241e-02 9.99475689e-01 -1.73298720e-04 1.62018269e+00] [ 1.21975693e-02 -2.21759981e-04 9.99925582e-01 1.39927925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89925415399998 meters 0.01566105098531329 Centerline is valid? [True, True] Translation: X:206.77, Y:1.62, Z:1.40 [[ 9.99436598e-01 -3.12050243e-02 -1.23584825e-02 2.06774878e+02] [ 3.12052450e-02 9.99512982e-01 -1.75016187e-04 1.62131163e+00] [ 1.23579251e-02 -2.10731891e-04 9.99923616e-01 1.39935509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92925415399998 meters 0.015068104468081815 Centerline is valid? [True, True] Translation: X:206.81, Y:1.62, Z:1.40 [[ 9.99514517e-01 -2.86187895e-02 -1.23164884e-02 2.06806746e+02] [ 2.86188207e-02 9.99590383e-01 -1.73744625e-04 1.62349455e+00] [ 1.23164157e-02 -1.78823100e-04 9.99924134e-01 1.39960804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95925415399998 meters 0.01501164215503024 Centerline is valid? [True, True] Translation: X:206.84, Y:1.62, Z:1.40 [[ 9.99557451e-01 -2.70277481e-02 -1.24258945e-02 2.06837730e+02] [ 2.70276643e-02 9.99634671e-01 -1.74701563e-04 1.62449264e+00] [ 1.24260768e-02 -1.61218657e-04 9.99922780e-01 1.39942787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98925415399998 meters 0.014888475945223035 Centerline is valid? [True, True] Translation: X:206.87, Y:1.63, Z:1.40 [[ 9.99584725e-01 -2.58663978e-02 -1.27006722e-02 2.06869280e+02] [ 2.58662225e-02 9.99665397e-01 -1.78095434e-04 1.62547812e+00] [ 1.27010292e-02 -1.50496937e-04 9.99919327e-01 1.39947483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01925415399998 meters 0.016175709750452547 Centerline is valid? [True, True] Translation: X:206.90, Y:1.63, Z:1.40 [[ 9.99625233e-01 -2.43510756e-02 -1.25067229e-02 2.06900557e+02] [ 2.43507927e-02 9.99703460e-01 -1.74923894e-04 1.62591177e+00] [ 1.25072737e-02 -1.29690278e-04 9.99921773e-01 1.39828366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04925415399998 meters 0.014660793803039151 Centerline is valid? [True, True] Translation: X:206.93, Y:1.63, Z:1.40 [[ 9.99658747e-01 -2.32788336e-02 -1.18526678e-02 2.06930700e+02] [ 2.32785070e-02 9.99729005e-01 -1.65536673e-04 1.62648727e+00] [ 1.18533093e-02 -1.10432226e-04 9.99929741e-01 1.39988490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07925415399998 meters 0.014447793140791277 Centerline is valid? [True, True] Translation: X:206.96, Y:1.63, Z:1.40 [[ 9.99674407e-01 -2.26612735e-02 -1.17280250e-02 2.06961109e+02] [ 2.26609122e-02 9.99743195e-01 -1.63709529e-04 1.62629787e+00] [ 1.17287231e-02 -1.02111519e-04 9.99931211e-01 1.40046122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10925415399998 meters 0.014438001495029839 Centerline is valid? [True, True] Translation: X:206.99, Y:1.63, Z:1.40 [[ 9.99671387e-01 -2.28508968e-02 -1.16170139e-02 2.06991628e+02] [ 2.28505565e-02 9.99738879e-01 -1.62036438e-04 1.62577054e+00] [ 1.16176831e-02 -1.03472042e-04 9.99932507e-01 1.40063696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13925415399999 meters 0.014965428189081106 Centerline is valid? [True, True] Translation: X:207.02, Y:1.62, Z:1.40 [[ 9.99666079e-01 -2.31482117e-02 -1.14843811e-02 2.07022497e+02] [ 2.31479019e-02 9.99732039e-01 -1.59912295e-04 1.62477512e+00] [ 1.14850054e-02 -1.05980430e-04 9.99934040e-01 1.40050781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.169254154 meters 0.016152125475815723 Centerline is valid? [True, True] Translation: X:207.05, Y:1.62, Z:1.40 [[ 9.99641713e-01 -2.41954531e-02 -1.14466728e-02 2.07053121e+02] [ 2.41952188e-02 9.99707240e-01 -1.58971604e-04 1.62325879e+00] [ 1.14471680e-02 -1.18040106e-04 9.99934472e-01 1.39978443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199254154 meters 0.015472237140423789 Centerline is valid? [True, True] Translation: X:207.08, Y:1.62, Z:1.40 [[ 9.99529452e-01 -2.83036679e-02 -1.18227657e-02 2.07083750e+02] [ 2.83037062e-02 9.99599356e-01 -1.64109729e-04 1.61902127e+00] [ 1.18226739e-02 -1.70595579e-04 9.99930095e-01 1.40055330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.229254154 meters 0.016158846326828978 Centerline is valid? [True, True] Translation: X:207.12, Y:1.62, Z:1.40 [[ 9.99447243e-01 -3.09259420e-02 -1.21981135e-02 2.07115265e+02] [ 3.09261818e-02 9.99521657e-01 -1.69013605e-04 1.61638086e+00] [ 1.21975055e-02 -2.08320894e-04 9.99925586e-01 1.40042572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259254154 meters 0.017067190117325045 Centerline is valid? [True, True] Translation: X:207.15, Y:1.61, Z:1.40 [[ 9.99361002e-01 -3.36608703e-02 -1.20222207e-02 2.07145986e+02] [ 3.36613069e-02 9.99433284e-01 -1.66088710e-04 1.61322298e+00] [ 1.20209982e-02 -2.38701081e-04 9.99927717e-01 1.40037060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.289254154 meters 0.019299104748617995 Centerline is valid? [True, True] Translation: X:207.18, Y:1.61, Z:1.40 [[ 9.99148942e-01 -3.94770462e-02 -1.19563424e-02 2.07175885e+02] [ 3.94779021e-02 9.99220430e-01 -1.64512304e-04 1.60648411e+00] [ 1.19535160e-02 -3.07639019e-04 9.99928507e-01 1.40072393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319254154 meters 0.018662901131709337 Centerline is valid? [True, True] Translation: X:207.21, Y:1.61, Z:1.40 [[ 9.99026581e-01 -4.23805188e-02 -1.22385510e-02 2.07208377e+02] [ 4.23816436e-02 9.99101480e-01 -1.67553133e-04 1.60681078e+00] [ 1.22346554e-02 -3.51299871e-04 9.99925092e-01 1.40140477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34925415399996 meters 0.018579037350225005 Centerline is valid? [True, True] Translation: X:207.24, Y:1.61, Z:1.40 [[ 9.98909082e-01 -4.50166458e-02 -1.24155799e-02 2.07240401e+02] [ 4.50180181e-02 9.98986161e-01 -1.69061757e-04 1.60604730e+00] [ 1.24106031e-02 -3.90047475e-04 9.99922909e-01 1.40157142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37925415399997 meters 0.021894318405606402 Centerline is valid? [True, True] Translation: X:207.27, Y:1.60, Z:1.40 [[ 9.98646017e-01 -5.03948009e-02 -1.29033985e-02 2.07270345e+02] [ 5.03967441e-02 9.98729261e-01 -1.74724665e-04 1.59870251e+00] [ 1.28958069e-02 -4.75801181e-04 9.99916732e-01 1.40122399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40925415399997 meters 0.02161671234767763 Centerline is valid? [True, True] Translation: X:207.30, Y:1.60, Z:1.40 [[ 9.98514911e-01 -5.29503385e-02 -1.28153604e-02 2.07302499e+02] [ 5.29524774e-02 9.98597018e-01 -1.72589124e-04 1.59840253e+00] [ 1.28065194e-02 -5.06272271e-04 9.99917865e-01 1.40176385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43925415399997 meters 0.02338449513497673 Centerline is valid? [True, True] Translation: X:207.33, Y:1.59, Z:1.40 [[ 9.98390143e-01 -5.52670400e-02 -1.27544776e-02 2.07333354e+02] [ 5.52693633e-02 9.98471466e-01 -1.70522990e-04 1.59462860e+00] [ 1.27444063e-02 -5.34683386e-04 9.99918644e-01 1.40213462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46925415399997 meters 0.02302209456252095 Centerline is valid? [True, True] Translation: X:207.36, Y:1.59, Z:1.40 [[ 9.98263492e-01 -5.76365223e-02 -1.21668024e-02 2.07364929e+02] [ 5.76388258e-02 9.98337488e-01 -1.61534865e-04 1.59486414e+00] [ 1.21558852e-02 -5.40025844e-04 9.99925969e-01 1.40281208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49925415399997 meters 0.025239731351191685 Centerline is valid? [True, True] Translation: X:207.40, Y:1.59, Z:1.40 [[ 9.98047677e-01 -6.14752415e-02 -1.10285464e-02 2.07395372e+02] [ 6.14773726e-02 9.98108467e-01 -1.45998672e-04 1.59027690e+00] [ 1.10166608e-02 -5.32292418e-04 9.99939173e-01 1.40378475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52925415399997 meters 0.025840369303156425 Centerline is valid? [True, True] Translation: X:207.43, Y:1.59, Z:1.40 [[ 9.97927895e-01 -6.32522039e-02 -1.17930257e-02 2.07427613e+02] [ 6.32547703e-02 9.97997400e-01 -1.55627812e-04 1.58951732e+00] [ 1.17792528e-02 -5.90659799e-04 9.99930448e-01 1.40393359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55925415399997 meters 0.027214219652759213 Centerline is valid? [True, True] Translation: X:207.46, Y:1.59, Z:1.40 [[ 9.97827281e-01 -6.47867124e-02 -1.19749178e-02 2.07458411e+02] [ 6.47894825e-02 9.97898942e-01 -1.56872928e-04 1.58763115e+00] [ 1.19599211e-02 -6.19316640e-04 9.99928286e-01 1.40402769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58925415399997 meters 0.028621920940062984 Centerline is valid? [True, True] Translation: X:207.49, Y:1.59, Z:1.40 [[ 9.97738148e-01 -6.61847104e-02 -1.17546836e-02 2.07489531e+02] [ 6.61874895e-02 9.97807192e-01 -1.52863982e-04 1.58567039e+00] [ 1.17390251e-02 -6.25494773e-04 9.99930900e-01 1.40356045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61925415399998 meters 0.028621920940062984 Centerline is valid? [True, True] Translation: X:207.52, Y:1.59, Z:1.40 [[ 9.97742886e-01 -6.61132407e-02 -1.17546930e-02 2.07521261e+02] [ 6.61160233e-02 9.97811930e-01 -1.52144499e-04 1.58601855e+00] [ 1.17390316e-02 -6.25372462e-04 9.99930900e-01 1.40378026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64925415399998 meters 0.028980844700202946 Centerline is valid? [True, True] Translation: X:207.55, Y:1.59, Z:1.40 [[ 9.97623689e-01 -6.77217192e-02 -1.26784722e-02 2.07553506e+02] [ 6.77250980e-02 9.97704006e-01 -1.63152784e-04 1.58545649e+00] [ 1.26604115e-02 -6.95885690e-04 9.99919612e-01 1.40368449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67925415399998 meters 0.029062806665887612 Centerline is valid? [True, True] Translation: X:207.58, Y:1.59, Z:1.40 [[ 9.97389829e-01 -7.09360568e-02 -1.34760614e-02 2.07584347e+02] [ 7.09401752e-02 9.97480557e-01 -1.72768144e-04 1.58517413e+00] [ 1.34543647e-02 -7.83676965e-04 9.99909179e-01 1.40255935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70925415399998 meters 0.028394179004455573 Centerline is valid? [True, True] Translation: X:207.62, Y:1.59, Z:1.40 [[ 9.97277352e-01 -7.23776013e-02 -1.41197291e-02 2.07616794e+02] [ 7.23822759e-02 9.97376947e-01 -1.80352211e-04 1.58681312e+00] [ 1.40957458e-02 -8.42156952e-04 9.99900295e-01 1.40254338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73925415399998 meters 0.028822742994837006 Centerline is valid? [True, True] Translation: X:207.65, Y:1.59, Z:1.40 [[ 9.97181074e-01 -7.36405307e-02 -1.43866985e-02 2.07649351e+02] [ 7.36455304e-02 9.97284464e-01 -1.82679060e-04 1.58706483e+00] [ 1.43610835e-02 -8.77351937e-04 9.99896489e-01 1.40232724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76925415399998 meters 0.03408135962177299 Centerline is valid? [True, True] Translation: X:207.68, Y:1.58, Z:1.40 [[ 9.96977098e-01 -7.60288895e-02 -1.60085722e-02 2.07679417e+02] [ 7.60354084e-02 9.97105098e-01 -2.01922175e-04 1.58143043e+00] [ 1.59775808e-02 -1.01590654e-03 9.99871834e-01 1.40097883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79925415399998 meters 0.02959638112246224 Centerline is valid? [True, True] Translation: X:207.71, Y:1.59, Z:1.40 [[ 9.96934748e-01 -7.65266786e-02 -1.62719390e-02 2.07711565e+02] [ 7.65335010e-02 9.97066990e-01 -2.03941207e-04 1.58865355e+00] [ 1.62398202e-02 -1.04203239e-03 9.99867582e-01 1.40213885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82925415399998 meters 0.030174819443341466 Centerline is valid? [True, True] Translation: X:207.74, Y:1.59, Z:1.40 [[ 9.96911628e-01 -7.67423061e-02 -1.66680416e-02 2.07744097e+02] [ 7.67495158e-02 9.97050384e-01 -2.07643592e-04 1.58921910e+00] [ 1.66348124e-02 -1.07226181e-03 9.99861057e-01 1.40231933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85925415399998 meters 0.030429546167080414 Centerline is valid? [True, True] Translation: X:207.78, Y:1.59, Z:1.40 [[ 9.96933649e-01 -7.64835411e-02 -1.65398985e-02 2.07776680e+02] [ 7.64906252e-02 9.97070280e-01 -2.04816639e-04 1.59048641e+00] [ 1.65071063e-02 -1.06095857e-03 9.99863186e-01 1.40287661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88925415399999 meters 0.030267159043569157 Centerline is valid? [True, True] Translation: X:207.81, Y:1.59, Z:1.40 [[ 9.97010632e-01 -7.55412073e-02 -1.62272821e-02 2.07809170e+02] [ 7.55479212e-02 9.97142152e-01 -1.99748599e-04 1.59249654e+00] [ 1.61959962e-02 -1.02678595e-03 9.99868309e-01 1.40396923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.919254154 meters 0.02985294241285353 Centerline is valid? [True, True] Translation: X:207.84, Y:1.60, Z:1.40 [[ 9.97246485e-01 -7.24313595e-02 -1.59105468e-02 2.07839323e+02] [ 7.24374274e-02 9.97372940e-01 -1.95345298e-04 1.59711025e+00] [ 1.58828979e-02 -9.57711664e-04 9.99873400e-01 1.40491081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.949254154 meters 0.02825155428054239 Centerline is valid? [True, True] Translation: X:207.87, Y:1.60, Z:1.41 [[ 9.97415283e-01 -7.01031458e-02 -1.57575954e-02 2.07870559e+02] [ 7.01088132e-02 9.97539331e-01 -1.93137880e-04 1.60192983e+00] [ 1.57323607e-02 -9.12107636e-04 9.99875823e-01 1.40519721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979254154 meters 0.02783480027789403 Centerline is valid? [True, True] Translation: X:207.90, Y:1.61, Z:1.41 [[ 9.97783255e-01 -6.46601194e-02 -1.57367241e-02 2.07900487e+02] [ 6.46651010e-02 9.97907003e-01 -1.92612235e-04 1.60698883e+00] [ 1.57162415e-02 -8.25431592e-04 9.99876152e-01 1.40559156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.009254154 meters 0.026153426380940883 Centerline is valid? [True, True] Translation: X:207.93, Y:1.61, Z:1.41 [[ 9.97968413e-01 -6.17355359e-02 -1.57407154e-02 2.07931562e+02] [ 6.17401623e-02 9.98092238e-01 -1.92331366e-04 1.61185357e+00] [ 1.57225596e-02 -7.79893697e-04 9.99876089e-01 1.40611228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039254154 meters 0.02463582657578249 Centerline is valid? [True, True] Translation: X:207.96, Y:1.62, Z:1.41 [[ 9.98143916e-01 -5.88175212e-02 -1.57867758e-02 2.07962888e+02] [ 5.88218196e-02 9.98268479e-01 -1.92316159e-04 1.61650861e+00] [ 1.57707522e-02 -7.36647674e-04 9.99875363e-01 1.40646996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06925415399996 meters 0.02383932533524265 Centerline is valid? [True, True] Translation: X:207.99, Y:1.62, Z:1.41 [[ 9.98295167e-01 -5.59850336e-02 -1.65056098e-02 2.07994523e+02] [ 5.59893591e-02 9.98431345e-01 -2.00285776e-04 1.61984443e+00] [ 1.64909312e-02 -7.24194191e-04 9.99863753e-01 1.40635600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09925415399996 meters 0.02163710850786263 Centerline is valid? [True, True] Translation: X:208.03, Y:1.63, Z:1.41 [[ 9.98438390e-01 -5.32979746e-02 -1.67364170e-02 2.08025994e+02] [ 5.33020576e-02 9.98578414e-01 -2.02337096e-04 1.62566118e+00] [ 1.67234090e-02 -6.90064340e-04 9.99859916e-01 1.40680115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12925415399997 meters 0.020914356258200272 Centerline is valid? [True, True] Translation: X:208.06, Y:1.63, Z:1.41 [[ 9.98675135e-01 -4.83517333e-02 -1.76092043e-02 2.08055234e+02] [ 4.83554868e-02 9.98830167e-01 -2.12812950e-04 1.63101626e+00] [ 1.75988943e-02 -6.38970643e-04 9.99844923e-01 1.40702433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15925415399997 meters 0.019460798861936152 Centerline is valid? [True, True] Translation: X:208.09, Y:1.64, Z:1.41 [[ 9.98778704e-01 -4.60892728e-02 -1.78010857e-02 2.08086817e+02] [ 4.60927546e-02 9.98937141e-01 -2.14858766e-04 1.63582993e+00] [ 1.77920683e-02 -6.05904713e-04 9.99841525e-01 1.40810350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18925415399997 meters 0.02079773196798452 Centerline is valid? [True, True] Translation: X:208.12, Y:1.64, Z:1.41 [[ 9.98867336e-01 -4.39642267e-02 -1.81986689e-02 2.08117109e+02] [ 4.39675220e-02 9.99032937e-01 -2.19188935e-04 1.63574592e+00] [ 1.81907061e-02 -5.81209707e-04 9.99834366e-01 1.40762716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21925415399997 meters 0.020493802391002097 Centerline is valid? [True, True] Translation: X:208.15, Y:1.64, Z:1.41 [[ 9.98962974e-01 -4.18929190e-02 -1.78314166e-02 2.08147995e+02] [ 4.18957619e-02 9.99121964e-01 -2.14264996e-04 1.63861692e+00] [ 1.78247361e-02 -5.33017984e-04 9.99840985e-01 1.40815935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24925415399997 meters 0.01763909179556306 Centerline is valid? [True, True] Translation: X:208.18, Y:1.65, Z:1.41 [[ 9.99129800e-01 -3.75427258e-02 -1.81710206e-02 2.08179001e+02] [ 3.75449709e-02 9.99294915e-01 -2.17691080e-04 1.64705288e+00] [ 1.81663812e-02 -4.64728796e-04 9.99834870e-01 1.40956383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27925415399997 meters 0.016951386098969307 Centerline is valid? [True, True] Translation: X:208.21, Y:1.65, Z:1.41 [[ 9.99214993e-01 -3.51957390e-02 -1.81840080e-02 2.08209878e+02] [ 3.51976073e-02 9.99380349e-01 -2.17388483e-04 1.65000756e+00] [ 1.81803914e-02 -4.22815740e-04 9.99834634e-01 1.41000650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30925415399997 meters 0.01620499862460421 Centerline is valid? [True, True] Translation: X:208.24, Y:1.65, Z:1.41 [[ 9.99304247e-01 -3.27202745e-02 -1.78998729e-02 2.08240123e+02] [ 3.27216901e-02 9.99464479e-01 -2.13867622e-04 1.65357238e+00] [ 1.78972850e-02 -3.71995273e-04 9.99839762e-01 1.41056228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33925415399997 meters 0.015135083462965136 Centerline is valid? [True, True] Translation: X:208.27, Y:1.66, Z:1.41 [[ 9.99480886e-01 -2.70506257e-02 -1.74992252e-02 2.08270359e+02] [ 2.70511098e-02 9.99634030e-01 -2.09080684e-04 1.65969694e+00] [ 1.74984768e-02 -2.64401315e-04 9.99846855e-01 1.41179850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36925415399998 meters 0.014928643997310982 Centerline is valid? [True, True] Translation: X:208.30, Y:1.66, Z:1.41 [[ 9.99559057e-01 -2.41130338e-02 -1.73277862e-02 2.08299655e+02] [ 2.41130639e-02 9.99709216e-01 -2.07224420e-04 1.66213515e+00] [ 1.73277444e-02 -2.10692970e-04 9.99849841e-01 1.41183019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39925415399998 meters 0.014368701314074792 Centerline is valid? [True, True] Translation: X:208.33, Y:1.67, Z:1.41 [[ 9.99631099e-01 -2.09417129e-02 -1.72948058e-02 2.08329302e+02] [ 2.09412595e-02 9.99780686e-01 -2.07337129e-04 1.66505123e+00] [ 1.72953548e-02 -1.54914373e-04 9.99850412e-01 1.41261530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.42925415399998 meters 0.014133329829925231 Centerline is valid? [True, True] Translation: X:208.36, Y:1.67, Z:1.41 [[ 9.99686656e-01 -1.83763695e-02 -1.69970091e-02 2.08357602e+02] [ 1.83755128e-02 9.99831135e-01 -2.06589713e-04 1.66741081e+00] [ 1.69979352e-02 -1.05803777e-04 9.99855519e-01 1.41279999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.45925415399998 meters 0.014165595513970848 Centerline is valid? [True, True] Translation: X:208.39, Y:1.67, Z:1.41 [[ 9.99749710e-01 -1.47808311e-02 -1.67941671e-02 2.08386218e+02] [ 1.47794152e-02 9.99890757e-01 -2.08426070e-04 1.67024504e+00] [ 1.67954131e-02 -3.98340645e-05 9.99858946e-01 1.41290297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.48925415399998 meters 0.014189543618923653 Centerline is valid? [True, True] Translation: X:208.41, Y:1.67, Z:1.41 [[ 9.99757255e-01 -1.38683464e-02 -1.71201393e-02 2.08412864e+02] [ 1.38666876e-02 9.99903830e-01 -2.15602971e-04 1.67075579e+00] [ 1.71214829e-02 -2.18489885e-05 9.99853416e-01 1.41243770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.51925415399998 meters 0.014245780014337734 Centerline is valid? [True, True] Translation: X:208.44, Y:1.67, Z:1.41 [[ 9.99754184e-01 -1.36142804e-02 -1.74992341e-02 2.08440926e+02] [ 1.36124384e-02 9.99907321e-01 -2.24372602e-04 1.67068331e+00] [ 1.75006669e-02 -1.38897984e-05 9.99846852e-01 1.41262043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.54925415399998 meters 0.014088905450232742 Centerline is valid? [True, True] Translation: X:208.47, Y:1.67, Z:1.41 [[ 9.99742060e-01 -1.42529068e-02 -1.76824153e-02 2.08468530e+02] [ 1.42510345e-02 9.99898422e-01 -2.31891806e-04 1.67022444e+00] [ 1.76839243e-02 -2.01607193e-05 9.99843627e-01 1.41275377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57925415399998 meters 0.014143937138985173 Centerline is valid? [True, True] Translation: X:208.50, Y:1.67, Z:1.41 [[ 9.99721757e-01 -1.55028764e-02 -1.77783618e-02 2.08496631e+02] [ 1.55010887e-02 9.99879822e-01 -2.38366295e-04 1.66949830e+00] [ 1.77799206e-02 -3.72839907e-05 9.99841924e-01 1.41336254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.60925415399998 meters 0.014274136019339934 Centerline is valid? [True, True] Translation: X:208.52, Y:1.67, Z:1.41 [[ 9.99700787e-01 -1.67203856e-02 -1.78539791e-02 2.08524496e+02] [ 1.67187224e-02 9.99860203e-01 -2.42423422e-04 1.66835599e+00] [ 1.78555366e-02 -5.61448349e-05 9.99840576e-01 1.41321959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63925415399999 meters 0.014329466693898552 Centerline is valid? [True, True] Translation: X:208.55, Y:1.66, Z:1.41 [[ 9.99639065e-01 -2.03168567e-02 -1.75774221e-02 2.08553151e+02] [ 2.03157410e-02 9.99793585e-01 -2.42048714e-04 1.66468904e+00] [ 1.75787115e-02 -1.15137006e-04 9.99845476e-01 1.41363067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.669254154 meters 0.015277552899497542 Centerline is valid? [True, True] Translation: X:208.58, Y:1.66, Z:1.41 [[ 9.99597842e-01 -2.23146078e-02 -1.74989396e-02 2.08580613e+02] [ 2.23137600e-02 9.99750987e-01 -2.43724313e-04 1.66195555e+00] [ 1.75000208e-02 -1.46840841e-04 9.99846852e-01 1.41273294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699254154 meters 0.014781732545392631 Centerline is valid? [True, True] Translation: X:208.61, Y:1.66, Z:1.41 [[ 9.99546441e-01 -2.49377293e-02 -1.68825952e-02 2.08609007e+02] [ 2.49372619e-02 9.99688990e-01 -2.38235103e-04 1.65948954e+00] [ 1.68832855e-02 -1.82878648e-04 9.99857450e-01 1.41377595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.729254154 meters 0.014978929774511674 Centerline is valid? [True, True] Translation: X:208.64, Y:1.66, Z:1.41 [[ 9.99490020e-01 -2.74471900e-02 -1.63202598e-02 2.08639092e+02] [ 2.74470547e-02 9.99623232e-01 -2.32317631e-04 1.65778539e+00] [ 1.63204873e-02 -2.15743909e-04 9.99866789e-01 1.41485816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759254154 meters 0.015423116971563504 Centerline is valid? [True, True] Translation: X:208.67, Y:1.66, Z:1.42 [[ 9.99420969e-01 -3.01231894e-02 -1.58215415e-02 2.08668892e+02] [ 3.01233909e-02 9.99546162e-01 -2.25630396e-04 1.65506160e+00] [ 1.58211578e-02 -2.51098731e-04 9.99874806e-01 1.41515473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.789254154 meters 0.016840934375561483 Centerline is valid? [True, True] Translation: X:208.70, Y:1.65, Z:1.42 [[ 9.99246484e-01 -3.56006920e-02 -1.54613888e-02 2.08699458e+02] [ 3.56015378e-02 9.99366040e-01 -2.20618651e-04 1.65059718e+00] [ 1.54594411e-02 -3.29996808e-04 9.99880441e-01 1.41557638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81925415399996 meters 0.016792150969312834 Centerline is valid? [True, True] Translation: X:208.73, Y:1.65, Z:1.42 [[ 9.99132253e-01 -3.87328900e-02 -1.53134995e-02 2.08730657e+02] [ 3.87340921e-02 9.99249530e-01 -2.18196852e-04 1.64805594e+00] [ 1.53104586e-02 -3.75146988e-04 9.99882718e-01 1.41655951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84925415399996 meters 0.017191864297201487 Centerline is valid? [True, True] Translation: X:208.76, Y:1.65, Z:1.42 [[ 9.99027160e-01 -4.14030507e-02 -1.51829177e-02 2.08762538e+02] [ 4.14045538e-02 9.99142441e-01 -2.15462755e-04 1.64546039e+00] [ 1.51788183e-02 -4.13388789e-04 9.99884710e-01 1.41675047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87925415399997 meters 0.02082265538443542 Centerline is valid? [True, True] Translation: X:208.79, Y:1.64, Z:1.41 [[ 9.98772585e-01 -4.71376852e-02 -1.52105947e-02 2.08793766e+02] [ 4.71398682e-02 9.98888275e-01 -2.15181296e-04 1.63821874e+00] [ 1.52038278e-02 -5.02108249e-04 9.99884289e-01 1.41450351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90925415399997 meters 0.021152581428670006 Centerline is valid? [True, True] Translation: X:208.82, Y:1.63, Z:1.42 [[ 9.98612806e-01 -5.05542455e-02 -1.47218470e-02 2.08823896e+02] [ 5.05566736e-02 9.98721172e-01 -2.07421017e-04 1.63313485e+00] [ 1.47135063e-02 -5.37154328e-04 9.99891606e-01 1.41590362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93925415399997 meters 0.021729680631164917 Centerline is valid? [True, True] Translation: X:208.86, Y:1.63, Z:1.42 [[ 9.98464426e-01 -5.34036540e-02 -1.47254490e-02 2.08856061e+02] [ 5.34064104e-02 9.98572838e-01 -2.06269552e-04 1.63066871e+00] [ 1.47154489e-02 -5.80480562e-04 9.99891553e-01 1.41629785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96925415399997 meters 0.02201305433907994 Centerline is valid? [True, True] Translation: X:208.89, Y:1.63, Z:1.42 [[ 9.98176425e-01 -5.85040882e-02 -1.48692955e-02 2.08887565e+02] [ 5.85074753e-02 9.98286949e-01 -2.07483288e-04 1.62742257e+00] [ 1.48559623e-02 -6.62860015e-04 9.99889424e-01 1.41628827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99925415399997 meters 0.023881496375720738 Centerline is valid? [True, True] Translation: X:208.92, Y:1.62, Z:1.42 [[ 9.98048519e-01 -6.05475236e-02 -1.52692917e-02 2.08918868e+02] [ 6.05513453e-02 9.98165061e-01 -2.12330043e-04 1.62392066e+00] [ 1.52541296e-02 -7.12660472e-04 9.99883395e-01 1.41562562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02925415399997 meters 0.024652024944161934 Centerline is valid? [True, True] Translation: X:208.95, Y:1.62, Z:1.42 [[ 9.97942371e-01 -6.22106505e-02 -1.55196180e-02 2.08950905e+02] [ 6.22148152e-02 9.98062759e-01 -2.14781643e-04 1.62219487e+00] [ 1.55029145e-02 -7.51210465e-04 9.99879540e-01 1.41549967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05925415399997 meters 0.024372858935171122 Centerline is valid? [True, True] Translation: X:208.98, Y:1.62, Z:1.42 [[ 9.97862901e-01 -6.34860646e-02 -1.54644920e-02 2.08983166e+02] [ 6.34903702e-02 9.97982428e-01 -2.12870898e-04 1.62176208e+00] [ 1.54468057e-02 -7.69430353e-04 9.99880395e-01 1.41565494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08925415399997 meters 0.026427196402271935 Centerline is valid? [True, True] Translation: X:209.01, Y:1.62, Z:1.41 [[ 9.97710762e-01 -6.56589058e-02 -1.61908453e-02 2.09014503e+02] [ 6.56639277e-02 9.97841771e-01 -2.21817574e-04 1.61691568e+00] [ 1.61704661e-02 -8.41844716e-04 9.99868895e-01 1.41487716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11925415399998 meters 0.02566398041719211 Centerline is valid? [True, True] Translation: X:209.05, Y:1.62, Z:1.42 [[ 9.97648320e-01 -6.65850764e-02 -1.62560128e-02 2.09046398e+02] [ 6.65902790e-02 9.97780379e-01 -2.21630860e-04 1.61804651e+00] [ 1.62346879e-02 -8.61382772e-04 9.99867838e-01 1.41506028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14925415399998 meters 0.026259549064591468 Centerline is valid? [True, True] Translation: X:209.08, Y:1.62, Z:1.42 [[ 9.97623229e-01 -6.70082455e-02 -1.60557679e-02 2.09078954e+02] [ 6.70133944e-02 9.97752052e-01 -2.17712660e-04 1.61708636e+00] [ 1.60342640e-02 -8.58756303e-04 9.99871074e-01 1.41513633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.17925415399998 meters 0.02652833048717188 Centerline is valid? [True, True] Translation: X:209.11, Y:1.62, Z:1.42 [[ 9.97618858e-01 -6.71361250e-02 -1.57909609e-02 2.09111475e+02] [ 6.71411397e-02 9.97743465e-01 -2.12962024e-04 1.61674663e+00] [ 1.57696255e-02 -8.47768178e-04 9.99875292e-01 1.41564898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.20925415399998 meters 0.027528164976183458 Centerline is valid? [True, True] Translation: X:209.14, Y:1.62, Z:1.42 [[ 9.97637055e-01 -6.69773083e-02 -1.53083708e-02 2.09142381e+02] [ 6.69820171e-02 9.97754162e-01 -2.05496526e-04 1.61584928e+00] [ 1.52877543e-02 -8.20374609e-04 9.99882799e-01 1.41658633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.23925415399998 meters 0.027877556515190662 Centerline is valid? [True, True] Translation: X:209.18, Y:1.62, Z:1.42 [[ 9.97689643e-01 -6.62747001e-02 -1.49345185e-02 2.09175007e+02] [ 6.62791209e-02 9.97801102e-01 -1.99287779e-04 1.61605954e+00] [ 1.49148868e-02 -7.91019405e-04 9.99888454e-01 1.41700183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.26925415399998 meters 0.02567873495443261 Centerline is valid? [True, True] Translation: X:209.21, Y:1.62, Z:1.42 [[ 9.97743874e-01 -6.53880716e-02 -1.52171754e-02 2.09206946e+02] [ 6.53925789e-02 9.97859594e-01 -2.01723023e-04 1.61964815e+00] [ 1.51977948e-02 -7.93822435e-04 9.99884192e-01 1.41796604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.29925415399998 meters 0.026731402340443446 Centerline is valid? [True, True] Translation: X:209.24, Y:1.62, Z:1.42 [[ 9.97794309e-01 -6.46243988e-02 -1.51724610e-02 2.09238632e+02] [ 6.46288085e-02 9.97909353e-01 -2.00011699e-04 1.61878891e+00] [ 1.51536664e-02 -7.81007544e-04 9.99884872e-01 1.41783388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.32925415399998 meters 0.025641023199764034 Centerline is valid? [True, True] Translation: X:209.27, Y:1.62, Z:1.42 [[ 9.97916940e-01 -6.25574864e-02 -1.57588476e-02 2.09270481e+02] [ 6.25620025e-02 9.98041058e-01 -2.06729730e-04 1.62130507e+00] [ 1.57409094e-02 -7.79605963e-04 9.99875800e-01 1.41794837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35925415399998 meters 0.024657052027968935 Centerline is valid? [True, True] Translation: X:209.30, Y:1.62, Z:1.42 [[ 9.98001658e-01 -6.11573693e-02 -1.58891900e-02 2.09302810e+02] [ 6.11617999e-02 9.98127843e-01 -2.07398747e-04 1.62407465e+00] [ 1.58721270e-02 -7.64827169e-04 9.99873737e-01 1.41818686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38925415399999 meters 0.02337459944124308 Centerline is valid? [True, True] Translation: X:209.34, Y:1.63, Z:1.42 [[ 9.98095239e-01 -5.95324289e-02 -1.61797164e-02 2.09335118e+02] [ 5.95368295e-02 9.98226088e-01 -2.09983690e-04 1.62757199e+00] [ 1.61635158e-02 -7.53705296e-04 9.99869078e-01 1.41886336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.419254154 meters 0.022668974308879996 Centerline is valid? [True, True] Translation: X:209.37, Y:1.63, Z:1.42 [[ 9.98334327e-01 -5.55908205e-02 -1.54347486e-02 2.09365286e+02] [ 5.55943625e-02 9.98453418e-01 -1.99823391e-04 1.63160262e+00] [ 1.54219858e-02 -6.58594456e-04 9.99880857e-01 1.42032577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.449254154 meters 0.02149043746612034 Centerline is valid? [True, True] Translation: X:209.40, Y:1.64, Z:1.42 [[ 9.98464419e-01 -5.33495493e-02 -1.49207963e-02 2.09396323e+02] [ 5.33526139e-02 9.98575716e-01 -1.92872569e-04 1.63575696e+00] [ 1.49098345e-02 -6.03487087e-04 9.99888660e-01 1.42141758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479254154 meters 0.02198520464235193 Centerline is valid? [True, True] Translation: X:209.43, Y:1.64, Z:1.42 [[ 9.98606407e-01 -5.07796204e-02 -1.43761475e-02 2.09426423e+02] [ 5.07822049e-02 9.98709734e-01 -1.85447642e-04 1.63697078e+00] [ 1.43670154e-02 -5.44863266e-04 9.99896641e-01 1.42209345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.509254154 meters 0.019856441441213634 Centerline is valid? [True, True] Translation: X:209.46, Y:1.64, Z:1.42 [[ 9.98747722e-01 -4.80982639e-02 -1.37675184e-02 2.09457698e+02] [ 4.81003849e-02 9.98842491e-01 -1.77220347e-04 1.64285135e+00] [ 1.37601064e-02 -4.85224517e-04 9.99905208e-01 1.42334543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.539254154 meters 0.019856441441213634 Centerline is valid? [True, True] Translation: X:209.49, Y:1.64, Z:1.42 [[ 9.98751285e-01 -4.80242114e-02 -1.37675282e-02 2.09489406e+02] [ 4.80263359e-02 9.98846054e-01 -1.76455412e-04 1.64319974e+00] [ 1.37601154e-02 -4.84968865e-04 9.99905208e-01 1.42356510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56925415399996 meters 0.020334274645646334 Centerline is valid? [True, True] Translation: X:209.52, Y:1.64, Z:1.42 [[ 9.98885392e-01 -4.53798321e-02 -1.29863350e-02 2.09519410e+02] [ 4.53815068e-02 9.98969715e-01 -1.65847345e-04 1.64420805e+00] [ 1.29804815e-02 -4.23676962e-04 9.99915660e-01 1.42388620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59925415399996 meters 0.018323640080985276 Centerline is valid? [True, True] Translation: X:209.55, Y:1.65, Z:1.42 [[ 9.99107787e-01 -4.03636534e-02 -1.24259816e-02 2.09550539e+02] [ 4.03648029e-02 9.99184997e-01 -1.58370374e-04 1.65062115e+00] [ 1.24222468e-02 -3.43343225e-04 9.99922782e-01 1.42458433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62925415399997 meters 0.017652882370862967 Centerline is valid? [True, True] Translation: X:209.58, Y:1.65, Z:1.42 [[ 9.99193218e-01 -3.80574647e-02 -1.28274092e-02 2.09581665e+02] [ 3.80585059e-02 9.99275499e-01 -1.63015553e-04 1.65325613e+00] [ 1.28243197e-02 -3.25307993e-04 9.99917712e-01 1.42475807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65925415399997 meters 0.01749702984059598 Centerline is valid? [True, True] Translation: X:209.61, Y:1.66, Z:1.42 [[ 9.99267563e-01 -3.60142248e-02 -1.29349868e-02 2.09613058e+02] [ 3.60151259e-02 9.99351232e-01 -1.63343497e-04 1.65535111e+00] [ 1.29324777e-02 -3.02631319e-04 9.99916326e-01 1.42464923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68925415399997 meters 0.016561262922592027 Centerline is valid? [True, True] Translation: X:209.64, Y:1.66, Z:1.42 [[ 9.99339611e-01 -3.38876693e-02 -1.31136787e-02 2.09644673e+02] [ 3.38884275e-02 9.99425609e-01 -1.64454317e-04 1.65882916e+00] [ 1.31117193e-02 -2.80056237e-04 9.99913998e-01 1.42462666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71925415399997 meters 0.01612871152277884 Centerline is valid? [True, True] Translation: X:209.67, Y:1.66, Z:1.42 [[ 9.99426206e-01 -3.09206814e-02 -1.38264241e-02 2.09674755e+02] [ 3.09212458e-02 9.99521809e-01 -1.73004549e-04 1.66232708e+00] [ 1.38251619e-02 -2.54624980e-04 9.99904395e-01 1.42420365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74925415399997 meters 0.015832790695157674 Centerline is valid? [True, True] Translation: X:209.71, Y:1.66, Z:1.42 [[ 9.99458456e-01 -2.97085747e-02 -1.41490433e-02 2.09705724e+02] [ 2.97090498e-02 9.99558573e-01 -1.76657518e-04 1.66378405e+00] [ 1.41480458e-02 -2.43792783e-04 9.99899882e-01 1.42445535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77925415399997 meters 0.01581809630281941 Centerline is valid? [True, True] Translation: X:209.74, Y:1.66, Z:1.42 [[ 9.99476304e-01 -2.91004059e-02 -1.41521887e-02 2.09736760e+02] [ 2.91008274e-02 9.99576466e-01 -1.76196088e-04 1.66487434e+00] [ 1.41513222e-02 -2.35736586e-04 9.99899837e-01 1.42440476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80925415399997 meters 0.01571270108400945 Centerline is valid? [True, True] Translation: X:209.77, Y:1.67, Z:1.42 [[ 9.99501536e-01 -2.83453450e-02 -1.39003887e-02 2.09768498e+02] [ 2.83456853e-02 9.99598165e-01 -1.72578001e-04 1.66560564e+00] [ 1.38996949e-02 -2.21524067e-04 9.99903370e-01 1.42464647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83925415399997 meters 0.015160790305230452 Centerline is valid? [True, True] Translation: X:209.80, Y:1.67, Z:1.43 [[ 9.99545304e-01 -2.72260176e-02 -1.29587489e-02 2.09799417e+02] [ 2.72262251e-02 9.99629285e-01 -1.60439172e-04 1.66860310e+00] [ 1.29583130e-02 -1.92451593e-04 9.99916019e-01 1.42594502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86925415399998 meters 0.015594024478749479 Centerline is valid? [True, True] Translation: X:209.83, Y:1.67, Z:1.43 [[ 9.99570911e-01 -2.63273910e-02 -1.28398677e-02 2.09830079e+02] [ 2.63275252e-02 9.99653358e-01 -1.58605841e-04 1.66770493e+00] [ 1.28395926e-02 -1.79504156e-04 9.99917553e-01 1.42547871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89925415399998 meters 0.01480727821510999 Centerline is valid? [True, True] Translation: X:209.86, Y:1.67, Z:1.43 [[ 9.99602379e-01 -2.51048759e-02 -1.28385859e-02 2.09861216e+02] [ 2.51049137e-02 9.99684809e-01 -1.58246382e-04 1.67049418e+00] [ 1.28385121e-02 -1.64128131e-04 9.99917569e-01 1.42631715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.92925415399998 meters 0.014923756499046576 Centerline is valid? [True, True] Translation: X:209.89, Y:1.67, Z:1.43 [[ 9.99659855e-01 -2.27202287e-02 -1.28048941e-02 2.09891791e+02] [ 2.27200753e-02 9.99741853e-01 -1.57470593e-04 1.67028305e+00] [ 1.28051664e-02 -1.33511129e-04 9.99918002e-01 1.42542887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.95925415399998 meters 0.014469114238992551 Centerline is valid? [True, True] Translation: X:209.92, Y:1.67, Z:1.43 [[ 9.99679593e-01 -2.18229325e-02 -1.28246422e-02 2.09922526e+02] [ 2.18227064e-02 9.99761844e-01 -1.57587119e-04 1.67208962e+00] [ 1.28250270e-02 -1.22331775e-04 9.99917748e-01 1.42608474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.98925415399998 meters 0.014297834903414287 Centerline is valid? [True, True] Translation: X:209.95, Y:1.67, Z:1.43 [[ 9.99699180e-01 -2.09970485e-02 -1.26756939e-02 2.09953102e+02] [ 2.09967612e-02 9.99779532e-01 -1.55756866e-04 1.67229413e+00] [ 1.26761697e-02 -1.10438506e-04 9.99919648e-01 1.42635373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.01925415399998 meters 0.014576627877564882 Centerline is valid? [True, True] Translation: X:209.98, Y:1.67, Z:1.43 [[ 9.99704831e-01 -2.09295508e-02 -1.23371377e-02 2.09982145e+02] [ 2.09292723e-02 9.99780947e-01 -1.51692884e-04 1.67061222e+00] [ 1.23376101e-02 -1.06559206e-04 9.99923883e-01 1.42569858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.04925415399998 meters 0.014304451013824116 Centerline is valid? [True, True] Translation: X:210.01, Y:1.67, Z:1.43 [[ 9.99708226e-01 -2.13073053e-02 -1.13780819e-02 2.10012562e+02] [ 2.13070916e-02 9.99772968e-01 -1.40014293e-04 1.66981288e+00] [ 1.13784820e-02 -1.02460392e-04 9.99935258e-01 1.42704950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07925415399998 meters 0.01438075061682292 Centerline is valid? [True, True] Translation: X:210.04, Y:1.67, Z:1.43 [[ 9.99695556e-01 -2.20123399e-02 -1.11468068e-02 2.10042786e+02] [ 2.20121786e-02 9.99757693e-01 -1.37168311e-04 1.66915894e+00] [ 1.11471252e-02 -1.08238951e-04 9.99937863e-01 1.42717542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.10925415399998 meters 0.014481515758335504 Centerline is valid? [True, True] Translation: X:210.07, Y:1.67, Z:1.43 [[ 9.99672273e-01 -2.29243823e-02 -1.13938064e-02 2.10073647e+02] [ 2.29242740e-02 9.99737194e-01 -1.40126256e-04 1.66782565e+00] [ 1.13940243e-02 -1.21114406e-04 9.99935079e-01 1.42719052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13925415399999 meters 0.014944055177075494 Centerline is valid? [True, True] Translation: X:210.10, Y:1.67, Z:1.43 [[ 9.99640138e-01 -2.43634113e-02 -1.12257807e-02 2.10104320e+02] [ 2.43634010e-02 9.99703159e-01 -1.37688816e-04 1.66523031e+00] [ 1.12258030e-02 -1.35858930e-04 9.99936979e-01 1.42694167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.169254154 meters 0.015015610685077958 Centerline is valid? [True, True] Translation: X:210.14, Y:1.66, Z:1.43 [[ 9.99589955e-01 -2.61328902e-02 -1.17044375e-02 2.10136024e+02] [ 2.61330082e-02 9.99658464e-01 -1.42885662e-04 1.66418057e+00] [ 1.17041741e-02 -1.63045090e-04 9.99931491e-01 1.42689554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199254154 meters 0.015531286464053677 Centerline is valid? [True, True] Translation: X:210.17, Y:1.66, Z:1.43 [[ 9.99445588e-01 -3.10064083e-02 -1.21293005e-02 2.10167471e+02] [ 3.10069008e-02 9.99519160e-01 -1.47488239e-04 1.65959437e+00] [ 1.21280413e-02 -2.28685547e-04 9.99926426e-01 1.42647132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.229254154 meters 0.01629788012911523 Centerline is valid? [True, True] Translation: X:210.20, Y:1.66, Z:1.43 [[ 9.99350731e-01 -3.38139435e-02 -1.24391600e-02 2.10198836e+02] [ 3.38146860e-02 9.99428109e-01 -1.50685400e-04 1.65624382e+00] [ 1.24371414e-02 -2.70038725e-04 9.99922619e-01 1.42631479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259254154 meters 0.016989714706774385 Centerline is valid? [True, True] Translation: X:210.23, Y:1.65, Z:1.43 [[ 9.99242047e-01 -3.69373096e-02 -1.22868739e-02 2.10231349e+02] [ 3.69382795e-02 9.99317538e-01 -1.48062964e-04 1.65384846e+00] [ 1.22839576e-02 -3.05905244e-04 9.99924503e-01 1.42621441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.289254154 meters 0.019662554768611378 Centerline is valid? [True, True] Translation: X:210.26, Y:1.65, Z:1.42 [[ 9.99149933e-01 -3.92232237e-02 -1.26865916e-02 2.10263206e+02] [ 3.92244563e-02 9.99230413e-01 -1.51741416e-04 1.65091423e+00] [ 1.26827800e-02 -3.46012233e-04 9.99919510e-01 1.42456100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31925415399996 meters 0.0194384235866017 Centerline is valid? [True, True] Translation: X:210.29, Y:1.65, Z:1.43 [[ 9.98922639e-01 -4.48418965e-02 -1.19484533e-02 2.10293089e+02] [ 4.48433996e-02 9.98994019e-01 -1.42223098e-04 1.64611883e+00] [ 1.19428109e-02 -3.93739392e-04 9.99928605e-01 1.42664361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34925415399996 meters 0.019448303910799672 Centerline is valid? [True, True] Translation: X:210.33, Y:1.65, Z:1.43 [[ 9.98835800e-01 -4.66964625e-02 -1.21030642e-02 2.10325089e+02] [ 4.66981454e-02 9.98909036e-01 -1.43676885e-04 1.64575262e+00] [ 1.20965694e-02 -4.21681037e-04 9.99926745e-01 1.42695383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37925415399997 meters 0.020194876098395074 Centerline is valid? [True, True] Translation: X:210.36, Y:1.64, Z:1.43 [[ 9.98772277e-01 -4.81057012e-02 -1.18228784e-02 2.10356480e+02] [ 4.81074177e-02 9.98842158e-01 -1.39331348e-04 1.64394611e+00] [ 1.18158920e-02 -4.29607862e-04 9.99930098e-01 1.42722180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40925415399997 meters 0.021457997551786324 Centerline is valid? [True, True] Translation: X:210.39, Y:1.64, Z:1.43 [[ 9.98685570e-01 -4.97737152e-02 -1.22356104e-02 2.10387566e+02] [ 4.97756915e-02 9.98760412e-01 -1.43150504e-04 1.64169200e+00] [ 1.22275684e-02 -4.66073624e-04 9.99925132e-01 1.42701247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43925415399997 meters 0.022790718711042917 Centerline is valid? [True, True] Translation: X:210.42, Y:1.64, Z:1.43 [[ 9.98679822e-01 -4.99968126e-02 -1.17869603e-02 2.10419194e+02] [ 4.99986695e-02 9.98749275e-01 -1.37270803e-04 1.63968899e+00] [ 1.17790812e-02 -4.52242754e-04 9.99930522e-01 1.42671631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46925415399997 meters 0.02047083172919258 Centerline is valid? [True, True] Translation: X:210.45, Y:1.64, Z:1.43 [[ 9.98682361e-01 -4.99326221e-02 -1.18438178e-02 2.10451822e+02] [ 4.99345012e-02 9.98752485e-01 -1.37188576e-04 1.64328635e+00] [ 1.18358927e-02 -4.54407325e-04 9.99929850e-01 1.42728601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49925415399997 meters 0.023793157706239878 Centerline is valid? [True, True] Translation: X:210.48, Y:1.64, Z:1.43 [[ 9.98697157e-01 -4.94896491e-02 -1.24404091e-02 2.10483362e+02] [ 4.94917035e-02 9.98774525e-01 -1.42858141e-04 1.63848132e+00] [ 1.24322337e-02 -4.73025020e-04 9.99922605e-01 1.42659786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52925415399997 meters 0.022571615783392816 Centerline is valid? [True, True] Translation: X:210.52, Y:1.64, Z:1.43 [[ 9.98776228e-01 -4.80815499e-02 -1.15849316e-02 2.10515984e+02] [ 4.80832510e-02 9.98843323e-01 -1.31810239e-04 1.64141708e+00] [ 1.15778693e-02 -4.25392243e-04 9.99932884e-01 1.42742322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55925415399997 meters 0.020518087848831777 Centerline is valid? [True, True] Translation: X:210.55, Y:1.65, Z:1.43 [[ 9.98860050e-01 -4.63589892e-02 -1.13773841e-02 2.10548665e+02] [ 4.63605298e-02 9.98924764e-01 -1.28432864e-04 1.64744959e+00] [ 1.13711048e-02 -3.99175098e-04 9.99935267e-01 1.42726501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58925415399997 meters 0.020678855420666383 Centerline is valid? [True, True] Translation: X:210.58, Y:1.65, Z:1.43 [[ 9.98919946e-01 -4.53001419e-02 -1.03362305e-02 2.10579821e+02] [ 4.53013678e-02 9.98973359e-01 -1.15623826e-04 1.64631179e+00] [ 1.03308567e-02 -3.52746434e-04 9.99946573e-01 1.42884000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61925415399998 meters 0.01899179496067783 Centerline is valid? [True, True] Translation: X:210.61, Y:1.65, Z:1.43 [[ 9.98986223e-01 -4.38457354e-02 -1.02018941e-02 2.10612524e+02] [ 4.38468664e-02 9.99038257e-01 -1.12889917e-04 1.64987788e+00] [ 1.01970323e-02 -3.34545618e-04 9.99947953e-01 1.42957052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64925415399998 meters 0.018364194530626862 Centerline is valid? [True, True] Translation: X:210.64, Y:1.65, Z:1.43 [[ 9.99148113e-01 -3.98804125e-02 -1.06113750e-02 2.10643474e+02] [ 3.98814212e-02 9.99204413e-01 -1.16613046e-04 1.65239880e+00] [ 1.06075833e-02 -3.06683013e-04 9.99943691e-01 1.42976878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.67925415399998 meters 0.018172468502238952 Centerline is valid? [True, True] Translation: X:210.67, Y:1.65, Z:1.43 [[ 9.99229838e-01 -3.76698235e-02 -1.09870366e-02 2.10674374e+02] [ 3.76707767e-02 9.99290197e-01 -1.20252933e-04 1.65381157e+00] [ 1.09837679e-02 -2.93729885e-04 9.99939633e-01 1.42987164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.70925415399998 meters 0.01733381955417128 Centerline is valid? [True, True] Translation: X:210.71, Y:1.66, Z:1.43 [[ 9.99303570e-01 -3.55511404e-02 -1.13354426e-02 2.10707094e+02] [ 3.55520279e-02 9.99367819e-01 -1.23272661e-04 1.65663495e+00] [ 1.13326590e-02 -2.79811161e-04 9.99935744e-01 1.43010715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.73925415399998 meters 0.016692787738666427 Centerline is valid? [True, True] Translation: X:210.74, Y:1.66, Z:1.43 [[ 9.99417062e-01 -3.17762884e-02 -1.24821658e-02 2.10737074e+02] [ 3.17770801e-02 9.99494972e-01 -1.34946944e-04 1.65901681e+00] [ 1.24801501e-02 -2.61778505e-04 9.99922086e-01 1.42958411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.76925415399998 meters 0.016134706845432795 Centerline is valid? [True, True] Translation: X:210.77, Y:1.66, Z:1.43 [[ 9.99463953e-01 -3.00615023e-02 -1.29658120e-02 2.10768296e+02] [ 3.00622169e-02 9.99548020e-01 -1.39827207e-04 1.66091176e+00] [ 1.29641551e-02 -2.50028800e-04 9.99915931e-01 1.42941594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.79925415399998 meters 0.015881486147580566 Centerline is valid? [True, True] Translation: X:210.80, Y:1.66, Z:1.43 [[ 9.99487692e-01 -2.89903397e-02 -1.35614899e-02 2.10799398e+02] [ 2.89910297e-02 9.99579661e-01 -1.45748280e-04 1.66229303e+00] [ 1.35600147e-02 -2.47487944e-04 9.99908028e-01 1.42954153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.82925415399998 meters 0.015584076661985162 Centerline is valid? [True, True] Translation: X:210.83, Y:1.66, Z:1.43 [[ 9.99510006e-01 -2.80025457e-02 -1.39859188e-02 2.10830966e+02] [ 2.80031901e-02 9.99607823e-01 -1.49792311e-04 1.66333436e+00] [ 1.39846284e-02 -2.41931428e-04 9.99902181e-01 1.42964020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85925415399998 meters 0.015700841878411184 Centerline is valid? [True, True] Translation: X:210.86, Y:1.66, Z:1.43 [[ 9.99523335e-01 -2.75833865e-02 -1.38657798e-02 2.10861110e+02] [ 2.75839848e-02 9.99619479e-01 -1.48128250e-04 1.66289919e+00] [ 1.38645894e-02 -2.34415816e-04 9.99903854e-01 1.42958816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88925415399999 meters 0.0157398274816076 Centerline is valid? [True, True] Translation: X:210.89, Y:1.66, Z:1.43 [[ 9.99518741e-01 -2.78519704e-02 -1.36584651e-02 2.10891226e+02] [ 2.78525777e-02 9.99612031e-01 -1.45789497e-04 1.66282099e+00] [ 1.36572265e-02 -2.34704125e-04 9.99906708e-01 1.43001054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.919254154 meters 0.016026789561834454 Centerline is valid? [True, True] Translation: X:210.92, Y:1.66, Z:1.43 [[ 9.99509651e-01 -2.82850170e-02 -1.34319158e-02 2.10921580e+02] [ 2.82856486e-02 9.99599871e-01 -1.42989968e-04 1.66230287e+00] [ 1.34305858e-02 -2.37010596e-04 9.99909778e-01 1.43022118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.949254154 meters 0.016045645417170375 Centerline is valid? [True, True] Translation: X:210.95, Y:1.66, Z:1.43 [[ 9.99506453e-01 -2.87386848e-02 -1.26861197e-02 2.10952748e+02] [ 2.87392921e-02 9.99586932e-01 -1.34461536e-04 1.66199619e+00] [ 1.26847438e-02 -2.30194928e-04 9.99919519e-01 1.43095457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.979254154 meters 0.0161788866247538 Centerline is valid? [True, True] Translation: X:210.98, Y:1.66, Z:1.43 [[ 9.99467126e-01 -3.04825466e-02 -1.16737975e-02 2.10983954e+02] [ 3.04831844e-02 9.99535272e-01 -1.23332162e-04 1.66094973e+00] [ 1.16721318e-02 -2.32588081e-04 9.99931851e-01 1.43207050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.009254154 meters 0.016531239851976003 Centerline is valid? [True, True] Translation: X:211.02, Y:1.66, Z:1.43 [[ 9.99439998e-01 -3.15341028e-02 -1.11933091e-02 2.11015154e+02] [ 3.15347596e-02 9.99502649e-01 -1.17860253e-04 1.65964813e+00] [ 1.11914587e-02 -2.35184060e-04 9.99937346e-01 1.43239359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.039254154 meters 0.016825470783141037 Centerline is valid? [True, True] Translation: X:211.05, Y:1.66, Z:1.43 [[ 9.99412484e-01 -3.24107072e-02 -1.11460249e-02 2.11046494e+02] [ 3.24114208e-02 9.99474605e-01 -1.16654671e-04 1.65788946e+00] [ 1.11439497e-02 -2.44672368e-04 9.99937874e-01 1.43272136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06925415399996 meters 0.01726865447457453 Centerline is valid? [True, True] Translation: X:211.08, Y:1.65, Z:1.43 [[ 9.99328805e-01 -3.51885535e-02 -1.01835872e-02 2.11078679e+02] [ 3.51893028e-02 9.99380659e-01 -1.05656076e-04 1.65459987e+00] [ 1.01809980e-02 -2.52768172e-04 9.99948140e-01 1.43330822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09925415399996 meters 0.017182138932014045 Centerline is valid? [True, True] Translation: X:211.11, Y:1.65, Z:1.43 [[ 9.99275607e-01 -3.67112876e-02 -1.00270603e-02 2.11110643e+02] [ 3.67120979e-02 9.99325878e-01 -1.03303565e-04 1.65339169e+00] [ 1.00240932e-02 -2.64885686e-04 9.99949722e-01 1.43415325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12925415399997 meters 0.018608913223446235 Centerline is valid? [True, True] Translation: X:211.14, Y:1.65, Z:1.43 [[ 9.99210820e-01 -3.85327176e-02 -9.64191244e-03 2.11142284e+02] [ 3.85335577e-02 9.99257302e-01 -9.86916650e-05 1.64958199e+00] [ 9.63855427e-03 -2.72923410e-04 9.99953511e-01 1.43430112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15925415399997 meters 0.018393836729567657 Centerline is valid? [True, True] Translation: X:211.17, Y:1.65, Z:1.43 [[ 9.99121960e-01 -4.08556683e-02 -9.28022429e-03 2.11173950e+02] [ 4.08565514e-02 9.99165018e-01 -9.44899656e-05 1.64893710e+00] [ 9.27633592e-03 -2.84750961e-04 9.99956933e-01 1.43455050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18925415399997 meters 0.02284866877752336 Centerline is valid? [True, True] Translation: X:211.20, Y:1.64, Z:1.43 [[ 9.98850309e-01 -4.68743367e-02 -1.00427294e-02 2.11203731e+02] [ 4.68756811e-02 9.98900726e-01 -1.01609622e-04 1.63855077e+00] [ 1.00364526e-02 -3.69266979e-04 9.99949565e-01 1.43303580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21925415399997 meters 0.024415656714517866 Centerline is valid? [True, True] Translation: X:211.24, Y:1.63, Z:1.43 [[ 9.98684047e-01 -5.02377884e-02 -1.03121086e-02 2.11235184e+02] [ 5.02393914e-02 9.98737199e-01 -1.03701639e-04 1.63481201e+00] [ 1.03042962e-02 -4.14508889e-04 9.99946823e-01 1.43223774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24925415399997 meters 0.026126462286262274 Centerline is valid? [True, True] Translation: X:211.27, Y:1.63, Z:1.43 [[ 9.98485407e-01 -5.39006320e-02 -1.10278752e-02 2.11266190e+02] [ 5.39026919e-02 9.98546187e-01 -1.10571803e-04 1.63076491e+00] [ 1.10178026e-02 -4.84027828e-04 9.99939185e-01 1.43149512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27925415399997 meters 0.025119437421804 Centerline is valid? [True, True] Translation: X:211.30, Y:1.63, Z:1.43 [[ 9.98272898e-01 -5.76858207e-02 -1.11160520e-02 2.11297715e+02] [ 5.76881508e-02 9.98334646e-01 -1.11183531e-04 1.63126039e+00] [ 1.11039535e-02 -5.30272978e-04 9.99938209e-01 1.43111896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30925415399997 meters 0.02832519311149059 Centerline is valid? [True, True] Translation: X:211.33, Y:1.63, Z:1.43 [[ 9.97841611e-01 -6.45250236e-02 -1.21918581e-02 2.11328656e+02] [ 6.45283405e-02 9.97915867e-01 -1.21529582e-04 1.62562043e+00] [ 1.21742903e-02 -6.65453094e-04 9.99925669e-01 1.43058000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33925415399997 meters 0.02946115301621335 Centerline is valid? [True, True] Translation: X:211.36, Y:1.62, Z:1.43 [[ 9.97673363e-01 -6.70974846e-02 -1.20742623e-02 2.11359933e+02] [ 6.71009300e-02 9.97746186e-01 -1.19990148e-04 1.62403963e+00] [ 1.20551002e-02 -6.90483255e-04 9.99927096e-01 1.43068461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36925415399998 meters 0.0309546140740909 Centerline is valid? [True, True] Translation: X:211.39, Y:1.62, Z:1.43 [[ 9.97541317e-01 -6.89918929e-02 -1.23060421e-02 2.11390890e+02] [ 6.89956221e-02 9.97616955e-01 -1.21750805e-04 1.62208085e+00] [ 1.22851161e-02 -7.27611574e-04 9.99924270e-01 1.43091233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39925415399998 meters 0.02935810382355312 Centerline is valid? [True, True] Translation: X:211.42, Y:1.63, Z:1.43 [[ 9.97405147e-01 -7.08704307e-02 -1.26631592e-02 2.11422702e+02] [ 7.08745393e-02 9.97485230e-01 -1.24586077e-04 1.62562687e+00] [ 1.26401437e-02 -7.73232777e-04 9.99919811e-01 1.43162541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.42925415399998 meters 0.02935810382355312 Centerline is valid? [True, True] Translation: X:211.45, Y:1.63, Z:1.43 [[ 9.97410385e-01 -7.07966630e-02 -1.26631670e-02 2.11454447e+02] [ 7.08007759e-02 9.97490469e-01 -1.23780098e-04 1.62587744e+00] [ 1.26401516e-02 -7.73102496e-04 9.99919811e-01 1.43184532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.45925415399998 meters 0.0327363183186038 Centerline is valid? [True, True] Translation: X:211.49, Y:1.62, Z:1.43 [[ 9.97416502e-01 -7.07320800e-02 -1.25417455e-02 2.11485680e+02] [ 7.07361241e-02 9.97495056e-01 -1.21408450e-04 1.62230427e+00] [ 1.25189166e-02 -7.66059675e-04 9.99921342e-01 1.43155675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.48925415399998 meters 0.03343951816558624 Centerline is valid? [True, True] Translation: X:211.52, Y:1.62, Z:1.43 [[ 9.97436952e-01 -7.04672392e-02 -1.24054364e-02 2.11517115e+02] [ 7.04711933e-02 9.97513808e-01 -1.18644261e-04 1.62226060e+00] [ 1.23829547e-02 -7.55885739e-04 9.99923043e-01 1.43162756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.51925415399998 meters 0.029097452575363347 Centerline is valid? [True, True] Translation: X:211.55, Y:1.63, Z:1.43 [[ 9.97553399e-01 -6.88562256e-02 -1.20845337e-02 2.11548390e+02] [ 6.88598715e-02 9.97626335e-01 -1.14621598e-04 1.63023726e+00] [ 1.20637415e-02 -7.17798275e-04 9.99926973e-01 1.43165349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.54925415399998 meters 0.02880565683712206 Centerline is valid? [True, True] Translation: X:211.58, Y:1.63, Z:1.43 [[ 9.97597551e-01 -6.83198718e-02 -1.14683070e-02 2.11580646e+02] [ 6.83231266e-02 9.97663239e-01 -1.08196279e-04 1.63138130e+00] [ 1.14489002e-02 -6.75614246e-04 9.99934231e-01 1.43249510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57925415399998 meters 0.02841934735407676 Centerline is valid? [True, True] Translation: X:211.61, Y:1.63, Z:1.43 [[ 9.97648933e-01 -6.75311617e-02 -1.16682877e-02 2.11612454e+02] [ 6.75344875e-02 9.97716934e-01 -1.09211886e-04 1.63326278e+00] [ 1.16490234e-02 -6.79056708e-04 9.99931917e-01 1.43277592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.60925415399998 meters 0.028911710971146917 Centerline is valid? [True, True] Translation: X:211.64, Y:1.63, Z:1.43 [[ 9.97709628e-01 -6.65871166e-02 -1.19018898e-02 2.11643944e+02] [ 6.65905193e-02 9.97780382e-01 -1.10601798e-04 1.63405866e+00] [ 1.18828368e-02 -6.82204547e-04 9.99929164e-01 1.43271593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63925415399999 meters 0.02628747567201928 Centerline is valid? [True, True] Translation: X:211.68, Y:1.64, Z:1.43 [[ 9.97839947e-01 -6.45904139e-02 -1.19799026e-02 2.11675521e+02] [ 6.45937260e-02 9.97911639e-01 -1.10658099e-04 1.64115817e+00] [ 1.19620317e-02 -6.63407473e-04 9.99928232e-01 1.43367436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.669254154 meters 0.028407359853049687 Centerline is valid? [True, True] Translation: X:211.71, Y:1.64, Z:1.43 [[ 9.97930670e-01 -6.31652130e-02 -1.20222019e-02 2.11706595e+02] [ 6.31684591e-02 9.98002873e-01 -1.09899461e-04 1.64001691e+00] [ 1.20051339e-02 -6.49751929e-04 9.99927725e-01 1.43410306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.699254154 meters 0.026435182171281796 Centerline is valid? [True, True] Translation: X:211.74, Y:1.64, Z:1.43 [[ 9.98032293e-01 -6.16023435e-02 -1.16916190e-02 2.11738498e+02] [ 6.16053224e-02 9.98100583e-01 -1.05524180e-04 1.64487450e+00] [ 1.16759123e-02 -6.14949418e-04 9.99931645e-01 1.43474049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.729254154 meters 0.027963499601006213 Centerline is valid? [True, True] Translation: X:211.77, Y:1.64, Z:1.43 [[ 9.98139909e-01 -5.98711409e-02 -1.14964184e-02 2.11768740e+02] [ 5.98739133e-02 9.98205943e-01 -1.03177471e-04 1.64461213e+00] [ 1.14819705e-02 -5.85350007e-04 9.99933909e-01 1.43478151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.759254154 meters 0.02686704801261193 Centerline is valid? [True, True] Translation: X:211.80, Y:1.65, Z:1.43 [[ 9.98380087e-01 -5.56079287e-02 -1.20399101e-02 2.11798166e+02] [ 5.56106607e-02 9.98452524e-01 -1.08012681e-04 1.64981964e+00] [ 1.20272850e-02 -5.61709645e-04 9.99927512e-01 1.43471661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.789254154 meters 0.02379135659490429 Centerline is valid? [True, True] Translation: X:211.83, Y:1.66, Z:1.44 [[ 9.98528307e-01 -5.28671148e-02 -1.20949825e-02 2.11829482e+02] [ 5.28696720e-02 9.98601415e-01 -1.08440998e-04 1.65603272e+00] [ 1.20837996e-02 -5.31176353e-04 9.99926847e-01 1.43522310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81925415399996 meters 0.023355749787647605 Centerline is valid? [True, True] Translation: X:211.86, Y:1.66, Z:1.44 [[ 9.98664210e-01 -5.02661838e-02 -1.19627062e-02 2.11859617e+02] [ 5.02685031e-02 9.98735734e-01 -1.06914033e-04 1.65901606e+00] [ 1.19529563e-02 -4.94576117e-04 9.99928439e-01 1.43534382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84925415399996 meters 0.02090953265872596 Centerline is valid? [True, True] Translation: X:211.89, Y:1.67, Z:1.44 [[ 9.98929525e-01 -4.43615024e-02 -1.31095661e-02 2.11890044e+02] [ 4.43637818e-02 9.99015436e-01 -1.17025779e-04 1.66687349e+00] [ 1.31018504e-02 -4.64689425e-04 9.99914059e-01 1.43501812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87925415399997 meters 0.02021018633202539 Centerline is valid? [True, True] Translation: X:211.92, Y:1.67, Z:1.43 [[ 9.99069356e-01 -4.10414983e-02 -1.32671335e-02 2.11920464e+02] [ 4.10435419e-02 9.99157352e-01 -1.18317640e-04 1.67018338e+00] [ 1.32608099e-02 -4.26322622e-04 9.99911981e-01 1.43452818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90925415399997 meters 0.01903531538615912 Centerline is valid? [True, True] Translation: X:211.95, Y:1.67, Z:1.43 [[ 9.99208164e-01 -3.74143817e-02 -1.35354667e-02 2.11951692e+02] [ 3.74161813e-02 9.99299762e-01 -1.20346824e-04 1.67388319e+00] [ 1.35304914e-02 -3.86193948e-04 9.99908384e-01 1.43452981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93925415399997 meters 0.016945571831052973 Centerline is valid? [True, True] Translation: X:211.98, Y:1.68, Z:1.43 [[ 9.99447210e-01 -2.98752231e-02 -1.45858152e-02 2.11981789e+02] [ 2.98765143e-02 9.99553589e-01 -1.29419073e-04 1.68155541e+00] [ 1.45831704e-02 -3.06425786e-04 9.99893613e-01 1.43452135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96925415399997 meters 0.015552057338501115 Centerline is valid? [True, True] Translation: X:212.01, Y:1.69, Z:1.44 [[ 9.99556995e-01 -2.60536356e-02 -1.43882198e-02 2.12012287e+02] [ 2.60544962e-02 9.99660516e-01 -1.27665820e-04 1.68656365e+00] [ 1.43866613e-02 -2.47268554e-04 9.99896476e-01 1.43526069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99925415399997 meters 0.014921374687832696 Centerline is valid? [True, True] Translation: X:212.04, Y:1.69, Z:1.44 [[ 9.99658703e-01 -2.20784418e-02 -1.39649474e-02 2.12042229e+02] [ 2.20788646e-02 9.99756224e-01 -1.23910149e-04 1.69017613e+00] [ 1.39642788e-02 -1.84462324e-04 9.99902478e-01 1.43579186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02925415399997 meters 0.01422229635870048 Centerline is valid? [True, True] Translation: X:212.07, Y:1.69, Z:1.44 [[ 9.99739814e-01 -1.82562138e-02 -1.36753151e-02 2.12071404e+02] [ 1.82562583e-02 9.99833333e-01 -1.21588959e-04 1.69478719e+00] [ 1.36752557e-02 -1.28102762e-04 9.99906481e-01 1.43694425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05925415399997 meters 0.013992220030727762 Centerline is valid? [True, True] Translation: X:212.10, Y:1.70, Z:1.44 [[ 9.99803271e-01 -1.45261971e-02 -1.35058610e-02 2.12100699e+02] [ 1.45258846e-02 9.99894486e-01 -1.21245060e-04 1.69841545e+00] [ 1.35061972e-02 -7.49633700e-05 9.99908784e-01 1.43757840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08925415399997 meters 0.013780644576709997 Centerline is valid? [True, True] Translation: X:212.13, Y:1.70, Z:1.44 [[ 9.99848317e-01 -1.14336185e-02 -1.31383435e-02 2.12129662e+02] [ 1.14330228e-02 9.99934634e-01 -1.20456010e-04 1.70152606e+00] [ 1.31388620e-02 -2.97732414e-05 9.99913681e-01 1.43816086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11925415399998 meters 0.01383186077315305 Centerline is valid? [True, True] Translation: X:212.16, Y:1.71, Z:1.44 [[ 9.99897526e-01 -6.35242239e-03 -1.28290133e-02 2.12157678e+02] [ 6.35139226e-03 9.99979822e-01 -1.21038822e-04 1.70591132e+00] [ 1.28295234e-02 3.95443228e-05 9.99917697e-01 1.43874679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14925415399998 meters 0.014032825439363007 Centerline is valid? [True, True] Translation: X:212.19, Y:1.71, Z:1.44 [[ 9.99909964e-01 -5.14369115e-03 -1.23938188e-02 2.12185156e+02] [ 5.14259360e-03 9.99986770e-01 -1.20424650e-04 1.70737926e+00] [ 1.23942742e-02 5.66774341e-05 9.99923186e-01 1.43892524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.17925415399998 meters 0.014091142267670038 Centerline is valid? [True, True] Translation: X:212.21, Y:1.71, Z:1.44 [[ 9.99914774e-01 -4.61399067e-03 -1.22129324e-02 2.12212416e+02] [ 4.61284888e-03 9.99989353e-01 -1.21657561e-04 1.70800886e+00] [ 1.22133637e-02 6.53107811e-05 9.99925412e-01 1.43901160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.20925415399998 meters 0.014175640512141806 Centerline is valid? [True, True] Translation: X:212.24, Y:1.71, Z:1.44 [[ 9.99912554e-01 -5.43976783e-03 -1.20537382e-02 2.12240614e+02] [ 5.43868197e-03 9.99985203e-01 -1.22862376e-04 1.70696759e+00] [ 1.20542282e-02 5.72951837e-05 9.99927344e-01 1.43891239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.23925415399998 meters 0.013943396903837167 Centerline is valid? [True, True] Translation: X:212.27, Y:1.71, Z:1.44 [[ 9.99903982e-01 -6.34826510e-03 -1.23177270e-02 2.12267282e+02] [ 6.34716735e-03 9.99979848e-01 -1.28210997e-04 1.70644612e+00] [ 1.23182927e-02 5.00160120e-05 9.99924126e-01 1.43922492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.26925415399998 meters 0.014681328648312073 Centerline is valid? [True, True] Translation: X:212.29, Y:1.71, Z:1.44 [[ 9.99895648e-01 -7.90787941e-03 -1.20896249e-02 2.12294896e+02] [ 7.90692049e-03 9.99968732e-01 -1.27114392e-04 1.70564180e+00] [ 1.20902521e-02 3.15094242e-05 9.99926910e-01 1.43858714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.29925415399998 meters 0.013847091042588973 Centerline is valid? [True, True] Translation: X:212.32, Y:1.70, Z:1.44 [[ 9.99868394e-01 -9.87928709e-03 -1.28683821e-02 2.12322873e+02] [ 9.87833466e-03 9.99951199e-01 -1.37574641e-04 1.70452292e+00] [ 1.28691132e-02 1.04383506e-05 9.99917189e-01 1.43913282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.32925415399998 meters 0.014218081981582328 Centerline is valid? [True, True] Translation: X:212.35, Y:1.70, Z:1.44 [[ 9.99813249e-01 -1.39517499e-02 -1.33722125e-02 2.12351912e+02] [ 1.39510532e-02 9.99902669e-01 -1.45390575e-04 1.70050921e+00] [ 1.33729394e-02 -4.11930244e-05 9.99910577e-01 1.43865482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35925415399998 meters 0.014264468086861723 Centerline is valid? [True, True] Translation: X:212.38, Y:1.70, Z:1.44 [[ 9.99785088e-01 -1.59656017e-02 -1.32241528e-02 2.12379663e+02] [ 1.59650657e-02 9.99872540e-01 -1.46101589e-04 1.69900466e+00] [ 1.32247998e-02 -6.50542787e-05 9.99912546e-01 1.43925584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38925415399999 meters 0.01445589986223428 Centerline is valid? [True, True] Translation: X:212.41, Y:1.70, Z:1.44 [[ 9.99748890e-01 -1.80681591e-02 -1.32551620e-02 2.12408581e+02] [ 1.80677567e-02 9.99836753e-01 -1.50120053e-04 1.69739936e+00] [ 1.32557106e-02 -8.94086858e-05 9.99912135e-01 1.43952808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.419254154 meters 0.014912403291236373 Centerline is valid? [True, True] Translation: X:212.44, Y:1.70, Z:1.44 [[ 9.99716884e-01 -1.97359185e-02 -1.32908266e-02 2.12437046e+02] [ 1.97356326e-02 9.99805222e-01 -1.52678041e-04 1.69549025e+00] [ 1.32912511e-02 -1.09668055e-04 9.99911661e-01 1.43938331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.449254154 meters 0.015136025592856707 Centerline is valid? [True, True] Translation: X:212.47, Y:1.69, Z:1.44 [[ 9.99663472e-01 -2.25518704e-02 -1.28201596e-02 2.12467085e+02] [ 2.25518285e-02 9.99745664e-01 -1.47856074e-04 1.69206531e+00] [ 1.28202334e-02 -1.41311725e-04 9.99917807e-01 1.43979261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.479254154 meters 0.016117873970260276 Centerline is valid? [True, True] Translation: X:212.50, Y:1.69, Z:1.44 [[ 9.99635112e-01 -2.39255056e-02 -1.25384298e-02 2.12497857e+02] [ 2.39255704e-02 9.99713732e-01 -1.44855923e-04 1.69031502e+00] [ 1.25383062e-02 -1.55186017e-04 9.99921380e-01 1.43940665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.509254154 meters 0.015646076095668555 Centerline is valid? [True, True] Translation: X:212.53, Y:1.69, Z:1.44 [[ 9.99593365e-01 -2.57117284e-02 -1.23293119e-02 2.12528305e+02] [ 2.57119268e-02 9.99669384e-01 -1.42439993e-04 1.68876101e+00] [ 1.23288980e-02 -1.74628293e-04 9.99923981e-01 1.44026631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.539254154 meters 0.016095882727354464 Centerline is valid? [True, True] Translation: X:212.56, Y:1.69, Z:1.44 [[ 9.99544985e-01 -2.76972791e-02 -1.19450127e-02 2.12559346e+02] [ 2.76976093e-02 9.99616338e-01 -1.37817970e-04 1.68603282e+00] [ 1.19442470e-02 -1.93093034e-04 9.99928646e-01 1.44031226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56925415399996 meters 0.017317093859530768 Centerline is valid? [True, True] Translation: X:212.59, Y:1.68, Z:1.44 [[ 9.99408926e-01 -3.23602584e-02 -1.16022771e-02 2.12589197e+02] [ 3.23608868e-02 9.99476240e-01 -1.33619069e-04 1.67995065e+00] [ 1.16005242e-02 -2.41919884e-04 9.99932682e-01 1.44035335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59925415399996 meters 0.01765977690886961 Centerline is valid? [True, True] Translation: X:212.62, Y:1.68, Z:1.44 [[ 9.99327522e-01 -3.46881925e-02 -1.18841629e-02 2.12621571e+02] [ 3.46890206e-02 9.99398145e-01 -1.36509018e-04 1.67784564e+00] [ 1.18817456e-02 -2.75832753e-04 9.99929372e-01 1.44077508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62925415399997 meters 0.018646426268061962 Centerline is valid? [True, True] Translation: X:212.65, Y:1.67, Z:1.44 [[ 9.99231877e-01 -3.73374307e-02 -1.18984335e-02 2.12652794e+02] [ 3.73384602e-02 9.99302667e-01 -1.35679495e-04 1.67459025e+00] [ 1.18952022e-02 -3.08693908e-04 9.99929202e-01 1.44062631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65925415399997 meters 0.01971822734100673 Centerline is valid? [True, True] Translation: X:212.68, Y:1.67, Z:1.44 [[ 9.98967818e-01 -4.34744951e-02 -1.31631066e-02 2.12683964e+02] [ 4.34763007e-02 9.99054447e-01 -1.49092054e-04 1.66965611e+00] [ 1.31571419e-02 -4.23345016e-04 9.99913351e-01 1.44079421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68925415399997 meters 0.02352400868210958 Centerline is valid? [True, True] Translation: X:212.71, Y:1.66, Z:1.44 [[ 9.98814066e-01 -4.66387475e-02 -1.39745960e-02 2.12714399e+02] [ 4.66410977e-02 9.98911699e-01 -1.57865940e-04 1.66437330e+00] [ 1.39667501e-02 -4.94111776e-04 9.99902338e-01 1.43833592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71925415399997 meters 0.025730756651205285 Centerline is valid? [True, True] Translation: X:212.74, Y:1.66, Z:1.44 [[ 9.98395240e-01 -5.46746874e-02 -1.47520418e-02 2.12744135e+02] [ 5.46781821e-02 9.98504015e-01 -1.66631025e-04 1.65690452e+00] [ 1.47390835e-02 -6.40251205e-04 9.99891169e-01 1.43915639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74925415399997 meters 0.025730756651205285 Centerline is valid? [True, True] Translation: X:212.78, Y:1.66, Z:1.44 [[ 9.98399060e-01 -5.46048825e-02 -1.47520468e-02 2.12775852e+02] [ 5.46083762e-02 9.98507836e-01 -1.66185581e-04 1.65719842e+00] [ 1.47391089e-02 -6.39665793e-04 9.99891169e-01 1.43937622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77925415399997 meters 0.029935920670546255 Centerline is valid? [True, True] Translation: X:212.81, Y:1.65, Z:1.44 [[ 9.97932748e-01 -6.25272119e-02 -1.48518812e-02 2.12806317e+02] [ 6.25316364e-02 9.98042968e-01 -1.66738626e-04 1.64943166e+00] [ 1.48332413e-02 -7.62318501e-04 9.99889691e-01 1.43898262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80925415399997 meters 0.027930694481964752 Centerline is valid? [True, True] Translation: X:212.84, Y:1.65, Z:1.44 [[ 9.97706353e-01 -6.59948982e-02 -1.50567813e-02 2.12837159e+02] [ 6.59998427e-02 9.97819619e-01 -1.68816225e-04 1.65186537e+00] [ 1.50350928e-02 -8.25316178e-04 9.99886626e-01 1.43975204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83925415399997 meters 0.03000598818880633 Centerline is valid? [True, True] Translation: X:212.87, Y:1.65, Z:1.44 [[ 9.97507524e-01 -6.89669165e-02 -1.49098451e-02 2.12867045e+02] [ 6.89721072e-02 9.97618575e-01 -1.66404413e-04 1.64860448e+00] [ 1.48858149e-02 -8.62373784e-04 9.99888828e-01 1.44008948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.86925415399998 meters 0.03354380685776557 Centerline is valid? [True, True] Translation: X:212.90, Y:1.64, Z:1.44 [[ 9.97177658e-01 -7.34805356e-02 -1.54055234e-02 2.12897036e+02] [ 7.34866248e-02 9.97296188e-01 -1.71218373e-04 1.64461074e+00] [ 1.53764509e-02 -9.61364778e-04 9.99881313e-01 1.43960316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89925415399998 meters 0.03504179487685652 Centerline is valid? [True, True] Translation: X:212.93, Y:1.64, Z:1.44 [[ 9.97071847e-01 -7.48184343e-02 -1.58093041e-02 2.12928872e+02] [ 7.48250238e-02 9.97196663e-01 -1.75109701e-04 1.64373175e+00] [ 1.57780867e-02 -1.00833460e-03 9.99875010e-01 1.43919483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.92925415399998 meters 0.03418799765640868 Centerline is valid? [True, True] Translation: X:212.96, Y:1.64, Z:1.44 [[ 9.97013506e-01 -7.56907073e-02 -1.53292320e-02 2.12960958e+02] [ 7.56970200e-02 9.97130850e-01 -1.68831518e-04 1.64493604e+00] [ 1.52980291e-02 -9.92049873e-04 9.99882486e-01 1.44157696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.95925415399998 meters 0.03524808468680062 Centerline is valid? [True, True] Translation: X:212.99, Y:1.65, Z:1.44 [[ 9.96976660e-01 -7.61467519e-02 -1.54664803e-02 2.12991735e+02] [ 7.61532476e-02 9.97096111e-01 -1.69386299e-04 1.64565355e+00] [ 1.54344655e-02 -1.00894851e-03 9.99880372e-01 1.44217197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.98925415399998 meters 0.034614931283778544 Centerline is valid? [True, True] Translation: X:213.02, Y:1.65, Z:1.44 [[ 9.97000061e-01 -7.58033558e-02 -1.56438491e-02 2.13023952e+02] [ 7.58099748e-02 9.97122269e-01 -1.70333066e-04 1.64778208e+00] [ 1.56117421e-02 -1.01613773e-03 9.99877613e-01 1.44287650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.01925415399998 meters 0.03554608101244 Centerline is valid? [True, True] Translation: X:213.05, Y:1.65, Z:1.44 [[ 9.97052158e-01 -7.51225196e-02 -1.56077094e-02 2.13054952e+02] [ 7.51290398e-02 9.97173806e-01 -1.68985906e-04 1.64856075e+00] [ 1.55762936e-02 -1.00410446e-03 9.99878178e-01 1.44203898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.04925415399998 meters 0.03644828855909972 Centerline is valid? [True, True] Translation: X:213.09, Y:1.65, Z:1.44 [[ 9.97163885e-01 -7.37540029e-02 -1.49844650e-02 2.13085885e+02] [ 7.37598683e-02 9.97276018e-01 -1.61601843e-04 1.65018585e+00] [ 1.49555663e-02 -9.44108641e-04 9.99887714e-01 1.44360707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07925415399998 meters 0.03475387993011599 Centerline is valid? [True, True] Translation: X:213.12, Y:1.65, Z:1.44 [[ 9.97235781e-01 -7.28418050e-02 -1.46583708e-02 2.13117905e+02] [ 7.28473310e-02 9.97343091e-01 -1.57306069e-04 1.65409151e+00] [ 1.46308833e-02 -9.10951948e-04 9.99892548e-01 1.44476799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.10925415399998 meters 0.035223109941221006 Centerline is valid? [True, True] Translation: X:213.15, Y:1.66, Z:1.45 [[ 9.97303155e-01 -7.19933232e-02 -1.42610965e-02 2.13148837e+02] [ 7.19984795e-02 9.97404730e-01 -1.52188644e-04 1.65521175e+00] [ 1.42350417e-02 -8.74999052e-04 9.99898294e-01 1.44509643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13925415399999 meters 0.028024376046497542 Centerline is valid? [True, True] Translation: X:213.18, Y:1.67, Z:1.45 [[ 9.97444236e-01 -7.00021409e-02 -1.43072032e-02 2.13179947e+02] [ 7.00071357e-02 9.97546479e-01 -1.52040082e-04 1.66886319e+00] [ 1.42827433e-02 -8.49954811e-04 9.99897635e-01 1.44640612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.169254154 meters 0.028190086688381143 Centerline is valid? [True, True] Translation: X:213.21, Y:1.67, Z:1.45 [[ 9.97505731e-01 -6.90439145e-02 -1.46715740e-02 2.13212365e+02] [ 6.90490760e-02 9.97613252e-01 -1.55068089e-04 1.67063750e+00] [ 1.46472632e-02 -8.58377323e-04 9.99892355e-01 1.44646696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.199254154 meters 0.028565571196448838 Centerline is valid? [True, True] Translation: X:213.24, Y:1.67, Z:1.45 [[ 9.97592206e-01 -6.77697972e-02 -1.47324546e-02 2.13243505e+02] [ 6.77748877e-02 9.97700627e-01 -1.54040806e-04 1.67223279e+00] [ 1.47090185e-02 -8.44820547e-04 9.99891460e-01 1.44642195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.229254154 meters 0.026849257184448482 Centerline is valid? [True, True] Translation: X:213.28, Y:1.68, Z:1.45 [[ 9.97789186e-01 -6.46330150e-02 -1.54697741e-02 2.13275460e+02] [ 6.46382790e-02 9.97908747e-01 -1.60005508e-04 1.67880420e+00] [ 1.54477645e-02 -8.40287808e-04 9.99880323e-01 1.44614770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.259254154 meters 0.02728242288282248 Centerline is valid? [True, True] Translation: X:213.31, Y:1.68, Z:1.45 [[ 9.97902812e-01 -6.27813887e-02 -1.57631058e-02 2.13306358e+02] [ 6.27866377e-02 9.98026959e-01 -1.62159478e-04 1.68038820e+00] [ 1.57421852e-02 -8.27893015e-04 9.99875741e-01 1.44605073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.289254154 meters 0.02719263932015341 Centerline is valid? [True, True] Translation: X:213.34, Y:1.68, Z:1.44 [[ 9.98043392e-01 -6.02786486e-02 -1.66093868e-02 2.13337681e+02] [ 6.02841412e-02 9.98181243e-01 -1.70240613e-04 1.68412921e+00] [ 1.65894403e-02 -8.31375103e-04 9.99862040e-01 1.44469171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31925415399996 meters 0.025425141670924942 Centerline is valid? [True, True] Translation: X:213.37, Y:1.69, Z:1.45 [[ 9.98168577e-01 -5.83161081e-02 -1.60848890e-02 2.13368783e+02] [ 5.83210144e-02 9.98297868e-01 -1.64283886e-04 1.68796374e+00] [ 1.60670908e-02 -7.74104030e-04 9.99870616e-01 1.44693382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34925415399996 meters 0.025425141670924942 Centerline is valid? [True, True] Translation: X:213.40, Y:1.69, Z:1.45 [[ 9.98172818e-01 -5.82434728e-02 -1.60848983e-02 2.13400509e+02] [ 5.82483843e-02 9.98302108e-01 -1.63364422e-04 1.68822600e+00] [ 1.60671028e-02 -7.73853416e-04 9.99870616e-01 1.44715362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37925415399997 meters 0.02406517813795772 Centerline is valid? [True, True] Translation: X:213.43, Y:1.70, Z:1.45 [[ 9.98480079e-01 -5.25608345e-02 -1.65797973e-02 2.13430734e+02] [ 5.25652813e-02 9.98617476e-01 -1.67772200e-04 1.69539756e+00] [ 1.65656936e-02 -7.04004512e-04 9.99862532e-01 1.44665421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40925415399997 meters 0.02300058021975709 Centerline is valid? [True, True] Translation: X:213.46, Y:1.70, Z:1.45 [[ 9.98612372e-01 -5.00089658e-02 -1.65055734e-02 2.13462566e+02] [ 5.00130345e-02 9.98748551e-01 -1.66433413e-04 1.69840679e+00] [ 1.64932407e-02 -6.59291346e-04 9.99863760e-01 1.44738614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43925415399997 meters 0.02223321334855664 Centerline is valid? [True, True] Translation: X:213.49, Y:1.70, Z:1.45 [[ 9.98766195e-01 -4.66381669e-02 -1.70578170e-02 2.13493185e+02] [ 4.66420344e-02 9.98911653e-01 -1.71252805e-04 1.70149331e+00] [ 1.70472391e-02 -6.24569776e-04 9.99854490e-01 1.44697837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46925415399997 meters 0.020166281218036087 Centerline is valid? [True, True] Translation: X:213.52, Y:1.71, Z:1.45 [[ 9.99049592e-01 -3.98182033e-02 -1.77320033e-02 2.13522998e+02] [ 3.98213139e-02 9.99206801e-01 -1.77763530e-04 1.70869218e+00] [ 1.77250165e-02 -5.28517089e-04 9.99842760e-01 1.44642333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49925415399997 meters 0.01909064074950317 Centerline is valid? [True, True] Translation: X:213.55, Y:1.71, Z:1.45 [[ 9.99196408e-01 -3.58516685e-02 -1.79219552e-02 2.13553966e+02] [ 3.58542120e-02 9.99357015e-01 -1.79476109e-04 1.71283298e+00] [ 1.79168662e-02 -4.63245698e-04 9.99839373e-01 1.44656697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52925415399997 meters 0.017981749709313863 Centerline is valid? [True, True] Translation: X:213.58, Y:1.72, Z:1.45 [[ 9.99336286e-01 -3.17117883e-02 -1.79262333e-02 2.13584016e+02] [ 3.17136695e-02 9.99496979e-01 -1.79398100e-04 1.71693195e+00] [ 1.79229051e-02 -3.89227607e-04 9.99839296e-01 1.44664123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55925415399997 meters 0.01688849228596296 Centerline is valid? [True, True] Translation: X:213.61, Y:1.72, Z:1.45 [[ 9.99461709e-01 -2.75377684e-02 -1.78315140e-02 2.13614267e+02] [ 2.75389657e-02 9.99620715e-01 -1.78450190e-04 1.72124806e+00] [ 1.78296649e-02 -3.12707321e-04 9.99840990e-01 1.44752837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58925415399997 meters 0.015281047860036295 Centerline is valid? [True, True] Translation: X:213.64, Y:1.73, Z:1.45 [[ 9.99679981e-01 -1.94115224e-02 -1.62212131e-02 2.13642991e+02] [ 1.94114357e-02 9.99811567e-01 -1.62810749e-04 1.72877845e+00] [ 1.62213169e-02 -1.52118388e-04 9.99868414e-01 1.44931421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61925415399998 meters 0.014682100615560502 Centerline is valid? [True, True] Translation: X:213.67, Y:1.73, Z:1.45 [[ 9.99766135e-01 -1.58683249e-02 -1.46925772e-02 2.13671922e+02] [ 1.58678393e-02 9.99874087e-01 -1.49630255e-04 1.73203837e+00] [ 1.46931016e-02 -8.35441930e-05 9.99892047e-01 1.45082528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64925415399998 meters 0.014568454356660104 Centerline is valid? [True, True] Translation: X:213.70, Y:1.73, Z:1.45 [[ 9.99816913e-01 -1.30245994e-02 -1.40178606e-02 2.13700983e+02] [ 1.30238309e-02 9.99915176e-01 -1.46110175e-04 1.73487303e+00] [ 1.40185746e-02 -3.64828232e-05 9.99901734e-01 1.45234349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.67925415399998 meters 0.014377545929017455 Centerline is valid? [True, True] Translation: X:213.73, Y:1.74, Z:1.45 [[ 9.99876857e-01 -8.88421037e-03 -1.29360405e-02 2.13729062e+02] [ 8.88316623e-03 9.99960534e-01 -1.38173033e-04 1.73731484e+00] [ 1.29367575e-02 2.32430199e-05 9.99916316e-01 1.45339681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.70925415399998 meters 0.014336941179073054 Centerline is valid? [True, True] Translation: X:213.76, Y:1.74, Z:1.45 [[ 9.99892276e-01 -7.95057331e-03 -1.23379257e-02 2.13756667e+02] [ 7.94950981e-03 9.99968393e-01 -1.35238521e-04 1.73778736e+00] [ 1.23386109e-02 3.71434909e-05 9.99923876e-01 1.45339229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.73925415399998 meters 0.014396654444746719 Centerline is valid? [True, True] Translation: X:213.78, Y:1.74, Z:1.45 [[ 9.99889536e-01 -7.85960378e-03 -1.26152008e-02 2.13784838e+02] [ 7.85843855e-03 9.99969112e-01 -1.41934601e-04 1.73770917e+00] [ 1.26159267e-02 4.27831419e-05 9.99920415e-01 1.45311417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.76925415399998 meters 0.014354127070876105 Centerline is valid? [True, True] Translation: X:213.81, Y:1.74, Z:1.45 [[ 9.99884451e-01 -8.34384592e-03 -1.27068753e-02 2.13812292e+02] [ 8.34266836e-03 9.99965189e-01 -1.45675955e-04 1.73686839e+00] [ 1.27076485e-02 3.96498753e-05 9.99919254e-01 1.45262496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.79925415399998 meters 0.014149142756767322 Centerline is valid? [True, True] Translation: X:213.84, Y:1.73, Z:1.45 [[ 9.99834245e-01 -1.15050275e-02 -1.41108997e-02 2.13840343e+02] [ 1.15038678e-02 9.99933815e-01 -1.63352660e-04 1.73245368e+00] [ 1.41118452e-02 9.95658891e-07 9.99900423e-01 1.45072789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82925415399998 meters 0.014344212754056493 Centerline is valid? [True, True] Translation: X:213.87, Y:1.73, Z:1.45 [[ 9.99794047e-01 -1.41011635e-02 -1.45952483e-02 2.13868226e+02] [ 1.41001593e-02 9.99900573e-01 -1.71712772e-04 1.72962779e+00] [ 1.45962184e-02 -3.41179174e-05 9.99893469e-01 1.44989713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85925415399998 meters 0.014387082711263127 Centerline is valid? [True, True] Translation: X:213.90, Y:1.73, Z:1.45 [[ 9.99743740e-01 -1.69551592e-02 -1.49992491e-02 2.13896604e+02] [ 1.69543593e-02 9.99856248e-01 -1.80494753e-04 1.72706540e+00] [ 1.50001532e-02 -7.38541579e-05 9.99887489e-01 1.45026107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88925415399999 meters 0.014782433937560319 Centerline is valid? [True, True] Translation: X:213.93, Y:1.72, Z:1.45 [[ 9.99634782e-01 -2.27039162e-02 -1.46572506e-02 2.13925606e+02] [ 2.27037366e-02 9.99742221e-01 -1.78666364e-04 1.72085581e+00] [ 1.46575287e-02 -1.54173245e-04 9.99892561e-01 1.45018240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.919254154 meters 0.015259584553998782 Centerline is valid? [True, True] Translation: X:213.95, Y:1.72, Z:1.45 [[ 9.99574650e-01 -2.53075539e-02 -1.44929906e-02 2.13954730e+02] [ 2.53076502e-02 9.99679694e-01 -1.76792285e-04 1.71741043e+00] [ 1.44928226e-02 -1.90066448e-04 9.99894955e-01 1.45035950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.949254154 meters 0.015742112563286278 Centerline is valid? [True, True] Translation: X:213.99, Y:1.71, Z:1.45 [[ 9.99511917e-01 -2.78683761e-02 -1.41167038e-02 2.13985217e+02] [ 2.78687273e-02 9.99611577e-01 -1.71870730e-04 1.71448066e+00] [ 1.41160103e-02 -2.21627726e-04 9.99900340e-01 1.45053700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.979254154 meters 0.01597834424676414 Centerline is valid? [True, True] Translation: X:214.02, Y:1.71, Z:1.45 [[ 9.99447769e-01 -3.02234014e-02 -1.38095406e-02 2.14016280e+02] [ 3.02239657e-02 9.99543137e-01 -1.67883025e-04 1.71245001e+00] [ 1.38083055e-02 -2.49588767e-04 9.99904630e-01 1.45147998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.009254154 meters 0.016735261171703725 Centerline is valid? [True, True] Translation: X:214.05, Y:1.71, Z:1.45 [[ 9.99307146e-01 -3.50396566e-02 -1.25479495e-02 2.14047872e+02] [ 3.50405073e-02 9.99385881e-01 -1.52115315e-04 1.70646934e+00] [ 1.25455736e-02 -2.87676593e-04 9.99921260e-01 1.45234221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.039254154 meters 0.01717842915074938 Centerline is valid? [True, True] Translation: X:214.08, Y:1.70, Z:1.45 [[ 9.99221009e-01 -3.75085051e-02 -1.22673159e-02 2.14080158e+02] [ 3.75095120e-02 9.99296260e-01 -1.48074235e-04 1.70391496e+00] [ 1.22642369e-02 -3.12182146e-04 9.99924743e-01 1.45281086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06925415399996 meters 0.01782996591331701 Centerline is valid? [True, True] Translation: X:214.11, Y:1.70, Z:1.45 [[ 9.99136886e-01 -3.97508232e-02 -1.20563466e-02 2.14112202e+02] [ 3.97519694e-02 9.99209568e-01 -1.44644317e-04 1.70123736e+00] [ 1.20525666e-02 -3.34744049e-04 9.99927309e-01 1.45305759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09925415399996 meters 0.020422533830750614 Centerline is valid? [True, True] Translation: X:214.14, Y:1.69, Z:1.45 [[ 9.98909438e-01 -4.49893929e-02 -1.24855579e-02 2.14143848e+02] [ 4.49910402e-02 9.98987379e-01 -1.49055115e-04 1.69484283e+00] [ 1.24796206e-02 -4.12845673e-04 9.99922041e-01 1.45186138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12925415399997 meters 0.02143798941919217 Centerline is valid? [True, True] Translation: X:214.18, Y:1.69, Z:1.45 [[ 9.98754831e-01 -4.80856948e-02 -1.32873748e-02 2.14176352e+02] [ 4.80878440e-02 9.98843098e-01 -1.57886339e-04 1.69160378e+00] [ 1.32795947e-02 -4.81271463e-04 9.99911706e-01 1.45182038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15925415399997 meters 0.02191387865330792 Centerline is valid? [True, True] Translation: X:214.21, Y:1.69, Z:1.45 [[ 9.98567989e-01 -5.18973829e-02 -1.29858608e-02 2.14206008e+02] [ 5.18997638e-02 9.98652287e-01 -1.53804153e-04 1.68834759e+00] [ 1.29763416e-02 -5.20379206e-04 9.99915668e-01 1.45231061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.18925415399997 meters 0.023193054382283793 Centerline is valid? [True, True] Translation: X:214.24, Y:1.69, Z:1.45 [[ 9.98364149e-01 -5.54894410e-02 -1.37821541e-02 2.14237466e+02] [ 5.54924680e-02 9.98459093e-01 -1.62985778e-04 1.68543942e+00] [ 1.37699611e-02 -6.02086589e-04 9.99905008e-01 1.45204175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.21925415399997 meters 0.025870861779682012 Centerline is valid? [True, True] Translation: X:214.27, Y:1.68, Z:1.45 [[ 9.97917853e-01 -6.27905227e-02 -1.47413690e-02 2.14268735e+02] [ 6.27947872e-02 9.98026445e-01 -1.73855109e-04 1.67937225e+00] [ 1.47231925e-02 -7.52188011e-04 9.99891325e-01 1.45168282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24925415399997 meters 0.02984037367176859 Centerline is valid? [True, True] Translation: X:214.30, Y:1.67, Z:1.45 [[ 9.97685564e-01 -6.60309403e-02 -1.62305153e-02 2.14298925e+02] [ 6.60365408e-02 9.97817187e-01 -1.91218209e-04 1.67438809e+00] [ 1.62077134e-02 -8.81031439e-04 9.99868258e-01 1.44968952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27925415399997 meters 0.02999313595409605 Centerline is valid? [True, True] Translation: X:214.33, Y:1.67, Z:1.45 [[ 9.97462752e-01 -6.94430870e-02 -1.56753208e-02 2.14329744e+02] [ 6.94487364e-02 9.97585505e-01 -1.84318208e-04 1.67207613e+00] [ 1.56502724e-02 -9.04780673e-04 9.99877118e-01 1.45053744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30925415399997 meters 0.03238960221084238 Centerline is valid? [True, True] Translation: X:214.36, Y:1.67, Z:1.45 [[ 9.97274531e-01 -7.17931214e-02 -1.70075492e-02 2.14360026e+02] [ 7.18001209e-02 9.97419021e-01 -1.99495135e-04 1.66924279e+00] [ 1.69779754e-02 -1.02219267e-03 9.99855341e-01 1.44942888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33925415399997 meters 0.03369629444156383 Centerline is valid? [True, True] Translation: X:214.39, Y:1.67, Z:1.45 [[ 9.97019180e-01 -7.53309948e-02 -1.66731870e-02 2.14391181e+02] [ 7.53382193e-02 9.97158019e-01 -1.95279403e-04 1.66750846e+00] [ 1.66405128e-02 -1.06143091e-03 9.99860974e-01 1.45028617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36925415399998 meters 0.03432184799754118 Centerline is valid? [True, True] Translation: X:214.42, Y:1.67, Z:1.45 [[ 9.97001682e-01 -7.56219149e-02 -1.64003552e-02 2.14423034e+02] [ 7.56289570e-02 9.97136011e-01 -1.91291940e-04 1.66804780e+00] [ 1.63678506e-02 -1.04962337e-03 9.99865487e-01 1.45094918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39925415399998 meters 0.03557806812698772 Centerline is valid? [True, True] Translation: X:214.45, Y:1.67, Z:1.45 [[ 9.97037087e-01 -7.51356346e-02 -1.64828356e-02 2.14454460e+02] [ 7.51426979e-02 9.97172773e-01 -1.91256087e-04 1.66805847e+00] [ 1.64506051e-02 -1.04787533e-03 9.99864131e-01 1.45141664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.42925415399998 meters 0.03385825841793177 Centerline is valid? [True, True] Translation: X:214.49, Y:1.67, Z:1.45 [[ 9.97268571e-01 -7.20087292e-02 -1.64359560e-02 2.14485498e+02] [ 7.20153387e-02 9.97403507e-01 -1.90136568e-04 1.67349074e+00] [ 1.64069716e-02 -9.94023716e-04 9.99864902e-01 1.45206899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.45925415399998 meters 0.02906740092927067 Centerline is valid? [True, True] Translation: X:214.52, Y:1.68, Z:1.45 [[ 9.97446910e-01 -6.95035731e-02 -1.63986436e-02 2.14516639e+02] [ 6.95098234e-02 9.97581249e-01 -1.89203530e-04 1.68164594e+00] [ 1.63721297e-02 -9.51146346e-04 9.99865515e-01 1.45314222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.48925415399998 meters 0.029300589353828396 Centerline is valid? [True, True] Translation: X:214.55, Y:1.68, Z:1.45 [[ 9.97616081e-01 -6.69137635e-02 -1.68731435e-02 2.14547604e+02] [ 6.69200221e-02 9.97758324e-01 -1.94053217e-04 1.68316125e+00] [ 1.68483042e-02 -9.35560528e-04 9.99857620e-01 1.45328908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.51925415399998 meters 0.026120511593300175 Centerline is valid? [True, True] Translation: X:214.58, Y:1.69, Z:1.45 [[ 9.97940685e-01 -6.21381612e-02 -1.59134368e-02 2.14578229e+02] [ 6.21431272e-02 9.98067231e-01 -1.82714280e-04 1.69177054e+00] [ 1.58940334e-02 -8.06572715e-04 9.99873357e-01 1.45457242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.54925415399998 meters 0.027248498225350196 Centerline is valid? [True, True] Translation: X:214.61, Y:1.69, Z:1.45 [[ 9.98097289e-01 -5.94935238e-02 -1.61963593e-02 2.14608958e+02] [ 5.94983268e-02 9.98228388e-01 -1.85576238e-04 1.69213254e+00] [ 1.61787063e-02 -7.78433142e-04 9.99868813e-01 1.45437684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57925415399998 meters 0.02485673742448158 Centerline is valid? [True, True] Translation: X:214.64, Y:1.70, Z:1.46 [[ 9.98236996e-01 -5.71133841e-02 -1.61543110e-02 2.14640161e+02] [ 5.71178607e-02 9.98367425e-01 -1.84508933e-04 1.69791198e+00] [ 1.61384758e-02 -7.38516044e-04 9.99869494e-01 1.45543239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.60925415399998 meters 0.02237765640588326 Centerline is valid? [True, True] Translation: X:214.67, Y:1.70, Z:1.46 [[ 9.98370243e-01 -5.47347765e-02 -1.61543203e-02 2.14671648e+02] [ 5.47389519e-02 9.98500683e-01 -1.83913692e-04 1.70391157e+00] [ 1.61401663e-02 -7.00656603e-04 9.99869494e-01 1.45632515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63925415399999 meters 0.021917296419293752 Centerline is valid? [True, True] Translation: X:214.70, Y:1.71, Z:1.46 [[ 9.98608610e-01 -5.00284861e-02 -1.66731472e-02 2.14701432e+02] [ 5.00322835e-02 9.98747583e-01 -1.89553547e-04 1.70891865e+00] [ 1.66617485e-02 -6.44905824e-04 9.99860975e-01 1.45635503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.669254154 meters 0.02047147178863614 Centerline is valid? [True, True] Translation: X:214.73, Y:1.71, Z:1.46 [[ 9.98726424e-01 -4.76032790e-02 -1.67169695e-02 2.14732908e+02] [ 4.76067632e-02 9.98866137e-01 -1.89689416e-04 1.71366242e+00] [ 1.67070445e-02 -6.06392975e-04 9.99860244e-01 1.45691766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699254154 meters 0.025106603267764316 Centerline is valid? [True, True] Translation: X:214.76, Y:1.71, Z:1.45 [[ 9.98850342e-01 -4.48398339e-02 -1.69523822e-02 2.14763439e+02] [ 4.48430269e-02 9.98994027e-01 -1.91917945e-04 1.70846781e+00] [ 1.69439342e-02 -5.68498828e-04 9.99856280e-01 1.45457615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.729254154 meters 0.017465830571273256 Centerline is valid? [True, True] Translation: X:214.79, Y:1.73, Z:1.46 [[ 9.99106892e-01 -3.86694739e-02 -1.70320226e-02 2.14794024e+02] [ 3.86718064e-02 9.99251947e-01 -1.92503620e-04 1.72627003e+00] [ 1.70267258e-02 -4.66327387e-04 9.99854926e-01 1.45847621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759254154 meters 0.017684173487529427 Centerline is valid? [True, True] Translation: X:214.82, Y:1.73, Z:1.46 [[ 9.99229885e-01 -3.53872296e-02 -1.69522880e-02 2.14824415e+02] [ 3.53890737e-02 9.99373592e-01 -1.91287442e-04 1.72878726e+00] [ 1.69484381e-02 -4.08785643e-04 9.99856281e-01 1.45806423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.789254154 meters 0.01583191787629771 Centerline is valid? [True, True] Translation: X:214.86, Y:1.74, Z:1.46 [[ 9.99438851e-01 -2.86247535e-02 -1.73956045e-02 2.14855333e+02] [ 2.86256739e-02 9.99590182e-01 -1.96136235e-04 1.73810651e+00] [ 1.73940898e-02 -3.01934729e-04 9.99848666e-01 1.45873628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81925415399996 meters 0.01483656062252249 Centerline is valid? [True, True] Translation: X:214.89, Y:1.74, Z:1.46 [[ 9.99595770e-01 -2.27918187e-02 -1.69949583e-02 2.14885535e+02] [ 2.27918545e-02 9.99740214e-01 -1.91604919e-04 1.74488360e+00] [ 1.69949103e-02 -1.95819150e-04 9.99855557e-01 1.45915805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84925415399996 meters 0.01483656062252249 Centerline is valid? [True, True] Translation: X:214.91, Y:1.75, Z:1.46 [[ 9.99594942e-01 -2.28281083e-02 -1.69949542e-02 2.14914689e+02] [ 2.28281432e-02 9.99739386e-01 -1.91970325e-04 1.74524190e+00] [ 1.69949074e-02 -1.96070681e-04 9.99855557e-01 1.45936009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87925415399997 meters 0.014601917937345305 Centerline is valid? [True, True] Translation: X:214.94, Y:1.75, Z:1.46 [[ 9.99648579e-01 -2.06751084e-02 -1.65909228e-02 2.14943683e+02] [ 2.06748302e-02 9.99786235e-01 -1.88305152e-04 1.74822245e+00] [ 1.65912694e-02 -1.54775533e-04 9.99862343e-01 1.45968755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90925415399997 meters 0.014426364710961188 Centerline is valid? [True, True] Translation: X:214.97, Y:1.75, Z:1.46 [[ 9.99682134e-01 -1.90476578e-02 -1.65171983e-02 2.14972431e+02] [ 1.90471122e-02 9.99818569e-01 -1.90363953e-04 1.75094664e+00] [ 1.65178276e-02 -1.24301486e-04 9.99863564e-01 1.46006740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93925415399997 meters 0.014507891270911007 Centerline is valid? [True, True] Translation: X:215.00, Y:1.75, Z:1.46 [[ 9.99706452e-01 -1.76752908e-02 -1.65708502e-02 2.15000966e+02] [ 1.76744830e-02 9.99843775e-01 -1.95212051e-04 1.75338533e+00] [ 1.65717119e-02 -9.77264634e-05 9.99862675e-01 1.46046743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96925415399997 meters 0.014441040725162665 Centerline is valid? [True, True] Translation: X:215.03, Y:1.76, Z:1.46 [[ 9.99740102e-01 -1.58736522e-02 -1.63632397e-02 2.15029151e+02] [ 1.58725805e-02 9.99874004e-01 -1.95372871e-04 1.75769802e+00] [ 1.63642793e-02 -6.44047454e-05 9.99866094e-01 1.46090829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99925415399997 meters 0.014412971268428951 Centerline is valid? [True, True] Translation: X:215.06, Y:1.76, Z:1.46 [[ 9.99750640e-01 -1.54471811e-02 -1.61258316e-02 2.15057355e+02] [ 1.54460325e-02 9.99880684e-01 -1.95785977e-04 1.75959904e+00] [ 1.61269319e-02 -5.33429630e-05 9.99869951e-01 1.46119472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02925415399997 meters 0.014319560380197011 Centerline is valid? [True, True] Translation: X:215.09, Y:1.76, Z:1.46 [[ 9.99754608e-01 -1.56546434e-02 -1.56734111e-02 2.15085504e+02] [ 1.56535414e-02 9.99877457e-01 -1.92991572e-04 1.76066210e+00] [ 1.56745117e-02 -5.24001768e-05 9.99877146e-01 1.46151401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05925415399997 meters 0.014359675199129143 Centerline is valid? [True, True] Translation: X:215.11, Y:1.76, Z:1.46 [[ 9.99742319e-01 -1.64362980e-02 -1.56570427e-02 2.15113221e+02] [ 1.64352451e-02 9.99864913e-01 -1.95923471e-04 1.76059952e+00] [ 1.56581479e-02 -6.14543495e-05 9.99877402e-01 1.46190374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.08925415399997 meters 0.014338071065836462 Centerline is valid? [True, True] Translation: X:215.14, Y:1.76, Z:1.46 [[ 9.99725606e-01 -1.75862054e-02 -1.54738055e-02 2.15142146e+02] [ 1.75852510e-02 9.99845348e-01 -1.97752421e-04 1.76025834e+00] [ 1.54748902e-02 -7.44125952e-05 9.99880254e-01 1.46225887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.11925415399998 meters 0.01453203483303195 Centerline is valid? [True, True] Translation: X:215.17, Y:1.76, Z:1.46 [[ 9.99702028e-01 -1.91567566e-02 -1.51285807e-02 2.15170474e+02] [ 1.91559675e-02 9.99816488e-01 -1.97079132e-04 1.75997449e+00] [ 1.51295798e-02 -9.27821916e-05 9.99885537e-01 1.46257158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14925415399998 meters 0.014605027768501982 Centerline is valid? [True, True] Translation: X:215.20, Y:1.76, Z:1.46 [[ 9.99677487e-01 -2.05574784e-02 -1.49101488e-02 2.15200354e+02] [ 2.05568382e-02 9.99788667e-01 -1.96213660e-04 1.75954144e+00] [ 1.49110315e-02 -1.10355140e-04 9.99888818e-01 1.46320357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.17925415399998 meters 0.014948612233480948 Centerline is valid? [True, True] Translation: X:215.23, Y:1.76, Z:1.46 [[ 9.99610879e-01 -2.39262975e-02 -1.43395401e-02 2.15229694e+02] [ 2.39260466e-02 9.99713713e-01 -1.89069915e-04 1.75752775e+00] [ 1.43399587e-02 -1.54092162e-04 9.99897166e-01 1.46414592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.20925415399998 meters 0.015515010907469113 Centerline is valid? [True, True] Translation: X:215.26, Y:1.76, Z:1.46 [[ 9.99567208e-01 -2.59699305e-02 -1.38188005e-02 2.15259585e+02] [ 2.59698912e-02 9.99662709e-01 -1.82320968e-04 1.75584327e+00] [ 1.38188744e-02 -1.76630685e-04 9.99904499e-01 1.46430488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.23925415399998 meters 0.015515010907469113 Centerline is valid? [True, True] Translation: X:215.29, Y:1.76, Z:1.46 [[ 9.99568108e-01 -2.59352860e-02 -1.38188037e-02 2.15290431e+02] [ 2.59352467e-02 9.99663608e-01 -1.82082180e-04 1.75621851e+00] [ 1.38188775e-02 -1.76390542e-04 9.99904499e-01 1.46451866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.26925415399998 meters 0.01601962175876851 Centerline is valid? [True, True] Translation: X:215.32, Y:1.75, Z:1.46 [[ 9.99511766e-01 -2.80040233e-02 -1.38565392e-02 2.15321876e+02] [ 2.80041891e-02 9.99607789e-01 -1.82099904e-04 1.75401932e+00] [ 1.38562041e-02 -2.06030148e-04 9.99903977e-01 1.46424027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.29925415399998 meters 0.01714610867240353 Centerline is valid? [True, True] Translation: X:215.35, Y:1.75, Z:1.46 [[ 9.99393662e-01 -3.18842982e-02 -1.39892563e-02 2.15352331e+02] [ 3.18848523e-02 9.99491532e-01 -1.83482319e-04 1.74869621e+00] [ 1.39879934e-02 -2.62674305e-04 9.99902129e-01 1.46321853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32925415399998 meters 0.017819478511232705 Centerline is valid? [True, True] Translation: X:215.38, Y:1.75, Z:1.46 [[ 9.99347603e-01 -3.33633921e-02 -1.38293735e-02 2.15384380e+02] [ 3.33640833e-02 9.99443248e-01 -1.80799046e-04 1.74651079e+00] [ 1.38277061e-02 -2.80723276e-04 9.99904353e-01 1.46297030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35925415399998 meters 0.018201732928769844 Centerline is valid? [True, True] Translation: X:215.42, Y:1.75, Z:1.46 [[ 9.99294037e-01 -3.47389749e-02 -1.43049537e-02 2.15416446e+02] [ 3.47398694e-02 9.99396371e-01 -1.86026504e-04 1.74539755e+00] [ 1.43027812e-02 -3.11057047e-04 9.99897662e-01 1.46311511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38925415399999 meters 0.01846042545089374 Centerline is valid? [True, True] Translation: X:215.45, Y:1.74, Z:1.46 [[ 9.99268690e-01 -3.56218620e-02 -1.38985213e-02 2.15448348e+02] [ 3.56228047e-02 9.99365290e-01 -1.79805246e-04 1.74440472e+00] [ 1.38961048e-02 -3.15430559e-04 9.99903395e-01 1.46322784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.419254154 meters 0.01901474966662315 Centerline is valid? [True, True] Translation: X:215.48, Y:1.74, Z:1.46 [[ 9.99212426e-01 -3.69613157e-02 -1.44356615e-02 2.15480870e+02] [ 3.69624870e-02 9.99316637e-01 -1.85751336e-04 1.74193320e+00] [ 1.44326623e-02 -3.47972907e-04 9.99895783e-01 1.46297678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.449254154 meters 0.01740892743300866 Centerline is valid? [True, True] Translation: X:215.51, Y:1.75, Z:1.46 [[ 9.99170959e-01 -3.77300118e-02 -1.52918730e-02 2.15512700e+02] [ 3.77314332e-02 9.99287897e-01 -1.95649487e-04 1.74528891e+00] [ 1.52883655e-02 -3.81496999e-04 9.99883053e-01 1.46411405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.479254154 meters 0.019696972951287677 Centerline is valid? [True, True] Translation: X:215.54, Y:1.74, Z:1.46 [[ 9.99160532e-01 -3.80518668e-02 -1.51752005e-02 2.15543820e+02] [ 3.80533265e-02 9.99275691e-01 -1.92649621e-04 1.73994091e+00] [ 1.51715397e-02 -3.84978962e-04 9.99884831e-01 1.46245764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.509254154 meters 0.021194493939016065 Centerline is valid? [True, True] Translation: X:215.58, Y:1.74, Z:1.46 [[ 9.99084694e-01 -3.97147663e-02 -1.58905945e-02 2.15575168e+02] [ 3.97165982e-02 9.99210965e-01 -2.00403960e-04 1.73573595e+00] [ 1.58860153e-02 -4.30899829e-04 9.99873716e-01 1.46116526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53925415399996 meters 0.018379822807017693 Centerline is valid? [True, True] Translation: X:215.61, Y:1.74, Z:1.46 [[ 9.99038977e-01 -4.06691436e-02 -1.63444880e-02 2.15607148e+02] [ 4.06712265e-02 9.99172562e-01 -2.05077702e-04 1.74036864e+00] [ 1.63393043e-02 -4.59869757e-04 9.99866399e-01 1.46303317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56925415399996 meters 0.01871575201267604 Centerline is valid? [True, True] Translation: X:215.64, Y:1.74, Z:1.46 [[ 9.99000988e-01 -4.16962945e-02 -1.60762506e-02 2.15639046e+02] [ 4.16984613e-02 9.99130221e-01 -2.00540845e-04 1.73943740e+00] [ 1.60706297e-02 -4.70014412e-04 9.99870749e-01 1.46311313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59925415399996 meters 0.01930019582280915 Centerline is valid? [True, True] Translation: X:215.67, Y:1.74, Z:1.46 [[ 9.98920976e-01 -4.35141794e-02 -1.62295807e-02 2.15670747e+02] [ 4.35166440e-02 9.99052682e-01 -2.01428347e-04 1.73827647e+00] [ 1.62229711e-02 -5.05045883e-04 9.99868271e-01 1.46371261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62925415399997 meters 0.019513347159417986 Centerline is valid? [True, True] Translation: X:215.70, Y:1.74, Z:1.46 [[ 9.98885106e-01 -4.44094407e-02 -1.60108006e-02 2.15703298e+02] [ 4.44119709e-02 9.99013282e-01 -1.97668986e-04 1.73782516e+00] [ 1.60037809e-02 -5.13622605e-04 9.99871799e-01 1.46411353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65925415399997 meters 0.01972363570095523 Centerline is valid? [True, True] Translation: X:215.74, Y:1.74, Z:1.46 [[ 9.98858599e-01 -4.49824771e-02 -1.60647227e-02 2.15735253e+02] [ 4.49851174e-02 9.98987638e-01 -1.97152016e-04 1.73757361e+00] [ 1.60573278e-02 -5.25746452e-04 9.99870935e-01 1.46459828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68925415399997 meters 0.020080512346687365 Centerline is valid? [True, True] Translation: X:215.77, Y:1.74, Z:1.46 [[ 9.98812040e-01 -4.58146877e-02 -1.65988673e-02 2.15767266e+02] [ 4.58176420e-02 9.98949800e-01 -2.02460506e-04 1.73816392e+00] [ 1.65907108e-02 -5.58300969e-04 9.99862209e-01 1.46463221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71925415399997 meters 0.020706121677032212 Centerline is valid? [True, True] Translation: X:215.80, Y:1.74, Z:1.47 [[ 9.98694945e-01 -4.84393412e-02 -1.61875816e-02 2.15798137e+02] [ 4.84425089e-02 9.98825953e-01 -1.96596919e-04 1.73607085e+00] [ 1.61780997e-02 -5.87826718e-04 9.99868953e-01 1.46544024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74925415399997 meters 0.020402500853283143 Centerline is valid? [True, True] Translation: X:215.83, Y:1.74, Z:1.47 [[ 9.98626379e-01 -4.98748254e-02 -1.60579254e-02 2.15830508e+02] [ 4.98781430e-02 9.98755292e-01 -1.94080345e-04 1.73683803e+00] [ 1.60476177e-02 -6.07125747e-04 9.99871044e-01 1.46609168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77925415399997 meters 0.02319626427303137 Centerline is valid? [True, True] Translation: X:215.86, Y:1.73, Z:1.47 [[ 9.98552880e-01 -5.13505037e-02 -1.59772138e-02 2.15861488e+02] [ 5.13539997e-02 9.98680494e-01 -1.91653928e-04 1.73236353e+00] [ 1.59659733e-02 -6.29117252e-04 9.99872338e-01 1.46565567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80925415399997 meters 0.02390187098963621 Centerline is valid? [True, True] Translation: X:215.89, Y:1.73, Z:1.47 [[ 9.98477711e-01 -5.27977846e-02 -1.59579131e-02 2.15893221e+02] [ 5.28014758e-02 9.98605011e-01 -1.90225668e-04 1.73147163e+00] [ 1.59456955e-02 -6.52665273e-04 9.99872646e-01 1.46576296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83925415399997 meters 0.022601917477606377 Centerline is valid? [True, True] Translation: X:215.93, Y:1.73, Z:1.47 [[ 9.98343289e-01 -5.52842279e-02 -1.59477903e-02 2.15925216e+02] [ 5.52882476e-02 9.98470417e-01 -1.89061615e-04 1.73421409e+00] [ 1.59338489e-02 -6.92976983e-04 9.99872808e-01 1.46716358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86925415399998 meters 0.02434080140208579 Centerline is valid? [True, True] Translation: X:215.96, Y:1.73, Z:1.47 [[ 9.98295829e-01 -5.60304642e-02 -1.63102955e-02 2.15956583e+02] [ 5.60347853e-02 9.98428799e-01 -1.92311010e-04 1.73239023e+00] [ 1.62954440e-02 -7.21960626e-04 9.99866960e-01 1.46685137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89925415399998 meters 0.023451534432222504 Centerline is valid? [True, True] Translation: X:215.99, Y:1.73, Z:1.47 [[ 9.98273641e-01 -5.63289324e-02 -1.66369792e-02 2.15989155e+02] [ 5.63334881e-02 9.98411989e-01 -1.95055288e-04 1.73471040e+00] [ 1.66215468e-02 -7.42500519e-04 9.99861577e-01 1.46759589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.92925415399998 meters 0.022388304863155864 Centerline is valid? [True, True] Translation: X:216.02, Y:1.74, Z:1.47 [[ 9.98300654e-01 -5.59101855e-02 -1.64272621e-02 2.16021002e+02] [ 5.59145905e-02 9.98435537e-01 -1.91377262e-04 1.73727922e+00] [ 1.64122622e-02 -7.27471587e-04 9.99865045e-01 1.46793930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.95925415399998 meters 0.02261382162808895 Centerline is valid? [True, True] Translation: X:216.05, Y:1.74, Z:1.47 [[ 9.98393285e-01 -5.40910427e-02 -1.68821507e-02 2.16052162e+02] [ 5.40954694e-02 9.98535749e-01 -1.94664584e-04 1.73887195e+00] [ 1.68679606e-02 -7.18896056e-04 9.99857467e-01 1.46749967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.98925415399998 meters 0.022438644172010403 Centerline is valid? [True, True] Translation: X:216.08, Y:1.74, Z:1.47 [[ 9.98475503e-01 -5.24722878e-02 -1.71268737e-02 2.16084257e+02] [ 5.24766368e-02 9.98622133e-01 -1.95695754e-04 1.74028530e+00] [ 1.71135438e-02 -7.03363315e-04 9.99853305e-01 1.46718041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.01925415399998 meters 0.021980741379777114 Centerline is valid? [True, True] Translation: X:216.12, Y:1.74, Z:1.47 [[ 9.98561329e-01 -5.08253505e-02 -1.70896553e-02 2.16116413e+02] [ 5.08294612e-02 9.98707329e-01 -1.94018057e-04 1.74254549e+00] [ 1.70774250e-02 -6.74919043e-04 9.99853942e-01 1.46740737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.04925415399998 meters 0.021362507850371158 Centerline is valid? [True, True] Translation: X:216.15, Y:1.74, Z:1.47 [[ 9.98677098e-01 -4.85373046e-02 -1.69759979e-02 2.16148062e+02] [ 4.85410486e-02 9.98821170e-01 -1.91672838e-04 1.74488651e+00] [ 1.69652893e-02 -6.32613464e-04 9.99855879e-01 1.46782049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07925415399998 meters 0.02023345512409996 Centerline is valid? [True, True] Translation: X:216.18, Y:1.75, Z:1.47 [[ 9.98919964e-01 -4.36106850e-02 -1.60316399e-02 2.16177767e+02] [ 4.36133958e-02 9.99048467e-01 -1.80652056e-04 1.75010957e+00] [ 1.60242636e-02 -5.18737312e-04 9.99871469e-01 1.46868561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.10925415399998 meters 0.01894398520031345 Centerline is valid? [True, True] Translation: X:216.21, Y:1.75, Z:1.47 [[ 9.99027696e-01 -4.11714532e-02 -1.57662105e-02 2.16210030e+02] [ 4.11737817e-02 9.99151985e-01 -1.77015019e-04 1.75422466e+00] [ 1.57601285e-02 -4.72311605e-04 9.99875690e-01 1.46959999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13925415399999 meters 0.017808218123510612 Centerline is valid? [True, True] Translation: X:216.24, Y:1.76, Z:1.47 [[ 9.99239645e-01 -3.61697224e-02 -1.45561858e-02 2.16241914e+02] [ 3.61711897e-02 9.99345595e-01 -1.62545474e-04 1.75858768e+00] [ 1.45525394e-02 -3.64092676e-04 9.99894040e-01 1.46985097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.169254154 meters 0.01722186518516303 Centerline is valid? [True, True] Translation: X:216.27, Y:1.76, Z:1.47 [[ 9.99314666e-01 -3.39559792e-02 -1.47373402e-02 2.16273714e+02] [ 3.39572539e-02 9.99423273e-01 -1.63800215e-04 1.76101077e+00] [ 1.47344027e-02 -3.36751645e-04 9.99891386e-01 1.47021947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.199254154 meters 0.01689247681782079 Centerline is valid? [True, True] Translation: X:216.30, Y:1.76, Z:1.47 [[ 9.99382292e-01 -3.18714764e-02 -1.48068716e-02 2.16304582e+02] [ 3.18725459e-02 9.99491928e-01 -1.63802954e-04 1.76245549e+00] [ 1.48045692e-02 -3.08230921e-04 9.99890359e-01 1.47036099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.229254154 meters 0.0166345781778928 Centerline is valid? [True, True] Translation: X:216.34, Y:1.76, Z:1.47 [[ 9.99429460e-01 -3.03183128e-02 -1.48846964e-02 2.16336194e+02] [ 3.03192312e-02 9.99540253e-01 -1.64003974e-04 1.76410602e+00] [ 1.48828255e-02 -2.87382146e-04 9.99889203e-01 1.47036789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.259254154 meters 0.01584087336209877 Centerline is valid? [True, True] Translation: X:216.37, Y:1.77, Z:1.47 [[ 9.99503382e-01 -2.78920464e-02 -1.46636462e-02 2.16367890e+02] [ 2.78926845e-02 9.99610910e-01 -1.61042185e-04 1.76775498e+00] [ 1.46624325e-02 -2.48046248e-04 9.99892470e-01 1.47104303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28925415399996 meters 0.015557525618115627 Centerline is valid? [True, True] Translation: X:216.40, Y:1.77, Z:1.47 [[ 9.99521350e-01 -2.72319009e-02 -1.46797198e-02 2.16399538e+02] [ 2.72324771e-02 9.99629114e-01 -1.60677354e-04 1.76906266e+00] [ 1.46786509e-02 -2.39164687e-04 9.99892234e-01 1.47117168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31925415399996 meters 0.01557410100828184 Centerline is valid? [True, True] Translation: X:216.43, Y:1.77, Z:1.47 [[ 9.99525729e-01 -2.68189369e-02 -1.51348103e-02 2.16430060e+02] [ 2.68195084e-02 9.99640279e-01 -1.65243474e-04 1.76918326e+00] [ 1.51337976e-02 -2.40743067e-04 9.99885449e-01 1.47082043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34925415399996 meters 0.015562611557220512 Centerline is valid? [True, True] Translation: X:216.46, Y:1.77, Z:1.47 [[ 9.99525451e-01 -2.66564568e-02 -1.54371441e-02 2.16461707e+02] [ 2.66570387e-02 9.99644624e-01 -1.68103358e-04 1.76937705e+00] [ 1.54361392e-02 -2.43484964e-04 9.99880826e-01 1.47029325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37925415399997 meters 0.015630351422893173 Centerline is valid? [True, True] Translation: X:216.49, Y:1.77, Z:1.47 [[ 9.99500516e-01 -2.68428165e-02 -1.66788044e-02 2.16492931e+02] [ 2.68435323e-02 9.99639631e-01 -1.80995665e-04 1.76916564e+00] [ 1.66776523e-02 -2.66812762e-04 9.99860883e-01 1.46915284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40925415399997 meters 0.015536277273936893 Centerline is valid? [True, True] Translation: X:216.52, Y:1.77, Z:1.47 [[ 9.99491552e-01 -2.69387753e-02 -1.70569571e-02 2.16523760e+02] [ 2.69395424e-02 9.99637048e-01 -1.84841436e-04 1.76974944e+00] [ 1.70557456e-02 -2.74759165e-04 9.99854502e-01 1.46906379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43925415399997 meters 0.015630260600313743 Centerline is valid? [True, True] Translation: X:216.55, Y:1.77, Z:1.47 [[ 9.99480164e-01 -2.71396386e-02 -1.74023350e-02 2.16554160e+02] [ 2.71404675e-02 9.99631612e-01 -1.88584199e-04 1.76983247e+00] [ 1.74010423e-02 -2.83821341e-04 9.99848550e-01 1.46884663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46925415399997 meters 0.015844398957830158 Centerline is valid? [True, True] Translation: X:216.58, Y:1.77, Z:1.47 [[ 9.99485602e-01 -2.74079424e-02 -1.66533961e-02 2.16583552e+02] [ 2.74087357e-02 9.99624294e-01 -1.80644962e-04 1.76980323e+00] [ 1.66520904e-02 -2.75896494e-04 9.99861306e-01 1.46904668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49925415399997 meters 0.016025311539577477 Centerline is valid? [True, True] Translation: X:216.61, Y:1.77, Z:1.47 [[ 9.99496898e-01 -2.72109297e-02 -1.62946716e-02 2.16614252e+02] [ 2.72116637e-02 9.99629678e-01 -1.76708338e-04 1.76903302e+00] [ 1.62934457e-02 -2.66785687e-04 9.99867217e-01 1.46932069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52925415399997 meters 0.015603034630752664 Centerline is valid? [True, True] Translation: X:216.64, Y:1.77, Z:1.47 [[ 9.99526922e-01 -2.66655916e-02 -1.53257741e-02 2.16644972e+02] [ 2.66661787e-02 9.99644380e-01 -1.66083709e-04 1.77052655e+00] [ 1.53247526e-02 -2.42674691e-04 9.99882540e-01 1.47020060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55925415399997 meters 0.01519741796878954 Centerline is valid? [True, True] Translation: X:216.68, Y:1.77, Z:1.47 [[ 9.99601164e-01 -2.41336488e-02 -1.46655788e-02 2.16675318e+02] [ 2.41339159e-02 9.99708722e-01 -1.58789656e-04 1.77115539e+00] [ 1.46651392e-02 -1.95211522e-04 9.99892442e-01 1.47102697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58925415399997 meters 0.014772209677904454 Centerline is valid? [True, True] Translation: X:216.71, Y:1.77, Z:1.47 [[ 9.99656025e-01 -2.21289575e-02 -1.40762868e-02 2.16706192e+02] [ 2.21290066e-02 9.99755112e-01 -1.52289175e-04 1.77259298e+00] [ 1.40762097e-02 -1.59257453e-04 9.99900913e-01 1.47176939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61925415399998 meters 0.014488801085684939 Centerline is valid? [True, True] Translation: X:216.74, Y:1.77, Z:1.47 [[ 9.99719046e-01 -1.97883621e-02 -1.30479940e-02 2.16736153e+02] [ 1.97882049e-02 9.99804184e-01 -1.41164233e-04 1.77394112e+00] [ 1.30482324e-02 -1.17071806e-04 9.99914861e-01 1.47225987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64925415399998 meters 0.014079321245398985 Centerline is valid? [True, True] Translation: X:216.77, Y:1.78, Z:1.47 [[ 9.99800382e-01 -1.56658967e-02 -1.24006733e-02 2.16766921e+02] [ 1.56654376e-02 9.99877281e-01 -1.34160970e-04 1.77674619e+00] [ 1.24012532e-02 -6.01277844e-05 9.99923100e-01 1.47363117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.67925415399998 meters 0.01389318800788231 Centerline is valid? [True, True] Translation: X:216.80, Y:1.78, Z:1.47 [[ 9.99817962e-01 -1.44553225e-02 -1.24533561e-02 2.16796013e+02] [ 1.44547610e-02 9.99895515e-01 -1.35101034e-04 1.77720263e+00] [ 1.24540079e-02 -4.49338468e-05 9.99922445e-01 1.47353751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.70925415399998 meters 0.013901410940951424 Centerline is valid? [True, True] Translation: X:216.83, Y:1.78, Z:1.47 [[ 9.99826486e-01 -1.37066783e-02 -1.26145003e-02 2.16825453e+02] [ 1.37060340e-02 9.99906058e-01 -1.37526650e-04 1.77708315e+00] [ 1.26152003e-02 -3.53919831e-05 9.99920425e-01 1.47367440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.73925415399998 meters 0.013902058649261261 Centerline is valid? [True, True] Translation: X:216.85, Y:1.78, Z:1.47 [[ 9.99813023e-01 -1.39519275e-02 -1.33888790e-02 2.16854102e+02] [ 1.39511978e-02 9.99902666e-01 -1.47903367e-04 1.77507471e+00] [ 1.33896393e-02 -3.89151861e-05 9.99910354e-01 1.47260172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.76925415399998 meters 0.01390352199484317 Centerline is valid? [True, True] Translation: X:216.88, Y:1.77, Z:1.47 [[ 9.99786573e-01 -1.47468620e-02 -1.44685238e-02 2.16882415e+02] [ 1.47460551e-02 9.99891258e-01 -1.62454048e-04 1.77407808e+00] [ 1.44693462e-02 -5.09342734e-05 9.99895312e-01 1.47189350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.79925415399998 meters 0.013935406520425757 Centerline is valid? [True, True] Translation: X:216.91, Y:1.77, Z:1.47 [[ 9.99755935e-01 -1.59800673e-02 -1.52547766e-02 2.16910294e+02] [ 1.59792920e-02 9.99872308e-01 -1.72712353e-04 1.77272768e+00] [ 1.52555886e-02 -7.10903298e-05 9.99883624e-01 1.47118435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82925415399998 meters 0.01414653122197249 Centerline is valid? [True, True] Translation: X:216.94, Y:1.77, Z:1.47 [[ 9.99720196e-01 -1.77334878e-02 -1.56541993e-02 2.16939012e+02] [ 1.77328411e-02 9.99842745e-01 -1.80127477e-04 1.77147928e+00] [ 1.56549319e-02 -9.75163530e-05 9.99877449e-01 1.47099724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85925415399998 meters 0.014536398761780953 Centerline is valid? [True, True] Translation: X:216.97, Y:1.77, Z:1.47 [[ 9.99624961e-01 -2.15159459e-02 -1.69411150e-02 2.16966811e+02] [ 2.15156835e-02 9.99768491e-01 -1.97774989e-04 1.76744201e+00] [ 1.69414483e-02 -1.66798853e-04 9.99856469e-01 1.47025017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88925415399999 meters 0.014759729558902807 Centerline is valid? [True, True] Translation: X:217.00, Y:1.77, Z:1.47 [[ 9.99569891e-01 -2.38529379e-02 -1.70607628e-02 2.16995309e+02] [ 2.38529581e-02 9.99715457e-01 -2.02334184e-04 1.76535752e+00] [ 1.70607345e-02 -2.04702501e-04 9.99854434e-01 1.47006443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.919254154 meters 0.015759167063651044 Centerline is valid? [True, True] Translation: X:217.02, Y:1.76, Z:1.47 [[ 9.99462749e-01 -2.82537515e-02 -1.66113898e-02 2.17024137e+02] [ 2.82543418e-02 9.99600747e-01 -1.99201258e-04 1.76081861e+00] [ 1.66103859e-02 -2.70249649e-04 9.99862002e-01 1.46957899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.949254154 meters 0.01653697793268628 Centerline is valid? [True, True] Translation: X:217.05, Y:1.76, Z:1.47 [[ 9.99394523e-01 -3.06154902e-02 -1.65311749e-02 2.17054189e+02] [ 3.06163907e-02 9.99531189e-01 -1.98662969e-04 1.75895332e+00] [ 1.65295070e-02 -3.07582225e-04 9.99863331e-01 1.47019814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.979254154 meters 0.0171267050686101 Centerline is valid? [True, True] Translation: X:217.09, Y:1.76, Z:1.47 [[ 9.99333676e-01 -3.28940414e-02 -1.58172805e-02 2.17085737e+02] [ 3.28951553e-02 9.99458790e-01 -1.89815430e-04 1.75704661e+00] [ 1.58149638e-02 -3.30622946e-04 9.99874881e-01 1.47096841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.009254154 meters 0.016762058603411883 Centerline is valid? [True, True] Translation: X:217.12, Y:1.76, Z:1.47 [[ 9.99259376e-01 -3.54038993e-02 -1.50752323e-02 2.17117345e+02] [ 3.54052045e-02 9.99373023e-01 -1.80381032e-04 1.75792474e+00] [ 1.50721666e-02 -3.53494244e-04 9.99886346e-01 1.47253447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03925415399996 meters 0.02034760105369908 Centerline is valid? [True, True] Translation: X:217.15, Y:1.75, Z:1.47 [[ 9.99027586e-01 -4.17305334e-02 -1.42283196e-02 2.17147868e+02] [ 4.17323423e-02 9.99128812e-01 -1.69872826e-04 1.74995894e+00] [ 1.42230129e-02 -4.24073464e-04 9.99898758e-01 1.47228763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06925415399996 meters 0.022011107481631723 Centerline is valid? [True, True] Translation: X:217.18, Y:1.75, Z:1.47 [[ 9.98857165e-01 -4.55914661e-02 -1.43451292e-02 2.17179403e+02] [ 4.55937080e-02 9.98960052e-01 -1.70884574e-04 1.74689948e+00] [ 1.43380019e-02 -4.83358352e-04 9.99897089e-01 1.47282329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09925415399996 meters 0.02372783917386834 Centerline is valid? [True, True] Translation: X:217.21, Y:1.74, Z:1.47 [[ 9.98679307e-01 -4.95041165e-02 -1.37471745e-02 2.17210597e+02] [ 4.95065519e-02 9.98773786e-01 -1.63299207e-04 1.74388884e+00] [ 1.37384015e-02 -5.17491671e-04 9.99905490e-01 1.47314255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12925415399997 meters 0.023386730259414856 Centerline is valid? [True, True] Translation: X:217.24, Y:1.74, Z:1.47 [[ 9.98452326e-01 -5.38457990e-02 -1.39134258e-02 2.17241703e+02] [ 5.38487196e-02 9.98549092e-01 -1.64907980e-04 1.74438959e+00] [ 1.39021183e-02 -5.84567411e-04 9.99903190e-01 1.47403945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15925415399997 meters 0.023386730259414856 Centerline is valid? [True, True] Translation: X:217.27, Y:1.74, Z:1.47 [[ 9.98456203e-01 -5.37738462e-02 -1.39134333e-02 2.17273420e+02] [ 5.37767685e-02 9.98552969e-01 -1.64280246e-04 1.74470353e+00] [ 1.39021341e-02 -5.84192849e-04 9.99903190e-01 1.47425923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18925415399997 meters 0.024908432543842497 Centerline is valid? [True, True] Translation: X:217.30, Y:1.74, Z:1.47 [[ 9.97998428e-01 -6.17430255e-02 -1.36724688e-02 2.17303412e+02] [ 6.17465985e-02 9.98091845e-01 -1.61050087e-04 1.74262870e+00] [ 1.36563233e-02 -6.83500708e-04 9.99906514e-01 1.47449323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21925415399997 meters 0.028521999205468107 Centerline is valid? [True, True] Translation: X:217.33, Y:1.74, Z:1.47 [[ 9.97767073e-01 -6.52754741e-02 -1.41414173e-02 2.17333766e+02] [ 6.52796505e-02 9.97866995e-01 -1.66552481e-04 1.73804415e+00] [ 1.41221254e-02 -7.56966200e-04 9.99899991e-01 1.47385279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24925415399997 meters 0.028153343704042117 Centerline is valid? [True, True] Translation: X:217.36, Y:1.74, Z:1.48 [[ 9.97498757e-01 -6.94343323e-02 -1.32326346e-02 2.17364542e+02] [ 6.94383570e-02 9.97586232e-01 -1.55613313e-04 1.73705701e+00] [ 1.32114990e-02 -7.63628317e-04 9.99912433e-01 1.47572327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27925415399997 meters 0.03129720711238296 Centerline is valid? [True, True] Translation: X:217.39, Y:1.73, Z:1.47 [[ 9.97167102e-01 -7.39257130e-02 -1.38837823e-02 2.17394823e+02] [ 7.39305793e-02 9.97263377e-01 -1.63112735e-04 1.73402932e+00] [ 1.38578458e-02 -8.63785412e-04 9.99903602e-01 1.47427131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30925415399997 meters 0.029934200566799463 Centerline is valid? [True, True] Translation: X:217.43, Y:1.74, Z:1.48 [[ 9.97021967e-01 -7.59068021e-02 -1.36145002e-02 2.17426365e+02] [ 7.59116692e-02 9.97114534e-01 -1.59675234e-04 1.73559543e+00] [ 1.35873364e-02 -8.74299718e-04 9.99907306e-01 1.47558806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33925415399997 meters 0.03235535064794889 Centerline is valid? [True, True] Translation: X:217.46, Y:1.73, Z:1.48 [[ 9.96954912e-01 -7.67792750e-02 -1.36325411e-02 2.17457319e+02] [ 7.67842448e-02 9.97047719e-01 -1.59253533e-04 1.73301001e+00] [ 1.36045214e-02 -8.87995783e-04 9.99907060e-01 1.47566388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36925415399998 meters 0.03194322273076165 Centerline is valid? [True, True] Translation: X:217.49, Y:1.73, Z:1.48 [[ 9.96949508e-01 -7.68182568e-02 -1.38070566e-02 2.17489791e+02] [ 7.68233707e-02 9.97044705e-01 -1.60395891e-04 1.73468534e+00] [ 1.37785740e-02 -9.00798026e-04 9.99904665e-01 1.47552303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39925415399998 meters 0.03329968278912646 Centerline is valid? [True, True] Translation: X:217.52, Y:1.74, Z:1.47 [[ 9.97064452e-01 -7.49992459e-02 -1.54139870e-02 2.17520597e+02] [ 7.50054167e-02 9.97183110e-01 -1.78185979e-04 1.73569499e+00] [ 1.53839313e-02 -9.78469610e-04 9.99881182e-01 1.47289459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.42925415399998 meters 0.030346694937716218 Centerline is valid? [True, True] Translation: X:217.55, Y:1.74, Z:1.47 [[ 9.97124837e-01 -7.41592606e-02 -1.55712368e-02 2.17552874e+02] [ 7.41654699e-02 9.97245933e-01 -1.79110105e-04 1.74046694e+00] [ 1.55416352e-02 -9.76252956e-04 9.99878745e-01 1.47418029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.45925415399998 meters 0.03009062208730833 Centerline is valid? [True, True] Translation: X:217.58, Y:1.74, Z:1.47 [[ 9.97278716e-01 -7.20330259e-02 -1.56972901e-02 2.17584179e+02] [ 7.20390869e-02 9.97401793e-01 -1.79721693e-04 1.74293461e+00] [ 1.56694512e-02 -9.51585827e-04 9.99876774e-01 1.47402668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.48925415399998 meters 0.031245311903513213 Centerline is valid? [True, True] Translation: X:217.61, Y:1.74, Z:1.47 [[ 9.97451911e-01 -6.96140824e-02 -1.56065732e-02 2.17614742e+02] [ 6.96197874e-02 9.97573583e-01 -1.78112761e-04 1.74397326e+00] [ 1.55811043e-02 -9.08867392e-04 9.99878194e-01 1.47410913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.51925415399998 meters 0.027906880341080017 Centerline is valid? [True, True] Translation: X:217.65, Y:1.75, Z:1.48 [[ 9.97834832e-01 -6.40422369e-02 -1.49746334e-02 2.17645252e+02] [ 6.40468676e-02 9.97946877e-01 -1.70616379e-04 1.75448104e+00] [ 1.49548153e-02 -7.88831396e-04 9.99887859e-01 1.47562882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.54925415399998 meters 0.02679903512821263 Centerline is valid? [True, True] Translation: X:217.68, Y:1.76, Z:1.48 [[ 9.98036161e-01 -6.09539500e-02 -1.44373322e-02 2.17676781e+02] [ 6.09579383e-02 9.98140322e-01 -1.64058181e-04 1.75890344e+00] [ 1.44204834e-02 -7.16334009e-04 9.99895763e-01 1.47666867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57925415399998 meters 0.024659203619673213 Centerline is valid? [True, True] Translation: X:217.71, Y:1.77, Z:1.48 [[ 9.98221164e-01 -5.79732542e-02 -1.39143356e-02 2.17708656e+02] [ 5.79766823e-02 9.98317925e-01 -1.57216687e-04 1.76501038e+00] [ 1.39000450e-02 -6.49769990e-04 9.99903179e-01 1.47740323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.60925415399998 meters 0.0243118697976336 Centerline is valid? [True, True] Translation: X:217.74, Y:1.77, Z:1.48 [[ 9.98541012e-01 -5.22678989e-02 -1.35614621e-02 2.17738178e+02] [ 5.22706363e-02 9.98632944e-01 -1.52763285e-04 1.77017474e+00] [ 1.35509075e-02 -5.56325849e-04 9.99908027e-01 1.47735771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63925415399999 meters 0.022107947470622828 Centerline is valid? [True, True] Translation: X:217.77, Y:1.78, Z:1.48 [[ 9.98680200e-01 -4.95318849e-02 -1.35812688e-02 2.17769846e+02] [ 4.95343817e-02 9.98772407e-01 -1.52686149e-04 1.77603981e+00] [ 1.35721593e-02 -5.20255118e-04 9.99907759e-01 1.47790531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.669254154 meters 0.02039768212782059 Centerline is valid? [True, True] Translation: X:217.80, Y:1.78, Z:1.48 [[ 9.98809616e-01 -4.69199679e-02 -1.33367118e-02 2.17801093e+02] [ 4.69221511e-02 9.98898538e-01 -1.49332142e-04 1.78150052e+00] [ 1.33290286e-02 -4.76632827e-04 9.99911051e-01 1.47813637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.699254154 meters 0.020132739111774912 Centerline is valid? [True, True] Translation: X:217.83, Y:1.79, Z:1.48 [[ 9.99034228e-01 -4.17268633e-02 -1.37651897e-02 2.17830646e+02] [ 4.17286985e-02 9.99128967e-01 -1.53989928e-04 1.78835143e+00] [ 1.37596253e-02 -4.20562243e-04 9.99905243e-01 1.47681903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.729254154 meters 0.01873504916319204 Centerline is valid? [True, True] Translation: X:217.86, Y:1.79, Z:1.48 [[ 9.99113416e-01 -3.97893093e-02 -1.37547695e-02 2.17862797e+02] [ 3.97909634e-02 9.99208014e-01 -1.53506020e-04 1.79161668e+00] [ 1.37499838e-02 -3.93945604e-04 9.99905387e-01 1.47778814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.759254154 meters 0.01757022904619109 Centerline is valid? [True, True] Translation: X:217.90, Y:1.80, Z:1.48 [[ 9.99205989e-01 -3.74366458e-02 -1.36341107e-02 2.17895281e+02] [ 3.74380656e-02 9.99298938e-01 -1.51168986e-04 1.79603696e+00] [ 1.36302116e-02 -3.59385775e-04 9.99907040e-01 1.47828637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78925415399996 meters 0.01769382692855586 Centerline is valid? [True, True] Translation: X:217.93, Y:1.80, Z:1.48 [[ 9.99288669e-01 -3.50950494e-02 -1.38019593e-02 2.17926355e+02] [ 3.50962935e-02 9.99383924e-01 -1.52136092e-04 1.79783498e+00] [ 1.37987954e-02 -3.32369740e-04 9.99904737e-01 1.47785640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81925415399996 meters 0.016066070128047064 Centerline is valid? [True, True] Translation: X:217.96, Y:1.81, Z:1.48 [[ 9.99438302e-01 -3.00168077e-02 -1.49020877e-02 2.17957312e+02] [ 3.00177042e-02 9.99549354e-01 -1.63561792e-04 1.80542240e+00] [ 1.49002817e-02 -2.83856541e-04 9.99888944e-01 1.47777322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84925415399996 meters 0.01589546794477594 Centerline is valid? [True, True] Translation: X:217.99, Y:1.81, Z:1.48 [[ 9.99514814e-01 -2.74148592e-02 -1.47838646e-02 2.17988091e+02] [ 2.74154649e-02 9.99624112e-01 -1.61732531e-04 1.80804305e+00] [ 1.47827414e-02 -2.43652460e-04 9.99890700e-01 1.47767060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87925415399997 meters 0.015175678127677074 Centerline is valid? [True, True] Translation: X:218.02, Y:1.81, Z:1.48 [[ 9.99588197e-01 -2.46008935e-02 -1.47727221e-02 2.18019217e+02] [ 2.46011988e-02 9.99697332e-01 -1.61085160e-04 1.81232311e+00] [ 1.47722137e-02 -2.02407850e-04 9.99890864e-01 1.47850360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90925415399997 meters 0.01582773050193795 Centerline is valid? [True, True] Translation: X:218.05, Y:1.82, Z:1.48 [[ 9.99670504e-01 -2.15438454e-02 -1.39551710e-02 2.18049612e+02] [ 2.15438249e-02 9.99767893e-01 -1.51815446e-04 1.81564950e+00] [ 1.39552026e-02 -1.48882337e-04 9.99902610e-01 1.47796773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93925415399997 meters 0.014060635975054029 Centerline is valid? [True, True] Translation: X:218.08, Y:1.82, Z:1.48 [[ 9.99777989e-01 -1.69514441e-02 -1.25148576e-02 2.18080183e+02] [ 1.69510692e-02 9.99856311e-01 -1.36037461e-04 1.82261792e+00] [ 1.25153654e-02 -7.61329584e-05 9.99921677e-01 1.48079272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96925415399997 meters 0.013971355853008984 Centerline is valid? [True, True] Translation: X:218.11, Y:1.83, Z:1.48 [[ 9.99814408e-01 -1.52125272e-02 -1.18207139e-02 2.18110296e+02] [ 1.52120712e-02 9.99884281e-01 -1.28492066e-04 1.82558077e+00] [ 1.18213008e-02 -5.13493238e-05 9.99930125e-01 1.48149610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99925415399997 meters 0.015718540652907308 Centerline is valid? [True, True] Translation: X:218.14, Y:1.83, Z:1.48 [[ 9.99840507e-01 -1.34169504e-02 -1.17875173e-02 2.18139885e+02] [ 1.34163711e-02 9.99909988e-01 -1.28220577e-04 1.82748983e+00] [ 1.17881766e-02 -2.99455793e-05 9.99930517e-01 1.47978885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02925415399997 meters 0.013878166138027137 Centerline is valid? [True, True] Translation: X:218.17, Y:1.83, Z:1.48 [[ 9.99851365e-01 -1.31526997e-02 -1.11469487e-02 2.18169799e+02] [ 1.31521622e-02 9.99913499e-01 -1.21527147e-04 1.83036049e+00] [ 1.11475828e-02 -2.50973934e-05 9.99937863e-01 1.48150490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05925415399997 meters 0.01389337545124528 Centerline is valid? [True, True] Translation: X:218.20, Y:1.83, Z:1.48 [[ 9.99844012e-01 -1.39021774e-02 -1.08941176e-02 2.18199842e+02] [ 1.39017042e-02 9.99903360e-01 -1.19163298e-04 1.83127228e+00] [ 1.08947214e-02 -3.23020907e-05 9.99940650e-01 1.48162690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08925415399997 meters 0.013886570807169029 Centerline is valid? [True, True] Translation: X:218.23, Y:1.83, Z:1.48 [[ 9.99821860e-01 -1.52028493e-02 -1.11857922e-02 2.18230365e+02] [ 1.52024289e-02 9.99884429e-01 -1.22614700e-04 1.83170343e+00] [ 1.11863635e-02 -4.74583530e-05 9.99937430e-01 1.48211885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11925415399998 meters 0.014000438912454395 Centerline is valid? [True, True] Translation: X:218.26, Y:1.83, Z:1.48 [[ 9.99796870e-01 -1.69912771e-02 -1.08404328e-02 2.18260510e+02] [ 1.69909874e-02 9.99855636e-01 -1.18828993e-04 1.83140182e+00] [ 1.08408869e-02 -6.53848018e-05 9.99941234e-01 1.48196747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14925415399998 meters 0.01483307576094376 Centerline is valid? [True, True] Translation: X:218.29, Y:1.83, Z:1.48 [[ 9.99685931e-01 -2.23025187e-02 -1.14296810e-02 2.18291377e+02] [ 2.23025447e-02 9.99751259e-01 -1.25205402e-04 1.82900815e+00] [ 1.14296303e-02 -1.29744891e-04 9.99934671e-01 1.48147936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.17925415399998 meters 0.015108699237926225 Centerline is valid? [True, True] Translation: X:218.32, Y:1.83, Z:1.48 [[ 9.99603226e-01 -2.56817546e-02 -1.15688302e-02 2.18323297e+02] [ 2.56820128e-02 9.99670155e-01 -1.26260180e-04 1.82716647e+00] [ 1.15682569e-02 -1.70900763e-04 9.99933071e-01 1.48164382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.20925415399998 meters 0.01559468063485959 Centerline is valid? [True, True] Translation: X:218.36, Y:1.82, Z:1.48 [[ 9.99509056e-01 -2.90985791e-02 -1.16154516e-02 2.18355505e+02] [ 2.90990800e-02 9.99576524e-01 -1.25914558e-04 1.82499374e+00] [ 1.16141966e-02 -2.12146213e-04 9.99932530e-01 1.48145066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.23925415399998 meters 0.017517237788093328 Centerline is valid? [True, True] Translation: X:218.39, Y:1.82, Z:1.48 [[ 9.99275746e-01 -3.63796086e-02 -1.11583284e-02 2.18386029e+02] [ 3.63805308e-02 9.99338002e-01 -1.20394368e-04 1.81952066e+00] [ 1.11553215e-02 -2.85638736e-04 9.99937737e-01 1.48135738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.26925415399998 meters 0.018460015895206263 Centerline is valid? [True, True] Translation: X:218.42, Y:1.82, Z:1.48 [[ 9.99165325e-01 -3.93212487e-02 -1.10676326e-02 2.18418236e+02] [ 3.93223409e-02 9.99226571e-01 -1.18991191e-04 1.81710809e+00] [ 1.10637514e-02 -3.16313350e-04 9.99938745e-01 1.48155344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.29925415399998 meters 0.020957317870809726 Centerline is valid? [True, True] Translation: X:218.45, Y:1.82, Z:1.48 [[ 9.99086172e-01 -4.12747929e-02 -1.11001130e-02 2.18450646e+02] [ 4.12760209e-02 9.99147775e-01 -1.18529479e-04 1.81581041e+00] [ 1.10955455e-02 -3.39747334e-04 9.99938385e-01 1.47958361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32925415399998 meters 0.02151516114093496 Centerline is valid? [True, True] Translation: X:218.48, Y:1.81, Z:1.48 [[ 9.98858366e-01 -4.66323485e-02 -1.03628920e-02 2.18480384e+02] [ 4.66337117e-02 9.98912051e-01 -1.10180973e-04 1.81049611e+00] [ 1.03567557e-02 -3.73204932e-04 9.99946298e-01 1.48151922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35925415399998 meters 0.022571433533919102 Centerline is valid? [True, True] Translation: X:218.51, Y:1.81, Z:1.48 [[ 9.98784401e-01 -4.82233059e-02 -1.02094982e-02 2.18511841e+02] [ 4.82247139e-02 9.98836506e-01 -1.08375690e-04 1.80869988e+00] [ 1.02028457e-02 -3.84106178e-04 9.99947876e-01 1.48141217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38925415399999 meters 0.023145150155904654 Centerline is valid? [True, True] Translation: X:218.54, Y:1.81, Z:1.48 [[ 9.98734682e-01 -4.92473598e-02 -1.01849220e-02 2.18544078e+02] [ 4.92488202e-02 9.98786535e-01 -1.07518110e-04 1.80745206e+00] [ 1.01778579e-02 -3.94213326e-04 9.99948127e-01 1.48145884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.419254154 meters 0.0251524891255623 Centerline is valid? [True, True] Translation: X:218.58, Y:1.80, Z:1.48 [[ 9.98596260e-01 -5.20643229e-02 -9.73733994e-03 2.18575003e+02] [ 5.20657993e-02 9.98643651e-01 -1.01985352e-04 1.80479737e+00] [ 9.72944251e-03 -4.05140196e-04 9.99952586e-01 1.48171440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.449254154 meters 0.02651567016375893 Centerline is valid? [True, True] Translation: X:218.61, Y:1.80, Z:1.48 [[ 9.98505600e-01 -5.37098590e-02 -1.00905214e-02 2.18605663e+02] [ 5.37115382e-02 9.98556488e-01 -1.04702309e-04 1.80298644e+00] [ 1.00815792e-02 -4.37431584e-04 9.99949084e-01 1.48206550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.479254154 meters 0.026872935403449472 Centerline is valid? [True, True] Translation: X:218.64, Y:1.80, Z:1.48 [[ 9.98291647e-01 -5.75486401e-02 -1.00966417e-02 2.18636814e+02] [ 5.75505202e-02 9.98342590e-01 -1.04470251e-04 1.80253155e+00] [ 1.00859195e-02 -4.76775203e-04 9.99949022e-01 1.48218316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.509254154 meters 0.028158337536538337 Centerline is valid? [True, True] Translation: X:218.67, Y:1.80, Z:1.48 [[ 9.98193909e-01 -5.92412694e-02 -9.96955935e-03 2.18669159e+02] [ 5.92431901e-02 9.98243574e-01 -1.02822175e-04 1.80029314e+00] [ 9.95813987e-03 -4.87992030e-04 9.99950297e-01 1.48183858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53925415399996 meters 0.026509871694156324 Centerline is valid? [True, True] Translation: X:218.70, Y:1.80, Z:1.48 [[ 9.98068409e-01 -6.11975264e-02 -1.06917503e-02 2.18700883e+02] [ 6.11998551e-02 9.98125526e-01 -1.09544224e-04 1.80247402e+00] [ 1.06784128e-02 -5.45000941e-04 9.99942836e-01 1.48166373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56925415399996 meters 0.02728032870781707 Centerline is valid? [True, True] Translation: X:218.73, Y:1.80, Z:1.48 [[ 9.97961461e-01 -6.28800099e-02 -1.09098968e-02 2.18733067e+02] [ 6.28825423e-02 9.98020928e-01 -1.11102263e-04 1.80131954e+00] [ 1.08952914e-02 -5.75166269e-04 9.99940479e-01 1.48128981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59925415399996 meters 0.02806815009004175 Centerline is valid? [True, True] Translation: X:218.77, Y:1.80, Z:1.48 [[ 9.97865123e-01 -6.43272108e-02 -1.12785838e-02 2.18765075e+02] [ 6.43300188e-02 9.97928673e-01 -1.14017815e-04 1.80019521e+00] [ 1.12625567e-02 -6.11777109e-04 9.99936388e-01 1.48089037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62925415399997 meters 0.028800767206578193 Centerline is valid? [True, True] Translation: X:218.80, Y:1.80, Z:1.48 [[ 9.97786168e-01 -6.54833396e-02 -1.16058018e-02 2.18797095e+02] [ 6.54864008e-02 9.97853455e-01 -1.16467163e-04 1.79944362e+00] [ 1.15885161e-02 -6.43812867e-04 9.99932644e-01 1.48054142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65925415399997 meters 0.02973721416572517 Centerline is valid? [True, True] Translation: X:218.83, Y:1.80, Z:1.48 [[ 9.97717158e-01 -6.65007270e-02 -1.17526625e-02 2.18828442e+02] [ 6.65039456e-02 9.97786155e-01 -1.17171850e-04 1.79888259e+00] [ 1.17344359e-02 -6.64694062e-04 9.99930928e-01 1.48003066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68925415399997 meters 0.02965561083069061 Centerline is valid? [True, True] Translation: X:218.86, Y:1.80, Z:1.48 [[ 9.97695458e-01 -6.67448482e-02 -1.22023887e-02 2.18860511e+02] [ 6.67483455e-02 9.97769835e-01 -1.20887896e-04 1.80020506e+00] [ 1.21832440e-02 -6.93879952e-04 9.99925541e-01 1.48007360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71925415399997 meters 0.029357065191853153 Centerline is valid? [True, True] Translation: X:218.89, Y:1.80, Z:1.48 [[ 9.97716271e-01 -6.64146943e-02 -1.23016796e-02 2.18892935e+02] [ 6.64182346e-02 9.97791864e-01 -1.20980158e-04 1.80152907e+00] [ 1.22825507e-02 -6.96351969e-04 9.99924324e-01 1.48032003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74925415399997 meters 0.029532643354375457 Centerline is valid? [True, True] Translation: X:218.92, Y:1.80, Z:1.48 [[ 9.97742710e-01 -6.59746496e-02 -1.25231943e-02 2.18924930e+02] [ 6.59782955e-02 9.97821051e-01 -1.22245629e-04 1.80298536e+00] [ 1.25039720e-02 -7.04289328e-04 9.99921574e-01 1.47995373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77925415399997 meters 0.030563735066582096 Centerline is valid? [True, True] Translation: X:218.96, Y:1.80, Z:1.48 [[ 9.97782109e-01 -6.52769678e-02 -1.30299638e-02 2.18956314e+02] [ 6.52808665e-02 9.97866921e-01 -1.26345334e-04 1.80323086e+00] [ 1.30104173e-02 -7.24542214e-04 9.99915098e-01 1.47855872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80925415399997 meters 0.03031662354718777 Centerline is valid? [True, True] Translation: X:218.99, Y:1.80, Z:1.48 [[ 9.97772552e-01 -6.54591101e-02 -1.28467782e-02 2.18988216e+02] [ 6.54629251e-02 9.97854995e-01 -1.23781905e-04 1.80368459e+00] [ 1.28273245e-02 -7.17481494e-04 9.99917469e-01 1.47986256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83925415399997 meters 0.030504200959022485 Centerline is valid? [True, True] Translation: X:219.02, Y:1.80, Z:1.48 [[ 9.97778294e-01 -6.53618490e-02 -1.28958937e-02 2.19021748e+02] [ 6.53656996e-02 9.97861368e-01 -1.23126121e-04 1.80427610e+00] [ 1.28763618e-02 -7.20096540e-04 9.99916837e-01 1.48012170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86925415399998 meters 0.030984613230746992 Centerline is valid? [True, True] Translation: X:219.05, Y:1.81, Z:1.48 [[ 9.97822064e-01 -6.47937080e-02 -1.23653989e-02 2.19053855e+02] [ 6.47972182e-02 9.97898445e-01 -1.16972178e-04 1.80522831e+00] [ 1.23469914e-02 -6.84526030e-04 9.99923539e-01 1.48026077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89925415399998 meters 0.03135473330953298 Centerline is valid? [True, True] Translation: X:219.08, Y:1.81, Z:1.48 [[ 9.97852552e-01 -6.43764208e-02 -1.20814534e-02 2.19084933e+02] [ 6.43797501e-02 9.97925466e-01 -1.13540768e-04 1.80598636e+00] [ 1.20636993e-02 -6.64504005e-04 9.99927010e-01 1.48107617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.92925415399998 meters 0.03151012669805083 Centerline is valid? [True, True] Translation: X:219.12, Y:1.81, Z:1.48 [[ 9.97904739e-01 -6.36903986e-02 -1.13870564e-02 2.19116997e+02] [ 6.36933191e-02 9.97969513e-01 -1.06364288e-04 1.80751309e+00] [ 1.13707095e-02 -6.19137989e-04 9.99935160e-01 1.48187525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.95925415399998 meters 0.02973627696693663 Centerline is valid? [True, True] Translation: X:219.15, Y:1.81, Z:1.48 [[ 9.97972088e-01 -6.27612020e-02 -1.06180696e-02 2.19149553e+02] [ 6.27636970e-02 9.98028411e-01 -9.84096173e-05 1.81147157e+00] [ 1.06033114e-02 -5.68219251e-04 9.99943622e-01 1.48322382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.98925415399998 meters 0.02698185145515706 Centerline is valid? [True, True] Translation: X:219.18, Y:1.82, Z:1.49 [[ 9.98166751e-01 -5.98455895e-02 -9.03563498e-03 2.19181057e+02] [ 5.98472828e-02 9.98207541e-01 -8.31096099e-05 1.81768021e+00] [ 9.02441273e-03 -4.57800953e-04 9.99959174e-01 1.48500631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.01925415399998 meters 0.026720902437019422 Centerline is valid? [True, True] Translation: X:219.21, Y:1.82, Z:1.49 [[ 9.98259802e-01 -5.83171354e-02 -8.74519547e-03 2.19213354e+02] [ 5.83186673e-02 9.98298015e-01 -7.99450778e-05 1.81949120e+00] [ 8.73497345e-03 -4.30202188e-04 9.99961757e-01 1.48569473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.04925415399998 meters 0.026720902437019422 Centerline is valid? [True, True] Translation: X:219.25, Y:1.82, Z:1.49 [[ 9.98266070e-01 -5.82097576e-02 -8.74520174e-03 2.19245935e+02] [ 5.82112915e-02 9.98304282e-01 -7.92543164e-05 1.81969278e+00] [ 8.73498572e-03 -4.29952593e-04 9.99961757e-01 1.48592035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07925415399998 meters 0.026516372119410134 Centerline is valid? [True, True] Translation: X:219.28, Y:1.82, Z:1.49 [[ 9.98361053e-01 -5.66139101e-02 -8.37097676e-03 2.19278523e+02] [ 5.66152666e-02 9.98396067e-01 -7.50216650e-05 1.82114093e+00] [ 8.36179754e-03 -3.99026373e-04 9.99964960e-01 1.48607010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.10925415399998 meters 0.025913885916665897 Centerline is valid? [True, True] Translation: X:219.31, Y:1.82, Z:1.49 [[ 9.98507436e-01 -5.38877817e-02 -8.88856815e-03 2.19308654e+02] [ 5.38892094e-02 9.98546918e-01 -7.89737793e-05 1.82338410e+00] [ 8.87990805e-03 -4.00142004e-04 9.99960493e-01 1.48520827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13925415399999 meters 0.028649145288962577 Centerline is valid? [True, True] Translation: X:219.34, Y:1.82, Z:1.48 [[ 9.98551152e-01 -5.29836629e-02 -9.39835306e-03 2.19340413e+02] [ 5.29852220e-02 9.98595293e-01 -8.32011285e-05 1.82065322e+00] [ 9.38955943e-03 -4.14893240e-04 9.99955831e-01 1.48451627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.169254154 meters 0.02604109406111822 Centerline is valid? [True, True] Translation: X:219.37, Y:1.83, Z:1.48 [[ 9.98574851e-01 -5.24101112e-02 -1.00721245e-02 2.19372164e+02] [ 5.24118802e-02 9.98625549e-01 -8.84313873e-05 1.82516003e+00] [ 1.00629155e-02 -4.39593621e-04 9.99949271e-01 1.48457625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.199254154 meters 0.025863172577795197 Centerline is valid? [True, True] Translation: X:219.40, Y:1.83, Z:1.48 [[ 9.98597982e-01 -5.19007327e-02 -1.04107622e-02 2.19404699e+02] [ 5.19026026e-02 9.98652147e-01 -9.06666009e-05 1.82614967e+00] [ 1.04014357e-02 -4.49806168e-04 9.99945802e-01 1.48432646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.229254154 meters 0.027609813806380848 Centerline is valid? [True, True] Translation: X:219.44, Y:1.83, Z:1.48 [[ 9.98614615e-01 -5.12407773e-02 -1.19680169e-02 2.19435573e+02] [ 5.12432109e-02 9.98686198e-01 -1.03416979e-04 1.82624969e+00] [ 1.19575925e-02 -5.10005908e-04 9.99928375e-01 1.48098164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.259254154 meters 0.02313230274080327 Centerline is valid? [True, True] Translation: X:219.47, Y:1.83, Z:1.48 [[ 9.98599412e-01 -5.12487312e-02 -1.31446674e-02 2.19467384e+02] [ 5.12516787e-02 9.98685763e-01 -1.12741497e-04 1.83162089e+00] [ 1.31331700e-02 -5.61102677e-04 9.99913599e-01 1.48332073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28925415399996 meters 0.022922849527500358 Centerline is valid? [True, True] Translation: X:219.50, Y:1.83, Z:1.48 [[ 9.98634260e-01 -5.04957110e-02 -1.34088820e-02 2.19500089e+02] [ 5.04987285e-02 9.98724119e-01 -1.13662760e-04 1.83257339e+00] [ 1.33975133e-02 -5.63623963e-04 9.99910090e-01 1.48354041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31925415399996 meters 0.02616676439903933 Centerline is valid? [True, True] Translation: X:219.53, Y:1.83, Z:1.48 [[ 9.98693897e-01 -4.92224532e-02 -1.36985661e-02 2.19531810e+02] [ 4.92255020e-02 9.98787684e-01 -1.14724559e-04 1.82835379e+00] [ 1.36876061e-02 -5.59744078e-04 9.99906164e-01 1.48278839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34925415399996 meters 0.022078565786957098 Centerline is valid? [True, True] Translation: X:219.56, Y:1.84, Z:1.48 [[ 9.98851614e-01 -4.59412391e-02 -1.35961668e-02 2.19563459e+02] [ 4.59439505e-02 9.98944013e-01 -1.13019261e-04 1.83600590e+00] [ 1.35870016e-02 -5.11772141e-04 9.99907561e-01 1.48394028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37925415399997 meters 0.021659040394814436 Centerline is valid? [True, True] Translation: X:219.60, Y:1.84, Z:1.48 [[ 9.98941361e-01 -4.41145650e-02 -1.30407919e-02 2.19595475e+02] [ 4.41169141e-02 9.99026369e-01 -1.07617374e-04 1.83746756e+00] [ 1.30328425e-02 -4.67816050e-04 9.99914959e-01 1.48437135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40925415399997 meters 0.021516397759068592 Centerline is valid? [True, True] Translation: X:219.63, Y:1.84, Z:1.48 [[ 9.99018705e-01 -4.23795248e-02 -1.28686792e-02 2.19627128e+02] [ 4.23816801e-02 9.99101487e-01 -1.05300422e-04 1.83888687e+00] [ 1.28615791e-02 -4.40199155e-04 9.99917190e-01 1.48471538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43925415399997 meters 0.01938010735349138 Centerline is valid? [True, True] Translation: X:219.66, Y:1.84, Z:1.49 [[ 9.99163190e-01 -3.90479450e-02 -1.21728587e-02 2.19658975e+02] [ 3.90496355e-02 9.99237267e-01 -9.88688217e-05 1.84404921e+00] [ 1.21674347e-02 -3.76559608e-04 9.99925903e-01 1.48622581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46925415399997 meters 0.018316451864733976 Centerline is valid? [True, True] Translation: X:219.69, Y:1.85, Z:1.49 [[ 9.99222039e-01 -3.76834167e-02 -1.16308805e-02 2.19691476e+02] [ 3.76848757e-02 9.99289668e-01 -9.37719727e-05 1.84665013e+00] [ 1.16261524e-02 -3.44609266e-04 9.99932355e-01 1.48717152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49925415399997 meters 0.017680607679690073 Centerline is valid? [True, True] Translation: X:219.72, Y:1.85, Z:1.49 [[ 9.99272621e-01 -3.64974356e-02 -1.10528799e-02 2.19723849e+02] [ 3.64986894e-02 9.99333697e-01 -8.83313166e-05 1.84845985e+00] [ 1.10487392e-02 -3.15148564e-04 9.99938911e-01 1.48787244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52925415399997 meters 0.018312471487660215 Centerline is valid? [True, True] Translation: X:219.76, Y:1.85, Z:1.49 [[ 9.99309245e-01 -3.55941235e-02 -1.06813123e-02 2.19755064e+02] [ 3.55952502e-02 9.99366285e-01 -8.46646583e-05 1.84789961e+00] [ 1.06775569e-02 -2.95597807e-04 9.99942950e-01 1.48786785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55925415399997 meters 0.018051356669516218 Centerline is valid? [True, True] Translation: X:219.79, Y:1.85, Z:1.49 [[ 9.99330208e-01 -3.49825602e-02 -1.07404275e-02 2.19786958e+02] [ 3.49836712e-02 9.99387880e-01 -8.44800921e-05 1.84915491e+00] [ 1.07368084e-02 -2.91316076e-04 9.99942316e-01 1.48794933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58925415399997 meters 0.018010459993192673 Centerline is valid? [True, True] Translation: X:219.82, Y:1.85, Z:1.49 [[ 9.99313650e-01 -3.53453444e-02 -1.10876051e-02 2.19819150e+02] [ 3.53465597e-02 9.99375111e-01 -8.64010431e-05 1.84989073e+00] [ 1.10837305e-02 -3.05566954e-04 9.99938527e-01 1.48755601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61925415399998 meters 0.01878835180959 Centerline is valid? [True, True] Translation: X:219.85, Y:1.85, Z:1.49 [[ 9.99275397e-01 -3.61215505e-02 -1.19964539e-02 2.19849872e+02] [ 3.61230376e-02 9.99347346e-01 -9.27628865e-05 1.84887802e+00] [ 1.19919751e-02 -3.40652687e-04 9.99928036e-01 1.48700970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64925415399998 meters 0.019348157200842268 Centerline is valid? [True, True] Translation: X:219.88, Y:1.85, Z:1.49 [[ 9.99214084e-01 -3.75507519e-02 -1.26947162e-02 2.19882029e+02] [ 3.75525410e-02 9.99294650e-01 -9.74937400e-05 1.84820889e+00] [ 1.26894230e-02 -3.79301734e-04 9.99919414e-01 1.48631599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.67925415399998 meters 0.019635269559626346 Centerline is valid? [True, True] Translation: X:219.91, Y:1.85, Z:1.49 [[ 9.99038310e-01 -4.13744954e-02 -1.45122889e-02 2.19912941e+02] [ 4.13772466e-02 9.99143589e-01 -1.10757390e-04 1.84789434e+00] [ 1.45044430e-02 -4.89827681e-04 9.99894685e-01 1.48557905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.70925415399998 meters 0.02053936518563705 Centerline is valid? [True, True] Translation: X:219.95, Y:1.85, Z:1.49 [[ 9.98938119e-01 -4.36293078e-02 -1.48026174e-02 2.19945024e+02] [ 4.36324277e-02 9.99047646e-01 -1.12274462e-04 1.84632691e+00] [ 1.47934185e-02 -5.33718893e-04 9.99890429e-01 1.48505345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.73925415399998 meters 0.021046813583371453 Centerline is valid? [True, True] Translation: X:219.98, Y:1.85, Z:1.48 [[ 9.98814700e-01 -4.61199694e-02 -1.55609769e-02 2.19976855e+02] [ 4.61237347e-02 9.98935727e-01 -1.17024444e-04 1.84519008e+00] [ 1.55498130e-02 -6.00844635e-04 9.99878914e-01 1.48496143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.76925415399998 meters 0.02696560065465578 Centerline is valid? [True, True] Translation: X:220.01, Y:1.84, Z:1.48 [[ 9.98592392e-01 -5.06145214e-02 -1.58557810e-02 2.20006551e+02] [ 5.06190023e-02 9.98718030e-01 -1.18853817e-04 1.83542183e+00] [ 1.58414701e-02 -6.83917298e-04 9.99874282e-01 1.48416018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.79925415399998 meters 0.025687228967862272 Centerline is valid? [True, True] Translation: X:220.04, Y:1.84, Z:1.48 [[ 9.98535966e-01 -5.17090929e-02 -1.58774981e-02 2.20038358e+02] [ 5.17137341e-02 9.98661943e-01 -1.18392633e-04 1.83706393e+00] [ 1.58623751e-02 -7.02865412e-04 9.99873938e-01 1.48478131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82925415399998 meters 0.024726694708121014 Centerline is valid? [True, True] Translation: X:220.07, Y:1.84, Z:1.49 [[ 9.98529675e-01 -5.16946581e-02 -1.63141203e-02 2.20070098e+02] [ 5.16995751e-02 9.98662675e-01 -1.20487121e-04 1.83798670e+00] [ 1.62985315e-02 -7.23123119e-04 9.99866909e-01 1.48524790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85925415399998 meters 0.024261316414897937 Centerline is valid? [True, True] Translation: X:220.10, Y:1.84, Z:1.48 [[ 9.98597930e-01 -5.03869791e-02 -1.62273254e-02 2.20102238e+02] [ 5.03916903e-02 9.98729525e-01 -1.18689954e-04 1.83962147e+00] [ 1.62126894e-02 -6.99198812e-04 9.99868321e-01 1.48492399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88925415399999 meters 0.02266694147078714 Centerline is valid? [True, True] Translation: X:220.13, Y:1.84, Z:1.49 [[ 9.98628677e-01 -4.98912681e-02 -1.58627616e-02 2.20134392e+02] [ 4.98957256e-02 9.98754426e-01 -1.14882848e-04 1.84163749e+00] [ 1.58487350e-02 -6.76758696e-04 9.99874172e-01 1.48686341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.919254154 meters 0.025159518809399935 Centerline is valid? [True, True] Translation: X:220.17, Y:1.84, Z:1.49 [[ 9.98647262e-01 -4.94235167e-02 -1.61543135e-02 2.20165562e+02] [ 4.94280950e-02 9.98777678e-01 -1.15975222e-04 1.83832526e+00] [ 1.61402997e-02 -6.82658605e-04 9.99869504e-01 1.48658039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.949254154 meters 0.02398098434920284 Centerline is valid? [True, True] Translation: X:220.20, Y:1.84, Z:1.49 [[ 9.98662825e-01 -4.90878614e-02 -1.62155393e-02 2.20197713e+02] [ 4.90924471e-02 9.98794232e-01 -1.15380836e-04 1.84045141e+00] [ 1.62016509e-02 -6.80833953e-04 9.99868513e-01 1.48778158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.979254154 meters 0.024538675306201182 Centerline is valid? [True, True] Translation: X:220.23, Y:1.84, Z:1.49 [[ 9.98669319e-01 -4.89974070e-02 -1.60886954e-02 2.20229410e+02] [ 4.90019275e-02 9.98798678e-01 -1.13352658e-04 1.83997598e+00] [ 1.60749217e-02 -6.75175265e-04 9.99870562e-01 1.48819228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.009254154 meters 0.022890799128691613 Centerline is valid? [True, True] Translation: X:220.26, Y:1.84, Z:1.49 [[ 9.98663338e-01 -4.90551033e-02 -1.62829198e-02 2.20261822e+02] [ 4.90597603e-02 9.98795839e-01 -1.13556842e-04 1.84182353e+00] [ 1.62688831e-02 -6.85431089e-04 9.99867418e-01 1.48906653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03925415399996 meters 0.024971106837918176 Centerline is valid? [True, True] Translation: X:220.29, Y:1.84, Z:1.49 [[ 9.98668960e-01 -4.89692148e-02 -1.61964170e-02 2.20293608e+02] [ 4.89738326e-02 9.98800056e-01 -1.11625501e-04 1.83863921e+00] [ 1.61824484e-02 -6.81723690e-04 9.99868823e-01 1.48841827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06925415399996 meters 0.025945261331565547 Centerline is valid? [True, True] Translation: X:220.33, Y:1.84, Z:1.49 [[ 9.98659406e-01 -4.88468455e-02 -1.71282271e-02 2.20325276e+02] [ 4.88520124e-02 9.98806021e-01 -1.16862112e-04 1.83809934e+00] [ 1.71134847e-02 -7.20042914e-04 9.99853294e-01 1.48812174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09925415399996 meters 0.025302517202429178 Centerline is valid? [True, True] Translation: X:220.36, Y:1.84, Z:1.49 [[ 9.98659462e-01 -4.86412114e-02 -1.77006267e-02 2.20357777e+02] [ 4.86467170e-02 9.98816040e-01 -1.19653716e-04 1.83988131e+00] [ 1.76854900e-02 -7.41584064e-04 9.99843324e-01 1.48830769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12925415399997 meters 0.02374733975085486 Centerline is valid? [True, True] Translation: X:220.39, Y:1.84, Z:1.49 [[ 9.98679432e-01 -4.80973819e-02 -1.80563958e-02 2.20389942e+02] [ 4.81030454e-02 9.98842371e-01 -1.20781811e-04 1.84307665e+00] [ 1.80413025e-02 -7.47945316e-04 9.99836963e-01 1.48921745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15925415399997 meters 0.021960684620176203 Centerline is valid? [True, True] Translation: X:220.42, Y:1.85, Z:1.49 [[ 9.98707354e-01 -4.74571362e-02 -1.82055217e-02 2.20422579e+02] [ 4.74628168e-02 9.98872998e-01 -1.20170735e-04 1.84675945e+00] [ 1.81907070e-02 -7.44069942e-04 9.99834259e-01 1.49059042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18925415399997 meters 0.021740333289938345 Centerline is valid? [True, True] Translation: X:220.45, Y:1.85, Z:1.49 [[ 9.98783222e-01 -4.54562969e-02 -1.91259337e-02 2.20453393e+02] [ 4.54622476e-02 9.98966050e-01 -1.23772787e-04 1.84884602e+00] [ 1.91117847e-02 -7.45885751e-04 9.99817075e-01 1.49145519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21925415399997 meters 0.024557250846012027 Centerline is valid? [True, True] Translation: X:220.48, Y:1.85, Z:1.49 [[ 9.98838048e-01 -4.42023243e-02 -1.92017725e-02 2.20484267e+02] [ 4.42081228e-02 9.99022336e-01 -1.22598162e-04 1.84534655e+00] [ 1.91884187e-02 -7.26418608e-04 9.99815621e-01 1.49020484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24925415399997 meters 0.02201317520917878 Centerline is valid? [True, True] Translation: X:220.52, Y:1.85, Z:1.49 [[ 9.98895667e-01 -4.28089051e-02 -1.93609126e-02 2.20516210e+02] [ 4.28145632e-02 9.99083029e-01 -1.22354142e-04 1.85017739e+00] [ 1.93483970e-02 -7.06709992e-04 9.99812552e-01 1.49128420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27925415399997 meters 0.021565123160705 Centerline is valid? [True, True] Translation: X:220.55, Y:1.85, Z:1.49 [[ 9.98957276e-01 -4.14433726e-02 -1.91522452e-02 2.20548789e+02] [ 4.14486847e-02 9.99140627e-01 -1.19680026e-04 1.85177129e+00] [ 1.91407462e-02 -6.74280140e-04 9.99816572e-01 1.49193996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30925415399997 meters 0.020204832079177584 Centerline is valid? [True, True] Translation: X:220.58, Y:1.86, Z:1.49 [[ 9.99058636e-01 -3.87949450e-02 -1.94111873e-02 2.20580217e+02] [ 3.87999208e-02 9.99246992e-01 -1.20348717e-04 1.85541421e+00] [ 1.94012395e-02 -6.32917106e-04 9.99811578e-01 1.49365142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33925415399997 meters 0.019851044556950047 Centerline is valid? [True, True] Translation: X:220.61, Y:1.86, Z:1.49 [[ 9.99104240e-01 -3.74851562e-02 -1.96361988e-02 2.20612017e+02] [ 3.74900184e-02 9.99296995e-01 -1.20574987e-04 1.85704361e+00] [ 1.96269142e-02 -6.15694474e-04 9.99807184e-01 1.49390270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36925415399998 meters 0.020163437197424416 Centerline is valid? [True, True] Translation: X:220.64, Y:1.86, Z:1.49 [[ 9.99140712e-01 -3.62765720e-02 -2.00461380e-02 2.20643671e+02] [ 3.62814254e-02 9.99341605e-01 -1.21645999e-04 1.85689932e+00] [ 2.00373527e-02 -6.05760991e-04 9.99799049e-01 1.49434694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39925415399998 meters 0.01889349710072221 Centerline is valid? [True, True] Translation: X:220.68, Y:1.86, Z:1.50 [[ 9.99216711e-01 -3.41707367e-02 -1.99580848e-02 2.20675049e+02] [ 3.41751469e-02 9.99415852e-01 -1.20157502e-04 1.85979930e+00] [ 1.99505322e-02 -5.62007096e-04 9.99800810e-01 1.49581552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.42925415399998 meters 0.01816492173544102 Centerline is valid? [True, True] Translation: X:220.71, Y:1.86, Z:1.50 [[ 9.99240504e-01 -3.34267233e-02 -2.00267109e-02 2.20706785e+02] [ 3.34310384e-02 9.99441019e-01 -1.19377277e-04 1.86102235e+00] [ 2.00195067e-02 -5.50227129e-04 9.99799438e-01 1.49698811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.45925415399998 meters 0.017918911322483688 Centerline is valid? [True, True] Translation: X:220.74, Y:1.86, Z:1.50 [[ 9.99265180e-01 -3.28908585e-02 -1.96797457e-02 2.20738321e+02] [ 3.28949403e-02 9.99458808e-01 -1.16352970e-04 1.86167107e+00] [ 1.96729222e-02 -5.31096591e-04 9.99806328e-01 1.49783191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.48925415399998 meters 0.01763763334610976 Centerline is valid? [True, True] Translation: X:220.77, Y:1.86, Z:1.50 [[ 9.99282113e-01 -3.24240344e-02 -1.95944148e-02 2.20769794e+02] [ 3.24280052e-02 9.99474067e-01 -1.15134899e-04 1.86200882e+00] [ 1.95878426e-02 -5.20355541e-04 9.99808004e-01 1.49854751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.51925415399998 meters 0.01817704135776998 Centerline is valid? [True, True] Translation: X:220.80, Y:1.86, Z:1.50 [[ 9.99284872e-01 -3.24639149e-02 -1.93865708e-02 2.20801386e+02] [ 3.24678438e-02 9.99472774e-01 -1.12138869e-04 1.86006309e+00] [ 1.93799902e-02 -5.17381477e-04 9.99812056e-01 1.49979213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.54925415399998 meters 0.01887412292100412 Centerline is valid? [True, True] Translation: X:220.83, Y:1.86, Z:1.50 [[ 9.99277237e-01 -3.27521004e-02 -1.92951532e-02 2.20832908e+02] [ 3.27560750e-02 9.99463370e-01 -1.10103919e-04 1.85839900e+00] [ 1.92884050e-02 -5.22009145e-04 9.99813825e-01 1.49999931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57925415399998 meters 0.01864716828483792 Centerline is valid? [True, True] Translation: X:220.86, Y:1.86, Z:1.50 [[ 9.99250537e-01 -3.33148310e-02 -1.97100627e-02 2.20864375e+02] [ 3.33191043e-02 9.99444758e-01 -1.11636791e-04 1.85835505e+00] [ 1.97028380e-02 -5.45168510e-04 9.99805732e-01 1.50089136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.60925415399998 meters 0.0183381390800108 Centerline is valid? [True, True] Translation: X:220.90, Y:1.86, Z:1.50 [[ 9.99213364e-01 -3.40347229e-02 -2.03541332e-02 2.20895293e+02] [ 3.40394445e-02 9.99420484e-01 -1.14543330e-04 1.85853429e+00] [ 2.03462361e-02 -5.78390161e-04 9.99792827e-01 1.50178553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63925415399999 meters 0.019625316750882187 Centerline is valid? [True, True] Translation: X:220.93, Y:1.85, Z:1.50 [[ 9.99145957e-01 -3.53943543e-02 -2.13212557e-02 2.20926384e+02] [ 3.53998668e-02 9.99373221e-01 -1.18945305e-04 1.85436113e+00] [ 2.13121020e-02 -6.35925892e-04 9.99772669e-01 1.50127987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.669254154 meters 0.018594290149814608 Centerline is valid? [True, True] Translation: X:220.96, Y:1.86, Z:1.50 [[ 9.99105573e-01 -3.60762166e-02 -2.20581228e-02 2.20958121e+02] [ 3.60823037e-02 9.99348814e-01 -1.22113552e-04 1.85516329e+00] [ 2.20481643e-02 -6.73903557e-04 9.99756683e-01 1.50245161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.699254154 meters 0.01969594482984958 Centerline is valid? [True, True] Translation: X:220.99, Y:1.85, Z:1.50 [[ 9.99077498e-01 -3.65335632e-02 -2.25710459e-02 2.20988751e+02] [ 3.65400656e-02 9.99332181e-01 -1.24408601e-04 1.85245763e+00] [ 2.25605176e-02 -7.00453664e-04 9.99745234e-01 1.50239038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.729254154 meters 0.01943346389960908 Centerline is valid? [True, True] Translation: X:221.02, Y:1.85, Z:1.50 [[ 9.99085257e-01 -3.63304099e-02 -2.25554874e-02 2.21020405e+02] [ 3.63368672e-02 9.99339590e-01 -1.23637097e-04 1.85159662e+00] [ 2.25450833e-02 -6.96071747e-04 9.99745585e-01 1.50400820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.759254154 meters 0.018977557799339427 Centerline is valid? [True, True] Translation: X:221.05, Y:1.85, Z:1.51 [[ 9.99105041e-01 -3.57939687e-02 -2.25368388e-02 2.21052251e+02] [ 3.58003036e-02 9.99358956e-01 -1.22436641e-04 1.85218102e+00] [ 2.25267742e-02 -6.84498607e-04 9.99746006e-01 1.50529085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78925415399996 meters 0.018547851733176714 Centerline is valid? [True, True] Translation: X:221.08, Y:1.85, Z:1.51 [[ 9.99157768e-01 -3.44683346e-02 -2.22640573e-02 2.21083163e+02] [ 3.44742090e-02 9.99405581e-01 -1.20025588e-04 1.85235008e+00] [ 2.22549602e-02 -6.47611267e-04 9.99752118e-01 1.50621846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81925415399996 meters 0.01831653361397469 Centerline is valid? [True, True] Translation: X:221.11, Y:1.85, Z:1.51 [[ 9.99307095e-01 -3.08258538e-02 -2.08589668e-02 2.21113485e+02] [ 3.08302271e-02 9.99524629e-01 -1.11960964e-04 1.85233856e+00] [ 2.08525024e-02 -5.31203298e-04 9.99782422e-01 1.50752679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84925415399996 meters 0.01715869435751828 Centerline is valid? [True, True] Translation: X:221.14, Y:1.85, Z:1.51 [[ 9.99387654e-01 -2.85249555e-02 -2.02643705e-02 2.21143765e+02] [ 2.85286127e-02 9.99592970e-01 -1.08646566e-04 1.85412279e+00] [ 2.02592214e-02 -4.69534342e-04 9.99794651e-01 1.50892240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87925415399997 meters 0.016703775836703055 Centerline is valid? [True, True] Translation: X:221.17, Y:1.86, Z:1.51 [[ 9.99468246e-01 -2.59365200e-02 -1.97616148e-02 2.21174654e+02] [ 2.59394968e-02 9.99663509e-01 -1.05717797e-04 1.85511577e+00] [ 1.97577071e-02 -4.06944763e-04 9.99804715e-01 1.50961413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90925415399997 meters 0.015739754556078452 Centerline is valid? [True, True] Translation: X:221.21, Y:1.86, Z:1.51 [[ 9.99602894e-01 -2.05127950e-02 -1.93204658e-02 2.21205019e+02] [ 2.05146300e-02 9.99789548e-01 -1.03234662e-04 1.85641700e+00] [ 1.93185174e-02 -2.93158541e-04 9.99813337e-01 1.51024043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93925415399997 meters 0.015510361958865909 Centerline is valid? [True, True] Translation: X:221.23, Y:1.86, Z:1.51 [[ 9.99648418e-01 -1.83900698e-02 -1.91009155e-02 2.21234089e+02] [ 1.83914169e-02 9.99830858e-01 -1.05149377e-04 1.85680146e+00] [ 1.90996184e-02 -2.46180491e-04 9.99817555e-01 1.51008944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96925415399997 meters 0.015510361958865909 Centerline is valid? [True, True] Translation: X:221.26, Y:1.86, Z:1.51 [[ 9.99643049e-01 -1.86797100e-02 -1.91008854e-02 2.21261471e+02] [ 1.86810090e-02 9.99825489e-01 -1.10433214e-04 1.85702849e+00] [ 1.90996150e-02 -2.46430017e-04 9.99817555e-01 1.51027983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99925415399997 meters 0.015310958479702843 Centerline is valid? [True, True] Translation: X:221.29, Y:1.86, Z:1.51 [[ 9.99672446e-01 -1.66120181e-02 -1.94689979e-02 2.21290116e+02] [ 1.66128738e-02 9.99861990e-01 -1.17795406e-04 1.85745209e+00] [ 1.94682678e-02 -2.05679183e-04 9.99810454e-01 1.51019252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02925415399997 meters 0.015171334702782872 Centerline is valid? [True, True] Translation: X:221.32, Y:1.86, Z:1.51 [[ 9.99708527e-01 -1.33334102e-02 -2.01266494e-02 2.21318883e+02] [ 1.33335557e-02 9.99911096e-01 -1.26973189e-04 1.85651348e+00] [ 2.01265530e-02 -1.41423620e-04 9.99797430e-01 1.50865635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05925415399997 meters 0.01513048244207706 Centerline is valid? [True, True] Translation: X:221.35, Y:1.86, Z:1.51 [[ 9.99714442e-01 -1.22503787e-02 -2.05173991e-02 2.21347248e+02] [ 1.22501833e-02 9.99924955e-01 -1.35211172e-04 1.85568389e+00] [ 2.05175158e-02 -1.16169339e-04 9.99789487e-01 1.50799344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08925415399997 meters 0.015094420410650676 Centerline is valid? [True, True] Translation: X:221.38, Y:1.85, Z:1.51 [[ 9.99715112e-01 -1.15855493e-02 -2.08678922e-02 2.21375507e+02] [ 1.15850744e-02 9.99932880e-01 -1.43650362e-04 1.85447642e+00] [ 2.08681558e-02 -9.81466466e-05 9.99782232e-01 1.50762205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11925415399998 meters 0.015009288355909117 Centerline is valid? [True, True] Translation: X:221.40, Y:1.85, Z:1.51 [[ 9.99710227e-01 -1.09493469e-02 -2.14376883e-02 2.21403284e+02] [ 1.09486268e-02 9.99940051e-01 -1.50963571e-04 1.85086049e+00] [ 2.14380561e-02 -8.37934227e-05 9.99770175e-01 1.50606689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14925415399998 meters 0.01512317744117628 Centerline is valid? [True, True] Translation: X:221.43, Y:1.85, Z:1.51 [[ 9.99701451e-01 -1.11783035e-02 -2.17268274e-02 2.21431142e+02] [ 1.11775111e-02 9.99937517e-01 -1.57916425e-04 1.84891524e+00] [ 2.17272351e-02 -8.49825753e-05 9.99763932e-01 1.50603044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.17925415399998 meters 0.015253885291648004 Centerline is valid? [True, True] Translation: X:221.46, Y:1.85, Z:1.51 [[ 9.99702384e-01 -1.18257510e-02 -2.13376398e-02 2.21458569e+02] [ 1.18250310e-02 9.99930069e-01 -1.59923046e-04 1.84692157e+00] [ 2.13380389e-02 -9.24428020e-05 9.99772314e-01 1.50561682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.20925415399998 meters 0.015201207395173303 Centerline is valid? [True, True] Translation: X:221.49, Y:1.84, Z:1.51 [[ 9.99704724e-01 -1.27939013e-02 -2.06586666e-02 2.21486830e+02] [ 1.27933237e-02 9.99918149e-01 -1.60122415e-04 1.84460745e+00] [ 2.06590243e-02 -1.04217875e-04 9.99786574e-01 1.50568062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.23925415399998 meters 0.015230970453541983 Centerline is valid? [True, True] Translation: X:221.52, Y:1.84, Z:1.51 [[ 9.99712114e-01 -1.50344739e-02 -1.86990079e-02 2.21515126e+02] [ 1.50343038e-02 9.99886967e-01 -1.49679943e-04 1.83864834e+00] [ 1.86991447e-02 -1.31489714e-04 9.99825147e-01 1.50533356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.26925415399998 meters 0.015071808406958093 Centerline is valid? [True, True] Translation: X:221.54, Y:1.84, Z:1.51 [[ 9.99699885e-01 -1.66985712e-02 -1.79247777e-02 2.21542927e+02] [ 1.66985939e-02 9.99860558e-01 -1.48410901e-04 1.83612642e+00] [ 1.79247565e-02 -1.50952224e-04 9.99839327e-01 1.50645562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.29925415399998 meters 0.015236071229952932 Centerline is valid? [True, True] Translation: X:221.57, Y:1.83, Z:1.51 [[ 9.99682602e-01 -1.86322250e-02 -1.69568807e-02 2.21570256e+02] [ 1.86324717e-02 9.99826390e-01 -1.43452530e-04 1.83262001e+00] [ 1.69566097e-02 -1.72541602e-04 9.99856211e-01 1.50612324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32925415399998 meters 0.015626097404035526 Centerline is valid? [True, True] Translation: X:221.60, Y:1.83, Z:1.51 [[ 9.99615399e-01 -2.31135073e-02 -1.53238570e-02 2.21598638e+02] [ 2.31141910e-02 9.99732823e-01 -1.32514700e-04 1.82609478e+00] [ 1.53228257e-02 -2.21734823e-04 9.99882574e-01 1.50622720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35925415399998 meters 0.016028253534795766 Centerline is valid? [True, True] Translation: X:221.63, Y:1.82, Z:1.51 [[ 9.99563866e-01 -2.57898426e-02 -1.43861735e-02 2.21628167e+02] [ 2.57906959e-02 9.99667357e-01 -1.26237656e-04 1.82250833e+00] [ 1.43846437e-02 -2.44846827e-04 9.99896506e-01 1.50617591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38925415399999 meters 0.016758809275607484 Centerline is valid? [True, True] Translation: X:221.66, Y:1.82, Z:1.51 [[ 9.99476951e-01 -2.91414819e-02 -1.40213612e-02 2.21659922e+02] [ 2.91426259e-02 9.99575256e-01 -1.22768868e-04 1.81883806e+00] [ 1.40189833e-02 -2.85914629e-04 9.99901688e-01 1.50606574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.419254154 meters 0.019249135642202233 Centerline is valid? [True, True] Translation: X:221.69, Y:1.81, Z:1.50 [[ 9.99262435e-01 -3.62204850e-02 -1.27538892e-02 2.21691127e+02] [ 3.62220134e-02 9.99343761e-01 -1.11214194e-04 1.81066173e+00] [ 1.27495478e-02 -3.50839378e-04 9.99918660e-01 1.50479633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.449254154 meters 0.019017389513211164 Centerline is valid? [True, True] Translation: X:221.72, Y:1.81, Z:1.51 [[ 9.99111765e-01 -4.04154563e-02 -1.19277702e-02 2.21723056e+02] [ 4.04170964e-02 9.99182890e-01 -1.03612849e-04 1.80679897e+00] [ 1.19222114e-02 -3.78565022e-04 9.99928856e-01 1.50628342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.479254154 meters 0.021511213800207665 Centerline is valid? [True, True] Translation: X:221.75, Y:1.80, Z:1.51 [[ 9.98942647e-01 -4.45249565e-02 -1.14505899e-02 2.21753169e+02] [ 4.45267419e-02 9.99008188e-01 -9.90991016e-05 1.80026314e+00] [ 1.14436455e-02 -4.10863143e-04 9.99934435e-01 1.50599405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.509254154 meters 0.0218281434381915 Centerline is valid? [True, True] Translation: X:221.78, Y:1.80, Z:1.51 [[ 9.98755818e-01 -4.87207408e-02 -1.06350740e-02 2.21784107e+02] [ 4.87225191e-02 9.98812349e-01 -9.19728536e-05 1.79783741e+00] [ 1.06269242e-02 -4.26309172e-04 9.99943442e-01 1.50673943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53925415399996 meters 0.023103758912272454 Centerline is valid? [True, True] Translation: X:221.82, Y:1.79, Z:1.51 [[ 9.98579714e-01 -5.23780053e-02 -9.75188919e-03 2.21815634e+02] [ 5.23796767e-02 9.98627239e-01 -8.41137597e-05 1.79388126e+00] [ 9.74290789e-03 -4.26806509e-04 9.99952446e-01 1.50695978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56925415399996 meters 0.026382984396170556 Centerline is valid? [True, True] Translation: X:221.85, Y:1.79, Z:1.51 [[ 9.98239213e-01 -5.85915217e-02 -9.24702743e-03 2.21845225e+02] [ 5.85932923e-02 9.98281934e-01 -7.95516515e-05 1.78541665e+00] [ 9.23580148e-03 -4.62402203e-04 9.99957242e-01 1.50632991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59925415399996 meters 0.027473624605254262 Centerline is valid? [True, True] Translation: X:221.88, Y:1.78, Z:1.51 [[ 9.98141942e-01 -6.02554113e-02 -9.05258964e-03 2.21877682e+02] [ 6.02571769e-02 9.98182882e-01 -7.78241229e-05 1.78359168e+00] [ 9.04082934e-03 -4.67803975e-04 9.99959021e-01 1.50527970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62925415399997 meters 0.029216549611044394 Centerline is valid? [True, True] Translation: X:221.91, Y:1.78, Z:1.51 [[ 9.97942763e-01 -6.35112085e-02 -8.75036037e-03 2.21907500e+02] [ 6.35129886e-02 9.97981009e-01 -7.45845783e-05 1.77788886e+00] [ 8.73743043e-03 -4.81330398e-04 9.99961712e-01 1.50561803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65925415399997 meters 0.029526289764904224 Centerline is valid? [True, True] Translation: X:221.94, Y:1.78, Z:1.51 [[ 9.97910524e-01 -6.39913010e-02 -8.92741248e-03 2.21939504e+02] [ 6.39931795e-02 9.97950333e-01 -7.53745687e-05 1.77664055e+00] [ 8.91393757e-03 -4.96076433e-04 9.99960147e-01 1.50531698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68925415399997 meters 0.028813743397306565 Centerline is valid? [True, True] Translation: X:221.97, Y:1.78, Z:1.50 [[ 9.97892061e-01 -6.41716670e-02 -9.66604625e-03 2.21972059e+02] [ 6.41738847e-02 9.97938729e-01 -8.08715268e-05 1.77712782e+00] [ 9.65131157e-03 -5.39606684e-04 9.99953279e-01 1.50498534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71925415399997 meters 0.0292651026989387 Centerline is valid? [True, True] Translation: X:222.01, Y:1.78, Z:1.50 [[ 9.97900420e-01 -6.40625452e-02 -9.52582391e-03 2.22005197e+02] [ 6.40647015e-02 9.97945744e-01 -7.89187785e-05 1.77661513e+00] [ 9.51131117e-03 -5.31515983e-04 9.99954625e-01 1.50490703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.74925415399997 meters 0.029311300769866207 Centerline is valid? [True, True] Translation: X:222.04, Y:1.78, Z:1.50 [[ 9.98044820e-01 -6.17832276e-02 -9.45355679e-03 2.22035621e+02] [ 6.17852590e-02 9.98089463e-01 -7.73001653e-05 1.77683367e+00] [ 9.44027127e-03 -5.06941425e-04 9.99955311e-01 1.50445861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77925415399997 meters 0.029035907840343593 Centerline is valid? [True, True] Translation: X:222.07, Y:1.78, Z:1.50 [[ 9.98141787e-01 -6.01754519e-02 -9.58584958e-03 2.22067748e+02] [ 6.01774756e-02 9.98187690e-01 -7.74402051e-05 1.77778672e+00] [ 9.57313705e-03 -4.99555925e-04 9.99954052e-01 1.50472461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80925415399997 meters 0.02824820061147625 Centerline is valid? [True, True] Translation: X:222.10, Y:1.78, Z:1.51 [[ 9.98254344e-01 -5.83204856e-02 -9.32662131e-03 2.22099100e+02] [ 5.83223258e-02 9.98297802e-01 -7.47872329e-05 1.77983934e+00] [ 9.31510717e-03 -4.69293566e-04 9.99956503e-01 1.50503832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83925415399997 meters 0.026636770599316316 Centerline is valid? [True, True] Translation: X:222.13, Y:1.78, Z:1.51 [[ 9.98546100e-01 -5.33060771e-02 -8.00929623e-03 2.22128302e+02] [ 5.33072747e-02 9.98578154e-01 -6.40400938e-05 1.78400103e+00] [ 8.00132197e-03 -3.63006768e-04 9.99967923e-01 1.50566381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86925415399998 meters 0.022541623029473497 Centerline is valid? [True, True] Translation: X:222.16, Y:1.79, Z:1.51 [[ 9.98699308e-01 -5.03395097e-02 -8.10092944e-03 2.22159395e+02] [ 5.03406363e-02 9.98732104e-01 -6.49067022e-05 1.79134077e+00] [ 8.09392568e-03 -3.42983664e-04 9.99967185e-01 1.50595008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89925415399998 meters 0.02173002739772066 Centerline is valid? [True, True] Translation: X:222.19, Y:1.79, Z:1.51 [[ 9.98862005e-01 -4.70615117e-02 -7.74014754e-03 2.22190436e+02] [ 4.70624440e-02 9.98891947e-01 -6.17409417e-05 1.79405770e+00] [ 7.73447667e-03 -3.02599579e-04 9.99970043e-01 1.50655059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.92925415399998 meters 0.01939590544655107 Centerline is valid? [True, True] Translation: X:222.22, Y:1.80, Z:1.51 [[ 9.99174620e-01 -4.00065906e-02 -7.03925399e-03 2.22220815e+02] [ 4.00071884e-02 9.99199390e-01 -5.59162378e-05 1.80124090e+00] [ 7.03585531e-03 -2.25750675e-04 9.99975223e-01 1.50673637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.95925415399998 meters 0.017914396629066746 Centerline is valid? [True, True] Translation: X:222.25, Y:1.81, Z:1.51 [[ 9.99323174e-01 -3.61481817e-02 -6.81932150e-03 2.22252711e+02] [ 3.61486537e-02 9.99346422e-01 -5.40738393e-05 1.80583293e+00] [ 6.81681922e-03 -1.92472051e-04 9.99976747e-01 1.50703293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.98925415399998 meters 0.01778081834730513 Centerline is valid? [True, True] Translation: X:222.28, Y:1.81, Z:1.51 [[ 9.99467019e-01 -3.19587208e-02 -6.65713223e-03 2.22283409e+02] [ 3.19590801e-02 9.99489177e-01 -5.24193331e-05 1.80771568e+00] [ 6.65540687e-03 -1.60364428e-04 9.99977840e-01 1.50692504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.01925415399998 meters 0.015174161930907313 Centerline is valid? [True, True] Translation: X:222.31, Y:1.82, Z:1.51 [[ 9.99716157e-01 -2.29564953e-02 -6.37220833e-03 2.22314073e+02] [ 2.29566432e-02 9.99736460e-01 -4.99410521e-05 1.81687123e+00] [ 6.37167547e-03 -9.63576363e-05 9.99979696e-01 1.50699750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.04925415399998 meters 0.01487814461961908 Centerline is valid? [True, True] Translation: X:222.35, Y:1.82, Z:1.51 [[ 9.99809134e-01 -1.84776357e-02 -6.34612194e-03 2.22345319e+02] [ 1.84776929e-02 9.99829272e-01 -4.96268891e-05 1.81941125e+00] [ 6.34595547e-03 -6.76442754e-05 9.99979862e-01 1.50752398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07925415399998 meters 0.014269364941757907 Centerline is valid? [True, True] Translation: X:222.38, Y:1.82, Z:1.51 [[ 9.99889305e-01 -1.35576759e-02 -6.12928256e-03 2.22377346e+02] [ 1.35576387e-02 9.99908090e-01 -4.76183626e-05 1.82425062e+00] [ 6.12936482e-03 -3.54855071e-05 9.99981215e-01 1.50770965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.10925415399998 meters 0.01401436820119015 Centerline is valid? [True, True] Translation: X:222.41, Y:1.83, Z:1.51 [[ 9.99974019e-01 -4.57084527e-03 -5.57396629e-03 2.22408233e+02] [ 4.57067720e-03 9.99989553e-01 -4.28916495e-05 1.83089923e+00] [ 5.57410411e-03 1.74137345e-05 9.99984464e-01 1.50862202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13925415399999 meters 0.014279957389200135 Centerline is valid? [True, True] Translation: X:222.44, Y:1.83, Z:1.51 [[ 9.99982399e-01 -6.44654411e-04 -5.89799740e-03 2.22437869e+02] [ 6.44399732e-04 9.99999791e-01 -4.50808266e-05 1.83379318e+00] [ 5.89802523e-03 4.12793652e-05 9.99982606e-01 1.50919306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.169254154 meters 0.014546700155429821 Centerline is valid? [True, True] Translation: X:222.47, Y:1.84, Z:1.51 [[ 9.99981651e-01 2.55128904e-03 -5.49440428e-03 2.22465814e+02] [-2.55155887e-03 9.99996744e-01 -4.21016626e-05 1.83633740e+00] [ 5.49427898e-03 5.61201861e-05 9.99984905e-01 1.50971269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.199254154 meters 0.014800401926230864 Centerline is valid? [True, True] Translation: X:222.49, Y:1.84, Z:1.51 [[ 9.99974446e-01 5.05349822e-03 -5.05654208e-03 2.22494852e+02] [-5.05375927e-03 9.99987229e-01 -3.88489684e-05 1.83764940e+00] [ 5.05628118e-03 6.44025221e-05 9.99987215e-01 1.51009580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.229254154 meters 0.015286209604033334 Centerline is valid? [True, True] Translation: X:222.52, Y:1.84, Z:1.51 [[ 9.99957258e-01 7.93249893e-03 -4.74953713e-03 2.22523093e+02] [-7.93276862e-03 9.99968534e-01 -3.79445766e-05 1.83842832e+00] [ 4.74908669e-03 7.56199338e-05 9.99988720e-01 1.51030258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.259254154 meters 0.015214675949290726 Centerline is valid? [True, True] Translation: X:222.55, Y:1.84, Z:1.51 [[ 9.99955378e-01 8.33014392e-03 -4.45549785e-03 2.22551607e+02] [-8.33038699e-03 9.99965301e-01 -3.59988574e-05 1.83767955e+00] [ 4.45504337e-03 7.31132724e-05 9.99990074e-01 1.51062000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28925415399996 meters 0.015347063317470008 Centerline is valid? [True, True] Translation: X:222.58, Y:1.84, Z:1.51 [[ 9.99959564e-01 7.84512916e-03 -4.39603005e-03 2.22579914e+02] [-7.84536248e-03 9.99969224e-01 -3.58337840e-05 1.83753475e+00] [ 4.39561364e-03 7.03207843e-05 9.99990337e-01 1.51053180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31925415399996 meters 0.0147041320373693 Centerline is valid? [True, True] Translation: X:222.61, Y:1.83, Z:1.51 [[ 9.99976941e-01 4.37262550e-03 -5.19599681e-03 2.22608412e+02] [-4.37290703e-03 9.99990438e-01 -4.28212081e-05 1.83273253e+00] [ 5.19575989e-03 6.55418317e-05 9.99986500e-01 1.50964385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34925415399996 meters 0.014309904583358577 Centerline is valid? [True, True] Translation: X:222.64, Y:1.83, Z:1.51 [[ 9.99983773e-01 1.51218386e-03 -5.49241038e-03 2.22636127e+02] [-1.51245750e-03 9.99998855e-01 -4.56673139e-05 1.83069695e+00] [ 5.49233503e-03 5.39736101e-05 9.99984916e-01 1.50960674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37925415399997 meters 0.014109061184545081 Centerline is valid? [True, True] Translation: X:222.66, Y:1.83, Z:1.51 [[ 9.99980860e-01 -2.11972638e-03 -5.81268555e-03 2.22664866e+02] [ 2.11947787e-03 9.99997753e-01 -4.89125588e-05 1.82728671e+00] [ 5.81277617e-03 3.65917642e-05 9.99983105e-01 1.50936870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40925415399997 meters 0.0139844817940768 Centerline is valid? [True, True] Translation: X:222.69, Y:1.82, Z:1.51 [[ 9.99929106e-01 -1.05964054e-02 -5.43127477e-03 2.22693629e+02] [ 1.05963113e-02 9.99943856e-01 -4.60944120e-05 1.81925771e+00] [ 5.43145827e-03 -1.14603343e-05 9.99985249e-01 1.50964132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43925415399997 meters 0.014245252748027152 Centerline is valid? [True, True] Translation: X:222.72, Y:1.82, Z:1.51 [[ 9.99871892e-01 -1.52458632e-02 -4.87480516e-03 2.22724558e+02] [ 1.52458403e-02 9.99883775e-01 -4.18747660e-05 1.81509601e+00] [ 4.87487700e-03 -3.24510993e-05 9.99988117e-01 1.51002320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46925415399997 meters 0.01465110525244706 Centerline is valid? [True, True] Translation: X:222.76, Y:1.81, Z:1.51 [[ 9.99797706e-01 -1.96637927e-02 -4.22885248e-03 2.22756739e+02] [ 1.96638140e-02 9.99806648e-01 -3.65386951e-05 1.81107252e+00] [ 4.22875331e-03 -4.66240649e-05 9.99991058e-01 1.51050555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49925415399997 meters 0.015814644666419648 Centerline is valid? [True, True] Translation: X:222.79, Y:1.81, Z:1.51 [[ 9.99702721e-01 -2.41327964e-02 -3.47538257e-03 2.22788302e+02] [ 2.41328422e-02 9.99708760e-01 -2.87520730e-05 1.80628518e+00] [ 3.47506427e-03 -5.51273335e-05 9.99993960e-01 1.51117996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52925415399997 meters 0.018182080368018983 Centerline is valid? [True, True] Translation: X:222.82, Y:1.80, Z:1.51 [[ 9.99460005e-01 -3.27386371e-02 -2.80718712e-03 2.22818454e+02] [ 3.27387009e-02 9.99463945e-01 -2.32209753e-05 1.79733136e+00] [ 2.80644253e-03 -6.86952233e-05 9.99996060e-01 1.51177147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55925415399997 meters 0.019421506583575956 Centerline is valid? [True, True] Translation: X:222.85, Y:1.79, Z:1.51 [[ 9.99330853e-01 -3.64896068e-02 -2.52091791e-03 2.22850911e+02] [ 3.64896706e-02 9.99334030e-01 -2.07051152e-05 1.79340625e+00] [ 2.51999457e-03 -7.12962037e-05 9.99996822e-01 1.51175091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58925415399997 meters 0.022411920914014498 Centerline is valid? [True, True] Translation: X:222.88, Y:1.78, Z:1.51 [[ 9.99052360e-01 -4.34288999e-02 -2.88316715e-03 2.22881312e+02] [ 4.34290134e-02 9.99056515e-01 -2.32537177e-05 1.78462901e+00] [ 2.88145681e-03 -1.01981423e-04 9.99995843e-01 1.51097166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61925415399998 meters 0.02140097836973306 Centerline is valid? [True, True] Translation: X:222.91, Y:1.78, Z:1.51 [[ 9.98916975e-01 -4.64114600e-02 -3.29443627e-03 2.22912874e+02] [ 4.64116247e-02 9.98922400e-01 -2.65033145e-05 1.78446616e+00] [ 3.29211625e-03 -1.26425529e-04 9.99994573e-01 1.51039026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64925415399998 meters 0.02509764352902595 Centerline is valid? [True, True] Translation: X:222.94, Y:1.78, Z:1.51 [[ 9.98777038e-01 -4.92891444e-02 -3.87407387e-03 2.22944117e+02] [ 4.92893948e-02 9.98784539e-01 -3.08827476e-05 1.77744797e+00] [ 3.87088727e-03 -1.60105777e-04 9.99992495e-01 1.51027106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.67925415399998 meters 0.025671007650926832 Centerline is valid? [True, True] Translation: X:222.98, Y:1.78, Z:1.51 [[ 9.98622354e-01 -5.22949256e-02 -4.31680638e-03 2.22975276e+02] [ 5.22952659e-02 9.98631666e-01 -3.40825645e-05 1.77564193e+00] [ 4.31268189e-03 -1.91712927e-04 9.99990682e-01 1.50955815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.70925415399998 meters 0.026133161930946783 Centerline is valid? [True, True] Translation: X:223.01, Y:1.77, Z:1.51 [[ 9.98317515e-01 -5.77129166e-02 -5.59986530e-03 2.23006413e+02] [ 5.77135759e-02 9.98333181e-01 -4.39257817e-05 1.77310385e+00] [ 5.59306643e-03 -2.79336374e-04 9.99984320e-01 1.50876451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.73925415399998 meters 0.03011466816395843 Centerline is valid? [True, True] Translation: X:223.04, Y:1.77, Z:1.51 [[ 9.98162038e-01 -6.02518037e-02 -6.50125533e-03 2.23036461e+02] [ 6.02527470e-02 9.98183151e-01 -5.08503191e-05 1.76686145e+00] [ 6.49250736e-03 -3.40961634e-04 9.99978865e-01 1.50844217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.76925415399998 meters 0.02952631850816148 Centerline is valid? [True, True] Translation: X:223.07, Y:1.77, Z:1.51 [[ 9.98003706e-01 -6.27410815e-02 -7.22215887e-03 2.23067221e+02] [ 6.27423156e-02 9.98029758e-01 -5.57947547e-05 1.76847576e+00] [ 7.21143009e-03 -3.97451599e-04 9.99973918e-01 1.50659238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.79925415399998 meters 0.031182437695029472 Centerline is valid? [True, True] Translation: X:223.10, Y:1.76, Z:1.51 [[ 9.97705110e-01 -6.71787108e-02 -8.45775159e-03 2.23096893e+02] [ 6.71805637e-02 9.97740832e-01 -6.51563646e-05 1.76381181e+00] [ 8.44302123e-03 -5.03189681e-04 9.99964230e-01 1.50710967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82925415399998 meters 0.03230498666448419 Centerline is valid? [True, True] Translation: X:223.13, Y:1.76, Z:1.51 [[ 9.97611778e-01 -6.85170365e-02 -8.72672496e-03 2.23129032e+02] [ 6.85190627e-02 9.97649805e-01 -6.69288837e-05 1.76194664e+00] [ 8.71080123e-03 -5.31177973e-04 9.99961919e-01 1.50692572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85925415399998 meters 0.03230498666448419 Centerline is valid? [True, True] Translation: X:223.16, Y:1.76, Z:1.51 [[ 9.97619177e-01 -6.84092279e-02 -8.72673022e-03 2.23161626e+02] [ 6.84112561e-02 9.97657203e-01 -6.62373816e-05 1.76209945e+00] [ 8.71081651e-03 -5.30926894e-04 9.99961919e-01 1.50715147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88925415399999 meters 0.03314268888175568 Centerline is valid? [True, True] Translation: X:223.19, Y:1.76, Z:1.51 [[ 9.97569487e-01 -6.90464964e-02 -9.36479799e-03 2.23193937e+02] [ 6.90488692e-02 9.97613276e-01 -7.01031425e-05 1.76110160e+00] [ 9.34728718e-03 -5.76695955e-04 9.99956147e-01 1.50717182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.919254154 meters 0.03395299260574438 Centerline is valid? [True, True] Translation: X:223.23, Y:1.76, Z:1.51 [[ 9.97569010e-01 -6.89217213e-02 -1.02891356e-02 2.23226355e+02] [ 6.89245876e-02 9.97621870e-01 -7.61813910e-05 1.76182063e+00] [ 1.02699172e-02 -6.33178232e-04 9.99947063e-01 1.50699719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.949254154 meters 0.033738104572655504 Centerline is valid? [True, True] Translation: X:223.26, Y:1.76, Z:1.51 [[ 9.97623591e-01 -6.80503354e-02 -1.07853376e-02 2.23258632e+02] [ 6.80534440e-02 9.97681674e-01 -7.89390729e-05 1.76338757e+00] [ 1.07657055e-02 -6.55227889e-04 9.99941833e-01 1.50730720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.979254154 meters 0.03371676739054342 Centerline is valid? [True, True] Translation: X:223.29, Y:1.76, Z:1.51 [[ 9.97702605e-01 -6.67096469e-02 -1.18040540e-02 2.23291049e+02] [ 6.67132873e-02 9.97772183e-01 -8.55210485e-05 1.76475131e+00] [ 1.17834618e-02 -7.02162676e-04 9.99930326e-01 1.50727425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00925415399996 meters 0.03346009832348381 Centerline is valid? [True, True] Translation: X:223.32, Y:1.77, Z:1.51 [[ 9.97792081e-01 -6.52784829e-02 -1.22345111e-02 2.23323196e+02] [ 6.52822971e-02 9.97866832e-01 -8.77707569e-05 1.76665188e+00] [ 1.22141424e-02 -7.11120021e-04 9.99925152e-01 1.50716986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03925415399996 meters 0.032755561433823376 Centerline is valid? [True, True] Translation: X:223.35, Y:1.77, Z:1.51 [[ 9.97947643e-01 -6.26254318e-02 -1.33625592e-02 2.23354813e+02] [ 6.26297563e-02 9.98036825e-01 -9.50067681e-05 1.77033941e+00] [ 1.33422760e-02 -7.42082049e-04 9.99910713e-01 1.50725094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06925415399996 meters 0.03236033967615948 Centerline is valid? [True, True] Translation: X:223.39, Y:1.77, Z:1.51 [[ 9.98022126e-01 -6.14004230e-02 -1.34842417e-02 2.23387185e+02] [ 6.14047260e-02 9.98112945e-01 -9.50609975e-05 1.77215452e+00] [ 1.34646329e-02 -7.33123187e-04 9.99909079e-01 1.50760998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09925415399996 meters 0.032395073379413636 Centerline is valid? [True, True] Translation: X:223.42, Y:1.77, Z:1.51 [[ 9.98102608e-01 -6.00313489e-02 -1.36901859e-02 2.23418344e+02] [ 6.00356673e-02 9.98196228e-01 -9.56849272e-05 1.77332619e+00] [ 1.36712360e-02 -7.26396071e-04 9.99906280e-01 1.50784513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12925415399997 meters 0.0321085604386983 Centerline is valid? [True, True] Translation: X:223.45, Y:1.78, Z:1.51 [[ 9.98213042e-01 -5.80668863e-02 -1.41053322e-02 2.23448477e+02] [ 5.80712818e-02 9.98312434e-01 -9.80995365e-05 1.77598348e+00] [ 1.40872249e-02 -7.21190485e-04 9.99900510e-01 1.50822976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15925415399997 meters 0.031674433206396534 Centerline is valid? [True, True] Translation: X:223.48, Y:1.78, Z:1.51 [[ 9.98258095e-01 -5.71755453e-02 -1.45510423e-02 2.23480783e+02] [ 5.71801378e-02 9.98363872e-01 -1.00564951e-04 1.77780098e+00] [ 1.45329848e-02 -7.31640828e-04 9.99894123e-01 1.50877451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18925415399997 meters 0.031595470954191754 Centerline is valid? [True, True] Translation: X:223.51, Y:1.78, Z:1.51 [[ 9.98323489e-01 -5.58375714e-02 -1.52439095e-02 2.23513351e+02] [ 5.58424742e-02 9.98439586e-01 -1.04172860e-04 1.77934722e+00] [ 1.52259394e-02 -7.47259408e-04 9.99883799e-01 1.50890042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21925415399997 meters 0.03097666058079222 Centerline is valid? [True, True] Translation: X:223.55, Y:1.78, Z:1.51 [[ 9.98416713e-01 -5.41071860e-02 -1.53779094e-02 2.23545280e+02] [ 5.41119860e-02 9.98534868e-01 -1.04084757e-04 1.78160287e+00] [ 1.53610105e-02 -7.28209259e-04 9.99881748e-01 1.50919893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24925415399997 meters 0.029358585974696934 Centerline is valid? [True, True] Translation: X:223.57, Y:1.79, Z:1.51 [[ 9.98628574e-01 -4.97800475e-02 -1.62147402e-02 2.23574823e+02] [ 4.97848209e-02 9.98759961e-01 -1.09384139e-04 1.78635513e+00] [ 1.62000784e-02 -6.98013808e-04 9.99868526e-01 1.50951266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27925415399997 meters 0.027818257216794717 Centerline is valid? [True, True] Translation: X:223.61, Y:1.79, Z:1.51 [[ 9.98771157e-01 -4.67023353e-02 -1.65851597e-02 2.23606219e+02] [ 4.67069109e-02 9.98908630e-01 -1.11566027e-04 1.78986605e+00] [ 1.65722696e-02 -6.63212648e-04 9.99862451e-01 1.51017270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30925415399997 meters 0.026611733424264535 Centerline is valid? [True, True] Translation: X:223.64, Y:1.79, Z:1.51 [[ 9.98916156e-01 -4.33787732e-02 -1.68758552e-02 2.23637930e+02] [ 4.33830491e-02 9.99058506e-01 -1.12804709e-04 1.79325750e+00] [ 1.68648600e-02 -6.19443606e-04 9.99857586e-01 1.51042591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33925415399997 meters 0.022959544677501588 Centerline is valid? [True, True] Translation: X:223.67, Y:1.80, Z:1.51 [[ 9.99230914e-01 -3.52913048e-02 -1.70910386e-02 2.23667014e+02] [ 3.52945117e-02 9.99376948e-01 -1.14054709e-04 1.80208634e+00] [ 1.70844151e-02 -4.89252870e-04 9.99853931e-01 1.51115780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36925415399998 meters 0.020940079951343272 Centerline is valid? [True, True] Translation: X:223.70, Y:1.81, Z:1.51 [[ 9.99382486e-01 -3.06810243e-02 -1.71266184e-02 2.23697990e+02] [ 3.06835690e-02 9.99529142e-01 -1.14235179e-04 1.80714581e+00] [ 1.71220591e-02 -4.11341142e-04 9.99853322e-01 1.51191073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39925415399998 meters 0.019231434194930452 Centerline is valid? [True, True] Translation: X:223.73, Y:1.81, Z:1.51 [[ 9.99502664e-01 -2.63300049e-02 -1.73538430e-02 2.23727893e+02] [ 2.63319611e-02 9.99653247e-01 -1.15803489e-04 1.81241398e+00] [ 1.73508746e-02 -3.41214822e-04 9.99849404e-01 1.51257378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.42925415399998 meters 0.01766354223979376 Centerline is valid? [True, True] Translation: X:223.76, Y:1.82, Z:1.51 [[ 9.99615587e-01 -2.17343966e-02 -1.72132191e-02 2.23757515e+02] [ 2.17356326e-02 9.99763747e-01 -1.15295483e-04 1.81748994e+00] [ 1.72116583e-02 -2.58889044e-04 9.99851835e-01 1.51341244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.45925415399998 meters 0.01574291697326176 Centerline is valid? [True, True] Translation: X:223.79, Y:1.83, Z:1.51 [[ 9.99751319e-01 -1.37323067e-02 -1.75705405e-02 2.23786141e+02] [ 1.37323470e-02 9.99905700e-01 -1.18360313e-04 1.82589213e+00] [ 1.75705089e-02 -1.22953881e-04 9.99845619e-01 1.51415011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.48925415399998 meters 0.014987110654810207 Centerline is valid? [True, True] Translation: X:223.81, Y:1.83, Z:1.52 [[ 9.99784991e-01 -1.08658337e-02 -1.76608174e-02 2.23814869e+02] [ 1.08653759e-02 9.99940963e-01 -1.21872906e-04 1.82993269e+00] [ 1.76610990e-02 -7.00447178e-05 9.99844028e-01 1.51686709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.51925415399998 meters 0.014951903947134566 Centerline is valid? [True, True] Translation: X:223.84, Y:1.83, Z:1.52 [[ 9.99801931e-01 -8.64413154e-03 -1.79270178e-02 2.23842749e+02] [ 8.64321597e-03 9.99962638e-01 -1.28553028e-04 1.83198556e+00] [ 1.79274593e-02 -2.64195213e-05 9.99839290e-01 1.51749926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.54925415399998 meters 0.014848734223087048 Centerline is valid? [True, True] Translation: X:223.87, Y:1.83, Z:1.52 [[ 9.99813468e-01 -5.84059520e-03 -1.84096647e-02 2.23870285e+02] [ 5.83905683e-03 9.99982943e-01 -1.37314547e-04 1.83379295e+00] [ 1.84101527e-02 2.97938548e-05 9.99830518e-01 1.51818282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57925415399998 meters 0.014813704966322682 Centerline is valid? [True, True] Translation: X:223.90, Y:1.83, Z:1.52 [[ 9.99805581e-01 -5.92855826e-03 -1.88056480e-02 2.23898665e+02] [ 5.92686531e-03 9.99982425e-01 -1.45756903e-04 1.83346156e+00] [ 1.88061816e-02 3.42700224e-05 9.99823148e-01 1.51882774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.60925415399998 meters 0.014724323960862151 Centerline is valid? [True, True] Translation: X:223.93, Y:1.83, Z:1.52 [[ 9.99776955e-01 -7.83420461e-03 -1.96128738e-02 2.23927978e+02] [ 7.83267036e-03 9.99969312e-01 -1.55044784e-04 1.83100433e+00] [ 1.96134866e-02 1.38902667e-06 9.99807637e-01 1.51884248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63925415399999 meters 0.014729151702485654 Centerline is valid? [True, True] Translation: X:223.96, Y:1.83, Z:1.52 [[ 9.99760214e-01 -9.94638949e-03 -1.95085611e-02 2.23956196e+02] [ 9.94523732e-03 9.99950533e-01 -1.56078893e-04 1.82885629e+00] [ 1.95091485e-02 -3.79758025e-05 9.99809678e-01 1.51880821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.669254154 meters 0.014822159352489843 Centerline is valid? [True, True] Translation: X:223.98, Y:1.83, Z:1.52 [[ 9.99723295e-01 -1.27698489e-02 -1.97550911e-02 2.23983618e+02] [ 1.27691696e-02 9.99918458e-01 -1.60528033e-04 1.82603546e+00] [ 1.97555302e-02 -9.17724949e-05 9.99804836e-01 1.51837772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.699254154 meters 0.014900213937557846 Centerline is valid? [True, True] Translation: X:224.01, Y:1.82, Z:1.52 [[ 9.99664722e-01 -1.61984728e-02 -2.02003101e-02 2.24012553e+02] [ 1.61983764e-02 9.99868784e-01 -1.68406433e-04 1.82277088e+00] [ 2.02003874e-02 -1.58862256e-04 9.99795939e-01 1.51855264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.729254154 meters 0.015796611820470076 Centerline is valid? [True, True] Translation: X:224.04, Y:1.82, Z:1.52 [[ 9.99508215e-01 -2.40434677e-02 -2.01305609e-02 2.24042360e+02] [ 2.40449181e-02 9.99710865e-01 -1.70024310e-04 1.81513532e+00] [ 2.01288284e-02 -3.14096993e-04 9.99797345e-01 1.51936171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75925415399996 meters 0.016707500741732995 Centerline is valid? [True, True] Translation: X:224.07, Y:1.81, Z:1.52 [[ 9.99397359e-01 -2.85018304e-02 -1.98132542e-02 2.24071507e+02] [ 2.85040420e-02 9.99593663e-01 -1.70833841e-04 1.81079291e+00] [ 1.98100724e-02 -3.94026941e-04 9.99803684e-01 1.51983906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78925415399996 meters 0.01772695570443077 Centerline is valid? [True, True] Translation: X:224.10, Y:1.81, Z:1.52 [[ 9.99276453e-01 -3.27534580e-02 -1.93334347e-02 2.24100480e+02] [ 3.27563131e-02 9.99463354e-01 -1.69061420e-04 1.80611409e+00] [ 1.93285968e-02 -4.64352945e-04 9.99813077e-01 1.51990948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81925415399996 meters 0.02012088037159929 Centerline is valid? [True, True] Translation: X:224.13, Y:1.80, Z:1.52 [[ 9.99023788e-01 -3.97820530e-02 -1.92057085e-02 2.24129469e+02] [ 3.97861563e-02 9.99208203e-01 -1.68548832e-04 1.79739811e+00] [ 1.91972067e-02 -5.95737027e-04 9.99815539e-01 1.52010196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84925415399996 meters 0.020018823109666625 Centerline is valid? [True, True] Translation: X:224.16, Y:1.80, Z:1.52 [[ 9.98917748e-01 -4.24982908e-02 -1.89004979e-02 2.24160675e+02] [ 4.25027561e-02 9.99096336e-01 -1.65564593e-04 1.79604546e+00] [ 1.88904544e-02 -6.37937844e-04 9.99821356e-01 1.52077563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87925415399997 meters 0.020047815775641013 Centerline is valid? [True, True] Translation: X:224.19, Y:1.79, Z:1.52 [[ 9.98808248e-01 -4.48485657e-02 -1.92532931e-02 2.24192375e+02] [ 4.48536491e-02 9.98993555e-01 -1.67939243e-04 1.79470143e+00] [ 1.92414475e-02 -6.95841349e-04 9.99814624e-01 1.52141016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90925415399997 meters 0.024320573664686335 Centerline is valid? [True, True] Translation: X:224.22, Y:1.79, Z:1.52 [[ 9.98726460e-01 -4.65387143e-02 -1.94834805e-02 2.24222625e+02] [ 4.65442584e-02 9.98916214e-01 -1.69059976e-04 1.78630079e+00] [ 1.94702325e-02 -7.37999482e-04 9.99810165e-01 1.51940866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93925415399997 meters 0.025381940404037524 Centerline is valid? [True, True] Translation: X:224.25, Y:1.78, Z:1.52 [[ 9.98625750e-01 -4.86958322e-02 -1.93733477e-02 2.24254148e+02] [ 4.87017338e-02 9.98813352e-01 -1.67337638e-04 1.78233902e+00] [ 1.93585070e-02 -7.76407948e-04 9.99812305e-01 1.51967524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96925415399997 meters 0.02217941576179578 Centerline is valid? [True, True] Translation: X:224.29, Y:1.79, Z:1.52 [[ 9.98606228e-01 -4.91087249e-02 -1.93373846e-02 2.24286522e+02] [ 4.91147040e-02 9.98793131e-01 -1.65884018e-04 1.78651148e+00] [ 1.93221933e-02 -7.84097108e-04 9.99813002e-01 1.52140577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99925415399997 meters 0.021855691910620163 Centerline is valid? [True, True] Translation: X:224.32, Y:1.79, Z:1.52 [[ 9.98591728e-01 -4.91778283e-02 -1.99023120e-02 2.24318332e+02] [ 4.91842052e-02 9.98789710e-01 -1.69249280e-04 1.78553795e+00] [ 1.98865478e-02 -8.09868468e-04 9.99801915e-01 1.52140049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02925415399997 meters 0.022260272451340574 Centerline is valid? [True, True] Translation: X:224.35, Y:1.78, Z:1.52 [[ 9.98588365e-01 -4.89484068e-02 -2.06235371e-02 2.24349534e+02] [ 4.89552320e-02 9.98800959e-01 -1.74098058e-04 1.78458757e+00] [ 2.06073304e-02 -8.35777747e-04 9.99787297e-01 1.52143772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05925415399997 meters 0.02166303578459096 Centerline is valid? [True, True] Translation: X:224.38, Y:1.79, Z:1.52 [[ 9.98617293e-01 -4.83624919e-02 -2.06051354e-02 2.24380850e+02] [ 4.83691987e-02 9.98829510e-01 -1.73057711e-04 1.78560654e+00] [ 2.05893868e-02 -8.23835465e-04 9.99787677e-01 1.52139088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08925415399997 meters 0.02088992064557564 Centerline is valid? [True, True] Translation: X:224.41, Y:1.79, Z:1.52 [[ 9.98661993e-01 -4.74678749e-02 -2.05189044e-02 2.24412288e+02] [ 4.74743526e-02 9.98872443e-01 -1.71574999e-04 1.78690923e+00] [ 2.05039125e-02 -8.02776274e-04 9.99789450e-01 1.52150487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11925415399998 meters 0.020481997674029116 Centerline is valid? [True, True] Translation: X:224.44, Y:1.79, Z:1.52 [[ 9.98772108e-01 -4.48476054e-02 -2.10468270e-02 2.24443877e+02] [ 4.48538565e-02 9.98993544e-01 -1.75202304e-04 1.78855162e+00] [ 2.10335017e-02 -7.69044183e-04 9.99778476e-01 1.52108696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14925415399998 meters 0.020989899548623177 Centerline is valid? [True, True] Translation: X:224.47, Y:1.79, Z:1.52 [[ 9.98832841e-01 -4.35314077e-02 -2.09278087e-02 2.24474427e+02] [ 4.35373105e-02 9.99051787e-01 -1.73700850e-04 1.78815969e+00] [ 2.09155261e-02 -7.37642390e-04 9.99780974e-01 1.52025771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.17925415399998 meters 0.020619139630668935 Centerline is valid? [True, True] Translation: X:224.50, Y:1.79, Z:1.52 [[ 9.98900053e-01 -4.19627370e-02 -2.09239571e-02 2.24504753e+02] [ 4.19682965e-02 9.99118928e-01 -1.73542555e-04 1.78956902e+00] [ 2.09128039e-02 -7.04791169e-04 9.99781055e-01 1.52007338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.20925415399998 meters 0.0192286277996586 Centerline is valid? [True, True] Translation: X:224.54, Y:1.79, Z:1.52 [[ 9.98954679e-01 -4.07466679e-02 -2.07185539e-02 2.24535697e+02] [ 4.07518553e-02 9.99169283e-01 -1.71944661e-04 1.79293787e+00] [ 2.07083488e-02 -6.72554586e-04 9.99785333e-01 1.52077242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.23925415399998 meters 0.0201981548218547 Centerline is valid? [True, True] Translation: X:224.57, Y:1.79, Z:1.52 [[ 9.99042126e-01 -3.85735839e-02 -2.06617547e-02 2.24565702e+02] [ 3.85782775e-02 9.99255566e-01 -1.71526251e-04 1.79241861e+00] [ 2.06529898e-02 -6.25732955e-04 9.99786508e-01 1.51928022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.26925415399998 meters 0.018824175009065018 Centerline is valid? [True, True] Translation: X:224.60, Y:1.80, Z:1.52 [[ 9.99061608e-01 -3.79548840e-02 -2.08645706e-02 2.24596239e+02] [ 3.79595355e-02 9.99279262e-01 -1.73209954e-04 1.79568024e+00] [ 2.08561069e-02 -6.18961993e-04 9.99782296e-01 1.51999381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.29925415399998 meters 0.01885163055719585 Centerline is valid? [True, True] Translation: X:224.63, Y:1.80, Z:1.52 [[ 9.99058940e-01 -3.79124982e-02 -2.10683975e-02 2.24627220e+02] [ 3.79172316e-02 9.99280868e-01 -1.74902049e-04 1.79656115e+00] [ 2.10598775e-02 -6.24117850e-04 9.99778021e-01 1.51976120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32925415399998 meters 0.020608890231139005 Centerline is valid? [True, True] Translation: X:224.66, Y:1.79, Z:1.52 [[ 9.99020834e-01 -3.86630379e-02 -2.15068248e-02 2.24657076e+02] [ 3.86681723e-02 9.99252091e-01 -1.77235250e-04 1.79473586e+00] [ 2.14975921e-02 -6.54567901e-04 9.99768686e-01 1.51804808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35925415399998 meters 0.020049793928982092 Centerline is valid? [True, True] Translation: X:224.69, Y:1.80, Z:1.52 [[ 9.98978498e-01 -3.96729427e-02 -2.16337115e-02 2.24687248e+02] [ 3.96783879e-02 9.99212487e-01 -1.77656309e-04 1.79623640e+00] [ 2.16237228e-02 -6.80915962e-04 9.99765948e-01 1.51865921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38925415399999 meters 0.02060775782180116 Centerline is valid? [True, True] Translation: X:224.72, Y:1.80, Z:1.52 [[ 9.98939171e-01 -4.10265471e-02 -2.09130255e-02 2.24717214e+02] [ 4.10319265e-02 9.99157821e-01 -1.71985936e-04 1.79568112e+00] [ 2.09024690e-02 -6.86298236e-04 9.99781284e-01 1.51891336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.419254154 meters 0.021319120710984997 Centerline is valid? [True, True] Translation: X:224.75, Y:1.80, Z:1.52 [[ 9.98884783e-01 -4.25119260e-02 -2.05408270e-02 2.24747897e+02] [ 4.25174268e-02 9.99095711e-01 -1.69045670e-04 1.79509649e+00] [ 2.05294386e-02 -7.04485958e-04 9.99789001e-01 1.51913220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.449254154 meters 0.023311751668637498 Centerline is valid? [True, True] Translation: X:224.78, Y:1.79, Z:1.52 [[ 9.98734516e-01 -4.61699527e-02 -1.99424802e-02 2.24778018e+02] [ 4.61758656e-02 9.98933312e-01 -1.64121432e-04 1.79302504e+00] [ 1.99287853e-02 -7.56947549e-04 9.99801115e-01 1.51945226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.479254154 meters 0.025728341846201423 Centerline is valid? [True, True] Translation: X:224.81, Y:1.79, Z:1.52 [[ 9.98656768e-01 -4.78798785e-02 -1.98034454e-02 2.24809671e+02] [ 4.78860536e-02 9.98852792e-01 -1.62531974e-04 1.79154528e+00] [ 1.97885088e-02 -7.85995195e-04 9.99803879e-01 1.51919785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50925415399996 meters 0.02699657579008295 Centerline is valid? [True, True] Translation: X:224.84, Y:1.79, Z:1.52 [[ 9.98457434e-01 -5.21577550e-02 -1.90347513e-02 2.24839294e+02] [ 5.21642401e-02 9.98638507e-01 -1.55992785e-04 1.78929216e+00] [ 1.90169718e-02 -8.37181181e-04 9.99818811e-01 1.51981652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53925415399996 meters 0.028300206814063346 Centerline is valid? [True, True] Translation: X:224.87, Y:1.79, Z:1.52 [[ 9.98408617e-01 -5.32936740e-02 -1.84395719e-02 2.24871344e+02] [ 5.32999676e-02 9.98578535e-01 -1.50328262e-04 1.78861365e+00] [ 1.84213722e-02 -8.32739553e-04 9.99829965e-01 1.52016307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56925415399996 meters 0.02910982307144085 Centerline is valid? [True, True] Translation: X:224.90, Y:1.79, Z:1.52 [[ 9.98338610e-01 -5.48318643e-02 -1.77055371e-02 2.24902036e+02] [ 5.48379225e-02 9.98495259e-01 -1.43521851e-04 1.78800933e+00] [ 1.76867644e-02 -8.27651467e-04 9.99843234e-01 1.52106725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59925415399996 meters 0.030989053083495064 Centerline is valid? [True, True] Translation: X:224.93, Y:1.79, Z:1.52 [[ 9.98242997e-01 -5.68216735e-02 -1.67992872e-02 2.24932818e+02] [ 5.68274177e-02 9.98384007e-01 -1.35619337e-04 1.78762711e+00] [ 1.67798458e-02 -8.19279058e-04 9.99858873e-01 1.52196172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62925415399997 meters 0.03191810774197265 Centerline is valid? [True, True] Translation: X:224.96, Y:1.79, Z:1.52 [[ 9.98207855e-01 -5.76050356e-02 -1.62091871e-02 2.24964556e+02] [ 5.76104974e-02 9.98339128e-01 -1.30167252e-04 1.78780049e+00] [ 1.61897639e-02 -8.03885355e-04 9.99868614e-01 1.52261974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65925415399997 meters 0.024530263891717113 Centerline is valid? [True, True] Translation: X:225.00, Y:1.80, Z:1.52 [[ 9.98183479e-01 -5.82396908e-02 -1.54233969e-02 2.24996358e+02] [ 5.82447262e-02 9.98302327e-01 -1.22892732e-04 1.79962209e+00] [ 1.54043702e-02 -7.75662033e-04 9.99881045e-01 1.52492329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68925415399997 meters 0.02433605599067167 Centerline is valid? [True, True] Translation: X:225.03, Y:1.80, Z:1.53 [[ 9.98170213e-01 -5.86460131e-02 -1.47265102e-02 2.25028051e+02] [ 5.86506616e-02 9.98278561e-01 -1.16405177e-04 1.80094214e+00] [ 1.47079861e-02 -7.47527386e-04 9.99891552e-01 1.52524730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71925415399997 meters 0.026000947629664418 Centerline is valid? [True, True] Translation: X:225.06, Y:1.80, Z:1.53 [[ 9.98181155e-01 -5.87237819e-02 -1.36344803e-02 2.25059832e+02] [ 5.87277871e-02 9.98274028e-01 -1.06783929e-04 1.80057682e+00] [ 1.36172183e-02 -6.94133152e-04 9.99907040e-01 1.52524525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74925415399997 meters 0.025128856398032386 Centerline is valid? [True, True] Translation: X:225.09, Y:1.80, Z:1.53 [[ 9.98222763e-01 -5.81415997e-02 -1.30716968e-02 2.25091991e+02] [ 5.81452453e-02 9.98308129e-01 -1.01299210e-04 1.80315200e+00] [ 1.30554709e-02 -6.58937841e-04 9.99914557e-01 1.52576230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77925415399997 meters 0.025128856398032386 Centerline is valid? [True, True] Translation: X:225.12, Y:1.80, Z:1.53 [[ 9.98229237e-01 -5.80303527e-02 -1.30717060e-02 2.25124570e+02] [ 5.80340044e-02 9.98314602e-01 -1.00100816e-04 1.80331351e+00] [ 1.30554839e-02 -6.58679883e-04 9.99914557e-01 1.52598793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80925415399997 meters 0.027524201991666986 Centerline is valid? [True, True] Translation: X:225.16, Y:1.80, Z:1.53 [[ 9.98266019e-01 -5.74001919e-02 -1.30450732e-02 2.25155693e+02] [ 5.74037895e-02 9.98351038e-01 -9.87888201e-05 1.80157513e+00] [ 1.30292329e-02 -6.50219115e-04 9.99914905e-01 1.52573110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83925415399997 meters 0.023435476338182142 Centerline is valid? [True, True] Translation: X:225.19, Y:1.81, Z:1.53 [[ 9.98402229e-01 -5.49295255e-02 -1.32565311e-02 2.25187579e+02] [ 5.49330333e-02 9.98490036e-01 -9.96456114e-05 1.81144197e+00] [ 1.32419877e-02 -6.28735067e-04 9.99912123e-01 1.52634143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86925415399998 meters 0.023666765715491634 Centerline is valid? [True, True] Translation: X:225.22, Y:1.81, Z:1.53 [[ 9.98490984e-01 -5.33358292e-02 -1.30783871e-02 2.25219325e+02] [ 5.33391179e-02 9.98576451e-01 -9.74651143e-05 1.81341884e+00] [ 1.30649678e-02 -6.00271597e-04 9.99914469e-01 1.52643815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89925415399998 meters 0.024386742596811537 Centerline is valid? [True, True] Translation: X:225.25, Y:1.82, Z:1.53 [[ 9.98604373e-01 -5.12364494e-02 -1.28114015e-02 2.25249890e+02] [ 5.12394406e-02 9.98686393e-01 -9.48638203e-05 1.81535765e+00] [ 1.27994328e-02 -5.61717619e-04 9.99917926e-01 1.52622871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.92925415399998 meters 0.023048808220718905 Centerline is valid? [True, True] Translation: X:225.28, Y:1.82, Z:1.53 [[ 9.98687226e-01 -4.96658284e-02 -1.25351304e-02 2.25282298e+02] [ 4.96685751e-02 9.98765750e-01 -9.22861523e-05 1.81810915e+00] [ 1.25242424e-02 -5.30437064e-04 9.99921428e-01 1.52675380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.95925415399998 meters 0.020155668632037174 Centerline is valid? [True, True] Translation: X:225.31, Y:1.83, Z:1.53 [[ 9.98893528e-01 -4.53720424e-02 -1.23732545e-02 2.25314208e+02] [ 4.53743996e-02 9.98970047e-01 -9.02926151e-05 1.82621086e+00] [ 1.23646074e-02 -4.71236287e-04 9.99923444e-01 1.52714633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.98925415399998 meters 0.01956242706266476 Centerline is valid? [True, True] Translation: X:225.35, Y:1.83, Z:1.53 [[ 9.99004280e-01 -4.29461362e-02 -1.20862485e-02 2.25346139e+02] [ 4.29482162e-02 9.99077296e-01 -8.75284616e-05 1.82925869e+00] [ 1.20788555e-02 -4.31641507e-04 9.99926955e-01 1.52708972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.01925415399998 meters 0.01942213775285807 Centerline is valid? [True, True] Translation: X:225.38, Y:1.83, Z:1.53 [[ 9.99113638e-01 -4.04160211e-02 -1.17678713e-02 2.25376650e+02] [ 4.04178283e-02 9.99182862e-01 -8.43171999e-05 1.83159698e+00] [ 1.17616631e-02 -3.91389336e-04 9.99930753e-01 1.52686198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.04925415399998 meters 0.017920779370204726 Centerline is valid? [True, True] Translation: X:225.41, Y:1.84, Z:1.53 [[ 9.99313236e-01 -3.49709954e-02 -1.22509213e-02 2.25408541e+02] [ 3.49725582e-02 9.99388269e-01 -8.67021544e-05 1.83781701e+00] [ 1.22464591e-02 -3.41803448e-04 9.99924951e-01 1.52665823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07925415399998 meters 0.017070563233696275 Centerline is valid? [True, True] Translation: X:225.44, Y:1.84, Z:1.53 [[ 9.99411081e-01 -3.20926219e-02 -1.21472099e-02 2.25441012e+02] [ 3.20939553e-02 9.99484853e-01 -8.51973451e-05 1.84177155e+00] [ 1.21436865e-02 -3.04704842e-04 9.99926216e-01 1.52682220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.10925415399998 meters 0.01708971396253015 Centerline is valid? [True, True] Translation: X:225.47, Y:1.84, Z:1.53 [[ 9.99490169e-01 -2.95111975e-02 -1.21856697e-02 2.25472304e+02] [ 2.95123575e-02 9.99564412e-01 -8.46567262e-05 1.84430168e+00] [ 1.21828601e-02 -2.75014275e-04 9.99925748e-01 1.52689214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13925415399999 meters 0.016508081251122877 Centerline is valid? [True, True] Translation: X:225.50, Y:1.85, Z:1.53 [[ 9.99563476e-01 -2.70198364e-02 -1.19492978e-02 2.25503353e+02] [ 2.70207805e-02 9.99634869e-01 -8.24551992e-05 1.84762184e+00] [ 1.19471627e-02 -2.40460148e-04 9.99928601e-01 1.52679718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.169254154 meters 0.015651089241537377 Centerline is valid? [True, True] Translation: X:225.54, Y:1.85, Z:1.53 [[ 9.99677738e-01 -2.27910819e-02 -1.11797453e-02 2.25535058e+02] [ 2.27916491e-02 9.99740234e-01 -7.66793835e-05 1.85260577e+00] [ 1.11785888e-02 -1.78150160e-04 9.99937502e-01 1.52710511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.199254154 meters 0.015399694909806548 Centerline is valid? [True, True] Translation: X:225.57, Y:1.86, Z:1.53 [[ 9.99713840e-01 -2.13630553e-02 -1.07637309e-02 2.25566843e+02] [ 2.13635041e-02 9.99771772e-01 -7.33011467e-05 1.85524826e+00] [ 1.07628402e-02 -1.56670837e-04 9.99942067e-01 1.52752811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.229254154 meters 0.015271197222294173 Centerline is valid? [True, True] Translation: X:225.60, Y:1.86, Z:1.53 [[ 9.99746421e-01 -1.99656256e-02 -1.04147687e-02 2.25597462e+02] [ 1.99659736e-02 9.99800658e-01 -7.05766492e-05 1.85711210e+00] [ 1.04141017e-02 -1.37382244e-04 9.99945762e-01 1.52752582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25925415399996 meters 0.01484763623755484 Centerline is valid? [True, True] Translation: X:225.63, Y:1.86, Z:1.53 [[ 9.99791487e-01 -1.75679085e-02 -1.04091887e-02 2.25628715e+02] [ 1.75681287e-02 9.99845666e-01 -7.02900043e-05 1.86081582e+00] [ 1.04088171e-02 -1.12594619e-04 9.99945820e-01 1.52744705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28925415399996 meters 0.014671028543090343 Centerline is valid? [True, True] Translation: X:225.66, Y:1.86, Z:1.53 [[ 9.99809811e-01 -1.66487354e-02 -1.01568445e-02 2.25660106e+02] [ 1.66489012e-02 9.99861395e-01 -6.82259507e-05 1.86319650e+00] [ 1.01565725e-02 -1.00887325e-04 9.99948416e-01 1.52776750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31925415399996 meters 0.014521359510604698 Centerline is valid? [True, True] Translation: X:225.69, Y:1.86, Z:1.53 [[ 9.99835390e-01 -1.54319579e-02 -9.54184999e-03 2.25691745e+02] [ 1.54320521e-02 9.99880917e-01 -6.37591586e-05 1.86495973e+00] [ 9.54169764e-03 -8.35016630e-05 9.99954473e-01 1.52793882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34925415399996 meters 0.014378098290742956 Centerline is valid? [True, True] Translation: X:225.72, Y:1.87, Z:1.53 [[ 9.99857852e-01 -1.41817284e-02 -9.11884768e-03 2.25723419e+02] [ 1.41817655e-02 9.99899432e-01 -6.06064191e-05 1.86651946e+00] [ 9.11879011e-03 -6.87235549e-05 9.99958421e-01 1.52822571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37925415399997 meters 0.014280530644067986 Centerline is valid? [True, True] Translation: X:225.75, Y:1.87, Z:1.53 [[ 9.99891448e-01 -1.18411344e-02 -8.76815656e-03 2.25753597e+02] [ 1.18410811e-02 9.99929890e-01 -5.79961526e-05 1.86904079e+00] [ 8.76822857e-03 -4.58345956e-05 9.99961557e-01 1.52878158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40925415399997 meters 0.014217177703054012 Centerline is valid? [True, True] Translation: X:225.78, Y:1.87, Z:1.53 [[ 9.99906149e-01 -1.10603734e-02 -8.08462750e-03 2.25783926e+02] [ 1.10603035e-02 9.99938832e-01 -5.33582909e-05 1.87042578e+00] [ 8.08472314e-03 -3.60651508e-05 9.99967317e-01 1.52889001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43925415399997 meters 0.014127504457458279 Centerline is valid? [True, True] Translation: X:225.81, Y:1.87, Z:1.53 [[ 9.99921634e-01 -1.02742386e-02 -7.15304357e-03 2.25814441e+02] [ 1.02741638e-02 9.99947218e-01 -4.72098658e-05 1.87179639e+00] [ 7.15315106e-03 -2.62853752e-05 9.99974416e-01 1.52906443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46925415399997 meters 0.014215018981381559 Centerline is valid? [True, True] Translation: X:225.84, Y:1.87, Z:1.53 [[ 9.99918123e-01 -1.04462507e-02 -7.39078543e-03 2.25844442e+02] [ 1.04461756e-02 9.99945436e-01 -4.87705472e-05 1.87167459e+00] [ 7.39089162e-03 -2.84388883e-05 9.99972687e-01 1.52901833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49925415399997 meters 0.014055235800447624 Centerline is valid? [True, True] Translation: X:225.87, Y:1.87, Z:1.53 [[ 9.99910696e-01 -1.08154570e-02 -7.85026638e-03 2.25874767e+02] [ 1.08153846e-02 9.99941511e-01 -5.16684260e-05 1.87172202e+00] [ 7.85036604e-03 -3.32398387e-05 9.99969185e-01 1.52911420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52925415399997 meters 0.014132809838472404 Centerline is valid? [True, True] Translation: X:225.90, Y:1.87, Z:1.53 [[ 9.99902550e-01 -1.15541578e-02 -7.83530039e-03 2.25904375e+02] [ 1.15541085e-02 9.99933248e-01 -5.15676396e-05 1.87110902e+00] [ 7.83537318e-03 -3.89672962e-05 9.99969302e-01 1.52889684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55925415399997 meters 0.014247828692801006 Centerline is valid? [True, True] Translation: X:225.93, Y:1.87, Z:1.53 [[ 9.99878774e-01 -1.33276088e-02 -8.05057753e-03 2.25934758e+02] [ 1.33276143e-02 9.99911182e-01 -5.29665214e-05 1.86988745e+00] [ 8.05056841e-03 -5.43348917e-05 9.99967592e-01 1.52828368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58925415399997 meters 0.0143673691003592 Centerline is valid? [True, True] Translation: X:225.96, Y:1.87, Z:1.53 [[ 9.99856495e-01 -1.45670166e-02 -8.64816537e-03 2.25964746e+02] [ 1.45670696e-02 9.99893893e-01 -5.68673167e-05 1.86898199e+00] [ 8.64807613e-03 -6.91192705e-05 9.99962602e-01 1.52767219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61925415399998 meters 0.014374118243083333 Centerline is valid? [True, True] Translation: X:226.00, Y:1.87, Z:1.53 [[ 9.99838201e-01 -1.55932093e-02 -8.96797519e-03 2.25996553e+02] [ 1.55933093e-02 9.99878415e-01 -5.87672371e-05 1.86839628e+00] [ 8.96780120e-03 -8.10826825e-05 9.99959785e-01 1.52751327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64925415399998 meters 0.014974950036711749 Centerline is valid? [True, True] Translation: X:226.03, Y:1.87, Z:1.53 [[ 9.99779576e-01 -1.85475621e-02 -9.83804144e-03 2.26027288e+02] [ 1.85478298e-02 9.99827972e-01 -6.40341880e-05 1.86611167e+00] [ 9.83753670e-03 -1.18454245e-04 9.99951603e-01 1.52666821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.67925415399998 meters 0.015067713086181296 Centerline is valid? [True, True] Translation: X:226.06, Y:1.87, Z:1.53 [[ 9.99753835e-01 -1.97867983e-02 -1.00375000e-02 2.26058693e+02] [ 1.97871444e-02 9.99804213e-01 -6.48353864e-05 1.86597070e+00] [ 1.00368177e-02 -1.33794035e-04 9.99949621e-01 1.52671352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.70925415399998 meters 0.015319617092579658 Centerline is valid? [True, True] Translation: X:226.09, Y:1.87, Z:1.53 [[ 9.99725353e-01 -2.10108140e-02 -1.03809435e-02 2.26090709e+02] [ 2.10112554e-02 9.99779237e-01 -6.65504426e-05 1.86530731e+00] [ 1.03800501e-02 -1.51584492e-04 9.99946114e-01 1.52684237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.73925415399998 meters 0.01591679716825007 Centerline is valid? [True, True] Translation: X:226.12, Y:1.86, Z:1.53 [[ 9.99665454e-01 -2.34661582e-02 -1.08774864e-02 2.26121385e+02] [ 2.34667954e-02 9.99724614e-01 -6.90735748e-05 1.86409491e+00] [ 1.08761118e-02 -1.86209281e-04 9.99940836e-01 1.52674257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.76925415399998 meters 0.015663405017105725 Centerline is valid? [True, True] Translation: X:226.15, Y:1.87, Z:1.53 [[ 9.99633710e-01 -2.46812740e-02 -1.11031343e-02 2.26153707e+02] [ 2.46820189e-02 9.99695350e-01 -6.99468220e-05 1.86501205e+00] [ 1.11014781e-02 -2.04126570e-04 9.99938356e-01 1.52718343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.79925415399998 meters 0.01609807884910855 Centerline is valid? [True, True] Translation: X:226.18, Y:1.86, Z:1.53 [[ 9.99606238e-01 -2.56685684e-02 -1.13355366e-02 2.26184633e+02] [ 2.56694170e-02 9.99670484e-01 -7.06486400e-05 1.86435102e+00] [ 1.13336148e-02 -2.20355794e-04 9.99935748e-01 1.52719301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82925415399998 meters 0.01651479178066449 Centerline is valid? [True, True] Translation: X:226.22, Y:1.86, Z:1.53 [[ 9.99554727e-01 -2.77065144e-02 -1.10768979e-02 2.26216427e+02] [ 2.77074591e-02 9.99616072e-01 -6.81999728e-05 1.86351594e+00] [ 1.10745348e-02 -2.38743091e-04 9.99938647e-01 1.52795460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85925415399998 meters 0.016811608425467695 Centerline is valid? [True, True] Translation: X:226.25, Y:1.86, Z:1.53 [[ 9.99527927e-01 -2.89160393e-02 -1.03819742e-02 2.26248437e+02] [ 2.89169445e-02 9.99581816e-01 -6.29424178e-05 1.86309008e+00] [ 1.03794526e-02 -2.37302267e-04 9.99946104e-01 1.52817482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88925415399999 meters 0.016910368531353834 Centerline is valid? [True, True] Translation: X:226.28, Y:1.86, Z:1.53 [[ 9.99496859e-01 -2.99855311e-02 -1.03391181e-02 2.26280106e+02] [ 2.99864931e-02 9.99550302e-01 -6.19959318e-05 1.86299968e+00] [ 1.03363276e-02 -2.48069156e-04 9.99946548e-01 1.52850088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.919254154 meters 0.017927233304130336 Centerline is valid? [True, True] Translation: X:226.31, Y:1.86, Z:1.53 [[ 9.99453155e-01 -3.13829411e-02 -1.04164349e-02 2.26311541e+02] [ 3.13839994e-02 9.99507399e-01 -6.18859024e-05 1.86094351e+00] [ 1.04132459e-02 -2.65057324e-04 9.99945746e-01 1.52873070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.949254154 meters 0.018367787690542016 Centerline is valid? [True, True] Translation: X:226.34, Y:1.86, Z:1.53 [[ 9.99324361e-01 -3.51624075e-02 -1.06970291e-02 2.26343503e+02] [ 3.51637470e-02 9.99381562e-01 -6.28899420e-05 1.86009872e+00] [ 1.06926250e-02 -3.13300175e-04 9.99942783e-01 1.52892273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.979254154 meters 0.01918044007110326 Centerline is valid? [True, True] Translation: X:226.38, Y:1.86, Z:1.53 [[ 9.99223363e-01 -3.77355635e-02 -1.13445191e-02 2.26375294e+02] [ 3.77372468e-02 9.99287694e-01 -6.57240782e-05 1.85870754e+00] [ 1.13389185e-02 -3.62437884e-04 9.99935647e-01 1.52883328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00925415399996 meters 0.020918816076887368 Centerline is valid? [True, True] Translation: X:226.41, Y:1.86, Z:1.53 [[ 9.99103592e-01 -4.05910472e-02 -1.20158099e-02 2.26406399e+02] [ 4.05931539e-02 9.99175756e-01 -6.86110943e-05 1.85579433e+00] [ 1.20086910e-02 -4.19210031e-04 9.99927805e-01 1.52854537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03925415399996 meters 0.023380814833824676 Centerline is valid? [True, True] Translation: X:226.44, Y:1.85, Z:1.53 [[ 9.98790341e-01 -4.73760525e-02 -1.31668055e-02 2.26437031e+02] [ 4.73791764e-02 9.98876973e-01 -7.47498304e-05 1.85099244e+00] [ 1.31555602e-02 -5.49172993e-04 9.99913311e-01 1.52840374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06925415399996 meters 0.022427716889795547 Centerline is valid? [True, True] Translation: X:226.47, Y:1.85, Z:1.53 [[ 9.98607176e-01 -5.09921458e-02 -1.35465603e-02 2.26468011e+02] [ 5.09957892e-02 9.98698865e-01 -7.65643182e-05 1.85221113e+00] [ 1.35328385e-02 -6.14359853e-04 9.99908238e-01 1.52900748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09925415399996 meters 0.02384718415793927 Centerline is valid? [True, True] Translation: X:226.50, Y:1.85, Z:1.53 [[ 9.98417373e-01 -5.45165958e-02 -1.38090231e-02 2.26498841e+02] [ 5.45207272e-02 9.98512636e-01 -7.73832198e-05 1.84979025e+00] [ 1.37927027e-02 -6.75617229e-04 9.99904648e-01 1.52892575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12925415399997 meters 0.02844384802340595 Centerline is valid? [True, True] Translation: X:226.53, Y:1.84, Z:1.53 [[ 9.98053995e-01 -6.06845938e-02 -1.43388335e-02 2.26528079e+02] [ 6.06896940e-02 9.98156678e-01 -7.95751769e-05 1.84289366e+00] [ 1.43172314e-02 -7.90799092e-04 9.99897190e-01 1.52838326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15925415399997 meters 0.028603664379780035 Centerline is valid? [True, True] Translation: X:226.56, Y:1.84, Z:1.53 [[ 9.97895282e-01 -6.31119109e-02 -1.48960384e-02 2.26558725e+02] [ 6.31176932e-02 9.98006087e-01 -8.20970644e-05 1.84282340e+00] [ 1.48715183e-02 -8.58279309e-04 9.99889044e-01 1.52836556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18925415399997 meters 0.03174484450180196 Centerline is valid? [True, True] Translation: X:226.59, Y:1.84, Z:1.53 [[ 9.97648983e-01 -6.66211673e-02 -1.60663116e-02 2.26589120e+02] [ 6.66283549e-02 9.97777858e-01 -8.80806043e-05 1.83934736e+00] [ 1.60364780e-02 -9.82598386e-04 9.99870925e-01 1.52783814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21925415399997 meters 0.030564940065717826 Centerline is valid? [True, True] Translation: X:226.62, Y:1.84, Z:1.53 [[ 9.97601466e-01 -6.72551032e-02 -1.63727167e-02 2.26621642e+02] [ 6.72626682e-02 9.97735298e-01 -8.88130347e-05 1.84181324e+00] [ 1.63416105e-02 -1.01267260e-03 9.99865954e-01 1.52857900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24925415399997 meters 0.029363613904287076 Centerline is valid? [True, True] Translation: X:226.65, Y:1.84, Z:1.53 [[ 9.97600924e-01 -6.73134820e-02 -1.61644858e-02 2.26654208e+02] [ 6.73208825e-02 9.97731372e-01 -8.64953541e-05 1.84430478e+00] [ 1.61336370e-02 -1.00191961e-03 9.99869342e-01 1.52906012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27925415399997 meters 0.030931701853146847 Centerline is valid? [True, True] Translation: X:226.69, Y:1.84, Z:1.53 [[ 9.97636191e-01 -6.66289688e-02 -1.68110584e-02 2.26685261e+02] [ 6.66368946e-02 9.97777288e-01 -8.88731703e-05 1.84282199e+00] [ 1.67796138e-02 -1.03157364e-03 9.99858680e-01 1.52881890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30925415399997 meters 0.029363694516899914 Centerline is valid? [True, True] Translation: X:226.72, Y:1.85, Z:1.53 [[ 9.97820237e-01 -6.36979226e-02 -1.72438131e-02 2.26716307e+02] [ 6.37058356e-02 9.97968716e-01 -9.05810925e-05 1.84751965e+00] [ 1.72145558e-02 -1.00814788e-03 9.99851310e-01 1.52922569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33925415399997 meters 0.028640004362017468 Centerline is valid? [True, True] Translation: X:226.75, Y:1.85, Z:1.53 [[ 9.97966288e-01 -6.13124126e-02 -1.74377601e-02 2.26747340e+02] [ 6.13201506e-02 9.98118145e-01 -9.10897562e-05 1.85025297e+00] [ 1.74105297e-02 -9.78381572e-04 9.99847947e-01 1.52984699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36925415399998 meters 0.02856313143244711 Centerline is valid? [True, True] Translation: X:226.78, Y:1.85, Z:1.53 [[ 9.98143420e-01 -5.84074984e-02 -1.72707265e-02 2.26777880e+02] [ 5.84146660e-02 9.98292401e-01 -8.95944696e-05 1.85226420e+00] [ 1.72464680e-02 -9.19435590e-04 9.99850846e-01 1.53014288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39925415399998 meters 0.026807978309244796 Centerline is valid? [True, True] Translation: X:226.81, Y:1.86, Z:1.53 [[ 9.98345912e-01 -5.48513678e-02 -1.72269511e-02 2.26808471e+02] [ 5.48579784e-02 9.98494163e-01 -8.89344176e-05 1.85668297e+00] [ 1.72058883e-02 -8.56248399e-04 9.99851601e-01 1.53079254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.42925415399998 meters 0.02507805895752808 Centerline is valid? [True, True] Translation: X:226.84, Y:1.86, Z:1.53 [[ 9.98773726e-01 -4.66892207e-02 -1.64669911e-02 2.26838028e+02] [ 4.66941524e-02 9.98909230e-01 -8.50745538e-05 1.86403852e+00] [ 1.64530014e-02 -6.83941962e-04 9.99864406e-01 1.53107008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.45925415399998 meters 0.02263146937275396 Centerline is valid? [True, True] Translation: X:226.87, Y:1.87, Z:1.53 [[ 9.98966696e-01 -4.26059224e-02 -1.58201273e-02 2.26868413e+02] [ 4.26099609e-02 9.99091780e-01 -8.18594779e-05 1.86875651e+00] [ 1.58092468e-02 -5.92320114e-04 9.99874851e-01 1.53326014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.48925415399998 meters 0.018600895151542483 Centerline is valid? [True, True] Translation: X:226.90, Y:1.88, Z:1.54 [[ 9.99318835e-01 -3.38848032e-02 -1.46180301e-02 2.26899192e+02] [ 3.38873190e-02 9.99425657e-01 -7.56330482e-05 1.87958773e+00] [ 1.46121972e-02 -4.19784319e-04 9.99893148e-01 1.53521970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.51925415399998 meters 0.017721787103992952 Centerline is valid? [True, True] Translation: X:226.93, Y:1.88, Z:1.54 [[ 9.99454027e-01 -2.98121449e-02 -1.42437526e-02 2.26929898e+02] [ 2.98141239e-02 9.99555458e-01 -7.34304434e-05 1.88291537e+00] [ 1.42396098e-02 -3.51274654e-04 9.99898550e-01 1.53550367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.54925415399998 meters 0.015807374413226043 Centerline is valid? [True, True] Translation: X:226.96, Y:1.89, Z:1.54 [[ 9.99551778e-01 -2.62224850e-02 -1.44438519e-02 2.26961673e+02] [ 2.62241551e-02 9.99656085e-01 -7.37931837e-05 1.88858347e+00] [ 1.44408195e-02 -3.05017704e-04 9.99895679e-01 1.53659240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57925415399998 meters 0.015512108780367486 Centerline is valid? [True, True] Translation: X:226.99, Y:1.89, Z:1.54 [[ 9.99629865e-01 -2.30373932e-02 -1.44710621e-02 2.26992508e+02] [ 2.30387456e-02 9.99734570e-01 -7.32691650e-05 1.89072234e+00] [ 1.44689090e-02 -2.60153073e-04 9.99895286e-01 1.53610806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.60925415399998 meters 0.014465019238578122 Centerline is valid? [True, True] Translation: X:227.02, Y:1.90, Z:1.53 [[ 9.99712526e-01 -1.75769125e-02 -1.63069478e-02 2.27023319e+02] [ 1.75779082e-02 9.99845493e-01 -8.22783648e-05 1.89581164e+00] [ 1.63058745e-02 -2.04387320e-04 9.99867030e-01 1.53464965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63925415399999 meters 0.015590025112976955 Centerline is valid? [True, True] Translation: X:227.05, Y:1.90, Z:1.53 [[ 9.99753004e-01 -1.26067816e-02 -1.83030023e-02 2.27051756e+02] [ 1.26071920e-02 9.99920522e-01 -9.29681942e-05 1.89946723e+00] [ 1.83027196e-02 -1.37804233e-04 9.99832482e-01 1.53182706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.669254154 meters 0.015590025112976955 Centerline is valid? [True, True] Translation: X:227.08, Y:1.90, Z:1.53 [[ 9.99749388e-01 -1.28904099e-02 -1.83029835e-02 2.27079137e+02] [ 1.28908018e-02 9.99916905e-01 -9.65713379e-05 1.89968603e+00] [ 1.83027074e-02 -1.39392996e-04 9.99832482e-01 1.53201695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.699254154 meters 0.013908304623674124 Centerline is valid? [True, True] Translation: X:227.11, Y:1.90, Z:1.53 [[ 9.99761022e-01 -1.11441593e-02 -1.88070884e-02 2.27107450e+02] [ 1.11441626e-02 9.99937896e-01 -1.04634045e-04 1.90237494e+00] [ 1.88070865e-02 -1.04980211e-04 9.99823126e-01 1.53320797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.729254154 meters 0.013776241246645803 Centerline is valid? [True, True] Translation: X:227.14, Y:1.90, Z:1.53 [[ 9.99773349e-01 -9.12754248e-03 -1.92337799e-02 2.27135377e+02] [ 9.12706663e-03 9.99958341e-01 -1.12524190e-04 1.90473527e+00] [ 1.92340057e-02 -6.30493045e-05 9.99815007e-01 1.53335646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75925415399996 meters 0.013899287070975916 Centerline is valid? [True, True] Translation: X:227.16, Y:1.91, Z:1.53 [[ 9.99793416e-01 -7.12033545e-03 -1.90374918e-02 2.27163349e+02] [ 7.11940288e-03 9.99974650e-01 -1.16760282e-04 1.90703190e+00] [ 1.90378406e-02 -1.87994126e-05 9.99818764e-01 1.53357808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78925415399996 meters 0.013908511214529481 Centerline is valid? [True, True] Translation: X:227.19, Y:1.91, Z:1.54 [[ 9.99838263e-01 -2.84316753e-03 -1.77584891e-02 2.27190831e+02] [ 2.84159441e-03 9.99995956e-01 -1.13816550e-04 1.91085093e+00] [ 1.77587409e-02 6.33357187e-05 9.99842299e-01 1.53508040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81925415399996 meters 0.01395761953289932 Centerline is valid? [True, True] Translation: X:227.22, Y:1.91, Z:1.54 [[ 9.99853879e-01 -9.34145461e-04 -1.70689138e-02 2.27218343e+02] [ 9.32332002e-04 9.99999559e-01 -1.14200587e-04 1.91237953e+00] [ 1.70690130e-02 9.82700053e-05 9.99854309e-01 1.53661447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84925415399996 meters 0.014231284509758932 Centerline is valid? [True, True] Translation: X:227.25, Y:1.91, Z:1.54 [[ 9.99867773e-01 2.58661537e-04 -1.62594517e-02 2.27245018e+02] [-2.60525293e-04 9.99999960e-01 -1.12508004e-04 1.91401087e+00] [ 1.62594219e-02 1.16729126e-04 9.99867800e-01 1.53668917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87925415399997 meters 0.014136383838801931 Centerline is valid? [True, True] Translation: X:227.27, Y:1.91, Z:1.54 [[ 9.99881639e-01 1.23393497e-03 -1.53357528e-02 2.27273361e+02] [-1.23576434e-03 9.99999230e-01 -1.09812230e-04 1.91422524e+00] [ 1.53356055e-02 1.28750609e-04 9.99882394e-01 1.53805755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90925415399997 meters 0.014020501448632202 Centerline is valid? [True, True] Translation: X:227.30, Y:1.91, Z:1.54 [[ 9.99899633e-01 1.23514448e-03 -1.41137939e-02 2.27300780e+02] [-1.23673269e-03 9.99999230e-01 -1.03802074e-04 1.91359654e+00] [ 1.41136548e-02 1.21246646e-04 9.99900390e-01 1.53878145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93925415399997 meters 0.013944636713211736 Centerline is valid? [True, True] Translation: X:227.33, Y:1.91, Z:1.54 [[ 9.99908590e-01 3.75520624e-04 -1.35155913e-02 2.27329618e+02] [-3.76916224e-04 9.99999924e-01 -1.00711488e-04 1.91239803e+00] [ 1.35155525e-02 1.05796528e-04 9.99908655e-01 1.53921329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96925415399997 meters 0.01381211015015223 Centerline is valid? [True, True] Translation: X:227.36, Y:1.91, Z:1.54 [[ 9.99910780e-01 -8.89533261e-04 -1.33282318e-02 2.27358243e+02] [ 8.88275795e-04 9.99999600e-01 -1.00265643e-04 1.91079531e+00] [ 1.33283156e-02 8.84175513e-05 9.99911170e-01 1.53960571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99925415399997 meters 0.01473682177363137 Centerline is valid? [True, True] Translation: X:227.39, Y:1.91, Z:1.54 [[ 9.99898729e-01 -4.19130143e-03 -1.36001966e-02 2.27387307e+02] [ 4.19028412e-03 9.99991215e-01 -1.03295897e-04 1.90586825e+00] [ 1.36005101e-02 4.62967482e-05 9.99907508e-01 1.53838042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02925415399997 meters 0.013527495036371363 Centerline is valid? [True, True] Translation: X:227.42, Y:1.90, Z:1.54 [[ 9.99876132e-01 -7.03759700e-03 -1.40781129e-02 2.27415097e+02] [ 7.03677100e-03 9.99975236e-01 -1.08206592e-04 1.90318983e+00] [ 1.40785258e-02 9.12873248e-06 9.99900893e-01 1.53882745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.05925415399997 meters 0.013513896758865718 Centerline is valid? [True, True] Translation: X:227.44, Y:1.90, Z:1.54 [[ 9.99837012e-01 -9.88855779e-03 -1.51051866e-02 2.27442870e+02] [ 9.88790912e-03 9.99951107e-01 -1.17628297e-04 1.90009135e+00] [ 1.51056113e-02 -3.17495877e-05 9.99885903e-01 1.53786911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08925415399997 meters 0.014789836281276 Centerline is valid? [True, True] Translation: X:227.47, Y:1.89, Z:1.54 [[ 9.99739464e-01 -1.58681998e-02 -1.64074249e-02 2.27470634e+02] [ 1.58682150e-02 9.99874084e-01 -1.29269829e-04 1.89213784e+00] [ 1.64074102e-02 -1.31120396e-04 9.99865381e-01 1.53573303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11925415399998 meters 0.01445984340758222 Centerline is valid? [True, True] Translation: X:227.50, Y:1.89, Z:1.54 [[ 9.99676152e-01 -1.94572382e-02 -1.64014490e-02 2.27499496e+02] [ 1.94576884e-02 9.99810673e-01 -1.32139977e-04 1.88817324e+00] [ 1.64009148e-02 -1.87037101e-04 9.99865478e-01 1.53623677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14925415399998 meters 0.015005711990521914 Centerline is valid? [True, True] Translation: X:227.53, Y:1.88, Z:1.54 [[ 9.99612403e-01 -2.23336063e-02 -1.66208635e-02 2.27529409e+02] [ 2.23344321e-02 9.99750546e-01 -1.35955924e-04 1.88443021e+00] [ 1.66197537e-02 -2.35314319e-04 9.99861855e-01 1.53619578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.17925415399998 meters 0.015712338260142997 Centerline is valid? [True, True] Translation: X:227.56, Y:1.88, Z:1.54 [[ 9.99562083e-01 -2.46282225e-02 -1.64040453e-02 2.27559194e+02] [ 2.46293265e-02 9.99696643e-01 -1.34745917e-04 1.88106585e+00] [ 1.64023876e-02 -2.69333679e-04 9.99865436e-01 1.53608067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.20925415399998 meters 0.016440134588536295 Centerline is valid? [True, True] Translation: X:227.59, Y:1.87, Z:1.54 [[ 9.99513255e-01 -2.68254436e-02 -1.59263477e-02 2.27588967e+02] [ 2.68267570e-02 9.99640089e-01 -1.31208358e-04 1.87493532e+00] [ 1.59241353e-02 -2.96107766e-04 9.99873159e-01 1.53619986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.23925415399998 meters 0.016624466399524106 Centerline is valid? [True, True] Translation: X:227.62, Y:1.87, Z:1.54 [[ 9.99509872e-01 -2.70345359e-02 -1.57844434e-02 2.27619059e+02] [ 2.70358525e-02 9.99634456e-01 -1.30007043e-04 1.87252642e+00] [ 1.57821882e-02 -2.96802560e-04 9.99875409e-01 1.53605594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.26925415399998 meters 0.016339775607786496 Centerline is valid? [True, True] Translation: X:227.65, Y:1.87, Z:1.54 [[ 9.99512916e-01 -2.68188218e-02 -1.59587541e-02 2.27650257e+02] [ 2.68201471e-02 9.99640267e-01 -1.31014060e-04 1.87166222e+00] [ 1.59565269e-02 -2.97065887e-04 9.99872642e-01 1.53656661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.29925415399998 meters 0.01586298783506228 Centerline is valid? [True, True] Translation: X:227.68, Y:1.87, Z:1.54 [[ 9.99558626e-01 -2.50736333e-02 -1.59331466e-02 2.27680489e+02] [ 2.50747388e-02 9.99685571e-01 -1.30412989e-04 1.86971347e+00] [ 1.59314067e-02 -2.69164061e-04 9.99873051e-01 1.53708122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32925415399998 meters 0.015522844685515031 Centerline is valid? [True, True] Translation: X:227.71, Y:1.87, Z:1.54 [[ 9.99589437e-01 -2.37522187e-02 -1.60246633e-02 2.27711191e+02] [ 2.37531692e-02 9.99717845e-01 -1.31043354e-04 1.86968474e+00] [ 1.60232544e-02 -2.49646985e-04 9.99871588e-01 1.53747074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35925415399998 meters 0.014980890342176098 Centerline is valid? [True, True] Translation: X:227.74, Y:1.87, Z:1.54 [[ 9.99654180e-01 -2.08162605e-02 -1.60687099e-02 2.27740965e+02] [ 2.08168344e-02 9.99783298e-01 -1.31559045e-04 1.86893062e+00] [ 1.60679663e-02 -2.02986123e-04 9.99870881e-01 1.53799298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38925415399999 meters 0.014598951866806388 Centerline is valid? [True, True] Translation: X:227.77, Y:1.87, Z:1.54 [[ 9.99699578e-01 -1.88968296e-02 -1.56097223e-02 2.27769916e+02] [ 1.88971287e-02 9.99821425e-01 -1.28352519e-04 1.86877484e+00] [ 1.56093603e-02 -1.66664972e-04 9.99878153e-01 1.53814099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.419254154 meters 0.014303884077329514 Centerline is valid? [True, True] Translation: X:227.80, Y:1.87, Z:1.54 [[ 9.99727014e-01 -1.71961287e-02 -1.58173952e-02 2.27798260e+02] [ 1.71961845e-02 9.99852126e-01 -1.32491902e-04 1.86866500e+00] [ 1.58173346e-02 -1.39543112e-04 9.99874888e-01 1.53838747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.449254154 meters 0.014104708322899383 Centerline is valid? [True, True] Translation: X:227.83, Y:1.87, Z:1.54 [[ 9.99754697e-01 -1.52394488e-02 -1.60718499e-02 2.27827476e+02] [ 1.52391954e-02 9.99883867e-01 -1.38243876e-04 1.86893708e+00] [ 1.60720902e-02 -1.06712097e-04 9.99870830e-01 1.53851434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.479254154 meters 0.013741013521617574 Centerline is valid? [True, True] Translation: X:227.86, Y:1.87, Z:1.54 [[ 9.99812380e-01 -1.02741849e-02 -1.64208816e-02 2.27856484e+02] [ 1.02731879e-02 9.99947219e-01 -1.45064026e-04 1.87044436e+00] [ 1.64215053e-02 -2.36579934e-05 9.99865158e-01 1.53982732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50925415399996 meters 0.013936533002774018 Centerline is valid? [True, True] Translation: X:227.88, Y:1.87, Z:1.54 [[ 9.99827709e-01 -7.75575431e-03 -1.68641733e-02 2.27884358e+02] [ 7.75426973e-03 9.99969923e-01 -1.53420270e-04 1.87102839e+00] [ 1.68648560e-02 2.26244887e-05 9.99857778e-01 1.53969430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53925415399996 meters 0.013748389066118485 Centerline is valid? [True, True] Translation: X:227.91, Y:1.87, Z:1.54 [[ 9.99837377e-01 -4.93230928e-03 -1.73462081e-02 2.27913124e+02] [ 4.93023387e-03 9.99987833e-01 -1.62407923e-04 1.87116938e+00] [ 1.73467981e-02 7.68606487e-05 9.99849530e-01 1.54123023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56925415399996 meters 0.014465200965051921 Centerline is valid? [True, True] Translation: X:227.94, Y:1.87, Z:1.54 [[ 9.99849328e-01 6.58298187e-04 -1.73461121e-02 2.27941216e+02] [-6.61261607e-04 9.99999768e-01 -1.65105553e-04 1.87210073e+00] [ 1.73459993e-02 1.76550994e-04 9.99849531e-01 1.54132032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59925415399996 meters 0.015461588734833883 Centerline is valid? [True, True] Translation: X:227.97, Y:1.87, Z:1.54 [[ 9.99843471e-01 3.20209264e-03 -1.74005891e-02 2.27968493e+02] [-3.20548989e-03 9.99994848e-01 -1.67350258e-04 1.87371548e+00] [ 1.73999636e-02 2.23101476e-04 9.99848584e-01 1.54073210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62925415399997 meters 0.015274881525777934 Centerline is valid? [True, True] Translation: X:228.00, Y:1.87, Z:1.54 [[ 9.99838092e-01 5.29147923e-03 -1.71985629e-02 2.27997078e+02] [-5.29516364e-03 9.99985966e-01 -1.68696594e-04 1.87195359e+00] [ 1.71974289e-02 2.59738485e-04 9.99852080e-01 1.54234290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65925415399997 meters 0.015542275308375608 Centerline is valid? [True, True] Translation: X:228.03, Y:1.87, Z:1.54 [[ 9.99817048e-01 7.83355199e-03 -1.74500937e-02 2.28025423e+02] [-7.83777920e-03 9.99969269e-01 -1.73867307e-04 1.86962081e+00] [ 1.74481955e-02 3.10605479e-04 9.99847720e-01 1.54285207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.68925415399997 meters 0.015085554072572355 Centerline is valid? [True, True] Translation: X:228.05, Y:1.86, Z:1.54 [[ 9.99807448e-01 7.21414117e-03 -1.82489092e-02 2.28053435e+02] [-7.21869595e-03 9.99973928e-01 -1.83731607e-04 1.86410298e+00] [ 1.82471080e-02 3.15429556e-04 9.99833458e-01 1.54352372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.71925415399997 meters 0.01503025491689117 Centerline is valid? [True, True] Translation: X:228.08, Y:1.86, Z:1.54 [[ 9.99818678e-01 5.37127361e-03 -1.82691311e-02 2.28081494e+02] [-5.37556398e-03 9.99985534e-01 -1.85742530e-04 1.86126597e+00] [ 1.82678691e-02 2.83915734e-04 9.99833088e-01 1.54336003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.74925415399997 meters 0.01426223831678212 Centerline is valid? [True, True] Translation: X:228.11, Y:1.85, Z:1.54 [[ 9.99834438e-01 -2.02528195e-05 -1.81960352e-02 2.28110146e+02] [ 1.68628294e-05 9.99999982e-01 -1.86457190e-04 1.85282638e+00] [ 1.81960386e-02 1.86119484e-04 9.99834421e-01 1.54434204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77925415399997 meters 0.01370749312476239 Centerline is valid? [True, True] Translation: X:228.14, Y:1.84, Z:1.54 [[ 9.99827274e-01 -7.45122215e-03 -1.70265169e-02 2.28138865e+02] [ 7.44931067e-03 9.99972238e-01 -1.75685475e-04 1.84270905e+00] [ 1.70273533e-02 4.88193153e-05 9.99855023e-01 1.54493203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80925415399997 meters 0.014545788929942757 Centerline is valid? [True, True] Translation: X:228.17, Y:1.82, Z:1.55 [[ 9.99613558e-01 -2.36508588e-02 -1.46072744e-02 2.28166700e+02] [ 2.36511644e-02 9.99720261e-01 -1.51852652e-04 1.82168439e+00] [ 1.46067796e-02 -1.93685078e-04 9.99893297e-01 1.54576203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83925415399997 meters 0.014545788929942757 Centerline is valid? [True, True] Translation: X:228.20, Y:1.82, Z:1.55 [[ 9.99612709e-01 -2.36867048e-02 -1.46072649e-02 2.28195855e+02] [ 2.36870010e-02 9.99719412e-01 -1.52755707e-04 1.82201937e+00] [ 1.46067846e-02 -1.93305753e-04 9.99893297e-01 1.54596426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86925415399998 meters 0.014545788929942757 Centerline is valid? [True, True] Translation: X:228.23, Y:1.82, Z:1.55 [[ 9.99611859e-01 -2.37225481e-02 -1.46072594e-02 2.28225011e+02] [ 2.37228405e-02 9.99718562e-01 -1.53279427e-04 1.82235522e+00] [ 1.46067846e-02 -1.93305753e-04 9.99893297e-01 1.54616638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89925415399998 meters 0.014545788929942757 Centerline is valid? [True, True] Translation: X:228.25, Y:1.82, Z:1.55 [[ 9.99611008e-01 -2.37583914e-02 -1.46072539e-02 2.28254167e+02] [ 2.37586799e-02 9.99717711e-01 -1.53803146e-04 1.82269211e+00] [ 1.46067846e-02 -1.93305753e-04 9.99893297e-01 1.54636851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.92925415399998 meters 0.015630736516819496 Centerline is valid? [True, True] Translation: X:228.28, Y:1.82, Z:1.55 [[ 9.99517441e-01 -2.76928187e-02 -1.40710073e-02 2.28284021e+02] [ 2.76934719e-02 9.99616451e-01 -1.48456880e-04 1.81776756e+00] [ 1.40697215e-02 -2.41289803e-04 9.99900987e-01 1.54642779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.95925415399998 meters 0.016692063639711034 Centerline is valid? [True, True] Translation: X:228.32, Y:1.81, Z:1.55 [[ 9.99413132e-01 -3.13637901e-02 -1.37733504e-02 2.28315031e+02] [ 3.13647653e-02 9.99507994e-01 -1.45253169e-04 1.81271643e+00] [ 1.37711295e-02 -2.86829977e-04 9.99905132e-01 1.54653619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.98925415399998 meters 0.016779666278362568 Centerline is valid? [True, True] Translation: X:228.35, Y:1.81, Z:1.55 [[ 9.99293952e-01 -3.50447260e-02 -1.35449448e-02 2.28346038e+02] [ 3.50460103e-02 9.99385690e-01 -1.42602861e-04 1.80967134e+00] [ 1.35416215e-02 -3.32194100e-04 9.99908253e-01 1.54756060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.01925415399998 meters 0.01824043452218789 Centerline is valid? [True, True] Translation: X:228.38, Y:1.80, Z:1.55 [[ 9.99023237e-01 -4.21565990e-02 -1.32435951e-02 2.28377378e+02] [ 4.21584557e-02 9.99110927e-01 -1.39070473e-04 1.80208560e+00] [ 1.32376833e-02 -4.19394882e-04 9.99912290e-01 1.54809256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.04925415399998 meters 0.01965395603927209 Centerline is valid? [True, True] Translation: X:228.41, Y:1.80, Z:1.55 [[ 9.98868569e-01 -4.56615913e-02 -1.32890984e-02 2.28407155e+02] [ 4.56637819e-02 9.98956856e-01 -1.38699504e-04 1.79755714e+00] [ 1.32815692e-02 -4.68287916e-04 9.99911686e-01 1.54804307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07925415399998 meters 0.020213356840982223 Centerline is valid? [True, True] Translation: X:228.44, Y:1.79, Z:1.55 [[ 9.98708519e-01 -4.90023099e-02 -1.34189658e-02 2.28438097e+02] [ 4.90048579e-02 9.98798531e-01 -1.39061333e-04 1.79438342e+00] [ 1.34096576e-02 -5.18712775e-04 9.99909952e-01 1.54835460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10925415399998 meters 0.024125676147486085 Centerline is valid? [True, True] Translation: X:228.47, Y:1.78, Z:1.55 [[ 9.98367653e-01 -5.54025246e-02 -1.38776793e-02 2.28467750e+02] [ 5.54058742e-02 9.98463904e-01 -1.43285737e-04 1.78482112e+00] [ 1.38643003e-02 -6.25853111e-04 9.99903690e-01 1.54796961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13925415399999 meters 0.025245182926256857 Centerline is valid? [True, True] Translation: X:228.50, Y:1.78, Z:1.55 [[ 9.98217853e-01 -5.80452413e-02 -1.38516230e-02 2.28498688e+02] [ 5.80488360e-02 9.98313734e-01 -1.42744553e-04 1.78154483e+00] [ 1.38365511e-02 -6.61580429e-04 9.99904051e-01 1.54806968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.169254154 meters 0.027349110024599273 Centerline is valid? [True, True] Translation: X:228.53, Y:1.78, Z:1.55 [[ 9.98062662e-01 -6.06732388e-02 -1.37724883e-02 2.28528860e+02] [ 6.06770520e-02 9.98157440e-01 -1.41198324e-04 1.77768766e+00] [ 1.37556786e-02 -6.94749214e-04 9.99905145e-01 1.54787497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.199254154 meters 0.025472005627439405 Centerline is valid? [True, True] Translation: X:228.56, Y:1.78, Z:1.55 [[ 9.97816954e-01 -6.43357978e-02 -1.49074612e-02 2.28559907e+02] [ 6.43406852e-02 9.97927980e-01 -1.52019811e-04 1.77859806e+00] [ 1.48863530e-02 -8.07468323e-04 9.99888866e-01 1.54775337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.229254154 meters 0.02953285960783072 Centerline is valid? [True, True] Translation: X:228.59, Y:1.77, Z:1.55 [[ 9.97748754e-01 -6.53299841e-02 -1.51465026e-02 2.28591437e+02] [ 6.53351594e-02 9.97863364e-01 -1.53421485e-04 1.77260931e+00] [ 1.51241630e-02 -8.36523065e-04 9.99885273e-01 1.54693706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25925415399996 meters 0.026360080848435427 Centerline is valid? [True, True] Translation: X:228.62, Y:1.78, Z:1.55 [[ 9.97705191e-01 -6.59052659e-02 -1.55193003e-02 2.28623512e+02] [ 6.59107906e-02 9.97825507e-01 -1.55773192e-04 1.77743539e+00] [ 1.54958200e-02 -8.67473629e-04 9.99879556e-01 1.54804111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28925415399996 meters 0.027102322041157145 Centerline is valid? [True, True] Translation: X:228.65, Y:1.78, Z:1.55 [[ 9.97722309e-01 -6.55093357e-02 -1.60848330e-02 2.28654224e+02] [ 6.55152361e-02 9.97851556e-01 -1.60400854e-04 1.77727998e+00] [ 1.60607834e-02 -8.93766124e-04 9.99870618e-01 1.54796718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31925415399996 meters 0.02708513382576095 Centerline is valid? [True, True] Translation: X:228.69, Y:1.78, Z:1.55 [[ 9.97761317e-01 -6.49570647e-02 -1.59038813e-02 2.28686876e+02] [ 6.49627839e-02 9.97887675e-01 -1.57287864e-04 1.77822771e+00] [ 1.58805041e-02 -8.76224657e-04 9.99873513e-01 1.54830465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34925415399996 meters 0.025791454191745396 Centerline is valid? [True, True] Translation: X:228.72, Y:1.78, Z:1.55 [[ 9.97822302e-01 -6.39715839e-02 -1.60713851e-02 2.28719616e+02] [ 6.39773221e-02 9.97951340e-01 -1.57368049e-04 1.78074110e+00] [ 1.60485274e-02 -8.71178834e-04 9.99870835e-01 1.54886297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37925415399997 meters 0.025565980535822975 Centerline is valid? [True, True] Translation: X:228.75, Y:1.78, Z:1.55 [[ 9.97871532e-01 -6.30747218e-02 -1.65524896e-02 2.28751425e+02] [ 6.30807086e-02 9.98008416e-01 -1.60693240e-04 1.78204470e+00] [ 1.65296596e-02 -8.83791563e-04 9.99862985e-01 1.54912969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40925415399997 meters 0.02657022060990818 Centerline is valid? [True, True] Translation: X:228.78, Y:1.78, Z:1.55 [[ 9.98020807e-01 -6.06919118e-02 -1.64609017e-02 2.28782055e+02] [ 6.06975235e-02 9.98156193e-01 -1.58934537e-04 1.78208523e+00] [ 1.64401970e-02 -8.40515990e-04 9.99864498e-01 1.54920205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43925415399997 meters 0.024473787069094626 Centerline is valid? [True, True] Translation: X:228.81, Y:1.79, Z:1.55 [[ 9.98111670e-01 -5.93126830e-02 -1.59718325e-02 2.28814738e+02] [ 5.93178074e-02 9.98239137e-01 -1.53121990e-04 1.78610438e+00] [ 1.59527904e-02 -7.94581241e-04 9.99872430e-01 1.54991154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46925415399997 meters 0.024240143080137482 Centerline is valid? [True, True] Translation: X:228.85, Y:1.79, Z:1.55 [[ 9.98199974e-01 -5.78229361e-02 -1.59160405e-02 2.28847483e+02] [ 5.78278592e-02 9.98326558e-01 -1.51115751e-04 1.78729643e+00] [ 1.58981439e-02 -7.69546812e-04 9.99873320e-01 1.55037359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49925415399997 meters 0.02348900904648223 Centerline is valid? [True, True] Translation: X:228.88, Y:1.79, Z:1.55 [[ 9.98394566e-01 -5.47105554e-02 -1.46644247e-02 2.28879307e+02] [ 5.47144144e-02 9.98502035e-01 -1.38215455e-04 1.79047505e+00] [ 1.46500198e-02 -6.64361852e-04 9.99892462e-01 1.55079364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52925415399997 meters 0.024009005986822443 Centerline is valid? [True, True] Translation: X:228.91, Y:1.79, Z:1.55 [[ 9.98492750e-01 -5.29348199e-02 -1.44959778e-02 2.28910540e+02] [ 5.29384154e-02 9.98597770e-01 -1.35834464e-04 1.79126209e+00] [ 1.44828414e-02 -6.31764366e-04 9.99894919e-01 1.55059646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55925415399997 meters 0.02273600713001162 Centerline is valid? [True, True] Translation: X:228.94, Y:1.79, Z:1.55 [[ 9.98589949e-01 -5.10630660e-02 -1.45147366e-02 2.28942403e+02] [ 5.10664871e-02 9.98695247e-01 -1.35078071e-04 1.79444325e+00] [ 1.45026959e-02 -6.06329004e-04 9.99894647e-01 1.55065785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58925415399997 meters 0.02273600713001162 Centerline is valid? [True, True] Translation: X:228.97, Y:1.79, Z:1.55 [[ 9.98593660e-01 -5.09904310e-02 -1.45147464e-02 2.28974119e+02] [ 5.09938597e-02 9.98698958e-01 -1.34022417e-04 1.79467614e+00] [ 1.45026959e-02 -6.06329003e-04 9.99894647e-01 1.55087752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61925415399998 meters 0.021908451043117817 Centerline is valid? [True, True] Translation: X:229.00, Y:1.80, Z:1.55 [[ 9.98802270e-01 -4.67410300e-02 -1.44672464e-02 2.29003443e+02] [ 4.67439965e-02 9.98906893e-01 -1.33217072e-04 1.79904972e+00] [ 1.44576589e-02 -5.43199402e-04 9.99895335e-01 1.55030321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64925415399998 meters 0.021376645030293965 Centerline is valid? [True, True] Translation: X:229.04, Y:1.80, Z:1.55 [[ 9.98908782e-01 -4.43491449e-02 -1.46423310e-02 2.29035122e+02] [ 4.43519311e-02 9.99015960e-01 -1.34543590e-04 1.80148892e+00] [ 1.46338892e-02 -5.15018883e-04 9.99892786e-01 1.55020545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.67925415399998 meters 0.02080306544973482 Centerline is valid? [True, True] Translation: X:229.07, Y:1.80, Z:1.55 [[ 9.99015019e-01 -4.20681790e-02 -1.41159698e-02 2.29066129e+02] [ 4.20705497e-02 9.99114634e-01 -1.29094896e-04 1.80443748e+00] [ 1.41089028e-02 -4.64898870e-04 9.99900356e-01 1.55027020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.70925415399998 meters 0.019641996432836567 Centerline is valid? [True, True] Translation: X:229.10, Y:1.81, Z:1.55 [[ 9.99123006e-01 -3.93214443e-02 -1.43890081e-02 2.29097743e+02] [ 3.93236305e-02 9.99226518e-01 -1.31074624e-04 1.80761045e+00] [ 1.43830325e-02 -4.34868366e-04 9.99896464e-01 1.55052568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.73925415399998 meters 0.01803388769839002 Centerline is valid? [True, True] Translation: X:229.13, Y:1.81, Z:1.55 [[ 9.99352191e-01 -3.33727950e-02 -1.34705199e-02 2.29126954e+02] [ 3.33741724e-02 9.99442920e-01 -1.22591350e-04 1.81290279e+00] [ 1.34671070e-02 -3.27055519e-04 9.99909261e-01 1.55096719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.76925415399998 meters 0.017171017900953395 Centerline is valid? [True, True] Translation: X:229.16, Y:1.82, Z:1.55 [[ 9.99458198e-01 -3.00973968e-02 -1.33212829e-02 2.29157854e+02] [ 3.00984513e-02 9.99546932e-01 -1.21361013e-04 1.81610594e+00] [ 1.33189001e-02 -2.79654725e-04 9.99911260e-01 1.55118196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.79925415399998 meters 0.015442621465558238 Centerline is valid? [True, True] Translation: X:229.19, Y:1.82, Z:1.55 [[ 9.99565795e-01 -2.64801111e-02 -1.29238056e-02 2.29188834e+02] [ 2.64808042e-02 9.99649315e-01 -1.17523970e-04 1.82163675e+00] [ 1.29223855e-02 -2.24759824e-04 9.99916477e-01 1.55222327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82925415399998 meters 0.015032792011217766 Centerline is valid? [True, True] Translation: X:229.22, Y:1.82, Z:1.55 [[ 9.99649653e-01 -2.29063089e-02 -1.32616896e-02 2.29219274e+02] [ 2.29067294e-02 9.99737599e-01 -1.20214278e-04 1.82404479e+00] [ 1.32609633e-02 -1.83609772e-04 9.99912053e-01 1.55212222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85925415399998 meters 0.014326902514095427 Centerline is valid? [True, True] Translation: X:229.25, Y:1.83, Z:1.55 [[ 9.99780435e-01 -1.62941747e-02 -1.31750432e-02 2.29249864e+02] [ 1.62940173e-02 9.99867237e-01 -1.19301540e-04 1.82937068e+00] [ 1.31752380e-02 -9.53990357e-05 9.99913198e-01 1.55215354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88925415399999 meters 0.014285670452759943 Centerline is valid? [True, True] Translation: X:229.28, Y:1.83, Z:1.55 [[ 9.99830942e-01 -1.31693225e-02 -1.28318681e-02 2.29278085e+02] [ 1.31689117e-02 9.99913279e-01 -1.16515679e-04 1.83143740e+00] [ 1.28322897e-02 -5.24857565e-05 9.99917661e-01 1.55207832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.919254154 meters 0.013948844309109771 Centerline is valid? [True, True] Translation: X:229.31, Y:1.83, Z:1.55 [[ 9.99868339e-01 -1.06695742e-02 -1.22255714e-02 2.29305953e+02] [ 1.06689908e-02 9.99943078e-01 -1.12938056e-04 1.83357545e+00] [ 1.22260805e-02 -1.75113219e-05 9.99925259e-01 1.55332704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.949254154 meters 0.014069510453992651 Centerline is valid? [True, True] Translation: X:229.33, Y:1.84, Z:1.55 [[ 9.99918452e-01 -6.51811340e-03 -1.09819842e-02 2.29333651e+02] [ 6.51736591e-03 9.99978756e-01 -1.03852041e-04 1.83585993e+00] [ 1.09824278e-02 3.22699632e-05 9.99939691e-01 1.55366385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.979254154 meters 0.0140375411377769 Centerline is valid? [True, True] Translation: X:229.36, Y:1.84, Z:1.55 [[ 9.99925780e-01 -5.45453452e-03 -1.08941861e-02 2.29361438e+02] [ 5.45371290e-03 9.99985123e-01 -1.05125323e-04 1.83675234e+00] [ 1.08945975e-02 4.57037570e-05 9.99940651e-01 1.55441620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00925415399996 meters 0.014123716671898264 Centerline is valid? [True, True] Translation: X:229.39, Y:1.84, Z:1.55 [[ 9.99932955e-01 -4.71914995e-03 -1.05742528e-02 2.29387893e+02] [ 4.71830848e-03 9.99988863e-01 -1.04522564e-04 1.83715049e+00] [ 1.05746283e-02 5.46229695e-05 9.99944086e-01 1.55432957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03925415399996 meters 0.014275448787629806 Centerline is valid? [True, True] Translation: X:229.42, Y:1.84, Z:1.55 [[ 9.99927338e-01 -4.51097060e-03 -1.11789750e-02 2.29416039e+02] [ 4.51000114e-03 9.99989824e-01 -1.11929947e-04 1.83804323e+00] [ 1.11793661e-02 6.15046244e-05 9.99937507e-01 1.55356855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06925415399996 meters 0.014032771837094945 Centerline is valid? [True, True] Translation: X:229.44, Y:1.83, Z:1.55 [[ 9.99917374e-01 -5.66315300e-03 -1.15401396e-02 2.29443681e+02] [ 5.66218358e-03 9.99983963e-01 -1.16675300e-04 1.83475114e+00] [ 1.15406153e-02 5.13232705e-05 9.99933404e-01 1.55386574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09925415399996 meters 0.014005487118955414 Centerline is valid? [True, True] Translation: X:229.47, Y:1.83, Z:1.55 [[ 9.99903290e-01 -6.99954912e-03 -1.20173384e-02 2.29471874e+02] [ 6.99856668e-03 9.99975502e-01 -1.23803561e-04 1.83296645e+00] [ 1.20179105e-02 3.96874438e-05 9.99927782e-01 1.55408902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12925415399997 meters 0.013905615642486881 Centerline is valid? [True, True] Translation: X:229.50, Y:1.83, Z:1.55 [[ 9.99890799e-01 -8.29838522e-03 -1.22281412e-02 2.29499943e+02] [ 8.29742018e-03 9.99965567e-01 -1.29650870e-04 1.83087580e+00] [ 1.22287960e-02 2.81746869e-05 9.99925225e-01 1.55353760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15925415399997 meters 0.013835666732337855 Centerline is valid? [True, True] Translation: X:229.53, Y:1.83, Z:1.55 [[ 9.99864552e-01 -1.01465263e-02 -1.29585908e-02 2.29527707e+02] [ 1.01455465e-02 9.99948523e-01 -1.41354663e-04 1.82870906e+00] [ 1.29593580e-02 9.86353168e-06 9.99916024e-01 1.55327848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18925415399997 meters 0.013906910480698236 Centerline is valid? [True, True] Translation: X:229.56, Y:1.82, Z:1.55 [[ 9.99836555e-01 -1.27287660e-02 -1.28390648e-02 2.29555076e+02] [ 1.27279753e-02 9.99918986e-01 -1.43297885e-04 1.82468312e+00] [ 1.28398486e-02 -2.01408365e-05 9.99917566e-01 1.55233682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21925415399997 meters 0.013879077564599265 Centerline is valid? [True, True] Translation: X:229.58, Y:1.82, Z:1.55 [[ 9.99819529e-01 -1.40436637e-02 -1.27939412e-02 2.29583360e+02] [ 1.40429459e-02 9.99901382e-01 -1.45943461e-04 1.82327895e+00] [ 1.27947290e-02 -3.37475007e-05 9.99918144e-01 1.55327791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24925415399997 meters 0.013977010465557629 Centerline is valid? [True, True] Translation: X:229.61, Y:1.82, Z:1.55 [[ 9.99786187e-01 -1.61896929e-02 -1.28636909e-02 2.29610988e+02] [ 1.61890957e-02 9.99868937e-01 -1.50558779e-04 1.81935769e+00] [ 1.28644425e-02 -5.77249359e-05 9.99917248e-01 1.55314903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27925415399997 meters 0.013960262436542187 Centerline is valid? [True, True] Translation: X:229.64, Y:1.82, Z:1.55 [[ 9.99763279e-01 -1.72698872e-02 -1.32339559e-02 2.29638458e+02] [ 1.72693141e-02 9.99850862e-01 -1.57589536e-04 1.81745474e+00] [ 1.32347038e-02 -7.09891097e-05 9.99912415e-01 1.55312733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30925415399997 meters 0.014047407134584841 Centerline is valid? [True, True] Translation: X:229.67, Y:1.82, Z:1.55 [[ 9.99743792e-01 -1.84743243e-02 -1.30785934e-02 2.29667453e+02] [ 1.84738388e-02 9.99829332e-01 -1.57942996e-04 1.81578471e+00] [ 1.30792792e-02 -8.37092959e-05 9.99914459e-01 1.55318356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33925415399997 meters 0.014128111203158359 Centerline is valid? [True, True] Translation: X:229.70, Y:1.81, Z:1.55 [[ 9.99722099e-01 -1.96078123e-02 -1.30865560e-02 2.29696236e+02] [ 1.96073957e-02 9.99807744e-01 -1.60148277e-04 1.81375523e+00] [ 1.30871802e-02 -9.64895098e-05 9.99914355e-01 1.55290780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36925415399998 meters 0.014462600756298582 Centerline is valid? [True, True] Translation: X:229.72, Y:1.81, Z:1.55 [[ 9.99679599e-01 -2.16314145e-02 -1.31446432e-02 2.29724610e+02] [ 2.16311598e-02 9.99766006e-01 -1.61570792e-04 1.80907421e+00] [ 1.31450624e-02 -1.22814852e-04 9.99913592e-01 1.55238789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39925415399998 meters 0.014550725610605022 Centerline is valid? [True, True] Translation: X:229.75, Y:1.81, Z:1.55 [[ 9.99666349e-01 -2.25500799e-02 -1.25969836e-02 2.29753798e+02] [ 2.25499118e-02 9.99745706e-01 -1.55397919e-04 1.80768268e+00] [ 1.25972845e-02 -1.28714799e-04 9.99920643e-01 1.55258558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.42925415399998 meters 0.014804815191251573 Centerline is valid? [True, True] Translation: X:229.78, Y:1.81, Z:1.55 [[ 9.99644761e-01 -2.34263617e-02 -1.27105456e-02 2.29783760e+02] [ 2.34262569e-02 9.99725555e-01 -1.57150975e-04 1.80531989e+00] [ 1.27107387e-02 -1.40665358e-04 9.99919205e-01 1.55246745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.45925415399998 meters 0.015053350826795995 Centerline is valid? [True, True] Translation: X:229.81, Y:1.80, Z:1.55 [[ 9.99602866e-01 -2.50767964e-02 -1.28554960e-02 2.29813550e+02] [ 2.50768214e-02 9.99685514e-01 -1.59276218e-04 1.80217407e+00] [ 1.28554473e-02 -1.63162012e-04 9.99917352e-01 1.55192481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.48925415399998 meters 0.014853614093951363 Centerline is valid? [True, True] Translation: X:229.84, Y:1.80, Z:1.55 [[ 9.99586297e-01 -2.54812831e-02 -1.33393952e-02 2.29843201e+02] [ 2.54813396e-02 9.99675284e-01 -1.65751502e-04 1.80113276e+00] [ 1.33392873e-02 -1.74222730e-04 9.99911013e-01 1.55182044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.51925415399998 meters 0.01497757773317251 Centerline is valid? [True, True] Translation: X:229.87, Y:1.80, Z:1.55 [[ 9.99572056e-01 -2.58245488e-02 -1.37403532e-02 2.29872711e+02] [ 2.58246344e-02 9.99666474e-01 -1.71224542e-04 1.80056183e+00] [ 1.37401923e-02 -1.83688331e-04 9.99905582e-01 1.55170921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.54925415399998 meters 0.014783366283859416 Centerline is valid? [True, True] Translation: X:229.90, Y:1.80, Z:1.55 [[ 9.99568761e-01 -2.58003331e-02 -1.40226380e-02 2.29901987e+02] [ 2.58004129e-02 9.99667099e-01 -1.75243637e-04 1.80098996e+00] [ 1.40224912e-02 -1.86621785e-04 9.99901663e-01 1.55202944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57925415399998 meters 0.014941549385802149 Centerline is valid? [True, True] Translation: X:229.93, Y:1.80, Z:1.55 [[ 9.99582690e-01 -2.47518914e-02 -1.48926366e-02 2.29930355e+02] [ 2.47518548e-02 9.99693608e-01 -1.86803049e-04 1.80030577e+00] [ 1.48926974e-02 -1.81895286e-04 9.99889081e-01 1.55148139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60925415399998 meters 0.014525294790783015 Centerline is valid? [True, True] Translation: X:229.96, Y:1.80, Z:1.55 [[ 9.99595256e-01 -2.40103599e-02 -1.52586891e-02 2.29959357e+02] [ 2.40101971e-02 9.99711695e-01 -1.93885786e-04 1.80185152e+00] [ 1.52589452e-02 -1.72556821e-04 9.99883561e-01 1.55203711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63925415399999 meters 0.014293247978685626 Centerline is valid? [True, True] Translation: X:229.99, Y:1.80, Z:1.55 [[ 9.99614881e-01 -2.31275697e-02 -1.53363742e-02 2.29988300e+02] [ 2.31272415e-02 9.99732510e-01 -1.98777953e-04 1.80264437e+00] [ 1.53368692e-02 -1.55986630e-04 9.99882371e-01 1.55206940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.669254154 meters 0.014272987375517516 Centerline is valid? [True, True] Translation: X:230.02, Y:1.80, Z:1.55 [[ 9.99639330e-01 -2.16563153e-02 -1.58812705e-02 2.30015649e+02] [ 2.16557359e-02 9.99765465e-01 -2.08470106e-04 1.80331189e+00] [ 1.58820605e-02 -1.35525683e-04 9.99873863e-01 1.55169552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.699254154 meters 0.013823539227286201 Centerline is valid? [True, True] Translation: X:230.04, Y:1.81, Z:1.55 [[ 9.99713873e-01 -1.79980566e-02 -1.57557022e-02 2.30044001e+02] [ 1.79969861e-02 9.99838019e-01 -2.09738886e-04 1.80582680e+00] [ 1.57569250e-02 -7.38762791e-05 9.99875849e-01 1.55292619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.729254154 meters 0.013775405550057246 Centerline is valid? [True, True] Translation: X:230.07, Y:1.81, Z:1.55 [[ 9.99746709e-01 -1.60444799e-02 -1.57826818e-02 2.30071859e+02] [ 1.60431209e-02 9.99871278e-01 -2.12720118e-04 1.80686524e+00] [ 1.57840632e-02 -4.05372348e-05 9.99875423e-01 1.55317786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75925415399996 meters 0.01375153586368778 Centerline is valid? [True, True] Translation: X:230.10, Y:1.81, Z:1.55 [[ 9.99777368e-01 -1.44782908e-02 -1.53490605e-02 2.30099682e+02] [ 1.44767732e-02 9.99895184e-01 -2.09978643e-04 1.80801325e+00] [ 1.53504918e-02 -1.22729726e-05 9.99882174e-01 1.55384267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78925415399996 meters 0.013865882840903941 Centerline is valid? [True, True] Translation: X:230.13, Y:1.81, Z:1.55 [[ 9.99797649e-01 -1.29111693e-02 -1.54260702e-02 2.30126211e+02] [ 1.29094016e-02 9.99916647e-01 -2.14170202e-04 1.80917617e+00] [ 1.54275496e-02 1.49855298e-05 9.99880988e-01 1.55328938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81925415399996 meters 0.01373326611400675 Centerline is valid? [True, True] Translation: X:230.15, Y:1.81, Z:1.55 [[ 9.99816454e-01 -1.09057789e-02 -1.57519114e-02 2.30154283e+02] [ 1.09036315e-02 9.99940529e-01 -2.22202032e-04 1.81020998e+00] [ 1.57533979e-02 5.04082106e-05 9.99875906e-01 1.55480264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84925415399996 meters 0.01416162711487275 Centerline is valid? [True, True] Translation: X:230.18, Y:1.81, Z:1.55 [[ 9.99811340e-01 -1.07300871e-02 -1.61910084e-02 2.30181920e+02] [ 1.07277475e-02 9.99942429e-01 -2.31343943e-04 1.81091332e+00] [ 1.61925586e-02 5.76072474e-05 9.99868890e-01 1.55398204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87925415399997 meters 0.014089364122635973 Centerline is valid? [True, True] Translation: X:230.21, Y:1.81, Z:1.55 [[ 9.99800652e-01 -1.12231879e-02 -1.65135153e-02 2.30209578e+02] [ 1.12207644e-02 9.99937017e-01 -2.39405199e-04 1.81053850e+00] [ 1.65151621e-02 5.40632093e-05 9.99863614e-01 1.55490419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90925415399997 meters 0.014636640641864412 Centerline is valid? [True, True] Translation: X:230.24, Y:1.81, Z:1.55 [[ 9.99762816e-01 -1.42612698e-02 -1.64598590e-02 2.30237167e+02] [ 1.42592262e-02 9.99898303e-01 -2.41514477e-04 1.80848554e+00] [ 1.64616293e-02 6.75234176e-06 9.99864498e-01 1.55440185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93925415399997 meters 0.014501860449375679 Centerline is valid? [True, True] Translation: X:230.27, Y:1.81, Z:1.56 [[ 9.99731182e-01 -1.65345928e-02 -1.62533629e-02 2.30265133e+02] [ 1.65328470e-02 9.99863294e-01 -2.41782194e-04 1.80725459e+00] [ 1.62551388e-02 -2.69971646e-05 9.99867876e-01 1.55526055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.96925415399997 meters 0.014587442716258859 Centerline is valid? [True, True] Translation: X:230.29, Y:1.81, Z:1.56 [[ 9.99678853e-01 -1.95170945e-02 -1.61639825e-02 2.30293012e+02] [ 1.95157124e-02 9.99809521e-01 -2.43251873e-04 1.80552364e+00] [ 1.61656511e-02 -7.22778803e-05 9.99869325e-01 1.55576251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.99925415399997 meters 0.015010760241547932 Centerline is valid? [True, True] Translation: X:230.32, Y:1.80, Z:1.56 [[ 9.99605747e-01 -2.30453546e-02 -1.60394136e-02 2.30321945e+02] [ 2.30444008e-02 9.99734413e-01 -2.44310649e-04 1.80393598e+00] [ 1.60407840e-02 -1.25404347e-04 9.99871330e-01 1.55635036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02925415399997 meters 0.01590361907376763 Centerline is valid? [True, True] Translation: X:230.35, Y:1.80, Z:1.56 [[ 9.99402188e-01 -3.08198318e-02 -1.56654259e-02 2.30351987e+02] [ 3.08198446e-02 9.99524927e-01 -2.40654945e-04 1.79922558e+00] [ 1.56654007e-02 -2.42294915e-04 9.99877261e-01 1.55690387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05925415399997 meters 0.01677425604463559 Centerline is valid? [True, True] Translation: X:230.38, Y:1.80, Z:1.56 [[ 9.99266386e-01 -3.51609898e-02 -1.51787626e-02 2.30381178e+02] [ 3.51614920e-02 9.99381616e-01 -2.33867077e-04 1.79664160e+00] [ 1.51775993e-02 -3.00012431e-04 9.99884769e-01 1.55693873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08925415399997 meters 0.01765014134233157 Centerline is valid? [True, True] Translation: X:230.41, Y:1.79, Z:1.56 [[ 9.99090216e-01 -3.97854952e-02 -1.53575701e-02 2.30411514e+02] [ 3.97865494e-02 9.99208174e-01 -2.37000746e-04 1.79490673e+00] [ 1.53548388e-02 -3.74239596e-04 9.99882037e-01 1.55730885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11925415399998 meters 0.0190578462653588 Centerline is valid? [True, True] Translation: X:230.44, Y:1.79, Z:1.56 [[ 9.98891777e-01 -4.44410527e-02 -1.54987094e-02 2.30441748e+02] [ 4.44426887e-02 9.99011907e-01 -2.39022826e-04 1.79161936e+00] [ 1.54940177e-02 -4.50046382e-04 9.99879859e-01 1.55713823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14925415399998 meters 0.02190307747896137 Centerline is valid? [True, True] Translation: X:230.47, Y:1.79, Z:1.56 [[ 9.98411897e-01 -5.40353905e-02 -1.59329717e-02 2.30471976e+02] [ 5.40383389e-02 9.98538831e-01 -2.45726687e-04 1.78604266e+00] [ 1.59229688e-02 -6.15654875e-04 9.99873032e-01 1.55784381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.17925415399998 meters 0.02391634764824637 Centerline is valid? [True, True] Translation: X:230.50, Y:1.78, Z:1.56 [[ 9.98116824e-01 -5.90300130e-02 -1.66812027e-02 2.30502517e+02] [ 5.90339431e-02 9.98255943e-01 -2.57144334e-04 1.78293507e+00] [ 1.66672889e-02 -7.28097083e-04 9.99860826e-01 1.55789649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.20925415399998 meters 0.028427636810468893 Centerline is valid? [True, True] Translation: X:230.53, Y:1.78, Z:1.56 [[ 9.97481179e-01 -6.87356787e-02 -1.75129517e-02 2.30531734e+02] [ 6.87415008e-02 9.97634469e-01 -2.70029590e-04 1.77676574e+00] [ 1.74900849e-02 -9.34517149e-04 9.99846600e-01 1.55767406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.23925415399998 meters 0.028384154559588922 Centerline is valid? [True, True] Translation: X:230.56, Y:1.78, Z:1.56 [[ 9.97139417e-01 -7.34284332e-02 -1.79234053e-02 2.30562105e+02] [ 7.34352849e-02 9.97299946e-01 -2.76473484e-04 1.77735347e+00] [ 1.78953122e-02 -1.04052777e-03 9.99839325e-01 1.55856022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.26925415399998 meters 0.03019217101928075 Centerline is valid? [True, True] Translation: X:230.59, Y:1.78, Z:1.56 [[ 9.96834301e-01 -7.74983624e-02 -1.77589372e-02 2.30593275e+02] [ 7.75057374e-02 9.96991868e-01 -2.73640298e-04 1.77580034e+00] [ 1.77267226e-02 -1.10364549e-03 9.99842260e-01 1.55895556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.29925415399998 meters 0.03776898999861071 Centerline is valid? [True, True] Translation: X:230.62, Y:1.77, Z:1.56 [[ 9.96319215e-01 -8.38832528e-02 -1.76528265e-02 2.30623011e+02] [ 8.38915546e-02 9.96474853e-01 -2.71017876e-04 1.76670428e+00] [ 1.76133316e-02 -1.21090274e-03 9.99844140e-01 1.55890672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32925415399998 meters 0.03429324272366501 Centerline is valid? [True, True] Translation: X:230.65, Y:1.77, Z:1.56 [[ 9.96182087e-01 -8.52442438e-02 -1.88326357e-02 2.30654783e+02] [ 8.52539579e-02 9.96359212e-01 -2.87897541e-04 1.77457670e+00] [ 1.87886117e-02 -1.31875836e-03 9.99822609e-01 1.55875157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35925415399998 meters 0.03679716354554112 Centerline is valid? [True, True] Translation: X:230.68, Y:1.77, Z:1.56 [[ 9.96038639e-01 -8.72841112e-02 -1.69856681e-02 2.30684527e+02] [ 8.72923139e-02 9.96182706e-01 -2.59310430e-04 1.77002830e+00] [ 1.69434625e-02 -1.22443506e-03 9.99855700e-01 1.56058393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38925415399999 meters 0.03446497296540388 Centerline is valid? [True, True] Translation: X:230.72, Y:1.78, Z:1.56 [[ 9.95973432e-01 -8.80082302e-02 -1.70726010e-02 2.30716519e+02] [ 8.80166357e-02 9.96118971e-01 -2.59885412e-04 1.77628650e+00] [ 1.70292138e-02 -1.24383394e-03 9.99854219e-01 1.56139915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.419254154 meters 0.0361802566519535 Centerline is valid? [True, True] Translation: X:230.75, Y:1.78, Z:1.56 [[ 9.96013080e-01 -8.74627764e-02 -1.75558424e-02 2.30748175e+02] [ 8.74716033e-02 9.96166978e-01 -2.65930654e-04 1.77604044e+00] [ 1.75118095e-02 -1.27076727e-03 9.99845849e-01 1.56085093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.449254154 meters 0.03670973293742747 Centerline is valid? [True, True] Translation: X:230.78, Y:1.78, Z:1.56 [[ 9.96095871e-01 -8.64697566e-02 -1.77763225e-02 2.30779029e+02] [ 8.64786846e-02 9.96253665e-01 -2.67279308e-04 1.77733848e+00] [ 1.77328380e-02 -1.27103717e-03 9.99841953e-01 1.56056117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47925415399996 meters 0.03670973293742747 Centerline is valid? [True, True] Translation: X:230.81, Y:1.78, Z:1.56 [[ 9.96102097e-01 -8.63980015e-02 -1.77763483e-02 2.30810794e+02] [ 8.64069488e-02 9.96259890e-01 -2.65556469e-04 1.77774982e+00] [ 1.77328063e-02 -1.27147866e-03 9.99841953e-01 1.56078113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50925415399996 meters 0.03195585129312998 Centerline is valid? [True, True] Translation: X:230.84, Y:1.79, Z:1.56 [[ 9.96356234e-01 -8.33096434e-02 -1.82690501e-02 2.30841410e+02] [ 8.33185902e-02 9.96522924e-01 -2.72192890e-04 1.78823906e+00] [ 1.82282035e-02 -1.25095042e-03 9.99833070e-01 1.56153274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53925415399996 meters 0.030263234122478857 Centerline is valid? [True, True] Translation: X:230.87, Y:1.79, Z:1.56 [[ 9.96527812e-01 -8.11407116e-02 -1.86682811e-02 2.30873315e+02] [ 8.11496897e-02 9.96701887e-01 -2.77345044e-04 1.79324931e+00] [ 1.86292150e-02 -1.23854317e-03 9.99825694e-01 1.56186759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56925415399996 meters 0.030296738271447528 Centerline is valid? [True, True] Translation: X:230.90, Y:1.80, Z:1.56 [[ 9.96733975e-01 -7.84921060e-02 -1.89834573e-02 2.30903991e+02] [ 7.85009276e-02 9.96914001e-01 -2.81182717e-04 1.79550343e+00] [ 1.89469450e-02 -1.20995464e-03 9.99819758e-01 1.56161516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59925415399996 meters 0.029929517245748945 Centerline is valid? [True, True] Translation: X:230.94, Y:1.80, Z:1.56 [[ 9.96941357e-01 -7.55557233e-02 -1.99815701e-02 2.30935892e+02] [ 7.55649317e-02 9.97140840e-01 -2.94861997e-04 1.79938596e+00] [ 1.99467181e-02 -1.21594586e-03 9.99800305e-01 1.56122067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62925415399997 meters 0.028502212591463367 Centerline is valid? [True, True] Translation: X:230.97, Y:1.81, Z:1.56 [[ 9.97411980e-01 -6.87127325e-02 -2.11637067e-02 2.30966472e+02] [ 6.87215368e-02 9.97635832e-01 -3.11853487e-04 1.80885899e+00] [ 2.11351004e-02 -1.14335604e-03 9.99775975e-01 1.56084430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65925415399997 meters 0.026451987983288048 Centerline is valid? [True, True] Translation: X:231.00, Y:1.81, Z:1.56 [[ 9.97641442e-01 -6.56076371e-02 -2.01789579e-02 2.30995925e+02] [ 6.56150023e-02 9.97844969e-01 -2.97591791e-04 1.81298863e+00] [ 2.01549959e-02 -1.02715247e-03 9.99796340e-01 1.56225059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68925415399997 meters 0.025982703710255104 Centerline is valid? [True, True] Translation: X:231.03, Y:1.82, Z:1.56 [[ 9.97886186e-01 -6.17126857e-02 -2.03643084e-02 2.31026019e+02] [ 6.17193751e-02 9.98093497e-01 -3.00452570e-04 1.81644439e+00] [ 2.03440255e-02 -9.57054918e-04 9.99792581e-01 1.56240139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71925415399997 meters 0.02315803960561661 Centerline is valid? [True, True] Translation: X:231.06, Y:1.82, Z:1.56 [[ 9.98108051e-01 -5.80164703e-02 -2.03569966e-02 2.31056963e+02] [ 5.80223926e-02 9.98315237e-01 -3.00100441e-04 1.82406657e+00] [ 2.03401106e-02 -8.81628981e-04 9.99792730e-01 1.56345461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74925415399997 meters 0.020774074190099783 Centerline is valid? [True, True] Translation: X:231.09, Y:1.83, Z:1.56 [[ 9.98558605e-01 -4.96643287e-02 -2.03511056e-02 2.31086884e+02] [ 4.96685175e-02 9.98765712e-01 -2.99889480e-04 1.83321447e+00] [ 2.03408803e-02 -7.11352024e-04 9.99792850e-01 1.56393198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77925415399997 meters 0.019444646641763506 Centerline is valid? [True, True] Translation: X:231.12, Y:1.84, Z:1.56 [[ 9.98769144e-01 -4.53389215e-02 -2.01141659e-02 2.31117212e+02] [ 4.53421370e-02 9.98971472e-01 -2.96398939e-04 1.83854725e+00] [ 2.01069163e-02 -6.15985152e-04 9.99797646e-01 1.56434908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80925415399997 meters 0.018384223801193634 Centerline is valid? [True, True] Translation: X:231.15, Y:1.84, Z:1.56 [[ 9.98950415e-01 -4.13159082e-02 -1.97753268e-02 2.31147170e+02] [ 4.13182286e-02 9.99145995e-01 -2.91405863e-04 1.84353769e+00] [ 1.97704782e-02 -5.25981464e-04 9.99804407e-01 1.56499232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83925415399997 meters 0.01677824169273612 Centerline is valid? [True, True] Translation: X:231.18, Y:1.85, Z:1.57 [[ 9.99281225e-01 -3.27208123e-02 -1.91411092e-02 2.31177821e+02] [ 3.27214139e-02 9.99464471e-01 -2.81845640e-04 1.85365807e+00] [ 1.91400808e-02 -3.44681101e-04 9.99816752e-01 1.56579988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86925415399998 meters 0.015414976178322038 Centerline is valid? [True, True] Translation: X:231.21, Y:1.86, Z:1.57 [[ 9.99414561e-01 -2.88540743e-02 -1.83841850e-02 2.31207827e+02] [ 2.88539735e-02 9.99583601e-01 -2.70783856e-04 1.85855503e+00] [ 1.83843431e-02 -2.59831460e-04 9.99830960e-01 1.56688539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89925415399998 meters 0.014999616138953014 Centerline is valid? [True, True] Translation: X:231.24, Y:1.86, Z:1.57 [[ 9.99525418e-01 -2.53532690e-02 -1.74971523e-02 2.31237419e+02] [ 2.53526330e-02 9.99678537e-01 -2.58201635e-04 1.86269088e+00] [ 1.74980739e-02 -1.85519784e-04 9.99846880e-01 1.56740243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.92925415399998 meters 0.014263635280132967 Centerline is valid? [True, True] Translation: X:231.27, Y:1.87, Z:1.57 [[ 9.99677301e-01 -1.84369771e-02 -1.74748959e-02 2.31266728e+02] [ 1.84352754e-02 9.99830022e-01 -2.58477985e-04 1.87016506e+00] [ 1.74766912e-02 -6.37599454e-05 9.99847269e-01 1.56777656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.95925415399998 meters 0.01582784345200747 Centerline is valid? [True, True] Translation: X:231.29, Y:1.87, Z:1.57 [[ 9.99739088e-01 -1.48019892e-02 -1.73970182e-02 2.31294048e+02] [ 1.47997135e-02 9.99890445e-01 -2.59552048e-04 1.87381540e+00] [ 1.73989541e-02 2.01344331e-06 9.99848627e-01 1.56715840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.98925415399998 meters 0.014208726037061015 Centerline is valid? [True, True] Translation: X:231.32, Y:1.88, Z:1.57 [[ 9.99782062e-01 -1.22528102e-02 -1.69025733e-02 2.31320935e+02] [ 1.22502562e-02 9.99924930e-01 -2.54637023e-04 1.87750609e+00] [ 1.69044244e-02 4.75206753e-05 9.99857109e-01 1.56853600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.01925415399998 meters 0.014494836329513419 Centerline is valid? [True, True] Translation: X:231.35, Y:1.88, Z:1.57 [[ 9.99805178e-01 -9.97297166e-03 -1.70336546e-02 2.31349571e+02] [ 9.96999234e-03 9.99950265e-01 -2.59819853e-04 1.88074287e+00] [ 1.70353986e-02 8.99438283e-05 9.99854883e-01 1.56850920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.04925415399998 meters 0.014630711003964595 Centerline is valid? [True, True] Translation: X:231.38, Y:1.88, Z:1.57 [[ 9.99820951e-01 -8.09755735e-03 -1.71024909e-02 2.31378634e+02] [ 8.09421084e-03 9.99967206e-01 -2.64886994e-04 1.88336566e+00] [ 1.71040749e-02 1.26408399e-04 9.99853707e-01 1.56864724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07925415399998 meters 0.014654444069363075 Centerline is valid? [True, True] Translation: X:231.41, Y:1.88, Z:1.57 [[ 9.99835396e-01 -5.63166279e-03 -1.72471922e-02 2.31407357e+02] [ 5.62781964e-03 9.99984127e-01 -2.71355142e-04 1.88484923e+00] [ 1.72484466e-02 1.74246389e-04 9.99851219e-01 1.56974065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10925415399998 meters 0.014558844978883547 Centerline is valid? [True, True] Translation: X:231.44, Y:1.89, Z:1.57 [[ 9.99838355e-01 -5.30463616e-03 -1.71792158e-02 2.31435727e+02] [ 5.30069389e-03 9.99985913e-01 -2.75005281e-04 1.88533129e+00] [ 1.71804326e-02 1.83899064e-04 9.99852389e-01 1.57023574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13925415399999 meters 0.014523221837043849 Centerline is valid? [True, True] Translation: X:231.46, Y:1.88, Z:1.57 [[ 9.99837128e-01 -6.56694063e-03 -1.68104857e-02 2.31464076e+02] [ 6.56326884e-03 9.99978424e-01 -2.73584054e-04 1.88452807e+00] [ 1.68119196e-02 1.63207758e-04 9.99858656e-01 1.57005087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.169254154 meters 0.01432720461687891 Centerline is valid? [True, True] Translation: X:231.49, Y:1.88, Z:1.57 [[ 9.99828120e-01 -7.89278490e-03 -1.67760090e-02 2.31492045e+02] [ 7.88923727e-03 9.99968841e-01 -2.77640995e-04 1.88348119e+00] [ 1.67776776e-02 1.45243359e-04 9.99859234e-01 1.57018744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.199254154 meters 0.01422305166799454 Centerline is valid? [True, True] Translation: X:231.52, Y:1.88, Z:1.57 [[ 9.99816123e-01 -9.42894978e-03 -1.66977792e-02 2.31520110e+02] [ 9.42560118e-03 9.99955539e-01 -2.79230778e-04 1.88250617e+00] [ 1.66996697e-02 1.21792826e-04 9.99860543e-01 1.57039576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22925415399996 meters 0.014226087561727455 Centerline is valid? [True, True] Translation: X:231.55, Y:1.88, Z:1.57 [[ 9.99804667e-01 -1.14291275e-02 -1.61246254e-02 2.31548934e+02] [ 1.14262181e-02 9.99934681e-01 -2.72551313e-04 1.88115853e+00] [ 1.61266872e-02 8.82545884e-05 9.99869953e-01 1.57055386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25925415399996 meters 0.01392311734466584 Centerline is valid? [True, True] Translation: X:231.58, Y:1.88, Z:1.57 [[ 9.99752882e-01 -1.57990200e-02 -1.56385815e-02 2.31577991e+02] [ 1.57967817e-02 9.99875188e-01 -2.66649952e-04 1.87705367e+00] [ 1.56408424e-02 1.95448000e-05 9.99877674e-01 1.57132808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28925415399996 meters 0.013945860774917485 Centerline is valid? [True, True] Translation: X:231.60, Y:1.87, Z:1.57 [[ 9.99703423e-01 -1.86282284e-02 -1.56861580e-02 2.31604855e+02] [ 1.86262995e-02 9.99826479e-01 -2.69068302e-04 1.87472254e+00] [ 1.56884484e-02 -2.31865751e-05 9.99876928e-01 1.57128063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31925415399996 meters 0.014065855315039852 Centerline is valid? [True, True] Translation: X:231.63, Y:1.87, Z:1.57 [[ 9.99642254e-01 -2.19081706e-02 -1.53426541e-02 2.31633299e+02] [ 2.19066661e-02 9.99759985e-01 -2.66132678e-04 1.87205484e+00] [ 1.53448021e-02 -7.00689315e-05 9.99882259e-01 1.57139261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34925415399996 meters 0.014269737251776079 Centerline is valid? [True, True] Translation: X:231.66, Y:1.87, Z:1.57 [[ 9.99561950e-01 -2.54915374e-02 -1.50362981e-02 2.31662067e+02] [ 2.54904420e-02 9.99675031e-01 -2.64530569e-04 1.86890282e+00] [ 1.50381550e-02 -1.18867193e-04 9.99886913e-01 1.57177812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37925415399997 meters 0.014909987588852069 Centerline is valid? [True, True] Translation: X:231.69, Y:1.86, Z:1.57 [[ 9.99345219e-01 -3.32710275e-02 -1.42186886e-02 2.31692093e+02] [ 3.32708081e-02 9.99446342e-01 -2.52046139e-04 1.86277710e+00] [ 1.42192021e-02 -2.21186155e-04 9.99898878e-01 1.57340878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40925415399997 meters 0.01795597131794177 Centerline is valid? [True, True] Translation: X:231.72, Y:1.86, Z:1.57 [[ 9.99211189e-01 -3.70790150e-02 -1.42178180e-02 2.31722762e+02] [ 3.70791824e-02 9.99312299e-01 -2.51924866e-04 1.85846631e+00] [ 1.42173815e-02 -2.75458922e-04 9.99898890e-01 1.57171965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43925415399997 meters 0.016753015216252474 Centerline is valid? [True, True] Translation: X:231.75, Y:1.86, Z:1.57 [[ 9.99031110e-01 -4.18062452e-02 -1.37506075e-02 2.31754200e+02] [ 4.18068573e-02 9.99125682e-01 -2.43061686e-04 1.85509747e+00] [ 1.37487466e-02 -3.32043500e-04 9.99905426e-01 1.57357057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46925415399997 meters 0.018189288832897638 Centerline is valid? [True, True] Translation: X:231.78, Y:1.85, Z:1.57 [[ 9.98840509e-01 -4.61663417e-02 -1.36493916e-02 2.31784868e+02] [ 4.61673583e-02 9.98933690e-01 -2.40775085e-04 1.85061558e+00] [ 1.36459528e-02 -3.89660443e-04 9.99906814e-01 1.57375493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49925415399997 meters 0.020851938778010705 Centerline is valid? [True, True] Translation: X:231.82, Y:1.84, Z:1.57 [[ 9.98387485e-01 -5.51706370e-02 -1.33652606e-02 2.31815802e+02] [ 5.51724209e-02 9.98476814e-01 -2.35485678e-04 1.84262482e+00] [ 1.33578948e-02 -5.02287832e-04 9.99910653e-01 1.57359058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52925415399997 meters 0.025837115270531407 Centerline is valid? [True, True] Translation: X:231.85, Y:1.83, Z:1.57 [[ 9.98132549e-01 -5.95662598e-02 -1.35379369e-02 2.31846125e+02] [ 5.95684941e-02 9.98224192e-01 -2.38495348e-04 1.83372594e+00] [ 1.35281024e-02 -5.68384544e-04 9.99908329e-01 1.57273270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55925415399997 meters 0.025799832135690856 Centerline is valid? [True, True] Translation: X:231.88, Y:1.83, Z:1.57 [[ 9.97865852e-01 -6.38461091e-02 -1.36899601e-02 2.31877223e+02] [ 6.38487974e-02 9.97959555e-01 -2.41053589e-04 1.83275788e+00] [ 1.36774169e-02 -6.33548346e-04 9.99906259e-01 1.57315328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58925415399997 meters 0.026427220360899818 Centerline is valid? [True, True] Translation: X:231.91, Y:1.83, Z:1.57 [[ 9.97343916e-01 -7.15200795e-02 -1.37837329e-02 2.31908359e+02] [ 7.15235397e-02 9.97438883e-01 -2.42384118e-04 1.83004505e+00] [ 1.37657665e-02 -7.44121041e-04 9.99904970e-01 1.57338413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61925415399998 meters 0.027837692639284758 Centerline is valid? [True, True] Translation: X:231.94, Y:1.83, Z:1.57 [[ 9.97123373e-01 -7.44565744e-02 -1.41844351e-02 2.31939601e+02] [ 7.44605416e-02 9.97223930e-01 -2.48958744e-04 1.82783384e+00] [ 1.41635948e-02 -8.07938140e-04 9.99899365e-01 1.57340476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64925415399998 meters 0.03781687126390489 Centerline is valid? [True, True] Translation: X:231.97, Y:1.81, Z:1.57 [[ 9.96951879e-01 -7.67233006e-02 -1.41592850e-02 2.31969615e+02] [ 7.67274944e-02 9.97052070e-01 -2.47610501e-04 1.81449888e+00] [ 1.41365419e-02 -8.39550704e-04 9.99899722e-01 1.57218653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.67925415399998 meters 0.031724325716601456 Centerline is valid? [True, True] Translation: X:232.00, Y:1.82, Z:1.57 [[ 9.96752004e-01 -7.92599365e-02 -1.42585228e-02 2.32000606e+02] [ 7.92644586e-02 9.96853592e-01 -2.48584379e-04 1.82287330e+00] [ 1.42333624e-02 -8.82417112e-04 9.99898311e-01 1.57349877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.70925415399998 meters 0.030747963590976635 Centerline is valid? [True, True] Translation: X:232.03, Y:1.83, Z:1.57 [[ 9.96708996e-01 -7.97501562e-02 -1.45289073e-02 2.32032470e+02] [ 7.97549133e-02 9.96814471e-01 -2.52613570e-04 1.82538200e+00] [ 1.45027711e-02 -9.06969527e-04 9.99894418e-01 1.57405679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.73925415399998 meters 0.029634741207681507 Centerline is valid? [True, True] Translation: X:232.06, Y:1.83, Z:1.57 [[ 9.96748930e-01 -7.91677336e-02 -1.49679991e-02 2.32064612e+02] [ 7.91727339e-02 9.96860878e-01 -2.59127962e-04 1.82809380e+00] [ 1.49415273e-02 -9.26771888e-04 9.99887940e-01 1.57439776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.76925415399998 meters 0.03227922809996938 Centerline is valid? [True, True] Translation: X:232.10, Y:1.83, Z:1.57 [[ 9.96824437e-01 -7.81667945e-02 -1.51985056e-02 2.32095913e+02] [ 7.81718490e-02 9.96939864e-01 -2.62139424e-04 1.82643192e+00] [ 1.51724867e-02 -9.26788300e-04 9.99884462e-01 1.57430524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.79925415399998 meters 0.02748279056497439 Centerline is valid? [True, True] Translation: X:232.13, Y:1.84, Z:1.58 [[ 9.97117389e-01 -7.43454905e-02 -1.51545456e-02 2.32126342e+02] [ 7.43500848e-02 9.97232168e-01 -2.60795815e-04 1.83686857e+00] [ 1.51319893e-02 -8.66697705e-04 9.99885129e-01 1.57548044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82925415399998 meters 0.02638093869353894 Centerline is valid? [True, True] Translation: X:232.16, Y:1.84, Z:1.58 [[ 9.97319281e-01 -7.16495954e-02 -1.48521758e-02 2.32158089e+02] [ 7.16537191e-02 9.97429536e-01 -2.54980599e-04 1.84034309e+00] [ 1.48322681e-02 -8.09916566e-04 9.99889668e-01 1.57597386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85925415399998 meters 0.0268830513813763 Centerline is valid? [True, True] Translation: X:232.19, Y:1.84, Z:1.58 [[ 9.97498447e-01 -6.90972182e-02 -1.49138341e-02 2.32189014e+02] [ 6.91011020e-02 9.97609629e-01 -2.55352742e-04 1.84156655e+00] [ 1.48958287e-02 -7.75848407e-04 9.99888750e-01 1.57650729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88925415399999 meters 0.02840042066640652 Centerline is valid? [True, True] Translation: X:232.22, Y:1.84, Z:1.58 [[ 9.97687802e-01 -6.64847212e-02 -1.41007552e-02 2.32220006e+02] [ 6.64879398e-02 9.97787200e-01 -2.40927812e-04 1.84152312e+00] [ 1.40855711e-02 -6.97159426e-04 9.99900550e-01 1.57681673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.919254154 meters 0.02317932858578019 Centerline is valid? [True, True] Translation: X:232.25, Y:1.85, Z:1.58 [[ 9.98033331e-01 -6.11813705e-02 -1.36495582e-02 2.32250368e+02] [ 6.11838961e-02 9.98126483e-01 -2.32874243e-04 1.85241777e+00] [ 1.36382331e-02 -6.02716894e-04 9.99906813e-01 1.57850690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.949254154 meters 0.024652425294444957 Centerline is valid? [True, True] Translation: X:232.28, Y:1.85, Z:1.58 [[ 9.98191695e-01 -5.85482448e-02 -1.36177604e-02 2.32281137e+02] [ 5.85505188e-02 9.98284420e-01 -2.31982438e-04 1.85225374e+00] [ 1.36079802e-02 -5.65763992e-04 9.99907247e-01 1.57791463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97925415399996 meters 0.02085922377431821 Centerline is valid? [True, True] Translation: X:232.31, Y:1.86, Z:1.58 [[ 9.98321984e-01 -5.60925768e-02 -1.43819244e-02 2.32312714e+02] [ 5.60948685e-02 9.98425413e-01 -2.44313379e-04 1.86005504e+00] [ 1.43729830e-02 -5.62848742e-04 9.99896545e-01 1.57882755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00925415399996 meters 0.019539779652133583 Centerline is valid? [True, True] Translation: X:232.34, Y:1.87, Z:1.58 [[ 9.98566503e-01 -5.12359782e-02 -1.54859435e-02 2.32342943e+02] [ 5.12380586e-02 9.98686433e-01 -2.62649003e-04 1.86569669e+00] [ 1.54790588e-02 -5.31197186e-04 9.99880051e-01 1.57844527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03925415399996 meters 0.019482520214352657 Centerline is valid? [True, True] Translation: X:232.37, Y:1.87, Z:1.58 [[ 9.98677452e-01 -4.88813041e-02 -1.59363093e-02 2.32374242e+02] [ 4.88832158e-02 9.98804465e-01 -2.69789662e-04 1.86765933e+00] [ 1.59304445e-02 -5.09585192e-04 9.99872973e-01 1.57826440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06925415399996 meters 0.018251503607642206 Centerline is valid? [True, True] Translation: X:232.41, Y:1.87, Z:1.58 [[ 9.98769574e-01 -4.68059874e-02 -1.63871134e-02 2.32406141e+02] [ 4.68077477e-02 9.98903878e-01 -2.76326669e-04 1.87179792e+00] [ 1.63820848e-02 -4.91057198e-04 9.99865684e-01 1.57887869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09925415399996 meters 0.017680409429157776 Centerline is valid? [True, True] Translation: X:232.44, Y:1.88, Z:1.58 [[ 9.98949417e-01 -4.28614907e-02 -1.62158907e-02 2.32436845e+02] [ 4.28627088e-02 9.99080935e-01 -2.72588820e-04 1.87613361e+00] [ 1.62126708e-02 -4.22754560e-04 9.99868477e-01 1.57886004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12925415399997 meters 0.016657076258979248 Centerline is valid? [True, True] Translation: X:232.47, Y:1.88, Z:1.58 [[ 9.99024009e-01 -4.11194754e-02 -1.61312932e-02 2.32468626e+02] [ 4.11204662e-02 9.99154159e-01 -2.70398300e-04 1.88017039e+00] [ 1.61287674e-02 -3.93191905e-04 9.99869846e-01 1.57966211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15925415399997 meters 0.01896209746764227 Centerline is valid? [True, True] Translation: X:232.50, Y:1.88, Z:1.58 [[ 9.99100848e-01 -3.90440850e-02 -1.65243777e-02 2.32499906e+02] [ 3.90448689e-02 9.99237420e-01 -2.75297339e-04 1.88172466e+00] [ 1.65225253e-02 -3.70142358e-04 9.99863425e-01 1.57781272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18925415399997 meters 0.016288438724145617 Centerline is valid? [True, True] Translation: X:232.53, Y:1.89, Z:1.58 [[ 9.99162394e-01 -3.77666441e-02 -1.57540616e-02 2.32532321e+02] [ 3.77672223e-02 9.99286530e-01 -2.60915089e-04 1.88525207e+00] [ 1.57526755e-02 -3.34290604e-04 9.99875863e-01 1.58025479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21925415399997 meters 0.01590327498383745 Centerline is valid? [True, True] Translation: X:232.56, Y:1.89, Z:1.58 [[ 9.99300088e-01 -3.39958647e-02 -1.56081794e-02 2.32562709e+02] [ 3.39959907e-02 9.99421936e-01 -2.57324684e-04 1.88918047e+00] [ 1.56079049e-02 -2.73470944e-04 9.99878152e-01 1.58072928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24925415399997 meters 0.015390126787181737 Centerline is valid? [True, True] Translation: X:232.59, Y:1.89, Z:1.58 [[ 9.99378199e-01 -3.17917197e-02 -1.52480270e-02 2.32593697e+02] [ 3.17915960e-02 9.99494488e-01 -2.50568736e-04 1.89254585e+00] [ 1.52482850e-02 -2.34346183e-04 9.99883711e-01 1.58135640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27925415399997 meters 0.015331668512948322 Centerline is valid? [True, True] Translation: X:232.62, Y:1.89, Z:1.58 [[ 9.99450601e-01 -2.94636742e-02 -1.51785268e-02 2.32624362e+02] [ 2.94632892e-02 9.99565832e-01 -2.49027919e-04 1.89435480e+00] [ 1.51792740e-02 -1.98318220e-04 9.99884769e-01 1.58138630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30925415399997 meters 0.014591927582040025 Centerline is valid? [True, True] Translation: X:232.66, Y:1.90, Z:1.58 [[ 9.99564556e-01 -2.55269181e-02 -1.48012065e-02 2.32655092e+02] [ 2.55261222e-02 9.99674126e-01 -2.42715792e-04 1.89971006e+00] [ 1.48025790e-02 -1.35207304e-04 9.99890427e-01 1.58321702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33925415399997 meters 0.014418790406479951 Centerline is valid? [True, True] Translation: X:232.69, Y:1.90, Z:1.58 [[ 9.99607362e-01 -2.39192794e-02 -1.45942042e-02 2.32685353e+02] [ 2.39183364e-02 9.99713887e-01 -2.39183845e-04 1.90170520e+00] [ 1.45957497e-02 -1.09979153e-04 9.99893470e-01 1.58372103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36925415399998 meters 0.014134670617756662 Centerline is valid? [True, True] Translation: X:232.72, Y:1.90, Z:1.58 [[ 9.99646631e-01 -2.25287570e-02 -1.41091642e-02 2.32715816e+02] [ 2.25277388e-02 9.99746192e-01 -2.31114444e-04 1.90366197e+00] [ 1.41107899e-02 -8.68147901e-05 9.99900434e-01 1.58435141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39925415399998 meters 0.014134670617756662 Centerline is valid? [True, True] Translation: X:232.75, Y:1.90, Z:1.58 [[ 9.99646631e-01 -2.25287570e-02 -1.41091642e-02 2.32745813e+02] [ 2.25277388e-02 9.99746192e-01 -2.31114444e-04 1.90415332e+00] [ 1.41107899e-02 -8.68147901e-05 9.99900434e-01 1.58455931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.42925415399998 meters 0.014237655993050267 Centerline is valid? [True, True] Translation: X:232.78, Y:1.91, Z:1.59 [[ 9.99666387e-01 -2.16660804e-02 -1.40604023e-02 2.32775910e+02] [ 2.16649839e-02 9.99765260e-01 -2.30315702e-04 1.90589006e+00] [ 1.40620918e-02 -7.43795241e-05 9.99901121e-01 1.58511508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.45925415399998 meters 0.014033828689782566 Centerline is valid? [True, True] Translation: X:232.81, Y:1.91, Z:1.59 [[ 9.99678613e-01 -2.10301252e-02 -1.41564323e-02 2.32806741e+02] [ 2.10289499e-02 9.99778840e-01 -2.31888716e-04 1.90692258e+00] [ 1.41581781e-02 -6.58807150e-05 9.99899766e-01 1.58564113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.48925415399998 meters 0.014024285661762366 Centerline is valid? [True, True] Translation: X:232.84, Y:1.91, Z:1.59 [[ 9.99676454e-01 -2.09375550e-02 -1.44432188e-02 2.32836229e+02] [ 2.09363180e-02 9.99780783e-01 -2.36854831e-04 1.90762071e+00] [ 1.44450117e-02 -6.56096239e-05 9.99895663e-01 1.58521090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.51925415399998 meters 0.01620403019600098 Centerline is valid? [True, True] Translation: X:232.87, Y:1.91, Z:1.58 [[ 9.99660344e-01 -2.10998069e-02 -1.52969108e-02 2.32866179e+02] [ 2.10984298e-02 9.99777372e-01 -2.51414217e-04 1.90736968e+00] [ 1.52988101e-02 -7.14119766e-05 9.99882964e-01 1.58323454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.54925415399998 meters 0.014108804566533654 Centerline is valid? [True, True] Translation: X:232.90, Y:1.91, Z:1.58 [[ 9.99639421e-01 -2.23170183e-02 -1.49324491e-02 2.32895906e+02] [ 2.23158341e-02 9.99750941e-01 -2.45948505e-04 1.90711361e+00] [ 1.49342188e-02 -8.73702345e-05 9.99888475e-01 1.58486873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57925415399998 meters 0.014334193729290491 Centerline is valid? [True, True] Translation: X:232.93, Y:1.91, Z:1.59 [[ 9.99562266e-01 -2.54409632e-02 -1.51007757e-02 2.32925149e+02] [ 2.54401002e-02 9.99676317e-01 -2.49268812e-04 1.90531960e+00] [ 1.51022295e-02 -1.35005549e-04 9.99885946e-01 1.58606216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60925415399998 meters 0.014566268991397206 Centerline is valid? [True, True] Translation: X:232.96, Y:1.90, Z:1.59 [[ 9.99522849e-01 -2.73293161e-02 -1.43938761e-02 2.32955057e+02] [ 2.73287341e-02 9.99626472e-01 -2.37163389e-04 1.90359806e+00] [ 1.43949811e-02 -1.56316185e-04 9.99896375e-01 1.58635114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63925415399999 meters 0.01482893364867145 Centerline is valid? [True, True] Translation: X:232.99, Y:1.90, Z:1.59 [[ 9.99465847e-01 -2.93421324e-02 -1.43895806e-02 2.32986189e+02] [ 2.93417722e-02 9.99569410e-01 -2.36197558e-04 1.90190131e+00] [ 1.43903152e-02 -1.86144404e-04 9.99896437e-01 1.58672057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.669254154 meters 0.015712781760617807 Centerline is valid? [True, True] Translation: X:233.02, Y:1.90, Z:1.59 [[ 9.99321437e-01 -3.40092281e-02 -1.41434721e-02 2.33017155e+02] [ 3.40093526e-02 9.99421488e-01 -2.31785978e-04 1.89805798e+00] [ 1.41431728e-02 -2.49381632e-04 9.99899949e-01 1.58700003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.699254154 meters 0.016448142788824963 Centerline is valid? [True, True] Translation: X:233.05, Y:1.90, Z:1.59 [[ 9.99226143e-01 -3.65195783e-02 -1.46094249e-02 2.33049413e+02] [ 3.65199893e-02 9.99332894e-01 -2.38737553e-04 1.89645216e+00] [ 1.46083975e-02 -2.94983238e-04 9.99893248e-01 1.58668666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72925415399996 meters 0.0174410145164816 Centerline is valid? [True, True] Translation: X:233.08, Y:1.89, Z:1.59 [[ 9.99136833e-01 -3.86650861e-02 -1.51855019e-02 2.33080728e+02] [ 3.86657925e-02 9.99252168e-01 -2.47184168e-04 1.89342764e+00] [ 1.51837031e-02 -3.40188658e-04 9.99884663e-01 1.58614901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75925415399996 meters 0.017771747973628904 Centerline is valid? [True, True] Translation: X:233.11, Y:1.89, Z:1.59 [[ 9.99046310e-01 -4.06683194e-02 -1.58921128e-02 2.33113134e+02] [ 4.06693627e-02 9.99172626e-01 -2.57658206e-04 1.89204519e+00] [ 1.58894426e-02 -3.88909617e-04 9.99873679e-01 1.58603570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78925415399996 meters 0.019234766679800744 Centerline is valid? [True, True] Translation: X:233.14, Y:1.89, Z:1.59 [[ 9.98866330e-01 -4.45933751e-02 -1.66579113e-02 2.33144637e+02] [ 4.45950810e-02 9.99005108e-01 -2.69214898e-04 1.88858905e+00] [ 1.66533437e-02 -4.73951209e-04 9.99861211e-01 1.58553495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81925415399996 meters 0.019737271167546613 Centerline is valid? [True, True] Translation: X:233.18, Y:1.89, Z:1.59 [[ 9.98810701e-01 -4.57258320e-02 -1.69213318e-02 2.33176845e+02] [ 4.57277709e-02 9.98953901e-01 -2.72514486e-04 1.88769628e+00] [ 1.69160914e-02 -5.01584401e-04 9.99856787e-01 1.58549243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84925415399996 meters 0.0202321585481931 Centerline is valid? [True, True] Translation: X:233.21, Y:1.89, Z:1.59 [[ 9.98784208e-01 -4.63486688e-02 -1.67901005e-02 2.33208278e+02] [ 4.63506826e-02 9.98925193e-01 -2.69391773e-04 1.88665591e+00] [ 1.67845403e-02 -5.09168371e-04 9.99859000e-01 1.58595487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87925415399997 meters 0.02065956348990286 Centerline is valid? [True, True] Translation: X:233.24, Y:1.89, Z:1.59 [[ 9.98795609e-01 -4.62278529e-02 -1.64413248e-02 2.33239985e+02] [ 4.62297843e-02 9.98930797e-01 -2.62776245e-04 1.88606486e+00] [ 1.64358932e-02 -4.97619139e-04 9.99864798e-01 1.58599171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90925415399997 meters 0.020997220887744722 Centerline is valid? [True, True] Translation: X:233.27, Y:1.89, Z:1.59 [[ 9.98814198e-01 -4.58819772e-02 -1.62801378e-02 2.33271147e+02] [ 4.58838499e-02 9.98946748e-01 -2.58674784e-04 1.88532193e+00] [ 1.62748592e-02 -4.88627351e-04 9.99867436e-01 1.58633175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93925415399997 meters 0.021706297230258034 Centerline is valid? [True, True] Translation: X:233.30, Y:1.88, Z:1.59 [[ 9.98829754e-01 -4.56361153e-02 -1.60146133e-02 2.33302754e+02] [ 4.56379155e-02 9.98958015e-01 -2.53227409e-04 1.88477377e+00] [ 1.60094826e-02 -4.77942498e-04 9.99871726e-01 1.58601764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96925415399997 meters 0.022174643272969315 Centerline is valid? [True, True] Translation: X:233.33, Y:1.88, Z:1.59 [[ 9.98830052e-01 -4.55353275e-02 -1.62807264e-02 2.33334205e+02] [ 4.55371882e-02 9.98962611e-01 -2.56602793e-04 1.88445052e+00] [ 1.62755214e-02 -4.85075920e-04 9.99867427e-01 1.58613804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99925415399997 meters 0.022130777505889036 Centerline is valid? [True, True] Translation: X:233.37, Y:1.88, Z:1.59 [[ 9.98830372e-01 -4.55990427e-02 -1.60815083e-02 2.33366257e+02] [ 4.56008817e-02 9.98959707e-01 -2.52503733e-04 1.88367151e+00] [ 1.60762928e-02 -4.81122563e-04 9.99870652e-01 1.58703919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02925415399997 meters 0.022356399877465523 Centerline is valid? [True, True] Translation: X:233.40, Y:1.88, Z:1.59 [[ 9.98825184e-01 -4.57498152e-02 -1.59751613e-02 2.33398576e+02] [ 4.57516662e-02 9.98952813e-01 -2.49770897e-04 1.88320540e+00] [ 1.59698593e-02 -4.81412787e-04 9.99872358e-01 1.58732786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05925415399997 meters 0.01961673853653942 Centerline is valid? [True, True] Translation: X:233.43, Y:1.89, Z:1.59 [[ 9.98801032e-01 -4.61067514e-02 -1.64519010e-02 2.33431017e+02] [ 4.61087821e-02 9.98936392e-01 -2.56063220e-04 1.88776748e+00] [ 1.64462089e-02 -5.02820911e-04 9.99864626e-01 1.58921209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08925415399997 meters 0.019291313463518454 Centerline is valid? [True, True] Translation: X:233.46, Y:1.89, Z:1.59 [[ 9.98751622e-01 -4.69711834e-02 -1.69971953e-02 2.33463616e+02] [ 4.69734974e-02 9.98896101e-01 -2.63295849e-04 1.88822177e+00] [ 1.69907995e-02 -5.35450553e-04 9.99855503e-01 1.58948676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11925415399998 meters 0.021610505844741636 Centerline is valid? [True, True] Translation: X:233.49, Y:1.88, Z:1.59 [[ 9.98694969e-01 -4.79780616e-02 -1.75061121e-02 2.33494380e+02] [ 4.79806867e-02 9.98848227e-01 -2.70269866e-04 1.88475010e+00] [ 1.74989160e-02 -5.70038123e-04 9.99846720e-01 1.58854656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14925415399998 meters 0.020456876452481128 Centerline is valid? [True, True] Translation: X:233.53, Y:1.89, Z:1.59 [[ 9.98625055e-01 -4.91591369e-02 -1.82038053e-02 2.33526944e+02] [ 4.91621911e-02 9.98790769e-01 -2.79960736e-04 1.88705456e+00] [ 1.81955554e-02 -6.15363150e-04 9.99834258e-01 1.58966063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.17925415399998 meters 0.021018455209445515 Centerline is valid? [True, True] Translation: X:233.56, Y:1.89, Z:1.59 [[ 9.98551771e-01 -5.05523596e-02 -1.84070657e-02 2.33559288e+02] [ 5.05557434e-02 9.98721201e-01 -2.81749134e-04 1.88641476e+00] [ 1.83977699e-02 -6.49241795e-04 9.99830536e-01 1.58981656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.20925415399998 meters 0.023333356352948 Centerline is valid? [True, True] Translation: X:233.59, Y:1.88, Z:1.59 [[ 9.98340975e-01 -5.43444589e-02 -1.90256836e-02 2.33589456e+02] [ 5.43487714e-02 9.98521971e-01 -2.90700472e-04 1.88377962e+00] [ 1.90133611e-02 -7.43804338e-04 9.99818953e-01 1.58943034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.23925415399998 meters 0.02365575317370911 Centerline is valid? [True, True] Translation: X:233.62, Y:1.88, Z:1.59 [[ 9.98227826e-01 -5.62469237e-02 -1.94291499e-02 2.33621481e+02] [ 5.62517982e-02 9.98416570e-01 -2.95971073e-04 1.88410979e+00] [ 1.94150326e-02 -7.97478056e-04 9.99811192e-01 1.58982088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.26925415399998 meters 0.025961881939195314 Centerline is valid? [True, True] Translation: X:233.65, Y:1.88, Z:1.59 [[ 9.98121890e-01 -5.80295856e-02 -1.96280341e-02 2.33652153e+02] [ 5.80349232e-02 9.98314509e-01 -2.98047281e-04 1.88130398e+00] [ 1.96122468e-02 -8.41623938e-04 9.99807307e-01 1.58979136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.29925415399998 meters 0.025625066381712747 Centerline is valid? [True, True] Translation: X:233.68, Y:1.88, Z:1.59 [[ 9.98044161e-01 -5.93961256e-02 -1.94924011e-02 2.33684253e+02] [ 5.94016718e-02 9.98234118e-01 -2.94854387e-04 1.88233876e+00] [ 1.94754931e-02 -8.63603515e-04 9.99809962e-01 1.59077923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32925415399998 meters 0.02682098891915153 Centerline is valid? [True, True] Translation: X:233.72, Y:1.88, Z:1.59 [[ 9.97937454e-01 -6.15154894e-02 -1.83489003e-02 2.33716087e+02] [ 6.15207897e-02 9.98105764e-01 -2.76003365e-04 1.88172696e+00] [ 1.83311217e-02 -8.53404742e-04 9.99831607e-01 1.59201763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35925415399998 meters 0.027616757823210644 Centerline is valid? [True, True] Translation: X:233.75, Y:1.88, Z:1.59 [[ 9.97921533e-01 -6.18099663e-02 -1.82247723e-02 2.33747407e+02] [ 6.18152775e-02 9.98087570e-01 -2.72297174e-04 1.88127610e+00] [ 1.82067494e-02 -8.54838147e-04 9.99833878e-01 1.59274039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38925415399999 meters 0.025372789676583043 Centerline is valid? [True, True] Translation: X:233.78, Y:1.89, Z:1.59 [[ 9.97922450e-01 -6.20483318e-02 -1.73432705e-02 2.33779635e+02] [ 6.20532025e-02 9.98072810e-01 -2.57683363e-04 1.88641621e+00] [ 1.73258356e-02 -8.19057464e-04 9.99849561e-01 1.59498348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.419254154 meters 0.02686854488762688 Centerline is valid? [True, True] Translation: X:233.81, Y:1.89, Z:1.59 [[ 9.97961897e-01 -6.14511298e-02 -1.71991605e-02 2.33810455e+02] [ 6.14558612e-02 9.98109770e-01 -2.53803961e-04 1.88529656e+00] [ 1.71822467e-02 -8.03702541e-04 9.99852051e-01 1.59491276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.449254154 meters 0.024973021339299906 Centerline is valid? [True, True] Translation: X:233.84, Y:1.89, Z:1.60 [[ 9.98021415e-01 -6.05249759e-02 -1.70288954e-02 2.33842583e+02] [ 6.05295060e-02 9.98166377e-01 -2.49733340e-04 1.88922738e+00] [ 1.70127859e-02 -7.81511406e-04 9.99854967e-01 1.59616462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47925415399996 meters 0.023087244580264066 Centerline is valid? [True, True] Translation: X:233.87, Y:1.89, Z:1.60 [[ 9.98075115e-01 -5.96137210e-02 -1.70958960e-02 2.33874568e+02] [ 5.96181749e-02 9.98221223e-01 -2.49456852e-04 1.89329977e+00] [ 1.70803573e-02 -7.70249441e-04 9.99853823e-01 1.59706928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50925415399996 meters 0.02324789356888434 Centerline is valid? [True, True] Translation: X:233.90, Y:1.90, Z:1.60 [[ 9.98206146e-01 -5.74429510e-02 -1.68759261e-02 2.33904964e+02] [ 5.74469931e-02 9.98348528e-01 -2.45554940e-04 1.89510757e+00] [ 1.68621614e-02 -7.24356760e-04 9.99857561e-01 1.59703638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53925415399996 meters 0.024814971526803325 Centerline is valid? [True, True] Translation: X:233.94, Y:1.89, Z:1.60 [[ 9.98271247e-01 -5.61936143e-02 -1.72277478e-02 2.33936428e+02] [ 5.61976529e-02 9.98419632e-01 -2.49983311e-04 1.89360981e+00] [ 1.72145690e-02 -7.18607836e-04 9.99851560e-01 1.59615047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56925415399996 meters 0.023513394360064846 Centerline is valid? [True, True] Translation: X:233.97, Y:1.90, Z:1.60 [[ 9.98416494e-01 -5.34398298e-02 -1.75695681e-02 2.33967618e+02] [ 5.34436180e-02 9.98570836e-01 -2.54182231e-04 1.89735534e+00] [ 1.75580417e-02 -6.85201551e-04 9.99845611e-01 1.59596562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59925415399996 meters 0.021726621503632595 Centerline is valid? [True, True] Translation: X:234.00, Y:1.90, Z:1.60 [[ 9.98501929e-01 -5.18467584e-02 -1.74874379e-02 2.34000331e+02] [ 5.18502882e-02 9.98654837e-01 -2.51792743e-04 1.90135966e+00] [ 1.74769691e-02 -6.55313154e-04 9.99847051e-01 1.59678049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62925415399997 meters 0.02160826404903108 Centerline is valid? [True, True] Translation: X:234.03, Y:1.90, Z:1.60 [[ 9.98602766e-01 -4.98584108e-02 -1.75115419e-02 2.34032102e+02] [ 4.98616694e-02 9.98756102e-01 -2.50749031e-04 1.90269778e+00] [ 1.75022613e-02 -6.22756039e-04 9.99846630e-01 1.59655621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65925415399997 meters 0.020242194200112133 Centerline is valid? [True, True] Translation: X:234.06, Y:1.91, Z:1.60 [[ 9.98726106e-01 -4.74820010e-02 -1.70770464e-02 2.34063567e+02] [ 4.74847676e-02 9.98871932e-01 -2.43670115e-04 1.90640523e+00] [ 1.70693523e-02 -5.67539875e-04 9.99854147e-01 1.59723191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68925415399997 meters 0.01999392789230835 Centerline is valid? [True, True] Translation: X:234.09, Y:1.91, Z:1.60 [[ 9.98860750e-01 -4.45728614e-02 -1.70429297e-02 2.34094311e+02] [ 4.45752044e-02 9.99006002e-01 -2.42563637e-04 1.90849982e+00] [ 1.70368008e-02 -5.17404777e-04 9.99854729e-01 1.59727684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71925415399997 meters 0.017373842906104348 Centerline is valid? [True, True] Translation: X:234.12, Y:1.92, Z:1.60 [[ 9.99156683e-01 -3.73883448e-02 -1.69715611e-02 2.34124947e+02] [ 3.73896397e-02 9.99300734e-01 -2.41112643e-04 1.91649645e+00] [ 1.69687082e-02 -3.93651245e-04 9.99855944e-01 1.59800804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74925415399997 meters 0.016595336866684386 Centerline is valid? [True, True] Translation: X:234.16, Y:1.92, Z:1.60 [[ 9.99307134e-01 -3.30924406e-02 -1.70335735e-02 2.34155444e+02] [ 3.30931384e-02 9.99452243e-01 -2.40978514e-04 1.91970044e+00] [ 1.70322178e-02 -3.22882857e-04 9.99854889e-01 1.59793976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77925415399997 meters 0.01640489105944985 Centerline is valid? [True, True] Translation: X:234.19, Y:1.92, Z:1.60 [[ 9.99429029e-01 -2.90373032e-02 -1.72757535e-02 2.34185891e+02] [ 2.90374259e-02 9.99578295e-01 -2.43787834e-04 1.92338777e+00] [ 1.72755472e-02 -2.57994775e-04 9.99850733e-01 1.59774936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80925415399997 meters 0.015215709079239428 Centerline is valid? [True, True] Translation: X:234.22, Y:1.93, Z:1.60 [[ 9.99540513e-01 -2.50900539e-02 -1.70074356e-02 2.34216680e+02] [ 2.50896015e-02 9.99685178e-01 -2.40001450e-04 1.92724812e+00] [ 1.70081029e-02 -1.86818610e-04 9.99855334e-01 1.59858731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83925415399997 meters 0.014836756199407785 Centerline is valid? [True, True] Translation: X:234.25, Y:1.93, Z:1.60 [[ 9.99695366e-01 -1.83122383e-02 -1.65479951e-02 2.34246068e+02] [ 1.83108756e-02 9.99832315e-01 -2.33872697e-04 1.93252155e+00] [ 1.65495029e-02 -6.92068280e-05 9.99863045e-01 1.59893453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86925415399998 meters 0.014677652003451086 Centerline is valid? [True, True] Translation: X:234.27, Y:1.93, Z:1.60 [[ 9.99744727e-01 -1.56975316e-02 -1.62501889e-02 2.34273665e+02] [ 1.56958542e-02 9.99876786e-01 -2.30766065e-04 1.93446803e+00] [ 1.62518091e-02 -2.43534388e-05 9.99867930e-01 1.59904580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89925415399998 meters 0.015977264198568087 Centerline is valid? [True, True] Translation: X:234.30, Y:1.94, Z:1.60 [[ 9.99774046e-01 -1.37621453e-02 -1.62006485e-02 2.34301565e+02] [ 1.37601704e-02 9.99905297e-01 -2.33371268e-04 1.93569726e+00] [ 1.62023259e-02 1.03948525e-05 9.99868734e-01 1.59822952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.92925415399998 meters 0.014806417778547043 Centerline is valid? [True, True] Translation: X:234.33, Y:1.94, Z:1.60 [[ 9.99795704e-01 -1.29893134e-02 -1.54863751e-02 2.34328032e+02] [ 1.29873699e-02 9.99915635e-01 -2.26064925e-04 1.93697095e+00] [ 1.54880050e-02 2.48914600e-05 9.99880053e-01 1.59920188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.95925415399998 meters 0.014546807606235864 Centerline is valid? [True, True] Translation: X:234.36, Y:1.94, Z:1.60 [[ 9.99806625e-01 -1.31432056e-02 -1.46276990e-02 2.34355990e+02] [ 1.31414430e-02 9.99913624e-01 -2.16615256e-04 1.93665860e+00] [ 1.46292826e-02 2.43442943e-05 9.99892986e-01 1.60042676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.98925415399998 meters 0.014543767966376134 Centerline is valid? [True, True] Translation: X:234.38, Y:1.94, Z:1.60 [[ 9.99791323e-01 -1.44857516e-02 -1.44039408e-02 2.34383178e+02] [ 1.44841311e-02 9.99895076e-01 -2.16822375e-04 1.93586967e+00] [ 1.44055704e-02 8.14856176e-06 9.99896234e-01 1.60001570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.01925415399998 meters 0.014489739982207067 Centerline is valid? [True, True] Translation: X:234.41, Y:1.93, Z:1.60 [[ 9.99706099e-01 -1.92431609e-02 -1.47450213e-02 2.34411808e+02] [ 1.92419507e-02 9.99814831e-01 -2.23953159e-04 1.93167527e+00] [ 1.47466006e-02 -5.98356343e-05 9.99891261e-01 1.60009377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.04925415399998 meters 0.01459179788531665 Centerline is valid? [True, True] Translation: X:234.44, Y:1.93, Z:1.60 [[ 9.99629790e-01 -2.28481319e-02 -1.47731575e-02 2.34441836e+02] [ 2.28472990e-02 9.99738941e-01 -2.25165622e-04 1.92923197e+00] [ 1.47744454e-02 -1.12444483e-04 9.99890846e-01 1.60017141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07925415399998 meters 0.015126789712119781 Centerline is valid? [True, True] Translation: X:234.47, Y:1.93, Z:1.60 [[ 9.99522708e-01 -2.71515582e-02 -1.47359598e-02 2.34471044e+02] [ 2.71511914e-02 9.99631313e-01 -2.24992048e-04 1.92579440e+00] [ 1.47366358e-02 -1.75214205e-04 9.99891395e-01 1.60001633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10925415399998 meters 0.01590516568237654 Centerline is valid? [True, True] Translation: X:234.50, Y:1.92, Z:1.60 [[ 9.99386182e-01 -3.19051523e-02 -1.44679316e-02 2.34501463e+02] [ 3.19052948e-02 9.99490872e-01 -2.21022900e-04 1.92221532e+00] [ 1.44676174e-02 -2.40716392e-04 9.99895310e-01 1.59999448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13925415399999 meters 0.018314696926041714 Centerline is valid? [True, True] Translation: X:234.53, Y:1.91, Z:1.60 [[ 9.99003307e-01 -4.21622172e-02 -1.46539923e-02 2.34532437e+02] [ 4.21634679e-02 9.99110701e-01 -2.23727293e-04 1.91363612e+00] [ 1.46503934e-02 -3.94358829e-04 9.99892599e-01 1.59977384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.169254154 meters 0.01931088780629431 Centerline is valid? [True, True] Translation: X:234.56, Y:1.91, Z:1.60 [[ 9.98785362e-01 -4.70725571e-02 -1.45593313e-02 2.34563969e+02] [ 4.70743187e-02 9.98891365e-01 -2.21877143e-04 1.91085974e+00] [ 1.45536347e-02 -4.63762959e-04 9.99893983e-01 1.59979349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.199254154 meters 0.020992196139168615 Centerline is valid? [True, True] Translation: X:234.60, Y:1.91, Z:1.60 [[ 9.98559099e-01 -5.16426034e-02 -1.45865777e-02 2.34595162e+02] [ 5.16448642e-02 9.98665489e-01 -2.21895224e-04 1.90687194e+00] [ 1.45785710e-02 -5.31746331e-04 9.99893586e-01 1.59960572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22925415399996 meters 0.022756005493592572 Centerline is valid? [True, True] Translation: X:234.63, Y:1.90, Z:1.60 [[ 9.98148026e-01 -5.91722495e-02 -1.41125340e-02 2.34625290e+02] [ 5.91751170e-02 9.98247594e-01 -2.14672091e-04 1.90178181e+00] [ 1.41005057e-02 -6.20836325e-04 9.99900390e-01 1.59987966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25925415399996 meters 0.026932703620997603 Centerline is valid? [True, True] Translation: X:234.66, Y:1.90, Z:1.60 [[ 9.97972339e-01 -6.21437314e-02 -1.37610533e-02 2.34655899e+02] [ 6.21467431e-02 9.98067001e-01 -2.09067919e-04 1.89505704e+00] [ 1.37474454e-02 -6.46560642e-04 9.99905290e-01 1.59927434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28925415399996 meters 0.026932703620997603 Centerline is valid? [True, True] Translation: X:234.69, Y:1.90, Z:1.60 [[ 9.97976720e-01 -6.20733320e-02 -1.37610661e-02 2.34687621e+02] [ 6.20763488e-02 9.98071382e-01 -2.08218674e-04 1.89547377e+00] [ 1.37474511e-02 -6.46439351e-04 9.99905290e-01 1.59949409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31925415399996 meters 0.02555900100437569 Centerline is valid? [True, True] Translation: X:234.72, Y:1.90, Z:1.60 [[ 9.97851597e-01 -6.39792166e-02 -1.41014045e-02 2.34719190e+02] [ 6.39825933e-02 9.97950992e-01 -2.12013022e-04 1.89871333e+00] [ 1.40860751e-02 -6.90686899e-04 9.99900548e-01 1.59881168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34925415399996 meters 0.02769285139046581 Centerline is valid? [True, True] Translation: X:234.75, Y:1.89, Z:1.60 [[ 9.97593636e-01 -6.79607751e-02 -1.37211644e-02 2.34749444e+02] [ 6.79643653e-02 9.97687728e-01 -2.05006615e-04 1.89387637e+00] [ 1.37033697e-02 -7.28036936e-04 9.99905839e-01 1.59915228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37925415399997 meters 0.026150663481582053 Centerline is valid? [True, True] Translation: X:234.78, Y:1.90, Z:1.60 [[ 9.97488370e-01 -6.95217349e-02 -1.35528518e-02 2.34781536e+02] [ 6.95253946e-02 9.97580162e-01 -2.01503942e-04 1.89628749e+00] [ 1.35340650e-02 -7.41269530e-04 9.99908136e-01 1.59976300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40925415399997 meters 0.030529588879389842 Centerline is valid? [True, True] Translation: X:234.81, Y:1.89, Z:1.60 [[ 9.97432950e-01 -7.03999559e-02 -1.30902907e-02 2.34812962e+02] [ 7.04034565e-02 9.97518579e-01 -1.93779052e-04 1.89024122e+00] [ 1.30714502e-02 -7.28320097e-04 9.99914300e-01 1.59919213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43925415399997 meters 0.028910484484343746 Centerline is valid? [True, True] Translation: X:234.85, Y:1.89, Z:1.60 [[ 9.97300069e-01 -7.23935748e-02 -1.23183968e-02 2.34845174e+02] [ 7.23968356e-02 9.97375890e-01 -1.81590998e-04 1.89331338e+00] [ 1.22992180e-02 -7.10712232e-04 9.99924109e-01 1.60047806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46925415399997 meters 0.028848931339854788 Centerline is valid? [True, True] Translation: X:234.88, Y:1.89, Z:1.60 [[ 9.97272712e-01 -7.28897647e-02 -1.15853356e-02 2.34877078e+02] [ 7.28926919e-02 9.97339775e-01 -1.69961021e-04 1.89384571e+00] [ 1.15669044e-02 -6.74988808e-04 9.99932873e-01 1.60090050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49925415399997 meters 0.030932749725172286 Centerline is valid? [True, True] Translation: X:234.91, Y:1.89, Z:1.60 [[ 9.97234954e-01 -7.34186665e-02 -1.14955073e-02 2.34908475e+02] [ 7.34215921e-02 9.97300978e-01 -1.67884677e-04 1.89174689e+00] [ 1.14768065e-02 -6.76597977e-04 9.99933910e-01 1.60141598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52925415399997 meters 0.03071079061441908 Centerline is valid? [True, True] Translation: X:234.94, Y:1.89, Z:1.60 [[ 9.97238972e-01 -7.33926144e-02 -1.13118153e-02 2.34941660e+02] [ 7.33954552e-02 9.97302903e-01 -1.64349669e-04 1.89273555e+00] [ 1.12933683e-02 -6.66339936e-04 9.99936006e-01 1.60169241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55925415399997 meters 0.031531459098938744 Centerline is valid? [True, True] Translation: X:234.97, Y:1.89, Z:1.60 [[ 9.97262016e-01 -7.29650875e-02 -1.20236605e-02 2.34973288e+02] [ 7.29682845e-02 9.97334247e-01 -1.73163821e-04 1.89275377e+00] [ 1.20042433e-02 -7.04656177e-04 9.99927698e-01 1.60109954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58925415399997 meters 0.03203769489451875 Centerline is valid? [True, True] Translation: X:235.00, Y:1.89, Z:1.60 [[ 9.97313862e-01 -7.22235833e-02 -1.21989328e-02 2.35004827e+02] [ 7.22268346e-02 9.97388216e-01 -1.74405986e-04 1.89287323e+00] [ 1.21796680e-02 -7.07152791e-04 9.99925575e-01 1.60070114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61925415399998 meters 0.028177154632959413 Centerline is valid? [True, True] Translation: X:235.04, Y:1.90, Z:1.60 [[ 9.97408321e-01 -7.08081499e-02 -1.27611781e-02 2.35037440e+02] [ 7.08116043e-02 9.97489691e-01 -1.81509884e-04 1.90071502e+00] [ 1.27419960e-02 -7.22600027e-04 9.99918556e-01 1.60004652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64925415399998 meters 0.02947073175123122 Centerline is valid? [True, True] Translation: X:235.07, Y:1.90, Z:1.60 [[ 9.97587385e-01 -6.82119620e-02 -1.29049562e-02 2.35068393e+02] [ 6.82152894e-02 9.97670607e-01 -1.82673321e-04 1.90040695e+00] [ 1.28873560e-02 -6.98082720e-04 9.99916711e-01 1.60065939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.67925415399998 meters 0.025735149343132657 Centerline is valid? [True, True] Translation: X:235.10, Y:1.91, Z:1.60 [[ 9.97714978e-01 -6.62141008e-02 -1.34356428e-02 2.35100150e+02] [ 6.62175354e-02 9.97805192e-01 -1.89550764e-04 1.90763554e+00] [ 1.34187051e-02 -7.00557515e-04 9.99909720e-01 1.60132171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.70925415399998 meters 0.028533468438701668 Centerline is valid? [True, True] Translation: X:235.13, Y:1.91, Z:1.60 [[ 9.97851342e-01 -6.40222170e-02 -1.39232007e-02 2.35130445e+02] [ 6.40257000e-02 9.97948231e-01 -1.95897150e-04 1.90548185e+00] [ 1.39071753e-02 -6.95966437e-04 9.99903048e-01 1.60106320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.73925415399998 meters 0.02806465050311785 Centerline is valid? [True, True] Translation: X:235.16, Y:1.91, Z:1.60 [[ 9.98007426e-01 -6.15010913e-02 -1.40994240e-02 2.35160928e+02] [ 6.15044157e-02 9.98106792e-01 -1.98120542e-04 1.90833468e+00] [ 1.40849155e-02 -6.69451063e-04 9.99900579e-01 1.60127999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.76925415399998 meters 0.021706386326892594 Centerline is valid? [True, True] Translation: X:235.19, Y:1.92, Z:1.60 [[ 9.98343145e-01 -5.57759617e-02 -1.41423683e-02 2.35191809e+02] [ 5.57787363e-02 9.98443135e-01 -1.98483564e-04 1.92201396e+00] [ 1.41314211e-02 -5.90688724e-04 9.99899972e-01 1.60292319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.79925415399998 meters 0.025744216350263503 Centerline is valid? [True, True] Translation: X:235.22, Y:1.92, Z:1.60 [[ 9.98514955e-01 -5.26164448e-02 -1.41207108e-02 2.35222868e+02] [ 5.26189008e-02 9.98614646e-01 -1.97798580e-04 1.91769208e+00] [ 1.41115561e-02 -5.45511441e-04 9.99900278e-01 1.60212598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82925415399998 meters 0.02031806671308615 Centerline is valid? [True, True] Translation: X:235.25, Y:1.93, Z:1.60 [[ 9.98691149e-01 -4.93626945e-02 -1.33907559e-02 2.35254344e+02] [ 4.93646190e-02 9.98780806e-01 -1.86970424e-04 1.92854159e+00] [ 1.33836593e-02 -4.74303854e-04 9.99910322e-01 1.60395507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85925415399998 meters 0.020698651107238522 Centerline is valid? [True, True] Translation: X:235.28, Y:1.93, Z:1.60 [[ 9.98852407e-01 -4.62271821e-02 -1.25266706e-02 2.35284492e+02] [ 4.62286257e-02 9.98930870e-01 -1.74442571e-04 1.93019729e+00] [ 1.25213419e-02 -4.04848384e-04 9.99921523e-01 1.60449166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88925415399999 meters 0.017273044401460373 Centerline is valid? [True, True] Translation: X:235.32, Y:1.94, Z:1.61 [[ 9.99149430e-01 -3.95961346e-02 -1.15135498e-02 2.35315379e+02] [ 3.95969164e-02 9.99215722e-01 -1.60130687e-04 1.94047894e+00] [ 1.15108605e-02 -2.95906585e-04 9.99933704e-01 1.60661749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.919254154 meters 0.017447065172990446 Centerline is valid? [True, True] Translation: X:235.35, Y:1.94, Z:1.61 [[ 9.99277528e-01 -3.62957698e-02 -1.12711987e-02 2.35346850e+02] [ 3.62963179e-02 9.99341059e-01 -1.55997391e-04 1.94268466e+00] [ 1.12694337e-02 -2.53218324e-04 9.99936466e-01 1.60665245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.949254154 meters 0.018691367277491065 Centerline is valid? [True, True] Translation: X:235.38, Y:1.95, Z:1.61 [[ 9.99391262e-01 -3.28462257e-02 -1.17571841e-02 2.35378528e+02] [ 3.28466000e-02 9.99460392e-01 -1.61318501e-04 1.94571181e+00] [ 1.17561385e-02 -2.24963223e-04 9.99930869e-01 1.60537766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97925415399996 meters 0.015438016067175713 Centerline is valid? [True, True] Translation: X:235.41, Y:1.95, Z:1.61 [[ 9.99563900e-01 -2.73146161e-02 -1.12214827e-02 2.35409777e+02] [ 2.73146156e-02 9.99626875e-01 -1.53335307e-04 1.95280869e+00] [ 1.12214840e-02 -1.53242049e-04 9.99937025e-01 1.60735252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00925415399996 meters 0.014975419890868293 Centerline is valid? [True, True] Translation: X:235.44, Y:1.96, Z:1.61 [[ 9.99634791e-01 -2.45646817e-02 -1.12632727e-02 2.35440695e+02] [ 2.45645158e-02 9.99698235e-01 -1.53086942e-04 1.95502232e+00] [ 1.12636344e-02 -1.23645807e-04 9.99936556e-01 1.60766687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03925415399996 meters 0.014642525541236514 Centerline is valid? [True, True] Translation: X:235.47, Y:1.96, Z:1.61 [[ 9.99690963e-01 -2.22433907e-02 -1.11000454e-02 2.35471733e+02] [ 2.22430981e-02 9.99752580e-01 -1.49829583e-04 1.95726767e+00] [ 1.11006317e-02 -9.71161174e-05 9.99938381e-01 1.60794448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06925415399996 meters 0.014434017579947191 Centerline is valid? [True, True] Translation: X:235.50, Y:1.96, Z:1.61 [[ 9.99777173e-01 -1.85088830e-02 -1.01501665e-02 2.35501655e+02] [ 1.85084488e-02 9.99828695e-01 -1.36719294e-04 1.96004547e+00] [ 1.01509583e-02 -5.11750080e-05 9.99948476e-01 1.60839722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09925415399996 meters 0.014328550906519156 Centerline is valid? [True, True] Translation: X:235.53, Y:1.96, Z:1.61 [[ 9.99803349e-01 -1.71555380e-02 -9.94744525e-03 2.35532525e+02] [ 1.71550563e-02 9.99852832e-01 -1.33757413e-04 1.96122457e+00] [ 9.94827599e-03 -3.69178742e-05 9.99950514e-01 1.60863044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12925415399997 meters 0.014226358331448398 Centerline is valid? [True, True] Translation: X:235.56, Y:1.96, Z:1.61 [[ 9.99816196e-01 -1.59304476e-02 -1.06674821e-02 2.35563625e+02] [ 1.59298281e-02 9.99873102e-01 -1.43037608e-04 1.96215796e+00] [ 1.06684071e-02 -2.69198391e-05 9.99943091e-01 1.60825964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15925415399997 meters 0.01418998902029508 Centerline is valid? [True, True] Translation: X:235.59, Y:1.96, Z:1.61 [[ 9.99825615e-01 -1.52328258e-02 -1.08027712e-02 2.35594118e+02] [ 1.52321526e-02 9.99883974e-01 -1.44600214e-04 1.96280072e+00] [ 1.08037205e-02 -1.99744618e-05 9.99941638e-01 1.60814834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18925415399997 meters 0.01572250654788039 Centerline is valid? [True, True] Translation: X:235.62, Y:1.96, Z:1.61 [[ 9.99822839e-01 -1.48373291e-02 -1.15820529e-02 2.35623241e+02] [ 1.48365277e-02 9.99889921e-01 -1.55116300e-04 1.96270930e+00] [ 1.15830795e-02 -1.67486292e-05 9.99932914e-01 1.60639949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21925415399997 meters 0.01419732831376195 Centerline is valid? [True, True] Translation: X:235.65, Y:1.96, Z:1.61 [[ 9.99810084e-01 -1.56502211e-02 -1.16132468e-02 2.35653025e+02] [ 1.56494667e-02 9.99877527e-01 -1.55832316e-04 1.96173818e+00] [ 1.16142633e-02 -2.59383994e-05 9.99932552e-01 1.60659447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24925415399997 meters 0.014251543230619739 Centerline is valid? [True, True] Translation: X:235.68, Y:1.96, Z:1.61 [[ 9.99792455e-01 -1.65681994e-02 -1.18550422e-02 2.35682421e+02] [ 1.65674727e-02 9.99862737e-01 -1.59516590e-04 1.96088847e+00] [ 1.18560578e-02 -3.69246042e-05 9.99929714e-01 1.60619599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27925415399997 meters 0.01418078046264099 Centerline is valid? [True, True] Translation: X:235.71, Y:1.96, Z:1.61 [[ 9.99772692e-01 -1.76991995e-02 -1.18871070e-02 2.35711959e+02] [ 1.76985459e-02 9.99843356e-01 -1.60186419e-04 1.95942040e+00] [ 1.18880801e-02 -5.02345018e-05 9.99929333e-01 1.60596305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30925415399997 meters 0.014338023338255406 Centerline is valid? [True, True] Translation: X:235.74, Y:1.96, Z:1.61 [[ 9.99748413e-01 -1.91581532e-02 -1.16651357e-02 2.35741725e+02] [ 1.91576224e-02 9.99816464e-01 -1.57256172e-04 1.95778748e+00] [ 1.16660075e-02 -6.62596573e-05 9.99931948e-01 1.60597898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33925415399997 meters 0.014715236096281684 Centerline is valid? [True, True] Translation: X:235.77, Y:1.95, Z:1.61 [[ 9.99654494e-01 -2.37718656e-02 -1.12156728e-02 2.35772277e+02] [ 2.37716639e-02 9.99717403e-01 -1.51315679e-04 1.95432579e+00] [ 1.12161003e-02 -1.15351805e-04 9.99937091e-01 1.60675440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36925415399998 meters 0.015131330286685653 Centerline is valid? [True, True] Translation: X:235.80, Y:1.95, Z:1.61 [[ 9.99598549e-01 -2.61575369e-02 -1.08868937e-02 2.35803066e+02] [ 2.61574907e-02 9.99657824e-01 -1.46662724e-04 1.95154392e+00] [ 1.08870048e-02 -1.38169973e-04 9.99940725e-01 1.60675130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39925415399998 meters 0.016030764354727545 Centerline is valid? [True, True] Translation: X:235.84, Y:1.95, Z:1.61 [[ 9.99446586e-01 -3.16713573e-02 -1.01708395e-02 2.35835062e+02] [ 3.16716083e-02 9.99498319e-01 -1.36427640e-04 1.94563111e+00] [ 1.01700579e-02 -1.85774706e-04 9.99948266e-01 1.60713906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.42925415399998 meters 0.016847112146371742 Centerline is valid? [True, True] Translation: X:235.87, Y:1.94, Z:1.61 [[ 9.99348757e-01 -3.46402917e-02 -1.01050889e-02 2.35867634e+02] [ 3.46406985e-02 9.99399822e-01 -1.34820840e-04 1.94256906e+00] [ 1.01036942e-02 -2.15314298e-04 9.99948933e-01 1.60692885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.45925415399998 meters 0.017621998360444428 Centerline is valid? [True, True] Translation: X:235.90, Y:1.94, Z:1.61 [[ 9.99254283e-01 -3.73192877e-02 -9.90702467e-03 2.35899865e+02] [ 3.73198173e-02 9.99303364e-01 -1.31473847e-04 1.93933491e+00] [ 9.90502959e-03 -2.38352546e-04 9.99950916e-01 1.60706337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.48925415399998 meters 0.018424289085112955 Centerline is valid? [True, True] Translation: X:235.93, Y:1.94, Z:1.61 [[ 9.99158693e-01 -3.97998986e-02 -9.89313754e-03 2.35931940e+02] [ 3.98005552e-02 9.99207635e-01 -1.30579167e-04 1.93616009e+00] [ 9.89049561e-03 -2.63283057e-04 9.99951053e-01 1.60709779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.51925415399998 meters 0.020586296769864097 Centerline is valid? [True, True] Translation: X:235.96, Y:1.93, Z:1.61 [[ 9.99012576e-01 -4.32212147e-02 -1.02859070e-02 2.35964191e+02] [ 4.32221134e-02 9.99065479e-01 -1.35007464e-04 1.93068738e+00] [ 1.02821298e-02 -3.09704486e-04 9.99947090e-01 1.60559349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.54925415399998 meters 0.020269567186888833 Centerline is valid? [True, True] Translation: X:236.00, Y:1.93, Z:1.61 [[ 9.98965232e-01 -4.43199192e-02 -1.02083055e-02 2.35996412e+02] [ 4.43208691e-02 9.99017339e-01 -1.33263839e-04 1.92889480e+00] [ 1.02041804e-02 -3.19315028e-04 9.99947885e-01 1.60608546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57925415399998 meters 0.020579807814196983 Centerline is valid? [True, True] Translation: X:236.03, Y:1.93, Z:1.61 [[ 9.98950644e-01 -4.45553524e-02 -1.06033383e-02 2.36028408e+02] [ 4.45563987e-02 9.99006861e-01 -1.37649644e-04 1.92747289e+00] [ 1.05989408e-02 -3.34941370e-04 9.99943774e-01 1.60574137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60925415399998 meters 0.020355464798105915 Centerline is valid? [True, True] Translation: X:236.06, Y:1.93, Z:1.61 [[ 9.98997924e-01 -4.32260297e-02 -1.16042530e-02 2.36060154e+02] [ 4.32272033e-02 9.99065256e-01 -1.49779570e-04 1.92606502e+00] [ 1.15998804e-02 -3.51989926e-04 9.99932657e-01 1.60508435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63925415399999 meters 0.01994807787120308 Centerline is valid? [True, True] Translation: X:236.09, Y:1.93, Z:1.60 [[ 9.99072689e-01 -4.13745050e-02 -1.19127370e-02 2.36092336e+02] [ 4.13756204e-02 9.99143651e-01 -1.52916100e-04 1.92645057e+00] [ 1.19088624e-02 -3.40122585e-04 9.99929029e-01 1.60493541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.669254154 meters 0.017806504340246596 Centerline is valid? [True, True] Translation: X:236.12, Y:1.93, Z:1.61 [[ 9.99154986e-01 -3.92150359e-02 -1.23082953e-02 2.36124312e+02] [ 3.92160739e-02 9.99230742e-01 -1.57099682e-04 1.93038149e+00] [ 1.23049877e-02 -3.25716088e-04 9.99924238e-01 1.60513369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.699254154 meters 0.01691972529252334 Centerline is valid? [True, True] Translation: X:236.16, Y:1.93, Z:1.61 [[ 9.99253821e-01 -3.64202610e-02 -1.28594620e-02 2.36156593e+02] [ 3.64211753e-02 9.99336516e-01 -1.63164752e-04 1.93158459e+00] [ 1.28568724e-02 -3.05313717e-04 9.99917300e-01 1.60527962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72925415399996 meters 0.016958921099063533 Centerline is valid? [True, True] Translation: X:236.19, Y:1.93, Z:1.60 [[ 9.99460556e-01 -3.01818192e-02 -1.29481632e-02 2.36187185e+02] [ 3.01822322e-02 9.99544399e-01 -1.63555752e-04 1.93220290e+00] [ 1.29472004e-02 -2.27336945e-04 9.99916156e-01 1.60447553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75925415399996 meters 0.016341044201696353 Centerline is valid? [True, True] Translation: X:236.22, Y:1.93, Z:1.60 [[ 9.99550579e-01 -2.68648568e-02 -1.33011006e-02 2.36217703e+02] [ 2.68650039e-02 9.99639057e-01 -1.67646288e-04 1.93398583e+00] [ 1.33008034e-02 -1.89763175e-04 9.99911522e-01 1.60431583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.78925415399996 meters 0.015509868743238949 Centerline is valid? [True, True] Translation: X:236.25, Y:1.94, Z:1.60 [[ 9.99628965e-01 -2.36191103e-02 -1.35672018e-02 2.36248604e+02] [ 2.36189676e-02 9.99721019e-01 -1.70771839e-04 1.93701548e+00] [ 1.35674503e-02 -1.49734824e-04 9.99907947e-01 1.60455804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81925415399996 meters 0.014740465654368854 Centerline is valid? [True, True] Translation: X:236.28, Y:1.94, Z:1.60 [[ 9.99699373e-01 -2.03747647e-02 -1.36393812e-02 2.36278699e+02] [ 2.03743186e-02 9.99792407e-01 -1.71675488e-04 1.93943020e+00] [ 1.36400476e-02 -1.06269220e-04 9.99906965e-01 1.60478753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84925415399996 meters 0.014225854421390271 Centerline is valid? [True, True] Translation: X:236.31, Y:1.94, Z:1.60 [[ 9.99799424e-01 -1.43507293e-02 -1.39702763e-02 2.36308376e+02] [ 1.43496719e-02 9.99897023e-01 -1.75924386e-04 1.94324415e+00] [ 1.39713623e-02 -2.45797820e-05 9.99902395e-01 1.60414979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87925415399997 meters 0.01424576275409065 Centerline is valid? [True, True] Translation: X:236.34, Y:1.95, Z:1.60 [[ 9.99839852e-01 -1.18119113e-02 -1.34442675e-02 2.36335724e+02] [ 1.18106959e-02 9.99930237e-01 -1.69796280e-04 1.94519410e+00] [ 1.34453352e-02 1.09829333e-05 9.99909607e-01 1.60435062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90925415399997 meters 0.014249146555057258 Centerline is valid? [True, True] Translation: X:236.36, Y:1.95, Z:1.61 [[ 9.99872053e-01 -8.00023763e-03 -1.38518863e-02 2.36364103e+02] [ 7.99854946e-03 9.99967995e-01 -1.77269624e-04 1.94676607e+00] [ 1.38528612e-02 6.64519447e-05 9.99904042e-01 1.60573401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.93925415399997 meters 0.014262566522488073 Centerline is valid? [True, True] Translation: X:236.39, Y:1.95, Z:1.61 [[ 9.99875112e-01 -6.97152878e-03 -1.41830057e-02 2.36392977e+02] [ 6.96960425e-03 9.99975695e-01 -1.85115964e-04 1.94742144e+00] [ 1.41839515e-02 8.62429085e-05 9.99899399e-01 1.60597231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.96925415399997 meters 0.014369045197219054 Centerline is valid? [True, True] Translation: X:236.42, Y:1.95, Z:1.61 [[ 9.99877234e-01 -6.53153488e-03 -1.42427436e-02 2.36421181e+02] [ 6.52949479e-03 9.99978665e-01 -1.89734256e-04 1.94718778e+00] [ 1.42436790e-02 9.67130427e-05 9.99898549e-01 1.60623815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.99925415399997 meters 0.014079599103087322 Centerline is valid? [True, True] Translation: X:236.45, Y:1.95, Z:1.61 [[ 9.99881633e-01 -6.79797124e-03 -1.38024724e-02 2.36449064e+02] [ 6.79602669e-03 9.99976889e-01 -1.87783059e-04 1.94614190e+00] [ 1.38034299e-02 9.39588605e-05 9.99904724e-01 1.60708784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.02925415399997 meters 0.014061674638240658 Centerline is valid? [True, True] Translation: X:236.48, Y:1.94, Z:1.61 [[ 9.99869804e-01 -8.63783356e-03 -1.36294818e-02 2.36476643e+02] [ 8.63605470e-03 9.99962691e-01 -1.89365971e-04 1.94219888e+00] [ 1.36306090e-02 7.16363657e-05 9.99907096e-01 1.60754195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.05925415399997 meters 0.014819690792911627 Centerline is valid? [True, True] Translation: X:236.50, Y:1.94, Z:1.61 [[ 9.99860176e-01 -9.99983937e-03 -1.34026657e-02 2.36504573e+02] [ 9.99820711e-03 9.99949999e-01 -1.88787099e-04 1.93995838e+00] [ 1.34038834e-02 5.47580744e-05 9.99910162e-01 1.60668107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.08925415399997 meters 0.013935585266425892 Centerline is valid? [True, True] Translation: X:236.53, Y:1.94, Z:1.61 [[ 9.99846556e-01 -1.15585341e-02 -1.31629998e-02 2.36532389e+02] [ 1.15570793e-02 9.99933197e-01 -1.86582077e-04 1.93798062e+00] [ 1.31642771e-02 3.44276142e-05 9.99913347e-01 1.60784540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.11925415399998 meters 0.013922188890947701 Centerline is valid? [True, True] Translation: X:236.56, Y:1.94, Z:1.61 [[ 9.99825747e-01 -1.34505016e-02 -1.29445162e-02 2.36560227e+02] [ 1.34492235e-02 9.99909538e-01 -1.85787166e-04 1.93584158e+00] [ 1.29458441e-02 1.16611005e-05 9.99916199e-01 1.60863893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.14925415399998 meters 0.013827519695281428 Centerline is valid? [True, True] Translation: X:236.59, Y:1.93, Z:1.61 [[ 9.99787009e-01 -1.66984943e-02 -1.21283545e-02 2.36588357e+02] [ 1.66975710e-02 9.99860570e-01 -1.77395655e-04 1.93123168e+00] [ 1.21296257e-02 -2.51561888e-05 9.99926433e-01 1.60976555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.17925415399998 meters 0.014269657045241682 Centerline is valid? [True, True] Translation: X:236.62, Y:1.93, Z:1.61 [[ 9.99749389e-01 -1.91875502e-02 -1.15324254e-02 2.36616963e+02] [ 1.91868562e-02 9.99815901e-01 -1.70819032e-04 1.92587654e+00] [ 1.15335799e-02 -5.04947658e-05 9.99933485e-01 1.60974854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.20925415399998 meters 0.014269657045241682 Centerline is valid? [True, True] Translation: X:236.65, Y:1.93, Z:1.61 [[ 9.99748719e-01 -1.92224456e-02 -1.15324176e-02 2.36646115e+02] [ 1.92217478e-02 9.99815230e-01 -1.71349832e-04 1.92634063e+00] [ 1.15335805e-02 -5.03664470e-05 9.99933485e-01 1.60995068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.23925415399998 meters 0.014269657045241682 Centerline is valid? [True, True] Translation: X:236.68, Y:1.93, Z:1.61 [[ 9.99748047e-01 -1.92573401e-02 -1.15324116e-02 2.36675266e+02] [ 1.92566400e-02 9.99814559e-01 -1.71752324e-04 1.92680567e+00] [ 1.15335805e-02 -5.03664470e-05 9.99933485e-01 1.61015279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.26925415399998 meters 0.014141740433688595 Centerline is valid? [True, True] Translation: X:236.70, Y:1.92, Z:1.61 [[ 9.99732669e-01 -2.00790844e-02 -1.14639086e-02 2.36704650e+02] [ 2.00784420e-02 9.99798393e-01 -1.71133571e-04 1.92268818e+00] [ 1.14650336e-02 -5.90896027e-05 9.99934273e-01 1.61040149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.29925415399998 meters 0.014208864452551626 Centerline is valid? [True, True] Translation: X:236.73, Y:1.92, Z:1.61 [[ 9.99730187e-01 -2.02533875e-02 -1.13733992e-02 2.36734017e+02] [ 2.02527629e-02 9.99794877e-01 -1.70104831e-04 1.92082319e+00] [ 1.13745114e-02 -6.02838224e-05 9.99935306e-01 1.61049390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32925415399998 meters 0.014252162061562601 Centerline is valid? [True, True] Translation: X:236.76, Y:1.92, Z:1.61 [[ 9.99723970e-01 -2.04655343e-02 -1.15389034e-02 2.36764458e+02] [ 2.04649040e-02 9.99790557e-01 -1.72704039e-04 1.91971590e+00] [ 1.15400211e-02 -6.34861830e-05 9.99933410e-01 1.61098013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35925415399998 meters 0.014294489528607015 Centerline is valid? [True, True] Translation: X:236.79, Y:1.92, Z:1.61 [[ 9.99720010e-01 -2.05018567e-02 -1.18141664e-02 2.36794266e+02] [ 2.05011986e-02 9.99789813e-01 -1.76824180e-04 1.91823656e+00] [ 1.18153085e-02 -6.54299007e-05 9.99930195e-01 1.61094692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.38925415399999 meters 0.014351953198740029 Centerline is valid? [True, True] Translation: X:236.82, Y:1.92, Z:1.61 [[ 9.99720868e-01 -2.02425597e-02 -1.21829666e-02 2.36824244e+02] [ 2.02418384e-02 9.99795096e-01 -1.82525027e-04 1.91616515e+00] [ 1.21841651e-02 -6.41315629e-05 9.99925768e-01 1.61113954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.419254154 meters 0.014847621245697221 Centerline is valid? [True, True] Translation: X:236.85, Y:1.92, Z:1.61 [[ 9.99724528e-01 -1.98509784e-02 -1.25222271e-02 2.36854191e+02] [ 1.98501800e-02 9.99802948e-01 -1.88056472e-04 1.91538142e+00] [ 1.25234927e-02 -6.05637949e-05 9.99921576e-01 1.61144743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.449254154 meters 0.014290442240301649 Centerline is valid? [True, True] Translation: X:236.88, Y:1.91, Z:1.61 [[ 9.99736290e-01 -1.93927887e-02 -1.22992202e-02 2.36882530e+02] [ 1.93919772e-02 9.99811941e-01 -1.85246602e-04 1.91376240e+00] [ 1.23004997e-02 -5.33084480e-05 9.99924345e-01 1.61193299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47925415399996 meters 0.014290038014452314 Centerline is valid? [True, True] Translation: X:236.91, Y:1.91, Z:1.61 [[ 9.99759596e-01 -1.77194479e-02 -1.29139712e-02 2.36912503e+02] [ 1.77184058e-02 9.99842998e-01 -1.95113423e-04 1.91158364e+00] [ 1.29154010e-02 -3.37484656e-05 9.99916592e-01 1.61187475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50925415399996 meters 0.014223563808806296 Centerline is valid? [True, True] Translation: X:236.94, Y:1.91, Z:1.61 [[ 9.99770697e-01 -1.66492481e-02 -1.34668255e-02 2.36941077e+02] [ 1.66480096e-02 9.99861391e-01 -2.04070223e-04 1.91136445e+00] [ 1.34683565e-02 -2.01724110e-05 9.99909297e-01 1.61196342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53925415399996 meters 0.014147815540468893 Centerline is valid? [True, True] Translation: X:236.97, Y:1.91, Z:1.61 [[ 9.99778717e-01 -1.52909330e-02 -1.44466132e-02 2.36970053e+02] [ 1.52893323e-02 9.99883087e-01 -2.21245786e-04 1.91160706e+00] [ 1.44483073e-02 3.17757774e-07 9.99895618e-01 1.61250349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56925415399996 meters 0.014155285977895588 Centerline is valid? [True, True] Translation: X:237.00, Y:1.91, Z:1.61 [[ 9.99780656e-01 -1.43148520e-02 -1.52880919e-02 2.36997545e+02] [ 1.43128791e-02 9.99897537e-01 -2.38460670e-04 1.91173527e+00] [ 1.52899389e-02 1.95917556e-05 9.99883102e-01 1.61261677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59925415399996 meters 0.014887870985833183 Centerline is valid? [True, True] Translation: X:237.03, Y:1.91, Z:1.61 [[ 9.99809436e-01 -1.16030909e-02 -1.56990422e-02 2.37025382e+02] [ 1.16006311e-02 9.99932680e-01 -2.47740319e-04 1.91196238e+00] [ 1.57008599e-02 6.55743114e-05 9.99876732e-01 1.60996180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62925415399997 meters 0.014565306550765404 Centerline is valid? [True, True] Translation: X:237.05, Y:1.91, Z:1.61 [[ 9.99816425e-01 -1.07308601e-02 -1.58733938e-02 2.37053218e+02] [ 1.07281851e-02 9.99942419e-01 -2.53665027e-04 1.91020422e+00] [ 1.58752018e-02 8.33257535e-05 9.99873978e-01 1.61211013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65925415399997 meters 0.014408583225410273 Centerline is valid? [True, True] Translation: X:237.08, Y:1.91, Z:1.61 [[ 9.99835350e-01 -9.29837916e-03 -1.55824896e-02 2.37081685e+02] [ 9.29556322e-03 9.99956763e-01 -2.53132019e-04 1.90691887e+00] [ 1.55841696e-02 1.08242324e-04 9.99878554e-01 1.61289478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68925415399997 meters 0.014520390633343769 Centerline is valid? [True, True] Translation: X:237.11, Y:1.91, Z:1.61 [[ 9.99833027e-01 -9.60404815e-03 -1.55460493e-02 2.37109183e+02] [ 9.60121628e-03 9.99953874e-01 -2.56786507e-04 1.90555154e+00] [ 1.55477984e-02 1.07482649e-04 9.99879120e-01 1.61332764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71925415399997 meters 0.014428165662619986 Centerline is valid? [True, True] Translation: X:237.14, Y:1.90, Z:1.61 [[ 9.99828677e-01 -1.00031239e-02 -1.55741459e-02 2.37137478e+02] [ 1.00002600e-02 9.99949962e-01 -2.61756822e-04 1.90430218e+00] [ 1.55759850e-02 1.05966468e-04 9.99878681e-01 1.61373529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74925415399997 meters 0.0142285033342722 Centerline is valid? [True, True] Translation: X:237.17, Y:1.90, Z:1.61 [[ 9.99808674e-01 -1.17940524e-02 -1.56049940e-02 2.37165620e+02] [ 1.17913239e-02 9.99930444e-01 -2.66845213e-04 1.90047881e+00] [ 1.56070558e-02 8.27906194e-05 9.99878199e-01 1.61489955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77925415399997 meters 0.014252938309878534 Centerline is valid? [True, True] Translation: X:237.19, Y:1.90, Z:1.61 [[ 9.99794508e-01 -1.32421564e-02 -1.53488201e-02 2.37193201e+02] [ 1.32396445e-02 9.99912317e-01 -2.65254672e-04 1.89822960e+00] [ 1.53509869e-02 6.19872416e-05 9.99882165e-01 1.61442799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80925415399997 meters 0.014132588372140811 Centerline is valid? [True, True] Translation: X:237.22, Y:1.90, Z:1.61 [[ 9.99768600e-01 -1.50127938e-02 -1.54065522e-02 2.37221045e+02] [ 1.50104251e-02 9.99887301e-01 -2.69376196e-04 1.89547306e+00] [ 1.54088600e-02 3.80549639e-05 9.99881276e-01 1.61469800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83925415399997 meters 0.014069141280020146 Centerline is valid? [True, True] Translation: X:237.25, Y:1.89, Z:1.61 [[ 9.99720724e-01 -1.73800154e-02 -1.60127765e-02 2.37248927e+02] [ 1.73776831e-02 9.99848956e-01 -2.84790540e-04 1.89270072e+00] [ 1.60153075e-02 6.44604961e-06 9.99871747e-01 1.61490519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86925415399998 meters 0.014222791745150192 Centerline is valid? [True, True] Translation: X:237.28, Y:1.89, Z:1.61 [[ 9.99637111e-01 -2.14151100e-02 -1.63413484e-02 2.37276759e+02] [ 2.14131716e-02 9.99770669e-01 -2.93603820e-04 1.88701251e+00] [ 1.63438884e-02 -5.64228217e-05 9.99866428e-01 1.61414700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89925415399998 meters 0.014461108510719876 Centerline is valid? [True, True] Translation: X:237.30, Y:1.88, Z:1.61 [[ 9.99579886e-01 -2.35631082e-02 -1.68769591e-02 2.37304443e+02] [ 2.35613206e-02 9.99722347e-01 -3.04776698e-04 1.88395743e+00] [ 1.68794546e-02 -9.29947851e-05 9.99857528e-01 1.61328711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.92925415399998 meters 0.014770582535514257 Centerline is valid? [True, True] Translation: X:237.33, Y:1.88, Z:1.61 [[ 9.99521372e-01 -2.59158721e-02 -1.68936439e-02 2.37331798e+02] [ 2.59143816e-02 9.99664119e-01 -3.07164852e-04 1.88135225e+00] [ 1.68959301e-02 -1.30770501e-04 9.99857245e-01 1.61325182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.95925415399998 meters 0.015625361828904883 Centerline is valid? [True, True] Translation: X:237.36, Y:1.88, Z:1.61 [[ 9.99460800e-01 -2.78751511e-02 -1.73517794e-02 2.37360666e+02] [ 2.78738098e-02 9.99611399e-01 -3.19190079e-04 1.87995209e+00] [ 1.73539339e-02 -1.64642227e-04 9.99849396e-01 1.61394060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.98925415399998 meters 0.015014799573877887 Centerline is valid? [True, True] Translation: X:237.39, Y:1.88, Z:1.62 [[ 9.99334179e-01 -3.19622316e-02 -1.75958412e-02 2.37389771e+02] [ 3.19614055e-02 9.99489050e-01 -3.28230820e-04 1.87547019e+00] [ 1.75973416e-02 -2.34375540e-04 9.99845127e-01 1.61523366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.01925415399998 meters 0.015474320641853343 Centerline is valid? [True, True] Translation: X:237.42, Y:1.87, Z:1.61 [[ 9.99280990e-01 -3.37397942e-02 -1.72953768e-02 2.37417871e+02] [ 3.37392153e-02 9.99430618e-01 -3.25343947e-04 1.87261361e+00] [ 1.72965061e-02 -2.58422418e-04 9.99850371e-01 1.61457651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.04925415399998 meters 0.015327034960760237 Centerline is valid? [True, True] Translation: X:237.45, Y:1.87, Z:1.62 [[ 9.99214147e-01 -3.55903939e-02 -1.74474380e-02 2.37446333e+02] [ 3.55900274e-02 9.99366419e-01 -3.31605040e-04 1.87159811e+00] [ 1.74481856e-02 -2.89610352e-04 9.99847727e-01 1.61565082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07925415399998 meters 0.016126527676006388 Centerline is valid? [True, True] Translation: X:237.47, Y:1.87, Z:1.62 [[ 9.99082692e-01 -3.92317961e-02 -1.71650975e-02 2.37474665e+02] [ 3.92319348e-02 9.99230077e-01 -3.28786790e-04 1.86794859e+00] [ 1.71647806e-02 -3.44934796e-04 9.99852615e-01 1.61582744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10925415399998 meters 0.016565460217407884 Centerline is valid? [True, True] Translation: X:237.50, Y:1.87, Z:1.62 [[ 9.99019250e-01 -4.09096186e-02 -1.69393198e-02 2.37504343e+02] [ 4.09099798e-02 9.99162783e-01 -3.25337713e-04 1.86666857e+00] [ 1.69384474e-02 -3.67968594e-04 9.99856466e-01 1.61590312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13925415399999 meters 0.016857574892818857 Centerline is valid? [True, True] Translation: X:237.53, Y:1.87, Z:1.62 [[ 9.98938195e-01 -4.27898270e-02 -1.70737385e-02 2.37534067e+02] [ 4.27904577e-02 9.99084015e-01 -3.28551221e-04 1.86622936e+00] [ 1.70721578e-02 -4.02390720e-04 9.99854179e-01 1.61638675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.169254154 meters 0.017905672276426015 Centerline is valid? [True, True] Translation: X:237.56, Y:1.86, Z:1.62 [[ 9.98781923e-01 -4.64606588e-02 -1.66156073e-02 2.37563551e+02] [ 4.64617565e-02 9.98920018e-01 -3.20162721e-04 1.86359310e+00] [ 1.66125377e-02 -4.52217561e-04 9.99861900e-01 1.61622071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.199254154 meters 0.018504879090409748 Centerline is valid? [True, True] Translation: X:237.59, Y:1.86, Z:1.62 [[ 9.98702397e-01 -4.81024962e-02 -1.67233976e-02 2.37593411e+02] [ 4.81038330e-02 9.98842288e-01 -3.22545889e-04 1.86232601e+00] [ 1.67195520e-02 -4.82332171e-04 9.99860102e-01 1.61639765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22925415399996 meters 0.019224926314670418 Centerline is valid? [True, True] Translation: X:237.62, Y:1.86, Z:1.62 [[ 9.98628918e-01 -4.97115355e-02 -1.64026836e-02 2.37623291e+02] [ 4.97130335e-02 9.98763493e-01 -3.16654686e-04 1.86101646e+00] [ 1.63981430e-02 -4.99206634e-04 9.99865417e-01 1.61654880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25925415399996 meters 0.019277255972808764 Centerline is valid? [True, True] Translation: X:237.65, Y:1.86, Z:1.62 [[ 9.98546894e-01 -5.13117153e-02 -1.64684215e-02 2.37654142e+02] [ 5.13134406e-02 9.98682547e-01 -3.18049200e-04 1.86161882e+00] [ 1.64630448e-02 -5.27464331e-04 9.99864336e-01 1.61714955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28925415399996 meters 0.020502024381878824 Centerline is valid? [True, True] Translation: X:237.68, Y:1.86, Z:1.62 [[ 9.98409500e-01 -5.40736222e-02 -1.59534717e-02 2.37683990e+02] [ 5.40756058e-02 9.98536797e-01 -3.07326834e-04 1.86117305e+00] [ 1.59467468e-02 -5.55855614e-04 9.99872688e-01 1.61766860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31925415399996 meters 0.02167774840864817 Centerline is valid? [True, True] Translation: X:237.71, Y:1.86, Z:1.62 [[ 9.98342935e-01 -5.52429812e-02 -1.61119902e-02 2.37713863e+02] [ 5.52451662e-02 9.98472772e-01 -3.09777918e-04 1.86079180e+00] [ 1.61044965e-02 -5.80844979e-04 9.99870145e-01 1.61758433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34925415399996 meters 0.021518226303156224 Centerline is valid? [True, True] Translation: X:237.74, Y:1.86, Z:1.62 [[ 9.98273773e-01 -5.65037308e-02 -1.60250548e-02 2.37744173e+02] [ 5.65060545e-02 9.98402209e-01 -3.08106452e-04 1.86283460e+00] [ 1.60168593e-02 -5.97938031e-04 9.99871543e-01 1.61826762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37925415399997 meters 0.02239156889225817 Centerline is valid? [True, True] Translation: X:237.77, Y:1.86, Z:1.62 [[ 9.98218897e-01 -5.75086162e-02 -1.58679627e-02 2.37774609e+02] [ 5.75110239e-02 9.98344825e-01 -3.04925569e-04 1.86299187e+00] [ 1.58592343e-02 -6.08200315e-04 9.99874049e-01 1.61828567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40925415399997 meters 0.021724670156115934 Centerline is valid? [True, True] Translation: X:237.81, Y:1.87, Z:1.62 [[ 9.98144321e-01 -5.87847533e-02 -1.58829110e-02 2.37805464e+02] [ 5.87873313e-02 9.98270483e-01 -3.04923888e-04 1.86626636e+00] [ 1.58733661e-02 -6.29355907e-04 9.99873812e-01 1.61894896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43925415399997 meters 0.02267006527345073 Centerline is valid? [True, True] Translation: X:237.84, Y:1.87, Z:1.62 [[ 9.98108016e-01 -5.94119517e-02 -1.58305864e-02 2.37836065e+02] [ 5.94145962e-02 9.98233346e-01 -3.03630478e-04 1.86633414e+00] [ 1.58206585e-02 -6.37511884e-04 9.99874642e-01 1.61894346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46925415399997 meters 0.02175949996752498 Centerline is valid? [True, True] Translation: X:237.87, Y:1.87, Z:1.62 [[ 9.98073338e-01 -5.98809033e-02 -1.62446827e-02 2.37867483e+02] [ 5.98837577e-02 9.98205309e-01 -3.11097522e-04 1.87100297e+00] [ 1.62341573e-02 -6.62294499e-04 9.99867998e-01 1.61929201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49925415399997 meters 0.023880263824011795 Centerline is valid? [True, True] Translation: X:237.90, Y:1.87, Z:1.62 [[ 9.98083424e-01 -5.97578934e-02 -1.60770922e-02 2.37898137e+02] [ 5.97606800e-02 9.98212686e-01 -3.07465275e-04 1.87034360e+00] [ 1.60667309e-02 -6.53901968e-04 9.99870708e-01 1.61853441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52925415399997 meters 0.022954127466069167 Centerline is valid? [True, True] Translation: X:237.93, Y:1.87, Z:1.62 [[ 9.98114800e-01 -5.93414318e-02 -1.56665340e-02 2.37929818e+02] [ 5.93440336e-02 9.98237545e-01 -2.99173250e-04 1.87346437e+00] [ 1.56566758e-02 -6.31106072e-04 9.99877228e-01 1.61955028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55925415399997 meters 0.023237669978501213 Centerline is valid? [True, True] Translation: X:237.96, Y:1.88, Z:1.62 [[ 9.98154529e-01 -5.88195732e-02 -1.50928557e-02 2.37961154e+02] [ 5.88219363e-02 9.98268449e-01 -2.87683700e-04 1.87543256e+00] [ 1.50836431e-02 -6.00638211e-04 9.99886055e-01 1.61990598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58925415399997 meters 0.025410028086609155 Centerline is valid? [True, True] Translation: X:237.99, Y:1.88, Z:1.62 [[ 9.98265974e-01 -5.70169803e-02 -1.46324923e-02 2.37991769e+02] [ 5.70190136e-02 9.98373054e-01 -2.78530577e-04 1.87631830e+00] [ 1.46245670e-02 -5.56282681e-04 9.99892901e-01 1.61896889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61925415399998 meters 0.021624426979722552 Centerline is valid? [True, True] Translation: X:238.02, Y:1.88, Z:1.62 [[ 9.98334042e-01 -5.57355315e-02 -1.49228362e-02 2.38023204e+02] [ 5.57375096e-02 9.98445416e-01 -2.83639865e-04 1.88437403e+00] [ 1.49154462e-02 -5.48594394e-04 9.99888608e-01 1.62021774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64925415399998 meters 0.0215715577588681 Centerline is valid? [True, True] Translation: X:238.05, Y:1.89, Z:1.62 [[ 9.98416097e-01 -5.42596792e-02 -1.48722536e-02 2.38053837e+02] [ 5.42614863e-02 9.98526720e-01 -2.82282965e-04 1.88682492e+00] [ 1.48656592e-02 -5.25154728e-04 9.99889362e-01 1.62015480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.67925415399998 meters 0.02236389983807731 Centerline is valid? [True, True] Translation: X:238.09, Y:1.89, Z:1.62 [[ 9.98475407e-01 -5.28956074e-02 -1.57770891e-02 2.38085194e+02] [ 5.28974781e-02 9.98599904e-01 -2.99007578e-04 1.88990931e+00] [ 1.57708158e-02 -5.36016511e-04 9.99875489e-01 1.61951128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.70925415399998 meters 0.019319046877661686 Centerline is valid? [True, True] Translation: X:238.12, Y:1.90, Z:1.62 [[ 9.98654773e-01 -4.95659537e-02 -1.52269499e-02 2.38116047e+02] [ 4.95673179e-02 9.98770743e-01 -2.88030456e-04 1.89909384e+00] [ 1.52225086e-02 -4.67116080e-04 9.99884022e-01 1.62120814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.73925415399998 meters 0.019045466238505924 Centerline is valid? [True, True] Translation: X:238.15, Y:1.90, Z:1.62 [[ 9.98729218e-01 -4.80180339e-02 -1.53041403e-02 2.38146929e+02] [ 4.80192391e-02 9.98846369e-01 -2.88919364e-04 1.90213841e+00] [ 1.53003583e-02 -4.46340961e-04 9.99882843e-01 1.62158009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.76925415399998 meters 0.01905347516950015 Centerline is valid? [True, True] Translation: X:238.18, Y:1.91, Z:1.62 [[ 9.98790026e-01 -4.66961943e-02 -1.54256375e-02 2.38178198e+02] [ 4.66972700e-02 9.98909045e-01 -2.90643549e-04 1.90520910e+00] [ 1.54223808e-02 -4.30043281e-04 9.99880976e-01 1.62189038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.79925415399998 meters 0.018279731407787395 Centerline is valid? [True, True] Translation: X:238.21, Y:1.91, Z:1.62 [[ 9.98938209e-01 -4.35657801e-02 -1.49825969e-02 2.38209979e+02] [ 4.35664530e-02 9.99050492e-01 -2.81629235e-04 1.91242323e+00] [ 1.49806402e-02 -3.71408401e-04 9.99887715e-01 1.62292156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82925415399998 meters 0.017789502135577305 Centerline is valid? [True, True] Translation: X:238.24, Y:1.92, Z:1.62 [[ 9.99014136e-01 -4.16965295e-02 -1.52366338e-02 2.38241232e+02] [ 4.16970184e-02 9.99130260e-01 -2.85730482e-04 1.91633670e+00] [ 1.52352959e-02 -3.49873408e-04 9.99883875e-01 1.62346518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85925415399998 meters 0.017729988956764992 Centerline is valid? [True, True] Translation: X:238.27, Y:1.92, Z:1.62 [[ 9.99098162e-01 -3.96408017e-02 -1.52141076e-02 2.38271639e+02] [ 3.96410571e-02 9.99213944e-01 -2.84901410e-04 1.91932611e+00] [ 1.52134422e-02 -3.18458832e-04 9.99884218e-01 1.62372927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.88925415399999 meters 0.017002102609611915 Centerline is valid? [True, True] Translation: X:238.30, Y:1.93, Z:1.62 [[ 9.99249275e-01 -3.55882752e-02 -1.53088429e-02 2.38302505e+02] [ 3.55880625e-02 9.99366503e-01 -2.86395753e-04 1.92685523e+00] [ 1.53093372e-02 -2.58631312e-04 9.99882772e-01 1.62407582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.919254154 meters 0.01653716438138315 Centerline is valid? [True, True] Translation: X:238.33, Y:1.93, Z:1.62 [[ 9.99331324e-01 -3.34220009e-02 -1.48281480e-02 2.38333089e+02] [ 3.34215648e-02 9.99441305e-01 -2.77281176e-04 1.93054420e+00] [ 1.48291309e-02 -2.18484144e-04 9.99890019e-01 1.62450693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94925415399996 meters 0.016349633700685543 Centerline is valid? [True, True] Translation: X:238.36, Y:1.93, Z:1.62 [[ 9.99388188e-01 -3.17950882e-02 -1.45712897e-02 2.38362949e+02] [ 3.17944962e-02 9.99494390e-01 -2.72341268e-04 1.93413886e+00] [ 1.45725814e-02 -1.91112168e-04 9.99893796e-01 1.62482633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97925415399996 meters 0.01624220240996534 Centerline is valid? [True, True] Translation: X:238.39, Y:1.94, Z:1.63 [[ 9.99434533e-01 -3.04726385e-02 -1.42138466e-02 2.38393826e+02] [ 3.04719432e-02 9.99535587e-01 -2.65539644e-04 1.93675150e+00] [ 1.42153372e-02 -1.67734035e-04 9.99898943e-01 1.62535770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00925415399996 meters 0.016055453281832947 Centerline is valid? [True, True] Translation: X:238.42, Y:1.94, Z:1.63 [[ 9.99473531e-01 -2.95513775e-02 -1.33932040e-02 2.38423653e+02] [ 2.95506789e-02 9.99563252e-01 -2.50094288e-04 1.94044460e+00] [ 1.33947452e-02 -1.45815651e-04 9.99910276e-01 1.62620455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03925415399996 meters 0.01603262963829808 Centerline is valid? [True, True] Translation: X:238.45, Y:1.94, Z:1.63 [[ 9.99479768e-01 -2.95522625e-02 -1.29173393e-02 2.38453559e+02] [ 2.95516156e-02 9.99563227e-01 -2.40985261e-04 1.94174385e+00] [ 1.29188190e-02 -1.40868355e-04 9.99916539e-01 1.62645262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06925415399996 meters 0.01618566707298165 Centerline is valid? [True, True] Translation: X:238.48, Y:1.94, Z:1.63 [[ 9.99443404e-01 -3.07792007e-02 -1.28655834e-02 2.38484969e+02] [ 3.07786648e-02 9.99526196e-01 -2.39692204e-04 1.94301083e+00] [ 1.28668652e-02 -1.56426688e-04 9.99917206e-01 1.62674154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09925415399996 meters 0.01618566707298165 Centerline is valid? [True, True] Translation: X:238.52, Y:1.94, Z:1.63 [[ 9.99444474e-01 -3.07444245e-02 -1.28655917e-02 2.38515810e+02] [ 3.07438916e-02 9.99527266e-01 -2.39244652e-04 1.94355317e+00] [ 1.28668652e-02 -1.56426612e-04 9.99917206e-01 1.62695524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12925415399997 meters 0.016158283877643405 Centerline is valid? [True, True] Translation: X:238.55, Y:1.95, Z:1.63 [[ 9.99410717e-01 -3.19458949e-02 -1.25570263e-02 2.38546839e+02] [ 3.19454876e-02 9.99489585e-01 -2.33064783e-04 1.94534391e+00] [ 1.25580625e-02 -1.68212886e-04 9.99921130e-01 1.62758387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15925415399997 meters 0.016393893478140933 Centerline is valid? [True, True] Translation: X:238.58, Y:1.95, Z:1.63 [[ 9.99366259e-01 -3.32856296e-02 -1.26153873e-02 2.38578264e+02] [ 3.32853310e-02 9.99445863e-01 -2.33685565e-04 1.94529583e+00] [ 1.26161750e-02 -1.86369872e-04 9.99920396e-01 1.62733365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18925415399997 meters 0.017257532091606825 Centerline is valid? [True, True] Translation: X:238.61, Y:1.94, Z:1.63 [[ 9.99221055e-01 -3.73060260e-02 -1.28664099e-02 2.38608758e+02] [ 3.73060533e-02 9.99303859e-01 -2.37970868e-04 1.94317424e+00] [ 1.28663308e-02 -2.42209471e-04 9.99917196e-01 1.62673013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21925415399997 meters 0.01769667638128015 Centerline is valid? [True, True] Translation: X:238.64, Y:1.94, Z:1.63 [[ 9.99137759e-01 -3.94887077e-02 -1.28210954e-02 2.38640861e+02] [ 3.94889214e-02 9.99219980e-01 -2.36579621e-04 1.94260041e+00] [ 1.28204370e-02 -2.69915598e-04 9.99917778e-01 1.62681278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24925415399997 meters 0.018401545527612286 Centerline is valid? [True, True] Translation: X:238.67, Y:1.94, Z:1.63 [[ 9.99040021e-01 -4.18092578e-02 -1.30775249e-02 2.38672379e+02] [ 4.18096900e-02 9.99125564e-01 -2.40464948e-04 1.94103633e+00] [ 1.30761431e-02 -3.06533154e-04 9.99914457e-01 1.62671267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27925415399997 meters 0.019256102779379055 Centerline is valid? [True, True] Translation: X:238.70, Y:1.94, Z:1.63 [[ 9.98943289e-01 -4.41055837e-02 -1.29229275e-02 2.38703886e+02] [ 4.41062067e-02 9.99026820e-01 -2.36930941e-04 1.93955540e+00] [ 1.29208012e-02 -3.33300739e-04 9.99916467e-01 1.62682872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30925415399997 meters 0.019783612815988807 Centerline is valid? [True, True] Translation: X:238.74, Y:1.94, Z:1.63 [[ 9.98773890e-01 -4.78781637e-02 -1.25856268e-02 2.38735583e+02] [ 4.78790650e-02 9.98853113e-01 -2.29855910e-04 1.93906961e+00] [ 1.25821976e-02 -3.73013964e-04 9.99920771e-01 1.62738160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33925415399997 meters 0.01931594286460046 Centerline is valid? [True, True] Translation: X:238.77, Y:1.94, Z:1.63 [[ 9.98715548e-01 -4.90067020e-02 -1.28684903e-02 2.38767471e+02] [ 4.90077521e-02 9.98798371e-01 -2.33912835e-04 1.94082755e+00] [ 1.28644905e-02 -3.97043398e-04 9.99917170e-01 1.62781356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36925415399998 meters 0.02022919322239718 Centerline is valid? [True, True] Translation: X:238.80, Y:1.94, Z:1.63 [[ 9.98688171e-01 -4.95451633e-02 -1.29310924e-02 2.38798436e+02] [ 4.95462798e-02 9.98771801e-01 -2.34192852e-04 1.93980996e+00] [ 1.29268136e-02 -4.06801891e-04 9.99916363e-01 1.62758204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39925415399998 meters 0.019424694293955668 Centerline is valid? [True, True] Translation: X:238.83, Y:1.94, Z:1.63 [[ 9.98743634e-01 -4.84055350e-02 -1.29637345e-02 2.38831016e+02] [ 4.84065721e-02 9.98827687e-01 -2.33947835e-04 1.94226353e+00] [ 1.29598614e-02 -3.93876041e-04 9.99915940e-01 1.62749284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42925415399998 meters 0.019474177989480878 Centerline is valid? [True, True] Translation: X:238.86, Y:1.94, Z:1.63 [[ 9.98818347e-01 -4.67484245e-02 -1.32851513e-02 2.38861818e+02] [ 4.67493789e-02 9.98906622e-01 -2.38869614e-04 1.94358524e+00] [ 1.32817924e-02 -3.82485219e-04 9.99911720e-01 1.62744849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45925415399998 meters 0.019145329013240456 Centerline is valid? [True, True] Translation: X:238.89, Y:1.95, Z:1.63 [[ 9.98925841e-01 -4.43346085e-02 -1.34761601e-02 2.38892758e+02] [ 4.43353811e-02 9.99016674e-01 -2.41558479e-04 1.94569696e+00] [ 1.34736180e-02 -3.56171687e-04 9.99909163e-01 1.62759806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48925415399998 meters 0.01768997814790065 Centerline is valid? [True, True] Translation: X:238.92, Y:1.95, Z:1.63 [[ 9.99061196e-01 -4.13522934e-02 -1.29117871e-02 2.38924038e+02] [ 4.13527613e-02 9.99144582e-01 -2.30859656e-04 1.94980827e+00] [ 1.29102887e-02 -3.03295127e-04 9.99916613e-01 1.62833149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51925415399998 meters 0.017177494896979187 Centerline is valid? [True, True] Translation: X:238.96, Y:1.95, Z:1.63 [[ 9.99204805e-01 -3.78601638e-02 -1.25045912e-02 2.38955653e+02] [ 3.78603349e-02 9.99283016e-01 -2.23125637e-04 1.95277277e+00] [ 1.25040732e-02 -2.50479803e-04 9.99921790e-01 1.62839232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54925415399998 meters 0.015951614195580336 Centerline is valid? [True, True] Translation: X:238.99, Y:1.96, Z:1.63 [[ 9.99469872e-01 -3.03032004e-02 -1.19033896e-02 2.38986795e+02] [ 3.03028246e-02 9.99540741e-01 -2.11972509e-04 1.95924576e+00] [ 1.19043463e-02 -1.48846191e-04 9.99929130e-01 1.62909239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57925415399998 meters 0.015392351676582743 Centerline is valid? [True, True] Translation: X:239.02, Y:1.96, Z:1.63 [[ 9.99595456e-01 -2.61951605e-02 -1.10786855e-02 2.39017855e+02] [ 2.61945869e-02 9.99656844e-01 -1.96898955e-04 1.96293453e+00] [ 1.10800416e-02 -9.33822895e-05 9.99938610e-01 1.62977069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60925415399998 meters 0.014915713292204612 Centerline is valid? [True, True] Translation: X:239.05, Y:1.97, Z:1.63 [[ 9.99695632e-01 -2.23097367e-02 -1.05318352e-02 2.39048621e+02] [ 2.23090066e-02 9.99751106e-01 -1.86809340e-04 1.96601875e+00] [ 1.05333816e-02 -4.82023011e-05 9.99944521e-01 1.63042640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63925415399999 meters 0.015046526426712075 Centerline is valid? [True, True] Translation: X:239.08, Y:1.97, Z:1.63 [[ 9.99820931e-01 -1.58353881e-02 -1.03607801e-02 2.39078615e+02] [ 1.58343365e-02 9.99874612e-01 -1.83528846e-04 1.97064941e+00] [ 1.03623873e-02 1.94399027e-05 9.99946309e-01 1.63042612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.669254154 meters 0.01704923530954394 Centerline is valid? [True, True] Translation: X:239.11, Y:1.97, Z:1.63 [[ 9.99853642e-01 -1.29952207e-02 -1.11274252e-02 2.39108538e+02] [ 1.29938301e-02 9.99915557e-01 -1.97261033e-04 1.97274233e+00] [ 1.11290490e-02 5.26442895e-05 9.99938069e-01 1.62930734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69925415399996 meters 0.015038685336771582 Centerline is valid? [True, True] Translation: X:239.14, Y:1.97, Z:1.63 [[ 9.99866273e-01 -1.19444279e-02 -1.11698818e-02 2.39137555e+02] [ 1.19429463e-02 9.99928661e-01 -1.99338745e-04 1.97429419e+00] [ 1.11714659e-02 6.59107895e-05 9.99937595e-01 1.63046292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72925415399996 meters 0.015028055516535648 Centerline is valid? [True, True] Translation: X:239.17, Y:1.98, Z:1.63 [[ 9.99876287e-01 -1.08192040e-02 -1.14172978e-02 2.39165973e+02] [ 1.08175492e-02 9.99941467e-01 -2.06689372e-04 1.97537303e+00] [ 1.14188657e-02 8.31566214e-05 9.99934799e-01 1.63071053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75925415399996 meters 0.01510461138619834 Centerline is valid? [True, True] Translation: X:239.19, Y:1.98, Z:1.63 [[ 9.99871875e-01 -1.03753290e-02 -1.21895764e-02 2.39194403e+02] [ 1.03733705e-02 9.99946170e-01 -2.23884206e-04 1.97561640e+00] [ 1.21912431e-02 9.74085289e-05 9.99925679e-01 1.63038006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78925415399996 meters 0.015108302779702222 Centerline is valid? [True, True] Translation: X:239.22, Y:1.98, Z:1.63 [[ 9.99866975e-01 -1.11199989e-02 -1.19322215e-02 2.39222441e+02] [ 1.11181375e-02 9.99938167e-01 -2.22323522e-04 1.97521210e+00] [ 1.19339560e-02 8.96298681e-05 9.99928784e-01 1.63061117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81925415399996 meters 0.01641547516176995 Centerline is valid? [True, True] Translation: X:239.25, Y:1.97, Z:1.63 [[ 9.99861309e-01 -1.14435251e-02 -1.20998985e-02 2.39250235e+02] [ 1.14416044e-02 9.99934517e-01 -2.27949195e-04 1.97453037e+00] [ 1.21017147e-02 8.94753280e-05 9.99926768e-01 1.62968610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84925415399996 meters 0.014670135234417715 Centerline is valid? [True, True] Translation: X:239.28, Y:1.97, Z:1.63 [[ 9.99822426e-01 -1.46308408e-02 -1.18766653e-02 2.39278344e+02] [ 1.46292002e-02 9.99892962e-01 -2.25011454e-04 1.97134293e+00] [ 1.18786862e-02 5.12253838e-05 9.99929445e-01 1.63116413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87925415399997 meters 0.014558568074992374 Centerline is valid? [True, True] Translation: X:239.31, Y:1.97, Z:1.63 [[ 9.99792549e-01 -1.66683115e-02 -1.17058650e-02 2.39307013e+02] [ 1.66668328e-02 9.99861074e-01 -2.23867690e-04 1.96970268e+00] [ 1.17079702e-02 2.87215546e-05 9.99931459e-01 1.63165871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90925415399997 meters 0.014458734330199365 Centerline is valid? [True, True] Translation: X:239.34, Y:1.97, Z:1.63 [[ 9.99755389e-01 -1.88714559e-02 -1.15339048e-02 2.39335586e+02] [ 1.88701446e-02 9.99821918e-01 -2.22514997e-04 1.96808091e+00] [ 1.15360500e-02 4.81411535e-06 9.99933458e-01 1.63197666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.93925415399997 meters 0.014443823544058607 Centerline is valid? [True, True] Translation: X:239.37, Y:1.97, Z:1.63 [[ 9.99709528e-01 -2.10359235e-02 -1.17622290e-02 2.39365590e+02] [ 2.10347033e-02 9.99778720e-01 -2.27459955e-04 1.96629078e+00] [ 1.17644111e-02 -2.00211126e-05 9.99930797e-01 1.63262909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.96925415399997 meters 0.01468290173814249 Centerline is valid? [True, True] Translation: X:239.40, Y:1.96, Z:1.63 [[ 9.99618355e-01 -2.53287463e-02 -1.10272116e-02 2.39395776e+02] [ 2.53279309e-02 9.99679174e-01 -2.13612926e-04 1.96088101e+00] [ 1.10290844e-02 -6.57650527e-05 9.99939176e-01 1.63388218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.99925415399997 meters 0.014867048760048488 Centerline is valid? [True, True] Translation: X:239.43, Y:1.96, Z:1.63 [[ 9.99565067e-01 -2.75800263e-02 -1.04412051e-02 2.39426751e+02] [ 2.75794171e-02 9.99619595e-01 -2.02361755e-04 1.95887179e+00] [ 1.04428144e-02 -8.56886096e-05 9.99945469e-01 1.63492706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02925415399997 meters 0.016788558443753963 Centerline is valid? [True, True] Translation: X:239.46, Y:1.95, Z:1.64 [[ 9.99459881e-01 -3.13203459e-02 -9.94899568e-03 2.39458598e+02] [ 3.13199814e-02 9.99509391e-01 -1.92478980e-04 1.95351455e+00] [ 9.95014311e-03 -1.19227342e-04 9.99950489e-01 1.63536877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05925415399997 meters 0.015810354744180095 Centerline is valid? [True, True] Translation: X:239.49, Y:1.95, Z:1.64 [[ 9.99390216e-01 -3.37492150e-02 -8.95466138e-03 2.39490112e+02] [ 3.37490211e-02 9.99430325e-01 -1.72803285e-04 1.95064623e+00] [ 8.95539210e-03 -1.29513144e-04 9.99959891e-01 1.63701757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08925415399997 meters 0.016388932840421862 Centerline is valid? [True, True] Translation: X:239.52, Y:1.95, Z:1.64 [[ 9.99323229e-01 -3.57900380e-02 -8.49456608e-03 2.39522726e+02] [ 3.57899441e-02 9.99359321e-01 -1.63110080e-04 1.94818169e+00] [ 8.49496151e-03 -1.41020354e-04 9.99963907e-01 1.63801773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11925415399998 meters 0.01986037441188192 Centerline is valid? [True, True] Translation: X:239.55, Y:1.94, Z:1.64 [[ 9.99277667e-01 -3.68971042e-02 -9.09658883e-03 2.39553573e+02] [ 3.68970483e-02 9.99319057e-01 -1.74032902e-04 1.94390943e+00] [ 9.09681588e-03 -1.61730085e-04 9.99958610e-01 1.63656030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14925415399998 meters 0.018115851333343133 Centerline is valid? [True, True] Translation: X:239.59, Y:1.94, Z:1.64 [[ 9.99125203e-01 -4.09366971e-02 -8.54486634e-03 2.39585364e+02] [ 4.09367990e-02 9.99161725e-01 -1.63051782e-04 1.94037798e+00] [ 8.54437819e-03 -1.86890331e-04 9.99963479e-01 1.63933621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.17925415399998 meters 0.018586986854110202 Centerline is valid? [True, True] Translation: X:239.62, Y:1.94, Z:1.64 [[ 9.99062152e-01 -4.23771011e-02 -8.88808516e-03 2.39617777e+02] [ 4.23772728e-02 9.99101666e-01 -1.69092888e-04 1.93806983e+00] [ 8.88726636e-03 -2.07718505e-04 9.99960486e-01 1.63942702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.20925415399998 meters 0.019103160069805652 Centerline is valid? [True, True] Translation: X:239.65, Y:1.94, Z:1.64 [[ 9.99015574e-01 -4.34183141e-02 -9.09571437e-03 2.39650354e+02] [ 4.34185429e-02 9.99056956e-01 -1.72407519e-04 1.93580581e+00] [ 9.09462235e-03 -2.22684867e-04 9.99958618e-01 1.63955711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.23925415399998 meters 0.019758092486965483 Centerline is valid? [True, True] Translation: X:239.68, Y:1.93, Z:1.64 [[ 9.98970929e-01 -4.44252588e-02 -9.13666885e-03 2.39681941e+02] [ 4.44255371e-02 9.99012684e-01 -1.72596727e-04 1.93375083e+00] [ 9.13531572e-03 -2.33482308e-04 9.99958245e-01 1.63980776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.26925415399998 meters 0.020232288288472948 Centerline is valid? [True, True] Translation: X:239.71, Y:1.93, Z:1.64 [[ 9.98940339e-01 -4.50218551e-02 -9.55157722e-03 2.39713048e+02] [ 4.50221912e-02 9.98985971e-01 -1.79934019e-04 1.93166811e+00] [ 9.54999261e-03 -2.50289586e-04 9.99954366e-01 1.64002230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.29925415399998 meters 0.021034026166375105 Centerline is valid? [True, True] Translation: X:239.75, Y:1.93, Z:1.64 [[ 9.98990955e-01 -4.37024438e-02 -1.03521717e-02 2.39745076e+02] [ 4.37027741e-02 9.99044558e-01 -1.94409903e-04 1.93179694e+00] [ 1.03507770e-02 -2.58204889e-04 9.99946396e-01 1.63872221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32925415399998 meters 0.01980283532541721 Centerline is valid? [True, True] Translation: X:239.78, Y:1.93, Z:1.64 [[ 9.99027252e-01 -4.28660734e-02 -1.03464505e-02 2.39776150e+02] [ 4.28663650e-02 9.99080796e-01 -1.93671565e-04 1.93237646e+00] [ 1.03452419e-02 -2.50031551e-04 9.99946455e-01 1.63984741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35925415399998 meters 0.018869757755786094 Centerline is valid? [True, True] Translation: X:239.81, Y:1.93, Z:1.64 [[ 9.99153676e-01 -3.95568330e-02 -1.12778189e-02 2.39806402e+02] [ 3.95569739e-02 9.99217294e-01 -2.10659677e-04 1.93473227e+00] [ 1.12773247e-02 -2.35634997e-04 9.99936381e-01 1.63883901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38925415399999 meters 0.019046540996211968 Centerline is valid? [True, True] Translation: X:239.84, Y:1.94, Z:1.64 [[ 9.99254279e-01 -3.67858389e-02 -1.17340719e-02 2.39837723e+02] [ 3.67858037e-02 9.99323149e-01 -2.18907930e-04 1.93671949e+00] [ 1.17341824e-02 -2.12902581e-04 9.99931129e-01 1.63725009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.419254154 meters 0.015675777735565378 Centerline is valid? [True, True] Translation: X:239.87, Y:1.94, Z:1.64 [[ 9.99326506e-01 -3.48221285e-02 -1.15738424e-02 2.39868709e+02] [ 3.48219671e-02 9.99393508e-01 -2.15527781e-04 1.94232159e+00] [ 1.15743281e-02 -1.87641334e-04 9.99932998e-01 1.63934794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44925415399996 meters 0.014964629119887631 Centerline is valid? [True, True] Translation: X:239.90, Y:1.94, Z:1.64 [[ 9.99415812e-01 -3.20687872e-02 -1.18163886e-02 2.39900408e+02] [ 3.20684317e-02 9.99485651e-01 -2.19606406e-04 1.94467812e+00] [ 1.18173533e-02 -1.59454934e-04 9.99930160e-01 1.63941291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47925415399996 meters 0.01448781900050754 Centerline is valid? [True, True] Translation: X:239.93, Y:1.95, Z:1.64 [[ 9.99547135e-01 -2.76308835e-02 -1.19188328e-02 2.39930357e+02] [ 2.76302094e-02 9.99618188e-01 -2.21250973e-04 1.94610880e+00] [ 1.19203954e-02 -1.08169070e-04 9.99928944e-01 1.63808700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50925415399996 meters 0.01435436387250652 Centerline is valid? [True, True] Translation: X:239.96, Y:1.95, Z:1.64 [[ 9.99575991e-01 -2.62853475e-02 -1.25267505e-02 2.39960875e+02] [ 2.62844973e-02 9.99654476e-01 -2.32535835e-04 1.94754012e+00] [ 1.25285345e-02 -9.68221018e-05 9.99921510e-01 1.63772973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53925415399996 meters 0.014340269673265234 Centerline is valid? [True, True] Translation: X:239.99, Y:1.95, Z:1.64 [[ 9.99599358e-01 -2.51953214e-02 -1.28965134e-02 2.39990372e+02] [ 2.51943280e-02 9.99682544e-01 -2.39508632e-04 1.94795951e+00] [ 1.28984538e-02 -8.55063149e-05 9.99916808e-01 1.63677909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56925415399996 meters 0.014456771705666555 Centerline is valid? [True, True] Translation: X:240.02, Y:1.95, Z:1.64 [[ 9.99594024e-01 -2.50734286e-02 -1.35318145e-02 2.40019853e+02] [ 2.50723224e-02 9.99685608e-01 -2.51416463e-04 1.94728718e+00] [ 1.35338641e-02 -8.79596213e-05 9.99908409e-01 1.63525440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59925415399996 meters 0.01443382298417733 Centerline is valid? [True, True] Translation: X:240.05, Y:1.95, Z:1.63 [[ 9.99578813e-01 -2.58545361e-02 -1.31810601e-02 2.40048688e+02] [ 2.58535491e-02 9.99665711e-01 -2.45295013e-04 1.94641677e+00] [ 1.31829958e-02 -9.55854855e-05 9.99913096e-01 1.63495308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62925415399997 meters 0.014404349768025765 Centerline is valid? [True, True] Translation: X:240.08, Y:1.95, Z:1.64 [[ 9.99551413e-01 -2.69325563e-02 -1.31000210e-02 2.40078763e+02] [ 2.69316651e-02 9.99637247e-01 -2.44471396e-04 1.94571181e+00] [ 1.31018532e-02 -1.08443648e-04 9.99914161e-01 1.63517158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65925415399997 meters 0.014729645993666073 Centerline is valid? [True, True] Translation: X:240.11, Y:1.94, Z:1.63 [[ 9.99503516e-01 -2.87785360e-02 -1.28264667e-02 2.40108226e+02] [ 2.87778291e-02 9.99585804e-01 -2.39716942e-04 1.94359916e+00] [ 1.28280528e-02 -1.29519941e-04 9.99917709e-01 1.63469834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68925415399997 meters 0.015255011153102514 Centerline is valid? [True, True] Translation: X:240.14, Y:1.94, Z:1.64 [[ 9.99357772e-01 -3.36079183e-02 -1.24318884e-02 2.40138658e+02] [ 3.36076262e-02 9.99435077e-01 -2.32462905e-04 1.94010447e+00] [ 1.24326780e-02 -1.85492649e-04 9.99922694e-01 1.63505555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71925415399997 meters 0.016333001133485434 Centerline is valid? [True, True] Translation: X:240.17, Y:1.94, Z:1.63 [[ 9.99263392e-01 -3.64389519e-02 -1.20364436e-02 2.40168554e+02] [ 3.64388889e-02 9.99335858e-01 -2.24611303e-04 1.93667044e+00] [ 1.20366343e-02 -2.14148779e-04 9.99927534e-01 1.63479432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74925415399997 meters 0.018057699667250075 Centerline is valid? [True, True] Translation: X:240.20, Y:1.94, Z:1.63 [[ 9.99175186e-01 -3.87240686e-02 -1.22227181e-02 2.40200259e+02] [ 3.87241845e-02 9.99249912e-01 -2.27268325e-04 1.93527053e+00] [ 1.22223507e-02 -2.46233919e-04 9.99925274e-01 1.63376272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77925415399997 meters 0.018529894630456806 Centerline is valid? [True, True] Translation: X:240.23, Y:1.93, Z:1.64 [[ 9.98947452e-01 -4.46684540e-02 -1.04267722e-02 2.40230004e+02] [ 4.46688641e-02 9.99001829e-01 -1.93663315e-04 1.92993626e+00] [ 1.04250152e-02 -2.72292596e-04 9.99945621e-01 1.63594977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80925415399997 meters 0.02099166892581753 Centerline is valid? [True, True] Translation: X:240.26, Y:1.93, Z:1.63 [[ 9.98853319e-01 -4.67149084e-02 -1.04768735e-02 2.40261733e+02] [ 4.67154363e-02 9.98908219e-01 -1.94469371e-04 1.92803176e+00] [ 1.04745196e-02 -2.95185339e-04 9.99945097e-01 1.63486866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83925415399997 meters 0.021815033580571592 Centerline is valid? [True, True] Translation: X:240.29, Y:1.93, Z:1.64 [[ 9.98754994e-01 -4.89060004e-02 -9.83183456e-03 2.40293558e+02] [ 4.89065751e-02 9.98803341e-01 -1.82115189e-04 1.92606792e+00] [ 9.82897573e-03 -2.98952900e-04 9.99951650e-01 1.63564830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86925415399998 meters 0.023003761767045116 Centerline is valid? [True, True] Translation: X:240.32, Y:1.92, Z:1.64 [[ 9.98669187e-01 -5.08119058e-02 -8.83206345e-03 2.40324441e+02] [ 5.08124486e-02 9.98708200e-01 -1.63072924e-04 1.92410604e+00] [ 8.82894023e-03 -2.85922865e-04 9.99960983e-01 1.63636571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89925415399998 meters 0.020272385710753318 Centerline is valid? [True, True] Translation: X:240.36, Y:1.93, Z:1.64 [[ 9.98506816e-01 -5.42428954e-02 -6.46897459e-03 2.40355606e+02] [ 5.42432617e-02 9.98527743e-01 -1.18937046e-04 1.92604533e+00] [ 6.46590209e-03 -2.32138831e-04 9.99979069e-01 1.64025845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.92925415399998 meters 0.020272385710753318 Centerline is valid? [True, True] Translation: X:240.39, Y:1.93, Z:1.64 [[ 9.98510823e-01 -5.41690835e-02 -6.46897864e-03 2.40387307e+02] [ 5.41694498e-02 9.98531750e-01 -1.18716172e-04 1.92656735e+00] [ 6.46591131e-03 -2.31881631e-04 9.99979069e-01 1.64047811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.95925415399998 meters 0.023545607851264735 Centerline is valid? [True, True] Translation: X:240.42, Y:1.92, Z:1.64 [[ 9.98395581e-01 -5.63149451e-02 -5.90676107e-03 2.40418881e+02] [ 5.63152904e-02 9.98413029e-01 -1.07987057e-04 1.92168907e+00] [ 5.90346850e-03 -2.24827165e-04 9.99982549e-01 1.64127099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.98925415399998 meters 0.02155566938396866 Centerline is valid? [True, True] Translation: X:240.45, Y:1.92, Z:1.64 [[ 9.98342834e-01 -5.72658540e-02 -5.67521066e-03 2.40450626e+02] [ 5.72661896e-02 9.98358940e-01 -1.03479363e-04 1.92499233e+00] [ 5.67182313e-03 -2.21689810e-04 9.99983891e-01 1.64134837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.01925415399998 meters 0.02155566938396866 Centerline is valid? [True, True] Translation: X:240.48, Y:1.93, Z:1.64 [[ 9.98347045e-01 -5.71923958e-02 -5.67521824e-03 2.40482331e+02] [ 5.71927326e-02 9.98363151e-01 -1.03061567e-04 1.92550740e+00] [ 5.67182311e-03 -2.21690029e-04 9.99983891e-01 1.64156801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.04925415399998 meters 0.023224209549326726 Centerline is valid? [True, True] Translation: X:240.51, Y:1.92, Z:1.64 [[ 9.98279695e-01 -5.83773977e-02 -5.45249041e-03 2.40513508e+02] [ 5.83777284e-02 9.98294561e-01 -9.86078516e-05 1.92370465e+00] [ 5.44894799e-03 -2.19865788e-04 9.99985130e-01 1.64210865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07925415399998 meters 0.025564383561085924 Centerline is valid? [True, True] Translation: X:240.54, Y:1.92, Z:1.64 [[ 9.98146375e-01 -6.05142459e-02 -6.46839986e-03 2.40544733e+02] [ 6.05147588e-02 9.98167296e-01 -1.16574350e-04 1.92235954e+00] [ 6.46359961e-03 -2.75075393e-04 9.99979073e-01 1.64151227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10925415399998 meters 0.026116367466635197 Centerline is valid? [True, True] Translation: X:240.58, Y:1.92, Z:1.64 [[ 9.98067727e-01 -6.17578561e-02 -6.83950848e-03 2.40577269e+02] [ 6.17584636e-02 9.98091117e-01 -1.22558082e-04 1.92363935e+00] [ 6.83402158e-03 -3.00076269e-04 9.99976603e-01 1.64072722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13925415399999 meters 0.025410122395448344 Centerline is valid? [True, True] Translation: X:240.61, Y:1.92, Z:1.64 [[ 9.97946785e-01 -6.37234811e-02 -6.44462394e-03 2.40608972e+02] [ 6.37240641e-02 9.97967550e-01 -1.15037228e-04 1.92325113e+00] [ 6.43885614e-03 -2.95876598e-04 9.99979227e-01 1.64340112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.169254154 meters 0.02586882523034987 Centerline is valid? [True, True] Translation: X:240.64, Y:1.92, Z:1.64 [[ 9.97857710e-01 -6.50585882e-02 -6.88261400e-03 2.40641236e+02] [ 6.50592877e-02 9.97881393e-01 -1.22459202e-04 1.92377833e+00] [ 6.87599947e-03 -3.25581106e-04 9.99976307e-01 1.64364735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19925415399996 meters 0.02581259786158989 Centerline is valid? [True, True] Translation: X:240.67, Y:1.93, Z:1.64 [[ 9.97785398e-01 -6.61507728e-02 -6.95523883e-03 2.40673234e+02] [ 6.61515170e-02 9.97809582e-01 -1.23244735e-04 1.92552956e+00] [ 6.94815669e-03 -3.37127803e-04 9.99975804e-01 1.64332622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22925415399996 meters 0.026656506186873024 Centerline is valid? [True, True] Translation: X:240.70, Y:1.93, Z:1.64 [[ 9.97706460e-01 -6.73129094e-02 -7.12689340e-03 2.40704717e+02] [ 6.73137242e-02 9.97731851e-01 -1.25756706e-04 1.92539956e+00] [ 7.11919360e-03 -3.54269459e-04 9.99974595e-01 1.64448595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25925415399996 meters 0.028623636710851295 Centerline is valid? [True, True] Translation: X:240.74, Y:1.92, Z:1.64 [[ 9.97695716e-01 -6.74450340e-02 -7.37732459e-03 2.40736207e+02] [ 6.74459140e-02 9.97722923e-01 -1.29732921e-04 1.92396755e+00] [ 7.36927570e-03 -3.68136419e-04 9.99972779e-01 1.64423856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28925415399996 meters 0.02629130338080679 Centerline is valid? [True, True] Translation: X:240.77, Y:1.93, Z:1.64 [[ 9.97692835e-01 -6.74421168e-02 -7.78255187e-03 2.40768451e+02] [ 6.74431030e-02 9.97723113e-01 -1.35947758e-04 1.92872785e+00] [ 7.77400048e-03 -3.89245344e-04 9.99969706e-01 1.64465430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31925415399996 meters 0.027255716084908135 Centerline is valid? [True, True] Translation: X:240.80, Y:1.93, Z:1.64 [[ 9.97744583e-01 -6.65389949e-02 -8.84925530e-03 2.40799704e+02] [ 6.65402420e-02 9.97783730e-01 -1.53740159e-04 1.93025577e+00] [ 8.83987268e-03 -4.35438178e-04 9.99960833e-01 1.64402809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34925415399996 meters 0.028017249489230053 Centerline is valid? [True, True] Translation: X:240.83, Y:1.93, Z:1.64 [[ 9.97781166e-01 -6.59446553e-02 -9.16778017e-03 2.40830577e+02] [ 6.59459791e-02 9.97823182e-01 -1.58157410e-04 1.93089622e+00] [ 9.15825322e-03 -4.46771754e-04 9.99957963e-01 1.64372802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37925415399997 meters 0.027232447734842444 Centerline is valid? [True, True] Translation: X:240.86, Y:1.93, Z:1.64 [[ 9.97821355e-01 -6.52394155e-02 -9.81644560e-03 2.40862261e+02] [ 6.52409051e-02 9.97869528e-01 -1.68748286e-04 1.93417886e+00] [ 9.80654098e-03 -4.72053152e-04 9.99951803e-01 1.64378741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40925415399997 meters 0.0268930360065132 Centerline is valid? [True, True] Translation: X:240.89, Y:1.94, Z:1.64 [[ 9.97925574e-01 -6.35627029e-02 -1.02142422e-02 2.40894825e+02] [ 6.35642361e-02 9.97977734e-01 -1.74786821e-04 1.93841205e+00] [ 1.02046962e-02 -4.74836262e-04 9.99947818e-01 1.64334510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43925415399997 meters 0.025307565043706418 Centerline is valid? [True, True] Translation: X:240.93, Y:1.94, Z:1.64 [[ 9.98013788e-01 -6.21567269e-02 -1.02479206e-02 2.40926838e+02] [ 6.21582050e-02 9.98066294e-01 -1.74514276e-04 1.94278851e+00] [ 1.02389514e-02 -4.62824697e-04 9.99947473e-01 1.64338769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46925415399997 meters 0.025135467895024213 Centerline is valid? [True, True] Translation: X:240.96, Y:1.95, Z:1.64 [[ 9.98114565e-01 -6.05034243e-02 -1.03272215e-02 2.40958901e+02] [ 6.05048447e-02 9.98167888e-01 -1.75124065e-04 1.94520212e+00] [ 1.03188965e-02 -4.50053053e-04 9.99946657e-01 1.64324555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49925415399997 meters 0.024767705483714583 Centerline is valid? [True, True] Translation: X:240.99, Y:1.95, Z:1.64 [[ 9.98222344e-01 -5.87351189e-02 -1.01161659e-02 2.40991033e+02] [ 5.87363984e-02 9.98273513e-01 -1.70838562e-04 1.94798561e+00] [ 1.01087347e-02 -4.23652280e-04 9.99948816e-01 1.64325461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52925415399997 meters 0.024300984406960817 Centerline is valid? [True, True] Translation: X:241.02, Y:1.95, Z:1.64 [[ 9.98339440e-01 -5.67788078e-02 -9.72259088e-03 2.41022948e+02] [ 5.67799034e-02 9.98386707e-01 -1.63527034e-04 1.95108643e+00] [ 9.71619036e-03 -3.88792284e-04 9.99952721e-01 1.64358575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55925415399997 meters 0.022972712174252157 Centerline is valid? [True, True] Translation: X:241.05, Y:1.96, Z:1.64 [[ 9.98587637e-01 -5.22879763e-02 -9.41797508e-03 2.41053036e+02] [ 5.22888093e-02 9.98631992e-01 -1.57934434e-04 1.95785341e+00] [ 9.41334928e-03 -3.34743329e-04 9.99955637e-01 1.64346252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58925415399997 meters 0.022949574162541543 Centerline is valid? [True, True] Translation: X:241.08, Y:1.96, Z:1.64 [[ 9.98708128e-01 -4.98352327e-02 -9.92593450e-03 2.41083538e+02] [ 4.98360375e-02 9.98757399e-01 -1.66401468e-04 1.96079704e+00] [ 9.92189317e-03 -3.28482745e-04 9.99950723e-01 1.64289631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61925415399998 meters 0.02209161306102742 Centerline is valid? [True, True] Translation: X:241.11, Y:1.96, Z:1.64 [[ 9.98844996e-01 -4.69564956e-02 -1.01863717e-02 2.41114273e+02] [ 4.69571959e-02 9.98896888e-01 -1.70537150e-04 1.96492597e+00] [ 1.01831429e-02 -3.07983275e-04 9.99948103e-01 1.64262725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64925415399998 meters 0.020315544709206202 Centerline is valid? [True, True] Translation: X:241.15, Y:1.97, Z:1.64 [[ 9.98977387e-01 -4.40028016e-02 -1.03890833e-02 2.41145273e+02] [ 4.40033741e-02 9.99031367e-01 -1.73577219e-04 1.97037934e+00] [ 1.03866580e-02 -2.83755002e-04 9.99946017e-01 1.64253546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.67925415399998 meters 0.017966364864422896 Centerline is valid? [True, True] Translation: X:241.17, Y:1.98, Z:1.64 [[ 9.99245362e-01 -3.74494638e-02 -1.03075191e-02 2.41174709e+02] [ 3.74496807e-02 9.99298500e-01 -1.72037941e-04 1.97875816e+00] [ 1.03067311e-02 -2.14105183e-04 9.99946861e-01 1.64260695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.70925415399998 meters 0.017011142302713136 Centerline is valid? [True, True] Translation: X:241.21, Y:1.98, Z:1.64 [[ 9.99359260e-01 -3.42974417e-02 -1.02349505e-02 2.41205625e+02] [ 3.42974902e-02 9.99411653e-01 -1.70832260e-04 1.98332393e+00] [ 1.02347879e-02 -1.80310314e-04 9.99947607e-01 1.64332403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.73925415399998 meters 0.015453984438148865 Centerline is valid? [True, True] Translation: X:241.24, Y:1.99, Z:1.64 [[ 9.99535355e-01 -2.88994897e-02 -9.68984205e-03 2.41237127e+02] [ 2.88992825e-02 9.99582315e-01 -1.61424527e-04 1.99114220e+00] [ 9.69045984e-03 -1.18679962e-04 9.99953039e-01 1.64468030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.76925415399998 meters 0.014834476443358502 Centerline is valid? [True, True] Translation: X:241.27, Y:1.99, Z:1.65 [[ 9.99596206e-01 -2.67572682e-02 -9.56420356e-03 2.41268712e+02] [ 2.67569714e-02 9.99641955e-01 -1.59016979e-04 1.99448635e+00] [ 9.56503401e-03 -9.69563514e-05 9.99954249e-01 1.64549282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.79925415399998 meters 0.014787306724151624 Centerline is valid? [True, True] Translation: X:241.30, Y:2.00, Z:1.65 [[ 9.99646566e-01 -2.48337572e-02 -9.48828645e-03 2.41299563e+02] [ 2.48333818e-02 9.99691592e-01 -1.57403383e-04 1.99722806e+00] [ 9.48926910e-03 -7.82784889e-05 9.99954973e-01 1.64567035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82925415399998 meters 0.014430192421787861 Centerline is valid? [True, True] Translation: X:241.33, Y:2.00, Z:1.65 [[ 9.99676175e-01 -2.36197846e-02 -9.46839128e-03 2.41331162e+02] [ 2.36193603e-02 9.99721012e-01 -1.56652788e-04 1.99951195e+00] [ 9.46944982e-03 -6.70352844e-05 9.99955162e-01 1.64611749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85925415399998 meters 0.014352348779298302 Centerline is valid? [True, True] Translation: X:241.36, Y:2.00, Z:1.65 [[ 9.99687327e-01 -2.31373420e-02 -9.48219055e-03 2.41362840e+02] [ 2.31368976e-02 9.99732294e-01 -1.56577233e-04 2.00090554e+00] [ 9.48327489e-03 -6.28601958e-05 9.99955031e-01 1.64617604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.88925415399999 meters 0.01428223791243213 Centerline is valid? [True, True] Translation: X:241.39, Y:2.00, Z:1.65 [[ 9.99666602e-01 -2.36257729e-02 -1.04166762e-02 2.41393709e+02] [ 2.36252668e-02 9.99720870e-01 -1.71651205e-04 2.00159697e+00] [ 1.04178240e-02 -7.45027768e-05 9.99945730e-01 1.64600488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.919254154 meters 0.014781870277981635 Centerline is valid? [True, True] Translation: X:241.42, Y:2.00, Z:1.65 [[ 9.99635542e-01 -2.47109303e-02 -1.08698116e-02 2.41423968e+02] [ 2.47104466e-02 9.99694634e-01 -1.78822516e-04 2.00150236e+00] [ 1.08709112e-02 -8.98405550e-05 9.99940906e-01 1.64596527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94925415399996 meters 0.015101321623340864 Centerline is valid? [True, True] Translation: X:241.46, Y:2.00, Z:1.65 [[ 9.99602698e-01 -2.59371525e-02 -1.10322236e-02 2.41455568e+02] [ 2.59367315e-02 9.99663570e-01 -1.81251405e-04 2.00128150e+00] [ 1.10332131e-02 -1.04960428e-04 9.99939127e-01 1.64635656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97925415399996 meters 0.01613475646753271 Centerline is valid? [True, True] Translation: X:241.49, Y:2.00, Z:1.65 [[ 9.99517497e-01 -2.89230306e-02 -1.13239672e-02 2.41485586e+02] [ 2.89227821e-02 9.99581632e-01 -1.85748813e-04 1.99903661e+00] [ 1.13246021e-02 -1.41861448e-04 9.99935865e-01 1.64691349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00925415399996 meters 0.016957410016733548 Centerline is valid? [True, True] Translation: X:241.52, Y:2.00, Z:1.65 [[ 9.99471634e-01 -3.02613446e-02 -1.18619040e-02 2.41515779e+02] [ 3.02611684e-02 9.99542007e-01 -1.94380649e-04 1.99770156e+00] [ 1.18623535e-02 -1.64677129e-04 9.99929626e-01 1.64687083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03925415399996 meters 0.01712492744736384 Centerline is valid? [True, True] Translation: X:241.55, Y:2.00, Z:1.65 [[ 9.99432935e-01 -3.15111107e-02 -1.18683482e-02 2.41546647e+02] [ 3.15110265e-02 9.99503385e-01 -1.94141935e-04 1.99668505e+00] [ 1.18685718e-02 -1.79951989e-04 9.99929550e-01 1.64729364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06925415399996 meters 0.01772430756712795 Centerline is valid? [True, True] Translation: X:241.58, Y:2.00, Z:1.65 [[ 9.99388975e-01 -3.27051673e-02 -1.23307900e-02 2.41577699e+02] [ 3.27051735e-02 9.99465022e-01 -2.01196209e-04 1.99564426e+00] [ 1.23307735e-02 -2.02207355e-04 9.99923953e-01 1.64711027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09925415399996 meters 0.018140874423260192 Centerline is valid? [True, True] Translation: X:241.61, Y:1.99, Z:1.65 [[ 9.99360516e-01 -3.34026446e-02 -1.27602159e-02 2.41609038e+02] [ 3.34027132e-02 9.99441952e-01 -2.07801900e-04 1.99499017e+00] [ 1.27600363e-02 -2.18556820e-04 9.99918564e-01 1.64686183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12925415399997 meters 0.0184176824778648 Centerline is valid? [True, True] Translation: X:241.64, Y:1.99, Z:1.65 [[ 9.99351038e-01 -3.35655395e-02 -1.30712811e-02 2.41639860e+02] [ 3.35656295e-02 9.99436493e-01 -2.12555118e-04 1.99434518e+00] [ 1.30710498e-02 -2.26328600e-04 9.99914545e-01 1.64666768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15925415399997 meters 0.018534716516172462 Centerline is valid? [True, True] Translation: X:241.67, Y:1.99, Z:1.65 [[ 9.99361335e-01 -3.33571419e-02 -1.28149249e-02 2.41670066e+02] [ 3.33572126e-02 9.99443472e-01 -2.08282459e-04 1.99470238e+00] [ 1.28147407e-02 -2.19320737e-04 9.99917864e-01 1.64659858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18925415399997 meters 0.018389294190249487 Centerline is valid? [True, True] Translation: X:241.70, Y:1.99, Z:1.65 [[ 9.99383573e-01 -3.28908143e-02 -1.22747362e-02 2.41701216e+02] [ 3.28908460e-02 9.99458930e-01 -1.99342362e-04 1.99485951e+00] [ 1.22746513e-02 -2.04506978e-04 9.99924643e-01 1.64661365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21925415399997 meters 0.018677300944503376 Centerline is valid? [True, True] Translation: X:241.73, Y:2.00, Z:1.65 [[ 9.99412419e-01 -3.20869268e-02 -1.20517606e-02 2.41732188e+02] [ 3.20869033e-02 9.99485064e-01 -1.95362763e-04 1.99538125e+00] [ 1.20518233e-02 -1.91455704e-04 9.99927356e-01 1.64587910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24925415399997 meters 0.017921386250885785 Centerline is valid? [True, True] Translation: X:241.76, Y:2.00, Z:1.65 [[ 9.99451367e-01 -3.09452143e-02 -1.18050214e-02 2.41762997e+02] [ 3.09451162e-02 9.99521067e-01 -1.91012600e-04 1.99599736e+00] [ 1.18052785e-02 -1.74399954e-04 9.99930300e-01 1.64571133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27925415399997 meters 0.015322989628490276 Centerline is valid? [True, True] Translation: X:241.79, Y:2.00, Z:1.65 [[ 9.99467752e-01 -3.03205378e-02 -1.20364921e-02 2.41794614e+02] [ 3.03203953e-02 9.99540212e-01 -1.94366210e-04 2.00251656e+00] [ 1.20368511e-02 -1.70688437e-04 9.99927540e-01 1.64727790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30925415399997 meters 0.01564938745706044 Centerline is valid? [True, True] Translation: X:241.82, Y:2.00, Z:1.65 [[ 9.99484332e-01 -2.97249264e-02 -1.21449181e-02 2.41824732e+02] [ 2.97247414e-02 9.99558103e-01 -1.95778810e-04 2.00274377e+00] [ 1.21453708e-02 -1.65326695e-04 9.99926229e-01 1.64681629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33925415399997 meters 0.015220201192370903 Centerline is valid? [True, True] Translation: X:241.86, Y:2.00, Z:1.65 [[ 9.99485766e-01 -2.95962087e-02 -1.23396956e-02 2.41856154e+02] [ 2.95960119e-02 9.99561922e-01 -1.98599571e-04 2.00464946e+00] [ 1.23401677e-02 -1.66708334e-04 9.99923843e-01 1.64700077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36925415399998 meters 0.01531605260830299 Centerline is valid? [True, True] Translation: X:241.89, Y:2.01, Z:1.65 [[ 9.99503415e-01 -2.91928295e-02 -1.18617567e-02 2.41886093e+02] [ 2.91926232e-02 9.99573786e-01 -1.90577950e-04 2.00525052e+00] [ 1.18622646e-02 -1.55792482e-04 9.99929629e-01 1.64717930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39925415399998 meters 0.015112564106670725 Centerline is valid? [True, True] Translation: X:241.92, Y:2.01, Z:1.65 [[ 9.99517621e-01 -2.89004969e-02 -1.13704621e-02 2.41917426e+02] [ 2.89002916e-02 9.99582283e-01 -1.82405534e-04 2.00636643e+00] [ 1.13709840e-02 -1.46292124e-04 9.99935338e-01 1.64799553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.42925415399998 meters 0.0157818906808311 Centerline is valid? [True, True] Translation: X:241.95, Y:2.01, Z:1.65 [[ 9.99542550e-01 -2.82467890e-02 -1.08078452e-02 2.41947517e+02] [ 2.82465685e-02 9.99600971e-01 -1.73073768e-04 2.00505364e+00] [ 1.08084213e-02 -1.32289944e-04 9.99941579e-01 1.64809121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.45925415399998 meters 0.014792350176516275 Centerline is valid? [True, True] Translation: X:241.98, Y:2.01, Z:1.65 [[ 9.99582396e-01 -2.72070418e-02 -9.73708681e-03 2.41978859e+02] [ 2.72068156e-02 9.99629814e-01 -1.55713878e-04 2.00907546e+00] [ 9.73771879e-03 -1.09266274e-04 9.99952581e-01 1.65015715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.48925415399998 meters 0.014998728317944252 Centerline is valid? [True, True] Translation: X:242.01, Y:2.01, Z:1.65 [[ 9.99586341e-01 -2.71043711e-02 -9.61773040e-03 2.42010299e+02] [ 2.71041494e-02 9.99632603e-01 -1.53411931e-04 2.00917531e+00] [ 9.61835501e-03 -1.07331931e-04 9.99953737e-01 1.65043719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.51925415399998 meters 0.015081524806317312 Centerline is valid? [True, True] Translation: X:242.04, Y:2.01, Z:1.65 [[ 9.99578909e-01 -2.73951481e-02 -9.56606931e-03 2.42041973e+02] [ 2.73949471e-02 9.99624676e-01 -1.52073588e-04 2.00979480e+00] [ 9.56664502e-03 -1.10052411e-04 9.99954233e-01 1.65084664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.54925415399998 meters 0.015492715251302868 Centerline is valid? [True, True] Translation: X:242.07, Y:2.01, Z:1.65 [[ 9.99517396e-01 -2.90765535e-02 -1.09329660e-02 2.42072750e+02] [ 2.90763984e-02 9.99577177e-01 -1.73165835e-04 2.00934759e+00] [ 1.09333783e-02 -1.44809011e-04 9.99940218e-01 1.65050090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57925415399998 meters 0.015492715251302868 Centerline is valid? [True, True] Translation: X:242.10, Y:2.01, Z:1.65 [[ 9.99518418e-01 -2.90413829e-02 -1.09329740e-02 2.42103593e+02] [ 2.90412313e-02 9.99578200e-01 -1.72656542e-04 2.00980380e+00] [ 1.09333767e-02 -1.44933634e-04 9.99940218e-01 1.65071457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60925415399998 meters 0.015711444387828913 Centerline is valid? [True, True] Translation: X:242.13, Y:2.01, Z:1.65 [[ 9.99396004e-01 -3.23725153e-02 -1.26351495e-02 2.42134466e+02] [ 3.23725839e-02 9.99475851e-01 -1.99151486e-04 2.00900710e+00] [ 1.26349738e-02 -2.10001238e-04 9.99920153e-01 1.64996201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63925415399999 meters 0.016969588984951496 Centerline is valid? [True, True] Translation: X:242.16, Y:2.01, Z:1.65 [[ 9.99305584e-01 -3.47515342e-02 -1.34417772e-02 2.42164853e+02] [ 3.47518303e-02 9.99395950e-01 -2.11611970e-04 2.00589932e+00] [ 1.34410116e-02 -2.55661339e-04 9.99909633e-01 1.64941186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.669254154 meters 0.017255911341290335 Centerline is valid? [True, True] Translation: X:242.20, Y:2.01, Z:1.65 [[ 9.99201195e-01 -3.73290840e-02 -1.42657244e-02 2.42195857e+02] [ 3.73296857e-02 9.99302979e-01 -2.24189750e-04 2.00545803e+00] [ 1.42641497e-02 -3.08524343e-04 9.99898214e-01 1.64951537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69925415399996 meters 0.01873783930592597 Centerline is valid? [True, True] Translation: X:242.23, Y:2.00, Z:1.65 [[ 9.99101701e-01 -3.97955109e-02 -1.45639273e-02 2.42226285e+02] [ 3.97964056e-02 9.99207783e-01 -2.28491330e-04 2.00261481e+00] [ 1.45614824e-02 -3.51305881e-04 9.99893914e-01 1.64892576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72925415399996 meters 0.018364426423240817 Centerline is valid? [True, True] Translation: X:242.26, Y:2.00, Z:1.65 [[ 9.98878335e-01 -4.46959591e-02 -1.56314521e-02 2.42257232e+02] [ 4.46975938e-02 9.99000533e-01 -2.44948369e-04 2.00358172e+00] [ 1.56267772e-02 -4.54014679e-04 9.99877791e-01 1.65037304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75925415399996 meters 0.01884288136211097 Centerline is valid? [True, True] Translation: X:242.29, Y:2.00, Z:1.65 [[ 9.98788117e-01 -4.66717843e-02 -1.56218674e-02 2.42289461e+02] [ 4.66736705e-02 9.98910161e-01 -2.44026481e-04 2.00292220e+00] [ 1.56162312e-02 -4.85399142e-04 9.99877941e-01 1.65054916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78925415399996 meters 0.01908615144370462 Centerline is valid? [True, True] Translation: X:242.32, Y:2.00, Z:1.65 [[ 9.98701620e-01 -4.84318723e-02 -1.57932634e-02 2.42320995e+02] [ 4.84340333e-02 9.98826353e-01 -2.45854867e-04 2.00291913e+00] [ 1.57866349e-02 -5.19395793e-04 9.99875248e-01 1.65086169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81925415399996 meters 0.019624571595975516 Centerline is valid? [True, True] Translation: X:242.35, Y:2.00, Z:1.65 [[ 9.98647369e-01 -4.96085012e-02 -1.55701153e-02 2.42352925e+02] [ 4.96107584e-02 9.98768599e-01 -2.41484497e-04 2.00223339e+00] [ 1.55629219e-02 -5.31287370e-04 9.99878749e-01 1.65108443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84925415399996 meters 0.020491798278365624 Centerline is valid? [True, True] Translation: X:242.38, Y:2.00, Z:1.65 [[ 9.98577818e-01 -5.09816616e-02 -1.55952194e-02 2.42384394e+02] [ 5.09841165e-02 9.98699435e-01 -2.40383472e-04 2.00154830e+00] [ 1.55871919e-02 -5.55066879e-04 9.99878358e-01 1.65095981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87925415399997 meters 0.021670653580374934 Centerline is valid? [True, True] Translation: X:242.42, Y:2.00, Z:1.65 [[ 9.98546280e-01 -5.12273676e-02 -1.67655680e-02 2.42416568e+02] [ 5.12302657e-02 9.98686835e-01 -2.56858198e-04 2.00230425e+00] [ 1.67567102e-02 -6.02419705e-04 9.99859415e-01 1.64992605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90925415399997 meters 0.021670653580374934 Centerline is valid? [True, True] Translation: X:242.45, Y:2.00, Z:1.65 [[ 9.98550060e-01 -5.11536143e-02 -1.67655869e-02 2.42448275e+02] [ 5.11565228e-02 9.98690615e-01 -2.55619558e-04 2.00272948e+00] [ 1.67567102e-02 -6.02420205e-04 9.99859415e-01 1.65014567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93925415399997 meters 0.021182630953252644 Centerline is valid? [True, True] Translation: X:242.48, Y:2.00, Z:1.65 [[ 9.98549350e-01 -5.16200055e-02 -1.53157282e-02 2.42478987e+02] [ 5.16225110e-02 9.98666642e-01 -2.31972770e-04 2.00254212e+00] [ 1.53072813e-02 -5.59000090e-04 9.99882680e-01 1.65089576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96925415399997 meters 0.02047078964919338 Centerline is valid? [True, True] Translation: X:242.51, Y:2.01, Z:1.65 [[ 9.98572879e-01 -5.12401053e-02 -1.50550974e-02 2.42511261e+02] [ 5.12425052e-02 9.98686214e-01 -2.26553249e-04 2.00505463e+00] [ 1.50469268e-02 -5.45230975e-04 9.99886640e-01 1.65091077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99925415399997 meters 0.02047078964919338 Centerline is valid? [True, True] Translation: X:242.54, Y:2.01, Z:1.65 [[ 9.98576658e-01 -5.11664159e-02 -1.50551140e-02 2.42542969e+02] [ 5.11688242e-02 9.98689992e-01 -2.25442111e-04 2.00547106e+00] [ 1.50469268e-02 -5.45231252e-04 9.99886640e-01 1.65113039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02925415399997 meters 0.020727485135310253 Centerline is valid? [True, True] Translation: X:242.57, Y:2.01, Z:1.65 [[ 9.98664957e-01 -4.95668801e-02 -1.45405390e-02 2.42574608e+02] [ 4.95689725e-02 9.98770679e-01 -2.16685691e-04 2.00751599e+00] [ 1.45334044e-02 -5.04363170e-04 9.99894257e-01 1.65078671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05925415399997 meters 0.019518556904348134 Centerline is valid? [True, True] Translation: X:242.61, Y:2.01, Z:1.65 [[ 9.98727173e-01 -4.84492401e-02 -1.40251352e-02 2.42606579e+02] [ 4.84510909e-02 9.98825535e-01 -2.07988739e-04 2.01089469e+00] [ 1.40187400e-02 -4.71809094e-04 9.99901621e-01 1.65125455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08925415399997 meters 0.020903947022172267 Centerline is valid? [True, True] Translation: X:242.64, Y:2.01, Z:1.65 [[ 9.98792566e-01 -4.70535122e-02 -1.41201206e-02 2.42637524e+02] [ 4.70552618e-02 9.98892266e-01 -2.08480841e-04 2.00948485e+00] [ 1.41142891e-02 -4.56196859e-04 9.99900284e-01 1.65087244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11925415399998 meters 0.020319944519340185 Centerline is valid? [True, True] Translation: X:242.67, Y:2.01, Z:1.65 [[ 9.98913701e-01 -4.45054842e-02 -1.38086942e-02 2.42667661e+02] [ 4.45069210e-02 9.99009055e-01 -2.03387957e-04 2.01277105e+00] [ 1.38040624e-02 -4.11415445e-04 9.99904635e-01 1.65105200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14925415399998 meters 0.018222251735377996 Centerline is valid? [True, True] Translation: X:242.70, Y:2.02, Z:1.65 [[ 9.98977719e-01 -4.30532458e-02 -1.37817147e-02 2.42699946e+02] [ 4.30545475e-02 9.99072703e-01 -2.02368740e-04 2.01762613e+00] [ 1.37776476e-02 -3.91203628e-04 9.99905007e-01 1.65222992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.17925415399998 meters 0.018192592985392976 Centerline is valid? [True, True] Translation: X:242.73, Y:2.02, Z:1.65 [[ 9.99039708e-01 -4.15301349e-02 -1.39610223e-02 2.42732371e+02] [ 4.15313364e-02 9.99137181e-01 -2.03976925e-04 2.01952156e+00] [ 1.39574476e-02 -3.76038865e-04 9.99902519e-01 1.65222787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.20925415399998 meters 0.017901110108617724 Centerline is valid? [True, True] Translation: X:242.76, Y:2.02, Z:1.65 [[ 9.99102774e-01 -3.99108117e-02 -1.41695083e-02 2.42764516e+02] [ 3.99119013e-02 9.99203181e-01 -2.05990492e-04 2.02143771e+00] [ 1.41664390e-02 -3.59726345e-04 9.99899586e-01 1.65234227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.23925415399998 meters 0.01732683830016094 Centerline is valid? [True, True] Translation: X:242.80, Y:2.02, Z:1.65 [[ 9.99168371e-01 -3.81321069e-02 -1.44398243e-02 2.42795596e+02] [ 3.81330640e-02 9.99272648e-01 -2.09140276e-04 2.02434239e+00] [ 1.44372964e-02 -3.41668395e-04 9.99895718e-01 1.65250129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.26925415399998 meters 0.016129681031126702 Centerline is valid? [True, True] Translation: X:242.83, Y:2.03, Z:1.65 [[ 9.99284299e-01 -3.46099920e-02 -1.52655976e-02 2.42826537e+02] [ 3.46106597e-02 9.99400847e-01 -2.20530008e-04 2.02960687e+00] [ 1.52640837e-02 -3.07980230e-04 9.99883450e-01 1.65285719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.29925415399998 meters 0.01567194697762383 Centerline is valid? [True, True] Translation: X:242.86, Y:2.03, Z:1.65 [[ 9.99350336e-01 -3.28139335e-02 -1.49047318e-02 2.42857481e+02] [ 3.28143783e-02 9.99461440e-01 -2.14778208e-04 2.03168179e+00] [ 1.49037524e-02 -2.74450832e-04 9.99888895e-01 1.65288386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32925415399998 meters 0.015390264234615628 Centerline is valid? [True, True] Translation: X:242.89, Y:2.03, Z:1.65 [[ 9.99403949e-01 -3.11472271e-02 -1.48861384e-02 2.42889179e+02] [ 3.11474941e-02 9.99514776e-01 -2.13968908e-04 2.03378565e+00] [ 1.48855798e-02 -2.49824536e-04 9.99889172e-01 1.65292841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35925415399998 meters 0.015508583548809265 Centerline is valid? [True, True] Translation: X:242.92, Y:2.04, Z:1.65 [[ 9.99482173e-01 -2.86295785e-02 -1.46878874e-02 2.42919381e+02] [ 2.86295723e-02 9.99590068e-01 -2.10730629e-04 2.03613079e+00] [ 1.46878994e-02 -2.09886426e-04 9.99892105e-01 1.65259865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38925415399999 meters 0.015025342509222639 Centerline is valid? [True, True] Translation: X:242.95, Y:2.04, Z:1.65 [[ 9.99509620e-01 -2.76902119e-02 -1.46209346e-02 2.42950164e+02] [ 2.76901071e-02 9.99616533e-01 -2.09645533e-04 2.03922965e+00] [ 1.46211331e-02 -1.95312520e-04 9.99893086e-01 1.65363440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.419254154 meters 0.014829724072710514 Centerline is valid? [True, True] Translation: X:242.98, Y:2.04, Z:1.65 [[ 9.99538811e-01 -2.68120401e-02 -1.42576111e-02 2.42980305e+02] [ 2.68118511e-02 9.99640477e-01 -2.04435938e-04 2.04111527e+00] [ 1.42579665e-02 -1.77931293e-04 9.99898334e-01 1.65403880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44925415399996 meters 0.014564127532198228 Centerline is valid? [True, True] Translation: X:243.01, Y:2.04, Z:1.66 [[ 9.99574113e-01 -2.58911449e-02 -1.34625802e-02 2.43010445e+02] [ 2.58908928e-02 9.99664756e-01 -1.93036209e-04 2.04475584e+00] [ 1.34630649e-02 -1.55604224e-04 9.99909357e-01 1.65517860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47925415399996 meters 0.014794093404529097 Centerline is valid? [True, True] Translation: X:243.04, Y:2.05, Z:1.66 [[ 9.99579766e-01 -2.60599159e-02 -1.26953671e-02 2.43040815e+02] [ 2.60597067e-02 9.99660372e-01 -1.81930621e-04 2.04516613e+00] [ 1.26957965e-02 -1.48983376e-04 9.99919394e-01 1.65548031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50925415399996 meters 0.01504474855804267 Centerline is valid? [True, True] Translation: X:243.07, Y:2.05, Z:1.66 [[ 9.99577702e-01 -2.65345089e-02 -1.18463751e-02 2.43072546e+02] [ 2.65343635e-02 9.99647887e-01 -1.69475223e-04 2.04588003e+00] [ 1.18467008e-02 -1.44932370e-04 9.99929815e-01 1.65579500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53925415399996 meters 0.015347118320695834 Centerline is valid? [True, True] Translation: X:243.10, Y:2.05, Z:1.66 [[ 9.99554619e-01 -2.76800944e-02 -1.11524333e-02 2.43103211e+02] [ 2.76800420e-02 9.99616822e-01 -1.59080503e-04 2.04584892e+00] [ 1.11525633e-02 -1.49690171e-04 9.99937797e-01 1.65622319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56925415399996 meters 0.016556076105447674 Centerline is valid? [True, True] Translation: X:243.13, Y:2.04, Z:1.66 [[ 9.99443670e-01 -3.16982618e-02 -1.03716639e-02 2.43133896e+02] [ 3.16984409e-02 9.99497467e-01 -1.47164830e-04 2.04341245e+00] [ 1.03711166e-02 -1.81682616e-04 9.99946202e-01 1.65622242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59925415399996 meters 0.015803049100920043 Centerline is valid? [True, True] Translation: X:243.17, Y:2.05, Z:1.66 [[ 9.99362894e-01 -3.42612997e-02 -9.99849584e-03 2.43166272e+02] [ 3.42616046e-02 9.99412889e-01 -1.40841355e-04 2.04557137e+00] [ 9.99745102e-03 -2.01812887e-04 9.99950004e-01 1.65675522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62925415399997 meters 0.016731784196314648 Centerline is valid? [True, True] Translation: X:243.20, Y:2.04, Z:1.66 [[ 9.99266435e-01 -3.70112265e-02 -9.83670664e-03 2.43197943e+02] [ 3.70116629e-02 9.99314824e-01 -1.37738219e-04 2.04458530e+00] [ 9.83506463e-03 -2.26435691e-04 9.99951609e-01 1.65653200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65925415399997 meters 0.021252819592105426 Centerline is valid? [True, True] Translation: X:243.23, Y:2.04, Z:1.66 [[ 9.99053463e-01 -4.24653596e-02 -9.42715190e-03 2.43228482e+02] [ 4.24660103e-02 9.99097903e-01 -1.31228060e-04 2.03696710e+00] [ 9.42422035e-03 -2.69229682e-04 9.99955555e-01 1.65609932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68925415399997 meters 0.019247219966152813 Centerline is valid? [True, True] Translation: X:243.26, Y:2.04, Z:1.66 [[ 9.98928674e-01 -4.53111185e-02 -9.40251316e-03 2.43260241e+02] [ 4.53118942e-02 9.98972880e-01 -1.30623814e-04 2.04126672e+00] [ 9.39877436e-03 -2.95561808e-04 9.99955787e-01 1.65658127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71925415399997 meters 0.020259158085095392 Centerline is valid? [True, True] Translation: X:243.29, Y:2.04, Z:1.66 [[ 9.98802440e-01 -4.80265037e-02 -9.33490138e-03 2.43292648e+02] [ 4.80273919e-02 9.98846011e-01 -1.29132690e-04 2.04011280e+00] [ 9.33033079e-03 -3.19352921e-04 9.99956421e-01 1.65676071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74925415399997 meters 0.02088119583765602 Centerline is valid? [True, True] Translation: X:243.32, Y:2.04, Z:1.66 [[ 9.98655201e-01 -5.09699513e-02 -9.47909297e-03 2.43324484e+02] [ 5.09710057e-02 9.98700125e-01 -1.30475480e-04 2.03945697e+00] [ 9.47342167e-03 -3.52858885e-04 9.99955064e-01 1.65693426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77925415399997 meters 0.022607969906896515 Centerline is valid? [True, True] Translation: X:243.36, Y:2.04, Z:1.66 [[ 9.98346632e-01 -5.67172991e-02 -9.33548748e-03 2.43355252e+02] [ 5.67185765e-02 9.98390198e-01 -1.28080243e-04 2.03758113e+00] [ 9.32772356e-03 -4.01627081e-04 9.99956415e-01 1.65762830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80925415399997 meters 0.02288501944150024 Centerline is valid? [True, True] Translation: X:243.39, Y:2.04, Z:1.66 [[ 9.98198640e-01 -5.92929995e-02 -9.15510214e-03 2.43387084e+02] [ 5.92943384e-02 9.98240535e-01 -1.25358625e-04 2.03821643e+00] [ 9.14642694e-03 -4.17712915e-04 9.99958083e-01 1.65801967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83925415399997 meters 0.027088900790059777 Centerline is valid? [True, True] Translation: X:243.42, Y:2.03, Z:1.66 [[ 9.98089639e-01 -6.10974952e-02 -9.17432911e-03 2.43418221e+02] [ 6.10989205e-02 9.98131708e-01 -1.25106682e-04 2.03256541e+00] [ 9.16483249e-03 -4.35673922e-04 9.99957907e-01 1.65808986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.86925415399998 meters 0.026186747695335227 Centerline is valid? [True, True] Translation: X:243.45, Y:2.03, Z:1.66 [[ 9.98004313e-01 -6.25618934e-02 -8.56742867e-03 2.43449899e+02] [ 6.25631940e-02 9.98040998e-01 -1.16380966e-04 2.03493983e+00] [ 8.55792607e-03 -4.19856996e-04 9.99963292e-01 1.65849356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89925415399998 meters 0.026802154954786297 Centerline is valid? [True, True] Translation: X:243.48, Y:2.04, Z:1.66 [[ 9.97922072e-01 -6.38717224e-02 -8.48177206e-03 2.43482188e+02] [ 6.38730484e-02 9.97958025e-01 -1.14732762e-04 2.03682031e+00] [ 8.47178067e-03 -4.27262281e-04 9.99964023e-01 1.65853119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.92925415399998 meters 0.028152426172777672 Centerline is valid? [True, True] Translation: X:243.51, Y:2.04, Z:1.66 [[ 9.97928718e-01 -6.37270912e-02 -8.78250344e-03 2.43514580e+02] [ 6.37285133e-02 9.97967265e-01 -1.18114959e-04 2.03664093e+00] [ 8.77217806e-03 -4.41825578e-04 9.99961426e-01 1.65898376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.95925415399998 meters 0.027560039916262127 Centerline is valid? [True, True] Translation: X:243.55, Y:2.04, Z:1.66 [[ 9.97937300e-01 -6.35655990e-02 -8.97555989e-03 2.43546351e+02] [ 6.35670849e-02 9.97977561e-01 -1.19926992e-04 2.03926639e+00] [ 8.96503059e-03 -4.50870558e-04 9.99959712e-01 1.65897233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.98925415399998 meters 0.025543113690445027 Centerline is valid? [True, True] Translation: X:243.58, Y:2.04, Z:1.66 [[ 9.97984527e-01 -6.27945341e-02 -9.15044364e-03 2.43578109e+02] [ 6.27960522e-02 9.98026373e-01 -1.21596240e-04 2.04389184e+00] [ 9.14001966e-03 -4.53260571e-04 9.99958126e-01 1.65919654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.01925415399998 meters 0.027905821520190825 Centerline is valid? [True, True] Translation: X:243.61, Y:2.04, Z:1.66 [[ 9.98087174e-01 -6.11735570e-02 -8.93242570e-03 2.43609283e+02] [ 6.11749442e-02 9.98127052e-01 -1.18093542e-04 2.04354495e+00] [ 8.92291994e-03 -4.28572994e-04 9.99960098e-01 1.65929939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.04925415399998 meters 0.026020254463270748 Centerline is valid? [True, True] Translation: X:243.64, Y:2.05, Z:1.66 [[ 9.98165925e-01 -5.97918920e-02 -9.47187521e-03 2.43641620e+02] [ 5.97933954e-02 9.98210766e-01 -1.24642733e-04 2.04795639e+00] [ 9.46238044e-03 -4.41941450e-04 9.99955133e-01 1.65917380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07925415399998 meters 0.02472881708529799 Centerline is valid? [True, True] Translation: X:243.67, Y:2.05, Z:1.66 [[ 9.98335804e-01 -5.67893236e-02 -1.00297356e-02 2.43673251e+02] [ 5.67908649e-02 9.98386088e-01 -1.31294688e-04 2.05336038e+00] [ 1.00210046e-02 -4.38521170e-04 9.99949692e-01 1.65899953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10925415399998 meters 0.022108684022900796 Centerline is valid? [True, True] Translation: X:243.71, Y:2.06, Z:1.66 [[ 9.98443495e-01 -5.47738038e-02 -1.05080125e-02 2.43705601e+02] [ 5.47753910e-02 9.98498692e-01 -1.36903543e-04 2.05952295e+00] [ 1.04997355e-02 -4.38890042e-04 9.99944780e-01 1.65866643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13925415399999 meters 0.02144472185659619 Centerline is valid? [True, True] Translation: X:243.74, Y:2.06, Z:1.66 [[ 9.98538339e-01 -5.28287654e-02 -1.14151772e-02 2.43737605e+02] [ 5.28305218e-02 9.98603482e-01 -1.47837288e-04 2.06306069e+00] [ 1.14070457e-02 -4.55448566e-04 9.99934834e-01 1.65825454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.169254154 meters 0.02054733710051961 Centerline is valid? [True, True] Translation: X:243.77, Y:2.07, Z:1.66 [[ 9.98648119e-01 -5.05929095e-02 -1.19286253e-02 2.43769855e+02] [ 5.05946789e-02 9.98719257e-01 -1.53583517e-04 2.06704349e+00] [ 1.19211180e-02 -4.50149077e-04 9.99928840e-01 1.65787438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19925415399996 meters 0.02016508437178969 Centerline is valid? [True, True] Translation: X:243.80, Y:2.07, Z:1.66 [[ 9.98900285e-01 -4.52070215e-02 -1.24316594e-02 2.43800993e+02] [ 4.52085346e-02 9.98977559e-01 -1.59424369e-04 2.07402102e+00] [ 1.24261559e-02 -4.02768056e-04 9.99922711e-01 1.65590276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22925415399996 meters 0.018402540374627088 Centerline is valid? [True, True] Translation: X:243.83, Y:2.08, Z:1.66 [[ 9.99020438e-01 -4.27137638e-02 -1.15627800e-02 2.43833540e+02] [ 4.27149128e-02 9.99087291e-01 -1.47682847e-04 2.07737858e+00] [ 1.15585347e-02 -3.46364957e-04 9.99933138e-01 1.65748442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25925415399996 meters 0.017487813696857854 Centerline is valid? [True, True] Translation: X:243.86, Y:2.08, Z:1.66 [[ 9.99162407e-01 -3.94683444e-02 -1.08043837e-02 2.43864765e+02] [ 3.94691668e-02 9.99220779e-01 -1.37183087e-04 2.08115814e+00] [ 1.08013791e-02 -2.89371840e-04 9.99941622e-01 1.65822532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28925415399996 meters 0.016674316373552402 Centerline is valid? [True, True] Translation: X:243.90, Y:2.09, Z:1.66 [[ 9.99303192e-01 -3.59085699e-02 -1.01835387e-02 2.43896341e+02] [ 3.59091194e-02 9.99355051e-01 -1.28942963e-04 2.08538523e+00] [ 1.01816010e-02 -2.36828793e-04 9.99948138e-01 1.65888522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31925415399996 meters 0.0162728584567313 Centerline is valid? [True, True] Translation: X:243.93, Y:2.09, Z:1.66 [[ 9.99437687e-01 -3.20900511e-02 -9.72307869e-03 2.43927718e+02] [ 3.20903751e-02 9.99484964e-01 -1.22721792e-04 2.08917025e+00] [ 9.72200910e-03 -1.89364459e-04 9.99952722e-01 1.65951657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34925415399996 meters 0.014282713064007545 Centerline is valid? [True, True] Translation: X:243.96, Y:2.10, Z:1.66 [[ 9.99673135e-01 -2.40913569e-02 -8.55747338e-03 2.43958774e+02] [ 2.40913181e-02 9.99709756e-01 -1.07625162e-04 2.09902790e+00] [ 8.55758246e-03 -9.85708301e-05 9.99963378e-01 1.66159713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37925415399997 meters 0.01390247156742932 Centerline is valid? [True, True] Translation: X:243.99, Y:2.10, Z:1.66 [[ 9.99758249e-01 -2.04439779e-02 -8.09239698e-03 2.43990737e+02] [ 2.04438263e-02 9.99790998e-01 -1.01458804e-04 2.10348972e+00] [ 8.09277987e-03 -6.40052822e-05 9.99967251e-01 1.66221904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40925415399997 meters 0.013501692565180547 Centerline is valid? [True, True] Translation: X:244.02, Y:2.11, Z:1.66 [[ 9.99825969e-01 -1.70732357e-02 -7.51899852e-03 2.44023037e+02] [ 1.70730133e-02 9.99854241e-01 -9.37620725e-05 2.10674127e+00] [ 7.51950338e-03 -3.46262068e-05 9.99971728e-01 1.66279820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43925415399997 meters 0.013455186134429939 Centerline is valid? [True, True] Translation: X:244.05, Y:2.11, Z:1.66 [[ 9.99869380e-01 -1.42763359e-02 -7.57693581e-03 2.44054405e+02] [ 1.42760337e-02 9.99898088e-01 -9.39589657e-05 2.10947014e+00] [ 7.57750502e-03 -1.42218986e-05 9.99971290e-01 1.66306079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46925415399997 meters 0.0133843538155463 Centerline is valid? [True, True] Translation: X:244.09, Y:2.11, Z:1.66 [[ 9.99920211e-01 -1.05448402e-02 -6.95548752e-03 2.44085390e+02] [ 1.05444969e-02 9.99944402e-01 -8.60233247e-05 2.11281213e+00] [ 6.95600791e-03 1.26743443e-05 9.99975807e-01 1.66417511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49925415399997 meters 0.0136073518699301 Centerline is valid? [True, True] Translation: X:244.12, Y:2.11, Z:1.66 [[ 9.99929757e-01 -9.53110026e-03 -7.04551112e-03 2.44115661e+02] [ 9.53072468e-03 9.99954578e-01 -8.68809163e-05 2.11359320e+00] [ 7.04601917e-03 1.97259867e-05 9.99975176e-01 1.66432920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52925415399997 meters 0.013354632226233143 Centerline is valid? [True, True] Translation: X:244.15, Y:2.11, Z:1.66 [[ 9.99929114e-01 -9.55016917e-03 -7.11067946e-03 2.44146611e+02] [ 9.54978798e-03 9.99954396e-01 -8.75591591e-05 2.11352328e+00] [ 7.11119139e-03 1.96474711e-05 9.99974715e-01 1.66462650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55925415399997 meters 0.01336877850352272 Centerline is valid? [True, True] Translation: X:244.18, Y:2.11, Z:1.66 [[ 9.99898997e-01 -1.17138893e-02 -8.04863764e-03 2.44176572e+02] [ 1.17134711e-02 9.99931390e-01 -9.91037223e-05 2.11152445e+00] [ 8.04924631e-03 4.81622826e-06 9.99967604e-01 1.66354290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58925415399997 meters 0.013460170291166319 Centerline is valid? [True, True] Translation: X:244.21, Y:2.11, Z:1.66 [[ 9.99865053e-01 -1.39582947e-02 -8.66265453e-03 2.44207525e+02] [ 1.39578948e-02 9.99902578e-01 -1.06629381e-04 2.10981724e+00] [ 8.66329897e-03 -1.42974282e-05 9.99962473e-01 1.66307735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61925415399998 meters 0.013669886232141631 Centerline is valid? [True, True] Translation: X:244.24, Y:2.11, Z:1.66 [[ 9.99808528e-01 -1.70456939e-02 -9.60995177e-03 2.44238112e+02] [ 1.70453448e-02 9.99854711e-01 -1.18240332e-04 2.10727220e+00] [ 9.61057103e-03 -4.55872491e-05 9.99953816e-01 1.66196686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64925415399998 meters 0.013996559654358766 Centerline is valid? [True, True] Translation: X:244.27, Y:2.10, Z:1.66 [[ 9.99734943e-01 -2.05368168e-02 -1.04058815e-02 2.44269488e+02] [ 2.05365993e-02 9.99789094e-01 -1.27769607e-04 2.10403663e+00] [ 1.04063108e-02 -8.59656762e-05 9.99945849e-01 1.66114631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.67925415399998 meters 0.014745294805802583 Centerline is valid? [True, True] Translation: X:244.30, Y:2.10, Z:1.66 [[ 9.99525528e-01 -2.86750813e-02 -1.12453468e-02 2.44300999e+02] [ 2.86753470e-02 9.99588768e-01 -1.37645721e-04 2.09828756e+00] [ 1.12446694e-02 -1.84883810e-04 9.99936760e-01 1.66084109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.70925415399998 meters 0.015776947562291827 Centerline is valid? [True, True] Translation: X:244.33, Y:2.09, Z:1.66 [[ 9.99394821e-01 -3.29262198e-02 -1.12185169e-02 2.44331642e+02] [ 3.29267566e-02 9.99457758e-01 -1.36899330e-04 2.09492887e+00] [ 1.12169413e-02 -2.32572894e-04 9.99937061e-01 1.66093774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.73925415399998 meters 0.016953543074776253 Centerline is valid? [True, True] Translation: X:244.36, Y:2.09, Z:1.66 [[ 9.99247947e-01 -3.71024711e-02 -1.12670616e-02 2.44362638e+02] [ 3.71032835e-02 9.99311427e-01 -1.36992924e-04 2.09124166e+00] [ 1.12643862e-02 -2.81155082e-04 9.99936515e-01 1.66119049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.76925415399998 meters 0.0191935669412246 Centerline is valid? [True, True] Translation: X:244.39, Y:2.09, Z:1.66 [[ 9.98935143e-01 -4.49091059e-02 -1.05712581e-02 2.44393726e+02] [ 4.49102621e-02 9.98991017e-01 -1.28108239e-04 2.08521245e+00] [ 1.05663451e-02 -3.46786151e-04 9.99944114e-01 1.66201723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.79925415399998 meters 0.02115981907708165 Centerline is valid? [True, True] Translation: X:244.42, Y:2.08, Z:1.66 [[ 9.98768726e-01 -4.85485132e-02 -1.02016579e-02 2.44424153e+02] [ 4.85497814e-02 9.98820756e-01 -1.23448301e-04 2.08146987e+00] [ 1.01956209e-02 -3.71991957e-04 9.99947954e-01 1.66215331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82925415399998 meters 0.02115981907708165 Centerline is valid? [True, True] Translation: X:244.46, Y:2.08, Z:1.66 [[ 9.98773990e-01 -4.84401004e-02 -1.02016637e-02 2.44456711e+02] [ 4.84413679e-02 9.98826020e-01 -1.22967662e-04 2.08177127e+00] [ 1.01956437e-02 -3.71365639e-04 9.99947954e-01 1.66237891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85925415399998 meters 0.020897279237688478 Centerline is valid? [True, True] Translation: X:244.49, Y:2.08, Z:1.66 [[ 9.98624998e-01 -5.14540956e-02 -1.00294709e-02 2.44488613e+02] [ 5.14554815e-02 9.98675282e-01 -1.19979802e-04 2.08112307e+00] [ 1.00223581e-02 -3.96256424e-04 9.99949696e-01 1.66259337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88925415399999 meters 0.023057538398874113 Centerline is valid? [True, True] Translation: X:244.52, Y:2.08, Z:1.66 [[ 9.98335215e-01 -5.68313968e-02 -9.84840560e-03 2.44519951e+02] [ 5.68329985e-02 9.98383692e-01 -1.17381184e-04 2.07633738e+00] [ 9.83915848e-03 -4.42528651e-04 9.99951496e-01 1.66263440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.919254154 meters 0.02502440666825492 Centerline is valid? [True, True] Translation: X:244.55, Y:2.07, Z:1.66 [[ 9.98206655e-01 -5.90158772e-02 -1.00299429e-02 2.44551442e+02] [ 5.90176535e-02 9.98256932e-01 -1.19042770e-04 2.07369660e+00] [ 1.00194854e-02 -4.73114408e-04 9.99949692e-01 1.66219550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94925415399996 meters 0.02421302177300849 Centerline is valid? [True, True] Translation: X:244.58, Y:2.08, Z:1.66 [[ 9.98086578e-01 -6.09060169e-02 -1.06601957e-02 2.44583273e+02] [ 6.09081427e-02 9.98143368e-01 -1.25428352e-04 2.07502735e+00] [ 1.06480430e-02 -5.24104366e-04 9.99943171e-01 1.66254938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97925415399996 meters 0.02595467982546866 Centerline is valid? [True, True] Translation: X:244.61, Y:2.07, Z:1.66 [[ 9.97848341e-01 -6.46417241e-02 -1.09606752e-02 2.44614302e+02] [ 6.46442013e-02 9.97908368e-01 -1.28490442e-04 2.07372229e+00] [ 1.09460554e-02 -5.80330122e-04 9.99939922e-01 1.66217276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00925415399996 meters 0.029620650035300174 Centerline is valid? [True, True] Translation: X:244.65, Y:2.07, Z:1.66 [[ 9.97753977e-01 -6.60955279e-02 -1.08803677e-02 2.44645837e+02] [ 6.60980589e-02 9.97813124e-01 -1.27203681e-04 2.06902011e+00] [ 1.08649813e-02 -5.92253208e-04 9.99940799e-01 1.66231976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03925415399996 meters 0.030613310177573017 Centerline is valid? [True, True] Translation: X:244.68, Y:2.07, Z:1.66 [[ 9.97660510e-01 -6.75711582e-02 -1.03752538e-02 2.44677594e+02] [ 6.75735449e-02 9.97714288e-01 -1.20750464e-04 2.06788289e+00] [ 1.03596982e-02 -5.80624705e-04 9.99946168e-01 1.66273663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06925415399996 meters 0.02738984006028762 Centerline is valid? [True, True] Translation: X:244.71, Y:2.07, Z:1.66 [[ 9.97571687e-01 -6.88745071e-02 -1.03455830e-02 2.44709423e+02] [ 6.88769564e-02 9.97625155e-01 -1.19783841e-04 2.07240149e+00] [ 1.03292639e-02 -5.93079303e-04 9.99946476e-01 1.66320120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09925415399996 meters 0.027941108961696947 Centerline is valid? [True, True] Translation: X:244.74, Y:2.07, Z:1.66 [[ 9.97410104e-01 -7.12589276e-02 -9.75964282e-03 2.44740449e+02] [ 7.12612263e-02 9.97457681e-01 -1.12460094e-04 2.07289516e+00] [ 9.74284448e-03 -5.83315282e-04 9.99952367e-01 1.66388520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12925415399997 meters 0.03030946243128869 Centerline is valid? [True, True] Translation: X:244.77, Y:2.07, Z:1.66 [[ 9.97357811e-01 -7.19469153e-02 -1.00517877e-02 2.44772067e+02] [ 7.19493916e-02 9.97408277e-01 -1.15518451e-04 2.07095734e+00] [ 1.00340474e-02 -6.08006778e-04 9.99949473e-01 1.66430141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15925415399997 meters 0.029271357065157867 Centerline is valid? [True, True] Translation: X:244.80, Y:2.07, Z:1.66 [[ 9.97349760e-01 -7.20775369e-02 -9.91385050e-03 2.44804433e+02] [ 7.20799581e-02 9.97398850e-01 -1.13330193e-04 2.07377920e+00] [ 9.89623165e-03 -6.01560088e-04 9.99950850e-01 1.66450829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18925415399997 meters 0.03130271199544498 Centerline is valid? [True, True] Translation: X:244.84, Y:2.07, Z:1.66 [[ 9.97366701e-01 -7.17328709e-02 -1.06798513e-02 2.44835496e+02] [ 7.17356691e-02 9.97423671e-01 -1.21328245e-04 2.07363324e+00] [ 1.06610397e-02 -6.45117530e-04 9.99942961e-01 1.66328211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21925415399997 meters 0.030605305647776134 Centerline is valid? [True, True] Translation: X:244.87, Y:2.08, Z:1.66 [[ 9.97374291e-01 -7.15622684e-02 -1.11070001e-02 2.44868624e+02] [ 7.15652939e-02 9.97435909e-01 -1.25327570e-04 2.07602174e+00] [ 1.10874894e-02 -6.69877227e-04 9.99938308e-01 1.66304775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24925415399997 meters 0.030950160356301153 Centerline is valid? [True, True] Translation: X:244.90, Y:2.08, Z:1.66 [[ 9.97383309e-01 -7.13662070e-02 -1.15498813e-02 2.44900672e+02] [ 7.13694785e-02 9.97449939e-01 -1.29204291e-04 2.07681119e+00] [ 1.15296492e-02 -6.95442802e-04 9.99933290e-01 1.66253455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27925415399997 meters 0.029525718163334786 Centerline is valid? [True, True] Translation: X:244.93, Y:2.08, Z:1.66 [[ 9.97384272e-01 -7.12437147e-02 -1.22043704e-02 2.44934177e+02] [ 7.12473718e-02 9.97458668e-01 -1.35413228e-04 2.07985189e+00] [ 1.21830024e-02 -7.34470294e-04 9.99925515e-01 1.66215765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30925415399997 meters 0.030179462278746797 Centerline is valid? [True, True] Translation: X:244.97, Y:2.08, Z:1.66 [[ 9.97346559e-01 -7.14544380e-02 -1.39321070e-02 2.44966233e+02] [ 7.14592439e-02 9.97443509e-01 -1.53196167e-04 2.08159745e+00] [ 1.39074363e-02 -8.42788165e-04 9.99902932e-01 1.66094970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33925415399997 meters 0.02922320693683656 Centerline is valid? [True, True] Translation: X:245.00, Y:2.08, Z:1.66 [[ 9.97341318e-01 -7.14602038e-02 -1.42735358e-02 2.44998735e+02] [ 7.14652638e-02 9.97443077e-01 -1.55889270e-04 2.08470622e+00] [ 1.42481793e-02 -8.64587191e-04 9.99898116e-01 1.66077911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36925415399998 meters 0.03221955994253335 Centerline is valid? [True, True] Translation: X:245.03, Y:2.08, Z:1.66 [[ 9.97347464e-01 -7.12280986e-02 -1.49864780e-02 2.45029950e+02] [ 7.12336654e-02 9.97459643e-01 -1.62695031e-04 2.08241156e+00] [ 1.49599954e-02 -9.05278282e-04 9.99887683e-01 1.66049809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39925415399998 meters 0.0320326398040352 Centerline is valid? [True, True] Translation: X:245.06, Y:2.08, Z:1.66 [[ 9.97418612e-01 -7.03234733e-02 -1.45162653e-02 2.45061852e+02] [ 7.03286139e-02 9.97523865e-01 -1.56683888e-04 2.08431447e+00] [ 1.44913397e-02 -8.64629394e-04 9.99894621e-01 1.66148482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.42925415399998 meters 0.033227408923307784 Centerline is valid? [True, True] Translation: X:245.09, Y:2.08, Z:1.66 [[ 9.97511439e-01 -6.92311716e-02 -1.33406909e-02 2.45092781e+02] [ 6.92354263e-02 9.97600338e-01 -1.43205139e-04 2.08497679e+00] [ 1.33185921e-02 -7.80799661e-04 9.99910999e-01 1.66218103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.45925415399998 meters 0.026082207283176385 Centerline is valid? [True, True] Translation: X:245.12, Y:2.10, Z:1.67 [[ 9.97814945e-01 -6.51517334e-02 -1.09811944e-02 2.45123393e+02] [ 6.51543739e-02 9.97875189e-01 -1.17500296e-04 2.09911506e+00] [ 1.09655168e-02 -5.98229293e-04 9.99939698e-01 1.66633757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.48925415399998 meters 0.02546437303438415 Centerline is valid? [True, True] Translation: X:245.15, Y:2.10, Z:1.67 [[ 9.98007767e-01 -6.23941821e-02 -9.35216582e-03 2.45154659e+02] [ 6.23959783e-02 9.98051468e-01 -9.98693489e-05 2.10244424e+00] [ 9.34017409e-03 -4.83867150e-04 9.99956263e-01 1.66795045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.51925415399998 meters 0.025050449978809872 Centerline is valid? [True, True] Translation: X:245.19, Y:2.11, Z:1.67 [[ 9.98218138e-01 -5.91452335e-02 -7.89879105e-03 2.45185068e+02] [ 5.91464152e-02 9.98249315e-01 -8.41143546e-05 2.10545204e+00] [ 7.88993772e-03 -3.83220700e-04 9.99968801e-01 1.66947463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.54925415399998 meters 0.023960742472471274 Centerline is valid? [True, True] Translation: X:245.22, Y:2.11, Z:1.67 [[ 9.98416972e-01 -5.58466876e-02 -6.68559889e-03 2.45216992e+02] [ 5.58474610e-02 9.98439310e-01 -7.11074252e-05 2.10949763e+00] [ 6.67913585e-03 -3.02378863e-04 9.99977649e-01 1.67073276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57925415399998 meters 0.022531992620773416 Centerline is valid? [True, True] Translation: X:245.25, Y:2.11, Z:1.67 [[ 9.98601315e-01 -5.25471976e-02 -5.84855763e-03 2.45248203e+02] [ 5.25477346e-02 9.98618411e-01 -6.19123190e-05 2.11390421e+00] [ 5.84373065e-03 -2.45502731e-04 9.99982895e-01 1.67169855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60925415399998 meters 0.02079100773938378 Centerline is valid? [True, True] Translation: X:245.28, Y:2.12, Z:1.67 [[ 9.98907080e-01 -4.64471535e-02 -5.22562425e-03 2.45277557e+02] [ 4.64475002e-02 9.98920731e-01 -5.50594239e-05 2.11931757e+00] [ 5.22254175e-03 -1.87717935e-04 9.99986345e-01 1.67162032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63925415399999 meters 0.019921158548407834 Centerline is valid? [True, True] Translation: X:245.31, Y:2.12, Z:1.67 [[ 9.99017310e-01 -4.40007230e-02 -5.32446338e-03 2.45309722e+02] [ 4.40010470e-02 9.99031483e-01 -5.63449102e-05 2.12167719e+00] [ 5.32178577e-03 -1.77992423e-04 9.99985823e-01 1.67116467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.669254154 meters 0.01924304177797974 Centerline is valid? [True, True] Translation: X:245.34, Y:2.12, Z:1.67 [[ 9.99141318e-01 -4.08415333e-02 -6.97114072e-03 2.45340175e+02] [ 4.08420163e-02 9.99165614e-01 -7.31185231e-05 2.12465817e+00] [ 6.96831037e-03 -2.11659706e-04 9.99975699e-01 1.66926962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69925415399996 meters 0.018757301039111062 Centerline is valid? [True, True] Translation: X:245.37, Y:2.13, Z:1.67 [[ 9.99167368e-01 -3.99459317e-02 -8.30014293e-03 2.45372460e+02] [ 3.99465876e-02 9.99201813e-01 -8.68123490e-05 2.12665776e+00] [ 8.29698566e-03 -2.44822320e-04 9.99965549e-01 1.66864051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72925415399996 meters 0.018035058542588484 Centerline is valid? [True, True] Translation: X:245.40, Y:2.13, Z:1.67 [[ 9.99175751e-01 -3.95688006e-02 -9.06243934e-03 2.45404239e+02] [ 3.95695734e-02 9.99216813e-01 -9.40853962e-05 2.12863684e+00] [ 9.05906460e-03 -2.64589012e-04 9.99958931e-01 1.66839608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75925415399996 meters 0.018500775476047962 Centerline is valid? [True, True] Translation: X:245.44, Y:2.13, Z:1.67 [[ 9.99140203e-01 -3.99531730e-02 -1.10724697e-02 2.45435647e+02] [ 3.99543596e-02 9.99201499e-01 -1.14109035e-04 2.12824241e+00] [ 1.10681873e-02 -3.28382509e-04 9.99938692e-01 1.66637834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78925415399996 meters 0.01884960612706929 Centerline is valid? [True, True] Translation: X:245.47, Y:2.13, Z:1.67 [[ 9.99137539e-01 -3.99112576e-02 -1.14573305e-02 2.45468701e+02] [ 3.99125354e-02 9.99203170e-01 -1.17199250e-04 2.12799151e+00] [ 1.14528786e-02 -3.40192940e-04 9.99934356e-01 1.66572002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81925415399996 meters 0.01811859995544039 Centerline is valid? [True, True] Translation: X:245.50, Y:2.13, Z:1.67 [[ 9.99155142e-01 -3.93666078e-02 -1.18014008e-02 2.45500817e+02] [ 3.93679388e-02 9.99224775e-01 -1.19597276e-04 2.13000355e+00] [ 1.17969602e-02 -3.45100590e-04 9.99930354e-01 1.66542730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84925415399996 meters 0.01773529797213581 Centerline is valid? [True, True] Translation: X:245.53, Y:2.13, Z:1.67 [[ 9.99202096e-01 -3.81365682e-02 -1.18648081e-02 2.45532678e+02] [ 3.81378372e-02 9.99272481e-01 -1.19371044e-04 2.13115487e+00] [ 1.18607286e-02 -3.33222323e-04 9.99929604e-01 1.66570157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87925415399997 meters 0.01773529797213581 Centerline is valid? [True, True] Translation: X:245.57, Y:2.13, Z:1.67 [[ 9.99206276e-01 -3.80268913e-02 -1.18648186e-02 2.45565233e+02] [ 3.80281649e-02 9.99276661e-01 -1.18323307e-04 2.13139093e+00] [ 1.18607358e-02 -3.32967886e-04 9.99929604e-01 1.66592701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90925415399997 meters 0.017085721246150726 Centerline is valid? [True, True] Translation: X:245.60, Y:2.13, Z:1.67 [[ 9.99365170e-01 -3.39129092e-02 -1.09165362e-02 2.45595890e+02] [ 3.39137513e-02 9.99424757e-01 -1.08021892e-04 2.13408781e+00] [ 1.09139199e-02 -2.62267378e-04 9.99940407e-01 1.66745491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93925415399997 meters 0.016367717120886895 Centerline is valid? [True, True] Translation: X:245.63, Y:2.14, Z:1.67 [[ 9.99459242e-01 -3.11810006e-02 -1.04388355e-02 2.45627936e+02] [ 3.11816268e-02 9.99513730e-01 -1.02802629e-04 2.13690855e+00] [ 1.04369649e-02 -2.22752835e-04 9.99945509e-01 1.66788219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96925415399997 meters 0.01475386584670626 Centerline is valid? [True, True] Translation: X:245.66, Y:2.14, Z:1.67 [[ 9.99638461e-01 -2.52729969e-02 -9.17734274e-03 2.45659431e+02] [ 2.52732367e-02 9.99680577e-01 -8.98600102e-05 2.14164462e+00] [ 9.17668232e-03 -1.42113633e-04 9.99957883e-01 1.66933638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99925415399997 meters 0.01452866923704088 Centerline is valid? [True, True] Translation: X:245.69, Y:2.14, Z:1.67 [[ 9.99709456e-01 -2.24122443e-02 -8.87099239e-03 2.45690999e+02] [ 2.24123589e-02 9.99748808e-01 -8.65099215e-05 2.14263471e+00] [ 8.87070295e-03 -1.12335079e-04 9.99960648e-01 1.66974908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02925415399997 meters 0.013772190034323315 Centerline is valid? [True, True] Translation: X:245.72, Y:2.14, Z:1.67 [[ 9.99768032e-01 -1.98091851e-02 -8.45451567e-03 2.45723583e+02] [ 1.98092000e-02 9.99803775e-01 -8.19800073e-05 2.14436408e+00] [ 8.45448064e-03 -8.55162015e-05 9.99964257e-01 1.67039001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05925415399997 meters 0.013703625250556108 Centerline is valid? [True, True] Translation: X:245.75, Y:2.14, Z:1.67 [[ 9.99825242e-01 -1.65684801e-02 -8.65852464e-03 2.45754951e+02] [ 1.65683795e-02 9.99862732e-01 -8.33517004e-05 2.14497433e+00] [ 8.65871710e-03 -6.01205882e-05 9.99962511e-01 1.67000927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08925415399997 meters 0.01353771840816417 Centerline is valid? [True, True] Translation: X:245.79, Y:2.15, Z:1.67 [[ 9.99842990e-01 -1.53081303e-02 -8.92501237e-03 2.45786035e+02] [ 1.53079773e-02 9.99882822e-01 -8.54616866e-05 2.14502618e+00] [ 8.92527482e-03 -5.11756186e-05 9.99960168e-01 1.66976652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11925415399998 meters 0.0135396980922787 Centerline is valid? [True, True] Translation: X:245.82, Y:2.14, Z:1.67 [[ 9.99849621e-01 -1.49008561e-02 -8.87129663e-03 2.45817702e+02] [ 1.49006916e-02 9.99888975e-01 -8.46330440e-05 2.14484903e+00] [ 8.87157279e-03 -4.75681385e-05 9.99960646e-01 1.66972469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.14925415399998 meters 0.013480994903683423 Centerline is valid? [True, True] Translation: X:245.85, Y:2.14, Z:1.67 [[ 9.99842188e-01 -1.49180218e-02 -9.64634435e-03 2.45848681e+02] [ 1.49178318e-02 9.99888719e-01 -9.16522784e-05 2.14203443e+00] [ 9.64663816e-03 -5.22647275e-05 9.99953469e-01 1.66925217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.17925415399998 meters 0.013471326189557173 Centerline is valid? [True, True] Translation: X:245.88, Y:2.14, Z:1.67 [[ 9.99836230e-01 -1.51771515e-02 -9.85731632e-03 2.45879095e+02] [ 1.51769682e-02 9.99884819e-01 -9.33973708e-05 2.14025266e+00] [ 9.85759845e-03 -5.62221014e-05 9.99951411e-01 1.66887235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.20925415399998 meters 0.01358041040866248 Centerline is valid? [True, True] Translation: X:245.91, Y:2.14, Z:1.67 [[ 9.99824076e-01 -1.56186073e-02 -1.03863312e-02 2.45909918e+02] [ 1.56184298e-02 9.99878020e-01 -9.82047741e-05 2.13812635e+00] [ 1.03865981e-02 -6.40306865e-05 9.99946056e-01 1.66863284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.23925415399998 meters 0.013615553125847592 Centerline is valid? [True, True] Translation: X:245.94, Y:2.13, Z:1.67 [[ 9.99791304e-01 -1.69234676e-02 -1.14431271e-02 2.45940719e+02] [ 1.69233428e-02 9.99856784e-01 -1.07744328e-04 2.13379765e+00] [ 1.14433117e-02 -8.59341206e-05 9.99934519e-01 1.66812522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.26925415399998 meters 0.013834645493340077 Centerline is valid? [True, True] Translation: X:245.97, Y:2.13, Z:1.67 [[ 9.99773690e-01 -1.77895513e-02 -1.16662315e-02 2.45970473e+02] [ 1.77894807e-02 9.99841749e-01 -1.09832432e-04 2.13182645e+00] [ 1.16663392e-02 -9.77286249e-05 9.99931941e-01 1.66801840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.29925415399998 meters 0.014126718619636552 Centerline is valid? [True, True] Translation: X:246.00, Y:2.13, Z:1.67 [[ 9.99749128e-01 -1.89849180e-02 -1.18850055e-02 2.46001132e+02] [ 1.89849294e-02 9.99819764e-01 -1.11873367e-04 2.12963552e+00] [ 1.18849873e-02 -1.13790690e-04 9.99929365e-01 1.66801224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32925415399998 meters 0.014552580133610559 Centerline is valid? [True, True] Translation: X:246.03, Y:2.12, Z:1.67 [[ 9.99700636e-01 -2.13181160e-02 -1.20073438e-02 2.46031170e+02] [ 2.13182969e-02 9.99772733e-01 -1.12936636e-04 2.12410817e+00] [ 1.20070225e-02 -1.43073293e-04 9.99927903e-01 1.66774824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35925415399998 meters 0.014552580133610559 Centerline is valid? [True, True] Translation: X:246.06, Y:2.12, Z:1.67 [[ 9.99701377e-01 -2.12833606e-02 -1.20073466e-02 2.46062017e+02] [ 2.12835426e-02 9.99773473e-01 -1.12639625e-04 2.12436640e+00] [ 1.20070240e-02 -1.42952885e-04 9.99927903e-01 1.66796197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38925415399999 meters 0.015268878921678029 Centerline is valid? [True, True] Translation: X:246.09, Y:2.12, Z:1.67 [[ 9.99633856e-01 -2.40671189e-02 -1.23663997e-02 2.46092688e+02] [ 2.40675292e-02 9.99710328e-01 -1.15665917e-04 2.11824858e+00] [ 1.23656013e-02 -1.82005119e-04 9.99923526e-01 1.66763517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41925415399996 meters 0.015200810005139618 Centerline is valid? [True, True] Translation: X:246.12, Y:2.12, Z:1.67 [[ 9.99583385e-01 -2.58722146e-02 -1.27939521e-02 2.46124423e+02] [ 2.58728059e-02 9.99665236e-01 -1.19327179e-04 2.11726376e+00] [ 1.27927564e-02 -2.11737974e-04 9.99918147e-01 1.66834840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.44925415399996 meters 0.016924824708694493 Centerline is valid? [True, True] Translation: X:246.15, Y:2.11, Z:1.67 [[ 9.99450991e-01 -2.99215272e-02 -1.42274215e-02 2.46154804e+02] [ 2.99226768e-02 9.99552208e-01 -1.32105438e-04 2.10961795e+00] [ 1.42250033e-02 -2.93689625e-04 9.99898776e-01 1.66790260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47925415399996 meters 0.01614330325113171 Centerline is valid? [True, True] Translation: X:246.19, Y:2.11, Z:1.67 [[ 9.99369269e-01 -3.22955099e-02 -1.47669841e-02 2.46186012e+02] [ 3.22970162e-02 9.99478306e-01 -1.36518862e-04 2.10978351e+00] [ 1.47636891e-02 -3.40496768e-04 9.99890953e-01 1.66885330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.50925415399996 meters 0.01682319251355337 Centerline is valid? [True, True] Translation: X:246.22, Y:2.11, Z:1.67 [[ 9.99273823e-01 -3.47825246e-02 -1.55564376e-02 2.46217364e+02] [ 3.47845067e-02 9.99394826e-01 -1.43226691e-04 2.10687213e+00] [ 1.55520050e-02 -3.98000323e-04 9.99878981e-01 1.66884597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53925415399996 meters 0.018759503056765443 Centerline is valid? [True, True] Translation: X:246.25, Y:2.10, Z:1.67 [[ 9.99151905e-01 -3.76424192e-02 -1.66888690e-02 2.46248399e+02] [ 3.76451127e-02 9.99291160e-01 -1.52836730e-04 2.10161147e+00] [ 1.66827924e-02 -4.75547245e-04 9.99860719e-01 1.66844168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56925415399996 meters 0.02013916001924242 Centerline is valid? [True, True] Translation: X:246.28, Y:2.10, Z:1.67 [[ 9.98888016e-01 -4.33637645e-02 -1.85017742e-02 2.46279175e+02] [ 4.33680670e-02 9.99059149e-01 -1.68805445e-04 2.09602562e+00] [ 1.84916868e-02 -6.33768447e-04 9.99828813e-01 1.66879887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59925415399996 meters 0.020229350817220503 Centerline is valid? [True, True] Translation: X:246.31, Y:2.09, Z:1.67 [[ 9.98729257e-01 -4.65480667e-02 -1.93170812e-02 2.46310506e+02] [ 4.65533630e-02 9.98915789e-01 -1.75654041e-04 2.09498837e+00] [ 1.93043138e-02 -7.23844265e-04 9.99813392e-01 1.66932815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62925415399997 meters 0.02212106659713069 Centerline is valid? [True, True] Translation: X:246.34, Y:2.09, Z:1.67 [[ 9.98575831e-01 -4.93772451e-02 -2.02038890e-02 2.46340484e+02] [ 4.93836226e-02 9.98779868e-01 -1.83448970e-04 2.09082760e+00] [ 2.01882958e-02 -8.14553521e-04 9.99795864e-01 1.66933369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65925415399997 meters 0.023418545982399543 Centerline is valid? [True, True] Translation: X:246.37, Y:2.09, Z:1.67 [[ 9.98415167e-01 -5.22272503e-02 -2.09635148e-02 2.46371480e+02] [ 5.22347488e-02 9.98634816e-01 -1.90092927e-04 2.08820776e+00] [ 2.09448237e-02 -9.05232267e-04 9.99780223e-01 1.66950066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68925415399997 meters 0.024899511327289302 Centerline is valid? [True, True] Translation: X:246.40, Y:2.08, Z:1.67 [[ 9.98136122e-01 -5.69865352e-02 -2.18361482e-02 2.46402623e+02] [ 5.69958207e-02 9.98374397e-01 -1.97393059e-04 2.08446815e+00] [ 2.18119001e-02 -1.04754405e-03 9.99761543e-01 1.67046940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71925415399997 meters 0.024899511327289302 Centerline is valid? [True, True] Translation: X:246.43, Y:2.08, Z:1.67 [[ 9.98140285e-01 -5.69135591e-02 -2.18361601e-02 2.46434353e+02] [ 5.69228559e-02 9.98378560e-01 -1.96079155e-04 2.08469333e+00] [ 2.18119136e-02 -1.04726209e-03 9.99761543e-01 1.67068923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74925415399997 meters 0.025915676106040047 Centerline is valid? [True, True] Translation: X:246.47, Y:2.08, Z:1.67 [[ 9.98040371e-01 -5.87674377e-02 -2.14896827e-02 2.46465955e+02] [ 5.87768980e-02 9.98271125e-01 -1.91674412e-04 2.08266926e+00] [ 2.14637939e-02 -1.07179809e-03 9.99769052e-01 1.67164820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77925415399997 meters 0.03627638796932709 Centerline is valid? [True, True] Translation: X:246.50, Y:2.07, Z:1.67 [[ 9.97961854e-01 -6.00390988e-02 -2.16204644e-02 2.46497253e+02] [ 6.00490125e-02 9.98195412e-01 -1.90979811e-04 2.06798425e+00] [ 2.15929146e-02 -1.10769697e-03 9.99766232e-01 1.66883442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80925415399997 meters 0.02619726467290462 Centerline is valid? [True, True] Translation: X:246.53, Y:2.08, Z:1.68 [[ 9.97876149e-01 -6.15947339e-02 -2.11962355e-02 2.46528982e+02] [ 6.16046489e-02 9.98100613e-01 -1.85496641e-04 2.08159994e+00] [ 2.11674013e-02 -1.12068397e-03 9.99775317e-01 1.67533028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83925415399997 meters 0.02790539879891962 Centerline is valid? [True, True] Translation: X:246.56, Y:2.08, Z:1.68 [[ 9.97889868e-01 -6.15537042e-02 -2.06628303e-02 2.46559774e+02] [ 6.15631611e-02 9.98103174e-01 -1.78713939e-04 2.07958203e+00] [ 2.06346371e-02 -1.09373232e-03 9.99786485e-01 1.67580151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86925415399998 meters 0.027145659520955594 Centerline is valid? [True, True] Translation: X:246.59, Y:2.08, Z:1.68 [[ 9.97902580e-01 -6.14123070e-02 -2.04687478e-02 2.46592403e+02] [ 6.14215940e-02 9.98111896e-01 -1.75245654e-04 2.08137671e+00] [ 2.04408629e-02 -1.08234503e-03 9.99790478e-01 1.67728022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89925415399998 meters 0.02768333611755101 Centerline is valid? [True, True] Translation: X:246.62, Y:2.08, Z:1.68 [[ 9.97919365e-01 -6.11187059e-02 -2.05291174e-02 2.46624452e+02] [ 6.11280162e-02 9.98129919e-01 -1.74280797e-04 2.08162452e+00] [ 2.05013781e-02 -1.08098604e-03 9.99789240e-01 1.67820031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.92925415399998 meters 0.027770980356765233 Centerline is valid? [True, True] Translation: X:246.66, Y:2.08, Z:1.68 [[ 9.98000286e-01 -5.94438847e-02 -2.14907906e-02 2.46655873e+02] [ 5.94537288e-02 9.98231046e-01 -1.81141900e-04 2.08339484e+00] [ 2.14635422e-02 -1.09692797e-03 9.99769030e-01 1.67840430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.95925415399998 meters 0.02694530288894744 Centerline is valid? [True, True] Translation: X:246.69, Y:2.09, Z:1.68 [[ 9.98052664e-01 -5.82498856e-02 -2.23121018e-02 2.46688557e+02] [ 5.82602429e-02 9.98301412e-01 -1.86107245e-04 2.08576622e+00] [ 2.22850435e-02 -1.11416364e-03 9.99751037e-01 1.67829686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.98925415399998 meters 0.026808728439021098 Centerline is valid? [True, True] Translation: X:246.72, Y:2.09, Z:1.68 [[ 9.98136577e-01 -5.65446711e-02 -2.29362990e-02 2.46719939e+02] [ 5.65552033e-02 9.98399456e-01 -1.89734218e-04 2.08669125e+00] [ 2.29103169e-02 -1.10778639e-03 9.99736910e-01 1.67813809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.01925415399998 meters 0.023970861276200156 Centerline is valid? [True, True] Translation: X:246.75, Y:2.09, Z:1.68 [[ 9.98186290e-01 -5.51864237e-02 -2.40538602e-02 2.46751836e+02] [ 5.51976540e-02 9.98475428e-01 -1.97329727e-04 2.09266810e+00] [ 2.40280783e-02 -1.13074482e-03 9.99710645e-01 1.67904782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.04925415399998 meters 0.02350747726657694 Centerline is valid? [True, True] Translation: X:246.78, Y:2.10, Z:1.68 [[ 9.98341665e-01 -5.14753991e-02 -2.57721321e-02 2.46781941e+02] [ 5.14870811e-02 9.98673638e-01 -2.10529663e-04 2.09623753e+00] [ 2.57487861e-02 -1.11675132e-03 9.99667821e-01 1.67838296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07925415399998 meters 0.02185199924827665 Centerline is valid? [True, True] Translation: X:246.81, Y:2.10, Z:1.68 [[ 9.98446175e-01 -4.91235499e-02 -2.63080349e-02 2.46813164e+02] [ 4.91349305e-02 9.98792127e-01 -2.14059065e-04 2.10021569e+00] [ 2.62867734e-02 -1.07891701e-03 9.99653861e-01 1.67932795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10925415399998 meters 0.020490665942289748 Centerline is valid? [True, True] Translation: X:246.84, Y:2.11, Z:1.68 [[ 9.98639370e-01 -4.40650330e-02 -2.78869373e-02 2.46843813e+02] [ 4.40758656e-02 9.99028161e-01 -2.26422049e-04 2.10671999e+00] [ 2.78698130e-02 -1.00302693e-03 9.99611058e-01 1.67941111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13925415399999 meters 0.020007446286095604 Centerline is valid? [True, True] Translation: X:246.87, Y:2.11, Z:1.68 [[ 9.98737440e-01 -4.13751056e-02 -2.84890679e-02 2.46873210e+02] [ 4.13853326e-02 9.99143233e-01 -2.30814446e-04 2.10943199e+00] [ 2.84742093e-02 -9.48506520e-04 9.99594077e-01 1.67935786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16925415399996 meters 0.01938416837468484 Centerline is valid? [True, True] Translation: X:246.90, Y:2.11, Z:1.68 [[ 9.98859263e-01 -3.83048642e-02 -2.85115941e-02 2.46901545e+02] [ 3.83138176e-02 9.99265729e-01 -2.32411146e-04 2.11204893e+00] [ 2.84995613e-02 -8.60241990e-04 9.99593435e-01 1.67925081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19925415399996 meters 0.016842908666104467 Centerline is valid? [True, True] Translation: X:246.93, Y:2.12, Z:1.68 [[ 9.99084497e-01 -3.11465720e-02 -2.93267503e-02 2.46930935e+02] [ 3.11529243e-02 9.99514601e-01 -2.40387487e-04 2.12049986e+00] [ 2.93200024e-02 -6.73446620e-04 9.99569849e-01 1.68152940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22925415399996 meters 0.016781553051389158 Centerline is valid? [True, True] Translation: X:246.96, Y:2.12, Z:1.68 [[ 9.99215437e-01 -2.72070638e-02 -2.87799653e-02 2.46958925e+02] [ 2.72114839e-02 9.99629671e-01 -2.38133404e-04 2.12354221e+00] [ 2.87757861e-02 -5.45198988e-04 9.99585743e-01 1.68107586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25925415399996 meters 0.016002227225596185 Centerline is valid? [True, True] Translation: X:246.99, Y:2.13, Z:1.68 [[ 9.99321202e-01 -2.32396911e-02 -2.85841347e-02 2.46987210e+02] [ 2.32422640e-02 9.99729833e-01 -2.42278331e-04 2.12772905e+00] [ 2.85820427e-02 -4.22246132e-04 9.99591361e-01 1.68230775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28925415399996 meters 0.014405468529776857 Centerline is valid? [True, True] Translation: X:247.02, Y:2.14, Z:1.69 [[ 9.99533164e-01 -1.49132871e-02 -2.66654895e-02 2.47016915e+02] [ 1.49125033e-02 9.99888776e-01 -2.28263142e-04 2.13599426e+00] [ 2.66659278e-02 -1.69492621e-04 9.99644387e-01 1.68667236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31925415399996 meters 0.014189063036736092 Centerline is valid? [True, True] Translation: X:247.05, Y:2.14, Z:1.69 [[ 9.99597282e-01 -1.16091331e-02 -2.58940428e-02 2.47045637e+02] [ 1.16071543e-02 9.99932609e-01 -2.26726145e-04 2.13937869e+00] [ 2.58949299e-02 -7.39213118e-05 9.99664667e-01 1.68832573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34925415399996 meters 0.014065030653835532 Centerline is valid? [True, True] Translation: X:247.07, Y:2.14, Z:1.69 [[ 9.99632860e-01 -8.92981490e-03 -2.55813147e-02 2.47073731e+02] [ 8.92691897e-03 9.99960128e-01 -2.27404936e-04 2.14217509e+00] [ 2.55823254e-02 -1.04087646e-06 9.99672719e-01 1.68920738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37925415399997 meters 0.014267063116697624 Centerline is valid? [True, True] Translation: X:247.10, Y:2.15, Z:1.69 [[ 9.99633370e-01 -5.98204362e-03 -2.64072022e-02 2.47101329e+02] [ 5.97786651e-03 9.99982104e-01 -2.37121417e-04 2.14511168e+00] [ 2.64081481e-02 7.91757510e-05 9.99651241e-01 1.68887536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40925415399997 meters 0.014295043879615407 Centerline is valid? [True, True] Translation: X:247.13, Y:2.15, Z:1.69 [[ 9.99607370e-01 -6.48866942e-03 -2.72580633e-02 2.47130275e+02] [ 6.48425254e-03 9.99978946e-01 -2.50427664e-04 2.14515039e+00] [ 2.72591143e-02 7.35811728e-05 9.99628399e-01 1.68864175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43925415399997 meters 0.014333334830115396 Centerline is valid? [True, True] Translation: X:247.16, Y:2.14, Z:1.69 [[ 9.99585799e-01 -7.52331754e-03 -2.77782392e-02 2.47158550e+02] [ 7.51903055e-03 9.99971698e-01 -2.58780245e-04 2.14445624e+00] [ 2.77794000e-02 4.98076282e-05 9.99614077e-01 1.68779512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46925415399997 meters 0.01405080292406971 Centerline is valid? [True, True] Translation: X:247.19, Y:2.14, Z:1.69 [[ 9.99534889e-01 -9.97645436e-03 -2.88179726e-02 2.47187501e+02] [ 9.97268234e-03 9.99950234e-01 -2.74617774e-04 2.14303303e+00] [ 2.88192781e-02 -1.29024401e-05 9.99584638e-01 1.68837302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49925415399997 meters 0.014014727072176067 Centerline is valid? [True, True] Translation: X:247.22, Y:2.14, Z:1.69 [[ 9.99453305e-01 -1.63371806e-02 -2.87434709e-02 2.47216713e+02] [ 1.63359612e-02 9.99866521e-01 -2.77262544e-04 2.13896817e+00] [ 2.87441639e-02 -1.92441259e-04 9.99586783e-01 1.68980040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52925415399997 meters 0.014299694837778992 Centerline is valid? [True, True] Translation: X:247.24, Y:2.14, Z:1.69 [[ 9.99413656e-01 -1.99531874e-02 -2.78247072e-02 2.47244739e+02] [ 1.99533784e-02 9.99800875e-01 -2.70814668e-04 2.13606649e+00] [ 2.78245702e-02 -2.84541034e-04 9.99612781e-01 1.68981450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55925415399997 meters 0.014582843147238794 Centerline is valid? [True, True] Translation: X:247.27, Y:2.13, Z:1.69 [[ 9.99341403e-01 -2.39265772e-02 -2.72814848e-02 2.47273580e+02] [ 2.39280817e-02 9.99713646e-01 -2.71356000e-04 2.13335377e+00] [ 2.72801653e-02 -3.81616311e-04 9.99627754e-01 1.69050752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58925415399997 meters 0.01592350757855019 Centerline is valid? [True, True] Translation: X:247.30, Y:2.13, Z:1.69 [[ 9.99176491e-01 -3.05444983e-02 -2.67090342e-02 2.47302584e+02] [ 3.05482280e-02 9.99533258e-01 -2.68470794e-04 2.12698733e+00] [ 2.67047683e-02 -5.47663961e-04 9.99643214e-01 1.69027930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61925415399998 meters 0.01606634066299466 Centerline is valid? [True, True] Translation: X:247.33, Y:2.13, Z:1.69 [[ 9.99099723e-01 -3.32960858e-02 -2.62890365e-02 2.47330970e+02] [ 3.33005943e-02 9.99445346e-01 -2.66400072e-04 2.12588520e+00] [ 2.62833253e-02 -6.09280302e-04 9.99654348e-01 1.69142032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64925415399998 meters 0.017970554857676044 Centerline is valid? [True, True] Translation: X:247.36, Y:2.12, Z:1.69 [[ 9.98937884e-01 -3.76847842e-02 -2.65134026e-02 2.47359434e+02] [ 3.76908690e-02 9.99289410e-01 -2.70387970e-04 2.12009926e+00] [ 2.65047520e-02 -7.29212397e-04 9.99648421e-01 1.69035553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.67925415399998 meters 0.01866543070970964 Centerline is valid? [True, True] Translation: X:247.39, Y:2.12, Z:1.69 [[ 9.98865333e-01 -3.86750961e-02 -2.77899713e-02 2.47389279e+02] [ 3.86821318e-02 9.99251526e-01 -2.84574590e-04 2.11990950e+00] [ 2.77801772e-02 -7.90723640e-04 9.99613744e-01 1.69121376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.70925415399998 meters 0.017940983547704993 Centerline is valid? [True, True] Translation: X:247.42, Y:2.12, Z:1.69 [[ 9.98835324e-01 -4.07069648e-02 -2.59024931e-02 2.47418025e+02] [ 4.07136264e-02 9.99170820e-01 -2.70366493e-04 2.11851821e+00] [ 2.58920211e-02 -7.84532823e-04 9.99664438e-01 1.69158986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.73925415399998 meters 0.018273362963175895 Centerline is valid? [True, True] Translation: X:247.45, Y:2.12, Z:1.69 [[ 9.98803830e-01 -4.16690265e-02 -2.55851828e-02 2.47448906e+02] [ 4.16757961e-02 9.99131150e-01 -2.68814981e-04 2.11707090e+00] [ 2.55741544e-02 -7.97789428e-04 9.99672609e-01 1.69164050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.76925415399998 meters 0.02128923744437897 Centerline is valid? [True, True] Translation: X:247.48, Y:2.11, Z:1.69 [[ 9.98739839e-01 -4.35283924e-02 -2.49802711e-02 2.47478652e+02] [ 4.35354181e-02 9.99051850e-01 -2.62786675e-04 2.11017147e+00] [ 2.49680248e-02 -8.25071027e-04 9.99687910e-01 1.68952947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.79925415399998 meters 0.018860313039543858 Centerline is valid? [True, True] Translation: X:247.51, Y:2.11, Z:1.69 [[ 9.98665957e-01 -4.55543192e-02 -2.43127569e-02 2.47509517e+02] [ 4.55615787e-02 9.98961499e-01 -2.55562755e-04 2.11195877e+00] [ 2.42991500e-02 -8.52505761e-04 9.99704369e-01 1.69226274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82925415399998 meters 0.021529503808146996 Centerline is valid? [True, True] Translation: X:247.54, Y:2.11, Z:1.69 [[ 9.98583731e-01 -4.63229353e-02 -2.61671150e-02 2.47539546e+02] [ 4.63316215e-02 9.98926076e-01 -2.74559967e-04 2.10974398e+00] [ 2.61517319e-02 -9.38193751e-04 9.99657545e-01 1.69188353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85925415399998 meters 0.02051045011981652 Centerline is valid? [True, True] Translation: X:247.57, Y:2.11, Z:1.69 [[ 9.98526111e-01 -4.86900780e-02 -2.39766752e-02 2.47570210e+02] [ 4.86980543e-02 9.98813514e-01 -2.51459251e-04 2.10789342e+00] [ 2.39604708e-02 -9.16528802e-04 9.99712487e-01 1.69154026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88925415399999 meters 0.02088611477515196 Centerline is valid? [True, True] Translation: X:247.60, Y:2.11, Z:1.69 [[ 9.98437430e-01 -5.04564928e-02 -2.40175069e-02 2.47601923e+02] [ 5.04650215e-02 9.98725797e-01 -2.51257953e-04 2.10678287e+00] [ 2.39995813e-02 -9.61178656e-04 9.99711507e-01 1.69141536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91925415399996 meters 0.021486809324427772 Centerline is valid? [True, True] Translation: X:247.63, Y:2.11, Z:1.69 [[ 9.98329455e-01 -5.25384271e-02 -2.40419105e-02 2.47632906e+02] [ 5.25475895e-02 9.98618390e-01 -2.50942027e-04 2.10512609e+00] [ 2.40218781e-02 -1.01282163e-03 9.99710920e-01 1.69129519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94925415399996 meters 0.02253560610425278 Centerline is valid? [True, True] Translation: X:247.66, Y:2.10, Z:1.69 [[ 9.98204795e-01 -5.48599841e-02 -2.40326860e-02 2.47663811e+02] [ 5.48698215e-02 9.98493485e-01 -2.50404300e-04 2.10256897e+00] [ 2.40102176e-02 -1.06871442e-03 9.99711142e-01 1.69065352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97925415399996 meters 0.02386583789570581 Centerline is valid? [True, True] Translation: X:247.69, Y:2.10, Z:1.69 [[ 9.97952593e-01 -5.91980373e-02 -2.42118767e-02 2.47694664e+02] [ 5.92093063e-02 9.98245558e-01 -2.51824326e-04 2.09896881e+00] [ 2.41843059e-02 -1.18225969e-03 9.99706818e-01 1.69004951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00925415399996 meters 0.026152874937287178 Centerline is valid? [True, True] Translation: X:247.73, Y:2.10, Z:1.69 [[ 9.97828182e-01 -6.09743851e-02 -2.49207358e-02 2.47725829e+02] [ 6.09869038e-02 9.98138533e-01 -2.58094220e-04 2.09534969e+00] [ 2.48900838e-02 -1.26230483e-03 9.99689397e-01 1.68901789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03925415399996 meters 0.026092276561267558 Centerline is valid? [True, True] Translation: X:247.76, Y:2.10, Z:1.69 [[ 9.97745408e-01 -6.22991691e-02 -2.49582570e-02 2.47757564e+02] [ 6.23121729e-02 9.98056675e-01 -2.57120061e-04 2.09553015e+00] [ 2.49257734e-02 -1.29866286e-03 9.99688461e-01 1.68955916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06925415399996 meters 0.026500307476966505 Centerline is valid? [True, True] Translation: X:247.79, Y:2.09, Z:1.69 [[ 9.97694874e-01 -6.30413763e-02 -2.51142119e-02 2.47789933e+02] [ 6.30548204e-02 9.98010032e-01 -2.57020529e-04 2.09473737e+00] [ 2.50804383e-02 -1.32714405e-03 9.99684555e-01 1.68964535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09925415399996 meters 0.02740305619083544 Centerline is valid? [True, True] Translation: X:247.82, Y:2.09, Z:1.69 [[ 9.97614257e-01 -6.43586967e-02 -2.49750443e-02 2.47822078e+02] [ 6.43724489e-02 9.97925911e-01 -2.53785051e-04 2.09384623e+00] [ 2.49395771e-02 -1.35452518e-03 9.99688043e-01 1.68969783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12925415399997 meters 0.028261372081577266 Centerline is valid? [True, True] Translation: X:247.85, Y:2.09, Z:1.69 [[ 9.97597086e-01 -6.46092334e-02 -2.50140216e-02 2.47853041e+02] [ 6.46231690e-02 9.97909707e-01 -2.51701374e-04 2.09269627e+00] [ 2.49779971e-02 -1.36538878e-03 9.99687069e-01 1.68942239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15925415399997 meters 0.029221776448773787 Centerline is valid? [True, True] Translation: X:247.88, Y:2.09, Z:1.69 [[ 9.97604479e-01 -6.45161590e-02 -2.49593334e-02 2.47884396e+02] [ 6.45300476e-02 9.97915733e-01 -2.49430347e-04 2.09124935e+00] [ 2.49234038e-02 -1.36179414e-03 9.99688436e-01 1.68871716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18925415399997 meters 0.029231994321784572 Centerline is valid? [True, True] Translation: X:247.92, Y:2.09, Z:1.69 [[ 9.97647683e-01 -6.35372222e-02 -2.57317192e-02 2.47916415e+02] [ 6.35517035e-02 9.97978515e-01 -2.55437949e-04 2.09124383e+00] [ 2.56959327e-02 -1.38045751e-03 9.99668852e-01 1.68825965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21925415399997 meters 0.026584360767446386 Centerline is valid? [True, True] Translation: X:247.95, Y:2.10, Z:1.69 [[ 9.97688000e-01 -6.27638263e-02 -2.60644718e-02 2.47948428e+02] [ 6.27784709e-02 9.98027453e-01 -2.56848253e-04 2.09570188e+00] [ 2.60291792e-02 -1.38003326e-03 9.99660231e-01 1.68941182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24925415399997 meters 0.02885657025831921 Centerline is valid? [True, True] Translation: X:247.98, Y:2.09, Z:1.69 [[ 9.97743860e-01 -6.19667112e-02 -2.58324720e-02 2.47979554e+02] [ 6.19808692e-02 9.98077306e-01 -2.53034694e-04 2.09304996e+00] [ 2.57984838e-02 -1.34865526e-03 9.99666254e-01 1.68837774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27925415399997 meters 0.029320822401842948 Centerline is valid? [True, True] Translation: X:248.01, Y:2.09, Z:1.69 [[ 9.97824523e-01 -6.08407459e-02 -2.53894578e-02 2.48009798e+02] [ 6.08540762e-02 9.98146642e-01 -2.48005651e-04 2.09337961e+00] [ 2.53574909e-02 -1.29758588e-03 9.99677605e-01 1.68903161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30925415399997 meters 0.02574052189740184 Centerline is valid? [True, True] Translation: X:248.04, Y:2.10, Z:1.69 [[ 9.97863302e-01 -6.03170765e-02 -2.51133516e-02 2.48042112e+02] [ 6.03299891e-02 9.98178457e-01 -2.43864135e-04 2.09861188e+00] [ 2.50823157e-02 -1.27174516e-03 9.99684580e-01 1.69135219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33925415399997 meters 0.025873922591431908 Centerline is valid? [True, True] Translation: X:248.07, Y:2.10, Z:1.69 [[ 9.97906583e-01 -6.00669398e-02 -2.39669249e-02 2.48074735e+02] [ 6.00786691e-02 9.98193619e-01 -2.31010515e-04 2.09869126e+00] [ 2.39375076e-02 -1.20937404e-03 9.99712725e-01 1.69222184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36925415399998 meters 0.02610551764705839 Centerline is valid? [True, True] Translation: X:248.11, Y:2.10, Z:1.69 [[ 9.97941580e-01 -5.99516419e-02 -2.27684577e-02 2.48107174e+02] [ 5.99622340e-02 9.98200623e-01 -2.17835450e-04 2.09833385e+00] [ 2.27405483e-02 -1.14786053e-03 9.99740741e-01 1.69310648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39925415399998 meters 0.026670526746332014 Centerline is valid? [True, True] Translation: X:248.14, Y:2.10, Z:1.69 [[ 9.97988275e-01 -5.96800633e-02 -2.13937708e-02 2.48139696e+02] [ 5.96893845e-02 9.98216978e-01 -2.03173192e-04 2.09813088e+00] [ 2.13677506e-02 -1.07421655e-03 9.99771106e-01 1.69493189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.42925415399998 meters 0.02639208915459292 Centerline is valid? [True, True] Translation: X:248.17, Y:2.10, Z:1.70 [[ 9.98023411e-01 -5.95857813e-02 -1.99701347e-02 2.48171673e+02] [ 5.95939119e-02 9.98222686e-01 -1.88250678e-04 2.09907981e+00] [ 1.99458586e-02 -1.00221987e-03 9.99800559e-01 1.69565843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.45925415399998 meters 0.027065374474791935 Centerline is valid? [True, True] Translation: X:248.20, Y:2.10, Z:1.70 [[ 9.98058999e-01 -5.91978100e-02 -1.93352940e-02 2.48202444e+02] [ 5.92053813e-02 9.98245806e-01 -1.81119458e-04 2.09906185e+00] [ 1.93120980e-02 -9.63985549e-04 9.99813039e-01 1.69605306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.48925415399998 meters 0.02694630280776615 Centerline is valid? [True, True] Translation: X:248.23, Y:2.10, Z:1.70 [[ 9.98113736e-01 -5.85077085e-02 -1.85961571e-02 2.48234673e+02] [ 5.85146143e-02 9.98286537e-01 -1.73013128e-04 2.10057324e+00] [ 1.85744159e-02 -9.15460181e-04 9.99827062e-01 1.69652466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.51925415399998 meters 0.02313822131653303 Centerline is valid? [True, True] Translation: X:248.27, Y:2.11, Z:1.70 [[ 9.98126375e-01 -5.82489701e-02 -1.87295978e-02 2.48267030e+02] [ 5.82559558e-02 9.98301665e-01 -1.72874181e-04 2.10670554e+00] [ 1.87078585e-02 -9.18560345e-04 9.99824571e-01 1.69762609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.54925415399998 meters 0.02694069175595133 Centerline is valid? [True, True] Translation: X:248.30, Y:2.10, Z:1.70 [[ 9.98130318e-01 -5.81433001e-02 -1.88474001e-02 2.48298118e+02] [ 5.81503776e-02 9.98307820e-01 -1.72771716e-04 2.10182429e+00] [ 1.88255524e-02 -9.23534746e-04 9.99822357e-01 1.69649111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57925415399998 meters 0.026607028926222163 Centerline is valid? [True, True] Translation: X:248.33, Y:2.10, Z:1.70 [[ 9.98125624e-01 -5.82118605e-02 -1.88843398e-02 2.48330163e+02] [ 5.82190013e-02 9.98303821e-01 -1.71873248e-04 2.10294911e+00] [ 1.88623137e-02 -9.27876312e-04 9.99821660e-01 1.69654474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60925415399998 meters 0.026026415723765517 Centerline is valid? [True, True] Translation: X:248.36, Y:2.11, Z:1.70 [[ 9.98047804e-01 -5.89511697e-02 -2.06237957e-02 2.48362278e+02] [ 5.89598760e-02 9.98260336e-01 -1.86180663e-04 2.10554635e+00] [ 2.05988928e-02 -1.03015924e-03 9.99787290e-01 1.69569538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63925415399999 meters 0.026026415723765517 Centerline is valid? [True, True] Translation: X:248.39, Y:2.11, Z:1.70 [[ 9.98052044e-01 -5.88793339e-02 -2.06238090e-02 2.48394011e+02] [ 5.88880555e-02 9.98264576e-01 -1.84696082e-04 2.10576947e+00] [ 2.05988928e-02 -1.03015971e-03 9.99787290e-01 1.69591514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66925415399996 meters 0.0246362028274254 Centerline is valid? [True, True] Translation: X:248.43, Y:2.11, Z:1.70 [[ 9.98005166e-01 -5.92514608e-02 -2.17934083e-02 2.48426273e+02] [ 5.92613238e-02 9.98242485e-01 -1.93547533e-04 2.10859784e+00] [ 2.17665740e-02 -1.09834479e-03 9.99762477e-01 1.69580992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69925415399996 meters 0.026725450275236574 Centerline is valid? [True, True] Translation: X:248.46, Y:2.11, Z:1.69 [[ 9.97966581e-01 -5.96890725e-02 -2.23588596e-02 2.48457680e+02] [ 5.96995944e-02 9.98216369e-01 -1.97197526e-04 2.10657812e+00] [ 2.23307502e-02 -1.13801831e-03 9.99749990e-01 1.69419253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72925415399996 meters 0.025921657845853204 Centerline is valid? [True, True] Translation: X:248.49, Y:2.11, Z:1.69 [[ 9.97913953e-01 -6.07022628e-02 -2.19767542e-02 2.48490174e+02] [ 6.07127054e-02 9.98155264e-01 -1.92354243e-04 2.10873941e+00] [ 2.19478893e-02 -1.14231522e-03 9.99758463e-01 1.69472639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75925415399996 meters 0.02565573345857238 Centerline is valid? [True, True] Translation: X:248.52, Y:2.11, Z:1.70 [[ 9.97877242e-01 -6.16404727e-02 -2.10110114e-02 2.48522698e+02] [ 6.16502567e-02 9.98097797e-01 -1.82377461e-04 2.10976378e+00] [ 2.09822861e-02 -1.11334393e-03 9.99779228e-01 1.69539002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78925415399996 meters 0.02764888034548054 Centerline is valid? [True, True] Translation: X:248.55, Y:2.11, Z:1.70 [[ 9.97885591e-01 -6.17403549e-02 -2.03095258e-02 2.48554362e+02] [ 6.17495419e-02 9.98091661e-01 -1.75057764e-04 2.10729018e+00] [ 2.02815764e-02 -1.07941629e-03 9.99793725e-01 1.69569583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81925415399996 meters 0.025405378487392303 Centerline is valid? [True, True] Translation: X:248.59, Y:2.11, Z:1.70 [[ 9.97913704e-01 -6.15925239e-02 -1.93545840e-02 2.48586267e+02] [ 6.16008641e-02 9.98100850e-01 -1.65540016e-04 2.11123798e+00] [ 1.93280227e-02 -1.02706445e-03 9.99812669e-01 1.69781086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84925415399996 meters 0.026927387422864584 Centerline is valid? [True, True] Translation: X:248.62, Y:2.11, Z:1.70 [[ 9.97959381e-01 -6.14869807e-02 -1.72170235e-02 2.48617715e+02] [ 6.14935935e-02 9.98107468e-01 -1.45557891e-04 2.11038671e+00] [ 1.71933897e-02 -9.13475785e-04 9.99851765e-01 1.69936871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87925415399997 meters 0.028008460062860556 Centerline is valid? [True, True] Translation: X:248.65, Y:2.11, Z:1.70 [[ 9.97981573e-01 -6.12607320e-02 -1.67302745e-02 2.48649160e+02] [ 6.12669668e-02 9.98121405e-01 -1.40101202e-04 2.10879968e+00] [ 1.67074278e-02 -8.85194754e-04 9.99860029e-01 1.69967267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90925415399997 meters 0.028962951153592778 Centerline is valid? [True, True] Translation: X:248.68, Y:2.11, Z:1.70 [[ 9.97985573e-01 -6.13548901e-02 -1.61360940e-02 2.48681276e+02] [ 6.13607211e-02 9.98115647e-01 -1.33946665e-04 2.10742716e+00] [ 1.61139062e-02 -8.56445525e-04 9.99869796e-01 1.69974562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93925415399997 meters 0.027972704551625333 Centerline is valid? [True, True] Translation: X:248.71, Y:2.11, Z:1.70 [[ 9.97965299e-01 -6.17253108e-02 -1.59764755e-02 2.48713166e+02] [ 6.17310944e-02 9.98092809e-01 -1.31362221e-04 2.10906035e+00] [ 1.59541137e-02 -8.55150381e-04 9.99872359e-01 1.70031053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96925415399997 meters 0.031114036787314888 Centerline is valid? [True, True] Translation: X:248.74, Y:2.11, Z:1.70 [[ 9.97936713e-01 -6.20049790e-02 -1.66643090e-02 2.48743833e+02] [ 6.20113247e-02 9.98075437e-01 -1.36150570e-04 2.10642922e+00] [ 1.66406795e-02 -8.97506222e-04 9.99861131e-01 1.70090868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99925415399997 meters 0.02542267440039597 Centerline is valid? [True, True] Translation: X:248.78, Y:2.11, Z:1.70 [[ 9.97919903e-01 -6.24918673e-02 -1.58313859e-02 2.48776089e+02] [ 6.24976698e-02 9.98045102e-01 -1.28445335e-04 2.11278060e+00] [ 1.58084639e-02 -8.61246570e-04 9.99874668e-01 1.70093124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02925415399997 meters 0.03153732246166753 Centerline is valid? [True, True] Translation: X:248.81, Y:2.10, Z:1.70 [[ 9.97877855e-01 -6.30560713e-02 -1.62393964e-02 2.48807028e+02] [ 6.30622804e-02 9.98009585e-01 -1.29957418e-04 2.10493119e+00] [ 1.62152679e-02 -8.94411739e-04 9.99868124e-01 1.69962528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05925415399997 meters 0.02874804327848919 Centerline is valid? [True, True] Translation: X:248.84, Y:2.11, Z:1.70 [[ 9.97839649e-01 -6.37170935e-02 -1.60052007e-02 2.48839529e+02] [ 6.37232348e-02 9.97967601e-01 -1.26499469e-04 2.10900947e+00] [ 1.59807319e-02 -8.93676977e-04 9.99871901e-01 1.69959714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08925415399997 meters 0.0293516993099975 Centerline is valid? [True, True] Translation: X:248.87, Y:2.11, Z:1.70 [[ 9.97833770e-01 -6.38106107e-02 -1.59991946e-02 2.48871550e+02] [ 6.38167777e-02 9.97961624e-01 -1.25304297e-04 2.10824344e+00] [ 1.59745780e-02 -8.95984186e-04 9.99871997e-01 1.69921588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11925415399998 meters 0.026147504699834834 Centerline is valid? [True, True] Translation: X:248.90, Y:2.11, Z:1.70 [[ 9.97855223e-01 -6.34614588e-02 -1.60498484e-02 2.48903792e+02] [ 6.34676388e-02 9.97983889e-01 -1.24523661e-04 2.11269647e+00] [ 1.60253925e-02 -8.94389394e-04 9.99871185e-01 1.69949181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14925415399998 meters 0.025686176762273808 Centerline is valid? [True, True] Translation: X:248.94, Y:2.11, Z:1.70 [[ 9.97931444e-01 -6.22388760e-02 -1.60982883e-02 2.48936482e+02] [ 6.22449568e-02 9.98060895e-01 -1.23527297e-04 2.11394794e+00] [ 1.60747602e-02 -8.78765485e-04 9.99870407e-01 1.69831309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17925415399998 meters 0.02740331229352137 Centerline is valid? [True, True] Translation: X:248.97, Y:2.11, Z:1.70 [[ 9.97995481e-01 -6.11099193e-02 -1.64498234e-02 2.48967549e+02] [ 6.11161353e-02 9.98130654e-01 -1.25037017e-04 2.11219026e+00] [ 1.64267140e-02 -8.80563256e-04 9.99864685e-01 1.69741610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.20925415399998 meters 0.025297766417455587 Centerline is valid? [True, True] Translation: X:249.00, Y:2.12, Z:1.70 [[ 9.98084930e-01 -5.95474934e-02 -1.67502051e-02 2.48999913e+02] [ 5.95537379e-02 9.98225093e-01 -1.26196315e-04 2.11672333e+00] [ 1.67279897e-02 -8.71582685e-04 9.99859698e-01 1.69828864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.23925415399998 meters 0.02452641704138244 Centerline is valid? [True, True] Translation: X:249.03, Y:2.12, Z:1.70 [[ 9.98285325e-01 -5.63726398e-02 -1.57649789e-02 2.49029281e+02] [ 5.63777813e-02 9.98409501e-01 -1.18450125e-04 2.11944185e+00] [ 1.57465820e-02 -7.70547509e-04 9.99875718e-01 1.69744778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.26925415399998 meters 0.02339331854918332 Centerline is valid? [True, True] Translation: X:249.06, Y:2.12, Z:1.70 [[ 9.98391833e-01 -5.45919875e-02 -1.52794935e-02 2.49061193e+02] [ 5.45966166e-02 9.98508486e-01 -1.14314768e-04 2.12201553e+00] [ 1.52629446e-02 -7.20077717e-04 9.99883255e-01 1.69815234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.29925415399998 meters 0.024101250995194782 Centerline is valid? [True, True] Translation: X:249.09, Y:2.12, Z:1.70 [[ 9.98537210e-01 -5.23905251e-02 -1.33668957e-02 2.49091410e+02] [ 5.23938784e-02 9.98626493e-01 -9.94420641e-05 2.12227216e+00] [ 1.33537459e-02 -6.01046904e-04 9.99910654e-01 1.69831719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32925415399998 meters 0.022142942180073316 Centerline is valid? [True, True] Translation: X:249.12, Y:2.13, Z:1.70 [[ 9.98580687e-01 -5.16707453e-02 -1.29129871e-02 2.49123959e+02] [ 5.16738219e-02 9.98664011e-01 -9.54964094e-05 2.12589165e+00] [ 1.29006699e-02 -5.71902527e-04 9.99916619e-01 1.69909606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35925415399998 meters 0.023337458960118893 Centerline is valid? [True, True] Translation: X:249.15, Y:2.12, Z:1.70 [[ 9.98559393e-01 -5.21446800e-02 -1.26519176e-02 2.49154926e+02] [ 5.21476873e-02 9.98639379e-01 -9.23069162e-05 2.12481255e+00] [ 1.26395164e-02 -5.67594302e-04 9.99919957e-01 1.69833160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38925415399999 meters 0.02533455558892719 Centerline is valid? [True, True] Translation: X:249.19, Y:2.12, Z:1.70 [[ 9.98396029e-01 -5.51154290e-02 -1.29483266e-02 2.49185495e+02] [ 5.51188416e-02 9.98479797e-01 -9.34259110e-05 2.12241381e+00] [ 1.29337917e-02 -6.20420706e-04 9.99916163e-01 1.69747914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41925415399996 meters 0.02731019329047537 Centerline is valid? [True, True] Translation: X:249.22, Y:2.12, Z:1.70 [[ 9.98268857e-01 -5.72332739e-02 -1.35514577e-02 2.49216107e+02] [ 5.72372115e-02 9.98360602e-01 -9.74095463e-05 2.11975546e+00] [ 1.35348165e-02 -6.78406732e-04 9.99908170e-01 1.69690212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.44925415399996 meters 0.030307582217418527 Centerline is valid? [True, True] Translation: X:249.25, Y:2.12, Z:1.70 [[ 9.97810145e-01 -6.44818467e-02 -1.47311370e-02 2.49246877e+02] [ 6.44872924e-02 9.97918523e-01 -1.05529982e-04 2.11555903e+00] [ 1.47072792e-02 -8.44672252e-04 9.99891485e-01 1.69590508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47925415399996 meters 0.03193071308624247 Centerline is valid? [True, True] Translation: X:249.28, Y:2.11, Z:1.70 [[ 9.97659291e-01 -6.67815046e-02 -1.47027409e-02 2.49276756e+02] [ 6.67871794e-02 9.97767238e-01 -1.05247368e-04 2.11366968e+00] [ 1.46769417e-02 -8.76953576e-04 9.99891903e-01 1.69592801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.50925415399996 meters 0.03193071308624247 Centerline is valid? [True, True] Translation: X:249.31, Y:2.11, Z:1.70 [[ 9.97666378e-01 -6.66755377e-02 -1.47027467e-02 2.49309352e+02] [ 6.66812131e-02 9.97774326e-01 -1.04421757e-04 2.11380649e+00] [ 1.46769856e-02 -8.76218912e-04 9.99891903e-01 1.69615389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53925415399996 meters 0.03193071308624247 Centerline is valid? [True, True] Translation: X:249.34, Y:2.11, Z:1.70 [[ 9.97673455e-01 -6.65695650e-02 -1.47027577e-02 2.49341947e+02] [ 6.65752519e-02 9.97781402e-01 -1.02860196e-04 2.11393949e+00] [ 1.46769855e-02 -8.76218909e-04 9.99891903e-01 1.69637956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.56925415399996 meters 0.03086183291203365 Centerline is valid? [True, True] Translation: X:249.37, Y:2.12, Z:1.70 [[ 9.97461090e-01 -6.98166940e-02 -1.40357642e-02 2.49373411e+02] [ 6.98222101e-02 9.97559447e-01 -9.72331899e-05 2.11657729e+00] [ 1.40082977e-02 -8.83021756e-04 9.99901489e-01 1.69766916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59925415399996 meters 0.03086183291203365 Centerline is valid? [True, True] Translation: X:249.41, Y:2.12, Z:1.70 [[ 9.97468752e-01 -6.97071469e-02 -1.40357713e-02 2.49406015e+02] [ 6.97126668e-02 9.97567108e-01 -9.62010820e-05 2.11670990e+00] [ 1.40083297e-02 -8.82513475e-04 9.99901489e-01 1.69789502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62925415399997 meters 0.032368386679967234 Centerline is valid? [True, True] Translation: X:249.44, Y:2.12, Z:1.70 [[ 9.97359168e-01 -7.13903874e-02 -1.33455426e-02 2.49438545e+02] [ 7.13955436e-02 9.97448078e-01 -9.02820000e-05 2.11648172e+00] [ 1.33179311e-02 -8.62768686e-04 9.99910940e-01 1.69826849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65925415399997 meters 0.0292256211446951 Centerline is valid? [True, True] Translation: X:249.47, Y:2.12, Z:1.70 [[ 9.97340309e-01 -7.16549735e-02 -1.33369078e-02 2.49470545e+02] [ 7.16601595e-02 9.97429102e-01 -8.92393123e-05 2.12197578e+00] [ 1.33090144e-02 -8.66722980e-04 9.99911056e-01 1.69876470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.68925415399997 meters 0.029668979870699972 Centerline is valid? [True, True] Translation: X:249.50, Y:2.12, Z:1.70 [[ 9.97330290e-01 -7.16317424e-02 -1.41839860e-02 2.49502614e+02] [ 7.16376215e-02 9.97430721e-01 -9.38085113e-05 2.12416675e+00] [ 1.41542630e-02 -9.22548947e-04 9.99899398e-01 1.69828061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.71925415399997 meters 0.0341456101080354 Centerline is valid? [True, True] Translation: X:249.53, Y:2.12, Z:1.70 [[ 9.97335568e-01 -7.15029772e-02 -1.44598978e-02 2.49534644e+02] [ 7.15090916e-02 9.97439944e-01 -9.44009070e-05 2.11955074e+00] [ 1.44296296e-02 -9.39864772e-04 9.99895446e-01 1.69754659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.74925415399997 meters 0.029928988449403015 Centerline is valid? [True, True] Translation: X:249.57, Y:2.13, Z:1.70 [[ 9.97325959e-01 -7.15910193e-02 -1.46852986e-02 2.49566690e+02] [ 7.15973535e-02 9.97433612e-01 -9.46364832e-05 2.12654230e+00] [ 1.46543855e-02 -9.57045091e-04 9.99892161e-01 1.69844838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.77925415399997 meters 0.032004975645474075 Centerline is valid? [True, True] Translation: X:249.60, Y:2.13, Z:1.70 [[ 9.97311289e-01 -7.17595211e-02 -1.48581014e-02 2.49598343e+02] [ 7.17660482e-02 9.97421488e-01 -9.41057266e-05 2.12569448e+00] [ 1.48265426e-02 -9.72454521e-04 9.99889608e-01 1.69762465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.80925415399997 meters 0.032671408948364705 Centerline is valid? [True, True] Translation: X:249.63, Y:2.13, Z:1.70 [[ 9.97289053e-01 -7.20979932e-02 -1.47113500e-02 2.49630452e+02] [ 7.21044512e-02 9.97397082e-01 -9.16414581e-05 2.12586162e+00] [ 1.46796647e-02 -9.69360796e-04 9.99891778e-01 1.69798343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.83925415399997 meters 0.031196459683310633 Centerline is valid? [True, True] Translation: X:249.66, Y:2.13, Z:1.70 [[ 9.97273822e-01 -7.23567246e-02 -1.44716536e-02 2.49662361e+02] [ 7.23630162e-02 9.97378356e-01 -8.90951061e-05 2.12849106e+00] [ 1.44401607e-02 -9.58360284e-04 9.99895276e-01 1.69861217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.86925415399998 meters 0.030750030484257847 Centerline is valid? [True, True] Translation: X:249.69, Y:2.13, Z:1.70 [[ 9.97255993e-01 -7.26212021e-02 -1.43751618e-02 2.49694219e+02] [ 7.26274526e-02 9.97359136e-01 -8.74363821e-05 2.12989177e+00] [ 1.43435487e-02 -9.56834927e-04 9.99896668e-01 1.69905148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.89925415399998 meters 0.033848725984694565 Centerline is valid? [True, True] Translation: X:249.72, Y:2.13, Z:1.70 [[ 9.97221178e-01 -7.30910253e-02 -1.44091858e-02 2.49724916e+02] [ 7.30973658e-02 9.97324805e-01 -8.68483489e-05 2.12667911e+00] [ 1.43769863e-02 -9.66666514e-04 9.99896179e-01 1.69886978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.92925415399998 meters 0.03461736967390894 Centerline is valid? [True, True] Translation: X:249.76, Y:2.13, Z:1.70 [[ 9.97106277e-01 -7.45280364e-02 -1.49881396e-02 2.49756702e+02] [ 7.45350765e-02 9.97218389e-01 -8.91209695e-05 2.12694564e+00] [ 1.49530905e-02 -1.02827906e-03 9.99887668e-01 1.69815640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.95925415399998 meters 0.03573591325578545 Centerline is valid? [True, True] Translation: X:249.79, Y:2.13, Z:1.70 [[ 9.97046471e-01 -7.51978389e-02 -1.56083112e-02 2.49788733e+02] [ 7.52055783e-02 9.97168046e-01 -9.13384636e-05 2.12573512e+00] [ 1.55709776e-02 -1.08276337e-03 9.99878179e-01 1.69770374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.98925415399998 meters 0.032260197647448786 Centerline is valid? [True, True] Translation: X:249.82, Y:2.13, Z:1.70 [[ 9.96901384e-01 -7.67880566e-02 -1.70652891e-02 2.49820161e+02] [ 7.67975561e-02 9.97046702e-01 -9.89464690e-05 2.13048214e+00] [ 1.70224881e-02 -1.21193263e-03 9.99854372e-01 1.69741565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.01925415399998 meters 0.03501676518839895 Centerline is valid? [True, True] Translation: X:249.85, Y:2.13, Z:1.70 [[ 9.96829353e-01 -7.74700216e-02 -1.81559004e-02 2.49851299e+02] [ 7.74809032e-02 9.96993831e-01 -1.04372329e-04 2.12714986e+00] [ 1.81094065e-02 -1.30269416e-03 9.99835163e-01 1.69639806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.04925415399998 meters 0.03530949060364031 Centerline is valid? [True, True] Translation: X:249.88, Y:2.13, Z:1.70 [[ 9.96757042e-01 -7.81965586e-02 -1.89920451e-02 2.49883195e+02] [ 7.82086213e-02 9.96937009e-01 -1.07897247e-04 2.12748227e+00] [ 1.89423099e-02 -1.37779433e-03 9.99819629e-01 1.69630882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07925415399998 meters 0.03575104811155094 Centerline is valid? [True, True] Translation: X:249.92, Y:2.13, Z:1.70 [[ 9.96719002e-01 -7.85248825e-02 -1.96233215e-02 2.49915799e+02] [ 7.85378523e-02 9.96911126e-01 -1.10039854e-04 2.12746232e+00] [ 1.95713484e-02 -1.43149471e-03 9.99807438e-01 1.69576498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10925415399998 meters 0.03893123838949384 Centerline is valid? [True, True] Translation: X:249.95, Y:2.12, Z:1.69 [[ 9.96713151e-01 -7.85000047e-02 -2.00161073e-02 2.49947251e+02] [ 7.85135185e-02 9.96913043e-01 -1.11021499e-04 2.12385303e+00] [ 1.99630336e-02 -1.46087842e-03 9.99799651e-01 1.69478331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13925415399999 meters 0.0368657268504084 Centerline is valid? [True, True] Translation: X:249.98, Y:2.13, Z:1.70 [[ 9.96784725e-01 -7.75714400e-02 -2.00719402e-02 2.49980020e+02] [ 7.75848731e-02 9.96985745e-01 -1.09780318e-04 2.12801109e+00] [ 2.00199541e-02 -1.44785159e-03 9.99798532e-01 1.69532580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16925415399996 meters 0.03467344572702773 Centerline is valid? [True, True] Translation: X:250.01, Y:2.13, Z:1.70 [[ 9.96945201e-01 -7.56184784e-02 -1.95476622e-02 2.50011575e+02] [ 7.56308703e-02 9.97135879e-01 -1.05621370e-04 2.13197110e+00] [ 1.94996623e-02 -1.37310799e-03 9.99808921e-01 1.69642639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19925415399996 meters 0.03455920587653114 Centerline is valid? [True, True] Translation: X:250.04, Y:2.13, Z:1.70 [[ 9.97136169e-01 -7.32188294e-02 -1.89331527e-02 2.50041790e+02] [ 7.32300306e-02 9.97315072e-01 -1.01935024e-04 2.13373557e+00] [ 1.88897821e-02 -1.28483225e-03 9.99820747e-01 1.69718090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.22925415399996 meters 0.03220519925123355 Centerline is valid? [True, True] Translation: X:250.07, Y:2.14, Z:1.70 [[ 9.97715356e-01 -6.53068885e-02 -1.72939129e-02 2.50071122e+02] [ 6.53150471e-02 9.97864688e-01 -9.32416937e-05 2.14036705e+00] [ 1.72630743e-02 -1.03652407e-03 9.99850445e-01 1.69829084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25925415399996 meters 0.029062217419105144 Centerline is valid? [True, True] Translation: X:250.10, Y:2.15, Z:1.70 [[ 9.98064758e-01 -5.99943868e-02 -1.63527213e-02 2.50101432e+02] [ 6.00009691e-02 9.98198315e-01 -8.82489818e-05 2.14646347e+00] [ 1.63285533e-02 -8.93100925e-04 9.99866281e-01 1.69967177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.28925415399996 meters 0.02437752915043442 Centerline is valid? [True, True] Translation: X:250.13, Y:2.16, Z:1.70 [[ 9.98424288e-01 -5.40010719e-02 -1.52585842e-02 2.50132381e+02] [ 5.40061044e-02 9.98540602e-01 -8.23467931e-05 2.15523499e+00] [ 1.52407627e-02 -7.41839656e-04 9.99883578e-01 1.70121835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31925415399996 meters 0.020106870681720145 Centerline is valid? [True, True] Translation: X:250.16, Y:2.17, Z:1.70 [[ 9.99055068e-01 -4.13948611e-02 -1.32452163e-02 2.50161444e+02] [ 4.13975452e-02 9.99142752e-01 -7.15762931e-05 2.16606447e+00] [ 1.32368248e-02 -4.76810784e-04 9.99912276e-01 1.70304685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34925415399996 meters 0.01734446404318156 Centerline is valid? [True, True] Translation: X:250.19, Y:2.17, Z:1.70 [[ 9.99511217e-01 -2.91224068e-02 -1.13672044e-02 2.50191188e+02] [ 2.91235893e-02 9.99575816e-01 -6.15204508e-05 2.17402275e+00] [ 1.13641743e-02 -2.69563413e-04 9.99935389e-01 1.70414251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37925415399997 meters 0.01424356439501994 Centerline is valid? [True, True] Translation: X:250.22, Y:2.18, Z:1.71 [[ 9.99667686e-01 -2.34995419e-02 -1.05966943e-02 2.50222248e+02] [ 2.35002551e-02 9.99723829e-01 -5.72256864e-05 2.18152464e+00] [ 1.05951126e-02 -1.91818349e-04 9.99943852e-01 1.70504715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40925415399997 meters 0.01424356439501994 Centerline is valid? [True, True] Translation: X:250.25, Y:2.18, Z:1.71 [[ 9.99669382e-01 -2.34272742e-02 -1.05966971e-02 2.50253949e+02] [ 2.34279888e-02 9.99725525e-01 -5.67092924e-05 2.18163465e+00] [ 1.05951171e-02 -1.91568756e-04 9.99943852e-01 1.70526674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.43925415399997 meters 0.012710131625768213 Centerline is valid? [True, True] Translation: X:250.28, Y:2.19, Z:1.71 [[ 9.99845828e-01 -1.41319705e-02 -1.04215315e-02 2.50284931e+02] [ 1.41321632e-02 9.99900134e-01 -5.51535644e-05 2.18860025e+00] [ 1.04212701e-02 -9.21337220e-05 9.99945693e-01 1.70559508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.46925415399997 meters 0.012659098612701557 Centerline is valid? [True, True] Translation: X:250.32, Y:2.19, Z:1.71 [[ 9.99887479e-01 -1.07109412e-02 -1.05026222e-02 2.50315740e+02] [ 1.07109508e-02 9.99942635e-01 -5.53314429e-05 2.19152984e+00] [ 1.05026124e-02 -5.71678525e-05 9.99944844e-01 1.70553878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.49925415399997 meters 0.012488486674550553 Centerline is valid? [True, True] Translation: X:250.35, Y:2.19, Z:1.71 [[ 9.99912300e-01 -7.91287339e-03 -1.06196987e-02 2.50345573e+02] [ 7.91272408e-03 9.99968692e-01 -5.60776076e-05 2.19386721e+00] [ 1.06198099e-02 -2.79580556e-05 9.99943608e-01 1.70548298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.52925415399997 meters 0.012488486674550553 Centerline is valid? [True, True] Translation: X:250.37, Y:2.19, Z:1.71 [[ 9.99910324e-01 -8.15881796e-03 -1.06196924e-02 2.50373801e+02] [ 8.15867029e-03 9.99966716e-01 -5.72281738e-05 2.19406834e+00] [ 1.06198059e-02 -2.94195274e-05 9.99943608e-01 1.70567868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.55925415399997 meters 0.012533781947402461 Centerline is valid? [True, True] Translation: X:250.40, Y:2.20, Z:1.71 [[ 9.99926963e-01 -4.84348528e-03 -1.10729156e-02 2.50402264e+02] [ 4.84309052e-03 9.99988270e-01 -6.24650636e-05 2.19708074e+00] [ 1.10730883e-02 8.83336860e-06 9.99938691e-01 1.70543075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.58925415399997 meters 0.012523825151348006 Centerline is valid? [True, True] Translation: X:250.43, Y:2.20, Z:1.71 [[ 9.99929619e-01 -4.22772234e-03 -1.10852578e-02 2.50429519e+02] [ 4.22726111e-03 9.99991063e-01 -6.50384881e-05 2.19778012e+00] [ 1.10854337e-02 1.81736314e-05 9.99938555e-01 1.70514811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.61925415399998 meters 0.012491105974737739 Centerline is valid? [True, True] Translation: X:250.46, Y:2.20, Z:1.71 [[ 9.99926873e-01 -4.41825773e-03 -1.12573709e-02 2.50456961e+02] [ 4.41776518e-03 9.99990239e-01 -6.86199899e-05 2.19810479e+00] [ 1.12575642e-02 1.88825507e-05 9.99936631e-01 1.70514878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.64925415399998 meters 0.012626493856741517 Centerline is valid? [True, True] Translation: X:250.48, Y:2.20, Z:1.70 [[ 9.99920365e-01 -5.89697380e-03 -1.11574353e-02 2.50484558e+02] [ 5.89655544e-03 9.99982613e-01 -7.03917025e-05 2.19727457e+00] [ 1.11576564e-02 4.59566089e-06 9.99937751e-01 1.70498286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.67925415399998 meters 0.012662839421898341 Centerline is valid? [True, True] Translation: X:250.51, Y:2.20, Z:1.71 [[ 9.99907395e-01 -7.62937582e-03 -1.12691915e-02 2.50512719e+02] [ 7.62904546e-03 9.99970896e-01 -7.23033615e-05 2.19628222e+00] [ 1.12694152e-02 -1.36765087e-05 9.99936498e-01 1.70520012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.70925415399998 meters 0.012719729567048189 Centerline is valid? [True, True] Translation: X:250.54, Y:2.19, Z:1.71 [[ 9.99891613e-01 -9.77738195e-03 -1.10074768e-02 2.50541123e+02] [ 9.77718585e-03 9.99952200e-01 -7.16285802e-05 2.19464723e+00] [ 1.10076510e-02 -3.60013299e-05 9.99939413e-01 1.70517708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.73925415399998 meters 0.013328309029893574 Centerline is valid? [True, True] Translation: X:250.57, Y:2.19, Z:1.71 [[ 9.99829549e-01 -1.51814470e-02 -1.05069880e-02 2.50569842e+02] [ 1.51815598e-02 9.99884751e-01 -6.90243371e-05 2.18975172e+00] [ 1.05068250e-02 -9.04998959e-05 9.99944798e-01 1.70539869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.76925415399998 meters 0.014026379695250222 Centerline is valid? [True, True] Translation: X:250.60, Y:2.19, Z:1.71 [[ 9.99773090e-01 -1.85312084e-02 -1.05053542e-02 2.50600687e+02] [ 1.85315042e-02 9.99828275e-01 -6.91911287e-05 2.18660900e+00] [ 1.05048323e-02 -1.25504586e-04 9.99944815e-01 1.70535274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.79925415399998 meters 0.015113903298908339 Centerline is valid? [True, True] Translation: X:250.63, Y:2.18, Z:1.71 [[ 9.99699542e-01 -2.20840719e-02 -1.06357264e-02 2.50632214e+02] [ 2.20845820e-02 9.99756103e-01 -6.94943178e-05 2.18255590e+00] [ 1.06346671e-02 -1.65412135e-04 9.99943437e-01 1.70502821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82925415399998 meters 0.015246799317580585 Centerline is valid? [True, True] Translation: X:250.66, Y:2.18, Z:1.71 [[ 9.99605864e-01 -2.59737922e-02 -1.06526349e-02 2.50664282e+02] [ 2.59745314e-02 9.99662603e-01 -6.89763635e-05 2.18103116e+00] [ 1.06508323e-02 -2.07748023e-04 9.99943257e-01 1.70554408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85925415399998 meters 0.016077181871211287 Centerline is valid? [True, True] Translation: X:250.70, Y:2.18, Z:1.71 [[ 9.99498848e-01 -2.99033744e-02 -1.03846372e-02 2.50696434e+02] [ 2.99042966e-02 9.99552764e-01 -6.64977723e-05 2.17762313e+00] [ 1.03819813e-02 -2.44080824e-04 9.99946076e-01 1.70583430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88925415399999 meters 0.018882989202071113 Centerline is valid? [True, True] Translation: X:250.73, Y:2.17, Z:1.71 [[ 9.99249245e-01 -3.75316221e-02 -9.60856562e-03 2.50726316e+02] [ 3.75327684e-02 9.99295396e-01 -6.10592771e-05 2.16892982e+00] [ 9.60408704e-03 -2.99622632e-04 9.99953835e-01 1.70635854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91925415399996 meters 0.020766147245763807 Centerline is valid? [True, True] Translation: X:250.76, Y:2.16, Z:1.71 [[ 9.99112761e-01 -4.10498625e-02 -9.41270298e-03 2.50756983e+02] [ 4.10511193e-02 9.99157046e-01 -5.97278688e-05 2.16416794e+00] [ 9.40722033e-03 -3.26727117e-04 9.99955698e-01 1.70643235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.94925415399996 meters 0.021404885190039837 Centerline is valid? [True, True] Translation: X:250.79, Y:2.16, Z:1.71 [[ 9.98997187e-01 -4.38353021e-02 -9.11519861e-03 2.50788932e+02] [ 4.38366000e-02 9.99038713e-01 -5.74488710e-05 2.16077497e+00] [ 9.10895457e-03 -3.42188055e-04 9.99958454e-01 1.70667071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97925415399996 meters 0.021354496814252402 Centerline is valid? [True, True] Translation: X:250.82, Y:2.16, Z:1.71 [[ 9.98803298e-01 -4.81167347e-02 -8.76075498e-03 2.50819829e+02] [ 4.81181025e-02 9.98841652e-01 -5.47035951e-05 2.15721820e+00] [ 8.75323914e-03 -3.66912775e-04 9.99961622e-01 1.70720826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.00925415399996 meters 0.023508208980973694 Centerline is valid? [True, True] Translation: X:250.85, Y:2.15, Z:1.71 [[ 9.98771119e-01 -4.87678584e-02 -8.82876709e-03 2.50851361e+02] [ 4.87692765e-02 9.98810069e-01 -5.47356085e-05 2.15270975e+00] [ 8.82093081e-03 -3.75904238e-04 9.99961024e-01 1.70730536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03925415399996 meters 0.02269751855627079 Centerline is valid? [True, True] Translation: X:250.88, Y:2.15, Z:1.71 [[ 9.98761409e-01 -4.89028321e-02 -9.17393110e-03 2.50883491e+02] [ 4.89043795e-02 9.98803463e-01 -5.57122185e-05 2.15285578e+00] [ 9.16567864e-03 -3.93002194e-04 9.99957917e-01 1.70728628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.06925415399996 meters 0.02239397841012264 Centerline is valid? [True, True] Translation: X:250.92, Y:2.15, Z:1.71 [[ 9.98810949e-01 -4.78022447e-02 -9.57253327e-03 2.50915418e+02] [ 4.78038859e-02 9.98856739e-01 -5.74137943e-05 2.15191098e+00] [ 9.56433388e-03 -4.00258762e-04 9.99954181e-01 1.70687714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09925415399996 meters 0.020662030389506123 Centerline is valid? [True, True] Translation: X:250.95, Y:2.15, Z:1.71 [[ 9.98967317e-01 -4.42409670e-02 -1.03458418e-02 2.50946902e+02] [ 4.42427003e-02 9.99020810e-01 -6.13813193e-05 2.15179526e+00] [ 1.03384268e-02 -3.96410047e-04 9.99946478e-01 1.70544619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12925415399997 meters 0.020193659433877575 Centerline is valid? [True, True] Translation: X:250.98, Y:2.15, Z:1.70 [[ 9.99063990e-01 -4.19072570e-02 -1.07203423e-02 2.50979352e+02] [ 4.19089897e-02 9.99121430e-01 -6.30634117e-05 2.15167316e+00] [ 1.07135665e-02 -3.86274331e-04 9.99942533e-01 1.70490581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15925415399997 meters 0.019043909658307417 Centerline is valid? [True, True] Translation: X:251.01, Y:2.15, Z:1.70 [[ 9.99164593e-01 -3.91402252e-02 -1.17541278e-02 2.51011232e+02] [ 3.91421266e-02 9.99233651e-01 -6.83271935e-05 2.15293152e+00] [ 1.17477944e-02 -3.91811447e-04 9.99930916e-01 1.70464996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.18925415399997 meters 0.0172538126210053 Centerline is valid? [True, True] Translation: X:251.04, Y:2.16, Z:1.70 [[ 9.99358619e-01 -3.34499162e-02 -1.27849280e-02 2.51042445e+02] [ 3.34517085e-02 9.99440332e-01 -7.36919497e-05 2.15518802e+00] [ 1.27802377e-02 -3.54032999e-04 9.99918267e-01 1.70404698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.21925415399997 meters 0.016924487846129738 Centerline is valid? [True, True] Translation: X:251.07, Y:2.16, Z:1.70 [[ 9.99444271e-01 -3.05151289e-02 -1.34154992e-02 2.51073724e+02] [ 3.05168465e-02 9.99534250e-01 -7.67081470e-05 2.15547804e+00] [ 1.34115917e-02 -3.32733211e-04 9.99910005e-01 1.70364463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.24925415399997 meters 0.015744773662635606 Centerline is valid? [True, True] Translation: X:251.11, Y:2.16, Z:1.70 [[ 9.99526361e-01 -2.77285799e-02 -1.33483660e-02 2.51105523e+02] [ 2.77300410e-02 9.99615446e-01 -7.56486013e-05 2.15767232e+00] [ 1.33453305e-02 -2.94537966e-04 9.99910904e-01 1.70396056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.27925415399997 meters 0.015585049143843788 Centerline is valid? [True, True] Translation: X:251.14, Y:2.16, Z:1.70 [[ 9.99576067e-01 -2.54995921e-02 -1.40519207e-02 2.51136228e+02] [ 2.55009978e-02 9.99674794e-01 -7.91675624e-05 2.15810225e+00] [ 1.40493696e-02 -2.79203997e-04 9.99901264e-01 1.70385819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.30925415399997 meters 0.015724549716191877 Centerline is valid? [True, True] Translation: X:251.17, Y:2.16, Z:1.70 [[ 9.99652940e-01 -2.20040503e-02 -1.44852126e-02 2.51167200e+02] [ 2.20051810e-02 9.99757853e-01 -8.13407160e-05 2.15869082e+00] [ 1.44834949e-02 -2.37437238e-04 9.99895080e-01 1.70344719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.33925415399997 meters 0.01501632997644345 Centerline is valid? [True, True] Translation: X:251.20, Y:2.16, Z:1.70 [[ 9.99655022e-01 -2.16340581e-02 -1.48930727e-02 2.51196329e+02] [ 2.16352142e-02 9.99765928e-01 -8.35017589e-05 2.15737393e+00] [ 1.48913931e-02 -2.38741865e-04 9.99889089e-01 1.70331668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.36925415399998 meters 0.01480775306751786 Centerline is valid? [True, True] Translation: X:251.23, Y:2.16, Z:1.70 [[ 9.99660070e-01 -2.14750910e-02 -1.47839252e-02 2.51226964e+02] [ 2.14762128e-02 9.99769356e-01 -8.28905179e-05 2.15630075e+00] [ 1.47822954e-02 -2.34640382e-04 9.99890708e-01 1.70414263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.39925415399998 meters 0.01504343269581981 Centerline is valid? [True, True] Translation: X:251.26, Y:2.16, Z:1.70 [[ 9.99647942e-01 -2.23333531e-02 -1.43252530e-02 2.51257122e+02] [ 2.23344945e-02 9.99750551e-01 -8.03188347e-05 2.15511227e+00] [ 1.43234734e-02 -2.39656726e-04 9.99897385e-01 1.70487292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.42925415399998 meters 0.015240555310930303 Centerline is valid? [True, True] Translation: X:251.29, Y:2.15, Z:1.71 [[ 9.99627937e-01 -2.35119483e-02 -1.38266446e-02 2.51287175e+02] [ 2.35131243e-02 9.99723525e-01 -7.75232370e-05 2.15330345e+00] [ 1.38246446e-02 -2.47613221e-04 9.99904404e-01 1.70569560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.45925415399998 meters 0.015993933487915786 Centerline is valid? [True, True] Translation: X:251.32, Y:2.15, Z:1.71 [[ 9.99594450e-01 -2.54300605e-02 -1.28159375e-02 2.51317159e+02] [ 2.54312323e-02 9.99676571e-01 -7.15522022e-05 2.15071784e+00] [ 1.28136121e-02 -2.54401900e-04 9.99917870e-01 1.70665679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.48925415399998 meters 0.016294827608909296 Centerline is valid? [True, True] Translation: X:251.35, Y:2.15, Z:1.71 [[ 9.99532573e-01 -2.80556013e-02 -1.21457254e-02 2.51348874e+02] [ 2.80568539e-02 9.99606327e-01 -6.72840158e-05 2.14865447e+00] [ 1.21428316e-02 -2.73518276e-04 9.99926236e-01 1.70744679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.51925415399998 meters 0.02051737521719234 Centerline is valid? [True, True] Translation: X:251.38, Y:2.14, Z:1.71 [[ 9.99314530e-01 -3.50620342e-02 -1.18795976e-02 2.51378663e+02] [ 3.50637300e-02 9.99385076e-01 -6.55667950e-05 2.13879726e+00] [ 1.18745915e-02 -3.51021153e-04 9.99929433e-01 1.70708332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.54925415399998 meters 0.021051929497714467 Centerline is valid? [True, True] Translation: X:251.41, Y:2.13, Z:1.71 [[ 9.99123382e-01 -4.00342747e-02 -1.22361606e-02 2.51409535e+02] [ 4.00364474e-02 9.99198218e-01 -6.74416781e-05 2.13499875e+00] [ 1.22290498e-02 -4.22509841e-04 9.99925133e-01 1.70776456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57925415399998 meters 0.02307020188236892 Centerline is valid? [True, True] Translation: X:251.44, Y:2.13, Z:1.71 [[ 9.98918126e-01 -4.47803226e-02 -1.25419261e-02 2.51441024e+02] [ 4.47829827e-02 9.98996737e-01 -6.88055193e-05 2.13026086e+00] [ 1.25324244e-02 -4.92933780e-04 9.99921345e-01 1.70788817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60925415399998 meters 0.024352375219126487 Centerline is valid? [True, True] Translation: X:251.47, Y:2.13, Z:1.71 [[ 9.98419931e-01 -5.44896396e-02 -1.37302784e-02 2.51472498e+02] [ 5.44937502e-02 9.98514109e-01 -7.48428223e-05 2.12566212e+00] [ 1.37139549e-02 -6.73489795e-04 9.99905732e-01 1.70794888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63925415399999 meters 0.025237919359837237 Centerline is valid? [True, True] Translation: X:251.50, Y:2.12, Z:1.71 [[ 9.98159952e-01 -5.89604347e-02 -1.41554746e-02 2.51503456e+02] [ 5.89652572e-02 9.98260033e-01 -7.68012988e-05 2.12314490e+00] [ 1.41353728e-02 -7.58021221e-04 9.99899803e-01 1.70824629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66925415399996 meters 0.027552401456456703 Centerline is valid? [True, True] Translation: X:251.53, Y:2.12, Z:1.71 [[ 9.97895449e-01 -6.33135589e-02 -1.40023610e-02 2.51533142e+02] [ 6.33187054e-02 9.97993355e-01 -7.59253971e-05 2.11844654e+00] [ 1.39790703e-02 -8.10845760e-04 9.99901959e-01 1.70812566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69925415399996 meters 0.03754680496307581 Centerline is valid? [True, True] Translation: X:251.56, Y:2.10, Z:1.71 [[ 9.97678947e-01 -6.66090988e-02 -1.41402820e-02 2.51562853e+02] [ 6.66146757e-02 9.97778773e-01 -7.67527746e-05 2.10352118e+00] [ 1.41139856e-02 -8.65375672e-04 9.99900018e-01 1.70687438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.72925415399996 meters 0.03208664506726856 Centerline is valid? [True, True] Translation: X:251.59, Y:2.11, Z:1.71 [[ 9.97359653e-01 -7.11343907e-02 -1.46157990e-02 2.51593156e+02] [ 7.11408333e-02 9.97466278e-01 -7.93081550e-05 2.10876126e+00] [ 1.45844082e-02 -9.60681366e-04 9.99893180e-01 1.70795393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75925415399996 meters 0.03230263555602684 Centerline is valid? [True, True] Translation: X:251.62, Y:2.11, Z:1.71 [[ 9.97291260e-01 -7.21121314e-02 -1.44907696e-02 2.51624964e+02] [ 7.21185733e-02 9.97396062e-01 -7.81894349e-05 2.10791363e+00] [ 1.44586749e-02 -9.67075988e-04 9.99895000e-01 1.70810779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.78925415399996 meters 0.03318079719632054 Centerline is valid? [True, True] Translation: X:251.66, Y:2.11, Z:1.71 [[ 9.97277777e-01 -7.22372421e-02 -1.47924719e-02 2.51656503e+02] [ 7.22439809e-02 9.97386987e-01 -7.89964519e-05 2.10706399e+00] [ 1.47595255e-02 -9.89885652e-04 9.99890582e-01 1.70836024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81925415399996 meters 0.03474287215520416 Centerline is valid? [True, True] Translation: X:251.69, Y:2.11, Z:1.71 [[ 9.97344510e-01 -7.12574801e-02 -1.50432392e-02 2.51687758e+02] [ 7.12643618e-02 9.97457460e-01 -7.87775600e-05 2.10575367e+00] [ 1.50106047e-02 -9.93478476e-04 9.99886841e-01 1.70851870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84925415399996 meters 0.035092589295302165 Centerline is valid? [True, True] Translation: X:251.72, Y:2.11, Z:1.71 [[ 9.97422928e-01 -7.00834717e-02 -1.53560718e-02 2.51718605e+02] [ 7.00905267e-02 9.97540632e-01 -7.89465863e-05 2.10640199e+00] [ 1.53238385e-02 -9.97572028e-04 9.99882085e-01 1.70862020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87925415399997 meters 0.031782823426655116 Centerline is valid? [True, True] Translation: X:251.75, Y:2.11, Z:1.71 [[ 9.97518036e-01 -6.86763941e-02 -1.55345152e-02 2.51751163e+02] [ 6.86834619e-02 9.97638500e-01 -7.87153839e-05 2.11174021e+00] [ 1.55032363e-02 -9.88444266e-04 9.99879329e-01 1.70929765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90925415399997 meters 0.03061931718416061 Centerline is valid? [True, True] Translation: X:251.78, Y:2.11, Z:1.71 [[ 9.97733176e-01 -6.54886788e-02 -1.54836494e-02 2.51782435e+02] [ 6.54953300e-02 9.97852873e-01 -7.76801199e-05 2.11495160e+00] [ 1.54554912e-02 -9.36602691e-04 9.99880118e-01 1.70992866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.93925415399997 meters 0.030545741328321763 Centerline is valid? [True, True] Translation: X:251.81, Y:2.12, Z:1.71 [[ 9.97840810e-01 -6.39556801e-02 -1.49461682e-02 2.51813702e+02] [ 6.39617121e-02 9.97952350e-01 -7.45734617e-05 2.11611766e+00] [ 1.49203331e-02 -8.81570063e-04 9.99888297e-01 1.71039954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.96925415399997 meters 0.03032465656246174 Centerline is valid? [True, True] Translation: X:251.84, Y:2.12, Z:1.71 [[ 9.97948531e-01 -6.23049532e-02 -1.47248964e-02 2.51843824e+02] [ 6.23106345e-02 9.98056802e-01 -7.30839041e-05 2.11758261e+00] [ 1.47008365e-02 -8.44583660e-04 9.99891580e-01 1.71096466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.99925415399997 meters 0.030248621076539615 Centerline is valid? [True, True] Translation: X:251.88, Y:2.12, Z:1.71 [[ 9.98052965e-01 -6.07454169e-02 -1.41517804e-02 2.51875192e+02] [ 6.07505135e-02 9.98152979e-01 -6.98640456e-05 2.11921575e+00] [ 1.41298857e-02 -7.89999910e-04 9.99899856e-01 1.71194086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.02925415399997 meters 0.0292282746367146 Centerline is valid? [True, True] Translation: X:251.91, Y:2.12, Z:1.71 [[ 9.98146842e-01 -5.92058052e-02 -1.40554015e-02 2.51907724e+02] [ 5.92106956e-02 9.98245505e-01 -6.83060369e-05 2.12181842e+00] [ 1.40347855e-02 -7.64050644e-04 9.99901216e-01 1.71252735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.05925415399997 meters 0.028548626423620473 Centerline is valid? [True, True] Translation: X:251.94, Y:2.13, Z:1.71 [[ 9.98319965e-01 -5.62420471e-02 -1.39312283e-02 2.51939440e+02] [ 5.62465821e-02 9.98416906e-01 -6.63788899e-05 2.12505598e+00] [ 1.39129072e-02 -7.17316608e-04 9.99902954e-01 1.71303803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.08925415399997 meters 0.02831423822387453 Centerline is valid? [True, True] Translation: X:251.97, Y:2.13, Z:1.71 [[ 9.98415982e-01 -5.44704404e-02 -1.40889477e-02 2.51971315e+02] [ 5.44749154e-02 9.98515137e-01 -6.62327279e-05 2.12740776e+00] [ 1.40716352e-02 -7.01366418e-04 9.99900744e-01 1.71246024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.11925415399998 meters 0.02500172118002467 Centerline is valid? [True, True] Translation: X:252.00, Y:2.13, Z:1.71 [[ 9.98490923e-01 -5.30493147e-02 -1.42002161e-02 2.52003085e+02] [ 5.30537300e-02 9.98591657e-01 -6.58547342e-05 2.13207756e+00] [ 1.41837109e-02 -6.87619078e-04 9.99899170e-01 1.71343225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.14925415399998 meters 0.02291272093696892 Centerline is valid? [True, True] Translation: X:252.04, Y:2.14, Z:1.71 [[ 9.98583923e-01 -5.11991124e-02 -1.44499012e-02 2.52035194e+02] [ 5.12035067e-02 9.98688238e-01 -6.59376090e-05 2.13636795e+00] [ 1.44343223e-02 -6.74041375e-04 9.99895593e-01 1.71383807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.17925415399998 meters 0.022092347856886692 Centerline is valid? [True, True] Translation: X:252.07, Y:2.14, Z:1.71 [[ 9.98759001e-01 -4.73478437e-02 -1.54479576e-02 2.52066350e+02] [ 4.73524197e-02 9.98878243e-01 -6.96232668e-05 2.13968807e+00] [ 1.54339252e-02 -6.61961306e-04 9.99880671e-01 1.71351744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.20925415399998 meters 0.021837952859791558 Centerline is valid? [True, True] Translation: X:252.10, Y:2.14, Z:1.71 [[ 9.98851012e-01 -4.51294325e-02 -1.61241914e-02 2.52096743e+02] [ 4.51341365e-02 9.98980933e-01 -7.22347048e-05 2.14103988e+00] [ 1.61110197e-02 -6.55599747e-04 9.99869994e-01 1.71329933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.23925415399998 meters 0.021259022118967776 Centerline is valid? [True, True] Translation: X:252.13, Y:2.14, Z:1.71 [[ 9.98942542e-01 -4.28354164e-02 -1.67010673e-02 2.52128249e+02] [ 4.28401511e-02 9.99081937e-01 -7.43300276e-05 2.14368448e+00] [ 1.66889186e-02 -6.41224819e-04 9.99860525e-01 1.71336091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.26925415399998 meters 0.02065262775462707 Centerline is valid? [True, True] Translation: X:252.16, Y:2.15, Z:1.71 [[ 9.99143925e-01 -3.79566529e-02 -1.64532800e-02 2.52158627e+02] [ 3.79605915e-02 9.99279234e-01 -7.29774482e-05 2.14961533e+00] [ 1.64441910e-02 -5.51661264e-04 9.99864633e-01 1.71361872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.29925415399998 meters 0.018591650886017975 Centerline is valid? [True, True] Translation: X:252.19, Y:2.15, Z:1.71 [[ 9.99225848e-01 -3.59873676e-02 -1.58938058e-02 2.52189757e+02] [ 3.59907992e-02 9.99352119e-01 -7.01674424e-05 2.15212053e+00] [ 1.58860336e-02 -5.01917650e-04 9.99873683e-01 1.71489170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32925415399998 meters 0.018428984423461553 Centerline is valid? [True, True] Translation: X:252.22, Y:2.15, Z:1.72 [[ 9.99305452e-01 -3.38367998e-02 -1.56104160e-02 2.52220566e+02] [ 3.38398567e-02 9.99427266e-01 -6.83516282e-05 2.15365261e+00] [ 1.56037882e-02 -4.59950087e-04 9.99878148e-01 1.71531921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35925415399998 meters 0.016968016797616867 Centerline is valid? [True, True] Translation: X:252.25, Y:2.16, Z:1.72 [[ 9.99390553e-01 -3.14977453e-02 -1.50470803e-02 2.52251601e+02] [ 3.15003288e-02 9.99503739e-01 -6.53408115e-05 2.15729933e+00] [ 1.50416711e-02 -4.08686987e-04 9.99886784e-01 1.71622476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38925415399999 meters 0.016134068808580967 Centerline is valid? [True, True] Translation: X:252.28, Y:2.16, Z:1.72 [[ 9.99512492e-01 -2.75374799e-02 -1.47127928e-02 2.52283032e+02] [ 2.75395291e-02 9.99620713e-01 -6.33471652e-05 2.16130646e+00] [ 1.47089568e-02 -3.41867101e-04 9.99891759e-01 1.71662902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41925415399996 meters 0.015797597365399686 Centerline is valid? [True, True] Translation: X:252.31, Y:2.16, Z:1.72 [[ 9.99562301e-01 -2.58251471e-02 -1.44315187e-02 2.52314241e+02] [ 2.58269479e-02 9.99666427e-01 -6.16053662e-05 2.16328427e+00] [ 1.44282957e-02 -3.11143678e-04 9.99895858e-01 1.71662469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.44925415399996 meters 0.015797597365399686 Centerline is valid? [True, True] Translation: X:252.35, Y:2.16, Z:1.72 [[ 9.99563253e-01 -2.57882739e-02 -1.44315209e-02 2.52345095e+02] [ 2.57900785e-02 9.99667379e-01 -6.10725810e-05 2.16338620e+00] [ 1.44282956e-02 -3.11144150e-04 9.99895858e-01 1.71683842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47925415399996 meters 0.01606413499294179 Centerline is valid? [True, True] Translation: X:252.38, Y:2.16, Z:1.72 [[ 9.99586507e-01 -2.48359534e-02 -1.44910422e-02 2.52375679e+02] [ 2.48376787e-02 9.99691495e-01 -6.09294274e-05 2.16411250e+00] [ 1.44880849e-02 -2.99019616e-04 9.99894997e-01 1.71669792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.50925415399996 meters 0.01666028625280685 Centerline is valid? [True, True] Translation: X:252.41, Y:2.16, Z:1.72 [[ 9.99577066e-01 -2.49628828e-02 -1.49178889e-02 2.52405735e+02] [ 2.49647294e-02 9.99688331e-01 -6.24511742e-05 2.16377146e+00] [ 1.49147984e-02 -3.09996297e-04 9.99888720e-01 1.71591687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53925415399996 meters 0.01593514824198875 Centerline is valid? [True, True] Translation: X:252.44, Y:2.17, Z:1.72 [[ 9.99542973e-01 -2.61915259e-02 -1.50947002e-02 2.52436541e+02] [ 2.61935608e-02 9.99656888e-01 -6.29155048e-05 2.16541983e+00] [ 1.50911689e-02 -3.32497197e-04 9.99886067e-01 1.71637875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.56925415399996 meters 0.01654911475205444 Centerline is valid? [True, True] Translation: X:252.47, Y:2.16, Z:1.72 [[ 9.99481038e-01 -2.81629196e-02 -1.56366122e-02 2.52466576e+02] [ 2.81653533e-02 9.99603276e-01 -6.45954652e-05 2.16379269e+00] [ 1.56322280e-02 -3.75848765e-04 9.99877739e-01 1.71617570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59925415399996 meters 0.017624097455434553 Centerline is valid? [True, True] Translation: X:252.50, Y:2.16, Z:1.72 [[ 9.99405736e-01 -3.07054089e-02 -1.56637235e-02 2.52496581e+02] [ 3.07081811e-02 9.99528391e-01 -6.35605324e-05 2.16132634e+00] [ 1.56582880e-02 -4.17481697e-04 9.99877314e-01 1.71580316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62925415399997 meters 0.019286664911364337 Centerline is valid? [True, True] Translation: X:252.53, Y:2.16, Z:1.72 [[ 9.99205178e-01 -3.66355351e-02 -1.57114330e-02 2.52527460e+02] [ 3.66390688e-02 9.99328562e-01 -6.29655961e-05 2.15750105e+00] [ 1.57031905e-02 -5.12736725e-04 9.99876566e-01 1.71575453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65925415399997 meters 0.02049035558367119 Centerline is valid? [True, True] Translation: X:252.56, Y:2.16, Z:1.72 [[ 9.99101597e-01 -3.94773565e-02 -1.54122589e-02 2.52559102e+02] [ 3.94811036e-02 9.99220315e-01 -6.11826081e-05 2.15527819e+00] [ 1.54026575e-02 -5.47365349e-04 9.99881222e-01 1.71601752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.68925415399997 meters 0.022492733432506164 Centerline is valid? [True, True] Translation: X:252.59, Y:2.15, Z:1.72 [[ 9.99008600e-01 -4.18160261e-02 -1.52720739e-02 2.52591399e+02] [ 4.18199931e-02 9.99125160e-01 -5.96487449e-05 2.15353890e+00] [ 1.52612076e-02 -5.79088417e-04 9.99883373e-01 1.71586901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.71925415399997 meters 0.022892772394902297 Centerline is valid? [True, True] Translation: X:252.62, Y:2.15, Z:1.72 [[ 9.98914754e-01 -4.40197925e-02 -1.52175214e-02 2.52621981e+02] [ 4.40240099e-02 9.99030472e-01 -5.78965824e-05 2.15128831e+00] [ 1.52053162e-02 -6.12102561e-04 9.99884205e-01 1.71666554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.74925415399997 meters 0.02425448031122532 Centerline is valid? [True, True] Translation: X:252.65, Y:2.15, Z:1.72 [[ 9.98776972e-01 -4.67957126e-02 -1.59599823e-02 2.52652928e+02] [ 4.68007225e-02 9.98904244e-01 -5.96507664e-05 2.14943198e+00] [ 1.59452855e-02 -6.87360891e-04 9.99872630e-01 1.71700033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.77925415399997 meters 0.02405430565822553 Centerline is valid? [True, True] Translation: X:252.68, Y:2.15, Z:1.72 [[ 9.98750205e-01 -4.72460692e-02 -1.63044829e-02 2.52684920e+02] [ 4.72513706e-02 9.98883028e-01 -6.01429924e-05 2.15004191e+00] [ 1.62891128e-02 -7.10341340e-04 9.99867071e-01 1.71753202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.80925415399997 meters 0.02502136448681502 Centerline is valid? [True, True] Translation: X:252.72, Y:2.15, Z:1.72 [[ 9.98750263e-01 -4.72784540e-02 -1.62067626e-02 2.52716020e+02] [ 4.72837122e-02 9.98881498e-01 -5.87958795e-05 2.14882285e+00] [ 1.61914151e-02 -7.07593499e-04 9.99868660e-01 1.71759364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.83925415399997 meters 0.024305792711399196 Centerline is valid? [True, True] Translation: X:252.75, Y:2.15, Z:1.72 [[ 9.98811917e-01 -4.57500500e-02 -1.67835536e-02 2.52748316e+02] [ 4.57554922e-02 9.98952667e-01 -5.97924329e-05 2.15187526e+00] [ 1.67687111e-02 -7.08218360e-04 9.99859144e-01 1.71835639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.86925415399998 meters 0.021441379869315883 Centerline is valid? [True, True] Translation: X:252.78, Y:2.15, Z:1.72 [[ 9.98859835e-01 -4.50301081e-02 -1.58530627e-02 2.52780431e+02] [ 4.50348910e-02 9.98985413e-01 -5.53400302e-05 2.15499039e+00] [ 1.58394704e-02 -6.58664020e-04 9.99874331e-01 1.72013647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.89925415399998 meters 0.022497179700641953 Centerline is valid? [True, True] Translation: X:252.81, Y:2.15, Z:1.72 [[ 9.98919690e-01 -4.37202197e-02 -1.57478865e-02 2.52812165e+02] [ 4.37247952e-02 9.99043612e-01 -5.38108090e-05 2.15442970e+00] [ 1.57351780e-02 -6.34820434e-04 9.99875993e-01 1.72012052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.92925415399998 meters 0.020799920719349448 Centerline is valid? [True, True] Translation: X:252.84, Y:2.16, Z:1.72 [[ 9.98984349e-01 -4.19964390e-02 -1.63269695e-02 2.52844315e+02] [ 4.20011473e-02 9.99117561e-01 -5.45676640e-05 2.15790873e+00] [ 1.63148536e-02 -6.31239209e-04 9.99866705e-01 1.72088306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.95925415399998 meters 0.019766365707217265 Centerline is valid? [True, True] Translation: X:252.88, Y:2.16, Z:1.72 [[ 9.99099133e-01 -3.86466263e-02 -1.75317307e-02 2.52876022e+02] [ 3.86515601e-02 9.99252748e-01 -5.74610625e-05 2.16119705e+00] [ 1.75208507e-02 -6.20219443e-04 9.99846306e-01 1.72051538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.98925415399998 meters 0.020775017722451473 Centerline is valid? [True, True] Translation: X:252.91, Y:2.16, Z:1.72 [[ 9.99159914e-01 -3.66594802e-02 -1.83180096e-02 2.52907068e+02] [ 3.66645517e-02 9.99327628e-01 -5.90152542e-05 2.16015972e+00] [ 1.83078566e-02 -6.12655934e-04 9.99832209e-01 1.71944481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.01925415399998 meters 0.020327261481265686 Centerline is valid? [True, True] Translation: X:252.94, Y:2.16, Z:1.72 [[ 9.99201637e-01 -3.50177063e-02 -1.92314539e-02 2.52938561e+02] [ 3.50230086e-02 9.99386504e-01 -6.11297912e-05 2.16181095e+00] [ 1.92217961e-02 -6.12462388e-04 9.99815057e-01 1.71898003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.04925415399998 meters 0.017981051549159226 Centerline is valid? [True, True] Translation: X:252.97, Y:2.17, Z:1.72 [[ 9.99285640e-01 -3.17561325e-02 -2.04880023e-02 2.52969644e+02] [ 3.17614759e-02 9.99495475e-01 -6.46194142e-05 2.16759068e+00] [ 2.04797176e-02 -5.86155938e-04 9.99790097e-01 1.71933152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07925415399998 meters 0.017842910036706038 Centerline is valid? [True, True] Translation: X:253.00, Y:2.17, Z:1.72 [[ 9.99301519e-01 -3.05289467e-02 -2.15512954e-02 2.53000409e+02] [ 3.05345828e-02 9.99533709e-01 -6.75770700e-05 2.16875600e+00] [ 2.15433092e-02 -5.90529944e-04 9.99767742e-01 1.71920176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10925415399998 meters 0.01734928747428496 Centerline is valid? [True, True] Translation: X:253.03, Y:2.17, Z:1.72 [[ 9.99330346e-01 -2.84816857e-02 -2.29707141e-02 2.53030519e+02] [ 2.84875449e-02 9.99594145e-01 -7.21834635e-05 2.17194583e+00] [ 2.29634473e-02 -5.82244126e-04 9.99736136e-01 1.71947228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13925415399999 meters 0.016689947592601152 Centerline is valid? [True, True] Translation: X:253.06, Y:2.17, Z:1.72 [[ 9.99332134e-01 -2.77907629e-02 -2.37267724e-02 2.53058984e+02] [ 2.77967147e-02 9.99613594e-01 -7.89892037e-05 2.17432541e+00] [ 2.37197994e-02 -5.80589875e-04 9.99718477e-01 1.71997500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16925415399996 meters 0.016898044109055634 Centerline is valid? [True, True] Translation: X:253.09, Y:2.18, Z:1.72 [[ 9.99318549e-01 -2.74437168e-02 -2.46835838e-02 2.53087461e+02] [ 2.74498955e-02 9.99623177e-01 -8.85430561e-05 2.17569879e+00] [ 2.46767124e-02 -5.89079077e-04 9.99695310e-01 1.71989500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19925415399996 meters 0.01777308809961861 Centerline is valid? [True, True] Translation: X:253.11, Y:2.18, Z:1.72 [[ 9.99326222e-01 -2.63013923e-02 -2.55995808e-02 2.53114861e+02] [ 2.63075739e-02 9.99653891e-01 -9.53432144e-05 2.17683088e+00] [ 2.55932282e-02 -5.78183890e-04 9.99672272e-01 1.71950366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.22925415399996 meters 0.016437303190191148 Centerline is valid? [True, True] Translation: X:253.14, Y:2.18, Z:1.72 [[ 9.99332352e-01 -2.66379918e-02 -2.50053562e-02 2.53142449e+02] [ 2.66438477e-02 9.99644985e-01 -9.90150479e-05 2.17865639e+00] [ 2.49991164e-02 -5.67289962e-04 9.99687312e-01 1.72082049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25925415399996 meters 0.01674299921803635 Centerline is valid? [True, True] Translation: X:253.17, Y:2.18, Z:1.72 [[ 9.99342592e-01 -2.64673687e-02 -2.47762294e-02 2.53169884e+02] [ 2.64729757e-02 9.99649524e-01 -1.01722740e-04 2.17952060e+00] [ 2.47702383e-02 -5.54244654e-04 9.99693017e-01 1.72124717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.28925415399996 meters 0.01675469094040623 Centerline is valid? [True, True] Translation: X:253.20, Y:2.18, Z:1.72 [[ 9.99341228e-01 -2.68869943e-02 -2.43762057e-02 2.53198062e+02] [ 2.68924086e-02 9.99638328e-01 -1.05735318e-04 2.18068410e+00] [ 2.43702324e-02 -5.49869222e-04 9.99702851e-01 1.72218823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31925415399996 meters 0.016949577816575214 Centerline is valid? [True, True] Translation: X:253.23, Y:2.18, Z:1.72 [[ 9.99350801e-01 -2.77881312e-02 -2.29302360e-02 2.53225622e+02] [ 2.77930100e-02 9.99613694e-01 -1.05956909e-04 2.18149393e+00] [ 2.29243223e-02 -5.31412157e-04 9.99737062e-01 1.72309540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34925415399996 meters 0.017847219634999193 Centerline is valid? [True, True] Translation: X:253.25, Y:2.18, Z:1.72 [[ 9.99303376e-01 -3.07819819e-02 -2.11005152e-02 2.53253695e+02] [ 3.07867240e-02 9.99525971e-01 -1.00146675e-04 2.18099765e+00] [ 2.10935957e-02 -5.49538829e-04 9.99777354e-01 1.72474066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37925415399997 meters 0.01860403887706227 Centerline is valid? [True, True] Translation: X:253.28, Y:2.18, Z:1.73 [[ 9.99259311e-01 -3.28805009e-02 -1.99925317e-02 2.53283832e+02] [ 3.28851701e-02 9.99459132e-01 -9.52619545e-05 2.18005599e+00] [ 1.99848506e-02 -5.62266409e-04 9.99800125e-01 1.72540632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40925415399997 meters 0.01943196273096893 Centerline is valid? [True, True] Translation: X:253.31, Y:2.18, Z:1.73 [[ 9.99192860e-01 -3.53454526e-02 -1.90873670e-02 2.53314945e+02] [ 3.53501658e-02 9.99374983e-01 -9.05188486e-05 2.17862965e+00] [ 1.90786365e-02 -5.84295800e-04 9.99817816e-01 1.72597159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.43925415399997 meters 0.020579604496681992 Centerline is valid? [True, True] Translation: X:253.35, Y:2.18, Z:1.73 [[ 9.99100968e-01 -3.82826607e-02 -1.82124324e-02 2.53346187e+02] [ 3.82874506e-02 9.99266763e-01 -8.57374422e-05 2.17687566e+00] [ 1.82023606e-02 -6.11647244e-04 9.99834136e-01 1.72600039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.46925415399997 meters 0.02361425032901875 Centerline is valid? [True, True] Translation: X:253.38, Y:2.17, Z:1.73 [[ 9.98865806e-01 -4.42897729e-02 -1.74790403e-02 2.53375811e+02] [ 4.42951070e-02 9.99018487e-01 -8.20501633e-05 2.17205951e+00] [ 1.74655183e-02 -6.92278856e-04 9.99847227e-01 1.72647364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.49925415399997 meters 0.02539619045962904 Centerline is valid? [True, True] Translation: X:253.41, Y:2.17, Z:1.73 [[ 9.98745248e-01 -4.70553267e-02 -1.71384129e-02 2.53406409e+02] [ 4.70608672e-02 9.98892020e-01 -8.01024825e-05 2.16981424e+00] [ 1.71231931e-02 -7.26546598e-04 9.99853123e-01 1.72661142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.52925415399997 meters 0.028164667158495794 Centerline is valid? [True, True] Translation: X:253.44, Y:2.17, Z:1.73 [[ 9.98518508e-01 -5.16166733e-02 -1.72193860e-02 2.53436118e+02] [ 5.16229471e-02 9.98666644e-01 -8.02431462e-05 2.16640945e+00] [ 1.72005683e-02 -8.08791188e-04 9.99851732e-01 1.72645714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.55925415399997 meters 0.02518061622334838 Centerline is valid? [True, True] Translation: X:253.47, Y:2.17, Z:1.73 [[ 9.98430703e-01 -5.33365677e-02 -1.70687326e-02 2.53468171e+02] [ 5.33429954e-02 9.98576246e-01 -7.88049703e-05 2.17077107e+00] [ 1.70486342e-02 -8.31816026e-04 9.99854315e-01 1.72751193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.58925415399997 meters 0.025352149754932777 Centerline is valid? [True, True] Translation: X:253.50, Y:2.17, Z:1.73 [[ 9.98352620e-01 -5.48211316e-02 -1.69318833e-02 2.53499967e+02] [ 5.48276874e-02 9.98495828e-01 -7.71241651e-05 2.17074347e+00] [ 1.69106428e-02 -8.51338890e-04 9.99856642e-01 1.72773789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.61925415399998 meters 0.024751688752185894 Centerline is valid? [True, True] Translation: X:253.53, Y:2.17, Z:1.73 [[ 9.98297405e-01 -5.58568990e-02 -1.68017019e-02 2.53531964e+02] [ 5.58635192e-02 9.98438411e-01 -7.54191071e-05 2.17181792e+00] [ 1.67796772e-02 -8.63311496e-04 9.99858839e-01 1.72803926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.64925415399998 meters 0.02560997683996044 Centerline is valid? [True, True] Translation: X:253.56, Y:2.17, Z:1.73 [[ 9.98272115e-01 -5.63628018e-02 -1.66138419e-02 2.53562656e+02] [ 5.63693590e-02 9.98409981e-01 -7.37076068e-05 2.17104036e+00] [ 1.65915799e-02 -8.62931371e-04 9.99861978e-01 1.72744667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.67925415399998 meters 0.02534475054944221 Centerline is valid? [True, True] Translation: X:253.59, Y:2.17, Z:1.73 [[ 9.98339764e-01 -5.53648937e-02 -1.58884987e-02 2.53594908e+02] [ 5.53707791e-02 9.98465859e-01 -6.95839533e-05 2.17176203e+00] [ 1.58679760e-02 -8.10290127e-04 9.99873767e-01 1.72762603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.70925415399998 meters 0.025000235140433077 Centerline is valid? [True, True] Translation: X:253.63, Y:2.17, Z:1.73 [[ 9.98437074e-01 -5.35520189e-02 -1.59872272e-02 2.53626277e+02] [ 5.35577595e-02 9.98564751e-01 -6.91669438e-05 2.17360005e+00] [ 1.59679855e-02 -7.87181225e-04 9.99872194e-01 1.72780314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.73925415399998 meters 0.02423473420264752 Centerline is valid? [True, True] Translation: X:253.66, Y:2.18, Z:1.73 [[ 9.98555955e-01 -5.14727216e-02 -1.53806350e-02 2.53656926e+02] [ 5.14777972e-02 9.98674137e-01 -6.59849446e-05 2.17535740e+00] [ 1.53636388e-02 -7.25871549e-04 9.99881709e-01 1.72851437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.76925415399998 meters 0.023054701266277247 Centerline is valid? [True, True] Translation: X:253.69, Y:2.18, Z:1.73 [[ 9.98706245e-01 -4.85732079e-02 -1.50492563e-02 2.53688660e+02] [ 4.85777491e-02 9.98819402e-01 -6.38652466e-05 2.17864852e+00] [ 1.50345913e-02 -6.67276374e-04 9.99886751e-01 1.72905697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.79925415399998 meters 0.02108589112379874 Centerline is valid? [True, True] Translation: X:253.72, Y:2.18, Z:1.73 [[ 9.99034196e-01 -4.16189717e-02 -1.40902750e-02 2.53718289e+02] [ 4.16222652e-02 9.99133416e-01 -5.95547901e-05 2.18433066e+00] [ 1.40805432e-02 -5.26971890e-04 9.99900725e-01 1.72958336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82925415399998 meters 0.019079564196125654 Centerline is valid? [True, True] Translation: X:253.75, Y:2.19, Z:1.73 [[ 9.99190216e-01 -3.79567318e-02 -1.33491038e-02 2.53750296e+02] [ 3.79593647e-02 9.99279282e-01 -5.61734753e-05 2.18901379e+00] [ 1.33416150e-02 -4.50595511e-04 9.99910895e-01 1.73047069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85925415399998 meters 0.01817248252904018 Centerline is valid? [True, True] Translation: X:253.78, Y:2.19, Z:1.73 [[ 9.99339742e-01 -3.39510662e-02 -1.29385442e-02 2.53781507e+02] [ 3.39532119e-02 9.99423422e-01 -5.38513800e-05 2.19163809e+00] [ 1.29329125e-02 -3.85489310e-04 9.99916292e-01 1.73072153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88925415399996 meters 0.017005603740285303 Centerline is valid? [True, True] Translation: X:253.81, Y:2.19, Z:1.73 [[ 9.99465315e-01 -3.02750566e-02 -1.23493034e-02 2.53812968e+02] [ 3.02767364e-02 9.99541553e-01 -5.09544481e-05 2.19466015e+00] [ 1.23451845e-02 -3.22969400e-04 9.99923743e-01 1.73100963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91925415399996 meters 0.01628391177700547 Centerline is valid? [True, True] Translation: X:253.84, Y:2.20, Z:1.73 [[ 9.99572870e-01 -2.64910456e-02 -1.23410739e-02 2.53843455e+02] [ 2.64924393e-02 9.99649012e-01 -5.05650905e-05 2.19681469e+00] [ 1.23380819e-02 -2.76401659e-04 9.99923845e-01 1.73064303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.94925415399996 meters 0.014943132187277525 Centerline is valid? [True, True] Translation: X:253.87, Y:2.20, Z:1.73 [[ 9.99731091e-01 -1.96552078e-02 -1.23052324e-02 2.53873685e+02] [ 1.96560784e-02 9.99806799e-01 -5.01940953e-05 2.20216096e+00] [ 1.23038416e-02 -1.91692015e-04 9.99924287e-01 1.73014636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97925415399996 meters 0.014389806328057548 Centerline is valid? [True, True] Translation: X:253.90, Y:2.21, Z:1.73 [[ 9.99792909e-01 -1.61058905e-02 -1.24393915e-02 2.53904972e+02] [ 1.61065096e-02 9.99870280e-01 -5.04174552e-05 2.20501290e+00] [ 1.24385899e-02 -1.49948164e-04 9.99922627e-01 1.72996644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.00925415399996 meters 0.013794165183826354 Centerline is valid? [True, True] Translation: X:253.94, Y:2.21, Z:1.73 [[ 9.99834694e-01 -1.30475817e-02 -1.26627182e-02 2.53935468e+02] [ 1.30479812e-02 9.99914870e-01 -5.10716138e-05 2.20838505e+00] [ 1.26623065e-02 -1.14159737e-04 9.99919823e-01 1.73022041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03925415399996 meters 0.013474160337758487 Centerline is valid? [True, True] Translation: X:253.96, Y:2.21, Z:1.73 [[ 9.99882211e-01 -7.45001907e-03 -1.34187076e-02 2.53963947e+02] [ 7.44995884e-03 9.99972247e-01 -5.44755522e-05 2.21282792e+00] [ 1.34187411e-02 -4.54996842e-05 9.99909964e-01 1.72890936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.06925415399996 meters 0.01350600212717631 Centerline is valid? [True, True] Translation: X:253.99, Y:2.21, Z:1.73 [[ 9.99890387e-01 -5.38589914e-03 -1.37914901e-02 2.53991153e+02] [ 5.38562201e-03 9.99985496e-01 -5.72342237e-05 2.21470986e+00] [ 1.37915983e-02 -1.70478023e-05 9.99904891e-01 1.72823422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09925415399996 meters 0.013437124432587455 Centerline is valid? [True, True] Translation: X:254.02, Y:2.22, Z:1.73 [[ 9.99902299e-01 -2.27817776e-03 -1.37913607e-02 2.54018990e+02] [ 2.27756532e-03 9.99997405e-01 -6.01136843e-05 2.21690177e+00] [ 1.37914618e-02 2.86970864e-05 9.99904893e-01 1.72850013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12925415399997 meters 0.01346679931345369 Centerline is valid? [True, True] Translation: X:254.05, Y:2.22, Z:1.73 [[ 9.99913581e-01 -1.88689963e-03 -1.30103982e-02 2.54047031e+02] [ 1.88627335e-03 9.99998219e-01 -6.04074508e-05 2.21768722e+00] [ 1.30104891e-02 3.58610629e-05 9.99915359e-01 1.72883585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15925415399997 meters 0.013351459558128432 Centerline is valid? [True, True] Translation: X:254.08, Y:2.22, Z:1.73 [[ 9.99916018e-01 -1.79350383e-03 -1.28350977e-02 2.54075123e+02] [ 1.79283881e-03 9.99998391e-01 -6.33189008e-05 2.21802472e+00] [ 1.28351906e-02 4.03023221e-05 9.99917625e-01 1.72926239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.18925415399997 meters 0.013449801671770262 Centerline is valid? [True, True] Translation: X:254.10, Y:2.22, Z:1.73 [[ 9.99919906e-01 -2.43772524e-03 -1.24193152e-02 2.54102412e+02] [ 2.43711931e-03 9.99997028e-01 -6.39237598e-05 2.21813019e+00] [ 1.24194341e-02 3.36512871e-05 9.99922875e-01 1.72950458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.21925415399997 meters 0.013394440897616357 Centerline is valid? [True, True] Translation: X:254.13, Y:2.22, Z:1.73 [[ 9.99918432e-01 -3.40441260e-03 -1.23101468e-02 2.54130738e+02] [ 3.40387276e-03 9.99994205e-01 -6.48046664e-05 2.21750692e+00] [ 1.23102961e-02 2.28972068e-05 9.99924225e-01 1.73013982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.24925415399997 meters 0.013328234639092914 Centerline is valid? [True, True] Translation: X:254.16, Y:2.22, Z:1.73 [[ 9.99919160e-01 -4.94333779e-03 -1.17148417e-02 2.54159527e+02] [ 4.94294220e-03 9.99987782e-01 -6.27217966e-05 2.21624974e+00] [ 1.17150086e-02 4.81094067e-06 9.99931377e-01 1.73081126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.27925415399997 meters 0.013323643228818889 Centerline is valid? [True, True] Translation: X:254.19, Y:2.21, Z:1.73 [[ 9.99903368e-01 -9.14817897e-03 -1.04673192e-02 2.54188584e+02] [ 9.14808608e-03 9.99958154e-01 -5.67540525e-05 2.21281851e+00] [ 1.04674003e-02 -3.90073684e-05 9.99945215e-01 1.73240459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.30925415399997 meters 0.013527983501487406 Centerline is valid? [True, True] Translation: X:254.22, Y:2.21, Z:1.73 [[ 9.99887336e-01 -1.14972773e-02 -9.65028915e-03 2.54217243e+02] [ 1.14973017e-02 9.99933902e-01 -5.29434556e-05 2.21090145e+00] [ 9.65026000e-03 -5.80147953e-05 9.99953433e-01 1.73309511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.33925415399997 meters 0.013527983501487406 Centerline is valid? [True, True] Translation: X:254.25, Y:2.21, Z:1.73 [[ 9.99887336e-01 -1.14972799e-02 -9.65028706e-03 2.54247243e+02] [ 1.14973007e-02 9.99933902e-01 -5.33227510e-05 2.21106740e+00] [ 9.65026226e-03 -5.76355086e-05 9.99953433e-01 1.73330315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.36925415399998 meters 0.01400263337120899 Centerline is valid? [True, True] Translation: X:254.28, Y:2.21, Z:1.74 [[ 9.99822086e-01 -1.69623035e-02 -8.25081994e-03 2.54277247e+02] [ 1.69625046e-02 9.99856125e-01 -4.56141346e-05 2.20621652e+00] [ 8.25040658e-03 -9.43485518e-05 9.99965960e-01 1.73500152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.39925415399998 meters 0.01400263337120899 Centerline is valid? [True, True] Translation: X:254.31, Y:2.21, Z:1.74 [[ 9.99823329e-01 -1.68889143e-02 -8.25081977e-03 2.54308946e+02] [ 1.68891126e-02 9.99857368e-01 -4.56438104e-05 2.20633396e+00] [ 8.25041381e-03 -9.37132777e-05 9.99965960e-01 1.73522123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.42925415399998 meters 0.014999907916393407 Centerline is valid? [True, True] Translation: X:254.34, Y:2.20, Z:1.74 [[ 9.99778816e-01 -1.95105750e-02 -7.85218066e-03 2.54341543e+02] [ 1.95108397e-02 9.99809645e-01 -4.28864163e-05 2.20390209e+00] [ 7.85152270e-03 -1.10325708e-04 9.99969170e-01 1.73558384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.45925415399998 meters 0.015014614750084105 Centerline is valid? [True, True] Translation: X:254.37, Y:2.20, Z:1.74 [[ 9.99720666e-01 -2.24361037e-02 -7.43041564e-03 2.54372491e+02] [ 2.24364254e-02 9.99748271e-01 -4.00719172e-05 2.20106281e+00] [ 7.42944424e-03 -1.26651242e-04 9.99972393e-01 1.73649147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.48925415399998 meters 0.01708928145297312 Centerline is valid? [True, True] Translation: X:254.40, Y:2.19, Z:1.74 [[ 9.99573059e-01 -2.81439124e-02 -7.84988394e-03 2.54403043e+02] [ 2.81444508e-02 9.99603866e-01 -4.18980646e-05 2.19426886e+00] [ 7.84795351e-03 -1.79050496e-04 9.99969188e-01 1.73637646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.51925415399998 meters 0.01702297647795346 Centerline is valid? [True, True] Translation: X:254.44, Y:2.19, Z:1.74 [[ 9.99487807e-01 -3.08421556e-02 -8.53722554e-03 2.54435004e+02] [ 3.08428940e-02 9.99524244e-01 -4.51765792e-05 2.19283002e+00] [ 8.53455724e-03 -2.18159302e-04 9.99963556e-01 1.73598057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.54925415399998 meters 0.018766390487996353 Centerline is valid? [True, True] Translation: X:254.47, Y:2.19, Z:1.73 [[ 9.99292355e-01 -3.61595302e-02 -1.03574844e-02 2.54466248e+02] [ 3.61609102e-02 9.99345979e-01 -5.40708725e-05 2.18687176e+00] [ 1.03526656e-02 -3.20503454e-04 9.99946358e-01 1.73432680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57925415399998 meters 0.018498748433055965 Centerline is valid? [True, True] Translation: X:254.50, Y:2.19, Z:1.73 [[ 9.99198417e-01 -3.83987514e-02 -1.13163275e-02 2.54498768e+02] [ 3.84005490e-02 9.99262425e-01 -5.84748216e-05 2.18620604e+00] [ 1.13102263e-02 -3.76125240e-04 9.99935967e-01 1.73398411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60925415399998 meters 0.01903711528206582 Centerline is valid? [True, True] Translation: X:254.53, Y:2.18, Z:1.73 [[ 9.99100474e-01 -4.06943676e-02 -1.19252687e-02 2.54530752e+02] [ 4.06965381e-02 9.99171551e-01 -6.07020521e-05 2.18455674e+00] [ 1.19178595e-02 -4.24669703e-04 9.99928890e-01 1.73359394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63925415399996 meters 0.019788209255951032 Centerline is valid? [True, True] Translation: X:254.56, Y:2.18, Z:1.73 [[ 9.99002954e-01 -4.29148363e-02 -1.23050979e-02 2.54562900e+02] [ 4.29173270e-02 9.99078625e-01 -6.16983453e-05 2.18291602e+00] [ 1.22964080e-02 -4.66465079e-04 9.99924288e-01 1.73325516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66925415399996 meters 0.024194537891342276 Centerline is valid? [True, True] Translation: X:254.59, Y:2.18, Z:1.73 [[ 9.98789386e-01 -4.73646031e-02 -1.32799362e-02 2.54592967e+02] [ 4.73679042e-02 9.98877509e-01 -6.60270157e-05 2.17501659e+00] [ 1.32681570e-02 -5.63095665e-04 9.99911816e-01 1.73248650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69925415399996 meters 0.02239947224425985 Centerline is valid? [True, True] Translation: X:254.62, Y:2.18, Z:1.73 [[ 9.98692067e-01 -4.93273230e-02 -1.34525445e-02 2.54624678e+02] [ 4.93308930e-02 9.98782488e-01 -6.65217860e-05 2.17718319e+00] [ 1.34394473e-02 -5.97191256e-04 9.99909508e-01 1.73284793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.72925415399996 meters 0.023444812378820554 Centerline is valid? [True, True] Translation: X:254.66, Y:2.17, Z:1.73 [[ 9.98588650e-01 -5.13884399e-02 -1.34140315e-02 2.54656977e+02] [ 5.13921867e-02 9.98678546e-01 -6.54676372e-05 2.17473001e+00] [ 1.33996697e-02 -6.24001169e-04 9.99910026e-01 1.73288897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75925415399996 meters 0.026462113046938355 Centerline is valid? [True, True] Translation: X:254.69, Y:2.17, Z:1.73 [[ 9.98485305e-01 -5.33578289e-02 -1.34178247e-02 2.54687887e+02] [ 5.33617731e-02 9.98575244e-01 -6.41427805e-05 2.16961788e+00] [ 1.34021301e-02 -6.51953295e-04 9.99909975e-01 1.73259196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.78925415399996 meters 0.025087308192980346 Centerline is valid? [True, True] Translation: X:254.72, Y:2.17, Z:1.73 [[ 9.98279503e-01 -5.70434779e-02 -1.35674791e-02 2.54719170e+02] [ 5.70478656e-02 9.98371442e-01 -6.37138780e-05 2.17040388e+00] [ 1.35490182e-02 -7.10391467e-04 9.99907955e-01 1.73311532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81925415399996 meters 0.03236239639191174 Centerline is valid? [True, True] Translation: X:254.75, Y:2.16, Z:1.73 [[ 9.98180069e-01 -5.87128332e-02 -1.37605874e-02 2.54750165e+02] [ 5.87175137e-02 9.98274636e-01 -6.39808810e-05 2.16023810e+00] [ 1.37406018e-02 -7.44123036e-04 9.99905317e-01 1.73231920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84925415399996 meters 0.027528805613772685 Centerline is valid? [True, True] Translation: X:254.78, Y:2.17, Z:1.73 [[ 9.98107802e-01 -5.98840840e-02 -1.39538933e-02 2.54782206e+02] [ 5.98890236e-02 9.98205039e-01 -6.39754242e-05 2.16667318e+00] [ 1.39326778e-02 -7.71830677e-04 9.99902638e-01 1.73363446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87925415399997 meters 0.02583417432426663 Centerline is valid? [True, True] Translation: X:254.81, Y:2.17, Z:1.73 [[ 9.98067512e-01 -6.04152106e-02 -1.45342309e-02 2.54814038e+02] [ 6.04206418e-02 9.98173002e-01 -6.55356290e-05 2.16900424e+00] [ 1.45116362e-02 -8.12758575e-04 9.99894370e-01 1.73439067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90925415399997 meters 0.025796176606005753 Centerline is valid? [True, True] Translation: X:254.85, Y:2.17, Z:1.74 [[ 9.98029484e-01 -6.08440607e-02 -1.53345770e-02 2.54845950e+02] [ 6.08501752e-02 9.98146909e-01 -6.79613856e-05 2.16890709e+00] [ 1.53102957e-02 -8.65284233e-04 9.99882416e-01 1.73503470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.93925415399997 meters 0.027282964078839476 Centerline is valid? [True, True] Translation: X:254.88, Y:2.17, Z:1.73 [[ 9.98014924e-01 -6.09289337e-02 -1.59334926e-02 2.54876839e+02] [ 6.09355627e-02 9.98141700e-01 -6.95680007e-05 2.16671011e+00] [ 1.59081221e-02 -9.01486432e-04 9.99873051e-01 1.73478600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.96925415399997 meters 0.026295198533655334 Centerline is valid? [True, True] Translation: X:254.91, Y:2.17, Z:1.73 [[ 9.98043666e-01 -6.01573263e-02 -1.70275116e-02 2.54909464e+02] [ 6.01648051e-02 9.98188455e-01 -7.31673171e-05 2.16820815e+00] [ 1.70010670e-02 -9.51432738e-04 9.99855019e-01 1.73496014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.99925415399997 meters 0.02704090294497432 Centerline is valid? [True, True] Translation: X:254.94, Y:2.17, Z:1.73 [[ 9.98047315e-01 -6.00605764e-02 -1.71547051e-02 2.54941044e+02] [ 6.00681787e-02 9.98194274e-01 -7.22262430e-05 2.16627496e+00] [ 1.71280664e-02 -9.58366684e-04 9.99852845e-01 1.73479039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.02925415399997 meters 0.026912422750895046 Centerline is valid? [True, True] Translation: X:254.97, Y:2.17, Z:1.73 [[ 9.98080917e-01 -5.91890264e-02 -1.81973315e-02 2.54973768e+02] [ 5.91974681e-02 9.98246289e-01 -7.48892167e-05 2.16623955e+00] [ 1.81698513e-02 -1.00249045e-03 9.99834412e-01 1.73488965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.05925415399997 meters 0.02622169411321019 Centerline is valid? [True, True] Translation: X:255.01, Y:2.17, Z:1.73 [[ 9.98156641e-01 -5.67296993e-02 -2.15652913e-02 2.55005285e+02] [ 5.67410117e-02 9.98388927e-01 -8.74563080e-05 2.16743694e+00] [ 2.15355094e-02 -1.13634135e-03 9.99767438e-01 1.73375314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.08925415399997 meters 0.024203012045961887 Centerline is valid? [True, True] Translation: X:255.04, Y:2.17, Z:1.73 [[ 9.98246999e-01 -5.45242646e-02 -2.30224634e-02 2.55036888e+02] [ 5.45365932e-02 9.98511768e-01 -9.24916267e-05 2.17053120e+00] [ 2.29932436e-02 -1.16323723e-03 9.99734944e-01 1.73380701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.11925415399998 meters 0.024326171582614596 Centerline is valid? [True, True] Translation: X:255.07, Y:2.17, Z:1.73 [[ 9.98354266e-01 -5.20412220e-02 -2.40929736e-02 2.55067732e+02] [ 5.20540248e-02 9.98644266e-01 -9.58849054e-05 2.17076202e+00] [ 2.40652998e-02 -1.15840914e-03 9.99709718e-01 1.73302524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.14925415399998 meters 0.021624796800060863 Centerline is valid? [True, True] Translation: X:255.10, Y:2.18, Z:1.73 [[ 9.98639134e-01 -4.53066616e-02 -2.58299639e-02 2.55098310e+02] [ 4.53191393e-02 9.98972555e-01 -1.02419282e-04 2.17556355e+00] [ 2.58080653e-02 -1.06831183e-03 9.99666346e-01 1.73302087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.17925415399998 meters 0.020664002274228304 Centerline is valid? [True, True] Translation: X:255.13, Y:2.18, Z:1.73 [[ 9.98827044e-01 -4.11897589e-02 -2.54546535e-02 2.55128447e+02] [ 4.12005426e-02 9.99150892e-01 -1.00893869e-04 2.17753506e+00] [ 2.54371955e-02 -9.47970010e-04 9.99675973e-01 1.73296265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.20925415399998 meters 0.01924376338091608 Centerline is valid? [True, True] Translation: X:255.16, Y:2.18, Z:1.73 [[ 9.98992023e-01 -3.66479723e-02 -2.59203456e-02 2.55159608e+02] [ 3.66576362e-02 9.99327878e-01 -1.02397348e-04 2.18078264e+00] [ 2.59066766e-02 -8.47884465e-04 9.99664006e-01 1.73384174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.23925415399998 meters 0.015910745601857918 Centerline is valid? [True, True] Translation: X:255.19, Y:2.19, Z:1.74 [[ 9.99328264e-01 -2.64975486e-02 -2.53160359e-02 2.55189548e+02] [ 2.65035134e-02 9.99648715e-01 -9.99513143e-05 2.18866557e+00] [ 2.53097912e-02 -5.71079724e-04 9.99679493e-01 1.73614525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.26925415399998 meters 0.014825952172820258 Centerline is valid? [True, True] Translation: X:255.22, Y:2.19, Z:1.74 [[ 9.99444162e-01 -2.16336068e-02 -2.53644064e-02 2.55218222e+02] [ 2.16379937e-02 9.99765866e-01 -1.01529447e-04 2.19230784e+00] [ 2.53606642e-02 -4.47361852e-04 9.99678267e-01 1.73726632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.29925415399998 meters 0.014423601693712975 Centerline is valid? [True, True] Translation: X:255.25, Y:2.19, Z:1.74 [[ 9.99548486e-01 -1.65400330e-02 -2.50849023e-02 2.55246510e+02] [ 1.65426739e-02 9.99863155e-01 -1.02246654e-04 2.19479842e+00] [ 2.50831608e-02 -3.12770872e-04 9.99685319e-01 1.73718636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32925415399998 meters 0.01356237732347512 Centerline is valid? [True, True] Translation: X:255.27, Y:2.20, Z:1.74 [[ 9.99619244e-01 -1.19398315e-02 -2.48758411e-02 2.55274918e+02] [ 1.19408783e-02 9.99928700e-01 -1.06468443e-04 2.19816865e+00] [ 2.48753386e-02 -1.90611485e-04 9.99690543e-01 1.73827682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35925415399998 meters 0.013503935408075268 Centerline is valid? [True, True] Translation: X:255.30, Y:2.20, Z:1.74 [[ 9.99662087e-01 -7.76780797e-03 -2.48066953e-02 2.55302901e+02] [ 7.76748091e-03 9.99969827e-01 -1.09543013e-04 2.20039794e+00] [ 2.48067977e-02 -8.31795356e-05 9.99692261e-01 1.73780720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38925415399996 meters 0.013307120963304225 Centerline is valid? [True, True] Translation: X:255.33, Y:2.20, Z:1.74 [[ 9.99690763e-01 -4.44769790e-03 -2.44662287e-02 2.55331257e+02] [ 4.44626192e-03 9.99990109e-01 -1.13092017e-04 2.20220460e+00] [ 2.44664897e-02 4.27378345e-06 9.99700651e-01 1.73914998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41925415399996 meters 0.013308390940022277 Centerline is valid? [True, True] Translation: X:255.36, Y:2.20, Z:1.74 [[ 9.99703322e-01 1.58258317e-06 -2.43570816e-02 2.55359994e+02] [-4.47650810e-06 9.99999993e-01 -1.18757942e-04 2.20236578e+00] [ 2.43570812e-02 1.18831744e-04 9.99703315e-01 1.73934438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.44925415399996 meters 0.013192147974633613 Centerline is valid? [True, True] Translation: X:255.39, Y:2.20, Z:1.74 [[ 9.99693098e-01 3.36888670e-04 -2.47708770e-02 2.55388401e+02] [-3.40143952e-04 9.99999934e-01 -1.27202335e-04 2.20105399e+00] [ 2.47708325e-02 1.35588961e-04 9.99693147e-01 1.73991271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47925415399996 meters 0.013334692847859809 Centerline is valid? [True, True] Translation: X:255.42, Y:2.20, Z:1.74 [[ 9.99680547e-01 -6.14614862e-05 -2.52744833e-02 2.55415817e+02] [ 5.80887881e-05 9.99999989e-01 -1.34176990e-04 2.19942513e+00] [ 2.52744912e-02 1.32665963e-04 9.99680540e-01 1.73914095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.50925415399996 meters 0.01315404269422478 Centerline is valid? [True, True] Translation: X:255.44, Y:2.19, Z:1.74 [[ 9.99653335e-01 -3.82892367e-03 -2.60489623e-02 2.55443455e+02] [ 3.82653966e-03 9.99992669e-01 -1.41367109e-04 2.19385682e+00] [ 2.60493127e-02 4.16407145e-05 9.99660658e-01 1.73814842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53925415399996 meters 0.013118738600267596 Centerline is valid? [True, True] Translation: X:255.47, Y:2.19, Z:1.74 [[ 9.99629519e-01 -6.72383930e-03 -2.63745270e-02 2.55471311e+02] [ 6.72233624e-03 9.99977394e-01 -1.45654428e-04 2.19039161e+00] [ 2.63749102e-02 -3.16979729e-05 9.99652121e-01 1.73771079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.56925415399996 meters 0.013163933877386689 Centerline is valid? [True, True] Translation: X:255.50, Y:2.19, Z:1.74 [[ 9.99590154e-01 -1.01167413e-02 -2.67801296e-02 2.55499921e+02] [ 1.01163530e-02 9.99948817e-01 -1.49987094e-04 2.18690703e+00] [ 2.67802763e-02 -1.20991621e-04 9.99641337e-01 1.73854264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59925415399996 meters 0.013388579974372386 Centerline is valid? [True, True] Translation: X:255.53, Y:2.18, Z:1.74 [[ 9.99540283e-01 -1.37222518e-02 -2.70355613e-02 2.55529075e+02] [ 1.37231208e-02 9.99905822e-01 -1.53404885e-04 2.18271391e+00] [ 2.70351202e-02 -2.17677911e-04 9.99634461e-01 1.73851854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62925415399997 meters 0.013623565195734466 Centerline is valid? [True, True] Translation: X:255.56, Y:2.18, Z:1.74 [[ 9.99485002e-01 -1.72591766e-02 -2.70527594e-02 2.55557462e+02] [ 1.72611871e-02 9.99851002e-01 -1.59219289e-04 2.17846792e+00] [ 2.70514766e-02 -3.07825452e-04 9.99633994e-01 1.73896622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65925415399997 meters 0.014793225033692506 Centerline is valid? [True, True] Translation: X:255.59, Y:2.17, Z:1.74 [[ 9.99365895e-01 -2.32823680e-02 -2.69395582e-02 2.55585294e+02] [ 2.32864516e-02 9.99728821e-01 -1.62171438e-04 2.17037693e+00] [ 2.69360285e-02 -4.65258114e-04 9.99637051e-01 1.73922106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.68925415399997 meters 0.014862032389761385 Centerline is valid? [True, True] Translation: X:255.61, Y:2.17, Z:1.74 [[ 9.99302610e-01 -2.57526276e-02 -2.70387934e-02 2.55614396e+02] [ 2.57574881e-02 9.99668207e-01 -1.68571877e-04 2.16837777e+00] [ 2.70341632e-02 -5.27997082e-04 9.99634371e-01 1.74041852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.71925415399997 meters 0.015306979125589136 Centerline is valid? [True, True] Translation: X:255.64, Y:2.17, Z:1.74 [[ 9.99249581e-01 -2.74248872e-02 -2.73523217e-02 2.55642723e+02] [ 2.74303870e-02 9.99623701e-01 -1.74188537e-04 2.16635981e+00] [ 2.73468061e-02 -5.76226947e-04 9.99625840e-01 1.74104699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.74925415399997 meters 0.016427651266647886 Centerline is valid? [True, True] Translation: X:255.67, Y:2.16, Z:1.74 [[ 9.99226174e-01 -2.83320545e-02 -2.72827219e-02 2.55670866e+02] [ 2.83377970e-02 9.99598388e-01 -1.76214251e-04 2.16330905e+00] [ 2.72767574e-02 -5.97054343e-04 9.99627742e-01 1.74008443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.77925415399997 meters 0.015383750842996367 Centerline is valid? [True, True] Translation: X:255.70, Y:2.16, Z:1.74 [[ 9.99221695e-01 -2.89162754e-02 -2.68300897e-02 2.55698578e+02] [ 2.89218655e-02 9.99581659e-01 -1.79762639e-04 2.16292615e+00] [ 2.68240636e-02 -5.96353518e-04 9.99639992e-01 1.74296619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.80925415399997 meters 0.015121470605495718 Centerline is valid? [True, True] Translation: X:255.73, Y:2.16, Z:1.74 [[ 9.99241158e-01 -2.86268168e-02 -2.64123670e-02 2.55727189e+02] [ 2.86319478e-02 9.99590005e-01 -1.83973791e-04 2.16235520e+00] [ 2.64068046e-02 -5.72403330e-04 9.99651116e-01 1.74383252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.83925415399997 meters 0.014993803260586788 Centerline is valid? [True, True] Translation: X:255.76, Y:2.16, Z:1.74 [[ 9.99277226e-01 -2.80891186e-02 -2.56130393e-02 2.55756332e+02] [ 2.80936000e-02 9.99605280e-01 -1.84927888e-04 2.16198632e+00] [ 2.56081238e-02 -5.34768254e-04 9.99671915e-01 1.74458603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.86925415399998 meters 0.015021199578194111 Centerline is valid? [True, True] Translation: X:255.78, Y:2.16, Z:1.74 [[ 9.99329461e-01 -2.71145037e-02 -2.46055113e-02 2.55783839e+02] [ 2.71182441e-02 9.99632216e-01 -1.81714919e-04 2.16100999e+00] [ 2.46013889e-02 -4.85665188e-04 9.99697222e-01 1.74489904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.89925415399998 meters 0.0143299757889903 Centerline is valid? [True, True] Translation: X:255.81, Y:2.16, Z:1.75 [[ 9.99426204e-01 -2.43033200e-02 -2.35926206e-02 2.55813172e+02] [ 2.43059037e-02 9.99704552e-01 -1.77285827e-04 2.16098398e+00] [ 2.35899589e-02 -3.96255864e-04 9.99721640e-01 1.74577025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.92925415399998 meters 0.014143727393128271 Centerline is valid? [True, True] Translation: X:255.84, Y:2.16, Z:1.75 [[ 9.99452752e-01 -2.30717435e-02 -2.37042510e-02 2.55841792e+02] [ 2.30738846e-02 9.99733746e-01 -1.83220110e-04 2.16137939e+00] [ 2.37021668e-02 -3.63829309e-04 9.99718998e-01 1.74595970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.95925415399998 meters 0.013760351643135726 Centerline is valid? [True, True] Translation: X:255.87, Y:2.16, Z:1.75 [[ 9.99507266e-01 -1.99003823e-02 -2.42734228e-02 2.55870159e+02] [ 1.99015445e-02 9.99801926e-01 -1.93717114e-04 2.16251188e+00] [ 2.42724699e-02 -2.89456940e-04 9.99705338e-01 1.74541963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.98925415399998 meters 0.013341478722832477 Centerline is valid? [True, True] Translation: X:255.90, Y:2.16, Z:1.75 [[ 9.99526972e-01 -1.81458714e-02 -2.48306005e-02 2.55898652e+02] [ 1.81463918e-02 9.99835320e-01 -2.04389647e-04 2.16341933e+00] [ 2.48302202e-02 -2.46292839e-04 9.99691652e-01 1.74525225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.01925415399998 meters 0.01308590102129338 Centerline is valid? [True, True] Translation: X:255.93, Y:2.16, Z:1.75 [[ 9.99551253e-01 -1.61688415e-02 -2.52162685e-02 2.55927437e+02] [ 1.61685893e-02 9.99869257e-01 -2.13903184e-04 2.16426954e+00] [ 2.52164302e-02 -1.93904294e-04 9.99681996e-01 1.74535523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.04925415399998 meters 0.012882865877575552 Centerline is valid? [True, True] Translation: X:255.96, Y:2.17, Z:1.75 [[ 9.99589043e-01 -1.36976235e-02 -2.51817305e-02 2.55956308e+02] [ 1.36964268e-02 9.99906175e-01 -2.20004313e-04 2.16504444e+00] [ 2.51823813e-02 -1.24985828e-04 9.99682866e-01 1.74582283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07925415399998 meters 0.012862977254010909 Centerline is valid? [True, True] Translation: X:255.98, Y:2.17, Z:1.74 [[ 9.99607908e-01 -1.11437458e-02 -2.56875014e-02 2.55983221e+02] [ 1.11415503e-02 9.99937905e-01 -2.28596718e-04 2.16579892e+00] [ 2.56884538e-02 -5.76915023e-05 9.99669996e-01 1.74496292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10925415399998 meters 0.013289587420708923 Centerline is valid? [True, True] Translation: X:256.01, Y:2.17, Z:1.74 [[ 9.99652700e-01 -5.73105283e-03 -2.57222462e-02 2.56010737e+02] [ 5.72699463e-03 9.99983574e-01 -2.31435540e-04 2.16799448e+00] [ 2.57231501e-02 8.40439963e-05 9.99669101e-01 1.74317439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13925415399996 meters 0.012938075532871886 Centerline is valid? [True, True] Translation: X:256.04, Y:2.17, Z:1.75 [[ 9.99668871e-01 -3.76259391e-03 -2.54556527e-02 2.56038952e+02] [ 3.75782834e-03 9.99992912e-01 -2.35045075e-04 2.16852929e+00] [ 2.54563567e-02 1.39309271e-04 9.99675925e-01 1.74598162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16925415399996 meters 0.01318602379933018 Centerline is valid? [True, True] Translation: X:256.07, Y:2.17, Z:1.75 [[ 9.99675036e-01 -2.03116786e-03 -2.54105581e-02 2.56066918e+02] [ 2.02576623e-03 9.99997920e-01 -2.38314705e-04 2.16951475e+00] [ 2.54109893e-02 1.86761411e-04 9.99677071e-01 1.74583056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19925415399996 meters 0.013035303057918475 Centerline is valid? [True, True] Translation: X:256.09, Y:2.17, Z:1.75 [[ 9.99683245e-01 -1.55308164e-03 -2.51196801e-02 2.56094513e+02] [ 1.54750402e-03 9.99998773e-01 -2.41479959e-04 2.16974739e+00] [ 2.51200243e-02 2.02530663e-04 9.99684422e-01 1.74686029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.22925415399996 meters 0.01299710078362353 Centerline is valid? [True, True] Translation: X:256.12, Y:2.17, Z:1.75 [[ 9.99695035e-01 -2.21745773e-03 -2.45951092e-02 2.56122767e+02] [ 2.21222429e-03 9.99997524e-01 -2.39991084e-04 2.16776318e+00] [ 2.45955805e-02 1.85507997e-04 9.99697466e-01 1.74598880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25925415399996 meters 0.01299710078362353 Centerline is valid? [True, True] Translation: X:256.15, Y:2.17, Z:1.75 [[ 9.99694365e-01 -2.50209295e-03 -2.45950532e-02 2.56150165e+02] [ 2.49680661e-03 9.99996853e-01 -2.45642125e-04 2.16810666e+00] [ 2.45955905e-02 1.84157956e-04 9.99697466e-01 1.74617887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.28925415399996 meters 0.013136305992600818 Centerline is valid? [True, True] Translation: X:256.18, Y:2.17, Z:1.74 [[ 9.99696918e-01 -3.98488844e-03 -2.42939038e-02 2.56177959e+02] [ 3.98006545e-03 9.99992049e-01 -2.46876313e-04 2.16677933e+00] [ 2.42946944e-02 1.50110162e-04 9.99704829e-01 1.74488825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31925415399996 meters 0.012615896640561477 Centerline is valid? [True, True] Translation: X:256.21, Y:2.16, Z:1.75 [[ 9.99682767e-01 -6.38510914e-03 -2.43638070e-02 2.56206610e+02] [ 6.38091818e-03 9.99979611e-01 -2.49756056e-04 2.16419823e+00] [ 2.43649050e-02 9.42133664e-05 9.99703127e-01 1.74701403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34925415399996 meters 0.012442138714926184 Centerline is valid? [True, True] Translation: X:256.23, Y:2.16, Z:1.75 [[ 9.99658614e-01 -1.21271668e-02 -2.31427376e-02 2.56234318e+02] [ 1.21248652e-02 9.99926462e-01 -2.39774195e-04 2.15949788e+00] [ 2.31439435e-02 -4.09102338e-05 9.99732142e-01 1.74724556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37925415399997 meters 0.012517648039208103 Centerline is valid? [True, True] Translation: X:256.26, Y:2.16, Z:1.75 [[ 9.99627298e-01 -1.55234575e-02 -2.24563378e-02 2.56260989e+02] [ 1.55220858e-02 9.99879497e-01 -2.35396046e-04 2.15666135e+00] [ 2.24572859e-02 -1.13260889e-04 9.99747797e-01 1.74769030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40925415399997 meters 0.012559659174567923 Centerline is valid? [True, True] Translation: X:256.29, Y:2.15, Z:1.75 [[ 9.99587194e-01 -1.86975260e-02 -2.18138710e-02 2.56289560e+02] [ 1.86968861e-02 9.99825171e-01 -2.33301440e-04 2.15467518e+00] [ 2.18144195e-02 -1.74646331e-04 9.99762022e-01 1.74989659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.43925415399997 meters 0.012719211944746373 Centerline is valid? [True, True] Translation: X:256.32, Y:2.15, Z:1.75 [[ 9.99535538e-01 -2.16123448e-02 -2.14852120e-02 2.56317904e+02] [ 2.16122794e-02 9.99766400e-01 -2.35269709e-04 2.15209648e+00] [ 2.14852778e-02 -2.29183970e-04 9.99769139e-01 1.75010195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.46925415399997 meters 0.013049871106463167 Centerline is valid? [True, True] Translation: X:256.35, Y:2.15, Z:1.75 [[ 9.99490559e-01 -2.38339713e-02 -2.12265177e-02 2.56346172e+02] [ 2.38343436e-02 9.99715894e-01 -2.35487916e-04 2.14960764e+00] [ 2.12260997e-02 -2.70552167e-04 9.99774664e-01 1.75008953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.49925415399997 meters 0.013695012478721956 Centerline is valid? [True, True] Translation: X:256.37, Y:2.15, Z:1.75 [[ 9.99450827e-01 -2.59276704e-02 -2.06349088e-02 2.56374438e+02] [ 2.59284303e-02 9.99663775e-01 -2.30761211e-04 2.14605146e+00] [ 2.06339540e-02 -3.04396312e-04 9.99787051e-01 1.75013398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.52925415399997 meters 0.013430276542869454 Centerline is valid? [True, True] Translation: X:256.40, Y:2.15, Z:1.75 [[ 9.99454781e-01 -2.61890338e-02 -2.01066031e-02 2.56402299e+02] [ 2.61897196e-02 9.99656964e-01 -2.29257120e-04 2.14592178e+00] [ 2.01057099e-02 -2.97454174e-04 9.99797816e-01 1.75094289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.55925415399997 meters 0.013609677121284698 Centerline is valid? [True, True] Translation: X:256.43, Y:2.15, Z:1.75 [[ 9.99494136e-01 -2.52298509e-02 -1.93630139e-02 2.56430079e+02] [ 2.52302482e-02 9.99681642e-01 -2.23812662e-04 2.14533051e+00] [ 1.93624963e-02 -2.64834204e-04 9.99812494e-01 1.75097610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.58925415399997 meters 0.013024034491064271 Centerline is valid? [True, True] Translation: X:256.46, Y:2.15, Z:1.75 [[ 9.99535177e-01 -2.39567120e-02 -1.88548800e-02 2.56458901e+02] [ 2.39567937e-02 9.99712970e-01 -2.21571460e-04 2.14631271e+00] [ 1.88547762e-02 -2.30234002e-04 9.99822206e-01 1.75258894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.61925415399998 meters 0.012115953938433652 Centerline is valid? [True, True] Translation: X:256.49, Y:2.15, Z:1.75 [[ 9.99666647e-01 -1.92366245e-02 -1.72205550e-02 2.56487996e+02] [ 1.92359216e-02 9.99814951e-01 -2.06472912e-04 2.14717260e+00] [ 1.72213402e-02 -1.24849162e-04 9.99851694e-01 1.75451240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.64925415399998 meters 0.012015411545737703 Centerline is valid? [True, True] Translation: X:256.52, Y:2.15, Z:1.76 [[ 9.99722424e-01 -1.67917048e-02 -1.65261399e-02 2.56516511e+02] [ 1.67906556e-02 9.99859007e-01 -2.02248357e-04 2.14782041e+00] [ 1.65272059e-02 -7.52925054e-05 9.99863414e-01 1.75500186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.67925415399998 meters 0.011913229478825333 Centerline is valid? [True, True] Translation: X:256.54, Y:2.15, Z:1.76 [[ 9.99812989e-01 -1.13353405e-02 -1.56683420e-02 2.56544991e+02] [ 1.13336652e-02 9.99935753e-01 -1.95716465e-04 2.14911662e+00] [ 1.56695538e-02 1.81001208e-05 9.99877225e-01 1.75584013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.70925415399998 meters 0.011913229478825333 Centerline is valid? [True, True] Translation: X:256.57, Y:2.15, Z:1.76 [[ 9.99809593e-01 -1.16310724e-02 -1.56682864e-02 2.56572388e+02] [ 1.16293648e-02 9.99932357e-01 -2.00095742e-04 2.14952489e+00] [ 1.56695539e-02 1.78454248e-05 9.99877225e-01 1.75603052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.73925415399998 meters 0.012230359329128871 Centerline is valid? [True, True] Translation: X:256.60, Y:2.15, Z:1.76 [[ 9.99860782e-01 -6.23379304e-03 -1.54775955e-02 2.56600155e+02] [ 6.23143666e-03 9.99980564e-01 -2.00467306e-04 2.15078021e+00] [ 1.54785443e-02 1.03991742e-04 9.99880195e-01 1.75604881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.76925415399998 meters 0.012609746037304519 Centerline is valid? [True, True] Translation: X:256.63, Y:2.15, Z:1.76 [[ 9.99867498e-01 -4.33404849e-03 -1.56908400e-02 2.56628595e+02] [ 4.33134777e-03 9.99990598e-01 -2.06100274e-04 2.15117952e+00] [ 1.56915858e-02 1.38110480e-04 9.99876870e-01 1.75586130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.79925415399998 meters 0.01258298854350393 Centerline is valid? [True, True] Translation: X:256.66, Y:2.15, Z:1.76 [[ 9.99866108e-01 -2.63288893e-03 -1.61503513e-02 2.56657235e+02] [ 2.62973842e-03 9.99996519e-01 -2.16307906e-04 2.15079936e+00] [ 1.61508646e-02 1.73807744e-04 9.99869551e-01 1.75558775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82925415399998 meters 0.013173410449895563 Centerline is valid? [True, True] Translation: X:256.69, Y:2.15, Z:1.75 [[ 9.99856317e-01 -4.37983473e-04 -1.69456106e-02 2.56685512e+02] [ 4.34152982e-04 9.99999879e-01 -2.29724313e-04 2.14861529e+00] [ 1.69457092e-02 2.22334318e-04 9.99856386e-01 1.75437971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85925415399998 meters 0.012951128704467213 Centerline is valid? [True, True] Translation: X:256.71, Y:2.15, Z:1.75 [[ 9.99848734e-01 -3.70591976e-04 -1.73888413e-02 2.56714153e+02] [ 3.66489975e-04 9.99999904e-01 -2.39084515e-04 2.14624984e+00] [ 1.73889283e-02 2.32675514e-04 9.99848774e-01 1.75465350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88925415399996 meters 0.013058569047646828 Centerline is valid? [True, True] Translation: X:256.74, Y:2.14, Z:1.75 [[ 9.99832190e-01 -8.63172561e-04 -1.82988067e-02 2.56743156e+02] [ 8.58662532e-04 9.99999599e-01 -2.54321178e-04 2.14436574e+00] [ 1.82990189e-02 2.38566000e-04 9.99832530e-01 1.75447945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91925415399996 meters 0.012935971960095145 Centerline is valid? [True, True] Translation: X:256.77, Y:2.14, Z:1.75 [[ 9.99813154e-01 -2.63470541e-03 -1.91498287e-02 2.56771813e+02] [ 2.63006358e-03 9.99996506e-01 -2.67576678e-04 2.13944560e+00] [ 1.91504668e-02 2.17161416e-04 9.99816589e-01 1.75400689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.94925415399996 meters 0.012844335268411403 Centerline is valid? [True, True] Translation: X:256.80, Y:2.14, Z:1.75 [[ 9.99799277e-01 -4.00823085e-03 -1.96300984e-02 2.56801038e+02] [ 4.00358943e-03 9.99991948e-01 -2.75737825e-04 2.13682099e+00] [ 1.96310456e-02 1.97091623e-04 9.99807273e-01 1.75412733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97925415399996 meters 0.0126624558334926 Centerline is valid? [True, True] Translation: X:256.83, Y:2.13, Z:1.75 [[ 9.99784940e-01 -5.51091476e-03 -1.99926079e-02 2.56829855e+02] [ 5.50637118e-03 9.99984800e-01 -2.82305122e-04 2.13381376e+00] [ 1.99938598e-02 1.72157689e-04 9.99800088e-01 1.75422662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.00925415399996 meters 0.012496652456128203 Centerline is valid? [True, True] Translation: X:256.86, Y:2.13, Z:1.75 [[ 9.99768284e-01 -7.27285196e-03 -2.02604226e-02 2.56858603e+02] [ 7.26851744e-03 9.99973543e-01 -2.87572208e-04 2.13078064e+00] [ 2.02619781e-02 1.40242337e-04 9.99794695e-01 1.75420378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03925415399996 meters 0.012349014679128374 Centerline is valid? [True, True] Translation: X:256.89, Y:2.12, Z:1.75 [[ 9.99732730e-01 -1.13316007e-02 -2.01510015e-02 2.56886833e+02] [ 1.13281030e-02 9.99935794e-01 -2.87715132e-04 2.12344052e+00] [ 2.01529680e-02 5.93656136e-05 9.99796907e-01 1.75473631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.06925415399996 meters 0.012315317925559116 Centerline is valid? [True, True] Translation: X:256.91, Y:2.12, Z:1.76 [[ 9.99700288e-01 -1.42438308e-02 -1.99109875e-02 2.56914563e+02] [ 1.42409056e-02 9.99898551e-01 -2.88702207e-04 2.11938963e+00] [ 1.99130797e-02 5.06518661e-06 9.99801715e-01 1.75544071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09925415399996 meters 0.012396329012012654 Centerline is valid? [True, True] Translation: X:256.94, Y:2.12, Z:1.76 [[ 9.99658337e-01 -1.74909726e-02 -1.94235878e-02 2.56942957e+02] [ 1.74886925e-02 9.99847020e-01 -2.87255914e-04 2.11530884e+00] [ 1.94256408e-02 -5.25353860e-05 9.99811303e-01 1.75598581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12925415399997 meters 0.012353543331926321 Centerline is valid? [True, True] Translation: X:256.97, Y:2.11, Z:1.76 [[ 9.99602417e-01 -2.08572151e-02 -1.89732458e-02 2.56970993e+02] [ 2.08555418e-02 9.99782459e-01 -2.86073670e-04 2.11081200e+00] [ 1.89750851e-02 -1.09737391e-04 9.99819951e-01 1.75682105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15925415399997 meters 0.013116712491589542 Centerline is valid? [True, True] Translation: X:257.00, Y:2.10, Z:1.76 [[ 9.99458045e-01 -2.74425611e-02 -1.81802533e-02 2.56998985e+02] [ 2.74420603e-02 9.99623357e-01 -2.77061460e-04 2.10158725e+00] [ 1.81810091e-02 -2.21992302e-04 9.99834687e-01 1.75759972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.18925415399997 meters 0.013596722526732392 Centerline is valid? [True, True] Translation: X:257.03, Y:2.10, Z:1.76 [[ 9.99377012e-01 -3.06563656e-02 -1.74864453e-02 2.57027725e+02] [ 3.06563374e-02 9.99529948e-01 -2.69730494e-04 2.09752024e+00] [ 1.74864947e-02 -2.66507912e-04 9.99847064e-01 1.75810625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.21925415399997 meters 0.014054528327273746 Centerline is valid? [True, True] Translation: X:257.06, Y:2.09, Z:1.76 [[ 9.99279386e-01 -3.39173575e-02 -1.70388382e-02 2.57056249e+02] [ 3.39177317e-02 9.99424593e-01 -2.67104455e-04 2.09438944e+00] [ 1.70380934e-02 -3.11006765e-04 9.99854793e-01 1.75888679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.24925415399997 meters 0.015298581988774134 Centerline is valid? [True, True] Translation: X:257.08, Y:2.09, Z:1.76 [[ 9.99185059e-01 -3.67069001e-02 -1.67875537e-02 2.57084815e+02] [ 3.67076184e-02 9.99326013e-01 -2.65449156e-04 2.08911057e+00] [ 1.67859829e-02 -3.50998285e-04 9.99859044e-01 1.75858679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.27925415399997 meters 0.016192354595293137 Centerline is valid? [True, True] Translation: X:257.11, Y:2.08, Z:1.76 [[ 9.98964162e-01 -4.24994757e-02 -1.62603149e-02 2.57114725e+02] [ 4.25009049e-02 9.99096395e-01 -2.57818105e-04 2.08183592e+00] [ 1.62565791e-02 -4.33527050e-04 9.99867759e-01 1.75924338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.30925415399997 meters 0.01687015322115722 Centerline is valid? [True, True] Translation: X:257.15, Y:2.08, Z:1.76 [[ 9.98844391e-01 -4.52825378e-02 -1.61051015e-02 2.57145112e+02] [ 4.52842971e-02 9.98974107e-01 -2.55607787e-04 2.07773175e+00] [ 1.61001539e-02 -4.73995796e-04 9.99870272e-01 1.75913586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.33925415399997 meters 0.018680797074982176 Centerline is valid? [True, True] Translation: X:257.18, Y:2.07, Z:1.76 [[ 9.98700199e-01 -4.83692634e-02 -1.60725660e-02 2.57175511e+02] [ 4.83714176e-02 9.98829385e-01 -2.54926171e-04 2.07274811e+00] [ 1.60660818e-02 -5.22857982e-04 9.99870795e-01 1.75885965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.36925415399998 meters 0.018970348144744485 Centerline is valid? [True, True] Translation: X:257.21, Y:2.07, Z:1.76 [[ 9.98540779e-01 -5.15475242e-02 -1.60986402e-02 2.57206484e+02] [ 5.15501061e-02 9.98670377e-01 -2.54825634e-04 2.06992043e+00] [ 1.60903707e-02 -5.75432824e-04 9.99870376e-01 1.75928192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.39925415399998 meters 0.02037369479443062 Centerline is valid? [True, True] Translation: X:257.24, Y:2.06, Z:1.76 [[ 9.98210629e-01 -5.75415958e-02 -1.62635841e-02 2.57237369e+02] [ 5.75450333e-02 9.98342879e-01 -2.56921848e-04 2.06356110e+00] [ 1.62514170e-02 -6.79426368e-04 9.99867706e-01 1.75932085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.42925415399998 meters 0.0224032145863542 Centerline is valid? [True, True] Translation: X:257.27, Y:2.06, Z:1.76 [[ 9.98024027e-01 -6.04875625e-02 -1.70087319e-02 2.57267130e+02] [ 6.04917521e-02 9.98168661e-01 -2.68524015e-04 2.05919663e+00] [ 1.69938256e-02 -7.60894577e-04 9.99855305e-01 1.75917031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.45925415399998 meters 0.022789309039448622 Centerline is valid? [True, True] Translation: X:257.30, Y:2.06, Z:1.76 [[ 9.97847209e-01 -6.31952172e-02 -1.75303062e-02 2.57298634e+02] [ 6.32000915e-02 9.98000838e-01 -2.76367133e-04 2.05716612e+00] [ 1.75127254e-02 -8.32144784e-04 9.99846294e-01 1.75918727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.48925415399998 meters 0.025249822936288465 Centerline is valid? [True, True] Translation: X:257.33, Y:2.05, Z:1.76 [[ 9.97673787e-01 -6.57484746e-02 -1.80042289e-02 2.57328742e+02] [ 6.57540355e-02 9.97835821e-01 -2.83576017e-04 2.05235686e+00] [ 1.79839093e-02 -9.00934349e-04 9.99837871e-01 1.75862502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.51925415399998 meters 0.029097160266855753 Centerline is valid? [True, True] Translation: X:257.36, Y:2.05, Z:1.76 [[ 9.97522436e-01 -6.78175686e-02 -1.87020723e-02 2.57359106e+02] [ 6.78239406e-02 9.97697262e-01 -2.94086121e-04 2.04615013e+00] [ 1.86789505e-02 -9.75090738e-04 9.99825058e-01 1.75749650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.54925415399998 meters 0.028405817341370952 Centerline is valid? [True, True] Translation: X:257.39, Y:2.05, Z:1.76 [[ 9.97297903e-01 -7.06912905e-02 -1.99908687e-02 2.57389583e+02] [ 7.06991530e-02 9.97497635e-01 -3.14049436e-04 2.04629111e+00] [ 1.99630448e-02 -1.10013664e-03 9.99800113e-01 1.75813284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57925415399998 meters 0.02703420301216731 Centerline is valid? [True, True] Translation: X:257.42, Y:2.05, Z:1.76 [[ 9.97216616e-01 -7.17072306e-02 -2.04228733e-02 2.57420064e+02] [ 7.17156490e-02 9.97425066e-01 -3.20836074e-04 2.04867789e+00] [ 2.03932920e-02 -1.14469655e-03 9.99791380e-01 1.75894704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60925415399998 meters 0.029021064641799363 Centerline is valid? [True, True] Translation: X:257.45, Y:2.05, Z:1.76 [[ 9.97198346e-01 -7.18311297e-02 -2.08745474e-02 2.57449554e+02] [ 7.18399466e-02 9.97416119e-01 -3.28184018e-04 2.04651100e+00] [ 2.08441839e-02 -1.17236181e-03 9.99782049e-01 1.75866600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63925415399996 meters 0.026489837440433713 Centerline is valid? [True, True] Translation: X:257.48, Y:2.05, Z:1.76 [[ 9.97199440e-01 -7.17387972e-02 -2.11381386e-02 2.57479539e+02] [ 7.17478148e-02 9.97422749e-01 -3.32455046e-04 2.05099358e+00] [ 2.11075103e-02 -1.18509127e-03 9.99776509e-01 1.75956769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66925415399996 meters 0.02688821002164064 Centerline is valid? [True, True] Translation: X:257.51, Y:2.05, Z:1.76 [[ 9.97261250e-01 -7.06778170e-02 -2.17863670e-02 2.57509435e+02] [ 7.06871441e-02 9.97498476e-01 -3.42650210e-04 2.05214311e+00] [ 2.17560856e-02 -1.19830429e-03 9.99762590e-01 1.75905703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69925415399996 meters 0.025738211988005917 Centerline is valid? [True, True] Translation: X:257.54, Y:2.05, Z:1.76 [[ 9.97308493e-01 -7.00310740e-02 -2.17121652e-02 2.57539451e+02] [ 7.00401848e-02 9.97544112e-01 -3.41483184e-04 2.05482553e+00] [ 2.16827570e-02 -1.18015999e-03 9.99764205e-01 1.75947656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.72925415399996 meters 0.02635981082494451 Centerline is valid? [True, True] Translation: X:257.57, Y:2.06, Z:1.76 [[ 9.97307673e-01 -6.98659530e-02 -2.22744999e-02 2.57568845e+02] [ 6.98754948e-02 9.97555659e-01 -3.50606491e-04 2.05648578e+00] [ 2.22445488e-02 -1.20677916e-03 9.99751831e-01 1.75921353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75925415399996 meters 0.02786657189780499 Centerline is valid? [True, True] Translation: X:257.60, Y:2.06, Z:1.76 [[ 9.97253374e-01 -7.05165319e-02 -2.26522852e-02 2.57598230e+02] [ 7.05265583e-02 9.97509838e-01 -3.56964849e-04 2.05631016e+00] [ 2.26210493e-02 -1.24160332e-03 9.99743340e-01 1.75885002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.78925415399996 meters 0.0292791884177759 Centerline is valid? [True, True] Translation: X:257.63, Y:2.06, Z:1.76 [[ 9.97207165e-01 -7.10930975e-02 -2.28832070e-02 2.57627087e+02] [ 7.11034584e-02 9.97468880e-01 -3.61581501e-04 2.05563856e+00] [ 2.28509928e-02 -1.26650349e-03 9.99738080e-01 1.75844323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81925415399996 meters 0.03037683261582909 Centerline is valid? [True, True] Translation: X:257.66, Y:2.06, Z:1.76 [[ 9.97118649e-01 -7.23512004e-02 -2.27970220e-02 2.57656438e+02] [ 7.23617901e-02 9.97378384e-01 -3.61142452e-04 2.05545151e+00] [ 2.27633861e-02 -1.28953145e-03 9.99740049e-01 1.75847536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84925415399996 meters 0.032003142425261005 Centerline is valid? [True, True] Translation: X:257.69, Y:2.06, Z:1.76 [[ 9.96990292e-01 -7.42996302e-02 -2.21342129e-02 2.57686166e+02] [ 7.43100803e-02 9.97235122e-01 -3.51141644e-04 2.05626715e+00] [ 2.20991042e-02 -1.29471033e-03 9.99754947e-01 1.75983913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87925415399997 meters 0.02646046151627657 Centerline is valid? [True, True] Translation: X:257.72, Y:2.07, Z:1.76 [[ 9.96940088e-01 -7.51113933e-02 -2.16504069e-02 2.57717256e+02] [ 7.51215914e-02 9.97174322e-01 -3.43034549e-04 2.06560006e+00] [ 2.16149957e-02 -1.28442813e-03 9.99765544e-01 1.76275129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90925415399997 meters 0.02634722837581451 Centerline is valid? [True, True] Translation: X:257.75, Y:2.07, Z:1.76 [[ 9.96907269e-01 -7.55913472e-02 -2.14905913e-02 2.57748869e+02] [ 7.56015235e-02 9.97138052e-01 -3.39700406e-04 2.06802240e+00] [ 2.14547647e-02 -1.28607163e-03 9.99768993e-01 1.76362464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.93925415399997 meters 0.026477454128990344 Centerline is valid? [True, True] Translation: X:257.78, Y:2.07, Z:1.76 [[ 9.96902412e-01 -7.57591419e-02 -2.11218614e-02 2.57779703e+02] [ 7.57690259e-02 9.97125340e-01 -3.33086509e-04 2.06987772e+00] [ 2.10863776e-02 -1.26832812e-03 9.99776853e-01 1.76402579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.96925415399997 meters 0.026920701834744005 Centerline is valid? [True, True] Translation: X:257.81, Y:2.07, Z:1.76 [[ 9.96919280e-01 -7.55576858e-02 -2.10472057e-02 2.57811403e+02] [ 7.55674718e-02 9.97140636e-01 -3.31125611e-04 2.07148444e+00] [ 2.10120431e-02 -1.26037861e-03 9.99778428e-01 1.76445266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.99925415399997 meters 0.027258941806135993 Centerline is valid? [True, True] Translation: X:257.84, Y:2.08, Z:1.76 [[ 9.97048887e-01 -7.39574832e-02 -2.05865880e-02 2.57841769e+02] [ 7.39665159e-02 9.97260673e-01 -3.23374180e-04 2.07521513e+00] [ 2.05541105e-02 -1.20029832e-03 9.99788021e-01 1.76478658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.02925415399997 meters 0.02597529214634888 Centerline is valid? [True, True] Translation: X:257.87, Y:2.08, Z:1.77 [[ 9.97174875e-01 -7.22998259e-02 -2.03716483e-02 2.57873130e+02] [ 7.23083388e-02 9.97382275e-01 -3.19369135e-04 2.07916955e+00] [ 2.03414113e-02 -1.15457317e-03 9.99792425e-01 1.76510243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.05925415399997 meters 0.024174338805510474 Centerline is valid? [True, True] Translation: X:257.90, Y:2.08, Z:1.77 [[ 9.97346831e-01 -6.98019745e-02 -2.06635607e-02 2.57904192e+02] [ 6.98102149e-02 9.97560239e-01 -3.23163514e-04 2.08408017e+00] [ 2.06357040e-02 -1.12022151e-03 9.99786434e-01 1.76550356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.08925415399997 meters 0.0233352384949154 Centerline is valid? [True, True] Translation: X:257.94, Y:2.09, Z:1.77 [[ 9.97540527e-01 -6.68473562e-02 -2.10790953e-02 2.57935538e+02] [ 6.68552905e-02 9.97762628e-01 -3.28862610e-04 2.08771702e+00] [ 2.10539171e-02 -1.08119526e-03 9.99777757e-01 1.76537883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.11925415399998 meters 0.02256079732146658 Centerline is valid? [True, True] Translation: X:257.97, Y:2.09, Z:1.77 [[ 9.97761873e-01 -6.34375434e-02 -2.11405665e-02 2.57965299e+02] [ 6.34447660e-02 9.97985297e-01 -3.29560305e-04 2.09178809e+00] [ 2.11188811e-02 -1.01243559e-03 9.99776459e-01 1.76522636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.14925415399998 meters 0.02256079732146658 Centerline is valid? [True, True] Translation: X:258.00, Y:2.09, Z:1.77 [[ 9.97764214e-01 -6.34006981e-02 -2.11405747e-02 2.57996176e+02] [ 6.34079235e-02 9.97987639e-01 -3.29035560e-04 2.09223952e+00] [ 2.11188933e-02 -1.01218004e-03 9.99776459e-01 1.76544035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.17925415399998 meters 0.020047550606112248 Centerline is valid? [True, True] Translation: X:258.03, Y:2.10, Z:1.77 [[ 9.98224785e-01 -5.56077638e-02 -2.13320184e-02 2.58026458e+02] [ 5.56133496e-02 9.98452325e-01 -3.31758764e-04 2.10216533e+00] [ 2.13174518e-02 -8.55175179e-04 9.99772392e-01 1.76667889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.20925415399998 meters 0.018671883553784324 Centerline is valid? [True, True] Translation: X:258.06, Y:2.11, Z:1.77 [[ 9.98463012e-01 -5.13632996e-02 -2.08188844e-02 2.58057528e+02] [ 5.13677036e-02 9.98679756e-01 -3.23524087e-04 2.10751009e+00] [ 2.08080156e-02 -7.46391447e-04 9.99783211e-01 1.76705504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.23925415399998 meters 0.017158832539809148 Centerline is valid? [True, True] Translation: X:258.09, Y:2.11, Z:1.77 [[ 9.98653673e-01 -4.73930164e-02 -2.10889337e-02 2.58088336e+02] [ 4.73966594e-02 9.98876093e-01 -3.27330273e-04 2.11282591e+00] [ 2.10807449e-02 -6.72655429e-04 9.99777550e-01 1.76808389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.26925415399998 meters 0.017080209698237647 Centerline is valid? [True, True] Translation: X:258.12, Y:2.12, Z:1.77 [[ 9.98993758e-01 -3.98583024e-02 -2.05617713e-02 2.58118172e+02] [ 3.98601730e-02 9.99205217e-01 -3.19023242e-04 2.12040164e+00] [ 2.05581449e-02 -5.00893533e-04 9.99788534e-01 1.76855049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.29925415399998 meters 0.015194313869214543 Centerline is valid? [True, True] Translation: X:258.15, Y:2.12, Z:1.77 [[ 9.99072962e-01 -3.78709416e-02 -2.04697010e-02 2.58147267e+02] [ 3.78723685e-02 9.99282534e-01 -3.18082833e-04 2.12361835e+00] [ 2.04670608e-02 -4.57448102e-04 9.99790423e-01 1.76856402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32925415399998 meters 0.014841688821197602 Centerline is valid? [True, True] Translation: X:258.18, Y:2.13, Z:1.77 [[ 9.99152993e-01 -3.57053218e-02 -2.04554575e-02 2.58176059e+02] [ 3.57062733e-02 9.99362277e-01 -3.18833909e-04 2.12641762e+00] [ 2.04537967e-02 -4.11824301e-04 9.99790714e-01 1.76850705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35925415399998 meters 0.014408534896601998 Centerline is valid? [True, True] Translation: X:258.21, Y:2.13, Z:1.77 [[ 9.99205755e-01 -3.43454232e-02 -2.02052121e-02 2.58206095e+02] [ 3.43460567e-02 9.99409950e-01 -3.15771203e-04 2.12935322e+00] [ 2.02041353e-02 -3.78448958e-04 9.99795804e-01 1.76864081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38925415399996 meters 0.014324267244154299 Centerline is valid? [True, True] Translation: X:258.24, Y:2.13, Z:1.77 [[ 9.99239177e-01 -3.32282896e-02 -2.04193109e-02 2.58235319e+02] [ 3.32286592e-02 9.99447724e-01 -3.21282907e-04 2.13387316e+00] [ 2.04187095e-02 -3.57467854e-04 9.99791453e-01 1.76973107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41925415399996 meters 0.014514291243097758 Centerline is valid? [True, True] Translation: X:258.26, Y:2.13, Z:1.77 [[ 9.99222169e-01 -3.38873856e-02 -2.01668374e-02 2.58264117e+02] [ 3.38878459e-02 9.99425591e-01 -3.19013816e-04 2.13310809e+00] [ 2.01660639e-02 -3.64644998e-04 9.99796578e-01 1.76882400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.44925415399996 meters 0.01506240693591426 Centerline is valid? [True, True] Translation: X:258.29, Y:2.13, Z:1.77 [[ 9.99201707e-01 -3.47381680e-02 -1.97283534e-02 2.58292281e+02] [ 3.47387492e-02 9.99396378e-01 -3.13347289e-04 2.13278851e+00] [ 1.97273300e-02 -3.72241173e-04 9.99805328e-01 1.76889347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47925415399996 meters 0.01556533636550515 Centerline is valid? [True, True] Translation: X:258.32, Y:2.13, Z:1.77 [[ 9.99162343e-01 -3.60749083e-02 -1.93187137e-02 2.58320958e+02] [ 3.60756893e-02 9.99349013e-01 -3.08186530e-04 2.13224656e+00] [ 1.93172553e-02 -3.89007537e-04 9.99813329e-01 1.76918924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.50925415399996 meters 0.014495998395119732 Centerline is valid? [True, True] Translation: X:258.35, Y:2.14, Z:1.77 [[ 9.99107181e-01 -3.78016167e-02 -1.88647556e-02 2.58350709e+02] [ 3.78026517e-02 9.99285179e-01 -3.01859610e-04 2.13521190e+00] [ 1.88626815e-02 -4.11547682e-04 9.99821999e-01 1.77162187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53925415399996 meters 0.015779445922791874 Centerline is valid? [True, True] Translation: X:258.38, Y:2.13, Z:1.77 [[ 9.98967763e-01 -4.15444903e-02 -1.83701664e-02 2.58380042e+02] [ 4.15460957e-02 9.99136545e-01 -2.94403097e-04 2.13307280e+00] [ 1.83665354e-02 -4.69109488e-04 9.99831211e-01 1.77193002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.56925415399996 meters 0.018490434062739324 Centerline is valid? [True, True] Translation: X:258.41, Y:2.13, Z:1.77 [[ 9.98896262e-01 -4.33608322e-02 -1.80581341e-02 2.58410597e+02] [ 4.33626814e-02 9.99059355e-01 -2.89326374e-04 2.12924543e+00] [ 1.80536933e-02 -4.94042085e-04 9.99836897e-01 1.77049621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59925415399996 meters 0.01674323391065086 Centerline is valid? [True, True] Translation: X:258.44, Y:2.13, Z:1.77 [[ 9.98815457e-01 -4.51093170e-02 -1.82436961e-02 2.58441764e+02] [ 4.51115057e-02 9.98981915e-01 -2.91759854e-04 2.13230330e+00] [ 1.82382835e-02 -5.31586347e-04 9.99833527e-01 1.77196262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62925415399997 meters 0.018074608435200205 Centerline is valid? [True, True] Translation: X:258.47, Y:2.13, Z:1.77 [[ 9.98677645e-01 -4.81889812e-02 -1.79104444e-02 2.58472047e+02] [ 4.81915985e-02 9.98838069e-01 -2.85689741e-04 2.13061049e+00] [ 1.79034008e-02 -5.77820989e-04 9.99839554e-01 1.77132127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65925415399997 meters 0.01827073914311653 Centerline is valid? [True, True] Translation: X:258.50, Y:2.13, Z:1.77 [[ 9.98638891e-01 -4.92137628e-02 -1.72734229e-02 2.58503536e+02] [ 4.92163620e-02 9.98788103e-01 -2.74851562e-04 2.13081587e+00] [ 1.72660158e-02 -5.75657578e-04 9.99850766e-01 1.77160307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.68925415399997 meters 0.018896310775871488 Centerline is valid? [True, True] Translation: X:258.53, Y:2.13, Z:1.77 [[ 9.98620446e-01 -4.97242637e-02 -1.68731090e-02 2.58534688e+02] [ 4.97268299e-02 9.98762820e-01 -2.67692221e-04 2.12985958e+00] [ 1.68655447e-02 -5.71723296e-04 9.99857603e-01 1.77141955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.71925415399997 meters 0.01921354213639261 Centerline is valid? [True, True] Translation: X:258.57, Y:2.13, Z:1.77 [[ 9.98623868e-01 -4.99135718e-02 -1.60936513e-02 2.58566482e+02] [ 4.99159473e-02 9.98753390e-01 -2.54303488e-04 2.12955083e+00] [ 1.60862820e-02 -5.49376319e-04 9.99870456e-01 1.77156494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.74925415399997 meters 0.018780591429171666 Centerline is valid? [True, True] Translation: X:258.60, Y:2.13, Z:1.77 [[ 9.98683765e-01 -4.90675524e-02 -1.49369864e-02 2.58597724e+02] [ 4.90695154e-02 9.98795338e-01 -2.35272190e-04 2.13049779e+00] [ 1.49305366e-02 -4.97988169e-04 9.99888409e-01 1.77223709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.77925415399997 meters 0.01754960725387054 Centerline is valid? [True, True] Translation: X:258.63, Y:2.13, Z:1.77 [[ 9.98752181e-01 -4.77704265e-02 -1.45624976e-02 2.58629978e+02] [ 4.77721663e-02 9.98858232e-01 -2.28563910e-04 2.13311656e+00] [ 1.45567892e-02 -4.67403355e-04 9.99893935e-01 1.77279669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.80925415399997 meters 0.016829814914640365 Centerline is valid? [True, True] Translation: X:258.66, Y:2.14, Z:1.77 [[ 9.98837921e-01 -4.58892923e-02 -1.47302228e-02 2.58662626e+02] [ 4.58908864e-02 9.98946432e-01 -2.29951881e-04 2.13525832e+00] [ 1.47252559e-02 -4.46298324e-04 9.99891478e-01 1.77292321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.83925415399997 meters 0.016840124617544295 Centerline is valid? [True, True] Translation: X:258.69, Y:2.14, Z:1.77 [[ 9.99049540e-01 -4.12565361e-02 -1.40682501e-02 2.58693306e+02] [ 4.12575434e-02 9.99148521e-01 -2.18737772e-04 2.13682202e+00] [ 1.40652957e-02 -3.61891571e-04 9.99901013e-01 1.77215114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.86925415399998 meters 0.015324110399224346 Centerline is valid? [True, True] Translation: X:258.72, Y:2.14, Z:1.77 [[ 9.99155365e-01 -3.85346933e-02 -1.42700546e-02 2.58724282e+02] [ 3.85354599e-02 9.99257209e-01 -2.21346286e-04 2.14064535e+00] [ 1.42679845e-02 -3.28743789e-04 9.99898153e-01 1.77240543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.89925415399998 meters 0.014296109051670884 Centerline is valid? [True, True] Translation: X:258.76, Y:2.14, Z:1.77 [[ 9.99272714e-01 -3.53943383e-02 -1.41874833e-02 2.58755954e+02] [ 3.53947870e-02 9.99373384e-01 -2.19546661e-04 2.14294868e+00] [ 1.41863639e-02 -2.82775963e-04 9.99899328e-01 1.77248412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.92925415399998 meters 0.014114921290425745 Centerline is valid? [True, True] Translation: X:258.79, Y:2.14, Z:1.77 [[ 9.99370725e-01 -3.24744856e-02 -1.42674963e-02 2.58786229e+02] [ 3.24746474e-02 9.99472535e-01 -2.20395130e-04 2.14463586e+00] [ 1.42671279e-02 -2.43075471e-04 9.99898190e-01 1.77230055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.95925415399998 meters 0.013024523747089832 Centerline is valid? [True, True] Translation: X:258.82, Y:2.15, Z:1.77 [[ 9.99553543e-01 -2.66946083e-02 -1.34206379e-02 2.58816186e+02] [ 2.66942395e-02 9.99643624e-01 -2.06652109e-04 2.14788082e+00] [ 1.34213716e-02 -1.51693875e-04 9.99909918e-01 1.77258190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.98925415399998 meters 0.012523849748602888 Centerline is valid? [True, True] Translation: X:258.85, Y:2.15, Z:1.77 [[ 9.99609233e-01 -2.47028760e-02 -1.30824261e-02 2.58846639e+02] [ 2.47023623e-02 9.99694830e-01 -2.00879742e-04 2.15019959e+00] [ 1.30833960e-02 -1.22365584e-04 9.99914401e-01 1.77325252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.01925415399998 meters 0.012297204669397946 Centerline is valid? [True, True] Translation: X:258.88, Y:2.15, Z:1.77 [[ 9.99646598e-01 -2.30362563e-02 -1.32668931e-02 2.58877005e+02] [ 2.30355813e-02 9.99734625e-01 -2.03712220e-04 2.15142333e+00] [ 1.32680651e-02 -1.01970366e-04 9.99911970e-01 1.77304386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.04925415399998 meters 0.012258528303398943 Centerline is valid? [True, True] Translation: X:258.91, Y:2.15, Z:1.77 [[ 9.99662726e-01 -2.17552445e-02 -1.41825292e-02 2.58906766e+02] [ 2.17543404e-02 9.99763323e-01 -2.18038347e-04 2.15194344e+00] [ 1.41839160e-02 -9.05667598e-05 9.99899399e-01 1.77156291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07925415399998 meters 0.012258528303398943 Centerline is valid? [True, True] Translation: X:258.94, Y:2.15, Z:1.77 [[ 9.99661926e-01 -2.17919477e-02 -1.41825212e-02 2.58935918e+02] [ 2.17910398e-02 9.99762523e-01 -2.18559234e-04 2.15242112e+00] [ 1.41839160e-02 -9.05665393e-05 9.99899399e-01 1.77176502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10925415399998 meters 0.012514019726864688 Centerline is valid? [True, True] Translation: X:258.96, Y:2.15, Z:1.77 [[ 9.99599484e-01 -2.31405087e-02 -1.62907594e-02 2.58964602e+02] [ 2.31394769e-02 9.99732215e-01 -2.51852051e-04 2.15110595e+00] [ 1.62922250e-02 -1.25208471e-04 9.99867265e-01 1.76967865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13925415399996 meters 0.01261235751762617 Centerline is valid? [True, True] Translation: X:258.99, Y:2.15, Z:1.77 [[ 9.99550669e-01 -2.49722214e-02 -1.65785186e-02 2.58993799e+02] [ 2.49713568e-02 9.99688133e-01 -2.59192526e-04 2.15025627e+00] [ 1.65798209e-02 -1.54912041e-04 9.99862533e-01 1.76932637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16925415399996 meters 0.012993132678863756 Centerline is valid? [True, True] Translation: X:259.02, Y:2.15, Z:1.77 [[ 9.99479238e-01 -2.74260409e-02 -1.70019347e-02 2.59022469e+02] [ 2.74254456e-02 9.99623816e-01 -2.68213474e-04 2.14792783e+00] [ 1.70028949e-02 -1.98211838e-04 9.99855421e-01 1.76845898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19925415399996 meters 0.014053296302125812 Centerline is valid? [True, True] Translation: X:259.05, Y:2.14, Z:1.77 [[ 9.99287603e-01 -3.40892973e-02 -1.61927742e-02 2.59051041e+02] [ 3.40895874e-02 9.99418748e-01 -2.58183431e-04 2.14346935e+00] [ 1.61921634e-02 -2.94005490e-04 9.99868855e-01 1.76931211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.22925415399996 meters 0.015277047943743271 Centerline is valid? [True, True] Translation: X:259.08, Y:2.14, Z:1.77 [[ 9.99161918e-01 -3.78666695e-02 -1.55427441e-02 2.59080657e+02] [ 3.78673647e-02 9.99282743e-01 -2.49677445e-04 2.14028719e+00] [ 1.55410504e-02 -3.39094563e-04 9.99879173e-01 1.76990133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25925415399996 meters 0.015511015116602214 Centerline is valid? [True, True] Translation: X:259.11, Y:2.14, Z:1.77 [[ 9.99037170e-01 -4.13436089e-02 -1.46778310e-02 2.59111990e+02] [ 4.13446062e-02 9.99144918e-01 -2.35615472e-04 2.13913167e+00] [ 1.46750214e-02 -3.71460527e-04 9.99892247e-01 1.77132959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.28925415399996 meters 0.018019702037100915 Centerline is valid? [True, True] Translation: X:259.14, Y:2.13, Z:1.77 [[ 9.98744288e-01 -4.81596107e-02 -1.38021528e-02 2.59142416e+02] [ 4.81611477e-02 9.98839554e-01 -2.21191186e-04 2.13380042e+00] [ 1.37967887e-02 -4.43814087e-04 9.99904721e-01 1.77231602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31925415399996 meters 0.01872730588930651 Centerline is valid? [True, True] Translation: X:259.17, Y:2.13, Z:1.77 [[ 9.98591393e-01 -5.12919338e-02 -1.35781712e-02 2.59174398e+02] [ 5.12937189e-02 9.98683587e-01 -2.16984554e-04 2.13231235e+00] [ 1.35714263e-02 -4.79795989e-04 9.99907789e-01 1.77283674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34925415399996 meters 0.020371547941034625 Centerline is valid? [True, True] Translation: X:259.21, Y:2.13, Z:1.77 [[ 9.98441306e-01 -5.42213542e-02 -1.32288637e-02 2.59205668e+02] [ 5.42233166e-02 9.98528812e-01 -2.10555199e-04 2.12947466e+00] [ 1.32208181e-02 -5.07085856e-04 9.99912473e-01 1.77275666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37925415399997 meters 0.020720314749581213 Centerline is valid? [True, True] Translation: X:259.24, Y:2.13, Z:1.77 [[ 9.98269272e-01 -5.72388563e-02 -1.34971703e-02 2.59236945e+02] [ 5.72411829e-02 9.98360356e-01 -2.14192124e-04 2.12880640e+00] [ 1.34872998e-02 -5.58772576e-04 9.99908886e-01 1.77329767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40925415399997 meters 0.02402928580820956 Centerline is valid? [True, True] Translation: X:259.27, Y:2.12, Z:1.77 [[ 9.97957524e-01 -6.25436954e-02 -1.30025248e-02 2.59267091e+02] [ 6.25463116e-02 9.98042041e-01 -2.05740323e-04 2.12399276e+00] [ 1.29899341e-02 -6.07939863e-04 9.99915442e-01 1.77315924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.43925415399997 meters 0.024775251206049384 Centerline is valid? [True, True] Translation: X:259.30, Y:2.12, Z:1.77 [[ 9.97803424e-01 -6.50132019e-02 -1.27126508e-02 2.59299017e+02] [ 6.50159117e-02 9.97884207e-01 -2.00444919e-04 2.12339917e+00] [ 1.26987851e-02 -6.26519959e-04 9.99919171e-01 1.77371358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.46925415399997 meters 0.025726586353599434 Centerline is valid? [True, True] Translation: X:259.33, Y:2.12, Z:1.77 [[ 9.97659291e-01 -6.72770704e-02 -1.22366003e-02 2.59330988e+02] [ 6.72797600e-02 9.97734131e-01 -1.92192301e-04 2.12236869e+00] [ 1.22218039e-02 -6.31533098e-04 9.99925112e-01 1.77418216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.49925415399997 meters 0.027774756776926035 Centerline is valid? [True, True] Translation: X:259.36, Y:2.12, Z:1.78 [[ 9.97380675e-01 -7.14002225e-02 -1.15670559e-02 2.59361754e+02] [ 7.14029086e-02 9.97447538e-01 -1.81115833e-04 2.12033809e+00] [ 1.15504632e-02 -6.45280005e-04 9.99933083e-01 1.77529131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.52925415399997 meters 0.02810980482444686 Centerline is valid? [True, True] Translation: X:259.39, Y:2.12, Z:1.78 [[ 9.97248846e-01 -7.32936898e-02 -1.10803366e-02 2.59393824e+02] [ 7.32962758e-02 9.97310195e-01 -1.73069837e-04 2.12106180e+00] [ 1.10632176e-02 -6.39553710e-04 9.99938596e-01 1.77596223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.55925415399997 meters 0.027253788877474153 Centerline is valid? [True, True] Translation: X:259.43, Y:2.12, Z:1.78 [[ 9.97148138e-01 -7.46177108e-02 -1.13043801e-02 2.59425653e+02] [ 7.46204968e-02 9.97211989e-01 -1.75723358e-04 2.12369175e+00] [ 1.12859754e-02 -6.68316237e-04 9.99936088e-01 1.77637350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.58925415399997 meters 0.03018974364626443 Centerline is valid? [True, True] Translation: X:259.46, Y:2.12, Z:1.78 [[ 9.97082538e-01 -7.53764459e-02 -1.20334323e-02 2.59456487e+02] [ 7.53796724e-02 9.97154888e-01 -1.85842608e-04 2.12084842e+00] [ 1.20132040e-02 -7.21775768e-04 9.99927578e-01 1.77612956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.61925415399998 meters 0.03179263790245996 Centerline is valid? [True, True] Translation: X:259.49, Y:2.12, Z:1.77 [[ 9.97039543e-01 -7.56877449e-02 -1.35467485e-02 2.59487217e+02] [ 7.56918797e-02 9.97131233e-01 -2.07964163e-04 2.12182066e+00] [ 1.35236263e-02 -8.18030360e-04 9.99908217e-01 1.77486502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.64925415399998 meters 0.02721474327600766 Centerline is valid? [True, True] Translation: X:259.52, Y:2.13, Z:1.78 [[ 9.97092535e-01 -7.49451895e-02 -1.37729555e-02 2.59519104e+02] [ 7.49494036e-02 9.97187316e-01 -2.10667998e-04 2.12990815e+00] [ 1.37500051e-02 -8.22219314e-04 9.99905126e-01 1.77523438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.67925415399998 meters 0.02699075745161044 Centerline is valid? [True, True] Translation: X:259.55, Y:2.13, Z:1.78 [[ 9.97173213e-01 -7.37693376e-02 -1.42712014e-02 2.59551813e+02] [ 7.37737615e-02 9.97274980e-01 -2.16927587e-04 2.13214049e+00] [ 1.42483147e-02 -8.36525828e-04 9.99898138e-01 1.77548123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.70925415399998 meters 0.026317474560731746 Centerline is valid? [True, True] Translation: X:259.58, Y:2.14, Z:1.78 [[ 9.97424361e-01 -7.03211651e-02 -1.41272066e-02 2.59581176e+02] [ 7.03251737e-02 9.97524097e-01 -2.13436456e-04 2.13665915e+00] [ 1.41072381e-02 -7.80611535e-04 9.99900183e-01 1.77547028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.73925415399998 meters 0.026126170601667244 Centerline is valid? [True, True] Translation: X:259.61, Y:2.14, Z:1.78 [[ 9.97575082e-01 -6.81711085e-02 -1.40234090e-02 2.59611933e+02] [ 6.81748574e-02 9.97673366e-01 -2.11094240e-04 2.13932118e+00] [ 1.40051722e-02 -7.45461558e-04 9.99901645e-01 1.77583920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.76925415399998 meters 0.025316907466661178 Centerline is valid? [True, True] Translation: X:259.64, Y:2.14, Z:1.78 [[ 9.97738316e-01 -6.57441599e-02 -1.39984889e-02 2.59643640e+02] [ 6.57476663e-02 9.97836259e-01 -2.10071490e-04 2.14329125e+00] [ 1.39820107e-02 -7.10771601e-04 9.99901994e-01 1.77632551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.79925415399998 meters 0.024552569404975886 Centerline is valid? [True, True] Translation: X:259.67, Y:2.15, Z:1.78 [[ 9.98135946e-01 -5.92921629e-02 -1.44593482e-02 2.59674148e+02] [ 5.92952346e-02 9.98240466e-01 -2.16556633e-04 2.15062794e+00] [ 1.44467466e-02 -6.41217484e-04 9.99895435e-01 1.77553201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82925415399998 meters 0.022192549275593682 Centerline is valid? [True, True] Translation: X:259.71, Y:2.16, Z:1.78 [[ 9.98273625e-01 -5.67304285e-02 -1.52127407e-02 2.59705325e+02] [ 5.67335369e-02 9.98389330e-01 -2.27502200e-04 2.15510289e+00] [ 1.52011443e-02 -6.35963142e-04 9.99884254e-01 1.77631460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85925415399998 meters 0.0225667569078973 Centerline is valid? [True, True] Translation: X:259.74, Y:2.16, Z:1.78 [[ 9.98476649e-01 -5.31726722e-02 -1.47325572e-02 2.59735366e+02] [ 5.31752064e-02 9.98585174e-01 -2.19931483e-04 2.15842435e+00] [ 1.47234075e-02 -5.63810319e-04 9.99891446e-01 1.77603992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88925415399996 meters 0.019845078538752496 Centerline is valid? [True, True] Translation: X:259.77, Y:2.17, Z:1.78 [[ 9.98771942e-01 -4.74944417e-02 -1.41027253e-02 2.59766069e+02] [ 4.74962019e-02 9.98871396e-01 -2.10279263e-04 2.16666324e+00] [ 1.40967961e-02 -4.59804863e-04 9.99900530e-01 1.77800683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91925415399996 meters 0.01858937827534137 Centerline is valid? [True, True] Translation: X:259.80, Y:2.17, Z:1.78 [[ 9.98895818e-01 -4.48254895e-02 -1.40648449e-02 2.59797423e+02] [ 4.48269813e-02 9.98994744e-01 -2.09331055e-04 2.17119678e+00] [ 1.40600895e-02 -4.21384624e-04 9.99901063e-01 1.77881099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.94925415399996 meters 0.017833341608893022 Centerline is valid? [True, True] Translation: X:259.83, Y:2.18, Z:1.78 [[ 9.99009663e-01 -4.24672875e-02 -1.32748811e-02 2.59829479e+02] [ 4.24684177e-02 9.99097790e-01 -1.96870822e-04 2.17521032e+00] [ 1.32712649e-02 -3.67087340e-04 9.99911866e-01 1.77951487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97925415399996 meters 0.017386174198416853 Centerline is valid? [True, True] Translation: X:259.86, Y:2.18, Z:1.78 [[ 9.99158468e-01 -3.91620142e-02 -1.21939313e-02 2.59859816e+02] [ 3.91627338e-02 9.99232830e-01 -1.79856075e-04 2.18055210e+00] [ 1.21916200e-02 -2.97842965e-04 9.99925635e-01 1.78056234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.00925415399996 meters 0.0168421806649534 Centerline is valid? [True, True] Translation: X:259.89, Y:2.18, Z:1.78 [[ 9.99194496e-01 -3.83250855e-02 -1.18973533e-02 2.59891841e+02] [ 3.83257234e-02 9.99265284e-01 -1.74453207e-04 2.18360347e+00] [ 1.18952981e-02 -2.81661988e-04 9.99929209e-01 1.78087394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.039254154 meters 0.01674907363146936 Centerline is valid? [True, True] Translation: X:259.92, Y:2.19, Z:1.78 [[ 9.99219717e-01 -3.76991165e-02 -1.17785567e-02 2.59923786e+02] [ 3.76997085e-02 9.99289099e-01 -1.71849606e-04 2.18636700e+00] [ 1.17766619e-02 -2.72332640e-04 9.99930616e-01 1.78066497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.06925415399996 meters 0.01674907363146936 Centerline is valid? [True, True] Translation: X:259.96, Y:2.19, Z:1.78 [[ 9.99222506e-01 -3.76251018e-02 -1.17785694e-02 2.59955483e+02] [ 3.76256989e-02 9.99291888e-01 -1.70976976e-04 2.18676970e+00] [ 1.17766619e-02 -2.72332863e-04 9.99930616e-01 1.78088450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.099254154 meters 0.016852922156606193 Centerline is valid? [True, True] Translation: X:259.99, Y:2.19, Z:1.78 [[ 9.99228640e-01 -3.73750390e-02 -1.20512207e-02 2.59987768e+02] [ 3.73756568e-02 9.99301271e-01 -1.74033126e-04 2.18818316e+00] [ 1.20493046e-02 -2.76523405e-04 9.99927366e-01 1.78033183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.12925415399997 meters 0.01716412997148836 Centerline is valid? [True, True] Translation: X:260.02, Y:2.19, Z:1.78 [[ 9.99244178e-01 -3.68287907e-02 -1.24383499e-02 2.60019338e+02] [ 3.68294168e-02 9.99321551e-01 -1.78796562e-04 2.19099561e+00] [ 1.24364960e-02 -2.79435750e-04 9.99922625e-01 1.77956591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.159254154 meters 0.01700690530178125 Centerline is valid? [True, True] Translation: X:260.05, Y:2.19, Z:1.78 [[ 9.99251156e-01 -3.65815686e-02 -1.26061635e-02 2.60051031e+02] [ 3.65822021e-02 9.99330631e-01 -1.80415584e-04 2.19300074e+00] [ 1.26043252e-02 -2.80880738e-04 9.99920523e-01 1.77959578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18925415399997 meters 0.017438424433780606 Centerline is valid? [True, True] Translation: X:260.08, Y:2.19, Z:1.78 [[ 9.99269017e-01 -3.61729248e-02 -1.23673692e-02 2.60081826e+02] [ 3.61735128e-02 9.99345509e-01 -1.76216396e-04 2.19443177e+00] [ 1.23656491e-02 -2.71283602e-04 9.99923506e-01 1.77946407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.219254154 meters 0.01745322358857197 Centerline is valid? [True, True] Translation: X:260.11, Y:2.20, Z:1.78 [[ 9.99312875e-01 -3.51484970e-02 -1.17626619e-02 2.60113311e+02] [ 3.51489652e-02 9.99382070e-01 -1.66988841e-04 2.19658803e+00] [ 1.17612628e-02 -2.46571295e-04 9.99930804e-01 1.77950211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24925415399997 meters 0.01714075062499948 Centerline is valid? [True, True] Translation: X:260.15, Y:2.20, Z:1.78 [[ 9.99340560e-01 -3.45042543e-02 -1.13093907e-02 2.60145564e+02] [ 3.45046534e-02 9.99404524e-01 -1.59887178e-04 2.19890499e+00] [ 1.13081730e-02 -2.30444862e-04 9.99936034e-01 1.77999569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27925415399994 meters 0.01700912795281083 Centerline is valid? [True, True] Translation: X:260.18, Y:2.20, Z:1.78 [[ 9.99379437e-01 -3.34200062e-02 -1.11285111e-02 2.60177190e+02] [ 3.34203341e-02 9.99441372e-01 -1.56547528e-04 2.20074322e+00] [ 1.11275263e-02 -2.15468181e-04 9.99938064e-01 1.78049466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.309254154 meters 0.016769834919973407 Centerline is valid? [True, True] Translation: X:260.21, Y:2.20, Z:1.78 [[ 9.99427901e-01 -3.21705736e-02 -1.04367509e-02 2.60209283e+02] [ 3.21708013e-02 9.99482375e-01 -1.46109268e-04 2.20322513e+00] [ 1.04360490e-02 -1.89732960e-04 9.99945525e-01 1.78077752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.33925415399995 meters 0.01606763996342234 Centerline is valid? [True, True] Translation: X:260.24, Y:2.21, Z:1.78 [[ 9.99519230e-01 -2.93607409e-02 -9.96269985e-03 2.60241376e+02] [ 2.93608157e-02 9.99568869e-01 -1.38786104e-04 2.20784211e+00] [ 9.96247948e-03 -1.53793614e-04 9.99950361e-01 1.78128410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.369254154 meters 0.015697023676667463 Centerline is valid? [True, True] Translation: X:260.27, Y:2.21, Z:1.78 [[ 9.99557871e-01 -2.81225962e-02 -9.65309273e-03 2.60273184e+02] [ 2.81226153e-02 9.99604472e-01 -1.33788999e-04 2.20985680e+00] [ 9.65303716e-03 -1.37740366e-04 9.99953399e-01 1.78152250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.39925415399995 meters 0.015985283923549545 Centerline is valid? [True, True] Translation: X:260.30, Y:2.21, Z:1.78 [[ 9.99590041e-01 -2.70848220e-02 -9.28240143e-03 2.60304001e+02] [ 2.70848006e-02 9.99633131e-01 -1.28037751e-04 2.21005819e+00] [ 9.28246389e-03 -1.23426731e-04 9.99956909e-01 1.78121497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.429254154 meters 0.01566493055960066 Centerline is valid? [True, True] Translation: X:260.34, Y:2.21, Z:1.78 [[ 9.99601117e-01 -2.66842453e-02 -9.24971424e-03 2.60336065e+02] [ 2.66842119e-02 9.99643905e-01 -1.27046702e-04 2.21065692e+00] [ 9.24981061e-03 -1.19825309e-04 9.99957212e-01 1.78102806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.45925415399995 meters 0.015450909384213219 Centerline is valid? [True, True] Translation: X:260.37, Y:2.21, Z:1.78 [[ 9.99581786e-01 -2.73628079e-02 -9.35571700e-03 2.60367984e+02] [ 2.73628098e-02 9.99625560e-01 -1.27822742e-04 2.21145317e+00] [ 9.35571144e-03 -1.28229420e-04 9.99956226e-01 1.78130984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.489254154 meters 0.015625646557202232 Centerline is valid? [True, True] Translation: X:260.40, Y:2.21, Z:1.78 [[ 9.99545033e-01 -2.85867941e-02 -9.61881692e-03 2.60399056e+02] [ 2.85868593e-02 9.99591304e-01 -1.30738383e-04 2.21063557e+00] [ 9.61862314e-03 -1.44292865e-04 9.99953730e-01 1.78153988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.51925415399995 meters 0.016217330888951883 Centerline is valid? [True, True] Translation: X:260.43, Y:2.21, Z:1.78 [[ 9.99439812e-01 -3.18307339e-02 -1.03376521e-02 2.60431299e+02] [ 3.18309895e-02 9.99493256e-01 -1.39843287e-04 2.20809435e+00] [ 1.03368649e-02 -1.89292748e-04 9.99946555e-01 1.78109787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.549254154 meters 0.01653423985658891 Centerline is valid? [True, True] Translation: X:260.46, Y:2.21, Z:1.78 [[ 9.99385147e-01 -3.32962365e-02 -1.09858495e-02 2.60462973e+02] [ 3.32966222e-02 9.99445503e-01 -1.47836637e-04 2.20775066e+00] [ 1.09846803e-02 -2.18045941e-04 9.99939643e-01 1.78105759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.57925415399995 meters 0.0173642571260393 Centerline is valid? [True, True] Translation: X:260.49, Y:2.21, Z:1.78 [[ 9.99329682e-01 -3.47281292e-02 -1.15820728e-02 2.60494085e+02] [ 3.47286619e-02 9.99396766e-01 -1.55187309e-04 2.20634189e+00] [ 1.15804755e-02 -2.47146606e-04 9.99932914e-01 1.78100266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.609254154 meters 0.017502524659054434 Centerline is valid? [True, True] Translation: X:260.53, Y:2.21, Z:1.78 [[ 9.99284391e-01 -3.58742020e-02 -1.19894415e-02 2.60525898e+02] [ 3.58748646e-02 9.99356277e-01 -1.59872538e-04 2.20562216e+00] [ 1.19874589e-02 -2.70361457e-04 9.99928111e-01 1.78106971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.63925415399996 meters 0.017614953418427098 Centerline is valid? [True, True] Translation: X:260.56, Y:2.21, Z:1.78 [[ 9.99251935e-01 -3.65952841e-02 -1.25041944e-02 2.60557939e+02] [ 3.65960730e-02 9.99330126e-01 -1.65792154e-04 2.20527440e+00] [ 1.25018854e-02 -2.91936281e-04 9.99921806e-01 1.78069596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.669254154 meters 0.017685723396870027 Centerline is valid? [True, True] Translation: X:260.59, Y:2.20, Z:1.78 [[ 9.99255275e-01 -3.62577508e-02 -1.32011358e-02 2.60590249e+02] [ 3.62586139e-02 9.99342425e-01 -1.74029048e-04 2.20429986e+00] [ 1.31987650e-02 -3.04755443e-04 9.99912846e-01 1.78045979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.69925415399996 meters 0.017665668214310815 Centerline is valid? [True, True] Translation: X:260.62, Y:2.20, Z:1.78 [[ 9.99285247e-01 -3.53813642e-02 -1.33098912e-02 2.60621572e+02] [ 3.53821753e-02 9.99373840e-01 -1.74598994e-04 2.20395220e+00] [ 1.33077346e-02 -2.96458704e-04 9.99911404e-01 1.78038316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.729254154 meters 0.017299128295819245 Centerline is valid? [True, True] Translation: X:260.65, Y:2.20, Z:1.78 [[ 9.99344392e-01 -3.37147524e-02 -1.31947382e-02 2.60652814e+02] [ 3.37154124e-02 9.99431459e-01 -1.72486917e-04 2.20464386e+00] [ 1.31930518e-02 -2.72492206e-04 9.99912931e-01 1.78055662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.75925415399996 meters 0.016127054870904513 Centerline is valid? [True, True] Translation: X:260.68, Y:2.21, Z:1.78 [[ 9.99507896e-01 -2.88846060e-02 -1.22330022e-02 2.60684160e+02] [ 2.88848167e-02 9.99582734e-01 -1.59489527e-04 2.20726382e+00] [ 1.22325046e-02 -1.93936986e-04 9.99925161e-01 1.78155130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.789254154 meters 0.015818861151551032 Centerline is valid? [True, True] Translation: X:260.72, Y:2.21, Z:1.78 [[ 9.99590811e-01 -2.61324586e-02 -1.16320749e-02 2.60715031e+02] [ 2.61324676e-02 9.99658477e-01 -1.51242754e-04 2.20850262e+00] [ 1.16320546e-02 -1.52793953e-04 9.99932334e-01 1.78240055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81925415399996 meters 0.015452414203623612 Centerline is valid? [True, True] Translation: X:260.75, Y:2.21, Z:1.78 [[ 9.99674337e-01 -2.29142592e-02 -1.12319347e-02 2.60746291e+02] [ 2.29140689e-02 9.99737428e-01 -1.45642078e-04 2.21004036e+00] [ 1.12323227e-02 -1.11774678e-04 9.99936909e-01 1.78316630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.849254154 meters 0.015018789849080614 Centerline is valid? [True, True] Translation: X:260.78, Y:2.21, Z:1.78 [[ 9.99804198e-01 -1.66526216e-02 -1.06890774e-02 2.60776584e+02] [ 1.66520947e-02 9.99861335e-01 -1.38296115e-04 2.21197646e+00] [ 1.06898982e-02 -3.97264936e-05 9.99942861e-01 1.78398007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87925415399997 meters 0.014991061189068844 Centerline is valid? [True, True] Translation: X:260.81, Y:2.21, Z:1.78 [[ 9.99846329e-01 -1.40150472e-02 -1.05307947e-02 2.60807367e+02] [ 1.40143908e-02 9.99901784e-01 -1.36125507e-04 2.21313436e+00] [ 1.05316682e-02 -1.14780831e-05 9.99944540e-01 1.78473998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.909254154 meters 0.014765129181012745 Centerline is valid? [True, True] Translation: X:260.84, Y:2.21, Z:1.79 [[ 9.99875120e-01 -1.17365116e-02 -1.05829271e-02 2.60837022e+02] [ 1.17357203e-02 9.99931125e-01 -1.36865951e-04 2.21343154e+00] [ 1.05838046e-02 1.26505858e-05 9.99943990e-01 1.78532513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93925415399997 meters 0.014872810191210539 Centerline is valid? [True, True] Translation: X:260.87, Y:2.21, Z:1.79 [[ 9.99882671e-01 -1.05942689e-02 -1.10636714e-02 2.60865926e+02] [ 1.05933211e-02 9.99943879e-01 -1.44266715e-04 2.21312804e+00] [ 1.10645789e-02 2.70487640e-05 9.99938785e-01 1.78543948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.969254154 meters 0.014961207748035965 Centerline is valid? [True, True] Translation: X:260.89, Y:2.21, Z:1.78 [[ 9.99864970e-01 -1.01154910e-02 -1.29505852e-02 2.60893725e+02] [ 1.01141185e-02 9.99948836e-01 -1.71475490e-04 2.20967690e+00] [ 1.29516572e-02 4.04685828e-05 9.99916123e-01 1.78411810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99925415399997 meters 0.014815011380657358 Centerline is valid? [True, True] Translation: X:260.92, Y:2.21, Z:1.78 [[ 9.99842442e-01 -1.13070434e-02 -1.36836720e-02 2.60920944e+02] [ 1.13056021e-02 9.99936073e-01 -1.82683276e-04 2.20715737e+00] [ 1.36848629e-02 2.79523416e-05 9.99906357e-01 1.78326584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.02925415399994 meters 0.015020629686569642 Centerline is valid? [True, True] Translation: X:260.95, Y:2.20, Z:1.78 [[ 9.99797011e-01 -1.31500449e-02 -1.52647665e-02 2.60949826e+02] [ 1.31484199e-02 9.99913534e-01 -2.06813806e-04 2.20372200e+00] [ 1.52661662e-02 6.06426541e-06 9.99883465e-01 1.78228556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.059254154 meters 0.015017677231527554 Centerline is valid? [True, True] Translation: X:260.98, Y:2.20, Z:1.78 [[ 9.99694591e-01 -1.84009687e-02 -1.64963504e-02 2.60979125e+02] [ 1.83997441e-02 9.99830685e-01 -2.26017262e-04 2.19551812e+00] [ 1.64977163e-02 -7.75803921e-05 9.99863900e-01 1.78157474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.08925415399995 meters 0.015267861332356263 Centerline is valid? [True, True] Translation: X:261.01, Y:2.19, Z:1.78 [[ 9.99627965e-01 -2.16651017e-02 -1.65697087e-02 2.61007776e+02] [ 2.16642676e-02 9.99765276e-01 -2.29859845e-04 2.19142200e+00] [ 1.65707993e-02 -1.29196274e-04 9.99862687e-01 1.78199062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.119254154 meters 0.015700654743254067 Centerline is valid? [True, True] Translation: X:261.04, Y:2.19, Z:1.78 [[ 9.99547371e-01 -2.52470053e-02 -1.63597766e-02 2.61036841e+02] [ 2.52466071e-02 9.99681227e-01 -2.30902006e-04 2.18745809e+00] [ 1.63603911e-02 -1.82231359e-04 9.99866143e-01 1.78273799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.14925415399995 meters 0.017003869087389795 Centerline is valid? [True, True] Translation: X:261.07, Y:2.18, Z:1.78 [[ 9.99383415e-01 -3.12958485e-02 -1.59172797e-02 2.61065544e+02] [ 3.12962050e-02 9.99510128e-01 -2.26753953e-04 2.17930801e+00] [ 1.59165787e-02 -2.71536309e-04 9.99873286e-01 1.78435983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.179254154 meters 0.01770926030088464 Centerline is valid? [True, True] Translation: X:261.10, Y:2.18, Z:1.79 [[ 9.99308986e-01 -3.37143194e-02 -1.56491046e-02 2.61096224e+02] [ 3.37149549e-02 9.99431464e-01 -2.23284514e-04 2.17566091e+00] [ 1.56477354e-02 -3.04478635e-04 9.99877520e-01 1.78504289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.20925415399995 meters 0.018470646180860608 Centerline is valid? [True, True] Translation: X:261.13, Y:2.17, Z:1.79 [[ 9.99234029e-01 -3.58420541e-02 -1.57067580e-02 2.61127093e+02] [ 3.58429594e-02 9.99357410e-01 -2.23958037e-04 2.17239690e+00] [ 1.57046921e-02 -3.39190198e-04 9.99876616e-01 1.78589071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.239254154 meters 0.017550580167384554 Centerline is valid? [True, True] Translation: X:261.16, Y:2.17, Z:1.79 [[ 9.99094052e-01 -3.94669358e-02 -1.59197000e-02 2.61158404e+02] [ 3.94683328e-02 9.99220796e-01 -2.26543157e-04 2.16982283e+00] [ 1.59162363e-02 -4.01986098e-04 9.99873248e-01 1.78822632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.26925415399995 meters 0.0179293671709712 Centerline is valid? [True, True] Translation: X:261.19, Y:2.17, Z:1.79 [[ 9.99033045e-01 -4.10578234e-02 -1.57235650e-02 2.61189784e+02] [ 4.10593921e-02 9.99156683e-01 -2.23175922e-04 2.16675417e+00] [ 1.57194682e-02 -4.22639899e-04 9.99876352e-01 1.78886209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.299254154 meters 0.018003448070522326 Centerline is valid? [True, True] Translation: X:261.22, Y:2.16, Z:1.79 [[ 9.98971429e-01 -4.27445638e-02 -1.51322672e-02 2.61221550e+02] [ 4.27462184e-02 9.99085940e-01 -2.14232625e-04 2.16445958e+00] [ 1.51275927e-02 -4.32834927e-04 9.99885478e-01 1.78988690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.32925415399995 meters 0.019601820074126662 Centerline is valid? [True, True] Translation: X:261.25, Y:2.16, Z:1.79 [[ 9.98816806e-01 -4.62865811e-02 -1.49177989e-02 2.61251870e+02] [ 4.62885897e-02 9.98928087e-01 -2.10794469e-04 2.15716424e+00] [ 1.49115652e-02 -4.79978812e-04 9.99888701e-01 1.79009343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.359254154 meters 0.019482414182604647 Centerline is valid? [True, True] Translation: X:261.28, Y:2.16, Z:1.79 [[ 9.98725283e-01 -4.81580948e-02 -1.51197519e-02 2.61282840e+02] [ 4.81603806e-02 9.98839593e-01 -2.13101562e-04 2.15535508e+00] [ 1.51124694e-02 -5.15343087e-04 9.99885667e-01 1.79055688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.38925415399996 meters 0.020171133695236477 Centerline is valid? [True, True] Translation: X:261.31, Y:2.15, Z:1.79 [[ 9.98633328e-01 -5.00445871e-02 -1.50670474e-02 2.61313996e+02] [ 5.00470813e-02 9.98746837e-01 -2.11705178e-04 2.15274370e+00] [ 1.50587607e-02 -5.42645901e-04 9.99886463e-01 1.79082693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.419254154 meters 0.021837191342919816 Centerline is valid? [True, True] Translation: X:261.34, Y:2.15, Z:1.79 [[ 9.98475303e-01 -5.28716951e-02 -1.58635707e-02 2.61343902e+02] [ 5.28748206e-02 9.98601123e-01 -2.22626101e-04 2.14652849e+00] [ 1.58531501e-02 -6.16496789e-04 9.99874141e-01 1.79042001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.44925415399996 meters 0.022455882353650588 Centerline is valid? [True, True] Translation: X:261.37, Y:2.14, Z:1.79 [[ 9.98426192e-01 -5.37160576e-02 -1.61159356e-02 2.61374266e+02] [ 5.37193958e-02 9.98556045e-01 -2.26001659e-04 2.14408052e+00] [ 1.61048048e-02 -6.40092346e-04 9.99870104e-01 1.79024226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.479254154 meters 0.021410481038807654 Centerline is valid? [True, True] Translation: X:261.41, Y:2.14, Z:1.79 [[ 9.98378990e-01 -5.42202016e-02 -1.73078392e-02 2.61405064e+02] [ 5.42241333e-02 9.98528760e-01 -2.42389280e-04 2.14468736e+00] [ 1.72955176e-02 -6.96506214e-04 9.99850179e-01 1.79047731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.50925415399996 meters 0.023462678481443986 Centerline is valid? [True, True] Translation: X:261.44, Y:2.14, Z:1.79 [[ 9.98362952e-01 -5.42320272e-02 -1.81742633e-02 2.61436033e+02] [ 5.42363907e-02 9.98528092e-01 -2.53076014e-04 2.14054045e+00] [ 1.81612373e-02 -7.33044731e-04 9.99834802e-01 1.78917352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.539254154 meters 0.02207182981426789 Centerline is valid? [True, True] Translation: X:261.47, Y:2.14, Z:1.79 [[ 9.98405439e-01 -5.29432859e-02 -1.95853989e-02 2.61467346e+02] [ 5.29481321e-02 9.98597227e-01 -2.71395991e-04 2.14175331e+00] [ 1.95722936e-02 -7.66047056e-04 9.99808151e-01 1.78926694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.56925415399996 meters 0.021270798013413538 Centerline is valid? [True, True] Translation: X:261.50, Y:2.14, Z:1.79 [[ 9.98468151e-01 -5.14775779e-02 -2.02832618e-02 2.61497644e+02] [ 5.14824790e-02 9.98673858e-01 -2.80806226e-04 2.14319966e+00] [ 2.02708185e-02 -7.63856526e-04 9.99794234e-01 1.78968584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.599254154 meters 0.020814189127680034 Centerline is valid? [True, True] Translation: X:261.53, Y:2.14, Z:1.79 [[ 9.98566775e-01 -4.96459563e-02 -1.99918916e-02 2.61527694e+02] [ 4.96503463e-02 9.98766623e-01 -2.77009112e-04 2.14471314e+00] [ 1.99809864e-02 -7.15992243e-04 9.99800104e-01 1.79023348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.62925415399997 meters 0.020368410662255435 Centerline is valid? [True, True] Translation: X:261.56, Y:2.15, Z:1.79 [[ 9.98676947e-01 -4.72795200e-02 -2.02238309e-02 2.61557334e+02] [ 4.72835156e-02 9.98881470e-01 -2.80828611e-04 2.14667031e+00] [ 2.02144873e-02 -6.75796763e-04 9.99795438e-01 1.79086795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.659254154 meters 0.018157091822106723 Centerline is valid? [True, True] Translation: X:261.59, Y:2.15, Z:1.79 [[ 9.98918012e-01 -4.19523016e-02 -2.00701380e-02 2.61587479e+02] [ 4.19551525e-02 9.99119456e-01 -2.79184109e-04 2.15276190e+00] [ 2.00641778e-02 -5.63163666e-04 9.99798536e-01 1.79272969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68925415399997 meters 0.018555561401529693 Centerline is valid? [True, True] Translation: X:261.62, Y:2.15, Z:1.79 [[ 9.99016863e-01 -3.93251473e-02 -2.04655656e-02 2.61616614e+02] [ 3.93275481e-02 9.99226332e-01 -2.85308911e-04 2.15351530e+00] [ 2.04609518e-02 -5.19832101e-04 9.99790518e-01 1.79206892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.719254154 meters 0.01732205632007879 Centerline is valid? [True, True] Translation: X:261.65, Y:2.16, Z:1.79 [[ 9.99164089e-01 -3.50082468e-02 -2.11079524e-02 2.61645852e+02] [ 3.50097931e-02 9.99386925e-01 -2.96388237e-04 2.15932586e+00] [ 2.11053877e-02 -4.42844562e-04 9.99777158e-01 1.79320015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74925415399997 meters 0.01730608257780338 Centerline is valid? [True, True] Translation: X:261.68, Y:2.16, Z:1.79 [[ 9.99223586e-01 -3.34087361e-02 -2.08825722e-02 2.61675133e+02] [ 3.34098408e-02 9.99441692e-01 -2.96072489e-04 2.16118400e+00] [ 2.08808047e-02 -4.01840801e-04 9.99781891e-01 1.79332320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77925415399994 meters 0.017640591811783308 Centerline is valid? [True, True] Translation: X:261.70, Y:2.16, Z:1.79 [[ 9.99270616e-01 -3.20345691e-02 -2.07851458e-02 2.61702908e+02] [ 3.20353199e-02 9.99486693e-01 -2.96930350e-04 2.16173402e+00] [ 2.07839887e-02 -3.69145021e-04 9.99783921e-01 1.79336059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.809254154 meters 0.01719836293188725 Centerline is valid? [True, True] Translation: X:261.73, Y:2.16, Z:1.79 [[ 9.99310779e-01 -3.10160962e-02 -2.03953035e-02 2.61731696e+02] [ 3.10165235e-02 9.99518828e-01 -2.95451531e-04 2.16317087e+00] [ 2.03946537e-02 -3.37343512e-04 9.99791951e-01 1.79471275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.83925415399995 meters 0.016869301538579035 Centerline is valid? [True, True] Translation: X:261.76, Y:2.16, Z:1.80 [[ 9.99350535e-01 -2.99725203e-02 -2.00039080e-02 2.61760117e+02] [ 2.99726197e-02 9.99550677e-01 -2.94916951e-04 2.16421179e+00] [ 2.00037592e-02 -3.04844113e-04 9.99799858e-01 1.79653078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.869254154 meters 0.017122977298653655 Centerline is valid? [True, True] Translation: X:261.79, Y:2.16, Z:1.80 [[ 9.99358885e-01 -2.99564500e-02 -1.96068701e-02 2.61787921e+02] [ 2.99564746e-02 9.99551161e-01 -2.92512666e-04 2.16344189e+00] [ 1.96068324e-02 -2.95027574e-04 9.99807724e-01 1.79633297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.89925415399995 meters 0.017028848745125245 Centerline is valid? [True, True] Translation: X:261.82, Y:2.16, Z:1.80 [[ 9.99338411e-01 -3.06096241e-02 -1.96415926e-02 2.61816148e+02] [ 3.06096842e-02 9.99531370e-01 -2.97648924e-04 2.16343268e+00] [ 1.96414988e-02 -3.03770943e-04 9.99807041e-01 1.79717908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.929254154 meters 0.016786263345310182 Centerline is valid? [True, True] Translation: X:261.85, Y:2.16, Z:1.80 [[ 9.99312466e-01 -3.14442714e-02 -1.96431650e-02 2.61845004e+02] [ 3.14443888e-02 9.99505457e-01 -3.02961655e-04 2.16316342e+00] [ 1.96429770e-02 -3.14913960e-04 9.99807009e-01 1.79738907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.95925415399995 meters 0.016786263345310182 Centerline is valid? [True, True] Translation: X:261.87, Y:2.16, Z:1.80 [[ 9.99304325e-01 -3.17019869e-02 -1.96430860e-02 2.61873267e+02] [ 3.17020546e-02 9.99497316e-01 -3.08024835e-04 2.16364077e+00] [ 1.96429767e-02 -3.14915635e-04 9.99807009e-01 1.79758534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.989254154 meters 0.017087535539377346 Centerline is valid? [True, True] Translation: X:261.90, Y:2.16, Z:1.80 [[ 9.99194755e-01 -3.46286268e-02 -2.02657485e-02 2.61901933e+02] [ 3.46291937e-02 9.99400177e-01 -3.23060983e-04 2.16107656e+00] [ 2.02647798e-02 -3.78985691e-04 9.99794576e-01 1.79745759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.01925415399995 meters 0.01730080850445675 Centerline is valid? [True, True] Translation: X:261.93, Y:2.16, Z:1.80 [[ 9.99115126e-01 -3.65578967e-02 -2.07962576e-02 2.61930469e+02] [ 3.65587995e-02 9.99331447e-01 -3.36898162e-04 2.15977977e+00] [ 2.07946705e-02 -4.23686162e-04 9.99783678e-01 1.79739763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.049254154 meters 0.017923358468414564 Centerline is valid? [True, True] Translation: X:261.96, Y:2.16, Z:1.80 [[ 9.99025059e-01 -3.88567911e-02 -2.09542589e-02 2.61959526e+02] [ 3.88581005e-02 9.99244679e-01 -3.44829114e-04 2.15826042e+00] [ 2.09518307e-02 -4.69749773e-04 9.99780376e-01 1.79696373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.07925415399995 meters 0.018819762501196612 Centerline is valid? [True, True] Translation: X:261.99, Y:2.16, Z:1.80 [[ 9.98795978e-01 -4.41341535e-02 -2.14189404e-02 2.61988952e+02] [ 4.41366781e-02 9.99025439e-01 -3.55084500e-04 2.15501162e+00] [ 2.14137377e-02 -5.90703906e-04 9.99770525e-01 1.79669906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.109254154 meters 0.02077371658668732 Centerline is valid? [True, True] Translation: X:262.02, Y:2.15, Z:1.80 [[ 9.98657185e-01 -4.72631625e-02 -2.12137026e-02 2.62018028e+02] [ 4.72663120e-02 9.98882261e-01 -3.53191410e-04 2.15103456e+00] [ 2.12066841e-02 -6.49976346e-04 9.99774902e-01 1.79591864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.13925415399996 meters 0.020644494444865494 Centerline is valid? [True, True] Translation: X:262.05, Y:2.15, Z:1.80 [[ 9.98498183e-01 -5.06640779e-02 -2.08453936e-02 2.62047622e+02] [ 5.06678373e-02 9.98715500e-01 -3.48106466e-04 2.15100371e+00] [ 2.08362542e-02 -7.08607337e-04 9.99782651e-01 1.79697449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.169254154 meters 0.02184672068693611 Centerline is valid? [True, True] Translation: X:262.08, Y:2.15, Z:1.80 [[ 9.98340332e-01 -5.38537489e-02 -2.04047784e-02 2.62077868e+02] [ 5.38580061e-02 9.98548546e-01 -3.41241146e-04 2.14876195e+00] [ 2.03935389e-02 -7.58285881e-04 9.99791743e-01 1.79740153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.19925415399996 meters 0.02463858667509067 Centerline is valid? [True, True] Translation: X:262.11, Y:2.14, Z:1.80 [[ 9.97972739e-01 -6.05282616e-02 -1.96657525e-02 2.62107293e+02] [ 6.05335025e-02 9.98166112e-01 -3.29214643e-04 2.14446765e+00] [ 1.96496145e-02 -8.61889640e-04 9.99806556e-01 1.79830087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.229254154 meters 0.024142476377464427 Centerline is valid? [True, True] Translation: X:262.14, Y:2.15, Z:1.80 [[ 9.97772713e-01 -6.38020789e-02 -1.94655522e-02 2.62138712e+02] [ 6.38078420e-02 9.97962150e-01 -3.25511716e-04 2.14539522e+00] [ 1.94466526e-02 -9.17268170e-04 9.99810475e-01 1.79965575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.25925415399996 meters 0.02704209031375181 Centerline is valid? [True, True] Translation: X:262.17, Y:2.14, Z:1.80 [[ 9.97551619e-01 -6.72715118e-02 -1.91130944e-02 2.62169344e+02] [ 6.72777122e-02 9.97734237e-01 -3.19140815e-04 2.14178381e+00] [ 1.90912578e-02 -9.67525829e-04 9.99817277e-01 1.79953449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.289254154 meters 0.028179617725073637 Centerline is valid? [True, True] Translation: X:262.20, Y:2.14, Z:1.80 [[ 9.97331626e-01 -7.04725386e-02 -1.90591054e-02 2.62200541e+02] [ 7.04792933e-02 9.97513192e-01 -3.17891783e-04 2.14053386e+00] [ 1.90341117e-02 -1.02622875e-03 9.99818308e-01 1.79997954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31925415399996 meters 0.033816747482930856 Centerline is valid? [True, True] Translation: X:262.23, Y:2.13, Z:1.80 [[ 9.96890476e-01 -7.65535347e-02 -1.86797830e-02 2.62230088e+02] [ 7.65610898e-02 9.97064844e-01 -3.11393745e-04 2.13347077e+00] [ 1.86487932e-02 -1.11971908e-03 9.99825469e-01 1.79982659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.349254154 meters 0.032809920815923446 Centerline is valid? [True, True] Translation: X:262.26, Y:2.14, Z:1.80 [[ 9.96703304e-01 -7.89648566e-02 -1.86299518e-02 2.62261427e+02] [ 7.89727994e-02 9.96876723e-01 -3.10115885e-04 2.13572098e+00] [ 1.85962535e-02 -1.16216592e-03 9.99826399e-01 1.80086906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37925415399997 meters 0.03547318464558767 Centerline is valid? [True, True] Translation: X:262.29, Y:2.13, Z:1.80 [[ 9.96561861e-01 -8.07984885e-02 -1.83319760e-02 2.62291517e+02] [ 8.08064925e-02 9.96729762e-01 -3.04911655e-04 2.13294005e+00] [ 1.82966624e-02 -1.17747935e-03 9.99831909e-01 1.80063970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.409254154 meters 0.03319367716316944 Centerline is valid? [True, True] Translation: X:262.32, Y:2.14, Z:1.80 [[ 9.96382718e-01 -8.27111541e-02 -1.95024368e-02 2.62323049e+02] [ 8.27205869e-02 9.96572727e-01 -3.23921541e-04 2.13825150e+00] [ 1.94623886e-02 -1.29050319e-03 9.99809757e-01 1.80092941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43925415399997 meters 0.03348543757600308 Centerline is valid? [True, True] Translation: X:262.36, Y:2.14, Z:1.80 [[ 9.96370610e-01 -8.28124569e-02 -1.96902141e-02 2.62355424e+02] [ 8.28221152e-02 9.96564293e-01 -3.25855015e-04 2.13945178e+00] [ 1.96495492e-02 -1.30611282e-03 9.99806076e-01 1.80112591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.469254154 meters 0.03341382456416078 Centerline is valid? [True, True] Translation: X:262.39, Y:2.14, Z:1.80 [[ 9.96419226e-01 -8.23280691e-02 -1.92565813e-02 2.62387442e+02] [ 8.23372432e-02 9.96604474e-01 -3.17288259e-04 2.14100498e+00] [ 1.92173168e-02 -1.26938170e-03 9.99814525e-01 1.80097758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49925415399997 meters 0.03378543843220293 Centerline is valid? [True, True] Translation: X:262.42, Y:2.14, Z:1.80 [[ 9.96585568e-01 -8.01396275e-02 -1.98707098e-02 2.62417610e+02] [ 8.01489780e-02 9.96782842e-01 -3.26651590e-04 2.14391109e+00] [ 1.98329604e-02 -1.26708082e-03 9.99802505e-01 1.80001497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.52925415399994 meters 0.03327611596014056 Centerline is valid? [True, True] Translation: X:262.45, Y:2.15, Z:1.80 [[ 9.96734347e-01 -7.81636925e-02 -2.02750657e-02 2.62449601e+02] [ 7.81730375e-02 9.96939750e-01 -3.32456220e-04 2.14656628e+00] [ 2.02390049e-02 -1.25359294e-03 9.99794384e-01 1.79937226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.559254154 meters 0.03244066500225138 Centerline is valid? [True, True] Translation: X:262.48, Y:2.15, Z:1.80 [[ 9.96891510e-01 -7.61402700e-02 -2.02478672e-02 2.62481211e+02] [ 7.61491960e-02 9.97096380e-01 -3.30928889e-04 2.15012186e+00] [ 2.02142721e-02 -1.21195861e-03 9.99794936e-01 1.79917295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.58925415399995 meters 0.03192497208274405 Centerline is valid? [True, True] Translation: X:262.51, Y:2.15, Z:1.80 [[ 9.97089054e-01 -7.34185844e-02 -2.05701126e-02 2.62510505e+02] [ 7.34272223e-02 9.97300521e-01 -3.36060112e-04 2.15329290e+00] [ 2.05392571e-02 -1.17532438e-03 9.99788356e-01 1.79858599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.619254154 meters 0.029716013196623748 Centerline is valid? [True, True] Translation: X:262.54, Y:2.16, Z:1.80 [[ 9.97484836e-01 -6.76268459e-02 -2.12276299e-02 2.62539449e+02] [ 6.76347292e-02 9.97710090e-01 -3.47175341e-04 2.16180137e+00] [ 2.12024989e-02 -1.08942286e-03 9.99774608e-01 1.79828150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.64925415399995 meters 0.028521273449667137 Centerline is valid? [True, True] Translation: X:262.57, Y:2.17, Z:1.80 [[ 9.97690743e-01 -6.43334472e-02 -2.17804647e-02 2.62570051e+02] [ 6.43409636e-02 9.97927910e-01 -3.56225264e-04 2.16674497e+00] [ 2.17582509e-02 -1.04597344e-03 9.99762714e-01 1.79834824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.679254154 meters 0.027614961497003328 Centerline is valid? [True, True] Translation: X:262.60, Y:2.17, Z:1.80 [[ 9.97898570e-01 -6.11102790e-02 -2.15401277e-02 2.62599468e+02] [ 6.11168947e-02 9.98130553e-01 -3.51656197e-04 2.17140729e+00] [ 2.15213494e-02 -9.65548501e-04 9.99767923e-01 1.79829481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.70925415399995 meters 0.026196780285900976 Centerline is valid? [True, True] Translation: X:262.63, Y:2.18, Z:1.80 [[ 9.98108810e-01 -5.77319862e-02 -2.11144688e-02 2.62629984e+02] [ 5.77375941e-02 9.98331734e-01 -3.44434948e-04 2.17659223e+00] [ 2.10991292e-02 -8.75315072e-04 9.99777005e-01 1.79911377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.739254154 meters 0.021394471433572593 Centerline is valid? [True, True] Translation: X:262.66, Y:2.19, Z:1.80 [[ 9.98480659e-01 -5.14595788e-02 -1.97049424e-02 2.62660708e+02] [ 5.14632442e-02 9.98674838e-01 -3.21363596e-04 2.18912058e+00] [ 1.96953674e-02 -6.93204930e-04 9.99805787e-01 1.80196265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.76925415399995 meters 0.019666782528957844 Centerline is valid? [True, True] Translation: X:262.69, Y:2.19, Z:1.80 [[ 9.98668374e-01 -4.82562236e-02 -1.82432592e-02 2.62691864e+02] [ 4.82588395e-02 9.98834819e-01 -2.97074753e-04 2.19438959e+00] [ 1.82363382e-02 -5.83719356e-04 9.99833534e-01 1.80349974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.799254154 meters 0.018821619632332084 Centerline is valid? [True, True] Translation: X:262.72, Y:2.20, Z:1.80 [[ 9.98834694e-01 -4.51363982e-02 -1.70868466e-02 2.62723273e+02] [ 4.51382471e-02 9.98980711e-01 -2.77639897e-04 2.19861791e+00] [ 1.70819618e-02 -4.93953941e-04 9.99853971e-01 1.80454189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.82925415399995 meters 0.017673846053582395 Centerline is valid? [True, True] Translation: X:262.75, Y:2.21, Z:1.81 [[ 9.99095044e-01 -3.95129396e-02 -1.57423304e-02 2.62752533e+02] [ 3.95138123e-02 9.99218992e-01 -2.55719261e-04 2.20606931e+00] [ 1.57401397e-02 -3.66551641e-04 9.99876049e-01 1.80579907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.859254154 meters 0.017065805780041337 Centerline is valid? [True, True] Translation: X:262.78, Y:2.21, Z:1.81 [[ 9.99215176e-01 -3.66210735e-02 -1.50972957e-02 2.62783979e+02] [ 3.66215488e-02 9.99329176e-01 -2.45071792e-04 2.21008596e+00] [ 1.50961428e-02 -3.08006896e-04 9.99885999e-01 1.80650918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.88925415399996 meters 0.016508491747095736 Centerline is valid? [True, True] Translation: X:262.81, Y:2.21, Z:1.81 [[ 9.99318008e-01 -3.37511571e-02 -1.49792480e-02 2.62814043e+02] [ 3.37513084e-02 9.99430233e-01 -2.42772496e-04 2.21352264e+00] [ 1.49789071e-02 -2.62962290e-04 9.99887775e-01 1.80675569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.919254154 meters 0.015676383098936528 Centerline is valid? [True, True] Translation: X:262.85, Y:2.22, Z:1.81 [[ 9.99414269e-01 -3.10061194e-02 -1.44823924e-02 2.62845114e+02] [ 3.10059782e-02 9.99519172e-01 -2.34340580e-04 2.21681789e+00] [ 1.44826948e-02 -2.14837422e-04 9.99895097e-01 1.80704059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.94925415399996 meters 0.014917879682364825 Centerline is valid? [True, True] Translation: X:262.88, Y:2.22, Z:1.81 [[ 9.99534177e-01 -2.67966986e-02 -1.46070441e-02 2.62875077e+02] [ 2.67961089e-02 9.99640892e-01 -2.36115023e-04 2.22193172e+00] [ 1.46081257e-02 -1.55406910e-04 9.99893284e-01 1.80682325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.979254154 meters 0.014584382659972119 Centerline is valid? [True, True] Translation: X:262.91, Y:2.22, Z:1.81 [[ 9.99573475e-01 -2.53185742e-02 -1.45546787e-02 2.62905172e+02] [ 2.53178340e-02 9.99679425e-01 -2.35138750e-04 2.22409270e+00] [ 1.45559662e-02 -1.33454483e-04 9.99894047e-01 1.80654156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.00925415399996 meters 0.014503323895565925 Centerline is valid? [True, True] Translation: X:262.93, Y:2.23, Z:1.81 [[ 9.99593912e-01 -2.43289227e-02 -1.48362671e-02 2.62934362e+02] [ 2.43280469e-02 9.99704001e-01 -2.39529238e-04 2.22566648e+00] [ 1.48377030e-02 -1.21505433e-04 9.99889908e-01 1.80605647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.039254154 meters 0.014468733470158642 Centerline is valid? [True, True] Translation: X:262.96, Y:2.23, Z:1.81 [[ 9.99603154e-01 -2.38959158e-02 -1.49170839e-02 2.62963576e+02] [ 2.38949788e-02 9.99714445e-01 -2.41069181e-04 2.22750947e+00] [ 1.49185848e-02 -1.15469890e-04 9.99888705e-01 1.80618129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.06925415399996 meters 0.01456659039358633 Centerline is valid? [True, True] Translation: X:262.99, Y:2.23, Z:1.81 [[ 9.99582935e-01 -2.46032787e-02 -1.51206943e-02 2.62992889e+02] [ 2.46023912e-02 9.99697285e-01 -2.44733423e-04 2.22759885e+00] [ 1.51221383e-02 -1.27373884e-04 9.99885646e-01 1.80567024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.099254154 meters 0.014878867541153598 Centerline is valid? [True, True] Translation: X:263.02, Y:2.23, Z:1.81 [[ 9.99553319e-01 -2.57450850e-02 -1.51773664e-02 2.63022192e+02] [ 2.57443166e-02 9.99668530e-01 -2.46039383e-04 2.22712606e+00] [ 1.51786699e-02 -1.44801444e-04 9.99884787e-01 1.80555846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.12925415399997 meters 0.014885547550898303 Centerline is valid? [True, True] Translation: X:263.05, Y:2.23, Z:1.81 [[ 9.99515466e-01 -2.73714329e-02 -1.48201853e-02 2.63052099e+02] [ 2.73708718e-02 9.99625319e-01 -2.40731665e-04 2.22626946e+00] [ 1.48212216e-02 -1.65026369e-04 9.99890146e-01 1.80574096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.159254154 meters 0.015360872453664803 Centerline is valid? [True, True] Translation: X:263.08, Y:2.23, Z:1.81 [[ 9.99463851e-01 -2.92686195e-02 -1.46750853e-02 2.63082201e+02] [ 2.92682704e-02 9.99571564e-01 -2.38600117e-04 2.22522374e+00] [ 1.46757814e-02 -1.91042172e-04 9.99892287e-01 1.80618983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18925415399997 meters 0.01693120720759011 Centerline is valid? [True, True] Translation: X:263.11, Y:2.22, Z:1.81 [[ 9.99333967e-01 -3.37513100e-02 -1.38733756e-02 2.63112001e+02] [ 3.37514298e-02 9.99430233e-01 -2.25565234e-04 2.22162272e+00] [ 1.38730841e-02 -2.42831262e-04 9.99903735e-01 1.80663898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.219254154 meters 0.017943733336297937 Centerline is valid? [True, True] Translation: X:263.14, Y:2.22, Z:1.81 [[ 9.99249352e-01 -3.63222884e-02 -1.34693992e-02 2.63143625e+02] [ 3.63226376e-02 9.99340091e-01 -2.18786816e-04 2.21976748e+00] [ 1.34684574e-02 -2.70621522e-04 9.99909260e-01 1.80702519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24925415399997 meters 0.019451347212716012 Centerline is valid? [True, True] Translation: X:263.17, Y:2.22, Z:1.81 [[ 9.99136606e-01 -3.94547885e-02 -1.30139251e-02 2.63174991e+02] [ 3.94553854e-02 9.99221311e-01 -2.10978249e-04 2.21727616e+00] [ 1.30121154e-02 -3.02673337e-04 9.99915293e-01 1.80786844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27925415399994 meters 0.021886052403746966 Centerline is valid? [True, True] Translation: X:263.21, Y:2.21, Z:1.81 [[ 9.98858965e-01 -4.63390004e-02 -1.15527196e-02 2.63205754e+02] [ 4.63399339e-02 9.98925711e-01 -1.87016514e-04 2.21252251e+00] [ 1.15489747e-02 -3.48549139e-04 9.99933248e-01 1.80894444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.309254154 meters 0.02376850373537084 Centerline is valid? [True, True] Translation: X:263.24, Y:2.21, Z:1.81 [[ 9.98678896e-01 -5.00665483e-02 -1.15673489e-02 2.63237031e+02] [ 5.00677370e-02 9.98745807e-01 -1.86987268e-04 2.20954510e+00] [ 1.15622030e-02 -3.92410743e-04 9.99933078e-01 1.80923783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.33925415399995 meters 0.02598022142143082 Centerline is valid? [True, True] Translation: X:263.27, Y:2.21, Z:1.81 [[ 9.98516545e-01 -5.32633154e-02 -1.13017413e-02 2.63266836e+02] [ 5.32646611e-02 9.98580414e-01 -1.82115316e-04 2.20651322e+00] [ 1.12953975e-02 -4.20138262e-04 9.99936117e-01 1.80947862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.369254154 meters 0.02816842172708628 Centerline is valid? [True, True] Translation: X:263.30, Y:2.20, Z:1.81 [[ 9.98328823e-01 -5.66328246e-02 -1.15015273e-02 2.63298478e+02] [ 5.66344498e-02 9.98394964e-01 -1.84612050e-04 2.20368153e+00] [ 1.14935221e-02 -4.67079142e-04 9.99933838e-01 1.80927322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.39925415399995 meters 0.03181613147025285 Centerline is valid? [True, True] Translation: X:263.33, Y:2.20, Z:1.81 [[ 9.98011038e-01 -6.19005591e-02 -1.19285117e-02 2.63328126e+02] [ 6.19026846e-02 9.98082171e-01 -1.91297697e-04 2.19836003e+00] [ 1.19174763e-02 -5.47489684e-04 9.99928834e-01 1.80843843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.429254154 meters 0.033388350925592065 Centerline is valid? [True, True] Translation: X:263.36, Y:2.20, Z:1.81 [[ 9.97850772e-01 -6.43697461e-02 -1.22626102e-02 2.63358903e+02] [ 6.43721783e-02 9.97925941e-01 -1.96662332e-04 2.19644843e+00] [ 1.22498359e-02 -5.93131270e-04 9.99924792e-01 1.80799187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.45925415399995 meters 0.03724696566244069 Centerline is valid? [True, True] Translation: X:263.39, Y:2.19, Z:1.81 [[ 9.97532026e-01 -6.89773586e-02 -1.31141451e-02 2.63388291e+02] [ 6.89805403e-02 9.97617983e-01 -2.10097000e-04 2.19135868e+00] [ 1.30973989e-02 -6.95042325e-04 9.99913984e-01 1.80681966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.489254154 meters 0.03298679717871117 Centerline is valid? [True, True] Translation: X:263.42, Y:2.20, Z:1.81 [[ 9.97388053e-01 -7.10328071e-02 -1.30924681e-02 2.63419683e+02] [ 7.10361590e-02 9.97473719e-01 -2.09425789e-04 2.19737911e+00] [ 1.30742690e-02 -7.21159870e-04 9.99914268e-01 1.80760583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.51925415399995 meters 0.04105946492585389 Centerline is valid? [True, True] Translation: X:263.45, Y:2.19, Z:1.81 [[ 9.97243425e-01 -7.30079804e-02 -1.32433545e-02 2.63449795e+02] [ 7.30115868e-02 9.97331070e-01 -2.11602259e-04 2.18716201e+00] [ 1.32234576e-02 -7.55899368e-04 9.99912281e-01 1.80643460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.549254154 meters 0.035894808532588404 Centerline is valid? [True, True] Translation: X:263.48, Y:2.19, Z:1.81 [[ 9.97097332e-01 -7.49331376e-02 -1.34883656e-02 2.63481300e+02] [ 7.49370572e-02 9.97188243e-01 -2.15297033e-04 2.19474583e+00] [ 1.34665725e-02 -7.96106327e-04 9.99909005e-01 1.80770679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.57925415399995 meters 0.039336824200002035 Centerline is valid? [True, True] Translation: X:263.51, Y:2.19, Z:1.81 [[ 9.96784518e-01 -7.89134594e-02 -1.39028899e-02 2.63510531e+02] [ 7.89180113e-02 9.96881085e-01 -2.21770507e-04 2.19180183e+00] [ 1.38770286e-02 -8.76131013e-04 9.99903326e-01 1.80732777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.609254154 meters 0.0415415586841297 Centerline is valid? [True, True] Translation: X:263.54, Y:2.19, Z:1.81 [[ 9.96667481e-01 -8.03513370e-02 -1.40568343e-02 2.63541814e+02] [ 8.03561398e-02 9.96766192e-01 -2.23716636e-04 2.18981228e+00] [ 1.40293531e-02 -9.06581844e-04 9.99901173e-01 1.80706596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.63925415399996 meters 0.04226124673385121 Centerline is valid? [True, True] Translation: X:263.57, Y:2.19, Z:1.81 [[ 9.96554496e-01 -8.17078864e-02 -1.42463471e-02 2.63574149e+02] [ 8.17129729e-02 9.96655878e-01 -2.25654049e-04 2.19017681e+00] [ 1.42171433e-02 -9.39234815e-04 9.99898490e-01 1.80719284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.669254154 meters 0.043840575068096584 Centerline is valid? [True, True] Translation: X:263.60, Y:2.19, Z:1.81 [[ 9.96485165e-01 -8.24893697e-02 -1.45883779e-02 2.63604856e+02] [ 8.24947972e-02 9.96591469e-01 -2.30353701e-04 2.18972887e+00] [ 1.45576547e-02 -9.73921229e-04 9.99893557e-01 1.80688807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.69925415399996 meters 0.04570733235060616 Centerline is valid? [True, True] Translation: X:263.63, Y:2.19, Z:1.81 [[ 9.96316026e-01 -8.43648383e-02 -1.53931889e-02 2.63634572e+02] [ 8.43711176e-02 9.96434371e-01 -2.42182810e-04 2.19049510e+00] [ 1.53587342e-02 -1.05744994e-03 9.99881489e-01 1.80662991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.729254154 meters 0.046532334230303875 Centerline is valid? [True, True] Translation: X:263.67, Y:2.19, Z:1.81 [[ 9.96281675e-01 -8.46337677e-02 -1.61229433e-02 2.63666991e+02] [ 8.46407101e-02 9.96411505e-01 -2.52524742e-04 2.19131195e+00] [ 1.60864583e-02 -1.11307160e-03 9.99869985e-01 1.80635404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.75925415399996 meters 0.04691063345158844 Centerline is valid? [True, True] Translation: X:263.70, Y:2.19, Z:1.81 [[ 9.96277253e-01 -8.45513215e-02 -1.68139811e-02 2.63699459e+02] [ 8.45588786e-02 9.96418450e-01 -2.62250636e-04 2.19281307e+00] [ 1.67759347e-02 -1.16049705e-03 9.99858601e-01 1.80615993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.789254154 meters 0.04761132412299794 Centerline is valid? [True, True] Translation: X:263.73, Y:2.20, Z:1.81 [[ 9.96344241e-01 -8.37953601e-02 -1.66280221e-02 2.63730313e+02] [ 8.38026611e-02 9.96482337e-01 -2.58448679e-04 2.19600348e+00] [ 1.65911871e-02 -1.13596865e-03 9.99861711e-01 1.80689574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81925415399996 meters 0.047842798122691085 Centerline is valid? [True, True] Translation: X:263.76, Y:2.20, Z:1.81 [[ 9.96413952e-01 -8.29952797e-02 -1.64626970e-02 2.63762220e+02] [ 8.30023428e-02 9.96549319e-01 -2.54951922e-04 2.19784098e+00] [ 1.64270493e-02 -1.11240477e-03 9.99864448e-01 1.80749811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.849254154 meters 0.04854784008668938 Centerline is valid? [True, True] Translation: X:263.79, Y:2.20, Z:1.81 [[ 9.96494175e-01 -8.20335917e-02 -1.64270938e-02 2.63793187e+02] [ 8.20405193e-02 9.96628963e-01 -2.52859605e-04 2.19911817e+00] [ 1.63924605e-02 -1.09571419e-03 9.99865034e-01 1.80787493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87925415399997 meters 0.04854784008668938 Centerline is valid? [True, True] Translation: X:263.82, Y:2.20, Z:1.81 [[ 9.96499291e-01 -8.19714092e-02 -1.64271153e-02 2.63824941e+02] [ 8.19783515e-02 9.96634079e-01 -2.51460379e-04 2.19952899e+00] [ 1.63924355e-02 -1.09608774e-03 9.99865034e-01 1.80809482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.909254154 meters 0.047263885602190206 Centerline is valid? [True, True] Translation: X:263.86, Y:2.20, Z:1.81 [[ 9.96647136e-01 -8.01904000e-02 -1.62476298e-02 2.63856737e+02] [ 8.01969697e-02 9.96779005e-01 -2.47847810e-04 2.20400946e+00] [ 1.62151712e-02 -1.05599386e-03 9.99867968e-01 1.80906119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93925415399997 meters 0.046233658187089 Centerline is valid? [True, True] Translation: X:263.89, Y:2.21, Z:1.81 [[ 9.96920995e-01 -7.67261740e-02 -1.61747780e-02 2.63885917e+02] [ 7.67322442e-02 9.97051705e-01 -2.45897834e-04 2.21059809e+00] [ 1.61459568e-02 -9.95986301e-04 9.99869149e-01 1.81047730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.969254154 meters 0.04480081463314877 Centerline is valid? [True, True] Translation: X:263.92, Y:2.21, Z:1.81 [[ 9.97039098e-01 -7.51715798e-02 -1.61947420e-02 2.63916883e+02] [ 7.51774715e-02 9.97170140e-01 -2.45528985e-04 2.21468642e+00] [ 1.61673699e-02 -9.72677758e-04 9.99868826e-01 1.81077565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99925415399997 meters 0.029909475537433446 Centerline is valid? [True, True] Translation: X:263.95, Y:2.24, Z:1.81 [[ 9.97232807e-01 -7.26619810e-02 -1.57151469e-02 2.63947691e+02] [ 7.26672265e-02 9.97356214e-01 -2.37735199e-04 2.23667392e+00] [ 1.56908737e-02 -9.04898798e-04 9.99876481e-01 1.81420903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.02925415399994 meters 0.028397092338001508 Centerline is valid? [True, True] Translation: X:263.98, Y:2.24, Z:1.82 [[ 9.97460934e-01 -6.95654283e-02 -1.52425734e-02 2.63978388e+02] [ 6.95700085e-02 9.97577045e-01 -2.30195650e-04 2.24207743e+00] [ 1.52216550e-02 -8.30814792e-04 9.99883799e-01 1.81530866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.059254154 meters 0.026253465926723493 Centerline is valid? [True, True] Translation: X:264.01, Y:2.25, Z:1.82 [[ 9.97825008e-01 -6.41669719e-02 -1.50947829e-02 2.64007839e+02] [ 6.41708474e-02 9.97938901e-01 -2.27968619e-04 2.24782987e+00] [ 1.50782991e-02 -7.41172218e-04 9.99886041e-01 1.81548229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.08925415399995 meters 0.027074155668618517 Centerline is valid? [True, True] Translation: X:264.04, Y:2.25, Z:1.82 [[ 9.98037824e-01 -6.08031654e-02 -1.49491243e-02 2.64038492e+02] [ 6.08065923e-02 9.98149542e-01 -2.25599005e-04 2.24908605e+00] [ 1.49351787e-02 -6.83848969e-04 9.99888230e-01 1.81535414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.119254154 meters 0.022709531372525727 Centerline is valid? [True, True] Translation: X:264.07, Y:2.26, Z:1.82 [[ 9.98475004e-01 -5.31677864e-02 -1.48610915e-02 2.64068542e+02] [ 5.31703321e-02 9.98585432e-01 -2.24033613e-04 2.25964912e+00] [ 1.48519808e-02 -5.66477208e-04 9.99889543e-01 1.81588579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.14925415399995 meters 0.019103372848213535 Centerline is valid? [True, True] Translation: X:264.10, Y:2.27, Z:1.82 [[ 9.98708590e-01 -4.86282575e-02 -1.47120654e-02 2.64100029e+02] [ 4.86302665e-02 9.98816824e-01 -2.21374554e-04 2.26721635e+00] [ 1.47054235e-02 -4.94362993e-04 9.99891747e-01 1.81648078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.179254154 meters 0.017485014454661094 Centerline is valid? [True, True] Translation: X:264.13, Y:2.27, Z:1.82 [[ 9.98913948e-01 -4.41861883e-02 -1.47818966e-02 2.64131200e+02] [ 4.41877401e-02 9.99023220e-01 -2.21771742e-04 2.27230221e+00] [ 1.47772572e-02 -4.31647718e-04 9.99890717e-01 1.81621679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.20925415399995 meters 0.015357448773675269 Centerline is valid? [True, True] Translation: X:264.16, Y:2.28, Z:1.82 [[ 9.99106128e-01 -3.94717515e-02 -1.51302856e-02 2.64162178e+02] [ 3.94728454e-02 9.99220618e-01 -2.26439422e-04 2.27803284e+00] [ 1.51274313e-02 -3.70998411e-04 9.99885505e-01 1.81646717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.239254154 meters 0.01338932230547704 Centerline is valid? [True, True] Translation: X:264.19, Y:2.29, Z:1.82 [[ 9.99411332e-01 -3.03326856e-02 -1.60286630e-02 2.64191881e+02] [ 3.03327426e-02 9.99539828e-01 -2.39613156e-04 2.28547486e+00] [ 1.60285552e-02 -2.46721208e-04 9.99871504e-01 1.81501734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.26925415399995 meters 0.012791629388096347 Centerline is valid? [True, True] Translation: X:264.22, Y:2.29, Z:1.81 [[ 9.99533097e-01 -2.59135668e-02 -1.61887396e-02 2.64222800e+02] [ 2.59130447e-02 9.99664171e-01 -2.42050258e-04 2.28959579e+00] [ 1.61895754e-02 -1.77562290e-04 9.99868924e-01 1.81467292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.299254154 meters 0.012560759441249129 Centerline is valid? [True, True] Translation: X:264.25, Y:2.29, Z:1.81 [[ 9.99631908e-01 -2.17754061e-02 -1.61827173e-02 2.64252023e+02] [ 2.17743389e-02 9.99762882e-01 -2.42160156e-04 2.29281114e+00] [ 1.61841533e-02 -1.10296953e-04 9.99869022e-01 1.81354457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.32925415399995 meters 0.012231742519079459 Centerline is valid? [True, True] Translation: X:264.28, Y:2.30, Z:1.81 [[ 9.99702772e-01 -1.80469569e-02 -1.63912800e-02 2.64281492e+02] [ 1.80453533e-02 9.99837139e-01 -2.45742795e-04 2.29681607e+00] [ 1.63930454e-02 -5.01166848e-05 9.99865624e-01 1.81397825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.359254154 meters 0.01238469817502611 Centerline is valid? [True, True] Translation: X:264.31, Y:2.30, Z:1.81 [[ 9.99802255e-01 -1.20929651e-02 -1.57864522e-02 2.64309634e+02] [ 1.20907228e-02 9.99926876e-01 -2.37474203e-04 2.30287377e+00] [ 1.57881696e-02 4.65576268e-05 9.99875358e-01 1.81393395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.38925415399996 meters 0.012479575598193998 Centerline is valid? [True, True] Translation: X:264.34, Y:2.31, Z:1.81 [[ 9.99828218e-01 -1.02549651e-02 -1.54392555e-02 2.64337099e+02] [ 1.02525567e-02 9.99947414e-01 -2.35134419e-04 2.30510386e+00] [ 1.54408549e-02 7.68021844e-05 9.99880780e-01 1.81467064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.419254154 meters 0.012799947744626974 Centerline is valid? [True, True] Translation: X:264.37, Y:2.31, Z:1.81 [[ 9.99848353e-01 -8.71177557e-03 -1.50789962e-02 2.64365053e+02] [ 8.70925675e-03 9.99962047e-01 -2.32701979e-04 2.30733416e+00] [ 1.50804512e-02 1.01339841e-04 9.99886278e-01 1.81418524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.44925415399996 meters 0.01279174596711912 Centerline is valid? [True, True] Translation: X:264.39, Y:2.31, Z:1.81 [[ 9.99865200e-01 -8.03604272e-03 -1.43179399e-02 2.64393414e+02] [ 8.03365991e-03 9.99967705e-01 -2.23929725e-04 2.30776286e+00] [ 1.43192770e-02 1.08874079e-04 9.99897468e-01 1.81432264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.479254154 meters 0.012778144775821709 Centerline is valid? [True, True] Translation: X:264.42, Y:2.31, Z:1.81 [[ 9.99867493e-01 -8.96197190e-03 -1.35896844e-02 2.64420977e+02] [ 8.95986036e-03 9.99959836e-01 -2.16254841e-04 2.30729728e+00] [ 1.35910766e-02 9.44645109e-05 9.99907633e-01 1.81430174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.50925415399996 meters 0.012582728348662222 Centerline is valid? [True, True] Translation: X:264.45, Y:2.31, Z:1.81 [[ 9.99855241e-01 -1.03878865e-02 -1.34754864e-02 2.64448807e+02] [ 1.03859062e-02 9.99946041e-01 -2.16925719e-04 2.30636979e+00] [ 1.34770127e-02 7.69391790e-05 9.99909178e-01 1.81427935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.539254154 meters 0.012576212196562513 Centerline is valid? [True, True] Translation: X:264.48, Y:2.30, Z:1.81 [[ 9.99837435e-01 -1.25317645e-02 -1.29637580e-02 2.64478005e+02] [ 1.25300857e-02 9.99921473e-01 -2.10719112e-04 2.30488848e+00] [ 1.29653807e-02 4.82478574e-05 9.99915945e-01 1.81450961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.56925415399996 meters 0.012396945827737333 Centerline is valid? [True, True] Translation: X:264.51, Y:2.30, Z:1.81 [[ 9.99763059e-01 -1.80452731e-02 -1.21734699e-02 2.64505606e+02] [ 1.80441769e-02 9.99837171e-01 -1.99887865e-04 2.29983515e+00] [ 1.21750947e-02 -1.98197408e-05 9.99925881e-01 1.81488636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.599254154 meters 0.012494717363664233 Centerline is valid? [True, True] Translation: X:264.54, Y:2.30, Z:1.82 [[ 9.99712008e-01 -2.10954712e-02 -1.14403929e-02 2.64535936e+02] [ 2.10946964e-02 9.99777464e-01 -1.88405803e-04 2.29727742e+00] [ 1.14418216e-02 -5.29800721e-05 9.99934539e-01 1.81581553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.62925415399997 meters 0.013436448768400194 Centerline is valid? [True, True] Translation: X:264.57, Y:2.29, Z:1.82 [[ 9.99569812e-01 -2.73846567e-02 -1.05009842e-02 2.64566329e+02] [ 2.73843516e-02 9.99624963e-01 -1.72871639e-04 2.29026682e+00] [ 1.05017800e-02 -1.14765371e-04 9.99944848e-01 1.81589738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.659254154 meters 0.01452927939249561 Centerline is valid? [True, True] Translation: X:264.60, Y:2.29, Z:1.82 [[ 9.99500220e-01 -3.00389911e-02 -9.84732216e-03 2.64597938e+02] [ 3.00388558e-02 9.99548719e-01 -1.61670082e-04 2.28537967e+00] [ 9.84773465e-03 -1.34213008e-04 9.99951501e-01 1.81557689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68925415399997 meters 0.014241919383678288 Centerline is valid? [True, True] Translation: X:264.63, Y:2.28, Z:1.82 [[ 9.99430334e-01 -3.23442055e-02 -9.63641059e-03 2.64630487e+02] [ 3.23441923e-02 9.99476777e-01 -1.57256566e-04 2.28488269e+00] [ 9.63645494e-03 -1.54514935e-04 9.99953556e-01 1.81632436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71925415399994 meters 0.014654375762870979 Centerline is valid? [True, True] Translation: X:264.66, Y:2.28, Z:1.82 [[ 9.99374074e-01 -3.42161585e-02 -8.98412791e-03 2.64662861e+02] [ 3.42162281e-02 9.99414443e-01 -1.45996815e-04 2.28278226e+00] [ 8.98386263e-03 -1.61497538e-04 9.99959631e-01 1.81633292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74925415399997 meters 0.015106698357959 Centerline is valid? [True, True] Translation: X:264.69, Y:2.28, Z:1.82 [[ 9.99329562e-01 -3.55062986e-02 -8.92915757e-03 2.64694715e+02] [ 3.55064246e-02 9.99369438e-01 -1.44461445e-04 2.28084317e+00] [ 8.92865647e-03 -1.72677867e-04 9.99960124e-01 1.81617568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77925415399994 meters 0.01592117543200145 Centerline is valid? [True, True] Translation: X:264.73, Y:2.28, Z:1.82 [[ 9.99289511e-01 -3.63903659e-02 -9.80891811e-03 2.64725901e+02] [ 3.63905674e-02 9.99337631e-01 -1.57992707e-04 2.27782603e+00] [ 9.80817040e-03 -1.99071641e-04 9.99951879e-01 1.81575480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.809254154 meters 0.015865710519943864 Centerline is valid? [True, True] Translation: X:264.76, Y:2.28, Z:1.82 [[ 9.99306109e-01 -3.58965807e-02 -9.93663636e-03 2.64757693e+02] [ 3.58967690e-02 9.99355491e-01 -1.59463492e-04 2.27758036e+00] [ 9.93595629e-03 -1.97340298e-04 9.99950618e-01 1.81566939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.83925415399995 meters 0.017125133929866542 Centerline is valid? [True, True] Translation: X:264.79, Y:2.27, Z:1.81 [[ 9.99352719e-01 -3.43923247e-02 -1.05504029e-02 2.64788577e+02] [ 3.43924605e-02 9.99408390e-01 -1.68612891e-04 2.27399725e+00] [ 1.05499602e-02 -1.94350565e-04 9.99944329e-01 1.81443992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.869254154 meters 0.015410252214730356 Centerline is valid? [True, True] Translation: X:264.82, Y:2.28, Z:1.81 [[ 9.99374708e-01 -3.35901953e-02 -1.10404811e-02 2.64820792e+02] [ 3.35903024e-02 9.99435671e-01 -1.75784285e-04 2.27730908e+00] [ 1.10401553e-02 -1.95178730e-04 9.99939037e-01 1.81479958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.89925415399995 meters 0.015093715024749044 Centerline is valid? [True, True] Translation: X:264.85, Y:2.28, Z:1.81 [[ 9.99406240e-01 -3.26122787e-02 -1.11178630e-02 2.64853385e+02] [ 3.26123354e-02 9.99468061e-01 -1.76244315e-04 2.27760288e+00] [ 1.11176967e-02 -1.86439807e-04 9.99938179e-01 1.81471680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.929254154 meters 0.014763165767596145 Centerline is valid? [True, True] Translation: X:264.88, Y:2.28, Z:1.81 [[ 9.99439981e-01 -3.11220315e-02 -1.22940350e-02 2.64884150e+02] [ 3.11219980e-02 9.99515574e-01 -1.94084840e-04 2.27811816e+00] [ 1.22941197e-02 -1.88638782e-04 9.99924407e-01 1.81402770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.95925415399995 meters 0.014678740642132353 Centerline is valid? [True, True] Translation: X:264.92, Y:2.28, Z:1.81 [[ 9.99444716e-01 -3.08128160e-02 -1.26818757e-02 2.64916691e+02] [ 3.08127651e-02 9.99525154e-01 -1.99444820e-04 2.27874002e+00] [ 1.26819993e-02 -1.91429586e-04 9.99919562e-01 1.81411608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.989254154 meters 0.014828267272125457 Centerline is valid? [True, True] Translation: X:264.95, Y:2.28, Z:1.81 [[ 9.99455790e-01 -3.03987956e-02 -1.28077003e-02 2.64948598e+02] [ 3.03987214e-02 9.99537832e-01 -2.00518287e-04 2.28001518e+00] [ 1.28078766e-02 -1.88928551e-04 9.99917958e-01 1.81439727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.01925415399995 meters 0.014437685679409215 Centerline is valid? [True, True] Translation: X:264.98, Y:2.28, Z:1.81 [[ 9.99389187e-01 -3.24733448e-02 -1.29125534e-02 2.64980712e+02] [ 3.24734547e-02 9.99472578e-01 -2.01214027e-04 2.27821788e+00] [ 1.29122771e-02 -2.18224093e-04 9.99916609e-01 1.81431320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.049254154 meters 0.014431855339272348 Centerline is valid? [True, True] Translation: X:265.01, Y:2.28, Z:1.81 [[ 9.99347314e-01 -3.38042279e-02 -1.27365861e-02 2.65013257e+02] [ 3.38044548e-02 9.99428447e-01 -1.97530566e-04 2.27749218e+00] [ 1.27359838e-02 -2.33151707e-04 9.99918867e-01 1.81453185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.07925415399995 meters 0.015137588530573851 Centerline is valid? [True, True] Translation: X:265.04, Y:2.28, Z:1.81 [[ 9.99283056e-01 -3.56781760e-02 -1.26665853e-02 2.65044761e+02] [ 3.56785615e-02 9.99363298e-01 -1.95604148e-04 2.27546614e+00] [ 1.26654993e-02 -2.56461634e-04 9.99919756e-01 1.81436312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.109254154 meters 0.015443200947562614 Centerline is valid? [True, True] Translation: X:265.08, Y:2.27, Z:1.81 [[ 9.99208859e-01 -3.76807013e-02 -1.27208519e-02 2.65076605e+02] [ 3.76812628e-02 9.99289790e-01 -1.95620785e-04 2.27447800e+00] [ 1.27191885e-02 -2.83871740e-04 9.99919068e-01 1.81467851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.13925415399996 meters 0.016592394848924115 Centerline is valid? [True, True] Translation: X:265.11, Y:2.27, Z:1.82 [[ 9.99020106e-01 -4.23576124e-02 -1.28319876e-02 2.65107842e+02] [ 4.23585787e-02 9.99102453e-01 -1.96591684e-04 2.27092978e+00] [ 1.28287974e-02 -3.47145711e-04 9.99917647e-01 1.81516499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.169254154 meters 0.017772712923414397 Centerline is valid? [True, True] Translation: X:265.14, Y:2.27, Z:1.82 [[ 9.98908507e-01 -4.50639214e-02 -1.22897688e-02 2.65139005e+02] [ 4.50650190e-02 9.98984038e-01 -1.87742767e-04 2.26831254e+00] [ 1.22857433e-02 -3.66300817e-04 9.99924460e-01 1.81519561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.19925415399996 meters 0.017858178269822982 Centerline is valid? [True, True] Translation: X:265.17, Y:2.27, Z:1.82 [[ 9.98776738e-01 -4.79951755e-02 -1.18950048e-02 2.65170874e+02] [ 4.79964191e-02 9.98847491e-01 -1.81060054e-04 2.26736356e+00] [ 1.18899857e-02 -3.90079065e-04 9.99929236e-01 1.81572921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.229254154 meters 0.019885454065267306 Centerline is valid? [True, True] Translation: X:265.20, Y:2.26, Z:1.82 [[ 9.98645609e-01 -5.07337124e-02 -1.15342171e-02 2.65201924e+02] [ 5.07350746e-02 9.98712132e-01 -1.74662592e-04 2.26354527e+00] [ 1.15282239e-02 -4.10763336e-04 9.99933463e-01 1.81587372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.25925415399996 meters 0.021270385680926297 Centerline is valid? [True, True] Translation: X:265.23, Y:2.26, Z:1.82 [[ 9.98298021e-01 -5.73311537e-02 -1.06864550e-02 2.65232152e+02] [ 5.73327082e-02 9.98355114e-01 -1.61074163e-04 2.25853218e+00] [ 1.06781115e-02 -4.51883387e-04 9.99942885e-01 1.81678395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.289254154 meters 0.023098796419802194 Centerline is valid? [True, True] Translation: X:265.26, Y:2.26, Z:1.82 [[ 9.98140893e-01 -6.01262092e-02 -9.97983813e-03 2.65262976e+02] [ 6.01277086e-02 9.98190681e-01 -1.50000092e-04 2.25500461e+00] [ 9.97080036e-03 -4.50343572e-04 9.99950189e-01 1.81705783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31925415399996 meters 0.024748428396773835 Centerline is valid? [True, True] Translation: X:265.29, Y:2.25, Z:1.82 [[ 9.97996984e-01 -6.24062769e-02 -1.03670493e-02 2.65294870e+02] [ 6.24080292e-02 9.98050707e-01 -1.54706099e-04 2.25285042e+00] [ 1.03564955e-02 -4.92590896e-04 9.99946249e-01 1.81759689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.349254154 meters 0.026944279663498053 Centerline is valid? [True, True] Translation: X:265.32, Y:2.25, Z:1.82 [[ 9.97707550e-01 -6.69042599e-02 -1.01717702e-02 2.65324913e+02] [ 6.69061858e-02 9.97759259e-01 -1.51214588e-04 2.24793579e+00] [ 1.01590948e-02 -5.29686414e-04 9.99948255e-01 1.81740406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37925415399997 meters 0.025581842473564424 Centerline is valid? [True, True] Translation: X:265.36, Y:2.25, Z:1.82 [[ 9.97607752e-01 -6.83429913e-02 -1.03927127e-02 2.65356741e+02] [ 6.83450862e-02 9.97661729e-01 -1.53863871e-04 2.24927624e+00] [ 1.03789273e-02 -5.56795057e-04 9.99945982e-01 1.81743862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.409254154 meters 0.028612152046122673 Centerline is valid? [True, True] Translation: X:265.39, Y:2.24, Z:1.82 [[ 9.97523449e-01 -6.95490791e-02 -1.04830461e-02 2.65387529e+02] [ 6.95512824e-02 9.97578365e-01 -1.54676500e-04 2.24464259e+00] [ 1.04684176e-02 -5.74815863e-04 9.99945039e-01 1.81750128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43925415399997 meters 0.027125379306200414 Centerline is valid? [True, True] Translation: X:265.42, Y:2.25, Z:1.82 [[ 9.97496912e-01 -6.98683408e-02 -1.08777719e-02 2.65419469e+02] [ 6.98707383e-02 9.97556041e-01 -1.59939663e-04 2.24698297e+00] [ 1.08623618e-02 -6.00498634e-04 9.99940822e-01 1.81774665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46925415399994 meters 0.028415748490662404 Centerline is valid? [True, True] Translation: X:265.45, Y:2.24, Z:1.82 [[ 9.97433198e-01 -7.07405883e-02 -1.10808095e-02 2.65450593e+02] [ 7.07431381e-02 9.97494552e-01 -1.62172035e-04 2.24446857e+00] [ 1.10645192e-02 -6.22135462e-04 9.99938593e-01 1.81742395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49925415399997 meters 0.02714467424387313 Centerline is valid? [True, True] Translation: X:265.48, Y:2.25, Z:1.82 [[ 9.97460531e-01 -7.01518234e-02 -1.22967434e-02 2.65483035e+02] [ 7.01549291e-02 9.97536091e-01 -1.79141253e-04 2.24742019e+00] [ 1.22790125e-02 -6.83990836e-04 9.99924376e-01 1.81726348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.52925415399994 meters 0.027832644164501062 Centerline is valid? [True, True] Translation: X:265.51, Y:2.25, Z:1.82 [[ 9.97476594e-01 -6.99353224e-02 -1.22268519e-02 2.65514635e+02] [ 6.99383950e-02 9.97551297e-01 -1.76624680e-04 2.24589222e+00] [ 1.22092642e-02 -6.78947411e-04 9.99925234e-01 1.81658898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.559254154 meters 0.026516868375996372 Centerline is valid? [True, True] Translation: X:265.55, Y:2.25, Z:1.82 [[ 9.97510968e-01 -6.92509963e-02 -1.32728495e-02 2.65546987e+02] [ 6.92545815e-02 9.97599001e-01 -1.89867668e-04 2.24828321e+00] [ 1.32541300e-02 -7.29810560e-04 9.99911894e-01 1.81636654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.58925415399995 meters 0.029417810875122616 Centerline is valid? [True, True] Translation: X:265.58, Y:2.25, Z:1.82 [[ 9.97647658e-01 -6.71641793e-02 -1.37158071e-02 2.65577786e+02] [ 6.71678219e-02 9.97741673e-01 -1.95420851e-04 2.24531555e+00] [ 1.36979576e-02 -7.26299733e-04 9.99905915e-01 1.81530291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.619254154 meters 0.0257147581882986 Centerline is valid? [True, True] Translation: X:265.61, Y:2.25, Z:1.82 [[ 9.97761966e-01 -6.54321259e-02 -1.37729927e-02 2.65610490e+02] [ 6.54356465e-02 9.97856772e-01 -1.95354861e-04 2.25150810e+00] [ 1.37562565e-02 -7.06327033e-04 9.99905129e-01 1.81622562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.64925415399995 meters 0.024233373749560975 Centerline is valid? [True, True] Translation: X:265.64, Y:2.26, Z:1.82 [[ 9.98012297e-01 -6.15351972e-02 -1.35968470e-02 2.65641091e+02] [ 6.15382776e-02 9.98104706e-01 -1.92111002e-04 2.25587839e+00] [ 1.35828986e-02 -6.44997405e-04 9.99907540e-01 1.81716052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.679254154 meters 0.02278178949373606 Centerline is valid? [True, True] Translation: X:265.67, Y:2.26, Z:1.82 [[ 9.98155784e-01 -5.91339118e-02 -1.37190076e-02 2.65672321e+02] [ 5.91368267e-02 9.98249868e-01 -1.93455318e-04 2.25933228e+00] [ 1.37064373e-02 -6.18200028e-04 9.99905871e-01 1.81768186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.70925415399995 meters 0.024582230181484133 Centerline is valid? [True, True] Translation: X:265.70, Y:2.26, Z:1.82 [[ 9.98312216e-01 -5.63855108e-02 -1.39065853e-02 2.65703112e+02] [ 5.63882470e-02 9.98408898e-01 -1.95580168e-04 2.25843502e+00] [ 1.38954864e-02 -5.88917897e-04 9.99903280e-01 1.81739447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.739254154 meters 0.02118555668937196 Centerline is valid? [True, True] Translation: X:265.73, Y:2.26, Z:1.82 [[ 9.98472706e-01 -5.34528006e-02 -1.39661868e-02 2.65734577e+02] [ 5.34552811e-02 9.98570225e-01 -1.95900925e-04 2.26498087e+00] [ 1.39566898e-02 -5.50964716e-04 9.99902449e-01 1.81798467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.76925415399995 meters 0.02118555668937196 Centerline is valid? [True, True] Translation: X:265.77, Y:2.27, Z:1.82 [[ 9.98476638e-01 -5.33792888e-02 -1.39661976e-02 2.65766290e+02] [ 5.33817729e-02 9.98574158e-01 -1.95126711e-04 2.26536531e+00] [ 1.39566998e-02 -5.50710927e-04 9.99902449e-01 1.81820439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.799254154 meters 0.021282975808422783 Centerline is valid? [True, True] Translation: X:265.80, Y:2.27, Z:1.82 [[ 9.98803954e-01 -4.65352527e-02 -1.50044057e-02 2.65796371e+02] [ 4.65373567e-02 9.98916528e-01 -2.09084507e-04 2.27110547e+00] [ 1.49978786e-02 -4.89430947e-04 9.99887406e-01 1.81778718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.82925415399995 meters 0.018623329042204456 Centerline is valid? [True, True] Translation: X:265.83, Y:2.27, Z:1.82 [[ 9.98939190e-01 -4.40106594e-02 -1.35483150e-02 2.65827761e+02] [ 4.40121461e-02 9.99030978e-01 -1.88554739e-04 2.27386070e+00] [ 1.35434849e-02 -4.07935702e-04 9.99908200e-01 1.81841684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.859254154 meters 0.017551590046618992 Centerline is valid? [True, True] Translation: X:265.86, Y:2.28, Z:1.82 [[ 9.99071595e-01 -4.10684960e-02 -1.30125865e-02 2.65859006e+02] [ 4.10696240e-02 9.99156271e-01 -1.80635700e-04 2.27725816e+00] [ 1.30090258e-02 -3.53954039e-04 9.99915316e-01 1.81906582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.88925415399996 meters 0.01743125612106707 Centerline is valid? [True, True] Translation: X:265.89, Y:2.28, Z:1.82 [[ 9.99183105e-01 -3.84490941e-02 -1.24414266e-02 2.65889963e+02] [ 3.84499290e-02 9.99260513e-01 -1.72166906e-04 2.27875801e+00] [ 1.24388460e-02 -3.06345708e-04 9.99922588e-01 1.81896814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.919254154 meters 0.015595611748148705 Centerline is valid? [True, True] Translation: X:265.92, Y:2.28, Z:1.82 [[ 9.99344842e-01 -3.42371344e-02 -1.17347809e-02 2.65921581e+02] [ 3.42375942e-02 9.99413709e-01 -1.61766838e-04 2.28422096e+00] [ 1.17334393e-02 -2.40109810e-04 9.99931132e-01 1.81946169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.94925415399996 meters 0.015640371542199768 Centerline is valid? [True, True] Translation: X:265.95, Y:2.28, Z:1.82 [[ 9.99392525e-01 -3.26762425e-02 -1.21179167e-02 2.65953250e+02] [ 3.26766276e-02 9.99465963e-01 -1.66269270e-04 2.28497676e+00] [ 1.21168783e-02 -2.29804384e-04 9.99926562e-01 1.81898403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.979254154 meters 0.015832563539639678 Centerline is valid? [True, True] Translation: X:265.98, Y:2.29, Z:1.82 [[ 9.99428104e-01 -3.15208218e-02 -1.22434677e-02 2.65984049e+02] [ 3.15211426e-02 9.99503071e-01 -1.66818692e-04 2.28547288e+00] [ 1.22426419e-02 -2.19204803e-04 9.99925032e-01 1.81831377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.00925415399996 meters 0.016359310050120635 Centerline is valid? [True, True] Translation: X:266.02, Y:2.29, Z:1.82 [[ 9.99451730e-01 -3.02775258e-02 -1.33981930e-02 2.66015740e+02] [ 3.02778172e-02 9.99541505e-01 -1.81138470e-04 2.28846207e+00] [ 1.33975345e-02 -2.24628883e-04 9.99910224e-01 1.81773571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.039254154 meters 0.01500812628768198 Centerline is valid? [True, True] Translation: X:266.05, Y:2.29, Z:1.82 [[ 9.99439456e-01 -3.08419353e-02 -1.30210585e-02 2.66047083e+02] [ 3.08422677e-02 9.99524249e-01 -1.75327039e-04 2.28838720e+00] [ 1.30202711e-02 -2.26370212e-04 9.99915207e-01 1.81750822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.06925415399996 meters 0.01510313283813153 Centerline is valid? [True, True] Translation: X:266.08, Y:2.29, Z:1.82 [[ 9.99409466e-01 -3.17087646e-02 -1.32391067e-02 2.66078396e+02] [ 3.17091907e-02 9.99497121e-01 -1.77775099e-04 2.28875144e+00] [ 1.32380861e-02 -2.42131243e-04 9.99912343e-01 1.81765684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.099254154 meters 0.01704285100181004 Centerline is valid? [True, True] Translation: X:266.11, Y:2.29, Z:1.82 [[ 9.99385975e-01 -3.24048462e-02 -1.33266240e-02 2.66109979e+02] [ 3.24053479e-02 9.99474793e-01 -1.78340424e-04 2.28602391e+00] [ 1.33254039e-02 -2.53622969e-04 9.99911181e-01 1.81685339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.12925415399997 meters 0.01732751220178065 Centerline is valid? [True, True] Translation: X:266.14, Y:2.28, Z:1.82 [[ 9.99283871e-01 -3.58635593e-02 -1.20643836e-02 2.66141496e+02] [ 3.58642297e-02 9.99356659e-01 -1.60838034e-04 2.28343883e+00] [ 1.20623903e-02 -2.71956972e-04 9.99927210e-01 1.81764211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.159254154 meters 0.016601217753302665 Centerline is valid? [True, True] Translation: X:266.17, Y:2.29, Z:1.82 [[ 9.99220211e-01 -3.76641779e-02 -1.18482184e-02 2.66173606e+02] [ 3.76649595e-02 9.99290411e-01 -1.57246450e-04 2.28515129e+00] [ 1.18457336e-02 -2.89138836e-04 9.99929795e-01 1.81877219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18925415399997 meters 0.01652770642186381 Centerline is valid? [True, True] Translation: X:266.21, Y:2.29, Z:1.82 [[ 9.99154956e-01 -3.95297393e-02 -1.12593938e-02 2.66205768e+02] [ 3.95305725e-02 9.99218350e-01 -1.48628237e-04 2.28527320e+00] [ 1.12564682e-02 -2.96587645e-04 9.99936600e-01 1.81946929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21925415399994 meters 0.017952544693110608 Centerline is valid? [True, True] Translation: X:266.24, Y:2.28, Z:1.82 [[ 9.99095729e-01 -4.11170435e-02 -1.08218546e-02 2.66237523e+02] [ 4.11179140e-02 9.99154291e-01 -1.42136402e-04 2.28469753e+00] [ 1.08185467e-02 -3.02964214e-04 9.99941432e-01 1.81997361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24925415399997 meters 0.01848230704277231 Centerline is valid? [True, True] Translation: X:266.27, Y:2.28, Z:1.82 [[ 9.98931534e-01 -4.52136040e-02 -9.56659120e-03 2.66268568e+02] [ 4.52144766e-02 9.98977295e-01 -1.25159526e-04 2.28115849e+00] [ 9.56246631e-03 -3.07522616e-04 9.99954231e-01 1.82068118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27925415399994 meters 0.019474789055784016 Centerline is valid? [True, True] Translation: X:266.30, Y:2.28, Z:1.82 [[ 9.98841424e-01 -4.71620224e-02 -9.56833008e-03 2.66301121e+02] [ 4.71629901e-02 9.98887199e-01 -1.24606727e-04 2.27924257e+00] [ 9.56355914e-03 -3.26808696e-04 9.99954215e-01 1.82054097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.309254154 meters 0.020584963181197742 Centerline is valid? [True, True] Translation: X:266.33, Y:2.28, Z:1.82 [[ 9.98759411e-01 -4.88868202e-02 -9.47190019e-03 2.66332193e+02] [ 4.88878520e-02 9.98804267e-01 -1.22708248e-04 2.27697080e+00] [ 9.46657314e-03 -3.40504838e-04 9.99955133e-01 1.82030925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.33925415399995 meters 0.02273166644874503 Centerline is valid? [True, True] Translation: X:266.36, Y:2.27, Z:1.82 [[ 9.98628340e-01 -5.13368028e-02 -1.02942483e-02 2.66363560e+02] [ 5.13381577e-02 9.98681319e-01 -1.32767860e-04 2.27395746e+00] [ 1.02874893e-02 -3.95901995e-04 9.99947004e-01 1.81900704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.369254154 meters 0.022010022655771865 Centerline is valid? [True, True] Translation: X:266.40, Y:2.27, Z:1.82 [[ 9.98560885e-01 -5.26010292e-02 -1.04542055e-02 2.66395678e+02] [ 5.26025023e-02 9.98615521e-01 -1.34194551e-04 2.27394214e+00] [ 1.04467907e-02 -4.15915941e-04 9.99945344e-01 1.81926344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.39925415399995 meters 0.023225422418771787 Centerline is valid? [True, True] Translation: X:266.43, Y:2.27, Z:1.82 [[ 9.98538295e-01 -5.30593079e-02 -1.02948431e-02 2.66426963e+02] [ 5.30607677e-02 9.98591277e-01 -1.31470892e-04 2.27224355e+00] [ 1.02873163e-02 -4.14973561e-04 9.99946998e-01 1.81915304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.429254154 meters 0.022857405448786203 Centerline is valid? [True, True] Translation: X:266.46, Y:2.27, Z:1.82 [[ 9.98563314e-01 -5.26823973e-02 -9.79151772e-03 2.66459511e+02] [ 5.26837053e-02 9.98611242e-01 -1.24477167e-04 2.27467971e+00] [ 9.78447742e-03 -3.91555101e-04 9.99952054e-01 1.81912253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.45925415399995 meters 0.02256215695173457 Centerline is valid? [True, True] Translation: X:266.49, Y:2.27, Z:1.82 [[ 9.98638230e-01 -5.13524562e-02 -9.19843119e-03 2.66490312e+02] [ 5.13535597e-02 9.98680529e-01 -1.16340537e-04 2.27441336e+00] [ 9.19226850e-03 -3.56190077e-04 9.99957687e-01 1.82010575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.489254154 meters 0.021632051807431593 Centerline is valid? [True, True] Translation: X:266.52, Y:2.28, Z:1.82 [[ 9.98727996e-01 -4.96824412e-02 -8.60490846e-03 2.66522291e+02] [ 4.96833490e-02 9.98765014e-01 -1.08362620e-04 2.27669235e+00] [ 8.59966524e-03 -3.19295888e-04 9.99962971e-01 1.82046281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.51925415399995 meters 0.021576633606415402 Centerline is valid? [True, True] Translation: X:266.55, Y:2.28, Z:1.82 [[ 9.98824501e-01 -4.77233940e-02 -8.49082361e-03 2.66553388e+02] [ 4.77242132e-02 9.98860545e-01 -1.06214759e-04 2.27754472e+00] [ 8.48621763e-03 -2.99127973e-04 9.99963947e-01 1.82088623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.549254154 meters 0.020405651777867347 Centerline is valid? [True, True] Translation: X:266.59, Y:2.28, Z:1.82 [[ 9.98999562e-01 -4.38924809e-02 -8.56306525e-03 2.66585159e+02] [ 4.38931828e-02 9.99036224e-01 -1.06039325e-04 2.28135292e+00] [ 8.55946671e-03 -2.69926950e-04 9.99963331e-01 1.82082667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.57925415399995 meters 0.019384798742348584 Centerline is valid? [True, True] Translation: X:266.62, Y:2.28, Z:1.82 [[ 9.99082842e-01 -4.20062971e-02 -8.30335790e-03 2.66617379e+02] [ 4.20068958e-02 9.99117316e-01 -1.02373387e-04 2.28408633e+00] [ 8.30032898e-03 -2.46518795e-04 9.99965521e-01 1.82106698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.609254154 meters 0.01799075788404156 Centerline is valid? [True, True] Translation: X:266.65, Y:2.29, Z:1.82 [[ 9.99142132e-01 -4.05357584e-02 -8.47661322e-03 2.66649656e+02] [ 4.05363346e-02 9.99178060e-01 -1.03898503e-04 2.28786568e+00] [ 8.47385755e-03 -2.39801458e-04 9.99964067e-01 1.82111407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.63925415399996 meters 0.01748079480543408 Centerline is valid? [True, True] Translation: X:266.68, Y:2.29, Z:1.82 [[ 9.99198646e-01 -3.89968023e-02 -9.01751868e-03 2.66682246e+02] [ 3.89973980e-02 9.99239306e-01 -1.09840757e-04 2.28928211e+00] [ 9.01494254e-03 -2.41907028e-04 9.99959335e-01 1.82106964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.669254154 meters 0.016869696084672793 Centerline is valid? [True, True] Translation: X:266.71, Y:2.29, Z:1.82 [[ 9.99247716e-01 -3.74614910e-02 -1.00318803e-02 2.66713986e+02] [ 3.74621587e-02 9.99298040e-01 -1.21409489e-04 2.29165166e+00] [ 1.00293865e-02 -2.54497738e-04 9.99949672e-01 1.82015283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.69925415399996 meters 0.017549750279843835 Centerline is valid? [True, True] Translation: X:266.74, Y:2.29, Z:1.82 [[ 9.99246455e-01 -3.71892510e-02 -1.11122701e-02 2.66744708e+02] [ 3.71900623e-02 9.99308201e-01 -1.33692007e-04 2.29109464e+00] [ 1.11095545e-02 -2.79674752e-04 9.99938248e-01 1.81930806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.729254154 meters 0.01639402391353786 Centerline is valid? [True, True] Translation: X:266.78, Y:2.29, Z:1.82 [[ 9.99242030e-01 -3.70415203e-02 -1.19704670e-02 2.66776914e+02] [ 3.70424605e-02 9.99313682e-01 -1.43233070e-04 2.29391575e+00] [ 1.19675570e-02 -3.00291048e-04 9.99928341e-01 1.81906735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.75925415399996 meters 0.01669209435206686 Centerline is valid? [True, True] Translation: X:266.81, Y:2.29, Z:1.82 [[ 9.99208528e-01 -3.71853625e-02 -1.41268156e-02 2.66809077e+02] [ 3.71867026e-02 9.99308321e-01 -1.67894148e-04 2.29462941e+00] [ 1.41232876e-02 -3.57568427e-04 9.99900197e-01 1.81786666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.789254154 meters 0.01689313257702987 Centerline is valid? [True, True] Translation: X:266.84, Y:2.30, Z:1.82 [[ 9.99204285e-01 -3.70703355e-02 -1.47168689e-02 2.66839821e+02] [ 3.70717916e-02 9.99312590e-01 -1.73944334e-04 2.29524641e+00] [ 1.47132005e-02 -3.71774771e-04 9.99891686e-01 1.81782850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81925415399996 meters 0.01684372996400242 Centerline is valid? [True, True] Translation: X:266.87, Y:2.30, Z:1.82 [[ 9.99232223e-01 -3.64918757e-02 -1.42586168e-02 2.66872485e+02] [ 3.64931985e-02 9.99333887e-01 -1.67488177e-04 2.29636492e+00] [ 1.42552309e-02 -3.52982948e-04 9.99898327e-01 1.81821366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.849254154 meters 0.0167107303123053 Centerline is valid? [True, True] Translation: X:266.90, Y:2.30, Z:1.82 [[ 9.99318590e-01 -3.41813256e-02 -1.39281222e-02 2.66903301e+02] [ 3.41823756e-02 9.99415599e-01 -1.62733714e-04 2.29891580e+00] [ 1.39255450e-02 -3.13473478e-04 9.99902986e-01 1.81957351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87925415399997 meters 0.01598859541222905 Centerline is valid? [True, True] Translation: X:266.93, Y:2.30, Z:1.82 [[ 9.99389831e-01 -3.21374561e-02 -1.36802828e-02 2.66934603e+02] [ 3.21382844e-02 9.99483419e-01 -1.59347317e-04 2.30140160e+00] [ 1.36783368e-02 -2.80410730e-04 9.99906408e-01 1.82052243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.909254154 meters 0.017166449352148772 Centerline is valid? [True, True] Translation: X:266.97, Y:2.30, Z:1.82 [[ 9.99503306e-01 -2.87088068e-02 -1.29978948e-02 2.66965582e+02] [ 2.87092707e-02 9.99587793e-01 -1.50938201e-04 2.30448112e+00] [ 1.29968702e-02 -2.22296850e-04 9.99915512e-01 1.82054869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93925415399997 meters 0.014840562219806766 Centerline is valid? [True, True] Translation: X:267.00, Y:2.31, Z:1.82 [[ 9.99576088e-01 -2.63459965e-02 -1.23908700e-02 2.66997122e+02] [ 2.63462421e-02 9.99652867e-01 -1.43446079e-04 2.30772913e+00] [ 1.23903480e-02 -1.83067589e-04 9.99923220e-01 1.82219372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96925415399994 meters 0.01435776579747891 Centerline is valid? [True, True] Translation: X:267.03, Y:2.31, Z:1.82 [[ 9.99653291e-01 -2.31733733e-02 -1.25017107e-02 2.67028446e+02] [ 2.31733810e-02 9.99731451e-01 -1.44268649e-04 2.31070482e+00] [ 1.25016966e-02 -1.45488275e-04 9.99921840e-01 1.82258075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99925415399997 meters 0.013814366513254503 Centerline is valid? [True, True] Translation: X:267.06, Y:2.32, Z:1.82 [[ 9.99780461e-01 -1.70245317e-02 -1.22145098e-02 2.67059213e+02] [ 1.70240831e-02 9.99855070e-01 -1.40706939e-04 2.31604015e+00] [ 1.22151350e-02 -6.72647808e-05 9.99925390e-01 1.82319330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.02925415399994 meters 0.015888669724255188 Centerline is valid? [True, True] Translation: X:267.09, Y:2.32, Z:1.82 [[ 9.99826739e-01 -1.39604141e-02 -1.23125796e-02 2.67088643e+02] [ 1.39597247e-02 9.99902548e-01 -1.41935045e-04 2.31774743e+00] [ 1.23133612e-02 -2.99697687e-05 9.99924187e-01 1.82201516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.059254154 meters 0.0137781612654932 Centerline is valid? [True, True] Translation: X:267.12, Y:2.32, Z:1.82 [[ 9.99839706e-01 -1.28643310e-02 -1.24527435e-02 2.67117481e+02] [ 1.28635356e-02 9.99917251e-01 -1.43970673e-04 2.31932390e+00] [ 1.24535651e-02 -1.62387141e-05 9.99922451e-01 1.82262490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.08925415399995 meters 0.01378163518327804 Centerline is valid? [True, True] Translation: X:267.15, Y:2.32, Z:1.82 [[ 9.99850632e-01 -1.10051891e-02 -1.33266581e-02 2.67145968e+02] [ 1.10040858e-02 9.99939441e-01 -1.56115495e-04 2.32085204e+00] [ 1.33275692e-02 9.44448683e-06 9.99911184e-01 1.82310401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.119254154 meters 0.013815516545603194 Centerline is valid? [True, True] Translation: X:267.17, Y:2.32, Z:1.82 [[ 9.99852155e-01 -1.09574390e-02 -1.32514783e-02 2.67173980e+02] [ 1.09562958e-02 9.99939965e-01 -1.58867728e-04 2.32139481e+00] [ 1.32524235e-02 1.36571252e-05 9.99912183e-01 1.82315366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.14925415399995 meters 0.013702250725460347 Centerline is valid? [True, True] Translation: X:267.20, Y:2.32, Z:1.82 [[ 9.99844394e-01 -1.11202692e-02 -1.36940500e-02 2.67201963e+02] [ 1.11190076e-02 9.99938168e-01 -1.68261514e-04 2.32160675e+00] [ 1.36950744e-02 1.59710858e-05 9.99906218e-01 1.82295128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.179254154 meters 0.01387568311547876 Centerline is valid? [True, True] Translation: X:267.23, Y:2.32, Z:1.82 [[ 9.99830701e-01 -1.16079122e-02 -1.42767516e-02 2.67230046e+02] [ 1.16065509e-02 9.99932626e-01 -1.78207936e-04 2.31988252e+00] [ 1.42778584e-02 1.24739208e-05 9.99898066e-01 1.82192946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.20925415399995 meters 0.013827949444651223 Centerline is valid? [True, True] Translation: X:267.26, Y:2.32, Z:1.82 [[ 9.99817942e-01 -1.18281846e-02 -1.49725266e-02 2.67258084e+02] [ 1.18266673e-02 9.99930044e-01 -1.89884827e-04 2.31789549e+00] [ 1.49737252e-02 1.27751668e-05 9.99887887e-01 1.82176674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.239254154 meters 0.013845039750788749 Centerline is valid? [True, True] Translation: X:267.29, Y:2.32, Z:1.82 [[ 9.99815789e-01 -1.14151958e-02 -1.54298593e-02 2.67286106e+02] [ 1.14134914e-02 9.99934844e-01 -1.98518752e-04 2.31742525e+00] [ 1.54311201e-02 2.23736152e-05 9.99880933e-01 1.82116955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.26925415399995 meters 0.014086074802224622 Centerline is valid? [True, True] Translation: X:267.31, Y:2.32, Z:1.82 [[ 9.99824985e-01 -1.10157290e-02 -1.51212837e-02 2.67313973e+02] [ 1.10140022e-02 9.99939325e-01 -1.97471773e-04 2.31703604e+00] [ 1.51225415e-02 3.08913617e-05 9.99885647e-01 1.82165332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.299254154 meters 0.01397529720472374 Centerline is valid? [True, True] Translation: X:267.34, Y:2.32, Z:1.82 [[ 9.99834400e-01 -1.03282345e-02 -1.49833573e-02 2.67341732e+02] [ 1.03263977e-02 9.99946661e-01 -1.99951640e-04 2.31654432e+00] [ 1.49846232e-02 4.51944216e-05 9.99887723e-01 1.82262748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.32925415399995 meters 0.013885458192783407 Centerline is valid? [True, True] Translation: X:267.37, Y:2.32, Z:1.82 [[ 9.99842904e-01 -9.58000178e-03 -1.49127537e-02 2.67369311e+02] [ 9.57803365e-03 9.99954109e-01 -2.03393379e-04 2.31593642e+00] [ 1.49140179e-02 6.05265696e-05 9.99888778e-01 1.82374526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.359254154 meters 0.014128048403680883 Centerline is valid? [True, True] Translation: X:267.40, Y:2.31, Z:1.82 [[ 9.99864661e-01 -7.60020816e-03 -1.45909441e-02 2.67396887e+02] [ 7.59807350e-03 9.99971114e-01 -2.01729918e-04 2.31454956e+00] [ 1.45920559e-02 9.08395501e-05 9.99893526e-01 1.82322374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.38925415399996 meters 0.01413493485778512 Centerline is valid? [True, True] Translation: X:267.43, Y:2.31, Z:1.82 [[ 9.99872528e-01 -6.87708527e-03 -1.44094959e-02 2.67425181e+02] [ 6.87488809e-03 9.99976347e-01 -2.02010367e-04 2.31343964e+00] [ 1.44105443e-02 1.02920944e-04 9.99896157e-01 1.82362173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.419254154 meters 0.017318500327806772 Centerline is valid? [True, True] Translation: X:267.45, Y:2.31, Z:1.82 [[ 9.99860435e-01 -5.86860875e-03 -1.56419010e-02 2.67453563e+02] [ 5.86582781e-03 9.99982771e-01 -2.23661768e-04 2.31206183e+00] [ 1.56429441e-02 1.31877855e-04 9.99877633e-01 1.82246486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.44925415399996 meters 0.014321711922307018 Centerline is valid? [True, True] Translation: X:267.48, Y:2.31, Z:1.82 [[ 9.99886335e-01 -6.71282055e-03 -1.35002009e-02 2.67481701e+02] [ 6.71079764e-03 9.99977463e-01 -1.95138429e-04 2.30904234e+00] [ 1.35012066e-02 1.04519132e-04 9.99908849e-01 1.82424222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.479254154 meters 0.014127954128006192 Centerline is valid? [True, True] Translation: X:267.51, Y:2.31, Z:1.83 [[ 9.99880470e-01 -8.02175739e-03 -1.32173206e-02 2.67509536e+02] [ 8.01990036e-03 9.99967821e-01 -1.93497795e-04 2.30611491e+00] [ 1.32184475e-02 8.74730715e-05 9.99912629e-01 1.82523031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.50925415399996 meters 0.013913774759215144 Centerline is valid? [True, True] Translation: X:267.54, Y:2.30, Z:1.83 [[ 9.99863910e-01 -9.91110258e-03 -1.31882743e-02 2.67537330e+02] [ 9.90936719e-03 9.99950882e-01 -1.96927654e-04 2.30320470e+00] [ 1.31895783e-02 6.62134016e-05 9.99913012e-01 1.82510365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.539254154 meters 0.013931746412653788 Centerline is valid? [True, True] Translation: X:267.57, Y:2.30, Z:1.82 [[ 9.99780882e-01 -1.60742628e-02 -1.34091719e-02 2.67566146e+02] [ 1.60729891e-02 9.99870801e-01 -2.02756622e-04 2.29514981e+00] [ 1.34106986e-02 -1.28132789e-05 9.99910072e-01 1.82475486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.56925415399996 meters 0.013942679243787896 Centerline is valid? [True, True] Translation: X:267.59, Y:2.29, Z:1.82 [[ 9.99699643e-01 -2.02686337e-02 -1.37769987e-02 2.67594360e+02] [ 2.02676675e-02 9.99794568e-01 -2.09767586e-04 2.29030945e+00] [ 1.37784202e-02 -6.95230468e-05 9.99905071e-01 1.82441626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.599254154 meters 0.014286179664179775 Centerline is valid? [True, True] Translation: X:267.62, Y:2.29, Z:1.82 [[ 9.99598880e-01 -2.47383631e-02 -1.37873732e-02 2.67624330e+02] [ 2.47378039e-02 9.99693951e-01 -2.11123074e-04 2.28583382e+00] [ 1.37883764e-02 -1.30030946e-04 9.99904927e-01 1.82479288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.62925415399997 meters 0.015063649570835894 Centerline is valid? [True, True] Translation: X:267.65, Y:2.28, Z:1.82 [[ 9.99466352e-01 -2.95715467e-02 -1.38756902e-02 2.67654912e+02] [ 2.95714425e-02 9.99562647e-01 -2.12732476e-04 2.28078836e+00] [ 1.38759124e-02 -1.97705221e-04 9.99903705e-01 1.82444889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.659254154 meters 0.016926632949705065 Centerline is valid? [True, True] Translation: X:267.69, Y:2.27, Z:1.82 [[ 9.99144714e-01 -3.89229309e-02 -1.39586938e-02 2.67685807e+02] [ 3.89237391e-02 9.99242161e-01 -2.13876634e-04 2.27135438e+00] [ 1.39564401e-02 -3.29630848e-04 9.99902550e-01 1.82435003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68925415399997 meters 0.016926632949705065 Centerline is valid? [True, True] Translation: X:267.72, Y:2.27, Z:1.82 [[ 9.99147570e-01 -3.88495533e-02 -1.39587036e-02 2.67717503e+02] [ 3.88503633e-02 9.99245017e-01 -2.13233861e-04 2.27178057e+00] [ 1.39564491e-02 -3.29248614e-04 9.99902550e-01 1.82456966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71925415399994 meters 0.019061491983875956 Centerline is valid? [True, True] Translation: X:267.75, Y:2.27, Z:1.82 [[ 9.98967533e-01 -4.29481397e-02 -1.48096023e-02 2.67747367e+02] [ 4.29495195e-02 9.99077218e-01 -2.25014717e-04 2.26595692e+00] [ 1.48056003e-02 -4.11282907e-04 9.99890307e-01 1.82391143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74925415399997 meters 0.02079710690782801 Centerline is valid? [True, True] Translation: X:267.78, Y:2.26, Z:1.82 [[ 9.98785759e-01 -4.68546188e-02 -1.52201434e-02 2.67777586e+02] [ 4.68565407e-02 9.98901602e-01 -2.30495058e-04 2.26135646e+00] [ 1.52142254e-02 -4.82948087e-04 9.99884140e-01 1.82369335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77925415399994 meters 0.022394837093713087 Centerline is valid? [True, True] Translation: X:267.81, Y:2.26, Z:1.82 [[ 9.98441643e-01 -5.37056921e-02 -1.51652607e-02 2.67807851e+02] [ 5.37083917e-02 9.98556636e-01 -2.29502337e-04 2.25597281e+00] [ 1.51556973e-02 -5.85357071e-04 9.99884974e-01 1.82409036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.809254154 meters 0.023118779438803992 Centerline is valid? [True, True] Translation: X:267.84, Y:2.25, Z:1.82 [[ 9.98299173e-01 -5.64061422e-02 -1.47345896e-02 2.67839242e+02] [ 5.64089889e-02 9.98407721e-01 -2.22670249e-04 2.25364900e+00] [ 1.47236880e-02 -6.08871776e-04 9.99891415e-01 1.82499656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.83925415399995 meters 0.02374536335685633 Centerline is valid? [True, True] Translation: X:267.87, Y:2.25, Z:1.83 [[ 9.98185041e-01 -5.84970082e-02 -1.43081719e-02 2.67871221e+02] [ 5.84999180e-02 9.98287390e-01 -2.15448402e-04 2.25155487e+00] [ 1.42962706e-02 -6.21969508e-04 9.99897610e-01 1.82572017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.869254154 meters 0.02497730000274398 Centerline is valid? [True, True] Translation: X:267.90, Y:2.25, Z:1.83 [[ 9.98089392e-01 -6.01925876e-02 -1.39434043e-02 2.67903257e+02] [ 6.01955298e-02 9.98186583e-01 -2.08960900e-04 2.24921981e+00] [ 1.39306970e-02 -6.30768952e-04 9.99902764e-01 1.82615616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.89925415399995 meters 0.02339629603185033 Centerline is valid? [True, True] Translation: X:267.94, Y:2.25, Z:1.83 [[ 9.97985900e-01 -6.20498796e-02 -1.31892688e-02 2.67935331e+02] [ 6.20526863e-02 9.98072856e-01 -1.96717488e-04 2.25113175e+00] [ 1.31760574e-02 -6.22108279e-04 9.99912998e-01 1.82794823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.929254154 meters 0.023618546394853616 Centerline is valid? [True, True] Translation: X:267.97, Y:2.25, Z:1.83 [[ 9.97979738e-01 -6.21880278e-02 -1.30035267e-02 2.67967148e+02] [ 6.21907803e-02 9.98064261e-01 -1.92980962e-04 2.25104498e+00] [ 1.29903564e-02 -6.16108383e-04 9.99915432e-01 1.82851087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.95925415399995 meters 0.02530691295941279 Centerline is valid? [True, True] Translation: X:268.00, Y:2.25, Z:1.83 [[ 9.97981317e-01 -6.19533069e-02 -1.39670305e-02 2.67997968e+02] [ 6.19564727e-02 9.98078831e-01 -2.06332253e-04 2.25062203e+00] [ 1.39529805e-02 -6.59432212e-04 9.99902435e-01 1.82778191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.989254154 meters 0.024064651080992462 Centerline is valid? [True, True] Translation: X:268.03, Y:2.25, Z:1.83 [[ 9.97968759e-01 -6.21706447e-02 -1.38984628e-02 2.68030443e+02] [ 6.21738131e-02 9.98065316e-01 -2.04417291e-04 2.25132947e+00] [ 1.38842824e-02 -6.60118360e-04 9.99903391e-01 1.82811172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.01925415399995 meters 0.024920817355860186 Centerline is valid? [True, True] Translation: X:268.06, Y:2.25, Z:1.83 [[ 9.97973701e-01 -6.20024921e-02 -1.42892303e-02 2.68061279e+02] [ 6.20058441e-02 9.98075765e-01 -2.08756332e-04 2.25045819e+00] [ 1.42746778e-02 -6.77682455e-04 9.99897882e-01 1.82770418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.049254154 meters 0.02451211450509545 Centerline is valid? [True, True] Translation: X:268.09, Y:2.25, Z:1.83 [[ 9.97970223e-01 -6.18952825e-02 -1.49802418e-02 2.68093201e+02] [ 6.18989764e-02 9.98082396e-01 -2.17391119e-04 2.25178297e+00] [ 1.49649711e-02 -7.10311769e-04 9.99887766e-01 1.82746509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.07925415399995 meters 0.024734962958087373 Centerline is valid? [True, True] Translation: X:268.13, Y:2.25, Z:1.83 [[ 9.97975297e-01 -6.15039784e-02 -1.62039339e-02 2.68125201e+02] [ 6.15082690e-02 9.98106546e-01 -2.33917900e-04 2.25262199e+00] [ 1.61876394e-02 -7.63231639e-04 9.99868680e-01 1.82639564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.109254154 meters 0.02480721350079255 Centerline is valid? [True, True] Translation: X:268.16, Y:2.25, Z:1.83 [[ 9.97986370e-01 -6.11956811e-02 -1.66821191e-02 2.68157835e+02] [ 6.12002064e-02 9.98125482e-01 -2.39585216e-04 2.25367468e+00] [ 1.66655097e-02 -7.81846352e-04 9.99860815e-01 1.82618074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.13925415399996 meters 0.024426938623543986 Centerline is valid? [True, True] Translation: X:268.19, Y:2.26, Z:1.83 [[ 9.98021805e-01 -6.05670971e-02 -1.68553923e-02 2.68190484e+02] [ 6.05716514e-02 9.98163823e-01 -2.40654015e-04 2.25500610e+00] [ 1.68390185e-02 -7.80780990e-04 9.99857909e-01 1.82617135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.169254154 meters 0.024037172104811752 Centerline is valid? [True, True] Translation: X:268.22, Y:2.26, Z:1.83 [[ 9.98058112e-01 -6.00140754e-02 -1.66827966e-02 2.68222855e+02] [ 6.00184822e-02 9.98197238e-01 -2.36846199e-04 2.25687308e+00] [ 1.66669355e-02 -7.64889859e-04 9.99860804e-01 1.82652872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.19925415399996 meters 0.026053379137725218 Centerline is valid? [True, True] Translation: X:268.25, Y:2.26, Z:1.83 [[ 9.98180917e-01 -5.80110995e-02 -1.64185862e-02 2.68253736e+02] [ 5.80151113e-02 9.98315678e-01 -2.32247672e-04 2.25673653e+00] [ 1.64044049e-02 -7.20700909e-04 9.99865179e-01 1.82644023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.229254154 meters 0.02320361071586902 Centerline is valid? [True, True] Translation: X:268.29, Y:2.26, Z:1.83 [[ 9.98263974e-01 -5.66250041e-02 -1.62063772e-02 2.68285703e+02] [ 5.66287455e-02 9.98395279e-01 -2.28319964e-04 2.26279283e+00] [ 1.61932991e-02 -6.89823215e-04 9.99868642e-01 1.82791584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.25925415399996 meters 0.022671570617502464 Centerline is valid? [True, True] Translation: X:268.32, Y:2.27, Z:1.83 [[ 9.98358620e-01 -5.49567559e-02 -1.61189442e-02 2.68317955e+02] [ 5.49602588e-02 9.98488517e-01 -2.25916577e-04 2.26530249e+00] [ 1.61069964e-02 -6.60355584e-04 9.99870056e-01 1.82848176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.289254154 meters 0.0216998858516565 Centerline is valid? [True, True] Translation: X:268.35, Y:2.27, Z:1.83 [[ 9.98574075e-01 -5.11347312e-02 -1.53315422e-02 2.68349016e+02] [ 5.11374624e-02 9.98691601e-01 -2.14095193e-04 2.27082581e+00] [ 1.53224301e-02 -5.70226251e-04 9.99882442e-01 1.82956083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31925415399996 meters 0.022254070153825547 Centerline is valid? [True, True] Translation: X:268.38, Y:2.27, Z:1.83 [[ 9.98683739e-01 -4.90434775e-02 -1.50175173e-02 2.68379936e+02] [ 4.90458698e-02 9.98796505e-01 -2.09172222e-04 2.27193011e+00] [ 1.50097024e-02 -5.27650303e-04 9.99887209e-01 1.82993866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.349254154 meters 0.020604080680554533 Centerline is valid? [True, True] Translation: X:268.41, Y:2.28, Z:1.83 [[ 9.98779344e-01 -4.71479740e-02 -1.47272143e-02 2.68410948e+02] [ 4.71500766e-02 9.98887796e-01 -2.04606133e-04 2.27685851e+00] [ 1.47204814e-02 -4.90032903e-04 9.99891528e-01 1.83066521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37925415399997 meters 0.019458574597966467 Centerline is valid? [True, True] Translation: X:268.44, Y:2.28, Z:1.83 [[ 9.98871029e-01 -4.52694833e-02 -1.43993175e-02 2.68442437e+02] [ 4.52713056e-02 9.98974709e-01 -1.99538442e-04 2.28053287e+00] [ 1.43935870e-02 -4.52562734e-04 9.99896305e-01 1.83123359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.409254154 meters 0.018611895666489554 Centerline is valid? [True, True] Translation: X:268.47, Y:2.28, Z:1.83 [[ 9.99024091e-01 -4.19060086e-02 -1.39553862e-02 2.68473757e+02] [ 4.19073993e-02 9.99121480e-01 -1.92888736e-04 2.28464066e+00] [ 1.39512094e-02 -3.92133451e-04 9.99902600e-01 1.83123495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43925415399997 meters 0.01870713917121041 Centerline is valid? [True, True] Translation: X:268.50, Y:2.29, Z:1.83 [[ 9.99112206e-01 -3.99265537e-02 -1.34413229e-02 2.68504510e+02] [ 3.99276712e-02 9.99202555e-01 -1.85309288e-04 2.28567964e+00] [ 1.34380030e-02 -3.51535951e-04 9.99909644e-01 1.83097985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46925415399994 meters 0.017990835792941896 Centerline is valid? [True, True] Translation: X:268.54, Y:2.29, Z:1.83 [[ 9.99181187e-01 -3.81679981e-02 -1.34223420e-02 2.68535444e+02] [ 3.81689603e-02 9.99271283e-01 -1.84569995e-04 2.28895498e+00] [ 1.34196056e-02 -3.27897973e-04 9.99909899e-01 1.83133501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49925415399997 meters 0.01711606960282054 Centerline is valid? [True, True] Translation: X:268.57, Y:2.29, Z:1.83 [[ 9.99361189e-01 -3.33838372e-02 -1.27566849e-02 2.68565937e+02] [ 3.33843263e-02 9.99442573e-01 -1.74661418e-04 2.29305796e+00] [ 1.27554048e-02 -2.51323487e-04 9.99918615e-01 1.83160652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.52925415399994 meters 0.016421376026691113 Centerline is valid? [True, True] Translation: X:268.60, Y:2.30, Z:1.83 [[ 9.99454271e-01 -3.06155851e-02 -1.24034578e-02 2.68597085e+02] [ 3.06158442e-02 9.99531211e-01 -1.69034722e-04 2.29622812e+00] [ 1.24028183e-02 -2.10799855e-04 9.99923060e-01 1.83216493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.559254154 meters 0.01498131387373656 Centerline is valid? [True, True] Translation: X:268.63, Y:2.30, Z:1.83 [[ 9.99615534e-01 -2.47986543e-02 -1.24020597e-02 2.68628701e+02] [ 2.47984722e-02 9.99692456e-01 -1.68480587e-04 2.30336684e+00] [ 1.24024236e-02 -1.39136321e-04 9.99923077e-01 1.83352564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.58925415399995 meters 0.014525624984805334 Centerline is valid? [True, True] Translation: X:268.66, Y:2.31, Z:1.83 [[ 9.99689513e-01 -2.17414099e-02 -1.21733018e-02 2.68659195e+02] [ 2.17410166e-02 9.99763623e-01 -1.64660180e-04 2.30572735e+00] [ 1.21740042e-02 -1.00050900e-04 9.99925889e-01 1.83374217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.619254154 meters 0.014357868312519824 Centerline is valid? [True, True] Translation: X:268.69, Y:2.31, Z:1.83 [[ 9.99746887e-01 -1.91353083e-02 -1.18322633e-02 2.68690087e+02] [ 1.91347594e-02 9.99816901e-01 -1.59606052e-04 2.30789357e+00] [ 1.18331510e-02 -6.68418581e-05 9.99929984e-01 1.83399973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.64925415399995 meters 0.01415832537504114 Centerline is valid? [True, True] Translation: X:268.72, Y:2.31, Z:1.83 [[ 9.99788068e-01 -1.68535378e-02 -1.18227795e-02 2.68720074e+02] [ 1.68528282e-02 9.99857968e-01 -1.59651336e-04 2.30945945e+00] [ 1.18237910e-02 -3.96297708e-05 9.99930096e-01 1.83441381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.679254154 meters 0.0140009701623092 Centerline is valid? [True, True] Translation: X:268.75, Y:2.31, Z:1.83 [[ 9.99818373e-01 -1.48534897e-02 -1.19412844e-02 2.68750017e+02] [ 1.48526180e-02 9.99889681e-01 -1.61683756e-04 2.31091088e+00] [ 1.19423687e-02 -1.57049461e-05 9.99928687e-01 1.83499498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.70925415399995 meters 0.014045057482461676 Centerline is valid? [True, True] Translation: X:268.78, Y:2.31, Z:1.83 [[ 9.99841666e-01 -1.34063405e-02 -1.17009833e-02 2.68779242e+02] [ 1.34053872e-02 9.99910131e-01 -1.59905194e-04 2.31145611e+00] [ 1.17020755e-02 3.02366479e-06 9.99931528e-01 1.83467713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.739254154 meters 0.013981428271259663 Centerline is valid? [True, True] Translation: X:268.81, Y:2.31, Z:1.83 [[ 9.99834817e-01 -1.35545282e-02 -1.21084439e-02 2.68807736e+02] [ 1.35534925e-02 9.99908133e-01 -1.67596616e-04 2.31115509e+00] [ 1.21096032e-02 3.45722829e-06 9.99926676e-01 1.83439046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.76925415399995 meters 0.013764976786459751 Centerline is valid? [True, True] Translation: X:268.84, Y:2.31, Z:1.83 [[ 9.99818029e-01 -1.44631618e-02 -1.24388993e-02 2.68835650e+02] [ 1.44621281e-02 9.99895403e-01 -1.73050968e-04 2.31028128e+00] [ 1.24401011e-02 -6.87347662e-06 9.99922619e-01 1.83373624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.799254154 meters 0.014011146676985824 Centerline is valid? [True, True] Translation: X:268.86, Y:2.31, Z:1.83 [[ 9.99750854e-01 -1.83204906e-02 -1.27510222e-02 2.68864125e+02] [ 1.83196914e-02 9.99832164e-01 -1.79487430e-04 2.30631114e+00] [ 1.27521704e-02 -5.41520793e-05 9.99918686e-01 1.83399736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.82925415399995 meters 0.014102676261869677 Centerline is valid? [True, True] Translation: X:268.89, Y:2.30, Z:1.83 [[ 9.99700291e-01 -2.10167218e-02 -1.25548981e-02 2.68892455e+02] [ 2.10161343e-02 9.99779121e-01 -1.78736091e-04 2.30359785e+00] [ 1.25558814e-02 -8.51729028e-05 9.99921168e-01 1.83406775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.859254154 meters 0.014762963711597018 Centerline is valid? [True, True] Translation: X:268.92, Y:2.30, Z:1.83 [[ 9.99633855e-01 -2.38838378e-02 -1.27168350e-02 2.68921880e+02] [ 2.38834610e-02 9.99714733e-01 -1.81516906e-04 2.29956147e+00] [ 1.27175426e-02 -1.22271588e-04 9.99919121e-01 1.83326906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.88925415399996 meters 0.015319430868754192 Centerline is valid? [True, True] Translation: X:268.95, Y:2.29, Z:1.83 [[ 9.99463162e-01 -3.00514840e-02 -1.30497771e-02 2.68952148e+02] [ 3.00516111e-02 9.99548331e-01 -1.86394068e-04 2.29354521e+00] [ 1.30494843e-02 -2.05872822e-04 9.99914831e-01 1.83378784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.919254154 meters 0.016175410281462535 Centerline is valid? [True, True] Translation: X:268.98, Y:2.29, Z:1.83 [[ 9.99356326e-01 -3.32945838e-02 -1.33568013e-02 2.68982567e+02] [ 3.32950080e-02 9.99445549e-01 -1.90666008e-04 2.28974902e+00] [ 1.33557438e-02 -2.54171525e-04 9.99910776e-01 1.83403787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.94925415399996 meters 0.01639908961363227 Centerline is valid? [True, True] Translation: X:269.01, Y:2.29, Z:1.83 [[ 9.99249492e-01 -3.64429171e-02 -1.31288053e-02 2.69014187e+02] [ 3.64436031e-02 9.99335694e-01 -1.87066534e-04 2.28718109e+00] [ 1.31269010e-02 -2.91534831e-04 9.99913796e-01 1.83454073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.979254154 meters 0.017235807802032453 Centerline is valid? [True, True] Translation: X:269.05, Y:2.28, Z:1.83 [[ 9.99124501e-01 -3.96451054e-02 -1.33602729e-02 2.69046034e+02] [ 3.96461100e-02 9.99213766e-01 -1.89756640e-04 2.28351260e+00] [ 1.33572915e-02 -3.40092339e-04 9.99910730e-01 1.83447173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.00925415399996 meters 0.021468780083064184 Centerline is valid? [True, True] Translation: X:269.08, Y:2.27, Z:1.83 [[ 9.98891319e-01 -4.51145030e-02 -1.34467141e-02 2.69076051e+02] [ 4.51160263e-02 9.98981736e-01 -1.90189067e-04 2.27204253e+00] [ 1.34416021e-02 -4.16684099e-04 9.99909571e-01 1.83344809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.039254154 meters 0.02275869826423643 Centerline is valid? [True, True] Translation: X:269.11, Y:2.27, Z:1.83 [[ 9.98804434e-01 -4.71429309e-02 -1.29324086e-02 2.69107371e+02] [ 4.71445228e-02 9.98888062e-01 -1.81908925e-04 2.26852211e+00] [ 1.29266043e-02 -4.28000792e-04 9.99916356e-01 1.83348609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.06925415399996 meters 0.0237750633699217 Centerline is valid? [True, True] Translation: X:269.14, Y:2.27, Z:1.83 [[ 9.98723502e-01 -4.88269533e-02 -1.29342712e-02 2.69138517e+02] [ 4.88286980e-02 9.98807151e-01 -1.81061422e-04 2.26605492e+00] [ 1.29276832e-02 -4.50733323e-04 9.99916332e-01 1.83387762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.099254154 meters 0.021095768585389023 Centerline is valid? [True, True] Translation: X:269.17, Y:2.27, Z:1.84 [[ 9.98583094e-01 -5.15756167e-02 -1.31057528e-02 2.69170576e+02] [ 5.15776532e-02 9.98668970e-01 -1.82784020e-04 2.26852479e+00] [ 1.30977358e-02 -4.93438940e-04 9.99914099e-01 1.83527121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.12925415399997 meters 0.021693850767917997 Centerline is valid? [True, True] Translation: X:269.20, Y:2.27, Z:1.84 [[ 9.98523406e-01 -5.27805693e-02 -1.28537632e-02 2.69202812e+02] [ 5.27826397e-02 9.98606009e-01 -1.78350607e-04 2.26708495e+00] [ 1.28452586e-02 -5.00368295e-04 9.99917371e-01 1.83546866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.159254154 meters 0.024293448411708624 Centerline is valid? [True, True] Translation: X:269.23, Y:2.26, Z:1.83 [[ 9.98457433e-01 -5.39707193e-02 -1.30351676e-02 2.69234179e+02] [ 5.39729608e-02 9.98542381e-01 -1.80025916e-04 2.26257168e+00] [ 1.30258834e-02 -5.23798377e-04 9.99915022e-01 1.83490545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18925415399997 meters 0.0227608271460371 Centerline is valid? [True, True] Translation: X:269.27, Y:2.26, Z:1.84 [[ 9.98395389e-01 -5.50377595e-02 -1.33226466e-02 2.69266622e+02] [ 5.50402070e-02 9.98484122e-01 -1.83149523e-04 2.26424477e+00] [ 1.33125313e-02 -5.50425589e-04 9.99911233e-01 1.83521544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21925415399994 meters 0.024851517447337376 Centerline is valid? [True, True] Translation: X:269.30, Y:2.26, Z:1.84 [[ 9.98256012e-01 -5.74212288e-02 -1.37017012e-02 2.69298066e+02] [ 5.74240538e-02 9.98349860e-01 -1.87478846e-04 2.26024899e+00] [ 1.36898568e-02 -5.99655343e-04 9.99906110e-01 1.83510422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24925415399997 meters 0.0317288836494074 Centerline is valid? [True, True] Translation: X:269.33, Y:2.25, Z:1.83 [[ 9.98199053e-01 -5.83818893e-02 -1.37914858e-02 2.69329292e+02] [ 5.83848531e-02 9.98294132e-01 -1.87967863e-04 2.25082565e+00] [ 1.37789332e-02 -6.17584528e-04 9.99904875e-01 1.83385337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27925415399994 meters 0.026749269751944776 Centerline is valid? [True, True] Translation: X:269.36, Y:2.26, Z:1.83 [[ 9.98136915e-01 -5.93998429e-02 -1.39412321e-02 2.69361601e+02] [ 5.94029825e-02 9.98234066e-01 -1.89148676e-04 2.25818763e+00] [ 1.39278482e-02 -6.39354487e-04 9.99902798e-01 1.83492571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.309254154 meters 0.028341578652006594 Centerline is valid? [True, True] Translation: X:269.39, Y:2.26, Z:1.83 [[ 9.98002946e-01 -6.14938628e-02 -1.44438216e-02 2.69392376e+02] [ 6.14974627e-02 9.98107221e-01 -1.95210039e-04 2.25594984e+00] [ 1.44284869e-02 -6.93438188e-04 9.99895664e-01 1.83439814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.33925415399995 meters 0.028474811970331717 Centerline is valid? [True, True] Translation: X:269.42, Y:2.26, Z:1.83 [[ 9.97944102e-01 -6.23989725e-02 -1.46266321e-02 2.69424838e+02] [ 6.24027724e-02 9.98051028e-01 -1.96908145e-04 2.25575129e+00] [ 1.46104121e-02 -7.16239070e-04 9.99893006e-01 1.83470708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.369254154 meters 0.029299172868801477 Centerline is valid? [True, True] Translation: X:269.46, Y:2.25, Z:1.83 [[ 9.97912727e-01 -6.29009049e-02 -1.46173199e-02 2.69456230e+02] [ 6.29047664e-02 9.98019515e-01 -1.95906021e-04 2.25472370e+00] [ 1.46006932e-02 -7.24001981e-04 9.99893142e-01 1.83479421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.39925415399995 meters 0.029835677353270213 Centerline is valid? [True, True] Translation: X:269.49, Y:2.25, Z:1.83 [[ 9.97862350e-01 -6.36171331e-02 -1.49529314e-02 2.69488139e+02] [ 6.36212679e-02 9.97974095e-01 -1.99487222e-04 2.25469919e+00] [ 1.49353290e-02 -7.52263667e-04 9.99888179e-01 1.83452640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.429254154 meters 0.026876759095456917 Centerline is valid? [True, True] Translation: X:269.52, Y:2.26, Z:1.83 [[ 9.97811820e-01 -6.41802742e-02 -1.58890962e-02 2.69520070e+02] [ 6.41850325e-02 9.97937993e-01 -2.10824859e-04 2.26026556e+00] [ 1.58698635e-02 -8.09478618e-04 9.99873738e-01 1.83466669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.45925415399995 meters 0.027087547817867538 Centerline is valid? [True, True] Translation: X:269.55, Y:2.26, Z:1.83 [[ 9.97832763e-01 -6.37724425e-02 -1.62127297e-02 2.69552348e+02] [ 6.37773621e-02 9.97964129e-01 -2.13943512e-04 2.26082620e+00] [ 1.61933664e-02 -8.20525288e-04 9.99868542e-01 1.83482289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.489254154 meters 0.03177915382055085 Centerline is valid? [True, True] Translation: X:269.58, Y:2.26, Z:1.83 [[ 9.97876017e-01 -6.30223279e-02 -1.64815394e-02 2.69583240e+02] [ 6.30273266e-02 9.98011778e-01 -2.16475558e-04 2.25561116e+00] [ 1.64624132e-02 -8.22771597e-04 9.99864147e-01 1.83364188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.51925415399995 meters 0.03216777993313223 Centerline is valid? [True, True] Translation: X:269.61, Y:2.26, Z:1.83 [[ 9.97956102e-01 -6.16492597e-02 -1.68222448e-02 2.69613978e+02] [ 6.16542846e-02 9.98097541e-01 -2.20246389e-04 2.25683081e+00] [ 1.68038192e-02 -8.17367243e-04 9.99858472e-01 1.83323450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.549254154 meters 0.03003178916080938 Centerline is valid? [True, True] Translation: X:269.64, Y:2.26, Z:1.83 [[ 9.98183107e-01 -5.80940576e-02 -1.59864038e-02 2.69644327e+02] [ 5.80981439e-02 9.98310854e-01 -2.09085880e-04 2.26135001e+00] [ 1.59715471e-02 -7.20074396e-04 9.99872187e-01 1.83473411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.57925415399995 meters 0.03003178916080938 Centerline is valid? [True, True] Translation: X:269.68, Y:2.26, Z:1.83 [[ 9.98185007e-01 -5.80614052e-02 -1.59864077e-02 2.69675199e+02] [ 5.80654920e-02 9.98312754e-01 -2.08789611e-04 2.26171871e+00] [ 1.59715573e-02 -7.19847969e-04 9.99872187e-01 1.83494806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.609254154 meters 0.025805449272318738 Centerline is valid? [True, True] Translation: X:269.71, Y:2.27, Z:1.84 [[ 9.98360537e-01 -5.49052891e-02 -1.61755113e-02 2.69706603e+02] [ 5.49090686e-02 9.98491337e-01 -2.10706476e-04 2.27001278e+00] [ 1.61626768e-02 -6.77821229e-04 9.99869146e-01 1.83564855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.63925415399996 meters 0.020109567695139382 Centerline is valid? [True, True] Translation: X:269.74, Y:2.28, Z:1.84 [[ 9.98707591e-01 -4.86175177e-02 -1.48150160e-02 2.69737425e+02] [ 4.86200017e-02 9.98817330e-01 -1.92670384e-04 2.28165769e+00] [ 1.48068618e-02 -5.27884727e-04 9.99890233e-01 1.83828151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.669254154 meters 0.01893363829075957 Centerline is valid? [True, True] Translation: X:269.77, Y:2.29, Z:1.84 [[ 9.98909781e-01 -4.44875117e-02 -1.41460657e-02 2.69768834e+02] [ 4.44893675e-02 9.99009841e-01 -1.83628263e-04 2.28602608e+00] [ 1.41402280e-02 -4.45921447e-04 9.99899923e-01 1.83907456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.69925415399996 meters 0.017812918028318678 Centerline is valid? [True, True] Translation: X:269.80, Y:2.29, Z:1.84 [[ 9.99093347e-01 -4.05048413e-02 -1.31088258e-02 2.69800629e+02] [ 4.05060999e-02 9.99179277e-01 -1.69589632e-04 2.29003330e+00] [ 1.31049362e-02 -3.61551532e-04 9.99914061e-01 1.83952510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.729254154 meters 0.01713351262373903 Centerline is valid? [True, True] Translation: X:269.83, Y:2.29, Z:1.84 [[ 9.99256629e-01 -3.64931143e-02 -1.24274828e-02 2.69831418e+02] [ 3.64939423e-02 9.99333861e-01 -1.60215820e-04 2.29348296e+00] [ 1.24250511e-02 -2.93431120e-04 9.99922763e-01 1.84009443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.75925415399996 meters 0.016316263791402715 Centerline is valid? [True, True] Translation: X:269.86, Y:2.30, Z:1.84 [[ 9.99390503e-01 -3.28610277e-02 -1.17802613e-02 2.69862389e+02] [ 3.28615243e-02 9.99459903e-01 -1.51459627e-04 2.29692681e+00] [ 1.17788760e-02 -2.35750031e-04 9.99930599e-01 1.84032730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.789254154 meters 0.014515624135793121 Centerline is valid? [True, True] Translation: X:269.89, Y:2.30, Z:1.84 [[ 9.99595413e-01 -2.59250838e-02 -1.17004008e-02 2.69893465e+02] [ 2.59251025e-02 9.99663877e-01 -1.50098576e-04 2.30434277e+00] [ 1.17003594e-02 -1.53296244e-04 9.99931537e-01 1.84043258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81925415399996 meters 0.014153367010356925 Centerline is valid? [True, True] Translation: X:269.92, Y:2.31, Z:1.84 [[ 9.99670454e-01 -2.26336808e-02 -1.21120116e-02 2.69924763e+02] [ 2.26334632e-02 9.99743818e-01 -1.55057163e-04 2.30715926e+00] [ 1.21124182e-02 -1.19130703e-04 9.99926635e-01 1.84008486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.849254154 meters 0.013984013684003434 Centerline is valid? [True, True] Translation: X:269.96, Y:2.31, Z:1.84 [[ 9.99724230e-01 -1.98670109e-02 -1.25206415e-02 2.69955677e+02] [ 1.98665647e-02 9.99802628e-01 -1.60026248e-04 2.30996268e+00] [ 1.25213495e-02 -8.87600171e-05 9.99921601e-01 1.84015810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87925415399997 meters 0.013889729439868914 Centerline is valid? [True, True] Translation: X:269.98, Y:2.31, Z:1.84 [[ 9.99808444e-01 -1.53154155e-02 -1.21865899e-02 2.69984841e+02] [ 1.53146535e-02 9.99882712e-01 -1.55852454e-04 2.31461716e+00] [ 1.21875475e-02 -3.08108021e-05 9.99925729e-01 1.84052982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.909254154 meters 0.01362811094540116 Centerline is valid? [True, True] Translation: X:270.01, Y:2.32, Z:1.84 [[ 9.99840430e-01 -1.32580827e-02 -1.19723635e-02 2.70013663e+02] [ 1.32571950e-02 9.99912108e-01 -1.53508374e-04 2.31673529e+00] [ 1.19733464e-02 -5.23607768e-06 9.99928317e-01 1.84074310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93925415399997 meters 0.013710652355542013 Centerline is valid? [True, True] Translation: X:270.04, Y:2.32, Z:1.84 [[ 9.99866834e-01 -1.18450112e-02 -1.12254033e-02 2.70041913e+02] [ 1.18441257e-02 9.99929845e-01 -1.45363279e-04 2.31836457e+00] [ 1.12263377e-02 1.23888328e-05 9.99936983e-01 1.84115064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96925415399994 meters 0.013848545203732111 Centerline is valid? [True, True] Translation: X:270.07, Y:2.32, Z:1.84 [[ 9.99896722e-01 -1.00434454e-02 -1.02798085e-02 2.70070932e+02] [ 1.00425824e-02 9.99949563e-01 -1.35569360e-04 2.31969719e+00] [ 1.02806516e-02 3.23195346e-05 9.99947152e-01 1.84119757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99925415399997 meters 0.014003490763237182 Centerline is valid? [True, True] Translation: X:270.10, Y:2.32, Z:1.84 [[ 9.99905142e-01 -9.90460961e-03 -9.57109737e-03 2.70099448e+02] [ 9.90383290e-03 9.99950948e-01 -1.28546013e-04 2.31986633e+00] [ 9.57190108e-03 3.37432707e-05 9.99954188e-01 1.84123177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.02925415399994 meters 0.013810154117957975 Centerline is valid? [True, True] Translation: X:270.13, Y:2.32, Z:1.84 [[ 9.99904012e-01 -1.05666171e-02 -8.96178788e-03 2.70128342e+02] [ 1.05659430e-02 9.99944171e-01 -1.22564626e-04 2.31827901e+00] [ 8.96258265e-03 2.78631217e-05 9.99959835e-01 1.84107217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.059254154 meters 0.013938044874724711 Centerline is valid? [True, True] Translation: X:270.16, Y:2.32, Z:1.84 [[ 9.99893116e-01 -1.16909678e-02 -8.77940150e-03 2.70157043e+02] [ 1.16903478e-02 9.99931658e-01 -1.21935698e-04 2.31712528e+00] [ 8.78022704e-03 1.92884081e-05 9.99961453e-01 1.84071101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.08925415399995 meters 0.014124440410341905 Centerline is valid? [True, True] Translation: X:270.19, Y:2.32, Z:1.84 [[ 9.99878192e-01 -1.31311704e-02 -8.43648747e-03 2.70186386e+02] [ 1.31306456e-02 9.99913782e-01 -1.17595521e-04 2.31573238e+00] [ 8.43730426e-03 6.80467016e-06 9.99964405e-01 1.84046738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.119254154 meters 0.013996426028377184 Centerline is valid? [True, True] Translation: X:270.22, Y:2.31, Z:1.84 [[ 9.99849430e-01 -1.50181927e-02 -8.69315647e-03 2.70216193e+02] [ 1.50177039e-02 9.99887221e-01 -1.21499985e-04 2.31416505e+00] [ 8.69400077e-03 -9.06955945e-06 9.99962206e-01 1.84081660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.14925415399995 meters 0.01420632470789418 Centerline is valid? [True, True] Translation: X:270.25, Y:2.31, Z:1.84 [[ 9.99810979e-01 -1.74551344e-02 -8.56300835e-03 2.70245764e+02] [ 1.74547474e-02 9.99847647e-01 -1.19935847e-04 2.31180031e+00] [ 8.56379724e-03 -2.95519705e-05 9.99963330e-01 1.84101114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.179254154 meters 0.014609787275922492 Centerline is valid? [True, True] Translation: X:270.28, Y:2.31, Z:1.84 [[ 9.99694951e-01 -2.34368985e-02 -7.79204684e-03 2.70276711e+02] [ 2.34367596e-02 9.99725315e-01 -1.09147275e-04 2.30538586e+00] [ 7.79246456e-03 -7.35063484e-05 9.99969636e-01 1.84181367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.20925415399995 meters 0.015145016286813725 Centerline is valid? [True, True] Translation: X:270.31, Y:2.30, Z:1.84 [[ 9.99608202e-01 -2.70281974e-02 -7.27453743e-03 2.70307593e+02] [ 2.70281717e-02 9.99634667e-01 -1.01860683e-04 2.30104319e+00] [ 7.27463291e-03 -9.47966728e-05 9.99973535e-01 1.84199069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.239254154 meters 0.01580585137911623 Centerline is valid? [True, True] Translation: X:270.34, Y:2.30, Z:1.84 [[ 9.99507000e-01 -3.06067664e-02 -6.99872494e-03 2.70339220e+02] [ 3.06068354e-02 9.99531496e-01 -9.72702440e-05 2.29634784e+00] [ 6.99842314e-03 -1.16986533e-04 9.99975504e-01 1.84225768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.26925415399995 meters 0.01721986328592231 Centerline is valid? [True, True] Translation: X:270.37, Y:2.29, Z:1.84 [[ 9.99269025e-01 -3.75598716e-02 -7.11835931e-03 2.70370650e+02] [ 3.75601221e-02 9.99294365e-01 -9.85454839e-05 2.28794573e+00] [ 7.11703770e-03 -1.68892995e-04 9.99974659e-01 1.84172903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.299254154 meters 0.018612980253863223 Centerline is valid? [True, True] Translation: X:270.40, Y:2.28, Z:1.84 [[ 9.99146595e-01 -4.05912113e-02 -7.64435802e-03 2.70401822e+02] [ 4.05915911e-02 9.99175816e-01 -1.05519050e-04 2.28276943e+00] [ 7.64234081e-03 -2.04867656e-04 9.99970776e-01 1.84108513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.32925415399995 meters 0.01965218855152367 Centerline is valid? [True, True] Translation: X:270.43, Y:2.28, Z:1.84 [[ 9.99023072e-01 -4.34193560e-02 -8.22564517e-03 2.70433620e+02] [ 4.34198955e-02 9.99056905e-01 -1.13069380e-04 2.27901830e+00] [ 8.22279701e-03 -2.44197734e-04 9.99966162e-01 1.84052552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.359254154 meters 0.018793858217308914 Centerline is valid? [True, True] Translation: X:270.47, Y:2.28, Z:1.84 [[ 9.98925310e-01 -4.55287221e-02 -8.68101587e-03 2.70465327e+02] [ 4.55294068e-02 9.98962992e-01 -1.18842726e-04 2.27845405e+00] [ 8.67742435e-03 -2.76526496e-04 9.99962312e-01 1.84034376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.38925415399996 meters 0.02016332482117315 Centerline is valid? [True, True] Translation: X:270.50, Y:2.27, Z:1.84 [[ 9.98805536e-01 -4.80684978e-02 -8.77041685e-03 2.70496241e+02] [ 4.80692984e-02 9.98843996e-01 -1.19609196e-04 2.27240602e+00] [ 8.76602765e-03 -3.02121457e-04 9.99961532e-01 1.83961603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.419254154 meters 0.019903325359885513 Centerline is valid? [True, True] Translation: X:270.53, Y:2.27, Z:1.84 [[ 9.98789691e-01 -4.84322571e-02 -8.57143814e-03 2.70528240e+02] [ 4.84330384e-02 9.98826425e-01 -1.16524093e-04 2.27111472e+00] [ 8.56702244e-03 -2.98757730e-04 9.99963258e-01 1.83983910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.44925415399996 meters 0.022042713971752573 Centerline is valid? [True, True] Translation: X:270.56, Y:2.27, Z:1.84 [[ 9.98815306e-01 -4.79936035e-02 -8.03737796e-03 2.70560007e+02] [ 4.79942807e-02 9.98847605e-01 -1.08701362e-04 2.26592297e+00] [ 8.03333269e-03 -2.77175590e-04 9.99967694e-01 1.84010953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.479254154 meters 0.020264576790926997 Centerline is valid? [True, True] Translation: X:270.59, Y:2.27, Z:1.84 [[ 9.98908270e-01 -4.61685578e-02 -7.12269335e-03 2.70591833e+02] [ 4.61690466e-02 9.98933636e-01 -9.58658092e-05 2.26686760e+00] [ 7.11952395e-03 -2.33086812e-04 9.99974629e-01 1.84154119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.50925415399996 meters 0.019880200612210117 Centerline is valid? [True, True] Translation: X:270.62, Y:2.27, Z:1.84 [[ 9.98963677e-01 -4.50001334e-02 -6.82350354e-03 2.70624353e+02] [ 4.50005580e-02 9.98986958e-01 -9.13698992e-05 2.26740141e+00] [ 6.82070269e-03 -2.15786256e-04 9.99976715e-01 1.84166334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.539254154 meters 0.01833377369720247 Centerline is valid? [True, True] Translation: X:270.66, Y:2.27, Z:1.84 [[ 9.99017574e-01 -4.37838242e-02 -6.84574531e-03 2.70656508e+02] [ 4.37842264e-02 9.99041007e-01 -9.11734236e-05 2.26979759e+00] [ 6.84317220e-03 -2.08651810e-04 9.99976563e-01 1.84204615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.56925415399996 meters 0.018638518062807523 Centerline is valid? [True, True] Translation: X:270.69, Y:2.27, Z:1.84 [[ 9.99069698e-01 -4.24966183e-02 -7.33315138e-03 2.70688185e+02] [ 4.24970495e-02 9.99096588e-01 -9.70786872e-05 2.26742476e+00] [ 7.33065204e-03 -2.14648923e-04 9.99973107e-01 1.84127281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.599254154 meters 0.018403540253134912 Centerline is valid? [True, True] Translation: X:270.72, Y:2.27, Z:1.84 [[ 9.99069908e-01 -4.24481390e-02 -7.58112539e-03 2.70720841e+02] [ 4.24486028e-02 9.99098647e-01 -9.97819974e-05 2.26676380e+00] [ 7.57852768e-03 -2.22118990e-04 9.99971258e-01 1.84095801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.62925415399997 meters 0.018932269530861186 Centerline is valid? [True, True] Translation: X:270.75, Y:2.26, Z:1.84 [[ 9.99039579e-01 -4.30611870e-02 -8.10274970e-03 2.70752037e+02] [ 4.30617425e-02 9.99072407e-01 -1.05967150e-04 2.26493943e+00] [ 8.09979672e-03 -2.43053144e-04 9.99967167e-01 1.84043658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.659254154 meters 0.019063940665178625 Centerline is valid? [True, True] Translation: X:270.78, Y:2.26, Z:1.84 [[ 9.98912240e-01 -4.56944471e-02 -9.29269796e-03 2.70783835e+02] [ 4.56953015e-02 9.98955417e-01 -1.20466869e-04 2.26232555e+00] [ 9.28849563e-03 -3.04296805e-04 9.99956815e-01 1.83944547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68925415399997 meters 0.02005689324668513 Centerline is valid? [True, True] Translation: X:270.81, Y:2.26, Z:1.84 [[ 9.98805095e-01 -4.78390750e-02 -9.99023478e-03 2.70814638e+02] [ 4.78401750e-02 9.98854995e-01 -1.28981502e-04 2.25971398e+00] [ 9.98496627e-03 -3.49107199e-04 9.99950088e-01 1.83914350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71925415399994 meters 0.020582458094193012 Centerline is valid? [True, True] Translation: X:270.85, Y:2.26, Z:1.84 [[ 9.98686876e-01 -5.01793303e-02 -1.03227298e-02 2.70846986e+02] [ 5.01806348e-02 9.98740150e-01 -1.32758100e-04 2.25844715e+00] [ 1.03163865e-02 -3.85417364e-04 9.99946710e-01 1.83902924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74925415399997 meters 0.020938512817743865 Centerline is valid? [True, True] Translation: X:270.88, Y:2.26, Z:1.84 [[ 9.98549312e-01 -5.26919924e-02 -1.10826284e-02 2.70879182e+02] [ 5.26936601e-02 9.98610714e-01 -1.41669210e-04 2.25731063e+00] [ 1.10746963e-02 -4.42520561e-04 9.99938576e-01 1.83906673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77925415399994 meters 0.02467397758999603 Centerline is valid? [True, True] Translation: X:270.91, Y:2.25, Z:1.84 [[ 9.98271070e-01 -5.77114426e-02 -1.11472197e-02 2.70909657e+02] [ 5.77134488e-02 9.98333180e-01 -1.41896496e-04 2.25032185e+00] [ 1.11368283e-02 -5.01693327e-04 9.99937858e-01 1.83876021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.809254154 meters 0.024082461287837625 Centerline is valid? [True, True] Translation: X:270.94, Y:2.25, Z:1.84 [[ 9.98136794e-01 -6.00019614e-02 -1.10772780e-02 2.70941248e+02] [ 6.00040871e-02 9.98198121e-01 -1.40648852e-04 2.25008917e+00] [ 1.10657573e-02 -5.24295163e-04 9.99938635e-01 1.83967213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.83925415399995 meters 0.0290427494403096 Centerline is valid? [True, True] Translation: X:270.97, Y:2.24, Z:1.84 [[ 9.98015426e-01 -6.19915018e-02 -1.10572739e-02 2.70971968e+02] [ 6.19937518e-02 9.98076528e-01 -1.39482753e-04 2.24274602e+00] [ 1.10446523e-02 -5.46275958e-04 9.99938857e-01 1.83933714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.869254154 meters 0.02552727428759836 Centerline is valid? [True, True] Translation: X:271.00, Y:2.25, Z:1.84 [[ 9.97879000e-01 -6.41421161e-02 -1.11035783e-02 2.71004116e+02] [ 6.41445310e-02 9.97940609e-01 -1.38870470e-04 2.24695914e+00] [ 1.10896192e-02 -5.73657899e-04 9.99938344e-01 1.84011011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.89925415399995 meters 0.026466372162556945 Centerline is valid? [True, True] Translation: X:271.04, Y:2.25, Z:1.84 [[ 9.97847601e-01 -6.45719688e-02 -1.14291869e-02 2.71035636e+02] [ 6.45745672e-02 9.97912875e-01 -1.41922769e-04 2.24597515e+00] [ 1.14144970e-02 -5.96417503e-04 9.99934675e-01 1.84037402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.929254154 meters 0.027475175670720022 Centerline is valid? [True, True] Translation: X:271.07, Y:2.24, Z:1.84 [[ 9.97855810e-01 -6.44478476e-02 -1.14130436e-02 2.71067085e+02] [ 6.44504420e-02 9.97920899e-01 -1.40712205e-04 2.24490292e+00] [ 1.13983833e-02 -5.95165212e-04 9.99934859e-01 1.84112171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.95925415399995 meters 0.02391187580363872 Centerline is valid? [True, True] Translation: X:271.10, Y:2.25, Z:1.84 [[ 9.97978578e-01 -6.26689451e-02 -1.05528123e-02 2.71098904e+02] [ 6.26710698e-02 9.98034228e-01 -1.29549844e-04 2.25154227e+00] [ 1.05401866e-02 -5.32068066e-04 9.99944309e-01 1.84340782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.989254154 meters 0.024489092188859075 Centerline is valid? [True, True] Translation: X:271.13, Y:2.25, Z:1.84 [[ 9.98091905e-01 -6.08696524e-02 -1.03650539e-02 2.71129138e+02] [ 6.08716101e-02 9.98145596e-01 -1.26793651e-04 2.25157021e+00] [ 1.03535508e-02 -5.04385800e-04 9.99946273e-01 1.84394916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.01925415399995 meters 0.022459972879091093 Centerline is valid? [True, True] Translation: X:271.16, Y:2.26, Z:1.84 [[ 9.98360563e-01 -5.63534877e-02 -1.00234981e-02 2.71159551e+02] [ 5.63550926e-02 9.98410781e-01 -1.22490122e-04 2.25670670e+00] [ 1.00144713e-02 -4.42585854e-04 9.99949756e-01 1.84485245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.049254154 meters 0.021706304323059297 Centerline is valid? [True, True] Translation: X:271.19, Y:2.26, Z:1.85 [[ 9.98497772e-01 -5.37582622e-02 -1.05947314e-02 2.71190918e+02] [ 5.37599108e-02 9.98553882e-01 -1.29333314e-04 2.25927173e+00] [ 1.05863629e-02 -4.40432787e-04 9.99943866e-01 1.84516614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.07925415399995 meters 0.021195778683902662 Centerline is valid? [True, True] Translation: X:271.22, Y:2.26, Z:1.85 [[ 9.98620144e-01 -5.13765724e-02 -1.08745893e-02 2.71221940e+02] [ 5.13781728e-02 9.98679261e-01 -1.32335983e-04 2.26175275e+00] [ 1.08670258e-02 -4.26563151e-04 9.99940861e-01 1.84535871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.109254154 meters 0.020133503577998597 Centerline is valid? [True, True] Translation: X:271.25, Y:2.27, Z:1.85 [[ 9.98823560e-01 -4.70767587e-02 -1.16307646e-02 2.71252981e+02] [ 4.70783035e-02 9.98891192e-01 -1.41087965e-04 2.26611069e+00] [ 1.16245103e-02 -4.06634683e-04 9.99932350e-01 1.84562574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.13925415399996 meters 0.022638823528936716 Centerline is valid? [True, True] Translation: X:271.28, Y:2.27, Z:1.84 [[ 9.98905764e-01 -4.49518740e-02 -1.29075366e-02 2.71283065e+02] [ 4.49536044e-02 9.98989064e-01 -1.56182273e-04 2.26701894e+00] [ 1.29015086e-02 -4.24228924e-04 9.99916682e-01 1.84333535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.169254154 meters 0.01973645603563294 Centerline is valid? [True, True] Translation: X:271.31, Y:2.27, Z:1.84 [[ 9.98996950e-01 -4.27882323e-02 -1.32007954e-02 2.71313601e+02] [ 4.27898617e-02 9.99084082e-01 -1.59112707e-04 2.26897172e+00] [ 1.31955127e-02 -4.05907102e-04 9.99912853e-01 1.84482443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.19925415399996 meters 0.019261285274262206 Centerline is valid? [True, True] Translation: X:271.34, Y:2.27, Z:1.84 [[ 9.99047542e-01 -4.13886311e-02 -1.38199383e-02 2.71344579e+02] [ 4.13902928e-02 9.99143041e-01 -1.65883557e-04 2.27181668e+00] [ 1.38149608e-02 -4.06285732e-04 9.99904486e-01 1.84425350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.229254154 meters 0.019261285274262206 Centerline is valid? [True, True] Translation: X:271.38, Y:2.27, Z:1.84 [[ 9.99049060e-01 -4.13519650e-02 -1.38199428e-02 2.71375434e+02] [ 4.13536284e-02 9.99144559e-01 -1.65503540e-04 2.27215703e+00] [ 1.38149646e-02 -4.06158625e-04 9.99904486e-01 1.84446730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.25925415399996 meters 0.018018055018810868 Centerline is valid? [True, True] Translation: X:271.41, Y:2.27, Z:1.85 [[ 9.99116968e-01 -3.94137452e-02 -1.45547874e-02 2.71405671e+02] [ 3.94153887e-02 9.99222896e-01 -1.74035979e-04 2.27481200e+00] [ 1.45503362e-02 -3.99800301e-04 9.99894058e-01 1.84502258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.289254154 meters 0.01759140995935876 Centerline is valid? [True, True] Translation: X:271.44, Y:2.28, Z:1.85 [[ 9.99137066e-01 -3.88594726e-02 -1.46650649e-02 2.71436879e+02] [ 3.88610855e-02 9.99244607e-01 -1.75069333e-04 2.27678020e+00] [ 1.46607901e-02 -3.94982083e-04 9.99892447e-01 1.84565750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31925415399996 meters 0.017558657294984303 Centerline is valid? [True, True] Translation: X:271.47, Y:2.28, Z:1.85 [[ 9.99136543e-01 -3.85251854e-02 -1.55556291e-02 2.71468166e+02] [ 3.85269689e-02 9.99257544e-01 -1.85111351e-04 2.27882299e+00] [ 1.55512112e-02 -4.14359724e-04 9.99878987e-01 1.84567305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.349254154 meters 0.017815252614744165 Centerline is valid? [True, True] Translation: X:271.50, Y:2.28, Z:1.85 [[ 9.99120311e-01 -3.87726167e-02 -1.59777418e-02 2.71498255e+02] [ 3.87745342e-02 9.99247967e-01 -1.89871814e-04 2.27893532e+00] [ 1.59730879e-02 -4.29824711e-04 9.99872330e-01 1.84559355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37925415399997 meters 0.017685151145435722 Centerline is valid? [True, True] Translation: X:271.53, Y:2.28, Z:1.85 [[ 9.99092976e-01 -3.94923946e-02 -1.59240809e-02 2.71528849e+02] [ 3.94943906e-02 9.99219774e-01 -1.89234134e-04 2.27974440e+00] [ 1.59191299e-02 -4.39849378e-04 9.99873186e-01 1.84554698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.409254154 meters 0.01898297514226822 Centerline is valid? [True, True] Translation: X:271.56, Y:2.28, Z:1.85 [[ 9.98959420e-01 -4.24926321e-02 -1.65666408e-02 2.71558076e+02] [ 4.24952017e-02 9.99096651e-01 -1.97047439e-04 2.27830150e+00] [ 1.65600485e-02 -5.07160348e-04 9.99862744e-01 1.84548140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43925415399997 meters 0.019367243103557745 Centerline is valid? [True, True] Translation: X:271.59, Y:2.28, Z:1.85 [[ 9.98878268e-01 -4.45540825e-02 -1.60355726e-02 2.71588255e+02] [ 4.45567532e-02 9.99006836e-01 -1.90854261e-04 2.27815173e+00] [ 1.60281499e-02 -5.23852876e-04 9.99871404e-01 1.84635483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46925415399994 meters 0.020669421771568337 Centerline is valid? [True, True] Translation: X:271.62, Y:2.28, Z:1.85 [[ 9.98752309e-01 -4.74492466e-02 -1.55690211e-02 2.71618955e+02] [ 4.74521179e-02 9.98873497e-01 -1.85144047e-04 2.27652589e+00] [ 1.55602674e-02 -5.53869978e-04 9.99878778e-01 1.84688320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49925415399997 meters 0.020669421771568337 Centerline is valid? [True, True] Translation: X:271.65, Y:2.28, Z:1.85 [[ 9.98754031e-01 -4.74129814e-02 -1.55690263e-02 2.71649816e+02] [ 4.74158552e-02 9.98875219e-01 -1.84704183e-04 2.27686223e+00] [ 1.55602719e-02 -5.53744648e-04 9.99878778e-01 1.84709704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.52925415399994 meters 0.021913332728782056 Centerline is valid? [True, True] Translation: X:271.68, Y:2.28, Z:1.85 [[ 9.98590936e-01 -5.08808339e-02 -1.50758914e-02 2.71681339e+02] [ 5.08839312e-02 9.98704558e-01 -1.78314535e-04 2.27539601e+00] [ 1.50654343e-02 -5.89057342e-04 9.99886336e-01 1.84768180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.559254154 meters 0.024598400553116222 Centerline is valid? [True, True] Translation: X:271.71, Y:2.27, Z:1.85 [[ 9.98150057e-01 -5.90539439e-02 -1.44601390e-02 2.71711867e+02] [ 5.90576527e-02 9.98254559e-01 -1.70767015e-04 2.27159274e+00] [ 1.44449841e-02 -6.83530760e-04 9.99895432e-01 1.84842241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.58925415399995 meters 0.027533071909003726 Centerline is valid? [True, True] Translation: X:271.74, Y:2.27, Z:1.85 [[ 9.97874269e-01 -6.35000361e-02 -1.46522374e-02 2.71742207e+02] [ 6.35043224e-02 9.97981548e-01 -1.73013852e-04 2.26744900e+00] [ 1.46336490e-02 -7.57834340e-04 9.99892635e-01 1.84833143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.619254154 meters 0.03024468320997355 Centerline is valid? [True, True] Translation: X:271.77, Y:2.26, Z:1.85 [[ 9.97589473e-01 -6.78757158e-02 -1.44266976e-02 2.71771516e+02] [ 6.78803310e-02 9.97693456e-01 -1.70088868e-04 2.26393782e+00] [ 1.44049667e-02 -8.09610142e-04 9.99895915e-01 1.84860398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.64925415399995 meters 0.03172035167575686 Centerline is valid? [True, True] Translation: X:271.80, Y:2.26, Z:1.85 [[ 9.97002600e-01 -7.60758460e-02 -1.40812599e-02 2.71802610e+02] [ 7.60810622e-02 9.97101622e-01 -1.65653687e-04 2.26260485e+00] [ 1.40530493e-02 -9.06160052e-04 9.99900840e-01 1.84954611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.679254154 meters 0.030517088867520182 Centerline is valid? [True, True] Translation: X:271.83, Y:2.27, Z:1.85 [[ 9.96742678e-01 -7.93598101e-02 -1.43545961e-02 2.71834085e+02] [ 7.93655756e-02 9.96845563e-01 -1.68464601e-04 2.26523496e+00] [ 1.43226847e-02 -9.71344922e-04 9.99896953e-01 1.85025128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.70925415399995 meters 0.03172607091860202 Centerline is valid? [True, True] Translation: X:271.87, Y:2.26, Z:1.85 [[ 9.96535693e-01 -8.18721102e-02 -1.46140378e-02 2.71865535e+02] [ 8.18783629e-02 9.96642315e-01 -1.70954616e-04 2.26467796e+00] [ 1.45789649e-02 -1.02621112e-03 9.99893195e-01 1.85032589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.739254154 meters 0.034217203034815784 Centerline is valid? [True, True] Translation: X:271.90, Y:2.26, Z:1.85 [[ 9.96403585e-01 -8.32117381e-02 -1.59906809e-02 2.71896296e+02] [ 8.32194061e-02 9.96531232e-01 -1.86432782e-04 2.26308700e+00] [ 1.59507263e-02 -1.14497267e-03 9.99872124e-01 1.84955580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.76925415399995 meters 0.035931102902572225 Centerline is valid? [True, True] Translation: X:271.93, Y:2.26, Z:1.85 [[ 9.96329587e-01 -8.42578183e-02 -1.50987803e-02 2.71926909e+02] [ 8.42647825e-02 9.96443383e-01 -1.75483821e-04 2.26265650e+00] [ 1.50598656e-02 -1.09745571e-03 9.99885992e-01 1.85014066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.799254154 meters 0.034726178274106276 Centerline is valid? [True, True] Translation: X:271.96, Y:2.27, Z:1.85 [[ 9.96394339e-01 -8.33094476e-02 -1.60579334e-02 2.71959319e+02] [ 8.33172176e-02 9.96523059e-01 -1.85677808e-04 2.26702924e+00] [ 1.60175696e-02 -1.15289401e-03 9.99871046e-01 1.85005971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.82925415399995 meters 0.032310939628272334 Centerline is valid? [True, True] Translation: X:271.99, Y:2.27, Z:1.85 [[ 9.96676167e-01 -7.99765109e-02 -1.55040640e-02 2.71990592e+02] [ 7.99833637e-02 9.96796183e-01 -1.78557681e-04 2.27355466e+00] [ 1.54686722e-02 -1.06210301e-03 9.99879789e-01 1.85101398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.859254154 meters 0.033648238118173274 Centerline is valid? [True, True] Translation: X:272.02, Y:2.28, Z:1.85 [[ 9.96862127e-01 -7.71127767e-02 -1.78751172e-02 2.72021383e+02] [ 7.71214388e-02 9.97021686e-01 -2.05262861e-04 2.27662669e+00] [ 1.78377079e-02 -1.17393599e-03 9.99840206e-01 1.84969073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.88925415399996 meters 0.029704473280259474 Centerline is valid? [True, True] Translation: X:272.05, Y:2.28, Z:1.85 [[ 9.97088373e-01 -7.44183454e-02 -1.66338698e-02 2.72051617e+02] [ 7.44254765e-02 9.97226560e-01 -1.90774607e-04 2.28313378e+00] [ 1.66019339e-02 -1.04776454e-03 9.99861629e-01 1.85110409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.919254154 meters 0.028879838035478653 Centerline is valid? [True, True] Translation: X:272.08, Y:2.29, Z:1.85 [[ 9.97566793e-01 -6.71351834e-02 -1.87978673e-02 2.72081068e+02] [ 6.71429977e-02 9.97743339e-01 -2.15830394e-04 2.29143197e+00] [ 1.87699367e-02 -1.04683993e-03 9.99823281e-01 1.84983180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.94925415399996 meters 0.027470587332406714 Centerline is valid? [True, True] Translation: X:272.11, Y:2.30, Z:1.85 [[ 9.97783409e-01 -6.40727048e-02 -1.79710306e-02 2.72110970e+02] [ 6.40793489e-02 9.97944785e-01 -2.06469104e-04 2.29577346e+00] [ 1.79473253e-02 -9.45560494e-04 9.99838487e-01 1.85068290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.979254154 meters 0.02571523277258751 Centerline is valid? [True, True] Translation: X:272.14, Y:2.30, Z:1.85 [[ 9.97990402e-01 -6.06409869e-02 -1.83801064e-02 2.72141330e+02] [ 6.06473565e-02 9.98159233e-01 -2.11168974e-04 2.30190194e+00] [ 1.83590784e-02 -9.03960254e-04 9.99831049e-01 1.85094075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.00925415399996 meters 0.023774771869789983 Centerline is valid? [True, True] Translation: X:272.17, Y:2.31, Z:1.85 [[ 9.98192493e-01 -5.71839600e-02 -1.84862630e-02 2.72172556e+02] [ 5.71898197e-02 9.98363300e-01 -2.11959499e-04 2.30802137e+00] [ 1.84681272e-02 -8.45649665e-04 9.99829092e-01 1.85166402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.039254154 meters 0.023284003558950363 Centerline is valid? [True, True] Translation: X:272.20, Y:2.31, Z:1.85 [[ 9.98356334e-01 -5.39774792e-02 -1.92629680e-02 2.72202688e+02] [ 5.39832556e-02 9.98541817e-01 -2.20368138e-04 2.31175174e+00] [ 1.92467740e-02 -8.19871801e-04 9.99814428e-01 1.85143165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.06925415399996 meters 0.02244201225353779 Centerline is valid? [True, True] Translation: X:272.23, Y:2.32, Z:1.85 [[ 9.98636264e-01 -4.83716797e-02 -1.96415990e-02 2.72232856e+02] [ 4.83766054e-02 9.98829141e-01 -2.24568599e-04 2.31854960e+00] [ 1.96294642e-02 -7.25931535e-04 9.99807060e-01 1.85093941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.099254154 meters 0.020941241868909992 Centerline is valid? [True, True] Translation: X:272.26, Y:2.32, Z:1.85 [[ 9.98753517e-01 -4.58419384e-02 -1.97466201e-02 2.72264004e+02] [ 4.58464322e-02 9.98948474e-01 -2.25303992e-04 2.32447528e+00] [ 1.97361844e-02 -6.80288927e-04 9.99804991e-01 1.85173949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.12925415399997 meters 0.019891577153714327 Centerline is valid? [True, True] Translation: X:272.29, Y:2.33, Z:1.85 [[ 9.98961093e-01 -4.10222234e-02 -1.98472105e-02 2.72294134e+02] [ 4.10258178e-02 9.99158061e-01 -2.26198883e-04 2.33155859e+00] [ 1.98397795e-02 -5.88284155e-04 9.99802999e-01 1.85246067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.159254154 meters 0.01953060278654032 Centerline is valid? [True, True] Translation: X:272.32, Y:2.33, Z:1.85 [[ 9.99052133e-01 -3.86446610e-02 -2.00356303e-02 2.72323833e+02] [ 3.86478506e-02 9.99252867e-01 -2.28130946e-04 2.33485068e+00] [ 2.00294770e-02 -5.46419336e-04 9.99799241e-01 1.85242402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18925415399997 meters 0.01822580082416163 Centerline is valid? [True, True] Translation: X:272.35, Y:2.34, Z:1.85 [[ 9.99127076e-01 -3.64748157e-02 -2.03635389e-02 2.72354065e+02] [ 3.64776626e-02 9.99334442e-01 -2.31748894e-04 2.33945530e+00] [ 2.03584388e-02 -5.11267706e-04 9.99792615e-01 1.85338705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21925415399994 meters 0.016723453108172543 Centerline is valid? [True, True] Translation: X:272.38, Y:2.35, Z:1.85 [[ 9.99265500e-01 -3.24682008e-02 -2.03537883e-02 2.72383708e+02] [ 3.24702042e-02 9.99472677e-01 -2.32127424e-04 2.34592097e+00] [ 2.03505920e-02 -4.28934737e-04 9.99792813e-01 1.85439243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24925415399997 meters 0.016455006022701415 Centerline is valid? [True, True] Translation: X:272.41, Y:2.35, Z:1.85 [[ 9.99325469e-01 -3.06817474e-02 -2.01801247e-02 2.72413063e+02] [ 3.06833380e-02 9.99529129e-01 -2.30877096e-04 2.34825163e+00] [ 2.01777062e-02 -3.88472224e-04 9.99796334e-01 1.85450126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27925415399994 meters 0.015901697982371323 Centerline is valid? [True, True] Translation: X:272.44, Y:2.35, Z:1.86 [[ 9.99361428e-01 -2.97639324e-02 -1.97697745e-02 2.72441425e+02] [ 2.97652087e-02 9.99556892e-01 -2.29761467e-04 2.35157959e+00] [ 1.97678530e-02 -3.58836716e-04 9.99804533e-01 1.85565506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.309254154 meters 0.015821941487812866 Centerline is valid? [True, True] Translation: X:272.47, Y:2.35, Z:1.86 [[ 9.99409269e-01 -2.84516077e-02 -1.92774156e-02 2.72470221e+02] [ 2.84525301e-02 9.99595119e-01 -2.26474233e-04 2.35382535e+00] [ 1.92760541e-02 -3.22150801e-04 9.99814148e-01 1.85608375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.33925415399995 meters 0.015573700836509566 Centerline is valid? [True, True] Translation: X:272.50, Y:2.36, Z:1.86 [[ 9.99463260e-01 -2.68590596e-02 -1.87558706e-02 2.72499003e+02] [ 2.68596334e-02 9.99639190e-01 -2.21362189e-04 2.35663945e+00] [ 1.87550488e-02 -2.82532432e-04 9.99824069e-01 1.85663423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.369254154 meters 0.015562348322570564 Centerline is valid? [True, True] Translation: X:272.53, Y:2.36, Z:1.86 [[ 9.99456307e-01 -2.71752753e-02 -1.86707018e-02 2.72527642e+02] [ 2.71758361e-02 9.99630644e-01 -2.23729990e-04 2.35721352e+00] [ 1.86698856e-02 -2.83783581e-04 9.99825662e-01 1.85681525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.39925415399995 meters 0.015642643609887423 Centerline is valid? [True, True] Translation: X:272.56, Y:2.36, Z:1.86 [[ 9.99456475e-01 -2.76521894e-02 -1.79474478e-02 2.72555967e+02] [ 2.76527038e-02 9.99617567e-01 -2.19553549e-04 2.35704351e+00] [ 1.79466553e-02 -2.76861243e-04 9.99838907e-01 1.85673170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.429254154 meters 0.015872559432505522 Centerline is valid? [True, True] Translation: X:272.58, Y:2.36, Z:1.86 [[ 9.99425450e-01 -2.91436422e-02 -1.73037054e-02 2.72584355e+02] [ 2.91443049e-02 9.99575192e-01 -2.13927559e-04 2.35569614e+00] [ 1.73025893e-02 -2.90499818e-04 9.99850257e-01 1.85649240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.45925415399995 meters 0.017682888245587964 Centerline is valid? [True, True] Translation: X:272.61, Y:2.35, Z:1.86 [[ 9.99397049e-01 -2.98439421e-02 -1.77448031e-02 2.72613784e+02] [ 2.98447392e-02 9.99554522e-01 -2.19954035e-04 2.35481396e+00] [ 1.77434624e-02 -3.09767605e-04 9.99842524e-01 1.85594532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.489254154 meters 0.016360829007641155 Centerline is valid? [True, True] Translation: X:272.64, Y:2.35, Z:1.86 [[ 9.99370320e-01 -3.12887641e-02 -1.67325282e-02 2.72643380e+02] [ 3.12896675e-02 9.99510337e-01 -2.07866508e-04 2.35461851e+00] [ 1.67308388e-02 -3.15819626e-04 9.99859980e-01 1.85677369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.51925415399995 meters 0.016988052350929525 Centerline is valid? [True, True] Translation: X:272.67, Y:2.35, Z:1.86 [[ 9.99336863e-01 -3.22670424e-02 -1.68722106e-02 2.72672978e+02] [ 3.22680933e-02 9.99479227e-01 -2.10020682e-04 2.35358268e+00] [ 1.68702008e-02 -3.34552656e-04 9.99857632e-01 1.85646433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.549254154 meters 0.01716953840732821 Centerline is valid? [True, True] Translation: X:272.70, Y:2.35, Z:1.86 [[ 9.99330656e-01 -3.23058184e-02 -1.71631891e-02 2.72703644e+02] [ 3.23069094e-02 9.99477973e-01 -2.13765615e-04 2.35352494e+00] [ 1.71611354e-02 -3.40867065e-04 9.99852679e-01 1.85589511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.57925415399995 meters 0.017217171546426796 Centerline is valid? [True, True] Translation: X:272.73, Y:2.35, Z:1.86 [[ 9.99321116e-01 -3.24543869e-02 -1.74361816e-02 2.72733781e+02] [ 3.24555356e-02 9.99473157e-01 -2.17165706e-04 2.35306506e+00] [ 1.74340435e-02 -3.48882337e-04 9.99847955e-01 1.85578697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.609254154 meters 0.01742612506336049 Centerline is valid? [True, True] Translation: X:272.76, Y:2.35, Z:1.86 [[ 9.99332312e-01 -3.23041678e-02 -1.70695642e-02 2.72763147e+02] [ 3.23052438e-02 9.99478027e-01 -2.12772608e-04 2.35265674e+00] [ 1.70675277e-02 -3.38805888e-04 9.99854282e-01 1.85550390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.63925415399996 meters 0.01745842811332046 Centerline is valid? [True, True] Translation: X:272.79, Y:2.35, Z:1.86 [[ 9.99341323e-01 -3.21654429e-02 -1.68018937e-02 2.72792407e+02] [ 3.21664610e-02 9.99482503e-01 -2.09719615e-04 2.35198402e+00] [ 1.67999445e-02 -3.30875980e-04 9.99858816e-01 1.85541693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.669254154 meters 0.0165374258295565 Centerline is valid? [True, True] Translation: X:272.82, Y:2.35, Z:1.86 [[ 9.99345981e-01 -3.20203840e-02 -1.68019441e-02 2.72823340e+02] [ 3.20213796e-02 9.99487162e-01 -2.09837527e-04 2.35421016e+00] [ 1.68000465e-02 -3.28321140e-04 9.99858815e-01 1.85662994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.69925415399996 meters 0.01672560281343252 Centerline is valid? [True, True] Translation: X:272.85, Y:2.35, Z:1.86 [[ 9.99354993e-01 -3.19018186e-02 -1.64885621e-02 2.72853438e+02] [ 3.19027641e-02 9.99490956e-01 -2.05754648e-04 2.35414756e+00] [ 1.64867327e-02 -3.20408774e-04 9.99864033e-01 1.85674773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.729254154 meters 0.015739341246162383 Centerline is valid? [True, True] Translation: X:272.88, Y:2.36, Z:1.86 [[ 9.99389191e-01 -3.09091615e-02 -1.63054854e-02 2.72884135e+02] [ 3.09099560e-02 9.99522152e-01 -2.03348909e-04 2.35622152e+00] [ 1.63039792e-02 -3.00777133e-04 9.99867036e-01 1.85781459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.75925415399996 meters 0.016165732066420708 Centerline is valid? [True, True] Translation: X:272.91, Y:2.36, Z:1.86 [[ 9.99416923e-01 -3.00854090e-02 -1.61456408e-02 2.72914077e+02] [ 3.00860833e-02 9.99547291e-01 -2.01187133e-04 2.35530963e+00] [ 1.61443843e-02 -2.84689269e-04 9.99869630e-01 1.85715258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.789254154 meters 0.015728663857081628 Centerline is valid? [True, True] Translation: X:272.94, Y:2.36, Z:1.86 [[ 9.99455017e-01 -2.89276780e-02 -1.59015063e-02 2.72944472e+02] [ 2.89281875e-02 9.99581473e-01 -1.98020405e-04 2.35669669e+00] [ 1.59005794e-02 -2.62089270e-04 9.99873543e-01 1.85748418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81925415399996 meters 0.015202855584437304 Centerline is valid? [True, True] Translation: X:272.98, Y:2.36, Z:1.86 [[ 9.99524796e-01 -2.63318829e-02 -1.60253961e-02 2.72975062e+02] [ 2.63320669e-02 9.99653231e-01 -1.99563196e-04 2.35833794e+00] [ 1.60250939e-02 -2.22513438e-04 9.99871565e-01 1.85818985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.849254154 meters 0.016563433741529063 Centerline is valid? [True, True] Translation: X:273.00, Y:2.36, Z:1.86 [[ 9.99570644e-01 -2.45670297e-02 -1.59683769e-02 2.73004538e+02] [ 2.45669818e-02 9.99698166e-01 -1.99186274e-04 2.35916826e+00] [ 1.59684505e-02 -1.93194073e-04 9.99872478e-01 1.85807062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87925415399997 meters 0.014850825043204183 Centerline is valid? [True, True] Translation: X:273.03, Y:2.36, Z:1.86 [[ 9.99598274e-01 -2.36756341e-02 -1.55806070e-02 2.73034581e+02] [ 2.36754714e-02 9.99719678e-01 -1.94914662e-04 2.35993291e+00] [ 1.55808542e-02 -1.74041857e-04 9.99878596e-01 1.85888242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.909254154 meters 0.014704424230329718 Centerline is valid? [True, True] Translation: X:273.06, Y:2.36, Z:1.86 [[ 9.99632934e-01 -2.23281873e-02 -1.53443804e-02 2.73062811e+02] [ 2.23278600e-02 9.99750684e-01 -1.92666604e-04 2.36021487e+00] [ 1.53448567e-02 -1.50011294e-04 9.99882250e-01 1.85887713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93925415399997 meters 0.014411154551359849 Centerline is valid? [True, True] Translation: X:273.09, Y:2.36, Z:1.86 [[ 9.99652667e-01 -2.13813511e-02 -1.54072577e-02 2.73092296e+02] [ 2.13808979e-02 9.99771384e-01 -1.94148013e-04 2.36090122e+00] [ 1.54078865e-02 -1.35340426e-04 9.99881282e-01 1.85968015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96925415399994 meters 0.01502711439186075 Centerline is valid? [True, True] Translation: X:273.12, Y:2.36, Z:1.86 [[ 9.99668582e-01 -2.05060109e-02 -1.55637593e-02 2.73121360e+02] [ 2.05054039e-02 9.99789722e-01 -1.98599467e-04 2.35953025e+00] [ 1.55645591e-02 -1.20607524e-04 9.99878858e-01 1.85936104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99925415399997 meters 0.014373262753180458 Centerline is valid? [True, True] Translation: X:273.15, Y:2.36, Z:1.86 [[ 9.99659420e-01 -2.12060432e-02 -1.52101147e-02 2.73150278e+02] [ 2.12054856e-02 9.99775119e-01 -1.97954839e-04 2.35872379e+00] [ 1.52108921e-02 -1.24650449e-04 9.99884300e-01 1.85948385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.02925415399994 meters 0.014504966292423711 Centerline is valid? [True, True] Translation: X:273.18, Y:2.36, Z:1.86 [[ 9.99616760e-01 -2.30467795e-02 -1.53355636e-02 2.73178837e+02] [ 2.30463687e-02 9.99734376e-01 -2.03538422e-04 2.35546871e+00] [ 1.53361810e-02 -1.49968634e-04 9.99882383e-01 1.85891943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.059254154 meters 0.014546842544414908 Centerline is valid? [True, True] Translation: X:273.21, Y:2.35, Z:1.86 [[ 9.99571243e-01 -2.48271635e-02 -1.55222904e-02 2.73208024e+02] [ 2.48268947e-02 9.99691743e-01 -2.10044268e-04 2.35381107e+00] [ 1.55227203e-02 -1.75416059e-04 9.99879500e-01 1.85896898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.08925415399995 meters 0.014669673368538637 Centerline is valid? [True, True] Translation: X:273.24, Y:2.35, Z:1.86 [[ 9.99524166e-01 -2.64958865e-02 -1.57926944e-02 2.73238045e+02] [ 2.64957825e-02 9.99648902e-01 -2.15859547e-04 2.35159050e+00] [ 1.57928690e-02 -2.02682961e-04 9.99875264e-01 1.85852790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.119254154 meters 0.015072285480259809 Centerline is valid? [True, True] Translation: X:273.27, Y:2.35, Z:1.86 [[ 9.99465130e-01 -2.83853841e-02 -1.62395510e-02 2.73267126e+02] [ 2.83855108e-02 9.99597025e-01 -2.22744587e-04 2.34865729e+00] [ 1.62393295e-02 -2.38342502e-04 9.99868105e-01 1.85813671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.14925415399995 meters 0.01570173806034935 Centerline is valid? [True, True] Translation: X:273.30, Y:2.34, Z:1.86 [[ 9.99321846e-01 -3.26772134e-02 -1.69719687e-02 2.73297101e+02] [ 3.26779575e-02 9.99465906e-01 -2.33557322e-04 2.34228032e+00] [ 1.69705361e-02 -3.21210337e-04 9.99855938e-01 1.85710950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.179254154 meters 0.016429503210399304 Centerline is valid? [True, True] Translation: X:273.33, Y:2.34, Z:1.86 [[ 9.99239722e-01 -3.50506946e-02 -1.70712317e-02 2.73326793e+02] [ 3.50517828e-02 9.99385470e-01 -2.35554974e-04 2.33969029e+00] [ 1.70689973e-02 -3.63001219e-04 9.99854248e-01 1.85689998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.20925415399995 meters 0.017129930259362883 Centerline is valid? [True, True] Translation: X:273.36, Y:2.34, Z:1.86 [[ 9.99148265e-01 -3.75675295e-02 -1.70712044e-02 2.73355995e+02] [ 3.75689789e-02 9.99294009e-01 -2.35898938e-04 2.33586708e+00] [ 1.70680144e-02 -4.05649702e-04 9.99854249e-01 1.85695835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.239254154 meters 0.017670706034365914 Centerline is valid? [True, True] Translation: X:273.39, Y:2.33, Z:1.86 [[ 9.99015604e-01 -4.13960777e-02 -1.59432729e-02 2.73386882e+02] [ 4.13978340e-02 9.99142718e-01 -2.19996584e-04 2.33141926e+00] [ 1.59387120e-02 -4.40236944e-04 9.99872874e-01 1.85826327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.26925415399995 meters 0.018144887116081986 Centerline is valid? [True, True] Translation: X:273.42, Y:2.33, Z:1.86 [[ 9.98967735e-01 -4.26748087e-02 -1.55667992e-02 2.73418391e+02] [ 4.26766473e-02 9.99088914e-01 -2.14207605e-04 2.32934809e+00] [ 1.55617578e-02 -4.50352315e-04 9.99878807e-01 1.85890011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.299254154 meters 0.018096861076467026 Centerline is valid? [True, True] Translation: X:273.45, Y:2.33, Z:1.86 [[ 9.98947038e-01 -4.34600185e-02 -1.46983494e-02 2.73449682e+02] [ 4.34617503e-02 9.99055071e-01 -2.01732483e-04 2.32819796e+00] [ 1.46932278e-02 -4.37295924e-04 9.99891953e-01 1.85991023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.32925415399995 meters 0.01890199776646371 Centerline is valid? [True, True] Translation: X:273.48, Y:2.33, Z:1.86 [[ 9.98959767e-01 -4.35431717e-02 -1.35416516e-02 2.73480561e+02] [ 4.35446634e-02 9.99051464e-01 -1.84806458e-04 2.32576673e+00] [ 1.35368539e-02 -4.05052446e-04 9.99908291e-01 1.86037890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.359254154 meters 0.018882867878147983 Centerline is valid? [True, True] Translation: X:273.51, Y:2.32, Z:1.86 [[ 9.99025866e-01 -4.22435426e-02 -1.27594198e-02 2.73511497e+02] [ 4.22447739e-02 9.99107276e-01 -1.73117872e-04 2.32420539e+00] [ 1.27553422e-02 -3.66069571e-04 9.99918580e-01 1.86080881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.38925415399996 meters 0.018882867878147983 Centerline is valid? [True, True] Translation: X:273.54, Y:2.32, Z:1.86 [[ 9.99028891e-01 -4.21719428e-02 -1.27594288e-02 2.73543195e+02] [ 4.21731769e-02 9.99110301e-01 -1.72452784e-04 2.32457293e+00] [ 1.27553494e-02 -3.65820332e-04 9.99918580e-01 1.86102843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.419254154 meters 0.017677080230418172 Centerline is valid? [True, True] Translation: X:273.57, Y:2.33, Z:1.86 [[ 9.99089260e-01 -4.07711547e-02 -1.25842736e-02 2.73574329e+02] [ 4.07722528e-02 9.99168452e-01 -1.69388023e-04 2.32624463e+00] [ 1.25807153e-02 -3.43855429e-04 9.99920801e-01 1.86156863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.44925415399996 meters 0.018337150337422482 Centerline is valid? [True, True] Translation: X:273.60, Y:2.32, Z:1.86 [[ 9.99146886e-01 -3.94128781e-02 -1.23339460e-02 2.73604728e+02] [ 3.94138338e-02 9.99222959e-01 -1.65670879e-04 2.32462897e+00] [ 1.23308916e-02 -3.20598556e-04 9.99923920e-01 1.86164476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.479254154 meters 0.016811886748383128 Centerline is valid? [True, True] Translation: X:273.64, Y:2.33, Z:1.86 [[ 9.99272179e-01 -3.62307712e-02 -1.19349619e-02 2.73636512e+02] [ 3.62314440e-02 9.99343413e-01 -1.59918241e-04 2.32665992e+00] [ 1.19329195e-02 -2.72619055e-04 9.99928763e-01 1.86241224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.50925415399996 meters 0.016767128717628654 Centerline is valid? [True, True] Translation: X:273.67, Y:2.33, Z:1.86 [[ 9.99313001e-01 -3.49486022e-02 -1.23337062e-02 2.73667368e+02] [ 3.49492302e-02 9.99389075e-01 -1.64680106e-04 2.32648269e+00] [ 1.23319266e-02 -2.66486566e-04 9.99923923e-01 1.86261187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.539254154 meters 0.016272582661051947 Centerline is valid? [True, True] Translation: X:273.70, Y:2.33, Z:1.86 [[ 9.99348856e-01 -3.38626546e-02 -1.24572733e-02 2.73699167e+02] [ 3.38632178e-02 9.99426463e-01 -1.65781781e-04 2.32771374e+00] [ 1.24557424e-02 -2.56169525e-04 9.99922391e-01 1.86286418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.56925415399996 meters 0.016056370617540422 Centerline is valid? [True, True] Translation: X:273.73, Y:2.33, Z:1.86 [[ 9.99345791e-01 -3.34210560e-02 -1.38211079e-02 2.73730241e+02] [ 3.34217162e-02 9.99441322e-01 -1.83268349e-04 2.32696952e+00] [ 1.38195113e-02 -2.78776692e-04 9.99904467e-01 1.86253947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.599254154 meters 0.01643389416247183 Centerline is valid? [True, True] Translation: X:273.76, Y:2.33, Z:1.86 [[ 9.99317562e-01 -3.38715843e-02 -1.47352079e-02 2.73760938e+02] [ 3.38723897e-02 9.99426147e-01 -1.94983736e-04 2.32597186e+00] [ 1.47333564e-02 -3.04266032e-04 9.99891412e-01 1.86207103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.62925415399997 meters 0.017422654606336564 Centerline is valid? [True, True] Translation: X:273.79, Y:2.32, Z:1.86 [[ 9.99224191e-01 -3.56294011e-02 -1.67797813e-02 2.73790838e+02] [ 3.56307102e-02 9.99365000e-01 -2.21028840e-04 2.32260980e+00] [ 1.67770012e-02 -3.77018160e-04 9.99859185e-01 1.86058597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.659254154 meters 0.017679365677411622 Centerline is valid? [True, True] Translation: X:273.82, Y:2.32, Z:1.86 [[ 9.99174041e-01 -3.68142685e-02 -1.72030912e-02 2.73820584e+02] [ 3.68158246e-02 9.99322042e-01 -2.26337059e-04 2.32164201e+00] [ 1.71997606e-02 -4.07195874e-04 9.99851990e-01 1.86018460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68925415399997 meters 0.0185394813485514 Centerline is valid? [True, True] Translation: X:273.85, Y:2.32, Z:1.86 [[ 9.99114480e-01 -3.81390520e-02 -1.77670840e-02 2.73850411e+02] [ 3.81409134e-02 9.99272343e-01 -2.34194734e-04 2.31985156e+00] [ 1.77630877e-02 -4.43665465e-04 9.99842125e-01 1.85976952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71925415399994 meters 0.01905650128505245 Centerline is valid? [True, True] Translation: X:273.88, Y:2.32, Z:1.86 [[ 9.99045653e-01 -3.95394855e-02 -1.85583606e-02 2.73879895e+02] [ 3.95417482e-02 9.99217889e-01 -2.45148998e-04 2.31865276e+00] [ 1.85535390e-02 -4.88914983e-04 9.99827749e-01 1.85947941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74925415399997 meters 0.018690639406607184 Centerline is valid? [True, True] Translation: X:273.91, Y:2.32, Z:1.86 [[ 9.98944325e-01 -4.17898126e-02 -1.90747731e-02 2.73909350e+02] [ 4.17926000e-02 9.99126276e-01 -2.52647871e-04 2.31844093e+00] [ 1.90686651e-02 -5.44803207e-04 9.99818028e-01 1.86076598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77925415399994 meters 0.020045554348923137 Centerline is valid? [True, True] Translation: X:273.94, Y:2.32, Z:1.86 [[ 9.98926758e-01 -4.23120852e-02 -1.88419583e-02 2.73938701e+02] [ 4.23148892e-02 9.99104293e-01 -2.50019125e-04 2.31630916e+00] [ 1.88356602e-02 -5.47544584e-04 9.99822443e-01 1.86058358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.809254154 meters 0.018374237746713318 Centerline is valid? [True, True] Translation: X:273.97, Y:2.32, Z:1.86 [[ 9.98924047e-01 -4.23488557e-02 -1.89030013e-02 2.73969135e+02] [ 4.23516822e-02 9.99102733e-01 -2.50952194e-04 2.31976300e+00] [ 1.88966678e-02 -5.49891723e-04 9.99821291e-01 1.86261148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.83925415399995 meters 0.017391787851353355 Centerline is valid? [True, True] Translation: X:274.00, Y:2.32, Z:1.86 [[ 9.98942795e-01 -4.17050645e-02 -1.93385756e-02 2.73999790e+02] [ 4.17079023e-02 9.99129814e-01 -2.56734784e-04 2.32183689e+00] [ 1.93324545e-02 -5.50108057e-04 9.99812959e-01 1.86420307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.869254154 meters 0.017741879561186936 Centerline is valid? [True, True] Translation: X:274.03, Y:2.32, Z:1.87 [[ 9.98950576e-01 -4.17236159e-02 -1.88914288e-02 2.74029406e+02] [ 4.17263282e-02 9.99129046e-01 -2.50746685e-04 2.32229230e+00] [ 1.88854373e-02 -5.37786412e-04 9.99821510e-01 1.86512057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.89925415399995 meters 0.01788743584237331 Centerline is valid? [True, True] Translation: X:274.06, Y:2.32, Z:1.87 [[ 9.98963746e-01 -4.17164920e-02 -1.81980618e-02 2.74059538e+02] [ 4.17190081e-02 9.99129354e-01 -2.41514657e-04 2.32287238e+00] [ 1.81922929e-02 -5.17940703e-04 9.99834372e-01 1.86583809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.929254154 meters 0.01907925783800483 Centerline is valid? [True, True] Translation: X:274.09, Y:2.32, Z:1.87 [[ 9.98986973e-01 -4.14749455e-02 -1.74601200e-02 2.74089389e+02] [ 4.14772214e-02 9.99139423e-01 -2.31913100e-04 2.32091765e+00] [ 1.74547128e-02 -4.92519098e-04 9.99847534e-01 1.86565661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.95925415399995 meters 0.018306755741080653 Centerline is valid? [True, True] Translation: X:274.12, Y:2.32, Z:1.87 [[ 9.98985526e-01 -4.16047002e-02 -1.72327500e-02 2.74120094e+02] [ 4.16069344e-02 9.99134030e-01 -2.29017742e-04 2.32352531e+00] [ 1.72273552e-02 -4.88216490e-04 9.99851479e-01 1.86697234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.989254154 meters 0.01780648658611599 Centerline is valid? [True, True] Translation: X:274.15, Y:2.32, Z:1.87 [[ 9.99007336e-01 -4.11872148e-02 -1.69692844e-02 2.74150231e+02] [ 4.11893210e-02 9.99151334e-01 -2.25516368e-04 2.32464703e+00] [ 1.69641715e-02 -4.73660795e-04 9.99855986e-01 1.86760844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.01925415399995 meters 0.018533884843588505 Centerline is valid? [True, True] Translation: X:274.18, Y:2.32, Z:1.87 [[ 9.99010964e-01 -4.11033472e-02 -1.69590495e-02 2.74180225e+02] [ 4.11054418e-02 9.99154789e-01 -2.25199437e-04 2.32409590e+00] [ 1.69539720e-02 -4.72132518e-04 9.99856160e-01 1.86755372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.049254154 meters 0.017814882588664458 Centerline is valid? [True, True] Translation: X:274.21, Y:2.33, Z:1.87 [[ 9.99016550e-01 -4.08885787e-02 -1.71480735e-02 2.74210993e+02] [ 4.08906908e-02 9.99163600e-01 -2.27583126e-04 2.32610866e+00] [ 1.71430364e-02 -4.73837260e-04 9.99852935e-01 1.86809987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.07925415399995 meters 0.017137719875972846 Centerline is valid? [True, True] Translation: X:274.24, Y:2.33, Z:1.87 [[ 9.99026226e-01 -4.02565753e-02 -1.80556838e-02 2.74241241e+02] [ 4.02588138e-02 9.99189257e-01 -2.39628607e-04 2.32897447e+00] [ 1.80506919e-02 -4.87505149e-04 9.99836954e-01 1.86791260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.109254154 meters 0.01888102766513656 Centerline is valid? [True, True] Translation: X:274.27, Y:2.33, Z:1.87 [[ 9.99028612e-01 -3.95485242e-02 -1.94356985e-02 2.74271047e+02] [ 3.95509851e-02 9.99217520e-01 -2.57903240e-04 2.32838455e+00] [ 1.94306902e-02 -5.11048307e-04 9.99811076e-01 1.86667599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.13925415399996 meters 0.016784063541329202 Centerline is valid? [True, True] Translation: X:274.30, Y:2.33, Z:1.87 [[ 9.99045818e-01 -3.90676521e-02 -1.95236081e-02 2.74300825e+02] [ 3.90700349e-02 9.99236441e-01 -2.59512798e-04 2.33083739e+00] [ 1.95188393e-02 -5.03522875e-04 9.99809363e-01 1.86733696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.169254154 meters 0.01649367731972409 Centerline is valid? [True, True] Translation: X:274.33, Y:2.33, Z:1.87 [[ 9.99087104e-01 -3.75239421e-02 -2.04184477e-02 2.74330008e+02] [ 3.75261548e-02 9.99295608e-01 -2.74910365e-04 2.33253176e+00] [ 2.04143808e-02 -4.91566429e-04 9.99791484e-01 1.86717448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.19925415399996 meters 0.016302119486237634 Centerline is valid? [True, True] Translation: X:274.36, Y:2.33, Z:1.87 [[ 9.99116143e-01 -3.66975744e-02 -2.04992825e-02 2.74358778e+02] [ 3.66995249e-02 9.99326306e-01 -2.81161835e-04 2.33376014e+00] [ 2.04957902e-02 -4.71400601e-04 9.99789828e-01 1.86704493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.229254154 meters 0.01604569997665846 Centerline is valid? [True, True] Translation: X:274.39, Y:2.34, Z:1.87 [[ 9.99145752e-01 -3.59270506e-02 -2.04208844e-02 2.74387320e+02] [ 3.59287180e-02 9.99354314e-01 -2.85346911e-04 2.33531587e+00] [ 2.04179506e-02 -4.48593043e-04 9.99791431e-01 1.86741549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.25925415399996 meters 0.016294552648280152 Centerline is valid? [True, True] Translation: X:274.42, Y:2.34, Z:1.87 [[ 9.99166949e-01 -3.50607781e-02 -2.08841879e-02 2.74415506e+02] [ 3.50622681e-02 9.99385086e-01 -2.94923274e-04 2.33535892e+00] [ 2.08816862e-02 -4.37569408e-04 9.99781858e-01 1.86704199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.289254154 meters 0.016159259474174927 Centerline is valid? [True, True] Translation: X:274.44, Y:2.34, Z:1.87 [[ 9.99231610e-01 -3.33342440e-02 -2.06159623e-02 2.74444468e+02] [ 3.33352454e-02 9.99444183e-01 -2.95172663e-04 2.33690681e+00] [ 2.06143429e-02 -3.92292307e-04 9.99787425e-01 1.86723932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31925415399996 meters 0.017148285248767898 Centerline is valid? [True, True] Translation: X:274.47, Y:2.34, Z:1.87 [[ 9.99235241e-01 -3.24795348e-02 -2.17718267e-02 2.74472862e+02] [ 3.24803215e-02 9.99472325e-01 -3.17576373e-04 2.33869455e+00] [ 2.17706530e-02 -3.89822427e-04 9.99762915e-01 1.86754683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.349254154 meters 0.015283591596159288 Centerline is valid? [True, True] Translation: X:274.50, Y:2.34, Z:1.87 [[ 9.99253770e-01 -3.25357083e-02 -2.08166218e-02 2.74501929e+02] [ 3.25363280e-02 9.99470506e-01 -3.09004217e-04 2.33989433e+00] [ 2.08156532e-02 -3.68522806e-04 9.99783263e-01 1.86826027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37925415399997 meters 0.015296465933119995 Centerline is valid? [True, True] Translation: X:274.53, Y:2.34, Z:1.87 [[ 9.99256790e-01 -3.24205716e-02 -2.08512320e-02 2.74529575e+02] [ 3.24210462e-02 9.99474250e-01 -3.15370842e-04 2.33993604e+00] [ 2.08504940e-02 -3.60882302e-04 9.99782540e-01 1.86863929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.409254154 meters 0.01540067957751615 Centerline is valid? [True, True] Translation: X:274.56, Y:2.34, Z:1.87 [[ 9.99240664e-01 -3.29318005e-02 -2.08228876e-02 2.74557215e+02] [ 3.29322582e-02 9.99457535e-01 -3.21017063e-04 2.33973048e+00] [ 2.08221636e-02 -3.64971410e-04 9.99783129e-01 1.86910172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43925415399997 meters 0.015589298542364594 Centerline is valid? [True, True] Translation: X:274.59, Y:2.34, Z:1.87 [[ 9.99208325e-01 -3.36605937e-02 -2.12058628e-02 2.74586077e+02] [ 3.36611123e-02 9.99433249e-01 -3.32593673e-04 2.33952058e+00] [ 2.12050397e-02 -3.81482563e-04 9.99775075e-01 1.86960119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46925415399994 meters 0.015828360667404392 Centerline is valid? [True, True] Translation: X:274.61, Y:2.34, Z:1.87 [[ 9.99196183e-01 -3.43511300e-02 -2.06636670e-02 2.74613522e+02] [ 3.43516974e-02 9.99409753e-01 -3.27596595e-04 2.33900943e+00] [ 2.06627236e-02 -3.82498769e-04 9.99786430e-01 1.87004750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49925415399997 meters 0.01635326847239875 Centerline is valid? [True, True] Translation: X:274.64, Y:2.34, Z:1.87 [[ 9.99154505e-01 -3.60202498e-02 -1.98196054e-02 2.74641748e+02] [ 3.60210494e-02 9.99350981e-01 -3.16767438e-04 2.33719810e+00] [ 1.98181522e-02 -3.97423375e-04 9.99803522e-01 1.87121449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.52925415399994 meters 0.016680066970474406 Centerline is valid? [True, True] Translation: X:274.67, Y:2.34, Z:1.87 [[ 9.99136556e-01 -3.69622522e-02 -1.89719372e-02 2.74670892e+02] [ 3.69631260e-02 9.99316584e-01 -3.04721096e-04 2.33611832e+00] [ 1.89702346e-02 -3.96804119e-04 9.99819970e-01 1.87179168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.559254154 meters 0.016977845857309853 Centerline is valid? [True, True] Translation: X:274.70, Y:2.33, Z:1.87 [[ 9.99101670e-01 -3.81301210e-02 -1.84917959e-02 2.74700236e+02] [ 3.81311369e-02 9.99272699e-01 -2.97772657e-04 2.33487261e+00] [ 1.84897010e-02 -4.07608043e-04 9.99828968e-01 1.87224817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.58925415399995 meters 0.018111140353925546 Centerline is valid? [True, True] Translation: X:274.73, Y:2.33, Z:1.87 [[ 9.98997376e-01 -4.07388163e-02 -1.85631922e-02 2.74728864e+02] [ 4.07402743e-02 9.99169725e-01 -2.99776923e-04 2.33089095e+00] [ 1.85599922e-02 -4.56793182e-04 9.99827644e-01 1.87180688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.619254154 meters 0.018698679124897918 Centerline is valid? [True, True] Translation: X:274.76, Y:2.33, Z:1.87 [[ 9.98932437e-01 -4.21922398e-02 -1.88095876e-02 2.74758556e+02] [ 4.21939795e-02 9.99109391e-01 -3.04534271e-04 2.32973794e+00] [ 1.88056846e-02 -4.89442192e-04 9.99823038e-01 1.87186663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.64925415399995 meters 0.01934289057591244 Centerline is valid? [True, True] Translation: X:274.79, Y:2.33, Z:1.87 [[ 9.98868007e-01 -4.36362929e-02 -1.89361720e-02 2.74788321e+02] [ 4.36383030e-02 9.99047348e-01 -3.07236844e-04 2.32824273e+00] [ 1.89315391e-02 -5.19453358e-04 9.99820647e-01 1.87202608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.679254154 meters 0.019052136553457402 Centerline is valid? [True, True] Translation: X:274.82, Y:2.33, Z:1.87 [[ 9.98716659e-01 -4.68413335e-02 -1.92593958e-02 2.74817747e+02] [ 4.68439951e-02 9.98902168e-01 -3.13165704e-04 2.32715717e+00] [ 1.92529213e-02 -5.89423236e-04 9.99814472e-01 1.87265173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.70925415399995 meters 0.021340989576298038 Centerline is valid? [True, True] Translation: X:274.85, Y:2.32, Z:1.87 [[ 9.98647768e-01 -4.84494070e-02 -1.88491400e-02 2.74847437e+02] [ 4.84522338e-02 9.98825454e-01 -3.06951016e-04 2.32297819e+00] [ 1.88418724e-02 -6.06746990e-04 9.99822292e-01 1.87188877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.739254154 meters 0.020713356447303512 Centerline is valid? [True, True] Translation: X:274.88, Y:2.32, Z:1.87 [[ 9.98585892e-01 -4.97278560e-02 -1.87978001e-02 2.74877493e+02] [ 4.97308875e-02 9.98762607e-01 -3.06446713e-04 2.32293815e+00] [ 1.87897788e-02 -6.28817917e-04 9.99823259e-01 1.87277571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.76925415399995 meters 0.019682104416122632 Centerline is valid? [True, True] Translation: X:274.91, Y:2.32, Z:1.87 [[ 9.98487488e-01 -5.16350435e-02 -1.88827651e-02 2.74907760e+02] [ 5.16384407e-02 9.98665798e-01 -3.07954027e-04 2.32327279e+00] [ 1.88734729e-02 -6.67588305e-04 9.99821657e-01 1.87394063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.799254154 meters 0.019658775287059012 Centerline is valid? [True, True] Translation: X:274.94, Y:2.32, Z:1.87 [[ 9.98488564e-01 -5.16541085e-02 -1.87733757e-02 2.74938530e+02] [ 5.16574698e-02 9.98664815e-01 -3.06170024e-04 2.32307613e+00] [ 1.87641247e-02 -6.64077820e-04 9.99823718e-01 1.87444218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.82925415399995 meters 0.020273397282897232 Centerline is valid? [True, True] Translation: X:274.97, Y:2.32, Z:1.87 [[ 9.98496064e-01 -5.18059362e-02 -1.79375503e-02 2.74968450e+02] [ 5.18090256e-02 9.98656968e-01 -2.92739219e-04 2.32210124e+00] [ 1.79286252e-02 -6.37028046e-04 9.99839066e-01 1.87443180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.859254154 meters 0.019360556184777913 Centerline is valid? [True, True] Translation: X:275.00, Y:2.32, Z:1.88 [[ 9.98523433e-01 -5.12735702e-02 -1.79436277e-02 2.74998657e+02] [ 5.12765736e-02 9.98684448e-01 -2.92964590e-04 2.32337179e+00] [ 1.79350433e-02 -6.27555740e-04 9.99838957e-01 1.87517632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.88925415399996 meters 0.019790657466709195 Centerline is valid? [True, True] Translation: X:275.03, Y:2.32, Z:1.87 [[ 9.98548404e-01 -5.06782603e-02 -1.82427587e-02 2.75028978e+02] [ 5.06812793e-02 9.98714834e-01 -2.97092132e-04 2.32251927e+00] [ 1.82343698e-02 -6.27905474e-04 9.99833543e-01 1.87498759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.919254154 meters 0.018737151907361204 Centerline is valid? [True, True] Translation: X:275.06, Y:2.32, Z:1.88 [[ 9.98558287e-01 -5.03790073e-02 -1.85284159e-02 2.75059173e+02] [ 5.03820788e-02 9.98729971e-01 -3.01273805e-04 2.32449504e+00] [ 1.85200622e-02 -6.32660656e-04 9.99828289e-01 1.87585727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.94925415399996 meters 0.021620856207323718 Centerline is valid? [True, True] Translation: X:275.09, Y:2.32, Z:1.87 [[ 9.98568911e-01 -4.97829206e-02 -1.95394889e-02 2.75088324e+02] [ 4.97862181e-02 9.98759847e-01 -3.17946829e-04 2.32111499e+00] [ 1.95310852e-02 -6.55305437e-04 9.99809035e-01 1.87451235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.979254154 meters 0.018663986016049846 Centerline is valid? [True, True] Translation: X:275.12, Y:2.32, Z:1.88 [[ 9.98536061e-01 -5.03959014e-02 -1.96465945e-02 2.75118716e+02] [ 5.03993512e-02 9.98729094e-01 -3.19818290e-04 2.32439199e+00] [ 1.96377430e-02 -6.70825519e-04 9.99806936e-01 1.87553704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.00925415399996 meters 0.019643489973970207 Centerline is valid? [True, True] Translation: X:275.15, Y:2.32, Z:1.88 [[ 9.98506442e-01 -5.08598947e-02 -1.99538689e-02 2.75147978e+02] [ 5.08635410e-02 9.98705559e-01 -3.25061020e-04 2.32312396e+00] [ 1.99445724e-02 -6.90348906e-04 9.99800849e-01 1.87543602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.039254154 meters 0.02082996451380577 Centerline is valid? [True, True] Translation: X:275.18, Y:2.32, Z:1.88 [[ 9.98454127e-01 -5.15421330e-02 -2.08029845e-02 2.75178022e+02] [ 5.15462361e-02 9.98670551e-01 -3.39285657e-04 2.32438088e+00] [ 2.07928156e-02 -7.33554389e-04 9.99783537e-01 1.87633201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.06925415399996 meters 0.02001594748084479 Centerline is valid? [True, True] Translation: X:275.21, Y:2.32, Z:1.88 [[ 9.98404966e-01 -5.27861117e-02 -2.00287286e-02 2.75207011e+02] [ 5.27901748e-02 9.98605573e-01 -3.26164336e-04 2.32338173e+00] [ 2.00180170e-02 -7.31675993e-04 9.99799352e-01 1.87608710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.099254154 meters 0.020343015491051494 Centerline is valid? [True, True] Translation: X:275.24, Y:2.32, Z:1.88 [[ 9.98371232e-01 -5.34722800e-02 -1.98896799e-02 2.75236835e+02] [ 5.34764283e-02 9.98569060e-01 -3.23621380e-04 2.32270424e+00] [ 1.98785237e-02 -7.40534764e-04 9.99802128e-01 1.87602639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.12925415399997 meters 0.019824870460740607 Centerline is valid? [True, True] Translation: X:275.27, Y:2.32, Z:1.88 [[ 9.98329164e-01 -5.42293580e-02 -1.99513557e-02 2.75267365e+02] [ 5.42336826e-02 9.98528218e-01 -3.24649521e-04 2.32384137e+00] [ 1.99395972e-02 -7.57928410e-04 9.99800899e-01 1.87645556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.159254154 meters 0.021795749592763383 Centerline is valid? [True, True] Translation: X:275.30, Y:2.32, Z:1.88 [[ 9.98286468e-01 -5.49006379e-02 -2.02496138e-02 2.75296552e+02] [ 5.49052257e-02 9.98491516e-01 -3.29748416e-04 2.32113877e+00] [ 2.02371710e-02 -7.82626235e-04 9.99794901e-01 1.87571734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18925415399997 meters 0.02210828333371195 Centerline is valid? [True, True] Translation: X:275.33, Y:2.32, Z:1.88 [[ 9.98224244e-01 -5.59458754e-02 -2.04552769e-02 2.75326892e+02] [ 5.59507734e-02 9.98433473e-01 -3.33226510e-04 2.32207902e+00] [ 2.04418758e-02 -8.11853782e-04 9.99790713e-01 1.87610123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21925415399994 meters 0.02080497783746677 Centerline is valid? [True, True] Translation: X:275.36, Y:2.33, Z:1.88 [[ 9.98212794e-01 -5.61560838e-02 -2.04379912e-02 2.75357244e+02] [ 5.61610175e-02 9.98421669e-01 -3.32944917e-04 2.32521338e+00] [ 2.04244301e-02 -8.15468503e-04 9.99791067e-01 1.87741788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24925415399997 meters 0.021918129338548406 Centerline is valid? [True, True] Translation: X:275.39, Y:2.32, Z:1.88 [[ 9.98203131e-01 -5.66197673e-02 -1.96140401e-02 2.75386863e+02] [ 5.66243959e-02 9.98395501e-01 -3.19754319e-04 2.32445967e+00] [ 1.96006738e-02 -7.91453411e-04 9.99807575e-01 1.87751316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27925415399994 meters 0.020896343428256522 Centerline is valid? [True, True] Translation: X:275.42, Y:2.33, Z:1.88 [[ 9.98169414e-01 -5.75657999e-02 -1.85472179e-02 2.75416978e+02] [ 5.75700993e-02 9.98341421e-01 -3.02482437e-04 2.32770023e+00] [ 1.85338685e-02 -7.65836457e-04 9.99827940e-01 1.87977040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.309254154 meters 0.020896343428256522 Centerline is valid? [True, True] Translation: X:275.45, Y:2.33, Z:1.88 [[ 9.98171550e-01 -5.75287486e-02 -1.85472249e-02 2.75447845e+02] [ 5.75330495e-02 9.98343557e-01 -3.02051203e-04 2.32817423e+00] [ 1.85338791e-02 -7.65579492e-04 9.99827940e-01 1.87998432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.33925415399995 meters 0.021169387832874424 Centerline is valid? [True, True] Translation: X:275.48, Y:2.33, Z:1.88 [[ 9.98177094e-01 -5.76998151e-02 -1.76980220e-02 2.75479170e+02] [ 5.77037694e-02 9.98333708e-01 -2.87577934e-04 2.32841984e+00] [ 1.76851251e-02 -7.34188871e-04 9.99843336e-01 1.88018702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.369254154 meters 0.021674497156536944 Centerline is valid? [True, True] Translation: X:275.51, Y:2.33, Z:1.88 [[ 9.98155718e-01 -5.81722586e-02 -1.73537111e-02 2.75510641e+02] [ 5.81761427e-02 9.98306294e-01 -2.81348969e-04 2.32862600e+00] [ 1.73406857e-02 -7.28741891e-04 9.99849373e-01 1.88033516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.39925415399995 meters 0.02231336138120588 Centerline is valid? [True, True] Translation: X:275.54, Y:2.33, Z:1.88 [[ 9.98113753e-01 -5.89718379e-02 -1.70662856e-02 2.75541756e+02] [ 5.89757216e-02 9.98259379e-01 -2.76069815e-04 2.32956874e+00] [ 1.70528600e-02 -7.30947431e-04 9.99854322e-01 1.88067595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.429254154 meters 0.022379352653353356 Centerline is valid? [True, True] Translation: X:275.57, Y:2.33, Z:1.88 [[ 9.98110402e-01 -5.91735944e-02 -1.65562925e-02 2.75572908e+02] [ 5.91772870e-02 9.98247453e-01 -2.67224325e-04 2.33119035e+00] [ 1.65430895e-02 -7.13037096e-04 9.99862899e-01 1.88049435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.45925415399995 meters 0.021379276949895366 Centerline is valid? [True, True] Translation: X:275.60, Y:2.33, Z:1.88 [[ 9.98115601e-01 -5.90344784e-02 -1.67385249e-02 2.75604188e+02] [ 5.90382435e-02 9.98255685e-01 -2.69546691e-04 2.33388356e+00] [ 1.67252402e-02 -7.19174351e-04 9.99859865e-01 1.88090650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.489254154 meters 0.02236695918402828 Centerline is valid? [True, True] Translation: X:275.64, Y:2.34, Z:1.88 [[ 9.98169398e-01 -5.81974918e-02 -1.64591718e-02 2.75635129e+02] [ 5.82010316e-02 9.98304848e-01 -2.64267680e-04 2.33510598e+00] [ 1.64466507e-02 -6.94156865e-04 9.99864504e-01 1.88002249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.51925415399995 meters 0.02086484517830359 Centerline is valid? [True, True] Translation: X:275.67, Y:2.34, Z:1.88 [[ 9.98230109e-01 -5.72405200e-02 -1.61298611e-02 2.75666847e+02] [ 5.72438090e-02 9.98360195e-01 -2.58092563e-04 2.33915278e+00] [ 1.61181846e-02 -6.65698918e-04 9.99869872e-01 1.88052253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.549254154 meters 0.022196844505185845 Centerline is valid? [True, True] Translation: X:275.70, Y:2.34, Z:1.88 [[ 9.98312994e-01 -5.59860676e-02 -1.53859291e-02 2.75697023e+02] [ 5.59889195e-02 9.98431360e-01 -2.45666082e-04 2.33887678e+00] [ 1.53755480e-02 -6.16189906e-04 9.99881599e-01 1.88006376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.57925415399995 meters 0.020261011720105433 Centerline is valid? [True, True] Translation: X:275.73, Y:2.34, Z:1.88 [[ 9.98514080e-01 -5.25386326e-02 -1.44680186e-02 2.75728545e+02] [ 5.25408006e-02 9.98618752e-01 -2.30477344e-04 2.34492046e+00] [ 1.44601436e-02 -5.30026405e-04 9.99895306e-01 1.88039150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.609254154 meters 0.01833260963036011 Centerline is valid? [True, True] Translation: X:275.76, Y:2.35, Z:1.88 [[ 9.98635995e-01 -5.02977518e-02 -1.40101818e-02 2.75760107e+02] [ 5.02995733e-02 9.98734151e-01 -2.22549796e-04 2.34989416e+00] [ 1.40036408e-02 -4.82459931e-04 9.99901828e-01 1.88065995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.63925415399996 meters 0.018806806757560128 Centerline is valid? [True, True] Translation: X:275.79, Y:2.35, Z:1.88 [[ 9.98765816e-01 -4.75635566e-02 -1.43021805e-02 2.75790985e+02] [ 4.75651825e-02 9.98868110e-01 -2.26646535e-04 2.35210848e+00] [ 1.42967721e-02 -4.53919014e-04 9.99897693e-01 1.88026349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.669254154 meters 0.017633393603232947 Centerline is valid? [True, True] Translation: X:275.82, Y:2.36, Z:1.88 [[ 9.99001251e-01 -4.22699991e-02 -1.44826960e-02 2.75821966e+02] [ 4.22711184e-02 9.99106151e-01 -2.28958020e-04 2.35929316e+00] [ 1.44794287e-02 -3.83470411e-04 9.99895094e-01 1.87966089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.69925415399996 meters 0.016194123946528097 Centerline is valid? [True, True] Translation: X:275.85, Y:2.36, Z:1.88 [[ 9.99080219e-01 -4.04378950e-02 -1.42650636e-02 2.75852061e+02] [ 4.04388000e-02 9.99181992e-01 -2.25120568e-04 2.36140698e+00] [ 1.42624981e-02 -3.51948547e-04 9.99898223e-01 1.87939885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.729254154 meters 0.01573316295726561 Centerline is valid? [True, True] Translation: X:275.88, Y:2.36, Z:1.88 [[ 9.99174468e-01 -3.81372029e-02 -1.39977175e-02 2.75883057e+02] [ 3.81378540e-02 9.99272463e-01 -2.20515944e-04 2.36400321e+00] [ 1.39959435e-02 -3.13509004e-04 9.99902003e-01 1.87920788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.75925415399996 meters 0.01480620962580877 Centerline is valid? [True, True] Translation: X:275.91, Y:2.37, Z:1.88 [[ 9.99311773e-01 -3.43446916e-02 -1.40150570e-02 2.75914072e+02] [ 3.43449787e-02 9.99410013e-01 -2.20273105e-04 2.36943550e+00] [ 1.40143535e-02 -2.61225326e-04 9.99901760e-01 1.87924366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.789254154 meters 0.016017268994971967 Centerline is valid? [True, True] Translation: X:275.94, Y:2.37, Z:1.88 [[ 9.99371161e-01 -3.26120096e-02 -1.39190350e-02 2.75944280e+02] [ 3.26121301e-02 9.99468059e-01 -2.18380761e-04 2.37019978e+00] [ 1.39187528e-02 -2.35685947e-04 9.99903102e-01 1.87867899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81925415399996 meters 0.014667131202093025 Centerline is valid? [True, True] Translation: X:275.98, Y:2.37, Z:1.88 [[ 9.99411942e-01 -3.16559850e-02 -1.31783753e-02 2.75975957e+02] [ 3.16560144e-02 9.99498801e-01 -2.06417000e-04 2.37298149e+00] [ 1.31783047e-02 -2.10879224e-04 9.99913140e-01 1.87932044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.849254154 meters 0.014328836710627516 Centerline is valid? [True, True] Translation: X:276.01, Y:2.38, Z:1.88 [[ 9.99434415e-01 -3.10239503e-02 -1.29755538e-02 2.76007371e+02] [ 3.10239316e-02 9.99518621e-01 -2.02775232e-04 2.37550727e+00] [ 1.29755986e-02 -1.99892150e-04 9.99915793e-01 1.88001786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87925415399997 meters 0.014382806456654034 Centerline is valid? [True, True] Translation: X:276.04, Y:2.38, Z:1.88 [[ 9.99435876e-01 -3.14093641e-02 -1.18903860e-02 2.76037885e+02] [ 3.14093794e-02 9.99506587e-01 -1.85493850e-04 2.37686328e+00] [ 1.18903453e-02 -1.88080436e-04 9.99929290e-01 1.88052180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.909254154 meters 0.014782920061440169 Centerline is valid? [True, True] Translation: X:276.07, Y:2.38, Z:1.88 [[ 9.99411448e-01 -3.24602198e-02 -1.10946962e-02 2.76068692e+02] [ 3.24603001e-02 9.99473011e-01 -1.72888391e-04 2.37668782e+00] [ 1.10944614e-02 -1.87350530e-04 9.99938437e-01 1.88055572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93925415399997 meters 0.015497861439466265 Centerline is valid? [True, True] Translation: X:276.10, Y:2.38, Z:1.88 [[ 9.99363377e-01 -3.39053289e-02 -1.11026680e-02 2.76100290e+02] [ 3.39055023e-02 9.99425028e-01 -1.72665774e-04 2.37585893e+00] [ 1.11021385e-02 -2.03885683e-04 9.99938349e-01 1.88069205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96925415399994 meters 0.016369299953704536 Centerline is valid? [True, True] Translation: X:276.13, Y:2.37, Z:1.88 [[ 9.99210023e-01 -3.83050975e-02 -1.05853613e-02 2.76132137e+02] [ 3.83055076e-02 9.99266061e-01 -1.64071185e-04 2.37431041e+00] [ 1.05838771e-02 -2.41536066e-04 9.99943960e-01 1.88004936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99925415399997 meters 0.01640024834923609 Centerline is valid? [True, True] Translation: X:276.16, Y:2.37, Z:1.88 [[ 9.99120201e-01 -4.06210767e-02 -1.04284380e-02 2.76164059e+02] [ 4.06216074e-02 9.99174589e-01 -1.61010346e-04 2.37452689e+00] [ 1.04263707e-02 -2.62751224e-04 9.99945609e-01 1.88019903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.02925415399994 meters 0.018107858212432895 Centerline is valid? [True, True] Translation: X:276.20, Y:2.37, Z:1.88 [[ 9.99005636e-01 -4.33907729e-02 -1.02459594e-02 2.76195309e+02] [ 4.33914378e-02 9.99058136e-01 -1.57506598e-04 2.37286514e+00] [ 1.02431434e-02 -2.87236930e-04 9.99947496e-01 1.88008715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.059254154 meters 0.020205618783631675 Centerline is valid? [True, True] Translation: X:276.23, Y:2.37, Z:1.88 [[ 9.98715131e-01 -4.97580206e-02 -9.60345016e-03 2.76225131e+02] [ 4.97589039e-02 9.98761248e-01 -1.47086268e-04 2.36861101e+00] [ 9.59887259e-03 -3.30959872e-04 9.99953875e-01 1.87954185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.08925415399995 meters 0.02137861516500973 Centerline is valid? [True, True] Translation: X:276.26, Y:2.37, Z:1.88 [[ 9.98561874e-01 -5.27372770e-02 -9.64171796e-03 2.76257492e+02] [ 5.27383126e-02 9.98608356e-01 -1.46993468e-04 2.36686211e+00] [ 9.63605215e-03 -3.61705863e-04 9.99953507e-01 1.87940302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.119254154 meters 0.022673490489876245 Centerline is valid? [True, True] Translation: X:276.29, Y:2.37, Z:1.88 [[ 9.98384440e-01 -5.59697821e-02 -9.79256085e-03 2.76289012e+02] [ 5.59710114e-02 9.98432383e-01 -1.48683903e-04 2.36550785e+00] [ 9.78553167e-03 -3.99655840e-04 9.99952041e-01 1.87946404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.14925415399995 meters 0.022712141909777977 Centerline is valid? [True, True] Translation: X:276.32, Y:2.37, Z:1.88 [[ 9.98200191e-01 -5.91024178e-02 -1.01627734e-02 2.76320506e+02] [ 5.91039078e-02 9.98251824e-01 -1.53926884e-04 2.36614647e+00] [ 1.01541045e-02 -4.47009776e-04 9.99948346e-01 1.87963235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.179254154 meters 0.02722997262160496 Centerline is valid? [True, True] Translation: X:276.35, Y:2.36, Z:1.88 [[ 9.97858440e-01 -6.46162737e-02 -1.01622248e-02 2.76350420e+02] [ 6.46180508e-02 9.97910058e-01 -1.53710619e-04 2.36086117e+00] [ 1.01509186e-02 -5.03281723e-04 9.99948351e-01 1.87944280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.20925415399995 meters 0.027694991823722013 Centerline is valid? [True, True] Translation: X:276.38, Y:2.36, Z:1.88 [[ 9.97659820e-01 -6.77366168e-02 -9.30774630e-03 2.76380087e+02] [ 6.77382422e-02 9.97703118e-01 -1.40880784e-04 2.35935253e+00] [ 9.29591029e-03 -4.89939276e-04 9.99956672e-01 1.88073556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.239254154 meters 0.026636816404819064 Centerline is valid? [True, True] Translation: X:276.41, Y:2.36, Z:1.88 [[ 9.97513741e-01 -6.98879548e-02 -9.05599340e-03 2.76411804e+02] [ 6.98895828e-02 9.97554724e-01 -1.36952213e-04 2.36205703e+00] [ 9.04342031e-03 -4.96307887e-04 9.99958984e-01 1.88196655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.26925415399995 meters 0.0292312671422905 Centerline is valid? [True, True] Translation: X:276.44, Y:2.36, Z:1.88 [[ 9.97339281e-01 -7.24119599e-02 -8.41828358e-03 2.76442068e+02] [ 7.24134599e-02 9.97374691e-01 -1.26875191e-04 2.36068434e+00] [ 8.40537027e-03 -4.83059429e-04 9.99964558e-01 1.88309733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.299254154 meters 0.027155070629605673 Centerline is valid? [True, True] Translation: X:276.47, Y:2.36, Z:1.88 [[ 9.97266102e-01 -7.34604339e-02 -7.99291716e-03 2.76474508e+02] [ 7.34618231e-02 9.97298023e-01 -1.20050629e-04 2.36421638e+00] [ 7.98013945e-03 -4.67451844e-04 9.99968049e-01 1.88382050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.32925415399995 meters 0.027603827819106797 Centerline is valid? [True, True] Translation: X:276.51, Y:2.37, Z:1.88 [[ 9.97238797e-01 -7.37896933e-02 -8.35843314e-03 2.76507132e+02] [ 7.37912294e-02 9.97273703e-01 -1.24888040e-04 2.36520140e+00] [ 8.34486102e-03 -4.92235859e-04 9.99965060e-01 1.88408063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.359254154 meters 0.028067532713855536 Centerline is valid? [True, True] Translation: X:276.54, Y:2.37, Z:1.88 [[ 9.97223997e-01 -7.38357225e-02 -9.62215346e-03 2.76539614e+02] [ 7.38377680e-02 9.97270256e-01 -1.42971047e-04 2.36699455e+00] [ 9.60644382e-03 -5.67904177e-04 9.99953696e-01 1.88334017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.38925415399996 meters 0.030122431837887202 Centerline is valid? [True, True] Translation: X:276.57, Y:2.37, Z:1.88 [[ 9.97247972e-01 -7.33190709e-02 -1.09907459e-02 2.76570738e+02] [ 7.33217175e-02 9.97308327e-01 -1.62491072e-04 2.36576514e+00] [ 1.09730761e-02 -6.43816471e-04 9.99939587e-01 1.88273187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.419254154 meters 0.028154350972688723 Centerline is valid? [True, True] Translation: X:276.60, Y:2.37, Z:1.88 [[ 9.97274900e-01 -7.28287376e-02 -1.17791310e-02 2.76602735e+02] [ 7.28317525e-02 9.97344226e-01 -1.73374282e-04 2.37024744e+00] [ 1.17604750e-02 -6.84992937e-04 9.99930609e-01 1.88263223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.44925415399996 meters 0.03190746195697779 Centerline is valid? [True, True] Translation: X:276.63, Y:2.37, Z:1.88 [[ 9.97394852e-01 -7.08810287e-02 -1.33936415e-02 2.76633376e+02] [ 7.08847613e-02 9.97484492e-01 -1.96432317e-04 2.36894966e+00] [ 1.33738730e-02 -7.53484498e-04 9.99910282e-01 1.88135099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.479254154 meters 0.02750731538574149 Centerline is valid? [True, True] Translation: X:276.67, Y:2.38, Z:1.88 [[ 9.97481031e-01 -6.94353367e-02 -1.45026208e-02 2.76665293e+02] [ 6.94395710e-02 9.97586137e-01 -2.11994890e-04 2.37787207e+00] [ 1.44823334e-02 -7.95594884e-04 9.99894809e-01 1.88207145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.50925415399996 meters 0.026859132468469486 Centerline is valid? [True, True] Translation: X:276.70, Y:2.38, Z:1.88 [[ 9.97566744e-01 -6.81782020e-02 -1.45713087e-02 2.76697107e+02] [ 6.81823584e-02 9.97672853e-01 -2.11920341e-04 2.38019726e+00] [ 1.45518475e-02 -7.82101510e-04 9.99893810e-01 1.88272779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.539254154 meters 0.025598401162690895 Centerline is valid? [True, True] Translation: X:276.73, Y:2.39, Z:1.88 [[ 9.97804143e-01 -6.45845930e-02 -1.46874882e-02 2.76727870e+02] [ 6.45884376e-02 9.97911964e-01 -2.12932065e-04 2.38688988e+00] [ 1.46705723e-02 -7.36177418e-04 9.99892110e-01 1.88371086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.56925415399996 meters 0.024492822586367334 Centerline is valid? [True, True] Translation: X:276.76, Y:2.39, Z:1.88 [[ 9.97947177e-01 -6.24319225e-02 -1.42718986e-02 2.76759559e+02] [ 6.24353407e-02 9.98048990e-01 -2.06359500e-04 2.39121851e+00] [ 1.42569374e-02 -6.85134973e-04 9.99898130e-01 1.88447859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.599254154 meters 0.022596830803832055 Centerline is valid? [True, True] Translation: X:276.79, Y:2.40, Z:1.89 [[ 9.98112299e-01 -5.97908729e-02 -1.40317490e-02 2.76790552e+02] [ 5.97939256e-02 9.98210722e-01 -2.02245059e-04 2.39659452e+00] [ 1.40187347e-02 -6.37150073e-04 9.99901530e-01 1.88531038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.62925415399997 meters 0.02233357619145377 Centerline is valid? [True, True] Translation: X:276.82, Y:2.40, Z:1.89 [[ 9.98494422e-01 -5.31777021e-02 -1.34543914e-02 2.76819649e+02] [ 5.31799112e-02 9.98584929e-01 -1.93775956e-04 2.40221846e+00] [ 1.34456570e-02 -5.22019127e-04 9.99909467e-01 1.88550762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.659254154 meters 0.019774202418548378 Centerline is valid? [True, True] Translation: X:276.85, Y:2.41, Z:1.89 [[ 9.98682216e-01 -4.95201546e-02 -1.34753777e-02 2.76851384e+02] [ 4.95220430e-02 9.98773012e-01 -1.93715798e-04 2.40909924e+00] [ 1.34684364e-02 -4.73867709e-04 9.99909184e-01 1.88632936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68925415399997 meters 0.01902125460509439 Centerline is valid? [True, True] Translation: X:276.88, Y:2.41, Z:1.89 [[ 9.98863041e-01 -4.56606139e-02 -1.37015573e-02 2.76882571e+02] [ 4.56622137e-02 9.98956918e-01 -1.96212311e-04 2.41328057e+00] [ 1.36962246e-02 -4.29654213e-04 9.99906110e-01 1.88670673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71925415399994 meters 0.016540135552959637 Centerline is valid? [True, True] Translation: X:276.91, Y:2.42, Z:1.89 [[ 9.99194670e-01 -3.77655612e-02 -1.35562969e-02 2.76913572e+02] [ 3.77664061e-02 9.99286576e-01 -1.93758284e-04 2.42215200e+00] [ 1.35539429e-02 -3.18370370e-04 9.99908090e-01 1.88800322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74925415399997 meters 0.01596823621099322 Centerline is valid? [True, True] Translation: X:276.94, Y:2.43, Z:1.89 [[ 9.99315876e-01 -3.45213104e-02 -1.32687254e-02 2.76944539e+02] [ 3.45218387e-02 9.99403926e-01 -1.89290799e-04 2.42591068e+00] [ 1.32673508e-02 -2.68899497e-04 9.99911949e-01 1.88860915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77925415399994 meters 0.015425899338259462 Centerline is valid? [True, True] Translation: X:276.98, Y:2.43, Z:1.89 [[ 9.99407601e-01 -3.16805335e-02 -1.34458497e-02 2.76976155e+02] [ 3.16808257e-02 9.99498018e-01 -1.91323210e-04 2.42935199e+00] [ 1.34451614e-02 -2.34765751e-04 9.99909582e-01 1.88929289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.809254154 meters 0.014934223687963401 Centerline is valid? [True, True] Translation: X:277.01, Y:2.43, Z:1.89 [[ 9.99509007e-01 -2.79464919e-02 -1.41682453e-02 2.77006826e+02] [ 2.79464469e-02 9.99609402e-01 -2.01205792e-04 2.43284582e+00] [ 1.41683342e-02 -1.94845112e-04 9.99899605e-01 1.88922674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.83925415399995 meters 0.014674867727347319 Centerline is valid? [True, True] Translation: X:277.04, Y:2.43, Z:1.89 [[ 9.99522156e-01 -2.72916950e-02 -1.45128827e-02 2.77038549e+02] [ 2.72915847e-02 9.99627494e-01 -2.05691664e-04 2.43473921e+00] [ 1.45130902e-02 -1.90486192e-04 9.99894661e-01 1.88932219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.869254154 meters 0.015201980499601309 Centerline is valid? [True, True] Translation: X:277.07, Y:2.44, Z:1.89 [[ 9.99530672e-01 -2.68335273e-02 -1.47782489e-02 2.77069998e+02] [ 2.68333710e-02 9.99639898e-01 -2.08899459e-04 2.43539069e+00] [ 1.47785328e-02 -1.87748820e-04 9.99890774e-01 1.88944201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.89925415399995 meters 0.01480115302900675 Centerline is valid? [True, True] Translation: X:277.10, Y:2.43, Z:1.89 [[ 9.99493779e-01 -2.79107961e-02 -1.52700059e-02 2.77100020e+02] [ 2.79107613e-02 9.99610396e-01 -2.15429856e-04 2.43438752e+00] [ 1.52700694e-02 -2.10876688e-04 9.99883383e-01 1.88880643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.929254154 meters 0.015017748520547453 Centerline is valid? [True, True] Translation: X:277.13, Y:2.43, Z:1.89 [[ 9.99459544e-01 -2.90464549e-02 -1.53923251e-02 2.77130632e+02] [ 2.90465562e-02 9.99578036e-01 -2.17026490e-04 2.43403749e+00] [ 1.53921339e-02 -2.30184838e-04 9.99881508e-01 1.88896622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.95925415399995 meters 0.015044162457086015 Centerline is valid? [True, True] Translation: X:277.16, Y:2.43, Z:1.89 [[ 9.99419683e-01 -3.03500495e-02 -1.54651589e-02 2.77161968e+02] [ 3.03503126e-02 9.99539299e-01 -2.17739645e-04 2.43305692e+00] [ 1.54646425e-02 -2.51759121e-04 9.99880384e-01 1.88912384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.989254154 meters 0.01566974903187777 Centerline is valid? [True, True] Translation: X:277.19, Y:2.43, Z:1.89 [[ 9.99368998e-01 -3.18857194e-02 -1.56494644e-02 2.77192771e+02] [ 3.18861835e-02 9.99491482e-01 -2.19917650e-04 2.43168229e+00] [ 1.56485186e-02 -2.79222814e-04 9.99877515e-01 1.88904284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.01925415399995 meters 0.015906718662563987 Centerline is valid? [True, True] Translation: X:277.22, Y:2.43, Z:1.89 [[ 9.99271731e-01 -3.45884353e-02 -1.61136149e-02 2.77224006e+02] [ 3.45892862e-02 9.99401586e-01 -2.25970816e-04 2.42956709e+00] [ 1.61117882e-02 -3.31552188e-04 9.99870142e-01 1.88913724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.049254154 meters 0.01624397995117297 Centerline is valid? [True, True] Translation: X:277.26, Y:2.43, Z:1.89 [[ 9.99217523e-01 -3.62043108e-02 -1.59244952e-02 2.77255673e+02] [ 3.62053562e-02 9.99344346e-01 -2.22735619e-04 2.42801319e+00] [ 1.59221183e-02 -3.53990689e-04 9.99873172e-01 1.88915639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.07925415399995 meters 0.016727043397070172 Centerline is valid? [True, True] Translation: X:277.29, Y:2.43, Z:1.89 [[ 9.99160356e-01 -3.77047166e-02 -1.60292913e-02 2.77287071e+02] [ 3.77059783e-02 9.99288852e-01 -2.23610568e-04 2.42677873e+00] [ 1.60263233e-02 -3.80977296e-04 9.99871498e-01 1.88929618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.109254154 meters 0.017426786885000035 Centerline is valid? [True, True] Translation: X:277.32, Y:2.42, Z:1.89 [[ 9.99020384e-01 -4.10853217e-02 -1.64398630e-02 2.77318340e+02] [ 4.10871162e-02 9.99155542e-01 -2.28726542e-04 2.42302598e+00] [ 1.64353775e-02 -4.46964082e-04 9.99864830e-01 1.88912845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.13925415399996 meters 0.01806508699738807 Centerline is valid? [True, True] Translation: X:277.35, Y:2.42, Z:1.89 [[ 9.98959286e-01 -4.26362203e-02 -1.62017836e-02 2.77350987e+02] [ 4.26381821e-02 9.99090554e-01 -2.24480679e-04 2.42088490e+00] [ 1.61966200e-02 -4.66567542e-04 9.99868717e-01 1.88897760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.169254154 meters 0.019214926359552326 Centerline is valid? [True, True] Translation: X:277.38, Y:2.42, Z:1.89 [[ 9.98878434e-01 -4.43760107e-02 -1.65119553e-02 2.77381789e+02] [ 4.43783002e-02 9.99014772e-01 -2.27907635e-04 2.41763729e+00] [ 1.65058009e-02 -5.05120487e-04 9.99863642e-01 1.88863787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.19925415399996 meters 0.019214926359552326 Centerline is valid? [True, True] Translation: X:277.41, Y:2.42, Z:1.89 [[ 9.98881619e-01 -4.43042513e-02 -1.65119683e-02 2.77413492e+02] [ 4.43065465e-02 9.99017957e-01 -2.26965433e-04 2.41801292e+00] [ 1.65058083e-02 -5.04876691e-04 9.99863642e-01 1.88885752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.229254154 meters 0.019695564341928977 Centerline is valid? [True, True] Translation: X:277.44, Y:2.42, Z:1.89 [[ 9.98714245e-01 -4.77693900e-02 -1.69688470e-02 2.77444629e+02] [ 4.77723285e-02 9.98858223e-01 -2.32367974e-04 2.41516694e+00] [ 1.69605725e-02 -5.78572128e-04 9.99855992e-01 1.88939175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.25925415399996 meters 0.019526081115134764 Centerline is valid? [True, True] Translation: X:277.48, Y:2.41, Z:1.89 [[ 9.98637246e-01 -4.92907816e-02 -1.71484505e-02 2.77476466e+02] [ 4.92940242e-02 9.98784283e-01 -2.33807653e-04 2.41472625e+00] [ 1.71391274e-02 -6.11827105e-04 9.99852927e-01 1.88974861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.289254154 meters 0.019959192007651196 Centerline is valid? [True, True] Translation: X:277.51, Y:2.41, Z:1.89 [[ 9.98572701e-01 -5.04651001e-02 -1.74881302e-02 2.77508223e+02] [ 5.04686826e-02 9.98725616e-01 -2.36701355e-04 2.41282059e+00] [ 1.74777888e-02 -6.46239383e-04 9.99847043e-01 1.88927092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31925415399996 meters 0.023526819684790968 Centerline is valid? [True, True] Translation: X:277.54, Y:2.41, Z:1.89 [[ 9.98492331e-01 -5.19434683e-02 -1.77465964e-02 2.77538954e+02] [ 5.19474121e-02 9.98649793e-01 -2.38992134e-04 2.40668339e+00] [ 1.77350489e-02 -6.83257942e-04 9.99842488e-01 1.88804973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.349254154 meters 0.022511548637206374 Centerline is valid? [True, True] Translation: X:277.57, Y:2.41, Z:1.89 [[ 9.98351271e-01 -5.45119893e-02 -1.79772850e-02 2.77570000e+02] [ 5.45164676e-02 9.98512842e-01 -2.41229038e-04 2.40686287e+00] [ 1.79636998e-02 -7.39226761e-04 9.99838366e-01 1.88888909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37925415399997 meters 0.02355867379158467 Centerline is valid? [True, True] Translation: X:277.60, Y:2.40, Z:1.89 [[ 9.98276190e-01 -5.57514853e-02 -1.83417665e-02 2.77601585e+02] [ 5.57563745e-02 9.98444373e-01 -2.45111265e-04 2.40466788e+00] [ 1.83268989e-02 -7.77981661e-04 9.99831746e-01 1.88876069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.409254154 meters 0.022920499487002574 Centerline is valid? [True, True] Translation: X:277.63, Y:2.40, Z:1.89 [[ 9.98130513e-01 -5.83757735e-02 -1.81038205e-02 2.77633263e+02] [ 5.83809849e-02 9.98294347e-01 -2.40956606e-04 2.40426852e+00] [ 1.80870077e-02 -8.16412731e-04 9.99836083e-01 1.88913746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43925415399997 meters 0.023658372526687555 Centerline is valid? [True, True] Translation: X:277.66, Y:2.40, Z:1.89 [[ 9.98076734e-01 -5.93996108e-02 -1.77346816e-02 2.77664937e+02] [ 5.94047902e-02 9.98233948e-01 -2.35077480e-04 2.40269766e+00] [ 1.77173248e-02 -8.18899678e-04 9.99842701e-01 1.88889318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46925415399994 meters 0.026647184234975262 Centerline is valid? [True, True] Translation: X:277.70, Y:2.40, Z:1.89 [[ 9.98014446e-01 -6.04269278e-02 -1.77694313e-02 2.77696337e+02] [ 6.04323175e-02 9.98172270e-01 -2.33987910e-04 2.39849366e+00] [ 1.77510927e-02 -8.40324601e-04 9.99842084e-01 1.88833894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49925415399997 meters 0.02597493379012199 Centerline is valid? [True, True] Translation: X:277.73, Y:2.40, Z:1.89 [[ 9.97929298e-01 -6.19161048e-02 -1.74216123e-02 2.77728210e+02] [ 6.19215378e-02 9.98080994e-01 -2.27919682e-04 2.39916588e+00] [ 1.74022920e-02 -8.51325295e-04 9.99848206e-01 1.88931955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.52925415399994 meters 0.026678704414802717 Centerline is valid? [True, True] Translation: X:277.76, Y:2.40, Z:1.89 [[ 9.97901602e-01 -6.24494806e-02 -1.71013387e-02 2.77760828e+02] [ 6.24548146e-02 9.98047768e-01 -2.22508813e-04 2.39851637e+00] [ 1.70818485e-02 -8.46019038e-04 9.99853737e-01 1.88949181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.559254154 meters 0.026881013922546285 Centerline is valid? [True, True] Translation: X:277.79, Y:2.40, Z:1.89 [[ 9.97882728e-01 -6.28042202e-02 -1.69024002e-02 2.77792990e+02] [ 6.28095019e-02 9.98025510e-01 -2.18714386e-04 2.39902960e+00] [ 1.68827628e-02 -8.43380032e-04 9.99857120e-01 1.89009946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.58925415399995 meters 0.027959618353553917 Centerline is valid? [True, True] Translation: X:277.82, Y:2.40, Z:1.89 [[ 9.97875945e-01 -6.29702259e-02 -1.66838194e-02 2.77824379e+02] [ 6.29754119e-02 9.98015056e-01 -2.14874889e-04 2.39825816e+00] [ 1.66642336e-02 -8.36251913e-04 9.99860792e-01 1.88969516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.619254154 meters 0.025414300586740168 Centerline is valid? [True, True] Translation: X:277.86, Y:2.40, Z:1.89 [[ 9.97874357e-01 -6.30234501e-02 -1.65774370e-02 2.77856566e+02] [ 6.30285952e-02 9.98011699e-01 -2.12426793e-04 2.40242647e+00] [ 1.65578639e-02 -8.32877318e-04 9.99862562e-01 1.89059431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.64925415399995 meters 0.02569204996769022 Centerline is valid? [True, True] Translation: X:277.89, Y:2.40, Z:1.89 [[ 9.97871931e-01 -6.30462327e-02 -1.66367818e-02 2.77888367e+02] [ 6.30514383e-02 9.98010256e-01 -2.11962892e-04 2.40287787e+00] [ 1.66170424e-02 -8.37461203e-04 9.99861577e-01 1.89080718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.679254154 meters 0.02537205731316131 Centerline is valid? [True, True] Translation: X:277.92, Y:2.40, Z:1.89 [[ 9.97871528e-01 -6.30578757e-02 -1.66168051e-02 2.77920112e+02] [ 6.30630906e-02 9.98009520e-01 -2.10485873e-04 2.40410288e+00] [ 1.65970025e-02 -8.37869226e-04 9.99861909e-01 1.89099360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.70925415399995 meters 0.028175018397760952 Centerline is valid? [True, True] Translation: X:277.95, Y:2.40, Z:1.89 [[ 9.97877298e-01 -6.28994238e-02 -1.68689350e-02 2.77950951e+02] [ 6.29047937e-02 9.98019510e-01 -2.12613919e-04 2.40115488e+00] [ 1.68488995e-02 -8.48974272e-04 9.99857687e-01 1.89037830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.739254154 meters 0.02969969578864452 Centerline is valid? [True, True] Translation: X:277.98, Y:2.40, Z:1.89 [[ 9.97911836e-01 -6.24255758e-02 -1.65835626e-02 2.77982405e+02] [ 6.24307148e-02 9.98049279e-01 -2.08134682e-04 2.40022684e+00] [ 1.65642056e-02 -8.27623606e-04 9.99862462e-01 1.89042594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.76925415399995 meters 0.028865986726472528 Centerline is valid? [True, True] Translation: X:278.01, Y:2.40, Z:1.89 [[ 9.97975556e-01 -6.15380253e-02 -1.60580267e-02 2.78014580e+02] [ 6.15427449e-02 9.98104429e-01 -2.00554687e-04 2.40209733e+00] [ 1.60399293e-02 -7.88106368e-04 9.99871041e-01 1.89095111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.799254154 meters 0.02473436736224759 Centerline is valid? [True, True] Translation: X:278.05, Y:2.41, Z:1.89 [[ 9.98170066e-01 -5.85452954e-02 -1.51316648e-02 2.78045981e+02] [ 5.85491542e-02 9.98284509e-01 -1.88234427e-04 2.41001147e+00] [ 1.51167268e-02 -6.98056207e-04 9.99885492e-01 1.89270797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.82925415399995 meters 0.02401347111584608 Centerline is valid? [True, True] Translation: X:278.08, Y:2.41, Z:1.89 [[ 9.98309079e-01 -5.63356875e-02 -1.43273630e-02 2.78077236e+02] [ 5.63389271e-02 9.98411685e-01 -1.77720947e-04 2.41218929e+00] [ 1.43146187e-02 -6.29767826e-04 9.99897342e-01 1.89319902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.859254154 meters 0.023278804566082965 Centerline is valid? [True, True] Translation: X:278.11, Y:2.41, Z:1.89 [[ 9.98479394e-01 -5.32413788e-02 -1.42917768e-02 2.78108362e+02] [ 5.32442933e-02 9.98581501e-01 -1.76762667e-04 2.41475800e+00] [ 1.42809150e-02 -5.84461675e-04 9.99897852e-01 1.89367068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.88925415399996 meters 0.020752227925786296 Centerline is valid? [True, True] Translation: X:278.14, Y:2.42, Z:1.89 [[ 9.98863809e-01 -4.56867610e-02 -1.35576729e-02 2.78139235e+02] [ 4.56886920e-02 9.98955712e-01 -1.67434831e-04 2.42197609e+00] [ 1.35511643e-02 -4.52187746e-04 9.99908077e-01 1.89454885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.919254154 meters 0.018937253961552766 Centerline is valid? [True, True] Translation: X:278.17, Y:2.43, Z:1.89 [[ 9.99051038e-01 -4.16360831e-02 -1.27851868e-02 2.78170313e+02] [ 4.16374717e-02 9.99132772e-01 -1.57670181e-04 2.42635294e+00] [ 1.27806639e-02 -3.74822294e-04 9.99918254e-01 1.89481223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.94925415399996 meters 0.018313952346482067 Centerline is valid? [True, True] Translation: X:278.20, Y:2.43, Z:1.89 [[ 9.99204641e-01 -3.78291399e-02 -1.26111612e-02 2.78200425e+02] [ 3.78301923e-02 9.99284170e-01 -1.55172779e-04 2.42871609e+00] [ 1.26080038e-02 -3.22033292e-04 9.99920464e-01 1.89495284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.979254154 meters 0.01599524490465247 Centerline is valid? [True, True] Translation: X:278.23, Y:2.44, Z:1.90 [[ 9.99455163e-01 -3.08029209e-02 -1.18557182e-02 2.78231438e+02] [ 3.08033604e-02 9.99525453e-01 -1.45577036e-04 2.43640339e+00] [ 1.18545764e-02 -2.19698242e-04 9.99929708e-01 1.89597346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.00925415399996 meters 0.016203071489209384 Centerline is valid? [True, True] Translation: X:278.26, Y:2.44, Z:1.90 [[ 9.99547307e-01 -2.79444966e-02 -1.11483958e-02 2.78261694e+02] [ 2.79447111e-02 9.99609461e-01 -1.36571796e-04 2.43616033e+00] [ 1.11478584e-02 -1.75028729e-04 9.99937845e-01 1.89550922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.039254154 meters 0.01491331908869949 Centerline is valid? [True, True] Translation: X:278.29, Y:2.44, Z:1.90 [[ 9.99609502e-01 -2.56110759e-02 -1.11766094e-02 2.78293525e+02] [ 2.56111496e-02 9.99671971e-01 -1.36554636e-04 2.44028278e+00] [ 1.11764405e-02 -1.49744504e-04 9.99937530e-01 1.89627960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.06925415399996 meters 0.01454419288665029 Centerline is valid? [True, True] Translation: X:278.32, Y:2.44, Z:1.90 [[ 9.99683978e-01 -2.24502245e-02 -1.13107104e-02 2.78323891e+02] [ 2.24501030e-02 9.99747955e-01 -1.37724245e-04 2.44200158e+00] [ 1.13109515e-02 -1.16245892e-04 9.99936022e-01 1.89609866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.099254154 meters 0.015164459250409757 Centerline is valid? [True, True] Translation: X:278.35, Y:2.44, Z:1.90 [[ 9.99715520e-01 -2.09513335e-02 -1.13982340e-02 2.78354974e+02] [ 2.09511160e-02 9.99780492e-01 -1.38500899e-04 2.44285260e+00] [ 1.13986338e-02 -1.00344224e-04 9.99935028e-01 1.89597870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.12925415399997 meters 0.014337756013150486 Centerline is valid? [True, True] Translation: X:278.39, Y:2.44, Z:1.90 [[ 9.99720464e-01 -2.05825239e-02 -1.16341390e-02 2.78385604e+02] [ 2.05822753e-02 9.99788153e-01 -1.41112488e-04 2.44341778e+00] [ 1.16345788e-02 -9.83840106e-05 9.99932311e-01 1.89627927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.159254154 meters 0.014445525310127359 Centerline is valid? [True, True] Translation: X:278.42, Y:2.44, Z:1.90 [[ 9.99727013e-01 -2.03966255e-02 -1.13964009e-02 2.78416356e+02] [ 2.03963758e-02 9.99791963e-01 -1.38148535e-04 2.44270535e+00] [ 1.13968478e-02 -9.43344532e-05 9.99935049e-01 1.89607449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18925415399997 meters 0.014261448128660602 Centerline is valid? [True, True] Translation: X:278.45, Y:2.44, Z:1.90 [[ 9.99695471e-01 -2.13691879e-02 -1.23419013e-02 2.78447208e+02] [ 2.13689721e-02 9.99771646e-01 -1.49376263e-04 2.44104273e+00] [ 1.23422750e-02 -1.14402970e-04 9.99923825e-01 1.89575521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21925415399994 meters 0.014346077086678805 Centerline is valid? [True, True] Translation: X:278.48, Y:2.44, Z:1.90 [[ 9.99664376e-01 -2.24572644e-02 -1.29153615e-02 2.78477760e+02] [ 2.24571205e-02 9.99747795e-01 -1.56184721e-04 2.43984871e+00] [ 1.29156117e-02 -1.33909529e-04 9.99916581e-01 1.89561307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24925415399997 meters 0.01455540158375461 Centerline is valid? [True, True] Translation: X:278.51, Y:2.44, Z:1.90 [[ 9.99623841e-01 -2.40116631e-02 -1.32520180e-02 2.78508673e+02] [ 2.40116482e-02 9.99711666e-01 -1.60255888e-04 2.43821480e+00] [ 1.32520450e-02 -1.58007188e-04 9.99912175e-01 1.89529582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27925415399994 meters 0.015046042144052675 Centerline is valid? [True, True] Translation: X:278.54, Y:2.43, Z:1.89 [[ 9.99526647e-01 -2.75159975e-02 -1.37604806e-02 2.78539141e+02] [ 2.75163134e-02 9.99621341e-01 -1.66404696e-04 2.43391305e+00] [ 1.37598488e-02 -2.12311767e-04 9.99905306e-01 1.89498701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.309254154 meters 0.015572482020202373 Centerline is valid? [True, True] Translation: X:278.57, Y:2.43, Z:1.89 [[ 9.99471254e-01 -2.94102113e-02 -1.38654722e-02 2.78569957e+02] [ 2.94107160e-02 9.99567397e-01 -1.67549129e-04 2.43108161e+00] [ 1.38644017e-02 -2.40332928e-04 9.99903856e-01 1.89470231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.33925415399995 meters 0.015911879837284516 Centerline is valid? [True, True] Translation: X:278.60, Y:2.43, Z:1.90 [[ 9.99398533e-01 -3.18514506e-02 -1.37133745e-02 2.78601629e+02] [ 3.18521791e-02 9.99492577e-01 -1.65341224e-04 2.42895751e+00] [ 1.37116824e-02 -2.71559083e-04 9.99905954e-01 1.89507616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.369254154 meters 0.016651805782044556 Centerline is valid? [True, True] Translation: X:278.63, Y:2.43, Z:1.90 [[ 9.99319531e-01 -3.42567070e-02 -1.36730983e-02 2.78631451e+02] [ 3.42576679e-02 9.99413020e-01 -1.63997178e-04 2.42605514e+00] [ 1.36706904e-02 -3.04522878e-04 9.99906505e-01 1.89542682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.39925415399995 meters 0.018241600284177775 Centerline is valid? [True, True] Translation: X:278.66, Y:2.42, Z:1.90 [[ 9.99126158e-01 -3.95778867e-02 -1.34354203e-02 2.78662412e+02] [ 3.95793050e-02 9.99216419e-01 -1.60416626e-04 2.42023663e+00] [ 1.34312415e-02 -3.71488149e-04 9.99909728e-01 1.89581967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.429254154 meters 0.02061121760120786 Centerline is valid? [True, True] Translation: X:278.69, Y:2.42, Z:1.90 [[ 9.99059355e-01 -4.12230394e-02 -1.34560855e-02 2.78693453e+02] [ 4.12246224e-02 9.99149891e-01 -1.59830740e-04 2.41628016e+00] [ 1.34512350e-02 -3.95041645e-04 9.99909450e-01 1.89506078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.45925415399995 meters 0.02026403642002175 Centerline is valid? [True, True] Translation: X:278.72, Y:2.41, Z:1.90 [[ 9.98948680e-01 -4.38674374e-02 -1.33109640e-02 2.78724535e+02] [ 4.38692338e-02 9.99037269e-01 -1.57138048e-04 2.41394685e+00] [ 1.33050424e-02 -4.26968949e-04 9.99911393e-01 1.89594122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.489254154 meters 0.022012336568379354 Centerline is valid? [True, True] Translation: X:278.75, Y:2.41, Z:1.90 [[ 9.98761503e-01 -4.79138101e-02 -1.34062448e-02 2.78754604e+02] [ 4.79159997e-02 9.98851356e-01 -1.58016948e-04 2.40818181e+00] [ 1.33984169e-02 -4.84552374e-04 9.99910120e-01 1.89580962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.51925415399995 meters 0.022890654311691704 Centerline is valid? [True, True] Translation: X:278.79, Y:2.41, Z:1.90 [[ 9.98684619e-01 -4.95237424e-02 -1.32827372e-02 2.78786350e+02] [ 4.95260384e-02 9.98772821e-01 -1.56227995e-04 2.40569251e+00] [ 1.32741739e-02 -5.01818858e-04 9.99911768e-01 1.89579719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.549254154 meters 0.0237455007690281 Centerline is valid? [True, True] Translation: X:278.82, Y:2.40, Z:1.90 [[ 9.98621471e-01 -5.06894589e-02 -1.36284945e-02 2.78818324e+02] [ 5.06919957e-02 9.98714322e-01 -1.59457343e-04 2.40320963e+00] [ 1.36190554e-02 -5.31618057e-04 9.99907115e-01 1.89561290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.57925415399995 meters 0.024728655421500503 Centerline is valid? [True, True] Translation: X:278.85, Y:2.40, Z:1.90 [[ 9.98528730e-01 -5.22312810e-02 -1.45694284e-02 2.78850724e+02] [ 5.22343593e-02 9.98634840e-01 -1.69427316e-04 2.39987340e+00] [ 1.45583882e-02 -5.91846714e-04 9.99893846e-01 1.89504537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.609254154 meters 0.02483848625230494 Centerline is valid? [True, True] Translation: X:278.88, Y:2.40, Z:1.89 [[ 9.98537300e-01 -5.19143396e-02 -1.51050305e-02 2.78883279e+02] [ 5.19176281e-02 9.98651355e-01 -1.74600426e-04 2.39931695e+00] [ 1.50937235e-02 -6.09872320e-04 9.99885897e-01 1.89483100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.63925415399996 meters 0.025569961150796138 Centerline is valid? [True, True] Translation: X:278.91, Y:2.40, Z:1.89 [[ 9.98571542e-01 -5.12069974e-02 -1.52551238e-02 2.78914144e+02] [ 5.12102831e-02 9.98687877e-01 -1.75428834e-04 2.39763786e+00] [ 1.52440904e-02 -6.06040969e-04 9.99883618e-01 1.89463632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.669254154 meters 0.024318106367584746 Centerline is valid? [True, True] Translation: X:278.95, Y:2.40, Z:1.90 [[ 9.98715108e-01 -4.83968192e-02 -1.50293601e-02 2.78945466e+02] [ 4.83996999e-02 9.98828033e-01 -1.72210087e-04 2.39915047e+00] [ 1.50200806e-02 -5.55427703e-04 9.99887038e-01 1.89520700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.69925415399996 meters 0.02368635014980248 Centerline is valid? [True, True] Translation: X:278.98, Y:2.40, Z:1.90 [[ 9.98813766e-01 -4.62764909e-02 -1.51508408e-02 2.78976238e+02] [ 4.62791825e-02 9.98928530e-01 -1.73091928e-04 2.40010611e+00] [ 1.51426172e-02 -5.28281926e-04 9.99885204e-01 1.89557558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.729254154 meters 0.02287546802682959 Centerline is valid? [True, True] Translation: X:279.01, Y:2.40, Z:1.90 [[ 9.98927368e-01 -4.38813593e-02 -1.47830592e-02 2.79007221e+02] [ 4.38836670e-02 9.99036634e-01 -1.68404227e-04 2.40176654e+00] [ 1.47762075e-02 -4.80511254e-04 9.99890710e-01 1.89593114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.75925415399996 meters 0.02066790654426991 Centerline is valid? [True, True] Translation: X:279.04, Y:2.41, Z:1.90 [[ 9.99150525e-01 -3.87030461e-02 -1.41528439e-02 2.79037288e+02] [ 3.87046451e-02 9.99250682e-01 -1.61005289e-04 2.40516707e+00] [ 1.41484703e-02 -3.86912283e-04 9.99899831e-01 1.89686179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.789254154 meters 0.01649140286313158 Centerline is valid? [True, True] Translation: X:279.07, Y:2.41, Z:1.90 [[ 9.99254128e-01 -3.61715263e-02 -1.35206330e-02 2.79068882e+02] [ 3.61727573e-02 9.99345540e-01 -1.53573894e-04 2.41224449e+00] [ 1.35173393e-02 -3.35619229e-04 9.99908580e-01 1.89903954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81925415399996 meters 0.015404851839271701 Centerline is valid? [True, True] Translation: X:279.10, Y:2.41, Z:1.90 [[ 9.99336466e-01 -3.38396346e-02 -1.34724529e-02 2.79100641e+02] [ 3.38406533e-02 9.99427229e-01 -1.52410936e-04 2.41464963e+00] [ 1.34698938e-02 -3.03606803e-04 9.99909231e-01 1.89983631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.849254154 meters 0.017353883399347764 Centerline is valid? [True, True] Translation: X:279.13, Y:2.41, Z:1.90 [[ 9.99410884e-01 -3.15587698e-02 -1.34880949e-02 2.79131159e+02] [ 3.15595901e-02 9.99501860e-01 -1.52079685e-04 2.41468523e+00] [ 1.34861754e-02 -2.73688653e-04 9.99909020e-01 1.89887370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87925415399997 meters 0.015172379374162487 Centerline is valid? [True, True] Translation: X:279.16, Y:2.42, Z:1.90 [[ 9.99461630e-01 -2.98181358e-02 -1.36868063e-02 2.79162541e+02] [ 2.98188225e-02 9.99555308e-01 -1.53947506e-04 2.41551768e+00] [ 1.36853104e-02 -2.54259823e-04 9.99906319e-01 1.89909548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.909254154 meters 0.015050263220615308 Centerline is valid? [True, True] Translation: X:279.19, Y:2.42, Z:1.90 [[ 9.99455445e-01 -2.98756143e-02 -1.40093562e-02 2.79193027e+02] [ 2.98763429e-02 9.99553590e-01 -1.57320667e-04 2.41555660e+00] [ 1.40078024e-02 -2.61313334e-04 9.99901852e-01 1.89907780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93925415399997 meters 0.015613781255481211 Centerline is valid? [True, True] Translation: X:279.22, Y:2.41, Z:1.90 [[ 9.99400069e-01 -3.09987228e-02 -1.54460907e-02 2.79223334e+02] [ 3.09997450e-02 9.99519377e-01 -1.73302678e-04 2.41355413e+00] [ 1.54440391e-02 -3.05626164e-04 9.99880687e-01 1.89768846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96925415399994 meters 0.01557806779366238 Centerline is valid? [True, True] Translation: X:279.25, Y:2.41, Z:1.90 [[ 9.99333687e-01 -3.27151564e-02 -1.61833255e-02 2.79253696e+02] [ 3.27165055e-02 9.99464655e-01 -1.81444721e-04 2.41335633e+00] [ 1.61805978e-02 -3.48138036e-04 9.99869025e-01 1.89773326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99925415399997 meters 0.01626938255283494 Centerline is valid? [True, True] Translation: X:279.28, Y:2.41, Z:1.90 [[ 9.99262336e-01 -3.44783396e-02 -1.69123388e-02 2.79283625e+02] [ 3.44800642e-02 9.99405368e-01 -1.89692812e-04 2.41121979e+00] [ 1.69088225e-02 -3.93585645e-04 9.99856958e-01 1.89705206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.02925415399994 meters 0.01681582243454953 Centerline is valid? [True, True] Translation: X:279.31, Y:2.41, Z:1.90 [[ 9.99096745e-01 -3.89175420e-02 -1.70622201e-02 2.79313171e+02] [ 3.89199369e-02 9.99242314e-01 -1.91798638e-04 2.40836572e+00] [ 1.70567566e-02 -4.72435134e-04 9.99854411e-01 1.89756084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.059254154 meters 0.017102747417458347 Centerline is valid? [True, True] Translation: X:279.34, Y:2.41, Z:1.90 [[ 9.99015813e-01 -4.11916250e-02 -1.64515967e-02 2.79343867e+02] [ 4.11941555e-02 9.99151143e-01 -1.85180157e-04 2.40751339e+00] [ 1.64452595e-02 -4.92711726e-04 9.99864646e-01 1.89807457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.08925415399995 meters 0.017856514317120282 Centerline is valid? [True, True] Translation: X:279.38, Y:2.41, Z:1.90 [[ 9.98918707e-01 -4.36549911e-02 -1.59893195e-02 2.79375230e+02] [ 4.36577019e-02 9.99046532e-01 -1.79639943e-04 2.40572155e+00] [ 1.59819163e-02 -5.18611244e-04 9.99872147e-01 1.89861698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.119254154 meters 0.017856514317120282 Centerline is valid? [True, True] Translation: X:279.41, Y:2.41, Z:1.90 [[ 9.98920330e-01 -4.36178429e-02 -1.59893261e-02 2.79406089e+02] [ 4.36205585e-02 9.99048154e-01 -1.79045515e-04 2.40603858e+00] [ 1.59819163e-02 -5.18611131e-04 9.99872147e-01 1.89883078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.14925415399995 meters 0.020728469241251792 Centerline is valid? [True, True] Translation: X:279.44, Y:2.40, Z:1.90 [[ 9.98745174e-01 -4.79875013e-02 -1.43275165e-02 2.79436375e+02] [ 4.79901358e-02 9.98847797e-01 -1.60069482e-04 2.40166154e+00] [ 1.43186897e-02 -5.27710842e-04 9.99897343e-01 1.89908840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.179254154 meters 0.020392763564571967 Centerline is valid? [True, True] Translation: X:279.47, Y:2.40, Z:1.90 [[ 9.98644018e-01 -5.02729944e-02 -1.35185776e-02 2.79467563e+02] [ 5.02755538e-02 9.98735373e-01 -1.50668743e-04 2.40043391e+00] [ 1.35090562e-02 -5.29189534e-04 9.99908609e-01 1.90024159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.20925415399995 meters 0.020409003715245764 Centerline is valid? [True, True] Translation: X:279.50, Y:2.40, Z:1.90 [[ 9.98566941e-01 -5.19037537e-02 -1.30408538e-02 2.79500156e+02] [ 5.19062833e-02 9.98651950e-01 -1.44640649e-04 2.40007046e+00] [ 1.30307815e-02 -5.32468881e-04 9.99914954e-01 1.90099541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.239254154 meters 0.0224465163506269 Centerline is valid? [True, True] Translation: X:279.53, Y:2.40, Z:1.90 [[ 9.98512562e-01 -5.30702903e-02 -1.24982750e-02 2.79531635e+02] [ 5.30727151e-02 9.98590641e-01 -1.37814632e-04 2.39677527e+00] [ 1.24879743e-02 -5.25707750e-04 9.99921884e-01 1.90119556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.26925415399995 meters 0.023750940467565266 Centerline is valid? [True, True] Translation: X:279.56, Y:2.39, Z:1.90 [[ 9.98395995e-01 -5.53825803e-02 -1.17561316e-02 2.79562816e+02] [ 5.53848929e-02 9.98465070e-01 -1.29006536e-04 2.39402598e+00] [ 1.17452315e-02 -5.22312481e-04 9.99930886e-01 1.90218996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.299254154 meters 0.024109793611923155 Centerline is valid? [True, True] Translation: X:279.59, Y:2.39, Z:1.90 [[ 9.98313611e-01 -5.69122867e-02 -1.14422853e-02 2.79594550e+02] [ 5.69145848e-02 9.98379043e-01 -1.24952299e-04 2.39363498e+00] [ 1.14308492e-02 -5.26491338e-04 9.99934527e-01 1.90259211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.32925415399995 meters 0.0231222187559625 Centerline is valid? [True, True] Translation: X:279.63, Y:2.39, Z:1.90 [[ 9.98239722e-01 -5.83144958e-02 -1.08109806e-02 2.79626305e+02] [ 5.83166355e-02 9.98298130e-01 -1.17484969e-04 2.39476661e+00] [ 1.07994328e-02 -5.13181851e-04 9.99941553e-01 1.90336606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.359254154 meters 0.024460908821436186 Centerline is valid? [True, True] Translation: X:279.66, Y:2.39, Z:1.90 [[ 9.98020625e-01 -6.20608588e-02 -1.01627292e-02 2.79657112e+02] [ 6.20629476e-02 9.98072231e-01 -1.10015688e-04 2.39260884e+00] [ 1.01499655e-02 -5.20931005e-04 9.99948352e-01 1.90424176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.38925415399996 meters 0.025447159155359646 Centerline is valid? [True, True] Translation: X:279.69, Y:2.39, Z:1.90 [[ 9.97913460e-01 -6.37190308e-02 -1.04217150e-02 2.79689131e+02] [ 6.37213217e-02 9.97967725e-01 -1.12427677e-04 2.39082171e+00] [ 1.04076990e-02 -5.51892360e-04 9.99945686e-01 1.90448568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.419254154 meters 0.02716228049579028 Centerline is valid? [True, True] Translation: X:279.72, Y:2.39, Z:1.90 [[ 9.97792578e-01 -6.55033169e-02 -1.09218696e-02 2.79720569e+02] [ 6.55059478e-02 9.97852172e-01 -1.17062975e-04 2.38780290e+00] [ 1.09060793e-02 -5.98642854e-04 9.99940348e-01 1.90411505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.44925415399996 meters 0.028273455080914982 Centerline is valid? [True, True] Translation: X:279.75, Y:2.39, Z:1.90 [[ 9.97556405e-01 -6.88238235e-02 -1.20208399e-02 2.79751905e+02] [ 6.88272581e-02 9.97628584e-01 -1.28232716e-04 2.38599643e+00] [ 1.20011590e-02 -6.99442084e-04 9.99927739e-01 1.90318826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.479254154 meters 0.029699769191552552 Centerline is valid? [True, True] Translation: X:279.78, Y:2.39, Z:1.90 [[ 9.97480156e-01 -6.98500006e-02 -1.24224305e-02 2.79784488e+02] [ 6.98537562e-02 9.97557234e-01 -1.31848279e-04 2.38503480e+00] [ 1.24012950e-02 -7.36237388e-04 9.99922830e-01 1.90217936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.50925415399996 meters 0.029364190659976988 Centerline is valid? [True, True] Translation: X:279.82, Y:2.38, Z:1.90 [[ 9.97380621e-01 -7.11514593e-02 -1.30140930e-02 2.79816973e+02] [ 7.11557043e-02 9.97465211e-01 -1.37145520e-04 2.38485172e+00] [ 1.29908631e-02 -7.89240669e-04 9.99915304e-01 1.90256603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.539254154 meters 0.029368254546456165 Centerline is valid? [True, True] Translation: X:279.85, Y:2.39, Z:1.90 [[ 9.97338541e-01 -7.16435957e-02 -1.35288735e-02 2.79848666e+02] [ 7.16482404e-02 9.97429952e-01 -1.41675712e-04 2.38527174e+00] [ 1.35042538e-02 -8.28021335e-04 9.99908471e-01 1.90258196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.56925415399996 meters 0.030630022067888726 Centerline is valid? [True, True] Translation: X:279.88, Y:2.39, Z:1.90 [[ 9.97379759e-01 -7.08041819e-02 -1.48453348e-02 2.79880937e+02] [ 7.08096969e-02 9.97489831e-01 -1.54460011e-04 2.38572215e+00] [ 1.48190070e-02 -8.97138371e-04 9.99889790e-01 1.90078583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.599254154 meters 0.02934098774754716 Centerline is valid? [True, True] Translation: X:279.91, Y:2.39, Z:1.90 [[ 9.97423963e-01 -7.02261633e-02 -1.46193117e-02 2.79912823e+02] [ 7.02314653e-02 9.97530711e-01 -1.51044356e-04 2.38686386e+00] [ 1.45938197e-02 -8.76080424e-04 9.99893121e-01 1.90177417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.62925415399997 meters 0.02742110675054698 Centerline is valid? [True, True] Translation: X:279.94, Y:2.39, Z:1.90 [[ 9.97528742e-01 -6.87320719e-02 -1.45709269e-02 2.79944928e+02] [ 6.87371956e-02 9.97634791e-01 -1.49471940e-04 2.39071770e+00] [ 1.45467371e-02 -8.52462097e-04 9.99893827e-01 1.90220435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65925415399994 meters 0.027866477972260374 Centerline is valid? [True, True] Translation: X:279.98, Y:2.39, Z:1.90 [[ 9.97685282e-01 -6.63661266e-02 -1.48194461e-02 2.79975299e+02] [ 6.63711763e-02 9.97794991e-01 -1.51351170e-04 2.39190005e+00] [ 1.47968137e-02 -8.32583237e-04 9.99890175e-01 1.90241817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68925415399997 meters 0.025953876227584438 Centerline is valid? [True, True] Translation: X:280.00, Y:2.40, Z:1.90 [[ 9.98030871e-01 -6.13570986e-02 -1.30263692e-02 2.80004424e+02] [ 6.13605748e-02 9.98115656e-01 -1.33020419e-04 2.39706281e+00] [ 1.30099848e-02 -6.66547014e-04 9.99915144e-01 1.90412034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71925415399994 meters 0.027817056310072384 Centerline is valid? [True, True] Translation: X:280.04, Y:2.40, Z:1.90 [[ 9.98223443e-01 -5.82392446e-02 -1.25756683e-02 2.80035448e+02] [ 5.82422388e-02 9.98302472e-01 -1.28318365e-04 2.39623870e+00] [ 1.25617939e-02 -6.04344677e-04 9.99920915e-01 1.90461734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74925415399997 meters 0.022266603199883283 Centerline is valid? [True, True] Translation: X:280.07, Y:2.41, Z:1.91 [[ 9.98398450e-01 -5.52419233e-02 -1.22010502e-02 2.80066552e+02] [ 5.52445237e-02 9.98472848e-01 -1.24055253e-04 2.40600770e+00] [ 1.21892704e-02 -5.50184637e-04 9.99925557e-01 1.90610179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77925415399994 meters 0.019453718665397426 Centerline is valid? [True, True] Translation: X:280.10, Y:2.41, Z:1.91 [[ 9.98755523e-01 -4.84948277e-02 -1.16471755e-02 2.80096606e+02] [ 4.84967423e-02 9.98823334e-01 -1.18158301e-04 2.41338850e+00] [ 1.16392007e-02 -4.46838812e-04 9.99932162e-01 1.90686472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.809254154 meters 0.018845581672746463 Centerline is valid? [True, True] Translation: X:280.13, Y:2.42, Z:1.91 [[ 9.98921496e-01 -4.50624298e-02 -1.11902942e-02 2.80128550e+02] [ 4.50639850e-02 9.98984096e-01 -1.13259302e-04 2.41632391e+00] [ 1.11840297e-02 -3.91142098e-04 9.99937380e-01 1.90728036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.83925415399995 meters 0.017195222507758665 Centerline is valid? [True, True] Translation: X:280.16, Y:2.42, Z:1.91 [[ 9.99195565e-01 -3.86296945e-02 -1.07689491e-02 2.80157986e+02] [ 3.86307647e-02 9.99253548e-01 -1.08692616e-04 2.42203086e+00] [ 1.07651094e-02 -3.07407560e-04 9.99942007e-01 1.90823298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.869254154 meters 0.016306425712059366 Centerline is valid? [True, True] Translation: X:280.19, Y:2.43, Z:1.91 [[ 9.99296535e-01 -3.59964806e-02 -1.05208719e-02 2.80189847e+02] [ 3.59973570e-02 9.99351879e-01 -1.06113117e-04 2.42501453e+00] [ 1.05178728e-02 -2.72685112e-04 9.99944648e-01 1.90834463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.89925415399995 meters 0.01630907377832842 Centerline is valid? [True, True] Translation: X:280.22, Y:2.43, Z:1.91 [[ 9.99369673e-01 -3.39042130e-02 -1.05242876e-02 2.80221376e+02] [ 3.39049802e-02 9.99425055e-01 -1.05562738e-04 2.42636885e+00] [ 1.05218158e-02 -2.51329564e-04 9.99944613e-01 1.90805807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.929254154 meters 0.01600398548742628 Centerline is valid? [True, True] Translation: X:280.25, Y:2.43, Z:1.91 [[ 9.99465161e-01 -3.08724135e-02 -1.07836177e-02 2.80251528e+02] [ 3.08730476e-02 9.99523308e-01 -1.07702262e-04 2.42872240e+00] [ 1.07818023e-02 -2.25278486e-04 9.99941849e-01 1.90752250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.95925415399995 meters 0.015774887228709532 Centerline is valid? [True, True] Translation: X:280.28, Y:2.43, Z:1.91 [[ 9.99494149e-01 -2.97529961e-02 -1.12341224e-02 2.80282427e+02] [ 2.97536167e-02 9.99557257e-01 -1.11916755e-04 2.42987754e+00] [ 1.12324784e-02 -2.22395630e-04 9.99936889e-01 1.90737360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.989254154 meters 0.016020245603436217 Centerline is valid? [True, True] Translation: X:280.31, Y:2.43, Z:1.91 [[ 9.99513477e-01 -2.91442363e-02 -1.11096189e-02 2.80312471e+02] [ 2.91448092e-02 9.99575194e-01 -1.10355269e-04 2.42937496e+00] [ 1.11081157e-02 -2.13486146e-04 9.99938280e-01 1.90705940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.01925415399995 meters 0.015359798465845731 Centerline is valid? [True, True] Translation: X:280.34, Y:2.43, Z:1.91 [[ 9.99537736e-01 -2.82381944e-02 -1.12657971e-02 2.80344153e+02] [ 2.82387292e-02 9.99601201e-01 -1.11623707e-04 2.43160833e+00] [ 1.12644563e-02 -2.06559686e-04 9.99936533e-01 1.90704120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.049254154 meters 0.01550600659292378 Centerline is valid? [True, True] Translation: X:280.38, Y:2.43, Z:1.91 [[ 9.99542910e-01 -2.80847243e-02 -1.11901002e-02 2.80375973e+02] [ 2.80852469e-02 9.99605526e-01 -1.10469725e-04 2.43171536e+00] [ 1.11887885e-02 -2.03857496e-04 9.99937383e-01 1.90706043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.07925415399995 meters 0.01510760986493898 Centerline is valid? [True, True] Translation: X:280.41, Y:2.43, Z:1.91 [[ 9.99549786e-01 -2.78531940e-02 -1.11545891e-02 2.80407784e+02] [ 2.78537034e-02 9.99612004e-01 -1.09713141e-04 2.43253738e+00] [ 1.11533171e-02 -2.01032870e-04 9.99937780e-01 1.90745417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.109254154 meters 0.017395780678541133 Centerline is valid? [True, True] Translation: X:280.44, Y:2.43, Z:1.91 [[ 9.99563688e-01 -2.72445380e-02 -1.14091680e-02 2.80437969e+02] [ 2.72450352e-02 9.99628779e-01 -1.11872390e-04 2.43154552e+00] [ 1.14079806e-02 -1.99019605e-04 9.99934907e-01 1.90671760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.13925415399996 meters 0.01520854066022184 Centerline is valid? [True, True] Translation: X:280.47, Y:2.43, Z:1.91 [[ 9.99547637e-01 -2.81867257e-02 -1.04895458e-02 2.80469046e+02] [ 2.81872004e-02 9.99602657e-01 -1.02606468e-04 2.43256376e+00] [ 1.04882699e-02 -1.93110876e-04 9.99944978e-01 1.90867327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.169254154 meters 0.015598220090813417 Centerline is valid? [True, True] Translation: X:280.50, Y:2.43, Z:1.91 [[ 9.99534677e-01 -2.86721859e-02 -1.04084594e-02 2.80498931e+02] [ 2.86726829e-02 9.99588849e-01 -1.01495391e-04 2.43113966e+00] [ 1.04070900e-02 -1.96990292e-04 9.99945825e-01 1.90858910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.19925415399996 meters 0.01747391088205676 Centerline is valid? [True, True] Translation: X:280.53, Y:2.43, Z:1.91 [[ 9.99470524e-01 -3.08857645e-02 -1.02342847e-02 2.80529245e+02] [ 3.08863630e-02 9.99522898e-01 -9.96128594e-05 2.42778500e+00] [ 1.02324785e-02 -2.16539716e-04 9.99947623e-01 1.90815673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.229254154 meters 0.016744175315641173 Centerline is valid? [True, True] Translation: X:280.56, Y:2.43, Z:1.91 [[ 9.99396878e-01 -3.33772501e-02 -9.58330016e-03 2.80560896e+02] [ 3.33778918e-02 9.99442799e-01 -9.30149938e-05 2.42712302e+00] [ 9.58106491e-03 -2.26911461e-04 9.99954075e-01 1.90906874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.25925415399996 meters 0.017536589067538216 Centerline is valid? [True, True] Translation: X:280.59, Y:2.43, Z:1.91 [[ 9.99315294e-01 -3.57722972e-02 -9.44907956e-03 2.80593297e+02] [ 3.57730333e-02 9.99359936e-01 -9.11543388e-05 2.42534129e+00] [ 9.44629235e-03 -2.46930313e-04 9.99955352e-01 1.90919202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.289254154 meters 0.01893512933383268 Centerline is valid? [True, True] Translation: X:280.62, Y:2.42, Z:1.91 [[ 9.99059140e-01 -4.22408902e-02 -9.82561881e-03 2.80624407e+02] [ 4.22420050e-02 9.99107404e-01 -9.41434528e-05 2.42130938e+00] [ 9.82082520e-03 -3.20998962e-04 9.99951723e-01 1.90906311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31925415399996 meters 0.02233173081655405 Centerline is valid? [True, True] Translation: X:280.66, Y:2.42, Z:1.91 [[ 9.98917469e-01 -4.53619046e-02 -1.03047468e-02 2.80655367e+02] [ 4.53633009e-02 9.98970551e-01 -9.83128882e-05 2.41687832e+00] [ 1.02985982e-02 -3.69250868e-04 9.99946900e-01 1.90779972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.349254154 meters 0.022407267162207877 Centerline is valid? [True, True] Translation: X:280.69, Y:2.41, Z:1.91 [[ 9.98716995e-01 -4.95490812e-02 -1.04523835e-02 2.80686538e+02] [ 4.95507501e-02 9.98771602e-01 -9.93986052e-05 2.41467749e+00] [ 1.04444689e-02 -4.18652368e-04 9.99945367e-01 1.90827462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37925415399997 meters 0.022855195318034552 Centerline is valid? [True, True] Translation: X:280.72, Y:2.41, Z:1.91 [[ 9.98522389e-01 -5.31465241e-02 -1.13351380e-02 2.80717729e+02] [ 5.31487221e-02 9.98586602e-01 -1.07451269e-04 2.41334003e+00] [ 1.13248276e-02 -4.95155603e-04 9.99935749e-01 1.90791268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40925415399994 meters 0.026377992067265862 Centerline is valid? [True, True] Translation: X:280.75, Y:2.41, Z:1.91 [[ 9.98110838e-01 -6.01546733e-02 -1.24968350e-02 2.80746833e+02] [ 6.01578949e-02 9.98188867e-01 -1.18291181e-04 2.40708913e+00] [ 1.24813173e-02 -6.33715575e-04 9.99921905e-01 1.90645441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43925415399997 meters 0.026359296780760808 Centerline is valid? [True, True] Translation: X:280.78, Y:2.41, Z:1.91 [[ 9.97921377e-01 -6.31469969e-02 -1.28600790e-02 2.80778251e+02] [ 6.31506561e-02 9.98003998e-01 -1.21748939e-04 2.40700576e+00] [ 1.28420984e-02 -6.90626558e-04 9.99917298e-01 1.90667548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46925415399994 meters 0.029681797438634645 Centerline is valid? [True, True] Translation: X:280.81, Y:2.40, Z:1.91 [[ 9.97575366e-01 -6.83502916e-02 -1.31006560e-02 2.80808135e+02] [ 6.83545406e-02 9.97661085e-01 -1.23680705e-04 2.40320233e+00] [ 1.30784683e-02 -7.72108494e-04 9.99914175e-01 1.90669460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49925415399997 meters 0.031078449283601987 Centerline is valid? [True, True] Translation: X:280.84, Y:2.40, Z:1.91 [[ 9.97435433e-01 -7.04088773e-02 -1.28509803e-02 2.80840547e+02] [ 7.04131427e-02 9.97517907e-01 -1.20800253e-04 2.40194136e+00] [ 1.28275884e-02 -7.84387460e-04 9.99917415e-01 1.90729383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.52925415399994 meters 0.03190985962049752 Centerline is valid? [True, True] Translation: X:280.87, Y:2.40, Z:1.91 [[ 9.97324163e-01 -7.20172818e-02 -1.25708011e-02 2.80872899e+02] [ 7.20215018e-02 9.97403073e-01 -1.17266932e-04 2.40170460e+00] [ 1.25466009e-02 -7.88414828e-04 9.99920977e-01 1.90795612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.559254154 meters 0.032998247879013475 Centerline is valid? [True, True] Translation: X:280.91, Y:2.40, Z:1.91 [[ 9.97226268e-01 -7.34176728e-02 -1.22317401e-02 2.80905389e+02] [ 7.34217837e-02 9.97300972e-01 -1.13233652e-04 2.40090511e+00] [ 1.22070397e-02 -7.85156605e-04 9.99925183e-01 1.90870492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.58925415399995 meters 0.033150304373702935 Centerline is valid? [True, True] Translation: X:280.94, Y:2.40, Z:1.91 [[ 9.97084291e-01 -7.54527105e-02 -1.13931698e-02 2.80936539e+02] [ 7.54564164e-02 9.97149095e-01 -1.04843911e-04 2.40237153e+00] [ 1.13685997e-02 -7.55149544e-04 9.99935090e-01 1.90982453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.619254154 meters 0.03260521816471707 Centerline is valid? [True, True] Translation: X:280.97, Y:2.40, Z:1.91 [[ 9.97034408e-01 -7.61479162e-02 -1.11302983e-02 2.80969106e+02] [ 7.61515024e-02 9.97096253e-01 -1.01870021e-04 2.40420699e+00] [ 1.11057359e-02 -7.46021023e-04 9.99938051e-01 1.91004925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.64925415399995 meters 0.03267883395220052 Centerline is valid? [True, True] Translation: X:281.00, Y:2.41, Z:1.91 [[ 9.96992960e-01 -7.66739960e-02 -1.12310323e-02 2.81000778e+02] [ 7.66776890e-02 9.97055927e-01 -1.02038168e-04 2.40572839e+00] [ 1.12057910e-02 -7.59438264e-04 9.99936925e-01 1.91016783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.679254154 meters 0.030681669356344678 Centerline is valid? [True, True] Translation: X:281.03, Y:2.41, Z:1.91 [[ 9.96939409e-01 -7.72225531e-02 -1.21857377e-02 2.81032454e+02] [ 7.72269503e-02 9.97013534e-01 -1.09995169e-04 2.41156767e+00] [ 1.21578395e-02 -8.31408843e-04 9.99925745e-01 1.91045264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.70925415399995 meters 0.03166352707556651 Centerline is valid? [True, True] Translation: X:281.06, Y:2.41, Z:1.91 [[ 9.96936960e-01 -7.71327912e-02 -1.29317585e-02 2.81064263e+02] [ 7.71377486e-02 9.97020438e-01 -1.15744196e-04 2.41160715e+00] [ 1.29021552e-02 -8.82137068e-04 9.99916375e-01 1.90990533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.739254154 meters 0.03155904394173712 Centerline is valid? [True, True] Translation: X:281.10, Y:2.41, Z:1.91 [[ 9.96959536e-01 -7.66968181e-02 -1.37580039e-02 2.81096064e+02] [ 7.67024044e-02 9.97054024e-01 -1.21933194e-04 2.41462773e+00] [ 1.37268250e-02 -9.33709516e-04 9.99905347e-01 1.90967526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.76925415399995 meters 0.03116537163729209 Centerline is valid? [True, True] Translation: X:281.13, Y:2.42, Z:1.91 [[ 9.96993010e-01 -7.62004146e-02 -1.40867170e-02 2.81128282e+02] [ 7.62062368e-02 9.97092069e-01 -1.23778443e-04 2.41726664e+00] [ 1.40551858e-02 -9.50089449e-04 9.99900770e-01 1.91014252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.799254154 meters 0.03603955314713985 Centerline is valid? [True, True] Translation: X:281.16, Y:2.41, Z:1.91 [[ 9.97032603e-01 -7.56198811e-02 -1.44091185e-02 2.81160053e+02] [ 7.56259282e-02 9.97136251e-01 -1.25523215e-04 2.41299601e+00] [ 1.43773464e-02 -9.64552223e-04 9.99896175e-01 1.90996670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.82925415399995 meters 0.03138904631637596 Centerline is valid? [True, True] Translation: X:281.19, Y:2.42, Z:1.91 [[ 9.97105316e-01 -7.45684112e-02 -1.48506051e-02 2.81192375e+02] [ 7.45747351e-02 9.97215419e-01 -1.28250044e-04 2.42124789e+00] [ 1.48188158e-02 -9.79601142e-04 9.99889715e-01 1.91104151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.859254154 meters 0.030014071780947678 Centerline is valid? [True, True] Translation: X:281.22, Y:2.43, Z:1.91 [[ 9.97335248e-01 -7.13148002e-02 -1.53819129e-02 2.81223161e+02] [ 7.13212099e-02 9.97453391e-01 -1.32149332e-04 2.42740988e+00] [ 1.53521654e-02 -9.65259456e-04 9.99881683e-01 1.91142694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.88925415399996 meters 0.028576587321179604 Centerline is valid? [True, True] Translation: X:281.25, Y:2.43, Z:1.91 [[ 9.97520089e-01 -6.86538428e-02 -1.55023064e-02 2.81254451e+02] [ 6.86600401e-02 9.97640106e-01 -1.32734237e-04 2.43149878e+00] [ 1.54748353e-02 -9.31983913e-04 9.99879823e-01 1.91179466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.919254154 meters 0.029444026013605146 Centerline is valid? [True, True] Translation: X:281.28, Y:2.43, Z:1.91 [[ 9.97748363e-01 -6.52587041e-02 -1.54759882e-02 2.81284258e+02] [ 6.52644773e-02 9.97867993e-01 -1.32250392e-04 2.43232958e+00] [ 1.54516237e-02 -8.78079664e-04 9.99880231e-01 1.91145950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.94925415399996 meters 0.024859580474194547 Centerline is valid? [True, True] Translation: X:281.32, Y:2.44, Z:1.91 [[ 9.98295657e-01 -5.62741233e-02 -1.54597821e-02 2.81315181e+02] [ 5.62788117e-02 9.98415083e-01 -1.31972728e-04 2.44367894e+00] [ 1.54427063e-02 -7.38310364e-04 9.99880482e-01 1.91234710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.979254154 meters 0.021814871883569148 Centerline is valid? [True, True] Translation: X:281.35, Y:2.45, Z:1.91 [[ 9.98587326e-01 -5.09608576e-02 -1.50447133e-02 2.81345484e+02] [ 5.09646972e-02 9.98700447e-01 -1.28320325e-04 2.45139185e+00] [ 1.50317012e-02 -6.38610206e-04 9.99886814e-01 1.91329527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.00925415399996 meters 0.021814871883569148 Centerline is valid? [True, True] Translation: X:281.38, Y:2.45, Z:1.91 [[ 9.98591112e-01 -5.08866154e-02 -1.50447184e-02 2.81377202e+02] [ 5.08904557e-02 9.98704233e-01 -1.27717722e-04 2.45160316e+00] [ 1.50317231e-02 -6.38094793e-04 9.99886814e-01 1.91351508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.039254154 meters 0.02234437041061397 Centerline is valid? [True, True] Translation: X:281.41, Y:2.45, Z:1.91 [[ 9.98860643e-01 -4.53139790e-02 -1.49686180e-02 2.81407030e+02] [ 4.53171633e-02 9.98972642e-01 -1.26559131e-04 2.45379519e+00] [ 1.49589747e-02 -5.51920370e-04 9.99887956e-01 1.91327781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.06925415399996 meters 0.018724957194507515 Centerline is valid? [True, True] Translation: X:281.44, Y:2.46, Z:1.91 [[ 9.99087645e-01 -4.02016327e-02 -1.44120154e-02 2.81437268e+02] [ 4.02040532e-02 9.99191483e-01 -1.21853076e-04 2.46243155e+00] [ 1.44052618e-02 -4.57679531e-04 9.99896134e-01 1.91497794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.099254154 meters 0.016209606739350648 Centerline is valid? [True, True] Translation: X:281.47, Y:2.47, Z:1.92 [[ 9.99433993e-01 -3.09059157e-02 -1.32859854e-02 2.81467936e+02] [ 3.09071525e-02 9.99522254e-01 -1.12269536e-04 2.47094752e+00] [ 1.32831079e-02 -2.98425988e-04 9.99911731e-01 1.91668239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.12925415399997 meters 0.01579150449542621 Centerline is valid? [True, True] Translation: X:281.50, Y:2.47, Z:1.92 [[ 9.99534661e-01 -2.76611065e-02 -1.28578622e-02 2.81499861e+02] [ 2.76620016e-02 9.99617328e-01 -1.08259305e-04 2.47376441e+00] [ 1.28559365e-02 -2.47465278e-04 9.99917328e-01 1.91709864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15925415399994 meters 0.015182241250146238 Centerline is valid? [True, True] Translation: X:281.53, Y:2.48, Z:1.92 [[ 9.99646346e-01 -2.35106515e-02 -1.24270655e-02 2.81531343e+02] [ 2.35111740e-02 9.99723569e-01 -1.04063092e-04 2.47745788e+00] [ 1.24260768e-02 -1.88148609e-04 9.99922776e-01 1.91701267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18925415399997 meters 0.0150692993224753 Centerline is valid? [True, True] Translation: X:281.56, Y:2.48, Z:1.92 [[ 9.99669698e-01 -2.25018957e-02 -1.24161327e-02 2.81563029e+02] [ 2.25023451e-02 9.99746785e-01 -1.03518340e-04 2.47858338e+00] [ 1.24153181e-02 -1.75907956e-04 9.99922911e-01 1.91726993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21925415399994 meters 0.015032682315640575 Centerline is valid? [True, True] Translation: X:281.59, Y:2.48, Z:1.92 [[ 9.99678219e-01 -2.21702455e-02 -1.23263608e-02 2.81593137e+02] [ 2.21706676e-02 9.99754195e-01 -1.02420857e-04 2.47869630e+00] [ 1.23256016e-02 -1.70895749e-04 9.99924022e-01 1.91725369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24925415399997 meters 0.015380759094860273 Centerline is valid? [True, True] Translation: X:281.62, Y:2.48, Z:1.92 [[ 9.99654395e-01 -2.27541939e-02 -1.31657478e-02 2.81623864e+02] [ 2.27547293e-02 9.99741072e-01 -1.09150472e-04 2.47748297e+00] [ 1.31648224e-02 -1.90470277e-04 9.99913322e-01 1.91621301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27925415399994 meters 0.015315280620065864 Centerline is valid? [True, True] Translation: X:281.65, Y:2.48, Z:1.92 [[ 9.99631752e-01 -2.35146285e-02 -1.35433465e-02 2.81654009e+02] [ 2.35152665e-02 9.99723472e-01 -1.12154200e-04 2.47750515e+00] [ 1.35422387e-02 -2.06362504e-04 9.99908278e-01 1.91608293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.309254154 meters 0.015504087331485587 Centerline is valid? [True, True] Translation: X:281.68, Y:2.48, Z:1.92 [[ 9.99600459e-01 -2.45517755e-02 -1.40047555e-02 2.81684191e+02] [ 2.45525595e-02 9.99698534e-01 -1.15975187e-04 2.47650911e+00] [ 1.40033810e-02 -2.27923743e-04 9.99901922e-01 1.91585048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.33925415399995 meters 0.015724001484660705 Centerline is valid? [True, True] Translation: X:281.71, Y:2.48, Z:1.92 [[ 9.99577019e-01 -2.54094632e-02 -1.41471574e-02 2.81713441e+02] [ 2.54103473e-02 9.99677098e-01 -1.17286764e-04 2.47530178e+00] [ 1.41455695e-02 -2.42247030e-04 9.99899917e-01 1.91569882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.369254154 meters 0.016034138366597353 Centerline is valid? [True, True] Translation: X:281.74, Y:2.47, Z:1.92 [[ 9.99548093e-01 -2.65360177e-02 -1.41226372e-02 2.81743419e+02] [ 2.65370148e-02 9.99647825e-01 -1.16823158e-04 2.47359192e+00] [ 1.41207636e-02 -2.58002268e-04 9.99900264e-01 1.91613137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.39925415399995 meters 0.016176668798096566 Centerline is valid? [True, True] Translation: X:281.77, Y:2.47, Z:1.92 [[ 9.99528656e-01 -2.71667115e-02 -1.42981243e-02 2.81773675e+02] [ 2.71678034e-02 9.99630880e-01 -1.17897247e-04 2.47328181e+00] [ 1.42960494e-02 -2.70606952e-04 9.99897770e-01 1.91647652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.429254154 meters 0.01619467703625014 Centerline is valid? [True, True] Translation: X:281.80, Y:2.47, Z:1.92 [[ 9.99516472e-01 -2.75843181e-02 -1.43501778e-02 2.81803958e+02] [ 2.75854610e-02 9.99619442e-01 -1.18326462e-04 2.47267399e+00] [ 1.43479807e-02 -2.77587023e-04 9.99897024e-01 1.91662565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.45925415399995 meters 0.01627393328097121 Centerline is valid? [True, True] Translation: X:281.83, Y:2.47, Z:1.92 [[ 9.99488180e-01 -2.84892279e-02 -1.45513546e-02 2.81834194e+02] [ 2.84904990e-02 9.99594056e-01 -1.19985294e-04 2.47010677e+00] [ 1.45488658e-02 -2.94651469e-04 9.99894116e-01 1.91652612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.489254154 meters 0.018367838598044674 Centerline is valid? [True, True] Translation: X:281.86, Y:2.47, Z:1.92 [[ 9.99474530e-01 -2.89216511e-02 -1.46356709e-02 2.81864584e+02] [ 2.89229853e-02 9.99581636e-01 -1.20540260e-04 2.46653601e+00] [ 1.46330341e-02 -3.02830376e-04 9.99892886e-01 1.91525148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.51925415399995 meters 0.017895123492323403 Centerline is valid? [True, True] Translation: X:281.89, Y:2.46, Z:1.92 [[ 9.99425540e-01 -3.05854582e-02 -1.45986506e-02 2.81894956e+02] [ 3.05869649e-02 9.99532102e-01 -1.20109550e-04 2.46485254e+00] [ 1.45954935e-02 -3.26487860e-04 9.99893427e-01 1.91612764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.549254154 meters 0.017208827577838245 Centerline is valid? [True, True] Translation: X:281.93, Y:2.46, Z:1.92 [[ 9.99330603e-01 -3.36075978e-02 -1.44525025e-02 2.81926106e+02] [ 3.36093943e-02 9.99435038e-01 -1.18629186e-04 2.46353094e+00] [ 1.44483243e-02 -3.67190081e-04 9.99895550e-01 1.91747253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.57925415399995 meters 0.018103632466455008 Centerline is valid? [True, True] Translation: X:281.96, Y:2.46, Z:1.92 [[ 9.99261081e-01 -3.57678643e-02 -1.40695345e-02 2.81956827e+02] [ 3.57697972e-02 9.99360050e-01 -1.14318690e-04 2.46134137e+00] [ 1.40646196e-02 -3.89030176e-04 9.99901013e-01 1.91757844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.609254154 meters 0.01977838656489836 Centerline is valid? [True, True] Translation: X:281.99, Y:2.46, Z:1.92 [[ 9.99070560e-01 -4.05421248e-02 -1.46407697e-02 2.81987772e+02] [ 4.05447455e-02 9.99177717e-01 -1.17893198e-04 2.45731874e+00] [ 1.46335105e-02 -4.75822659e-04 9.99892811e-01 1.91776399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.63925415399996 meters 0.02144735705748156 Centerline is valid? [True, True] Translation: X:282.02, Y:2.45, Z:1.92 [[ 9.98960299e-01 -4.30401252e-02 -1.50289474e-02 2.82018430e+02] [ 4.30431755e-02 9.99073206e-01 -1.20595060e-04 2.45373679e+00] [ 1.50202091e-02 -5.26423946e-04 9.99887052e-01 1.91707707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.669254154 meters 0.022262072503856558 Centerline is valid? [True, True] Translation: X:282.05, Y:2.45, Z:1.92 [[ 9.98832113e-01 -4.57735419e-02 -1.54658791e-02 2.82049556e+02] [ 4.57771080e-02 9.98951671e-01 -1.23537064e-04 2.45179087e+00] [ 1.54553205e-02 -5.84590432e-04 9.99880389e-01 1.91707184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.69925415399996 meters 0.02493299595062411 Centerline is valid? [True, True] Translation: X:282.08, Y:2.45, Z:1.92 [[ 9.98554300e-01 -5.13311681e-02 -1.59505669e-02 2.82079744e+02] [ 5.13356793e-02 9.98681447e-01 -1.26763943e-04 2.44611322e+00] [ 1.59360421e-02 -6.92252505e-04 9.99872774e-01 1.91695699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.729254154 meters 0.02343575180319288 Centerline is valid? [True, True] Translation: X:282.11, Y:2.45, Z:1.92 [[ 9.98411050e-01 -5.39663345e-02 -1.62175658e-02 2.82110852e+02] [ 5.39713553e-02 9.98542476e-01 -1.28237953e-04 2.44787129e+00] [ 1.62008489e-02 -7.47249819e-04 9.99868478e-01 1.91789366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.75925415399996 meters 0.025494412509344682 Centerline is valid? [True, True] Translation: X:282.14, Y:2.44, Z:1.92 [[ 9.98277534e-01 -5.63958261e-02 -1.61702099e-02 2.82141237e+02] [ 5.64011424e-02 9.98408180e-01 -1.27438149e-04 2.44458858e+00] [ 1.61516568e-02 -7.84799670e-04 9.99869245e-01 1.91775577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.789254154 meters 0.026106891663546027 Centerline is valid? [True, True] Translation: X:282.17, Y:2.44, Z:1.92 [[ 9.98160699e-01 -5.84521543e-02 -1.60799689e-02 2.82173656e+02] [ 5.84576903e-02 9.98289879e-01 -1.25932004e-04 2.44377344e+00] [ 1.60598312e-02 -8.14297464e-04 9.99870701e-01 1.91818100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81925415399996 meters 0.027849378669653143 Centerline is valid? [True, True] Translation: X:282.20, Y:2.44, Z:1.92 [[ 9.98012369e-01 -6.09092666e-02 -1.61670077e-02 2.82203408e+02] [ 6.09151925e-02 9.98142937e-01 -1.26104825e-04 2.44112268e+00] [ 1.61446655e-02 -8.58962210e-04 9.99869297e-01 1.91859378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.849254154 meters 0.02740141691471804 Centerline is valid? [True, True] Translation: X:282.24, Y:2.44, Z:1.92 [[ 9.98003153e-01 -6.10755313e-02 -1.61085473e-02 2.82235388e+02] [ 6.10814467e-02 9.98132777e-01 -1.24980883e-04 2.44264431e+00] [ 1.60861024e-02 -8.59202061e-04 9.99870241e-01 1.91903064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87925415399997 meters 0.026435636599163682 Centerline is valid? [True, True] Translation: X:282.27, Y:2.45, Z:1.92 [[ 9.98042922e-01 -6.03619260e-02 -1.63328817e-02 2.82267695e+02] [ 6.03679317e-02 9.98176185e-01 -1.25518913e-04 2.44526448e+00] [ 1.63106701e-02 -8.60709023e-04 9.99866602e-01 1.91989824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90925415399994 meters 0.025994853256569753 Centerline is valid? [True, True] Translation: X:282.30, Y:2.45, Z:1.92 [[ 9.98202334e-01 -5.75706056e-02 -1.66651202e-02 2.82298526e+02] [ 5.75764847e-02 9.98341090e-01 -1.27196204e-04 2.44896501e+00] [ 1.66447971e-02 -8.32551492e-04 9.99861119e-01 1.92027192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93925415399997 meters 0.025049815870414084 Centerline is valid? [True, True] Translation: X:282.33, Y:2.45, Z:1.92 [[ 9.98303307e-01 -5.57617331e-02 -1.67670978e-02 2.82329535e+02] [ 5.57674402e-02 9.98443777e-01 -1.27359478e-04 2.45175596e+00] [ 1.67481063e-02 -8.07914737e-04 9.99859414e-01 1.92088220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96925415399994 meters 0.024365767567501865 Centerline is valid? [True, True] Translation: X:282.36, Y:2.46, Z:1.92 [[ 9.98486611e-01 -5.23097180e-02 -1.69759146e-02 2.82359633e+02] [ 5.23150777e-02 9.98630620e-01 -1.28505210e-04 2.45542959e+00] [ 1.69593902e-02 -7.59785560e-04 9.99855891e-01 1.92080407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99925415399997 meters 0.023658481146326495 Centerline is valid? [True, True] Translation: X:282.39, Y:2.46, Z:1.92 [[ 9.98558982e-01 -5.08469611e-02 -1.71623353e-02 2.82391808e+02] [ 5.08522385e-02 9.98706180e-01 -1.29047165e-04 2.45824200e+00] [ 1.71466920e-02 -7.43881964e-04 9.99852708e-01 1.92126314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.02925415399994 meters 0.022260904597372237 Centerline is valid? [True, True] Translation: X:282.42, Y:2.46, Z:1.92 [[ 9.98616475e-01 -4.95916322e-02 -1.74873260e-02 2.82424181e+02] [ 4.95969418e-02 9.98769306e-01 -1.30199730e-04 2.46212611e+00] [ 1.74722612e-02 -7.37298294e-04 9.99847077e-01 1.92186917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.059254154 meters 0.0217480204650325 Centerline is valid? [True, True] Translation: X:282.46, Y:2.46, Z:1.92 [[ 9.98674225e-01 -4.84031563e-02 -1.75193269e-02 2.82456820e+02] [ 4.84083290e-02 9.98827621e-01 -1.28946179e-04 2.46441261e+00] [ 1.75050291e-02 -7.19306116e-04 9.99846516e-01 1.92206209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.08925415399995 meters 0.022108939419188664 Centerline is valid? [True, True] Translation: X:282.49, Y:2.47, Z:1.92 [[ 9.98744572e-01 -4.68211332e-02 -1.78062442e-02 2.82486743e+02] [ 4.68262408e-02 9.98903041e-01 -1.30207478e-04 2.46696798e+00] [ 1.77928080e-02 -7.03755469e-04 9.99841448e-01 1.92164286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.119254154 meters 0.02160959239120705 Centerline is valid? [True, True] Translation: X:282.52, Y:2.47, Z:1.92 [[ 9.98788470e-01 -4.58381643e-02 -1.79012785e-02 2.82518119e+02] [ 4.58431784e-02 9.98948640e-01 -1.30375799e-04 2.46918247e+00] [ 1.78884340e-02 -6.90433659e-04 9.99839751e-01 1.92184033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.14925415399995 meters 0.02105870351196582 Centerline is valid? [True, True] Translation: X:282.55, Y:2.47, Z:1.92 [[ 9.98869833e-01 -4.38119619e-02 -1.84273823e-02 2.82549806e+02] [ 4.38169471e-02 9.99039567e-01 -1.33321036e-04 2.47287714e+00] [ 1.84155251e-02 -6.74261276e-04 9.99830192e-01 1.92165262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.179254154 meters 0.02179816516726655 Centerline is valid? [True, True] Translation: X:282.58, Y:2.47, Z:1.92 [[ 9.98926906e-01 -4.24452945e-02 -1.85319781e-02 2.82580405e+02] [ 4.24501125e-02 9.99098579e-01 -1.33489573e-04 2.47318203e+00] [ 1.85209390e-02 -6.53338231e-04 9.99828259e-01 1.92118375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.20925415399995 meters 0.020267780662211847 Centerline is valid? [True, True] Translation: X:282.61, Y:2.48, Z:1.92 [[ 9.98980268e-01 -4.11405285e-02 -1.85978567e-02 2.82611874e+02] [ 4.11451653e-02 9.99153170e-01 -1.33417053e-04 2.47763714e+00] [ 1.85875963e-02 -6.31930883e-04 9.99827036e-01 1.92214271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.239254154 meters 0.019336291585597624 Centerline is valid? [True, True] Translation: X:282.64, Y:2.48, Z:1.92 [[ 9.99029670e-01 -3.97756734e-02 -1.89107056e-02 2.82643575e+02] [ 3.97802363e-02 9.99208444e-01 -1.34967274e-04 2.48118505e+00] [ 1.89011052e-02 -6.17436028e-04 9.99821168e-01 1.92277383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.26925415399995 meters 0.01841104354032245 Centerline is valid? [True, True] Translation: X:282.67, Y:2.49, Z:1.92 [[ 9.99151114e-01 -3.68457369e-02 -1.84239793e-02 2.82674492e+02] [ 3.68495787e-02 9.99320815e-01 -1.31034374e-04 2.48708824e+00] [ 1.84162941e-02 -5.47992736e-04 9.99830256e-01 1.92357561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.299254154 meters 0.018074300240483347 Centerline is valid? [True, True] Translation: X:282.71, Y:2.49, Z:1.92 [[ 9.99224985e-01 -3.51220890e-02 -1.77726583e-02 2.82705318e+02] [ 3.51253937e-02 9.99382905e-01 -1.26278978e-04 2.48951999e+00] [ 1.77661260e-02 -4.98090509e-04 9.99842046e-01 1.92417011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.32925415399995 meters 0.017518865076297036 Centerline is valid? [True, True] Translation: X:282.74, Y:2.49, Z:1.92 [[ 9.99291824e-01 -3.34508941e-02 -1.72304635e-02 2.82735902e+02] [ 3.34537520e-02 9.99440259e-01 -1.22426555e-04 2.49216424e+00] [ 1.72249141e-02 -4.54083796e-04 9.99851537e-01 1.92489755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.359254154 meters 0.017309214042885688 Centerline is valid? [True, True] Translation: X:282.77, Y:2.49, Z:1.93 [[ 9.99370582e-01 -3.15390844e-02 -1.62396181e-02 2.82765897e+02] [ 3.15413707e-02 9.99502441e-01 -1.15386362e-04 2.49402502e+00] [ 1.62351771e-02 -3.96906080e-04 9.99868122e-01 1.92545190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.38925415399996 meters 0.01679047700293739 Centerline is valid? [True, True] Translation: X:282.80, Y:2.50, Z:1.93 [[ 9.99504483e-01 -2.77523986e-02 -1.48523386e-02 2.82795755e+02] [ 2.77538930e-02 9.99614781e-01 -1.05529410e-04 2.49841897e+00] [ 1.48495459e-02 -3.06733098e-04 9.99889692e-01 1.92655171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.419254154 meters 0.015811695436069133 Centerline is valid? [True, True] Translation: X:282.83, Y:2.50, Z:1.93 [[ 9.99563301e-01 -2.59440095e-02 -1.41462246e-02 2.82826678e+02] [ 2.59451860e-02 9.99663362e-01 -1.00377867e-04 2.50239746e+00] [ 1.41440666e-02 -2.66692396e-04 9.99899932e-01 1.92775725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.44925415399996 meters 0.015721637216088578 Centerline is valid? [True, True] Translation: X:282.86, Y:2.50, Z:1.93 [[ 9.99599290e-01 -2.45930327e-02 -1.40157906e-02 2.82857696e+02] [ 2.45940604e-02 9.99697515e-01 -9.90623155e-05 2.50405121e+00] [ 1.40139873e-02 -2.45682581e-04 9.99901769e-01 1.92832855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.479254154 meters 0.015507666037256363 Centerline is valid? [True, True] Translation: X:282.89, Y:2.51, Z:1.93 [[ 9.99638493e-01 -2.32758090e-02 -1.34581123e-02 2.82887577e+02] [ 2.32766420e-02 9.99729058e-01 -9.47545776e-05 2.50576471e+00] [ 1.34566714e-02 -2.18539339e-04 9.99909431e-01 1.92824503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.50925415399996 meters 0.016072388865710826 Centerline is valid? [True, True] Translation: X:282.92, Y:2.50, Z:1.93 [[ 9.99631542e-01 -2.33438185e-02 -1.38508827e-02 2.82917618e+02] [ 2.33447110e-02 9.99727470e-01 -9.72634899e-05 2.50442557e+00] [ 1.38493784e-02 -2.26117200e-04 9.99904067e-01 1.92742030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.539254154 meters 0.016222755594036218 Centerline is valid? [True, True] Translation: X:282.95, Y:2.50, Z:1.93 [[ 9.99609335e-01 -2.40741474e-02 -1.41990385e-02 2.82948467e+02] [ 2.40751608e-02 9.99710146e-01 -9.95796136e-05 2.50390602e+00] [ 1.41973202e-02 -2.42303424e-04 9.99899184e-01 1.92685218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.56925415399996 meters 0.01640743095829661 Centerline is valid? [True, True] Translation: X:282.98, Y:2.50, Z:1.93 [[ 9.99522562e-01 -2.67893042e-02 -1.53942041e-02 2.82978871e+02] [ 2.67908173e-02 9.99641056e-01 -1.07961458e-04 2.50266241e+00] [ 1.53915707e-02 -3.04513398e-04 9.99881496e-01 1.92599827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.599254154 meters 0.017172830757538216 Centerline is valid? [True, True] Translation: X:283.01, Y:2.50, Z:1.93 [[ 9.99468657e-01 -2.86646598e-02 -1.55157991e-02 2.83008784e+02] [ 2.86664228e-02 9.99589028e-01 -1.08814218e-04 2.50070749e+00] [ 1.55125416e-02 -3.36026056e-04 9.99879617e-01 1.92567109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.62925415399997 meters 0.019361830005675696 Centerline is valid? [True, True] Translation: X:283.04, Y:2.50, Z:1.92 [[ 9.99334491e-01 -3.25352052e-02 -1.64935145e-02 2.83039871e+02] [ 3.25377300e-02 9.99470501e-01 -1.15318217e-04 2.49831961e+00] [ 1.64885331e-02 -4.21420049e-04 9.99863966e-01 1.92438286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65925415399994 meters 0.018773754783808876 Centerline is valid? [True, True] Translation: X:283.07, Y:2.50, Z:1.92 [[ 9.99255872e-01 -3.50372283e-02 -1.61274747e-02 2.83069688e+02] [ 3.50399854e-02 9.99385905e-01 -1.11667540e-04 2.49560106e+00] [ 1.61214834e-02 -4.53522034e-04 9.99869938e-01 1.92496266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68925415399997 meters 0.01939811367251346 Centerline is valid? [True, True] Translation: X:283.10, Y:2.49, Z:1.93 [[ 9.99180085e-01 -3.71718416e-02 -1.60440332e-02 2.83100937e+02] [ 3.71748606e-02 9.99308770e-01 -1.10131411e-04 2.49374823e+00] [ 1.60370369e-02 -4.86393586e-04 9.99871280e-01 1.92504196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71925415399994 meters 0.020130557245165295 Centerline is valid? [True, True] Translation: X:283.13, Y:2.49, Z:1.93 [[ 9.99105759e-01 -3.91136031e-02 -1.60564184e-02 2.83133006e+02] [ 3.91168917e-02 9.99234636e-01 -1.09310579e-04 2.49165031e+00] [ 1.60484049e-02 -5.18864350e-04 9.99871081e-01 1.92513001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74925415399997 meters 0.022349033149644103 Centerline is valid? [True, True] Translation: X:283.16, Y:2.49, Z:1.92 [[ 9.98984232e-01 -4.21730649e-02 -1.58725275e-02 2.83164257e+02] [ 4.21766772e-02 9.99110162e-01 -1.07244695e-04 2.48871359e+00] [ 1.58629264e-02 -5.62314709e-04 9.99874018e-01 1.92423727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77925415399994 meters 0.02132839394820832 Centerline is valid? [True, True] Translation: X:283.20, Y:2.49, Z:1.93 [[ 9.98935614e-01 -4.35301485e-02 -1.52566352e-02 2.83196430e+02] [ 4.35336568e-02 9.99051956e-01 -1.02238456e-04 2.48883266e+00] [ 1.52466217e-02 -5.62047486e-04 9.99883606e-01 1.92570312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.809254154 meters 0.022911569733117566 Centerline is valid? [True, True] Translation: X:283.23, Y:2.49, Z:1.93 [[ 9.98894452e-01 -4.46124319e-02 -1.48190804e-02 2.83227966e+02] [ 4.46158743e-02 9.99004211e-01 -9.83891871e-05 2.48628938e+00] [ 1.48087131e-02 -5.62885816e-04 9.99890187e-01 1.92604725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.83925415399995 meters 0.023522487123985806 Centerline is valid? [True, True] Translation: X:283.26, Y:2.49, Z:1.93 [[ 9.98842483e-01 -4.58640426e-02 -1.44977212e-02 2.83260516e+02] [ 4.58674820e-02 9.98947529e-01 -9.53533288e-05 2.48530919e+00] [ 1.44868361e-02 -5.69731013e-04 9.99894898e-01 1.92662476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.869254154 meters 0.021932999209230548 Centerline is valid? [True, True] Translation: X:283.29, Y:2.49, Z:1.93 [[ 9.98831505e-01 -4.62786052e-02 -1.39253532e-02 2.83292338e+02] [ 4.62818322e-02 9.98928418e-01 -9.06060730e-05 2.48761604e+00] [ 1.39146241e-02 -5.53990659e-04 9.99903033e-01 1.92769376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.89925415399995 meters 0.02466485128275004 Centerline is valid? [True, True] Translation: X:283.32, Y:2.48, Z:1.93 [[ 9.98815685e-01 -4.66803122e-02 -1.37176850e-02 2.83323375e+02] [ 4.66834935e-02 9.98909727e-01 -8.83846360e-05 2.48357525e+00] [ 1.37068548e-02 -5.52109499e-04 9.99905904e-01 1.92713758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.929254154 meters 0.02466485128275004 Centerline is valid? [True, True] Translation: X:283.36, Y:2.48, Z:1.93 [[ 9.98818933e-01 -4.66107616e-02 -1.37176905e-02 2.83355090e+02] [ 4.66139479e-02 9.98912975e-01 -8.75340197e-05 2.48371378e+00] [ 1.37068590e-02 -5.52005073e-04 9.99905904e-01 1.92735726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.95925415399995 meters 0.022528051128561283 Centerline is valid? [True, True] Translation: X:283.39, Y:2.49, Z:1.93 [[ 9.98804747e-01 -4.68902810e-02 -1.37977535e-02 2.83387289e+02] [ 4.68935449e-02 9.98899889e-01 -8.70587097e-05 2.48682892e+00] [ 1.37866566e-02 -5.60070920e-04 9.99904803e-01 1.92803055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.989254154 meters 0.023618232879104858 Centerline is valid? [True, True] Translation: X:283.42, Y:2.49, Z:1.93 [[ 9.98815592e-01 -4.66796053e-02 -1.37268770e-02 2.83418964e+02] [ 4.66828278e-02 9.98909759e-01 -8.57393168e-05 2.48540657e+00] [ 1.37159136e-02 -5.55171667e-04 9.99905778e-01 1.92763277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.01925415399995 meters 0.023528749837065172 Centerline is valid? [True, True] Translation: X:283.45, Y:2.49, Z:1.93 [[ 9.98842346e-01 -4.60696208e-02 -1.38404395e-02 2.83450699e+02] [ 4.60728504e-02 9.98938079e-01 -8.55781034e-05 2.48574155e+00] [ 1.38296846e-02 -5.52189465e-04 9.99904213e-01 1.92756132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.049254154 meters 0.02308539001683543 Centerline is valid? [True, True] Translation: X:283.48, Y:2.49, Z:1.93 [[ 9.98928990e-01 -4.39523306e-02 -1.44590961e-02 2.83483381e+02] [ 4.39556510e-02 9.99033479e-01 -8.82262549e-05 2.48694134e+00] [ 1.44489988e-02 -5.47427217e-04 9.99895458e-01 1.92762353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.07925415399995 meters 0.022918169397197267 Centerline is valid? [True, True] Translation: X:283.51, Y:2.49, Z:1.93 [[ 9.99010004e-01 -4.21425849e-02 -1.42482964e-02 2.83514880e+02] [ 4.21456394e-02 9.99111474e-01 -8.59539523e-05 2.48743847e+00] [ 1.42392588e-02 -5.14634704e-04 9.99898484e-01 1.92757022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.109254154 meters 0.019853967608639073 Centerline is valid? [True, True] Translation: X:283.55, Y:2.49, Z:1.93 [[ 9.99172866e-01 -3.80573928e-02 -1.43254442e-02 2.83546339e+02] [ 3.80600702e-02 9.99275449e-01 -8.57824781e-05 2.49311042e+00] [ 1.43183294e-02 -4.59515888e-04 9.99897382e-01 1.92847795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.13925415399996 meters 0.020909096471943823 Centerline is valid? [True, True] Translation: X:283.58, Y:2.49, Z:1.93 [[ 9.99260355e-01 -3.55887953e-02 -1.45664204e-02 2.83577046e+02] [ 3.55913092e-02 9.99366425e-01 -8.66930727e-05 2.49142236e+00] [ 1.45602768e-02 -4.31809024e-04 9.99893900e-01 1.92786987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.169254154 meters 0.02005199832921437 Centerline is valid? [True, True] Translation: X:283.61, Y:2.49, Z:1.93 [[ 9.99361645e-01 -3.27576435e-02 -1.42561816e-02 2.83608853e+02] [ 3.27597725e-02 9.99463251e-01 -8.42267389e-05 2.49344858e+00] [ 1.42512887e-02 -3.82856294e-04 9.99898372e-01 1.92790635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.19925415399996 meters 0.0178361340506094 Centerline is valid? [True, True] Translation: X:283.64, Y:2.50, Z:1.93 [[ 9.99433721e-01 -3.03652922e-02 -1.44978018e-02 2.83640316e+02] [ 3.03672516e-02 9.99538805e-01 -8.50204116e-05 2.49823447e+00] [ 1.44936972e-02 -3.55286130e-04 9.99894898e-01 1.92932016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.229254154 meters 0.016523216865857535 Centerline is valid? [True, True] Translation: X:283.67, Y:2.50, Z:1.93 [[ 9.99551837e-01 -2.59207356e-02 -1.49746599e-02 2.83671851e+02] [ 2.59223358e-02 9.99663956e-01 -8.72648861e-05 2.50190567e+00] [ 1.49718898e-02 -3.00952385e-04 9.99887870e-01 1.92951414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.25925415399996 meters 0.01791463913102553 Centerline is valid? [True, True] Translation: X:283.70, Y:2.50, Z:1.93 [[ 9.99591525e-01 -2.42576885e-02 -1.51111832e-02 2.83702401e+02] [ 2.42591341e-02 9.99705700e-01 -8.76569950e-05 2.49989868e+00] [ 1.51088623e-02 -2.78963030e-04 9.99885816e-01 1.92769794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.289254154 meters 0.016300110123771635 Centerline is valid? [True, True] Translation: X:283.73, Y:2.50, Z:1.93 [[ 9.99609687e-01 -2.31603666e-02 -1.56227515e-02 2.83733200e+02] [ 2.31617798e-02 9.99731726e-01 -9.04954326e-05 2.50397035e+00] [ 1.56206562e-02 -2.71390619e-04 9.99877953e-01 1.92903535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31925415399996 meters 0.016569341391762898 Centerline is valid? [True, True] Translation: X:283.76, Y:2.50, Z:1.93 [[ 9.99603223e-01 -2.24949863e-02 -1.69520416e-02 2.83762941e+02] [ 2.24965516e-02 9.99746916e-01 -9.83751183e-05 2.50328967e+00] [ 1.69499643e-02 -2.83026395e-04 9.99856299e-01 1.92761558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.349254154 meters 0.016483728582942576 Centerline is valid? [True, True] Translation: X:283.79, Y:2.50, Z:1.93 [[ 9.99579786e-01 -2.31807483e-02 -1.74041526e-02 2.83791233e+02] [ 2.31824548e-02 9.99731245e-01 -1.03717965e-04 2.50329692e+00] [ 1.74018794e-02 -2.99796600e-04 9.99848531e-01 1.92766155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37925415399997 meters 0.016901022577479264 Centerline is valid? [True, True] Translation: X:283.82, Y:2.50, Z:1.93 [[ 9.99553192e-01 -2.42145232e-02 -1.75234909e-02 2.83819799e+02] [ 2.42163721e-02 9.99706735e-01 -1.06712619e-04 2.50155084e+00] [ 1.75209358e-02 -3.17690435e-04 9.99846446e-01 1.92737795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40925415399994 meters 0.017093114023560597 Centerline is valid? [True, True] Translation: X:283.85, Y:2.50, Z:1.93 [[ 9.99464256e-01 -2.76403331e-02 -1.75275190e-02 2.83848448e+02] [ 2.76426561e-02 9.99617863e-01 -1.09769573e-04 2.50047477e+00] [ 1.75238552e-02 -3.74796416e-04 9.99846375e-01 1.92886611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43925415399997 meters 0.017235406080429665 Centerline is valid? [True, True] Translation: X:283.88, Y:2.50, Z:1.93 [[ 9.99423971e-01 -2.93851544e-02 -1.69775978e-02 2.83878265e+02] [ 2.93875506e-02 9.99568087e-01 -1.08380193e-04 2.49983148e+00] [ 1.69734498e-02 -3.90612252e-04 9.99855864e-01 1.92979742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46925415399994 meters 0.018343817135325097 Centerline is valid? [True, True] Translation: X:283.91, Y:2.50, Z:1.93 [[ 9.99322721e-01 -3.33439408e-02 -1.55653537e-02 2.83907677e+02] [ 3.33464294e-02 9.99443848e-01 -9.97074540e-05 2.49643400e+00] [ 1.55600216e-02 -4.19409043e-04 9.99878848e-01 1.93091195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49925415399997 meters 0.019016271791851128 Centerline is valid? [True, True] Translation: X:283.94, Y:2.49, Z:1.93 [[ 9.99261047e-01 -3.54473495e-02 -1.48608619e-02 2.83939408e+02] [ 3.54498532e-02 9.99371452e-01 -9.49959724e-05 2.49473449e+00] [ 1.48548885e-02 -4.31889599e-04 9.99889567e-01 1.93139523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.52925415399994 meters 0.020551313664741742 Centerline is valid? [True, True] Translation: X:283.97, Y:2.49, Z:1.93 [[ 9.99195778e-01 -3.74219612e-02 -1.44011562e-02 2.83970323e+02] [ 3.74245265e-02 9.99299453e-01 -9.14163254e-05 2.49159953e+00] [ 1.43944885e-02 -4.47613647e-04 9.99896294e-01 1.93145840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.559254154 meters 0.022592959551189104 Centerline is valid? [True, True] Translation: X:284.00, Y:2.49, Z:1.93 [[ 9.99137475e-01 -3.91223548e-02 -1.39192877e-02 2.84002463e+02] [ 3.91249278e-02 9.99234323e-01 -8.75088305e-05 2.48906144e+00] [ 1.39120536e-02 -4.57157776e-04 9.99903118e-01 1.93063112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.58925415399995 meters 0.022419076040725773 Centerline is valid? [True, True] Translation: X:284.03, Y:2.49, Z:1.93 [[ 9.98955092e-01 -4.37778970e-02 -1.31232684e-02 2.84033322e+02] [ 4.37805927e-02 9.99041167e-01 -8.19366718e-05 2.48659233e+00] [ 1.31142724e-02 -4.92693415e-04 9.99913883e-01 1.93230050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.619254154 meters 0.02300332724990664 Centerline is valid? [True, True] Translation: X:284.07, Y:2.49, Z:1.93 [[ 9.98850177e-01 -4.61396369e-02 -1.30176066e-02 2.84065357e+02] [ 4.61424969e-02 9.98934864e-01 -8.07183180e-05 2.48540753e+00] [ 1.30074654e-02 -5.20039368e-04 9.99915264e-01 1.93287942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.64925415399995 meters 0.024681776093415635 Centerline is valid? [True, True] Translation: X:284.10, Y:2.48, Z:1.93 [[ 9.98729751e-01 -4.87938849e-02 -1.25714551e-02 2.84096815e+02] [ 4.87967746e-02 9.98808725e-01 -7.69574274e-05 2.48236637e+00] [ 1.25602341e-02 -5.36586789e-04 9.99920973e-01 1.93310326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.679254154 meters 0.02721839550049706 Centerline is valid? [True, True] Translation: X:284.13, Y:2.48, Z:1.93 [[ 9.98444707e-01 -5.43041730e-02 -1.26183996e-02 2.84127121e+02] [ 5.43075316e-02 9.98524254e-01 -7.65889121e-05 2.47765621e+00] [ 1.26039372e-02 -6.08804343e-04 9.99920382e-01 1.93331926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.70925415399995 meters 0.028723119566237947 Centerline is valid? [True, True] Translation: X:284.16, Y:2.48, Z:1.93 [[ 9.98295830e-01 -5.68475986e-02 -1.31827704e-02 2.84158085e+02] [ 5.68514873e-02 9.98382643e-01 -7.98771022e-05 2.47526530e+00] [ 1.31659900e-02 -6.69719128e-04 9.99913100e-01 1.93316655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.739254154 meters 0.031165297810572246 Centerline is valid? [True, True] Translation: X:284.19, Y:2.47, Z:1.93 [[ 9.98049010e-01 -6.08786406e-02 -1.38551389e-02 2.84187846e+02] [ 6.08833306e-02 9.98144886e-01 -8.34285264e-05 2.47071706e+00] [ 1.38345150e-02 -7.60281244e-04 9.99904009e-01 1.93256521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.76925415399995 meters 0.033208980941577274 Centerline is valid? [True, True] Translation: X:284.22, Y:2.47, Z:1.93 [[ 9.97985520e-01 -6.19307680e-02 -1.37652083e-02 2.84220074e+02] [ 6.19355090e-02 9.98080150e-01 -8.20205855e-05 2.46782661e+00] [ 1.37438607e-02 -7.70699824e-04 9.99905252e-01 1.93150540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.799254154 meters 0.033602130423468685 Centerline is valid? [True, True] Translation: X:284.25, Y:2.47, Z:1.93 [[ 9.97878421e-01 -6.36159473e-02 -1.38444488e-02 2.84251889e+02] [ 6.36209206e-02 9.97974134e-01 -8.13452413e-05 2.46631278e+00] [ 1.38215767e-02 -7.99623917e-04 9.99904158e-01 1.93243927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.82925415399995 meters 0.034654175693469555 Centerline is valid? [True, True] Translation: X:284.28, Y:2.46, Z:1.93 [[ 9.97810970e-01 -6.46430504e-02 -1.39478786e-02 2.84283856e+02] [ 6.46482143e-02 9.97908113e-01 -8.08006562e-05 2.46482656e+00] [ 1.39239244e-02 -8.21081664e-04 9.99902720e-01 1.93220622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.859254154 meters 0.03154349622494038 Centerline is valid? [True, True] Translation: X:284.32, Y:2.47, Z:1.93 [[ 9.97729052e-01 -6.56223482e-02 -1.51804266e-02 2.84315633e+02] [ 6.56285928e-02 9.97844116e-01 -8.69785524e-05 2.46944115e+00] [ 1.51534071e-02 -9.09489007e-04 9.99884767e-01 1.93239326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.88925415399996 meters 0.03588876610896068 Centerline is valid? [True, True] Translation: X:284.35, Y:2.46, Z:1.93 [[ 9.97728106e-01 -6.55301422e-02 -1.56341502e-02 2.84347186e+02] [ 6.55367677e-02 9.97850151e-01 -8.87277437e-05 2.46370070e+00] [ 1.56063535e-02 -9.36085507e-04 9.99877775e-01 1.93139067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.919254154 meters 0.02860791770134147 Centerline is valid? [True, True] Translation: X:284.38, Y:2.47, Z:1.93 [[ 9.97767978e-01 -6.48513371e-02 -1.59175086e-02 2.84379140e+02] [ 6.48581355e-02 9.97894491e-01 -8.92879278e-05 2.47394329e+00] [ 1.58897846e-02 -9.43291297e-04 9.99873304e-01 1.93275185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.94925415399996 meters 0.027773667006015194 Centerline is valid? [True, True] Translation: X:284.41, Y:2.48, Z:1.93 [[ 9.97862832e-01 -6.32243527e-02 -1.65060709e-02 2.84410233e+02] [ 6.32314563e-02 9.97998885e-01 -9.16955923e-05 2.47586569e+00] [ 1.64788378e-02 -9.52203280e-04 9.99863761e-01 1.93305860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.979254154 meters 0.027156700309221463 Centerline is valid? [True, True] Translation: X:284.44, Y:2.48, Z:1.93 [[ 9.97954511e-01 -6.17309890e-02 -1.66156056e-02 2.84442229e+02] [ 6.17379972e-02 9.98092386e-01 -9.13209372e-05 2.47795173e+00] [ 1.65895468e-02 -9.34680069e-04 9.99861947e-01 1.93346404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.00925415399996 meters 0.03581931512305029 Centerline is valid? [True, True] Translation: X:284.47, Y:2.47, Z:1.93 [[ 9.98068552e-01 -5.97888924e-02 -1.68657665e-02 2.84473041e+02] [ 5.97958518e-02 9.98210623e-01 -9.18021780e-05 2.46727180e+00] [ 1.68410761e-02 -9.16878008e-04 9.99857759e-01 1.93164499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.039254154 meters 0.03505317566635177 Centerline is valid? [True, True] Translation: X:284.50, Y:2.47, Z:1.93 [[ 9.98193506e-01 -5.76959850e-02 -1.67599986e-02 2.84504906e+02] [ 5.77025761e-02 9.98333814e-01 -9.04528142e-05 2.46970362e+00] [ 1.67372921e-02 -8.76805682e-04 9.99859537e-01 1.93204074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.06925415399996 meters 0.032496010773733944 Centerline is valid? [True, True] Translation: X:284.53, Y:2.48, Z:1.93 [[ 9.98513262e-01 -5.20507750e-02 -1.61858899e-02 2.84533987e+02] [ 5.20561854e-02 9.98644154e-01 -8.71512687e-05 2.47553682e+00] [ 1.61684806e-02 -7.55553989e-04 9.99868996e-01 1.93307260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.099254154 meters 0.022512167685603827 Centerline is valid? [True, True] Translation: X:284.57, Y:2.49, Z:1.94 [[ 9.98699690e-01 -4.85623524e-02 -1.55121450e-02 2.84565138e+02] [ 4.85669050e-02 9.98819928e-01 -8.33112657e-05 2.49112745e+00] [ 1.54978854e-02 -6.70173939e-04 9.99879676e-01 1.93616174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.12925415399997 meters 0.021321009818784972 Centerline is valid? [True, True] Translation: X:284.59, Y:2.50, Z:1.94 [[ 9.99045027e-01 -4.12051533e-02 -1.45316590e-02 2.84594635e+02] [ 4.12083728e-02 9.99150571e-01 -7.79314126e-05 2.49599493e+00] [ 1.45225266e-02 -5.20969032e-04 9.99894407e-01 1.93702397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15925415399994 meters 0.01952046857585238 Centerline is valid? [True, True] Translation: X:284.63, Y:2.50, Z:1.94 [[ 9.99200288e-01 -3.73136210e-02 -1.43693322e-02 2.84626281e+02] [ 3.73163718e-02 9.99303499e-01 -7.67278582e-05 2.50070437e+00] [ 1.43621869e-02 -4.59544845e-04 9.99896753e-01 1.93766381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18925415399997 meters 0.01835396626191033 Centerline is valid? [True, True] Translation: X:284.66, Y:2.50, Z:1.94 [[ 9.99339332e-01 -3.33831158e-02 -1.43689828e-02 2.84657989e+02] [ 3.33854724e-02 9.99442547e-01 -7.58991390e-05 2.50447008e+00] [ 1.43635066e-02 -4.03866286e-04 9.99896758e-01 1.93827345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21925415399994 meters 0.01647820893150287 Centerline is valid? [True, True] Translation: X:284.69, Y:2.51, Z:1.94 [[ 9.99554709e-01 -2.61272983e-02 -1.44134723e-02 2.84688734e+02] [ 2.61289230e-02 9.99658579e-01 -7.56151110e-05 2.51054343e+00] [ 1.44105268e-02 -3.01027068e-04 9.99896118e-01 1.93852595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24925415399997 meters 0.016138793585006368 Centerline is valid? [True, True] Translation: X:284.72, Y:2.51, Z:1.94 [[ 9.99627373e-01 -2.30715060e-02 -1.45883873e-02 2.84719424e+02] [ 2.30728469e-02 9.99733784e-01 -7.64048980e-05 2.51269889e+00] [ 1.45862664e-02 -2.60219199e-04 9.99893581e-01 1.93834114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27925415399994 meters 0.015462033412949884 Centerline is valid? [True, True] Translation: X:284.75, Y:2.52, Z:1.94 [[ 9.99670345e-01 -2.06682203e-02 -1.52324167e-02 2.84749484e+02] [ 2.06693934e-02 9.99786362e-01 -8.04307081e-05 2.51528264e+00] [ 1.52308248e-02 -2.34440619e-04 9.99883977e-01 1.93838593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.309254154 meters 0.015106130952853505 Centerline is valid? [True, True] Translation: X:284.78, Y:2.52, Z:1.94 [[ 9.99719914e-01 -1.77332425e-02 -1.56724307e-02 2.84778315e+02] [ 1.77341075e-02 9.99842735e-01 -8.37947722e-05 2.51715500e+00] [ 1.56714520e-02 -1.94165269e-04 9.99877176e-01 1.93793886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.33925415399995 meters 0.015147444895270673 Centerline is valid? [True, True] Translation: X:284.81, Y:2.52, Z:1.94 [[ 9.99737308e-01 -1.69169376e-02 -1.54638901e-02 2.84805681e+02] [ 1.69176644e-02 9.99856883e-01 -8.38228808e-05 2.51749498e+00] [ 1.54630949e-02 -1.77812042e-04 9.99880423e-01 1.93764428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.369254154 meters 0.015023626020922975 Centerline is valid? [True, True] Translation: X:284.83, Y:2.52, Z:1.94 [[ 9.99735290e-01 -1.69466455e-02 -1.55615066e-02 2.84834607e+02] [ 1.69473415e-02 9.99856380e-01 -8.71480445e-05 2.51778408e+00] [ 1.55607486e-02 -1.76601192e-04 9.99878909e-01 1.93798566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.39925415399995 meters 0.015138743435367287 Centerline is valid? [True, True] Translation: X:284.86, Y:2.52, Z:1.94 [[ 9.99722747e-01 -1.78366643e-02 -1.53714689e-02 2.84863278e+02] [ 1.78373900e-02 9.99840897e-01 -8.99054501e-05 2.51724587e+00] [ 1.53706269e-02 -1.84306362e-04 9.99881848e-01 1.93781067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.429254154 meters 0.015228902601374154 Centerline is valid? [True, True] Translation: X:284.89, Y:2.52, Z:1.94 [[ 9.99709636e-01 -1.86499347e-02 -1.52585388e-02 2.84891573e+02] [ 1.86506860e-02 9.99826056e-01 -9.30715318e-05 2.51700185e+00] [ 1.52576205e-02 -1.91537709e-04 9.99883577e-01 1.93784308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.45925415399995 meters 0.015395752525542112 Centerline is valid? [True, True] Translation: X:284.92, Y:2.52, Z:1.94 [[ 9.99679292e-01 -2.07859980e-02 -1.44656531e-02 2.84919917e+02] [ 2.07868451e-02 9.99783926e-01 -9.18131042e-05 2.51528895e+00] [ 1.44644359e-02 -2.08911631e-04 9.99895363e-01 1.93808037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.489254154 meters 0.015768937034962766 Centerline is valid? [True, True] Translation: X:284.95, Y:2.51, Z:1.94 [[ 9.99655847e-01 -2.21129320e-02 -1.41140084e-02 2.84949594e+02] [ 2.21138446e-02 9.99755455e-01 -9.14240815e-05 2.51353501e+00] [ 1.41125786e-02 -2.20722371e-04 9.99900388e-01 1.93813051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.51925415399995 meters 0.015818171050194813 Centerline is valid? [True, True] Translation: X:284.98, Y:2.51, Z:1.94 [[ 9.99627276e-01 -2.37403626e-02 -1.34798073e-02 2.84980114e+02] [ 2.37413413e-02 9.99718131e-01 -8.74347324e-05 2.51307945e+00] [ 1.34780834e-02 -2.32626561e-04 9.99909139e-01 1.93888959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.549254154 meters 0.01675437221264795 Centerline is valid? [True, True] Translation: X:285.01, Y:2.51, Z:1.94 [[ 9.99533921e-01 -2.80318736e-02 -1.20894621e-02 2.85010271e+02] [ 2.80329757e-02 9.99606996e-01 -7.83229452e-05 2.50876434e+00] [ 1.20869064e-02 -2.60617157e-04 9.99926917e-01 1.93931380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.57925415399995 meters 0.01758155484287421 Centerline is valid? [True, True] Translation: X:285.04, Y:2.51, Z:1.94 [[ 9.99457863e-01 -3.08493332e-02 -1.15020845e-02 2.85041564e+02] [ 3.08505205e-02 9.99524007e-01 -7.42332508e-05 2.50620936e+00] [ 1.14988997e-02 -2.80652288e-04 9.99933846e-01 1.93943450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.609254154 meters 0.018567737054330995 Centerline is valid? [True, True] Translation: X:285.07, Y:2.50, Z:1.94 [[ 9.99358969e-01 -3.41152738e-02 -1.08535534e-02 2.85073820e+02] [ 3.41165291e-02 9.99417859e-01 -6.95290899e-05 2.50297219e+00] [ 1.08496072e-02 -3.00801052e-04 9.99941096e-01 1.93972807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.63925415399996 meters 0.019213433305826144 Centerline is valid? [True, True] Translation: X:285.11, Y:2.50, Z:1.94 [[ 9.99223990e-01 -3.80315817e-02 -1.02477830e-02 2.85105327e+02] [ 3.80329125e-02 9.99276485e-01 -6.50550047e-05 2.50060249e+00] [ 1.02428427e-02 -3.24748512e-04 9.99947488e-01 1.93991057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.669254154 meters 0.021628410242521504 Centerline is valid? [True, True] Translation: X:285.14, Y:2.49, Z:1.94 [[ 9.98880857e-01 -4.63022586e-02 -9.65061964e-03 2.85136023e+02] [ 4.63038266e-02 9.98927401e-01 -6.10128921e-05 2.49332683e+00] [ 9.64309343e-03 -3.85916009e-04 9.99953430e-01 1.93931855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.69925415399996 meters 0.02502260424490549 Centerline is valid? [True, True] Translation: X:285.17, Y:2.49, Z:1.94 [[ 9.98697637e-01 -5.01020599e-02 -9.63397914e-03 2.85167078e+02] [ 5.01037997e-02 9.98744014e-01 -6.08277728e-05 2.48922672e+00] [ 9.62492660e-03 -4.21950408e-04 9.99953590e-01 1.93716456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.729254154 meters 0.02472650989774102 Centerline is valid? [True, True] Translation: X:285.20, Y:2.49, Z:1.94 [[ 9.98451776e-01 -5.46864890e-02 -1.01705155e-02 2.85198363e+02] [ 5.46886679e-02 9.98503453e-01 -6.39575221e-05 2.48599722e+00] [ 1.01587925e-02 -4.92353444e-04 9.99948277e-01 1.93896497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.75925415399996 meters 0.027336811194890995 Centerline is valid? [True, True] Translation: X:285.23, Y:2.48, Z:1.94 [[ 9.98043567e-01 -6.17420246e-02 -9.84691042e-03 2.85228977e+02] [ 6.17444122e-02 9.98091992e-01 -6.16419017e-05 2.47976377e+00] [ 9.83192833e-03 -5.46470392e-04 9.99951516e-01 1.93824590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.789254154 meters 0.029268364032435275 Centerline is valid? [True, True] Translation: X:285.26, Y:2.48, Z:1.94 [[ 9.97866112e-01 -6.44634559e-02 -1.03771863e-02 2.85259551e+02] [ 6.44662555e-02 9.97919885e-01 -6.48336083e-05 2.47595003e+00] [ 1.03597800e-02 -6.04283084e-04 9.99946153e-01 1.93784040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81925415399996 meters 0.029268364032435275 Centerline is valid? [True, True] Translation: X:285.29, Y:2.48, Z:1.94 [[ 9.97873221e-01 -6.43533142e-02 -1.03771895e-02 2.85292141e+02] [ 6.43561131e-02 9.97926995e-01 -6.43258905e-05 2.47606134e+00] [ 1.03598171e-02 -6.03646495e-04 9.99946153e-01 1.93806621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.849254154 meters 0.031297274657729406 Centerline is valid? [True, True] Translation: X:285.32, Y:2.47, Z:1.94 [[ 9.97734022e-01 -6.64701283e-02 -1.04184550e-02 2.85322685e+02] [ 6.64730743e-02 9.97788217e-01 -6.36373638e-05 2.47212669e+00] [ 1.03996417e-02 -6.29053574e-04 9.99945724e-01 1.93807065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87925415399997 meters 0.031172134766500634 Centerline is valid? [True, True] Translation: X:285.35, Y:2.47, Z:1.94 [[ 9.97587894e-01 -6.86609947e-02 -1.02010956e-02 2.85354121e+02] [ 6.86639379e-02 9.97639845e-01 -6.18470891e-05 2.47072368e+00] [ 1.01812659e-02 -6.38749489e-04 9.99947966e-01 1.93814412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90925415399994 meters 0.03203527349394671 Centerline is valid? [True, True] Translation: X:285.39, Y:2.47, Z:1.94 [[ 9.97565828e-01 -6.89640166e-02 -1.03142507e-02 2.85386019e+02] [ 6.89670468e-02 9.97618937e-01 -6.20308082e-05 2.46943934e+00] [ 1.02939697e-02 -6.49463599e-04 9.99946805e-01 1.93822247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93925415399997 meters 0.029533955555371267 Centerline is valid? [True, True] Translation: X:285.42, Y:2.47, Z:1.94 [[ 9.97614868e-01 -6.81641516e-02 -1.08730965e-02 2.85417786e+02] [ 6.81674807e-02 9.97673890e-01 -6.45664572e-05 2.47246385e+00] [ 1.08522056e-02 -6.76779136e-04 9.99940884e-01 1.93855893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96925415399994 meters 0.03253501734675535 Centerline is valid? [True, True] Translation: X:285.45, Y:2.47, Z:1.94 [[ 9.97663101e-01 -6.74214566e-02 -1.10762997e-02 2.85448592e+02] [ 6.74248740e-02 9.97724352e-01 -6.50172515e-05 2.46852350e+00] [ 1.10554775e-02 -6.81952800e-04 9.99938654e-01 1.93796251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99925415399997 meters 0.032604942856522996 Centerline is valid? [True, True] Translation: X:285.48, Y:2.47, Z:1.94 [[ 9.97707446e-01 -6.66660237e-02 -1.16401352e-02 2.85480826e+02] [ 6.66697553e-02 9.97775094e-01 -6.75869306e-05 2.46855920e+00] [ 1.16187428e-02 -7.08612983e-04 9.99932249e-01 1.93743987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.02925415399994 meters 0.03253356666518227 Centerline is valid? [True, True] Translation: X:285.51, Y:2.47, Z:1.94 [[ 9.97755260e-01 -6.58103649e-02 -1.23869336e-02 2.85513080e+02] [ 6.58145364e-02 9.97831870e-01 -7.10094595e-05 2.46896716e+00] [ 1.23647503e-02 -7.44390232e-04 9.99923276e-01 1.93717537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.059254154 meters 0.03279759938459021 Centerline is valid? [True, True] Translation: X:285.54, Y:2.47, Z:1.94 [[ 9.97844089e-01 -6.40522409e-02 -1.42997938e-02 2.85543756e+02] [ 6.40576324e-02 9.97946198e-01 -8.11463253e-05 2.46902520e+00] [ 1.42756225e-02 -8.35039555e-04 9.99897749e-01 1.93566633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.08925415399995 meters 0.03258270241387914 Centerline is valid? [True, True] Translation: X:285.58, Y:2.47, Z:1.94 [[ 9.97897334e-01 -6.31219173e-02 -1.47151352e-02 2.85576449e+02] [ 6.31275395e-02 9.98005464e-01 -8.25719036e-05 2.46981711e+00] [ 1.46909974e-02 -8.46531994e-04 9.99891723e-01 1.93528212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.119254154 meters 0.028666185635199484 Centerline is valid? [True, True] Translation: X:285.61, Y:2.48, Z:1.94 [[ 9.98014826e-01 -6.09421257e-02 -1.58891465e-02 2.85608276e+02] [ 6.09484237e-02 9.98140913e-01 -8.80186208e-05 2.47664556e+00] [ 1.58649712e-02 -8.80574545e-04 9.99873756e-01 1.93580122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.14925415399995 meters 0.032654108424255056 Centerline is valid? [True, True] Translation: X:285.64, Y:2.47, Z:1.94 [[ 9.98108848e-01 -5.93632551e-02 -1.59602894e-02 2.85638467e+02] [ 5.93694170e-02 9.98236077e-01 -8.78711881e-05 2.47214330e+00] [ 1.59373529e-02 -8.59848063e-04 9.99872623e-01 1.93500703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.179254154 meters 0.028373507063984994 Centerline is valid? [True, True] Translation: X:285.67, Y:2.48, Z:1.94 [[ 9.98219759e-01 -5.74683190e-02 -1.59594615e-02 2.85669463e+02] [ 5.74742459e-02 9.98346985e-01 -8.74168719e-05 2.47983078e+00] [ 1.59381039e-02 -8.29996763e-04 9.99872636e-01 1.93581462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.20925415399995 meters 0.02436857692876737 Centerline is valid? [True, True] Translation: X:285.70, Y:2.49, Z:1.94 [[ 9.98516854e-01 -5.22588283e-02 -1.52678395e-02 2.85700276e+02] [ 5.22636494e-02 9.98633318e-01 -8.33300942e-05 2.48756762e+00] [ 1.52513279e-02 -7.14746507e-04 9.99883436e-01 1.93846121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.239254154 meters 0.02314673187623823 Centerline is valid? [True, True] Translation: X:285.73, Y:2.49, Z:1.94 [[ 9.98696843e-01 -4.89170456e-02 -1.45512422e-02 2.85731504e+02] [ 4.89210755e-02 9.98802644e-01 -7.90904464e-05 2.49081936e+00] [ 1.45376880e-02 -6.32875037e-04 9.99894122e-01 1.93945626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.26925415399995 meters 0.02549363548166121 Centerline is valid? [True, True] Translation: X:285.76, Y:2.49, Z:1.94 [[ 9.98900996e-01 -4.46632798e-02 -1.42123656e-02 2.85760949e+02] [ 4.46666960e-02 9.99001942e-01 -7.71310747e-05 2.48985332e+00] [ 1.42016257e-02 -5.57773104e-04 9.99898996e-01 1.93799295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.299254154 meters 0.0186499032080271 Centerline is valid? [True, True] Translation: X:285.79, Y:2.50, Z:1.94 [[ 9.99230108e-01 -3.69017647e-02 -1.33211011e-02 2.85791196e+02] [ 3.69040755e-02 9.99318810e-01 -7.23842188e-05 2.50309925e+00] [ 1.33146980e-02 -4.19274429e-04 9.99911268e-01 1.94177619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.32925415399995 meters 0.017873170997511414 Centerline is valid? [True, True] Translation: X:285.82, Y:2.51, Z:1.94 [[ 9.99380892e-01 -3.26402054e-02 -1.31320005e-02 2.85821474e+02] [ 3.26420853e-02 9.99467103e-01 -7.12108238e-05 2.50634383e+00] [ 1.31273268e-02 -3.57489145e-04 9.99913769e-01 1.94236237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.359254154 meters 0.017342232083810766 Centerline is valid? [True, True] Translation: X:285.85, Y:2.51, Z:1.94 [[ 9.99511867e-01 -2.84540725e-02 -1.28993499e-02 2.85851657e+02] [ 2.84555411e-02 9.99595057e-01 -6.97132814e-05 2.50913984e+00] [ 1.28961100e-02 -2.97378729e-04 9.99916797e-01 1.94280628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.38925415399996 meters 0.015935837751327276 Centerline is valid? [True, True] Translation: X:285.88, Y:2.51, Z:1.94 [[ 9.99609458e-01 -2.48009746e-02 -1.28780064e-02 2.85882679e+02] [ 2.48021397e-02 9.99692377e-01 -6.92500053e-05 2.51373132e+00] [ 1.28757623e-02 -2.50179155e-04 9.99917073e-01 1.94356655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.419254154 meters 0.015354129117271766 Centerline is valid? [True, True] Translation: X:285.91, Y:2.52, Z:1.94 [[ 9.99706912e-01 -1.97617316e-02 -1.39844281e-02 2.85912712e+02] [ 1.97626166e-02 9.99804698e-01 -7.49188122e-05 2.51776402e+00] [ 1.39831774e-02 -2.01472036e-04 9.99902210e-01 1.94331999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.44925415399996 meters 0.01527067371524439 Centerline is valid? [True, True] Translation: X:285.94, Y:2.52, Z:1.94 [[ 9.99725012e-01 -1.85760349e-02 -1.43118979e-02 2.85942068e+02] [ 1.85768365e-02 9.99827433e-01 -7.69406826e-05 2.51945116e+00] [ 1.43108574e-02 -1.88950262e-04 9.99897577e-01 1.94298179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.479254154 meters 0.015040794440907402 Centerline is valid? [True, True] Translation: X:285.97, Y:2.52, Z:1.94 [[ 9.99719418e-01 -1.80712898e-02 -1.53138274e-02 2.85971734e+02] [ 1.80721396e-02 9.99836682e-01 -8.29051115e-05 2.52093744e+00] [ 1.53128246e-02 -1.93871777e-04 9.99882733e-01 1.94312027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.50925415399996 meters 0.015287504541931559 Centerline is valid? [True, True] Translation: X:286.00, Y:2.52, Z:1.94 [[ 9.99687785e-01 -1.91579975e-02 -1.60406905e-02 2.85999795e+02] [ 1.91590521e-02 9.99816445e-01 -8.79419367e-05 2.52066545e+00] [ 1.60394310e-02 -2.19409945e-04 9.99871336e-01 1.94243210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.539254154 meters 0.01580669838274823 Centerline is valid? [True, True] Translation: X:286.03, Y:2.52, Z:1.94 [[ 9.99663380e-01 -2.04416607e-02 -1.59769955e-02 2.86027920e+02] [ 2.04428475e-02 9.99791019e-01 -8.90449554e-05 2.51942358e+00] [ 1.59754768e-02 -2.37600301e-04 9.99872356e-01 1.94196298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.56925415399996 meters 0.0160316529804001 Centerline is valid? [True, True] Translation: X:286.06, Y:2.52, Z:1.94 [[ 9.99582157e-01 -2.40901634e-02 -1.59742303e-02 2.86056911e+02] [ 2.40917686e-02 9.99709747e-01 -9.19711234e-05 2.51857471e+00] [ 1.59718094e-02 -2.92914767e-04 9.99872400e-01 1.94352128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.599254154 meters 0.016375245291482342 Centerline is valid? [True, True] Translation: X:286.09, Y:2.52, Z:1.94 [[ 9.99531975e-01 -2.59241010e-02 -1.62410336e-02 2.86085992e+02] [ 2.59259703e-02 9.99663861e-01 -9.54774991e-05 2.51714889e+00] [ 1.62380495e-02 -3.25631741e-04 9.99868101e-01 1.94377146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.62925415399997 meters 0.016766403947463746 Centerline is valid? [True, True] Translation: X:286.12, Y:2.52, Z:1.94 [[ 9.99473668e-01 -2.80303203e-02 -1.63305879e-02 2.86116786e+02] [ 2.80324892e-02 9.99607008e-01 -9.61300427e-05 2.51692963e+00] [ 1.63268647e-02 -3.61707582e-04 9.99866642e-01 1.94429603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65925415399994 meters 0.017540108947623208 Centerline is valid? [True, True] Translation: X:286.15, Y:2.52, Z:1.94 [[ 9.99419202e-01 -3.00684877e-02 -1.60357059e-02 2.86146703e+02] [ 3.00708411e-02 9.99547766e-01 -9.43942189e-05 2.51537661e+00] [ 1.60312923e-02 -3.87867768e-04 9.99871415e-01 1.94444017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68925415399997 meters 0.019002012969598296 Centerline is valid? [True, True] Translation: X:286.18, Y:2.51, Z:1.95 [[ 9.99282819e-01 -3.43957849e-02 -1.58359874e-02 2.86176775e+02] [ 3.43986229e-02 9.99408188e-01 -9.32185757e-05 2.51193953e+00] [ 1.58298218e-02 -4.51584438e-04 9.99874599e-01 1.94511359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71925415399994 meters 0.01949556830150238 Centerline is valid? [True, True] Translation: X:286.21, Y:2.51, Z:1.95 [[ 9.99204704e-01 -3.66892042e-02 -1.56160431e-02 2.86208212e+02] [ 3.66922486e-02 9.99326609e-01 -9.16117680e-05 2.51077649e+00] [ 1.56088886e-02 -4.81448826e-04 9.99878058e-01 1.94568239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74925415399997 meters 0.021664844353344447 Centerline is valid? [True, True] Translation: X:286.24, Y:2.51, Z:1.95 [[ 9.99013993e-01 -4.16246207e-02 -1.54412625e-02 2.86238254e+02] [ 4.16281899e-02 9.99133167e-01 -9.03402433e-05 2.50617480e+00] [ 1.54316379e-02 -5.52540640e-04 9.99880773e-01 1.94584995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77925415399994 meters 0.02078770655749761 Centerline is valid? [True, True] Translation: X:286.27, Y:2.51, Z:1.95 [[ 9.98880183e-01 -4.46480557e-02 -1.56503073e-02 2.86269959e+02] [ 4.46521003e-02 9.99002593e-01 -9.10763835e-05 2.50723903e+00] [ 1.56387639e-02 -6.07844695e-04 9.99877522e-01 1.94677143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.809254154 meters 0.02431080080149824 Centerline is valid? [True, True] Translation: X:286.30, Y:2.50, Z:1.95 [[ 9.98732905e-01 -4.77144198e-02 -1.59974761e-02 2.86300125e+02] [ 4.77190475e-02 9.98860793e-01 -9.25341340e-05 2.50116152e+00] [ 1.59836669e-02 -6.70967437e-04 9.99872028e-01 1.94595994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.83925415399995 meters 0.02362113314920446 Centerline is valid? [True, True] Translation: X:286.33, Y:2.50, Z:1.95 [[ 9.98569699e-01 -5.08829826e-02 -1.64158101e-02 2.86331484e+02] [ 5.08882906e-02 9.98704347e-01 -9.44759929e-05 2.50173126e+00] [ 1.63993482e-02 -7.41031653e-04 9.99865247e-01 1.94657106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.869254154 meters 0.02656272027747224 Centerline is valid? [True, True] Translation: X:286.36, Y:2.50, Z:1.95 [[ 9.98238175e-01 -5.69900221e-02 -1.65131280e-02 2.86360981e+02] [ 5.69962284e-02 9.98374389e-01 -9.49244044e-05 2.49628243e+00] [ 1.64916939e-02 -8.46428854e-04 9.99863644e-01 1.94639867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.89925415399995 meters 0.031086852585274057 Centerline is valid? [True, True] Translation: X:286.39, Y:2.49, Z:1.95 [[ 9.98106594e-01 -5.92356031e-02 -1.65641112e-02 2.86390886e+02] [ 5.92421687e-02 9.98243636e-01 -9.44566953e-05 2.48923524e+00] [ 1.65406138e-02 -8.87016019e-04 9.99862801e-01 1.94559116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.929254154 meters 0.028566311518888745 Centerline is valid? [True, True] Translation: X:286.42, Y:2.49, Z:1.95 [[ 9.97988014e-01 -6.11032927e-02 -1.69207487e-02 2.86423322e+02] [ 6.11104347e-02 9.98131006e-01 -9.51296001e-05 2.49283119e+00] [ 1.68949366e-02 -9.39096107e-04 9.99856829e-01 1.94644832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.95925415399995 meters 0.027352352343923275 Centerline is valid? [True, True] Translation: X:286.46, Y:2.50, Z:1.95 [[ 9.97869546e-01 -6.28248293e-02 -1.75900493e-02 2.86455599e+02] [ 6.28328374e-02 9.98024060e-01 -9.75730107e-05 2.49503043e+00] [ 1.75614224e-02 -1.00786757e-03 9.99845278e-01 1.94748833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.989254154 meters 0.0279762578223135 Centerline is valid? [True, True] Translation: X:286.49, Y:2.49, Z:1.95 [[ 9.97858867e-01 -6.29031269e-02 -1.79130899e-02 2.86487894e+02] [ 6.29114685e-02 9.98019107e-01 -9.80231270e-05 2.49494512e+00] [ 1.78837720e-02 -1.02912555e-03 9.99839543e-01 1.94792746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.01925415399995 meters 0.027631280771387035 Centerline is valid? [True, True] Translation: X:286.52, Y:2.50, Z:1.95 [[ 9.97892891e-01 -6.23390478e-02 -1.79894700e-02 2.86519915e+02] [ 6.23473934e-02 9.98054504e-01 -9.71010384e-05 2.49616412e+00] [ 1.79605247e-02 -1.02470013e-03 9.99838172e-01 1.94821811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.049254154 meters 0.030959604390560034 Centerline is valid? [True, True] Translation: X:286.55, Y:2.49, Z:1.95 [[ 9.97968099e-01 -6.12373024e-02 -1.75973152e-02 2.86551277e+02] [ 6.12451366e-02 9.98122750e-01 -9.38875700e-05 2.49231225e+00] [ 1.75700301e-02 -9.84053173e-04 9.99845151e-01 1.94782303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.07925415399995 meters 0.02716413608822355 Centerline is valid? [True, True] Translation: X:286.58, Y:2.50, Z:1.95 [[ 9.98163145e-01 -5.79689487e-02 -1.76050143e-02 2.86581780e+02] [ 5.79762895e-02 9.98317956e-01 -9.35440669e-05 2.49958580e+00] [ 1.75808245e-02 -9.27301165e-04 9.99845015e-01 1.94930136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.109254154 meters 0.03382395171709165 Centerline is valid? [True, True] Translation: X:286.61, Y:2.49, Z:1.95 [[ 9.98290976e-01 -5.55631123e-02 -1.81071266e-02 2.86612498e+02] [ 5.55704906e-02 9.98454762e-01 -9.58063154e-05 2.49139686e+00] [ 1.80844701e-02 -9.10579331e-04 9.99836048e-01 1.94689753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.13925415399996 meters 0.026056937428603513 Centerline is valid? [True, True] Translation: X:286.64, Y:2.50, Z:1.95 [[ 9.98401674e-01 -5.33709121e-02 -1.85914709e-02 2.86643907e+02] [ 5.33783239e-02 9.98574356e-01 -9.76886142e-05 2.50375913e+00] [ 1.85701798e-02 -8.94849080e-04 9.99827159e-01 1.94927237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.169254154 meters 0.025067425647594115 Centerline is valid? [True, True] Translation: X:286.67, Y:2.51, Z:1.95 [[ 9.98642405e-01 -4.77810490e-02 -2.07441134e-02 2.86674807e+02] [ 4.77890845e-02 9.98857443e-01 -1.08473430e-04 2.50928352e+00] [ 2.07255950e-02 -8.83016019e-04 9.99784812e-01 1.94754248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.19925415399996 meters 0.02349310463847026 Centerline is valid? [True, True] Translation: X:286.71, Y:2.51, Z:1.95 [[ 9.98747420e-01 -4.53602109e-02 -2.11196978e-02 2.86706387e+02] [ 4.53680132e-02 9.98970336e-01 -1.09804014e-04 2.51262198e+00] [ 2.11029324e-02 -8.48492254e-04 9.99776948e-01 1.94848598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.229254154 meters 0.021406209723229187 Centerline is valid? [True, True] Translation: X:286.74, Y:2.52, Z:1.95 [[ 9.98851960e-01 -4.24859953e-02 -2.21292168e-02 2.86737791e+02] [ 4.24938754e-02 9.99096721e-01 -1.14235034e-04 2.51765041e+00] [ 2.21140813e-02 -8.26252293e-04 9.99755112e-01 1.94914904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.25925415399996 meters 0.021213167523165655 Centerline is valid? [True, True] Translation: X:286.77, Y:2.52, Z:1.95 [[ 9.99064039e-01 -3.68792182e-02 -2.26046090e-02 2.86767486e+02] [ 3.68860129e-02 9.99319473e-01 -1.16429325e-04 2.52097421e+00] [ 2.25935198e-02 -7.17473547e-04 9.99744476e-01 1.94783083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.289254154 meters 0.01853634419195142 Centerline is valid? [True, True] Translation: X:286.80, Y:2.53, Z:1.95 [[ 9.99159086e-01 -3.40353781e-02 -2.28629302e-02 2.86797518e+02] [ 3.40415786e-02 9.99420411e-01 -1.18052811e-04 2.52716045e+00] [ 2.28536971e-02 -6.60336696e-04 9.99738602e-01 1.94999819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31925415399996 meters 0.019626408006111363 Centerline is valid? [True, True] Translation: X:286.83, Y:2.53, Z:1.95 [[ 9.99248368e-01 -3.11612282e-02 -2.30581011e-02 2.86826507e+02] [ 3.11667471e-02 9.99514192e-01 -1.20071559e-04 2.52661579e+00] [ 2.30506409e-02 -5.98664697e-04 9.99734119e-01 1.94848260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.349254154 meters 0.016645062015223717 Centerline is valid? [True, True] Translation: X:286.86, Y:2.54, Z:1.95 [[ 9.99426758e-01 -2.52259048e-02 -2.25789312e-02 2.86856500e+02] [ 2.52296678e-02 9.99681674e-01 -1.18235301e-04 2.53609296e+00] [ 2.25747263e-02 -4.51491409e-04 9.99745056e-01 1.95205208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37925415399997 meters 0.01619806893623605 Centerline is valid? [True, True] Translation: X:286.88, Y:2.54, Z:1.95 [[ 9.99507317e-01 -2.21756567e-02 -2.22117799e-02 2.86884128e+02] [ 2.21784969e-02 9.99754020e-01 -1.18494853e-04 2.53866551e+00] [ 2.22089440e-02 -3.74187420e-04 9.99753281e-01 1.95271016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40925415399994 meters 0.015655438466699065 Centerline is valid? [True, True] Translation: X:286.91, Y:2.54, Z:1.95 [[ 9.99576785e-01 -1.95080536e-02 -2.15797870e-02 2.86913397e+02] [ 1.95100183e-02 9.99809654e-01 -1.19508157e-04 2.54184399e+00] [ 2.15780107e-02 -3.01564461e-04 9.99767122e-01 1.95389106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43925415399997 meters 0.014975422430916697 Centerline is valid? [True, True] Translation: X:286.94, Y:2.55, Z:1.96 [[ 9.99687683e-01 -1.45969807e-02 -2.02845969e-02 2.86941912e+02] [ 1.45976048e-02 9.99893442e-01 -1.17309584e-04 2.54631249e+00] [ 2.02841478e-02 -1.78833583e-04 9.99794240e-01 1.95584567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46925415399994 meters 0.014804535645755672 Centerline is valid? [True, True] Translation: X:286.97, Y:2.55, Z:1.96 [[ 9.99725341e-01 -1.26365871e-02 -1.97372648e-02 2.86971075e+02] [ 1.26366960e-02 9.99920147e-01 -1.19206107e-04 2.54763883e+00] [ 1.97371951e-02 -1.30240449e-04 9.99805194e-01 1.95640424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49925415399997 meters 0.014748756511361519 Centerline is valid? [True, True] Translation: X:287.00, Y:2.55, Z:1.96 [[ 9.99750640e-01 -1.11905984e-02 -1.93242966e-02 2.86998872e+02] [ 1.11903765e-02 9.99937379e-01 -1.19616413e-04 2.54797802e+00] [ 1.93244251e-02 -9.66595698e-05 9.99813261e-01 1.95626841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.52925415399994 meters 0.014662840923564112 Centerline is valid? [True, True] Translation: X:287.03, Y:2.55, Z:1.96 [[ 9.99759021e-01 -1.06504651e-02 -1.91954938e-02 2.87027122e+02] [ 1.06500652e-02 9.99943279e-01 -1.23059727e-04 2.54810031e+00] [ 1.91957157e-02 -8.14031886e-05 9.99815742e-01 1.95677949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.559254154 meters 0.015328241379368564 Centerline is valid? [True, True] Translation: X:287.06, Y:2.55, Z:1.96 [[ 9.99722701e-01 -1.17588341e-02 -2.04022455e-02 2.87055646e+02] [ 1.17584977e-02 9.99930857e-01 -1.36456670e-04 2.54707400e+00] [ 2.04024394e-02 -1.03480926e-04 9.99791843e-01 1.95684917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.58925415399995 meters 0.014820583714144806 Centerline is valid? [True, True] Translation: X:287.08, Y:2.55, Z:1.96 [[ 9.99693634e-01 -1.34932025e-02 -2.07502041e-02 2.87083720e+02] [ 1.34931503e-02 9.99908953e-01 -1.42526485e-04 2.54589986e+00] [ 2.07502380e-02 -1.37502804e-04 9.99784681e-01 1.95645204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.619254154 meters 0.015418514532494971 Centerline is valid? [True, True] Translation: X:287.11, Y:2.54, Z:1.96 [[ 9.99595895e-01 -1.84925946e-02 -2.15886844e-02 2.87111078e+02] [ 1.84936483e-02 9.99828966e-01 -1.50859413e-04 2.54119114e+00] [ 2.15877818e-02 -2.48455086e-04 9.99766926e-01 1.95513910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.64925415399995 meters 0.01548523017696412 Centerline is valid? [True, True] Translation: X:287.14, Y:2.54, Z:1.96 [[ 9.99523155e-01 -2.18456045e-02 -2.18227497e-02 2.87139939e+02] [ 2.18473805e-02 9.99761305e-01 -1.57056777e-04 2.53869167e+00] [ 2.18209717e-02 -3.19788031e-04 9.99761843e-01 1.95577344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.679254154 meters 0.017830193007156398 Centerline is valid? [True, True] Translation: X:287.17, Y:2.53, Z:1.95 [[ 9.99419522e-01 -2.51212151e-02 -2.30118303e-02 2.87168370e+02] [ 2.51239814e-02 9.99684329e-01 -1.68941099e-04 2.53495565e+00] [ 2.30088101e-02 -4.09305764e-04 9.99735178e-01 1.95464054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.70925415399995 meters 0.01722517078575069 Centerline is valid? [True, True] Translation: X:287.20, Y:2.53, Z:1.96 [[ 9.99237525e-01 -3.21711516e-02 -2.21220553e-02 2.87198349e+02] [ 3.21754085e-02 9.99482224e-01 -1.63574067e-04 2.52946348e+00] [ 2.21158634e-02 -5.48336821e-04 9.99755264e-01 1.95595042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.739254154 meters 0.01722517078575069 Centerline is valid? [True, True] Translation: X:287.23, Y:2.53, Z:1.96 [[ 9.99236335e-01 -3.22081036e-02 -2.21220492e-02 2.87227513e+02] [ 3.22123514e-02 9.99481034e-01 -1.64391805e-04 2.52970878e+00] [ 2.21158634e-02 -5.48336959e-04 9.99755264e-01 1.95615261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.76925415399995 meters 0.02104835697602244 Centerline is valid? [True, True] Translation: X:287.26, Y:2.52, Z:1.95 [[ 9.99129272e-01 -3.56055048e-02 -2.17473215e-02 2.87256436e+02] [ 3.56103907e-02 9.99365736e-01 -1.62674347e-04 2.52186911e+00] [ 2.17393200e-02 -6.11897913e-04 9.99763486e-01 1.95388849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.799254154 meters 0.019301608945230316 Centerline is valid? [True, True] Translation: X:287.29, Y:2.52, Z:1.96 [[ 9.98982178e-01 -3.98312391e-02 -2.11679217e-02 2.87287142e+02] [ 3.98368078e-02 9.99206187e-01 -1.58711394e-04 2.52404641e+00] [ 2.11574400e-02 -6.84712573e-04 9.99775922e-01 1.95747155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.82925415399995 meters 0.020210269309030787 Centerline is valid? [True, True] Translation: X:287.32, Y:2.52, Z:1.96 [[ 9.98935514e-01 -4.08546605e-02 -2.14181287e-02 2.87317925e+02] [ 4.08606022e-02 9.99164844e-01 -1.60323160e-04 2.52239035e+00] [ 2.14067912e-02 -7.15005141e-04 9.99770593e-01 1.95716108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.859254154 meters 0.019731865469538867 Centerline is valid? [True, True] Translation: X:287.35, Y:2.52, Z:1.96 [[ 9.98916169e-01 -4.13096481e-02 -2.14476073e-02 2.87349068e+02] [ 4.13157250e-02 9.99146128e-01 -1.59886166e-04 2.52303174e+00] [ 2.14358987e-02 -7.26410571e-04 9.99769961e-01 1.95772214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.88925415399996 meters 0.020008500502087637 Centerline is valid? [True, True] Translation: X:287.38, Y:2.52, Z:1.96 [[ 9.98921462e-01 -4.10637667e-02 -2.16721207e-02 2.87380387e+02] [ 4.10699309e-02 9.99156262e-01 -1.60767156e-04 2.52276470e+00] [ 2.16604368e-02 -7.29478738e-04 9.99765119e-01 1.95771919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.919254154 meters 0.01963179341995035 Centerline is valid? [True, True] Translation: X:287.41, Y:2.52, Z:1.96 [[ 9.98935831e-01 -4.06440320e-02 -2.18006414e-02 2.87411555e+02] [ 4.06501872e-02 9.99173427e-01 -1.60920072e-04 2.52381389e+00] [ 2.17891620e-02 -7.25451328e-04 9.99762325e-01 1.95804684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.94925415399996 meters 0.02070196374000495 Centerline is valid? [True, True] Translation: X:287.44, Y:2.52, Z:1.96 [[ 9.99022810e-01 -3.83952115e-02 -2.18913791e-02 2.87442046e+02] [ 3.84008903e-02 9.99262401e-01 -1.61061302e-04 2.52205490e+00] [ 2.18814160e-02 -6.79744531e-04 9.99760342e-01 1.95714358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.979254154 meters 0.01845757804759524 Centerline is valid? [True, True] Translation: X:287.47, Y:2.53, Z:1.96 [[ 9.99084581e-01 -3.68783438e-02 -2.16791887e-02 2.87472320e+02] [ 3.68835589e-02 9.99319557e-01 -1.59375088e-04 2.52639502e+00] [ 2.16703148e-02 -6.40376443e-04 9.99764966e-01 1.95932480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.00925415399996 meters 0.019137641822034396 Centerline is valid? [True, True] Translation: X:287.50, Y:2.53, Z:1.96 [[ 9.99149274e-01 -3.51866608e-02 -2.15087923e-02 2.87502020e+02] [ 3.51913969e-02 9.99380578e-01 -1.58387824e-04 2.52606001e+00] [ 2.15010424e-02 -5.98671368e-04 9.99768647e-01 1.95878522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.039254154 meters 0.016989410624266673 Centerline is valid? [True, True] Translation: X:287.53, Y:2.53, Z:1.96 [[ 9.99286104e-01 -3.11323138e-02 -2.14023717e-02 2.87532727e+02] [ 3.11360712e-02 9.99515143e-01 -1.57729659e-04 2.53194711e+00] [ 2.13969050e-02 -5.08768712e-04 9.99770931e-01 1.96043292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.06925415399996 meters 0.01654484317517798 Centerline is valid? [True, True] Translation: X:287.56, Y:2.53, Z:1.96 [[ 9.99337367e-01 -2.91507277e-02 -2.17959037e-02 2.87562326e+02] [ 2.91541418e-02 9.99574915e-01 -1.61172616e-04 2.53373546e+00] [ 2.17913368e-02 -4.74375047e-04 9.99762428e-01 1.96048319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.099254154 meters 0.01805550022608325 Centerline is valid? [True, True] Translation: X:287.59, Y:2.54, Z:1.96 [[ 9.99362709e-01 -2.70230473e-02 -2.33223259e-02 2.87590646e+02] [ 2.70262728e-02 9.99634708e-01 -1.76945039e-04 2.53537792e+00] [ 2.33185880e-02 -4.53483268e-04 9.99727982e-01 1.95977906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.12925415399997 meters 0.015528030236500593 Centerline is valid? [True, True] Translation: X:287.62, Y:2.54, Z:1.96 [[ 9.99475729e-01 -2.32112196e-02 -2.25722672e-02 2.87618164e+02] [ 2.32131828e-02 9.99730522e-01 -1.75075965e-04 2.53869815e+00] [ 2.25702482e-02 -3.48989988e-04 9.99745199e-01 1.95953420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15925415399994 meters 0.015159997062125454 Centerline is valid? [True, True] Translation: X:287.65, Y:2.54, Z:1.96 [[ 9.99506282e-01 -2.12495719e-02 -2.31440812e-02 2.87646553e+02] [ 2.12509930e-02 9.99774155e-01 -1.84571827e-04 2.54052898e+00] [ 2.31427763e-02 -3.07354008e-04 9.99732123e-01 1.95960292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18925415399997 meters 0.014925544985467451 Centerline is valid? [True, True] Translation: X:287.67, Y:2.54, Z:1.96 [[ 9.99534405e-01 -1.95468288e-02 -2.34284989e-02 2.87674859e+02] [ 1.95476778e-02 9.99808907e-01 -1.92799058e-04 2.54257517e+00] [ 2.34277905e-02 -2.65263457e-04 9.99725496e-01 1.95956401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21925415399994 meters 0.014834207732616558 Centerline is valid? [True, True] Translation: X:287.70, Y:2.54, Z:1.96 [[ 9.99564851e-01 -1.77613598e-02 -2.35508693e-02 2.87703066e+02] [ 1.77616456e-02 9.99842230e-01 -1.97061717e-04 2.54459811e+00] [ 2.35506537e-02 -2.21326229e-04 9.99722620e-01 1.95958511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24925415399997 meters 0.014562132503510699 Centerline is valid? [True, True] Translation: X:287.73, Y:2.55, Z:1.96 [[ 9.99605154e-01 -1.48667262e-02 -2.38435823e-02 2.87732018e+02] [ 1.48660796e-02 9.99889473e-01 -2.04381365e-04 2.54789034e+00] [ 2.38439854e-02 -1.50159927e-04 9.99715680e-01 1.96014040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27925415399994 meters 0.014565184395615128 Centerline is valid? [True, True] Translation: X:287.76, Y:2.55, Z:1.96 [[ 9.99616818e-01 -1.41763441e-02 -2.37749636e-02 2.87760377e+02] [ 1.41753479e-02 9.99899503e-01 -2.10441401e-04 2.54922157e+00] [ 2.37755576e-02 -1.26657617e-04 9.99717313e-01 1.96093808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.309254154 meters 0.014469905068558593 Centerline is valid? [True, True] Translation: X:287.79, Y:2.55, Z:1.96 [[ 9.99626026e-01 -1.36470476e-02 -2.36973899e-02 2.87787040e+02] [ 1.36458112e-02 9.99906869e-01 -2.13886304e-04 2.54989235e+00] [ 2.36981018e-02 -1.09563794e-04 9.99719155e-01 1.96071456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.33925415399995 meters 0.016683483875806593 Centerline is valid? [True, True] Translation: X:287.82, Y:2.55, Z:1.96 [[ 9.99597741e-01 -1.33996668e-02 -2.49960901e-02 2.87815601e+02] [ 1.33980774e-02 9.99910215e-01 -2.31069174e-04 2.55019161e+00] [ 2.49969421e-02 -1.03923325e-04 9.99687522e-01 1.95999964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.369254154 meters 0.01424651441198225 Centerline is valid? [True, True] Translation: X:287.84, Y:2.55, Z:1.96 [[ 9.99616316e-01 -1.42523746e-02 -2.37506013e-02 2.87844021e+02] [ 1.42510381e-02 9.99898423e-01 -2.25537061e-04 2.55096502e+00] [ 2.37514033e-02 -1.13020200e-04 9.99717889e-01 1.96165664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.39925415399995 meters 0.015429900861532633 Centerline is valid? [True, True] Translation: X:287.87, Y:2.55, Z:1.96 [[ 9.99590800e-01 -1.51473466e-02 -2.42650118e-02 2.87872492e+02] [ 1.51460635e-02 9.99885264e-01 -2.36676115e-04 2.55082559e+00] [ 2.42658128e-02 -1.30940142e-04 9.99705533e-01 1.96138685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.429254154 meters 0.014405886540662972 Centerline is valid? [True, True] Translation: X:287.90, Y:2.55, Z:1.96 [[ 9.99593357e-01 -1.62890168e-02 -2.34048978e-02 2.87900787e+02] [ 1.62879832e-02 9.99867314e-01 -2.34809102e-04 2.55072876e+00] [ 2.34056171e-02 -1.46504963e-04 9.99726040e-01 1.96206866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.45925415399995 meters 0.014624330709091771 Centerline is valid? [True, True] Translation: X:287.93, Y:2.55, Z:1.96 [[ 9.99560641e-01 -1.88406795e-02 -2.28813096e-02 2.87928712e+02] [ 1.88402818e-02 9.99822479e-01 -2.32975262e-04 2.54879922e+00] [ 2.28816371e-02 -1.98217419e-04 9.99738161e-01 1.96240758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.489254154 meters 0.014770035838476492 Centerline is valid? [True, True] Translation: X:287.96, Y:2.55, Z:1.96 [[ 9.99534692e-01 -2.04950593e-02 -2.25909762e-02 2.87957701e+02] [ 2.04949892e-02 9.99789928e-01 -2.34654870e-04 2.54819929e+00] [ 2.25910397e-02 -2.28456130e-04 9.99744764e-01 1.96322510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.51925415399995 meters 0.015516251617368021 Centerline is valid? [True, True] Translation: X:287.99, Y:2.54, Z:1.96 [[ 9.99482317e-01 -2.34366675e-02 -2.20413613e-02 2.87985397e+02] [ 2.34372474e-02 9.99725283e-01 -2.32050854e-04 2.54460139e+00] [ 2.20407447e-02 -2.84658114e-04 9.99757033e-01 1.96291472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.549254154 meters 0.015839713224201565 Centerline is valid? [True, True] Translation: X:288.01, Y:2.54, Z:1.96 [[ 9.99455374e-01 -2.48509980e-02 -2.17113411e-02 2.88014282e+02] [ 2.48518022e-02 9.99691119e-01 -2.32814011e-04 2.54343118e+00] [ 2.17104206e-02 -3.06878742e-04 9.99764254e-01 1.96355799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.57925415399995 meters 0.015699192541402007 Centerline is valid? [True, True] Translation: X:288.04, Y:2.54, Z:1.97 [[ 9.99430238e-01 -2.65658431e-02 -2.08195867e-02 2.88042462e+02] [ 2.65668350e-02 9.99647013e-01 -2.28992280e-04 2.54392158e+00] [ 2.08183210e-02 -3.24248716e-04 9.99783223e-01 1.96572760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.609254154 meters 0.016759603931835263 Centerline is valid? [True, True] Translation: X:288.07, Y:2.54, Z:1.97 [[ 9.99387863e-01 -2.87652844e-02 -1.99112480e-02 2.88070846e+02] [ 2.87665220e-02 9.99586133e-01 -2.24316819e-04 2.54152841e+00] [ 1.99094599e-02 -3.48597847e-04 9.99801726e-01 1.96653023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.63925415399996 meters 0.018179112034810707 Centerline is valid? [True, True] Translation: X:288.10, Y:2.54, Z:1.97 [[ 9.99366621e-01 -2.94356481e-02 -1.99974694e-02 2.88100607e+02] [ 2.94369850e-02 9.99566612e-01 -2.27567507e-04 2.54031400e+00] [ 1.99955014e-02 -3.61241837e-04 9.99800005e-01 1.96622673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.669254154 meters 0.018198722079613337 Centerline is valid? [True, True] Translation: X:288.13, Y:2.54, Z:1.97 [[ 9.99370146e-01 -2.97557480e-02 -1.93366490e-02 2.88130101e+02] [ 2.97570487e-02 9.99557137e-01 -2.20522227e-04 2.53805257e+00] [ 1.93346473e-02 -3.55018275e-04 9.99813005e-01 1.96572190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.69925415399996 meters 0.01928060465999261 Centerline is valid? [True, True] Translation: X:288.16, Y:2.54, Z:1.97 [[ 9.99398308e-01 -2.96878075e-02 -1.79347874e-02 2.88159742e+02] [ 2.96889062e-02 9.99559166e-01 -2.05052146e-04 2.53606534e+00] [ 1.79329687e-02 -3.27535454e-04 9.99839138e-01 1.96553580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.729254154 meters 0.0197656740095414 Centerline is valid? [True, True] Translation: X:288.19, Y:2.54, Z:1.97 [[ 9.99420008e-01 -2.92742297e-02 -1.73973257e-02 2.88190555e+02] [ 2.92751966e-02 9.99571370e-01 -1.99151168e-04 2.53516572e+00] [ 1.73956987e-02 -3.10274468e-04 9.99848635e-01 1.96555175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.75925415399996 meters 0.019982681198447694 Centerline is valid? [True, True] Translation: X:288.22, Y:2.53, Z:1.97 [[ 9.99455408e-01 -2.85648247e-02 -1.65208590e-02 2.88221157e+02] [ 2.85655997e-02 9.99591902e-01 -1.89118053e-04 2.53488271e+00] [ 1.65195190e-02 -2.82913183e-04 9.99863503e-01 1.96578351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.789254154 meters 0.020198639076578907 Centerline is valid? [True, True] Translation: X:288.25, Y:2.53, Z:1.97 [[ 9.99492505e-01 -2.74990416e-02 -1.60790446e-02 2.88251973e+02] [ 2.74996378e-02 9.99621797e-01 -1.84060503e-04 2.53474502e+00] [ 1.60780249e-02 -2.58200809e-04 9.99870707e-01 1.96556459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81925415399996 meters 0.020387648473255717 Centerline is valid? [True, True] Translation: X:288.28, Y:2.54, Z:1.97 [[ 9.99572255e-01 -2.47531196e-02 -1.55752877e-02 2.88282874e+02] [ 2.47533458e-02 9.99693573e-01 -1.78293882e-04 2.53528103e+00] [ 1.55749283e-02 -2.07322863e-04 9.99878682e-01 1.96543848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.849254154 meters 0.020411160871027078 Centerline is valid? [True, True] Translation: X:288.31, Y:2.54, Z:1.97 [[ 9.99612269e-01 -2.30676094e-02 -1.55947531e-02 2.88312974e+02] [ 2.30676310e-02 9.99733891e-01 -1.78516707e-04 2.53538692e+00] [ 1.55947211e-02 -1.81286518e-04 9.99878379e-01 1.96513171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87925415399997 meters 0.02045926391476854 Centerline is valid? [True, True] Translation: X:288.34, Y:2.53, Z:1.97 [[ 9.99640285e-01 -2.18548480e-02 -1.55456261e-02 2.88342934e+02] [ 2.18547204e-02 9.99761141e-01 -1.78111576e-04 2.53499424e+00] [ 1.55458055e-02 -1.61697806e-04 9.99879144e-01 1.96522615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90925415399994 meters 0.020139434938962388 Centerline is valid? [True, True] Translation: X:288.37, Y:2.53, Z:1.97 [[ 9.99710034e-01 -1.90885420e-02 -1.46790539e-02 2.88372333e+02] [ 1.90881242e-02 9.99817791e-01 -1.68583482e-04 2.53355895e+00] [ 1.46795972e-02 -1.11661005e-04 9.99892243e-01 1.96523677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93925415399997 meters 0.020174167565834063 Centerline is valid? [True, True] Translation: X:288.40, Y:2.53, Z:1.97 [[ 9.99732149e-01 -1.81527892e-02 -1.43563999e-02 2.88401577e+02] [ 1.81522638e-02 9.99835220e-01 -1.66916433e-04 2.53312309e+00] [ 1.43570643e-02 -9.37294340e-05 9.99896928e-01 1.96551558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96925415399994 meters 0.020138658743103065 Centerline is valid? [True, True] Translation: X:288.43, Y:2.53, Z:1.97 [[ 9.99753752e-01 -1.72847856e-02 -1.39166173e-02 2.88430350e+02] [ 1.72841799e-02 9.99850604e-01 -1.63809985e-04 2.53222784e+00] [ 1.39173697e-02 -7.67676699e-05 9.99903146e-01 1.96576576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99925415399997 meters 0.020049450335167477 Centerline is valid? [True, True] Translation: X:288.46, Y:2.53, Z:1.97 [[ 9.99768231e-01 -1.67410774e-02 -1.35358957e-02 2.88459484e+02] [ 1.67404267e-02 9.99859856e-01 -1.61383349e-04 2.53001103e+00] [ 1.35367005e-02 -6.52507248e-05 9.99908373e-01 1.96558961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.02925415399994 meters 0.020220837106988847 Centerline is valid? [True, True] Translation: X:288.49, Y:2.53, Z:1.97 [[ 9.99756661e-01 -1.69442327e-02 -1.41248712e-02 2.88487720e+02] [ 1.69435111e-02 9.99856434e-01 -1.70763828e-04 2.52836711e+00] [ 1.41257368e-02 -6.86026371e-05 9.99900224e-01 1.96530267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.059254154 meters 0.020112333270319797 Centerline is valid? [True, True] Translation: X:288.52, Y:2.53, Z:1.96 [[ 9.99731679e-01 -1.80371080e-02 -1.45338821e-02 2.88516055e+02] [ 1.80364240e-02 9.99837315e-01 -1.78151778e-04 2.52615084e+00] [ 1.45347310e-02 -8.40352833e-05 9.99894362e-01 1.96496744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.08925415399995 meters 0.020159394120880792 Centerline is valid? [True, True] Translation: X:288.54, Y:2.52, Z:1.96 [[ 9.99663836e-01 -2.11859243e-02 -1.49456489e-02 2.88544539e+02] [ 2.11854947e-02 9.99775545e-01 -1.87079351e-04 2.52006896e+00] [ 1.49462578e-02 -1.29614505e-04 9.99888290e-01 1.96406549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.119254154 meters 0.020277234598729488 Centerline is valid? [True, True] Translation: X:288.57, Y:2.52, Z:1.96 [[ 9.99622165e-01 -2.29140125e-02 -1.51813903e-02 2.88573199e+02] [ 2.29137341e-02 9.99737427e-01 -1.92301064e-04 2.51578746e+00] [ 1.51818105e-02 -1.55633935e-04 9.99884738e-01 1.96325131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.14925415399995 meters 0.020922818646052787 Centerline is valid? [True, True] Translation: X:288.60, Y:2.51, Z:1.96 [[ 9.99546155e-01 -2.61404297e-02 -1.49720272e-02 2.88602545e+02] [ 2.61405107e-02 9.99658260e-01 -1.90322280e-04 2.51077621e+00] [ 1.49718858e-02 -2.01140534e-04 9.99887895e-01 1.96465751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.179254154 meters 0.02230712043180484 Centerline is valid? [True, True] Translation: X:288.63, Y:2.51, Z:1.96 [[ 9.99510040e-01 -2.76220467e-02 -1.47208274e-02 2.88631685e+02] [ 2.76222798e-02 9.99618414e-01 -1.87524926e-04 2.50707948e+00] [ 1.47203900e-02 -2.19189767e-04 9.99891625e-01 1.96457533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.20925415399995 meters 0.020683577180094986 Centerline is valid? [True, True] Translation: X:288.66, Y:2.51, Z:1.97 [[ 9.99481509e-01 -2.88073416e-02 -1.43823011e-02 2.88662325e+02] [ 2.88076850e-02 9.99584956e-01 -1.83336992e-04 2.50603108e+00] [ 1.43816133e-02 -2.31078867e-04 9.99896553e-01 1.96612607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.239254154 meters 0.020563816367117915 Centerline is valid? [True, True] Translation: X:288.69, Y:2.50, Z:1.97 [[ 9.99459683e-01 -2.95339199e-02 -1.44252890e-02 2.88693171e+02] [ 2.95343411e-02 9.99563749e-01 -1.83884975e-04 2.50382398e+00] [ 1.44244268e-02 -2.42255786e-04 9.99895933e-01 1.96648106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.26925415399995 meters 0.02211493822893578 Centerline is valid? [True, True] Translation: X:288.72, Y:2.50, Z:1.97 [[ 9.99446137e-01 -3.01056571e-02 -1.41798749e-02 2.88723537e+02] [ 3.01061234e-02 9.99546692e-01 -1.80625385e-04 2.50106773e+00] [ 1.41788849e-02 -2.46375721e-04 9.99899444e-01 1.96605734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.299254154 meters 0.020642547785155393 Centerline is valid? [True, True] Translation: X:288.76, Y:2.50, Z:1.97 [[ 9.99436123e-01 -3.07401167e-02 -1.35085390e-02 2.88755036e+02] [ 3.07406027e-02 9.99527381e-01 -1.71709546e-04 2.49787318e+00] [ 1.35074330e-02 -2.43647909e-04 9.99908741e-01 1.96670135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.32925415399995 meters 0.02081853900357794 Centerline is valid? [True, True] Translation: X:288.78, Y:2.49, Z:1.97 [[ 9.99444078e-01 -3.07476510e-02 -1.28886626e-02 2.88784976e+02] [ 3.07480986e-02 9.99527152e-01 -1.63474167e-04 2.49497521e+00] [ 1.28875946e-02 -2.32918579e-04 9.99916924e-01 1.96651567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.359254154 meters 0.020721957287707798 Centerline is valid? [True, True] Translation: X:288.82, Y:2.49, Z:1.97 [[ 9.99446805e-01 -3.06921179e-02 -1.28092991e-02 2.88816257e+02] [ 3.06925599e-02 9.99528859e-01 -1.62124618e-04 2.49344566e+00] [ 1.28082400e-02 -2.31115248e-04 9.99917944e-01 1.96702271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.38925415399996 meters 0.020611122071832647 Centerline is valid? [True, True] Translation: X:288.85, Y:2.49, Z:1.97 [[ 9.99462939e-01 -3.03328111e-02 -1.23997718e-02 2.88847177e+02] [ 3.03332032e-02 9.99539830e-01 -1.56491895e-04 2.49210589e+00] [ 1.23988127e-02 -2.19716950e-04 9.99923108e-01 1.96750438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.419254154 meters 0.020411044249889744 Centerline is valid? [True, True] Translation: X:288.88, Y:2.49, Z:1.97 [[ 9.99492031e-01 -2.95319807e-02 -1.19808634e-02 2.88877252e+02] [ 2.95322933e-02 9.99563815e-01 -1.50863317e-04 2.48885543e+00] [ 1.19800928e-02 -2.03035689e-04 9.99928215e-01 1.96792685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.44925415399996 meters 0.020212942782228766 Centerline is valid? [True, True] Translation: X:288.91, Y:2.49, Z:1.97 [[ 9.99511133e-01 -2.88485351e-02 -1.20522360e-02 2.88908480e+02] [ 2.88488056e-02 9.99583775e-01 -1.51444471e-04 2.48779525e+00] [ 1.20515885e-02 -1.96322178e-04 9.99927358e-01 1.96802515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.479254154 meters 0.02045858443740595 Centerline is valid? [True, True] Translation: X:288.94, Y:2.48, Z:1.97 [[ 9.99550377e-01 -2.74551666e-02 -1.20522534e-02 2.88939275e+02] [ 2.74553401e-02 9.99623020e-01 -1.51094844e-04 2.48342106e+00] [ 1.20518582e-02 -1.79871807e-04 9.99927358e-01 1.96709400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.50925415399996 meters 0.020029851780995218 Centerline is valid? [True, True] Translation: X:288.97, Y:2.48, Z:1.97 [[ 9.99559536e-01 -2.70341475e-02 -1.22429240e-02 2.88970587e+02] [ 2.70342989e-02 9.99634495e-01 -1.53162838e-04 2.48375567e+00] [ 1.22425897e-02 -1.77883490e-04 9.99925041e-01 1.96791556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.539254154 meters 0.019908451471768077 Centerline is valid? [True, True] Translation: X:289.00, Y:2.48, Z:1.97 [[ 9.99572895e-01 -2.67096399e-02 -1.18584151e-02 2.89000770e+02] [ 2.67097620e-02 9.99643220e-01 -1.48108231e-04 2.48322673e+00] [ 1.18581402e-02 -1.68690471e-04 9.99929676e-01 1.96822239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.56925415399996 meters 0.019877990500035615 Centerline is valid? [True, True] Translation: X:289.03, Y:2.48, Z:1.97 [[ 9.99579341e-01 -2.65021146e-02 -1.17804806e-02 2.89030909e+02] [ 2.65022217e-02 9.99648744e-01 -1.47045162e-04 2.48135853e+00] [ 1.17802396e-02 -1.65225601e-04 9.99930597e-01 1.96805068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.599254154 meters 0.019795310336902277 Centerline is valid? [True, True] Translation: X:289.06, Y:2.48, Z:1.97 [[ 9.99578781e-01 -2.64646139e-02 -1.19115190e-02 2.89061509e+02] [ 2.64647222e-02 9.99649737e-01 -1.48551278e-04 2.47848792e+00] [ 1.19112781e-02 -1.66746335e-04 9.99929044e-01 1.96805729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.62925415399997 meters 0.019795310336902277 Centerline is valid? [True, True] Translation: X:289.09, Y:2.48, Z:1.97 [[ 9.99578781e-01 -2.64646139e-02 -1.19115190e-02 2.89091509e+02] [ 2.64647222e-02 9.99649737e-01 -1.48551278e-04 2.47886206e+00] [ 1.19112781e-02 -1.66746335e-04 9.99929044e-01 1.96826520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65925415399994 meters 0.019766163444677718 Centerline is valid? [True, True] Translation: X:289.12, Y:2.48, Z:1.97 [[ 9.99563379e-01 -2.69615726e-02 -1.20882563e-02 2.89122232e+02] [ 2.69617206e-02 9.99636455e-01 -1.50755409e-04 2.47733269e+00] [ 1.20879262e-02 -1.75230602e-04 9.99926923e-01 1.96807600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68925415399997 meters 0.019856784660296084 Centerline is valid? [True, True] Translation: X:289.15, Y:2.48, Z:1.97 [[ 9.99542474e-01 -2.75202209e-02 -1.25491118e-02 2.89152386e+02] [ 2.75204244e-02 9.99621229e-01 -1.56502844e-04 2.47579825e+00] [ 1.25486655e-02 -1.88925642e-04 9.99921245e-01 1.96775221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71925415399994 meters 0.020058429480730774 Centerline is valid? [True, True] Translation: X:289.18, Y:2.47, Z:1.97 [[ 9.99493404e-01 -2.91918287e-02 -1.26795803e-02 2.89181545e+02] [ 2.91921696e-02 9.99573805e-01 -1.58234449e-04 2.47196276e+00] [ 1.26787955e-02 -2.11990172e-04 9.99919598e-01 1.96695153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74925415399997 meters 0.02007179182780897 Centerline is valid? [True, True] Translation: X:289.21, Y:2.47, Z:1.97 [[ 9.99454475e-01 -3.02835926e-02 -1.31778702e-02 2.89212434e+02] [ 3.02840539e-02 9.99541319e-01 -1.64583706e-04 2.47032578e+00] [ 1.31768099e-02 -2.34585410e-04 9.99913155e-01 1.96700024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77925415399994 meters 0.020337110961847836 Centerline is valid? [True, True] Translation: X:289.24, Y:2.47, Z:1.97 [[ 9.99420653e-01 -3.13943490e-02 -1.31435898e-02 2.89242842e+02] [ 3.13949040e-02 9.99507045e-01 -1.64155564e-04 2.46861976e+00] [ 1.31422641e-02 -2.48581277e-04 9.99913606e-01 1.96699687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.809254154 meters 0.020895735062176027 Centerline is valid? [True, True] Translation: X:289.27, Y:2.47, Z:1.97 [[ 9.99335128e-01 -3.38627710e-02 -1.35135193e-02 2.89273760e+02] [ 3.38635849e-02 9.99426450e-01 -1.68653756e-04 2.46608296e+00] [ 1.35114797e-02 -2.89074585e-04 9.99908674e-01 1.96734083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.83925415399995 meters 0.02125443982744934 Centerline is valid? [True, True] Translation: X:289.30, Y:2.46, Z:1.97 [[ 9.99290935e-01 -3.51677644e-02 -1.34482892e-02 2.89304115e+02] [ 3.51686919e-02 9.99381376e-01 -1.67592049e-04 2.46237869e+00] [ 1.34458636e-02 -3.05485523e-04 9.99909554e-01 1.96731314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.869254154 meters 0.022031832211361416 Centerline is valid? [True, True] Translation: X:289.34, Y:2.46, Z:1.97 [[ 9.99264936e-01 -3.58690501e-02 -1.35276996e-02 2.89335454e+02] [ 3.58700576e-02 9.99356448e-01 -1.68222372e-04 2.46067988e+00] [ 1.35250278e-02 -3.17140645e-04 9.99908482e-01 1.96717666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.89925415399995 meters 0.021959092571548138 Centerline is valid? [True, True] Translation: X:289.37, Y:2.46, Z:1.97 [[ 9.99229867e-01 -3.71631195e-02 -1.25926519e-02 2.89365330e+02] [ 3.71640981e-02 9.99309164e-01 -1.56368731e-04 2.45770861e+00] [ 1.25897636e-02 -3.11746243e-04 9.99920697e-01 1.96848767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.929254154 meters 0.022108523398741146 Centerline is valid? [True, True] Translation: X:289.40, Y:2.46, Z:1.97 [[ 9.99230664e-01 -3.72934227e-02 -1.21359382e-02 2.89395971e+02] [ 3.72943422e-02 9.99304313e-01 -1.50607679e-04 2.45635871e+00] [ 1.21331121e-02 -3.02110022e-04 9.99926345e-01 1.96924841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.95925415399995 meters 0.02210293939001307 Centerline is valid? [True, True] Translation: X:289.43, Y:2.46, Z:1.97 [[ 9.99257934e-01 -3.68896701e-02 -1.10785306e-02 2.89426663e+02] [ 3.68904128e-02 9.99319308e-01 -1.37376069e-04 2.45560521e+00] [ 1.10760573e-02 -2.71417440e-04 9.99938622e-01 1.96980552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.989254154 meters 0.021626838872638096 Centerline is valid? [True, True] Translation: X:289.46, Y:2.46, Z:1.97 [[ 9.99332492e-01 -3.48674360e-02 -1.09010304e-02 2.89457884e+02] [ 3.48680365e-02 9.99391916e-01 -1.35028083e-04 2.45945675e+00] [ 1.08991097e-02 -2.45159573e-04 9.99940573e-01 1.97027253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.01925415399995 meters 0.020032933004982705 Centerline is valid? [True, True] Translation: X:289.49, Y:2.46, Z:1.97 [[ 9.99377220e-01 -3.36703689e-02 -1.05583327e-02 2.89489450e+02] [ 3.36708694e-02 9.99432967e-01 -1.30401516e-04 2.45936626e+00] [ 1.05567365e-02 -2.25187938e-04 9.99944251e-01 1.97095628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.049254154 meters 0.0196489379610028 Centerline is valid? [True, True] Translation: X:289.52, Y:2.46, Z:1.97 [[ 9.99438169e-01 -3.18765836e-02 -1.03551629e-02 2.89520049e+02] [ 3.18769720e-02 9.99491792e-01 -1.27580042e-04 2.45983485e+00] [ 1.03539672e-02 -2.02582875e-04 9.99946376e-01 1.97110195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.07925415399995 meters 0.018725963272185023 Centerline is valid? [True, True] Translation: X:289.55, Y:2.46, Z:1.97 [[ 9.99575198e-01 -2.68855038e-02 -1.12513779e-02 2.89551480e+02] [ 2.68856496e-02 9.99638506e-01 -1.38323472e-04 2.46197930e+00] [ 1.12510295e-02 -1.64235892e-04 9.99936692e-01 1.97107596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.109254154 meters 0.018456081710503114 Centerline is valid? [True, True] Translation: X:289.58, Y:2.46, Z:1.97 [[ 9.99651137e-01 -2.39260256e-02 -1.11869849e-02 2.89581522e+02] [ 2.39259882e-02 9.99713723e-01 -1.37197041e-04 2.46243564e+00] [ 1.11870649e-02 -1.30510490e-04 9.99937414e-01 1.97059607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.13925415399996 meters 0.01819206149107714 Centerline is valid? [True, True] Translation: X:289.61, Y:2.46, Z:1.97 [[ 9.99716220e-01 -2.07806375e-02 -1.16466150e-02 2.89610848e+02] [ 2.07803841e-02 9.99784054e-01 -1.42785548e-04 2.46372601e+00] [ 1.16470671e-02 -9.92761046e-05 9.99932166e-01 1.97061629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.169254154 meters 0.01777959420977122 Centerline is valid? [True, True] Translation: X:289.64, Y:2.47, Z:1.97 [[ 9.99770786e-01 -1.80059461e-02 -1.15828351e-02 2.89640119e+02] [ 1.80054953e-02 9.99837878e-01 -1.43205649e-04 2.46534280e+00] [ 1.15835358e-02 -6.53818578e-05 9.99932906e-01 1.97093496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.19925415399996 meters 0.017492104176413423 Centerline is valid? [True, True] Translation: X:289.67, Y:2.47, Z:1.97 [[ 9.99859123e-01 -1.24852136e-02 -1.12184621e-02 2.89668666e+02] [ 1.24844134e-02 9.99922057e-01 -1.41357998e-04 2.46727933e+00] [ 1.12193526e-02 1.28216522e-06 9.99937061e-01 1.97174109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.229254154 meters 0.017561209041230198 Centerline is valid? [True, True] Translation: X:289.70, Y:2.47, Z:1.97 [[ 9.99881738e-01 -1.05753650e-02 -1.11656285e-02 2.89696944e+02] [ 1.05744195e-02 9.99944079e-01 -1.43716591e-04 2.46781277e+00] [ 1.11665240e-02 2.56295543e-05 9.99937652e-01 1.97196308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.25925415399996 meters 0.01759382189443834 Centerline is valid? [True, True] Translation: X:289.72, Y:2.47, Z:1.97 [[ 9.99899575e-01 -9.00037961e-03 -1.09468151e-02 2.89724412e+02] [ 8.99935035e-03 9.99959495e-01 -1.43280249e-04 2.46844014e+00] [ 1.09476613e-02 4.47516363e-05 9.99940072e-01 1.97177829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.289254154 meters 0.017579673361615554 Centerline is valid? [True, True] Translation: X:289.75, Y:2.47, Z:1.97 [[ 9.99906127e-01 -8.11533173e-03 -1.10398239e-02 2.89752082e+02] [ 8.11421122e-03 9.99967069e-01 -1.46285502e-04 2.46828695e+00] [ 1.10406475e-02 5.66923067e-05 9.99939049e-01 1.97191487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31925415399996 meters 0.01749781927215609 Centerline is valid? [True, True] Translation: X:289.78, Y:2.47, Z:1.97 [[ 9.99908927e-01 -8.31738486e-03 -1.06282318e-02 2.89779840e+02] [ 8.31632669e-03 9.99965408e-01 -1.43754384e-04 2.46555403e+00] [ 1.06290598e-02 5.53534445e-05 9.99943508e-01 1.97196924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.349254154 meters 0.017375713525815045 Centerline is valid? [True, True] Translation: X:289.81, Y:2.46, Z:1.97 [[ 9.99896398e-01 -9.40546072e-03 -1.08963992e-02 2.89807260e+02] [ 9.40438554e-03 9.99955767e-01 -1.49908299e-04 2.46396497e+00] [ 1.08973272e-02 4.74188288e-05 9.99940621e-01 1.97152984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37925415399997 meters 0.01710513399373162 Centerline is valid? [True, True] Translation: X:289.83, Y:2.46, Z:1.97 [[ 9.99873592e-01 -1.14109743e-02 -1.10720555e-02 2.89834909e+02] [ 1.14099638e-02 9.99934892e-01 -1.54430922e-04 2.46087789e+00] [ 1.10730969e-02 2.80796482e-05 9.99938691e-01 1.97201372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40925415399994 meters 0.01693869719740751 Centerline is valid? [True, True] Translation: X:289.86, Y:2.45, Z:1.97 [[ 9.99779764e-01 -1.79047215e-02 -1.09473475e-02 2.89862857e+02] [ 1.79040965e-02 9.99839697e-01 -1.55100410e-04 2.45424200e+00] [ 1.09483697e-02 -4.09361154e-05 9.99940064e-01 1.97182352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43925415399997 meters 0.017776385564791868 Centerline is valid? [True, True] Translation: X:289.89, Y:2.45, Z:1.97 [[ 9.99694300e-01 -2.20810429e-02 -1.11235841e-02 2.89892101e+02] [ 2.20806371e-02 9.99756180e-01 -1.59305270e-04 2.45051501e+00] [ 1.11243896e-02 -8.63592542e-05 9.99938118e-01 1.97183702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46925415399994 meters 0.017394850993831132 Centerline is valid? [True, True] Translation: X:289.92, Y:2.45, Z:1.97 [[ 9.99577967e-01 -2.70531249e-02 -1.05837784e-02 2.89921350e+02] [ 2.70530164e-02 9.99633988e-01 -1.53439117e-04 2.44652483e+00] [ 1.05840557e-02 -1.32948771e-04 9.99943978e-01 1.97302825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49925415399997 meters 0.01993764117750782 Centerline is valid? [True, True] Translation: X:289.95, Y:2.43, Z:1.97 [[ 9.99263775e-01 -3.71586959e-02 -9.54670382e-03 2.89951046e+02] [ 3.71590648e-02 9.99309354e-01 -1.38793261e-04 2.43494404e+00] [ 9.54526780e-03 -2.16055508e-04 9.99954420e-01 1.97450553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.52925415399994 meters 0.02101867956502321 Centerline is valid? [True, True] Translation: X:289.98, Y:2.43, Z:1.98 [[ 9.99067977e-01 -4.22491916e-02 -8.84210570e-03 2.89982588e+02] [ 4.22497068e-02 9.99107074e-01 -1.28598431e-04 2.43070897e+00] [ 8.83964354e-03 -2.45097799e-04 9.99960900e-01 1.97507160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.559254154 meters 0.022182571762984674 Centerline is valid? [True, True] Translation: X:290.01, Y:2.43, Z:1.97 [[ 9.98865409e-01 -4.67883099e-02 -8.87402476e-03 2.90013294e+02] [ 4.67890102e-02 9.98904786e-01 -1.28782761e-04 2.42858842e+00] [ 8.87033133e-03 -2.86570190e-04 9.99960617e-01 1.97461199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.58925415399995 meters 0.024996892977196435 Centerline is valid? [True, True] Translation: X:290.04, Y:2.42, Z:1.97 [[ 9.98394314e-01 -5.58960873e-02 -9.18815286e-03 2.90043876e+02] [ 5.58972244e-02 9.98436519e-01 -1.33202387e-04 2.41952228e+00] [ 9.18123285e-03 -3.80603736e-04 9.99957779e-01 1.97437021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.619254154 meters 0.02529458259892231 Centerline is valid? [True, True] Translation: X:290.08, Y:2.42, Z:1.98 [[ 9.98126552e-01 -6.05212317e-02 -8.97588863e-03 2.90075282e+02] [ 6.05225043e-02 9.98166825e-01 -1.30027766e-04 2.41591525e+00] [ 8.96730369e-03 -4.13459092e-04 9.99959707e-01 1.97558758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.64925415399995 meters 0.0264731076232666 Centerline is valid? [True, True] Translation: X:290.11, Y:2.41, Z:1.98 [[ 9.97872606e-01 -6.45603645e-02 -9.06762406e-03 2.90105871e+02] [ 6.45618322e-02 9.97913700e-01 -1.31060094e-04 2.41339230e+00] [ 9.05716756e-03 -4.54641146e-04 9.99958880e-01 1.97568590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.679254154 meters 0.028113347986857558 Centerline is valid? [True, True] Translation: X:290.14, Y:2.41, Z:1.98 [[ 9.97645082e-01 -6.79455920e-02 -9.36416623e-03 2.90135532e+02] [ 6.79473072e-02 9.97688902e-01 -1.35213917e-04 2.41018428e+00] [ 9.35171191e-03 -5.01374380e-04 9.99956146e-01 1.97598696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.70925415399995 meters 0.03112434751242128 Centerline is valid? [True, True] Translation: X:290.16, Y:2.41, Z:1.98 [[ 9.97215414e-01 -7.39545881e-02 -9.59878064e-03 2.90164830e+02] [ 7.39566679e-02 9.97261446e-01 -1.38589237e-04 2.40530076e+00] [ 9.58274317e-03 -5.71690509e-04 9.99953921e-01 1.97576588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.739254154 meters 0.0327197688809694 Centerline is valid? [True, True] Translation: X:290.20, Y:2.40, Z:1.98 [[ 9.97071795e-01 -7.58160579e-02 -9.98803997e-03 2.90195540e+02] [ 7.58184037e-02 9.97121632e-01 -1.44120586e-04 2.40364231e+00] [ 9.97021737e-03 -6.13578675e-04 9.99950108e-01 1.97537273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.76925415399995 meters 0.03337609406924169 Centerline is valid? [True, True] Translation: X:290.23, Y:2.40, Z:1.98 [[ 9.96903963e-01 -7.80216382e-02 -9.75260440e-03 2.90226453e+02] [ 7.80239815e-02 9.96951473e-01 -1.40549903e-04 2.40238901e+00] [ 9.73383925e-03 -6.20822269e-04 9.99952432e-01 1.97645248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.799254154 meters 0.032325103285374794 Centerline is valid? [True, True] Translation: X:290.26, Y:2.40, Z:1.98 [[ 9.96702923e-01 -8.05903537e-02 -9.40629220e-03 2.90257850e+02] [ 8.05926495e-02 9.96747113e-01 -1.35346302e-04 2.40485128e+00] [ 9.38660220e-03 -6.23177955e-04 9.99955751e-01 1.97695433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.82925415399995 meters 0.03143658415190263 Centerline is valid? [True, True] Translation: X:290.29, Y:2.41, Z:1.98 [[ 9.96657996e-01 -8.11308813e-02 -9.51941172e-03 2.90290168e+02] [ 8.11332615e-02 9.96703253e-01 -1.36518092e-04 2.40717717e+00] [ 9.49910446e-03 -6.36279072e-04 9.99954680e-01 1.97711472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.859254154 meters 0.032411036972855564 Centerline is valid? [True, True] Translation: X:290.32, Y:2.41, Z:1.98 [[ 9.96644265e-01 -8.12546587e-02 -9.89394303e-03 2.90321035e+02] [ 8.12572429e-02 9.96693153e-01 -1.41178798e-04 2.40895638e+00] [ 9.87269670e-03 -6.63249492e-04 9.99951044e-01 1.97670446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.88925415399996 meters 0.031564469291510446 Centerline is valid? [True, True] Translation: X:290.35, Y:2.41, Z:1.98 [[ 9.96710949e-01 -8.03881785e-02 -1.02481844e-02 2.90353618e+02] [ 8.03909133e-02 9.96763402e-01 -1.45472745e-04 2.41244951e+00] [ 1.02267094e-02 -6.78866622e-04 9.99947475e-01 1.97637210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.919254154 meters 0.032065127603545004 Centerline is valid? [True, True] Translation: X:290.39, Y:2.41, Z:1.98 [[ 9.96780210e-01 -7.94051834e-02 -1.11368545e-02 2.90385114e+02] [ 7.94083636e-02 9.96842158e-01 -1.57041376e-04 2.41423271e+00] [ 1.11141559e-02 -7.27823652e-04 9.99937971e-01 1.97590849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.94925415399996 meters 0.03221657945717605 Centerline is valid? [True, True] Translation: X:290.42, Y:2.42, Z:1.98 [[ 9.96895859e-01 -7.78554987e-02 -1.17118284e-02 2.90415931e+02] [ 7.78589161e-02 9.96964374e-01 -1.64564077e-04 2.41685156e+00] [ 1.16890879e-02 -7.47817020e-04 9.99931401e-01 1.97541853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.979254154 meters 0.03035889117967518 Centerline is valid? [True, True] Translation: X:290.45, Y:2.43, Z:1.97 [[ 9.97135623e-01 -7.46118363e-02 -1.23944484e-02 2.90446444e+02] [ 7.46154190e-02 9.97212369e-01 -1.73759432e-04 2.42555252e+00] [ 1.23728617e-02 -7.51555239e-04 9.99923171e-01 1.97493061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.00925415399996 meters 0.030005073114365077 Centerline is valid? [True, True] Translation: X:290.48, Y:2.43, Z:1.97 [[ 9.97277166e-01 -7.25866484e-02 -1.30166361e-02 2.90477762e+02] [ 7.25904331e-02 9.97361818e-01 -1.82089272e-04 2.42956250e+00] [ 1.29955131e-02 -7.63289781e-04 9.99915263e-01 1.97474556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.039254154 meters 0.02930028964479968 Centerline is valid? [True, True] Translation: X:290.51, Y:2.43, Z:1.98 [[ 9.97381478e-01 -7.11522007e-02 -1.29441545e-02 2.90508719e+02] [ 7.11558292e-02 9.97465195e-01 -1.80595226e-04 2.43356400e+00] [ 1.29241934e-02 -7.40929717e-04 9.99916205e-01 1.97533885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.06925415399996 meters 0.028663138159561778 Centerline is valid? [True, True] Translation: X:290.54, Y:2.44, Z:1.98 [[ 9.97489172e-01 -6.95967274e-02 -1.31014510e-02 2.90540005e+02] [ 6.96003173e-02 9.97574941e-01 -1.82300091e-04 2.43761205e+00] [ 1.30823667e-02 -7.30022782e-04 9.99914156e-01 1.97599366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.099254154 meters 0.02809044579122638 Centerline is valid? [True, True] Translation: X:290.57, Y:2.45, Z:1.98 [[ 9.97759247e-01 -6.55236281e-02 -1.35329174e-02 2.90570628e+02] [ 6.55270899e-02 9.97850773e-01 -1.87915742e-04 2.44631265e+00] [ 1.35161451e-02 -6.99278030e-04 9.99908408e-01 1.97509200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.12925415399997 meters 0.027717450646046818 Centerline is valid? [True, True] Translation: X:290.60, Y:2.45, Z:1.98 [[ 9.97813931e-01 -6.49477915e-02 -1.22124051e-02 2.90601434e+02] [ 6.49505725e-02 9.97888468e-01 -1.69170861e-04 2.44824021e+00] [ 1.21976055e-02 -6.24401659e-04 9.99925411e-01 1.97735645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15925415399994 meters 0.025496448638134463 Centerline is valid? [True, True] Translation: X:290.63, Y:2.45, Z:1.98 [[ 9.97935317e-01 -6.31364124e-02 -1.17854664e-02 2.90633208e+02] [ 6.31388840e-02 9.98004737e-01 -1.62613334e-04 2.45465416e+00] [ 1.17722181e-02 -5.81843605e-04 9.99930536e-01 1.97828951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18925415399997 meters 0.024867960070330927 Centerline is valid? [True, True] Translation: X:290.66, Y:2.46, Z:1.98 [[ 9.98126591e-01 -6.02459607e-02 -1.06645578e-02 2.90664753e+02] [ 6.02478258e-02 9.98183439e-01 -1.46586212e-04 2.46191585e+00] [ 1.06540162e-02 -4.96204822e-04 9.99943121e-01 1.97974957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21925415399994 meters 0.02422156349207698 Centerline is valid? [True, True] Translation: X:290.70, Y:2.47, Z:1.98 [[ 9.98211703e-01 -5.89020047e-02 -1.01955815e-02 2.90696673e+02] [ 5.89036456e-02 9.98263663e-01 -1.39527141e-04 2.46631916e+00] [ 1.01860969e-02 -4.61279294e-04 9.99948014e-01 1.98056504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24925415399997 meters 0.02422155119475525 Centerline is valid? [True, True] Translation: X:290.73, Y:2.47, Z:1.98 [[ 9.98284758e-01 -5.75759263e-02 -1.06091464e-02 2.90727883e+02] [ 5.75776362e-02 9.98341021e-01 -1.44446042e-04 2.46905932e+00] [ 1.05998627e-02 -4.66651292e-04 9.99943711e-01 1.98092793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27925415399994 meters 0.024693242877842175 Centerline is valid? [True, True] Translation: X:290.76, Y:2.47, Z:1.98 [[ 9.98389307e-01 -5.55271911e-02 -1.16414585e-02 2.90760021e+02] [ 5.55291199e-02 9.98457056e-01 -1.57732692e-04 2.47283380e+00] [ 1.16322548e-02 -4.88961312e-04 9.99932223e-01 1.97975120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.309254154 meters 0.024355398053920785 Centerline is valid? [True, True] Translation: X:290.79, Y:2.48, Z:1.98 [[ 9.98456787e-01 -5.42613895e-02 -1.18214354e-02 2.90790893e+02] [ 5.42633036e-02 9.98526649e-01 -1.59007425e-04 2.47724557e+00] [ 1.18126462e-02 -4.82708095e-04 9.99930112e-01 1.98071757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.33925415399995 meters 0.024139362167150732 Centerline is valid? [True, True] Translation: X:290.82, Y:2.48, Z:1.98 [[ 9.98493247e-01 -5.35142963e-02 -1.21431434e-02 2.90823444e+02] [ 5.35162768e-02 9.98566964e-01 -1.62022160e-04 2.48033242e+00] [ 1.21344123e-02 -4.88077789e-04 9.99926256e-01 1.98100583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.369254154 meters 0.02344864492433084 Centerline is valid? [True, True] Translation: X:290.86, Y:2.48, Z:1.98 [[ 9.98506330e-01 -5.31238697e-02 -1.27657074e-02 2.90855378e+02] [ 5.31260387e-02 9.98587801e-01 -1.69382547e-04 2.48439565e+00] [ 1.27566779e-02 -5.09061920e-04 9.99918501e-01 1.98135166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.39925415399995 meters 0.025198330515495387 Centerline is valid? [True, True] Translation: X:290.89, Y:2.49, Z:1.98 [[ 9.98576333e-01 -5.15488574e-02 -1.37120970e-02 2.90887752e+02] [ 5.15512259e-02 9.98670335e-01 -1.80907521e-04 2.48707101e+00] [ 1.37031900e-02 -5.26225439e-04 9.99905968e-01 1.97973620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.429254154 meters 0.02369819835808794 Centerline is valid? [True, True] Translation: X:290.92, Y:2.49, Z:1.98 [[ 9.98553793e-01 -5.23559185e-02 -1.22139721e-02 2.90919060e+02] [ 5.23578669e-02 9.98628373e-01 -1.60410095e-04 2.49039993e+00] [ 1.22056175e-02 -4.79319415e-04 9.99925394e-01 1.98256515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.45925415399995 meters 0.024820185046714245 Centerline is valid? [True, True] Translation: X:290.95, Y:2.49, Z:1.98 [[ 9.98580734e-01 -5.18854311e-02 -1.20174466e-02 2.90950351e+02] [ 5.18872948e-02 9.98652935e-01 -1.56862399e-04 2.49073938e+00] [ 1.20093972e-02 -4.66913027e-04 9.99927776e-01 1.98255033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.489254154 meters 0.023409723596567688 Centerline is valid? [True, True] Translation: X:290.98, Y:2.49, Z:1.98 [[ 9.98633554e-01 -5.09656707e-02 -1.15553308e-02 2.90982673e+02] [ 5.09673452e-02 9.98700309e-01 -1.49716285e-04 2.49485482e+00] [ 1.15479429e-02 -4.39432830e-04 9.99933224e-01 1.98324738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.51925415399995 meters 0.02280734232915238 Centerline is valid? [True, True] Translation: X:291.01, Y:2.50, Z:1.98 [[ 9.98759190e-01 -4.84614260e-02 -1.14704387e-02 2.91014440e+02] [ 4.84629194e-02 9.98824971e-01 -1.47884601e-04 2.49976500e+00] [ 1.14641273e-02 -4.08189841e-04 9.99934201e-01 1.98320215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.549254154 meters 0.02280734232915238 Centerline is valid? [True, True] Translation: X:291.05, Y:2.50, Z:1.98 [[ 9.98762615e-01 -4.83907829e-02 -1.14704476e-02 2.91046145e+02] [ 4.83922795e-02 9.98828396e-01 -1.47195758e-04 2.50010906e+00] [ 1.14641317e-02 -4.08067484e-04 9.99934201e-01 1.98342179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.57925415399995 meters 0.023146106245810445 Centerline is valid? [True, True] Translation: X:291.08, Y:2.50, Z:1.98 [[ 9.98854513e-01 -4.63013566e-02 -1.20767065e-02 2.91077540e+02] [ 4.63028727e-02 9.98927435e-01 -1.54188183e-04 2.50178223e+00] [ 1.20708926e-02 -4.05174640e-04 9.99927062e-01 1.98306234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.609254154 meters 0.022362300598777748 Centerline is valid? [True, True] Translation: X:291.11, Y:2.51, Z:1.98 [[ 9.98947578e-01 -4.41332185e-02 -1.24898506e-02 2.91108680e+02] [ 4.41346778e-02 9.99025578e-01 -1.58895970e-04 2.50551658e+00] [ 1.24846928e-02 -3.92506789e-04 9.99921986e-01 1.98307907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.63925415399996 meters 0.0200303344050682 Centerline is valid? [True, True] Translation: X:291.14, Y:2.51, Z:1.98 [[ 9.99127590e-01 -3.98071387e-02 -1.26273491e-02 2.91139657e+02] [ 3.98082906e-02 9.99207323e-01 -1.60206532e-04 2.51359552e+00] [ 1.26237170e-02 -3.42606416e-04 9.99920259e-01 1.98335215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.669254154 meters 0.019585031853158425 Centerline is valid? [True, True] Translation: X:291.17, Y:2.52, Z:1.98 [[ 9.99206955e-01 -3.77968859e-02 -1.25242419e-02 2.91171154e+02] [ 3.77978668e-02 9.99285393e-01 -1.58462865e-04 2.51611438e+00] [ 1.25212814e-02 -3.15052432e-04 9.99921556e-01 1.98384820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.69925415399996 meters 0.019108789449792028 Centerline is valid? [True, True] Translation: X:291.20, Y:2.52, Z:1.98 [[ 9.99268737e-01 -3.60480657e-02 -1.27486332e-02 2.91202720e+02] [ 3.60489454e-02 9.99350013e-01 -1.60856763e-04 2.51826580e+00] [ 1.27461453e-02 -2.98835648e-04 9.99918720e-01 1.98447196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.729254154 meters 0.018339362909550738 Centerline is valid? [True, True] Translation: X:291.23, Y:2.52, Z:1.99 [[ 9.99376669e-01 -3.31684867e-02 -1.20882108e-02 2.91232827e+02] [ 3.31690709e-02 9.99449743e-01 -1.52208704e-04 2.52153114e+00] [ 1.20866077e-02 -2.48840892e-04 9.99926923e-01 1.98571022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.75925415399996 meters 0.01816298662756565 Centerline is valid? [True, True] Translation: X:291.26, Y:2.52, Z:1.99 [[ 9.99407525e-01 -3.22138308e-02 -1.21188828e-02 2.91263553e+02] [ 3.22143524e-02 9.99480971e-01 -1.52212160e-04 2.52260600e+00] [ 1.21174961e-02 -2.38279985e-04 9.99926552e-01 1.98608334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.789254154 meters 0.018014699028936425 Centerline is valid? [True, True] Translation: X:291.29, Y:2.52, Z:1.99 [[ 9.99411370e-01 -3.19315898e-02 -1.25414121e-02 2.91294892e+02] [ 3.19321332e-02 9.99490027e-01 -1.56964849e-04 2.52363743e+00] [ 1.25400285e-02 -2.43601588e-04 9.99921341e-01 1.98612395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81925415399996 meters 0.018362598411902253 Centerline is valid? [True, True] Translation: X:291.33, Y:2.52, Z:1.99 [[ 9.99374345e-01 -3.28472807e-02 -1.31138871e-02 2.91325353e+02] [ 3.28479582e-02 9.99460347e-01 -1.63780879e-04 2.52315922e+00] [ 1.31121899e-02 -2.67086005e-04 9.99913996e-01 1.98580052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.849254154 meters 0.0189372217286257 Centerline is valid? [True, True] Translation: X:291.36, Y:2.52, Z:1.99 [[ 9.99332552e-01 -3.37865873e-02 -1.38894532e-02 2.91356332e+02] [ 3.37874429e-02 9.99429026e-01 -1.73112735e-04 2.52238773e+00] [ 1.38873716e-02 -2.96291918e-04 9.99903522e-01 1.98524101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87925415399997 meters 0.019662121997191355 Centerline is valid? [True, True] Translation: X:291.39, Y:2.52, Z:1.98 [[ 9.99287252e-01 -3.49643820e-02 -1.42295671e-02 2.91386257e+02] [ 3.49654028e-02 9.99388508e-01 -1.77116114e-04 2.52064646e+00] [ 1.42270586e-02 -3.20552670e-04 9.99898739e-01 1.98445486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90925415399994 meters 0.02115488899514939 Centerline is valid? [True, True] Translation: X:291.42, Y:2.52, Z:1.98 [[ 9.99155786e-01 -3.80668414e-02 -1.54477108e-02 2.91416384e+02] [ 3.80684172e-02 9.99275117e-01 -1.92139895e-04 2.51664819e+00] [ 1.54438271e-02 -3.96092210e-04 9.99880659e-01 1.98333144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93925415399997 meters 0.021880582749639846 Centerline is valid? [True, True] Translation: X:291.45, Y:2.52, Z:1.98 [[ 9.99085705e-01 -3.96938989e-02 -1.58791925e-02 2.91447070e+02] [ 3.96957711e-02 9.99211793e-01 -1.97390894e-04 2.51573114e+00] [ 1.58745116e-02 -4.33126371e-04 9.99873898e-01 1.98309361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96925415399994 meters 0.022621956773074315 Centerline is valid? [True, True] Translation: X:291.48, Y:2.51, Z:1.98 [[ 9.99033213e-01 -4.10085935e-02 -1.58409353e-02 2.91477695e+02] [ 4.10106218e-02 9.99158691e-01 -1.96915327e-04 2.51459070e+00] [ 1.58356834e-02 -4.52921654e-04 9.99874505e-01 1.98357618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99925415399997 meters 0.023429025682738944 Centerline is valid? [True, True] Translation: X:291.51, Y:2.51, Z:1.98 [[ 9.98980327e-01 -4.22253561e-02 -1.59789217e-02 2.91508219e+02] [ 4.22275755e-02 9.99107998e-01 -1.98630607e-04 2.51350285e+00] [ 1.59730557e-02 -4.76323053e-04 9.99872309e-01 1.98387625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.02925415399994 meters 0.024719781651252788 Centerline is valid? [True, True] Translation: X:291.54, Y:2.51, Z:1.98 [[ 9.98924935e-01 -4.36824232e-02 -1.55183681e-02 2.91538378e+02] [ 4.36846942e-02 9.99045349e-01 -1.92768467e-04 2.51172741e+00] [ 1.55119741e-02 -4.85353936e-04 9.99879564e-01 1.98474016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.059254154 meters 0.025138556565733605 Centerline is valid? [True, True] Translation: X:291.57, Y:2.51, Z:1.99 [[ 9.98926170e-01 -4.39772283e-02 -1.45777020e-02 2.91569996e+02] [ 4.39792687e-02 9.99032428e-01 -1.80738194e-04 2.51130775e+00] [ 1.45715454e-02 -4.60572561e-04 9.99893723e-01 1.98564028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.08925415399995 meters 0.02529256346772972 Centerline is valid? [True, True] Translation: X:291.60, Y:2.51, Z:1.99 [[ 9.98936065e-01 -4.38622736e-02 -1.42421622e-02 2.91601800e+02] [ 4.38642158e-02 9.99037487e-01 -1.76134237e-04 2.51131427e+00] [ 1.42361796e-02 -4.48774434e-04 9.99898560e-01 1.98627408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.119254154 meters 0.02544944561814181 Centerline is valid? [True, True] Translation: X:291.63, Y:2.51, Z:1.99 [[ 9.98978343e-01 -4.32916231e-02 -1.29655912e-02 2.91632220e+02] [ 4.32931884e-02 9.99062398e-01 -1.60053937e-04 2.51066547e+00] [ 1.29603636e-02 -4.01431364e-04 9.99915930e-01 1.98720422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.14925415399995 meters 0.02570824730803877 Centerline is valid? [True, True] Translation: X:291.66, Y:2.51, Z:1.99 [[ 9.99015611e-01 -4.22888883e-02 -1.33962474e-02 2.91664099e+02] [ 4.22904748e-02 9.99105344e-01 -1.64958033e-04 2.51116050e+00] [ 1.33912383e-02 -4.01738014e-04 9.99910253e-01 1.98651906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.179254154 meters 0.02496608732961821 Centerline is valid? [True, True] Translation: X:291.70, Y:2.51, Z:1.99 [[ 9.99051347e-01 -4.17355701e-02 -1.24317665e-02 2.91695402e+02] [ 4.17368993e-02 9.99128624e-01 -1.52613743e-04 2.51198206e+00] [ 1.24273032e-02 -3.66394423e-04 9.99922711e-01 1.98773691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.20925415399995 meters 0.025022103471198053 Centerline is valid? [True, True] Translation: X:291.73, Y:2.51, Z:1.99 [[ 9.99075473e-01 -4.10936797e-02 -1.26297013e-02 2.91726940e+02] [ 4.10950053e-02 9.99155231e-01 -1.54652745e-04 2.51257706e+00] [ 1.26253874e-02 -3.64507878e-04 9.99920230e-01 1.98804051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.239254154 meters 0.02472635589412395 Centerline is valid? [True, True] Translation: X:291.76, Y:2.51, Z:1.99 [[ 9.99100367e-01 -4.03827812e-02 -1.29493877e-02 2.91756841e+02] [ 4.03841191e-02 9.99184216e-01 -1.58258823e-04 2.51262169e+00] [ 1.29452147e-02 -3.64833167e-04 9.99916141e-01 1.98804037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.26925415399995 meters 0.025232164989212644 Centerline is valid? [True, True] Translation: X:291.79, Y:2.51, Z:1.99 [[ 9.99090738e-01 -4.06146091e-02 -1.29672909e-02 2.91786731e+02] [ 4.06159727e-02 9.99174818e-01 -1.58281324e-04 2.51199194e+00] [ 1.29630191e-02 -3.68541730e-04 9.99915909e-01 1.98791009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.299254154 meters 0.0254704066754893 Centerline is valid? [True, True] Translation: X:291.82, Y:2.51, Z:1.99 [[ 9.99068402e-01 -4.09938196e-02 -1.34846452e-02 2.91817590e+02] [ 4.09953316e-02 9.99159325e-01 -1.64389103e-04 2.51156109e+00] [ 1.34800479e-02 -3.88571542e-04 9.99909065e-01 1.98781091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.32925415399995 meters 0.026341671926598895 Centerline is valid? [True, True] Translation: X:291.85, Y:2.51, Z:1.99 [[ 9.99038933e-01 -4.18513637e-02 -1.30258602e-02 2.91847695e+02] [ 4.18528523e-02 9.99123773e-01 -1.58416967e-04 2.51017744e+00] [ 1.30210766e-02 -3.86904687e-04 9.99915147e-01 1.98809172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.359254154 meters 0.028208347891807074 Centerline is valid? [True, True] Translation: X:291.88, Y:2.51, Z:1.99 [[ 9.98911886e-01 -4.44743737e-02 -1.40383391e-02 2.91879083e+02] [ 4.44763693e-02 9.99010422e-01 -1.70178041e-04 2.50734153e+00] [ 1.40320157e-02 -4.54381487e-04 9.99901443e-01 1.98778909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.38925415399996 meters 0.030113598374103955 Centerline is valid? [True, True] Translation: X:291.91, Y:2.51, Z:1.99 [[ 9.98836084e-01 -4.60458983e-02 -1.43615032e-02 2.91909711e+02] [ 4.60481536e-02 9.98939206e-01 -1.73774990e-04 2.50502257e+00] [ 1.43542702e-02 -4.87747973e-04 9.99896853e-01 1.98730010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.419254154 meters 0.03210510974078975 Centerline is valid? [True, True] Translation: X:291.94, Y:2.50, Z:1.99 [[ 9.98692634e-01 -4.88449351e-02 -1.50729776e-02 2.91940748e+02] [ 4.88477433e-02 9.98806220e-01 -1.82016948e-04 2.50215136e+00] [ 1.50638744e-02 -5.54501955e-04 9.99886380e-01 1.98609766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.44925415399996 meters 0.0334506760155399 Centerline is valid? [True, True] Translation: X:291.97, Y:2.50, Z:1.99 [[ 9.98612953e-01 -5.03210918e-02 -1.54905587e-02 2.91972401e+02] [ 5.03242425e-02 9.98732915e-01 -1.86583066e-04 2.50056272e+00] [ 1.54803199e-02 -5.93226364e-04 9.99879997e-01 1.98571983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.479254154 meters 0.03434675893660428 Centerline is valid? [True, True] Translation: X:292.00, Y:2.50, Z:1.99 [[ 9.98562100e-01 -5.12545618e-02 -1.57067366e-02 2.92003502e+02] [ 5.12579236e-02 9.98685431e-01 -1.88726844e-04 2.49936082e+00] [ 1.56957621e-02 -6.16639230e-04 9.99876624e-01 1.98558554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.50925415399996 meters 0.0224417737180079 Centerline is valid? [True, True] Translation: X:292.04, Y:2.52, Z:1.99 [[ 9.98474017e-01 -5.27274917e-02 -1.64149189e-02 2.92035166e+02] [ 5.27313771e-02 9.98608714e-01 -1.96329142e-04 2.51733330e+00] [ 1.64024330e-02 -6.69551731e-04 9.99865247e-01 1.98948766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.539254154 meters 0.036784593852634426 Centerline is valid? [True, True] Translation: X:292.07, Y:2.50, Z:1.99 [[ 9.98453974e-01 -5.30470784e-02 -1.66033031e-02 2.92066962e+02] [ 5.30511149e-02 9.98591779e-01 -1.97538538e-04 2.49785925e+00] [ 1.65904008e-02 -6.83590603e-04 9.99862136e-01 1.98514319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.56925415399996 meters 0.02484908365178396 Centerline is valid? [True, True] Translation: X:292.10, Y:2.52, Z:1.99 [[ 9.98457716e-01 -5.31202944e-02 -1.61376625e-02 2.92097942e+02] [ 5.31241284e-02 9.98587898e-01 -1.91308093e-04 2.51571652e+00] [ 1.61250368e-02 -6.66286211e-04 9.99869761e-01 1.98949995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.599254154 meters 0.022391589754521 Centerline is valid? [True, True] Translation: X:292.13, Y:2.52, Z:1.99 [[ 9.98486063e-01 -5.27985102e-02 -1.54239997e-02 2.92129718e+02] [ 5.28019873e-02 9.98604985e-01 -1.81990702e-04 2.52157698e+00] [ 1.54120918e-02 -6.32702656e-04 9.99881026e-01 1.99173546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.62925415399997 meters 0.022400867461370814 Centerline is valid? [True, True] Translation: X:292.16, Y:2.52, Z:1.99 [[ 9.98521153e-01 -5.24472173e-02 -1.43107007e-02 2.92162174e+02] [ 5.24501891e-02 9.98623527e-01 -1.67838412e-04 2.52256104e+00] [ 1.42998051e-02 -5.83008752e-04 9.99897583e-01 1.99284923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65925415399994 meters 0.025271839694519065 Centerline is valid? [True, True] Translation: X:292.19, Y:2.52, Z:1.99 [[ 9.98572738e-01 -5.13389578e-02 -1.47240637e-02 2.92193508e+02] [ 5.13419974e-02 9.98681115e-01 -1.71734631e-04 2.52202782e+00] [ 1.47134611e-02 -5.84473321e-04 9.99891580e-01 1.99106505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68925415399997 meters 0.02486536540248028 Centerline is valid? [True, True] Translation: X:292.22, Y:2.52, Z:1.99 [[ 9.98587348e-01 -5.17286885e-02 -1.21429328e-02 2.92224729e+02] [ 5.17307917e-02 9.98661056e-01 -1.41037527e-04 2.52181624e+00] [ 1.21339698e-02 -4.87325236e-04 9.99926262e-01 1.99472559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71925415399994 meters 0.022950642113972484 Centerline is valid? [True, True] Translation: X:292.26, Y:2.53, Z:2.00 [[ 9.98608448e-01 -5.14820492e-02 -1.14353475e-02 2.92256981e+02] [ 5.14839060e-02 9.98673816e-01 -1.32145121e-04 2.52579737e+00] [ 1.14269852e-02 -4.56775122e-04 9.99934606e-01 1.99575133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74925415399997 meters 0.023502722585163824 Centerline is valid? [True, True] Translation: X:292.29, Y:2.53, Z:2.00 [[ 9.98622321e-01 -5.12896746e-02 -1.10828388e-02 2.92287765e+02] [ 5.12914146e-02 9.98683721e-01 -1.27363726e-04 2.52600485e+00] [ 1.10747832e-02 -4.41266223e-04 9.99938575e-01 1.99625407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77925415399994 meters 0.0247361518452842 Centerline is valid? [True, True] Translation: X:292.32, Y:2.53, Z:2.00 [[ 9.98637072e-01 -5.10010112e-02 -1.10858509e-02 2.92318687e+02] [ 5.10027410e-02 9.98698505e-01 -1.26805529e-04 2.52569376e+00] [ 1.10778899e-02 -4.38776079e-04 9.99938542e-01 1.99630990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.809254154 meters 0.02127471846378215 Centerline is valid? [True, True] Translation: X:292.35, Y:2.53, Z:2.00 [[ 9.98677130e-01 -5.00146388e-02 -1.19384399e-02 2.92350889e+02] [ 5.00165837e-02 9.98748378e-01 -1.35790691e-04 2.53382175e+00] [ 1.19302890e-02 -4.61508921e-04 9.99928725e-01 1.99630575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.83925415399995 meters 0.02132009421934554 Centerline is valid? [True, True] Translation: X:292.38, Y:2.53, Z:2.00 [[ 9.98709416e-01 -4.92744542e-02 -1.23097587e-02 2.92383538e+02] [ 4.92764785e-02 9.98785167e-01 -1.38989711e-04 2.53492820e+00] [ 1.23016530e-02 -4.67771224e-04 9.99924222e-01 1.99634580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.869254154 meters 0.021132496133650824 Centerline is valid? [True, True] Translation: X:292.42, Y:2.54, Z:2.00 [[ 9.98769244e-01 -4.80519166e-02 -1.22886019e-02 2.92415740e+02] [ 4.80538541e-02 9.98844737e-01 -1.37722784e-04 2.53638912e+00] [ 1.22810232e-02 -4.52961402e-04 9.99924483e-01 1.99631252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.89925415399995 meters 0.019952896332356824 Centerline is valid? [True, True] Translation: X:292.45, Y:2.54, Z:2.00 [[ 9.98885295e-01 -4.55874604e-02 -1.22454411e-02 2.92447648e+02] [ 4.55892101e-02 9.98960262e-01 -1.36368420e-04 2.54142000e+00] [ 1.22389258e-02 -4.22043578e-04 9.99925012e-01 1.99653490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.929254154 meters 0.020582842643935166 Centerline is valid? [True, True] Translation: X:292.48, Y:2.54, Z:2.00 [[ 9.98960894e-01 -4.38994574e-02 -1.22462306e-02 2.92479187e+02] [ 4.39010899e-02 9.99035873e-01 -1.35606469e-04 2.54181445e+00] [ 1.22403768e-02 -4.02157313e-04 9.99925003e-01 1.99674440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.95925415399995 meters 0.020182516433936103 Centerline is valid? [True, True] Translation: X:292.51, Y:2.54, Z:2.00 [[ 9.99025515e-01 -4.22998607e-02 -1.25993065e-02 2.92511451e+02] [ 4.23014718e-02 9.99104883e-01 -1.38714641e-04 2.54444286e+00] [ 1.25938962e-02 -3.94389741e-04 9.99920616e-01 1.99697502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.989254154 meters 0.018783006146150208 Centerline is valid? [True, True] Translation: X:292.54, Y:2.55, Z:2.00 [[ 9.99098439e-01 -4.05279325e-02 -1.26410575e-02 2.92543896e+02] [ 4.05294242e-02 9.99178336e-01 -1.38255905e-04 2.54854370e+00] [ 1.26362740e-02 -3.74203522e-04 9.99920089e-01 1.99753333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.01925415399995 meters 0.018864179586237328 Centerline is valid? [True, True] Translation: X:292.57, Y:2.55, Z:2.00 [[ 9.99207529e-01 -3.74360936e-02 -1.35222920e-02 2.92574558e+02] [ 3.74375283e-02 9.99298959e-01 -1.47107309e-04 2.55093759e+00] [ 1.35183195e-02 -3.59250460e-04 9.99908559e-01 1.99685090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.049254154 meters 0.018059183807350644 Centerline is valid? [True, True] Translation: X:292.61, Y:2.55, Z:2.00 [[ 9.99246127e-01 -3.63329117e-02 -1.36783474e-02 2.92607249e+02] [ 3.63342882e-02 9.99339681e-01 -1.47940024e-04 2.55369410e+00] [ 1.36746904e-02 -3.49164519e-04 9.99906436e-01 1.99703906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.07925415399995 meters 0.01702942788498064 Centerline is valid? [True, True] Translation: X:292.64, Y:2.56, Z:2.00 [[ 9.99287995e-01 -3.50386454e-02 -1.39927185e-02 2.92639082e+02] [ 3.50399736e-02 9.99385900e-01 -1.50306983e-04 2.55778338e+00] [ 1.39893921e-02 -3.40104522e-04 9.99902086e-01 1.99747166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.109254154 meters 0.017350231388996877 Centerline is valid? [True, True] Translation: X:292.67, Y:2.56, Z:2.00 [[ 9.99299494e-01 -3.46398244e-02 -1.41634443e-02 2.92670439e+02] [ 3.46411564e-02 9.99399804e-01 -1.51347118e-04 2.55804650e+00] [ 1.41601861e-02 -3.39396992e-04 9.99899682e-01 1.99739093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.13925415399996 meters 0.017424950556166687 Centerline is valid? [True, True] Translation: X:292.70, Y:2.56, Z:2.00 [[ 9.99296147e-01 -3.50092751e-02 -1.34744763e-02 2.92702225e+02] [ 3.50105224e-02 9.99386933e-01 -1.43377437e-04 2.55882833e+00] [ 1.34712351e-02 -3.28471935e-04 9.99909205e-01 1.99786778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.169254154 meters 0.017845980023821047 Centerline is valid? [True, True] Translation: X:292.73, Y:2.56, Z:2.00 [[ 9.99252734e-01 -3.63451251e-02 -1.31531743e-02 2.92734291e+02] [ 3.63464385e-02 9.99339240e-01 -1.39251715e-04 2.55929373e+00] [ 1.31495443e-02 -3.38923383e-04 9.99913484e-01 1.99868158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.19925415399996 meters 0.018093458359204187 Centerline is valid? [True, True] Translation: X:292.77, Y:2.56, Z:2.00 [[ 9.99220481e-01 -3.72861184e-02 -1.29682883e-02 2.92766522e+02] [ 3.72874866e-02 9.99304571e-01 -1.36346778e-04 2.55936912e+00] [ 1.29643536e-02 -3.47314384e-04 9.99915899e-01 1.99905998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.229254154 meters 0.018689472559640825 Centerline is valid? [True, True] Translation: X:292.80, Y:2.56, Z:2.00 [[ 9.99165945e-01 -3.87598915e-02 -1.28485157e-02 2.92797632e+02] [ 3.87613670e-02 9.99248487e-01 -1.34257117e-04 2.55855531e+00] [ 1.28440637e-02 -3.63880895e-04 9.99917445e-01 1.99978707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.25925415399996 meters 0.018747034315781647 Centerline is valid? [True, True] Translation: X:292.83, Y:2.56, Z:2.00 [[ 9.99114692e-01 -4.01295731e-02 -1.26273351e-02 2.92830037e+02] [ 4.01311176e-02 9.99194414e-01 -1.31149279e-04 2.55897965e+00] [ 1.26224257e-02 -3.75715898e-04 9.99920263e-01 2.00001292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.289254154 meters 0.019840594501137974 Centerline is valid? [True, True] Translation: X:292.86, Y:2.56, Z:2.00 [[ 9.98958463e-01 -4.38860130e-02 -1.24902471e-02 2.92861204e+02] [ 4.38878263e-02 9.99036457e-01 -1.29011284e-04 2.55705325e+00] [ 1.24838740e-02 -4.19292882e-04 9.99921985e-01 2.00023777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31925415399996 meters 0.02239491366239987 Centerline is valid? [True, True] Translation: X:292.89, Y:2.55, Z:2.00 [[ 9.98888527e-01 -4.54218855e-02 -1.25921561e-02 2.92892567e+02] [ 4.54238611e-02 9.98967795e-01 -1.29219898e-04 2.55339198e+00] [ 1.25850279e-02 -4.42908077e-04 9.99920707e-01 1.99957795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.349254154 meters 0.02042032513303703 Centerline is valid? [True, True] Translation: X:292.92, Y:2.56, Z:2.00 [[ 9.98793217e-01 -4.73869401e-02 -1.29069044e-02 2.92924255e+02] [ 4.73891934e-02 9.98876492e-01 -1.31376332e-04 2.55668450e+00] [ 1.28986290e-02 -4.80430001e-04 9.99916694e-01 2.00092829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37925415399997 meters 0.021797122373118098 Centerline is valid? [True, True] Translation: X:292.96, Y:2.55, Z:2.00 [[ 9.98662444e-01 -5.00106752e-02 -1.31246149e-02 2.92955046e+02] [ 5.00132396e-02 9.98748546e-01 -1.32961363e-04 2.55468007e+00] [ 1.31148395e-02 -5.23620989e-04 9.99913860e-01 2.00123739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40925415399994 meters 0.021718656090431415 Centerline is valid? [True, True] Translation: X:292.99, Y:2.56, Z:2.00 [[ 9.98639923e-01 -5.03076440e-02 -1.36910841e-02 2.92987454e+02] [ 5.03104731e-02 9.98733617e-01 -1.37924965e-04 2.55555726e+00] [ 1.36806847e-02 -5.51067543e-04 9.99906263e-01 2.00149766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43925415399997 meters 0.021718656090431415 Centerline is valid? [True, True] Translation: X:293.02, Y:2.56, Z:2.00 [[ 9.98643671e-01 -5.02331760e-02 -1.36910944e-02 2.93019169e+02] [ 5.02360120e-02 9.98737365e-01 -1.36904126e-04 2.55581666e+00] [ 1.36806846e-02 -5.51067542e-04 9.99906263e-01 2.00171732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46925415399994 meters 0.023668912359224432 Centerline is valid? [True, True] Translation: X:293.05, Y:2.55, Z:2.00 [[ 9.98660714e-01 -4.98806147e-02 -1.37368894e-02 2.93050873e+02] [ 4.98834505e-02 9.98755036e-01 -1.36340270e-04 2.55352824e+00] [ 1.37265882e-02 -5.49085771e-04 9.99905635e-01 2.00137427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49925415399997 meters 0.023175725172559516 Centerline is valid? [True, True] Translation: X:293.08, Y:2.56, Z:2.00 [[ 9.98788648e-01 -4.68228900e-02 -1.51278911e-02 2.93082646e+02] [ 4.68259943e-02 9.98903050e-01 -1.49129372e-04 2.55828954e+00] [ 1.51182793e-02 -5.59429820e-04 9.99885556e-01 2.00007015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.52925415399994 meters 0.020233711079752546 Centerline is valid? [True, True] Translation: X:293.11, Y:2.56, Z:2.00 [[ 9.98857438e-01 -4.54827285e-02 -1.46676709e-02 2.93114629e+02] [ 4.54855164e-02 9.98964988e-01 -1.43644671e-04 2.56172563e+00] [ 1.46590230e-02 -5.23686038e-04 9.99892414e-01 2.00349347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.559254154 meters 0.019687009571316662 Centerline is valid? [True, True] Translation: X:293.15, Y:2.56, Z:2.00 [[ 9.98958628e-01 -4.32221142e-02 -1.46119520e-02 2.93146536e+02] [ 4.32246532e-02 9.99065368e-01 -1.42154098e-04 2.56426554e+00] [ 1.46044394e-02 -4.89590494e-04 9.99893230e-01 2.00412143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.58925415399995 meters 0.018598975234464996 Centerline is valid? [True, True] Translation: X:293.18, Y:2.57, Z:2.00 [[ 9.99160390e-01 -3.83460832e-02 -1.44254403e-02 2.93177802e+02] [ 3.83480595e-02 9.99264433e-01 -1.39678154e-04 2.56801868e+00] [ 1.44201856e-02 -4.13626767e-04 9.99895938e-01 2.00491659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.619254154 meters 0.018056061346215437 Centerline is valid? [True, True] Translation: X:293.21, Y:2.57, Z:2.01 [[ 9.99237642e-01 -3.62887836e-02 -1.43964913e-02 2.93208894e+02] [ 3.62905464e-02 9.99341272e-01 -1.38866191e-04 2.56966263e+00] [ 1.43920472e-02 -3.83696211e-04 9.99896356e-01 2.00526293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.64925415399995 meters 0.01775823807587143 Centerline is valid? [True, True] Translation: X:293.24, Y:2.57, Z:2.01 [[ 9.99298656e-01 -3.44038051e-02 -1.47842650e-02 2.93240716e+02] [ 3.44054682e-02 9.99407947e-01 -1.41912206e-04 2.57111903e+00] [ 1.47803942e-02 -3.66846881e-04 9.99890697e-01 2.00540012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.679254154 meters 0.017148795502505657 Centerline is valid? [True, True] Translation: X:293.27, Y:2.57, Z:2.01 [[ 9.99368962e-01 -3.20921690e-02 -1.52240309e-02 2.93272146e+02] [ 3.20936751e-02 9.99484855e-01 -1.45435721e-04 2.57310282e+00] [ 1.52208557e-02 -3.43251157e-04 9.99884097e-01 2.00555178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.70925415399995 meters 0.017845658393488017 Centerline is valid? [True, True] Translation: X:293.30, Y:2.57, Z:2.00 [[ 9.99381619e-01 -3.13656907e-02 -1.58925773e-02 2.93303339e+02] [ 3.13672497e-02 9.99507915e-01 -1.51229973e-04 2.57288516e+00] [ 1.58895003e-02 -3.47369987e-04 9.99873694e-01 2.00443237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.739254154 meters 0.016963354447650323 Centerline is valid? [True, True] Translation: X:293.33, Y:2.57, Z:2.00 [[ 9.99353512e-01 -3.18654654e-02 -1.66478291e-02 2.93334181e+02] [ 3.18672528e-02 9.99492098e-01 -1.57972432e-04 2.57327853e+00] [ 1.66444075e-02 -3.72650274e-04 9.99861403e-01 2.00491333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.76925415399995 meters 0.01724515227791036 Centerline is valid? [True, True] Translation: X:293.36, Y:2.57, Z:2.00 [[ 9.99324646e-01 -3.24934097e-02 -1.71589697e-02 2.93364968e+02] [ 3.24954066e-02 9.99471872e-01 -1.62502431e-04 2.57255011e+00] [ 1.71551878e-02 -3.95195012e-04 9.99852761e-01 2.00459920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.799254154 meters 0.017254164669175717 Centerline is valid? [True, True] Translation: X:293.40, Y:2.57, Z:2.00 [[ 9.99299025e-01 -3.30081450e-02 -1.76612750e-02 2.93396059e+02] [ 3.30103502e-02 9.99454996e-01 -1.66734095e-04 2.57227382e+00] [ 1.76571531e-02 -4.16387653e-04 9.99844014e-01 2.00433158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.82925415399995 meters 0.018857092218542815 Centerline is valid? [True, True] Translation: X:293.43, Y:2.57, Z:2.00 [[ 9.99263065e-01 -3.32529266e-02 -1.91720969e-02 2.93426152e+02] [ 3.32555888e-02 9.99446864e-01 -1.80031037e-04 2.57029537e+00] [ 1.91674787e-02 -4.57681005e-04 9.99816182e-01 2.00274659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.859254154 meters 0.017704962883502033 Centerline is valid? [True, True] Translation: X:293.46, Y:2.57, Z:2.00 [[ 9.99224670e-01 -3.43068041e-02 -1.93158278e-02 2.93456150e+02] [ 3.43097064e-02 9.99411232e-01 -1.81212226e-04 2.57045925e+00] [ 1.93106720e-02 -4.81648652e-04 9.99813416e-01 2.00400861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.88925415399996 meters 0.018142749253706077 Centerline is valid? [True, True] Translation: X:293.49, Y:2.57, Z:2.00 [[ 9.99237321e-01 -3.40981530e-02 -1.90287484e-02 2.93485874e+02] [ 3.41009253e-02 9.99418378e-01 -1.78860946e-04 2.56975081e+00] [ 1.90237797e-02 -4.70173395e-04 9.99818921e-01 2.00375331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.919254154 meters 0.018182062246744336 Centerline is valid? [True, True] Translation: X:293.52, Y:2.57, Z:2.00 [[ 9.99242721e-01 -3.39816422e-02 -1.89534359e-02 2.93515962e+02] [ 3.39843694e-02 9.99422349e-01 -1.78277415e-04 2.56982026e+00] [ 1.89485456e-02 -4.65978157e-04 9.99820352e-01 2.00418219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.94925415399996 meters 0.017650892310963832 Centerline is valid? [True, True] Translation: X:293.55, Y:2.57, Z:2.01 [[ 9.99272062e-01 -3.34650076e-02 -1.83149842e-02 2.93546035e+02] [ 3.34674674e-02 9.99439793e-01 -1.72272091e-04 2.57084904e+00] [ 1.83104891e-02 -4.40809448e-04 9.99832252e-01 2.00513544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.979254154 meters 0.016897003364385075 Centerline is valid? [True, True] Translation: X:293.58, Y:2.57, Z:2.01 [[ 9.99357928e-01 -3.15652293e-02 -1.69519619e-02 2.93576102e+02] [ 3.15670632e-02 9.99501623e-01 -1.59451403e-04 2.57273984e+00] [ 1.69485465e-02 -3.75774629e-04 9.99856292e-01 2.00673743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.00925415399996 meters 0.01683040032729573 Centerline is valid? [True, True] Translation: X:293.61, Y:2.57, Z:2.01 [[ 9.99410554e-01 -3.03084264e-02 -1.61227813e-02 2.93606736e+02] [ 3.03099245e-02 9.99540537e-01 -1.51484950e-04 2.57299475e+00] [ 1.61199648e-02 -3.37284628e-04 9.99870008e-01 2.00718849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.039254154 meters 0.015899053171664495 Centerline is valid? [True, True] Translation: X:293.64, Y:2.58, Z:2.01 [[ 9.99534891e-01 -2.67281173e-02 -1.46836582e-02 2.93637801e+02] [ 2.67289774e-02 9.99642708e-01 -1.37705304e-04 2.57604694e+00] [ 1.46820925e-02 -2.54837914e-04 9.99892180e-01 2.00877992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.06925415399996 meters 0.015805991212196304 Centerline is valid? [True, True] Translation: X:293.67, Y:2.58, Z:2.01 [[ 9.99603695e-01 -2.43560485e-02 -1.41151044e-02 2.93668449e+02] [ 2.43566104e-02 9.99703325e-01 -1.32118544e-04 2.57635946e+00] [ 1.41141346e-02 -2.11729913e-04 9.99900368e-01 2.00897810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.099254154 meters 0.01510469778872782 Centerline is valid? [True, True] Translation: X:293.70, Y:2.58, Z:2.01 [[ 9.99665091e-01 -2.19802176e-02 -1.36592658e-02 2.93699303e+02] [ 2.19805238e-02 9.99758391e-01 -1.27729014e-04 2.57873219e+00] [ 1.36587731e-02 -1.72551582e-04 9.99906700e-01 2.00994031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.12925415399997 meters 0.015075005989196729 Centerline is valid? [True, True] Translation: X:293.73, Y:2.58, Z:2.01 [[ 9.99706817e-01 -1.99808913e-02 -1.36763891e-02 2.93729283e+02] [ 1.99810111e-02 9.99800351e-01 -1.27889134e-04 2.57908387e+00] [ 1.36762139e-02 -1.45416443e-04 9.99906466e-01 2.00947744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15925415399994 meters 0.014443014139354126 Centerline is valid? [True, True] Translation: X:293.76, Y:2.58, Z:2.01 [[ 9.99754494e-01 -1.67769586e-02 -1.44735990e-02 2.93759243e+02] [ 1.67767532e-02 9.99859251e-01 -1.35618573e-04 2.58103207e+00] [ 1.44738372e-02 -1.07234720e-04 9.99895243e-01 2.00949084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18925415399997 meters 0.015794425913704408 Centerline is valid? [True, True] Translation: X:293.79, Y:2.58, Z:2.01 [[ 9.99746706e-01 -1.61834853e-02 -1.56402910e-02 2.93787401e+02] [ 1.61831587e-02 9.99869033e-01 -1.47451973e-04 2.58094713e+00] [ 1.56406290e-02 -1.05694688e-04 9.99877672e-01 2.00798726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21925415399994 meters 0.014635788593996698 Centerline is valid? [True, True] Translation: X:293.82, Y:2.58, Z:2.01 [[ 9.99745896e-01 -1.66743699e-02 -1.51693321e-02 2.93815641e+02] [ 1.66740753e-02 9.99860967e-01 -1.45904370e-04 2.58051490e+00] [ 1.51696559e-02 -1.07067291e-04 9.99884928e-01 2.00869436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24925415399997 meters 0.014748833913518777 Centerline is valid? [True, True] Translation: X:293.84, Y:2.58, Z:2.01 [[ 9.99721452e-01 -1.76768074e-02 -1.56380833e-02 2.93844622e+02] [ 1.76765486e-02 9.99843746e-01 -1.54783116e-04 2.57970049e+00] [ 1.56383759e-02 -1.21687339e-04 9.99877706e-01 2.00878700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27925415399994 meters 0.014928636561281515 Centerline is valid? [True, True] Translation: X:293.87, Y:2.58, Z:2.01 [[ 9.99668088e-01 -2.03522359e-02 -1.57955499e-02 2.93872041e+02] [ 2.03522638e-02 9.99792859e-01 -1.58998614e-04 2.57586861e+00] [ 1.57955140e-02 -1.62529357e-04 9.99875230e-01 2.00801324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.309254154 meters 0.014908486012458875 Centerline is valid? [True, True] Translation: X:293.90, Y:2.57, Z:2.01 [[ 9.99618798e-01 -2.22508649e-02 -1.63449370e-02 2.93901260e+02] [ 2.22510974e-02 9.99752400e-01 -1.67655099e-04 2.57498559e+00] [ 1.63446205e-02 -1.96101598e-04 9.99866399e-01 2.00816579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.33925415399995 meters 0.015762320510914637 Centerline is valid? [True, True] Translation: X:293.93, Y:2.57, Z:2.01 [[ 9.99493026e-01 -2.62079754e-02 -1.80785496e-02 2.93930351e+02] [ 2.62088596e-02 9.99656471e-01 -1.88059296e-04 2.57089685e+00] [ 1.80772678e-02 -2.85854215e-04 9.99836552e-01 2.00576654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.369254154 meters 0.015870962621776574 Centerline is valid? [True, True] Translation: X:293.96, Y:2.57, Z:2.01 [[ 9.99422011e-01 -2.85152346e-02 -1.85074356e-02 2.93958929e+02] [ 2.85164940e-02 9.99593303e-01 -1.95912637e-04 2.56995865e+00] [ 1.85054952e-02 -3.31967773e-04 9.99828704e-01 2.00547934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.39925415399995 meters 0.01643525432705349 Centerline is valid? [True, True] Translation: X:293.99, Y:2.57, Z:2.00 [[ 9.99335335e-01 -3.09410155e-02 -1.92754137e-02 2.93988747e+02] [ 3.09427878e-02 9.99521136e-01 -2.06364011e-04 2.56824674e+00] [ 1.92725685e-02 -3.90208188e-04 9.99814191e-01 2.00497702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.429254154 meters 0.017525731946086618 Centerline is valid? [True, True] Translation: X:294.02, Y:2.57, Z:2.00 [[ 9.99172143e-01 -3.56474669e-02 -1.96032503e-02 2.94018761e+02] [ 3.56501909e-02 9.99364308e-01 -2.10599560e-04 2.56557580e+00] [ 1.95982960e-02 -4.88434402e-04 9.99807816e-01 2.00486255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.45925415399995 meters 0.019253936897474035 Centerline is valid? [True, True] Translation: X:294.05, Y:2.56, Z:2.00 [[ 9.99083588e-01 -3.76936711e-02 -2.02773445e-02 2.94049257e+02] [ 3.76970015e-02 9.99289192e-01 -2.18105555e-04 2.56436253e+00] [ 2.02711524e-02 -5.46489406e-04 9.99794370e-01 2.00428698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.489254154 meters 0.018655776719385966 Centerline is valid? [True, True] Translation: X:294.08, Y:2.56, Z:2.01 [[ 9.98980719e-01 -4.07168458e-02 -1.94848901e-02 2.94079905e+02] [ 4.07204953e-02 9.99170555e-01 -2.09581820e-04 2.56344268e+00] [ 1.94772620e-02 -5.84066179e-04 9.99810130e-01 2.00575663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.51925415399995 meters 0.01949347063768622 Centerline is valid? [True, True] Translation: X:294.11, Y:2.56, Z:2.01 [[ 9.98887083e-01 -4.32628475e-02 -1.87861806e-02 2.94110941e+02] [ 4.32666979e-02 9.99063538e-01 -2.01629993e-04 2.56213036e+00] [ 1.87773111e-02 -6.11410404e-04 9.99823504e-01 2.00631239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.549254154 meters 0.02347899907190088 Centerline is valid? [True, True] Translation: X:294.14, Y:2.56, Z:2.01 [[ 9.98656149e-01 -4.86111288e-02 -1.79681429e-02 2.94141248e+02] [ 4.86155233e-02 9.98817548e-01 -1.92404769e-04 2.55576410e+00] [ 1.79562495e-02 -6.81384467e-04 9.99838541e-01 2.00585166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.57925415399995 meters 0.022692589213716446 Centerline is valid? [True, True] Translation: X:294.17, Y:2.56, Z:2.01 [[ 9.98538738e-01 -5.12142928e-02 -1.72477290e-02 2.94172604e+02] [ 5.12187381e-02 9.98687442e-01 -1.84196021e-04 2.55708239e+00] [ 1.72345238e-02 -6.99480053e-04 9.99851230e-01 2.00704597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.609254154 meters 0.02520488709428422 Centerline is valid? [True, True] Translation: X:294.20, Y:2.55, Z:2.01 [[ 9.98259261e-01 -5.67771259e-02 -1.59626453e-02 2.94202537e+02] [ 5.67816464e-02 9.98386606e-01 -1.70246121e-04 2.55418362e+00] [ 1.59465573e-02 -7.36435513e-04 9.99872574e-01 2.00791833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.63925415399996 meters 0.027869057316735026 Centerline is valid? [True, True] Translation: X:294.23, Y:2.55, Z:2.01 [[ 9.98110206e-01 -5.92175464e-02 -1.64103106e-02 2.94234016e+02] [ 5.92226587e-02 9.98244783e-01 -1.74688312e-04 2.55257642e+00] [ 1.63918515e-02 -7.97504036e-04 9.99865327e-01 2.00676739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.669254154 meters 0.026513414745436416 Centerline is valid? [True, True] Translation: X:294.27, Y:2.56, Z:2.01 [[ 9.97959532e-01 -6.16784382e-02 -1.65088694e-02 2.94265253e+02] [ 6.16839578e-02 9.98095716e-01 -1.75134794e-04 2.55597853e+00] [ 1.64882339e-02 -8.43554968e-04 9.99863704e-01 2.00775302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.69925415399996 meters 0.026408380548359534 Centerline is valid? [True, True] Translation: X:294.30, Y:2.56, Z:2.01 [[ 9.97815555e-01 -6.42878643e-02 -1.52049186e-02 2.94296253e+02] [ 6.42928586e-02 9.97931061e-01 -1.60626786e-04 2.55590376e+00] [ 1.51837869e-02 -8.17291773e-04 9.99884386e-01 2.00924241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.729254154 meters 0.02761824689265926 Centerline is valid? [True, True] Translation: X:294.33, Y:2.56, Z:2.01 [[ 9.97582193e-01 -6.79088212e-02 -1.47702549e-02 2.94326991e+02] [ 6.79139369e-02 9.97691171e-01 -1.55532616e-04 2.55550436e+00] [ 1.47467150e-02 -8.47949594e-04 9.99890902e-01 2.00932753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.75925415399996 meters 0.029767315322814715 Centerline is valid? [True, True] Translation: X:294.36, Y:2.55, Z:2.01 [[ 9.97490157e-01 -6.92485773e-02 -1.47655656e-02 2.94358303e+02] [ 6.92538514e-02 9.97599058e-01 -1.54440368e-04 2.55368557e+00] [ 1.47408091e-02 -8.68519541e-04 9.99890971e-01 2.00908332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.789254154 meters 0.029389082473804687 Centerline is valid? [True, True] Translation: X:294.39, Y:2.56, Z:2.01 [[ 9.97428717e-01 -7.01327530e-02 -1.47428437e-02 2.94390306e+02] [ 7.01381275e-02 9.97537277e-01 -1.52817048e-04 2.55521855e+00] [ 1.47172536e-02 -8.81611338e-04 9.99891307e-01 2.00941387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81925415399996 meters 0.0292515511422223 Centerline is valid? [True, True] Translation: X:294.42, Y:2.56, Z:2.01 [[ 9.97379769e-01 -7.09250674e-02 -1.42558957e-02 2.94422895e+02] [ 7.09301882e-02 9.97481271e-01 -1.46727959e-04 2.55804097e+00] [ 1.42303957e-02 -8.64829869e-04 9.99898369e-01 2.00974974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.849254154 meters 0.02918657395516719 Centerline is valid? [True, True] Translation: X:294.46, Y:2.56, Z:2.01 [[ 9.97394359e-01 -7.07060992e-02 -1.43227119e-02 2.94455463e+02] [ 7.07112608e-02 9.97496815e-01 -1.46347616e-04 2.55979293e+00] [ 1.42972072e-02 -8.66810729e-04 9.99897414e-01 2.01026621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87925415399997 meters 0.029308836922978563 Centerline is valid? [True, True] Translation: X:294.49, Y:2.56, Z:2.01 [[ 9.97500628e-01 -6.91295393e-02 -1.46152148e-02 2.94485954e+02] [ 6.91347551e-02 9.97607319e-01 -1.48669589e-04 2.56268269e+00] [ 1.45905227e-02 -8.62121285e-04 9.99893181e-01 2.00960331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90925415399994 meters 0.030277810062636773 Centerline is valid? [True, True] Translation: X:294.52, Y:2.56, Z:2.01 [[ 9.97588718e-01 -6.76260503e-02 -1.56034540e-02 2.94517157e+02] [ 6.76318216e-02 9.97710335e-01 -1.58111436e-04 2.56287892e+00] [ 1.55784198e-02 -8.97559833e-04 9.99878246e-01 2.00877828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93925415399997 meters 0.02618430498491628 Centerline is valid? [True, True] Translation: X:294.55, Y:2.57, Z:2.01 [[ 9.97715358e-01 -6.55578435e-02 -1.63166467e-02 2.94548216e+02] [ 6.55638911e-02 9.97848360e-01 -1.64585955e-04 2.57064335e+00] [ 1.62923290e-02 -9.05572912e-04 9.99866861e-01 2.00915760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96925415399994 meters 0.028692802032990385 Centerline is valid? [True, True] Translation: X:294.58, Y:2.57, Z:2.01 [[ 9.97891245e-01 -6.27272960e-02 -1.66837940e-02 2.94578731e+02] [ 6.27332320e-02 9.98030317e-01 -1.67836551e-04 2.56935521e+00] [ 1.66614601e-02 -8.79145694e-04 9.99860802e-01 2.00795437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99925415399997 meters 0.027490459770535443 Centerline is valid? [True, True] Translation: X:294.61, Y:2.58, Z:2.01 [[ 9.98318831e-01 -5.50150982e-02 -1.82442106e-02 2.94608949e+02] [ 5.50209139e-02 9.98485185e-01 -1.83404670e-04 2.57875144e+00] [ 1.82266640e-02 -8.20716805e-04 9.99833544e-01 2.00634883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.02925415399994 meters 0.022527511278989613 Centerline is valid? [True, True] Translation: X:294.64, Y:2.59, Z:2.01 [[ 9.98540497e-01 -5.11539556e-02 -1.73248144e-02 2.94639240e+02] [ 5.11586195e-02 9.98690525e-01 -1.74170240e-04 2.58736597e+00] [ 1.73110375e-02 -7.12397549e-04 9.99849899e-01 2.00919136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.059254154 meters 0.021762847601963294 Centerline is valid? [True, True] Translation: X:294.67, Y:2.59, Z:2.01 [[ 9.98768596e-01 -4.64603159e-02 -1.73991578e-02 2.94668646e+02] [ 4.64643054e-02 9.98919936e-01 -1.75107809e-04 2.59169233e+00] [ 1.73885012e-02 -6.33547603e-04 9.99848608e-01 2.00948855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.08925415399995 meters 0.018413484792193815 Centerline is valid? [True, True] Translation: X:294.70, Y:2.60, Z:2.01 [[ 9.99194053e-01 -3.66410280e-02 -1.63914466e-02 2.94698650e+02] [ 3.66432471e-02 9.99328397e-01 -1.65038323e-04 2.60344668e+00] [ 1.63864852e-02 -4.35730516e-04 9.99865638e-01 2.01151749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.119254154 meters 0.01694866150514327 Centerline is valid? [True, True] Translation: X:294.73, Y:2.61, Z:2.01 [[ 9.99378237e-01 -3.17432091e-02 -1.53462818e-02 2.94730111e+02] [ 3.17445822e-02 9.99496002e-01 -1.54171525e-04 2.60940790e+00] [ 1.53434412e-02 -3.33085637e-04 9.99882227e-01 2.01256004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.14925415399995 meters 0.016041223302179306 Centerline is valid? [True, True] Translation: X:294.76, Y:2.61, Z:2.01 [[ 9.99543313e-01 -2.67816161e-02 -1.39968041e-02 2.94761707e+02] [ 2.67822807e-02 9.99641281e-01 -1.39992754e-04 2.61379809e+00] [ 1.39955324e-02 -2.34937517e-04 9.99902030e-01 2.01315003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.179254154 meters 0.015304010322795695 Centerline is valid? [True, True] Translation: X:294.79, Y:2.62, Z:2.01 [[ 9.99662590e-01 -2.23033281e-02 -1.33142045e-02 2.94793015e+02] [ 2.23035402e-02 9.99751236e-01 -1.32571142e-04 2.61823855e+00] [ 1.33138492e-02 -1.64427486e-04 9.99911353e-01 2.01414914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.20925415399995 meters 0.014681766554091634 Centerline is valid? [True, True] Translation: X:294.82, Y:2.63, Z:2.02 [[ 9.99822090e-01 -1.49580179e-02 -1.14911023e-02 2.94823760e+02] [ 1.49576933e-02 9.99888121e-01 -1.14200120e-04 2.62568303e+00] [ 1.14915249e-02 -5.77005806e-05 9.99933969e-01 2.01526206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.239254154 meters 0.014525349191817676 Centerline is valid? [True, True] Translation: X:294.85, Y:2.63, Z:2.02 [[ 9.99867250e-01 -1.22688964e-02 -1.07218033e-02 2.94853344e+02] [ 1.22684584e-02 9.99924734e-01 -1.06624256e-04 2.62836390e+00] [ 1.07223045e-02 -2.49298969e-05 9.99942514e-01 2.01546125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.26925415399995 meters 0.014380913984511964 Centerline is valid? [True, True] Translation: X:294.88, Y:2.63, Z:2.02 [[ 9.99894457e-01 -1.02448856e-02 -1.03013522e-02 2.94883194e+02] [ 1.02443714e-02 9.99947520e-01 -1.02686834e-04 2.63045869e+00] [ 1.03018636e-02 -2.85488153e-06 9.99946934e-01 2.01539012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.299254154 meters 0.014348526402726857 Centerline is valid? [True, True] Translation: X:294.91, Y:2.63, Z:2.01 [[ 9.99900828e-01 -8.96879422e-03 -1.08579116e-02 2.94912005e+02] [ 8.96813386e-03 9.99959779e-01 -1.09507307e-04 2.63144436e+00] [ 1.08584570e-02 1.21212423e-05 9.99941045e-01 2.01459830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.32925415399995 meters 0.014349708781746162 Centerline is valid? [True, True] Translation: X:294.94, Y:2.63, Z:2.01 [[ 9.99885711e-01 -9.92735237e-03 -1.14022755e-02 2.94939828e+02] [ 9.92666051e-03 9.99950723e-01 -1.17272050e-04 2.63107622e+00] [ 1.14028778e-02 4.07212967e-06 9.99934985e-01 2.01371870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.359254154 meters 0.014349708781746162 Centerline is valid? [True, True] Translation: X:294.97, Y:2.63, Z:2.01 [[ 9.99883238e-01 -1.01734593e-02 -1.14022575e-02 2.94968064e+02] [ 1.01727637e-02 9.99948249e-01 -1.19001912e-04 2.63141735e+00] [ 1.14028781e-02 2.99554644e-06 9.99934985e-01 2.01391459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.38925415399996 meters 0.014440872163194906 Centerline is valid? [True, True] Translation: X:295.00, Y:2.63, Z:2.01 [[ 9.99813252e-01 -1.43675411e-02 -1.29241732e-02 2.94996516e+02] [ 1.43669674e-02 9.99896780e-01 -1.37241638e-04 2.62795050e+00] [ 1.29248110e-02 -4.84651671e-05 9.99916470e-01 2.01271491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.419254154 meters 0.01472974044619727 Centerline is valid? [True, True] Translation: X:295.03, Y:2.63, Z:2.01 [[ 9.99747103e-01 -1.80114460e-02 -1.34654402e-02 2.95025106e+02] [ 1.80111245e-02 9.99837776e-01 -1.45156637e-04 2.62563278e+00] [ 1.34658703e-02 -9.74077923e-05 9.99909326e-01 2.01243146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.44925415399996 meters 0.015044055780276636 Centerline is valid? [True, True] Translation: X:295.06, Y:2.62, Z:2.01 [[ 9.99672918e-01 -2.17003864e-02 -1.35332741e-02 2.95055204e+02] [ 2.17003723e-02 9.99764508e-01 -1.47899694e-04 2.62325530e+00] [ 1.35332966e-02 -1.45825768e-04 9.99908410e-01 2.01255513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.479254154 meters 0.015424532911696357 Centerline is valid? [True, True] Translation: X:295.09, Y:2.62, Z:2.01 [[ 9.99590706e-01 -2.53643278e-02 -1.32314415e-02 2.95085956e+02] [ 2.53646334e-02 9.99678255e-01 -1.44736383e-04 2.61990780e+00] [ 1.32308555e-02 -1.90933520e-04 9.99912450e-01 2.01288467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.50925415399996 meters 0.016926205938055106 Centerline is valid? [True, True] Translation: X:295.12, Y:2.61, Z:2.01 [[ 9.99400943e-01 -3.24449168e-02 -1.20450440e-02 2.95115901e+02] [ 3.24456910e-02 9.99473491e-01 -1.31176315e-04 2.61273957e+00] [ 1.20429582e-02 -2.59712043e-04 9.99927447e-01 2.01350828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.539254154 meters 0.017262439890788538 Centerline is valid? [True, True] Translation: X:295.15, Y:2.61, Z:2.01 [[ 9.99319859e-01 -3.50757283e-02 -1.13803517e-02 2.95147935e+02] [ 3.50766004e-02 9.99384619e-01 -1.23012805e-04 2.61046594e+00] [ 1.13776632e-02 -2.76254909e-04 9.99935234e-01 2.01416326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.56925415399996 meters 0.01810459005583594 Centerline is valid? [True, True] Translation: X:295.18, Y:2.61, Z:2.02 [[ 9.99196433e-01 -3.88399267e-02 -9.89691391e-03 2.95180338e+02] [ 3.88407773e-02 9.99245407e-01 -1.06313064e-04 2.60642432e+00] [ 9.89357495e-03 -2.78176195e-04 9.99951019e-01 2.01530018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59925415399994 meters 0.018290714631175754 Centerline is valid? [True, True] Translation: X:295.21, Y:2.61, Z:2.02 [[ 9.99167064e-01 -3.98024100e-02 -8.99705164e-03 2.95212900e+02] [ 3.98031576e-02 9.99207536e-01 -9.60240550e-05 2.60502032e+00] [ 8.99374379e-03 -2.62166991e-04 9.99959521e-01 2.01585490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.62925415399997 meters 0.018780083817765896 Centerline is valid? [True, True] Translation: X:295.24, Y:2.60, Z:2.02 [[ 9.99152365e-01 -4.02800822e-02 -8.48917298e-03 2.95244096e+02] [ 4.02807698e-02 9.99188396e-01 -9.00292187e-05 2.60309886e+00] [ 8.48590953e-03 -2.51997516e-04 9.99963962e-01 2.01610125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65925415399994 meters 0.018636216606337023 Centerline is valid? [True, True] Translation: X:295.28, Y:2.60, Z:2.02 [[ 9.99157698e-01 -4.01971971e-02 -8.25110417e-03 2.95277426e+02] [ 4.01978482e-02 9.99191736e-01 -8.69828851e-05 2.60242665e+00] [ 8.24793156e-03 -2.44767014e-04 9.99965955e-01 2.01625523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68925415399997 meters 0.018575688791661608 Centerline is valid? [True, True] Translation: X:295.31, Y:2.60, Z:2.02 [[ 9.99170112e-01 -3.98441778e-02 -8.45749981e-03 2.95309732e+02] [ 3.98448569e-02 9.99205874e-01 -8.82529155e-05 2.60165582e+00] [ 8.45429986e-03 -2.48808194e-04 9.99964231e-01 2.01651862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71925415399994 meters 0.01830901355224441 Centerline is valid? [True, True] Translation: X:295.34, Y:2.60, Z:2.02 [[ 9.99214690e-01 -3.86105386e-02 -8.90107194e-03 2.95341839e+02] [ 3.86112479e-02 9.99254303e-01 -9.21970204e-05 2.60098378e+00] [ 8.89799421e-03 -2.51556878e-04 9.99960380e-01 2.01622282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74925415399997 meters 0.018230510211417462 Centerline is valid? [True, True] Translation: X:295.37, Y:2.60, Z:2.02 [[ 9.99245431e-01 -3.77503530e-02 -9.13671713e-03 2.95374541e+02] [ 3.77510712e-02 9.99287170e-01 -9.39083883e-05 2.60029053e+00] [ 9.13374928e-03 -2.51083331e-04 9.99958255e-01 2.01600291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77925415399994 meters 0.018153683651923602 Centerline is valid? [True, True] Translation: X:295.41, Y:2.60, Z:2.02 [[ 9.99278028e-01 -3.66651218e-02 -9.95446521e-03 2.95406034e+02] [ 3.66659291e-02 9.99327574e-01 -1.01454909e-04 2.59917812e+00] [ 9.95149142e-03 -2.63608054e-04 9.99950448e-01 2.01539546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.809254154 meters 0.017611929785211835 Centerline is valid? [True, True] Translation: X:295.44, Y:2.60, Z:2.01 [[ 9.99339638e-01 -3.44596542e-02 -1.15247910e-02 2.95438754e+02] [ 3.44605996e-02 9.99406050e-01 -1.16601655e-04 2.59842095e+00] [ 1.15219639e-02 -2.80626552e-04 9.99933581e-01 2.01385850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.83925415399995 meters 0.017041467289301393 Centerline is valid? [True, True] Translation: X:295.47, Y:2.60, Z:2.01 [[ 9.99380265e-01 -3.30189656e-02 -1.21997324e-02 2.95470642e+02] [ 3.30199305e-02 9.99454686e-01 -1.22374237e-04 2.59900174e+00] [ 1.21971203e-02 -2.80535917e-04 9.99925573e-01 2.01319603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.869254154 meters 0.01654401416994907 Centerline is valid? [True, True] Translation: X:295.50, Y:2.60, Z:2.01 [[ 9.99420625e-01 -3.14006480e-02 -1.31306128e-02 2.95503261e+02] [ 3.14016395e-02 9.99506838e-01 -1.30702995e-04 2.59977291e+00] [ 1.31282414e-02 -2.81695499e-04 9.99913781e-01 2.01306152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.89925415399995 meters 0.016066427311042023 Centerline is valid? [True, True] Translation: X:295.53, Y:2.60, Z:2.01 [[ 9.99523872e-01 -2.73039638e-02 -1.43709221e-02 2.95534992e+02] [ 2.73047423e-02 9.99627146e-01 -1.42070841e-04 2.60150812e+00] [ 1.43694430e-02 -2.50391128e-04 9.99896723e-01 2.01244978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.929254154 meters 0.015339003464143502 Centerline is valid? [True, True] Translation: X:295.57, Y:2.60, Z:2.01 [[ 9.99582155e-01 -2.50704774e-02 -1.43870199e-02 2.95566576e+02] [ 2.50710358e-02 9.99685662e-01 -1.41566019e-04 2.60252350e+00] [ 1.43860466e-02 -2.19190625e-04 9.99896491e-01 2.01308250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.95925415399995 meters 0.015082867934212079 Centerline is valid? [True, True] Translation: X:295.60, Y:2.60, Z:2.01 [[ 9.99650093e-01 -2.25016493e-02 -1.39056741e-02 2.95596688e+02] [ 2.25019260e-02 9.99746790e-01 -1.36581657e-04 2.60343864e+00] [ 1.39052263e-02 -1.76370583e-04 9.99903302e-01 2.01317866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.989254154 meters 0.014824808669064011 Centerline is valid? [True, True] Translation: X:295.63, Y:2.60, Z:2.01 [[ 9.99704770e-01 -1.99282952e-02 -1.39009625e-02 2.95626702e+02] [ 1.99283229e-02 9.99801402e-01 -1.36535380e-04 2.60426329e+00] [ 1.39009227e-02 -1.40527800e-04 9.99903368e-01 2.01335042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.01925415399995 meters 0.014612627919750673 Centerline is valid? [True, True] Translation: X:295.66, Y:2.61, Z:2.01 [[ 9.99752846e-01 -1.73168343e-02 -1.39417866e-02 2.95655674e+02] [ 1.73166030e-02 9.99850047e-01 -1.37316692e-04 2.60532009e+00] [ 1.39420739e-02 -1.04141630e-04 9.99902799e-01 2.01351042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.049254154 meters 0.014210241083667629 Centerline is valid? [True, True] Translation: X:295.68, Y:2.61, Z:2.01 [[ 9.99832790e-01 -1.26198641e-02 -1.32337059e-02 2.95684887e+02] [ 1.26192197e-02 9.99920366e-01 -1.32198540e-04 2.60814423e+00] [ 1.32343204e-02 -3.48226075e-05 9.99912422e-01 2.01479035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.07925415399995 meters 0.014119093209802895 Centerline is valid? [True, True] Translation: X:295.71, Y:2.61, Z:2.02 [[ 9.99859952e-01 -1.07828764e-02 -1.27986701e-02 2.95713043e+02] [ 1.07820960e-02 9.99941863e-01 -1.29977626e-04 2.60932085e+00] [ 1.27993275e-02 -8.03706646e-06 9.99918085e-01 2.01517175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.109254154 meters 0.014040668073476177 Centerline is valid? [True, True] Translation: X:295.74, Y:2.61, Z:2.02 [[ 9.99879634e-01 -9.22688446e-03 -1.24732757e-02 2.95740927e+02] [ 9.22599517e-03 9.99957431e-01 -1.28836546e-04 2.60960284e+00] [ 1.24739335e-02 1.37426570e-05 9.99922197e-01 2.01544700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.13925415399996 meters 0.014116366347161732 Centerline is valid? [True, True] Translation: X:295.77, Y:2.61, Z:2.02 [[ 9.99877423e-01 -9.63958300e-03 -1.23376632e-02 2.95768448e+02] [ 9.63870088e-03 9.99953538e-01 -1.30958968e-04 2.60828506e+00] [ 1.23383523e-02 1.20238707e-05 9.99923880e-01 2.01571340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.169254154 meters 0.014157634846557353 Centerline is valid? [True, True] Translation: X:295.80, Y:2.61, Z:2.02 [[ 9.99860783e-01 -1.09110423e-02 -1.26239645e-02 2.95796012e+02] [ 1.09101721e-02 9.99940473e-01 -1.37802715e-04 2.60660391e+00] [ 1.26247166e-02 5.39059866e-08 9.99920305e-01 2.01520235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.19925415399996 meters 0.014194912838998007 Centerline is valid? [True, True] Translation: X:295.82, Y:2.60, Z:2.01 [[ 9.99792956e-01 -1.50100186e-02 -1.37384654e-02 2.95823973e+02] [ 1.50093353e-02 9.99887342e-01 -1.52851448e-04 2.60199295e+00] [ 1.37392119e-02 -5.33854321e-05 9.99905611e-01 2.01447633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.229254154 meters 0.014244192046171769 Centerline is valid? [True, True] Translation: X:295.85, Y:2.60, Z:2.01 [[ 9.99743967e-01 -1.78777838e-02 -1.38702797e-02 2.95852837e+02] [ 1.78773294e-02 9.99840175e-01 -1.56756826e-04 2.59967841e+00] [ 1.38708654e-02 -9.12468693e-05 9.99903791e-01 2.01432203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.25925415399996 meters 0.014570546554235047 Centerline is valid? [True, True] Translation: X:295.88, Y:2.60, Z:2.01 [[ 9.99678277e-01 -2.09008584e-02 -1.43699932e-02 2.95881236e+02] [ 2.09006504e-02 9.99781544e-01 -1.64665527e-04 2.59703516e+00] [ 1.43702957e-02 -1.35729655e-04 9.99896733e-01 2.01405664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.289254154 meters 0.01531652354997214 Centerline is valid? [True, True] Translation: X:295.91, Y:2.59, Z:2.01 [[ 9.99537267e-01 -2.63830229e-02 -1.51389825e-02 2.95911313e+02] [ 2.63834101e-02 9.99651882e-01 -1.74175052e-04 2.59112287e+00] [ 1.51383076e-02 -2.25323529e-04 9.99885384e-01 2.01412929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31925415399996 meters 0.015439578403573993 Centerline is valid? [True, True] Translation: X:295.94, Y:2.59, Z:2.01 [[ 9.99464901e-01 -2.88210696e-02 -1.54679503e-02 2.95942184e+02] [ 2.88217617e-02 9.99584551e-01 -1.78216544e-04 2.58915812e+00] [ 1.54666605e-02 -2.67692396e-04 9.99880348e-01 2.01471715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34925415399994 meters 0.015818739310057874 Centerline is valid? [True, True] Translation: X:295.97, Y:2.59, Z:2.01 [[ 9.99408532e-01 -3.05662916e-02 -1.57571662e-02 2.95972479e+02] [ 3.05672267e-02 9.99532697e-01 -1.81548793e-04 2.58631749e+00] [ 1.57553521e-02 -3.00211458e-04 9.99875832e-01 2.01474020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37925415399997 meters 0.016320394795240823 Centerline is valid? [True, True] Translation: X:296.00, Y:2.58, Z:2.01 [[ 9.99375366e-01 -3.18133328e-02 -1.53879765e-02 2.96003275e+02] [ 3.18143747e-02 9.99493779e-01 -1.77139832e-04 2.58360983e+00] [ 1.53858222e-02 -3.12529666e-04 9.99881582e-01 2.01490797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40925415399994 meters 0.016468148309726677 Centerline is valid? [True, True] Translation: X:296.03, Y:2.58, Z:2.02 [[ 9.99357647e-01 -3.29186206e-02 -1.41653761e-02 2.96034665e+02] [ 3.29196198e-02 9.99457989e-01 -1.62684572e-04 2.58068192e+00] [ 1.41630536e-02 -3.03738724e-04 9.99899653e-01 2.01635784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43925415399997 meters 0.016468975805227937 Centerline is valid? [True, True] Translation: X:296.07, Y:2.58, Z:2.02 [[ 9.99381145e-01 -3.25630959e-02 -1.33030603e-02 2.96065536e+02] [ 3.25639519e-02 9.99469642e-01 -1.52311667e-04 2.58003253e+00] [ 1.33009647e-02 -2.80982809e-04 9.99911499e-01 2.01729676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46925415399994 meters 0.016076124916794658 Centerline is valid? [True, True] Translation: X:296.10, Y:2.58, Z:2.02 [[ 9.99407054e-01 -3.19078261e-02 -1.29394910e-02 2.96096598e+02] [ 3.19085872e-02 9.99490780e-01 -1.47681055e-04 2.58061776e+00] [ 1.29376141e-02 -2.65287388e-04 9.99916270e-01 2.01868593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49925415399997 meters 0.015757624613036997 Centerline is valid? [True, True] Translation: X:296.13, Y:2.58, Z:2.02 [[ 9.99456907e-01 -3.06031956e-02 -1.22202768e-02 2.96128160e+02] [ 3.06037822e-02 9.99531585e-01 -1.39035609e-04 2.58045133e+00] [ 1.22188076e-02 -2.35026590e-04 9.99925320e-01 2.01928686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.52925415399994 meters 0.015361844209335508 Centerline is valid? [True, True] Translation: X:296.16, Y:2.58, Z:2.02 [[ 9.99551542e-01 -2.71257937e-02 -1.26849138e-02 2.96159212e+02] [ 2.71261506e-02 9.99632008e-01 -1.43952016e-04 2.58063606e+00] [ 1.26841507e-02 -2.00205422e-04 9.99919533e-01 2.01922329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.559254154 meters 0.015060572583360712 Centerline is valid? [True, True] Translation: X:296.19, Y:2.58, Z:2.02 [[ 9.99599859e-01 -2.48678052e-02 -1.34801637e-02 2.96190234e+02] [ 2.48680064e-02 9.99690732e-01 -1.52722141e-04 2.58092263e+00] [ 1.34797925e-02 -1.82563766e-04 9.99909127e-01 2.01909920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.58925415399995 meters 0.014742289804220396 Centerline is valid? [True, True] Translation: X:296.22, Y:2.58, Z:2.02 [[ 9.99649285e-01 -2.24953083e-02 -1.39738103e-02 2.96221139e+02] [ 2.24952945e-02 9.99746936e-01 -1.58183862e-04 2.58137554e+00] [ 1.39738324e-02 -1.56216593e-04 9.99902349e-01 2.01891445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.619254154 meters 0.014379450263399124 Centerline is valid? [True, True] Translation: X:296.25, Y:2.58, Z:2.02 [[ 9.99728100e-01 -1.77890136e-02 -1.50756919e-02 2.96249438e+02] [ 1.77884559e-02 9.99841758e-01 -1.71096434e-04 2.58251901e+00] [ 1.50763499e-02 -9.71233685e-05 9.99886341e-01 2.01876386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.64925415399995 meters 0.014270884160836942 Centerline is valid? [True, True] Translation: X:296.28, Y:2.58, Z:2.02 [[ 9.99754186e-01 -1.58357553e-02 -1.55176444e-02 2.96277261e+02] [ 1.58348852e-02 9.99874604e-01 -1.78942716e-04 2.58324181e+00] [ 1.55185322e-02 -6.68213871e-05 9.99879578e-01 2.01910462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.679254154 meters 0.014142441265798533 Centerline is valid? [True, True] Translation: X:296.31, Y:2.58, Z:2.02 [[ 9.99769846e-01 -1.40638054e-02 -1.62007740e-02 2.96305576e+02] [ 1.40625477e-02 9.99901099e-01 -1.91551991e-04 2.58374476e+00] [ 1.62018657e-02 -3.63162535e-05 9.99868740e-01 2.01973788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.70925415399995 meters 0.014131361148155346 Centerline is valid? [True, True] Translation: X:296.33, Y:2.58, Z:2.02 [[ 9.99796749e-01 -1.06425484e-02 -1.71230003e-02 2.96333057e+02] [ 1.06405900e-02 9.99943366e-01 -2.05474787e-04 2.58312527e+00] [ 1.71242173e-02 2.32341985e-05 9.99853370e-01 2.02000718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.739254154 meters 0.014145895976693905 Centerline is valid? [True, True] Translation: X:296.36, Y:2.58, Z:2.02 [[ 9.99803141e-01 -9.66319890e-03 -1.73292205e-02 2.96360972e+02] [ 9.66098433e-03 9.99953309e-01 -2.11505960e-04 2.58249624e+00] [ 1.73304552e-02 4.40469954e-05 9.99849815e-01 2.01984216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.76925415399995 meters 0.01428446634512662 Centerline is valid? [True, True] Translation: X:296.39, Y:2.58, Z:2.02 [[ 9.99780056e-01 -9.14099547e-03 -1.88754100e-02 2.96389440e+02] [ 9.13817687e-03 9.99958218e-01 -2.35574046e-04 2.58153384e+00] [ 1.88767747e-02 6.30353982e-05 9.99821816e-01 2.02052619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.799254154 meters 0.01437251161268143 Centerline is valid? [True, True] Translation: X:296.42, Y:2.58, Z:2.02 [[ 9.99757850e-01 -8.21924895e-03 -2.04128694e-02 2.96417149e+02] [ 8.21569598e-03 9.99966217e-01 -2.57912606e-04 2.57961043e+00] [ 2.04142996e-02 9.01442238e-05 9.99791602e-01 2.01919097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.82925415399995 meters 0.014202925487384813 Centerline is valid? [True, True] Translation: X:296.45, Y:2.58, Z:2.02 [[ 9.99745147e-01 -8.00960659e-03 -2.11065829e-02 2.96445543e+02] [ 8.00567172e-03 9.99967917e-01 -2.70919176e-04 2.57880811e+00] [ 2.11080757e-02 1.01877758e-04 9.99777195e-01 2.01962058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.859254154 meters 0.01420812018410507 Centerline is valid? [True, True] Translation: X:296.47, Y:2.58, Z:2.02 [[ 9.99705879e-01 -8.31194487e-03 -2.27830470e-02 2.96473974e+02] [ 8.30730250e-03 9.99965449e-01 -2.98403477e-04 2.57627425e+00] [ 2.27847401e-02 1.09050047e-04 9.99740388e-01 2.02050946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.88925415399996 meters 0.01420812018410507 Centerline is valid? [True, True] Translation: X:296.50, Y:2.58, Z:2.02 [[ 9.99703396e-01 -8.60561210e-03 -2.27829615e-02 2.96501384e+02] [ 8.60089933e-03 9.99962965e-01 -3.04838594e-04 2.57669985e+00] [ 2.27847411e-02 1.08794219e-04 9.99740388e-01 2.02069988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.919254154 meters 0.01423667732526889 Centerline is valid? [True, True] Translation: X:296.53, Y:2.57, Z:2.02 [[ 9.99679598e-01 -9.34271177e-03 -2.35247808e-02 2.96529274e+02] [ 9.33780615e-03 9.99956351e-01 -3.18373585e-04 2.57309921e+00] [ 2.35267284e-02 9.86017347e-05 9.99723203e-01 2.02036613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.94925415399996 meters 0.013985406776114827 Centerline is valid? [True, True] Translation: X:296.56, Y:2.57, Z:2.02 [[ 9.99673334e-01 -1.04543442e-02 -2.33223331e-02 2.96557037e+02] [ 1.04496995e-02 9.99945349e-01 -3.21015832e-04 2.57052302e+00] [ 2.33244145e-02 7.71995945e-05 9.99727946e-01 2.02196417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.979254154 meters 0.014063819383398077 Centerline is valid? [True, True] Translation: X:296.59, Y:2.57, Z:2.02 [[ 9.99667717e-01 -1.18428712e-02 -2.28954775e-02 2.96585187e+02] [ 1.18386083e-02 9.99929869e-01 -3.21728094e-04 2.56790646e+00] [ 2.28976820e-02 5.05705986e-05 9.99737812e-01 2.02244527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.00925415399996 meters 0.01456844052564725 Centerline is valid? [True, True] Translation: X:296.61, Y:2.56, Z:2.02 [[ 9.99617636e-01 -1.53817185e-02 -2.29779056e-02 2.96612951e+02] [ 1.53782733e-02 9.99881694e-01 -3.26639158e-04 2.56146884e+00] [ 2.29802115e-02 -2.68462501e-05 9.99735920e-01 2.02364935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.039254154 meters 0.013668075927437268 Centerline is valid? [True, True] Translation: X:296.64, Y:2.56, Z:2.02 [[ 9.99589240e-01 -1.81669990e-02 -2.21655459e-02 2.96640442e+02] [ 1.81643643e-02 9.99834963e-01 -3.20215192e-04 2.55837352e+00] [ 2.21677051e-02 -8.25393899e-05 9.99754263e-01 2.02435386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.06925415399996 meters 0.01386437549883909 Centerline is valid? [True, True] Translation: X:296.67, Y:2.55, Z:2.03 [[ 9.99478038e-01 -2.33191340e-02 -2.23577436e-02 2.96669072e+02] [ 2.33176715e-02 9.99728053e-01 -3.26146126e-04 2.55140002e+00] [ 2.23592689e-02 -1.95354629e-04 9.99749981e-01 2.02544871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09925415399994 meters 0.01418235622361275 Centerline is valid? [True, True] Translation: X:296.70, Y:2.55, Z:2.03 [[ 9.99415333e-01 -2.58386835e-02 -2.23909383e-02 2.96696505e+02] [ 2.58378057e-02 9.99666094e-01 -3.28555515e-04 2.54771786e+00] [ 2.23919513e-02 -2.50169294e-04 9.99749238e-01 2.02526729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.12925415399997 meters 0.014614906149487543 Centerline is valid? [True, True] Translation: X:296.72, Y:2.54, Z:2.03 [[ 9.99343784e-01 -2.81359703e-02 -2.28115892e-02 2.96724702e+02] [ 2.81355932e-02 9.99604059e-01 -3.37545187e-04 2.54414901e+00] [ 2.28120544e-02 -3.04493911e-04 9.99739725e-01 2.02523883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15925415399994 meters 0.014585271720107089 Centerline is valid? [True, True] Translation: X:296.75, Y:2.54, Z:2.03 [[ 9.99291219e-01 -2.98858004e-02 -2.28888196e-02 2.96753236e+02] [ 2.98857642e-02 9.99553262e-01 -3.43730854e-04 2.54156329e+00] [ 2.28888669e-02 -3.40562640e-04 9.99737958e-01 2.02589574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18925415399997 meters 0.014453898269954156 Centerline is valid? [True, True] Translation: X:296.78, Y:2.54, Z:2.03 [[ 9.99252705e-01 -3.12823087e-02 -2.27034949e-02 2.96781963e+02] [ 3.12824998e-02 9.99510523e-01 -3.46826529e-04 2.53776118e+00] [ 2.27032316e-02 -3.63654727e-04 9.99742182e-01 2.02685722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21925415399994 meters 0.014814497978751616 Centerline is valid? [True, True] Translation: X:296.81, Y:2.54, Z:2.03 [[ 9.99268461e-01 -3.06446386e-02 -2.28789964e-02 2.96809536e+02] [ 3.06445902e-02 9.99530282e-01 -3.52801445e-04 2.53582148e+00] [ 2.28790612e-02 -3.48574112e-04 9.99738179e-01 2.02637346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24925415399997 meters 0.014814497978751616 Centerline is valid? [True, True] Translation: X:296.84, Y:2.54, Z:2.03 [[ 9.99259615e-01 -3.09318002e-02 -2.28789151e-02 2.96836962e+02] [ 3.09317076e-02 9.99521436e-01 -3.58023460e-04 2.53632157e+00] [ 2.28790403e-02 -3.49925525e-04 9.99738179e-01 2.02656368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27925415399994 meters 0.014687418279635192 Centerline is valid? [True, True] Translation: X:296.87, Y:2.54, Z:2.03 [[ 9.99308924e-01 -2.96306108e-02 -2.24433106e-02 2.96865091e+02] [ 2.96301187e-02 9.99560869e-01 -3.54539734e-04 2.53571911e+00] [ 2.24439603e-02 -3.10703238e-04 9.99748054e-01 2.02690007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.309254154 meters 0.013928116918472469 Centerline is valid? [True, True] Translation: X:296.89, Y:2.54, Z:2.03 [[ 9.99420922e-01 -2.55405487e-02 -2.24833610e-02 2.96894106e+02] [ 2.55389196e-02 9.99673764e-01 -3.59637347e-04 2.53589015e+00] [ 2.24852114e-02 -2.14771661e-04 9.99747153e-01 2.02751749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.33925415399995 meters 0.013623207075777728 Centerline is valid? [True, True] Translation: X:296.92, Y:2.54, Z:2.03 [[ 9.99487714e-01 -2.28594203e-02 -2.23999340e-02 2.96921712e+02] [ 2.28570615e-02 9.99738678e-01 -3.61361745e-04 2.53631217e+00] [ 2.24023409e-02 -1.50820044e-04 9.99749025e-01 2.02756560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.369254154 meters 0.013212864874871888 Centerline is valid? [True, True] Translation: X:296.95, Y:2.54, Z:2.03 [[ 9.99530316e-01 -2.05965174e-02 -2.26920689e-02 2.96949254e+02] [ 2.05933977e-02 9.99787865e-01 -3.71181032e-04 2.53703984e+00] [ 2.26949001e-02 -9.63001036e-05 9.99742433e-01 2.02869017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.39925415399995 meters 0.013058844109061673 Centerline is valid? [True, True] Translation: X:296.98, Y:2.54, Z:2.03 [[ 9.99571357e-01 -1.84741297e-02 -2.27114317e-02 2.96977198e+02] [ 1.84703090e-02 9.99829338e-01 -3.78006714e-04 2.53732594e+00] [ 2.27145391e-02 -4.16424777e-05 9.99741991e-01 2.02915617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.429254154 meters 0.012748948967663013 Centerline is valid? [True, True] Translation: X:297.01, Y:2.54, Z:2.03 [[ 9.99622514e-01 -1.50866406e-02 -2.29613205e-02 2.97005334e+02] [ 1.50816868e-02 9.99886189e-01 -3.88912600e-04 2.53610723e+00] [ 2.29645746e-02 4.24703480e-05 9.99736278e-01 2.02941208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.45925415399995 meters 0.01324964746180207 Centerline is valid? [True, True] Translation: X:297.03, Y:2.54, Z:2.03 [[ 9.99611086e-01 -1.43064880e-02 -2.39374448e-02 2.97033549e+02] [ 1.43007920e-02 9.99897655e-01 -4.09131239e-04 2.53570883e+00] [ 2.39408482e-02 6.66477024e-05 9.99713375e-01 2.02684525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.489254154 meters 0.013340251947008861 Centerline is valid? [True, True] Translation: X:297.06, Y:2.53, Z:2.03 [[ 9.99581389e-01 -1.41212092e-02 -2.52515106e-02 2.97062261e+02] [ 1.41146851e-02 9.99900288e-01 -4.36589715e-04 2.53265442e+00] [ 2.52551579e-02 7.99898332e-05 9.99681034e-01 2.02617032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.51925415399995 meters 0.012892531914145928 Centerline is valid? [True, True] Translation: X:297.09, Y:2.53, Z:2.03 [[ 9.99560465e-01 -1.48728611e-02 -2.56451716e-02 2.97089854e+02] [ 1.48661986e-02 9.99889391e-01 -4.50438628e-04 2.53059273e+00] [ 2.56490343e-02 6.89944292e-05 9.99671007e-01 2.02839236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.549254154 meters 0.012920074789849481 Centerline is valid? [True, True] Translation: X:297.12, Y:2.53, Z:2.03 [[ 9.99538584e-01 -1.57608467e-02 -2.59656586e-02 2.97118163e+02] [ 1.57542199e-02 9.99875789e-01 -4.59776100e-04 2.52862952e+00] [ 2.59696798e-02 5.04952581e-05 9.99662730e-01 2.02844460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.57925415399995 meters 0.012639903566146549 Centerline is valid? [True, True] Translation: X:297.15, Y:2.53, Z:2.03 [[ 9.99514105e-01 -1.74894250e-02 -2.58006623e-02 2.97145775e+02] [ 1.74833005e-02 9.99847048e-01 -4.62955652e-04 2.52626125e+00] [ 2.58048128e-02 1.16499730e-05 9.99667000e-01 2.02971897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.609254154 meters 0.012591823985831904 Centerline is valid? [True, True] Translation: X:297.17, Y:2.52, Z:2.03 [[ 9.99441174e-01 -2.15734566e-02 -2.55328282e-02 2.97173540e+02] [ 2.15686018e-02 9.99767262e-01 -4.65553585e-04 2.52001854e+00] [ 2.55369294e-02 -8.54139835e-05 9.99673876e-01 2.03140570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.63925415399996 meters 0.012537708735083888 Centerline is valid? [True, True] Translation: X:297.20, Y:2.52, Z:2.03 [[ 9.99397330e-01 -2.43862814e-02 -2.47039526e-02 2.97201173e+02] [ 2.43824194e-02 9.99702600e-01 -4.57583733e-04 2.51641575e+00] [ 2.47077644e-02 -1.45034171e-04 9.99694706e-01 2.03247116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.669254154 meters 0.013124840412561716 Centerline is valid? [True, True] Translation: X:297.23, Y:2.51, Z:2.03 [[ 9.99273535e-01 -3.01267892e-02 -2.33405043e-02 2.97229545e+02] [ 3.01248103e-02 9.99546050e-01 -4.36472030e-04 2.50808201e+00] [ 2.33430583e-02 -2.66973313e-04 9.99727478e-01 2.03359070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.69925415399996 meters 0.013348790504754581 Centerline is valid? [True, True] Translation: X:297.26, Y:2.50, Z:2.03 [[ 9.99205033e-01 -3.29187523e-02 -2.24868339e-02 2.97258574e+02] [ 3.29175133e-02 9.99457981e-01 -4.25352784e-04 2.50479049e+00] [ 2.24886477e-02 -3.15196010e-04 9.99747049e-01 2.03468801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.729254154 meters 0.013915799480188751 Centerline is valid? [True, True] Translation: X:297.29, Y:2.50, Z:2.03 [[ 9.99145108e-01 -3.49693643e-02 -2.20498747e-02 2.97286485e+02] [ 3.49686042e-02 9.99388323e-01 -4.20160902e-04 2.50113474e+00] [ 2.20510801e-02 -3.51251632e-04 9.99756784e-01 2.03489985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.75925415399996 meters 0.013676057228984266 Centerline is valid? [True, True] Translation: X:297.32, Y:2.50, Z:2.04 [[ 9.99074579e-01 -3.72534493e-02 -2.14980326e-02 2.97315726e+02] [ 3.72531618e-02 9.99305774e-01 -4.13991214e-04 2.49687333e+00] [ 2.14985307e-02 -3.87261588e-04 9.99768805e-01 2.03635026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.789254154 meters 0.013676057228984266 Centerline is valid? [True, True] Translation: X:297.34, Y:2.50, Z:2.04 [[ 9.99063596e-01 -3.75469215e-02 -2.14979148e-02 2.97343164e+02] [ 3.75465717e-02 9.99294791e-01 -4.20048138e-04 2.49747361e+00] [ 2.14985258e-02 -3.87518196e-04 9.99768805e-01 2.03654072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81925415399996 meters 0.013500309684906451 Centerline is valid? [True, True] Translation: X:297.37, Y:2.49, Z:2.04 [[ 9.99120542e-01 -3.61943782e-02 -2.11685941e-02 2.97372248e+02] [ 3.61936161e-02 9.99344708e-01 -4.19250125e-04 2.49410169e+00] [ 2.11698970e-02 -3.47286555e-04 9.99775832e-01 2.03687256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84925415399994 meters 0.013065496246757066 Centerline is valid? [True, True] Translation: X:297.40, Y:2.49, Z:2.04 [[ 9.99174840e-01 -3.48443415e-02 -2.08688791e-02 2.97401453e+02] [ 3.48431951e-02 9.99392704e-01 -4.18647278e-04 2.49377982e+00] [ 2.08707930e-02 -3.08836600e-04 9.99782134e-01 2.03760798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87925415399997 meters 0.013002812776497627 Centerline is valid? [True, True] Translation: X:297.43, Y:2.49, Z:2.04 [[ 9.99239778e-01 -3.27664529e-02 -2.11240437e-02 2.97429009e+02] [ 3.27647487e-02 9.99463000e-01 -4.26864980e-04 2.49298373e+00] [ 2.11266870e-02 -2.65583517e-04 9.99776771e-01 2.03764983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90925415399994 meters 0.012231085206963688 Centerline is valid? [True, True] Translation: X:297.46, Y:2.49, Z:2.04 [[ 9.99373178e-01 -2.88419438e-02 -2.05278728e-02 2.97457393e+02] [ 2.88394239e-02 9.99583970e-01 -4.18846894e-04 2.49257158e+00] [ 2.05314129e-02 -1.73427672e-04 9.99789193e-01 2.03869495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93925415399997 meters 0.011872062625302179 Centerline is valid? [True, True] Translation: X:297.49, Y:2.49, Z:2.04 [[ 9.99429038e-01 -2.72482651e-02 -1.99782295e-02 2.97486215e+02] [ 2.72454599e-02 9.99628688e-01 -4.12637616e-04 2.49258734e+00] [ 1.99820550e-02 -1.31914034e-04 9.99800330e-01 2.03941138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96925415399994 meters 0.011707327478124047 Centerline is valid? [True, True] Translation: X:297.51, Y:2.49, Z:2.04 [[ 9.99474760e-01 -2.58173413e-02 -1.95874941e-02 2.97514711e+02] [ 2.58142735e-02 9.99666672e-01 -4.09492855e-04 2.49188181e+00] [ 1.95915371e-02 -9.63591557e-05 9.99808063e-01 2.03976571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99925415399997 meters 0.011460750089958728 Centerline is valid? [True, True] Translation: X:297.54, Y:2.49, Z:2.04 [[ 9.99502416e-01 -2.48582459e-02 -1.94161988e-02 2.97542498e+02] [ 2.48549456e-02 9.99690984e-01 -4.11313654e-04 2.48862772e+00] [ 1.94204234e-02 -7.14795729e-05 9.99811403e-01 2.04024688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.02925415399994 meters 0.01149584062373592 Centerline is valid? [True, True] Translation: X:297.57, Y:2.49, Z:2.04 [[ 9.99501720e-01 -2.53069797e-02 -1.88644765e-02 2.97570147e+02] [ 2.53038410e-02 9.99679724e-01 -4.05098666e-04 2.48665552e+00] [ 1.88686865e-02 -7.24468997e-05 9.99821968e-01 2.04004511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.059254154 meters 0.0114653081791484 Centerline is valid? [True, True] Translation: X:297.60, Y:2.48, Z:2.04 [[ 9.99476059e-01 -2.64742954e-02 -1.86204002e-02 2.97598116e+02] [ 2.64713390e-02 9.99649491e-01 -4.05273323e-04 2.48468654e+00] [ 1.86246028e-02 -8.78459418e-05 9.99826543e-01 2.03998017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.08925415399995 meters 0.011878849425999127 Centerline is valid? [True, True] Translation: X:297.63, Y:2.48, Z:2.04 [[ 9.99383398e-01 -2.96783851e-02 -1.87621187e-02 2.97625557e+02] [ 2.96758757e-02 9.99559489e-01 -4.12207689e-04 2.47848183e+00] [ 1.87660875e-02 -1.44828783e-04 9.99823891e-01 2.03858134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.119254154 meters 0.012143907341873086 Centerline is valid? [True, True] Translation: X:297.65, Y:2.48, Z:2.04 [[ 9.99294448e-01 -3.26312264e-02 -1.85959413e-02 2.97654431e+02] [ 3.26291980e-02 9.99467441e-01 -4.12559036e-04 2.47537008e+00] [ 1.85995001e-02 -1.94502695e-04 9.99826995e-01 2.03846193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.14925415399995 meters 0.012624751150200937 Centerline is valid? [True, True] Translation: X:297.68, Y:2.47, Z:2.04 [[ 9.99167881e-01 -3.63294484e-02 -1.85396023e-02 2.97683522e+02] [ 3.63279815e-02 9.99339834e-01 -4.16012395e-04 2.47213889e+00] [ 1.85424766e-02 -2.57840106e-04 9.99828040e-01 2.03881276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.179254154 meters 0.014412080732788579 Centerline is valid? [True, True] Translation: X:297.71, Y:2.46, Z:2.04 [[ 9.98846915e-01 -4.44597639e-02 -1.81154739e-02 2.97713000e+02] [ 4.44596572e-02 9.99011097e-01 -4.08830228e-04 2.46470141e+00] [ 1.81157360e-02 -3.97048950e-04 9.99835818e-01 2.03937285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.20925415399995 meters 0.015307212614204542 Centerline is valid? [True, True] Translation: X:297.74, Y:2.46, Z:2.04 [[ 9.98645962e-01 -4.90370060e-02 -1.73670758e-02 2.97742569e+02] [ 4.90375864e-02 9.98796857e-01 -3.92688494e-04 2.46158705e+00] [ 1.73654370e-02 -4.59482703e-04 9.99849104e-01 2.04033998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.239254154 meters 0.01695729077942406 Centerline is valid? [True, True] Translation: X:297.77, Y:2.46, Z:2.04 [[ 9.98431100e-01 -5.34932256e-02 -1.65472904e-02 2.97770730e+02] [ 5.34943480e-02 9.98568082e-01 -3.75101534e-04 2.45741655e+00] [ 1.65436614e-02 -5.10673475e-04 9.99863014e-01 2.04096782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.26925415399995 meters 0.01871156063353702 Centerline is valid? [True, True] Translation: X:297.80, Y:2.45, Z:2.04 [[ 9.98173321e-01 -5.83169297e-02 -1.57847043e-02 2.97799984e+02] [ 5.83185343e-02 9.98297961e-01 -3.59016320e-04 2.45375041e+00] [ 1.57787748e-02 -5.62180305e-04 9.99875349e-01 2.04151749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.299254154 meters 0.02208608343127089 Centerline is valid? [True, True] Translation: X:297.83, Y:2.45, Z:2.04 [[ 9.97699760e-01 -6.63239688e-02 -1.40114298e-02 2.97830493e+02] [ 6.63260139e-02 9.97797954e-01 -3.19186253e-04 2.44699114e+00] [ 1.40017457e-02 -6.10870237e-04 9.99901784e-01 2.04266450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.32925415399995 meters 0.023863323316123505 Centerline is valid? [True, True] Translation: X:297.86, Y:2.44, Z:2.04 [[ 9.97483811e-01 -6.96518688e-02 -1.32160507e-02 2.97859788e+02] [ 6.96539752e-02 9.97571167e-01 -3.01411211e-04 2.44433284e+00] [ 1.32049450e-02 -6.19897665e-04 9.99912619e-01 2.04295340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.359254154 meters 0.023123653448041 Centerline is valid? [True, True] Translation: X:297.89, Y:2.45, Z:2.04 [[ 9.97287535e-01 -7.24145329e-02 -1.31798208e-02 2.97888929e+02] [ 7.24168588e-02 9.97374407e-01 -3.01305816e-04 2.44503681e+00] [ 1.31670349e-02 -6.53952689e-04 9.99913097e-01 2.04364404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.38925415399996 meters 0.023752762255143764 Centerline is valid? [True, True] Translation: X:297.92, Y:2.44, Z:2.04 [[ 9.97125387e-01 -7.47143918e-02 -1.25985223e-02 2.97918196e+02] [ 7.47166915e-02 9.97204760e-01 -2.88701856e-04 2.44420611e+00] [ 1.25848766e-02 -6.53447956e-04 9.99920594e-01 2.04371880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.419254154 meters 0.0250182619944495 Centerline is valid? [True, True] Translation: X:297.95, Y:2.44, Z:2.04 [[ 9.96840760e-01 -7.84440170e-02 -1.24513223e-02 2.97948383e+02] [ 7.84465472e-02 9.96918280e-01 -2.85814414e-04 2.44359478e+00] [ 1.24353712e-02 -6.91851782e-04 9.99922438e-01 2.04383050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.44925415399996 meters 0.02587946017901841 Centerline is valid? [True, True] Translation: X:297.98, Y:2.44, Z:2.04 [[ 9.96723685e-01 -7.98187550e-02 -1.30714353e-02 2.97977617e+02] [ 7.98216551e-02 9.96809116e-01 -3.00527479e-04 2.44392067e+00] [ 1.30537136e-02 -7.43840742e-04 9.99914520e-01 2.04363490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.479254154 meters 0.028776916302314545 Centerline is valid? [True, True] Translation: X:298.01, Y:2.44, Z:2.04 [[ 9.96565189e-01 -8.17889732e-02 -1.29764720e-02 2.98006050e+02] [ 8.17919864e-02 9.96649377e-01 -2.99223419e-04 2.44329826e+00] [ 1.29574660e-02 -7.63175782e-04 9.99915757e-01 2.04320105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.50925415399996 meters 0.0274329776512264 Centerline is valid? [True, True] Translation: X:298.04, Y:2.45, Z:2.04 [[ 9.96475736e-01 -8.29198223e-02 -1.26653028e-02 2.98035119e+02] [ 8.29227579e-02 9.96555934e-01 -2.94089219e-04 2.44696815e+00] [ 1.26460684e-02 -7.57189063e-04 9.99919749e-01 2.04366096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.539254154 meters 0.034461219832247224 Centerline is valid? [True, True] Translation: X:298.06, Y:2.44, Z:2.04 [[ 9.96427401e-01 -8.35170037e-02 -1.25437123e-02 2.98062858e+02] [ 8.35199016e-02 9.96506066e-01 -2.93559064e-04 2.44029002e+00] [ 1.25244026e-02 -7.55139324e-04 9.99921281e-01 2.04279663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.56925415399996 meters 0.028305468476323713 Centerline is valid? [True, True] Translation: X:298.09, Y:2.45, Z:2.04 [[ 9.96383868e-01 -8.39137422e-02 -1.33293665e-02 2.98092163e+02] [ 8.39170377e-02 9.96472696e-01 -3.12860043e-04 2.45312346e+00] [ 1.33086030e-02 -8.06832251e-04 9.99911111e-01 2.04352778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59925415399994 meters 0.02776004487075348 Centerline is valid? [True, True] Translation: X:298.12, Y:2.46, Z:2.04 [[ 9.96425956e-01 -8.36228420e-02 -1.19388042e-02 2.98121949e+02] [ 8.36254610e-02 9.96497217e-01 -2.80546729e-04 2.45660814e+00] [ 1.19204453e-02 -7.18843964e-04 9.99928691e-01 2.04410717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.62925415399997 meters 0.029210069900834176 Centerline is valid? [True, True] Translation: X:298.15, Y:2.46, Z:2.04 [[ 9.96454863e-01 -8.31069149e-02 -1.30746408e-02 2.98152679e+02] [ 8.31100099e-02 9.96540331e-01 -3.07378238e-04 2.46126658e+00] [ 1.30549521e-02 -7.80344985e-04 9.99914476e-01 2.04366309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65925415399994 meters 0.02743243387919795 Centerline is valid? [True, True] Translation: X:298.18, Y:2.47, Z:2.04 [[ 9.96677066e-01 -8.05967971e-02 -1.17890689e-02 2.98182096e+02] [ 8.05991373e-02 9.96746559e-01 -2.77244460e-04 2.46674277e+00] [ 1.17730589e-02 -6.73865587e-04 9.99930468e-01 2.04330530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68925415399997 meters 0.024272814670179752 Centerline is valid? [True, True] Translation: X:298.21, Y:2.47, Z:2.04 [[ 9.96810603e-01 -7.88923821e-02 -1.20255421e-02 2.98212196e+02] [ 7.88946920e-02 9.96882916e-01 -2.82935527e-04 2.47460605e+00] [ 1.20103789e-02 -6.66718302e-04 9.99927651e-01 2.04359828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71925415399994 meters 0.0260328861916011 Centerline is valid? [True, True] Translation: X:298.24, Y:2.48, Z:2.04 [[ 9.96948787e-01 -7.69806655e-02 -1.29264671e-02 2.98242080e+02] [ 7.69831742e-02 9.97032346e-01 -3.04132386e-04 2.47642831e+00] [ 1.29115182e-02 -6.91916058e-04 9.99916403e-01 2.04310898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74925415399997 meters 0.02424275575315966 Centerline is valid? [True, True] Translation: X:298.27, Y:2.48, Z:2.04 [[ 9.97127707e-01 -7.47483346e-02 -1.22074579e-02 2.98272749e+02] [ 7.47504052e-02 9.97202233e-01 -2.87204899e-04 2.48288883e+00] [ 1.21947724e-02 -6.26132462e-04 9.99925445e-01 2.04339641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77925415399994 meters 0.022825138772479218 Centerline is valid? [True, True] Translation: X:298.30, Y:2.49, Z:2.04 [[ 9.97530629e-01 -6.92597025e-02 -1.16506680e-02 2.98301993e+02] [ 6.92612144e-02 9.97598521e-01 -2.74156078e-04 2.49335210e+00] [ 1.16416772e-02 -5.33460332e-04 9.99932091e-01 2.04342740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.809254154 meters 0.0207644466573281 Centerline is valid? [True, True] Translation: X:298.33, Y:2.50, Z:2.04 [[ 9.97755589e-01 -6.59441146e-02 -1.16257340e-02 2.98332588e+02] [ 6.59453952e-02 9.97823196e-01 -2.73577189e-04 2.50067387e+00] [ 1.16184679e-02 -4.93700453e-04 9.99932381e-01 2.04384303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.83925415399995 meters 0.019852800554870206 Centerline is valid? [True, True] Translation: X:298.36, Y:2.51, Z:2.04 [[ 9.97983311e-01 -6.24866724e-02 -1.11680851e-02 2.98362785e+02] [ 6.24876402e-02 9.98045703e-01 -2.62607597e-04 2.50613802e+00] [ 1.11626688e-02 -4.35789286e-04 9.99937601e-01 2.04429962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.869254154 meters 0.017707110791593015 Centerline is valid? [True, True] Translation: X:298.39, Y:2.52, Z:2.04 [[ 9.98368044e-01 -5.61306556e-02 -1.05165688e-02 2.98392939e+02] [ 5.61311628e-02 9.98423373e-01 -2.47167490e-04 2.51781260e+00] [ 1.05138618e-02 -3.43543112e-04 9.99944669e-01 2.04494456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.89925415399995 meters 0.016847778595970486 Centerline is valid? [True, True] Translation: X:298.42, Y:2.52, Z:2.04 [[ 9.98522175e-01 -5.32201830e-02 -1.10035439e-02 2.98424014e+02] [ 5.32205632e-02 9.98582748e-01 -2.58464751e-04 2.52321094e+00] [ 1.10017046e-02 -3.27532017e-04 9.99939426e-01 2.04499808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.929254154 meters 0.01514252196619033 Centerline is valid? [True, True] Translation: X:298.46, Y:2.53, Z:2.05 [[ 9.98745460e-01 -4.86875999e-02 -1.17057379e-02 2.98455669e+02] [ 4.86877253e-02 9.98814012e-01 -2.74429434e-04 2.53283155e+00] [ 1.17052164e-02 -2.95840601e-04 9.99931448e-01 2.04500985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.95925415399995 meters 0.014608072148196786 Centerline is valid? [True, True] Translation: X:298.49, Y:2.54, Z:2.05 [[ 9.98815245e-01 -4.72185618e-02 -1.17692062e-02 2.98487453e+02] [ 4.72185943e-02 9.98884542e-01 -2.75270174e-04 2.53728745e+00] [ 1.17690760e-02 -2.80781326e-04 9.99930703e-01 2.04509137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.989254154 meters 0.015587419266777647 Centerline is valid? [True, True] Translation: X:298.52, Y:2.54, Z:2.04 [[ 9.98861725e-01 -4.60130616e-02 -1.25718990e-02 2.98517604e+02] [ 4.60130096e-02 9.98940797e-01 -2.93536072e-04 2.54033182e+00] [ 1.25720893e-02 -2.85268964e-04 9.99920927e-01 2.04492392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.01925415399995 meters 0.015988382923817518 Centerline is valid? [True, True] Translation: X:298.55, Y:2.54, Z:2.04 [[ 9.98885164e-01 -4.52475451e-02 -1.34569504e-02 2.98548763e+02] [ 4.52474211e-02 9.98975762e-01 -3.13828771e-04 2.54426196e+00] [ 1.34573673e-02 -2.95413400e-04 9.99909402e-01 2.04487421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.049254154 meters 0.014501114302349943 Centerline is valid? [True, True] Translation: X:298.58, Y:2.55, Z:2.04 [[ 9.98854033e-01 -4.59285817e-02 -1.34605367e-02 2.98580007e+02] [ 4.59285261e-02 9.98944679e-01 -3.13424221e-04 2.54885640e+00] [ 1.34607266e-02 -3.05157561e-04 9.99909354e-01 2.04446975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.07925415399995 meters 0.014323219033400765 Centerline is valid? [True, True] Translation: X:298.61, Y:2.55, Z:2.05 [[ 9.98823124e-01 -4.64829154e-02 -1.38457548e-02 2.98611557e+02] [ 4.64829168e-02 9.98919033e-01 -3.21881376e-04 2.55197119e+00] [ 1.38457500e-02 -3.22088507e-04 9.99904091e-01 2.04508050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.109254154 meters 0.014576366011928745 Centerline is valid? [True, True] Translation: X:298.64, Y:2.55, Z:2.05 [[ 9.98789538e-01 -4.72237195e-02 -1.37615088e-02 2.98642432e+02] [ 4.72237981e-02 9.98884283e-01 -3.19418632e-04 2.55391869e+00] [ 1.37612390e-02 -3.30838725e-04 9.99905255e-01 2.04537932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.13925415399996 meters 0.014953092542055275 Centerline is valid? [True, True] Translation: X:298.67, Y:2.56, Z:2.05 [[ 9.98747909e-01 -4.81673418e-02 -1.35100287e-02 2.98673667e+02] [ 4.81675105e-02 9.98839223e-01 -3.13091708e-04 2.55772736e+00] [ 1.35094274e-02 -3.38044762e-04 9.99908686e-01 2.04608814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.169254154 meters 0.014953092542055275 Centerline is valid? [True, True] Translation: X:298.70, Y:2.56, Z:2.05 [[ 9.98749667e-01 -4.81308747e-02 -1.35100402e-02 2.98704512e+02] [ 4.81310467e-02 9.98840981e-01 -3.12598329e-04 2.55841177e+00] [ 1.35094274e-02 -3.38044897e-04 9.99908686e-01 2.04630189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.19925415399996 meters 0.014935313915452572 Centerline is valid? [True, True] Translation: X:298.74, Y:2.56, Z:2.05 [[ 9.98758999e-01 -4.80468662e-02 -1.31133817e-02 2.98735967e+02] [ 4.80470272e-02 9.98845029e-01 -3.02949495e-04 2.56095474e+00] [ 1.31127919e-02 -3.27485475e-04 9.99913970e-01 2.04714820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.229254154 meters 0.014830491319070629 Centerline is valid? [True, True] Translation: X:298.77, Y:2.56, Z:2.05 [[ 9.98790108e-01 -4.75448207e-02 -1.25622199e-02 2.98767655e+02] [ 4.75449344e-02 9.98869058e-01 -2.89769768e-04 2.56395269e+00] [ 1.25617898e-02 -3.07850743e-04 9.99921050e-01 2.04790045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.25925415399996 meters 0.013891199388424804 Centerline is valid? [True, True] Translation: X:298.80, Y:2.57, Z:2.05 [[ 9.98905542e-01 -4.52942926e-02 -1.16680918e-02 2.98798740e+02] [ 4.52942419e-02 9.98973653e-01 -2.68736528e-04 2.57076823e+00] [ 1.16682885e-02 -2.60054964e-04 9.99931889e-01 2.04925371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.289254154 meters 0.013725763384515446 Centerline is valid? [True, True] Translation: X:298.83, Y:2.57, Z:2.05 [[ 9.98968137e-01 -4.39928988e-02 -1.12820733e-02 2.98829954e+02] [ 4.39927730e-02 9.99031816e-01 -2.59439878e-04 2.57394134e+00] [ 1.12825637e-02 -2.37157519e-04 9.99936322e-01 2.04981687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31925415399996 meters 0.014028452933007033 Centerline is valid? [True, True] Translation: X:298.86, Y:2.58, Z:2.05 [[ 9.99053281e-01 -4.19942644e-02 -1.13588939e-02 2.98860803e+02] [ 4.19940134e-02 9.99117828e-01 -2.60708779e-04 2.57595642e+00] [ 1.13598217e-02 -2.16543583e-04 9.99935452e-01 2.04979543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34925415399994 meters 0.012613888275629955 Centerline is valid? [True, True] Translation: X:298.89, Y:2.58, Z:2.05 [[ 9.99119061e-01 -4.05692337e-02 -1.07349526e-02 2.98891781e+02] [ 4.05689327e-02 9.99176712e-01 -2.45887447e-04 2.58094456e+00] [ 1.07360901e-02 -1.89834733e-04 9.99942349e-01 2.05078239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37925415399997 meters 0.015575237762371831 Centerline is valid? [True, True] Translation: X:298.92, Y:2.59, Z:2.05 [[ 9.99230854e-01 -3.76276200e-02 -1.10391451e-02 2.98923401e+02] [ 3.76271268e-02 9.99291817e-01 -2.52435581e-04 2.58525762e+00] [ 1.10408259e-02 -1.63129892e-04 9.99939035e-01 2.05100468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40925415399994 meters 0.01241424883843024 Centerline is valid? [True, True] Translation: X:298.95, Y:2.59, Z:2.05 [[ 9.99242744e-01 -3.74905431e-02 -1.04114598e-02 2.98954772e+02] [ 3.74901041e-02 9.99296971e-01 -2.37405592e-04 2.58685560e+00] [ 1.04130407e-02 -1.53100896e-04 9.99945771e-01 2.05083994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43925415399997 meters 0.01254294100922811 Centerline is valid? [True, True] Translation: X:298.99, Y:2.59, Z:2.05 [[ 9.99244392e-01 -3.73937902e-02 -1.05995026e-02 2.98985653e+02] [ 3.73933411e-02 9.99300595e-01 -2.40614541e-04 2.58829517e+00] [ 1.06010868e-02 -1.55918087e-04 9.99943795e-01 2.05064929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46925415399994 meters 0.013001608858462906 Centerline is valid? [True, True] Translation: X:299.02, Y:2.59, Z:2.05 [[ 9.99191133e-01 -3.87038350e-02 -1.09129596e-02 2.99017137e+02] [ 3.87034430e-02 9.99250710e-01 -2.47196478e-04 2.59007120e+00] [ 1.09143501e-02 -1.75372581e-04 9.99940421e-01 2.05025953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49925415399997 meters 0.013328353830304878 Centerline is valid? [True, True] Translation: X:299.05, Y:2.59, Z:2.05 [[ 9.99129164e-01 -4.01273620e-02 -1.14327981e-02 2.99049335e+02] [ 4.01270315e-02 9.99194553e-01 -2.58386078e-04 2.59047976e+00] [ 1.14339580e-02 -2.00603184e-04 9.99934610e-01 2.04992537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.52925415399994 meters 0.014130998669413874 Centerline is valid? [True, True] Translation: X:299.08, Y:2.59, Z:2.05 [[ 9.99042065e-01 -4.21412586e-02 -1.17926508e-02 2.99080928e+02] [ 4.21410564e-02 9.99111636e-01 -2.65743174e-04 2.59016055e+00] [ 1.17933734e-02 -2.31466153e-04 9.99930429e-01 2.04928499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.559254154 meters 0.014932162852139325 Centerline is valid? [True, True] Translation: X:299.11, Y:2.59, Z:2.05 [[ 9.98786127e-01 -4.76596102e-02 -1.24432446e-02 2.99111830e+02] [ 4.76598191e-02 9.98863586e-01 -2.79910578e-04 2.58978785e+00] [ 1.24424443e-02 -3.13471985e-04 9.99922541e-01 2.04880051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.58925415399995 meters 0.019463204793956957 Centerline is valid? [True, True] Translation: X:299.14, Y:2.59, Z:2.05 [[ 9.98648316e-01 -5.04633677e-02 -1.24494814e-02 2.99143090e+02] [ 5.04637998e-02 9.98725852e-01 -2.79620127e-04 2.58697041e+00] [ 1.24477295e-02 -3.49005966e-04 9.99922463e-01 2.04796941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.619254154 meters 0.017251164967455608 Centerline is valid? [True, True] Translation: X:299.17, Y:2.59, Z:2.05 [[ 9.98429885e-01 -5.46277957e-02 -1.23922523e-02 2.99174049e+02] [ 5.46285502e-02 9.98506707e-01 -2.77855260e-04 2.58886003e+00] [ 1.23889257e-02 -3.99551782e-04 9.99923174e-01 2.04876420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.64925415399995 meters 0.01945212934682625 Centerline is valid? [True, True] Translation: X:299.21, Y:2.59, Z:2.05 [[ 9.98253033e-01 -5.77936329e-02 -1.22791457e-02 2.99205681e+02] [ 5.77946180e-02 9.98328456e-01 -2.74896684e-04 2.58837845e+00] [ 1.22745078e-02 -4.35252086e-04 9.99924571e-01 2.04847940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.679254154 meters 0.021264111188047205 Centerline is valid? [True, True] Translation: X:299.24, Y:2.59, Z:2.05 [[ 9.97785876e-01 -6.54223850e-02 -1.19690047e-02 2.99235837e+02] [ 6.54238724e-02 9.97857528e-01 -2.67654836e-04 2.58645954e+00] [ 1.19608721e-02 -5.15996423e-04 9.99928333e-01 2.04858128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.70925415399995 meters 0.0221564066764778 Centerline is valid? [True, True] Translation: X:299.27, Y:2.59, Z:2.05 [[ 9.97526333e-01 -6.92677989e-02 -1.19660629e-02 2.99266900e+02] [ 6.92695615e-02 9.97597943e-01 -2.67598952e-04 2.58682691e+00] [ 1.19558558e-02 -5.61946931e-04 9.99928368e-01 2.04871279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.739254154 meters 0.024518681255497027 Centerline is valid? [True, True] Translation: X:299.30, Y:2.58, Z:2.05 [[ 9.97284676e-01 -7.27422586e-02 -1.14820895e-02 2.99297027e+02] [ 7.27441168e-02 9.97350604e-01 -2.56276323e-04 2.58475401e+00] [ 1.14703111e-02 -5.79674013e-04 9.99934046e-01 2.04851065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.76925415399995 meters 0.02494574643148907 Centerline is valid? [True, True] Translation: X:299.33, Y:2.59, Z:2.05 [[ 9.97003486e-01 -7.65744063e-02 -1.09731020e-02 2.99327672e+02] [ 7.65763416e-02 9.97063691e-01 -2.44293867e-04 2.58575170e+00] [ 1.09595882e-02 -5.96718171e-04 9.99939764e-01 2.04852720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.799254154 meters 0.030535638754602214 Centerline is valid? [True, True] Translation: X:299.36, Y:2.58, Z:2.05 [[ 9.96494373e-01 -8.30408314e-02 -1.01579598e-02 2.99357627e+02] [ 8.30428285e-02 9.96545954e-01 -2.25756584e-04 2.58105409e+00] [ 1.01416207e-02 -6.18580548e-04 9.99948381e-01 2.04896081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.82925415399995 meters 0.034516706227788074 Centerline is valid? [True, True] Translation: X:299.39, Y:2.58, Z:2.05 [[ 9.96245944e-01 -8.60578815e-02 -9.38398979e-03 2.99387537e+02] [ 8.60597241e-02 9.96289958e-01 -2.08019724e-04 2.57860994e+00] [ 9.36707653e-03 -6.00344765e-04 9.99955948e-01 2.04931150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.859254154 meters 0.0332119592573385 Centerline is valid? [True, True] Translation: X:299.42, Y:2.58, Z:2.05 [[ 9.95861038e-01 -9.04889005e-02 -8.51779108e-03 2.99417780e+02] [ 9.04905800e-02 9.95897294e-01 -1.88813108e-04 2.58452207e+00] [ 8.49993058e-03 -5.82748238e-04 9.99963705e-01 2.05020042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.88925415399996 meters 0.03298529395038806 Centerline is valid? [True, True] Translation: X:299.45, Y:2.59, Z:2.05 [[ 9.95724132e-01 -9.19975651e-02 -8.36070697e-03 2.99449718e+02] [ 9.19992372e-02 9.95759060e-01 -1.85203111e-04 2.58747856e+00] [ 8.34228795e-03 -5.84767457e-04 9.99965032e-01 2.05059913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.919254154 meters 0.03572871579350705 Centerline is valid? [True, True] Translation: X:299.48, Y:2.59, Z:2.05 [[ 9.95628306e-01 -9.30287680e-02 -8.36208912e-03 2.99480532e+02] [ 9.30304826e-02 9.95663244e-01 -1.84537364e-04 2.58659720e+00] [ 8.34299206e-03 -5.94198563e-04 9.99965020e-01 2.05074207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.94925415399996 meters 0.038460150388127036 Centerline is valid? [True, True] Translation: X:299.51, Y:2.59, Z:2.05 [[ 9.95610186e-01 -9.32131489e-02 -8.46555180e-03 2.99511543e+02] [ 9.32149211e-02 9.95645993e-01 -1.85837463e-04 2.58863451e+00] [ 8.44601523e-03 -6.04094073e-04 9.99964149e-01 2.05057528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.979254154 meters 0.037831742727965245 Centerline is valid? [True, True] Translation: X:299.54, Y:2.59, Z:2.05 [[ 9.95679084e-01 -9.25045026e-02 -8.12887548e-03 2.99543628e+02] [ 9.25061168e-02 9.95712100e-01 -1.78003711e-04 2.59284348e+00] [ 8.11048582e-03 -5.74736133e-04 9.99966944e-01 2.05078930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.00925415399996 meters 0.0335910408135166 Centerline is valid? [True, True] Translation: X:299.58, Y:2.60, Z:2.05 [[ 9.95782025e-01 -9.13874872e-02 -8.15386530e-03 2.99575419e+02] [ 9.13890788e-02 9.95815246e-01 -1.77968569e-04 2.60158133e+00] [ 8.13600748e-03 -5.67956336e-04 9.99966741e-01 2.05111800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.039254154 meters 0.030992346130256327 Centerline is valid? [True, True] Translation: X:299.61, Y:2.61, Z:2.05 [[ 9.96061181e-01 -8.82994269e-02 -8.08298009e-03 2.99605521e+02] [ 8.83008937e-02 9.96093832e-01 -1.75916287e-04 2.61194980e+00] [ 8.06693991e-03 -5.38510982e-04 9.99967317e-01 2.05150399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.06925415399996 meters 0.030137676958571752 Centerline is valid? [True, True] Translation: X:299.64, Y:2.62, Z:2.05 [[ 9.96252663e-01 -8.60834541e-02 -8.38279306e-03 2.99636798e+02] [ 8.60849541e-02 9.96287783e-01 -1.82386964e-04 2.61708693e+00] [ 8.36737482e-03 -5.39928857e-04 9.99964847e-01 2.05153339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09925415399994 meters 0.02811365475707874 Centerline is valid? [True, True] Translation: X:299.67, Y:2.62, Z:2.05 [[ 9.96483030e-01 -8.33120336e-02 -8.98195730e-03 2.99667245e+02] [ 8.33136461e-02 9.96523356e-01 -1.95145649e-04 2.62426353e+00] [ 8.96698821e-03 -5.53860284e-04 9.99959642e-01 2.05166582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.12925415399997 meters 0.02663373661599196 Centerline is valid? [True, True] Translation: X:299.70, Y:2.64, Z:2.05 [[ 9.96991356e-01 -7.69043111e-02 -9.69343587e-03 2.99696936e+02] [ 7.69058872e-02 9.97038334e-01 -2.10606331e-04 2.63513636e+00] [ 9.68092369e-03 -5.35509595e-04 9.99952995e-01 2.05188946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15925415399994 meters 0.026379493289955033 Centerline is valid? [True, True] Translation: X:299.73, Y:2.64, Z:2.05 [[ 9.97267412e-01 -7.31942722e-02 -1.00153147e-02 2.99727117e+02] [ 7.31957680e-02 9.97317568e-01 -2.17606967e-04 2.64036676e+00] [ 1.00043769e-02 -5.16066316e-04 9.99949822e-01 2.05225258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18925415399997 meters 0.024246658297674195 Centerline is valid? [True, True] Translation: X:299.76, Y:2.65, Z:2.05 [[ 9.97516547e-01 -6.97106305e-02 -1.00581817e-02 2.99757554e+02] [ 6.97119625e-02 9.97567138e-01 -2.18538356e-04 2.64821918e+00] [ 1.00489460e-02 -4.83179960e-04 9.99949391e-01 2.05297497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21925415399994 meters 0.022812499626336205 Centerline is valid? [True, True] Translation: X:299.79, Y:2.65, Z:2.05 [[ 9.97764173e-01 -6.60511477e-02 -1.01932001e-02 2.99788901e+02] [ 6.60523268e-02 9.97816136e-01 -2.21295307e-04 2.65489704e+00] [ 1.01855564e-02 -4.52484056e-04 9.99948023e-01 2.05327802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24925415399997 meters 0.021567550005308054 Centerline is valid? [True, True] Translation: X:299.82, Y:2.66, Z:2.05 [[ 9.97987853e-01 -6.25642424e-02 -1.02937693e-02 2.99819893e+02] [ 6.25652649e-02 9.98040850e-01 -2.22976742e-04 2.66114331e+00] [ 1.02875526e-02 -4.21504322e-04 9.99946993e-01 2.05363800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27925415399994 meters 0.02188067155901814 Centerline is valid? [True, True] Translation: X:299.85, Y:2.67, Z:2.05 [[ 9.98365414e-01 -5.62167926e-02 -1.03040422e-02 2.99849400e+02] [ 5.62174821e-02 9.98418522e-01 -2.22946259e-04 2.66959055e+00] [ 1.03002799e-02 -3.56685475e-04 9.99946887e-01 2.05330035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.309254154 meters 0.020019294798741042 Centerline is valid? [True, True] Translation: X:299.88, Y:2.68, Z:2.05 [[ 9.98474892e-01 -5.43091502e-02 -9.91995900e-03 2.99881927e+02] [ 5.43096978e-02 9.98524116e-01 -2.14373773e-04 2.67572153e+00] [ 9.91696075e-03 -3.24703145e-04 9.99950773e-01 2.05432640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.33925415399995 meters 0.017957456595985397 Centerline is valid? [True, True] Translation: X:299.91, Y:2.69, Z:2.06 [[ 9.98700177e-01 -5.00871055e-02 -9.44661101e-03 2.99913721e+02] [ 5.00874201e-02 9.98744817e-01 -2.03424836e-04 2.68549635e+00] [ 9.44494274e-03 -2.69995954e-04 9.99955359e-01 2.05511473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.369254154 meters 0.017160374642043567 Centerline is valid? [True, True] Translation: X:299.95, Y:2.69, Z:2.06 [[ 9.98791610e-01 -4.82503950e-02 -9.33908982e-03 2.99945415e+02] [ 4.82506274e-02 9.98835240e-01 -2.00564300e-04 2.69001091e+00] [ 9.33788933e-03 -2.50295003e-04 9.99956370e-01 2.05524490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.39925415399995 meters 0.016703704990974 Centerline is valid? [True, True] Translation: X:299.98, Y:2.69, Z:2.06 [[ 9.98871906e-01 -4.66386778e-02 -8.93026012e-03 2.99977587e+02] [ 4.66388315e-02 9.98911799e-01 -1.91157578e-04 2.69340311e+00] [ 8.92945754e-03 -2.25554962e-04 9.99960106e-01 2.05527610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.429254154 meters 0.01631135698273713 Centerline is valid? [True, True] Translation: X:300.01, Y:2.70, Z:2.06 [[ 9.98947715e-01 -4.50329769e-02 -8.68871516e-03 3.00009690e+02] [ 4.50330670e-02 9.98985480e-01 -1.85373341e-04 2.69677618e+00] [ 8.68824820e-03 -2.06101217e-04 9.99962235e-01 2.05549230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.45925415399995 meters 0.01601517696215623 Centerline is valid? [True, True] Translation: X:300.04, Y:2.70, Z:2.06 [[ 9.99082575e-01 -4.21109477e-02 -7.78951029e-03 3.00040422e+02] [ 4.21109358e-02 9.99112927e-01 -1.65619508e-04 2.70227282e+00] [ 7.78957483e-03 -1.62556003e-04 9.99969648e-01 2.05566761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.489254154 meters 0.015837361534863127 Centerline is valid? [True, True] Translation: X:300.07, Y:2.70, Z:2.06 [[ 9.99143085e-01 -4.07160288e-02 -7.43642902e-03 3.00071383e+02] [ 4.07159869e-02 9.99170748e-01 -1.57097834e-04 2.70453123e+00] [ 7.43665874e-03 -1.45818332e-04 9.99972337e-01 2.05556734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.51925415399995 meters 0.015566152394793267 Centerline is valid? [True, True] Translation: X:300.10, Y:2.71, Z:2.06 [[ 9.99186142e-01 -3.96797568e-02 -7.25052355e-03 3.00103093e+02] [ 3.96796965e-02 9.99212439e-01 -1.52213959e-04 2.70674742e+00] [ 7.25085313e-03 -1.35608496e-04 9.99973703e-01 2.05587604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.549254154 meters 0.015442359194287757 Centerline is valid? [True, True] Translation: X:300.13, Y:2.71, Z:2.06 [[ 9.99243239e-01 -3.82931770e-02 -6.82508152e-03 3.00134021e+02] [ 3.82930944e-02 9.99266540e-01 -1.42828819e-04 2.70902454e+00] [ 6.82554497e-03 -1.18632759e-04 9.99976699e-01 2.05537785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.57925415399995 meters 0.015706527735393033 Centerline is valid? [True, True] Translation: X:300.17, Y:2.71, Z:2.06 [[ 9.99254088e-01 -3.80332073e-02 -6.68893438e-03 3.00165143e+02] [ 3.80331245e-02 9.99276469e-01 -1.39635838e-04 2.70995936e+00] [ 6.68940553e-03 -1.14869392e-04 9.99977619e-01 2.05508128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.609254154 meters 0.014793220056876855 Centerline is valid? [True, True] Translation: X:300.20, Y:2.71, Z:2.05 [[ 9.99264353e-01 -3.78033704e-02 -6.45433808e-03 3.00197697e+02] [ 3.78032903e-02 9.99285191e-01 -1.34444578e-04 2.71285213e+00] [ 6.45480692e-03 -1.09649541e-04 9.99979162e-01 2.05454965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.63925415399996 meters 0.016123670373990907 Centerline is valid? [True, True] Translation: X:300.23, Y:2.71, Z:2.05 [[ 9.99258438e-01 -3.79599722e-02 -6.45098856e-03 3.00229282e+02] [ 3.79599002e-02 9.99279254e-01 -1.33647600e-04 2.71108007e+00] [ 6.45141230e-03 -1.11330390e-04 9.99979183e-01 2.05313102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.669254154 meters 0.015298097342530195 Centerline is valid? [True, True] Translation: X:300.26, Y:2.71, Z:2.05 [[ 9.99238768e-01 -3.85125486e-02 -6.21830914e-03 3.00261584e+02] [ 3.85124953e-02 9.99258110e-01 -1.28353421e-04 2.71371481e+00] [ 6.21863906e-03 -1.11226887e-04 9.99980658e-01 2.05270745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.69925415399996 meters 0.016624808833063713 Centerline is valid? [True, True] Translation: X:300.29, Y:2.71, Z:2.05 [[ 9.99229658e-01 -3.88093616e-02 -5.82444028e-03 3.00292570e+02] [ 3.88093223e-02 9.99246627e-01 -1.19813818e-04 2.71119138e+00] [ 5.82470220e-03 -1.06321060e-04 9.99983031e-01 2.05266981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.729254154 meters 0.017260484641790964 Centerline is valid? [True, True] Translation: X:300.32, Y:2.71, Z:2.05 [[ 9.99194179e-01 -3.98572551e-02 -4.73202487e-03 3.00324947e+02] [ 3.98572417e-02 9.99205380e-01 -9.71845340e-05 2.70960413e+00] [ 4.73213821e-03 -9.14992382e-05 9.99988799e-01 2.05236746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.75925415399996 meters 0.0174029563564977 Centerline is valid? [True, True] Translation: X:300.36, Y:2.71, Z:2.05 [[ 9.99205875e-01 -3.95645165e-02 -4.71886555e-03 3.00357123e+02] [ 3.95645013e-02 9.99217014e-01 -9.66160975e-05 2.71267198e+00] [ 4.71899331e-03 -9.01601898e-05 9.99988861e-01 2.05118735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.789254154 meters 0.016144074168985726 Centerline is valid? [True, True] Translation: X:300.39, Y:2.71, Z:2.05 [[ 9.99182473e-01 -4.02396596e-02 -3.89309269e-03 3.00388734e+02] [ 4.02396543e-02 9.99190054e-01 -7.97127479e-05 2.71222761e+00] [ 3.89314711e-03 -7.70091233e-05 9.99992419e-01 2.05200637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81925415399996 meters 0.016538013018146117 Centerline is valid? [True, True] Translation: X:300.42, Y:2.71, Z:2.05 [[ 9.99165953e-01 -4.06650050e-02 -3.70879040e-03 3.00420167e+02] [ 4.06650059e-02 9.99172834e-01 -7.52008527e-05 2.71154025e+00] [ 3.70878066e-03 -7.56798517e-05 9.99993120e-01 2.05165885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84925415399994 meters 0.01619844596903351 Centerline is valid? [True, True] Translation: X:300.45, Y:2.71, Z:2.05 [[ 9.99149363e-01 -4.10273365e-02 -4.16019165e-03 3.00452344e+02] [ 4.10273417e-02 9.99158021e-01 -8.41399850e-05 2.71261920e+00] [ 4.16014090e-03 -8.66131918e-05 9.99991343e-01 2.05134128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87925415399997 meters 0.016633094795738032 Centerline is valid? [True, True] Translation: X:300.48, Y:2.71, Z:2.05 [[ 9.99134276e-01 -4.14023917e-02 -4.06711586e-03 3.00484003e+02] [ 4.14024011e-02 9.99142550e-01 -8.19175343e-05 2.71198557e+00] [ 4.06702009e-03 -8.65417459e-05 9.99991726e-01 2.05098572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90925415399994 meters 0.01613325334234762 Centerline is valid? [True, True] Translation: X:300.52, Y:2.71, Z:2.05 [[ 9.99124531e-01 -4.16334920e-02 -4.10170727e-03 3.00515927e+02] [ 4.16335042e-02 9.99132946e-01 -8.24427653e-05 2.71241737e+00] [ 4.10158325e-03 -8.83978574e-05 9.99991585e-01 2.05045378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93925415399997 meters 0.01657046509728161 Centerline is valid? [True, True] Translation: X:300.55, Y:2.71, Z:2.05 [[ 9.99077119e-01 -4.27887798e-02 -3.74572107e-03 3.00548380e+02] [ 4.27887990e-02 9.99084137e-01 -7.50527228e-05 2.70982959e+00] [ 3.74550192e-03 -8.52914477e-05 9.99992982e-01 2.04950168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96925415399994 meters 0.018320731240252477 Centerline is valid? [True, True] Translation: X:300.58, Y:2.71, Z:2.05 [[ 9.99054191e-01 -4.33219445e-02 -3.73255389e-03 3.00579645e+02] [ 4.33219685e-02 9.99061160e-01 -7.44558465e-05 2.70608226e+00] [ 3.73227519e-03 -8.73161567e-05 9.99993031e-01 2.04927393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99925415399997 meters 0.018822508828217205 Centerline is valid? [True, True] Translation: X:300.61, Y:2.70, Z:2.05 [[ 9.99023908e-01 -4.40014640e-02 -3.88621134e-03 3.00610666e+02] [ 4.40014961e-02 9.99031462e-01 -7.72815782e-05 2.70485346e+00] [ 3.88584790e-03 -9.37929689e-05 9.99992446e-01 2.04913440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.02925415399994 meters 0.01748832032320223 Centerline is valid? [True, True] Translation: X:300.64, Y:2.71, Z:2.05 [[ 9.99023283e-01 -4.40013073e-02 -4.04525542e-03 3.00643963e+02] [ 4.40013423e-02 9.99031469e-01 -8.03862767e-05 2.70707247e+00] [ 4.04487457e-03 -9.76889065e-05 9.99991815e-01 2.04852020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.059254154 meters 0.01748832032320223 Centerline is valid? [True, True] Translation: X:300.68, Y:2.71, Z:2.05 [[ 9.99028050e-01 -4.38929587e-02 -4.04526407e-03 3.00676506e+02] [ 4.38929946e-02 9.99036235e-01 -7.99475538e-05 2.70762150e+00] [ 4.04487452e-03 -9.76889055e-05 9.99991815e-01 2.04874553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.08925415399995 meters 0.019645367066443886 Centerline is valid? [True, True] Translation: X:300.71, Y:2.70, Z:2.05 [[ 9.99000552e-01 -4.44648844e-02 -4.55747352e-03 3.00708036e+02] [ 4.44649392e-02 9.99010941e-01 -8.93509835e-05 2.70362321e+00] [ 4.55693889e-03 -1.13386101e-04 9.99989611e-01 2.04857580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.119254154 meters 0.01990072964091218 Centerline is valid? [True, True] Translation: X:300.74, Y:2.70, Z:2.05 [[ 9.98988855e-01 -4.47610745e-02 -4.20875418e-03 3.00740185e+02] [ 4.47611245e-02 9.98997715e-01 -8.23518045e-05 2.70335983e+00] [ 4.20822197e-03 -1.06120035e-04 9.99991140e-01 2.04901823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.14925415399995 meters 0.017855913839216784 Centerline is valid? [True, True] Translation: X:300.77, Y:2.71, Z:2.05 [[ 9.98967876e-01 -4.52614676e-02 -3.81870623e-03 3.00772757e+02] [ 4.52615132e-02 9.98975170e-01 -7.45266268e-05 2.70702176e+00] [ 3.81816589e-03 -9.83907160e-05 9.99992706e-01 2.04881432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.179254154 meters 0.01849976639044945 Centerline is valid? [True, True] Translation: X:300.81, Y:2.70, Z:2.05 [[ 9.98852866e-01 -4.77552183e-02 -3.52020961e-03 3.00805080e+02] [ 4.77552733e-02 9.98859064e-01 -6.84845843e-05 2.70486325e+00] [ 3.51946378e-03 -9.97025488e-05 9.99993802e-01 2.04951595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.20925415399995 meters 0.02057938054186263 Centerline is valid? [True, True] Translation: X:300.84, Y:2.70, Z:2.05 [[ 9.98764680e-01 -4.95538749e-02 -3.67799784e-03 3.00836122e+02] [ 4.95539484e-02 9.98771446e-01 -7.12046411e-05 2.70106338e+00] [ 3.67700769e-03 -1.11142634e-04 9.99993234e-01 2.05021041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.239254154 meters 0.019946110482573165 Centerline is valid? [True, True] Translation: X:300.87, Y:2.70, Z:2.05 [[ 9.98527313e-01 -5.40981185e-02 -4.07409436e-03 3.00866828e+02] [ 5.40982479e-02 9.98535614e-01 -7.85094797e-05 2.70054947e+00] [ 4.07237553e-03 -1.42007507e-04 9.99991698e-01 2.04924207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.26925415399995 meters 0.02209763064522483 Centerline is valid? [True, True] Translation: X:300.90, Y:2.70, Z:2.05 [[ 9.98397675e-01 -5.63457688e-02 -5.21883386e-03 3.00897920e+02] [ 5.63460122e-02 9.98411296e-01 -1.00500189e-04 2.69718763e+00] [ 5.21620544e-03 -1.93721321e-04 9.99986377e-01 2.04802153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.299254154 meters 0.021803643648934574 Centerline is valid? [True, True] Translation: X:300.93, Y:2.70, Z:2.05 [[ 9.98218349e-01 -5.93971097e-02 -5.66665789e-03 3.00929886e+02] [ 5.93974475e-02 9.98234407e-01 -1.08803804e-04 2.69630000e+00] [ 5.66311551e-03 -2.27975061e-04 9.99983938e-01 2.04803019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.32925415399995 meters 0.02457499523459242 Centerline is valid? [True, True] Translation: X:300.96, Y:2.69, Z:2.05 [[ 9.97866853e-01 -6.48987050e-02 -7.06410097e-03 3.00959511e+02] [ 6.48993720e-02 9.97891804e-01 -1.35009841e-04 2.69120383e+00] [ 7.05797043e-03 -3.23733871e-04 9.99975040e-01 2.04673840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.359254154 meters 0.026218687728430473 Centerline is valid? [True, True] Translation: X:300.99, Y:2.69, Z:2.05 [[ 9.97692946e-01 -6.74619836e-02 -7.59381231e-03 3.00989379e+02] [ 6.74628283e-02 9.97721778e-01 -1.45149585e-04 2.68892339e+00] [ 7.58630400e-03 -3.67485340e-04 9.99971156e-01 2.04652988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.38925415399996 meters 0.02738266083646602 Centerline is valid? [True, True] Translation: X:301.02, Y:2.69, Z:2.05 [[ 9.97533901e-01 -6.96882884e-02 -8.34615946e-03 3.01021810e+02] [ 6.96893931e-02 9.97568726e-01 -1.58745301e-04 2.68725250e+00] [ 8.33693035e-03 -4.23284969e-04 9.99965158e-01 2.04626201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.419254154 meters 0.02964879557248464 Centerline is valid? [True, True] Translation: X:301.05, Y:2.68, Z:2.05 [[ 9.97275586e-01 -7.32124732e-02 -9.01883286e-03 3.01051680e+02] [ 7.32139117e-02 9.97316246e-01 -1.71004545e-04 2.68420250e+00] [ 9.00714819e-03 -4.89765375e-04 9.99959315e-01 2.04582919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.44925415399996 meters 0.029398549979944393 Centerline is valid? [True, True] Translation: X:301.08, Y:2.69, Z:2.05 [[ 9.97200198e-01 -7.42084637e-02 -9.21240258e-03 3.01084086e+02] [ 7.42100084e-02 9.97242621e-01 -1.74510884e-04 2.68535124e+00] [ 9.19995068e-03 -5.09630185e-04 9.99957550e-01 2.04656834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.479254154 meters 0.0301911791606189 Centerline is valid? [True, True] Translation: X:301.12, Y:2.69, Z:2.05 [[ 9.97169522e-01 -7.46547277e-02 -8.92280826e-03 3.01116151e+02] [ 7.46562002e-02 9.97209318e-01 -1.68401400e-04 2.68545362e+00] [ 8.91047950e-03 -4.98218216e-04 9.99960177e-01 2.04736478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.50925415399996 meters 0.027297772518702038 Centerline is valid? [True, True] Translation: X:301.15, Y:2.69, Z:2.05 [[ 9.97192045e-01 -7.45197511e-02 -7.40482398e-03 3.01148884e+02] [ 7.45207649e-02 9.97219452e-01 -1.39289201e-04 2.69179288e+00] [ 7.39461431e-03 -4.12915064e-04 9.99972574e-01 2.04918652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.539254154 meters 0.03161419139580387 Centerline is valid? [True, True] Translation: X:301.18, Y:2.69, Z:2.05 [[ 9.97260043e-01 -7.36948112e-02 -6.44065758e-03 3.01180168e+02] [ 7.36955649e-02 9.97280778e-01 -1.20550638e-04 2.68693019e+00] [ 6.43202796e-03 -3.54427564e-04 9.99979251e-01 2.05046351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.56925415399996 meters 0.025363549125453834 Centerline is valid? [True, True] Translation: X:301.21, Y:2.70, Z:2.05 [[ 9.97533729e-01 -7.00689144e-02 -4.09970253e-03 3.01211223e+02] [ 7.00691916e-02 9.97542131e-01 -7.61453014e-05 2.69788025e+00] [ 4.09496141e-03 -2.11305335e-04 9.99991593e-01 2.05228875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59925415399994 meters 0.02520234452236033 Centerline is valid? [True, True] Translation: X:301.24, Y:2.70, Z:2.05 [[ 9.97729268e-01 -6.72677711e-02 -3.36973319e-03 3.01241315e+02] [ 6.72679426e-02 9.97734945e-01 -6.25303630e-05 2.69971581e+00] [ 3.36630684e-03 -1.64286646e-04 9.99994320e-01 2.05317489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.62925415399997 meters 0.024490434503384693 Centerline is valid? [True, True] Translation: X:301.27, Y:2.70, Z:2.05 [[ 9.97942178e-01 -6.40364495e-02 -3.27769859e-03 3.01273009e+02] [ 6.40365939e-02 9.97947549e-01 -6.09873421e-05 2.70282844e+00] [ 3.27487669e-03 -1.49030813e-04 9.99994626e-01 2.05366345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65925415399994 meters 0.02179225284430315 Centerline is valid? [True, True] Translation: X:301.30, Y:2.71, Z:2.05 [[ 9.98376102e-01 -5.68418724e-02 -3.76309289e-03 3.01303217e+02] [ 5.68420140e-02 9.98383183e-01 -6.93876160e-05 2.71065513e+00] [ 3.76095278e-03 -1.44626841e-04 9.99992917e-01 2.05365597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68925415399997 meters 0.02179225284430315 Centerline is valid? [True, True] Translation: X:301.34, Y:2.71, Z:2.05 [[ 9.98382347e-01 -5.67320831e-02 -3.76308662e-03 3.01335775e+02] [ 5.67322227e-02 9.98389428e-01 -6.97285602e-05 2.71116504e+00] [ 3.76098175e-03 -1.43872505e-04 9.99992917e-01 2.05388161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71925415399994 meters 0.02041929037626644 Centerline is valid? [True, True] Translation: X:301.37, Y:2.72, Z:2.05 [[ 9.98549428e-01 -5.36101961e-02 -4.99872620e-03 3.01367696e+02] [ 5.36104079e-02 9.98561924e-01 -9.17188879e-05 2.71578632e+00] [ 4.99645472e-03 -1.76397908e-04 9.99987502e-01 2.05356596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74925415399997 meters 0.019526750299250353 Centerline is valid? [True, True] Translation: X:301.40, Y:2.72, Z:2.05 [[ 9.98776717e-01 -4.89874297e-02 -6.73056754e-03 3.01398093e+02] [ 4.89877122e-02 9.98799374e-01 -1.22982596e-04 2.71983157e+00] [ 6.72851124e-03 -2.06882951e-04 9.99977342e-01 2.05251988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77925415399994 meters 0.019409405749509043 Centerline is valid? [True, True] Translation: X:301.43, Y:2.72, Z:2.05 [[ 9.98835553e-01 -4.76539274e-02 -7.52600372e-03 3.01430543e+02] [ 4.76542442e-02 9.98863882e-01 -1.37330729e-04 2.72126858e+00] [ 7.52399763e-03 -2.21475204e-04 9.99971670e-01 2.05194040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.809254154 meters 0.01933206890452682 Centerline is valid? [True, True] Translation: X:301.46, Y:2.72, Z:2.05 [[ 9.98863926e-01 -4.68667866e-02 -8.62332231e-03 3.01461801e+02] [ 4.68671789e-02 9.98901118e-01 -1.56691942e-04 2.72221047e+00] [ 8.62118994e-03 -2.47636861e-04 9.99962806e-01 2.05139805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.83925415399995 meters 0.01948158294077856 Centerline is valid? [True, True] Translation: X:301.49, Y:2.72, Z:2.05 [[ 9.98836573e-01 -4.70110367e-02 -1.07453471e-02 3.01494023e+02] [ 4.70116621e-02 9.98894322e-01 -1.94515812e-04 2.72394010e+00] [ 1.07426106e-02 -3.10867119e-04 9.99942248e-01 2.04998515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.869254154 meters 0.019642843002128204 Centerline is valid? [True, True] Translation: X:301.53, Y:2.72, Z:2.05 [[ 9.98831727e-01 -4.69358490e-02 -1.14981774e-02 3.01525836e+02] [ 4.69365700e-02 9.98897850e-01 -2.07292690e-04 2.72432157e+00] [ 1.14952342e-02 -3.32634494e-04 9.99933872e-01 2.04935250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.89925415399995 meters 0.019444858104293593 Centerline is valid? [True, True] Translation: X:301.56, Y:2.73, Z:2.05 [[ 9.98816587e-01 -4.69795616e-02 -1.25835425e-02 3.01557856e+02] [ 4.69804404e-02 9.98895784e-01 -2.25920281e-04 2.72670463e+00] [ 1.25802612e-02 -3.65527443e-04 9.99920799e-01 2.04931510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.929254154 meters 0.01939450117860653 Centerline is valid? [True, True] Translation: X:301.59, Y:2.73, Z:2.05 [[ 9.98843119e-01 -4.64192444e-02 -1.25569855e-02 3.01590043e+02] [ 4.64200864e-02 9.98921982e-01 -2.24550370e-04 2.72790616e+00] [ 1.25538723e-02 -3.58605761e-04 9.99921133e-01 2.04968340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.95925415399995 meters 0.020034887344914543 Centerline is valid? [True, True] Translation: X:301.62, Y:2.73, Z:2.05 [[ 9.98873539e-01 -4.58151819e-02 -1.23540244e-02 3.01621742e+02] [ 4.58159614e-02 9.98949873e-01 -2.20055302e-04 2.72817016e+00] [ 1.23511329e-02 -3.46204085e-04 9.99923662e-01 2.05014087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.989254154 meters 0.01777740730453646 Centerline is valid? [True, True] Translation: X:301.65, Y:2.73, Z:2.05 [[ 9.98965422e-01 -4.39088030e-02 -1.18365290e-02 3.01654059e+02] [ 4.39093946e-02 9.99035495e-01 -2.10008257e-04 2.73448843e+00] [ 1.18343338e-02 -3.09943834e-04 9.99929924e-01 2.05218205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.01925415399995 meters 0.01808917017014593 Centerline is valid? [True, True] Translation: X:301.68, Y:2.74, Z:2.05 [[ 9.99010902e-01 -4.30900103e-02 -1.09757798e-02 3.01684771e+02] [ 4.30904773e-02 9.99071155e-01 -1.94040201e-04 2.73531525e+00] [ 1.09739462e-02 -2.79103312e-04 9.99939745e-01 2.05324930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.049254154 meters 0.01821400528778941 Centerline is valid? [True, True] Translation: X:301.72, Y:2.74, Z:2.05 [[ 9.99038423e-01 -4.26139697e-02 -1.03091726e-02 3.01716369e+02] [ 4.26143619e-02 9.99091579e-01 -1.81715554e-04 2.73599619e+00] [ 1.03075512e-02 -2.57777993e-04 9.99946843e-01 2.05433402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.07925415399995 meters 0.017720354891165337 Centerline is valid? [True, True] Translation: X:301.75, Y:2.74, Z:2.06 [[ 9.99033362e-01 -4.28382047e-02 -9.86055408e-03 3.01748550e+02] [ 4.28385801e-02 9.99081992e-01 -1.73235320e-04 2.73804785e+00] [ 9.85892310e-03 -2.49344271e-04 9.99951369e-01 2.05529123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.109254154 meters 0.019934266820109552 Centerline is valid? [True, True] Translation: X:301.78, Y:2.73, Z:2.06 [[ 9.98937737e-01 -4.51191107e-02 -9.36283714e-03 3.01779362e+02] [ 4.51195567e-02 9.98981581e-01 -1.63697708e-04 2.73417797e+00] [ 9.36068774e-03 -2.58923244e-04 9.99956154e-01 2.05622297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.13925415399996 meters 0.020706400746413122 Centerline is valid? [True, True] Translation: X:301.81, Y:2.73, Z:2.06 [[ 9.98711416e-01 -4.99520135e-02 -8.96127370e-03 3.01810160e+02] [ 4.99526248e-02 9.98751576e-01 -1.55736376e-04 2.73188185e+00] [ 8.95786557e-03 -2.92103446e-04 9.99959835e-01 2.05653173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.169254154 meters 0.021213684141425822 Centerline is valid? [True, True] Translation: X:301.84, Y:2.73, Z:2.06 [[ 9.98554161e-01 -5.29775001e-02 -9.10889678e-03 3.01841948e+02] [ 5.29782615e-02 9.98595653e-01 -1.57849491e-04 2.73083690e+00] [ 9.10446721e-03 -3.24952249e-04 9.99958501e-01 2.05638487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.19925415399996 meters 0.02509722624336418 Centerline is valid? [True, True] Translation: X:301.87, Y:2.72, Z:2.06 [[ 9.98185726e-01 -5.92448668e-02 -1.07379019e-02 3.01871849e+02] [ 5.92462911e-02 9.98243378e-01 -1.85685760e-04 2.72340385e+00] [ 1.07300404e-02 -4.50831987e-04 9.99942330e-01 2.05533272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.229254154 meters 0.02509722624336418 Centerline is valid? [True, True] Translation: X:301.90, Y:2.72, Z:2.06 [[ 9.98191986e-01 -5.91392904e-02 -1.07379072e-02 3.01904411e+02] [ 5.91407119e-02 9.98249639e-01 -1.85379657e-04 2.72387111e+00] [ 1.07300752e-02 -4.50002987e-04 9.99942330e-01 2.05555842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.25925415399996 meters 0.024734676736553468 Centerline is valid? [True, True] Translation: X:301.94, Y:2.72, Z:2.05 [[ 9.97842108e-01 -6.43571961e-02 -1.30107302e-02 3.01935197e+02] [ 6.43597376e-02 9.97926738e-01 -2.23696221e-04 2.72342899e+00] [ 1.29981520e-02 -6.14153671e-04 9.99915332e-01 2.05443526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.289254154 meters 0.027707077549207027 Centerline is valid? [True, True] Translation: X:301.97, Y:2.72, Z:2.05 [[ 9.97703650e-01 -6.63531607e-02 -1.35898471e-02 3.01966131e+02] [ 6.63561303e-02 9.97795976e-01 -2.32765490e-04 2.71920809e+00] [ 1.35753395e-02 -6.69538686e-04 9.99907627e-01 2.05380806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31925415399996 meters 0.027247328747249753 Centerline is valid? [True, True] Translation: X:302.00, Y:2.72, Z:2.05 [[ 9.97586124e-01 -6.79666992e-02 -1.42286204e-02 3.01998208e+02] [ 6.79701389e-02 9.97687327e-01 -2.42256046e-04 2.72023267e+00] [ 1.42121796e-02 -7.25450036e-04 9.99898739e-01 2.05373369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34925415399994 meters 0.02714944818593732 Centerline is valid? [True, True] Translation: X:302.03, Y:2.72, Z:2.05 [[ 9.97413312e-01 -7.01391605e-02 -1.57220895e-02 3.02028905e+02] [ 7.01436408e-02 9.97536866e-01 -2.66970758e-04 2.72018009e+00] [ 1.57020890e-02 -8.36524411e-04 9.99876365e-01 2.05371381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37925415399997 meters 0.02814944981157938 Centerline is valid? [True, True] Translation: X:302.06, Y:2.72, Z:2.05 [[ 9.97352475e-01 -7.08721364e-02 -1.62843779e-02 3.02060209e+02] [ 7.08770507e-02 9.97485021e-01 -2.75877282e-04 2.71922731e+00] [ 1.62629751e-02 -8.79041791e-04 9.99867363e-01 2.05365500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40925415399994 meters 0.028465465988782353 Centerline is valid? [True, True] Translation: X:302.09, Y:2.72, Z:2.05 [[ 9.97349210e-01 -7.08800355e-02 -1.64491180e-02 3.02092536e+02] [ 7.08850685e-02 9.97484451e-01 -2.77598797e-04 2.71908361e+00] [ 1.64274157e-02 -8.89133915e-04 9.99864666e-01 2.05388611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43925415399997 meters 0.028929241047602056 Centerline is valid? [True, True] Translation: X:302.12, Y:2.72, Z:2.05 [[ 9.97375742e-01 -7.05434881e-02 -1.62863303e-02 3.02123393e+02] [ 7.05483934e-02 9.97508320e-01 -2.73853053e-04 2.71884241e+00] [ 1.62650686e-02 -8.75840048e-04 9.99867331e-01 2.05439864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46925415399994 meters 0.027839153645537427 Centerline is valid? [True, True] Translation: X:302.16, Y:2.72, Z:2.05 [[ 9.97463327e-01 -6.92992088e-02 -1.62643799e-02 3.02155328e+02] [ 6.93039530e-02 9.97595553e-01 -2.72437497e-04 2.72077678e+00] [ 1.62441528e-02 -8.55439407e-04 9.99867689e-01 2.05483549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49925415399997 meters 0.026894203734548205 Centerline is valid? [True, True] Translation: X:302.19, Y:2.72, Z:2.06 [[ 9.97528030e-01 -6.84130757e-02 -1.60461929e-02 3.02187955e+02] [ 6.84176003e-02 9.97656735e-01 -2.67459108e-04 2.72262809e+00] [ 1.60268901e-02 -8.31044051e-04 9.99871216e-01 2.05544021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.52925415399994 meters 0.02738000663731385 Centerline is valid? [True, True] Translation: X:302.22, Y:2.72, Z:2.06 [[ 9.97600792e-01 -6.72826615e-02 -1.63003851e-02 3.02219481e+02] [ 6.72871988e-02 9.97733612e-01 -2.70546169e-04 2.72244175e+00] [ 1.62816452e-02 -8.26910180e-04 9.99867103e-01 2.05552213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.559254154 meters 0.027777731399251864 Centerline is valid? [True, True] Translation: X:302.25, Y:2.72, Z:2.05 [[ 9.97714200e-01 -6.55272211e-02 -1.65093667e-02 3.02250078e+02] [ 6.55316448e-02 9.97850454e-01 -2.73463279e-04 2.72253079e+00] [ 1.64917983e-02 -8.09047758e-04 9.99863674e-01 2.05497584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.58925415399995 meters 0.02688068244792494 Centerline is valid? [True, True] Translation: X:302.28, Y:2.72, Z:2.06 [[ 9.97753892e-01 -6.48155865e-02 -1.69148062e-02 3.02282665e+02] [ 6.48201424e-02 9.97896924e-01 -2.79341948e-04 2.72466593e+00] [ 1.68973388e-02 -8.17705628e-04 9.99856895e-01 2.05506057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.619254154 meters 0.025173143202225984 Centerline is valid? [True, True] Translation: X:302.31, Y:2.73, Z:2.06 [[ 9.97762465e-01 -6.45513227e-02 -1.74123845e-02 3.02314603e+02] [ 6.45561327e-02 9.97914036e-01 -2.86284597e-04 2.72817725e+00] [ 1.73945430e-02 -8.38432181e-04 9.99848352e-01 2.05562846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.64925415399995 meters 0.024103314399213805 Centerline is valid? [True, True] Translation: X:302.35, Y:2.73, Z:2.06 [[ 9.97704574e-01 -6.51361873e-02 -1.85164619e-02 3.02346209e+02] [ 6.51417493e-02 9.97875975e-01 -3.03246108e-04 2.73133254e+00] [ 1.84968848e-02 -9.03644690e-04 9.99828510e-01 2.05576895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.679254154 meters 0.026277096438670353 Centerline is valid? [True, True] Translation: X:302.38, Y:2.73, Z:2.05 [[ 9.97651377e-01 -6.57384230e-02 -1.92402914e-02 3.02377810e+02] [ 6.57445781e-02 9.97836436e-01 -3.13136601e-04 2.72852393e+00] [ 1.92192489e-02 -9.52543678e-04 9.99814839e-01 2.05472352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.70925415399995 meters 0.029416920112983934 Centerline is valid? [True, True] Translation: X:302.41, Y:2.73, Z:2.05 [[ 9.97564164e-01 -6.68132378e-02 -2.00431851e-02 3.02408834e+02] [ 6.68201664e-02 9.97764982e-01 -3.24581743e-04 2.72501885e+00] [ 2.00200746e-02 -1.01549785e-03 9.99799062e-01 2.05343274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.739254154 meters 0.025955568180477666 Centerline is valid? [True, True] Translation: X:302.44, Y:2.73, Z:2.06 [[ 9.97474787e-01 -6.81168528e-02 -2.01033030e-02 3.02440687e+02] [ 6.81241141e-02 9.97676801e-01 -3.24205253e-04 2.73007727e+00] [ 2.00786829e-02 -1.04613314e-03 9.99797856e-01 2.05550228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.76925415399995 meters 0.028883389390535818 Centerline is valid? [True, True] Translation: X:302.47, Y:2.73, Z:2.06 [[ 9.97312200e-01 -7.06763499e-02 -1.93191607e-02 3.02470393e+02] [ 7.06835438e-02 9.97498742e-01 -3.11066858e-04 2.72712034e+00] [ 1.92928236e-02 -1.05531597e-03 9.99813319e-01 2.05556375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.799254154 meters 0.028139265236274337 Centerline is valid? [True, True] Translation: X:302.50, Y:2.73, Z:2.06 [[ 9.97256107e-01 -7.15926139e-02 -1.88349524e-02 3.02502731e+02] [ 7.15996309e-02 9.97433407e-01 -3.02399354e-04 2.72928161e+00] [ 1.88082603e-02 -1.04700604e-03 9.99822561e-01 2.05650681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.82925415399995 meters 0.028578216494864927 Centerline is valid? [True, True] Translation: X:302.53, Y:2.73, Z:2.06 [[ 9.97211223e-01 -7.23160370e-02 -1.84436171e-02 3.02534723e+02] [ 7.23229133e-02 9.97381226e-01 -2.94778124e-04 2.72979889e+00] [ 1.84166346e-02 -1.03994006e-03 9.99829859e-01 2.05704632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.859254154 meters 0.030212591451092046 Centerline is valid? [True, True] Translation: X:302.57, Y:2.73, Z:2.06 [[ 9.97163985e-01 -7.31889383e-02 -1.75318639e-02 3.02565917e+02] [ 7.31953184e-02 9.97317586e-01 -2.78344017e-04 2.72978013e+00] [ 1.75052078e-02 -1.00569573e-03 9.99846266e-01 2.05688771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.88925415399996 meters 0.030212591451092046 Centerline is valid? [True, True] Translation: X:302.60, Y:2.73, Z:2.06 [[ 9.97171935e-01 -7.30805334e-02 -1.75318963e-02 3.02598507e+02] [ 7.30869328e-02 9.97325536e-01 -2.76289778e-04 2.73020211e+00] [ 1.75051993e-02 -1.00584411e-03 9.99846266e-01 2.05711331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.919254154 meters 0.028073530743019968 Centerline is valid? [True, True] Translation: X:302.63, Y:2.73, Z:2.06 [[ 9.97149834e-01 -7.33843580e-02 -1.75198333e-02 3.02630474e+02] [ 7.33908222e-02 9.97303220e-01 -2.74563023e-04 2.73382085e+00] [ 1.74927348e-02 -1.01201450e-03 9.99846478e-01 2.05867088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.94925415399996 meters 0.028777891383013753 Centerline is valid? [True, True] Translation: X:302.66, Y:2.73, Z:2.06 [[ 9.97180780e-01 -7.32192830e-02 -1.64142909e-02 3.02661944e+02] [ 7.32249511e-02 9.97315417e-01 -2.56233615e-04 2.73494094e+00] [ 1.63889866e-02 -9.46424414e-04 9.99865244e-01 2.05894290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.979254154 meters 0.028777891383013753 Centerline is valid? [True, True] Translation: X:302.69, Y:2.74, Z:2.06 [[ 9.97188842e-01 -7.31093947e-02 -1.64143131e-02 3.02694535e+02] [ 7.31150714e-02 9.97323479e-01 -2.54806199e-04 2.73535736e+00] [ 1.63890086e-02 -9.46043776e-04 9.99865244e-01 2.05916866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.00925415399996 meters 0.02942873831166673 Centerline is valid? [True, True] Translation: X:302.73, Y:2.74, Z:2.06 [[ 9.97177253e-01 -7.32739391e-02 -1.63846265e-02 3.02726536e+02] [ 7.32796412e-02 9.97311401e-01 -2.52893390e-04 2.73606629e+00] [ 1.63591053e-02 -9.48480016e-04 9.99865731e-01 2.05954457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.039254154 meters 0.029497658654957844 Centerline is valid? [True, True] Translation: X:302.76, Y:2.74, Z:2.06 [[ 9.97187787e-01 -7.31478149e-02 -1.63069134e-02 3.02759857e+02] [ 7.31534711e-02 9.97320664e-01 -2.50162199e-04 2.73701982e+00] [ 1.62815205e-02 -9.43448628e-04 9.99867002e-01 2.05983376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.06925415399996 meters 0.03046720912757747 Centerline is valid? [True, True] Translation: X:302.79, Y:2.74, Z:2.06 [[ 9.97134522e-01 -7.37846957e-02 -1.66902242e-02 3.02791678e+02] [ 7.37907439e-02 9.97273714e-01 -2.54004282e-04 2.73716395e+00] [ 1.66634635e-02 -9.78307624e-04 9.99860676e-01 2.05962245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09925415399994 meters 0.03243566068341958 Centerline is valid? [True, True] Translation: X:302.82, Y:2.73, Z:2.06 [[ 9.97100615e-01 -7.42077699e-02 -1.68395441e-02 3.02822774e+02] [ 7.42140111e-02 9.97242305e-01 -2.54840350e-04 2.73477771e+00] [ 1.68120169e-02 -9.95628642e-04 9.99858172e-01 2.05915635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.12925415399997 meters 0.032870765437445645 Centerline is valid? [True, True] Translation: X:302.86, Y:2.73, Z:2.06 [[ 9.97045441e-01 -7.47699088e-02 -1.76025188e-02 3.02855103e+02] [ 7.47768359e-02 9.97200258e-01 -2.65243538e-04 2.73451028e+00] [ 1.75730685e-02 -1.05180080e-03 9.99845028e-01 2.05879491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15925415399994 meters 0.03307243221631415 Centerline is valid? [True, True] Translation: X:302.89, Y:2.74, Z:2.06 [[ 9.96931302e-01 -7.59139415e-02 -1.91063694e-02 3.02887069e+02] [ 7.59223391e-02 9.97113693e-01 -2.86512878e-04 2.73521505e+00] [ 1.90729729e-02 -1.16496660e-03 9.99817416e-01 2.05793435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18925415399997 meters 0.03440111826293322 Centerline is valid? [True, True] Translation: X:302.92, Y:2.73, Z:2.06 [[ 9.96937686e-01 -7.56499438e-02 -1.98074855e-02 3.02919103e+02] [ 7.56589498e-02 9.97133710e-01 -2.95384537e-04 2.73445424e+00] [ 1.97730573e-02 -1.20413358e-03 9.99803769e-01 2.05754580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21925415399994 meters 0.03359211359263142 Centerline is valid? [True, True] Translation: X:302.95, Y:2.74, Z:2.06 [[ 9.96988623e-01 -7.49398961e-02 -1.99423506e-02 3.02950844e+02] [ 7.49489141e-02 9.97187331e-01 -2.95871415e-04 2.73678705e+00] [ 1.99084320e-02 -1.19967709e-03 9.99801088e-01 2.05773521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24925415399997 meters 0.03285555292765295 Centerline is valid? [True, True] Translation: X:302.98, Y:2.74, Z:2.06 [[ 9.97244657e-01 -7.13993833e-02 -2.01301153e-02 3.02980728e+02] [ 7.14078628e-02 9.97447156e-01 -2.98168161e-04 2.73989362e+00] [ 2.01000153e-02 -1.14010191e-03 9.99797324e-01 2.05813558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27925415399994 meters 0.0319191415257805 Centerline is valid? [True, True] Translation: X:303.01, Y:2.74, Z:2.06 [[ 9.97428483e-01 -6.88301663e-02 -1.99706950e-02 3.03012680e+02] [ 6.88380119e-02 9.97627807e-01 -2.95134099e-04 2.74279298e+00] [ 1.99436348e-02 -1.08036778e-03 9.99800522e-01 2.05870992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.309254154 meters 0.030713459455287424 Centerline is valid? [True, True] Translation: X:303.04, Y:2.75, Z:2.06 [[ 9.97657989e-01 -6.56161227e-02 -1.93148159e-02 3.03043008e+02] [ 6.56228671e-02 9.97844456e-01 -2.85095665e-04 2.74615816e+00] [ 1.92918889e-02 -9.83065631e-04 9.99813411e-01 2.05936731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.33925415399995 meters 0.029456813644272595 Centerline is valid? [True, True] Translation: X:303.07, Y:2.75, Z:2.06 [[ 9.97880107e-01 -6.22864195e-02 -1.88598444e-02 3.03074122e+02] [ 6.22922604e-02 9.98057913e-01 -2.78178460e-04 2.74970921e+00] [ 1.88405437e-02 -8.97233585e-04 9.99822099e-01 2.05998849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.369254154 meters 0.026753974070739064 Centerline is valid? [True, True] Translation: X:303.10, Y:2.76, Z:2.06 [[ 9.98337755e-01 -5.48335663e-02 -1.77484526e-02 3.03103479e+02] [ 5.48375615e-02 9.98495255e-01 -2.61868588e-04 2.75651711e+00] [ 1.77361049e-02 -7.11848562e-04 9.99842450e-01 2.06133584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.39925415399995 meters 0.02511086206715176 Centerline is valid? [True, True] Translation: X:303.13, Y:2.76, Z:2.06 [[ 9.98562989e-01 -5.07230622e-02 -1.72953243e-02 3.03133428e+02] [ 5.07262381e-02 9.98712563e-01 -2.55303411e-04 2.76041774e+00] [ 1.72860075e-02 -6.22390202e-04 9.99850392e-01 2.06214224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.429254154 meters 0.01986873777995016 Centerline is valid? [True, True] Translation: X:303.16, Y:2.77, Z:2.06 [[ 9.98772979e-01 -4.65416391e-02 -1.69237414e-02 3.03164380e+02] [ 4.65440863e-02 9.98916206e-01 -2.49457464e-04 2.77054293e+00] [ 1.69170097e-02 -5.38548705e-04 9.99856752e-01 2.06432942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.45925415399995 meters 0.017383758726862753 Centerline is valid? [True, True] Translation: X:303.20, Y:2.78, Z:2.06 [[ 9.99122985e-01 -3.81772251e-02 -1.71977063e-02 3.03195300e+02] [ 3.81785213e-02 9.99270902e-01 -2.53058554e-04 2.77763679e+00] [ 1.71948285e-02 -4.03746378e-04 9.99852076e-01 2.06454066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.489254154 meters 0.015970923662922496 Centerline is valid? [True, True] Translation: X:303.23, Y:2.78, Z:2.07 [[ 9.99280769e-01 -3.38100902e-02 -1.71703777e-02 3.03226984e+02] [ 3.38107496e-02 9.99428221e-01 -2.51973301e-04 2.78251736e+00] [ 1.71690793e-02 -3.28751269e-04 9.99852546e-01 2.06513839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.51925415399995 meters 0.015301160732801538 Centerline is valid? [True, True] Translation: X:303.26, Y:2.79, Z:2.07 [[ 9.99420364e-01 -2.92329868e-02 -1.74461599e-02 3.03257724e+02] [ 2.92329838e-02 9.99572592e-01 -2.55252873e-04 2.78568753e+00] [ 1.74461651e-02 -2.54898390e-04 9.99847772e-01 2.06501762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.549254154 meters 0.01573704170437738 Centerline is valid? [True, True] Translation: X:303.29, Y:2.79, Z:2.06 [[ 9.99527908e-01 -2.50144842e-02 -1.78391692e-02 3.03288057e+02] [ 2.50138138e-02 9.99687072e-01 -2.60745183e-04 2.78912819e+00] [ 1.78401093e-02 -1.85603571e-04 9.99840835e-01 2.06444710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.57925415399995 meters 0.014449882873451093 Centerline is valid? [True, True] Translation: X:303.32, Y:2.79, Z:2.07 [[ 9.99620778e-01 -2.11592568e-02 -1.76234454e-02 3.03318520e+02] [ 2.11580034e-02 9.99776111e-01 -2.57592068e-04 2.79262911e+00] [ 1.76249502e-02 -1.15382534e-04 9.99844662e-01 2.06532317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.609254154 meters 0.014135984029423072 Centerline is valid? [True, True] Translation: X:303.35, Y:2.80, Z:2.07 [[ 9.99751189e-01 -1.38609392e-02 -1.74766926e-02 3.03347786e+02] [ 1.38585847e-02 9.99903932e-01 -2.55834185e-04 2.79872471e+00] [ 1.74785598e-02 1.35683058e-05 9.99847238e-01 2.06686472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.63925415399996 meters 0.01423455224960282 Centerline is valid? [True, True] Translation: X:303.38, Y:2.80, Z:2.07 [[ 9.99782187e-01 -1.11511324e-02 -1.76417412e-02 3.03376120e+02] [ 1.11482579e-02 9.99937822e-01 -2.61276405e-04 2.80133211e+00] [ 1.76435578e-02 6.45448142e-05 9.99844338e-01 2.06733814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.669254154 meters 0.01448334408769331 Centerline is valid? [True, True] Translation: X:303.40, Y:2.80, Z:2.07 [[ 9.99797732e-01 -8.15981813e-03 -1.83823688e-02 3.03403401e+02] [ 8.15613420e-03 9.99966700e-01 -2.75368689e-04 2.80429806e+00] [ 1.83840037e-02 1.25383924e-04 9.99830992e-01 2.06705633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.69925415399996 meters 0.014702813612125411 Centerline is valid? [True, True] Translation: X:303.43, Y:2.81, Z:2.07 [[ 9.99808190e-01 -7.74827120e-03 -1.79874250e-02 3.03429990e+02] [ 7.74463909e-03 9.99969973e-01 -2.71576141e-04 2.80530312e+00] [ 1.79889891e-02 1.32217935e-04 9.99838176e-01 2.06618867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.729254154 meters 0.01452285399815177 Centerline is valid? [True, True] Translation: X:303.46, Y:2.81, Z:2.07 [[ 9.99793065e-01 -8.57499151e-03 -1.84471281e-02 3.03458325e+02] [ 8.57123449e-03 9.99963226e-01 -2.82719974e-04 2.80517398e+00] [ 1.84488741e-02 1.24546809e-04 9.99829797e-01 2.06718198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.75925415399996 meters 0.014340562974529172 Centerline is valid? [True, True] Translation: X:303.49, Y:2.80, Z:2.07 [[ 9.99781054e-01 -9.76838580e-03 -1.85046770e-02 3.03486136e+02] [ 9.76471059e-03 9.99952282e-01 -2.88955879e-04 2.80452482e+00] [ 1.85066166e-02 1.08199798e-04 9.99828732e-01 2.06754696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.789254154 meters 0.014416111994389469 Centerline is valid? [True, True] Translation: X:303.51, Y:2.80, Z:2.07 [[ 9.99772824e-01 -1.13219357e-02 -1.80586435e-02 3.03513866e+02] [ 1.13186356e-02 9.99935902e-01 -2.84947131e-04 2.80351071e+00] [ 1.80607121e-02 8.04831934e-05 9.99836889e-01 2.06750466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81925415399996 meters 0.014037102162542992 Centerline is valid? [True, True] Translation: X:303.54, Y:2.80, Z:2.07 [[ 9.99709175e-01 -1.59692648e-02 -1.80706335e-02 3.03542700e+02] [ 1.59666934e-02 9.99872483e-01 -2.86574824e-04 2.79944988e+00] [ 1.80729056e-02 -2.03678298e-06 9.99836672e-01 2.06913654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84925415399994 meters 0.014030622556283451 Centerline is valid? [True, True] Translation: X:303.57, Y:2.80, Z:2.07 [[ 9.99660836e-01 -1.90342709e-02 -1.77738348e-02 3.03569402e+02] [ 1.90322343e-02 9.99818830e-01 -2.83748768e-04 2.79744880e+00] [ 1.77760157e-02 -5.46232570e-05 9.99841993e-01 2.06940540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87925415399997 meters 0.014097866659721682 Centerline is valid? [True, True] Translation: X:303.60, Y:2.80, Z:2.07 [[ 9.99588520e-01 -2.23392099e-02 -1.79930593e-02 3.03598511e+02] [ 2.23375925e-02 9.99750443e-01 -2.90887939e-04 2.79508607e+00] [ 1.79950672e-02 -1.11153382e-04 9.99838069e-01 2.06974342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90925415399994 meters 0.014501936233473976 Centerline is valid? [True, True] Translation: X:303.63, Y:2.79, Z:2.07 [[ 9.99499074e-01 -2.59185425e-02 -1.81612149e-02 3.03628640e+02] [ 2.59174466e-02 9.99664043e-01 -2.95749978e-04 2.79274366e+00] [ 1.81627789e-02 -1.75090488e-04 9.99835028e-01 2.07023832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93925415399997 meters 0.015466363577610304 Centerline is valid? [True, True] Translation: X:303.66, Y:2.79, Z:2.07 [[ 9.99281011e-01 -3.32089271e-02 -1.82928393e-02 3.03658794e+02] [ 3.32090277e-02 9.99448384e-01 -2.98353513e-04 2.78667412e+00] [ 1.82926567e-02 -3.09348408e-04 9.99832628e-01 2.06976227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96925415399994 meters 0.0158616400795787 Centerline is valid? [True, True] Translation: X:303.69, Y:2.78, Z:2.07 [[ 9.99158340e-01 -3.67140193e-02 -1.82945962e-02 3.03690282e+02] [ 3.67147125e-02 9.99325743e-01 -2.98089204e-04 2.78385097e+00] [ 1.82932049e-02 -3.73842523e-04 9.99832595e-01 2.07012245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99925415399997 meters 0.01686537051773553 Centerline is valid? [True, True] Translation: X:303.72, Y:2.78, Z:2.07 [[ 9.99037430e-01 -3.99248630e-02 -1.81719046e-02 3.03721703e+02] [ 3.99260936e-02 9.99202592e-01 -2.95216354e-04 2.78025534e+00] [ 1.81692007e-02 -4.30600978e-04 9.99834834e-01 2.06961849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.02925415399994 meters 0.01845332485464728 Centerline is valid? [True, True] Translation: X:303.75, Y:2.78, Z:2.07 [[ 9.98910061e-01 -4.29386054e-02 -1.83020898e-02 3.03753185e+02] [ 4.29403775e-02 9.99077593e-01 -2.96327585e-04 2.77607357e+00] [ 1.82979317e-02 -4.89894038e-04 9.99832459e-01 2.06893111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.059254154 meters 0.018733325059397895 Centerline is valid? [True, True] Translation: X:303.78, Y:2.77, Z:2.07 [[ 9.98690917e-01 -4.77939616e-02 -1.82260453e-02 3.03784748e+02] [ 4.77965410e-02 9.98857049e-01 -2.94306206e-04 2.77327849e+00] [ 1.82192799e-02 -5.77220987e-04 9.99833849e-01 2.07008562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.08925415399995 meters 0.019586384768462584 Centerline is valid? [True, True] Translation: X:303.82, Y:2.77, Z:2.07 [[ 9.98613213e-01 -4.93765488e-02 -1.82649101e-02 3.03816229e+02] [ 4.93794197e-02 9.98780049e-01 -2.94055124e-04 2.77130737e+00] [ 1.82571473e-02 -6.08263332e-04 9.99833139e-01 2.06994279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.119254154 meters 0.019756133373811175 Centerline is valid? [True, True] Translation: X:303.85, Y:2.77, Z:2.07 [[ 9.98566500e-01 -5.04278411e-02 -1.79437218e-02 3.03848537e+02] [ 5.04308026e-02 9.98727516e-01 -2.87700424e-04 2.77050035e+00] [ 1.79353968e-02 -6.17628288e-04 9.99838957e-01 2.07039427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.14925415399995 meters 0.019754102953579364 Centerline is valid? [True, True] Translation: X:303.88, Y:2.77, Z:2.07 [[ 9.98545135e-01 -5.11275447e-02 -1.71343960e-02 3.03880338e+02] [ 5.11303691e-02 9.98691950e-01 -2.73483036e-04 2.76961129e+00] [ 1.71259659e-02 -6.03002839e-04 9.99853158e-01 2.07102100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.179254154 meters 0.01944125753051823 Centerline is valid? [True, True] Translation: X:303.91, Y:2.77, Z:2.07 [[ 9.98582356e-01 -5.04283587e-02 -1.70370057e-02 3.03912571e+02] [ 5.04310710e-02 9.98727507e-01 -2.70669041e-04 2.76990316e+00] [ 1.70289756e-02 -5.88909114e-04 9.99854823e-01 2.07102092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.20925415399995 meters 0.020194944181098694 Centerline is valid? [True, True] Translation: X:303.94, Y:2.77, Z:2.07 [[ 9.98622333e-01 -4.96467985e-02 -1.69891619e-02 3.03944136e+02] [ 4.96494007e-02 9.98766672e-01 -2.68841045e-04 2.76887837e+00] [ 1.69815558e-02 -5.75031037e-04 9.99855638e-01 2.07075094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.239254154 meters 0.01990390708490848 Centerline is valid? [True, True] Translation: X:303.98, Y:2.77, Z:2.07 [[ 9.98739366e-01 -4.72566511e-02 -1.69259433e-02 3.03975314e+02] [ 4.72589066e-02 9.98882638e-01 -2.66920899e-04 2.76976140e+00] [ 1.69196447e-02 -5.33317163e-04 9.99856710e-01 2.07025182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.26925415399995 meters 0.01990390708490848 Centerline is valid? [True, True] Translation: X:304.01, Y:2.77, Z:2.07 [[ 9.98742731e-01 -4.71854861e-02 -1.69259604e-02 3.04007021e+02] [ 4.71877498e-02 9.98886002e-01 -2.65835374e-04 2.77019825e+00] [ 1.69196485e-02 -5.33196834e-04 9.99856710e-01 2.07047145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.299254154 meters 0.01820020596192611 Centerline is valid? [True, True] Translation: X:304.04, Y:2.77, Z:2.07 [[ 9.98827467e-01 -4.50866419e-02 -1.76319570e-02 3.04039633e+02] [ 4.50887981e-02 9.98982945e-01 -2.75425031e-04 2.77402380e+00] [ 1.76264423e-02 -5.19901665e-04 9.99844507e-01 2.07081258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.32925415399995 meters 0.020263751199451136 Centerline is valid? [True, True] Translation: X:304.07, Y:2.77, Z:2.07 [[ 9.98861394e-01 -4.41467507e-02 -1.80825674e-02 3.04071287e+02] [ 4.41488876e-02 9.99024923e-01 -2.81198590e-04 2.77253788e+00] [ 1.80773495e-02 -5.17446818e-04 9.99836457e-01 2.06888659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.359254154 meters 0.018026380774019517 Centerline is valid? [True, True] Translation: X:304.10, Y:2.78, Z:2.07 [[ 9.98853872e-01 -4.42538397e-02 -1.82356764e-02 3.04103802e+02] [ 4.42560530e-02 9.99020181e-01 -2.82362518e-04 2.77567014e+00] [ 1.82303043e-02 -5.25000166e-04 9.99833676e-01 2.07055916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.38925415399996 meters 0.018418595845097342 Centerline is valid? [True, True] Translation: X:304.14, Y:2.78, Z:2.07 [[ 9.98788795e-01 -4.53015638e-02 -1.92018323e-02 3.04136433e+02] [ 4.53042390e-02 9.98973192e-01 -2.95883395e-04 2.77567500e+00] [ 1.91955197e-02 -5.74399379e-04 9.99815584e-01 2.06999600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.419254154 meters 0.01939748066940297 Centerline is valid? [True, True] Translation: X:304.17, Y:2.77, Z:2.07 [[ 9.98726616e-01 -4.64980226e-02 -1.95724476e-02 3.04167986e+02] [ 4.65010553e-02 9.98918196e-01 -3.00383553e-04 2.77455375e+00] [ 1.95652413e-02 -6.10138419e-04 9.99808396e-01 2.06929948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.44925415399996 meters 0.019408705315593758 Centerline is valid? [True, True] Translation: X:304.20, Y:2.78, Z:2.07 [[ 9.98557565e-01 -4.97783595e-02 -2.01222461e-02 3.04198942e+02] [ 4.97822530e-02 9.98760048e-01 -3.07687449e-04 2.77531492e+00] [ 2.01126116e-02 -6.94487115e-04 9.99797480e-01 2.07017555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.479254154 meters 0.020163386905608285 Centerline is valid? [True, True] Translation: X:304.23, Y:2.77, Z:2.07 [[ 9.98483703e-01 -5.12092549e-02 -2.01966904e-02 3.04230351e+02] [ 5.12135074e-02 9.98687680e-01 -3.06953240e-04 2.77468485e+00] [ 2.01859047e-02 -7.27855544e-04 9.99795979e-01 2.07067658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.50925415399996 meters 0.021187865913051877 Centerline is valid? [True, True] Translation: X:304.26, Y:2.77, Z:2.07 [[ 9.98411262e-01 -5.27319052e-02 -1.98569329e-02 3.04261606e+02] [ 5.27363456e-02 9.98608426e-01 -3.00319887e-04 2.77421069e+00] [ 1.98451369e-02 -7.47339318e-04 9.99802787e-01 2.07107440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.539254154 meters 0.021479125428557976 Centerline is valid? [True, True] Translation: X:304.29, Y:2.77, Z:2.07 [[ 9.98344038e-01 -5.40951146e-02 -1.95678373e-02 3.04293424e+02] [ 5.40997135e-02 9.98535495e-01 -2.94648662e-04 2.77471659e+00] [ 1.95551192e-02 -7.64453658e-04 9.99808488e-01 2.07203739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.56925415399996 meters 0.022370128207353557 Centerline is valid? [True, True] Translation: X:304.33, Y:2.77, Z:2.07 [[ 9.98281735e-01 -5.56985868e-02 -1.82001209e-02 3.04325472e+02] [ 5.57028545e-02 9.98447353e-01 -2.72762828e-04 2.77498239e+00] [ 1.81870550e-02 -7.41504538e-04 9.99834327e-01 2.07351355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59925415399994 meters 0.023387164030106676 Centerline is valid? [True, True] Translation: X:304.36, Y:2.77, Z:2.07 [[ 9.98278699e-01 -5.60112187e-02 -1.73891378e-02 3.04357163e+02] [ 5.60151909e-02 9.98429883e-01 -2.58934147e-04 2.77448397e+00] [ 1.73763380e-02 -7.15567431e-04 9.99848764e-01 2.07418499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.62925415399997 meters 0.02286066338070143 Centerline is valid? [True, True] Translation: X:304.39, Y:2.78, Z:2.08 [[ 9.98286325e-01 -5.61323165e-02 -1.65401569e-02 3.04389009e+02] [ 5.61359507e-02 9.98423104e-01 -2.44845065e-04 2.77643425e+00] [ 1.65278185e-02 -6.84071950e-04 9.99863172e-01 2.07548215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65925415399994 meters 0.02317897193705133 Centerline is valid? [True, True] Translation: X:304.42, Y:2.78, Z:2.08 [[ 9.98297743e-01 -5.61616436e-02 -1.57316743e-02 3.04421012e+02] [ 5.61649522e-02 9.98421476e-01 -2.31765886e-04 2.77724615e+00] [ 1.57198578e-02 -6.52197373e-04 9.99876223e-01 2.07613489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68925415399997 meters 0.023491664675393223 Centerline is valid? [True, True] Translation: X:304.45, Y:2.78, Z:2.08 [[ 9.98345720e-01 -5.55608328e-02 -1.47924483e-02 3.04452212e+02] [ 5.55637054e-02 9.98455120e-01 -2.17036863e-04 2.77847214e+00] [ 1.47816545e-02 -6.05245418e-04 9.99890562e-01 2.07735099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71925415399994 meters 0.02365847902276118 Centerline is valid? [True, True] Translation: X:304.48, Y:2.78, Z:2.08 [[ 9.98381566e-01 -5.49206207e-02 -1.47639235e-02 3.04484900e+02] [ 5.49234281e-02 9.98490546e-01 -2.15556345e-04 2.77951911e+00] [ 1.47534766e-02 -5.95677811e-04 9.99890984e-01 2.07756790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74925415399997 meters 0.024316621374963952 Centerline is valid? [True, True] Translation: X:304.52, Y:2.78, Z:2.08 [[ 9.98441086e-01 -5.37362660e-02 -1.50934243e-02 3.04517413e+02] [ 5.37390830e-02 9.98554987e-01 -2.19169033e-04 2.78082141e+00] [ 1.50833914e-02 -5.92279413e-04 9.99886064e-01 2.07653161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77925415399994 meters 0.023905330231913376 Centerline is valid? [True, True] Translation: X:304.55, Y:2.78, Z:2.08 [[ 9.98467317e-01 -5.31962180e-02 -1.52702161e-02 3.04548480e+02] [ 5.31990525e-02 9.98583903e-01 -2.20807133e-04 2.78159043e+00] [ 1.52603381e-02 -5.91892323e-04 9.99883379e-01 2.07789291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.809254154 meters 0.022091208882596622 Centerline is valid? [True, True] Translation: X:304.58, Y:2.79, Z:2.08 [[ 9.98583895e-01 -5.07547617e-02 -1.59423591e-02 3.04580207e+02] [ 5.07575542e-02 9.98710978e-01 -2.29670898e-04 2.78632608e+00] [ 1.59334659e-02 -5.79849495e-04 9.99872886e-01 2.07793094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.83925415399995 meters 0.023150670668836554 Centerline is valid? [True, True] Translation: X:304.61, Y:2.79, Z:2.08 [[ 9.98655594e-01 -4.91860230e-02 -1.63627670e-02 3.04611867e+02] [ 4.91887715e-02 9.98789472e-01 -2.34692226e-04 2.78614372e+00] [ 1.63545030e-02 -5.70487702e-04 9.99866093e-01 2.07710263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.869254154 meters 0.023150670668836554 Centerline is valid? [True, True] Translation: X:304.64, Y:2.79, Z:2.08 [[ 9.98658931e-01 -4.91182208e-02 -1.63627831e-02 3.04643577e+02] [ 4.91209785e-02 9.98792809e-01 -2.33568038e-04 2.78653055e+00] [ 1.63545025e-02 -5.70501108e-04 9.99866093e-01 2.07732223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.89925415399995 meters 0.021736585030947893 Centerline is valid? [True, True] Translation: X:304.68, Y:2.79, Z:2.08 [[ 9.98761147e-01 -4.69011117e-02 -1.66270017e-02 3.04676196e+02] [ 4.69036741e-02 9.98899389e-01 -2.36030485e-04 2.79015987e+00] [ 1.66197719e-02 -5.44129392e-04 9.99861734e-01 2.07732143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.929254154 meters 0.019985446597438863 Centerline is valid? [True, True] Translation: X:304.71, Y:2.80, Z:2.08 [[ 9.98977690e-01 -4.18788584e-02 -1.70216307e-02 3.04706527e+02] [ 4.18808288e-02 9.99122584e-01 -2.40851039e-04 2.79593700e+00] [ 1.70167822e-02 -4.72275184e-04 9.99855093e-01 2.07711532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.95925415399995 meters 0.01700651115290274 Centerline is valid? [True, True] Translation: X:304.74, Y:2.80, Z:2.08 [[ 9.99101656e-01 -3.87350928e-02 -1.71893508e-02 3.04738749e+02] [ 3.87366520e-02 9.99249425e-01 -2.42363050e-04 2.80336992e+00] [ 1.71858369e-02 -4.23712576e-04 9.99852223e-01 2.07893514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.989254154 meters 0.016390906602500737 Centerline is valid? [True, True] Translation: X:304.77, Y:2.81, Z:2.08 [[ 9.99247944e-01 -3.50377636e-02 -1.66102687e-02 3.04769197e+02] [ 3.50387330e-02 9.99385928e-01 -2.32746013e-04 2.80645264e+00] [ 1.66082237e-02 -3.49431794e-04 9.99862013e-01 2.07924999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.01925415399995 meters 0.016632277866751335 Centerline is valid? [True, True] Translation: X:304.80, Y:2.81, Z:2.08 [[ 9.99386846e-01 -3.09763139e-02 -1.63217425e-02 3.04799378e+02] [ 3.09767314e-02 9.99520080e-01 -2.27292312e-04 2.80744075e+00] [ 1.63209500e-02 -2.78441287e-04 9.99866766e-01 2.07840356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.049254154 meters 0.014360621848818709 Centerline is valid? [True, True] Translation: X:304.83, Y:2.82, Z:2.08 [[ 9.99616009e-01 -2.26156395e-02 -1.60114659e-02 3.04830309e+02] [ 2.26149826e-02 9.99744224e-01 -2.22113407e-04 2.81769426e+00] [ 1.60123938e-02 -1.40070905e-04 9.99871784e-01 2.08104972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.07925415399995 meters 0.014117710841464537 Centerline is valid? [True, True] Translation: X:304.86, Y:2.82, Z:2.08 [[ 9.99706096e-01 -1.82012854e-02 -1.60135868e-02 3.04860135e+02] [ 1.82000634e-02 9.99834340e-01 -2.22053180e-04 2.82065186e+00] [ 1.60149756e-02 -6.94603763e-05 9.99871750e-01 2.07996378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.109254154 meters 0.013971430417604487 Centerline is valid? [True, True] Translation: X:304.89, Y:2.83, Z:2.08 [[ 9.99771488e-01 -1.42653774e-02 -1.59207504e-02 3.04889904e+02] [ 1.42636634e-02 9.99898244e-01 -2.21209188e-04 2.82501786e+00] [ 1.59222860e-02 -5.92958640e-06 9.99873232e-01 2.08183685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.13925415399996 meters 0.014308902995249678 Centerline is valid? [True, True] Translation: X:304.92, Y:2.83, Z:2.08 [[ 9.99848196e-01 -7.85542397e-03 -1.55524199e-02 3.04918461e+02] [ 7.85297584e-03 9.99969141e-01 -2.18476134e-04 2.83034093e+00] [ 1.55536562e-02 9.63101906e-05 9.99879030e-01 2.08233785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.169254154 meters 0.014308902995249678 Centerline is valid? [True, True] Translation: X:304.95, Y:2.83, Z:2.08 [[ 9.99845924e-01 -8.13953083e-03 -1.55523605e-02 3.04945841e+02] [ 8.13705218e-03 9.99966869e-01 -2.22648186e-04 2.83080640e+00] [ 1.55536575e-02 9.60635130e-05 9.99879030e-01 2.08252823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.19925415399996 meters 0.014930193908659265 Centerline is valid? [True, True] Translation: X:304.97, Y:2.83, Z:2.08 [[ 9.99881321e-01 -3.41687824e-03 -1.50222601e-02 3.04974155e+02] [ 3.41397347e-03 9.99994148e-01 -2.19004347e-04 2.83296819e+00] [ 1.50229205e-02 1.67692758e-04 9.99887135e-01 2.08293146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.229254154 meters 0.01488663738856621 Centerline is valid? [True, True] Translation: X:305.00, Y:2.83, Z:2.08 [[ 9.99882610e-01 -2.25430641e-03 -1.51553345e-02 3.05002916e+02] [ 2.25115776e-03 9.99997441e-01 -2.24814924e-04 2.83299924e+00] [ 1.51558025e-02 1.90671485e-04 9.99885126e-01 2.08365176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.25925415399996 meters 0.01523243475520875 Centerline is valid? [True, True] Translation: X:305.03, Y:2.83, Z:2.08 [[ 9.99889680e-01 -1.52135712e-03 -1.47754064e-02 3.05030251e+02] [ 1.51824834e-03 9.99998823e-01 -2.21617287e-04 2.83333611e+00] [ 1.47757262e-02 1.99160102e-04 9.99890813e-01 2.08346334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.289254154 meters 0.014947293642765796 Centerline is valid? [True, True] Translation: X:305.06, Y:2.83, Z:2.08 [[ 9.99888586e-01 -1.94142999e-03 -1.48001950e-02 3.05058611e+02] [ 1.93831393e-03 9.99998096e-01 -2.24883443e-04 2.83205332e+00] [ 1.48006034e-02 1.96170964e-04 9.99890446e-01 2.08388278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31925415399996 meters 0.014677980469483062 Centerline is valid? [True, True] Translation: X:305.09, Y:2.83, Z:2.08 [[ 9.99875187e-01 -4.01009779e-03 -1.52816589e-02 3.05087152e+02] [ 4.00697636e-03 9.99991944e-01 -2.34872751e-04 2.82799248e+00] [ 1.52824777e-02 1.73610190e-04 9.99883201e-01 2.08375717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34925415399994 meters 0.014533288722079787 Centerline is valid? [True, True] Translation: X:305.12, Y:2.83, Z:2.08 [[ 9.99860221e-01 -5.52654880e-03 -1.57796263e-02 3.05116369e+02] [ 5.52339087e-03 9.99984716e-01 -2.43701530e-04 2.82576004e+00] [ 1.57807320e-02 1.56510422e-04 9.99875464e-01 2.08337652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37925415399997 meters 0.014357523939326978 Centerline is valid? [True, True] Translation: X:305.14, Y:2.82, Z:2.08 [[ 9.99837640e-01 -7.79490910e-03 -1.62460230e-02 3.05144756e+02] [ 7.79184142e-03 9.99969611e-01 -2.52116674e-04 2.82316414e+00] [ 1.62474945e-02 1.25489306e-04 9.99867993e-01 2.08347023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40925415399994 meters 0.014194530968385312 Centerline is valid? [True, True] Translation: X:305.17, Y:2.82, Z:2.08 [[ 9.99780838e-01 -1.25951184e-02 -1.67224332e-02 3.05172816e+02] [ 1.25925137e-02 9.99920677e-01 -2.61048149e-04 2.81659638e+00] [ 1.67243946e-02 5.04134679e-05 9.99860136e-01 2.08243740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43925415399997 meters 0.014009876029888653 Centerline is valid? [True, True] Translation: X:305.20, Y:2.81, Z:2.08 [[ 9.99737049e-01 -1.57252892e-02 -1.66897745e-02 3.05200910e+02] [ 1.57230712e-02 9.99876350e-01 -2.64111878e-04 2.81312543e+00] [ 1.66918640e-02 1.62791761e-06 9.99860681e-01 2.08252342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46925415399994 meters 0.014058968535711246 Centerline is valid? [True, True] Translation: X:305.23, Y:2.81, Z:2.08 [[ 9.99681778e-01 -1.89137200e-02 -1.66917178e-02 3.05228566e+02] [ 1.89118645e-02 9.99821119e-01 -2.69016522e-04 2.80949347e+00] [ 1.66938201e-02 -4.67405904e-05 9.99860647e-01 2.08243523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49925415399997 meters 0.01432869489262212 Centerline is valid? [True, True] Translation: X:305.26, Y:2.81, Z:2.08 [[ 9.99620209e-01 -2.20205579e-02 -1.65690042e-02 3.05256126e+02] [ 2.20191013e-02 9.99757514e-01 -2.70356981e-04 2.80584402e+00] [ 1.65709399e-02 -9.45802793e-05 9.99862688e-01 2.08234820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.52925415399994 meters 0.014770920131984203 Centerline is valid? [True, True] Translation: X:305.28, Y:2.80, Z:2.08 [[ 9.99487929e-01 -2.77828085e-02 -1.58743489e-02 3.05284508e+02] [ 2.77821760e-02 9.99613967e-01 -2.60407502e-04 2.79789474e+00] [ 1.58754557e-02 -1.80749800e-04 9.99873961e-01 2.08278520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.559254154 meters 0.015181722905004545 Centerline is valid? [True, True] Translation: X:305.32, Y:2.79, Z:2.08 [[ 9.99413682e-01 -3.03624131e-02 -1.58245446e-02 3.05315674e+02] [ 3.03621070e-02 9.99538931e-01 -2.59643397e-04 2.79436260e+00] [ 1.58251318e-02 -2.20975353e-04 9.99874750e-01 2.08302768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.58925415399995 meters 0.015828836055308805 Centerline is valid? [True, True] Translation: X:305.35, Y:2.79, Z:2.08 [[ 9.99348650e-01 -3.27288601e-02 -1.52018596e-02 3.05345667e+02] [ 3.27288572e-02 9.99464236e-01 -2.49042215e-04 2.79056496e+00] [ 1.52018659e-02 -2.48659491e-04 9.99884414e-01 2.08312491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.619254154 meters 0.01629659280869361 Centerline is valid? [True, True] Translation: X:305.38, Y:2.79, Z:2.08 [[ 9.99267154e-01 -3.50687001e-02 -1.53408638e-02 3.05377414e+02] [ 3.50689792e-02 9.99384863e-01 -2.50899359e-04 2.78733018e+00] [ 1.53402258e-02 -2.87272944e-04 9.99882291e-01 2.08337701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.64925415399995 meters 0.018619552524133973 Centerline is valid? [True, True] Translation: X:305.41, Y:2.78, Z:2.08 [[ 9.99134419e-01 -3.82047690e-02 -1.64562869e-02 3.05410054e+02] [ 3.82055311e-02 9.99269866e-01 -2.68186466e-04 2.78164248e+00] [ 1.64545176e-02 -3.60766854e-04 9.99864550e-01 2.08174973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.679254154 meters 0.017044519317200295 Centerline is valid? [True, True] Translation: X:305.44, Y:2.78, Z:2.08 [[ 9.99074409e-01 -4.00382279e-02 -1.57247039e-02 3.05442662e+02] [ 4.00391683e-02 9.99198078e-01 -2.55141222e-04 2.77906629e+00] [ 1.57223093e-02 -3.74699001e-04 9.99876327e-01 2.08320368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.70925415399995 meters 0.017822184126674006 Centerline is valid? [True, True] Translation: X:305.47, Y:2.77, Z:2.08 [[ 9.98967250e-01 -4.24013992e-02 -1.63264774e-02 3.05474650e+02] [ 4.24027479e-02 9.99100564e-01 -2.63701607e-04 2.77361331e+00] [ 1.63229741e-02 -4.28858237e-04 9.99866679e-01 2.08287868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.739254154 meters 0.017566940929191817 Centerline is valid? [True, True] Translation: X:305.51, Y:2.77, Z:2.08 [[ 9.98933895e-01 -4.32555409e-02 -1.61254916e-02 3.05507187e+02] [ 4.32569868e-02 9.99063945e-01 -2.59281090e-04 2.77259845e+00] [ 1.61216126e-02 -4.38535508e-04 9.99869942e-01 2.08317008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.76925415399995 meters 0.01885294738088707 Centerline is valid? [True, True] Translation: X:305.54, Y:2.77, Z:2.08 [[ 9.98897342e-01 -4.40585328e-02 -1.62155922e-02 3.05538597e+02] [ 4.40601173e-02 9.99028848e-01 -2.59705021e-04 2.76859350e+00] [ 1.62112866e-02 -4.55042239e-04 9.99868485e-01 2.08274568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.799254154 meters 0.021685599755229715 Centerline is valid? [True, True] Translation: X:305.57, Y:2.77, Z:2.08 [[ 9.98870053e-01 -4.43326601e-02 -1.71240480e-02 3.05569576e+02] [ 4.43344834e-02 9.99016706e-01 -2.73313500e-04 2.76526567e+00] [ 1.71193267e-02 -4.86181150e-04 9.99853335e-01 2.08051576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.82925415399995 meters 0.01875418809871257 Centerline is valid? [True, True] Translation: X:305.60, Y:2.77, Z:2.08 [[ 9.98835570e-01 -4.54874554e-02 -1.60746844e-02 3.05602113e+02] [ 4.54892277e-02 9.98964797e-01 -2.55558313e-04 2.76601158e+00] [ 1.60696685e-02 -4.75964245e-04 9.99870761e-01 2.08317168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.859254154 meters 0.019384488891100057 Centerline is valid? [True, True] Translation: X:305.63, Y:2.76, Z:2.08 [[ 9.98780236e-01 -4.63969940e-02 -1.68925669e-02 3.05633133e+02] [ 4.63990992e-02 9.98922946e-01 -2.67495736e-04 2.76223379e+00] [ 1.68867837e-02 -5.16630432e-04 9.99857275e-01 2.08262799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.88925415399996 meters 0.019475750125146345 Centerline is valid? [True, True] Translation: X:305.67, Y:2.76, Z:2.08 [[ 9.98762011e-01 -4.64782231e-02 -1.77262457e-02 3.05665010e+02] [ 4.64805747e-02 9.98919155e-01 -2.79533356e-04 2.76110223e+00] [ 1.77200786e-02 -5.44738790e-04 9.99842839e-01 2.08239032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.919254154 meters 0.01981612512443036 Centerline is valid? [True, True] Translation: X:305.70, Y:2.76, Z:2.08 [[ 9.98750144e-01 -4.64814944e-02 -1.83744772e-02 3.05696507e+02] [ 4.64840424e-02 9.98918991e-01 -2.88632565e-04 2.75997661e+00] [ 1.83680303e-02 -5.65848163e-04 9.99831133e-01 2.08180609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.94925415399996 meters 0.01941348130995791 Centerline is valid? [True, True] Translation: X:305.73, Y:2.76, Z:2.08 [[ 9.98738710e-01 -4.63652946e-02 -1.92677873e-02 3.05728738e+02] [ 4.63680994e-02 9.98924376e-01 -3.01390789e-04 2.76039907e+00] [ 1.92610365e-02 -5.92400028e-04 9.99814314e-01 2.08175921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.979254154 meters 0.018359424300863163 Centerline is valid? [True, True] Translation: X:305.76, Y:2.76, Z:2.08 [[ 9.98738041e-01 -4.58233642e-02 -2.05558792e-02 3.05760722e+02] [ 4.58264736e-02 9.98949364e-01 -3.20004600e-04 2.76069519e+00] [ 2.05489461e-02 -6.22402687e-04 9.99788654e-01 2.08166314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.00925415399996 meters 0.01878127375898449 Centerline is valid? [True, True] Translation: X:305.79, Y:2.76, Z:2.08 [[ 9.98764823e-01 -4.51436970e-02 -2.07575409e-02 3.05791371e+02] [ 4.51467494e-02 9.98980314e-01 -3.21783101e-04 2.75974823e+00] [ 2.07509012e-02 -6.15749858e-04 9.99784487e-01 2.08155165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.039254154 meters 0.018341377341786248 Centerline is valid? [True, True] Translation: X:305.82, Y:2.76, Z:2.08 [[ 9.98807362e-01 -4.42234374e-02 -2.06915878e-02 3.05822954e+02] [ 4.42262922e-02 9.99021488e-01 -3.19838540e-04 2.76047794e+00] [ 2.06854852e-02 -5.95655121e-04 9.99785855e-01 2.08215791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.06925415399996 meters 0.017329095059487737 Centerline is valid? [True, True] Translation: X:305.85, Y:2.76, Z:2.08 [[ 9.98950987e-01 -4.11583439e-02 -2.00727508e-02 3.05853862e+02] [ 4.11604218e-02 9.99152503e-01 -3.09790416e-04 2.76162738e+00] [ 2.00684896e-02 -5.16737445e-04 9.99798474e-01 2.08357912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09925415399994 meters 0.01767216937507566 Centerline is valid? [True, True] Translation: X:305.88, Y:2.76, Z:2.08 [[ 9.99032989e-01 -3.91008110e-02 -2.01050727e-02 3.05884667e+02] [ 3.91024817e-02 9.99235157e-01 -3.10163383e-04 2.76265020e+00] [ 2.01018231e-02 -4.76294786e-04 9.99797824e-01 2.08373329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.12925415399997 meters 0.016849495030577744 Centerline is valid? [True, True] Translation: X:305.91, Y:2.76, Z:2.08 [[ 9.99115947e-01 -3.72597266e-02 -1.94688824e-02 3.05913831e+02] [ 3.72609395e-02 9.99305525e-01 -3.00572575e-04 2.76365694e+00] [ 1.94665610e-02 -4.25121996e-04 9.99810418e-01 2.08462791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15925415399994 meters 0.01587921590492971 Centerline is valid? [True, True] Translation: X:305.94, Y:2.77, Z:2.09 [[ 9.99265275e-01 -3.33379979e-02 -1.89073788e-02 3.05943508e+02] [ 3.33384337e-02 9.99444077e-01 -2.92235144e-04 2.76591555e+00] [ 1.89066103e-02 -3.38321965e-04 9.99821197e-01 2.08553732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18925415399997 meters 0.015206806718765186 Centerline is valid? [True, True] Translation: X:305.97, Y:2.77, Z:2.09 [[ 9.99375174e-01 -3.01398172e-02 -1.84621875e-02 3.05974249e+02] [ 3.01396850e-02 9.99545656e-01 -2.85473557e-04 2.76717951e+00] [ 1.84624034e-02 -2.71149328e-04 9.99829519e-01 2.08643017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21925415399994 meters 0.015206806718765186 Centerline is valid? [True, True] Translation: X:306.00, Y:2.77, Z:2.09 [[ 9.99374125e-01 -3.01746079e-02 -1.84621812e-02 3.06003404e+02] [ 3.01744741e-02 9.99544606e-01 -2.85875030e-04 2.76766191e+00] [ 1.84623998e-02 -2.71390502e-04 9.99829519e-01 2.08663224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24925415399997 meters 0.015073109701926025 Centerline is valid? [True, True] Translation: X:306.03, Y:2.77, Z:2.09 [[ 9.99414016e-01 -2.90542451e-02 -1.80962883e-02 3.06032778e+02] [ 2.90539217e-02 9.99577806e-01 -2.80832781e-04 2.76789054e+00] [ 1.80968075e-02 -2.45099926e-04 9.99836209e-01 2.08701005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27925415399994 meters 0.014886815180058485 Centerline is valid? [True, True] Translation: X:306.06, Y:2.77, Z:2.09 [[ 9.99449269e-01 -2.82364664e-02 -1.74315734e-02 3.06062877e+02] [ 2.82360316e-02 9.99601247e-01 -2.71110590e-04 2.76700840e+00] [ 1.74322777e-02 -2.21237175e-04 9.99848022e-01 2.08764811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.309254154 meters 0.014537872821142795 Centerline is valid? [True, True] Translation: X:306.09, Y:2.77, Z:2.09 [[ 9.99441025e-01 -2.82203759e-02 -1.79234086e-02 3.06092510e+02] [ 2.82199022e-02 9.99601700e-01 -2.79401267e-04 2.76760661e+00] [ 1.79241545e-02 -2.26551749e-04 9.99839324e-01 2.08875699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.33925415399995 meters 0.014730568182806571 Centerline is valid? [True, True] Translation: X:306.12, Y:2.77, Z:2.09 [[ 9.99416636e-01 -2.89468993e-02 -1.81236091e-02 3.06120967e+02] [ 2.89465189e-02 9.99580922e-01 -2.83372677e-04 2.76680354e+00] [ 1.81242166e-02 -2.41408026e-04 9.99835714e-01 2.08878630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.369254154 meters 0.01571286698192238 Centerline is valid? [True, True] Translation: X:306.15, Y:2.76, Z:2.09 [[ 9.99331062e-01 -3.15119511e-02 -1.85587078e-02 3.06149800e+02] [ 3.15119760e-02 9.99503332e-01 -2.91169773e-04 2.76273414e+00] [ 1.85586656e-02 -2.93846555e-04 9.99827730e-01 2.08800453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.39925415399995 meters 0.015374574530742475 Centerline is valid? [True, True] Translation: X:306.18, Y:2.76, Z:2.09 [[ 9.99256815e-01 -3.35973665e-02 -1.88953859e-02 3.06179661e+02] [ 3.35977497e-02 9.99435392e-01 -2.97257796e-04 2.76261020e+00] [ 1.88947045e-02 -3.37805568e-04 9.99821422e-01 2.08932378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.429254154 meters 0.0165497748748956 Centerline is valid? [True, True] Translation: X:306.21, Y:2.76, Z:2.09 [[ 9.99164899e-01 -3.61473615e-02 -1.90492444e-02 3.06209481e+02] [ 3.61482075e-02 9.99346395e-01 -3.00026371e-04 2.75891106e+00] [ 1.90476388e-02 -3.88820219e-04 9.99818502e-01 2.08850002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.45925415399995 meters 0.017175811315403612 Centerline is valid? [True, True] Translation: X:306.24, Y:2.76, Z:2.09 [[ 9.98905517e-01 -4.24974924e-02 -1.95379275e-02 3.06239685e+02] [ 4.24995904e-02 9.99096437e-01 -3.08010307e-04 2.75543622e+00] [ 1.95333634e-02 -5.22680722e-04 9.99809069e-01 2.08949737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.489254154 meters 0.0186234650019491 Centerline is valid? [True, True] Translation: X:306.27, Y:2.75, Z:2.09 [[ 9.98758249e-01 -4.58652182e-02 -1.94509873e-02 3.06269530e+02] [ 4.58679331e-02 9.98947465e-01 -3.06766190e-04 2.75152156e+00] [ 1.94445844e-02 -5.85791322e-04 9.99810765e-01 2.08936549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.51925415399995 meters 0.024118745678866495 Centerline is valid? [True, True] Translation: X:306.30, Y:2.74, Z:2.09 [[ 9.98601454e-01 -4.92799052e-02 -1.91475253e-02 3.06299788e+02] [ 4.92831671e-02 9.98784801e-01 -3.01761913e-04 2.74194164e+00] [ 1.91391280e-02 -6.42310803e-04 9.99816624e-01 2.08726986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.549254154 meters 0.023357123730389416 Centerline is valid? [True, True] Translation: X:306.33, Y:2.74, Z:2.09 [[ 9.98267383e-01 -5.57735315e-02 -1.87495642e-02 3.06330434e+02] [ 5.57778059e-02 9.98443163e-01 -2.95305864e-04 2.74153503e+00] [ 1.87368444e-02 -7.51015342e-04 9.99824168e-01 2.08977038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.57925415399995 meters 0.023357123730389416 Centerline is valid? [True, True] Translation: X:306.36, Y:2.74, Z:2.09 [[ 9.98271316e-01 -5.57030713e-02 -1.87495779e-02 3.06362146e+02] [ 5.57073497e-02 9.98447096e-01 -2.94434657e-04 2.74197045e+00] [ 1.87368625e-02 -7.50563619e-04 9.99824168e-01 2.08999015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.609254154 meters 0.022769368473913348 Centerline is valid? [True, True] Translation: X:306.39, Y:2.74, Z:2.09 [[ 9.97929767e-01 -6.15671006e-02 -1.85922621e-02 3.06392649e+02] [ 6.15723346e-02 9.98102581e-01 -2.91332317e-04 2.74156085e+00] [ 1.85749212e-02 -8.54039790e-04 9.99827107e-01 2.09200441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.63925415399996 meters 0.023574044051053965 Centerline is valid? [True, True] Translation: X:306.42, Y:2.74, Z:2.09 [[ 9.97796128e-01 -6.36964887e-02 -1.85915323e-02 3.06424947e+02] [ 6.37021089e-02 9.97968916e-01 -2.90356244e-04 2.74074825e+00] [ 1.85722660e-02 -8.94603481e-04 9.99827120e-01 2.09234027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.669254154 meters 0.026335848513213772 Centerline is valid? [True, True] Translation: X:306.46, Y:2.74, Z:2.09 [[ 9.97523905e-01 -6.80432835e-02 -1.77811705e-02 3.06455279e+02] [ 6.80491348e-02 9.97681933e-01 -2.76462256e-04 2.73549441e+00] [ 1.77587639e-02 -9.34215559e-04 9.99841864e-01 2.09310919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.69925415399996 meters 0.02635423509949211 Centerline is valid? [True, True] Translation: X:306.49, Y:2.74, Z:2.09 [[ 9.97422166e-01 -6.93771923e-02 -1.83255899e-02 3.06487766e+02] [ 6.93836565e-02 9.97590010e-01 -2.83592809e-04 2.73607609e+00] [ 1.83011003e-02 -9.88634683e-04 9.99832032e-01 2.09345776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.729254154 meters 0.027128655825779408 Centerline is valid? [True, True] Translation: X:306.52, Y:2.73, Z:2.09 [[ 9.97362176e-01 -7.03606450e-02 -1.78344883e-02 3.06519294e+02] [ 7.03669437e-02 9.97521136e-01 -2.74887192e-04 2.73478035e+00] [ 1.78096203e-02 -9.80796344e-04 9.99840915e-01 2.09398545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.75925415399996 meters 0.027117683781831377 Centerline is valid? [True, True] Translation: X:306.55, Y:2.74, Z:2.09 [[ 9.97286203e-01 -7.11934954e-02 -1.87540864e-02 3.06550969e+02] [ 7.12006274e-02 9.97461973e-01 -2.87997251e-04 2.73582728e+00] [ 1.87269915e-02 -1.04808703e-03 9.99824085e-01 2.09453532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.789254154 meters 0.027117683781831377 Centerline is valid? [True, True] Translation: X:306.58, Y:2.74, Z:2.09 [[ 9.97291486e-01 -7.11194478e-02 -1.87541057e-02 3.06582706e+02] [ 7.11265904e-02 9.97467256e-01 -2.86732634e-04 2.73625393e+00] [ 1.87269987e-02 -1.04795958e-03 9.99824085e-01 2.09475517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81925415399996 meters 0.03062550097066417 Centerline is valid? [True, True] Translation: X:306.61, Y:2.73, Z:2.09 [[ 9.97219082e-01 -7.22644727e-02 -1.82194313e-02 3.06613645e+02] [ 7.22714246e-02 9.97384963e-01 -2.77433482e-04 2.73166873e+00] [ 1.81918354e-02 -1.04008229e-03 9.99833974e-01 2.09440650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84925415399994 meters 0.027245026040840982 Centerline is valid? [True, True] Translation: X:306.65, Y:2.74, Z:2.10 [[ 9.97181418e-01 -7.26598593e-02 -1.87020095e-02 3.06645414e+02] [ 7.26672775e-02 9.97356198e-01 -2.83511564e-04 2.73703913e+00] [ 1.86731650e-02 -1.07631165e-03 9.99825062e-01 2.09551185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87925415399997 meters 0.02917911945089141 Centerline is valid? [True, True] Translation: X:306.68, Y:2.74, Z:2.09 [[ 9.97135871e-01 -7.27665694e-02 -2.06174900e-02 3.06677330e+02] [ 7.27756409e-02 9.97348289e-01 -3.10969122e-04 2.73656273e+00] [ 2.05854466e-02 -1.19037258e-03 9.99787389e-01 2.09453764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90925415399994 meters 0.028785700666476316 Centerline is valid? [True, True] Translation: X:306.71, Y:2.74, Z:2.09 [[ 9.97104530e-01 -7.33495482e-02 -2.00598947e-02 3.06709371e+02] [ 7.33582824e-02 9.97305606e-01 -3.01097389e-04 2.73642959e+00] [ 2.00279308e-02 -1.17133385e-03 9.99798735e-01 2.09451232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93925415399997 meters 0.030791202296230547 Centerline is valid? [True, True] Translation: X:306.74, Y:2.73, Z:2.09 [[ 9.97070938e-01 -7.35557334e-02 -2.09546891e-02 3.06740377e+02] [ 7.35653370e-02 9.97290350e-01 -3.13229572e-04 2.73464390e+00] [ 2.09209490e-02 -1.22922666e-03 9.99780377e-01 2.09340924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96925415399994 meters 0.030428739566699305 Centerline is valid? [True, True] Translation: X:306.77, Y:2.74, Z:2.09 [[ 9.97021680e-01 -7.36427974e-02 -2.29021235e-02 3.06772594e+02] [ 7.36543285e-02 9.97283773e-01 -3.40776251e-04 2.73774199e+00] [ 2.28650118e-02 -1.34707922e-03 9.99737654e-01 2.09284268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99925415399997 meters 0.029966804923359718 Centerline is valid? [True, True] Translation: X:306.81, Y:2.74, Z:2.09 [[ 9.97025127e-01 -7.35472004e-02 -2.30587379e-02 3.06805200e+02] [ 7.35589028e-02 9.97290816e-01 -3.41435258e-04 2.74039812e+00] [ 2.30213792e-02 -1.35575593e-03 9.99734054e-01 2.09288290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.02925415399994 meters 0.03156826025866217 Centerline is valid? [True, True] Translation: X:306.84, Y:2.74, Z:2.09 [[ 9.97062767e-01 -7.26149743e-02 -2.43496343e-02 3.06836461e+02] [ 7.26277832e-02 9.97359051e-01 -3.59078048e-04 2.74271520e+00] [ 2.43114026e-02 -1.41043661e-03 9.99703439e-01 2.09274137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.059254154 meters 0.02761998752471012 Centerline is valid? [True, True] Translation: X:306.87, Y:2.75, Z:2.09 [[ 9.97108223e-01 -7.20637771e-02 -2.41247669e-02 3.06868378e+02] [ 7.20762292e-02 9.97399063e-01 -3.54116006e-04 2.74985910e+00] [ 2.40875388e-02 -1.38573025e-03 9.99708893e-01 2.09476333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.08925415399995 meters 0.029321719806834734 Centerline is valid? [True, True] Translation: X:306.90, Y:2.75, Z:2.09 [[ 9.97170211e-01 -7.12716320e-02 -2.39149577e-02 3.06899240e+02] [ 7.12837080e-02 9.97456020e-01 -3.48246406e-04 2.75011869e+00] [ 2.38789386e-02 -1.35748592e-03 9.99713936e-01 2.09437838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.119254154 meters 0.029295763714520466 Centerline is valid? [True, True] Translation: X:306.93, Y:2.75, Z:2.10 [[ 9.97278306e-01 -6.99267869e-02 -2.33714343e-02 3.06931016e+02] [ 6.99379918e-02 9.97551283e-01 -3.38619137e-04 2.75285810e+00] [ 2.33378828e-02 -1.29685366e-03 9.99726793e-01 2.09538284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.14925415399995 meters 0.02600437327329391 Centerline is valid? [True, True] Translation: X:306.96, Y:2.76, Z:2.10 [[ 9.97487603e-01 -6.71819741e-02 -2.24736329e-02 3.06962179e+02] [ 6.71916599e-02 9.97740034e-01 -3.24709382e-04 2.76318942e+00] [ 2.24446579e-02 -1.18614712e-03 9.99747383e-01 2.09841227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.179254154 meters 0.02642610741080082 Centerline is valid? [True, True] Translation: X:306.99, Y:2.77, Z:2.10 [[ 9.97604359e-01 -6.55036273e-02 -2.22444828e-02 3.06992246e+02] [ 6.55127122e-02 9.97851683e-01 -3.20864945e-04 2.76580502e+00] [ 2.22177125e-02 -1.13720013e-03 9.99752509e-01 2.09904816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.20925415399995 meters 0.026060265086134116 Centerline is valid? [True, True] Translation: X:307.02, Y:2.77, Z:2.10 [[ 9.97736222e-01 -6.35252420e-02 -2.20675020e-02 3.07023232e+02] [ 6.35337150e-02 9.97979642e-01 -3.17640858e-04 2.76933279e+00] [ 2.20430960e-02 -1.08510859e-03 9.99756433e-01 2.09948228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.239254154 meters 0.02347997560487509 Centerline is valid? [True, True] Translation: X:307.05, Y:2.78, Z:2.10 [[ 9.97866740e-01 -6.15776563e-02 -2.16832165e-02 3.07054184e+02] [ 6.15853951e-02 9.98101769e-01 -3.11314855e-04 2.77636796e+00] [ 2.16612268e-02 -1.02471872e-03 9.99764843e-01 2.10124887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.26925415399995 meters 0.02175084672657201 Centerline is valid? [True, True] Translation: X:307.09, Y:2.78, Z:2.10 [[ 9.98083268e-01 -5.78441285e-02 -2.19965212e-02 3.07085386e+02] [ 5.78512059e-02 9.98325167e-01 -3.14985372e-04 2.78452056e+00] [ 2.19779007e-02 -9.58143645e-04 9.99757998e-01 2.10189699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.299254154 meters 0.021814140853944362 Centerline is valid? [True, True] Translation: X:307.12, Y:2.79, Z:2.10 [[ 9.98169022e-01 -5.61180016e-02 -2.25692854e-02 3.07116839e+02] [ 5.61250378e-02 9.98423696e-01 -3.22049034e-04 2.78680996e+00] [ 2.25517821e-02 -9.45242626e-04 9.99745229e-01 2.10165901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.32925415399995 meters 0.021327769564035818 Centerline is valid? [True, True] Translation: X:307.15, Y:2.79, Z:2.10 [[ 9.98241293e-01 -5.45317912e-02 -2.32508899e-02 3.07148925e+02] [ 5.45388668e-02 9.98511594e-01 -3.30174117e-04 2.79020848e+00] [ 2.32342882e-02 -9.38483751e-04 9.99729607e-01 2.10158392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.359254154 meters 0.02046330500258868 Centerline is valid? [True, True] Translation: X:307.18, Y:2.80, Z:2.10 [[ 9.98346626e-01 -5.19907902e-02 -2.45147442e-02 3.07180771e+02] [ 5.19979266e-02 9.98647133e-01 -3.46688244e-04 2.79604536e+00] [ 2.44996036e-02 -9.28600833e-04 9.99699408e-01 2.10140171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.38925415399996 meters 0.019859673538053436 Centerline is valid? [True, True] Translation: X:307.21, Y:2.80, Z:2.10 [[ 9.98394510e-01 -5.06582619e-02 -2.53405332e-02 3.07211790e+02] [ 5.06654854e-02 9.98715616e-01 -3.57325179e-04 2.79911266e+00] [ 2.53260877e-02 -9.27138917e-04 9.99678813e-01 2.10162201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.419254154 meters 0.020153605110514443 Centerline is valid? [True, True] Translation: X:307.24, Y:2.80, Z:2.10 [[ 9.98444545e-01 -4.95772772e-02 -2.55065655e-02 3.07242046e+02] [ 4.95842586e-02 9.98769880e-01 -3.59071127e-04 2.80084342e+00] [ 2.54929911e-02 -9.06211533e-04 9.99674590e-01 2.10122223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.44925415399996 meters 0.019412471049101997 Centerline is valid? [True, True] Translation: X:307.27, Y:2.81, Z:2.10 [[ 9.98562472e-01 -4.72793147e-02 -2.52518627e-02 3.07273310e+02] [ 4.72854434e-02 9.98881355e-01 -3.54694306e-04 2.80597622e+00] [ 2.52403845e-02 -8.39861103e-04 9.99681058e-01 2.10212817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.479254154 meters 0.0191662806713911 Centerline is valid? [True, True] Translation: X:307.30, Y:2.81, Z:2.10 [[ 9.98643390e-01 -4.57131341e-02 -2.49336963e-02 3.07303806e+02] [ 4.57186278e-02 9.98954296e-01 -3.49976588e-04 2.80871930e+00] [ 2.49236215e-02 -7.90432574e-04 9.99689046e-01 2.10270023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.50925415399996 meters 0.01868295497839781 Centerline is valid? [True, True] Translation: X:307.33, Y:2.81, Z:2.10 [[ 9.98716359e-01 -4.42194224e-02 -2.47037915e-02 3.07334281e+02] [ 4.42243588e-02 9.99021564e-01 -3.46749578e-04 2.81171657e+00] [ 2.46949535e-02 -7.46204863e-04 9.99694755e-01 2.10364554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.539254154 meters 0.018041587320209166 Centerline is valid? [True, True] Translation: X:307.37, Y:2.82, Z:2.11 [[ 9.98797623e-01 -4.24105761e-02 -2.45896635e-02 3.07365241e+02] [ 4.24149273e-02 9.99100023e-01 -3.44819710e-04 2.81658841e+00] [ 2.45821574e-02 -6.98563684e-04 9.99697569e-01 2.10560100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.56925415399996 meters 0.017969973625016743 Centerline is valid? [True, True] Translation: X:307.40, Y:2.82, Z:2.10 [[ 9.98908349e-01 -3.99915835e-02 -2.41408960e-02 3.07395183e+02] [ 3.99950743e-02 9.99199820e-01 -3.38400380e-04 2.81886807e+00] [ 2.41351121e-02 -6.27485965e-04 9.99708509e-01 2.10484012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59925415399994 meters 0.016343796569114843 Centerline is valid? [True, True] Translation: X:307.43, Y:2.82, Z:2.11 [[ 9.98938614e-01 -3.91474935e-02 -2.42717727e-02 3.07425506e+02] [ 3.91507734e-02 9.99233257e-01 -3.40234974e-04 2.82346859e+00] [ 2.42664819e-02 -6.10384820e-04 9.99705339e-01 2.10678503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.62925415399997 meters 0.01648871608736179 Centerline is valid? [True, True] Translation: X:307.46, Y:2.82, Z:2.11 [[ 9.98947780e-01 -3.87419857e-02 -2.45436618e-02 3.07455892e+02] [ 3.87452251e-02 9.99249063e-01 -3.43725274e-04 2.82478508e+00] [ 2.45385477e-02 -6.07586104e-04 9.99698700e-01 2.10647144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65925415399994 meters 0.016693330655872765 Centerline is valid? [True, True] Translation: X:307.49, Y:2.83, Z:2.11 [[ 9.98945027e-01 -3.89799842e-02 -2.42774361e-02 3.07486335e+02] [ 3.89832270e-02 9.99239807e-01 -3.39872019e-04 2.82579784e+00] [ 2.42722288e-02 -6.06899339e-04 9.99705202e-01 2.10653802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68925415399997 meters 0.016890735948399613 Centerline is valid? [True, True] Translation: X:307.52, Y:2.83, Z:2.11 [[ 9.98862355e-01 -4.10827323e-02 -2.42116534e-02 3.07516948e+02] [ 4.10865746e-02 9.99155533e-01 -3.38951093e-04 2.82750027e+00] [ 2.42051324e-02 -6.56208415e-04 9.99706797e-01 2.10771560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71925415399994 meters 0.01721394250133701 Centerline is valid? [True, True] Translation: X:307.55, Y:2.83, Z:2.11 [[ 9.98785675e-01 -4.29229889e-02 -2.41824665e-02 3.07548667e+02] [ 4.29273761e-02 9.99078138e-01 -3.37912076e-04 2.82772336e+00] [ 2.41746778e-02 -7.00588094e-04 9.99707504e-01 2.10847993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74925415399997 meters 0.018447053703843266 Centerline is valid? [True, True] Translation: X:307.58, Y:2.83, Z:2.11 [[ 9.98698113e-01 -4.51275479e-02 -2.37819797e-02 3.07578910e+02] [ 4.51324411e-02 9.98980957e-01 -3.31227541e-04 2.82641108e+00] [ 2.37726923e-02 -7.42542479e-04 9.99717114e-01 2.10813128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77925415399994 meters 0.02009408433884284 Centerline is valid? [True, True] Translation: X:307.61, Y:2.82, Z:2.11 [[ 9.98418942e-01 -5.08845634e-02 -2.38825662e-02 3.07609584e+02] [ 5.08911581e-02 9.98704150e-01 -3.31975443e-04 2.82488205e+00] [ 2.38685104e-02 -8.83960883e-04 9.99714716e-01 2.10894079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.809254154 meters 0.022626260170329225 Centerline is valid? [True, True] Translation: X:307.64, Y:2.82, Z:2.11 [[ 9.98282053e-01 -5.38353611e-02 -2.31234851e-02 3.07640451e+02] [ 5.38423494e-02 9.98549397e-01 -3.20721861e-04 2.82159503e+00] [ 2.31072083e-02 -9.24851888e-04 9.99732565e-01 2.10847517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.83925415399995 meters 0.024722698692639683 Centerline is valid? [True, True] Translation: X:307.67, Y:2.82, Z:2.11 [[ 9.97957640e-01 -5.98894038e-02 -2.22217846e-02 3.07671543e+02] [ 5.98973676e-02 9.98204493e-01 -3.07641574e-04 2.81948204e+00] [ 2.22003097e-02 -1.02401314e-03 9.99753018e-01 2.10962796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.869254154 meters 0.026124291202051314 Centerline is valid? [True, True] Translation: X:307.70, Y:2.82, Z:2.11 [[ 9.97765568e-01 -6.29513834e-02 -2.23829044e-02 3.07702358e+02] [ 6.29602412e-02 9.98015988e-01 -3.09446078e-04 2.81837534e+00] [ 2.23579765e-02 -1.10047842e-03 9.99749424e-01 2.11011661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.89925415399995 meters 0.02773439860256925 Centerline is valid? [True, True] Translation: X:307.73, Y:2.82, Z:2.11 [[ 9.97601951e-01 -6.53906676e-02 -2.26805841e-02 3.07733815e+02] [ 6.54004067e-02 9.97859053e-01 -3.12884556e-04 2.81722227e+00] [ 2.26524859e-02 -1.17118518e-03 9.99742714e-01 2.11039713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.929254154 meters 0.03107587647408195 Centerline is valid? [True, True] Translation: X:307.76, Y:2.81, Z:2.11 [[ 9.97280568e-01 -6.99714476e-02 -2.31401009e-02 3.07763936e+02] [ 6.99828215e-02 9.97548146e-01 -3.18919774e-04 2.81422591e+00] [ 2.31056800e-02 -1.30135706e-03 9.99732181e-01 2.11023188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.95925415399995 meters 0.032639582440500414 Centerline is valid? [True, True] Translation: X:307.80, Y:2.81, Z:2.11 [[ 9.97162749e-01 -7.15584854e-02 -2.33631059e-02 3.07795357e+02] [ 7.15705341e-02 9.97435489e-01 -3.21117048e-04 2.81264363e+00] [ 2.33261696e-02 -1.35190401e-03 9.99726994e-01 2.10995598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.989254154 meters 0.033810001663716116 Centerline is valid? [True, True] Translation: X:307.83, Y:2.81, Z:2.11 [[ 9.97057190e-01 -7.29623942e-02 -2.35255123e-02 3.07827663e+02] [ 7.29750357e-02 9.97333716e-01 -3.21849753e-04 2.81176069e+00] [ 2.34862696e-02 -1.39587249e-03 9.99723185e-01 2.10999508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.01925415399995 meters 0.03022938685102407 Centerline is valid? [True, True] Translation: X:307.86, Y:2.82, Z:2.11 [[ 9.96965278e-01 -7.42393395e-02 -2.34255145e-02 3.07859453e+02] [ 7.42522637e-02 9.97239439e-01 -3.18820249e-04 2.81689444e+00] [ 2.33845159e-02 -1.42154476e-03 9.99725534e-01 2.11155500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.049254154 meters 0.032370535786961446 Centerline is valid? [True, True] Translation: X:307.89, Y:2.82, Z:2.11 [[ 9.96787660e-01 -7.62015621e-02 -2.46512121e-02 3.07889811e+02] [ 7.62164932e-02 9.97091237e-01 -3.34661124e-04 2.81592539e+00] [ 2.46050092e-02 -1.54524286e-03 9.99696057e-01 2.11111325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.07925415399995 meters 0.03179915181765604 Centerline is valid? [True, True] Translation: X:307.92, Y:2.82, Z:2.11 [[ 9.96705419e-01 -7.68748062e-02 -2.58567559e-02 3.07921938e+02] [ 7.68914984e-02 9.97039405e-01 -3.49538054e-04 2.81898410e+00] [ 2.58070752e-02 -1.63977823e-03 9.99665597e-01 2.11080311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.109254154 meters 0.03179915181765604 Centerline is valid? [True, True] Translation: X:307.95, Y:2.82, Z:2.11 [[ 9.96713736e-01 -7.67668824e-02 -2.58567901e-02 3.07954546e+02] [ 7.67836042e-02 9.97047721e-01 -3.46991435e-04 2.81932894e+00] [ 2.58070911e-02 -1.63952641e-03 9.99665597e-01 2.11102894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.13925415399996 meters 0.03199059441358934 Centerline is valid? [True, True] Translation: X:307.99, Y:2.82, Z:2.11 [[ 9.96680217e-01 -7.69668027e-02 -2.65453761e-02 3.07987153e+02] [ 7.69845560e-02 9.97032223e-01 -3.54050865e-04 2.82074158e+00] [ 2.64938454e-02 -1.69070850e-03 9.99647547e-01 2.11081905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.169254154 meters 0.03259350234496077 Centerline is valid? [True, True] Translation: X:308.02, Y:2.82, Z:2.11 [[ 9.96740735e-01 -7.59983782e-02 -2.70583438e-02 3.08018635e+02] [ 7.60165122e-02 9.97106494e-01 -3.59305314e-04 2.82244141e+00] [ 2.70073570e-02 -1.69874668e-03 9.99633791e-01 2.11072753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.19925415399996 meters 0.032616908708974955 Centerline is valid? [True, True] Translation: X:308.05, Y:2.82, Z:2.11 [[ 9.96819735e-01 -7.49293732e-02 -2.71293939e-02 3.08051336e+02] [ 7.49472666e-02 9.97187434e-01 -3.58097304e-04 2.82432188e+00] [ 2.70799227e-02 -1.67631546e-03 9.99631866e-01 2.11103141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.229254154 meters 0.03069126728267511 Centerline is valid? [True, True] Translation: X:308.08, Y:2.83, Z:2.11 [[ 9.96955540e-01 -7.33573795e-02 -2.64262566e-02 3.08082346e+02] [ 7.33738409e-02 9.97304446e-01 -3.47519915e-04 2.82885712e+00] [ 2.63805163e-02 -1.59253404e-03 9.99650705e-01 2.11230304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.25925415399996 meters 0.024862543417764997 Centerline is valid? [True, True] Translation: X:308.11, Y:2.84, Z:2.12 [[ 9.97303893e-01 -6.88224057e-02 -2.54641077e-02 3.08112581e+02] [ 6.88362241e-02 9.97627918e-01 -3.34549832e-04 2.84077251e+00] [ 2.54267293e-02 -1.41920518e-03 9.99675681e-01 2.11633709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.289254154 meters 0.02566720572797215 Centerline is valid? [True, True] Translation: X:308.14, Y:2.84, Z:2.12 [[ 9.97542693e-01 -6.56825277e-02 -2.43799502e-02 3.08142548e+02] [ 6.56942595e-02 9.97839747e-01 -3.20278529e-04 2.84209230e+00] [ 2.43483200e-02 -1.28213127e-03 9.99702714e-01 2.11661330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31925415399996 meters 0.02232308920048377 Centerline is valid? [True, True] Translation: X:308.17, Y:2.85, Z:2.12 [[ 9.97784029e-01 -6.22276422e-02 -2.35531746e-02 3.08173408e+02] [ 6.22376386e-02 9.98061311e-01 -3.09106019e-04 2.84937567e+00] [ 2.35267472e-02 -1.15747292e-03 9.99722538e-01 2.11893397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34925415399994 meters 0.02177973039312947 Centerline is valid? [True, True] Translation: X:308.20, Y:2.85, Z:2.12 [[ 9.98026504e-01 -5.86454777e-02 -2.24456151e-02 3.08202663e+02] [ 5.86536479e-02 9.98278349e-01 -2.94735501e-04 2.85286624e+00] [ 2.24242565e-02 -1.02236337e-03 9.99748022e-01 2.11970207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37925415399997 meters 0.019130829953663792 Centerline is valid? [True, True] Translation: X:308.23, Y:2.86, Z:2.12 [[ 9.98468417e-01 -5.10849799e-02 -2.12401749e-02 3.08233277e+02] [ 5.10905867e-02 9.98693984e-01 -2.78945813e-04 2.86088592e+00] [ 2.12266848e-02 -8.06654412e-04 9.99774363e-01 2.12070502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40925415399994 meters 0.01766342526179094 Centerline is valid? [True, True] Translation: X:308.26, Y:2.86, Z:2.12 [[ 9.98624769e-01 -4.77891134e-02 -2.15585585e-02 3.08264512e+02] [ 4.77941352e-02 9.98857167e-01 -2.82543234e-04 2.86494669e+00] [ 2.15474232e-02 -7.48217990e-04 9.99767547e-01 2.12097673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43925415399997 meters 0.01742669372231619 Centerline is valid? [True, True] Translation: X:308.30, Y:2.87, Z:2.12 [[ 9.98755156e-01 -4.48500389e-02 -2.18314445e-02 3.08295170e+02] [ 4.48545050e-02 9.98993489e-01 -2.85310224e-04 2.86715278e+00] [ 2.18222671e-02 -6.94283579e-04 9.99761625e-01 2.12035930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46925415399994 meters 0.016084325843715365 Centerline is valid? [True, True] Translation: X:308.33, Y:2.87, Z:2.12 [[ 9.98911379e-01 -4.06424885e-02 -2.28963858e-02 3.08326989e+02] [ 4.06463227e-02 9.99173552e-01 -2.98094325e-04 2.87194036e+00] [ 2.28895784e-02 -6.32884073e-04 9.99737799e-01 2.11967380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49925415399997 meters 0.015190793963226383 Centerline is valid? [True, True] Translation: X:308.36, Y:2.87, Z:2.12 [[ 9.98955227e-01 -3.91352864e-02 -2.35984067e-02 3.08358248e+02] [ 3.91389627e-02 9.99233730e-01 -3.06241960e-04 2.87419497e+00] [ 2.35923089e-02 -6.17695155e-04 9.99721472e-01 2.11945509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.52925415399994 meters 0.015472453081691855 Centerline is valid? [True, True] Translation: X:308.39, Y:2.88, Z:2.12 [[ 9.98964248e-01 -3.83785384e-02 -2.44442204e-02 3.08389088e+02] [ 3.83822786e-02 9.99263079e-01 -3.16327334e-04 2.87510332e+00] [ 2.44383471e-02 -6.22225182e-04 9.99701145e-01 2.11858369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.559254154 meters 0.015658952744566364 Centerline is valid? [True, True] Translation: X:308.42, Y:2.88, Z:2.12 [[ 9.98953837e-01 -3.81990860e-02 -2.51408141e-02 3.08420493e+02] [ 3.82030086e-02 9.99269946e-01 -3.24437983e-04 2.87590220e+00] [ 2.51348532e-02 -6.36356170e-04 9.99683867e-01 2.11790499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.58925415399995 meters 0.015790531082021837 Centerline is valid? [True, True] Translation: X:308.45, Y:2.88, Z:2.12 [[ 9.98931641e-01 -3.83541810e-02 -2.57785261e-02 3.08451975e+02] [ 3.83583805e-02 9.99263991e-01 -3.31749013e-04 2.87682543e+00] [ 2.57722769e-02 -6.57427926e-04 9.99667624e-01 2.11732174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.619254154 meters 0.015449970918391776 Centerline is valid? [True, True] Translation: X:308.48, Y:2.88, Z:2.12 [[ 9.98925068e-01 -3.86669987e-02 -2.55650525e-02 3.08483646e+02] [ 3.86712545e-02 9.99251933e-01 -3.28092142e-04 2.87799306e+00] [ 2.55586144e-02 -6.60893185e-04 9.99673107e-01 2.11797008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.64925415399995 meters 0.01579395770637923 Centerline is valid? [True, True] Translation: X:308.51, Y:2.88, Z:2.12 [[ 9.98915700e-01 -3.91455287e-02 -2.52002499e-02 3.08514708e+02] [ 3.91498385e-02 9.99233299e-01 -3.22513728e-04 2.87841634e+00] [ 2.51935538e-02 -6.64421687e-04 9.99682371e-01 2.11808634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.679254154 meters 0.01579395770637923 Centerline is valid? [True, True] Translation: X:308.55, Y:2.88, Z:2.12 [[ 9.98917098e-01 -3.91098098e-02 -2.52002614e-02 3.08545569e+02] [ 3.91141309e-02 9.99234698e-01 -3.21613275e-04 2.87878001e+00] [ 2.51935538e-02 -6.64421324e-04 9.99682371e-01 2.11830013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.70925415399995 meters 0.01627502924767213 Centerline is valid? [True, True] Translation: X:308.58, Y:2.88, Z:2.12 [[ 9.98915798e-01 -3.98116224e-02 -2.41301166e-02 3.08575701e+02] [ 3.98158018e-02 9.99206989e-01 -3.07413383e-04 2.87895086e+00] [ 2.41232198e-02 -6.53679855e-04 9.99708779e-01 2.11831178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.739254154 meters 0.01590264052060701 Centerline is valid? [True, True] Translation: X:308.61, Y:2.88, Z:2.12 [[ 9.98907650e-01 -4.02584057e-02 -2.37227066e-02 3.08606961e+02] [ 4.02625881e-02 9.99189088e-01 -3.01500116e-04 2.88069353e+00] [ 2.37156074e-02 -6.53966790e-04 9.99718532e-01 2.11944408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.76925415399995 meters 0.0158445439470599 Centerline is valid? [True, True] Translation: X:308.64, Y:2.88, Z:2.12 [[ 9.98896466e-01 -4.08638179e-02 -2.31516354e-02 3.08638687e+02] [ 4.08679966e-02 9.99164512e-01 -2.92819660e-04 2.88174254e+00] [ 2.31442582e-02 -6.53664431e-04 9.99731922e-01 2.12046517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.799254154 meters 0.016386591614311864 Centerline is valid? [True, True] Translation: X:308.67, Y:2.88, Z:2.12 [[ 9.98884788e-01 -4.17222504e-02 -2.21005606e-02 3.08669431e+02] [ 4.17262969e-02 9.99129040e-01 -2.78219269e-04 2.88193978e+00] [ 2.20929198e-02 -6.44265555e-04 9.99755714e-01 2.12110053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.82925415399995 meters 0.016540891549096368 Centerline is valid? [True, True] Translation: X:308.70, Y:2.88, Z:2.12 [[ 9.98809473e-01 -4.43543438e-02 -2.03058881e-02 3.08701598e+02] [ 4.43583298e-02 9.99015652e-01 -2.54293946e-04 2.88233984e+00] [ 2.02971791e-02 -6.46744079e-04 9.99793782e-01 2.12270198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.859254154 meters 0.01796822932984691 Centerline is valid? [True, True] Translation: X:308.73, Y:2.88, Z:2.12 [[ 9.98746187e-01 -4.62301469e-02 -1.92048687e-02 3.08732290e+02] [ 4.62340982e-02 9.98930604e-01 -2.38444840e-04 2.88035097e+00] [ 1.91953544e-02 -6.49773908e-04 9.99815541e-01 2.12252460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.88925415399996 meters 0.018453439911873117 Centerline is valid? [True, True] Translation: X:308.76, Y:2.88, Z:2.12 [[ 9.98649017e-01 -4.85411587e-02 -1.85444579e-02 3.08764031e+02] [ 4.85452685e-02 9.98820957e-01 -2.28746980e-04 2.87976150e+00] [ 1.85336968e-02 -6.71807740e-04 9.99828011e-01 2.12280039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.919254154 meters 0.022058068678752294 Centerline is valid? [True, True] Translation: X:308.79, Y:2.87, Z:2.12 [[ 9.98400817e-01 -5.39568625e-02 -1.68660826e-02 3.08793855e+02] [ 5.39610509e-02 9.98543020e-01 -2.06991319e-04 2.87424411e+00] [ 1.68526776e-02 -7.03451240e-04 9.99857736e-01 2.12169879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.94925415399996 meters 0.020946338178874407 Centerline is valid? [True, True] Translation: X:308.83, Y:2.88, Z:2.12 [[ 9.98280931e-01 -5.62843087e-02 -1.63480840e-02 3.08826216e+02] [ 5.62885743e-02 9.98414521e-01 -1.99463136e-04 2.87571931e+00] [ 1.63333911e-02 -7.21090095e-04 9.99866341e-01 2.12246739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.979254154 meters 0.023290495746111195 Centerline is valid? [True, True] Translation: X:308.86, Y:2.87, Z:2.12 [[ 9.98145450e-01 -5.87316935e-02 -1.60077552e-02 3.08857309e+02] [ 5.87361132e-02 9.98273525e-01 -1.94312914e-04 2.87274696e+00] [ 1.59915305e-02 -7.46280768e-04 9.99871849e-01 2.12187987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.00925415399996 meters 0.024374980593075427 Centerline is valid? [True, True] Translation: X:308.89, Y:2.87, Z:2.12 [[ 9.97963822e-01 -6.19297008e-02 -1.52617930e-02 3.08888114e+02] [ 6.19340990e-02 9.98080224e-01 -1.84744696e-04 2.87056960e+00] [ 1.52439350e-02 -7.60856876e-04 9.99883515e-01 2.12159674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.039254154 meters 0.02497648710943762 Centerline is valid? [True, True] Translation: X:308.92, Y:2.87, Z:2.12 [[ 9.97900745e-01 -6.29982270e-02 -1.50108738e-02 3.08920012e+02] [ 6.30026129e-02 9.98013346e-01 -1.80997911e-04 2.86971291e+00] [ 1.49924550e-02 -7.65106322e-04 9.99887314e-01 2.12167010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.06925415399996 meters 0.02528684798333941 Centerline is valid? [True, True] Translation: X:308.95, Y:2.87, Z:2.12 [[ 9.97856469e-01 -6.36917809e-02 -1.50274377e-02 3.08952370e+02] [ 6.36962713e-02 9.97969314e-01 -1.80107064e-04 2.86940746e+00] [ 1.50083930e-02 -7.77470749e-04 9.99887065e-01 2.12162583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09925415399994 meters 0.025202253953384168 Centerline is valid? [True, True] Translation: X:308.98, Y:2.87, Z:2.12 [[ 9.97870830e-01 -6.34961553e-02 -1.49011619e-02 3.08984774e+02] [ 6.35005648e-02 9.97981787e-01 -1.77515886e-04 2.86947759e+00] [ 1.48823597e-02 -7.69094271e-04 9.99888956e-01 2.12167626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.12925415399997 meters 0.026259963797954186 Centerline is valid? [True, True] Translation: X:309.02, Y:2.87, Z:2.12 [[ 9.97931734e-01 -6.26883806e-02 -1.42275007e-02 3.09015677e+02] [ 6.26923310e-02 9.98032887e-01 -1.68614420e-04 2.86859747e+00] [ 1.42100838e-02 -7.23689503e-04 9.99898770e-01 2.12104848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15925415399994 meters 0.024891187037326207 Centerline is valid? [True, True] Translation: X:309.05, Y:2.87, Z:2.12 [[ 9.97991412e-01 -6.19251946e-02 -1.33571222e-02 3.09047425e+02] [ 6.19286190e-02 9.98080569e-01 -1.57481248e-04 2.87097269e+00] [ 1.33412362e-02 -6.70023199e-04 9.99910777e-01 2.12111156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18925415399997 meters 0.02358129139421703 Centerline is valid? [True, True] Translation: X:309.08, Y:2.87, Z:2.12 [[ 9.98083088e-01 -6.05634066e-02 -1.27367185e-02 3.09079293e+02] [ 6.05664212e-02 9.98164158e-01 -1.49262277e-04 2.87290287e+00] [ 1.27223757e-02 -6.22441301e-04 9.99918874e-01 2.12116314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21925415399994 meters 0.021500728825551343 Centerline is valid? [True, True] Translation: X:309.11, Y:2.88, Z:2.12 [[ 9.98251255e-01 -5.78547151e-02 -1.21352702e-02 3.09111203e+02] [ 5.78572613e-02 9.98324856e-01 -1.41436682e-04 2.87667725e+00] [ 1.21231247e-02 -5.60924155e-04 9.99926355e-01 2.12091893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24925415399997 meters 0.02171855437702453 Centerline is valid? [True, True] Translation: X:309.14, Y:2.88, Z:2.12 [[ 9.98353036e-01 -5.60501574e-02 -1.22308885e-02 3.09142714e+02] [ 5.60526172e-02 9.98427806e-01 -1.41861074e-04 2.87674482e+00] [ 1.22196105e-02 -5.43945877e-04 9.99925190e-01 2.12035180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27925415399994 meters 0.020680855360348107 Centerline is valid? [True, True] Translation: X:309.18, Y:2.88, Z:2.12 [[ 9.98463524e-01 -5.39975457e-02 -1.24441519e-02 3.09175171e+02] [ 5.39999428e-02 9.98540928e-01 -1.43536546e-04 2.87922667e+00] [ 1.24337456e-02 -5.28667488e-04 9.99922558e-01 2.11992570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.309254154 meters 0.01961912302925766 Centerline is valid? [True, True] Translation: X:309.21, Y:2.88, Z:2.12 [[ 9.98582679e-01 -5.16663289e-02 -1.27759328e-02 3.09206469e+02] [ 5.16686746e-02 9.98664271e-01 -1.46625808e-04 2.88146930e+00] [ 1.27664432e-02 -5.13697520e-04 9.99918374e-01 2.11941433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.33925415399995 meters 0.01838794497929431 Centerline is valid? [True, True] Translation: X:309.24, Y:2.88, Z:2.12 [[ 9.98833519e-01 -4.66056460e-02 -1.26299254e-02 3.09236453e+02] [ 4.66075374e-02 9.98913268e-01 -1.44695552e-04 2.88494191e+00] [ 1.26229436e-02 -4.44122951e-04 9.99920229e-01 2.11864009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.369254154 meters 0.01771181235248556 Centerline is valid? [True, True] Translation: X:309.27, Y:2.89, Z:2.12 [[ 9.98957143e-01 -4.39212916e-02 -1.24718033e-02 3.09268024e+02] [ 4.39229296e-02 9.99034912e-01 -1.42681409e-04 2.88714751e+00] [ 1.24660337e-02 -4.05265524e-04 9.99922214e-01 2.11841567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.39925415399995 meters 0.01685578264171285 Centerline is valid? [True, True] Translation: X:309.30, Y:2.89, Z:2.12 [[ 9.99094286e-01 -4.08623065e-02 -1.18692459e-02 3.09299909e+02] [ 4.08635804e-02 9.99164726e-01 -1.35278346e-04 2.88975213e+00] [ 1.18648596e-02 -3.49864062e-04 9.99929549e-01 2.11828391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.429254154 meters 0.016044718521504672 Centerline is valid? [True, True] Translation: X:309.33, Y:2.89, Z:2.12 [[ 9.99210376e-01 -3.80755141e-02 -1.13525369e-02 3.09331847e+02] [ 3.80765074e-02 9.99274819e-01 -1.28708936e-04 2.89216899e+00] [ 1.13492049e-02 -3.03657649e-04 9.99935550e-01 2.11843545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.45925415399995 meters 0.014869095789106333 Centerline is valid? [True, True] Translation: X:309.36, Y:2.90, Z:2.12 [[ 9.99406437e-01 -3.25977954e-02 -1.11426140e-02 3.09362620e+02] [ 3.25984191e-02 9.99468522e-01 -1.25685341e-04 2.89647273e+00] [ 1.11407890e-02 -2.37620863e-04 9.99937911e-01 2.11808786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.489254154 meters 0.013996135074266447 Centerline is valid? [True, True] Translation: X:309.39, Y:2.90, Z:2.12 [[ 9.99496805e-01 -2.97925276e-02 -1.08877429e-02 3.09394485e+02] [ 2.97929625e-02 9.99556084e-01 -1.22282949e-04 2.89966973e+00] [ 1.08865528e-02 -2.02156700e-04 9.99940719e-01 2.11803616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.51925415399995 meters 0.012887970276610395 Centerline is valid? [True, True] Translation: X:309.42, Y:2.90, Z:2.12 [[ 9.99652701e-01 -2.43393297e-02 -1.01031494e-02 3.09424704e+02] [ 2.43394337e-02 9.99703746e-01 -1.12679664e-04 2.90439963e+00] [ 1.01028988e-02 -1.33264404e-04 9.99948956e-01 2.11783327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.549254154 meters 0.012384210709575483 Centerline is valid? [True, True] Translation: X:309.46, Y:2.91, Z:2.12 [[ 9.99724642e-01 -2.16609785e-02 -9.02454709e-03 3.09457134e+02] [ 2.16609595e-02 9.99765369e-01 -9.98581552e-05 2.90691163e+00] [ 9.02459267e-03 -9.56496906e-05 9.99959273e-01 2.11811344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.57925415399995 meters 0.01213862024495725 Centerline is valid? [True, True] Translation: X:309.49, Y:2.91, Z:2.12 [[ 9.99781269e-01 -1.93298134e-02 -7.98573329e-03 3.09489350e+02] [ 1.93297282e-02 9.99813159e-01 -8.78548328e-05 2.90974086e+00] [ 7.98593945e-03 -6.65264376e-05 9.99968110e-01 2.11853765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.609254154 meters 0.011733091462018093 Centerline is valid? [True, True] Translation: X:309.52, Y:2.91, Z:2.12 [[ 9.99870381e-01 -1.47250011e-02 -6.51112292e-03 3.09520113e+02] [ 1.47248492e-02 9.99891581e-01 -7.12787721e-05 2.91301850e+00] [ 6.51146657e-03 -2.46057699e-05 9.99978800e-01 2.11944750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.63925415399996 meters 0.011748137702798553 Centerline is valid? [True, True] Translation: X:309.55, Y:2.91, Z:2.12 [[ 9.99899486e-01 -1.29466893e-02 -5.77929566e-03 3.09552637e+02] [ 1.29465438e-02 9.99916188e-01 -6.25768053e-05 2.91476871e+00] [ 5.77962145e-03 -1.22513889e-05 9.99983298e-01 2.11983522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.669254154 meters 0.011654881363447882 Centerline is valid? [True, True] Translation: X:309.58, Y:2.92, Z:2.12 [[ 9.99925303e-01 -1.12259909e-02 -4.83374204e-03 3.09584360e+02] [ 1.12258704e-02 9.99936987e-01 -5.20678108e-05 2.91603918e+00] [ 4.83402197e-03 -2.19904002e-06 9.99988316e-01 2.12022286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.69925415399996 meters 0.011602879004057305 Centerline is valid? [True, True] Translation: X:309.62, Y:2.92, Z:2.12 [[ 9.99942165e-01 -9.83729777e-03 -4.34668198e-03 3.09615608e+02] [ 9.83718855e-03 9.99951613e-01 -4.65054303e-05 2.91709612e+00] [ 4.34692914e-03 3.74361047e-06 9.99990552e-01 2.12061221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.729254154 meters 0.011789994803282652 Centerline is valid? [True, True] Translation: X:309.65, Y:2.92, Z:2.12 [[ 9.99960648e-01 -8.06169270e-03 -3.70303883e-03 3.09648064e+02] [ 8.06160158e-03 9.99967504e-01 -3.95337141e-05 2.91778183e+00] [ 3.70323720e-03 9.67973469e-06 9.99993143e-01 2.12003903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.75925415399996 meters 0.011975958964180364 Centerline is valid? [True, True] Translation: X:309.68, Y:2.92, Z:2.12 [[ 9.99964033e-01 -7.67764659e-03 -3.60368133e-03 3.09679719e+02] [ 7.67755914e-03 9.99970526e-01 -3.80995240e-05 2.91792621e+00] [ 3.60386763e-03 1.04306772e-05 9.99993506e-01 2.12015506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.789254154 meters 0.011957582490543893 Centerline is valid? [True, True] Translation: X:309.71, Y:2.92, Z:2.12 [[ 9.99965788e-01 -7.72418818e-03 -2.95959393e-03 3.09711191e+02] [ 7.72412937e-03 9.99970168e-01 -3.12986956e-05 2.91645074e+00] [ 2.95974740e-03 8.43733841e-06 9.99995620e-01 2.11988254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81925415399996 meters 0.011979828453580164 Centerline is valid? [True, True] Translation: X:309.74, Y:2.92, Z:2.12 [[ 9.99963803e-01 -8.18243882e-03 -2.33260742e-03 3.09742223e+02] [ 8.18240384e-03 9.99966523e-01 -2.45369436e-05 2.91520895e+00] [ 2.33273011e-03 5.44971946e-06 9.99997279e-01 2.11966559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84925415399994 meters 0.012054221184287667 Centerline is valid? [True, True] Translation: X:309.77, Y:2.91, Z:2.12 [[ 9.99961357e-01 -8.62397895e-03 -1.70651371e-03 3.09774805e+02] [ 8.62396054e-03 9.99962813e-01 -1.81491224e-05 2.91408412e+00] [ 1.70660677e-03 3.43151409e-06 9.99998544e-01 2.11988364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87925415399997 meters 0.01202367211902324 Centerline is valid? [True, True] Translation: X:309.81, Y:2.91, Z:2.12 [[ 9.99958675e-01 -9.01969825e-03 -1.13686998e-03 3.09805916e+02] [ 9.01969035e-03 9.99959322e-01 -1.20695042e-05 2.91285371e+00] [ 1.13693260e-03 1.81479020e-06 9.99999354e-01 2.12016093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90925415399994 meters 0.01221893664928179 Centerline is valid? [True, True] Translation: X:309.84, Y:2.91, Z:2.12 [[ 9.99941619e-01 -1.07558411e-02 -1.03500187e-03 3.09837077e+02] [ 1.07558355e-02 9.99942154e-01 -1.09620916e-05 2.91007842e+00] [ 1.03505990e-03 -1.70858210e-07 9.99999464e-01 2.12094278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93925415399997 meters 0.012242397155477695 Centerline is valid? [True, True] Translation: X:309.87, Y:2.91, Z:2.12 [[ 9.99928834e-01 -1.18999831e-02 -8.47074617e-04 3.09868450e+02] [ 1.18999798e-02 9.99929193e-01 -8.98573660e-06 2.90836066e+00] [ 8.47121568e-04 -1.09507371e-06 9.99999641e-01 2.12152748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96925415399994 meters 0.012312777697131105 Centerline is valid? [True, True] Translation: X:309.90, Y:2.91, Z:2.12 [[ 9.99908046e-01 -1.35332524e-02 -8.66377368e-04 3.09900998e+02] [ 1.35332495e-02 9.99908421e-01 -9.26023124e-06 2.90639966e+00] [ 8.66423348e-04 -2.46552136e-06 9.99999625e-01 2.12102303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99925415399997 meters 0.012645340043004681 Centerline is valid? [True, True] Translation: X:309.93, Y:2.90, Z:2.12 [[ 9.99876597e-01 -1.56695736e-02 -1.12049420e-03 3.09932188e+02] [ 1.56695704e-02 9.99877225e-01 -1.16399640e-05 2.90327330e+00] [ 1.12053902e-03 -5.91913511e-06 9.99999372e-01 2.12167091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.02925415399994 meters 0.013039565376848559 Centerline is valid? [True, True] Translation: X:309.96, Y:2.90, Z:2.12 [[ 9.99832536e-01 -1.82531691e-02 -1.31183624e-03 3.09964241e+02] [ 1.82531670e-02 9.99833397e-01 -1.35728810e-05 2.89970630e+00] [ 1.31186544e-03 -1.03745580e-05 9.99999139e-01 2.12159411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.059254154 meters 0.013977509982439873 Centerline is valid? [True, True] Translation: X:310.00, Y:2.89, Z:2.12 [[ 9.99693495e-01 -2.46386342e-02 -2.41962679e-03 3.09996193e+02] [ 2.46386453e-02 9.99696422e-01 -2.52135830e-05 2.89200669e+00] [ 2.41951348e-03 -3.44104714e-05 9.99997072e-01 2.11976884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.08925415399995 meters 0.014849591116249249 Centerline is valid? [True, True] Translation: X:310.03, Y:2.89, Z:2.12 [[ 9.99606767e-01 -2.79225614e-02 -2.57707415e-03 3.10027701e+02] [ 2.79225888e-02 9.99610088e-01 -2.53638087e-05 2.88742989e+00] [ 2.57677754e-03 -4.66047470e-05 9.99996679e-01 2.11934022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.119254154 meters 0.017152665207355634 Centerline is valid? [True, True] Translation: X:310.06, Y:2.88, Z:2.12 [[ 9.99400843e-01 -3.44244567e-02 -3.59336535e-03 3.10057989e+02] [ 3.44245535e-02 9.99407299e-01 -3.49053544e-05 2.87864922e+00] [ 3.59243716e-03 -8.88155574e-05 9.99993543e-01 2.11874919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.14925415399995 meters 0.018456006069575877 Centerline is valid? [True, True] Translation: X:310.09, Y:2.87, Z:2.12 [[ 9.99276220e-01 -3.78148352e-02 -4.13200941e-03 3.10090236e+02] [ 3.78149920e-02 9.99284757e-01 -4.01932298e-05 2.87487721e+00] [ 4.13057392e-03 -1.16087764e-04 9.99991462e-01 2.11868242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.179254154 meters 0.02025403492127271 Centerline is valid? [True, True] Translation: X:310.12, Y:2.87, Z:2.12 [[ 9.98991037e-01 -4.46888902e-02 -4.45090927e-03 3.10121420e+02] [ 4.46891424e-02 9.99000940e-01 -4.28157098e-05 2.86876633e+00] [ 4.44837593e-03 -1.56134808e-04 9.99990094e-01 2.11885005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.20925415399995 meters 0.02289963551278405 Centerline is valid? [True, True] Translation: X:310.15, Y:2.86, Z:2.12 [[ 9.98825205e-01 -4.82899858e-02 -4.03563227e-03 3.10151658e+02] [ 4.82902224e-02 9.98833346e-01 -3.88535438e-05 2.86331001e+00] [ 4.03280032e-03 -1.56073681e-04 9.99991856e-01 2.11947687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.239254154 meters 0.02451769604152956 Centerline is valid? [True, True] Translation: X:310.18, Y:2.86, Z:2.12 [[ 9.98472903e-01 -5.51463181e-02 -3.27810161e-03 3.10181997e+02] [ 5.51465120e-02 9.98478273e-01 -3.12888481e-05 2.85699558e+00] [ 3.27483870e-03 -1.49534803e-04 9.99994627e-01 2.11981903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.26925415399995 meters 0.02673778880579478 Centerline is valid? [True, True] Translation: X:310.21, Y:2.85, Z:2.12 [[ 9.98314172e-01 -5.79708831e-02 -2.86207345e-03 3.10212582e+02] [ 5.79710423e-02 9.98318265e-01 -2.73720022e-05 2.85216835e+00] [ 2.85884698e-03 -1.38591523e-04 9.99995904e-01 2.12025193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.299254154 meters 0.025824534725753384 Centerline is valid? [True, True] Translation: X:310.24, Y:2.85, Z:2.12 [[ 9.98169565e-01 -6.04103849e-02 -2.84678110e-03 3.10243371e+02] [ 6.04105524e-02 9.98173614e-01 -2.71776390e-05 2.85205351e+00] [ 2.84322359e-03 -1.44847727e-04 9.99995948e-01 2.12049681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.32925415399995 meters 0.027228506927532623 Centerline is valid? [True, True] Translation: X:310.27, Y:2.85, Z:2.12 [[ 9.97944454e-01 -6.40146942e-02 -2.99757725e-03 3.10274161e+02] [ 6.40148964e-02 9.97948943e-01 -2.85559169e-05 2.84723147e+00] [ 2.99325705e-03 -1.63392378e-04 9.99995507e-01 2.12090933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.359254154 meters 0.029697931299956615 Centerline is valid? [True, True] Translation: X:310.31, Y:2.84, Z:2.12 [[ 9.97870782e-01 -6.51360574e-02 -3.34599053e-03 3.10305198e+02] [ 6.51363132e-02 9.97876375e-01 -3.25800322e-05 2.84260693e+00] [ 3.34100704e-03 -1.85434825e-04 9.99994402e-01 2.12125925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.38925415399996 meters 0.029697931299956615 Centerline is valid? [True, True] Translation: X:310.34, Y:2.84, Z:2.12 [[ 9.97877793e-01 -6.50285698e-02 -3.34600212e-03 3.10337787e+02] [ 6.50288292e-02 9.97883385e-01 -3.13292527e-05 2.84281285e+00] [ 3.34095722e-03 -1.86323835e-04 9.99994402e-01 2.12148460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.419254154 meters 0.02978824238251529 Centerline is valid? [True, True] Translation: X:310.37, Y:2.84, Z:2.12 [[ 9.97834487e-01 -6.56522876e-02 -4.01415068e-03 3.10369742e+02] [ 6.56526687e-02 9.97842536e-01 -3.68989254e-05 2.84126820e+00] [ 4.00791279e-03 -2.26720684e-04 9.99991943e-01 2.12116015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.44925415399996 meters 0.02884712174888116 Centerline is valid? [True, True] Translation: X:310.40, Y:2.84, Z:2.12 [[ 9.97776429e-01 -6.64561674e-02 -5.07705102e-03 3.10402310e+02] [ 6.64567899e-02 9.97789303e-01 -4.61758914e-05 2.83952915e+00] [ 5.06889587e-03 -2.91331297e-04 9.99987111e-01 2.12003156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.479254154 meters 0.0317105780854027 Centerline is valid? [True, True] Translation: X:310.43, Y:2.83, Z:2.12 [[ 9.97806433e-01 -6.59462041e-02 -5.78099095e-03 3.10433582e+02] [ 6.59470044e-02 9.97823126e-01 -5.22717121e-05 2.83404596e+00] [ 5.77185358e-03 -3.29081985e-04 9.99983289e-01 2.11937170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.50925415399996 meters 0.031239815401894192 Centerline is valid? [True, True] Translation: X:310.47, Y:2.83, Z:2.12 [[ 9.97919573e-01 -6.40019175e-02 -7.76401949e-03 3.10465363e+02] [ 6.40033198e-02 9.97949683e-01 -6.79723490e-05 2.83247277e+00] [ 7.75245115e-03 -4.29092085e-04 9.99969857e-01 2.11834925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53925415399993 meters 0.028937549432382276 Centerline is valid? [True, True] Translation: X:310.50, Y:2.84, Z:2.12 [[ 9.98034299e-01 -6.20878745e-02 -8.52255898e-03 3.10496482e+02] [ 6.20894985e-02 9.98070583e-01 -7.41584005e-05 2.83546461e+00] [ 8.51071975e-03 -4.55148786e-04 9.99963680e-01 2.11794163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.56925415399996 meters 0.02704407159217087 Centerline is valid? [True, True] Translation: X:310.53, Y:2.84, Z:2.12 [[ 9.98177386e-01 -5.96547501e-02 -9.12232471e-03 3.10528084e+02] [ 5.96565128e-02 9.98218961e-01 -7.89951318e-05 2.83834531e+00] [ 9.11078993e-03 -4.65354927e-04 9.99958388e-01 2.11801355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59925415399994 meters 0.02704407159217087 Centerline is valid? [True, True] Translation: X:310.56, Y:2.84, Z:2.12 [[ 9.98183808e-01 -5.95471894e-02 -9.12232994e-03 3.10560664e+02] [ 5.95489532e-02 9.98225383e-01 -7.83861309e-05 2.83853200e+00] [ 9.11080898e-03 -4.64981433e-04 9.99958388e-01 2.11823921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.62925415399997 meters 0.025142112748238556 Centerline is valid? [True, True] Translation: X:310.59, Y:2.84, Z:2.12 [[ 9.98552100e-01 -5.29244997e-02 -9.62812534e-03 3.10589909e+02] [ 5.29261644e-02 9.98598425e-01 -8.19920028e-05 2.84173860e+00] [ 9.61897019e-03 -4.27706458e-04 9.99953645e-01 2.11853471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65925415399994 meters 0.022326782567819017 Centerline is valid? [True, True] Translation: X:310.62, Y:2.85, Z:2.12 [[ 9.98967330e-01 -4.44204486e-02 -9.54447740e-03 3.10619814e+02] [ 4.44216958e-02 9.99012866e-01 -8.13850529e-05 2.84721947e+00] [ 9.53867088e-03 -3.42680863e-04 9.99954447e-01 2.11912969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68925415399997 meters 0.020605302647465507 Centerline is valid? [True, True] Translation: X:310.65, Y:2.85, Z:2.12 [[ 9.99166910e-01 -3.98099957e-02 -8.98050514e-03 3.10650978e+02] [ 3.98109148e-02 9.99207228e-01 -7.64653852e-05 2.85069243e+00] [ 8.97642974e-03 -2.81120443e-04 9.99959672e-01 2.11966914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71925415399994 meters 0.01935299409129186 Centerline is valid? [True, True] Translation: X:310.68, Y:2.85, Z:2.12 [[ 9.99343146e-01 -3.52895500e-02 -8.24161441e-03 3.10681657e+02] [ 3.52901726e-02 9.99377105e-01 -6.99116669e-05 2.85393755e+00] [ 8.23894791e-03 -2.20982250e-04 9.99966035e-01 2.12060556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74925415399997 meters 0.01578007169409429 Centerline is valid? [True, True] Translation: X:310.71, Y:2.86, Z:2.12 [[ 9.99507425e-01 -3.05037647e-02 -7.37754452e-03 3.10713462e+02] [ 3.05041351e-02 9.99534639e-01 -6.23436175e-05 2.86128877e+00] [ 7.37601301e-03 -1.62732706e-04 9.99972784e-01 2.12166770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77925415399994 meters 0.015277087290860886 Centerline is valid? [True, True] Translation: X:310.74, Y:2.86, Z:2.12 [[ 9.99637357e-01 -2.60963645e-02 -6.64333137e-03 3.10743911e+02] [ 2.60965698e-02 9.99659425e-01 -5.57936508e-05 2.86365757e+00] [ 6.64252483e-03 -1.17594743e-04 9.99977931e-01 2.12213029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.809254154 meters 0.014602766533435655 Centerline is valid? [True, True] Translation: X:310.78, Y:2.87, Z:2.12 [[ 9.99740754e-01 -2.17558711e-02 -6.71611909e-03 3.10775844e+02] [ 2.17559838e-02 9.99763309e-01 -5.62912617e-05 2.86647129e+00] [ 6.71575411e-03 -8.98391097e-05 9.99977445e-01 2.12213345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.83925415399995 meters 0.013933693509150134 Centerline is valid? [True, True] Translation: X:310.81, Y:2.87, Z:2.12 [[ 9.99875428e-01 -1.36452964e-02 -7.93311798e-03 3.10806954e+02] [ 1.36452034e-02 9.99906898e-01 -6.58485484e-05 2.87069148e+00] [ 7.93327792e-03 -4.24086633e-05 9.99968530e-01 2.12092352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.869254154 meters 0.013904831626805711 Centerline is valid? [True, True] Translation: X:310.84, Y:2.87, Z:2.12 [[ 9.99911437e-01 -1.01107977e-02 -8.65388725e-03 3.10837107e+02] [ 1.01105574e-02 9.99948884e-01 -7.15212434e-05 2.87256125e+00] [ 8.65416803e-03 -1.59807143e-05 9.99962552e-01 2.12029906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.89925415399995 meters 0.013934387742322425 Centerline is valid? [True, True] Translation: X:310.87, Y:2.87, Z:2.12 [[ 9.99933299e-01 -6.85046663e-03 -9.29880881e-03 3.10866766e+02] [ 6.85004862e-03 9.99976535e-01 -7.68028035e-05 2.87427079e+00] [ 9.29911675e-03 1.31003883e-05 9.99956762e-01 2.12036503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.929254154 meters 0.014030722462574335 Centerline is valid? [True, True] Translation: X:310.90, Y:2.88, Z:2.12 [[ 9.99944705e-01 -3.96150068e-03 -9.74137409e-03 3.10895608e+02] [ 3.96089516e-03 9.99992152e-01 -8.14510422e-05 2.87591256e+00] [ 9.74162032e-03 4.28619768e-05 9.99952548e-01 2.12062338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.95925415399995 meters 0.01476334159992079 Centerline is valid? [True, True] Translation: X:310.92, Y:2.88, Z:2.12 [[ 9.99948292e-01 1.49978956e-03 -1.00580775e-02 3.10923554e+02] [-1.50073277e-03 9.99998870e-01 -8.62297795e-05 2.87867763e+00] [ 1.00579368e-02 1.01319807e-04 9.99949413e-01 2.12133640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.989254154 meters 0.015189391932176173 Centerline is valid? [True, True] Translation: X:310.95, Y:2.88, Z:2.12 [[ 9.99943205e-01 4.05524359e-03 -9.85607258e-03 3.10951096e+02] [-4.05628206e-03 9.99991770e-01 -8.53763902e-05 2.87991552e+00] [ 9.85564524e-03 1.25350552e-04 9.99951424e-01 2.12185457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.01925415399995 meters 0.015389515745837207 Centerline is valid? [True, True] Translation: X:310.98, Y:2.88, Z:2.12 [[ 9.99936339e-01 5.94299941e-03 -9.59154913e-03 3.10979684e+02] [-5.94408187e-03 9.99982330e-01 -8.43520360e-05 2.87984749e+00] [ 9.59087835e-03 1.41359619e-04 9.99953996e-01 2.12254004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.049254154 meters 0.015781863587934136 Centerline is valid? [True, True] Translation: X:311.01, Y:2.88, Z:2.12 [[ 9.99923630e-01 8.41966738e-03 -9.04670531e-03 3.11008124e+02] [-8.42075148e-03 9.99964541e-01 -8.17480957e-05 2.87788309e+00] [ 9.04569623e-03 1.57921910e-04 9.99959074e-01 2.12336514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.07925415399995 meters 0.015897678879080182 Centerline is valid? [True, True] Translation: X:311.04, Y:2.88, Z:2.12 [[ 9.99922182e-01 8.64911416e-03 -8.99011862e-03 3.11036803e+02] [-8.65021123e-03 9.99962583e-01 -8.31537844e-05 2.87679216e+00] [ 8.98906302e-03 1.60913739e-04 9.99959585e-01 2.12331950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.109254154 meters 0.01593157159614822 Centerline is valid? [True, True] Translation: X:311.06, Y:2.87, Z:2.12 [[ 9.99920956e-01 8.25659940e-03 -9.48214424e-03 3.11063380e+02] [-8.25781141e-03 9.99965900e-01 -8.86748573e-05 2.87330218e+00] [ 9.48108874e-03 1.66969607e-04 9.99955040e-01 2.12314107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.13925415399996 meters 0.01569786507024116 Centerline is valid? [True, True] Translation: X:311.09, Y:2.87, Z:2.12 [[ 9.99930642e-01 6.92845184e-03 -9.52409292e-03 3.11092392e+02] [-6.92962750e-03 9.99975986e-01 -9.04458617e-05 2.87042414e+00] [ 9.52323756e-03 1.56438005e-04 9.99954641e-01 2.12293437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.169254154 meters 0.015816132312269825 Centerline is valid? [True, True] Translation: X:311.12, Y:2.87, Z:2.12 [[ 9.99938512e-01 5.12015569e-03 -9.83645567e-03 3.11120237e+02] [-5.12132997e-03 9.99986881e-01 -9.41953890e-05 2.86829615e+00] [ 9.83584434e-03 1.44565332e-04 9.99951616e-01 2.12277232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.19925415399996 meters 0.014902053189076623 Centerline is valid? [True, True] Translation: X:311.15, Y:2.86, Z:2.12 [[ 9.99944696e-01 -1.71302119e-04 -1.05154567e-02 3.11148775e+02] [ 1.70242916e-04 9.99999980e-01 -1.01623269e-04 2.86016985e+00] [ 1.05154739e-02 9.98274671e-05 9.99944706e-01 2.12307112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.229254154 meters 0.014644928695301625 Centerline is valid? [True, True] Translation: X:311.18, Y:2.86, Z:2.12 [[ 9.99938787e-01 -4.28631469e-03 -1.02004798e-02 3.11176513e+02] [ 4.28552417e-03 9.99990812e-01 -9.93547315e-05 2.85560615e+00] [ 1.02008120e-02 5.56342469e-05 9.99947969e-01 2.12295397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.25925415399996 meters 0.014452653951621272 Centerline is valid? [True, True] Translation: X:311.20, Y:2.85, Z:2.12 [[ 9.99911692e-01 -8.82077574e-03 -9.93995429e-03 3.11204899e+02] [ 8.82024096e-03 9.99961096e-01 -9.76376566e-05 2.84994725e+00] [ 9.94042883e-03 9.95624232e-06 9.99950593e-01 2.12339333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28925415399993 meters 0.015053478871908927 Centerline is valid? [True, True] Translation: X:311.23, Y:2.84, Z:2.12 [[ 9.99765362e-01 -1.95184045e-02 -9.39426641e-03 3.11234517e+02] [ 1.95183937e-02 9.99809494e-01 -9.28416024e-05 2.83836778e+00] [ 9.39428886e-03 -9.05411723e-05 9.99955869e-01 2.12430444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31925415399996 meters 0.016067788400663082 Centerline is valid? [True, True] Translation: X:311.27, Y:2.83, Z:2.12 [[ 9.99644258e-01 -2.50514753e-02 -9.15322772e-03 3.11265255e+02] [ 2.50516950e-02 9.99686153e-01 -9.06673494e-05 2.83068537e+00] [ 9.15262635e-03 -1.38668774e-04 9.99958104e-01 2.12434299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34925415399994 meters 0.01677483139063729 Centerline is valid? [True, True] Translation: X:311.30, Y:2.83, Z:2.12 [[ 9.99484749e-01 -3.06432862e-02 -9.55124231e-03 3.11297207e+02] [ 3.06437833e-02 9.99530365e-01 -9.43338284e-05 2.82565952e+00] [ 9.54964741e-03 -1.98400977e-04 9.99954381e-01 2.12429203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37925415399997 meters 0.018136783811347125 Centerline is valid? [True, True] Translation: X:311.33, Y:2.82, Z:2.12 [[ 9.99296268e-01 -3.61131570e-02 -1.01394562e-02 3.11328039e+02] [ 3.61140032e-02 9.99347672e-01 -9.96816277e-05 2.81931286e+00] [ 1.01364418e-02 -2.66564876e-04 9.99948589e-01 2.12395861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40925415399994 meters 0.021682971552705925 Centerline is valid? [True, True] Translation: X:311.36, Y:2.81, Z:2.12 [[ 9.98890077e-01 -4.58149640e-02 -1.09363074e-02 3.11357443e+02] [ 4.58165299e-02 9.98949866e-01 -1.07440439e-04 2.80613933e+00] [ 1.09297452e-02 -3.93742465e-04 9.99940191e-01 2.12294624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43925415399997 meters 0.02370619281194361 Centerline is valid? [True, True] Translation: X:311.39, Y:2.80, Z:2.12 [[ 9.98693017e-01 -4.98857192e-02 -1.11207936e-02 3.11388410e+02] [ 4.98875900e-02 9.98754833e-01 -1.09284672e-04 2.80040836e+00] [ 1.11123981e-02 -4.45647752e-04 9.99938156e-01 2.12264494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46925415399994 meters 0.02701415339822 Centerline is valid? [True, True] Translation: X:311.42, Y:2.79, Z:2.12 [[ 9.98325132e-01 -5.67217908e-02 -1.13828657e-02 3.11417841e+02] [ 5.67241961e-02 9.98389880e-01 -1.11686181e-04 2.79030783e+00] [ 1.13708729e-02 -5.34184784e-04 9.99935207e-01 2.12317205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49925415399997 meters 0.028426461296301286 Centerline is valid? [True, True] Translation: X:311.45, Y:2.79, Z:2.12 [[ 9.98172512e-01 -5.92917182e-02 -1.16673836e-02 3.11448917e+02] [ 5.92944223e-02 9.98240531e-01 -1.14318794e-04 2.78651349e+00] [ 1.16536333e-02 -5.77700891e-04 9.99931927e-01 2.12367894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.52925415399994 meters 0.029516349036534422 Centerline is valid? [True, True] Translation: X:311.48, Y:2.78, Z:2.12 [[ 9.98027827e-01 -6.15868844e-02 -1.21454641e-02 3.11479717e+02] [ 6.15899868e-02 9.98101528e-01 -1.18785425e-04 2.78353516e+00] [ 1.21297219e-02 -6.29487817e-04 9.99926234e-01 2.12405612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.559254154 meters 0.029732213973150297 Centerline is valid? [True, True] Translation: X:311.51, Y:2.78, Z:2.12 [[ 9.97941375e-01 -6.29710644e-02 -1.21513960e-02 3.11512261e+02] [ 6.29742781e-02 9.98015143e-01 -1.18352508e-04 2.78168915e+00] [ 1.21347300e-02 -6.47116525e-04 9.99926162e-01 2.12444550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.58925415399995 meters 0.02706024330699839 Centerline is valid? [True, True] Translation: X:311.54, Y:2.78, Z:2.12 [[ 9.97757237e-01 -6.56969705e-02 -1.28220502e-02 3.11542949e+02] [ 6.57007812e-02 9.97839362e-01 -1.24257050e-04 2.78294364e+00] [ 1.28025097e-02 -7.18440341e-04 9.99917786e-01 2.12442833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.619254154 meters 0.034286808473209744 Centerline is valid? [True, True] Translation: X:311.57, Y:2.77, Z:2.12 [[ 9.97700730e-01 -6.64642809e-02 -1.32571549e-02 3.11573806e+02] [ 6.64684348e-02 9.97788520e-01 -1.27517329e-04 2.77160176e+00] [ 1.32363123e-02 -7.53958202e-04 9.99912112e-01 2.12305993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.64925415399995 meters 0.027827543084803005 Centerline is valid? [True, True] Translation: X:311.61, Y:2.78, Z:2.12 [[ 9.97662162e-01 -6.67426229e-02 -1.46844454e-02 3.11606038e+02] [ 6.67477727e-02 9.97769871e-01 -1.39670305e-04 2.77912021e+00] [ 1.46610191e-02 -8.40810244e-04 9.99892168e-01 2.12322257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.679254154 meters 0.03690622262366414 Centerline is valid? [True, True] Translation: X:311.64, Y:2.77, Z:2.12 [[ 9.97677826e-01 -6.61659248e-02 -1.61562660e-02 3.11637834e+02] [ 6.61721038e-02 9.97808213e-01 -1.52419751e-04 2.76800447e+00] [ 1.61309399e-02 -9.17028302e-04 9.99869467e-01 2.11988960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.70925415399995 meters 0.03150593337578916 Centerline is valid? [True, True] Translation: X:311.67, Y:2.77, Z:2.12 [[ 9.97719649e-01 -6.56875521e-02 -1.55127955e-02 3.11669912e+02] [ 6.56932079e-02 9.97839858e-01 -1.45253770e-04 2.77378314e+00] [ 1.54888270e-02 -8.74162760e-04 9.99879659e-01 2.12239558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.739254154 meters 0.03528246598664829 Centerline is valid? [True, True] Translation: X:311.70, Y:2.77, Z:2.12 [[ 9.97781256e-01 -6.47367437e-02 -1.55473445e-02 3.11701244e+02] [ 6.47423243e-02 9.97902004e-01 -1.44636293e-04 2.76906176e+00] [ 1.55240895e-02 -8.62255836e-04 9.99879122e-01 2.12180595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.76925415399995 meters 0.026132457729130937 Centerline is valid? [True, True] Translation: X:311.73, Y:2.78, Z:2.12 [[ 9.97955323e-01 -6.19634532e-02 -1.56749457e-02 3.11732235e+02] [ 6.19687954e-02 9.98078077e-01 -1.45130474e-04 2.78291220e+00] [ 1.56538124e-02 -8.26523771e-04 9.99877130e-01 2.12381109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.799254154 meters 0.028499490689093222 Centerline is valid? [True, True] Translation: X:311.76, Y:2.78, Z:2.12 [[ 9.98064231e-01 -5.98183719e-02 -1.70162881e-02 3.11763092e+02] [ 5.98243680e-02 9.98208906e-01 -1.56895536e-04 2.78266883e+00] [ 1.69951956e-02 -8.61396859e-04 9.99855200e-01 2.12205304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.82925415399995 meters 0.023346129558405426 Centerline is valid? [True, True] Translation: X:311.79, Y:2.79, Z:2.12 [[ 9.98300599e-01 -5.58527110e-02 -1.66249228e-02 3.11794199e+02] [ 5.58578928e-02 9.98438717e-01 -1.52854884e-04 2.78989198e+00] [ 1.66075040e-02 -7.76038035e-04 9.99861785e-01 2.12458203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.859254154 meters 0.024877781289118772 Centerline is valid? [True, True] Translation: X:311.82, Y:2.79, Z:2.12 [[ 9.98428769e-01 -5.35245432e-02 -1.65866408e-02 3.11824926e+02] [ 5.35293888e-02 9.98566263e-01 -1.52012710e-04 2.78891379e+00] [ 1.65709964e-02 -7.36098883e-04 9.99862421e-01 2.12416203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.88925415399996 meters 0.022296524126795107 Centerline is valid? [True, True] Translation: X:311.86, Y:2.79, Z:2.12 [[ 9.98560614e-01 -5.09700921e-02 -1.66957861e-02 3.11856187e+02] [ 5.09746556e-02 9.98699936e-01 -1.52388521e-04 2.79412658e+00] [ 1.66818478e-02 -6.98892772e-04 9.99860604e-01 2.12482540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.919254154 meters 0.023184189601152386 Centerline is valid? [True, True] Translation: X:311.89, Y:2.80, Z:2.12 [[ 9.98682797e-01 -4.80874607e-02 -1.78960089e-02 3.11886563e+02] [ 4.80922505e-02 9.98842885e-01 -1.62865622e-04 2.79539968e+00] [ 1.78831330e-02 -6.98008250e-04 9.99839840e-01 2.12379751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.94925415399996 meters 0.02106403342988911 Centerline is valid? [True, True] Translation: X:311.92, Y:2.80, Z:2.13 [[ 9.98804534e-01 -4.57597004e-02 -1.71916683e-02 3.11918025e+02] [ 4.57637848e-02 9.98952277e-01 -1.55955695e-04 2.79824830e+00] [ 1.71807927e-02 -6.30986555e-04 9.99852200e-01 2.12539556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.979254154 meters 0.019781792560692932 Centerline is valid? [True, True] Translation: X:311.95, Y:2.80, Z:2.13 [[ 9.99035095e-01 -4.06930323e-02 -1.65213743e-02 3.11947278e+02] [ 4.06961135e-02 9.99171559e-01 -1.49803577e-04 2.80259687e+00] [ 1.65137833e-02 -5.22696691e-04 9.99863502e-01 2.12609235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.00925415399996 meters 0.018435134549766568 Centerline is valid? [True, True] Translation: X:311.98, Y:2.81, Z:2.13 [[ 9.99145223e-01 -3.80125886e-02 -1.62439521e-02 3.11978264e+02] [ 3.80152168e-02 9.99277150e-01 -1.47064403e-04 2.80656182e+00] [ 1.62378004e-02 -4.70578664e-04 9.99868047e-01 2.12709910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03925415399993 meters 0.01720145668197225 Centerline is valid? [True, True] Translation: X:312.01, Y:2.81, Z:2.13 [[ 9.99355900e-01 -3.22894836e-02 -1.56580503e-02 3.12009252e+02] [ 3.22912299e-02 9.99478492e-01 -1.41351185e-04 2.81091335e+00] [ 1.56544487e-02 -3.64357561e-04 9.99877395e-01 2.12764088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.06925415399996 meters 0.0168423329035694 Centerline is valid? [True, True] Translation: X:312.04, Y:2.81, Z:2.13 [[ 9.99461673e-01 -2.90735885e-02 -1.52016457e-02 3.12038824e+02] [ 2.90748666e-02 9.99577227e-01 -1.36969018e-04 2.81266312e+00] [ 1.51992010e-02 -3.05090537e-04 9.99884439e-01 2.12788852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09925415399994 meters 0.015573429734571619 Centerline is valid? [True, True] Translation: X:312.07, Y:2.82, Z:2.13 [[ 9.99622349e-01 -2.31004140e-02 -1.48838975e-02 3.12069021e+02] [ 2.31009789e-02 9.99733128e-01 -1.33992216e-04 2.81821353e+00] [ 1.48830207e-02 -2.09890988e-04 9.99889220e-01 2.12888893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.12925415399997 meters 0.015144155152931132 Centerline is valid? [True, True] Translation: X:312.10, Y:2.82, Z:2.13 [[ 9.99682633e-01 -2.03851418e-02 -1.48013244e-02 3.12098408e+02] [ 2.03853987e-02 9.99792187e-01 -1.33533097e-04 2.82095242e+00] [ 1.48009705e-02 -1.68240180e-04 9.99890445e-01 2.12937868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15925415399994 meters 0.014849080726656833 Centerline is valid? [True, True] Translation: X:312.13, Y:2.82, Z:2.13 [[ 9.99738325e-01 -1.74261217e-02 -1.48193024e-02 3.12127137e+02] [ 1.74260209e-02 9.99848146e-01 -1.35938345e-04 2.82318213e+00] [ 1.48194209e-02 -1.22338699e-04 9.99890179e-01 2.12963859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18925415399997 meters 0.014663311522729138 Centerline is valid? [True, True] Translation: X:312.16, Y:2.83, Z:2.13 [[ 9.99778144e-01 -1.51062607e-02 -1.46786620e-02 3.12155486e+02] [ 1.51058578e-02 9.99885890e-01 -1.38330921e-04 2.82523184e+00] [ 1.46790767e-02 -8.34335488e-05 9.99892253e-01 2.12962470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21925415399994 meters 0.01521093978531481 Centerline is valid? [True, True] Translation: X:312.18, Y:2.83, Z:2.13 [[ 9.99807891e-01 -1.29519617e-02 -1.47114525e-02 3.12183379e+02] [ 1.29512651e-02 9.99916119e-01 -1.42618835e-04 2.82671357e+00] [ 1.47120657e-02 -4.79404859e-05 9.99891771e-01 2.12952311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24925415399997 meters 0.014452689665642712 Centerline is valid? [True, True] Translation: X:312.21, Y:2.83, Z:2.13 [[ 9.99853284e-01 -1.03541356e-02 -1.36456263e-02 3.12212017e+02] [ 1.03532462e-02 9.99946394e-01 -1.35825341e-04 2.82841902e+00] [ 1.36463012e-02 -5.47111496e-06 9.99906885e-01 2.13065812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27925415399994 meters 0.014385116791362604 Centerline is valid? [True, True] Translation: X:312.24, Y:2.83, Z:2.13 [[ 9.99860296e-01 -9.78576513e-03 -1.35509028e-02 3.12238822e+02] [ 9.78480099e-03 9.99952118e-01 -1.37448361e-04 2.82889449e+00] [ 1.35515990e-02 4.83627186e-06 9.99908173e-01 2.13087818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.309254154 meters 0.014345489971332743 Centerline is valid? [True, True] Translation: X:312.27, Y:2.83, Z:2.13 [[ 9.99862416e-01 -1.00639677e-02 -1.31858023e-02 3.12267007e+02] [ 1.00630445e-02 9.99949357e-01 -1.36362203e-04 2.82877971e+00] [ 1.31865069e-02 3.65412618e-06 9.99913054e-01 2.13119446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.33925415399995 meters 0.014410530963769378 Centerline is valid? [True, True] Translation: X:312.29, Y:2.83, Z:2.13 [[ 9.99840780e-01 -1.18605129e-02 -1.33320336e-02 3.12293497e+02] [ 1.18596918e-02 9.99929661e-01 -1.40646439e-04 2.82735685e+00] [ 1.33327640e-02 -1.74897643e-05 9.99911115e-01 2.13131064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.369254154 meters 0.014563092382731905 Centerline is valid? [True, True] Translation: X:312.32, Y:2.83, Z:2.13 [[ 9.99820855e-01 -1.33474149e-02 -1.34203027e-02 3.12321279e+02] [ 1.33466807e-02 9.99910919e-01 -1.44271022e-04 2.82622376e+00] [ 1.34210329e-02 -3.48713197e-05 9.99909933e-01 2.13098522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.39925415399995 meters 0.01490311158119991 Centerline is valid? [True, True] Translation: X:312.35, Y:2.82, Z:2.13 [[ 9.99800090e-01 -1.47842839e-02 -1.34612657e-02 3.12349238e+02] [ 1.47836413e-02 9.99890705e-01 -1.47250599e-04 2.82444540e+00] [ 1.34619714e-02 -5.17853603e-05 9.99909382e-01 2.13072878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.429254154 meters 0.01481365052031087 Centerline is valid? [True, True] Translation: X:312.38, Y:2.82, Z:2.13 [[ 9.99746213e-01 -1.82524695e-02 -1.32044529e-02 3.12378169e+02] [ 1.82521254e-02 9.99833405e-01 -1.46573696e-04 2.82046842e+00] [ 1.32049284e-02 -9.44728332e-05 9.99912807e-01 2.13081033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.45925415399995 meters 0.015066527390256441 Centerline is valid? [True, True] Translation: X:312.41, Y:2.82, Z:2.13 [[ 9.99716731e-01 -1.98482788e-02 -1.31340990e-02 3.12406693e+02] [ 1.98480498e-02 9.99802997e-01 -1.47803488e-04 2.81834191e+00] [ 1.31344451e-02 -1.12924630e-04 9.99913733e-01 2.13085731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.489254154 meters 0.015066527390256441 Centerline is valid? [True, True] Translation: X:312.44, Y:2.82, Z:2.13 [[ 9.99716046e-01 -1.98827287e-02 -1.31340925e-02 3.12435848e+02] [ 1.98824950e-02 9.99802313e-01 -1.48377807e-04 2.81870294e+00] [ 1.31344462e-02 -1.12802853e-04 9.99913733e-01 2.13105945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.51925415399995 meters 0.01495810154264892 Centerline is valid? [True, True] Translation: X:312.47, Y:2.82, Z:2.13 [[ 9.99692786e-01 -2.12081256e-02 -1.28276620e-02 3.12465690e+02] [ 2.12080060e-02 9.99775074e-01 -1.45363305e-04 2.81782950e+00] [ 1.28278597e-02 -1.26730487e-04 9.99917712e-01 2.13199816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.549254154 meters 0.01575110554884868 Centerline is valid? [True, True] Translation: X:312.49, Y:2.81, Z:2.13 [[ 9.99651594e-01 -2.32166267e-02 -1.25570477e-02 3.12494362e+02] [ 2.32166637e-02 9.99730447e-01 -1.42847022e-04 2.81290341e+00] [ 1.25569793e-02 -1.48735501e-04 9.99921147e-01 2.13157314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.57925415399995 meters 0.01539338336521086 Centerline is valid? [True, True] Translation: X:312.53, Y:2.81, Z:2.13 [[ 9.99640082e-01 -2.37025616e-02 -1.25656273e-02 3.12525309e+02] [ 2.37026324e-02 9.99719043e-01 -1.43319337e-04 2.81300878e+00] [ 1.25654939e-02 -1.54570690e-04 9.99921039e-01 2.13231884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.609254154 meters 0.016178529879819263 Centerline is valid? [True, True] Translation: X:312.55, Y:2.81, Z:2.13 [[ 9.99611171e-01 -2.50472325e-02 -1.22533133e-02 3.12554997e+02] [ 2.50473996e-02 9.99686255e-01 -1.39853498e-04 2.80727329e+00] [ 1.22529719e-02 -1.67114516e-04 9.99924916e-01 2.13137415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.63925415399996 meters 0.016178529879819263 Centerline is valid? [True, True] Translation: X:312.58, Y:2.81, Z:2.13 [[ 9.99611171e-01 -2.50472334e-02 -1.22533119e-02 3.12584998e+02] [ 2.50473989e-02 9.99686255e-01 -1.39978820e-04 2.80761607e+00] [ 1.22529736e-02 -1.66989200e-04 9.99924916e-01 2.13158209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.669254154 meters 0.0171048025784613 Centerline is valid? [True, True] Translation: X:312.61, Y:2.80, Z:2.13 [[ 9.99549212e-01 -2.72944256e-02 -1.25055062e-02 3.12614860e+02] [ 2.72947738e-02 9.99627418e-01 -1.42859825e-04 2.80305491e+00] [ 1.25047461e-02 -1.98539537e-04 9.99921793e-01 2.13084522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.69925415399996 meters 0.016638510756505517 Centerline is valid? [True, True] Translation: X:312.65, Y:2.80, Z:2.13 [[ 9.99517162e-01 -2.83218929e-02 -1.27793872e-02 3.12645186e+02] [ 2.83223405e-02 9.99598831e-01 -1.45988574e-04 2.80368203e+00] [ 1.27783952e-02 -2.16024071e-04 9.99918330e-01 2.13144051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.729254154 meters 0.017139210085774233 Centerline is valid? [True, True] Translation: X:312.68, Y:2.80, Z:2.13 [[ 9.99489642e-01 -2.93638332e-02 -1.25785511e-02 3.12675255e+02] [ 2.93643505e-02 9.99568764e-01 -1.43595070e-04 2.80138149e+00] [ 1.25773433e-02 -2.25839199e-04 9.99920877e-01 2.13153566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.75925415399996 meters 0.016281079893733893 Centerline is valid? [True, True] Translation: X:312.71, Y:2.80, Z:2.13 [[ 9.99455621e-01 -3.02498772e-02 -1.31684072e-02 3.12706084e+02] [ 3.02505243e-02 9.99542337e-01 -1.50085921e-04 2.80113815e+00] [ 1.31669206e-02 -2.48347006e-04 9.99913282e-01 2.13230981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78925415399993 meters 0.016424025592974227 Centerline is valid? [True, True] Translation: X:312.74, Y:2.80, Z:2.13 [[ 9.99464317e-01 -2.98634199e-02 -1.33886549e-02 3.12736807e+02] [ 2.98640575e-02 9.99553958e-01 -1.52347196e-04 2.80022953e+00] [ 1.33872326e-02 -2.47573974e-04 9.99910356e-01 2.13200127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81925415399996 meters 0.016514326295143007 Centerline is valid? [True, True] Translation: X:312.77, Y:2.80, Z:2.13 [[ 9.99522946e-01 -2.73560212e-02 -1.43362768e-02 3.12767420e+02] [ 2.73564983e-02 9.99625728e-01 -1.62859733e-04 2.79915826e+00] [ 1.43353663e-02 -2.29408292e-04 9.99897217e-01 2.13111801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84925415399994 meters 0.015965069569974955 Centerline is valid? [True, True] Translation: X:312.80, Y:2.80, Z:2.13 [[ 9.99567526e-01 -2.56607458e-02 -1.43626631e-02 3.12796981e+02] [ 2.56610476e-02 9.99670688e-01 -1.63301388e-04 2.80060121e+00] [ 1.43621237e-02 -2.05330216e-04 9.99896838e-01 2.13145495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87925415399997 meters 0.015606876619933933 Centerline is valid? [True, True] Translation: X:312.83, Y:2.80, Z:2.13 [[ 9.99611849e-01 -2.35763595e-02 -1.48427555e-02 3.12826943e+02] [ 2.35764441e-02 9.99722023e-01 -1.69303348e-04 2.80163240e+00] [ 1.48426211e-02 -1.80701762e-04 9.99889826e-01 2.13134408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90925415399994 meters 0.015256308758897384 Centerline is valid? [True, True] Translation: X:312.86, Y:2.80, Z:2.13 [[ 9.99661546e-01 -2.15427240e-02 -1.45843739e-02 3.12855781e+02] [ 2.15425574e-02 9.99767918e-01 -1.68543704e-04 2.80275979e+00] [ 1.45846200e-02 -1.45698052e-04 9.99893628e-01 2.13156383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93925415399997 meters 0.015061140629619543 Centerline is valid? [True, True] Translation: X:312.88, Y:2.80, Z:2.13 [[ 9.99741003e-01 -1.75082880e-02 -1.45391737e-02 3.12883323e+02] [ 1.75076604e-02 9.99846715e-01 -1.70456125e-04 2.80433942e+00] [ 1.45399294e-02 -8.41349367e-05 9.99894286e-01 2.13227089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96925415399994 meters 0.014727717763769708 Centerline is valid? [True, True] Translation: X:312.91, Y:2.81, Z:2.13 [[ 9.99772348e-01 -1.59575844e-02 -1.41636165e-02 3.12911645e+02] [ 1.59567991e-02 9.99872668e-01 -1.68463359e-04 2.80504770e+00] [ 1.41645013e-02 -5.75809757e-05 9.99899677e-01 2.13273547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99925415399997 meters 0.014542448133410392 Centerline is valid? [True, True] Translation: X:312.94, Y:2.81, Z:2.13 [[ 9.99789434e-01 -1.49863200e-02 -1.40177549e-02 3.12939421e+02] [ 1.49854027e-02 9.99887698e-01 -1.70476622e-04 2.80534344e+00] [ 1.40187355e-02 -3.96209769e-05 9.99901732e-01 2.13342334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.02925415399994 meters 0.016549353040879643 Centerline is valid? [True, True] Translation: X:312.97, Y:2.80, Z:2.13 [[ 9.99805690e-01 -1.39793992e-02 -1.38981665e-02 3.12967788e+02] [ 1.39783445e-02 9.99902283e-01 -1.73028543e-04 2.80406285e+00] [ 1.38992273e-02 -2.12784381e-05 9.99903401e-01 2.13258090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.059254154 meters 0.014599566647626606 Centerline is valid? [True, True] Translation: X:312.99, Y:2.80, Z:2.13 [[ 9.99802637e-01 -1.47246286e-02 -1.33368567e-02 3.12994282e+02] [ 1.47236871e-02 9.99891586e-01 -1.68787590e-04 2.80298160e+00] [ 1.33378961e-02 -2.76134262e-05 9.99911046e-01 2.13382342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.08925415399995 meters 0.016575101921129088 Centerline is valid? [True, True] Translation: X:313.02, Y:2.80, Z:2.13 [[ 9.99756779e-01 -1.72596962e-02 -1.37290311e-02 3.13022930e+02] [ 1.72589017e-02 9.99851039e-01 -1.76352131e-04 2.79939576e+00] [ 1.37300298e-02 -6.06387609e-05 9.99905737e-01 2.13268424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.119254154 meters 0.01598235665698435 Centerline is valid? [True, True] Translation: X:313.05, Y:2.80, Z:2.13 [[ 9.99709952e-01 -1.98635731e-02 -1.36180319e-02 3.13051959e+02] [ 1.98629867e-02 9.99802696e-01 -1.78325666e-04 2.79746800e+00] [ 1.36188872e-02 -9.22208436e-05 9.99907254e-01 2.13344342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.14925415399995 meters 0.017043046490084857 Centerline is valid? [True, True] Translation: X:313.08, Y:2.79, Z:2.13 [[ 9.99648469e-01 -2.24900400e-02 -1.40405189e-02 3.13080590e+02] [ 2.24896254e-02 9.99747059e-01 -1.87439083e-04 2.79496974e+00] [ 1.40411830e-02 -1.28392818e-04 9.99901409e-01 2.13308775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.179254154 meters 0.017842013618372482 Centerline is valid? [True, True] Translation: X:313.11, Y:2.79, Z:2.13 [[ 9.99474135e-01 -2.90043247e-02 -1.44983617e-02 3.13109420e+02] [ 2.90045339e-02 9.99579261e-01 -1.95889289e-04 2.78846829e+00] [ 1.44979433e-02 -2.24731947e-04 9.99894874e-01 2.13263124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.20925415399995 meters 0.019353487941478578 Centerline is valid? [True, True] Translation: X:313.14, Y:2.78, Z:2.13 [[ 9.99353974e-01 -3.25564620e-02 -1.52220454e-02 3.13138103e+02] [ 3.25570875e-02 9.99469856e-01 -2.06782016e-04 2.78395178e+00] [ 1.52207076e-02 -2.88937035e-04 9.99884117e-01 2.13181427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.239254154 meters 0.017596907831999038 Centerline is valid? [True, True] Translation: X:313.17, Y:2.78, Z:2.13 [[ 9.99228733e-01 -3.64360932e-02 -1.46407291e-02 3.13168216e+02] [ 3.64370789e-02 9.99335929e-01 -1.99501764e-04 2.78134752e+00] [ 1.46382757e-02 -3.34117509e-04 9.99892799e-01 2.13371395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.26925415399995 meters 0.019288553891694264 Centerline is valid? [True, True] Translation: X:313.20, Y:2.78, Z:2.13 [[ 9.99109528e-01 -3.96842427e-02 -1.43287365e-02 3.13198084e+02] [ 3.96855189e-02 9.99212200e-01 -1.95371828e-04 2.77657715e+00] [ 1.43252015e-02 -3.73445488e-04 9.99897319e-01 2.13325762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.299254154 meters 0.021519642115829907 Centerline is valid? [True, True] Translation: X:313.23, Y:2.77, Z:2.13 [[ 9.98872197e-01 -4.51749821e-02 -1.46135043e-02 3.13227906e+02] [ 4.51768946e-02 9.98978983e-01 -1.99387002e-04 2.77040811e+00] [ 1.46075910e-02 -4.61030611e-04 9.99893197e-01 2.13300606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.32925415399995 meters 0.021344020554586552 Centerline is valid? [True, True] Translation: X:313.26, Y:2.77, Z:2.13 [[ 9.98785759e-01 -4.70424440e-02 -1.46292969e-02 3.13258875e+02] [ 4.70445609e-02 9.98892772e-01 -1.99585820e-04 2.77030497e+00] [ 1.46224879e-02 -4.88885374e-04 9.99892966e-01 2.13348350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.359254154 meters 0.022351858935018582 Centerline is valid? [True, True] Translation: X:313.29, Y:2.77, Z:2.13 [[ 9.98729111e-01 -4.81708211e-02 -1.48234609e-02 3.13289123e+02] [ 4.81731206e-02 9.98838981e-01 -2.02110659e-04 2.77038921e+00] [ 1.48159864e-02 -5.12238570e-04 9.99890106e-01 2.13322722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.38925415399996 meters 0.022362397647023118 Centerline is valid? [True, True] Translation: X:313.32, Y:2.77, Z:2.13 [[ 9.98690403e-01 -4.92186094e-02 -1.39644997e-02 3.13320687e+02] [ 4.92207559e-02 9.98787906e-01 -1.90143867e-04 2.77012514e+00] [ 1.39569320e-02 -4.97448374e-04 9.99902474e-01 2.13459240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.419254154 meters 0.02204639721886716 Centerline is valid? [True, True] Translation: X:313.35, Y:2.77, Z:2.14 [[ 9.98704728e-01 -4.92285949e-02 -1.28612260e-02 3.13351983e+02] [ 4.92304284e-02 9.98787432e-01 -1.74182620e-04 2.76908004e+00] [ 1.28542056e-02 -4.59206660e-04 9.99917276e-01 2.13569147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.44925415399996 meters 0.022604520948794747 Centerline is valid? [True, True] Translation: X:313.38, Y:2.77, Z:2.14 [[ 9.98739075e-01 -4.87017357e-02 -1.21819804e-02 3.13382849e+02] [ 4.87033533e-02 9.98813274e-01 -1.64016294e-04 2.76855966e+00] [ 1.21755116e-02 -4.29493814e-04 9.99925783e-01 2.13596931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.479254154 meters 0.0221402496972556 Centerline is valid? [True, True] Translation: X:313.41, Y:2.77, Z:2.14 [[ 9.98838560e-01 -4.65317259e-02 -1.25031765e-02 3.13413417e+02] [ 4.65332644e-02 9.98916727e-01 -1.67994296e-04 2.76975388e+00] [ 1.24974492e-02 -4.14014437e-04 9.99921818e-01 2.13596712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.50925415399996 meters 0.021839328831352412 Centerline is valid? [True, True] Translation: X:313.44, Y:2.77, Z:2.14 [[ 9.98892657e-01 -4.53537312e-02 -1.25099164e-02 3.13444795e+02] [ 4.53551830e-02 9.98970910e-01 -1.67773229e-04 2.77124904e+00] [ 1.25046517e-02 -3.99802100e-04 9.99921734e-01 2.13585855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53925415399993 meters 0.021465121149471102 Centerline is valid? [True, True] Translation: X:313.48, Y:2.77, Z:2.14 [[ 9.98945668e-01 -4.41337233e-02 -1.26398674e-02 3.13476653e+02] [ 4.41351146e-02 9.99025557e-01 -1.68983065e-04 2.77281443e+00] [ 1.26350084e-02 -3.89057093e-04 9.99920099e-01 2.13608788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.56925415399996 meters 0.021122939144586315 Centerline is valid? [True, True] Translation: X:313.51, Y:2.77, Z:2.14 [[ 9.98989058e-01 -4.30572027e-02 -1.29204947e-02 3.13507936e+02] [ 4.30585739e-02 9.99072535e-01 -1.72167632e-04 2.77428500e+00] [ 1.29159244e-02 -3.84344493e-04 9.99916512e-01 2.13632398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59925415399994 meters 0.02110148539687778 Centerline is valid? [True, True] Translation: X:313.54, Y:2.78, Z:2.14 [[ 9.99091605e-01 -4.05642859e-02 -1.30577169e-02 3.13539351e+02] [ 4.05654795e-02 9.99176867e-01 -1.73544794e-04 2.77758577e+00] [ 1.30540084e-02 -3.56305402e-04 9.99914729e-01 2.13565710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.62925415399997 meters 0.01852780803514396 Centerline is valid? [True, True] Translation: X:313.57, Y:2.78, Z:2.14 [[ 9.99099283e-01 -4.04754200e-02 -1.27421986e-02 3.13570895e+02] [ 4.04765550e-02 9.99180474e-01 -1.68908300e-04 2.78040097e+00] [ 1.27385927e-02 -3.47004140e-04 9.99918801e-01 2.13747698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65925415399994 meters 0.017999439227743753 Centerline is valid? [True, True] Translation: X:313.60, Y:2.78, Z:2.14 [[ 9.99077493e-01 -4.07497579e-02 -1.35506564e-02 3.13602471e+02] [ 4.07510736e-02 9.99169314e-01 -1.79117638e-04 2.78260415e+00] [ 1.35466991e-02 -3.73251396e-04 9.99908170e-01 2.13709984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68925415399997 meters 0.020054224438487117 Centerline is valid? [True, True] Translation: X:313.63, Y:2.78, Z:2.14 [[ 9.99068466e-01 -4.04252668e-02 -1.50996045e-02 3.13633520e+02] [ 4.04268724e-02 9.99182480e-01 -1.99007814e-04 2.78348147e+00] [ 1.50953052e-02 -4.11607351e-04 9.99885975e-01 2.13509983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71925415399994 meters 0.021769109055933992 Centerline is valid? [True, True] Translation: X:313.66, Y:2.78, Z:2.13 [[ 9.99039675e-01 -4.12000084e-02 -1.49093103e-02 3.13663480e+02] [ 4.12016746e-02 9.99150831e-01 -1.95518617e-04 2.77817759e+00] [ 1.49047051e-02 -4.18957695e-04 9.99888831e-01 2.13465109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74925415399997 meters 0.018415225777129805 Centerline is valid? [True, True] Translation: X:313.69, Y:2.79, Z:2.14 [[ 9.99016765e-01 -4.15004373e-02 -1.55953922e-02 3.13694860e+02] [ 4.15023122e-02 9.99138387e-01 -2.03536611e-04 2.78530251e+00] [ 1.55904018e-02 -4.43908348e-04 9.99878364e-01 2.13570862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77925415399994 meters 0.018403273187082493 Centerline is valid? [True, True] Translation: X:313.73, Y:2.79, Z:2.14 [[ 9.98956834e-01 -4.23873478e-02 -1.69869771e-02 3.13725395e+02] [ 4.23897052e-02 9.99101128e-01 -2.21422320e-04 2.78746077e+00] [ 1.69810935e-02 -4.98881612e-04 9.99855686e-01 2.13534582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.809254154 meters 0.020272060590188656 Centerline is valid? [True, True] Translation: X:313.75, Y:2.79, Z:2.13 [[ 9.98943775e-01 -4.25020717e-02 -1.74616332e-02 3.13754883e+02] [ 4.25045769e-02 9.99096246e-01 -2.27802671e-04 2.78708128e+00] [ 1.74555343e-02 -5.14637271e-04 9.99847508e-01 2.13433342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.83925415399995 meters 0.01985884175283159 Centerline is valid? [True, True] Translation: X:313.78, Y:2.79, Z:2.14 [[ 9.98933288e-01 -4.34034200e-02 -1.57616544e-02 3.13784755e+02] [ 4.34055688e-02 9.99057513e-01 -2.05897577e-04 2.78811556e+00] [ 1.57557359e-02 -4.78465631e-04 9.99875756e-01 2.13677355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.869254154 meters 0.02113691145206136 Centerline is valid? [True, True] Translation: X:313.81, Y:2.79, Z:2.14 [[ 9.98942450e-01 -4.34101038e-02 -1.51507046e-02 3.13814591e+02] [ 4.34120860e-02 9.99057231e-01 -1.98180656e-04 2.78720699e+00] [ 1.51450240e-02 -4.59752620e-04 9.99885202e-01 2.13729441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.89925415399995 meters 0.018958166813289247 Centerline is valid? [True, True] Translation: X:313.85, Y:2.79, Z:2.14 [[ 9.98957170e-01 -4.33339673e-02 -1.43784248e-02 3.13846320e+02] [ 4.33357469e-02 9.99060548e-01 -1.87922942e-04 2.79202471e+00] [ 1.43730604e-02 -4.35372806e-04 9.99896607e-01 2.13934511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.929254154 meters 0.0194971572331244 Centerline is valid? [True, True] Translation: X:313.88, Y:2.79, Z:2.14 [[ 9.98965345e-01 -4.32770237e-02 -1.39763578e-02 3.13876294e+02] [ 4.32787048e-02 9.99063021e-01 -1.82294796e-04 2.79251605e+00] [ 1.39711514e-02 -4.22772478e-04 9.99902309e-01 2.13982822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.95925415399995 meters 0.02074086335389512 Centerline is valid? [True, True] Translation: X:313.91, Y:2.79, Z:2.14 [[ 9.98996118e-01 -4.28344469e-02 -1.31136029e-02 3.13906419e+02] [ 4.28358917e-02 9.99082107e-01 -1.70813650e-04 2.79238886e+00] [ 1.31088827e-02 -3.91090698e-04 9.99913998e-01 2.14015875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.989254154 meters 0.01940697488628079 Centerline is valid? [True, True] Translation: X:313.94, Y:2.80, Z:2.14 [[ 9.99012327e-01 -4.24394208e-02 -1.31630410e-02 3.13937615e+02] [ 4.24408469e-02 9.99098967e-01 -1.71102981e-04 2.79752263e+00] [ 1.31584421e-02 -3.87716620e-04 9.99913349e-01 2.14009692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.01925415399995 meters 0.019477126593544055 Centerline is valid? [True, True] Translation: X:313.97, Y:2.80, Z:2.14 [[ 9.99017566e-01 -4.21478295e-02 -1.36917045e-02 3.13969004e+02] [ 4.21493539e-02 9.99111305e-01 -1.77335362e-04 2.79686701e+00] [ 1.36870110e-02 -3.99935355e-04 9.99906248e-01 2.14023661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.049254154 meters 0.018678591413620438 Centerline is valid? [True, True] Translation: X:314.00, Y:2.80, Z:2.14 [[ 9.99028814e-01 -4.17196868e-02 -1.41738295e-02 3.14000611e+02] [ 4.17212867e-02 9.99129271e-01 -1.82920119e-04 2.79921405e+00] [ 1.41691194e-02 -4.08607937e-04 9.99899530e-01 2.14038618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.07925415399995 meters 0.01884169402140672 Centerline is valid? [True, True] Translation: X:314.03, Y:2.80, Z:2.14 [[ 9.99116616e-01 -3.95058484e-02 -1.43274207e-02 3.14031773e+02] [ 3.95072634e-02 9.99219266e-01 -1.84370523e-04 2.80244406e+00] [ 1.43235185e-02 -3.81829532e-04 9.99897340e-01 2.13973191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.109254154 meters 0.0172544515491646 Centerline is valid? [True, True] Translation: X:314.06, Y:2.80, Z:2.14 [[ 9.99245684e-01 -3.63616102e-02 -1.36343448e-02 3.14061829e+02] [ 3.63626041e-02 9.99338646e-01 -1.75080834e-04 2.80487142e+00] [ 1.36316939e-02 -3.20831513e-04 9.99907033e-01 2.14141499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.13925415399996 meters 0.017581416466788177 Centerline is valid? [True, True] Translation: X:314.09, Y:2.81, Z:2.14 [[ 9.99348946e-01 -3.34524979e-02 -1.35134778e-02 3.14092828e+02] [ 3.34532117e-02 9.99440270e-01 -1.73280951e-04 2.80727302e+00] [ 1.35117106e-02 -2.78901097e-04 9.99908674e-01 2.14111845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.169254154 meters 0.017581416466788177 Centerline is valid? [True, True] Translation: X:314.12, Y:2.81, Z:2.14 [[ 9.99350168e-01 -3.34159745e-02 -1.35134825e-02 3.14123676e+02] [ 3.34166899e-02 9.99441491e-01 -1.72913546e-04 2.80763874e+00] [ 1.35117132e-02 -2.78774673e-04 9.99908674e-01 2.14133220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.19925415399996 meters 0.01579345416983911 Centerline is valid? [True, True] Translation: X:314.15, Y:2.81, Z:2.14 [[ 9.99436558e-01 -3.08220562e-02 -1.32878554e-02 3.14154146e+02] [ 3.08225221e-02 9.99524859e-01 -1.69777479e-04 2.81029136e+00] [ 1.32867747e-02 -2.39883398e-04 9.99911698e-01 2.14256753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.229254154 meters 0.014876001998204958 Centerline is valid? [True, True] Translation: X:314.18, Y:2.81, Z:2.14 [[ 9.99617884e-01 -2.42655066e-02 -1.32390180e-02 3.14183854e+02] [ 2.42653962e-02 9.99705538e-01 -1.69000653e-04 2.81418059e+00] [ 1.32392205e-02 -1.52313942e-04 9.99912346e-01 2.14221029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.25925415399996 meters 0.014557365393526076 Centerline is valid? [True, True] Translation: X:314.21, Y:2.82, Z:2.14 [[ 9.99691944e-01 -2.08543782e-02 -1.34577800e-02 3.14213102e+02] [ 2.08539540e-02 9.99782518e-01 -1.71864498e-04 2.81688453e+00] [ 1.34584373e-02 -1.08836371e-04 9.99909425e-01 2.14247644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28925415399993 meters 0.014167777680009474 Centerline is valid? [True, True] Translation: X:314.24, Y:2.82, Z:2.14 [[ 9.99806194e-01 -1.46449711e-02 -1.31567539e-02 3.14241334e+02] [ 1.46440202e-02 9.99892756e-01 -1.68614002e-04 2.82034427e+00] [ 1.31578123e-02 -2.40864465e-05 9.99913432e-01 2.14235855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31925415399996 meters 0.016728905307403584 Centerline is valid? [True, True] Translation: X:314.27, Y:2.82, Z:2.14 [[ 9.99828919e-01 -1.21301195e-02 -1.39639612e-02 3.14268857e+02] [ 1.21287692e-02 9.99926427e-01 -1.81385425e-04 2.82182195e+00] [ 1.39651340e-02 1.19887319e-05 9.99902483e-01 2.14113622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34925415399994 meters 0.014103674462350429 Centerline is valid? [True, True] Translation: X:314.30, Y:2.82, Z:2.14 [[ 9.99855457e-01 -1.14409732e-02 -1.25765061e-02 3.14297099e+02] [ 1.14397802e-02 9.99934550e-01 -1.66799833e-04 2.82277872e+00] [ 1.25775913e-02 2.29032572e-05 9.99920899e-01 2.14332325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37925415399997 meters 0.014009290934783165 Centerline is valid? [True, True] Translation: X:314.32, Y:2.82, Z:2.14 [[ 9.99856578e-01 -1.12723916e-02 -1.26394700e-02 3.14324549e+02] [ 1.12711384e-02 9.99936464e-01 -1.70380676e-04 2.82321852e+00] [ 1.26405876e-02 2.78950234e-05 9.99920104e-01 2.14368494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40925415399994 meters 0.014009290934783165 Centerline is valid? [True, True] Translation: X:314.35, Y:2.82, Z:2.14 [[ 9.99853289e-01 -1.15604627e-02 -1.26394357e-02 3.14351961e+02] [ 1.15592007e-02 9.99933175e-01 -1.72898354e-04 2.82366162e+00] [ 1.26405898e-02 2.67712144e-05 9.99920104e-01 2.14387513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43925415399997 meters 0.015262972071474517 Centerline is valid? [True, True] Translation: X:314.38, Y:2.82, Z:2.14 [[ 9.99826848e-01 -1.35107126e-02 -1.27959151e-02 3.14378634e+02] [ 1.35095436e-02 9.99908726e-01 -1.77792644e-04 2.82145198e+00] [ 1.27971493e-02 4.89488521e-06 9.99918113e-01 2.14302588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46925415399994 meters 0.014206020382569727 Centerline is valid? [True, True] Translation: X:314.41, Y:2.82, Z:2.14 [[ 9.99732684e-01 -1.96454147e-02 -1.21909106e-02 3.14406382e+02] [ 1.96447940e-02 9.99807008e-01 -1.70675410e-04 2.81583994e+00] [ 1.21919108e-02 -6.88581415e-05 9.99925674e-01 2.14382846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49925415399997 meters 0.014493363587037598 Centerline is valid? [True, True] Translation: X:314.44, Y:2.81, Z:2.14 [[ 9.99641965e-01 -2.38900766e-02 -1.20501495e-02 3.14435305e+02] [ 2.38897559e-02 9.99714585e-01 -1.70573613e-04 2.81209180e+00] [ 1.20507852e-02 -1.17362588e-04 9.99927380e-01 2.14382074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.52925415399994 meters 0.015023241923532703 Centerline is valid? [True, True] Translation: X:314.47, Y:2.81, Z:2.14 [[ 9.99526877e-01 -2.83016412e-02 -1.20432359e-02 3.14465165e+02] [ 2.83016183e-02 9.99599414e-01 -1.72368541e-04 2.80875035e+00] [ 1.20432899e-02 -1.68556077e-04 9.99927463e-01 2.14404557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.559254154 meters 0.017797277488299814 Centerline is valid? [True, True] Translation: X:314.49, Y:2.80, Z:2.14 [[ 9.99232547e-01 -3.72864216e-02 -1.20016797e-02 3.14494693e+02] [ 3.72870430e-02 9.99304582e-01 -1.72059506e-04 2.79960829e+00] [ 1.19997490e-02 -2.75579688e-04 9.99927962e-01 2.14377896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.58925415399995 meters 0.019803991927109493 Centerline is valid? [True, True] Translation: X:314.53, Y:2.79, Z:2.14 [[ 9.98933714e-01 -4.46805696e-02 -1.16225008e-02 3.14525453e+02] [ 4.46816527e-02 9.99001262e-01 -1.66590217e-04 2.79321633e+00] [ 1.16183363e-02 -3.52899958e-04 9.99932443e-01 2.14396047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.619254154 meters 0.020278215677029112 Centerline is valid? [True, True] Translation: X:314.56, Y:2.79, Z:2.14 [[ 9.98806698e-01 -4.74796756e-02 -1.14394580e-02 3.14556766e+02] [ 4.74809115e-02 9.98872132e-01 -1.63681277e-04 2.79233234e+00] [ 1.14343273e-02 -3.79669936e-04 9.99934554e-01 2.14378853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.64925415399995 meters 0.020278215677029112 Centerline is valid? [True, True] Translation: X:314.59, Y:2.79, Z:2.14 [[ 9.98810179e-01 -4.74063874e-02 -1.14394663e-02 3.14588467e+02] [ 4.74076252e-02 9.98875613e-01 -1.63097133e-04 2.79272530e+00] [ 1.14343358e-02 -3.79414855e-04 9.99934554e-01 2.14400817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.679254154 meters 0.021616784566652975 Centerline is valid? [True, True] Translation: X:314.62, Y:2.79, Z:2.14 [[ 9.98699155e-01 -4.98155909e-02 -1.08813582e-02 3.14619561e+02] [ 4.98168612e-02 9.98758357e-01 -1.54440135e-04 2.78859327e+00] [ 1.08755410e-02 -3.87835880e-04 9.99940784e-01 2.14453522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.70925415399995 meters 0.021382596579408317 Centerline is valid? [True, True] Translation: X:314.65, Y:2.79, Z:2.14 [[ 9.98514441e-01 -5.34989046e-02 -1.03333868e-02 3.14650922e+02] [ 5.35002522e-02 9.98567825e-01 -1.46177233e-04 2.78813927e+00] [ 1.03264079e-02 -4.06878719e-04 9.99946598e-01 2.14485433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.739254154 meters 0.022172962827230008 Centerline is valid? [True, True] Translation: X:314.68, Y:2.79, Z:2.14 [[ 9.98458694e-01 -5.45771641e-02 -1.00781637e-02 3.14681860e+02] [ 5.45785067e-02 9.98509472e-01 -1.41962324e-04 2.78659449e+00] [ 1.00708899e-02 -4.08307611e-04 9.99949204e-01 2.14495503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.76925415399995 meters 0.027721972395735872 Centerline is valid? [True, True] Translation: X:314.71, Y:2.78, Z:2.14 [[ 9.98397172e-01 -5.56700043e-02 -1.01949852e-02 3.14713137e+02] [ 5.56714451e-02 9.98449132e-01 -1.42639148e-04 2.77858948e+00] [ 1.01871149e-02 -4.25159038e-04 9.99948020e-01 2.14449621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.799254154 meters 0.022207868159799214 Centerline is valid? [True, True] Translation: X:314.74, Y:2.79, Z:2.15 [[ 9.98282379e-01 -5.77417937e-02 -9.90839111e-03 3.14744724e+02] [ 5.77432617e-02 9.98331456e-01 -1.38092888e-04 2.78708697e+00] [ 9.89983226e-03 -4.34287125e-04 9.99950901e-01 2.14564956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.82925415399995 meters 0.025942901985894398 Centerline is valid? [True, True] Translation: X:314.78, Y:2.78, Z:2.14 [[ 9.98247787e-01 -5.82546668e-02 -1.03802940e-02 3.14776303e+02] [ 5.82563120e-02 9.98301648e-01 -1.44066123e-04 2.78326563e+00] [ 1.03710572e-02 -4.60903959e-04 9.99946113e-01 2.14401200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.859254154 meters 0.023436277958428103 Centerline is valid? [True, True] Translation: X:314.81, Y:2.79, Z:2.15 [[ 9.98178437e-01 -5.96362539e-02 -9.12829804e-03 3.14808323e+02] [ 5.96375884e-02 9.98220087e-01 -1.26184924e-04 2.78526126e+00] [ 9.11957566e-03 -4.18434611e-04 9.99958328e-01 2.14603600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.88925415399996 meters 0.025205401928326175 Centerline is valid? [True, True] Translation: X:314.84, Y:2.78, Z:2.15 [[ 9.98097421e-01 -6.10141590e-02 -8.87753772e-03 3.14839048e+02] [ 6.10154822e-02 9.98136812e-01 -1.21966222e-04 2.78314364e+00] [ 8.86843887e-03 -4.19933074e-04 9.99960586e-01 2.14610800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.919254154 meters 0.025803472196935663 Centerline is valid? [True, True] Translation: X:314.87, Y:2.78, Z:2.15 [[ 9.98067892e-01 -6.13634662e-02 -9.74716604e-03 3.14870920e+02] [ 6.13650895e-02 9.98115378e-01 -1.32729396e-04 2.78343415e+00] [ 9.73694105e-03 -4.65662767e-04 9.99952486e-01 2.14578849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.94925415399996 meters 0.024301348041813775 Centerline is valid? [True, True] Translation: X:314.90, Y:2.79, Z:2.15 [[ 9.98054973e-01 -6.13693896e-02 -1.09576202e-02 3.14903490e+02] [ 6.13714509e-02 9.98114985e-01 -1.48350729e-04 2.78733606e+00] [ 1.09460691e-02 -5.24422868e-04 9.99939952e-01 2.14501918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.979254154 meters 0.023987261201623995 Centerline is valid? [True, True] Translation: X:314.94, Y:2.79, Z:2.14 [[ 9.98086366e-01 -6.08116476e-02 -1.12048571e-02 3.14935652e+02] [ 6.08137774e-02 9.98149118e-01 -1.50854004e-04 2.78907918e+00] [ 1.11932920e-02 -5.30844363e-04 9.99937212e-01 2.14473259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.00925415399996 meters 0.028547180294897303 Centerline is valid? [True, True] Translation: X:314.97, Y:2.78, Z:2.14 [[ 9.98126843e-01 -5.99785160e-02 -1.20575105e-02 3.14966670e+02] [ 5.99809360e-02 9.98199510e-01 -1.61143069e-04 2.78379990e+00] [ 1.20454662e-02 -5.62379543e-04 9.99927293e-01 2.14359420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03925415399993 meters 0.024139575437725415 Centerline is valid? [True, True] Translation: X:315.00, Y:2.79, Z:2.14 [[ 9.98181309e-01 -5.88814503e-02 -1.29247576e-02 3.14998922e+02] [ 5.88841568e-02 9.98264808e-01 -1.71373530e-04 2.79165072e+00] [ 1.29124214e-02 -5.90001600e-04 9.99916457e-01 2.14385753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.06925415399996 meters 0.023729003172813425 Centerline is valid? [True, True] Translation: X:315.03, Y:2.79, Z:2.14 [[ 9.98251719e-01 -5.76391387e-02 -1.30857217e-02 3.15031179e+02] [ 5.76418192e-02 9.98337313e-01 -1.72540727e-04 2.79375919e+00] [ 1.30739094e-02 -5.82045727e-04 9.99914363e-01 2.14359140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09925415399994 meters 0.022144158179572042 Centerline is valid? [True, True] Translation: X:315.06, Y:2.80, Z:2.14 [[ 9.98421228e-01 -5.44994461e-02 -1.35964092e-02 3.15063033e+02] [ 5.45020615e-02 9.98513642e-01 -1.78373262e-04 2.80012866e+00] [ 1.35859214e-02 -5.62940682e-04 9.99907549e-01 2.14340549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.12925415399997 meters 0.021246391249937192 Centerline is valid? [True, True] Translation: X:315.09, Y:2.80, Z:2.14 [[ 9.98525362e-01 -5.25178304e-02 -1.37469910e-02 3.15094243e+02] [ 5.25203254e-02 9.98619839e-01 -1.79703054e-04 2.80382812e+00] [ 1.37374556e-02 -5.42558383e-04 9.99905490e-01 2.14401434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15925415399994 meters 0.02039557875582052 Centerline is valid? [True, True] Translation: X:315.13, Y:2.81, Z:2.14 [[ 9.98628305e-01 -5.05120876e-02 -1.37854295e-02 3.15125236e+02] [ 5.05144129e-02 9.98723316e-01 -1.79690670e-04 2.80739410e+00] [ 1.37769064e-02 -5.16918690e-04 9.99904960e-01 2.14456905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18925415399997 meters 0.020115078711862952 Centerline is valid? [True, True] Translation: X:315.16, Y:2.81, Z:2.15 [[ 9.98825089e-01 -4.66802289e-02 -1.30153193e-02 3.15155431e+02] [ 4.66819878e-02 9.98909787e-01 -1.68791343e-04 2.81173144e+00] [ 1.30090091e-02 -4.38987949e-04 9.99915283e-01 2.14532799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21925415399994 meters 0.01918884441768852 Centerline is valid? [True, True] Translation: X:315.19, Y:2.82, Z:2.15 [[ 9.98918950e-01 -4.47761346e-02 -1.24911582e-02 3.15186938e+02] [ 4.47776170e-02 9.98996966e-01 -1.61114322e-04 2.81568720e+00] [ 1.24858432e-02 -3.98384146e-04 9.99921969e-01 2.14605206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24925415399997 meters 0.01847426931863204 Centerline is valid? [True, True] Translation: X:315.22, Y:2.82, Z:2.15 [[ 9.98993442e-01 -4.31895700e-02 -1.21145984e-02 3.15218574e+02] [ 4.31908532e-02 9.99066828e-01 -1.55816240e-04 2.81894696e+00] [ 1.21100231e-02 -3.67580439e-04 9.99926603e-01 2.14642039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27925415399994 meters 0.018016996736766207 Centerline is valid? [True, True] Translation: X:315.25, Y:2.82, Z:2.15 [[ 9.99112927e-01 -4.04221769e-02 -1.18070455e-02 3.15250449e+02] [ 4.04232087e-02 9.99182637e-01 -1.51349582e-04 2.82307489e+00] [ 1.18035128e-02 -3.26063341e-04 9.99930283e-01 2.14642368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.309254154 meters 0.017781048618925717 Centerline is valid? [True, True] Translation: X:315.28, Y:2.83, Z:2.15 [[ 9.99151790e-01 -3.93665634e-02 -1.20819981e-02 3.15283032e+02] [ 3.93675759e-02 9.99224785e-01 -1.54111304e-04 2.82600626e+00] [ 1.20786987e-02 -3.21658389e-04 9.99926998e-01 2.14691264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.33925415399995 meters 0.019005853806257134 Centerline is valid? [True, True] Translation: X:315.31, Y:2.83, Z:2.15 [[ 9.99199265e-01 -3.79504263e-02 -1.26725785e-02 3.15313813e+02] [ 3.79514359e-02 9.99279572e-01 -1.60889044e-04 2.82728447e+00] [ 1.26695546e-02 -3.20182336e-04 9.99919687e-01 2.14640926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.369254154 meters 0.018120780979219396 Centerline is valid? [True, True] Translation: X:315.34, Y:2.83, Z:2.15 [[ 9.99261685e-01 -3.65223662e-02 -1.19248685e-02 3.15344163e+02] [ 3.65231625e-02 9.99332795e-01 -1.51066223e-04 2.83061140e+00] [ 1.19224294e-02 -2.84579220e-04 9.99928885e-01 2.14707845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.39925415399995 meters 0.017352473231785917 Centerline is valid? [True, True] Translation: X:315.38, Y:2.83, Z:2.15 [[ 9.99273940e-01 -3.58527593e-02 -1.28908006e-02 3.15375159e+02] [ 3.58536386e-02 9.99357038e-01 -1.62951207e-04 2.83354746e+00] [ 1.28883545e-02 -2.99349210e-04 9.99916897e-01 2.14727230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.429254154 meters 0.017764479093088682 Centerline is valid? [True, True] Translation: X:315.41, Y:2.83, Z:2.15 [[ 9.99304167e-01 -3.50006838e-02 -1.28892888e-02 3.15405742e+02] [ 3.50014968e-02 9.99387247e-01 -1.62571514e-04 2.83349397e+00] [ 1.28870810e-02 -2.88686010e-04 9.99916916e-01 2.14701516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.45925415399995 meters 0.017169953273399714 Centerline is valid? [True, True] Translation: X:315.44, Y:2.84, Z:2.15 [[ 9.99327531e-01 -3.44073314e-02 -1.26736458e-02 3.15437193e+02] [ 3.44080739e-02 9.99407854e-01 -1.59520503e-04 2.83612796e+00] [ 1.26716299e-02 -2.76662513e-04 9.99919673e-01 2.14749636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.489254154 meters 0.016526124989933427 Centerline is valid? [True, True] Translation: X:315.47, Y:2.84, Z:2.15 [[ 9.99372688e-01 -3.31156547e-02 -1.25532069e-02 3.15468150e+02] [ 3.31162871e-02 9.99451493e-01 -1.57547472e-04 2.84003300e+00] [ 1.25515387e-02 -2.58266963e-04 9.99921193e-01 2.14816978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.51925415399995 meters 0.01684096883991049 Centerline is valid? [True, True] Translation: X:315.50, Y:2.84, Z:2.15 [[ 9.99397930e-01 -3.24555689e-02 -1.22643414e-02 3.15498853e+02] [ 3.24561270e-02 9.99473149e-01 -1.53572555e-04 2.84043719e+00] [ 1.22628642e-02 -2.44572931e-04 9.99924778e-01 2.14815514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.549254154 meters 0.016815172717201808 Centerline is valid? [True, True] Translation: X:315.53, Y:2.84, Z:2.15 [[ 9.99423251e-01 -3.15285512e-02 -1.26140950e-02 3.15529794e+02] [ 3.15290720e-02 9.99502823e-01 -1.57619274e-04 2.84228811e+00] [ 1.26127931e-02 -2.40182343e-04 9.99920427e-01 2.14827421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.57925415399995 meters 0.015846839911023213 Centerline is valid? [True, True] Translation: X:315.56, Y:2.85, Z:2.15 [[ 9.99472006e-01 -2.97113345e-02 -1.31508496e-02 3.15561194e+02] [ 2.97117498e-02 9.99558495e-01 -1.63840461e-04 2.84631126e+00] [ 1.31499114e-02 -2.26980799e-04 9.99913510e-01 2.14820588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.609254154 meters 0.015776212894819876 Centerline is valid? [True, True] Translation: X:315.59, Y:2.85, Z:2.15 [[ 9.99500876e-01 -2.85565361e-02 -1.35100747e-02 3.15591678e+02] [ 2.85568741e-02 9.99592155e-01 -1.67932670e-04 2.84700447e+00] [ 1.35093602e-02 -2.17956650e-04 9.99908721e-01 2.14791721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.63925415399996 meters 0.015457642911279774 Centerline is valid? [True, True] Translation: X:315.62, Y:2.85, Z:2.15 [[ 9.99548591e-01 -2.67720197e-02 -1.36335176e-02 3.15622431e+02] [ 2.67721997e-02 9.99641546e-01 -1.69339091e-04 2.84881813e+00] [ 1.36331642e-02 -1.95736607e-04 9.99907045e-01 2.14776147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.669254154 meters 0.015345117869831235 Centerline is valid? [True, True] Translation: X:315.65, Y:2.85, Z:2.15 [[ 9.99565975e-01 -2.60976823e-02 -1.36664435e-02 3.15653287e+02] [ 2.60978002e-02 9.99659380e-01 -1.69748057e-04 2.85023344e+00] [ 1.36662185e-02 -1.86989730e-04 9.99906595e-01 2.14823682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.69925415399996 meters 0.01540257548431324 Centerline is valid? [True, True] Translation: X:315.68, Y:2.85, Z:2.15 [[ 9.99574827e-01 -2.58130067e-02 -1.35592988e-02 3.15684126e+02] [ 2.58130965e-02 9.99666772e-01 -1.68417234e-04 2.85094308e+00] [ 1.35591278e-02 -1.81661860e-04 9.99908054e-01 2.14841234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.729254154 meters 0.015357576747649539 Centerline is valid? [True, True] Translation: X:315.71, Y:2.85, Z:2.15 [[ 9.99574313e-01 -2.60699415e-02 -1.30977826e-02 3.15714811e+02] [ 2.60700473e-02 9.99660105e-01 -1.62684838e-04 2.85144121e+00] [ 1.30975719e-02 -1.78844228e-04 9.99914207e-01 2.14917251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.75925415399996 meters 0.015726492182674353 Centerline is valid? [True, True] Translation: X:315.74, Y:2.85, Z:2.15 [[ 9.99535773e-01 -2.76436367e-02 -1.28088947e-02 3.15744925e+02] [ 2.76438671e-02 9.99617823e-01 -1.59096621e-04 2.85019950e+00] [ 1.28083975e-02 -1.95064619e-04 9.99917950e-01 2.14972778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78925415399993 meters 0.01591831918727475 Centerline is valid? [True, True] Translation: X:315.78, Y:2.85, Z:2.15 [[ 9.99497680e-01 -2.90251195e-02 -1.27251532e-02 3.15775700e+02] [ 2.90254589e-02 9.99578660e-01 -1.58056485e-04 2.84888949e+00] [ 1.27243792e-02 -2.11376321e-04 9.99919019e-01 2.14975864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81925415399996 meters 0.01667881187759664 Centerline is valid? [True, True] Translation: X:315.81, Y:2.85, Z:2.15 [[ 9.99437128e-01 -3.08233709e-02 -1.32418570e-02 3.15805687e+02] [ 3.08238976e-02 9.99524817e-01 -1.64358792e-04 2.84596681e+00] [ 1.32406308e-02 -2.43899364e-04 9.99912309e-01 2.14939810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84925415399994 meters 0.019721338327854422 Centerline is valid? [True, True] Translation: X:315.84, Y:2.84, Z:2.15 [[ 9.99287274e-01 -3.45051683e-02 -1.53080713e-02 3.15836363e+02] [ 3.45063064e-02 9.99404462e-01 -1.89858149e-04 2.84324744e+00] [ 1.53055059e-02 -3.38502167e-04 9.99882807e-01 2.14738905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87925415399997 meters 0.017683749261340434 Centerline is valid? [True, True] Translation: X:315.87, Y:2.84, Z:2.15 [[ 9.99184782e-01 -3.75478689e-02 -1.48300178e-02 3.15867178e+02] [ 3.75492718e-02 9.99294760e-01 -1.83929097e-04 2.84180430e+00] [ 1.48264652e-02 -3.73077215e-04 9.99890012e-01 2.14935956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90925415399994 meters 0.01944495957593607 Centerline is valid? [True, True] Translation: X:315.90, Y:2.84, Z:2.15 [[ 9.98978833e-01 -4.22704026e-02 -1.59531725e-02 3.15898614e+02] [ 4.22726330e-02 9.99106093e-01 -1.97527776e-04 2.83805755e+00] [ 1.59472615e-02 -4.77056540e-04 9.99872721e-01 2.14857309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93925415399997 meters 0.01944495957593607 Centerline is valid? [True, True] Translation: X:315.93, Y:2.84, Z:2.15 [[ 9.98980383e-01 -4.22337528e-02 -1.59531798e-02 3.15929470e+02] [ 4.22359879e-02 9.99107643e-01 -1.96942463e-04 2.83840943e+00] [ 1.59472615e-02 -4.77056650e-04 9.99872721e-01 2.14878687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96925415399994 meters 0.020938561124207385 Centerline is valid? [True, True] Translation: X:315.96, Y:2.83, Z:2.15 [[ 9.98772780e-01 -4.67435948e-02 -1.63697785e-02 3.15960130e+02] [ 4.67465602e-02 9.98906762e-01 -2.01652681e-04 2.83461801e+00] [ 1.63613084e-02 -5.63825625e-04 9.99865986e-01 2.14886916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99925415399997 meters 0.021685029737990486 Centerline is valid? [True, True] Translation: X:315.99, Y:2.83, Z:2.15 [[ 9.98676224e-01 -4.87178412e-02 -1.65036737e-02 3.15990476e+02] [ 4.87211340e-02 9.98812400e-01 -2.02728713e-04 2.83297896e+00] [ 1.64939504e-02 -6.01617350e-04 9.99863785e-01 2.14941024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.02925415399994 meters 0.022362614485613986 Centerline is valid? [True, True] Translation: X:316.02, Y:2.83, Z:2.15 [[ 9.98589878e-01 -5.03022638e-02 -1.69687464e-02 3.16021925e+02] [ 5.03059850e-02 9.98733831e-01 -2.07748347e-04 2.83232205e+00] [ 1.69577113e-02 -6.46174105e-04 9.99855999e-01 2.14971538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.059254154 meters 0.02310157180860805 Centerline is valid? [True, True] Translation: X:316.05, Y:2.83, Z:2.15 [[ 9.98510219e-01 -5.18050384e-02 -1.71342117e-02 3.16053649e+02] [ 5.18090640e-02 9.98656987e-01 -2.09156033e-04 2.83187478e+00] [ 1.71220356e-02 -6.78863035e-04 9.99853177e-01 2.15015327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.08925415399995 meters 0.024467644970104348 Centerline is valid? [True, True] Translation: X:316.08, Y:2.83, Z:2.15 [[ 9.98385466e-01 -5.42925420e-02 -1.66967269e-02 3.16084660e+02] [ 5.42967188e-02 9.98524824e-01 -2.03398742e-04 2.83115256e+00] [ 1.66831393e-02 -7.03507135e-04 9.99860579e-01 2.15108052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.119254154 meters 0.02566101392429695 Centerline is valid? [True, True] Translation: X:316.11, Y:2.83, Z:2.15 [[ 9.98368738e-01 -5.47688691e-02 -1.61317964e-02 3.16114804e+02] [ 5.47728345e-02 9.98498822e-01 -1.96233727e-04 2.82991370e+00] [ 1.61183272e-02 -6.87670597e-04 9.99869855e-01 2.15168382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.14925415399995 meters 0.026038201565119056 Centerline is valid? [True, True] Translation: X:316.15, Y:2.83, Z:2.15 [[ 9.98353981e-01 -5.53435192e-02 -1.50474004e-02 3.16146300e+02] [ 5.53470405e-02 9.98467161e-01 -1.82644899e-04 2.83058230e+00] [ 1.50344434e-02 -6.50484819e-04 9.99886765e-01 2.15327149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.179254154 meters 0.02689067190259037 Centerline is valid? [True, True] Translation: X:316.18, Y:2.83, Z:2.15 [[ 9.98367102e-01 -5.52090586e-02 -1.46658974e-02 3.16177122e+02] [ 5.52124049e-02 9.98474616e-01 -1.76928907e-04 2.82993758e+00] [ 1.46532943e-02 -6.33099463e-04 9.99892434e-01 2.15362448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.20925415399995 meters 0.02259850206080551 Centerline is valid? [True, True] Translation: X:316.21, Y:2.84, Z:2.16 [[ 9.98369446e-01 -5.52019329e-02 -1.45325897e-02 3.16209062e+02] [ 5.52052372e-02 9.98475013e-01 -1.73996211e-04 2.83715802e+00] [ 1.45200326e-02 -6.28562562e-04 9.99894381e-01 2.15534711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.239254154 meters 0.0264433650220169 Centerline is valid? [True, True] Translation: X:316.24, Y:2.83, Z:2.15 [[ 9.98417768e-01 -5.40570942e-02 -1.54852194e-02 3.16240404e+02] [ 5.40607245e-02 9.98537633e-01 -1.84370031e-04 2.83355355e+00] [ 1.54725408e-02 -6.53063864e-04 9.99880080e-01 2.15328478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.26925415399995 meters 0.022274727983118806 Centerline is valid? [True, True] Translation: X:316.27, Y:2.84, Z:2.16 [[ 9.98422722e-01 -5.43128921e-02 -1.42189227e-02 3.16272206e+02] [ 5.43159915e-02 9.98523783e-01 -1.68389966e-04 2.84029255e+00] [ 1.42070782e-02 -6.04190517e-04 9.99898892e-01 2.15570936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.299254154 meters 0.022274727983118806 Centerline is valid? [True, True] Translation: X:316.30, Y:2.84, Z:2.16 [[ 9.98426798e-01 -5.42379057e-02 -1.42189353e-02 3.16303921e+02] [ 5.42410128e-02 9.98527859e-01 -1.67321938e-04 2.84060871e+00] [ 1.42070782e-02 -6.04190746e-04 9.99898892e-01 2.15592903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.32925415399995 meters 0.022636098551266588 Centerline is valid? [True, True] Translation: X:316.34, Y:2.84, Z:2.16 [[ 9.98440664e-01 -5.40163246e-02 -1.40882187e-02 3.16336274e+02] [ 5.40193675e-02 9.98539874e-01 -1.64734736e-04 2.84086352e+00] [ 1.40765465e-02 -5.96558806e-04 9.99900743e-01 2.15625220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.359254154 meters 0.02829782805174423 Centerline is valid? [True, True] Translation: X:316.37, Y:2.83, Z:2.15 [[ 9.98452387e-01 -5.37393840e-02 -1.43146898e-02 3.16368058e+02] [ 5.37425125e-02 9.98554813e-01 -1.66311029e-04 2.83331412e+00] [ 1.43029398e-02 -6.03253749e-04 9.99897526e-01 2.15461789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.38925415399996 meters 0.024060401971666468 Centerline is valid? [True, True] Translation: X:316.40, Y:2.84, Z:2.15 [[ 9.98493165e-01 -5.26034369e-02 -1.56294226e-02 3.16399691e+02] [ 5.26070465e-02 9.98615274e-01 -1.80381954e-04 2.84294455e+00] [ 1.56172688e-02 -6.42107613e-04 9.99877837e-01 2.15452158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.419254154 meters 0.023124985519094313 Centerline is valid? [True, True] Translation: X:316.43, Y:2.84, Z:2.16 [[ 9.98475300e-01 -5.31081535e-02 -1.50532166e-02 3.16430730e+02] [ 5.31115806e-02 9.98588569e-01 -1.72294339e-04 2.84393892e+00] [ 1.50411203e-02 -6.27468486e-04 9.99886679e-01 2.15564596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.44925415399996 meters 0.024387074517276154 Centerline is valid? [True, True] Translation: X:316.46, Y:2.85, Z:2.15 [[ 9.98499994e-01 -5.21727507e-02 -1.66061952e-02 3.16463378e+02] [ 5.21768221e-02 9.98637844e-01 -1.88287027e-04 2.84563567e+00] [ 1.65933984e-02 -6.78453897e-04 9.99862090e-01 2.15385743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.479254154 meters 0.023380977425570156 Centerline is valid? [True, True] Translation: X:316.49, Y:2.85, Z:2.16 [[ 9.98473562e-01 -5.30733845e-02 -1.52892875e-02 3.16494877e+02] [ 5.30769647e-02 9.98590410e-01 -1.71804248e-04 2.84505985e+00] [ 1.52768541e-02 -6.39966974e-04 9.99883097e-01 2.15565752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.50925415399996 meters 0.023469562745988534 Centerline is valid? [True, True] Translation: X:316.53, Y:2.85, Z:2.15 [[ 9.98522374e-01 -5.19547578e-02 -1.59302321e-02 3.16527004e+02] [ 5.19585262e-02 9.98649228e-01 -1.77513444e-04 2.84799219e+00] [ 1.59179367e-02 -6.50460237e-04 9.99873090e-01 2.15460432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53925415399993 meters 0.02258374823553282 Centerline is valid? [True, True] Translation: X:316.56, Y:2.85, Z:2.16 [[ 9.98528667e-01 -5.18050019e-02 -1.60232178e-02 3.16558753e+02] [ 5.18088141e-02 9.98657006e-01 -1.77369098e-04 2.84929172e+00] [ 1.60108873e-02 -6.53035785e-04 9.99871604e-01 2.15546445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.56925415399996 meters 0.021891848927440807 Centerline is valid? [True, True] Translation: X:316.59, Y:2.85, Z:2.16 [[ 9.98637997e-01 -4.95718127e-02 -1.62722425e-02 3.16590308e+02] [ 4.95754623e-02 9.98770365e-01 -1.79265950e-04 2.85304213e+00] [ 1.62611201e-02 -6.27682154e-04 9.99867582e-01 2.15549003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59925415399994 meters 0.022144673297802665 Centerline is valid? [True, True] Translation: X:316.62, Y:2.85, Z:2.16 [[ 9.98705861e-01 -4.82186887e-02 -1.61728767e-02 3.16621523e+02] [ 4.82221400e-02 9.98836620e-01 -1.76732092e-04 2.85420529e+00] [ 1.61625833e-02 -6.03387347e-04 9.99869195e-01 2.15557711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.62925415399997 meters 0.02007988482737507 Centerline is valid? [True, True] Translation: X:316.65, Y:2.86, Z:2.16 [[ 9.98776302e-01 -4.68231774e-02 -1.59213516e-02 3.16652575e+02] [ 4.68263643e-02 9.98903029e-01 -1.72772808e-04 2.85915587e+00] [ 1.59119761e-02 -5.72977622e-04 9.99873232e-01 2.15652971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65925415399994 meters 0.020023432323902586 Centerline is valid? [True, True] Translation: X:316.68, Y:2.86, Z:2.16 [[ 9.98880611e-01 -4.47912905e-02 -1.52074265e-02 3.16683181e+02] [ 4.47939764e-02 9.98996233e-01 -1.64123628e-04 2.86138035e+00] [ 1.51995131e-02 -5.17261195e-04 9.99884347e-01 2.15700301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68925415399997 meters 0.023283959634085978 Centerline is valid? [True, True] Translation: X:316.71, Y:2.86, Z:2.16 [[ 9.98937962e-01 -4.34892927e-02 -1.52194092e-02 3.16713984e+02] [ 4.34918487e-02 9.99053769e-01 -1.63151206e-04 2.85911885e+00] [ 1.52121035e-02 -4.98942310e-04 9.99884165e-01 2.15526589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71925415399994 meters 0.019643758032963258 Centerline is valid? [True, True] Translation: X:316.75, Y:2.86, Z:2.16 [[ 9.98953923e-01 -4.36825335e-02 -1.35238853e-02 3.16745635e+02] [ 4.36845815e-02 9.99045363e-01 -1.44076071e-04 2.86489612e+00] [ 1.35172685e-02 -4.46859912e-04 9.99908538e-01 2.15863587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74925415399997 meters 0.02111127115555971 Centerline is valid? [True, True] Translation: X:316.78, Y:2.86, Z:2.16 [[ 9.99001609e-01 -4.31305052e-02 -1.16423747e-02 3.16777180e+02] [ 4.31319936e-02 9.99069375e-01 -1.23329590e-04 2.86476311e+00] [ 1.16368593e-02 -3.78952372e-04 9.99932218e-01 2.16021343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77925415399994 meters 0.01884562367345243 Centerline is valid? [True, True] Translation: X:316.81, Y:2.87, Z:2.16 [[ 9.99025493e-01 -4.28336968e-02 -1.06460326e-02 3.16809683e+02] [ 4.28349312e-02 9.99082157e-01 -1.12146203e-04 2.86967509e+00] [ 1.06410649e-02 -3.43985161e-04 9.99943323e-01 2.16155118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.809254154 meters 0.019507389469651873 Centerline is valid? [True, True] Translation: X:316.84, Y:2.87, Z:2.16 [[ 9.99025774e-01 -4.29822507e-02 -1.00014232e-02 3.16840805e+02] [ 4.29833563e-02 9.99075783e-01 -1.04483186e-04 2.86937989e+00] [ 9.99667068e-03 -3.25513342e-04 9.99949979e-01 2.16191845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.83925415399995 meters 0.01919544581740632 Centerline is valid? [True, True] Translation: X:316.87, Y:2.87, Z:2.16 [[ 9.98996582e-01 -4.36395515e-02 -1.00706403e-02 3.16873233e+02] [ 4.36407169e-02 9.99047285e-01 -1.04100312e-04 2.87087841e+00] [ 1.00655887e-02 -3.35494105e-04 9.99949284e-01 2.16217207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.869254154 meters 0.019611148507032636 Centerline is valid? [True, True] Translation: X:316.90, Y:2.87, Z:2.16 [[ 9.98975109e-01 -4.40632629e-02 -1.03518410e-02 3.16904225e+02] [ 4.40645245e-02 9.99028681e-01 -1.06282225e-04 2.87066937e+00] [ 1.03464692e-02 -3.49975653e-04 9.99946413e-01 2.16202468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.89925415399995 meters 0.02064010823293469 Centerline is valid? [True, True] Translation: X:316.94, Y:2.87, Z:2.16 [[ 9.98938959e-01 -4.46298202e-02 -1.13637834e-02 3.16935369e+02] [ 4.46313848e-02 9.99003517e-01 -1.16001735e-04 2.87044657e+00] [ 1.13576368e-02 -3.91302739e-04 9.99935423e-01 2.16109494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.929254154 meters 0.019801936886625356 Centerline is valid? [True, True] Translation: X:316.97, Y:2.87, Z:2.16 [[ 9.98899875e-01 -4.52314061e-02 -1.23757697e-02 3.16967026e+02] [ 4.52333169e-02 9.98976442e-01 -1.25608898e-04 2.87320770e+00] [ 1.23687838e-02 -4.34326399e-04 9.99923409e-01 2.16105451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.95925415399995 meters 0.019801936886625356 Centerline is valid? [True, True] Translation: X:317.00, Y:2.87, Z:2.16 [[ 9.98903240e-01 -4.51570268e-02 -1.23757777e-02 3.16998734e+02] [ 4.51589417e-02 9.98979807e-01 -1.24815165e-04 2.87346983e+00] [ 1.23687883e-02 -4.34198751e-04 9.99923409e-01 2.16127415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.989254154 meters 0.02128028921441375 Centerline is valid? [True, True] Translation: X:317.03, Y:2.87, Z:2.16 [[ 9.98851916e-01 -4.59470835e-02 -1.35541412e-02 3.17029479e+02] [ 4.59494641e-02 9.98943756e-01 -1.35888568e-04 2.87285751e+00] [ 1.35460684e-02 -4.87072967e-04 9.99908129e-01 2.16000149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.01925415399995 meters 0.021007674601240207 Centerline is valid? [True, True] Translation: X:317.06, Y:2.87, Z:2.16 [[ 9.98825634e-01 -4.63147117e-02 -1.42232633e-02 3.17061465e+02] [ 4.63173819e-02 9.98926764e-01 -1.41795903e-04 2.87393868e+00] [ 1.42145656e-02 -5.17154936e-04 9.99898834e-01 2.15997925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.049254154 meters 0.02040565408453302 Centerline is valid? [True, True] Translation: X:317.09, Y:2.88, Z:2.16 [[ 9.98799862e-01 -4.68062701e-02 -1.44225043e-02 3.17094049e+02] [ 4.68090822e-02 9.98903844e-01 -1.42713895e-04 2.87586202e+00] [ 1.44133749e-02 -5.32561570e-04 9.99895980e-01 2.16041640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.07925415399995 meters 0.020617285683761494 Centerline is valid? [True, True] Translation: X:317.13, Y:2.88, Z:2.16 [[ 9.98803508e-01 -4.66324583e-02 -1.47297430e-02 3.17126468e+02] [ 4.66353888e-02 9.98911968e-01 -1.44653136e-04 2.87766251e+00] [ 1.47204621e-02 -5.42447234e-04 9.99891501e-01 2.16032818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.109254154 meters 0.021903478127032926 Centerline is valid? [True, True] Translation: X:317.16, Y:2.88, Z:2.16 [[ 9.98849933e-01 -4.54825750e-02 -1.51706099e-02 3.17158304e+02] [ 4.54855684e-02 9.98964985e-01 -1.47842093e-04 2.87986252e+00] [ 1.51616323e-02 -5.42371750e-04 9.99884909e-01 2.15888320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.13925415399996 meters 0.021469694474165132 Centerline is valid? [True, True] Translation: X:317.19, Y:2.88, Z:2.16 [[ 9.98861477e-01 -4.53610988e-02 -1.47688999e-02 3.17189402e+02] [ 4.53639364e-02 9.98970516e-01 -1.42988617e-04 2.87965963e+00] [ 1.47601817e-02 -5.27149614e-04 9.99890924e-01 2.16092581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.169254154 meters 0.0194536112020529 Centerline is valid? [True, True] Translation: X:317.22, Y:2.89, Z:2.16 [[ 9.98962750e-01 -4.29898557e-02 -1.50098728e-02 3.17220512e+02] [ 4.29925297e-02 9.99075383e-01 -1.44630043e-04 2.88629805e+00] [ 1.50022120e-02 -5.00832375e-04 9.99887335e-01 2.16180015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.19925415399996 meters 0.019715199198925396 Centerline is valid? [True, True] Translation: X:317.25, Y:2.89, Z:2.16 [[ 9.99019170e-01 -4.16593328e-02 -1.50065736e-02 3.17251260e+02] [ 4.16618662e-02 9.99131757e-01 -1.43895476e-04 2.88749668e+00] [ 1.49995388e-02 -4.81447521e-04 9.99887385e-01 2.16195624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.229254154 meters 0.019901013984109997 Centerline is valid? [True, True] Translation: X:317.28, Y:2.89, Z:2.16 [[ 9.99102944e-01 -3.98751025e-02 -1.42577510e-02 3.17281426e+02] [ 3.98772148e-02 9.99204578e-01 -1.36220721e-04 2.89015196e+00] [ 1.42518419e-02 -4.32460875e-04 9.99898344e-01 2.16217707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.25925415399996 meters 0.01884345982591511 Centerline is valid? [True, True] Translation: X:317.31, Y:2.89, Z:2.16 [[ 9.99130477e-01 -3.92399211e-02 -1.40896774e-02 3.17313195e+02] [ 3.92419299e-02 9.99229730e-01 -1.33970267e-04 2.89345187e+00] [ 1.40840815e-02 -4.19052356e-04 9.99900727e-01 2.16308001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28925415399993 meters 0.018505029339670298 Centerline is valid? [True, True] Translation: X:317.34, Y:2.90, Z:2.16 [[ 9.99135584e-01 -3.93078502e-02 -1.35269223e-02 3.17344923e+02] [ 3.93097211e-02 9.99227066e-01 -1.27647333e-04 2.89527194e+00] [ 1.35214844e-02 -4.04202550e-04 9.99908499e-01 2.16395770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31925415399996 meters 0.018695534037715407 Centerline is valid? [True, True] Translation: X:317.38, Y:2.90, Z:2.16 [[ 9.99127462e-01 -3.97124654e-02 -1.29319073e-02 3.17376960e+02] [ 3.97142212e-02 9.99211072e-01 -1.21100069e-04 2.89599834e+00] [ 1.29265141e-02 -3.92586221e-04 9.99916372e-01 2.16453862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34925415399994 meters 0.020088685819003048 Centerline is valid? [True, True] Translation: X:317.41, Y:2.90, Z:2.16 [[ 9.99056755e-01 -4.16171655e-02 -1.23939945e-02 3.17408412e+02] [ 4.16189377e-02 9.99133550e-01 -1.15010412e-04 2.89516866e+00] [ 1.23880421e-02 -4.00922956e-04 9.99923185e-01 2.16482579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37925415399997 meters 0.02064525683385557 Centerline is valid? [True, True] Translation: X:317.44, Y:2.90, Z:2.16 [[ 9.99004829e-01 -4.27277281e-02 -1.27942754e-02 3.17440674e+02] [ 4.27297224e-02 9.99086661e-01 -1.17567622e-04 2.89519859e+00] [ 1.27876132e-02 -4.29245212e-04 9.99918143e-01 2.16458530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40925415399994 meters 0.02166421486298488 Centerline is valid? [True, True] Translation: X:317.47, Y:2.89, Z:2.16 [[ 9.98965790e-01 -4.33778109e-02 -1.36277902e-02 3.17472095e+02] [ 4.33801515e-02 9.99058630e-01 -1.23941692e-04 2.89456763e+00] [ 1.36203377e-02 -4.67362094e-04 9.99907130e-01 2.16402927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43925415399997 meters 0.020323462414714395 Centerline is valid? [True, True] Translation: X:317.50, Y:2.90, Z:2.16 [[ 9.98918355e-01 -4.41980937e-02 -1.44446831e-02 3.17504594e+02] [ 4.42008289e-02 9.99022657e-01 -1.29990622e-04 2.89842571e+00] [ 1.44363111e-02 -5.08616950e-04 9.99895662e-01 2.16483951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46925415399994 meters 0.020817881778455803 Centerline is valid? [True, True] Translation: X:317.54, Y:2.90, Z:2.17 [[ 9.98927932e-01 -4.40033291e-02 -1.43768175e-02 3.17535918e+02] [ 4.40060390e-02 9.99031257e-01 -1.27955836e-04 2.89879264e+00] [ 1.43685205e-02 -5.04848132e-04 9.99896640e-01 2.16501408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49925415399997 meters 0.02124687819931819 Centerline is valid? [True, True] Translation: X:317.57, Y:2.90, Z:2.17 [[ 9.98956422e-01 -4.34526192e-02 -1.40689869e-02 3.17566903e+02] [ 4.34551769e-02 9.99055370e-01 -1.23993206e-04 2.89982374e+00] [ 1.40610848e-02 -4.87506507e-04 9.99901019e-01 2.16544397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.52925415399994 meters 0.02069147665635282 Centerline is valid? [True, True] Translation: X:317.60, Y:2.90, Z:2.17 [[ 9.98979417e-01 -4.29019533e-02 -1.41261064e-02 3.17598756e+02] [ 4.29044896e-02 9.99079171e-01 -1.23597143e-04 2.90177486e+00] [ 1.41184012e-02 -4.82602383e-04 9.99900214e-01 2.16601541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.559254154 meters 0.01965431534903945 Centerline is valid? [True, True] Translation: X:317.63, Y:2.90, Z:2.17 [[ 9.99015820e-01 -4.20776553e-02 -1.40307707e-02 3.17630829e+02] [ 4.20800906e-02 9.99114233e-01 -1.21737949e-04 2.90464652e+00] [ 1.40234651e-02 -4.68797965e-04 9.99901556e-01 2.16642227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.58925415399995 meters 0.019511054565409847 Centerline is valid? [True, True] Translation: X:317.66, Y:2.91, Z:2.17 [[ 9.99032800e-01 -4.15054903e-02 -1.45175023e-02 3.17663209e+02] [ 4.15080532e-02 9.99138162e-01 -1.24865337e-04 2.90627833e+00] [ 1.45101731e-02 -4.77848689e-04 9.99894608e-01 2.16655546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.619254154 meters 0.020238004063501437 Centerline is valid? [True, True] Translation: X:317.69, Y:2.91, Z:2.17 [[ 9.99076864e-01 -4.03397038e-02 -1.47691875e-02 3.17694067e+02] [ 4.03422431e-02 9.99185912e-01 -1.26072704e-04 2.90715230e+00] [ 1.47622498e-02 -4.69865831e-04 9.99890922e-01 2.16619707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.64925415399995 meters 0.01914693911669793 Centerline is valid? [True, True] Translation: X:317.73, Y:2.91, Z:2.17 [[ 9.99090354e-01 -3.99787087e-02 -1.48380558e-02 3.17726599e+02] [ 3.99812464e-02 9.99200422e-01 -1.25691832e-04 2.90988235e+00] [ 1.48312167e-02 -4.67666470e-04 9.99889902e-01 2.16680204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.679254154 meters 0.019977865405843367 Centerline is valid? [True, True] Translation: X:317.76, Y:2.91, Z:2.17 [[ 9.99085244e-01 -4.00575674e-02 -1.49688803e-02 3.17758046e+02] [ 4.00601732e-02 9.99197261e-01 -1.25842158e-04 2.90978907e+00] [ 1.49619051e-02 -4.73928893e-04 9.99887952e-01 2.16646178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.70925415399995 meters 0.019892654399899935 Centerline is valid? [True, True] Translation: X:317.79, Y:2.91, Z:2.17 [[ 9.99083330e-01 -4.02215149e-02 -1.46536417e-02 3.17789911e+02] [ 4.02240434e-02 9.99190678e-01 -1.22258007e-04 2.91076981e+00] [ 1.46466996e-02 -4.67282784e-04 9.99892622e-01 2.16692026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.739254154 meters 0.020456193642903905 Centerline is valid? [True, True] Translation: X:317.82, Y:2.91, Z:2.17 [[ 9.99062914e-01 -4.05893096e-02 -1.50267075e-02 3.17821182e+02] [ 4.05920244e-02 9.99175796e-01 -1.24416636e-04 2.91058550e+00] [ 1.50193724e-02 -4.85664431e-04 9.99887085e-01 2.16701000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.76925415399995 meters 0.01980927004239543 Centerline is valid? [True, True] Translation: X:317.85, Y:2.91, Z:2.17 [[ 9.99021089e-01 -4.15588682e-02 -1.51566542e-02 3.17853037e+02] [ 4.15617565e-02 9.99135929e-01 -1.24507832e-04 2.91312126e+00] [ 1.51487322e-02 -5.05551222e-04 9.99885124e-01 2.16767692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.799254154 meters 0.019598323347866837 Centerline is valid? [True, True] Translation: X:317.88, Y:2.91, Z:2.17 [[ 9.99008457e-01 -4.20081633e-02 -1.47450404e-02 3.17884972e+02] [ 4.20109617e-02 9.99117143e-01 -1.20047468e-04 2.91392316e+00] [ 1.47370656e-02 -4.99524889e-04 9.99891279e-01 2.16816832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.82925415399995 meters 0.01960402814038167 Centerline is valid? [True, True] Translation: X:317.92, Y:2.91, Z:2.17 [[ 9.98977196e-01 -4.27084800e-02 -1.48508633e-02 3.17917480e+02] [ 4.27114125e-02 9.99087444e-01 -1.19795156e-04 2.91463512e+00] [ 1.48424273e-02 -5.14628720e-04 9.99889713e-01 2.16840463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.859254154 meters 0.020205635214058645 Centerline is valid? [True, True] Translation: X:317.95, Y:2.91, Z:2.17 [[ 9.98947726e-01 -4.33130976e-02 -1.50803157e-02 3.17948947e+02] [ 4.33162128e-02 9.99061405e-01 -1.20151541e-04 2.91413658e+00] [ 1.50713656e-02 -5.33197057e-04 9.99886278e-01 2.16854989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.88925415399996 meters 0.02036728454354366 Centerline is valid? [True, True] Translation: X:317.98, Y:2.91, Z:2.17 [[ 9.98924189e-01 -4.39845803e-02 -1.46908406e-02 3.17980810e+02] [ 4.39876293e-02 9.99032069e-01 -1.15671674e-04 2.91440311e+00] [ 1.46817087e-02 -5.30668019e-04 9.99892077e-01 2.16857080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.919254154 meters 0.02156478850531496 Centerline is valid? [True, True] Translation: X:318.01, Y:2.91, Z:2.17 [[ 9.98876018e-01 -4.51259406e-02 -1.45034399e-02 3.18011851e+02] [ 4.51290459e-02 9.98981159e-01 -1.13269279e-04 2.91267699e+00] [ 1.44937746e-02 -5.41384439e-04 9.99894813e-01 2.16807222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.94925415399996 meters 0.02040454748545338 Centerline is valid? [True, True] Translation: X:318.04, Y:2.92, Z:2.17 [[ 9.98872392e-01 -4.51921875e-02 -1.45468373e-02 3.18043745e+02] [ 4.51953324e-02 9.98978163e-01 -1.12651976e-04 2.91503392e+00] [ 1.45370638e-02 -5.44924200e-04 9.99894183e-01 2.16885587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.979254154 meters 0.021938920934434874 Centerline is valid? [True, True] Translation: X:318.07, Y:2.91, Z:2.17 [[ 9.98889983e-01 -4.47712396e-02 -1.46403056e-02 3.18074542e+02] [ 4.47743938e-02 9.98997118e-01 -1.12420325e-04 2.91296083e+00] [ 1.46306563e-02 -5.43215273e-04 9.99892819e-01 2.16838138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.00925415399996 meters 0.020219147630563077 Centerline is valid? [True, True] Translation: X:318.11, Y:2.92, Z:2.17 [[ 9.98991862e-01 -4.24881810e-02 -1.44918309e-02 3.18105660e+02] [ 4.24910413e-02 9.99096842e-01 -1.10614888e-04 2.91724379e+00] [ 1.44834423e-02 -5.05269611e-04 9.99894982e-01 2.16904648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03925415399993 meters 0.019917148647831635 Centerline is valid? [True, True] Translation: X:318.14, Y:2.92, Z:2.17 [[ 9.99072639e-01 -4.04788073e-02 -1.46740695e-02 3.18137596e+02] [ 4.04815356e-02 9.99180280e-01 -1.11174959e-04 2.91891747e+00] [ 1.46665411e-02 -4.82957007e-04 9.99892324e-01 2.16911352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.06925415399996 meters 0.019347704103712438 Centerline is valid? [True, True] Translation: X:318.17, Y:2.92, Z:2.17 [[ 9.99174038e-01 -3.79746482e-02 -1.44626028e-02 3.18168593e+02] [ 3.79770477e-02 9.99278606e-01 -1.08792832e-04 2.92126319e+00] [ 1.44563010e-02 -4.40543984e-04 9.99895405e-01 2.16995705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09925415399994 meters 0.018110618167936302 Centerline is valid? [True, True] Translation: X:318.20, Y:2.93, Z:2.17 [[ 9.99410844e-01 -3.16057338e-02 -1.33807000e-02 3.18198064e+02] [ 3.16072264e-02 9.99500362e-01 -9.99612958e-05 2.92614654e+00] [ 1.33771739e-02 -3.23024412e-04 9.99910469e-01 2.17086549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.12925415399997 meters 0.017252210105215705 Centerline is valid? [True, True] Translation: X:318.23, Y:2.93, Z:2.17 [[ 9.99521556e-01 -2.81719830e-02 -1.27670578e-02 3.18229689e+02] [ 2.81730705e-02 9.99603056e-01 -9.46981496e-05 2.92901713e+00] [ 1.27646578e-02 -2.65034378e-04 9.99918493e-01 2.17161353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15925415399994 meters 0.016774370543417436 Centerline is valid? [True, True] Translation: X:318.26, Y:2.93, Z:2.17 [[ 9.99597980e-01 -2.52136671e-02 -1.29672101e-02 3.18261543e+02] [ 2.52145477e-02 9.99682058e-01 -9.56061365e-05 2.93127082e+00] [ 1.29654978e-02 -2.31394635e-04 9.99915918e-01 2.17137281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18925415399997 meters 0.015899392854182508 Centerline is valid? [True, True] Translation: X:318.29, Y:2.94, Z:2.17 [[ 9.99696159e-01 -2.05812618e-02 -1.35647012e-02 3.18291726e+02] [ 2.05818042e-02 9.99788167e-01 -9.96236286e-05 2.93526614e+00] [ 1.35638781e-02 -1.79592665e-04 9.99907990e-01 2.17112215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21925415399994 meters 0.015899392854182508 Centerline is valid? [True, True] Translation: X:318.32, Y:2.94, Z:2.17 [[ 9.99696159e-01 -2.05812618e-02 -1.35647012e-02 3.18321728e+02] [ 2.05818042e-02 9.99788167e-01 -9.96236286e-05 2.93548649e+00] [ 1.35638781e-02 -1.79592665e-04 9.99907990e-01 2.17133006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24925415399997 meters 0.015661892183567134 Centerline is valid? [True, True] Translation: X:318.35, Y:2.94, Z:2.17 [[ 9.99716076e-01 -1.93057589e-02 -1.39661790e-02 3.18352399e+02] [ 1.93062095e-02 9.99813613e-01 -1.02572214e-04 2.93693967e+00] [ 1.39655561e-02 -1.67090886e-04 9.99902463e-01 2.17101864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27925415399994 meters 0.015460179767542739 Centerline is valid? [True, True] Translation: X:318.38, Y:2.94, Z:2.17 [[ 9.99715279e-01 -1.84025389e-02 -1.51890549e-02 3.18382450e+02] [ 1.84029631e-02 9.99830645e-01 -1.11852476e-04 2.93764321e+00] [ 1.51885409e-02 -1.67702988e-04 9.99884633e-01 2.17027060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.309254154 meters 0.015514828349697895 Centerline is valid? [True, True] Translation: X:318.41, Y:2.94, Z:2.17 [[ 9.99690805e-01 -1.91556680e-02 -1.58541898e-02 3.18411108e+02] [ 1.91561847e-02 9.99816496e-01 -1.19287148e-04 2.93768135e+00] [ 1.58535655e-02 -1.84455524e-04 9.99874307e-01 2.17013608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.33925415399995 meters 0.01578872865476177 Centerline is valid? [True, True] Translation: X:318.44, Y:2.94, Z:2.17 [[ 9.99663712e-01 -2.02126564e-02 -1.62453562e-02 3.18439446e+02] [ 2.02133009e-02 9.99795683e-01 -1.24543805e-04 2.93699284e+00] [ 1.62445543e-02 -2.03870349e-04 9.99868028e-01 2.16985624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.369254154 meters 0.016504945388896144 Centerline is valid? [True, True] Translation: X:318.47, Y:2.94, Z:2.17 [[ 9.99617894e-01 -2.16510980e-02 -1.71841601e-02 3.18468133e+02] [ 2.16519798e-02 9.99765559e-01 -1.34751279e-04 2.93654845e+00] [ 1.71830490e-02 -2.37371300e-04 9.99852332e-01 2.16972893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.39925415399995 meters 0.016324447847657818 Centerline is valid? [True, True] Translation: X:318.50, Y:2.93, Z:2.17 [[ 9.99539229e-01 -2.51551085e-02 -1.69867520e-02 3.18497035e+02] [ 2.51564028e-02 9.99683518e-01 -1.37508894e-04 2.93437505e+00] [ 1.69848350e-02 -2.89880041e-04 9.99855705e-01 2.17129528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.429254154 meters 0.016662379723701427 Centerline is valid? [True, True] Translation: X:318.53, Y:2.93, Z:2.17 [[ 9.99482012e-01 -2.71631196e-02 -1.72589632e-02 3.18526524e+02] [ 2.71647176e-02 9.99630961e-01 -1.41878820e-04 2.93305494e+00] [ 1.72564478e-02 -3.27029532e-04 9.99851043e-01 2.17156304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.45925415399995 meters 0.01738773207794361 Centerline is valid? [True, True] Translation: X:318.56, Y:2.93, Z:2.17 [[ 9.99423341e-01 -2.92120251e-02 -1.73102179e-02 3.18556462e+02] [ 2.92139322e-02 9.99573172e-01 -1.42739050e-04 2.93107668e+00] [ 1.73069991e-02 -3.63042796e-04 9.99850157e-01 2.17173657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.489254154 meters 0.01784925663889642 Centerline is valid? [True, True] Translation: X:318.59, Y:2.93, Z:2.17 [[ 9.99369682e-01 -3.10808065e-02 -1.71529062e-02 3.18587328e+02] [ 3.10829521e-02 9.99516798e-01 -1.41565491e-04 2.92885679e+00] [ 1.71490178e-02 -3.91686702e-04 9.99852868e-01 2.17171934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.51925415399995 meters 0.020574254847150062 Centerline is valid? [True, True] Translation: X:318.62, Y:2.92, Z:2.17 [[ 9.99224954e-01 -3.49674241e-02 -1.80768206e-02 3.18617931e+02] [ 3.49704504e-02 9.99388336e-01 -1.48756065e-04 2.92432373e+00] [ 1.80709652e-02 -4.83513786e-04 9.99836590e-01 2.17073145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.549254154 meters 0.020761234432453576 Centerline is valid? [True, True] Translation: X:318.65, Y:2.92, Z:2.17 [[ 9.99165692e-01 -3.68237588e-02 -1.76615422e-02 3.18649524e+02] [ 3.68269487e-02 9.99321647e-01 -1.44698318e-04 2.92214873e+00] [ 1.76548898e-02 -5.05843114e-04 9.99844012e-01 2.17114552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.57925415399995 meters 0.02079973198524781 Centerline is valid? [True, True] Translation: X:318.68, Y:2.92, Z:2.17 [[ 9.99094246e-01 -3.88733848e-02 -1.73074699e-02 3.18680563e+02] [ 3.88767656e-02 9.99244003e-01 -1.41197218e-04 2.92013949e+00] [ 1.72998743e-02 -5.31789121e-04 9.99850205e-01 2.17203186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.609254154 meters 0.022438103358816224 Centerline is valid? [True, True] Translation: X:318.71, Y:2.92, Z:2.17 [[ 9.98952685e-01 -4.23606139e-02 -1.72948368e-02 3.18710875e+02] [ 4.23645191e-02 9.99102211e-01 -1.40673073e-04 2.91653645e+00] [ 1.72852687e-02 -5.92161699e-04 9.99850423e-01 2.17208045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.63925415399996 meters 0.023928567119106042 Centerline is valid? [True, True] Translation: X:318.74, Y:2.91, Z:2.17 [[ 9.98887793e-01 -4.37164645e-02 -1.76648990e-02 3.18741516e+02] [ 4.37207591e-02 9.99043780e-01 -1.43189872e-04 2.91452815e+00] [ 1.76542672e-02 -6.29292178e-04 9.99843953e-01 2.17140089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.669254154 meters 0.024377137392693086 Centerline is valid? [True, True] Translation: X:318.77, Y:2.91, Z:2.17 [[ 9.98835692e-01 -4.51338049e-02 -1.70352555e-02 3.18772834e+02] [ 4.51380173e-02 9.98980751e-01 -1.37338062e-04 2.91266989e+00] [ 1.70240909e-02 -6.31759500e-04 9.99854880e-01 2.17220711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.69925415399996 meters 0.025094320922069466 Centerline is valid? [True, True] Translation: X:318.81, Y:2.91, Z:2.17 [[ 9.98727812e-01 -4.76604510e-02 -1.64693088e-02 3.18805198e+02] [ 4.76647475e-02 9.98863381e-01 -1.31776938e-04 2.91097978e+00] [ 1.64568701e-02 -6.53396154e-04 9.99864363e-01 2.17261629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.729254154 meters 0.025637641023338514 Centerline is valid? [True, True] Translation: X:318.84, Y:2.91, Z:2.17 [[ 9.98701176e-01 -4.82856299e-02 -1.62621950e-02 3.18837806e+02] [ 4.82899197e-02 9.98833353e-01 -1.29010747e-04 2.90990766e+00] [ 1.62494521e-02 -6.56456905e-04 9.99867753e-01 2.17294336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.75925415399996 meters 0.022122855440890463 Centerline is valid? [True, True] Translation: X:318.87, Y:2.92, Z:2.17 [[ 9.98678226e-01 -4.87630417e-02 -1.62470753e-02 3.18870254e+02] [ 4.87674055e-02 9.98810154e-01 -1.27729001e-04 2.91550264e+00] [ 1.62339722e-02 -6.64767536e-04 9.99867999e-01 2.17436749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78925415399993 meters 0.022691436534073833 Centerline is valid? [True, True] Translation: X:318.90, Y:2.91, Z:2.17 [[ 9.98672218e-01 -4.88639994e-02 -1.63128686e-02 3.18901977e+02] [ 4.88684317e-02 9.98805216e-01 -1.27046258e-04 2.91496325e+00] [ 1.62995862e-02 -6.70306736e-04 9.99866928e-01 2.17389724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81925415399996 meters 0.024735501521263914 Centerline is valid? [True, True] Translation: X:318.93, Y:2.91, Z:2.17 [[ 9.98688661e-01 -4.84260884e-02 -1.66093980e-02 3.18933274e+02] [ 4.84306402e-02 9.98826540e-01 -1.28311092e-04 2.91203745e+00] [ 1.65961211e-02 -6.76260943e-04 9.99862046e-01 2.17310016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84925415399994 meters 0.023464310908520046 Centerline is valid? [True, True] Translation: X:318.96, Y:2.91, Z:2.17 [[ 9.98791507e-01 -4.60821659e-02 -1.70867966e-02 3.18964655e+02] [ 4.60866534e-02 9.98937437e-01 -1.31251726e-04 2.91491306e+00] [ 1.70746892e-02 -6.56380162e-04 9.99854001e-01 2.17250651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87925415399997 meters 0.022990591159977033 Centerline is valid? [True, True] Translation: X:319.00, Y:2.92, Z:2.17 [[ 9.98879226e-01 -4.42060094e-02 -1.69150893e-02 3.18996325e+02] [ 4.42101484e-02 9.99022245e-01 -1.29343900e-04 2.91626445e+00] [ 1.69042683e-02 -6.18619674e-04 9.99856921e-01 2.17248809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90925415399994 meters 0.02246022289049485 Centerline is valid? [True, True] Translation: X:319.03, Y:2.92, Z:2.17 [[ 9.98989740e-01 -4.15404592e-02 -1.71432246e-02 3.19028072e+02] [ 4.15443322e-02 9.99136653e-01 -1.30300167e-04 2.91980237e+00] [ 1.71338368e-02 -5.82035286e-04 9.99853036e-01 2.17151627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93925415399997 meters 0.01880515316555705 Centerline is valid? [True, True] Translation: X:319.06, Y:2.93, Z:2.17 [[ 9.99211255e-01 -3.60103275e-02 -1.67369093e-02 3.19058399e+02] [ 3.60132500e-02 9.99351304e-01 -1.26851485e-04 2.92681602e+00] [ 1.67306201e-02 -4.75999065e-04 9.99859920e-01 2.17307116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96925415399994 meters 0.01816261586276182 Centerline is valid? [True, True] Translation: X:319.09, Y:2.93, Z:2.17 [[ 9.99327170e-01 -3.25201498e-02 -1.69601506e-02 3.19088463e+02] [ 3.25226515e-02 9.99470990e-01 -1.28363304e-04 2.92970603e+00] [ 1.69553529e-02 -4.23312131e-04 9.99856158e-01 2.17299018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99925415399997 meters 0.016503156279459058 Centerline is valid? [True, True] Translation: X:319.12, Y:2.93, Z:2.17 [[ 9.99445293e-01 -2.86210340e-02 -1.70276877e-02 3.19119431e+02] [ 2.86229913e-02 9.99590270e-01 -1.28798067e-04 2.93463333e+00] [ 1.70243972e-02 -3.58656735e-04 9.99855010e-01 2.17389144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.02925415399994 meters 0.015309384418862607 Centerline is valid? [True, True] Translation: X:319.15, Y:2.94, Z:2.17 [[ 9.99636282e-01 -2.10287377e-02 -1.68847647e-02 3.19149667e+02] [ 2.10295699e-02 9.99778846e-01 -1.28287018e-04 2.94131114e+00] [ 1.68837282e-02 -2.26838981e-04 9.99857434e-01 2.17381042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.059254154 meters 0.014782411203037226 Centerline is valid? [True, True] Translation: X:319.18, Y:2.94, Z:2.17 [[ 9.99707269e-01 -1.73197657e-02 -1.68938592e-02 3.19178831e+02] [ 1.73200228e-02 9.99849989e-01 -1.31101365e-04 2.94434133e+00] [ 1.68935956e-02 -1.61539040e-04 9.99857280e-01 2.17405860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.08925415399995 meters 0.014564987704568117 Centerline is valid? [True, True] Translation: X:319.21, Y:2.95, Z:2.17 [[ 9.99752942e-01 -1.40932221e-02 -1.71882274e-02 3.19206702e+02] [ 1.40929666e-02 9.99900680e-01 -1.35991610e-04 2.94679771e+00] [ 1.71884368e-02 -1.06275102e-04 9.99852262e-01 2.17395455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.119254154 meters 0.016708923448314723 Centerline is valid? [True, True] Translation: X:319.23, Y:2.95, Z:2.17 [[ 9.99818083e-01 -7.80478933e-03 -1.74036289e-02 3.19234966e+02] [ 7.80351755e-03 9.99969542e-01 -1.40985571e-04 2.95054792e+00] [ 1.74041992e-02 5.15039982e-06 9.99848535e-01 2.17264089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.14925415399995 meters 0.014454136219972 Centerline is valid? [True, True] Translation: X:319.26, Y:2.95, Z:2.17 [[ 9.99840606e-01 -6.21509328e-03 -1.67372537e-02 3.19262748e+02] [ 6.21361873e-03 9.99980685e-01 -1.40102236e-04 2.95226147e+00] [ 1.67378011e-02 3.60809918e-05 9.99859913e-01 2.17428966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.179254154 meters 0.014627771229813733 Centerline is valid? [True, True] Translation: X:319.29, Y:2.95, Z:2.17 [[ 9.99853977e-01 -4.35718697e-03 -1.65239248e-02 3.19290550e+02] [ 4.35541807e-03 9.99990505e-01 -1.43036115e-04 2.95344147e+00] [ 1.65243911e-02 7.10466281e-05 9.99863460e-01 2.17426153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.20925415399995 meters 0.014727156699337884 Centerline is valid? [True, True] Translation: X:319.32, Y:2.95, Z:2.17 [[ 9.99861781e-01 -2.76997672e-03 -1.63935056e-02 3.19319141e+02] [ 2.76795030e-03 9.99996159e-01 -1.46299407e-04 2.95401313e+00] [ 1.63938479e-02 1.00902777e-04 9.99865607e-01 2.17489471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.239254154 meters 0.014877123826565327 Centerline is valid? [True, True] Translation: X:319.35, Y:2.95, Z:2.18 [[ 9.99867794e-01 -9.32424063e-04 -1.62334737e-02 3.19348129e+02] [ 9.30127391e-04 9.99999556e-01 -1.49027086e-04 2.95408030e+00] [ 1.62336054e-02 1.33908185e-04 9.99868217e-01 2.17518106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.26925415399995 meters 0.015050169557901765 Centerline is valid? [True, True] Translation: X:319.38, Y:2.95, Z:2.17 [[ 9.99872938e-01 -5.50632076e-04 -1.59312334e-02 3.19375611e+02] [ 5.48301723e-04 9.99999838e-01 -1.50643223e-04 2.95418992e+00] [ 1.59313138e-02 1.41888959e-04 9.99873078e-01 2.17495954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.299254154 meters 0.015637290590468304 Centerline is valid? [True, True] Translation: X:319.40, Y:2.95, Z:2.17 [[ 9.99875656e-01 -2.43055192e-04 -1.57674692e-02 3.19403643e+02] [ 2.40661673e-04 9.99999959e-01 -1.53698335e-04 2.95372449e+00] [ 1.57675059e-02 1.49884598e-04 9.99875674e-01 2.17490747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.32925415399995 meters 0.015061489463097441 Centerline is valid? [True, True] Translation: X:319.43, Y:2.95, Z:2.18 [[ 9.99882231e-01 -5.70086263e-04 -1.53362334e-02 3.19431750e+02] [ 5.67818304e-04 9.99999827e-01 -1.52236368e-04 2.95343163e+00] [ 1.53363175e-02 1.43510245e-04 9.99882381e-01 2.17564298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.359254154 meters 0.016569242009014117 Centerline is valid? [True, True] Translation: X:319.46, Y:2.95, Z:2.18 [[ 9.99888846e-01 -8.86760545e-04 -1.48832205e-02 3.19459309e+02] [ 8.84639986e-04 9.99999598e-01 -1.49062761e-04 2.95093750e+00] [ 1.48833467e-02 1.35879900e-04 9.99889228e-01 2.17501369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.38925415399996 meters 0.015012974772246803 Centerline is valid? [True, True] Translation: X:319.49, Y:2.95, Z:2.18 [[ 9.99896702e-01 -2.48644926e-03 -1.41563513e-02 3.19488444e+02] [ 2.48467528e-03 9.99996903e-01 -1.42900185e-04 2.94911713e+00] [ 1.41566628e-02 1.07711488e-04 9.99899784e-01 2.17690774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.419254154 meters 0.014987179653208286 Centerline is valid? [True, True] Translation: X:319.52, Y:2.95, Z:2.18 [[ 9.99902099e-01 -3.23083915e-03 -1.36144558e-02 3.19517128e+02] [ 3.22925414e-03 9.99994776e-01 -1.38403269e-04 2.94762376e+00] [ 1.36148318e-02 9.44251815e-05 9.99907309e-01 2.17739525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.44925415399996 meters 0.016353349605805853 Centerline is valid? [True, True] Translation: X:319.54, Y:2.95, Z:2.18 [[ 9.99906542e-01 -3.34693601e-03 -1.32553707e-02 3.19544458e+02] [ 3.34542033e-03 9.99994395e-01 -1.36516059e-04 2.94610051e+00] [ 1.32557533e-02 9.21585138e-05 9.99912134e-01 2.17671892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.479254154 meters 0.017332729352445113 Centerline is valid? [True, True] Translation: X:319.57, Y:2.94, Z:2.18 [[ 9.99906011e-01 -4.22291895e-03 -1.30436134e-02 3.19571695e+02] [ 4.22149249e-03 9.99991080e-01 -1.36892020e-04 2.94275636e+00] [ 1.30440752e-02 8.18156377e-05 9.99914919e-01 2.17661058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.50925415399996 meters 0.014699101322050401 Centerline is valid? [True, True] Translation: X:319.60, Y:2.94, Z:2.18 [[ 9.99909475e-01 -5.90302705e-03 -1.20911960e-02 3.19600093e+02] [ 5.90190446e-03 9.99982575e-01 -1.28523677e-04 2.94114446e+00] [ 1.20917440e-02 5.71509590e-05 9.99926891e-01 2.17897877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53925415399993 meters 0.01458199133396051 Centerline is valid? [True, True] Translation: X:319.63, Y:2.94, Z:2.18 [[ 9.99909327e-01 -6.58684727e-03 -1.17453056e-02 3.19628254e+02] [ 6.58581275e-03 9.99978305e-01 -1.26754701e-04 2.93942830e+00] [ 1.17458857e-02 4.93908240e-05 9.99931013e-01 2.17908222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.56925415399996 meters 0.014538824431521116 Centerline is valid? [True, True] Translation: X:319.66, Y:2.93, Z:2.18 [[ 9.99898030e-01 -8.40701447e-03 -1.15434517e-02 3.19657101e+02] [ 8.40610957e-03 9.99964660e-01 -1.26909224e-04 2.93481302e+00] [ 1.15441107e-02 2.98607633e-05 9.99933364e-01 2.17867346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59925415399994 meters 0.015461495687515524 Centerline is valid? [True, True] Translation: X:319.69, Y:2.93, Z:2.18 [[ 9.99884817e-01 -9.47177413e-03 -1.18591138e-02 3.19685203e+02] [ 9.47087074e-03 9.99955142e-01 -1.32335557e-04 2.93224712e+00] [ 1.18598352e-02 2.00041810e-05 9.99929669e-01 2.17753036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.62925415399997 meters 0.016459231043613007 Centerline is valid? [True, True] Translation: X:319.71, Y:2.93, Z:2.18 [[ 9.99869747e-01 -1.06131280e-02 -1.21593596e-02 3.19712364e+02] [ 1.06122295e-02 9.99943679e-01 -1.38414344e-04 2.92956991e+00] [ 1.21601438e-02 9.35840101e-06 9.99926063e-01 2.17645206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65925415399994 meters 0.014568354618592754 Centerline is valid? [True, True] Translation: X:319.74, Y:2.92, Z:2.18 [[ 9.99810968e-01 -1.48667805e-02 -1.25302096e-02 3.19741624e+02] [ 1.48661440e-02 9.99889482e-01 -1.43946278e-04 2.92427519e+00] [ 1.25309648e-02 -4.23568315e-05 9.99921483e-01 2.17792849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68925415399997 meters 0.014889684306786881 Centerline is valid? [True, True] Translation: X:319.77, Y:2.92, Z:2.18 [[ 9.99782428e-01 -1.68075254e-02 -1.23532899e-02 3.19769157e+02] [ 1.68070394e-02 9.99858741e-01 -1.43156948e-04 2.92128449e+00] [ 1.23539510e-02 -6.44964298e-05 9.99923685e-01 2.17747981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71925415399994 meters 0.016406965313690926 Centerline is valid? [True, True] Translation: X:319.80, Y:2.92, Z:2.18 [[ 9.99759170e-01 -1.79806593e-02 -1.25816865e-02 3.19798466e+02] [ 1.79802333e-02 9.99838332e-01 -1.46976863e-04 2.91846816e+00] [ 1.25822952e-02 -7.92801928e-05 9.99920837e-01 2.17667027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74925415399997 meters 0.015321642197118459 Centerline is valid? [True, True] Translation: X:319.83, Y:2.91, Z:2.18 [[ 9.99655076e-01 -2.31790882e-02 -1.23474340e-02 3.19827305e+02] [ 2.31790678e-02 9.99731319e-01 -1.44782991e-04 2.91240243e+00] [ 1.23474724e-02 -1.41468957e-04 9.99923757e-01 2.17769905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77925415399994 meters 0.015792400935973422 Centerline is valid? [True, True] Translation: X:319.86, Y:2.91, Z:2.18 [[ 9.99593490e-01 -2.56796633e-02 -1.23858442e-02 3.19858060e+02] [ 2.56798299e-02 9.99670208e-01 -1.45611084e-04 2.90939468e+00] [ 1.23854987e-02 -1.72514481e-04 9.99923282e-01 2.17766330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.809254154 meters 0.016230537437653993 Centerline is valid? [True, True] Translation: X:319.89, Y:2.91, Z:2.18 [[ 9.99526523e-01 -2.81640573e-02 -1.23901443e-02 3.19888257e+02] [ 2.81644161e-02 9.99603294e-01 -1.45563587e-04 2.90569014e+00] [ 1.23893287e-02 -2.03466513e-04 9.99923229e-01 2.17757933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.83925415399995 meters 0.019373261793275247 Centerline is valid? [True, True] Translation: X:319.92, Y:2.90, Z:2.18 [[ 9.99397240e-01 -3.23120117e-02 -1.26921614e-02 3.19918417e+02] [ 3.23127255e-02 9.99477796e-01 -1.48882702e-04 2.89797853e+00] [ 1.26903442e-02 -2.61325366e-04 9.99919440e-01 2.17592647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.869254154 meters 0.019373261793275247 Centerline is valid? [True, True] Translation: X:319.95, Y:2.90, Z:2.18 [[ 9.99398379e-01 -3.22767697e-02 -1.26921652e-02 3.19949266e+02] [ 3.22774848e-02 9.99478935e-01 -1.48557290e-04 2.89830882e+00] [ 1.26903467e-02 -2.61203255e-04 9.99919440e-01 2.17614023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.89925415399995 meters 0.018449913193866643 Centerline is valid? [True, True] Translation: X:319.98, Y:2.89, Z:2.18 [[ 9.99192265e-01 -3.82798162e-02 -1.22259569e-02 3.19980356e+02] [ 3.82809327e-02 9.99267006e-01 -1.42769082e-04 2.89287112e+00] [ 1.22224606e-02 -3.25367272e-04 9.99925250e-01 2.17748633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.929254154 meters 0.018683912781985928 Centerline is valid? [True, True] Translation: X:320.01, Y:2.89, Z:2.18 [[ 9.99072642e-01 -4.13192285e-02 -1.21069059e-02 3.20012324e+02] [ 4.13205525e-02 9.99145931e-01 -1.40868557e-04 2.89077218e+00] [ 1.21023863e-02 -3.59526118e-04 9.99926699e-01 2.17744982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.95925415399995 meters 0.020806101098015076 Centerline is valid? [True, True] Translation: X:320.04, Y:2.89, Z:2.18 [[ 9.98945334e-01 -4.42049808e-02 -1.24152595e-02 3.20043344e+02] [ 4.42066061e-02 9.99022400e-01 -1.43621997e-04 2.88507504e+00] [ 1.24094712e-02 -4.05365963e-04 9.99922917e-01 2.17685073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.989254154 meters 0.021560960385984096 Centerline is valid? [True, True] Translation: X:320.07, Y:2.88, Z:2.18 [[ 9.98575583e-01 -5.18650655e-02 -1.25228085e-02 3.20074082e+02] [ 5.18673255e-02 9.98653974e-01 -1.44456565e-04 2.88053695e+00] [ 1.25134447e-02 -5.05273785e-04 9.99921576e-01 2.17683012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.01925415399995 meters 0.02387658951429141 Centerline is valid? [True, True] Translation: X:320.10, Y:2.88, Z:2.18 [[ 9.98367323e-01 -5.56154489e-02 -1.30234157e-02 3.20104200e+02] [ 5.56182188e-02 9.98452098e-01 -1.49684770e-04 2.87533828e+00] [ 1.30115815e-02 -5.74898800e-04 9.99915181e-01 2.17654137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.049254154 meters 0.024554851216116193 Centerline is valid? [True, True] Translation: X:320.14, Y:2.87, Z:2.18 [[ 9.98132945e-01 -5.96896533e-02 -1.29525807e-02 3.20135330e+02] [ 5.96927444e-02 9.98216787e-01 -1.48171678e-04 2.87306848e+00] [ 1.29383278e-02 -6.25280054e-04 9.99916101e-01 2.17676536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.07925415399995 meters 0.029213240841284346 Centerline is valid? [True, True] Translation: X:320.17, Y:2.86, Z:2.18 [[ 9.97668843e-01 -6.71669637e-02 -1.20614155e-02 3.20165124e+02] [ 6.71701954e-02 9.97741523e-01 -1.37423050e-04 2.86340826e+00] [ 1.20434053e-02 -6.73064939e-04 9.99927249e-01 2.17675619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.109254154 meters 0.029213240841284346 Centerline is valid? [True, True] Translation: X:320.20, Y:2.86, Z:2.18 [[ 9.97673715e-01 -6.70945677e-02 -1.20614263e-02 3.20196859e+02] [ 6.70978056e-02 9.97746394e-01 -1.36464585e-04 2.86370585e+00] [ 1.20434007e-02 -6.73148110e-04 9.99927249e-01 2.17697599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.13925415399996 meters 0.028192252158023002 Centerline is valid? [True, True] Translation: X:320.23, Y:2.86, Z:2.18 [[ 9.97415158e-01 -7.08520493e-02 -1.19578679e-02 3.20227410e+02] [ 7.08555080e-02 9.97486581e-01 -1.34700291e-04 2.86466799e+00] [ 1.19373566e-02 -7.12928694e-04 9.99928493e-01 2.17764767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.169254154 meters 0.02954053889774937 Centerline is valid? [True, True] Translation: X:320.26, Y:2.86, Z:2.18 [[ 9.97204971e-01 -7.37596642e-02 -1.19062257e-02 3.20258044e+02] [ 7.37633022e-02 9.97275768e-01 -1.33896485e-04 2.86256503e+00] [ 1.18836665e-02 -7.44720281e-04 9.99929109e-01 2.17783595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.19925415399996 meters 0.03319652036807638 Centerline is valid? [True, True] Translation: X:320.29, Y:2.86, Z:2.18 [[ 9.96894453e-01 -7.76900290e-02 -1.28728022e-02 3.20288217e+02] [ 7.76946100e-02 9.96977195e-01 -1.44599747e-04 2.85817900e+00] [ 1.28451242e-02 -8.55996664e-04 9.99917132e-01 2.17737198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.229254154 meters 0.03159920717144686 Centerline is valid? [True, True] Translation: X:320.32, Y:2.86, Z:2.18 [[ 9.96845783e-01 -7.82492334e-02 -1.32492710e-02 3.20320589e+02] [ 7.82541422e-02 9.96933432e-01 -1.48322642e-04 2.86093237e+00] [ 1.32202474e-02 -8.88955538e-04 9.99912214e-01 2.17775664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.25925415399996 meters 0.03234596765120555 Centerline is valid? [True, True] Translation: X:320.35, Y:2.86, Z:2.18 [[ 9.96913816e-01 -7.74589911e-02 -1.27651495e-02 3.20352270e+02] [ 7.74634951e-02 9.96995179e-01 -1.41968873e-04 2.86096512e+00] [ 1.27377893e-02 -8.47302367e-04 9.99918512e-01 2.17778177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28925415399993 meters 0.030253495650833004 Centerline is valid? [True, True] Translation: X:320.38, Y:2.86, Z:2.18 [[ 9.97011782e-01 -7.61753289e-02 -1.28384595e-02 3.20384599e+02] [ 7.61797911e-02 9.97094087e-01 -1.41819292e-04 2.86493035e+00] [ 1.28119552e-02 -8.36635657e-04 9.99917574e-01 2.17781327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31925415399996 meters 0.03276017511028941 Centerline is valid? [True, True] Translation: X:320.41, Y:2.86, Z:2.18 [[ 9.97133666e-01 -7.46614253e-02 -1.22525372e-02 3.20414752e+02] [ 7.46653830e-02 9.97208635e-01 -1.34747219e-04 2.86195206e+00] [ 1.22283963e-02 -7.80479394e-04 9.99924926e-01 2.17819217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34925415399994 meters 0.0293274839496578 Centerline is valid? [True, True] Translation: X:320.45, Y:2.87, Z:2.18 [[ 9.97277586e-01 -7.27152279e-02 -1.22438463e-02 3.20446371e+02] [ 7.27190391e-02 9.97352457e-01 -1.34223197e-04 2.86785889e+00] [ 1.22211902e-02 -7.56502949e-04 9.99925032e-01 2.17864488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37925415399997 meters 0.028965174617012642 Centerline is valid? [True, True] Translation: X:320.48, Y:2.87, Z:2.18 [[ 9.97446015e-01 -7.02965740e-02 -1.26427680e-02 3.20478092e+02] [ 7.03004532e-02 9.97525853e-01 -1.37872432e-04 2.87044866e+00] [ 1.26211799e-02 -7.51272015e-04 9.99920068e-01 2.17842712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40925415399994 meters 0.027928920929022816 Centerline is valid? [True, True] Translation: X:320.51, Y:2.87, Z:2.18 [[ 9.97587664e-01 -6.82326049e-02 -1.27735771e-02 3.20509395e+02] [ 6.82364040e-02 9.97669171e-01 -1.38686268e-04 2.87322532e+00] [ 1.27532670e-02 -7.33271256e-04 9.99918405e-01 2.17934298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43925415399997 meters 0.02517968111997234 Centerline is valid? [True, True] Translation: X:320.54, Y:2.88, Z:2.18 [[ 9.97934395e-01 -6.29777451e-02 -1.26786138e-02 3.20540112e+02] [ 6.29810684e-02 9.98014712e-01 -1.37378948e-04 2.88146506e+00] [ 1.26620949e-02 -6.61417467e-04 9.99919614e-01 2.18048804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46925415399994 meters 0.024919566116326227 Centerline is valid? [True, True] Translation: X:320.57, Y:2.88, Z:2.18 [[ 9.98125997e-01 -5.98528786e-02 -1.27328987e-02 3.20571180e+02] [ 5.98559799e-02 9.98207014e-01 -1.37725561e-04 2.88476491e+00] [ 1.27183120e-02 -6.24672665e-04 9.99918924e-01 2.18046137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49925415399997 meters 0.023337955694118156 Centerline is valid? [True, True] Translation: X:320.60, Y:2.89, Z:2.18 [[ 9.98274153e-01 -5.72726419e-02 -1.29830492e-02 3.20603060e+02] [ 5.72756564e-02 9.98358392e-01 -1.39822491e-04 2.88878759e+00] [ 1.29697441e-02 -6.04031487e-04 9.99915707e-01 2.18141143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.52925415399994 meters 0.022371573085029087 Centerline is valid? [True, True] Translation: X:320.64, Y:2.89, Z:2.18 [[ 9.98430394e-01 -5.43645691e-02 -1.34625928e-02 3.20635000e+02] [ 5.43675570e-02 9.98520980e-01 -1.44211863e-04 2.89214021e+00] [ 1.34505214e-02 -5.87942776e-04 9.99909365e-01 2.18149060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.559254154 meters 0.022720513076556592 Centerline is valid? [True, True] Translation: X:320.66, Y:2.90, Z:2.18 [[ 9.98697849e-01 -4.87063380e-02 -1.51756326e-02 3.20664850e+02] [ 4.87094892e-02 9.98812975e-01 -1.62121156e-04 2.89689810e+00] [ 1.51655150e-02 -5.77287260e-04 9.99884830e-01 2.18020467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.58925415399995 meters 0.019447900455366512 Centerline is valid? [True, True] Translation: X:320.70, Y:2.91, Z:2.18 [[ 9.98942385e-01 -4.33180499e-02 -1.54161916e-02 3.20695534e+02] [ 4.33206633e-02 9.99061206e-01 -1.64534056e-04 2.90522378e+00] [ 1.54088463e-02 -5.03479604e-04 9.99881150e-01 2.18155908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.619254154 meters 0.01879579442536558 Centerline is valid? [True, True] Translation: X:320.73, Y:2.91, Z:2.18 [[ 9.99083335e-01 -3.99333233e-02 -1.54213966e-02 3.20725793e+02] [ 3.99355497e-02 9.99202244e-01 -1.63677122e-04 2.90876896e+00] [ 1.54156303e-02 -4.52334866e-04 9.99881070e-01 2.18187103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.64925415399995 meters 0.017463867602672017 Centerline is valid? [True, True] Translation: X:320.76, Y:2.91, Z:2.18 [[ 9.99208629e-01 -3.66093249e-02 -1.55522920e-02 3.20756862e+02] [ 3.66112020e-02 9.99329572e-01 -1.64095236e-04 2.91390157e+00] [ 1.55478727e-02 -4.05422727e-04 9.99879042e-01 2.18278291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.679254154 meters 0.017044492877428607 Centerline is valid? [True, True] Translation: X:320.79, Y:2.92, Z:2.18 [[ 9.99329044e-01 -3.31847935e-02 -1.54993866e-02 3.20786869e+02] [ 3.31862527e-02 9.99449171e-01 -1.63116621e-04 2.91696767e+00] [ 1.54962621e-02 -3.51359384e-04 9.99879864e-01 2.18297026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.70925415399995 meters 0.01647675802898416 Centerline is valid? [True, True] Translation: X:320.82, Y:2.92, Z:2.18 [[ 9.99443136e-01 -2.95430874e-02 -1.55120284e-02 3.20817361e+02] [ 2.95441150e-02 9.99563464e-01 -1.62963888e-04 2.92037939e+00] [ 1.55100713e-02 -2.95416011e-04 9.99879668e-01 2.18339885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.739254154 meters 0.016387724645407203 Centerline is valid? [True, True] Translation: X:320.85, Y:2.92, Z:2.18 [[ 9.99537989e-01 -2.62221142e-02 -1.53690779e-02 3.20846742e+02] [ 2.62227342e-02 9.99656112e-01 -1.61212673e-04 2.92334249e+00] [ 1.53680200e-02 -2.41881053e-04 9.99881876e-01 2.18292735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.76925415399995 meters 0.01581893744823405 Centerline is valid? [True, True] Translation: X:320.88, Y:2.93, Z:2.18 [[ 9.99673517e-01 -2.05452176e-02 -1.51905724e-02 3.20876794e+02] [ 2.05451672e-02 9.99788913e-01 -1.59390922e-04 2.93008008e+00] [ 1.51906406e-02 -1.52753966e-04 9.99884604e-01 2.18383726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.799254154 meters 0.01618787425359672 Centerline is valid? [True, True] Translation: X:320.91, Y:2.93, Z:2.18 [[ 9.99708903e-01 -1.85631616e-02 -1.54116323e-02 3.20905189e+02] [ 1.85628651e-02 9.99827682e-01 -1.62301248e-04 2.93249362e+00] [ 1.54119894e-02 -1.23830047e-04 9.99881221e-01 2.18410706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.82925415399995 meters 0.014672159422677519 Centerline is valid? [True, True] Translation: X:320.93, Y:2.93, Z:2.19 [[ 9.99740661e-01 -1.76775442e-02 -1.43567224e-02 3.20933900e+02] [ 1.76771632e-02 9.99843735e-01 -1.53445064e-04 2.93476610e+00] [ 1.43571915e-02 -1.00380856e-04 9.99896925e-01 2.18612790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.859254154 meters 0.014642271309497933 Centerline is valid? [True, True] Translation: X:320.96, Y:2.94, Z:2.19 [[ 9.99759252e-01 -1.68183544e-02 -1.40919022e-02 3.20963020e+02] [ 1.68178515e-02 9.99858558e-01 -1.54196073e-04 2.93583976e+00] [ 1.40925023e-02 -8.28365683e-05 9.99900692e-01 2.18656352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.88925415399996 meters 0.014671557414434397 Centerline is valid? [True, True] Translation: X:320.99, Y:2.94, Z:2.19 [[ 9.99772092e-01 -1.66528486e-02 -1.33584035e-02 3.20991891e+02] [ 1.66523375e-02 9.99861329e-01 -1.49503118e-04 2.93628744e+00] [ 1.33590408e-02 -7.29795985e-05 9.99910761e-01 2.18707939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.919254154 meters 0.014795098669603214 Centerline is valid? [True, True] Translation: X:321.02, Y:2.94, Z:2.19 [[ 9.99764966e-01 -1.70619368e-02 -1.33754296e-02 3.21020941e+02] [ 1.70614325e-02 9.99854432e-01 -1.51819275e-04 2.93592735e+00] [ 1.33760729e-02 -7.64203970e-05 9.99910533e-01 2.18711388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.94925415399996 meters 0.015999556871536702 Centerline is valid? [True, True] Translation: X:321.05, Y:2.93, Z:2.19 [[ 9.99742755e-01 -1.79130062e-02 -1.39121658e-02 3.21049857e+02] [ 1.79125130e-02 9.99839545e-01 -1.60070316e-04 2.93476803e+00] [ 1.39128008e-02 -8.91727116e-05 9.99903208e-01 2.18605814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.979254154 meters 0.01494404792326351 Centerline is valid? [True, True] Translation: X:321.08, Y:2.93, Z:2.19 [[ 9.99683084e-01 -2.11014527e-02 -1.37281087e-02 3.21079027e+02] [ 2.11012255e-02 9.99777331e-01 -1.61411959e-04 2.93138598e+00] [ 1.37284579e-02 -1.28319113e-04 9.99905752e-01 2.18714722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.00925415399996 meters 0.01517608869579312 Centerline is valid? [True, True] Translation: X:321.11, Y:2.93, Z:2.19 [[ 9.99633347e-01 -2.31186713e-02 -1.40960222e-02 3.21109085e+02] [ 2.31186031e-02 9.99732715e-01 -1.67805423e-04 2.92953737e+00] [ 1.40961340e-02 -1.58136445e-04 9.99900632e-01 2.18723049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03925415399993 meters 0.015314401410099803 Centerline is valid? [True, True] Translation: X:321.14, Y:2.93, Z:2.19 [[ 9.99583306e-01 -2.49098537e-02 -1.45847012e-02 3.21139095e+02] [ 2.49099655e-02 9.99689684e-01 -1.74022410e-04 2.92807001e+00] [ 1.45845102e-02 -1.89354509e-04 9.99893622e-01 2.18742405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.06925415399996 meters 0.015505433066832634 Centerline is valid? [True, True] Translation: X:321.17, Y:2.93, Z:2.19 [[ 9.99531754e-01 -2.67075822e-02 -1.49324331e-02 3.21168801e+02] [ 2.67078936e-02 9.99643265e-01 -1.78595281e-04 2.92596512e+00] [ 1.49318760e-02 -2.20302180e-04 9.99888489e-01 2.18693559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09925415399994 meters 0.017549141837608518 Centerline is valid? [True, True] Translation: X:321.20, Y:2.92, Z:2.18 [[ 9.99391933e-01 -3.04799932e-02 -1.69332349e-02 3.21199190e+02] [ 3.04809302e-02 9.99535328e-01 -2.02813386e-04 2.92117653e+00] [ 1.69315483e-02 -3.13450690e-04 9.99856602e-01 2.18445559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.12925415399997 meters 0.017678501321008053 Centerline is valid? [True, True] Translation: X:321.23, Y:2.92, Z:2.18 [[ 9.99321687e-01 -3.24816110e-02 -1.73525580e-02 3.21228911e+02] [ 3.24828900e-02 9.99472270e-01 -2.08218082e-04 2.91917058e+00] [ 1.73501638e-02 -3.55584389e-04 9.99849411e-01 2.18452753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15925415399994 meters 0.01685112686519631 Centerline is valid? [True, True] Translation: X:321.26, Y:2.92, Z:2.19 [[ 9.99255608e-01 -3.44914228e-02 -1.72792000e-02 3.21259444e+02] [ 3.44929869e-02 9.99404918e-01 -2.07590920e-04 2.91795273e+00] [ 1.72760776e-02 -3.88574828e-04 9.99850682e-01 2.18557449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18925415399997 meters 0.01850348006296313 Centerline is valid? [True, True] Translation: X:321.29, Y:2.91, Z:2.18 [[ 9.99202595e-01 -3.59759505e-02 -1.73177404e-02 3.21289335e+02] [ 3.59777411e-02 9.99352570e-01 -2.08245307e-04 2.91378462e+00] [ 1.73140202e-02 -4.14973930e-04 9.99850015e-01 2.18459103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21925415399994 meters 0.017820481199486427 Centerline is valid? [True, True] Translation: X:321.32, Y:2.91, Z:2.19 [[ 9.99149078e-01 -3.76708136e-02 -1.67937180e-02 3.21319704e+02] [ 3.76727345e-02 9.99290110e-01 -2.02067716e-04 2.91292420e+00] [ 1.67894083e-02 -4.30769506e-04 9.99858955e-01 2.18598606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24925415399997 meters 0.017966955714732478 Centerline is valid? [True, True] Translation: X:321.35, Y:2.91, Z:2.19 [[ 9.99144158e-01 -3.78868992e-02 -1.65992294e-02 3.21351273e+02] [ 3.78888116e-02 9.99281941e-01 -1.99372467e-04 2.91215868e+00] [ 1.65948637e-02 -4.29723238e-04 9.99862203e-01 2.18659548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27925415399994 meters 0.017864614987831994 Centerline is valid? [True, True] Translation: X:321.38, Y:2.91, Z:2.19 [[ 9.99153295e-01 -3.78158908e-02 -1.62065365e-02 3.21382802e+02] [ 3.78177140e-02 9.99284636e-01 -1.94065522e-04 2.91221415e+00] [ 1.62022817e-02 -4.18992956e-04 9.99868647e-01 2.18725461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.309254154 meters 0.01793284894770257 Centerline is valid? [True, True] Translation: X:321.41, Y:2.91, Z:2.19 [[ 9.99180825e-01 -3.72498013e-02 -1.58155574e-02 3.21413801e+02] [ 3.72514757e-02 9.99305905e-01 -1.88808817e-04 2.91179893e+00] [ 1.58116130e-02 -4.00498705e-04 9.99874908e-01 2.18783201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.33925415399995 meters 0.018909309691396353 Centerline is valid? [True, True] Translation: X:321.44, Y:2.91, Z:2.19 [[ 9.99211702e-01 -3.63909252e-02 -1.58642638e-02 3.21444306e+02] [ 3.63925084e-02 9.99337555e-01 -1.88972971e-04 2.91105314e+00] [ 1.58606315e-02 -3.88516349e-04 9.99874137e-01 2.18708044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.369254154 meters 0.01782179376899886 Centerline is valid? [True, True] Translation: X:321.48, Y:2.91, Z:2.19 [[ 9.99247457e-01 -3.56389869e-02 -1.53095427e-02 3.21475404e+02] [ 3.56403796e-02 9.99364663e-01 -1.81942414e-04 2.91127867e+00] [ 1.53063002e-02 -3.63832418e-04 9.99882786e-01 2.18851762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.39925415399995 meters 0.017430635762831676 Centerline is valid? [True, True] Translation: X:321.51, Y:2.91, Z:2.19 [[ 9.99291916e-01 -3.44074036e-02 -1.52248926e-02 3.21506269e+02] [ 3.44086418e-02 9.99407831e-01 -1.80688818e-04 2.91161211e+00] [ 1.52220939e-02 -3.43307001e-04 9.99884078e-01 2.18897678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.429254154 meters 0.016662353697286768 Centerline is valid? [True, True] Translation: X:321.54, Y:2.91, Z:2.19 [[ 9.99385713e-01 -3.16512248e-02 -1.50464617e-02 3.21536447e+02] [ 3.16521219e-02 9.99498930e-01 -1.78571203e-04 2.91271166e+00] [ 1.50445744e-02 -2.97790932e-04 9.99886780e-01 2.18936874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.45925415399995 meters 0.016354397771938794 Centerline is valid? [True, True] Translation: X:321.57, Y:2.91, Z:2.19 [[ 9.99440647e-01 -2.98688039e-02 -1.50415583e-02 3.21566906e+02] [ 2.98694986e-02 9.99553791e-01 -1.78513009e-04 2.91324638e+00] [ 1.50401786e-02 -2.70870648e-04 9.99886853e-01 2.18967240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.489254154 meters 0.01602711070539575 Centerline is valid? [True, True] Translation: X:321.60, Y:2.91, Z:2.19 [[ 9.99493967e-01 -2.82367503e-02 -1.46456725e-02 3.21597447e+02] [ 2.82372338e-02 9.99601235e-01 -1.73814642e-04 2.91406628e+00] [ 1.46447403e-02 -2.39826594e-04 9.99892731e-01 2.19036022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.51925415399995 meters 0.015505907417073075 Centerline is valid? [True, True] Translation: X:321.63, Y:2.92, Z:2.19 [[ 9.99586263e-01 -2.49525518e-02 -1.43064134e-02 3.21627859e+02] [ 2.49526768e-02 9.99688619e-01 -1.69788320e-04 2.91546504e+00] [ 1.43061953e-02 -1.87265239e-04 9.99897644e-01 2.19103449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.549254154 meters 0.01555317815425331 Centerline is valid? [True, True] Translation: X:321.66, Y:2.91, Z:2.19 [[ 9.99625497e-01 -2.33836777e-02 -1.42151076e-02 3.21657029e+02] [ 2.33836388e-02 9.99726551e-01 -1.68971341e-04 2.91489174e+00] [ 1.42151717e-02 -1.63492881e-04 9.99898946e-01 2.19073866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.57925415399995 meters 0.015096531127186341 Centerline is valid? [True, True] Translation: X:321.69, Y:2.92, Z:2.19 [[ 9.99651730e-01 -2.19346230e-02 -1.46728170e-02 3.21686861e+02] [ 2.19344175e-02 9.99759396e-01 -1.74957158e-04 2.91599579e+00] [ 1.46731243e-02 -1.46943468e-04 9.99892333e-01 2.19122744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.609254154 meters 0.015113071743361404 Centerline is valid? [True, True] Translation: X:321.72, Y:2.92, Z:2.19 [[ 9.99665954e-01 -2.09043355e-02 -1.51983269e-02 3.21715028e+02] [ 2.09039851e-02 9.99781471e-01 -1.81936149e-04 2.91598995e+00] [ 1.51988089e-02 -1.35830226e-04 9.99884482e-01 2.19057833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.63925415399996 meters 0.014826548875823973 Centerline is valid? [True, True] Translation: X:321.74, Y:2.92, Z:2.19 [[ 9.99689395e-01 -1.89739932e-02 -1.61586004e-02 3.21743773e+02] [ 1.89733002e-02 9.99819971e-01 -1.96197105e-04 2.91567603e+00] [ 1.61594140e-02 -1.10445811e-04 9.99869422e-01 2.18995438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.669254154 meters 0.017689772867921384 Centerline is valid? [True, True] Translation: X:321.77, Y:2.92, Z:2.19 [[ 9.99679174e-01 -1.82019570e-02 -1.76135970e-02 3.21771478e+02] [ 1.82009248e-02 9.99834325e-01 -2.18917672e-04 2.91543545e+00] [ 1.76146636e-02 -1.01736317e-04 9.99844845e-01 2.18717098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.69925415399996 meters 0.014918451166023592 Centerline is valid? [True, True] Translation: X:321.80, Y:2.92, Z:2.19 [[ 9.99675979e-01 -1.86131676e-02 -1.73633664e-02 3.21799032e+02] [ 1.86121394e-02 9.99826755e-01 -2.20823978e-04 2.91504078e+00] [ 1.73644685e-02 -1.02416969e-04 9.99849221e-01 2.18939869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.729254154 meters 0.014867182607383482 Centerline is valid? [True, True] Translation: X:321.83, Y:2.91, Z:2.19 [[ 9.99677017e-01 -1.86529896e-02 -1.72605724e-02 3.21826931e+02] [ 1.86518937e-02 9.99826013e-01 -2.24483292e-04 2.91422475e+00] [ 1.72617566e-02 -9.75315740e-05 9.99851000e-01 2.18998863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.75925415399996 meters 0.014733253130095715 Centerline is valid? [True, True] Translation: X:321.86, Y:2.91, Z:2.19 [[ 9.99669302e-01 -1.92940985e-02 -1.70007187e-02 3.21855321e+02] [ 1.92930449e-02 9.99813846e-01 -2.25995449e-04 2.91404216e+00] [ 1.70019143e-02 -1.02074916e-04 9.99855452e-01 2.19108103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78925415399993 meters 0.014932093143232055 Centerline is valid? [True, True] Translation: X:321.88, Y:2.91, Z:2.19 [[ 9.99652752e-01 -2.03016892e-02 -1.67992975e-02 3.21882822e+02] [ 2.03007213e-02 9.99793893e-01 -2.28158814e-04 2.91341437e+00] [ 1.68004670e-02 -1.12958270e-04 9.99858856e-01 2.19169454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81925415399996 meters 0.01509359116274771 Centerline is valid? [True, True] Translation: X:321.91, Y:2.91, Z:2.19 [[ 9.99593593e-01 -2.33526000e-02 -1.63494390e-02 3.21910493e+02] [ 2.33520379e-02 9.99727279e-01 -2.25317176e-04 2.91093375e+00] [ 1.63502419e-02 -1.56567114e-04 9.99866314e-01 2.19279589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84925415399994 meters 0.015325964753728353 Centerline is valid? [True, True] Translation: X:321.94, Y:2.91, Z:2.19 [[ 9.99539619e-01 -2.57593282e-02 -1.60314360e-02 3.21938833e+02] [ 2.57590457e-02 9.99668156e-01 -2.24148582e-04 2.90919481e+00] [ 1.60318900e-02 -1.88909105e-04 9.99871463e-01 2.19322089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87925415399997 meters 0.015601957467025036 Centerline is valid? [True, True] Translation: X:321.97, Y:2.91, Z:2.19 [[ 9.99465838e-01 -2.86564416e-02 -1.57113516e-02 3.21967783e+02] [ 2.86564663e-02 9.99589294e-01 -2.23603385e-04 2.90767446e+00] [ 1.57113065e-02 -2.26747873e-04 9.99876544e-01 2.19394467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90925415399994 meters 0.016923835503971148 Centerline is valid? [True, True] Translation: X:322.00, Y:2.90, Z:2.19 [[ 9.99367611e-01 -3.19709292e-02 -1.55639720e-02 3.21996286e+02] [ 3.19713207e-02 9.99488762e-01 -2.23727322e-04 2.90312144e+00] [ 1.55631678e-02 -2.74014899e-04 9.99878849e-01 2.19320166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93925415399997 meters 0.019013770759408584 Centerline is valid? [True, True] Translation: X:322.03, Y:2.90, Z:2.19 [[ 9.99098593e-01 -3.97930468e-02 -1.47822485e-02 3.22026544e+02] [ 3.97942481e-02 9.99207872e-01 -2.12982830e-04 2.89554169e+00] [ 1.47790143e-02 -3.75457618e-04 9.99890714e-01 2.19388639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96925415399994 meters 0.018555739178138304 Centerline is valid? [True, True] Translation: X:322.06, Y:2.90, Z:2.20 [[ 9.98916641e-01 -4.41210890e-02 -1.47943622e-02 3.22057519e+02] [ 4.41227691e-02 9.99026094e-01 -2.12979569e-04 2.89519911e+00] [ 1.47893508e-02 -4.40019391e-04 9.99890535e-01 2.19533058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99925415399997 meters 0.020068328973899787 Centerline is valid? [True, True] Translation: X:322.09, Y:2.89, Z:2.20 [[ 9.98686373e-01 -4.90221088e-02 -1.49118068e-02 3.22089152e+02] [ 4.90243696e-02 9.98797560e-01 -2.14111212e-04 2.89148125e+00] [ 1.49043724e-02 -5.17211977e-04 9.99888790e-01 2.19528382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.02925415399994 meters 0.020068328973899787 Centerline is valid? [True, True] Translation: X:322.12, Y:2.89, Z:2.20 [[ 9.98690010e-01 -4.89479546e-02 -1.49118189e-02 3.22120857e+02] [ 4.89502198e-02 9.98801197e-01 -2.13262684e-04 2.89187663e+00] [ 1.49043813e-02 -5.16953501e-04 9.99888790e-01 2.19550348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.059254154 meters 0.023858292254692694 Centerline is valid? [True, True] Translation: X:322.15, Y:2.89, Z:2.19 [[ 9.98438050e-01 -5.32653099e-02 -1.68602451e-02 3.22151516e+02] [ 5.32688355e-02 9.98580179e-01 -2.40239377e-04 2.88831975e+00] [ 1.68491030e-02 -6.58261489e-04 9.99857827e-01 2.19324606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.08925415399995 meters 0.026626455064651788 Centerline is valid? [True, True] Translation: X:322.18, Y:2.88, Z:2.20 [[ 9.98172815e-01 -5.85312842e-02 -1.50040044e-02 3.22181696e+02] [ 5.85346725e-02 9.98285353e-01 -2.13599374e-04 2.87985725e+00] [ 1.49907801e-02 -6.65045399e-04 9.99887411e-01 2.19520491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.119254154 meters 0.024190416865378574 Centerline is valid? [True, True] Translation: X:322.21, Y:2.88, Z:2.20 [[ 9.97900100e-01 -6.30527815e-02 -1.48235641e-02 3.22212967e+02] [ 6.30565908e-02 9.98009931e-01 -2.10736398e-04 2.88273148e+00] [ 1.48073517e-02 -7.24429542e-04 9.99890103e-01 2.19658322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.14925415399995 meters 0.027462655195433425 Centerline is valid? [True, True] Translation: X:322.24, Y:2.88, Z:2.20 [[ 9.97316218e-01 -7.15482842e-02 -1.55307726e-02 3.22243233e+02] [ 7.15534969e-02 9.97436739e-01 -2.20487518e-04 2.87734065e+00] [ 1.55067387e-02 -8.91385311e-04 9.99879366e-01 2.19657077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.179254154 meters 0.028915063575099643 Centerline is valid? [True, True] Translation: X:322.27, Y:2.88, Z:2.20 [[ 9.97081388e-01 -7.46454446e-02 -1.60238237e-02 3.22274360e+02] [ 7.46513986e-02 9.97209666e-01 -2.27079663e-04 2.87544407e+00] [ 1.59960623e-02 -9.69783947e-04 9.99871585e-01 2.19675200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.20925415399995 meters 0.03104502053722748 Centerline is valid? [True, True] Translation: X:322.30, Y:2.87, Z:2.20 [[ 9.96910839e-01 -7.68717577e-02 -1.61093642e-02 3.22304385e+02] [ 7.68780696e-02 9.97040476e-01 -2.28000255e-04 2.87269119e+00] [ 1.60792149e-02 -1.01116089e-03 9.99870210e-01 2.19670302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.239254154 meters 0.03184413239988089 Centerline is valid? [True, True] Translation: X:322.34, Y:2.87, Z:2.20 [[ 9.96803625e-01 -7.82003442e-02 -1.63474823e-02 3.22336349e+02] [ 7.82070334e-02 9.96937113e-01 -2.30679475e-04 2.87248404e+00] [ 1.63154510e-02 -1.04854595e-03 9.99866344e-01 2.19695907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.26925415399995 meters 0.03303646978331672 Centerline is valid? [True, True] Translation: X:322.37, Y:2.87, Z:2.20 [[ 9.96777709e-01 -7.85122691e-02 -1.64323817e-02 3.22367380e+02] [ 7.85190871e-02 9.96912584e-01 -2.30847333e-04 2.87337291e+00] [ 1.63997724e-02 -1.06015213e-03 9.99864953e-01 2.19740521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.299254154 meters 0.03220868072938999 Centerline is valid? [True, True] Translation: X:322.40, Y:2.88, Z:2.20 [[ 9.96857887e-01 -7.75126150e-02 -1.63140615e-02 3.22399282e+02] [ 7.75192190e-02 9.96990832e-01 -2.28125607e-04 2.87611898e+00] [ 1.62826523e-02 -1.03724449e-03 9.99866891e-01 2.19791213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.32925415399995 meters 0.029748078020659954 Centerline is valid? [True, True] Translation: X:322.43, Y:2.88, Z:2.20 [[ 9.96959787e-01 -7.61291574e-02 -1.65992584e-02 3.22430964e+02] [ 7.61358209e-02 9.97097429e-01 -2.31057555e-04 2.88174602e+00] [ 1.65686681e-02 -1.03344308e-03 9.99862196e-01 2.19835581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.359254154 meters 0.029636310181445174 Centerline is valid? [True, True] Translation: X:322.46, Y:2.89, Z:2.20 [[ 9.97211654e-01 -7.26116105e-02 -1.72183464e-02 3.22460728e+02] [ 7.26182649e-02 9.97359780e-01 -2.39271913e-04 2.88507996e+00] [ 1.71902601e-02 -1.01176170e-03 9.99851725e-01 2.19788514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.38925415399996 meters 0.027503278475125827 Centerline is valid? [True, True] Translation: X:322.49, Y:2.89, Z:2.20 [[ 9.97332979e-01 -7.08920286e-02 -1.73565228e-02 3.22492016e+02] [ 7.08985374e-02 9.97483503e-01 -2.40801031e-04 2.88995594e+00] [ 1.73299160e-02 -9.90393271e-04 9.99849335e-01 2.19820269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.419254154 meters 0.027387629287805408 Centerline is valid? [True, True] Translation: X:322.52, Y:2.89, Z:2.20 [[ 9.97439531e-01 -6.93145279e-02 -1.76033426e-02 3.22523625e+02] [ 6.93209900e-02 9.97594377e-01 -2.43565114e-04 2.89203463e+00] [ 1.75778782e-02 -9.77339665e-04 9.99845019e-01 2.19799743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.44925415399996 meters 0.02842216018154211 Centerline is valid? [True, True] Translation: X:322.55, Y:2.89, Z:2.20 [[ 9.97526369e-01 -6.79647774e-02 -1.79424924e-02 3.22554599e+02] [ 6.79712888e-02 9.97687247e-01 -2.47387592e-04 2.89243993e+00] [ 1.79178095e-02 -9.72798684e-04 9.99838990e-01 2.19768700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.479254154 meters 0.026503342301626837 Centerline is valid? [True, True] Translation: X:322.59, Y:2.90, Z:2.20 [[ 9.97694296e-01 -6.56399762e-02 -1.72477342e-02 3.22586056e+02] [ 6.56456594e-02 9.97842969e-01 -2.37060677e-04 2.89839820e+00] [ 1.72260910e-02 -8.95724801e-04 9.99851219e-01 2.19851582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.50925415399996 meters 0.02470480875123529 Centerline is valid? [True, True] Translation: X:322.62, Y:2.90, Z:2.20 [[ 9.97762271e-01 -6.45781379e-02 -1.73238380e-02 3.22618127e+02] [ 6.45837297e-02 9.97912264e-01 -2.37067260e-04 2.90304912e+00] [ 1.73029798e-02 -8.82301305e-04 9.99849903e-01 2.19931894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53925415399993 meters 0.024426757920450144 Centerline is valid? [True, True] Translation: X:322.65, Y:2.91, Z:2.20 [[ 9.97834642e-01 -6.34947558e-02 -1.71593751e-02 3.22650505e+02] [ 6.35001042e-02 9.97981805e-01 -2.33532098e-04 2.90512750e+00] [ 1.71395722e-02 -8.56595690e-04 9.99852740e-01 2.19991020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.56925415399996 meters 0.024066514124643328 Centerline is valid? [True, True] Translation: X:322.68, Y:2.91, Z:2.20 [[ 9.97985325e-01 -6.12540471e-02 -1.65297583e-02 3.22682244e+02] [ 6.12587206e-02 9.98121896e-01 -2.23924894e-04 2.90920241e+00] [ 1.65124300e-02 -7.89118088e-04 9.99863349e-01 2.20072079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59925415399994 meters 0.023485698358069493 Centerline is valid? [True, True] Translation: X:322.71, Y:2.91, Z:2.20 [[ 9.98067018e-01 -5.99320267e-02 -1.64432086e-02 3.22714216e+02] [ 5.99364905e-02 9.98202168e-01 -2.21652673e-04 2.91207255e+00] [ 1.64269305e-02 -7.64323992e-04 9.99864777e-01 2.20112640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.62925415399997 meters 0.022842311067602244 Centerline is valid? [True, True] Translation: X:322.75, Y:2.92, Z:2.20 [[ 9.98164706e-01 -5.83090944e-02 -1.63483524e-02 3.22746745e+02] [ 5.83133124e-02 9.98298307e-01 -2.18974173e-04 2.91503960e+00] [ 1.63333007e-02 -7.34754291e-04 9.99866333e-01 2.20146127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65925415399994 meters 0.022343118866693393 Centerline is valid? [True, True] Translation: X:322.78, Y:2.92, Z:2.20 [[ 9.98283107e-01 -5.62551336e-02 -1.63155725e-02 3.22778201e+02] [ 5.62590773e-02 9.98416180e-01 -2.17534386e-04 2.91780156e+00] [ 1.63019690e-02 -7.00738154e-04 9.99866869e-01 2.20170575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68925415399997 meters 0.021139857321947144 Centerline is valid? [True, True] Translation: X:322.81, Y:2.92, Z:2.20 [[ 9.98565464e-01 -5.10502751e-02 -1.61519072e-02 3.22808401e+02] [ 5.10534642e-02 9.98695898e-01 -2.15094648e-04 2.92343014e+00] [ 1.61418241e-02 -6.09824730e-04 9.99869526e-01 2.20192226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71925415399994 meters 0.01964867657152901 Centerline is valid? [True, True] Translation: X:322.84, Y:2.93, Z:2.20 [[ 9.98715364e-01 -4.80174280e-02 -1.61848388e-02 3.22839666e+02] [ 4.80202380e-02 9.98846340e-01 -2.15184728e-04 2.92869138e+00] [ 1.61764996e-02 -5.62291515e-04 9.99868994e-01 2.20232213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74925415399997 meters 0.019666863486249464 Centerline is valid? [True, True] Translation: X:322.87, Y:2.93, Z:2.20 [[ 9.98869381e-01 -4.45390213e-02 -1.66203240e-02 3.22870454e+02] [ 4.45415141e-02 9.99007510e-01 -2.20345096e-04 2.93141872e+00] [ 1.66136424e-02 -5.20198426e-04 9.99861849e-01 2.20234274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77925415399994 meters 0.01710418378385258 Centerline is valid? [True, True] Translation: X:322.90, Y:2.94, Z:2.20 [[ 9.99183415e-01 -3.69702387e-02 -1.63004685e-02 3.22900830e+02] [ 3.69716339e-02 9.99316292e-01 -2.15850955e-04 2.94138035e+00] [ 1.62973038e-02 -3.86980260e-04 9.99867115e-01 2.20349587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.809254154 meters 0.016583841122644074 Centerline is valid? [True, True] Translation: X:322.93, Y:2.95, Z:2.20 [[ 9.99311905e-01 -3.34366423e-02 -1.60532989e-02 3.22931522e+02] [ 3.34375451e-02 9.99440786e-01 -2.12239807e-04 2.94516213e+00] [ 1.60514183e-02 -3.24689143e-04 9.99871115e-01 2.20376196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.83925415399995 meters 0.016167348179661332 Centerline is valid? [True, True] Translation: X:322.96, Y:2.95, Z:2.20 [[ 9.99417001e-01 -3.03335069e-02 -1.56695928e-02 3.22962297e+02] [ 3.03339897e-02 9.99539797e-01 -2.06916233e-04 2.94919075e+00] [ 1.56686581e-02 -2.68525665e-04 9.99877203e-01 2.20419100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.869254154 meters 0.015595088774811985 Centerline is valid? [True, True] Translation: X:322.99, Y:2.95, Z:2.20 [[ 9.99510485e-01 -2.74741334e-02 -1.49653982e-02 3.22992870e+02] [ 2.74742534e-02 9.99622492e-01 -1.97617377e-04 2.95301221e+00] [ 1.49651780e-02 -2.13642502e-04 9.99887993e-01 2.20471076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.89925415399995 meters 0.015320339100643343 Centerline is valid? [True, True] Translation: X:323.02, Y:2.96, Z:2.20 [[ 9.99612373e-01 -2.39244938e-02 -1.42380819e-02 3.23022537e+02] [ 2.39242437e-02 9.99713757e-01 -1.87914915e-04 2.95733618e+00] [ 1.42385021e-02 -1.52793267e-04 9.99898616e-01 2.20486709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.929254154 meters 0.015211436754875898 Centerline is valid? [True, True] Translation: X:323.05, Y:2.96, Z:2.21 [[ 9.99639486e-01 -2.31021948e-02 -1.36815884e-02 3.23053108e+02] [ 2.31018881e-02 9.99733099e-01 -1.80480760e-04 2.95956651e+00] [ 1.36821063e-02 -1.35654830e-04 9.99906386e-01 2.20558901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.95925415399995 meters 0.01511967110304261 Centerline is valid? [True, True] Translation: X:323.08, Y:2.96, Z:2.21 [[ 9.99642399e-01 -2.31146680e-02 -1.34456598e-02 3.23082301e+02] [ 2.31143714e-02 9.99732811e-01 -1.77485585e-04 2.96117566e+00] [ 1.34461698e-02 -1.33365859e-04 9.99909587e-01 2.20588490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.989254154 meters 0.015253550582889207 Centerline is valid? [True, True] Translation: X:323.11, Y:2.96, Z:2.21 [[ 9.99622799e-01 -2.39242427e-02 -1.34866653e-02 3.23112876e+02] [ 2.39240162e-02 9.99713764e-01 -1.78151725e-04 2.96262965e+00] [ 1.34870671e-02 -1.44570673e-04 9.99909035e-01 2.20633472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.01925415399995 meters 0.01635118179093832 Centerline is valid? [True, True] Translation: X:323.14, Y:2.96, Z:2.21 [[ 9.99591025e-01 -2.50489509e-02 -1.37961313e-02 3.23143064e+02] [ 2.50488227e-02 9.99686212e-01 -1.82116255e-04 2.96223256e+00] [ 1.37963641e-02 -1.63535073e-04 9.99904812e-01 2.20545902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.049254154 meters 0.015907341213236607 Centerline is valid? [True, True] Translation: X:323.17, Y:2.96, Z:2.21 [[ 9.99536925e-01 -2.75133586e-02 -1.29980696e-02 3.23173419e+02] [ 2.75134547e-02 9.99621419e-01 -1.71464160e-04 2.96193073e+00] [ 1.29978664e-02 -1.86237041e-04 9.99915507e-01 2.20626227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.07925415399995 meters 0.017540485485599566 Centerline is valid? [True, True] Translation: X:323.21, Y:2.96, Z:2.21 [[ 9.99330584e-01 -3.40759927e-02 -1.33120372e-02 3.23205051e+02] [ 3.40766783e-02 9.99419206e-01 -1.75378486e-04 2.95839349e+00] [ 1.33102819e-02 -2.78368926e-04 9.99911376e-01 2.20558343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.109254154 meters 0.019602617523853706 Centerline is valid? [True, True] Translation: X:323.24, Y:2.96, Z:2.20 [[ 9.99170788e-01 -3.82117291e-02 -1.40569993e-02 3.23236183e+02] [ 3.82129115e-02 9.99269603e-01 -1.84567905e-04 2.95525443e+00] [ 1.40537847e-02 -3.52744010e-04 9.99901178e-01 2.20451634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.13925415399996 meters 0.020902065032147806 Centerline is valid? [True, True] Translation: X:323.27, Y:2.95, Z:2.20 [[ 9.98992674e-01 -4.23795284e-02 -1.47516865e-02 3.23267219e+02] [ 4.23812921e-02 9.99101491e-01 -1.93176506e-04 2.95446160e+00] [ 1.47466187e-02 -4.32213619e-04 9.99891169e-01 2.20434841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.169254154 meters 0.02316980916093513 Centerline is valid? [True, True] Translation: X:323.30, Y:2.95, Z:2.20 [[ 9.98811967e-01 -4.62442056e-02 -1.53664631e-02 3.23297600e+02] [ 4.62465805e-02 9.98930034e-01 -2.00946407e-04 2.95123116e+00] [ 1.53593141e-02 -5.09938697e-04 9.99881909e-01 2.20317105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.19925415399996 meters 0.025856571776434377 Centerline is valid? [True, True] Translation: X:323.33, Y:2.95, Z:2.20 [[ 9.98377781e-01 -5.45574153e-02 -1.62878578e-02 3.23328409e+02] [ 5.45611904e-02 9.98510406e-01 -2.12834623e-04 2.94627550e+00] [ 1.62752072e-02 -6.76195553e-04 9.99867321e-01 2.20283629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.229254154 meters 0.027547712015325024 Centerline is valid? [True, True] Translation: X:323.36, Y:2.94, Z:2.20 [[ 9.98183558e-01 -5.78938695e-02 -1.66698710e-02 3.23358903e+02] [ 5.78982914e-02 9.98322463e-01 -2.17632160e-04 2.94335473e+00] [ 1.66545062e-02 -7.47920203e-04 9.99861024e-01 2.20254107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.25925415399996 meters 0.029733061347968215 Centerline is valid? [True, True] Translation: X:323.39, Y:2.94, Z:2.20 [[ 9.97869666e-01 -6.29616854e-02 -1.70867444e-02 3.23389672e+02] [ 6.29670751e-02 9.98015580e-01 -2.22911235e-04 2.93972571e+00] [ 1.70668719e-02 -8.53465956e-04 9.99853986e-01 2.20192152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28925415399993 meters 0.0304096674713574 Centerline is valid? [True, True] Translation: X:323.42, Y:2.94, Z:2.20 [[ 9.97763515e-01 -6.46787769e-02 -1.68708275e-02 3.23421661e+02] [ 6.46842882e-02 9.97905754e-01 -2.19368209e-04 2.93907540e+00] [ 1.68496843e-02 -8.72399872e-04 9.99857653e-01 2.20195872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31925415399996 meters 0.027509352054966397 Centerline is valid? [True, True] Translation: X:323.45, Y:2.94, Z:2.20 [[ 9.97666758e-01 -6.59751077e-02 -1.75592008e-02 3.23453959e+02] [ 6.59813010e-02 9.97820834e-01 -2.27020790e-04 2.94421074e+00] [ 1.75359141e-02 -9.32087821e-04 9.99845800e-01 2.20293834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34925415399994 meters 0.03192826821437934 Centerline is valid? [True, True] Translation: X:323.48, Y:2.94, Z:2.20 [[ 9.97614517e-01 -6.67945819e-02 -1.74286860e-02 3.23484941e+02] [ 6.68008272e-02 9.97766305e-01 -2.24241048e-04 2.93858182e+00] [ 1.74047337e-02 -9.40544514e-04 9.99848084e-01 2.20222885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37925415399997 meters 0.03301452888996633 Centerline is valid? [True, True] Translation: X:323.52, Y:2.94, Z:2.20 [[ 9.97589283e-01 -6.72638910e-02 -1.70643381e-02 3.23516412e+02] [ 6.72699617e-02 9.97734787e-01 -2.18650891e-04 2.93918109e+00] [ 1.70403911e-02 -9.29793586e-04 9.99854370e-01 2.20270811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40925415399994 meters 0.03355848279545194 Centerline is valid? [True, True] Translation: X:323.55, Y:2.94, Z:2.20 [[ 9.97614484e-01 -6.69103091e-02 -1.69809513e-02 3.23548548e+02] [ 6.69162872e-02 9.97758570e-01 -2.16536439e-04 2.94008296e+00] [ 1.69573782e-02 -9.20282326e-04 9.99855790e-01 2.20291198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43925415399997 meters 0.028834527987390092 Centerline is valid? [True, True] Translation: X:323.58, Y:2.95, Z:2.20 [[ 9.97635119e-01 -6.65271673e-02 -1.72715090e-02 3.23580331e+02] [ 6.65333159e-02 9.97784180e-01 -2.19004746e-04 2.94830892e+00] [ 1.72478082e-02 -9.30643937e-04 9.99850812e-01 2.20444124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46925415399994 meters 0.028573927826357974 Centerline is valid? [True, True] Translation: X:323.61, Y:2.95, Z:2.20 [[ 9.97702060e-01 -6.55766284e-02 -1.70383567e-02 3.23612091e+02] [ 6.55824949e-02 9.97847128e-01 -2.14813533e-04 2.95035518e+00] [ 1.70157620e-02 -9.03098036e-04 9.99854814e-01 2.20458892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49925415399997 meters 0.02683605377779163 Centerline is valid? [True, True] Translation: X:323.64, Y:2.96, Z:2.21 [[ 9.97849589e-01 -6.34113892e-02 -1.65889677e-02 3.23643989e+02] [ 6.34166688e-02 9.97987116e-01 -2.08122668e-04 2.95598406e+00] [ 1.65687734e-02 -8.44341953e-04 9.99862372e-01 2.20564282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.52925415399994 meters 0.02702199463954102 Centerline is valid? [True, True] Translation: X:323.68, Y:2.96, Z:2.21 [[ 9.97924735e-01 -6.21809561e-02 -1.67257928e-02 3.23675223e+02] [ 6.21861662e-02 9.98064546e-01 -2.08915634e-04 2.95783514e+00] [ 1.67064113e-02 -8.31630851e-04 9.99860092e-01 2.20596772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.559254154 meters 0.02640075701135071 Centerline is valid? [True, True] Translation: X:323.71, Y:2.96, Z:2.21 [[ 9.98012057e-01 -6.07639462e-02 -1.67235181e-02 3.23707831e+02] [ 6.07689777e-02 9.98151836e-01 -2.07617827e-04 2.96079699e+00] [ 1.67052260e-02 -8.09066004e-04 9.99860131e-01 2.20629194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.58925415399995 meters 0.02580287622092947 Centerline is valid? [True, True] Translation: X:323.74, Y:2.96, Z:2.21 [[ 9.98089461e-01 -5.92766005e-02 -1.74273577e-02 3.23740251e+02] [ 5.92818630e-02 9.98241261e-01 -2.14935876e-04 2.96378731e+00] [ 1.74094482e-02 -8.18600999e-04 9.99848109e-01 2.20623605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.619254154 meters 0.025458027058060925 Centerline is valid? [True, True] Translation: X:323.77, Y:2.97, Z:2.21 [[ 9.98162586e-01 -5.79018809e-02 -1.78556587e-02 3.23772490e+02] [ 5.79072092e-02 9.98321946e-01 -2.18910945e-04 2.96619180e+00] [ 1.78383712e-02 -8.15462646e-04 9.99840551e-01 2.20587348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.64925415399995 meters 0.02736339260101061 Centerline is valid? [True, True] Translation: X:323.80, Y:2.97, Z:2.20 [[ 9.98229062e-01 -5.65516271e-02 -1.84567795e-02 3.23803681e+02] [ 5.65571109e-02 9.98399340e-01 -2.25140895e-04 2.96557749e+00] [ 1.84399685e-02 -8.19119939e-04 9.99829634e-01 2.20472650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.679254154 meters 0.023249226130631333 Centerline is valid? [True, True] Translation: X:323.84, Y:2.98, Z:2.21 [[ 9.98391145e-01 -5.32689068e-02 -1.94305205e-02 3.23835267e+02] [ 5.32743851e-02 9.98579884e-01 -2.35938262e-04 2.97544222e+00] [ 1.94154950e-02 -7.99590359e-04 9.99811182e-01 2.20573152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.70925415399995 meters 0.023606093473284098 Centerline is valid? [True, True] Translation: X:323.87, Y:2.98, Z:2.21 [[ 9.98491607e-01 -5.13103505e-02 -1.95386622e-02 3.23866881e+02] [ 5.13155410e-02 9.98682462e-01 -2.35952916e-04 2.97707539e+00] [ 1.95250261e-02 -7.67040012e-04 9.99809074e-01 2.20558673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.739254154 meters 0.02279375700408502 Centerline is valid? [True, True] Translation: X:323.90, Y:2.98, Z:2.21 [[ 9.98609118e-01 -4.89527892e-02 -1.95819867e-02 3.23897895e+02] [ 4.89575688e-02 9.98800831e-01 -2.35520736e-04 2.98060890e+00] [ 1.95700340e-02 -7.23493307e-04 9.99808227e-01 2.20610532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.76925415399995 meters 0.019568357095882487 Centerline is valid? [True, True] Translation: X:323.93, Y:2.99, Z:2.21 [[ 9.98862752e-01 -4.34858073e-02 -1.95496229e-02 3.23928655e+02] [ 4.34895344e-02 9.99053855e-01 -2.34653108e-04 2.99128684e+00] [ 1.95413302e-02 -6.15817747e-04 9.99808860e-01 2.20836510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.799254154 meters 0.018847299937924417 Centerline is valid? [True, True] Translation: X:323.96, Y:3.00, Z:2.21 [[ 9.99003548e-01 -4.02630421e-02 -1.92561473e-02 3.23959998e+02] [ 4.02660711e-02 9.99188966e-01 -2.30552046e-04 2.99516979e+00] [ 1.92498126e-02 -5.45047082e-04 9.99814557e-01 2.20879094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.82925415399995 meters 0.017786371943882006 Centerline is valid? [True, True] Translation: X:323.99, Y:3.00, Z:2.21 [[ 9.99132181e-01 -3.72077948e-02 -1.87207158e-02 3.23991041e+02] [ 3.72101345e-02 9.99307438e-01 -2.23455541e-04 2.99959284e+00] [ 1.87160649e-02 -4.73338733e-04 9.99824727e-01 2.20984910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.859254154 meters 0.016580959372726092 Centerline is valid? [True, True] Translation: X:324.02, Y:3.01, Z:2.21 [[ 9.99384012e-01 -3.04340526e-02 -1.74746724e-02 3.24020928e+02] [ 3.04350602e-02 9.99536725e-01 -2.08342096e-04 3.00620140e+00] [ 1.74729175e-02 -3.23628946e-04 9.99847285e-01 2.21069459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.88925415399996 meters 0.015732324307031687 Centerline is valid? [True, True] Translation: X:324.05, Y:3.01, Z:2.21 [[ 9.99489124e-01 -2.71640342e-02 -1.68405877e-02 3.24051165e+02] [ 2.71645058e-02 9.99630957e-01 -2.00782209e-04 3.01046577e+00] [ 1.68398268e-02 -2.56786607e-04 9.99858167e-01 2.21187495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.919254154 meters 0.015732324307031687 Centerline is valid? [True, True] Translation: X:324.08, Y:3.01, Z:2.21 [[ 9.99489124e-01 -2.71640342e-02 -1.68405877e-02 3.24081167e+02] [ 2.71645058e-02 9.99630957e-01 -2.00782209e-04 3.01082347e+00] [ 1.68398268e-02 -2.56786607e-04 9.99858167e-01 2.21208288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.94925415399996 meters 0.015004938273558931 Centerline is valid? [True, True] Translation: X:324.11, Y:3.02, Z:2.21 [[ 9.99620906e-01 -2.17301846e-02 -1.69068841e-02 3.24111027e+02] [ 2.17298829e-02 9.99763858e-01 -2.01572629e-04 3.01655133e+00] [ 1.69072718e-02 -1.65888397e-04 9.99857048e-01 2.21204231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.979254154 meters 0.014597928569530558 Centerline is valid? [True, True] Translation: X:324.14, Y:3.02, Z:2.21 [[ 9.99655737e-01 -1.97851188e-02 -1.72324520e-02 3.24140802e+02] [ 1.97845099e-02 9.99804246e-01 -2.05831283e-04 3.01989293e+00] [ 1.72331511e-02 -1.35175195e-04 9.99851489e-01 2.21297985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.00925415399996 meters 0.01462424888855575 Centerline is valid? [True, True] Translation: X:324.17, Y:3.02, Z:2.21 [[ 9.99680975e-01 -1.86151449e-02 -1.70711504e-02 3.24168979e+02] [ 1.86143631e-02 9.99826717e-01 -2.04707973e-04 3.02188548e+00] [ 1.70720030e-02 -1.13125926e-04 9.99854256e-01 2.21266831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03925415399993 meters 0.01457515067624393 Centerline is valid? [True, True] Translation: X:324.20, Y:3.02, Z:2.21 [[ 9.99689767e-01 -1.79742410e-02 -1.72422794e-02 3.24196417e+02] [ 1.79733257e-02 9.99838445e-01 -2.08061171e-04 3.02329383e+00] [ 1.72432336e-02 -1.01904479e-04 9.99851319e-01 2.21246297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.06925415399996 meters 0.01443508137411185 Centerline is valid? [True, True] Translation: X:324.22, Y:3.03, Z:2.21 [[ 9.99688344e-01 -1.81928605e-02 -1.70948582e-02 3.24224922e+02] [ 1.81919379e-02 9.99834491e-01 -2.09485196e-04 3.02518134e+00] [ 1.70958400e-02 -1.01568692e-04 9.99853850e-01 2.21331383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09925415399994 meters 0.014387350955240031 Centerline is valid? [True, True] Translation: X:324.25, Y:3.03, Z:2.21 [[ 9.99676026e-01 -1.85575417e-02 -1.74200949e-02 3.24253247e+02] [ 1.85565612e-02 9.99827788e-01 -2.17938232e-04 3.02562835e+00] [ 1.74211393e-02 -1.05389431e-04 9.99848235e-01 2.21341290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.12925415399997 meters 0.014488640913965761 Centerline is valid? [True, True] Translation: X:324.28, Y:3.03, Z:2.21 [[ 9.99649657e-01 -1.95032407e-02 -1.78937768e-02 3.24281542e+02] [ 1.95022753e-02 9.99809786e-01 -2.28461916e-04 3.02619348e+00] [ 1.78948289e-02 -1.20587485e-04 9.99839867e-01 2.21351002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15925415399994 meters 0.014543306590984035 Centerline is valid? [True, True] Translation: X:324.31, Y:3.03, Z:2.21 [[ 9.99648142e-01 -1.98458279e-02 -1.75993173e-02 3.24310004e+02] [ 1.98448690e-02 9.99803045e-01 -2.29143840e-04 3.02667269e+00] [ 1.76003986e-02 -1.20192933e-04 9.99845094e-01 2.21365396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18925415399997 meters 0.014464702920047777 Centerline is valid? [True, True] Translation: X:324.34, Y:3.03, Z:2.21 [[ 9.99642986e-01 -2.00045986e-02 -1.77120387e-02 3.24338716e+02] [ 2.00035719e-02 9.99799881e-01 -2.35147285e-04 3.02787870e+00] [ 1.77131982e-02 -1.19240706e-04 9.99843102e-01 2.21470313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21925415399994 meters 0.01666709519749362 Centerline is valid? [True, True] Translation: X:324.37, Y:3.03, Z:2.21 [[ 9.99649826e-01 -1.90520987e-02 -1.83641543e-02 3.24367439e+02] [ 1.90507466e-02 9.99818487e-01 -2.48582472e-04 3.02848817e+00] [ 1.83655570e-02 -1.01355425e-04 9.99831334e-01 2.21378829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24925415399997 meters 0.014534413049840501 Centerline is valid? [True, True] Translation: X:324.40, Y:3.03, Z:2.21 [[ 9.99659158e-01 -1.89536882e-02 -1.79534084e-02 3.24395040e+02] [ 1.89523308e-02 9.99820358e-01 -2.45762124e-04 3.02936095e+00] [ 1.79548413e-02 -9.45805775e-05 9.99838794e-01 2.21476630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27925415399994 meters 0.014292486678287204 Centerline is valid? [True, True] Translation: X:324.42, Y:3.03, Z:2.22 [[ 9.99680363e-01 -1.80432374e-02 -1.77091392e-02 3.24423467e+02] [ 1.80417140e-02 9.99837205e-01 -2.45795806e-04 3.03042331e+00] [ 1.77106911e-02 -7.37859840e-05 9.99843151e-01 2.21556410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.309254154 meters 0.01441715734469439 Centerline is valid? [True, True] Translation: X:324.45, Y:3.03, Z:2.22 [[ 9.99731596e-01 -1.57363090e-02 -1.70030730e-02 3.24452356e+02] [ 1.57344984e-02 9.99876176e-01 -2.40269346e-04 3.03085953e+00] [ 1.70047486e-02 -2.73299680e-05 9.99855408e-01 2.21607880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.33925415399995 meters 0.014428869461191242 Centerline is valid? [True, True] Translation: X:324.48, Y:3.03, Z:2.22 [[ 9.99747467e-01 -1.50024246e-02 -1.67310633e-02 3.24480616e+02] [ 1.50004920e-02 9.99887457e-01 -2.41008366e-04 3.03105682e+00] [ 1.67327961e-02 -1.00266775e-05 9.99859997e-01 2.21647716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.369254154 meters 0.014357305894528051 Centerline is valid? [True, True] Translation: X:324.51, Y:3.03, Z:2.22 [[ 9.99779700e-01 -1.37761225e-02 -1.58357183e-02 3.24508083e+02] [ 1.37741667e-02 9.99905105e-01 -2.32573589e-04 3.03066924e+00] [ 1.58374195e-02 1.43985282e-05 9.99874580e-01 2.21690938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.39925415399995 meters 0.014357305894528051 Centerline is valid? [True, True] Translation: X:324.54, Y:3.03, Z:2.22 [[ 9.99775701e-01 -1.40634019e-02 -1.58356505e-02 3.24535467e+02] [ 1.40614101e-02 9.99901105e-01 -2.37124521e-04 3.03114810e+00] [ 1.58374192e-02 1.43997583e-05 9.99874580e-01 2.21709984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.429254154 meters 0.014445000660474206 Centerline is valid? [True, True] Translation: X:324.56, Y:3.03, Z:2.22 [[ 9.99752585e-01 -1.53357006e-02 -1.61116693e-02 3.24563701e+02] [ 1.53337286e-02 9.99882401e-01 -2.45930356e-04 3.02827622e+00] [ 1.61135461e-02 -1.18245524e-06 9.99870168e-01 2.21696106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.45925415399995 meters 0.014492946181748626 Centerline is valid? [True, True] Translation: X:324.59, Y:3.03, Z:2.22 [[ 9.99711829e-01 -1.73952923e-02 -1.65427445e-02 3.24591836e+02] [ 1.73934472e-02 9.99848690e-01 -2.55419361e-04 3.02606329e+00] [ 1.65446845e-02 -3.23895960e-05 9.99863127e-01 2.21686496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.489254154 meters 0.014658969329325823 Centerline is valid? [True, True] Translation: X:324.62, Y:3.02, Z:2.22 [[ 9.99657004e-01 -2.01640720e-02 -1.67118256e-02 3.24620310e+02] [ 2.01625248e-02 9.99796682e-01 -2.61081473e-04 3.02302862e+00] [ 1.67136923e-02 -7.59606753e-05 9.99860314e-01 2.21658432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.51925415399995 meters 0.014825858476670598 Centerline is valid? [True, True] Translation: X:324.65, Y:3.02, Z:2.22 [[ 9.99575143e-01 -2.36542235e-02 -1.70297294e-02 3.24648686e+02] [ 2.36530499e-02 9.99720191e-01 -2.70357450e-04 3.01955447e+00] [ 1.70313595e-02 -1.32562453e-04 9.99854947e-01 2.21652960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.549254154 meters 0.015618399095659452 Centerline is valid? [True, True] Translation: X:324.68, Y:3.01, Z:2.22 [[ 9.99343090e-01 -3.17105045e-02 -1.75451559e-02 3.24678692e+02] [ 3.17104612e-02 9.99497057e-01 -2.80741061e-04 3.01136223e+00] [ 1.75452342e-02 -2.75808347e-04 9.99846032e-01 2.21673401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.57925415399995 meters 0.01645188990156758 Centerline is valid? [True, True] Translation: X:324.71, Y:3.01, Z:2.22 [[ 9.99192608e-01 -3.60342618e-02 -1.77669392e-02 3.24708835e+02] [ 3.60348995e-02 9.99350492e-01 -2.84350288e-04 3.00651137e+00] [ 1.77656458e-02 -3.56109164e-04 9.99842115e-01 2.21632536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.609254154 meters 0.017256500724905918 Centerline is valid? [True, True] Translation: X:324.74, Y:3.00, Z:2.22 [[ 9.99008005e-01 -4.06123208e-02 -1.82659597e-02 3.24740036e+02] [ 4.06137695e-02 9.99174878e-01 -2.91786599e-04 3.00268935e+00] [ 1.82627382e-02 -4.50352328e-04 9.99833121e-01 2.21665995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.63925415399996 meters 0.019897702277501705 Centerline is valid? [True, True] Translation: X:324.77, Y:3.00, Z:2.22 [[ 9.98801549e-01 -4.52887830e-02 -1.85577731e-02 3.24770371e+02] [ 4.52910936e-02 9.98973788e-01 -2.95974506e-04 2.99563187e+00] [ 1.85521332e-02 -5.44882043e-04 9.99827746e-01 2.21533159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.669254154 meters 0.02130521843427318 Centerline is valid? [True, True] Translation: X:324.80, Y:2.99, Z:2.22 [[ 9.98293671e-01 -5.50661433e-02 -1.94284846e-02 3.24801380e+02] [ 5.50705267e-02 9.98482419e-01 -3.09737844e-04 2.98959930e+00] [ 1.94160564e-02 -7.60727552e-04 9.99811201e-01 2.21659071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.69925415399996 meters 0.0227276290669387 Centerline is valid? [True, True] Translation: X:324.83, Y:2.99, Z:2.22 [[ 9.98016000e-01 -5.98684188e-02 -1.94893791e-02 3.24832111e+02] [ 5.98737479e-02 9.98205910e-01 -3.10481066e-04 2.98594253e+00] [ 1.94730014e-02 -8.57037098e-04 9.99810016e-01 2.21690356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.729254154 meters 0.02451527541257964 Centerline is valid? [True, True] Translation: X:324.86, Y:2.98, Z:2.22 [[ 9.97745503e-01 -6.40649514e-02 -1.99898302e-02 3.24863324e+02] [ 6.40714053e-02 9.97945266e-01 -3.18080975e-04 2.98178902e+00] [ 1.99691342e-02 -9.63412649e-04 9.99800133e-01 2.21722008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.75925415399996 meters 0.02762863512808976 Centerline is valid? [True, True] Translation: X:324.89, Y:2.97, Z:2.22 [[ 9.97263516e-01 -7.11093544e-02 -2.02222369e-02 3.24894648e+02] [ 7.11174129e-02 9.97467899e-01 -3.21285230e-04 2.97473503e+00] [ 2.01938785e-02 -1.11774713e-03 9.99795458e-01 2.21789479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78925415399993 meters 0.02926534111686905 Centerline is valid? [True, True] Translation: X:324.93, Y:2.97, Z:2.22 [[ 9.97064477e-01 -7.37648915e-02 -2.05224265e-02 3.24926053e+02] [ 7.37737657e-02 9.97274950e-01 -3.25367108e-04 2.97171812e+00] [ 2.04905025e-02 -1.18960470e-03 9.99789340e-01 2.21804260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81925415399996 meters 0.029863433344851874 Centerline is valid? [True, True] Translation: X:324.96, Y:2.97, Z:2.22 [[ 9.96920556e-01 -7.55316672e-02 -2.10801328e-02 3.24957986e+02] [ 7.55414458e-02 9.97142607e-01 -3.33172547e-04 2.97055158e+00] [ 2.10450637e-02 -1.26027715e-03 9.99777734e-01 2.21851355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84925415399994 meters 0.031111049465285926 Centerline is valid? [True, True] Translation: X:324.99, Y:2.97, Z:2.22 [[ 9.96753952e-01 -7.77601588e-02 -2.08546480e-02 3.24988667e+02] [ 7.77702282e-02 9.96971255e-01 -3.28978951e-04 2.96795963e+00] [ 2.08170661e-02 -1.29395967e-03 9.99782464e-01 2.21895122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87925415399997 meters 0.029514180295596104 Centerline is valid? [True, True] Translation: X:325.02, Y:2.97, Z:2.22 [[ 9.96734668e-01 -7.79657685e-02 -2.10081186e-02 3.25021149e+02] [ 7.79760569e-02 9.96955177e-01 -3.30223059e-04 2.97019854e+00] [ 2.09698987e-02 -1.30898548e-03 9.99779251e-01 2.21972977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90925415399994 meters 0.030314103132496505 Centerline is valid? [True, True] Translation: X:325.05, Y:2.97, Z:2.22 [[ 9.96726904e-01 -7.80106635e-02 -2.12088569e-02 3.25053437e+02] [ 7.80211930e-02 9.96951645e-01 -3.31803778e-04 2.96927850e+00] [ 2.11700890e-02 -1.32402257e-03 9.99775012e-01 2.21932732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93925415399997 meters 0.030146842005721253 Centerline is valid? [True, True] Translation: X:325.09, Y:2.97, Z:2.22 [[ 9.96708948e-01 -7.79842022e-02 -2.21300107e-02 3.25085750e+02] [ 7.79956967e-02 9.96953636e-01 -3.44558710e-04 2.96974649e+00] [ 2.20894648e-02 -1.38262085e-03 9.99755042e-01 2.21936868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96925415399994 meters 0.029226648476959174 Centerline is valid? [True, True] Translation: X:325.12, Y:2.97, Z:2.22 [[ 9.96735340e-01 -7.72077864e-02 -2.36139781e-02 3.25118450e+02] [ 7.72207075e-02 9.97013956e-01 -3.65567311e-04 2.97206219e+00] [ 2.35716903e-02 -1.45911424e-03 9.99721084e-01 2.21908302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99925415399997 meters 0.032841503534012155 Centerline is valid? [True, True] Translation: X:325.15, Y:2.97, Z:2.22 [[ 9.96759954e-01 -7.65667243e-02 -2.46400302e-02 3.25150094e+02] [ 7.65806387e-02 9.97063319e-01 -3.79798526e-04 2.96793643e+00] [ 2.45967502e-02 -1.50838129e-03 9.99696316e-01 2.21761313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.02925415399994 meters 0.03273863152507136 Centerline is valid? [True, True] Translation: X:325.18, Y:2.97, Z:2.22 [[ 9.96782433e-01 -7.62769453e-02 -2.46294171e-02 3.25182059e+02] [ 7.62908000e-02 9.97085538e-01 -3.77995555e-04 2.96899292e+00] [ 2.45864680e-02 -1.50221861e-03 9.99696578e-01 2.21794840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.059254154 meters 0.029777457147608967 Centerline is valid? [True, True] Translation: X:325.21, Y:2.97, Z:2.22 [[ 9.96817857e-01 -7.57270883e-02 -2.48911391e-02 3.25213967e+02] [ 7.57411135e-02 9.97127444e-01 -3.80196177e-04 2.97412508e+00] [ 2.48484291e-02 -1.50629626e-03 9.99690095e-01 2.21931565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.08925415399995 meters 0.031058134552923004 Centerline is valid? [True, True] Translation: X:325.24, Y:2.97, Z:2.22 [[ 9.96915054e-01 -7.44501254e-02 -2.48506480e-02 3.25244954e+02] [ 7.44637467e-02 9.97223650e-01 -3.78089109e-04 2.97405764e+00] [ 2.48098027e-02 -1.47354963e-03 9.99691103e-01 2.21899048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.119254154 meters 0.028421830480214252 Centerline is valid? [True, True] Translation: X:325.28, Y:2.98, Z:2.22 [[ 9.96996036e-01 -7.34200430e-02 -2.46658071e-02 3.25277335e+02] [ 7.34331897e-02 9.97300069e-01 -3.73588971e-04 2.97904138e+00] [ 2.46266400e-02 -1.43882217e-03 9.99695683e-01 2.22007412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.14925415399995 meters 0.027875033805079823 Centerline is valid? [True, True] Translation: X:325.31, Y:2.98, Z:2.22 [[ 9.97069514e-01 -7.21870659e-02 -2.53261260e-02 3.25309981e+02] [ 7.22005861e-02 9.97390059e-01 -3.81370012e-04 2.98112685e+00] [ 2.52875563e-02 -1.44830873e-03 9.99679169e-01 2.22035881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.179254154 meters 0.028950802658350993 Centerline is valid? [True, True] Translation: X:325.34, Y:2.98, Z:2.22 [[ 9.97253525e-01 -6.94984276e-02 -2.56003099e-02 3.25340609e+02] [ 6.95113933e-02 9.97581084e-01 -3.84168687e-04 2.98270675e+00] [ 2.55650840e-02 -1.39639963e-03 9.99672185e-01 2.21953715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.20925415399995 meters 0.026561465508879705 Centerline is valid? [True, True] Translation: X:325.37, Y:2.99, Z:2.22 [[ 9.97387141e-01 -6.78212739e-02 -2.48830539e-02 3.25371632e+02] [ 6.78330249e-02 9.97696618e-01 -3.72497418e-04 2.98766614e+00] [ 2.48510020e-02 -1.31636868e-03 9.99690299e-01 2.22071817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.239254154 meters 0.027079757285904688 Centerline is valid? [True, True] Translation: X:325.40, Y:2.99, Z:2.22 [[ 9.97522250e-01 -6.59942462e-02 -2.43745616e-02 3.25402550e+02] [ 6.60049992e-02 9.97819226e-01 -3.63998703e-04 2.98899098e+00] [ 2.43454280e-02 -1.24574611e-03 9.99702830e-01 2.22037149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.26925415399995 meters 0.02679574158387136 Centerline is valid? [True, True] Translation: X:325.43, Y:2.99, Z:2.22 [[ 9.97663662e-01 -6.39827201e-02 -2.39463654e-02 3.25433171e+02] [ 6.39925410e-02 9.97950313e-01 -3.56746882e-04 2.99129613e+00] [ 2.39201085e-02 -1.17647537e-03 9.99713181e-01 2.22079926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.299254154 meters 0.023156049546617017 Centerline is valid? [True, True] Translation: X:325.46, Y:3.00, Z:2.22 [[ 9.97899449e-01 -6.04359887e-02 -2.33277055e-02 3.25463724e+02] [ 6.04443545e-02 9.98171508e-01 -3.46966981e-04 3.00026587e+00] [ 2.33060203e-02 -1.06378994e-03 9.99727812e-01 2.22290497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.32925415399995 meters 0.022364256241462172 Centerline is valid? [True, True] Translation: X:325.50, Y:3.00, Z:2.22 [[ 9.98004048e-01 -5.87616963e-02 -2.31297092e-02 3.25495554e+02] [ 5.87695028e-02 9.98271520e-01 -3.42685806e-04 3.00345048e+00] [ 2.31098667e-02 -1.01731969e-03 9.99732414e-01 2.22348809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.359254154 meters 0.02146422126137442 Centerline is valid? [True, True] Translation: X:325.53, Y:3.01, Z:2.22 [[ 9.98083725e-01 -5.74056301e-02 -2.30970212e-02 3.25528025e+02] [ 5.74130919e-02 9.98350450e-01 -3.40478779e-04 3.00684356e+00] [ 2.30784669e-02 -9.86245071e-04 9.99733170e-01 2.22422833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.38925415399996 meters 0.02204601588823336 Centerline is valid? [True, True] Translation: X:325.56, Y:3.01, Z:2.22 [[ 9.98149061e-01 -5.62237803e-02 -2.31805690e-02 3.25559030e+02] [ 5.62310111e-02 9.98417727e-01 -3.40285800e-04 3.00800773e+00] [ 2.31630232e-02 -9.63810884e-04 9.99731237e-01 2.22362064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.419254154 meters 0.022063959253699368 Centerline is valid? [True, True] Translation: X:325.59, Y:3.01, Z:2.22 [[ 9.98251748e-01 -5.44398337e-02 -2.30163464e-02 3.25590790e+02] [ 5.44465247e-02 9.98516631e-01 -3.36321915e-04 3.01064206e+00] [ 2.30005140e-02 -9.17426136e-04 9.99735032e-01 2.22295816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.44925415399996 meters 0.022079147953143093 Centerline is valid? [True, True] Translation: X:325.62, Y:3.01, Z:2.22 [[ 9.98276900e-01 -5.40233413e-02 -2.29065502e-02 3.25622639e+02] [ 5.40298971e-02 9.98539263e-01 -3.33060642e-04 3.01273946e+00] [ 2.28910828e-02 -9.05151807e-04 9.99737555e-01 2.22339343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47925415399993 meters 0.02201162387800323 Centerline is valid? [True, True] Translation: X:325.65, Y:3.02, Z:2.22 [[ 9.98304019e-01 -5.40157786e-02 -2.17113053e-02 3.25654853e+02] [ 5.40216993e-02 9.98539712e-01 -3.14144898e-04 3.01512034e+00] [ 2.16965693e-02 -8.59269491e-04 9.99764232e-01 2.22343045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.50925415399996 meters 0.0214280650584111 Centerline is valid? [True, True] Translation: X:325.69, Y:3.02, Z:2.22 [[ 9.98319392e-01 -5.40351681e-02 -2.09425969e-02 3.25687404e+02] [ 5.40407125e-02 9.98538688e-01 -3.01519971e-04 3.01745220e+00] [ 2.09282859e-02 -8.30739621e-04 9.99780634e-01 2.22430877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53925415399993 meters 0.02101452399121707 Centerline is valid? [True, True] Translation: X:325.72, Y:3.02, Z:2.23 [[ 9.98320878e-01 -5.43080997e-02 -2.01507971e-02 3.25719931e+02] [ 5.43133175e-02 9.98523901e-01 -2.88657047e-04 3.01953383e+00] [ 2.01367289e-02 -8.06284283e-04 9.99796910e-01 2.22502070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.56925415399996 meters 0.02171841260619625 Centerline is valid? [True, True] Translation: X:325.75, Y:3.02, Z:2.23 [[ 9.98325265e-01 -5.45572405e-02 -1.92398784e-02 3.25751608e+02] [ 5.45620657e-02 9.98510343e-01 -2.74442282e-04 3.01964569e+00] [ 1.92261904e-02 -7.75784842e-04 9.99814859e-01 2.22529135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59925415399994 meters 0.023266413527706472 Centerline is valid? [True, True] Translation: X:325.78, Y:3.02, Z:2.22 [[ 9.98327576e-01 -5.47260033e-02 -1.86310404e-02 3.25783141e+02] [ 5.47305898e-02 9.98501123e-01 -2.64004973e-04 3.01850121e+00] [ 1.86175627e-02 -7.56124384e-04 9.99826392e-01 2.22491940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.62925415399997 meters 0.02335946094590907 Centerline is valid? [True, True] Translation: X:325.82, Y:3.02, Z:2.23 [[ 9.98279809e-01 -5.58457035e-02 -1.78516139e-02 3.25815299e+02] [ 5.58501207e-02 9.98439132e-01 -2.51396795e-04 3.02063766e+00] [ 1.78377893e-02 -7.46050445e-04 9.99840616e-01 2.22559763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65925415399994 meters 0.02361300440958764 Centerline is valid? [True, True] Translation: X:325.85, Y:3.02, Z:2.23 [[ 9.98246544e-01 -5.65999339e-02 -1.73287239e-02 3.25847062e+02] [ 5.66042307e-02 9.98396666e-01 -2.42810955e-04 3.02118823e+00] [ 1.73146832e-02 -7.38493889e-04 9.99849817e-01 2.22559973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68925415399997 meters 0.02432340275352418 Centerline is valid? [True, True] Translation: X:325.88, Y:3.02, Z:2.23 [[ 9.98198031e-01 -5.74054079e-02 -1.74731430e-02 3.25877911e+02] [ 5.74099184e-02 9.98350661e-01 -2.43773100e-04 3.02124932e+00] [ 1.74583177e-02 -7.59797884e-04 9.99847303e-01 2.22539138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71925415399994 meters 0.024891264394560967 Centerline is valid? [True, True] Translation: X:325.91, Y:3.02, Z:2.23 [[ 9.98144791e-01 -5.83986332e-02 -1.72213791e-02 3.25910169e+02] [ 5.84031808e-02 9.98293049e-01 -2.39170136e-04 3.02141212e+00] [ 1.72059503e-02 -7.67056895e-04 9.99851672e-01 2.22544419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74925415399997 meters 0.026744329087122102 Centerline is valid? [True, True] Translation: X:325.94, Y:3.02, Z:2.22 [[ 9.98014500e-01 -6.07844135e-02 -1.65019139e-02 3.25941224e+02] [ 6.07889304e-02 9.98150617e-01 -2.28206326e-04 3.02039381e+00] [ 1.64852669e-02 -7.75380471e-04 9.99863808e-01 2.22470058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77925415399994 meters 0.02751662061917302 Centerline is valid? [True, True] Translation: X:325.97, Y:3.02, Z:2.22 [[ 9.97951781e-01 -6.19339695e-02 -1.60132922e-02 3.25973779e+02] [ 6.19383862e-02 9.98079951e-01 -2.20463994e-04 3.01996757e+00] [ 1.59962001e-02 -7.71825040e-04 9.99871755e-01 2.22446511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.809254154 meters 0.026210636816690107 Centerline is valid? [True, True] Translation: X:326.01, Y:3.02, Z:2.22 [[ 9.97820189e-01 -6.41545069e-02 -1.54618522e-02 3.26006069e+02] [ 6.41589072e-02 9.97939672e-01 -2.11789947e-04 3.02269171e+00] [ 1.54435830e-02 -7.80687252e-04 9.99880436e-01 2.22457570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.83925415399995 meters 0.026210636816690107 Centerline is valid? [True, True] Translation: X:326.04, Y:3.02, Z:2.22 [[ 9.97827186e-01 -6.40455849e-02 -1.54618717e-02 3.26038649e+02] [ 6.40499943e-02 9.97946669e-01 -2.10357695e-04 3.02304316e+00] [ 1.54435958e-02 -7.80432166e-04 9.99880436e-01 2.22480133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.869254154 meters 0.02541241725585982 Centerline is valid? [True, True] Translation: X:326.07, Y:3.03, Z:2.23 [[ 9.97782134e-01 -6.47920371e-02 -1.52579766e-02 3.26071020e+02] [ 6.47964388e-02 9.97898481e-01 -2.06222265e-04 3.02514984e+00] [ 1.52392732e-02 -7.82897652e-04 9.99883569e-01 2.22506759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.89925415399995 meters 0.025639807908144935 Centerline is valid? [True, True] Translation: X:326.10, Y:3.03, Z:2.22 [[ 9.97742295e-01 -6.53710544e-02 -1.53928113e-02 3.26102926e+02] [ 6.53756205e-02 9.97860704e-01 -2.06904409e-04 3.02610245e+00] [ 1.53734071e-02 -7.99877312e-04 9.99881502e-01 2.22468453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.929254154 meters 0.029313667140825533 Centerline is valid? [True, True] Translation: X:326.13, Y:3.02, Z:2.22 [[ 9.97733434e-01 -6.54013933e-02 -1.58320211e-02 3.26133927e+02] [ 6.54062436e-02 9.97858697e-01 -2.11794878e-04 3.02207712e+00] [ 1.58119716e-02 -8.24198198e-04 9.99874643e-01 2.22367154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.95925415399995 meters 0.02853210388268921 Centerline is valid? [True, True] Translation: X:326.17, Y:3.02, Z:2.22 [[ 9.97844899e-01 -6.36513662e-02 -1.59392715e-02 3.26165228e+02] [ 6.36560708e-02 9.97971873e-01 -2.12532282e-04 3.02486361e+00] [ 1.59204726e-02 -8.02557140e-04 9.99872939e-01 2.22271668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.989254154 meters 0.02393550896509107 Centerline is valid? [True, True] Translation: X:326.20, Y:3.03, Z:2.22 [[ 9.97925872e-01 -6.23603894e-02 -1.59729911e-02 3.26197853e+02] [ 6.23649720e-02 9.98053388e-01 -2.11540536e-04 3.03300169e+00] [ 1.59550896e-02 -7.85053369e-04 9.99872401e-01 2.22377049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.01925415399995 meters 0.02446777869220518 Centerline is valid? [True, True] Translation: X:326.23, Y:3.03, Z:2.22 [[ 9.98048362e-01 -6.04890576e-02 -1.55093635e-02 3.26228144e+02] [ 6.04931687e-02 9.98168590e-01 -2.04351797e-04 3.03379546e+00] [ 1.54933205e-02 -7.34257563e-04 9.99879702e-01 2.22361790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.049254154 meters 0.023584302544995626 Centerline is valid? [True, True] Translation: X:326.26, Y:3.04, Z:2.22 [[ 9.98210042e-01 -5.78135730e-02 -1.53069265e-02 3.26260032e+02] [ 5.78172725e-02 9.98327162e-01 -2.01097802e-04 3.03769076e+00] [ 1.52929466e-02 -6.84266892e-04 9.99882822e-01 2.22443029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.07925415399995 meters 0.021634511467374194 Centerline is valid? [True, True] Translation: X:326.29, Y:3.04, Z:2.23 [[ 9.98518703e-01 -5.26101120e-02 -1.38771917e-02 3.26290103e+02] [ 5.26126557e-02 9.98614979e-01 -1.81968410e-04 3.04292221e+00] [ 1.38675449e-02 -5.48417048e-04 9.99903691e-01 2.22573145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.109254154 meters 0.022297639230681954 Centerline is valid? [True, True] Translation: X:326.32, Y:3.05, Z:2.23 [[ 9.98719271e-01 -4.89473300e-02 -1.28053059e-02 3.26321025e+02] [ 4.89491978e-02 9.98801255e-01 -1.67701810e-04 3.04593736e+00] [ 1.27981642e-02 -4.59322423e-04 9.99917995e-01 2.22625436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.13925415399996 meters 0.02059432869358775 Centerline is valid? [True, True] Translation: X:326.35, Y:3.05, Z:2.23 [[ 9.98867925e-01 -4.60734747e-02 -1.18365604e-02 3.26351009e+02] [ 4.60748728e-02 9.98937977e-01 -1.54696886e-04 3.04844063e+00] [ 1.18311172e-02 -3.90846259e-04 9.99929933e-01 2.22685301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.169254154 meters 0.0171177373269628 Centerline is valid? [True, True] Translation: X:326.38, Y:3.06, Z:2.23 [[ 9.99127398e-01 -4.01073826e-02 -1.16550332e-02 3.26382101e+02] [ 4.01083349e-02 9.99195325e-01 -1.52116325e-04 3.05725770e+00] [ 1.16517557e-02 -3.15480388e-04 9.99932066e-01 2.22713003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.19925415399996 meters 0.01650453292269385 Centerline is valid? [True, True] Translation: X:326.41, Y:3.06, Z:2.23 [[ 9.99220012e-01 -3.75737643e-02 -1.21482085e-02 3.26414390e+02] [ 3.75746180e-02 9.99293812e-01 -1.58041976e-04 3.05980917e+00] [ 1.21455678e-02 -2.98545589e-04 9.99926195e-01 2.22684001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22925415399993 meters 0.016029769119587874 Centerline is valid? [True, True] Translation: X:326.45, Y:3.06, Z:2.23 [[ 9.99296243e-01 -3.54397105e-02 -1.22900222e-02 3.26446776e+02] [ 3.54404340e-02 9.99371778e-01 -1.58987938e-04 3.06210040e+00] [ 1.22879358e-02 -2.76687670e-04 9.99924462e-01 2.22626864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.25925415399996 meters 0.015850751450991855 Centerline is valid? [True, True] Translation: X:326.48, Y:3.06, Z:2.23 [[ 9.99343869e-01 -3.37831826e-02 -1.30586616e-02 3.26477751e+02] [ 3.37838694e-02 9.99429148e-01 -1.68064648e-04 3.06368420e+00] [ 1.30568848e-02 -2.73217740e-04 9.99914718e-01 2.22555399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28925415399993 meters 0.015621357770424747 Centerline is valid? [True, True] Translation: X:326.51, Y:3.07, Z:2.22 [[ 9.99380383e-01 -3.21240027e-02 -1.43839394e-02 3.26509056e+02] [ 3.21246759e-02 9.99483852e-01 -1.84308501e-04 3.06561794e+00] [ 1.43824359e-02 -2.77885092e-04 9.99896529e-01 2.22363920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31925415399996 meters 0.015786568233681356 Centerline is valid? [True, True] Translation: X:326.54, Y:3.07, Z:2.22 [[ 9.99384910e-01 -3.17558164e-02 -1.48785300e-02 3.26541371e+02] [ 3.17565100e-02 9.99495617e-01 -1.89698288e-04 3.06652588e+00] [ 1.48770495e-02 -2.82908579e-04 9.99889291e-01 2.22300114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34925415399994 meters 0.015877952094612492 Centerline is valid? [True, True] Translation: X:326.57, Y:3.07, Z:2.22 [[ 9.99388161e-01 -3.13979393e-02 -1.54101854e-02 3.26572646e+02] [ 3.13986641e-02 9.99506921e-01 -1.94968062e-04 3.06666120e+00] [ 1.54087086e-02 -2.89010463e-04 9.99881237e-01 2.22251078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37925415399997 meters 0.015789493694604362 Centerline is valid? [True, True] Translation: X:326.60, Y:3.07, Z:2.22 [[ 9.99385750e-01 -3.13154542e-02 -1.57310162e-02 3.26604473e+02] [ 3.13162221e-02 9.99509507e-01 -1.97578231e-04 3.06748026e+00] [ 1.57294875e-02 -2.95179126e-04 9.99876240e-01 2.22247895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40925415399994 meters 0.015279985492458537 Centerline is valid? [True, True] Translation: X:326.64, Y:3.07, Z:2.22 [[ 9.99387951e-01 -3.12512810e-02 -1.57187982e-02 3.26637050e+02] [ 3.12520573e-02 9.99511516e-01 -1.96304311e-04 3.07028721e+00] [ 1.57172546e-02 -2.95060621e-04 9.99876433e-01 2.22315329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43925415399997 meters 0.014924631047120931 Centerline is valid? [True, True] Translation: X:326.67, Y:3.07, Z:2.22 [[ 9.99398623e-01 -3.10821130e-02 -1.53718721e-02 3.26669698e+02] [ 3.10828527e-02 9.99516793e-01 -1.90851238e-04 3.07241218e+00] [ 1.53703763e-02 -2.87065171e-04 9.99881828e-01 2.22394121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46925415399994 meters 0.015174673974089005 Centerline is valid? [True, True] Translation: X:326.70, Y:3.07, Z:2.22 [[ 9.99398533e-01 -3.12036129e-02 -1.51296487e-02 3.26701177e+02] [ 3.12043579e-02 9.99513008e-01 -1.86880079e-04 3.07317618e+00] [ 1.51281120e-02 -2.85343297e-04 9.99885523e-01 2.22398851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49925415399997 meters 0.015033286186897182 Centerline is valid? [True, True] Translation: X:326.73, Y:3.07, Z:2.22 [[ 9.99395811e-01 -3.16259683e-02 -1.44156533e-02 3.26733100e+02] [ 3.16267018e-02 9.99499735e-01 -1.77143080e-04 3.07368612e+00] [ 1.44140439e-02 -2.78883514e-04 9.99896073e-01 2.22428386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.52925415399994 meters 0.015550428165616505 Centerline is valid? [True, True] Translation: X:326.76, Y:3.07, Z:2.22 [[ 9.99361557e-01 -3.28410564e-02 -1.40692277e-02 3.26763902e+02] [ 3.28418879e-02 9.99460545e-01 -1.71995738e-04 3.07339437e+00] [ 1.40672865e-02 -2.90174071e-04 9.99901009e-01 2.22462152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.559254154 meters 0.01686505807903166 Centerline is valid? [True, True] Translation: X:326.80, Y:3.07, Z:2.22 [[ 9.99336006e-01 -3.38161106e-02 -1.35652939e-02 3.26795767e+02] [ 3.38169850e-02 9.99428029e-01 -1.64983463e-04 3.07309888e+00] [ 1.35631140e-02 -2.93863424e-04 9.99907974e-01 2.22438071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.58925415399995 meters 0.017604226011123512 Centerline is valid? [True, True] Translation: X:326.83, Y:3.07, Z:2.23 [[ 9.99151315e-01 -3.91828528e-02 -1.27025337e-02 3.26825794e+02] [ 3.91840588e-02 9.99231998e-01 -1.54016545e-04 3.06976130e+00] [ 1.26988129e-02 -3.43850993e-04 9.99919308e-01 2.22521360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.619254154 meters 0.017585629909072142 Centerline is valid? [True, True] Translation: X:326.86, Y:3.07, Z:2.23 [[ 9.99024335e-01 -4.24894933e-02 -1.20424296e-02 3.26857959e+02] [ 4.24908218e-02 9.99096847e-01 -1.45632459e-04 3.07017368e+00] [ 1.20377413e-02 -3.66202358e-04 9.99927477e-01 2.22593230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.64925415399995 meters 0.019302382267496268 Centerline is valid? [True, True] Translation: X:326.89, Y:3.07, Z:2.23 [[ 9.98862749e-01 -4.61697213e-02 -1.18981661e-02 3.26888704e+02] [ 4.61712926e-02 9.98933527e-01 -1.42741787e-04 3.06747708e+00] [ 1.18920674e-02 -4.06774253e-04 9.99929204e-01 2.22620892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.679254154 meters 0.02435526999100484 Centerline is valid? [True, True] Translation: X:326.92, Y:3.06, Z:2.23 [[ 9.98426724e-01 -5.47445050e-02 -1.21291420e-02 3.26918086e+02] [ 5.47467793e-02 9.98500260e-01 -1.44686656e-04 3.05930756e+00] [ 1.21188723e-02 -5.19572438e-04 9.99926429e-01 2.22574145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.70925415399995 meters 0.025475678197691302 Centerline is valid? [True, True] Translation: X:326.95, Y:3.06, Z:2.23 [[ 9.98192252e-01 -5.87345606e-02 -1.27467561e-02 3.26949406e+02] [ 5.87373983e-02 9.98273457e-01 -1.51958370e-04 3.05728936e+00] [ 1.27336734e-02 -5.97027621e-04 9.99918745e-01 2.22587974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.739254154 meters 0.02783894011917521 Centerline is valid? [True, True] Translation: X:326.98, Y:3.05, Z:2.23 [[ 9.97948680e-01 -6.26734824e-02 -1.30562640e-02 3.26979582e+02] [ 6.26768045e-02 9.98033864e-01 -1.54984593e-04 3.05348077e+00] [ 1.30403071e-02 -6.63658238e-04 9.99914751e-01 2.22555989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.76925415399995 meters 0.02818221008542001 Centerline is valid? [True, True] Translation: X:327.01, Y:3.05, Z:2.23 [[ 9.97570734e-01 -6.82452165e-02 -1.39721578e-02 3.27010037e+02] [ 6.82495730e-02 9.97668266e-01 -1.65341520e-04 3.05196104e+00] [ 1.39508622e-02 -7.88653943e-04 9.99902371e-01 2.22521811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.799254154 meters 0.02864247244727056 Centerline is valid? [True, True] Translation: X:327.04, Y:3.05, Z:2.22 [[ 9.97513475e-01 -6.88884763e-02 -1.48742751e-02 3.27042025e+02] [ 6.88934937e-02 9.97624005e-01 -1.75422913e-04 3.05082348e+00] [ 1.48510185e-02 -8.49754056e-04 9.99889356e-01 2.22468328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.82925415399995 meters 0.029011268466317332 Centerline is valid? [True, True] Translation: X:327.07, Y:3.05, Z:2.22 [[ 9.97503333e-01 -6.89737371e-02 -1.51566255e-02 3.27074031e+02] [ 6.89789734e-02 9.97618098e-01 -1.77645797e-04 3.05014044e+00] [ 1.51327768e-02 -8.68286196e-04 9.99885116e-01 2.22474613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.859254154 meters 0.027546324103845613 Centerline is valid? [True, True] Translation: X:327.11, Y:3.05, Z:2.23 [[ 9.97649932e-01 -6.68142231e-02 -1.51813587e-02 3.27105234e+02] [ 6.68192395e-02 9.97765081e-01 -1.77128330e-04 3.05364098e+00] [ 1.51592643e-02 -8.37694775e-04 9.99884741e-01 2.22511893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.88925415399996 meters 0.02686997990305783 Centerline is valid? [True, True] Translation: X:327.14, Y:3.05, Z:2.23 [[ 9.97704557e-01 -6.60038979e-02 -1.51361400e-02 3.27137874e+02] [ 6.60088067e-02 9.97819025e-01 -1.75593618e-04 3.05470377e+00] [ 1.51147183e-02 -8.23927985e-04 9.99885427e-01 2.22607826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.919254154 meters 0.026491977622274274 Centerline is valid? [True, True] Translation: X:327.17, Y:3.06, Z:2.23 [[ 9.97822617e-01 -6.42349372e-02 -1.49632185e-02 3.27169719e+02] [ 6.42395520e-02 9.97934492e-01 -1.72520468e-04 3.05609925e+00] [ 1.49433937e-02 -7.89085628e-04 9.99888030e-01 2.22679512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.94925415399996 meters 0.02658635740708064 Centerline is valid? [True, True] Translation: X:327.20, Y:3.06, Z:2.23 [[ 9.97949464e-01 -6.21919518e-02 -1.51336867e-02 3.27200239e+02] [ 6.21964573e-02 9.98063911e-01 -1.73219152e-04 3.05712910e+00] [ 1.51151594e-02 -7.68397742e-04 9.99885464e-01 2.22739382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97925415399993 meters 0.02461771651331458 Centerline is valid? [True, True] Translation: X:327.23, Y:3.06, Z:2.23 [[ 9.98269914e-01 -5.70403482e-02 -1.42680602e-02 3.27230511e+02] [ 5.70438390e-02 9.98371661e-01 -1.62532152e-04 3.06210072e+00] [ 1.42540979e-02 -6.51653973e-04 9.99898193e-01 2.22854585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.00925415399996 meters 0.024165488845334725 Centerline is valid? [True, True] Translation: X:327.26, Y:3.06, Z:2.23 [[ 9.98461222e-01 -5.37161849e-02 -1.37753355e-02 3.27262178e+02] [ 5.37191288e-02 9.98556073e-01 -1.56484373e-04 3.06440348e+00] [ 1.37638507e-02 -5.83755444e-04 9.99905103e-01 2.22862239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03925415399993 meters 0.022637088613004307 Centerline is valid? [True, True] Translation: X:327.29, Y:3.07, Z:2.23 [[ 9.98626785e-01 -5.05048583e-02 -1.39213497e-02 3.27293581e+02] [ 5.05075621e-02 9.98723666e-01 -1.57519642e-04 3.06770300e+00] [ 1.39115369e-02 -5.45830100e-04 9.99903081e-01 2.22938362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.06925415399996 meters 0.020346572915128373 Centerline is valid? [True, True] Translation: X:327.32, Y:3.07, Z:2.23 [[ 9.98975304e-01 -4.30712789e-02 -1.38999218e-02 3.27323504e+02] [ 4.30732576e-02 9.99071904e-01 -1.57127074e-04 3.07445426e+00] [ 1.38937890e-02 -4.41748843e-04 9.99903379e-01 2.22970922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09925415399994 meters 0.019044537182506073 Centerline is valid? [True, True] Translation: X:327.35, Y:3.08, Z:2.23 [[ 9.99120935e-01 -3.94069636e-02 -1.42985416e-02 3.27354514e+02] [ 3.94086848e-02 9.99223163e-01 -1.61474578e-04 3.07844337e+00] [ 1.42937972e-02 -4.02154088e-04 9.99897758e-01 2.23005354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.12925415399997 meters 0.016414268108702734 Centerline is valid? [True, True] Translation: X:327.39, Y:3.08, Z:2.23 [[ 9.99254391e-01 -3.58185355e-02 -1.44116195e-02 3.27385539e+02] [ 3.58199185e-02 9.99358248e-01 -1.62232259e-04 3.08476089e+00] [ 1.44081817e-02 -3.54111738e-04 9.99896134e-01 2.23122534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15925415399994 meters 0.01542164415123176 Centerline is valid? [True, True] Translation: X:327.42, Y:3.09, Z:2.23 [[ 9.99368693e-01 -3.23134827e-02 -1.47666401e-02 3.27417772e+02] [ 3.23145646e-02 9.99477734e-01 -1.65387714e-04 3.08834206e+00] [ 1.47642722e-02 -3.11894242e-04 9.99890954e-01 2.23165150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18925415399997 meters 0.01437992963634726 Centerline is valid? [True, True] Translation: X:327.45, Y:3.09, Z:2.23 [[ 9.99550971e-01 -2.56521780e-02 -1.54862079e-02 3.27448093e+02] [ 2.56525795e-02 9.99670904e-01 -1.72750588e-04 3.09335567e+00] [ 1.54855429e-02 -2.24588161e-04 9.99880067e-01 2.23086690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21925415399994 meters 0.013854797514234548 Centerline is valid? [True, True] Translation: X:327.48, Y:3.10, Z:2.23 [[ 9.99621955e-01 -2.21521859e-02 -1.62858277e-02 3.27479378e+02] [ 2.21521733e-02 9.99754594e-01 -1.81191956e-04 3.09638961e+00] [ 1.62858448e-02 -1.79643019e-04 9.99867361e-01 2.23082387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24925415399997 meters 0.013692530183785096 Centerline is valid? [True, True] Translation: X:327.51, Y:3.10, Z:2.23 [[ 9.99680236e-01 -1.86570694e-02 -1.70686644e-02 3.27509248e+02] [ 1.86565522e-02 9.99825933e-01 -1.89549916e-04 3.09919187e+00] [ 1.70692298e-02 -1.28953123e-04 9.99854302e-01 2.23054016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27925415399994 meters 0.013392608591741904 Centerline is valid? [True, True] Translation: X:327.54, Y:3.10, Z:2.23 [[ 9.99726571e-01 -1.52679549e-02 -1.77108161e-02 3.27537938e+02] [ 1.52668177e-02 9.99883435e-01 -1.99417467e-04 3.10262128e+00] [ 1.77117963e-02 -7.10248608e-05 9.99843131e-01 2.23126762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.309254154 meters 0.013495848901089746 Centerline is valid? [True, True] Translation: X:327.57, Y:3.11, Z:2.23 [[ 9.99806673e-01 -7.71460490e-03 -1.80859227e-02 3.27565654e+02] [ 7.71213153e-03 9.99970240e-01 -2.06500108e-04 3.10874366e+00] [ 1.80869775e-02 6.69791717e-05 9.99836415e-01 2.23186076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.33925415399995 meters 0.013692545759125754 Centerline is valid? [True, True] Translation: X:327.59, Y:3.11, Z:2.23 [[ 9.99826912e-01 -4.41265045e-03 -1.80741410e-02 3.27593896e+02] [ 4.40961108e-03 9.99990256e-01 -2.08011234e-04 3.11165199e+00] [ 1.80748827e-02 1.28275298e-04 9.99836628e-01 2.23239506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.369254154 meters 0.014594358854330419 Centerline is valid? [True, True] Translation: X:327.62, Y:3.12, Z:2.23 [[ 9.99850916e-01 1.38690568e-03 -1.72111299e-02 3.27621110e+02] [-1.39055017e-03 9.99999013e-01 -1.99786475e-04 3.11559130e+00] [ 1.72108358e-02 2.23689630e-04 9.99851858e-01 2.23326502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.39925415399995 meters 0.014786401821393862 Centerline is valid? [True, True] Translation: X:327.65, Y:3.12, Z:2.23 [[ 9.99850673e-01 3.23388783e-03 -1.69756730e-02 3.27650036e+02] [-3.23775528e-03 9.99994738e-01 -2.00344377e-04 3.11617862e+00] [ 1.69749358e-02 2.55277535e-04 9.99855883e-01 2.23409138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.429254154 meters 0.016035415504345226 Centerline is valid? [True, True] Translation: X:327.68, Y:3.12, Z:2.23 [[ 9.99850713e-01 4.96838011e-03 -1.65489333e-02 3.27677379e+02] [-4.97233579e-03 9.99987618e-01 -1.97891043e-04 3.11723066e+00] [ 1.65477452e-02 2.80148354e-04 9.99863037e-01 2.23385460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.45925415399995 meters 0.0149507629505503 Centerline is valid? [True, True] Translation: X:327.71, Y:3.12, Z:2.23 [[ 9.99859570e-01 5.05444984e-03 -1.59779153e-02 3.27705710e+02] [-5.05817363e-03 9.99987189e-01 -1.92654595e-04 3.11632411e+00] [ 1.59767368e-02 2.73446610e-04 9.99872326e-01 2.23489152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.489254154 meters 0.015328300659974559 Centerline is valid? [True, True] Translation: X:327.73, Y:3.12, Z:2.23 [[ 9.99880169e-01 4.05738166e-03 -1.49393852e-02 3.27733862e+02] [-4.06054720e-03 9.99991739e-01 -1.81565015e-04 3.11521863e+00] [ 1.49385251e-02 2.42205337e-04 9.99888385e-01 2.23470744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.51925415399995 meters 0.015058221564679735 Centerline is valid? [True, True] Translation: X:327.76, Y:3.11, Z:2.24 [[ 9.99888147e-01 2.95021237e-03 -1.46625334e-02 3.27762856e+02] [-2.95315962e-03 9.99995623e-01 -1.79358122e-04 3.11323437e+00] [ 1.46619401e-02 2.22638862e-04 9.99892483e-01 2.23533357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.549254154 meters 0.014979105868575315 Centerline is valid? [True, True] Translation: X:327.79, Y:3.11, Z:2.24 [[ 9.99894376e-01 1.60466814e-03 -1.44451148e-02 3.27790613e+02] [-1.60740463e-03 9.99998692e-01 -1.77832400e-04 3.11149222e+00] [ 1.44448106e-02 2.01032761e-04 9.99895648e-01 2.23542435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.57925415399995 meters 0.01437117068744178 Centerline is valid? [True, True] Translation: X:327.82, Y:3.11, Z:2.24 [[ 9.99897930e-01 8.69130136e-05 -1.42871123e-02 3.27819945e+02] [-8.94491718e-05 9.99999980e-01 -1.76874779e-04 3.10833667e+00] [ 1.42870966e-02 1.78134695e-04 9.99897918e-01 2.23614219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.609254154 meters 0.013951026150790908 Centerline is valid? [True, True] Translation: X:327.85, Y:3.10, Z:2.24 [[ 9.99894105e-01 -3.76112649e-03 -1.40581903e-02 3.27847933e+02] [ 3.75903733e-03 9.99992919e-01 -1.75029124e-04 3.10243962e+00] [ 1.40587491e-02 1.22165327e-04 9.99901163e-01 2.23632069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.63925415399996 meters 0.013697478893103403 Centerline is valid? [True, True] Translation: X:327.88, Y:3.10, Z:2.24 [[ 9.99882930e-01 -6.02590986e-03 -1.40646645e-02 3.27876384e+02] [ 6.02402720e-03 9.99981840e-01 -1.76218718e-04 3.09908157e+00] [ 1.40654709e-02 9.14721665e-05 9.99901072e-01 2.23676306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.669254154 meters 0.01328197092964465 Centerline is valid? [True, True] Translation: X:327.91, Y:3.09, Z:2.24 [[ 9.99850593e-01 -1.04855210e-02 -1.37420732e-02 3.27905400e+02] [ 1.04841316e-02 9.99945025e-01 -1.73146701e-04 3.09051583e+00] [ 1.37431333e-02 2.90471279e-05 9.99905558e-01 2.23763948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.69925415399996 meters 0.013417732266977794 Centerline is valid? [True, True] Translation: X:327.93, Y:3.09, Z:2.24 [[ 9.99825426e-01 -1.29821493e-02 -1.34380816e-02 3.27932853e+02] [ 1.29810285e-02 9.99915728e-01 -1.70630768e-04 3.08630002e+00] [ 1.34391643e-02 -3.83914052e-06 9.99909690e-01 2.23759851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72925415399993 meters 0.013417732266977794 Centerline is valid? [True, True] Translation: X:327.96, Y:3.09, Z:2.24 [[ 9.99822128e-01 -1.32337111e-02 -1.34380494e-02 3.27961082e+02] [ 1.32325792e-02 9.99912431e-01 -1.73142825e-04 3.08670240e+00] [ 1.34391639e-02 -4.70802512e-06 9.99909690e-01 2.23779445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.75925415399996 meters 0.013787042183229358 Centerline is valid? [True, True] Translation: X:327.99, Y:3.08, Z:2.24 [[ 9.99792919e-01 -1.54443516e-02 -1.32510691e-02 3.27990267e+02] [ 1.54434014e-02 9.99880728e-01 -1.74034764e-04 3.08211631e+00] [ 1.32521765e-02 -3.06428547e-05 9.99912186e-01 2.23769935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78925415399993 meters 0.013991327703121649 Centerline is valid? [True, True] Translation: X:328.02, Y:3.07, Z:2.24 [[ 9.99719387e-01 -1.99114734e-02 -1.28327658e-02 3.28018781e+02] [ 1.99109247e-02 9.99801743e-01 -1.70533987e-04 3.07205298e+00] [ 1.28336172e-02 -8.50260991e-05 9.99917642e-01 2.23669182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81925415399996 meters 0.014535971657163525 Centerline is valid? [True, True] Translation: X:328.05, Y:3.07, Z:2.24 [[ 9.99687757e-01 -2.13951227e-02 -1.29087724e-02 3.28049053e+02] [ 2.13946863e-02 9.99771093e-01 -1.71914948e-04 3.06849102e+00] [ 1.29094957e-02 -1.04317868e-04 9.99916664e-01 2.23708272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84925415399994 meters 0.014159908567458206 Centerline is valid? [True, True] Translation: X:328.08, Y:3.06, Z:2.24 [[ 9.99640806e-01 -2.35342880e-02 -1.28216757e-02 3.28079826e+02] [ 2.35340334e-02 9.99723022e-01 -1.70755022e-04 3.06453932e+00] [ 1.28221430e-02 -1.31052057e-04 9.99917784e-01 2.23701853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87925415399997 meters 0.016692998162944252 Centerline is valid? [True, True] Translation: X:328.11, Y:3.06, Z:2.24 [[ 9.99541098e-01 -2.70036837e-02 -1.37257016e-02 3.28110741e+02] [ 2.70037240e-02 9.99635316e-01 -1.82427062e-04 3.05594490e+00] [ 1.37256222e-02 -1.88301712e-04 9.99905781e-01 2.23581939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90925415399994 meters 0.015038362189593361 Centerline is valid? [True, True] Translation: X:328.14, Y:3.05, Z:2.24 [[ 9.99476206e-01 -2.94292773e-02 -1.34622064e-02 3.28141996e+02] [ 2.94295442e-02 9.99566841e-01 -1.78319097e-04 3.05177855e+00] [ 1.34616229e-02 -2.17960905e-04 9.99909364e-01 2.23552790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93925415399997 meters 0.015644376850043277 Centerline is valid? [True, True] Translation: X:328.17, Y:3.05, Z:2.23 [[ 9.99399490e-01 -3.16547948e-02 -1.40937426e-02 3.28173193e+02] [ 3.16553160e-02 9.99498828e-01 -1.86160409e-04 3.04723861e+00] [ 1.40925721e-02 -2.60093257e-04 9.99900661e-01 2.23474445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96925415399994 meters 0.016234612062117657 Centerline is valid? [True, True] Translation: X:328.20, Y:3.04, Z:2.23 [[ 9.99310342e-01 -3.41219573e-02 -1.46469521e-02 3.28204426e+02] [ 3.41227929e-02 9.99417629e-01 -1.92928986e-04 3.04276352e+00] [ 1.46450052e-02 -3.06998981e-04 9.99892709e-01 2.23442954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99925415399997 meters 0.01702746512933788 Centerline is valid? [True, True] Translation: X:328.24, Y:3.03, Z:2.23 [[ 9.99107534e-01 -3.92906066e-02 -1.55042974e-02 3.28235737e+02] [ 3.92921738e-02 9.99227744e-01 -2.03641839e-04 3.03481482e+00] [ 1.55003253e-02 -4.05737451e-04 9.99879780e-01 2.23406977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.02925415399994 meters 0.020040774731457368 Centerline is valid? [True, True] Translation: X:328.27, Y:3.03, Z:2.23 [[ 9.98989696e-01 -4.18378967e-02 -1.64066088e-02 3.28267387e+02] [ 4.18400149e-02 9.99124300e-01 -2.14275185e-04 3.02901410e+00] [ 1.64012064e-02 -4.72394054e-04 9.99865380e-01 2.23287729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.059254154 meters 0.018768775628919872 Centerline is valid? [True, True] Translation: X:328.30, Y:3.03, Z:2.23 [[ 9.98844268e-01 -4.53437510e-02 -1.59396523e-02 3.28298722e+02] [ 4.53462122e-02 9.98971310e-01 -2.07171551e-04 3.02624197e+00] [ 1.59326493e-02 -5.15870738e-04 9.99872934e-01 2.23382822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.08925415399995 meters 0.02068238463513872 Centerline is valid? [True, True] Translation: X:328.33, Y:3.02, Z:2.23 [[ 9.98506378e-01 -5.21724080e-02 -1.62188767e-02 3.28329401e+02] [ 5.21758605e-02 9.98637890e-01 -2.10490383e-04 3.01821324e+00] [ 1.62077666e-02 -6.36057857e-04 9.99868443e-01 2.23366728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.119254154 meters 0.02258672166560017 Centerline is valid? [True, True] Translation: X:328.36, Y:3.02, Z:2.23 [[ 9.98333342e-01 -5.51958332e-02 -1.68510708e-02 3.28360205e+02] [ 5.51999938e-02 9.98475294e-01 -2.18470950e-04 3.01506949e+00] [ 1.68374366e-02 -7.12072172e-04 9.99857987e-01 2.23336470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.14925415399995 meters 0.022817604740788824 Centerline is valid? [True, True] Translation: X:328.39, Y:3.01, Z:2.23 [[ 9.98171756e-01 -5.81500226e-02 -1.64839156e-02 3.28391820e+02] [ 5.81544137e-02 9.98307577e-01 -2.13231003e-04 3.01147602e+00] [ 1.64684172e-02 -7.45771281e-04 9.99864108e-01 2.23361590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.179254154 meters 0.026217182909473825 Centerline is valid? [True, True] Translation: X:328.42, Y:3.00, Z:2.23 [[ 9.97889064e-01 -6.26513068e-02 -1.70947465e-02 3.28421843e+02] [ 6.26567042e-02 9.98035114e-01 -2.20194555e-04 3.00494803e+00] [ 1.70749527e-02 -8.51370736e-04 9.99853850e-01 2.23338819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.20925415399995 meters 0.025536422990557143 Centerline is valid? [True, True] Translation: X:328.45, Y:3.00, Z:2.23 [[ 9.97767507e-01 -6.46968376e-02 -1.65626590e-02 3.28454150e+02] [ 6.47022045e-02 9.97904594e-01 -2.12180737e-04 3.00427209e+00] [ 1.65416809e-02 -8.59933503e-04 9.99862807e-01 2.23428486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.239254154 meters 0.027435544895815185 Centerline is valid? [True, True] Translation: X:328.48, Y:3.00, Z:2.23 [[ 9.97625819e-01 -6.66891860e-02 -1.71836397e-02 3.28484850e+02] [ 6.66952894e-02 9.97773366e-01 -2.18280668e-04 3.00058753e+00] [ 1.71599350e-02 -9.28305395e-04 9.99852327e-01 2.23416440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.26925415399995 meters 0.029116123555904795 Centerline is valid? [True, True] Translation: X:328.52, Y:3.00, Z:2.23 [[ 9.97627388e-01 -6.65402225e-02 -1.76633240e-02 3.28515733e+02] [ 6.65466748e-02 9.97783288e-01 -2.22868312e-04 2.99919660e+00] [ 1.76389992e-02 -9.53095946e-04 9.99843966e-01 2.23378100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.299254154 meters 0.029531175873672738 Centerline is valid? [True, True] Translation: X:328.55, Y:3.00, Z:2.23 [[ 9.97644863e-01 -6.62998059e-02 -1.75801629e-02 3.28546744e+02] [ 6.63061885e-02 9.97799299e-01 -2.20214533e-04 2.99814012e+00] [ 1.75560744e-02 -9.45977697e-04 9.99845433e-01 2.23390024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.32925415399995 meters 0.026977985259601725 Centerline is valid? [True, True] Translation: X:328.58, Y:3.00, Z:2.23 [[ 9.97688361e-01 -6.56312691e-02 -1.76201986e-02 3.28578727e+02] [ 6.56376050e-02 9.97843503e-01 -2.19121440e-04 3.00210436e+00] [ 1.75965820e-02 -9.37932728e-04 9.99844728e-01 2.23497513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.359254154 meters 0.025173080673259615 Centerline is valid? [True, True] Translation: X:328.61, Y:3.00, Z:2.24 [[ 9.97826218e-01 -6.37392881e-02 -1.67374383e-02 3.28609961e+02] [ 6.37447537e-02 9.97966214e-01 -2.07287660e-04 3.00382841e+00] [ 1.67166103e-02 -8.60086822e-04 9.99859898e-01 2.23612210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.38925415399996 meters 0.02462321753818658 Centerline is valid? [True, True] Translation: X:328.64, Y:3.00, Z:2.24 [[ 9.97920139e-01 -6.23028732e-02 -1.65453596e-02 3.28642521e+02] [ 6.23080361e-02 9.98056946e-01 -2.03759965e-04 3.00475969e+00] [ 1.65259059e-02 -8.27572692e-04 9.99863095e-01 2.23644853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.419254154 meters 0.024088872038670196 Centerline is valid? [True, True] Translation: X:328.67, Y:3.01, Z:2.24 [[ 9.98036725e-01 -6.03748501e-02 -1.66604966e-02 3.28673581e+02] [ 6.03798340e-02 9.98175452e-01 -2.04167911e-04 3.00595995e+00] [ 1.66424253e-02 -8.02190944e-04 9.99861183e-01 2.23669152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.44925415399996 meters 0.023000817110986182 Centerline is valid? [True, True] Translation: X:328.70, Y:3.01, Z:2.24 [[ 9.98329404e-01 -5.52717377e-02 -1.68355774e-02 3.28704004e+02] [ 5.52761070e-02 9.98471086e-01 -2.06052876e-04 3.00995832e+00] [ 1.68212262e-02 -7.24896534e-04 9.99858250e-01 2.23698205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47925415399993 meters 0.021939119590671248 Centerline is valid? [True, True] Translation: X:328.74, Y:3.01, Z:2.24 [[ 9.98507885e-01 -5.18804170e-02 -1.70418933e-02 3.28735280e+02] [ 5.18844074e-02 9.98653075e-01 -2.08198916e-04 3.01353690e+00] [ 1.70297406e-02 -6.76320275e-04 9.99854755e-01 2.23723686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.50925415399996 meters 0.02182644298951623 Centerline is valid? [True, True] Translation: X:328.77, Y:3.02, Z:2.24 [[ 9.98687205e-01 -4.82436939e-02 -1.72166565e-02 3.28765863e+02] [ 4.82472380e-02 9.98835402e-01 -2.09688700e-04 3.01606195e+00] [ 1.72067221e-02 -6.21242700e-04 9.99851760e-01 2.23754847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53925415399993 meters 0.018797489658943248 Centerline is valid? [True, True] Translation: X:328.80, Y:3.02, Z:2.24 [[ 9.99028538e-01 -4.05604790e-02 -1.72286855e-02 3.28797042e+02] [ 4.05628952e-02 9.99176965e-01 -2.09323445e-04 3.02472079e+00] [ 1.72229960e-02 -4.89725270e-04 9.99851553e-01 2.23877072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.56925415399996 meters 0.016994144318365635 Centerline is valid? [True, True] Translation: X:328.83, Y:3.03, Z:2.24 [[ 9.99186051e-01 -3.66385936e-02 -1.68774723e-02 3.28827556e+02] [ 3.66403590e-02 9.99328496e-01 -2.04707274e-04 3.02831913e+00] [ 1.68736392e-02 -4.13855991e-04 9.99857544e-01 2.23937386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59925415399994 meters 0.016105268720981218 Centerline is valid? [True, True] Translation: X:328.86, Y:3.03, Z:2.24 [[ 9.99315054e-01 -3.27700815e-02 -1.71914305e-02 3.28859168e+02] [ 3.27713499e-02 9.99462853e-01 -2.08004323e-04 3.03262070e+00] [ 1.71890125e-02 -3.55524531e-04 9.99852195e-01 2.23999851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.62925415399997 meters 0.01574049850062318 Centerline is valid? [True, True] Translation: X:328.89, Y:3.04, Z:2.24 [[ 9.99419037e-01 -2.94032585e-02 -1.72347360e-02 3.28888604e+02] [ 2.94040340e-02 9.99567586e-01 -2.08458626e-04 3.03562879e+00] [ 1.72334128e-02 -2.98433245e-04 9.99851449e-01 2.23999849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65925415399994 meters 0.0147085633976095 Centerline is valid? [True, True] Translation: X:328.92, Y:3.04, Z:2.24 [[ 9.99565390e-01 -2.38961743e-02 -1.72627927e-02 3.28919015e+02] [ 2.38961291e-02 9.99714425e-01 -2.08925152e-04 3.04108106e+00] [ 1.72628554e-02 -2.03679571e-04 9.99850965e-01 2.23999299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68925415399997 meters 0.016428477995455833 Centerline is valid? [True, True] Translation: X:328.95, Y:3.04, Z:2.24 [[ 9.99615542e-01 -2.16052190e-02 -1.73776371e-02 3.28948159e+02] [ 2.16047801e-02 9.99766567e-01 -2.13010305e-04 3.04327941e+00] [ 1.73781827e-02 -1.62511617e-04 9.99848975e-01 2.23992338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71925415399994 meters 0.014124470025607476 Centerline is valid? [True, True] Translation: X:328.98, Y:3.05, Z:2.24 [[ 9.99682720e-01 -1.80522140e-02 -1.75663516e-02 3.28977277e+02] [ 1.80511373e-02 9.99837041e-01 -2.19862527e-04 3.04752656e+00] [ 1.75674580e-02 -9.72998552e-05 9.99845676e-01 2.24031884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74925415399997 meters 0.014222057693629771 Centerline is valid? [True, True] Translation: X:329.01, Y:3.05, Z:2.24 [[ 9.99713346e-01 -1.63194192e-02 -1.75186554e-02 3.29005112e+02] [ 1.63180344e-02 9.99866827e-01 -2.22001753e-04 3.04938159e+00] [ 1.75199454e-02 -6.39319077e-05 9.99846512e-01 2.23990072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77925415399994 meters 0.014748297293420575 Centerline is valid? [True, True] Translation: X:329.03, Y:3.05, Z:2.24 [[ 9.99732389e-01 -1.45585071e-02 -1.79777448e-02 3.29033189e+02] [ 1.45566944e-02 9.99894019e-01 -2.31691442e-04 3.05099566e+00] [ 1.79792126e-02 -3.00670982e-05 9.99838360e-01 2.24053608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.809254154 meters 0.014241590110374175 Centerline is valid? [True, True] Translation: X:329.06, Y:3.05, Z:2.24 [[ 9.99757102e-01 -1.30798316e-02 -1.77385132e-02 3.29059669e+02] [ 1.30777745e-02 9.99914455e-01 -2.31969196e-04 3.05230743e+00] [ 1.77400299e-02 -6.74252456e-08 9.99842633e-01 2.24108349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.83925415399995 meters 0.014163583296045603 Centerline is valid? [True, True] Translation: X:329.09, Y:3.05, Z:2.24 [[ 9.99813291e-01 -9.36602530e-03 -1.69014898e-02 3.29087976e+02] [ 9.36356472e-03 9.99956136e-01 -2.24714597e-04 3.05457480e+00] [ 1.69028531e-02 6.64144478e-05 9.99857134e-01 2.24211821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.869254154 meters 0.01400341455841784 Centerline is valid? [True, True] Translation: X:329.12, Y:3.06, Z:2.24 [[ 9.99834277e-01 -7.88924168e-03 -1.64066481e-02 3.29116339e+02] [ 7.88664687e-03 9.99968875e-01 -2.22852175e-04 3.05549300e+00] [ 1.64078956e-02 9.34218037e-05 9.99865377e-01 2.24343464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.89925415399995 meters 0.014409644103001175 Centerline is valid? [True, True] Translation: X:329.14, Y:3.06, Z:2.24 [[ 9.99860898e-01 -5.78988018e-03 -1.56416992e-02 3.29143620e+02] [ 5.78721954e-03 9.99983231e-01 -2.15357706e-04 3.05665099e+00] [ 1.56426838e-02 1.24805802e-04 9.99877638e-01 2.24371372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.929254154 meters 0.01535945825443932 Centerline is valid? [True, True] Translation: X:329.17, Y:3.06, Z:2.24 [[ 9.99867177e-01 -5.60538612e-03 -1.53038291e-02 3.29171153e+02] [ 5.60276920e-03 9.99984281e-01 -2.13867027e-04 3.05559716e+00] [ 1.53047874e-02 1.28094799e-04 9.99882867e-01 2.24452393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.95925415399995 meters 0.014174353691850957 Centerline is valid? [True, True] Translation: X:329.20, Y:3.05, Z:2.25 [[ 9.99871399e-01 -7.32842136e-03 -1.42646448e-02 3.29199651e+02] [ 7.32628881e-03 9.99973142e-01 -2.01750249e-04 3.05241184e+00] [ 1.42657402e-02 9.72173962e-05 9.99898234e-01 2.24533606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.989254154 meters 0.01359961702065325 Centerline is valid? [True, True] Translation: X:329.23, Y:3.05, Z:2.24 [[ 9.99836496e-01 -1.17811803e-02 -1.37180838e-02 3.29227718e+02] [ 1.17796119e-02 9.99930599e-01 -1.95127664e-04 3.04740620e+00] [ 1.37194306e-02 3.35020562e-05 9.99905884e-01 2.24483688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.01925415399995 meters 0.014960929423218274 Centerline is valid? [True, True] Translation: X:329.26, Y:3.04, Z:2.24 [[ 9.99752907e-01 -1.72070454e-02 -1.40727512e-02 3.29256225e+02] [ 1.72059160e-02 9.99851947e-01 -2.01335760e-04 3.04077644e+00] [ 1.40741321e-02 -4.08485631e-05 9.99900954e-01 2.24380985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.049254154 meters 0.014220515552117282 Centerline is valid? [True, True] Translation: X:329.28, Y:3.03, Z:2.24 [[ 9.99613019e-01 -2.39652756e-02 -1.41236276e-02 3.29284523e+02] [ 2.39647962e-02 9.99712782e-01 -2.03211827e-04 3.03380587e+00] [ 1.41244411e-02 -1.35336669e-04 9.99900236e-01 2.24302744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.07925415399995 meters 0.0147694610181954 Centerline is valid? [True, True] Translation: X:329.31, Y:3.03, Z:2.24 [[ 9.99460159e-01 -2.94823581e-02 -1.44976074e-02 3.29314627e+02] [ 2.94824199e-02 9.99565277e-01 -2.09508365e-04 3.02818778e+00] [ 1.44974818e-02 -2.18029285e-04 9.99894882e-01 2.24287386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.109254154 meters 0.0147694610181954 Centerline is valid? [True, True] Translation: X:329.35, Y:3.03, Z:2.24 [[ 9.99461239e-01 -2.94457147e-02 -1.44976077e-02 3.29345473e+02] [ 2.94457729e-02 9.99566357e-01 -2.09484736e-04 3.02860498e+00] [ 1.44974894e-02 -2.17521392e-04 9.99894882e-01 2.24308771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.13925415399996 meters 0.0147694610181954 Centerline is valid? [True, True] Translation: X:329.38, Y:3.03, Z:2.24 [[ 9.99462318e-01 -2.94090677e-02 -1.44976154e-02 3.29376319e+02] [ 2.94091298e-02 9.99567436e-01 -2.08953211e-04 3.02902080e+00] [ 1.44974894e-02 -2.17521392e-04 9.99894882e-01 2.24330141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.169254154 meters 0.015831079406974216 Centerline is valid? [True, True] Translation: X:329.41, Y:3.02, Z:2.24 [[ 9.99405528e-01 -3.12871372e-02 -1.44811990e-02 3.29406634e+02] [ 3.12874020e-02 9.99510408e-01 -2.08325393e-04 3.02451748e+00] [ 1.44806270e-02 -2.44877544e-04 9.99895120e-01 2.24233378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.19925415399996 meters 0.01520843789989255 Centerline is valid? [True, True] Translation: X:329.44, Y:3.02, Z:2.24 [[ 9.99356373e-01 -3.28332195e-02 -1.44505866e-02 3.29437611e+02] [ 3.28336506e-02 9.99460809e-01 -2.07480247e-04 3.02482145e+00] [ 1.44496072e-02 -2.67118805e-04 9.99895563e-01 2.24335511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22925415399993 meters 0.017011427438506248 Centerline is valid? [True, True] Translation: X:329.47, Y:3.02, Z:2.24 [[ 9.99321089e-01 -3.39758149e-02 -1.42480180e-02 3.29468309e+02] [ 3.39763555e-02 9.99422616e-01 -2.04183873e-04 3.02038893e+00] [ 1.42467287e-02 -2.80050474e-04 9.99898471e-01 2.24238867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.25925415399996 meters 0.016135083688585027 Centerline is valid? [True, True] Translation: X:329.50, Y:3.02, Z:2.24 [[ 9.99313267e-01 -3.43315043e-02 -1.39406697e-02 3.29498477e+02] [ 3.43320599e-02 9.99410461e-01 -1.99527149e-04 3.01860117e+00] [ 1.39393012e-02 -2.79221780e-04 9.99902804e-01 2.24237343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28925415399993 meters 0.015548284444727925 Centerline is valid? [True, True] Translation: X:329.53, Y:3.02, Z:2.24 [[ 9.99342329e-01 -3.37542272e-02 -1.32499875e-02 3.29529710e+02] [ 3.37546831e-02 9.99430130e-01 -1.89288990e-04 3.01917311e+00] [ 1.32488260e-02 -2.58084629e-04 9.99912197e-01 2.24278551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31925415399996 meters 0.016645067058337987 Centerline is valid? [True, True] Translation: X:329.56, Y:3.02, Z:2.24 [[ 9.99417173e-01 -3.16383628e-02 -1.28190935e-02 3.29559742e+02] [ 3.16386200e-02 9.99499357e-01 -1.82778608e-04 3.01794880e+00] [ 1.28184585e-02 -2.22906350e-04 9.99917815e-01 2.24219024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34925415399994 meters 0.015184114774043397 Centerline is valid? [True, True] Translation: X:329.59, Y:3.02, Z:2.24 [[ 9.99445470e-01 -3.07474387e-02 -1.27807415e-02 3.29591003e+02] [ 3.07476260e-02 9.99527163e-01 -1.81891307e-04 3.01775864e+00] [ 1.27802910e-02 -2.11187016e-04 9.99918306e-01 2.24232963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37925415399997 meters 0.014704897747910105 Centerline is valid? [True, True] Translation: X:329.62, Y:3.02, Z:2.24 [[ 9.99485726e-01 -2.93930797e-02 -1.28191478e-02 3.29622458e+02] [ 2.93931628e-02 9.99567911e-01 -1.81967051e-04 3.01767590e+00] [ 1.28189574e-02 -1.94921830e-04 9.99917815e-01 2.24244418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40925415399994 meters 0.014463887307659169 Centerline is valid? [True, True] Translation: X:329.65, Y:3.02, Z:2.24 [[ 9.99546947e-01 -2.72334604e-02 -1.28156165e-02 3.29653730e+02] [ 2.72333719e-02 9.99629086e-01 -1.81447782e-04 3.01646477e+00] [ 1.28158045e-02 -1.67646874e-04 9.99917860e-01 2.24221170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43925415399997 meters 0.016140393084743604 Centerline is valid? [True, True] Translation: X:329.68, Y:3.02, Z:2.24 [[ 9.99579531e-01 -2.60831471e-02 -1.26661549e-02 3.29683994e+02] [ 2.60829715e-02 9.99659765e-01 -1.79082072e-04 3.01586998e+00] [ 1.26665165e-02 -1.51364185e-04 9.99919765e-01 2.24160558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46925415399994 meters 0.01443222675635149 Centerline is valid? [True, True] Translation: X:329.71, Y:3.02, Z:2.24 [[ 9.99567340e-01 -2.63412561e-02 -1.30870626e-02 3.29714574e+02] [ 2.63410908e-02 9.99652996e-01 -1.85033130e-04 3.01516639e+00] [ 1.30873954e-02 -1.59774431e-04 9.99914344e-01 2.24239112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49925415399997 meters 0.014253413022567461 Centerline is valid? [True, True] Translation: X:329.75, Y:3.01, Z:2.24 [[ 9.99552791e-01 -2.68588386e-02 -1.31461226e-02 3.29745410e+02] [ 2.68587166e-02 9.99639222e-01 -1.85868157e-04 3.01461866e+00] [ 1.31463720e-02 -1.67302946e-04 9.99913569e-01 2.24270952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.52925415399994 meters 0.016314198237124444 Centerline is valid? [True, True] Translation: X:329.77, Y:3.01, Z:2.24 [[ 9.99484142e-01 -2.91173784e-02 -1.35509549e-02 3.29774685e+02] [ 2.91174546e-02 9.99575979e-01 -1.91713236e-04 3.00995296e+00] [ 1.35507912e-02 -2.02954976e-04 9.99908163e-01 2.24166632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.559254154 meters 0.015254855321383468 Centerline is valid? [True, True] Translation: X:329.80, Y:3.01, Z:2.24 [[ 9.99414673e-01 -3.11836501e-02 -1.40673686e-02 3.29804610e+02] [ 3.11839440e-02 9.99513643e-01 -1.98508616e-04 3.00695493e+00] [ 1.40667170e-02 -2.40283611e-04 9.99901030e-01 2.24182326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.58925415399995 meters 0.015703946150436635 Centerline is valid? [True, True] Translation: X:329.84, Y:3.00, Z:2.24 [[ 9.99331941e-01 -3.37085161e-02 -1.41211916e-02 3.29835032e+02] [ 3.37090730e-02 9.99431668e-01 -1.98642258e-04 3.00438063e+00] [ 1.41198620e-02 -2.77502726e-04 9.99900271e-01 2.24161991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.619254154 meters 0.016940892028407952 Centerline is valid? [True, True] Translation: X:329.87, Y:3.00, Z:2.24 [[ 9.99111798e-01 -3.94050665e-02 -1.49283454e-02 3.29865795e+02] [ 3.94063244e-02 9.99223247e-01 -2.09996460e-04 2.99922679e+00] [ 1.49250247e-02 -3.78461282e-04 9.99888544e-01 2.24115743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.64925415399995 meters 0.016940892028407952 Centerline is valid? [True, True] Translation: X:329.90, Y:3.00, Z:2.24 [[ 9.99113232e-01 -3.93686886e-02 -1.49283495e-02 3.29896646e+02] [ 3.93699468e-02 9.99224681e-01 -2.09705208e-04 2.99963091e+00] [ 1.49250311e-02 -3.78209078e-04 9.99888544e-01 2.24137124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.679254154 meters 0.017495530105151768 Centerline is valid? [True, True] Translation: X:329.93, Y:3.00, Z:2.24 [[ 9.99008542e-01 -4.19837774e-02 -1.48086600e-02 3.29928279e+02] [ 4.19853105e-02 9.99118207e-01 -2.07484506e-04 2.99744887e+00] [ 1.48043128e-02 -4.14467396e-04 9.99890324e-01 2.24136805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.70925415399995 meters 0.01858183533349921 Centerline is valid? [True, True] Translation: X:329.96, Y:2.99, Z:2.24 [[ 9.98895906e-01 -4.44645166e-02 -1.51616599e-02 3.29958068e+02] [ 4.44664244e-02 9.99010857e-01 -2.11420949e-04 2.99496771e+00] [ 1.51560636e-02 -4.62997282e-04 9.99885033e-01 2.24133942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.739254154 meters 0.020468627888496103 Centerline is valid? [True, True] Translation: X:329.99, Y:2.99, Z:2.24 [[ 9.98696701e-01 -4.87588849e-02 -1.50820978e-02 3.29988667e+02] [ 4.87612735e-02 9.98810440e-01 -2.09537101e-04 2.99086692e+00] [ 1.50743735e-02 -5.26158285e-04 9.99886237e-01 2.24179348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.76925415399995 meters 0.020533420581063427 Centerline is valid? [True, True] Translation: X:330.02, Y:2.99, Z:2.24 [[ 9.98619028e-01 -5.03031752e-02 -1.51534674e-02 3.30019829e+02] [ 5.03057705e-02 9.98733841e-01 -2.10103617e-04 2.99007912e+00] [ 1.51448496e-02 -5.52493383e-04 9.99885158e-01 2.24251719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.799254154 meters 0.02208551285842427 Centerline is valid? [True, True] Translation: X:330.05, Y:2.99, Z:2.24 [[ 9.98554955e-01 -5.16312148e-02 -1.49070548e-02 3.30050490e+02] [ 5.16338821e-02 9.98666060e-01 -2.06149007e-04 2.98698461e+00] [ 1.48978134e-02 -5.63857997e-04 9.99888862e-01 2.24261231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.82925415399995 meters 0.021546171420629274 Centerline is valid? [True, True] Translation: X:330.08, Y:2.99, Z:2.24 [[ 9.98510673e-01 -5.27464899e-02 -1.39371638e-02 3.30081689e+02] [ 5.27489367e-02 9.98607787e-01 -1.92246099e-04 2.98761132e+00] [ 1.39279006e-02 -5.43210788e-04 9.99902855e-01 2.24388367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.859254154 meters 0.023014474639415246 Centerline is valid? [True, True] Translation: X:330.11, Y:2.99, Z:2.24 [[ 9.98488476e-01 -5.32851817e-02 -1.34704613e-02 3.30113121e+02] [ 5.32875294e-02 9.98579193e-01 -1.84826352e-04 2.98519622e+00] [ 1.34611708e-02 -5.33260619e-04 9.99909252e-01 2.24482665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.88925415399996 meters 0.023374988983232283 Centerline is valid? [True, True] Translation: X:330.15, Y:2.98, Z:2.25 [[ 9.98489917e-01 -5.36802653e-02 -1.16753729e-02 3.30145033e+02] [ 5.36820678e-02 9.98558066e-01 -1.59182300e-04 2.98492458e+00] [ 1.16670827e-02 -4.67816238e-04 9.99931828e-01 2.24704678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.919254154 meters 0.022867928058841115 Centerline is valid? [True, True] Translation: X:330.18, Y:2.99, Z:2.25 [[ 9.98489567e-01 -5.38066153e-02 -1.11100146e-02 3.30177521e+02] [ 5.38082637e-02 9.98551275e-01 -1.50708190e-04 2.98617350e+00] [ 1.11020283e-02 -4.47330038e-04 9.99938271e-01 2.24803995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.94925415399996 meters 0.02181320682582613 Centerline is valid? [True, True] Translation: X:330.21, Y:2.99, Z:2.25 [[ 9.98476682e-01 -5.41276319e-02 -1.07011925e-02 3.30209756e+02] [ 5.41291877e-02 9.98533930e-01 -1.44408156e-04 2.98806037e+00] [ 1.06933203e-02 -4.35058683e-04 9.99942730e-01 2.24921608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97925415399993 meters 0.02171492763753089 Centerline is valid? [True, True] Translation: X:330.24, Y:2.99, Z:2.25 [[ 9.98449789e-01 -5.45770703e-02 -1.09252750e-02 3.30241599e+02] [ 5.45787276e-02 9.98509460e-01 -1.46619326e-04 2.98891964e+00] [ 1.09169925e-02 -4.49895572e-04 9.99940307e-01 2.24963509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.00925415399996 meters 0.023091873395205905 Centerline is valid? [True, True] Translation: X:330.27, Y:2.99, Z:2.25 [[ 9.98410913e-01 -5.51485851e-02 -1.15880253e-02 3.30273046e+02] [ 5.51504973e-02 9.98478041e-01 -1.54715287e-04 2.98741837e+00] [ 1.15789212e-02 -4.84615930e-04 9.99932845e-01 2.24953721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03925415399993 meters 0.022552224382599247 Centerline is valid? [True, True] Translation: X:330.30, Y:2.99, Z:2.25 [[ 9.98333354e-01 -5.63268801e-02 -1.25617553e-02 3.30304705e+02] [ 5.63292294e-02 9.98412235e-01 -1.66992199e-04 2.98918641e+00] [ 1.25512164e-02 -5.40880116e-04 9.99921084e-01 2.24941850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.06925415399996 meters 0.022649555736767808 Centerline is valid? [True, True] Translation: X:330.34, Y:2.99, Z:2.25 [[ 9.98273864e-01 -5.72433848e-02 -1.31334130e-02 3.30337136e+02] [ 5.72460432e-02 9.98360086e-01 -1.73732983e-04 2.99045842e+00] [ 1.31218204e-02 -5.78402831e-04 9.99913738e-01 2.24932701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09925415399994 meters 0.02412722216268637 Centerline is valid? [True, True] Translation: X:330.37, Y:2.99, Z:2.25 [[ 9.98227760e-01 -5.78480463e-02 -1.39622025e-02 3.30368332e+02] [ 5.78511230e-02 9.98325204e-01 -1.83762935e-04 2.98942031e+00] [ 1.39494490e-02 -6.24291832e-04 9.99902507e-01 2.24910895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.12925415399997 meters 0.02333864991627595 Centerline is valid? [True, True] Translation: X:330.40, Y:2.99, Z:2.25 [[ 9.98158399e-01 -5.87878442e-02 -1.49599562e-02 3.30400664e+02] [ 5.87914968e-02 9.98270265e-01 -1.95892429e-04 2.99255448e+00] [ 1.49455956e-02 -6.83986545e-04 9.99888074e-01 2.24977021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15925415399994 meters 0.0240663699119755 Centerline is valid? [True, True] Translation: X:330.43, Y:2.99, Z:2.25 [[ 9.98152916e-01 -5.87686311e-02 -1.53949211e-02 3.30431998e+02] [ 5.87725121e-02 9.98271382e-01 -2.00596732e-04 2.99291103e+00] [ 1.53800980e-02 -7.04571977e-04 9.99881471e-01 2.24956249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18925415399997 meters 0.02414471226637962 Centerline is valid? [True, True] Translation: X:330.46, Y:2.99, Z:2.25 [[ 9.98172674e-01 -5.84403667e-02 -1.53634607e-02 3.30464345e+02] [ 5.84442083e-02 9.98290656e-01 -1.99192391e-04 2.99424829e+00] [ 1.53488401e-02 -6.99076897e-04 9.99881955e-01 2.24981921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21925415399994 meters 0.024249022026725145 Centerline is valid? [True, True] Translation: X:330.50, Y:3.00, Z:2.25 [[ 9.98261557e-01 -5.68948079e-02 -1.53897818e-02 3.30495273e+02] [ 5.68984942e-02 9.98379949e-01 -1.98569484e-04 2.99739237e+00] [ 1.53761471e-02 -6.77431127e-04 9.99881551e-01 2.25016673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24925415399997 meters 0.024360371004785872 Centerline is valid? [True, True] Translation: X:330.53, Y:3.00, Z:2.25 [[ 9.98349757e-01 -5.52766238e-02 -1.55646046e-02 3.30526264e+02] [ 5.52802088e-02 9.98470860e-01 -2.00136434e-04 2.99996979e+00] [ 1.55518670e-02 -6.60608433e-04 9.99878844e-01 2.25003958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27925415399994 meters 0.024044550677773828 Centerline is valid? [True, True] Translation: X:330.56, Y:3.00, Z:2.25 [[ 9.98427921e-01 -5.39099661e-02 -1.53428220e-02 3.30557112e+02] [ 5.39132969e-02 9.98545601e-01 -1.96741864e-04 3.00202959e+00] [ 1.53311138e-02 -6.30749548e-04 9.99882273e-01 2.25095136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.309254154 meters 0.024713446056933496 Centerline is valid? [True, True] Translation: X:330.59, Y:3.00, Z:2.25 [[ 9.98550628e-01 -5.16121463e-02 -1.52587829e-02 3.30587675e+02] [ 5.16151787e-02 9.98667029e-01 -1.95274599e-04 3.00401680e+00] [ 1.52485219e-02 -5.92593233e-04 9.99883559e-01 2.25051908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.33925415399995 meters 0.02199412157094134 Centerline is valid? [True, True] Translation: X:330.62, Y:3.01, Z:2.25 [[ 9.98747913e-01 -4.77388727e-02 -1.49534425e-02 3.30619526e+02] [ 4.77413599e-02 9.98859713e-01 -1.90797327e-04 3.01164137e+00] [ 1.49454997e-02 -5.23339247e-04 9.99888173e-01 2.25229162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.369254154 meters 0.022797349357100635 Centerline is valid? [True, True] Translation: X:330.65, Y:3.01, Z:2.25 [[ 9.98844318e-01 -4.57046487e-02 -1.48699037e-02 3.30651129e+02] [ 4.57068930e-02 9.98954876e-01 -1.89067161e-04 3.01454357e+00] [ 1.48630040e-02 -4.90808435e-04 9.99889419e-01 2.25198629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.39925415399995 meters 0.021255731746302704 Centerline is valid? [True, True] Translation: X:330.68, Y:3.02, Z:2.25 [[ 9.98915034e-01 -4.43306222e-02 -1.42671239e-02 3.30681955e+02] [ 4.43325569e-02 9.99016813e-01 -1.80789483e-04 3.01829243e+00] [ 1.42611111e-02 -4.51904748e-04 9.99898203e-01 2.25375125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.429254154 meters 0.020552038785745963 Centerline is valid? [True, True] Translation: X:330.71, Y:3.02, Z:2.25 [[ 9.98937431e-01 -4.39141093e-02 -1.39842781e-02 3.30713728e+02] [ 4.39159356e-02 9.99035214e-01 -1.76606228e-04 3.02075018e+00] [ 1.39785418e-02 -4.37714086e-04 9.99902200e-01 2.25429443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.45925415399995 meters 0.020803480483635034 Centerline is valid? [True, True] Translation: X:330.75, Y:3.02, Z:2.25 [[ 9.98950701e-01 -4.35667520e-02 -1.41221305e-02 3.30746216e+02] [ 4.35685903e-02 9.99050422e-01 -1.77604655e-04 3.02200677e+00] [ 1.41164581e-02 -4.37863023e-04 9.99900262e-01 2.25459242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.489254154 meters 0.0189564369462615 Centerline is valid? [True, True] Translation: X:330.78, Y:3.03, Z:2.26 [[ 9.98982962e-01 -4.27685842e-02 -1.42789838e-02 3.30777968e+02] [ 4.27703966e-02 9.99084912e-01 -1.78559128e-04 3.02778249e+00] [ 1.42735540e-02 -4.32340275e-04 9.99898034e-01 2.25535785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.51925415399995 meters 0.02219182614032201 Centerline is valid? [True, True] Translation: X:330.81, Y:3.02, Z:2.25 [[ 9.99028874e-01 -4.15527571e-02 -1.46518359e-02 3.30809006e+02] [ 4.15545484e-02 9.99136220e-01 -1.82289996e-04 3.02499290e+00] [ 1.46467545e-02 -4.26737453e-04 9.99892639e-01 2.25382952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.549254154 meters 0.01853794293880935 Centerline is valid? [True, True] Translation: X:330.84, Y:3.03, Z:2.26 [[ 9.99066953e-01 -4.06072191e-02 -1.47063808e-02 3.30840417e+02] [ 4.06089311e-02 9.99175101e-01 -1.82313823e-04 3.03175397e+00] [ 1.47016527e-02 -4.15066688e-04 9.99891839e-01 2.25557959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.57925415399995 meters 0.019737523876375045 Centerline is valid? [True, True] Translation: X:330.87, Y:3.03, Z:2.25 [[ 9.99225667e-01 -3.64007960e-02 -1.49348243e-02 3.30871239e+02] [ 3.64021001e-02 9.99337207e-01 -1.84605942e-04 3.03245369e+00] [ 1.49316454e-02 -3.59195975e-04 9.99888452e-01 2.25433745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.609254154 meters 0.018950237099723738 Centerline is valid? [True, True] Translation: X:330.90, Y:3.04, Z:2.25 [[ 9.99316664e-01 -3.37641007e-02 -1.50396004e-02 3.30902212e+02] [ 3.37651325e-02 9.99429778e-01 -1.85388480e-04 3.03573726e+00] [ 1.50372840e-02 -3.22552303e-04 9.99886882e-01 2.25415174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.63925415399996 meters 0.016553640596945512 Centerline is valid? [True, True] Translation: X:330.93, Y:3.04, Z:2.26 [[ 9.99403157e-01 -3.07646124e-02 -1.57120381e-02 3.30932565e+02] [ 3.07653716e-02 9.99526615e-01 -1.93443150e-04 3.04238726e+00] [ 1.57105515e-02 -2.90058997e-04 9.99876540e-01 2.25536097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.669254154 meters 0.015406939333099537 Centerline is valid? [True, True] Translation: X:330.96, Y:3.05, Z:2.26 [[ 9.99486876e-01 -2.77334107e-02 -1.60263381e-02 3.30963162e+02] [ 2.77338110e-02 9.99615324e-01 -1.97312742e-04 3.04727063e+00] [ 1.60256453e-02 -2.47259936e-04 9.99871551e-01 2.25614640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.69925415399996 meters 0.014696201896160445 Centerline is valid? [True, True] Translation: X:330.99, Y:3.05, Z:2.26 [[ 9.99622093e-01 -2.22206875e-02 -1.61837163e-02 3.30992434e+02] [ 2.22203706e-02 9.99753077e-01 -1.99417673e-04 3.05272606e+00] [ 1.61841513e-02 -1.60265861e-04 9.99869015e-01 2.25615830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72925415399993 meters 0.014439955281360075 Centerline is valid? [True, True] Translation: X:331.02, Y:3.05, Z:2.26 [[ 9.99664103e-01 -2.05159934e-02 -1.58358534e-02 3.31021549e+02] [ 2.05154389e-02 9.99789517e-01 -1.97481368e-04 3.05484641e+00] [ 1.58365717e-02 -1.27464448e-04 9.99874586e-01 2.25633378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.75925415399996 meters 0.014308000340082602 Centerline is valid? [True, True] Translation: X:331.05, Y:3.06, Z:2.26 [[ 9.99680708e-01 -1.93158234e-02 -1.62905333e-02 3.31049074e+02] [ 1.93150276e-02 9.99813426e-01 -2.06203015e-04 3.05645784e+00] [ 1.62914769e-02 -1.08514925e-04 9.99867279e-01 2.25622250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78925415399993 meters 0.014401991694868232 Centerline is valid? [True, True] Translation: X:331.08, Y:3.06, Z:2.26 [[ 9.99687780e-01 -1.86225947e-02 -1.66595626e-02 3.31076550e+02] [ 1.86216045e-02 9.99826580e-01 -2.14570101e-04 3.05765603e+00] [ 1.66606693e-02 -9.57246787e-05 9.99861197e-01 2.25610634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81925415399996 meters 0.014249408617332404 Centerline is valid? [True, True] Translation: X:331.10, Y:3.06, Z:2.26 [[ 9.99678138e-01 -1.91932374e-02 -1.65903533e-02 3.31104864e+02] [ 1.91922556e-02 9.99815788e-01 -2.18409328e-04 3.05798232e+00] [ 1.65914891e-02 -1.00067269e-04 9.99862347e-01 2.25670289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84925415399994 meters 0.014574226693586339 Centerline is valid? [True, True] Translation: X:331.13, Y:3.06, Z:2.26 [[ 9.99618010e-01 -2.19812459e-02 -1.67528705e-02 3.31133196e+02] [ 2.19805602e-02 9.99758373e-01 -2.25082295e-04 3.05617454e+00] [ 1.67537702e-02 -1.43241163e-04 9.99859635e-01 2.25705423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87925415399997 meters 0.015330979934466478 Centerline is valid? [True, True] Translation: X:331.16, Y:3.05, Z:2.26 [[ 9.99499791e-01 -2.68833980e-02 -1.66568295e-02 3.31161057e+02] [ 2.68833566e-02 9.99638552e-01 -2.26435553e-04 3.05145728e+00] [ 1.66568963e-02 -2.21469201e-04 9.99861240e-01 2.25636891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90925415399994 meters 0.015330979934466478 Centerline is valid? [True, True] Translation: X:331.19, Y:3.05, Z:2.26 [[ 9.99498845e-01 -2.69185557e-02 -1.66568163e-02 3.31190212e+02] [ 2.69185031e-02 9.99637606e-01 -2.27405662e-04 3.05188620e+00] [ 1.66569014e-02 -2.21084864e-04 9.99861240e-01 2.25657114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93925415399997 meters 0.015614676857281672 Centerline is valid? [True, True] Translation: X:331.22, Y:3.05, Z:2.26 [[ 9.99407682e-01 -3.00729453e-02 -1.67303014e-02 3.31219934e+02] [ 3.00733240e-02 9.99547669e-01 -2.29007796e-04 3.05000047e+00] [ 1.67296207e-02 -2.74263625e-04 9.99860012e-01 2.25715191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96925415399994 meters 0.016675870234279095 Centerline is valid? [True, True] Translation: X:331.25, Y:3.04, Z:2.26 [[ 9.99182952e-01 -3.68147659e-02 -1.66764024e-02 3.31249828e+02] [ 3.68160703e-02 9.99322032e-01 -2.28878797e-04 3.04433092e+00] [ 1.66735224e-02 -3.85267810e-04 9.99860913e-01 2.25725366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99925415399997 meters 0.020119228982961448 Centerline is valid? [True, True] Translation: X:331.28, Y:3.04, Z:2.26 [[ 9.99064687e-01 -3.97633182e-02 -1.69891340e-02 3.31281375e+02] [ 3.97650999e-02 9.99209028e-01 -2.33061315e-04 3.04117407e+00] [ 1.69849634e-02 -4.42731282e-04 9.99855647e-01 2.25601869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.02925415399994 meters 0.01936517967325595 Centerline is valid? [True, True] Translation: X:331.31, Y:3.04, Z:2.26 [[ 9.98938497e-01 -4.30872464e-02 -1.62901070e-02 3.31312890e+02] [ 4.30893355e-02 9.99071198e-01 -2.22885511e-04 3.03843548e+00] [ 1.62845802e-02 -4.79280967e-04 9.99867283e-01 2.25702616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.059254154 meters 0.019369949019969405 Centerline is valid? [True, True] Translation: X:331.34, Y:3.04, Z:2.26 [[ 9.98721857e-01 -4.81685761e-02 -1.53114785e-02 3.31343537e+02] [ 4.81710241e-02 9.98839080e-01 -2.09101851e-04 3.03528714e+00] [ 1.53037752e-02 -5.28735009e-04 9.99882751e-01 2.25887699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.08925415399995 meters 0.02016730068719319 Centerline is valid? [True, True] Translation: X:331.38, Y:3.03, Z:2.26 [[ 9.98653971e-01 -4.97204813e-02 -1.47688883e-02 3.31375438e+02] [ 4.97229387e-02 9.98763029e-01 -2.00986949e-04 3.03352220e+00] [ 1.47606128e-02 -5.33636114e-04 9.99890914e-01 2.25898430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.119254154 meters 0.0203883283432623 Centerline is valid? [True, True] Translation: X:331.41, Y:3.03, Z:2.26 [[ 9.98594752e-01 -5.09687984e-02 -1.45155751e-02 3.31407778e+02] [ 5.09713194e-02 9.98700098e-01 -1.96469379e-04 3.03291112e+00] [ 1.45067201e-02 -5.43684721e-04 9.99894624e-01 2.25920921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.14925415399995 meters 0.02137434965049667 Centerline is valid? [True, True] Translation: X:331.44, Y:3.03, Z:2.26 [[ 9.98558329e-01 -5.18740823e-02 -1.37964995e-02 3.31438534e+02] [ 5.18764650e-02 9.98653492e-01 -1.85357670e-04 3.03071650e+00] [ 1.37875377e-02 -5.30623178e-04 9.99904807e-01 2.25927109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.179254154 meters 0.021112123717155557 Centerline is valid? [True, True] Translation: X:331.47, Y:3.03, Z:2.26 [[ 9.98545844e-01 -5.22257276e-02 -1.33667823e-02 3.31471091e+02] [ 5.22280136e-02 9.98635170e-01 -1.78238922e-04 3.03076168e+00] [ 1.33578476e-02 -5.20140755e-04 9.99910645e-01 2.25966472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.20925415399995 meters 0.02229959184996698 Centerline is valid? [True, True] Translation: X:331.50, Y:3.03, Z:2.26 [[ 9.98562556e-01 -5.19522175e-02 -1.31828682e-02 3.31502047e+02] [ 5.19544285e-02 9.98649441e-01 -1.74934371e-04 3.02912297e+00] [ 1.31741522e-02 -5.10225470e-04 9.99913087e-01 2.25952527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.239254154 meters 0.023104982715243052 Centerline is valid? [True, True] Translation: X:331.53, Y:3.03, Z:2.26 [[ 9.98603470e-01 -5.09616552e-02 -1.39290930e-02 3.31533936e+02] [ 5.09640402e-02 9.98700472e-01 -1.83916426e-04 3.03059850e+00] [ 1.39203644e-02 -5.26223271e-04 9.99902969e-01 2.25784378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.26925415399995 meters 0.020737938996365356 Centerline is valid? [True, True] Translation: X:331.57, Y:3.03, Z:2.26 [[ 9.98577022e-01 -5.15241401e-02 -1.37547898e-02 3.31566057e+02] [ 5.15265329e-02 9.98671610e-01 -1.80603476e-04 3.03150598e+00] [ 1.37458235e-02 -5.28390150e-04 9.99905382e-01 2.25942467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.299254154 meters 0.021141598247768522 Centerline is valid? [True, True] Translation: X:331.60, Y:3.03, Z:2.26 [[ 9.98584931e-01 -5.12615243e-02 -1.41559634e-02 3.31597353e+02] [ 5.12640456e-02 9.98685117e-01 -1.84941233e-04 3.03089148e+00] [ 1.41468304e-02 -5.41012427e-04 9.99899782e-01 2.25909794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.32925415399995 meters 0.023032227266170317 Centerline is valid? [True, True] Translation: X:331.63, Y:3.03, Z:2.26 [[ 9.98580881e-01 -5.11372152e-02 -1.48730901e-02 3.31628542e+02] [ 5.11399971e-02 9.98691476e-01 -1.93472181e-04 3.02772592e+00] [ 1.48635220e-02 -5.67412166e-04 9.99889371e-01 2.25821174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.359254154 meters 0.02191563952513926 Centerline is valid? [True, True] Translation: X:331.66, Y:3.03, Z:2.26 [[ 9.98588086e-01 -5.09364360e-02 -1.50769245e-02 3.31661115e+02] [ 5.09392865e-02 9.98701733e-01 -1.95150708e-04 3.02986521e+00] [ 1.50672909e-02 -5.73132603e-04 9.99886318e-01 2.25863218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.38925415399996 meters 0.02392351053780172 Centerline is valid? [True, True] Translation: X:331.69, Y:3.03, Z:2.26 [[ 9.98637211e-01 -4.96531830e-02 -1.60711534e-02 3.31692308e+02] [ 4.96562725e-02 9.98766345e-01 -2.06994641e-04 3.02827581e+00] [ 1.60616051e-02 -5.91321023e-04 9.99870829e-01 2.25710269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.419254154 meters 0.022040521884783847 Centerline is valid? [True, True] Translation: X:331.72, Y:3.03, Z:2.26 [[ 9.98680050e-01 -4.87985493e-02 -1.60268558e-02 3.31723881e+02] [ 4.88015229e-02 9.98808475e-01 -2.05731167e-04 3.03105697e+00] [ 1.60177988e-02 -5.76675361e-04 9.99871541e-01 2.25831697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.44925415399996 meters 0.020794165647155912 Centerline is valid? [True, True] Translation: X:331.76, Y:3.03, Z:2.26 [[ 9.98749372e-01 -4.70863261e-02 -1.68098033e-02 3.31755181e+02] [ 4.70893655e-02 9.98890657e-01 -2.15171347e-04 3.03421818e+00] [ 1.68012871e-02 -5.76660724e-04 9.99858682e-01 2.25885257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47925415399993 meters 0.019410126432728547 Centerline is valid? [True, True] Translation: X:331.79, Y:3.04, Z:2.26 [[ 9.98918809e-01 -4.31369203e-02 -1.73326072e-02 3.31787054e+02] [ 4.31395723e-02 9.99069031e-01 -2.21029625e-04 3.03828346e+00] [ 1.73260056e-02 -5.26930610e-04 9.99849755e-01 2.25967155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.50925415399996 meters 0.019509957652580304 Centerline is valid? [True, True] Translation: X:331.82, Y:3.04, Z:2.26 [[ 9.99002776e-01 -4.11272031e-02 -1.73783676e-02 3.31818089e+02] [ 4.11295752e-02 9.99153797e-01 -2.21040280e-04 3.04016570e+00] [ 1.73727527e-02 -4.93945022e-04 9.99848960e-01 2.25947062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53925415399993 meters 0.019509957652580304 Centerline is valid? [True, True] Translation: X:331.85, Y:3.04, Z:2.26 [[ 9.99004245e-01 -4.10914879e-02 -1.73783739e-02 3.31848944e+02] [ 4.10938632e-02 9.99155266e-01 -2.20542863e-04 3.04052706e+00] [ 1.73727562e-02 -4.93821263e-04 9.99848960e-01 2.25968443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.56925415399996 meters 0.018461037173077514 Centerline is valid? [True, True] Translation: X:331.88, Y:3.04, Z:2.26 [[ 9.99067350e-01 -3.95902662e-02 -1.72348582e-02 3.31879698e+02] [ 3.95923835e-02 9.99215890e-01 -2.18475889e-04 3.04190633e+00] [ 1.72299937e-02 -4.64096989e-04 9.99851445e-01 2.26059353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59925415399994 meters 0.018145072247996285 Centerline is valid? [True, True] Translation: X:331.91, Y:3.04, Z:2.26 [[ 9.99102751e-01 -3.87355251e-02 -1.71246265e-02 3.31909875e+02] [ 3.87374899e-02 9.99249398e-01 -2.17078549e-04 3.04341169e+00] [ 1.71201814e-02 -4.46481272e-04 9.99853339e-01 2.26114178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.62925415399997 meters 0.01820334157563956 Centerline is valid? [True, True] Translation: X:331.94, Y:3.04, Z:2.26 [[ 9.99125181e-01 -3.80676874e-02 -1.73125484e-02 3.31940323e+02] [ 3.80695954e-02 9.99275066e-01 -2.19460721e-04 3.04444438e+00] [ 1.73083523e-02 -4.39812981e-04 9.99850103e-01 2.26140591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65925415399994 meters 0.01820825734030771 Centerline is valid? [True, True] Translation: X:331.97, Y:3.05, Z:2.26 [[ 9.99106114e-01 -3.84605967e-02 -1.75429424e-02 3.31971854e+02] [ 3.84626231e-02 9.99260015e-01 -2.22003389e-04 3.04609657e+00] [ 1.75384992e-02 -4.52942637e-04 9.99846086e-01 2.26214342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68925415399997 meters 0.01884187064085645 Centerline is valid? [True, True] Translation: X:332.00, Y:3.05, Z:2.26 [[ 9.99085179e-01 -3.88951024e-02 -1.77756934e-02 3.32002207e+02] [ 3.88972595e-02 9.99243190e-01 -2.24507290e-04 3.04578763e+00] [ 1.77709729e-02 -4.67123854e-04 9.99841975e-01 2.26212840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71925415399994 meters 0.019238574625621504 Centerline is valid? [True, True] Translation: X:332.03, Y:3.05, Z:2.26 [[ 9.99049339e-01 -3.96749264e-02 -1.80642665e-02 3.32033714e+02] [ 3.96772907e-02 9.99212520e-01 -2.27640233e-04 3.04662159e+00] [ 1.80590729e-02 -4.89317329e-04 9.99836802e-01 2.26252155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74925415399997 meters 0.01932772918543177 Centerline is valid? [True, True] Translation: X:332.07, Y:3.05, Z:2.26 [[ 9.98967005e-01 -4.13872455e-02 -1.87621534e-02 3.32065375e+02] [ 4.13901104e-02 9.99143034e-01 -2.35765203e-04 3.04822094e+00] [ 1.87558326e-02 -5.41045943e-04 9.99823948e-01 2.26356888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77925415399994 meters 0.020779748373010304 Centerline is valid? [True, True] Translation: X:332.10, Y:3.05, Z:2.26 [[ 9.98913902e-01 -4.25398490e-02 -1.90099442e-02 3.32095403e+02] [ 4.25430073e-02 9.99094608e-01 -2.38417890e-04 3.04636230e+00] [ 1.90028750e-02 -5.70581251e-04 9.99819266e-01 2.26320452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.809254154 meters 0.02314876276075478 Centerline is valid? [True, True] Translation: X:332.13, Y:3.04, Z:2.26 [[ 9.98821796e-01 -4.40680084e-02 -2.03231275e-02 3.32125074e+02] [ 4.40719324e-02 9.99028328e-01 -2.54984725e-04 3.04463879e+00] [ 2.03146168e-02 -6.40995201e-04 9.99793431e-01 2.26235994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.83925415399995 meters 0.02175940310367887 Centerline is valid? [True, True] Translation: X:332.16, Y:3.05, Z:2.26 [[ 9.98777716e-01 -4.53953781e-02 -1.95533709e-02 3.32155935e+02] [ 4.53992622e-02 9.98968892e-01 -2.45440124e-04 3.04593256e+00] [ 1.95443511e-02 -6.42568487e-04 9.99808784e-01 2.26414156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.869254154 meters 0.019432518644609247 Centerline is valid? [True, True] Translation: X:332.19, Y:3.05, Z:2.27 [[ 9.98731789e-01 -4.61506130e-02 -2.01230085e-02 3.32187267e+02] [ 4.61548897e-02 9.98934263e-01 -2.52106308e-04 3.05052086e+00] [ 2.01131975e-02 -6.76988651e-04 9.99797480e-01 2.26608859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.89925415399995 meters 0.024057124230781272 Centerline is valid? [True, True] Translation: X:332.22, Y:3.05, Z:2.26 [[ 9.98689750e-01 -4.61500855e-02 -2.21122601e-02 3.32217344e+02] [ 4.61552620e-02 9.98934240e-01 -2.76472325e-04 3.04622159e+00] [ 2.21014530e-02 -7.44487084e-04 9.99755456e-01 2.26337081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.929254154 meters 0.020884115525516875 Centerline is valid? [True, True] Translation: X:332.25, Y:3.05, Z:2.27 [[ 9.98629775e-01 -4.76219464e-02 -2.16961353e-02 3.32247372e+02] [ 4.76272794e-02 9.98865140e-01 -2.71145664e-04 3.05045112e+00] [ 2.16844257e-02 -7.62553766e-04 9.99764574e-01 2.26610388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.95925415399995 meters 0.020545827710400453 Centerline is valid? [True, True] Translation: X:332.28, Y:3.05, Z:2.27 [[ 9.98607454e-01 -4.81420164e-02 -2.15754469e-02 3.32277647e+02] [ 4.81474115e-02 9.98840204e-01 -2.69637371e-04 3.05113473e+00] [ 2.15634047e-02 -7.69540032e-04 9.99767187e-01 2.26674559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.989254154 meters 0.02145275243957278 Centerline is valid? [True, True] Translation: X:332.31, Y:3.05, Z:2.27 [[ 9.98584319e-01 -4.85588159e-02 -2.17117319e-02 3.32307803e+02] [ 4.85643950e-02 9.98820017e-01 -2.70548523e-04 3.05004643e+00] [ 2.16992499e-02 -7.84251609e-04 9.99764236e-01 2.26659094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.01925415399995 meters 0.021530461045819207 Centerline is valid? [True, True] Translation: X:332.34, Y:3.05, Z:2.27 [[ 9.98565287e-01 -4.87981473e-02 -2.20478771e-02 3.32338403e+02] [ 4.88039670e-02 9.98808339e-01 -2.74360264e-04 3.05084327e+00] [ 2.20349918e-02 -8.02057232e-04 9.99756878e-01 2.26754621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.049254154 meters 0.022151887771152786 Centerline is valid? [True, True] Translation: X:332.37, Y:3.05, Z:2.27 [[ 9.98565506e-01 -4.84013839e-02 -2.28962096e-02 3.32368418e+02] [ 4.84075562e-02 9.98827626e-01 -2.84916778e-04 3.05123727e+00] [ 2.28831571e-02 -8.23841487e-04 9.99737807e-01 2.26772387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.07925415399995 meters 0.021749649528151366 Centerline is valid? [True, True] Translation: X:332.40, Y:3.05, Z:2.27 [[ 9.98561219e-01 -4.79865714e-02 -2.39328556e-02 3.32399004e+02] [ 4.79931967e-02 9.98847618e-01 -2.97816636e-04 3.05398202e+00] [ 2.39195670e-02 -8.51226104e-04 9.99713524e-01 2.26898600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.109254154 meters 0.020459133846086986 Centerline is valid? [True, True] Translation: X:332.43, Y:3.06, Z:2.27 [[ 9.98582371e-01 -4.81169640e-02 -2.27597548e-02 3.32429228e+02] [ 4.81229892e-02 9.98841378e-01 -2.83218757e-04 3.05604123e+00] [ 2.27470125e-02 -8.12450178e-04 9.99740923e-01 2.27068659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.13925415399996 meters 0.021458004817059645 Centerline is valid? [True, True] Translation: X:332.46, Y:3.06, Z:2.27 [[ 9.98581758e-01 -4.76908527e-02 -2.36654821e-02 3.32459804e+02] [ 4.76972478e-02 9.98861795e-01 -2.94489483e-04 3.05679895e+00] [ 2.36525904e-02 -8.34706540e-04 9.99719890e-01 2.27086846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.169254154 meters 0.02091511262393512 Centerline is valid? [True, True] Translation: X:332.49, Y:3.06, Z:2.27 [[ 9.98571130e-01 -4.78958656e-02 -2.36998821e-02 3.32490042e+02] [ 4.79023369e-02 9.98851981e-01 -2.94917551e-04 3.05809778e+00] [ 2.36867995e-02 -8.40783586e-04 9.99719075e-01 2.27133431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.19925415399996 meters 0.021075248151998623 Centerline is valid? [True, True] Translation: X:332.52, Y:3.06, Z:2.27 [[ 9.98563537e-01 -4.78238820e-02 -2.41606976e-02 3.32520428e+02] [ 4.78305866e-02 9.98855417e-01 -3.00651865e-04 3.05833138e+00] [ 2.41474220e-02 -8.55400347e-04 9.99708043e-01 2.27118076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22925415399993 meters 0.021783743736504397 Centerline is valid? [True, True] Translation: X:332.55, Y:3.06, Z:2.27 [[ 9.98535797e-01 -4.78417370e-02 -2.52473808e-02 3.32550256e+02] [ 4.78490561e-02 9.98854528e-01 -3.14499779e-04 3.05778775e+00] [ 2.52335068e-02 -8.94024050e-04 9.99681185e-01 2.27045085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.25925415399996 meters 0.021924009176813378 Centerline is valid? [True, True] Translation: X:332.58, Y:3.06, Z:2.27 [[ 9.98526884e-01 -4.76342918e-02 -2.59814436e-02 3.32579570e+02] [ 4.76419522e-02 9.98864425e-01 -3.24439373e-04 3.05816780e+00] [ 2.59673942e-02 -9.13845260e-04 9.99662373e-01 2.27032567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28925415399993 meters 0.02184359292736649 Centerline is valid? [True, True] Translation: X:332.61, Y:3.06, Z:2.27 [[ 9.98561453e-01 -4.67601159e-02 -2.62396021e-02 3.32609005e+02] [ 4.67676038e-02 9.98905743e-01 -3.28583389e-04 3.05920990e+00] [ 2.62262538e-02 -8.99052610e-04 9.99655628e-01 2.27030919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31925415399996 meters 0.020306284855367385 Centerline is valid? [True, True] Translation: X:332.64, Y:3.07, Z:2.27 [[ 9.98650498e-01 -4.31944596e-02 -2.88343690e-02 3.32638983e+02] [ 4.32019661e-02 9.99066293e-01 -3.62889064e-04 3.06651915e+00] [ 2.88231210e-02 -8.83302087e-04 9.99584137e-01 2.27315923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34925415399994 meters 0.01842756735839151 Centerline is valid? [True, True] Translation: X:332.67, Y:3.07, Z:2.27 [[ 9.98763178e-01 -4.16371272e-02 -2.71746821e-02 3.32667379e+02] [ 4.16431650e-02 9.99132488e-01 -3.43946624e-04 3.06924702e+00] [ 2.71654287e-02 -7.88118547e-04 9.99630641e-01 2.27381503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37925415399997 meters 0.019629066059356107 Centerline is valid? [True, True] Translation: X:332.70, Y:3.07, Z:2.27 [[ 9.98862942e-01 -3.89930751e-02 -2.74292229e-02 3.32695200e+02] [ 3.89981656e-02 9.99239221e-01 -3.49539412e-04 3.06872694e+00] [ 2.74219849e-02 -7.20547409e-04 9.99623687e-01 2.27164574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40925415399994 meters 0.016030593920038173 Centerline is valid? [True, True] Translation: X:332.72, Y:3.08, Z:2.28 [[ 9.99107248e-01 -3.23139045e-02 -2.72124588e-02 3.32724855e+02] [ 3.23164011e-02 9.99477628e-01 -3.48151211e-04 3.07787599e+00] [ 2.72094939e-02 -5.31568337e-04 9.99629612e-01 2.27554410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43925415399997 meters 0.015403910514003687 Centerline is valid? [True, True] Translation: X:332.75, Y:3.08, Z:2.28 [[ 9.99204746e-01 -2.90795913e-02 -2.72810074e-02 3.32753700e+02] [ 2.90807455e-02 9.99577003e-01 -3.54525652e-04 3.08040525e+00] [ 2.72797771e-02 -4.39108319e-04 9.99627741e-01 2.27583007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46925415399994 meters 0.015331911569965202 Centerline is valid? [True, True] Translation: X:332.78, Y:3.08, Z:2.28 [[ 9.99299787e-01 -2.57177330e-02 -2.71759751e-02 3.32781841e+02] [ 2.57174466e-02 9.99669187e-01 -3.60108374e-04 3.08241700e+00] [ 2.71762461e-02 -3.39040468e-04 9.99630600e-01 2.27504487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49925415399997 meters 0.01419386451230505 Centerline is valid? [True, True] Translation: X:332.81, Y:3.09, Z:2.28 [[ 9.99482262e-01 -1.93465008e-02 -2.57083739e-02 3.32810844e+02] [ 1.93440590e-02 9.99812827e-01 -3.43694827e-04 3.08782637e+00] [ 2.57102113e-02 -1.53787419e-04 9.99669426e-01 2.27726688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.52925415399994 meters 0.014057499770304183 Centerline is valid? [True, True] Translation: X:332.84, Y:3.09, Z:2.28 [[ 9.99526202e-01 -1.71141843e-02 -2.55827263e-02 3.32839427e+02] [ 1.71109020e-02 9.99853538e-01 -3.47219314e-04 3.08980083e+00] [ 2.55849218e-02 -9.06887203e-05 9.99672648e-01 2.27771565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.559254154 meters 0.01400469731345141 Centerline is valid? [True, True] Translation: X:332.87, Y:3.09, Z:2.28 [[ 9.99568821e-01 -1.53118605e-02 -2.50543203e-02 3.32868302e+02] [ 1.53079890e-02 9.99882766e-01 -3.46323208e-04 3.09149193e+00] [ 2.50566859e-02 -3.73573789e-05 9.99686031e-01 2.27803449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.58925415399995 meters 0.013911915394305882 Centerline is valid? [True, True] Translation: X:332.90, Y:3.09, Z:2.28 [[ 9.99590540e-01 -1.33494108e-02 -2.53090164e-02 3.32896601e+02] [ 1.33446506e-02 9.99910892e-01 -3.56977973e-04 3.09234460e+00] [ 2.53115266e-02 1.90918245e-05 9.99679612e-01 2.27871851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.619254154 meters 0.01383718288739044 Centerline is valid? [True, True] Translation: X:332.93, Y:3.09, Z:2.28 [[ 9.99576896e-01 -1.35021314e-02 -2.57628039e-02 3.32925707e+02] [ 1.34970713e-02 9.99908842e-01 -3.70298124e-04 3.09220710e+00] [ 2.57654553e-02 2.24190477e-05 9.99668015e-01 2.27850564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.64925415399995 meters 0.013854344710289585 Centerline is valid? [True, True] Translation: X:332.95, Y:3.09, Z:2.28 [[ 9.99554554e-01 -1.36419249e-02 -2.65441235e-02 3.32953561e+02] [ 1.36365060e-02 9.99906944e-01 -3.85160498e-04 3.09178712e+00] [ 2.65469077e-02 2.30198311e-05 9.99647568e-01 2.27781972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.679254154 meters 0.013887431667521174 Centerline is valid? [True, True] Translation: X:332.98, Y:3.09, Z:2.28 [[ 9.99532121e-01 -1.44454619e-02 -2.69604759e-02 3.32981232e+02] [ 1.44399897e-02 9.99895659e-01 -3.97662044e-04 3.09145805e+00] [ 2.69634073e-02 8.16699164e-06 9.99636421e-01 2.27746226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.70925415399995 meters 0.0137774779520713 Centerline is valid? [True, True] Translation: X:333.01, Y:3.09, Z:2.28 [[ 9.99470181e-01 -1.71747737e-02 -2.76475009e-02 3.33009812e+02] [ 1.71698601e-02 9.99852501e-01 -4.15128226e-04 3.08990887e+00] [ 2.76505526e-02 -5.97954388e-05 9.99617649e-01 2.27792106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.739254154 meters 0.013860625268775488 Centerline is valid? [True, True] Translation: X:333.04, Y:3.09, Z:2.28 [[ 9.99435943e-01 -1.91053627e-02 -2.76184883e-02 3.33036627e+02] [ 1.91010334e-02 9.99817470e-01 -4.20589972e-04 3.08860600e+00] [ 2.76214826e-02 -1.07188932e-04 9.99618448e-01 2.27766409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.76925415399995 meters 0.014502660099783637 Centerline is valid? [True, True] Translation: X:333.06, Y:3.08, Z:2.28 [[ 9.99341466e-01 -2.41802328e-02 -2.70545778e-02 3.33064529e+02] [ 2.41778528e-02 9.99707587e-01 -4.15134124e-04 3.08288388e+00] [ 2.70567047e-02 -2.39260856e-04 9.99633872e-01 2.27623590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.799254154 meters 0.01442560639385886 Centerline is valid? [True, True] Translation: X:333.09, Y:3.08, Z:2.28 [[ 9.99266519e-01 -2.75041946e-02 -2.66447790e-02 3.33093040e+02] [ 2.75029187e-02 9.99621637e-01 -4.14423169e-04 3.08084003e+00] [ 2.66460960e-02 -3.18689994e-04 9.99644879e-01 2.27838595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.82925415399995 meters 0.015787590504108037 Centerline is valid? [True, True] Translation: X:333.12, Y:3.08, Z:2.28 [[ 9.99170812e-01 -3.09114782e-02 -2.64984848e-02 3.33121848e+02] [ 3.09112361e-02 9.99522046e-01 -4.18859134e-04 3.07790322e+00] [ 2.64987673e-02 -4.00589099e-04 9.99648766e-01 2.27901575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.859254154 meters 0.015012322082655976 Centerline is valid? [True, True] Translation: X:333.15, Y:3.08, Z:2.28 [[ 9.99090594e-01 -3.46678641e-02 -2.48218396e-02 3.33150207e+02] [ 3.46686546e-02 9.99398782e-01 -3.98615087e-04 3.07574161e+00] [ 2.48207354e-02 -4.62287201e-04 9.99691811e-01 2.27946374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.88925415399996 meters 0.0178233166569938 Centerline is valid? [True, True] Translation: X:333.18, Y:3.07, Z:2.28 [[ 9.98914101e-01 -3.94616734e-02 -2.47668220e-02 3.33179933e+02] [ 3.94638724e-02 9.99220918e-01 -4.00168201e-04 3.07086777e+00] [ 2.47633179e-02 -5.77661047e-04 9.99693175e-01 2.28019074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.919254154 meters 0.016303925260102593 Centerline is valid? [True, True] Translation: X:333.21, Y:3.07, Z:2.28 [[ 9.98856903e-01 -4.19697046e-02 -2.28786030e-02 3.33208694e+02] [ 4.19721376e-02 9.99118712e-01 -3.74051559e-04 3.07044483e+00] [ 2.28741392e-02 -5.86639891e-04 9.99738181e-01 2.28060398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.94925415399996 meters 0.017159715827163642 Centerline is valid? [True, True] Translation: X:333.24, Y:3.07, Z:2.28 [[ 9.98801523e-01 -4.35004079e-02 -2.24328322e-02 3.33238457e+02] [ 4.35030866e-02 9.99053225e-01 -3.68819592e-04 3.06821714e+00] [ 2.24276371e-02 -6.07519870e-04 9.99748284e-01 2.28035705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97925415399993 meters 0.020853683470480167 Centerline is valid? [True, True] Translation: X:333.27, Y:3.06, Z:2.28 [[ 9.98701522e-01 -4.56488424e-02 -2.26153353e-02 3.33268328e+02] [ 4.56521122e-02 9.98957330e-01 -3.71948925e-04 3.06459562e+00] [ 2.26087340e-02 -6.60971866e-04 9.99744171e-01 2.28044865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.00925415399996 meters 0.01800714791920175 Centerline is valid? [True, True] Translation: X:333.30, Y:3.06, Z:2.28 [[ 9.98668761e-01 -4.72835030e-02 -2.06149542e-02 3.33298824e+02] [ 4.72865675e-02 9.98881307e-01 -3.39049143e-04 3.06495991e+00] [ 2.06079238e-02 -6.36212634e-04 9.99787432e-01 2.28088109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03925415399993 meters 0.019703506136395852 Centerline is valid? [True, True] Translation: X:333.33, Y:3.06, Z:2.28 [[ 9.98552759e-01 -4.97600792e-02 -2.04039680e-02 3.33330110e+02] [ 4.97636077e-02 9.98760968e-01 -3.35086759e-04 3.06244089e+00] [ 2.03953607e-02 -6.80773249e-04 9.99791761e-01 2.28144994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.06925415399996 meters 0.021236345865013086 Centerline is valid? [True, True] Translation: X:333.36, Y:3.06, Z:2.28 [[ 9.98485793e-01 -5.13015156e-02 -1.98563829e-02 3.33360860e+02] [ 5.13051711e-02 9.98682969e-01 -3.25613157e-04 3.05927567e+00] [ 1.98469359e-02 -6.93615013e-04 9.99802790e-01 2.28040114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09925415399994 meters 0.02008477316576551 Centerline is valid? [True, True] Translation: X:333.39, Y:3.06, Z:2.28 [[ 9.98398264e-01 -5.29811638e-02 -1.98470038e-02 3.33391611e+02] [ 5.29851544e-02 9.98595247e-01 -3.25097689e-04 3.06104394e+00] [ 1.98363477e-02 -7.27019591e-04 9.99802976e-01 2.28133041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.12925415399997 meters 0.02105658931201336 Centerline is valid? [True, True] Translation: X:333.42, Y:3.06, Z:2.28 [[ 9.98324599e-01 -5.40592802e-02 -2.06298354e-02 3.33423015e+02] [ 5.40638351e-02 9.98537424e-01 -3.37279637e-04 3.06120201e+00] [ 2.06178958e-02 -7.78613463e-04 9.99787125e-01 2.28177900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15925415399994 meters 0.022216463118616154 Centerline is valid? [True, True] Translation: X:333.45, Y:3.06, Z:2.28 [[ 9.98149962e-01 -5.72869860e-02 -2.03679833e-02 3.33453023e+02] [ 5.72921232e-02 9.98357402e-01 -3.31693823e-04 3.05793043e+00] [ 2.03535287e-02 -8.35844835e-04 9.99792496e-01 2.28030489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18925415399997 meters 0.022987964294170868 Centerline is valid? [True, True] Translation: X:333.48, Y:3.06, Z:2.28 [[ 9.98080975e-01 -5.83617831e-02 -2.06946584e-02 3.33483974e+02] [ 5.83673439e-02 9.98295117e-01 -3.35719695e-04 3.05691510e+00] [ 2.06789696e-02 -8.72816800e-04 9.99785786e-01 2.27967958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21925415399994 meters 0.022700132541245924 Centerline is valid? [True, True] Translation: X:333.52, Y:3.06, Z:2.28 [[ 9.97983174e-01 -5.97308058e-02 -2.14899030e-02 3.33515258e+02] [ 5.97371389e-02 9.98214082e-01 -3.47701758e-04 3.05797935e+00] [ 2.14722923e-02 -9.36744816e-04 9.99769005e-01 2.27904583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24925415399997 meters 0.021685574898097804 Centerline is valid? [True, True] Translation: X:333.55, Y:3.06, Z:2.28 [[ 9.97965249e-01 -5.99218647e-02 -2.17883231e-02 3.33546841e+02] [ 5.99284380e-02 9.98202614e-01 -3.51720698e-04 3.06068294e+00] [ 2.17702369e-02 -9.54735136e-04 9.99762544e-01 2.27931345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27925415399994 meters 0.02239230628587382 Centerline is valid? [True, True] Translation: X:333.58, Y:3.06, Z:2.28 [[ 9.97977800e-01 -5.97435105e-02 -2.17030682e-02 3.33578010e+02] [ 5.97500342e-02 9.98213310e-01 -3.48323095e-04 3.06121025e+00] [ 2.16851016e-02 -9.49140351e-04 9.99764400e-01 2.27926880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.309254154 meters 0.022107003853902202 Centerline is valid? [True, True] Translation: X:333.61, Y:3.06, Z:2.28 [[ 9.98003032e-01 -5.91568683e-02 -2.21452501e-02 3.33608984e+02] [ 5.91635476e-02 9.98248240e-01 -3.54015701e-04 3.06322923e+00] [ 2.21273994e-02 -9.56882816e-04 9.99754701e-01 2.27968909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.33925415399995 meters 0.021771822778554994 Centerline is valid? [True, True] Translation: X:333.64, Y:3.07, Z:2.28 [[ 9.98061072e-01 -5.82130917e-02 -2.20302649e-02 3.33640186e+02] [ 5.82194901e-02 9.98303745e-01 -3.51367694e-04 3.06562785e+00] [ 2.20133502e-02 -9.31904375e-04 9.99757243e-01 2.28037074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.369254154 meters 0.02160513349219257 Centerline is valid? [True, True] Translation: X:333.67, Y:3.07, Z:2.28 [[ 9.98207867e-01 -5.57759929e-02 -2.16816193e-02 3.33670319e+02] [ 5.57816277e-02 9.98442933e-01 -3.45286240e-04 3.06883916e+00] [ 2.16671183e-02 -8.64768575e-04 9.99764866e-01 2.28116070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.39925415399995 meters 0.020826024185738576 Centerline is valid? [True, True] Translation: X:333.70, Y:3.07, Z:2.28 [[ 9.98300741e-01 -5.42167953e-02 -2.13581305e-02 3.33701708e+02] [ 5.42219207e-02 9.98528852e-01 -3.39482350e-04 3.07162295e+00] [ 2.13451152e-02 -8.19173376e-04 9.99771831e-01 2.28172055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.429254154 meters 0.01994340607487175 Centerline is valid? [True, True] Translation: X:333.73, Y:3.07, Z:2.28 [[ 9.98395886e-01 -5.24282013e-02 -2.13761247e-02 3.33733207e+02] [ 5.24329427e-02 9.98624390e-01 -3.38985520e-04 3.07441453e+00] [ 2.13644919e-02 -7.82371373e-04 9.99771447e-01 2.28249289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.45925415399995 meters 0.01994340607487175 Centerline is valid? [True, True] Translation: X:333.76, Y:3.07, Z:2.28 [[ 9.98397804e-01 -5.23916558e-02 -2.13761371e-02 3.33764071e+02] [ 5.23964056e-02 9.98626308e-01 -3.38202998e-04 3.07487356e+00] [ 2.13644919e-02 -7.82371618e-04 9.99771447e-01 2.28270673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.489254154 meters 0.02009173962093394 Centerline is valid? [True, True] Translation: X:333.79, Y:3.08, Z:2.28 [[ 9.98515892e-01 -5.04782860e-02 -2.04439547e-02 3.33794041e+02] [ 5.04822398e-02 9.98724907e-01 -3.22966427e-04 3.07647967e+00] [ 2.04341895e-02 -7.09569512e-04 9.99790948e-01 2.28295624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.51925415399995 meters 0.01909766719373115 Centerline is valid? [True, True] Translation: X:333.82, Y:3.08, Z:2.28 [[ 9.98780998e-01 -4.55840512e-02 -1.89370373e-02 3.33823818e+02] [ 4.55865667e-02 9.98960347e-01 -2.99044116e-04 3.08128153e+00] [ 1.89309810e-02 -5.64594934e-04 9.99820634e-01 2.28397827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.549254154 meters 0.0174567882300659 Centerline is valid? [True, True] Translation: X:333.86, Y:3.09, Z:2.29 [[ 9.98916786e-01 -4.27650549e-02 -1.83413516e-02 3.33855104e+02] [ 4.27669474e-02 9.99085034e-01 -2.89222956e-04 3.08560700e+00] [ 1.83369385e-02 -4.95493952e-04 9.99831741e-01 2.28531488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.57925415399995 meters 0.016414693274305527 Centerline is valid? [True, True] Translation: X:333.89, Y:3.09, Z:2.29 [[ 9.99126005e-01 -3.80525207e-02 -1.72983052e-02 3.33885440e+02] [ 3.80535054e-02 9.99275666e-01 -2.72350045e-04 3.09029622e+00] [ 1.72961391e-02 -3.86149138e-04 9.99850336e-01 2.28619049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.609254154 meters 0.015535337899431833 Centerline is valid? [True, True] Translation: X:333.92, Y:3.09, Z:2.29 [[ 9.99194449e-01 -3.62981135e-02 -1.71143503e-02 3.33916341e+02] [ 3.62988285e-02 9.99340944e-01 -2.68959637e-04 3.09325824e+00] [ 1.71128337e-02 -3.52487891e-04 9.99853503e-01 2.28683721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.63925415399996 meters 0.015957112794615234 Centerline is valid? [True, True] Translation: X:333.95, Y:3.09, Z:2.29 [[ 9.99233014e-01 -3.49723977e-02 -1.76157508e-02 3.33946466e+02] [ 3.49729573e-02 9.99388221e-01 -2.76387794e-04 3.09494828e+00] [ 1.76146398e-02 -3.39899091e-04 9.99844792e-01 2.28645644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.669254154 meters 0.015410832652692306 Centerline is valid? [True, True] Translation: X:333.98, Y:3.10, Z:2.29 [[ 9.99217527e-01 -3.52820990e-02 -1.78747446e-02 3.33977642e+02] [ 3.52827340e-02 9.99377331e-01 -2.79931297e-04 3.09549126e+00] [ 1.78734912e-02 -3.50957602e-04 9.99840195e-01 2.28630676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.69925415399996 meters 0.01608542434336098 Centerline is valid? [True, True] Translation: X:334.01, Y:3.09, Z:2.29 [[ 9.99183361e-01 -3.59728543e-02 -1.84001169e-02 3.34008451e+02] [ 3.59736527e-02 9.99352697e-01 -2.87698230e-04 3.09466113e+00] [ 1.83985557e-02 -3.74456130e-04 9.99830662e-01 2.28571835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72925415399993 meters 0.01737532654044718 Centerline is valid? [True, True] Translation: X:334.04, Y:3.09, Z:2.29 [[ 9.99078830e-01 -3.87146574e-02 -1.85112346e-02 3.34038574e+02] [ 3.87159419e-02 9.99250215e-01 -2.89109955e-04 3.09261164e+00] [ 1.85085479e-02 -4.27836247e-04 9.99828611e-01 2.28508015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.75925415399996 meters 0.017868992324732106 Centerline is valid? [True, True] Translation: X:334.07, Y:3.09, Z:2.29 [[ 9.99008814e-01 -4.03112601e-02 -1.88783357e-02 3.34070034e+02] [ 4.03128910e-02 9.99187062e-01 -2.94308241e-04 3.09229677e+00] [ 1.88748527e-02 -4.67023761e-04 9.99821745e-01 2.28551764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78925415399993 meters 0.018468732773827552 Centerline is valid? [True, True] Translation: X:334.10, Y:3.09, Z:2.29 [[ 9.98963046e-01 -4.15342300e-02 -1.86478154e-02 3.34101254e+02] [ 4.15360462e-02 9.99136964e-01 -2.90076750e-04 3.09130029e+00] [ 1.86437698e-02 -4.84780567e-04 9.99826072e-01 2.28603150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81925415399996 meters 0.020000716244618702 Centerline is valid? [True, True] Translation: X:334.13, Y:3.09, Z:2.29 [[ 9.98931747e-01 -4.25795505e-02 -1.79540196e-02 3.34131622e+02] [ 4.25814101e-02 9.99092962e-01 -2.78868114e-04 3.08945704e+00] [ 1.79496087e-02 -4.85937259e-04 9.99838775e-01 2.28592472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84925415399994 meters 0.016767752180111808 Centerline is valid? [True, True] Translation: X:334.16, Y:3.10, Z:2.29 [[ 9.98918547e-01 -4.31390379e-02 -1.73424345e-02 3.34163576e+02] [ 4.31408725e-02 9.99068963e-01 -2.68483412e-04 3.09566087e+00] [ 1.73378701e-02 -4.79974694e-04 9.99849573e-01 2.28918284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87925415399997 meters 0.0169707289063597 Centerline is valid? [True, True] Translation: X:334.20, Y:3.10, Z:2.29 [[ 9.98949787e-01 -4.26848207e-02 -1.66532146e-02 3.34196146e+02] [ 4.26864694e-02 9.99088484e-01 -2.56606549e-04 3.09576394e+00] [ 1.66489881e-02 -4.54529877e-04 9.99861293e-01 2.28928695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90925415399994 meters 0.018173662179598368 Centerline is valid? [True, True] Translation: X:334.23, Y:3.09, Z:2.29 [[ 9.98976289e-01 -4.21313881e-02 -1.64718196e-02 3.34227144e+02] [ 4.21329427e-02 9.99111981e-01 -2.52786191e-04 3.09439996e+00] [ 1.64678425e-02 -4.41478819e-04 9.99864298e-01 2.28885651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93925415399997 meters 0.016621867040710517 Centerline is valid? [True, True] Translation: X:334.26, Y:3.10, Z:2.29 [[ 9.99029036e-01 -4.12194738e-02 -1.55544460e-02 3.34258224e+02] [ 4.12207601e-02 9.99150035e-01 -2.38033369e-04 3.09777979e+00] [ 1.55510369e-02 -4.03363840e-04 9.99878994e-01 2.29013072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96925415399994 meters 0.016842915510766793 Centerline is valid? [True, True] Translation: X:334.29, Y:3.10, Z:2.29 [[ 9.99095416e-01 -4.01105279e-02 -1.41242650e-02 3.34289174e+02] [ 4.01114865e-02 9.99195187e-01 -2.15521985e-04 3.09820081e+00] [ 1.41215423e-02 -3.51218239e-04 9.99900224e-01 2.29041966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99925415399997 meters 0.016616286856891326 Centerline is valid? [True, True] Translation: X:334.32, Y:3.10, Z:2.29 [[ 9.99115375e-01 -3.97161128e-02 -1.38238226e-02 3.34321455e+02] [ 3.97170054e-02 9.99210946e-01 -2.10065552e-04 3.09883958e+00] [ 1.38212578e-02 -3.39161114e-04 9.99904424e-01 2.29089005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.02925415399994 meters 0.01624252191777618 Centerline is valid? [True, True] Translation: X:334.35, Y:3.10, Z:2.29 [[ 9.99119592e-01 -3.97030603e-02 -1.35538622e-02 3.34353851e+02] [ 3.97039305e-02 9.99211467e-01 -2.04978066e-04 3.10009397e+00] [ 1.35513128e-02 -3.33344003e-04 9.99908121e-01 2.29150420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.059254154 meters 0.017838960360696696 Centerline is valid? [True, True] Translation: X:334.39, Y:3.10, Z:2.29 [[ 9.99130841e-01 -3.95715609e-02 -1.31016676e-02 3.34386035e+02] [ 3.95723752e-02 9.99216687e-01 -1.97186559e-04 3.09897682e+00] [ 1.30992079e-02 -3.21448933e-04 9.99914150e-01 2.29154236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.08925415399995 meters 0.01668416625119602 Centerline is valid? [True, True] Translation: X:334.42, Y:3.10, Z:2.29 [[ 9.99102925e-01 -4.03699671e-02 -1.27910263e-02 3.34418675e+02] [ 4.03708205e-02 9.99184748e-01 -1.91581831e-04 3.09853927e+00] [ 1.27883326e-02 -3.24974261e-04 9.99918173e-01 2.29091985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.119254154 meters 0.016440912499026107 Centerline is valid? [True, True] Translation: X:334.45, Y:3.10, Z:2.29 [[ 9.99066695e-01 -4.11130986e-02 -1.32458586e-02 3.34451254e+02] [ 4.11140923e-02 9.99154439e-01 -1.97395576e-04 3.09822601e+00] [ 1.32427740e-02 -3.47380108e-04 9.99912250e-01 2.29057805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.14925415399995 meters 0.017265428639036025 Centerline is valid? [True, True] Translation: X:334.48, Y:3.10, Z:2.29 [[ 9.99053765e-01 -4.13086396e-02 -1.36077757e-02 3.34482631e+02] [ 4.13097188e-02 9.99146369e-01 -2.01885751e-04 3.09695129e+00] [ 1.36044993e-02 -3.60438668e-04 9.99907390e-01 2.28999090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.179254154 meters 0.018258545462682876 Centerline is valid? [True, True] Translation: X:334.51, Y:3.10, Z:2.29 [[ 9.99054856e-01 -4.12940095e-02 -1.35720014e-02 3.34513373e+02] [ 4.12950917e-02 9.99146974e-01 -2.00610484e-04 3.09518087e+00] [ 1.35687082e-02 -3.60036165e-04 9.99907876e-01 2.28927062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.20925415399995 meters 0.016434419285735403 Centerline is valid? [True, True] Translation: X:334.55, Y:3.10, Z:2.29 [[ 9.99118446e-01 -3.95957531e-02 -1.39465611e-02 3.34545400e+02] [ 3.95967432e-02 9.99215720e-01 -2.05242453e-04 3.09815881e+00] [ 1.39437498e-02 -3.47176876e-04 9.99902721e-01 2.28910109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.239254154 meters 0.016252551536887146 Centerline is valid? [True, True] Translation: X:334.58, Y:3.10, Z:2.29 [[ 9.99184172e-01 -3.79217121e-02 -1.38900777e-02 3.34576573e+02] [ 3.79225449e-02 9.99280661e-01 -2.03517869e-04 3.09834197e+00] [ 1.38878037e-02 -3.23395260e-04 9.99903508e-01 2.28868472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.26925415399995 meters 0.015030736571133014 Centerline is valid? [True, True] Translation: X:334.61, Y:3.10, Z:2.29 [[ 9.99368150e-01 -3.30867563e-02 -1.29833626e-02 3.34608112e+02] [ 3.30870836e-02 9.99452455e-01 -1.89653398e-04 3.10147402e+00] [ 1.29825286e-02 -2.40048037e-04 9.99915695e-01 2.28888977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.299254154 meters 0.014518655706053199 Centerline is valid? [True, True] Translation: X:334.64, Y:3.10, Z:2.29 [[ 9.99468997e-01 -3.01555962e-02 -1.23436194e-02 3.34639026e+02] [ 3.01556739e-02 9.99545198e-01 -1.79866420e-04 3.10387494e+00] [ 1.23434295e-02 -1.92459251e-04 9.99923798e-01 2.28950675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.32925415399995 meters 0.014397380153129078 Centerline is valid? [True, True] Translation: X:334.67, Y:3.11, Z:2.29 [[ 9.99560087e-01 -2.72710901e-02 -1.16584543e-02 3.34669737e+02] [ 2.72709671e-02 9.99628064e-01 -1.69554379e-04 3.10568038e+00] [ 1.16587420e-02 -1.48457534e-04 9.99932024e-01 2.28978454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.359254154 meters 0.013786429160128507 Centerline is valid? [True, True] Translation: X:334.70, Y:3.11, Z:2.29 [[ 9.99647028e-01 -2.41309021e-02 -1.11139128e-02 3.34700673e+02] [ 2.41305993e-02 9.99708802e-01 -1.61359263e-04 3.10832989e+00] [ 1.11145702e-02 -1.06883068e-04 9.99938226e-01 2.29029084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.38925415399996 meters 0.013484646687332603 Centerline is valid? [True, True] Translation: X:334.73, Y:3.11, Z:2.29 [[ 9.99714569e-01 -2.13493664e-02 -1.07230651e-02 3.34730598e+02] [ 2.13489299e-02 9.99772074e-01 -1.55187826e-04 3.10982404e+00] [ 1.07239342e-02 -7.37824337e-05 9.99942494e-01 2.29044548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.419254154 meters 0.013486844474356816 Centerline is valid? [True, True] Translation: X:334.76, Y:3.11, Z:2.29 [[ 9.99805769e-01 -1.70638265e-02 -9.86154467e-03 3.34760478e+02] [ 1.70632535e-02 9.99854402e-01 -1.42247187e-04 3.11191822e+00] [ 9.86253613e-03 -2.60504774e-05 9.99951364e-01 2.29024302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.44925415399996 meters 0.013512797846720999 Centerline is valid? [True, True] Translation: X:334.79, Y:3.11, Z:2.29 [[ 9.99829531e-01 -1.56524732e-02 -9.79333428e-03 3.34790524e+02] [ 1.56518415e-02 9.99877492e-01 -1.41139404e-04 3.11267428e+00] [ 9.79434370e-03 -1.21683724e-05 9.99952034e-01 2.29055176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47925415399993 meters 0.014970808914903778 Centerline is valid? [True, True] Translation: X:334.82, Y:3.11, Z:2.29 [[ 9.99842787e-01 -1.47265748e-02 -9.87568801e-03 3.34821209e+02] [ 1.47258874e-02 9.99891558e-01 -1.42326268e-04 3.11178456e+00] [ 9.87671305e-03 -3.12437696e-06 9.99951224e-01 2.29035127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.50925415399996 meters 0.013650083534031035 Centerline is valid? [True, True] Translation: X:334.85, Y:3.11, Z:2.29 [[ 9.99832829e-01 -1.54149757e-02 -9.83324891e-03 3.34850346e+02] [ 1.54143270e-02 9.99881182e-01 -1.41767700e-04 3.11118089e+00] [ 9.83426589e-03 -9.82891337e-06 9.99951642e-01 2.28985679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53925415399993 meters 0.013773521702181287 Centerline is valid? [True, True] Translation: X:334.88, Y:3.11, Z:2.29 [[ 9.99810666e-01 -1.66533486e-02 -1.00647239e-02 3.34879895e+02] [ 1.66527292e-02 9.99861323e-01 -1.45348860e-04 3.11001560e+00] [ 1.00657487e-02 -2.22837814e-05 9.99949339e-01 2.28957979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.56925415399996 meters 0.013909667858452626 Centerline is valid? [True, True] Translation: X:334.91, Y:3.11, Z:2.29 [[ 9.99723070e-01 -2.05941833e-02 -1.13869691e-02 3.34910727e+02] [ 2.05936428e-02 9.99787915e-01 -1.64729918e-04 3.10582814e+00] [ 1.13879466e-02 -6.98148758e-05 9.99935153e-01 2.28847300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59925415399994 meters 0.01425175444561044 Centerline is valid? [True, True] Translation: X:334.94, Y:3.10, Z:2.29 [[ 9.99661804e-01 -2.31791703e-02 -1.17900182e-02 3.34941405e+02] [ 2.31787706e-02 9.99731322e-01 -1.70560640e-04 3.10372334e+00] [ 1.17908040e-02 -1.02775172e-04 9.99930481e-01 2.28825106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.62925415399997 meters 0.014610377297915414 Centerline is valid? [True, True] Translation: X:334.97, Y:3.10, Z:2.29 [[ 9.99591489e-01 -2.58490128e-02 -1.21935756e-02 3.34971876e+02] [ 2.58487874e-02 9.99665849e-01 -1.76108698e-04 3.10106361e+00] [ 1.21940533e-02 -1.39152387e-04 9.99925640e-01 2.28795172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65925415399994 meters 0.015133917945628104 Centerline is valid? [True, True] Translation: X:335.00, Y:3.10, Z:2.29 [[ 9.99521760e-01 -2.85557411e-02 -1.18667923e-02 3.35002088e+02] [ 2.85557238e-02 9.99592188e-01 -1.70928588e-04 3.09798999e+00] [ 1.18668339e-02 -1.68018001e-04 9.99929573e-01 2.28764322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68925415399997 meters 0.016738810504614666 Centerline is valid? [True, True] Translation: X:335.03, Y:3.09, Z:2.29 [[ 9.99354588e-01 -3.40794745e-02 -1.13577026e-02 3.35032122e+02] [ 3.40798211e-02 9.99419101e-01 -1.63084593e-04 3.09174676e+00] [ 1.13566628e-02 -2.24089137e-04 9.99935486e-01 2.28756046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71925415399994 meters 0.016388222434613346 Centerline is valid? [True, True] Translation: X:335.06, Y:3.09, Z:2.29 [[ 9.99281514e-01 -3.62421081e-02 -1.10889452e-02 3.35064621e+02] [ 3.62425815e-02 9.99343009e-01 -1.58323994e-04 3.09107382e+00] [ 1.10873978e-02 -2.43681758e-04 9.99938503e-01 2.28808996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74925415399997 meters 0.017849703814674888 Centerline is valid? [True, True] Translation: X:335.10, Y:3.09, Z:2.29 [[ 9.99207474e-01 -3.82707531e-02 -1.09441262e-02 3.35096261e+02] [ 3.82713459e-02 9.99267372e-01 -1.55337571e-04 3.08748915e+00] [ 1.09420531e-02 -2.63631977e-04 9.99940099e-01 2.28810195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77925415399994 meters 0.018724733443400334 Centerline is valid? [True, True] Translation: X:335.13, Y:3.08, Z:2.29 [[ 9.99065919e-01 -4.19244369e-02 -1.04704569e-02 3.35128681e+02] [ 4.19251898e-02 9.99120742e-01 -1.47668869e-04 3.08385194e+00] [ 1.04674416e-02 -2.91444959e-04 9.99945172e-01 2.28818479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.809254154 meters 0.018773408495699175 Centerline is valid? [True, True] Translation: X:335.16, Y:3.08, Z:2.29 [[ 9.98994931e-01 -4.36409992e-02 -1.02269564e-02 3.35160736e+02] [ 4.36418148e-02 9.99047232e-01 -1.43512918e-04 3.08309781e+00] [ 1.02234755e-02 -3.02954258e-04 9.99947693e-01 2.28861571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.83925415399995 meters 0.020799820888313763 Centerline is valid? [True, True] Translation: X:335.19, Y:3.08, Z:2.29 [[ 9.98942438e-01 -4.48942994e-02 -9.92512453e-03 3.35193047e+02] [ 4.48951363e-02 9.98991695e-01 -1.38572901e-04 3.08088701e+00] [ 9.92133811e-03 -3.07163467e-04 9.99950735e-01 2.28896357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.869254154 meters 0.021895126447269875 Centerline is valid? [True, True] Translation: X:335.22, Y:3.08, Z:2.29 [[ 9.98854432e-01 -4.68870971e-02 -9.56162250e-03 3.35224159e+02] [ 4.68879710e-02 9.98900145e-01 -1.32874900e-04 3.07659779e+00] [ 9.55733622e-03 -3.15602396e-04 9.99954278e-01 2.28919683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.89925415399995 meters 0.02190560974349003 Centerline is valid? [True, True] Translation: X:335.26, Y:3.08, Z:2.29 [[ 9.98663722e-01 -5.08069624e-02 -9.45641889e-03 3.35255233e+02] [ 5.08079965e-02 9.98708431e-01 -1.30999426e-04 3.07537109e+00] [ 9.45086096e-03 -3.49637324e-04 9.99955278e-01 2.28915370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.929254154 meters 0.023121149363249178 Centerline is valid? [True, True] Translation: X:335.29, Y:3.07, Z:2.29 [[ 9.98552643e-01 -5.29828653e-02 -9.24309281e-03 3.35287135e+02] [ 5.29839487e-02 9.98595356e-01 -1.27799946e-04 3.07328100e+00] [ 9.23688076e-03 -3.62120581e-04 9.99957274e-01 2.28882427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.95925415399995 meters 0.02420473985929297 Centerline is valid? [True, True] Translation: X:335.32, Y:3.07, Z:2.29 [[ 9.98438718e-01 -5.50447749e-02 -9.49735951e-03 3.35319391e+02] [ 5.50460171e-02 9.98483810e-01 -1.30753895e-04 3.07144287e+00] [ 9.49015703e-03 -3.92242063e-04 9.99954891e-01 2.28846897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.989254154 meters 0.023985393402388065 Centerline is valid? [True, True] Translation: X:335.35, Y:3.07, Z:2.29 [[ 9.98197571e-01 -5.91254999e-02 -1.02851854e-02 3.35350511e+02] [ 5.91271790e-02 9.98250448e-01 -1.41008074e-04 3.07136014e+00] [ 1.02755281e-02 -4.67380081e-04 9.99947096e-01 2.28778645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.01925415399995 meters 0.024690929838674647 Centerline is valid? [True, True] Translation: X:335.38, Y:3.07, Z:2.29 [[ 9.98089570e-01 -6.08660131e-02 -1.06084126e-02 3.35382989e+02] [ 6.08679018e-02 9.98145820e-01 -1.45039622e-04 3.07057261e+00] [ 1.05975706e-02 -5.00949280e-04 9.99943719e-01 2.28757019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.049254154 meters 0.02608465990918587 Centerline is valid? [True, True] Translation: X:335.41, Y:3.07, Z:2.29 [[ 9.97988582e-01 -6.24442439e-02 -1.09319429e-02 3.35414140e+02] [ 6.24463521e-02 9.98048311e-01 -1.48721832e-04 3.06899324e+00] [ 1.09198940e-02 -5.34237268e-04 9.99940233e-01 2.28717960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.07925415399995 meters 0.025506167697959096 Centerline is valid? [True, True] Translation: X:335.45, Y:3.07, Z:2.29 [[ 9.97857776e-01 -6.44554758e-02 -1.11960089e-02 3.35446331e+02] [ 6.44578212e-02 9.97920421e-01 -1.51611333e-04 3.07061998e+00] [ 1.11824981e-02 -5.70383794e-04 9.99937311e-01 2.28737687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.109254154 meters 0.026526740526426944 Centerline is valid? [True, True] Translation: X:335.48, Y:3.07, Z:2.29 [[ 9.97813864e-01 -6.51723534e-02 -1.09570303e-02 3.35477338e+02] [ 6.51746507e-02 9.97873861e-01 -1.47650997e-04 3.07026535e+00] [ 1.09433569e-02 -5.66792410e-04 9.99939959e-01 2.28770933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.13925415399996 meters 0.026806066343816933 Centerline is valid? [True, True] Translation: X:335.51, Y:3.07, Z:2.29 [[ 9.97796876e-01 -6.53600030e-02 -1.13782239e-02 3.35509472e+02] [ 6.53625007e-02 9.97861574e-01 -1.52604772e-04 3.07099266e+00] [ 1.13638667e-02 -5.91440606e-04 9.99935254e-01 2.28787242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.169254154 meters 0.027140520589624365 Centerline is valid? [True, True] Translation: X:335.54, Y:3.07, Z:2.29 [[ 9.97748810e-01 -6.59653407e-02 -1.20783304e-02 3.35541085e+02] [ 6.59682095e-02 9.97821712e-01 -1.61175356e-04 3.07286590e+00] [ 1.20626523e-02 -6.35973311e-04 9.99927041e-01 2.28781733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.19925415399996 meters 0.02660708324837443 Centerline is valid? [True, True] Translation: X:335.57, Y:3.07, Z:2.29 [[ 9.97770073e-01 -6.55875771e-02 -1.23754449e-02 3.35573178e+02] [ 6.55905695e-02 9.97846607e-01 -1.64351269e-04 3.07466899e+00] [ 1.23595751e-02 -6.47727698e-04 9.99923408e-01 2.28771074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22925415399993 meters 0.02744361463748204 Centerline is valid? [True, True] Translation: X:335.60, Y:3.08, Z:2.29 [[ 9.97815596e-01 -6.47972513e-02 -1.28589667e-02 3.35604044e+02] [ 6.48004277e-02 9.97898229e-01 -1.69920476e-04 3.07595385e+00] [ 1.28429504e-02 -6.63717238e-04 9.99917306e-01 2.28749365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.25925415399996 meters 0.026840620533005656 Centerline is valid? [True, True] Translation: X:335.64, Y:3.08, Z:2.29 [[ 9.97862734e-01 -6.41068436e-02 -1.26600663e-02 3.35636446e+02] [ 6.41098770e-02 9.97942832e-01 -1.66504886e-04 3.07837020e+00] [ 1.26446965e-02 -6.45486273e-04 9.99919844e-01 2.28812780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28925415399993 meters 0.026597654873637175 Centerline is valid? [True, True] Translation: X:335.67, Y:3.08, Z:2.29 [[ 9.97903154e-01 -6.35356369e-02 -1.23498578e-02 3.35669029e+02] [ 6.35384906e-02 9.97979376e-01 -1.61542837e-04 3.08082541e+00] [ 1.23351671e-02 -6.23487214e-04 9.99923725e-01 2.28885232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31925415399996 meters 0.02589921712158755 Centerline is valid? [True, True] Translation: X:335.70, Y:3.08, Z:2.29 [[ 9.97944134e-01 -6.29238428e-02 -1.21694392e-02 3.35701491e+02] [ 6.29265791e-02 9.98018146e-01 -1.58305043e-04 3.08393729e+00] [ 1.21552823e-02 -6.07801590e-04 9.99925937e-01 2.28952712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34925415399994 meters 0.02589921712158755 Centerline is valid? [True, True] Translation: X:335.73, Y:3.08, Z:2.29 [[ 9.97948727e-01 -6.28509532e-02 -1.21694507e-02 3.35733217e+02] [ 6.28536949e-02 9.98022739e-01 -1.57416258e-04 3.08428735e+00] [ 1.21552823e-02 -6.07801589e-04 9.99925937e-01 2.28974686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37925415399997 meters 0.02667358344418214 Centerline is valid? [True, True] Translation: X:335.76, Y:3.09, Z:2.29 [[ 9.98014333e-01 -6.13865933e-02 -1.41094785e-02 3.35764895e+02] [ 6.13901486e-02 9.98113830e-01 -1.81404238e-04 3.08695825e+00] [ 1.40940014e-02 -6.85138952e-04 9.99900440e-01 2.28924083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40925415399994 meters 0.02577634550766396 Centerline is valid? [True, True] Translation: X:335.80, Y:3.09, Z:2.29 [[ 9.98072997e-01 -6.02903613e-02 -1.46753235e-02 3.35797564e+02] [ 6.02941086e-02 9.98180638e-01 -1.87358801e-04 3.08985331e+00] [ 1.46599197e-02 -6.97837790e-04 9.99892294e-01 2.28921884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43925415399997 meters 0.02431631113670944 Centerline is valid? [True, True] Translation: X:335.83, Y:3.09, Z:2.29 [[ 9.98150598e-01 -5.90164010e-02 -1.45755914e-02 3.35829635e+02] [ 5.90199805e-02 9.98256784e-01 -1.84815893e-04 3.09410255e+00] [ 1.45610901e-02 -6.75777025e-04 9.99893753e-01 2.28989954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46925415399994 meters 0.0259123244626927 Centerline is valid? [True, True] Translation: X:335.86, Y:3.10, Z:2.29 [[ 9.98230361e-01 -5.75453963e-02 -1.49891434e-02 3.35860624e+02] [ 5.75490309e-02 9.98342663e-01 -1.89097163e-04 3.09600338e+00] [ 1.49751830e-02 -6.73848149e-04 9.99887639e-01 2.29019943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49925415399997 meters 0.022675093940208113 Centerline is valid? [True, True] Translation: X:335.89, Y:3.10, Z:2.29 [[ 9.98417311e-01 -5.41526805e-02 -1.51776074e-02 3.35892238e+02] [ 5.41560284e-02 9.98532467e-01 -1.90639065e-04 3.10234558e+00] [ 1.51656574e-02 -6.31621594e-04 9.99884795e-01 2.29199229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.52925415399994 meters 0.02185559955983816 Centerline is valid? [True, True] Translation: X:335.92, Y:3.11, Z:2.29 [[ 9.98527076e-01 -5.19125463e-02 -1.57723258e-02 3.35924027e+02] [ 5.19158982e-02 9.98651441e-01 -1.97127666e-04 3.10587662e+00] [ 1.57612893e-02 -6.21997150e-04 9.99875590e-01 2.29280281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.559254154 meters 0.02230101789688581 Centerline is valid? [True, True] Translation: X:335.95, Y:3.11, Z:2.29 [[ 9.98640834e-01 -4.93492994e-02 -1.67669962e-02 3.35954954e+02] [ 4.93527409e-02 9.98781389e-01 -2.08713268e-04 3.10748924e+00] [ 1.67568636e-02 -6.19067625e-04 9.99859402e-01 2.29274992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.58925415399995 meters 0.018595762991972013 Centerline is valid? [True, True] Translation: X:335.99, Y:3.12, Z:2.29 [[ 9.98868852e-01 -4.36959439e-02 -1.87531708e-02 3.35985895e+02] [ 4.36992634e-02 9.99044704e-01 -2.32936274e-04 3.11775744e+00] [ 1.87454344e-02 -5.86826962e-04 9.99824117e-01 2.29365563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.619254154 meters 0.01767965975509625 Centerline is valid? [True, True] Translation: X:336.02, Y:3.12, Z:2.29 [[ 9.98986250e-01 -4.05339003e-02 -1.95825166e-02 3.36017252e+02] [ 4.05369249e-02 9.99178012e-01 -2.42629495e-04 3.12169267e+00] [ 1.95762548e-02 -5.51431478e-04 9.99808215e-01 2.29418117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.64925415399995 meters 0.017048605762694617 Centerline is valid? [True, True] Translation: X:336.05, Y:3.12, Z:2.29 [[ 9.99122812e-01 -3.69411546e-02 -1.97219873e-02 3.36047360e+02] [ 3.69435505e-02 9.99317324e-01 -2.42962310e-04 3.12498209e+00] [ 1.97174989e-02 -4.85851048e-04 9.99805473e-01 2.29464871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.679254154 meters 0.01742072920264095 Centerline is valid? [True, True] Translation: X:336.08, Y:3.13, Z:2.30 [[ 9.99341159e-01 -3.00125283e-02 -2.04082479e-02 3.36076561e+02] [ 3.00136575e-02 9.99549457e-01 -2.51027698e-04 3.13165564e+00] [ 2.04065871e-02 -3.61663852e-04 9.99791699e-01 2.29629243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.70925415399995 meters 0.01521744370838871 Centerline is valid? [True, True] Translation: X:336.11, Y:3.14, Z:2.30 [[ 9.99438165e-01 -2.70996595e-02 -1.97221366e-02 3.36106200e+02] [ 2.71001356e-02 9.99632694e-01 -2.43173140e-04 3.13525227e+00] [ 1.97214825e-02 -2.91436058e-04 9.99805470e-01 2.29745678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.739254154 meters 0.014958057778301134 Centerline is valid? [True, True] Translation: X:336.13, Y:3.14, Z:2.30 [[ 9.99500742e-01 -2.45173402e-02 -1.99290586e-02 3.36134698e+02] [ 2.45172941e-02 9.99699376e-01 -2.46676577e-04 3.13834279e+00] [ 1.99291153e-02 -2.42053169e-04 9.99801366e-01 2.29843903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.76925415399995 meters 0.014403478432206874 Centerline is valid? [True, True] Translation: X:336.16, Y:3.14, Z:2.30 [[ 9.99549200e-01 -2.27060992e-02 -1.96425377e-02 3.36163364e+02] [ 2.27056332e-02 9.99742163e-01 -2.46772204e-04 3.14188734e+00] [ 1.96430763e-02 -1.99335296e-04 9.99807036e-01 2.30027304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.799254154 meters 0.014188158193859794 Centerline is valid? [True, True] Translation: X:336.19, Y:3.15, Z:2.30 [[ 9.99586775e-01 -2.12614670e-02 -1.93450076e-02 3.36192193e+02] [ 2.12606491e-02 9.99773936e-01 -2.47967153e-04 3.14518518e+00] [ 1.93459065e-02 -1.63422732e-04 9.99812837e-01 2.30166894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.82925415399995 meters 0.014090312993498555 Centerline is valid? [True, True] Translation: X:336.22, Y:3.15, Z:2.30 [[ 9.99573032e-01 -2.18766202e-02 -1.93692430e-02 3.36220240e+02] [ 2.18758112e-02 9.99760664e-01 -2.53668692e-04 3.14568927e+00] [ 1.93701566e-02 -1.70157519e-04 9.99812366e-01 2.30180250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.859254154 meters 0.014252231333347205 Centerline is valid? [True, True] Translation: X:336.25, Y:3.14, Z:2.30 [[ 9.99481321e-01 -2.54786610e-02 -1.96958438e-02 3.36248908e+02] [ 2.54784192e-02 9.99675338e-01 -2.63250954e-04 3.14430518e+00] [ 1.96961566e-02 -2.38704555e-04 9.99805983e-01 2.30206204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.88925415399996 meters 0.014646473390193513 Centerline is valid? [True, True] Translation: X:336.28, Y:3.14, Z:2.30 [[ 9.99390157e-01 -2.84641728e-02 -2.02263435e-02 3.36277362e+02] [ 2.84644240e-02 9.99594768e-01 -2.75535124e-04 3.14314346e+00] [ 2.02259900e-02 -3.00364125e-04 9.99795389e-01 2.30225301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.919254154 meters 0.0150274486777087 Centerline is valid? [True, True] Translation: X:336.31, Y:3.14, Z:2.30 [[ 9.99285687e-01 -3.16798784e-02 -2.06034116e-02 3.36306534e+02] [ 3.16807631e-02 9.99497998e-01 -2.83540584e-04 3.14218042e+00] [ 2.06020512e-02 -3.69393753e-04 9.99787687e-01 2.30254699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.94925415399996 meters 0.01669159230275599 Centerline is valid? [True, True] Translation: X:336.34, Y:3.14, Z:2.30 [[ 9.99024267e-01 -3.84774306e-02 -2.16794907e-02 3.36336712e+02] [ 3.84799912e-02 9.99259326e-01 -2.99191767e-04 3.13870846e+00] [ 2.16749454e-02 -5.35326777e-04 9.99764927e-01 2.30221895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97925415399993 meters 0.01727122261064477 Centerline is valid? [True, True] Translation: X:336.37, Y:3.14, Z:2.30 [[ 9.98869270e-01 -4.18981578e-02 -2.24661244e-02 3.36367101e+02] [ 4.19017692e-02 9.99121687e-01 -3.10178741e-04 3.13742327e+00] [ 2.24593880e-02 -6.31542346e-04 9.99747557e-01 2.30239659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.00925415399996 meters 0.01924427276505297 Centerline is valid? [True, True] Translation: X:336.40, Y:3.13, Z:2.30 [[ 9.98532134e-01 -4.87842875e-02 -2.35301908e-02 3.36397798e+02] [ 4.87901608e-02 9.98808998e-01 -3.24767758e-04 3.13349570e+00] [ 2.35180098e-02 -8.23750749e-04 9.99723074e-01 2.30215639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03925415399993 meters 0.023539409373774446 Centerline is valid? [True, True] Translation: X:336.43, Y:3.13, Z:2.30 [[ 9.98242128e-01 -5.42843653e-02 -2.37878502e-02 3.36428299e+02] [ 5.42919350e-02 9.98525051e-01 -3.27977793e-04 3.12648972e+00] [ 2.37705684e-02 -9.64087168e-04 9.99716975e-01 2.30067445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.06925415399996 meters 0.024788488670307945 Centerline is valid? [True, True] Translation: X:336.46, Y:3.13, Z:2.30 [[ 9.97991439e-01 -5.82776078e-02 -2.48356306e-02 3.36459759e+02] [ 5.82871125e-02 9.98299803e-01 -3.41650409e-04 3.12674153e+00] [ 2.48133157e-02 -1.10663301e-03 9.99691490e-01 2.30178705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09925415399994 meters 0.023212005564339513 Centerline is valid? [True, True] Translation: X:336.49, Y:3.13, Z:2.30 [[ 9.97814214e-01 -6.12873869e-02 -2.47113615e-02 3.36490444e+02] [ 6.12977317e-02 9.98119468e-01 -3.39364390e-04 3.12761262e+00] [ 2.46856897e-02 -1.17612779e-03 9.99694570e-01 2.30252352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.12925415399997 meters 0.023431463151433893 Centerline is valid? [True, True] Translation: X:336.52, Y:3.13, Z:2.30 [[ 9.97725468e-01 -6.24639268e-02 -2.53406531e-02 3.36522127e+02] [ 6.24752133e-02 9.98046456e-01 -3.46844926e-04 3.12796400e+00] [ 2.53128143e-02 -1.23710669e-03 9.99678814e-01 2.30287829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15925415399994 meters 0.027356069958624336 Centerline is valid? [True, True] Translation: X:336.55, Y:3.12, Z:2.30 [[ 9.97715852e-01 -6.25607059e-02 -2.54801329e-02 3.36553366e+02] [ 6.25721847e-02 9.98040380e-01 -3.47336299e-04 3.12331162e+00] [ 2.54519311e-02 -1.24780465e-03 9.99675268e-01 2.30110892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18925415399997 meters 0.024531775770801418 Centerline is valid? [True, True] Translation: X:336.59, Y:3.13, Z:2.30 [[ 9.97730944e-01 -6.24595947e-02 -2.51349013e-02 3.36585886e+02] [ 6.24707753e-02 9.98046735e-01 -3.40920443e-04 3.12829004e+00] [ 2.51070999e-02 -1.23004990e-03 9.99684010e-01 2.30310872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21925415399994 meters 0.024531775770801418 Centerline is valid? [True, True] Translation: X:336.62, Y:3.13, Z:2.30 [[ 9.97735497e-01 -6.23868046e-02 -2.51349261e-02 3.36617617e+02] [ 6.23980083e-02 9.98051288e-01 -3.39086155e-04 3.12865837e+00] [ 2.51070999e-02 -1.23005103e-03 9.99684010e-01 2.30332849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24925415399997 meters 0.025281764384754355 Centerline is valid? [True, True] Translation: X:336.65, Y:3.13, Z:2.30 [[ 9.97762016e-01 -6.17169629e-02 -2.57288795e-02 3.36650017e+02] [ 6.17285289e-02 9.98092916e-01 -3.45214753e-04 3.12954032e+00] [ 2.57011180e-02 -1.24376372e-03 9.99668898e-01 2.30350890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27925415399994 meters 0.025281764384754355 Centerline is valid? [True, True] Translation: X:336.68, Y:3.13, Z:2.30 [[ 9.97764253e-01 -6.16807927e-02 -2.57288954e-02 3.36680901e+02] [ 6.16923773e-02 9.98095152e-01 -3.44029865e-04 3.12992302e+00] [ 2.57011058e-02 -1.24401602e-03 9.99668898e-01 2.30372279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.309254154 meters 0.026383198115158227 Centerline is valid? [True, True] Translation: X:336.71, Y:3.13, Z:2.30 [[ 9.97777449e-01 -6.11072919e-02 -2.65717979e-02 3.36711829e+02] [ 6.11195121e-02 9.98130393e-01 -3.52793774e-04 3.13025063e+00] [ 2.65436773e-02 -1.27204565e-03 9.99646845e-01 2.30324713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.33925415399995 meters 0.02504596696645686 Centerline is valid? [True, True] Translation: X:336.74, Y:3.13, Z:2.30 [[ 9.97800104e-01 -6.08552126e-02 -2.62982094e-02 3.36743553e+02] [ 6.08671337e-02 9.98145817e-01 -3.47685373e-04 3.13160351e+00] [ 2.62706062e-02 -1.25377613e-03 9.99654082e-01 2.30355400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.369254154 meters 0.025393763730711 Centerline is valid? [True, True] Translation: X:336.77, Y:3.13, Z:2.30 [[ 9.97866845e-01 -5.91748256e-02 -2.75699013e-02 3.36773982e+02] [ 5.91873057e-02 9.98246828e-01 -3.63873706e-04 3.13308396e+00] [ 2.75430987e-02 -1.26869067e-03 9.99619812e-01 2.30265426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.39925415399995 meters 0.02594924520589161 Centerline is valid? [True, True] Translation: X:336.80, Y:3.13, Z:2.30 [[ 9.97919038e-01 -5.76846769e-02 -2.88109742e-02 3.36805000e+02] [ 5.76977018e-02 9.98334028e-01 -3.79743938e-04 3.13492942e+00] [ 2.87848813e-02 -1.28337329e-03 9.99584806e-01 2.30243454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.429254154 meters 0.024632486964557835 Centerline is valid? [True, True] Translation: X:336.84, Y:3.14, Z:2.30 [[ 9.97991121e-01 -5.64892852e-02 -2.86824361e-02 3.36835192e+02] [ 5.65017048e-02 9.98402431e-01 -3.77929474e-04 3.13713747e+00] [ 2.86579629e-02 -1.24343628e-03 9.99588503e-01 2.30262095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.45925415399995 meters 0.02376062706903171 Centerline is valid? [True, True] Translation: X:336.86, Y:3.14, Z:2.30 [[ 9.98170024e-01 -5.30940303e-02 -2.89417919e-02 3.36864760e+02] [ 5.31052724e-02 9.98588847e-01 -3.80608045e-04 3.14118544e+00] [ 2.89211586e-02 -1.15705020e-03 9.99581026e-01 2.30297560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.489254154 meters 0.023106248300314783 Centerline is valid? [True, True] Translation: X:336.89, Y:3.14, Z:2.30 [[ 9.98272226e-01 -5.10112509e-02 -2.91618911e-02 3.36894470e+02] [ 5.10217622e-02 9.98697468e-01 -3.84029214e-04 3.14411185e+00] [ 2.91434966e-02 -1.10452537e-03 9.99574628e-01 2.30338329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.51925415399995 meters 0.02237765581646756 Centerline is valid? [True, True] Translation: X:336.92, Y:3.15, Z:2.30 [[ 9.98390487e-01 -4.88516260e-02 -2.88089345e-02 3.36923876e+02] [ 4.88609582e-02 9.98805518e-01 -3.80359286e-04 3.14718024e+00] [ 2.87931039e-02 -1.02788505e-03 9.99584864e-01 2.30414488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.549254154 meters 0.020965823916966435 Centerline is valid? [True, True] Translation: X:336.95, Y:3.15, Z:2.31 [[ 9.98607864e-01 -4.46800710e-02 -2.80361250e-02 3.36952501e+02] [ 4.46872303e-02 9.99000958e-01 -3.71452158e-04 3.15257683e+00] [ 2.80247122e-02 -8.81921728e-04 9.99606842e-01 2.30548605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.57925415399995 meters 0.018587519082433904 Centerline is valid? [True, True] Translation: X:336.98, Y:3.16, Z:2.31 [[ 9.98717493e-01 -4.26439711e-02 -2.72921366e-02 3.36982042e+02] [ 4.26499670e-02 9.99090010e-01 -3.62646380e-04 3.15799637e+00] [ 2.72827657e-02 -8.01827444e-04 9.99627434e-01 2.30827770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.609254154 meters 0.01962924886564861 Centerline is valid? [True, True] Translation: X:337.01, Y:3.16, Z:2.31 [[ 9.98812268e-01 -4.06629902e-02 -2.68435373e-02 3.37011305e+02] [ 4.06680508e-02 9.99172649e-01 -3.57612716e-04 3.15823152e+00] [ 2.68358699e-02 -7.34486371e-04 9.99639583e-01 2.30709491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.63925415399996 meters 0.0156859621623962 Centerline is valid? [True, True] Translation: X:337.04, Y:3.17, Z:2.31 [[ 9.98950990e-01 -3.77305371e-02 -2.59485126e-02 3.37041376e+02] [ 3.77342621e-02 9.99287749e-01 -3.46263583e-04 3.16709091e+00] [ 2.59430954e-02 -6.33247624e-04 9.99663221e-01 2.31144682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.669254154 meters 0.01533906076732728 Centerline is valid? [True, True] Translation: X:337.07, Y:3.17, Z:2.31 [[ 9.98984220e-01 -3.70349753e-02 -2.56698225e-02 3.37070736e+02] [ 3.70383705e-02 9.99313785e-01 -3.43348034e-04 3.16922699e+00] [ 2.56649233e-02 -6.07769127e-04 9.99670417e-01 2.31203118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.69925415399996 meters 0.014981005902016495 Centerline is valid? [True, True] Translation: X:337.10, Y:3.17, Z:2.31 [[ 9.99002608e-01 -3.67066511e-02 -2.54246217e-02 3.37100588e+02] [ 3.67098520e-02 9.99325908e-01 -3.40993582e-04 3.17102500e+00] [ 2.54199999e-02 -5.92680623e-04 9.99676684e-01 2.31269263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72925415399993 meters 0.017662934293992957 Centerline is valid? [True, True] Translation: X:337.13, Y:3.17, Z:2.31 [[ 9.98967476e-01 -3.77646627e-02 -2.52549507e-02 3.37129420e+02] [ 3.77681273e-02 9.99286472e-01 -3.39966509e-04 3.16795722e+00] [ 2.52497693e-02 -6.14216707e-04 9.99680985e-01 2.30965686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.75925415399996 meters 0.0182550171788417 Centerline is valid? [True, True] Translation: X:337.16, Y:3.17, Z:2.31 [[ 9.98926182e-01 -3.90207462e-02 -2.49772665e-02 3.37159109e+02] [ 3.90245029e-02 9.99238197e-01 -3.37203402e-04 3.16761712e+00] [ 2.49713967e-02 -6.37884102e-04 9.99687963e-01 2.30961855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78925415399993 meters 0.015444684161870961 Centerline is valid? [True, True] Translation: X:337.19, Y:3.17, Z:2.31 [[ 9.98879961e-01 -4.03130929e-02 -2.47725217e-02 3.37189716e+02] [ 4.03171796e-02 9.99186876e-01 -3.34668509e-04 3.17254594e+00] [ 2.47658701e-02 -6.64464541e-04 9.99693058e-01 2.31353119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81925415399996 meters 0.01701486482292045 Centerline is valid? [True, True] Translation: X:337.22, Y:3.17, Z:2.31 [[ 9.98777251e-01 -4.30997925e-02 -2.42159099e-02 3.37220250e+02] [ 4.31045233e-02 9.99070515e-01 -3.26830642e-04 3.17018045e+00] [ 2.42074879e-02 -7.17384242e-04 9.99706698e-01 2.31300055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84925415399994 meters 0.01649879940074131 Centerline is valid? [True, True] Translation: X:337.25, Y:3.17, Z:2.31 [[ 9.98712068e-01 -4.44422911e-02 -2.44762765e-02 3.37251255e+02] [ 4.44475461e-02 9.99011665e-01 -3.29568326e-04 3.17178086e+00] [ 2.44667325e-02 -7.58766563e-04 9.99700357e-01 2.31424956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87925415399997 meters 0.017114638890195374 Centerline is valid? [True, True] Translation: X:337.28, Y:3.17, Z:2.31 [[ 9.98651181e-01 -4.56971805e-02 -2.46492561e-02 3.37282255e+02] [ 4.57029142e-02 9.98955021e-01 -3.30989581e-04 3.17192852e+00] [ 2.46386234e-02 -7.95999702e-04 9.99696106e-01 2.31460978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90925415399994 meters 0.01770189952414294 Centerline is valid? [True, True] Translation: X:337.31, Y:3.17, Z:2.31 [[ 9.98609078e-01 -4.68241106e-02 -2.42365666e-02 3.37313593e+02] [ 4.68300067e-02 9.98902821e-01 -3.24563817e-04 3.17200729e+00] [ 2.42251722e-02 -8.10886202e-04 9.99706199e-01 2.31463889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93925415399997 meters 0.018066717605505038 Centerline is valid? [True, True] Translation: X:337.34, Y:3.17, Z:2.32 [[ 9.98559069e-01 -4.79401532e-02 -2.41148789e-02 3.37344572e+02] [ 4.79463365e-02 9.98849861e-01 -3.22051997e-04 3.17222458e+00] [ 2.41025827e-02 -8.34632158e-04 9.99709142e-01 2.31507359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96925415399994 meters 0.019425130155680252 Centerline is valid? [True, True] Translation: X:337.37, Y:3.17, Z:2.32 [[ 9.98588520e-01 -4.76297441e-02 -2.35026434e-02 3.37374475e+02] [ 4.76355442e-02 9.98864734e-01 -3.13327246e-04 3.17181140e+00] [ 2.34908854e-02 -8.06676219e-04 9.99723726e-01 2.31500113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99925415399997 meters 0.018458131428762688 Centerline is valid? [True, True] Translation: X:337.41, Y:3.17, Z:2.32 [[ 9.98621754e-01 -4.70879210e-02 -2.31801801e-02 3.37406235e+02] [ 4.70934336e-02 9.98890441e-01 -3.08320511e-04 3.17274322e+00] [ 2.31689785e-02 -7.83738704e-04 9.99731256e-01 2.31550258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.02925415399994 meters 0.018350817747836125 Centerline is valid? [True, True] Translation: X:337.44, Y:3.17, Z:2.32 [[ 9.98765914e-01 -4.45900905e-02 -2.18717164e-02 3.37436819e+02] [ 4.45944329e-02 9.99005132e-01 -2.89399012e-04 3.17436767e+00] [ 2.18628612e-02 -6.86314920e-04 9.99760744e-01 2.31656002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.059254154 meters 0.017705184885451353 Centerline is valid? [True, True] Translation: X:337.47, Y:3.18, Z:2.32 [[ 9.98867194e-01 -4.26448788e-02 -2.11126409e-02 3.37468392e+02] [ 4.26485134e-02 9.99090099e-01 -2.78283734e-04 3.17664382e+00] [ 2.11052979e-02 -6.22454256e-04 9.99777065e-01 2.31784846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.08925415399995 meters 0.01663032738160999 Centerline is valid? [True, True] Translation: X:337.50, Y:3.18, Z:2.32 [[ 9.98972394e-01 -4.04018502e-02 -2.05389222e-02 3.37499769e+02] [ 4.04048309e-02 9.99183355e-01 -2.70004615e-04 3.17981847e+00] [ 2.05330579e-02 -5.60144523e-04 9.99789018e-01 2.31928138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.119254154 meters 0.014013294629005428 Centerline is valid? [True, True] Translation: X:337.53, Y:3.19, Z:2.32 [[ 9.99168239e-01 -3.56040914e-02 -1.98791134e-02 3.37531196e+02] [ 3.56059488e-02 9.99365873e-01 -2.60611794e-04 3.18656976e+00] [ 1.98757863e-02 -4.47419666e-04 9.99802357e-01 2.32155086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.14925415399995 meters 0.01337003111305299 Centerline is valid? [True, True] Translation: X:337.56, Y:3.19, Z:2.32 [[ 9.99248191e-01 -3.32616444e-02 -1.99177343e-02 3.37562574e+02] [ 3.32630587e-02 9.99446597e-01 -2.60377955e-04 3.18879768e+00] [ 1.99153724e-02 -4.02342566e-04 9.99801588e-01 2.32187606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.179254154 meters 0.014017934579770961 Centerline is valid? [True, True] Translation: X:337.59, Y:3.19, Z:2.32 [[ 9.99329307e-01 -3.07990254e-02 -1.98079672e-02 3.37592825e+02] [ 3.07999638e-02 9.99525535e-01 -2.57772079e-04 3.18837036e+00] [ 1.98065082e-02 -3.52485480e-04 9.99803770e-01 2.32055139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.20925415399995 meters 0.01247624732395091 Centerline is valid? [True, True] Translation: X:337.62, Y:3.19, Z:2.32 [[ 9.99383944e-01 -2.88369150e-02 -2.00041333e-02 3.37623109e+02] [ 2.88374890e-02 9.99584079e-01 -2.59827591e-04 3.19230078e+00] [ 2.00033058e-02 -3.17201453e-04 9.99799864e-01 2.32213874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.239254154 meters 0.012443064579006301 Centerline is valid? [True, True] Translation: X:337.65, Y:3.19, Z:2.32 [[ 9.99462458e-01 -2.56843780e-02 -2.03742147e-02 3.37652167e+02] [ 2.56843136e-02 9.99670069e-01 -2.64883193e-04 3.19330476e+00] [ 2.03742960e-02 -2.58556913e-04 9.99792389e-01 2.32111637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.26925415399995 meters 0.012443064579006301 Centerline is valid? [True, True] Translation: X:337.68, Y:3.19, Z:2.32 [[ 9.99461541e-01 -2.57200421e-02 -2.03742068e-02 3.37681322e+02] [ 2.57199726e-02 9.99669152e-01 -2.65491038e-04 3.19371456e+00] [ 2.03742945e-02 -2.58675960e-04 9.99792389e-01 2.32131847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.299254154 meters 0.01209180704528599 Centerline is valid? [True, True] Translation: X:337.71, Y:3.20, Z:2.32 [[ 9.99482809e-01 -2.47949399e-02 -2.04774151e-02 3.37711171e+02] [ 2.47946603e-02 9.99692529e-01 -2.67583020e-04 3.19541185e+00] [ 2.04777536e-02 -2.40285921e-04 9.99790280e-01 2.32235330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.32925415399995 meters 0.011989583110915372 Centerline is valid? [True, True] Translation: X:337.74, Y:3.20, Z:2.32 [[ 9.99502617e-01 -2.39770643e-02 -2.04846093e-02 3.37739494e+02] [ 2.39765886e-02 9.99712484e-01 -2.68857098e-04 3.19564183e+00] [ 2.04851661e-02 -2.22427678e-04 9.99790132e-01 2.32230050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.359254154 meters 0.012272622146081897 Centerline is valid? [True, True] Translation: X:337.77, Y:3.20, Z:2.32 [[ 9.99494059e-01 -2.43347593e-02 -2.04803822e-02 3.37767994e+02] [ 2.43342789e-02 9.99703840e-01 -2.72709600e-04 3.19562550e+00] [ 2.04809531e-02 -2.25803707e-04 9.99790218e-01 2.32218091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.38925415399996 meters 0.012259259677071234 Centerline is valid? [True, True] Translation: X:337.80, Y:3.20, Z:2.32 [[ 9.99474309e-01 -2.51410436e-02 -2.04702883e-02 3.37796806e+02] [ 2.51406262e-02 9.99683886e-01 -2.77777698e-04 3.19540691e+00] [ 2.04708010e-02 -2.37004193e-04 9.99790423e-01 2.32237165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.419254154 meters 0.012256527157069447 Centerline is valid? [True, True] Translation: X:337.83, Y:3.19, Z:2.32 [[ 9.99439409e-01 -2.61713983e-02 -2.08788252e-02 3.37825947e+02] [ 2.61711351e-02 9.99657436e-01 -2.85891521e-04 3.19480282e+00] [ 2.08791550e-02 -2.60691303e-04 9.99781973e-01 2.32214996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.44925415399996 meters 0.012859018501115517 Centerline is valid? [True, True] Translation: X:337.85, Y:3.19, Z:2.32 [[ 9.99343071e-01 -2.93328046e-02 -2.12840935e-02 3.37854563e+02] [ 2.93331609e-02 9.99569647e-01 -2.95526658e-04 3.19163479e+00] [ 2.12836025e-02 -3.28997222e-04 9.99773424e-01 2.32161108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47925415399993 meters 0.013504985987626112 Centerline is valid? [True, True] Translation: X:337.88, Y:3.19, Z:2.32 [[ 9.99289290e-01 -3.10838626e-02 -2.13239126e-02 3.37884333e+02] [ 3.10845750e-02 9.99516713e-01 -2.98128613e-04 3.18980738e+00] [ 2.13228740e-02 -3.64928030e-04 9.99772575e-01 2.32107987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.50925415399996 meters 0.013682599125145122 Centerline is valid? [True, True] Translation: X:337.91, Y:3.19, Z:2.32 [[ 9.99225138e-01 -3.29905718e-02 -2.14649877e-02 3.37914405e+02] [ 3.29917250e-02 9.99455580e-01 -3.00492502e-04 3.18825108e+00] [ 2.14632152e-02 -4.07907312e-04 9.99769555e-01 2.32133785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53925415399993 meters 0.014954573149636422 Centerline is valid? [True, True] Translation: X:337.94, Y:3.18, Z:2.32 [[ 9.99065556e-01 -3.75364555e-02 -2.14249606e-02 3.37944358e+02] [ 3.75386406e-02 9.99295132e-01 -3.00320807e-04 3.18403308e+00] [ 2.14211318e-02 -5.04223723e-04 9.99770414e-01 2.32124557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.56925415399996 meters 0.015596051979951023 Centerline is valid? [True, True] Translation: X:337.98, Y:3.18, Z:2.32 [[ 9.98984493e-01 -3.97361374e-02 -2.12372736e-02 3.37975948e+02] [ 3.97387894e-02 9.99210058e-01 -2.97296052e-04 3.18183114e+00] [ 2.12323107e-02 -5.46949397e-04 9.99774419e-01 2.32149386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59925415399994 meters 0.016758622176186816 Centerline is valid? [True, True] Translation: X:338.01, Y:3.18, Z:2.32 [[ 9.98898699e-01 -4.20430650e-02 -2.08271497e-02 3.38006716e+02] [ 4.20461269e-02 9.99115628e-01 -2.91058764e-04 3.17853511e+00] [ 2.08209678e-02 -5.84962758e-04 9.99783049e-01 2.32136689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.62925415399997 meters 0.017515479104796724 Centerline is valid? [True, True] Translation: X:338.04, Y:3.18, Z:2.32 [[ 9.98816340e-01 -4.42273329e-02 -2.02450504e-02 3.38037603e+02] [ 4.42306813e-02 9.99021305e-01 -2.82565607e-04 3.17602350e+00] [ 2.02377337e-02 -6.13221225e-04 9.99795008e-01 2.32194913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65925415399994 meters 0.018145167847422383 Centerline is valid? [True, True] Translation: X:338.07, Y:3.17, Z:2.32 [[ 9.98693178e-01 -4.75121207e-02 -1.88291111e-02 3.38068745e+02] [ 4.75156103e-02 9.98870461e-01 -2.62258017e-04 3.17201163e+00] [ 1.88203033e-02 -6.32761411e-04 9.99822682e-01 2.32302239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68925415399997 meters 0.01783548501425194 Centerline is valid? [True, True] Translation: X:338.10, Y:3.17, Z:2.32 [[ 9.98655134e-01 -4.86041053e-02 -1.80434101e-02 3.38100873e+02] [ 4.86075068e-02 9.98817925e-01 -2.50252742e-04 3.17166801e+00] [ 1.80342447e-02 -6.27128993e-04 9.99837173e-01 2.32413842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71925415399994 meters 0.0179903467695156 Centerline is valid? [True, True] Translation: X:338.13, Y:3.17, Z:2.32 [[ 9.98628737e-01 -4.93252174e-02 -1.75404912e-02 3.38132750e+02] [ 4.93285655e-02 9.98782576e-01 -2.41992696e-04 3.17043384e+00] [ 1.75310734e-02 -6.23586410e-04 9.99846124e-01 2.32484692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74925415399997 meters 0.018198256626020568 Centerline is valid? [True, True] Translation: X:338.17, Y:3.17, Z:2.33 [[ 9.98620582e-01 -4.98177314e-02 -1.65869391e-02 3.38165269e+02] [ 4.98208130e-02 9.98758146e-01 -2.27635973e-04 3.16907087e+00] [ 1.65776809e-02 -5.99052825e-04 9.99862401e-01 2.32562517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77925415399994 meters 0.018304570261245028 Centerline is valid? [True, True] Translation: X:338.20, Y:3.17, Z:2.33 [[ 9.98628273e-01 -5.01644551e-02 -1.50033401e-02 3.38197237e+02] [ 5.01670312e-02 9.98740821e-01 -2.04839402e-04 3.16699481e+00] [ 1.49947238e-02 -5.48114612e-04 9.99887423e-01 2.32667339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.809254154 meters 0.01862864210830091 Centerline is valid? [True, True] Translation: X:338.23, Y:3.17, Z:2.33 [[ 9.98639371e-01 -5.01625216e-02 -1.42523159e-02 3.38229217e+02] [ 5.01648607e-02 9.98740932e-01 -1.93557810e-04 3.16579320e+00] [ 1.42440806e-02 -5.21670992e-04 9.99898412e-01 2.32695100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.83925415399995 meters 0.020670333795495707 Centerline is valid? [True, True] Translation: X:338.26, Y:3.16, Z:2.33 [[ 9.98658444e-01 -4.97681145e-02 -1.42984896e-02 3.38261567e+02] [ 4.97704434e-02 9.98760665e-01 -1.93133333e-04 3.16444723e+00] [ 1.42903808e-02 -5.18767933e-04 9.99897753e-01 2.32666219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.869254154 meters 0.019912955058706036 Centerline is valid? [True, True] Translation: X:338.29, Y:3.16, Z:2.33 [[ 9.98624125e-01 -5.04580881e-02 -1.42771799e-02 3.38292840e+02] [ 5.04604935e-02 9.98726039e-01 -1.91937317e-04 3.16199705e+00] [ 1.42686761e-02 -5.28760307e-04 9.99898057e-01 2.32599095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.89925415399995 meters 0.01890623956072038 Centerline is valid? [True, True] Translation: X:338.32, Y:3.16, Z:2.33 [[ 9.98604700e-01 -5.08529954e-02 -1.42346997e-02 3.38324802e+02] [ 5.08554396e-02 9.98706007e-01 -1.90446693e-04 3.16326368e+00] [ 1.42259649e-02 -5.33730950e-04 9.99898663e-01 2.32600513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.929254154 meters 0.019494283404802887 Centerline is valid? [True, True] Translation: X:338.36, Y:3.16, Z:2.32 [[ 9.98566017e-01 -5.13297255e-02 -1.52042143e-02 3.38356415e+02] [ 5.13325918e-02 9.98681593e-01 -2.01933838e-04 3.16098418e+00] [ 1.51945342e-02 -5.78827460e-04 9.99884389e-01 2.32408053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.95925415399995 meters 0.019744662072296807 Centerline is valid? [True, True] Translation: X:338.39, Y:3.16, Z:2.32 [[ 9.98548505e-01 -5.14251714e-02 -1.60104640e-02 3.38388399e+02] [ 5.14283860e-02 9.98676663e-01 -2.11152404e-04 3.16030777e+00] [ 1.60001353e-02 -6.12546405e-04 9.99871802e-01 2.32322256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.989254154 meters 0.01962195155042204 Centerline is valid? [True, True] Translation: X:338.42, Y:3.16, Z:2.32 [[ 9.98546219e-01 -5.13173059e-02 -1.64919250e-02 3.38420435e+02] [ 5.13207223e-02 9.98682200e-01 -2.16275973e-04 3.16047364e+00] [ 1.64812907e-02 -6.30415950e-04 9.99863976e-01 2.32275427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.01925415399995 meters 0.020184656655404542 Centerline is valid? [True, True] Translation: X:338.45, Y:3.16, Z:2.32 [[ 9.98583085e-01 -5.04153730e-02 -1.70326973e-02 3.38451474e+02] [ 5.04189045e-02 9.98728134e-01 -2.22288074e-04 3.15955865e+00] [ 1.70222408e-02 -6.36796830e-04 9.99854908e-01 2.32182126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.049254154 meters 0.01955516364466536 Centerline is valid? [True, True] Translation: X:338.48, Y:3.16, Z:2.32 [[ 9.98630150e-01 -4.93603214e-02 -1.73603766e-02 3.38483345e+02] [ 4.93638508e-02 9.98780837e-01 -2.25422203e-04 3.16107798e+00] [ 1.73503384e-02 -6.31861632e-04 9.99849272e-01 2.32210336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.07925415399995 meters 0.018591376795324775 Centerline is valid? [True, True] Translation: X:338.51, Y:3.16, Z:2.32 [[ 9.98802555e-01 -4.59959645e-02 -1.66681739e-02 3.38514903e+02] [ 4.59987668e-02 9.98941473e-01 -2.15425385e-04 3.16440899e+00] [ 1.66604388e-02 -5.51548017e-04 9.99861053e-01 2.32295046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.109254154 meters 0.017837312033897688 Centerline is valid? [True, True] Translation: X:338.55, Y:3.17, Z:2.32 [[ 9.98919018e-01 -4.37155364e-02 -1.58034249e-02 3.38546250e+02] [ 4.37177810e-02 9.99043900e-01 -2.03572425e-04 3.16677158e+00] [ 1.57972145e-02 -4.87538303e-04 9.99875097e-01 2.32430933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.13925415399996 meters 0.016343452958661218 Centerline is valid? [True, True] Translation: X:338.58, Y:3.17, Z:2.33 [[ 9.99129892e-01 -3.95141722e-02 -1.33449832e-02 3.38577990e+02] [ 3.95154061e-02 9.99218947e-01 -1.71309535e-04 3.17148302e+00] [ 1.33413292e-02 -3.56171952e-04 9.99910937e-01 2.32667010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.169254154 meters 0.015399388963363089 Centerline is valid? [True, True] Translation: X:338.61, Y:3.17, Z:2.33 [[ 9.99225490e-01 -3.72587586e-02 -1.26571981e-02 3.38610477e+02] [ 3.72596980e-02 9.99305603e-01 -1.61666286e-04 3.17440374e+00] [ 1.26544325e-02 -3.10062305e-04 9.99919881e-01 2.32775083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.19925415399996 meters 0.014859373548510395 Centerline is valid? [True, True] Translation: X:338.64, Y:3.18, Z:2.33 [[ 9.99308505e-01 -3.51721342e-02 -1.20595594e-02 3.38643039e+02] [ 3.51728456e-02 9.99381232e-01 -1.53165716e-04 3.17640821e+00] [ 1.20574845e-02 -2.71109217e-04 9.99927269e-01 2.32831800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22925415399993 meters 0.014529801121756898 Centerline is valid? [True, True] Translation: X:338.67, Y:3.18, Z:2.33 [[ 9.99373593e-01 -3.34973507e-02 -1.14170265e-02 3.38674950e+02] [ 3.34978884e-02 9.99438778e-01 -1.44184508e-04 3.17804268e+00] [ 1.14154488e-02 -2.38352091e-04 9.99934813e-01 2.32869173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.25925415399996 meters 0.014495791193393684 Centerline is valid? [True, True] Translation: X:338.71, Y:3.18, Z:2.33 [[ 9.99452064e-01 -3.14275693e-02 -1.03865515e-02 3.38706122e+02] [ 3.14279095e-02 9.99506013e-01 -1.30509912e-04 3.17820317e+00] [ 1.03855223e-02 -1.95989200e-04 9.99946050e-01 2.32872367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28925415399993 meters 0.01428535813766016 Centerline is valid? [True, True] Translation: X:338.74, Y:3.18, Z:2.33 [[ 9.99477991e-01 -3.07029576e-02 -1.00535490e-02 3.38737980e+02] [ 3.07032457e-02 9.99528536e-01 -1.25727395e-04 3.17927731e+00] [ 1.00526694e-02 -1.83014821e-04 9.99949454e-01 2.32947660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31925415399996 meters 0.013979384922757259 Centerline is valid? [True, True] Translation: X:338.77, Y:3.18, Z:2.33 [[ 9.99487331e-01 -3.05339539e-02 -9.63083239e-03 3.38769954e+02] [ 3.05342170e-02 9.99533715e-01 -1.19759339e-04 3.18022369e+00] [ 9.62999840e-03 -1.74371984e-04 9.99953615e-01 2.32977280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34925415399994 meters 0.015368607522851638 Centerline is valid? [True, True] Translation: X:338.80, Y:3.18, Z:2.33 [[ 9.99491798e-01 -3.01745264e-02 -1.02782751e-02 3.38802030e+02] [ 3.01748152e-02 9.99544629e-01 -1.27017670e-04 3.17986848e+00] [ 1.02774273e-02 -1.83191931e-04 9.99947169e-01 2.32975226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37925415399997 meters 0.01495573869468862 Centerline is valid? [True, True] Translation: X:338.83, Y:3.18, Z:2.33 [[ 9.99420344e-01 -3.25786136e-02 -9.87978622e-03 3.38833698e+02] [ 3.25790058e-02 9.99469156e-01 -1.21275319e-04 3.17739593e+00] [ 9.87849257e-03 -2.00668592e-04 9.99951186e-01 2.32887696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40925415399994 meters 0.01526503207871563 Centerline is valid? [True, True] Translation: X:338.87, Y:3.18, Z:2.33 [[ 9.99373936e-01 -3.38274642e-02 -1.03652669e-02 3.38865939e+02] [ 3.38279741e-02 9.99427662e-01 -1.26175898e-04 3.17608025e+00] [ 1.03636027e-02 -2.24539078e-04 9.99946271e-01 2.32838098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43925415399997 meters 0.01554887976215671 Centerline is valid? [True, True] Translation: X:338.90, Y:3.17, Z:2.33 [[ 9.99272583e-01 -3.64822986e-02 -1.11061792e-02 3.38897576e+02] [ 3.64830564e-02 9.99334263e-01 -1.34426183e-04 3.17405586e+00] [ 1.11036896e-02 -2.70858964e-04 9.99938315e-01 2.32723182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46925415399994 meters 0.016687711254065866 Centerline is valid? [True, True] Translation: X:338.93, Y:3.17, Z:2.33 [[ 9.99230434e-01 -3.75468049e-02 -1.13480142e-02 3.38928725e+02] [ 3.75476719e-02 9.99294828e-01 -1.36716897e-04 3.17134045e+00] [ 1.13451452e-02 -2.89479830e-04 9.99935600e-01 2.32660832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49925415399997 meters 0.018701071524286343 Centerline is valid? [True, True] Translation: X:338.96, Y:3.17, Z:2.33 [[ 9.99221246e-01 -3.73225879e-02 -1.28033849e-02 3.38960983e+02] [ 3.73236841e-02 9.99303217e-01 -1.53395452e-04 3.17010408e+00] [ 1.28001888e-02 -3.24593499e-04 9.99918022e-01 2.32652181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.52925415399994 meters 0.016118680761075154 Centerline is valid? [True, True] Translation: X:338.99, Y:3.17, Z:2.33 [[ 9.99223627e-01 -3.79125202e-02 -1.07137132e-02 3.38992918e+02] [ 3.79133291e-02 9.99281023e-01 -1.27661320e-04 3.17104504e+00] [ 1.07108502e-02 -2.78630326e-04 9.99942598e-01 2.32654398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.559254154 meters 0.017838776208729392 Centerline is valid? [True, True] Translation: X:339.02, Y:3.17, Z:2.33 [[ 9.99275560e-01 -3.63479121e-02 -1.12775730e-02 3.39023855e+02] [ 3.63487176e-02 9.99339158e-01 -1.33604391e-04 3.16968602e+00] [ 1.12749765e-02 -2.76417714e-04 9.99936397e-01 2.32682112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.58925415399995 meters 0.016480619531686027 Centerline is valid? [True, True] Translation: X:339.06, Y:3.17, Z:2.33 [[ 9.99314343e-01 -3.57416489e-02 -9.66320236e-03 3.39055856e+02] [ 3.57422170e-02 9.99361036e-01 -1.13958941e-04 3.17005793e+00] [ 9.66110100e-03 -2.31503471e-04 9.99953304e-01 2.32701236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.619254154 meters 0.015182771486104018 Centerline is valid? [True, True] Translation: X:339.09, Y:3.17, Z:2.33 [[ 9.99444762e-01 -3.20160183e-02 -9.22725268e-03 3.39086956e+02] [ 3.20163827e-02 9.99487338e-01 -1.08264226e-04 3.17240047e+00] [ 9.22598841e-03 -1.87219140e-04 9.99957422e-01 2.32763546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.64925415399995 meters 0.015165059990411733 Centerline is valid? [True, True] Translation: X:339.12, Y:3.17, Z:2.33 [[ 9.99520261e-01 -2.96459218e-02 -8.96481585e-03 3.39118409e+02] [ 2.96461736e-02 9.99560450e-01 -1.04831048e-04 3.17258496e+00] [ 8.96398318e-03 -1.60991731e-04 9.99959810e-01 2.32814022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.679254154 meters 0.014329476014522323 Centerline is valid? [True, True] Translation: X:339.15, Y:3.17, Z:2.33 [[ 9.99578133e-01 -2.76294521e-02 -8.95370318e-03 3.39150844e+02] [ 2.76296270e-02 9.99618224e-01 -1.04184238e-04 3.17474919e+00] [ 8.95316342e-03 -1.43247194e-04 9.99959909e-01 2.32865748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.70925415399995 meters 0.013748673897147717 Centerline is valid? [True, True] Translation: X:339.18, Y:3.18, Z:2.33 [[ 9.99631275e-01 -2.57416247e-02 -8.64192025e-03 3.39182924e+02] [ 2.57417223e-02 9.99668622e-01 -9.99551570e-05 3.17681780e+00] [ 8.64162951e-03 -1.22539610e-04 9.99962653e-01 2.32917035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.739254154 meters 0.013257765170803064 Centerline is valid? [True, True] Translation: X:339.22, Y:3.18, Z:2.33 [[ 9.99710003e-01 -2.24237418e-02 -8.77983611e-03 3.39215129e+02] [ 2.24237204e-02 9.99748552e-01 -1.00895841e-04 3.17794309e+00] [ 8.77989089e-03 -9.60100086e-05 9.99961451e-01 2.32932763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.76925415399995 meters 0.013127445131020264 Centerline is valid? [True, True] Translation: X:339.25, Y:3.18, Z:2.33 [[ 9.99740146e-01 -2.11449640e-02 -8.51653740e-03 3.39246680e+02] [ 2.11449022e-02 9.99776417e-01 -9.73085533e-05 3.17783237e+00] [ 8.51669083e-03 -8.27980830e-05 9.99963729e-01 2.32908101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.799254154 meters 0.013174777665288418 Centerline is valid? [True, True] Translation: X:339.28, Y:3.18, Z:2.33 [[ 9.99772549e-01 -1.95227163e-02 -8.58567630e-03 3.39277523e+02] [ 1.95225964e-02 9.99809411e-01 -9.77785974e-05 3.17635170e+00] [ 8.58594887e-03 -6.98583359e-05 9.99963138e-01 2.32867178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.82925415399995 meters 0.01295078883625742 Centerline is valid? [True, True] Translation: X:339.31, Y:3.18, Z:2.33 [[ 9.99827238e-01 -1.64292139e-02 -8.69337747e-03 3.39308848e+02] [ 1.64289769e-02 9.99865030e-01 -9.86839545e-05 3.17654861e+00] [ 8.69382543e-03 -4.41563917e-05 9.99962207e-01 2.32852964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.859254154 meters 0.01303116389995788 Centerline is valid? [True, True] Translation: X:339.34, Y:3.18, Z:2.33 [[ 9.99856772e-01 -1.45377890e-02 -8.66535881e-03 3.39340465e+02] [ 1.45374851e-02 9.99894320e-01 -9.80550329e-05 3.17691627e+00] [ 8.66586856e-03 -2.79315363e-05 9.99962450e-01 2.32873079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.88925415399996 meters 0.012677181871790025 Centerline is valid? [True, True] Translation: X:339.37, Y:3.18, Z:2.33 [[ 9.99886526e-01 -1.25569655e-02 -8.32209969e-03 3.39370968e+02] [ 1.25566186e-02 9.99921158e-01 -9.39296214e-05 3.17770636e+00] [ 8.32262303e-03 -1.05784692e-05 9.99965366e-01 2.32883635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.919254154 meters 0.013056858899300704 Centerline is valid? [True, True] Translation: X:339.40, Y:3.18, Z:2.33 [[ 9.99909466e-01 -1.05384365e-02 -8.36668236e-03 3.39401336e+02] [ 1.05380153e-02 9.99944469e-01 -9.44328158e-05 3.17806302e+00] [ 8.36721292e-03 6.25603987e-06 9.99964994e-01 2.32931812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.94925415399996 meters 0.01312386942298164 Centerline is valid? [True, True] Translation: X:339.43, Y:3.18, Z:2.33 [[ 9.99945919e-01 -6.78502089e-03 -7.88175707e-03 3.39430387e+02] [ 6.78453045e-03 9.99976981e-01 -8.89606578e-05 3.17759117e+00] [ 7.88217924e-03 3.54818258e-05 9.99968935e-01 2.32932292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97925415399993 meters 0.013185516169311119 Centerline is valid? [True, True] Translation: X:339.46, Y:3.18, Z:2.33 [[ 9.99952431e-01 -5.74459297e-03 -7.88253971e-03 3.39459336e+02] [ 5.74406811e-03 9.99983499e-01 -8.92231168e-05 3.17639738e+00] [ 7.88292219e-03 4.39410276e-05 9.99968928e-01 2.32914553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.00925415399996 meters 0.013397009349079331 Centerline is valid? [True, True] Translation: X:339.49, Y:3.17, Z:2.33 [[ 9.99955401e-01 -4.85872332e-03 -8.09865173e-03 3.39486903e+02] [ 4.85812451e-03 9.99988195e-01 -9.36109709e-05 3.17222954e+00] [ 8.09901096e-03 5.42625375e-05 9.99967201e-01 2.32838097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03925415399993 meters 0.01354759059089569 Centerline is valid? [True, True] Translation: X:339.52, Y:3.17, Z:2.33 [[ 9.99945931e-01 -6.13233774e-03 -8.39819623e-03 3.39515269e+02] [ 6.13173009e-03 9.99981196e-01 -9.81016813e-05 3.16935446e+00] [ 8.39863990e-03 4.66009045e-05 9.99964730e-01 2.32856436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.06925415399996 meters 0.013353377405198957 Centerline is valid? [True, True] Translation: X:339.54, Y:3.17, Z:2.33 [[ 9.99933977e-01 -7.93943767e-03 -8.30702624e-03 3.39544014e+02] [ 7.93889017e-03 9.99968482e-01 -9.88806457e-05 3.16596042e+00] [ 8.30754948e-03 3.29255483e-05 9.99965491e-01 2.32859023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09925415399994 meters 0.013102216411911824 Centerline is valid? [True, True] Translation: X:339.57, Y:3.16, Z:2.33 [[ 9.99877498e-01 -1.36493047e-02 -7.66070094e-03 3.39572332e+02] [ 1.36490026e-02 9.99906844e-01 -9.17096695e-05 3.15743978e+00] [ 7.66123907e-03 -1.28624926e-05 9.99970652e-01 2.32864448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.12925415399997 meters 0.013408533757683225 Centerline is valid? [True, True] Translation: X:339.60, Y:3.15, Z:2.33 [[ 9.99815367e-01 -1.76835698e-02 -7.51813481e-03 3.39602732e+02] [ 1.76833901e-02 9.99843633e-01 -9.03838714e-05 3.15223673e+00] [ 7.51855752e-03 -4.25789268e-05 9.99971734e-01 2.32850117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15925415399994 meters 0.013408533757683225 Centerline is valid? [True, True] Translation: X:339.63, Y:3.15, Z:2.33 [[ 9.99816006e-01 -1.76474361e-02 -7.51813506e-03 3.39633575e+02] [ 1.76472555e-02 9.99844271e-01 -9.03625812e-05 3.15257780e+00] [ 7.51855894e-03 -4.23284953e-05 9.99971734e-01 2.32871492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18925415399997 meters 0.013962281227002996 Centerline is valid? [True, True] Translation: X:339.67, Y:3.15, Z:2.33 [[ 9.99733714e-01 -2.17877017e-02 -7.60244555e-03 3.39665043e+02] [ 2.17876388e-02 9.99762617e-01 -9.10980545e-05 3.14704958e+00] [ 7.60262568e-03 -7.45655413e-05 9.99971097e-01 2.32850015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21925415399994 meters 0.015061042721426636 Centerline is valid? [True, True] Translation: X:339.70, Y:3.14, Z:2.33 [[ 9.99508396e-01 -3.01414587e-02 -8.62897478e-03 3.39696786e+02] [ 3.01416950e-02 9.99545631e-01 -1.02698695e-04 3.13592415e+00] [ 8.62814953e-03 -1.57443718e-04 9.99962764e-01 2.32746227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24925415399997 meters 0.015802688743482098 Centerline is valid? [True, True] Translation: X:339.73, Y:3.13, Z:2.33 [[ 9.99382878e-01 -3.40449333e-02 -8.64897910e-03 3.39729065e+02] [ 3.40453325e-02 9.99420285e-01 -1.01122277e-04 3.13069470e+00] [ 8.64740785e-03 -1.93397497e-04 9.99962592e-01 2.32752569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27925415399994 meters 0.017384087158699886 Centerline is valid? [True, True] Translation: X:339.76, Y:3.12, Z:2.33 [[ 9.99257803e-01 -3.75563835e-02 -8.56516010e-03 3.39760444e+02] [ 3.75569090e-02 9.99294485e-01 -9.95363659e-05 3.12438265e+00] [ 8.56285548e-03 -2.22218448e-04 9.99963313e-01 2.32775472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.309254154 meters 0.01853199258686783 Centerline is valid? [True, True] Translation: X:339.79, Y:3.12, Z:2.33 [[ 9.99057929e-01 -4.26093158e-02 -8.22807970e-03 3.39791940e+02] [ 4.26099754e-02 9.99091778e-01 -9.51999379e-05 3.11675855e+00] [ 8.22466318e-03 -2.55488021e-04 9.99966144e-01 2.32841658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.33925415399995 meters 0.019036608353979526 Centerline is valid? [True, True] Translation: X:339.82, Y:3.11, Z:2.33 [[ 9.99005323e-01 -4.38421156e-02 -8.13834396e-03 3.39824532e+02] [ 4.38428045e-02 9.99038438e-01 -9.38214250e-05 3.11359010e+00] [ 8.13463177e-03 -2.63079720e-04 9.99966879e-01 2.32866281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.369254154 meters 0.019169409503714582 Centerline is valid? [True, True] Translation: X:339.86, Y:3.11, Z:2.33 [[ 9.98987053e-01 -4.42194577e-02 -8.33714916e-03 3.39856832e+02] [ 4.42201990e-02 9.99021804e-01 -9.54873247e-05 3.11069381e+00] [ 8.33321620e-03 -2.73279794e-04 9.99965241e-01 2.32883762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.39925415399995 meters 0.018693170352867865 Centerline is valid? [True, True] Translation: X:339.89, Y:3.11, Z:2.33 [[ 9.98995091e-01 -4.40583253e-02 -8.22626829e-03 3.39888965e+02] [ 4.40590465e-02 9.99028924e-01 -9.36198838e-05 3.10929073e+00] [ 8.22240470e-03 -2.68915733e-04 9.99966159e-01 2.32892864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.429254154 meters 0.01833619925063266 Centerline is valid? [True, True] Translation: X:339.92, Y:3.11, Z:2.33 [[ 9.99042596e-01 -4.29922306e-02 -8.09687164e-03 3.39921538e+02] [ 4.29928991e-02 9.99075374e-01 -9.15525564e-05 3.10786607e+00] [ 8.09332111e-03 -2.56643082e-04 9.99967216e-01 2.32918930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.45925415399995 meters 0.017677730348200506 Centerline is valid? [True, True] Translation: X:339.95, Y:3.11, Z:2.33 [[ 9.99236840e-01 -3.82148185e-02 -8.08486303e-03 3.39951881e+02] [ 3.82153331e-02 9.99269523e-01 -9.08771892e-05 3.10590339e+00] [ 8.08243008e-03 -2.18157898e-04 9.99967313e-01 2.32969985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.489254154 meters 0.016619625029310355 Centerline is valid? [True, True] Translation: X:339.98, Y:3.11, Z:2.33 [[ 9.99368473e-01 -3.46598962e-02 -7.83236584e-03 3.39983457e+02] [ 3.46602713e-02 9.99399148e-01 -8.78797059e-05 3.10713719e+00] [ 7.83070565e-03 -1.83647718e-04 9.99969323e-01 2.33007742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.51925415399995 meters 0.014921732137078607 Centerline is valid? [True, True] Translation: X:340.01, Y:3.11, Z:2.33 [[ 9.99627354e-01 -2.61865012e-02 -7.70847315e-03 3.40014425e+02] [ 2.61866147e-02 9.99657068e-01 -8.62245280e-05 3.10972683e+00] [ 7.70808759e-03 -1.15666419e-04 9.99970286e-01 2.33063671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.549254154 meters 0.014491079381289728 Centerline is valid? [True, True] Translation: X:340.04, Y:3.11, Z:2.33 [[ 9.99721646e-01 -2.22061475e-02 -7.96976064e-03 3.40044907e+02] [ 2.22061435e-02 9.99753409e-01 -8.89981719e-05 3.11068642e+00] [ 7.96977168e-03 -8.80042496e-05 9.99968237e-01 2.33092126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.57925415399995 meters 0.01412854108164345 Centerline is valid? [True, True] Translation: X:340.08, Y:3.11, Z:2.33 [[ 9.99805760e-01 -1.79121667e-02 -8.22168486e-03 3.40075701e+02] [ 1.79120188e-02 9.99839563e-01 -9.16367692e-05 3.11157796e+00] [ 8.22200721e-03 -5.56480038e-05 9.99966197e-01 2.33060596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.609254154 meters 0.01389079218266398 Centerline is valid? [True, True] Translation: X:340.11, Y:3.11, Z:2.33 [[ 9.99904668e-01 -1.08672904e-02 -8.51798477e-03 3.40106275e+02] [ 1.08668781e-02 9.99940949e-01 -9.46843687e-05 3.11178962e+00] [ 8.51851074e-03 2.11144028e-06 9.99963717e-01 2.32986585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.63925415399996 meters 0.013980667546509616 Centerline is valid? [True, True] Translation: X:340.13, Y:3.11, Z:2.33 [[ 9.99923857e-01 -8.75509465e-03 -8.69650165e-03 3.40134718e+02] [ 8.75458421e-03 9.99961673e-01 -9.67620984e-05 3.11177113e+00] [ 8.69701550e-03 2.06204745e-05 9.99962180e-01 2.32946838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.669254154 meters 0.014035406365389082 Centerline is valid? [True, True] Translation: X:340.16, Y:3.11, Z:2.33 [[ 9.99933699e-01 -7.13215909e-03 -9.04044385e-03 3.40163029e+02] [ 7.13153295e-03 9.99974565e-01 -1.01495964e-04 3.11091715e+00] [ 9.04093779e-03 3.70170121e-05 9.99959129e-01 2.32946072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.69925415399996 meters 0.014120929708737691 Centerline is valid? [True, True] Translation: X:340.19, Y:3.11, Z:2.33 [[ 9.99934222e-01 -6.29963181e-03 -9.58465411e-03 3.40191290e+02] [ 6.29886996e-03 9.99980156e-01 -1.09671817e-04 3.10754109e+00] [ 9.58515481e-03 4.92921131e-05 9.99954060e-01 2.32833353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72925415399993 meters 0.014037250890170438 Centerline is valid? [True, True] Translation: X:340.22, Y:3.10, Z:2.33 [[ 9.99922266e-01 -7.29864600e-03 -1.01089827e-02 3.40219450e+02] [ 7.29783390e-03 9.99973364e-01 -1.17220742e-04 3.10483037e+00] [ 1.01095690e-02 4.34379535e-05 9.99948896e-01 2.32798662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.75925415399996 meters 0.013841737835099404 Centerline is valid? [True, True] Translation: X:340.25, Y:3.10, Z:2.33 [[ 9.99905075e-01 -8.77258740e-03 -1.06246118e-02 3.40247605e+02] [ 8.77174009e-03 9.99961520e-01 -1.26347384e-04 3.10152248e+00] [ 1.06253113e-02 3.31390576e-05 9.99943549e-01 2.32774772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78925415399993 meters 0.01382791370275448 Centerline is valid? [True, True] Translation: X:340.28, Y:3.09, Z:2.33 [[ 9.99851848e-01 -1.28166933e-02 -1.14897942e-02 3.40276071e+02] [ 1.28159405e-02 9.99917863e-01 -1.39150023e-04 3.09372870e+00] [ 1.14906339e-02 -8.12311090e-06 9.99933980e-01 2.32688354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81925415399996 meters 0.013841642943018973 Centerline is valid? [True, True] Translation: X:340.30, Y:3.09, Z:2.33 [[ 9.99818061e-01 -1.51253558e-02 -1.16218868e-02 3.40303604e+02] [ 1.51247196e-02 9.99885605e-01 -1.42637040e-04 3.08983032e+00] [ 1.16227148e-02 -3.31666910e-05 9.99932453e-01 2.32706805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84925415399994 meters 0.013955783136603806 Centerline is valid? [True, True] Translation: X:340.33, Y:3.09, Z:2.33 [[ 9.99783772e-01 -1.72901030e-02 -1.15525967e-02 3.40331937e+02] [ 1.72895907e-02 9.99850513e-01 -1.44229487e-04 3.08633874e+00] [ 1.15533635e-02 -5.55413681e-05 9.99933256e-01 2.32725483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87925415399997 meters 0.014114867067052915 Centerline is valid? [True, True] Translation: X:340.36, Y:3.08, Z:2.33 [[ 9.99737969e-01 -1.98011179e-02 -1.14852040e-02 3.40360869e+02] [ 1.98007569e-02 9.99803935e-01 -1.45154021e-04 3.08326665e+00] [ 1.14858264e-02 -8.22997457e-05 9.99934032e-01 2.32774044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90925415399994 meters 0.014601594115967634 Centerline is valid? [True, True] Translation: X:340.39, Y:3.08, Z:2.33 [[ 9.99642893e-01 -2.44193529e-02 -1.08526819e-02 3.40389515e+02] [ 2.44192741e-02 9.99701795e-01 -1.39791233e-04 3.07713539e+00] [ 1.08528592e-02 -1.25273302e-04 9.99941098e-01 2.32840427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93925415399997 meters 0.01476086830496265 Centerline is valid? [True, True] Translation: X:340.42, Y:3.07, Z:2.33 [[ 9.99586308e-01 -2.67585654e-02 -1.05447723e-02 3.40419188e+02] [ 2.67586018e-02 9.99641915e-01 -1.37663032e-04 3.07425964e+00] [ 1.05446801e-02 -1.44557281e-04 9.99944393e-01 2.32912579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96925415399994 meters 0.01514758869189185 Centerline is valid? [True, True] Translation: X:340.45, Y:3.07, Z:2.33 [[ 9.99532853e-01 -2.87570617e-02 -1.03492127e-02 3.40448250e+02] [ 2.87572030e-02 9.99586417e-01 -1.35190616e-04 3.07043005e+00] [ 1.03488202e-02 -1.62486949e-04 9.99946436e-01 2.32932641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99925415399997 meters 0.01589367985421611 Centerline is valid? [True, True] Translation: X:340.48, Y:3.06, Z:2.33 [[ 9.99406423e-01 -3.29970821e-02 -9.89925115e-03 3.40478162e+02] [ 3.29974214e-02 9.99455428e-01 -1.29091931e-04 3.06434366e+00] [ 9.89811996e-03 -1.97634457e-04 9.99950993e-01 2.33003229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.02925415399994 meters 0.016483471660519552 Centerline is valid? [True, True] Translation: X:340.51, Y:3.06, Z:2.33 [[ 9.99339960e-01 -3.51004544e-02 -9.35958028e-03 3.40509102e+02] [ 3.51008481e-02 9.99383768e-01 -1.22249778e-04 3.06151806e+00] [ 9.35810363e-03 -2.06360117e-04 9.99956191e-01 2.33056224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.059254154 meters 0.018076509084744185 Centerline is valid? [True, True] Translation: X:340.54, Y:3.06, Z:2.33 [[ 9.99214360e-01 -3.84454267e-02 -9.62351766e-03 3.40539817e+02] [ 3.84459996e-02 9.99260671e-01 -1.25518617e-04 3.05519558e+00] [ 9.62122834e-03 -2.44565752e-04 9.99953685e-01 2.33041253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.08925415399995 meters 0.01764178290266531 Centerline is valid? [True, True] Translation: X:340.57, Y:3.05, Z:2.33 [[ 9.99174359e-01 -3.93249348e-02 -1.02054013e-02 3.40570832e+02] [ 3.93256276e-02 9.99226439e-01 -1.32856481e-04 3.05490940e+00] [ 1.02027314e-02 -2.68587023e-04 9.99947915e-01 2.33037046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.119254154 meters 0.017642874937953888 Centerline is valid? [True, True] Translation: X:340.60, Y:3.05, Z:2.33 [[ 9.99144592e-01 -4.00078479e-02 -1.04621137e-02 3.40601859e+02] [ 4.00086175e-02 9.99199325e-01 -1.35812531e-04 3.05400661e+00] [ 1.04591705e-02 -2.82878350e-04 9.99945261e-01 2.33065228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.14925415399995 meters 0.01772052358771287 Centerline is valid? [True, True] Translation: X:340.63, Y:3.05, Z:2.33 [[ 9.99156290e-01 -3.96669192e-02 -1.06415623e-02 3.40633622e+02] [ 3.96677002e-02 9.99212918e-01 -1.37751159e-04 3.05248655e+00] [ 1.06386507e-02 -2.84491367e-04 9.99943367e-01 2.33090837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.179254154 meters 0.017962701146030498 Centerline is valid? [True, True] Translation: X:340.66, Y:3.05, Z:2.33 [[ 9.99180277e-01 -3.90175951e-02 -1.07889576e-02 3.40662749e+02] [ 3.90183620e-02 9.99238484e-01 -1.39473759e-04 3.05174443e+00] [ 1.07861836e-02 -2.81608026e-04 9.99941788e-01 2.33118182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.20925415399995 meters 0.020726611541853065 Centerline is valid? [True, True] Translation: X:340.69, Y:3.05, Z:2.33 [[ 9.99228158e-01 -3.79384722e-02 -1.01862931e-02 3.40692066e+02] [ 3.79390980e-02 9.99280045e-01 -1.31858204e-04 3.05038634e+00] [ 1.01839619e-02 -2.54702342e-04 9.99948110e-01 2.33110511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.239254154 meters 0.01718178406382858 Centerline is valid? [True, True] Translation: X:340.72, Y:3.05, Z:2.33 [[ 9.99287251e-01 -3.63187166e-02 -1.02927902e-02 3.40722629e+02] [ 3.63192684e-02 9.99340229e-01 -1.33360633e-04 3.05330548e+00] [ 1.02908428e-02 -2.40561029e-04 9.99947019e-01 2.33202302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.26925415399995 meters 0.018414750816569042 Centerline is valid? [True, True] Translation: X:340.75, Y:3.05, Z:2.33 [[ 9.99411264e-01 -3.27308007e-02 -1.02869291e-02 3.40753166e+02] [ 3.27311619e-02 9.99464183e-01 -1.33284694e-04 3.05465652e+00] [ 1.02857798e-02 -2.03496919e-04 9.99947079e-01 2.33160153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.299254154 meters 0.016056376525565883 Centerline is valid? [True, True] Translation: X:340.78, Y:3.06, Z:2.33 [[ 9.99458890e-01 -3.09802902e-02 -1.10520661e-02 3.40783979e+02] [ 3.09806002e-02 9.99519976e-01 -1.43198346e-04 3.05646805e+00] [ 1.10511971e-02 -1.99278780e-04 9.99938914e-01 2.33193412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.32925415399995 meters 0.01712481144114664 Centerline is valid? [True, True] Translation: X:340.81, Y:3.06, Z:2.33 [[ 9.99557977e-01 -2.74460235e-02 -1.14265965e-02 3.40813832e+02] [ 2.74461245e-02 9.99623273e-01 -1.48000961e-04 3.05814487e+00] [ 1.14263538e-02 -1.65680249e-04 9.99934703e-01 2.33105652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.359254154 meters 0.014967645096483944 Centerline is valid? [True, True] Translation: X:340.84, Y:3.06, Z:2.33 [[ 9.99579814e-01 -2.64112727e-02 -1.19431969e-02 3.40843490e+02] [ 2.64113080e-02 9.99651149e-01 -1.54788608e-04 3.06023848e+00] [ 1.19431186e-02 -1.60711884e-04 9.99928665e-01 2.33138071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.38925415399996 meters 0.01744976890899773 Centerline is valid? [True, True] Translation: X:340.87, Y:3.06, Z:2.33 [[ 9.99586014e-01 -2.59371241e-02 -1.24525292e-02 3.40872256e+02] [ 2.59371057e-02 9.99663563e-01 -1.63009239e-04 3.05997916e+00] [ 1.24525677e-02 -1.60040811e-04 9.99922451e-01 2.33074463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41925415399993 meters 0.016498894695956952 Centerline is valid? [True, True] Translation: X:340.90, Y:3.06, Z:2.33 [[ 9.99544979e-01 -2.67621220e-02 -1.39148663e-02 3.40900296e+02] [ 2.67621390e-02 9.99641813e-01 -1.85013107e-04 3.05924191e+00] [ 1.39148335e-02 -1.87462664e-04 9.99903166e-01 2.33001557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.44925415399996 meters 0.015307333791224325 Centerline is valid? [True, True] Translation: X:340.93, Y:3.06, Z:2.33 [[ 9.99508046e-01 -2.77610833e-02 -1.45940921e-02 3.40928698e+02] [ 2.77611669e-02 9.99614565e-01 -1.96893503e-04 3.05882068e+00] [ 1.45939330e-02 -2.08352387e-04 9.99893481e-01 2.33039935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47925415399993 meters 0.01885743286500832 Centerline is valid? [True, True] Translation: X:340.96, Y:3.06, Z:2.33 [[ 9.99475859e-01 -2.89655950e-02 -1.44568954e-02 3.40956739e+02] [ 2.89657695e-02 9.99580385e-01 -1.97357686e-04 3.05677011e+00] [ 1.44565457e-02 -2.21500858e-04 9.99895474e-01 2.32997156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.50925415399996 meters 0.016909067670075138 Centerline is valid? [True, True] Translation: X:340.98, Y:3.05, Z:2.33 [[ 9.99328850e-01 -3.37537545e-02 -1.42314103e-02 3.40984040e+02] [ 3.37543851e-02 9.99430139e-01 -1.95957786e-04 3.05335380e+00] [ 1.42299146e-02 -2.84546233e-04 9.99898709e-01 2.33133890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53925415399993 meters 0.018300790066984235 Centerline is valid? [True, True] Translation: X:341.01, Y:3.05, Z:2.33 [[ 9.99238985e-01 -3.64763340e-02 -1.38176311e-02 3.41013066e+02] [ 3.64771521e-02 9.99334469e-01 -1.92902773e-04 3.05067617e+00] [ 1.38154714e-02 -3.11271859e-04 9.99904513e-01 2.33182239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.56925415399996 meters 0.019786989322094294 Centerline is valid? [True, True] Translation: X:341.04, Y:3.05, Z:2.33 [[ 9.99133868e-01 -3.92168702e-02 -1.39122263e-02 3.41042327e+02] [ 3.92179367e-02 9.99230662e-01 -1.96258064e-04 3.05065080e+00] [ 1.39092197e-02 -3.49520731e-04 9.99903201e-01 2.33264566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59925415399994 meters 0.019072150527788885 Centerline is valid? [True, True] Translation: X:341.07, Y:3.05, Z:2.33 [[ 9.98898799e-01 -4.52209324e-02 -1.25002449e-02 3.41071865e+02] [ 4.52222549e-02 9.98976935e-01 -1.76976134e-04 3.04653140e+00] [ 1.24954594e-02 -3.88508015e-04 9.99921853e-01 2.33429420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.62925415399997 meters 0.02011699928953756 Centerline is valid? [True, True] Translation: X:341.10, Y:3.04, Z:2.33 [[ 9.98757771e-01 -4.83320142e-02 -1.21215410e-02 3.41102019e+02] [ 4.83334812e-02 9.98831239e-01 -1.72070408e-04 3.04428277e+00] [ 1.21156903e-02 -4.14019614e-04 9.99926517e-01 2.33480122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65925415399994 meters 0.02270203548779916 Centerline is valid? [True, True] Translation: X:341.13, Y:3.04, Z:2.33 [[ 9.98613210e-01 -5.11521548e-02 -1.24544540e-02 3.41131208e+02] [ 5.11539214e-02 9.98690765e-01 -1.76881097e-04 3.04111608e+00] [ 1.24471961e-02 -4.60458363e-04 9.99922425e-01 2.33405504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68925415399997 meters 0.025374169391569952 Centerline is valid? [True, True] Translation: X:341.16, Y:3.04, Z:2.33 [[ 9.98490414e-01 -5.34744372e-02 -1.25450131e-02 3.41160239e+02] [ 5.34764108e-02 9.98569097e-01 -1.78311170e-04 3.03531060e+00] [ 1.25365974e-02 -4.92820277e-04 9.99921292e-01 2.33400104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71925415399994 meters 0.028848597517788125 Centerline is valid? [True, True] Translation: X:341.19, Y:3.03, Z:2.33 [[ 9.98278019e-01 -5.70835345e-02 -1.35080131e-02 3.41189065e+02] [ 5.70861483e-02 9.98369238e-01 -1.92309093e-04 3.03067244e+00] [ 1.34969624e-02 -5.79142497e-04 9.99908744e-01 2.33298186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74925415399997 meters 0.02345900313414345 Centerline is valid? [True, True] Translation: X:341.22, Y:3.04, Z:2.33 [[ 9.98227409e-01 -5.79355327e-02 -1.36203170e-02 3.41219729e+02] [ 5.79382687e-02 9.98320149e-01 -1.93957188e-04 3.03918679e+00] [ 1.36086739e-02 -5.95524204e-04 9.99907220e-01 2.33439876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77925415399994 meters 0.023094689356434196 Centerline is valid? [True, True] Translation: X:341.25, Y:3.04, Z:2.34 [[ 9.98212244e-01 -5.83848441e-02 -1.27877403e-02 3.41249744e+02] [ 5.83872926e-02 9.98293990e-01 -1.82101059e-04 3.04128936e+00] [ 1.27765563e-02 -5.64866029e-04 9.99918217e-01 2.33565386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.809254154 meters 0.025643788745723844 Centerline is valid? [True, True] Translation: X:341.28, Y:3.04, Z:2.34 [[ 9.98220257e-01 -5.80556597e-02 -1.36329873e-02 3.41280599e+02] [ 5.80584119e-02 9.98313169e-01 -1.94137616e-04 3.04212541e+00] [ 1.36212615e-02 -5.97717489e-04 9.99907048e-01 2.33544790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.83925415399995 meters 0.022471398247298918 Centerline is valid? [True, True] Translation: X:341.31, Y:3.04, Z:2.34 [[ 9.98274385e-01 -5.74241366e-02 -1.22768358e-02 3.41309784e+02] [ 5.74263184e-02 9.98349732e-01 -1.75022011e-04 3.04484186e+00] [ 1.22666262e-02 -5.30293488e-04 9.99924621e-01 2.33701795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.869254154 meters 0.02233023839488028 Centerline is valid? [True, True] Translation: X:341.34, Y:3.05, Z:2.34 [[ 9.98394756e-01 -5.52421588e-02 -1.24986138e-02 3.41339208e+02] [ 5.52442449e-02 9.98472855e-01 -1.78544216e-04 3.04717911e+00] [ 1.24893898e-02 -5.12218873e-04 9.99921873e-01 2.33681538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.89925415399995 meters 0.021877220261695175 Centerline is valid? [True, True] Translation: X:341.37, Y:3.05, Z:2.34 [[ 9.98476192e-01 -5.35908527e-02 -1.31648746e-02 3.41369399e+02] [ 5.35930207e-02 9.98562844e-01 -1.88307440e-04 3.04981061e+00] [ 1.31560462e-02 -5.17524903e-04 9.99913322e-01 2.33672111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.929254154 meters 0.023815544326714125 Centerline is valid? [True, True] Translation: X:341.40, Y:3.05, Z:2.34 [[ 9.98570479e-01 -5.12300590e-02 -1.52472865e-02 3.41399444e+02] [ 5.12326879e-02 9.98686720e-01 -2.18389348e-04 3.05240087e+00] [ 1.52384506e-02 -5.63082316e-04 9.99883730e-01 2.33582768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.95925415399995 meters 0.02035186171140791 Centerline is valid? [True, True] Translation: X:341.43, Y:3.06, Z:2.34 [[ 9.98774433e-01 -4.71768698e-02 -1.49658123e-02 3.41427769e+02] [ 4.71789397e-02 9.98886431e-01 -2.14914034e-04 3.05756544e+00] [ 1.49592858e-02 -4.91420513e-04 9.99887983e-01 2.33552906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.989254154 meters 0.0198035844229357 Centerline is valid? [True, True] Translation: X:341.46, Y:3.06, Z:2.34 [[ 9.98877064e-01 -4.48602137e-02 -1.52372242e-02 3.41457486e+02] [ 4.48620799e-02 9.98993166e-01 -2.19484065e-04 3.06027097e+00] [ 1.52317289e-02 -4.64335969e-04 9.99883883e-01 2.33546477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.01925415399995 meters 0.019200492101832056 Centerline is valid? [True, True] Translation: X:341.49, Y:3.06, Z:2.34 [[ 9.98965465e-01 -4.26415939e-02 -1.58017038e-02 3.41486529e+02] [ 4.26433147e-02 9.99090334e-01 -2.28177550e-04 3.06271607e+00] [ 1.57970594e-02 -4.45895534e-04 9.99875119e-01 2.33541467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.049254154 meters 0.01853344104594949 Centerline is valid? [True, True] Translation: X:341.52, Y:3.07, Z:2.34 [[ 9.99041947e-01 -4.07916958e-02 -1.58501279e-02 3.41515208e+02] [ 4.07931562e-02 9.99167586e-01 -2.31290903e-04 3.06524465e+00] [ 1.58463688e-02 -4.15507431e-04 9.99874352e-01 2.33526285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.07925415399995 meters 0.01853344104594949 Centerline is valid? [True, True] Translation: X:341.54, Y:3.07, Z:2.34 [[ 9.99031999e-01 -4.10346259e-02 -1.58500710e-02 3.41543496e+02] [ 4.10360558e-02 9.99157639e-01 -2.35146089e-04 3.06571975e+00] [ 1.58463686e-02 -4.15505930e-04 9.99874352e-01 2.33545916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.109254154 meters 0.016449070081702915 Centerline is valid? [True, True] Translation: X:341.57, Y:3.07, Z:2.34 [[ 9.99133106e-01 -3.83501832e-02 -1.61956960e-02 3.41572031e+02] [ 3.83512572e-02 9.99264290e-01 -2.44375876e-04 3.07223468e+00] [ 1.61931526e-02 -3.76961276e-04 9.99868811e-01 2.33674694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.13925415399996 meters 0.01640621597396466 Centerline is valid? [True, True] Translation: X:341.60, Y:3.07, Z:2.34 [[ 9.99143472e-01 -3.80061135e-02 -1.63663542e-02 3.41600941e+02] [ 3.80070950e-02 9.99277438e-01 -2.51175580e-04 3.07420738e+00] [ 1.63640747e-02 -3.71077139e-04 9.99866031e-01 2.33705678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16925415399993 meters 0.01677095173519593 Centerline is valid? [True, True] Translation: X:341.63, Y:3.08, Z:2.34 [[ 9.99130414e-01 -3.83081356e-02 -1.64591056e-02 3.41628409e+02] [ 3.83091255e-02 9.99265903e-01 -2.55255873e-04 3.07583403e+00] [ 1.64568014e-02 -3.75500037e-04 9.99864507e-01 2.33741453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.19925415399996 meters 0.017043136535394358 Centerline is valid? [True, True] Translation: X:341.66, Y:3.08, Z:2.34 [[ 9.99104596e-01 -3.90802831e-02 -1.62091660e-02 3.41656911e+02] [ 3.90812970e-02 9.99236002e-01 -2.54320640e-04 3.07627550e+00] [ 1.62067211e-02 -3.79382308e-04 9.99868590e-01 2.33759239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22925415399993 meters 0.01659723505515947 Centerline is valid? [True, True] Translation: X:341.69, Y:3.08, Z:2.34 [[ 9.99072156e-01 -4.00452775e-02 -1.58493581e-02 3.41685284e+02] [ 4.00463049e-02 9.99197793e-01 -2.52674238e-04 3.07816299e+00] [ 1.58467621e-02 -3.82268433e-04 9.99874359e-01 2.33842507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.25925415399996 meters 0.016894754608607055 Centerline is valid? [True, True] Translation: X:341.71, Y:3.08, Z:2.34 [[ 9.98977450e-01 -4.25606867e-02 -1.52525964e-02 3.41713815e+02] [ 4.25618717e-02 9.99093802e-01 -2.47056894e-04 3.07887197e+00] [ 1.52492895e-02 -4.02374787e-04 9.99883642e-01 2.33906398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28925415399993 meters 0.017884418221476305 Centerline is valid? [True, True] Translation: X:341.74, Y:3.08, Z:2.34 [[ 9.98930661e-01 -4.35957663e-02 -1.53929697e-02 3.41742251e+02] [ 4.35970606e-02 9.99049164e-01 -2.51626010e-04 3.07795800e+00] [ 1.53893033e-02 -4.19731294e-04 9.99881490e-01 2.33862151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31925415399996 meters 0.017719108358590804 Centerline is valid? [True, True] Translation: X:341.77, Y:3.08, Z:2.34 [[ 9.98872249e-01 -4.48421869e-02 -1.56015621e-02 3.41771642e+02] [ 4.48436575e-02 9.98993984e-01 -2.55743995e-04 3.07928880e+00] [ 1.55973348e-02 -4.44175526e-04 9.99878256e-01 2.33913106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34925415399994 meters 0.020505706225801192 Centerline is valid? [True, True] Translation: X:341.80, Y:3.08, Z:2.34 [[ 9.98742738e-01 -4.76880903e-02 -1.54528083e-02 3.41800233e+02] [ 4.76898621e-02 9.98862159e-01 -2.54024153e-04 3.07580945e+00] [ 1.54473394e-02 -4.83237518e-04 9.99880566e-01 2.33837732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37925415399997 meters 0.019873380641813616 Centerline is valid? [True, True] Translation: X:341.83, Y:3.08, Z:2.34 [[ 9.98663109e-01 -4.93875149e-02 -1.52600139e-02 3.41830256e+02] [ 4.93894329e-02 9.98779566e-01 -2.51380147e-04 3.07842555e+00] [ 1.52538051e-02 -5.02639355e-04 9.99883528e-01 2.33954939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40925415399994 meters 0.020471185460014047 Centerline is valid? [True, True] Translation: X:341.86, Y:3.08, Z:2.34 [[ 9.98578877e-01 -5.13653257e-02 -1.42066516e-02 3.41860934e+02] [ 5.13671863e-02 9.98679807e-01 -2.34144878e-04 3.07795611e+00] [ 1.41999230e-02 -4.95943590e-04 9.99899053e-01 2.34013751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43925415399997 meters 0.02241523501866614 Centerline is valid? [True, True] Translation: X:341.89, Y:3.08, Z:2.34 [[ 9.98380007e-01 -5.53322476e-02 -1.32553451e-02 3.41890441e+02] [ 5.53342146e-02 9.98467865e-01 -2.18595942e-04 3.07581301e+00] [ 1.32471316e-02 -5.15232294e-04 9.99912120e-01 2.34082705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46925415399994 meters 0.02203449002056277 Centerline is valid? [True, True] Translation: X:341.92, Y:3.08, Z:2.34 [[ 9.98293459e-01 -5.69001727e-02 -1.31354675e-02 3.41920765e+02] [ 5.69022379e-02 9.98379732e-01 -2.16759968e-04 3.07722065e+00] [ 1.31265182e-02 -5.31047436e-04 9.99913703e-01 2.34157674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49925415399997 meters 0.023294985640666767 Centerline is valid? [True, True] Translation: X:341.95, Y:3.08, Z:2.34 [[ 9.98255986e-01 -5.75421406e-02 -1.31866661e-02 3.41951849e+02] [ 5.75442809e-02 9.98342931e-01 -2.17377054e-04 3.07761323e+00] [ 1.31773233e-02 -5.41819275e-04 9.99913029e-01 2.34136088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.52925415399994 meters 0.023638600731314872 Centerline is valid? [True, True] Translation: X:341.98, Y:3.08, Z:2.34 [[ 9.98241023e-01 -5.80777238e-02 -1.19096068e-02 3.41981926e+02] [ 5.80795113e-02 9.98311941e-01 -1.96007539e-04 3.07854151e+00] [ 1.19008863e-02 -4.96041375e-04 9.99929059e-01 2.34238302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.559254154 meters 0.0235376507766499 Centerline is valid? [True, True] Translation: X:342.01, Y:3.08, Z:2.34 [[ 9.98286550e-01 -5.75214776e-02 -1.07351265e-02 3.42013204e+02] [ 5.75229005e-02 9.98344172e-01 -1.76430520e-04 3.08029704e+00] [ 1.07274995e-02 -4.41387396e-04 9.99942361e-01 2.34272628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.58925415399995 meters 0.023332162902090888 Centerline is valid? [True, True] Translation: X:342.04, Y:3.08, Z:2.34 [[ 9.98342319e-01 -5.65449036e-02 -1.07372146e-02 3.42044613e+02] [ 5.65462748e-02 9.98399964e-01 -1.76085247e-04 3.08238200e+00] [ 1.07299914e-02 -4.31356131e-04 9.99942339e-01 2.34289549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.619254154 meters 0.024433855912141176 Centerline is valid? [True, True] Translation: X:342.08, Y:3.08, Z:2.34 [[ 9.98531744e-01 -5.31058626e-02 -1.06828808e-02 3.42075096e+02] [ 5.31070266e-02 9.98588811e-01 -1.74884610e-04 3.08482831e+00] [ 1.06770926e-02 -3.92708198e-04 9.99942921e-01 2.34148406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.64925415399995 meters 0.022227702235816077 Centerline is valid? [True, True] Translation: X:342.11, Y:3.09, Z:2.34 [[ 9.98615098e-01 -5.15521176e-02 -1.05007496e-02 3.42106336e+02] [ 5.15531590e-02 9.98670237e-01 -1.71658799e-04 3.08873225e+00] [ 1.04956354e-02 -3.69925744e-04 9.99944851e-01 2.34192165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.679254154 meters 0.019333975370885666 Centerline is valid? [True, True] Translation: X:342.14, Y:3.10, Z:2.34 [[ 9.98773832e-01 -4.81528004e-02 -1.14952045e-02 3.42137884e+02] [ 4.81538294e-02 9.98839914e-01 -1.87404607e-04 3.09705307e+00] [ 1.14908932e-02 -3.66363301e-04 9.99933910e-01 2.34152637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.70925415399995 meters 0.01868300610758025 Centerline is valid? [True, True] Translation: X:342.17, Y:3.10, Z:2.34 [[ 9.98848689e-01 -4.64830981e-02 -1.18582620e-02 3.42169557e+02] [ 4.64840823e-02 9.98919012e-01 -1.92755334e-04 3.10043146e+00] [ 1.18544032e-02 -3.58687012e-04 9.99929670e-01 2.34119225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.739254154 meters 0.018317746638425062 Centerline is valid? [True, True] Translation: X:342.20, Y:3.10, Z:2.34 [[ 9.98913895e-01 -4.50340934e-02 -1.19566167e-02 3.42201052e+02] [ 4.50349955e-02 9.98985391e-01 -1.93918279e-04 3.10293425e+00] [ 1.19532183e-02 -3.44758514e-04 9.99928498e-01 2.34110179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.76925415399995 meters 0.01805565805771495 Centerline is valid? [True, True] Translation: X:342.23, Y:3.10, Z:2.34 [[ 9.98969305e-01 -4.37507357e-02 -1.20913373e-02 3.42232369e+02] [ 4.37515697e-02 9.99042422e-01 -1.95663704e-04 3.10469833e+00] [ 1.20883193e-02 -3.33552952e-04 9.99926878e-01 2.34104980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.799254154 meters 0.01801999054471195 Centerline is valid? [True, True] Translation: X:342.26, Y:3.11, Z:2.34 [[ 9.99064594e-01 -4.15349742e-02 -1.20325399e-02 3.42263564e+02] [ 4.15356447e-02 9.99137004e-01 -1.94277564e-04 3.10815906e+00] [ 1.20302252e-02 -3.05683466e-04 9.99927587e-01 2.34059869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.82925415399995 meters 0.01737875343802531 Centerline is valid? [True, True] Translation: X:342.29, Y:3.11, Z:2.34 [[ 9.99085040e-01 -4.09293232e-02 -1.24045703e-02 3.42293556e+02] [ 4.09299924e-02 9.99161997e-01 -2.00023300e-04 3.10940977e+00] [ 1.24023620e-02 -3.07878681e-04 9.99923040e-01 2.34071165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.859254154 meters 0.017180853865789145 Centerline is valid? [True, True] Translation: X:342.32, Y:3.11, Z:2.34 [[ 9.99135325e-01 -3.96386228e-02 -1.25452170e-02 3.42324045e+02] [ 3.96392056e-02 9.99214037e-01 -2.02291224e-04 3.11392072e+00] [ 1.25433755e-02 -2.95166128e-04 9.99921285e-01 2.34043362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.88925415399996 meters 0.016476154121586508 Centerline is valid? [True, True] Translation: X:342.35, Y:3.12, Z:2.34 [[ 9.99157607e-01 -3.91231826e-02 -1.23875872e-02 3.42354425e+02] [ 3.91237125e-02 9.99234355e-01 -1.99648430e-04 3.11566465e+00] [ 1.23859136e-02 -2.85168152e-04 9.99923251e-01 2.34120262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91925415399993 meters 0.016393765607188922 Centerline is valid? [True, True] Translation: X:342.39, Y:3.12, Z:2.34 [[ 9.99193291e-01 -3.83516468e-02 -1.19129309e-02 3.42386019e+02] [ 3.83520857e-02 9.99264270e-01 -1.91692554e-04 3.11751713e+00] [ 1.19115179e-02 -2.65347833e-04 9.99929020e-01 2.34183172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.94925415399996 meters 0.01668948168231138 Centerline is valid? [True, True] Translation: X:342.42, Y:3.12, Z:2.34 [[ 9.99238225e-01 -3.73725348e-02 -1.12366924e-02 3.42417884e+02] [ 3.73728687e-02 9.99301374e-01 -1.80335728e-04 3.11891419e+00] [ 1.12355818e-02 -2.39749077e-04 9.99936850e-01 2.34174583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97925415399993 meters 0.01612484036372254 Centerline is valid? [True, True] Translation: X:342.45, Y:3.12, Z:2.34 [[ 9.99271871e-01 -3.67245407e-02 -1.03457905e-02 3.42449297e+02] [ 3.67247939e-02 9.99325404e-01 -1.65563375e-04 3.12077692e+00] [ 1.03448915e-02 -2.14504201e-04 9.99946467e-01 2.34246111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.00925415399996 meters 0.01732644473416256 Centerline is valid? [True, True] Translation: X:342.48, Y:3.12, Z:2.34 [[ 9.99280302e-01 -3.65360799e-02 -1.01976627e-02 3.42479857e+02] [ 3.65363193e-02 9.99332313e-01 -1.62883630e-04 3.12064173e+00] [ 1.01968050e-02 -2.09818656e-04 9.99947989e-01 2.34212549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03925415399993 meters 0.01632023343749423 Centerline is valid? [True, True] Translation: X:342.51, Y:3.12, Z:2.34 [[ 9.99258162e-01 -3.72096276e-02 -9.92816943e-03 3.42511067e+02] [ 3.72098900e-02 9.99307460e-01 -1.58347433e-04 3.12258812e+00] [ 9.92718582e-03 -2.11196127e-04 9.99950702e-01 2.34322781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.06925415399996 meters 0.0164168697648728 Centerline is valid? [True, True] Translation: X:342.54, Y:3.12, Z:2.34 [[ 9.99242814e-01 -3.77486827e-02 -9.42531264e-03 3.42542102e+02] [ 3.77489463e-02 9.99287243e-01 -1.49996341e-04 3.12338486e+00] [ 9.42425685e-03 -2.05912855e-04 9.99955570e-01 2.34376107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09925415399994 meters 0.020262955923871517 Centerline is valid? [True, True] Translation: X:342.57, Y:3.12, Z:2.34 [[ 9.99211650e-01 -3.88210519e-02 -8.30686369e-03 3.42573740e+02] [ 3.88212969e-02 9.99246161e-01 -1.31814013e-04 3.12203861e+00] [ 8.30571881e-03 -1.90773124e-04 9.99965489e-01 2.34314559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.12925415399997 meters 0.01723084960198494 Centerline is valid? [True, True] Translation: X:342.61, Y:3.12, Z:2.35 [[ 9.99174873e-01 -3.97610626e-02 -8.28442195e-03 3.42605786e+02] [ 3.97613460e-02 9.99209196e-01 -1.30556462e-04 3.12355071e+00] [ 8.28306166e-03 -1.98951031e-04 9.99965675e-01 2.34542495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15925415399994 meters 0.017615791197527524 Centerline is valid? [True, True] Translation: X:342.64, Y:3.12, Z:2.35 [[ 9.99133193e-01 -4.07297381e-02 -8.59952351e-03 3.42637458e+02] [ 4.07300846e-02 9.99170177e-01 -1.34910780e-04 3.12354495e+00] [ 8.59788230e-03 -2.15465482e-04 9.99963014e-01 2.34538036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18925415399997 meters 0.017277981607804322 Centerline is valid? [True, True] Translation: X:342.67, Y:3.12, Z:2.35 [[ 9.99142283e-01 -4.04520543e-02 -8.85040020e-03 3.42669893e+02] [ 4.04524151e-02 9.99181456e-01 -1.38317631e-04 3.12450770e+00] [ 8.84875100e-03 -2.19821069e-04 9.99960825e-01 2.34526334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21925415399994 meters 0.016900117146202428 Centerline is valid? [True, True] Translation: X:342.70, Y:3.13, Z:2.35 [[ 9.99157774e-01 -3.99478186e-02 -9.37623989e-03 3.42702492e+02] [ 3.99482081e-02 9.99201741e-01 -1.45815186e-04 3.12591115e+00] [ 9.37458022e-03 -2.28871606e-04 9.99956031e-01 2.34530415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24925415399997 meters 0.018360662319810966 Centerline is valid? [True, True] Translation: X:342.73, Y:3.13, Z:2.34 [[ 9.99221418e-01 -3.79118182e-02 -1.09202076e-02 3.42733128e+02] [ 3.79122324e-02 9.99281059e-01 -1.69152999e-04 3.12556882e+00] [ 1.09187695e-02 -2.44988149e-04 9.99940358e-01 2.34408565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27925415399994 meters 0.017031866732576458 Centerline is valid? [True, True] Translation: X:342.76, Y:3.13, Z:2.34 [[ 9.99248900e-01 -3.70273744e-02 -1.14284428e-02 3.42764613e+02] [ 3.70277736e-02 9.99314221e-01 -1.76733167e-04 3.12765855e+00] [ 1.14271494e-02 -2.46569372e-04 9.99934678e-01 2.34479239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.309254154 meters 0.016292023803267462 Centerline is valid? [True, True] Translation: X:342.80, Y:3.13, Z:2.35 [[ 9.99283416e-01 -3.60073086e-02 -1.16673814e-02 3.42795667e+02] [ 3.60076601e-02 9.99351498e-01 -1.80003267e-04 3.13024392e+00] [ 1.16662965e-02 -2.40240824e-04 9.99931918e-01 2.34506034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.33925415399995 meters 0.018616010008431667 Centerline is valid? [True, True] Translation: X:342.83, Y:3.13, Z:2.34 [[ 9.99337406e-01 -3.42005225e-02 -1.24528269e-02 3.42825832e+02] [ 3.42007874e-02 9.99414964e-01 -1.91747776e-04 3.12986011e+00] [ 1.24520995e-02 -2.34275761e-04 9.99922442e-01 2.34371790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.369254154 meters 0.01779950968576168 Centerline is valid? [True, True] Translation: X:342.86, Y:3.13, Z:2.34 [[ 9.99343093e-01 -3.38725700e-02 -1.28853076e-02 3.42856135e+02] [ 3.38728280e-02 9.99426131e-01 -1.98276088e-04 3.13038282e+00] [ 1.28846293e-02 -2.38315970e-04 9.99916961e-01 2.34399917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.39925415399995 meters 0.016607484919838676 Centerline is valid? [True, True] Translation: X:342.89, Y:3.13, Z:2.34 [[ 9.99327134e-01 -3.43873457e-02 -1.27588826e-02 3.42885996e+02] [ 3.43876407e-02 9.99408551e-01 -1.96330690e-04 3.12949495e+00] [ 1.27580877e-02 -2.42549286e-04 9.99918583e-01 2.34473505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.429254154 meters 0.016319547896097943 Centerline is valid? [True, True] Translation: X:342.92, Y:3.13, Z:2.35 [[ 9.99294770e-01 -3.49974085e-02 -1.36067864e-02 3.42916893e+02] [ 3.49978005e-02 9.99387367e-01 -2.09378034e-04 3.12988537e+00] [ 1.36057781e-02 -2.66977221e-04 9.99907401e-01 2.34507231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.45925415399995 meters 0.016459475087353632 Centerline is valid? [True, True] Translation: X:342.95, Y:3.13, Z:2.35 [[ 9.99253886e-01 -3.59081010e-02 -1.42224811e-02 3.42946895e+02] [ 3.59086196e-02 9.99355054e-01 -2.18983733e-04 3.12918275e+00] [ 1.42211717e-02 -2.91889319e-04 9.99898831e-01 2.34549286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.489254154 meters 0.016996975779978264 Centerline is valid? [True, True] Translation: X:342.98, Y:3.13, Z:2.35 [[ 9.99201901e-01 -3.72911273e-02 -1.43154874e-02 3.42977441e+02] [ 3.72917928e-02 9.99304395e-01 -2.20541512e-04 3.12772959e+00] [ 1.43137537e-02 -3.13484692e-04 9.99897504e-01 2.34555618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.51925415399995 meters 0.01757724831132768 Centerline is valid? [True, True] Translation: X:343.01, Y:3.13, Z:2.35 [[ 9.99136497e-01 -3.88901757e-02 -1.46223804e-02 3.43007320e+02] [ 3.88910392e-02 9.99243432e-01 -2.25406418e-04 3.12544283e+00] [ 1.46200836e-02 -3.43467789e-04 9.99893062e-01 2.34543638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.549254154 meters 0.01895370645025879 Centerline is valid? [True, True] Translation: X:343.04, Y:3.12, Z:2.35 [[ 9.98952302e-01 -4.32761339e-02 -1.48820302e-02 3.43036806e+02] [ 4.32775086e-02 9.99063063e-01 -2.29815003e-04 3.12147005e+00] [ 1.48780322e-02 -4.14482963e-04 9.99889230e-01 2.34551353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.57925415399995 meters 0.01993300385539913 Centerline is valid? [True, True] Translation: X:343.07, Y:3.12, Z:2.35 [[ 9.98839734e-01 -4.58080719e-02 -1.48595678e-02 3.43066947e+02] [ 4.58097166e-02 9.98950157e-01 -2.29851413e-04 3.11923588e+00] [ 1.48544966e-02 -4.51127863e-04 9.99889564e-01 2.34575160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.609254154 meters 0.022602844313308813 Centerline is valid? [True, True] Translation: X:343.10, Y:3.11, Z:2.35 [[ 9.98583542e-01 -5.11830714e-02 -1.45328281e-02 3.43096716e+02] [ 5.11852088e-02 9.98689153e-01 -2.25087609e-04 3.11425397e+00] [ 1.45252985e-02 -5.19097058e-04 9.99894368e-01 2.34654528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.63925415399996 meters 0.024483360675588813 Centerline is valid? [True, True] Translation: X:343.13, Y:3.11, Z:2.35 [[ 9.98440494e-01 -5.36761926e-02 -1.53442437e-02 3.43127206e+02] [ 5.36788668e-02 9.98558222e-01 -2.37819750e-04 3.11262284e+00] [ 1.53348860e-02 -5.86212747e-04 9.99882242e-01 2.34633421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66925415399993 meters 0.024721741399388958 Centerline is valid? [True, True] Translation: X:343.16, Y:3.11, Z:2.35 [[ 9.98310990e-01 -5.61285586e-02 -1.49917665e-02 3.43157827e+02] [ 5.61313874e-02 9.98423364e-01 -2.32356721e-04 3.11075983e+00] [ 1.49811718e-02 -6.09544385e-04 9.99887590e-01 2.34704844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.69925415399996 meters 0.0274799434055377 Centerline is valid? [True, True] Translation: X:343.19, Y:3.11, Z:2.35 [[ 9.98081783e-01 -5.99303518e-02 -1.55276274e-02 3.43187719e+02] [ 5.99338456e-02 9.98202322e-01 -2.40662005e-04 3.10550418e+00] [ 1.55141367e-02 -6.90430060e-04 9.99879410e-01 2.34648763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72925415399993 meters 0.02860454679217981 Centerline is valid? [True, True] Translation: X:343.22, Y:3.10, Z:2.35 [[ 9.97979220e-01 -6.15940865e-02 -1.56091105e-02 3.43217674e+02] [ 6.15978178e-02 9.98101022e-01 -2.42071741e-04 3.10414154e+00] [ 1.55943793e-02 -7.19904576e-04 9.99878141e-01 2.34671682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.75925415399996 meters 0.024927749004259852 Centerline is valid? [True, True] Translation: X:343.25, Y:3.11, Z:2.35 [[ 9.97823414e-01 -6.39663070e-02 -1.60232767e-02 3.43249062e+02] [ 6.39705475e-02 9.97951756e-01 -2.48282956e-04 3.10939901e+00] [ 1.60063389e-02 -7.77275236e-04 9.99871588e-01 2.34801994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78925415399993 meters 0.024672790627881355 Centerline is valid? [True, True] Translation: X:343.28, Y:3.11, Z:2.35 [[ 9.97740336e-01 -6.52141370e-02 -1.61659463e-02 3.43280030e+02] [ 6.52186264e-02 9.97870968e-01 -2.49896267e-04 3.11063505e+00] [ 1.61478253e-02 -8.04989230e-04 9.99869291e-01 2.34850219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81925415399996 meters 0.027839868605721744 Centerline is valid? [True, True] Translation: X:343.31, Y:3.11, Z:2.35 [[ 9.97664391e-01 -6.58460690e-02 -1.81675096e-02 3.43311172e+02] [ 6.58518565e-02 9.97829371e-01 -2.80134191e-04 3.11014154e+00] [ 1.81465204e-02 -9.16884328e-04 9.99834918e-01 2.34770990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84925415399994 meters 0.02586844763852388 Centerline is valid? [True, True] Translation: X:343.34, Y:3.11, Z:2.35 [[ 9.97620204e-01 -6.69543376e-02 -1.64634597e-02 3.43341761e+02] [ 6.69592443e-02 9.97755679e-01 -2.53627155e-04 3.11144998e+00] [ 1.64434919e-02 -8.49357246e-04 9.99864436e-01 2.34930539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87925415399997 meters 0.027139977199921225 Centerline is valid? [True, True] Translation: X:343.37, Y:3.11, Z:2.35 [[ 9.97538192e-01 -6.78825902e-02 -1.75928903e-02 3.43372242e+02] [ 6.78883409e-02 9.97692889e-01 -2.70832232e-04 3.11179728e+00] [ 1.75706863e-02 -9.24186637e-04 9.99845196e-01 2.34915658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90925415399994 meters 0.02915979720804345 Centerline is valid? [True, True] Translation: X:343.40, Y:3.11, Z:2.35 [[ 9.97510934e-01 -6.76066221e-02 -2.00320266e-02 3.43403215e+02] [ 6.76140354e-02 9.97711505e-01 -3.07763205e-04 3.11235979e+00] [ 2.00069902e-02 -1.04744899e-03 9.99799291e-01 2.34822940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93925415399997 meters 0.02795951277097534 Centerline is valid? [True, True] Translation: X:343.43, Y:3.11, Z:2.35 [[ 9.97530621e-01 -6.77955048e-02 -1.83420132e-02 3.43432462e+02] [ 6.78017520e-02 9.97698774e-01 -2.81773927e-04 3.11338124e+00] [ 1.83189070e-02 -9.62542506e-04 9.99831731e-01 2.34915617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96925415399994 meters 0.02795951277097534 Centerline is valid? [True, True] Translation: X:343.46, Y:3.11, Z:2.35 [[ 9.97530621e-01 -6.77955057e-02 -1.83420112e-02 3.43462501e+02] [ 6.78017505e-02 9.97698774e-01 -2.81898323e-04 3.11384297e+00] [ 1.83189136e-02 -9.62418262e-04 9.99831731e-01 2.34936438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99925415399997 meters 0.028386859213951343 Centerline is valid? [True, True] Translation: X:343.49, Y:3.12, Z:2.35 [[ 9.97572688e-01 -6.70592683e-02 -1.87559962e-02 3.43492413e+02] [ 6.70656685e-02 9.97748522e-01 -2.88260856e-04 3.11626430e+00] [ 1.87330980e-02 -9.70322266e-04 9.99824049e-01 2.34974075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.02925415399994 meters 0.02834270046059699 Centerline is valid? [True, True] Translation: X:343.52, Y:3.12, Z:2.35 [[ 9.97603486e-01 -6.65776702e-02 -1.88334232e-02 3.43522925e+02] [ 6.65840378e-02 9.97780779e-01 -2.89450832e-04 3.11826126e+00] [ 1.88108987e-02 -9.65248204e-04 9.99822593e-01 2.35001786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.059254154 meters 0.025827927306156982 Centerline is valid? [True, True] Translation: X:343.55, Y:3.13, Z:2.35 [[ 9.97622691e-01 -6.61018439e-02 -1.94810672e-02 3.43554073e+02] [ 6.61085756e-02 9.97812391e-01 -2.98945225e-04 3.12561218e+00] [ 1.94582111e-02 -9.89631065e-04 9.99810181e-01 2.35172073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.08925415399995 meters 0.029493837808923316 Centerline is valid? [True, True] Translation: X:343.58, Y:3.12, Z:2.35 [[ 9.97640419e-01 -6.59507120e-02 -1.90813406e-02 3.43583602e+02] [ 6.59571431e-02 9.97822414e-01 -2.92783452e-04 3.12234791e+00] [ 1.90590986e-02 -9.66458106e-04 9.99817892e-01 2.35068309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.119254154 meters 0.02510884644221262 Centerline is valid? [True, True] Translation: X:343.61, Y:3.13, Z:2.35 [[ 9.97636686e-01 -6.58282137e-02 -1.96898140e-02 3.43614447e+02] [ 6.58350446e-02 9.97830474e-01 -3.01778505e-04 3.13009057e+00] [ 1.96669620e-02 -9.95214476e-04 9.99806091e-01 2.35238485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.14925415399995 meters 0.029710813380363386 Centerline is valid? [True, True] Translation: X:343.64, Y:3.13, Z:2.35 [[ 9.97616737e-01 -6.59855755e-02 -2.01680503e-02 3.43643865e+02] [ 6.59927749e-02 9.97820053e-01 -3.09088522e-04 3.12515810e+00] [ 2.01444805e-02 -1.02259372e-03 9.99796556e-01 2.35048567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.179254154 meters 0.026167831832492477 Centerline is valid? [True, True] Translation: X:343.67, Y:3.13, Z:2.35 [[ 9.97647710e-01 -6.49599044e-02 -2.18919575e-02 3.43673914e+02] [ 6.49681384e-02 9.97887282e-01 -3.35646092e-04 3.13491808e+00] [ 2.18675095e-02 -1.08742317e-03 9.99760286e-01 2.35203467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.20925415399995 meters 0.030547937251766244 Centerline is valid? [True, True] Translation: X:343.70, Y:3.13, Z:2.35 [[ 9.97715487e-01 -6.40600916e-02 -2.14502299e-02 3.43703148e+02] [ 6.40677778e-02 9.97945495e-01 -3.29401632e-04 3.13033272e+00] [ 2.14272618e-02 -1.04561945e-03 9.99769863e-01 2.35057490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.239254154 meters 0.024880247385454295 Centerline is valid? [True, True] Translation: X:343.73, Y:3.14, Z:2.35 [[ 9.97795771e-01 -6.29468397e-02 -2.10070373e-02 3.43733311e+02] [ 6.29539600e-02 9.98016380e-01 -3.22842442e-04 3.14063195e+00] [ 2.09856892e-02 -1.00034536e-03 9.99779276e-01 2.35322642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.26925415399995 meters 0.023337117428630105 Centerline is valid? [True, True] Translation: X:343.76, Y:3.15, Z:2.35 [[ 9.98009417e-01 -5.98339758e-02 -1.99273411e-02 3.43763662e+02] [ 5.98397636e-02 9.98207949e-01 -3.06249348e-04 3.14718125e+00] [ 1.99099544e-02 -8.86807648e-04 9.99801384e-01 2.35466532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.299254154 meters 0.0225772676201121 Centerline is valid? [True, True] Translation: X:343.79, Y:3.15, Z:2.36 [[ 9.98135466e-01 -5.78218115e-02 -1.95506710e-02 3.43794474e+02] [ 5.78270016e-02 9.98326574e-01 -3.00230436e-04 3.15040993e+00] [ 1.95353143e-02 -8.30886038e-04 9.99808822e-01 2.35523159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.32925415399995 meters 0.020410584688030982 Centerline is valid? [True, True] Translation: X:343.83, Y:3.16, Z:2.36 [[ 9.98397141e-01 -5.32744089e-02 -1.91046216e-02 3.43825554e+02] [ 5.32785388e-02 9.98579647e-01 -2.93100079e-04 3.15718225e+00] [ 1.90931011e-02 -7.25236045e-04 9.99817447e-01 2.35531817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.359254154 meters 0.020140570502384724 Centerline is valid? [True, True] Translation: X:343.86, Y:3.16, Z:2.35 [[ 9.98532569e-01 -5.07170333e-02 -1.89865897e-02 3.43855540e+02] [ 5.07206566e-02 9.98712837e-01 -2.90978411e-04 3.15960449e+00] [ 1.89769084e-02 -6.72460875e-04 9.99819696e-01 2.35493685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.38925415399996 meters 0.02089561508143074 Centerline is valid? [True, True] Translation: X:343.89, Y:3.16, Z:2.35 [[ 9.98639824e-01 -4.80349915e-02 -2.02766243e-02 3.43885786e+02] [ 4.80385746e-02 9.98845433e-01 -3.10612596e-04 3.16284030e+00] [ 2.02681339e-02 -6.63870023e-04 9.99794360e-01 2.35468723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41925415399993 meters 0.018227284705643613 Centerline is valid? [True, True] Translation: X:343.92, Y:3.17, Z:2.35 [[ 9.98905294e-01 -4.28776264e-02 -1.87008944e-02 3.43915916e+02] [ 4.28797598e-02 9.99080199e-01 -2.87068588e-04 3.17014816e+00] [ 1.86960021e-02 -5.15135530e-04 9.99825082e-01 2.35475130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.44925415399996 meters 0.017748134499696033 Centerline is valid? [True, True] Translation: X:343.95, Y:3.17, Z:2.35 [[ 9.99028238e-01 -4.01109722e-02 -1.82671936e-02 3.43945828e+02] [ 4.01125393e-02 9.99195129e-01 -2.80752635e-04 3.17331031e+00] [ 1.82637521e-02 -4.52263709e-04 9.99833101e-01 2.35496664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47925415399993 meters 0.01706244458696466 Centerline is valid? [True, True] Translation: X:343.98, Y:3.18, Z:2.36 [[ 9.99123865e-01 -3.76578216e-02 -1.82590020e-02 3.43975879e+02] [ 3.76589779e-02 9.99290610e-01 -2.80626737e-04 3.17668774e+00] [ 1.82566170e-02 -4.07234482e-04 9.99833251e-01 2.35508291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.50925415399996 meters 0.016164205170465018 Centerline is valid? [True, True] Translation: X:344.01, Y:3.18, Z:2.36 [[ 9.99265795e-01 -3.39186126e-02 -1.78156908e-02 3.44005653e+02] [ 3.39191123e-02 9.99424544e-01 -2.74207439e-04 3.18136583e+00] [ 1.78147394e-02 -3.30286302e-04 9.99841250e-01 2.35551605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53925415399993 meters 0.01618240611510121 Centerline is valid? [True, True] Translation: X:344.03, Y:3.18, Z:2.36 [[ 9.99310388e-01 -3.27590756e-02 -1.74811813e-02 3.44034789e+02] [ 3.27593684e-02 9.99463231e-01 -2.69683905e-04 3.18184115e+00] [ 1.74806326e-02 -3.03174531e-04 9.99847156e-01 2.35504331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.56925415399996 meters 0.016375803467047288 Centerline is valid? [True, True] Translation: X:344.06, Y:3.18, Z:2.36 [[ 9.99317681e-01 -3.24465331e-02 -1.76463721e-02 3.44063653e+02] [ 3.24467685e-02 9.99473428e-01 -2.73042984e-04 3.18292730e+00] [ 1.76459393e-02 -2.99711068e-04 9.99844253e-01 2.35508641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59925415399994 meters 0.01632273899294671 Centerline is valid? [True, True] Translation: X:344.09, Y:3.18, Z:2.36 [[ 9.99318440e-01 -3.24790571e-02 -1.75432881e-02 3.44093390e+02] [ 3.24792820e-02 9.99472372e-01 -2.72173359e-04 3.18374357e+00] [ 1.75428717e-02 -2.97805546e-04 9.99846068e-01 2.35525978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.62925415399997 meters 0.016251833349078582 Centerline is valid? [True, True] Translation: X:344.12, Y:3.19, Z:2.36 [[ 9.99250907e-01 -3.45569505e-02 -1.74195800e-02 3.44122850e+02] [ 3.45574771e-02 9.99402675e-01 -2.70870591e-04 3.18564795e+00] [ 1.74185353e-02 -3.31309052e-04 9.99848231e-01 2.35627957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65925415399994 meters 0.01944777550087546 Centerline is valid? [True, True] Translation: X:344.15, Y:3.18, Z:2.36 [[ 9.99166113e-01 -3.63839551e-02 -1.85279802e-02 3.44152344e+02] [ 3.63848583e-02 9.99337810e-01 -2.88460919e-04 3.18232613e+00] [ 1.85262065e-02 -3.85917559e-04 9.99828301e-01 2.35504880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68925415399997 meters 0.01874109637841525 Centerline is valid? [True, True] Translation: X:344.18, Y:3.18, Z:2.36 [[ 9.98954979e-01 -4.20841945e-02 -1.78288991e-02 3.44181885e+02] [ 4.20859301e-02 9.99113956e-01 -2.78009717e-04 3.18055640e+00] [ 1.78248018e-02 -4.72626613e-04 9.99841014e-01 2.35531210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71925415399994 meters 0.019470458533389672 Centerline is valid? [True, True] Translation: X:344.21, Y:3.18, Z:2.36 [[ 9.98809609e-01 -4.53329377e-02 -1.80080191e-02 3.44212748e+02] [ 4.53352315e-02 9.98971790e-01 -2.81047943e-04 3.17925767e+00] [ 1.80022438e-02 -5.35684325e-04 9.99837803e-01 2.35537014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74925415399997 meters 0.020689153296684384 Centerline is valid? [True, True] Translation: X:344.24, Y:3.18, Z:2.36 [[ 9.98649628e-01 -4.86174126e-02 -1.83103424e-02 3.44243519e+02] [ 4.86203354e-02 9.98817291e-01 -2.85766249e-04 3.17719947e+00] [ 1.83025798e-02 -6.04874628e-04 9.99832311e-01 2.35518546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77925415399994 meters 0.02377345903826091 Centerline is valid? [True, True] Translation: X:344.27, Y:3.17, Z:2.36 [[ 9.98314715e-01 -5.50747183e-02 -1.82894865e-02 3.44273608e+02] [ 5.50787220e-02 9.98481974e-01 -2.85130493e-04 3.17237862e+00] [ 1.82774261e-02 -7.22711575e-04 9.99832693e-01 2.35522564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.809254154 meters 0.025402504219085357 Centerline is valid? [True, True] Translation: X:344.30, Y:3.17, Z:2.36 [[ 9.98134451e-01 -5.82387187e-02 -1.83267567e-02 3.44304368e+02] [ 5.82432780e-02 9.98302379e-01 -2.85323894e-04 3.17079007e+00] [ 1.83122617e-02 -7.82618777e-04 9.99832010e-01 2.35601232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.83925415399995 meters 0.026921868803868883 Centerline is valid? [True, True] Translation: X:344.34, Y:3.17, Z:2.36 [[ 9.97974358e-01 -6.10033436e-02 -1.80491782e-02 3.44336033e+02] [ 6.10082261e-02 9.98137224e-01 -2.80498988e-04 3.16944011e+00] [ 1.80326680e-02 -8.21217550e-04 9.99837061e-01 2.35680325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.869254154 meters 0.024411962103502376 Centerline is valid? [True, True] Translation: X:344.37, Y:3.17, Z:2.36 [[ 9.97816718e-01 -6.36706682e-02 -1.75454504e-02 3.44367425e+02] [ 6.36757042e-02 9.97970606e-01 -2.72046817e-04 3.17361890e+00] [ 1.75271652e-02 -8.45766048e-04 9.99846030e-01 2.35842352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.89925415399995 meters 0.029376701161452575 Centerline is valid? [True, True] Translation: X:344.40, Y:3.17, Z:2.36 [[ 9.97535465e-01 -6.80388377e-02 -1.71380749e-02 3.44397637e+02] [ 6.80442896e-02 9.97682266e-01 -2.65481266e-04 3.16619307e+00] [ 1.71164164e-02 -9.01321154e-04 9.99853097e-01 2.35827640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.929254154 meters 0.027174068052990257 Centerline is valid? [True, True] Translation: X:344.43, Y:3.17, Z:2.36 [[ 9.97417339e-01 -6.98160014e-02 -1.68635074e-02 3.44429931e+02] [ 6.98215455e-02 9.97559464e-01 -2.60497456e-04 3.16943422e+00] [ 1.68405383e-02 -9.17611471e-04 9.99857767e-01 2.35944887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.95925415399995 meters 0.028993359891574855 Centerline is valid? [True, True] Translation: X:344.46, Y:3.17, Z:2.36 [[ 9.97203403e-01 -7.29081912e-02 -1.64246211e-02 3.44460102e+02] [ 7.29138764e-02 9.97338209e-01 -2.53221596e-04 3.16779082e+00] [ 1.63993642e-02 -9.45069359e-04 9.99865075e-01 2.35979638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.989254154 meters 0.029379793722764905 Centerline is valid? [True, True] Translation: X:344.49, Y:3.17, Z:2.36 [[ 9.97146627e-01 -7.37308178e-02 -1.61978680e-02 3.44492489e+02] [ 7.37364662e-02 9.97277730e-01 -2.49051662e-04 3.16814737e+00] [ 1.61721358e-02 -9.46032521e-04 9.99868775e-01 2.35992424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.01925415399995 meters 0.03147575813998508 Centerline is valid? [True, True] Translation: X:344.52, Y:3.17, Z:2.36 [[ 9.97087912e-01 -7.44749172e-02 -1.64067686e-02 3.44524090e+02] [ 7.44808294e-02 9.97222414e-01 -2.51239714e-04 3.16665944e+00] [ 1.63799084e-02 -9.71481648e-04 9.99865368e-01 2.35982029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.049254154 meters 0.031902584844809886 Centerline is valid? [True, True] Translation: X:344.56, Y:3.17, Z:2.36 [[ 9.97009207e-01 -7.56243495e-02 -1.59248151e-02 3.44555726e+02] [ 7.56300789e-02 9.97135915e-01 -2.43011836e-04 3.16829948e+00] [ 1.58975827e-02 -9.62109985e-04 9.99873163e-01 2.35988666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.07925415399995 meters 0.03316238948525696 Centerline is valid? [True, True] Translation: X:344.59, Y:3.17, Z:2.36 [[ 9.96982950e-01 -7.58431693e-02 -1.65169709e-02 3.44586746e+02] [ 7.58493776e-02 9.97119255e-01 -2.51151680e-04 3.16797020e+00] [ 1.64884379e-02 -1.00240802e-03 9.99863554e-01 2.35972334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.109254154 meters 0.0332336530932572 Centerline is valid? [True, True] Translation: X:344.62, Y:3.17, Z:2.36 [[ 9.96992732e-01 -7.57760575e-02 -1.62321111e-02 3.44619041e+02] [ 7.57820610e-02 9.97124375e-01 -2.45803911e-04 3.16932302e+00] [ 1.62040597e-02 -9.85038125e-04 9.99868220e-01 2.35976360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.13925415399996 meters 0.028871518842796606 Centerline is valid? [True, True] Translation: X:344.65, Y:3.18, Z:2.36 [[ 9.97033833e-01 -7.51111864e-02 -1.67882339e-02 3.44651442e+02] [ 7.51175352e-02 9.97174655e-01 -2.52991988e-04 3.17856122e+00] [ 1.67598039e-02 -1.00884918e-03 9.99859036e-01 2.36091434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16925415399993 meters 0.033874176423291436 Centerline is valid? [True, True] Translation: X:344.68, Y:3.17, Z:2.36 [[ 9.97090209e-01 -7.42101814e-02 -1.74345818e-02 3.44682849e+02] [ 7.42169251e-02 9.97242087e-01 -2.60790875e-04 3.17407036e+00] [ 1.74058520e-02 -1.03390902e-03 9.99847972e-01 2.35972466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.19925415399996 meters 0.0290004378542046 Centerline is valid? [True, True] Translation: X:344.71, Y:3.19, Z:2.36 [[ 9.97262353e-01 -7.15951504e-02 -1.84914703e-02 3.44714158e+02] [ 7.16023147e-02 9.97433222e-01 -2.75192196e-04 3.18561164e+00] [ 1.84637093e-02 -1.04959326e-03 9.99828980e-01 2.36031988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22925415399993 meters 0.02688177337324531 Centerline is valid? [True, True] Translation: X:344.75, Y:3.19, Z:2.36 [[ 9.97377525e-01 -6.99376077e-02 -1.86226675e-02 3.44745872e+02] [ 6.99446028e-02 9.97550839e-01 -2.76240497e-04 3.19073971e+00] [ 1.85963772e-02 -1.02703902e-03 9.99826545e-01 2.36074410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.25925415399996 meters 0.0256081164739171 Centerline is valid? [True, True] Translation: X:344.78, Y:3.20, Z:2.36 [[ 9.97642705e-01 -6.60137291e-02 -1.87408572e-02 3.44776627e+02] [ 6.60201342e-02 9.97818252e-01 -2.77390028e-04 3.19699834e+00] [ 1.87182810e-02 -9.60537771e-04 9.99824336e-01 2.36110763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28925415399993 meters 0.025496576095146977 Centerline is valid? [True, True] Translation: X:344.81, Y:3.20, Z:2.36 [[ 9.97788594e-01 -6.38924087e-02 -1.83216358e-02 3.44807329e+02] [ 6.38981835e-02 9.97956386e-01 -2.70643851e-04 3.20004736e+00] [ 1.83014856e-02 -9.00673901e-04 9.99832108e-01 2.36128818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31925415399996 meters 0.024241140357540655 Centerline is valid? [True, True] Translation: X:344.84, Y:3.20, Z:2.36 [[ 9.97937750e-01 -6.15239182e-02 -1.83045215e-02 3.44839284e+02] [ 6.15293007e-02 9.98105241e-01 -2.69513495e-04 3.20438493e+00] [ 1.82864203e-02 -8.57306715e-04 9.99832422e-01 2.36194496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34925415399994 meters 0.0239736368889109 Centerline is valid? [True, True] Translation: X:344.87, Y:3.21, Z:2.36 [[ 9.98087744e-01 -5.90745082e-02 -1.81949956e-02 3.44869753e+02] [ 5.90794310e-02 9.98253249e-01 -2.67316626e-04 3.20783636e+00] [ 1.81790050e-02 -8.08144536e-04 9.99834422e-01 2.36201603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37925415399997 meters 0.021522492579973112 Centerline is valid? [True, True] Translation: X:344.90, Y:3.22, Z:2.36 [[ 9.98345940e-01 -5.43475452e-02 -1.87544380e-02 3.44900526e+02] [ 5.43519491e-02 9.98521802e-01 -2.75188738e-04 3.21732135e+00] [ 1.87416710e-02 -7.44606700e-04 9.99824082e-01 2.36300866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40925415399994 meters 0.022897821110501378 Centerline is valid? [True, True] Translation: X:344.93, Y:3.22, Z:2.36 [[ 9.98467173e-01 -5.20877771e-02 -1.87127782e-02 3.44931033e+02] [ 5.20917716e-02 9.98642264e-01 -2.74237369e-04 3.21798009e+00] [ 1.87016556e-02 -7.00964758e-04 9.99824863e-01 2.36258223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43925415399997 meters 0.02088903713289068 Centerline is valid? [True, True] Translation: X:344.96, Y:3.23, Z:2.36 [[ 9.98662186e-01 -4.83725851e-02 -1.82738077e-02 3.44962175e+02] [ 4.83757828e-02 9.98829171e-01 -2.67271564e-04 3.22676495e+00] [ 1.82653408e-02 -6.17095749e-04 9.99832984e-01 2.36429034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46925415399994 meters 0.018765840162159524 Centerline is valid? [True, True] Translation: X:344.99, Y:3.23, Z:2.37 [[ 9.98750413e-01 -4.67427075e-02 -1.76842171e-02 3.44993567e+02] [ 4.67454582e-02 9.98906800e-01 -2.58008016e-04 3.23148748e+00] [ 1.76769448e-02 -5.68971221e-04 9.99843589e-01 2.36539892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49925415399997 meters 0.019235564820085378 Centerline is valid? [True, True] Translation: X:345.02, Y:3.23, Z:2.37 [[ 9.98804438e-01 -4.56508930e-02 -1.74840105e-02 3.45024585e+02] [ 4.56534293e-02 9.98957306e-01 -2.54249884e-04 3.23275493e+00] [ 1.74773868e-02 -5.44259126e-04 9.99847111e-01 2.36540148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.52925415399994 meters 0.018238895100976857 Centerline is valid? [True, True] Translation: X:345.06, Y:3.24, Z:2.37 [[ 9.98857214e-01 -4.45841310e-02 -1.72197790e-02 3.45056262e+02] [ 4.45864459e-02 9.99005499e-01 -2.49649852e-04 3.23755768e+00] [ 1.72137843e-02 -5.18404189e-04 9.99851697e-01 2.36589641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.559254154 meters 0.01982896399797656 Centerline is valid? [True, True] Translation: X:345.09, Y:3.24, Z:2.36 [[ 9.98884718e-01 -4.42072607e-02 -1.65842822e-02 3.45087290e+02] [ 4.42093689e-02 9.99022259e-01 -2.39656733e-04 3.23615861e+00] [ 1.65786617e-02 -4.93791202e-04 9.99862443e-01 2.36494511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.58925415399995 meters 0.020466795351718137 Centerline is valid? [True, True] Translation: X:345.12, Y:3.24, Z:2.36 [[ 9.98890581e-01 -4.41134987e-02 -1.64804865e-02 3.45118165e+02] [ 4.41155822e-02 9.99026406e-01 -2.37279615e-04 3.23688098e+00] [ 1.64749084e-02 -4.90029885e-04 9.99864159e-01 2.36487609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.619254154 meters 0.01873681265819219 Centerline is valid? [True, True] Translation: X:345.15, Y:3.24, Z:2.37 [[ 9.98900558e-01 -4.39353337e-02 -1.63512251e-02 3.45150330e+02] [ 4.39373779e-02 9.99034260e-01 -2.34374217e-04 3.24137329e+00] [ 1.63457314e-02 -4.84313422e-04 9.99866282e-01 2.36599471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.64925415399995 meters 0.020160334883472 Centerline is valid? [True, True] Translation: X:345.18, Y:3.24, Z:2.37 [[ 9.98923415e-01 -4.32065192e-02 -1.68880685e-02 3.45181282e+02] [ 4.32086138e-02 9.99066043e-01 -2.41007038e-04 3.24264217e+00] [ 1.68827089e-02 -4.88962458e-04 9.99857357e-01 2.36560507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.679254154 meters 0.01884110966459218 Centerline is valid? [True, True] Translation: X:345.21, Y:3.24, Z:2.37 [[ 9.98946890e-01 -4.28382259e-02 -1.64316149e-02 3.45213024e+02] [ 4.28401761e-02 9.99081911e-01 -2.33444430e-04 3.24486674e+00] [ 1.64265295e-02 -4.70734688e-04 9.99864965e-01 2.36616779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.70925415399995 meters 0.018714377316337575 Centerline is valid? [True, True] Translation: X:345.24, Y:3.25, Z:2.37 [[ 9.99001824e-01 -4.15023146e-02 -1.65200871e-02 3.45244297e+02] [ 4.15041201e-02 9.99138305e-01 -2.33686945e-04 3.24741833e+00] [ 1.65155504e-02 -4.52197994e-04 9.99863507e-01 2.36627521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.739254154 meters 0.017348675355696976 Centerline is valid? [True, True] Translation: X:345.28, Y:3.25, Z:2.37 [[ 9.99040879e-01 -4.06109846e-02 -1.63728301e-02 3.45276766e+02] [ 4.06126560e-02 9.99174939e-01 -2.30534593e-04 3.25094287e+00] [ 1.63686838e-02 -4.34630636e-04 9.99865930e-01 2.36735138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.76925415399995 meters 0.018935975732248873 Centerline is valid? [True, True] Translation: X:345.31, Y:3.25, Z:2.37 [[ 9.99079820e-01 -3.97789862e-02 -1.60357794e-02 3.45308041e+02] [ 3.97804986e-02 9.99208417e-01 -2.24780983e-04 3.24874403e+00] [ 1.60320274e-02 -4.13337157e-04 9.99871393e-01 2.36639721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.799254154 meters 0.01843969292939238 Centerline is valid? [True, True] Translation: X:345.34, Y:3.25, Z:2.37 [[ 9.99142316e-01 -3.82073108e-02 -1.59635024e-02 3.45339762e+02] [ 3.82086202e-02 9.99269759e-01 -2.23074285e-04 3.25069410e+00] [ 1.59603683e-02 -3.87060443e-04 9.99872550e-01 2.36693571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.82925415399995 meters 0.017024880541969083 Centerline is valid? [True, True] Translation: X:345.37, Y:3.25, Z:2.37 [[ 9.99167559e-01 -3.76054315e-02 -1.58120113e-02 3.45371534e+02] [ 3.76066548e-02 9.99292595e-01 -2.20069046e-04 3.25404486e+00] [ 1.58091016e-02 -3.74750998e-04 9.99874958e-01 2.36801206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.859254154 meters 0.0173053452844671 Centerline is valid? [True, True] Translation: X:345.40, Y:3.25, Z:2.37 [[ 9.99189510e-01 -3.69255826e-02 -1.60257523e-02 3.45403805e+02] [ 3.69267709e-02 9.99317950e-01 -2.21857879e-04 3.25470393e+00] [ 1.60230142e-02 -3.70101219e-04 9.99871555e-01 2.36796282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.88925415399996 meters 0.0173053452844671 Centerline is valid? [True, True] Translation: X:345.43, Y:3.26, Z:2.37 [[ 9.99190866e-01 -3.68888598e-02 -1.60257640e-02 3.45434657e+02] [ 3.68900569e-02 9.99319306e-01 -2.21012580e-04 3.25510038e+00] [ 1.60230083e-02 -3.70357595e-04 9.99871555e-01 2.36817649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91925415399993 meters 0.01700340477677715 Centerline is valid? [True, True] Translation: X:345.47, Y:3.25, Z:2.37 [[ 9.99151342e-01 -3.77035264e-02 -1.65843131e-02 3.45465714e+02] [ 3.77049308e-02 9.99288890e-01 -2.28097328e-04 3.25467647e+00] [ 1.65811199e-02 -3.97406629e-04 9.99862445e-01 2.36781698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.94925415399996 meters 0.017876379354050596 Centerline is valid? [True, True] Translation: X:345.50, Y:3.25, Z:2.37 [[ 9.99118839e-01 -3.85401830e-02 -1.66192811e-02 3.45496841e+02] [ 3.85417221e-02 9.99256966e-01 -2.27790302e-04 3.25319553e+00] [ 1.66157115e-02 -4.12946132e-04 9.99861864e-01 2.36720064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97925415399993 meters 0.018182129678309077 Centerline is valid? [True, True] Translation: X:345.53, Y:3.25, Z:2.37 [[ 9.99052343e-01 -3.99982585e-02 -1.71626305e-02 3.45528035e+02] [ 4.00001280e-02 9.99199647e-01 -2.34474452e-04 3.25293354e+00] [ 1.71582729e-02 -4.52255165e-04 9.99852684e-01 2.36739403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.00925415399996 meters 0.018332932377890073 Centerline is valid? [True, True] Translation: X:345.56, Y:3.25, Z:2.37 [[ 9.98901327e-01 -4.34568588e-02 -1.75396544e-02 3.45559516e+02] [ 4.34593554e-02 9.99055167e-01 -2.38976331e-04 3.25086963e+00] [ 1.75334675e-02 -5.23548299e-04 9.99846140e-01 2.36732584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03925415399993 meters 0.019014524162985796 Centerline is valid? [True, True] Translation: X:345.59, Y:3.25, Z:2.37 [[ 9.98823333e-01 -4.51987257e-02 -1.75791016e-02 3.45590801e+02] [ 4.52015179e-02 9.98977861e-01 -2.38665603e-04 3.24873873e+00] [ 1.75719207e-02 -5.56217301e-04 9.99845447e-01 2.36713113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.06925415399996 meters 0.019594015593636195 Centerline is valid? [True, True] Translation: X:345.62, Y:3.25, Z:2.37 [[ 9.98659933e-01 -4.87078827e-02 -1.74894255e-02 3.45621576e+02] [ 4.87111940e-02 9.98812877e-01 -2.36869230e-04 3.24695756e+00] [ 1.74802008e-02 -6.15378987e-04 9.99847020e-01 2.36781179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09925415399994 meters 0.020461356499776505 Centerline is valid? [True, True] Translation: X:345.65, Y:3.25, Z:2.37 [[ 9.98589336e-01 -5.00525114e-02 -1.77224442e-02 3.45652282e+02] [ 5.00561501e-02 9.98746377e-01 -2.38497476e-04 3.24564001e+00] [ 1.77121643e-02 -6.48956289e-04 9.99842917e-01 2.36803153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.12925415399997 meters 0.02082114660464793 Centerline is valid? [True, True] Translation: X:345.68, Y:3.24, Z:2.37 [[ 9.98545314e-01 -5.09470984e-02 -1.76535736e-02 3.45684676e+02] [ 5.09508782e-02 9.98701133e-01 -2.35885449e-04 3.24474689e+00] [ 1.76426617e-02 -6.63922770e-04 9.99844136e-01 2.36846142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15925415399994 meters 0.022798545654460496 Centerline is valid? [True, True] Translation: X:345.72, Y:3.24, Z:2.37 [[ 9.98490091e-01 -5.19426206e-02 -1.78746449e-02 3.45716169e+02] [ 5.19466750e-02 9.98649832e-01 -2.37719126e-04 3.24305242e+00] [ 1.78628589e-02 -6.91168179e-04 9.99840208e-01 2.36828444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18925415399997 meters 0.022191034475155226 Centerline is valid? [True, True] Translation: X:345.75, Y:3.24, Z:2.37 [[ 9.98457526e-01 -5.26595609e-02 -1.75937585e-02 3.45748007e+02] [ 5.26636201e-02 9.98612282e-01 -2.32834012e-04 3.24271765e+00] [ 1.75816042e-02 -6.94076141e-04 9.99845191e-01 2.36892310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21925415399994 meters 0.022334570420240042 Centerline is valid? [True, True] Translation: X:345.78, Y:3.24, Z:2.37 [[ 9.98454702e-01 -5.26090916e-02 -1.79022523e-02 3.45780574e+02] [ 5.26133097e-02 9.98614933e-01 -2.35611652e-04 3.24244519e+00] [ 1.78898518e-02 -7.06649183e-04 9.99839714e-01 2.36910080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24925415399997 meters 0.023527972528234502 Centerline is valid? [True, True] Translation: X:345.81, Y:3.24, Z:2.37 [[ 9.98461801e-01 -5.24300266e-02 -1.80312271e-02 3.45811451e+02] [ 5.24342964e-02 9.98624348e-01 -2.36207026e-04 3.24087272e+00] [ 1.80188068e-02 -7.09611015e-04 9.99837396e-01 2.36918808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27925415399994 meters 0.02383137556702823 Centerline is valid? [True, True] Translation: X:345.84, Y:3.24, Z:2.37 [[ 9.98526392e-01 -5.09984299e-02 -1.85527420e-02 3.45843975e+02] [ 5.10027260e-02 9.98698485e-01 -2.41834949e-04 3.24249203e+00] [ 1.85409285e-02 -7.04761838e-04 9.99827854e-01 2.36996125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.309254154 meters 0.02256997610686536 Centerline is valid? [True, True] Translation: X:345.88, Y:3.24, Z:2.37 [[ 9.98617959e-01 -4.94542821e-02 -1.77889143e-02 3.45875368e+02] [ 4.94580020e-02 9.98776177e-01 -2.31030000e-04 3.24370904e+00] [ 1.77785693e-02 -6.49093453e-04 9.99841738e-01 2.37142633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.33925415399995 meters 0.02122215402091949 Centerline is valid? [True, True] Translation: X:345.91, Y:3.25, Z:2.37 [[ 9.98675307e-01 -4.83508469e-02 -1.76019075e-02 3.45907198e+02] [ 4.83543356e-02 9.98830219e-01 -2.27596100e-04 3.24614515e+00] [ 1.75923215e-02 -6.23833935e-04 9.99845049e-01 2.37267352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.369254154 meters 0.02164941529029728 Centerline is valid? [True, True] Translation: X:345.94, Y:3.25, Z:2.37 [[ 9.98739929e-01 -4.69299109e-02 -1.77802788e-02 3.45939016e+02] [ 4.69332649e-02 9.98898001e-01 -2.28823480e-04 3.24694052e+00] [ 1.77714236e-02 -6.05951389e-04 9.99841892e-01 2.37343082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.39925415399995 meters 0.021751396281732085 Centerline is valid? [True, True] Translation: X:345.97, Y:3.25, Z:2.37 [[ 9.98846426e-01 -4.48052945e-02 -1.72714509e-02 3.45969277e+02] [ 4.48081513e-02 9.98995586e-01 -2.21735269e-04 3.24569271e+00] [ 1.72640381e-02 -5.52422303e-04 9.99850813e-01 2.37354491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.429254154 meters 0.01833299954380408 Centerline is valid? [True, True] Translation: X:346.00, Y:3.25, Z:2.38 [[ 9.98887212e-01 -4.38871434e-02 -1.72701052e-02 3.46001681e+02] [ 4.38898782e-02 9.99036351e-01 -2.20818264e-04 3.25189160e+00] [ 1.72631539e-02 -5.37410272e-04 9.99850836e-01 2.37574494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.45925415399995 meters 0.018983633094920113 Centerline is valid? [True, True] Translation: X:346.03, Y:3.25, Z:2.38 [[ 9.98942192e-01 -4.25983099e-02 -1.73170507e-02 3.46032707e+02] [ 4.26008992e-02 9.99092145e-01 -2.19507946e-04 3.25093583e+00] [ 1.73106800e-02 -5.18446184e-04 9.99850025e-01 2.37537709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.489254154 meters 0.01806216483133143 Centerline is valid? [True, True] Translation: X:346.06, Y:3.25, Z:2.38 [[ 9.98984889e-01 -4.12426700e-02 -1.81172146e-02 3.46063918e+02] [ 4.12453065e-02 9.99149024e-01 -2.28266891e-04 3.25345888e+00] [ 1.81112116e-02 -5.19214895e-04 9.99835844e-01 2.37546335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.51925415399995 meters 0.018661640884318514 Centerline is valid? [True, True] Translation: X:346.10, Y:3.25, Z:2.37 [[ 9.98988295e-01 -4.06607057e-02 -1.92118205e-02 3.46095646e+02] [ 4.06635769e-02 9.99172866e-01 -2.41333060e-04 3.25376525e+00] [ 1.92057425e-02 -5.40132438e-04 9.99815407e-01 2.37495526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.549254154 meters 0.018635901749371825 Centerline is valid? [True, True] Translation: X:346.13, Y:3.25, Z:2.37 [[ 9.98948701e-01 -4.11440884e-02 -2.02152491e-02 3.46126105e+02] [ 4.11473767e-02 9.99153056e-01 -2.53426573e-04 3.25284013e+00] [ 2.02085549e-02 -5.78644325e-04 9.99795619e-01 2.37406421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.57925415399995 meters 0.018354514980969325 Centerline is valid? [True, True] Translation: X:346.16, Y:3.25, Z:2.37 [[ 9.98925502e-01 -4.16752034e-02 -2.02736203e-02 3.46157897e+02] [ 4.16786326e-02 9.99131036e-01 -2.53539334e-04 3.25335443e+00] [ 2.02665695e-02 -5.91709864e-04 9.99794437e-01 2.37433540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.609254154 meters 0.01927264681648233 Centerline is valid? [True, True] Translation: X:346.19, Y:3.25, Z:2.37 [[ 9.98890635e-01 -4.24463410e-02 -2.03913534e-02 3.46188303e+02] [ 4.24499809e-02 9.99098561e-01 -2.54508615e-04 3.25205907e+00] [ 2.03837748e-02 -6.11386292e-04 9.99792042e-01 2.37408347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.63925415399996 meters 0.019937930939289805 Centerline is valid? [True, True] Translation: X:346.22, Y:3.25, Z:2.37 [[ 9.98846299e-01 -4.36490367e-02 -2.00208263e-02 3.46220086e+02] [ 4.36527987e-02 9.99046731e-01 -2.49291609e-04 3.25154407e+00] [ 2.00126224e-02 -6.24961100e-04 9.99799532e-01 2.37447349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66925415399993 meters 0.01969801287955162 Centerline is valid? [True, True] Translation: X:346.25, Y:3.25, Z:2.38 [[ 9.98799113e-01 -4.46056614e-02 -2.02649300e-02 3.46251176e+02] [ 4.46097274e-02 9.99004459e-01 -2.51587221e-04 3.25348687e+00] [ 2.02559776e-02 -6.52727910e-04 9.99794614e-01 2.37601843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.69925415399996 meters 0.020102549183304463 Centerline is valid? [True, True] Translation: X:346.28, Y:3.25, Z:2.38 [[ 9.98649935e-01 -4.84598343e-02 -1.87069754e-02 3.46282602e+02] [ 4.84639869e-02 9.98824904e-01 -2.31571821e-04 3.25249809e+00] [ 1.86962148e-02 -6.75355424e-04 9.99824982e-01 2.37728458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72925415399993 meters 0.02131922845189454 Centerline is valid? [True, True] Translation: X:346.31, Y:3.25, Z:2.38 [[ 9.98562406e-01 -5.04415549e-02 -1.81320609e-02 3.46314073e+02] [ 5.04457980e-02 9.98726775e-01 -2.23584553e-04 3.25078458e+00] [ 1.81202526e-02 -6.91423150e-04 9.99835576e-01 2.37742850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.75925415399996 meters 0.02451436696464429 Centerline is valid? [True, True] Translation: X:346.34, Y:3.25, Z:2.38 [[ 9.98340240e-01 -5.46563620e-02 -1.81507003e-02 3.46344730e+02] [ 5.46613197e-02 9.98504928e-01 -2.23225886e-04 3.24764324e+00] [ 1.81357644e-02 -7.69285846e-04 9.99835238e-01 2.37773003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78925415399993 meters 0.023245196111051518 Centerline is valid? [True, True] Translation: X:346.38, Y:3.25, Z:2.38 [[ 9.98176225e-01 -5.80252613e-02 -1.66521406e-02 3.46376026e+02] [ 5.80299097e-02 9.98314824e-01 -2.04319305e-04 3.24725751e+00] [ 1.66359345e-02 -7.62375544e-04 9.99861323e-01 2.37823041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81925415399996 meters 0.024189531342949797 Centerline is valid? [True, True] Translation: X:346.41, Y:3.25, Z:2.38 [[ 9.98004711e-01 -6.08416003e-02 -1.68789003e-02 3.46407624e+02] [ 6.08467886e-02 9.98147096e-01 -2.06468483e-04 3.24639243e+00] [ 1.68601872e-02 -8.20970360e-04 9.99857520e-01 2.37846183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84925415399994 meters 0.026650363946857936 Centerline is valid? [True, True] Translation: X:346.44, Y:3.24, Z:2.38 [[ 9.97589334e-01 -6.75670449e-02 -1.58182206e-02 3.46438058e+02] [ 6.75724485e-02 9.97714351e-01 -1.93224822e-04 3.24224795e+00] [ 1.57951213e-02 -8.76116874e-04 9.99874865e-01 2.37890887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87925415399997 meters 0.028643698011838074 Centerline is valid? [True, True] Translation: X:346.47, Y:3.24, Z:2.38 [[ 9.97377880e-01 -7.05706099e-02 -1.60360344e-02 3.46468995e+02] [ 7.05765533e-02 9.97506347e-01 -1.95696598e-04 3.24017380e+00] [ 1.60098566e-02 -9.36584581e-04 9.99871395e-01 2.37936023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90925415399994 meters 0.03214946074445168 Centerline is valid? [True, True] Translation: X:346.50, Y:3.23, Z:2.38 [[ 9.96946176e-01 -7.65926773e-02 -1.52277572e-02 3.46499496e+02] [ 7.65987432e-02 9.97061983e-01 -1.85364781e-04 3.23481953e+00] [ 1.51972154e-02 -9.81628355e-04 9.99884034e-01 2.37946837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93925415399997 meters 0.033150178511446006 Centerline is valid? [True, True] Translation: X:346.53, Y:3.23, Z:2.38 [[ 9.96755744e-01 -7.91366963e-02 -1.46754795e-02 3.46530478e+02] [ 7.91426107e-02 9.96863288e-01 -1.78221752e-04 3.23355017e+00] [ 1.46435507e-02 -9.83812208e-04 9.99892293e-01 2.37985161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96925415399994 meters 0.03487649885383142 Centerline is valid? [True, True] Translation: X:346.56, Y:3.23, Z:2.38 [[ 9.96625414e-01 -8.08210849e-02 -1.43435469e-02 3.46561210e+02] [ 8.08269140e-02 9.96728137e-01 -1.73797926e-04 3.23180037e+00] [ 1.43106633e-02 -9.86133197e-04 9.99897111e-01 2.38015098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99925415399997 meters 0.036411959368621474 Centerline is valid? [True, True] Translation: X:346.59, Y:3.23, Z:2.38 [[ 9.96524582e-01 -8.21979351e-02 -1.35002431e-02 3.46592379e+02] [ 8.22032325e-02 9.96615574e-01 -1.62986790e-04 3.23131811e+00] [ 1.34679497e-02 -9.47343280e-04 9.99908854e-01 2.38071909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.02925415399994 meters 0.03685208480928456 Centerline is valid? [True, True] Translation: X:346.63, Y:3.23, Z:2.38 [[ 9.96528361e-01 -8.20963182e-02 -1.38354643e-02 3.46625872e+02] [ 8.21018878e-02 9.96623927e-01 -1.65905184e-04 3.23203938e+00] [ 1.38023750e-02 -9.70588518e-04 9.99904272e-01 2.38077632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.059254154 meters 0.03533107437583073 Centerline is valid? [True, True] Translation: X:346.66, Y:3.24, Z:2.38 [[ 9.96591135e-01 -8.13020948e-02 -1.40028110e-02 3.46658114e+02] [ 8.13077396e-02 9.96689031e-01 -1.66644642e-04 3.23539400e+00] [ 1.39699967e-02 -9.72460337e-04 9.99901942e-01 2.38098059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.08925415399995 meters 0.03544078359916292 Centerline is valid? [True, True] Translation: X:346.69, Y:3.24, Z:2.38 [[ 9.96786878e-01 -7.87793739e-02 -1.44820589e-02 3.46687402e+02] [ 7.87851523e-02 9.96891604e-01 -1.71964466e-04 3.23807291e+00] [ 1.44505902e-02 -9.69559292e-04 9.99895115e-01 2.38087454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.119254154 meters 0.03477948534876228 Centerline is valid? [True, True] Translation: X:346.72, Y:3.24, Z:2.38 [[ 9.96916793e-01 -7.70856344e-02 -1.46530564e-02 3.46718905e+02] [ 7.70913701e-02 9.97024017e-01 -1.73844771e-04 3.24063218e+00] [ 1.46228501e-02 -9.56315422e-04 9.99892623e-01 2.38081616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.14925415399995 meters 0.034110317197920494 Centerline is valid? [True, True] Translation: X:346.75, Y:3.24, Z:2.38 [[ 9.97065657e-01 -7.51195914e-02 -1.47350708e-02 3.46750387e+02] [ 7.51251854e-02 9.97174095e-01 -1.74291077e-04 3.24310037e+00] [ 1.47065236e-02 -9.33195278e-04 9.99891418e-01 2.38100119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.179254154 meters 0.033221265833800175 Centerline is valid? [True, True] Translation: X:346.78, Y:3.25, Z:2.38 [[ 9.97333743e-01 -7.11746985e-02 -1.61110890e-02 3.46779939e+02] [ 7.11808778e-02 9.97463406e-01 -1.90298636e-04 3.24756010e+00] [ 1.60837661e-02 -9.57010205e-04 9.99870190e-01 2.38097710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.20925415399995 meters 0.032074798581093224 Centerline is valid? [True, True] Translation: X:346.81, Y:3.25, Z:2.38 [[ 9.97480862e-01 -6.89666859e-02 -1.65989910e-02 3.46811905e+02] [ 6.89729490e-02 9.97618511e-01 -1.95553819e-04 3.25124446e+00] [ 1.65729474e-02 -9.49820166e-04 9.99862208e-01 2.38137359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.239254154 meters 0.031537684623117436 Centerline is valid? [True, True] Translation: X:346.84, Y:3.25, Z:2.38 [[ 9.97613986e-01 -6.69583269e-02 -1.68201218e-02 3.46843302e+02] [ 6.69644853e-02 9.97755340e-01 -1.97443726e-04 3.25405531e+00] [ 1.67955868e-02 -9.29378175e-04 9.99858512e-01 2.38157870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.26925415399995 meters 0.030290142255290753 Centerline is valid? [True, True] Translation: X:346.87, Y:3.26, Z:2.38 [[ 9.97881532e-01 -6.27111449e-02 -1.73135693e-02 3.46872839e+02] [ 6.27170369e-02 9.98031328e-01 -2.02986732e-04 3.25933545e+00] [ 1.72922140e-02 -8.83299050e-04 9.99850088e-01 2.38206558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.299254154 meters 0.02509098338041229 Centerline is valid? [True, True] Translation: X:346.90, Y:3.27, Z:2.38 [[ 9.98030352e-01 -6.02818453e-02 -1.73641939e-02 3.46903767e+02] [ 6.02874116e-02 9.98181039e-01 -2.03196246e-04 3.26848106e+00] [ 1.73448582e-02 -8.44046285e-04 9.99849210e-01 2.38379455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.32925415399995 meters 0.023889134910915145 Centerline is valid? [True, True] Translation: X:346.94, Y:3.27, Z:2.38 [[ 9.98185272e-01 -5.76389425e-02 -1.74331859e-02 3.46935032e+02] [ 5.76441621e-02 9.98337172e-01 -2.03359250e-04 3.27197022e+00] [ 1.74159189e-02 -8.01931184e-04 9.99848010e-01 2.38429577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.359254154 meters 0.022090938878398074 Centerline is valid? [True, True] Translation: X:346.97, Y:3.28, Z:2.38 [[ 9.98477416e-01 -5.19777454e-02 -1.84705925e-02 3.46965882e+02] [ 5.19826468e-02 9.98647965e-01 -2.14978740e-04 3.27824653e+00] [ 1.84567938e-02 -7.45498871e-04 9.99829381e-01 2.38493001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.38925415399996 meters 0.02046791323453157 Centerline is valid? [True, True] Translation: X:347.00, Y:3.28, Z:2.39 [[ 9.98649228e-01 -4.86140351e-02 -1.83410731e-02 3.46997546e+02] [ 4.86183154e-02 9.98817408e-01 -2.12712529e-04 3.28248908e+00] [ 1.83297239e-02 -6.79286874e-04 9.99831766e-01 2.38562914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41925415399993 meters 0.019343442172694573 Centerline is valid? [True, True] Translation: X:347.03, Y:3.29, Z:2.39 [[ 9.98931696e-01 -4.22878826e-02 -1.86333349e-02 3.47026973e+02] [ 4.22912042e-02 9.99105303e-01 -2.15925374e-04 3.28757549e+00] [ 1.86257948e-02 -5.72331473e-04 9.99826361e-01 2.38577632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.44925415399996 meters 0.0177111467281509 Centerline is valid? [True, True] Translation: X:347.06, Y:3.29, Z:2.39 [[ 9.99058339e-01 -3.90859119e-02 -1.88341708e-02 3.47058540e+02] [ 3.90887429e-02 9.99235719e-01 -2.17940553e-04 3.29233444e+00] [ 1.88282946e-02 -5.18468733e-04 9.99822598e-01 2.38676187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47925415399993 meters 0.016941802234087668 Centerline is valid? [True, True] Translation: X:347.09, Y:3.30, Z:2.39 [[ 9.99165027e-01 -3.61268172e-02 -1.90814759e-02 3.47090132e+02] [ 3.61291973e-02 9.99347103e-01 -2.20096717e-04 3.29510421e+00] [ 1.90769690e-02 -4.69485463e-04 9.99817908e-01 2.38709827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.50925415399996 meters 0.016363804130699898 Centerline is valid? [True, True] Translation: X:347.12, Y:3.30, Z:2.39 [[ 9.99262461e-01 -3.34472325e-02 -1.88630854e-02 3.47121072e+02] [ 3.34490901e-02 9.99440399e-01 -2.17108205e-04 3.29732240e+00] [ 1.88597912e-02 -4.14004963e-04 9.99822053e-01 2.38736362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53925415399993 meters 0.015575227202129211 Centerline is valid? [True, True] Translation: X:347.15, Y:3.30, Z:2.39 [[ 9.99395996e-01 -2.90497558e-02 -1.90723443e-02 3.47151704e+02] [ 2.90508610e-02 9.99577911e-01 -2.19168580e-04 3.29978756e+00] [ 1.90706609e-02 -3.35031823e-04 9.99818082e-01 2.38740214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.56925415399996 meters 0.014937030625729781 Centerline is valid? [True, True] Translation: X:347.18, Y:3.30, Z:2.39 [[ 9.99443169e-01 -2.70035640e-02 -1.96000085e-02 3.47182173e+02] [ 2.70043404e-02 9.99635291e-01 -2.25103136e-04 3.30205131e+00] [ 1.95989388e-02 -3.04307511e-04 9.99807876e-01 2.38806559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59925415399994 meters 0.014378266342798575 Centerline is valid? [True, True] Translation: X:347.21, Y:3.30, Z:2.39 [[ 9.99498492e-01 -2.40102271e-02 -2.06464034e-02 3.47211911e+02] [ 2.40104396e-02 9.99711680e-01 -2.37632394e-04 3.30481089e+00] [ 2.06461563e-02 -2.58216004e-04 9.99786812e-01 2.38828308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.62925415399997 meters 0.014258496293071563 Centerline is valid? [True, True] Translation: X:347.24, Y:3.30, Z:2.39 [[ 9.99505590e-01 -2.31193899e-02 -2.13089129e-02 3.47239321e+02] [ 2.31193799e-02 9.99732681e-01 -2.46853081e-04 3.30497019e+00] [ 2.13089237e-02 -2.45917819e-04 9.99772909e-01 2.38744861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65925415399994 meters 0.014382647261163723 Centerline is valid? [True, True] Translation: X:347.27, Y:3.31, Z:2.39 [[ 9.99499647e-01 -2.27575020e-02 -2.19670522e-02 3.47267425e+02] [ 2.27572932e-02 9.99740986e-01 -2.59521454e-04 3.30543384e+00] [ 2.19672685e-02 -2.40519047e-04 9.99758662e-01 2.38724384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68925415399997 meters 0.014435147405464815 Centerline is valid? [True, True] Translation: X:347.30, Y:3.31, Z:2.39 [[ 9.99483632e-01 -2.26590282e-02 -2.27824201e-02 3.47296283e+02] [ 2.26586384e-02 9.99743222e-01 -2.75287375e-04 3.30531992e+00] [ 2.27828078e-02 -2.41073393e-04 9.99740409e-01 2.38702188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71925415399994 meters 0.01449081473603869 Centerline is valid? [True, True] Translation: X:347.32, Y:3.30, Z:2.39 [[ 9.99458216e-01 -2.31109494e-02 -2.34341141e-02 3.47323946e+02] [ 2.31105837e-02 9.99732874e-01 -2.86463195e-04 3.30447556e+00] [ 2.34344747e-02 -2.55268063e-04 9.99725342e-01 2.38670898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74925415399997 meters 0.014644105043011635 Centerline is valid? [True, True] Translation: X:347.35, Y:3.30, Z:2.39 [[ 9.99420989e-01 -2.41881381e-02 -2.39294860e-02 3.47352622e+02] [ 2.41879484e-02 9.99707385e-01 -2.97413223e-04 3.30369819e+00] [ 2.39296778e-02 -2.81564155e-04 9.99713605e-01 2.38657442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77925415399994 meters 0.014644105043011635 Centerline is valid? [True, True] Translation: X:347.38, Y:3.30, Z:2.39 [[ 9.99414016e-01 -2.44746444e-02 -2.39294027e-02 3.47380020e+02] [ 2.44743787e-02 9.99700411e-01 -3.04020397e-04 3.30411810e+00] [ 2.39296746e-02 -2.81815018e-04 9.99713605e-01 2.38676483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.809254154 meters 0.014857587307805026 Centerline is valid? [True, True] Translation: X:347.41, Y:3.30, Z:2.39 [[ 9.99325513e-01 -2.67590672e-02 -2.51489798e-02 3.47408991e+02] [ 2.67593281e-02 9.99641852e-01 -3.26221948e-04 3.30237673e+00] [ 2.51487021e-02 -3.46967886e-04 9.99683661e-01 2.38745439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.83925415399995 meters 0.014978551971901085 Centerline is valid? [True, True] Translation: X:347.44, Y:3.30, Z:2.39 [[ 9.99276871e-01 -2.82847402e-02 -2.54107919e-02 3.47437556e+02] [ 2.82853340e-02 9.99599833e-01 -3.36140511e-04 3.30182067e+00] [ 2.54101310e-02 -3.82855298e-04 9.99677037e-01 2.38823994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.869254154 meters 0.015862577582572174 Centerline is valid? [True, True] Translation: X:347.47, Y:3.30, Z:2.39 [[ 9.99162115e-01 -3.09383956e-02 -2.67933502e-02 3.47465158e+02] [ 3.09399108e-02 9.99521182e-01 -3.58112531e-04 3.29789147e+00] [ 2.67916005e-02 -4.71171391e-04 9.99640930e-01 2.38656893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.89925415399995 meters 0.015586910786078625 Centerline is valid? [True, True] Translation: X:347.49, Y:3.30, Z:2.39 [[ 9.99111546e-01 -3.23843024e-02 -2.69699171e-02 3.47493881e+02] [ 3.23862096e-02 9.99475362e-01 -3.66204925e-04 3.29753963e+00] [ 2.69676269e-02 -5.07573818e-04 9.99636179e-01 2.38759699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.929254154 meters 0.015745713925174334 Centerline is valid? [True, True] Translation: X:347.52, Y:3.30, Z:2.39 [[ 9.99067372e-01 -3.38240802e-02 -2.68387480e-02 3.47522204e+02] [ 3.38263047e-02 9.99427658e-01 -3.71248221e-04 3.29613007e+00] [ 2.68359442e-02 -5.36953685e-04 9.99639707e-01 2.38746585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.95925415399995 meters 0.016917742354259253 Centerline is valid? [True, True] Translation: X:347.55, Y:3.29, Z:2.39 [[ 9.98966474e-01 -3.66112989e-02 -2.69368967e-02 3.47549531e+02] [ 3.66144198e-02 9.99329396e-01 -3.77525778e-04 3.29135170e+00] [ 2.69326544e-02 -6.09143250e-04 9.99637065e-01 2.38665456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.989254154 meters 0.01683681523947787 Centerline is valid? [True, True] Translation: X:347.58, Y:3.29, Z:2.39 [[ 9.98908604e-01 -3.80954178e-02 -2.70248043e-02 3.47578107e+02] [ 3.80989349e-02 9.99273898e-01 -3.84935740e-04 3.29060595e+00] [ 2.70198459e-02 -6.45100638e-04 9.99634689e-01 2.38760361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.01925415399995 meters 0.019869311951416866 Centerline is valid? [True, True] Translation: X:347.61, Y:3.29, Z:2.39 [[ 9.98862931e-01 -3.87782250e-02 -2.77325624e-02 3.47606297e+02] [ 3.87821007e-02 9.99247612e-01 -3.98302914e-04 3.28702327e+00] [ 2.77271423e-02 -6.77677012e-04 9.99615299e-01 2.38626183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.049254154 meters 0.01712403408470817 Centerline is valid? [True, True] Translation: X:347.64, Y:3.29, Z:2.39 [[ 9.98734120e-01 -4.18991109e-02 -2.78320483e-02 3.47635290e+02] [ 4.19040620e-02 9.99121557e-01 -4.05592481e-04 3.28671624e+00] [ 2.78245934e-02 -7.61196829e-04 9.99612531e-01 2.38777807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.07925415399995 meters 0.017759890197218454 Centerline is valid? [True, True] Translation: X:347.66, Y:3.28, Z:2.39 [[ 9.98690219e-01 -4.25778232e-02 -2.83720831e-02 3.47663944e+02] [ 4.25831575e-02 9.99092839e-01 -4.16442859e-04 3.28479404e+00] [ 2.83640763e-02 -7.92275473e-04 9.99597345e-01 2.38671586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.109254154 meters 0.017453084808026223 Centerline is valid? [True, True] Translation: X:347.69, Y:3.28, Z:2.39 [[ 9.98631647e-01 -4.37501149e-02 -2.86489207e-02 3.47692523e+02] [ 4.37558640e-02 9.99042163e-01 -4.26504004e-04 3.28294575e+00] [ 2.86401393e-02 -8.27637883e-04 9.99589444e-01 2.38664524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.13925415399996 meters 0.01819901000898003 Centerline is valid? [True, True] Translation: X:347.72, Y:3.28, Z:2.39 [[ 9.98605071e-01 -4.41261078e-02 -2.89965270e-02 3.47720262e+02] [ 4.41320447e-02 9.99025612e-01 -4.35507578e-04 3.28069205e+00] [ 2.89874904e-02 -8.44775948e-04 9.99579417e-01 2.38592424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16925415399993 meters 0.01847368763528567 Centerline is valid? [True, True] Translation: X:347.75, Y:3.28, Z:2.39 [[ 9.98594378e-01 -4.44533251e-02 -2.88646936e-02 3.47748113e+02] [ 4.44592698e-02 9.99011103e-01 -4.36119018e-04 3.27930617e+00] [ 2.88555363e-02 -8.47797199e-04 9.99583233e-01 2.38589638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.19925415399996 meters 0.018238331976051594 Centerline is valid? [True, True] Translation: X:347.78, Y:3.28, Z:2.39 [[ 9.98603468e-01 -4.46748674e-02 -2.82005133e-02 3.47776534e+02] [ 4.46804618e-02 9.99001236e-01 -4.32038770e-04 3.27793771e+00] [ 2.81916489e-02 -8.28576542e-04 9.99602193e-01 2.38676962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22925415399993 meters 0.018169348526557102 Centerline is valid? [True, True] Translation: X:347.81, Y:3.28, Z:2.39 [[ 9.98626996e-01 -4.43025505e-02 -2.79536523e-02 3.47805052e+02] [ 4.43077058e-02 9.99017837e-01 -4.35257997e-04 3.27785886e+00] [ 2.79454803e-02 -8.03901816e-04 9.99609126e-01 2.38732999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.25925415399996 meters 0.017123696671898673 Centerline is valid? [True, True] Translation: X:347.83, Y:3.28, Z:2.39 [[ 9.98648810e-01 -4.37058193e-02 -2.81132677e-02 3.47833692e+02] [ 4.37105947e-02 9.99044136e-01 -4.44956257e-04 3.27966195e+00] [ 2.81058425e-02 -7.84492614e-04 9.99604645e-01 2.38887515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28925415399993 meters 0.017673414812715133 Centerline is valid? [True, True] Translation: X:347.86, Y:3.28, Z:2.39 [[ 9.98720257e-01 -4.23530329e-02 -2.76418012e-02 3.47862557e+02] [ 4.23570516e-02 9.99102440e-01 -4.40385857e-04 3.27854126e+00] [ 2.76356427e-02 -7.31002923e-04 9.99617795e-01 2.38786171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31925415399996 meters 0.016906907253619555 Centerline is valid? [True, True] Translation: X:347.89, Y:3.28, Z:2.39 [[ 9.98883181e-01 -3.88321580e-02 -2.69156724e-02 3.47890460e+02] [ 3.88346117e-02 9.99245559e-01 -4.31756698e-04 3.27943888e+00] [ 2.69121322e-02 -6.13985182e-04 9.99637614e-01 2.38816572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34925415399994 meters 0.015909388113931555 Centerline is valid? [True, True] Translation: X:347.92, Y:3.28, Z:2.39 [[ 9.98945246e-01 -3.72269591e-02 -2.68802707e-02 3.47919343e+02] [ 3.72286677e-02 9.99306677e-01 -4.37054075e-04 3.28146684e+00] [ 2.68779042e-02 -5.64123577e-04 9.99638565e-01 2.38938112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37925415399997 meters 0.01604195345741242 Centerline is valid? [True, True] Translation: X:347.95, Y:3.28, Z:2.39 [[ 9.99010908e-01 -3.55273869e-02 -2.67396666e-02 3.47947140e+02] [ 3.55283765e-02 9.99368572e-01 -4.38234388e-04 3.28157794e+00] [ 2.67383518e-02 -5.12216008e-04 9.99642335e-01 2.38861785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40925415399994 meters 0.014202926681856963 Centerline is valid? [True, True] Translation: X:347.98, Y:3.28, Z:2.39 [[ 9.99131367e-01 -3.26346912e-02 -2.59130779e-02 3.47976106e+02] [ 3.26345065e-02 9.99467260e-01 -4.30142251e-04 3.28479375e+00] [ 2.59133105e-02 -4.15891891e-04 9.99664107e-01 2.39160600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43925415399997 meters 0.014679978440685202 Centerline is valid? [True, True] Translation: X:348.00, Y:3.28, Z:2.39 [[ 9.99174435e-01 -3.14313281e-02 -2.57394769e-02 3.48003543e+02] [ 3.14306575e-02 9.99505842e-01 -4.30725347e-04 3.28404245e+00] [ 2.57402958e-02 -3.78638927e-04 9.99668592e-01 2.39018776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46925415399994 meters 0.013762038001052312 Centerline is valid? [True, True] Translation: X:348.03, Y:3.28, Z:2.39 [[ 9.99241663e-01 -3.00585673e-02 -2.47503777e-02 3.48032559e+02] [ 3.00573988e-02 9.99548086e-01 -4.19314864e-04 3.28493877e+00] [ 2.47517967e-02 -3.24935092e-04 9.99693575e-01 2.39244682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49925415399997 meters 0.01392617960524644 Centerline is valid? [True, True] Translation: X:348.06, Y:3.28, Z:2.39 [[ 9.99273471e-01 -2.96429951e-02 -2.39545865e-02 3.48060294e+02] [ 2.96417035e-02 9.99560504e-01 -4.09074595e-04 3.28391847e+00] [ 2.39561848e-02 -3.01277361e-04 9.99712964e-01 2.39203929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.52925415399994 meters 0.013489147577923988 Centerline is valid? [True, True] Translation: X:348.09, Y:3.28, Z:2.39 [[ 9.99284641e-01 -2.97496108e-02 -2.33488164e-02 3.48089447e+02] [ 2.97483005e-02 9.99557340e-01 -4.03534367e-04 3.28400182e+00] [ 2.33504858e-02 -2.91341911e-04 9.99727298e-01 2.39338555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.559254154 meters 0.014012035326643172 Centerline is valid? [True, True] Translation: X:348.12, Y:3.28, Z:2.39 [[ 9.99276897e-01 -3.08060217e-02 -2.22861533e-02 3.48116108e+02] [ 3.08050096e-02 9.99525337e-01 -3.88802259e-04 3.28087119e+00] [ 2.22875524e-02 -2.98004052e-04 9.99751557e-01 2.39240861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.58925415399995 meters 0.01385401534320229 Centerline is valid? [True, True] Translation: X:348.14, Y:3.28, Z:2.39 [[ 9.99265135e-01 -3.17155158e-02 -2.15247803e-02 3.48144474e+02] [ 3.17146852e-02 9.99496891e-01 -3.80036656e-04 3.28063830e+00] [ 2.15260041e-02 -3.02894253e-04 9.99768243e-01 2.39336642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.619254154 meters 0.013909420168843622 Centerline is valid? [True, True] Translation: X:348.17, Y:3.28, Z:2.39 [[ 9.99195585e-01 -3.42084705e-02 -2.09275758e-02 3.48173654e+02] [ 3.42081801e-02 9.99414660e-01 -3.71963834e-04 3.27933047e+00] [ 2.09280504e-02 -3.44229663e-04 9.99780925e-01 2.39449179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.64925415399995 meters 0.014257158142194212 Centerline is valid? [True, True] Translation: X:348.20, Y:3.28, Z:2.39 [[ 9.99172802e-01 -3.53209402e-02 -2.01530100e-02 3.48202732e+02] [ 3.53208749e-02 9.99375959e-01 -3.59295915e-04 3.27789260e+00] [ 2.01531243e-02 -3.52823239e-04 9.99796843e-01 2.39433487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.679254154 meters 0.015445350876830535 Centerline is valid? [True, True] Translation: X:348.23, Y:3.28, Z:2.39 [[ 9.99138777e-01 -3.65668608e-02 -1.96104530e-02 3.48231834e+02] [ 3.65670450e-02 9.99331141e-01 -3.49306564e-04 3.27511885e+00] [ 1.96101094e-02 -3.68090584e-04 9.99807636e-01 2.39336583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.70925415399995 meters 0.015228184192635674 Centerline is valid? [True, True] Translation: X:348.26, Y:3.27, Z:2.39 [[ 9.99053748e-01 -3.93012427e-02 -1.86284970e-02 3.48261996e+02] [ 3.93018906e-02 9.99227327e-01 -3.31458822e-04 3.27390250e+00] [ 1.86271300e-02 -4.00989973e-04 9.99826420e-01 2.39496485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.739254154 meters 0.016363482614256627 Centerline is valid? [True, True] Translation: X:348.29, Y:3.27, Z:2.39 [[ 9.99019198e-01 -4.05314321e-02 -1.78281864e-02 3.48292666e+02] [ 4.05322248e-02 9.99178181e-01 -3.17021994e-04 3.27143661e+00] [ 1.78263842e-02 -4.05904998e-04 9.99841015e-01 2.39479405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.76925415399995 meters 0.016074390877570285 Centerline is valid? [True, True] Translation: X:348.32, Y:3.27, Z:2.40 [[ 9.98975043e-01 -4.18077567e-02 -1.73486156e-02 3.48323510e+02] [ 4.18087049e-02 9.99125586e-01 -3.08184888e-04 3.27177373e+00] [ 1.73463303e-02 -4.17454141e-04 9.99849454e-01 2.39573963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.799254154 meters 0.016750138952629168 Centerline is valid? [True, True] Translation: X:348.35, Y:3.27, Z:2.40 [[ 9.98919180e-01 -4.33030636e-02 -1.68913079e-02 3.48354646e+02] [ 4.33041872e-02 9.99061889e-01 -2.99403263e-04 3.27076930e+00] [ 1.68884271e-02 -4.32384700e-04 9.99857287e-01 2.39596565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.82925415399995 meters 0.01845322722573933 Centerline is valid? [True, True] Translation: X:348.39, Y:3.27, Z:2.40 [[ 9.98786782e-01 -4.65767770e-02 -1.59865232e-02 3.48385835e+02] [ 4.65782133e-02 9.98914606e-01 -2.82681041e-04 3.26942427e+00] [ 1.59823379e-02 -4.62285598e-04 9.99872167e-01 2.39709806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.859254154 meters 0.01809893899304509 Centerline is valid? [True, True] Translation: X:348.42, Y:3.27, Z:2.40 [[ 9.98686766e-01 -4.88606284e-02 -1.54072030e-02 3.48417628e+02] [ 4.88622449e-02 9.98805490e-01 -2.71728184e-04 3.26792679e+00] [ 1.54020757e-02 -4.81459184e-04 9.99881265e-01 2.39676014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.88925415399996 meters 0.019413362309282225 Centerline is valid? [True, True] Translation: X:348.45, Y:3.26, Z:2.40 [[ 9.98460708e-01 -5.33887631e-02 -1.50284545e-02 3.48448430e+02] [ 5.33908210e-02 9.98573658e-01 -2.64529796e-04 3.26481585e+00] [ 1.50211417e-02 -5.38258918e-04 9.99887031e-01 2.39642087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91925415399993 meters 0.02074911734891835 Centerline is valid? [True, True] Translation: X:348.48, Y:3.26, Z:2.40 [[ 9.98338291e-01 -5.57311770e-02 -1.46523946e-02 3.48479917e+02] [ 5.57333932e-02 9.98445653e-01 -2.57363488e-04 3.26227869e+00] [ 1.46439629e-02 -5.59691844e-04 9.99892615e-01 2.39617177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.94925415399996 meters 0.02263506965247712 Centerline is valid? [True, True] Translation: X:348.51, Y:3.26, Z:2.40 [[ 9.98205297e-01 -5.81384650e-02 -1.43562943e-02 3.48510613e+02] [ 5.81408598e-02 9.98308358e-01 -2.50852935e-04 3.25907556e+00] [ 1.43465927e-02 -5.84284563e-04 9.99896912e-01 2.39563825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97925415399993 meters 0.024642076971634723 Centerline is valid? [True, True] Translation: X:348.54, Y:3.26, Z:2.40 [[ 9.97900746e-01 -6.31285387e-02 -1.44529912e-02 3.48542005e+02] [ 6.31315047e-02 9.98005185e-01 -2.51394601e-04 3.25568695e+00] [ 1.44400303e-02 -6.61572219e-04 9.99895518e-01 2.39555850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.00925415399996 meters 0.024043282292084692 Centerline is valid? [True, True] Translation: X:348.57, Y:3.26, Z:2.40 [[ 9.97728915e-01 -6.58712582e-02 -1.40708800e-02 3.48573073e+02] [ 6.58743500e-02 9.97827896e-01 -2.44140596e-04 3.25664499e+00] [ 1.40563985e-02 -6.83323945e-04 9.99900970e-01 2.39584493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03925415399993 meters 0.026932756673653014 Centerline is valid? [True, True] Translation: X:348.60, Y:3.25, Z:2.40 [[ 9.97387228e-01 -7.09795104e-02 -1.34397326e-02 3.48602415e+02] [ 7.09828001e-02 9.97477513e-01 -2.32691607e-04 3.25222032e+00] [ 1.34223474e-02 -7.21906218e-04 9.99909656e-01 2.39574172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.06925415399996 meters 0.027760241551363633 Centerline is valid? [True, True] Translation: X:348.63, Y:3.25, Z:2.40 [[ 9.97235036e-01 -7.31018616e-02 -1.33566884e-02 3.48634552e+02] [ 7.31053088e-02 9.97324200e-01 -2.30624201e-04 3.25149953e+00] [ 1.33378076e-02 -7.46458295e-04 9.99910769e-01 2.39580711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09925415399994 meters 0.028233941683588865 Centerline is valid? [True, True] Translation: X:348.67, Y:3.25, Z:2.40 [[ 9.97117289e-01 -7.47373013e-02 -1.30937899e-02 3.48666545e+02] [ 7.47407670e-02 9.97202972e-01 -2.25144760e-04 3.25117492e+00] [ 1.30739930e-02 -7.54144171e-04 9.99914247e-01 2.39594542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.12925415399997 meters 0.029948529625745537 Centerline is valid? [True, True] Translation: X:348.70, Y:3.25, Z:2.40 [[ 9.96916053e-01 -7.74083136e-02 -1.28971555e-02 3.48697497e+02] [ 7.74119065e-02 9.96999171e-01 -2.21156790e-04 3.24992920e+00] [ 1.28755727e-02 -7.77918641e-04 9.99916804e-01 2.39626423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15925415399994 meters 0.02891820224749937 Centerline is valid? [True, True] Translation: X:348.73, Y:3.25, Z:2.40 [[ 9.96887732e-01 -7.78662612e-02 -1.23164443e-02 3.48729858e+02] [ 7.78695790e-02 9.96963532e-01 -2.10679531e-04 3.25289191e+00] [ 1.22954506e-02 -7.49052492e-04 9.99924128e-01 2.39700969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18925415399997 meters 0.02937852384987991 Centerline is valid? [True, True] Translation: X:348.76, Y:3.25, Z:2.40 [[ 9.96856574e-01 -7.82828441e-02 -1.21970495e-02 3.48762044e+02] [ 7.82861398e-02 9.96930909e-01 -2.07740284e-04 3.25342602e+00] [ 1.21758782e-02 -7.47772656e-04 9.99925592e-01 2.39731976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21925415399994 meters 0.029354608542699414 Centerline is valid? [True, True] Translation: X:348.79, Y:3.26, Z:2.40 [[ 9.96918681e-01 -7.75001518e-02 -1.21189820e-02 3.48794582e+02] [ 7.75033587e-02 9.96992070e-01 -2.05516768e-04 3.25694259e+00] [ 1.20984565e-02 -7.34378300e-04 9.99926541e-01 2.39743482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24925415399997 meters 0.03267436521071716 Centerline is valid? [True, True] Translation: X:348.83, Y:3.25, Z:2.40 [[ 9.96954482e-01 -7.69414697e-02 -1.27188954e-02 3.48825728e+02] [ 7.69449743e-02 9.97035318e-01 -2.14295950e-04 3.25471448e+00] [ 1.26976762e-02 -7.65011776e-04 9.99919089e-01 2.39705224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27925415399994 meters 0.03296600016819873 Centerline is valid? [True, True] Translation: X:348.86, Y:3.25, Z:2.40 [[ 9.96931605e-01 -7.72576977e-02 -1.25945544e-02 3.48857290e+02] [ 7.72611758e-02 9.97010866e-01 -2.10888368e-04 3.25426696e+00] [ 1.25732003e-02 -7.62828804e-04 9.99920663e-01 2.39687908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.309254154 meters 0.028110425163311487 Centerline is valid? [True, True] Translation: X:348.89, Y:3.26, Z:2.40 [[ 9.96938277e-01 -7.71734948e-02 -1.25826976e-02 3.48890543e+02] [ 7.71769723e-02 9.97017387e-01 -2.09684661e-04 3.26265606e+00] [ 1.25613504e-02 -7.62051840e-04 9.99920813e-01 2.39789491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.33925415399995 meters 0.029402637343304304 Centerline is valid? [True, True] Translation: X:348.92, Y:3.26, Z:2.40 [[ 9.96909468e-01 -7.76057644e-02 -1.22007613e-02 3.48921683e+02] [ 7.76090790e-02 9.96983846e-01 -2.02271352e-04 3.26445042e+00] [ 1.21796593e-02 -7.45243620e-04 9.99925547e-01 2.39846380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.369254154 meters 0.030447419157410557 Centerline is valid? [True, True] Translation: X:348.95, Y:3.27, Z:2.40 [[ 9.96843382e-01 -7.84433129e-02 -1.22441000e-02 3.48952951e+02] [ 7.84467223e-02 9.96918287e-01 -2.02310387e-04 3.26545130e+00] [ 1.22222371e-02 -7.58837746e-04 9.99925018e-01 2.39798692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.39925415399995 meters 0.03339112717617674 Centerline is valid? [True, True] Translation: X:348.98, Y:3.26, Z:2.40 [[ 9.96823426e-01 -7.87175918e-02 -1.21077793e-02 3.48984631e+02] [ 7.87209538e-02 9.96896671e-01 -1.99398559e-04 3.26325557e+00] [ 1.20859011e-02 -7.54370783e-04 9.99926678e-01 2.39793007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.429254154 meters 0.031247111095490093 Centerline is valid? [True, True] Translation: X:349.02, Y:3.27, Z:2.40 [[ 9.96793447e-01 -7.91435882e-02 -1.17947710e-02 3.49016235e+02] [ 7.91468158e-02 9.96862951e-01 -1.93610658e-04 3.26813530e+00] [ 1.17730933e-02 -7.40528735e-04 9.99930421e-01 2.39840203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.45925415399995 meters 0.03157975855630272 Centerline is valid? [True, True] Translation: X:349.05, Y:3.27, Z:2.40 [[ 9.96808038e-01 -7.90403627e-02 -1.12408783e-02 3.49049009e+02] [ 7.90432970e-02 9.96871167e-01 -1.83688706e-04 3.26953184e+00] [ 1.12202262e-02 -7.05413700e-04 9.99936802e-01 2.39902401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.489254154 meters 0.032858992302417005 Centerline is valid? [True, True] Translation: X:349.08, Y:3.27, Z:2.40 [[ 9.96872386e-01 -7.83800381e-02 -1.01002981e-02 3.49079887e+02] [ 7.83823819e-02 9.96923355e-01 -1.64201304e-04 3.27188959e+00] [ 1.00820931e-02 -6.27997675e-04 9.99948977e-01 2.40005744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.51925415399995 meters 0.03403342580466136 Centerline is valid? [True, True] Translation: X:349.11, Y:3.27, Z:2.40 [[ 9.96915987e-01 -7.79017715e-02 -9.47780558e-03 3.49111033e+02] [ 7.79038205e-02 9.96960867e-01 -1.53372364e-04 3.27280178e+00] [ 9.46094925e-03 -5.85457903e-04 9.99955073e-01 2.40040052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.549254154 meters 0.03307349353589275 Centerline is valid? [True, True] Translation: X:349.14, Y:3.28, Z:2.40 [[ 9.96947503e-01 -7.75324546e-02 -9.18670216e-03 3.49143295e+02] [ 7.75343741e-02 9.96989668e-01 -1.47558131e-04 3.27606823e+00] [ 9.17048768e-03 -5.65177492e-04 9.99957790e-01 2.40091836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.57925415399995 meters 0.029183434046870238 Centerline is valid? [True, True] Translation: X:349.18, Y:3.28, Z:2.40 [[ 9.96956628e-01 -7.74423863e-02 -8.95308320e-03 3.49175872e+02] [ 7.74442121e-02 9.96996677e-01 -1.43101809e-04 3.28472360e+00] [ 8.93727634e-03 -5.50698177e-04 9.99959910e-01 2.40102110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.609254154 meters 0.03465487832609729 Centerline is valid? [True, True] Translation: X:349.21, Y:3.28, Z:2.40 [[ 9.96922228e-01 -7.78061727e-02 -9.60576698e-03 3.49207002e+02] [ 7.78083007e-02 9.96968327e-01 -1.52556594e-04 3.27943557e+00] [ 9.58851528e-03 -5.95321345e-04 9.99953852e-01 2.40049787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.63925415399996 meters 0.03665246721977158 Centerline is valid? [True, True] Translation: X:349.24, Y:3.28, Z:2.40 [[ 9.96944774e-01 -7.74498141e-02 -1.01313571e-02 3.49237803e+02] [ 7.74521714e-02 9.96996056e-01 -1.60063123e-04 3.27983258e+00] [ 1.01133200e-02 -6.25121516e-04 9.99948664e-01 2.39990740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66925415399993 meters 0.03691406102249021 Centerline is valid? [True, True] Translation: X:349.27, Y:3.28, Z:2.40 [[ 9.96867475e-01 -7.83177709e-02 -1.10256348e-02 3.49269201e+02] [ 7.83206293e-02 9.96928207e-01 -1.72951212e-04 3.28152304e+00] [ 1.10053115e-02 -6.91125216e-04 9.99939201e-01 2.39919380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.69925415399996 meters 0.03691406102249021 Centerline is valid? [True, True] Translation: X:349.30, Y:3.28, Z:2.40 [[ 9.96875512e-01 -7.82154051e-02 -1.10256469e-02 3.49301795e+02] [ 7.82182658e-02 9.96936243e-01 -1.72174969e-04 3.28193096e+00] [ 1.10053337e-02 -6.90769971e-04 9.99939201e-01 2.39941959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72925415399993 meters 0.03125795046814648 Centerline is valid? [True, True] Translation: X:349.33, Y:3.29, Z:2.40 [[ 9.96896935e-01 -7.79081671e-02 -1.12613723e-02 3.49334193e+02] [ 7.79111437e-02 9.96960292e-01 -1.74814727e-04 3.29115032e+00] [ 1.12407605e-02 -7.03114132e-04 9.99936573e-01 2.40003458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.75925415399996 meters 0.030160528543303044 Centerline is valid? [True, True] Translation: X:349.37, Y:3.30, Z:2.40 [[ 9.96955077e-01 -7.71731828e-02 -1.11747378e-02 3.49366877e+02] [ 7.71760776e-02 9.97017464e-01 -1.72582658e-04 3.29593525e+00] [ 1.11547275e-02 -6.90365278e-04 9.99937546e-01 2.40011162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78925415399993 meters 0.02893411376540391 Centerline is valid? [True, True] Translation: X:349.40, Y:3.30, Z:2.40 [[ 9.97037241e-01 -7.60794145e-02 -1.13429825e-02 3.49398856e+02] [ 7.60823376e-02 9.97101523e-01 -1.74211895e-04 3.29938275e+00] [ 1.13233591e-02 -6.89304876e-04 9.99935651e-01 2.40050501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81925415399996 meters 0.028271915683336264 Centerline is valid? [True, True] Translation: X:349.43, Y:3.30, Z:2.40 [[ 9.97116933e-01 -7.50420056e-02 -1.12480851e-02 3.49431212e+02] [ 7.50448236e-02 9.97180147e-01 -1.71927003e-04 3.30239258e+00] [ 1.12292689e-02 -6.72679234e-04 9.99936724e-01 2.40090123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84925415399994 meters 0.027178290215671863 Centerline is valid? [True, True] Translation: X:349.46, Y:3.31, Z:2.40 [[ 9.97369519e-01 -7.15855308e-02 -1.13821677e-02 3.49462299e+02] [ 7.15881990e-02 9.97434258e-01 -1.73353669e-04 3.30749753e+00] [ 1.13653736e-02 -6.41931219e-04 9.99935206e-01 2.40151431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87925415399997 meters 0.02557048008690896 Centerline is valid? [True, True] Translation: X:349.49, Y:3.31, Z:2.40 [[ 9.97542247e-01 -6.91378186e-02 -1.13765845e-02 3.49493817e+02] [ 6.91403302e-02 9.97606929e-01 -1.72858993e-04 3.31192583e+00] [ 1.13613106e-02 -6.14146660e-04 9.99935270e-01 2.40198987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90925415399994 meters 0.027059397935319484 Centerline is valid? [True, True] Translation: X:349.52, Y:3.31, Z:2.40 [[ 9.97737215e-01 -6.62370095e-02 -1.15372372e-02 3.49523994e+02] [ 6.62394046e-02 9.97803744e-01 -1.74821474e-04 3.31213366e+00] [ 1.15234782e-02 -5.89793835e-04 9.99933429e-01 2.40207644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93925415399997 meters 0.02594867243241142 Centerline is valid? [True, True] Translation: X:349.55, Y:3.32, Z:2.40 [[ 9.98100888e-01 -6.04561034e-02 -1.18184980e-02 3.49553884e+02] [ 6.04582129e-02 9.98170713e-01 -1.79026382e-04 3.31855325e+00] [ 1.18077018e-02 -5.35838877e-04 9.99930143e-01 2.40234378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96925415399994 meters 0.0214807225705788 Centerline is valid? [True, True] Translation: X:349.59, Y:3.33, Z:2.40 [[ 9.98280068e-01 -5.73807864e-02 -1.20145903e-02 3.49585420e+02] [ 5.73827463e-02 9.98352236e-01 -1.81822701e-04 3.32728065e+00] [ 1.20052262e-02 -5.07920210e-04 9.99927806e-01 2.40315496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99925415399997 meters 0.020601249906527803 Centerline is valid? [True, True] Translation: X:349.62, Y:3.33, Z:2.40 [[ 9.98439843e-01 -5.45156801e-02 -1.20797326e-02 3.49617168e+02] [ 5.45174600e-02 9.98512801e-01 -1.82136558e-04 3.33036529e+00] [ 1.20716969e-02 -4.76703943e-04 9.99927021e-01 2.40345723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.02925415399994 meters 0.019700612868067364 Centerline is valid? [True, True] Translation: X:349.65, Y:3.33, Z:2.40 [[ 9.98688710e-01 -4.99092510e-02 -1.13985504e-02 3.49647321e+02] [ 4.99105402e-02 9.98753678e-01 -1.71504510e-04 3.33446837e+00] [ 1.13929038e-02 -3.97628191e-04 9.99935020e-01 2.40368251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.059254154 meters 0.019104640658490643 Centerline is valid? [True, True] Translation: X:349.68, Y:3.34, Z:2.40 [[ 9.98800420e-01 -4.76676071e-02 -1.12035535e-02 3.49679232e+02] [ 4.76687152e-02 9.98863186e-01 -1.68263154e-04 3.33665900e+00] [ 1.11988378e-02 -3.65997690e-04 9.99937224e-01 2.40414431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.08925415399995 meters 0.01872767415226755 Centerline is valid? [True, True] Translation: X:349.71, Y:3.34, Z:2.40 [[ 9.98913926e-01 -4.53665949e-02 -1.06226047e-02 3.49710486e+02] [ 4.53674717e-02 9.98970354e-01 -1.58537698e-04 3.33886564e+00] [ 1.06188595e-02 -3.23555202e-04 9.99943566e-01 2.40446073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.119254154 meters 0.017141681401006057 Centerline is valid? [True, True] Translation: X:349.74, Y:3.34, Z:2.40 [[ 9.99081705e-01 -4.15878409e-02 -1.03052505e-02 3.49741639e+02] [ 4.15884763e-02 9.99134813e-01 -1.52718562e-04 3.34396332e+00] [ 1.03026858e-02 -2.76001345e-04 9.99946888e-01 2.40467499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.14925415399995 meters 0.016128176471070153 Centerline is valid? [True, True] Translation: X:349.77, Y:3.35, Z:2.40 [[ 9.99166272e-01 -3.94894835e-02 -1.03605487e-02 3.49774000e+02] [ 3.94900183e-02 9.99219953e-01 -1.53034957e-04 3.34740164e+00] [ 1.03585103e-02 -2.56230890e-04 9.99946316e-01 2.40485556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.179254154 meters 0.015475746033708866 Centerline is valid? [True, True] Translation: X:349.81, Y:3.35, Z:2.40 [[ 9.99252079e-01 -3.72079372e-02 -1.05286018e-02 3.49806191e+02] [ 3.72083710e-02 9.99307517e-01 -1.54737811e-04 3.35010303e+00] [ 1.05270684e-02 -2.37130044e-04 9.99944561e-01 2.40471494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.20925415399995 meters 0.014650713339817134 Centerline is valid? [True, True] Translation: X:349.84, Y:3.35, Z:2.40 [[ 9.99408336e-01 -3.26330963e-02 -1.08654898e-02 3.49836122e+02] [ 3.26332945e-02 9.99467380e-01 -1.59093436e-04 3.35403480e+00] [ 1.08648943e-02 -1.95577421e-04 9.99940956e-01 2.40424860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.239254154 meters 0.014049278204515743 Centerline is valid? [True, True] Translation: X:349.87, Y:3.36, Z:2.40 [[ 9.99489610e-01 -3.00396911e-02 -1.08690806e-02 3.49867813e+02] [ 3.00397406e-02 9.99548693e-01 -1.58737354e-04 3.35604830e+00] [ 1.08689437e-02 -1.67848026e-04 9.99940917e-01 2.40435823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.26925415399995 meters 0.013594887686524294 Centerline is valid? [True, True] Translation: X:349.90, Y:3.36, Z:2.40 [[ 9.99558057e-01 -2.78043020e-02 -1.05172333e-02 3.49900298e+02] [ 2.78042324e-02 9.99613376e-01 -1.52861552e-04 3.35795977e+00] [ 1.05174173e-02 -1.39629602e-04 9.99944681e-01 2.40445082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.299254154 meters 0.013379097287779109 Centerline is valid? [True, True] Translation: X:349.93, Y:3.36, Z:2.40 [[ 9.99615479e-01 -2.58405833e-02 -1.00577485e-02 3.49931349e+02] [ 2.58404266e-02 9.99666070e-01 -1.45545066e-04 3.35948775e+00] [ 1.00581509e-02 -1.14407412e-04 9.99949409e-01 2.40450635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.32925415399995 meters 0.013132763017123324 Centerline is valid? [True, True] Translation: X:349.96, Y:3.36, Z:2.40 [[ 9.99682438e-01 -2.34022454e-02 -9.34658662e-03 3.49962438e+02] [ 2.34020080e-02 9.99726126e-01 -1.34784950e-04 3.36150469e+00] [ 9.34718111e-03 -8.39867467e-05 9.99956311e-01 2.40453415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.359254154 meters 0.012962521469009548 Centerline is valid? [True, True] Translation: X:349.99, Y:3.36, Z:2.40 [[ 9.99704098e-01 -2.25041131e-02 -9.23480665e-03 3.49994960e+02] [ 2.25038478e-02 9.99746748e-01 -1.32653452e-04 3.36210191e+00] [ 9.23545316e-03 -7.52044840e-05 9.99957349e-01 2.40424710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.38925415399996 meters 0.013025725788785494 Centerline is valid? [True, True] Translation: X:350.03, Y:3.36, Z:2.40 [[ 9.99713195e-01 -2.21688429e-02 -9.05927270e-03 3.50027625e+02] [ 2.21685794e-02 9.99754238e-01 -1.29512146e-04 3.36258420e+00] [ 9.05991742e-03 -7.13562050e-05 9.99958956e-01 2.40411712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41925415399993 meters 0.013167244620351265 Centerline is valid? [True, True] Translation: X:350.06, Y:3.36, Z:2.40 [[ 9.99707869e-01 -2.23141233e-02 -9.28747185e-03 3.50060331e+02] [ 2.23138588e-02 9.99751006e-01 -1.32114216e-04 3.36215707e+00] [ 9.28810734e-03 -7.51637143e-05 9.99956862e-01 2.40309475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.44925415399996 meters 0.013212447843960957 Centerline is valid? [True, True] Translation: X:350.09, Y:3.36, Z:2.40 [[ 9.99694081e-01 -2.27948519e-02 -9.59891362e-03 3.50092849e+02] [ 2.27945982e-02 9.99740160e-01 -1.35847493e-04 3.36185090e+00] [ 9.59951606e-03 -8.29974439e-05 9.99953920e-01 2.40257339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47925415399993 meters 0.013399464328487216 Centerline is valid? [True, True] Translation: X:350.13, Y:3.36, Z:2.40 [[ 9.99649058e-01 -2.45938757e-02 -9.84390811e-03 3.50125371e+02] [ 2.45937031e-02 9.99697520e-01 -1.38596635e-04 3.35952118e+00] [ 9.84433915e-03 -1.03550158e-04 9.99951538e-01 2.40213291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.50925415399996 meters 0.013727487069384443 Centerline is valid? [True, True] Translation: X:350.16, Y:3.36, Z:2.40 [[ 9.99624338e-01 -2.57608023e-02 -9.35755164e-03 3.50157349e+02] [ 2.57607036e-02 9.99668129e-01 -1.31103132e-04 3.35832063e+00] [ 9.35782347e-03 -1.10003233e-04 9.99956209e-01 2.40198879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53925415399993 meters 0.01482763119784215 Centerline is valid? [True, True] Translation: X:350.19, Y:3.35, Z:2.40 [[ 9.99530653e-01 -2.92999641e-02 -8.94346892e-03 3.50188496e+02] [ 2.93000217e-02 9.99570654e-01 -1.24612383e-04 3.35301016e+00] [ 8.94328022e-03 -1.37489937e-04 9.99959999e-01 2.40274105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.56925415399996 meters 0.01606959137526873 Centerline is valid? [True, True] Translation: X:350.22, Y:3.35, Z:2.40 [[ 9.99486346e-01 -3.10074326e-02 -8.09836451e-03 3.50220797e+02] [ 3.10075418e-02 9.99519144e-01 -1.12106572e-04 3.35082948e+00] [ 8.09794650e-03 -1.39061388e-04 9.99967201e-01 2.40278116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59925415399994 meters 0.016515701250815286 Centerline is valid? [True, True] Translation: X:350.25, Y:3.35, Z:2.40 [[ 9.99427027e-01 -3.28340924e-02 -8.21828697e-03 3.50252514e+02] [ 3.28342711e-02 9.99460804e-01 -1.13206793e-04 3.35001284e+00] [ 8.21757274e-03 -1.56699534e-04 9.99966223e-01 2.40267664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.62925415399997 meters 0.016136932288856022 Centerline is valid? [True, True] Translation: X:350.28, Y:3.35, Z:2.40 [[ 9.99345273e-01 -3.53383080e-02 -7.76073095e-03 3.50284697e+02] [ 3.53385461e-02 9.99375393e-01 -1.06487059e-04 3.34745022e+00] [ 7.75964661e-03 -1.67835610e-04 9.99969879e-01 2.40314086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65925415399994 meters 0.016790801853353205 Centerline is valid? [True, True] Translation: X:350.32, Y:3.34, Z:2.40 [[ 9.99198569e-01 -3.91652312e-02 -8.26465718e-03 3.50316925e+02] [ 3.91656372e-02 9.99232726e-01 -1.12772077e-04 3.34399558e+00] [ 8.26273267e-03 -2.11008867e-04 9.99965841e-01 2.40267416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68925415399997 meters 0.017203121205900927 Centerline is valid? [True, True] Translation: X:350.35, Y:3.34, Z:2.40 [[ 9.99139662e-01 -4.05610938e-02 -8.64486948e-03 3.50348955e+02] [ 4.05615960e-02 9.99177033e-01 -1.17301856e-04 3.34223563e+00] [ 8.64251293e-03 -2.33448766e-04 9.99962626e-01 2.40246460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71925415399994 meters 0.017963071341428848 Centerline is valid? [True, True] Translation: X:350.38, Y:3.34, Z:2.40 [[ 9.99108005e-01 -4.13705926e-02 -8.46569518e-03 3.50381391e+02] [ 4.13711084e-02 9.99143843e-01 -1.14260978e-04 3.34045644e+00] [ 8.46317425e-03 -2.36076135e-04 9.99964159e-01 2.40218725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74925415399997 meters 0.018333557018244965 Centerline is valid? [True, True] Translation: X:350.41, Y:3.34, Z:2.40 [[ 9.99064507e-01 -4.24427806e-02 -8.28987713e-03 3.50412125e+02] [ 4.24433166e-02 9.99098870e-01 -1.11344091e-04 3.33889016e+00] [ 8.28713263e-03 -2.40609950e-04 9.99965632e-01 2.40242447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.77925415399994 meters 0.02009289054514354 Centerline is valid? [True, True] Translation: X:350.44, Y:3.34, Z:2.40 [[ 9.99033586e-01 -4.32761367e-02 -7.68569632e-03 3.50444542e+02] [ 4.32766242e-02 9.99063123e-01 -1.02941034e-04 3.33695747e+00] [ 7.68295066e-03 -2.29769441e-04 9.99970459e-01 2.40210118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.809254154 meters 0.019503455673564117 Centerline is valid? [True, True] Translation: X:350.48, Y:3.34, Z:2.40 [[ 9.98979172e-01 -4.45733437e-02 -7.33701096e-03 3.50475600e+02] [ 4.45738269e-02 9.99006088e-01 -9.77401353e-05 3.33546284e+00] [ 7.33407522e-03 -2.29398297e-04 9.99973079e-01 2.40353882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.83925415399995 meters 0.019453800533383088 Centerline is valid? [True, True] Translation: X:350.51, Y:3.33, Z:2.40 [[ 9.98940507e-01 -4.54663439e-02 -7.11857434e-03 3.50508239e+02] [ 4.54668275e-02 9.98965845e-01 -9.39681875e-05 3.33460575e+00] [ 7.11548501e-03 -2.29790362e-04 9.99974658e-01 2.40395088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.869254154 meters 0.020381726496553943 Centerline is valid? [True, True] Translation: X:350.54, Y:3.33, Z:2.40 [[ 9.98925106e-01 -4.57689371e-02 -7.33736640e-03 3.50539716e+02] [ 4.57694630e-02 9.98952024e-01 -9.63171251e-05 3.33273736e+00] [ 7.33408535e-03 -2.39613726e-04 9.99973077e-01 2.40399004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.89925415399995 meters 0.019957991558544403 Centerline is valid? [True, True] Translation: X:350.57, Y:3.33, Z:2.40 [[ 9.98891138e-01 -4.64737139e-02 -7.52909975e-03 3.50572072e+02] [ 4.64742909e-02 9.98919482e-01 -9.84066118e-05 3.33325156e+00] [ 7.52553774e-03 -2.51612079e-04 9.99971651e-01 2.40411236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.929254154 meters 0.022159383393414448 Centerline is valid? [True, True] Translation: X:350.60, Y:3.33, Z:2.40 [[ 9.98836316e-01 -4.76133061e-02 -7.68027995e-03 3.50603626e+02] [ 4.76139443e-02 9.98865808e-01 -9.98330292e-05 3.32951140e+00] [ 7.67632242e-03 -2.65971567e-04 9.99970501e-01 2.40391075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.95925415399995 meters 0.02252651482871716 Centerline is valid? [True, True] Translation: X:350.64, Y:3.33, Z:2.40 [[ 9.98803075e-01 -4.82606750e-02 -7.95773099e-03 3.50635856e+02] [ 4.82613843e-02 9.98834735e-01 -1.02983077e-04 3.32905669e+00] [ 7.95342816e-03 -2.81191300e-04 9.99968331e-01 2.40426825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.989254154 meters 0.02038809216547367 Centerline is valid? [True, True] Translation: X:350.67, Y:3.33, Z:2.40 [[ 9.98766298e-01 -4.89372367e-02 -8.42787597e-03 3.50668402e+02] [ 4.89380616e-02 9.98801809e-01 -1.08451190e-04 3.33310595e+00] [ 8.42308507e-03 -3.04126519e-04 9.99964479e-01 2.40470641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.01925415399995 meters 0.023061312924580295 Centerline is valid? [True, True] Translation: X:350.70, Y:3.33, Z:2.40 [[ 9.98740695e-01 -4.93250458e-02 -9.16868195e-03 3.50700656e+02] [ 4.93260450e-02 9.98782723e-01 -1.17268289e-04 3.33301411e+00] [ 9.16330539e-03 -3.35134206e-04 9.99957960e-01 2.40275833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.049254154 meters 0.02046449946288946 Centerline is valid? [True, True] Translation: X:350.73, Y:3.33, Z:2.40 [[ 9.98660843e-01 -5.07733028e-02 -9.92934699e-03 3.50733051e+02] [ 5.07745537e-02 9.98710133e-01 -1.26226560e-04 3.33428530e+00] [ 9.92294839e-03 -3.78100639e-04 9.99950695e-01 2.40483578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.07925415399995 meters 0.02050693324937453 Centerline is valid? [True, True] Translation: X:350.76, Y:3.33, Z:2.40 [[ 9.98634843e-01 -5.12465646e-02 -1.01113377e-02 3.50764936e+02] [ 5.12478937e-02 9.98685955e-01 -1.27779141e-04 3.33490280e+00] [ 1.01045992e-02 -3.90580058e-04 9.99948871e-01 2.40486731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.109254154 meters 0.020958403038927407 Centerline is valid? [True, True] Translation: X:350.80, Y:3.34, Z:2.41 [[ 9.98590735e-01 -5.19951858e-02 -1.06322485e-02 3.50797461e+02] [ 5.19967064e-02 9.98647247e-01 -1.33543190e-04 3.33547886e+00] [ 1.06248093e-02 -4.19486912e-04 9.99943467e-01 2.40542848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.13925415399996 meters 0.021197770407626895 Centerline is valid? [True, True] Translation: X:350.83, Y:3.34, Z:2.41 [[ 9.98600821e-01 -5.18487808e-02 -1.03973043e-02 3.50830131e+02] [ 5.18502363e-02 9.98654863e-01 -1.29703670e-04 3.33590411e+00] [ 1.03900435e-02 -4.09580496e-04 9.99945938e-01 2.40582907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.16925415399993 meters 0.022649718731713144 Centerline is valid? [True, True] Translation: X:350.86, Y:3.34, Z:2.41 [[ 9.98646966e-01 -5.10213518e-02 -1.00528427e-02 3.50862268e+02] [ 5.10226803e-02 9.98697487e-01 -1.24430385e-04 3.33742929e+00] [ 1.00460974e-02 -3.88660953e-04 9.99949461e-01 2.40503089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.19925415399996 meters 0.021305412429140823 Centerline is valid? [True, True] Translation: X:350.89, Y:3.34, Z:2.41 [[ 9.98677388e-01 -5.05439494e-02 -9.42247028e-03 3.50893347e+02] [ 5.05451012e-02 9.98721773e-01 -1.16008333e-04 3.33915649e+00] [ 9.41628974e-03 -3.60404814e-04 9.99955601e-01 2.40791134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.22925415399993 meters 0.02086502851165211 Centerline is valid? [True, True] Translation: X:350.93, Y:3.34, Z:2.41 [[ 9.98740116e-01 -4.93986750e-02 -8.82897775e-03 3.50925251e+02] [ 4.93996460e-02 9.98779086e-01 -1.08203357e-04 3.34113942e+00] [ 8.82354344e-03 -3.28081342e-04 9.99961018e-01 2.40856170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.25925415399996 meters 0.02063273772558667 Centerline is valid? [True, True] Translation: X:350.96, Y:3.34, Z:2.41 [[ 9.98805866e-01 -4.81704972e-02 -8.15143875e-03 3.50957217e+02] [ 4.81712886e-02 9.98839085e-01 -9.93415874e-05 3.34260078e+00] [ 8.14676096e-03 -2.93442348e-04 9.99966772e-01 2.40925485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.28925415399993 meters 0.02195115033062668 Centerline is valid? [True, True] Translation: X:350.99, Y:3.35, Z:2.41 [[ 9.98957193e-01 -4.50898848e-02 -7.17142516e-03 3.50988720e+02] [ 4.50904212e-02 9.98982906e-01 -8.69443801e-05 3.34659784e+00] [ 7.16805146e-03 -2.36508868e-04 9.99974281e-01 2.40799148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31925415399996 meters 0.020200566162148773 Centerline is valid? [True, True] Translation: X:351.02, Y:3.35, Z:2.41 [[ 9.98970345e-01 -4.47721433e-02 -7.32839650e-03 3.51020347e+02] [ 4.47726974e-02 9.98997196e-01 -8.85140132e-05 3.34752609e+00] [ 7.32501052e-03 -2.39689205e-04 9.99973143e-01 2.41057903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.34925415399994 meters 0.020753659020169807 Centerline is valid? [True, True] Translation: X:351.05, Y:3.35, Z:2.41 [[ 9.99030378e-01 -4.34876827e-02 -6.86480889e-03 3.51051216e+02] [ 4.34881466e-02 9.99053940e-01 -8.17448571e-05 3.34884999e+00] [ 6.86186926e-03 -2.16872220e-04 9.99976434e-01 2.41020760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37925415399997 meters 0.02040028716408373 Centerline is valid? [True, True] Translation: X:351.08, Y:3.35, Z:2.41 [[ 9.99069780e-01 -4.24589089e-02 -7.53760701e-03 3.51082007e+02] [ 4.24594474e-02 9.99098187e-01 -8.86384222e-05 3.35149094e+00] [ 7.53457299e-03 -2.31486659e-04 9.99971588e-01 2.41069217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.40925415399994 meters 0.020004574034420183 Centerline is valid? [True, True] Translation: X:351.11, Y:3.35, Z:2.41 [[ 9.99095786e-01 -4.17774110e-02 -7.89037596e-03 3.51113942e+02] [ 4.17779834e-02 9.99126915e-01 -9.23358073e-05 3.35330736e+00] [ 7.88734454e-03 -2.37391680e-04 9.99968866e-01 2.41050888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43925415399997 meters 0.020520461256852522 Centerline is valid? [True, True] Translation: X:351.15, Y:3.35, Z:2.41 [[ 9.99104497e-01 -4.14154045e-02 -8.65844540e-03 3.51145078e+02] [ 4.14160856e-02 9.99141981e-01 -1.00699338e-04 3.35484076e+00] [ 8.65518679e-03 -2.57989754e-04 9.99962510e-01 2.41041040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.46925415399994 meters 0.019298063485833964 Centerline is valid? [True, True] Translation: X:351.18, Y:3.36, Z:2.41 [[ 9.99120264e-01 -4.10337867e-02 -8.65604297e-03 3.51177604e+02] [ 4.10344574e-02 9.99157727e-01 -1.00184608e-04 3.35789676e+00] [ 8.65286317e-03 -2.55099554e-04 9.99962531e-01 2.41060916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49925415399997 meters 0.019194382369530024 Centerline is valid? [True, True] Translation: X:351.21, Y:3.36, Z:2.41 [[ 9.99140625e-01 -4.04914438e-02 -8.85742166e-03 3.51209916e+02] [ 4.04921305e-02 9.99179852e-01 -1.01869678e-04 3.35889207e+00] [ 8.85428211e-03 -2.56873739e-04 9.99960767e-01 2.41049749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.52925415399994 meters 0.018125212934239073 Centerline is valid? [True, True] Translation: X:351.24, Y:3.36, Z:2.41 [[ 9.99182793e-01 -3.93328320e-02 -9.30988461e-03 3.51242433e+02] [ 3.93335468e-02 9.99226131e-01 -1.06377761e-04 3.36258271e+00] [ 9.30686412e-03 -2.59899954e-04 9.99956656e-01 2.41057607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.559254154 meters 0.017711157538694955 Centerline is valid? [True, True] Translation: X:351.27, Y:3.36, Z:2.41 [[ 9.99210866e-01 -3.84587125e-02 -9.92842046e-03 3.51274251e+02] [ 3.84594900e-02 9.99260154e-01 -1.12680764e-04 3.36457330e+00] [ 9.92540852e-03 -2.69250143e-04 9.99950706e-01 2.41092042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.58925415399995 meters 0.017711157538694955 Centerline is valid? [True, True] Translation: X:351.31, Y:3.36, Z:2.41 [[ 9.99215143e-01 -3.83474210e-02 -9.92843001e-03 3.51306803e+02] [ 3.83482014e-02 9.99264431e-01 -1.11834217e-04 3.36485319e+00] [ 9.92541552e-03 -2.68990991e-04 9.99950706e-01 2.41114584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.619254154 meters 0.01788004603752267 Centerline is valid? [True, True] Translation: X:351.34, Y:3.37, Z:2.41 [[ 9.99238339e-01 -3.76107591e-02 -1.04006178e-02 3.51338082e+02] [ 3.76115860e-02 9.99292427e-01 -1.16152999e-04 3.36574229e+00] [ 1.03976272e-02 -2.75119200e-04 9.99945905e-01 2.41088633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.64925415399995 meters 0.019449377397619018 Centerline is valid? [True, True] Translation: X:351.37, Y:3.37, Z:2.41 [[ 9.99291363e-01 -3.58909144e-02 -1.13408109e-02 3.51369949e+02] [ 3.58917953e-02 9.99355674e-01 -1.25910155e-04 3.36764561e+00] [ 1.13380227e-02 -2.81221133e-04 9.99935683e-01 2.40858116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.679254154 meters 0.017565578430942336 Centerline is valid? [True, True] Translation: X:351.40, Y:3.37, Z:2.41 [[ 9.99296948e-01 -3.52619843e-02 -1.27358380e-02 3.51401132e+02] [ 3.52630556e-02 9.99378055e-01 -1.40503022e-04 3.36782535e+00] [ 1.27328714e-02 -3.08700321e-04 9.99918886e-01 2.40941558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.70925415399995 meters 0.017460800906101616 Centerline is valid? [True, True] Translation: X:351.43, Y:3.37, Z:2.41 [[ 9.99308088e-01 -3.49423526e-02 -1.27427425e-02 3.51433151e+02] [ 3.49434093e-02 9.99389283e-01 -1.39779183e-04 3.36799709e+00] [ 1.27398445e-02 -3.05592399e-04 9.99918798e-01 2.40983092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.739254154 meters 0.018076613744444747 Centerline is valid? [True, True] Translation: X:351.46, Y:3.37, Z:2.41 [[ 9.99320702e-01 -3.46243163e-02 -1.26210429e-02 3.51463896e+02] [ 3.46253424e-02 9.99400354e-01 -1.37262269e-04 3.36685088e+00] [ 1.26182273e-02 -2.99838904e-04 9.99920342e-01 2.40970976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.76925415399995 meters 0.01711188435435204 Centerline is valid? [True, True] Translation: X:351.50, Y:3.37, Z:2.41 [[ 9.99304649e-01 -3.51388659e-02 -1.24690893e-02 3.51496513e+02] [ 3.51399230e-02 9.99382393e-01 -1.34369381e-04 3.36934520e+00] [ 1.24661099e-02 -3.03886892e-04 9.99922249e-01 2.41160470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.799254154 meters 0.018060052689907246 Centerline is valid? [True, True] Translation: X:351.53, Y:3.37, Z:2.41 [[ 9.99305488e-01 -3.50914685e-02 -1.25351476e-02 3.51527846e+02] [ 3.50925435e-02 9.99384058e-01 -1.34252217e-04 3.36763645e+00] [ 1.25321378e-02 -3.05731237e-04 9.99921423e-01 2.41162282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.82925415399995 meters 0.017213648707428007 Centerline is valid? [True, True] Translation: X:351.56, Y:3.37, Z:2.41 [[ 9.99306175e-01 -3.51160020e-02 -1.24110964e-02 3.51560461e+02] [ 3.51170674e-02 9.99383197e-01 -1.32138405e-04 3.36841936e+00] [ 1.24080814e-02 -3.03794587e-04 9.99922971e-01 2.41271791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.859254154 meters 0.017640528545496737 Centerline is valid? [True, True] Translation: X:351.59, Y:3.37, Z:2.41 [[ 9.99282878e-01 -3.56193498e-02 -1.28449176e-02 3.51591746e+02] [ 3.56205436e-02 9.99365378e-01 -1.35901656e-04 3.36640365e+00] [ 1.28416066e-02 -3.21738749e-04 9.99917491e-01 2.41249065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.88925415399996 meters 0.018651455258477563 Centerline is valid? [True, True] Translation: X:351.62, Y:3.37, Z:2.41 [[ 9.99270625e-01 -3.56387343e-02 -1.37148910e-02 3.51624126e+02] [ 3.56401096e-02 9.99364679e-01 -1.44197036e-04 3.36610302e+00] [ 1.37113167e-02 -3.44708356e-04 9.99905936e-01 2.41040908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91925415399993 meters 0.01803021377704206 Centerline is valid? [True, True] Translation: X:351.66, Y:3.36, Z:2.41 [[ 9.99186034e-01 -3.74095928e-02 -1.50927572e-02 3.51656647e+02] [ 3.74114779e-02 9.99299933e-01 -1.57519390e-04 3.36337770e+00] [ 1.50880840e-02 -4.07251177e-04 9.99886085e-01 2.41064694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.94925415399996 meters 0.01812517125120217 Centerline is valid? [True, True] Translation: X:351.69, Y:3.36, Z:2.41 [[ 9.99146103e-01 -3.81557252e-02 -1.58494743e-02 3.51689229e+02] [ 3.81579168e-02 9.99271708e-01 -1.64221762e-04 3.36310004e+00] [ 1.58441973e-02 -4.40701389e-04 9.99874376e-01 2.41080178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97925415399993 meters 0.018336447316894603 Centerline is valid? [True, True] Translation: X:351.72, Y:3.36, Z:2.41 [[ 9.99126228e-01 -3.84777754e-02 -1.63168924e-02 3.51720953e+02] [ 3.84801582e-02 9.99259350e-01 -1.68017844e-04 3.36225702e+00] [ 1.63112723e-02 -4.60005567e-04 9.99866857e-01 2.41080960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.00925415399996 meters 0.018437368208616856 Centerline is valid? [True, True] Translation: X:351.75, Y:3.36, Z:2.41 [[ 9.99127829e-01 -3.80449643e-02 -1.72093814e-02 3.51752870e+02] [ 3.80475708e-02 9.99275914e-01 -1.76049149e-04 3.36136716e+00] [ 1.72036181e-02 -4.78879553e-04 9.99851892e-01 2.41085593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03925415399993 meters 0.018283171329934022 Centerline is valid? [True, True] Translation: X:351.78, Y:3.36, Z:2.41 [[ 9.99175081e-01 -3.68289202e-02 -1.71110622e-02 3.51784265e+02] [ 3.68313337e-02 9.99321481e-01 -1.74167530e-04 3.36139576e+00] [ 1.71058665e-02 -4.56199388e-04 9.99853580e-01 2.41134553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.06925415399996 meters 0.01785893455468933 Centerline is valid? [True, True] Translation: X:351.82, Y:3.36, Z:2.41 [[ 9.99238602e-01 -3.49378155e-02 -1.73656412e-02 3.51815868e+02] [ 3.49400271e-02 9.99389395e-01 -1.76123727e-04 3.36260198e+00] [ 1.73611911e-02 -4.30766348e-04 9.99849190e-01 2.41222661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09925415399994 meters 0.018719920355979698 Centerline is valid? [True, True] Translation: X:351.85, Y:3.36, Z:2.41 [[ 9.99408955e-01 -2.94827647e-02 -1.76778725e-02 3.51846332e+02] [ 2.94842255e-02 9.99565230e-01 -1.78043494e-04 3.36470390e+00] [ 1.76754359e-02 -3.43280115e-04 9.99843718e-01 2.41168578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.12925415399997 meters 0.016326293271723906 Centerline is valid? [True, True] Translation: X:351.88, Y:3.37, Z:2.41 [[ 9.99486593e-01 -2.73987992e-02 -1.66089310e-02 3.51877174e+02] [ 2.73998110e-02 9.99624541e-01 -1.66677778e-04 3.36587622e+00] [ 1.66072618e-02 -2.88489368e-04 9.99862048e-01 2.41414423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15925415399994 meters 0.015848738159015458 Centerline is valid? [True, True] Translation: X:351.91, Y:3.37, Z:2.41 [[ 9.99558919e-01 -2.47417404e-02 -1.64260274e-02 3.51907421e+02] [ 2.47423713e-02 9.99693847e-01 -1.64842261e-04 3.36683582e+00] [ 1.64250770e-02 -2.41649318e-04 9.99865070e-01 2.41442503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18925415399997 meters 0.015372688777868628 Centerline is valid? [True, True] Translation: X:351.94, Y:3.37, Z:2.41 [[ 9.99663072e-01 -2.00058107e-02 -1.65381584e-02 3.51937204e+02] [ 2.00057995e-02 9.99799850e-01 -1.66137370e-04 3.36763859e+00] [ 1.65381720e-02 -1.64777687e-04 9.99863222e-01 2.41447516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21925415399994 meters 0.014888481845729884 Centerline is valid? [True, True] Translation: X:351.97, Y:3.37, Z:2.42 [[ 9.99695150e-01 -1.83640171e-02 -1.65036530e-02 3.51965724e+02] [ 1.83637402e-02 9.99831358e-01 -1.68337643e-04 3.36854781e+00] [ 1.65039612e-02 -1.34782470e-04 9.99863791e-01 2.41534358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24925415399997 meters 0.014773457646190426 Centerline is valid? [True, True] Translation: X:351.99, Y:3.37, Z:2.42 [[ 9.99710529e-01 -1.73212916e-02 -1.66982087e-02 3.51994129e+02] [ 1.73207919e-02 9.99849969e-01 -1.74563509e-04 3.36836241e+00] [ 1.66987271e-02 -1.14713219e-04 9.99860560e-01 2.41556826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.27925415399994 meters 0.016510093433934236 Centerline is valid? [True, True] Translation: X:352.02, Y:3.37, Z:2.41 [[ 9.99698836e-01 -1.65484047e-02 -1.81214555e-02 3.52022467e+02] [ 1.65476365e-02 9.99863060e-01 -1.92345122e-04 3.36594550e+00] [ 1.81221569e-02 -1.07580063e-04 9.99835774e-01 2.41351694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.309254154 meters 0.014684184440025845 Centerline is valid? [True, True] Translation: X:352.05, Y:3.36, Z:2.42 [[ 9.99676693e-01 -1.80914805e-02 -1.78663729e-02 3.52050107e+02] [ 1.80909120e-02 9.99836327e-01 -1.93452815e-04 3.36413020e+00] [ 1.78669485e-02 -1.29828710e-04 9.99840365e-01 2.41530242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.33925415399995 meters 0.016002873931511584 Centerline is valid? [True, True] Translation: X:352.08, Y:3.36, Z:2.41 [[ 9.99641206e-01 -1.92253362e-02 -1.86506327e-02 3.52077994e+02] [ 1.92248547e-02 9.99815164e-01 -2.05123177e-04 3.36124326e+00] [ 1.86511289e-02 -1.53506123e-04 9.99826041e-01 2.41319265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.369254154 meters 0.0154050089082291 Centerline is valid? [True, True] Translation: X:352.11, Y:3.36, Z:2.41 [[ 9.99526872e-01 -2.44681034e-02 -1.86371568e-02 3.52107235e+02] [ 2.44685061e-02 9.99700580e-01 -2.06455985e-04 3.35544505e+00] [ 1.86366280e-02 -2.49665079e-04 9.99826292e-01 2.41443966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.39925415399995 meters 0.015911566369547145 Centerline is valid? [True, True] Translation: X:352.14, Y:3.35, Z:2.41 [[ 9.99420639e-01 -2.79526750e-02 -1.94173489e-02 3.52135795e+02] [ 2.79536973e-02 9.99609195e-01 -2.18819672e-04 3.35173926e+00] [ 1.94158771e-02 -3.24093798e-04 9.99811442e-01 2.41438890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.429254154 meters 0.01674377979844858 Centerline is valid? [True, True] Translation: X:352.16, Y:3.35, Z:2.41 [[ 9.99303002e-01 -3.17806609e-02 -1.95831453e-02 3.52164829e+02] [ 3.17823870e-02 9.99494787e-01 -2.23162751e-04 3.34748290e+00] [ 1.95803439e-02 -3.99391895e-04 9.99808207e-01 2.41406794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.45925415399995 meters 0.019064264390295755 Centerline is valid? [True, True] Translation: X:352.20, Y:3.34, Z:2.41 [[ 9.99047828e-01 -3.90553526e-02 -1.94452065e-02 3.52195605e+02] [ 3.90584238e-02 9.99236904e-01 -2.21964542e-04 3.33961250e+00] [ 1.94390369e-02 -5.37745925e-04 9.99810899e-01 2.41357762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.489254154 meters 0.019664701542410862 Centerline is valid? [True, True] Translation: X:352.23, Y:3.34, Z:2.41 [[ 9.98907571e-01 -4.27771691e-02 -1.88089714e-02 3.52226433e+02] [ 4.27807056e-02 9.99084464e-01 -2.14486953e-04 3.33558139e+00] [ 1.88009262e-02 -5.90408426e-04 9.99823073e-01 2.41449561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.51925415399995 meters 0.019697964675225096 Centerline is valid? [True, True] Translation: X:352.26, Y:3.33, Z:2.42 [[ 9.98785083e-01 -4.57233867e-02 -1.83774292e-02 3.52257908e+02] [ 4.57272709e-02 9.98953939e-01 -2.09018565e-04 3.33364774e+00] [ 1.83677623e-02 -6.31585058e-04 9.99831099e-01 2.41556753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.549254154 meters 0.021447349662728165 Centerline is valid? [True, True] Translation: X:352.29, Y:3.33, Z:2.42 [[ 9.98589885e-01 -5.02981095e-02 -1.69806495e-02 3.52288338e+02] [ 5.03020930e-02 9.98734030e-01 -1.92709258e-04 3.32775328e+00] [ 1.69688454e-02 -6.61724694e-04 9.99855800e-01 2.41617547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.57925415399995 meters 0.02410896622313249 Centerline is valid? [True, True] Translation: X:352.32, Y:3.32, Z:2.41 [[ 9.98517605e-01 -5.15229662e-02 -1.75492663e-02 3.52319978e+02] [ 5.15274225e-02 9.98671560e-01 -1.98444980e-04 3.32473632e+00] [ 1.75361776e-02 -7.06117652e-04 9.99845980e-01 2.41464633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.609254154 meters 0.021887753551122668 Centerline is valid? [True, True] Translation: X:352.35, Y:3.32, Z:2.42 [[ 9.98419088e-01 -5.39889400e-02 -1.56371304e-02 3.52352271e+02] [ 5.39927953e-02 9.98541310e-01 -1.75826348e-04 3.32466623e+00] [ 1.56238133e-02 -6.68743996e-04 9.99877717e-01 2.41787980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.63925415399996 meters 0.025336904818399973 Centerline is valid? [True, True] Translation: X:352.38, Y:3.32, Z:2.42 [[ 9.98248620e-01 -5.73268553e-02 -1.46055953e-02 3.52382894e+02] [ 5.73305844e-02 9.98355236e-01 -1.63596852e-04 3.31630825e+00] [ 1.45909511e-02 -6.74036983e-04 9.99893319e-01 2.41797935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.66925415399993 meters 0.02518658581965454 Centerline is valid? [True, True] Translation: X:352.41, Y:3.32, Z:2.42 [[ 9.98144906e-01 -5.91323816e-02 -1.44951289e-02 3.52414639e+02] [ 5.91362522e-02 9.98249907e-01 -1.61814509e-04 3.31552924e+00] [ 1.44793296e-02 -6.95673271e-04 9.99894927e-01 2.41832740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.69925415399996 meters 0.025090273901766283 Centerline is valid? [True, True] Translation: X:352.45, Y:3.31, Z:2.42 [[ 9.98043346e-01 -6.08305269e-02 -1.44611916e-02 3.52446385e+02] [ 6.08345689e-02 9.98147849e-01 -1.60635801e-04 3.31428317e+00] [ 1.44441788e-02 -7.19418861e-04 9.99895419e-01 2.41900091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.72925415399993 meters 0.02804450704879439 Centerline is valid? [True, True] Translation: X:352.48, Y:3.31, Z:2.42 [[ 9.97988954e-01 -6.14348158e-02 -1.56144488e-02 3.52478082e+02] [ 6.14396230e-02 9.98110787e-01 -1.72098448e-04 3.31157328e+00] [ 1.55955227e-02 -7.87593500e-04 9.99878072e-01 2.41636715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.75925415399996 meters 0.031174472798683704 Centerline is valid? [True, True] Translation: X:352.51, Y:3.30, Z:2.42 [[ 9.97785881e-01 -6.50139108e-02 -1.40188461e-02 3.52508357e+02] [ 6.50181471e-02 9.97884070e-01 -1.53844905e-04 3.30340826e+00] [ 1.39991852e-02 -7.57975122e-04 9.99901719e-01 2.41769809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.78925415399993 meters 0.027913990872342753 Centerline is valid? [True, True] Translation: X:352.54, Y:3.31, Z:2.42 [[ 9.97700994e-01 -6.63468923e-02 -1.38136139e-02 3.52540414e+02] [ 6.63511398e-02 9.97796324e-01 -1.51085594e-04 3.30703106e+00] [ 1.37931972e-02 -7.65810780e-04 9.99904576e-01 2.41915493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81925415399996 meters 0.026818423295871387 Centerline is valid? [True, True] Translation: X:352.57, Y:3.31, Z:2.42 [[ 9.97627327e-01 -6.71638439e-02 -1.51239477e-02 3.52572062e+02] [ 6.71690530e-02 9.97741596e-01 -1.63842141e-04 3.30808391e+00] [ 1.51007960e-02 -8.52407847e-04 9.99885613e-01 2.41827533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.84925415399994 meters 0.028068456853239943 Centerline is valid? [True, True] Translation: X:352.60, Y:3.31, Z:2.42 [[ 9.97616578e-01 -6.71201012e-02 -1.60017023e-02 3.52602978e+02] [ 6.71259496e-02 9.97744495e-01 -1.71934671e-04 3.30651661e+00] [ 1.59771506e-02 -9.02604582e-04 9.99871950e-01 2.41734223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87925415399997 meters 0.029671086887549214 Centerline is valid? [True, True] Translation: X:352.63, Y:3.31, Z:2.41 [[ 9.97675014e-01 -6.57634245e-02 -1.78812314e-02 3.52634461e+02] [ 6.57705292e-02 9.97834756e-01 -1.91096075e-04 3.30584933e+00] [ 1.78550813e-02 -9.85406272e-04 9.99840100e-01 2.41474894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.90925415399994 meters 0.027526478811945677 Centerline is valid? [True, True] Translation: X:352.67, Y:3.31, Z:2.42 [[ 9.97688464e-01 -6.54212241e-02 -1.83791086e-02 3.52666199e+02] [ 6.54286950e-02 9.97857228e-01 -1.95174814e-04 3.30905184e+00] [ 1.83524949e-02 -1.00779743e-03 9.99831071e-01 2.41539416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93925415399997 meters 0.02820881489915229 Centerline is valid? [True, True] Translation: X:352.70, Y:3.31, Z:2.42 [[ 9.97699919e-01 -6.53140861e-02 -1.81367330e-02 3.52697615e+02] [ 6.53213765e-02 9.97864260e-01 -1.90781799e-04 3.30813253e+00] [ 1.81104584e-02 -9.94373379e-04 9.99835498e-01 2.41622203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.96925415399994 meters 0.02904417329252828 Centerline is valid? [True, True] Translation: X:352.73, Y:3.31, Z:2.41 [[ 9.97841190e-01 -6.28633656e-02 -1.90041172e-02 3.52728386e+02] [ 6.28709514e-02 9.98021645e-01 -1.98618439e-04 3.30922989e+00] [ 1.89790062e-02 -9.96617270e-04 9.99819386e-01 2.41472769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99925415399997 meters 0.025702020471033683 Centerline is valid? [True, True] Translation: X:352.76, Y:3.31, Z:2.42 [[ 9.97898147e-01 -6.22894800e-02 -1.78692053e-02 3.52760354e+02] [ 6.22961135e-02 9.98057694e-01 -1.85708307e-04 3.31425549e+00] [ 1.78460655e-02 -9.27864066e-04 9.99840316e-01 2.41800363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.02925415399994 meters 0.02612781685101276 Centerline is valid? [True, True] Translation: X:352.79, Y:3.32, Z:2.42 [[ 9.98009101e-01 -6.05199045e-02 -1.77531652e-02 3.52790864e+02] [ 6.05261855e-02 9.98166593e-01 -1.83792673e-04 3.31521531e+00] [ 1.77317396e-02 -8.91104613e-04 9.99842383e-01 2.41831255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.059254154 meters 0.027519469032039175 Centerline is valid? [True, True] Translation: X:352.82, Y:3.31, Z:2.42 [[ 9.98110650e-01 -5.89883784e-02 -1.71901569e-02 3.52822545e+02] [ 5.89940553e-02 9.98258318e-01 -1.77109731e-04 3.31464898e+00] [ 1.71706645e-02 -8.37341956e-04 9.99852223e-01 2.41907099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.08925415399995 meters 0.023638344489027845 Centerline is valid? [True, True] Translation: X:352.85, Y:3.32, Z:2.42 [[ 9.98420199e-01 -5.40195016e-02 -1.54596278e-02 3.52853588e+02] [ 5.40235075e-02 9.98539651e-01 -1.58682068e-04 3.32347706e+00] [ 1.54456233e-02 -6.76751940e-04 9.99880480e-01 2.42107751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.119254154 meters 0.022395770941507607 Centerline is valid? [True, True] Translation: X:352.89, Y:3.33, Z:2.42 [[ 9.98550046e-01 -5.19067136e-02 -1.42653306e-02 3.52885108e+02] [ 5.19099147e-02 9.98651761e-01 -1.46035637e-04 3.32641892e+00] [ 1.42536777e-02 -5.94688203e-04 9.99898234e-01 2.42254468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.14925415399995 meters 0.022992380801161397 Centerline is valid? [True, True] Translation: X:352.92, Y:3.33, Z:2.42 [[ 9.98684812e-01 -4.93489456e-02 -1.39042714e-02 3.52915576e+02] [ 4.93517444e-02 9.98781450e-01 -1.41961317e-04 3.32635472e+00] [ 1.38943340e-02 -5.44425437e-04 9.99903321e-01 2.42281684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.179254154 meters 0.022631926331900712 Centerline is valid? [True, True] Translation: X:352.95, Y:3.33, Z:2.42 [[ 9.98813881e-01 -4.67396585e-02 -1.36468265e-02 3.52946275e+02] [ 4.67421163e-02 9.98906980e-01 -1.38970151e-04 3.32819729e+00] [ 1.36384057e-02 -4.99076238e-04 9.99906868e-01 2.42277567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.20925415399995 meters 0.021369269655749302 Centerline is valid? [True, True] Translation: X:352.98, Y:3.33, Z:2.42 [[ 9.99035770e-01 -4.15332566e-02 -1.42309443e-02 3.52977415e+02] [ 4.15354072e-02 9.99137022e-01 -1.44530979e-04 3.33443439e+00] [ 1.42246661e-02 -4.46696449e-04 9.99898725e-01 2.42149818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.239254154 meters 0.020206793541803585 Centerline is valid? [True, True] Translation: X:353.01, Y:3.34, Z:2.42 [[ 9.99115549e-01 -3.95135384e-02 -1.43805475e-02 3.53009656e+02] [ 3.95155351e-02 9.99218946e-01 -1.45380315e-04 3.33778630e+00] [ 1.43750600e-02 -4.23003294e-04 9.99896584e-01 2.42223666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.26925415399995 meters 0.020099162859267296 Centerline is valid? [True, True] Translation: X:353.04, Y:3.34, Z:2.42 [[ 9.99218618e-01 -3.64709335e-02 -1.52323487e-02 3.53040628e+02] [ 3.64728334e-02 9.99334633e-01 -1.53148926e-04 3.34184149e+00] [ 1.52277990e-02 -4.02537656e-04 9.99883969e-01 2.42131182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.299254154 meters 0.017970103277854026 Centerline is valid? [True, True] Translation: X:353.07, Y:3.34, Z:2.42 [[ 9.99240964e-01 -3.59563709e-02 -1.49878359e-02 3.53071589e+02] [ 3.59581627e-02 9.99353285e-01 -1.49998103e-04 3.34304563e+00] [ 1.49835365e-02 -3.89050794e-04 9.99887665e-01 2.42322835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.32925415399995 meters 0.017560606007613572 Centerline is valid? [True, True] Translation: X:353.10, Y:3.35, Z:2.42 [[ 9.99266129e-01 -3.49957080e-02 -1.55725288e-02 3.53104112e+02] [ 3.49975419e-02 9.99387386e-01 -1.54821028e-04 3.34515731e+00] [ 1.55684070e-02 -3.90292821e-04 9.99878729e-01 2.42314898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.359254154 meters 0.017203660053737933 Centerline is valid? [True, True] Translation: X:353.14, Y:3.35, Z:2.42 [[ 9.99314073e-01 -3.31767544e-02 -1.64525527e-02 3.53135370e+02] [ 3.31785697e-02 9.99449426e-01 -1.62685755e-04 3.34727223e+00] [ 1.64488917e-02 -3.83298001e-04 9.99864634e-01 2.42219867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.38925415399996 meters 0.018283929153929516 Centerline is valid? [True, True] Translation: X:353.17, Y:3.35, Z:2.42 [[ 9.99346651e-01 -3.16310315e-02 -1.74856867e-02 3.53166619e+02] [ 3.16328568e-02 9.99499541e-01 -1.72249741e-04 3.34832698e+00] [ 1.74823842e-02 -3.80985021e-04 9.99847099e-01 2.42067683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41925415399993 meters 0.016562177148924065 Centerline is valid? [True, True] Translation: X:353.20, Y:3.35, Z:2.42 [[ 9.99363473e-01 -3.13011745e-02 -1.71138683e-02 3.53196900e+02] [ 3.13028789e-02 9.99509931e-01 -1.68340521e-04 3.35061375e+00] [ 1.71107506e-02 -3.67479981e-04 9.99853533e-01 2.42254559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.44925415399996 meters 0.016337276824642772 Centerline is valid? [True, True] Translation: X:353.23, Y:3.35, Z:2.42 [[ 9.99437135e-01 -2.94909019e-02 -1.59906085e-02 3.53226840e+02] [ 2.94921582e-02 9.99564999e-01 -1.57291579e-04 3.35298407e+00] [ 1.59882913e-02 -3.14394512e-04 9.99872130e-01 2.42334464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47925415399993 meters 0.016377777443500382 Centerline is valid? [True, True] Translation: X:353.26, Y:3.35, Z:2.42 [[ 9.99467691e-01 -2.87351093e-02 -1.54475957e-02 3.53256807e+02] [ 2.87361939e-02 9.99587019e-01 -1.51796257e-04 3.35363682e+00] [ 1.54455780e-02 -2.92189650e-04 9.99880667e-01 2.42403149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.50925415399996 meters 0.016377777443500382 Centerline is valid? [True, True] Translation: X:353.29, Y:3.35, Z:2.42 [[ 9.99468719e-01 -2.86993147e-02 -1.54475999e-02 3.53287657e+02] [ 2.87004016e-02 9.99588047e-01 -1.51365970e-04 3.35390931e+00] [ 1.54455803e-02 -2.92066768e-04 9.99880667e-01 2.42424525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53925415399993 meters 0.016218025944875793 Centerline is valid? [True, True] Translation: X:353.32, Y:3.36, Z:2.43 [[ 9.99515229e-01 -2.76825475e-02 -1.42472328e-02 3.53319423e+02] [ 2.76833758e-02 9.99616732e-01 -1.39109116e-04 3.35513553e+00] [ 1.42456232e-02 -2.55369821e-04 9.99898493e-01 2.42517726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.56925415399996 meters 0.016230545177511983 Centerline is valid? [True, True] Translation: X:353.35, Y:3.35, Z:2.43 [[ 9.99532165e-01 -2.71955750e-02 -1.39946755e-02 3.53349396e+02] [ 2.71963317e-02 9.99630102e-01 -1.36268360e-04 3.35451515e+00] [ 1.39932048e-02 -2.44399229e-04 9.99902060e-01 2.42557426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59925415399994 meters 0.015871886641833914 Centerline is valid? [True, True] Translation: X:353.38, Y:3.36, Z:2.43 [[ 9.99537259e-01 -2.70699095e-02 -1.38740108e-02 3.53380389e+02] [ 2.70706464e-02 9.99633514e-01 -1.34715140e-04 3.35610452e+00] [ 1.38725729e-02 -2.40925638e-04 9.99903742e-01 2.42610489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.62925415399997 meters 0.01635033253735789 Centerline is valid? [True, True] Translation: X:353.41, Y:3.35, Z:2.43 [[ 9.99538267e-01 -2.70168325e-02 -1.39048257e-02 3.53411082e+02] [ 2.70175729e-02 9.99634950e-01 -1.34633288e-04 3.35456102e+00] [ 1.39033871e-02 -2.41103518e-04 9.99903314e-01 2.42569441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65925415399994 meters 0.01624452234629452 Centerline is valid? [True, True] Translation: X:353.44, Y:3.36, Z:2.43 [[ 9.99519377e-01 -2.75404370e-02 -1.42316412e-02 3.53442401e+02] [ 2.75412713e-02 9.99620658e-01 -1.37398328e-04 3.35503464e+00] [ 1.42300266e-02 -2.54625201e-04 9.99898716e-01 2.42570811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68925415399997 meters 0.017757928060282313 Centerline is valid? [True, True] Translation: X:353.47, Y:3.35, Z:2.42 [[ 9.99498582e-01 -2.78292582e-02 -1.51035681e-02 3.53472257e+02] [ 2.78302350e-02 9.99612653e-01 -1.45543838e-04 3.35360766e+00] [ 1.51017682e-02 -2.74864990e-04 9.99885924e-01 2.42432290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71925415399994 meters 0.016551004759915628 Centerline is valid? [True, True] Translation: X:353.50, Y:3.35, Z:2.43 [[ 9.99431664e-01 -3.03333744e-02 -1.47049281e-02 3.53502578e+02] [ 3.03345712e-02 9.99539791e-01 -1.41702388e-04 3.35117241e+00] [ 1.47024591e-02 -3.04445834e-04 9.99891867e-01 2.42570482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74925415399997 meters 0.016834760673151802 Centerline is valid? [True, True] Translation: X:353.53, Y:3.35, Z:2.43 [[ 9.99395468e-01 -3.12869997e-02 -1.51598881e-02 3.53533917e+02] [ 3.12883860e-02 9.99510388e-01 -1.45785346e-04 3.35011080e+00] [ 1.51570268e-02 -3.28631216e-04 9.99885072e-01 2.42543552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.77925415399994 meters 0.018519497471936295 Centerline is valid? [True, True] Translation: X:353.56, Y:3.35, Z:2.42 [[ 9.99370179e-01 -3.15602524e-02 -1.62233116e-02 3.53564805e+02] [ 3.15618831e-02 9.99501788e-01 -1.55570456e-04 3.34875121e+00] [ 1.62201388e-02 -3.56565790e-04 9.99868381e-01 2.42410087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.809254154 meters 0.01906151789890959 Centerline is valid? [True, True] Translation: X:353.60, Y:3.35, Z:2.42 [[ 9.99373119e-01 -3.13783384e-02 -1.63941814e-02 3.53595734e+02] [ 3.13799870e-02 9.99507515e-01 -1.56730103e-04 3.34859636e+00] [ 1.63910255e-02 -3.57817349e-04 9.99865594e-01 2.42353951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.83925415399995 meters 0.01863716797170022 Centerline is valid? [True, True] Translation: X:353.63, Y:3.35, Z:2.42 [[ 9.99380502e-01 -3.07041648e-02 -1.72007746e-02 3.53626417e+02] [ 3.07058956e-02 9.99528449e-01 -1.63531829e-04 3.34775535e+00] [ 1.71976847e-02 -3.64734667e-04 9.99852042e-01 2.42342881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.869254154 meters 0.016699261494120328 Centerline is valid? [True, True] Translation: X:353.66, Y:3.35, Z:2.43 [[ 9.99397995e-01 -3.00302526e-02 -1.73733216e-02 3.53657045e+02] [ 3.00319241e-02 9.99548926e-01 -1.64736283e-04 3.34950518e+00] [ 1.73704320e-02 -3.57117165e-04 9.99849059e-01 2.42527261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.89925415399995 meters 0.017114279015766252 Centerline is valid? [True, True] Translation: X:353.69, Y:3.35, Z:2.42 [[ 9.99442606e-01 -2.83133601e-02 -1.76870544e-02 3.53687205e+02] [ 2.83148204e-02 9.99599041e-01 -1.67906289e-04 3.34988288e+00] [ 1.76847166e-02 -3.32993069e-04 9.99843558e-01 2.42490507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.929254154 meters 0.015788502791535944 Centerline is valid? [True, True] Translation: X:353.72, Y:3.35, Z:2.43 [[ 9.99545436e-01 -2.48907835e-02 -1.70108933e-02 3.53717088e+02] [ 2.48916304e-02 9.99690142e-01 -1.61975840e-04 3.35172641e+00] [ 1.70096541e-02 -2.61526659e-04 9.99855291e-01 2.42639730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.95925415399995 meters 0.01536629027147549 Centerline is valid? [True, True] Translation: X:353.75, Y:3.35, Z:2.43 [[ 9.99609353e-01 -2.24984943e-02 -1.65818690e-02 3.53745364e+02] [ 2.24989571e-02 9.99746854e-01 -1.58660502e-04 3.35266305e+00] [ 1.65812410e-02 -2.14476238e-04 9.99862499e-01 2.42722767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.989254154 meters 0.016482465047411368 Centerline is valid? [True, True] Translation: X:353.77, Y:3.35, Z:2.43 [[ 9.99661151e-01 -1.99526412e-02 -1.67175107e-02 3.53773918e+02] [ 1.99527076e-02 9.99800912e-01 -1.62832735e-04 3.35380826e+00] [ 1.67174314e-02 -1.70782045e-04 9.99860239e-01 2.42696609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.01925415399995 meters 0.01472889372033808 Centerline is valid? [True, True] Translation: X:353.80, Y:3.36, Z:2.43 [[ 9.99717259e-01 -1.79124647e-02 -1.56379403e-02 3.53802989e+02] [ 1.79122124e-02 9.99839551e-01 -1.56209308e-04 3.35566442e+00] [ 1.56382293e-02 -1.23944967e-04 9.99877708e-01 2.42946793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.049254154 meters 0.014358907721311402 Centerline is valid? [True, True] Translation: X:353.83, Y:3.36, Z:2.43 [[ 9.99807768e-01 -1.25324203e-02 -1.50786445e-02 3.53830435e+02] [ 1.25315368e-02 9.99921465e-01 -1.53081647e-04 3.35800463e+00] [ 1.50793788e-02 -3.59063684e-05 9.99886299e-01 2.43029363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.07925415399995 meters 0.014522260539009225 Centerline is valid? [True, True] Translation: X:353.86, Y:3.36, Z:2.43 [[ 9.99834210e-01 -1.03646372e-02 -1.49708742e-02 3.53858503e+02] [ 1.03634785e-02 9.99946286e-01 -1.54971289e-04 3.35905015e+00] [ 1.49716762e-02 -2.04736354e-07 9.99887918e-01 2.43061276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.109254154 meters 0.014390117996921904 Centerline is valid? [True, True] Translation: X:353.89, Y:3.36, Z:2.43 [[ 9.99859393e-01 -6.52522884e-03 -1.54471990e-02 3.53886860e+02] [ 6.52347050e-03 9.99978708e-01 -1.64214740e-04 3.35939225e+00] [ 1.54479416e-02 6.34223033e-05 9.99880671e-01 2.43051312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.13925415399996 meters 0.014593479354266223 Centerline is valid? [True, True] Translation: X:353.91, Y:3.36, Z:2.43 [[ 9.99863664e-01 -5.41004996e-03 -1.56007875e-02 3.53914309e+02] [ 5.40807989e-03 9.99985362e-01 -1.68465818e-04 3.35899311e+00] [ 1.56014705e-02 8.40725454e-05 9.99878286e-01 2.42988455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.16925415399993 meters 0.014655043799851549 Centerline is valid? [True, True] Translation: X:353.94, Y:3.36, Z:2.43 [[ 9.99866856e-01 -4.56381970e-03 -1.56665974e-02 3.53942397e+02] [ 4.56170662e-03 9.99989581e-01 -1.70610668e-04 3.35828631e+00] [ 1.56672128e-02 9.91215315e-05 9.99877257e-01 2.42954417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.19925415399996 meters 0.014584786401863475 Centerline is valid? [True, True] Translation: X:353.97, Y:3.36, Z:2.43 [[ 9.99859864e-01 -5.31544378e-03 -1.58744373e-02 3.53969851e+02] [ 5.31331659e-03 9.99985869e-01 -1.76173296e-04 3.35534741e+00] [ 1.58751494e-02 9.18026967e-05 9.99873978e-01 2.42980194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.22925415399993 meters 0.014557999776797748 Centerline is valid? [True, True] Translation: X:354.00, Y:3.35, Z:2.43 [[ 9.99852666e-01 -6.35861199e-03 -1.59441269e-02 3.53996975e+02] [ 6.35654716e-03 9.99979781e-01 -1.80179367e-04 3.35391576e+00] [ 1.59449502e-02 7.88032261e-05 9.99872868e-01 2.42963467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.25925415399996 meters 0.014738594686071527 Centerline is valid? [True, True] Translation: X:354.03, Y:3.35, Z:2.43 [[ 9.99850606e-01 -7.42362445e-03 -1.56094726e-02 3.54025115e+02] [ 7.42174928e-03 9.99972443e-01 -1.78055878e-04 3.35263664e+00] [ 1.56103642e-02 6.21796861e-05 9.99878149e-01 2.42809624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.28925415399993 meters 0.014425558587341064 Centerline is valid? [True, True] Translation: X:354.05, Y:3.35, Z:2.43 [[ 9.99828889e-01 -9.23403763e-03 -1.60289115e-02 3.54052864e+02] [ 9.23223956e-03 9.99957365e-01 -1.86170637e-04 3.34967222e+00] [ 1.60299472e-02 3.81560303e-05 9.99871511e-01 2.42984467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31925415399996 meters 0.01436546158523569 Centerline is valid? [True, True] Translation: X:354.08, Y:3.34, Z:2.43 [[ 9.99793209e-01 -1.31724570e-02 -1.54927756e-02 3.54080890e+02] [ 1.31712043e-02 9.99913239e-01 -1.82895316e-04 3.34422440e+00] [ 1.54938407e-02 -2.12010181e-05 9.99879963e-01 2.42964732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.34925415399994 meters 0.01766131664890442 Centerline is valid? [True, True] Translation: X:354.11, Y:3.34, Z:2.43 [[ 9.99770232e-01 -1.45634845e-02 -1.57285865e-02 3.54108797e+02] [ 1.45623125e-02 9.99893946e-01 -1.89042572e-04 3.34141917e+00] [ 1.57296716e-02 -4.00454566e-05 9.99876280e-01 2.42749760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37925415399997 meters 0.014570558888618369 Centerline is valid? [True, True] Translation: X:354.14, Y:3.34, Z:2.43 [[ 9.99740509e-01 -1.78454214e-02 -1.41582339e-02 3.54136882e+02] [ 1.78447450e-02 9.99840755e-01 -1.74113878e-04 3.33933966e+00] [ 1.41590864e-02 -7.85813765e-05 9.99899752e-01 2.43049727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.40925415399994 meters 0.015110481044382333 Centerline is valid? [True, True] Translation: X:354.16, Y:3.33, Z:2.43 [[ 9.99659805e-01 -2.26081909e-02 -1.30055489e-02 3.54164874e+02] [ 2.26079915e-02 9.99744394e-01 -1.62365710e-04 3.33379850e+00] [ 1.30058954e-02 -1.31718865e-04 9.99915411e-01 2.43116248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43925415399997 meters 0.015532217267624458 Centerline is valid? [True, True] Translation: X:354.19, Y:3.33, Z:2.43 [[ 9.99607310e-01 -2.49156993e-02 -1.28231972e-02 3.54194133e+02] [ 2.49156860e-02 9.99689543e-01 -1.60816748e-04 3.33086626e+00] [ 1.28232230e-02 -1.58745158e-04 9.99917766e-01 2.43134561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.46925415399994 meters 0.01609496354962073 Centerline is valid? [True, True] Translation: X:354.22, Y:3.33, Z:2.43 [[ 9.99487068e-01 -2.96883405e-02 -1.20084727e-02 3.54224118e+02] [ 2.96886707e-02 9.99559183e-01 -1.50807513e-04 3.32648258e+00] [ 1.20076564e-02 -2.05785433e-04 9.99927884e-01 2.43170706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49925415399997 meters 0.01676511745950894 Centerline is valid? [True, True] Translation: X:354.25, Y:3.32, Z:2.43 [[ 9.99436305e-01 -3.15547895e-02 -1.14615893e-02 3.54254360e+02] [ 3.15552125e-02 9.99502000e-01 -1.43977911e-04 3.32336409e+00] [ 1.14604246e-02 -2.17776134e-04 9.99934303e-01 2.43178419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.52925415399994 meters 0.01739917853596667 Centerline is valid? [True, True] Translation: X:354.29, Y:3.32, Z:2.43 [[ 9.99377623e-01 -3.34431826e-02 -1.12213736e-02 3.54285067e+02] [ 3.34437144e-02 9.99440593e-01 -1.40308461e-04 3.32094984e+00] [ 1.12197886e-02 -2.35063277e-04 9.99937029e-01 2.43208133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.559254154 meters 0.0175040567667832 Centerline is valid? [True, True] Translation: X:354.32, Y:3.32, Z:2.43 [[ 9.99231354e-01 -3.78341361e-02 -1.02606195e-02 3.54316838e+02] [ 3.78348220e-02 9.99283999e-01 -1.27327340e-04 3.31894897e+00] [ 1.02580902e-02 -2.60979243e-04 9.99947350e-01 2.43274262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.58925415399995 meters 0.01999217154978977 Centerline is valid? [True, True] Translation: X:354.35, Y:3.31, Z:2.43 [[ 9.99161442e-01 -3.96071048e-02 -1.03773848e-02 3.54347724e+02] [ 3.96079079e-02 9.99215291e-01 -1.28192054e-04 3.31424574e+00] [ 1.03743189e-02 -2.82941943e-04 9.99946145e-01 2.43177121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.619254154 meters 0.018899234391249294 Centerline is valid? [True, True] Translation: X:354.38, Y:3.31, Z:2.43 [[ 9.99072382e-01 -4.18677090e-02 -1.00732624e-02 3.54379359e+02] [ 4.18685861e-02 9.99123119e-01 -1.23885237e-04 3.31432111e+00] [ 1.00696161e-02 -2.97982936e-04 9.99949256e-01 2.43237509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.64925415399995 meters 0.019718882292524127 Centerline is valid? [True, True] Translation: X:354.41, Y:3.31, Z:2.43 [[ 9.98897193e-01 -4.58166080e-02 -1.02584928e-02 3.54410622e+02] [ 4.58177310e-02 9.98949808e-01 -1.25644831e-04 3.31015244e+00] [ 1.02534760e-02 -3.44514593e-04 9.99947372e-01 2.43227759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.679254154 meters 0.020666820295168017 Centerline is valid? [True, True] Translation: X:354.44, Y:3.31, Z:2.43 [[ 9.98816895e-01 -4.74496154e-02 -1.06462883e-02 3.54441902e+02] [ 4.74509225e-02 9.98873562e-01 -1.29921377e-04 3.30781358e+00] [ 1.06404606e-02 -3.75408535e-04 9.99943318e-01 2.43219788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.70925415399995 meters 0.022402761422298946 Centerline is valid? [True, True] Translation: X:354.47, Y:3.31, Z:2.43 [[ 9.98771451e-01 -4.83392252e-02 -1.09044496e-02 3.54474069e+02] [ 4.83406569e-02 9.98830898e-01 -1.32386372e-04 3.30651399e+00] [ 1.08981006e-02 -3.94904528e-04 9.99940536e-01 2.43057359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.739254154 meters 0.02160863426123367 Centerline is valid? [True, True] Translation: X:354.51, Y:3.31, Z:2.43 [[ 9.98704843e-01 -4.97007595e-02 -1.08843986e-02 3.54506063e+02] [ 4.97022754e-02 9.98764070e-01 -1.31346111e-04 3.30549385e+00] [ 1.08774743e-02 -4.09803381e-04 9.99940755e-01 2.43191852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.76925415399995 meters 0.02162295926224297 Centerline is valid? [True, True] Translation: X:354.54, Y:3.30, Z:2.43 [[ 9.98624371e-01 -5.11281788e-02 -1.16307378e-02 3.54538205e+02] [ 5.11300168e-02 9.98691996e-01 -1.39463172e-04 3.30477046e+00] [ 1.16226552e-02 -4.55408495e-04 9.99932351e-01 2.43155138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.799254154 meters 0.02238066303888562 Centerline is valid? [True, True] Translation: X:354.57, Y:3.30, Z:2.43 [[ 9.98587553e-01 -5.17310990e-02 -1.21157629e-02 3.54569417e+02] [ 5.17331477e-02 9.98660934e-01 -1.44459304e-04 3.30383171e+00] [ 1.21070121e-02 -4.82531288e-04 9.99926591e-01 2.43134812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.82925415399995 meters 0.023294617660883563 Centerline is valid? [True, True] Translation: X:354.60, Y:3.30, Z:2.43 [[ 9.98559337e-01 -5.21408171e-02 -1.26722636e-02 3.54600099e+02] [ 5.21430990e-02 9.98639612e-01 -1.50486007e-04 3.30235456e+00] [ 1.26628708e-02 -5.10501886e-04 9.99919692e-01 2.43102573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.859254154 meters 0.023272688314190527 Centerline is valid? [True, True] Translation: X:354.63, Y:3.30, Z:2.43 [[ 9.98529116e-01 -5.26899851e-02 -1.27816284e-02 3.54632531e+02] [ 5.26923601e-02 9.98610781e-01 -1.51107103e-04 3.30248198e+00] [ 1.27718337e-02 -5.22609322e-04 9.99918300e-01 2.43079049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.88925415399996 meters 0.02407011377317067 Centerline is valid? [True, True] Translation: X:354.66, Y:3.30, Z:2.43 [[ 9.98531502e-01 -5.26314348e-02 -1.28363545e-02 3.54663704e+02] [ 5.26338359e-02 9.98613868e-01 -1.50932697e-04 3.30178607e+00] [ 1.28265054e-02 -5.24915522e-04 9.99917599e-01 2.43089662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91925415399993 meters 0.023460451794422157 Centerline is valid? [True, True] Translation: X:354.70, Y:3.30, Z:2.43 [[ 9.98551439e-01 -5.22843174e-02 -1.27032905e-02 3.54696170e+02] [ 5.22866509e-02 9.98632106e-01 -1.48584769e-04 3.30417712e+00] [ 1.26936824e-02 -5.15842982e-04 9.99919299e-01 2.43194616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.94925415399996 meters 0.024898049311649757 Centerline is valid? [True, True] Translation: X:354.73, Y:3.30, Z:2.43 [[ 9.98569191e-01 -5.19063343e-02 -1.28570176e-02 3.54727238e+02] [ 5.19087039e-02 9.98651823e-01 -1.49563808e-04 3.30399844e+00] [ 1.28474474e-02 -5.18041309e-04 9.99917334e-01 2.43178186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97925415399993 meters 0.024850789058338256 Centerline is valid? [True, True] Translation: X:354.76, Y:3.30, Z:2.43 [[ 9.98586464e-01 -5.18463564e-02 -1.17059486e-02 3.54758491e+02] [ 5.18483234e-02 9.98654962e-01 -1.35586045e-04 3.30441267e+00] [ 1.16972333e-02 -4.71539421e-04 9.99931474e-01 2.43326209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.00925415399996 meters 0.024445182444425687 Centerline is valid? [True, True] Translation: X:354.79, Y:3.31, Z:2.43 [[ 9.98669174e-01 -5.04598818e-02 -1.06621687e-02 3.54790812e+02] [ 5.04614410e-02 9.98726002e-01 -1.22905937e-04 3.30662342e+00] [ 1.06547869e-02 -4.15286024e-04 9.99943150e-01 2.43456656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03925415399993 meters 0.0220433224759331 Centerline is valid? [True, True] Translation: X:354.82, Y:3.31, Z:2.43 [[ 9.98733436e-01 -4.91331502e-02 -1.08378178e-02 3.54823145e+02] [ 4.91346916e-02 9.98792154e-01 -1.24149301e-04 3.31313837e+00] [ 1.08308273e-02 -4.08520780e-04 9.99941261e-01 2.43407215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.06925415399996 meters 0.02159426913480664 Centerline is valid? [True, True] Translation: X:354.86, Y:3.31, Z:2.43 [[ 9.98803173e-01 -4.78178867e-02 -1.02796768e-02 3.54855729e+02] [ 4.78192122e-02 9.98856000e-01 -1.16949110e-04 3.31459506e+00] [ 1.02735091e-02 -3.74756906e-04 9.99947156e-01 2.43442961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09925415399994 meters 0.02143378594231241 Centerline is valid? [True, True] Translation: X:354.89, Y:3.31, Z:2.44 [[ 9.98848810e-01 -4.70628069e-02 -9.28151820e-03 3.54886540e+02] [ 4.70638615e-02 9.98891877e-01 -1.04875259e-04 3.31400156e+00] [ 9.27616886e-03 -3.32069560e-04 9.99956920e-01 2.43609707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.12925415399997 meters 0.02204889772451249 Centerline is valid? [True, True] Translation: X:354.92, Y:3.32, Z:2.43 [[ 9.98971773e-01 -4.42699660e-02 -9.77584769e-03 3.54917965e+02] [ 4.42710074e-02 9.99019552e-01 -1.09947039e-04 3.31835544e+00] [ 9.77113034e-03 -3.22952638e-04 9.99952209e-01 2.43412623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15925415399994 meters 0.020192917784582775 Centerline is valid? [True, True] Translation: X:354.95, Y:3.32, Z:2.44 [[ 9.98992884e-01 -4.39126152e-02 -9.21409473e-03 3.54949513e+02] [ 4.39135286e-02 9.99035330e-01 -1.03258936e-04 3.31857020e+00] [ 9.20974054e-03 -3.01468470e-04 9.99957544e-01 2.43600460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18925415399997 meters 0.019208772770358314 Centerline is valid? [True, True] Translation: X:354.98, Y:3.32, Z:2.44 [[ 9.99033958e-01 -4.29317879e-02 -9.38148680e-03 3.54981345e+02] [ 4.29326969e-02 9.99077961e-01 -1.04562764e-04 3.32100945e+00] [ 9.37732577e-03 -2.98310777e-04 9.99955987e-01 2.43562457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21925415399994 meters 0.01879286868892202 Centerline is valid? [True, True] Translation: X:355.01, Y:3.32, Z:2.43 [[ 9.99115364e-01 -4.07003678e-02 -1.05815294e-02 3.55013850e+02] [ 4.07014083e-02 9.99171347e-01 -1.17088531e-04 3.32297600e+00] [ 1.05775265e-02 -3.13698196e-04 9.99944007e-01 2.43447659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24925415399997 meters 0.018695381126158154 Centerline is valid? [True, True] Translation: X:355.05, Y:3.32, Z:2.43 [[ 9.99165778e-01 -3.93074265e-02 -1.10758764e-02 3.55045017e+02] [ 3.93084895e-02 9.99227115e-01 -1.21793690e-04 3.32363399e+00] [ 1.10721034e-02 -3.13683884e-04 9.99938653e-01 2.43388574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.27925415399994 meters 0.018229947685355997 Centerline is valid? [True, True] Translation: X:355.08, Y:3.33, Z:2.43 [[ 9.99213029e-01 -3.79788264e-02 -1.14425154e-02 3.55077576e+02] [ 3.79798821e-02 9.99278496e-01 -1.25100337e-04 3.32538891e+00] [ 1.14390107e-02 -3.09583499e-04 9.99934524e-01 2.43351491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.309254154 meters 0.018635136876452903 Centerline is valid? [True, True] Translation: X:355.11, Y:3.33, Z:2.43 [[ 9.99302628e-01 -3.52868665e-02 -1.22104440e-02 3.55109495e+02] [ 3.52878780e-02 9.99377180e-01 -1.32662361e-04 3.32858030e+00] [ 1.22075203e-02 -2.98310812e-04 9.99925441e-01 2.43230790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.33925415399995 meters 0.018821685356925136 Centerline is valid? [True, True] Translation: X:355.14, Y:3.33, Z:2.43 [[ 9.99355713e-01 -3.37914033e-02 -1.20954310e-02 3.55141336e+02] [ 3.37922937e-02 9.99428869e-01 -1.30810597e-04 3.33126934e+00] [ 1.20929432e-02 -2.78006039e-04 9.99926839e-01 2.43200889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.369254154 meters 0.01845856628523903 Centerline is valid? [True, True] Translation: X:355.17, Y:3.33, Z:2.43 [[ 9.99419412e-01 -3.17439737e-02 -1.23757787e-02 3.55172140e+02] [ 3.17447553e-02 9.99495999e-01 -1.33333406e-04 3.33164508e+00] [ 1.23737739e-02 -2.59610073e-04 9.99923408e-01 2.43197293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.39925415399995 meters 0.01845856628523903 Centerline is valid? [True, True] Translation: X:355.20, Y:3.33, Z:2.43 [[ 9.99420523e-01 -3.17089480e-02 -1.23757836e-02 3.55202989e+02] [ 3.17097324e-02 9.99497111e-01 -1.32885027e-04 3.33194529e+00] [ 1.23737736e-02 -2.59624761e-04 9.99923408e-01 2.43218665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.429254154 meters 0.017028559938555975 Centerline is valid? [True, True] Translation: X:355.23, Y:3.33, Z:2.43 [[ 9.99437067e-01 -3.11843190e-02 -1.23728582e-02 3.55234204e+02] [ 3.11850683e-02 9.99513619e-01 -1.32417550e-04 3.33422439e+00] [ 1.23709696e-02 -2.53505420e-04 9.99923444e-01 2.43350689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.45925415399995 meters 0.016140191394474764 Centerline is valid? [True, True] Translation: X:355.27, Y:3.34, Z:2.43 [[ 9.99461470e-01 -3.03739398e-02 -1.24174543e-02 3.55265669e+02] [ 3.03746375e-02 9.99538575e-01 -1.32444496e-04 3.33762991e+00] [ 1.24157475e-02 -2.44802504e-04 9.99922892e-01 2.43442855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.489254154 meters 0.01826238987742897 Centerline is valid? [True, True] Translation: X:355.30, Y:3.34, Z:2.43 [[ 9.99507412e-01 -2.88454403e-02 -1.23642001e-02 3.55296318e+02] [ 2.88460196e-02 9.99583858e-01 -1.31520845e-04 3.33977856e+00] [ 1.23628486e-02 -2.25201899e-04 9.99923552e-01 2.43345383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.51925415399995 meters 0.016151387162184547 Centerline is valid? [True, True] Translation: X:355.33, Y:3.34, Z:2.44 [[ 9.99507444e-01 -2.92458829e-02 -1.13818765e-02 3.55327633e+02] [ 2.92464029e-02 9.99572225e-01 -1.20792116e-04 3.34152590e+00] [ 1.13805403e-02 -2.12146325e-04 9.99935217e-01 2.43558197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.549254154 meters 0.0163688151309331 Centerline is valid? [True, True] Translation: X:355.36, Y:3.34, Z:2.44 [[ 9.99494732e-01 -2.97287199e-02 -1.12465324e-02 3.55358580e+02] [ 2.97292627e-02 9.99557981e-01 -1.18949317e-04 3.34227130e+00] [ 1.12450974e-02 -2.15461900e-04 9.99936749e-01 2.43598852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.57925415399995 meters 0.016638549125635938 Centerline is valid? [True, True] Translation: X:355.39, Y:3.34, Z:2.44 [[ 9.99477815e-01 -3.03749266e-02 -1.10209423e-02 3.55389291e+02] [ 3.03754956e-02 9.99538551e-01 -1.15798692e-04 3.34234812e+00] [ 1.10193740e-02 -2.19028359e-04 9.99939261e-01 2.43625858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.609254154 meters 0.01934629937189285 Centerline is valid? [True, True] Translation: X:355.42, Y:3.34, Z:2.43 [[ 9.99415214e-01 -3.24615288e-02 -1.07461648e-02 3.55420442e+02] [ 3.24622039e-02 9.99472958e-01 -1.11652623e-04 3.34153247e+00] [ 1.07441255e-02 -2.37256861e-04 9.99942252e-01 2.43476053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.63925415399996 meters 0.017998467390266268 Centerline is valid? [True, True] Translation: X:355.45, Y:3.34, Z:2.44 [[ 9.99351581e-01 -3.44582242e-02 -1.04426682e-02 3.55452892e+02] [ 3.44589807e-02 9.99406107e-01 -1.07537251e-04 3.34124454e+00] [ 1.04401720e-02 -2.52376181e-04 9.99945468e-01 2.43630278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.66925415399993 meters 0.018658752037949856 Centerline is valid? [True, True] Translation: X:355.48, Y:3.34, Z:2.44 [[ 9.99302410e-01 -3.59911363e-02 -9.96655973e-03 3.55483577e+02] [ 3.59919073e-02 9.99352076e-01 -1.02057004e-04 3.34073068e+00] [ 9.96377530e-03 -2.56729684e-04 9.99950327e-01 2.43639534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.69925415399996 meters 0.01982044945958958 Centerline is valid? [True, True] Translation: X:355.51, Y:3.34, Z:2.44 [[ 9.99199292e-01 -3.85650883e-02 -1.06540368e-02 3.55514302e+02] [ 3.85661231e-02 9.99256044e-01 -1.08379584e-04 3.34012768e+00] [ 1.06502904e-02 -3.02592092e-04 9.99943238e-01 2.43640572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.72925415399993 meters 0.020404992588233417 Centerline is valid? [True, True] Translation: X:355.55, Y:3.34, Z:2.44 [[ 9.99169822e-01 -3.94353082e-02 -1.02236614e-02 3.55545963e+02] [ 3.94363167e-02 9.99222081e-01 -1.03018085e-04 3.33999272e+00] [ 1.02197708e-02 -3.00250989e-04 9.99947732e-01 2.43663372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.75925415399996 meters 0.021720394184199875 Centerline is valid? [True, True] Translation: X:355.58, Y:3.34, Z:2.44 [[ 9.99164402e-01 -3.95105880e-02 -1.04599408e-02 3.55578645e+02] [ 3.95116541e-02 9.99219104e-01 -1.04788018e-04 3.34002072e+00] [ 1.04559129e-02 -3.08589105e-04 9.99945288e-01 2.43584109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.78925415399993 meters 0.021098547441600193 Centerline is valid? [True, True] Translation: X:355.61, Y:3.34, Z:2.44 [[ 9.99172282e-01 -3.96145238e-02 -9.24342560e-03 3.55609874e+02] [ 3.96153658e-02 9.99214999e-01 -9.20614172e-05 3.34146339e+00] [ 9.23981647e-03 -2.74196470e-04 9.99957274e-01 2.43822911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81925415399996 meters 0.02077610339225525 Centerline is valid? [True, True] Translation: X:355.64, Y:3.34, Z:2.44 [[ 9.99220703e-01 -3.85055318e-02 -8.67820832e-03 3.55641892e+02] [ 3.85062361e-02 9.99258356e-01 -8.59807361e-05 3.34342811e+00] [ 8.67508291e-03 -2.48251407e-04 9.99962340e-01 2.43930981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.84925415399994 meters 0.01804894315171737 Centerline is valid? [True, True] Translation: X:355.67, Y:3.35, Z:2.44 [[ 9.99280918e-01 -3.69994262e-02 -8.28796467e-03 3.55673900e+02] [ 3.70000213e-02 9.99315261e-01 -8.15675811e-05 3.35055704e+00] [ 8.28530754e-03 -2.25145942e-04 9.99965651e-01 2.44045431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87925415399997 meters 0.01930887888169652 Centerline is valid? [True, True] Translation: X:355.70, Y:3.35, Z:2.44 [[ 9.99417255e-01 -3.32172700e-02 -7.85894932e-03 3.55704302e+02] [ 3.32176922e-02 9.99448137e-01 -7.68467565e-05 3.35204119e+00] [ 7.85716490e-03 -1.84254185e-04 9.99969115e-01 2.44096611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.90925415399994 meters 0.016370844262476314 Centerline is valid? [True, True] Translation: X:355.74, Y:3.36, Z:2.44 [[ 9.99477313e-01 -3.13637798e-02 -7.83671346e-03 3.55736924e+02] [ 3.13641442e-02 9.99508021e-01 -7.64196843e-05 3.35982052e+00] [ 7.83525477e-03 -1.69412070e-04 9.99969290e-01 2.44164102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93925415399997 meters 0.01604270082018998 Centerline is valid? [True, True] Translation: X:355.77, Y:3.36, Z:2.44 [[ 9.99556093e-01 -2.87635672e-02 -7.76370373e-03 3.55769568e+02] [ 2.87638520e-02 9.99586232e-01 -7.49924027e-05 3.36386118e+00] [ 7.76264841e-03 -1.48354912e-04 9.99969859e-01 2.44168700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.96925415399994 meters 0.015447656850346807 Centerline is valid? [True, True] Translation: X:355.80, Y:3.37, Z:2.44 [[ 9.99574746e-01 -2.80190988e-02 -8.07823527e-03 3.55801297e+02] [ 2.80193889e-02 9.99607377e-01 -7.72762930e-05 3.36585517e+00] [ 8.07722878e-03 -1.49103785e-04 9.99967368e-01 2.44204643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99925415399997 meters 0.015484306114087902 Centerline is valid? [True, True] Translation: X:355.83, Y:3.37, Z:2.44 [[ 9.99583546e-01 -2.77283070e-02 -7.99215819e-03 3.55833587e+02] [ 2.77285865e-02 9.99615486e-01 -7.58610117e-05 3.36742325e+00] [ 7.99118859e-03 -1.45781830e-04 9.99968059e-01 2.44222806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.02925415399994 meters 0.016501288779101567 Centerline is valid? [True, True] Translation: X:355.86, Y:3.37, Z:2.44 [[ 9.99571070e-01 -2.79922714e-02 -8.60869219e-03 3.55864544e+02] [ 2.79926110e-02 9.99608127e-01 -8.10595663e-05 3.36869865e+00] [ 8.60758772e-03 -1.59954974e-04 9.99962941e-01 2.44138072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.059254154 meters 0.01590100602156291 Centerline is valid? [True, True] Translation: X:355.90, Y:3.37, Z:2.44 [[ 9.99540468e-01 -2.89883774e-02 -8.86152138e-03 3.55896756e+02] [ 2.89887812e-02 9.99579734e-01 -8.28990300e-05 3.36988583e+00] [ 8.86020029e-03 -1.74023769e-04 9.99960733e-01 2.44214320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.08925415399995 meters 0.016778708387327177 Centerline is valid? [True, True] Translation: X:355.93, Y:3.37, Z:2.44 [[ 9.99513891e-01 -2.96331310e-02 -9.68814360e-03 3.55928543e+02] [ 2.96336513e-02 9.99560823e-01 -8.98682149e-05 3.37040472e+00] [ 9.68655187e-03 -1.97270540e-04 9.99953065e-01 2.44142655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.119254154 meters 0.016818541169536738 Centerline is valid? [True, True] Translation: X:355.96, Y:3.37, Z:2.44 [[ 9.99439752e-01 -3.18925061e-02 -1.01513967e-02 3.55959629e+02] [ 3.18932030e-02 9.99491278e-01 -9.32702743e-05 3.37097307e+00] [ 1.01492071e-02 -2.30542537e-04 9.99948469e-01 2.44217842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.14925415399995 meters 0.017279727630251544 Centerline is valid? [True, True] Translation: X:355.99, Y:3.37, Z:2.44 [[ 9.99410423e-01 -3.28227904e-02 -1.00733023e-02 3.55992231e+02] [ 3.28235338e-02 9.99461158e-01 -9.15595136e-05 3.37123119e+00] [ 1.00708797e-02 -2.39135847e-04 9.99949259e-01 2.44211285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.179254154 meters 0.017036143066879634 Centerline is valid? [True, True] Translation: X:356.02, Y:3.37, Z:2.44 [[ 9.99387375e-01 -3.34819545e-02 -1.01898492e-02 3.56024624e+02] [ 3.34827571e-02 9.99439291e-01 -9.18711726e-05 3.37275350e+00] [ 1.01872117e-02 -2.49369356e-04 9.99948078e-01 2.44268389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.20925415399995 meters 0.017214023844041967 Centerline is valid? [True, True] Translation: X:356.06, Y:3.37, Z:2.44 [[ 9.99377259e-01 -3.38945339e-02 -9.81095881e-03 3.56056995e+02] [ 3.38953046e-02 9.99425385e-01 -8.77496441e-05 3.37342723e+00] [ 9.80829552e-03 -2.44850439e-04 9.99951868e-01 2.44279554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.239254154 meters 0.01725378884058444 Centerline is valid? [True, True] Translation: X:356.09, Y:3.38, Z:2.44 [[ 9.99368632e-01 -3.42728052e-02 -9.36544820e-03 3.56089125e+02] [ 3.42735305e-02 9.99412487e-01 -8.30952949e-05 3.37529379e+00] [ 9.36279378e-03 -2.37944143e-04 9.99956140e-01 2.44364615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.26925415399995 meters 0.017385326275210243 Centerline is valid? [True, True] Translation: X:356.12, Y:3.38, Z:2.44 [[ 9.99373474e-01 -3.41854612e-02 -9.16590016e-03 3.56120163e+02] [ 3.41861594e-02 9.99415479e-01 -8.05413048e-05 3.37610625e+00] [ 9.16329584e-03 -2.32856080e-04 9.99957989e-01 2.44392626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.299254154 meters 0.01829444936802494 Centerline is valid? [True, True] Translation: X:356.15, Y:3.38, Z:2.44 [[ 9.99383051e-01 -3.38598491e-02 -9.32893111e-03 3.56152314e+02] [ 3.38605680e-02 9.99426563e-01 -8.09141371e-05 3.37819877e+00] [ 9.32632130e-03 -2.35018689e-04 9.99956481e-01 2.44272530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.32925415399995 meters 0.018567343890663748 Centerline is valid? [True, True] Translation: X:356.18, Y:3.38, Z:2.44 [[ 9.99363891e-01 -3.45328251e-02 -8.90493994e-03 3.56183690e+02] [ 3.45335122e-02 9.99403537e-01 -7.66402564e-05 3.37718920e+00] [ 8.90227508e-03 -2.30927347e-04 9.99960347e-01 2.44350859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3592541539999 meters 0.01848307638357927 Centerline is valid? [True, True] Translation: X:356.22, Y:3.38, Z:2.44 [[ 9.99344444e-01 -3.49391315e-02 -9.48358498e-03 3.56216015e+02] [ 3.49399347e-02 9.99389411e-01 -8.10279404e-05 3.37916890e+00] [ 9.48062546e-03 -2.50381018e-04 9.99955027e-01 2.44276405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.38925415399996 meters 0.018833235532659025 Centerline is valid? [True, True] Translation: X:356.25, Y:3.38, Z:2.44 [[ 9.99230602e-01 -3.78954364e-02 -1.01064500e-02 3.56248360e+02] [ 3.78965074e-02 9.99281666e-01 -8.55774470e-05 3.37887746e+00] [ 1.01024332e-02 -2.97487554e-04 9.99948925e-01 2.44254568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41925415399993 meters 0.020483384651260414 Centerline is valid? [True, True] Translation: X:356.28, Y:3.38, Z:2.44 [[ 9.99155431e-01 -3.97648446e-02 -1.03528337e-02 3.56279612e+02] [ 3.97660760e-02 9.99209013e-01 -8.69599676e-05 3.37644669e+00] [ 1.03481027e-02 -3.24805049e-04 9.99946404e-01 2.44228023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.44925415399996 meters 0.019737343377949843 Centerline is valid? [True, True] Translation: X:356.31, Y:3.38, Z:2.44 [[ 9.99068366e-01 -4.17984567e-02 -1.07372969e-02 3.56311553e+02] [ 4.17999058e-02 9.99125998e-01 -8.95189107e-05 3.37836688e+00] [ 1.07316542e-02 -3.59382486e-04 9.99942350e-01 2.44210336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47925415399993 meters 0.022384952354828666 Centerline is valid? [True, True] Translation: X:356.34, Y:3.38, Z:2.44 [[ 9.98813644e-01 -4.72408570e-02 -1.18154677e-02 3.56341753e+02] [ 4.72430026e-02 9.98883421e-01 -9.76105848e-05 3.37504115e+00] [ 1.18068860e-02 -4.60703386e-04 9.99930190e-01 2.44139807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.50925415399996 meters 0.022035336879937698 Centerline is valid? [True, True] Translation: X:356.37, Y:3.38, Z:2.44 [[ 9.98679948e-01 -4.97972887e-02 -1.25932762e-02 3.56373453e+02] [ 4.97999394e-02 9.98759208e-01 -1.03210962e-04 3.37613362e+00] [ 1.25827902e-02 -5.24069675e-04 9.99920696e-01 2.44127243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53925415399993 meters 0.024010017114261335 Centerline is valid? [True, True] Translation: X:356.40, Y:3.37, Z:2.44 [[ 9.98539099e-01 -5.24044261e-02 -1.31697833e-02 3.56404699e+02] [ 5.24075611e-02 9.98625774e-01 -1.07191672e-04 3.37384194e+00] [ 1.31573023e-02 -5.83161146e-04 9.99913269e-01 2.44063867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.56925415399996 meters 0.02552946670342207 Centerline is valid? [True, True] Translation: X:356.44, Y:3.37, Z:2.44 [[ 9.98387705e-01 -5.50034303e-02 -1.40218923e-02 3.56435326e+02] [ 5.50072474e-02 9.98485949e-01 -1.13596298e-04 3.37225817e+00] [ 1.40069106e-02 -6.57892548e-04 9.99901682e-01 2.44005627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59925415399994 meters 0.02690694418308117 Centerline is valid? [True, True] Translation: X:356.47, Y:3.37, Z:2.44 [[ 9.98133384e-01 -5.90554363e-02 -1.55628565e-02 3.56466299e+02] [ 5.90606344e-02 9.98254389e-01 -1.25786772e-04 3.37134948e+00] [ 1.55431182e-02 -7.93600201e-04 9.99878884e-01 2.43896675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.62925415399997 meters 0.026907424117798475 Centerline is valid? [True, True] Translation: X:356.50, Y:3.37, Z:2.44 [[ 9.98032362e-01 -6.06258159e-02 -1.59973551e-02 3.56498759e+02] [ 6.06315222e-02 9.98160209e-01 -1.28509042e-04 3.37173803e+00] [ 1.59757143e-02 -8.41687807e-04 9.99872026e-01 2.43898253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65925415399994 meters 0.026957218553995955 Centerline is valid? [True, True] Translation: X:356.53, Y:3.37, Z:2.44 [[ 9.97839884e-01 -6.34889674e-02 -1.68735454e-02 3.56529451e+02] [ 6.34957361e-02 9.97982101e-01 -1.34830874e-04 3.37276563e+00] [ 1.68480566e-02 -9.36858565e-04 9.99857623e-01 2.43802319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68925415399997 meters 0.03019799230822586 Centerline is valid? [True, True] Translation: X:356.56, Y:3.37, Z:2.44 [[ 9.97780589e-01 -6.42188293e-02 -1.76022023e-02 3.56560120e+02] [ 6.42263351e-02 9.97935348e-01 -1.39148184e-04 3.36982795e+00] [ 1.75747958e-02 -9.91685585e-04 9.99845060e-01 2.43604330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71925415399994 meters 0.03212868077676014 Centerline is valid? [True, True] Translation: X:356.59, Y:3.37, Z:2.44 [[ 9.97685707e-01 -6.56143319e-02 -1.78322334e-02 3.56590792e+02] [ 6.56222977e-02 9.97844524e-01 -1.38701625e-04 3.36754464e+00] [ 1.78028973e-02 -1.03181150e-03 9.99840983e-01 2.43681137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74925415399997 meters 0.03325748983814066 Centerline is valid? [True, True] Translation: X:356.62, Y:3.37, Z:2.44 [[ 9.97665581e-01 -6.58846722e-02 -1.79610418e-02 3.56623218e+02] [ 6.58928266e-02 9.97826697e-01 -1.38056692e-04 3.36796878e+00] [ 1.79311028e-02 -1.04576941e-03 9.99838678e-01 2.43524997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.77925415399994 meters 0.030479743047646345 Centerline is valid? [True, True] Translation: X:356.66, Y:3.37, Z:2.44 [[ 9.97564621e-01 -6.75204116e-02 -1.74877086e-02 3.56655312e+02] [ 6.75284139e-02 9.97717343e-01 -1.33178024e-04 3.37337479e+00] [ 1.74567824e-02 -1.04806354e-03 9.99847069e-01 2.43814114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.809254154 meters 0.029228203290427697 Centerline is valid? [True, True] Translation: X:356.69, Y:3.38, Z:2.44 [[ 9.97548965e-01 -6.77934201e-02 -1.73238323e-02 3.56686949e+02] [ 6.78013327e-02 9.97698833e-01 -1.30855634e-04 3.37608315e+00] [ 1.72928384e-02 -1.04404402e-03 9.99849923e-01 2.43905815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.83925415399995 meters 0.02888580246567995 Centerline is valid? [True, True] Translation: X:356.72, Y:3.38, Z:2.44 [[ 9.97511197e-01 -6.83160430e-02 -1.74450669e-02 3.56718776e+02] [ 6.83241667e-02 9.97663165e-01 -1.30603755e-04 3.37875739e+00] [ 1.74132230e-02 -1.06164095e-03 9.99847815e-01 2.43932136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.869254154 meters 0.033032867661449104 Centerline is valid? [True, True] Translation: X:356.75, Y:3.38, Z:2.44 [[ 9.97527435e-01 -6.79582504e-02 -1.79078986e-02 3.56750463e+02] [ 6.79667739e-02 9.97687576e-01 -1.32933100e-04 3.37558845e+00] [ 1.78755218e-02 -1.08453768e-03 9.99839632e-01 2.43684308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.89925415399995 meters 0.02961761711254705 Centerline is valid? [True, True] Translation: X:356.78, Y:3.38, Z:2.44 [[ 9.97468677e-01 -6.89214403e-02 -1.74949566e-02 3.56782404e+02] [ 6.89297428e-02 9.97621508e-01 -1.28713612e-04 3.38024287e+00] [ 1.74622161e-02 -1.07753506e-03 9.99846943e-01 2.43959658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.929254154 meters 0.02925840797516128 Centerline is valid? [True, True] Translation: X:356.81, Y:3.38, Z:2.44 [[ 9.97445103e-01 -6.91792689e-02 -1.78183764e-02 3.56814934e+02] [ 6.91879460e-02 9.97603634e-01 -1.29763798e-04 3.38205000e+00] [ 1.77846540e-02 -1.10338460e-03 9.99841232e-01 2.43933600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.95925415399995 meters 0.030169383157090456 Centerline is valid? [True, True] Translation: X:356.85, Y:3.38, Z:2.44 [[ 9.97395691e-01 -6.96791912e-02 -1.86184034e-02 3.56847144e+02] [ 6.96887779e-02 9.97568773e-01 -1.34189551e-04 3.38302220e+00] [ 1.85824880e-02 -1.16365370e-03 9.99826653e-01 2.43892274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.989254154 meters 0.030648676771613398 Centerline is valid? [True, True] Translation: X:356.88, Y:3.38, Z:2.44 [[ 9.97371272e-01 -6.99067142e-02 -1.90682073e-02 3.56879536e+02] [ 6.99168382e-02 9.97552814e-01 -1.36015213e-04 3.38360334e+00] [ 1.90310522e-02 -1.19753110e-03 9.99818176e-01 2.43840787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.01925415399995 meters 0.03339271683132634 Centerline is valid? [True, True] Translation: X:356.91, Y:3.38, Z:2.44 [[ 9.97385260e-01 -6.93626960e-02 -2.02844647e-02 3.56911088e+02] [ 6.93740669e-02 9.97590707e-01 -1.43419427e-04 3.38140933e+00] [ 2.02455414e-02 -1.26417139e-03 9.99794239e-01 2.43675927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.049254154 meters 0.0311356076419684 Centerline is valid? [True, True] Translation: X:356.94, Y:3.39, Z:2.44 [[ 9.97419654e-01 -6.86073985e-02 -2.11437445e-02 3.56943481e+02] [ 6.86196145e-02 9.97642885e-01 -1.48070276e-04 3.38557970e+00] [ 2.11040650e-02 -1.30318739e-03 9.99776435e-01 2.43729313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.07925415399995 meters 0.0314790332445988 Centerline is valid? [True, True] Translation: X:356.97, Y:3.39, Z:2.44 [[ 9.97458373e-01 -6.79203552e-02 -2.15318330e-02 3.56974422e+02] [ 6.79328924e-02 9.97689882e-01 -1.49489963e-04 3.38660794e+00] [ 2.14922453e-02 -1.31360968e-03 9.99768152e-01 2.43713392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1092541539999 meters 0.029262224955899314 Centerline is valid? [True, True] Translation: X:357.01, Y:3.39, Z:2.44 [[ 9.97592586e-01 -6.56439765e-02 -2.23584666e-02 3.57006105e+02] [ 6.56569531e-02 9.97842242e-01 -1.53996436e-04 3.39284705e+00] [ 2.23203314e-02 -1.31436309e-03 9.99750006e-01 2.43783666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.13925415399996 meters 0.027102144210685734 Centerline is valid? [True, True] Translation: X:357.04, Y:3.40, Z:2.44 [[ 9.97706417e-01 -6.39077068e-02 -2.23094161e-02 3.57037930e+02] [ 6.39202262e-02 9.97955000e-01 -1.52207620e-04 3.39757974e+00] [ 2.22735206e-02 -1.27416441e-03 9.99751102e-01 2.43865865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.16925415399993 meters 0.028415471675878465 Centerline is valid? [True, True] Translation: X:357.07, Y:3.40, Z:2.44 [[ 9.97822013e-01 -6.21416725e-02 -2.21278574e-02 3.57068873e+02] [ 6.21535790e-02 9.98066586e-01 -1.49927109e-04 3.39750661e+00] [ 2.20943918e-02 -1.22572496e-03 9.99755138e-01 2.43846644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.19925415399996 meters 0.029561675791715078 Centerline is valid? [True, True] Translation: X:357.10, Y:3.40, Z:2.44 [[ 9.98163721e-01 -5.65776480e-02 -2.16369248e-02 3.57097934e+02] [ 5.65877278e-02 9.98397620e-01 -1.46606198e-04 3.40040114e+00] [ 2.16105488e-02 -1.07804742e-03 9.99765884e-01 2.43710845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.22925415399993 meters 0.023511921682364354 Centerline is valid? [True, True] Translation: X:357.13, Y:3.41, Z:2.44 [[ 9.98310039e-01 -5.42123508e-02 -2.09305074e-02 3.57129218e+02] [ 5.42212729e-02 9.98528935e-01 -1.41413895e-04 3.41010894e+00] [ 2.09073836e-02 -9.93703842e-04 9.99780923e-01 2.44160592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.25925415399996 meters 0.02433158392474671 Centerline is valid? [True, True] Translation: X:357.16, Y:3.41, Z:2.44 [[ 9.98505533e-01 -5.08354886e-02 -2.00612284e-02 3.57159420e+02] [ 5.08430143e-02 9.98706648e-01 -1.35056919e-04 3.41097354e+00] [ 2.00421479e-02 -8.85118241e-04 9.99798744e-01 2.44170560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.28925415399993 meters 0.020520724655444928 Centerline is valid? [True, True] Translation: X:357.19, Y:3.42, Z:2.44 [[ 9.98839968e-01 -4.42838101e-02 -1.89119601e-02 3.57189741e+02] [ 4.42893281e-02 9.99018738e-01 -1.27167282e-04 3.42150207e+00] [ 1.88990340e-02 -7.10578242e-04 9.99821145e-01 2.44427618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31925415399996 meters 0.020520724655444928 Centerline is valid? [True, True] Translation: X:357.22, Y:3.42, Z:2.44 [[ 9.98843221e-01 -4.42103701e-02 -1.89119661e-02 3.57221459e+02] [ 4.42158920e-02 9.99021991e-01 -1.26266035e-04 3.42165591e+00] [ 1.88990523e-02 -7.10089479e-04 9.99821145e-01 2.44449597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.34925415399994 meters 0.02143322887662933 Centerline is valid? [True, True] Translation: X:357.25, Y:3.42, Z:2.44 [[ 9.99005184e-01 -4.04649365e-02 -1.87411752e-02 3.57251956e+02] [ 4.04697144e-02 9.99180758e-01 -1.24403140e-04 3.42457429e+00] [ 1.87308556e-02 -6.34170627e-04 9.99824361e-01 2.44350098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37925415399997 meters 0.018010257797445445 Centerline is valid? [True, True] Translation: X:357.28, Y:3.43, Z:2.45 [[ 9.99191840e-01 -3.57816766e-02 -1.83122409e-02 3.57283271e+02] [ 3.57854624e-02 9.99359488e-01 -1.21011068e-04 3.43225786e+00] [ 1.83048417e-02 -5.34398738e-04 9.99832310e-01 2.44574416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.40925415399994 meters 0.017603540581589663 Centerline is valid? [True, True] Translation: X:357.31, Y:3.43, Z:2.45 [[ 9.99266174e-01 -3.37320747e-02 -1.81455173e-02 3.57314724e+02] [ 3.37354662e-02 9.99430790e-01 -1.19247794e-04 3.43434191e+00] [ 1.81392112e-02 -4.92987199e-04 9.99835349e-01 2.44579782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43925415399997 meters 0.018590563778600515 Centerline is valid? [True, True] Translation: X:357.35, Y:3.44, Z:2.44 [[ 9.99345149e-01 -3.13556593e-02 -1.80581444e-02 3.57345701e+02] [ 3.13586423e-02 9.99508190e-01 -1.18020577e-04 3.43596667e+00] [ 1.80529638e-02 -4.48335598e-04 9.99836931e-01 2.44453956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.46925415399994 meters 0.016770897638698688 Centerline is valid? [True, True] Translation: X:357.38, Y:3.44, Z:2.45 [[ 9.99439571e-01 -2.83352392e-02 -1.78229804e-02 3.57375773e+02] [ 2.83376728e-02 9.99598401e-01 -1.16041192e-04 3.44040255e+00] [ 1.78191108e-02 -3.89085628e-04 9.99841151e-01 2.44671657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49925415399997 meters 0.01632958209013288 Centerline is valid? [True, True] Translation: X:357.41, Y:3.44, Z:2.45 [[ 9.99497327e-01 -2.63404835e-02 -1.76429012e-02 3.57406845e+02] [ 2.63425665e-02 9.99652968e-01 -1.14364963e-04 3.44287647e+00] [ 1.76397910e-02 -3.50451824e-04 9.99844345e-01 2.44684147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.52925415399994 meters 0.0157608063868449 Centerline is valid? [True, True] Translation: X:357.44, Y:3.45, Z:2.45 [[ 9.99540724e-01 -2.44878211e-02 -1.78518486e-02 3.57436910e+02] [ 2.44896628e-02 9.99700077e-01 -1.15470240e-04 3.44609338e+00] [ 1.78493220e-02 -3.21768544e-04 9.99840636e-01 2.44747287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.559254154 meters 0.016785137180855652 Centerline is valid? [True, True] Translation: X:357.47, Y:3.45, Z:2.45 [[ 9.99599261e-01 -2.16680071e-02 -1.82157631e-02 3.57467602e+02] [ 2.16694566e-02 9.99765183e-01 -1.17824130e-04 3.44855586e+00] [ 1.82140387e-02 -2.76948774e-04 9.99834072e-01 2.44652479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.58925415399995 meters 0.014556619557957466 Centerline is valid? [True, True] Translation: X:357.50, Y:3.45, Z:2.45 [[ 9.99689387e-01 -1.73794818e-02 -1.78629012e-02 3.57496975e+02] [ 1.73801840e-02 9.99848946e-01 -1.15941299e-04 3.45355853e+00] [ 1.78622180e-02 -1.94555224e-04 9.99840439e-01 2.44884165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.619254154 meters 0.015466053519677548 Centerline is valid? [True, True] Translation: X:357.52, Y:3.45, Z:2.45 [[ 9.99741436e-01 -1.46046718e-02 -1.74288399e-02 3.57524516e+02] [ 1.46048890e-02 9.99893336e-01 -1.14827680e-04 3.45470832e+00] [ 1.74286579e-02 -1.39748282e-04 9.99848100e-01 2.44789377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.64925415399995 meters 0.013940454055523552 Centerline is valid? [True, True] Translation: X:357.55, Y:3.46, Z:2.45 [[ 9.99813049e-01 -1.04824750e-02 -1.62476344e-02 3.57552765e+02] [ 1.04820664e-02 9.99945056e-01 -1.10311081e-04 3.45836094e+00] [ 1.62478980e-02 -6.00183240e-05 9.99867992e-01 2.45034522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.679254154 meters 0.013985383956385768 Centerline is valid? [True, True] Translation: X:357.58, Y:3.46, Z:2.45 [[ 9.99845891e-01 -8.62218962e-03 -1.52922071e-02 3.57581403e+02] [ 8.62155240e-03 9.99962828e-01 -1.07595512e-04 3.46002761e+00] [ 1.52925664e-02 -2.42636341e-05 9.99883062e-01 2.45109618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.70925415399995 meters 0.013957762348190638 Centerline is valid? [True, True] Translation: X:357.61, Y:3.46, Z:2.45 [[ 9.99872324e-01 -7.31569760e-03 -1.42061899e-02 3.57609446e+02] [ 7.31496235e-03 9.99973240e-01 -1.03717271e-04 3.46109046e+00] [ 1.42065685e-02 -2.13715175e-07 9.99899082e-01 2.45231212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.739254154 meters 0.013922198036762829 Centerline is valid? [True, True] Translation: X:357.64, Y:3.46, Z:2.45 [[ 9.99899338e-01 -6.40681615e-03 -1.26596812e-02 3.57637292e+02] [ 6.40611516e-03 9.99979476e-01 -9.59233802e-05 3.46111010e+00] [ 1.26600360e-02 1.48143484e-05 9.99919858e-01 2.45367830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.76925415399995 meters 0.013848951810708382 Centerline is valid? [True, True] Translation: X:357.66, Y:3.46, Z:2.45 [[ 9.99900813e-01 -6.96657916e-03 -1.22405579e-02 3.57664266e+02] [ 6.96592802e-03 9.99975733e-01 -9.58304428e-05 3.46025906e+00] [ 1.22409285e-02 1.05540924e-05 9.99925077e-01 2.45397798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.799254154 meters 0.014490723654036846 Centerline is valid? [True, True] Translation: X:357.69, Y:3.46, Z:2.45 [[ 9.99888798e-01 -8.61812767e-03 -1.21704458e-02 3.57691893e+02] [ 8.61757003e-03 9.99962863e-01 -9.82608917e-05 3.45863187e+00] [ 1.21708407e-02 -6.62970433e-06 9.99925933e-01 2.45340916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.82925415399995 meters 0.014001780076238864 Centerline is valid? [True, True] Translation: X:357.72, Y:3.45, Z:2.45 [[ 9.99821451e-01 -1.41866055e-02 -1.24822412e-02 3.57720893e+02] [ 1.41864218e-02 9.99899362e-01 -1.03268430e-04 3.45309685e+00] [ 1.24824500e-02 -7.38283467e-05 9.99922088e-01 2.45395559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8592541539999 meters 0.01427249170786646 Centerline is valid? [True, True] Translation: X:357.75, Y:3.45, Z:2.45 [[ 9.99759359e-01 -1.77762890e-02 -1.28541137e-02 3.57750424e+02] [ 1.77763812e-02 9.99841982e-01 -1.07091669e-04 3.44969094e+00] [ 1.28539862e-02 -1.21433725e-04 9.99917377e-01 2.45385159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.88925415399996 meters 0.01488179032449241 Centerline is valid? [True, True] Translation: X:357.78, Y:3.45, Z:2.45 [[ 9.99688179e-01 -2.13161266e-02 -1.30064609e-02 3.57779600e+02] [ 2.13165157e-02 9.99772771e-01 -1.08733351e-04 3.44520591e+00] [ 1.30058232e-02 -1.68552982e-04 9.99915406e-01 2.45352571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91925415399993 meters 0.015637382591899694 Centerline is valid? [True, True] Translation: X:357.81, Y:3.44, Z:2.45 [[ 9.99589556e-01 -2.51601559e-02 -1.36998233e-02 3.57809747e+02] [ 2.51609483e-02 9.99683407e-01 -1.14543617e-04 3.44095863e+00] [ 1.36983679e-02 -2.30203941e-04 9.99906146e-01 2.45336093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.94925415399996 meters 0.0169701819292101 Centerline is valid? [True, True] Translation: X:357.84, Y:3.43, Z:2.45 [[ 9.99378240e-01 -3.20438665e-02 -1.47079894e-02 3.57840861e+02] [ 3.20455289e-02 9.99486403e-01 -1.22698516e-04 3.43439622e+00] [ 1.47043672e-02 -3.48703073e-04 9.99891824e-01 2.45291763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97925415399993 meters 0.01741538281371421 Centerline is valid? [True, True] Translation: X:357.87, Y:3.43, Z:2.45 [[ 9.99283695e-01 -3.45103313e-02 -1.55285035e-02 3.57873291e+02] [ 3.45124937e-02 9.99404258e-01 -1.28779608e-04 3.43163478e+00] [ 1.55236967e-02 -4.07240017e-04 9.99879417e-01 2.45342070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.00925415399996 meters 0.01904204275890572 Centerline is valid? [True, True] Translation: X:357.90, Y:3.43, Z:2.45 [[ 9.99139257e-01 -3.82252990e-02 -1.61112559e-02 3.57904152e+02] [ 3.82281231e-02 9.99269029e-01 -1.32761787e-04 3.42527098e+00] [ 1.61045539e-02 -4.83255560e-04 9.99870196e-01 2.45279449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03925415399993 meters 0.018819146067735524 Centerline is valid? [True, True] Translation: X:357.94, Y:3.42, Z:2.45 [[ 9.99109126e-01 -3.89461845e-02 -1.62526736e-02 3.57936427e+02] [ 3.89491688e-02 9.99241184e-01 -1.32999967e-04 3.42399377e+00] [ 1.62455207e-02 -5.00146646e-04 9.99867908e-01 2.45330246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.06925415399996 meters 0.019410504415934605 Centerline is valid? [True, True] Translation: X:357.97, Y:3.42, Z:2.45 [[ 9.99088627e-01 -3.94426939e-02 -1.63152856e-02 3.57967442e+02] [ 3.94457840e-02 9.99221703e-01 -1.32492508e-04 3.42211769e+00] [ 1.63078134e-02 -5.11197475e-04 9.99866888e-01 2.45353548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09925415399994 meters 0.020238192651119428 Centerline is valid? [True, True] Translation: X:358.00, Y:3.42, Z:2.45 [[ 9.99118317e-01 -3.85502336e-02 -1.66273179e-02 3.57998939e+02] [ 3.85533460e-02 9.99256534e-01 -1.33429145e-04 3.41920227e+00] [ 1.66200998e-02 -5.07727239e-04 9.99861748e-01 2.45386762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.12925415399997 meters 0.019228465726297304 Centerline is valid? [True, True] Translation: X:358.03, Y:3.42, Z:2.46 [[ 9.99154858e-01 -3.74512858e-02 -1.69402156e-02 3.58030748e+02] [ 3.74543813e-02 9.99298329e-01 -1.34607707e-04 3.42069008e+00] [ 1.69333704e-02 -4.99991349e-04 9.99856495e-01 2.45503728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15925415399994 meters 0.01781553351463671 Centerline is valid? [True, True] Translation: X:358.06, Y:3.42, Z:2.46 [[ 9.99257512e-01 -3.45613879e-02 -1.70274906e-02 3.58062464e+02] [ 3.45641109e-02 9.99402474e-01 -1.34435388e-04 3.42318421e+00] [ 1.70219625e-02 -4.54204503e-04 9.99855013e-01 2.45626614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18925415399997 meters 0.017672516573839298 Centerline is valid? [True, True] Translation: X:358.09, Y:3.42, Z:2.46 [[ 9.99308318e-01 -3.29996832e-02 -1.71437249e-02 3.58093403e+02] [ 3.30022267e-02 9.99455269e-01 -1.34603528e-04 3.42318699e+00] [ 1.71388281e-02 -4.31270672e-04 9.99853026e-01 2.45632240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21925415399994 meters 0.01933512052815321 Centerline is valid? [True, True] Translation: X:358.12, Y:3.42, Z:2.45 [[ 9.99353562e-01 -3.12277167e-02 -1.78125510e-02 3.58123353e+02] [ 3.12301894e-02 9.99512209e-01 -1.39401179e-04 3.42245904e+00] [ 1.78082154e-02 -4.16978275e-04 9.99841334e-01 2.45480861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24925415399997 meters 0.017450649238075534 Centerline is valid? [True, True] Translation: X:358.15, Y:3.42, Z:2.46 [[ 9.99365765e-01 -3.10524831e-02 -1.74301636e-02 3.58154766e+02] [ 3.10548327e-02 9.99517673e-01 -1.35915448e-04 3.42289004e+00] [ 1.74259770e-02 -4.05461567e-04 9.99848074e-01 2.45691343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.27925415399994 meters 0.018803522396894333 Centerline is valid? [True, True] Translation: X:358.19, Y:3.42, Z:2.46 [[ 9.99385534e-01 -2.99009816e-02 -1.82889772e-02 3.58185160e+02] [ 2.99033841e-02 9.99552784e-01 -1.42155118e-04 3.42133072e+00] [ 1.82850486e-02 -4.04834542e-04 9.99832733e-01 2.45529632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.309254154 meters 0.01667462766864052 Centerline is valid? [True, True] Translation: X:358.22, Y:3.42, Z:2.46 [[ 9.99372041e-01 -3.04549478e-02 -1.81113397e-02 3.58215344e+02] [ 3.04573970e-02 9.99536056e-01 -1.40653853e-04 3.42306695e+00] [ 1.81072207e-02 -4.11058735e-04 9.99835966e-01 2.45746347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.33925415399995 meters 0.016960005993690217 Centerline is valid? [True, True] Translation: X:358.25, Y:3.42, Z:2.46 [[ 9.99319688e-01 -3.12019020e-02 -1.96621959e-02 3.58246049e+02] [ 3.12049469e-02 9.99512996e-01 -1.52003000e-04 3.42128861e+00] [ 1.96573631e-02 -4.61658189e-04 9.99806669e-01 2.45677255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.369254154 meters 0.01703872863405296 Centerline is valid? [True, True] Translation: X:358.28, Y:3.42, Z:2.46 [[ 9.99290258e-01 -3.16387925e-02 -2.04442329e-02 3.58276971e+02] [ 3.16421840e-02 9.99499248e-01 -1.57655547e-04 3.42108685e+00] [ 2.04389834e-02 -4.89356526e-04 9.99790982e-01 2.45638067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.39925415399995 meters 0.0185559852614464 Centerline is valid? [True, True] Translation: X:358.31, Y:3.42, Z:2.46 [[ 9.99273482e-01 -3.14829230e-02 -2.14787024e-02 3.58307126e+02] [ 3.14866305e-02 9.99504159e-01 -1.65632851e-04 3.42062473e+00] [ 2.14732670e-02 -5.10779451e-04 9.99769292e-01 2.45508243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.429254154 meters 0.01946198026950968 Centerline is valid? [True, True] Translation: X:358.34, Y:3.42, Z:2.45 [[ 9.99258688e-01 -3.15462663e-02 -2.20659928e-02 3.58336923e+02] [ 3.15501887e-02 9.99502154e-01 -1.70441180e-04 3.41954467e+00] [ 2.20603842e-02 -5.25871409e-04 9.99756502e-01 2.45467932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.45925415399995 meters 0.01759143441043891 Centerline is valid? [True, True] Translation: X:358.37, Y:3.42, Z:2.46 [[ 9.99265387e-01 -3.19294333e-02 -2.11942692e-02 3.58366490e+02] [ 3.19331241e-02 9.99489994e-01 -1.64357121e-04 3.42046107e+00] [ 2.11887079e-02 -5.12562848e-04 9.99775363e-01 2.45736785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.489254154 meters 0.016739831352174432 Centerline is valid? [True, True] Translation: X:358.40, Y:3.42, Z:2.46 [[ 9.99277882e-01 -3.19186500e-02 -2.06134386e-02 3.58396188e+02] [ 3.19221234e-02 9.99490346e-01 -1.60608752e-04 3.42143509e+00] [ 2.06080593e-02 -4.97531958e-04 9.99787508e-01 2.45888837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.51925415399995 meters 0.017504116606863986 Centerline is valid? [True, True] Translation: X:358.43, Y:3.42, Z:2.46 [[ 9.99314684e-01 -3.10519748e-02 -2.01478754e-02 3.58425700e+02] [ 3.10551070e-02 9.99517661e-01 -1.57475353e-04 3.42138664e+00] [ 2.01430472e-02 -4.68326992e-04 9.99796999e-01 2.45936409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.549254154 meters 0.016694902983667433 Centerline is valid? [True, True] Translation: X:358.46, Y:3.42, Z:2.46 [[ 9.99331111e-01 -3.08262786e-02 -1.96740999e-02 3.58456112e+02] [ 3.08292190e-02 9.99524655e-01 -1.53896720e-04 3.42205177e+00] [ 1.96694920e-02 -4.52743355e-04 9.99806434e-01 2.46032062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.57925415399995 meters 0.0168471566162045 Centerline is valid? [True, True] Translation: X:358.49, Y:3.42, Z:2.46 [[ 9.99338360e-01 -3.05536650e-02 -1.97310985e-02 3.58487099e+02] [ 3.05565694e-02 9.99533027e-01 -1.54342580e-04 3.42213429e+00] [ 1.97266004e-02 -4.48674220e-04 9.99805311e-01 2.46021609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6092541539999 meters 0.01649092920269837 Centerline is valid? [True, True] Translation: X:358.52, Y:3.42, Z:2.46 [[ 9.99359306e-01 -3.02232311e-02 -1.91711859e-02 3.58517244e+02] [ 3.02259079e-02 9.99543082e-01 -1.50187351e-04 3.42250632e+00] [ 1.91669654e-02 -4.29375372e-04 9.99816205e-01 2.46088649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.63925415399996 meters 0.016567108425361438 Centerline is valid? [True, True] Translation: X:358.55, Y:3.42, Z:2.46 [[ 9.99357017e-01 -3.04524817e-02 -1.89261601e-02 3.58548133e+02] [ 3.04551292e-02 9.99536124e-01 -1.48393292e-04 3.42238875e+00] [ 1.89218996e-02 -4.28100772e-04 9.99820873e-01 2.46145557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.66925415399993 meters 0.016360832156674786 Centerline is valid? [True, True] Translation: X:358.58, Y:3.42, Z:2.46 [[ 9.99356660e-01 -3.09299980e-02 -1.81549418e-02 3.58578187e+02] [ 3.09325128e-02 9.99521465e-01 -1.42346444e-04 3.42257397e+00] [ 1.81506568e-02 -4.19323101e-04 9.99835175e-01 2.46212446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.69925415399996 meters 0.017029642275283377 Centerline is valid? [True, True] Translation: X:358.61, Y:3.42, Z:2.46 [[ 9.99330389e-01 -3.22926142e-02 -1.72035359e-02 3.58608277e+02] [ 3.22950773e-02 9.99478369e-01 -1.34696986e-04 3.42040953e+00] [ 1.71989118e-02 -4.20982732e-04 9.99851999e-01 2.46211028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.72925415399993 meters 0.01698126479624208 Centerline is valid? [True, True] Translation: X:358.64, Y:3.42, Z:2.46 [[ 9.99309970e-01 -3.30131955e-02 -1.70209255e-02 3.58640074e+02] [ 3.30157195e-02 9.99454824e-01 -1.32768094e-04 3.42031896e+00] [ 1.70160292e-02 -4.29281622e-04 9.99855125e-01 2.46260098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.75925415399996 meters 0.01700512230078546 Centerline is valid? [True, True] Translation: X:358.67, Y:3.42, Z:2.46 [[ 9.99288434e-01 -3.37067687e-02 -1.69256910e-02 3.58671742e+02] [ 3.37093744e-02 9.99431669e-01 -1.31400578e-04 3.41997115e+00] [ 1.69205007e-02 -4.39247379e-04 9.99856742e-01 2.46282418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.78925415399993 meters 0.01732810914818538 Centerline is valid? [True, True] Translation: X:358.70, Y:3.42, Z:2.46 [[ 9.99243596e-01 -3.51478311e-02 -1.66392967e-02 3.58703046e+02] [ 3.51505592e-02 9.99382020e-01 -1.28565117e-04 3.41827723e+00] [ 1.66335327e-02 -4.56412713e-04 9.99861549e-01 2.46257283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81925415399996 meters 0.0182661808491176 Centerline is valid? [True, True] Translation: X:358.73, Y:3.42, Z:2.46 [[ 9.99209973e-01 -3.59717351e-02 -1.68957080e-02 3.58734173e+02] [ 3.59746794e-02 9.99352693e-01 -1.29733261e-04 3.41610795e+00] [ 1.68894380e-02 -4.78186910e-04 9.99857249e-01 2.46167981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.84925415399994 meters 0.018139562225790943 Centerline is valid? [True, True] Translation: X:358.77, Y:3.42, Z:2.46 [[ 9.99121128e-01 -3.81637120e-02 -1.73349977e-02 3.58765789e+02] [ 3.81671545e-02 9.99271360e-01 -1.32327332e-04 3.41595873e+00] [ 1.73274168e-02 -5.29416500e-04 9.99849729e-01 2.46215674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87925415399997 meters 0.019121903864868527 Centerline is valid? [True, True] Translation: X:358.80, Y:3.41, Z:2.46 [[ 9.99076926e-01 -3.93817239e-02 -1.71573656e-02 3.58796968e+02] [ 3.93852897e-02 9.99224090e-01 -1.30150992e-04 3.41445276e+00] [ 1.71491786e-02 -5.45716961e-04 9.99852793e-01 2.46198763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.90925415399994 meters 0.02038936902793906 Centerline is valid? [True, True] Translation: X:358.83, Y:3.41, Z:2.46 [[ 9.99049666e-01 -4.00327825e-02 -1.72377635e-02 3.58829475e+02] [ 4.00364986e-02 9.99198210e-01 -1.29604397e-04 3.41449383e+00] [ 1.72291309e-02 -5.60658464e-04 9.99851410e-01 2.46113912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93925415399997 meters 0.019402682465818177 Centerline is valid? [True, True] Translation: X:358.86, Y:3.41, Z:2.46 [[ 9.98968736e-01 -4.25498298e-02 -1.58422128e-02 3.58861130e+02] [ 4.25532999e-02 9.99094191e-01 -1.18136247e-04 3.41374379e+00] [ 1.58328894e-02 -5.56124014e-04 9.99874497e-01 2.46313047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.96925415399994 meters 0.01979703242923364 Centerline is valid? [True, True] Translation: X:358.89, Y:3.41, Z:2.46 [[ 9.98926998e-01 -4.36271741e-02 -1.55409700e-02 3.58893622e+02] [ 4.36306596e-02 9.99047723e-01 -1.14867507e-04 3.41324614e+00] [ 1.55311820e-02 -5.63318516e-04 9.99879225e-01 2.46312148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99925415399997 meters 0.02173561345468814 Centerline is valid? [True, True] Translation: X:358.93, Y:3.41, Z:2.46 [[ 9.98890388e-01 -4.43807826e-02 -1.57587592e-02 3.58925464e+02] [ 4.43844786e-02 9.99014517e-01 -1.15301665e-04 3.41205449e+00] [ 1.57483464e-02 -5.84270588e-04 9.99875816e-01 2.46204871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.02925415399994 meters 0.024654201105460294 Centerline is valid? [True, True] Translation: X:358.96, Y:3.41, Z:2.46 [[ 9.98748864e-01 -4.75889375e-02 -1.53622654e-02 3.58955287e+02] [ 4.75928482e-02 9.98866812e-01 -1.11131325e-04 3.40711293e+00] [ 1.53501457e-02 -6.20141681e-04 9.99881987e-01 2.46195568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.059254154 meters 0.021703339551067978 Centerline is valid? [True, True] Translation: X:358.99, Y:3.41, Z:2.46 [[ 9.98665252e-01 -4.91950871e-02 -1.57339753e-02 3.58987145e+02] [ 4.91994088e-02 9.98788969e-01 -1.12518219e-04 3.41209701e+00] [ 1.57204563e-02 -6.61734244e-04 9.99876207e-01 2.46332643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.08925415399995 meters 0.02486393448435077 Centerline is valid? [True, True] Translation: X:359.02, Y:3.41, Z:2.46 [[ 9.98575855e-01 -5.08355866e-02 -1.61865428e-02 3.59018632e+02] [ 5.08404000e-02 9.98706784e-01 -1.14244193e-04 3.40914146e+00] [ 1.61714178e-02 -7.08848818e-04 9.99868983e-01 2.46155479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.119254154 meters 0.02507508816535916 Centerline is valid? [True, True] Translation: X:359.05, Y:3.41, Z:2.46 [[ 9.98443288e-01 -5.33452365e-02 -1.62876222e-02 3.59049249e+02] [ 5.33504609e-02 9.98575844e-01 -1.13884743e-04 3.40797792e+00] [ 1.62705013e-02 -7.55244694e-04 9.99867341e-01 2.46261385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.14925415399995 meters 0.02582806756124383 Centerline is valid? [True, True] Translation: X:359.08, Y:3.41, Z:2.46 [[ 9.98222525e-01 -5.72805653e-02 -1.64537757e-02 3.59080248e+02] [ 5.72864371e-02 9.98357777e-01 -1.14624062e-04 3.40779864e+00] [ 1.64333207e-02 -8.28157868e-04 9.99864621e-01 2.46314726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.179254154 meters 0.026581921512416548 Centerline is valid? [True, True] Translation: X:359.11, Y:3.41, Z:2.46 [[ 9.98116703e-01 -5.92029345e-02 -1.60642508e-02 3.59111893e+02] [ 5.92087897e-02 9.98245614e-01 -1.11288520e-04 3.40712502e+00] [ 1.60426565e-02 -8.40065918e-04 9.99870955e-01 2.46361594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.20925415399995 meters 0.026581921512416548 Centerline is valid? [True, True] Translation: X:359.14, Y:3.41, Z:2.46 [[ 9.98123184e-01 -5.90935704e-02 -1.60642603e-02 3.59144477e+02] [ 5.90994337e-02 9.98252095e-01 -1.09909005e-04 3.40725779e+00] [ 1.60426764e-02 -8.39685959e-04 9.99870955e-01 2.46384163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.239254154 meters 0.032110285847727 Centerline is valid? [True, True] Translation: X:359.17, Y:3.40, Z:2.46 [[ 9.97966529e-01 -6.16616487e-02 -1.61446191e-02 3.59174985e+02] [ 6.16679208e-02 9.98096717e-01 -1.09529955e-04 3.40177778e+00] [ 1.61206451e-02 -8.86297861e-04 9.99869661e-01 2.46148251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.26925415399995 meters 0.030304739808192024 Centerline is valid? [True, True] Translation: X:359.21, Y:3.40, Z:2.46 [[ 9.97877423e-01 -6.31889847e-02 -1.57416860e-02 3.59206961e+02] [ 6.31951487e-02 9.98001183e-01 -1.06048547e-04 3.40358068e+00] [ 1.57169224e-02 -8.88974739e-04 9.99876086e-01 2.46384965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.299254154 meters 0.02824466719758889 Centerline is valid? [True, True] Translation: X:359.24, Y:3.41, Z:2.46 [[ 9.97814356e-01 -6.40058759e-02 -1.64243151e-02 3.59238869e+02] [ 6.40127163e-02 9.97949077e-01 -1.09436260e-04 3.40754537e+00] [ 1.63976346e-02 -9.42167952e-04 9.99865106e-01 2.46435877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.32925415399995 meters 0.027480417180602023 Centerline is valid? [True, True] Translation: X:359.27, Y:3.41, Z:2.46 [[ 9.97758618e-01 -6.45406365e-02 -1.76704688e-02 3.59271426e+02] [ 6.45486620e-02 9.97914554e-01 -1.16391484e-04 3.41077364e+00] [ 1.76411300e-02 -1.02447451e-03 9.99843858e-01 2.46402593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3592541539999 meters 0.027849408836101902 Centerline is valid? [True, True] Translation: X:359.30, Y:3.41, Z:2.46 [[ 9.97739911e-01 -6.46840091e-02 -1.81947237e-02 3.59303468e+02] [ 6.46925665e-02 9.97905235e-01 -1.18476471e-04 3.41174666e+00] [ 1.81642736e-02 -1.05885467e-03 9.99834455e-01 2.46386321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.38925415399996 meters 0.02727690332387492 Centerline is valid? [True, True] Translation: X:359.34, Y:3.41, Z:2.46 [[ 9.97769017e-01 -6.42701293e-02 -1.80648506e-02 3.59335895e+02] [ 6.42785216e-02 9.97931991e-01 -1.16288195e-04 3.41390696e+00] [ 1.80349661e-02 -1.04515313e-03 9.99836811e-01 2.46442312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41925415399993 meters 0.026628658353345835 Centerline is valid? [True, True] Translation: X:359.37, Y:3.42, Z:2.47 [[ 9.97880824e-01 -6.26029793e-02 -1.77405750e-02 3.59366980e+02] [ 6.26108265e-02 9.98038011e-01 -1.13284380e-04 3.41804874e+00] [ 1.77128602e-02 -9.97707755e-04 9.99842617e-01 2.46503200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.44925415399996 meters 0.034526994863410314 Centerline is valid? [True, True] Translation: X:359.40, Y:3.41, Z:2.46 [[ 9.97962514e-01 -6.11851542e-02 -1.80885799e-02 3.59398241e+02] [ 6.11930964e-02 9.98125940e-01 -1.14614976e-04 3.40924784e+00] [ 1.80616936e-02 -9.92514767e-04 9.99836382e-01 2.46266325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47925415399993 meters 0.026785064367685713 Centerline is valid? [True, True] Translation: X:359.43, Y:3.42, Z:2.47 [[ 9.98045044e-01 -6.01305031e-02 -1.70415235e-02 3.59430663e+02] [ 6.01374178e-02 9.98190102e-01 -1.06872915e-04 3.42057219e+00] [ 1.70171064e-02 -9.18169238e-04 9.99854777e-01 2.46625511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.50925415399996 meters 0.025938032466916974 Centerline is valid? [True, True] Translation: X:359.46, Y:3.43, Z:2.47 [[ 9.98216780e-01 -5.74522184e-02 -1.62019060e-02 3.59462096e+02] [ 5.74581299e-02 9.98347912e-01 -1.00783643e-04 3.42640294e+00] [ 1.61809292e-02 -8.30327294e-04 9.99868735e-01 2.46753977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53925415399993 meters 0.025452485149234913 Centerline is valid? [True, True] Translation: X:359.49, Y:3.43, Z:2.47 [[ 9.98321581e-01 -5.56502472e-02 -1.60334387e-02 3.59493371e+02] [ 5.56558139e-02 9.98450009e-01 -9.91510433e-05 3.42925060e+00] [ 1.60141048e-02 -7.93369454e-04 9.99871451e-01 2.46811051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.56925415399996 meters 0.026144689465779927 Centerline is valid? [True, True] Translation: X:359.52, Y:3.43, Z:2.47 [[ 9.98425093e-01 -5.37123285e-02 -1.61962517e-02 3.59524201e+02] [ 5.37177640e-02 9.98556154e-01 -9.95659728e-05 3.43069931e+00] [ 1.61782147e-02 -7.70617261e-04 9.99868827e-01 2.46773788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59925415399994 meters 0.02418924312318622 Centerline is valid? [True, True] Translation: X:359.56, Y:3.44, Z:2.47 [[ 9.98601854e-01 -5.03545496e-02 -1.60859078e-02 3.59555751e+02] [ 5.03594885e-02 9.98731151e-01 -9.81451801e-05 3.43622992e+00] [ 1.60704393e-02 -7.12070129e-04 9.99870609e-01 2.46806251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.62925415399997 meters 0.02407982553791821 Centerline is valid? [True, True] Translation: X:359.59, Y:3.44, Z:2.47 [[ 9.98685098e-01 -4.85828556e-02 -1.63640099e-02 3.59586651e+02] [ 4.85877438e-02 9.98818913e-01 -9.89585347e-05 3.43814784e+00] [ 1.63494903e-02 -6.96261908e-04 9.99866096e-01 2.46798912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65925415399994 meters 0.023091985814251197 Centerline is valid? [True, True] Translation: X:359.62, Y:3.44, Z:2.47 [[ 9.98822830e-01 -4.54599558e-02 -1.69217777e-02 3.59617977e+02] [ 4.54647480e-02 9.98965939e-01 -1.01595543e-04 3.44281300e+00] [ 1.69088980e-02 -6.67868409e-04 9.99856811e-01 2.46787964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68925415399997 meters 0.02108943881478447 Centerline is valid? [True, True] Translation: X:359.65, Y:3.45, Z:2.47 [[ 9.98876730e-01 -4.40538680e-02 -1.74509163e-02 3.59649724e+02] [ 4.40587684e-02 9.99028936e-01 -1.03739311e-04 3.44841967e+00] [ 1.74385404e-02 -6.65243095e-04 9.99847716e-01 2.46821708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71925415399994 meters 0.02483098981920651 Centerline is valid? [True, True] Translation: X:359.68, Y:3.45, Z:2.47 [[ 9.98901906e-01 -4.29183638e-02 -1.87882122e-02 3.59680591e+02] [ 4.29238663e-02 9.99078340e-01 -1.10480264e-04 3.44593632e+00] [ 1.87756375e-02 -6.96103764e-04 9.99823480e-01 2.46650175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74925415399997 meters 0.022205859266313792 Centerline is valid? [True, True] Translation: X:359.71, Y:3.45, Z:2.47 [[ 9.99011833e-01 -4.06707608e-02 -1.79233319e-02 3.59711221e+02] [ 4.06754204e-02 9.99172407e-01 -1.04648059e-04 3.45031831e+00] [ 1.79127548e-02 -6.24494413e-04 9.99839359e-01 2.46772566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.77925415399994 meters 0.01985716653688394 Centerline is valid? [True, True] Translation: X:359.74, Y:3.46, Z:2.47 [[ 9.99051311e-01 -3.94858863e-02 -1.83668746e-02 3.59743038e+02] [ 3.94905992e-02 9.99219936e-01 -1.06158895e-04 3.45566269e+00] [ 1.83567390e-02 -6.19260699e-04 9.99831309e-01 2.46871852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.809254154 meters 0.01922684351623701 Centerline is valid? [True, True] Translation: X:359.77, Y:3.46, Z:2.47 [[ 9.99161575e-01 -3.63707610e-02 -1.87966477e-02 3.59773423e+02] [ 3.63751602e-02 9.99338199e-01 -1.07913173e-04 3.45915121e+00] [ 1.87881329e-02 -5.75908374e-04 9.99823322e-01 2.46871970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.83925415399995 meters 0.01897754389142951 Centerline is valid? [True, True] Translation: X:359.80, Y:3.46, Z:2.47 [[ 9.99247259e-01 -3.41609657e-02 -1.83832668e-02 3.59804175e+02] [ 3.41648096e-02 9.99416207e-01 -1.05010374e-04 3.46103923e+00] [ 1.83761221e-02 -5.23129483e-04 9.99831008e-01 2.46899042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.869254154 meters 0.0182535204974329 Centerline is valid? [True, True] Translation: X:359.84, Y:3.46, Z:2.47 [[ 9.99319791e-01 -3.21453025e-02 -1.80730224e-02 3.59835923e+02] [ 3.21487034e-02 9.99483092e-01 -1.02399933e-04 3.46403357e+00] [ 1.80669720e-02 -4.78693959e-04 9.99836664e-01 2.46982770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.89925415399995 meters 0.01745909030212999 Centerline is valid? [True, True] Translation: X:359.87, Y:3.47, Z:2.47 [[ 9.99443683e-01 -2.80342270e-02 -1.80667184e-02 3.59866797e+02] [ 2.80369681e-02 9.99606882e-01 -1.01599260e-04 3.46797580e+00] [ 1.80624643e-02 -4.04993271e-04 9.99836778e-01 2.47054486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.929254154 meters 0.01599927840634224 Centerline is valid? [True, True] Translation: X:359.90, Y:3.47, Z:2.47 [[ 9.99502813e-01 -2.61027868e-02 -1.76853644e-02 3.59898644e+02] [ 2.61051259e-02 9.99659198e-01 -9.86184870e-05 3.47226851e+00] [ 1.76819114e-02 -3.63109210e-04 9.99843597e-01 2.47225294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.95925415399995 meters 0.0178274376091952 Centerline is valid? [True, True] Translation: X:359.93, Y:3.47, Z:2.47 [[ 9.99561729e-01 -2.38221250e-02 -1.75743194e-02 3.59928945e+02] [ 2.38240926e-02 9.99716161e-01 -9.74228084e-05 3.46916691e+00] [ 1.75716519e-02 -3.21312102e-04 9.99845555e-01 2.46984946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.989254154 meters 0.016482555916514836 Centerline is valid? [True, True] Translation: X:359.96, Y:3.47, Z:2.47 [[ 9.99583487e-01 -2.30065116e-02 -1.74227534e-02 3.59959751e+02] [ 2.30083238e-02 9.99735269e-01 -9.64567659e-05 3.47205361e+00] [ 1.74203602e-02 -3.04451761e-04 9.99848208e-01 2.47156809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.01925415399995 meters 0.015440737710993805 Centerline is valid? [True, True] Translation: X:359.99, Y:3.47, Z:2.47 [[ 9.99596914e-01 -2.25678215e-02 -1.72250519e-02 3.59989866e+02] [ 2.25695276e-02 9.99745271e-01 -9.53622402e-05 3.47482009e+00] [ 1.72228163e-02 -2.93437483e-04 9.99851633e-01 2.47331146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.049254154 meters 0.016542389973643185 Centerline is valid? [True, True] Translation: X:360.02, Y:3.47, Z:2.47 [[ 9.99591931e-01 -2.20612602e-02 -1.81458808e-02 3.60019395e+02] [ 2.20630665e-02 9.99756576e-01 -1.00666082e-04 3.47460417e+00] [ 1.81436845e-02 -2.99728772e-04 9.99835345e-01 2.47294385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.07925415399995 meters 0.01538135870476204 Centerline is valid? [True, True] Translation: X:360.05, Y:3.48, Z:2.47 [[ 9.99614011e-01 -2.10899469e-02 -1.80843253e-02 3.60048676e+02] [ 2.10915725e-02 9.99777543e-01 -1.00854680e-04 3.47582113e+00] [ 1.80824293e-02 -2.80611106e-04 9.99836460e-01 2.47316397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1092541539999 meters 0.015569485873650849 Centerline is valid? [True, True] Translation: X:360.08, Y:3.48, Z:2.47 [[ 9.99610369e-01 -2.05124549e-02 -1.89301153e-02 3.60078725e+02] [ 2.05141194e-02 9.99789558e-01 -1.06270503e-04 3.47678154e+00] [ 1.89283115e-02 -2.82105550e-04 9.99820804e-01 2.47267380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.13925415399996 meters 0.015074333841361906 Centerline is valid? [True, True] Translation: X:360.11, Y:3.48, Z:2.47 [[ 9.99620399e-01 -1.98729325e-02 -1.90820640e-02 3.60107510e+02] [ 1.98744434e-02 9.99802478e-01 -1.10476508e-04 3.47773881e+00] [ 1.90804904e-02 -2.68810831e-04 9.99817915e-01 2.47255885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.16925415399993 meters 0.014937939658751101 Centerline is valid? [True, True] Translation: X:360.14, Y:3.48, Z:2.47 [[ 9.99622310e-01 -1.87382200e-02 -2.01026474e-02 3.60135720e+02] [ 1.87396062e-02 9.99824391e-01 -1.19434598e-04 3.47834773e+00] [ 2.01013552e-02 -2.57326208e-04 9.99797914e-01 2.47230256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.19925415399996 meters 0.015064886226728467 Centerline is valid? [True, True] Translation: X:360.16, Y:3.48, Z:2.47 [[ 9.99656652e-01 -1.59690756e-02 -2.07741658e-02 3.60163724e+02] [ 1.59699191e-02 9.99872465e-01 -1.25306276e-04 3.47947115e+00] [ 2.07735174e-02 -2.06498495e-04 9.99784186e-01 2.47196846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.22925415399993 meters 0.014530982656034027 Centerline is valid? [True, True] Translation: X:360.19, Y:3.48, Z:2.47 [[ 9.99682789e-01 -1.44159537e-02 -2.06519019e-02 3.60191382e+02] [ 1.44164182e-02 9.99896070e-01 -1.26395305e-04 3.48038897e+00] [ 2.06515776e-02 -1.71371243e-04 9.99786719e-01 2.47242612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.25925415399996 meters 0.01527755714756761 Centerline is valid? [True, True] Translation: X:360.22, Y:3.48, Z:2.47 [[ 9.99718340e-01 -1.15005343e-02 -2.07600310e-02 3.60219781e+02] [ 1.15002920e-02 9.99933861e-01 -1.31064966e-04 3.48175566e+00] [ 2.07601653e-02 -1.07718367e-04 9.99784479e-01 2.47336033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.28925415399993 meters 0.014162010852489993 Centerline is valid? [True, True] Translation: X:360.25, Y:3.48, Z:2.47 [[ 9.99751023e-01 -1.04910218e-02 -1.96934031e-02 3.60247552e+02] [ 1.04905421e-02 9.99944965e-01 -1.27668865e-04 3.48255190e+00] [ 1.96936586e-02 -7.89573952e-05 9.99806058e-01 2.47396525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31925415399996 meters 0.01629073389868176 Centerline is valid? [True, True] Translation: X:360.28, Y:3.48, Z:2.48 [[ 9.99722271e-01 -9.52622351e-03 -2.15553064e-02 3.60276649e+02] [ 9.52532362e-03 9.99954623e-01 -1.44422755e-04 3.48306888e+00] [ 2.15557041e-02 -6.09386237e-05 9.99767647e-01 2.47515057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.34925415399994 meters 0.014246951025118844 Centerline is valid? [True, True] Translation: X:360.30, Y:3.48, Z:2.47 [[ 9.99756907e-01 -8.43331494e-03 -2.03716873e-02 3.60304526e+02] [ 8.43222669e-03 9.99964438e-01 -1.39319028e-04 3.48258579e+00] [ 2.03721377e-02 -3.24935250e-05 9.99792466e-01 2.47434502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37925415399997 meters 0.015516398944714932 Centerline is valid? [True, True] Translation: X:360.33, Y:3.48, Z:2.48 [[ 9.99721066e-01 -8.73106720e-03 -2.19444414e-02 3.60332901e+02] [ 8.72977657e-03 9.99961883e-01 -1.54611421e-04 3.48197010e+00] [ 2.19449549e-02 -3.70017761e-05 9.99759180e-01 2.47599516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.40925415399994 meters 0.014085766418934486 Centerline is valid? [True, True] Translation: X:360.36, Y:3.48, Z:2.48 [[ 9.99721477e-01 -9.34817316e-03 -2.16698045e-02 3.60361089e+02] [ 9.34692717e-03 9.99956304e-01 -1.58785453e-04 3.48122478e+00] [ 2.16703419e-02 -4.38048561e-05 9.99765170e-01 2.47601425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43925415399997 meters 0.015384730197121981 Centerline is valid? [True, True] Translation: X:360.39, Y:3.48, Z:2.48 [[ 9.99657788e-01 -1.08549001e-02 -2.38008000e-02 3.60389943e+02] [ 1.08536676e-02 9.99941081e-01 -1.80970555e-04 3.47863886e+00] [ 2.38013621e-02 -7.74173474e-05 9.99716704e-01 2.47569282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.46925415399994 meters 0.014231511959771445 Centerline is valid? [True, True] Translation: X:360.42, Y:3.48, Z:2.48 [[ 9.99645787e-01 -1.24426785e-02 -2.35261766e-02 3.60417942e+02] [ 1.24417583e-02 9.99922581e-01 -1.85492366e-04 3.47743527e+00] [ 2.35266632e-02 -1.07280339e-04 9.99723204e-01 2.47570407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49925415399997 meters 0.014349129975841774 Centerline is valid? [True, True] Translation: X:360.45, Y:3.47, Z:2.48 [[ 9.99588658e-01 -1.55044188e-02 -2.41273134e-02 3.60447050e+02] [ 1.55041857e-02 9.99879784e-01 -1.96737297e-04 3.47441669e+00] [ 2.41274632e-02 -1.77417977e-04 9.99708875e-01 2.47592231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.52925415399994 meters 0.014373824300711229 Centerline is valid? [True, True] Translation: X:360.48, Y:3.47, Z:2.48 [[ 9.99565812e-01 -1.70162239e-02 -2.40548349e-02 3.60475203e+02] [ 1.70163495e-02 9.99855192e-01 -1.99487786e-04 3.47245794e+00] [ 2.40547460e-02 -2.09924306e-04 9.99710621e-01 2.47563038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.559254154 meters 0.014473421894743169 Centerline is valid? [True, True] Translation: X:360.50, Y:3.47, Z:2.48 [[ 9.99523401e-01 -1.88613669e-02 -2.44380673e-02 3.60503849e+02] [ 1.88619225e-02 9.99822077e-01 -2.07793033e-04 3.47102817e+00] [ 2.44376385e-02 -2.53254933e-04 9.99701324e-01 2.47634709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.58925415399995 meters 0.014905048459407324 Centerline is valid? [True, True] Translation: X:360.53, Y:3.47, Z:2.48 [[ 9.99432210e-01 -2.27730405e-02 -2.48323737e-02 3.60532668e+02] [ 2.27746627e-02 9.99740600e-01 -2.17527042e-04 3.46757521e+00] [ 2.48308860e-02 -3.48145404e-04 9.99691605e-01 2.47664406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.619254154 meters 0.015186424922420413 Centerline is valid? [True, True] Translation: X:360.56, Y:3.47, Z:2.48 [[ 9.99368347e-01 -2.50495499e-02 -2.52076705e-02 3.60561643e+02] [ 2.50517817e-02 9.99686129e-01 -2.27306755e-04 3.46603288e+00] [ 2.52054524e-02 -4.04333881e-04 9.99682210e-01 2.47677530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.64925415399995 meters 0.01583532394685031 Centerline is valid? [True, True] Translation: X:360.59, Y:3.46, Z:2.48 [[ 9.99306455e-01 -2.71372058e-02 -2.54986289e-02 3.60589389e+02] [ 2.71400799e-02 9.99631613e-01 -2.33415635e-04 3.46328961e+00] [ 2.54955697e-02 -4.58781075e-04 9.99674830e-01 2.47586333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.679254154 meters 0.016074936277664847 Centerline is valid? [True, True] Translation: X:360.62, Y:3.46, Z:2.48 [[ 9.99189497e-01 -3.13564519e-02 -2.52412638e-02 3.60617829e+02] [ 3.13604785e-02 9.99508111e-01 -2.36411230e-04 3.46104980e+00] [ 2.52362610e-02 -5.55358493e-04 9.99681361e-01 2.47737684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.70925415399995 meters 0.01792129872730291 Centerline is valid? [True, True] Translation: X:360.65, Y:3.46, Z:2.48 [[ 9.99107938e-01 -3.31183036e-02 -2.62012746e-02 3.60646540e+02] [ 3.31230691e-02 9.99451249e-01 -2.52225128e-04 3.45941019e+00] [ 2.61952498e-02 -6.15866500e-04 9.99656656e-01 2.47800711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.739254154 meters 0.017774725209793785 Centerline is valid? [True, True] Translation: X:360.68, Y:3.46, Z:2.48 [[ 9.99105538e-01 -3.48740242e-02 -2.39149767e-02 3.60675469e+02] [ 3.48784293e-02 9.99391535e-01 -2.33021489e-04 3.45624962e+00] [ 2.39085516e-02 -6.01303764e-04 9.99713969e-01 2.47685240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.76925415399995 meters 0.01773455688846061 Centerline is valid? [True, True] Translation: X:360.71, Y:3.46, Z:2.48 [[ 9.99007443e-01 -3.82748931e-02 -2.27851250e-02 3.60705845e+02] [ 3.82797649e-02 9.99267036e-01 -2.22469563e-04 3.45514312e+00] [ 2.27769393e-02 -6.49960478e-04 9.99740361e-01 2.47885902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.799254154 meters 0.01820554969757466 Centerline is valid? [True, True] Translation: X:360.74, Y:3.45, Z:2.48 [[ 9.98957789e-01 -4.00253030e-02 -2.19388183e-02 3.60737329e+02] [ 4.00302531e-02 9.99198445e-01 -2.13658021e-04 3.45363166e+00] [ 2.19297849e-02 -6.64781104e-04 9.99759292e-01 2.47942132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.82925415399995 meters 0.01983334450397598 Centerline is valid? [True, True] Translation: X:360.77, Y:3.45, Z:2.48 [[ 9.98786836e-01 -4.43834015e-02 -2.13300019e-02 3.60768528e+02] [ 4.43890894e-02 9.99014297e-01 -2.06960138e-04 3.44950147e+00] [ 2.13181624e-02 -7.40110300e-04 9.99772468e-01 2.47944665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8592541539999 meters 0.023034660354495244 Centerline is valid? [True, True] Translation: X:360.80, Y:3.44, Z:2.48 [[ 9.98681780e-01 -4.66345427e-02 -2.14458044e-02 3.60799169e+02] [ 4.66408275e-02 9.98911703e-01 -2.07304014e-04 3.44372584e+00] [ 2.14321326e-02 -7.93219325e-04 9.99769991e-01 2.47778897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.88925415399996 meters 0.02123995599310199 Centerline is valid? [True, True] Translation: X:360.83, Y:3.45, Z:2.48 [[ 9.98558374e-01 -4.91399775e-02 -2.15971469e-02 3.60831067e+02] [ 4.91469650e-02 9.98791536e-01 -2.07440330e-04 3.44588225e+00] [ 2.15812411e-02 -8.54292945e-04 9.99766733e-01 2.47933768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91925415399993 meters 0.02185775793067034 Centerline is valid? [True, True] Translation: X:360.86, Y:3.44, Z:2.48 [[ 9.98431023e-01 -5.14972906e-02 -2.19891357e-02 3.60862883e+02] [ 5.15051345e-02 9.98672708e-01 -2.09856772e-04 3.44444695e+00] [ 2.19707567e-02 -9.23025880e-04 9.99758188e-01 2.47897541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.94925415399996 meters 0.024365883431560386 Centerline is valid? [True, True] Translation: X:360.89, Y:3.44, Z:2.48 [[ 9.98182336e-01 -5.57410249e-02 -2.29120726e-02 3.60892920e+02] [ 5.57506659e-02 9.98444698e-01 -2.18265952e-04 3.43924487e+00] [ 2.28886037e-02 -1.05949409e-03 9.99737460e-01 2.47709250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97925415399993 meters 0.02544358713507131 Centerline is valid? [True, True] Translation: X:360.92, Y:3.44, Z:2.48 [[ 9.98110941e-01 -5.69024727e-02 -2.31658992e-02 3.60924491e+02] [ 5.69126803e-02 9.98379136e-01 -2.18968477e-04 3.43738230e+00] [ 2.31408102e-02 -1.09987858e-03 9.99731611e-01 2.47649141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.00925415399996 meters 0.02623630668580889 Centerline is valid? [True, True] Translation: X:360.96, Y:3.44, Z:2.48 [[ 9.98095831e-01 -5.73897504e-02 -2.26081403e-02 3.60957135e+02] [ 5.73996382e-02 9.98351259e-01 -2.11865466e-04 3.43675963e+00] [ 2.25830242e-02 -1.08623703e-03 9.99744381e-01 2.47619435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03925415399993 meters 0.0262903335130091 Centerline is valid? [True, True] Translation: X:360.99, Y:3.44, Z:2.48 [[ 9.98152504e-01 -5.65581121e-02 -2.21981478e-02 3.60989280e+02] [ 5.65674740e-02 9.98398757e-01 -2.06457358e-04 3.43774628e+00] [ 2.21742800e-02 -1.04961722e-03 9.99753569e-01 2.47695249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.06925415399996 meters 0.0256983324631059 Centerline is valid? [True, True] Translation: X:361.02, Y:3.44, Z:2.48 [[ 9.98273015e-01 -5.47911892e-02 -2.11875573e-02 3.61020750e+02] [ 5.47993413e-02 9.98497368e-01 -1.96084302e-04 3.43980001e+00] [ 2.11664639e-02 -9.65318516e-04 9.99775499e-01 2.47767787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09925415399994 meters 0.024668983362984807 Centerline is valid? [True, True] Translation: X:361.05, Y:3.44, Z:2.48 [[ 9.98545214e-01 -5.03078657e-02 -1.94055040e-02 3.61050050e+02] [ 5.03138587e-02 9.98733440e-01 -1.79584722e-04 3.44386947e+00] [ 1.93899603e-02 -7.97042324e-04 9.99811679e-01 2.47930828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.12925415399997 meters 0.024668983362984807 Centerline is valid? [True, True] Translation: X:361.08, Y:3.44, Z:2.48 [[ 9.98548709e-01 -5.02384514e-02 -1.94055109e-02 3.61081771e+02] [ 5.02444458e-02 9.98736934e-01 -1.78838411e-04 3.44409809e+00] [ 1.93899851e-02 -7.96440278e-04 9.99811679e-01 2.47952814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15925415399994 meters 0.020401350050024847 Centerline is valid? [True, True] Translation: X:361.11, Y:3.45, Z:2.48 [[ 9.98706392e-01 -4.74067218e-02 -1.83887408e-02 3.61112784e+02] [ 4.74116413e-02 9.98875422e-01 -1.68582682e-04 3.45195841e+00] [ 1.83760531e-02 -7.03475779e-04 9.99830899e-01 2.48154883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18925415399997 meters 0.019933202295603678 Centerline is valid? [True, True] Translation: X:361.14, Y:3.45, Z:2.48 [[ 9.98861879e-01 -4.42330419e-02 -1.78433577e-02 3.61143341e+02] [ 4.42371941e-02 9.99021043e-01 -1.62121816e-04 3.45390579e+00] [ 1.78330609e-02 -6.27402774e-04 9.99840781e-01 2.48152562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21925415399994 meters 0.01914198564431186 Centerline is valid? [True, True] Translation: X:361.18, Y:3.46, Z:2.48 [[ 9.99016005e-01 -4.08576467e-02 -1.72532489e-02 3.61175052e+02] [ 4.08610485e-02 9.99164827e-01 -1.55453798e-04 3.45653375e+00] [ 1.72451909e-02 -5.49685007e-04 9.99851140e-01 2.48159260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24925415399997 meters 0.0174052645700513 Centerline is valid? [True, True] Translation: X:361.21, Y:3.46, Z:2.48 [[ 9.99282340e-01 -3.40737427e-02 -1.65464717e-02 3.61205874e+02] [ 3.40759509e-02 9.99419235e-01 -1.48549284e-04 3.46249416e+00] [ 1.65419237e-02 -4.15394080e-04 9.99863087e-01 2.48140321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.27925415399994 meters 0.016499285545707273 Centerline is valid? [True, True] Translation: X:361.24, Y:3.47, Z:2.48 [[ 9.99404491e-01 -3.05873749e-02 -1.59710992e-02 3.61237441e+02] [ 3.05889943e-02 9.99532037e-01 -1.42935582e-04 3.46588555e+00] [ 1.59679973e-02 -3.45689399e-04 9.99872444e-01 2.48151699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.309254154 meters 0.015443876423586436 Centerline is valid? [True, True] Translation: X:361.27, Y:3.47, Z:2.48 [[ 9.99588238e-01 -2.42711131e-02 -1.53057990e-02 3.61267810e+02] [ 2.42718661e-02 9.99705386e-01 -1.36589157e-04 3.47211424e+00] [ 1.53046048e-02 -2.34967388e-04 9.99882850e-01 2.48168492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.33925415399995 meters 0.014826281483230471 Centerline is valid? [True, True] Translation: X:361.30, Y:3.48, Z:2.48 [[ 9.99663250e-01 -2.10666891e-02 -1.51519626e-02 3.61299484e+02] [ 2.10670653e-02 9.99778056e-01 -1.34800330e-04 3.47549130e+00] [ 1.51514395e-02 -1.84452449e-04 9.99885193e-01 2.48180466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.369254154 meters 0.01454935922307257 Centerline is valid? [True, True] Translation: X:361.33, Y:3.48, Z:2.48 [[ 9.99716605e-01 -1.82795982e-02 -1.52500967e-02 3.61328566e+02] [ 1.82796566e-02 9.99832904e-01 -1.35572652e-04 3.47806302e+00] [ 1.52500267e-02 -1.43232300e-04 9.99883701e-01 2.48134055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.39925415399995 meters 0.014268641043013106 Centerline is valid? [True, True] Translation: X:361.36, Y:3.48, Z:2.48 [[ 9.99761389e-01 -1.56230837e-02 -1.52671255e-02 3.61358219e+02] [ 1.56228262e-02 9.99877947e-01 -1.36138450e-04 3.48085467e+00] [ 1.52673890e-02 -1.02409681e-04 9.99883441e-01 2.48122240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.429254154 meters 0.013856234119793571 Centerline is valid? [True, True] Translation: X:361.39, Y:3.49, Z:2.48 [[ 9.99828087e-01 -1.08415188e-02 -1.50418847e-02 3.61386565e+02] [ 1.08406933e-02 9.99941229e-01 -1.36423046e-04 3.48606638e+00] [ 1.50424797e-02 -2.66648645e-05 9.99886855e-01 2.48130165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.45925415399995 meters 0.013953344263294889 Centerline is valid? [True, True] Translation: X:361.41, Y:3.49, Z:2.48 [[ 9.99850531e-01 -8.54614877e-03 -1.50292819e-02 3.61413918e+02] [ 8.54502367e-03 9.99963481e-01 -1.39076970e-04 3.48859557e+00] [ 1.50299216e-02 1.06306132e-05 9.99887044e-01 2.48084915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.489254154 meters 0.01396992691257343 Centerline is valid? [True, True] Translation: X:361.44, Y:3.49, Z:2.48 [[ 9.99893184e-01 -4.46834322e-03 -1.39159825e-02 3.61441816e+02] [ 4.46694400e-03 9.99990014e-01 -1.31628289e-04 3.49289297e+00] [ 1.39164317e-02 6.94523143e-05 9.99903159e-01 2.48144682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.51925415399995 meters 0.014075880664292351 Centerline is valid? [True, True] Translation: X:361.47, Y:3.49, Z:2.48 [[ 9.99903745e-01 -2.19941730e-03 -1.36990576e-02 3.61470160e+02] [ 2.19779719e-03 9.99997576e-01 -1.33318296e-04 3.49495586e+00] [ 1.36993176e-02 1.03197713e-04 9.99906155e-01 2.48171010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.549254154 meters 0.014485028834542234 Centerline is valid? [True, True] Translation: X:361.50, Y:3.50, Z:2.48 [[ 9.99912750e-01 -5.30142116e-04 -1.31988912e-02 3.61497813e+02] [ 5.28459072e-04 9.99999852e-01 -1.31001428e-04 3.49753481e+00] [ 1.31989587e-02 1.24014924e-04 9.99912882e-01 2.48135913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.57925415399995 meters 0.015107067125268724 Centerline is valid? [True, True] Translation: X:361.53, Y:3.50, Z:2.48 [[ 9.99912972e-01 3.23388681e-03 -1.27902830e-02 3.61526878e+02] [-3.23580518e-03 9.99994756e-01 -1.29294764e-04 3.50056084e+00] [ 1.27897978e-02 1.70670375e-04 9.99918193e-01 2.48143381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6092541539999 meters 0.015377478079240161 Centerline is valid? [True, True] Translation: X:361.56, Y:3.50, Z:2.48 [[ 9.99911322e-01 4.60587647e-03 -1.24953543e-02 3.61555346e+02] [-4.60785270e-03 9.99989375e-01 -1.29372346e-04 3.50253039e+00] [ 1.24946257e-02 1.86937626e-04 9.99921922e-01 2.48164125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.63925415399996 meters 0.015399605888314136 Centerline is valid? [True, True] Translation: X:361.58, Y:3.50, Z:2.48 [[ 9.99911422e-01 6.04100422e-03 -1.18598226e-02 3.61584399e+02] [-6.04291951e-03 9.99981733e-01 -1.25664752e-04 3.50352959e+00] [ 1.18588468e-02 1.97321574e-04 9.99929662e-01 2.48198556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.66925415399993 meters 0.015544285736420568 Centerline is valid? [True, True] Translation: X:361.61, Y:3.50, Z:2.48 [[ 9.99907653e-01 6.76003104e-03 -1.17892701e-02 3.61613436e+02] [-6.76199820e-03 9.99977129e-01 -1.27006189e-04 3.50433491e+00] [ 1.17881419e-02 2.06713483e-04 9.99930496e-01 2.48230329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.69925415399996 meters 0.014966406200671092 Centerline is valid? [True, True] Translation: X:361.64, Y:3.50, Z:2.48 [[ 9.99913929e-01 6.59287241e-03 -1.13432371e-02 3.61641000e+02] [-6.59469377e-03 9.99978247e-01 -1.23171376e-04 3.50270182e+00] [ 1.13421783e-02 1.97965950e-04 9.99935656e-01 2.48236048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.72925415399993 meters 0.015106286908423193 Centerline is valid? [True, True] Translation: X:361.67, Y:3.50, Z:2.48 [[ 9.99919600e-01 5.42178043e-03 -1.14628707e-02 3.61669181e+02] [-5.42357908e-03 9.99985284e-01 -1.25829892e-04 3.50225098e+00] [ 1.14620198e-02 1.87989562e-04 9.99934291e-01 2.48204566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.75925415399996 meters 0.014605782050288252 Centerline is valid? [True, True] Translation: X:361.70, Y:3.50, Z:2.48 [[ 9.99931299e-01 3.31859045e-03 -1.12420348e-02 3.61697643e+02] [-3.32020092e-03 9.99994480e-01 -1.24593438e-04 3.50029226e+00] [ 1.12415593e-02 1.61910693e-04 9.99936799e-01 2.48221296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.78925415399993 meters 0.014015707355019653 Centerline is valid? [True, True] Translation: X:361.73, Y:3.50, Z:2.48 [[ 9.99932983e-01 -2.43046893e-03 -1.13191404e-02 3.61726202e+02] [ 2.42919514e-03 9.99997042e-01 -1.26281715e-04 3.49517433e+00] [ 1.13194139e-02 9.87768507e-05 9.99935929e-01 2.48165774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81925415399996 meters 0.014872672960253647 Centerline is valid? [True, True] Translation: X:361.76, Y:3.49, Z:2.48 [[ 9.99925914e-01 -5.43749020e-03 -1.08904158e-02 3.61755357e+02] [ 5.43648097e-03 9.99985215e-01 -1.22273356e-04 3.49238024e+00] [ 1.08909196e-02 6.30587595e-05 9.99940690e-01 2.48142312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.84925415399994 meters 0.013589493709606456 Centerline is valid? [True, True] Translation: X:361.78, Y:3.49, Z:2.48 [[ 9.99865025e-01 -1.28060917e-02 -1.02925381e-02 3.61783875e+02] [ 1.28055732e-02 9.99917999e-01 -1.16281870e-04 3.48575193e+00] [ 1.02931832e-02 -1.55356736e-05 9.99947024e-01 2.48162123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87925415399997 meters 0.013634070780844028 Centerline is valid? [True, True] Translation: X:361.81, Y:3.48, Z:2.48 [[ 9.99818442e-01 -1.62900648e-02 -9.88520276e-03 3.61812904e+02] [ 1.62897509e-02 9.99867307e-01 -1.12273355e-04 3.48234528e+00] [ 9.88572000e-03 -4.87745200e-05 9.99951134e-01 2.48149587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.90925415399994 meters 0.014250609790067837 Centerline is valid? [True, True] Translation: X:361.84, Y:3.48, Z:2.48 [[ 9.99684577e-01 -2.31058343e-02 -9.84206514e-03 3.61843731e+02] [ 2.31058514e-02 9.99733018e-01 -1.11980438e-04 3.47625351e+00] [ 9.84202489e-03 -1.15464177e-04 9.99951559e-01 2.48179463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93925415399997 meters 0.014732456575220484 Centerline is valid? [True, True] Translation: X:361.87, Y:3.47, Z:2.48 [[ 9.99609841e-01 -2.60199388e-02 -1.01552068e-02 3.61874535e+02] [ 2.60201129e-02 9.99661413e-01 -1.15002020e-04 3.47272695e+00] [ 1.01547607e-02 -1.49282476e-04 9.99948428e-01 2.48197133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.96925415399994 meters 0.015267117897786958 Centerline is valid? [True, True] Translation: X:361.91, Y:3.47, Z:2.48 [[ 9.99526029e-01 -2.90097873e-02 -1.03029370e-02 3.61906818e+02] [ 2.90101370e-02 9.99579111e-01 -1.15534246e-04 3.47024469e+00] [ 1.03019522e-02 -1.83410128e-04 9.99946917e-01 2.48189475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99925415399997 meters 0.015831319082571883 Centerline is valid? [True, True] Translation: X:361.94, Y:3.47, Z:2.48 [[ 9.99436866e-01 -3.18026961e-02 -1.07023530e-02 3.61939116e+02] [ 3.18032421e-02 9.99494142e-01 -1.19214178e-04 3.46701099e+00] [ 1.07007304e-02 -2.21222478e-04 9.99942721e-01 2.48170627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.02925415399994 meters 0.016925799449270362 Centerline is valid? [True, True] Translation: X:361.97, Y:3.46, Z:2.48 [[ 9.99265949e-01 -3.67652490e-02 -1.07647821e-02 3.61970795e+02] [ 3.67660968e-02 9.99323891e-01 -1.19192640e-04 3.46178956e+00] [ 1.07618861e-02 -2.76673876e-04 9.99942051e-01 2.48108816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.059254154 meters 0.017433549026733587 Centerline is valid? [True, True] Translation: X:362.00, Y:3.46, Z:2.48 [[ 9.99189390e-01 -3.87162458e-02 -1.10279693e-02 3.62002587e+02] [ 3.87172611e-02 9.99250198e-01 -1.21490611e-04 3.45936629e+00] [ 1.10244042e-02 -3.05580638e-04 9.99939183e-01 2.48134856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.08925415399995 meters 0.019261890633665475 Centerline is valid? [True, True] Translation: X:362.03, Y:3.45, Z:2.48 [[ 9.99049919e-01 -4.21895900e-02 -1.09223458e-02 3.62033444e+02] [ 4.21908030e-02 9.99109564e-01 -1.19440873e-04 3.45394325e+00] [ 1.09176593e-02 -3.41495146e-04 9.99940342e-01 2.48119600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.119254154 meters 0.018865922544445895 Centerline is valid? [True, True] Translation: X:362.07, Y:3.45, Z:2.48 [[ 9.98986341e-01 -4.36982753e-02 -1.08051740e-02 3.62065432e+02] [ 4.36995631e-02 9.99044711e-01 -1.17001786e-04 3.45349609e+00] [ 1.07999647e-02 -3.55298196e-04 9.99941616e-01 2.48183498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.14925415399995 meters 0.019748823839942666 Centerline is valid? [True, True] Translation: X:362.10, Y:3.45, Z:2.48 [[ 9.98918020e-01 -4.52520350e-02 -1.07258178e-02 3.62097078e+02] [ 4.52534034e-02 9.98975533e-01 -1.15203428e-04 3.45093730e+00] [ 1.07200427e-02 -3.70300978e-04 9.99942470e-01 2.48190989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.179254154 meters 0.02158177306558781 Centerline is valid? [True, True] Translation: X:362.13, Y:3.45, Z:2.48 [[ 9.98755725e-01 -4.86520042e-02 -1.09537260e-02 3.62128312e+02] [ 4.86536459e-02 9.98815703e-01 -1.16703310e-04 3.44660359e+00] [ 1.09464314e-02 -4.16380609e-04 9.99939999e-01 2.48167140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.20925415399995 meters 0.021674150213803697 Centerline is valid? [True, True] Translation: X:362.16, Y:3.45, Z:2.48 [[ 9.98671560e-01 -5.03153766e-02 -1.11120276e-02 3.62160541e+02] [ 5.03171752e-02 9.98733282e-01 -1.17830392e-04 3.44515342e+00] [ 1.11038805e-02 -4.41451979e-04 9.99938253e-01 2.48219320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.239254154 meters 0.023124663939026107 Centerline is valid? [True, True] Translation: X:362.19, Y:3.44, Z:2.48 [[ 9.98585371e-01 -5.19440702e-02 -1.13609541e-02 3.62192115e+02] [ 5.19460641e-02 9.98649885e-01 -1.19712203e-04 3.44231727e+00] [ 1.13518339e-02 -4.70613997e-04 9.99935455e-01 2.48205677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.26925415399995 meters 0.022546724107304003 Centerline is valid? [True, True] Translation: X:362.22, Y:3.44, Z:2.48 [[ 9.98481936e-01 -5.38494468e-02 -1.15784420e-02 3.62224448e+02] [ 5.38516540e-02 9.98548940e-01 -1.21276504e-04 3.44297956e+00] [ 1.15681717e-02 -5.02425856e-04 9.99932960e-01 2.48246949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.299254154 meters 0.025882875153993446 Centerline is valid? [True, True] Translation: X:362.25, Y:3.44, Z:2.48 [[ 9.98270542e-01 -5.74383786e-02 -1.25202649e-02 3.62254360e+02] [ 5.74412540e-02 9.98348880e-01 -1.30122197e-04 3.43714059e+00] [ 1.25070664e-02 -5.89282558e-04 9.99921610e-01 2.48244010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.32925415399995 meters 0.02599853141435194 Centerline is valid? [True, True] Translation: X:362.29, Y:3.44, Z:2.48 [[ 9.98173165e-01 -5.89978936e-02 -1.30223594e-02 3.62286416e+02] [ 5.90011501e-02 9.98257906e-01 -1.34301088e-04 3.43681954e+00] [ 1.30075967e-02 -6.34278440e-04 9.99915196e-01 2.48270787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3592541539999 meters 0.027417573475917917 Centerline is valid? [True, True] Translation: X:362.32, Y:3.43, Z:2.48 [[ 9.98088373e-01 -6.03822867e-02 -1.31749059e-02 3.62317706e+02] [ 6.03857571e-02 9.98175106e-01 -1.34604465e-04 3.43473006e+00] [ 1.31589908e-02 -6.61229513e-04 9.99913198e-01 2.48270569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.38925415399996 meters 0.029164579908276658 Centerline is valid? [True, True] Translation: X:362.35, Y:3.43, Z:2.48 [[ 9.97926902e-01 -6.27188656e-02 -1.44306017e-02 3.62347899e+02] [ 6.27232880e-02 9.98030945e-01 -1.46371705e-04 3.43161676e+00] [ 1.44113673e-02 -7.59066525e-04 9.99895863e-01 2.48269162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41925415399993 meters 0.028181388333087032 Centerline is valid? [True, True] Translation: X:362.38, Y:3.43, Z:2.48 [[ 9.97869228e-01 -6.36713219e-02 -1.42466570e-02 3.62379858e+02] [ 6.36757382e-02 9.97970631e-01 -1.43859456e-04 3.43300738e+00] [ 1.42269049e-02 -7.63613475e-04 9.99898501e-01 2.48293566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.44925415399996 meters 0.030766169386341774 Centerline is valid? [True, True] Translation: X:362.41, Y:3.43, Z:2.48 [[ 9.97794682e-01 -6.46766339e-02 -1.49233498e-02 3.62410667e+02] [ 6.46816145e-02 9.97905941e-01 -1.49174000e-04 3.42922953e+00] [ 1.49017475e-02 -8.16421337e-04 9.99888629e-01 2.48271973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47925415399993 meters 0.030703129300287357 Centerline is valid? [True, True] Translation: X:362.44, Y:3.43, Z:2.48 [[ 9.97780945e-01 -6.49131788e-02 -1.48143429e-02 3.62443116e+02] [ 6.49181338e-02 9.97890582e-01 -1.46674556e-04 3.42979860e+00] [ 1.47926144e-02 -8.15370417e-04 9.99890251e-01 2.48319511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.50925415399996 meters 0.03058114680954485 Centerline is valid? [True, True] Translation: X:362.48, Y:3.43, Z:2.48 [[ 9.97795090e-01 -6.45406657e-02 -1.54745343e-02 3.62475700e+02] [ 6.45460448e-02 9.97914718e-01 -1.52098528e-04 3.43130899e+00] [ 1.54520821e-02 -8.47056819e-04 9.99880251e-01 2.48314273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53925415399993 meters 0.02582630936792157 Centerline is valid? [True, True] Translation: X:362.51, Y:3.44, Z:2.48 [[ 9.97796397e-01 -6.44105735e-02 -1.59256884e-02 3.62509038e+02] [ 6.44162786e-02 9.97923103e-01 -1.55013554e-04 3.43777306e+00] [ 1.59025969e-02 -8.71201614e-04 9.99873166e-01 2.48462327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.56925415399996 meters 0.025149279335805238 Centerline is valid? [True, True] Translation: X:362.54, Y:3.44, Z:2.49 [[ 9.97947257e-01 -6.20218214e-02 -1.59551190e-02 3.62540128e+02] [ 6.20272609e-02 9.98074444e-01 -1.54179123e-04 3.44050757e+00] [ 1.59339590e-02 -8.35789695e-04 9.99872697e-01 2.48522851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59925415399994 meters 0.02456346946457057 Centerline is valid? [True, True] Translation: X:362.57, Y:3.44, Z:2.49 [[ 9.98072846e-01 -6.00783596e-02 -1.55301429e-02 3.62571473e+02] [ 6.00832875e-02 9.98193356e-01 -1.49497514e-04 3.44268151e+00] [ 1.55110670e-02 -7.83892632e-04 9.99879389e-01 2.48608872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.62925415399997 meters 0.02401663999550867 Centerline is valid? [True, True] Translation: X:362.60, Y:3.45, Z:2.49 [[ 9.98219655e-01 -5.77308549e-02 -1.49889452e-02 3.62602874e+02] [ 5.77351894e-02 9.98331922e-01 -1.43737061e-04 3.44525632e+00] [ 1.49722405e-02 -7.21908431e-04 9.99887649e-01 2.48697654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65925415399994 meters 0.021047082811855886 Centerline is valid? [True, True] Translation: X:362.63, Y:3.45, Z:2.49 [[ 9.98596211e-01 -5.12257674e-02 -1.34732071e-02 3.62633005e+02] [ 5.12286817e-02 9.98686941e-01 -1.28957192e-04 3.45221111e+00] [ 1.34621219e-02 -5.61438474e-04 9.99909224e-01 2.48895952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68925415399997 meters 0.021076130808580937 Centerline is valid? [True, True] Translation: X:362.66, Y:3.45, Z:2.49 [[ 9.98785120e-01 -4.76050922e-02 -1.27294906e-02 3.62663896e+02] [ 4.76074028e-02 9.98866117e-01 -1.21609454e-04 3.45349025e+00] [ 1.27208461e-02 -4.84556272e-04 9.99918969e-01 2.48905847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71925415399994 meters 0.018375073959240765 Centerline is valid? [True, True] Translation: X:362.69, Y:3.46, Z:2.49 [[ 9.99119813e-01 -4.02709930e-02 -1.17408326e-02 3.62694608e+02] [ 4.02724561e-02 9.99188729e-01 -1.11873929e-04 3.46034372e+00] [ 1.17358129e-02 -3.61056708e-04 9.99931068e-01 2.48957156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74925415399997 meters 0.017995536463940198 Centerline is valid? [True, True] Translation: X:362.73, Y:3.46, Z:2.49 [[ 9.99267067e-01 -3.65146933e-02 -1.14893938e-02 3.62725165e+02] [ 3.65158481e-02 9.99333068e-01 -1.09320670e-04 3.46223068e+00] [ 1.14857229e-02 -3.10304414e-04 9.99933989e-01 2.48940134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.77925415399994 meters 0.01592523958381544 Centerline is valid? [True, True] Translation: X:362.76, Y:3.47, Z:2.49 [[ 9.99510916e-01 -2.90090271e-02 -1.16792870e-02 3.62755474e+02] [ 2.90097097e-02 9.99579124e-01 -1.10996814e-04 3.46861479e+00] [ 1.16775914e-02 -2.27870200e-04 9.99931789e-01 2.48895219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.809254154 meters 0.01531542414370117 Centerline is valid? [True, True] Translation: X:362.79, Y:3.47, Z:2.49 [[ 9.99606738e-01 -2.51953928e-02 -1.23110183e-02 3.62786604e+02] [ 2.51958712e-02 9.99682527e-01 -1.16264243e-04 3.47135158e+00] [ 1.23100392e-02 -1.93968310e-04 9.99924210e-01 2.48844090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.83925415399995 meters 0.014903911291203971 Centerline is valid? [True, True] Translation: X:362.82, Y:3.47, Z:2.49 [[ 9.99688625e-01 -2.14669127e-02 -1.27209960e-02 3.62817222e+02] [ 2.14671354e-02 9.99769547e-01 -1.19053413e-04 3.47445588e+00] [ 1.27206201e-02 -1.54067001e-04 9.99919078e-01 2.48797574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.869254154 meters 0.01427925582739915 Centerline is valid? [True, True] Translation: X:362.85, Y:3.48, Z:2.49 [[ 9.99755168e-01 -1.76917089e-02 -1.32893899e-02 3.62848833e+02] [ 1.76916233e-02 9.99843483e-01 -1.24013154e-04 3.47791561e+00] [ 1.32895039e-02 -1.11128088e-04 9.99911684e-01 2.48809298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.89925415399995 meters 0.013853543903531301 Centerline is valid? [True, True] Translation: X:362.88, Y:3.48, Z:2.49 [[ 9.99849913e-01 -1.02167814e-02 -1.39917226e-02 3.62878275e+02] [ 1.02159565e-02 9.99947807e-01 -1.30429412e-04 3.48237521e+00] [ 1.39923249e-02 -1.25289935e-05 9.99902103e-01 2.48751140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.929254154 meters 0.013972104940654068 Centerline is valid? [True, True] Translation: X:362.91, Y:3.48, Z:2.49 [[ 9.99885800e-01 -6.58948292e-03 -1.36002136e-02 3.62905322e+02] [ 6.58835525e-03 9.99978288e-01 -1.27718459e-04 3.48486279e+00] [ 1.36007599e-02 3.81008346e-05 9.99907505e-01 2.48740594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.95925415399995 meters 0.014029499793052154 Centerline is valid? [True, True] Translation: X:362.93, Y:3.49, Z:2.49 [[ 9.99903341e-01 -3.66129597e-03 -1.34128449e-02 3.62934092e+02] [ 3.65990221e-03 9.99993294e-01 -1.28457123e-04 3.48645543e+00] [ 1.34132252e-02 7.93550058e-05 9.99910035e-01 2.48864501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.989254154 meters 0.014305715084372563 Centerline is valid? [True, True] Translation: X:362.96, Y:3.49, Z:2.49 [[ 9.99914570e-01 -1.11471255e-03 -1.30234690e-02 3.62962509e+02] [ 1.11313970e-03 9.99999372e-01 -1.28018377e-04 3.48785473e+00] [ 1.30236035e-02 1.13510500e-04 9.99915183e-01 2.48928088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.01925415399995 meters 0.014305715084372563 Centerline is valid? [True, True] Translation: X:362.99, Y:3.49, Z:2.49 [[ 9.99914200e-01 -1.40839006e-03 -1.30234332e-02 3.62989892e+02] [ 1.40679562e-03 9.99999002e-01 -1.31589362e-04 3.48819086e+00] [ 1.30236055e-02 1.13256763e-04 9.99915183e-01 2.48947126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.049254154 meters 0.014848107688106316 Centerline is valid? [True, True] Translation: X:363.02, Y:3.49, Z:2.49 [[ 9.99920846e-01 1.95660172e-03 -1.24287187e-02 3.63017709e+02] [-1.95834411e-03 9.99998074e-01 -1.28022233e-04 3.48942388e+00] [ 1.24284443e-02 1.52351808e-04 9.99922752e-01 2.48947124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.07925415399995 meters 0.014971664601084539 Centerline is valid? [True, True] Translation: X:363.05, Y:3.49, Z:2.49 [[ 9.99915110e-01 1.45036658e-03 -1.29486767e-02 3.63046096e+02] [-1.45223235e-03 9.99998936e-01 -1.34688543e-04 3.48663815e+00] [ 1.29484676e-02 1.53481596e-04 9.99916153e-01 2.48936903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1092541539999 meters 0.014649426924707849 Centerline is valid? [True, True] Translation: X:363.07, Y:3.48, Z:2.49 [[ 9.99915521e-01 -2.56690939e-04 -1.29955929e-02 3.63074785e+02] [ 2.54940214e-04 9.99999958e-01 -1.36373283e-04 3.48444601e+00] [ 1.29956273e-02 1.33048663e-04 9.99915544e-01 2.48946717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.13925415399996 meters 0.014415969810461542 Centerline is valid? [True, True] Translation: X:363.10, Y:3.48, Z:2.49 [[ 9.99912484e-01 -2.92791346e-03 -1.29016222e-02 3.63102422e+02] [ 2.92639690e-03 9.99995709e-01 -1.36425140e-04 3.48195264e+00] [ 1.29019663e-02 9.86579338e-05 9.99916761e-01 2.48940559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.16925415399993 meters 0.014072037166563859 Centerline is valid? [True, True] Translation: X:363.13, Y:3.48, Z:2.49 [[ 9.99900249e-01 -6.39271979e-03 -1.25946455e-02 3.63131726e+02] [ 6.39153237e-03 9.99979565e-01 -1.34528458e-04 3.47818325e+00] [ 1.25952481e-02 5.40159547e-05 9.99920675e-01 2.49008049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.19925415399996 meters 0.014186480109388866 Centerline is valid? [True, True] Translation: X:363.16, Y:3.47, Z:2.49 [[ 9.99818572e-01 -1.47183292e-02 -1.20911043e-02 3.63159186e+02] [ 1.47178274e-02 9.99891678e-01 -1.30486221e-04 3.47004692e+00] [ 1.20917151e-02 -4.74922387e-05 9.99926891e-01 2.49053155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.22925415399993 meters 0.014533158609141698 Centerline is valid? [True, True] Translation: X:363.19, Y:3.47, Z:2.49 [[ 9.99741937e-01 -1.92922974e-02 -1.19944461e-02 3.63188219e+02] [ 1.92921232e-02 9.99813881e-01 -1.30244498e-04 3.46535678e+00] [ 1.19947264e-02 -1.01187444e-04 9.99928056e-01 2.49084041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.25925415399996 meters 0.015021835348041265 Centerline is valid? [True, True] Translation: X:363.22, Y:3.46, Z:2.49 [[ 9.99633326e-01 -2.39744986e-02 -1.25871547e-02 3.63218543e+02] [ 2.39746746e-02 9.99712557e-01 -1.36936547e-04 3.46144751e+00] [ 1.25868196e-02 -1.64886602e-04 9.99920769e-01 2.49107770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.28925415399993 meters 0.017654403303556977 Centerline is valid? [True, True] Translation: X:363.25, Y:3.45, Z:2.49 [[ 9.99367389e-01 -3.26389783e-02 -1.41250910e-02 3.63249207e+02] [ 3.26400700e-02 9.99467159e-01 -1.53301618e-04 3.45079422e+00] [ 1.41225682e-02 -3.07839322e-04 9.99900224e-01 2.48970336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.31925415399996 meters 0.020047494454256947 Centerline is valid? [True, True] Translation: X:363.28, Y:3.45, Z:2.49 [[ 9.99219226e-01 -3.64847471e-02 -1.51592084e-02 3.63278969e+02] [ 3.64864525e-02 9.99334134e-01 -1.64146576e-04 3.44588265e+00] [ 1.51551033e-02 -3.89087323e-04 9.99885079e-01 2.48869564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.34925415399994 meters 0.02060337512212461 Centerline is valid? [True, True] Translation: X:363.31, Y:3.44, Z:2.49 [[ 9.98937664e-01 -4.32304708e-02 -1.59583887e-02 3.63310111e+02] [ 4.32332231e-02 9.99064992e-01 -1.72640321e-04 3.43903305e+00] [ 1.59509308e-02 -5.17475659e-04 9.99872642e-01 2.48873903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37925415399997 meters 0.021739468844151722 Centerline is valid? [True, True] Translation: X:363.34, Y:3.44, Z:2.49 [[ 9.98823468e-01 -4.57524138e-02 -1.60746901e-02 3.63341935e+02] [ 4.57555424e-02 9.98952652e-01 -1.73288988e-04 3.43550561e+00] [ 1.60657827e-02 -5.62421057e-04 9.99870779e-01 2.48870132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.40925415399994 meters 0.02091445367770707 Centerline is valid? [True, True] Translation: X:363.37, Y:3.44, Z:2.49 [[ 9.98739977e-01 -4.74910155e-02 -1.62191825e-02 3.63374140e+02] [ 4.74944466e-02 9.98871487e-01 -1.73792912e-04 3.43562873e+00] [ 1.62091326e-02 -5.96747170e-04 9.99868445e-01 2.48963670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43925415399997 meters 0.02182070521988767 Centerline is valid? [True, True] Translation: X:363.41, Y:3.43, Z:2.49 [[ 9.98646684e-01 -4.94547275e-02 -1.60944369e-02 3.63405947e+02] [ 4.94583768e-02 9.98776171e-01 -1.71447495e-04 3.43207563e+00] [ 1.60832190e-02 -6.24789254e-04 9.99870461e-01 2.49000378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.46925415399994 meters 0.021264805206188227 Centerline is valid? [True, True] Translation: X:363.44, Y:3.43, Z:2.49 [[ 9.98654370e-01 -4.93839426e-02 -1.58327505e-02 3.63438624e+02] [ 4.93874817e-02 9.98779680e-01 -1.67624799e-04 3.43209436e+00] [ 1.58217074e-02 -6.14540439e-04 9.99874640e-01 2.49070726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49925415399997 meters 0.024125947585734667 Centerline is valid? [True, True] Translation: X:363.47, Y:3.43, Z:2.49 [[ 9.98664870e-01 -4.91236936e-02 -1.59793761e-02 3.63469586e+02] [ 4.91272816e-02 9.98792512e-01 -1.68158227e-04 3.42726960e+00] [ 1.59683417e-02 -6.17089594e-04 9.99872307e-01 2.48970410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.52925415399994 meters 0.020888478737506794 Centerline is valid? [True, True] Translation: X:363.50, Y:3.43, Z:2.49 [[ 9.98740738e-01 -4.71449509e-02 -1.71549653e-02 3.63501378e+02] [ 4.71488150e-02 9.98887860e-01 -1.79356939e-04 3.43206864e+00] [ 1.71443424e-02 -6.29705206e-04 9.99852827e-01 2.49040929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.559254154 meters 0.020561268488939285 Centerline is valid? [True, True] Translation: X:363.53, Y:3.43, Z:2.49 [[ 9.98783490e-01 -4.61825250e-02 -1.72833734e-02 3.63533907e+02] [ 4.61863255e-02 9.98932826e-01 -1.79415599e-04 3.43168068e+00] [ 1.72732149e-02 -6.19058173e-04 9.99850615e-01 2.49025076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.58925415399995 meters 0.020089780977796855 Centerline is valid? [True, True] Translation: X:363.57, Y:3.43, Z:2.49 [[ 9.98882813e-01 -4.36798981e-02 -1.80330936e-02 3.63565291e+02] [ 4.36836451e-02 9.99045397e-01 -1.86256657e-04 3.43203918e+00] [ 1.80240148e-02 -6.01702690e-04 9.99837373e-01 2.48965786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.619254154 meters 0.019461577888623842 Centerline is valid? [True, True] Translation: X:363.60, Y:3.43, Z:2.49 [[ 9.98916852e-01 -4.26647332e-02 -1.85699356e-02 3.63596853e+02] [ 4.26685443e-02 9.99089265e-01 -1.91112142e-04 3.43336024e+00] [ 1.85611770e-02 -6.01446979e-04 9.99827546e-01 2.48952012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.64925415399995 meters 0.019417910712854328 Centerline is valid? [True, True] Translation: X:363.63, Y:3.43, Z:2.49 [[ 9.98955055e-01 -4.15010768e-02 -1.91431262e-02 3.63628631e+02] [ 4.15049270e-02 9.99138280e-01 -1.96303097e-04 3.43405752e+00] [ 1.91347770e-02 -5.98436086e-04 9.99816734e-01 2.48945097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.679254154 meters 0.01888992824369251 Centerline is valid? [True, True] Translation: X:363.66, Y:3.44, Z:2.49 [[ 9.99005400e-01 -3.94255940e-02 -2.08286423e-02 3.63660037e+02] [ 3.94297180e-02 9.99222324e-01 -2.12806741e-04 3.43626310e+00] [ 2.08208344e-02 -6.08672408e-04 9.99783038e-01 2.48882870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.70925415399995 meters 0.018642220920417243 Centerline is valid? [True, True] Translation: X:363.69, Y:3.44, Z:2.49 [[ 9.99023102e-01 -3.84750024e-02 -2.17374353e-02 3.63691449e+02] [ 3.84792869e-02 9.99259373e-01 -2.21290159e-04 3.43766976e+00] [ 2.17298501e-02 -6.15367028e-04 9.99763690e-01 2.48880447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.739254154 meters 0.018774143997733 Centerline is valid? [True, True] Translation: X:363.72, Y:3.44, Z:2.49 [[ 9.99040040e-01 -3.76386636e-02 -2.24126863e-02 3.63721381e+02] [ 3.76430078e-02 9.99291225e-01 -2.28183769e-04 3.43851604e+00] [ 2.24053893e-02 -6.15716205e-04 9.99748778e-01 2.48808452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.76925415399995 meters 0.01814489386427747 Centerline is valid? [True, True] Translation: X:363.75, Y:3.44, Z:2.49 [[ 9.99062069e-01 -3.67347956e-02 -2.29246144e-02 3.63750783e+02] [ 3.67390865e-02 9.99324864e-01 -2.34110854e-04 3.44081344e+00] [ 2.29177372e-02 -6.08338118e-04 9.99737169e-01 2.48869638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.799254154 meters 0.01867625651907252 Centerline is valid? [True, True] Translation: X:363.78, Y:3.44, Z:2.49 [[ 9.99099063e-01 -3.54056020e-02 -2.33988489e-02 3.63779518e+02] [ 3.54096810e-02 9.99372852e-01 -2.40112573e-04 3.44178079e+00] [ 2.33926756e-02 -5.88649527e-04 9.99726181e-01 2.48846615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.82925415399995 meters 0.018600233952418853 Centerline is valid? [True, True] Translation: X:363.81, Y:3.44, Z:2.49 [[ 9.99123425e-01 -3.51663191e-02 -2.27092838e-02 3.63808056e+02] [ 3.51700028e-02 9.99381316e-01 -2.37288055e-04 3.44296582e+00] [ 2.27035785e-02 -5.61605522e-04 9.99742083e-01 2.48938574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8592541539999 meters 0.017901813241691857 Centerline is valid? [True, True] Translation: X:363.84, Y:3.45, Z:2.49 [[ 9.99167358e-01 -3.45854184e-02 -2.16434481e-02 3.63837763e+02] [ 3.45885815e-02 9.99401610e-01 -2.28304050e-04 3.44646266e+00] [ 2.16383928e-02 -5.20502212e-04 9.99765727e-01 2.49199223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.88925415399996 meters 0.018330090627288114 Centerline is valid? [True, True] Translation: X:363.87, Y:3.45, Z:2.49 [[ 9.99196109e-01 -3.42531228e-02 -2.08293027e-02 3.63867519e+02] [ 3.42559700e-02 9.99413068e-01 -2.20202334e-04 3.44610886e+00] [ 2.08246199e-02 -4.93502652e-04 9.99783022e-01 2.49222397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91925415399993 meters 0.018188530049501404 Centerline is valid? [True, True] Translation: X:363.90, Y:3.45, Z:2.49 [[ 9.99213949e-01 -3.44059233e-02 -1.96905060e-02 3.63898360e+02] [ 3.44084949e-02 9.99407831e-01 -2.08279732e-04 3.44734136e+00] [ 1.96860120e-02 -4.69404662e-04 9.99806101e-01 2.49381328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.94925415399996 meters 0.018493701392438458 Centerline is valid? [True, True] Translation: X:363.93, Y:3.45, Z:2.49 [[ 9.99222058e-01 -3.46631396e-02 -1.88081306e-02 3.63928533e+02] [ 3.46655352e-02 9.99398950e-01 -1.98738412e-04 3.44740320e+00] [ 1.88037149e-02 -4.53410107e-04 9.99823092e-01 2.49412601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97925415399993 meters 0.017995657625259946 Centerline is valid? [True, True] Translation: X:363.96, Y:3.45, Z:2.50 [[ 9.99218110e-01 -3.47559260e-02 -1.88465822e-02 3.63959908e+02] [ 3.47583583e-02 9.99395726e-01 -1.98596636e-04 3.44940618e+00] [ 1.88420961e-02 -4.56634899e-04 9.99822368e-01 2.49512376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.00925415399996 meters 0.0174727786724289 Centerline is valid? [True, True] Translation: X:363.99, Y:3.45, Z:2.50 [[ 9.99221452e-01 -3.48008704e-02 -1.85846593e-02 3.63990814e+02] [ 3.48032557e-02 9.99394164e-01 -1.95165254e-04 3.45132836e+00] [ 1.85801920e-02 -4.51793340e-04 9.99827271e-01 2.49605284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03925415399993 meters 0.017404819776539317 Centerline is valid? [True, True] Translation: X:364.02, Y:3.45, Z:2.50 [[ 9.99228070e-01 -3.46410191e-02 -1.85274072e-02 3.64022093e+02] [ 3.46433748e-02 9.99399719e-01 -1.93886048e-04 3.45267874e+00] [ 1.85230019e-02 -4.48115530e-04 9.99828334e-01 2.49636456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.06925415399996 meters 0.017571765387349503 Centerline is valid? [True, True] Translation: X:364.05, Y:3.45, Z:2.50 [[ 9.99222918e-01 -3.44440468e-02 -1.91616268e-02 3.64053670e+02] [ 3.44465440e-02 9.99406522e-01 -1.99814772e-04 3.45424975e+00] [ 1.91571372e-02 -4.60392321e-04 9.99816379e-01 2.49601013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09925415399994 meters 0.01738430906231088 Centerline is valid? [True, True] Translation: X:364.08, Y:3.46, Z:2.50 [[ 9.99229884e-01 -3.41641758e-02 -1.92989331e-02 3.64084927e+02] [ 3.41666704e-02 9.99416129e-01 -2.00541061e-04 3.45510499e+00] [ 1.92945163e-02 -4.58993663e-04 9.99813738e-01 2.49588282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.12925415399997 meters 0.017028922379847537 Centerline is valid? [True, True] Translation: X:364.12, Y:3.46, Z:2.50 [[ 9.99231303e-01 -3.39181298e-02 -1.96561136e-02 3.64116290e+02] [ 3.39206844e-02 9.99424507e-01 -2.03525420e-04 3.45629465e+00] [ 1.96517048e-02 -4.63379855e-04 9.99806779e-01 2.49628599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15925415399994 meters 0.019066101206743992 Centerline is valid? [True, True] Translation: X:364.15, Y:3.45, Z:2.49 [[ 9.99268492e-01 -3.25235095e-02 -2.01172234e-02 3.64146381e+02] [ 3.25259131e-02 9.99470871e-01 -2.07796409e-04 3.45468875e+00] [ 2.01133371e-02 -4.46686657e-04 9.99797607e-01 2.49480119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18925415399997 meters 0.017338299690354098 Centerline is valid? [True, True] Translation: X:364.18, Y:3.46, Z:2.50 [[ 9.99318687e-01 -3.16565629e-02 -1.89743055e-02 3.64176486e+02] [ 3.16585471e-02 9.99498723e-01 -1.95871102e-04 3.45754156e+00] [ 1.89709947e-02 -4.04961291e-04 9.99819952e-01 2.49647954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21925415399994 meters 0.01671968774919146 Centerline is valid? [True, True] Translation: X:364.21, Y:3.46, Z:2.50 [[ 9.99415078e-01 -2.87699488e-02 -1.84876037e-02 3.64205572e+02] [ 2.87713350e-02 9.99586001e-01 -1.91048728e-04 3.46047088e+00] [ 1.84854464e-02 -3.40976062e-04 9.99829071e-01 2.49711292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24925415399997 meters 0.015767177620277916 Centerline is valid? [True, True] Translation: X:364.24, Y:3.46, Z:2.50 [[ 9.99456723e-01 -2.72769755e-02 -1.84993616e-02 3.64235703e+02] [ 2.72781017e-02 9.99627865e-01 -1.91502462e-04 3.46366903e+00] [ 1.84977010e-02 -3.13229044e-04 9.99828854e-01 2.49824224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.27925415399994 meters 0.015516583501025213 Centerline is valid? [True, True] Translation: X:364.26, Y:3.47, Z:2.50 [[ 9.99499870e-01 -2.56365093e-02 -1.85142785e-02 3.64264902e+02] [ 2.56373457e-02 9.99671291e-01 -1.92209176e-04 3.46531779e+00] [ 1.85131203e-02 -2.82543912e-04 9.99828578e-01 2.49818748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.309254154 meters 0.015026779910792857 Centerline is valid? [True, True] Translation: X:364.29, Y:3.47, Z:2.50 [[ 9.99577836e-01 -2.24453004e-02 -1.84487908e-02 3.64293623e+02] [ 2.24455712e-02 9.99748048e-01 -1.92413380e-04 3.46705095e+00] [ 1.84484613e-02 -2.21761497e-04 9.99829788e-01 2.49814823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.33925415399995 meters 0.01463658082960955 Centerline is valid? [True, True] Translation: X:364.32, Y:3.47, Z:2.50 [[ 9.99604746e-01 -2.12790797e-02 -1.83726187e-02 3.64322640e+02] [ 2.12790896e-02 9.99773556e-01 -1.94976233e-04 3.46835280e+00] [ 1.83726073e-02 -1.96053433e-04 9.99831190e-01 2.49891660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.369254154 meters 0.014521458100093322 Centerline is valid? [True, True] Translation: X:364.35, Y:3.47, Z:2.50 [[ 9.99662452e-01 -1.91926710e-02 -1.75106559e-02 3.64350003e+02] [ 1.91923128e-02 9.99815793e-01 -1.88522402e-04 3.46878007e+00] [ 1.75110486e-02 -1.47611219e-04 9.99846659e-01 2.49909950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.39925415399995 meters 0.014802264836871547 Centerline is valid? [True, True] Translation: X:364.38, Y:3.47, Z:2.50 [[ 9.99666715e-01 -1.89890156e-02 -1.74893421e-02 3.64377928e+02] [ 1.89885992e-02 9.99819682e-01 -1.89884671e-04 3.46791665e+00] [ 1.74897942e-02 -1.42276724e-04 9.99847032e-01 2.49803376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.429254154 meters 0.014294268584803434 Centerline is valid? [True, True] Translation: X:364.41, Y:3.47, Z:2.50 [[ 9.99669343e-01 -1.94159095e-02 -1.68590561e-02 3.64406017e+02] [ 1.94155231e-02 9.99811484e-01 -1.86608466e-04 3.46898225e+00] [ 1.68595011e-02 -1.40780632e-04 9.99857859e-01 2.50018368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.45925415399995 meters 0.014545341996860589 Centerline is valid? [True, True] Translation: X:364.43, Y:3.47, Z:2.50 [[ 9.99637319e-01 -2.14045701e-02 -1.63424165e-02 3.64434881e+02] [ 2.14044001e-02 9.99770882e-01 -1.85333061e-04 3.46645023e+00] [ 1.63426391e-02 -1.64533777e-04 9.99866437e-01 2.50016994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.489254154 meters 0.01493881687130263 Centerline is valid? [True, True] Translation: X:364.46, Y:3.46, Z:2.50 [[ 9.99597771e-01 -2.31497177e-02 -1.63825236e-02 3.64463708e+02] [ 2.31497432e-02 9.99731991e-01 -1.88107424e-04 3.46397151e+00] [ 1.63824876e-02 -1.91219453e-04 9.99865780e-01 2.49949271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.51925415399995 meters 0.015121322536211849 Centerline is valid? [True, True] Translation: X:364.49, Y:3.46, Z:2.50 [[ 9.99555492e-01 -2.50288507e-02 -1.61979865e-02 3.64492886e+02] [ 2.50291082e-02 9.99686705e-01 -1.86863960e-04 3.46237108e+00] [ 1.61975887e-02 -2.18640258e-04 9.99868787e-01 2.49966669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.549254154 meters 0.015172692044739058 Centerline is valid? [True, True] Translation: X:364.52, Y:3.46, Z:2.50 [[ 9.99505622e-01 -2.70510574e-02 -1.60234714e-02 3.64522314e+02] [ 2.70515579e-02 9.99634022e-01 -1.85551333e-04 3.46095090e+00] [ 1.60226265e-02 -2.48000264e-04 9.99871599e-01 2.50014908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.57925415399995 meters 0.01584340371298655 Centerline is valid? [True, True] Translation: X:364.55, Y:3.46, Z:2.50 [[ 9.99360233e-01 -3.19757124e-02 -1.60211704e-02 3.64552770e+02] [ 3.19768411e-02 9.99488593e-01 -1.85777498e-04 3.45687291e+00] [ 1.60189174e-02 -3.26647775e-04 9.99871636e-01 2.50023751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6092541539999 meters 0.01666936064487114 Centerline is valid? [True, True] Translation: X:364.58, Y:3.45, Z:2.50 [[ 9.99291140e-01 -3.40215428e-02 -1.61168087e-02 3.64582747e+02] [ 3.40229645e-02 9.99421034e-01 -1.86048233e-04 3.45415948e+00] [ 1.61138072e-02 -3.62425259e-04 9.99870098e-01 2.50002795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.63925415399996 meters 0.017092950769986095 Centerline is valid? [True, True] Translation: X:364.61, Y:3.45, Z:2.50 [[ 9.99212110e-01 -3.64199319e-02 -1.57717341e-02 3.64614326e+02] [ 3.64216067e-02 9.99336497e-01 -1.81123733e-04 3.45225318e+00] [ 1.57678660e-02 -3.93450870e-04 9.99875602e-01 2.50010160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.66925415399993 meters 0.01825624611269862 Centerline is valid? [True, True] Translation: X:364.65, Y:3.45, Z:2.50 [[ 9.99052248e-01 -4.05301164e-02 -1.58718247e-02 3.64645968e+02] [ 4.05323400e-02 9.99178211e-01 -1.81693603e-04 3.44786108e+00] [ 1.58661455e-02 -4.61800794e-04 9.99874018e-01 2.49968151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.69925415399996 meters 0.018320136485877686 Centerline is valid? [True, True] Translation: X:364.68, Y:3.45, Z:2.50 [[ 9.98996369e-01 -4.19533323e-02 -1.56898825e-02 3.64678567e+02] [ 4.19556946e-02 9.99119456e-01 -1.78713005e-04 3.44700078e+00] [ 1.56835645e-02 -4.79746276e-04 9.99876890e-01 2.49992387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.72925415399993 meters 0.01966036054628023 Centerline is valid? [True, True] Translation: X:364.71, Y:3.45, Z:2.50 [[ 9.98960352e-01 -4.27272101e-02 -1.58933948e-02 3.64711125e+02] [ 4.27297508e-02 9.99086651e-01 -1.79848597e-04 3.44550621e+00] [ 1.58865630e-02 -4.99459179e-04 9.99873676e-01 2.49977215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.75925415399996 meters 0.01961373615222131 Centerline is valid? [True, True] Translation: X:364.74, Y:3.44, Z:2.50 [[ 9.98861739e-01 -4.50390546e-02 -1.57069836e-02 3.64742093e+02] [ 4.50418370e-02 9.98985086e-01 -1.76749304e-04 3.44277503e+00] [ 1.56990030e-02 -5.30923280e-04 9.99876622e-01 2.49992384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.78925415399993 meters 0.021181199232614408 Centerline is valid? [True, True] Translation: X:364.77, Y:3.44, Z:2.50 [[ 9.98832728e-01 -4.57488181e-02 -1.54992737e-02 3.64773537e+02] [ 4.57516257e-02 9.98952831e-01 -1.73567131e-04 3.43939109e+00] [ 1.54909838e-02 -5.35752437e-04 9.99879864e-01 2.49941919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.81925415399996 meters 0.02166662916363881 Centerline is valid? [True, True] Translation: X:364.81, Y:3.44, Z:2.50 [[ 9.98817625e-01 -4.62460881e-02 -1.49883848e-02 3.64805878e+02] [ 4.62487836e-02 9.98929939e-01 -1.66913922e-04 3.43828630e+00] [ 1.49800655e-02 -5.26478000e-04 9.99887654e-01 2.49974509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.84925415399994 meters 0.02210147169706886 Centerline is valid? [True, True] Translation: X:364.84, Y:3.44, Z:2.50 [[ 9.98809740e-01 -4.63987055e-02 -1.50420746e-02 3.64838498e+02] [ 4.64014535e-02 9.98922859e-01 -1.66456975e-04 3.43720158e+00] [ 1.50335956e-02 -5.31715279e-04 9.99886848e-01 2.49964058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.87925415399997 meters 0.0211186936864017 Centerline is valid? [True, True] Translation: X:364.87, Y:3.44, Z:2.50 [[ 9.98866175e-01 -4.52375833e-02 -1.48298552e-02 3.64871153e+02] [ 4.52401454e-02 9.98976127e-01 -1.62830553e-04 3.43743775e+00] [ 1.48220374e-02 -5.08258873e-04 9.99890018e-01 2.49986066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.90925415399994 meters 0.020962986409764284 Centerline is valid? [True, True] Translation: X:364.90, Y:3.44, Z:2.50 [[ 9.98918999e-01 -4.41057409e-02 -1.46804851e-02 3.64901967e+02] [ 4.41081457e-02 9.99026749e-01 -1.60087677e-04 3.43709348e+00] [ 1.46732581e-02 -4.87614356e-04 9.99892223e-01 2.49970121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93925415399997 meters 0.020962986409764284 Centerline is valid? [True, True] Translation: X:364.93, Y:3.44, Z:2.50 [[ 9.98922080e-01 -4.40358962e-02 -1.46804950e-02 3.64933673e+02] [ 4.40383068e-02 9.99029830e-01 -1.59181609e-04 3.43737423e+00] [ 1.46732621e-02 -4.87494118e-04 9.99892223e-01 2.49992083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.96925415399994 meters 0.01828113236591259 Centerline is valid? [True, True] Translation: X:364.97, Y:3.44, Z:2.50 [[ 9.99052057e-01 -4.09220194e-02 -1.48450499e-02 3.64965204e+02] [ 4.09241525e-02 9.99162243e-01 -1.60183891e-04 3.44203563e+00] [ 1.48391684e-02 -4.47489040e-04 9.99889793e-01 2.50048271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99925415399997 meters 0.018837289233601687 Centerline is valid? [True, True] Translation: X:365.00, Y:3.44, Z:2.50 [[ 9.99129326e-01 -3.88242230e-02 -1.52731415e-02 3.64996126e+02] [ 3.88262470e-02 9.99245964e-01 -1.64083674e-04 3.44154981e+00] [ 1.52679955e-02 -4.29057955e-04 9.99883345e-01 2.49995524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.02925415399994 meters 0.01750342747830715 Centerline is valid? [True, True] Translation: X:365.03, Y:3.44, Z:2.50 [[ 9.99213093e-01 -3.63532519e-02 -1.58630052e-02 3.65027885e+02] [ 3.63551381e-02 9.99338919e-01 -1.69544052e-04 3.44466125e+00] [ 1.58586819e-02 -4.07291108e-04 9.99874160e-01 2.50030209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.059254154 meters 0.016580727755320435 Centerline is valid? [True, True] Translation: X:365.06, Y:3.45, Z:2.50 [[ 9.99415385e-01 -3.02045721e-02 -1.60178902e-02 3.65058422e+02] [ 3.02057259e-02 9.99543689e-01 -1.69948380e-04 3.44727295e+00] [ 1.60157142e-02 -3.13982974e-04 9.99871691e-01 2.49948616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.08925415399995 meters 0.01589440383306002 Centerline is valid? [True, True] Translation: X:365.09, Y:3.45, Z:2.50 [[ 9.99500796e-01 -2.72569952e-02 -1.59754296e-02 3.65088286e+02] [ 2.72577771e-02 9.99628424e-01 -1.68834263e-04 3.44942328e+00] [ 1.59740954e-02 -2.66704718e-04 9.99872370e-01 2.49972638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.119254154 meters 0.015093125087523576 Centerline is valid? [True, True] Translation: X:365.12, Y:3.45, Z:2.50 [[ 9.99588585e-01 -2.42141242e-02 -1.53732530e-02 3.65118589e+02] [ 2.42144885e-02 9.99706773e-01 -1.62470237e-04 3.45189820e+00] [ 1.53726792e-02 -2.09852062e-04 9.99881811e-01 2.49995442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.14925415399995 meters 0.015360487925338768 Centerline is valid? [True, True] Translation: X:365.15, Y:3.46, Z:2.50 [[ 9.99717297e-01 -1.81407504e-02 -1.53700710e-02 3.65148607e+02] [ 1.81403944e-02 9.99835436e-01 -1.62593440e-04 3.45780536e+00] [ 1.53704912e-02 -1.16271674e-04 9.99881860e-01 2.50181347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.179254154 meters 0.013561335790788168 Centerline is valid? [True, True] Translation: X:365.18, Y:3.46, Z:2.50 [[ 9.99748139e-01 -1.69334907e-02 -1.47280482e-02 3.65176659e+02] [ 1.69330150e-02 9.99856614e-01 -1.57003645e-04 3.45935877e+00] [ 1.47285950e-02 -9.24261591e-05 9.99891524e-01 2.50261215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.20925415399995 meters 0.013409727385147195 Centerline is valid? [True, True] Translation: X:365.20, Y:3.46, Z:2.50 [[ 9.99776150e-01 -1.57162816e-02 -1.41650255e-02 3.65204974e+02] [ 1.57156799e-02 9.99876489e-01 -1.53794554e-04 3.46066183e+00] [ 1.41656930e-02 -6.88528797e-05 9.99899659e-01 2.50308673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.239254154 meters 0.013384284341692292 Centerline is valid? [True, True] Translation: X:365.23, Y:3.46, Z:2.50 [[ 9.99792440e-01 -1.45798502e-02 -1.42304335e-02 3.65233418e+02] [ 1.45790756e-02 9.99893707e-01 -1.58179795e-04 3.46138887e+00] [ 1.42312272e-02 -4.93196028e-05 9.99898730e-01 2.50348446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.26925415399995 meters 0.013392267744273432 Centerline is valid? [True, True] Translation: X:365.26, Y:3.46, Z:2.50 [[ 9.99785792e-01 -1.47085117e-02 -1.45612347e-02 3.65261355e+02] [ 1.47076547e-02 9.99891823e-01 -1.65945280e-04 3.46144998e+00] [ 1.45621003e-02 -4.82518787e-05 9.99893966e-01 2.50365318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.299254154 meters 0.01335412888646368 Centerline is valid? [True, True] Translation: X:365.29, Y:3.46, Z:2.50 [[ 9.99744172e-01 -1.63566572e-02 -1.56221256e-02 3.65290041e+02] [ 1.63558021e-02 9.99866218e-01 -1.82509005e-04 3.46008615e+00] [ 1.56230209e-02 -7.30500794e-05 9.99877950e-01 2.50382333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.32925415399995 meters 0.01336188931920058 Centerline is valid? [True, True] Translation: X:365.32, Y:3.46, Z:2.50 [[ 9.99718889e-01 -1.77662114e-02 -1.57004800e-02 3.65317624e+02] [ 1.77654519e-02 9.99842164e-01 -1.87852205e-04 3.45913443e+00] [ 1.57013393e-02 -9.11267247e-05 9.99876722e-01 2.50393869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3592541539999 meters 0.013550774264426494 Centerline is valid? [True, True] Translation: X:365.35, Y:3.46, Z:2.50 [[ 9.99681771e-01 -1.97383254e-02 -1.57084236e-02 3.65346539e+02] [ 1.97377405e-02 9.99805173e-01 -1.92286628e-04 3.45803107e+00] [ 1.57091586e-02 -1.17823352e-04 9.99876597e-01 2.50419496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.38925415399996 meters 0.014207707632993368 Centerline is valid? [True, True] Translation: X:365.37, Y:3.45, Z:2.50 [[ 9.99592763e-01 -2.38590488e-02 -1.56541988e-02 3.65374702e+02] [ 2.38589350e-02 9.99715316e-01 -1.94050920e-04 3.45472382e+00] [ 1.56543721e-02 -1.79520616e-04 9.99877447e-01 2.50433865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41925415399993 meters 0.014223297947759225 Centerline is valid? [True, True] Translation: X:365.40, Y:3.45, Z:2.51 [[ 9.99532279e-01 -2.62052469e-02 -1.57641528e-02 3.65403913e+02] [ 2.62054075e-02 9.99656560e-01 -1.96415013e-04 3.45352369e+00] [ 1.57638859e-02 -2.16782903e-04 9.99875719e-01 2.50508864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.44925415399996 meters 0.014512052856759286 Centerline is valid? [True, True] Translation: X:365.43, Y:3.45, Z:2.51 [[ 9.99473303e-01 -2.85160663e-02 -1.54903078e-02 3.65434328e+02] [ 2.85164929e-02 9.99593303e-01 -1.93380142e-04 3.45214695e+00] [ 1.54895224e-02 -2.48450964e-04 9.99879999e-01 2.50519980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47925415399993 meters 0.014988334525579492 Centerline is valid? [True, True] Translation: X:365.46, Y:3.45, Z:2.51 [[ 9.99344942e-01 -3.26581250e-02 -1.55927544e-02 3.65464941e+02] [ 3.26590613e-02 9.99466532e-01 -1.94659080e-04 3.44852942e+00] [ 1.55907934e-02 -3.14713155e-04 9.99878407e-01 2.50563916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.50925415399996 meters 0.015833748623432557 Centerline is valid? [True, True] Translation: X:365.50, Y:3.45, Z:2.51 [[ 9.99282391e-01 -3.45456126e-02 -1.55339320e-02 3.65495195e+02] [ 3.45467722e-02 9.99403063e-01 -1.93765523e-04 3.44649596e+00] [ 1.55313530e-02 -3.43020736e-04 9.99879322e-01 2.50528612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53925415399993 meters 0.016230172002233166 Centerline is valid? [True, True] Translation: X:365.53, Y:3.45, Z:2.51 [[ 9.99179783e-01 -3.70119786e-02 -1.64278383e-02 3.65526844e+02] [ 3.70136166e-02 9.99314740e-01 -2.04428490e-04 3.44549523e+00] [ 1.64241473e-02 -4.03792896e-04 9.99865033e-01 2.50549822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.56925415399996 meters 0.016492028499652065 Centerline is valid? [True, True] Translation: X:365.56, Y:3.45, Z:2.51 [[ 9.99142371e-01 -3.78148010e-02 -1.68689862e-02 3.65558092e+02] [ 3.78166532e-02 9.99284673e-01 -2.09288444e-04 3.44554745e+00] [ 1.68648335e-02 -4.28819648e-04 9.99857687e-01 2.50559080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59925415399994 meters 0.01651820402397051 Centerline is valid? [True, True] Translation: X:365.59, Y:3.45, Z:2.51 [[ 9.99124817e-01 -3.81121622e-02 -1.72355262e-02 3.65588992e+02] [ 3.81141510e-02 9.99273369e-01 -2.13195440e-04 3.44598329e+00] [ 1.72311277e-02 -4.43908595e-04 9.99851435e-01 2.50579332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.62925415399997 meters 0.01636661800663798 Centerline is valid? [True, True] Translation: X:365.62, Y:3.45, Z:2.51 [[ 9.99133988e-01 -3.79426221e-02 -1.70772357e-02 3.65620558e+02] [ 3.79445605e-02 9.99279824e-01 -2.10609448e-04 3.44655546e+00] [ 1.70729281e-02 -4.37561145e-04 9.99854151e-01 2.50610258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65925415399994 meters 0.018057843848195313 Centerline is valid? [True, True] Translation: X:365.65, Y:3.45, Z:2.51 [[ 9.99182704e-01 -3.63645024e-02 -1.76507050e-02 3.65651814e+02] [ 3.63663390e-02 9.99338502e-01 -2.17017566e-04 3.44762526e+00] [ 1.76469208e-02 -4.25051322e-04 9.99844191e-01 2.50644508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68925415399997 meters 0.018153165755781565 Centerline is valid? [True, True] Translation: X:365.68, Y:3.45, Z:2.51 [[ 9.99218271e-01 -3.58131774e-02 -1.67410609e-02 3.65682629e+02] [ 3.58147593e-02 9.99358425e-01 -2.05407031e-04 3.44511353e+00] [ 1.67376765e-02 -3.94330608e-04 9.99859838e-01 2.50561503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71925415399994 meters 0.01551351014175435 Centerline is valid? [True, True] Translation: X:365.71, Y:3.45, Z:2.51 [[ 9.99282577e-01 -3.42332152e-02 -1.61993176e-02 3.65713603e+02] [ 3.42344890e-02 9.99413808e-01 -1.98745051e-04 3.45048784e+00] [ 1.61966254e-02 -3.55972894e-04 9.99868763e-01 2.50807074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74925415399997 meters 0.015192516117833267 Centerline is valid? [True, True] Translation: X:365.75, Y:3.45, Z:2.51 [[ 9.99318572e-01 -3.32639643e-02 -1.59968580e-02 3.65745131e+02] [ 3.32650864e-02 9.99446545e-01 -1.96006983e-04 3.45166247e+00] [ 1.59945244e-02 -3.36263446e-04 9.99872023e-01 2.50830911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.77925415399994 meters 0.015261028382279988 Centerline is valid? [True, True] Translation: X:365.78, Y:3.45, Z:2.51 [[ 9.99338564e-01 -3.25788118e-02 -1.61572196e-02 3.65776133e+02] [ 3.25798767e-02 9.99469115e-01 -1.97374950e-04 3.45241743e+00] [ 1.61550723e-02 -3.29155825e-04 9.99869444e-01 2.50843352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.809254154 meters 0.015275662838249248 Centerline is valid? [True, True] Translation: X:365.81, Y:3.45, Z:2.51 [[ 9.99366925e-01 -3.17197514e-02 -1.61122883e-02 3.65807912e+02] [ 3.17207082e-02 9.99496752e-01 -1.96235578e-04 3.45339769e+00] [ 1.61104043e-02 -3.14981849e-04 9.99870169e-01 2.50836657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.83925415399995 meters 0.014856444358760913 Centerline is valid? [True, True] Translation: X:365.84, Y:3.46, Z:2.51 [[ 9.99389100e-01 -3.06429237e-02 -1.68058740e-02 3.65839301e+02] [ 3.06438232e-02 9.99530347e-01 -2.04049768e-04 3.45527235e+00] [ 1.68042337e-02 -3.11071116e-04 9.99858751e-01 2.50804397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.869254154 meters 0.015121240909365674 Centerline is valid? [True, True] Translation: X:365.87, Y:3.45, Z:2.51 [[ 9.99399320e-01 -3.02320783e-02 -1.69416565e-02 3.65869189e+02] [ 3.02329410e-02 9.99542859e-01 -2.05253112e-04 3.45450729e+00] [ 1.69401170e-02 -3.07066280e-04 9.99856459e-01 2.50730043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.89925415399995 meters 0.014901391679318213 Centerline is valid? [True, True] Translation: X:365.90, Y:3.46, Z:2.51 [[ 9.99403868e-01 -2.98713253e-02 -1.73093216e-02 3.65900127e+02] [ 2.98721740e-02 9.99553705e-01 -2.09576686e-04 3.45567483e+00] [ 1.73078569e-02 -3.07615317e-04 9.99850161e-01 2.50741838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.929254154 meters 0.015563370227383192 Centerline is valid? [True, True] Translation: X:365.93, Y:3.46, Z:2.51 [[ 9.99402860e-01 -2.95813497e-02 -1.78568749e-02 3.65929675e+02] [ 2.95822033e-02 9.99562327e-01 -2.16402540e-04 3.45671687e+00] [ 1.78554609e-02 -3.11972386e-04 9.99840530e-01 2.50687378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.95925415399995 meters 0.01680071797245271 Centerline is valid? [True, True] Translation: X:365.96, Y:3.46, Z:2.51 [[ 9.99393063e-01 -2.93414134e-02 -1.87772959e-02 3.65959507e+02] [ 2.93423045e-02 9.99569396e-01 -2.28108534e-04 3.45814457e+00] [ 1.87759034e-02 -3.22999049e-04 9.99823665e-01 2.50716097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.989254154 meters 0.015300306261981683 Centerline is valid? [True, True] Translation: X:365.99, Y:3.46, Z:2.51 [[ 9.99396378e-01 -2.98348542e-02 -1.77977853e-02 3.65988946e+02] [ 2.98357219e-02 9.99554792e-01 -2.16831482e-04 3.45940594e+00] [ 1.77963307e-02 -3.14309176e-04 9.99841583e-01 2.50795049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.01925415399995 meters 0.01495841015944998 Centerline is valid? [True, True] Translation: X:366.02, Y:3.46, Z:2.51 [[ 9.99387349e-01 -3.05052976e-02 -1.71567149e-02 3.66019545e+02] [ 3.05061985e-02 9.99534556e-01 -2.09260255e-04 3.46127534e+00] [ 1.71551129e-02 -3.14254098e-04 9.99852791e-01 2.50988063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.049254154 meters 0.015950560027310934 Centerline is valid? [True, True] Translation: X:366.05, Y:3.46, Z:2.51 [[ 9.99374755e-01 -3.11871461e-02 -1.66571409e-02 3.66048868e+02] [ 3.11880870e-02 9.99513513e-01 -2.03344312e-04 3.45978780e+00] [ 1.66553791e-02 -3.16287187e-04 9.99861240e-01 2.50933152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.07925415399995 meters 0.015275418257456052 Centerline is valid? [True, True] Translation: X:366.08, Y:3.46, Z:2.51 [[ 9.99362019e-01 -3.19391127e-02 -1.59827280e-02 3.66079353e+02] [ 3.19400732e-02 9.99489767e-01 -1.95232525e-04 3.46210217e+00] [ 1.59808086e-02 -3.15381530e-04 9.99872249e-01 2.51089979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1092541539999 meters 0.016178504644305203 Centerline is valid? [True, True] Translation: X:366.11, Y:3.46, Z:2.51 [[ 9.99281590e-01 -3.46354101e-02 -1.53847961e-02 3.66109985e+02] [ 3.46366217e-02 9.99399955e-01 -1.87774377e-04 3.46132747e+00] [ 1.53820682e-02 -3.45237886e-04 9.99881629e-01 2.51095718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.13925415399996 meters 0.016696495052707625 Centerline is valid? [True, True] Translation: X:366.14, Y:3.46, Z:2.51 [[ 9.99214659e-01 -3.65381338e-02 -1.53306967e-02 3.66141388e+02] [ 3.65395673e-02 9.99332190e-01 -1.86683443e-04 3.46111490e+00] [ 1.53272798e-02 -3.73640193e-04 9.99882461e-01 2.51117200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.16925415399993 meters 0.01699413984244156 Centerline is valid? [True, True] Translation: X:366.17, Y:3.46, Z:2.51 [[ 9.99127292e-01 -3.86679121e-02 -1.57938988e-02 3.66173125e+02] [ 3.86697086e-02 9.99252029e-01 -1.91741209e-04 3.46083534e+00] [ 1.57894996e-02 -4.19171589e-04 9.99875250e-01 2.51135457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.19925415399996 meters 0.02164015483258591 Centerline is valid? [True, True] Translation: X:366.20, Y:3.46, Z:2.51 [[ 9.98865902e-01 -4.44811574e-02 -1.69804519e-02 3.66203555e+02] [ 4.44840808e-02 9.99010072e-01 -2.05691863e-04 3.45627962e+00] [ 1.69727919e-02 -5.49901207e-04 9.99855801e-01 2.50990564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.22925415399993 meters 0.021721043681335598 Centerline is valid? [True, True] Translation: X:366.23, Y:3.45, Z:2.51 [[ 9.98712704e-01 -4.81679243e-02 -1.58992487e-02 3.66234194e+02] [ 4.81709625e-02 9.98839087e-01 -1.92043162e-04 3.45393375e+00] [ 1.58900414e-02 -5.74086165e-04 9.99873581e-01 2.51015431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.25925415399996 meters 0.02287705383339559 Centerline is valid? [True, True] Translation: X:366.27, Y:3.45, Z:2.51 [[ 9.98527704e-01 -5.19786026e-02 -1.55128657e-02 3.66265353e+02] [ 5.19819613e-02 9.98648006e-01 -1.86896973e-04 3.45266591e+00] [ 1.55016071e-02 -6.19767382e-04 9.99879651e-01 2.51049801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.28925415399993 meters 0.024383726903182225 Centerline is valid? [True, True] Translation: X:366.30, Y:3.45, Z:2.51 [[ 9.98114829e-01 -5.95001941e-02 -1.50504119e-02 3.66295455e+02] [ 5.95042086e-02 9.98228038e-01 -1.81327562e-04 3.45115872e+00] [ 1.50345322e-02 -7.14577123e-04 9.99886720e-01 2.51117043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31925415399996 meters 0.025956863282268518 Centerline is valid? [True, True] Translation: X:366.33, Y:3.45, Z:2.51 [[ 9.97911914e-01 -6.28360723e-02 -1.49479242e-02 3.66326338e+02] [ 6.28404062e-02 9.98023572e-01 -1.80049776e-04 3.44963638e+00] [ 1.49296944e-02 -7.59659815e-04 9.99888257e-01 2.51129376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.34925415399994 meters 0.026566782168765162 Centerline is valid? [True, True] Translation: X:366.36, Y:3.45, Z:2.51 [[ 9.97726641e-01 -6.56771362e-02 -1.51017447e-02 3.66357232e+02] [ 6.56818884e-02 9.97840597e-01 -1.81625363e-04 3.44973999e+00] [ 1.50810626e-02 -8.10698645e-04 9.99885946e-01 2.51159213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37925415399997 meters 0.029514172438276684 Centerline is valid? [True, True] Translation: X:366.39, Y:3.45, Z:2.51 [[ 9.97451643e-01 -6.96406509e-02 -1.55047951e-02 3.66386947e+02] [ 6.96461477e-02 9.97571742e-01 -1.85808905e-04 3.44761390e+00] [ 1.54800853e-02 -8.94513850e-04 9.99879776e-01 2.51104779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.40925415399994 meters 0.030674940701122592 Centerline is valid? [True, True] Translation: X:366.42, Y:3.45, Z:2.51 [[ 9.97384783e-01 -7.06223798e-02 -1.53646933e-02 3.66418103e+02] [ 7.06279073e-02 9.97502714e-01 -1.83246909e-04 3.44720344e+00] [ 1.53392646e-02 -9.02408454e-04 9.99881939e-01 2.51117614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43925415399997 meters 0.031114812442558634 Centerline is valid? [True, True] Translation: X:366.45, Y:3.45, Z:2.51 [[ 9.97351135e-01 -7.11484467e-02 -1.51199226e-02 3.66450380e+02] [ 7.11538741e-02 9.97465335e-01 -1.79372529e-04 3.44813310e+00] [ 1.50943607e-02 -8.96943674e-04 9.99885671e-01 2.51149781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.46925415399994 meters 0.028637358385906433 Centerline is valid? [True, True] Translation: X:366.48, Y:3.45, Z:2.51 [[ 9.97383330e-01 -7.07005365e-02 -1.50972448e-02 3.66482061e+02] [ 7.07059130e-02 9.97497189e-01 -1.78005284e-04 3.45419084e+00] [ 1.50720444e-02 -8.89924977e-04 9.99886014e-01 2.51225856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49925415399997 meters 0.03158015543134724 Centerline is valid? [True, True] Translation: X:366.51, Y:3.45, Z:2.51 [[ 9.97424433e-01 -7.01077383e-02 -1.51461696e-02 3.66513687e+02] [ 7.01130962e-02 9.97539033e-01 -1.77617691e-04 3.45176120e+00] [ 1.51213478e-02 -8.84784622e-04 9.99885274e-01 2.51183862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.52925415399994 meters 0.027513703184893944 Centerline is valid? [True, True] Translation: X:366.55, Y:3.46, Z:2.51 [[ 9.97477560e-01 -6.91213100e-02 -1.61480944e-02 3.66545741e+02] [ 6.91272893e-02 9.97607830e-01 -1.88264880e-04 3.46062486e+00] [ 1.61224786e-02 -9.28484004e-04 9.99869593e-01 2.51269216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.559254154 meters 0.02703216806893699 Centerline is valid? [True, True] Translation: X:366.58, Y:3.46, Z:2.51 [[ 9.97585391e-01 -6.75733726e-02 -1.60382968e-02 3.66575780e+02] [ 6.75790826e-02 9.97713903e-01 -1.86295122e-04 3.46336190e+00] [ 1.60142203e-02 -8.98008094e-04 9.99871361e-01 2.51228523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.58925415399995 meters 0.02791766886547865 Centerline is valid? [True, True] Translation: X:366.61, Y:3.47, Z:2.51 [[ 9.97681159e-01 -6.59341945e-02 -1.68815776e-02 3.66607134e+02] [ 6.59402985e-02 9.97823551e-01 -1.95404283e-04 3.46517085e+00] [ 1.68577196e-02 -9.18225097e-04 9.99857477e-01 2.51220819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.619254154 meters 0.026572174969612828 Centerline is valid? [True, True] Translation: X:366.64, Y:3.47, Z:2.51 [[ 9.97818869e-01 -6.40052260e-02 -1.61503913e-02 3.66638534e+02] [ 6.40105719e-02 9.97949203e-01 -1.86236020e-04 3.46823713e+00] [ 1.61291902e-02 -8.47965967e-04 9.99869557e-01 2.51248293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.64925415399995 meters 0.024525659536205637 Centerline is valid? [True, True] Translation: X:366.67, Y:3.48, Z:2.51 [[ 9.98164683e-01 -5.80468312e-02 -1.72577676e-02 3.66669299e+02] [ 5.80520520e-02 9.98313538e-01 -1.98708738e-04 3.47643959e+00] [ 1.72401974e-02 -8.03504776e-04 9.99851054e-01 2.51315837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.679254154 meters 0.023488018040716725 Centerline is valid? [True, True] Translation: X:366.70, Y:3.48, Z:2.51 [[ 9.98367446e-01 -5.45744240e-02 -1.68545174e-02 3.66699950e+02] [ 5.45789162e-02 9.98509441e-01 -1.93686352e-04 3.48073791e+00] [ 1.68399651e-02 -7.26531143e-04 9.99857934e-01 2.51335139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.70925415399995 meters 0.023205788924273635 Centerline is valid? [True, True] Translation: X:366.73, Y:3.49, Z:2.51 [[ 9.98606279e-01 -4.98587649e-02 -1.73090398e-02 3.66730547e+02] [ 4.98628030e-02 9.98756057e-01 -1.98461884e-04 3.48629039e+00] [ 1.72974034e-02 -6.64891957e-04 9.99850168e-01 2.51379875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.739254154 meters 0.020462304936892158 Centerline is valid? [True, True] Translation: X:366.76, Y:3.49, Z:2.51 [[ 9.98817927e-01 -4.57497903e-02 -1.64226884e-02 3.66760566e+02] [ 4.57528754e-02 9.98952771e-01 -1.88008437e-04 3.49141840e+00] [ 1.64140914e-02 -5.63599017e-04 9.99865121e-01 2.51459405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.76925415399995 meters 0.017512781438542995 Centerline is valid? [True, True] Translation: X:366.79, Y:3.50, Z:2.52 [[ 9.99204421e-01 -3.67840479e-02 -1.54096682e-02 3.66791208e+02] [ 3.67857007e-02 9.99323162e-01 -1.76266024e-04 3.50212502e+00] [ 1.54057221e-02 -3.90729652e-04 9.99881248e-01 2.51600159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.799254154 meters 0.016900029592629914 Centerline is valid? [True, True] Translation: X:366.82, Y:3.51, Z:2.52 [[ 9.99366578e-01 -3.17354328e-02 -1.61029374e-02 3.66821318e+02] [ 3.17365963e-02 9.99496251e-01 -1.83345230e-04 3.50703393e+00] [ 1.61006440e-02 -3.27823327e-04 9.99870322e-01 2.51621616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.82925415399995 meters 0.016900029592629914 Centerline is valid? [True, True] Translation: X:366.85, Y:3.51, Z:2.52 [[ 9.99367698e-01 -3.17001503e-02 -1.61029481e-02 3.66852170e+02] [ 3.17013245e-02 9.99497370e-01 -1.82396622e-04 3.50735259e+00] [ 1.61006363e-02 -3.28203492e-04 9.99870322e-01 2.51642977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8592541539999 meters 0.015305500247931885 Centerline is valid? [True, True] Translation: X:366.88, Y:3.51, Z:2.52 [[ 9.99488829e-01 -2.75820965e-02 -1.61650576e-02 3.66883915e+02] [ 2.75827532e-02 9.99619507e-01 -1.82366039e-04 3.51223260e+00] [ 1.61639370e-02 -2.63603977e-04 9.99869320e-01 2.51622342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.88925415399996 meters 0.014533985909095016 Centerline is valid? [True, True] Translation: X:366.91, Y:3.52, Z:2.52 [[ 9.99580275e-01 -2.34943438e-02 -1.69496425e-02 3.66914689e+02] [ 2.34944848e-02 9.99723948e-01 -1.90833049e-04 3.51676923e+00] [ 1.69494470e-02 -2.07470167e-04 9.99856326e-01 2.51584701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91925415399993 meters 0.014054572282752368 Centerline is valid? [True, True] Translation: X:366.94, Y:3.52, Z:2.51 [[ 9.99691168e-01 -1.70565014e-02 -1.80733035e-02 3.66944036e+02] [ 1.70556124e-02 9.99854522e-01 -2.03335032e-04 3.52397998e+00] [ 1.80741424e-02 -1.04979024e-04 9.99836644e-01 2.51493812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.94925415399996 meters 0.013695837448381251 Centerline is valid? [True, True] Translation: X:366.97, Y:3.53, Z:2.51 [[ 9.99719346e-01 -1.53671813e-02 -1.80299242e-02 3.66972351e+02] [ 1.53659685e-02 9.99881915e-01 -2.05806239e-04 3.52680145e+00] [ 1.80309578e-02 -7.12987692e-05 9.99837427e-01 2.51487384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97925415399993 meters 0.013382555998275189 Centerline is valid? [True, True] Translation: X:367.00, Y:3.53, Z:2.52 [[ 9.99732660e-01 -1.40036335e-02 -1.83985423e-02 3.67000679e+02] [ 1.40020419e-02 9.99901943e-01 -2.15327340e-04 3.52920617e+00] [ 1.83997536e-02 -4.23473867e-05 9.99830709e-01 2.51648980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.00925415399996 meters 0.013421775957951715 Centerline is valid? [True, True] Translation: X:367.03, Y:3.53, Z:2.52 [[ 9.99736576e-01 -1.33671589e-02 -1.86573589e-02 3.67027948e+02] [ 1.33653451e-02 9.99910655e-01 -2.21912044e-04 3.53054887e+00] [ 1.86586583e-02 -2.75084528e-05 9.99825912e-01 2.51656460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03925415399993 meters 0.013999574449468035 Centerline is valid? [True, True] Translation: X:367.05, Y:3.53, Z:2.52 [[ 9.99754658e-01 -1.24718171e-02 -1.83051418e-02 3.67054575e+02] [ 1.24698789e-02 9.99922224e-01 -2.20021832e-04 3.53148725e+00] [ 1.83064622e-02 -8.29505104e-06 9.99832423e-01 2.51673792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.06925415399996 meters 0.013378245891092579 Centerline is valid? [True, True] Translation: X:367.08, Y:3.53, Z:2.52 [[ 9.99754386e-01 -1.33118351e-02 -1.77190125e-02 3.67082138e+02] [ 1.33100816e-02 9.99911393e-01 -2.16897839e-04 3.53170772e+00] [ 1.77203298e-02 -1.89969367e-05 9.99842982e-01 2.51754688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09925415399994 meters 0.014714049532338099 Centerline is valid? [True, True] Translation: X:367.11, Y:3.53, Z:2.52 [[ 9.99756181e-01 -1.43888455e-02 -1.67493312e-02 3.67110517e+02] [ 1.43873545e-02 9.99896475e-01 -2.09522009e-04 3.53160466e+00] [ 1.67506120e-02 -3.15076413e-05 9.99859698e-01 2.51897457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.12925415399997 meters 0.0156270906422361 Centerline is valid? [True, True] Translation: X:367.14, Y:3.53, Z:2.52 [[ 9.99751592e-01 -1.51056815e-02 -1.63881874e-02 3.67137151e+02] [ 1.51043015e-02 9.99885902e-01 -2.07987376e-04 3.53119841e+00] [ 1.63894593e-02 -3.95964128e-05 9.99865683e-01 2.51956340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15925415399994 meters 0.014074740871203273 Centerline is valid? [True, True] Translation: X:367.17, Y:3.53, Z:2.52 [[ 9.99730524e-01 -1.71723999e-02 -1.56201417e-02 3.67165478e+02] [ 1.71713471e-02 9.99852541e-01 -2.01525396e-04 3.53047373e+00] [ 1.56212990e-02 -6.67477848e-05 9.99877978e-01 2.52046983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18925415399997 meters 0.015900424798132865 Centerline is valid? [True, True] Translation: X:367.19, Y:3.53, Z:2.52 [[ 9.99704383e-01 -1.86100753e-02 -1.56464637e-02 3.67194478e+02] [ 1.86091287e-02 9.99826814e-01 -2.06098189e-04 3.52964529e+00] [ 1.56475895e-02 -8.51297947e-05 9.99877565e-01 2.52160836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21925415399994 meters 0.015105070562447647 Centerline is valid? [True, True] Translation: X:367.22, Y:3.53, Z:2.52 [[ 9.99664284e-01 -2.07562832e-02 -1.55079474e-02 3.67224617e+02] [ 2.07555790e-02 9.99784558e-01 -2.06372730e-04 3.52831215e+00] [ 1.55088898e-02 -1.15572980e-04 9.99879723e-01 2.52204461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24925415399997 meters 0.014963298929703231 Centerline is valid? [True, True] Translation: X:367.25, Y:3.52, Z:2.52 [[ 9.99565243e-01 -2.52602473e-02 -1.52067275e-02 3.67253967e+02] [ 2.52600828e-02 9.99680893e-01 -2.02920175e-04 3.52454367e+00] [ 1.52070008e-02 -1.81291242e-04 9.99884350e-01 2.52207036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.27925415399994 meters 0.014452030855764072 Centerline is valid? [True, True] Translation: X:367.28, Y:3.52, Z:2.52 [[ 9.99485932e-01 -2.82378988e-02 -1.51819974e-02 3.67284620e+02] [ 2.82380766e-02 9.99601205e-01 -2.02693876e-04 3.52240625e+00] [ 1.51816666e-02 -2.26120729e-04 9.99884726e-01 2.52188013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.309254154 meters 0.015995658151929902 Centerline is valid? [True, True] Translation: X:367.32, Y:3.52, Z:2.52 [[ 9.99341045e-01 -3.25570748e-02 -1.60471892e-02 3.67315539e+02] [ 3.25578508e-02 9.99469830e-01 -2.12955319e-04 3.51754882e+00] [ 1.60456147e-02 -3.09647002e-04 9.99871213e-01 2.52127292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.33925415399995 meters 0.016907100891835683 Centerline is valid? [True, True] Translation: X:367.35, Y:3.52, Z:2.52 [[ 9.99266117e-01 -3.46127099e-02 -1.64069524e-02 3.67347359e+02] [ 3.46138293e-02 9.99400739e-01 -2.15828546e-04 3.51550426e+00] [ 1.64045907e-02 -3.52237295e-04 9.99865374e-01 2.52102873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.369254154 meters 0.016677633585278115 Centerline is valid? [True, True] Translation: X:367.38, Y:3.51, Z:2.52 [[ 9.99180843e-01 -3.68832948e-02 -1.66513150e-02 3.67379688e+02] [ 3.68847868e-02 9.99319501e-01 -2.17600165e-04 3.51334715e+00] [ 1.66480096e-02 -3.96758290e-04 9.99861334e-01 2.52063849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.39925415399995 meters 0.017438117973364555 Centerline is valid? [True, True] Translation: X:367.41, Y:3.51, Z:2.52 [[ 9.99122544e-01 -3.81282915e-02 -1.73313547e-02 3.67411601e+02] [ 3.81301170e-02 9.99272757e-01 -2.25223609e-04 3.51178577e+00] [ 1.73273379e-02 -4.35820597e-04 9.99849775e-01 2.52045375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.429254154 meters 0.017755915160296017 Centerline is valid? [True, True] Translation: X:367.44, Y:3.51, Z:2.52 [[ 9.99027598e-01 -4.03009345e-02 -1.78799724e-02 3.67443498e+02] [ 4.03032484e-02 9.99187467e-01 -2.31054693e-04 3.50963876e+00] [ 1.78747561e-02 -4.89790957e-04 9.99840114e-01 2.52003279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.45925415399995 meters 0.018082301138102067 Centerline is valid? [True, True] Translation: X:367.48, Y:3.51, Z:2.52 [[ 9.99021721e-01 -4.04887310e-02 -1.77838090e-02 3.67475159e+02] [ 4.04910813e-02 9.99179874e-01 -2.28039571e-04 3.50861828e+00] [ 1.77784570e-02 -4.92269171e-04 9.99841830e-01 2.52008001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.489254154 meters 0.019528378460247343 Centerline is valid? [True, True] Translation: X:367.51, Y:3.51, Z:2.52 [[ 9.99026116e-01 -4.02619647e-02 -1.80497328e-02 3.67507625e+02] [ 4.02643785e-02 9.99189035e-01 -2.29805706e-04 3.50970211e+00] [ 1.80443475e-02 -4.97179370e-04 9.99837064e-01 2.52090680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.51925415399995 meters 0.017385625676962422 Centerline is valid? [True, True] Translation: X:367.54, Y:3.51, Z:2.52 [[ 9.99034818e-01 -4.07365577e-02 -1.64306087e-02 3.67539517e+02] [ 4.07386409e-02 9.99169815e-01 -2.08033148e-04 3.50861723e+00] [ 1.64254428e-02 -4.61528308e-04 9.99864987e-01 2.52235284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.549254154 meters 0.019154974491553036 Centerline is valid? [True, True] Translation: X:367.57, Y:3.51, Z:2.52 [[ 9.99060554e-01 -4.00467851e-02 -1.65609493e-02 3.67571833e+02] [ 4.00488269e-02 9.99197702e-01 -2.08470735e-04 3.50854084e+00] [ 1.65560111e-02 -4.54971703e-04 9.99862836e-01 2.52246803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.57925415399995 meters 0.018926499274210837 Centerline is valid? [True, True] Translation: X:367.60, Y:3.51, Z:2.52 [[ 9.99076413e-01 -3.97136374e-02 -1.64057077e-02 3.67604455e+02] [ 3.97156158e-02 9.99211003e-01 -2.05323425e-04 3.50865233e+00] [ 1.64009178e-02 -4.46428995e-04 9.99865396e-01 2.52305121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6092541539999 meters 0.01674958474964414 Centerline is valid? [True, True] Translation: X:367.64, Y:3.51, Z:2.52 [[ 9.99080060e-01 -4.00699966e-02 -1.52784023e-02 3.67636400e+02] [ 4.00717708e-02 9.99196786e-01 -1.90118199e-04 3.50911049e+00] [ 1.52737485e-02 -4.22289332e-04 9.99883260e-01 2.52380894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.63925415399996 meters 0.017598103489223665 Centerline is valid? [True, True] Translation: X:367.67, Y:3.51, Z:2.52 [[ 9.99082302e-01 -3.98294562e-02 -1.57533339e-02 3.67668689e+02] [ 3.98313314e-02 9.99206399e-01 -1.94832686e-04 3.50885541e+00] [ 1.57485921e-02 -4.32822373e-04 9.99875890e-01 2.52350338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.66925415399993 meters 0.017444104965009092 Centerline is valid? [True, True] Translation: X:367.70, Y:3.51, Z:2.52 [[ 9.99009664e-01 -4.12911548e-02 -1.65750301e-02 3.67700544e+02] [ 4.12934526e-02 9.99147041e-01 -2.03730863e-04 3.50727570e+00] [ 1.65693045e-02 -4.80911119e-04 9.99862604e-01 2.52244448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.69925415399996 meters 0.01778715122478616 Centerline is valid? [True, True] Translation: X:367.73, Y:3.51, Z:2.52 [[ 9.98946515e-01 -4.25709860e-02 -1.71339410e-02 3.67731554e+02] [ 4.25736570e-02 9.99093309e-01 -2.09000446e-04 3.50572908e+00] [ 1.71273031e-02 -5.20674260e-04 9.99853181e-01 2.52183173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.72925415399993 meters 0.019583504069262868 Centerline is valid? [True, True] Translation: X:367.76, Y:3.50, Z:2.52 [[ 9.98802245e-01 -4.52285737e-02 -1.86668384e-02 3.67762351e+02] [ 4.52322305e-02 9.98976473e-01 -2.26478800e-04 3.50218420e+00] [ 1.86579757e-02 -6.18135204e-04 9.99825734e-01 2.51984930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.75925415399996 meters 0.018781439426386274 Centerline is valid? [True, True] Translation: X:367.79, Y:3.50, Z:2.52 [[ 9.98721820e-01 -4.66998776e-02 -1.93351492e-02 3.67794577e+02] [ 4.67040994e-02 9.98908741e-01 -2.33400402e-04 3.50357203e+00] [ 1.93249494e-02 -6.69928658e-04 9.99813031e-01 2.52066090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.78925415399993 meters 0.018781439426386274 Centerline is valid? [True, True] Translation: X:367.83, Y:3.50, Z:2.52 [[ 9.98725289e-01 -4.66256165e-02 -1.93351665e-02 3.67826290e+02] [ 4.66298521e-02 9.98912210e-01 -2.31962477e-04 3.50389522e+00] [ 1.93249493e-02 -6.69929164e-04 9.99813031e-01 2.52088051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81925415399996 meters 0.02107669682556653 Centerline is valid? [True, True] Translation: X:367.86, Y:3.50, Z:2.52 [[ 9.98580678e-01 -4.95677071e-02 -1.94851735e-02 3.67857231e+02] [ 4.95726095e-02 9.98770496e-01 -2.31635811e-04 3.49990638e+00] [ 1.94726980e-02 -7.34623849e-04 9.99810119e-01 2.52015428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.84925415399994 meters 0.021987520934600963 Centerline is valid? [True, True] Translation: X:367.89, Y:3.50, Z:2.52 [[ 9.98525540e-01 -5.07308109e-02 -1.93165994e-02 3.67888716e+02] [ 5.07358759e-02 9.98712080e-01 -2.28085268e-04 3.49892603e+00] [ 1.93032921e-02 -7.52295625e-04 9.99813391e-01 2.52047420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87925415399997 meters 0.022978443650647263 Centerline is valid? [True, True] Translation: X:367.92, Y:3.50, Z:2.52 [[ 9.98506093e-01 -5.11844477e-02 -1.91241723e-02 3.67920097e+02] [ 5.11895148e-02 9.98688932e-01 -2.24791756e-04 3.49789231e+00] [ 1.91106051e-02 -7.54501165e-04 9.99817091e-01 2.52099283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.90925415399994 meters 0.021826193414500733 Centerline is valid? [True, True] Translation: X:367.95, Y:3.50, Z:2.52 [[ 9.98567023e-01 -5.03134804e-02 -1.82333085e-02 3.67952393e+02] [ 5.03179625e-02 9.98733226e-01 -2.13158725e-04 3.50074093e+00] [ 1.82209357e-02 -7.04609658e-04 9.99833737e-01 2.52258262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93925415399997 meters 0.020785555904390195 Centerline is valid? [True, True] Translation: X:367.98, Y:3.50, Z:2.52 [[ 9.98641599e-01 -4.89986523e-02 -1.77225563e-02 3.67984857e+02] [ 4.90027024e-02 9.98798625e-01 -2.05923530e-04 3.50318944e+00] [ 1.77113548e-02 -6.62809349e-04 9.99842922e-01 2.52357372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.96925415399994 meters 0.022004968546801715 Centerline is valid? [True, True] Translation: X:368.02, Y:3.51, Z:2.52 [[ 9.98759384e-01 -4.64613453e-02 -1.79175105e-02 3.68016500e+02] [ 4.64650970e-02 9.98919893e-01 -2.07082165e-04 3.50580506e+00] [ 1.79077790e-02 -6.25713610e-04 9.99839447e-01 2.52428079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99925415399997 meters 0.018417712663771926 Centerline is valid? [True, True] Translation: X:368.05, Y:3.51, Z:2.53 [[ 9.98961516e-01 -4.28101524e-02 -1.55942230e-02 3.68048214e+02] [ 4.28125621e-02 9.99083106e-01 -1.79427551e-04 3.51090519e+00] [ 1.55876061e-02 -4.88387421e-04 9.99878387e-01 2.52610004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.02925415399994 meters 0.017552404540380012 Centerline is valid? [True, True] Translation: X:368.08, Y:3.51, Z:2.53 [[ 9.99062325e-01 -4.07469160e-02 -1.46341743e-02 3.68080901e+02] [ 4.07488325e-02 9.99169407e-01 -1.67320297e-04 3.51349925e+00] [ 1.46288370e-02 -4.29162110e-04 9.99892901e-01 2.52675248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.059254154 meters 0.0171299234544226 Centerline is valid? [True, True] Translation: X:368.11, Y:3.51, Z:2.53 [[ 9.99140263e-01 -3.89334162e-02 -1.42451063e-02 3.68113538e+02] [ 3.89350662e-02 9.99241730e-01 -1.61588822e-04 3.51499929e+00] [ 1.42405958e-02 -3.93184258e-04 9.99898520e-01 2.52703344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.08925415399995 meters 0.01608766938011499 Centerline is valid? [True, True] Translation: X:368.14, Y:3.52, Z:2.53 [[ 9.99264557e-01 -3.60447838e-02 -1.30812510e-02 3.68144911e+02] [ 3.60459383e-02 9.99350123e-01 -1.47580763e-04 3.51787334e+00] [ 1.30780693e-02 -3.24053740e-04 9.99914426e-01 2.52716233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.119254154 meters 0.015671371618423115 Centerline is valid? [True, True] Translation: X:368.18, Y:3.52, Z:2.53 [[ 9.99305898e-01 -3.48084152e-02 -1.32701410e-02 3.68177115e+02] [ 3.48095040e-02 9.99393954e-01 -1.48985216e-04 3.51974984e+00] [ 1.32672846e-02 -3.13045222e-04 9.99911937e-01 2.52701483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.14925415399995 meters 0.0152078587177183 Centerline is valid? [True, True] Translation: X:368.21, Y:3.52, Z:2.53 [[ 9.99395020e-01 -3.17899300e-02 -1.41065483e-02 3.68208792e+02] [ 3.17908750e-02 9.99494530e-01 -1.57307885e-04 3.52223376e+00] [ 1.41044187e-02 -2.91246797e-04 9.99900485e-01 2.52596849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.179254154 meters 0.015027202081721458 Centerline is valid? [True, True] Translation: X:368.24, Y:3.52, Z:2.53 [[ 9.99435845e-01 -3.01318000e-02 -1.48346368e-02 3.68240738e+02] [ 3.01326788e-02 9.99545894e-01 -1.64325423e-04 3.52385675e+00] [ 1.48328517e-02 -2.82774627e-04 9.99889947e-01 2.52571523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.20925415399995 meters 0.014516993191355401 Centerline is valid? [True, True] Translation: X:368.27, Y:3.53, Z:2.53 [[ 9.99521699e-01 -2.69764984e-02 -1.51209080e-02 3.68271345e+02] [ 2.69770604e-02 9.99636039e-01 -1.66842108e-04 3.52700377e+00] [ 1.51199054e-02 -2.41155341e-04 9.99885659e-01 2.52540758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.239254154 meters 0.01403552900890249 Centerline is valid? [True, True] Translation: X:368.30, Y:3.53, Z:2.53 [[ 9.99588598e-01 -2.41044091e-02 -1.55438867e-02 3.68301400e+02] [ 2.41046578e-02 9.99709426e-01 -1.71382364e-04 3.52992298e+00] [ 1.55435011e-02 -2.03368212e-04 9.99879172e-01 2.52529679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.26925415399995 meters 0.01403552900890249 Centerline is valid? [True, True] Translation: X:368.33, Y:3.53, Z:2.53 [[ 9.99588598e-01 -2.41044091e-02 -1.55438867e-02 3.68331402e+02] [ 2.41046578e-02 9.99709426e-01 -1.71382364e-04 3.53025377e+00] [ 1.55435011e-02 -2.03368212e-04 9.99879172e-01 2.52550471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.299254154 meters 0.013830684852349694 Centerline is valid? [True, True] Translation: X:368.36, Y:3.53, Z:2.53 [[ 9.99611990e-01 -2.29138455e-02 -1.58374485e-02 3.68362306e+02] [ 2.29139542e-02 9.99737426e-01 -1.74619091e-04 3.53164598e+00] [ 1.58372912e-02 -1.88347233e-04 9.99874564e-01 2.52520745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.32925415399995 meters 0.013623468782971875 Centerline is valid? [True, True] Translation: X:368.39, Y:3.53, Z:2.52 [[ 9.99628193e-01 -2.18567721e-02 -1.63020369e-02 3.68392417e+02] [ 2.18567468e-02 9.99761097e-01 -1.79741507e-04 3.53294113e+00] [ 1.63020708e-02 -1.76634814e-04 9.99867097e-01 2.52499565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3592541539999 meters 0.013662159164735779 Centerline is valid? [True, True] Translation: X:368.42, Y:3.53, Z:2.52 [[ 9.99621397e-01 -2.12403440e-02 -1.74902830e-02 3.68422087e+02] [ 2.12402203e-02 9.99774382e-01 -1.92860194e-04 3.53424101e+00] [ 1.74904333e-02 -1.78710288e-04 9.99847015e-01 2.52453672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.38925415399996 meters 0.013596179933650653 Centerline is valid? [True, True] Translation: X:368.45, Y:3.54, Z:2.52 [[ 9.99617405e-01 -2.05225408e-02 -1.85436999e-02 3.68450500e+02] [ 2.05222669e-02 9.99789375e-01 -2.05085081e-04 3.53606542e+00] [ 1.85440030e-02 -1.75552143e-04 9.99828030e-01 2.52387063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41925415399993 meters 0.013812990491714087 Centerline is valid? [True, True] Translation: X:368.48, Y:3.54, Z:2.52 [[ 9.99602425e-01 -2.12005737e-02 -1.85883622e-02 3.68478761e+02] [ 2.12003566e-02 9.99775225e-01 -2.08760025e-04 3.53698151e+00] [ 1.85886098e-02 -1.85402878e-04 9.99827200e-01 2.52435318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.44925415399996 meters 0.013497538222566306 Centerline is valid? [True, True] Translation: X:368.51, Y:3.54, Z:2.53 [[ 9.99581136e-01 -2.21127508e-02 -1.86702552e-02 3.68507633e+02] [ 2.21126032e-02 9.99755464e-01 -2.14374820e-04 3.53813135e+00] [ 1.86704301e-02 -1.98562919e-04 9.99825673e-01 2.52589340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47925415399993 meters 0.013884731483952735 Centerline is valid? [True, True] Translation: X:368.54, Y:3.54, Z:2.53 [[ 9.99546950e-01 -2.43854731e-02 -1.76420887e-02 3.68536054e+02] [ 2.43856552e-02 9.99702605e-01 -2.04830598e-04 3.53622031e+00] [ 1.76418369e-02 -2.25476092e-04 9.99844345e-01 2.52638847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.50925415399996 meters 0.013970829395586951 Centerline is valid? [True, True] Translation: X:368.57, Y:3.54, Z:2.53 [[ 9.99510967e-01 -2.60225167e-02 -1.73394380e-02 3.68565405e+02] [ 2.60229259e-02 9.99661326e-01 -2.02065457e-04 3.53568774e+00] [ 1.73388239e-02 -2.49256271e-04 9.99849640e-01 2.52750737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53925415399993 meters 0.014280669137414787 Centerline is valid? [True, True] Translation: X:368.60, Y:3.53, Z:2.53 [[ 9.99476888e-01 -2.78491328e-02 -1.64431006e-02 3.68596388e+02] [ 2.78497439e-02 9.99612102e-01 -1.91858544e-04 3.53456261e+00] [ 1.64420654e-02 -2.66177960e-04 9.99864785e-01 2.52808043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.56925415399996 meters 0.014610616146415175 Centerline is valid? [True, True] Translation: X:368.63, Y:3.53, Z:2.53 [[ 9.99426272e-01 -2.99111110e-02 -1.58887562e-02 3.68627679e+02] [ 2.99119473e-02 9.99552520e-01 -1.85064353e-04 3.53381300e+00] [ 1.58871817e-02 -2.90305460e-04 9.99873749e-01 2.52901578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59925415399994 meters 0.01599994593809497 Centerline is valid? [True, True] Translation: X:368.66, Y:3.53, Z:2.53 [[ 9.99280437e-01 -3.47270331e-02 -1.52525923e-02 3.68658278e+02] [ 3.47283727e-02 9.99396772e-01 -1.77110013e-04 3.53046907e+00] [ 1.52495420e-02 -3.52715139e-04 9.99883657e-01 2.52952795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.62925415399997 meters 0.016291077784997058 Centerline is valid? [True, True] Translation: X:368.69, Y:3.53, Z:2.53 [[ 9.99202384e-01 -3.69695284e-02 -1.50947168e-02 3.68690636e+02] [ 3.69711089e-02 9.99316320e-01 -1.74431405e-04 3.52938277e+00] [ 1.50908455e-02 -3.83776142e-04 9.99886053e-01 2.53002604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65925415399994 meters 0.01702081497412615 Centerline is valid? [True, True] Translation: X:368.72, Y:3.53, Z:2.53 [[ 9.99115275e-01 -3.93229859e-02 -1.49120839e-02 3.68722538e+02] [ 3.93248063e-02 9.99226466e-01 -1.71238409e-04 3.52770241e+00] [ 1.49072825e-02 -4.15327901e-04 9.99888794e-01 2.52984089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68925415399997 meters 0.017582741621193044 Centerline is valid? [True, True] Translation: X:368.75, Y:3.53, Z:2.53 [[ 9.99040846e-01 -4.11202492e-02 -1.50503546e-02 3.68754701e+02] [ 4.11223239e-02 9.99154105e-01 -1.71726306e-04 3.52601308e+00] [ 1.50446850e-02 -4.47343964e-04 9.99886722e-01 2.52977948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71925415399994 meters 0.019513847678469302 Centerline is valid? [True, True] Translation: X:368.79, Y:3.52, Z:2.53 [[ 9.98904256e-01 -4.40320178e-02 -1.58577798e-02 3.68786063e+02] [ 4.40347094e-02 9.99029986e-01 -1.79566576e-04 3.52240947e+00] [ 1.58503042e-02 -5.18922906e-04 9.99874241e-01 2.52842896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74925415399997 meters 0.019513847678469302 Centerline is valid? [True, True] Translation: X:368.82, Y:3.52, Z:2.53 [[ 9.98907397e-01 -4.39606837e-02 -1.58577943e-02 3.68817772e+02] [ 4.39633868e-02 9.99033127e-01 -1.78275142e-04 3.52270494e+00] [ 1.58502989e-02 -5.19081987e-04 9.99874241e-01 2.52864850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.77925415399994 meters 0.019234212298282073 Centerline is valid? [True, True] Translation: X:368.85, Y:3.52, Z:2.53 [[ 9.98861496e-01 -4.48753525e-02 -1.61837529e-02 3.68849812e+02] [ 4.48783068e-02 9.98992445e-01 -1.80767293e-04 3.52273511e+00] [ 1.61755589e-02 -5.45737939e-04 9.99869018e-01 2.52828010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.809254154 meters 0.020775448282293833 Centerline is valid? [True, True] Translation: X:368.88, Y:3.52, Z:2.53 [[ 9.98833346e-01 -4.53783666e-02 -1.65151394e-02 3.68881116e+02] [ 4.53815287e-02 9.98969711e-01 -1.83443079e-04 3.52164628e+00] [ 1.65064484e-02 -5.66253207e-04 9.99863599e-01 2.52766229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.83925415399995 meters 0.02047389309149848 Centerline is valid? [True, True] Translation: X:368.91, Y:3.52, Z:2.53 [[ 9.98853170e-01 -4.48845536e-02 -1.66650090e-02 3.68913463e+02] [ 4.48877224e-02 9.98992021e-01 -1.84049294e-04 3.52294483e+00] [ 1.66564720e-02 -5.64216077e-04 9.99861112e-01 2.52816970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.869254154 meters 0.018672781344173172 Centerline is valid? [True, True] Translation: X:368.95, Y:3.53, Z:2.53 [[ 9.98871603e-01 -4.45688240e-02 -1.64054976e-02 3.68945315e+02] [ 4.45718714e-02 9.99006164e-01 -1.80011134e-04 3.52702011e+00] [ 1.63972161e-02 -5.51415720e-04 9.99865405e-01 2.52931327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.89925415399995 meters 0.020386839586130134 Centerline is valid? [True, True] Translation: X:368.98, Y:3.53, Z:2.53 [[ 9.98955637e-01 -4.27442621e-02 -1.61419868e-02 3.68976585e+02] [ 4.27469907e-02 9.99085914e-01 -1.76117504e-04 3.52598606e+00] [ 1.61347596e-02 -5.14087786e-04 9.99869694e-01 2.52909922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.929254154 meters 0.019800647763531604 Centerline is valid? [True, True] Translation: X:369.01, Y:3.53, Z:2.53 [[ 9.99000644e-01 -4.17816939e-02 -1.58745944e-02 3.69008628e+02] [ 4.17842272e-02 9.99126643e-01 -1.72207159e-04 3.52742519e+00] [ 1.58679253e-02 -4.91272595e-04 9.99873976e-01 2.52936177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.95925415399995 meters 0.01899464390241598 Centerline is valid? [True, True] Translation: X:369.04, Y:3.53, Z:2.53 [[ 9.99081849e-01 -4.01001931e-02 -1.50809149e-02 3.69041239e+02] [ 4.01023055e-02 9.99195566e-01 -1.62432619e-04 3.53037619e+00] [ 1.50752968e-02 -4.42495975e-04 9.99886263e-01 2.53020277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.989254154 meters 0.017045863033317125 Centerline is valid? [True, True] Translation: X:369.07, Y:3.54, Z:2.53 [[ 9.99119584e-01 -3.92806865e-02 -1.47338038e-02 3.69073777e+02] [ 3.92826309e-02 9.99228127e-01 -1.57522319e-04 3.53554568e+00] [ 1.47286188e-02 -4.21398943e-04 9.99891439e-01 2.53162537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.01925415399995 meters 0.017168386789429137 Centerline is valid? [True, True] Translation: X:369.11, Y:3.54, Z:2.53 [[ 9.99133911e-01 -3.90392731e-02 -1.44001297e-02 3.69105184e+02] [ 3.90411188e-02 9.99237593e-01 -1.53031994e-04 3.53597605e+00] [ 1.43951252e-02 -4.09297718e-04 9.99896301e-01 2.53185434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.049254154 meters 0.016976388919873166 Centerline is valid? [True, True] Translation: X:369.14, Y:3.54, Z:2.53 [[ 9.99145875e-01 -3.86458715e-02 -1.46292960e-02 3.69136882e+02] [ 3.86477483e-02 9.99252885e-01 -1.54508204e-04 3.53717833e+00] [ 1.46243373e-02 -4.11013114e-04 9.99892974e-01 2.53201520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.07925415399995 meters 0.016867512822729445 Centerline is valid? [True, True] Translation: X:369.17, Y:3.54, Z:2.53 [[ 9.99147288e-01 -3.82657623e-02 -1.55057530e-02 3.69169176e+02] [ 3.82678431e-02 9.99267505e-01 -1.62592548e-04 3.53842437e+00] [ 1.55006168e-02 -4.30917819e-04 9.99879765e-01 2.53151403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1092541539999 meters 0.01668850200307868 Centerline is valid? [True, True] Translation: X:369.20, Y:3.54, Z:2.53 [[ 9.99133229e-01 -3.83979909e-02 -1.60743795e-02 3.69201532e+02] [ 3.84002637e-02 9.99262424e-01 -1.67345169e-04 3.53964165e+00] [ 1.60689492e-02 -4.50060294e-04 9.99870785e-01 2.53121941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.13925415399996 meters 0.01778793353447587 Centerline is valid? [True, True] Translation: X:369.23, Y:3.54, Z:2.53 [[ 9.99096912e-01 -3.88021382e-02 -1.73134340e-02 3.69233103e+02] [ 3.88048552e-02 9.99246792e-01 -1.79112807e-04 3.53819482e+00] [ 1.73073433e-02 -4.92894248e-04 9.99850095e-01 2.53032872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.16925415399993 meters 0.017966840784302402 Centerline is valid? [True, True] Translation: X:369.27, Y:3.54, Z:2.53 [[ 9.99074697e-01 -3.93206570e-02 -1.74251500e-02 3.69265344e+02] [ 3.93235079e-02 9.99226516e-01 -1.79127714e-04 3.53893017e+00] [ 1.74187154e-02 -5.06256059e-04 9.99848155e-01 2.53066946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.19925415399996 meters 0.017636833463414478 Centerline is valid? [True, True] Translation: X:369.30, Y:3.54, Z:2.53 [[ 9.99053940e-01 -3.97447146e-02 -1.76516987e-02 3.69297452e+02] [ 3.97477290e-02 9.99209731e-01 -1.80168105e-04 3.54045383e+00] [ 1.76449098e-02 -5.21617281e-04 9.99844180e-01 2.53137418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.22925415399993 meters 0.018760062334183626 Centerline is valid? [True, True] Translation: X:369.33, Y:3.54, Z:2.53 [[ 9.99062267e-01 -3.95185729e-02 -1.76880802e-02 3.69328550e+02] [ 3.95215966e-02 9.99218701e-01 -1.78713761e-04 3.53925908e+00] [ 1.76813230e-02 -5.20514993e-04 9.99843538e-01 2.53101206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.25925415399996 meters 0.01731481367489297 Centerline is valid? [True, True] Translation: X:369.36, Y:3.54, Z:2.53 [[ 9.99118333e-01 -3.80794665e-02 -1.76779642e-02 3.69360434e+02] [ 3.80822905e-02 9.99274591e-01 -1.76982263e-04 3.54258888e+00] [ 1.76718798e-02 -4.96391143e-04 9.99843717e-01 2.53230903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.28925415399993 meters 0.016839310828394603 Centerline is valid? [True, True] Translation: X:369.39, Y:3.54, Z:2.53 [[ 9.99189918e-01 -3.63271753e-02 -1.73159816e-02 3.69392660e+02] [ 3.63296434e-02 9.99339846e-01 -1.72112707e-04 3.54437008e+00] [ 1.73108027e-02 -4.57110153e-04 9.99850052e-01 2.53313831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31925415399996 meters 0.016532783887790985 Centerline is valid? [True, True] Translation: X:369.42, Y:3.55, Z:2.53 [[ 9.99287803e-01 -3.38813352e-02 -1.66114827e-02 3.69422762e+02] [ 3.38832797e-02 9.99425783e-01 -1.64455346e-04 3.54638305e+00] [ 1.66075161e-02 -3.98513295e-04 9.99862006e-01 2.53372114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.34925415399994 meters 0.014482722144747523 Centerline is valid? [True, True] Translation: X:369.45, Y:3.55, Z:2.54 [[ 9.99513135e-01 -2.72116872e-02 -1.52648782e-02 3.69454238e+02] [ 2.72125610e-02 9.99629658e-01 -1.50502133e-04 3.55329074e+00] [ 1.52633204e-02 -2.64967570e-04 9.99883474e-01 2.53647295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37925415399997 meters 0.014121198001680617 Centerline is valid? [True, True] Translation: X:369.48, Y:3.56, Z:2.54 [[ 9.99611510e-01 -2.36863639e-02 -1.46896559e-02 3.69484238e+02] [ 2.36868005e-02 9.99719418e-01 -1.44284040e-04 3.55553192e+00] [ 1.46889518e-02 -2.03722962e-04 9.99892091e-01 2.53713675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.40925415399994 meters 0.013653471164272847 Centerline is valid? [True, True] Translation: X:369.52, Y:3.56, Z:2.54 [[ 9.99694685e-01 -2.02098299e-02 -1.42162009e-02 3.69515737e+02] [ 2.02098928e-02 9.99795750e-01 -1.39252415e-04 3.55868528e+00] [ 1.42161115e-02 -1.48097997e-04 9.99898935e-01 2.53824811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43925415399997 meters 0.013450681116587652 Centerline is valid? [True, True] Translation: X:369.55, Y:3.56, Z:2.54 [[ 9.99804229e-01 -1.46622324e-02 -1.32861809e-02 3.69546432e+02] [ 1.46618006e-02 9.99892502e-01 -1.29911806e-04 3.56281258e+00] [ 1.32866574e-02 -6.49129616e-05 9.99911726e-01 2.53982760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.46925415399994 meters 0.013613272568132282 Centerline is valid? [True, True] Translation: X:369.58, Y:3.56, Z:2.54 [[ 9.99835416e-01 -1.27186327e-02 -1.29374693e-02 3.69575111e+02] [ 1.27180562e-02 9.99919114e-01 -1.26833656e-04 3.56346096e+00] [ 1.29380360e-02 -3.77266806e-05 9.99916299e-01 2.53975342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49925415399997 meters 0.014041097952479493 Centerline is valid? [True, True] Translation: X:369.60, Y:3.56, Z:2.54 [[ 9.99851481e-01 -1.13525324e-02 -1.29667445e-02 3.69603442e+02] [ 1.13518133e-02 9.99935558e-01 -1.29060075e-04 3.56375964e+00] [ 1.29673740e-02 -1.81551561e-05 9.99915920e-01 2.54017945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.52925415399994 meters 0.013478215159321755 Centerline is valid? [True, True] Translation: X:369.63, Y:3.56, Z:2.54 [[ 9.99856677e-01 -1.13539837e-02 -1.25583287e-02 3.69631817e+02] [ 1.13532694e-02 9.99935541e-01 -1.28174005e-04 3.56371769e+00] [ 1.25589745e-02 -1.44224536e-05 9.99921133e-01 2.54035841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.559254154 meters 0.01343252001963502 Centerline is valid? [True, True] Translation: X:369.66, Y:3.56, Z:2.54 [[ 9.99847989e-01 -1.22529530e-02 -1.24041866e-02 3.69661078e+02] [ 1.22522858e-02 9.99924930e-01 -1.29776644e-04 3.56122752e+00] [ 1.24048455e-02 -2.22227226e-05 9.99923057e-01 2.53992426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.58925415399995 meters 0.015064891532245274 Centerline is valid? [True, True] Translation: X:369.69, Y:3.56, Z:2.54 [[ 9.99821717e-01 -1.31403750e-02 -1.35596471e-02 3.69690114e+02] [ 1.31396096e-02 9.99913661e-01 -1.45541007e-04 3.55905357e+00] [ 1.35603888e-02 -3.26534093e-05 9.99908053e-01 2.53981385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.619254154 meters 0.013549447866518443 Centerline is valid? [True, True] Translation: X:369.72, Y:3.56, Z:2.54 [[ 9.99790923e-01 -1.58910885e-02 -1.28679382e-02 3.69718708e+02] [ 1.58905851e-02 9.99873727e-01 -1.41370819e-04 3.55705756e+00] [ 1.28685599e-02 -6.31378058e-05 9.99917195e-01 2.53950499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.64925415399995 meters 0.01391531704661884 Centerline is valid? [True, True] Translation: X:369.75, Y:3.55, Z:2.54 [[ 9.99690175e-01 -2.10255363e-02 -1.33222246e-02 3.69747857e+02] [ 2.10254323e-02 9.99778930e-01 -1.47878713e-04 3.55051280e+00] [ 1.33223887e-02 -1.32272635e-04 9.99911244e-01 2.53802464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.679254154 meters 0.014430015910033697 Centerline is valid? [True, True] Translation: X:369.78, Y:3.55, Z:2.54 [[ 9.99619942e-01 -2.42082761e-02 -1.31882683e-02 3.69778690e+02] [ 2.42084576e-02 9.99706922e-01 -1.45896949e-04 3.54713222e+00] [ 1.31879350e-02 -1.73426134e-04 9.99913020e-01 2.53751668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.70925415399995 meters 0.01576146572932716 Centerline is valid? [True, True] Translation: X:369.81, Y:3.54, Z:2.54 [[ 9.99427806e-01 -3.08678034e-02 -1.38289205e-02 3.69808660e+02] [ 3.08686507e-02 9.99523438e-01 -1.52221979e-04 3.53949624e+00] [ 1.38270289e-02 -2.74745239e-04 9.99904364e-01 2.53697120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.739254154 meters 0.01639696009418111 Centerline is valid? [True, True] Translation: X:369.84, Y:3.54, Z:2.54 [[ 9.99322493e-01 -3.40395370e-02 -1.39952022e-02 3.69840546e+02] [ 3.40407319e-02 9.99420435e-01 -1.52896789e-04 3.53646712e+00] [ 1.39922956e-02 -3.23613726e-04 9.99902051e-01 2.53720655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.76925415399995 meters 0.017172903462298654 Centerline is valid? [True, True] Translation: X:369.87, Y:3.53, Z:2.54 [[ 9.99213076e-01 -3.71334429e-02 -1.39404187e-02 3.69873111e+02] [ 3.71349435e-02 9.99310249e-01 -1.51279433e-04 3.53339207e+00] [ 1.39364208e-02 -3.66516274e-04 9.99902816e-01 2.53704212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.799254154 meters 0.019269185034802856 Centerline is valid? [True, True] Translation: X:369.90, Y:3.53, Z:2.54 [[ 9.99023783e-01 -4.20877934e-02 -1.34200856e-02 3.69904481e+02] [ 4.20896404e-02 9.99113828e-01 -1.44906036e-04 3.52680016e+00] [ 1.34142918e-02 -4.20081999e-04 9.99909936e-01 2.53701065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.82925415399995 meters 0.021189186997517817 Centerline is valid? [True, True] Translation: X:369.94, Y:3.52, Z:2.54 [[ 9.98844585e-01 -4.65102831e-02 -1.20949647e-02 3.69935033e+02] [ 4.65121110e-02 9.98917718e-01 -1.30275388e-04 3.51932312e+00] [ 1.20879337e-02 -4.32437475e-04 9.99926845e-01 2.53653466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8592541539999 meters 0.02066183185493061 Centerline is valid? [True, True] Translation: X:369.97, Y:3.52, Z:2.54 [[ 9.98780681e-01 -4.80522958e-02 -1.13193693e-02 3.69967440e+02] [ 4.80540006e-02 9.98844732e-01 -1.21480250e-04 3.51853789e+00] [ 1.13121298e-02 -4.22608850e-04 9.99935927e-01 2.53702100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.88925415399996 meters 0.021777698751335353 Centerline is valid? [True, True] Translation: X:370.00, Y:3.52, Z:2.54 [[ 9.98700398e-01 -4.97984009e-02 -1.08459346e-02 3.69998274e+02] [ 4.98000757e-02 9.98759200e-01 -1.15766365e-04 3.51575714e+00] [ 1.08382419e-02 -4.24512448e-04 9.99941174e-01 2.53707997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91925415399993 meters 0.02158858617383455 Centerline is valid? [True, True] Translation: X:370.03, Y:3.51, Z:2.54 [[ 9.98625247e-01 -5.14486122e-02 -1.00328038e-02 3.70029929e+02] [ 5.14501325e-02 9.98675559e-01 -1.06678816e-04 3.51481421e+00] [ 1.00250044e-02 -4.09656927e-04 9.99949664e-01 2.53773808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.94925415399996 meters 0.022553132612805407 Centerline is valid? [True, True] Translation: X:370.06, Y:3.51, Z:2.54 [[ 9.98547094e-01 -5.30642172e-02 -9.37495166e-03 3.70062304e+02] [ 5.30656208e-02 9.98591022e-01 -9.91426615e-05 3.51266641e+00] [ 9.36700349e-03 -3.98489013e-04 9.99956049e-01 2.53795014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97925415399993 meters 0.023447586034034653 Centerline is valid? [True, True] Translation: X:370.09, Y:3.51, Z:2.54 [[ 9.98404597e-01 -5.57745071e-02 -8.80140857e-03 3.70094444e+02] [ 5.57758547e-02 9.98443311e-01 -9.24599424e-05 3.50972621e+00] [ 8.79286443e-03 -3.98593654e-04 9.99961263e-01 2.53773667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.00925415399996 meters 0.024707435019873745 Centerline is valid? [True, True] Translation: X:370.13, Y:3.51, Z:2.54 [[ 9.98319803e-01 -5.73150806e-02 -8.51776660e-03 3.70125294e+02] [ 5.73164034e-02 9.98356060e-01 -8.89314884e-05 3.50755462e+00] [ 8.50886102e-03 -3.99425680e-04 9.99963719e-01 2.53780068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03925415399993 meters 0.02615864744168316 Centerline is valid? [True, True] Translation: X:370.16, Y:3.51, Z:2.54 [[ 9.98279279e-01 -5.80766258e-02 -8.09859843e-03 3.70157253e+02] [ 5.80778492e-02 9.98312054e-01 -8.42272654e-05 3.50615164e+00] [ 8.08982007e-03 -3.86266845e-04 9.99967202e-01 2.53746927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.06925415399996 meters 0.028032356899864257 Centerline is valid? [True, True] Translation: X:370.19, Y:3.50, Z:2.54 [[ 9.98167693e-01 -5.99645901e-02 -8.09345225e-03 3.70188332e+02] [ 5.99658785e-02 9.98200424e-01 -8.36059153e-05 3.50240618e+00] [ 8.08390086e-03 -4.01878250e-04 9.99967244e-01 2.53731173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09925415399994 meters 0.028384262465412594 Centerline is valid? [True, True] Translation: X:370.22, Y:3.50, Z:2.54 [[ 9.98099662e-01 -6.10375442e-02 -8.45470236e-03 3.70220661e+02] [ 6.10389928e-02 9.98135379e-01 -8.68366743e-05 3.50157390e+00] [ 8.44423784e-03 -4.29394861e-04 9.99964255e-01 2.53720719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.12925415399997 meters 0.030121782857683712 Centerline is valid? [True, True] Translation: X:370.25, Y:3.50, Z:2.54 [[ 9.98117201e-01 -6.08455768e-02 -7.73745195e-03 3.70252984e+02] [ 6.08467882e-02 9.98147114e-01 -7.89637627e-05 3.50147332e+00] [ 7.72791993e-03 -3.91984010e-04 9.99970062e-01 2.53622698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15925415399994 meters 0.02964526677057578 Centerline is valid? [True, True] Translation: X:370.28, Y:3.50, Z:2.54 [[ 9.98009660e-01 -6.23120515e-02 -9.69155156e-03 3.70283786e+02] [ 6.23140280e-02 9.98056588e-01 -9.81898407e-05 3.50038421e+00] [ 9.67883529e-03 -5.05925206e-04 9.99953031e-01 2.53574995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18925415399997 meters 0.027206614419613556 Centerline is valid? [True, True] Translation: X:370.32, Y:3.51, Z:2.53 [[ 9.98044754e-01 -6.16884873e-02 -1.00598080e-02 3.70315489e+02] [ 6.16905901e-02 9.98095316e-01 -1.01434527e-04 3.50535507e+00] [ 1.00469046e-02 -5.19359295e-04 9.99949394e-01 2.53486646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21925415399994 meters 0.02604895299843091 Centerline is valid? [True, True] Translation: X:370.35, Y:3.51, Z:2.53 [[ 9.98052503e-01 -6.13023803e-02 -1.15420514e-02 3.70347935e+02] [ 6.13051335e-02 9.98119065e-01 -1.15455139e-04 3.50760281e+00] [ 1.15274192e-02 -5.92356713e-04 9.99933382e-01 2.53486263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24925415399997 meters 0.02667789665445122 Centerline is valid? [True, True] Translation: X:370.38, Y:3.51, Z:2.53 [[ 9.98093456e-01 -6.05698842e-02 -1.18634515e-02 3.70379245e+02] [ 6.05727507e-02 9.98163778e-01 -1.17876833e-04 3.50799416e+00] [ 1.18488074e-02 -6.00949797e-04 9.99929620e-01 2.53469145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.27925415399994 meters 0.027857611462549562 Centerline is valid? [True, True] Translation: X:370.41, Y:3.51, Z:2.53 [[ 9.98288365e-01 -5.72496674e-02 -1.19505424e-02 3.70409625e+02] [ 5.72523443e-02 9.98359732e-01 -1.18272732e-04 3.50951572e+00] [ 1.19377114e-02 -5.66126277e-04 9.99928583e-01 2.53422656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.309254154 meters 0.02816555322111558 Centerline is valid? [True, True] Translation: X:370.44, Y:3.51, Z:2.54 [[ 9.98382220e-01 -5.55659314e-02 -1.20569143e-02 3.70441308e+02] [ 5.55685394e-02 9.98454868e-01 -1.18845571e-04 3.51021918e+00] [ 1.20448885e-02 -5.51331809e-04 9.99927306e-01 2.53514063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.33925415399995 meters 0.022620416095732832 Centerline is valid? [True, True] Translation: X:370.47, Y:3.52, Z:2.54 [[ 9.98511521e-01 -5.32210814e-02 -1.19272207e-02 3.70473015e+02] [ 5.32234757e-02 9.98582620e-01 -1.16810478e-04 3.52045984e+00] [ 1.19165320e-02 -5.18171531e-04 9.99928861e-01 2.53692527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.369254154 meters 0.023422676771686836 Centerline is valid? [True, True] Translation: X:370.50, Y:3.52, Z:2.54 [[ 9.98680781e-01 -5.02448921e-02 -1.05900091e-02 3.70504694e+02] [ 5.02466183e-02 9.98736836e-01 -1.03169750e-04 3.52323003e+00] [ 1.05818159e-02 -4.29078496e-04 9.99943919e-01 2.53696933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.39925415399995 meters 0.020568876528515873 Centerline is valid? [True, True] Translation: X:370.54, Y:3.53, Z:2.54 [[ 9.98910285e-01 -4.55323902e-02 -1.02490490e-02 3.70535161e+02] [ 4.55337630e-02 9.98962795e-01 -9.94778594e-05 3.53039511e+00] [ 1.02429481e-02 -3.67308309e-04 9.99947472e-01 2.53962641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.429254154 meters 0.021238140495742526 Centerline is valid? [True, True] Translation: X:370.57, Y:3.53, Z:2.54 [[ 9.99068976e-01 -4.22638177e-02 -8.65741106e-03 3.70566419e+02] [ 4.22646752e-02 9.99106446e-01 -8.39652580e-05 3.53383214e+00] [ 8.65322389e-03 -2.82015582e-04 9.99962520e-01 2.53928129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.45925415399995 meters 0.01839473523256738 Centerline is valid? [True, True] Translation: X:370.60, Y:3.54, Z:2.54 [[ 9.99164336e-01 -3.99032810e-02 -8.85200628e-03 3.70598285e+02] [ 3.99040885e-02 9.99203511e-01 -8.54470061e-05 3.53790409e+00] [ 8.84836537e-03 -2.67855641e-04 9.99960817e-01 2.54106267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.489254154 meters 0.017886477894938826 Centerline is valid? [True, True] Translation: X:370.63, Y:3.54, Z:2.54 [[ 9.99270702e-01 -3.72799760e-02 -8.26237477e-03 3.70629917e+02] [ 3.72805947e-02 9.99304834e-01 -7.91765357e-05 3.54052033e+00] [ 8.25958275e-03 -2.28907452e-04 9.99965863e-01 2.54146152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.51925415399995 meters 0.01865790922035034 Centerline is valid? [True, True] Translation: X:370.66, Y:3.55, Z:2.54 [[ 9.99468615e-01 -3.16300837e-02 -7.87561903e-03 3.70660444e+02] [ 3.16304746e-02 9.99499629e-01 -7.49491846e-05 3.54510303e+00] [ 7.87404895e-03 -1.74200210e-04 9.99968984e-01 2.54067281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.549254154 meters 0.01640959933122149 Centerline is valid? [True, True] Translation: X:370.69, Y:3.55, Z:2.54 [[ 9.99511121e-01 -2.99769180e-02 -8.88272549e-03 3.70692637e+02] [ 2.99773539e-02 9.99550575e-01 -8.41059567e-05 3.54878679e+00] [ 8.88125460e-03 -1.82215766e-04 9.99960544e-01 2.54134237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.57925415399995 meters 0.01599240345735933 Centerline is valid? [True, True] Translation: X:370.72, Y:3.55, Z:2.54 [[ 9.99567159e-01 -2.78590516e-02 -9.45350561e-03 3.70724475e+02] [ 2.78594574e-02 9.99611846e-01 -8.87940798e-05 3.55148293e+00] [ 9.45230991e-03 -1.74613890e-04 9.99955311e-01 2.54119665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6092541539999 meters 0.015236937696742016 Centerline is valid? [True, True] Translation: X:370.76, Y:3.56, Z:2.54 [[ 9.99642520e-01 -2.39864728e-02 -1.18102234e-02 3.70755835e+02] [ 2.39868463e-02 9.99712268e-01 -1.10038091e-04 3.55519461e+00] [ 1.18094647e-02 -1.73291260e-04 9.99930251e-01 2.54044864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.63925415399996 meters 0.015236937696742016 Centerline is valid? [True, True] Translation: X:370.79, Y:3.56, Z:2.54 [[ 9.99643365e-01 -2.39512172e-02 -1.18102285e-02 3.70786684e+02] [ 2.39515948e-02 9.99713113e-01 -1.09491133e-04 3.55544996e+00] [ 1.18094628e-02 -1.73421723e-04 9.99930251e-01 2.54066229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.66925415399993 meters 0.01495135542241431 Centerline is valid? [True, True] Translation: X:370.82, Y:3.56, Z:2.54 [[ 9.99682118e-01 -2.19950997e-02 -1.23239369e-02 3.70818432e+02] [ 2.19953677e-02 9.99758066e-01 -1.13808469e-04 3.55747101e+00] [ 1.23234585e-02 -1.57297232e-04 9.99924051e-01 2.54037531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.69925415399996 meters 0.014556030418537551 Centerline is valid? [True, True] Translation: X:370.85, Y:3.56, Z:2.54 [[ 9.99739512e-01 -1.84925492e-02 -1.33766392e-02 3.70850237e+02] [ 1.84925596e-02 9.99828990e-01 -1.22918830e-04 3.56140213e+00] [ 1.33766247e-02 -1.24481487e-04 9.99910521e-01 2.54067777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.72925415399993 meters 0.014296489593135524 Centerline is valid? [True, True] Translation: X:370.88, Y:3.56, Z:2.54 [[ 9.99763156e-01 -1.69491098e-02 -1.36513292e-02 3.70880743e+02] [ 1.69489820e-02 9.99856348e-01 -1.25063562e-04 3.56382510e+00] [ 1.36514879e-02 -1.06342192e-04 9.99906808e-01 2.54167570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.75925415399996 meters 0.014254829528517109 Centerline is valid? [True, True] Translation: X:370.91, Y:3.57, Z:2.54 [[ 9.99783154e-01 -1.55228382e-02 -1.38811258e-02 3.70909905e+02] [ 1.55225650e-02 9.99879510e-01 -1.27425838e-04 3.56515978e+00] [ 1.38814313e-02 -8.80724708e-05 9.99903644e-01 2.54182867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.78925415399993 meters 0.014066117669775032 Centerline is valid? [True, True] Translation: X:370.94, Y:3.57, Z:2.54 [[ 9.99799922e-01 -1.45530307e-02 -1.37231455e-02 3.70938755e+02] [ 1.45526445e-02 9.99894096e-01 -1.28002492e-04 3.56628530e+00] [ 1.37235549e-02 -7.17311754e-05 9.99905825e-01 2.54255507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81925415399996 meters 0.014176856182840055 Centerline is valid? [True, True] Translation: X:370.97, Y:3.57, Z:2.54 [[ 9.99799085e-01 -1.47068361e-02 -1.36197670e-02 3.70966967e+02] [ 1.47064405e-02 9.99891846e-01 -1.29203468e-04 3.56616518e+00] [ 1.36201942e-02 -7.11207842e-05 9.99907238e-01 2.54260520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.84925415399994 meters 0.014225348462208243 Centerline is valid? [True, True] Translation: X:371.00, Y:3.57, Z:2.54 [[ 9.99791668e-01 -1.55172679e-02 -1.32603113e-02 3.70995881e+02] [ 1.55169378e-02 9.99879597e-01 -1.27781424e-04 3.56578541e+00] [ 1.32606975e-02 -7.80046235e-05 9.99912070e-01 2.54306197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87925415399997 meters 0.014221173232621401 Centerline is valid? [True, True] Translation: X:371.03, Y:3.57, Z:2.54 [[ 9.99778628e-01 -1.64624379e-02 -1.31027587e-02 3.71025504e+02] [ 1.64621709e-02 9.99864481e-01 -1.28236039e-04 3.56500681e+00] [ 1.31030941e-02 -8.74922016e-05 9.99914147e-01 2.54372502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.90925415399994 meters 0.014572931079222962 Centerline is valid? [True, True] Translation: X:371.06, Y:3.56, Z:2.54 [[ 9.99727784e-01 -1.91324577e-02 -1.33531715e-02 3.71055017e+02] [ 1.91324120e-02 9.99816950e-01 -1.31182138e-04 3.56197654e+00] [ 1.33532371e-02 -1.24331951e-04 9.99910834e-01 2.54429609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93925415399997 meters 0.014947772272182837 Centerline is valid? [True, True] Translation: X:371.09, Y:3.56, Z:2.54 [[ 9.99653050e-01 -2.25176046e-02 -1.36651854e-02 3.71085736e+02] [ 2.25178693e-02 9.99746432e-01 -1.34508089e-04 3.55780790e+00] [ 1.36647492e-02 -1.73249439e-04 9.99906618e-01 2.54463571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.96925415399994 meters 0.015323452168172828 Centerline is valid? [True, True] Translation: X:371.12, Y:3.56, Z:2.54 [[ 9.99603587e-01 -2.43186422e-02 -1.41870469e-02 3.71117355e+02] [ 2.43191126e-02 9.99704237e-01 -1.39380785e-04 3.55552111e+00] [ 1.41862404e-02 -2.05690858e-04 9.99899349e-01 2.54444099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99925415399997 meters 0.015445726292087188 Centerline is valid? [True, True] Translation: X:371.15, Y:3.55, Z:2.54 [[ 9.99547336e-01 -2.60941396e-02 -1.49739607e-02 3.71148267e+02] [ 2.60948691e-02 9.99659460e-01 -1.46698316e-04 3.55318538e+00] [ 1.49726895e-02 -2.44111634e-04 9.99887873e-01 2.54475113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.02925415399994 meters 0.01785106859588378 Centerline is valid? [True, True] Translation: X:371.18, Y:3.55, Z:2.54 [[ 9.99505017e-01 -2.73946997e-02 -1.54677515e-02 3.71178233e+02] [ 2.73956382e-02 9.99624658e-01 -1.51249533e-04 3.54935006e+00] [ 1.54660893e-02 -2.72574258e-04 9.99880356e-01 2.54353738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.059254154 meters 0.016492607549328048 Centerline is valid? [True, True] Translation: X:371.21, Y:3.54, Z:2.54 [[ 9.99456850e-01 -2.92396200e-02 -1.52003457e-02 3.71208605e+02] [ 2.92407437e-02 9.99572387e-01 -1.48364015e-04 3.54496272e+00] [ 1.51981839e-02 -2.96185981e-04 9.99884457e-01 2.54450114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.08925415399995 meters 0.016199811519882756 Centerline is valid? [True, True] Translation: X:371.24, Y:3.54, Z:2.55 [[ 9.99452943e-01 -2.93945193e-02 -1.51584098e-02 3.71239670e+02] [ 2.93956610e-02 9.99567843e-01 -1.47530455e-04 3.54465557e+00] [ 1.51561956e-02 -2.98141729e-04 9.99885094e-01 2.54505264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.119254154 meters 0.016176009451565283 Centerline is valid? [True, True] Translation: X:371.27, Y:3.54, Z:2.54 [[ 9.99509015e-01 -2.74700707e-02 -1.50706704e-02 3.71269779e+02] [ 2.74709866e-02 9.99622591e-01 -1.46276093e-04 3.54232529e+00] [ 1.50690008e-02 -2.67801909e-04 9.99886420e-01 2.54475389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.14925415399995 meters 0.016474974323705573 Centerline is valid? [True, True] Translation: X:371.30, Y:3.54, Z:2.54 [[ 9.99554418e-01 -2.55747816e-02 -1.53914066e-02 3.71300756e+02] [ 2.55755191e-02 9.99672882e-01 -1.48951322e-04 3.54216323e+00] [ 1.53901812e-02 -2.44758262e-04 9.99881534e-01 2.54473856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.179254154 meters 0.014793261717877114 Centerline is valid? [True, True] Translation: X:371.33, Y:3.54, Z:2.54 [[ 9.99665071e-01 -2.07673869e-02 -1.54422008e-02 3.71330531e+02] [ 2.07675572e-02 9.99784320e-01 -1.49343269e-04 3.54241865e+00] [ 1.54419717e-02 -1.71403539e-04 9.99880751e-01 2.54469623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.20925415399995 meters 0.014616192845984036 Centerline is valid? [True, True] Translation: X:371.36, Y:3.54, Z:2.54 [[ 9.99712689e-01 -1.78207061e-02 -1.60300443e-02 3.71360412e+02] [ 1.78205036e-02 9.99841190e-01 -1.55483337e-04 3.54323105e+00] [ 1.60302694e-02 -1.30224797e-04 9.99871498e-01 2.54449459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.239254154 meters 0.014425919370107653 Centerline is valid? [True, True] Translation: X:371.39, Y:3.54, Z:2.54 [[ 9.99751041e-01 -1.46423654e-02 -1.68361969e-02 3.71388384e+02] [ 1.46416657e-02 9.99892791e-01 -1.64828303e-04 3.54431284e+00] [ 1.68368054e-02 -8.17227002e-05 9.99858248e-01 2.54434009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.26925415399995 meters 0.014339411838546787 Centerline is valid? [True, True] Translation: X:371.42, Y:3.55, Z:2.54 [[ 9.99784371e-01 -1.17550432e-02 -1.71181383e-02 3.71416442e+02] [ 1.17538319e-02 9.99930907e-01 -1.71372404e-04 3.54575719e+00] [ 1.71189700e-02 -2.98682684e-05 9.99853459e-01 2.54439768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2992541539999 meters 0.01452092078302088 Centerline is valid? [True, True] Translation: X:371.45, Y:3.55, Z:2.54 [[ 9.99820630e-01 -6.41332357e-03 -1.78206718e-02 3.71445590e+02] [ 6.41107805e-03 9.99979432e-01 -1.83133966e-04 3.54700882e+00] [ 1.78214798e-02 6.88513992e-05 9.99841182e-01 2.54467664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.32925415399995 meters 0.014641753944626997 Centerline is valid? [True, True] Translation: X:371.47, Y:3.55, Z:2.55 [[ 9.99833854e-01 -4.23914357e-03 -1.77283482e-02 3.71474593e+02] [ 4.23650041e-03 9.99991009e-01 -1.86646041e-04 3.54665353e+00] [ 1.77289800e-02 1.11508876e-04 9.99842823e-01 2.54557426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3592541539999 meters 0.014741700357801238 Centerline is valid? [True, True] Translation: X:371.50, Y:3.54, Z:2.55 [[ 9.99844591e-01 -1.51723678e-03 -1.75639418e-02 3.71503593e+02] [ 1.51414410e-03 9.99998836e-01 -1.89377930e-04 3.54497316e+00] [ 1.75642087e-02 1.62754160e-04 9.99845724e-01 2.54582028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.38925415399996 meters 0.01492280537616849 Centerline is valid? [True, True] Translation: X:371.53, Y:3.54, Z:2.55 [[ 9.99842906e-01 -9.11237022e-04 -1.77011980e-02 3.71530943e+02] [ 9.07952206e-04 9.99999569e-01 -1.93605928e-04 3.54431941e+00] [ 1.77013668e-02 1.77503672e-04 9.99843303e-01 2.54540035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41925415399993 meters 0.01492158843510674 Centerline is valid? [True, True] Translation: X:371.56, Y:3.54, Z:2.55 [[ 9.99836139e-01 -9.78357064e-04 -1.80758698e-02 3.71558747e+02] [ 9.74872382e-04 9.99999504e-01 -2.01591389e-04 3.54241768e+00] [ 1.80760580e-02 1.83936690e-04 9.99836598e-01 2.54593811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.44925415399996 meters 0.014927352704566618 Centerline is valid? [True, True] Translation: X:371.59, Y:3.54, Z:2.55 [[ 9.99835205e-01 -1.19913770e-03 -1.81142457e-02 3.71586638e+02] [ 1.19561567e-03 9.99999264e-01 -2.05263089e-04 3.54069050e+00] [ 1.81144785e-02 1.83571587e-04 9.99835903e-01 2.54587010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47925415399993 meters 0.014949870190190128 Centerline is valid? [True, True] Translation: X:371.61, Y:3.54, Z:2.55 [[ 9.99829706e-01 -1.78225875e-03 -1.83679689e-02 3.71614576e+02] [ 1.77869893e-03 9.99998396e-01 -2.10140926e-04 3.53876836e+00] [ 1.83683140e-02 1.77434054e-04 9.99831273e-01 2.54580279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.50925415399996 meters 0.014734993442768865 Centerline is valid? [True, True] Translation: X:371.64, Y:3.53, Z:2.55 [[ 9.99801049e-01 -3.98097027e-03 -1.95451786e-02 3.71643501e+02] [ 3.97732603e-03 9.99992065e-01 -2.25320808e-04 3.53309589e+00] [ 1.95459205e-02 1.47538433e-04 9.99808949e-01 2.54566565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53925415399993 meters 0.014715131872968162 Centerline is valid? [True, True] Translation: X:371.67, Y:3.53, Z:2.55 [[ 9.99790852e-01 -5.45880168e-03 -1.97092430e-02 3.71672359e+02] [ 5.45535496e-03 9.99985093e-01 -2.28640415e-04 3.52993105e+00] [ 1.97101973e-02 1.21071678e-04 9.99805728e-01 2.54574850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.56925415399996 meters 0.014594081670358866 Centerline is valid? [True, True] Translation: X:371.70, Y:3.52, Z:2.55 [[ 9.99756802e-01 -9.54046786e-03 -1.98825521e-02 3.71701624e+02] [ 9.53773875e-03 9.99954488e-01 -2.32085436e-04 3.52254051e+00] [ 1.98838614e-02 4.23944057e-05 9.99802296e-01 2.54648795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59925415399994 meters 0.014472151716639755 Centerline is valid? [True, True] Translation: X:371.73, Y:3.52, Z:2.55 [[ 9.99741264e-01 -1.20860386e-02 -1.92699831e-02 3.71729353e+02] [ 1.20838700e-02 9.99926961e-01 -2.28973383e-04 3.51889288e+00] [ 1.92713430e-02 -3.94183137e-06 9.99814290e-01 2.54704254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.62925415399997 meters 0.014593648587510144 Centerline is valid? [True, True] Translation: X:371.76, Y:3.52, Z:2.55 [[ 9.99705450e-01 -1.46667744e-02 -1.93364682e-02 3.71756766e+02] [ 1.46650134e-02 9.99892436e-01 -2.32873044e-04 3.51503009e+00] [ 1.93378038e-02 -5.07651149e-05 9.99813006e-01 2.54740118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65925415399994 meters 0.014769288347238115 Centerline is valid? [True, True] Translation: X:371.79, Y:3.51, Z:2.55 [[ 9.99619939e-01 -1.97649230e-02 -1.92178198e-02 3.71785640e+02] [ 1.97640968e-02 9.99804644e-01 -2.32939262e-04 3.50690828e+00] [ 1.92186696e-02 -1.46972120e-04 9.99815294e-01 2.54789872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68925415399997 meters 0.015124356892417153 Centerline is valid? [True, True] Translation: X:371.81, Y:3.50, Z:2.55 [[ 9.99564906e-01 -2.25405874e-02 -1.90242312e-02 3.71813391e+02] [ 2.25402505e-02 9.99745909e-01 -2.32161729e-04 3.50217051e+00] [ 1.90246304e-02 -1.96750221e-04 9.99818996e-01 2.54736238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71925415399994 meters 0.015491342252668978 Centerline is valid? [True, True] Translation: X:371.84, Y:3.50, Z:2.55 [[ 9.99496650e-01 -2.56006463e-02 -1.87364424e-02 3.71842181e+02] [ 2.56007915e-02 9.99672219e-01 -2.32143427e-04 3.49795024e+00] [ 1.87362440e-02 -2.47641179e-04 9.99824431e-01 2.54764225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74925415399997 meters 0.015783090013682475 Centerline is valid? [True, True] Translation: X:371.87, Y:3.49, Z:2.55 [[ 9.99334473e-01 -3.14250357e-02 -1.85223701e-02 3.71871271e+02] [ 3.14260910e-02 9.99506051e-01 -2.34167018e-04 3.49130714e+00] [ 1.85205797e-02 -3.48074513e-04 9.99828419e-01 2.54894132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.77925415399994 meters 0.016746693484594715 Centerline is valid? [True, True] Translation: X:371.90, Y:3.49, Z:2.55 [[ 9.99227965e-01 -3.47981974e-02 -1.82361849e-02 3.71900182e+02] [ 3.47997381e-02 9.99394279e-01 -2.32937994e-04 3.48716162e+00] [ 1.82332447e-02 -4.01856302e-04 9.99833680e-01 2.54885389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.809254154 meters 0.018608449742698117 Centerline is valid? [True, True] Translation: X:371.93, Y:3.48, Z:2.55 [[ 9.98984827e-01 -4.13184383e-02 -1.79472139e-02 3.71929644e+02] [ 4.13209709e-02 9.99145898e-01 -2.29854627e-04 3.47815657e+00] [ 1.79413823e-02 -5.11975016e-04 9.99838909e-01 2.54912896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.83925415399995 meters 0.019333859339671505 Centerline is valid? [True, True] Translation: X:371.96, Y:3.47, Z:2.55 [[ 9.98841986e-01 -4.46384920e-02 -1.79469185e-02 3.71960525e+02] [ 4.46415607e-02 9.99003042e-01 -2.29796561e-04 3.47434738e+00] [ 1.79392840e-02 -5.71647999e-04 9.99838915e-01 2.54980445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.869254154 meters 0.020224472855905284 Centerline is valid? [True, True] Translation: X:371.99, Y:3.47, Z:2.55 [[ 9.98710453e-01 -4.76026627e-02 -1.76470331e-02 3.71992008e+02] [ 4.76061009e-02 9.98866161e-01 -2.25442789e-04 3.47074014e+00] [ 1.76377559e-02 -6.14954369e-04 9.99844254e-01 2.54998561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.89925415399995 meters 0.022753205456724882 Centerline is valid? [True, True] Translation: X:372.02, Y:3.46, Z:2.55 [[ 9.98422648e-01 -5.32064297e-02 -1.79246323e-02 3.72021892e+02] [ 5.32108910e-02 9.98583271e-01 -2.28284808e-04 3.46290900e+00] [ 1.79113841e-02 -7.25860931e-04 9.99839315e-01 2.54995232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.929254154 meters 0.022733894652706168 Centerline is valid? [True, True] Translation: X:372.05, Y:3.46, Z:2.55 [[ 9.98323624e-01 -5.51218926e-02 -1.76498698e-02 3.72053227e+02] [ 5.51265287e-02 9.98479352e-01 -2.24117011e-04 3.46153103e+00] [ 1.76353843e-02 -7.49234747e-04 9.99844204e-01 2.55057146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.95925415399995 meters 0.02438119952964741 Centerline is valid? [True, True] Translation: X:372.08, Y:3.46, Z:2.55 [[ 9.98229179e-01 -5.68566859e-02 -1.74878111e-02 3.72083538e+02] [ 5.68615106e-02 9.98382051e-01 -2.21618510e-04 3.45830241e+00] [ 1.74721172e-02 -7.73157295e-04 9.99847052e-01 2.55052270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.989254154 meters 0.02547856278830349 Centerline is valid? [True, True] Translation: X:372.12, Y:3.46, Z:2.55 [[ 9.98108417e-01 -5.87845979e-02 -1.79988742e-02 3.72115031e+02] [ 5.87900310e-02 9.98270344e-01 -2.27571741e-04 3.45531801e+00] [ 1.79811200e-02 -8.31013099e-04 9.99837981e-01 2.55034293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.01925415399995 meters 0.02491503793471075 Centerline is valid? [True, True] Translation: X:372.15, Y:3.46, Z:2.55 [[ 9.98088699e-01 -5.89998473e-02 -1.83838784e-02 3.72146616e+02] [ 5.90055641e-02 9.98257627e-01 -2.31774851e-04 3.45565083e+00] [ 1.83655215e-02 -8.53419256e-04 9.99830975e-01 2.55050277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0492541539999 meters 0.025780390873223185 Centerline is valid? [True, True] Translation: X:372.18, Y:3.45, Z:2.55 [[ 9.98103505e-01 -5.85330823e-02 -1.90596712e-02 3.72177067e+02] [ 5.85391616e-02 9.98285084e-01 -2.39282940e-04 3.45424147e+00] [ 1.90409914e-02 -8.76908031e-04 9.99818319e-01 2.54953264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.07925415399995 meters 0.02614022595219284 Centerline is valid? [True, True] Translation: X:372.21, Y:3.46, Z:2.55 [[ 9.98101185e-01 -5.78396293e-02 -2.11802383e-02 3.72208308e+02] [ 5.78470025e-02 9.98325425e-01 -2.64910515e-04 3.45645036e+00] [ 2.11600928e-02 -9.60805801e-04 9.99775638e-01 2.54970607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1092541539999 meters 0.02446747805267356 Centerline is valid? [True, True] Translation: X:372.24, Y:3.46, Z:2.55 [[ 9.98145801e-01 -5.77804581e-02 -1.91410417e-02 3.72239121e+02] [ 5.77864728e-02 9.98328937e-01 -2.39178343e-04 3.45704742e+00] [ 1.91228757e-02 -8.67358428e-04 9.99816765e-01 2.55018051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.13925415399996 meters 0.024846789374207638 Centerline is valid? [True, True] Translation: X:372.27, Y:3.46, Z:2.55 [[ 9.98154581e-01 -5.72520229e-02 -2.02395468e-02 3.72270558e+02] [ 5.72586494e-02 9.98359346e-01 -2.52425675e-04 3.45750398e+00] [ 2.02207926e-02 -9.06929272e-04 9.99795128e-01 2.55007984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.16925415399993 meters 0.024522360462235805 Centerline is valid? [True, True] Translation: X:372.30, Y:3.46, Z:2.55 [[ 9.98220817e-01 -5.62231216e-02 -1.98534759e-02 3.72300869e+02] [ 5.62293173e-02 9.98417850e-01 -2.46459620e-04 3.45854497e+00] [ 1.98359215e-02 -8.70326273e-04 9.99802870e-01 2.55033289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.19925415399996 meters 0.024467296633870782 Centerline is valid? [True, True] Translation: X:372.33, Y:3.46, Z:2.55 [[ 9.98269347e-01 -5.53108401e-02 -1.99755104e-02 3.72331403e+02] [ 5.53169398e-02 9.98468815e-01 -2.47485694e-04 3.45952111e+00] [ 1.99586128e-02 -8.57926721e-04 9.99800439e-01 2.55044259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.22925415399993 meters 0.024276171157510268 Centerline is valid? [True, True] Translation: X:372.36, Y:3.46, Z:2.55 [[ 9.98337648e-01 -5.42304525e-02 -1.95191790e-02 3.72362466e+02] [ 5.42360747e-02 9.98528112e-01 -2.41609978e-04 3.46050811e+00] [ 1.95035516e-02 -8.17435315e-04 9.99809453e-01 2.55036189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.25925415399996 meters 0.023496520766812957 Centerline is valid? [True, True] Translation: X:372.39, Y:3.46, Z:2.55 [[ 9.98532443e-01 -5.04568037e-02 -1.96741163e-02 3.72392042e+02] [ 5.04617822e-02 9.98725963e-01 -2.43627614e-04 3.46307827e+00] [ 1.96613434e-02 -7.49520894e-04 9.99806416e-01 2.55067230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.28925415399993 meters 0.0226625275125211 Centerline is valid? [True, True] Translation: X:372.42, Y:3.47, Z:2.55 [[ 9.98650204e-01 -4.80906343e-02 -1.96229851e-02 3.72422117e+02] [ 4.80951241e-02 9.98842730e-01 -2.43335074e-04 3.46588478e+00] [ 1.96119781e-02 -7.00763283e-04 9.99807421e-01 2.55103160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31925415399996 meters 0.021834690252900673 Centerline is valid? [True, True] Translation: X:372.45, Y:3.47, Z:2.55 [[ 9.98767318e-01 -4.56441463e-02 -1.95052684e-02 3.72452242e+02] [ 4.56481099e-02 9.98957552e-01 -2.42211386e-04 3.46894756e+00] [ 1.94959907e-02 -6.48465820e-04 9.99809725e-01 2.55161244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.34925415399994 meters 0.020188320366780605 Centerline is valid? [True, True] Translation: X:372.48, Y:3.47, Z:2.55 [[ 9.98990038e-01 -4.07515215e-02 -1.89266532e-02 3.72481076e+02] [ 4.07543660e-02 9.99169168e-01 -2.35552437e-04 3.47469420e+00] [ 1.89205275e-02 -5.36029214e-04 9.99820847e-01 2.55233930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37925415399997 meters 0.019541861242831207 Centerline is valid? [True, True] Translation: X:372.51, Y:3.48, Z:2.55 [[ 9.99066814e-01 -3.86793556e-02 -1.92200044e-02 3.72510710e+02] [ 3.86818932e-02 9.99251547e-01 -2.39859501e-04 3.47749299e+00] [ 1.92148967e-02 -5.03830490e-04 9.99815250e-01 2.55254033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.40925415399994 meters 0.018770000978084688 Centerline is valid? [True, True] Translation: X:372.54, Y:3.48, Z:2.55 [[ 9.99188070e-01 -3.53811436e-02 -1.92711057e-02 3.72539342e+02] [ 3.53830660e-02 9.99373794e-01 -2.41312221e-04 3.48177562e+00] [ 1.92675760e-02 -4.40754513e-04 9.99814266e-01 2.55228089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43925415399997 meters 0.02002530195829311 Centerline is valid? [True, True] Translation: X:372.57, Y:3.48, Z:2.55 [[ 9.99225945e-01 -3.38802058e-02 -1.99910471e-02 3.72568111e+02] [ 3.38819068e-02 9.99425811e-01 -2.53705129e-04 3.48379721e+00] [ 1.99881640e-02 -4.23826046e-04 9.99800127e-01 2.55190208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.46925415399994 meters 0.01850544239391422 Centerline is valid? [True, True] Translation: X:372.60, Y:3.49, Z:2.55 [[ 9.99272472e-01 -3.27034334e-02 -1.96217380e-02 3.72597082e+02] [ 3.27047566e-02 9.99465024e-01 -2.53539413e-04 3.48601028e+00] [ 1.96195324e-02 -3.88369209e-04 9.99807443e-01 2.55275000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49925415399997 meters 0.016971610830670444 Centerline is valid? [True, True] Translation: X:372.62, Y:3.49, Z:2.55 [[ 9.99370379e-01 -2.99285206e-02 -1.90559449e-02 3.72624726e+02] [ 2.99292065e-02 9.99551990e-01 -2.49258664e-04 3.49078272e+00] [ 1.90548675e-02 -3.21227584e-04 9.99818388e-01 2.55425234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.52925415399994 meters 0.016302434561974367 Centerline is valid? [True, True] Translation: X:372.65, Y:3.49, Z:2.56 [[ 9.99417370e-01 -2.82463150e-02 -1.91589603e-02 3.72653583e+02] [ 2.82466298e-02 9.99600952e-01 -2.54236969e-04 3.49369721e+00] [ 1.91584962e-02 -2.87087215e-04 9.99816418e-01 2.55524589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.559254154 meters 0.016302434561974367 Centerline is valid? [True, True] Translation: X:372.68, Y:3.49, Z:2.56 [[ 9.99409991e-01 -2.85062709e-02 -1.91588964e-02 3.72681004e+02] [ 2.85065423e-02 9.99593572e-01 -2.58995108e-04 3.49417455e+00] [ 1.91584926e-02 -2.87311590e-04 9.99816418e-01 2.55543632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.58925415399995 meters 0.01559988971993456 Centerline is valid? [True, True] Translation: X:372.71, Y:3.50, Z:2.56 [[ 9.99481460e-01 -2.58714677e-02 -1.91697227e-02 3.72708493e+02] [ 2.58712014e-02 9.99665250e-01 -2.61930610e-04 3.49799704e+00] [ 1.91700822e-02 -2.34148968e-04 9.99816210e-01 2.55582121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.619254154 meters 0.014246666266402704 Centerline is valid? [True, True] Translation: X:372.74, Y:3.50, Z:2.56 [[ 9.99496238e-01 -2.51593746e-02 -1.93462314e-02 3.72736237e+02] [ 2.51588906e-02 9.99683429e-01 -2.68444878e-04 3.50161014e+00] [ 1.93468609e-02 -2.18420074e-04 9.99812808e-01 2.55858947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.64925415399995 meters 0.014373802567330504 Centerline is valid? [True, True] Translation: X:372.76, Y:3.50, Z:2.56 [[ 9.99502166e-01 -2.50441098e-02 -1.91888860e-02 3.72763929e+02] [ 2.50435069e-02 9.99686325e-01 -2.71758914e-04 3.50265658e+00] [ 1.91896729e-02 -2.08933377e-04 9.99815839e-01 2.55899265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.679254154 meters 0.014463475517034844 Centerline is valid? [True, True] Translation: X:372.79, Y:3.50, Z:2.56 [[ 9.99502952e-01 -2.51454520e-02 -1.90146014e-02 3.72791310e+02] [ 2.51447951e-02 9.99683782e-01 -2.73667693e-04 3.50274508e+00] [ 1.90154702e-02 -2.04586590e-04 9.99819169e-01 2.55846761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.70925415399995 meters 0.014219480950137255 Centerline is valid? [True, True] Translation: X:372.82, Y:3.50, Z:2.56 [[ 9.99468081e-01 -2.64219889e-02 -1.91163124e-02 3.72819609e+02] [ 2.64215109e-02 9.99650852e-01 -2.77610955e-04 3.50282563e+00] [ 1.91169730e-02 -2.27618570e-04 9.99817228e-01 2.55883613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.739254154 meters 0.014762458446680237 Centerline is valid? [True, True] Translation: X:372.85, Y:3.50, Z:2.56 [[ 9.99442301e-01 -2.77583011e-02 -1.85624528e-02 3.72847024e+02] [ 2.77580502e-02 9.99614634e-01 -2.71214639e-04 3.50189444e+00] [ 1.85628279e-02 -2.44194114e-04 9.99827666e-01 2.55858342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.76925415399995 meters 0.014819348361654248 Centerline is valid? [True, True] Translation: X:372.88, Y:3.50, Z:2.56 [[ 9.99391319e-01 -2.93594796e-02 -1.88417499e-02 3.72875584e+02] [ 2.93594367e-02 9.99568880e-01 -2.78951380e-04 3.50222120e+00] [ 1.88418167e-02 -2.74401575e-04 9.99822440e-01 2.55936187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7992541539999 meters 0.015757576635448762 Centerline is valid? [True, True] Translation: X:372.90, Y:3.50, Z:2.56 [[ 9.99279318e-01 -3.33459972e-02 -1.81352871e-02 3.72903857e+02] [ 3.33465646e-02 9.99443812e-01 -2.71193799e-04 3.49838737e+00] [ 1.81342437e-02 -3.33751168e-04 9.99835505e-01 2.55899587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.82925415399995 meters 0.017032601765015025 Centerline is valid? [True, True] Translation: X:372.93, Y:3.50, Z:2.56 [[ 9.99205775e-01 -3.57011960e-02 -1.76986966e-02 3.72932549e+02] [ 3.57020849e-02 9.99362442e-01 -2.65841296e-04 3.49519381e+00] [ 1.76969035e-02 -3.66250211e-04 9.99843330e-01 2.55847560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8592541539999 meters 0.01704736906813078 Centerline is valid? [True, True] Translation: X:372.96, Y:3.49, Z:2.56 [[ 9.99116914e-01 -3.83622947e-02 -1.71384637e-02 3.72962655e+02] [ 3.83635102e-02 9.99263816e-01 -2.57961825e-04 3.49468906e+00] [ 1.71357426e-02 -3.99757603e-04 9.99853092e-01 2.55920533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.88925415399996 meters 0.01888757012419842 Centerline is valid? [True, True] Translation: X:372.99, Y:3.49, Z:2.56 [[ 9.98905049e-01 -4.34881782e-02 -1.72476323e-02 3.72992255e+02] [ 4.34901674e-02 9.99053821e-01 -2.59910841e-04 3.48997615e+00] [ 1.72426160e-02 -4.90476163e-04 9.99851215e-01 2.55914989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91925415399993 meters 0.018862068933760013 Centerline is valid? [True, True] Translation: X:373.02, Y:3.49, Z:2.56 [[ 9.98783539e-01 -4.62486005e-02 -1.71028892e-02 3.73023265e+02] [ 4.62509667e-02 9.98929818e-01 -2.57379434e-04 3.48984588e+00] [ 1.70964894e-02 -5.33958815e-04 9.99853702e-01 2.55975962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.94925415399996 meters 0.022946596158922566 Centerline is valid? [True, True] Translation: X:373.05, Y:3.48, Z:2.56 [[ 9.98662213e-01 -4.87707061e-02 -1.71814813e-02 3.73053423e+02] [ 4.87734877e-02 9.98809832e-01 -2.57349652e-04 3.48308610e+00] [ 1.71735836e-02 -5.80995394e-04 9.99852354e-01 2.55809221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97925415399993 meters 0.02185682253560341 Centerline is valid? [True, True] Translation: X:373.08, Y:3.48, Z:2.56 [[ 9.98437319e-01 -5.30650533e-02 -1.75219834e-02 3.73084217e+02] [ 5.30686205e-02 9.98590834e-01 -2.61647297e-04 3.48375682e+00] [ 1.75111764e-02 -6.68629064e-04 9.99846444e-01 2.55855357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.00925415399996 meters 0.02065531101524702 Centerline is valid? [True, True] Translation: X:373.12, Y:3.49, Z:2.56 [[ 9.98354200e-01 -5.44944479e-02 -1.78674957e-02 3.73115302e+02] [ 5.44983953e-02 9.98513823e-01 -2.66274052e-04 3.48522837e+00] [ 1.78554519e-02 -7.07914027e-04 9.99840328e-01 2.55895484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03925415399993 meters 0.02248265829398434 Centerline is valid? [True, True] Translation: X:373.15, Y:3.48, Z:2.56 [[ 9.98256770e-01 -5.62162254e-02 -1.79765843e-02 3.73145481e+02] [ 5.62205082e-02 9.98418341e-01 -2.67437284e-04 3.48209859e+00] [ 1.79631858e-02 -7.43681624e-04 9.99838372e-01 2.55802211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.06925415399996 meters 0.02384460794620505 Centerline is valid? [True, True] Translation: X:373.18, Y:3.48, Z:2.56 [[ 9.98279423e-01 -5.58761353e-02 -1.77778230e-02 3.73176255e+02] [ 5.58802757e-02 9.98437442e-01 -2.64159335e-04 3.48060702e+00] [ 1.77648043e-02 -7.29724822e-04 9.99841927e-01 2.55732868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09925415399994 meters 0.021493014807681402 Centerline is valid? [True, True] Translation: X:373.21, Y:3.49, Z:2.56 [[ 9.98332143e-01 -5.49929655e-02 -1.75700456e-02 3.73207676e+02] [ 5.49968821e-02 9.98486492e-01 -2.60558641e-04 3.48538463e+00] [ 1.75577821e-02 -7.06173659e-04 9.99845601e-01 2.55861919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.12925415399997 meters 0.02027909846326395 Centerline is valid? [True, True] Translation: X:373.24, Y:3.49, Z:2.56 [[ 9.98417269e-01 -5.35002149e-02 -1.73402268e-02 3.73239381e+02] [ 5.35038195e-02 9.98567612e-01 -2.56312488e-04 3.48852360e+00] [ 1.73291017e-02 -6.71861553e-04 9.99849614e-01 2.55931211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15925415399994 meters 0.01896868482869178 Centerline is valid? [True, True] Translation: X:373.27, Y:3.49, Z:2.56 [[ 9.98718254e-01 -4.78178660e-02 -1.65921820e-02 3.73270392e+02] [ 4.78203920e-02 9.98855921e-01 -2.44702219e-04 3.49204886e+00] [ 1.65849003e-02 -5.49056074e-04 9.99862310e-01 2.55935654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18925415399997 meters 0.020380006091723087 Centerline is valid? [True, True] Translation: X:373.30, Y:3.49, Z:2.56 [[ 9.98910437e-01 -4.34045015e-02 -1.71460780e-02 3.73300858e+02] [ 4.34065684e-02 9.99057459e-01 -2.51764550e-04 3.49357103e+00] [ 1.71408449e-02 -4.92762171e-04 9.99852964e-01 2.55958674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21925415399994 meters 0.01583641389948042 Centerline is valid? [True, True] Translation: X:373.33, Y:3.50, Z:2.56 [[ 9.99292413e-01 -3.43066797e-02 -1.54183081e-02 3.73331754e+02] [ 3.43072794e-02 9.99411307e-01 -2.25677441e-04 3.50134615e+00] [ 1.54169737e-02 -3.03442448e-04 9.99881105e-01 2.56058750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24925415399997 meters 0.014595500537498474 Centerline is valid? [True, True] Translation: X:373.36, Y:3.51, Z:2.56 [[ 9.99462455e-01 -2.92264118e-02 -1.48532037e-02 3.73362325e+02] [ 2.92264088e-02 9.99572794e-01 -2.17308803e-04 3.50564977e+00] [ 1.48532094e-02 -2.16913813e-04 9.99889661e-01 2.56135195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.27925415399994 meters 0.014158438517653847 Centerline is valid? [True, True] Translation: X:373.39, Y:3.51, Z:2.56 [[ 9.99591727e-01 -2.44559691e-02 -1.47744825e-02 3.73391558e+02] [ 2.44554467e-02 9.99700897e-01 -2.16051607e-04 3.50858038e+00] [ 1.47753472e-02 -1.45353171e-04 9.99890828e-01 2.56122287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.309254154 meters 0.01368404384310796 Centerline is valid? [True, True] Translation: X:373.42, Y:3.51, Z:2.56 [[ 9.99762564e-01 -1.65854021e-02 -1.41329247e-02 3.73420742e+02] [ 1.65841250e-02 9.99862452e-01 -2.07566996e-04 3.51430199e+00] [ 1.41344233e-02 -2.68644769e-05 9.99900104e-01 2.56151313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.33925415399995 meters 0.01368404384310796 Centerline is valid? [True, True] Translation: X:373.45, Y:3.51, Z:2.56 [[ 9.99757628e-01 -1.68803495e-02 -1.41328790e-02 3.73448148e+02] [ 1.68790584e-02 9.99857516e-01 -2.10640465e-04 3.51477006e+00] [ 1.41344210e-02 -2.79602794e-05 9.99900104e-01 2.56170332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.369254154 meters 0.013907222293955843 Centerline is valid? [True, True] Translation: X:373.48, Y:3.52, Z:2.56 [[ 9.99813356e-01 -1.24137465e-02 -1.48037551e-02 3.73476444e+02] [ 1.24117744e-02 9.99922946e-01 -2.25088249e-04 3.51671136e+00] [ 1.48054086e-02 4.13053696e-05 9.99890393e-01 2.56120425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.39925415399995 meters 0.013845788339004768 Centerline is valid? [True, True] Translation: X:373.50, Y:3.52, Z:2.56 [[ 9.99819712e-01 -1.13003170e-02 -1.52593066e-02 3.73504370e+02] [ 1.12980485e-02 9.99936147e-01 -2.34861251e-04 3.51756075e+00] [ 1.52609862e-02 6.24185219e-05 9.99883542e-01 2.56055957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.429254154 meters 0.014069132780632883 Centerline is valid? [True, True] Translation: X:373.53, Y:3.52, Z:2.56 [[ 9.99810209e-01 -1.15349670e-02 -1.57000413e-02 3.73532664e+02] [ 1.15325439e-02 9.99933468e-01 -2.44864234e-04 3.51771239e+00] [ 1.57018212e-02 6.37563452e-05 9.99876717e-01 2.56076767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.45925415399995 meters 0.013977499858201816 Centerline is valid? [True, True] Translation: X:373.56, Y:3.52, Z:2.56 [[ 9.99769327e-01 -1.33448621e-02 -1.68287434e-02 3.73560500e+02] [ 1.33422827e-02 9.99910953e-01 -2.65545973e-04 3.51615450e+00] [ 1.68307886e-02 4.09508668e-05 9.99858351e-01 2.56004304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.489254154 meters 0.013805663810772908 Centerline is valid? [True, True] Translation: X:373.59, Y:3.51, Z:2.56 [[ 9.99743849e-01 -1.55067729e-02 -1.64856460e-02 3.73588797e+02] [ 1.55045353e-02 9.99879763e-01 -2.63538455e-04 3.51462235e+00] [ 1.64877504e-02 7.86866925e-06 9.99864068e-01 2.56015017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.51925415399995 meters 0.013999476675263486 Centerline is valid? [True, True] Translation: X:373.62, Y:3.51, Z:2.56 [[ 9.99701358e-01 -1.80111428e-02 -1.65164656e-02 3.73617114e+02] [ 1.80091587e-02 9.99837786e-01 -2.68865754e-04 3.51287902e+00] [ 1.65186290e-02 -2.86621913e-05 9.99863558e-01 2.56056733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5492541539999 meters 0.01396987467856819 Centerline is valid? [True, True] Translation: X:373.64, Y:3.51, Z:2.56 [[ 9.99609599e-01 -2.33755438e-02 -1.53046961e-02 3.73644695e+02] [ 2.33744284e-02 9.99726749e-01 -2.51778386e-04 3.50771824e+00] [ 1.53063995e-02 -1.06058432e-04 9.99882845e-01 2.56107185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.57925415399995 meters 0.014971958530789423 Centerline is valid? [True, True] Translation: X:373.67, Y:3.51, Z:2.56 [[ 9.99542815e-01 -2.61692209e-02 -1.51437254e-02 3.73673629e+02] [ 2.61684086e-02 9.99657517e-01 -2.51827976e-04 3.50526147e+00] [ 1.51451291e-02 -1.44574351e-04 9.99885296e-01 2.56161713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6092541539999 meters 0.015031623310941178 Centerline is valid? [True, True] Translation: X:373.70, Y:3.50, Z:2.56 [[ 9.99418828e-01 -3.12809710e-02 -1.35464634e-02 3.73702804e+02] [ 3.12807725e-02 9.99510611e-01 -2.26583403e-04 3.50028090e+00] [ 1.35469216e-02 -1.97292121e-04 9.99908217e-01 2.56233685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.63925415399996 meters 0.015467800190275938 Centerline is valid? [True, True] Translation: X:373.73, Y:3.50, Z:2.56 [[ 9.99356917e-01 -3.36252133e-02 -1.24537841e-02 3.73732991e+02] [ 3.36252305e-02 9.99434490e-01 -2.08065981e-04 3.49832285e+00] [ 1.24537377e-02 -2.10829185e-04 9.99922427e-01 2.56279153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.66925415399993 meters 0.01618623769596981 Centerline is valid? [True, True] Translation: X:373.76, Y:3.50, Z:2.56 [[ 9.99289491e-01 -3.56649502e-02 -1.21870810e-02 3.73763018e+02] [ 3.56651217e-02 9.99363776e-01 -2.03329612e-04 3.49587643e+00] [ 1.21865790e-02 -2.31468582e-04 9.99925714e-01 2.56336964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.69925415399996 meters 0.016505017437503124 Centerline is valid? [True, True] Translation: X:373.79, Y:3.49, Z:2.56 [[ 9.99181764e-01 -3.87475325e-02 -1.15944329e-02 3.73794353e+02] [ 3.87479012e-02 9.99248999e-01 -1.92917953e-04 3.49314089e+00] [ 1.15932006e-02 -2.56499841e-04 9.99932764e-01 2.56389130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.72925415399993 meters 0.016554802094812308 Centerline is valid? [True, True] Translation: X:373.83, Y:3.49, Z:2.56 [[ 9.99138809e-01 -4.00173662e-02 -1.09658791e-02 3.73825557e+02] [ 4.00177776e-02 9.99198951e-01 -1.81994573e-04 3.49118457e+00] [ 1.09643779e-02 -2.56992271e-04 9.99939856e-01 2.56390958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.75925415399996 meters 0.01822781216576333 Centerline is valid? [True, True] Translation: X:373.86, Y:3.49, Z:2.56 [[ 9.99098049e-01 -4.10074244e-02 -1.10217604e-02 3.73856673e+02] [ 4.10079068e-02 9.99158805e-01 -1.82313270e-04 3.48744470e+00] [ 1.10199651e-02 -2.69830491e-04 9.99939242e-01 2.56350709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.78925415399993 meters 0.017844604211375924 Centerline is valid? [True, True] Translation: X:373.89, Y:3.49, Z:2.56 [[ 9.99068063e-01 -4.16718080e-02 -1.12457320e-02 3.73888916e+02] [ 4.16723603e-02 9.99131313e-01 -1.85313779e-04 3.48905112e+00] [ 1.12436854e-02 -2.83495119e-04 9.99936748e-01 2.56438003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81925415399996 meters 0.017332919235183937 Centerline is valid? [True, True] Translation: X:373.92, Y:3.49, Z:2.56 [[ 9.99027129e-01 -4.28939799e-02 -1.02421466e-02 3.73921237e+02] [ 4.28945094e-02 9.99079593e-01 -1.68067679e-04 3.48703319e+00] [ 1.02399287e-02 -2.71427681e-04 9.99947534e-01 2.56392171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.84925415399994 meters 0.017446503426390748 Centerline is valid? [True, True] Translation: X:373.95, Y:3.49, Z:2.56 [[ 9.99000389e-01 -4.34511201e-02 -1.04986847e-02 3.73953108e+02] [ 4.34517154e-02 9.99055513e-01 -1.71489273e-04 3.48654636e+00] [ 1.04962203e-02 -2.84868011e-04 9.99944873e-01 2.56391679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87925415399997 meters 0.01813239286310692 Centerline is valid? [True, True] Translation: X:373.98, Y:3.48, Z:2.56 [[ 9.99000185e-01 -4.34444862e-02 -1.05454293e-02 3.73984527e+02] [ 4.34450967e-02 9.99055801e-01 -1.71295991e-04 3.48446108e+00] [ 1.05429141e-02 -2.87022466e-04 9.99944381e-01 2.56303947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.90925415399994 meters 0.017834157443514513 Centerline is valid? [True, True] Translation: X:374.02, Y:3.49, Z:2.56 [[ 9.99008717e-01 -4.31412920e-02 -1.09732356e-02 3.74016483e+02] [ 4.31419476e-02 9.99068937e-01 -1.77066626e-04 3.48515485e+00] [ 1.09706577e-02 -2.96515654e-04 9.99939777e-01 2.56297349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93925415399997 meters 0.017337773572831294 Centerline is valid? [True, True] Translation: X:374.05, Y:3.49, Z:2.56 [[ 9.99064947e-01 -4.19369999e-02 -1.05128151e-02 3.74047866e+02] [ 4.19375415e-02 9.99120220e-01 -1.69018103e-04 3.48501570e+00] [ 1.05106542e-02 -2.72021558e-04 9.99944725e-01 2.56283556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.96925415399994 meters 0.017610639556042907 Centerline is valid? [True, True] Translation: X:374.08, Y:3.48, Z:2.56 [[ 9.99121030e-01 -4.05900226e-02 -1.04698352e-02 3.74078688e+02] [ 4.05904899e-02 9.99175852e-01 -1.67946660e-04 3.48491378e+00] [ 1.04680235e-02 -2.57176702e-04 9.99945176e-01 2.56268728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99925415399997 meters 0.01648635780287277 Centerline is valid? [True, True] Translation: X:374.11, Y:3.49, Z:2.56 [[ 9.99199421e-01 -3.86108539e-02 -1.04747208e-02 3.74109728e+02] [ 3.86112169e-02 9.99254295e-01 -1.67643936e-04 3.48748210e+00] [ 1.04733826e-02 -2.36931994e-04 9.99945125e-01 2.56312614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.02925415399994 meters 0.015928171877708824 Centerline is valid? [True, True] Translation: X:374.14, Y:3.49, Z:2.56 [[ 9.99376146e-01 -3.38147512e-02 -1.01922391e-02 3.74140693e+02] [ 3.38148493e-02 9.99428101e-01 -1.62756449e-04 3.48931926e+00] [ 1.01919137e-02 -1.81994116e-04 9.99948045e-01 2.56293866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.059254154 meters 0.015194773256841333 Centerline is valid? [True, True] Translation: X:374.17, Y:3.49, Z:2.56 [[ 9.99459858e-01 -3.13795188e-02 -9.76314155e-03 3.74172368e+02] [ 3.13794960e-02 9.99507530e-01 -1.55558993e-04 3.49184360e+00] [ 9.76321486e-03 -1.50887493e-04 9.99952327e-01 2.56318342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.08925415399995 meters 0.014675845866726704 Centerline is valid? [True, True] Translation: X:374.20, Y:3.49, Z:2.56 [[ 9.99577784e-01 -2.71501421e-02 -1.03500921e-02 3.74203094e+02] [ 2.71498938e-02 9.99631360e-01 -1.64523320e-04 3.49349793e+00] [ 1.03507435e-02 -1.16550046e-04 9.99946423e-01 2.56227861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.119254154 meters 0.016210783970124654 Centerline is valid? [True, True] Translation: X:374.23, Y:3.50, Z:2.56 [[ 9.99613419e-01 -2.53080238e-02 -1.15116056e-02 3.74234094e+02] [ 2.53075986e-02 9.99679695e-01 -1.82626954e-04 3.49510130e+00] [ 1.15125403e-02 -1.08774740e-04 9.99933723e-01 2.56253701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.14925415399995 meters 0.014972827110756181 Centerline is valid? [True, True] Translation: X:374.26, Y:3.50, Z:2.56 [[ 9.99634389e-01 -2.46229103e-02 -1.11713875e-02 3.74264123e+02] [ 2.46224685e-02 9.99696805e-01 -1.77106601e-04 3.49561456e+00] [ 1.11723613e-02 -9.80252893e-05 9.99937582e-01 2.56263844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.179254154 meters 0.01436420297997216 Centerline is valid? [True, True] Translation: X:374.29, Y:3.49, Z:2.56 [[ 9.99633845e-01 -2.48070787e-02 -1.08066905e-02 3.74293603e+02] [ 2.48066760e-02 9.99692252e-01 -1.71325652e-04 3.49430592e+00] [ 1.08076149e-02 -9.68151508e-05 9.99941591e-01 2.56208107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.20925415399995 meters 0.014233603939407572 Centerline is valid? [True, True] Translation: X:374.32, Y:3.49, Z:2.56 [[ 9.99615796e-01 -2.54926652e-02 -1.08804409e-02 3.74324462e+02] [ 2.54922976e-02 9.99675004e-01 -1.72496319e-04 3.49478586e+00] [ 1.08813022e-02 -1.04937391e-04 9.99940791e-01 2.56258663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.239254154 meters 0.014571754423001957 Centerline is valid? [True, True] Translation: X:374.36, Y:3.49, Z:2.56 [[ 9.99539068e-01 -2.81762261e-02 -1.13027162e-02 3.74355445e+02] [ 2.81760010e-02 9.99602962e-01 -1.79190987e-04 3.49180749e+00] [ 1.13032775e-02 -1.39356951e-04 9.99936106e-01 2.56284491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.26925415399995 meters 0.016960772458003755 Centerline is valid? [True, True] Translation: X:374.39, Y:3.49, Z:2.56 [[ 9.99488765e-01 -2.95063774e-02 -1.23119161e-02 3.74385411e+02] [ 2.95062123e-02 9.99564578e-01 -1.95093265e-04 3.48944680e+00] [ 1.23123117e-02 -1.68284483e-04 9.99924186e-01 2.56272006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2992541539999 meters 0.018185192227656816 Centerline is valid? [True, True] Translation: X:374.42, Y:3.49, Z:2.56 [[ 9.99358044e-01 -3.34127575e-02 -1.29262354e-02 3.74415370e+02] [ 3.34129108e-02 9.99441612e-01 -2.04164430e-04 3.48510140e+00] [ 1.29258392e-02 -2.27869784e-04 9.99916432e-01 2.56320612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.32925415399995 meters 0.016339849056007355 Centerline is valid? [True, True] Translation: X:374.45, Y:3.48, Z:2.56 [[ 9.99287659e-01 -3.58059129e-02 -1.19210530e-02 3.74445790e+02] [ 3.58062202e-02 9.99358734e-01 -1.87721550e-04 3.48406503e+00] [ 1.19201300e-02 -2.39260021e-04 9.99928924e-01 2.56398689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3592541539999 meters 0.01657077858562372 Centerline is valid? [True, True] Translation: X:374.48, Y:3.48, Z:2.56 [[ 9.99226151e-01 -3.74830979e-02 -1.19212932e-02 3.74476999e+02] [ 3.74835267e-02 9.99297228e-01 -1.87543102e-04 3.48285702e+00] [ 1.19199449e-02 -2.59454140e-04 9.99928921e-01 2.56433617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.38925415399996 meters 0.018132308224724357 Centerline is valid? [True, True] Translation: X:374.51, Y:3.48, Z:2.56 [[ 9.99078001e-01 -4.10677224e-02 -1.25135800e-02 3.74507609e+02] [ 4.10684804e-02 9.99156315e-01 -1.96494269e-04 3.47841983e+00] [ 1.25110920e-02 -3.17600614e-04 9.99921683e-01 2.56427900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41925415399993 meters 0.018272011504511906 Centerline is valid? [True, True] Translation: X:374.54, Y:3.48, Z:2.56 [[ 9.98996812e-01 -4.28070481e-02 -1.31501222e-02 3.74538475e+02] [ 4.28080390e-02 9.99083294e-01 -2.06245422e-04 3.47775607e+00] [ 1.31468961e-02 -3.56892423e-04 9.99913512e-01 2.56482451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.44925415399996 meters 0.018272011504511906 Centerline is valid? [True, True] Translation: X:374.57, Y:3.48, Z:2.57 [[ 9.98998356e-01 -4.27709944e-02 -1.31501276e-02 3.74569325e+02] [ 4.27719868e-02 9.99084839e-01 -2.05895836e-04 3.47820919e+00] [ 1.31468995e-02 -3.56767484e-04 9.99913512e-01 2.56503829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47925415399993 meters 0.020762108891198835 Centerline is valid? [True, True] Translation: X:374.60, Y:3.48, Z:2.56 [[ 9.98937298e-01 -4.38902831e-02 -1.40683242e-02 3.74599918e+02] [ 4.38915389e-02 9.99036278e-01 -2.19632628e-04 3.47613571e+00] [ 1.40644060e-02 -3.98081175e-04 9.99901012e-01 2.56478908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.50925415399996 meters 0.02000151897355739 Centerline is valid? [True, True] Translation: X:374.63, Y:3.47, Z:2.57 [[ 9.98847281e-01 -4.60304549e-02 -1.36127587e-02 3.74631079e+02] [ 4.60318371e-02 9.98939951e-01 -2.11933934e-04 3.47417059e+00] [ 1.36080839e-02 -4.14930656e-04 9.99907320e-01 2.56537813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53925415399993 meters 0.02191569943682789 Centerline is valid? [True, True] Translation: X:374.66, Y:3.47, Z:2.57 [[ 9.98659611e-01 -4.98043475e-02 -1.40893175e-02 3.74660999e+02] [ 4.98062139e-02 9.98758876e-01 -2.18600758e-04 3.47040775e+00] [ 1.40827182e-02 -4.83427814e-04 9.99900717e-01 2.56585138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.56925415399996 meters 0.021399683161711792 Centerline is valid? [True, True] Translation: X:374.69, Y:3.47, Z:2.57 [[ 9.98587259e-01 -5.11286829e-02 -1.44687563e-02 3.74692269e+02] [ 5.11308012e-02 9.98691940e-01 -2.23717154e-04 3.47221457e+00] [ 1.44612686e-02 -5.16398001e-04 9.99895297e-01 2.56710890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59925415399994 meters 0.021767565827309838 Centerline is valid? [True, True] Translation: X:374.72, Y:3.47, Z:2.57 [[ 9.98494834e-01 -5.28924730e-02 -1.45070094e-02 3.74722652e+02] [ 5.28947941e-02 9.98600065e-01 -2.23917326e-04 3.47074983e+00] [ 1.44985440e-02 -5.43764980e-04 9.99894743e-01 2.56768917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.62925415399997 meters 0.024750613116485302 Centerline is valid? [True, True] Translation: X:374.75, Y:3.47, Z:2.57 [[ 9.98378412e-01 -5.48686124e-02 -1.51651327e-02 3.74752546e+02] [ 5.48713785e-02 9.98493404e-01 -2.33944224e-04 3.46567777e+00] [ 1.51551212e-02 -5.98566874e-04 9.99884975e-01 2.56747352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65925415399994 meters 0.023271649079523518 Centerline is valid? [True, True] Translation: X:374.78, Y:3.47, Z:2.57 [[ 9.98323140e-01 -5.58080165e-02 -1.53744705e-02 3.74783835e+02] [ 5.58109753e-02 9.98441325e-01 -2.36871577e-04 3.46825760e+00] [ 1.53637260e-02 -6.21589816e-04 9.99881778e-01 2.56845474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68925415399997 meters 0.023870654506824712 Centerline is valid? [True, True] Translation: X:374.81, Y:3.47, Z:2.57 [[ 9.98277188e-01 -5.64868063e-02 -1.58712587e-02 3.74814751e+02] [ 5.64900518e-02 9.98403132e-01 -2.44110953e-04 3.46751286e+00] [ 1.58597034e-02 -6.52877828e-04 9.99874014e-01 2.56863963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71925415399994 meters 0.024548393974075707 Centerline is valid? [True, True] Translation: X:374.85, Y:3.47, Z:2.57 [[ 9.98228729e-01 -5.71414229e-02 -1.65608672e-02 3.74845638e+02] [ 5.71450515e-02 9.98365854e-01 -2.54419451e-04 3.46664540e+00] [ 1.65483422e-02 -6.92402804e-04 9.99862827e-01 2.56877642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74925415399997 meters 0.02571066298527731 Centerline is valid? [True, True] Translation: X:374.88, Y:3.47, Z:2.57 [[ 9.98095838e-01 -5.90429779e-02 -1.78500843e-02 3.74875858e+02] [ 5.90475028e-02 9.98255136e-01 -2.73902566e-04 3.46539928e+00] [ 1.78351104e-02 -7.80621893e-04 9.99840637e-01 2.56907590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.77925415399994 meters 0.026008583134472282 Centerline is valid? [True, True] Translation: X:374.91, Y:3.47, Z:2.57 [[ 9.97904609e-01 -6.16431756e-02 -1.96598889e-02 3.74906571e+02] [ 6.16491710e-02 9.98097835e-01 -3.01539788e-04 3.46626872e+00] [ 1.96410804e-02 -9.11107911e-04 9.99806680e-01 2.57014433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.809254154 meters 0.026008583134472282 Centerline is valid? [True, True] Translation: X:374.94, Y:3.47, Z:2.57 [[ 9.97902419e-01 -6.16786044e-02 -1.96598820e-02 3.74935759e+02] [ 6.16845978e-02 9.98095646e-01 -3.01991740e-04 3.46674808e+00] [ 1.96410690e-02 -9.11353625e-04 9.99806680e-01 2.57034662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.83925415399995 meters 0.025305402085784984 Centerline is valid? [True, True] Translation: X:374.97, Y:3.47, Z:2.57 [[ 9.97802836e-01 -6.31209889e-02 -2.01306235e-02 3.74966171e+02] [ 6.31275606e-02 9.98005418e-01 -3.09474595e-04 3.46869647e+00] [ 2.01100057e-02 -9.62002527e-04 9.99797311e-01 2.57123721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.869254154 meters 0.026698787909385298 Centerline is valid? [True, True] Translation: X:375.00, Y:3.47, Z:2.57 [[ 9.97594406e-01 -6.59297108e-02 -2.14167006e-02 3.74996180e+02] [ 6.59377872e-02 9.97823682e-01 -3.29610681e-04 3.46832143e+00] [ 2.13918221e-02 -1.08335207e-03 9.99770582e-01 2.57163794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.89925415399995 meters 0.027156289365079283 Centerline is valid? [True, True] Translation: X:375.03, Y:3.47, Z:2.57 [[ 9.97484933e-01 -6.72880009e-02 -2.22740716e-02 3.75026028e+02] [ 6.72970584e-02 9.97732924e-01 -3.43543789e-04 3.46884406e+00] [ 2.22466910e-02 -1.15629974e-03 9.99751843e-01 2.57214898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.929254154 meters 0.028921466232078696 Centerline is valid? [True, True] Translation: X:375.06, Y:3.47, Z:2.57 [[ 9.97310522e-01 -6.95243459e-02 -2.31967303e-02 3.75055179e+02] [ 6.95347532e-02 9.97579465e-01 -3.58621093e-04 3.46902515e+00] [ 2.31655147e-02 -1.25532233e-03 9.99730855e-01 2.57276430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.95925415399995 meters 0.02923870479986406 Centerline is valid? [True, True] Translation: X:375.08, Y:3.47, Z:2.57 [[ 9.97253877e-01 -7.01810565e-02 -2.36500132e-02 3.75084817e+02] [ 7.01920387e-02 9.97533430e-01 -3.66480157e-04 3.47005292e+00] [ 2.36173987e-02 -1.29456888e-03 9.99720232e-01 2.57321789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.989254154 meters 0.028073749352278965 Centerline is valid? [True, True] Translation: X:375.11, Y:3.47, Z:2.57 [[ 9.97210974e-01 -7.08868791e-02 -2.33521601e-02 3.75114026e+02] [ 7.08977595e-02 9.97483522e-01 -3.62708654e-04 3.47366573e+00] [ 2.33191062e-02 -1.29391878e-03 9.99727235e-01 2.57460612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.01925415399995 meters 0.031065366929869265 Centerline is valid? [True, True] Translation: X:375.14, Y:3.47, Z:2.57 [[ 9.97142319e-01 -7.14061378e-02 -2.46649178e-02 3.75143835e+02] [ 7.14184204e-02 9.97446370e-01 -3.83687063e-04 3.47268634e+00] [ 2.46293304e-02 -1.37893886e-03 9.99695701e-01 2.57401766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0492541539999 meters 0.028785888961068054 Centerline is valid? [True, True] Translation: X:375.17, Y:3.48, Z:2.58 [[ 9.97176270e-01 -7.10538284e-02 -2.43072089e-02 3.75173868e+02] [ 7.10656422e-02 9.97471569e-01 -3.78560658e-04 3.47804458e+00] [ 2.42726480e-02 -1.34991570e-03 9.99704464e-01 2.57545488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.07925415399995 meters 0.02912722303611422 Centerline is valid? [True, True] Translation: X:375.20, Y:3.48, Z:2.58 [[ 9.97354427e-01 -6.86046951e-02 -2.40321290e-02 3.75202868e+02] [ 6.86155163e-02 9.97643108e-01 -3.75013943e-04 3.48181149e+00] [ 2.40012156e-02 -1.27495512e-03 9.99711116e-01 2.57588238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1092541539999 meters 0.025669311695666563 Centerline is valid? [True, True] Translation: X:375.23, Y:3.49, Z:2.58 [[ 9.97486813e-01 -6.66459727e-02 -2.40493889e-02 3.75232760e+02] [ 6.66562280e-02 9.97775930e-01 -3.75848279e-04 3.48949899e+00] [ 2.40209502e-02 -1.22813785e-03 9.99710701e-01 2.57793758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.13925415399996 meters 0.025666541546083825 Centerline is valid? [True, True] Translation: X:375.26, Y:3.50, Z:2.58 [[ 9.97793640e-01 -6.17814367e-02 -2.43085502e-02 3.75262450e+02] [ 6.17904639e-02 9.98089071e-01 -3.80310728e-04 3.49594548e+00] [ 2.42855944e-02 -1.12256497e-03 9.99704431e-01 2.57846523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.16925415399993 meters 0.02368986027572349 Centerline is valid? [True, True] Translation: X:375.29, Y:3.50, Z:2.58 [[ 9.97943378e-01 -5.95656263e-02 -2.36843811e-02 3.75292597e+02] [ 5.95735456e-02 9.98223850e-01 -3.71700193e-04 3.50074788e+00] [ 2.36644546e-02 -1.04002681e-03 9.99719417e-01 2.57948409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.19925415399996 meters 0.02368986027572349 Centerline is valid? [True, True] Translation: X:375.32, Y:3.50, Z:2.58 [[ 9.97943378e-01 -5.95656293e-02 -2.36843743e-02 3.75322626e+02] [ 5.95735384e-02 9.98223850e-01 -3.72132052e-04 3.50121990e+00] [ 2.36644736e-02 -1.03959526e-03 9.99719417e-01 2.57969229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.22925415399993 meters 0.02212758728522064 Centerline is valid? [True, True] Translation: X:375.35, Y:3.51, Z:2.58 [[ 9.98217354e-01 -5.47295021e-02 -2.38074642e-02 3.75352334e+02] [ 5.47361130e-02 9.98500785e-01 -3.74373868e-04 3.50908107e+00] [ 2.37922610e-02 -9.29421560e-04 9.99716492e-01 2.58015591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.25925415399996 meters 0.0217657108293087 Centerline is valid? [True, True] Translation: X:375.38, Y:3.51, Z:2.58 [[ 9.98357375e-01 -5.21553560e-02 -2.37143640e-02 3.75381082e+02] [ 5.21611656e-02 9.98638610e-01 -3.73945495e-04 3.51217724e+00] [ 2.37015827e-02 -8.63637624e-04 9.99718705e-01 2.58035915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.28925415399993 meters 0.020059441434322988 Centerline is valid? [True, True] Translation: X:375.41, Y:3.52, Z:2.58 [[ 9.98488971e-01 -4.96915351e-02 -2.34632823e-02 3.75410805e+02] [ 4.96965199e-02 9.98764296e-01 -3.70965799e-04 3.51716858e+00] [ 2.34527224e-02 -7.95638214e-04 9.99724630e-01 2.58159164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31925415399996 meters 0.019528314196673675 Centerline is valid? [True, True] Translation: X:375.44, Y:3.52, Z:2.58 [[ 9.98615312e-01 -4.72019164e-02 -2.32258165e-02 3.75440099e+02] [ 4.72061084e-02 9.98885102e-01 -3.68057839e-04 3.52030579e+00] [ 2.32172951e-02 -7.28852218e-04 9.99730177e-01 2.58179750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.34925415399994 meters 0.018783490141237667 Centerline is valid? [True, True] Translation: X:375.47, Y:3.53, Z:2.58 [[ 9.98848456e-01 -4.22162220e-02 -2.27936743e-02 3.75469687e+02] [ 4.22189431e-02 9.99108317e-01 -3.62047117e-04 3.52849080e+00] [ 2.27886338e-02 -6.00694635e-04 9.99740125e-01 2.58305093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37925415399997 meters 0.01739907697192277 Centerline is valid? [True, True] Translation: X:375.50, Y:3.53, Z:2.58 [[ 9.98912486e-01 -4.05027879e-02 -2.30948126e-02 3.75498991e+02] [ 4.05051039e-02 9.99179264e-01 -3.67692945e-04 3.53254624e+00] [ 2.30907504e-02 -5.68164708e-04 9.99733212e-01 2.58430381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.40925415399994 meters 0.01716395574257293 Centerline is valid? [True, True] Translation: X:375.53, Y:3.54, Z:2.58 [[ 9.98969494e-01 -3.89181466e-02 -2.33522365e-02 3.75527395e+02] [ 3.89199757e-02 9.99242260e-01 -3.76337470e-04 3.53577902e+00] [ 2.33491880e-02 -5.32918825e-04 9.99727229e-01 2.58436583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43925415399997 meters 0.017342585953397348 Centerline is valid? [True, True] Translation: X:375.56, Y:3.54, Z:2.58 [[ 9.99038991e-01 -3.64732038e-02 -2.43063872e-02 3.75555538e+02] [ 3.64743777e-02 9.99334510e-01 -3.95198693e-04 3.53879687e+00] [ 2.43046257e-02 -4.91741443e-04 9.99704478e-01 2.58332496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.46925415399994 meters 0.01838703314784943 Centerline is valid? [True, True] Translation: X:375.58, Y:3.54, Z:2.58 [[ 9.99067389e-01 -3.54557698e-02 -2.46422657e-02 3.75583891e+02] [ 3.54565387e-02 9.99371137e-01 -4.05864723e-04 3.54252986e+00] [ 2.46411593e-02 -4.68243239e-04 9.99696251e-01 2.58409992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49925415399997 meters 0.016937324268330143 Centerline is valid? [True, True] Translation: X:375.61, Y:3.55, Z:2.59 [[ 9.99053133e-01 -3.54362309e-02 -2.52410436e-02 3.75611824e+02] [ 3.54368485e-02 9.99371828e-01 -4.22976239e-04 3.54515860e+00] [ 2.52401766e-02 -4.71887302e-04 9.99681305e-01 2.58506840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.52925415399994 meters 0.016713878378298026 Centerline is valid? [True, True] Translation: X:375.64, Y:3.55, Z:2.59 [[ 9.99040502e-01 -3.54171305e-02 -2.57624327e-02 3.75639291e+02] [ 3.54176691e-02 9.99372503e-01 -4.35532073e-04 3.54814466e+00] [ 2.57616922e-02 -4.77331138e-04 9.99667999e-01 2.58512524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.559254154 meters 0.01668595948529681 Centerline is valid? [True, True] Translation: X:375.67, Y:3.55, Z:2.59 [[ 9.99015473e-01 -3.61119403e-02 -2.57684419e-02 3.75668016e+02] [ 3.61125699e-02 9.99347631e-01 -4.41081285e-04 3.55022825e+00] [ 2.57675597e-02 -4.89917631e-04 9.99667841e-01 2.58614313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.58925415399995 meters 0.016531840099417 Centerline is valid? [True, True] Translation: X:375.70, Y:3.55, Z:2.59 [[ 9.98984784e-01 -3.70494479e-02 -2.56269306e-02 3.75696510e+02] [ 3.70502098e-02 9.99313306e-01 -4.45249928e-04 3.55230559e+00] [ 2.56258290e-02 -5.04685252e-04 9.99671477e-01 2.58721910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.619254154 meters 0.018750979803270642 Centerline is valid? [True, True] Translation: X:375.72, Y:3.55, Z:2.59 [[ 9.98979067e-01 -3.74540778e-02 -2.52589664e-02 3.75723864e+02] [ 3.74548434e-02 9.99298223e-01 -4.42967435e-04 3.55247712e+00] [ 2.52578312e-02 -5.03555436e-04 9.99680843e-01 2.58584893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.64925415399995 meters 0.017929308791888247 Centerline is valid? [True, True] Translation: X:375.75, Y:3.55, Z:2.59 [[ 9.98879314e-01 -4.05986748e-02 -2.43282661e-02 3.75752910e+02] [ 4.06001878e-02 9.99175379e-01 -4.31949337e-04 3.55341421e+00] [ 2.43257411e-02 -5.56266918e-04 9.99703931e-01 2.58736861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.679254154 meters 0.017668993997394637 Centerline is valid? [True, True] Translation: X:375.78, Y:3.55, Z:2.59 [[ 9.98800398e-01 -4.27351448e-02 -2.39054811e-02 3.75781285e+02] [ 4.27370722e-02 9.99086261e-01 -4.30497709e-04 3.55344313e+00] [ 2.39020351e-02 -5.91668990e-04 9.99714130e-01 2.58790075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.70925415399995 meters 0.017684428723596716 Centerline is valid? [True, True] Translation: X:375.81, Y:3.55, Z:2.59 [[ 9.98711329e-01 -4.48432226e-02 -2.37648144e-02 3.75811268e+02] [ 4.48456673e-02 9.98993834e-01 -4.30338986e-04 3.55478967e+00] [ 2.37602009e-02 -6.35964542e-04 9.99717484e-01 2.58912363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.739254154 meters 0.02001610461938036 Centerline is valid? [True, True] Translation: X:375.84, Y:3.55, Z:2.59 [[ 9.98495792e-01 -4.97021480e-02 -2.31484146e-02 3.75840668e+02] [ 4.97057589e-02 9.98763817e-01 -4.19725461e-04 3.55222861e+00] [ 2.31406601e-02 -7.31515405e-04 9.99731951e-01 2.58875367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.76925415399995 meters 0.021401620692401542 Centerline is valid? [True, True] Translation: X:375.87, Y:3.55, Z:2.59 [[ 9.98387886e-01 -5.18803578e-02 -2.30229776e-02 3.75871984e+02] [ 5.18845187e-02 9.98653004e-01 -4.16981795e-04 3.55381195e+00] [ 2.30135989e-02 -7.78226540e-04 9.99734849e-01 2.58916599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7992541539999 meters 0.020555168899870684 Centerline is valid? [True, True] Translation: X:375.90, Y:3.55, Z:2.59 [[ 9.98203890e-01 -5.52551414e-02 -2.31487261e-02 3.75903056e+02] [ 5.52602670e-02 9.98471896e-01 -4.18699793e-04 3.55381312e+00] [ 2.31364878e-02 -8.61257022e-04 9.99731945e-01 2.59020788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.82925415399995 meters 0.022427246983009522 Centerline is valid? [True, True] Translation: X:375.93, Y:3.55, Z:2.59 [[ 9.97839786e-01 -6.13997547e-02 -2.33630242e-02 3.75934157e+02] [ 6.14066614e-02 9.98112741e-01 -4.22360549e-04 3.55125108e+00] [ 2.33448649e-02 -1.01319715e-03 9.99726958e-01 2.58990759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8592541539999 meters 0.02338004043083389 Centerline is valid? [True, True] Translation: X:375.97, Y:3.55, Z:2.59 [[ 9.97650054e-01 -6.44316617e-02 -2.33008719e-02 3.75965676e+02] [ 6.44393716e-02 9.97921535e-01 -4.20594908e-04 3.55039450e+00] [ 2.32795415e-02 -1.08188701e-03 9.99728409e-01 2.59015377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.88925415399996 meters 0.02458016225900224 Centerline is valid? [True, True] Translation: X:376.00, Y:3.55, Z:2.59 [[ 9.97493684e-01 -6.69577145e-02 -2.28695044e-02 3.75996933e+02] [ 6.69658229e-02 9.97755185e-01 -4.11964611e-04 3.54986232e+00] [ 2.28457508e-02 -1.12054308e-03 9.99738374e-01 2.58996562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91925415399993 meters 0.025631761772981262 Centerline is valid? [True, True] Translation: X:376.03, Y:3.55, Z:2.59 [[ 9.97303071e-01 -6.98290566e-02 -2.25939504e-02 3.76027328e+02] [ 6.98377176e-02 9.97558283e-01 -4.06457549e-04 3.54866331e+00] [ 2.25671649e-02 -1.17254857e-03 9.99744641e-01 2.59042788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.94925415399996 meters 0.027350732612682584 Centerline is valid? [True, True] Translation: X:376.06, Y:3.55, Z:2.59 [[ 9.97012914e-01 -7.39951404e-02 -2.21352547e-02 3.76058437e+02] [ 7.40044855e-02 9.97257829e-01 -3.97800524e-04 3.54830950e+00] [ 2.21039914e-02 -1.24149588e-03 9.99754906e-01 2.59112326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97925415399993 meters 0.02832409870313392 Centerline is valid? [True, True] Translation: X:376.09, Y:3.55, Z:2.59 [[ 9.96924903e-01 -7.53291777e-02 -2.15928667e-02 3.76090963e+02] [ 7.53384080e-02 9.97157949e-01 -3.86850305e-04 3.54829698e+00] [ 2.15606398e-02 -1.24111150e-03 9.99766772e-01 2.59118608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.00925415399996 meters 0.029407475081861506 Centerline is valid? [True, True] Translation: X:376.12, Y:3.55, Z:2.59 [[ 9.96865020e-01 -7.60714886e-02 -2.17545339e-02 3.76121622e+02] [ 7.60810860e-02 9.97101559e-01 -3.87343511e-04 3.54841321e+00] [ 2.17209455e-02 -1.26897937e-03 9.99763267e-01 2.59129004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03925415399993 meters 0.029008658613355442 Centerline is valid? [True, True] Translation: X:376.15, Y:3.55, Z:2.59 [[ 9.96884300e-01 -7.60287553e-02 -2.10076305e-02 3.76153464e+02] [ 7.60377349e-02 9.97104871e-01 -3.72160064e-04 3.55021578e+00] [ 2.09751055e-02 -1.22637211e-03 9.99779246e-01 2.59170118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.06925415399996 meters 0.028862260591657595 Centerline is valid? [True, True] Translation: X:376.18, Y:3.55, Z:2.59 [[ 9.97047346e-01 -7.39529471e-02 -2.06773285e-02 3.76184226e+02] [ 7.39612221e-02 9.97261051e-01 -3.65306857e-04 3.55332157e+00] [ 2.06477099e-02 -1.16509225e-03 9.99786134e-01 2.59183192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09925415399994 meters 0.028357994146199862 Centerline is valid? [True, True] Translation: X:376.22, Y:3.56, Z:2.59 [[ 9.97200324e-01 -7.20455983e-02 -2.00236171e-02 3.76215276e+02] [ 7.20529892e-02 9.97400743e-01 -3.53038134e-04 3.55585970e+00] [ 1.99970054e-02 -1.09071172e-03 9.99799445e-01 2.59203188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.12925415399997 meters 0.028554130512249656 Centerline is valid? [True, True] Translation: X:376.25, Y:3.56, Z:2.59 [[ 9.97364683e-01 -6.98980897e-02 -1.94408244e-02 3.76245889e+02] [ 6.99046630e-02 9.97553618e-01 -3.42069892e-04 3.55796995e+00] [ 1.94171747e-02 -1.01783585e-03 9.99810951e-01 2.59217305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15925415399994 meters 0.027019375035962568 Centerline is valid? [True, True] Translation: X:376.28, Y:3.56, Z:2.59 [[ 9.97697395e-01 -6.51336371e-02 -1.89081039e-02 3.76275133e+02] [ 6.51390211e-02 9.97876144e-01 -3.31652648e-04 3.56488388e+00] [ 1.88895476e-02 -9.00766397e-04 9.99821171e-01 2.59231105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18925415399997 meters 0.024982618248758633 Centerline is valid? [True, True] Translation: X:376.31, Y:3.57, Z:2.59 [[ 9.97896892e-01 -6.20339894e-02 -1.88036488e-02 3.76306919e+02] [ 6.20387856e-02 9.98073685e-01 -3.28719772e-04 3.57063876e+00] [ 1.87878189e-02 -8.38527099e-04 9.99823142e-01 2.59238885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21925415399994 meters 0.024745620779443814 Centerline is valid? [True, True] Translation: X:376.34, Y:3.57, Z:2.59 [[ 9.98029412e-01 -5.98826419e-02 -1.87446658e-02 3.76337738e+02] [ 5.98870441e-02 9.98205107e-01 -3.26895257e-04 3.57271197e+00] [ 1.87305964e-02 -7.96311544e-04 9.99824250e-01 2.59235995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24925415399997 meters 0.02250374358927011 Centerline is valid? [True, True] Translation: X:376.37, Y:3.58, Z:2.59 [[ 9.98164089e-01 -5.74195957e-02 -1.92728088e-02 3.76369297e+02] [ 5.74238089e-02 9.98349835e-01 -3.35186595e-04 3.57837739e+00] [ 1.92602518e-02 -7.72146867e-04 9.99814206e-01 2.59280029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.27925415399994 meters 0.02062941092455067 Centerline is valid? [True, True] Translation: X:376.40, Y:3.59, Z:2.59 [[ 9.98436904e-01 -5.22042425e-02 -1.99616104e-02 3.76400317e+02] [ 5.22077339e-02 9.98636186e-01 -3.46536717e-04 3.58830627e+00] [ 1.99524771e-02 -6.96155396e-04 9.99800687e-01 2.59227093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.309254154 meters 0.018742296654661632 Centerline is valid? [True, True] Translation: X:376.43, Y:3.59, Z:2.59 [[ 9.98510822e-01 -5.08086724e-02 -1.98649513e-02 3.76432188e+02] [ 5.08118759e-02 9.98708183e-01 -3.43766778e-04 3.59131224e+00] [ 1.98567558e-02 -6.66120594e-04 9.99802613e-01 2.59280672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.33925415399995 meters 0.018378678580978972 Centerline is valid? [True, True] Translation: X:376.46, Y:3.59, Z:2.59 [[ 9.98608670e-01 -4.89474301e-02 -1.96182122e-02 3.76463687e+02] [ 4.89502148e-02 9.98801162e-01 -3.38520179e-04 3.59413241e+00] [ 1.96112629e-02 -6.22266519e-04 9.99807487e-01 2.59265388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.369254154 meters 0.018378678580978972 Centerline is valid? [True, True] Translation: X:376.50, Y:3.59, Z:2.59 [[ 9.98612280e-01 -4.88737021e-02 -1.96182328e-02 3.76495393e+02] [ 4.88764960e-02 9.98804773e-01 -3.37328446e-04 3.59461983e+00] [ 1.96112710e-02 -6.22010147e-04 9.99807487e-01 2.59287354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.39925415399995 meters 0.01774320085302476 Centerline is valid? [True, True] Translation: X:376.53, Y:3.60, Z:2.59 [[ 9.98702757e-01 -4.71179783e-02 -1.93054069e-02 3.76527534e+02] [ 4.71203834e-02 9.98889163e-01 -3.30532564e-04 3.59784318e+00] [ 1.92995357e-02 -5.79574390e-04 9.99813579e-01 2.59314735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.429254154 meters 0.01674251566000821 Centerline is valid? [True, True] Translation: X:376.56, Y:3.60, Z:2.59 [[ 9.98867062e-01 -4.39987000e-02 -1.81302831e-02 3.76558907e+02] [ 4.40003240e-02 9.99031469e-01 -3.09514236e-04 3.60440794e+00] [ 1.81263416e-02 -4.88574756e-04 9.99835585e-01 2.59427092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.45925415399995 meters 0.016433826171525567 Centerline is valid? [True, True] Translation: X:376.59, Y:3.61, Z:2.59 [[ 9.98955652e-01 -4.22454023e-02 -1.74049284e-02 3.76589821e+02] [ 4.22466473e-02 9.99107168e-01 -2.96302735e-04 3.60703510e+00] [ 1.74019061e-02 -4.39306580e-04 9.99848479e-01 2.59471726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.489254154 meters 0.015880949402855647 Centerline is valid? [True, True] Translation: X:376.62, Y:3.61, Z:2.60 [[ 9.99132225e-01 -3.87377202e-02 -1.53031624e-02 3.76619983e+02] [ 3.87382789e-02 9.99249357e-01 -2.60032632e-04 3.61178172e+00] [ 1.53017483e-02 -3.33011189e-04 9.99882866e-01 2.59551873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.51925415399995 meters 0.015403150188149726 Centerline is valid? [True, True] Translation: X:376.65, Y:3.61, Z:2.60 [[ 9.99198919e-01 -3.73276158e-02 -1.44280925e-02 3.76651928e+02] [ 3.73279750e-02 9.99303038e-01 -2.44496183e-04 3.61480430e+00] [ 1.44271631e-02 -2.94271155e-04 9.99895880e-01 2.59598812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5492541539999 meters 0.015196310121271808 Centerline is valid? [True, True] Translation: X:376.68, Y:3.62, Z:2.60 [[ 9.99249106e-01 -3.60168092e-02 -1.42833298e-02 3.76683385e+02] [ 3.60170403e-02 9.99351147e-01 -2.41141103e-04 3.61664789e+00] [ 1.42827471e-02 -2.73483231e-04 9.99897959e-01 2.59606769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.57925415399995 meters 0.015170753935250492 Centerline is valid? [True, True] Translation: X:376.72, Y:3.62, Z:2.60 [[ 9.99282413e-01 -3.53154428e-02 -1.36922493e-02 3.76715137e+02] [ 3.53156009e-02 9.99376183e-01 -2.30316044e-04 3.61864366e+00] [ 1.36918416e-02 -2.53399240e-04 9.99906230e-01 2.59629130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6092541539999 meters 0.01528248740837439 Centerline is valid? [True, True] Translation: X:376.75, Y:3.62, Z:2.60 [[ 9.99300689e-01 -3.49118927e-02 -1.33900359e-02 3.76746312e+02] [ 3.49120188e-02 9.99390364e-01 -2.24401853e-04 3.62015990e+00] [ 1.33897071e-02 -2.43228258e-04 9.99910324e-01 2.59656238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.63925415399996 meters 0.015494279862673186 Centerline is valid? [True, True] Translation: X:376.78, Y:3.62, Z:2.60 [[ 9.99289889e-01 -3.55841014e-02 -1.23890994e-02 3.76778562e+02] [ 3.55842700e-02 9.99366658e-01 -2.06898988e-04 3.62131407e+00] [ 1.23886152e-02 -2.34104990e-04 9.99923231e-01 2.59680271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.66925415399993 meters 0.015365857982827049 Centerline is valid? [True, True] Translation: X:376.81, Y:3.62, Z:2.60 [[ 9.99269117e-01 -3.63518974e-02 -1.18224569e-02 3.76810724e+02] [ 3.63521143e-02 9.99339024e-01 -1.96616520e-04 3.62218416e+00] [ 1.18217899e-02 -2.33298487e-04 9.99930093e-01 2.59689169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.69925415399996 meters 0.015818118578872727 Centerline is valid? [True, True] Translation: X:376.84, Y:3.62, Z:2.60 [[ 9.99251054e-01 -3.69201441e-02 -1.15859621e-02 3.76841579e+02] [ 3.69203992e-02 9.99318191e-01 -1.91944332e-04 3.62161026e+00] [ 1.15851493e-02 -2.35957769e-04 9.99932862e-01 2.59652212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.72925415399993 meters 0.015460153228418832 Centerline is valid? [True, True] Translation: X:376.87, Y:3.62, Z:2.60 [[ 9.99231196e-01 -3.73676016e-02 -1.18607884e-02 3.76873926e+02] [ 3.73679092e-02 9.99301557e-01 -1.95756947e-04 3.62318030e+00] [ 1.18598193e-02 -2.47606414e-04 9.99929639e-01 2.59648648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.75925415399996 meters 0.015669493363426497 Centerline is valid? [True, True] Translation: X:376.91, Y:3.62, Z:2.60 [[ 9.99218587e-01 -3.74982733e-02 -1.24938081e-02 3.76905445e+02] [ 3.74986352e-02 9.99296658e-01 -2.05370029e-04 3.62445361e+00] [ 1.24927217e-02 -2.63291203e-04 9.99921928e-01 2.59554815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.78925415399993 meters 0.015039373328951578 Centerline is valid? [True, True] Translation: X:376.94, Y:3.63, Z:2.60 [[ 9.99246541e-01 -3.66307782e-02 -1.28271634e-02 3.76937725e+02] [ 3.66310989e-02 9.99328834e-01 -2.10023854e-04 3.62716843e+00] [ 1.28262476e-02 -2.60007482e-04 9.99917706e-01 2.59577692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81925415399996 meters 0.014911976912648733 Centerline is valid? [True, True] Translation: X:376.97, Y:3.63, Z:2.60 [[ 9.99295557e-01 -3.53370571e-02 -1.26365478e-02 3.76968799e+02] [ 3.53372754e-02 9.99375422e-01 -2.06077622e-04 3.62842689e+00] [ 1.26359374e-02 -2.40608716e-04 9.99920134e-01 2.59584539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.84925415399994 meters 0.014104396596170988 Centerline is valid? [True, True] Translation: X:377.00, Y:3.63, Z:2.60 [[ 9.99399809e-01 -3.22188873e-02 -1.27265142e-02 3.77000550e+02] [ 3.22188664e-02 9.99480816e-01 -2.06720714e-04 3.63252582e+00] [ 1.27265671e-02 -2.03437219e-04 9.99918993e-01 2.59618690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87925415399997 meters 0.014055703200479393 Centerline is valid? [True, True] Translation: X:377.03, Y:3.63, Z:2.60 [[ 9.99458796e-01 -3.03545598e-02 -1.26774066e-02 3.77031721e+02] [ 3.03543998e-02 9.99539178e-01 -2.05080748e-04 3.63368699e+00] [ 1.26777897e-02 -1.79845310e-04 9.99919617e-01 2.59629210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.90925415399994 meters 0.013900685210182302 Centerline is valid? [True, True] Translation: X:377.06, Y:3.64, Z:2.60 [[ 9.99509508e-01 -2.88480230e-02 -1.21875147e-02 3.77064254e+02] [ 2.88477724e-02 9.99583797e-01 -1.96393839e-04 3.63525681e+00] [ 1.21881078e-02 -1.55285140e-04 9.99925710e-01 2.59644336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93925415399997 meters 0.013598115587242828 Centerline is valid? [True, True] Translation: X:377.10, Y:3.64, Z:2.60 [[ 9.99582334e-01 -2.65389200e-02 -1.14386997e-02 3.77095957e+02] [ 2.65385574e-02 9.99647774e-01 -1.83516152e-04 3.63724346e+00] [ 1.14395410e-02 -1.20127084e-04 9.99934559e-01 2.59691027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.96925415399994 meters 0.013573037281281728 Centerline is valid? [True, True] Translation: X:377.13, Y:3.64, Z:2.60 [[ 9.99605900e-01 -2.58505212e-02 -1.09450665e-02 3.77128229e+02] [ 2.58501565e-02 9.99665814e-01 -1.74813475e-04 3.63836821e+00] [ 1.09459278e-02 -1.08187100e-04 9.99940086e-01 2.59693521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99925415399997 meters 0.013575620597445206 Centerline is valid? [True, True] Translation: X:377.16, Y:3.64, Z:2.60 [[ 9.99602516e-01 -2.58865445e-02 -1.11668005e-02 3.77159473e+02] [ 2.58861756e-02 9.99664881e-01 -1.77597344e-04 3.63845344e+00] [ 1.11676557e-02 -1.11539007e-04 9.99937634e-01 2.59700278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.02925415399994 meters 0.013646402981884987 Centerline is valid? [True, True] Translation: X:377.19, Y:3.64, Z:2.60 [[ 9.99599602e-01 -2.60270659e-02 -1.11007985e-02 3.77191886e+02] [ 2.60267176e-02 9.99661232e-01 -1.75864588e-04 3.63859789e+00] [ 1.11016151e-02 -1.13123175e-04 9.99938369e-01 2.59688577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.059254154 meters 0.014071409784551 Centerline is valid? [True, True] Translation: X:377.22, Y:3.64, Z:2.60 [[ 9.99520525e-01 -2.86802446e-02 -1.16689230e-02 3.77223553e+02] [ 2.86800529e-02 9.99588626e-01 -1.83801551e-04 3.63613067e+00] [ 1.16693942e-02 -1.50951907e-04 9.99931899e-01 2.59579197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.08925415399995 meters 0.0144102405172242 Centerline is valid? [True, True] Translation: X:377.26, Y:3.63, Z:2.60 [[ 9.99454790e-01 -3.06622580e-02 -1.22453257e-02 3.77255317e+02] [ 3.06622092e-02 9.99529786e-01 -1.91771417e-04 3.63493664e+00] [ 1.22454480e-02 -1.83801878e-04 9.99925005e-01 2.59558438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.119254154 meters 0.014792404620016143 Centerline is valid? [True, True] Translation: X:377.29, Y:3.63, Z:2.60 [[ 9.99366890e-01 -3.32433099e-02 -1.26768232e-02 3.77287529e+02] [ 3.32434754e-02 9.99447263e-01 -1.97722410e-04 3.63352088e+00] [ 1.26763892e-02 -2.23824431e-04 9.99919626e-01 2.59546495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.14925415399995 meters 0.015619956379396614 Centerline is valid? [True, True] Translation: X:377.32, Y:3.63, Z:2.60 [[ 9.99249545e-01 -3.64788600e-02 -1.30246016e-02 3.77319250e+02] [ 3.64793205e-02 9.99334388e-01 -2.02297290e-04 3.63135124e+00] [ 1.30233118e-02 -2.72983141e-04 9.99915156e-01 2.59533450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.179254154 meters 0.017099685981950115 Centerline is valid? [True, True] Translation: X:377.35, Y:3.63, Z:2.59 [[ 9.98959980e-01 -4.35391989e-02 -1.35387304e-02 3.77350499e+02] [ 4.35403512e-02 9.99051647e-01 -2.09769509e-04 3.62673146e+00] [ 1.35350241e-02 -3.79929733e-04 9.99908325e-01 2.59485110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.20925415399995 meters 0.01836146870216138 Centerline is valid? [True, True] Translation: X:377.38, Y:3.62, Z:2.59 [[ 9.98783264e-01 -4.73756894e-02 -1.36943490e-02 3.77383048e+02] [ 4.73772371e-02 9.98877046e-01 -2.11558707e-04 3.62383533e+00] [ 1.36889937e-02 -4.37499125e-04 9.99906206e-01 2.59499609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.239254154 meters 0.01962174829726395 Centerline is valid? [True, True] Translation: X:377.42, Y:3.62, Z:2.60 [[ 9.98611993e-01 -5.08525727e-02 -1.37150438e-02 3.77415215e+02] [ 5.08544662e-02 9.98706052e-01 -2.10879476e-04 3.62094824e+00] [ 1.37080210e-02 -4.86884456e-04 9.99905922e-01 2.59513784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.26925415399995 meters 0.0224838135231 Centerline is valid? [True, True] Translation: X:377.45, Y:3.61, Z:2.60 [[ 9.98286072e-01 -5.70235083e-02 -1.31619700e-02 3.77445235e+02] [ 5.70257977e-02 9.98372685e-01 -2.01601030e-04 3.61477364e+00] [ 1.31520473e-02 -5.49316335e-04 9.99913357e-01 2.59504240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2992541539999 meters 0.023299572176903673 Centerline is valid? [True, True] Translation: X:377.48, Y:3.61, Z:2.60 [[ 9.98137482e-01 -5.96051877e-02 -1.29918844e-02 3.77477318e+02] [ 5.96076464e-02 9.98221864e-01 -1.98235760e-04 3.61323490e+00] [ 1.29805989e-02 -5.76549108e-04 9.99915582e-01 2.59555115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.32925415399995 meters 0.023745306289630383 Centerline is valid? [True, True] Translation: X:377.51, Y:3.61, Z:2.60 [[ 9.98024597e-01 -6.15587174e-02 -1.25470739e-02 3.77509651e+02] [ 6.15611759e-02 9.98103294e-01 -1.90551574e-04 3.61254985e+00] [ 1.25350059e-02 -5.82237467e-04 9.99921264e-01 2.59606756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3592541539999 meters 0.024920295264908965 Centerline is valid? [True, True] Translation: X:377.54, Y:3.61, Z:2.60 [[ 9.97925390e-01 -6.31410891e-02 -1.25744973e-02 3.77541167e+02] [ 6.31436939e-02 9.98004428e-01 -1.90151256e-04 3.61110413e+00] [ 1.25614103e-02 -6.04243442e-04 9.99920920e-01 2.59652778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.38925415399996 meters 0.0260342755290597 Centerline is valid? [True, True] Translation: X:377.57, Y:3.61, Z:2.60 [[ 9.97813504e-01 -6.48522492e-02 -1.27434980e-02 3.77572986e+02] [ 6.48550774e-02 9.97894675e-01 -1.91629827e-04 3.60969625e+00] [ 1.27290964e-02 -6.35269720e-04 9.99918780e-01 2.59675044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41925415399993 meters 0.025272916161213643 Centerline is valid? [True, True] Translation: X:377.61, Y:3.61, Z:2.60 [[ 9.97786746e-01 -6.52251398e-02 -1.29341059e-02 3.77605350e+02] [ 6.52281010e-02 9.97870361e-01 -1.93219079e-04 3.61101096e+00] [ 1.29191637e-02 -6.50875731e-04 9.99916332e-01 2.59695172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.44925415399996 meters 0.026203512855156354 Centerline is valid? [True, True] Translation: X:377.64, Y:3.61, Z:2.60 [[ 9.97786271e-01 -6.51526619e-02 -1.33300009e-02 3.77637619e+02] [ 6.51558231e-02 9.97875082e-01 -1.97462707e-04 3.61016607e+00] [ 1.33145410e-02 -6.71501602e-04 9.99911132e-01 2.59724274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47925415399993 meters 0.028008402397402803 Centerline is valid? [True, True] Translation: X:377.67, Y:3.61, Z:2.60 [[ 9.97809450e-01 -6.47472686e-02 -1.35681116e-02 3.77668693e+02] [ 6.47505362e-02 9.97901462e-01 -1.98785260e-04 3.60828446e+00] [ 1.35525092e-02 -6.80192690e-04 9.99907929e-01 2.59755378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.50925415399996 meters 0.02806914879584083 Centerline is valid? [True, True] Translation: X:377.70, Y:3.61, Z:2.60 [[ 9.97846083e-01 -6.42103923e-02 -1.34245982e-02 3.77700879e+02] [ 6.42135618e-02 9.97936160e-01 -1.95261477e-04 3.60880373e+00] [ 1.34094298e-02 -6.67200369e-04 9.99909867e-01 2.59807437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53925415399993 meters 0.02805405189121772 Centerline is valid? [True, True] Translation: X:377.73, Y:3.61, Z:2.60 [[ 9.97886217e-01 -6.35584899e-02 -1.35431494e-02 3.77733303e+02] [ 6.35616684e-02 9.97977893e-01 -1.96041649e-04 3.60961172e+00] [ 1.35282239e-02 -6.65197914e-04 9.99908268e-01 2.59847544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.56925415399996 meters 0.023775195117919208 Centerline is valid? [True, True] Translation: X:377.77, Y:3.62, Z:2.60 [[ 9.97973561e-01 -6.18972479e-02 -1.47479570e-02 3.77765768e+02] [ 6.19008545e-02 9.98082281e-01 -2.12245207e-04 3.61725410e+00] [ 1.47328119e-02 -7.01096035e-04 9.99891220e-01 2.59899450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59925415399994 meters 0.023310532581850552 Centerline is valid? [True, True] Translation: X:377.80, Y:3.62, Z:2.60 [[ 9.98035381e-01 -6.07355345e-02 -1.53809124e-02 3.77797975e+02] [ 6.07393394e-02 9.98153638e-01 -2.20076623e-04 3.61873131e+00] [ 1.53658801e-02 -7.14582202e-04 9.99881683e-01 2.59889058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.62925415399997 meters 0.022628158958520755 Centerline is valid? [True, True] Translation: X:377.83, Y:3.62, Z:2.60 [[ 9.98094736e-01 -5.95262656e-02 -1.62333760e-02 3.77829831e+02] [ 5.95303641e-02 9.98226468e-01 -2.31056910e-04 3.62063525e+00] [ 1.62183396e-02 -7.35762100e-04 9.99868203e-01 2.59852174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65925415399994 meters 0.02222673569433561 Centerline is valid? [True, True] Translation: X:377.86, Y:3.62, Z:2.60 [[ 9.98183452e-01 -5.77835401e-02 -1.70545826e-02 3.77861906e+02] [ 5.77878317e-02 9.98328858e-01 -2.41472941e-04 3.62213918e+00] [ 1.70400351e-02 -7.44513055e-04 9.99854531e-01 2.59808012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68925415399997 meters 0.020301913907997887 Centerline is valid? [True, True] Translation: X:377.89, Y:3.63, Z:2.60 [[ 9.98376164e-01 -5.40697673e-02 -1.79303013e-02 3.77893737e+02] [ 5.40739336e-02 9.98536903e-01 -2.52733064e-04 3.62661620e+00] [ 1.79177328e-02 -7.17239257e-04 9.99839207e-01 2.59784042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71925415399994 meters 0.01907211283397714 Centerline is valid? [True, True] Translation: X:377.93, Y:3.63, Z:2.60 [[ 9.98475325e-01 -5.19073410e-02 -1.87790432e-02 3.77926428e+02] [ 5.19115575e-02 9.98651651e-01 -2.63195663e-04 3.62979046e+00] [ 1.87673843e-02 -7.12055007e-04 9.99823624e-01 2.59812943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74925415399997 meters 0.018721404520533537 Centerline is valid? [True, True] Translation: X:377.96, Y:3.63, Z:2.60 [[ 9.98610882e-01 -4.91527864e-02 -1.89818226e-02 3.77957201e+02] [ 4.91566182e-02 9.98791048e-01 -2.64942503e-04 3.63178804e+00] [ 1.89718971e-02 -6.68507739e-04 9.99819794e-01 2.59808947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.77925415399994 meters 0.018054911424195602 Centerline is valid? [True, True] Translation: X:377.99, Y:3.63, Z:2.60 [[ 9.98750676e-01 -4.62842186e-02 -1.88376886e-02 3.77987933e+02] [ 4.62874957e-02 9.98928125e-01 -2.62242750e-04 3.63434401e+00] [ 1.88296347e-02 -6.10034306e-04 9.99822521e-01 2.59849169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.809254154 meters 0.01586530127479225 Centerline is valid? [True, True] Translation: X:378.02, Y:3.64, Z:2.60 [[ 9.99025660e-01 -4.01854807e-02 -1.82443844e-02 3.78018357e+02] [ 4.01875427e-02 9.99192122e-01 -2.53738725e-04 3.64082526e+00] [ 1.82398418e-02 -4.79705482e-04 9.99833525e-01 2.59968290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.83925415399995 meters 0.014758835124797896 Centerline is valid? [True, True] Translation: X:378.05, Y:3.64, Z:2.60 [[ 9.99145272e-01 -3.72917482e-02 -1.78340068e-02 3.78049994e+02] [ 3.72932650e-02 9.99304334e-01 -2.47628909e-04 3.64422275e+00] [ 1.78308348e-02 -4.17671086e-04 9.99840931e-01 2.60101509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.869254154 meters 0.01451983036750365 Centerline is valid? [True, True] Translation: X:378.08, Y:3.65, Z:2.60 [[ 9.99249516e-01 -3.48011752e-02 -1.70083419e-02 3.78080710e+02] [ 3.48022045e-02 9.99394192e-01 -2.35551471e-04 3.64580038e+00] [ 1.70062356e-02 -3.56553100e-04 9.99855320e-01 2.60117297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.89925415399995 meters 0.01356020363902758 Centerline is valid? [True, True] Translation: X:378.11, Y:3.65, Z:2.60 [[ 9.99377583e-01 -3.15439734e-02 -1.57931570e-02 3.78112605e+02] [ 3.15444657e-02 9.99502326e-01 -2.18001945e-04 3.64848577e+00] [ 1.57921738e-02 -2.80320440e-04 9.99875257e-01 2.60229643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.929254154 meters 0.013134824805979451 Centerline is valid? [True, True] Translation: X:378.14, Y:3.65, Z:2.60 [[ 9.99409780e-01 -3.07157151e-02 -1.53829887e-02 3.78143663e+02] [ 3.07160945e-02 9.99528127e-01 -2.11658116e-04 3.65007139e+00] [ 1.53822311e-02 -2.60972143e-04 9.99881652e-01 2.60304860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.95925415399995 meters 0.01327193974059923 Centerline is valid? [True, True] Translation: X:378.17, Y:3.65, Z:2.60 [[ 9.99434014e-01 -3.01303864e-02 -1.49603220e-02 3.78174524e+02] [ 3.01306901e-02 9.99545947e-01 -2.05148615e-04 3.65029640e+00] [ 1.49597104e-02 -2.45732321e-04 9.99888067e-01 2.60294474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.989254154 meters 0.013018516843564013 Centerline is valid? [True, True] Translation: X:378.21, Y:3.65, Z:2.60 [[ 9.99438672e-01 -2.98251684e-02 -1.52577961e-02 3.78205730e+02] [ 2.98254594e-02 9.99555100e-01 -2.08529697e-04 3.65086649e+00] [ 1.52572274e-02 -2.46658135e-04 9.99883571e-01 2.60256626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.01925415399995 meters 0.013247794198942599 Centerline is valid? [True, True] Translation: X:378.24, Y:3.65, Z:2.60 [[ 9.99408632e-01 -3.02484317e-02 -1.63529331e-02 3.78237330e+02] [ 3.02488327e-02 9.99542375e-01 -2.22878088e-04 3.65063244e+00] [ 1.63521913e-02 -2.71910852e-04 9.99866257e-01 2.60150980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0492541539999 meters 0.01511058733076059 Centerline is valid? [True, True] Translation: X:378.27, Y:3.65, Z:2.60 [[ 9.99392590e-01 -3.02843393e-02 -1.72426777e-02 3.78268215e+02] [ 3.02848017e-02 9.99541283e-01 -2.34358696e-04 3.65053292e+00] [ 1.72418656e-02 -2.87974730e-04 9.99851307e-01 2.60163854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.07925415399995 meters 0.014256751771032732 Centerline is valid? [True, True] Translation: X:378.30, Y:3.65, Z:2.60 [[ 9.99349769e-01 -3.17462328e-02 -1.70943277e-02 3.78298171e+02] [ 3.17469085e-02 9.99495913e-01 -2.31904780e-04 3.64871969e+00] [ 1.70930727e-02 -3.10938068e-04 9.99853854e-01 2.60033444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1092541539999 meters 0.013709229323541584 Centerline is valid? [True, True] Translation: X:378.33, Y:3.65, Z:2.60 [[ 9.99311694e-01 -3.27385062e-02 -1.74449878e-02 3.78329825e+02] [ 3.27393701e-02 9.99463895e-01 -2.36144820e-04 3.64974193e+00] [ 1.74433665e-02 -3.35155632e-04 9.99847797e-01 2.60087799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.13925415399996 meters 0.014114071128649751 Centerline is valid? [True, True] Translation: X:378.36, Y:3.65, Z:2.60 [[ 9.99268272e-01 -3.39023934e-02 -1.77073086e-02 3.78360424e+02] [ 3.39034816e-02 9.99425083e-01 -2.38820426e-04 3.64858415e+00] [ 1.77052250e-02 -3.61693738e-04 9.99843185e-01 2.60043967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.16925415399993 meters 0.015395603783978314 Centerline is valid? [True, True] Translation: X:378.39, Y:3.65, Z:2.60 [[ 9.99188050e-01 -3.60668391e-02 -1.79561668e-02 3.78390529e+02] [ 3.60683182e-02 9.99349297e-01 -2.41575495e-04 3.64547537e+00] [ 1.79531956e-02 -4.06269392e-04 9.99838746e-01 2.59937384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.19925415399996 meters 0.014803418994332584 Centerline is valid? [True, True] Translation: X:378.42, Y:3.65, Z:2.60 [[ 9.99162987e-01 -3.67402045e-02 -1.79856508e-02 3.78421393e+02] [ 3.67418071e-02 9.99324763e-01 -2.41440551e-04 3.64682233e+00] [ 1.79823768e-02 -4.19586851e-04 9.99838216e-01 2.60041513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.22925415399993 meters 0.014902234023191675 Centerline is valid? [True, True] Translation: X:378.45, Y:3.65, Z:2.60 [[ 9.99164499e-01 -3.71725195e-02 -1.69855125e-02 3.78452798e+02] [ 3.71740215e-02 9.99308781e-01 -2.27406573e-04 3.64622578e+00] [ 1.69822251e-02 -4.04203231e-04 9.99855710e-01 2.60056064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.25925415399996 meters 0.014902234023191675 Centerline is valid? [True, True] Translation: X:378.48, Y:3.65, Z:2.60 [[ 9.99167225e-01 -3.70991678e-02 -1.69855257e-02 3.78484499e+02] [ 3.71006760e-02 9.99311507e-01 -2.26414929e-04 3.64659062e+00] [ 1.69822311e-02 -4.03948110e-04 9.99855710e-01 2.60078026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.28925415399993 meters 0.015557708005884702 Centerline is valid? [True, True] Translation: X:378.52, Y:3.65, Z:2.60 [[ 9.99187146e-01 -3.68828298e-02 -1.62697570e-02 3.78516151e+02] [ 3.68842011e-02 9.99319523e-01 -2.15875557e-04 3.64569475e+00] [ 1.62666479e-02 -3.84396906e-04 9.99867615e-01 2.60070760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31925415399996 meters 0.015990015818525476 Centerline is valid? [True, True] Translation: X:378.55, Y:3.65, Z:2.60 [[ 9.99230339e-01 -3.59096915e-02 -1.57867959e-02 3.78548564e+02] [ 3.59108771e-02 9.99354975e-01 -2.08459127e-04 3.64659112e+00] [ 1.57840987e-02 -3.58619002e-04 9.99875359e-01 2.60175119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.34925415399994 meters 0.015085906771625752 Centerline is valid? [True, True] Translation: X:378.58, Y:3.65, Z:2.60 [[ 9.99257919e-01 -3.55582801e-02 -1.48060707e-02 3.78579784e+02] [ 3.55592977e-02 9.99367549e-01 -1.94614897e-04 3.64671187e+00] [ 1.48036267e-02 -3.32022997e-04 9.99890365e-01 2.60173032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37925415399997 meters 0.015124067421022293 Centerline is valid? [True, True] Translation: X:378.61, Y:3.65, Z:2.60 [[ 9.99283522e-01 -3.51179920e-02 -1.41127391e-02 3.78611619e+02] [ 3.51188848e-02 9.99383125e-01 -1.84634919e-04 3.64694896e+00] [ 1.41105173e-02 -3.11121026e-04 9.99900393e-01 2.60203422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.40925415399994 meters 0.014856154492535049 Centerline is valid? [True, True] Translation: X:378.64, Y:3.65, Z:2.60 [[ 9.99304007e-01 -3.47715296e-02 -1.35071409e-02 3.78643496e+02] [ 3.47723286e-02 9.99395244e-01 -1.75766201e-04 3.64753615e+00] [ 1.35050841e-02 -2.94030873e-04 9.99908759e-01 2.60183850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43925415399997 meters 0.015029521584091998 Centerline is valid? [True, True] Translation: X:378.68, Y:3.65, Z:2.60 [[ 9.99293415e-01 -3.51684427e-02 -1.32608811e-02 3.78676142e+02] [ 3.51692602e-02 9.99381355e-01 -1.71617098e-04 3.64727106e+00] [ 1.32587128e-02 -2.94879541e-04 9.99912056e-01 2.60167392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.46925415399994 meters 0.01601110228548121 Centerline is valid? [True, True] Translation: X:378.71, Y:3.65, Z:2.60 [[ 9.99257770e-01 -3.60656389e-02 -1.35343438e-02 3.78707281e+02] [ 3.60665844e-02 9.99349374e-01 -1.74295926e-04 3.64543575e+00] [ 1.35318241e-02 -3.13970995e-04 9.99908391e-01 2.60090077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49925415399997 meters 0.016792711449649254 Centerline is valid? [True, True] Translation: X:378.74, Y:3.64, Z:2.60 [[ 9.99155609e-01 -3.86637543e-02 -1.38990570e-02 3.78739220e+02] [ 3.86650147e-02 9.99252213e-01 -1.78121490e-04 3.64327966e+00] [ 1.38955503e-02 -3.59436159e-04 9.99903388e-01 2.59954655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.52925415399994 meters 0.017267020873738315 Centerline is valid? [True, True] Translation: X:378.77, Y:3.64, Z:2.60 [[ 9.99104519e-01 -3.99148803e-02 -1.40343543e-02 3.78771250e+02] [ 3.99163027e-02 9.99203011e-01 -1.78862274e-04 3.64186356e+00] [ 1.40303083e-02 -3.81497427e-04 9.99901498e-01 2.59895602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.559254154 meters 0.018154965858887852 Centerline is valid? [True, True] Translation: X:378.80, Y:3.64, Z:2.60 [[ 9.99047221e-01 -4.12100598e-02 -1.43659598e-02 3.78802249e+02] [ 4.12116968e-02 9.99150421e-01 -1.82199533e-04 3.64023829e+00] [ 1.43612632e-02 -4.10019640e-04 9.99896788e-01 2.59832560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.58925415399995 meters 0.018651612500848253 Centerline is valid? [True, True] Translation: X:378.83, Y:3.64, Z:2.60 [[ 9.99034003e-01 -4.15932289e-02 -1.41796776e-02 3.78834094e+02] [ 4.15948744e-02 9.99134543e-01 -1.78978079e-04 3.63947608e+00] [ 1.41748499e-02 -4.10996721e-04 9.99899447e-01 2.59779198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.619254154 meters 0.017901924221656564 Centerline is valid? [True, True] Translation: X:378.87, Y:3.64, Z:2.60 [[ 9.99044160e-01 -4.12468785e-02 -1.44727483e-02 3.78866005e+02] [ 4.12485711e-02 9.99148899e-01 -1.81658297e-04 3.64150175e+00] [ 1.44679234e-02 -4.15495526e-04 9.99895248e-01 2.59808489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.64925415399995 meters 0.017300977936259298 Centerline is valid? [True, True] Translation: X:378.90, Y:3.64, Z:2.60 [[ 9.99102881e-01 -4.00073161e-02 -1.38869652e-02 3.78898608e+02] [ 4.00087699e-02 9.99199314e-01 -1.73223264e-04 3.64296839e+00] [ 1.38827763e-02 -3.82532531e-04 9.99903556e-01 2.59823470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.679254154 meters 0.016624800080302603 Centerline is valid? [True, True] Translation: X:378.93, Y:3.64, Z:2.60 [[ 9.99178344e-01 -3.82237224e-02 -1.34753217e-02 3.78931158e+02] [ 3.82249434e-02 9.99269146e-01 -1.67029168e-04 3.64473417e+00] [ 1.34718577e-02 -3.48201482e-04 9.99909190e-01 2.59861766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.70925415399995 meters 0.015347297464925134 Centerline is valid? [True, True] Translation: X:378.96, Y:3.65, Z:2.60 [[ 9.99379973e-01 -3.29052105e-02 -1.25265992e-02 3.78961948e+02] [ 3.29058562e-02 9.99458444e-01 -1.54613842e-04 3.64831661e+00] [ 1.25249029e-02 -2.57680494e-04 9.99921527e-01 2.59912732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.739254154 meters 0.014616874476119186 Centerline is valid? [True, True] Translation: X:378.99, Y:3.65, Z:2.60 [[ 9.99481765e-01 -2.98969920e-02 -1.19319130e-02 3.78993419e+02] [ 2.98973684e-02 9.99552963e-01 -1.46866922e-04 3.65134662e+00] [ 1.19309699e-02 -2.09941989e-04 9.99928801e-01 2.59972386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.76925415399995 meters 0.013754250170199217 Centerline is valid? [True, True] Translation: X:379.02, Y:3.65, Z:2.60 [[ 9.99580248e-01 -2.67592109e-02 -1.11027811e-02 3.79024520e+02] [ 2.67593474e-02 9.99641895e-01 -1.36292627e-04 3.65434165e+00] [ 1.11024522e-02 -1.60867759e-04 9.99938353e-01 2.60040537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7992541539999 meters 0.012615076257358662 Centerline is valid? [True, True] Translation: X:379.06, Y:3.66, Z:2.60 [[ 9.99728311e-01 -2.09510274e-02 -1.02156136e-02 3.79056348e+02] [ 2.09508437e-02 9.99780499e-01 -1.25006981e-04 3.65926765e+00] [ 1.02159903e-02 -8.90527066e-05 9.99947811e-01 2.60116258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.82925415399995 meters 0.013118047782704912 Centerline is valid? [True, True] Translation: X:379.09, Y:3.66, Z:2.60 [[ 9.99776607e-01 -1.84246245e-02 -1.03571327e-02 3.79087679e+02] [ 1.84243052e-02 9.99830250e-01 -1.26242139e-04 3.66169556e+00] [ 1.03577006e-02 -6.46090377e-05 9.99946355e-01 2.60206015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8592541539999 meters 0.012968245753367339 Centerline is valid? [True, True] Translation: X:379.12, Y:3.66, Z:2.60 [[ 9.99815823e-01 -1.63649361e-02 -1.00254231e-02 3.79118848e+02] [ 1.63645371e-02 9.99866085e-01 -1.21840215e-04 3.66289732e+00] [ 1.00260745e-02 -4.22436331e-05 9.99949737e-01 2.60199683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.88925415399996 meters 0.012131492860137073 Centerline is valid? [True, True] Translation: X:379.15, Y:3.66, Z:2.60 [[ 9.99839728e-01 -1.44715038e-02 -1.05400857e-02 3.79149385e+02] [ 1.44709603e-02 9.99895282e-01 -1.27828461e-04 3.66325516e+00] [ 1.05408318e-02 -2.47171876e-05 9.99944444e-01 2.60088649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91925415399993 meters 0.012145465694995809 Centerline is valid? [True, True] Translation: X:379.18, Y:3.66, Z:2.60 [[ 9.99842934e-01 -1.41705652e-02 -1.06443975e-02 3.79178752e+02] [ 1.41699924e-02 9.99899592e-01 -1.29229374e-04 3.66305753e+00] [ 1.06451600e-02 -2.16219560e-05 9.99943338e-01 2.60054139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.94925415399996 meters 0.012247549322260269 Centerline is valid? [True, True] Translation: X:379.21, Y:3.66, Z:2.60 [[ 9.99831636e-01 -1.45206641e-02 -1.12183041e-02 3.79208850e+02] [ 1.45200452e-02 9.99894569e-01 -1.36619387e-04 3.66259874e+00] [ 1.12191051e-02 -2.62938977e-05 9.99937064e-01 2.60021477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97925415399993 meters 0.012226672404714894 Centerline is valid? [True, True] Translation: X:379.24, Y:3.66, Z:2.60 [[ 9.99793769e-01 -1.65701321e-02 -1.17409253e-02 3.79238942e+02] [ 1.65695903e-02 9.99862705e-01 -1.43423595e-04 3.66018437e+00] [ 1.17416898e-02 -5.11483044e-05 9.99931063e-01 2.59966272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.00925415399996 meters 0.014305375045518863 Centerline is valid? [True, True] Translation: X:379.27, Y:3.66, Z:2.60 [[ 9.99764065e-01 -1.78889060e-02 -1.23207686e-02 3.79268778e+02] [ 1.78884038e-02 9.99839978e-01 -1.50971470e-04 3.65861534e+00] [ 1.23214977e-02 -6.94630326e-05 9.99924085e-01 2.60047763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03925415399993 meters 0.014780772292088858 Centerline is valid? [True, True] Translation: X:379.30, Y:3.66, Z:2.60 [[ 9.99723796e-01 -1.99130717e-02 -1.24820686e-02 3.79298375e+02] [ 1.99127106e-02 9.99801711e-01 -1.53220652e-04 3.65675839e+00] [ 1.24826446e-02 -9.53734871e-05 9.99922084e-01 2.60064147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.06925415399996 meters 0.013048037341207835 Centerline is valid? [True, True] Translation: X:379.33, Y:3.65, Z:2.60 [[ 9.99675183e-01 -2.26771350e-02 -1.16308093e-02 3.79328986e+02] [ 2.26770083e-02 9.99742833e-01 -1.42789201e-04 3.65475246e+00] [ 1.16310562e-02 -1.21009138e-04 9.99932350e-01 2.60022241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09925415399994 meters 0.014930675556954503 Centerline is valid? [True, True] Translation: X:379.36, Y:3.65, Z:2.60 [[ 9.99556667e-01 -2.75132682e-02 -1.13793153e-02 3.79359928e+02] [ 2.75134612e-02 9.99621423e-01 -1.39621280e-04 3.65006500e+00] [ 1.13788488e-02 -1.73524969e-04 9.99935244e-01 2.60149990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.12925415399997 meters 0.014471791481464574 Centerline is valid? [True, True] Translation: X:379.39, Y:3.65, Z:2.60 [[ 9.99490034e-01 -3.02175743e-02 -1.03232494e-02 3.79392364e+02] [ 3.02178810e-02 9.99543328e-01 -1.26304345e-04 3.64772044e+00] [ 1.03223517e-02 -1.85706788e-04 9.99946706e-01 2.60167142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15925415399994 meters 0.016795811732897476 Centerline is valid? [True, True] Translation: X:379.42, Y:3.65, Z:2.60 [[ 9.99428434e-01 -3.22352729e-02 -1.01829755e-02 3.79424150e+02] [ 3.22356835e-02 9.99480288e-01 -1.23852683e-04 3.64640856e+00] [ 1.01816757e-02 -2.04473284e-04 9.99948144e-01 2.60354090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18925415399997 meters 0.016236016755566476 Centerline is valid? [True, True] Translation: X:379.46, Y:3.64, Z:2.60 [[ 9.99266012e-01 -3.74952949e-02 -7.84472675e-03 3.79455816e+02] [ 3.74957040e-02 9.99296784e-01 -9.49678834e-05 3.64162502e+00] [ 7.84277106e-03 -1.99245374e-04 9.99969225e-01 2.60365201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21925415399994 meters 0.017316428051525227 Centerline is valid? [True, True] Translation: X:379.49, Y:3.64, Z:2.60 [[ 9.99182609e-01 -3.97447486e-02 -7.38033057e-03 3.79488389e+02] [ 3.97451750e-02 9.99209844e-01 -8.89519359e-05 3.63918770e+00] [ 7.37803433e-03 -2.04453302e-04 9.99972761e-01 2.60443653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24925415399997 meters 0.019641535101051263 Centerline is valid? [True, True] Translation: X:379.52, Y:3.64, Z:2.61 [[ 9.99092277e-01 -4.19923916e-02 -7.15966840e-03 3.79520843e+02] [ 4.19928541e-02 9.99117907e-01 -8.57812725e-05 3.63703030e+00] [ 7.15695507e-03 -2.14951504e-04 9.99974366e-01 2.60532580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.27925415399994 meters 0.019110363224110166 Centerline is valid? [True, True] Translation: X:379.55, Y:3.63, Z:2.60 [[ 9.98821819e-01 -4.80023879e-02 -7.12346641e-03 3.79551503e+02] [ 4.80030021e-02 9.98847188e-01 -8.48374896e-05 3.63351474e+00] [ 7.11932680e-03 -2.57210237e-04 9.99974624e-01 2.60409524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.309254154 meters 0.020349506703321654 Centerline is valid? [True, True] Translation: X:379.58, Y:3.63, Z:2.60 [[ 9.98668395e-01 -5.10608707e-02 -7.36374766e-03 3.79583369e+02] [ 5.10616111e-02 9.98695501e-01 -8.75403483e-05 3.63068079e+00] [ 7.35861154e-03 -2.88581040e-04 9.99972883e-01 2.60353557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.33925415399995 meters 0.02514105111745356 Centerline is valid? [True, True] Translation: X:379.61, Y:3.63, Z:2.60 [[ 9.98512392e-01 -5.38174111e-02 -8.75721780e-03 3.79614064e+02] [ 5.38185687e-02 9.98550725e-01 -1.03574719e-04 3.62502756e+00] [ 8.75010031e-03 -3.67880288e-04 9.99961649e-01 2.60344037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.369254154 meters 0.024504371955642895 Centerline is valid? [True, True] Translation: X:379.64, Y:3.62, Z:2.60 [[ 9.98112523e-01 -6.06058105e-02 -9.91602968e-03 3.79644166e+02] [ 6.06076314e-02 9.98161661e-01 -1.17034190e-04 3.62263258e+00] [ 9.90489361e-03 -4.84173782e-04 9.99950828e-01 2.60158127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.39925415399995 meters 0.024918331717457408 Centerline is valid? [True, True] Translation: X:379.68, Y:3.62, Z:2.60 [[ 9.97921679e-01 -6.36427048e-02 -1.00959875e-02 3.79675266e+02] [ 6.36447479e-02 9.97972611e-01 -1.19115149e-04 3.62029539e+00] [ 1.00830998e-02 -5.23688988e-04 9.99949027e-01 2.60080290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.429254154 meters 0.027065620031964444 Centerline is valid? [True, True] Translation: X:379.71, Y:3.62, Z:2.60 [[ 9.97782093e-01 -6.56848767e-02 -1.07885391e-02 3.79707109e+02] [ 6.56873350e-02 9.97840247e-01 -1.26707634e-04 3.61929051e+00] [ 1.07735612e-02 -5.82243771e-04 9.99941794e-01 2.60142081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.45925415399995 meters 0.027531501885514544 Centerline is valid? [True, True] Translation: X:379.74, Y:3.62, Z:2.60 [[ 9.97565579e-01 -6.90292817e-02 -9.89313119e-03 3.79737274e+02] [ 6.90315163e-02 9.97614473e-01 -1.15832963e-04 3.61633638e+00] [ 9.87752672e-03 -5.67386870e-04 9.99951055e-01 2.60033123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.489254154 meters 0.02761633555491159 Centerline is valid? [True, True] Translation: X:379.77, Y:3.62, Z:2.60 [[ 9.97546426e-01 -6.93342648e-02 -9.68960662e-03 3.79769277e+02] [ 6.93364247e-02 9.97593328e-01 -1.13245223e-04 3.61642240e+00] [ 9.67413869e-03 -5.58875313e-04 9.99953048e-01 2.60062027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.51925415399995 meters 0.027901943943394073 Centerline is valid? [True, True] Translation: X:379.80, Y:3.62, Z:2.60 [[ 9.97629174e-01 -6.81802308e-02 -9.35346880e-03 3.79801136e+02] [ 6.81821992e-02 9.97672880e-01 -1.08640752e-04 3.61816114e+00] [ 9.33910931e-03 -5.29356889e-04 9.99956249e-01 2.60152704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5492541539999 meters 0.027901943943394073 Centerline is valid? [True, True] Translation: X:379.83, Y:3.62, Z:2.60 [[ 9.97636776e-01 -6.80689099e-02 -9.35347785e-03 3.79833723e+02] [ 6.80708807e-02 9.97680482e-01 -1.07856567e-04 3.61844736e+00] [ 9.33912397e-03 -5.29097798e-04 9.99956249e-01 2.60175273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.57925415399995 meters 0.026474987010597025 Centerline is valid? [True, True] Translation: X:379.86, Y:3.62, Z:2.60 [[ 9.97845977e-01 -6.49923948e-02 -8.91039940e-03 3.79864041e+02] [ 6.49940675e-02 9.97885645e-01 -1.02010726e-04 3.62159269e+00] [ 8.89818958e-03 -4.77332108e-04 9.99960296e-01 2.60109958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6092541539999 meters 0.02831343248422697 Centerline is valid? [True, True] Translation: X:379.89, Y:3.62, Z:2.60 [[ 9.97978993e-01 -6.28273529e-02 -9.52115709e-03 3.79894321e+02] [ 6.28291651e-02 9.98024290e-01 -1.08955058e-04 3.62152218e+00] [ 9.50919140e-03 -4.89471491e-04 9.99954667e-01 2.60126588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.63925415399996 meters 0.02428453248377504 Centerline is valid? [True, True] Translation: X:379.93, Y:3.63, Z:2.60 [[ 9.98243308e-01 -5.83873967e-02 -1.00602791e-02 3.79925028e+02] [ 5.83891971e-02 9.98293889e-01 -1.14914086e-04 3.62938053e+00] [ 1.00498247e-02 -4.72699402e-04 9.99949388e-01 2.60036447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.66925415399993 meters 0.02413574302891842 Centerline is valid? [True, True] Translation: X:379.96, Y:3.63, Z:2.60 [[ 9.98386084e-01 -5.58182292e-02 -1.04666944e-02 3.79956111e+02] [ 5.58200402e-02 9.98440839e-01 -1.19252941e-04 3.63246706e+00] [ 1.04570316e-02 -4.65190823e-04 9.99945216e-01 2.60121116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.69925415399996 meters 0.022256482818936017 Centerline is valid? [True, True] Translation: X:379.99, Y:3.64, Z:2.60 [[ 9.98610030e-01 -5.17841146e-02 -9.81908344e-03 3.79986261e+02] [ 5.17855161e-02 9.98658224e-01 -1.11634158e-04 3.63612535e+00] [ 9.81168931e-03 -3.97007313e-04 9.99951785e-01 2.60049068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.72925415399993 meters 0.021395682226965636 Centerline is valid? [True, True] Translation: X:380.02, Y:3.64, Z:2.60 [[ 9.98747808e-01 -4.90441900e-02 -9.87334368e-03 3.80017474e+02] [ 4.90454745e-02 9.98796540e-01 -1.12141422e-04 3.64050087e+00] [ 9.86696139e-03 -3.72241826e-04 9.99951251e-01 2.60160941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.75925415399996 meters 0.019613379854819066 Centerline is valid? [True, True] Translation: X:380.05, Y:3.64, Z:2.60 [[ 9.98864948e-01 -4.67011512e-02 -9.37111434e-03 3.80049576e+02] [ 4.67022093e-02 9.98908851e-01 -1.06011635e-04 3.64328085e+00] [ 9.36583992e-03 -3.31760437e-04 9.99956085e-01 2.60139142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.78925415399993 meters 0.02136299351628721 Centerline is valid? [True, True] Translation: X:380.08, Y:3.65, Z:2.60 [[ 9.98996946e-01 -4.37976555e-02 -9.32024299e-03 3.80080356e+02] [ 4.37985815e-02 9.99040376e-01 -1.04838152e-04 3.64528371e+00] [ 9.31589072e-03 -3.03480428e-04 9.99956560e-01 2.60225158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81925415399996 meters 0.020065048312402647 Centerline is valid? [True, True] Translation: X:380.11, Y:3.65, Z:2.60 [[ 9.99094524e-01 -4.15054068e-02 -9.35055615e-03 3.80111938e+02] [ 4.15062425e-02 9.99138239e-01 -1.04747362e-04 3.64614557e+00] [ 9.34684579e-03 -2.83453935e-04 9.99956277e-01 2.60144723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.84925415399994 meters 0.019264233369086822 Centerline is valid? [True, True] Translation: X:380.14, Y:3.65, Z:2.60 [[ 9.99330430e-01 -3.53411533e-02 -9.47074199e-03 3.80141918e+02] [ 3.53417388e-02 9.99375280e-01 -1.05586803e-04 3.65258390e+00] [ 9.46855699e-03 -2.29196385e-04 9.99955146e-01 2.60181822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87925415399997 meters 0.017169847696205637 Centerline is valid? [True, True] Translation: X:380.17, Y:3.66, Z:2.60 [[ 9.99425694e-01 -3.25009439e-02 -9.59014181e-03 3.80174019e+02] [ 3.25014154e-02 9.99471684e-01 -1.06726886e-04 3.65733188e+00] [ 9.58854390e-03 -2.05027590e-04 9.99954008e-01 2.60187231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.90925415399994 meters 0.015338030564692247 Centerline is valid? [True, True] Translation: X:380.21, Y:3.66, Z:2.60 [[ 9.99600669e-01 -2.66400079e-02 -9.42403120e-03 3.80205218e+02] [ 2.66402082e-02 9.99645081e-01 -1.04300065e-04 3.66247539e+00] [ 9.42346499e-03 -1.46799738e-04 9.99955587e-01 2.60133491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93925415399997 meters 0.01486354484919046 Centerline is valid? [True, True] Translation: X:380.24, Y:3.67, Z:2.60 [[ 9.99670896e-01 -2.38623043e-02 -9.41756344e-03 3.80236875e+02] [ 2.38623842e-02 9.99715247e-01 -1.03892760e-04 3.66508620e+00] [ 9.41736088e-03 -1.20866949e-04 9.99955648e-01 2.60144749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.96925415399994 meters 0.0142830096971497 Centerline is valid? [True, True] Translation: X:380.27, Y:3.67, Z:2.60 [[ 9.99783568e-01 -1.85760574e-02 -9.36733898e-03 3.80266910e+02] [ 1.85759072e-02 9.99827448e-01 -1.03052566e-04 3.67033743e+00] [ 9.36763693e-03 -7.09765568e-05 9.99956120e-01 2.60165121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99925415399997 meters 0.01395942342517845 Centerline is valid? [True, True] Translation: X:380.30, Y:3.67, Z:2.60 [[ 9.99825631e-01 -1.60282705e-02 -9.58134241e-03 3.80297994e+02] [ 1.60279984e-02 9.99871538e-01 -1.05186838e-04 3.67316266e+00] [ 9.58179753e-03 -4.84012447e-05 9.99954092e-01 2.60208544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.02925415399994 meters 0.013981659559911028 Centerline is valid? [True, True] Translation: X:380.33, Y:3.67, Z:2.60 [[ 9.99859244e-01 -1.38432158e-02 -9.47935194e-03 3.80327915e+02] [ 1.38428541e-02 9.99904178e-01 -1.03773674e-04 3.67492595e+00] [ 9.47988017e-03 -2.74622185e-05 9.99955065e-01 2.60188199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.059254154 meters 0.01386760304329266 Centerline is valid? [True, True] Translation: X:380.36, Y:3.68, Z:2.60 [[ 9.99894694e-01 -1.07711673e-02 -9.72536320e-03 3.80358669e+02] [ 1.07706425e-02 9.99941989e-01 -1.06339399e-04 3.67716212e+00] [ 9.72594442e-03 1.57979133e-06 9.99952702e-01 2.60203658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.08925415399995 meters 0.013949721094961183 Centerline is valid? [True, True] Translation: X:380.39, Y:3.68, Z:2.60 [[ 9.99905236e-01 -9.97461294e-03 -9.48819648e-03 3.80388817e+02] [ 9.97407667e-03 9.99950252e-01 -1.03837898e-04 3.67740724e+00] [ 9.48876021e-03 9.19205875e-06 9.99954981e-01 2.60228241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.119254154 meters 0.013966771415573644 Centerline is valid? [True, True] Translation: X:380.42, Y:3.68, Z:2.60 [[ 9.99909294e-01 -9.82227031e-03 -9.21556432e-03 3.80417813e+02] [ 9.82175461e-03 9.99951760e-01 -1.01217370e-04 3.67707815e+00] [ 9.21611394e-03 1.06951781e-05 9.99957531e-01 2.60274717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.14925415399995 meters 0.01511868858401319 Centerline is valid? [True, True] Translation: X:380.45, Y:3.68, Z:2.60 [[ 9.99907093e-01 -1.00812300e-02 -9.17465053e-03 3.80447687e+02] [ 1.00807256e-02 9.99949183e-01 -1.01218571e-04 3.67635778e+00] [ 9.17520471e-03 8.72203274e-06 9.99957907e-01 2.60312049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.179254154 meters 0.01511868858401319 Centerline is valid? [True, True] Translation: X:380.48, Y:3.68, Z:2.60 [[ 9.99906721e-01 -1.01180950e-02 -9.17464678e-03 3.80476837e+02] [ 1.01175891e-02 9.99948811e-01 -1.01556923e-04 3.67670889e+00] [ 9.17520470e-03 8.72214385e-06 9.99957907e-01 2.60332259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.20925415399995 meters 0.014087876372899962 Centerline is valid? [True, True] Translation: X:380.51, Y:3.67, Z:2.60 [[ 9.99871742e-01 -1.30231769e-02 -9.32181054e-03 3.80505685e+02] [ 1.30227773e-02 9.99915195e-01 -1.03576802e-04 3.67317783e+00] [ 9.32236890e-03 -1.78323446e-05 9.99956546e-01 2.60301670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.239254154 meters 0.015507170796679516 Centerline is valid? [True, True] Translation: X:380.53, Y:3.67, Z:2.60 [[ 9.99850272e-01 -1.45834088e-02 -9.31439965e-03 3.80534989e+02] [ 1.45830731e-02 9.99893656e-01 -1.03960101e-04 3.67119790e+00] [ 9.31492521e-03 -3.18880354e-05 9.99956615e-01 2.60301880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.26925415399995 meters 0.014416381291415504 Centerline is valid? [True, True] Translation: X:380.57, Y:3.67, Z:2.60 [[ 9.99795906e-01 -1.75668611e-02 -9.97756887e-03 3.80565654e+02] [ 1.75666218e-02 9.99845689e-01 -1.11628651e-04 3.66869267e+00] [ 9.97799018e-03 -6.36663108e-05 9.99950217e-01 2.60333027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2992541539999 meters 0.014915052978423948 Centerline is valid? [True, True] Translation: X:380.60, Y:3.66, Z:2.60 [[ 9.99690776e-01 -2.27174698e-02 -1.01128300e-02 3.80595854e+02] [ 2.27174874e-02 9.99741918e-01 -1.13141947e-04 3.66244998e+00] [ 1.01127903e-02 -1.16631127e-04 9.99948858e-01 2.60347538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.32925415399995 meters 0.015223722943978675 Centerline is valid? [True, True] Translation: X:380.63, Y:3.66, Z:2.60 [[ 9.99620428e-01 -2.56324391e-02 -1.00984475e-02 3.80627551e+02] [ 2.56326071e-02 9.99671424e-01 -1.12806175e-04 3.65925633e+00] [ 1.00980209e-02 -1.46086180e-04 9.99949003e-01 2.60372657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3592541539999 meters 0.017525660661333323 Centerline is valid? [True, True] Translation: X:380.66, Y:3.65, Z:2.60 [[ 9.99486160e-01 -3.05804469e-02 -9.60485250e-03 3.80659499e+02] [ 3.05808326e-02 9.99532291e-01 -1.06732554e-04 3.65295004e+00] [ 9.60362416e-03 -1.87046677e-04 9.99953867e-01 2.60423378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.38925415399996 meters 0.017030503238846292 Centerline is valid? [True, True] Translation: X:380.69, Y:3.65, Z:2.60 [[ 9.99376384e-01 -3.38900500e-02 -9.91497630e-03 3.80691353e+02] [ 3.38906320e-02 9.99425542e-01 -1.09360322e-04 3.65014907e+00] [ 9.91298679e-03 -2.26732690e-04 9.99950839e-01 2.60453793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41925415399993 meters 0.0179917578487242 Centerline is valid? [True, True] Translation: X:380.72, Y:3.65, Z:2.60 [[ 9.99279558e-01 -3.65695296e-02 -1.01505638e-02 3.80722489e+02] [ 3.65702866e-02 9.99331077e-01 -1.11083170e-04 3.64612984e+00] [ 1.01478361e-02 -2.60205885e-04 9.99948476e-01 2.60473277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.44925415399996 meters 0.01945532290105112 Centerline is valid? [True, True] Translation: X:380.75, Y:3.64, Z:2.60 [[ 9.99179663e-01 -3.92349334e-02 -1.00310499e-02 3.80753450e+02] [ 3.92358124e-02 9.99229973e-01 -1.09229799e-04 3.64146792e+00] [ 1.00276114e-02 -2.84436200e-04 9.99949682e-01 2.60463525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47925415399993 meters 0.02149576760145031 Centerline is valid? [True, True] Translation: X:380.78, Y:3.63, Z:2.60 [[ 9.98955205e-01 -4.46129248e-02 -9.90888448e-03 3.80784282e+02] [ 4.46140517e-02 9.99004292e-01 -1.07404323e-04 3.63408384e+00] [ 9.90380974e-03 -3.34783377e-04 9.99950900e-01 2.60415015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.50925415399996 meters 0.023246180009194956 Centerline is valid? [True, True] Translation: X:380.82, Y:3.63, Z:2.60 [[ 9.98885300e-01 -4.61767345e-02 -9.79112660e-03 3.80816431e+02] [ 4.61779145e-02 9.98933226e-01 -1.05636540e-04 3.63201245e+00] [ 9.78555963e-03 -3.46615020e-04 9.99952060e-01 2.60396283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53925415399993 meters 0.02244888967335757 Centerline is valid? [True, True] Translation: X:380.85, Y:3.63, Z:2.60 [[ 9.98645306e-01 -5.08894140e-02 -1.08545066e-02 3.80847926e+02] [ 5.08911498e-02 9.98704199e-01 -1.16414771e-04 3.62750164e+00] [ 1.08463656e-02 -4.36141257e-04 9.99941081e-01 2.60425971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.56925415399996 meters 0.022455829670692574 Centerline is valid? [True, True] Translation: X:380.88, Y:3.63, Z:2.60 [[ 9.98566021e-01 -5.23586470e-02 -1.11567899e-02 3.80879839e+02] [ 5.23605787e-02 9.98628237e-01 -1.19084955e-04 3.62658277e+00] [ 1.11477206e-02 -4.65261786e-04 9.99937754e-01 2.60409299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59925415399994 meters 0.02333644323950616 Centerline is valid? [True, True] Translation: X:380.91, Y:3.62, Z:2.60 [[ 9.98500978e-01 -5.35000792e-02 -1.15559244e-02 3.80911450e+02] [ 5.35022370e-02 9.98567722e-01 -1.22559208e-04 3.62406071e+00] [ 1.15459301e-02 -4.95892319e-04 9.99933221e-01 2.60379954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.62925415399997 meters 0.023654228541822715 Centerline is valid? [True, True] Translation: X:380.94, Y:3.62, Z:2.60 [[ 9.98384715e-01 -5.55015983e-02 -1.21463519e-02 3.80943168e+02] [ 5.55041385e-02 9.98458449e-01 -1.28127468e-04 3.62213620e+00] [ 1.21347389e-02 -5.46252290e-04 9.99926222e-01 2.60298448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65925415399994 meters 0.023946018653253843 Centerline is valid? [True, True] Translation: X:380.98, Y:3.62, Z:2.60 [[ 9.98296765e-01 -5.70844819e-02 -1.20387000e-02 3.80975676e+02] [ 5.70871013e-02 9.98369194e-01 -1.26228064e-04 3.62041334e+00] [ 1.20262729e-02 -5.61241420e-04 9.99927524e-01 2.60333922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68925415399997 meters 0.026783054058498044 Centerline is valid? [True, True] Translation: X:381.01, Y:3.62, Z:2.60 [[ 9.98149272e-01 -5.96859714e-02 -1.16454020e-02 3.81005438e+02] [ 5.96886098e-02 9.98217038e-01 -1.21173860e-04 3.61609724e+00] [ 1.16318710e-02 -5.74148254e-04 9.99932183e-01 2.60259655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71925415399994 meters 0.02592957802489732 Centerline is valid? [True, True] Translation: X:381.04, Y:3.62, Z:2.60 [[ 9.97990437e-01 -6.22988904e-02 -1.15730908e-02 3.81036785e+02] [ 6.23016806e-02 9.98057356e-01 -1.19617873e-04 3.61538662e+00] [ 1.15580604e-02 -6.01645512e-04 9.99933022e-01 2.60324465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74925415399997 meters 0.026805396669970855 Centerline is valid? [True, True] Translation: X:381.07, Y:3.61, Z:2.60 [[ 9.97867717e-01 -6.42108342e-02 -1.17042310e-02 3.81069016e+02] [ 6.42138264e-02 9.97936155e-01 -1.20359975e-04 3.61397337e+00] [ 1.16878037e-02 -6.31470122e-04 9.99931496e-01 2.60355558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.77925415399994 meters 0.027076960992605856 Centerline is valid? [True, True] Translation: X:381.10, Y:3.61, Z:2.60 [[ 9.97738247e-01 -6.61520890e-02 -1.19286429e-02 3.81100916e+02] [ 6.61553449e-02 9.97809328e-01 -1.21862926e-04 3.61361048e+00] [ 1.19105727e-02 -6.67556185e-04 9.99928844e-01 2.60359819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.809254154 meters 0.0280875732771893 Centerline is valid? [True, True] Translation: X:381.13, Y:3.61, Z:2.60 [[ 9.97504268e-01 -6.94108646e-02 -1.29370789e-02 3.81131976e+02] [ 6.94149744e-02 9.97587863e-01 -1.31630781e-04 3.61197249e+00] [ 1.29150095e-02 -7.66724737e-04 9.99916304e-01 2.60337764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.83925415399995 meters 0.029341071958415434 Centerline is valid? [True, True] Translation: X:381.16, Y:3.61, Z:2.60 [[ 9.97412827e-01 -7.06378266e-02 -1.33397554e-02 3.81162876e+02] [ 7.06423121e-02 9.97501702e-01 -1.35236968e-04 3.61007028e+00] [ 1.33159816e-02 -8.07464080e-04 9.99911012e-01 2.60290630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.869254154 meters 0.03034868742408228 Centerline is valid? [True, True] Translation: X:381.19, Y:3.61, Z:2.60 [[ 9.97310212e-01 -7.19562311e-02 -1.39513843e-02 3.81194738e+02] [ 7.19612770e-02 9.97407417e-01 -1.40639053e-04 3.60979832e+00] [ 1.39253341e-02 -8.63698668e-04 9.99902665e-01 2.60194289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.89925415399995 meters 0.03039174543945446 Centerline is valid? [True, True] Translation: X:381.23, Y:3.61, Z:2.60 [[ 9.97208851e-01 -7.33256140e-02 -1.40663344e-02 3.81226437e+02] [ 7.33308902e-02 9.97307656e-01 -1.41005722e-04 3.60932912e+00] [ 1.40388024e-02 -8.90884673e-04 9.99901054e-01 2.60275048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.929254154 meters 0.032591180205198765 Centerline is valid? [True, True] Translation: X:381.26, Y:3.61, Z:2.60 [[ 9.97177060e-01 -7.37258434e-02 -1.42271128e-02 3.81257208e+02] [ 7.37313005e-02 9.97278133e-01 -1.41280008e-04 3.60679704e+00] [ 1.41988045e-02 -9.08102349e-04 9.99898780e-01 2.60245667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.95925415399995 meters 0.030350682037338997 Centerline is valid? [True, True] Translation: X:381.29, Y:3.61, Z:2.60 [[ 9.97110853e-01 -7.45348629e-02 -1.46458260e-02 3.81289468e+02] [ 7.45407548e-02 9.97217958e-01 -1.43937527e-04 3.61114024e+00] [ 1.46158090e-02 -9.48189252e-04 9.99892734e-01 2.60328683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.989254154 meters 0.03147936726243972 Centerline is valid? [True, True] Translation: X:381.32, Y:3.61, Z:2.60 [[ 9.97120349e-01 -7.44335123e-02 -1.45142113e-02 3.81321880e+02] [ 7.44393058e-02 9.97225536e-01 -1.41423531e-04 3.61041479e+00] [ 1.44844688e-02 -9.39411530e-04 9.99894653e-01 2.60342393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.01925415399995 meters 0.03090342476090253 Centerline is valid? [True, True] Translation: X:381.35, Y:3.61, Z:2.60 [[ 9.97131718e-01 -7.42486586e-02 -1.46790077e-02 3.81354634e+02] [ 7.42545867e-02 9.97239307e-01 -1.41507570e-04 3.61192018e+00] [ 1.46489902e-02 -9.48881962e-04 9.99892248e-01 2.60378491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0492541539999 meters 0.032248178986883536 Centerline is valid? [True, True] Translation: X:381.39, Y:3.61, Z:2.60 [[ 9.97183846e-01 -7.36701139e-02 -1.40389117e-02 3.81385906e+02] [ 7.36755034e-02 9.97282258e-01 -1.33601282e-04 3.61195161e+00] [ 1.40106000e-02 -9.01098851e-04 9.99901441e-01 2.60463008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.07925415399995 meters 0.0323238859709099 Centerline is valid? [True, True] Translation: X:381.42, Y:3.61, Z:2.61 [[ 9.97244111e-01 -7.30215385e-02 -1.31162877e-02 3.81417694e+02] [ 7.30262047e-02 9.97330015e-01 -1.23466756e-04 3.61353541e+00] [ 1.30902831e-02 -8.34706215e-04 9.99913970e-01 2.60575371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1092541539999 meters 0.032325554261380646 Centerline is valid? [True, True] Translation: X:381.45, Y:3.62, Z:2.61 [[ 9.97333596e-01 -7.18928848e-02 -1.25343918e-02 3.81450164e+02] [ 7.18970685e-02 9.97412050e-01 -1.17101592e-04 3.61544908e+00] [ 1.25103722e-02 -7.84396676e-04 9.99921435e-01 2.60672556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.13925415399996 meters 0.03181972512029545 Centerline is valid? [True, True] Translation: X:381.48, Y:3.62, Z:2.61 [[ 9.97535423e-01 -6.91344852e-02 -1.19792307e-02 3.81481087e+02] [ 6.91381150e-02 9.97607091e-01 -1.11345154e-04 3.61990638e+00] [ 1.19582632e-02 -7.17150692e-04 9.99928240e-01 2.60808174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.16925415399993 meters 0.03151370510692661 Centerline is valid? [True, True] Translation: X:381.51, Y:3.62, Z:2.61 [[ 9.97667831e-01 -6.72230839e-02 -1.18302738e-02 3.81512054e+02] [ 6.72264936e-02 9.97737734e-01 -1.09662396e-04 3.62209190e+00] [ 1.18108824e-02 -6.85901181e-04 9.99930014e-01 2.60883200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.19925415399996 meters 0.03078105776085172 Centerline is valid? [True, True] Translation: X:381.54, Y:3.62, Z:2.61 [[ 9.97806042e-01 -6.51429031e-02 -1.18112079e-02 3.81543659e+02] [ 6.51461625e-02 9.97875727e-01 -1.08977776e-04 3.62492581e+00] [ 1.17932168e-02 -6.60716186e-04 9.99930239e-01 2.60941756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.22925415399993 meters 0.02965133015047208 Centerline is valid? [True, True] Translation: X:381.57, Y:3.63, Z:2.61 [[ 9.98078460e-01 -6.08103380e-02 -1.18950002e-02 3.81573723e+02] [ 6.08133414e-02 9.98149150e-01 -1.09381026e-04 3.62992765e+00] [ 1.18796359e-02 -6.14203865e-04 9.99929246e-01 2.60935175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.25925415399996 meters 0.024852737877470533 Centerline is valid? [True, True] Translation: X:381.61, Y:3.64, Z:2.61 [[ 9.98219037e-01 -5.84026439e-02 -1.21608274e-02 3.81605170e+02] [ 5.84056071e-02 9.98292929e-01 -1.11632682e-04 3.63900296e+00] [ 1.21465877e-02 -5.98826641e-04 9.99926048e-01 2.61021245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.28925415399993 meters 0.027903299236454467 Centerline is valid? [True, True] Translation: X:381.64, Y:3.64, Z:2.61 [[ 9.98361847e-01 -5.58265146e-02 -1.25308682e-02 3.81636133e+02] [ 5.58294644e-02 9.98440313e-01 -1.14556326e-04 3.63672790e+00] [ 1.25177193e-02 -5.85222995e-04 9.99921479e-01 2.60971604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31925415399996 meters 0.02250532756434822 Centerline is valid? [True, True] Translation: X:381.67, Y:3.65, Z:2.61 [[ 9.98626936e-01 -5.05904546e-02 -1.35959089e-02 3.81666408e+02] [ 5.05934466e-02 9.98719324e-01 -1.24015347e-04 3.64865493e+00] [ 1.35847710e-02 -5.64018826e-04 9.99907564e-01 2.61008229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.34925415399994 meters 0.021528716709439188 Centerline is valid? [True, True] Translation: X:381.70, Y:3.65, Z:2.61 [[ 9.98752441e-01 -4.77497905e-02 -1.46123170e-02 3.81697502e+02] [ 4.77529472e-02 9.98859168e-01 -1.32999120e-04 3.65252376e+00] [ 1.46019975e-02 -5.64948007e-04 9.99893226e-01 2.60926026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37925415399997 meters 0.020587823887568208 Centerline is valid? [True, True] Translation: X:381.73, Y:3.65, Z:2.61 [[ 9.98845499e-01 -4.54205772e-02 -1.56409709e-02 3.81729177e+02] [ 4.54239233e-02 9.98967791e-01 -1.41441451e-04 3.65471878e+00] [ 1.56312505e-02 -5.69196108e-04 9.99877663e-01 2.60931045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.40925415399994 meters 0.023050495172225335 Centerline is valid? [True, True] Translation: X:381.76, Y:3.65, Z:2.61 [[ 9.99066217e-01 -4.00054732e-02 -1.63173626e-02 3.81758838e+02] [ 4.00084022e-02 9.99199333e-01 -1.47024653e-04 3.65448758e+00] [ 1.63101796e-02 -5.05944241e-04 9.99866852e-01 2.60710526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43925415399997 meters 0.018164068649096667 Centerline is valid? [True, True] Translation: X:381.79, Y:3.66, Z:2.61 [[ 9.99138950e-01 -3.82686626e-02 -1.60270755e-02 3.81790003e+02] [ 3.82712705e-02 9.99267376e-01 -1.44070448e-04 3.66418305e+00] [ 1.60208471e-02 -4.69430146e-04 9.99871548e-01 2.61040595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.46925415399994 meters 0.021156687369971162 Centerline is valid? [True, True] Translation: X:381.82, Y:3.66, Z:2.61 [[ 9.99221913e-01 -3.62433049e-02 -1.55560949e-02 3.81820400e+02] [ 3.62455229e-02 9.99342905e-01 -1.39427306e-04 3.66028761e+00] [ 1.55509264e-02 -4.24519974e-04 9.99878987e-01 2.60923339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49925415399997 meters 0.017581475179162514 Centerline is valid? [True, True] Translation: X:381.85, Y:3.67, Z:2.61 [[ 9.99348302e-01 -3.32012883e-02 -1.41649267e-02 3.81852012e+02] [ 3.32028291e-02 9.99448626e-01 -1.26450029e-04 3.66951094e+00] [ 1.41613149e-02 -3.43948019e-04 9.99899664e-01 2.61200612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.52925415399994 meters 0.01708267935631162 Centerline is valid? [True, True] Translation: X:381.88, Y:3.67, Z:2.61 [[ 9.99387207e-01 -3.22308811e-02 -1.36521477e-02 3.81884284e+02] [ 3.22322335e-02 9.99480399e-01 -1.21015418e-04 3.67211688e+00] [ 1.36489545e-02 -3.19097954e-04 9.99906798e-01 2.61277230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.559254154 meters 0.017288122749354904 Centerline is valid? [True, True] Translation: X:381.92, Y:3.67, Z:2.61 [[ 9.99420813e-01 -3.14138068e-02 -1.30847776e-02 3.81915607e+02] [ 3.14149899e-02 9.99506421e-01 -1.15159454e-04 3.67341175e+00] [ 1.30819369e-02 -2.95965402e-04 9.99914384e-01 2.61356835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.58925415399995 meters 0.01721863159529749 Centerline is valid? [True, True] Translation: X:381.95, Y:3.67, Z:2.61 [[ 9.99419125e-01 -3.16113009e-02 -1.27333842e-02 3.81947497e+02] [ 3.16124474e-02 9.99500195e-01 -1.11277843e-04 3.67438151e+00] [ 1.27305377e-02 -2.91320235e-04 9.99918921e-01 2.61419359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.619254154 meters 0.017607181911091375 Centerline is valid? [True, True] Translation: X:381.98, Y:3.67, Z:2.61 [[ 9.99371620e-01 -3.31223874e-02 -1.26202849e-02 3.81979172e+02] [ 3.31236441e-02 9.99451256e-01 -1.09485638e-04 3.67432204e+00] [ 1.26169860e-02 -3.08612986e-04 9.99920355e-01 2.61442110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.64925415399995 meters 0.020421329272962998 Centerline is valid? [True, True] Translation: X:382.01, Y:3.67, Z:2.61 [[ 9.99337660e-01 -3.39343816e-02 -1.31414991e-02 3.82010732e+02] [ 3.39358240e-02 9.99424008e-01 -1.13283866e-04 3.67297092e+00] [ 1.31377739e-02 -3.32758766e-04 9.99913640e-01 2.61242861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.679254154 meters 0.018875968554696997 Centerline is valid? [True, True] Translation: X:382.04, Y:3.67, Z:2.61 [[ 9.99246525e-01 -3.66582654e-02 -1.27496268e-02 3.82042862e+02] [ 3.66598545e-02 9.99327796e-01 -1.09126231e-04 3.67292466e+00] [ 1.27450569e-02 -3.58355459e-04 9.99918714e-01 2.61441410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.70925415399995 meters 0.019305794859888262 Centerline is valid? [True, True] Translation: X:382.08, Y:3.67, Z:2.61 [[ 9.99163617e-01 -3.86503695e-02 -1.33497587e-02 3.82075109e+02] [ 3.86523026e-02 9.99252714e-01 -1.13271819e-04 3.67247652e+00] [ 1.33441606e-02 -4.02821832e-04 9.99910882e-01 2.61449254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.739254154 meters 0.021002398798266143 Centerline is valid? [True, True] Translation: X:382.11, Y:3.67, Z:2.61 [[ 9.99048281e-01 -4.13689507e-02 -1.38253897e-02 3.82105783e+02] [ 4.13712948e-02 9.99143835e-01 -1.16532795e-04 3.66922291e+00] [ 1.38183738e-02 -4.55552386e-04 9.99904418e-01 2.61417608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.76925415399995 meters 0.02402078754141997 Centerline is valid? [True, True] Translation: X:382.14, Y:3.66, Z:2.61 [[ 9.98819775e-01 -4.60943676e-02 -1.53090576e-02 3.82135589e+02] [ 4.60978096e-02 9.98936923e-01 -1.28154614e-04 3.66475778e+00] [ 1.52986901e-02 -5.77710661e-04 9.99882801e-01 2.61269660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7992541539999 meters 0.02602486297940031 Centerline is valid? [True, True] Translation: X:382.17, Y:3.66, Z:2.61 [[ 9.98714755e-01 -4.80985800e-02 -1.59801080e-02 3.82167800e+02] [ 4.81026049e-02 9.98842391e-01 -1.32623261e-04 3.66261066e+00] [ 1.59679883e-02 -6.36232015e-04 9.99872301e-01 2.61142853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.82925415399995 meters 0.024348395826991203 Centerline is valid? [True, True] Translation: X:382.20, Y:3.66, Z:2.61 [[ 9.98579351e-01 -5.08508800e-02 -1.59206790e-02 3.82199365e+02] [ 5.08552393e-02 9.98706027e-01 -1.31175891e-04 3.66371568e+00] [ 1.59067485e-02 -6.78660404e-04 9.99873249e-01 2.61322222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8592541539999 meters 0.022782016901331793 Centerline is valid? [True, True] Translation: X:382.23, Y:3.67, Z:2.61 [[ 9.98427909e-01 -5.36998227e-02 -1.60636396e-02 3.82230703e+02] [ 5.37046401e-02 9.98556856e-01 -1.31643033e-04 3.66658074e+00] [ 1.60475266e-02 -7.31255904e-04 9.99870963e-01 2.61459655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.88925415399996 meters 0.022950373161011884 Centerline is valid? [True, True] Translation: X:382.26, Y:3.67, Z:2.62 [[ 9.98394648e-01 -5.43479083e-02 -1.59508888e-02 3.82262814e+02] [ 5.43527556e-02 9.98521788e-01 -1.29785670e-04 3.66682457e+00] [ 1.59343636e-02 -7.37397445e-04 9.99872768e-01 2.61522162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91925415399993 meters 0.02352579943150131 Centerline is valid? [True, True] Translation: X:382.30, Y:3.67, Z:2.62 [[ 9.98378719e-01 -5.47120485e-02 -1.57011329e-02 3.82295050e+02] [ 5.47168085e-02 9.98501905e-01 -1.26587748e-04 3.66650802e+00] [ 1.56845370e-02 -7.32733366e-04 9.99876722e-01 2.61578267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.94925415399996 meters 0.02639442967004321 Centerline is valid? [True, True] Translation: X:382.33, Y:3.66, Z:2.62 [[ 9.98395050e-01 -5.46835239e-02 -1.47321749e-02 3.82326425e+02] [ 5.46877248e-02 9.98503500e-01 -1.17857849e-04 3.66305946e+00] [ 1.47165731e-02 -6.88000432e-04 9.99891469e-01 2.61593908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97925415399993 meters 0.02354769443410285 Centerline is valid? [True, True] Translation: X:382.36, Y:3.67, Z:2.62 [[ 9.98396915e-01 -5.45729938e-02 -1.50129567e-02 3.82358620e+02] [ 5.45773588e-02 9.98509538e-01 -1.19109995e-04 3.66793989e+00] [ 1.49970806e-02 -7.00448471e-04 9.99887292e-01 2.61681616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.00925415399996 meters 0.025198923791290632 Centerline is valid? [True, True] Translation: X:382.39, Y:3.67, Z:2.62 [[ 9.98404497e-01 -5.42682914e-02 -1.56016918e-02 3.82389655e+02] [ 5.42729843e-02 9.98526128e-01 -1.22762661e-04 3.66658683e+00] [ 1.55853590e-02 -7.24183579e-04 9.99878279e-01 2.61672428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03925415399993 meters 0.0239965127604578 Centerline is valid? [True, True] Translation: X:382.42, Y:3.67, Z:2.62 [[ 9.98394965e-01 -5.43275969e-02 -1.60001902e-02 3.82422171e+02] [ 5.43325573e-02 9.98522888e-01 -1.24833520e-04 3.66885240e+00] [ 1.59833380e-02 -7.44698090e-04 9.99871981e-01 2.61739883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.06925415399996 meters 0.0239965127604578 Centerline is valid? [True, True] Translation: X:382.45, Y:3.67, Z:2.62 [[ 9.98398971e-01 -5.42539196e-02 -1.60001993e-02 3.82453897e+02] [ 5.42588894e-02 9.98526894e-01 -1.23652484e-04 3.66903883e+00] [ 1.59833380e-02 -7.44698532e-04 9.99871981e-01 2.61761855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09925415399994 meters 0.024693762552555662 Centerline is valid? [True, True] Translation: X:382.48, Y:3.67, Z:2.62 [[ 9.98350943e-01 -5.47561703e-02 -1.72382220e-02 3.82484735e+02] [ 5.47620331e-02 9.98499425e-01 -1.32102455e-04 3.66847042e+00] [ 1.72195882e-02 -8.12115475e-04 9.99851402e-01 2.61696897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.12925415399997 meters 0.027016130988181113 Centerline is valid? [True, True] Translation: X:382.52, Y:3.67, Z:2.62 [[ 9.98323613e-01 -5.46864361e-02 -1.89567108e-02 3.82515738e+02] [ 5.46935480e-02 9.98503177e-01 -1.43469697e-04 3.66738299e+00] [ 1.89361818e-02 -8.93580585e-04 9.99820295e-01 2.61505068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15925415399994 meters 0.026301609010886705 Centerline is valid? [True, True] Translation: X:382.55, Y:3.67, Z:2.62 [[ 9.98259867e-01 -5.58710734e-02 -1.88589736e-02 3.82548002e+02] [ 5.58783541e-02 9.98437574e-01 -1.41080659e-04 3.66722813e+00] [ 1.88373902e-02 -9.12973247e-04 9.99822144e-01 2.61629989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18925415399997 meters 0.027233736981062316 Centerline is valid? [True, True] Translation: X:382.58, Y:3.67, Z:2.62 [[ 9.98234837e-01 -5.58555587e-02 -2.01833350e-02 3.82579067e+02] [ 5.58639201e-02 9.98438381e-01 -1.49746578e-04 3.66700856e+00] [ 2.01601805e-02 -9.78037966e-04 9.99796285e-01 2.61607532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21925415399994 meters 0.0275055033640695 Centerline is valid? [True, True] Translation: X:382.61, Y:3.67, Z:2.62 [[ 9.98265534e-01 -5.50308018e-02 -2.09173082e-02 3.82611213e+02] [ 5.50396306e-02 9.98484159e-01 -1.53822149e-04 3.66796272e+00] [ 2.08940658e-02 -9.97725568e-04 9.99781197e-01 2.61568759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24925415399997 meters 0.02540998786644944 Centerline is valid? [True, True] Translation: X:382.64, Y:3.67, Z:2.62 [[ 9.98324753e-01 -5.40059154e-02 -2.07617258e-02 3.82643171e+02] [ 5.40144230e-02 9.98540144e-01 -1.51195499e-04 3.67172764e+00] [ 2.07395821e-02 -9.70490431e-04 9.99784441e-01 2.61713460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.27925415399994 meters 0.025279509502592508 Centerline is valid? [True, True] Translation: X:382.67, Y:3.67, Z:2.62 [[ 9.98432826e-01 -5.18296420e-02 -2.11087814e-02 3.82674318e+02] [ 5.18379726e-02 9.98655497e-01 -1.52705927e-04 3.67365099e+00] [ 2.10883153e-02 -9.41769825e-04 9.99777173e-01 2.61724748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.309254154 meters 0.021913728397554812 Centerline is valid? [True, True] Translation: X:382.70, Y:3.68, Z:2.62 [[ 9.98677634e-01 -4.70847844e-02 -2.06399362e-02 3.82704560e+02] [ 4.70917422e-02 9.98890557e-01 -1.49071085e-04 3.68188491e+00] [ 2.06240563e-02 -8.23096596e-04 9.99786963e-01 2.61917570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.33925415399995 meters 0.02187069860081875 Centerline is valid? [True, True] Translation: X:382.74, Y:3.69, Z:2.62 [[ 9.98842940e-01 -4.33318276e-02 -2.08598445e-02 3.82735630e+02] [ 4.33381280e-02 9.99060451e-01 -1.50144582e-04 3.68546647e+00] [ 2.08467517e-02 -7.54055756e-04 9.99782398e-01 2.61869744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.369254154 meters 0.019235953991843094 Centerline is valid? [True, True] Translation: X:382.77, Y:3.69, Z:2.62 [[ 9.99110754e-01 -3.74101309e-02 -1.94469612e-02 3.82765444e+02] [ 3.74144904e-02 9.99299823e-01 -1.39736274e-04 3.69161389e+00] [ 1.94385724e-02 -5.87986130e-04 9.99810880e-01 2.62064687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.39925415399995 meters 0.01874396568997784 Centerline is valid? [True, True] Translation: X:382.80, Y:3.70, Z:2.62 [[ 9.99268856e-01 -3.32462762e-02 -1.88795572e-02 3.82796573e+02] [ 3.32496464e-02 9.99447068e-01 -1.35444630e-04 3.69536680e+00] [ 1.88736211e-02 -4.92393002e-04 9.99821756e-01 2.62105826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.429254154 meters 0.017371280235170178 Centerline is valid? [True, True] Translation: X:382.83, Y:3.70, Z:2.62 [[ 9.99384540e-01 -3.00324069e-02 -1.81272111e-02 3.82827224e+02] [ 3.00349876e-02 9.99548840e-01 -1.29927752e-04 3.69910298e+00] [ 1.81229349e-02 -4.14602774e-04 9.99835680e-01 2.62239776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.45925415399995 meters 0.01533951672574546 Centerline is valid? [True, True] Translation: X:382.86, Y:3.71, Z:2.62 [[ 9.99596057e-01 -2.26600638e-02 -1.71535622e-02 3.82857875e+02] [ 2.26612901e-02 9.99743192e-01 -1.22905843e-04 3.70735002e+00] [ 1.71519421e-02 -2.65865653e-04 9.99852859e-01 2.62456072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.489254154 meters 0.014514186580273718 Centerline is valid? [True, True] Translation: X:382.89, Y:3.71, Z:2.63 [[ 9.99737932e-01 -1.60183911e-02 -1.63547641e-02 3.82887388e+02] [ 1.60186149e-02 9.99871687e-01 -1.17325603e-04 3.71286459e+00] [ 1.63545449e-02 -1.44685811e-04 9.99866245e-01 2.62527320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.51925415399995 meters 0.014264753394301005 Centerline is valid? [True, True] Translation: X:382.92, Y:3.71, Z:2.63 [[ 9.99773590e-01 -1.37516119e-02 -1.62376592e-02 3.82916191e+02] [ 1.37514927e-02 9.99905437e-01 -1.18996717e-04 3.71487720e+00] [ 1.62377601e-02 -1.04322277e-04 9.99868153e-01 2.62533378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5492541539999 meters 0.014911651138388002 Centerline is valid? [True, True] Translation: X:382.94, Y:3.72, Z:2.62 [[ 9.99787177e-01 -1.21676379e-02 -1.66597994e-02 3.82944328e+02] [ 1.21672150e-02 9.99925969e-01 -1.26744384e-04 3.71602200e+00] [ 1.66601082e-02 -7.59859508e-05 9.99861208e-01 2.62456423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.57925415399995 meters 0.014208884440747312 Centerline is valid? [True, True] Translation: X:382.97, Y:3.72, Z:2.62 [[ 9.99792796e-01 -1.18490210e-02 -1.65519134e-02 3.82971593e+02] [ 1.18484949e-02 9.99929796e-01 -1.29850707e-04 3.71672990e+00] [ 1.65522900e-02 -6.62914595e-05 9.99862999e-01 2.62452023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6092541539999 meters 0.014252259800990583 Centerline is valid? [True, True] Translation: X:383.00, Y:3.72, Z:2.62 [[ 9.99760756e-01 -1.33017026e-02 -1.73636112e-02 3.83000179e+02] [ 1.33012712e-02 9.99911524e-01 -1.40337440e-04 3.71559391e+00] [ 1.73639417e-02 -9.06542360e-05 9.99849231e-01 2.62387712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.63925415399996 meters 0.014270301281534142 Centerline is valid? [True, True] Translation: X:383.03, Y:3.71, Z:2.62 [[ 9.99728232e-01 -1.50971740e-02 -1.77633634e-02 3.83028693e+02] [ 1.50969245e-02 9.99886024e-01 -1.48150239e-04 3.71435757e+00] [ 1.77635755e-02 -1.20062181e-04 9.99842208e-01 2.62346652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.66925415399993 meters 0.014561622954761442 Centerline is valid? [True, True] Translation: X:383.06, Y:3.71, Z:2.62 [[ 9.99682386e-01 -1.78222829e-02 -1.78183240e-02 3.83057516e+02] [ 1.78223832e-02 9.99841157e-01 -1.53175269e-04 3.71284349e+00] [ 1.78182236e-02 -1.64438380e-04 9.99841229e-01 2.62322591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.69925415399996 meters 0.015031428164834616 Centerline is valid? [True, True] Translation: X:383.09, Y:3.71, Z:2.62 [[ 9.99558270e-01 -2.33940653e-02 -1.83298077e-02 3.83086093e+02] [ 2.33950593e-02 9.99726285e-01 -1.60232667e-04 3.70868997e+00] [ 1.83285391e-02 -2.68665050e-04 9.99831982e-01 2.62289044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.72925415399993 meters 0.01657814612892821 Centerline is valid? [True, True] Translation: X:383.12, Y:3.71, Z:2.62 [[ 9.99479584e-01 -2.62374130e-02 -1.87659196e-02 3.83115152e+02] [ 2.62389340e-02 9.99655686e-01 -1.65210066e-04 3.70544219e+00] [ 1.87637929e-02 -3.27273639e-04 9.99823891e-01 2.62171949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.75925415399996 meters 0.016733998742772843 Centerline is valid? [True, True] Translation: X:383.14, Y:3.70, Z:2.62 [[ 9.99394789e-01 -2.96328507e-02 -1.82194888e-02 3.83144515e+02] [ 2.96348342e-02 9.99560779e-01 -1.61168256e-04 3.70307933e+00] [ 1.82162623e-02 -3.78860814e-04 9.99833998e-01 2.62227330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.78925415399993 meters 0.01694533811797282 Centerline is valid? [True, True] Translation: X:383.18, Y:3.70, Z:2.62 [[ 9.99309693e-01 -3.24649256e-02 -1.80600843e-02 3.83175158e+02] [ 3.24673324e-02 9.99472784e-01 -1.60002665e-04 3.70177686e+00] [ 1.80557572e-02 -4.26470545e-04 9.99836891e-01 2.62312639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81925415399996 meters 0.017841724603351154 Centerline is valid? [True, True] Translation: X:383.21, Y:3.70, Z:2.62 [[ 9.99130799e-01 -3.79291346e-02 -1.72923831e-02 3.83206477e+02] [ 3.79321653e-02 9.99280305e-01 -1.52817328e-04 3.69832962e+00] [ 1.72857341e-02 -5.03253036e-04 9.99850464e-01 2.62398848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.84925415399994 meters 0.01872408855167944 Centerline is valid? [True, True] Translation: X:383.24, Y:3.70, Z:2.62 [[ 9.99046982e-01 -4.03475844e-02 -1.66493189e-02 3.83238748e+02] [ 4.03507454e-02 9.99185566e-01 -1.46168967e-04 3.69601150e+00] [ 1.66416567e-02 -5.25782762e-04 9.99861380e-01 2.62399548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87925415399997 meters 0.019132693488566613 Centerline is valid? [True, True] Translation: X:383.27, Y:3.69, Z:2.62 [[ 9.98957305e-01 -4.26023391e-02 -1.64116867e-02 3.83271019e+02] [ 4.26057342e-02 9.99091953e-01 -1.42872688e-04 3.69453931e+00] [ 1.64028709e-02 -5.56508247e-04 9.99865309e-01 2.62460894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.90925415399994 meters 0.022081575846012495 Centerline is valid? [True, True] Translation: X:383.30, Y:3.69, Z:2.62 [[ 9.98785402e-01 -4.66519019e-02 -1.58531262e-02 3.83301274e+02] [ 4.66555895e-02 9.98911026e-01 -1.37348241e-04 3.68838949e+00] [ 1.58422701e-02 -6.02455532e-04 9.99874322e-01 2.62445421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93925415399997 meters 0.022840149504088823 Centerline is valid? [True, True] Translation: X:383.33, Y:3.69, Z:2.62 [[ 9.98706438e-01 -4.84943658e-02 -1.52887947e-02 3.83333842e+02] [ 4.84980221e-02 9.98823270e-01 -1.31739142e-04 3.68695590e+00] [ 1.52771925e-02 -6.09907572e-04 9.99883111e-01 2.62461227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.96925415399994 meters 0.021912686862091774 Centerline is valid? [True, True] Translation: X:383.37, Y:3.69, Z:2.63 [[ 9.98641569e-01 -5.01026122e-02 -1.43088964e-02 3.83365955e+02] [ 5.01059940e-02 9.98743898e-01 -1.22287182e-04 3.68824408e+00] [ 1.42970499e-02 -5.94840414e-04 9.99897615e-01 2.62549475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99925415399997 meters 0.022492780933952843 Centerline is valid? [True, True] Translation: X:383.40, Y:3.69, Z:2.63 [[ 9.98448571e-01 -5.38255035e-02 -1.42571207e-02 3.83397535e+02] [ 5.38292507e-02 9.98550148e-01 -1.21060999e-04 3.68730541e+00] [ 1.42429661e-02 -6.46576942e-04 9.99898355e-01 2.62579975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.02925415399994 meters 0.02352691873185388 Centerline is valid? [True, True] Translation: X:383.43, Y:3.69, Z:2.63 [[ 9.98332532e-01 -5.59200963e-02 -1.43212506e-02 3.83429588e+02] [ 5.59241039e-02 9.98435015e-01 -1.20796402e-04 3.68577542e+00] [ 1.43055930e-02 -6.80308130e-04 9.99897438e-01 2.62601569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.059254154 meters 0.02505143534795275 Centerline is valid? [True, True] Translation: X:383.46, Y:3.68, Z:2.63 [[ 9.98066981e-01 -6.05483912e-02 -1.40069298e-02 3.83461108e+02] [ 6.05526900e-02 9.98164995e-01 -1.17378909e-04 3.68348397e+00] [ 1.39883341e-02 -7.31005264e-04 9.99901891e-01 2.62538273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.08925415399995 meters 0.026526164276138194 Centerline is valid? [True, True] Translation: X:383.49, Y:3.68, Z:2.63 [[ 9.97915408e-01 -6.29971725e-02 -1.40069495e-02 3.83491357e+02] [ 6.30017173e-02 9.98013412e-01 -1.16991121e-04 3.68146852e+00] [ 1.39864935e-02 -7.65714628e-04 9.99901891e-01 2.62525977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.119254154 meters 0.026938289589996847 Centerline is valid? [True, True] Translation: X:383.52, Y:3.68, Z:2.63 [[ 9.97764937e-01 -6.53291958e-02 -1.40437603e-02 3.83522467e+02] [ 6.53339983e-02 9.97863445e-01 -1.17037648e-04 3.68077531e+00] [ 1.40214010e-02 -8.00758952e-04 9.99901375e-01 2.62509986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.14925415399995 meters 0.028037991813844157 Centerline is valid? [True, True] Translation: X:383.55, Y:3.68, Z:2.62 [[ 9.97494819e-01 -6.91498132e-02 -1.49127237e-02 3.83553762e+02] [ 6.91556582e-02 9.97605874e-01 -1.23995570e-04 3.67963323e+00] [ 1.48855951e-02 -9.07614287e-04 9.99888791e-01 2.62468444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.179254154 meters 0.029230818772548326 Centerline is valid? [True, True] Translation: X:383.59, Y:3.68, Z:2.62 [[ 9.97387672e-01 -7.06049375e-02 -1.52569771e-02 3.83585791e+02] [ 7.06112365e-02 9.97503903e-01 -1.26106955e-04 3.67893100e+00] [ 1.52277980e-02 -9.51536495e-04 9.99883598e-01 2.62414610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.20925415399995 meters 0.03047625146834842 Centerline is valid? [True, True] Translation: X:383.62, Y:3.68, Z:2.62 [[ 9.97361714e-01 -7.07046823e-02 -1.64456587e-02 3.83618186e+02] [ 7.07120357e-02 9.97496762e-01 -1.34659024e-04 3.68020368e+00] [ 1.64140123e-02 -1.02860225e-03 9.99864752e-01 2.62200119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.239254154 meters 0.03446983941181095 Centerline is valid? [True, True] Translation: X:383.65, Y:3.68, Z:2.62 [[ 9.97283362e-01 -7.14362209e-02 -1.79655654e-02 3.83649790e+02] [ 7.14451362e-02 9.97444520e-01 -1.45915440e-04 3.67512127e+00] [ 1.79300784e-02 -1.13803323e-03 9.99838596e-01 2.62129246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.26925415399995 meters 0.033803257806012274 Centerline is valid? [True, True] Translation: X:383.68, Y:3.68, Z:2.62 [[ 9.97312467e-01 -7.08371305e-02 -1.87067787e-02 3.83681653e+02] [ 7.08467150e-02 9.97487203e-01 -1.50694798e-04 3.67763298e+00] [ 1.86704472e-02 -1.17502402e-03 9.99825002e-01 2.62115413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2992541539999 meters 0.030430395064683438 Centerline is valid? [True, True] Translation: X:383.71, Y:3.68, Z:2.62 [[ 9.97402071e-01 -6.93446190e-02 -1.95046988e-02 3.83713751e+02] [ 6.93547826e-02 9.97592046e-01 -1.55681192e-04 3.68462511e+00] [ 1.94685280e-02 -1.19746740e-03 9.99809753e-01 2.62107853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.32925415399995 meters 0.02955986613634975 Centerline is valid? [True, True] Translation: X:383.74, Y:3.69, Z:2.62 [[ 9.97632479e-01 -6.59930037e-02 -1.93484103e-02 3.83743694e+02] [ 6.60023867e-02 9.97819453e-01 -1.53926283e-04 3.68891901e+00] [ 1.93163782e-02 -1.12347940e-03 9.99812790e-01 2.62225338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3592541539999 meters 0.02799310738120359 Centerline is valid? [True, True] Translation: X:383.78, Y:3.69, Z:2.62 [[ 9.97793367e-01 -6.36047194e-02 -1.90482787e-02 3.83775554e+02] [ 6.36133974e-02 9.97974605e-01 -1.50606098e-04 3.69353038e+00] [ 1.90192777e-02 -1.06145196e-03 9.99818554e-01 2.62344284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.38925415399996 meters 0.02966404758114589 Centerline is valid? [True, True] Translation: X:383.81, Y:3.70, Z:2.62 [[ 9.97981474e-01 -6.04045894e-02 -1.96026240e-02 3.83806498e+02] [ 6.04131840e-02 9.98173444e-01 -1.53991339e-04 3.69544982e+00] [ 1.95761204e-02 -1.03057642e-03 9.99807838e-01 2.62226057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41925415399993 meters 0.025024391847109934 Centerline is valid? [True, True] Translation: X:383.84, Y:3.71, Z:2.63 [[ 9.98313042e-01 -5.53313216e-02 -1.75930210e-02 3.83837325e+02] [ 5.53374623e-02 9.98467699e-01 -1.37950870e-04 3.70529254e+00] [ 1.75736962e-02 -8.35834982e-04 9.99845221e-01 2.62668896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.44925415399996 meters 0.024479235716874926 Centerline is valid? [True, True] Translation: X:383.87, Y:3.71, Z:2.63 [[ 9.98480275e-01 -5.22455359e-02 -1.75369607e-02 3.83867977e+02] [ 5.22511697e-02 9.98633965e-01 -1.37107431e-04 3.70886324e+00] [ 1.75201678e-02 -7.79427642e-04 9.99846206e-01 2.62761771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47925415399993 meters 0.023669433766234423 Centerline is valid? [True, True] Translation: X:383.90, Y:3.71, Z:2.63 [[ 9.98659708e-01 -4.89342961e-02 -1.68588813e-02 3.83899552e+02] [ 4.89390444e-02 9.98801758e-01 -1.31036302e-04 3.71249991e+00] [ 1.68450925e-02 -6.94196868e-04 9.99857870e-01 2.62859594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.50925415399996 meters 0.021673021887145875 Centerline is valid? [True, True] Translation: X:383.93, Y:3.72, Z:2.63 [[ 9.98967193e-01 -4.24214486e-02 -1.62778189e-02 3.83930155e+02] [ 4.24250187e-02 9.99099646e-01 -1.26088554e-04 3.72019420e+00] [ 1.62685120e-02 -5.64628441e-04 9.99867500e-01 2.62933750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53925415399993 meters 0.019970473588310923 Centerline is valid? [True, True] Translation: X:383.96, Y:3.73, Z:2.63 [[ 9.99098322e-01 -3.92040877e-02 -1.62967007e-02 3.83961408e+02] [ 3.92072450e-02 9.99231092e-01 -1.25833567e-04 3.72558322e+00] [ 1.62891032e-02 -5.13228632e-04 9.99867192e-01 2.63004858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.56925415399996 meters 0.017497653578225008 Centerline is valid? [True, True] Translation: X:383.99, Y:3.73, Z:2.63 [[ 9.99272501e-01 -3.44260700e-02 -1.64107783e-02 3.83993091e+02] [ 3.44286406e-02 9.99407151e-01 -1.25935058e-04 3.73194071e+00] [ 1.64053846e-02 -4.39157348e-04 9.99865326e-01 2.63157539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59925415399994 meters 0.017120545784181335 Centerline is valid? [True, True] Translation: X:384.02, Y:3.73, Z:2.63 [[ 9.99347673e-01 -3.20403494e-02 -1.66626624e-02 3.84024544e+02] [ 3.20426834e-02 9.99486493e-01 -1.26949978e-04 3.73425135e+00] [ 1.66581736e-02 -4.07049252e-04 9.99861160e-01 2.63153610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.62925415399997 meters 0.016727040676681855 Centerline is valid? [True, True] Translation: X:384.06, Y:3.74, Z:2.63 [[ 9.99413911e-01 -2.97839370e-02 -1.68745633e-02 3.84056248e+02] [ 2.97860219e-02 9.99556290e-01 -1.27825167e-04 3.73649728e+00] [ 1.68708830e-02 -3.74875860e-04 9.99857606e-01 2.63144668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65925415399994 meters 0.015895892601565757 Centerline is valid? [True, True] Translation: X:384.09, Y:3.74, Z:2.63 [[ 9.99531037e-01 -2.51733375e-02 -1.74358783e-02 3.84086678e+02] [ 2.51748699e-02 9.99683054e-01 -1.31633792e-04 3.74051948e+00] [ 1.74336658e-02 -3.07373907e-04 9.99847975e-01 2.63087203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68925415399997 meters 0.015311020036189685 Centerline is valid? [True, True] Translation: X:384.12, Y:3.74, Z:2.63 [[ 9.99583076e-01 -2.27209437e-02 -1.78166607e-02 3.84117635e+02] [ 2.27221599e-02 9.99741809e-01 -1.34189618e-04 3.74269758e+00] [ 1.78151095e-02 -2.70699343e-04 9.99841262e-01 2.63090058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71925415399994 meters 0.01565162576431537 Centerline is valid? [True, True] Translation: X:384.15, Y:3.74, Z:2.63 [[ 9.99625727e-01 -2.02345737e-02 -1.84110697e-02 3.84147796e+02] [ 2.02354495e-02 9.99795233e-01 -1.38742115e-04 3.74436960e+00] [ 1.84101071e-02 -2.33866084e-04 9.99830492e-01 2.63027049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74925415399997 meters 0.015046117329406776 Centerline is valid? [True, True] Translation: X:384.18, Y:3.75, Z:2.63 [[ 9.99666418e-01 -1.81239879e-02 -1.84003967e-02 3.84176833e+02] [ 1.81244507e-02 9.99835729e-01 -1.41624658e-04 3.74655442e+00] [ 1.83999408e-02 -1.91919668e-04 9.99830688e-01 2.63030625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.77925415399994 meters 0.014250916120190589 Centerline is valid? [True, True] Translation: X:384.21, Y:3.75, Z:2.63 [[ 9.99725633e-01 -1.40870877e-02 -1.87139863e-02 3.84206055e+02] [ 1.40867957e-02 9.99900765e-01 -1.47433636e-04 3.75031907e+00] [ 1.87142062e-02 -1.16226917e-04 9.99824867e-01 2.63070436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.809254154 meters 0.014218310748311055 Centerline is valid? [True, True] Translation: X:384.23, Y:3.75, Z:2.63 [[ 9.99751462e-01 -1.23986852e-02 -1.85279871e-02 3.84233404e+02] [ 1.23980726e-02 9.99923130e-01 -1.47935728e-04 3.75163469e+00] [ 1.85283971e-02 -8.18123690e-05 9.99828331e-01 2.63096307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.83925415399995 meters 0.014035704165905823 Centerline is valid? [True, True] Translation: X:384.26, Y:3.75, Z:2.63 [[ 9.99774385e-01 -1.10351373e-02 -1.81495168e-02 3.84261604e+02] [ 1.10342575e-02 9.99939110e-01 -1.48620114e-04 3.75264736e+00] [ 1.81500518e-02 -5.16798590e-05 9.99835273e-01 2.63125732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.869254154 meters 0.013984239668521676 Centerline is valid? [True, True] Translation: X:384.29, Y:3.75, Z:2.63 [[ 9.99819651e-01 -9.45872437e-03 -1.64680712e-02 3.84289934e+02] [ 9.45771870e-03 9.99955265e-01 -1.38948997e-04 3.75283248e+00] [ 1.64686488e-02 -1.68264474e-05 9.99864382e-01 2.63188664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.89925415399995 meters 0.013995189371417078 Centerline is valid? [True, True] Translation: X:384.32, Y:3.75, Z:2.63 [[ 9.99828389e-01 -9.36298630e-03 -1.59852265e-02 3.84317600e+02] [ 9.36195761e-03 9.99956166e-01 -1.39183788e-04 3.75266995e+00] [ 1.59858290e-02 -1.04931101e-05 9.99872218e-01 2.63286346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.929254154 meters 0.013848832740823413 Centerline is valid? [True, True] Translation: X:384.35, Y:3.75, Z:2.63 [[ 9.99843633e-01 -9.32470903e-03 -1.50252738e-02 3.84346870e+02] [ 9.32374991e-03 9.99956524e-01 -1.33883778e-04 3.75197030e+00] [ 1.50258690e-02 -6.22905173e-06 9.99887105e-01 2.63310594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.95925415399995 meters 0.013768323611431085 Centerline is valid? [True, True] Translation: X:384.37, Y:3.75, Z:2.63 [[ 9.99853695e-01 -1.04383211e-02 -1.35510236e-02 3.84374251e+02] [ 1.04376230e-02 9.99945519e-01 -1.22239147e-04 3.74929972e+00] [ 1.35515613e-02 -1.92192126e-05 9.99908173e-01 2.63369820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.989254154 meters 0.013768323611431085 Centerline is valid? [True, True] Translation: X:384.40, Y:3.75, Z:2.63 [[ 9.99850608e-01 -1.07299299e-02 -1.35510001e-02 3.84401629e+02] [ 1.07292239e-02 9.99942432e-01 -1.24800989e-04 3.74961671e+00] [ 1.35515591e-02 -2.06093683e-05 9.99908173e-01 2.63388816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.01925415399995 meters 0.013848162484377044 Centerline is valid? [True, True] Translation: X:384.43, Y:3.75, Z:2.63 [[ 9.99841330e-01 -1.22416922e-02 -1.29404812e-02 3.84429354e+02] [ 1.22411273e-02 9.99925067e-01 -1.22855691e-04 3.74807708e+00] [ 1.29410155e-02 -3.55698806e-05 9.99916261e-01 2.63396796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0492541539999 meters 0.014082036673029843 Centerline is valid? [True, True] Translation: X:384.46, Y:3.74, Z:2.63 [[ 9.99777144e-01 -1.69537044e-02 -1.25791201e-02 3.84458566e+02] [ 1.69535137e-02 9.99856271e-01 -1.21801852e-04 3.74272220e+00] [ 1.25793771e-02 -9.14855772e-05 9.99920872e-01 2.63395652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.07925415399995 meters 0.015051521579373407 Centerline is valid? [True, True] Translation: X:384.49, Y:3.74, Z:2.63 [[ 9.99714943e-01 -1.99037062e-02 -1.31861922e-02 3.84489094e+02] [ 1.99037462e-02 9.99801893e-01 -1.28218482e-04 3.73899341e+00] [ 1.31861319e-02 -1.34272689e-04 9.99913050e-01 2.63325084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1092541539999 meters 0.017533286213877376 Centerline is valid? [True, True] Translation: X:384.52, Y:3.73, Z:2.63 [[ 9.99644511e-01 -2.27968005e-02 -1.38259617e-02 3.84519827e+02] [ 2.27971260e-02 9.99740103e-01 -1.34079140e-04 3.73426028e+00] [ 1.38254249e-02 -1.81160713e-04 9.99904408e-01 2.63172588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.13925415399996 meters 0.015345184252018057 Centerline is valid? [True, True] Translation: X:384.55, Y:3.73, Z:2.63 [[ 9.99545041e-01 -2.72478390e-02 -1.29331363e-02 3.84550659e+02] [ 2.72485021e-02 9.99628683e-01 -1.24970721e-04 3.73086245e+00] [ 1.29317392e-02 -2.27494727e-04 9.99916356e-01 2.63248001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.16925415399993 meters 0.017070430573246528 Centerline is valid? [True, True] Translation: X:384.58, Y:3.72, Z:2.63 [[ 9.99344253e-01 -3.38835727e-02 -1.27659102e-02 3.84581151e+02] [ 3.38847628e-02 9.99425739e-01 -1.23120122e-04 3.72139631e+00] [ 1.27627509e-02 -3.09530451e-04 9.99918505e-01 2.63144341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.19925415399996 meters 0.018263912286006625 Centerline is valid? [True, True] Translation: X:384.61, Y:3.72, Z:2.63 [[ 9.99236372e-01 -3.69725214e-02 -1.26374278e-02 3.84612724e+02] [ 3.69739399e-02 9.99316223e-01 -1.21444944e-04 3.71701518e+00] [ 1.26332767e-02 -3.45903292e-04 9.99920137e-01 2.63120844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.22925415399993 meters 0.019995443635536368 Centerline is valid? [True, True] Translation: X:384.64, Y:3.71, Z:2.63 [[ 9.99067795e-01 -4.09332149e-02 -1.37117733e-02 3.84644385e+02] [ 4.09352666e-02 9.99161792e-01 -1.31117284e-04 3.71145188e+00] [ 1.37056470e-02 -4.30300038e-04 9.99905981e-01 2.63013842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.25925415399996 meters 0.019584184356434022 Centerline is valid? [True, True] Translation: X:384.68, Y:3.71, Z:2.63 [[ 9.99014836e-01 -4.22251465e-02 -1.36526717e-02 3.84676083e+02] [ 4.22273094e-02 9.99108021e-01 -1.29936272e-04 3.70991166e+00] [ 1.36459804e-02 -4.46707329e-04 9.99906789e-01 2.63061104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.28925415399993 meters 0.02002345520843884 Centerline is valid? [True, True] Translation: X:384.71, Y:3.71, Z:2.63 [[ 9.98985624e-01 -4.28647858e-02 -1.37961543e-02 3.84708206e+02] [ 4.28670675e-02 9.99080776e-01 -1.30422678e-04 3.70802137e+00] [ 1.37890631e-02 -4.61110298e-04 9.99904820e-01 2.63037160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31925415399996 meters 0.020819793578043904 Centerline is valid? [True, True] Translation: X:384.74, Y:3.70, Z:2.63 [[ 9.98952238e-01 -4.35225910e-02 -1.41495617e-02 3.84739035e+02] [ 4.35250698e-02 9.99052326e-01 -1.32860582e-04 3.70431347e+00] [ 1.41419349e-02 -4.83139282e-04 9.99899881e-01 2.63002164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.34925415399994 meters 0.021135190081649043 Centerline is valid? [True, True] Translation: X:384.77, Y:3.70, Z:2.63 [[ 9.98943246e-01 -4.35071392e-02 -1.48162324e-02 3.84771660e+02] [ 4.35098695e-02 9.99052988e-01 -1.38169338e-04 3.70298152e+00] [ 1.48082126e-02 -5.06629010e-04 9.99890224e-01 2.63004310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37925415399997 meters 0.02042431983461637 Centerline is valid? [True, True] Translation: X:384.80, Y:3.70, Z:2.63 [[ 9.98960315e-01 -4.32101556e-02 -1.45317582e-02 3.84804043e+02] [ 4.32127657e-02 9.99065883e-01 -1.34484921e-04 3.70332773e+00] [ 1.45239949e-02 -4.93612362e-04 9.99894399e-01 2.63044338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.40925415399994 meters 0.02148138722427414 Centerline is valid? [True, True] Translation: X:384.84, Y:3.70, Z:2.63 [[ 9.98984848e-01 -4.24312098e-02 -1.51283075e-02 3.84835510e+02] [ 4.24339639e-02 9.99099264e-01 -1.39044396e-04 3.69962460e+00] [ 1.51205807e-02 -5.03050811e-04 9.99885551e-01 2.62990745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43925415399997 meters 0.021460448716199912 Centerline is valid? [True, True] Translation: X:384.87, Y:3.70, Z:2.63 [[ 9.99002947e-01 -4.19349291e-02 -1.53158059e-02 3.84867292e+02] [ 4.19377083e-02 9.99120218e-01 -1.39810651e-04 3.69909972e+00] [ 1.53081942e-02 -5.02638545e-04 9.99882696e-01 2.62979971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.46925415399994 meters 0.021919302225963267 Centerline is valid? [True, True] Translation: X:384.90, Y:3.70, Z:2.63 [[ 9.99065999e-01 -4.00464038e-02 -1.62300993e-02 3.84898736e+02] [ 4.00492893e-02 9.99197695e-01 -1.47327647e-04 3.69838370e+00] [ 1.62229778e-02 -5.02813900e-04 9.99868272e-01 2.62876625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49925415399997 meters 0.0179970231853436 Centerline is valid? [True, True] Translation: X:384.93, Y:3.70, Z:2.63 [[ 9.99097415e-01 -3.93372156e-02 -1.60293370e-02 3.84930896e+02] [ 3.93399537e-02 9.99225874e-01 -1.44587378e-04 3.70304395e+00] [ 1.60226160e-02 -4.86136500e-04 9.99871511e-01 2.63055203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.52925415399994 meters 0.020591763009454953 Centerline is valid? [True, True] Translation: X:384.96, Y:3.70, Z:2.63 [[ 9.99135288e-01 -3.81408631e-02 -1.65514831e-02 3.84961880e+02] [ 3.81436362e-02 9.99272256e-01 -1.48224293e-04 3.69787870e+00] [ 1.65450913e-02 -4.83237631e-04 9.99863004e-01 2.62882909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.559254154 meters 0.01729572850843553 Centerline is valid? [True, True] Translation: X:384.99, Y:3.70, Z:2.63 [[ 9.99229160e-01 -3.51848229e-02 -1.74101591e-02 3.84993170e+02] [ 3.51874568e-02 9.99380718e-01 -1.55120935e-04 3.70288933e+00] [ 1.74048352e-02 -4.57617860e-04 9.99848420e-01 2.63013791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.58925415399995 meters 0.01722089376407189 Centerline is valid? [True, True] Translation: X:385.02, Y:3.70, Z:2.63 [[ 9.99259792e-01 -3.38421816e-02 -1.82914074e-02 3.85024192e+02] [ 3.38448767e-02 9.99427085e-01 -1.62288369e-04 3.70326337e+00] [ 1.82864202e-02 -4.56902187e-04 9.99832685e-01 2.63026666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.619254154 meters 0.017856079918962375 Centerline is valid? [True, True] Translation: X:385.06, Y:3.70, Z:2.63 [[ 9.99311848e-01 -3.18797031e-02 -1.89608769e-02 3.85055272e+02] [ 3.18822596e-02 9.99491618e-01 -1.67518819e-04 3.70444716e+00] [ 1.89565780e-02 -4.37112060e-04 9.99820212e-01 2.63061130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.64925415399995 meters 0.015963836025023437 Centerline is valid? [True, True] Translation: X:385.09, Y:3.71, Z:2.63 [[ 9.99400556e-01 -2.90190009e-02 -1.88792381e-02 3.85085528e+02] [ 2.90210300e-02 9.99578787e-01 -1.66541610e-04 3.70612498e+00] [ 1.88761188e-02 -3.81453156e-04 9.99821757e-01 2.63149204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.679254154 meters 0.015769679871865193 Centerline is valid? [True, True] Translation: X:385.12, Y:3.71, Z:2.63 [[ 9.99431355e-01 -2.74663434e-02 -1.95593273e-02 3.85115592e+02] [ 2.74682152e-02 9.99622662e-01 -1.73001661e-04 3.70700859e+00] [ 1.95566986e-02 -3.64356529e-04 9.99808683e-01 2.63156764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.70925415399995 meters 0.01507788362683723 Centerline is valid? [True, True] Translation: X:385.14, Y:3.71, Z:2.63 [[ 9.99513339e-01 -2.36830634e-02 -2.03026586e-02 3.85144897e+02] [ 2.36842292e-02 9.99719473e-01 -1.83061953e-04 3.70962258e+00] [ 2.03012986e-02 -2.97879956e-04 9.99793863e-01 2.63151097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.739254154 meters 0.01515868389958446 Centerline is valid? [True, True] Translation: X:385.17, Y:3.71, Z:2.63 [[ 9.99546553e-01 -2.20026694e-02 -2.05565201e-02 3.85172786e+02] [ 2.20034487e-02 9.99757877e-01 -1.88293757e-04 3.71041506e+00] [ 2.05556858e-02 -2.64105960e-04 9.99788675e-01 2.63089966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.76925415399995 meters 0.01471533139462993 Centerline is valid? [True, True] Translation: X:385.20, Y:3.71, Z:2.63 [[ 9.99575561e-01 -2.02269089e-02 -2.09659050e-02 3.85201269e+02] [ 2.02272403e-02 9.99795389e-01 -1.96277371e-04 3.71236966e+00] [ 2.09655852e-02 -2.27888336e-04 9.99780172e-01 2.63181194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7992541539999 meters 0.014439907149564831 Centerline is valid? [True, True] Translation: X:385.23, Y:3.71, Z:2.63 [[ 9.99620001e-01 -1.82958261e-02 -2.06183477e-02 3.85230048e+02] [ 1.82956267e-02 9.99832601e-01 -1.98319515e-04 3.71421283e+00] [ 2.06185247e-02 -1.78981439e-04 9.99787400e-01 2.63286591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.82925415399995 meters 0.014331983461413463 Centerline is valid? [True, True] Translation: X:385.26, Y:3.72, Z:2.63 [[ 9.99689563e-01 -1.44487072e-02 -2.02981137e-02 3.85258156e+02] [ 1.44476601e-02 9.99895607e-01 -1.98238410e-04 3.71657685e+00] [ 2.02988590e-02 -9.50833788e-05 9.99793952e-01 2.63310971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8592541539999 meters 0.014049548276611739 Centerline is valid? [True, True] Translation: X:385.29, Y:3.72, Z:2.63 [[ 9.99709545e-01 -1.30751430e-02 -2.02451539e-02 3.85286164e+02] [ 1.30737283e-02 9.99914515e-01 -2.02237552e-04 3.71808136e+00] [ 2.02460675e-02 -6.25008296e-05 9.99795025e-01 2.63406026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.88925415399996 meters 0.014100193222803403 Centerline is valid? [True, True] Translation: X:385.31, Y:3.72, Z:2.63 [[ 9.99730466e-01 -1.17406506e-02 -2.00288155e-02 3.85313492e+02] [ 1.17389344e-02 9.99931076e-01 -2.03257230e-04 3.71918264e+00] [ 2.00298214e-02 -3.19145073e-05 9.99799382e-01 2.63432623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91925415399993 meters 0.014010652811617508 Centerline is valid? [True, True] Translation: X:385.34, Y:3.72, Z:2.64 [[ 9.99756049e-01 -9.48163831e-03 -1.99484515e-02 3.85341150e+02] [ 9.47939802e-03 9.99955048e-01 -2.06862078e-04 3.72080643e+00] [ 1.99495162e-02 1.77123026e-05 9.99800988e-01 2.63520656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.94925415399996 meters 0.014163939885760464 Centerline is valid? [True, True] Translation: X:385.37, Y:3.72, Z:2.64 [[ 9.99761514e-01 -8.99872204e-03 -1.98981754e-02 3.85368416e+02] [ 8.99630559e-03 9.99959510e-01 -2.10952858e-04 3.72161383e+00] [ 1.98992681e-02 3.18924818e-05 9.99801989e-01 2.63526615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97925415399993 meters 0.01418442961431468 Centerline is valid? [True, True] Translation: X:385.39, Y:3.72, Z:2.64 [[ 9.99767235e-01 -8.37286310e-03 -1.98839356e-02 3.85394956e+02] [ 8.37026659e-03 9.99964946e-01 -2.13806774e-04 3.72242660e+00] [ 1.98850288e-02 4.73231650e-05 9.99802272e-01 2.63528347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.00925415399996 meters 0.01412302067661541 Centerline is valid? [True, True] Translation: X:385.42, Y:3.72, Z:2.64 [[ 9.99781100e-01 -7.53188457e-03 -1.95198032e-02 3.85423246e+02] [ 7.52913523e-03 9.99971633e-01 -2.14336802e-04 3.72281756e+00] [ 1.95208638e-02 6.73226454e-05 9.99809448e-01 2.63667636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03925415399993 meters 0.014071341132856586 Centerline is valid? [True, True] Translation: X:385.45, Y:3.72, Z:2.64 [[ 9.99780864e-01 -7.69231032e-03 -1.94692786e-02 3.85450976e+02] [ 7.68949681e-03 9.99970411e-01 -2.19368823e-04 3.72276715e+00] [ 1.94703900e-02 6.96117956e-05 9.99810432e-01 2.63716916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.06925415399996 meters 0.01402618878263316 Centerline is valid? [True, True] Translation: X:385.48, Y:3.72, Z:2.64 [[ 9.99782721e-01 -8.20486060e-03 -1.91622252e-02 3.85478453e+02] [ 8.20212372e-03 9.99966338e-01 -2.21416652e-04 3.72117581e+00] [ 1.91633969e-02 6.41976006e-05 9.99816363e-01 2.63734527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09925415399994 meters 0.014090088934805378 Centerline is valid? [True, True] Translation: X:385.51, Y:3.72, Z:2.64 [[ 9.99787546e-01 -8.57739233e-03 -1.87427901e-02 3.85506727e+02] [ 8.57478279e-03 9.99963212e-01 -2.19590940e-04 3.72031469e+00] [ 1.87439841e-02 5.88289331e-05 9.99824314e-01 2.63642810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.12925415399997 meters 0.01572117957919017 Centerline is valid? [True, True] Translation: X:385.53, Y:3.72, Z:2.64 [[ 9.99770943e-01 -9.11163475e-03 -1.93659660e-02 3.85534631e+02] [ 9.10886631e-03 9.99958487e-01 -2.31160173e-04 3.71878113e+00] [ 1.93672683e-02 5.47052290e-05 9.99812435e-01 2.63707740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15925415399994 meters 0.013777587141663132 Centerline is valid? [True, True] Translation: X:385.56, Y:3.72, Z:2.64 [[ 9.99791790e-01 -1.03184321e-02 -1.76041638e-02 3.85563838e+02] [ 1.03162515e-02 9.99946763e-01 -2.14678208e-04 3.71633522e+00] [ 1.76054417e-02 3.30245293e-05 9.99845012e-01 2.63718166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18925415399997 meters 0.013898515539438595 Centerline is valid? [True, True] Translation: X:385.59, Y:3.72, Z:2.64 [[ 9.99792312e-01 -1.10471350e-02 -1.71258061e-02 3.85591474e+02] [ 1.10451332e-02 9.99938978e-01 -2.11472471e-04 3.71524318e+00] [ 1.71270972e-02 2.22717414e-05 9.99853320e-01 2.63628355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21925415399994 meters 0.0139556821971902 Centerline is valid? [True, True] Translation: X:385.62, Y:3.71, Z:2.64 [[ 9.99785769e-01 -1.21659568e-02 -1.67453339e-02 3.85619614e+02] [ 1.21641409e-02 9.99925992e-01 -2.10294891e-04 3.71373110e+00] [ 1.67466530e-02 6.55723902e-06 9.99859765e-01 2.63763147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24925415399997 meters 0.013846847803943272 Centerline is valid? [True, True] Translation: X:385.65, Y:3.71, Z:2.64 [[ 9.99775649e-01 -1.33018964e-02 -1.64836408e-02 3.85648009e+02] [ 1.33002113e-02 9.99911526e-01 -2.11853289e-04 3.71213774e+00] [ 1.64850005e-02 -7.43014644e-06 9.99864113e-01 2.63714072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.27925415399994 meters 0.015148588367958784 Centerline is valid? [True, True] Translation: X:385.68, Y:3.71, Z:2.64 [[ 9.99741053e-01 -1.58187025e-02 -1.63583481e-02 3.85675948e+02] [ 1.58173008e-02 9.99874876e-01 -2.15071497e-04 3.70769110e+00] [ 1.63597035e-02 -4.37291090e-05 9.99866170e-01 2.63634915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.309254154 meters 0.013802495315740418 Centerline is valid? [True, True] Translation: X:385.70, Y:3.71, Z:2.64 [[ 9.99732771e-01 -1.72370390e-02 -1.54036287e-02 3.85703266e+02] [ 1.72359179e-02 9.99851429e-01 -2.05544402e-04 3.70576167e+00] [ 1.54048832e-02 -6.00062056e-05 9.99881336e-01 2.63625422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.33925415399995 meters 0.013937810781513457 Centerline is valid? [True, True] Translation: X:385.73, Y:3.70, Z:2.64 [[ 9.99711763e-01 -1.88135749e-02 -1.49144355e-02 3.85730739e+02] [ 1.88126756e-02 9.99823006e-01 -2.00605510e-04 3.70371299e+00] [ 1.49155699e-02 -8.00327494e-05 9.99888753e-01 2.63593829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.369254154 meters 0.014131144897856353 Centerline is valid? [True, True] Translation: X:385.76, Y:3.70, Z:2.64 [[ 9.99645166e-01 -2.23746024e-02 -1.44540193e-02 3.85759509e+02] [ 2.23740934e-02 9.99749649e-01 -1.96941953e-04 3.70047096e+00] [ 1.44548073e-02 -1.26523508e-04 9.99895516e-01 2.63678952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.39925415399995 meters 0.015697002282532575 Centerline is valid? [True, True] Translation: X:385.79, Y:3.70, Z:2.64 [[ 9.99602395e-01 -2.41051321e-02 -1.46285517e-02 3.85789628e+02] [ 2.41047657e-02 9.99709418e-01 -2.01391672e-04 3.69881837e+00] [ 1.46291555e-02 -1.51306214e-04 9.99892977e-01 2.63661826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.429254154 meters 0.014815334855291726 Centerline is valid? [True, True] Translation: X:385.82, Y:3.69, Z:2.64 [[ 9.99480845e-01 -2.87646059e-02 -1.45133429e-02 3.85819322e+02] [ 2.87647286e-02 9.99586190e-01 -2.00337007e-04 3.69380453e+00] [ 1.45130998e-02 -2.17239370e-04 9.99894656e-01 2.63596745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.45925415399995 meters 0.01527516564025942 Centerline is valid? [True, True] Translation: X:385.85, Y:3.69, Z:2.64 [[ 9.99408997e-01 -3.13390513e-02 -1.41251885e-02 3.85850832e+02] [ 3.13394248e-02 9.99508781e-01 -1.94961938e-04 3.69128911e+00] [ 1.41243598e-02 -2.47828566e-04 9.99900216e-01 2.63569055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.489254154 meters 0.01598487003844797 Centerline is valid? [True, True] Translation: X:385.88, Y:3.69, Z:2.64 [[ 9.99328203e-01 -3.37923221e-02 -1.41852410e-02 3.85881511e+02] [ 3.37929513e-02 9.99428836e-01 -1.95403176e-04 3.68829614e+00] [ 1.41837420e-02 -2.84089254e-04 9.99899365e-01 2.63527103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.51925415399995 meters 0.01732831126477875 Centerline is valid? [True, True] Translation: X:385.91, Y:3.68, Z:2.63 [[ 9.99142087e-01 -3.89819457e-02 -1.39820346e-02 3.85912905e+02] [ 3.89830700e-02 9.99239853e-01 -1.92225627e-04 3.68299435e+00] [ 1.39788995e-02 -3.53001918e-04 9.99902228e-01 2.63473892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5492541539999 meters 0.019034521909297355 Centerline is valid? [True, True] Translation: X:385.95, Y:3.68, Z:2.63 [[ 9.99060026e-01 -4.11894946e-02 -1.35088900e-02 3.85945479e+02] [ 4.11907556e-02 9.99151284e-01 -1.84996359e-04 3.68192290e+00] [ 1.35050447e-02 -3.71618918e-04 9.99908734e-01 2.63491561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.57925415399995 meters 0.018328785714646627 Centerline is valid? [True, True] Translation: X:385.98, Y:3.68, Z:2.64 [[ 9.98967526e-01 -4.35360041e-02 -1.29807214e-02 3.85977832e+02] [ 4.35373784e-02 9.99051783e-01 -1.76828741e-04 3.68054636e+00] [ 1.29761113e-02 -3.88500411e-04 9.99915731e-01 2.63562575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6092541539999 meters 0.01961570759178111 Centerline is valid? [True, True] Translation: X:386.01, Y:3.68, Z:2.64 [[ 9.98879305e-01 -4.56254105e-02 -1.25878896e-02 3.86008974e+02] [ 4.56268787e-02 9.98958537e-01 -1.70672492e-04 3.67801815e+00] [ 1.25825668e-02 -4.03864892e-04 9.99920755e-01 2.63585563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.63925415399996 meters 0.01956915849896992 Centerline is valid? [True, True] Translation: X:386.04, Y:3.68, Z:2.64 [[ 9.98744541e-01 -4.86395962e-02 -1.19804814e-02 3.86041110e+02] [ 4.86411515e-02 9.98816306e-01 -1.61699205e-04 3.67743340e+00] [ 1.19741652e-02 -4.21248213e-04 9.99928218e-01 2.63601178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.66925415399993 meters 0.02062654015196628 Centerline is valid? [True, True] Translation: X:386.07, Y:3.68, Z:2.64 [[ 9.98702347e-01 -4.94907123e-02 -1.20121095e-02 3.86072449e+02] [ 4.94923505e-02 9.98774490e-01 -1.61031627e-04 3.67530202e+00] [ 1.20053581e-02 -4.33684868e-04 9.99927839e-01 2.63583436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.69925415399996 meters 0.021475464074844446 Centerline is valid? [True, True] Translation: X:386.10, Y:3.68, Z:2.64 [[ 9.98668963e-01 -5.01862398e-02 -1.19014306e-02 3.86103836e+02] [ 5.01879127e-02 9.98739780e-01 -1.58248221e-04 3.67506658e+00] [ 1.18943741e-02 -4.39270373e-04 9.99929163e-01 2.63585126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.72925415399993 meters 0.020975754523193575 Centerline is valid? [True, True] Translation: X:386.14, Y:3.68, Z:2.64 [[ 9.98693408e-01 -4.97648477e-02 -1.16162642e-02 3.86136310e+02] [ 4.97664251e-02 9.98760872e-01 -1.53409378e-04 3.67683142e+00] [ 1.16095046e-02 -4.24891009e-04 9.99932517e-01 2.63651265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.75925415399996 meters 0.019597745544826482 Centerline is valid? [True, True] Translation: X:386.17, Y:3.68, Z:2.64 [[ 9.98743954e-01 -4.87358117e-02 -1.16333971e-02 3.86168501e+02] [ 4.87373340e-02 9.98811618e-01 -1.52781433e-04 3.68012056e+00] [ 1.16270181e-02 -4.14391226e-04 9.99932318e-01 2.63680292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.78925415399993 meters 0.019445492520863993 Centerline is valid? [True, True] Translation: X:386.20, Y:3.68, Z:2.64 [[ 9.98853690e-01 -4.61503318e-02 -1.27063737e-02 3.86199775e+02] [ 4.61519502e-02 9.98934417e-01 -1.65987436e-04 3.68238315e+00] [ 1.27004944e-02 -4.20626765e-04 9.99919257e-01 2.63661554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81925415399996 meters 0.020521681138710474 Centerline is valid? [True, True] Translation: X:386.23, Y:3.68, Z:2.64 [[ 9.98919703e-01 -4.47114283e-02 -1.26615288e-02 3.86230887e+02] [ 4.47129285e-02 9.98999863e-01 -1.64706663e-04 3.68191547e+00] [ 1.26562298e-02 -4.01605302e-04 9.99919826e-01 2.63605957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.84925415399994 meters 0.01886498041119018 Centerline is valid? [True, True] Translation: X:386.26, Y:3.69, Z:2.64 [[ 9.98986626e-01 -4.29821965e-02 -1.33511267e-02 3.86262677e+02] [ 4.29837219e-02 9.99075758e-01 -1.72815502e-04 3.68599887e+00] [ 1.33462150e-02 -4.01240743e-04 9.99910855e-01 2.63664485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87925415399997 meters 0.01886498041119018 Centerline is valid? [True, True] Translation: X:386.29, Y:3.69, Z:2.64 [[ 9.98989733e-01 -4.29099047e-02 -1.33511392e-02 3.86294380e+02] [ 4.29114365e-02 9.99078865e-01 -1.71849220e-04 3.68634696e+00] [ 1.33462150e-02 -4.01240955e-04 9.99910855e-01 2.63686442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.90925415399994 meters 0.018371004199879547 Centerline is valid? [True, True] Translation: X:386.33, Y:3.69, Z:2.64 [[ 9.99058865e-01 -4.12624763e-02 -1.33712873e-02 3.86326534e+02] [ 4.12638783e-02 9.99148269e-01 -1.71140311e-04 3.68842101e+00] [ 1.33669603e-02 -3.80771928e-04 9.99910586e-01 2.63677401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93925415399997 meters 0.017618920108206926 Centerline is valid? [True, True] Translation: X:386.36, Y:3.69, Z:2.64 [[ 9.99190090e-01 -3.78867465e-02 -1.35557729e-02 3.86356912e+02] [ 3.78878855e-02 9.99281981e-01 -1.72874920e-04 3.69217901e+00] [ 1.35525892e-02 -3.40864663e-04 9.99908101e-01 2.63651943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.96925415399994 meters 0.016444078553322836 Centerline is valid? [True, True] Translation: X:386.39, Y:3.70, Z:2.64 [[ 9.99244431e-01 -3.63080973e-02 -1.38668078e-02 3.86389059e+02] [ 3.63091461e-02 9.99340590e-01 -1.76203199e-04 3.69598095e+00] [ 1.38640614e-02 -3.27421883e-04 9.99903836e-01 2.63696055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99925415399997 meters 0.016256867847361738 Centerline is valid? [True, True] Translation: X:386.42, Y:3.70, Z:2.64 [[ 9.99328684e-01 -3.35869307e-02 -1.46321390e-02 3.86419892e+02] [ 3.35878189e-02 9.99435753e-01 -1.85108298e-04 3.69964777e+00] [ 1.46301000e-02 -3.06477601e-04 9.99892927e-01 2.63680648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.02925415399994 meters 0.016024663539266355 Centerline is valid? [True, True] Translation: X:386.45, Y:3.70, Z:2.64 [[ 9.99366658e-01 -3.23132442e-02 -1.49042321e-02 3.86450890e+02] [ 3.23140323e-02 9.99477748e-01 -1.88004470e-04 3.70202803e+00] [ 1.49025233e-02 -2.93730438e-04 9.99888908e-01 2.63700615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.059254154 meters 0.015509494518808297 Centerline is valid? [True, True] Translation: X:386.48, Y:3.70, Z:2.64 [[ 9.99410584e-01 -3.10562817e-02 -1.46284541e-02 3.86482129e+02] [ 3.10569141e-02 9.99517601e-01 -1.83995692e-04 3.70466415e+00] [ 1.46271115e-02 -2.70427399e-04 9.99892982e-01 2.63766737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.08925415399995 meters 0.015724040703486035 Centerline is valid? [True, True] Translation: X:386.51, Y:3.71, Z:2.64 [[ 9.99439643e-01 -3.01239529e-02 -1.45927136e-02 3.86512432e+02] [ 3.01244885e-02 9.99546138e-01 -1.83151288e-04 3.70613144e+00] [ 1.45916078e-02 -2.56549376e-04 9.99893504e-01 2.63810806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.119254154 meters 0.015355947596797797 Centerline is valid? [True, True] Translation: X:386.54, Y:3.71, Z:2.64 [[ 9.99434669e-01 -3.03239090e-02 -1.45190418e-02 3.86544192e+02] [ 3.03244662e-02 9.99540091e-01 -1.81822807e-04 3.70805206e+00] [ 1.45178780e-02 -2.58562177e-04 9.99894577e-01 2.63891615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.14925415399995 meters 0.015985739188486035 Centerline is valid? [True, True] Translation: X:386.57, Y:3.71, Z:2.64 [[ 9.99380845e-01 -3.21704387e-02 -1.42474328e-02 3.86574856e+02] [ 3.21711683e-02 9.99482358e-01 -1.78039784e-04 3.70778409e+00] [ 1.42457854e-02 -2.80427010e-04 9.99898484e-01 2.63932907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.179254154 meters 0.01647758754335537 Centerline is valid? [True, True] Translation: X:386.61, Y:3.71, Z:2.64 [[ 9.99331050e-01 -3.38241053e-02 -1.39062314e-02 3.86606572e+02] [ 3.38249673e-02 9.99427757e-01 -1.73272851e-04 3.70778663e+00] [ 1.39041344e-02 -2.97220882e-04 9.99903289e-01 2.64001902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.20925415399995 meters 0.01708801820266302 Centerline is valid? [True, True] Translation: X:386.64, Y:3.71, Z:2.64 [[ 9.99283499e-01 -3.52623090e-02 -1.37498360e-02 3.86637826e+02] [ 3.52632980e-02 9.99378042e-01 -1.70581336e-04 3.70660984e+00] [ 1.37472993e-02 -3.14405450e-04 9.99905452e-01 2.64031662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2392541539999 meters 0.017622728368078024 Centerline is valid? [True, True] Translation: X:386.67, Y:3.71, Z:2.64 [[ 9.99233011e-01 -3.65987801e-02 -1.39254854e-02 3.86669682e+02] [ 3.65999364e-02 9.99329983e-01 -1.71884065e-04 3.70606929e+00] [ 1.39224459e-02 -3.37919650e-04 9.99903021e-01 2.64080728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.26925415399995 meters 0.0173951338140051 Centerline is valid? [True, True] Translation: X:386.70, Y:3.71, Z:2.64 [[ 9.99151223e-01 -3.85604522e-02 -1.44888007e-02 3.86702044e+02] [ 3.85619256e-02 9.99256197e-01 -1.77770213e-04 3.70793388e+00] [ 1.44848788e-02 -3.81096728e-04 9.99895016e-01 2.64227058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2992541539999 meters 0.0172533486001295 Centerline is valid? [True, True] Translation: X:386.73, Y:3.71, Z:2.64 [[ 9.99133941e-01 -3.90213418e-02 -1.44465203e-02 3.86734529e+02] [ 3.90228702e-02 9.99238302e-01 -1.76187147e-04 3.70900386e+00] [ 1.44423914e-02 -3.87710125e-04 9.99895628e-01 2.64324974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.32925415399995 meters 0.017840058019678952 Centerline is valid? [True, True] Translation: X:386.77, Y:3.71, Z:2.64 [[ 9.99117919e-01 -3.93859267e-02 -1.45647632e-02 3.86765693e+02] [ 3.93875325e-02 9.99223994e-01 -1.76690915e-04 3.70944489e+00] [ 1.45604200e-02 -3.97135024e-04 9.99893913e-01 2.64411610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3592541539999 meters 0.018050860360661416 Centerline is valid? [True, True] Translation: X:386.80, Y:3.71, Z:2.64 [[ 9.99099048e-01 -3.96677641e-02 -1.50851397e-02 3.86798173e+02] [ 3.96695337e-02 9.99212838e-01 -1.82018552e-04 3.70968391e+00] [ 1.50804855e-02 -4.16565897e-04 9.99886196e-01 2.64481005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.38925415399996 meters 0.017680425128836223 Centerline is valid? [True, True] Translation: X:386.83, Y:3.71, Z:2.65 [[ 9.99103431e-01 -3.96788664e-02 -1.47621737e-02 3.86830113e+02] [ 3.96805780e-02 9.99212400e-01 -1.77054626e-04 3.71130270e+00] [ 1.47575723e-02 -4.08875699e-04 9.99891018e-01 2.64565156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41925415399993 meters 0.018834770488072906 Centerline is valid? [True, True] Translation: X:386.86, Y:3.71, Z:2.65 [[ 9.99084357e-01 -3.99937645e-02 -1.51969036e-02 3.86861129e+02] [ 3.99956377e-02 9.99199838e-01 -1.80759569e-04 3.70972587e+00] [ 1.51919729e-02 -4.27215795e-04 9.99884504e-01 2.64560920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.44925415399996 meters 0.01864036966043775 Centerline is valid? [True, True] Translation: X:386.89, Y:3.71, Z:2.65 [[ 9.99076522e-01 -4.00573170e-02 -1.55407147e-02 3.86893102e+02] [ 4.00593063e-02 9.99197287e-01 -1.83391345e-04 3.71064099e+00] [ 1.55355861e-02 -4.39328263e-04 9.99879219e-01 2.64604675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47925415399993 meters 0.01830897589928131 Centerline is valid? [True, True] Translation: X:386.93, Y:3.71, Z:2.65 [[ 9.99069989e-01 -4.00368271e-02 -1.60065563e-02 3.86925550e+02] [ 4.00389536e-02 9.99198102e-01 -1.87721822e-04 3.71209650e+00] [ 1.60012365e-02 -4.53338527e-04 9.99871869e-01 2.64673970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.50925415399996 meters 0.017600822091760768 Centerline is valid? [True, True] Translation: X:386.96, Y:3.71, Z:2.65 [[ 9.99072482e-01 -3.98355939e-02 -1.63493306e-02 3.86957256e+02] [ 3.98378054e-02 9.99206141e-01 -1.90527416e-04 3.71436811e+00] [ 1.63439413e-02 -4.60970752e-04 9.99866323e-01 2.64719489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53925415399993 meters 0.017165116845883552 Centerline is valid? [True, True] Translation: X:386.99, Y:3.72, Z:2.65 [[ 9.99117649e-01 -3.79305491e-02 -1.80332124e-02 3.86988179e+02] [ 3.79329473e-02 9.99280265e-01 -2.09171648e-04 3.71640409e+00] [ 1.80281672e-02 -4.75065808e-04 9.99837367e-01 2.64718169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.56925415399996 meters 0.01706611226072056 Centerline is valid? [True, True] Translation: X:387.02, Y:3.72, Z:2.65 [[ 9.99166142e-01 -3.62223372e-02 -1.88404788e-02 3.87018159e+02] [ 3.62246606e-02 9.99343648e-01 -2.18050258e-04 3.71773039e+00] [ 1.88360111e-02 -4.64621515e-04 9.99822479e-01 2.64708630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59925415399994 meters 0.01718090910309503 Centerline is valid? [True, True] Translation: X:387.05, Y:3.72, Z:2.65 [[ 9.99212623e-01 -3.40717714e-02 -2.03285091e-02 3.87048581e+02] [ 3.40740345e-02 9.99419284e-01 -2.35135143e-04 3.71993273e+00] [ 2.03247155e-02 -4.57724318e-04 9.99793327e-01 2.64715309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.62925415399997 meters 0.016290374125150473 Centerline is valid? [True, True] Translation: X:387.08, Y:3.72, Z:2.65 [[ 9.99273891e-01 -3.12828260e-02 -2.17503193e-02 3.87077717e+02] [ 3.12847508e-02 9.99510481e-01 -2.51849005e-04 3.72330894e+00] [ 2.17475506e-02 -4.28787184e-04 9.99763402e-01 2.64667255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65925415399994 meters 0.016222951056935928 Centerline is valid? [True, True] Translation: X:387.11, Y:3.72, Z:2.65 [[ 9.99284719e-01 -3.06830347e-02 -2.21043503e-02 3.87106543e+02] [ 3.06847891e-02 9.99529077e-01 -2.59878738e-04 3.72451085e+00] [ 2.21019147e-02 -4.18574476e-04 9.99755635e-01 2.64677426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68925415399997 meters 0.01597561571128599 Centerline is valid? [True, True] Translation: X:387.14, Y:3.73, Z:2.65 [[ 9.99268860e-01 -3.06590756e-02 -2.28421983e-02 3.87135402e+02] [ 3.06608097e-02 9.99529809e-01 -2.74388114e-04 3.72623976e+00] [ 2.28398706e-02 -4.26172796e-04 9.99739045e-01 2.64765919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71925415399994 meters 0.016083526499416845 Centerline is valid? [True, True] Translation: X:387.16, Y:3.73, Z:2.65 [[ 9.99226381e-01 -3.14311495e-02 -2.36373221e-02 3.87164234e+02] [ 3.14330789e-02 9.99505817e-01 -2.90013809e-04 3.72682653e+00] [ 2.36347564e-02 -4.53204363e-04 9.99720557e-01 2.64791076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74925415399997 meters 0.01631756617273761 Centerline is valid? [True, True] Translation: X:387.19, Y:3.73, Z:2.65 [[ 9.99191986e-01 -3.20792080e-02 -2.42136161e-02 3.87192826e+02] [ 3.20812735e-02 9.99485217e-01 -3.03250974e-04 3.72689521e+00] [ 2.42108794e-02 -4.73797698e-04 9.99706761e-01 2.64785269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.77925415399994 meters 0.017689351730429455 Centerline is valid? [True, True] Translation: X:387.22, Y:3.73, Z:2.65 [[ 9.99148348e-01 -3.22387444e-02 -2.57535031e-02 3.87221073e+02] [ 3.22410222e-02 9.99480070e-01 -3.26885812e-04 3.72603996e+00] [ 2.57506515e-02 -5.03711846e-04 9.99668270e-01 2.64698680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.809254154 meters 0.017244474357976713 Centerline is valid? [True, True] Translation: X:387.25, Y:3.73, Z:2.65 [[ 9.99137014e-01 -3.26844670e-02 -2.56310935e-02 3.87248690e+02] [ 3.26867138e-02 9.99465592e-01 -3.31413233e-04 3.72676329e+00] [ 2.56282281e-02 -5.06668990e-04 9.99671415e-01 2.64736311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.83925415399995 meters 0.016267834146853847 Centerline is valid? [True, True] Translation: X:387.28, Y:3.73, Z:2.65 [[ 9.99138589e-01 -3.26145463e-02 -2.56587415e-02 3.87276987e+02] [ 3.26165864e-02 9.99467880e-01 -3.39117887e-04 3.72935762e+00] [ 2.56561482e-02 -4.98074794e-04 9.99670703e-01 2.65006500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.869254154 meters 0.015591526456450525 Centerline is valid? [True, True] Translation: X:387.31, Y:3.73, Z:2.65 [[ 9.99171370e-01 -3.20104572e-02 -2.51376839e-02 3.87305552e+02] [ 3.20120557e-02 9.99487425e-01 -3.38929609e-04 3.73159068e+00] [ 2.51356483e-02 -4.66060175e-04 9.99683941e-01 2.65313766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.89925415399995 meters 0.01711387144039804 Centerline is valid? [True, True] Translation: X:387.33, Y:3.73, Z:2.65 [[ 9.99181108e-01 -3.18249512e-02 -2.49857272e-02 3.87333048e+02] [ 3.18263863e-02 9.99493354e-01 -3.40328890e-04 3.72877984e+00] [ 2.49838992e-02 -4.55155209e-04 9.99687750e-01 2.65100498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.929254154 meters 0.015488600759462347 Centerline is valid? [True, True] Translation: X:387.36, Y:3.73, Z:2.66 [[ 9.99173908e-01 -3.20282529e-02 -2.50138427e-02 3.87360601e+02] [ 3.20296043e-02 9.99486860e-01 -3.46730977e-04 3.73224995e+00] [ 2.50121123e-02 -4.54738939e-04 9.99687045e-01 2.65516293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.95925415399995 meters 0.015765354324536473 Centerline is valid? [True, True] Translation: X:387.39, Y:3.73, Z:2.66 [[ 9.99159366e-01 -3.23138555e-02 -2.52264815e-02 3.87388875e+02] [ 3.23152260e-02 9.99477664e-01 -3.53439822e-04 3.73161241e+00] [ 2.52247258e-02 -4.62056742e-04 9.99681699e-01 2.65504491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9892541539999 meters 0.015705638892884562 Centerline is valid? [True, True] Translation: X:387.42, Y:3.73, Z:2.66 [[ 9.99091186e-01 -3.37036480e-02 -2.60934190e-02 3.87417517e+02] [ 3.37054412e-02 9.99431741e-01 -3.71216939e-04 3.73083695e+00] [ 2.60911025e-02 -5.08610629e-04 9.99659440e-01 2.65608086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.01925415399995 meters 0.01581546099172889 Centerline is valid? [True, True] Translation: X:387.45, Y:3.73, Z:2.66 [[ 9.99058102e-01 -3.46249565e-02 -2.61537812e-02 3.87446226e+02] [ 3.46268967e-02 9.99400237e-01 -3.78837678e-04 3.72977042e+00] [ 2.61512124e-02 -5.27143427e-04 9.99657860e-01 2.65613300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0492541539999 meters 0.016288475955141074 Centerline is valid? [True, True] Translation: X:387.47, Y:3.73, Z:2.66 [[ 9.98973385e-01 -3.64623321e-02 -2.68825978e-02 3.87474594e+02] [ 3.64649481e-02 9.99334855e-01 -3.93068881e-04 3.72765117e+00] [ 2.68790492e-02 -5.87607183e-04 9.99638520e-01 2.65644896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.07925415399995 meters 0.017011660387378485 Centerline is valid? [True, True] Translation: X:387.50, Y:3.73, Z:2.66 [[ 9.98918661e-01 -3.73725390e-02 -2.76550630e-02 3.87502213e+02] [ 3.73755858e-02 9.99301206e-01 -4.06912911e-04 3.72572143e+00] [ 2.76509452e-02 -6.27151280e-04 9.99617443e-01 2.65569458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1092541539999 meters 0.016771363829430574 Centerline is valid? [True, True] Translation: X:387.53, Y:3.73, Z:2.66 [[ 9.98861965e-01 -3.83484594e-02 -2.83579117e-02 3.87531081e+02] [ 3.83518815e-02 9.99264206e-01 -4.23412281e-04 3.72632666e+00] [ 2.83532834e-02 -6.64648849e-04 9.99597744e-01 2.65686580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.13925415399996 meters 0.017466315330210994 Centerline is valid? [True, True] Translation: X:387.56, Y:3.72, Z:2.66 [[ 9.98813475e-01 -3.84496537e-02 -2.98875732e-02 3.87558848e+02] [ 3.84533824e-02 9.99260294e-01 -4.50212856e-04 3.72451722e+00] [ 2.98827757e-02 -6.99599612e-04 9.99553165e-01 2.65603468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.16925415399993 meters 0.017014267968191738 Centerline is valid? [True, True] Translation: X:387.59, Y:3.73, Z:2.66 [[ 9.98788718e-01 -3.85362677e-02 -3.05949798e-02 3.87587186e+02] [ 3.85400122e-02 9.99256948e-01 -4.67523726e-04 3.72585899e+00] [ 3.05902628e-02 -7.12173474e-04 9.99531755e-01 2.65711287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.19925415399996 meters 0.01718431664203495 Centerline is valid? [True, True] Translation: X:387.61, Y:3.73, Z:2.66 [[ 9.98783127e-01 -3.83879079e-02 -3.09617967e-02 3.87613675e+02] [ 3.83915228e-02 9.99262659e-01 -4.77934953e-04 3.72554106e+00] [ 3.09573142e-02 -7.11317157e-04 9.99520454e-01 2.65681608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.22925415399993 meters 0.017357957757292385 Centerline is valid? [True, True] Translation: X:387.64, Y:3.72, Z:2.66 [[ 9.98755844e-01 -3.82144964e-02 -3.20377342e-02 3.87641658e+02] [ 3.82181410e-02 9.99269295e-01 -4.98823218e-04 3.72446433e+00] [ 3.20333864e-02 -7.26220041e-04 9.99486536e-01 2.65632337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.25925415399996 meters 0.017349083034485343 Centerline is valid? [True, True] Translation: X:387.67, Y:3.72, Z:2.66 [[ 9.98753719e-01 -3.82906031e-02 -3.20131072e-02 3.87669792e+02] [ 3.82940237e-02 9.99266387e-01 -5.06482494e-04 3.72456764e+00] [ 3.20090154e-02 -7.20059409e-04 9.99487321e-01 2.65670419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.28925415399993 meters 0.016674528997311734 Centerline is valid? [True, True] Translation: X:387.70, Y:3.73, Z:2.66 [[ 9.98780983e-01 -3.76256165e-02 -3.19509281e-02 3.87698347e+02] [ 3.76284190e-02 9.99291668e-01 -5.13779184e-04 3.72589688e+00] [ 3.19476275e-02 -6.89110031e-04 9.99489307e-01 2.65902933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31925415399996 meters 0.016041860483234135 Centerline is valid? [True, True] Translation: X:387.73, Y:3.73, Z:2.66 [[ 9.98838489e-01 -3.65912467e-02 -3.13489021e-02 3.87727461e+02] [ 3.65931853e-02 9.99330114e-01 -5.12068344e-04 3.72740048e+00] [ 3.13466391e-02 -6.35682614e-04 9.99508371e-01 2.66055407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.34925415399994 meters 0.015897577844782507 Centerline is valid? [True, True] Translation: X:387.76, Y:3.73, Z:2.66 [[ 9.98922666e-01 -3.49864336e-02 -3.04869971e-02 3.87756054e+02] [ 3.49872848e-02 9.99387630e-01 -5.05698287e-04 3.72859866e+00] [ 3.04860203e-02 -5.61503767e-04 9.99535036e-01 2.66108424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.37925415399997 meters 0.015453280666862305 Centerline is valid? [True, True] Translation: X:387.79, Y:3.73, Z:2.66 [[ 9.99007551e-01 -3.26474020e-02 -3.02995074e-02 3.87785258e+02] [ 3.26469475e-02 9.99466816e-01 -5.09838431e-04 3.73025085e+00] [ 3.02999971e-02 -4.79853985e-04 9.99540734e-01 2.66201696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.40925415399994 meters 0.014666074272372924 Centerline is valid? [True, True] Translation: X:387.81, Y:3.73, Z:2.66 [[ 9.99208016e-01 -2.69386807e-02 -2.92856456e-02 3.87812807e+02] [ 2.69356997e-02 9.99637045e-01 -4.96358513e-04 3.73333332e+00] [ 2.92883875e-02 -2.92863950e-04 9.99570960e-01 2.66334466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43925415399997 meters 0.014322059069489855 Centerline is valid? [True, True] Translation: X:387.84, Y:3.74, Z:2.66 [[ 9.99299177e-01 -2.40658171e-02 -2.86703890e-02 3.87841353e+02] [ 2.40616067e-02 9.99710357e-01 -4.91895277e-04 3.73513694e+00] [ 2.86739227e-02 -1.98305078e-04 9.99588799e-01 2.66353782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.46925415399994 meters 0.013939084725902709 Centerline is valid? [True, True] Translation: X:387.87, Y:3.74, Z:2.66 [[ 9.99408767e-01 -1.98958612e-02 -2.80405205e-02 3.87869992e+02] [ 1.98899968e-02 9.99802055e-01 -4.88068865e-04 3.73722924e+00] [ 2.80446806e-02 -6.99455619e-05 9.99606668e-01 2.66479743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49925415399997 meters 0.013740067456045125 Centerline is valid? [True, True] Translation: X:387.90, Y:3.74, Z:2.67 [[ 9.99424312e-01 -1.88936050e-02 -2.81793419e-02 3.87898146e+02] [ 1.88870595e-02 9.99821499e-01 -4.98450283e-04 3.73757681e+00] [ 2.81837294e-02 -3.40615766e-05 9.99602759e-01 2.66539961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.52925415399994 meters 0.013639234671237089 Centerline is valid? [True, True] Translation: X:387.92, Y:3.74, Z:2.66 [[ 9.99432760e-01 -1.83878114e-02 -2.82142937e-02 3.87924575e+02] [ 1.83808493e-02 9.99830930e-01 -5.06110832e-04 3.73743470e+00] [ 2.82188298e-02 -1.27789354e-05 9.99601769e-01 2.66448158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.559254154 meters 0.01380765336856139 Centerline is valid? [True, True] Translation: X:387.95, Y:3.73, Z:2.66 [[ 9.99413250e-01 -1.92985745e-02 -2.82970265e-02 3.87951751e+02] [ 1.92917699e-02 9.99813765e-01 -5.13478144e-04 3.73486458e+00] [ 2.83016660e-02 -3.27228644e-05 9.99599427e-01 2.66326639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.58925415399995 meters 0.01368340664811119 Centerline is valid? [True, True] Translation: X:387.98, Y:3.73, Z:2.66 [[ 9.99376940e-01 -2.08436952e-02 -2.84828225e-02 3.87979600e+02] [ 2.08372118e-02 9.99782744e-01 -5.24447508e-04 3.73325134e+00] [ 2.84875659e-02 -6.93818600e-05 9.99594145e-01 2.66331571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.619254154 meters 0.013845767920376418 Centerline is valid? [True, True] Translation: X:388.01, Y:3.73, Z:2.66 [[ 9.99333027e-01 -2.38927804e-02 -2.76158582e-02 3.88007819e+02] [ 2.38877452e-02 9.99714516e-01 -5.12265148e-04 3.72915096e+00] [ 2.76202138e-02 -1.47757103e-04 9.99618478e-01 2.66244241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.64925415399995 meters 0.014165923378793948 Centerline is valid? [True, True] Translation: X:388.04, Y:3.73, Z:2.66 [[ 9.99289531e-01 -2.59041722e-02 -2.73752852e-02 3.88035319e+02] [ 2.58999126e-02 9.99664411e-01 -5.10223996e-04 3.72744901e+00] [ 2.73793152e-02 -1.99155995e-04 9.99625096e-01 2.66212865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.679254154 meters 0.014310636795254685 Centerline is valid? [True, True] Translation: X:388.06, Y:3.73, Z:2.66 [[ 9.99240917e-01 -2.81429395e-02 -2.69362944e-02 3.88062860e+02] [ 2.81394585e-02 9.99603878e-01 -5.08352402e-04 3.72594359e+00] [ 2.69399308e-02 -2.50006217e-04 9.99637023e-01 2.66237849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.70925415399995 meters 0.014884323067376163 Centerline is valid? [True, True] Translation: X:388.09, Y:3.72, Z:2.66 [[ 9.99193989e-01 -3.00833705e-02 -2.65774800e-02 3.88090996e+02] [ 3.00805698e-02 9.99547350e-01 -5.05264796e-04 3.72419413e+00] [ 2.65806497e-02 -2.94608195e-04 9.99646629e-01 2.66191368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7392541539999 meters 0.015426658495376116 Centerline is valid? [True, True] Translation: X:388.12, Y:3.72, Z:2.66 [[ 9.99047308e-01 -3.51816243e-02 -2.58210946e-02 3.88119730e+02] [ 3.51805477e-02 9.99380850e-01 -4.96110523e-04 3.71974646e+00] [ 2.58225614e-02 -4.12762368e-04 9.99666457e-01 2.66161207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.76925415399995 meters 0.018008381167319527 Centerline is valid? [True, True] Translation: X:388.15, Y:3.72, Z:2.66 [[ 9.98972007e-01 -3.75079878e-02 -2.54574246e-02 3.88148003e+02] [ 3.75076126e-02 9.99296221e-01 -4.92409057e-04 3.71732357e+00] [ 2.54579775e-02 -4.62944355e-04 9.99675786e-01 2.66124242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7992541539999 meters 0.018008381167319527 Centerline is valid? [True, True] Translation: X:388.18, Y:3.72, Z:2.66 [[ 9.98962862e-01 -3.77508350e-02 -2.54573252e-02 3.88176257e+02] [ 3.77504085e-02 9.99287075e-01 -4.97514742e-04 3.71792863e+00] [ 2.54579576e-02 -4.64025676e-04 9.99675786e-01 2.66143842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.82925415399995 meters 0.01731813404810631 Centerline is valid? [True, True] Translation: X:388.21, Y:3.72, Z:2.66 [[ 9.98775984e-01 -4.33112926e-02 -2.38885904e-02 3.88205514e+02] [ 4.33124459e-02 9.99061465e-01 -4.69371099e-04 3.71571145e+00] [ 2.38864992e-02 -5.65876697e-04 9.99714517e-01 2.66347736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8592541539999 meters 0.019468694350966594 Centerline is valid? [True, True] Translation: X:388.24, Y:3.71, Z:2.66 [[ 9.98685169e-01 -4.59109677e-02 -2.28060513e-02 3.88235400e+02] [ 4.59126810e-02 9.98945356e-01 -4.48754181e-04 3.71083086e+00] [ 2.28026018e-02 -5.98922814e-04 9.99739807e-01 2.66169882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.88925415399996 meters 0.019682693588625025 Centerline is valid? [True, True] Translation: X:388.27, Y:3.71, Z:2.66 [[ 9.98580296e-01 -4.86254224e-02 -2.17476415e-02 3.88266119e+02] [ 4.86276208e-02 9.98816886e-01 -4.28048111e-04 3.71044745e+00] [ 2.17427256e-02 -6.30095654e-04 9.99763400e-01 2.66295976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91925415399993 meters 0.01917934140288443 Centerline is valid? [True, True] Translation: X:388.30, Y:3.71, Z:2.66 [[ 9.98384651e-01 -5.36118422e-02 -1.88111673e-02 3.88297687e+02] [ 5.36143787e-02 9.98561646e-01 -3.69815084e-04 3.70945129e+00] [ 1.88039367e-02 -6.39331345e-04 9.99822986e-01 2.66494687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.94925415399996 meters 0.020850931917655042 Centerline is valid? [True, True] Translation: X:388.33, Y:3.71, Z:2.67 [[ 9.98289395e-01 -5.57089722e-02 -1.77424487e-02 3.88329787e+02] [ 5.57115777e-02 9.98446843e-01 -3.47772096e-04 3.70804657e+00] [ 1.77342659e-02 -6.41282612e-04 9.99842530e-01 2.66528296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97925415399993 meters 0.022407677102756277 Centerline is valid? [True, True] Translation: X:388.36, Y:3.70, Z:2.66 [[ 9.98147747e-01 -5.84637681e-02 -1.68245041e-02 3.88360704e+02] [ 5.84665157e-02 9.98289316e-01 -3.28936298e-04 3.70441572e+00] [ 1.68149535e-02 -6.55343107e-04 9.99858404e-01 2.66461347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.00925415399996 meters 0.023592953447866574 Centerline is valid? [True, True] Translation: X:388.39, Y:3.70, Z:2.66 [[ 9.97840212e-01 -6.38409406e-02 -1.54675739e-02 3.88392224e+02] [ 6.38439157e-02 9.97959851e-01 -3.01867208e-04 3.70191431e+00] [ 1.54552892e-02 -6.86295245e-04 9.99880324e-01 2.66425792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03925415399993 meters 0.023972193070657438 Centerline is valid? [True, True] Translation: X:388.42, Y:3.70, Z:2.66 [[ 9.97660214e-01 -6.66345991e-02 -1.52946645e-02 3.88423461e+02] [ 6.66378440e-02 9.97777184e-01 -2.97940387e-04 3.70156372e+00] [ 1.52805204e-02 -7.21960195e-04 9.99882985e-01 2.66393202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.06925415399996 meters 0.03054046381691745 Centerline is valid? [True, True] Translation: X:388.45, Y:3.69, Z:2.66 [[ 9.97276643e-01 -7.21552890e-02 -1.52614366e-02 3.88453402e+02] [ 7.21591663e-02 9.97393085e-01 -2.97163829e-04 3.69310651e+00] [ 1.52430932e-02 -8.04897993e-04 9.99883493e-01 2.66163462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09925415399994 meters 0.026458828190350295 Centerline is valid? [True, True] Translation: X:388.48, Y:3.70, Z:2.66 [[ 9.97100416e-01 -7.45977675e-02 -1.50310665e-02 3.88484115e+02] [ 7.46018060e-02 9.97213360e-01 -2.92629426e-04 3.69948887e+00] [ 1.50110098e-02 -8.29563785e-04 9.99886984e-01 2.66273771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.12925415399997 meters 0.03827753902966973 Centerline is valid? [True, True] Translation: X:388.52, Y:3.68, Z:2.66 [[ 9.96949689e-01 -7.66748160e-02 -1.45702086e-02 3.88515250e+02] [ 7.66788376e-02 9.97055804e-01 -2.83252355e-04 3.68457034e+00] [ 1.45490294e-02 -8.34838311e-04 9.99893809e-01 2.66063624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15925415399994 meters 0.026937637402795447 Centerline is valid? [True, True] Translation: X:388.55, Y:3.70, Z:2.66 [[ 9.96849976e-01 -7.80638437e-02 -1.40057962e-02 3.88546933e+02] [ 7.80677071e-02 9.96948022e-01 -2.71504013e-04 3.70057571e+00] [ 1.39842454e-02 -8.22751624e-04 9.99901877e-01 2.66292240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18925415399997 meters 0.031032315266014084 Centerline is valid? [True, True] Translation: X:388.58, Y:3.70, Z:2.66 [[ 9.96764159e-01 -7.93206650e-02 -1.30170274e-02 3.88577736e+02] [ 7.93241182e-02 9.96848846e-01 -2.51625673e-04 3.69700143e+00] [ 1.29959678e-02 -7.81752767e-04 9.99915243e-01 2.66229879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21925415399994 meters 0.028582679068704275 Centerline is valid? [True, True] Translation: X:388.61, Y:3.70, Z:2.66 [[ 9.96721868e-01 -7.99164399e-02 -1.26047801e-02 3.88609873e+02] [ 7.99197336e-02 9.96801273e-01 -2.42985290e-04 3.70124673e+00] [ 1.25838794e-02 -7.65181918e-04 9.99920527e-01 2.66222385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24925415399997 meters 0.029173112634915614 Centerline is valid? [True, True] Translation: X:388.64, Y:3.70, Z:2.66 [[ 9.96719745e-01 -7.99498024e-02 -1.25610214e-02 3.88642376e+02] [ 7.99530875e-02 9.96798598e-01 -2.41215452e-04 3.70208995e+00] [ 1.25400937e-02 -7.63868241e-04 9.99921078e-01 2.66182457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.27925415399994 meters 0.03012172463995904 Centerline is valid? [True, True] Translation: X:388.67, Y:3.71, Z:2.66 [[ 9.96836058e-01 -7.83881973e-02 -1.31592070e-02 3.88673670e+02] [ 7.83916774e-02 9.96922606e-01 -2.51939209e-04 3.70578724e+00] [ 1.31384600e-02 -7.80430222e-04 9.99913382e-01 2.66161880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.309254154 meters 0.02949666453260046 Centerline is valid? [True, True] Translation: X:388.71, Y:3.71, Z:2.66 [[ 9.96867819e-01 -7.80538779e-02 -1.27335522e-02 3.88705899e+02] [ 7.80571177e-02 9.96948859e-01 -2.43121101e-04 3.70785573e+00] [ 1.27136769e-02 -7.51584785e-04 9.99918895e-01 2.66107029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.33925415399995 meters 0.029702854608797128 Centerline is valid? [True, True] Translation: X:388.74, Y:3.71, Z:2.66 [[ 9.97037878e-01 -7.58823788e-02 -1.25433129e-02 3.88736048e+02] [ 7.58853588e-02 9.97116520e-01 -2.38889977e-04 3.71210688e+00] [ 1.25252721e-02 -7.13671448e-04 9.99921301e-01 2.66135355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.369254154 meters 0.029418220372248716 Centerline is valid? [True, True] Translation: X:388.77, Y:3.72, Z:2.66 [[ 9.97123799e-01 -7.47582028e-02 -1.24635848e-02 3.88768237e+02] [ 7.47610639e-02 9.97201448e-01 -2.36850382e-04 3.71521245e+00] [ 1.24464113e-02 -6.95621705e-04 9.99922298e-01 2.66172168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.39925415399995 meters 0.02682876777858241 Centerline is valid? [True, True] Translation: X:388.80, Y:3.72, Z:2.66 [[ 9.97216535e-01 -7.36300928e-02 -1.17385046e-02 3.88800731e+02] [ 7.36325633e-02 9.97285414e-01 -2.22162702e-04 3.72134365e+00] [ 1.17229973e-02 -6.42791866e-04 9.99931077e-01 2.66270201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.429254154 meters 0.02672858515769216 Centerline is valid? [True, True] Translation: X:388.83, Y:3.73, Z:2.66 [[ 9.97371830e-01 -7.17541044e-02 -1.00389738e-02 3.88831323e+02] [ 7.17558232e-02 9.97422210e-01 -1.89338307e-04 3.72589090e+00] [ 1.00266812e-02 -5.31514134e-04 9.99949590e-01 2.66403861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.45925415399995 meters 0.025498654603194046 Centerline is valid? [True, True] Translation: X:388.86, Y:3.73, Z:2.66 [[ 9.97430695e-01 -7.10381539e-02 -9.25145828e-03 3.88863362e+02] [ 7.10395866e-02 9.97473482e-01 -1.74078975e-04 3.73060004e+00] [ 9.24045055e-03 -4.83588058e-04 9.99957189e-01 2.66490570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4892541539999 meters 0.026785555802112646 Centerline is valid? [True, True] Translation: X:388.89, Y:3.73, Z:2.67 [[ 9.97524167e-01 -6.98493616e-02 -8.16102843e-03 3.88894788e+02] [ 6.98504410e-02 9.97557463e-01 -1.53040228e-04 3.73182429e+00] [ 8.15178458e-03 -4.17390109e-04 9.99966687e-01 2.66577455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.51925415399995 meters 0.02714640507157086 Centerline is valid? [True, True] Translation: X:388.93, Y:3.74, Z:2.67 [[ 9.97600356e-01 -6.88676348e-02 -7.12586035e-03 3.88925568e+02] [ 6.88684352e-02 9.97625742e-01 -1.33283703e-04 3.73584809e+00] [ 7.11812065e-03 -3.57782983e-04 9.99974602e-01 2.66626989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5492541539999 meters 0.02400013066615738 Centerline is valid? [True, True] Translation: X:388.96, Y:3.74, Z:2.67 [[ 9.97647271e-01 -6.81880392e-02 -7.09316866e-03 3.88958068e+02] [ 6.81888179e-02 9.97672425e-01 -1.32287422e-04 3.74263504e+00] [ 7.08567920e-03 -3.51698600e-04 9.99974834e-01 2.66635199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.57925415399995 meters 0.02707123599007389 Centerline is valid? [True, True] Translation: X:388.99, Y:3.74, Z:2.67 [[ 9.97683145e-01 -6.76974883e-02 -6.73734530e-03 3.88989818e+02] [ 6.76981826e-02 9.97705839e-01 -1.25206698e-04 3.74131285e+00] [ 6.73036492e-03 -3.31189420e-04 9.99977296e-01 2.66648313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6092541539999 meters 0.027209906674126514 Centerline is valid? [True, True] Translation: X:389.02, Y:3.75, Z:2.67 [[ 9.97652264e-01 -6.81554286e-02 -6.69315191e-03 3.89022338e+02] [ 6.81561350e-02 9.97674659e-01 -1.22753616e-04 3.74538615e+00] [ 6.68595438e-03 -3.33713942e-04 9.99977593e-01 2.66611025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.63925415399996 meters 0.0244798841943961 Centerline is valid? [True, True] Translation: X:389.05, Y:3.75, Z:2.67 [[ 9.97598659e-01 -6.89053055e-02 -6.99822936e-03 3.89054366e+02] [ 6.89060998e-02 9.97623142e-01 -1.27828975e-04 3.75144212e+00] [ 6.99040365e-03 -3.54698677e-04 9.99975504e-01 2.66592264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.66925415399993 meters 0.031010219907493336 Centerline is valid? [True, True] Translation: X:389.09, Y:3.75, Z:2.66 [[ 9.97439268e-01 -7.10473632e-02 -8.19629617e-03 3.89085588e+02] [ 7.10485304e-02 9.97472849e-01 -1.49038281e-04 3.74705280e+00] [ 8.18617167e-03 -4.33678163e-04 9.99966399e-01 2.66479858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.69925415399996 meters 0.026780049247726943 Centerline is valid? [True, True] Translation: X:389.12, Y:3.75, Z:2.66 [[ 9.97245079e-01 -7.36426711e-02 -8.88869581e-03 3.89116261e+02] [ 7.36441507e-02 9.97284570e-01 -1.61176721e-04 3.75462149e+00] [ 8.87642866e-03 -4.93867762e-04 9.99960482e-01 2.66473264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.72925415399993 meters 0.028553557036200525 Centerline is valid? [True, True] Translation: X:389.15, Y:3.75, Z:2.66 [[ 9.97158796e-01 -7.48269902e-02 -8.67509698e-03 3.89147554e+02] [ 7.48284461e-02 9.97196409e-01 -1.57082772e-04 3.75428019e+00] [ 8.66252959e-03 -4.92507559e-04 9.99962358e-01 2.66461260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.75925415399996 meters 0.03168259749686613 Centerline is valid? [True, True] Translation: X:389.18, Y:3.75, Z:2.66 [[ 9.97014262e-01 -7.66491019e-02 -9.35285778e-03 3.89178419e+02] [ 7.66508788e-02 9.97057979e-01 -1.68855830e-04 3.75374770e+00] [ 9.33828413e-03 -5.48553097e-04 9.99956247e-01 2.66471628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.78925415399993 meters 0.031043131509126798 Centerline is valid? [True, True] Translation: X:389.21, Y:3.76, Z:2.67 [[ 9.97002250e-01 -7.68532423e-02 -8.94948700e-03 3.89210833e+02] [ 7.68548809e-02 9.97042277e-01 -1.61188522e-04 3.75700871e+00] [ 8.93540475e-03 -5.27106438e-04 9.99959940e-01 2.66512114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81925415399996 meters 0.03242482049120451 Centerline is valid? [True, True] Translation: X:389.24, Y:3.76, Z:2.67 [[ 9.97023668e-01 -7.65444471e-02 -9.20609752e-03 3.89242327e+02] [ 7.65461736e-02 9.97066024e-01 -1.65180218e-04 3.75755537e+00] [ 9.19173068e-03 -5.40002952e-04 9.99957609e-01 2.66559668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.84925415399994 meters 0.028438417004136594 Centerline is valid? [True, True] Translation: X:389.27, Y:3.77, Z:2.67 [[ 9.97145385e-01 -7.50461225e-02 -8.31626142e-03 3.89273264e+02] [ 7.50474826e-02 9.97179950e-01 -1.48830264e-04 3.76739119e+00] [ 8.30397828e-03 -4.75709073e-04 9.99965408e-01 2.66662823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87925415399997 meters 0.02940848027541174 Centerline is valid? [True, True] Translation: X:389.30, Y:3.77, Z:2.67 [[ 9.97242679e-01 -7.38019401e-02 -7.76607812e-03 3.89304957e+02] [ 7.38030909e-02 9.97272824e-01 -1.38686204e-04 3.76828900e+00] [ 7.75513397e-03 -4.34856768e-04 9.99969834e-01 2.66717961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.90925415399994 meters 0.02626049944446398 Centerline is valid? [True, True] Translation: X:389.34, Y:3.78, Z:2.67 [[ 9.97493689e-01 -7.04198315e-02 -6.88386664e-03 3.89335390e+02] [ 7.04206584e-02 9.97517376e-01 -1.22487577e-04 3.77614333e+00] [ 6.87540215e-03 -3.62585836e-04 9.99976298e-01 2.66804672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93925415399997 meters 0.02721028663771984 Centerline is valid? [True, True] Translation: X:389.37, Y:3.78, Z:2.67 [[ 9.97618156e-01 -6.86494974e-02 -6.72763193e-03 3.89366621e+02] [ 6.86502468e-02 9.97640782e-01 -1.19754930e-04 3.77667518e+00] [ 6.71998109e-03 -3.42383900e-04 9.99977362e-01 2.66836289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.96925415399994 meters 0.026508372262595503 Centerline is valid? [True, True] Translation: X:389.40, Y:3.78, Z:2.67 [[ 9.97749065e-01 -6.67689721e-02 -6.22150818e-03 3.89398360e+02] [ 6.67695856e-02 9.97768415e-01 -1.09273947e-04 3.77958652e+00] [ 6.21492046e-03 -3.06379544e-04 9.99980640e-01 2.66849471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99925415399997 meters 0.025680535169524392 Centerline is valid? [True, True] Translation: X:389.43, Y:3.78, Z:2.67 [[ 9.97864940e-01 -6.50397834e-02 -5.94872861e-03 3.89430980e+02] [ 6.50403152e-02 9.97882632e-01 -1.04215024e-04 3.78282575e+00] [ 5.94291108e-03 -2.82914664e-04 9.99982301e-01 2.66881169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.02925415399994 meters 0.024309177168999888 Centerline is valid? [True, True] Translation: X:389.46, Y:3.79, Z:2.67 [[ 9.98031392e-01 -6.24154283e-02 -6.13629808e-03 3.89462474e+02] [ 6.24159485e-02 9.98050218e-01 -1.06889536e-04 3.78795553e+00] [ 6.13100520e-03 -2.76323752e-04 9.99981167e-01 2.66946075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.059254154 meters 0.023516235103994042 Centerline is valid? [True, True] Translation: X:389.49, Y:3.79, Z:2.67 [[ 9.98093832e-01 -6.14446121e-02 -5.76738110e-03 3.89494488e+02] [ 6.14450563e-02 9.98110462e-01 -1.00312478e-04 3.79085356e+00] [ 5.76264708e-03 -2.54255791e-04 9.99983363e-01 2.66969346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.08925415399995 meters 0.02555166226464568 Centerline is valid? [True, True] Translation: X:389.53, Y:3.79, Z:2.67 [[ 9.98146922e-01 -6.05656413e-02 -5.87581815e-03 3.89525400e+02] [ 6.05660893e-02 9.98164184e-01 -1.01838677e-04 3.78903637e+00] [ 5.87119916e-03 -2.54225365e-04 9.99982732e-01 2.66983350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.119254154 meters 0.021910986491938032 Centerline is valid? [True, True] Translation: X:389.56, Y:3.80, Z:2.67 [[ 9.98151989e-01 -6.03131258e-02 -7.41173169e-03 3.89557428e+02] [ 6.03138411e-02 9.98179455e-01 -1.27165318e-04 3.79570458e+00] [ 7.40590804e-03 -3.20099692e-04 9.99972525e-01 2.66880775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.14925415399995 meters 0.023877728433394023 Centerline is valid? [True, True] Translation: X:389.59, Y:3.79, Z:2.67 [[ 9.98162412e-01 -6.00501821e-02 -8.11019111e-03 3.89589464e+02] [ 6.00510372e-02 9.98195298e-01 -1.38262108e-04 3.79377341e+00] [ 8.10385730e-03 -3.49017349e-04 9.99967102e-01 2.66804137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.179254154 meters 0.021957001861361035 Centerline is valid? [True, True] Translation: X:389.62, Y:3.80, Z:2.67 [[ 9.98140208e-01 -6.01578008e-02 -9.85723919e-03 3.89621742e+02] [ 6.01590943e-02 9.98188788e-01 -1.65509050e-04 3.79787090e+00] [ 9.84934229e-03 -4.27801344e-04 9.99951403e-01 2.66695370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.20925415399995 meters 0.023710647120752392 Centerline is valid? [True, True] Translation: X:389.65, Y:3.80, Z:2.67 [[ 9.98138279e-01 -6.00912852e-02 -1.04409095e-02 3.89654084e+02] [ 6.00927418e-02 9.98192783e-01 -1.74437706e-04 3.79634714e+00] [ 1.04325227e-02 -4.53309928e-04 9.99945477e-01 2.66642213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2392541539999 meters 0.022247452492444253 Centerline is valid? [True, True] Translation: X:389.69, Y:3.80, Z:2.67 [[ 9.98153838e-01 -5.96675616e-02 -1.13445059e-02 3.89685885e+02] [ 5.96692655e-02 9.98218184e-01 -1.88510555e-04 3.79975465e+00] [ 1.13355400e-02 -4.88755799e-04 9.99935631e-01 2.66642226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.26925415399995 meters 0.022616731858403873 Centerline is valid? [True, True] Translation: X:389.72, Y:3.80, Z:2.67 [[ 9.98222010e-01 -5.82937924e-02 -1.24359028e-02 3.89717205e+02] [ 5.82957443e-02 9.98299336e-01 -2.05787465e-04 3.80152838e+00] [ 1.24267496e-02 -5.19538634e-04 9.99922650e-01 2.66569146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2992541539999 meters 0.02204463277347434 Centerline is valid? [True, True] Translation: X:389.75, Y:3.80, Z:2.67 [[ 9.98298408e-01 -5.69070893e-02 -1.27229219e-02 3.89748978e+02] [ 5.69090302e-02 9.98379346e-01 -2.09730487e-04 3.80367825e+00] [ 1.27142376e-02 -5.14675538e-04 9.99919038e-01 2.66578563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.32925415399995 meters 0.021202473270735024 Centerline is valid? [True, True] Translation: X:389.78, Y:3.81, Z:2.67 [[ 9.98382332e-01 -5.54375751e-02 -1.26251870e-02 3.89780897e+02] [ 5.54393805e-02 9.98462033e-01 -2.07207220e-04 3.80600537e+00] [ 1.26172569e-02 -4.93060516e-04 9.99920278e-01 2.66620545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3592541539999 meters 0.02143248709237717 Centerline is valid? [True, True] Translation: X:389.81, Y:3.81, Z:2.67 [[ 9.98568826e-01 -5.22036481e-02 -1.16223030e-02 3.89811885e+02] [ 5.22049666e-02 9.98636373e-01 -1.90112962e-04 3.80810305e+00] [ 1.16163791e-02 -4.16901064e-04 9.99932441e-01 2.66699843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.38925415399996 meters 0.020718319578638057 Centerline is valid? [True, True] Translation: X:389.84, Y:3.81, Z:2.67 [[ 9.98659648e-01 -5.05844141e-02 -1.09601755e-02 3.89843823e+02] [ 5.05854950e-02 9.98719718e-01 -1.78759075e-04 3.81081486e+00] [ 1.09551858e-02 -3.75906429e-04 9.99939919e-01 2.66796981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41925415399993 meters 0.01996609154205475 Centerline is valid? [True, True] Translation: X:389.88, Y:3.81, Z:2.67 [[ 9.98756103e-01 -4.87630882e-02 -1.04118694e-02 3.89875718e+02] [ 4.87639723e-02 9.98810316e-01 -1.69096708e-04 3.81398738e+00] [ 1.04077283e-02 -3.38837744e-04 9.99945781e-01 2.66920814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.44925415399996 meters 0.01867096470101292 Centerline is valid? [True, True] Translation: X:389.91, Y:3.82, Z:2.67 [[ 9.98861975e-01 -4.69659884e-02 -8.30367118e-03 3.89907833e+02] [ 4.69664928e-02 9.98896456e-01 -1.34357584e-04 3.81738257e+00] [ 8.30081796e-03 -2.55789631e-04 9.99965515e-01 2.67107104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47925415399993 meters 0.018009538718656327 Centerline is valid? [True, True] Translation: X:389.94, Y:3.82, Z:2.67 [[ 9.98917782e-01 -4.58560132e-02 -7.77759899e-03 3.89939783e+02] [ 4.58564262e-02 9.98948033e-01 -1.25309760e-04 3.81934373e+00] [ 7.77516342e-03 -2.31478746e-04 9.99969746e-01 2.67164307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.50925415399996 meters 0.018503605892850203 Centerline is valid? [True, True] Translation: X:389.97, Y:3.82, Z:2.67 [[ 9.98958331e-01 -4.50090531e-02 -7.51255463e-03 3.89971321e+02] [ 4.50094185e-02 9.98986555e-01 -1.20514933e-04 3.81925833e+00] [ 7.51036533e-03 -2.17746319e-04 9.99971773e-01 2.67175510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53925415399993 meters 0.01790839142050561 Centerline is valid? [True, True] Translation: X:390.00, Y:3.82, Z:2.67 [[ 9.99000993e-01 -4.40161834e-02 -7.71950724e-03 3.90003103e+02] [ 4.40165430e-02 9.99030795e-01 -1.23387503e-04 3.82092698e+00] [ 7.71745650e-03 -2.16521785e-04 9.99970197e-01 2.67153861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.56925415399996 meters 0.017848340254095502 Centerline is valid? [True, True] Translation: X:390.04, Y:3.82, Z:2.67 [[ 9.99004108e-01 -4.38931451e-02 -8.01148919e-03 3.90036040e+02] [ 4.38935336e-02 9.99036206e-01 -1.27413389e-04 3.82160387e+00] [ 8.00936034e-03 -2.24366071e-04 9.99967899e-01 2.67139393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59925415399994 meters 0.018851815621003923 Centerline is valid? [True, True] Translation: X:390.07, Y:3.82, Z:2.67 [[ 9.99005277e-01 -4.38113529e-02 -8.30799008e-03 3.90068390e+02] [ 4.38117754e-02 9.99039795e-01 -1.31214166e-04 3.81991845e+00] [ 8.30576138e-03 -2.32904152e-04 9.99965479e-01 2.67129113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.62925415399997 meters 0.017417357154558125 Centerline is valid? [True, True] Translation: X:390.10, Y:3.82, Z:2.67 [[ 9.98993510e-01 -4.40410689e-02 -8.50589759e-03 3.90100691e+02] [ 4.40415266e-02 9.99029692e-01 -1.33577498e-04 3.82226704e+00] [ 8.50352715e-03 -2.41169662e-04 9.99963815e-01 2.67107678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65925415399994 meters 0.018273619076330183 Centerline is valid? [True, True] Translation: X:390.13, Y:3.82, Z:2.67 [[ 9.98928709e-01 -4.54126886e-02 -8.89503792e-03 3.90131414e+02] [ 4.54132490e-02 9.98968277e-01 -1.39078115e-04 3.81930459e+00] [ 8.89217661e-03 -2.65023449e-04 9.99960429e-01 2.67021677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68925415399997 meters 0.018273619076330183 Centerline is valid? [True, True] Translation: X:390.16, Y:3.82, Z:2.67 [[ 9.98933692e-01 -4.53029402e-02 -8.89504527e-03 3.90163970e+02] [ 4.53035004e-02 9.98973260e-01 -1.38606002e-04 3.81972302e+00] [ 8.89219163e-03 -2.64518482e-04 9.99960429e-01 2.67044230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71925415399994 meters 0.02062713104587384 Centerline is valid? [True, True] Translation: X:390.20, Y:3.82, Z:2.67 [[ 9.98933782e-01 -4.53218844e-02 -8.78787060e-03 3.90195812e+02] [ 4.53224400e-02 9.98972401e-01 -1.36014540e-04 3.81739763e+00] [ 8.78500463e-03 -2.62418219e-04 9.99961377e-01 2.66986260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74925415399997 meters 0.018897121807532023 Centerline is valid? [True, True] Translation: X:390.23, Y:3.82, Z:2.67 [[ 9.98826611e-01 -4.74550418e-02 -9.66541564e-03 3.90227691e+02] [ 4.74558224e-02 9.98873327e-01 -1.48702581e-04 3.81717430e+00] [ 9.66158257e-03 -3.10152153e-04 9.99953278e-01 2.66992651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.77925415399994 meters 0.019570799883985416 Centerline is valid? [True, True] Translation: X:390.26, Y:3.82, Z:2.67 [[ 9.98800807e-01 -4.79853008e-02 -9.71380996e-03 3.90258503e+02] [ 4.79861207e-02 9.98847991e-01 -1.48784770e-04 3.81553577e+00] [ 9.70975905e-03 -3.17521709e-04 9.99952809e-01 2.66996165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.809254154 meters 0.02003202744325356 Centerline is valid? [True, True] Translation: X:390.29, Y:3.81, Z:2.67 [[ 9.98775681e-01 -4.85732337e-02 -9.36908533e-03 3.90290980e+02] [ 4.85740273e-02 9.98819575e-01 -1.42965760e-04 3.81352018e+00] [ 9.36497013e-03 -3.12303482e-04 9.99956099e-01 2.66976333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.83925415399995 meters 0.020090633461172996 Centerline is valid? [True, True] Translation: X:390.32, Y:3.81, Z:2.67 [[ 9.98765253e-01 -4.88174913e-02 -9.20988076e-03 3.90322835e+02] [ 4.88182745e-02 9.98807667e-01 -1.39884853e-04 3.81316087e+00] [ 9.20572835e-03 -3.09898356e-04 9.99957578e-01 2.66994763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.869254154 meters 0.020591559249605287 Centerline is valid? [True, True] Translation: X:390.35, Y:3.81, Z:2.67 [[ 9.98760508e-01 -4.89492342e-02 -9.02328214e-03 3.90353792e+02] [ 4.89499968e-02 9.98801221e-01 -1.36451468e-04 3.81225746e+00] [ 9.01914441e-03 -3.05407294e-04 9.99959280e-01 2.66998143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.89925415399995 meters 0.020734304184662267 Centerline is valid? [True, True] Translation: X:390.39, Y:3.81, Z:2.67 [[ 9.98792966e-01 -4.82855467e-02 -9.00652217e-03 3.90385749e+02] [ 4.82862841e-02 9.98833528e-01 -1.35681895e-04 3.81140149e+00] [ 9.00256779e-03 -2.99373366e-04 9.99959431e-01 2.67003022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.929254154 meters 0.021105068004586756 Centerline is valid? [True, True] Translation: X:390.42, Y:3.81, Z:2.67 [[ 9.98805531e-01 -4.79397675e-02 -9.44932070e-03 3.90417065e+02] [ 4.79405699e-02 9.98850180e-01 -1.41707581e-04 3.81065771e+00] [ 9.44524911e-03 -3.11467504e-04 9.99955344e-01 2.66985030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.95925415399995 meters 0.02097202444205735 Centerline is valid? [True, True] Translation: X:390.45, Y:3.81, Z:2.67 [[ 9.98841312e-01 -4.71757373e-02 -9.51223199e-03 3.90449434e+02] [ 4.71765210e-02 9.98886558e-01 -1.42105322e-04 3.81063715e+00] [ 9.50834459e-03 -3.06813345e-04 9.99954748e-01 2.66943843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9892541539999 meters 0.021014757760611544 Centerline is valid? [True, True] Translation: X:390.48, Y:3.81, Z:2.67 [[ 9.98866362e-01 -4.64275727e-02 -1.05105474e-02 3.90481500e+02] [ 4.64284962e-02 9.98921604e-01 -1.56243259e-04 3.81056324e+00] [ 1.05064669e-02 -3.31922775e-04 9.99944750e-01 2.66916669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.01925415399995 meters 0.019253619460613502 Centerline is valid? [True, True] Translation: X:390.51, Y:3.81, Z:2.67 [[ 9.98959549e-01 -4.41399744e-02 -1.14665976e-02 3.90513945e+02] [ 4.41409327e-02 9.99025300e-01 -1.69615620e-04 3.81336982e+00] [ 1.14629080e-02 -3.36707172e-04 9.99934242e-01 2.66873193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0492541539999 meters 0.018197231581834478 Centerline is valid? [True, True] Translation: X:390.55, Y:3.82, Z:2.67 [[ 9.99026878e-01 -4.25020850e-02 -1.17842817e-02 3.90545821e+02] [ 4.25029934e-02 9.99096324e-01 -1.73462309e-04 3.81603063e+00] [ 1.17810050e-02 -3.27573737e-04 9.99930548e-01 2.66890186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.07925415399995 meters 0.0178055959346884 Centerline is valid? [True, True] Translation: X:390.58, Y:3.82, Z:2.67 [[ 9.99105857e-01 -4.04694191e-02 -1.22357295e-02 3.90576806e+02] [ 4.04702559e-02 9.99180728e-01 -1.79304786e-04 3.81752089e+00] [ 1.22329615e-02 -3.16038643e-04 9.99925125e-01 2.66903547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1092541539999 meters 0.01639661099965062 Centerline is valid? [True, True] Translation: X:390.61, Y:3.82, Z:2.67 [[ 9.99303788e-01 -3.52012689e-02 -1.23616706e-02 3.90608425e+02] [ 3.52017284e-02 9.99380211e-01 -1.80485527e-04 3.82156580e+00] [ 1.23603623e-02 -2.54792298e-04 9.99923575e-01 2.66957869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.13925415399996 meters 0.015269770746846984 Centerline is valid? [True, True] Translation: X:390.64, Y:3.82, Z:2.67 [[ 9.99409340e-01 -3.21675723e-02 -1.20920675e-02 3.90640998e+02] [ 3.21678000e-02 9.99482467e-01 -1.75717944e-04 3.82485044e+00] [ 1.20914619e-02 -2.13361054e-04 9.99926873e-01 2.67045651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.16925415399993 meters 0.015283002257933543 Centerline is valid? [True, True] Translation: X:390.67, Y:3.83, Z:2.67 [[ 9.99512348e-01 -2.89565488e-02 -1.16868964e-02 3.90671927e+02] [ 2.89565521e-02 9.99580657e-01 -1.68960722e-04 3.82611403e+00] [ 1.16868881e-02 -1.69533897e-04 9.99931692e-01 2.67054397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.19925415399996 meters 0.015270739438075923 Centerline is valid? [True, True] Translation: X:390.70, Y:3.83, Z:2.67 [[ 9.99599033e-01 -2.60617515e-02 -1.10706455e-02 3.90703782e+02] [ 2.60615843e-02 9.99660327e-01 -1.59389342e-04 3.82837710e+00] [ 1.10710390e-02 -1.29193128e-04 9.99938706e-01 2.67140567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.22925415399993 meters 0.013846370487010975 Centerline is valid? [True, True] Translation: X:390.74, Y:3.83, Z:2.67 [[ 9.99693155e-01 -2.28057093e-02 -9.66926792e-03 3.90735651e+02] [ 2.28054357e-02 9.99739913e-01 -1.38566230e-04 3.83036671e+00] [ 9.66991317e-03 -8.19881557e-05 9.99953242e-01 2.67401741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.25925415399996 meters 0.01385438271149616 Centerline is valid? [True, True] Translation: X:390.77, Y:3.83, Z:2.67 [[ 9.99715885e-01 -2.20808771e-02 -8.97689131e-03 3.90767806e+02] [ 2.20806177e-02 9.99756185e-01 -1.28021762e-04 3.83089310e+00] [ 8.97752945e-03 -7.02299159e-05 9.99959699e-01 2.67495244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.28925415399993 meters 0.013959922662887248 Centerline is valid? [True, True] Translation: X:390.80, Y:3.83, Z:2.68 [[ 9.99715279e-01 -2.21917424e-02 -8.76858522e-03 3.90800413e+02] [ 2.21915047e-02 9.99753730e-01 -1.24421012e-04 3.83071339e+00] [ 8.76918691e-03 -7.02025138e-05 9.99961547e-01 2.67550375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31925415399996 meters 0.014099186833928563 Centerline is valid? [True, True] Translation: X:390.83, Y:3.83, Z:2.68 [[ 9.99691516e-01 -2.30544866e-02 -9.23919294e-03 3.90831958e+02] [ 2.30542669e-02 9.99734207e-01 -1.30290379e-04 3.82893144e+00] [ 9.23974100e-03 -8.27526338e-05 9.99957309e-01 2.67545695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.34925415399994 meters 0.014569996506983261 Centerline is valid? [True, True] Translation: X:390.86, Y:3.82, Z:2.67 [[ 9.99568002e-01 -2.76017889e-02 -1.00970688e-02 3.90864485e+02] [ 2.76017699e-02 9.99618989e-01 -1.41256627e-04 3.82465280e+00] [ 1.00971206e-02 -1.37501365e-04 9.99949013e-01 2.67458372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37925415399997 meters 0.015314244922849397 Centerline is valid? [True, True] Translation: X:390.90, Y:3.82, Z:2.67 [[ 9.99472847e-01 -3.06355994e-02 -1.07465592e-02 3.90897086e+02] [ 3.06357619e-02 9.99530604e-01 -1.49536980e-04 3.82178491e+00] [ 1.07460959e-02 -1.79770877e-04 9.99942243e-01 2.67430320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.40925415399994 meters 0.016119337207676214 Centerline is valid? [True, True] Translation: X:390.93, Y:3.82, Z:2.67 [[ 9.99360636e-01 -3.39636831e-02 -1.11708228e-02 3.90927867e+02] [ 3.39640739e-02 9.99423042e-01 -1.54772071e-04 3.81845316e+00] [ 1.11696343e-02 -2.24733535e-04 9.99937592e-01 2.67385393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43925415399997 meters 0.01839867332630014 Centerline is valid? [True, True] Translation: X:390.96, Y:3.81, Z:2.67 [[ 9.99074646e-01 -4.11614177e-02 -1.24735338e-02 3.90958547e+02] [ 4.11624703e-02 9.99152451e-01 -1.72446619e-04 3.81119676e+00] [ 1.24700601e-02 -3.41154422e-04 9.99922188e-01 2.67262214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.46925415399994 meters 0.019664434665628793 Centerline is valid? [True, True] Translation: X:390.99, Y:3.81, Z:2.67 [[ 9.98908385e-01 -4.48115854e-02 -1.31894326e-02 3.90990401e+02] [ 4.48130861e-02 9.98995372e-01 -1.81882518e-04 3.80833251e+00] [ 1.31843325e-02 -4.09375204e-04 9.99912999e-01 2.67211865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49925415399997 meters 0.019591126958408495 Centerline is valid? [True, True] Translation: X:391.02, Y:3.81, Z:2.67 [[ 9.98738772e-01 -4.82088534e-02 -1.40275113e-02 3.91022554e+02] [ 4.82108984e-02 9.98837160e-01 -1.92532300e-04 3.80760766e+00] [ 1.40204813e-02 -4.83989448e-04 9.99901591e-01 2.67237196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.52925415399994 meters 0.022011037042194075 Centerline is valid? [True, True] Translation: X:391.05, Y:3.80, Z:2.67 [[ 9.98418391e-01 -5.42261447e-02 -1.48405279e-02 3.91052397e+02] [ 5.42291120e-02 9.98528499e-01 -2.02690090e-04 3.80200124e+00] [ 1.48296812e-02 -6.02419138e-04 9.99889853e-01 2.67183465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.559254154 meters 0.022535954183221872 Centerline is valid? [True, True] Translation: X:391.08, Y:3.80, Z:2.67 [[ 9.98276312e-01 -5.68203873e-02 -1.46917536e-02 3.91084350e+02] [ 5.68235902e-02 9.98384214e-01 -1.99681490e-04 3.80078711e+00] [ 1.46793608e-02 -6.35500881e-04 9.99892050e-01 2.67181344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.58925415399995 meters 0.02447458353267303 Centerline is valid? [True, True] Translation: X:391.12, Y:3.80, Z:2.67 [[ 9.98148266e-01 -5.91196243e-02 -1.43146689e-02 3.91115452e+02] [ 5.91229137e-02 9.98250692e-01 -1.93654993e-04 3.79732435e+00] [ 1.43010769e-02 -6.53028536e-04 9.99897521e-01 2.67160406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.619254154 meters 0.02465030788153849 Centerline is valid? [True, True] Translation: X:391.15, Y:3.80, Z:2.67 [[ 9.98012642e-01 -6.14057576e-02 -1.41456628e-02 3.91147717e+02] [ 6.14092116e-02 9.98112655e-01 -1.90465165e-04 3.79648061e+00] [ 1.41306607e-02 -6.78587360e-04 9.99899927e-01 2.67175779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.64925415399995 meters 0.02786885397314638 Centerline is valid? [True, True] Translation: X:391.18, Y:3.79, Z:2.67 [[ 9.97765059e-01 -6.54905929e-02 -1.32615891e-02 3.91178028e+02] [ 6.54939947e-02 9.97852948e-01 -1.78086142e-04 3.79044942e+00] [ 1.32447788e-02 -6.90866318e-04 9.99912045e-01 2.67204467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.679254154 meters 0.027779975463180003 Centerline is valid? [True, True] Translation: X:391.21, Y:3.79, Z:2.67 [[ 9.97663529e-01 -6.71311733e-02 -1.26841532e-02 3.91210210e+02] [ 6.71344227e-02 9.97743925e-01 -1.69914636e-04 3.79050268e+00] [ 1.26669434e-02 -6.82025667e-04 9.99919538e-01 2.67259007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.70925415399995 meters 0.029888417257611797 Centerline is valid? [True, True] Translation: X:391.24, Y:3.79, Z:2.67 [[ 9.97577008e-01 -6.85138488e-02 -1.20816480e-02 3.91241312e+02] [ 6.85169070e-02 9.97649942e-01 -1.61086922e-04 3.78767140e+00] [ 1.20642921e-02 -6.67100543e-04 9.99927001e-01 2.67228665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7392541539999 meters 0.031321034872548593 Centerline is valid? [True, True] Translation: X:391.27, Y:3.79, Z:2.67 [[ 9.97461100e-01 -7.02550840e-02 -1.16437697e-02 3.91272333e+02] [ 7.02580499e-02 9.97528838e-01 -1.54636829e-04 3.78542445e+00] [ 1.16258601e-02 -6.63824332e-04 9.99932197e-01 2.67270718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.76925415399995 meters 0.03148996182344177 Centerline is valid? [True, True] Translation: X:391.30, Y:3.78, Z:2.67 [[ 9.97311836e-01 -7.23646746e-02 -1.15089349e-02 3.91303800e+02] [ 7.23677182e-02 9.97378008e-01 -1.52318643e-04 3.78461061e+00] [ 1.14897810e-02 -6.80966171e-04 9.99933758e-01 2.67316600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7992541539999 meters 0.03318498004579659 Centerline is valid? [True, True] Translation: X:391.34, Y:3.78, Z:2.67 [[ 9.97258157e-01 -7.31318232e-02 -1.13094990e-02 3.91335206e+02] [ 7.31348168e-02 9.97322052e-01 -1.49205066e-04 3.78238588e+00] [ 1.12901244e-02 -6.78322167e-04 9.99936034e-01 2.67302514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.82925415399995 meters 0.033967184523898686 Centerline is valid? [True, True] Translation: X:391.37, Y:3.78, Z:2.67 [[ 9.97226414e-01 -7.36027573e-02 -1.10504766e-02 3.91367792e+02] [ 7.36056512e-02 9.97287414e-01 -1.45141010e-04 3.78128691e+00] [ 1.10311840e-02 -6.68639079e-04 9.99938931e-01 2.67307252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8592541539999 meters 0.03454666001386828 Centerline is valid? [True, True] Translation: X:391.40, Y:3.78, Z:2.67 [[ 9.97235855e-01 -7.34754715e-02 -1.10455917e-02 3.91399674e+02] [ 7.34783635e-02 9.97296801e-01 -1.44308914e-04 3.78033462e+00] [ 1.10263365e-02 -6.67701982e-04 9.99938985e-01 2.67316591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.88925415399996 meters 0.03514893927330294 Centerline is valid? [True, True] Translation: X:391.43, Y:3.78, Z:2.67 [[ 9.97299067e-01 -7.25616961e-02 -1.13741192e-02 3.91430672e+02] [ 7.25647161e-02 9.97363695e-01 -1.47495311e-04 3.77888998e+00] [ 1.13548361e-02 -6.78262797e-04 9.99935302e-01 2.67248190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91925415399993 meters 0.03476683943284224 Centerline is valid? [True, True] Translation: X:391.46, Y:3.78, Z:2.67 [[ 9.97368146e-01 -7.15132591e-02 -1.19429566e-02 3.91463262e+02] [ 7.15165310e-02 9.97439403e-01 -1.53441752e-04 3.77926976e+00] [ 1.19233487e-02 -7.01080912e-04 9.99928669e-01 2.67194490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.94925415399996 meters 0.02982159987526752 Centerline is valid? [True, True] Translation: X:391.50, Y:3.79, Z:2.67 [[ 9.97426605e-01 -7.05262654e-02 -1.28923522e-02 3.91495899e+02] [ 7.05300144e-02 9.97509644e-01 -1.64207292e-04 3.78640386e+00] [ 1.28718266e-02 -7.45513067e-04 9.99916877e-01 2.67195832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97925415399993 meters 0.03385629607634514 Centerline is valid? [True, True] Translation: X:391.53, Y:3.78, Z:2.67 [[ 9.97618989e-01 -6.74217639e-02 -1.45140958e-02 3.91525631e+02] [ 6.74262031e-02 9.97724247e-01 -1.83825932e-04 3.78195038e+00] [ 1.44934592e-02 -7.95242133e-04 9.99894648e-01 2.66992738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.00925415399996 meters 0.028815388384615347 Centerline is valid? [True, True] Translation: X:391.56, Y:3.79, Z:2.67 [[ 9.97746274e-01 -6.54672449e-02 -1.47109677e-02 3.91556779e+02] [ 6.54715976e-02 9.97854416e-01 -1.86041469e-04 3.78982058e+00] [ 1.46915837e-02 -7.77528378e-04 9.99891771e-01 2.67060482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03925415399993 meters 0.032455284388212685 Centerline is valid? [True, True] Translation: X:391.59, Y:3.79, Z:2.67 [[ 9.97917925e-01 -6.26870617e-02 -1.51706100e-02 3.91587418e+02] [ 6.26913786e-02 9.98032943e-01 -1.91307088e-04 3.78557262e+00] [ 1.51527610e-02 -7.60157684e-04 9.99884901e-01 2.66984566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.06925415399996 meters 0.02475872870207413 Centerline is valid? [True, True] Translation: X:391.62, Y:3.80, Z:2.67 [[ 9.98323501e-01 -5.59263912e-02 -1.49139649e-02 3.91618118e+02] [ 5.59298138e-02 9.98434685e-01 -1.87827603e-04 3.79835055e+00] [ 1.49011244e-02 -6.46622569e-04 9.99888763e-01 2.67162728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09925415399994 meters 0.023491021882758995 Centerline is valid? [True, True] Translation: X:391.65, Y:3.80, Z:2.67 [[ 9.98550937e-01 -5.17634639e-02 -1.47163470e-02 3.91647361e+02] [ 5.17663430e-02 9.98659207e-01 -1.85474143e-04 3.80153302e+00] [ 1.47062162e-02 -5.76606088e-04 9.99891691e-01 2.67210087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.12925415399997 meters 0.022329401326457894 Centerline is valid? [True, True] Translation: X:391.68, Y:3.80, Z:2.67 [[ 9.98776075e-01 -4.73829735e-02 -1.41846689e-02 3.91677313e+02] [ 4.73852054e-02 9.98876674e-01 -1.78890599e-04 3.80494748e+00] [ 1.41772112e-02 -4.93471797e-04 9.99899377e-01 2.67294084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15925415399994 meters 0.018404497521090357 Centerline is valid? [True, True] Translation: X:391.71, Y:3.81, Z:2.67 [[ 9.99197783e-01 -3.77773316e-02 -1.32914729e-02 3.91707852e+02] [ 3.77784419e-02 9.99286126e-01 -1.67619881e-04 3.81434695e+00] [ 1.32883166e-02 -3.34645722e-04 9.99911650e-01 2.67473044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18925415399997 meters 0.01628417443883445 Centerline is valid? [True, True] Translation: X:391.74, Y:3.82, Z:2.68 [[ 9.99371905e-01 -3.32192536e-02 -1.23400620e-02 3.91739749e+02] [ 3.32198670e-02 9.99448056e-01 -1.55316617e-04 3.82042545e+00] [ 1.23384104e-02 -2.54716155e-04 9.99923846e-01 2.67580063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21925415399994 meters 0.015595576354328377 Centerline is valid? [True, True] Translation: X:391.77, Y:3.82, Z:2.68 [[ 9.99521284e-01 -2.85845651e-02 -1.18374231e-02 3.91770308e+02] [ 2.85848100e-02 9.99591360e-01 -1.48534094e-04 3.82302674e+00] [ 1.18368316e-02 -1.89907502e-04 9.99929924e-01 2.67604715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24925415399997 meters 0.01441428257184266 Centerline is valid? [True, True] Translation: X:391.80, Y:3.83, Z:2.68 [[ 9.99732371e-01 -2.02138155e-02 -1.12511360e-02 3.91801448e+02] [ 2.02135098e-02 9.99795676e-01 -1.40902110e-04 3.82832649e+00] [ 1.12516852e-02 -8.65605459e-05 9.99936694e-01 2.67649249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.27925415399994 meters 0.01414269642169588 Centerline is valid? [True, True] Translation: X:391.83, Y:3.83, Z:2.68 [[ 9.99802534e-01 -1.63860764e-02 -1.12423028e-02 3.91832942e+02] [ 1.63855336e-02 9.99865738e-01 -1.40389015e-04 3.83080308e+00] [ 1.12430938e-02 -4.38498384e-05 9.99936793e-01 2.67669341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.309254154 meters 0.014208685469243606 Centerline is valid? [True, True] Translation: X:391.86, Y:3.83, Z:2.68 [[ 9.99855816e-01 -1.28863814e-02 -1.10583805e-02 3.91863059e+02] [ 1.28856441e-02 9.99916967e-01 -1.37923379e-04 3.83321517e+00] [ 1.10592396e-02 -4.59086231e-06 9.99938845e-01 2.67675870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.33925415399995 meters 0.014582751333898983 Centerline is valid? [True, True] Translation: X:391.89, Y:3.84, Z:2.68 [[ 9.99906917e-01 -6.83475153e-03 -1.18085989e-02 3.91891952e+02] [ 6.83348421e-03 9.99976641e-01 -1.47667876e-04 3.83696970e+00] [ 1.18093323e-02 6.69602566e-05 9.99930265e-01 2.67661665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.369254154 meters 0.014840967836487133 Centerline is valid? [True, True] Translation: X:391.92, Y:3.84, Z:2.68 [[ 9.99916896e-01 -4.16517021e-03 -1.22005102e-02 3.91921120e+02] [ 4.16359836e-03 9.99991320e-01 -1.54232217e-04 3.83862488e+00] [ 1.22010467e-02 1.03421375e-04 9.99925559e-01 2.67665974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.39925415399995 meters 0.015333885954953668 Centerline is valid? [True, True] Translation: X:391.95, Y:3.84, Z:2.68 [[ 9.99924772e-01 -2.00687658e-03 -1.21005269e-02 3.91949916e+02] [ 2.00513688e-03 9.99997978e-01 -1.55900534e-04 3.84012063e+00] [ 1.21008153e-02 1.31625593e-04 9.99926774e-01 2.67667437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.429254154 meters 0.016205804354549477 Centerline is valid? [True, True] Translation: X:391.98, Y:3.84, Z:2.68 [[ 9.99923403e-01 1.68445662e-03 -1.22617979e-02 3.91977735e+02] [-1.68654698e-03 9.99998565e-01 -1.60139429e-04 3.84146424e+00] [ 1.22615105e-02 1.80807261e-04 9.99924809e-01 2.67667769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.45925415399995 meters 0.01642294883874279 Centerline is valid? [True, True] Translation: X:392.01, Y:3.84, Z:2.68 [[ 9.99918817e-01 2.71590066e-03 -1.24491986e-02 3.92006841e+02] [-2.71815919e-03 9.99996292e-01 -1.64502938e-04 3.84135298e+00] [ 1.24487056e-02 1.98328486e-04 9.99922492e-01 2.67698993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4892541539999 meters 0.016730254621473015 Centerline is valid? [True, True] Translation: X:392.04, Y:3.84, Z:2.68 [[ 9.99915563e-01 3.39987413e-03 -1.25422017e-02 3.92036041e+02] [-3.40224589e-03 9.99994198e-01 -1.67770364e-04 3.84074967e+00] [ 1.25415586e-02 2.10427853e-04 9.99921329e-01 2.67674026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.51925415399995 meters 0.0169973242624331 Centerline is valid? [True, True] Translation: X:392.06, Y:3.84, Z:2.68 [[ 9.99915340e-01 3.59318837e-03 -1.25060735e-02 3.92064635e+02] [-3.59557211e-03 9.99993522e-01 -1.68127229e-04 3.83974223e+00] [ 1.25053884e-02 2.13079484e-04 9.99921782e-01 2.67642711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5492541539999 meters 0.01680084162892172 Centerline is valid? [True, True] Translation: X:392.09, Y:3.84, Z:2.68 [[ 9.99911844e-01 2.25307793e-03 -1.30854309e-02 3.92092407e+02] [-2.25558863e-03 9.99997440e-01 -1.77114447e-04 3.83573183e+00] [ 1.30849984e-02 2.06614183e-04 9.99914366e-01 2.67588669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.57925415399995 meters 0.016546723143666738 Centerline is valid? [True, True] Translation: X:392.12, Y:3.83, Z:2.68 [[ 9.99913530e-01 8.84004385e-04 -1.31206681e-02 3.92120830e+02] [-8.86426695e-04 9.99999591e-01 -1.78803521e-04 3.83304233e+00] [ 1.31205047e-02 1.90418570e-04 9.99913904e-01 2.67601073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6092541539999 meters 0.016546723143666738 Centerline is valid? [True, True] Translation: X:392.15, Y:3.83, Z:2.68 [[ 9.99913612e-01 7.85221360e-04 -1.31206535e-02 3.92148291e+02] [-7.87649182e-04 9.99999674e-01 -1.79871827e-04 3.83351762e+00] [ 1.31205079e-02 1.90190760e-04 9.99913904e-01 2.67620120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.63925415399996 meters 0.01615874084300705 Centerline is valid? [True, True] Translation: X:392.18, Y:3.83, Z:2.68 [[ 9.99913483e-01 -1.18924764e-03 -1.31000806e-02 3.92176467e+02] [ 1.18698127e-03 9.99999279e-01 -1.80777830e-04 3.83059783e+00] [ 1.31002861e-02 1.65212639e-04 9.99914174e-01 2.67630808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.66925415399993 meters 0.015089771376076665 Centerline is valid? [True, True] Translation: X:392.20, Y:3.82, Z:2.68 [[ 9.99886543e-01 -7.13635770e-03 -1.32655301e-02 3.92204198e+02] [ 7.13454261e-03 9.99974532e-01 -1.84147090e-04 3.82179985e+00] [ 1.32665064e-02 8.94827068e-05 9.99911992e-01 2.67621076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.69925415399996 meters 0.014504348341945599 Centerline is valid? [True, True] Translation: X:392.23, Y:3.82, Z:2.68 [[ 9.99854647e-01 -1.08324202e-02 -1.31659899e-02 3.92233034e+02] [ 1.08309400e-02 9.99941327e-01 -1.83721086e-04 3.81623213e+00] [ 1.31672076e-02 4.10943342e-05 9.99913308e-01 2.67632806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.72925415399993 meters 0.014430494256640555 Centerline is valid? [True, True] Translation: X:392.26, Y:3.81, Z:2.68 [[ 9.99800444e-01 -1.53691157e-02 -1.27617879e-02 3.92261489e+02] [ 1.53680838e-02 9.99881888e-01 -1.78927182e-04 3.81021059e+00] [ 1.27630305e-02 -1.72327493e-05 9.99918549e-01 2.67786985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.75925415399996 meters 0.01461448385595403 Centerline is valid? [True, True] Translation: X:392.29, Y:3.80, Z:2.68 [[ 9.99721260e-01 -1.98930658e-02 -1.27148693e-02 3.92290115e+02] [ 1.98923958e-02 9.99802111e-01 -1.79172176e-04 3.80418555e+00] [ 1.27159175e-02 -7.38069802e-05 9.99919147e-01 2.67786114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.78925415399993 meters 0.017142167798351194 Centerline is valid? [True, True] Translation: X:392.32, Y:3.79, Z:2.68 [[ 9.99522559e-01 -2.86282236e-02 -1.16223044e-02 3.92319916e+02] [ 2.86282480e-02 9.99590114e-01 -1.64308044e-04 3.78842685e+00] [ 1.16222444e-02 -1.68496615e-04 9.99932445e-01 2.67730709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81925415399996 meters 0.016484297494167462 Centerline is valid? [True, True] Translation: X:392.35, Y:3.79, Z:2.68 [[ 9.99406740e-01 -3.25084976e-02 -1.13738877e-02 3.92351368e+02] [ 3.25087725e-02 9.99471437e-01 -1.60756651e-04 3.78716577e+00] [ 1.13731018e-02 -2.09089846e-04 9.99935302e-01 2.67857956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.84925415399994 meters 0.017339408630465077 Centerline is valid? [True, True] Translation: X:392.38, Y:3.78, Z:2.68 [[ 9.99285592e-01 -3.60057526e-02 -1.14843714e-02 3.92383274e+02] [ 3.60062694e-02 9.99351551e-01 -1.61823255e-04 3.78211010e+00] [ 1.14827509e-02 -2.51801722e-04 9.99934039e-01 2.67876360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87925415399997 meters 0.01801856634387408 Centerline is valid? [True, True] Translation: X:392.42, Y:3.78, Z:2.68 [[ 9.99173935e-01 -3.88464102e-02 -1.19333166e-02 3.92415581e+02] [ 3.88471796e-02 9.99245149e-01 -1.67403763e-04 3.77748397e+00] [ 1.19308118e-02 -2.96310217e-04 9.99928781e-01 2.67884159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.90925415399994 meters 0.02026082852826015 Centerline is valid? [True, True] Translation: X:392.45, Y:3.77, Z:2.68 [[ 9.98970181e-01 -4.35910600e-02 -1.25856214e-02 3.92446134e+02] [ 4.35922999e-02 9.99049388e-01 -1.75930976e-04 3.76722923e+00] [ 1.25813264e-02 -3.72886383e-04 9.99920782e-01 2.67787667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93925415399997 meters 0.021392199580319387 Centerline is valid? [True, True] Translation: X:392.48, Y:3.76, Z:2.68 [[ 9.98884675e-01 -4.54093566e-02 -1.29382105e-02 3.92476864e+02] [ 4.54108304e-02 9.98968380e-01 -1.80003994e-04 3.76242164e+00] [ 1.29330371e-02 -4.07731652e-04 9.99916282e-01 2.67771877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.96925415399994 meters 0.021494461673129205 Centerline is valid? [True, True] Translation: X:392.51, Y:3.76, Z:2.68 [[ 9.98789212e-01 -4.72859874e-02 -1.35700265e-02 3.92508902e+02] [ 4.72877999e-02 9.98881289e-01 -1.87446495e-04 3.76042757e+00] [ 1.35637091e-02 -4.54477159e-04 9.99907905e-01 2.67792341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99925415399997 meters 0.023041012547015842 Centerline is valid? [True, True] Translation: X:392.54, Y:3.75, Z:2.68 [[ 9.98648579e-01 -5.00335738e-02 -1.40590393e-02 3.92540196e+02] [ 5.00358070e-02 9.98747406e-01 -1.93075964e-04 3.75432928e+00] [ 1.40510893e-02 -5.10640341e-04 9.99901148e-01 2.67752295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.02925415399994 meters 0.024162600471987577 Centerline is valid? [True, True] Translation: X:392.57, Y:3.75, Z:2.68 [[ 9.98567017e-01 -5.14862640e-02 -1.45971637e-02 3.92571726e+02] [ 5.14888414e-02 9.98673550e-01 -1.99441603e-04 3.75177331e+00] [ 1.45880698e-02 -5.52435239e-04 9.99893436e-01 2.67747077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.059254154 meters 0.024798346739371504 Centerline is valid? [True, True] Translation: X:392.60, Y:3.75, Z:2.68 [[ 9.98513418e-01 -5.24159833e-02 -1.49505526e-02 3.92603444e+02] [ 5.24188028e-02 9.98625169e-01 -2.03490600e-04 3.74977776e+00] [ 1.49406643e-02 -5.80501976e-04 9.99888214e-01 2.67737119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.08925415399995 meters 0.025344022598883596 Centerline is valid? [True, True] Translation: X:392.64, Y:3.75, Z:2.68 [[ 9.98474202e-01 -5.30709389e-02 -1.52559211e-02 3.92635359e+02] [ 5.30739652e-02 9.98590562e-01 -2.06715984e-04 3.74823569e+00] [ 1.52453895e-02 -6.03291649e-04 9.99883600e-01 2.67701943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.119254154 meters 0.02660001644684791 Centerline is valid? [True, True] Translation: X:392.67, Y:3.75, Z:2.68 [[ 9.98382377e-01 -5.43356540e-02 -1.67411225e-02 3.92666211e+02] [ 5.43394902e-02 9.98522493e-01 -2.25988383e-04 3.74568318e+00] [ 1.67286666e-02 -6.84081243e-04 9.99859832e-01 2.67598082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.14925415399995 meters 0.022647574375620712 Centerline is valid? [True, True] Translation: X:392.70, Y:3.75, Z:2.68 [[ 9.98369701e-01 -5.44636236e-02 -1.70779032e-02 3.92698762e+02] [ 5.44676511e-02 9.98515509e-01 -2.29556266e-04 3.75142924e+00] [ 1.70650537e-02 -7.01011254e-04 9.99854136e-01 2.67716191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.179254154 meters 0.027252286117352895 Centerline is valid? [True, True] Translation: X:392.73, Y:3.74, Z:2.68 [[ 9.98358884e-01 -5.44797703e-02 -1.76491589e-02 3.92730442e+02] [ 5.44840938e-02 9.98514611e-01 -2.36133140e-04 3.74426929e+00] [ 1.76358075e-02 -7.25852811e-04 9.99844214e-01 2.67540813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.20925415399995 meters 0.02784625226384819 Centerline is valid? [True, True] Translation: X:392.76, Y:3.74, Z:2.68 [[ 9.98339690e-01 -5.46757803e-02 -1.81224097e-02 3.92761792e+02] [ 5.46803847e-02 9.98503879e-01 -2.41711058e-04 3.74418362e+00] [ 1.81085121e-02 -7.49630593e-04 9.99835746e-01 2.67519406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2392541539999 meters 0.0278424260019323 Centerline is valid? [True, True] Translation: X:392.79, Y:3.74, Z:2.68 [[ 9.98353568e-01 -5.42583027e-02 -1.86061715e-02 3.92792924e+02] [ 5.42630954e-02 9.98526642e-01 -2.47546536e-04 3.74457577e+00] [ 1.85921894e-02 -7.62489489e-04 9.99826860e-01 2.67517964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.26925415399995 meters 0.022313053176355253 Centerline is valid? [True, True] Translation: X:392.82, Y:3.75, Z:2.68 [[ 9.98401195e-01 -5.33091421e-02 -1.87933433e-02 3.92824655e+02] [ 5.33138803e-02 9.98577773e-01 -2.49164480e-04 3.75382949e+00] [ 1.87798976e-02 -7.53179939e-04 9.99823358e-01 2.67792703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2992541539999 meters 0.022486238168311384 Centerline is valid? [True, True] Translation: X:392.85, Y:3.75, Z:2.68 [[ 9.98446446e-01 -5.24070583e-02 -1.89260561e-02 3.92854840e+02] [ 5.24117131e-02 9.98625530e-01 -2.50330648e-04 3.75441816e+00] [ 1.89131619e-02 -7.42005276e-04 9.99820855e-01 2.67805536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.32925415399995 meters 0.022121680194799084 Centerline is valid? [True, True] Translation: X:392.89, Y:3.76, Z:2.68 [[ 9.98513723e-01 -5.12404399e-02 -1.85677846e-02 3.92886206e+02] [ 5.12447286e-02 9.98686096e-01 -2.45055065e-04 3.75613261e+00] [ 1.85559450e-02 -7.06810235e-04 9.99827574e-01 2.67875383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3592541539999 meters 0.02165947390164039 Centerline is valid? [True, True] Translation: X:392.92, Y:3.76, Z:2.68 [[ 9.98591803e-01 -4.97425264e-02 -1.84415803e-02 3.92917703e+02] [ 4.97465140e-02 9.98761846e-01 -2.42733511e-04 3.75848450e+00] [ 1.84308209e-02 -6.75012637e-04 9.99829910e-01 2.67946043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.38925415399996 meters 0.019214016199188874 Centerline is valid? [True, True] Translation: X:392.95, Y:3.77, Z:2.68 [[ 9.98781106e-01 -4.59429348e-02 -1.80429959e-02 3.92949327e+02] [ 4.59461486e-02 9.98943890e-01 -2.36595523e-04 3.76548142e+00] [ 1.80348104e-02 -5.92699032e-04 9.99837184e-01 2.68177762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41925415399993 meters 0.018468994676837224 Centerline is valid? [True, True] Translation: X:392.98, Y:3.77, Z:2.68 [[ 9.98886281e-01 -4.36084461e-02 -1.80139248e-02 3.92980614e+02] [ 4.36112850e-02 9.99048548e-01 -2.35402423e-04 3.76848647e+00] [ 1.80070509e-02 -5.50470157e-04 9.99837708e-01 2.68253339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.44925415399996 meters 0.019798196028670594 Centerline is valid? [True, True] Translation: X:393.01, Y:3.77, Z:2.68 [[ 9.98976547e-01 -4.14376309e-02 -1.81323263e-02 3.93011393e+02] [ 4.14401620e-02 9.99140960e-01 -2.36285556e-04 3.76798196e+00] [ 1.81265410e-02 -5.15362812e-04 9.99835568e-01 2.68210305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47925415399993 meters 0.01920148504460357 Centerline is valid? [True, True] Translation: X:393.04, Y:3.77, Z:2.68 [[ 9.99074534e-01 -3.91612279e-02 -1.77897304e-02 3.93042403e+02] [ 3.91633112e-02 9.99232796e-01 -2.31388254e-04 3.77070584e+00] [ 1.77851435e-02 -4.65530635e-04 9.99841723e-01 2.68244937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.50925415399996 meters 0.016993722684584062 Centerline is valid? [True, True] Translation: X:393.07, Y:3.78, Z:2.68 [[ 9.99158682e-01 -3.69874929e-02 -1.77159188e-02 3.93073184e+02] [ 3.69892196e-02 9.99315638e-01 -2.30310387e-04 3.77642109e+00] [ 1.77123133e-02 -4.25181388e-04 9.99843034e-01 2.68399348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53925415399993 meters 0.01661557553325263 Centerline is valid? [True, True] Translation: X:393.10, Y:3.78, Z:2.68 [[ 9.99277260e-01 -3.38278926e-02 -1.73387250e-02 3.93102809e+02] [ 3.38290740e-02 9.99427608e-01 -2.25242553e-04 3.77885814e+00] [ 1.73364200e-02 -3.61473251e-04 9.99849648e-01 2.68419665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.56925415399996 meters 0.015954374260538442 Centerline is valid? [True, True] Translation: X:393.13, Y:3.78, Z:2.68 [[ 9.99332930e-01 -3.22930002e-02 -1.70545149e-02 3.93133238e+02] [ 3.22939216e-02 9.99478391e-01 -2.21442939e-04 3.78180792e+00] [ 1.70527701e-02 -3.29461946e-04 9.99854537e-01 2.68470643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59925415399994 meters 0.0158972168171906 Centerline is valid? [True, True] Translation: X:393.16, Y:3.78, Z:2.68 [[ 9.99366437e-01 -3.10048353e-02 -1.74764172e-02 3.93163353e+02] [ 3.10056060e-02 9.99519185e-01 -2.26921094e-04 3.78373591e+00] [ 1.74750499e-02 -3.15089580e-04 9.99847250e-01 2.68475113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.62925415399997 meters 0.0155247536311108 Centerline is valid? [True, True] Translation: X:393.19, Y:3.79, Z:2.68 [[ 9.99410905e-01 -2.95296702e-02 -1.74883516e-02 3.93193749e+02] [ 2.95302161e-02 9.99563862e-01 -2.27076056e-04 3.78606158e+00] [ 1.74874298e-02 -2.89492517e-04 9.99847041e-01 2.68478155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65925415399994 meters 0.014827175787767871 Centerline is valid? [True, True] Translation: X:393.22, Y:3.79, Z:2.69 [[ 9.99478340e-01 -2.66230024e-02 -1.82828798e-02 3.93223739e+02] [ 2.66231053e-02 9.99645514e-01 -2.37808870e-04 3.79083089e+00] [ 1.82827300e-02 -2.49062220e-04 9.99832826e-01 2.68511884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68925415399997 meters 0.014769462030549912 Centerline is valid? [True, True] Translation: X:393.25, Y:3.79, Z:2.69 [[ 9.99510638e-01 -2.50967936e-02 -1.86718085e-02 3.93251999e+02] [ 2.50966179e-02 9.99685001e-01 -2.43767133e-04 3.79314550e+00] [ 1.86720446e-02 -2.24951399e-04 9.99825637e-01 2.68502675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71925415399994 meters 0.014358529568112934 Centerline is valid? [True, True] Translation: X:393.28, Y:3.80, Z:2.69 [[ 9.99545048e-01 -2.33473332e-02 -1.90944544e-02 3.93280903e+02] [ 2.33467632e-02 9.99727395e-01 -2.52801179e-04 3.79565346e+00] [ 1.90951513e-02 -1.93107538e-04 9.99817652e-01 2.68528101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74925415399997 meters 0.014367069952345763 Centerline is valid? [True, True] Translation: X:393.31, Y:3.80, Z:2.69 [[ 9.99585822e-01 -2.14629140e-02 -1.91710209e-02 3.93309629e+02] [ 2.14618987e-02 9.99769633e-01 -2.58723823e-04 3.79774822e+00] [ 1.91721575e-02 -1.52829842e-04 9.99816186e-01 2.68524838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.77925415399994 meters 0.014041336063195091 Centerline is valid? [True, True] Translation: X:393.34, Y:3.80, Z:2.69 [[ 9.99686219e-01 -1.67336372e-02 -1.86399715e-02 3.93337926e+02] [ 1.67317671e-02 9.99859981e-01 -2.56289430e-04 3.80226569e+00] [ 1.86416502e-02 -5.56706501e-05 9.99826228e-01 2.68657034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.809254154 meters 0.014013917831711952 Centerline is valid? [True, True] Translation: X:393.37, Y:3.80, Z:2.69 [[ 9.99734762e-01 -1.41884592e-02 -1.81409090e-02 3.93365663e+02] [ 1.41862188e-02 9.99899339e-01 -2.52185340e-04 3.80443106e+00] [ 1.81426610e-02 -5.23245247e-06 9.99835408e-01 2.68722458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.83925415399995 meters 0.014111569179742581 Centerline is valid? [True, True] Translation: X:393.39, Y:3.81, Z:2.69 [[ 9.99784689e-01 -1.16979655e-02 -1.71386747e-02 3.93393979e+02] [ 1.16955391e-02 9.99931576e-01 -2.41804059e-04 3.80667362e+00] [ 1.71403307e-02 4.13059560e-05 9.99853093e-01 2.68782771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.869254154 meters 0.014098875685579155 Centerline is valid? [True, True] Translation: X:393.42, Y:3.81, Z:2.69 [[ 9.99817733e-01 -9.51608092e-03 -1.65513025e-02 3.93421935e+02] [ 9.51344112e-03 9.99954718e-01 -2.38221922e-04 3.80898415e+00] [ 1.65528200e-02 8.07186593e-05 9.99862989e-01 2.68864461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.89925415399995 meters 0.014198930918314246 Centerline is valid? [True, True] Translation: X:393.45, Y:3.81, Z:2.69 [[ 9.99847154e-01 -7.63330948e-03 -1.57290205e-02 3.93450038e+02] [ 7.63062304e-03 9.99970860e-01 -2.30803794e-04 3.81092951e+00] [ 1.57303240e-02 1.10746290e-04 9.99876265e-01 2.68917034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.929254154 meters 0.014528187833096711 Centerline is valid? [True, True] Translation: X:393.48, Y:3.81, Z:2.69 [[ 9.99866098e-01 -5.27890693e-03 -1.54893363e-02 3.93479198e+02] [ 5.27595551e-03 9.99986055e-01 -2.31402285e-04 3.81195408e+00] [ 1.54903418e-02 1.49650250e-04 9.99880006e-01 2.68934130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.95925415399995 meters 0.014441374221313336 Centerline is valid? [True, True] Translation: X:393.51, Y:3.81, Z:2.69 [[ 9.99867609e-01 -5.20880711e-03 -1.54153576e-02 3.93507473e+02] [ 5.20581032e-03 9.99986422e-01 -2.34523327e-04 3.81160666e+00] [ 1.54163699e-02 1.54242851e-04 9.99881149e-01 2.68993212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9892541539999 meters 0.014458495659845054 Centerline is valid? [True, True] Translation: X:393.54, Y:3.81, Z:2.69 [[ 9.99867886e-01 -6.04429394e-03 -1.50889669e-02 3.93535332e+02] [ 6.04145180e-03 9.99981723e-01 -2.33934643e-04 3.81081500e+00] [ 1.50901051e-02 1.42744471e-04 9.99886128e-01 2.69006839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.01925415399995 meters 0.014231386622504012 Centerline is valid? [True, True] Translation: X:393.56, Y:3.81, Z:2.69 [[ 9.99862232e-01 -7.54269499e-03 -1.47859356e-02 3.93564427e+02] [ 7.54007029e-03 9.99971546e-01 -2.33252270e-04 3.80938627e+00] [ 1.47872742e-02 1.21733142e-04 9.99890655e-01 2.69030803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0492541539999 meters 0.013975544613153361 Centerline is valid? [True, True] Translation: X:393.59, Y:3.81, Z:2.69 [[ 9.99807870e-01 -1.29316888e-02 -1.47307004e-02 3.93592279e+02] [ 1.29296318e-02 9.99916381e-01 -2.34873957e-04 3.80505264e+00] [ 1.47325059e-02 4.43662987e-05 9.99891470e-01 2.69065575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.07925415399995 meters 0.013903394805224845 Centerline is valid? [True, True] Translation: X:393.62, Y:3.80, Z:2.69 [[ 9.99753632e-01 -1.67521224e-02 -1.45616444e-02 3.93621432e+02] [ 1.67505003e-02 9.99859673e-01 -2.33357302e-04 3.80227956e+00] [ 1.45635102e-02 -1.06150189e-05 9.99893946e-01 2.69099347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1092541539999 meters 0.014069958208258725 Centerline is valid? [True, True] Translation: X:393.65, Y:3.80, Z:2.69 [[ 9.99671969e-01 -2.09746706e-02 -1.46975352e-02 3.93648971e+02] [ 2.09734566e-02 9.99780005e-01 -2.36742326e-04 3.79878772e+00] [ 1.46992674e-02 -7.15934502e-05 9.99891957e-01 2.69093849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.13925415399996 meters 0.01447888314303339 Centerline is valid? [True, True] Translation: X:393.68, Y:3.80, Z:2.69 [[ 9.99553950e-01 -2.57335504e-02 -1.51553835e-02 3.93677444e+02] [ 2.57327652e-02 9.99668827e-01 -2.46844498e-04 3.79509460e+00] [ 1.51567166e-02 -1.43255531e-04 9.99885120e-01 2.69074828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.16925415399993 meters 0.015771760050434198 Centerline is valid? [True, True] Translation: X:393.71, Y:3.79, Z:2.69 [[ 9.99279041e-01 -3.43778749e-02 -1.61108483e-02 3.93707473e+02] [ 3.43780778e-02 9.99408864e-01 -2.64439353e-04 3.78707056e+00] [ 1.61104154e-02 -2.89611293e-04 9.99870177e-01 2.68977695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.19925415399996 meters 0.017263754916756874 Centerline is valid? [True, True] Translation: X:393.74, Y:3.78, Z:2.69 [[ 9.99128348e-01 -3.84247312e-02 -1.63120591e-02 3.93738048e+02] [ 3.84254789e-02 9.99261433e-01 -2.67699813e-04 3.78240783e+00] [ 1.63102978e-02 -3.59332209e-04 9.99866914e-01 2.68874954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.22925415399993 meters 0.01745226067466803 Centerline is valid? [True, True] Translation: X:393.77, Y:3.78, Z:2.69 [[ 9.98978245e-01 -4.19708165e-02 -1.67605837e-02 3.93769552e+02] [ 4.19721128e-02 9.99118745e-01 -2.74571467e-04 3.78076235e+00] [ 1.67573373e-02 -4.29186186e-04 9.99859494e-01 2.68907402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.25925415399996 meters 0.01939255008460781 Centerline is valid? [True, True] Translation: X:393.80, Y:3.78, Z:2.69 [[ 9.98837774e-01 -4.51619631e-02 -1.68373813e-02 3.93800149e+02] [ 4.51637361e-02 9.98979560e-01 -2.75123796e-04 3.77659877e+00] [ 1.68326249e-02 -4.85635006e-04 9.99858203e-01 2.68821272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.28925415399993 meters 0.019597664818011087 Centerline is valid? [True, True] Translation: X:393.83, Y:3.78, Z:2.69 [[ 9.98592734e-01 -5.02120112e-02 -1.70676556e-02 3.93831575e+02] [ 5.02145815e-02 9.98738413e-01 -2.78193822e-04 3.77536881e+00] [ 1.70600919e-02 -5.79242852e-04 9.99854298e-01 2.68936864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31925415399996 meters 0.02036338110463926 Centerline is valid? [True, True] Translation: X:393.86, Y:3.77, Z:2.69 [[ 9.98491131e-01 -5.22907505e-02 -1.67671727e-02 3.93862699e+02] [ 5.22935340e-02 9.98631720e-01 -2.72684420e-04 3.77421560e+00] [ 1.67584894e-02 -6.04541742e-04 9.99859384e-01 2.68961572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.34925415399994 meters 0.02347902914897242 Centerline is valid? [True, True] Translation: X:393.89, Y:3.77, Z:2.69 [[ 9.98390216e-01 -5.42574386e-02 -1.65259606e-02 3.93894084e+02] [ 5.42604326e-02 9.98526782e-01 -2.67491402e-04 3.76932704e+00] [ 1.65161276e-02 -6.29644971e-04 9.99863401e-01 2.68865092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37925415399997 meters 0.022420620013670258 Centerline is valid? [True, True] Translation: X:393.93, Y:3.77, Z:2.69 [[ 9.98295545e-01 -5.59557643e-02 -1.65818440e-02 3.93926380e+02] [ 5.59590363e-02 9.98433030e-01 -2.66957528e-04 3.77108824e+00] [ 1.65707986e-02 -6.61401499e-04 9.99862476e-01 2.68975185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.40925415399994 meters 0.025453782893186973 Centerline is valid? [True, True] Translation: X:393.96, Y:3.77, Z:2.69 [[ 9.98100182e-01 -5.94302001e-02 -1.62504879e-02 3.93956535e+02] [ 5.94338102e-02 9.98232214e-01 -2.61130580e-04 3.76719785e+00] [ 1.62372796e-02 -7.05193933e-04 9.99867918e-01 2.68954862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43925415399997 meters 0.02504663804038835 Centerline is valid? [True, True] Translation: X:393.99, Y:3.77, Z:2.69 [[ 9.97962430e-01 -6.19734211e-02 -1.51751064e-02 3.93988176e+02] [ 6.19768693e-02 9.98077556e-01 -2.43403909e-04 3.76658141e+00] [ 1.51610177e-02 -6.97597632e-04 9.99884822e-01 2.69141513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.46925415399994 meters 0.02629365818397993 Centerline is valid? [True, True] Translation: X:394.02, Y:3.76, Z:2.69 [[ 9.97833626e-01 -6.41736699e-02 -1.44843034e-02 3.94020201e+02] [ 6.41770555e-02 9.97938501e-01 -2.31423641e-04 3.76488828e+00] [ 1.44692953e-02 -6.98637650e-04 9.99895070e-01 2.69196130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49925415399997 meters 0.02629365818397993 Centerline is valid? [True, True] Translation: X:394.05, Y:3.77, Z:2.69 [[ 9.97838233e-01 -6.41019861e-02 -1.44843199e-02 3.94051923e+02] [ 6.41053792e-02 9.97943108e-01 -2.30383889e-04 3.76533108e+00] [ 1.44692953e-02 -6.98636968e-04 9.99895070e-01 2.69218102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.52925415399994 meters 0.027409972336433087 Centerline is valid? [True, True] Translation: X:394.08, Y:3.76, Z:2.69 [[ 9.97715882e-01 -6.60687302e-02 -1.40691914e-02 3.94083747e+02] [ 6.60721387e-02 9.97814824e-01 -2.22913854e-04 3.76385734e+00] [ 1.40531754e-02 -7.07176872e-04 9.99900999e-01 2.69261633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.559254154 meters 0.02888560290382564 Centerline is valid? [True, True] Translation: X:394.12, Y:3.76, Z:2.69 [[ 9.97577682e-01 -6.81637711e-02 -1.38733202e-02 3.94116093e+02] [ 6.81672993e-02 9.97673880e-01 -2.18951438e-04 3.76200807e+00] [ 1.38559738e-02 -7.27285705e-04 9.99903737e-01 2.69290299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.58925415399995 meters 0.0307745287491675 Centerline is valid? [True, True] Translation: X:394.15, Y:3.76, Z:2.69 [[ 9.97297102e-01 -7.21085392e-02 -1.41013992e-02 3.94147545e+02] [ 7.21125880e-02 9.97396474e-01 -2.21799759e-04 3.75947163e+00] [ 1.40806795e-02 -7.95688134e-04 9.99900546e-01 2.69213839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.619254154 meters 0.033024659580943076 Centerline is valid? [True, True] Translation: X:394.18, Y:3.76, Z:2.69 [[ 9.97178622e-01 -7.36410325e-02 -1.45531765e-02 3.94179015e+02] [ 7.36455171e-02 9.97284456e-01 -2.28251073e-04 3.75656597e+00] [ 1.45304654e-02 -8.44169122e-04 9.99894071e-01 2.69131249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.64925415399995 meters 0.03359810782419854 Centerline is valid? [True, True] Translation: X:394.21, Y:3.76, Z:2.69 [[ 9.97068416e-01 -7.50427331e-02 -1.49385873e-02 3.94210964e+02] [ 7.50476291e-02 9.97179923e-01 -2.33361162e-04 3.75644991e+00] [ 1.49139714e-02 -8.88428515e-04 9.99888386e-01 2.69070398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.679254154 meters 0.034303491074467604 Centerline is valid? [True, True] Translation: X:394.24, Y:3.76, Z:2.69 [[ 9.96994615e-01 -7.58337129e-02 -1.58425044e-02 3.94242639e+02] [ 7.58393345e-02 9.97120020e-01 -2.46502863e-04 3.75615740e+00] [ 1.58155715e-02 -9.55722963e-04 9.99874469e-01 2.68998808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.70925415399995 meters 0.03696511822848936 Centerline is valid? [True, True] Translation: X:394.27, Y:3.76, Z:2.69 [[ 9.96976544e-01 -7.55511641e-02 -1.81601657e-02 3.94273708e+02] [ 7.55585228e-02 9.97141329e-01 -2.81565931e-04 3.75580023e+00] [ 1.81295244e-02 -1.09144066e-03 9.99835051e-01 2.68750799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7392541539999 meters 0.03327160041336071 Centerline is valid? [True, True] Translation: X:394.31, Y:3.76, Z:2.69 [[ 9.97009650e-01 -7.51911522e-02 -1.78339245e-02 3.94306037e+02] [ 7.51982113e-02 9.97168568e-01 -2.75388611e-04 3.76099270e+00] [ 1.78041357e-02 -1.06651412e-03 9.99840925e-01 2.68951618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.76925415399995 meters 0.03337778357679886 Centerline is valid? [True, True] Translation: X:394.34, Y:3.76, Z:2.69 [[ 9.97076626e-01 -7.42347934e-02 -1.80941501e-02 3.94338069e+02] [ 7.42419262e-02 9.97240221e-01 -2.78131960e-04 3.76286497e+00] [ 1.80648613e-02 -1.06602568e-03 9.99836249e-01 2.68954737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7992541539999 meters 0.034876612500908344 Centerline is valid? [True, True] Translation: X:394.37, Y:3.76, Z:2.69 [[ 9.97202474e-01 -7.26147481e-02 -1.77291778e-02 3.94368626e+02] [ 7.26213525e-02 9.97359547e-01 -2.71859733e-04 3.76256756e+00] [ 1.77021058e-02 -1.01641767e-03 9.99842789e-01 2.68954069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.82925415399995 meters 0.028486267564094125 Centerline is valid? [True, True] Translation: X:394.40, Y:3.77, Z:2.69 [[ 9.97546213e-01 -6.81744201e-02 -1.59311547e-02 3.94399452e+02] [ 6.81791903e-02 9.97673062e-01 -2.44134796e-04 3.77463605e+00] [ 1.59107277e-02 -8.42637490e-04 9.99873061e-01 2.69242649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8592541539999 meters 0.027392300339396464 Centerline is valid? [True, True] Translation: X:394.43, Y:3.78, Z:2.69 [[ 9.97761384e-01 -6.51341017e-02 -1.51581724e-02 3.94431431e+02] [ 6.51380794e-02 9.97876233e-01 -2.31680624e-04 3.77792910e+00] [ 1.51410703e-02 -7.56212260e-04 9.99885081e-01 2.69335913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.88925415399996 meters 0.0243087108915066 Centerline is valid? [True, True] Translation: X:394.46, Y:3.78, Z:2.69 [[ 9.97979099e-01 -6.19388864e-02 -1.41877529e-02 3.94462640e+02] [ 6.19420590e-02 9.98079724e-01 -2.16126793e-04 3.78464865e+00] [ 1.41738952e-02 -6.63128606e-04 9.99899325e-01 2.69457999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91925415399993 meters 0.024042163593190405 Centerline is valid? [True, True] Translation: X:394.49, Y:3.79, Z:2.69 [[ 9.98196529e-01 -5.83921042e-02 -1.39302761e-02 3.94492737e+02] [ 5.83948233e-02 9.98293544e-01 -2.11824690e-04 3.78705253e+00] [ 1.39188736e-02 -6.02013342e-04 9.99902947e-01 2.69492159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.94925415399996 meters 0.020164331601285047 Centerline is valid? [True, True] Translation: X:394.52, Y:3.80, Z:2.70 [[ 9.98618642e-01 -5.08137006e-02 -1.33707043e-02 3.94523528e+02] [ 5.08155288e-02 9.98708036e-01 -2.03183290e-04 3.79830411e+00] [ 1.33637544e-02 -4.76536791e-04 9.99910587e-01 2.69598592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97925415399993 meters 0.019188783309255702 Centerline is valid? [True, True] Translation: X:394.55, Y:3.80, Z:2.70 [[ 9.98791604e-01 -4.73121920e-02 -1.32999405e-02 3.94554817e+02] [ 4.73136942e-02 9.98880060e-01 -2.01858571e-04 3.80218129e+00] [ 1.32945957e-02 -4.27654669e-04 9.99911532e-01 2.69584954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.00925415399996 meters 0.01878904757261281 Centerline is valid? [True, True] Translation: X:394.59, Y:3.81, Z:2.70 [[ 9.98959542e-01 -4.35305693e-02 -1.35986387e-02 3.94585291e+02] [ 4.35317948e-02 9.99052021e-01 -2.06003355e-04 3.80528546e+00] [ 1.35947149e-02 -3.86184134e-04 9.99907513e-01 2.69545542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03925415399993 meters 0.01879964311885834 Centerline is valid? [True, True] Translation: X:394.62, Y:3.81, Z:2.69 [[ 9.99104565e-01 -3.98924894e-02 -1.40946100e-02 3.94616658e+02] [ 3.98934498e-02 9.99203917e-01 -2.13122038e-04 3.80891390e+00] [ 1.40918914e-02 -3.49351413e-04 9.99900643e-01 2.69437067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.06925415399996 meters 0.016258505172986125 Centerline is valid? [True, True] Translation: X:394.65, Y:3.82, Z:2.70 [[ 9.99300649e-01 -3.44518243e-02 -1.45356695e-02 3.94647643e+02] [ 3.44522783e-02 9.99406320e-01 -2.19251160e-04 3.81594224e+00] [ 1.45345936e-02 -2.81689105e-04 9.99894328e-01 2.69544645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09925415399994 meters 0.01604758596855743 Centerline is valid? [True, True] Translation: X:394.68, Y:3.82, Z:2.70 [[ 9.99381152e-01 -3.20867196e-02 -1.44137280e-02 3.94678653e+02] [ 3.20869276e-02 9.99485058e-01 -2.16886560e-04 3.81927855e+00] [ 1.44132649e-02 -2.45739906e-04 9.99896093e-01 2.69557621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.12925415399997 meters 0.015554704904113353 Centerline is valid? [True, True] Translation: X:394.71, Y:3.82, Z:2.70 [[ 9.99449853e-01 -2.99540147e-02 -1.42389825e-02 3.94709615e+02] [ 2.99540087e-02 9.99551255e-01 -2.13741729e-04 3.82248806e+00] [ 1.42389952e-02 -2.12890465e-04 9.99898598e-01 2.69604058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15925415399994 meters 0.015617675813359745 Centerline is valid? [True, True] Translation: X:394.74, Y:3.82, Z:2.70 [[ 9.99499991e-01 -2.81455522e-02 -1.44081539e-02 3.94739914e+02] [ 2.81453688e-02 9.99603817e-01 -2.15541065e-04 3.82445312e+00] [ 1.44085122e-02 -1.90089514e-04 9.99896174e-01 2.69596925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18925415399997 meters 0.014757396421374004 Centerline is valid? [True, True] Translation: X:394.77, Y:3.83, Z:2.70 [[ 9.99602855e-01 -2.44443914e-02 -1.40215502e-02 3.94769995e+02] [ 2.44438597e-02 9.99701182e-01 -2.09320706e-04 3.83037928e+00] [ 1.40224770e-02 -1.33503230e-04 9.99901671e-01 2.69701974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21925415399994 meters 0.014823393946926474 Centerline is valid? [True, True] Translation: X:394.80, Y:3.83, Z:2.70 [[ 9.99647131e-01 -2.26110907e-02 -1.39410052e-02 3.94800210e+02] [ 2.26103869e-02 9.99744331e-01 -2.08118290e-04 3.83295328e+00] [ 1.39421467e-02 -1.07166669e-04 9.99902798e-01 2.69675876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24925415399997 meters 0.014637609014688151 Centerline is valid? [True, True] Translation: X:394.83, Y:3.84, Z:2.70 [[ 9.99684519e-01 -2.06750913e-02 -1.42619243e-02 3.94831139e+02] [ 2.06741577e-02 9.99786244e-01 -2.12909131e-04 3.83542882e+00] [ 1.42632777e-02 -8.20113105e-05 9.99898271e-01 2.69679267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.27925415399994 meters 0.014493473226843905 Centerline is valid? [True, True] Translation: X:394.86, Y:3.84, Z:2.70 [[ 9.99758229e-01 -1.67949881e-02 -1.41919417e-02 3.94860431e+02] [ 1.67936734e-02 9.99858954e-01 -2.11815684e-04 3.83989043e+00] [ 1.41934975e-02 -2.65703613e-05 9.99899267e-01 2.69667046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.309254154 meters 0.014397662592782674 Centerline is valid? [True, True] Translation: X:394.89, Y:3.84, Z:2.70 [[ 9.99777155e-01 -1.58071835e-02 -1.39919077e-02 3.94888929e+02] [ 1.58057850e-02 9.99875059e-01 -2.10532623e-04 3.84219545e+00] [ 1.39934875e-02 -1.06673786e-05 9.99902086e-01 2.69709311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.33925415399995 meters 0.01438946564916082 Centerline is valid? [True, True] Translation: X:394.92, Y:3.84, Z:2.70 [[ 9.99795447e-01 -1.49967599e-02 -1.35706197e-02 3.94917312e+02] [ 1.49953249e-02 9.99887542e-01 -2.07491326e-04 3.84407069e+00] [ 1.35722053e-02 3.95303038e-06 9.99907893e-01 2.69737487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.369254154 meters 0.015205703429381177 Centerline is valid? [True, True] Translation: X:394.95, Y:3.85, Z:2.70 [[ 9.99808359e-01 -1.43471724e-02 -1.33193399e-02 3.94946168e+02] [ 1.43456894e-02 9.99897074e-01 -2.06883789e-04 3.84506592e+00] [ 1.33209372e-02 1.57690279e-05 9.99911272e-01 2.69747294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.39925415399995 meters 0.014507872721516614 Centerline is valid? [True, True] Translation: X:394.97, Y:3.85, Z:2.70 [[ 9.99812207e-01 -1.47005318e-02 -1.26271825e-02 3.94974299e+02] [ 1.46992006e-02 9.99891941e-01 -1.98230090e-04 3.84546759e+00] [ 1.26287321e-02 1.25833747e-05 9.99920254e-01 2.69795584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.429254154 meters 0.0143786052733496 Centerline is valid? [True, True] Translation: X:395.00, Y:3.85, Z:2.70 [[ 9.99799779e-01 -1.56587029e-02 -1.24581750e-02 3.95003199e+02] [ 1.56574575e-02 9.99877395e-01 -1.97500734e-04 3.84534628e+00] [ 1.24597402e-02 2.39784450e-06 9.99922374e-01 2.69838004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.45925415399995 meters 0.014596713059104701 Centerline is valid? [True, True] Translation: X:395.03, Y:3.84, Z:2.70 [[ 9.99750869e-01 -1.89437064e-02 -1.18040791e-02 3.95031895e+02] [ 1.89427957e-02 9.99820551e-01 -1.88963221e-04 3.84251386e+00] [ 1.18055405e-02 -3.46861136e-05 9.99930312e-01 2.69826646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4892541539999 meters 0.014515641528413394 Centerline is valid? [True, True] Translation: X:395.06, Y:3.84, Z:2.70 [[ 9.99694180e-01 -2.16264799e-02 -1.19933943e-02 3.95062443e+02] [ 2.16257285e-02 9.99766118e-01 -1.92354469e-04 3.84110484e+00] [ 1.19947492e-02 -6.70702441e-05 9.99928058e-01 2.69887031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.51925415399995 meters 0.014967503151675707 Centerline is valid? [True, True] Translation: X:395.09, Y:3.84, Z:2.70 [[ 9.99618395e-01 -2.48338277e-02 -1.20973048e-02 3.95092521e+02] [ 2.48333012e-02 9.99691587e-01 -1.93759620e-04 3.83718672e+00] [ 1.20983857e-02 -1.06730334e-04 9.99926806e-01 2.69796566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5492541539999 meters 0.016762801099959142 Centerline is valid? [True, True] Translation: X:395.12, Y:3.83, Z:2.70 [[ 9.99396843e-01 -3.25513901e-02 -1.20978353e-02 3.95124065e+02] [ 3.25514350e-02 9.99470043e-01 -1.93244463e-04 3.82909881e+00] [ 1.20977144e-02 -2.00673994e-04 9.99926800e-01 2.69721799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.57925415399995 meters 0.01675960524252533 Centerline is valid? [True, True] Translation: X:395.16, Y:3.83, Z:2.70 [[ 9.99251478e-01 -3.66067140e-02 -1.25072522e-02 3.95155781e+02] [ 3.66070863e-02 9.99329716e-01 -1.99237981e-04 3.82819557e+00] [ 1.25061622e-02 -2.58765214e-04 9.99921761e-01 2.69768169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6092541539999 meters 0.01994795584476637 Centerline is valid? [True, True] Translation: X:395.19, Y:3.82, Z:2.70 [[ 9.99106749e-01 -4.02276369e-02 -1.29399359e-02 3.95186589e+02] [ 4.02283469e-02 9.99190491e-01 -2.05518223e-04 3.82018356e+00] [ 1.29377284e-02 -3.15217587e-04 9.99916254e-01 2.69612518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.63925415399996 meters 0.018071612338901075 Centerline is valid? [True, True] Translation: X:395.22, Y:3.82, Z:2.70 [[ 9.98953293e-01 -4.38263066e-02 -1.30985687e-02 3.95219025e+02] [ 4.38273526e-02 9.99039098e-01 -2.07323783e-04 3.82262173e+00] [ 1.30950685e-02 -3.66968812e-04 9.99914189e-01 2.69740970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.66925415399993 meters 0.01999485090660906 Centerline is valid? [True, True] Translation: X:395.25, Y:3.82, Z:2.70 [[ 9.98677666e-01 -4.96183761e-02 -1.34512431e-02 3.95249253e+02] [ 4.96200180e-02 9.98768146e-01 -2.11851686e-04 3.81763855e+00] [ 1.34451849e-02 -4.55879379e-04 9.99909505e-01 2.69727559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.69925415399996 meters 0.020824372279035327 Centerline is valid? [True, True] Translation: X:395.28, Y:3.82, Z:2.70 [[ 9.98560727e-01 -5.18711896e-02 -1.36328168e-02 3.95280960e+02] [ 5.18730986e-02 9.98653662e-01 -2.13776923e-04 3.81613099e+00] [ 1.36255512e-02 -4.93707208e-04 9.99907046e-01 2.69779409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.72925415399993 meters 0.021530572009716604 Centerline is valid? [True, True] Translation: X:395.31, Y:3.81, Z:2.70 [[ 9.98471685e-01 -5.36206852e-02 -1.33834360e-02 3.95313096e+02] [ 5.36226932e-02 9.98561247e-01 -2.09020112e-04 3.81499835e+00] [ 1.33753883e-02 -5.08955217e-04 9.99910416e-01 2.69806618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.75925415399996 meters 0.0218384201290047 Centerline is valid? [True, True] Translation: X:395.34, Y:3.81, Z:2.70 [[ 9.98391481e-01 -5.50523834e-02 -1.35530347e-02 3.95344984e+02] [ 5.50545879e-02 9.98483324e-01 -2.10669229e-04 3.81425679e+00] [ 1.35440770e-02 -5.35826375e-04 9.99908131e-01 2.69853559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.78925415399993 meters 0.023258477803041723 Centerline is valid? [True, True] Translation: X:395.38, Y:3.81, Z:2.70 [[ 9.98313594e-01 -5.64330040e-02 -1.36118752e-02 3.95376051e+02] [ 5.64353677e-02 9.98406232e-01 -2.10706715e-04 3.81221314e+00] [ 1.36020718e-02 -5.57839802e-04 9.99907332e-01 2.69831953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81925415399996 meters 0.022531648911832833 Centerline is valid? [True, True] Translation: X:395.41, Y:3.81, Z:2.70 [[ 9.98242307e-01 -5.79360704e-02 -1.24783073e-02 3.95408399e+02] [ 5.79381835e-02 9.98320154e-01 -1.92399588e-04 3.81311316e+00] [ 1.24684926e-02 -5.30909051e-04 9.99922124e-01 2.69887324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.84925415399994 meters 0.022771836538741846 Centerline is valid? [True, True] Translation: X:395.44, Y:3.81, Z:2.70 [[ 9.98217654e-01 -5.84294461e-02 -1.21455796e-02 3.95440951e+02] [ 5.84314952e-02 9.98291403e-01 -1.86381713e-04 3.81315447e+00] [ 1.21357179e-02 -5.23634860e-04 9.99926222e-01 2.69942833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87925415399997 meters 0.023902499595406475 Centerline is valid? [True, True] Translation: X:395.47, Y:3.81, Z:2.70 [[ 9.98223596e-01 -5.84320625e-02 -1.16338466e-02 3.95473446e+02] [ 5.84339535e-02 9.98291261e-01 -1.77601594e-04 3.81224983e+00] [ 1.16243450e-02 -5.02525548e-04 9.99932309e-01 2.69973376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.90925415399994 meters 0.02288071655778732 Centerline is valid? [True, True] Translation: X:395.51, Y:3.81, Z:2.70 [[ 9.98239842e-01 -5.81815654e-02 -1.14945143e-02 3.95506011e+02] [ 5.81834059e-02 9.98305895e-01 -1.74502953e-04 3.81472325e+00] [ 1.14851943e-02 -4.94594194e-04 9.99933921e-01 2.70045131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93925415399997 meters 0.02325028425752197 Centerline is valid? [True, True] Translation: X:395.54, Y:3.82, Z:2.70 [[ 9.98250189e-01 -5.80083667e-02 -1.14712812e-02 3.95537191e+02] [ 5.80101971e-02 9.98315976e-01 -1.73386009e-04 3.81535166e+00] [ 1.14620212e-02 -4.92368669e-04 9.99934188e-01 2.70064606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.96925415399994 meters 0.02329484807279529 Centerline is valid? [True, True] Translation: X:395.57, Y:3.82, Z:2.70 [[ 9.98278671e-01 -5.74295919e-02 -1.18968992e-02 3.95569668e+02] [ 5.74315287e-02 9.98349432e-01 -1.79058971e-04 3.81646394e+00] [ 1.18875459e-02 -5.04506359e-04 9.99929213e-01 2.70049857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99925415399997 meters 0.022893084168407067 Centerline is valid? [True, True] Translation: X:395.60, Y:3.82, Z:2.70 [[ 9.98287952e-01 -5.72269900e-02 -1.20928300e-02 3.95602399e+02] [ 5.72289894e-02 9.98361062e-01 -1.80922466e-04 3.81795749e+00] [ 1.20833643e-02 -5.11447724e-04 9.99926863e-01 2.70045522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.02925415399994 meters 0.023943552588951048 Centerline is valid? [True, True] Translation: X:395.63, Y:3.82, Z:2.70 [[ 9.98320776e-01 -5.65546618e-02 -1.25378455e-02 3.95634807e+02] [ 5.65567734e-02 9.98399367e-01 -1.86372063e-04 3.81879506e+00] [ 1.25283172e-02 -5.23040982e-04 9.99921381e-01 2.69940556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.059254154 meters 0.02481443964856595 Centerline is valid? [True, True] Translation: X:395.67, Y:3.82, Z:2.70 [[ 9.98310115e-01 -5.67039186e-02 -1.27114395e-02 3.95666115e+02] [ 5.67061117e-02 9.98390896e-01 -1.88117951e-04 3.81722942e+00] [ 1.27016525e-02 -5.33016254e-04 9.99919189e-01 2.69978224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.08925415399995 meters 0.023005285544365508 Centerline is valid? [True, True] Translation: X:395.70, Y:3.82, Z:2.70 [[ 9.98320203e-01 -5.65502222e-02 -1.26033495e-02 3.95698452e+02] [ 5.65523758e-02 9.98399617e-01 -1.85726270e-04 3.82110267e+00] [ 1.25936822e-02 -5.27335072e-04 9.99920557e-01 2.70004984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.119254154 meters 0.023246989679512223 Centerline is valid? [True, True] Translation: X:395.73, Y:3.82, Z:2.70 [[ 9.98343508e-01 -5.60863767e-02 -1.28279990e-02 3.95730795e+02] [ 5.60885817e-02 9.98425779e-01 -1.88092558e-04 3.82174456e+00] [ 1.28183543e-02 -5.31723285e-04 9.99917700e-01 2.69986349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.14925415399995 meters 0.02411402808636403 Centerline is valid? [True, True] Translation: X:395.76, Y:3.82, Z:2.70 [[ 9.98366828e-01 -5.56643622e-02 -1.28512655e-02 3.95762423e+02] [ 5.56665557e-02 9.98449398e-01 -1.87242601e-04 3.82160094e+00] [ 1.28417611e-02 -5.28448886e-04 9.99917402e-01 2.69951901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.179254154 meters 0.021941662738432937 Centerline is valid? [True, True] Translation: X:395.79, Y:3.83, Z:2.70 [[ 9.98452651e-01 -5.38082420e-02 -1.40348157e-02 3.95794601e+02] [ 5.38106947e-02 9.98551134e-01 -2.03086545e-04 3.82716700e+00] [ 1.40254089e-02 -5.52450884e-04 9.99901486e-01 2.69931156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.20925415399995 meters 0.022705541859677946 Centerline is valid? [True, True] Translation: X:395.83, Y:3.83, Z:2.70 [[ 9.98540142e-01 -5.20787872e-02 -1.43312430e-02 3.95826070e+02] [ 5.20811801e-02 9.98642833e-01 -2.06450185e-04 3.82753881e+00] [ 1.43225447e-02 -5.40239247e-04 9.99897281e-01 2.69879791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2392541539999 meters 0.02065331286054906 Centerline is valid? [True, True] Translation: X:395.86, Y:3.83, Z:2.70 [[ 9.98631609e-01 -5.02466895e-02 -1.44975889e-02 3.95858455e+02] [ 5.02489591e-02 9.98736701e-01 -2.07904149e-04 3.83293231e+00] [ 1.44897206e-02 -5.20869094e-04 9.99894883e-01 2.69952365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.26925415399995 meters 0.019966330273287824 Centerline is valid? [True, True] Translation: X:395.89, Y:3.84, Z:2.70 [[ 9.98741569e-01 -4.80488780e-02 -1.43729941e-02 3.95890650e+02] [ 4.80508966e-02 9.98844867e-01 -2.05060241e-04 3.83626514e+00] [ 1.43662443e-02 -4.85833068e-04 9.99896682e-01 2.69992025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2992541539999 meters 0.01905357452521712 Centerline is valid? [True, True] Translation: X:395.92, Y:3.84, Z:2.70 [[ 9.98981307e-01 -4.27758081e-02 -1.43728584e-02 3.95921611e+02] [ 4.27772925e-02 9.99084612e-01 -2.04275695e-04 3.84213676e+00] [ 1.43684397e-02 -4.10764368e-04 9.99896684e-01 2.70057525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.32925415399995 meters 0.018285113225869603 Centerline is valid? [True, True] Translation: X:395.95, Y:3.85, Z:2.70 [[ 9.99121429e-01 -3.95625335e-02 -1.38266359e-02 3.95951915e+02] [ 3.95636048e-02 9.99217035e-01 -1.96147009e-04 3.84588490e+00] [ 1.38235702e-02 -3.51056880e-04 9.99904388e-01 2.70151879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3592541539999 meters 0.018438624067708975 Centerline is valid? [True, True] Translation: X:395.98, Y:3.85, Z:2.70 [[ 9.99246423e-01 -3.63596067e-02 -1.35854698e-02 3.95982686e+02] [ 3.63603499e-02 9.99338725e-01 -1.92366915e-04 3.84817909e+00] [ 1.35834805e-02 -3.01750485e-04 9.99907695e-01 2.70151105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.38925415399996 meters 0.016362706566098593 Centerline is valid? [True, True] Translation: X:396.01, Y:3.85, Z:2.70 [[ 9.99370947e-01 -3.30931082e-02 -1.27497438e-02 3.96013912e+02] [ 3.30935027e-02 9.99452244e-01 -1.80087781e-04 3.85491941e+00] [ 1.27487198e-02 -2.41959186e-04 9.99918702e-01 2.70322547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41925415399993 meters 0.016362706566098593 Centerline is valid? [True, True] Translation: X:396.05, Y:3.86, Z:2.70 [[ 9.99373382e-01 -3.30195079e-02 -1.27497535e-02 3.96045608e+02] [ 3.30199052e-02 9.99454678e-01 -1.79404585e-04 3.85530784e+00] [ 1.27487246e-02 -2.41703483e-04 9.99918702e-01 2.70344505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.44925415399996 meters 0.01542947100245785 Centerline is valid? [True, True] Translation: X:396.08, Y:3.86, Z:2.71 [[ 9.99578716e-01 -2.67274955e-02 -1.13150863e-02 3.96076796e+02] [ 2.67274122e-02 9.99642746e-01 -1.58600588e-04 3.86226221e+00] [ 1.13152830e-02 -1.43889204e-04 9.99935970e-01 2.70521208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47925415399993 meters 0.015089368524810451 Centerline is valid? [True, True] Translation: X:396.11, Y:3.87, Z:2.71 [[ 9.99666668e-01 -2.35920745e-02 -1.04864922e-02 3.96109112e+02] [ 2.35918358e-02 9.99721663e-01 -1.46484651e-04 3.86552756e+00] [ 1.04870293e-02 -1.00959780e-04 9.99945004e-01 2.70580733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.50925415399996 meters 0.014705881817530136 Centerline is valid? [True, True] Translation: X:396.14, Y:3.87, Z:2.71 [[ 9.99723343e-01 -2.10969295e-02 -1.03998968e-02 3.96140285e+02] [ 2.10965663e-02 9.99777432e-01 -1.44639216e-04 3.86882712e+00] [ 1.04006335e-02 -7.48029119e-05 9.99945909e-01 2.70659807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53925415399993 meters 0.014808528956737501 Centerline is valid? [True, True] Translation: X:396.17, Y:3.87, Z:2.71 [[ 9.99764184e-01 -1.91614830e-02 -1.02182957e-02 3.96170912e+02] [ 1.91610345e-02 9.99816400e-01 -1.41799506e-04 3.87106852e+00] [ 1.02191367e-02 -5.40270500e-05 9.99947782e-01 2.70637756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.56925415399996 meters 0.01474311065029774 Centerline is valid? [True, True] Translation: X:396.20, Y:3.87, Z:2.71 [[ 9.99810672e-01 -1.64392345e-02 -1.04102218e-02 3.96202336e+02] [ 1.64386241e-02 9.99864866e-01 -1.44204069e-04 3.87430144e+00] [ 1.04111856e-02 -2.69529556e-05 9.99945802e-01 2.70635330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59925415399994 meters 0.015279708114605136 Centerline is valid? [True, True] Translation: X:396.23, Y:3.88, Z:2.71 [[ 9.99821855e-01 -1.55505475e-02 -1.06975930e-02 3.96232584e+02] [ 1.55498549e-02 9.99879083e-01 -1.47921991e-04 3.87554720e+00] [ 1.06985997e-02 -1.84503795e-05 9.99942768e-01 2.70589463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.62925415399997 meters 0.014759314669013793 Centerline is valid? [True, True] Translation: X:396.26, Y:3.88, Z:2.71 [[ 9.99819863e-01 -1.56539592e-02 -1.07329312e-02 3.96261581e+02] [ 1.56532672e-02 9.99877469e-01 -1.48480671e-04 3.87632616e+00] [ 1.07339404e-02 -1.95515150e-05 9.99942389e-01 2.70638886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65925415399994 meters 0.014486133481842179 Centerline is valid? [True, True] Translation: X:396.29, Y:3.88, Z:2.71 [[ 9.99818951e-01 -1.56454673e-02 -1.08297626e-02 3.96291709e+02] [ 1.56447609e-02 9.99877602e-01 -1.49948964e-04 3.87691424e+00] [ 1.08307831e-02 -1.95072303e-05 9.99941345e-01 2.70664105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68925415399997 meters 0.014625167453904268 Centerline is valid? [True, True] Translation: X:396.32, Y:3.88, Z:2.71 [[ 9.99806851e-01 -1.63618658e-02 -1.08880733e-02 3.96320840e+02] [ 1.63611935e-02 9.99866135e-01 -1.50829332e-04 3.87715031e+00] [ 1.08890837e-02 -2.73416749e-05 9.99940712e-01 2.70663847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71925415399994 meters 0.014637394939478573 Centerline is valid? [True, True] Translation: X:396.35, Y:3.88, Z:2.71 [[ 9.99802685e-01 -1.69158667e-02 -1.04136748e-02 3.96351255e+02] [ 1.69152805e-02 9.99856916e-01 -1.44379804e-04 3.87754944e+00] [ 1.04146270e-02 -3.17989138e-05 9.99945766e-01 2.70695515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74925415399997 meters 0.014709441023402454 Centerline is valid? [True, True] Translation: X:396.38, Y:3.88, Z:2.71 [[ 9.99788020e-01 -1.75461297e-02 -1.07726194e-02 3.96382211e+02] [ 1.75455389e-02 9.99846054e-01 -1.49356371e-04 3.87797904e+00] [ 1.07735816e-02 -3.96867015e-05 9.99941962e-01 2.70735723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.77925415399994 meters 0.014641040465710213 Centerline is valid? [True, True] Translation: X:396.41, Y:3.88, Z:2.71 [[ 9.99775353e-01 -1.81448584e-02 -1.09548189e-02 3.96412812e+02] [ 1.81442834e-02 9.99835367e-01 -1.51882466e-04 3.87810365e+00] [ 1.09557712e-02 -4.69189923e-05 9.99939983e-01 2.70765202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.809254154 meters 0.014702549510423223 Centerline is valid? [True, True] Translation: X:396.44, Y:3.88, Z:2.71 [[ 9.99742030e-01 -1.98780634e-02 -1.09880259e-02 3.96443389e+02] [ 1.98775896e-02 9.99802410e-01 -1.52342863e-04 3.87715496e+00] [ 1.09888830e-02 -6.61119060e-05 9.99939618e-01 2.70743084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.83925415399995 meters 0.016016416706546927 Centerline is valid? [True, True] Translation: X:396.47, Y:3.88, Z:2.71 [[ 9.99727304e-01 -2.05662066e-02 -1.10611353e-02 3.96473304e+02] [ 2.05657694e-02 9.99788490e-01 -1.53280802e-04 3.87631560e+00] [ 1.10619482e-02 -7.42417546e-05 9.99938812e-01 2.70644868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.869254154 meters 0.014923325506885042 Centerline is valid? [True, True] Translation: X:396.50, Y:3.88, Z:2.71 [[ 9.99703326e-01 -2.19858989e-02 -1.04823575e-02 3.96504854e+02] [ 2.19855869e-02 9.99758277e-01 -1.45009145e-04 3.87603171e+00] [ 1.04830119e-02 -8.54946575e-05 9.99945048e-01 2.70770940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.89925415399995 meters 0.014936347504902553 Centerline is valid? [True, True] Translation: X:396.54, Y:3.88, Z:2.71 [[ 9.99689930e-01 -2.27122532e-02 -1.02077173e-02 3.96537151e+02] [ 2.27120003e-02 9.99742039e-01 -1.40718813e-04 3.87541721e+00] [ 1.02082801e-02 -9.11624967e-05 9.99947890e-01 2.70811301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.929254154 meters 0.014984107053830667 Centerline is valid? [True, True] Translation: X:396.57, Y:3.87, Z:2.71 [[ 9.99675087e-01 -2.33558780e-02 -1.02089988e-02 3.96569036e+02] [ 2.33556662e-02 9.99727209e-01 -1.39981411e-04 3.87457701e+00] [ 1.02094833e-02 -9.85020397e-05 9.99947877e-01 2.70838445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.95925415399995 meters 0.014987596084472535 Centerline is valid? [True, True] Translation: X:396.60, Y:3.87, Z:2.71 [[ 9.99680194e-01 -2.31267253e-02 -1.02305172e-02 3.96601064e+02] [ 2.31265084e-02 9.99732537e-01 -1.39519013e-04 3.87467052e+00] [ 1.02310075e-02 -9.71217470e-05 9.99947657e-01 2.70881130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9892541539999 meters 0.015032338153700475 Centerline is valid? [True, True] Translation: X:396.63, Y:3.87, Z:2.71 [[ 9.99691775e-01 -2.26581398e-02 -1.01471303e-02 3.96633074e+02] [ 2.26579099e-02 9.99743267e-01 -1.37638519e-04 3.87467078e+00] [ 1.01476438e-02 -9.23166671e-05 9.99948507e-01 2.70880871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.01925415399995 meters 0.0147973294634487 Centerline is valid? [True, True] Translation: X:396.66, Y:3.87, Z:2.71 [[ 9.99704992e-01 -2.19345462e-02 -1.04308992e-02 3.96664800e+02] [ 2.19342705e-02 9.99759405e-01 -1.40838093e-04 3.87461486e+00] [ 1.04314788e-02 -8.79976204e-05 9.99945587e-01 2.70889823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0492541539999 meters 0.014864357018478793 Centerline is valid? [True, True] Translation: X:396.70, Y:3.87, Z:2.71 [[ 9.99716230e-01 -2.13550802e-02 -1.05555251e-02 3.96696640e+02] [ 2.13547711e-02 9.99771951e-01 -1.41999438e-04 3.87451179e+00] [ 1.05561503e-02 -8.34516794e-05 9.99944279e-01 2.70885305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.07925415399995 meters 0.014768963838674019 Centerline is valid? [True, True] Translation: X:396.73, Y:3.87, Z:2.71 [[ 9.99743309e-01 -1.99262629e-02 -1.07824126e-02 3.96727476e+02] [ 1.99258637e-02 9.99801450e-01 -1.44462751e-04 3.87340821e+00] [ 1.07831503e-02 -7.04232148e-05 9.99941858e-01 2.70896572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1092541539999 meters 0.014692774696139327 Centerline is valid? [True, True] Translation: X:396.76, Y:3.87, Z:2.71 [[ 9.99752614e-01 -1.92697615e-02 -1.11079436e-02 3.96758583e+02] [ 1.92693004e-02 9.99814319e-01 -1.48541089e-04 3.87325602e+00] [ 1.11087435e-02 -6.55379604e-05 9.99938294e-01 2.70920602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.13925415399996 meters 0.014585953401964988 Centerline is valid? [True, True] Translation: X:396.79, Y:3.87, Z:2.71 [[ 9.99773300e-01 -1.81207739e-02 -1.11796773e-02 3.96788983e+02] [ 1.81202379e-02 9.99835804e-01 -1.49244136e-04 3.87288368e+00] [ 1.11805460e-02 -5.33681094e-05 9.99937494e-01 2.70940173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.16925415399993 meters 0.014331618999573246 Centerline is valid? [True, True] Translation: X:396.82, Y:3.87, Z:2.71 [[ 9.99812794e-01 -1.54912101e-02 -1.15931085e-02 3.96818290e+02] [ 1.54904560e-02 9.99880004e-01 -1.54848475e-04 3.87191694e+00] [ 1.15941162e-02 -2.47630509e-05 9.99932786e-01 2.70942095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.19925415399996 meters 0.014364284012733847 Centerline is valid? [True, True] Translation: X:396.85, Y:3.87, Z:2.71 [[ 9.99835080e-01 -1.40594304e-02 -1.14954783e-02 3.96848177e+02] [ 1.40585909e-02 9.99901161e-01 -1.53835736e-04 3.87219299e+00] [ 1.14965050e-02 -7.79986163e-06 9.99933913e-01 2.70985694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.22925415399993 meters 0.014851805337591489 Centerline is valid? [True, True] Translation: X:396.88, Y:3.87, Z:2.71 [[ 9.99857250e-01 -1.23266043e-02 -1.15556849e-02 3.96877992e+02] [ 1.23256354e-02 9.99924024e-01 -1.55065097e-04 3.87232493e+00] [ 1.15567184e-02 1.26118029e-05 9.99933219e-01 2.70959162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.25925415399996 meters 0.014333137668237121 Centerline is valid? [True, True] Translation: X:396.91, Y:3.87, Z:2.71 [[ 9.99865722e-01 -1.13197177e-02 -1.18491635e-02 3.96906165e+02] [ 1.13186219e-02 9.99935930e-01 -1.59535629e-04 3.87257734e+00] [ 1.18502102e-02 2.53980056e-05 9.99929783e-01 2.71056343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.28925415399993 meters 0.014506534430870143 Centerline is valid? [True, True] Translation: X:396.94, Y:3.87, Z:2.71 [[ 9.99886794e-01 -8.57068270e-03 -1.23670197e-02 3.96935388e+02] [ 8.56925685e-03 9.99963269e-01 -1.68280695e-04 3.87206840e+00] [ 1.23680077e-02 6.22854764e-05 9.99923511e-01 2.70985617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31925415399996 meters 0.014546273600740399 Centerline is valid? [True, True] Translation: X:396.96, Y:3.87, Z:2.71 [[ 9.99886439e-01 -7.86839232e-03 -1.28529030e-02 3.96964562e+02] [ 7.86675147e-03 9.99969041e-01 -1.78216961e-04 3.87176145e+00] [ 1.28539074e-02 7.70861292e-05 9.99917382e-01 2.71008673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.34925415399994 meters 0.014690132594334972 Centerline is valid? [True, True] Translation: X:396.99, Y:3.87, Z:2.71 [[ 9.99892159e-01 -7.05802473e-03 -1.28784717e-02 3.96992278e+02] [ 7.05627726e-03 9.99975088e-01 -1.81123074e-04 3.87138009e+00] [ 1.28794292e-02 9.02294746e-05 9.99917053e-01 2.70992625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37925415399997 meters 0.014661199630747739 Centerline is valid? [True, True] Translation: X:397.02, Y:3.87, Z:2.71 [[ 9.99895755e-01 -6.92428688e-03 -1.26701686e-02 3.97020122e+02] [ 6.92255233e-03 9.99976023e-01 -1.80752710e-04 3.87041883e+00] [ 1.26711163e-02 9.30239627e-05 9.99919714e-01 2.71064690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.40925415399994 meters 0.014645230381659557 Centerline is valid? [True, True] Translation: X:397.05, Y:3.87, Z:2.71 [[ 9.99909164e-01 -6.80333109e-03 -1.16352428e-02 3.97046917e+02] [ 6.80183199e-03 9.99976853e-01 -1.68409059e-04 3.86802092e+00] [ 1.16361192e-02 8.92527952e-05 9.99932294e-01 2.71141899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43925415399997 meters 0.014569713845652192 Centerline is valid? [True, True] Translation: X:397.08, Y:3.87, Z:2.71 [[ 9.99907406e-01 -7.33519511e-03 -1.14618319e-02 3.97075078e+02] [ 7.33375053e-03 9.99973094e-01 -1.68060134e-04 3.86624738e+00] [ 1.14627562e-02 8.39863570e-05 9.99934297e-01 2.71207034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.46925415399994 meters 0.014551394975771912 Centerline is valid? [True, True] Translation: X:397.10, Y:3.86, Z:2.71 [[ 9.99902779e-01 -7.72090935e-03 -1.16111960e-02 3.97102027e+02] [ 7.71942254e-03 9.99970190e-01 -1.72862302e-04 3.86462991e+00] [ 1.16121845e-02 8.32137680e-05 9.99932573e-01 2.71249309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49925415399997 meters 0.015848923106768675 Centerline is valid? [True, True] Translation: X:397.13, Y:3.86, Z:2.71 [[ 9.99894698e-01 -8.16786914e-03 -1.19949476e-02 3.97129731e+02] [ 8.16628655e-03 9.99966639e-01 -1.80911729e-04 3.86015466e+00] [ 1.19960251e-02 8.29384993e-05 9.99928042e-01 2.71106594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.52925415399994 meters 0.014535355839872529 Centerline is valid? [True, True] Translation: X:397.16, Y:3.86, Z:2.71 [[ 9.99892750e-01 -9.07214043e-03 -1.14971361e-02 3.97157977e+02] [ 9.07070967e-03 9.99958845e-01 -1.76585667e-04 3.85868165e+00] [ 1.14982650e-02 7.22795444e-05 9.99933890e-01 2.71235978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.559254154 meters 0.014390689898301565 Centerline is valid? [True, True] Translation: X:397.19, Y:3.86, Z:2.71 [[ 9.99890364e-01 -9.27825726e-03 -1.15401150e-02 3.97186035e+02] [ 9.27679102e-03 9.99956953e-01 -1.80580148e-04 3.85611732e+00] [ 1.15412937e-02 7.35051146e-05 9.99933394e-01 2.71233904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.58925415399995 meters 0.014284446181243051 Centerline is valid? [True, True] Translation: X:397.21, Y:3.85, Z:2.71 [[ 9.99878965e-01 -9.57201538e-03 -1.22650779e-02 3.97213584e+02] [ 9.57033519e-03 9.99954184e-01 -1.95675890e-04 3.85421618e+00] [ 1.22663890e-02 7.82712991e-05 9.99924762e-01 2.71216523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.619254154 meters 0.014346755817734546 Centerline is valid? [True, True] Translation: X:397.24, Y:3.85, Z:2.71 [[ 9.99879956e-01 -9.28711529e-03 -1.24025629e-02 3.97241839e+02] [ 9.28532971e-03 9.99956870e-01 -2.01545448e-04 3.84907695e+00] [ 1.24038998e-02 8.63593679e-05 9.99923065e-01 2.71157673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.64925415399995 meters 0.014217857998421525 Centerline is valid? [True, True] Translation: X:397.27, Y:3.85, Z:2.71 [[ 9.99878585e-01 -9.54754258e-03 -1.23150022e-02 3.97270071e+02] [ 9.54575705e-03 9.99954417e-01 -2.03761664e-04 3.84653880e+00] [ 1.23163863e-02 8.61809046e-05 9.99924147e-01 2.71190587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.679254154 meters 0.014301674187811766 Centerline is valid? [True, True] Translation: X:397.30, Y:3.84, Z:2.71 [[ 9.99877276e-01 -9.90475655e-03 -1.21378708e-02 3.97296729e+02] [ 9.90301540e-03 9.99950943e-01 -2.03543913e-04 3.84429519e+00] [ 1.21392914e-02 8.33174126e-05 9.99926313e-01 2.71200712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.70925415399995 meters 0.01424243637922244 Centerline is valid? [True, True] Translation: X:397.32, Y:3.84, Z:2.71 [[ 9.99878248e-01 -1.03884133e-02 -1.16434647e-02 3.97324943e+02] [ 1.03868176e-02 9.99946036e-01 -1.97511818e-04 3.84154779e+00] [ 1.16448882e-02 7.65492269e-05 9.99932193e-01 2.71267172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7392541539999 meters 0.01432743978904118 Centerline is valid? [True, True] Translation: X:397.35, Y:3.84, Z:2.71 [[ 9.99874502e-01 -1.12307255e-02 -1.11736936e-02 3.97352860e+02] [ 1.12292822e-02 9.99936931e-01 -1.91905982e-04 3.83582239e+00] [ 1.11751441e-02 6.64093406e-05 9.99937554e-01 2.71266690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.76925415399995 meters 0.014288758099194845 Centerline is valid? [True, True] Translation: X:397.38, Y:3.83, Z:2.71 [[ 9.99864413e-01 -1.22300764e-02 -1.10263260e-02 3.97380404e+02] [ 1.22287113e-02 9.99925208e-01 -1.91218468e-04 3.83275972e+00] [ 1.10278399e-02 5.63547845e-05 9.99939190e-01 2.71299548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7992541539999 meters 0.014107450491679384 Centerline is valid? [True, True] Translation: X:397.41, Y:3.83, Z:2.71 [[ 9.99840245e-01 -1.37443274e-02 -1.14270910e-02 3.97408234e+02] [ 1.37429311e-02 9.99905541e-01 -2.00710700e-04 3.82660543e+00] [ 1.14287702e-02 4.36369116e-05 9.99934689e-01 2.71253121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.82925415399995 meters 0.014323514924354058 Centerline is valid? [True, True] Translation: X:397.44, Y:3.82, Z:2.71 [[ 9.99831244e-01 -1.45567979e-02 -1.12063988e-02 3.97436848e+02] [ 1.45554866e-02 9.99894044e-01 -1.98568334e-04 3.82379565e+00] [ 1.12081019e-02 3.54202370e-05 9.99937187e-01 2.71234571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8592541539999 meters 0.014224097462277973 Centerline is valid? [True, True] Translation: X:397.46, Y:3.82, Z:2.71 [[ 9.99819120e-01 -1.52762569e-02 -1.13297624e-02 3.97464396e+02] [ 1.52749352e-02 9.99883311e-01 -2.03182639e-04 3.82130334e+00] [ 1.13315442e-02 3.00845008e-05 9.99935796e-01 2.71222522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.88925415399996 meters 0.014123306329157767 Centerline is valid? [True, True] Translation: X:397.49, Y:3.82, Z:2.71 [[ 9.99815624e-01 -1.56391256e-02 -1.11415915e-02 3.97493137e+02] [ 1.56378570e-02 9.99877701e-01 -2.00978041e-04 3.81877136e+00] [ 1.11433720e-02 2.67103713e-05 9.99937910e-01 2.71255364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91925415399993 meters 0.014605291527431598 Centerline is valid? [True, True] Translation: X:397.52, Y:3.81, Z:2.71 [[ 9.99801817e-01 -1.64904743e-02 -1.11530547e-02 3.97522248e+02] [ 1.64892397e-02 9.99864023e-01 -2.02647439e-04 3.81306365e+00] [ 1.11548799e-02 1.87018853e-05 9.99937782e-01 2.71275719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.94925415399996 meters 0.014256864277736491 Centerline is valid? [True, True] Translation: X:397.55, Y:3.81, Z:2.71 [[ 9.99794091e-01 -1.70212918e-02 -1.10476349e-02 3.97550875e+02] [ 1.70200817e-02 9.99855127e-01 -2.03557285e-04 3.81096297e+00] [ 1.10494992e-02 1.54837234e-05 9.99938952e-01 2.71336116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97925415399993 meters 0.014278282166914562 Centerline is valid? [True, True] Translation: X:397.58, Y:3.81, Z:2.71 [[ 9.99788942e-01 -1.74115117e-02 -1.09046571e-02 3.97579563e+02] [ 1.74103255e-02 9.99848408e-01 -2.03701376e-04 3.80896135e+00] [ 1.09065508e-02 1.38047529e-05 9.99940522e-01 2.71392127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.00925415399996 meters 0.014255363001292615 Centerline is valid? [True, True] Translation: X:397.61, Y:3.81, Z:2.71 [[ 9.99793611e-01 -1.72386343e-02 -1.07500731e-02 3.97609760e+02] [ 1.72374511e-02 9.99851404e-01 -2.02716511e-04 3.80703365e+00] [ 1.07519702e-02 1.73708139e-05 9.99942196e-01 2.71402131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03925415399993 meters 0.014267022090117579 Centerline is valid? [True, True] Translation: X:397.64, Y:3.81, Z:2.71 [[ 9.99804112e-01 -1.68296249e-02 -1.04164340e-02 3.97639682e+02] [ 1.68284879e-02 9.99858372e-01 -1.96799450e-04 3.80530329e+00] [ 1.04182708e-02 2.14680660e-05 9.99945728e-01 2.71478328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.06925415399996 meters 0.01517008829209887 Centerline is valid? [True, True] Translation: X:397.67, Y:3.80, Z:2.71 [[ 9.99815846e-01 -1.61328036e-02 -1.03926667e-02 3.97669873e+02] [ 1.61316302e-02 9.99869857e-01 -1.96730710e-04 3.80353168e+00] [ 1.03944880e-02 2.90438247e-05 9.99945975e-01 2.71425754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09925415399994 meters 0.014436115620242494 Centerline is valid? [True, True] Translation: X:397.70, Y:3.80, Z:2.72 [[ 9.99846577e-01 -1.44199372e-02 -9.94422800e-03 3.97698891e+02] [ 1.44187741e-02 9.99896026e-01 -1.88647922e-04 3.80014337e+00] [ 9.94591436e-03 4.52354020e-05 9.99950537e-01 2.71566578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.12925415399997 meters 0.014403878288717534 Centerline is valid? [True, True] Translation: X:397.73, Y:3.80, Z:2.72 [[ 9.99854555e-01 -1.37700431e-02 -1.00625338e-02 3.97727552e+02] [ 1.37688074e-02 9.99905187e-01 -1.92068331e-04 3.79862714e+00] [ 1.00642245e-02 5.34913062e-05 9.99949353e-01 2.71580721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15925415399994 meters 0.014556458329241594 Centerline is valid? [True, True] Translation: X:397.76, Y:3.80, Z:2.72 [[ 9.99856076e-01 -1.33925902e-02 -1.04146662e-02 3.97756107e+02] [ 1.33912179e-02 9.99910313e-01 -2.01493322e-04 3.79676574e+00] [ 1.04164307e-02 6.19992579e-05 9.99945746e-01 2.71574795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18925415399997 meters 0.014536994306508687 Centerline is valid? [True, True] Translation: X:397.79, Y:3.79, Z:2.72 [[ 9.99852827e-01 -1.32216410e-02 -1.09321975e-02 3.97785012e+02] [ 1.32200874e-02 9.99912588e-01 -2.14366431e-04 3.79481943e+00] [ 1.09340762e-02 6.98102750e-05 9.99940219e-01 2.71576484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21925415399994 meters 0.01642204436230085 Centerline is valid? [True, True] Translation: X:397.81, Y:3.79, Z:2.71 [[ 9.99830454e-01 -1.34758144e-02 -1.25485688e-02 3.97813172e+02] [ 1.34737418e-02 9.99909194e-01 -2.49703625e-04 3.78897846e+00] [ 1.25507943e-02 8.05851135e-05 9.99921232e-01 2.71365609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24925415399997 meters 0.014385494246064107 Centerline is valid? [True, True] Translation: X:397.84, Y:3.79, Z:2.72 [[ 9.99815820e-01 -1.50517343e-02 -1.19067401e-02 3.97841896e+02] [ 1.50499422e-02 9.99886714e-01 -2.40102415e-04 3.78654366e+00] [ 1.19090052e-02 6.08624423e-05 9.99929083e-01 2.71563344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.27925415399994 meters 0.014286020289878243 Centerline is valid? [True, True] Translation: X:397.87, Y:3.78, Z:2.72 [[ 9.99777684e-01 -1.69216431e-02 -1.25794052e-02 3.97870238e+02] [ 1.69197465e-02 9.99856818e-01 -2.57186505e-04 3.78362188e+00] [ 1.25819561e-02 4.42889812e-05 9.99920843e-01 2.71534916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.309254154 meters 0.014286020289878243 Centerline is valid? [True, True] Translation: X:397.90, Y:3.78, Z:2.72 [[ 9.99772694e-01 -1.72139749e-02 -1.25793292e-02 3.97897656e+02] [ 1.72120552e-02 9.99851828e-01 -2.60863866e-04 3.78425296e+00] [ 1.25819558e-02 4.42884620e-05 9.99920843e-01 2.71553961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.33925415399995 meters 0.014317933857353289 Centerline is valid? [True, True] Translation: X:397.92, Y:3.78, Z:2.71 [[ 9.99663976e-01 -2.19096212e-02 -1.38529269e-02 3.97924771e+02] [ 2.19077008e-02 9.99759955e-01 -2.90383878e-04 3.77686527e+00] [ 1.38559637e-02 -1.31994749e-05 9.99904001e-01 2.71479311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.369254154 meters 0.014378785053621225 Centerline is valid? [True, True] Translation: X:397.95, Y:3.77, Z:2.72 [[ 9.99593301e-01 -2.48950268e-02 -1.39093570e-02 3.97953199e+02] [ 2.48933387e-02 9.99690069e-01 -2.94510714e-04 3.77352096e+00] [ 1.39123779e-02 -5.18593989e-05 9.99903217e-01 2.71542224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.39925415399995 meters 0.014696169752566005 Centerline is valid? [True, True] Translation: X:397.98, Y:3.77, Z:2.71 [[ 9.99515267e-01 -2.77687766e-02 -1.40757021e-02 3.97981057e+02] [ 2.77672901e-02 9.99614369e-01 -3.01064747e-04 3.76900985e+00] [ 1.40786342e-02 -8.99252909e-05 9.99900887e-01 2.71484053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.429254154 meters 0.014763717374632708 Centerline is valid? [True, True] Translation: X:398.01, Y:3.77, Z:2.72 [[ 9.99426258e-01 -3.06656538e-02 -1.43795902e-02 3.98009406e+02] [ 3.06643787e-02 9.99529690e-01 -3.09193860e-04 3.76585073e+00] [ 1.43823090e-02 -1.31924738e-04 9.99896561e-01 2.71562748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.45925415399995 meters 0.01778776253468541 Centerline is valid? [True, True] Translation: X:398.04, Y:3.76, Z:2.71 [[ 9.99269336e-01 -3.51262561e-02 -1.50645628e-02 3.98037120e+02] [ 3.51253368e-02 9.99382862e-01 -3.25689825e-04 3.75736937e+00] [ 1.50667061e-02 -2.03695986e-04 9.99886470e-01 2.71408842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4892541539999 meters 0.015476161831080682 Centerline is valid? [True, True] Translation: X:398.07, Y:3.76, Z:2.72 [[ 9.99213500e-01 -3.71328955e-02 -1.39114609e-02 3.98065595e+02] [ 3.71322691e-02 9.99310313e-01 -3.03406673e-04 3.75614319e+00] [ 1.39131327e-02 -2.13396066e-04 9.99903185e-01 2.71697975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.51925415399995 meters 0.016372159528360644 Centerline is valid? [True, True] Translation: X:398.09, Y:3.75, Z:2.72 [[ 9.99166493e-01 -3.84482708e-02 -1.37131214e-02 3.98094567e+02] [ 3.84477571e-02 9.99260566e-01 -3.01184346e-04 3.75219934e+00] [ 1.37145614e-02 -2.26305453e-04 9.99905925e-01 2.71660195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5492541539999 meters 0.015528747942025797 Centerline is valid? [True, True] Translation: X:398.12, Y:3.75, Z:2.72 [[ 9.99135951e-01 -3.92686175e-02 -1.36134549e-02 3.98123778e+02] [ 3.92681789e-02 9.99228663e-01 -2.99614466e-04 3.75306371e+00] [ 1.36147198e-02 -2.35220000e-04 9.99907288e-01 2.71843104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.57925415399995 meters 0.018088953151617362 Centerline is valid? [True, True] Translation: X:398.15, Y:3.75, Z:2.72 [[ 9.99122319e-01 -3.94664537e-02 -1.40353096e-02 3.98152559e+02] [ 3.94659979e-02 9.99220866e-01 -3.09554947e-04 3.74791393e+00] [ 1.40365913e-02 -2.44634243e-04 9.99901452e-01 2.71646597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6092541539999 meters 0.017831568946762605 Centerline is valid? [True, True] Translation: X:398.18, Y:3.75, Z:2.72 [[ 9.99116567e-01 -3.96038747e-02 -1.40577215e-02 3.98181331e+02] [ 3.96034191e-02 9.99215428e-01 -3.10898505e-04 3.74643304e+00] [ 1.40590050e-02 -2.46109987e-04 9.99901137e-01 2.71666272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.63925415399996 meters 0.015718541525820213 Centerline is valid? [True, True] Translation: X:398.21, Y:3.75, Z:2.72 [[ 9.99133167e-01 -3.95289431e-02 -1.30528672e-02 3.98211193e+02] [ 3.95285355e-02 9.99218400e-01 -2.89319155e-04 3.74664994e+00] [ 1.30541015e-02 -2.26892359e-04 9.99914766e-01 2.71834105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.66925415399993 meters 0.016798211518663005 Centerline is valid? [True, True] Translation: X:398.24, Y:3.74, Z:2.72 [[ 9.99178879e-01 -3.81685585e-02 -1.35914755e-02 3.98240533e+02] [ 3.81679839e-02 9.99271291e-01 -3.01761342e-04 3.74459532e+00] [ 1.35930890e-02 -2.17245657e-04 9.99907586e-01 2.71725939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.69925415399996 meters 0.01525223925339125 Centerline is valid? [True, True] Translation: X:398.27, Y:3.74, Z:2.72 [[ 9.99235387e-01 -3.69472064e-02 -1.27885037e-02 3.98268748e+02] [ 3.69465906e-02 9.99317201e-01 -2.84486410e-04 3.74489831e+00] [ 1.27902827e-02 -1.88222723e-04 9.99918183e-01 2.71853499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.72925415399993 meters 0.014918164109067928 Centerline is valid? [True, True] Translation: X:398.30, Y:3.75, Z:2.72 [[ 9.99300417e-01 -3.52224962e-02 -1.25719197e-02 3.98298527e+02] [ 3.52217574e-02 9.99379482e-01 -2.80240688e-04 3.74587349e+00] [ 1.25739893e-02 -1.62760467e-04 9.99920931e-01 2.71922590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.75925415399996 meters 0.014605188729846612 Centerline is valid? [True, True] Translation: X:398.33, Y:3.75, Z:2.72 [[ 9.99368659e-01 -3.32969805e-02 -1.23933441e-02 3.98326782e+02] [ 3.32961077e-02 9.99445493e-01 -2.76802567e-04 3.74635666e+00] [ 1.23956886e-02 -1.36022310e-04 9.99923161e-01 2.71928856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.78925415399993 meters 0.01575958969339674 Centerline is valid? [True, True] Translation: X:398.36, Y:3.75, Z:2.72 [[ 9.99446693e-01 -3.07133873e-02 -1.27669673e-02 3.98356143e+02] [ 3.07122428e-02 9.99528227e-01 -2.85744042e-04 3.74710921e+00] [ 1.27697203e-02 -1.06516260e-04 9.99918458e-01 2.71849604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81925415399996 meters 0.01554318285480713 Centerline is valid? [True, True] Translation: X:398.38, Y:3.75, Z:2.72 [[ 9.99581635e-01 -2.58754514e-02 -1.29234717e-02 3.98384974e+02] [ 2.58738513e-02 9.99665174e-01 -2.91025586e-04 3.74812503e+00] [ 1.29266750e-02 -4.34761536e-05 9.99916446e-01 2.71861646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.84925415399994 meters 0.014027228938507108 Centerline is valid? [True, True] Translation: X:398.41, Y:3.75, Z:2.72 [[ 9.99644212e-01 -2.38085945e-02 -1.20249796e-02 3.98412960e+02] [ 2.38070318e-02 9.99716535e-01 -2.73095944e-04 3.74937935e+00] [ 1.20280730e-02 -1.32802937e-05 9.99927660e-01 2.71972207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87925415399997 meters 0.014916909937158303 Centerline is valid? [True, True] Translation: X:398.44, Y:3.75, Z:2.72 [[ 9.99673111e-01 -2.21867393e-02 -1.27050896e-02 3.98441264e+02] [ 2.21848332e-02 9.99753844e-01 -2.90961385e-04 3.74980994e+00] [ 1.27084176e-02 9.00598007e-06 9.99919245e-01 2.71909589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.90925415399994 meters 0.016557750827986568 Centerline is valid? [True, True] Translation: X:398.47, Y:3.75, Z:2.72 [[ 9.99697438e-01 -2.05991618e-02 -1.34427631e-02 3.98469568e+02] [ 2.05968515e-02 9.99787814e-01 -3.10299556e-04 3.74988316e+00] [ 1.34463026e-02 3.33270758e-05 9.99909594e-01 2.71750169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93925415399997 meters 0.01405132005193232 Centerline is valid? [True, True] Translation: X:398.50, Y:3.75, Z:2.72 [[ 9.99717669e-01 -2.01868824e-02 -1.25328361e-02 3.98496715e+02] [ 2.01848259e-02 9.99796223e-01 -2.90567073e-04 3.74892467e+00] [ 1.25361479e-02 3.75119203e-05 9.99921419e-01 2.71826983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.96925415399994 meters 0.014038238506066798 Centerline is valid? [True, True] Translation: X:398.52, Y:3.75, Z:2.72 [[ 9.99688962e-01 -2.13985087e-02 -1.28095115e-02 3.98524593e+02] [ 2.13964279e-02 9.99771025e-01 -2.99482416e-04 3.74731273e+00] [ 1.28129869e-02 2.53114770e-05 9.99917910e-01 2.71805530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99925415399997 meters 0.013957550515309438 Centerline is valid? [True, True] Translation: X:398.55, Y:3.75, Z:2.72 [[ 9.99642546e-01 -2.33748537e-02 -1.29767844e-02 3.98551980e+02] [ 2.33728500e-02 9.99726771e-01 -3.06061441e-04 3.74522004e+00] [ 1.29803929e-02 2.64760246e-06 9.99915751e-01 2.71755120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.02925415399994 meters 0.01411720155868242 Centerline is valid? [True, True] Translation: X:398.58, Y:3.74, Z:2.72 [[ 9.99506438e-01 -2.87045156e-02 -1.27644817e-02 3.98579842e+02] [ 2.87029947e-02 9.99587938e-01 -3.02368267e-04 3.73882590e+00] [ 1.27679013e-02 -6.41598227e-05 9.99918485e-01 2.71772445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.059254154 meters 0.014510794775098153 Centerline is valid? [True, True] Translation: X:398.61, Y:3.74, Z:2.72 [[ 9.99393012e-01 -3.25890119e-02 -1.23110961e-02 3.98608763e+02] [ 3.25878692e-02 9.99468831e-01 -2.93460911e-04 3.73513969e+00] [ 1.23141205e-02 -1.07909608e-04 9.99924173e-01 2.71811911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.08925415399995 meters 0.01468083799300623 Centerline is valid? [True, True] Translation: X:398.64, Y:3.73, Z:2.72 [[ 9.99251490e-01 -3.67819065e-02 -1.19812704e-02 3.98637365e+02] [ 3.67810914e-02 9.99323305e-01 -2.88454148e-04 3.73274798e+00] [ 1.19837727e-02 -1.52445966e-04 9.99928180e-01 2.71911467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.119254154 meters 0.01834849335987839 Centerline is valid? [True, True] Translation: X:398.67, Y:3.73, Z:2.72 [[ 9.99082629e-01 -4.08122981e-02 -1.29713869e-02 3.98666639e+02] [ 4.08116535e-02 9.99166808e-01 -3.14504921e-04 3.72787923e+00] [ 1.29734149e-02 -2.15167344e-04 9.99915819e-01 2.71691323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.14925415399995 meters 0.018068566869412436 Centerline is valid? [True, True] Translation: X:398.70, Y:3.72, Z:2.72 [[ 9.98675098e-01 -4.99261919e-02 -1.24669297e-02 3.98696880e+02] [ 4.99263001e-02 9.98752859e-01 -3.02734313e-04 3.72055715e+00] [ 1.24664961e-02 -3.20094454e-04 9.99922239e-01 2.71803906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.179254154 meters 0.019759921843322755 Centerline is valid? [True, True] Translation: X:398.72, Y:3.72, Z:2.72 [[ 9.98447367e-01 -5.42849789e-02 -1.24898734e-02 3.98724994e+02] [ 5.42854208e-02 9.98525413e-01 -3.03891704e-04 3.71575851e+00] [ 1.24879528e-02 -3.74598163e-04 9.99921952e-01 2.71794859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.20925415399995 meters 0.018789621713832947 Centerline is valid? [True, True] Translation: X:398.75, Y:3.72, Z:2.72 [[ 9.98201224e-01 -5.87497939e-02 -1.19489885e-02 3.98754416e+02] [ 5.87505077e-02 9.98272655e-01 -2.91577333e-04 3.71502598e+00] [ 1.19454786e-02 -4.10956288e-04 9.99928566e-01 2.71985471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2392541539999 meters 0.02209639650967104 Centerline is valid? [True, True] Translation: X:398.78, Y:3.71, Z:2.72 [[ 9.97993151e-01 -6.21203925e-02 -1.22771373e-02 3.98783626e+02] [ 6.21213933e-02 9.98068556e-01 -3.00184331e-04 3.71064935e+00] [ 1.22720722e-02 -4.63090967e-04 9.99924588e-01 2.71858101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.26925415399995 meters 0.022113556268964798 Centerline is valid? [True, True] Translation: X:398.81, Y:3.71, Z:2.72 [[ 9.97570868e-01 -6.89132461e-02 -1.01649833e-02 3.98814396e+02] [ 6.89142815e-02 9.97622554e-01 -2.48785486e-04 3.70653823e+00] [ 1.01579612e-02 -4.52331366e-04 9.99948304e-01 2.72142132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2992541539999 meters 0.022174984760730033 Centerline is valid? [True, True] Translation: X:398.84, Y:3.71, Z:2.72 [[ 9.97366811e-01 -7.19114925e-02 -9.39045792e-03 3.98844238e+02] [ 7.19125076e-02 9.97410918e-01 -2.29937815e-04 3.70634232e+00] [ 9.38268043e-03 -4.45959031e-04 9.99955882e-01 2.72202325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.32925415399995 meters 0.02379894360856986 Centerline is valid? [True, True] Translation: X:398.87, Y:3.70, Z:2.72 [[ 9.97202405e-01 -7.41940225e-02 -9.08902559e-03 3.98874246e+02] [ 7.41950670e-02 9.97243723e-01 -2.22684411e-04 3.70385556e+00] [ 9.08049557e-03 -4.52299432e-04 9.99958669e-01 2.72268421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3592541539999 meters 0.026144747398511328 Centerline is valid? [True, True] Translation: X:398.90, Y:3.70, Z:2.72 [[ 9.96928178e-01 -7.77885367e-02 -9.11873515e-03 3.98904382e+02] [ 7.77897379e-02 9.96969762e-01 -2.23412306e-04 3.70054699e+00] [ 9.10848213e-03 -4.86617994e-04 9.99958399e-01 2.72289676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.38925415399996 meters 0.026840128778831986 Centerline is valid? [True, True] Translation: X:398.93, Y:3.70, Z:2.72 [[ 9.96910934e-01 -7.80022966e-02 -9.17781298e-03 3.98934995e+02] [ 7.80035225e-02 9.96953058e-01 -2.24859734e-04 3.70029317e+00] [ 9.16738829e-03 -4.91736614e-04 9.99957858e-01 2.72319207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41925415399993 meters 0.0271002009744455 Centerline is valid? [True, True] Translation: X:398.97, Y:3.70, Z:2.72 [[ 9.96920585e-01 -7.78424056e-02 -9.48189704e-03 3.98965332e+02] [ 7.78437069e-02 9.96965548e-01 -2.32309903e-04 3.70235773e+00] [ 9.47120824e-03 -5.06511489e-04 9.99955019e-01 2.72267681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.44925415399996 meters 0.025971128128250826 Centerline is valid? [True, True] Translation: X:399.00, Y:3.71, Z:2.72 [[ 9.96975969e-01 -7.72156004e-02 -8.75598847e-03 3.98995436e+02] [ 7.72166859e-02 9.97014312e-01 -2.14524881e-04 3.70534381e+00] [ 8.74641048e-03 -4.62232260e-04 9.99961643e-01 2.72385767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47925415399993 meters 0.026196401087674036 Centerline is valid? [True, True] Translation: X:399.03, Y:3.71, Z:2.72 [[ 9.97083857e-01 -7.57574069e-02 -9.19773636e-03 3.99025398e+02] [ 7.57585428e-02 9.97126167e-01 -2.25347864e-04 3.70724089e+00] [ 9.18837537e-03 -4.72116386e-04 9.99957675e-01 2.72421885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.50925415399996 meters 0.02538699149009708 Centerline is valid? [True, True] Translation: X:399.05, Y:3.71, Z:2.72 [[ 9.97388833e-01 -7.16869220e-02 -8.74650740e-03 3.99054653e+02] [ 7.16877927e-02 9.97427097e-01 -2.14325527e-04 3.71199347e+00] [ 8.73936782e-03 -4.13251922e-04 9.99961726e-01 2.72436378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53925415399993 meters 0.022803710009283235 Centerline is valid? [True, True] Translation: X:399.09, Y:3.72, Z:2.72 [[ 9.97560510e-01 -6.92397599e-02 -8.88172599e-03 3.99085574e+02] [ 6.92405602e-02 9.97599969e-01 -2.17730100e-04 3.71824482e+00] [ 8.87548515e-03 -3.97776733e-04 9.99960533e-01 2.72465798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.56925415399996 meters 0.023012116922182205 Centerline is valid? [True, True] Translation: X:399.12, Y:3.72, Z:2.72 [[ 9.97697082e-01 -6.72054580e-02 -9.16293102e-03 3.99115193e+02] [ 6.72062249e-02 9.97739081e-01 -2.24532379e-04 3.72048819e+00] [ 9.15730417e-03 -3.91790704e-04 9.99957994e-01 2.72437115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59925415399994 meters 0.021370450928923437 Centerline is valid? [True, True] Translation: X:399.15, Y:3.73, Z:2.72 [[ 9.97813881e-01 -6.53903274e-02 -9.56886579e-03 3.99146148e+02] [ 6.53910802e-02 9.97859685e-01 -2.34514518e-04 3.72584139e+00] [ 9.56372038e-03 -3.91716629e-04 9.99954190e-01 2.72416409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.62925415399997 meters 0.02310012895133951 Centerline is valid? [True, True] Translation: X:399.18, Y:3.73, Z:2.72 [[ 9.97907810e-01 -6.38604222e-02 -1.00920247e-02 3.99176227e+02] [ 6.38611847e-02 9.97958761e-01 -2.47006875e-04 3.72576660e+00] [ 1.00871984e-02 -3.97998562e-04 9.99949044e-01 2.72348440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65925415399994 meters 0.02077981768470883 Centerline is valid? [True, True] Translation: X:399.21, Y:3.73, Z:2.72 [[ 9.98010205e-01 -6.21078320e-02 -1.08741706e-02 3.99206180e+02] [ 6.21086150e-02 9.98069361e-01 -2.66012975e-04 3.73448897e+00] [ 1.08696980e-02 -4.09896010e-04 9.99940839e-01 2.72306226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68925415399997 meters 0.020829477459343652 Centerline is valid? [True, True] Translation: X:399.24, Y:3.74, Z:2.72 [[ 9.98052275e-01 -6.12824140e-02 -1.16671434e-02 3.99236983e+02] [ 6.12832589e-02 9.98120374e-01 -2.85411335e-04 3.73708377e+00] [ 1.16627043e-02 -4.30145141e-04 9.99931896e-01 2.72299910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71925415399994 meters 0.020534929450622654 Centerline is valid? [True, True] Translation: X:399.27, Y:3.74, Z:2.72 [[ 9.98065333e-01 -6.09576248e-02 -1.22376091e-02 3.99267687e+02] [ 6.09585301e-02 9.98140255e-01 -2.99366539e-04 3.74032082e+00] [ 1.22330990e-02 -4.47199299e-04 9.99925073e-01 2.72293643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74925415399997 meters 0.02020839221047668 Centerline is valid? [True, True] Translation: X:399.30, Y:3.75, Z:2.72 [[ 9.98097036e-01 -6.02170919e-02 -1.32743830e-02 3.99297996e+02] [ 6.02180917e-02 9.98185191e-01 -3.24728962e-04 3.74578783e+00] [ 1.32698468e-02 -4.75247000e-04 9.99911839e-01 2.72246252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.77925415399994 meters 0.02097781717701017 Centerline is valid? [True, True] Translation: X:399.33, Y:3.75, Z:2.72 [[ 9.98097609e-01 -6.00824510e-02 -1.38297179e-02 3.99327883e+02] [ 6.00835216e-02 9.98193296e-01 -3.38439460e-04 3.74762306e+00] [ 1.38250660e-02 -4.93142538e-04 9.99904308e-01 2.72224954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.809254154 meters 0.020778011089238626 Centerline is valid? [True, True] Translation: X:399.36, Y:3.75, Z:2.72 [[ 9.98088091e-01 -6.01979396e-02 -1.40132393e-02 3.99358132e+02] [ 6.01990483e-02 9.98186334e-01 -3.43058133e-04 3.75089936e+00] [ 1.40084753e-02 -5.01181432e-04 9.99901751e-01 2.72275268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.83925415399995 meters 0.021454216319668658 Centerline is valid? [True, True] Translation: X:399.39, Y:3.75, Z:2.72 [[ 9.98066763e-01 -6.04516214e-02 -1.44339023e-02 3.99387100e+02] [ 6.04528301e-02 9.98170993e-01 -3.52953084e-04 3.75275071e+00] [ 1.44288392e-02 -5.20299502e-04 9.99895764e-01 2.72299966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.869254154 meters 0.0219855868613312 Centerline is valid? [True, True] Translation: X:399.42, Y:3.76, Z:2.72 [[ 9.97980737e-01 -6.18176435e-02 -1.45954918e-02 3.99417747e+02] [ 6.18190308e-02 9.98087311e-01 -3.56528108e-04 3.75761487e+00] [ 1.45896149e-02 -5.46470973e-04 9.99893417e-01 2.72364047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.89925415399995 meters 0.021279008666400784 Centerline is valid? [True, True] Translation: X:399.45, Y:3.76, Z:2.72 [[ 9.97945061e-01 -6.24722708e-02 -1.42432365e-02 3.99448559e+02] [ 6.24736585e-02 9.98046552e-01 -3.47923469e-04 3.76100293e+00] [ 1.42371486e-02 -5.42618582e-04 9.99898499e-01 2.72453566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.929254154 meters 0.02072129519589651 Centerline is valid? [True, True] Translation: X:399.48, Y:3.76, Z:2.73 [[ 9.97906369e-01 -6.31245430e-02 -1.40773469e-02 3.99479236e+02] [ 6.31259633e-02 9.98005508e-01 -3.43871240e-04 3.76458588e+00] [ 1.40709765e-02 -5.45494785e-04 9.99900850e-01 2.72526008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.95925415399995 meters 0.02084411748920918 Centerline is valid? [True, True] Translation: X:399.51, Y:3.77, Z:2.73 [[ 9.97883444e-01 -6.35852425e-02 -1.36216719e-02 3.99509477e+02] [ 6.35866152e-02 9.97976268e-01 -3.32740339e-04 3.76710503e+00] [ 1.36152626e-02 -5.34119932e-04 9.99907165e-01 2.72577637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9892541539999 meters 0.022900235225346507 Centerline is valid? [True, True] Translation: X:399.54, Y:3.77, Z:2.73 [[ 9.97906950e-01 -6.29245658e-02 -1.49069609e-02 3.99539526e+02] [ 6.29261385e-02 9.98018120e-01 -3.63988526e-04 3.77142142e+00] [ 1.49003209e-02 -5.74810804e-04 9.99888819e-01 2.72594402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.01925415399995 meters 0.021451975362530233 Centerline is valid? [True, True] Translation: X:399.57, Y:3.78, Z:2.73 [[ 9.97946283e-01 -6.24839409e-02 -1.41057738e-02 3.99568925e+02] [ 6.24853076e-02 9.98045825e-01 -3.44246563e-04 3.77527379e+00] [ 1.40997186e-02 -5.37864039e-04 9.99900449e-01 2.72723980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0492541539999 meters 0.02086618572633591 Centerline is valid? [True, True] Translation: X:399.60, Y:3.78, Z:2.73 [[ 9.98040171e-01 -6.08865111e-02 -1.44447081e-02 3.99599919e+02] [ 6.08877773e-02 9.98144556e-01 -3.52510974e-04 3.77907875e+00] [ 1.44393699e-02 -5.27686054e-04 9.99895608e-01 2.72790638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.07925415399995 meters 0.020579019871308883 Centerline is valid? [True, True] Translation: X:399.63, Y:3.78, Z:2.73 [[ 9.98112441e-01 -5.96363439e-02 -1.46649906e-02 3.99630441e+02] [ 5.96375136e-02 9.98220035e-01 -3.57933322e-04 3.78306727e+00] [ 1.46602332e-02 -5.17325873e-04 9.99892399e-01 2.72826047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1092541539999 meters 0.02082146092762158 Centerline is valid? [True, True] Translation: X:399.66, Y:3.79, Z:2.73 [[ 9.98170207e-01 -5.85347657e-02 -1.51630998e-02 3.99660738e+02] [ 5.85358915e-02 9.98285236e-01 -3.69942103e-04 3.78577902e+00] [ 1.51587531e-02 -5.18320377e-04 9.99884965e-01 2.72829879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.13925415399996 meters 0.020060268003001935 Centerline is valid? [True, True] Translation: X:399.69, Y:3.79, Z:2.73 [[ 9.98229915e-01 -5.74405234e-02 -1.54150344e-02 3.99691303e+02] [ 5.74415586e-02 9.98348800e-01 -3.75961506e-04 3.78978030e+00] [ 1.54111765e-02 -5.10167581e-04 9.99881111e-01 2.72863643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.16925415399993 meters 0.02268827253056216 Centerline is valid? [True, True] Translation: X:399.72, Y:3.79, Z:2.73 [[ 9.98260467e-01 -5.60739767e-02 -1.82139671e-02 3.99721022e+02] [ 5.60751913e-02 9.98426450e-01 -4.44428219e-04 3.79298405e+00] [ 1.82102274e-02 -5.77696568e-04 9.99834013e-01 2.72734591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.19925415399996 meters 0.020639233827959687 Centerline is valid? [True, True] Translation: X:399.75, Y:3.80, Z:2.73 [[ 9.98293796e-01 -5.58039417e-02 -1.71876966e-02 3.99750709e+02] [ 5.58049750e-02 9.98441600e-01 -4.19862371e-04 3.79701616e+00] [ 1.71843412e-02 -5.40012978e-04 9.99852192e-01 2.72863669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.22925415399993 meters 0.020639233827959687 Centerline is valid? [True, True] Translation: X:399.78, Y:3.80, Z:2.73 [[ 9.98291850e-01 -5.58387418e-02 -1.71876819e-02 3.99779873e+02] [ 5.58397700e-02 9.98439654e-01 -4.20461637e-04 3.79776118e+00] [ 1.71843412e-02 -5.40012779e-04 9.99852192e-01 2.72883889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.25925415399996 meters 0.018807114826766214 Centerline is valid? [True, True] Translation: X:399.81, Y:3.80, Z:2.73 [[ 9.98307166e-01 -5.53851199e-02 -1.77564446e-02 3.99810439e+02] [ 5.53861412e-02 9.98464915e-01 -4.34624836e-04 3.80415107e+00] [ 1.77532587e-02 -5.49571862e-04 9.99842247e-01 2.72994352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.28925415399993 meters 0.018907528799289496 Centerline is valid? [True, True] Translation: X:399.84, Y:3.81, Z:2.73 [[ 9.98327999e-01 -5.47104326e-02 -1.86541058e-02 3.99840049e+02] [ 5.47114382e-02 9.98502103e-01 -4.56810911e-04 3.80867906e+00] [ 1.86511562e-02 -5.64545837e-04 9.99825893e-01 2.72945734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31925415399996 meters 0.01842459664253027 Centerline is valid? [True, True] Translation: X:399.87, Y:3.81, Z:2.73 [[ 9.98323052e-01 -5.45518550e-02 -1.93695186e-02 3.99870726e+02] [ 5.45529070e-02 9.98510769e-01 -4.74461545e-04 3.81207080e+00] [ 1.93665557e-02 -5.82997650e-04 9.99812281e-01 2.72985179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.34925415399994 meters 0.02098523259238467 Centerline is valid? [True, True] Translation: X:399.90, Y:3.81, Z:2.73 [[ 9.98351461e-01 -5.39363428e-02 -1.96272927e-02 3.99900413e+02] [ 5.39372995e-02 9.98544209e-01 -4.81008730e-04 3.81004884e+00] [ 1.96246633e-02 -5.78427399e-04 9.99807250e-01 2.72791909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37925415399997 meters 0.01891231409381069 Centerline is valid? [True, True] Translation: X:399.93, Y:3.82, Z:2.73 [[ 9.98367452e-01 -5.34373761e-02 -2.01711850e-02 3.99930320e+02] [ 5.34382728e-02 9.98571032e-01 -4.94943728e-04 3.81623809e+00] [ 2.01688095e-02 -5.83777578e-04 9.99796418e-01 2.72957057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.40925415399994 meters 0.01873863199278457 Centerline is valid? [True, True] Translation: X:399.96, Y:3.82, Z:2.73 [[ 9.98452416e-01 -5.15516250e-02 -2.08615388e-02 3.99959087e+02] [ 5.15521519e-02 9.98670172e-01 -5.12883590e-04 3.82105024e+00] [ 2.08602365e-02 -5.63367356e-04 9.99782243e-01 2.72936889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43925415399997 meters 0.018035060968661094 Centerline is valid? [True, True] Translation: X:399.99, Y:3.83, Z:2.73 [[ 9.98501812e-01 -5.02646256e-02 -2.16240281e-02 3.99988889e+02] [ 5.02648707e-02 9.98735780e-01 -5.32538464e-04 3.82512998e+00] [ 2.16234584e-02 -5.55188356e-04 9.99766032e-01 2.73015393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.46925415399994 meters 0.01830906454547507 Centerline is valid? [True, True] Translation: X:400.02, Y:3.83, Z:2.73 [[ 9.98569540e-01 -4.90097552e-02 -2.13756237e-02 4.00017767e+02] [ 4.90096856e-02 9.98798164e-01 -5.27435860e-04 3.82719447e+00] [ 2.13757832e-02 -5.20931213e-04 9.99771376e-01 2.73025467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49925415399997 meters 0.016672937214928556 Centerline is valid? [True, True] Translation: X:400.05, Y:3.83, Z:2.73 [[ 9.98690705e-01 -4.65817367e-02 -2.11427707e-02 4.00046579e+02] [ 4.65810400e-02 9.98914376e-01 -5.25698373e-04 3.83436270e+00] [ 2.11443056e-02 -4.59842170e-04 9.99776328e-01 2.73234398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.52925415399994 meters 0.01646297374931958 Centerline is valid? [True, True] Translation: X:400.08, Y:3.84, Z:2.73 [[ 9.98735034e-01 -4.57822504e-02 -2.07922242e-02 4.00075267e+02] [ 4.57812933e-02 9.98951350e-01 -5.22278672e-04 3.83676800e+00] [ 2.07943315e-02 -4.30276905e-04 9.99783682e-01 2.73302817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.559254154 meters 0.0162688856742751 Centerline is valid? [True, True] Translation: X:400.10, Y:3.84, Z:2.73 [[ 9.98787863e-01 -4.47966688e-02 -2.03976372e-02 4.00103975e+02] [ 4.47954918e-02 9.98996045e-01 -5.14838292e-04 3.83870082e+00] [ 2.04002220e-02 -3.99507953e-04 9.99791814e-01 2.73360398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.58925415399995 meters 0.016102661730440986 Centerline is valid? [True, True] Translation: X:400.13, Y:3.84, Z:2.73 [[ 9.98816702e-01 -4.43965106e-02 -1.98531193e-02 4.00132607e+02] [ 4.43952442e-02 9.99013918e-01 -5.04739510e-04 3.84093863e+00] [ 1.98559512e-02 -3.77241828e-04 9.99802780e-01 2.73436197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.619254154 meters 0.015741612889689217 Centerline is valid? [True, True] Translation: X:400.16, Y:3.84, Z:2.73 [[ 9.98867096e-01 -4.31914721e-02 -1.99755329e-02 4.00162562e+02] [ 4.31899041e-02 9.99066751e-01 -5.10102113e-04 3.84452314e+00] [ 1.99789228e-02 -3.53217136e-04 9.99800339e-01 2.73495671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.64925415399995 meters 0.019024574838288608 Centerline is valid? [True, True] Translation: X:400.19, Y:3.84, Z:2.73 [[ 9.98850654e-01 -4.24308631e-02 -2.22933483e-02 4.00191219e+02] [ 4.24286957e-02 9.99099335e-01 -5.70422057e-04 3.84448646e+00] [ 2.22974729e-02 -3.76111246e-04 9.99751310e-01 2.73436334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.679254154 meters 0.015443132603172751 Centerline is valid? [True, True] Translation: X:400.22, Y:3.85, Z:2.73 [[ 9.98915668e-01 -4.18825543e-02 -2.03307651e-02 4.00220180e+02] [ 4.18805602e-02 9.99122487e-01 -5.24039935e-04 3.84765379e+00] [ 2.03348727e-02 -3.27992130e-04 9.99793171e-01 2.73477957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.70925415399995 meters 0.015424748936410057 Centerline is valid? [True, True] Translation: X:400.25, Y:3.85, Z:2.73 [[ 9.98964694e-01 -4.05306371e-02 -2.06593414e-02 4.00249160e+02] [ 4.05282355e-02 9.99178250e-01 -5.35096702e-04 3.84918611e+00] [ 2.06640524e-02 -3.02743940e-04 9.99786430e-01 2.73435825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7392541539999 meters 0.01516281887122791 Centerline is valid? [True, True] Translation: X:400.28, Y:3.85, Z:2.73 [[ 9.99006981e-01 -3.92784835e-02 -2.10298156e-02 4.00277726e+02] [ 3.92756333e-02 9.99228264e-01 -5.48700100e-04 3.85115274e+00] [ 2.10351383e-02 -2.77804096e-04 9.99778698e-01 2.73454231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.76925415399995 meters 0.014788999499125785 Centerline is valid? [True, True] Translation: X:400.31, Y:3.85, Z:2.74 [[ 9.99130673e-01 -3.61807156e-02 -2.07088097e-02 4.00306764e+02] [ 3.61771761e-02 9.99345243e-01 -5.45647908e-04 3.85484087e+00] [ 2.07149924e-02 -2.04012696e-04 9.99785401e-01 2.73515087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7992541539999 meters 0.014746273702590773 Centerline is valid? [True, True] Translation: X:400.34, Y:3.86, Z:2.74 [[ 9.99184529e-01 -3.47835737e-02 -2.05031716e-02 4.00335020e+02] [ 3.47797021e-02 9.99394854e-01 -5.45490947e-04 3.85638827e+00] [ 2.05097383e-02 -1.68048086e-04 9.99789639e-01 2.73507246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.82925415399995 meters 0.01472151028198771 Centerline is valid? [True, True] Translation: X:400.36, Y:3.86, Z:2.74 [[ 9.99230652e-01 -3.35919358e-02 -2.02407102e-02 4.00363968e+02] [ 3.35878136e-02 9.99435622e-01 -5.43675621e-04 3.85824108e+00] [ 2.02475499e-02 -1.36583858e-04 9.99794988e-01 2.73560652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8592541539999 meters 0.014488206208657374 Centerline is valid? [True, True] Translation: X:400.39, Y:3.86, Z:2.74 [[ 9.99276834e-01 -3.23285406e-02 -2.00168575e-02 4.00393214e+02] [ 3.23241580e-02 9.99477291e-01 -5.42537969e-04 3.85948559e+00] [ 2.00239339e-02 -1.04882438e-04 9.99799495e-01 2.73622506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.88925415399996 meters 0.014524622262566188 Centerline is valid? [True, True] Translation: X:400.42, Y:3.86, Z:2.74 [[ 9.99352095e-01 -3.09106837e-02 -1.84369287e-02 4.00420594e+02] [ 3.09066771e-02 9.99522148e-01 -5.02279817e-04 3.85993146e+00] [ 1.84436444e-02 -6.78698136e-05 9.99829899e-01 2.73676733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91925415399993 meters 0.014458949999408742 Centerline is valid? [True, True] Translation: X:400.45, Y:3.86, Z:2.74 [[ 9.99362303e-01 -3.08346970e-02 -1.80057931e-02 4.00448637e+02] [ 3.08307940e-02 9.99524496e-01 -4.94377836e-04 3.86067328e+00] [ 1.80124753e-02 -6.10703255e-05 9.99837760e-01 2.73715507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.94925415399996 meters 0.014383735985158262 Centerline is valid? [True, True] Translation: X:400.48, Y:3.86, Z:2.74 [[ 9.99349547e-01 -3.14894337e-02 -1.75754986e-02 4.00476452e+02] [ 3.14857267e-02 9.99504083e-01 -4.87658204e-04 3.86097447e+00] [ 1.75821387e-02 -6.60363393e-05 9.99845420e-01 2.73771910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97925415399993 meters 0.014476208070026865 Centerline is valid? [True, True] Translation: X:400.50, Y:3.86, Z:2.74 [[ 9.99333068e-01 -3.22016521e-02 -1.72183860e-02 4.00503998e+02] [ 3.21981496e-02 9.99481390e-01 -4.80674186e-04 3.86067439e+00] [ 1.72249349e-02 -7.40465584e-05 9.99851637e-01 2.73711344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.00925415399996 meters 0.014771475797050073 Centerline is valid? [True, True] Translation: X:400.53, Y:3.86, Z:2.74 [[ 9.99217839e-01 -3.55677854e-02 -1.72812903e-02 4.00531996e+02] [ 3.55647338e-02 9.99367258e-01 -4.83974735e-04 3.85720289e+00] [ 1.72875696e-02 -1.31008299e-04 9.99850550e-01 2.73629565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03925415399993 meters 0.014969516806028165 Centerline is valid? [True, True] Translation: X:400.56, Y:3.86, Z:2.74 [[ 9.99121759e-01 -3.80433325e-02 -1.75617889e-02 4.00560856e+02] [ 3.80405056e-02 9.99276075e-01 -4.95117004e-04 3.85581316e+00] [ 1.75679114e-02 -1.73377156e-04 9.99845657e-01 2.73638795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.06925415399996 meters 0.015279649056126055 Centerline is valid? [True, True] Translation: X:400.59, Y:3.85, Z:2.74 [[ 9.99017283e-01 -4.07427195e-02 -1.74498795e-02 4.00589094e+02] [ 4.07402970e-02 9.99169647e-01 -4.94435074e-04 3.85392940e+00] [ 1.74555346e-02 -2.16964088e-04 9.99847617e-01 2.73625835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09925415399994 meters 0.015882257092852646 Centerline is valid? [True, True] Translation: X:400.62, Y:3.85, Z:2.74 [[ 9.98890527e-01 -4.37201471e-02 -1.75003993e-02 4.00619247e+02] [ 4.37181521e-02 9.99043781e-01 -4.96733686e-04 3.85185094e+00] [ 1.75053823e-02 -2.68902544e-04 9.99846733e-01 2.73642591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.12925415399997 meters 0.017723908571295653 Centerline is valid? [True, True] Translation: X:400.65, Y:3.85, Z:2.74 [[ 9.98582607e-01 -5.03447641e-02 -1.72679297e-02 4.00648244e+02] [ 5.03437980e-02 9.98731826e-01 -4.90919857e-04 3.84591811e+00] [ 1.72707462e-02 -3.79109133e-04 9.99850778e-01 2.73621107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15925415399994 meters 0.01870138190707649 Centerline is valid? [True, True] Translation: X:400.68, Y:3.84, Z:2.74 [[ 9.98418071e-01 -5.35452336e-02 -1.71541138e-02 4.00678729e+02] [ 5.35447460e-02 9.98565332e-01 -4.88045616e-04 3.84373677e+00] [ 1.71556358e-02 -4.31239101e-04 9.99852738e-01 2.73633878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18925415399997 meters 0.0199559509090229 Centerline is valid? [True, True] Translation: X:400.71, Y:3.84, Z:2.74 [[ 9.98253291e-01 -5.65257011e-02 -1.71817227e-02 4.00708626e+02] [ 5.65256499e-02 9.98401028e-01 -4.89007552e-04 3.84147856e+00] [ 1.71818911e-02 -4.83054642e-04 9.99852264e-01 2.73626790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21925415399994 meters 0.02240515743370714 Centerline is valid? [True, True] Translation: X:400.74, Y:3.84, Z:2.74 [[ 9.97949257e-01 -6.18214541e-02 -1.65948372e-02 4.00738702e+02] [ 6.18221356e-02 9.98087071e-01 -4.72419352e-04 3.83699252e+00] [ 1.65922981e-02 -5.54477737e-04 9.99862185e-01 2.73639458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24925415399997 meters 0.023587706527115202 Centerline is valid? [True, True] Translation: X:400.77, Y:3.84, Z:2.74 [[ 9.97814331e-01 -6.41920040e-02 -1.56827230e-02 4.00768987e+02] [ 6.41929050e-02 9.97937409e-01 -4.46453419e-04 3.83522000e+00] [ 1.56790347e-02 -5.61241925e-04 9.99876919e-01 2.73671072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.27925415399994 meters 0.0249495507568648 Centerline is valid? [True, True] Translation: X:400.80, Y:3.83, Z:2.74 [[ 9.97666081e-01 -6.65584245e-02 -1.52436099e-02 4.00799860e+02] [ 6.65595536e-02 9.97782360e-01 -4.33812616e-04 3.83388691e+00] [ 1.52386789e-02 -5.81807738e-04 9.99883715e-01 2.73677501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.309254154 meters 0.026498656178728493 Centerline is valid? [True, True] Translation: X:400.83, Y:3.83, Z:2.74 [[ 9.97513608e-01 -6.89137098e-02 -1.47479434e-02 4.00830056e+02] [ 6.89150273e-02 9.97622445e-01 -4.19462773e-04 3.83253540e+00] [ 1.47417861e-02 -5.97935096e-04 9.99891155e-01 2.73702648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.33925415399995 meters 0.0288216444569954 Centerline is valid? [True, True] Translation: X:400.86, Y:3.83, Z:2.74 [[ 9.97332796e-01 -7.12727851e-02 -1.57316114e-02 4.00861214e+02] [ 7.12745837e-02 9.97456633e-01 -4.47023765e-04 3.83128355e+00] [ 1.57234608e-02 -6.75432593e-04 9.99876151e-01 2.73654400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.369254154 meters 0.031135140122548997 Centerline is valid? [True, True] Translation: X:400.89, Y:3.83, Z:2.74 [[ 9.97009531e-01 -7.57832480e-02 -1.51292372e-02 4.00891545e+02] [ 7.57854328e-02 9.97124056e-01 -4.29686376e-04 3.82995435e+00] [ 1.51182894e-02 -7.18174375e-04 9.99885454e-01 2.73634066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.39925415399995 meters 0.032701093393975575 Centerline is valid? [True, True] Translation: X:400.92, Y:3.83, Z:2.74 [[ 9.96868795e-01 -7.75927550e-02 -1.52305648e-02 4.00922312e+02] [ 7.75951845e-02 9.96984855e-01 -4.32255358e-04 3.82999072e+00] [ 1.52181824e-02 -7.50916611e-04 9.99883915e-01 2.73652972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.429254154 meters 0.025591264736134083 Centerline is valid? [True, True] Translation: X:400.95, Y:3.84, Z:2.74 [[ 9.96721936e-01 -7.93925101e-02 -1.55631738e-02 4.00953864e+02] [ 7.93952797e-02 9.96843115e-01 -4.40791109e-04 3.84267448e+00] [ 1.55490381e-02 -7.96296367e-04 9.99878789e-01 2.73851823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.45925415399995 meters 0.0274849779471648 Centerline is valid? [True, True] Translation: X:400.98, Y:3.84, Z:2.74 [[ 9.96593143e-01 -8.10439344e-02 -1.52966695e-02 4.00984486e+02] [ 8.10468164e-02 9.96710202e-01 -4.32429401e-04 3.84244007e+00] [ 1.52813923e-02 -8.08790185e-04 9.99882906e-01 2.73894514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4892541539999 meters 0.028815926979036895 Centerline is valid? [True, True] Translation: X:401.02, Y:3.84, Z:2.74 [[ 9.96390880e-01 -8.34866678e-02 -1.53359487e-02 4.01015433e+02] [ 8.34898628e-02 9.96508533e-01 -4.32903329e-04 3.84445008e+00] [ 1.53185454e-02 -8.49055326e-04 9.99882304e-01 2.73934436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.51925415399995 meters 0.028532603391130867 Centerline is valid? [True, True] Translation: X:401.05, Y:3.85, Z:2.74 [[ 9.96324405e-01 -8.43967957e-02 -1.46581127e-02 4.01047086e+02] [ 8.43998232e-02 9.96431884e-01 -4.13046766e-04 3.84697230e+00] [ 1.46406707e-02 -8.25613550e-04 9.99892479e-01 2.74023229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5492541539999 meters 0.03024992697655041 Centerline is valid? [True, True] Translation: X:401.08, Y:3.85, Z:2.74 [[ 9.96242695e-01 -8.54195783e-02 -1.42824657e-02 4.01078450e+02] [ 8.54225728e-02 9.96344731e-01 -4.01372572e-04 3.84743863e+00] [ 1.42645445e-02 -8.20180471e-04 9.99897920e-01 2.74050172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.57925415399995 meters 0.028261302635846607 Centerline is valid? [True, True] Translation: X:401.11, Y:3.85, Z:2.74 [[ 9.96154842e-01 -8.64332140e-02 -1.43118877e-02 4.01110269e+02] [ 8.64363427e-02 9.96257295e-01 -4.00971702e-04 3.85322656e+00] [ 1.42929798e-02 -8.37637325e-04 9.99897499e-01 2.74127608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6092541539999 meters 0.03029062481006544 Centerline is valid? [True, True] Translation: X:401.14, Y:3.86, Z:2.74 [[ 9.96002814e-01 -8.81295056e-02 -1.45459863e-02 4.01141190e+02] [ 8.81329359e-02 9.96108639e-01 -4.06275489e-04 3.85557195e+00] [ 1.45251875e-02 -8.77328951e-04 9.99894119e-01 2.74067254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.63925415399996 meters 0.030219731346268472 Centerline is valid? [True, True] Translation: X:401.17, Y:3.86, Z:2.74 [[ 9.95970891e-01 -8.83767711e-02 -1.52161308e-02 4.01173654e+02] [ 8.83805735e-02 9.96086690e-01 -4.23689632e-04 3.85851716e+00] [ 1.51940297e-02 -9.22827823e-04 9.99884138e-01 2.74044869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.66925415399993 meters 0.030459781540531427 Centerline is valid? [True, True] Translation: X:401.21, Y:3.86, Z:2.74 [[ 9.95947165e-01 -8.86109323e-02 -1.54061085e-02 4.01205488e+02] [ 8.86148756e-02 9.96065872e-01 -4.27845723e-04 3.86105658e+00] [ 1.53834107e-02 -9.39098658e-04 9.99881227e-01 2.74010418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.69925415399996 meters 0.030939169688721523 Centerline is valid? [True, True] Translation: X:401.24, Y:3.86, Z:2.74 [[ 9.95947176e-01 -8.84139078e-02 -1.64985852e-02 4.01237584e+02] [ 8.84184239e-02 9.96083317e-01 -4.56947173e-04 3.86387326e+00] [ 1.64743659e-02 -1.00368365e-03 9.99863785e-01 2.73962209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.72925415399993 meters 0.031365917437535126 Centerline is valid? [True, True] Translation: X:401.27, Y:3.87, Z:2.74 [[ 9.96002937e-01 -8.76383036e-02 -1.72533513e-02 4.01269666e+02] [ 8.76431484e-02 9.96151821e-01 -4.76580393e-04 3.86654110e+00] [ 1.72287240e-02 -1.03746255e-03 9.99851036e-01 2.73937216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.75925415399996 meters 0.030960908501758137 Centerline is valid? [True, True] Translation: X:401.30, Y:3.87, Z:2.74 [[ 9.96096304e-01 -8.64686098e-02 -1.77576169e-02 4.01301381e+02] [ 8.64735798e-02 9.96254024e-01 -4.89214162e-04 3.87097027e+00] [ 1.77333989e-02 -1.04826028e-03 9.99842201e-01 2.73938478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.78925415399993 meters 0.026525904580497008 Centerline is valid? [True, True] Translation: X:401.33, Y:3.88, Z:2.74 [[ 9.96411858e-01 -8.26879089e-02 -1.80587721e-02 4.01331337e+02] [ 8.26924391e-02 9.96574991e-01 -4.97002669e-04 3.88440645e+00] [ 1.80380168e-02 -9.98104562e-04 9.99836804e-01 2.74134204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81925415399996 meters 0.029042062217256474 Centerline is valid? [True, True] Translation: X:401.36, Y:3.89, Z:2.74 [[ 9.96611943e-01 -8.02937209e-02 -1.78200419e-02 4.01361948e+02] [ 8.02977576e-02 9.96770801e-01 -4.90028962e-04 3.88520099e+00] [ 1.78018436e-02 -9.42540686e-04 9.99841090e-01 2.74106085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.84925415399994 meters 0.028773029984278897 Centerline is valid? [True, True] Translation: X:401.39, Y:3.89, Z:2.74 [[ 9.96850466e-01 -7.74528048e-02 -1.70355750e-02 4.01392823e+02] [ 7.74560902e-02 9.96995655e-01 -4.67855508e-04 3.88976574e+00] [ 1.70206310e-02 -8.53127051e-04 9.99854775e-01 2.74168201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.87925415399997 meters 0.027214647528264312 Centerline is valid? [True, True] Translation: X:401.42, Y:3.90, Z:2.74 [[ 9.97337363e-01 -7.09006838e-02 -1.70668513e-02 4.01421763e+02] [ 7.09030248e-02 9.97483103e-01 -4.68645821e-04 3.90039102e+00] [ 1.70571231e-02 -7.42693396e-04 9.99854241e-01 2.74211049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.90925415399994 meters 0.025190551249651905 Centerline is valid? [True, True] Translation: X:401.45, Y:3.91, Z:2.74 [[ 9.97600752e-01 -6.72858683e-02 -1.62896182e-02 4.01452684e+02] [ 6.72875204e-02 9.97733526e-01 -4.47258419e-04 3.90699630e+00] [ 1.62827924e-02 -6.49902682e-04 9.99867215e-01 2.74267659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93925415399997 meters 0.020059408554682245 Centerline is valid? [True, True] Translation: X:401.48, Y:3.92, Z:2.74 [[ 9.97867702e-01 -6.33355487e-02 -1.57688911e-02 4.01483953e+02] [ 6.33366139e-02 9.97992127e-01 -4.32350539e-04 3.91978432e+00] [ 1.57646123e-02 -5.67319526e-04 9.99875570e-01 2.74468163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.96925415399994 meters 0.021681953334523413 Centerline is valid? [True, True] Translation: X:401.51, Y:3.92, Z:2.74 [[ 9.98121094e-01 -5.92915850e-02 -1.54528076e-02 4.01513994e+02] [ 5.92921320e-02 9.98240584e-01 -4.23143834e-04 3.92106800e+00] [ 1.54507086e-02 -4.93881123e-04 9.99880509e-01 2.74393270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99925415399997 meters 0.018154813203960184 Centerline is valid? [True, True] Translation: X:401.54, Y:3.93, Z:2.75 [[ 9.98350107e-01 -5.54146876e-02 -1.50424739e-02 4.01544828e+02] [ 5.54147726e-02 9.98463336e-01 -4.11480881e-04 3.93163919e+00] [ 1.50421608e-02 -4.22773291e-04 9.99886771e-01 2.74537762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.02925415399994 meters 0.016386219432595342 Centerline is valid? [True, True] Translation: X:401.58, Y:3.94, Z:2.75 [[ 9.98695966e-01 -4.88792024e-02 -1.47373832e-02 4.01576322e+02] [ 4.88785828e-02 9.98804647e-01 -4.02445884e-04 3.94194642e+00] [ 1.47394380e-02 -3.18421324e-04 9.99891318e-01 2.74596689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.059254154 meters 0.016093788584655478 Centerline is valid? [True, True] Translation: X:401.61, Y:3.95, Z:2.75 [[ 9.98810832e-01 -4.64316124e-02 -1.48670126e-02 4.01608750e+02] [ 4.64307255e-02 9.98921430e-01 -4.05004301e-04 3.94617608e+00] [ 1.48697825e-02 -2.85763500e-04 9.99889398e-01 2.74596801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.08925415399995 meters 0.0159418566433741 Centerline is valid? [True, True] Translation: X:401.64, Y:3.95, Z:2.75 [[ 9.98878719e-01 -4.47842808e-02 -1.53516422e-02 4.01640779e+02] [ 4.47831583e-02 9.98996644e-01 -4.17047936e-04 3.95016772e+00] [ 1.53549163e-02 -2.70914716e-04 9.99882070e-01 2.74607945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.119254154 meters 0.0159418566433741 Centerline is valid? [True, True] Translation: X:401.67, Y:3.95, Z:2.75 [[ 9.98882041e-01 -4.47101100e-02 -1.53516732e-02 4.01672465e+02] [ 4.47089963e-02 9.98999966e-01 -4.15906971e-04 3.95096967e+00] [ 1.53549162e-02 -2.70915896e-04 9.99882070e-01 2.74629896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.14925415399995 meters 0.015493899227878942 Centerline is valid? [True, True] Translation: X:401.70, Y:3.95, Z:2.75 [[ 9.98931770e-01 -4.35844612e-02 -1.53529378e-02 4.01704601e+02] [ 4.35832320e-02 9.99049713e-01 -4.14799586e-04 3.95423415e+00] [ 1.53564269e-02 -2.54774165e-04 9.99882051e-01 2.74598266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1792541539999 meters 0.015817443886967007 Centerline is valid? [True, True] Translation: X:401.74, Y:3.96, Z:2.75 [[ 9.98926022e-01 -4.34854936e-02 -1.59941807e-02 4.01735964e+02] [ 4.34841635e-02 9.99054023e-01 -4.31084407e-04 3.95636326e+00] [ 1.59977965e-02 -2.64872138e-04 9.99871992e-01 2.74550380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.20925415399995 meters 0.016049836698769325 Centerline is valid? [True, True] Translation: X:401.77, Y:3.96, Z:2.75 [[ 9.98877999e-01 -4.44719400e-02 -1.62785001e-02 4.01768517e+02] [ 4.44707107e-02 9.99010593e-01 -4.37668379e-04 3.95993652e+00] [ 1.62818580e-02 -2.86739152e-04 9.99867401e-01 2.74533040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2392541539999 meters 0.01591180873088063 Centerline is valid? [True, True] Translation: X:401.80, Y:3.96, Z:2.75 [[ 9.98840503e-01 -4.53883936e-02 -1.60481802e-02 4.01800451e+02] [ 4.53873361e-02 9.98969371e-01 -4.30295628e-04 3.96183286e+00] [ 1.60511710e-02 -2.98587449e-04 9.99871127e-01 2.74578042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.26925415399995 meters 0.01632108422732598 Centerline is valid? [True, True] Translation: X:401.83, Y:3.96, Z:2.75 [[ 9.98760299e-01 -4.72501567e-02 -1.56616450e-02 4.01832838e+02] [ 4.72493964e-02 9.98883036e-01 -4.18777390e-04 3.96402043e+00] [ 1.56639388e-02 -3.21745041e-04 9.99877261e-01 2.74610605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2992541539999 meters 0.017116281816136728 Centerline is valid? [True, True] Translation: X:401.86, Y:3.96, Z:2.75 [[ 9.98734100e-01 -4.80097347e-02 -1.50087621e-02 4.01864155e+02] [ 4.80091363e-02 9.98846816e-01 -4.00375318e-04 3.96362241e+00] [ 1.50106761e-02 -3.20689222e-04 9.99887282e-01 2.74574039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.32925415399995 meters 0.017303900152668854 Centerline is valid? [True, True] Translation: X:401.90, Y:3.96, Z:2.75 [[ 9.98709985e-01 -4.86332159e-02 -1.46005427e-02 4.01895924e+02] [ 4.86327297e-02 9.98816653e-01 -3.88560901e-04 3.96496786e+00] [ 1.46021621e-02 -3.22004594e-04 9.99893331e-01 2.74605888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3592541539999 meters 0.016774544847082035 Centerline is valid? [True, True] Translation: X:401.93, Y:3.97, Z:2.75 [[ 9.98685991e-01 -4.92583724e-02 -1.41387686e-02 4.01927628e+02] [ 4.92579935e-02 9.98786018e-01 -3.75251904e-04 3.96792572e+00] [ 1.41400887e-02 -3.21688552e-04 9.99899972e-01 2.74690081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.38925415399996 meters 0.01801829280555095 Centerline is valid? [True, True] Translation: X:401.96, Y:3.97, Z:2.75 [[ 9.98632826e-01 -5.02814468e-02 -1.42917783e-02 4.01958779e+02] [ 5.02811777e-02 9.98735030e-01 -3.78379501e-04 3.96778509e+00] [ 1.42927251e-02 -3.40745252e-04 9.99897796e-01 2.74629913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41925415399993 meters 0.017253606630956486 Centerline is valid? [True, True] Translation: X:401.99, Y:3.97, Z:2.75 [[ 9.98628426e-01 -5.03498149e-02 -1.43583424e-02 4.01991060e+02] [ 5.03495638e-02 9.98731584e-01 -3.79205119e-04 3.97121608e+00] [ 1.43592230e-02 -3.44251266e-04 9.99896842e-01 2.74690403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.44925415399996 meters 0.017438754305229107 Centerline is valid? [True, True] Translation: X:402.02, Y:3.97, Z:2.75 [[ 9.98630172e-01 -5.03182085e-02 -1.43477461e-02 4.02023658e+02] [ 5.03179697e-02 9.98733177e-01 -3.77867816e-04 3.97300037e+00] [ 1.43485836e-02 -3.44599249e-04 9.99896994e-01 2.74733526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47925415399993 meters 0.017173798704011325 Centerline is valid? [True, True] Translation: X:402.06, Y:3.98, Z:2.75 [[ 9.98651345e-01 -4.98626242e-02 -1.44640827e-02 4.02055962e+02] [ 4.98623493e-02 9.98756027e-01 -3.79856773e-04 3.97537400e+00] [ 1.44650304e-02 -3.41868667e-04 9.99895318e-01 2.74760724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.50925415399996 meters 0.017050228490688598 Centerline is valid? [True, True] Translation: X:402.09, Y:3.98, Z:2.75 [[ 9.98667867e-01 -4.94770098e-02 -1.46463953e-02 4.02087617e+02] [ 4.94767026e-02 9.98775204e-01 -3.83547509e-04 3.97781483e+00] [ 1.46474332e-02 -3.41618769e-04 9.99892662e-01 2.74806231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53925415399993 meters 0.016994153816810267 Centerline is valid? [True, True] Translation: X:402.12, Y:3.98, Z:2.75 [[ 9.98670957e-01 -4.94393326e-02 -1.45626972e-02 4.02119973e+02] [ 4.94390406e-02 9.98777071e-01 -3.80272342e-04 3.97911524e+00] [ 1.45636884e-02 -3.40198832e-04 9.99893886e-01 2.74815845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.56925415399996 meters 0.017165428956174126 Centerline is valid? [True, True] Translation: X:402.15, Y:3.98, Z:2.75 [[ 9.98672966e-01 -4.94479740e-02 -1.43945826e-02 4.02152538e+02] [ 4.94477049e-02 9.98776644e-01 -3.74816595e-04 3.97987297e+00] [ 1.43955068e-02 -3.37459873e-04 9.99896322e-01 2.74838487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59925415399994 meters 0.01728517634062203 Centerline is valid? [True, True] Translation: X:402.19, Y:3.98, Z:2.75 [[ 9.98673058e-01 -4.94769707e-02 -1.42881990e-02 4.02185017e+02] [ 4.94767237e-02 9.98775208e-01 -3.70992643e-04 3.98072613e+00] [ 1.42890546e-02 -3.36432918e-04 9.99897850e-01 2.74842861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.62925415399997 meters 0.017224922687463787 Centerline is valid? [True, True] Translation: X:402.22, Y:3.98, Z:2.75 [[ 9.98683506e-01 -4.92688495e-02 -1.42771094e-02 4.02216719e+02] [ 4.92685967e-02 9.98785497e-01 -3.69650171e-04 3.98169236e+00] [ 1.42779820e-02 -3.34249615e-04 9.99898009e-01 2.74857009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65925415399994 meters 0.01691358175663324 Centerline is valid? [True, True] Translation: X:402.25, Y:3.98, Z:2.75 [[ 9.98735101e-01 -4.82120308e-02 -1.42758130e-02 4.02248728e+02] [ 4.82116852e-02 9.98837073e-01 -3.68557721e-04 3.98385750e+00] [ 1.42769802e-02 -3.20169472e-04 9.99898027e-01 2.74882567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68925415399997 meters 0.016730651755604137 Centerline is valid? [True, True] Translation: X:402.28, Y:3.99, Z:2.75 [[ 9.98783597e-01 -4.72107593e-02 -1.42291863e-02 4.02281307e+02] [ 4.72103294e-02 9.98884904e-01 -3.66299888e-04 3.98533879e+00] [ 1.42306126e-02 -3.05910250e-04 9.99898693e-01 2.74896938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71925415399994 meters 0.01673339068199348 Centerline is valid? [True, True] Translation: X:402.31, Y:3.99, Z:2.75 [[ 9.98856042e-01 -4.57244067e-02 -1.39959493e-02 4.02312927e+02] [ 4.57238649e-02 9.98954053e-01 -3.58865355e-04 3.98682824e+00] [ 1.39977192e-02 -2.81494068e-04 9.99901988e-01 2.74892455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74925415399997 meters 0.01604847142942892 Centerline is valid? [True, True] Translation: X:402.34, Y:3.99, Z:2.75 [[ 9.99000897e-01 -4.21367413e-02 -1.48897179e-02 4.02344871e+02] [ 4.21357528e-02 9.99111822e-01 -3.80236370e-04 3.99007648e+00] [ 1.48925151e-02 -2.47532999e-04 9.99889070e-01 2.74859291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.77925415399994 meters 0.015784318826424875 Centerline is valid? [True, True] Translation: X:402.38, Y:3.99, Z:2.75 [[ 9.99088652e-01 -3.99942820e-02 -1.49104917e-02 4.02376654e+02] [ 3.99930684e-02 9.99199885e-01 -3.79678204e-04 3.99220721e+00] [ 1.49137466e-02 -2.16984131e-04 9.99888760e-01 2.74838083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.809254154 meters 0.015400883662093684 Centerline is valid? [True, True] Translation: X:402.41, Y:3.99, Z:2.75 [[ 9.99178555e-01 -3.74885115e-02 -1.53891809e-02 4.02408307e+02] [ 3.74869391e-02 9.99297041e-01 -3.90732221e-04 3.99366522e+00] [ 1.53930109e-02 -1.86482030e-04 9.99881503e-01 2.74827257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.83925415399995 meters 0.015265691367397282 Centerline is valid? [True, True] Translation: X:402.44, Y:4.00, Z:2.75 [[ 9.99271382e-01 -3.50793566e-02 -1.50380831e-02 4.02439872e+02] [ 3.50775961e-02 9.99384519e-01 -3.80895145e-04 3.99546635e+00] [ 1.50421890e-02 -1.46882186e-04 9.99886849e-01 2.74803574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.869254154 meters 0.014962466408113682 Centerline is valid? [True, True] Translation: X:402.47, Y:4.00, Z:2.75 [[ 9.99358906e-01 -3.26457076e-02 -1.46981543e-02 4.02470933e+02] [ 3.26437720e-02 9.99466981e-01 -3.71651609e-04 3.99763693e+00] [ 1.47024528e-02 -1.08389853e-04 9.99891907e-01 2.74858846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.89925415399995 meters 0.014623820170976822 Centerline is valid? [True, True] Translation: X:402.50, Y:4.00, Z:2.75 [[ 9.99489456e-01 -2.81861141e-02 -1.50455914e-02 4.02501429e+02] [ 2.81835864e-02 9.99602692e-01 -3.80046670e-04 4.00095168e+00] [ 1.50503257e-02 -4.41860865e-05 9.99886736e-01 2.74907401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9292541539999 meters 0.014676126635456605 Centerline is valid? [True, True] Translation: X:402.53, Y:4.00, Z:2.75 [[ 9.99531758e-01 -2.66686986e-02 -1.50014954e-02 4.02532723e+02] [ 2.66660211e-02 9.99644327e-01 -3.78518087e-04 4.00266356e+00] [ 1.50062543e-02 -2.16893429e-05 9.99887400e-01 2.74980074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.95925415399995 meters 0.014674192596129187 Centerline is valid? [True, True] Translation: X:402.56, Y:4.00, Z:2.75 [[ 9.99557392e-01 -2.54671473e-02 -1.53767297e-02 4.02562840e+02] [ 2.54641960e-02 9.99675660e-01 -3.87726977e-04 4.00360805e+00] [ 1.53816167e-02 -4.00069312e-06 9.99881696e-01 2.74989047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9892541539999 meters 0.014707780435907402 Centerline is valid? [True, True] Translation: X:402.59, Y:4.00, Z:2.75 [[ 9.99574626e-01 -2.44106586e-02 -1.59588914e-02 4.02593209e+02] [ 2.44073449e-02 9.99702015e-01 -4.02406288e-04 4.00345864e+00] [ 1.59639589e-02 1.27209472e-05 9.99872568e-01 2.74903357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.01925415399995 meters 0.014677921094698069 Centerline is valid? [True, True] Translation: X:402.62, Y:4.00, Z:2.75 [[ 9.99560480e-01 -2.48429685e-02 -1.61763427e-02 4.02622668e+02] [ 2.48396151e-02 9.99691366e-01 -4.08224582e-04 4.00327361e+00] [ 1.61814916e-02 6.23103350e-06 9.99869071e-01 2.74890874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0492541539999 meters 0.014651766870530608 Centerline is valid? [True, True] Translation: X:402.65, Y:4.00, Z:2.75 [[ 9.99539710e-01 -2.57045963e-02 -1.61133879e-02 4.02652225e+02] [ 2.57013714e-02 9.99669582e-01 -4.07224974e-04 4.00229924e+00] [ 1.61185313e-02 -7.09863286e-06 9.99870088e-01 2.74910878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.07925415399995 meters 0.014668900645609583 Centerline is valid? [True, True] Translation: X:402.68, Y:4.00, Z:2.75 [[ 9.99507977e-01 -2.71585621e-02 -1.56912992e-02 4.02682063e+02] [ 2.71556741e-02 9.99631138e-01 -3.97127767e-04 4.00110570e+00] [ 1.56962967e-02 -2.91754355e-05 9.99876805e-01 2.74932946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1092541539999 meters 0.014762639785656511 Centerline is valid? [True, True] Translation: X:402.71, Y:4.00, Z:2.75 [[ 9.99448084e-01 -2.92598655e-02 -1.57285458e-02 4.02712631e+02] [ 2.92572200e-02 9.99571837e-01 -3.98324790e-04 3.99944371e+00] [ 1.57334663e-02 -6.20685760e-05 9.99876219e-01 2.74959729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.13925415399996 meters 0.01493135804336858 Centerline is valid? [True, True] Translation: X:402.74, Y:3.99, Z:2.75 [[ 9.99288960e-01 -3.45689909e-02 -1.50519156e-02 4.02743065e+02] [ 3.45671702e-02 9.99402304e-01 -3.81189157e-04 3.99436789e+00] [ 1.50560964e-02 -1.39384011e-04 9.99886641e-01 2.75039985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.16925415399993 meters 0.015210825795809114 Centerline is valid? [True, True] Translation: X:402.77, Y:3.99, Z:2.75 [[ 9.99189433e-01 -3.74033910e-02 -1.48816699e-02 4.02774752e+02] [ 3.74019320e-02 9.99300232e-01 -3.76438030e-04 3.99165922e+00] [ 1.48853362e-02 -1.80470304e-04 9.99889191e-01 2.75059472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.19925415399996 meters 0.015668533988579272 Centerline is valid? [True, True] Translation: X:402.81, Y:3.99, Z:2.75 [[ 9.99061599e-01 -4.07636166e-02 -1.46372468e-02 4.02806689e+02] [ 4.07625795e-02 9.99168792e-01 -3.69311247e-04 3.98910645e+00] [ 1.46401347e-02 -2.27687252e-04 9.99892802e-01 2.75093375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.22925415399993 meters 0.016216689997267185 Centerline is valid? [True, True] Translation: X:402.84, Y:3.99, Z:2.75 [[ 9.98928656e-01 -4.40031734e-02 -1.43269385e-02 4.02838979e+02] [ 4.40025278e-02 9.99031355e-01 -3.60440603e-04 3.98600758e+00] [ 1.43289213e-02 -2.70367061e-04 9.99897299e-01 2.75079848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.25925415399996 meters 0.018815741538073808 Centerline is valid? [True, True] Translation: X:402.87, Y:3.98, Z:2.75 [[ 9.98568772e-01 -5.17927955e-02 -1.33384016e-02 4.02868931e+02] [ 5.17929365e-02 9.98657789e-01 -3.35098128e-04 3.97714433e+00] [ 1.33378543e-02 -3.56216458e-04 9.99910983e-01 2.75047758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.28925415399993 meters 0.019579542780927675 Centerline is valid? [True, True] Translation: X:402.90, Y:3.97, Z:2.75 [[ 9.98351228e-01 -5.58781652e-02 -1.31322254e-02 4.02901307e+02] [ 5.58786608e-02 9.98437513e-01 -3.29471790e-04 3.97445802e+00] [ 1.31301167e-02 -4.04882600e-04 9.99913714e-01 2.75091715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31925415399996 meters 0.019807341955158292 Centerline is valid? [True, True] Translation: X:402.93, Y:3.97, Z:2.75 [[ 9.98112054e-01 -6.00768795e-02 -1.27708746e-02 4.02932799e+02] [ 6.00777003e-02 9.98193652e-01 -3.19702927e-04 3.97296536e+00] [ 1.27670127e-02 -4.48145431e-04 9.99918398e-01 2.75141864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.34925415399994 meters 0.02199987791837139 Centerline is valid? [True, True] Translation: X:402.96, Y:3.97, Z:2.75 [[ 9.97843330e-01 -6.43690147e-02 -1.28576670e-02 4.02963056e+02] [ 6.43702057e-02 9.97926036e-01 -3.21615322e-04 3.96812252e+00] [ 1.28517027e-02 -5.06728965e-04 9.99917285e-01 2.75126721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37925415399997 meters 0.026615491949884405 Centerline is valid? [True, True] Translation: X:402.99, Y:3.96, Z:2.75 [[ 9.97303619e-01 -7.22739842e-02 -1.27264915e-02 4.02992475e+02] [ 7.22757906e-02 9.97384634e-01 -3.18528578e-04 3.95848087e+00] [ 1.27162284e-02 -6.02147529e-04 9.99918964e-01 2.75086089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.40925415399994 meters 0.02636612398119171 Centerline is valid? [True, True] Translation: X:403.02, Y:3.96, Z:2.75 [[ 9.97031256e-01 -7.59917059e-02 -1.24070323e-02 4.03023857e+02] [ 7.59937095e-02 9.97108249e-01 -3.10559197e-04 3.95858912e+00] [ 1.23947542e-02 -6.33219184e-04 9.99922982e-01 2.75148549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43925415399997 meters 0.030738151070862044 Centerline is valid? [True, True] Translation: X:403.05, Y:3.95, Z:2.75 [[ 9.96785914e-01 -7.90995968e-02 -1.26923448e-02 4.03054560e+02] [ 7.91019494e-02 9.96866481e-01 -3.17337355e-04 3.95218596e+00] [ 1.26776744e-02 -6.87671812e-04 9.99919399e-01 2.75112934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.46925415399994 meters 0.033138103169651906 Centerline is valid? [True, True] Translation: X:403.08, Y:3.95, Z:2.75 [[ 9.96581575e-01 -8.16321264e-02 -1.27027821e-02 4.03084791e+02] [ 8.16346896e-02 9.96662268e-01 -3.17472409e-04 3.94901231e+00] [ 1.26862996e-02 -7.20600519e-04 9.99919266e-01 2.75105900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49925415399997 meters 0.028225961515026175 Centerline is valid? [True, True] Translation: X:403.12, Y:3.96, Z:2.75 [[ 9.96371164e-01 -8.41409859e-02 -1.28373535e-02 4.03115978e+02] [ 8.41438139e-02 9.96453569e-01 -3.20615551e-04 3.95546395e+00] [ 1.28188037e-02 -7.60731797e-04 9.99917546e-01 2.75212720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.52925415399994 meters 0.027822366346654033 Centerline is valid? [True, True] Translation: X:403.15, Y:3.96, Z:2.75 [[ 9.96375712e-01 -8.41208477e-02 -1.26144085e-02 4.03148645e+02] [ 8.41235881e-02 9.96455279e-01 -3.14149525e-04 3.95670869e+00] [ 1.25961205e-02 -7.48158351e-04 9.99920386e-01 2.75242458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.559254154 meters 0.029016180259331486 Centerline is valid? [True, True] Translation: X:403.18, Y:3.96, Z:2.75 [[ 9.96419455e-01 -8.36257948e-02 -1.24497054e-02 4.03179992e+02] [ 8.36284454e-02 9.96496958e-01 -3.08450451e-04 3.95615305e+00] [ 1.24318880e-02 -7.33803481e-04 9.99922452e-01 2.75250991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.58925415399995 meters 0.02716650098340323 Centerline is valid? [True, True] Translation: X:403.21, Y:3.96, Z:2.75 [[ 9.96638693e-01 -8.09591193e-02 -1.25274103e-02 4.03211005e+02] [ 8.09616087e-02 9.96717173e-01 -3.09126914e-04 3.96052508e+00] [ 1.25113117e-02 -7.06151450e-04 9.99921481e-01 2.75281762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.619254154 meters 0.02697707612703002 Centerline is valid? [True, True] Translation: X:403.24, Y:3.96, Z:2.75 [[ 9.96829735e-01 -7.85376249e-02 -1.27405073e-02 4.03241724e+02] [ 7.85400087e-02 9.96910913e-01 -3.13904271e-04 3.96235799e+00] [ 1.27258041e-02 -6.87730443e-04 9.99918787e-01 2.75270595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.64925415399995 meters 0.02611089945179357 Centerline is valid? [True, True] Translation: X:403.27, Y:3.97, Z:2.75 [[ 9.97037599e-01 -7.58357885e-02 -1.28436841e-02 4.03273094e+02] [ 7.58379936e-02 9.97120103e-01 -3.15967651e-04 3.96532403e+00] [ 1.28306572e-02 -6.59007603e-04 9.99917467e-01 2.75248475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6792541539999 meters 0.02433165858152387 Centerline is valid? [True, True] Translation: X:403.30, Y:3.97, Z:2.75 [[ 9.97474652e-01 -6.98169351e-02 -1.30351342e-02 4.03303980e+02] [ 6.98186966e-02 9.97559646e-01 -3.20435043e-04 3.97146577e+00] [ 1.30256956e-02 -5.90470246e-04 9.99914988e-01 2.75208303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.70925415399995 meters 0.022313272133287917 Centerline is valid? [True, True] Translation: X:403.34, Y:3.98, Z:2.75 [[ 9.97698014e-01 -6.64440227e-02 -1.35596738e-02 4.03335174e+02] [ 6.64456210e-02 9.97789992e-01 -3.33102344e-04 3.97674409e+00] [ 1.35518395e-02 -5.68645401e-04 9.99908008e-01 2.75246859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7392541539999 meters 0.020817372984713787 Centerline is valid? [True, True] Translation: X:403.37, Y:3.98, Z:2.75 [[ 9.97937987e-01 -6.27361250e-02 -1.35628885e-02 4.03366783e+02] [ 6.27373907e-02 9.98030014e-01 -3.32548011e-04 3.98135836e+00] [ 1.35570326e-02 -5.19037942e-04 9.99907964e-01 2.75286869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.76925415399995 meters 0.020660184206222447 Centerline is valid? [True, True] Translation: X:403.40, Y:3.98, Z:2.75 [[ 9.98147502e-01 -5.93128163e-02 -1.35481918e-02 4.03397266e+02] [ 5.93137712e-02 9.98239333e-01 -3.31672808e-04 3.98415736e+00] [ 1.35440104e-02 -4.72535963e-04 9.99908164e-01 2.75320453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7992541539999 meters 0.01991066851998782 Centerline is valid? [True, True] Translation: X:403.43, Y:3.99, Z:2.75 [[ 9.98360904e-01 -5.56664761e-02 -1.32947281e-02 4.03428190e+02] [ 5.56670774e-02 9.98449333e-01 -3.25107728e-04 3.98794809e+00] [ 1.32922100e-02 -4.15503814e-04 9.99911568e-01 2.75366748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.82925415399995 meters 0.019705050903082156 Centerline is valid? [True, True] Translation: X:403.46, Y:3.99, Z:2.75 [[ 9.98558461e-01 -5.19723160e-02 -1.34118357e-02 4.03458627e+02] [ 5.19726079e-02 9.98648457e-01 -3.27016499e-04 3.99052425e+00] [ 1.34107048e-02 -3.70502986e-04 9.99910004e-01 2.75393188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8592541539999 meters 0.016682585620898797 Centerline is valid? [True, True] Translation: X:403.49, Y:4.00, Z:2.76 [[ 9.98902040e-01 -4.48870428e-02 -1.34115095e-02 4.03488667e+02] [ 4.48867062e-02 9.98992031e-01 -3.26260688e-04 4.00050710e+00] [ 1.34126359e-02 -2.76096018e-04 9.99910008e-01 2.75582528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.88925415399996 meters 0.01635307967197764 Centerline is valid? [True, True] Translation: X:403.52, Y:4.00, Z:2.76 [[ 9.99063411e-01 -4.12849039e-02 -1.29559924e-02 4.03520316e+02] [ 4.12842927e-02 9.99147391e-01 -3.14735325e-04 4.00340240e+00] [ 1.29579398e-02 -2.20438436e-04 9.99916018e-01 2.75613961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91925415399993 meters 0.01642448195299236 Centerline is valid? [True, True] Translation: X:403.55, Y:4.01, Z:2.76 [[ 9.99214803e-01 -3.74829612e-02 -1.28376759e-02 4.03552947e+02] [ 3.74820609e-02 9.99297252e-01 -3.10812637e-04 4.00740783e+00] [ 1.28403045e-02 -1.70613963e-04 9.99917545e-01 2.75643120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.94925415399996 meters 0.015349269114377777 Centerline is valid? [True, True] Translation: X:403.59, Y:4.01, Z:2.76 [[ 9.99339810e-01 -3.41203900e-02 -1.24797160e-02 4.03585066e+02] [ 3.41192897e-02 9.99417722e-01 -3.01119080e-04 4.01128966e+00] [ 1.24827236e-02 -1.24878761e-04 9.99922080e-01 2.75745288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97925415399993 meters 0.014803540923863288 Centerline is valid? [True, True] Translation: X:403.62, Y:4.02, Z:2.76 [[ 9.99534919e-01 -2.77728897e-02 -1.25941274e-02 4.03617295e+02] [ 2.77712771e-02 9.99614258e-01 -3.02946889e-04 4.01658443e+00] [ 1.25976830e-02 -4.69490066e-05 9.99920645e-01 2.75839302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.00925415399996 meters 0.014852950286154104 Centerline is valid? [True, True] Translation: X:403.65, Y:4.02, Z:2.76 [[ 9.99619557e-01 -2.47755416e-02 -1.21208020e-02 4.03648344e+02] [ 2.47738358e-02 9.99693039e-01 -2.90878918e-04 4.01886424e+00] [ 1.21242881e-02 -9.51050373e-06 9.99926498e-01 2.75811127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03925415399993 meters 0.014852950286154104 Centerline is valid? [True, True] Translation: X:403.68, Y:4.02, Z:2.76 [[ 9.99620461e-01 -2.47390433e-02 -1.21208126e-02 4.03679182e+02] [ 2.47373402e-02 9.99693943e-01 -2.90436175e-04 4.01957452e+00] [ 1.21242880e-02 -9.51072167e-06 9.99926498e-01 2.75832495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.06925415399996 meters 0.014838198479558798 Centerline is valid? [True, True] Translation: X:403.71, Y:4.02, Z:2.76 [[ 9.99666347e-01 -2.26022958e-02 -1.25032319e-02 4.03710327e+02] [ 2.26003222e-02 9.99744535e-01 -2.99135171e-04 4.02147628e+00] [ 1.25067989e-02 1.64582941e-05 9.99921787e-01 2.75832181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09925415399994 meters 0.014956050208295464 Centerline is valid? [True, True] Translation: X:403.74, Y:4.02, Z:2.76 [[ 9.99702206e-01 -2.07532617e-02 -1.28375369e-02 4.03740947e+02] [ 2.07510320e-02 9.99784627e-01 -3.06873830e-04 4.02308046e+00] [ 1.28411407e-02 4.03903055e-05 9.99917548e-01 2.75834404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.12925415399997 meters 0.014991482396573112 Centerline is valid? [True, True] Translation: X:403.77, Y:4.02, Z:2.76 [[ 9.99734082e-01 -1.89336317e-02 -1.31636728e-02 4.03770945e+02] [ 1.89311281e-02 9.99820741e-01 -3.14782873e-04 4.02374921e+00] [ 1.31672731e-02 6.54959898e-05 9.99913306e-01 2.75851069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15925415399994 meters 0.014911316824520092 Centerline is valid? [True, True] Translation: X:403.80, Y:4.02, Z:2.76 [[ 9.99734345e-01 -1.89456988e-02 -1.31263376e-02 4.03799868e+02] [ 1.89432044e-02 9.99820512e-01 -3.14349248e-04 4.02390978e+00] [ 1.31299371e-02 6.56108440e-05 9.99913797e-01 2.75855674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18925415399997 meters 0.014881020049820648 Centerline is valid? [True, True] Translation: X:403.83, Y:4.02, Z:2.76 [[ 9.99724228e-01 -1.97463642e-02 -1.27101835e-02 4.03829616e+02] [ 1.97440829e-02 9.99805020e-01 -3.04955616e-04 4.02281733e+00] [ 1.27137271e-02 5.39206009e-05 9.99919176e-01 2.75944885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21925415399994 meters 0.014701918988502366 Centerline is valid? [True, True] Translation: X:403.86, Y:4.02, Z:2.76 [[ 9.99654887e-01 -2.30844149e-02 -1.25385708e-02 4.03859446e+02] [ 2.30824529e-02 9.99733519e-01 -3.01189022e-04 4.01853698e+00] [ 1.25421823e-02 1.16641072e-05 9.99921344e-01 2.75932401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24925415399997 meters 0.014810699423726243 Centerline is valid? [True, True] Translation: X:403.89, Y:4.02, Z:2.76 [[ 9.99592493e-01 -2.57102724e-02 -1.24027991e-02 4.03890002e+02] [ 2.57085532e-02 9.99669436e-01 -2.98051761e-04 4.01583163e+00] [ 1.24063622e-02 -2.09277185e-05 9.99923038e-01 2.75985827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.27925415399994 meters 0.014793806143284424 Centerline is valid? [True, True] Translation: X:403.92, Y:4.01, Z:2.76 [[ 9.99512285e-01 -2.86477412e-02 -1.24297293e-02 4.03920548e+02] [ 2.86462429e-02 9.99589568e-01 -2.98598164e-04 4.01281080e+00] [ 1.24331819e-02 -5.76125127e-05 9.99922703e-01 2.75984813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.309254154 meters 0.015253298398902555 Centerline is valid? [True, True] Translation: X:403.95, Y:4.01, Z:2.76 [[ 9.99422509e-01 -3.16461777e-02 -1.23760862e-02 4.03952288e+02] [ 3.16449317e-02 9.99499130e-01 -2.96542059e-04 4.00853311e+00] [ 1.23792718e-02 -9.52695946e-05 9.99923369e-01 2.75919678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.33925415399995 meters 0.015328785188888484 Centerline is valid? [True, True] Translation: X:403.98, Y:4.01, Z:2.76 [[ 9.99316228e-01 -3.46861385e-02 -1.28042136e-02 4.03984433e+02] [ 3.46850705e-02 9.99398245e-01 -3.05528970e-04 4.00606112e+00] [ 1.28071062e-02 -1.38794994e-04 9.99917976e-01 2.75987688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.369254154 meters 0.01635314233624395 Centerline is valid? [True, True] Translation: X:404.02, Y:4.00, Z:2.76 [[ 9.99088944e-01 -4.06387725e-02 -1.30296794e-02 4.04015886e+02] [ 4.06381836e-02 9.99173880e-01 -3.10064083e-04 3.99887513e+00] [ 1.30315160e-02 -2.19720907e-04 9.99915062e-01 2.75978969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.39925415399995 meters 0.017685498351998518 Centerline is valid? [True, True] Translation: X:404.05, Y:4.00, Z:2.76 [[ 9.98969959e-01 -4.33407043e-02 -1.34388823e-02 4.04048222e+02] [ 4.33403339e-02 9.99060315e-01 -3.18936216e-04 3.99572216e+00] [ 1.34400769e-02 -2.63837948e-04 9.99909643e-01 2.75930277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4292541539999 meters 0.017182897042050057 Centerline is valid? [True, True] Translation: X:404.08, Y:3.99, Z:2.76 [[ 9.98839352e-01 -4.63519249e-02 -1.30938191e-02 4.04080067e+02] [ 4.63518428e-02 9.98925128e-01 -3.09907354e-04 3.99316214e+00] [ 1.30941097e-02 -2.97374985e-04 9.99914224e-01 2.75995334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.45925415399995 meters 0.017776072658266348 Centerline is valid? [True, True] Translation: X:404.11, Y:3.99, Z:2.76 [[ 9.98739459e-01 -4.84425438e-02 -1.31458636e-02 4.04112765e+02] [ 4.84426532e-02 9.98825917e-01 -3.10290664e-04 3.98976529e+00] [ 1.31454605e-02 -3.26920982e-04 9.99913541e-01 2.75990138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4892541539999 meters 0.018484362706844983 Centerline is valid? [True, True] Translation: X:404.14, Y:3.99, Z:2.76 [[ 9.98660011e-01 -5.01461835e-02 -1.27883689e-02 4.04144262e+02] [ 5.01464371e-02 9.98741831e-01 -3.01031070e-04 3.98636807e+00] [ 1.27873745e-02 -3.40663443e-04 9.99918180e-01 2.75971010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.51925415399995 meters 0.01992468820885193 Centerline is valid? [True, True] Translation: X:404.18, Y:3.98, Z:2.76 [[ 9.98571274e-01 -5.20076110e-02 -1.22727234e-02 4.04175900e+02] [ 5.20079930e-02 9.98646627e-01 -2.88236493e-04 3.97982116e+00] [ 1.22711043e-02 -3.50455030e-04 9.99924646e-01 2.75936395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5492541539999 meters 0.018407704524066253 Centerline is valid? [True, True] Translation: X:404.21, Y:3.98, Z:2.76 [[ 9.98561223e-01 -5.21225886e-02 -1.25983600e-02 4.04207607e+02] [ 5.21230106e-02 9.98640628e-01 -2.95073328e-04 3.98158450e+00] [ 1.25966142e-02 -3.62015669e-04 9.99920594e-01 2.76023174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.57925415399995 meters 0.01910369197277471 Centerline is valid? [True, True] Translation: X:404.24, Y:3.98, Z:2.76 [[ 9.98592461e-01 -5.16207627e-02 -1.21816681e-02 4.04239312e+02] [ 5.16211296e-02 9.98666700e-01 -2.84518151e-04 3.97956852e+00] [ 1.21801133e-02 -3.44713787e-04 9.99925760e-01 2.75998203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6092541539999 meters 0.018413940995221503 Centerline is valid? [True, True] Translation: X:404.27, Y:3.98, Z:2.76 [[ 9.98649630e-01 -5.04229705e-02 -1.25075959e-02 4.04271088e+02] [ 5.04232735e-02 9.98727895e-01 -2.91322928e-04 3.97979802e+00] [ 1.25063743e-02 -3.39744395e-04 9.99921735e-01 2.76029181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.63925415399996 meters 0.018484528125261263 Centerline is valid? [True, True] Translation: X:404.30, Y:3.98, Z:2.76 [[ 9.98841406e-01 -4.61753677e-02 -1.35529295e-02 4.04302936e+02] [ 4.61753451e-02 9.98933300e-01 -3.14751541e-04 3.97960373e+00] [ 1.35530063e-02 -3.11424323e-04 9.99908105e-01 2.75930032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.66925415399993 meters 0.017616151819390947 Centerline is valid? [True, True] Translation: X:404.33, Y:3.98, Z:2.76 [[ 9.98962392e-01 -4.34173458e-02 -1.37503809e-02 4.04334981e+02] [ 4.34170736e-02 9.99056984e-01 -3.18445036e-04 3.98031878e+00] [ 1.37512401e-02 -2.78886687e-04 9.99905408e-01 2.75941878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.69925415399996 meters 0.016041415547440357 Centerline is valid? [True, True] Translation: X:404.37, Y:3.98, Z:2.76 [[ 9.99212319e-01 -3.72653409e-02 -1.36394894e-02 4.04365988e+02] [ 3.72645104e-02 9.99305387e-01 -3.15120930e-04 3.98188651e+00] [ 1.36417584e-02 -1.93396181e-04 9.99906928e-01 2.75965458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.72925415399993 meters 0.015564356026406476 Centerline is valid? [True, True] Translation: X:404.40, Y:3.98, Z:2.76 [[ 9.99327303e-01 -3.41228849e-02 -1.34376750e-02 4.04397598e+02] [ 3.41218013e-02 9.99417634e-01 -3.09965921e-04 3.98290072e+00] [ 1.34404263e-02 -1.48760269e-04 9.99909662e-01 2.75951713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.75925415399996 meters 0.015305616342378531 Centerline is valid? [True, True] Translation: X:404.43, Y:3.98, Z:2.76 [[ 9.99415228e-01 -3.13045135e-02 -1.37560787e-02 4.04428029e+02] [ 3.13031162e-02 9.99509887e-01 -3.16925867e-04 3.98291826e+00] [ 1.37592579e-02 -1.13867594e-04 9.99905330e-01 2.75905594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.78925415399993 meters 0.015148157856170692 Centerline is valid? [True, True] Translation: X:404.46, Y:3.98, Z:2.76 [[ 9.99483163e-01 -2.90174307e-02 -1.38345900e-02 4.04458708e+02] [ 2.90158001e-02 9.99578902e-01 -3.18607880e-04 3.98407179e+00] [ 1.38380095e-02 -8.29784881e-05 9.99904247e-01 2.75931038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81925415399996 meters 0.014958567133138029 Centerline is valid? [True, True] Translation: X:404.49, Y:3.98, Z:2.76 [[ 9.99533730e-01 -2.65396608e-02 -1.50986720e-02 4.04489661e+02] [ 2.65374360e-02 9.99647760e-01 -3.47719437e-04 3.98372097e+00] [ 1.51025820e-02 -5.31227356e-05 9.99885948e-01 2.75885966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.84925415399994 meters 0.014963879602146095 Centerline is valid? [True, True] Translation: X:404.52, Y:3.98, Z:2.76 [[ 9.99524985e-01 -2.63439885e-02 -1.59936986e-02 4.04519063e+02] [ 2.63414617e-02 9.99652936e-01 -3.68666005e-04 3.98308758e+00] [ 1.59978599e-02 -5.28065160e-05 9.99872025e-01 2.75840950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87925415399997 meters 0.014898462639799612 Centerline is valid? [True, True] Translation: X:404.55, Y:3.98, Z:2.76 [[ 9.99481829e-01 -2.71749279e-02 -1.72509712e-02 4.04547482e+02] [ 2.71720613e-02 9.99630691e-01 -4.00582116e-04 3.98163480e+00] [ 1.72554861e-02 -6.83699008e-05 9.99851111e-01 2.75763987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.90925415399994 meters 0.015077360797415498 Centerline is valid? [True, True] Translation: X:404.58, Y:3.98, Z:2.76 [[ 9.99419324e-01 -2.85805906e-02 -1.85516984e-02 4.04576552e+02] [ 2.85774262e-02 9.99591487e-01 -4.35708464e-04 3.97992160e+00] [ 1.85565726e-02 -9.47043320e-05 9.99827807e-01 2.75732116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93925415399997 meters 0.01522616023472073 Centerline is valid? [True, True] Translation: X:404.61, Y:3.98, Z:2.76 [[ 9.99353265e-01 -3.04835439e-02 -1.90736566e-02 4.04605714e+02] [ 3.04804504e-02 9.99535260e-01 -4.52945348e-04 3.97785977e+00] [ 1.90785997e-02 -1.28721233e-04 9.99817979e-01 2.75711101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.96925415399994 meters 0.015430685393997749 Centerline is valid? [True, True] Translation: X:404.63, Y:3.97, Z:2.76 [[ 9.99239791e-01 -3.38478839e-02 -1.93432444e-02 4.04633978e+02] [ 3.38452754e-02 9.99426978e-01 -4.62297170e-04 3.97226709e+00] [ 1.93478080e-02 -1.92731705e-04 9.99812795e-01 2.75688738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99925415399997 meters 0.015448968070477407 Centerline is valid? [True, True] Translation: X:404.66, Y:3.97, Z:2.76 [[ 9.99171551e-01 -3.57604709e-02 -1.94268150e-02 4.04663130e+02] [ 3.57581269e-02 9.99360364e-01 -4.68123840e-04 3.97041518e+00] [ 1.94311293e-02 -2.26930495e-04 9.99811172e-01 2.75781790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.02925415399994 meters 0.01587264605441847 Centerline is valid? [True, True] Translation: X:404.69, Y:3.97, Z:2.76 [[ 9.99122503e-01 -3.72672130e-02 -1.91148995e-02 4.04691058e+02] [ 3.72651649e-02 9.99305305e-01 -4.63450751e-04 3.96766091e+00] [ 1.91188920e-02 -2.49275810e-04 9.99817186e-01 2.75761874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.059254154 meters 0.015897371108659138 Centerline is valid? [True, True] Translation: X:404.72, Y:3.97, Z:2.76 [[ 9.99052046e-01 -3.89781717e-02 -1.93832876e-02 4.04720108e+02] [ 3.89763138e-02 9.99240022e-01 -4.73767954e-04 3.96715274e+00] [ 1.93870234e-02 -2.82170256e-04 9.99812014e-01 2.75907310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.08925415399995 meters 0.015935753354697175 Centerline is valid? [True, True] Translation: X:404.75, Y:3.97, Z:2.76 [[ 9.99009536e-01 -4.01180741e-02 -1.92480446e-02 4.04748879e+02] [ 4.01163597e-02 9.99194902e-01 -4.75332355e-04 3.96553385e+00] [ 1.92516175e-02 -2.97299927e-04 9.99814626e-01 2.75949655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.119254154 meters 0.016050403504931667 Centerline is valid? [True, True] Translation: X:404.78, Y:3.96, Z:2.76 [[ 9.98958696e-01 -4.13333081e-02 -1.93152966e-02 4.04778099e+02] [ 4.13317141e-02 9.99145363e-01 -4.81895411e-04 3.96271511e+00] [ 1.93187074e-02 -3.16940705e-04 9.99813326e-01 2.76052232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.14925415399995 meters 0.016167201143822457 Centerline is valid? [True, True] Translation: X:404.81, Y:3.96, Z:2.76 [[ 9.98949140e-01 -4.17737082e-02 -1.88566687e-02 4.04807003e+02] [ 4.17721777e-02 9.99127049e-01 -4.75203174e-04 3.96219375e+00] [ 1.88600587e-02 -3.12980314e-04 9.99822084e-01 2.76116598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1792541539999 meters 0.016055396985316963 Centerline is valid? [True, True] Translation: X:404.84, Y:3.96, Z:2.76 [[ 9.98985262e-01 -4.11708654e-02 -1.82594046e-02 4.04835343e+02] [ 4.11692874e-02 9.99152078e-01 -4.62469571e-04 3.96143861e+00] [ 1.82629623e-02 -2.89726389e-04 9.99833176e-01 2.76169037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.20925415399995 meters 0.015732908505134327 Centerline is valid? [True, True] Translation: X:404.86, Y:3.96, Z:2.76 [[ 9.99093244e-01 -3.88649236e-02 -1.73840945e-02 4.04863772e+02] [ 3.88631265e-02 9.99244446e-01 -4.41318942e-04 3.96073631e+00] [ 1.73881117e-02 -2.34681489e-04 9.99848788e-01 2.76293936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2392541539999 meters 0.015210636678759456 Centerline is valid? [True, True] Translation: X:404.89, Y:3.96, Z:2.76 [[ 9.99164721e-01 -3.71748903e-02 -1.69672817e-02 4.04893486e+02] [ 3.71729211e-02 9.99308755e-01 -4.31533167e-04 3.96250358e+00] [ 1.69715953e-02 -1.99550707e-04 9.99855952e-01 2.76435023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.26925415399995 meters 0.01504052083745852 Centerline is valid? [True, True] Translation: X:404.92, Y:3.96, Z:2.76 [[ 9.99232649e-01 -3.53318060e-02 -1.69049482e-02 4.04922382e+02] [ 3.53295741e-02 9.99375623e-01 -4.30742427e-04 3.96289569e+00] [ 1.69096121e-02 -1.66832725e-04 9.99857008e-01 2.76455771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2992541539999 meters 0.01458331733035968 Centerline is valid? [True, True] Translation: X:404.95, Y:3.96, Z:2.77 [[ 9.99372331e-01 -3.11340926e-02 -1.69000880e-02 4.04952043e+02] [ 3.11312495e-02 9.99515212e-01 -4.31349190e-04 3.96384786e+00] [ 1.69053248e-02 -9.50424116e-05 9.99857090e-01 2.76500797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.32925415399995 meters 0.014278932836120932 Centerline is valid? [True, True] Translation: X:404.98, Y:3.96, Z:2.77 [[ 9.99424288e-01 -2.95100999e-02 -1.67405567e-02 4.04980765e+02] [ 2.95070370e-02 9.99564480e-01 -4.29987259e-04 3.96430142e+00] [ 1.67459548e-02 -6.42245151e-05 9.99859775e-01 2.76567838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3592541539999 meters 0.014353348623076283 Centerline is valid? [True, True] Translation: X:405.01, Y:3.96, Z:2.77 [[ 9.99454499e-01 -2.85052785e-02 -1.66779287e-02 4.05009968e+02] [ 2.85020273e-02 9.99593641e-01 -4.32648997e-04 3.96453318e+00] [ 1.66834842e-02 -4.29417909e-05 9.99860820e-01 2.76636114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.38925415399996 meters 0.01418424519397682 Centerline is valid? [True, True] Translation: X:405.04, Y:3.96, Z:2.77 [[ 9.99494951e-01 -2.70477351e-02 -1.66812312e-02 4.05037332e+02] [ 2.70442346e-02 9.99634143e-01 -4.35433784e-04 3.96415325e+00] [ 1.66869058e-02 -1.59172626e-05 9.99860764e-01 2.76664059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.41925415399993 meters 0.014252117864609837 Centerline is valid? [True, True] Translation: X:405.06, Y:3.96, Z:2.77 [[ 9.99537236e-01 -2.52473712e-02 -1.69671569e-02 4.05064224e+02] [ 2.52434448e-02 9.99681234e-01 -4.45574448e-04 3.96213341e+00] [ 1.69729980e-02 1.70587626e-05 9.99855948e-01 2.76632418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.44925415399996 meters 0.01415177602626454 Centerline is valid? [True, True] Translation: X:405.09, Y:3.96, Z:2.77 [[ 9.99533367e-01 -2.50965612e-02 -1.74129501e-02 4.05092512e+02] [ 2.50923236e-02 9.99685031e-01 -4.61831970e-04 3.96145409e+00] [ 1.74190559e-02 2.46850862e-05 9.99848276e-01 2.76676086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.47925415399993 meters 0.014222210556736923 Centerline is valid? [True, True] Translation: X:405.12, Y:3.96, Z:2.77 [[ 9.99523642e-01 -2.51665000e-02 -1.78643626e-02 4.05120308e+02] [ 2.51619554e-02 9.99683273e-01 -4.79155643e-04 3.96054627e+00] [ 1.78707631e-02 2.94250997e-05 9.99840305e-01 2.76647242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.50925415399996 meters 0.014150549572571053 Centerline is valid? [True, True] Translation: X:405.15, Y:3.96, Z:2.77 [[ 9.99499245e-01 -2.55842246e-02 -1.86200491e-02 4.05148282e+02] [ 2.55793000e-02 9.99672670e-01 -5.02635392e-04 3.95922820e+00] [ 1.86268138e-02 2.60958725e-05 9.99826506e-01 2.76579335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.53925415399993 meters 0.014151439542815926 Centerline is valid? [True, True] Translation: X:405.18, Y:3.96, Z:2.77 [[ 9.99457690e-01 -2.64335043e-02 -1.96366140e-02 4.05177328e+02] [ 2.64281142e-02 9.99650574e-01 -5.33990176e-04 3.95764874e+00] [ 1.96438677e-02 1.47419113e-05 9.99807041e-01 2.76535133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.56925415399996 meters 0.014143859995302776 Centerline is valid? [True, True] Translation: X:405.21, Y:3.95, Z:2.76 [[ 9.99340616e-01 -2.99633057e-02 -2.05069294e-02 4.05206345e+02] [ 2.99580616e-02 9.99550998e-01 -5.62950219e-04 3.95226130e+00] [ 2.05145896e-02 -5.17688349e-05 9.99789552e-01 2.76486823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.59925415399994 meters 0.014528896849576839 Centerline is valid? [True, True] Translation: X:405.24, Y:3.95, Z:2.77 [[ 9.99242211e-01 -3.27692308e-02 -2.10043272e-02 4.05235125e+02] [ 3.27642341e-02 9.99462939e-01 -5.82069782e-04 3.94973537e+00] [ 2.10121205e-02 -1.06561996e-04 9.99779215e-01 2.76538841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.62925415399997 meters 0.014379416041884955 Centerline is valid? [True, True] Translation: X:405.26, Y:3.95, Z:2.77 [[ 9.99127022e-01 -3.60790721e-02 -2.10593292e-02 4.05262808e+02] [ 3.60747187e-02 9.99348923e-01 -5.86704114e-04 3.94665230e+00] [ 2.10667857e-02 -1.73517443e-04 9.99778056e-01 2.76538294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.65925415399994 meters 0.014713620418518692 Centerline is valid? [True, True] Translation: X:405.29, Y:3.94, Z:2.77 [[ 9.98980410e-01 -4.00100856e-02 -2.09125342e-02 4.05291996e+02] [ 4.00065656e-02 9.99199245e-01 -5.86823106e-04 3.94334221e+00] [ 2.09192672e-02 -2.50413885e-04 9.99781137e-01 2.76571408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.68925415399997 meters 0.015792475420802893 Centerline is valid? [True, True] Translation: X:405.32, Y:3.94, Z:2.77 [[ 9.98815793e-01 -4.41234870e-02 -2.04970847e-02 4.05319617e+02] [ 4.41209105e-02 9.99026031e-01 -5.78128578e-04 3.93854521e+00] [ 2.05026303e-02 -3.26906087e-04 9.99789746e-01 2.76533478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.71925415399994 meters 0.016810880228624026 Centerline is valid? [True, True] Translation: X:405.35, Y:3.93, Z:2.77 [[ 9.98399743e-01 -5.31601659e-02 -1.92860217e-02 4.05348917e+02] [ 5.31595448e-02 9.98585883e-01 -5.45232888e-04 3.93117477e+00] [ 1.92877337e-02 -4.80875760e-04 9.99813859e-01 2.76823899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.74925415399997 meters 0.018635717911371617 Centerline is valid? [True, True] Translation: X:405.38, Y:3.93, Z:2.77 [[ 9.98157600e-01 -5.77388475e-02 -1.86448658e-02 4.05377203e+02] [ 5.77390395e-02 9.98331570e-01 -5.28464713e-04 3.92603758e+00] [ 1.86442711e-02 -5.49045574e-04 9.99826030e-01 2.76847723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.77925415399994 meters 0.02002943390721966 Centerline is valid? [True, True] Translation: X:405.41, Y:3.92, Z:2.77 [[ 9.97914097e-01 -6.18671048e-02 -1.84368376e-02 4.05407027e+02] [ 6.18679776e-02 9.98084204e-01 -5.23575856e-04 3.92451430e+00] [ 1.84339085e-02 -6.18166130e-04 9.99829890e-01 2.76930728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.809254154 meters 0.02127422420421594 Centerline is valid? [True, True] Translation: X:405.44, Y:3.92, Z:2.77 [[ 9.97410782e-01 -6.97321572e-02 -1.75828673e-02 4.05437156e+02] [ 6.97341657e-02 9.97565485e-01 -4.99602201e-04 3.91863158e+00] [ 1.75748999e-02 -7.27817958e-04 9.99845285e-01 2.77005273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.83925415399995 meters 0.024738731286289173 Centerline is valid? [True, True] Translation: X:405.47, Y:3.91, Z:2.77 [[ 9.97183445e-01 -7.29184430e-02 -1.75521387e-02 4.05466650e+02] [ 7.29209331e-02 9.97337600e-01 -4.98946046e-04 3.91279711e+00] [ 1.75417902e-02 -7.82377592e-04 9.99845825e-01 2.76935879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.869254154 meters 0.02305556571397658 Centerline is valid? [True, True] Translation: X:405.50, Y:3.91, Z:2.77 [[ 9.96916747e-01 -7.65283008e-02 -1.73326088e-02 4.05497205e+02] [ 7.65312711e-02 9.97067060e-01 -4.92831579e-04 3.91497761e+00] [ 1.73194888e-02 -8.35174527e-04 9.99849658e-01 2.77055165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.89925415399995 meters 0.025141102567513538 Centerline is valid? [True, True] Translation: X:405.53, Y:3.91, Z:2.77 [[ 9.96661069e-01 -7.97512138e-02 -1.75059045e-02 4.05526336e+02] [ 7.97547327e-02 9.96814393e-01 -4.98154605e-04 3.91151656e+00] [ 1.74898660e-02 -8.99687430e-04 9.99846636e-01 2.77052860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9292541539999 meters 0.025141102567513538 Centerline is valid? [True, True] Translation: X:405.56, Y:3.91, Z:2.77 [[ 9.96658120e-01 -7.97880671e-02 -1.75058860e-02 4.05555523e+02] [ 7.97915802e-02 9.96811444e-01 -4.98804510e-04 3.91237782e+00] [ 1.74898661e-02 -8.99684738e-04 9.99846636e-01 2.77073097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.95925415399995 meters 0.026967240163956886 Centerline is valid? [True, True] Translation: X:405.59, Y:3.91, Z:2.77 [[ 9.96116880e-01 -8.61385534e-02 -1.82019283e-02 4.05585923e+02] [ 8.61434033e-02 9.96282613e-01 -5.18895229e-04 3.90893341e+00] [ 1.81789615e-02 -1.05109575e-03 9.99834197e-01 2.77013999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9892541539999 meters 0.027665236219285426 Centerline is valid? [True, True] Translation: X:405.62, Y:3.91, Z:2.77 [[ 9.95875102e-01 -8.88887151e-02 -1.82092737e-02 4.05615875e+02] [ 8.88940231e-02 9.96040954e-01 -5.19311470e-04 3.90823416e+00] [ 1.81833433e-02 -1.10152623e-03 9.99834063e-01 2.77004039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.01925415399995 meters 0.02866698168525932 Centerline is valid? [True, True] Translation: X:405.65, Y:3.91, Z:2.77 [[ 9.95675937e-01 -9.10812450e-02 -1.82656780e-02 4.05645761e+02] [ 9.10869472e-02 9.95842807e-01 -5.21262929e-04 3.90728171e+00] [ 1.82372214e-02 -1.14475589e-03 9.99833033e-01 2.77037270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0492541539999 meters 0.02902342258021317 Centerline is valid? [True, True] Translation: X:405.68, Y:3.91, Z:2.77 [[ 9.95492413e-01 -9.30677288e-02 -1.82552362e-02 4.05675290e+02] [ 9.30737469e-02 9.95659081e-01 -5.21521334e-04 3.90796634e+00] [ 1.82245285e-02 -1.17991270e-03 9.99833223e-01 2.77053487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.07925415399995 meters 0.03168069839020501 Centerline is valid? [True, True] Translation: X:405.70, Y:3.91, Z:2.77 [[ 9.95207556e-01 -9.59306002e-02 -1.89536136e-02 4.05704605e+02] [ 9.59375908e-02 9.95387203e-01 -5.42193819e-04 3.90701479e+00] [ 1.89181974e-02 -1.27876864e-03 9.99820217e-01 2.76995853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1092541539999 meters 0.031395986691464796 Centerline is valid? [True, True] Translation: X:405.73, Y:3.91, Z:2.77 [[ 9.95129770e-01 -9.65620243e-02 -1.98120445e-02 4.05734392e+02] [ 9.65697724e-02 9.95326056e-01 -5.67506788e-04 3.91035010e+00] [ 1.97742437e-02 -1.34850173e-03 9.99803561e-01 2.77039389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.13925415399996 meters 0.03100482807350924 Centerline is valid? [True, True] Translation: X:405.76, Y:3.91, Z:2.77 [[ 9.95124846e-01 -9.68289248e-02 -1.87269762e-02 4.05763898e+02] [ 9.68358813e-02 9.95300218e-01 -5.37115003e-04 3.91227942e+00] [ 1.86909718e-02 -1.27894676e-03 9.99824491e-01 2.77103329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.16925415399993 meters 0.031665685256834164 Centerline is valid? [True, True] Translation: X:405.79, Y:3.91, Z:2.77 [[ 9.95160328e-01 -9.64337746e-02 -1.88798622e-02 4.05793002e+02] [ 9.64407652e-02 9.95338578e-01 -5.41984549e-04 3.91426821e+00] [ 1.88441208e-02 -1.28142683e-03 9.99821613e-01 2.77068562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.19925415399996 meters 0.031415710743317636 Centerline is valid? [True, True] Translation: X:405.82, Y:3.92, Z:2.77 [[ 9.95228502e-01 -9.56502682e-02 -1.92679804e-02 4.05823393e+02] [ 9.56574006e-02 9.95414163e-01 -5.53257851e-04 3.91718683e+00] [ 1.92325398e-02 -1.29250694e-03 9.99814202e-01 2.77068838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.22925415399993 meters 0.03053889298552571 Centerline is valid? [True, True] Translation: X:405.85, Y:3.92, Z:2.77 [[ 9.95346376e-01 -9.42842941e-02 -1.99013287e-02 4.05854269e+02] [ 9.42916362e-02 9.95544455e-01 -5.71202412e-04 3.92342166e+00] [ 1.98665128e-02 -1.30798459e-03 9.99801786e-01 2.77091294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.25925415399996 meters 0.030373894055812003 Centerline is valid? [True, True] Translation: X:405.89, Y:3.93, Z:2.77 [[ 9.95394824e-01 -9.37623157e-02 -1.99442177e-02 4.05885078e+02] [ 9.37695878e-02 9.95593761e-01 -5.72304319e-04 3.92705083e+00] [ 1.99099993e-02 -1.30049232e-03 9.99800931e-01 2.77090542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.28925415399993 meters 0.03197481496916347 Centerline is valid? [True, True] Translation: X:405.91, Y:3.93, Z:2.77 [[ 9.95422450e-01 -9.33587437e-02 -2.04521823e-02 4.05914902e+02] [ 9.33663012e-02 9.95631653e-01 -5.87130054e-04 3.92856029e+00] [ 2.04176538e-02 -1.32510218e-03 9.99790660e-01 2.77064031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31925415399996 meters 0.03000772531555504 Centerline is valid? [True, True] Translation: X:405.95, Y:3.94, Z:2.77 [[ 9.95489297e-01 -9.25502782e-02 -2.08687783e-02 4.05945335e+02] [ 9.25579673e-02 9.95707117e-01 -5.99219853e-04 3.93771037e+00] [ 2.08346490e-02 -1.33505475e-03 9.99782044e-01 2.77148760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.34925415399994 meters 0.02954171836651616 Centerline is valid? [True, True] Translation: X:405.98, Y:3.94, Z:2.77 [[ 9.95511754e-01 -9.22285775e-02 -2.12188053e-02 4.05975999e+02] [ 9.22364540e-02 9.95736946e-01 -6.09270422e-04 3.94191223e+00] [ 2.11845405e-02 -1.35061149e-03 9.99774670e-01 2.77180574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37925415399997 meters 0.029873901845701736 Centerline is valid? [True, True] Translation: X:406.01, Y:3.95, Z:2.77 [[ 9.95531863e-01 -9.19865032e-02 -2.13258850e-02 4.06006878e+02] [ 9.19944042e-02 9.95759336e-01 -6.12345079e-04 3.94505144e+00] [ 2.12917766e-02 -1.35225305e-03 9.99772390e-01 2.77197648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.40925415399994 meters 0.02923046194234799 Centerline is valid? [True, True] Translation: X:406.04, Y:3.95, Z:2.77 [[ 9.95567996e-01 -9.16976601e-02 -2.08783370e-02 4.06037648e+02] [ 9.17051695e-02 9.95786022e-01 -5.99494319e-04 3.94963149e+00] [ 2.08453284e-02 -1.31781408e-03 9.99781844e-01 2.77306147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43925415399997 meters 0.029491282557286395 Centerline is valid? [True, True] Translation: X:406.07, Y:3.96, Z:2.77 [[ 9.95665558e-01 -9.07862332e-02 -2.01979333e-02 4.06068137e+02] [ 9.07930741e-02 9.95869611e-01 -5.79957411e-04 3.95627921e+00] [ 2.01671601e-02 -1.25638884e-03 9.99795833e-01 2.77452160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.46925415399994 meters 0.02969372097111626 Centerline is valid? [True, True] Translation: X:406.10, Y:3.96, Z:2.78 [[ 9.95700043e-01 -9.04304912e-02 -2.00935608e-02 4.06099013e+02] [ 9.04371991e-02 9.95901994e-01 -5.76475715e-04 3.96025667e+00] [ 2.00633483e-02 -1.24320847e-03 9.99797938e-01 2.77504012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49925415399997 meters 0.029045159551884664 Centerline is valid? [True, True] Translation: X:406.13, Y:3.96, Z:2.78 [[ 9.95770911e-01 -8.96442342e-02 -2.01048429e-02 4.06130145e+02] [ 8.96508049e-02 9.95973093e-01 -5.76057283e-04 3.96478946e+00] [ 2.00755228e-02 -1.22879426e-03 9.99797711e-01 2.77585145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.52925415399994 meters 0.029576984130167586 Centerline is valid? [True, True] Translation: X:406.16, Y:3.97, Z:2.78 [[ 9.95822901e-01 -8.89844246e-02 -2.04577878e-02 4.06160841e+02] [ 8.89911049e-02 9.96032249e-01 -5.85413631e-04 3.96810321e+00] [ 2.04287091e-02 -1.23759284e-03 9.99790546e-01 2.77590170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.559254154 meters 0.027616597010409406 Centerline is valid? [True, True] Translation: X:406.19, Y:3.98, Z:2.78 [[ 9.96015570e-01 -8.66205906e-02 -2.12098654e-02 4.06192046e+02] [ 8.66272542e-02 9.96240609e-01 -6.06134605e-04 3.97854292e+00] [ 2.11826330e-02 -1.23363290e-03 9.99774862e-01 2.77726004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.58925415399995 meters 0.03057389679725993 Centerline is valid? [True, True] Translation: X:406.22, Y:3.98, Z:2.78 [[ 9.96127219e-01 -8.54415479e-02 -2.07438260e-02 4.06223007e+02] [ 8.54476827e-02 9.96342483e-01 -5.92051613e-04 3.97795224e+00] [ 2.07185409e-02 -1.18275313e-03 9.99784648e-01 2.77658372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.619254154 meters 0.03081052026240818 Centerline is valid? [True, True] Translation: X:406.25, Y:3.98, Z:2.78 [[ 9.96294085e-01 -8.35406125e-02 -2.04710096e-02 4.06253062e+02] [ 8.35461970e-02 9.96503734e-01 -5.83772141e-04 3.98151169e+00] [ 2.04482062e-02 -1.12866627e-03 9.99790276e-01 2.77697055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.64925415399995 meters 0.027141184141979587 Centerline is valid? [True, True] Translation: X:406.28, Y:3.99, Z:2.78 [[ 9.96467762e-01 -8.14265106e-02 -2.05359004e-02 4.06284599e+02] [ 8.14317007e-02 9.96678753e-01 -5.84756343e-04 3.99030569e+00] [ 2.05153103e-02 -1.08958245e-03 9.99788945e-01 2.77845578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6792541539999 meters 0.02539807801291356 Centerline is valid? [True, True] Translation: X:406.32, Y:4.00, Z:2.78 [[ 9.96857339e-01 -7.64749888e-02 -2.06644973e-02 4.06315302e+02] [ 7.64791941e-02 9.97071004e-01 -5.87865335e-04 3.99969646e+00] [ 2.06489281e-02 -9.94386230e-04 9.99786294e-01 2.77877904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.70925415399995 meters 0.022875631040996196 Centerline is valid? [True, True] Translation: X:406.35, Y:4.01, Z:2.78 [[ 9.97075160e-01 -7.37231110e-02 -2.01501180e-02 4.06346441e+02] [ 7.37265603e-02 9.97278329e-01 -5.72654758e-04 4.00728576e+00] [ 2.01374939e-02 -9.14619058e-04 9.99796802e-01 2.77986624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7392541539999 meters 0.022587150152674335 Centerline is valid? [True, True] Translation: X:406.38, Y:4.01, Z:2.78 [[ 9.97313628e-01 -7.06031208e-02 -1.95122204e-02 4.06376739e+02] [ 7.06057684e-02 9.97504145e-01 -5.54041859e-04 4.01139475e+00] [ 1.95026378e-02 -8.25121819e-04 9.99809465e-01 2.77996911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.76925415399995 meters 0.020781458842611202 Centerline is valid? [True, True] Translation: X:406.41, Y:4.02, Z:2.78 [[ 9.97544016e-01 -6.72197655e-02 -1.96834588e-02 4.06408072e+02] [ 6.72218141e-02 9.97737899e-01 -5.58296040e-04 4.01882413e+00] [ 1.96764613e-02 -7.66232931e-04 9.99806106e-01 2.78056728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7992541539999 meters 0.018530751518038648 Centerline is valid? [True, True] Translation: X:406.44, Y:4.03, Z:2.78 [[ 9.97980788e-01 -6.04457267e-02 -1.95105206e-02 4.06438793e+02] [ 6.04464557e-02 9.98171288e-01 -5.52901854e-04 4.02818876e+00] [ 1.95082621e-02 -6.27556392e-04 9.99809499e-01 2.78042992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.82925415399995 meters 0.017661532682253817 Centerline is valid? [True, True] Translation: X:406.47, Y:4.03, Z:2.78 [[ 9.98201829e-01 -5.68873043e-02 -1.88929415e-02 4.06470127e+02] [ 5.68873617e-02 9.98380460e-01 -5.34831782e-04 4.03322623e+00] [ 1.88927688e-02 -5.40899534e-04 9.99821369e-01 2.78035212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8592541539999 meters 0.016839521455615424 Centerline is valid? [True, True] Translation: X:406.50, Y:4.04, Z:2.78 [[ 9.98379009e-01 -5.36840984e-02 -1.89042586e-02 4.06501202e+02] [ 5.36835953e-02 9.98557853e-01 -5.34448935e-04 4.03797056e+00] [ 1.89056873e-02 -4.81265971e-04 9.99821156e-01 2.78057300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.88925415399996 meters 0.01618769994695408 Centerline is valid? [True, True] Translation: X:406.53, Y:4.04, Z:2.78 [[ 9.98533922e-01 -5.06758516e-02 -1.90253723e-02 4.06532571e+02] [ 5.06748096e-02 9.98715062e-01 -5.37170650e-04 4.04216944e+00] [ 1.90281474e-02 -4.27724002e-04 9.99818857e-01 2.78054407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.91925415399993 meters 0.01620142119924921 Centerline is valid? [True, True] Translation: X:406.56, Y:4.05, Z:2.78 [[ 9.98771227e-01 -4.60318430e-02 -1.83604228e-02 4.06562788e+02] [ 4.60301106e-02 9.98939919e-01 -5.17173200e-04 4.04777365e+00] [ 1.83647657e-02 -3.28594580e-04 9.99831299e-01 2.77948684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.94925415399996 meters 0.014949786752504596 Centerline is valid? [True, True] Translation: X:406.59, Y:4.05, Z:2.78 [[ 9.98843908e-01 -4.45037946e-02 -1.81730370e-02 4.06593825e+02] [ 4.45018627e-02 9.99009171e-01 -5.10891493e-04 4.05334577e+00] [ 1.81777672e-02 -2.98433141e-04 9.99834726e-01 2.78110448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.97925415399993 meters 0.016140454967754632 Centerline is valid? [True, True] Translation: X:406.62, Y:4.06, Z:2.78 [[ 9.98896986e-01 -4.30928237e-02 -1.86499127e-02 4.06623941e+02] [ 4.30905523e-02 9.99071033e-01 -5.23818344e-04 4.05587215e+00] [ 1.86551603e-02 -2.80394472e-04 9.99825938e-01 2.78079224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.00925415399996 meters 0.01507848589287233 Centerline is valid? [True, True] Translation: X:406.66, Y:4.06, Z:2.78 [[ 9.98923774e-01 -4.28759990e-02 -1.76901971e-02 4.06655551e+02] [ 4.28739303e-02 9.99080367e-01 -4.96349414e-04 4.05769508e+00] [ 1.76952101e-02 -2.62633049e-04 9.99843393e-01 2.78039449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.03925415399993 meters 0.014907192060655902 Centerline is valid? [True, True] Translation: X:406.69, Y:4.06, Z:2.78 [[ 9.98916441e-01 -4.29394070e-02 -1.79485683e-02 4.06686964e+02] [ 4.29372997e-02 9.99077642e-01 -5.02933832e-04 4.05960934e+00] [ 1.79536089e-02 -2.68274180e-04 9.99838785e-01 2.78075649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.06925415399996 meters 0.015503813531349967 Centerline is valid? [True, True] Translation: X:406.72, Y:4.06, Z:2.78 [[ 9.98834028e-01 -4.49193273e-02 -1.76872316e-02 4.06716960e+02] [ 4.49175991e-02 9.98990573e-01 -4.95160243e-04 4.06037027e+00] [ 1.76916198e-02 -2.99885076e-04 9.99843446e-01 2.78070838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.09925415399994 meters 0.015710662445956 Centerline is valid? [True, True] Translation: X:406.75, Y:4.06, Z:2.78 [[ 9.98749529e-01 -4.68079320e-02 -1.75611979e-02 4.06748379e+02] [ 4.68065293e-02 9.98903853e-01 -4.91111281e-04 4.06106987e+00] [ 1.75649362e-02 -3.31481565e-04 9.99845670e-01 2.78103766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12925415399997 meters 0.01662300508360848 Centerline is valid? [True, True] Translation: X:406.78, Y:4.06, Z:2.78 [[ 9.98636745e-01 -4.90841145e-02 -1.77595337e-02 4.06779037e+02] [ 4.90830514e-02 9.98794578e-01 -4.95996927e-04 4.06078041e+00] [ 1.77624715e-02 -3.76371349e-04 9.99842164e-01 2.78106406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.15925415399994 meters 0.017402453151005307 Centerline is valid? [True, True] Translation: X:406.81, Y:4.06, Z:2.78 [[ 9.98353948e-01 -5.46397002e-02 -1.74326408e-02 4.06809757e+02] [ 5.46395341e-02 9.98506026e-01 -4.86177283e-04 4.06014899e+00] [ 1.74331615e-02 -4.67134361e-04 9.99847922e-01 2.78200938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.18925415399997 meters 0.01904356228197181 Centerline is valid? [True, True] Translation: X:406.84, Y:4.06, Z:2.78 [[ 9.98179346e-01 -5.78243336e-02 -1.71563415e-02 4.06840766e+02] [ 5.78246572e-02 9.98326640e-01 -4.77619401e-04 4.05791226e+00] [ 1.71552507e-02 -5.15309743e-04 9.99852705e-01 2.78153072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.21925415399994 meters 0.019428166162581074 Centerline is valid? [True, True] Translation: X:406.87, Y:4.06, Z:2.78 [[ 9.98018396e-01 -6.06385622e-02 -1.68001781e-02 4.06872534e+02] [ 6.06392862e-02 9.98159636e-01 -4.66782231e-04 4.05762024e+00] [ 1.67975647e-02 -5.52893557e-04 9.99858758e-01 2.78179381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.24925415399997 meters 0.02067708714866669 Centerline is valid? [True, True] Translation: X:406.90, Y:4.06, Z:2.78 [[ 9.97844411e-01 -6.33605800e-02 -1.70870889e-02 4.06904220e+02] [ 6.33617437e-02 9.97990513e-01 -4.73803902e-04 4.05640950e+00] [ 1.70827731e-02 -6.09885170e-04 9.99853893e-01 2.78172193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.27925415399994 meters 0.021807933646807 Centerline is valid? [True, True] Translation: X:406.94, Y:4.05, Z:2.78 [[ 9.97540350e-01 -6.81788482e-02 -1.62755947e-02 4.06935113e+02] [ 6.81805528e-02 9.97672897e-01 -4.50765868e-04 4.05484674e+00] [ 1.62684525e-02 -6.60021906e-04 9.99867442e-01 2.78188191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.309254154 meters 0.023078957134528417 Centerline is valid? [True, True] Translation: X:406.97, Y:4.05, Z:2.78 [[ 9.97406416e-01 -7.00654786e-02 -1.64702535e-02 4.06965883e+02] [ 7.00674889e-02 9.97542149e-01 -4.55676702e-04 4.05403978e+00] [ 1.64616993e-02 -6.99534439e-04 9.99864252e-01 2.78192797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.33925415399995 meters 0.024249629131051678 Centerline is valid? [True, True] Translation: X:407.00, Y:4.05, Z:2.78 [[ 9.97296963e-01 -7.16118321e-02 -1.64472916e-02 4.06997279e+02] [ 7.16140669e-02 9.97432313e-01 -4.53812652e-04 4.05354184e+00] [ 1.64375585e-02 -7.25271464e-04 9.99864631e-01 2.78202903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.369254154 meters 0.023667008109999024 Centerline is valid? [True, True] Translation: X:407.03, Y:4.06, Z:2.78 [[ 9.97202007e-01 -7.29864875e-02 -1.61594923e-02 4.07029738e+02] [ 7.29888470e-02 9.97332658e-01 -4.44494229e-04 4.05549061e+00] [ 1.61488315e-02 -7.36212171e-04 9.99869328e-01 2.78249367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.39925415399995 meters 0.025422708356984958 Centerline is valid? [True, True] Translation: X:407.06, Y:4.05, Z:2.78 [[ 9.97108251e-01 -7.42925584e-02 -1.59922039e-02 4.07061224e+02] [ 7.42950530e-02 9.97236207e-01 -4.38888565e-04 4.05401070e+00] [ 1.59806109e-02 -7.50522228e-04 9.99872020e-01 2.78242525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4292541539999 meters 0.024335705261429173 Centerline is valid? [True, True] Translation: X:407.09, Y:4.06, Z:2.78 [[ 9.96941813e-01 -7.66279970e-02 -1.53353156e-02 4.07092992e+02] [ 7.66305870e-02 9.97059465e-01 -4.19513772e-04 4.05691302e+00] [ 1.53223681e-02 -7.56923416e-04 9.99882319e-01 2.78341070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.45925415399995 meters 0.03109847774735568 Centerline is valid? [True, True] Translation: X:407.12, Y:4.05, Z:2.78 [[ 9.96878206e-01 -7.75036568e-02 -1.50673435e-02 4.07123920e+02] [ 7.75062734e-02 9.96991780e-01 -4.11084310e-04 4.04793750e+00] [ 1.50538782e-02 -7.58012657e-04 9.99886397e-01 2.78191797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4892541539999 meters 0.024830425472105306 Centerline is valid? [True, True] Translation: X:407.16, Y:4.06, Z:2.78 [[ 9.96825901e-01 -7.82198670e-02 -1.48248454e-02 4.07156030e+02] [ 7.82224915e-02 9.96935845e-01 -4.03621009e-04 4.05813259e+00] [ 1.48109909e-02 -7.57296465e-04 9.99890024e-01 2.78365929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.51925415399995 meters 0.026260876759201243 Centerline is valid? [True, True] Translation: X:407.19, Y:4.06, Z:2.78 [[ 9.96787961e-01 -7.86782795e-02 -1.49495625e-02 4.07187502e+02] [ 7.86810143e-02 9.96899761e-01 -4.06043208e-04 4.05787335e+00] [ 1.49351621e-02 -7.71507762e-04 9.99888167e-01 2.78350542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5492541539999 meters 0.025967155011572585 Centerline is valid? [True, True] Translation: X:407.22, Y:4.06, Z:2.78 [[ 9.96781299e-01 -7.85825104e-02 -1.58692068e-02 4.07219788e+02] [ 7.85855970e-02 9.96907277e-01 -4.29948936e-04 4.06135985e+00] [ 1.58539142e-02 -8.18526032e-04 9.99873984e-01 2.78352410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.57925415399995 meters 0.027202345682336957 Centerline is valid? [True, True] Translation: X:407.25, Y:4.06, Z:2.78 [[ 9.96821512e-01 -7.80427193e-02 -1.60064833e-02 4.07250651e+02] [ 7.80458065e-02 9.96949680e-01 -4.32652453e-04 4.06123717e+00] [ 1.59914238e-02 -8.17961628e-04 9.99871794e-01 2.78304252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6092541539999 meters 0.025513276603551297 Centerline is valid? [True, True] Translation: X:407.28, Y:4.07, Z:2.78 [[ 9.96900583e-01 -7.70447728e-02 -1.59163417e-02 4.07282386e+02] [ 7.70477150e-02 9.97027314e-01 -4.29172772e-04 4.06533072e+00] [ 1.59020929e-02 -7.98475172e-04 9.99873235e-01 2.78360053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.63925415399996 meters 0.027034993855644465 Centerline is valid? [True, True] Translation: X:407.31, Y:4.07, Z:2.78 [[ 9.97003204e-01 -7.55252042e-02 -1.67497904e-02 4.07313494e+02] [ 7.55282669e-02 9.97143559e-01 -4.50566940e-04 4.06558779e+00] [ 1.67359748e-02 -8.15865960e-04 9.99859611e-01 2.78312401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.66925415399993 meters 0.023914357854862962 Centerline is valid? [True, True] Translation: X:407.34, Y:4.07, Z:2.78 [[ 9.97205457e-01 -7.27544505e-02 -1.69725022e-02 4.07344495e+02] [ 7.27572076e-02 9.97349578e-01 -4.55799583e-04 4.07270442e+00] [ 1.69606794e-02 -7.80346035e-04 9.99855853e-01 2.78354336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.69925415399996 meters 0.022904290689271245 Centerline is valid? [True, True] Translation: X:407.38, Y:4.08, Z:2.78 [[ 9.97335064e-01 -7.09274138e-02 -1.70901212e-02 4.07376896e+02] [ 7.09299588e-02 9.97481193e-01 -4.57945201e-04 4.07653148e+00] [ 1.70795554e-02 -7.55476789e-04 9.99853848e-01 2.78378695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.72925415399993 meters 0.02464264241025507 Centerline is valid? [True, True] Translation: X:407.41, Y:4.08, Z:2.78 [[ 9.97565120e-01 -6.71413664e-02 -1.88644961e-02 4.07407177e+02] [ 6.71438067e-02 9.97743181e-01 -5.04701175e-04 4.08073412e+00] [ 1.88558087e-02 -7.63161794e-04 9.99821922e-01 2.78366872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.75925415399996 meters 0.021184344002245014 Centerline is valid? [True, True] Translation: X:407.44, Y:4.09, Z:2.78 [[ 9.97679256e-01 -6.56294045e-02 -1.81351506e-02 4.07439253e+02] [ 6.56314276e-02 9.97843816e-01 -4.84231145e-04 4.08640373e+00] [ 1.81278277e-02 -7.07128453e-04 9.99835427e-01 2.78444216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.78925415399993 meters 0.022542237842886143 Centerline is valid? [True, True] Translation: X:407.47, Y:4.09, Z:2.78 [[ 9.97805459e-01 -6.35493924e-02 -1.85941281e-02 4.07470687e+02] [ 6.35511804e-02 9.97978458e-01 -4.95312346e-04 4.08624224e+00] [ 1.85880161e-02 -6.87453425e-04 9.99826992e-01 2.78348735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81925415399996 meters 0.02161192980213359 Centerline is valid? [True, True] Translation: X:407.50, Y:4.09, Z:2.78 [[ 9.97939812e-01 -6.13898754e-02 -1.86390840e-02 4.07502809e+02] [ 6.13913186e-02 9.98113651e-01 -4.95294469e-04 4.08987393e+00] [ 1.86343303e-02 -6.50003876e-04 9.99826155e-01 2.78355983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.84925415399994 meters 0.02161192980213359 Centerline is valid? [True, True] Translation: X:407.53, Y:4.09, Z:2.78 [[ 9.97944153e-01 -6.13192449e-02 -1.86391190e-02 4.07534510e+02] [ 6.13207004e-02 9.98117993e-01 -4.93974626e-04 4.09065223e+00] [ 1.86343302e-02 -6.50004743e-04 9.99826155e-01 2.78377944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87925415399997 meters 0.018705195086084394 Centerline is valid? [True, True] Translation: X:407.57, Y:4.10, Z:2.79 [[ 9.98187711e-01 -5.70580812e-02 -1.91224887e-02 4.07566237e+02] [ 5.70588546e-02 9.98370688e-01 -5.05602671e-04 4.09959603e+00] [ 1.91201810e-02 -5.86420932e-04 9.99817021e-01 2.78543600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.90925415399994 meters 0.018279325180941514 Centerline is valid? [True, True] Translation: X:407.60, Y:4.10, Z:2.79 [[ 9.98295644e-01 -5.51795483e-02 -1.90006367e-02 4.07598395e+02] [ 5.51799961e-02 9.98476298e-01 -5.01104913e-04 4.10273150e+00] [ 1.89993361e-02 -5.48204206e-04 9.99819346e-01 2.78621812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93925415399997 meters 0.018808885886151948 Centerline is valid? [True, True] Translation: X:407.63, Y:4.11, Z:2.79 [[ 9.98417527e-01 -5.30216283e-02 -1.87389516e-02 4.07629460e+02] [ 5.30217225e-02 9.98593238e-01 -4.92147729e-04 4.10514487e+00] [ 1.87386848e-02 -5.02202573e-04 9.99824289e-01 2.78705336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.96925415399994 meters 0.017795577936806955 Centerline is valid? [True, True] Translation: X:407.66, Y:4.11, Z:2.79 [[ 9.98478679e-01 -5.22768887e-02 -1.75343521e-02 4.07661743e+02] [ 5.22768849e-02 9.98632523e-01 -4.58885168e-04 4.10762641e+00] [ 1.75343634e-02 -4.58454252e-04 9.99846156e-01 2.78806773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99925415399997 meters 0.017416874394697756 Centerline is valid? [True, True] Translation: X:407.69, Y:4.11, Z:2.79 [[ 9.98546744e-01 -5.13526801e-02 -1.63494020e-02 4.07694051e+02] [ 5.13525719e-02 9.98680495e-01 -4.26710913e-04 4.11054817e+00] [ 1.63497416e-02 -4.13493050e-04 9.99866249e-01 2.78915297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.02925415399994 meters 0.01786362973722947 Centerline is valid? [True, True] Translation: X:407.73, Y:4.11, Z:2.79 [[ 9.98554574e-01 -5.13073779e-02 -1.60098741e-02 4.07725733e+02] [ 5.13072843e-02 9.98682827e-01 -4.16854394e-04 4.11073825e+00] [ 1.60101740e-02 -4.05171301e-04 9.99871747e-01 2.78894698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.059254154 meters 0.01784360182061601 Centerline is valid? [True, True] Translation: X:407.76, Y:4.11, Z:2.79 [[ 9.98532170e-01 -5.16976108e-02 -1.61512462e-02 4.07758080e+02] [ 5.16975836e-02 9.98662698e-01 -4.19484620e-04 4.11199728e+00] [ 1.61513334e-02 -4.16111511e-04 9.99869472e-01 2.78925797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.08925415399995 meters 0.01773221298115554 Centerline is valid? [True, True] Translation: X:407.79, Y:4.11, Z:2.79 [[ 9.98472453e-01 -5.27747561e-02 -1.63580574e-02 4.07790219e+02] [ 5.27748922e-02 9.98606344e-01 -4.23656001e-04 4.11319095e+00] [ 1.63576183e-02 -4.40285871e-04 9.99866108e-01 2.78917435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.119254154 meters 0.018521405717885367 Centerline is valid? [True, True] Translation: X:407.82, Y:4.11, Z:2.79 [[ 9.98457192e-01 -5.29619966e-02 -1.66812035e-02 4.07821101e+02] [ 5.29621819e-02 9.98596426e-01 -4.30973800e-04 4.11277494e+00] [ 1.66806154e-02 -4.53164044e-04 9.99860766e-01 2.78865146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.14925415399995 meters 0.018945351094640614 Centerline is valid? [True, True] Translation: X:407.85, Y:4.11, Z:2.79 [[ 9.98440304e-01 -5.32540146e-02 -1.67621304e-02 4.07852153e+02] [ 5.32542579e-02 9.98580892e-01 -4.32159198e-04 4.11321757e+00] [ 1.67613573e-02 -4.61169652e-04 9.99859412e-01 2.78873715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1792541539999 meters 0.019024769616324128 Centerline is valid? [True, True] Translation: X:407.88, Y:4.11, Z:2.79 [[ 9.98439753e-01 -5.33231067e-02 -1.65742814e-02 4.07884589e+02] [ 5.33233714e-02 9.98577206e-01 -4.26271985e-04 4.11385565e+00] [ 1.65734298e-02 -4.58189670e-04 9.99862546e-01 2.78924376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.20925415399995 meters 0.019615261191047336 Centerline is valid? [True, True] Translation: X:407.92, Y:4.11, Z:2.79 [[ 9.98419661e-01 -5.37663704e-02 -1.63510968e-02 4.07915579e+02] [ 5.37667033e-02 9.98553437e-01 -4.19557017e-04 4.11360770e+00] [ 1.63500019e-02 -4.60250593e-04 9.99866224e-01 2.79000136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2392541539999 meters 0.019933283505070606 Centerline is valid? [True, True] Translation: X:407.95, Y:4.11, Z:2.79 [[ 9.98397835e-01 -5.42599777e-02 -1.60504730e-02 4.07947785e+02] [ 5.42603780e-02 9.98526736e-01 -4.10855926e-04 4.11375474e+00] [ 1.60491194e-02 -4.60707065e-04 9.99871098e-01 2.79033284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.26925415399995 meters 0.018461031820855067 Centerline is valid? [True, True] Translation: X:407.98, Y:4.12, Z:2.79 [[ 9.98383384e-01 -5.45935719e-02 -1.58164924e-02 4.07979934e+02] [ 5.45940202e-02 9.98508553e-01 -4.03746201e-04 4.11696865e+00] [ 1.58149449e-02 -4.60392405e-04 9.99874830e-01 2.79141228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2992541539999 meters 0.020693981711690707 Centerline is valid? [True, True] Translation: X:408.01, Y:4.11, Z:2.79 [[ 9.98345058e-01 -5.52861104e-02 -1.58300734e-02 4.08011000e+02] [ 5.52866621e-02 9.98470441e-01 -4.03102958e-04 4.11358376e+00] [ 1.58281464e-02 -4.72756075e-04 9.99874615e-01 2.79015300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.32925415399995 meters 0.019554752127864193 Centerline is valid? [True, True] Translation: X:408.04, Y:4.12, Z:2.79 [[ 9.98311798e-01 -5.57324215e-02 -1.63539295e-02 4.08043185e+02] [ 5.57330875e-02 9.98445617e-01 -4.15383283e-04 4.11580301e+00] [ 1.63516596e-02 -4.96772953e-04 9.99866179e-01 2.79023208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3592541539999 meters 0.0197190605049303 Centerline is valid? [True, True] Translation: X:408.07, Y:4.12, Z:2.79 [[ 9.98226041e-01 -5.69311121e-02 -1.74246669e-02 4.08074852e+02] [ 5.69320798e-02 9.98377956e-01 -4.40910860e-04 4.11592975e+00] [ 1.74215048e-02 -5.51893821e-04 9.99848082e-01 2.78907188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.38925415399996 meters 0.019717144171919714 Centerline is valid? [True, True] Translation: X:408.11, Y:4.12, Z:2.79 [[ 9.98204995e-01 -5.71423422e-02 -1.79315408e-02 4.08106908e+02] [ 5.71434292e-02 9.98365877e-01 -4.52169212e-04 4.11623100e+00] [ 1.79280765e-02 -5.73312168e-04 9.99839115e-01 2.78875103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.41925415399993 meters 0.01974638098528565 Centerline is valid? [True, True] Translation: X:408.14, Y:4.12, Z:2.79 [[ 9.98191335e-01 -5.73048211e-02 -1.81718462e-02 4.08138722e+02] [ 5.73059883e-02 9.98356557e-01 -4.56914798e-04 4.11663569e+00] [ 1.81681653e-02 -5.85267215e-04 9.99834774e-01 2.78844467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.44925415399996 meters 0.020163384583769404 Centerline is valid? [True, True] Translation: X:408.17, Y:4.12, Z:2.79 [[ 9.98171411e-01 -5.76000560e-02 -1.83321286e-02 4.08171263e+02] [ 5.76013177e-02 9.98339560e-01 -4.59626135e-04 4.11661587e+00] [ 1.83281637e-02 -5.97169098e-04 9.99831847e-01 2.78817363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.47925415399993 meters 0.019312589907203262 Centerline is valid? [True, True] Translation: X:408.20, Y:4.12, Z:2.79 [[ 9.98176124e-01 -5.76420499e-02 -1.79393140e-02 4.08203421e+02] [ 5.76432880e-02 9.98337143e-01 -4.48487534e-04 4.11877890e+00] [ 1.79353352e-02 -5.86411494e-04 9.99838977e-01 2.78910664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.50925415399996 meters 0.019078716097262784 Centerline is valid? [True, True] Translation: X:408.24, Y:4.12, Z:2.79 [[ 9.98170216e-01 -5.78740166e-02 -1.75162197e-02 4.08235154e+02] [ 5.78752551e-02 9.98323727e-01 -4.36631539e-04 4.12038596e+00] [ 1.75121273e-02 -5.77923084e-04 9.99846484e-01 2.78944443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.53925415399993 meters 0.01888618316273653 Centerline is valid? [True, True] Translation: X:408.27, Y:4.12, Z:2.79 [[ 9.98151057e-01 -5.82631244e-02 -1.73169452e-02 4.08267751e+02] [ 5.82644155e-02 9.98301093e-01 -4.30381950e-04 4.12154927e+00] [ 1.73126008e-02 -5.79375495e-04 9.99849958e-01 2.78983094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.56925415399996 meters 0.019085926804940822 Centerline is valid? [True, True] Translation: X:408.30, Y:4.12, Z:2.79 [[ 9.98073133e-01 -5.94686204e-02 -1.77060470e-02 4.08299705e+02] [ 5.94701833e-02 9.98229986e-01 -4.38717195e-04 4.12217265e+00] [ 1.77007970e-02 -6.15110015e-04 9.99843139e-01 2.78964610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.59925415399994 meters 0.019964282335233847 Centerline is valid? [True, True] Translation: X:408.33, Y:4.12, Z:2.79 [[ 9.98032604e-01 -6.01159704e-02 -1.78042738e-02 4.08330765e+02] [ 6.01176736e-02 9.98191200e-01 -4.40022816e-04 4.12177744e+00] [ 1.77985219e-02 -6.31194406e-04 9.99841395e-01 2.78957410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62925415399997 meters 0.020282275082401272 Centerline is valid? [True, True] Translation: X:408.36, Y:4.12, Z:2.79 [[ 9.98035208e-01 -6.01833583e-02 -1.74266217e-02 4.08362407e+02] [ 6.01850169e-02 9.98187146e-01 -4.29734743e-04 4.12165894e+00] [ 1.74208927e-02 -6.19931121e-04 9.99848053e-01 2.78956267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.65925415399994 meters 0.020044512208903752 Centerline is valid? [True, True] Translation: X:408.39, Y:4.12, Z:2.79 [[ 9.98038231e-01 -6.01123491e-02 -1.74984363e-02 4.08394228e+02] [ 6.01140307e-02 9.98191424e-01 -4.30350342e-04 4.12259804e+00] [ 1.74926584e-02 -6.22395443e-04 9.99846798e-01 2.78955838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.68925415399997 meters 0.019279869222493924 Centerline is valid? [True, True] Translation: X:408.43, Y:4.13, Z:2.79 [[ 9.98152644e-01 -5.81715175e-02 -1.75320847e-02 4.08426586e+02] [ 5.81729291e-02 9.98306429e-01 -4.29888924e-04 4.12524029e+00] [ 1.75274001e-02 -5.90797953e-04 9.99846209e-01 2.78980689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.71925415399994 meters 0.019545906333746785 Centerline is valid? [True, True] Translation: X:408.46, Y:4.13, Z:2.79 [[ 9.98248027e-01 -5.64441378e-02 -1.77464110e-02 4.08457998e+02] [ 5.64453313e-02 9.98405597e-01 -4.34034242e-04 4.12622561e+00] [ 1.77426147e-02 -5.68428220e-04 9.99842426e-01 2.78986351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.74925415399997 meters 0.017892986198726715 Centerline is valid? [True, True] Translation: X:408.49, Y:4.13, Z:2.79 [[ 9.98386695e-01 -5.40536416e-02 -1.73842343e-02 4.08490042e+02] [ 5.40544446e-02 9.98537900e-01 -4.24029113e-04 4.13053378e+00] [ 1.73817372e-02 -5.16350108e-04 9.99848793e-01 2.79101408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.77925415399994 meters 0.01782420796676413 Centerline is valid? [True, True] Translation: X:408.52, Y:4.13, Z:2.79 [[ 9.98539215e-01 -5.11556063e-02 -1.73936668e-02 4.08520930e+02] [ 5.11560052e-02 9.98690585e-01 -4.22284480e-04 4.13246983e+00] [ 1.73924934e-02 -4.68122893e-04 9.99848630e-01 2.79126448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.809254154 meters 0.015892809855144848 Centerline is valid? [True, True] Translation: X:408.55, Y:4.14, Z:2.79 [[ 9.98856319e-01 -4.47976740e-02 -1.67099461e-02 4.08552753e+02] [ 4.47971772e-02 9.98996021e-01 -4.04218337e-04 4.13877405e+00] [ 1.67112777e-02 -3.44802378e-04 9.99860297e-01 2.79291501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.83925415399995 meters 0.015199037717767538 Centerline is valid? [True, True] Translation: X:408.58, Y:4.14, Z:2.79 [[ 9.98995058e-01 -4.15801182e-02 -1.67322262e-02 4.08584170e+02] [ 4.15791814e-02 9.99135130e-01 -4.04015157e-04 4.14200905e+00] [ 1.67345540e-02 -2.92103125e-04 9.99859925e-01 2.79382964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.869254154 meters 0.014580110533781927 Centerline is valid? [True, True] Translation: X:408.62, Y:4.14, Z:2.79 [[ 9.99122793e-01 -3.83824642e-02 -1.67460491e-02 4.08615074e+02] [ 3.83810871e-02 9.99263093e-01 -4.03732717e-04 4.14441865e+00] [ 1.67492051e-02 -2.39353009e-04 9.99859694e-01 2.79422319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.89925415399995 meters 0.013821991328427478 Centerline is valid? [True, True] Translation: X:408.65, Y:4.15, Z:2.79 [[ 9.99302241e-01 -3.33703475e-02 -1.67765240e-02 4.08645342e+02] [ 3.33682664e-02 9.99443043e-01 -4.04032635e-04 4.14724819e+00] [ 1.67806629e-02 -1.56052805e-04 9.99859183e-01 2.79391126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9292541539999 meters 0.013554412987126237 Centerline is valid? [True, True] Translation: X:408.68, Y:4.15, Z:2.79 [[ 9.99359574e-01 -3.13667568e-02 -1.72211852e-02 4.08677021e+02] [ 3.13642751e-02 9.99507934e-01 -4.14236624e-04 4.14887353e+00] [ 1.72257045e-02 -1.26158655e-04 9.99851619e-01 2.79402564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.95925415399995 meters 0.014957532326427575 Centerline is valid? [True, True] Translation: X:408.71, Y:4.15, Z:2.79 [[ 9.99401132e-01 -2.95888395e-02 -1.79409711e-02 4.08707518e+02] [ 2.95858644e-02 9.99562149e-01 -4.31287247e-04 4.14995812e+00] [ 1.79458770e-02 -9.97701759e-05 9.99838955e-01 2.79379477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9892541539999 meters 0.013804564679608684 Centerline is valid? [True, True] Translation: X:408.74, Y:4.15, Z:2.79 [[ 9.99411105e-01 -2.92221157e-02 -1.79864382e-02 4.08737384e+02] [ 2.92190624e-02 9.99572938e-01 -4.32580296e-04 4.15055056e+00] [ 1.79913978e-02 -9.32213090e-05 9.99838137e-01 2.79340351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.01925415399995 meters 0.013550406328860053 Centerline is valid? [True, True] Translation: X:408.77, Y:4.15, Z:2.79 [[ 9.99395247e-01 -2.93058785e-02 -1.87164608e-02 4.08766801e+02] [ 2.93025768e-02 9.99570486e-01 -4.50688271e-04 4.14999916e+00] [ 1.87216296e-02 -9.80248124e-05 9.99824730e-01 2.79261533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0492541539999 meters 0.015018919599389132 Centerline is valid? [True, True] Translation: X:408.80, Y:4.15, Z:2.79 [[ 9.99364798e-01 -2.97967273e-02 -1.95488016e-02 4.08796272e+02] [ 2.97932054e-02 9.99555973e-01 -4.71438965e-04 4.14935991e+00] [ 1.95541687e-02 -1.11281955e-04 9.99808793e-01 2.79231385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.07925415399995 meters 0.013765103084795885 Centerline is valid? [True, True] Translation: X:408.83, Y:4.15, Z:2.79 [[ 9.99310544e-01 -3.17830197e-02 -1.91905506e-02 4.08825389e+02] [ 3.17799747e-02 9.99494781e-01 -4.63693864e-04 4.14791408e+00] [ 1.91955928e-02 -1.46501045e-04 9.99815737e-01 2.79204376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1092541539999 meters 0.014395704096309121 Centerline is valid? [True, True] Translation: X:408.86, Y:4.14, Z:2.79 [[ 9.99130249e-01 -3.70284419e-02 -1.91739443e-02 4.08855143e+02] [ 3.70263525e-02 9.99314182e-01 -4.64087429e-04 4.14355102e+00] [ 1.91779789e-02 -2.46257430e-04 9.99816055e-01 2.79257354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.13925415399996 meters 0.01602170409860815 Centerline is valid? [True, True] Translation: X:408.89, Y:4.14, Z:2.79 [[ 9.99013711e-01 -4.02171344e-02 -1.88198544e-02 4.08885470e+02] [ 4.02156864e-02 9.99190918e-01 -4.55548474e-04 4.14052835e+00] [ 1.88229484e-02 -3.01754190e-04 9.99822787e-01 2.79265196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.16925415399993 meters 0.01597253480263097 Centerline is valid? [True, True] Translation: X:408.92, Y:4.14, Z:2.79 [[ 9.98853999e-01 -4.43000522e-02 -1.81161223e-02 4.08916414e+02] [ 4.42993872e-02 9.99018204e-01 -4.38201875e-04 4.13852249e+00] [ 1.81177483e-02 -3.64833421e-04 9.99835794e-01 2.79396645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.19925415399996 meters 0.018713770175576433 Centerline is valid? [True, True] Translation: X:408.95, Y:4.13, Z:2.79 [[ 9.98690837e-01 -4.80255417e-02 -1.76113573e-02 4.08946890e+02] [ 4.80254975e-02 9.98846019e-01 -4.25686934e-04 4.13431959e+00] [ 1.76114780e-02 -4.20664556e-04 9.99844817e-01 2.79359366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.22925415399993 meters 0.020707593937540455 Centerline is valid? [True, True] Translation: X:408.98, Y:4.13, Z:2.79 [[ 9.98254831e-01 -5.69816048e-02 -1.55044580e-02 4.08977703e+02] [ 5.69826515e-02 9.98375098e-01 -3.74614236e-04 4.12651855e+00] [ 1.55006109e-02 -5.09524658e-04 9.99879728e-01 2.79481257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.25925415399996 meters 0.020566807793055305 Centerline is valid? [True, True] Translation: X:409.01, Y:4.13, Z:2.80 [[ 9.98014515e-01 -6.12757368e-02 -1.45709170e-02 4.09008999e+02] [ 6.12771226e-02 9.98120729e-01 -3.51751136e-04 4.12594968e+00] [ 1.45650881e-02 -5.41811129e-04 9.99893777e-01 2.79629426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.28925415399993 meters 0.023763696026919898 Centerline is valid? [True, True] Translation: X:409.04, Y:4.12, Z:2.80 [[ 9.97762592e-01 -6.53883580e-02 -1.39345563e-02 4.09039271e+02] [ 6.53900290e-02 9.97859725e-01 -3.36148989e-04 4.12075058e+00] [ 1.39267127e-02 -5.75784154e-04 9.99902853e-01 2.79640093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31925415399996 meters 0.02499357439410759 Centerline is valid? [True, True] Translation: X:409.07, Y:4.12, Z:2.80 [[ 9.97294080e-01 -7.23294001e-02 -1.31519965e-02 4.09069853e+02] [ 7.23314910e-02 9.97380597e-01 -3.17249520e-04 4.11808879e+00] [ 1.31404926e-02 -6.34912449e-04 9.99913458e-01 2.79758452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.34925415399994 meters 0.02849450870171155 Centerline is valid? [True, True] Translation: X:409.10, Y:4.11, Z:2.80 [[ 9.97064068e-01 -7.54829879e-02 -1.28671461e-02 4.09100522e+02] [ 7.54852527e-02 9.97146870e-01 -3.10247238e-04 4.11252870e+00] [ 1.28538528e-02 -6.61943398e-04 9.99917167e-01 2.79760168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37925415399997 meters 0.026845809081508982 Centerline is valid? [True, True] Translation: X:409.13, Y:4.11, Z:2.80 [[ 9.96843583e-01 -7.83558314e-02 -1.27763404e-02 4.09131366e+02] [ 7.83583026e-02 9.96925214e-01 -3.07825753e-04 4.11471236e+00] [ 1.27611758e-02 -6.94278218e-04 9.99918332e-01 2.79841724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.40925415399994 meters 0.027794870504559588 Centerline is valid? [True, True] Translation: X:409.16, Y:4.11, Z:2.80 [[ 9.96689507e-01 -8.03463517e-02 -1.24293831e-02 4.09163704e+02] [ 8.03488512e-02 9.96766759e-01 -2.98939307e-04 4.11337231e+00] [ 1.24132146e-02 -7.00736980e-04 9.99922708e-01 2.79899266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43925415399997 meters 0.02835230785156347 Centerline is valid? [True, True] Translation: X:409.19, Y:4.11, Z:2.80 [[ 9.96412084e-01 -8.37984264e-02 -1.18651994e-02 4.09194733e+02] [ 8.38009548e-02 9.96482473e-01 -2.84793645e-04 4.11286934e+00] [ 1.18473285e-02 -7.10543210e-04 9.99929565e-01 2.79980537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.46925415399994 meters 0.031172617403933265 Centerline is valid? [True, True] Translation: X:409.23, Y:4.11, Z:2.80 [[ 9.96312594e-01 -8.49798221e-02 -1.18171817e-02 4.09225889e+02] [ 8.49824176e-02 9.96382411e-01 -2.83242766e-04 4.10929112e+00] [ 1.17985020e-02 -7.22054340e-04 9.99930135e-01 2.79974504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49925415399997 meters 0.031246514252012563 Centerline is valid? [True, True] Translation: X:409.26, Y:4.11, Z:2.80 [[ 9.96225360e-01 -8.59864212e-02 -1.18898301e-02 4.09257994e+02] [ 8.59891290e-02 9.96296035e-01 -2.84238023e-04 4.10961401e+00] [ 1.18702312e-02 -7.39231008e-04 9.99929273e-01 2.79974350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.52925415399994 meters 0.03175104896243164 Centerline is valid? [True, True] Translation: X:409.29, Y:4.11, Z:2.80 [[ 9.96183420e-01 -8.64870992e-02 -1.17717771e-02 4.09289880e+02] [ 8.64897983e-02 9.96252697e-01 -2.80566359e-04 4.10939120e+00] [ 1.17519301e-02 -7.38643075e-04 9.99930671e-01 2.79935919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.559254154 meters 0.030744552282352004 Centerline is valid? [True, True] Translation: X:409.32, Y:4.11, Z:2.80 [[ 9.96161654e-01 -8.65322020e-02 -1.31961328e-02 4.09322001e+02] [ 8.65356113e-02 9.96248709e-01 -3.13491072e-04 4.11126532e+00] [ 1.31737574e-02 -8.29647637e-04 9.99912878e-01 2.79796049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.58925415399995 meters 0.031053964572654195 Centerline is valid? [True, True] Translation: X:409.35, Y:4.11, Z:2.80 [[ 9.96257640e-01 -8.53086371e-02 -1.38978591e-02 4.09353901e+02] [ 8.53123146e-02 9.96354204e-01 -3.29115166e-04 4.11243924e+00] [ 1.38752667e-02 -8.57775031e-04 9.99903366e-01 2.79687971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.619254154 meters 0.030559344067444098 Centerline is valid? [True, True] Translation: X:409.39, Y:4.11, Z:2.80 [[ 9.96311372e-01 -8.46095346e-02 -1.43135338e-02 4.09386281e+02] [ 8.46133788e-02 9.96413801e-01 -3.37896564e-04 4.11379773e+00] [ 1.42907919e-02 -8.74466268e-04 9.99897499e-01 2.79683114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.64925415399995 meters 0.030217709571491953 Centerline is valid? [True, True] Translation: X:409.42, Y:4.12, Z:2.80 [[ 9.96480905e-01 -8.24660205e-02 -1.50053616e-02 4.09417690e+02] [ 8.24700155e-02 9.96593484e-01 -3.53404691e-04 4.11611203e+00] [ 1.49833895e-02 -8.85331377e-04 9.99887351e-01 2.79632062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6792541539999 meters 0.026390415714980842 Centerline is valid? [True, True] Translation: X:409.45, Y:4.13, Z:2.80 [[ 9.96911109e-01 -7.69126552e-02 -1.58960595e-02 4.09448225e+02] [ 7.69164396e-02 9.97037472e-01 -3.74072305e-04 4.12554507e+00] [ 1.58777379e-02 -8.49751462e-04 9.99873580e-01 2.79704394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.70925415399995 meters 0.025540355071219375 Centerline is valid? [True, True] Translation: X:409.48, Y:4.13, Z:2.80 [[ 9.97154782e-01 -7.36356311e-02 -1.61286774e-02 4.09478714e+02] [ 7.36391001e-02 9.97284884e-01 -3.79512756e-04 4.12923677e+00] [ 1.61128318e-02 -8.09268327e-04 9.99869852e-01 2.79736871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7392541539999 meters 0.025540355071219375 Centerline is valid? [True, True] Translation: X:409.51, Y:4.13, Z:2.80 [[ 9.97162897e-01 -7.35256547e-02 -1.61287012e-02 4.09511283e+02] [ 7.35291256e-02 9.97292998e-01 -3.78498014e-04 4.12991178e+00] [ 1.61128701e-02 -8.08505119e-04 9.99869852e-01 2.79759445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.76925415399995 meters 0.024277362632510117 Centerline is valid? [True, True] Translation: X:409.54, Y:4.13, Z:2.80 [[ 9.97430590e-01 -6.98083029e-02 -1.60940643e-02 4.09541827e+02] [ 6.98112910e-02 9.97560144e-01 -3.76755579e-04 4.13385438e+00] [ 1.60810977e-02 -7.47759865e-04 9.99870411e-01 2.79807852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7992541539999 meters 0.023259951528925554 Centerline is valid? [True, True] Translation: X:409.57, Y:4.14, Z:2.80 [[ 9.97698172e-01 -6.60038950e-02 -1.55513333e-02 4.09572504e+02] [ 6.60062279e-02 9.97819145e-01 -3.63773126e-04 4.13711809e+00] [ 1.55414285e-02 -6.63549064e-04 9.99879005e-01 2.79834636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.82925415399995 meters 0.021204479082984496 Centerline is valid? [True, True] Translation: X:409.60, Y:4.14, Z:2.80 [[ 9.98201727e-01 -5.82263118e-02 -1.42480884e-02 4.09602922e+02] [ 5.82274802e-02 9.98303285e-01 -3.33171831e-04 4.14440002e+00] [ 1.42433128e-02 -4.97057586e-04 9.99898435e-01 2.79875614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8592541539999 meters 0.01977636601161334 Centerline is valid? [True, True] Translation: X:409.63, Y:4.15, Z:2.80 [[ 9.98418200e-01 -5.46049118e-02 -1.33940535e-02 4.09633027e+02] [ 5.46056203e-02 9.98507951e-01 -3.13082783e-04 4.14790374e+00] [ 1.33911647e-02 -4.18803049e-04 9.99910247e-01 2.79971265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.88925415399996 meters 0.018744873042346497 Centerline is valid? [True, True] Translation: X:409.66, Y:4.15, Z:2.80 [[ 9.98632045e-01 -5.07645635e-02 -1.25298616e-02 4.09664050e+02] [ 5.07648854e-02 9.98710589e-01 -2.92566410e-04 4.15178701e+00] [ 1.25285574e-02 -3.43910795e-04 9.99921455e-01 2.80060450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.91925415399993 meters 0.01768203812587064 Centerline is valid? [True, True] Translation: X:409.70, Y:4.16, Z:2.80 [[ 9.98835958e-01 -4.66356448e-02 -1.23225423e-02 4.09695656e+02] [ 4.66356485e-02 9.98911925e-01 -2.87200238e-04 4.15602579e+00] [ 1.23225282e-02 -2.87803825e-04 9.99924033e-01 2.80134372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.94925415399996 meters 0.015387503939523116 Centerline is valid? [True, True] Translation: X:409.73, Y:4.16, Z:2.80 [[ 9.99170770e-01 -3.89206261e-02 -1.19564665e-02 4.09726569e+02] [ 3.89200837e-02 9.99242288e-01 -2.78130912e-04 4.16493629e+00] [ 1.19582320e-02 -1.87446399e-04 9.99928480e-01 2.80186459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.97925415399993 meters 0.014721233985943846 Centerline is valid? [True, True] Translation: X:409.76, Y:4.17, Z:2.80 [[ 9.99302545e-01 -3.52493145e-02 -1.23251374e-02 4.09758609e+02] [ 3.52484670e-02 9.99378539e-01 -2.86054523e-04 4.16835492e+00] [ 1.23275611e-02 -1.48587187e-04 9.99924002e-01 2.80193090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.00925415399996 meters 0.014155795026619488 Centerline is valid? [True, True] Translation: X:409.79, Y:4.17, Z:2.80 [[ 9.99409290e-01 -3.20181081e-02 -1.24864544e-02 4.09790525e+02] [ 3.20169975e-02 9.99487283e-01 -2.88884828e-04 4.17119985e+00] [ 1.24893020e-02 -1.11064600e-04 9.99921999e-01 2.80216847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.03925415399993 meters 0.014042757036090805 Centerline is valid? [True, True] Translation: X:409.82, Y:4.17, Z:2.80 [[ 9.99495451e-01 -2.90992004e-02 -1.27310829e-02 4.09822309e+02] [ 2.90978210e-02 9.99576526e-01 -2.93604862e-04 4.17349147e+00] [ 1.27342353e-02 -7.69900475e-05 9.99918913e-01 2.80222313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.06925415399996 meters 0.01375649986654609 Centerline is valid? [True, True] Translation: X:409.85, Y:4.18, Z:2.80 [[ 9.99593966e-01 -2.53065210e-02 -1.30951546e-02 4.09853932e+02] [ 2.53047460e-02 9.99679738e-01 -3.01249500e-04 4.17587990e+00] [ 1.30985843e-02 -3.02423786e-05 9.99914209e-01 2.80237941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.09925415399994 meters 0.014207614136352029 Centerline is valid? [True, True] Translation: X:409.88, Y:4.18, Z:2.80 [[ 9.99619942e-01 -2.40385655e-02 -1.34951494e-02 4.09884694e+02] [ 2.40365701e-02 9.99711032e-01 -3.10064904e-04 4.17666482e+00] [ 1.34987033e-02 -1.44300428e-05 9.99908888e-01 2.80195938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12925415399997 meters 0.01371517320055088 Centerline is valid? [True, True] Translation: X:409.92, Y:4.18, Z:2.80 [[ 9.99630918e-01 -2.35938661e-02 -1.34668794e-02 4.09915317e+02] [ 2.35918419e-02 9.99721626e-01 -3.09172363e-04 4.17715493e+00] [ 1.34704252e-02 -8.65023811e-06 9.99909270e-01 2.80238849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.15925415399994 meters 0.013759351056919274 Centerline is valid? [True, True] Translation: X:409.95, Y:4.18, Z:2.80 [[ 9.99644365e-01 -2.34376705e-02 -1.27207873e-02 4.09946330e+02] [ 2.34358532e-02 9.99725300e-01 -2.91927868e-04 4.17608486e+00] [ 1.27241350e-02 -6.29845471e-06 9.99919045e-01 2.80334321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.18925415399997 meters 0.013751492676872588 Centerline is valid? [True, True] Translation: X:409.98, Y:4.18, Z:2.80 [[ 9.99638601e-01 -2.39128930e-02 -1.22817171e-02 4.09977206e+02] [ 2.39112349e-02 9.99714046e-01 -2.81851698e-04 4.17511501e+00] [ 1.22849450e-02 -1.19211851e-05 9.99924537e-01 2.80365963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.21925415399994 meters 0.013813787987344887 Centerline is valid? [True, True] Translation: X:410.01, Y:4.17, Z:2.80 [[ 9.99628435e-01 -2.46926035e-02 -1.15441789e-02 4.10008936e+02] [ 2.46911925e-02 9.99695091e-01 -2.64756746e-04 4.17378106e+00] [ 1.15471965e-02 -2.03811723e-05 9.99933329e-01 2.80412170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.24925415399997 meters 0.013739578462293055 Centerline is valid? [True, True] Translation: X:410.04, Y:4.17, Z:2.80 [[ 9.99605395e-01 -2.58736600e-02 -1.09365282e-02 4.10040038e+02] [ 2.58724694e-02 9.99665220e-01 -2.50360601e-04 4.17202833e+00] [ 1.09393446e-02 -3.26931832e-05 9.99940163e-01 2.80428651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.27925415399994 meters 0.0145569613372932 Centerline is valid? [True, True] Translation: X:410.07, Y:4.17, Z:2.80 [[ 9.99580965e-01 -2.69088643e-02 -1.06680980e-02 4.10071825e+02] [ 2.69077972e-02 9.99637890e-01 -2.43571288e-04 4.17011584e+00] [ 1.06707892e-02 -4.35857934e-05 9.99943065e-01 2.80421320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.309254154 meters 0.014235433725390975 Centerline is valid? [True, True] Translation: X:410.10, Y:4.17, Z:2.80 [[ 9.99464996e-01 -3.08905369e-02 -1.07469732e-02 4.10102867e+02] [ 3.08896919e-02 9.99522770e-01 -2.44651429e-04 4.16507746e+00] [ 1.07494018e-02 -8.74501524e-05 9.99942220e-01 2.80421641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.33925415399995 meters 0.014426284282271057 Centerline is valid? [True, True] Translation: X:410.13, Y:4.16, Z:2.80 [[ 9.99392571e-01 -3.29375588e-02 -1.13844838e-02 4.10134950e+02] [ 3.29367516e-02 9.99457405e-01 -2.58438576e-04 4.16311748e+00] [ 1.13868190e-02 -1.16686323e-04 9.99935161e-01 2.80440173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.369254154 meters 0.015480046599098924 Centerline is valid? [True, True] Translation: X:410.17, Y:4.16, Z:2.80 [[ 9.99328265e-01 -3.46968763e-02 -1.17960102e-02 4.10167463e+02] [ 3.46961426e-02 9.99397872e-01 -2.66899700e-04 4.16097966e+00] [ 1.17981681e-02 -1.42555638e-04 9.99930389e-01 2.80402869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.39925415399995 meters 0.015595517479862741 Centerline is valid? [True, True] Translation: X:410.20, Y:4.15, Z:2.80 [[ 9.99128595e-01 -3.98506587e-02 -1.24086957e-02 4.10199151e+02] [ 3.98502572e-02 9.99205624e-01 -2.79700644e-04 4.15430919e+00] [ 1.24099848e-02 -2.15032804e-04 9.99922970e-01 2.80381085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4292541539999 meters 0.01590944242584706 Centerline is valid? [True, True] Translation: X:410.23, Y:4.15, Z:2.80 [[ 9.99019399e-01 -4.24537005e-02 -1.25668035e-02 4.10231010e+02] [ 4.24535070e-02 9.99098404e-01 -2.82279841e-04 4.15152782e+00] [ 1.25674571e-02 -2.51501841e-04 9.99920995e-01 2.80384519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.45925415399995 meters 0.016951288324145886 Centerline is valid? [True, True] Translation: X:410.26, Y:4.15, Z:2.80 [[ 9.98907692e-01 -4.49744228e-02 -1.26776666e-02 4.10261906e+02] [ 4.49744430e-02 9.98988098e-01 -2.83646406e-04 4.14710256e+00] [ 1.26775949e-02 -2.86834417e-04 9.99919595e-01 2.80362616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4892541539999 meters 0.01850162567318377 Centerline is valid? [True, True] Translation: X:410.29, Y:4.14, Z:2.80 [[ 9.98681922e-01 -4.97713165e-02 -1.25393019e-02 4.10292307e+02] [ 4.97717263e-02 9.98760580e-01 -2.79573276e-04 4.13899674e+00] [ 1.25376752e-02 -3.44897926e-04 9.99921341e-01 2.80357499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.51925415399995 meters 0.018601693925556502 Centerline is valid? [True, True] Translation: X:410.32, Y:4.14, Z:2.80 [[ 9.98578679e-01 -5.18806941e-02 -1.22072121e-02 4.10324718e+02] [ 5.18812461e-02 9.98653224e-01 -2.71662831e-04 4.13721859e+00] [ 1.22048657e-02 -3.62048663e-04 9.99925452e-01 2.80411874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5492541539999 meters 0.019337093525444042 Centerline is valid? [True, True] Translation: X:410.36, Y:4.13, Z:2.80 [[ 9.98489249e-01 -5.36229842e-02 -1.19914934e-02 4.10357276e+02] [ 5.36236528e-02 9.98561181e-01 -2.65995693e-04 4.13426309e+00] [ 1.19885033e-02 -3.77433840e-04 9.99928064e-01 2.80401504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.57925415399995 meters 0.020618900048078505 Centerline is valid? [True, True] Translation: X:410.39, Y:4.13, Z:2.80 [[ 9.98425494e-01 -5.47500277e-02 -1.22052047e-02 4.10389920e+02] [ 5.47508154e-02 9.98500013e-01 -2.69838213e-04 4.13165941e+00] [ 1.22016707e-02 -3.98831559e-04 9.99925477e-01 2.80324748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6092541539999 meters 0.019663339494797368 Centerline is valid? [True, True] Translation: X:410.42, Y:4.13, Z:2.80 [[ 9.98322713e-01 -5.66079434e-02 -1.21367519e-02 4.10422419e+02] [ 5.66088702e-02 9.98396396e-01 -2.67437621e-04 4.12816534e+00] [ 1.21324284e-02 -4.20058760e-04 9.99926311e-01 2.80372605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.63925415399996 meters 0.01993116690236694 Centerline is valid? [True, True] Translation: X:410.45, Y:4.13, Z:2.80 [[ 9.98320609e-01 -5.67129757e-02 -1.18152377e-02 4.10454882e+02] [ 5.67138715e-02 9.98390439e-01 -2.59494113e-04 4.12676914e+00] [ 1.18109370e-02 -4.11029551e-04 9.99930164e-01 2.80386180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.66925415399993 meters 0.020474023113843977 Centerline is valid? [True, True] Translation: X:410.49, Y:4.13, Z:2.80 [[ 9.98324462e-01 -5.66385987e-02 -1.18464128e-02 4.10486031e+02] [ 5.66395033e-02 9.98394661e-01 -2.59397020e-04 4.12528498e+00] [ 1.18420872e-02 -4.12012549e-04 9.99929795e-01 2.80431632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.69925415399996 meters 0.02060787129276366 Centerline is valid? [True, True] Translation: X:410.52, Y:4.12, Z:2.80 [[ 9.98352981e-01 -5.61714043e-02 -1.16661175e-02 4.10518096e+02] [ 5.61722580e-02 9.98421060e-01 -2.54732144e-04 4.12466249e+00] [ 1.16620061e-02 -4.00999567e-04 9.99931916e-01 2.80442726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.72925415399993 meters 0.02065510217404789 Centerline is valid? [True, True] Translation: X:410.55, Y:4.12, Z:2.80 [[ 9.98436303e-01 -5.46270587e-02 -1.18673567e-02 4.10549810e+02] [ 5.46278434e-02 9.98506751e-01 -2.58263526e-04 4.12340461e+00] [ 1.18637439e-02 -3.90428423e-04 9.99929547e-01 2.80468456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.75925415399996 meters 0.020277362600148927 Centerline is valid? [True, True] Translation: X:410.58, Y:4.12, Z:2.80 [[ 9.98492285e-01 -5.36261109e-02 -1.17216470e-02 4.10581586e+02] [ 5.36268173e-02 9.98561015e-01 -2.54259793e-04 4.12350777e+00] [ 1.17184147e-02 -3.74718180e-04 9.99931267e-01 2.80490993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.78925415399993 meters 0.020096243777092418 Centerline is valid? [True, True] Translation: X:410.61, Y:4.12, Z:2.81 [[ 9.98564105e-01 -5.23053661e-02 -1.15705549e-02 4.10612655e+02] [ 5.23059743e-02 9.98631074e-01 -2.50245896e-04 4.12274916e+00] [ 1.15678049e-02 -3.55322579e-04 9.99933028e-01 2.80533828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81925415399996 meters 0.021323778305324198 Centerline is valid? [True, True] Translation: X:410.65, Y:4.12, Z:2.80 [[ 9.98657719e-01 -5.04301621e-02 -1.18135393e-02 4.10645050e+02] [ 5.04306736e-02 9.98727532e-01 -2.54776763e-04 4.12267693e+00] [ 1.18113554e-02 -3.41329964e-04 9.99930185e-01 2.80406925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.84925415399994 meters 0.01975130691495841 Centerline is valid? [True, True] Translation: X:410.68, Y:4.12, Z:2.81 [[ 9.98674890e-01 -5.01244596e-02 -1.16620370e-02 4.10676192e+02] [ 5.01249459e-02 9.98742923e-01 -2.50772709e-04 4.12192814e+00] [ 1.16599467e-02 -3.34118565e-04 9.99931965e-01 2.80566410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87925415399997 meters 0.018218953535351252 Centerline is valid? [True, True] Translation: X:410.71, Y:4.12, Z:2.81 [[ 9.98782124e-01 -4.78392284e-02 -1.20696773e-02 4.10708203e+02] [ 4.78395916e-02 9.98854998e-01 -2.58788643e-04 4.12325137e+00] [ 1.20682378e-02 -3.18934964e-04 9.99927125e-01 2.80573887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.90925415399994 meters 0.017672858709554068 Centerline is valid? [True, True] Translation: X:410.74, Y:4.12, Z:2.81 [[ 9.98814371e-01 -4.69679041e-02 -1.28011308e-02 4.10740161e+02] [ 4.69682534e-02 9.98896345e-01 -2.73513948e-04 4.12453887e+00] [ 1.27998491e-02 -3.28057094e-04 9.99918025e-01 2.80600464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93925415399997 meters 0.018607215421446954 Centerline is valid? [True, True] Translation: X:410.77, Y:4.12, Z:2.81 [[ 9.98877866e-01 -4.54590417e-02 -1.32847236e-02 4.10771212e+02] [ 4.54592961e-02 9.98966152e-01 -2.82975069e-04 4.12377133e+00] [ 1.32838530e-02 -3.21256650e-04 9.99911714e-01 2.80511722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.96925415399994 meters 0.017984407117013403 Centerline is valid? [True, True] Translation: X:410.80, Y:4.12, Z:2.81 [[ 9.98923945e-01 -4.44535874e-02 -1.32223561e-02 4.10802839e+02] [ 4.44537593e-02 9.99011403e-01 -2.81049177e-04 4.12417357e+00] [ 1.32217781e-02 -3.07036682e-04 9.99912541e-01 2.80541231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99925415399997 meters 0.01633548194677496 Centerline is valid? [True, True] Translation: X:410.83, Y:4.13, Z:2.81 [[ 9.99021721e-01 -4.19122722e-02 -1.41053896e-02 4.10833701e+02] [ 4.19122221e-02 9.99121252e-01 -2.99291847e-04 4.12695786e+00] [ 1.41055385e-02 -2.92189167e-04 9.99900469e-01 2.80616585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.02925415399994 meters 0.01664490954425684 Centerline is valid? [True, True] Translation: X:410.86, Y:4.13, Z:2.81 [[ 9.99073360e-01 -4.07284054e-02 -1.39146843e-02 4.10863992e+02] [ 4.07282472e-02 9.99170217e-01 -2.94863215e-04 4.12632442e+00] [ 1.39151474e-02 -2.72130718e-04 9.99903143e-01 2.80611547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.059254154 meters 0.016369229703480304 Centerline is valid? [True, True] Translation: X:410.90, Y:4.13, Z:2.81 [[ 9.99117066e-01 -3.96987949e-02 -1.37511134e-02 4.10895372e+02] [ 3.96985480e-02 9.99211660e-01 -2.91026812e-04 4.12707444e+00] [ 1.37518263e-02 -2.55129382e-04 9.99905407e-01 2.80685148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.08925415399995 meters 0.017504413479954066 Centerline is valid? [True, True] Translation: X:410.93, Y:4.13, Z:2.81 [[ 9.99235824e-01 -3.69675098e-02 -1.26953222e-02 4.10926989e+02] [ 3.69670845e-02 9.99316448e-01 -2.68243175e-04 4.12799456e+00] [ 1.26965606e-02 -2.01270860e-04 9.99919375e-01 2.80747742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.119254154 meters 0.015736707707407177 Centerline is valid? [True, True] Translation: X:410.96, Y:4.13, Z:2.81 [[ 9.99249069e-01 -3.69300586e-02 -1.17247388e-02 4.10958221e+02] [ 3.69296980e-02 9.99317835e-01 -2.47325969e-04 4.12873277e+00] [ 1.17258743e-02 -1.85850819e-04 9.99931232e-01 2.80964109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.14925415399995 meters 0.015852040609667637 Centerline is valid? [True, True] Translation: X:410.99, Y:4.13, Z:2.81 [[ 9.99275837e-01 -3.62848325e-02 -1.14547968e-02 4.10989755e+02] [ 3.62844517e-02 9.99341473e-01 -2.41133541e-04 4.12785766e+00] [ 1.14560030e-02 -1.74672099e-04 9.99934363e-01 2.81021531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1792541539999 meters 0.015528544764290131 Centerline is valid? [True, True] Translation: X:411.02, Y:4.13, Z:2.81 [[ 9.99263397e-01 -3.65411263e-02 -1.17221657e-02 4.11020891e+02] [ 3.65407518e-02 9.99332133e-01 -2.46195252e-04 4.12752184e+00] [ 1.17233331e-02 -1.82322844e-04 9.99931263e-01 2.81070949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.20925415399995 meters 0.01852131992893297 Centerline is valid? [True, True] Translation: X:411.05, Y:4.13, Z:2.81 [[ 9.99255269e-01 -3.65820244e-02 -1.22744595e-02 4.11052419e+02] [ 3.65816225e-02 9.99330635e-01 -2.57332009e-04 4.12624891e+00] [ 1.22756571e-02 -1.91879278e-04 9.99924633e-01 2.80852989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2392541539999 meters 0.016058198586233037 Centerline is valid? [True, True] Translation: X:411.08, Y:4.13, Z:2.81 [[ 9.99180932e-01 -3.85394117e-02 -1.23360930e-02 4.11083519e+02] [ 3.85391605e-02 9.99257057e-01 -2.58171166e-04 4.12528085e+00] [ 1.23368778e-02 -2.17462963e-04 9.99923874e-01 2.81049029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.26925415399995 meters 0.01663888900593175 Centerline is valid? [True, True] Translation: X:411.12, Y:4.12, Z:2.81 [[ 9.99132659e-01 -3.96895120e-02 -1.25964982e-02 4.11115355e+02] [ 3.96893473e-02 9.99212033e-01 -2.63155263e-04 4.12383884e+00] [ 1.25970171e-02 -2.37019772e-04 9.99920626e-01 2.81009355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2992541539999 meters 0.01660885085602669 Centerline is valid? [True, True] Translation: X:411.15, Y:4.12, Z:2.81 [[ 9.99044582e-01 -4.17104820e-02 -1.30445157e-02 4.11146514e+02] [ 4.17104839e-02 9.99129702e-01 -2.72029275e-04 4.12247421e+00] [ 1.30445096e-02 -2.72323691e-04 9.99914880e-01 2.81056689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.32925415399995 meters 0.017378174031585196 Centerline is valid? [True, True] Translation: X:411.18, Y:4.12, Z:2.81 [[ 9.98852085e-01 -4.57422238e-02 -1.42183741e-02 4.11177439e+02] [ 4.57426401e-02 9.98953214e-01 -2.96097053e-04 4.11860690e+00] [ 1.42170347e-02 -3.54628811e-04 9.99898870e-01 2.81021507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3592541539999 meters 0.018027862794036727 Centerline is valid? [True, True] Translation: X:411.21, Y:4.12, Z:2.81 [[ 9.98746793e-01 -4.79687998e-02 -1.42771851e-02 4.11209214e+02] [ 4.79694526e-02 9.98848759e-01 -2.96922444e-04 4.11652970e+00] [ 1.42749916e-02 -3.88318414e-04 9.99898032e-01 2.81014527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.38925415399996 meters 0.019842890298498655 Centerline is valid? [True, True] Translation: X:411.24, Y:4.11, Z:2.81 [[ 9.98658617e-01 -4.96264149e-02 -1.47711122e-02 4.11240335e+02] [ 4.96273030e-02 9.98767759e-01 -3.06641028e-04 4.11451814e+00] [ 1.47681281e-02 -4.26820755e-04 9.99890854e-01 2.80852924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.41925415399993 meters 0.020490002338357443 Centerline is valid? [True, True] Translation: X:411.27, Y:4.11, Z:2.81 [[ 9.98456808e-01 -5.36054259e-02 -1.45073020e-02 4.11270476e+02] [ 5.36067140e-02 9.98562081e-01 -3.00338788e-04 4.10906151e+00] [ 1.45025415e-02 -4.77813483e-04 9.99894718e-01 2.81019814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.44925415399996 meters 0.02064872480655637 Centerline is valid? [True, True] Translation: X:411.30, Y:4.11, Z:2.81 [[ 9.98399160e-01 -5.46633429e-02 -1.45270825e-02 4.11301980e+02] [ 5.46647580e-02 9.98504719e-01 -2.99948829e-04 4.10841502e+00] [ 1.45217567e-02 -4.94650792e-04 9.99894431e-01 2.81091637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.47925415399993 meters 0.02153203755691319 Centerline is valid? [True, True] Translation: X:411.33, Y:4.11, Z:2.81 [[ 9.98358524e-01 -5.53903498e-02 -1.45659335e-02 4.11332569e+02] [ 5.53918554e-02 9.98464647e-01 -3.00364109e-04 4.10708264e+00] [ 1.45602069e-02 -5.06963012e-04 9.99893866e-01 2.81109025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.50925415399996 meters 0.02166804134773424 Centerline is valid? [True, True] Translation: X:411.36, Y:4.11, Z:2.81 [[ 9.98396309e-01 -5.47123504e-02 -1.45385363e-02 4.11364061e+02] [ 5.47137843e-02 9.98502034e-01 -2.99402252e-04 4.10815758e+00] [ 1.45331391e-02 -4.96536238e-04 9.99894265e-01 2.81086260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.53925415399993 meters 0.02305116056128216 Centerline is valid? [True, True] Translation: X:411.39, Y:4.11, Z:2.81 [[ 9.98447057e-01 -5.37663473e-02 -1.45826816e-02 4.11394656e+02] [ 5.37676947e-02 9.98553426e-01 -2.99925620e-04 4.10735677e+00] [ 1.45777126e-02 -4.84617322e-04 9.99893622e-01 2.81003783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.56925415399996 meters 0.020636776458747653 Centerline is valid? [True, True] Translation: X:411.43, Y:4.11, Z:2.81 [[ 9.98457060e-01 -5.37297058e-02 -1.40220564e-02 4.11426119e+02] [ 5.37309532e-02 9.98555407e-01 -2.88022858e-04 4.10963277e+00] [ 1.40172757e-02 -4.65840002e-04 9.99901645e-01 2.81284442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.59925415399994 meters 0.02092793920433482 Centerline is valid? [True, True] Translation: X:411.46, Y:4.11, Z:2.81 [[ 9.98485171e-01 -5.32977795e-02 -1.36642095e-02 4.11456701e+02] [ 5.32989285e-02 9.98578563e-01 -2.80311514e-04 4.10959148e+00] [ 1.36597267e-02 -4.48400836e-04 9.99906601e-01 2.81331158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62925415399997 meters 0.019981739393849837 Centerline is valid? [True, True] Translation: X:411.49, Y:4.11, Z:2.81 [[ 9.98507890e-01 -5.29111135e-02 -1.35058310e-02 4.11488293e+02] [ 5.29122056e-02 9.98599130e-01 -2.76703318e-04 4.11148234e+00] [ 1.35015517e-02 -4.38332860e-04 9.99908754e-01 2.81442227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.65925415399994 meters 0.019981739393849837 Centerline is valid? [True, True] Translation: X:411.52, Y:4.11, Z:2.81 [[ 9.98511723e-01 -5.28387272e-02 -1.35058458e-02 4.11519989e+02] [ 5.28398225e-02 9.98602963e-01 -2.75976235e-04 4.11206986e+00] [ 1.35015599e-02 -4.38080991e-04 9.99908754e-01 2.81464190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.68925415399997 meters 0.02166313738404383 Centerline is valid? [True, True] Translation: X:411.55, Y:4.11, Z:2.81 [[ 9.98506720e-01 -5.27495729e-02 -1.42061050e-02 4.11552277e+02] [ 5.27507908e-02 9.98607666e-01 -2.89230904e-04 4.11205476e+00] [ 1.42015822e-02 -4.60584273e-04 9.99899046e-01 2.81314098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.71925415399994 meters 0.023070710609054395 Centerline is valid? [True, True] Translation: X:411.58, Y:4.11, Z:2.81 [[ 9.98468729e-01 -5.32965478e-02 -1.48214195e-02 4.11583211e+02] [ 5.32979456e-02 9.98578609e-01 -3.00954090e-04 4.11191275e+00] [ 1.48163922e-02 -4.89457960e-04 9.99890111e-01 2.81228115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.74925415399997 meters 0.021474854686779895 Centerline is valid? [True, True] Translation: X:411.61, Y:4.11, Z:2.81 [[ 9.98395705e-01 -5.47523635e-02 -1.44289529e-02 4.11613835e+02] [ 5.47538455e-02 9.98499840e-01 -2.92610835e-04 4.11140127e+00] [ 1.44233283e-02 -4.97899255e-04 9.99895854e-01 2.81482437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.77925415399994 meters 0.021676996111170087 Centerline is valid? [True, True] Translation: X:411.64, Y:4.11, Z:2.81 [[ 9.98305960e-01 -5.62587520e-02 -1.48379252e-02 4.11644602e+02] [ 5.62604924e-02 9.98416079e-01 -3.00427557e-04 4.11173580e+00] [ 1.48313248e-02 -5.34870356e-04 9.99889867e-01 2.81473882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.809254154 meters 0.02499568843775197 Centerline is valid? [True, True] Translation: X:411.67, Y:4.11, Z:2.81 [[ 9.98113971e-01 -5.94583124e-02 -1.52711988e-02 4.11674709e+02] [ 5.94605346e-02 9.98230609e-01 -3.08884065e-04 4.10635738e+00] [ 1.52625438e-02 -5.99732146e-04 9.99883341e-01 2.81398258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.83925415399995 meters 0.025107771476949283 Centerline is valid? [True, True] Translation: X:411.71, Y:4.11, Z:2.81 [[ 9.97998432e-01 -6.13256051e-02 -1.54369550e-02 4.11705925e+02] [ 6.13281034e-02 9.98117612e-01 -3.11942134e-04 4.10600636e+00] [ 1.54270267e-02 -6.35401413e-04 9.99880794e-01 2.81444680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.869254154 meters 0.02376200657260773 Centerline is valid? [True, True] Translation: X:411.74, Y:4.11, Z:2.81 [[ 9.97922518e-01 -6.25111523e-02 -1.55885505e-02 4.11737398e+02] [ 6.25138530e-02 9.98044047e-01 -3.14447532e-04 4.10916870e+00] [ 1.55777165e-02 -6.60706083e-04 9.99878442e-01 2.81432254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.89925415399995 meters 0.025703328868092987 Centerline is valid? [True, True] Translation: X:411.77, Y:4.11, Z:2.81 [[ 9.97811625e-01 -6.39763939e-02 -1.67027511e-02 4.11768411e+02] [ 6.39797070e-02 9.97951143e-01 -3.36474482e-04 4.10838643e+00] [ 1.66900559e-02 -7.32898968e-04 9.99860443e-01 2.81268105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9292541539999 meters 0.02450908542716834 Centerline is valid? [True, True] Translation: X:411.80, Y:4.11, Z:2.81 [[ 9.97782816e-01 -6.45710052e-02 -1.61256787e-02 4.11798284e+02] [ 6.45741753e-02 9.97912857e-01 -3.24561751e-04 4.10871578e+00] [ 1.61129794e-02 -7.17460268e-04 9.99869920e-01 2.81465544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.95925415399995 meters 0.02662431829702704 Centerline is valid? [True, True] Translation: X:411.83, Y:4.11, Z:2.81 [[ 9.97806715e-01 -6.39545924e-02 -1.70754244e-02 4.11829182e+02] [ 6.39580655e-02 9.97952528e-01 -3.43180956e-04 4.10953731e+00] [ 1.70624109e-02 -7.49682849e-04 9.99854145e-01 2.81217800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9892541539999 meters 0.024790946002682245 Centerline is valid? [True, True] Translation: X:411.86, Y:4.11, Z:2.81 [[ 9.97830290e-01 -6.35490374e-02 -1.72114097e-02 4.11860644e+02] [ 6.35525166e-02 9.97978436e-01 -3.45289187e-04 4.11244088e+00] [ 1.71985586e-02 -7.49288394e-04 9.99851813e-01 2.81360695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.01925415399995 meters 0.02329341641322953 Centerline is valid? [True, True] Translation: X:411.89, Y:4.11, Z:2.82 [[ 9.97885881e-01 -6.28512162e-02 -1.65376495e-02 4.11892152e+02] [ 6.28543423e-02 9.98022656e-01 -3.31180575e-04 4.11458201e+00] [ 1.65257640e-02 -7.08982664e-04 9.99863189e-01 2.81560294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0492541539999 meters 0.024050360067412565 Centerline is valid? [True, True] Translation: X:411.92, Y:4.12, Z:2.82 [[ 9.98062520e-01 -6.00120119e-02 -1.64245297e-02 4.11922693e+02] [ 6.00147308e-02 9.98197438e-01 -3.27743968e-04 4.11607310e+00] [ 1.64145920e-02 -6.58604757e-04 9.99865055e-01 2.81591193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.07925415399995 meters 0.023767214299156535 Centerline is valid? [True, True] Translation: X:411.95, Y:4.12, Z:2.82 [[ 9.98168132e-01 -5.83860341e-02 -1.58571942e-02 4.11953269e+02] [ 5.83883738e-02 9.98293894e-01 -3.15774377e-04 4.11851340e+00] [ 1.58485770e-02 -6.10679865e-04 9.99874217e-01 2.81658010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1092541539999 meters 0.023468969161395004 Centerline is valid? [True, True] Translation: X:411.98, Y:4.12, Z:2.82 [[ 9.98299900e-01 -5.63040673e-02 -1.50718719e-02 4.11984315e+02] [ 5.63059461e-02 9.98413517e-01 -2.99993832e-04 4.12172174e+00] [ 1.50648515e-02 -5.49152193e-04 9.99886368e-01 2.81684546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.13925415399996 meters 0.021473223421924544 Centerline is valid? [True, True] Translation: X:412.02, Y:4.13, Z:2.82 [[ 9.98538360e-01 -5.23836323e-02 -1.33078348e-02 4.12015017e+02] [ 5.23847520e-02 9.98626941e-01 -2.64664672e-04 4.12767569e+00] [ 1.33034265e-02 -4.32849800e-04 9.99911412e-01 2.81983466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.16925415399993 meters 0.021221075257165937 Centerline is valid? [True, True] Translation: X:412.05, Y:4.13, Z:2.82 [[ 9.98665572e-01 -5.00448669e-02 -1.27509609e-02 4.12045226e+02] [ 5.00457071e-02 9.98746896e-01 -2.53374147e-04 4.13035319e+00] [ 1.27476627e-02 -3.85094819e-04 9.99918671e-01 2.82026088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.19925415399996 meters 0.018108471095421772 Centerline is valid? [True, True] Translation: X:412.08, Y:4.14, Z:2.82 [[ 9.98791785e-01 -4.75759294e-02 -1.23085511e-02 4.12076105e+02] [ 4.75765288e-02 9.98867566e-01 -2.44270117e-04 4.13795492e+00] [ 1.23062338e-02 -3.41623149e-04 9.99924217e-01 2.82153248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.22925415399993 meters 0.018901995088119104 Centerline is valid? [True, True] Translation: X:412.11, Y:4.14, Z:2.82 [[ 9.98900567e-01 -4.51953667e-02 -1.24513765e-02 4.12107195e+02] [ 4.51958010e-02 9.98978117e-01 -2.46645174e-04 4.14072949e+00] [ 1.24497999e-02 -3.16375931e-04 9.99922448e-01 2.82055247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.25925415399996 meters 0.017188080842135488 Centerline is valid? [True, True] Translation: X:412.14, Y:4.15, Z:2.82 [[ 9.99064038e-01 -4.15367136e-02 -1.20726755e-02 4.12138036e+02] [ 4.15368601e-02 9.99136944e-01 -2.38710589e-04 4.14554751e+00] [ 1.20721713e-02 -2.62973868e-04 9.99927094e-01 2.82158286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.28925415399993 meters 0.016842331090141216 Centerline is valid? [True, True] Translation: X:412.17, Y:4.15, Z:2.82 [[ 9.99127054e-01 -3.97498297e-02 -1.28483632e-02 4.12169539e+02] [ 3.97498542e-02 9.99209630e-01 -2.53567814e-04 4.14813641e+00] [ 1.28482875e-02 -2.57374102e-04 9.99917424e-01 2.82129928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31925415399996 meters 0.016328306306834163 Centerline is valid? [True, True] Translation: X:412.20, Y:4.15, Z:2.82 [[ 9.99188462e-01 -3.81382419e-02 -1.29573249e-02 4.12200719e+02] [ 3.81381374e-02 9.99272444e-01 -2.55250849e-04 4.15110880e+00] [ 1.29576325e-02 -2.39124532e-04 9.99916018e-01 2.82148968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.34925415399994 meters 0.015833580741778635 Centerline is valid? [True, True] Translation: X:412.23, Y:4.15, Z:2.82 [[ 9.99241363e-01 -3.65714363e-02 -1.33876434e-02 4.12231648e+02] [ 3.65711892e-02 9.99331016e-01 -2.63350312e-04 4.15373950e+00] [ 1.33883184e-02 -2.26451516e-04 9.99910347e-01 2.82179891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37925415399997 meters 0.015363057546609665 Centerline is valid? [True, True] Translation: X:412.26, Y:4.16, Z:2.82 [[ 9.99326855e-01 -3.41865019e-02 -1.33086635e-02 4.12262414e+02] [ 3.41860479e-02 9.99415452e-01 -2.61670099e-04 4.15669951e+00] [ 1.33098295e-02 -1.93476651e-04 9.99911402e-01 2.82199607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.40925415399994 meters 0.015368195757378952 Centerline is valid? [True, True] Translation: X:412.29, Y:4.16, Z:2.82 [[ 9.99353962e-01 -3.32595859e-02 -1.36183427e-02 4.12293776e+02] [ 3.32590279e-02 9.99446730e-01 -2.67512932e-04 4.15836127e+00] [ 1.36197054e-02 -1.85592731e-04 9.99907230e-01 2.82214116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43925415399997 meters 0.01564830158234992 Centerline is valid? [True, True] Translation: X:412.33, Y:4.16, Z:2.82 [[ 9.99399777e-01 -3.15183502e-02 -1.43763386e-02 4.12325263e+02] [ 3.15175560e-02 9.99503159e-01 -2.81860474e-04 4.16089351e+00] [ 1.43780796e-02 -1.71415762e-04 9.99896615e-01 2.82174791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.46925415399994 meters 0.017251412753035357 Centerline is valid? [True, True] Translation: X:412.36, Y:4.16, Z:2.82 [[ 9.99433792e-01 -3.03903204e-02 -1.44403483e-02 4.12355145e+02] [ 3.03894031e-02 9.99538095e-01 -2.82996814e-04 4.16214221e+00] [ 1.44422786e-02 -1.55996987e-04 9.99895693e-01 2.82044072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49925415399997 meters 0.015068812225668101 Centerline is valid? [True, True] Translation: X:412.39, Y:4.16, Z:2.82 [[ 9.99452793e-01 -2.99581121e-02 -1.40223498e-02 4.12385255e+02] [ 2.99572029e-02 9.99551144e-01 -2.74927478e-04 4.16371077e+00] [ 1.40242921e-02 -1.45293342e-04 9.99901644e-01 2.82265570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.52925415399994 meters 0.015586978337028367 Centerline is valid? [True, True] Translation: X:412.42, Y:4.16, Z:2.82 [[ 9.99475691e-01 -2.92204939e-02 -1.39465592e-02 4.12415873e+02] [ 2.92195227e-02 9.99572981e-01 -2.73441500e-04 4.16482438e+00] [ 1.39485939e-02 -1.34213673e-04 9.99902705e-01 2.82241641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.559254154 meters 0.014931779420234114 Centerline is valid? [True, True] Translation: X:412.45, Y:4.17, Z:2.82 [[ 9.99486612e-01 -2.90129515e-02 -1.35926748e-02 4.12446570e+02] [ 2.90120097e-02 9.99579028e-01 -2.66503107e-04 4.16555881e+00] [ 1.35946847e-02 -1.27984525e-04 9.99907580e-01 2.82331094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.58925415399995 meters 0.014955083727798808 Centerline is valid? [True, True] Translation: X:412.48, Y:4.17, Z:2.82 [[ 9.99475463e-01 -2.95252290e-02 -1.33064019e-02 4.12477509e+02] [ 2.95243719e-02 9.99564027e-01 -2.60890334e-04 4.16569877e+00] [ 1.33083035e-02 -1.32109672e-04 9.99911432e-01 2.82403044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.619254154 meters 0.015303426870094743 Centerline is valid? [True, True] Translation: X:412.51, Y:4.16, Z:2.82 [[ 9.99441636e-01 -3.06110341e-02 -1.33932784e-02 4.12507336e+02] [ 3.06102616e-02 9.99531362e-01 -2.62711789e-04 4.16490751e+00] [ 1.33950437e-02 -1.47406657e-04 9.99910272e-01 2.82400943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.64925415399995 meters 0.01763417497814714 Centerline is valid? [True, True] Translation: X:412.54, Y:4.16, Z:2.82 [[ 9.99408294e-01 -3.15031337e-02 -1.38063191e-02 4.12537548e+02] [ 3.15023962e-02 9.99503640e-01 -2.70944142e-04 4.16398405e+00] [ 1.38080018e-02 -1.64148313e-04 9.99904652e-01 2.82244361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6792541539999 meters 0.01571933769817983 Centerline is valid? [True, True] Translation: X:412.57, Y:4.16, Z:2.82 [[ 9.99337911e-01 -3.39156473e-02 -1.31707696e-02 4.12566696e+02] [ 3.39151841e-02 9.99424681e-01 -2.58584660e-04 4.16279633e+00] [ 1.31719623e-02 -1.88275622e-04 9.99913228e-01 2.82490700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.70925415399995 meters 0.018364347128453987 Centerline is valid? [True, True] Translation: X:412.60, Y:4.16, Z:2.82 [[ 9.99150377e-01 -3.89204325e-02 -1.35545009e-02 4.12596600e+02] [ 3.89204005e-02 9.99242279e-01 -2.66247545e-04 4.15775937e+00] [ 1.35545929e-02 -2.61525269e-04 9.99908098e-01 2.82356414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7392541539999 meters 0.017822911588365 Centerline is valid? [True, True] Translation: X:412.63, Y:4.16, Z:2.83 [[ 9.99021510e-01 -4.22557424e-02 -1.30565617e-02 4.12626660e+02] [ 4.22559988e-02 9.99106784e-01 -2.56358388e-04 4.15530173e+00] [ 1.30557320e-02 -2.95610512e-04 9.99914727e-01 2.82554314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.76925415399995 meters 0.018990311967154942 Centerline is valid? [True, True] Translation: X:412.66, Y:4.15, Z:2.83 [[ 9.98768519e-01 -4.78096634e-02 -1.32544954e-02 4.12657739e+02] [ 4.78104194e-02 9.98856394e-01 -2.60005109e-04 4.15199320e+00] [ 1.32517683e-02 -3.74018068e-04 9.99912122e-01 2.82552718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7992541539999 meters 0.02025831881267371 Centerline is valid? [True, True] Translation: X:412.69, Y:4.15, Z:2.83 [[ 9.98644810e-01 -5.03492220e-02 -1.31719242e-02 4.12688467e+02] [ 5.03501939e-02 9.98731591e-01 -2.58032087e-04 4.14851778e+00] [ 1.31682085e-02 -4.05526532e-04 9.99913213e-01 2.82588008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.82925415399995 meters 0.020051288920244124 Centerline is valid? [True, True] Translation: X:412.72, Y:4.15, Z:2.83 [[ 9.98516933e-01 -5.28135672e-02 -1.32159770e-02 4.12720087e+02] [ 5.28147676e-02 9.98604293e-01 -2.58411770e-04 4.14880953e+00] [ 1.32111791e-02 -4.39970229e-04 9.99912632e-01 2.82653137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8592541539999 meters 0.020335815504438203 Centerline is valid? [True, True] Translation: X:412.75, Y:4.15, Z:2.83 [[ 9.98417911e-01 -5.47077461e-02 -1.29899103e-02 4.12752087e+02] [ 5.47090749e-02 9.98502305e-01 -2.53293958e-04 4.14838411e+00] [ 1.29843125e-02 -4.57772752e-04 9.99915595e-01 2.82705734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.88925415399996 meters 0.022550661997503843 Centerline is valid? [True, True] Translation: X:412.78, Y:4.15, Z:2.83 [[ 9.98331977e-01 -5.59777692e-02 -1.41334294e-02 4.12784648e+02] [ 5.59794848e-02 9.98431881e-01 -2.74501921e-04 4.14757008e+00] [ 1.41266325e-02 -5.17138049e-04 9.99900080e-01 2.82530290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.91925415399993 meters 0.021624734244613295 Centerline is valid? [True, True] Translation: X:412.82, Y:4.15, Z:2.83 [[ 9.98192946e-01 -5.85874575e-02 -1.33548623e-02 4.12816684e+02] [ 5.85892353e-02 9.98282142e-01 -2.58421720e-04 4.14765828e+00] [ 1.33470608e-02 -5.24496430e-04 9.99910786e-01 2.82774291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.94925415399996 meters 0.023789364178509072 Centerline is valid? [True, True] Translation: X:412.85, Y:4.15, Z:2.83 [[ 9.98149770e-01 -5.92986746e-02 -1.34425757e-02 4.12847711e+02] [ 5.93005520e-02 9.98240140e-01 -2.59243065e-04 4.14555218e+00] [ 1.34342914e-02 -5.38388752e-04 9.99909611e-01 2.82777947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.97925415399993 meters 0.024184592136020026 Centerline is valid? [True, True] Translation: X:412.88, Y:4.15, Z:2.83 [[ 9.98127560e-01 -5.96262620e-02 -1.36411834e-02 4.12879815e+02] [ 5.96282376e-02 9.98220619e-01 -2.62210203e-04 4.14638607e+00] [ 1.36325451e-02 -5.51680494e-04 9.99906920e-01 2.82807323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.00925415399996 meters 0.025200723389678766 Centerline is valid? [True, True] Translation: X:412.91, Y:4.15, Z:2.83 [[ 9.98127581e-01 -5.93186762e-02 -1.49207094e-02 4.12911844e+02] [ 5.93210222e-02 9.98238917e-01 -2.85690926e-04 4.14893886e+00] [ 1.49113796e-02 -5.99955743e-04 9.99888639e-01 2.82592787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.03925415399993 meters 0.022491547145409393 Centerline is valid? [True, True] Translation: X:412.94, Y:4.15, Z:2.83 [[ 9.98060956e-01 -6.05116123e-02 -1.45832814e-02 4.12943426e+02] [ 6.05139938e-02 9.98167310e-01 -2.78315949e-04 4.15238316e+00] [ 1.45733962e-02 -6.04716321e-04 9.99893620e-01 2.82855326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.06925415399996 meters 0.022670568095076813 Centerline is valid? [True, True] Translation: X:412.98, Y:4.15, Z:2.83 [[ 9.98022300e-01 -6.09405757e-02 -1.54186495e-02 4.12975407e+02] [ 6.09433049e-02 9.98141186e-01 -2.93226787e-04 4.15359991e+00] [ 1.54078585e-02 -6.47016584e-04 9.99881083e-01 2.82849071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.09925415399994 meters 0.023051609531379583 Centerline is valid? [True, True] Translation: X:413.01, Y:4.15, Z:2.83 [[ 9.97992680e-01 -6.14216818e-02 -1.54268667e-02 4.13007592e+02] [ 6.14244889e-02 9.98111691e-01 -2.92246620e-04 4.15480498e+00] [ 1.54156863e-02 -6.55927415e-04 9.99880956e-01 2.82854963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12925415399997 meters 0.02273793233688745 Centerline is valid? [True, True] Translation: X:413.04, Y:4.16, Z:2.83 [[ 9.97955135e-01 -6.19801340e-02 -1.56208414e-02 4.13039542e+02] [ 6.19830985e-02 9.98077156e-01 -2.94759873e-04 4.15667225e+00] [ 1.56090742e-02 -6.74071023e-04 9.99877944e-01 2.82898812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.15925415399994 meters 0.024857598465918663 Centerline is valid? [True, True] Translation: X:413.07, Y:4.16, Z:2.83 [[ 9.97831166e-01 -6.38280245e-02 -1.60918485e-02 4.13070335e+02] [ 6.38314243e-02 9.97960649e-01 -3.02779510e-04 4.15596394e+00] [ 1.60783574e-02 -7.25042779e-04 9.99870472e-01 2.82809583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.18925415399997 meters 0.023796574692219363 Centerline is valid? [True, True] Translation: X:413.10, Y:4.16, Z:2.83 [[ 9.97766789e-01 -6.46523639e-02 -1.67781538e-02 4.13102729e+02] [ 6.46561929e-02 9.97907550e-01 -3.14695670e-04 4.15904288e+00] [ 1.67633921e-02 -7.70818660e-04 9.99859187e-01 2.82847531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.21925415399994 meters 0.026092189516014098 Centerline is valid? [True, True] Translation: X:413.13, Y:4.16, Z:2.83 [[ 9.97718799e-01 -6.54224924e-02 -1.66461902e-02 4.13133855e+02] [ 6.54263858e-02 9.97857350e-01 -3.11173825e-04 4.15724375e+00] [ 1.66308810e-02 -7.78636089e-04 9.99861394e-01 2.82795350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.24925415399997 meters 0.024420296853922576 Centerline is valid? [True, True] Translation: X:413.17, Y:4.16, Z:2.83 [[ 9.97665814e-01 -6.61662249e-02 -1.68806133e-02 4.13166206e+02] [ 6.61703540e-02 9.97808291e-01 -3.14428681e-04 4.16183822e+00] [ 1.68644204e-02 -8.03301410e-04 9.99857463e-01 2.82876059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.27925415399994 meters 0.025315587198846436 Centerline is valid? [True, True] Translation: X:413.20, Y:4.16, Z:2.83 [[ 9.97603673e-01 -6.70281299e-02 -1.71505683e-02 4.13197767e+02] [ 6.70325378e-02 9.97750739e-01 -3.18368915e-04 4.16424231e+00] [ 1.71333319e-02 -8.32040121e-04 9.99852867e-01 2.82891713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.309254154 meters 0.024594535579760105 Centerline is valid? [True, True] Translation: X:413.23, Y:4.17, Z:2.83 [[ 9.97599846e-01 -6.70719232e-02 -1.72018904e-02 4.13229925e+02] [ 6.70763838e-02 9.97747793e-01 -3.18172490e-04 4.16758885e+00] [ 1.71844886e-02 -8.36431774e-04 9.99851986e-01 2.82943990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.33925415399995 meters 0.024349482937012862 Centerline is valid? [True, True] Translation: X:413.26, Y:4.17, Z:2.83 [[ 9.97623684e-01 -6.67986050e-02 -1.68799308e-02 4.13261660e+02] [ 6.68028821e-02 9.97766144e-01 -3.10969776e-04 4.17017726e+00] [ 1.68629958e-02 -8.17397214e-04 9.99857475e-01 2.83020647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.369254154 meters 0.026802027568129185 Centerline is valid? [True, True] Translation: X:413.29, Y:4.17, Z:2.83 [[ 9.97723148e-01 -6.52197303e-02 -1.71728430e-02 4.13294406e+02] [ 6.52239492e-02 9.97870601e-01 -3.14892045e-04 4.17170981e+00] [ 1.71568123e-02 -8.05905557e-04 9.99852486e-01 2.82789431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.39925415399995 meters 0.024449244087412166 Centerline is valid? [True, True] Translation: X:413.33, Y:4.18, Z:2.83 [[ 9.97914525e-01 -6.27069844e-02 -1.53112349e-02 4.13325148e+02] [ 6.27100563e-02 9.98031748e-01 -2.79874474e-04 4.17645103e+00] [ 1.52986486e-02 -6.80877601e-04 9.99882737e-01 2.83200177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4292541539999 meters 0.022913688587731497 Centerline is valid? [True, True] Translation: X:413.36, Y:4.18, Z:2.83 [[ 9.98094372e-01 -5.99407478e-02 -1.46537466e-02 4.13357046e+02] [ 5.99432737e-02 9.98201749e-01 -2.67185086e-04 4.18102564e+00] [ 1.46434107e-02 -6.11717611e-04 9.99892592e-01 2.83263190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.45925415399995 meters 0.022189332413594897 Centerline is valid? [True, True] Translation: X:413.39, Y:4.18, Z:2.83 [[ 9.98267598e-01 -5.70344789e-02 -1.44524042e-02 4.13388138e+02] [ 5.70366411e-02 9.98372051e-01 -2.62861459e-04 4.18450277e+00] [ 1.44438686e-02 -5.61910513e-04 9.99895524e-01 2.83291244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4892541539999 meters 0.02038825291686137 Centerline is valid? [True, True] Translation: X:413.42, Y:4.19, Z:2.83 [[ 9.98613602e-01 -5.05993823e-02 -1.45112249e-02 4.13419046e+02] [ 5.06008898e-02 9.98718920e-01 -2.63490165e-04 4.19223833e+00] [ 1.45059673e-02 -4.71156028e-04 9.99894672e-01 2.83378458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.51925415399995 meters 0.018636360049976337 Centerline is valid? [True, True] Translation: X:413.45, Y:4.20, Z:2.83 [[ 9.98765457e-01 -4.74312519e-02 -1.47593476e-02 4.13450208e+02] [ 4.74324727e-02 9.98874411e-01 -2.67530033e-04 4.19798477e+00] [ 1.47554239e-02 -4.32872594e-04 9.99891039e-01 2.83470527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5492541539999 meters 0.018636360049976337 Centerline is valid? [True, True] Translation: X:413.48, Y:4.20, Z:2.83 [[ 9.98768977e-01 -4.73570597e-02 -1.47593628e-02 4.13481907e+02] [ 4.73582848e-02 9.98877931e-01 -2.66689720e-04 4.19850020e+00] [ 1.47554314e-02 -4.32616685e-04 9.99891039e-01 2.83492489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.57925415399995 meters 0.018858210733322948 Centerline is valid? [True, True] Translation: X:413.51, Y:4.20, Z:2.83 [[ 9.98923277e-01 -4.38459525e-02 -1.51597878e-02 4.13513533e+02] [ 4.38468559e-02 9.99038227e-01 -2.72937355e-04 4.20215191e+00] [ 1.51571748e-02 -3.92065555e-04 9.99885047e-01 2.83395838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6092541539999 meters 0.01725339442007071 Centerline is valid? [True, True] Translation: X:413.54, Y:4.21, Z:2.84 [[ 9.99032745e-01 -4.14062238e-02 -1.48019634e-02 4.13544957e+02] [ 4.14068273e-02 9.99142334e-01 -2.65827336e-04 4.20572083e+00] [ 1.48002752e-02 -3.47332130e-04 9.99890410e-01 2.83525969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.63925415399996 meters 0.016629030302933803 Centerline is valid? [True, True] Translation: X:413.58, Y:4.21, Z:2.83 [[ 9.99188865e-01 -3.71259922e-02 -1.55972317e-02 4.13575325e+02] [ 3.71261477e-02 9.99310548e-01 -2.79681469e-04 4.20991485e+00] [ 1.55968616e-02 -2.99610517e-04 9.99878317e-01 2.83481714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.66925415399993 meters 0.016478315426429906 Centerline is valid? [True, True] Translation: X:413.61, Y:4.21, Z:2.83 [[ 9.99244250e-01 -3.55073640e-02 -1.58163498e-02 4.13606238e+02] [ 3.55073284e-02 9.99369376e-01 -2.83160722e-04 4.21210021e+00] [ 1.58164300e-02 -2.78649604e-04 9.99874874e-01 2.83464578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.69925415399996 meters 0.016243401937625593 Centerline is valid? [True, True] Translation: X:413.64, Y:4.21, Z:2.83 [[ 9.99282581e-01 -3.42739975e-02 -1.61126271e-02 4.13637671e+02] [ 3.42738096e-02 9.99412439e-01 -2.87880115e-04 4.21407625e+00] [ 1.61130268e-02 -2.64567530e-04 9.99870142e-01 2.83491940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.72925415399993 meters 0.01618187377157147 Centerline is valid? [True, True] Translation: X:413.67, Y:4.22, Z:2.84 [[ 9.99307451e-01 -3.35317532e-02 -1.61319399e-02 4.13669412e+02] [ 3.35314775e-02 9.99437620e-01 -2.87648519e-04 4.21575212e+00] [ 1.61325130e-02 -2.53478471e-04 9.99869830e-01 2.83535436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.75925415399996 meters 0.016190589466708327 Centerline is valid? [True, True] Translation: X:413.70, Y:4.22, Z:2.84 [[ 9.99329044e-01 -3.27363998e-02 -1.64252911e-02 4.13699881e+02] [ 3.27360202e-02 9.99463990e-01 -2.92053703e-04 4.21772393e+00] [ 1.64260477e-02 -2.45840911e-04 9.99865053e-01 2.83542639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.78925415399993 meters 0.015578568053210722 Centerline is valid? [True, True] Translation: X:413.73, Y:4.22, Z:2.84 [[ 9.99331030e-01 -3.28539270e-02 -1.60658562e-02 4.13729852e+02] [ 3.28535855e-02 9.99460135e-01 -2.85252804e-04 4.22021568e+00] [ 1.60665545e-02 -2.42759002e-04 9.99870895e-01 2.83690265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81925415399996 meters 0.015773938385584465 Centerline is valid? [True, True] Translation: X:413.76, Y:4.22, Z:2.84 [[ 9.99316001e-01 -3.33947440e-02 -1.58846339e-02 4.13760464e+02] [ 3.33944811e-02 9.99442209e-01 -2.81869575e-04 4.22014212e+00] [ 1.58851865e-02 -2.48782329e-04 9.99873792e-01 2.83726600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.84925415399994 meters 0.016155857972317854 Centerline is valid? [True, True] Translation: X:413.79, Y:4.22, Z:2.84 [[ 9.99293452e-01 -3.41336831e-02 -1.57317617e-02 4.13791675e+02] [ 3.41335238e-02 9.99417243e-01 -2.78710167e-04 4.21996312e+00] [ 1.57321073e-02 -2.58467217e-04 9.99876209e-01 2.83704562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87925415399997 meters 0.016461123929178055 Centerline is valid? [True, True] Translation: X:413.82, Y:4.22, Z:2.84 [[ 9.99279495e-01 -3.47882740e-02 -1.51745576e-02 4.13821568e+02] [ 3.47882072e-02 9.99394671e-01 -2.68447014e-04 4.21853180e+00] [ 1.51747108e-02 -2.59642057e-04 9.99884824e-01 2.83686265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.90925415399994 meters 0.01711488733501817 Centerline is valid? [True, True] Translation: X:413.85, Y:4.22, Z:2.84 [[ 9.99186264e-01 -3.75422182e-02 -1.47441823e-02 4.13852678e+02] [ 3.75424608e-02 9.99294999e-01 -2.60427231e-04 4.21695665e+00] [ 1.47435646e-02 -2.93317572e-04 9.99891265e-01 2.83714224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93925415399997 meters 0.016929179419595153 Centerline is valid? [True, True] Translation: X:413.88, Y:4.22, Z:2.84 [[ 9.99133140e-01 -3.92129535e-02 -1.39754428e-02 4.13884120e+02] [ 3.92133417e-02 9.99230831e-01 -2.46351788e-04 4.21613791e+00] [ 1.39743535e-02 -3.01885577e-04 9.99902308e-01 2.83810238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.96925415399994 meters 0.017521825006454477 Centerline is valid? [True, True] Translation: X:413.92, Y:4.21, Z:2.84 [[ 9.99074992e-01 -4.07998393e-02 -1.35842930e-02 4.13916181e+02] [ 4.08003627e-02 9.99167290e-01 -2.38722339e-04 4.21481652e+00] [ 1.35827211e-02 -3.15742564e-04 9.99907701e-01 2.83833931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99925415399997 meters 0.018933773775080286 Centerline is valid? [True, True] Translation: X:413.95, Y:4.21, Z:2.84 [[ 9.99023468e-01 -4.19861551e-02 -1.37576931e-02 4.13948083e+02] [ 4.19868184e-02 9.99118136e-01 -2.40745538e-04 4.21370899e+00] [ 1.37556687e-02 -3.37131321e-04 9.99905329e-01 2.83729984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.02925415399994 meters 0.018538711676551276 Centerline is valid? [True, True] Translation: X:413.98, Y:4.21, Z:2.84 [[ 9.98879496e-01 -4.55178102e-02 -1.29568780e-02 4.13979029e+02] [ 4.55187060e-02 9.98963461e-01 -2.25910108e-04 4.20962245e+00] [ 1.29537307e-02 -3.64123347e-04 9.99916031e-01 2.83858820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.059254154 meters 0.018693911491783996 Centerline is valid? [True, True] Translation: X:414.01, Y:4.21, Z:2.84 [[ 9.98838561e-01 -4.65067535e-02 -1.25957076e-02 4.14011516e+02] [ 4.65076886e-02 9.98917908e-01 -2.18819160e-04 4.20893999e+00] [ 1.25922544e-02 -3.67232233e-04 9.99920647e-01 2.83891327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.08925415399995 meters 0.019393133900574892 Centerline is valid? [True, True] Translation: X:414.04, Y:4.21, Z:2.84 [[ 9.98813849e-01 -4.70413300e-02 -1.25701303e-02 4.14042537e+02] [ 4.70423139e-02 9.98892874e-01 -2.17552384e-04 4.20709744e+00] [ 1.25664475e-02 -3.74033681e-04 9.99920969e-01 2.83890301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.119254154 meters 0.019590723349075946 Centerline is valid? [True, True] Translation: X:414.07, Y:4.21, Z:2.84 [[ 9.98824985e-01 -4.68364268e-02 -1.24498002e-02 4.14074060e+02] [ 4.68373845e-02 9.98902504e-01 -2.14793592e-04 4.20586850e+00] [ 1.24461967e-02 -3.68574872e-04 9.99922475e-01 2.83905911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.14925415399995 meters 0.018835774627369625 Centerline is valid? [True, True] Translation: X:414.11, Y:4.21, Z:2.84 [[ 9.98903342e-01 -4.52162222e-02 -1.21493606e-02 4.14106401e+02] [ 4.52170235e-02 9.98977165e-01 -2.08863876e-04 4.20579882e+00] [ 1.21463778e-02 -3.40723099e-04 9.99926172e-01 2.83944026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1792541539999 meters 0.01931699903652636 Centerline is valid? [True, True] Translation: X:414.14, Y:4.20, Z:2.84 [[ 9.98972655e-01 -4.36937180e-02 -1.20205571e-02 4.14137862e+02] [ 4.36944017e-02 9.99044922e-01 -2.05872047e-04 4.20450196e+00] [ 1.20180718e-02 -3.19570505e-04 9.99927729e-01 2.83964098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.20925415399995 meters 0.0169898279690971 Centerline is valid? [True, True] Translation: X:414.17, Y:4.21, Z:2.84 [[ 9.99155951e-01 -3.93874007e-02 -1.16626626e-02 4.14169367e+02] [ 3.93877573e-02 9.99223981e-01 -1.99200459e-04 4.20793902e+00] [ 1.16614581e-02 -2.60333800e-04 9.99931969e-01 2.84049782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2392541539999 meters 0.01672199274660531 Centerline is valid? [True, True] Translation: X:414.20, Y:4.21, Z:2.84 [[ 9.99253665e-01 -3.69337031e-02 -1.13143128e-02 4.14201571e+02] [ 3.69338880e-02 9.99317693e-01 -1.92677256e-04 4.20830777e+00] [ 1.13137093e-02 -2.25348109e-04 9.99935973e-01 2.84033805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.26925415399995 meters 0.016620455156126993 Centerline is valid? [True, True] Translation: X:414.23, Y:4.21, Z:2.84 [[ 9.99328221e-01 -3.48242187e-02 -1.14183933e-02 4.14232444e+02] [ 3.48242781e-02 9.99393432e-01 -1.93689071e-04 4.20782237e+00] [ 1.14182124e-02 -2.04078349e-04 9.99934789e-01 2.84013034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2992541539999 meters 0.015904461274277765 Centerline is valid? [True, True] Translation: X:414.26, Y:4.21, Z:2.84 [[ 9.99394465e-01 -3.28899163e-02 -1.13559551e-02 4.14264891e+02] [ 3.28898581e-02 9.99458964e-01 -1.91925945e-04 4.20918500e+00] [ 1.13561235e-02 -1.81686024e-04 9.99935501e-01 2.84032301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.32925415399995 meters 0.015558255293339141 Centerline is valid? [True, True] Translation: X:414.30, Y:4.21, Z:2.84 [[ 9.99451495e-01 -3.07782107e-02 -1.22234094e-02 4.14295959e+02] [ 3.07779946e-02 9.99526224e-01 -2.05841369e-04 4.20823482e+00] [ 1.22239537e-02 -1.70483564e-04 9.99925270e-01 2.83928566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3592541539999 meters 0.015429166233194465 Centerline is valid? [True, True] Translation: X:414.33, Y:4.21, Z:2.84 [[ 9.99452212e-01 -3.07175264e-02 -1.23170446e-02 4.14327517e+02] [ 3.07173080e-02 9.99528091e-01 -2.06959768e-04 4.20751293e+00] [ 1.23175893e-02 -1.71500053e-04 9.99924121e-01 2.83943453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.38925415399996 meters 0.01749915244710396 Centerline is valid? [True, True] Translation: X:414.36, Y:4.21, Z:2.84 [[ 9.99439069e-01 -3.08461721e-02 -1.30407577e-02 4.14358370e+02] [ 3.08459432e-02 9.99524127e-01 -2.18733937e-04 4.20522867e+00] [ 1.30412991e-02 -1.83643230e-04 9.99914942e-01 2.83741749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.41925415399993 meters 0.015677892038450377 Centerline is valid? [True, True] Translation: X:414.39, Y:4.20, Z:2.84 [[ 9.99408755e-01 -3.19792639e-02 -1.26279936e-02 4.14390033e+02] [ 3.19791439e-02 9.99488514e-01 -2.11478277e-04 4.20362132e+00] [ 1.26282975e-02 -1.92479184e-04 9.99920241e-01 2.83911611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.44925415399996 meters 0.016449409514989934 Centerline is valid? [True, True] Translation: X:414.42, Y:4.20, Z:2.84 [[ 9.99291311e-01 -3.55182132e-02 -1.24632309e-02 4.14420028e+02] [ 3.55183745e-02 9.99369002e-01 -2.08469070e-04 4.19854598e+00] [ 1.24627711e-02 -2.34352374e-04 9.99922309e-01 2.83922256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.47925415399993 meters 0.017078013281239136 Centerline is valid? [True, True] Translation: X:414.45, Y:4.20, Z:2.84 [[ 9.99221119e-01 -3.75021210e-02 -1.22778879e-02 4.14450532e+02] [ 3.75024285e-02 9.99296515e-01 -2.05272748e-04 4.19607344e+00] [ 1.22769488e-02 -2.55337749e-04 9.99924603e-01 2.83922418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.50925415399996 meters 0.017083106273558572 Centerline is valid? [True, True] Translation: X:414.48, Y:4.19, Z:2.84 [[ 9.99120969e-01 -3.99743938e-02 -1.26228899e-02 4.14482126e+02] [ 3.99749202e-02 9.99200661e-01 -2.10702274e-04 4.19496605e+00] [ 1.26212226e-02 -2.94081957e-04 9.99920306e-01 2.83967501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.53925415399993 meters 0.018034094424796875 Centerline is valid? [True, True] Translation: X:414.51, Y:4.19, Z:2.84 [[ 9.99011580e-01 -4.26160224e-02 -1.26387204e-02 4.14513168e+02] [ 4.26167686e-02 9.99091471e-01 -2.10394396e-04 4.19217300e+00] [ 1.26362039e-02 -3.28434985e-04 9.99920106e-01 2.83966647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.56925415399996 meters 0.018856265032938167 Centerline is valid? [True, True] Translation: X:414.54, Y:4.19, Z:2.84 [[ 9.98775594e-01 -4.79846725e-02 -1.20325877e-02 4.14544052e+02] [ 4.79857436e-02 9.98848001e-01 -1.99844630e-04 4.18769703e+00] [ 1.20283156e-02 -3.77792728e-04 9.99927586e-01 2.84018688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.59925415399994 meters 0.020443471977032408 Centerline is valid? [True, True] Translation: X:414.57, Y:4.18, Z:2.84 [[ 9.98655446e-01 -5.04413891e-02 -1.19568571e-02 4.14574721e+02] [ 5.04426319e-02 9.98726941e-01 -1.97807730e-04 4.18427416e+00] [ 1.19516130e-02 -4.05593573e-04 9.99928495e-01 2.84004085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62925415399997 meters 0.02111116721043183 Centerline is valid? [True, True] Translation: X:414.61, Y:4.18, Z:2.84 [[ 9.98545752e-01 -5.25383434e-02 -1.20873670e-02 4.14606513e+02] [ 5.25397812e-02 9.98618812e-01 -1.98777298e-04 4.18250905e+00] [ 1.20811155e-02 -4.36579389e-04 9.99926925e-01 2.84038307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.65925415399994 meters 0.022564935916813224 Centerline is valid? [True, True] Translation: X:414.64, Y:4.18, Z:2.84 [[ 9.98440128e-01 -5.45518846e-02 -1.18912952e-02 4.14637595e+02] [ 5.45534288e-02 9.98510834e-01 -1.94708464e-04 4.17967673e+00] [ 1.18842088e-02 -4.54306184e-04 9.99929277e-01 2.84026925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.68925415399997 meters 0.02570301062352741 Centerline is valid? [True, True] Translation: X:414.67, Y:4.18, Z:2.84 [[ 9.98207411e-01 -5.85805285e-02 -1.22590908e-02 4.14668414e+02] [ 5.85824840e-02 9.98282551e-01 -1.99834496e-04 4.17597727e+00] [ 1.22497429e-02 -5.18691716e-04 9.99924835e-01 2.83857699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.71925415399994 meters 0.023633439589167565 Centerline is valid? [True, True] Translation: X:414.70, Y:4.18, Z:2.84 [[ 9.98066861e-01 -6.11109497e-02 -1.13133833e-02 4.14700445e+02] [ 6.11127839e-02 9.98130850e-01 -1.83833059e-04 4.17731336e+00] [ 1.13034711e-02 -5.07914666e-04 9.99935985e-01 2.84088291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.74925415399997 meters 0.027125026550989553 Centerline is valid? [True, True] Translation: X:414.73, Y:4.17, Z:2.84 [[ 9.97915205e-01 -6.36269931e-02 -1.08096961e-02 4.14730573e+02] [ 6.36288240e-02 9.97973618e-01 -1.74806475e-04 4.17226405e+00] [ 1.07989140e-02 -5.13366213e-04 9.99941558e-01 2.84069944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.77925415399994 meters 0.0287903458553749 Centerline is valid? [True, True] Translation: X:414.76, Y:4.17, Z:2.84 [[ 9.97743113e-01 -6.63063802e-02 -1.05898062e-02 4.14760797e+02] [ 6.63082951e-02 9.97799169e-01 -1.70567936e-04 4.16985805e+00] [ 1.05778096e-02 -5.32009012e-04 9.99943912e-01 2.84112627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.809254154 meters 0.029232103764579558 Centerline is valid? [True, True] Translation: X:414.79, Y:4.17, Z:2.84 [[ 9.97389948e-01 -7.14281822e-02 -1.05502117e-02 4.14791693e+02] [ 7.14303699e-02 9.97445574e-01 -1.69784831e-04 4.17066967e+00] [ 1.05353894e-02 -5.84263843e-04 9.99944331e-01 2.84009324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.83925415399995 meters 0.027872849504902198 Centerline is valid? [True, True] Translation: X:414.82, Y:4.17, Z:2.84 [[ 9.97188476e-01 -7.42832773e-02 -9.85584800e-03 4.14822531e+02] [ 7.42853264e-02 9.97237016e-01 -1.58511699e-04 4.17225095e+00] [ 9.84039121e-03 -5.74078847e-04 9.99951417e-01 2.84179106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.869254154 meters 0.02984329709227698 Centerline is valid? [True, True] Translation: X:414.85, Y:4.17, Z:2.84 [[ 9.97004714e-01 -7.66428979e-02 -1.03665556e-02 4.14852380e+02] [ 7.66452966e-02 9.97058409e-01 -1.66277621e-04 4.17016963e+00] [ 1.03488054e-02 -6.28768156e-04 9.99946252e-01 2.84224666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.89925415399995 meters 0.030450968748153777 Centerline is valid? [True, True] Translation: X:414.88, Y:4.17, Z:2.84 [[ 9.96858061e-01 -7.85552187e-02 -1.01529898e-02 4.14884464e+02] [ 7.85576271e-02 9.96909561e-01 -1.62001335e-04 4.17061816e+00] [ 1.01343386e-02 -6.36102449e-04 9.99948444e-01 2.84215888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9292541539999 meters 0.03198649124109729 Centerline is valid? [True, True] Translation: X:414.92, Y:4.17, Z:2.84 [[ 9.96659193e-01 -8.09584658e-02 -1.07786614e-02 4.14915288e+02] [ 8.09613279e-02 9.96717229e-01 -1.71264225e-04 4.17077780e+00] [ 1.07571428e-02 -7.01962671e-04 9.99941894e-01 2.84137291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.95925415399995 meters 0.031621280734935316 Centerline is valid? [True, True] Translation: X:414.95, Y:4.17, Z:2.84 [[ 9.96626225e-01 -8.13184163e-02 -1.11122421e-02 4.14947366e+02] [ 8.13214877e-02 9.96687907e-01 -1.75917691e-04 4.17276097e+00] [ 1.10897426e-02 -7.28339871e-04 9.99938242e-01 2.84126409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9892541539999 meters 0.031024374794658867 Centerline is valid? [True, True] Translation: X:414.98, Y:4.18, Z:2.84 [[ 9.96635994e-01 -8.11190710e-02 -1.16787169e-02 4.14979962e+02] [ 8.11224604e-02 9.96704125e-01 -1.83990201e-04 4.17557234e+00] [ 1.16551504e-02 -7.64034992e-04 9.99931785e-01 2.84061646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.01925415399995 meters 0.03451701773309362 Centerline is valid? [True, True] Translation: X:415.01, Y:4.17, Z:2.84 [[ 9.96696527e-01 -8.02561165e-02 -1.24494352e-02 4.15011514e+02] [ 8.02599117e-02 9.96773951e-01 -1.95272395e-04 4.17340758e+00] [ 1.24249445e-02 -8.04563251e-04 9.99922484e-01 2.83897230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0492541539999 meters 0.03015798856915169 Centerline is valid? [True, True] Translation: X:415.04, Y:4.18, Z:2.84 [[ 9.96887758e-01 -7.77656667e-02 -1.29344115e-02 4.15043367e+02] [ 7.77695641e-02 9.96971341e-01 -2.02144059e-04 4.18325579e+00] [ 1.29109575e-02 -8.04388608e-04 9.99916327e-01 2.84055032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.07925415399995 meters 0.02915205276263357 Centerline is valid? [True, True] Translation: X:415.07, Y:4.19, Z:2.84 [[ 9.97037968e-01 -7.58414259e-02 -1.27815613e-02 4.15074694e+02] [ 7.58450818e-02 9.97119594e-01 -1.99155503e-04 4.18732914e+00] [ 1.27598495e-02 -7.70852966e-04 9.99918293e-01 2.84086388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1092541539999 meters 0.02966583075021333 Centerline is valid? [True, True] Translation: X:415.11, Y:4.19, Z:2.84 [[ 9.97200109e-01 -7.36483246e-02 -1.29563627e-02 4.15105500e+02] [ 7.36519030e-02 9.97283990e-01 -2.01394368e-04 4.18942672e+00] [ 1.29360055e-02 -7.53430284e-04 9.99916043e-01 2.84105910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.13925415399996 meters 0.026807063752305543 Centerline is valid? [True, True] Translation: X:415.14, Y:4.20, Z:2.84 [[ 9.97575340e-01 -6.84657435e-02 -1.24853384e-02 4.15135804e+02] [ 6.84686649e-02 9.97653249e-01 -1.93813319e-04 4.19866001e+00] [ 1.24693080e-02 -6.61511067e-04 9.99922036e-01 2.84211662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.16925415399993 meters 0.02579309869695979 Centerline is valid? [True, True] Translation: X:415.17, Y:4.20, Z:2.84 [[ 9.97791138e-01 -6.53695957e-02 -1.18177875e-02 4.15167023e+02] [ 6.53719986e-02 9.97860946e-01 -1.83254785e-04 4.20333642e+00] [ 1.18044879e-02 -5.89702386e-04 9.99930151e-01 2.84256375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.19925415399996 meters 0.026671797132992753 Centerline is valid? [True, True] Translation: X:415.20, Y:4.20, Z:2.84 [[ 9.97997367e-01 -6.21746928e-02 -1.16431499e-02 4.15197123e+02] [ 6.21768122e-02 9.98065134e-01 -1.80206942e-04 4.20477059e+00] [ 1.16318263e-02 -5.44087894e-04 9.99932200e-01 2.84313028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.22925415399993 meters 0.02352952046143499 Centerline is valid? [True, True] Translation: X:415.23, Y:4.21, Z:2.84 [[ 9.98208311e-01 -5.87504158e-02 -1.13382331e-02 4.15228105e+02] [ 5.87522085e-02 9.98272582e-01 -1.75201078e-04 4.21210375e+00] [ 1.13289404e-02 -4.91259062e-04 9.99935705e-01 2.84369674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.25925415399996 meters 0.0223800810745861 Centerline is valid? [True, True] Translation: X:415.26, Y:4.22, Z:2.84 [[ 9.98572160e-01 -5.22361601e-02 -1.11814540e-02 4.15257220e+02] [ 5.22374978e-02 9.98634675e-01 -1.72581011e-04 4.21902786e+00] [ 1.11752026e-02 -4.11756585e-04 9.99937471e-01 2.84413047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.28925415399993 meters 0.02127902769589221 Centerline is valid? [True, True] Translation: X:415.29, Y:4.22, Z:2.84 [[ 9.98734791e-01 -4.90400481e-02 -1.11305855e-02 4.15288895e+02] [ 4.90411769e-02 9.98796743e-01 -1.71657939e-04 4.22375821e+00] [ 1.11256107e-02 -3.74416257e-04 9.99938038e-01 2.84460260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31925415399996 meters 0.020740555031652456 Centerline is valid? [True, True] Translation: X:415.32, Y:4.23, Z:2.85 [[ 9.98867954e-01 -4.62786339e-02 -1.10044365e-02 4.15318950e+02] [ 4.62795747e-02 9.98928512e-01 -1.69274732e-04 4.22698171e+00] [ 1.10004792e-02 -3.40197534e-04 9.99939435e-01 2.84503708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.34925415399994 meters 0.01969945432469368 Centerline is valid? [True, True] Translation: X:415.35, Y:4.23, Z:2.85 [[ 9.98977921e-01 -4.38680966e-02 -1.08950984e-02 4.15350742e+02] [ 4.38688799e-02 9.99037283e-01 -1.67192294e-04 4.23091548e+00] [ 1.08919439e-02 -3.10934354e-04 9.99940633e-01 2.84542728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37925415399997 meters 0.017438169405112516 Centerline is valid? [True, True] Translation: X:415.38, Y:4.24, Z:2.85 [[ 9.99129027e-01 -4.03785164e-02 -1.05244163e-02 4.15382607e+02] [ 4.03790609e-02 9.99184420e-01 -1.60830726e-04 4.23791776e+00] [ 1.05223269e-02 -2.64275402e-04 9.99944604e-01 2.84559508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.40925415399994 meters 0.01706788724144206 Centerline is valid? [True, True] Translation: X:415.41, Y:4.24, Z:2.85 [[ 9.99176859e-01 -3.91941704e-02 -1.04604627e-02 4.15414620e+02] [ 3.91946502e-02 9.99231582e-01 -1.59205277e-04 4.23977399e+00] [ 1.04586646e-02 -2.50919947e-04 9.99945275e-01 2.84584911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43925415399997 meters 0.016778152155767716 Centerline is valid? [True, True] Translation: X:415.45, Y:4.24, Z:2.85 [[ 9.99223063e-01 -3.79847697e-02 -1.05084677e-02 4.15446561e+02] [ 3.79851954e-02 9.99278289e-01 -1.59150361e-04 4.24139178e+00] [ 1.05069289e-02 -2.40139488e-04 9.99944772e-01 2.84591306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.46925415399994 meters 0.016778152155767716 Centerline is valid? [True, True] Translation: X:415.48, Y:4.24, Z:2.85 [[ 9.99225888e-01 -3.79103755e-02 -1.05084795e-02 4.15478256e+02] [ 3.79108052e-02 9.99281114e-01 -1.58367744e-04 4.24181223e+00] [ 1.05069289e-02 -2.40139771e-04 9.99944772e-01 2.84613258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49925415399997 meters 0.01679400711726614 Centerline is valid? [True, True] Translation: X:415.51, Y:4.24, Z:2.85 [[ 9.99272811e-01 -3.65145413e-02 -1.09789499e-02 4.15510474e+02] [ 3.65149355e-02 9.99333094e-01 -1.64614849e-04 4.24465868e+00] [ 1.09776388e-02 -2.36400503e-04 9.99939716e-01 2.84554409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.52925415399994 meters 0.016244189371820646 Centerline is valid? [True, True] Translation: X:415.54, Y:4.25, Z:2.85 [[ 9.99291936e-01 -3.59855428e-02 -1.09849052e-02 4.15542756e+02] [ 3.59859145e-02 9.99352284e-01 -1.63879064e-04 4.24585132e+00] [ 1.09836873e-02 -2.31538832e-04 9.99939651e-01 2.84609948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.559254154 meters 0.01616500897896636 Centerline is valid? [True, True] Translation: X:415.57, Y:4.25, Z:2.85 [[ 9.99313414e-01 -3.53457246e-02 -1.11076763e-02 4.15574164e+02] [ 3.53460736e-02 9.99375119e-01 -1.64950571e-04 4.24585169e+00] [ 1.11065656e-02 -2.27775426e-04 9.99938294e-01 2.84594851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.58925415399995 meters 0.016301032824914876 Centerline is valid? [True, True] Translation: X:415.61, Y:4.25, Z:2.85 [[ 9.99340300e-01 -3.46560159e-02 -1.08593560e-02 4.15606565e+02] [ 3.46563160e-02 9.99399277e-01 -1.60595433e-04 4.24612428e+00] [ 1.08583981e-02 -2.15855786e-04 9.99941023e-01 2.84585277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.619254154 meters 0.018907316815133073 Centerline is valid? [True, True] Translation: X:415.64, Y:4.25, Z:2.84 [[ 9.99393875e-01 -3.29842737e-02 -1.11319078e-02 4.15638333e+02] [ 3.29844947e-02 9.99455850e-01 -1.63790671e-04 4.24675359e+00] [ 1.11312529e-02 -2.03488962e-04 9.99938025e-01 2.84336316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.64925415399995 meters 0.017124433896873223 Centerline is valid? [True, True] Translation: X:415.67, Y:4.25, Z:2.84 [[ 9.99401731e-01 -3.29543613e-02 -1.04971625e-02 4.15670872e+02] [ 3.29545640e-02 9.99456839e-01 -1.53697652e-04 4.24732273e+00] [ 1.04965258e-02 -1.92323714e-04 9.99944891e-01 2.84492075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6792541539999 meters 0.01597556805850324 Centerline is valid? [True, True] Translation: X:415.70, Y:4.25, Z:2.85 [[ 9.99398365e-01 -3.31120692e-02 -1.03197927e-02 4.15703423e+02] [ 3.31122814e-02 9.99451627e-01 -1.50343161e-04 4.24745888e+00] [ 1.03191117e-02 -1.91459169e-04 9.99946738e-01 2.84674885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.70925415399995 meters 0.015934212643161843 Centerline is valid? [True, True] Translation: X:415.74, Y:4.25, Z:2.85 [[ 9.99405256e-01 -3.30343899e-02 -9.89263103e-03 4.15736098e+02] [ 3.30345881e-02 9.99454199e-01 -1.43407893e-04 4.24728478e+00] [ 9.89196901e-03 -1.83476390e-04 9.99951056e-01 2.84700216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7392541539999 meters 0.016439240778883635 Centerline is valid? [True, True] Translation: X:415.77, Y:4.25, Z:2.85 [[ 9.99368146e-01 -3.42665891e-02 -9.43983408e-03 4.15768747e+02] [ 3.42668309e-02 9.99412710e-01 -1.36167252e-04 4.24526936e+00] [ 9.43895616e-03 -1.87391985e-04 9.99955435e-01 2.84713488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.76925415399995 meters 0.016653565147834424 Centerline is valid? [True, True] Translation: X:415.80, Y:4.24, Z:2.85 [[ 9.99352337e-01 -3.47150724e-02 -9.47473069e-03 4.15800241e+02] [ 3.47153424e-02 9.99397232e-01 -1.36016620e-04 4.24373902e+00] [ 9.47374145e-03 -1.92989993e-04 9.99955104e-01 2.84746390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7992541539999 meters 0.016593131687620236 Centerline is valid? [True, True] Translation: X:415.83, Y:4.24, Z:2.85 [[ 9.99302880e-01 -3.61015200e-02 -9.50973337e-03 4.15832828e+02] [ 3.61018602e-02 9.99348106e-01 -1.35942776e-04 4.24193226e+00] [ 9.50844177e-03 -2.07471057e-04 9.99954772e-01 2.84759641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.82925415399995 meters 0.01663190751617394 Centerline is valid? [True, True] Translation: X:415.87, Y:4.24, Z:2.85 [[ 9.99297445e-01 -3.61434787e-02 -9.91288897e-03 4.15865416e+02] [ 3.61438580e-02 9.99346587e-01 -1.40941068e-04 4.24103000e+00] [ 9.91150587e-03 -2.17448003e-04 9.99950856e-01 2.84747603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8592541539999 meters 0.01672212011340959 Centerline is valid? [True, True] Translation: X:415.90, Y:4.24, Z:2.85 [[ 9.99287539e-01 -3.63542601e-02 -1.01381622e-02 4.15897377e+02] [ 3.63546755e-02 9.99338940e-01 -1.43372579e-04 4.24015061e+00] [ 1.01366725e-02 -2.25299166e-04 9.99948597e-01 2.84765867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.88925415399996 meters 0.018954810052943277 Centerline is valid? [True, True] Translation: X:415.93, Y:4.24, Z:2.85 [[ 9.99293595e-01 -3.59227980e-02 -1.10391735e-02 4.15928837e+02] [ 3.59232729e-02 9.99354539e-01 -1.55324826e-04 4.23841650e+00] [ 1.10376278e-02 -2.41348138e-04 9.99939054e-01 2.84534128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.91925415399993 meters 0.016910594324038217 Centerline is valid? [True, True] Translation: X:415.96, Y:4.24, Z:2.85 [[ 9.99280048e-01 -3.59283415e-02 -1.21876961e-02 4.15960518e+02] [ 3.59289296e-02 9.99354333e-01 -1.70768351e-04 4.23793434e+00] [ 1.21859623e-02 -2.67245469e-04 9.99925713e-01 2.84649996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.94925415399996 meters 0.01696212346537264 Centerline is valid? [True, True] Translation: X:415.99, Y:4.24, Z:2.85 [[ 9.99280924e-01 -3.56295101e-02 -1.29681556e-02 4.15992105e+02] [ 3.56301657e-02 9.99365028e-01 -1.80551326e-04 4.23662661e+00] [ 1.29663541e-02 -2.81636037e-04 9.99915894e-01 2.84614437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.97925415399993 meters 0.017080580917902745 Centerline is valid? [True, True] Translation: X:416.02, Y:4.24, Z:2.85 [[ 9.99289102e-01 -3.53210184e-02 -1.31801356e-02 4.16022329e+02] [ 3.53216818e-02 9.99375978e-01 -1.82524205e-04 4.23526099e+00] [ 1.31783578e-02 -2.83150105e-04 9.99913122e-01 2.84565307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.00925415399996 meters 0.01664787287833559 Centerline is valid? [True, True] Translation: X:416.05, Y:4.24, Z:2.85 [[ 9.99289409e-01 -3.50914358e-02 -1.37574739e-02 4.16053941e+02] [ 3.50921420e-02 9.99384063e-01 -1.90137047e-04 4.23545911e+00] [ 1.37556724e-02 -2.92777292e-04 9.99905343e-01 2.84598145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.03925415399993 meters 0.01662661982175034 Centerline is valid? [True, True] Translation: X:416.09, Y:4.23, Z:2.85 [[ 9.99302664e-01 -3.45955544e-02 -1.40475550e-02 4.16085751e+02] [ 3.45962491e-02 9.99401352e-01 -1.93622231e-04 4.23451892e+00] [ 1.40458439e-02 -2.92505502e-04 9.99901309e-01 2.84605374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.06925415399996 meters 0.016645389443455987 Centerline is valid? [True, True] Translation: X:416.12, Y:4.23, Z:2.85 [[ 9.99338264e-01 -3.36661547e-02 -1.37703787e-02 4.16116230e+02] [ 3.36667436e-02 9.99433097e-01 -1.89107883e-04 4.23300685e+00] [ 1.37689388e-02 -2.74621067e-04 9.99905166e-01 2.84629026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.09925415399994 meters 0.016606121408762615 Centerline is valid? [True, True] Translation: X:416.15, Y:4.23, Z:2.85 [[ 9.99367356e-01 -3.28279356e-02 -1.36826599e-02 4.16147957e+02] [ 3.28284481e-02 9.99460984e-01 -1.87210372e-04 4.23357722e+00] [ 1.36814304e-02 -2.62088553e-04 9.99906371e-01 2.84683461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12925415399997 meters 0.016171963380444753 Centerline is valid? [True, True] Translation: X:416.18, Y:4.23, Z:2.85 [[ 9.99458680e-01 -2.97164033e-02 -1.41167197e-02 4.16178598e+02] [ 2.97166422e-02 9.99558344e-01 -1.92888139e-04 4.23444677e+00] [ 1.41162170e-02 -2.26717784e-04 9.99900336e-01 2.84717884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.15925415399994 meters 0.01563936064541721 Centerline is valid? [True, True] Translation: X:416.21, Y:4.23, Z:2.85 [[ 9.99503949e-01 -2.82896353e-02 -1.38402297e-02 4.16208186e+02] [ 2.82897264e-02 9.99599748e-01 -1.89236537e-04 4.23470710e+00] [ 1.38400435e-02 -2.02393644e-04 9.99904202e-01 2.84799464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.18925415399997 meters 0.016373083355417956 Centerline is valid? [True, True] Translation: X:416.24, Y:4.24, Z:2.85 [[ 9.99552244e-01 -2.64667814e-02 -1.39578082e-02 4.16238383e+02] [ 2.64666946e-02 9.99649677e-01 -1.90971872e-04 4.23531018e+00] [ 1.39579729e-02 -1.78530683e-04 9.99902567e-01 2.84758531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.21925415399994 meters 0.015164972573777911 Centerline is valid? [True, True] Translation: X:416.27, Y:4.24, Z:2.85 [[ 9.99577507e-01 -2.58412439e-02 -1.33055150e-02 4.16267761e+02] [ 2.58411080e-02 9.99666046e-01 -1.82164775e-04 4.23524251e+00] [ 1.33057789e-02 -1.61741438e-04 9.99911461e-01 2.84915100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.24925415399997 meters 0.015177430968840227 Centerline is valid? [True, True] Translation: X:416.30, Y:4.23, Z:2.85 [[ 9.99575771e-01 -2.59802989e-02 -1.31643962e-02 4.16297663e+02] [ 2.59801733e-02 9.99662442e-01 -1.80587290e-04 4.23386000e+00] [ 1.31646441e-02 -1.61502614e-04 9.99913329e-01 2.85029583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.27925415399994 meters 0.015218078018495623 Centerline is valid? [True, True] Translation: X:416.33, Y:4.23, Z:2.85 [[ 9.99538708e-01 -2.72800615e-02 -1.33480148e-02 4.16328366e+02] [ 2.72800448e-02 9.99627814e-01 -1.83363135e-04 4.23235199e+00] [ 1.33480490e-02 -1.80855890e-04 9.99910894e-01 2.85068259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.309254154 meters 0.015620704365231752 Centerline is valid? [True, True] Translation: X:416.36, Y:4.23, Z:2.85 [[ 9.99459703e-01 -2.98274563e-02 -1.38067187e-02 4.16358418e+02] [ 2.98276796e-02 9.99555038e-01 -1.89790745e-04 4.23018762e+00] [ 1.38062362e-02 -2.22134181e-04 9.99904665e-01 2.85070331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.33925415399995 meters 0.016022952381343436 Centerline is valid? [True, True] Translation: X:416.39, Y:4.23, Z:2.85 [[ 9.99369836e-01 -3.23840656e-02 -1.45328377e-02 4.16388740e+02] [ 3.23845813e-02 9.99475462e-01 -1.99906131e-04 4.22707787e+00] [ 1.45316884e-02 -2.70859707e-04 9.99894373e-01 2.85051417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.369254154 meters 0.0178562892972295 Centerline is valid? [True, True] Translation: X:416.42, Y:4.22, Z:2.85 [[ 9.99124316e-01 -3.90867033e-02 -1.49274994e-02 4.16418594e+02] [ 3.90879928e-02 9.99235751e-01 -2.05479652e-04 4.21908847e+00] [ 1.49241226e-02 -3.78186271e-04 9.99888558e-01 2.84924973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.39925415399995 meters 0.018910085886076015 Centerline is valid? [True, True] Translation: X:416.45, Y:4.22, Z:2.85 [[ 9.98979417e-01 -4.25592617e-02 -1.51272427e-02 4.16449439e+02] [ 4.25609840e-02 9.99093849e-01 -2.08208891e-04 4.21543786e+00] [ 1.51223964e-02 -4.35833938e-04 9.99885555e-01 2.84952930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4292541539999 meters 0.019674779156421743 Centerline is valid? [True, True] Translation: X:416.48, Y:4.21, Z:2.85 [[ 9.98841710e-01 -4.56768845e-02 -1.51281551e-02 4.16480649e+02] [ 4.56789706e-02 9.98956149e-01 -2.07801101e-04 4.21269447e+00] [ 1.51218553e-02 -4.83478144e-04 9.99885541e-01 2.84993385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.45925415399995 meters 0.024069163430491067 Centerline is valid? [True, True] Translation: X:416.51, Y:4.20, Z:2.85 [[ 9.98561682e-01 -5.12437343e-02 -1.57685368e-02 4.16510932e+02] [ 5.12466978e-02 9.98686001e-01 -2.16336858e-04 4.20499889e+00] [ 1.57589028e-02 -5.92059742e-04 9.99875645e-01 2.84865751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4892541539999 meters 0.023510395349270023 Centerline is valid? [True, True] Translation: X:416.54, Y:4.20, Z:2.85 [[ 9.98400832e-01 -5.45779465e-02 -1.47317876e-02 4.16541975e+02] [ 5.45808974e-02 9.98509331e-01 -2.01974000e-04 4.20372603e+00] [ 1.47208507e-02 -6.02423180e-04 9.99891461e-01 2.85098803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.51925415399995 meters 0.023429652095265947 Centerline is valid? [True, True] Translation: X:416.57, Y:4.20, Z:2.85 [[ 9.98283033e-01 -5.67235262e-02 -1.46091792e-02 4.16573280e+02] [ 5.67266633e-02 9.98389726e-01 -1.99892215e-04 4.20302523e+00] [ 1.45969930e-02 -6.29180981e-04 9.99893260e-01 2.85185950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5492541539999 meters 0.024451805092103075 Centerline is valid? [True, True] Translation: X:416.61, Y:4.20, Z:2.85 [[ 9.98154112e-01 -5.89636731e-02 -1.45483140e-02 4.16605202e+02] [ 5.89670313e-02 9.98259911e-01 -1.98394081e-04 4.20093396e+00] [ 1.45346966e-02 -6.59843016e-04 9.99894148e-01 2.85240764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.57925415399995 meters 0.026383729531478183 Centerline is valid? [True, True] Translation: X:416.64, Y:4.20, Z:2.85 [[ 9.97970177e-01 -6.22855422e-02 -1.32679235e-02 4.16635722e+02] [ 6.22886341e-02 9.98058161e-01 -1.80475257e-04 4.19659287e+00] [ 1.32534004e-02 -6.46331911e-04 9.99911961e-01 2.85338367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6092541539999 meters 0.028323130557642132 Centerline is valid? [True, True] Translation: X:416.67, Y:4.19, Z:2.85 [[ 9.97894785e-01 -6.35845406e-02 -1.27673420e-02 4.16667329e+02] [ 6.35875151e-02 9.97976251e-01 -1.73233701e-04 4.19351845e+00] [ 1.27525190e-02 -6.38974543e-04 9.99918479e-01 2.85376178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.63925415399996 meters 0.02850968845793116 Centerline is valid? [True, True] Translation: X:416.70, Y:4.19, Z:2.85 [[ 9.97840166e-01 -6.46142663e-02 -1.18321610e-02 4.16699485e+02] [ 6.46169014e-02 9.97910131e-01 -1.59853082e-04 4.19341868e+00] [ 1.18177622e-02 -6.05049757e-04 9.99929985e-01 2.85458173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.66925415399993 meters 0.02879552519599908 Centerline is valid? [True, True] Translation: X:416.73, Y:4.19, Z:2.86 [[ 9.97807330e-01 -6.51127595e-02 -1.18685178e-02 4.16731652e+02] [ 6.51154560e-02 9.97877724e-01 -1.59502018e-04 4.19293721e+00] [ 1.18537152e-02 -6.13671668e-04 9.99929554e-01 2.85513282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.69925415399996 meters 0.031496424276061724 Centerline is valid? [True, True] Translation: X:416.76, Y:4.19, Z:2.86 [[ 9.97798822e-01 -6.53000566e-02 -1.15504588e-02 4.16762613e+02] [ 6.53026312e-02 9.97865493e-01 -1.54507068e-04 4.18923374e+00] [ 1.15358936e-02 -6.00108383e-04 9.99933279e-01 2.85500055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.72925415399993 meters 0.02538849968596363 Centerline is valid? [True, True] Translation: X:416.79, Y:4.20, Z:2.86 [[ 9.97808811e-01 -6.51373167e-02 -1.16063474e-02 4.16794868e+02] [ 6.51399137e-02 9.97876128e-01 -1.54537911e-04 4.19816472e+00] [ 1.15917632e-02 -6.01837179e-04 9.99932632e-01 2.85602813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.75925415399996 meters 0.02749942936306976 Centerline is valid? [True, True] Translation: X:416.83, Y:4.20, Z:2.85 [[ 9.97858682e-01 -6.42789387e-02 -1.20941752e-02 4.16826012e+02] [ 6.42817057e-02 9.97931780e-01 -1.60204900e-04 4.19676661e+00] [ 1.20794596e-02 -6.17572362e-04 9.99926850e-01 2.85448712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.78925415399993 meters 0.02657379582971593 Centerline is valid? [True, True] Translation: X:416.86, Y:4.20, Z:2.86 [[ 9.97867821e-01 -6.41160609e-02 -1.22042095e-02 4.16857592e+02] [ 6.41188747e-02 9.97942255e-01 -1.60983321e-04 4.19810551e+00] [ 1.21894180e-02 -6.21880105e-04 9.99925513e-01 2.85629676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81925415399996 meters 0.025944710781663268 Centerline is valid? [True, True] Translation: X:416.89, Y:4.20, Z:2.86 [[ 9.97893369e-01 -6.35607975e-02 -1.29942334e-02 4.16889477e+02] [ 6.35639514e-02 9.97977753e-01 -1.70554431e-04 4.20012041e+00] [ 1.29787964e-02 -6.55769682e-04 9.99915557e-01 2.85574681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.84925415399994 meters 0.025690095677831766 Centerline is valid? [True, True] Translation: X:416.92, Y:4.20, Z:2.86 [[ 9.97885072e-01 -6.35205718e-02 -1.38028776e-02 4.16921910e+02] [ 6.35241412e-02 9.97980286e-01 -1.80121677e-04 4.20144777e+00] [ 1.37864412e-02 -6.97075215e-04 9.99904720e-01 2.85569118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87925415399997 meters 0.025685414666307107 Centerline is valid? [True, True] Translation: X:416.95, Y:4.20, Z:2.86 [[ 9.97883332e-01 -6.33963194e-02 -1.44832026e-02 4.16953806e+02] [ 6.34002521e-02 9.97988163e-01 -1.87908647e-04 4.20232822e+00] [ 1.44659774e-02 -7.30727786e-04 9.99895095e-01 2.85537692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.90925415399994 meters 0.026297046244504466 Centerline is valid? [True, True] Translation: X:416.98, Y:4.20, Z:2.86 [[ 9.97890999e-01 -6.31169309e-02 -1.51594015e-02 4.16984624e+02] [ 6.31212223e-02 9.98005848e-01 -1.95696310e-04 4.20240225e+00] [ 1.51415231e-02 -7.61596364e-04 9.99885071e-01 2.85530300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93925415399997 meters 0.026578465501384537 Centerline is valid? [True, True] Translation: X:417.02, Y:4.20, Z:2.86 [[ 9.97904260e-01 -6.29165719e-02 -1.51192994e-02 4.17017155e+02] [ 6.29208323e-02 9.98018502e-01 -1.94205586e-04 4.20290653e+00] [ 1.51015593e-02 -7.57520319e-04 9.99885678e-01 2.85521451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.96925415399994 meters 0.023820103995872487 Centerline is valid? [True, True] Translation: X:417.05, Y:4.21, Z:2.86 [[ 9.97941296e-01 -6.23181670e-02 -1.51531002e-02 4.17049647e+02] [ 6.23223947e-02 9.98056051e-01 -1.93514666e-04 4.20773928e+00] [ 1.51357028e-02 -7.51261215e-04 9.99885166e-01 2.85642231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99925415399997 meters 0.025695646845127797 Centerline is valid? [True, True] Translation: X:417.08, Y:4.21, Z:2.86 [[ 9.98008757e-01 -6.13127314e-02 -1.48077930e-02 4.17080796e+02] [ 6.13166723e-02 9.98118345e-01 -1.88149781e-04 4.20631587e+00] [ 1.47914658e-02 -7.20189464e-04 9.99890341e-01 2.85551184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.02925415399994 meters 0.02496348747256218 Centerline is valid? [True, True] Translation: X:417.11, Y:4.21, Z:2.86 [[ 9.98090474e-01 -5.98211208e-02 -1.53895676e-02 4.17112343e+02] [ 5.98252117e-02 9.98208849e-01 -1.94819022e-04 4.20969809e+00] [ 1.53736569e-02 -7.26237132e-04 9.99881555e-01 2.85545689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.059254154 meters 0.022825683834321004 Centerline is valid? [True, True] Translation: X:417.14, Y:4.21, Z:2.86 [[ 9.98307723e-01 -5.62575711e-02 -1.47233320e-02 4.17142818e+02] [ 5.62609365e-02 9.98416082e-01 -1.85846707e-04 4.21474640e+00] [ 1.47104667e-02 -6.42816243e-04 9.99891589e-01 2.85723960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.08925415399995 meters 0.022145349612733334 Centerline is valid? [True, True] Translation: X:417.17, Y:4.22, Z:2.86 [[ 9.98444645e-01 -5.37038834e-02 -1.49727915e-02 4.17174773e+02] [ 5.37070878e-02 9.98556715e-01 -1.88286872e-04 4.21773542e+00] [ 1.49612933e-02 -6.16151011e-04 9.99887884e-01 2.85760943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1192541539999 meters 0.02130575700625494 Centerline is valid? [True, True] Translation: X:417.21, Y:4.22, Z:2.86 [[ 9.98589087e-01 -5.09357107e-02 -1.50129361e-02 4.17205751e+02] [ 5.09386303e-02 9.98701768e-01 -1.88106056e-04 4.22077420e+00] [ 1.50030271e-02 -5.76897745e-04 9.99887282e-01 2.85783793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.14925415399995 meters 0.021783245826527152 Centerline is valid? [True, True] Translation: X:417.24, Y:4.22, Z:2.86 [[ 9.98805497e-01 -4.63551967e-02 -1.54523283e-02 4.17235623e+02] [ 4.63577462e-02 9.98924883e-01 -1.93347171e-04 4.22432222e+00] [ 1.54446779e-02 -5.23218898e-04 9.99880587e-01 2.85706251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1792541539999 meters 0.020078686781176178 Centerline is valid? [True, True] Translation: X:417.27, Y:4.23, Z:2.86 [[ 9.98887613e-01 -4.49222974e-02 -1.43360827e-02 4.17267189e+02] [ 4.49243483e-02 9.98990376e-01 -1.79111802e-04 4.22702033e+00] [ 1.43296547e-02 -4.65126610e-04 9.99897217e-01 2.85893913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.20925415399995 meters 0.020513871033407485 Centerline is valid? [True, True] Translation: X:417.30, Y:4.23, Z:2.86 [[ 9.98950850e-01 -4.35091199e-02 -1.42883355e-02 4.17299073e+02] [ 4.35110220e-02 9.99052931e-01 -1.77866534e-04 4.22826457e+00] [ 1.42825423e-02 -4.44020154e-04 9.99897901e-01 2.85879523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2392541539999 meters 0.019834110815646133 Centerline is valid? [True, True] Translation: X:417.33, Y:4.23, Z:2.86 [[ 9.99000151e-01 -4.26918737e-02 -1.32703426e-02 4.17330124e+02] [ 4.26934500e-02 9.99088205e-01 -1.64618376e-04 4.22966348e+00] [ 1.32652707e-02 -4.02102928e-04 9.99911932e-01 2.86017976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.26925415399995 meters 0.01923294070898073 Centerline is valid? [True, True] Translation: X:417.36, Y:4.23, Z:2.86 [[ 9.99110815e-01 -4.02069760e-02 -1.26876977e-02 4.17361540e+02] [ 4.02082223e-02 9.99191310e-01 -1.56938548e-04 4.23394650e+00] [ 1.26837473e-02 -3.53350770e-04 9.99919496e-01 2.86112845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2992541539999 meters 0.01866745521723194 Centerline is valid? [True, True] Translation: X:417.39, Y:4.23, Z:2.86 [[ 9.99162539e-01 -3.92681322e-02 -1.14992985e-02 4.17392474e+02] [ 3.92690995e-02 9.99228661e-01 -1.41750437e-04 4.23451542e+00] [ 1.14959949e-02 -3.09935370e-04 9.99933871e-01 2.86218563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.32925415399995 meters 0.017679290230884843 Centerline is valid? [True, True] Translation: X:417.42, Y:4.24, Z:2.86 [[ 9.99212206e-01 -3.80134275e-02 -1.13994394e-02 4.17424844e+02] [ 3.80143046e-02 9.99277185e-01 -1.39803438e-04 4.23777566e+00] [ 1.13965141e-02 -2.93648459e-04 9.99935015e-01 2.86245380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3592541539999 meters 0.017679290230884843 Centerline is valid? [True, True] Translation: X:417.46, Y:4.24, Z:2.86 [[ 9.99215041e-01 -3.79388211e-02 -1.13994498e-02 4.17456540e+02] [ 3.79397031e-02 9.99280021e-01 -1.38952295e-04 4.23810496e+00] [ 1.13965141e-02 -2.93648517e-04 9.99935015e-01 2.86267334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.38925415399996 meters 0.020009110305288073 Centerline is valid? [True, True] Translation: X:417.49, Y:4.24, Z:2.86 [[ 9.99296552e-01 -3.51300141e-02 -1.31256475e-02 4.17487198e+02] [ 3.51309506e-02 9.99382705e-01 -1.59283465e-04 4.23639351e+00] [ 1.31231407e-02 -3.01945054e-04 9.99913842e-01 2.85962935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.41925415399993 meters 0.01832943020319033 Centerline is valid? [True, True] Translation: X:417.52, Y:4.24, Z:2.86 [[ 9.99327129e-01 -3.43139558e-02 -1.29553958e-02 4.17517222e+02] [ 3.43148013e-02 9.99411061e-01 -1.57091176e-04 4.23780023e+00] [ 1.29531563e-02 -2.87576359e-04 9.99916063e-01 2.86027549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.44925415399996 meters 0.01690929562533113 Centerline is valid? [True, True] Translation: X:417.55, Y:4.24, Z:2.86 [[ 9.99345721e-01 -3.34977092e-02 -1.36394273e-02 4.17548372e+02] [ 3.34985737e-02 9.99438752e-01 -1.65138562e-04 4.24127293e+00] [ 1.36373040e-02 -2.91870845e-04 9.99906965e-01 2.86051200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.47925415399993 meters 0.016792753376467816 Centerline is valid? [True, True] Translation: X:417.58, Y:4.24, Z:2.86 [[ 9.99363439e-01 -3.27977295e-02 -1.40365852e-02 4.17579785e+02] [ 3.27985834e-02 9.99461967e-01 -1.69423679e-04 4.24150830e+00] [ 1.40345898e-02 -2.91064280e-04 9.99901468e-01 2.86008391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.50925415399996 meters 0.01689166297364687 Centerline is valid? [True, True] Translation: X:417.61, Y:4.24, Z:2.86 [[ 9.99362402e-01 -3.22416731e-02 -1.53382868e-02 4.17609803e+02] [ 3.22426395e-02 9.99480054e-01 -1.84347133e-04 4.24083371e+00] [ 1.53362553e-02 -3.10317257e-04 9.99882345e-01 2.85922250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.53925415399993 meters 0.01813361469624447 Centerline is valid? [True, True] Translation: X:417.64, Y:4.24, Z:2.86 [[ 9.99348356e-01 -3.20772580e-02 -1.65502922e-02 4.17639836e+02] [ 3.20783681e-02 9.99485337e-01 -1.98460435e-04 4.24137774e+00] [ 1.65481405e-02 -3.32575257e-04 9.99863015e-01 2.85863009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.56925415399996 meters 0.016582412010635532 Centerline is valid? [True, True] Translation: X:417.67, Y:4.24, Z:2.86 [[ 9.99345249e-01 -3.24980942e-02 -1.59042870e-02 4.17669568e+02] [ 3.24991673e-02 9.99471744e-01 -1.91043978e-04 4.24189820e+00] [ 1.59020940e-02 -3.25957192e-04 9.99873501e-01 2.86001182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.59925415399994 meters 0.018132524148285686 Centerline is valid? [True, True] Translation: X:417.70, Y:4.24, Z:2.86 [[ 9.99320385e-01 -3.29795226e-02 -1.64656855e-02 4.17699500e+02] [ 3.29807333e-02 9.99455968e-01 -1.98079953e-04 4.24029419e+00] [ 1.64632603e-02 -3.45105049e-04 9.99864412e-01 2.85900033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62925415399997 meters 0.017081014116289806 Centerline is valid? [True, True] Translation: X:417.73, Y:4.24, Z:2.86 [[ 9.99254133e-01 -3.51267180e-02 -1.60402972e-02 4.17729547e+02] [ 3.51281405e-02 9.99382798e-01 -1.93151648e-04 4.24030865e+00] [ 1.60371819e-02 -3.70458231e-04 9.99871327e-01 2.86070394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.65925415399994 meters 0.01923198923437198 Centerline is valid? [True, True] Translation: X:417.76, Y:4.24, Z:2.86 [[ 9.99192875e-01 -3.61858975e-02 -1.74407454e-02 4.17759426e+02] [ 3.61877380e-02 9.99344987e-01 -2.10154909e-04 4.23788735e+00] [ 1.74369262e-02 -4.21155839e-04 9.99847877e-01 2.85955595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.68925415399997 meters 0.018096352235718153 Centerline is valid? [True, True] Translation: X:417.79, Y:4.24, Z:2.86 [[ 9.99150511e-01 -3.80141176e-02 -1.59117273e-02 4.17789249e+02] [ 3.80158759e-02 9.99277117e-01 -1.92055009e-04 4.23741088e+00] [ 1.59075258e-02 -4.13006390e-04 9.99873382e-01 2.86088359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.71925415399994 meters 0.0189381122768948 Centerline is valid? [True, True] Translation: X:417.82, Y:4.24, Z:2.86 [[ 9.98995873e-01 -4.17519194e-02 -1.62488077e-02 4.17819911e+02] [ 4.17542428e-02 9.99127892e-01 -1.96378961e-04 4.23507745e+00] [ 1.62428362e-02 -4.82274890e-04 9.99867960e-01 2.86105925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.74925415399997 meters 0.019432123026426412 Centerline is valid? [True, True] Translation: X:417.85, Y:4.23, Z:2.86 [[ 9.98910815e-01 -4.36949002e-02 -1.63688308e-02 4.17851095e+02] [ 4.36975243e-02 9.99044787e-01 -1.97486883e-04 4.23365486e+00] [ 1.63618243e-02 -5.18005601e-04 9.99866002e-01 2.86100933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.77925415399994 meters 0.020533869056683782 Centerline is valid? [True, True] Translation: X:417.88, Y:4.23, Z:2.86 [[ 9.98801725e-01 -4.60661108e-02 -1.65235703e-02 4.17881850e+02] [ 4.60691160e-02 9.98938235e-01 -1.98926703e-04 4.23201505e+00] [ 1.65151899e-02 -5.62537942e-04 9.99863457e-01 2.86095230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.809254154 meters 0.021485576298119594 Centerline is valid? [True, True] Translation: X:417.91, Y:4.23, Z:2.86 [[ 9.98707686e-01 -4.80265957e-02 -1.66254184e-02 4.17911610e+02] [ 4.80299113e-02 9.98845878e-01 -2.00026995e-04 4.23009800e+00] [ 1.66158373e-02 -5.98748876e-04 9.99861768e-01 2.86087175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.83925415399995 meters 0.023346985803517337 Centerline is valid? [True, True] Translation: X:417.94, Y:4.23, Z:2.86 [[ 9.98490482e-01 -5.21669633e-02 -1.71861669e-02 4.17942674e+02] [ 5.21711219e-02 9.98638138e-01 -2.06591092e-04 4.22635667e+00] [ 1.71735390e-02 -6.90342371e-04 9.99852286e-01 2.86091480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8692541539999 meters 0.02220557977761141 Centerline is valid? [True, True] Translation: X:417.97, Y:4.23, Z:2.86 [[ 9.98382941e-01 -5.42804367e-02 -1.68860149e-02 4.17973867e+02] [ 5.42847612e-02 9.98525475e-01 -2.02493383e-04 4.22766746e+00] [ 1.68721074e-02 -7.14487346e-04 9.99857401e-01 2.86177131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.89925415399995 meters 0.026265998477616473 Centerline is valid? [True, True] Translation: X:418.00, Y:4.22, Z:2.86 [[ 9.98247506e-01 -5.67237476e-02 -1.68621566e-02 4.18003908e+02] [ 5.67284121e-02 9.98389627e-01 -2.01951207e-04 4.22163753e+00] [ 1.68464577e-02 -7.54966081e-04 9.99857803e-01 2.86089741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9292541539999 meters 0.023963947091934383 Centerline is valid? [True, True] Translation: X:418.03, Y:4.23, Z:2.86 [[ 9.98117937e-01 -5.89441248e-02 -1.69166489e-02 4.18034739e+02] [ 5.89491408e-02 9.98260967e-01 -2.02419034e-04 4.22513039e+00] [ 1.68991617e-02 -7.95183851e-04 9.99856883e-01 2.86217072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.95925415399995 meters 0.02730839166109625 Centerline is valid? [True, True] Translation: X:418.06, Y:4.22, Z:2.86 [[ 9.97840282e-01 -6.34924536e-02 -1.68368748e-02 4.18064570e+02] [ 6.34980788e-02 9.97981941e-01 -2.00825412e-04 4.22032999e+00] [ 1.68156479e-02 -8.68717517e-04 9.99858230e-01 2.86163667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9892541539999 meters 0.0279375921837324 Centerline is valid? [True, True] Translation: X:418.10, Y:4.22, Z:2.86 [[ 9.97704889e-01 -6.55489894e-02 -1.69789577e-02 4.18095511e+02] [ 6.55550160e-02 9.97848936e-01 -2.01977685e-04 4.21976936e+00] [ 1.69556743e-02 -9.11541721e-04 9.99855827e-01 2.86196175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.01925415399995 meters 0.033202374431267195 Centerline is valid? [True, True] Translation: X:418.13, Y:4.21, Z:2.86 [[ 9.97619284e-01 -6.70493481e-02 -1.61291382e-02 4.18126595e+02] [ 6.70549912e-02 9.97749263e-01 -1.91288286e-04 4.21281169e+00] [ 1.61056615e-02 -8.90706341e-04 9.99869899e-01 2.86126733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0492541539999 meters 0.030939287929397916 Centerline is valid? [True, True] Translation: X:418.16, Y:4.22, Z:2.86 [[ 9.97441496e-01 -6.97282909e-02 -1.57615553e-02 4.18157815e+02] [ 6.97340233e-02 9.97565602e-01 -1.86275287e-04 4.21754439e+00] [ 1.57361741e-02 -9.13317965e-04 9.99875762e-01 2.86282256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.07925415399995 meters 0.028339705978874252 Centerline is valid? [True, True] Translation: X:418.19, Y:4.22, Z:2.86 [[ 9.97392774e-01 -7.05057991e-02 -1.53813741e-02 4.18189771e+02] [ 7.05113637e-02 9.97510960e-01 -1.80913181e-04 4.22236347e+00] [ 1.53558447e-02 -9.04120162e-04 9.99881683e-01 2.86372447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1092541539999 meters 0.03248369155087534 Centerline is valid? [True, True] Translation: X:418.22, Y:4.22, Z:2.86 [[ 9.97329746e-01 -7.12039363e-02 -1.62288820e-02 4.18220900e+02] [ 7.12102403e-02 9.97461310e-01 -1.89823319e-04 4.21894658e+00] [ 1.62011981e-02 -9.66346144e-04 9.99868285e-01 2.86282580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.13925415399996 meters 0.02957372774598635 Centerline is valid? [True, True] Translation: X:418.25, Y:4.22, Z:2.86 [[ 9.97333937e-01 -7.14093842e-02 -1.50239400e-02 4.18252692e+02] [ 7.14148242e-02 9.97446686e-01 -1.74780046e-04 4.22348658e+00] [ 1.49980601e-02 -8.98617965e-04 9.99887119e-01 2.86423756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.16925415399993 meters 0.030950219263390463 Centerline is valid? [True, True] Translation: X:418.28, Y:4.22, Z:2.86 [[ 9.97300085e-01 -7.17816813e-02 -1.54896666e-02 4.18283787e+02] [ 7.17875307e-02 9.97419931e-01 -1.78772110e-04 4.22434249e+00] [ 1.54625347e-02 -9.33675473e-04 9.99880012e-01 2.86328474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.19925415399996 meters 0.03188278242925443 Centerline is valid? [True, True] Translation: X:418.32, Y:4.23, Z:2.86 [[ 9.97248845e-01 -7.21211873e-02 -1.71252905e-02 4.18316029e+02] [ 7.21284140e-02 9.97395335e-01 -1.96094478e-04 4.22643398e+00] [ 1.70948274e-02 -1.03966505e-03 9.99853332e-01 2.86246516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.22925415399993 meters 0.03186653021793776 Centerline is valid? [True, True] Translation: X:418.35, Y:4.23, Z:2.86 [[ 9.97254025e-01 -7.23216307e-02 -1.59370922e-02 4.18347274e+02] [ 7.23279395e-02 9.97380888e-01 -1.80928949e-04 4.22602589e+00] [ 1.59084362e-02 -9.72264915e-04 9.99872980e-01 2.86296534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.25925415399996 meters 0.032561380731926846 Centerline is valid? [True, True] Translation: X:418.38, Y:4.23, Z:2.86 [[ 9.97221407e-01 -7.26086734e-02 -1.66567025e-02 4.18379243e+02] [ 7.26156310e-02 9.97359983e-01 -1.87524258e-04 4.22735869e+00] [ 1.66263444e-02 -1.02253375e-03 9.99861250e-01 2.86242500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.28925415399993 meters 0.033300439137000745 Centerline is valid? [True, True] Translation: X:418.41, Y:4.23, Z:2.86 [[ 9.97152139e-01 -7.34826404e-02 -1.69680266e-02 4.18410274e+02] [ 7.34900043e-02 9.97295936e-01 -1.89982108e-04 4.22907749e+00] [ 1.69361043e-02 -1.05753928e-03 9.99856015e-01 2.86195202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31925415399996 meters 0.030637287050975483 Centerline is valid? [True, True] Translation: X:418.44, Y:4.23, Z:2.86 [[ 9.97141655e-01 -7.35614659e-02 -1.72403560e-02 4.18442863e+02] [ 7.35690995e-02 9.97290104e-01 -1.91894266e-04 4.23466647e+00] [ 1.72077525e-02 -1.07701170e-03 9.99851356e-01 2.86239802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.34925415399994 meters 0.03534389064940892 Centerline is valid? [True, True] Translation: X:418.47, Y:4.23, Z:2.86 [[ 9.97162056e-01 -7.31823597e-02 -1.76685097e-02 4.18474418e+02] [ 7.31903376e-02 9.97317971e-01 -1.95548699e-04 4.23233331e+00] [ 1.76354330e-02 -1.09817045e-03 9.99843881e-01 2.86128939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37925415399997 meters 0.03151636402667037 Centerline is valid? [True, True] Translation: X:418.51, Y:4.24, Z:2.86 [[ 9.97200309e-01 -7.26164729e-02 -1.78435481e-02 4.18506647e+02] [ 7.26245404e-02 9.97359332e-01 -1.96309901e-04 4.24004462e+00] [ 1.78106846e-02 -1.10011919e-03 9.99840772e-01 2.86228169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.40925415399994 meters 0.03055189023451215 Centerline is valid? [True, True] Translation: X:418.54, Y:4.24, Z:2.86 [[ 9.97284078e-01 -7.14168670e-02 -1.80027596e-02 4.18538731e+02] [ 7.14249082e-02 9.97445960e-01 -1.96738166e-04 4.24465730e+00] [ 1.79708303e-02 -1.08964161e-03 9.99837918e-01 2.86258409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43925415399997 meters 0.027927719237083766 Centerline is valid? [True, True] Translation: X:418.57, Y:4.25, Z:2.86 [[ 9.97396424e-01 -6.98906069e-02 -1.77672655e-02 4.18569662e+02] [ 6.98982139e-02 9.97554110e-01 -1.93253218e-04 4.25061212e+00] [ 1.77373153e-02 -1.04915006e-03 9.99842131e-01 2.86402410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.46925415399994 meters 0.026786861423990747 Centerline is valid? [True, True] Translation: X:418.60, Y:4.26, Z:2.87 [[ 9.97719212e-01 -6.53994233e-02 -1.67119512e-02 4.18600439e+02] [ 6.54055304e-02 9.97858749e-01 -1.81457080e-04 4.25813503e+00] [ 1.66880339e-02 -9.12010819e-04 9.99860329e-01 2.86570272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49925415399997 meters 0.025899597588427973 Centerline is valid? [True, True] Translation: X:418.63, Y:4.26, Z:2.87 [[ 9.97907540e-01 -6.26845037e-02 -1.58490960e-02 4.18632213e+02] [ 6.26896635e-02 9.98033054e-01 -1.71542811e-04 4.26270500e+00] [ 1.58286747e-02 -8.22390627e-04 9.99874380e-01 2.86697953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.52925415399994 meters 0.025211024861265943 Centerline is valid? [True, True] Translation: X:418.66, Y:4.27, Z:2.87 [[ 9.98113379e-01 -5.95494994e-02 -1.49512744e-02 4.18664121e+02] [ 5.95537534e-02 9.98225087e-01 -1.60939347e-04 4.26711369e+00] [ 1.49343210e-02 -7.29768790e-04 9.99888210e-01 2.86810009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.559254154 meters 0.02420861893802158 Centerline is valid? [True, True] Translation: X:418.70, Y:4.27, Z:2.87 [[ 9.98320474e-01 -5.61450936e-02 -1.42814115e-02 4.18695603e+02] [ 5.61486392e-02 9.98422409e-01 -1.52895201e-04 4.27207989e+00] [ 1.42674656e-02 -6.49243414e-04 9.99898004e-01 2.86897243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.58925415399995 meters 0.021697827330750128 Centerline is valid? [True, True] Translation: X:418.73, Y:4.28, Z:2.87 [[ 9.98659401e-01 -5.00091641e-02 -1.33597810e-02 4.18725887e+02] [ 5.00117238e-02 9.98748621e-01 -1.42633136e-04 4.28154264e+00] [ 1.33501958e-02 -5.25703754e-04 9.99910744e-01 2.87058722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6192541539999 meters 0.02040498989587029 Centerline is valid? [True, True] Translation: X:418.76, Y:4.29, Z:2.87 [[ 9.98777873e-01 -4.75977821e-02 -1.33120501e-02 4.18756876e+02] [ 4.76001133e-02 9.98866462e-01 -1.41840839e-04 4.28684083e+00] [ 1.33037117e-02 -4.91987602e-04 9.99911381e-01 2.87123394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.64925415399995 meters 0.020176082748106144 Centerline is valid? [True, True] Translation: X:418.79, Y:4.29, Z:2.87 [[ 9.98869391e-01 -4.57520551e-02 -1.29108260e-02 4.18788715e+02] [ 4.57541029e-02 9.98952723e-01 -1.36867163e-04 4.29012166e+00] [ 1.29035668e-02 -4.54010842e-04 9.99916642e-01 2.87142825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6792541539999 meters 0.01991433520592826 Centerline is valid? [True, True] Translation: X:418.82, Y:4.29, Z:2.87 [[ 9.98937963e-01 -4.40250943e-02 -1.35918054e-02 4.18820456e+02] [ 4.40272184e-02 9.99030322e-01 -1.43048112e-04 4.29489419e+00] [ 1.35849235e-02 -4.55513196e-04 9.99907617e-01 2.87137757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.70925415399995 meters 0.02134439765574104 Centerline is valid? [True, True] Translation: X:418.85, Y:4.30, Z:2.87 [[ 9.98928927e-01 -4.38421293e-02 -1.47941360e-02 4.18852093e+02] [ 4.38446406e-02 9.99038349e-01 -1.54708443e-04 4.29556511e+00] [ 1.47866920e-02 -4.94100837e-04 9.99890549e-01 2.87018009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7392541539999 meters 0.021721175319268524 Centerline is valid? [True, True] Translation: X:418.88, Y:4.30, Z:2.87 [[ 9.98892832e-01 -4.44544550e-02 -1.53919591e-02 4.18883215e+02] [ 4.44572592e-02 9.99011274e-01 -1.60101037e-04 4.29527247e+00] [ 1.53838579e-02 -5.24360538e-04 9.99881524e-01 2.86981517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.76925415399995 meters 0.01978900442629352 Centerline is valid? [True, True] Translation: X:418.91, Y:4.30, Z:2.87 [[ 9.98851907e-01 -4.51874540e-02 -1.59047901e-02 4.18914896e+02] [ 4.51905552e-02 9.98978371e-01 -1.64541354e-04 4.30027102e+00] [ 1.58959765e-02 -5.54393851e-04 9.99873497e-01 2.87070536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7992541539999 meters 0.02079667758052986 Centerline is valid? [True, True] Translation: X:418.95, Y:4.30, Z:2.87 [[ 9.98745770e-01 -4.73142790e-02 -1.63782339e-02 4.18946282e+02] [ 4.73178683e-02 9.98879868e-01 -1.68512303e-04 4.30081806e+00] [ 1.63678611e-02 -6.06682164e-04 9.99865854e-01 2.87010513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.82925415399995 meters 0.022639429074121527 Centerline is valid? [True, True] Translation: X:418.98, Y:4.30, Z:2.87 [[ 9.98726186e-01 -4.77172384e-02 -1.64033791e-02 4.18977397e+02] [ 4.77209080e-02 9.98860694e-01 -1.67862203e-04 4.29946372e+00] [ 1.63927006e-02 -6.15135767e-04 9.99865441e-01 2.86962888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8592541539999 meters 0.022570244397660665 Centerline is valid? [True, True] Translation: X:419.01, Y:4.30, Z:2.87 [[ 9.98685460e-01 -4.86968635e-02 -1.59990046e-02 4.19008522e+02] [ 4.87004936e-02 9.98813414e-01 -1.62861994e-04 4.30029950e+00] [ 1.59879512e-02 -6.16511515e-04 9.99871994e-01 2.87051548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.88925415399996 meters 0.02150176635210499 Centerline is valid? [True, True] Translation: X:419.04, Y:4.30, Z:2.87 [[ 9.98680432e-01 -4.89549159e-02 -1.55180739e-02 4.19040624e+02] [ 4.89583776e-02 9.98800807e-01 -1.56968580e-04 4.30366610e+00] [ 1.55071491e-02 -6.02978269e-04 9.99879575e-01 2.87166146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.91925415399993 meters 0.020903050646383474 Centerline is valid? [True, True] Translation: X:419.07, Y:4.31, Z:2.87 [[ 9.98699345e-01 -4.88417140e-02 -1.46323023e-02 4.19073154e+02] [ 4.88447951e-02 9.98806370e-01 -1.46950292e-04 4.30660604e+00] [ 1.46220140e-02 -5.67952645e-04 9.99892931e-01 2.87319887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.94925415399996 meters 0.021049223377611365 Centerline is valid? [True, True] Translation: X:419.11, Y:4.31, Z:2.87 [[ 9.98718399e-01 -4.84704752e-02 -1.45661314e-02 4.19105772e+02] [ 4.84735048e-02 9.98824458e-01 -1.45203171e-04 4.30743270e+00] [ 1.45560463e-02 -5.61054361e-04 9.99893898e-01 2.87358688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.97925415399993 meters 0.020657735476700054 Centerline is valid? [True, True] Translation: X:419.14, Y:4.31, Z:2.87 [[ 9.98732067e-01 -4.82884801e-02 -1.42295662e-02 4.19137781e+02] [ 4.82913677e-02 9.98833281e-01 -1.40798902e-04 4.30920919e+00] [ 1.42197633e-02 -5.46544835e-04 9.99898745e-01 2.87420982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.00925415399996 meters 0.02108997276265479 Centerline is valid? [True, True] Translation: X:419.17, Y:4.31, Z:2.87 [[ 9.98751236e-01 -4.79931993e-02 -1.38788048e-02 4.19169384e+02] [ 4.79959303e-02 9.98847522e-01 -1.36434570e-04 4.30956848e+00] [ 1.38693577e-02 -5.29861953e-04 9.99903675e-01 2.87443233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.03925415399993 meters 0.02136235201254094 Centerline is valid? [True, True] Translation: X:419.20, Y:4.31, Z:2.87 [[ 9.98757282e-01 -4.79316352e-02 -1.36546554e-02 4.19202022e+02] [ 4.79342848e-02 9.98850483e-01 -1.33356069e-04 4.30959548e+00] [ 1.36453511e-02 -5.21335795e-04 9.99906762e-01 2.87451010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.06925415399996 meters 0.02109977866539919 Centerline is valid? [True, True] Translation: X:419.23, Y:4.31, Z:2.88 [[ 9.98754020e-01 -4.82059631e-02 -1.29070604e-02 4.19234309e+02] [ 4.82083653e-02 9.98837293e-01 -1.25129847e-04 4.31019843e+00] [ 1.28980852e-02 -4.97254343e-04 9.99916693e-01 2.87532208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.09925415399994 meters 0.021761725018272237 Centerline is valid? [True, True] Translation: X:419.27, Y:4.31, Z:2.88 [[ 9.98759320e-01 -4.82730410e-02 -1.22283991e-02 4.19265154e+02] [ 4.82752117e-02 9.98834065e-01 -1.17770665e-04 4.30955551e+00] [ 1.22198268e-02 -4.72704009e-04 9.99925223e-01 2.87555630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12925415399997 meters 0.021013532797241094 Centerline is valid? [True, True] Translation: X:419.30, Y:4.31, Z:2.88 [[ 9.98765326e-01 -4.82617477e-02 -1.17740203e-02 4.19298614e+02] [ 4.82637700e-02 9.98834619e-01 -1.12480846e-04 4.31155211e+00] [ 1.17657276e-02 -4.55916640e-04 9.99930677e-01 2.87624045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.15925415399994 meters 0.022342169711638687 Centerline is valid? [True, True] Translation: X:419.33, Y:4.31, Z:2.88 [[ 9.98801451e-01 -4.75434022e-02 -1.16312430e-02 4.19329763e+02] [ 4.75453391e-02 9.98869075e-01 -1.10085628e-04 4.31027182e+00] [ 1.16233228e-02 -4.43057710e-04 9.99932349e-01 2.87572750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.18925415399997 meters 0.023377538329819026 Centerline is valid? [True, True] Translation: X:419.36, Y:4.31, Z:2.88 [[ 9.98839290e-01 -4.68692077e-02 -1.11062849e-02 4.19360711e+02] [ 4.68709418e-02 9.98900948e-01 -1.04241050e-04 4.30724696e+00] [ 1.10989642e-02 -4.16441975e-04 9.99938318e-01 2.87527281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.21925415399994 meters 0.0252094763545693 Centerline is valid? [True, True] Translation: X:419.39, Y:4.31, Z:2.87 [[ 9.98897559e-01 -4.55704678e-02 -1.12694108e-02 4.19393163e+02] [ 4.55721838e-02 9.98961043e-01 -1.04612629e-04 4.30650274e+00] [ 1.12624696e-02 -4.09074362e-04 9.99936493e-01 2.87401190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.24925415399997 meters 0.0209756114317804 Centerline is valid? [True, True] Translation: X:419.43, Y:4.31, Z:2.88 [[ 9.98904705e-01 -4.55625541e-02 -1.06510115e-02 4.19425818e+02] [ 4.55640957e-02 9.98961412e-01 -9.80021403e-05 4.31059928e+00] [ 1.06444147e-02 -3.87408908e-04 9.99943272e-01 2.87562839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.27925415399994 meters 0.0209756114317804 Centerline is valid? [True, True] Translation: X:419.46, Y:4.31, Z:2.88 [[ 9.98909729e-01 -4.54522800e-02 -1.06510222e-02 4.19458376e+02] [ 4.54538279e-02 9.98966436e-01 -9.68263906e-05 4.31080634e+00] [ 1.06444147e-02 -3.87408907e-04 9.99943272e-01 2.87585379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.309254154 meters 0.02117848321396976 Centerline is valid? [True, True] Translation: X:419.49, Y:4.31, Z:2.88 [[ 9.98997540e-01 -4.36332496e-02 -1.00027140e-02 4.19489950e+02] [ 4.36345331e-02 9.99047556e-01 -8.99907907e-05 4.30966068e+00] [ 9.99711353e-03 -3.46563176e-04 9.99949968e-01 2.87588874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.33925415399995 meters 0.02105013076091671 Centerline is valid? [True, True] Translation: X:419.52, Y:4.31, Z:2.88 [[ 9.99023872e-01 -4.29980551e-02 -1.01228069e-02 4.19521885e+02] [ 4.29993445e-02 9.99075096e-01 -9.03321626e-05 4.30969315e+00] [ 1.01173284e-02 -3.45030075e-04 9.99948759e-01 2.87601372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3692541539999 meters 0.02101159016276163 Centerline is valid? [True, True] Translation: X:419.55, Y:4.31, Z:2.88 [[ 9.99055739e-01 -4.21676599e-02 -1.04651674e-02 4.19554156e+02] [ 4.21690005e-02 9.99110488e-01 -9.26207297e-05 4.30978681e+00] [ 1.04597641e-02 -3.48772377e-04 9.99945234e-01 2.87574381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.39925415399995 meters 0.019869511505900602 Centerline is valid? [True, True] Translation: X:419.59, Y:4.31, Z:2.88 [[ 9.99088723e-01 -4.12250717e-02 -1.10551867e-02 4.19586210e+02] [ 4.12265193e-02 9.99149821e-01 -9.70171760e-05 4.31164358e+00] [ 1.10497873e-02 -3.58838100e-04 9.99938885e-01 2.87583342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4292541539999 meters 0.01994074548865101 Centerline is valid? [True, True] Translation: X:419.62, Y:4.31, Z:2.87 [[ 9.99110779e-01 -4.04403271e-02 -1.19260869e-02 4.19617658e+02] [ 4.04419656e-02 9.99181884e-01 -1.03840541e-04 4.31086306e+00] [ 1.19205293e-02 -3.78566191e-04 9.99928876e-01 2.87494724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.45925415399995 meters 0.01968221446342842 Centerline is valid? [True, True] Translation: X:419.65, Y:4.31, Z:2.87 [[ 9.99130010e-01 -3.98310197e-02 -1.23577076e-02 4.19649413e+02] [ 3.98327422e-02 9.99206356e-01 -1.06814716e-04 4.31049221e+00] [ 1.23521545e-02 -3.85519592e-04 9.99923635e-01 2.87447229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4892541539999 meters 0.0206182421873301 Centerline is valid? [True, True] Translation: X:419.68, Y:4.31, Z:2.87 [[ 9.99150631e-01 -3.91324445e-02 -1.29099922e-02 4.19681258e+02] [ 3.91342784e-02 9.99233955e-01 -1.10632030e-04 4.30975831e+00] [ 1.29044319e-02 -3.94685168e-04 9.99916656e-01 2.87323279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.51925415399995 meters 0.019771241698911524 Centerline is valid? [True, True] Translation: X:419.71, Y:4.31, Z:2.87 [[ 9.99142888e-01 -3.92429650e-02 -1.31711615e-02 4.19713192e+02] [ 3.92448961e-02 9.99229616e-01 -1.11910418e-04 4.30944343e+00] [ 1.31654063e-02 -4.05086365e-04 9.99913250e-01 2.87334291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5492541539999 meters 0.018681452195698414 Centerline is valid? [True, True] Translation: X:419.75, Y:4.31, Z:2.87 [[ 9.99129104e-01 -3.92623175e-02 -1.41246133e-02 4.19745487e+02] [ 3.92645555e-02 9.99228843e-01 -1.18942010e-04 4.31033452e+00] [ 1.41183909e-02 -4.35758237e-04 9.99900236e-01 2.87341691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.57925415399995 meters 0.01969755371701536 Centerline is valid? [True, True] Translation: X:419.78, Y:4.31, Z:2.87 [[ 9.99114595e-01 -3.96858134e-02 -1.39664958e-02 4.19776498e+02] [ 3.96880554e-02 9.99212112e-01 -1.16709798e-04 4.30814410e+00] [ 1.39601235e-02 -4.37696598e-04 9.99902457e-01 2.87351175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6092541539999 meters 0.01979061018650038 Centerline is valid? [True, True] Translation: X:419.81, Y:4.31, Z:2.87 [[ 9.99101709e-01 -4.01803533e-02 -1.34653339e-02 4.19808727e+02] [ 4.01824935e-02 9.99192351e-01 -1.11673946e-04 4.30770317e+00] [ 1.34589457e-02 -4.29497061e-04 9.99909332e-01 2.87382076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.63925415399996 meters 0.020146361029245784 Centerline is valid? [True, True] Translation: X:419.84, Y:4.31, Z:2.87 [[ 9.99069986e-01 -4.10329673e-02 -1.32460929e-02 4.19840587e+02] [ 4.10351259e-02 9.99157699e-01 -1.08901366e-04 4.30620080e+00] [ 1.32394042e-02 -4.34755004e-04 9.99912261e-01 2.87444334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.66925415399993 meters 0.019508386715574234 Centerline is valid? [True, True] Translation: X:419.87, Y:4.31, Z:2.88 [[ 9.99027014e-01 -4.21835241e-02 -1.28676209e-02 4.19872902e+02] [ 4.21856684e-02 9.99109783e-01 -1.04861371e-04 4.30675308e+00] [ 1.28605894e-02 -4.38069847e-04 9.99917203e-01 2.87511100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.69925415399996 meters 0.02077804270269178 Centerline is valid? [True, True] Translation: X:419.90, Y:4.30, Z:2.88 [[ 9.98925958e-01 -4.46787670e-02 -1.22775872e-02 4.19903720e+02] [ 4.46809157e-02 9.99001304e-01 -9.93630764e-05 4.30294208e+00] [ 1.22697650e-02 -4.49317481e-04 9.99924623e-01 2.87501061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.72925415399993 meters 0.02162491519469004 Centerline is valid? [True, True] Translation: X:419.93, Y:4.30, Z:2.88 [[ 9.98893260e-01 -4.54061349e-02 -1.22694104e-02 4.19934919e+02] [ 4.54083457e-02 9.98968504e-01 -9.84768680e-05 4.30089873e+00] [ 1.22612260e-02 -4.58765747e-04 9.99924723e-01 2.87504332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.75925415399996 meters 0.02102951465457292 Centerline is valid? [True, True] Translation: X:419.97, Y:4.30, Z:2.88 [[ 9.98850551e-01 -4.64055378e-02 -1.20042765e-02 4.19966740e+02] [ 4.64077391e-02 9.98922576e-01 -9.52598698e-05 4.30138554e+00] [ 1.19957634e-02 -4.61940961e-04 9.99927942e-01 2.87563810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.78925415399993 meters 0.02115113479638587 Centerline is valid? [True, True] Translation: X:420.00, Y:4.30, Z:2.88 [[ 9.98824402e-01 -4.71982830e-02 -1.10515241e-02 4.19998766e+02] [ 4.72002058e-02 9.98885445e-01 -8.69231328e-05 4.30137447e+00] [ 1.10433092e-02 -4.34813266e-04 9.99938926e-01 2.87662662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81925415399996 meters 0.022941067040917074 Centerline is valid? [True, True] Translation: X:420.03, Y:4.30, Z:2.88 [[ 9.98830460e-01 -4.71580288e-02 -1.06692608e-02 4.20029502e+02] [ 4.71598286e-02 9.98887353e-01 -8.29653817e-05 4.29824522e+00] [ 1.06613022e-02 -4.20292162e-04 9.99943078e-01 2.87685063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.84925415399994 meters 0.02271699393302055 Centerline is valid? [True, True] Translation: X:420.06, Y:4.30, Z:2.88 [[ 9.98839240e-01 -4.71272962e-02 -9.95943145e-03 4.20061242e+02] [ 4.71288730e-02 9.98888814e-01 -7.64433728e-05 4.29830079e+00] [ 9.95196725e-03 -3.93022140e-04 9.99950401e-01 2.87723641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87925415399997 meters 0.02345769821596983 Centerline is valid? [True, True] Translation: X:420.09, Y:4.30, Z:2.88 [[ 9.98843141e-01 -4.69824133e-02 -1.02485638e-02 4.20092045e+02] [ 4.69840825e-02 9.98895635e-01 -7.79729491e-05 4.29693141e+00] [ 1.02409090e-02 -4.03636620e-04 9.99947479e-01 2.87733578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.90925415399994 meters 0.023250791534825756 Centerline is valid? [True, True] Translation: X:420.12, Y:4.30, Z:2.88 [[ 9.98853636e-01 -4.67480296e-02 -1.02973475e-02 4.20124233e+02] [ 4.67497085e-02 9.98906632e-01 -7.77327969e-05 4.29691087e+00] [ 1.02897226e-02 -4.03754309e-04 9.99946978e-01 2.87760044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93925415399997 meters 0.02430240702116268 Centerline is valid? [True, True] Translation: X:420.16, Y:4.29, Z:2.88 [[ 9.98860162e-01 -4.65542534e-02 -1.05393305e-02 4.20155620e+02] [ 4.65560087e-02 9.98915678e-01 -7.88664507e-05 4.29490157e+00] [ 1.05315741e-02 -4.11892608e-04 9.99944457e-01 2.87711188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.96925415399994 meters 0.022091955854699107 Centerline is valid? [True, True] Translation: X:420.19, Y:4.30, Z:2.88 [[ 9.98857944e-01 -4.66012826e-02 -1.05417094e-02 4.20187368e+02] [ 4.66030479e-02 9.98913485e-01 -7.82555867e-05 4.29824803e+00] [ 1.05339025e-02 -4.13109576e-04 9.99944432e-01 2.87761402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99925415399997 meters 0.021341763945379816 Centerline is valid? [True, True] Translation: X:420.22, Y:4.30, Z:2.88 [[ 9.98873737e-01 -4.63777519e-02 -1.00180564e-02 4.20219828e+02] [ 4.63793420e-02 9.98923897e-01 -7.36617654e-05 4.29916822e+00] [ 1.00106922e-02 -3.91052061e-04 9.99949815e-01 2.87783703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.02925415399994 meters 0.020961461965768344 Centerline is valid? [True, True] Translation: X:420.25, Y:4.30, Z:2.88 [[ 9.98895917e-01 -4.58260970e-02 -1.03400539e-02 4.20252121e+02] [ 4.58277696e-02 9.98949353e-01 -7.52490021e-05 4.29956263e+00] [ 1.03326386e-02 -3.98695688e-04 9.99946537e-01 2.87766384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.059254154 meters 0.023317979782804334 Centerline is valid? [True, True] Translation: X:420.28, Y:4.30, Z:2.88 [[ 9.98916511e-01 -4.52984554e-02 -1.06702678e-02 4.20283442e+02] [ 4.53002143e-02 9.98973415e-01 -7.69154410e-05 4.29597503e+00] [ 1.06627980e-02 -4.06533314e-04 9.99943068e-01 2.87705834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.08925415399995 meters 0.02089945815239683 Centerline is valid? [True, True] Translation: X:420.32, Y:4.30, Z:2.88 [[ 9.98937547e-01 -4.47243250e-02 -1.11136141e-02 4.20316106e+02] [ 4.47262063e-02 9.98999279e-01 -7.93270225e-05 4.29986976e+00] [ 1.11060404e-02 -4.17827057e-04 9.99938239e-01 2.87723568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1192541539999 meters 0.019951711537951132 Centerline is valid? [True, True] Translation: X:420.35, Y:4.30, Z:2.88 [[ 9.99027577e-01 -4.26337450e-02 -1.12366971e-02 4.20348841e+02] [ 4.26355479e-02 9.99090688e-01 -7.91594284e-05 4.30123579e+00] [ 1.12298543e-02 -4.00000285e-04 9.99936863e-01 2.87674486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.14925415399995 meters 0.021576521066745655 Centerline is valid? [True, True] Translation: X:420.38, Y:4.30, Z:2.88 [[ 9.99079725e-01 -4.14093245e-02 -1.11789979e-02 4.20379988e+02] [ 4.14110422e-02 9.99142192e-01 -7.78769146e-05 4.30054144e+00] [ 1.11726333e-02 -3.85128706e-04 9.99937510e-01 2.87598694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1792541539999 meters 0.021755068155198284 Centerline is valid? [True, True] Translation: X:420.41, Y:4.30, Z:2.88 [[ 9.99117194e-01 -4.04115747e-02 -1.14777277e-02 4.20410806e+02] [ 4.04133270e-02 9.99183045e-01 -7.93161107e-05 4.30010615e+00] [ 1.14715562e-02 -3.84607075e-04 9.99934126e-01 2.87634948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.20925415399995 meters 0.02205069029005659 Centerline is valid? [True, True] Translation: X:420.44, Y:4.30, Z:2.88 [[ 9.99180128e-01 -3.89993015e-02 -1.08686360e-02 4.20442830e+02] [ 3.90007962e-02 9.99239177e-01 -7.44667640e-05 4.30155370e+00] [ 1.08632710e-02 -3.49479746e-04 9.99940932e-01 2.87625476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2392541539999 meters 0.018599207760773867 Centerline is valid? [True, True] Translation: X:420.48, Y:4.31, Z:2.88 [[ 9.99179931e-01 -3.90086703e-02 -1.08530545e-02 4.20475083e+02] [ 3.90101699e-02 9.99238811e-01 -7.35674322e-05 4.30544612e+00] [ 1.08476631e-02 -3.49872399e-04 9.99941101e-01 2.87817954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.26925415399995 meters 0.018998542576320256 Centerline is valid? [True, True] Translation: X:420.51, Y:4.30, Z:2.88 [[ 9.99229714e-01 -3.78422581e-02 -1.03894906e-02 4.20506133e+02] [ 3.78435766e-02 9.99283673e-01 -6.97307935e-05 4.30497907e+00] [ 1.03846871e-02 -3.23498401e-04 9.99946025e-01 2.87815524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2992541539999 meters 0.018538555543119332 Centerline is valid? [True, True] Translation: X:420.54, Y:4.31, Z:2.88 [[ 9.99251980e-01 -3.72297265e-02 -1.04607517e-02 4.20537997e+02] [ 3.72310364e-02 9.99306682e-01 -6.95545795e-05 4.30586874e+00] [ 1.04560886e-02 -3.19962076e-04 9.99945282e-01 2.87854748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.32925415399995 meters 0.020313906689256395 Centerline is valid? [True, True] Translation: X:420.57, Y:4.30, Z:2.88 [[ 9.99297075e-01 -3.62215726e-02 -9.66193246e-03 4.20569113e+02] [ 3.62226491e-02 9.99343742e-01 -6.36157342e-05 4.30279762e+00] [ 9.65789601e-03 -2.86409772e-04 9.99953320e-01 2.87821874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3592541539999 meters 0.01812002471800144 Centerline is valid? [True, True] Translation: X:420.60, Y:4.31, Z:2.88 [[ 9.99335932e-01 -3.51112659e-02 -9.74132744e-03 4.20601422e+02] [ 3.51123133e-02 9.99383371e-01 -6.35430649e-05 4.30718335e+00] [ 9.73755173e-03 -2.78539673e-04 9.99952550e-01 2.87895887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.38925415399996 meters 0.01860542190891368 Centerline is valid? [True, True] Translation: X:420.63, Y:4.31, Z:2.88 [[ 9.99372211e-01 -3.41657370e-02 -9.37477520e-03 4.20633780e+02] [ 3.41666718e-02 9.99416147e-01 -6.04758051e-05 4.30818193e+00] [ 9.37136791e-03 -2.59867028e-04 9.99956054e-01 2.87873538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.41925415399993 meters 0.01811081259188077 Centerline is valid? [True, True] Translation: X:420.66, Y:4.31, Z:2.88 [[ 9.99402919e-01 -3.32902266e-02 -9.25025946e-03 4.20664991e+02] [ 3.32911051e-02 9.99445696e-01 -5.90348324e-05 4.30866333e+00] [ 9.24709729e-03 -2.48951776e-04 9.99957214e-01 2.87973754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.44925415399996 meters 0.01730340710737809 Centerline is valid? [True, True] Translation: X:420.70, Y:4.31, Z:2.88 [[ 9.99470391e-01 -3.12869795e-02 -8.94773348e-03 4.20696801e+02] [ 3.12877259e-02 9.99510418e-01 -5.65823943e-05 4.31165633e+00] [ 8.94512312e-03 -2.23401805e-04 9.99959967e-01 2.88039691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.47925415399993 meters 0.01766406797126349 Centerline is valid? [True, True] Translation: X:420.73, Y:4.31, Z:2.88 [[ 9.99500007e-01 -3.04444202e-02 -8.53660055e-03 4.20729503e+02] [ 3.04450744e-02 9.99536440e-01 -5.33427395e-05 4.31184983e+00] [ 8.53426731e-03 -2.06581370e-04 9.99963561e-01 2.88039441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.50925415399996 meters 0.017000667284411793 Centerline is valid? [True, True] Translation: X:420.76, Y:4.31, Z:2.88 [[ 9.99520576e-01 -2.98382229e-02 -8.26433613e-03 4.20761937e+02] [ 2.98388212e-02 9.99554722e-01 -5.09239699e-05 4.31225936e+00] [ 8.26217568e-03 -1.95698492e-04 9.99965848e-01 2.88099711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.53925415399993 meters 0.017297459431907594 Centerline is valid? [True, True] Translation: X:420.79, Y:4.31, Z:2.88 [[ 9.99530922e-01 -2.95353309e-02 -8.09944430e-03 4.20793141e+02] [ 2.95359008e-02 9.99563719e-01 -4.92689702e-05 4.31168264e+00] [ 8.09736584e-03 -1.89978524e-04 9.99967198e-01 2.88091395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.56925415399996 meters 0.017611106846870516 Centerline is valid? [True, True] Translation: X:420.82, Y:4.31, Z:2.88 [[ 9.99532372e-01 -2.95305588e-02 -7.93625211e-03 4.20823969e+02] [ 2.95311125e-02 9.99563860e-01 -4.74282997e-05 4.31115660e+00] [ 7.93419138e-03 -1.86960233e-04 9.99968506e-01 2.88098934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.59925415399994 meters 0.017777161192318376 Centerline is valid? [True, True] Translation: X:420.86, Y:4.31, Z:2.88 [[ 9.99520212e-01 -2.99847720e-02 -7.76266557e-03 4.20855403e+02] [ 2.99853186e-02 9.99550338e-01 -4.59777146e-05 4.30964983e+00] [ 7.76055363e-03 -1.86810346e-04 9.99969869e-01 2.88126095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62925415399997 meters 0.018152841737791425 Centerline is valid? [True, True] Translation: X:420.89, Y:4.31, Z:2.88 [[ 9.99502348e-01 -3.06126760e-02 -7.61048388e-03 4.20887103e+02] [ 3.06132227e-02 9.99531304e-01 -4.46742498e-05 4.30889028e+00] [ 7.60828448e-03 -1.88329421e-04 9.99971039e-01 2.88084336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.65925415399994 meters 0.018410089996855266 Centerline is valid? [True, True] Translation: X:420.92, Y:4.31, Z:2.88 [[ 9.99480343e-01 -3.12797096e-02 -7.78617175e-03 4.20918996e+02] [ 3.12803055e-02 9.99510650e-01 -4.52634553e-05 4.30767116e+00] [ 7.78377741e-03 -1.98313897e-04 9.99969686e-01 2.88079265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.68925415399997 meters 0.019303629099129645 Centerline is valid? [True, True] Translation: X:420.95, Y:4.31, Z:2.88 [[ 9.99452522e-01 -3.21294877e-02 -7.89636864e-03 4.20951445e+02] [ 3.21301316e-02 9.99483693e-01 -4.53346846e-05 4.30633526e+00] [ 7.89374827e-03 -2.08401499e-04 9.99968822e-01 2.88020214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.71925415399994 meters 0.019403059573643827 Centerline is valid? [True, True] Translation: X:420.98, Y:4.30, Z:2.88 [[ 9.99416852e-01 -3.31348300e-02 -8.24859699e-03 4.20982290e+02] [ 3.31355717e-02 9.99450865e-01 -4.67706369e-05 4.30429975e+00] [ 8.24561714e-03 -2.26578615e-04 9.99965979e-01 2.88053427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.74925415399997 meters 0.021757812017860555 Centerline is valid? [True, True] Translation: X:421.01, Y:4.30, Z:2.88 [[ 9.99380539e-01 -3.40714915e-02 -8.81314512e-03 4.21014912e+02] [ 3.40723792e-02 9.99419367e-01 -4.94454132e-05 4.30135189e+00] [ 8.80971259e-03 -2.50870039e-04 9.99961162e-01 2.87828824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.77925415399994 meters 0.01988806612470849 Centerline is valid? [True, True] Translation: X:421.05, Y:4.30, Z:2.88 [[ 9.99356388e-01 -3.48103424e-02 -8.66307917e-03 4.21047514e+02] [ 3.48112330e-02 9.99393904e-01 -4.80010857e-05 4.30083408e+00] [ 8.65949945e-03 -2.53602276e-04 9.99962474e-01 2.88020221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.809254154 meters 0.019782619435983802 Centerline is valid? [True, True] Translation: X:421.08, Y:4.30, Z:2.88 [[ 9.99337941e-01 -3.52681432e-02 -8.93514983e-03 4.21080100e+02] [ 3.52691148e-02 9.99377850e-01 -4.88622454e-05 4.30033690e+00] [ 8.93131410e-03 -2.66304929e-04 9.99960080e-01 2.88003706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.83925415399995 meters 0.018690230955308113 Centerline is valid? [True, True] Translation: X:421.11, Y:4.30, Z:2.88 [[ 9.99344144e-01 -3.51229588e-02 -8.81247587e-03 4.21112635e+02] [ 3.51239038e-02 9.99382964e-01 -4.75660279e-05 4.30159644e+00] [ 8.80870892e-03 -2.61993723e-04 9.99961168e-01 2.88014268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8692541539999 meters 0.021085094188470502 Centerline is valid? [True, True] Translation: X:421.14, Y:4.30, Z:2.88 [[ 9.99344512e-01 -3.50903322e-02 -8.90032666e-03 4.21143534e+02] [ 3.50913003e-02 9.99384110e-01 -4.74175081e-05 4.29706224e+00] [ 8.89650893e-03 -2.64937609e-04 9.99960390e-01 2.87988900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.89925415399995 meters 0.019355598035914343 Centerline is valid? [True, True] Translation: X:421.18, Y:4.30, Z:2.88 [[ 9.99352357e-01 -3.48960944e-02 -8.78232123e-03 4.21175242e+02] [ 3.48970339e-02 9.99390912e-01 -4.62801735e-05 4.29991572e+00] [ 8.77858702e-03 -2.60226762e-04 9.99961434e-01 2.87993987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9292541539999 meters 0.02194392635123867 Centerline is valid? [True, True] Translation: X:421.21, Y:4.30, Z:2.88 [[ 9.99383625e-01 -3.39898108e-02 -8.77856427e-03 4.21206553e+02] [ 3.39907211e-02 9.99422147e-01 -4.55261422e-05 4.29620921e+00] [ 8.77503898e-03 -2.52891648e-04 9.99961467e-01 2.87878731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.95925415399995 meters 0.018433789630624153 Centerline is valid? [True, True] Translation: X:421.24, Y:4.30, Z:2.88 [[ 9.99464694e-01 -3.14545962e-02 -8.99630387e-03 4.21237831e+02] [ 3.14554583e-02 9.99505154e-01 -4.56841881e-05 4.30168894e+00] [ 8.99328906e-03 -2.37323128e-04 9.99959531e-01 2.87949076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9892541539999 meters 0.01739187974460246 Centerline is valid? [True, True] Translation: X:421.27, Y:4.30, Z:2.88 [[ 9.99524793e-01 -2.95354846e-02 -8.82290264e-03 4.21269634e+02] [ 2.95362425e-02 9.99563709e-01 -4.44128173e-05 4.30313935e+00] [ 8.82036504e-03 -2.16203680e-04 9.99961076e-01 2.87993721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.01925415399995 meters 0.016601183018220774 Centerline is valid? [True, True] Translation: X:421.30, Y:4.30, Z:2.88 [[ 9.99600762e-01 -2.67543918e-02 -9.08403356e-03 4.21301394e+02] [ 2.67550864e-02 9.99642018e-01 -4.50806244e-05 4.30485580e+00] [ 9.08198774e-03 -1.97981476e-04 9.99958738e-01 2.88045185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0492541539999 meters 0.01669399245270429 Centerline is valid? [True, True] Translation: X:421.33, Y:4.31, Z:2.88 [[ 9.99670059e-01 -2.38938941e-02 -9.42626313e-03 4.21333240e+02] [ 2.38945199e-02 9.99714484e-01 -4.62429268e-05 4.30707498e+00] [ 9.42467671e-03 -1.79008362e-04 9.99955571e-01 2.87997586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.07925415399995 meters 0.015579232193404948 Centerline is valid? [True, True] Translation: X:421.37, Y:4.31, Z:2.88 [[ 9.99730183e-01 -2.13386605e-02 -9.17732763e-03 4.21365027e+02] [ 2.13391506e-02 9.99772293e-01 -4.45232572e-05 4.30909004e+00] [ 9.17618796e-03 -1.51325132e-04 9.99957886e-01 2.88106344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1092541539999 meters 0.014813050432947554 Centerline is valid? [True, True] Translation: X:421.39, Y:4.31, Z:2.88 [[ 9.99811132e-01 -1.71902910e-02 -9.06607186e-03 4.21394942e+02] [ 1.71906021e-02 9.99852230e-01 -4.36076716e-05 4.31104058e+00] [ 9.06548180e-03 -1.12251799e-04 9.99958901e-01 2.88151637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.13925415399996 meters 0.014833817431558727 Centerline is valid? [True, True] Translation: X:421.43, Y:4.31, Z:2.88 [[ 9.99828873e-01 -1.61316443e-02 -9.05506488e-03 4.21425748e+02] [ 1.61319117e-02 9.99869871e-01 -4.35167440e-05 4.31106017e+00] [ 9.05458855e-03 -1.02566210e-04 9.99959001e-01 2.88139972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.16925415399993 meters 0.014833817431558727 Centerline is valid? [True, True] Translation: X:421.46, Y:4.31, Z:2.88 [[ 9.99828873e-01 -1.61316435e-02 -9.05506547e-03 4.21455749e+02] [ 1.61319120e-02 9.99869871e-01 -4.33929260e-05 4.31120388e+00] [ 9.05458715e-03 -1.02690019e-04 9.99959001e-01 2.88160758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.19925415399996 meters 0.016741398507001737 Centerline is valid? [True, True] Translation: X:421.49, Y:4.31, Z:2.88 [[ 9.99840801e-01 -1.52369338e-02 -9.28486394e-03 4.21485911e+02] [ 1.52371775e-02 9.99883906e-01 -4.44941470e-05 4.31048233e+00] [ 9.28446398e-03 -9.69880562e-05 9.99956894e-01 2.88006577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.22925415399993 meters 0.0159044962691775 Centerline is valid? [True, True] Translation: X:421.52, Y:4.31, Z:2.88 [[ 9.99837117e-01 -1.55666116e-02 -9.13342118e-03 4.21515968e+02] [ 1.55668605e-02 9.99878828e-01 -4.38465841e-05 4.30934538e+00] [ 9.13299701e-03 -9.83392509e-05 9.99958288e-01 2.88045132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.25925415399996 meters 0.01526634769900052 Centerline is valid? [True, True] Translation: X:421.55, Y:4.31, Z:2.88 [[ 9.99796469e-01 -1.79236793e-02 -9.26077586e-03 4.21545653e+02] [ 1.79240339e-02 9.99839351e-01 -4.47134534e-05 4.30603871e+00] [ 9.26008955e-03 -1.21286107e-04 9.99957117e-01 2.88108826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.28925415399993 meters 0.016850313190719373 Centerline is valid? [True, True] Translation: X:421.58, Y:4.30, Z:2.88 [[ 9.99761819e-01 -1.96038414e-02 -9.59136128e-03 4.21575784e+02] [ 1.96042993e-02 9.99807816e-01 -4.62829179e-05 4.30345734e+00] [ 9.59042530e-03 -1.41760023e-04 9.99954001e-01 2.87995892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31925415399996 meters 0.016535633941490487 Centerline is valid? [True, True] Translation: X:421.61, Y:4.30, Z:2.88 [[ 9.99716841e-01 -2.16238055e-02 -9.93216324e-03 4.21605957e+02] [ 2.16243975e-02 9.99766164e-01 -4.78032353e-05 4.30326666e+00] [ 9.93087443e-03 -1.66987346e-04 9.99950674e-01 2.88015236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.34925415399994 meters 0.019104972318144002 Centerline is valid? [True, True] Translation: X:421.64, Y:4.30, Z:2.88 [[ 9.99605348e-01 -2.56640455e-02 -1.14238584e-02 4.21635982e+02] [ 2.56650923e-02 9.99670596e-01 -5.49827242e-05 4.29813728e+00] [ 1.14215064e-02 -2.38233356e-04 9.99934744e-01 2.87813104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37925415399997 meters 0.017126350127858844 Centerline is valid? [True, True] Translation: X:421.67, Y:4.30, Z:2.88 [[ 9.99542282e-01 -2.80717574e-02 -1.12784112e-02 4.21666165e+02] [ 2.80729318e-02 9.99605876e-01 -5.42033180e-05 4.29560146e+00] [ 1.12754877e-02 -2.62439561e-04 9.99936395e-01 2.87982210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.40925415399994 meters 0.01763617658583856 Centerline is valid? [True, True] Translation: X:421.70, Y:4.29, Z:2.88 [[ 9.99485760e-01 -2.99305908e-02 -1.15054892e-02 4.21697527e+02] [ 2.99319394e-02 9.99551938e-01 -5.50000274e-05 4.29369702e+00] [ 1.15019802e-02 -2.89409862e-04 9.99933808e-01 2.87991122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43925415399997 meters 0.018875601482855803 Centerline is valid? [True, True] Translation: X:421.73, Y:4.29, Z:2.88 [[ 9.99446978e-01 -3.12934494e-02 -1.12453730e-02 4.21727624e+02] [ 3.12948276e-02 9.99510195e-01 -5.34339491e-05 4.29040651e+00] [ 1.12415371e-02 -2.98517609e-04 9.99936767e-01 2.87991485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.46925415399994 meters 0.01770529754383973 Centerline is valid? [True, True] Translation: X:421.76, Y:4.29, Z:2.88 [[ 9.99411089e-01 -3.24571797e-02 -1.11358276e-02 4.21758740e+02] [ 3.24586065e-02 9.99473079e-01 -5.26342532e-05 4.29169043e+00] [ 1.11316683e-02 -3.08850190e-04 9.99937993e-01 2.88095428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49925415399997 meters 0.019339655686376415 Centerline is valid? [True, True] Translation: X:421.79, Y:4.29, Z:2.88 [[ 9.99385099e-01 -3.36736329e-02 -9.77294188e-03 4.21790113e+02] [ 3.36747951e-02 9.99432842e-01 -4.56537221e-05 4.28759801e+00] [ 9.76893641e-03 -2.83476166e-04 9.99952243e-01 2.88207939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.52925415399994 meters 0.01947276173686953 Centerline is valid? [True, True] Translation: X:421.82, Y:4.29, Z:2.88 [[ 9.99389639e-01 -3.36470091e-02 -9.39297993e-03 4.21822636e+02] [ 3.36480901e-02 9.99433742e-01 -4.29705826e-05 4.28644459e+00] [ 9.38910691e-03 -2.73111480e-04 9.99955884e-01 2.88292956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.559254154 meters 0.021869555923779174 Centerline is valid? [True, True] Translation: X:421.85, Y:4.28, Z:2.88 [[ 9.99407970e-01 -3.32866771e-02 -8.70097358e-03 4.21853543e+02] [ 3.32875957e-02 9.99445814e-01 -3.92576628e-05 4.28192767e+00] [ 8.69745838e-03 -2.50400070e-04 9.99962145e-01 2.88329380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.58925415399995 meters 0.01933593918738689 Centerline is valid? [True, True] Translation: X:421.89, Y:4.29, Z:2.88 [[ 9.99442735e-01 -3.23642403e-02 -8.17159175e-03 4.21886057e+02] [ 3.23650232e-02 9.99476115e-01 -3.64392740e-05 4.28527159e+00] [ 8.16849010e-03 -2.28054789e-04 9.99966611e-01 2.88407120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6192541539999 meters 0.021750407602464744 Centerline is valid? [True, True] Translation: X:421.92, Y:4.28, Z:2.88 [[ 9.99488454e-01 -3.09655385e-02 -7.99786139e-03 4.21917143e+02] [ 3.09662481e-02 9.99520430e-01 -3.51340085e-05 4.28166995e+00] [ 7.99511380e-03 -2.12547724e-04 9.99968016e-01 2.88334897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.64925415399995 meters 0.018634673081845 Centerline is valid? [True, True] Translation: X:421.95, Y:4.29, Z:2.88 [[ 9.99596045e-01 -2.72930859e-02 -7.92681064e-03 4.21948859e+02] [ 2.72936707e-02 9.99627458e-01 -3.44086051e-05 4.28841019e+00] [ 7.92479669e-03 -1.81957054e-04 9.99968582e-01 2.88276122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6792541539999 meters 0.016691143262476497 Centerline is valid? [True, True] Translation: X:421.98, Y:4.29, Z:2.88 [[ 9.99635530e-01 -2.59449456e-02 -7.46107529e-03 4.21979722e+02] [ 2.59454291e-02 9.99663360e-01 -3.19989031e-05 4.28896236e+00] [ 7.45939381e-03 -1.61593560e-04 9.99972165e-01 2.88440471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.70925415399995 meters 0.015876128778362714 Centerline is valid? [True, True] Translation: X:422.01, Y:4.29, Z:2.88 [[ 9.99682837e-01 -2.39519266e-02 -7.78011517e-03 4.22012230e+02] [ 2.39523955e-02 9.99713100e-01 -3.29101107e-05 4.29000339e+00] [ 7.77867132e-03 -1.53452723e-04 9.99969734e-01 2.88459969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7392541539999 meters 0.015570522690998553 Centerline is valid? [True, True] Translation: X:422.04, Y:4.29, Z:2.88 [[ 9.99743296e-01 -2.12339621e-02 -7.90320488e-03 4.22043738e+02] [ 2.12343654e-02 9.99774525e-01 -3.28776350e-05 4.28948841e+00] [ 7.90212102e-03 -1.34950345e-04 9.99968769e-01 2.88376866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.76925415399995 meters 0.016363687197634 Centerline is valid? [True, True] Translation: X:422.07, Y:4.29, Z:2.88 [[ 9.99764836e-01 -1.98921784e-02 -8.63564372e-03 4.22074774e+02] [ 1.98926129e-02 9.99802122e-01 -3.55862963e-05 4.28903663e+00] [ 8.63464280e-03 -1.36207590e-04 9.99962711e-01 2.88239448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7992541539999 meters 0.015101453015186195 Centerline is valid? [True, True] Translation: X:422.11, Y:4.29, Z:2.88 [[ 9.99771911e-01 -1.93947617e-02 -8.94255907e-03 4.22105972e+02] [ 1.93952107e-02 9.99811895e-01 -3.65133435e-05 4.28848775e+00] [ 8.94158510e-03 -1.36937802e-04 9.99960014e-01 2.88318419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.82925415399995 meters 0.015101987250152153 Centerline is valid? [True, True] Translation: X:422.14, Y:4.29, Z:2.88 [[ 9.99781436e-01 -1.89438858e-02 -8.84359513e-03 4.22136613e+02] [ 1.89443096e-02 9.99820540e-01 -3.58581549e-05 4.28773800e+00] [ 8.84268735e-03 -1.31685486e-04 9.99960894e-01 2.88320083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8592541539999 meters 0.01497189027236601 Centerline is valid? [True, True] Translation: X:422.17, Y:4.29, Z:2.88 [[ 9.99781389e-01 -1.87156694e-02 -9.32194221e-03 4.22167605e+02] [ 1.87161303e-02 9.99824837e-01 -3.77977104e-05 4.28711279e+00] [ 9.32101677e-03 -1.36681237e-04 9.99956549e-01 2.88297963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.88925415399996 meters 0.015117934806357414 Centerline is valid? [True, True] Translation: X:422.20, Y:4.29, Z:2.88 [[ 9.99780585e-01 -1.83913540e-02 -1.00269689e-02 4.22197498e+02] [ 1.83918705e-02 9.99830854e-01 -4.07123032e-05 4.28559020e+00] [ 1.00260217e-02 -1.43711343e-04 9.99949728e-01 2.88217126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.91925415399993 meters 0.01792863805136962 Centerline is valid? [True, True] Translation: X:422.23, Y:4.28, Z:2.88 [[ 9.99782888e-01 -1.74856393e-02 -1.13327002e-02 4.22227506e+02] [ 1.74862374e-02 9.99847103e-01 -4.63112897e-05 4.28478044e+00] [ 1.13317773e-02 -1.51865052e-04 9.99935782e-01 2.88001365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.94925415399996 meters 0.014929335324245502 Centerline is valid? [True, True] Translation: X:422.26, Y:4.28, Z:2.88 [[ 9.99787781e-01 -1.78574546e-02 -1.02715603e-02 4.22256914e+02] [ 1.78579620e-02 9.99840533e-01 -4.23161382e-05 4.28473601e+00] [ 1.02706780e-02 -1.41121976e-04 9.99947245e-01 2.88237620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.97925415399993 meters 0.015150961766124288 Centerline is valid? [True, True] Translation: X:422.29, Y:4.28, Z:2.88 [[ 9.99793648e-01 -1.77861530e-02 -9.81396674e-03 4.22286753e+02] [ 1.77866100e-02 9.99841805e-01 -4.07171034e-05 4.28398091e+00] [ 9.81313842e-03 -1.33848498e-04 9.99951841e-01 2.88229521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.00925415399996 meters 0.015362772916981272 Centerline is valid? [True, True] Translation: X:422.32, Y:4.28, Z:2.88 [[ 9.99786488e-01 -1.80766022e-02 -1.00107181e-02 4.22316281e+02] [ 1.80770905e-02 9.99836595e-01 -4.17119347e-05 4.28282107e+00] [ 1.00098363e-02 -1.39261628e-04 9.99949891e-01 2.88240285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.03925415399993 meters 0.01550729176164225 Centerline is valid? [True, True] Translation: X:422.35, Y:4.28, Z:2.88 [[ 9.99745655e-01 -2.02182036e-02 -9.99244897e-03 4.22346079e+02] [ 2.02187947e-02 9.99795578e-01 -4.18642980e-05 4.28078411e+00] [ 9.99125272e-03 -1.60181625e-04 9.99950073e-01 2.88260804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.06925415399996 meters 0.016295422797149916 Centerline is valid? [True, True] Translation: X:422.38, Y:4.28, Z:2.88 [[ 9.99707766e-01 -2.20090593e-02 -9.99920674e-03 4.22375976e+02] [ 2.20097382e-02 9.99757755e-01 -4.21530824e-05 4.27895703e+00] [ 9.99771224e-03 -1.77939159e-04 9.99950006e-01 2.88284808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.09925415399994 meters 0.016909697347156007 Centerline is valid? [True, True] Translation: X:422.41, Y:4.28, Z:2.88 [[ 9.99665976e-01 -2.39320855e-02 -9.75660461e-03 4.22406744e+02] [ 2.39328231e-02 9.99713568e-01 -4.11674457e-05 4.27764893e+00] [ 9.75479523e-03 -1.92349397e-04 9.99952402e-01 2.88316780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12925415399997 meters 0.01905319517798554 Centerline is valid? [True, True] Translation: X:422.44, Y:4.27, Z:2.88 [[ 9.99563734e-01 -2.79274879e-02 -9.61231404e-03 4.22436685e+02] [ 2.79283905e-02 9.99609926e-01 -4.03433022e-05 4.27309898e+00] [ 9.60969121e-03 -2.28130759e-04 9.99953800e-01 2.88313794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.15925415399994 meters 0.01958414570457932 Centerline is valid? [True, True] Translation: X:422.47, Y:4.27, Z:2.88 [[ 9.99498621e-01 -3.03988294e-02 -8.85534653e-03 4.22467266e+02] [ 3.03996972e-02 9.99537822e-01 -3.66212968e-05 4.26996200e+00] [ 8.85236703e-03 -2.32596917e-04 9.99960790e-01 2.88384608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.18925415399997 meters 0.018386448982792642 Centerline is valid? [True, True] Translation: X:422.50, Y:4.27, Z:2.88 [[ 9.99423285e-01 -3.28648369e-02 -8.54399960e-03 4.22498483e+02] [ 3.28657363e-02 9.99459775e-01 -3.51617970e-05 4.27145912e+00] [ 8.54053950e-03 -2.45663319e-04 9.99963499e-01 2.88427134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.21925415399994 meters 0.02245633574658464 Centerline is valid? [True, True] Translation: X:422.53, Y:4.26, Z:2.88 [[ 9.99343705e-01 -3.51800464e-02 -8.63266628e-03 4.22529804e+02] [ 3.51810537e-02 9.99380954e-01 -3.51804521e-05 4.26397780e+00] [ 8.62855991e-03 -2.68548933e-04 9.99962737e-01 2.88409824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.24925415399997 meters 0.02457602394481179 Centerline is valid? [True, True] Translation: X:422.56, Y:4.26, Z:2.88 [[ 9.99202104e-01 -3.89667337e-02 -8.76068468e-03 4.22560665e+02] [ 3.89679201e-02 9.99240462e-01 -3.52905991e-05 4.25982461e+00] [ 8.75540577e-03 -3.06123220e-04 9.99961624e-01 2.88425892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.27925415399994 meters 0.021635864915307352 Centerline is valid? [True, True] Translation: X:422.59, Y:4.26, Z:2.88 [[ 9.99147212e-01 -4.03102540e-02 -8.94050507e-03 4.22592613e+02] [ 4.03115457e-02 9.99187159e-01 -3.57550983e-05 4.26429524e+00] [ 8.93467916e-03 -3.24680972e-04 9.99960032e-01 2.88460806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.309254154 meters 0.026622140555220712 Centerline is valid? [True, True] Translation: X:422.62, Y:4.26, Z:2.88 [[ 9.99116855e-01 -4.10578655e-02 -8.93094843e-03 4.22623430e+02] [ 4.10591896e-02 9.99156715e-01 -3.51160482e-05 4.25684369e+00] [ 8.92485889e-03 -3.31612470e-04 9.99960118e-01 2.88431792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.33925415399995 meters 0.026953671634958563 Centerline is valid? [True, True] Translation: X:422.66, Y:4.26, Z:2.88 [[ 9.99102521e-01 -4.14056943e-02 -8.92864287e-03 4.22655154e+02] [ 4.14070361e-02 9.99142360e-01 -3.46090498e-05 4.25650866e+00] [ 8.92241833e-03 -3.35130649e-04 9.99960138e-01 2.88454490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3692541539999 meters 0.023627000706120047 Centerline is valid? [True, True] Translation: X:422.69, Y:4.26, Z:2.88 [[ 9.99086312e-01 -4.16930234e-02 -9.39320742e-03 4.22687261e+02] [ 4.16945271e-02 9.99130404e-01 -3.57680430e-05 4.26180073e+00] [ 9.38653040e-03 -3.55909979e-04 9.99955882e-01 2.88441687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.39925415399995 meters 0.02199053380294567 Centerline is valid? [True, True] Translation: X:422.72, Y:4.26, Z:2.88 [[ 9.99069581e-01 -4.19504490e-02 -1.00065955e-02 4.22719645e+02] [ 4.19521758e-02 9.99119619e-01 -3.73712346e-05 4.26441938e+00] [ 9.99935362e-03 -3.82461989e-04 9.99949932e-01 2.88445230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4292541539999 meters 0.024565235849297602 Centerline is valid? [True, True] Translation: X:422.75, Y:4.26, Z:2.88 [[ 9.99053176e-01 -4.22418334e-02 -1.04104844e-02 4.22750419e+02] [ 4.22437256e-02 9.99107335e-01 -3.81734059e-05 4.26050017e+00] [ 1.04028038e-02 -4.01640383e-04 9.99945809e-01 2.88392931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.45925415399995 meters 0.02212499981232981 Centerline is valid? [True, True] Translation: X:422.78, Y:4.26, Z:2.88 [[ 9.99049244e-01 -4.22758525e-02 -1.06470814e-02 4.22782909e+02] [ 4.22778404e-02 9.99105892e-01 -3.83929626e-05 4.26399799e+00] [ 1.06391849e-02 -4.11779149e-04 9.99943317e-01 2.88427604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4892541539999 meters 0.02169854901304227 Centerline is valid? [True, True] Translation: X:422.82, Y:4.27, Z:2.88 [[ 9.99034400e-01 -4.26952450e-02 -1.03626566e-02 4.22815429e+02] [ 4.26971583e-02 9.99088060e-01 -3.66318135e-05 4.26561342e+00] [ 1.03547705e-02 -4.05859547e-04 9.99946306e-01 2.88448797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.51925415399995 meters 0.02325776197979564 Centerline is valid? [True, True] Translation: X:422.85, Y:4.26, Z:2.88 [[ 9.99032854e-01 -4.26973170e-02 -1.05022168e-02 4.22846879e+02] [ 4.26992897e-02 9.99087969e-01 -3.64187885e-05 4.26377134e+00] [ 1.04941934e-02 -4.12053631e-04 9.99944850e-01 2.88445336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5492541539999 meters 0.02073438778643244 Centerline is valid? [True, True] Translation: X:422.88, Y:4.27, Z:2.88 [[ 9.99024651e-01 -4.28795754e-02 -1.05399065e-02 4.22879509e+02] [ 4.28815792e-02 9.99080161e-01 -3.59006888e-05 4.26851281e+00] [ 1.05317509e-02 -4.16102161e-04 9.99944453e-01 2.88480251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.57925415399995 meters 0.021298102175123367 Centerline is valid? [True, True] Translation: X:422.91, Y:4.27, Z:2.88 [[ 9.99027596e-01 -4.27502881e-02 -1.07831102e-02 4.22911109e+02] [ 4.27523860e-02 9.99085698e-01 -3.59820865e-05 4.26794215e+00] [ 1.07747894e-02 -4.25056593e-04 9.99941860e-01 2.88481870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6092541539999 meters 0.021849132177905413 Centerline is valid? [True, True] Translation: X:422.94, Y:4.27, Z:2.88 [[ 9.98981974e-01 -4.36267001e-02 -1.14772029e-02 4.22942857e+02] [ 4.36291422e-02 9.99047795e-01 -3.76354701e-05 4.26901581e+00] [ 1.14679162e-02 -4.63143361e-04 9.99934134e-01 2.88450961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.63925415399996 meters 0.02242365968677628 Centerline is valid? [True, True] Translation: X:422.97, Y:4.27, Z:2.88 [[ 9.98976721e-01 -4.37622614e-02 -1.14182185e-02 4.22974425e+02] [ 4.37646945e-02 9.99041866e-01 -3.68160945e-05 4.26895461e+00] [ 1.14088895e-02 -4.62936422e-04 9.99934809e-01 2.88432595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.66925415399993 meters 0.02233230986041488 Centerline is valid? [True, True] Translation: X:423.01, Y:4.27, Z:2.88 [[ 9.98964934e-01 -4.40396710e-02 -1.13828225e-02 4.23006578e+02] [ 4.40421150e-02 9.99029675e-01 -3.59977851e-05 4.27014917e+00] [ 1.13733628e-02 -4.65363053e-04 9.99935213e-01 2.88449572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.69925415399996 meters 0.02258014295670224 Centerline is valid? [True, True] Translation: X:423.04, Y:4.27, Z:2.88 [[ 9.98969206e-01 -4.40013628e-02 -1.11536815e-02 4.23038925e+02] [ 4.40037159e-02 9.99031367e-01 -3.44682414e-05 4.27064118e+00] [ 1.11443943e-02 -4.56370719e-04 9.99937795e-01 2.88482454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.72925415399993 meters 0.02309900445603817 Centerline is valid? [True, True] Translation: X:423.07, Y:4.27, Z:2.89 [[ 9.98964250e-01 -4.40727773e-02 -1.13144625e-02 4.23069620e+02] [ 4.40752118e-02 9.99028215e-01 -3.42152578e-05 4.27113354e+00] [ 1.13049753e-02 -4.64507512e-04 9.99935989e-01 2.88516298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.75925415399996 meters 0.023369412306287127 Centerline is valid? [True, True] Translation: X:423.10, Y:4.27, Z:2.89 [[ 9.98981327e-01 -4.36825756e-02 -1.13199163e-02 4.23102154e+02] [ 4.36849952e-02 9.99045354e-01 -3.35421506e-05 4.27319832e+00] [ 1.13105750e-02 -4.61002507e-04 9.99935927e-01 2.88541215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.78925415399993 meters 0.02462753440658772 Centerline is valid? [True, True] Translation: X:423.13, Y:4.27, Z:2.88 [[ 9.99014483e-01 -4.29922879e-02 -1.10329402e-02 4.23133309e+02] [ 4.29945521e-02 9.99075306e-01 -3.19912047e-05 4.27365148e+00] [ 1.10241135e-02 -4.42396645e-04 9.99939135e-01 2.88467709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81925415399996 meters 0.023934590356742006 Centerline is valid? [True, True] Translation: X:423.17, Y:4.28, Z:2.89 [[ 9.99040593e-01 -4.25496270e-02 -1.03644605e-02 4.23165558e+02] [ 4.25516074e-02 9.99094270e-01 -2.94657660e-05 4.27518634e+00] [ 1.03563268e-02 -4.11586957e-04 9.99946287e-01 2.88597764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.84925415399994 meters 0.023854143187559854 Centerline is valid? [True, True] Translation: X:423.20, Y:4.28, Z:2.89 [[ 9.99119455e-01 -4.06685725e-02 -1.03141937e-02 4.23196741e+02] [ 4.06704405e-02 9.99172615e-01 -2.86629583e-05 4.27782041e+00] [ 1.03068256e-02 -3.90845082e-04 9.99946807e-01 2.88591979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87925415399997 meters 0.023368303626344466 Centerline is valid? [True, True] Translation: X:423.23, Y:4.28, Z:2.89 [[ 9.99159677e-01 -3.96169549e-02 -1.05088919e-02 4.23229085e+02] [ 3.96188425e-02 9.99214865e-01 -2.85883972e-05 4.27926636e+00] [ 1.05017735e-02 -3.87785757e-04 9.99944780e-01 2.88596357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.90925415399994 meters 0.023546198855243995 Centerline is valid? [True, True] Translation: X:423.26, Y:4.28, Z:2.89 [[ 9.99199503e-01 -3.86029583e-02 -1.04959048e-02 4.23260762e+02] [ 3.86047929e-02 9.99254557e-01 -2.78313524e-05 4.27998815e+00] [ 1.04891551e-02 -3.77383157e-04 9.99944916e-01 2.88594135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93925415399997 meters 0.02325024506499641 Centerline is valid? [True, True] Translation: X:423.29, Y:4.28, Z:2.89 [[ 9.99225138e-01 -3.78261038e-02 -1.08770180e-02 4.23291898e+02] [ 3.78280349e-02 9.99284263e-01 -2.82166612e-05 4.28135144e+00] [ 1.08703002e-02 -3.83261418e-04 9.99940843e-01 2.88614124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.96925415399994 meters 0.019775420309602623 Centerline is valid? [True, True] Translation: X:423.32, Y:4.29, Z:2.89 [[ 9.99274915e-01 -3.64661850e-02 -1.09481488e-02 4.23323649e+02] [ 3.64680649e-02 9.99334818e-01 -2.79449622e-05 4.28826895e+00] [ 1.09418853e-02 -3.71333101e-04 9.99940067e-01 2.88692565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99925415399997 meters 0.023463387435608687 Centerline is valid? [True, True] Translation: X:423.36, Y:4.28, Z:2.89 [[ 9.99284485e-01 -3.61260675e-02 -1.11993104e-02 4.23355365e+02] [ 3.61280211e-02 9.99347170e-01 -2.78891088e-05 4.28302169e+00] [ 1.11930067e-02 -3.76739768e-04 9.99937285e-01 2.88634661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.02925415399994 meters 0.01933028916211851 Centerline is valid? [True, True] Translation: X:423.39, Y:4.29, Z:2.89 [[ 9.99296060e-01 -3.57723448e-02 -1.13015247e-02 4.23387371e+02] [ 3.57743210e-02 9.99359894e-01 -2.73139522e-05 4.29010759e+00] [ 1.12952676e-02 -3.77009649e-04 9.99936135e-01 2.88716901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.059254154 meters 0.01948803724931943 Centerline is valid? [True, True] Translation: X:423.42, Y:4.29, Z:2.89 [[ 9.99299642e-01 -3.55922487e-02 -1.15506708e-02 4.23419570e+02] [ 3.55943109e-02 9.99366321e-01 -2.70542261e-05 4.29050395e+00] [ 1.15443143e-02 -3.84102889e-04 9.99933288e-01 2.88699878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.08925415399995 meters 0.01948803724931943 Centerline is valid? [True, True] Translation: X:423.45, Y:4.29, Z:2.89 [[ 9.99302251e-01 -3.55189225e-02 -1.15506727e-02 4.23451276e+02] [ 3.55209896e-02 9.99368930e-01 -2.62067233e-05 4.29051680e+00] [ 1.15443143e-02 -3.84102889e-04 9.99933288e-01 2.88721837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1192541539999 meters 0.02127198621009216 Centerline is valid? [True, True] Translation: X:423.48, Y:4.29, Z:2.89 [[ 9.99306100e-01 -3.49722077e-02 -1.28165202e-02 4.23483707e+02] [ 3.49747205e-02 9.99388197e-01 -2.80856363e-05 4.29034333e+00] [ 1.28096612e-02 -4.20188065e-04 9.99917865e-01 2.88572828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.14925415399995 meters 0.0200325572800997 Centerline is valid? [True, True] Translation: X:423.51, Y:4.29, Z:2.89 [[ 9.99306744e-01 -3.45786287e-02 -1.37967053e-02 4.23513825e+02] [ 3.45815165e-02 9.99401880e-01 -2.92729437e-05 4.29028259e+00] [ 1.37894654e-02 -4.47858341e-04 9.99904821e-01 2.88570954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1792541539999 meters 0.02050368389215952 Centerline is valid? [True, True] Translation: X:423.54, Y:4.29, Z:2.88 [[ 9.99313189e-01 -3.41237485e-02 -1.44471755e-02 4.23544119e+02] [ 3.41268759e-02 9.99417508e-01 -3.00790909e-05 4.28974517e+00] [ 1.44397865e-02 -4.62978532e-04 9.99895634e-01 2.88499101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.20925415399995 meters 0.019873327215294567 Centerline is valid? [True, True] Translation: X:423.58, Y:4.29, Z:2.89 [[ 9.99334644e-01 -3.34075595e-02 -1.46357509e-02 4.23575107e+02] [ 3.34106961e-02 9.99441706e-01 -3.02106835e-05 4.29117151e+00] [ 1.46285891e-02 -4.58800044e-04 9.99892891e-01 2.88525343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2392541539999 meters 0.01930685382418407 Centerline is valid? [True, True] Translation: X:423.61, Y:4.29, Z:2.89 [[ 9.99385661e-01 -3.19955607e-02 -1.43033237e-02 4.23605239e+02] [ 3.19984137e-02 9.99487919e-01 -2.94044565e-05 4.29339753e+00] [ 1.42969400e-02 -4.28297275e-04 9.99897702e-01 2.88635893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.26925415399995 meters 0.01896613706579885 Centerline is valid? [True, True] Translation: X:423.64, Y:4.29, Z:2.89 [[ 9.99411098e-01 -3.14758745e-02 -1.36647875e-02 4.23636503e+02] [ 3.14784331e-02 9.99504431e-01 -2.78513260e-05 4.29486383e+00] [ 1.36588923e-02 -4.02311176e-04 9.99906632e-01 2.88725884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2992541539999 meters 0.01876208513178744 Centerline is valid? [True, True] Translation: X:423.67, Y:4.30, Z:2.89 [[ 9.99432789e-01 -3.11778460e-02 -1.27295661e-02 4.23667478e+02] [ 3.11800478e-02 9.99513784e-01 -2.55062887e-05 4.29581991e+00] [ 1.27241720e-02 -3.71416658e-04 9.99918975e-01 2.88835183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.32925415399995 meters 0.019521665050594817 Centerline is valid? [True, True] Translation: X:423.70, Y:4.30, Z:2.89 [[ 9.99448955e-01 -3.07563611e-02 -1.24832702e-02 4.23698959e+02] [ 3.07584514e-02 9.99526847e-01 -2.45603700e-05 4.29800803e+00] [ 1.24781191e-02 -3.59419224e-04 9.99922081e-01 2.88811461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3592541539999 meters 0.018184144600984803 Centerline is valid? [True, True] Translation: X:423.73, Y:4.30, Z:2.89 [[ 9.99475310e-01 -3.05576586e-02 -1.07393579e-02 4.23728839e+02] [ 3.05591973e-02 9.99532958e-01 -2.08350014e-05 4.29646419e+00] [ 1.07349789e-02 -3.07362089e-04 9.99942331e-01 2.89001383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.38925415399996 meters 0.017698712168853093 Centerline is valid? [True, True] Translation: X:423.76, Y:4.30, Z:2.89 [[ 9.99488033e-01 -3.02223778e-02 -1.05014299e-02 4.23760644e+02] [ 3.02238333e-02 9.99543155e-01 -2.01152636e-05 4.29725179e+00] [ 1.04972404e-02 -2.97288503e-04 9.99944858e-01 2.89039670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.41925415399993 meters 0.017671322939185614 Centerline is valid? [True, True] Translation: X:423.79, Y:4.30, Z:2.89 [[ 9.99509948e-01 -2.96633338e-02 -9.99757061e-03 4.23792318e+02] [ 2.96646285e-02 9.99559908e-01 -1.87927981e-05 4.29726671e+00] [ 9.99372821e-03 -2.77790630e-04 9.99950023e-01 2.89075376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.44925415399996 meters 0.017490926171937243 Centerline is valid? [True, True] Translation: X:423.82, Y:4.30, Z:2.89 [[ 9.99537781e-01 -2.89313553e-02 -9.33816114e-03 4.23823617e+02] [ 2.89324560e-02 9.99581369e-01 -1.72262941e-05 4.29678582e+00] [ 9.33475028e-03 -2.52957605e-04 9.99956398e-01 2.89080720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.47925415399993 meters 0.01720062832057127 Centerline is valid? [True, True] Translation: X:423.85, Y:4.30, Z:2.89 [[ 9.99577211e-01 -2.78099859e-02 -8.48556726e-03 4.23854937e+02] [ 2.78108568e-02 9.99613203e-01 -1.53656805e-05 4.29610528e+00] [ 8.48271239e-03 -2.20631712e-04 9.99963997e-01 2.89148427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.50925415399996 meters 0.017265191642793696 Centerline is valid? [True, True] Translation: X:423.89, Y:4.30, Z:2.89 [[ 9.99590792e-01 -2.74655672e-02 -7.99318737e-03 4.23887154e+02] [ 2.74663315e-02 9.99622729e-01 -1.41561054e-05 4.29529944e+00] [ 7.99056058e-03 -2.05393222e-04 9.99968054e-01 2.89155692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.53925415399993 meters 0.017284371808812305 Centerline is valid? [True, True] Translation: X:423.92, Y:4.29, Z:2.89 [[ 9.99596911e-01 -2.72422473e-02 -7.99225947e-03 4.23919366e+02] [ 2.72430090e-02 9.99628840e-01 -1.35675932e-05 4.29433814e+00] [ 7.98966268e-03 -2.04171072e-04 9.99968061e-01 2.89156368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.56925415399996 meters 0.01817412291456155 Centerline is valid? [True, True] Translation: X:423.95, Y:4.29, Z:2.89 [[ 9.99585817e-01 -2.73525242e-02 -8.94611259e-03 4.23951023e+02] [ 2.73534891e-02 9.99625823e-01 -1.45069205e-05 4.29048446e+00] [ 8.94316197e-03 -2.30206481e-04 9.99959983e-01 2.88996954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.59925415399994 meters 0.017110163867761687 Centerline is valid? [True, True] Translation: X:423.98, Y:4.29, Z:2.89 [[ 9.99568652e-01 -2.76616115e-02 -9.86634277e-03 4.23983064e+02] [ 2.76628065e-02 9.99617311e-01 -1.53615226e-05 4.29157498e+00] [ 9.86299195e-03 -2.57575834e-04 9.99951326e-01 2.88951107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62925415399997 meters 0.020041200402992315 Centerline is valid? [True, True] Translation: X:424.01, Y:4.29, Z:2.89 [[ 9.99555185e-01 -2.76550078e-02 -1.11638951e-02 4.24013805e+02] [ 2.76565448e-02 9.99617484e-01 -1.67166498e-05 4.28770622e+00] [ 1.11600870e-02 -2.92045550e-04 9.99937682e-01 2.88725752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.65925415399994 meters 0.017767260289273078 Centerline is valid? [True, True] Translation: X:424.05, Y:4.29, Z:2.89 [[ 9.99529442e-01 -2.84086497e-02 -1.15690413e-02 4.24045371e+02] [ 2.84103542e-02 9.99596344e-01 -1.70216007e-05 4.28814327e+00] [ 1.15648550e-02 -3.11666971e-04 9.99933076e-01 2.88833825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.68925415399997 meters 0.01795949087448277 Centerline is valid? [True, True] Translation: X:424.08, Y:4.29, Z:2.89 [[ 9.99499571e-01 -2.90551461e-02 -1.25062358e-02 4.24077122e+02] [ 2.90571945e-02 9.99577750e-01 -1.79246270e-05 4.28557629e+00] [ 1.25014759e-02 -3.45480470e-04 9.99921794e-01 2.88716034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.71925415399994 meters 0.017978736547205207 Centerline is valid? [True, True] Translation: X:424.11, Y:4.28, Z:2.89 [[ 9.99498303e-01 -2.90780393e-02 -1.25542950e-02 4.24108077e+02] [ 2.90801084e-02 9.99577084e-01 -1.77401202e-05 4.28442994e+00] [ 1.25495014e-02 -3.47349039e-04 9.99921192e-01 2.88742095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.74925415399997 meters 0.01820570282543643 Centerline is valid? [True, True] Translation: X:424.14, Y:4.28, Z:2.89 [[ 9.99509579e-01 -2.87966078e-02 -1.23027571e-02 4.24138213e+02] [ 2.87985776e-02 9.99585235e-01 -1.70539808e-05 4.28297344e+00] [ 1.22981455e-02 -3.37256288e-04 9.99924318e-01 2.88748411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.77925415399994 meters 0.018349244154106322 Centerline is valid? [True, True] Translation: X:424.17, Y:4.28, Z:2.89 [[ 9.99518792e-01 -2.86157051e-02 -1.19718648e-02 4.24168797e+02] [ 2.86175623e-02 9.99590434e-01 -1.61803141e-05 4.28204620e+00] [ 1.19674245e-02 -3.26433059e-04 9.99928335e-01 2.88809468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.809254154 meters 0.01769896301709493 Centerline is valid? [True, True] Translation: X:424.20, Y:4.28, Z:2.89 [[ 9.99547536e-01 -2.80055244e-02 -1.09733703e-02 4.24199686e+02] [ 2.80070496e-02 9.99607726e-01 -1.46822198e-05 4.28289609e+00] [ 1.09694769e-02 -2.92656150e-04 9.99939791e-01 2.88928096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.83925415399995 meters 0.01778281167048626 Centerline is valid? [True, True] Translation: X:424.23, Y:4.28, Z:2.89 [[ 9.99576696e-01 -2.72259071e-02 -1.02556731e-02 4.24229592e+02] [ 2.72272014e-02 9.99629271e-01 -1.34234080e-05 4.28226442e+00] [ 1.02522364e-02 -2.65815550e-04 9.99947409e-01 2.89005307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8692541539999 meters 0.01768443076394236 Centerline is valid? [True, True] Translation: X:424.26, Y:4.28, Z:2.89 [[ 9.99592427e-01 -2.68371538e-02 -9.73385062e-03 4.24260626e+02] [ 2.68383034e-02 9.99639788e-01 -1.25185898e-05 4.28231792e+00] [ 9.73068033e-03 -2.48726549e-04 9.99952625e-01 2.89038748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.89925415399995 meters 0.01881460531028457 Centerline is valid? [True, True] Translation: X:424.29, Y:4.28, Z:2.89 [[ 9.99604804e-01 -2.63862405e-02 -9.69544811e-03 4.24291610e+02] [ 2.63873633e-02 9.99651793e-01 -1.21180605e-05 4.28160814e+00] [ 9.69239183e-03 -2.43724040e-04 9.99952998e-01 2.89010473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9292541539999 meters 0.017453372196773582 Centerline is valid? [True, True] Translation: X:424.32, Y:4.28, Z:2.89 [[ 9.99623854e-01 -2.62166183e-02 -8.05229976e-03 4.24323271e+02] [ 2.62173893e-02 9.99656265e-01 -9.81544380e-06 4.27984283e+00] [ 8.04978923e-03 -2.01298526e-04 9.99967580e-01 2.89094100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.95925415399995 meters 0.01693616011877462 Centerline is valid? [True, True] Translation: X:424.36, Y:4.28, Z:2.89 [[ 9.99631139e-01 -2.60647163e-02 -7.62990939e-03 4.24355919e+02] [ 2.60654063e-02 9.99660240e-01 -9.00891166e-06 4.27935443e+00] [ 7.62755186e-03 -1.89871099e-04 9.99970892e-01 2.89145381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9892541539999 meters 0.0171148299390454 Centerline is valid? [True, True] Translation: X:424.39, Y:4.28, Z:2.89 [[ 9.99633775e-01 -2.60609271e-02 -7.29002054e-03 4.24388298e+02] [ 2.60615607e-02 9.99660340e-01 -8.08556630e-06 4.27829093e+00] [ 7.28775513e-03 -1.81906708e-04 9.99973427e-01 2.89159294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.01925415399995 meters 0.017081956408801918 Centerline is valid? [True, True] Translation: X:424.42, Y:4.28, Z:2.89 [[ 9.99637509e-01 -2.60535123e-02 -6.78709680e-03 4.24420154e+02] [ 2.60540645e-02 9.99660535e-01 -7.05514056e-06 4.27764786e+00] [ 6.78497663e-03 -1.69778875e-04 9.99976967e-01 2.89165120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0492541539999 meters 0.01830435923120748 Centerline is valid? [True, True] Translation: X:424.45, Y:4.27, Z:2.89 [[ 9.99641323e-01 -2.59653515e-02 -6.55936969e-03 4.24451334e+02] [ 2.59658684e-02 9.99662830e-01 -6.35997393e-06 4.27381889e+00] [ 6.55732320e-03 -1.63962037e-04 9.99978487e-01 2.89220110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.07925415399995 meters 0.016907235710985673 Centerline is valid? [True, True] Translation: X:424.48, Y:4.28, Z:2.89 [[ 9.99653953e-01 -2.55108961e-02 -6.41625683e-03 4.24483365e+02] [ 2.55113863e-02 9.99674532e-01 -5.44616497e-06 4.27501042e+00] [ 6.41430748e-03 -1.58243326e-04 9.99979416e-01 2.89213191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1092541539999 meters 0.019142215579115357 Centerline is valid? [True, True] Translation: X:424.51, Y:4.27, Z:2.89 [[ 9.99655638e-01 -2.53827091e-02 -6.65762292e-03 4.24514735e+02] [ 2.53832375e-02 9.99677794e-01 -5.12681773e-06 4.26982351e+00] [ 6.65560792e-03 -1.63866972e-04 9.99977838e-01 2.89195205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.13925415399996 meters 0.016843041687271867 Centerline is valid? [True, True] Translation: X:424.55, Y:4.27, Z:2.89 [[ 9.99670222e-01 -2.46269685e-02 -7.27729359e-03 4.24546427e+02] [ 2.46275830e-02 9.99696695e-01 -5.16750190e-06 4.27278871e+00] [ 7.27521361e-03 -1.74056354e-04 9.99973520e-01 2.89149646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.16925415399993 meters 0.01719766682371007 Centerline is valid? [True, True] Translation: X:424.58, Y:4.27, Z:2.89 [[ 9.99685173e-01 -2.36385832e-02 -8.41267062e-03 4.24576775e+02] [ 2.36393728e-02 9.99720551e-01 -5.57578826e-06 4.27031791e+00] [ 8.41045151e-03 -1.93296224e-04 9.99964613e-01 2.88981811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.19925415399996 meters 0.01708485777603478 Centerline is valid? [True, True] Translation: X:424.61, Y:4.27, Z:2.89 [[ 9.99694538e-01 -2.28530259e-02 -9.41119168e-03 4.24607509e+02] [ 2.28539847e-02 9.99738814e-01 -5.67113487e-06 4.26911606e+00] [ 9.40886321e-03 -2.09413828e-04 9.99955714e-01 2.88954961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.22925415399993 meters 0.016512643416916228 Centerline is valid? [True, True] Translation: X:424.64, Y:4.27, Z:2.89 [[ 9.99709524e-01 -2.21243486e-02 -9.55927998e-03 4.24638120e+02] [ 2.21253057e-02 9.99755205e-01 -5.63321583e-06 4.26989796e+00] [ 9.55706455e-03 -2.05870412e-04 9.99954309e-01 2.88895412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.25925415399996 meters 0.016983845405077726 Centerline is valid? [True, True] Translation: X:424.67, Y:4.27, Z:2.89 [[ 9.99716855e-01 -2.14094026e-02 -1.03849914e-02 4.24667704e+02] [ 2.14104929e-02 9.99770769e-01 -6.18323792e-06 4.26786676e+00] [ 1.03827433e-02 -2.16166299e-04 9.99946075e-01 2.88870989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.28925415399993 meters 0.016399116934247834 Centerline is valid? [True, True] Translation: X:424.70, Y:4.27, Z:2.89 [[ 9.99728268e-01 -2.06990175e-02 -1.07210480e-02 4.24697332e+02] [ 2.07001359e-02 9.99785729e-01 -6.65332532e-06 4.26797752e+00] [ 1.07188885e-02 -2.15275633e-04 9.99942528e-01 2.88850543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31925415399996 meters 0.016524756469571373 Centerline is valid? [True, True] Translation: X:424.73, Y:4.27, Z:2.89 [[ 9.99730835e-01 -2.05043964e-02 -1.08547857e-02 4.24726582e+02] [ 2.05055287e-02 9.99789740e-01 -6.98683884e-06 4.26678426e+00] [ 1.08526467e-02 -2.15598162e-04 9.99941085e-01 2.88854961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.34925415399994 meters 0.016451221010096686 Centerline is valid? [True, True] Translation: X:424.76, Y:4.27, Z:2.89 [[ 9.99726193e-01 -2.07099020e-02 -1.08921810e-02 4.24756489e+02] [ 2.07110528e-02 9.99785503e-01 -7.14374810e-06 4.26621287e+00] [ 1.08899926e-02 -2.18446743e-04 9.99940678e-01 2.88912190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37925415399997 meters 0.017310275256246316 Centerline is valid? [True, True] Translation: X:424.79, Y:4.26, Z:2.89 [[ 9.99691514e-01 -2.21491974e-02 -1.12378697e-02 4.24785097e+02] [ 2.21505078e-02 9.99754647e-01 -7.86214228e-06 4.26347482e+00] [ 1.12352866e-02 -2.41064802e-04 9.99936853e-01 2.88902613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.40925415399994 meters 0.01695241704702231 Centerline is valid? [True, True] Translation: X:424.81, Y:4.26, Z:2.89 [[ 9.99657647e-01 -2.34705447e-02 -1.15637948e-02 4.24814321e+02] [ 2.34720142e-02 9.99724494e-01 -8.64570333e-06 4.26385604e+00] [ 1.15608118e-02 -2.62782812e-04 9.99933137e-01 2.88951970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43925415399997 meters 0.01917865857671283 Centerline is valid? [True, True] Translation: X:424.84, Y:4.26, Z:2.89 [[ 9.99613693e-01 -2.47374546e-02 -1.26697924e-02 4.24843741e+02] [ 2.47393142e-02 9.99693936e-01 -9.96188023e-06 4.26189420e+00] [ 1.26661611e-02 -3.03483943e-04 9.99919735e-01 2.88824534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.46925415399994 meters 0.01779808059201893 Centerline is valid? [True, True] Translation: X:424.87, Y:4.26, Z:2.89 [[ 9.99551220e-01 -2.73627506e-02 -1.21917662e-02 4.24873205e+02] [ 2.73646623e-02 9.99625517e-01 -1.00222325e-05 4.26007273e+00] [ 1.21874748e-02 -3.23605829e-04 9.99925678e-01 2.89006389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49925415399997 meters 0.019343993323908716 Centerline is valid? [True, True] Translation: X:424.90, Y:4.26, Z:2.89 [[ 9.99474563e-01 -3.00463852e-02 -1.21577948e-02 4.24902118e+02] [ 3.00484831e-02 9.99548442e-01 -1.01228301e-05 4.25674405e+00] [ 1.21526090e-02 -3.55205781e-04 9.99926091e-01 2.89009758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.52925415399994 meters 0.018922042230226442 Centerline is valid? [True, True] Translation: X:424.93, Y:4.26, Z:2.89 [[ 9.99392713e-01 -3.29188717e-02 -1.14259818e-02 4.24932676e+02] [ 3.29209138e-02 9.99457960e-01 -9.35867079e-06 4.25647249e+00] [ 1.14200966e-02 -3.66800776e-04 9.99934721e-01 2.89088691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.559254154 meters 0.022656253254586794 Centerline is valid? [True, True] Translation: X:424.96, Y:4.25, Z:2.89 [[ 9.99153105e-01 -3.96693730e-02 -1.09276445e-02 4.24962792e+02] [ 3.96716439e-02 9.99212770e-01 -8.96191324e-06 4.24852547e+00] [ 1.09193975e-02 -4.24563298e-04 9.99940291e-01 2.89118674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.58925415399995 meters 0.025892091035872568 Centerline is valid? [True, True] Translation: X:424.99, Y:4.24, Z:2.89 [[ 9.99008756e-01 -4.32471807e-02 -1.05445262e-02 4.24992533e+02] [ 4.32494939e-02 9.99064303e-01 -8.66680287e-06 4.24350269e+00] [ 1.05350346e-02 -4.47387210e-04 9.99944405e-01 2.89150275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6192541539999 meters 0.02665303671334392 Centerline is valid? [True, True] Translation: X:425.02, Y:4.24, Z:2.89 [[ 9.98832992e-01 -4.71227205e-02 -1.05879089e-02 4.25023607e+02] [ 4.71252707e-02 9.98888987e-01 -8.63799502e-06 4.24242498e+00] [ 1.05765527e-02 -4.90330159e-04 9.99943946e-01 2.89200872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.64925415399995 meters 0.02842317890872571 Centerline is valid? [True, True] Translation: X:425.05, Y:4.24, Z:2.89 [[ 9.98659274e-01 -5.06746733e-02 -1.05703798e-02 4.25054835e+02] [ 5.06774161e-02 9.98715074e-01 -8.37403290e-06 4.24012923e+00] [ 1.05572220e-02 -5.27316732e-04 9.99944132e-01 2.89234128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6792541539999 meters 0.03252343509542954 Centerline is valid? [True, True] Translation: X:425.08, Y:4.24, Z:2.89 [[ 9.98280094e-01 -5.75872482e-02 -1.09801279e-02 4.25084759e+02] [ 5.75906290e-02 9.98340282e-01 -8.29454250e-06 4.23529614e+00] [ 1.09623817e-02 -6.24072198e-04 9.99939717e-01 2.89245027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.70925415399995 meters 0.034323826964989215 Centerline is valid? [True, True] Translation: X:425.12, Y:4.23, Z:2.89 [[ 9.98113694e-01 -6.03831006e-02 -1.10876237e-02 4.25115518e+02] [ 6.03867245e-02 9.98175057e-01 -7.95780744e-06 4.23329395e+00] [ 1.10678699e-02 -6.61602479e-04 9.99938530e-01 2.89246246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7392541539999 meters 0.03660267642031373 Centerline is valid? [True, True] Translation: X:425.15, Y:4.23, Z:2.89 [[ 9.97962955e-01 -6.27476477e-02 -1.15183709e-02 4.25145935e+02] [ 6.27517196e-02 9.98029169e-01 -7.91780589e-06 4.23066884e+00] [ 1.14961669e-02 -7.14895902e-04 9.99933661e-01 2.89240976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.76925415399995 meters 0.03804739310113601 Centerline is valid? [True, True] Translation: X:425.18, Y:4.23, Z:2.89 [[ 9.97852303e-01 -6.43922930e-02 -1.20172327e-02 4.25177165e+02] [ 6.43968476e-02 9.97924369e-01 -7.96386323e-06 4.22935117e+00] [ 1.19928022e-02 -7.65925142e-04 9.99927790e-01 2.89253077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7992541539999 meters 0.03380054277732936 Centerline is valid? [True, True] Translation: X:425.21, Y:4.24, Z:2.89 [[ 9.97698065e-01 -6.66439191e-02 -1.25363455e-02 4.25208100e+02] [ 6.66490570e-02 9.97776480e-01 -7.96128046e-06 4.23720875e+00] [ 1.25090012e-02 -8.27592649e-04 9.99921417e-01 2.89349766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.82925415399995 meters 0.03195852116371766 Centerline is valid? [True, True] Translation: X:425.24, Y:4.24, Z:2.89 [[ 9.97689354e-01 -6.67166400e-02 -1.28391125e-02 4.25240094e+02] [ 6.67220423e-02 9.97771602e-01 -7.58852856e-06 4.24090678e+00] [ 1.28110082e-02 -8.49080816e-04 9.99917575e-01 2.89417943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8592541539999 meters 0.03205454790057475 Centerline is valid? [True, True] Translation: X:425.27, Y:4.24, Z:2.89 [[ 9.97707984e-01 -6.63983712e-02 -1.30397317e-02 4.25272521e+02] [ 6.64039293e-02 9.97792823e-01 -6.73527892e-06 4.24247048e+00] [ 1.30113979e-02 -8.59169577e-04 9.99914979e-01 2.89435090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.88925415399996 meters 0.03152847233803167 Centerline is valid? [True, True] Translation: X:425.30, Y:4.25, Z:2.89 [[ 9.97842798e-01 -6.41210718e-02 -1.40797407e-02 4.25304261e+02] [ 6.41273396e-02 9.97941724e-01 -6.32185257e-06 4.24757647e+00] [ 1.40511661e-02 -8.96588099e-04 9.99900876e-01 2.89322963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.91925415399993 meters 0.03406628175998437 Centerline is valid? [True, True] Translation: X:425.33, Y:4.24, Z:2.89 [[ 9.97916417e-01 -6.29775257e-02 -1.40234060e-02 4.25334993e+02] [ 6.29836400e-02 9.98014560e-01 -5.65282014e-06 4.24484711e+00] [ 1.39959194e-02 -8.77604114e-04 9.99901667e-01 2.89354106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.94925415399996 meters 0.03415688690213076 Centerline is valid? [True, True] Translation: X:425.37, Y:4.25, Z:2.89 [[ 9.97998020e-01 -6.16099387e-02 -1.42887521e-02 4.25365034e+02] [ 6.16161524e-02 9.98099920e-01 -5.37278709e-06 4.24652018e+00] [ 1.42619333e-02 -8.75055896e-04 9.99897911e-01 2.89352506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.97925415399993 meters 0.03415688690213076 Centerline is valid? [True, True] Translation: X:425.40, Y:4.25, Z:2.89 [[ 9.98002332e-01 -6.15400385e-02 -1.42887523e-02 4.25396779e+02] [ 6.15462541e-02 9.98104232e-01 -4.73624093e-06 4.24646605e+00] [ 1.42619556e-02 -8.74692402e-04 9.99897911e-01 2.89374502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.00925415399996 meters 0.03357250959661355 Centerline is valid? [True, True] Translation: X:425.43, Y:4.25, Z:2.89 [[ 9.98077674e-01 -6.01864366e-02 -1.47834492e-02 4.25428537e+02] [ 6.01929557e-02 9.98186760e-01 -3.98512366e-06 4.24888131e+00] [ 1.47568831e-02 -8.85882042e-04 9.99890719e-01 2.89359521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.03925415399993 meters 0.028030968037693095 Centerline is valid? [True, True] Translation: X:425.46, Y:4.26, Z:2.89 [[ 9.98266644e-01 -5.70990721e-02 -1.42619448e-02 4.25459745e+02] [ 5.71048323e-02 9.98368188e-01 -3.35781670e-06 4.26000603e+00] [ 1.42388637e-02 -8.11073970e-04 9.99898293e-01 2.89489380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.06925415399996 meters 0.028350309381950847 Centerline is valid? [True, True] Translation: X:425.49, Y:4.26, Z:2.90 [[ 9.98354837e-01 -5.56215239e-02 -1.39235488e-02 4.25489965e+02] [ 5.56268824e-02 9.98451626e-01 -2.43490170e-06 4.26095601e+00] [ 1.39021253e-02 -7.72092714e-04 9.99903063e-01 2.89519846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.09925415399994 meters 0.02781943988880266 Centerline is valid? [True, True] Translation: X:425.52, Y:4.26, Z:2.90 [[ 9.98439217e-01 -5.40704837e-02 -1.39825883e-02 4.25521859e+02] [ 5.40757514e-02 9.98536836e-01 -1.34452488e-06 4.26319017e+00] [ 1.39622022e-02 -7.54776543e-04 9.99902239e-01 2.89566630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.12925415399997 meters 0.02731283299582288 Centerline is valid? [True, True] Translation: X:425.55, Y:4.27, Z:2.90 [[ 9.98531891e-01 -5.24601767e-02 -1.34904406e-02 4.25553270e+02] [ 5.24649417e-02 9.98622767e-01 -6.91997856e-07 4.26575458e+00] [ 1.34718974e-02 -7.07084196e-04 9.99909000e-01 2.89612696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.15925415399994 meters 0.024423592327755712 Centerline is valid? [True, True] Translation: X:425.58, Y:4.27, Z:2.90 [[ 9.98713367e-01 -4.88474122e-02 -1.36213536e-02 4.25584187e+02] [ 4.88519401e-02 9.98806031e-01 -3.18882577e-07 4.27342428e+00] [ 1.36051057e-02 -6.65111078e-04 9.99907225e-01 2.89643836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.18925415399997 meters 0.024375755283680182 Centerline is valid? [True, True] Translation: X:425.61, Y:4.27, Z:2.90 [[ 9.98808806e-01 -4.69063396e-02 -1.34448921e-02 4.25614504e+02] [ 4.69105788e-02 9.98899093e-01 -6.72717678e-08 4.27493847e+00] [ 1.34300936e-02 -6.30640477e-04 9.99909613e-01 2.89625443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.21925415399994 meters 0.023127667638314642 Centerline is valid? [True, True] Translation: X:425.65, Y:4.28, Z:2.90 [[ 9.98911306e-01 -4.46824556e-02 -1.34045288e-02 4.25646178e+02] [ 4.46864761e-02 9.99001060e-01 4.21931326e-07 4.27822992e+00] [ 1.33911197e-02 -5.99422629e-04 9.99910155e-01 2.89680222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.24925415399997 meters 0.022209600569597195 Centerline is valid? [True, True] Translation: X:425.68, Y:4.28, Z:2.90 [[ 9.99033144e-01 -4.20841288e-02 -1.27162334e-02 4.25677276e+02] [ 4.20875442e-02 9.99113927e-01 9.83384652e-07 4.28115799e+00] [ 1.27049245e-02 -5.36177468e-04 9.99919145e-01 2.89696452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.27925415399994 meters 0.02054320302353225 Centerline is valid? [True, True] Translation: X:425.71, Y:4.29, Z:2.90 [[ 9.99245178e-01 -3.69168332e-02 -1.20921887e-02 4.25708018e+02] [ 3.69195479e-02 9.99318241e-01 1.27672853e-06 4.28670112e+00] [ 1.20838976e-02 -4.47713906e-04 9.99926887e-01 2.89743147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.309254154 meters 0.020012720387446697 Centerline is valid? [True, True] Translation: X:425.74, Y:4.29, Z:2.90 [[ 9.99342869e-01 -3.41972630e-02 -1.20157175e-02 4.25739139e+02] [ 3.41997510e-02 9.99415017e-01 1.58375862e-06 4.28878040e+00] [ 1.20086344e-02 -4.12517265e-04 9.99927809e-01 2.89760559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.33925415399995 meters 0.019134291457572738 Centerline is valid? [True, True] Translation: X:425.77, Y:4.29, Z:2.90 [[ 9.99419900e-01 -3.19141128e-02 -1.18891573e-02 4.25770824e+02] [ 3.19163924e-02 9.99490542e-01 2.00321351e-06 4.29139069e+00] [ 1.18830363e-02 -3.81461060e-04 9.99929321e-01 2.89774832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3692541539999 meters 0.018725728449071985 Centerline is valid? [True, True] Translation: X:425.80, Y:4.29, Z:2.90 [[ 9.99474885e-01 -3.00403134e-02 -1.21463160e-02 4.25802404e+02] [ 3.00425599e-02 9.99548620e-01 2.50023430e-06 4.29346902e+00] [ 1.21407582e-02 -3.67405346e-04 9.99926231e-01 2.89768297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.39925415399995 meters 0.017986052994164167 Centerline is valid? [True, True] Translation: X:425.83, Y:4.30, Z:2.90 [[ 9.99556873e-01 -2.70610667e-02 -1.23998288e-02 4.25833381e+02] [ 2.70631835e-02 9.99633725e-01 2.91366123e-06 4.29643312e+00] [ 1.23952082e-02 -3.38491211e-04 9.99923119e-01 2.89760496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4292541539999 meters 0.01790829560486499 Centerline is valid? [True, True] Translation: X:425.86, Y:4.30, Z:2.90 [[ 9.99576042e-01 -2.62677798e-02 -1.25594500e-02 4.25864149e+02] [ 2.62698905e-02 9.99654887e-01 3.07987234e-06 4.29694153e+00] [ 1.25550346e-02 -3.33013941e-04 9.99921127e-01 2.89747196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.45925415399995 meters 0.018130056964117253 Centerline is valid? [True, True] Translation: X:425.89, Y:4.30, Z:2.90 [[ 9.99589294e-01 -2.57309550e-02 -1.26159522e-02 4.25894564e+02] [ 2.57330433e-02 9.99668850e-01 3.19650546e-06 4.29695286e+00] [ 1.26116922e-02 -3.27842037e-04 9.99920416e-01 2.89705657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4892541539999 meters 0.018010784401329322 Centerline is valid? [True, True] Translation: X:425.93, Y:4.30, Z:2.90 [[ 9.99584211e-01 -2.58045141e-02 -1.28659230e-02 4.25925537e+02] [ 2.58066937e-02 9.99666952e-01 3.38756014e-06 4.29756401e+00] [ 1.28615506e-02 -3.35413085e-04 9.99917231e-01 2.89686522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.51925415399995 meters 0.017957613347568832 Centerline is valid? [True, True] Translation: X:425.96, Y:4.30, Z:2.90 [[ 9.99549966e-01 -2.67956772e-02 -1.34854611e-02 4.25956443e+02] [ 2.67981619e-02 9.99640865e-01 3.55068274e-06 4.29678330e+00] [ 1.34805229e-02 -3.64934655e-04 9.99909067e-01 2.89659586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5492541539999 meters 0.018348918700489925 Centerline is valid? [True, True] Translation: X:425.99, Y:4.30, Z:2.90 [[ 9.99516989e-01 -2.80622842e-02 -1.33527534e-02 4.25987175e+02] [ 2.80648332e-02 9.99606105e-01 3.51574119e-06 4.29544927e+00] [ 1.33473952e-02 -3.78256841e-04 9.99910848e-01 2.89637311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.57925415399995 meters 0.02030105448166072 Centerline is valid? [True, True] Translation: X:426.02, Y:4.29, Z:2.90 [[ 9.99474333e-01 -2.95362497e-02 -1.33666682e-02 4.26016946e+02] [ 2.95389351e-02 9.99563630e-01 3.47785043e-06 4.29130809e+00] [ 1.33607327e-02 -3.98313167e-04 9.99910662e-01 2.89564375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.6092541539999 meters 0.019334622618142127 Centerline is valid? [True, True] Translation: X:426.05, Y:4.29, Z:2.90 [[ 9.99373734e-01 -3.27923731e-02 -1.32966011e-02 4.26047704e+02] [ 3.27953177e-02 9.99462089e-01 3.41512413e-06 4.29188971e+00] [ 1.32893367e-02 -4.39479243e-04 9.99911596e-01 2.89650497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.63925415399996 meters 0.02246494728308423 Centerline is valid? [True, True] Translation: X:426.08, Y:4.29, Z:2.90 [[ 9.99334540e-01 -3.41298514e-02 -1.28697677e-02 4.26077918e+02] [ 3.41327221e-02 9.99417309e-01 3.41466938e-06 4.28618232e+00] [ 1.28621521e-02 -4.42692602e-04 9.99917181e-01 2.89596893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.66925415399993 meters 0.020127753768363624 Centerline is valid? [True, True] Translation: X:426.11, Y:4.29, Z:2.90 [[ 9.99291534e-01 -3.55213682e-02 -1.24363451e-02 4.26109328e+02] [ 3.55241605e-02 9.99368818e-01 3.62623404e-06 4.28943556e+00] [ 1.24283667e-02 -4.45414385e-04 9.99922666e-01 2.89685149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.69925415399996 meters 0.02428998590047043 Centerline is valid? [True, True] Translation: X:426.14, Y:4.28, Z:2.90 [[ 9.99244516e-01 -3.62986649e-02 -1.38853636e-02 4.26140120e+02] [ 3.63022266e-02 9.99340857e-01 4.46207010e-06 4.28485143e+00] [ 1.38760492e-02 -5.08528314e-04 9.99903594e-01 2.89512338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.72925415399993 meters 0.022667606340638385 Centerline is valid? [True, True] Translation: X:426.17, Y:4.29, Z:2.90 [[ 9.99195916e-01 -3.80310435e-02 -1.26949664e-02 4.26171805e+02] [ 3.80341642e-02 9.99276439e-01 4.40056901e-06 4.28525287e+00] [ 1.26856135e-02 -4.87239469e-04 9.99919416e-01 2.89684989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.75925415399996 meters 0.0221907816173689 Centerline is valid? [True, True] Translation: X:426.20, Y:4.29, Z:2.90 [[ 9.99112198e-01 -4.02602057e-02 -1.24069358e-02 4.26203240e+02] [ 4.02633636e-02 9.99189102e-01 4.74240061e-06 4.28613945e+00] [ 1.23966841e-02 -5.04283157e-04 9.99923031e-01 2.89755110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.78925415399993 meters 0.0228907611342664 Centerline is valid? [True, True] Translation: X:426.24, Y:4.29, Z:2.90 [[ 9.99064587e-01 -4.13847946e-02 -1.25399332e-02 4.26235138e+02] [ 4.13881173e-02 9.99143145e-01 5.46098678e-06 4.28508933e+00] [ 1.25289622e-02 -5.24460103e-04 9.99921372e-01 2.89756425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.81925415399996 meters 0.023851158430134 Centerline is valid? [True, True] Translation: X:426.27, Y:4.28, Z:2.90 [[ 9.99019667e-01 -4.25549563e-02 -1.21975631e-02 4.26266085e+02] [ 4.25581966e-02 9.99093990e-01 6.09270625e-06 4.28324987e+00] [ 1.21862527e-02 -5.25193022e-04 9.99925607e-01 2.89778278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.84925415399994 meters 0.023386307161659625 Centerline is valid? [True, True] Translation: X:426.30, Y:4.28, Z:2.90 [[ 9.98916414e-01 -4.50244050e-02 -1.17813909e-02 4.26297642e+02] [ 4.50276057e-02 9.98985743e-01 6.42939009e-06 4.28342378e+00] [ 1.17691521e-02 -5.36910249e-04 9.99930597e-01 2.89793869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87925415399997 meters 0.023897889396250465 Centerline is valid? [True, True] Translation: X:426.33, Y:4.28, Z:2.90 [[ 9.98863804e-01 -4.61487113e-02 -1.18910939e-02 4.26329528e+02] [ 4.61520588e-02 9.98934426e-01 7.11639516e-06 4.28282359e+00] [ 1.18780947e-02 -5.55906776e-04 9.99929298e-01 2.89794211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.90925415399994 meters 0.024000647906161583 Centerline is valid? [True, True] Translation: X:426.36, Y:4.28, Z:2.90 [[ 9.98808342e-01 -4.71974915e-02 -1.24214337e-02 4.26361757e+02] [ 4.72012370e-02 9.98885400e-01 8.38094815e-06 4.28309039e+00] [ 1.24071932e-02 -5.94677997e-04 9.99922851e-01 2.89747156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93925415399997 meters 0.024334602961417026 Centerline is valid? [True, True] Translation: X:426.39, Y:4.28, Z:2.90 [[ 9.98740846e-01 -4.83362316e-02 -1.34287517e-02 4.26393921e+02] [ 4.83407260e-02 9.98830904e-01 1.01058466e-05 4.28391985e+00] [ 1.34125637e-02 -6.59248728e-04 9.99909830e-01 2.89697687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.96925415399994 meters 0.025929057255334557 Centerline is valid? [True, True] Translation: X:426.42, Y:4.28, Z:2.90 [[ 9.98733761e-01 -4.85576068e-02 -1.31541947e-02 4.26424643e+02] [ 4.85619496e-02 9.98820172e-01 1.07530290e-05 4.28232765e+00] [ 1.31381529e-02 -6.49532752e-04 9.99913480e-01 2.89667324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99925415399997 meters 0.024681254517875693 Centerline is valid? [True, True] Translation: X:426.46, Y:4.28, Z:2.90 [[ 9.98739792e-01 -4.83722265e-02 -1.33774336e-02 4.26456539e+02] [ 4.83767131e-02 9.98829161e-01 1.18078209e-05 4.28479987e+00] [ 1.33611996e-02 -6.58949208e-04 9.99910518e-01 2.89704900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.02925415399994 meters 0.026571350797965992 Centerline is valid? [True, True] Translation: X:426.49, Y:4.28, Z:2.90 [[ 9.98772591e-01 -4.75908616e-02 -1.37266838e-02 4.26487358e+02] [ 4.75955244e-02 9.98866691e-01 1.30230846e-05 4.28374456e+00] [ 1.37105074e-02 -6.66335811e-04 9.99905785e-01 2.89606536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.059254154 meters 0.024211039618595886 Centerline is valid? [True, True] Translation: X:426.52, Y:4.29, Z:2.90 [[ 9.98798837e-01 -4.71052595e-02 -1.34899450e-02 4.26519916e+02] [ 4.71097303e-02 9.98889720e-01 1.36652284e-05 4.28730400e+00] [ 1.34743237e-02 -6.49156484e-04 9.99909006e-01 2.89745195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.08925415399995 meters 0.02400410514910594 Centerline is valid? [True, True] Translation: X:426.55, Y:4.29, Z:2.90 [[ 9.98880773e-01 -4.54142892e-02 -1.32190893e-02 4.26551431e+02] [ 4.54184443e-02 9.98968050e-01 1.41300561e-05 4.29047756e+00] [ 1.32048062e-02 -6.14504714e-04 9.99912624e-01 2.89818505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1192541539999 meters 0.026470414333660413 Centerline is valid? [True, True] Translation: X:426.58, Y:4.29, Z:2.90 [[ 9.98939609e-01 -4.41571883e-02 -1.30307789e-02 4.26582777e+02] [ 4.41611268e-02 9.99024421e-01 1.45182399e-05 4.28795794e+00] [ 1.30174253e-02 -5.89956723e-04 9.99915096e-01 2.89784803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.14925415399995 meters 0.02504152394081351 Centerline is valid? [True, True] Translation: X:426.61, Y:4.29, Z:2.90 [[ 9.99008428e-01 -4.25131919e-02 -1.32207727e-02 4.26613949e+02] [ 4.25171104e-02 9.99095739e-01 1.53400399e-05 4.29119921e+00] [ 1.32081655e-02 -5.77433883e-04 9.99912602e-01 2.89808328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1792541539999 meters 0.021302788077290476 Centerline is valid? [True, True] Translation: X:426.65, Y:4.30, Z:2.90 [[ 9.99137294e-01 -3.91362179e-02 -1.38933308e-02 4.26645173e+02] [ 3.91402266e-02 9.99233728e-01 1.66395696e-05 4.30001752e+00] [ 1.38820336e-02 -5.60413332e-04 9.99903483e-01 2.89879180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.20925415399995 meters 0.021054171412323585 Centerline is valid? [True, True] Translation: X:426.68, Y:4.30, Z:2.90 [[ 9.99205059e-01 -3.73739508e-02 -1.38721864e-02 4.26676202e+02] [ 3.73777849e-02 9.99301206e-01 1.71301173e-05 4.30165750e+00] [ 1.38618524e-02 -5.35628098e-04 9.99903776e-01 2.89866347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2392541539999 meters 0.020991183097167642 Centerline is valid? [True, True] Translation: X:426.71, Y:4.30, Z:2.90 [[ 9.99256002e-01 -3.58178939e-02 -1.43010596e-02 4.26706374e+02] [ 3.58218153e-02 9.99358193e-01 1.80587337e-05 4.30309630e+00] [ 1.42912343e-02 -5.30335215e-04 9.99897734e-01 2.89854704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.26925415399995 meters 0.020820510873700602 Centerline is valid? [True, True] Translation: X:426.74, Y:4.30, Z:2.90 [[ 9.99325243e-01 -3.38448340e-02 -1.42683207e-02 4.26736613e+02] [ 3.38485404e-02 9.99426974e-01 1.82771186e-05 4.30414414e+00] [ 1.42595260e-02 -5.01226616e-04 9.99898202e-01 2.89859964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2992541539999 meters 0.01944503227281545 Centerline is valid? [True, True] Translation: X:426.77, Y:4.31, Z:2.90 [[ 9.99422175e-01 -3.08072546e-02 -1.43607156e-02 4.26767522e+02] [ 3.08106996e-02 9.99525238e-01 1.86577144e-05 4.30866720e+00] [ 1.43533229e-02 -4.61110628e-04 9.99896879e-01 2.89912443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.32925415399995 meters 0.01888325496556833 Centerline is valid? [True, True] Translation: X:426.80, Y:4.31, Z:2.90 [[ 9.99455099e-01 -2.96510313e-02 -1.45024547e-02 4.26798883e+02] [ 2.96544290e-02 9.99560211e-01 1.92494524e-05 4.31048825e+00] [ 1.44955059e-02 -4.49300978e-04 9.99894834e-01 2.89948020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3592541539999 meters 0.01871061441303977 Centerline is valid? [True, True] Translation: X:426.83, Y:4.31, Z:2.90 [[ 9.99486253e-01 -2.86280997e-02 -1.44104871e-02 4.26829725e+02] [ 2.86313519e-02 9.99590039e-01 1.93817080e-05 4.31152833e+00] [ 1.44040245e-02 -4.31963477e-04 9.99896163e-01 2.89988004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.38925415399996 meters 0.01839995907384142 Centerline is valid? [True, True] Translation: X:426.86, Y:4.31, Z:2.90 [[ 9.99516668e-01 -2.77357721e-02 -1.40412542e-02 4.26860397e+02] [ 2.77387717e-02 9.99615206e-01 1.88851000e-05 4.31273641e+00] [ 1.40353274e-02 -4.08363117e-04 9.99901417e-01 2.90025904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.41925415399993 meters 0.018100487300233125 Centerline is valid? [True, True] Translation: X:426.89, Y:4.31, Z:2.90 [[ 9.99585321e-01 -2.54165105e-02 -1.35346731e-02 4.26889966e+02] [ 2.54190835e-02 9.99676883e-01 1.80826730e-05 4.31462024e+00] [ 1.35298402e-02 -3.62114160e-04 9.99908402e-01 2.90043807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.44925415399996 meters 0.018216237648078254 Centerline is valid? [True, True] Translation: X:426.92, Y:4.32, Z:2.90 [[ 9.99626369e-01 -2.37249507e-02 -1.35738261e-02 4.26920467e+02] [ 2.37273810e-02 9.99718466e-01 1.80075876e-05 4.31639248e+00] [ 1.35695774e-02 -3.40072203e-04 9.99907871e-01 2.90033831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.47925415399993 meters 0.01702006649217161 Centerline is valid? [True, True] Translation: X:426.95, Y:4.32, Z:2.90 [[ 9.99675074e-01 -2.20198840e-02 -1.28402027e-02 4.26950212e+02] [ 2.20219153e-02 9.99757488e-01 1.68155151e-05 4.31878739e+00] [ 1.28367185e-02 -2.99575908e-04 9.99917561e-01 2.90159319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.50925415399996 meters 0.01774378118925433 Centerline is valid? [True, True] Translation: X:426.98, Y:4.32, Z:2.90 [[ 9.99726934e-01 -1.97817228e-02 -1.24395150e-02 4.26979883e+02] [ 1.97834517e-02 9.99804288e-01 1.59411597e-05 4.31807112e+00] [ 1.24367651e-02 -2.62033352e-04 9.99922626e-01 2.90164560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.53925415399993 meters 0.016156648699968683 Centerline is valid? [True, True] Translation: X:427.01, Y:4.32, Z:2.90 [[ 9.99779509e-01 -1.74590150e-02 -1.16668566e-02 4.27009834e+02] [ 1.74603744e-02 9.99847556e-01 1.46574260e-05 4.32268233e+00] [ 1.16648222e-02 -2.18361879e-04 9.99931940e-01 2.90300789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.56925415399996 meters 0.016814062646558436 Centerline is valid? [True, True] Translation: X:427.04, Y:4.33, Z:2.90 [[ 9.99867999e-01 -1.23372881e-02 -1.05724461e-02 4.27039102e+02] [ 1.23381142e-02 9.99923882e-01 1.29186547e-05 4.32617689e+00] [ 1.05714820e-02 -1.43360997e-04 9.99944110e-01 2.90280302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.59925415399994 meters 0.01642413816965703 Centerline is valid? [True, True] Translation: X:427.07, Y:4.33, Z:2.90 [[ 9.99890346e-01 -1.07769838e-02 -1.01563973e-02 4.27068128e+02] [ 1.07776547e-02 9.99941919e-01 1.13301411e-05 4.32785938e+00] [ 1.01556854e-02 -1.20791043e-04 9.99948422e-01 2.90348984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.62925415399997 meters 0.014750570952723915 Centerline is valid? [True, True] Translation: X:427.10, Y:4.33, Z:2.91 [[ 9.99919848e-01 -9.31361716e-03 -8.57642438e-03 4.27096451e+02] [ 9.31402508e-03 9.99956623e-01 7.62237162e-06 4.32885365e+00] [ 8.57598138e-03 -8.75027925e-05 9.99963222e-01 2.90533147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.65925415399994 meters 0.01484541598786024 Centerline is valid? [True, True] Translation: X:427.13, Y:4.33, Z:2.91 [[ 9.99921414e-01 -9.41714023e-03 -8.27550428e-03 4.27125438e+02] [ 9.41750848e-03 9.99955654e-01 5.53181394e-06 4.32800292e+00] [ 8.27508521e-03 -8.34660110e-05 9.99965757e-01 2.90540439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.68925415399997 meters 0.014957717105019069 Centerline is valid? [True, True] Translation: X:427.15, Y:4.33, Z:2.91 [[ 9.99909635e-01 -1.04976062e-02 -8.39771099e-03 4.27153878e+02] [ 1.04980164e-02 9.99944894e-01 4.75742006e-06 4.32714784e+00] [ 8.39719829e-03 -9.29162977e-05 9.99964739e-01 2.90519867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.71925415399994 meters 0.015040181738331902 Centerline is valid? [True, True] Translation: X:427.18, Y:4.33, Z:2.90 [[ 9.99885996e-01 -1.21990509e-02 -8.89825524e-03 4.27183975e+02] [ 1.21995613e-02 9.99925583e-01 3.08490988e-06 4.32544397e+00] [ 8.89755542e-03 -1.11639368e-04 9.99960410e-01 2.90475634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.74925415399997 meters 0.016694088668613067 Centerline is valid? [True, True] Translation: X:427.21, Y:4.32, Z:2.90 [[ 9.99811356e-01 -1.66989803e-02 -9.91951846e-03 4.27213669e+02] [ 1.66998321e-02 9.99860548e-01 3.04446779e-06 4.31961523e+00] [ 9.91808433e-03 -1.68698186e-04 9.99950800e-01 2.90264145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.77925415399994 meters 0.016511470179539967 Centerline is valid? [True, True] Translation: X:427.24, Y:4.32, Z:2.90 [[ 9.99743367e-01 -2.00361023e-02 -1.05714313e-02 4.27242735e+02] [ 2.00372544e-02 9.99799234e-01 3.07484118e-06 4.31596788e+00] [ 1.05692473e-02 -2.14896510e-04 9.99944121e-01 2.90276825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.809254154 meters 0.017060011270120867 Centerline is valid? [True, True] Translation: X:427.27, Y:4.31, Z:2.90 [[ 9.99672586e-01 -2.32476202e-02 -1.06896960e-02 4.27272972e+02] [ 2.32489839e-02 9.99729706e-01 3.30404691e-06 4.31289147e+00] [ 1.06867298e-02 -2.51827535e-04 9.99942864e-01 2.90234465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.83925415399995 meters 0.017812638390729503 Centerline is valid? [True, True] Translation: X:427.30, Y:4.31, Z:2.90 [[ 9.99588705e-01 -2.64345914e-02 -1.11190804e-02 4.27303812e+02] [ 2.64362647e-02 9.99650501e-01 3.51416376e-06 4.30946904e+00] [ 1.11151014e-02 -2.97459671e-04 9.99938181e-01 2.90219161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8692541539999 meters 0.019207674886650112 Centerline is valid? [True, True] Translation: X:427.34, Y:4.30, Z:2.90 [[ 9.99419697e-01 -3.20675514e-02 -1.14865595e-02 4.27335241e+02] [ 3.20697123e-02 9.99485634e-01 3.93168619e-06 4.30373374e+00] [ 1.14805252e-02 -3.72300064e-04 9.99934027e-01 2.90171683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.89925415399995 meters 0.019207674886650112 Centerline is valid? [True, True] Translation: X:427.37, Y:4.30, Z:2.90 [[ 9.99420885e-01 -3.20305123e-02 -1.14865594e-02 4.27366102e+02] [ 3.20326756e-02 9.99486822e-01 4.35774850e-06 4.30369310e+00] [ 1.14805251e-02 -3.72300455e-04 9.99934027e-01 2.90193062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9292541539999 meters 0.02078977155624337 Centerline is valid? [True, True] Translation: X:427.40, Y:4.30, Z:2.90 [[ 9.99337924e-01 -3.42861167e-02 -1.21727247e-02 4.27396987e+02] [ 3.42887232e-02 9.99411969e-01 5.42970110e-06 4.29927598e+00] [ 1.21653806e-02 -4.22813296e-04 9.99925910e-01 2.90146183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.95925415399995 meters 0.02066287112062349 Centerline is valid? [True, True] Translation: X:427.43, Y:4.30, Z:2.90 [[ 9.99257268e-01 -3.64783026e-02 -1.24195729e-02 4.27428067e+02] [ 3.64811966e-02 9.99334340e-01 6.46978115e-06 4.29781334e+00] [ 1.24110697e-02 -4.59545856e-04 9.99922874e-01 2.90164872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9892541539999 meters 0.024442066218682938 Centerline is valid? [True, True] Translation: X:427.46, Y:4.29, Z:2.90 [[ 9.99124949e-01 -4.00791573e-02 -1.19581313e-02 4.27457932e+02] [ 4.00821006e-02 9.99196390e-01 6.47552190e-06 4.28964402e+00] [ 1.19482621e-02 -4.85776878e-04 9.99928499e-01 2.90131020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.01925415399995 meters 0.026630382272454668 Centerline is valid? [True, True] Translation: X:427.49, Y:4.29, Z:2.90 [[ 9.99122500e-01 -4.03354304e-02 -1.12819621e-02 4.27488814e+02] [ 4.03380691e-02 9.99186089e-01 6.33730493e-06 4.28714678e+00] [ 1.12725240e-02 -4.61424311e-04 9.99936357e-01 2.90005449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0492541539999 meters 0.026010357601053476 Centerline is valid? [True, True] Translation: X:427.52, Y:4.29, Z:2.90 [[ 9.99085131e-01 -4.13954025e-02 -1.07387475e-02 4.27520249e+02] [ 4.13978601e-02 9.99142741e-01 6.57496782e-06 4.28570987e+00] [ 1.07292694e-02 -4.51130120e-04 9.99942338e-01 2.90252613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.07925415399995 meters 0.02281591366905994 Centerline is valid? [True, True] Translation: X:427.55, Y:4.29, Z:2.90 [[ 9.99091866e-01 -4.14171229e-02 -1.00032302e-02 4.27552816e+02] [ 4.14192621e-02 9.99141854e-01 6.68431602e-06 4.28997831e+00] [ 9.99436915e-03 -4.21004660e-04 9.99949966e-01 2.90377207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1092541539999 meters 0.022345475626009383 Centerline is valid? [True, True] Translation: X:427.59, Y:4.29, Z:2.90 [[ 9.99099220e-01 -4.14965649e-02 -8.87600853e-03 4.27585221e+02] [ 4.14982575e-02 9.99138576e-01 6.52638607e-06 4.29101884e+00] [ 8.86809170e-03 -3.74859395e-04 9.99960607e-01 2.90454262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.13925415399996 meters 0.02213467832809067 Centerline is valid? [True, True] Translation: X:427.62, Y:4.29, Z:2.90 [[ 9.99103457e-01 -4.13707931e-02 -8.98551174e-03 4.27617032e+02] [ 4.13725287e-02 9.99143790e-01 7.28183082e-06 4.29096511e+00] [ 8.97751700e-03 -3.79028645e-04 9.99959629e-01 2.90491494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.16925415399993 meters 0.02221755118727986 Centerline is valid? [True, True] Translation: X:427.65, Y:4.29, Z:2.91 [[ 9.99103892e-01 -4.13265161e-02 -9.13955560e-03 4.27649210e+02] [ 4.13283162e-02 9.99145620e-01 8.09609009e-06 4.29058680e+00] [ 9.13141237e-03 -3.85811279e-04 9.99958233e-01 2.90517942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.19925415399996 meters 0.022815490395969713 Centerline is valid? [True, True] Translation: X:427.68, Y:4.29, Z:2.91 [[ 9.99093887e-01 -4.14843748e-02 -9.51060815e-03 4.27680753e+02] [ 4.14863376e-02 9.99139071e-01 9.10436372e-06 4.28955747e+00] [ 9.50204250e-03 -4.03656414e-04 9.99954773e-01 2.90509968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.22925415399993 meters 0.02306537433772729 Centerline is valid? [True, True] Translation: X:427.71, Y:4.29, Z:2.90 [[ 9.99073381e-01 -4.17154234e-02 -1.05925398e-02 4.27713335e+02] [ 4.17178786e-02 9.99129430e-01 1.08366323e-05 4.28955178e+00] [ 1.05828662e-02 -4.52724878e-04 9.99943897e-01 2.90457362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.25925415399996 meters 0.022646426327960045 Centerline is valid? [True, True] Translation: X:427.75, Y:4.29, Z:2.90 [[ 9.99055867e-01 -4.18604574e-02 -1.16222814e-02 4.27745577e+02] [ 4.18634334e-02 9.99123342e-01 1.27958400e-05 4.29081548e+00] [ 1.16115570e-02 -4.99332361e-04 9.99932459e-01 2.90411038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.28925415399993 meters 0.023341191432760488 Centerline is valid? [True, True] Translation: X:427.78, Y:4.29, Z:2.90 [[ 9.99031799e-01 -4.22179157e-02 -1.23738281e-02 4.27776642e+02] [ 4.22213269e-02 9.99108282e-01 1.44697126e-05 4.29005925e+00] [ 1.23621832e-02 -5.36895143e-04 9.99923441e-01 2.90410010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.31925415399996 meters 0.023428702750926476 Centerline is valid? [True, True] Translation: X:427.81, Y:4.29, Z:2.90 [[ 9.99022804e-01 -4.21740449e-02 -1.32207066e-02 4.27808943e+02] [ 4.21779468e-02 9.99110114e-01 1.63272524e-05 4.29062879e+00] [ 1.32082531e-02 -5.73933556e-04 9.99912603e-01 2.90363808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.34925415399994 meters 0.022999466152549036 Centerline is valid? [True, True] Translation: X:427.84, Y:4.29, Z:2.90 [[ 9.99037668e-01 -4.17188800e-02 -1.35378581e-02 4.27840821e+02] [ 4.17229432e-02 9.99129219e-01 1.77222002e-05 4.29156660e+00] [ 1.35253303e-02 -5.82544433e-04 9.99908359e-01 2.90343352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37925415399997 meters 0.023952052878599573 Centerline is valid? [True, True] Translation: X:427.87, Y:4.29, Z:2.90 [[ 9.99063373e-01 -4.08891694e-02 -1.41581101e-02 4.27871034e+02] [ 4.08935398e-02 9.99163509e-01 1.91981178e-05 4.28994341e+00] [ 1.41454820e-02 -5.98155376e-04 9.99899769e-01 2.90309528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.40925415399994 meters 0.02311982418920838 Centerline is valid? [True, True] Translation: X:427.90, Y:4.29, Z:2.90 [[ 9.99092094e-01 -4.00155838e-02 -1.46198681e-02 4.27902910e+02] [ 4.00201585e-02 9.99198872e-01 2.03687020e-05 4.29171230e+00] [ 1.46073407e-02 -6.05439649e-04 9.99893124e-01 2.90313727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43925415399997 meters 0.021474472222804235 Centerline is valid? [True, True] Translation: X:427.93, Y:4.30, Z:2.90 [[ 9.99130806e-01 -3.89231008e-02 -1.49206192e-02 4.27934564e+02] [ 3.89277542e-02 9.99242027e-01 2.14646402e-05 4.29500710e+00] [ 1.49084743e-02 -6.02272178e-04 9.99888681e-01 2.90377432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.46925415399994 meters 0.02335786493755198 Centerline is valid? [True, True] Translation: X:427.96, Y:4.29, Z:2.90 [[ 9.99179021e-01 -3.76288536e-02 -1.50118032e-02 4.27964729e+02] [ 3.76334307e-02 9.99291611e-01 2.24299144e-05 4.29311488e+00] [ 1.50003250e-02 -5.87357156e-04 9.99887316e-01 2.90328807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49925415399997 meters 0.021059384186696277 Centerline is valid? [True, True] Translation: X:428.00, Y:4.30, Z:2.90 [[ 9.99266040e-01 -3.52021329e-02 -1.51059809e-02 4.27995631e+02] [ 3.52064984e-02 9.99380059e-01 2.30752065e-05 4.29861188e+00] [ 1.50958038e-02 -5.54886962e-04 9.99885898e-01 2.90426569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.52925415399994 meters 0.020726744038394185 Centerline is valid? [True, True] Translation: X:428.03, Y:4.30, Z:2.90 [[ 9.99303359e-01 -3.40079967e-02 -1.53705478e-02 4.28026654e+02] [ 3.40123745e-02 9.99421412e-01 2.34231771e-05 4.29972519e+00] [ 1.53608580e-02 -5.46195687e-04 9.99881866e-01 2.90458907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.559254154 meters 0.020120634697330095 Centerline is valid? [True, True] Translation: X:428.06, Y:4.30, Z:2.90 [[ 9.99356581e-01 -3.24704988e-02 -1.52345189e-02 4.28057595e+02] [ 3.24746196e-02 9.99472560e-01 2.31211117e-05 4.30149923e+00] [ 1.52257329e-02 -5.17841442e-04 9.99883948e-01 2.90495946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.58925415399995 meters 0.018954387328726584 Centerline is valid? [True, True] Translation: X:428.09, Y:4.31, Z:2.91 [[ 9.99490354e-01 -2.84343382e-02 -1.45093415e-02 4.28088130e+02] [ 2.84376506e-02 9.99595568e-01 2.19857706e-05 4.30608532e+00] [ 1.45028483e-02 -4.34586149e-04 9.99894734e-01 2.90551255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6192541539999 meters 0.01770137942408005 Centerline is valid? [True, True] Translation: X:428.12, Y:4.31, Z:2.91 [[ 9.99561288e-01 -2.61960875e-02 -1.38201712e-02 4.28118623e+02] [ 2.61988788e-02 9.99656750e-01 2.09414821e-05 4.30809036e+00] [ 1.38148789e-02 -3.83005287e-04 9.99904497e-01 2.90677086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.64925415399995 meters 0.01743743429327482 Centerline is valid? [True, True] Translation: X:428.15, Y:4.31, Z:2.91 [[ 9.99638148e-01 -2.32186274e-02 -1.35819512e-02 4.28149182e+02] [ 2.32210487e-02 9.99730355e-01 2.05805111e-05 4.31102087e+00] [ 1.35778111e-02 -3.35960215e-04 9.99907761e-01 2.90700312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6792541539999 meters 0.01679683410404949 Centerline is valid? [True, True] Translation: X:428.18, Y:4.31, Z:2.91 [[ 9.99701504e-01 -2.06653563e-02 -1.30325031e-02 4.28178704e+02] [ 2.06673673e-02 9.99786407e-01 1.96343074e-05 4.31312892e+00] [ 1.30293137e-02 -2.88975976e-04 9.99915073e-01 2.90787595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.70925415399995 meters 0.01533380599686036 Centerline is valid? [True, True] Translation: X:428.21, Y:4.32, Z:2.91 [[ 9.99801476e-01 -1.55051083e-02 -1.25140219e-02 4.28208663e+02] [ 1.55065527e-02 9.99879766e-01 1.83960649e-05 4.31765016e+00] [ 1.25122321e-02 -2.12441753e-04 9.99921696e-01 2.90899680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7392541539999 meters 0.015070207567913146 Centerline is valid? [True, True] Translation: X:428.24, Y:4.32, Z:2.91 [[ 9.99839511e-01 -1.31937366e-02 -1.21192780e-02 4.28236040e+02] [ 1.31949110e-02 9.99912943e-01 1.69396289e-05 4.31921458e+00] [ 1.21179995e-02 -1.76849705e-04 9.99926559e-01 2.90907885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.76925415399995 meters 0.014718293750200891 Centerline is valid? [True, True] Translation: X:428.26, Y:4.32, Z:2.91 [[ 9.99859335e-01 -1.15572661e-02 -1.21548669e-02 4.28264776e+02] [ 1.15583023e-02 9.99933200e-01 1.50056037e-05 4.32074371e+00] [ 1.21538816e-02 -1.55493119e-04 9.99926127e-01 2.90923241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7992541539999 meters 0.014396095743307134 Centerline is valid? [True, True] Translation: X:428.29, Y:4.32, Z:2.91 [[ 9.99874606e-01 -1.03374697e-02 -1.19961931e-02 4.28293123e+02] [ 1.03383545e-02 9.99946558e-01 1.17425475e-05 4.32152650e+00] [ 1.19954306e-02 -1.35761972e-04 9.99928043e-01 2.90934617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.82925415399995 meters 0.014310739556133708 Centerline is valid? [True, True] Translation: X:428.32, Y:4.32, Z:2.91 [[ 9.99879073e-01 -9.58744003e-03 -1.22441868e-02 4.28321147e+02] [ 9.58826420e-03 9.99954031e-01 8.60951037e-06 4.32177788e+00] [ 1.22435415e-02 -1.26008968e-04 9.99925037e-01 2.90868734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8592541539999 meters 0.014451163569261977 Centerline is valid? [True, True] Translation: X:428.35, Y:4.32, Z:2.91 [[ 9.99872687e-01 -9.99113413e-03 -1.24413725e-02 4.28348810e+02] [ 9.99197064e-03 9.99950079e-01 5.07693866e-06 4.32146895e+00] [ 1.24407007e-02 -1.29390121e-04 9.99922603e-01 2.90844955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.88925415399996 meters 0.01484443332301424 Centerline is valid? [True, True] Translation: X:428.38, Y:4.32, Z:2.91 [[ 9.99862499e-01 -1.05057587e-02 -1.28301182e-02 4.28376819e+02] [ 1.05066570e-02 9.99944804e-01 2.61295139e-06 4.32037519e+00] [ 1.28293826e-02 -1.37414244e-04 9.99917691e-01 2.90772184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.91925415399993 meters 0.014629574216574938 Centerline is valid? [True, True] Translation: X:428.41, Y:4.32, Z:2.91 [[ 9.99821337e-01 -1.32563328e-02 -1.34745728e-02 4.28405681e+02] [ 1.32575417e-02 9.99912115e-01 3.95591717e-07 4.31883282e+00] [ 1.34733834e-02 -1.79035233e-04 9.99909214e-01 2.90798303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.94925415399996 meters 0.016379721956631843 Centerline is valid? [True, True] Translation: X:428.43, Y:4.32, Z:2.91 [[ 9.99788562e-01 -1.46168352e-02 -1.44630244e-02 4.28433199e+02] [ 1.46183326e-02 9.99893146e-01 -2.18536712e-06 4.31686132e+00] [ 1.44615109e-02 -2.09240395e-04 9.99895405e-01 2.90689273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.97925415399993 meters 0.01574440137213459 Centerline is valid? [True, True] Translation: X:428.46, Y:4.31, Z:2.91 [[ 9.99759963e-01 -1.68949289e-02 -1.39491376e-02 4.28460478e+02] [ 1.68965243e-02 9.99857244e-01 -3.47971037e-06 4.31393741e+00] [ 1.39472050e-02 -2.32213067e-04 9.99902706e-01 2.90712068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.00925415399996 meters 0.01567128562935497 Centerline is valid? [True, True] Translation: X:428.49, Y:4.31, Z:2.91 [[ 9.99711947e-01 -1.92890794e-02 -1.42812412e-02 4.28488739e+02] [ 1.92909752e-02 9.99813912e-01 -5.00746337e-06 4.31350541e+00] [ 1.42786802e-02 -2.70493050e-04 9.99898018e-01 2.90748835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.03925415399993 meters 0.016816503488153306 Centerline is valid? [True, True] Translation: X:428.52, Y:4.31, Z:2.91 [[ 9.99598270e-01 -2.41164950e-02 -1.48893864e-02 4.28518532e+02] [ 2.41190768e-02 9.99709093e-01 -6.17488675e-06 4.30879631e+00] [ 1.48852039e-02 -3.52945847e-04 9.99889147e-01 2.90722867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.06925415399996 meters 0.017816930772313916 Centerline is valid? [True, True] Translation: X:428.55, Y:4.31, Z:2.91 [[ 9.99538083e-01 -2.63208328e-02 -1.51932245e-02 4.28548185e+02] [ 2.63237670e-02 9.99653470e-01 -6.85814015e-06 4.30631837e+00] [ 1.51881401e-02 -3.93087931e-04 9.99884576e-01 2.90676226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.09925415399994 meters 0.017793414423962848 Centerline is valid? [True, True] Translation: X:428.58, Y:4.30, Z:2.91 [[ 9.99480775e-01 -2.83691315e-02 -1.52765629e-02 4.28578203e+02] [ 2.83723286e-02 9.99597424e-01 -7.45213238e-06 4.30461085e+00] [ 1.52706243e-02 -4.25983399e-04 9.99883306e-01 2.90725683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.12925415399997 meters 0.01836302630226731 Centerline is valid? [True, True] Translation: X:428.61, Y:4.30, Z:2.91 [[ 9.99386662e-01 -3.14870032e-02 -1.53253966e-02 4.28608254e+02] [ 3.14905807e-02 9.99504049e-01 -7.88365694e-06 4.30253610e+00] [ 1.53180442e-02 -4.74726816e-04 9.99882559e-01 2.90760452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.15925415399994 meters 0.018491675524026772 Centerline is valid? [True, True] Translation: X:428.64, Y:4.30, Z:2.91 [[ 9.99370089e-01 -3.19789988e-02 -1.53872814e-02 4.28638693e+02] [ 3.19826616e-02 9.99488424e-01 -8.04362384e-06 4.30191865e+00] [ 1.53796668e-02 -4.84087656e-04 9.99881609e-01 2.90815051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.18925415399997 meters 0.018583039424737862 Centerline is valid? [True, True] Translation: X:428.67, Y:4.30, Z:2.91 [[ 9.99362596e-01 -3.22246721e-02 -1.53613865e-02 4.28668894e+02] [ 3.22283516e-02 9.99480532e-01 -8.03008740e-06 4.30186275e+00] [ 1.53536655e-02 -4.87047195e-04 9.99882007e-01 2.90887811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.21925415399994 meters 0.018173063341169284 Centerline is valid? [True, True] Translation: X:428.70, Y:4.30, Z:2.91 [[ 9.99388469e-01 -3.11751548e-02 -1.58366039e-02 4.28699620e+02] [ 3.11789338e-02 9.99513819e-01 -8.27850491e-06 4.30245531e+00] [ 1.58291625e-02 -4.85494982e-04 9.99874593e-01 2.90885278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.24925415399997 meters 0.017812588622774076 Centerline is valid? [True, True] Translation: X:428.73, Y:4.30, Z:2.91 [[ 9.99410706e-01 -3.03629651e-02 -1.60103203e-02 4.28730496e+02] [ 3.03667234e-02 9.99538825e-01 -8.36931428e-06 4.30305172e+00] [ 1.60031908e-02 -4.77816585e-04 9.99871827e-01 2.90946479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.27925415399994 meters 0.01856225394743234 Centerline is valid? [True, True] Translation: X:428.76, Y:4.30, Z:2.91 [[ 9.99436390e-01 -2.93140436e-02 -1.63581296e-02 4.28759716e+02] [ 2.93178237e-02 9.99570140e-01 -8.72420557e-06 4.30285014e+00] [ 1.63513537e-02 -4.70865473e-04 9.99866197e-01 2.90943344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.309254154 meters 0.017943052926692946 Centerline is valid? [True, True] Translation: X:428.79, Y:4.30, Z:2.91 [[ 9.99469481e-01 -2.80647735e-02 -1.65264896e-02 4.28789636e+02] [ 2.80684533e-02 9.99606003e-01 -9.29483150e-06 4.30386943e+00] [ 1.65202391e-02 -4.54583100e-04 9.99863428e-01 2.91048269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.33925415399995 meters 0.01656610934849236 Centerline is valid? [True, True] Translation: X:428.82, Y:4.31, Z:2.91 [[ 9.99550311e-01 -2.52749621e-02 -1.61354037e-02 4.28819375e+02] [ 2.52780970e-02 9.99680458e-01 -9.66216773e-06 4.30590384e+00] [ 1.61304920e-02 -3.98214478e-04 9.99869816e-01 2.91193036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3692541539999 meters 0.016194014748811814 Centerline is valid? [True, True] Translation: X:428.85, Y:4.31, Z:2.91 [[ 9.99586724e-01 -2.38041675e-02 -1.61165343e-02 4.28848129e+02] [ 2.38070618e-02 9.99716572e-01 -1.22712511e-05 4.30703774e+00] [ 1.61122586e-02 -3.71421149e-04 9.99870120e-01 2.91257682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.39925415399995 meters 0.016690705445978043 Centerline is valid? [True, True] Translation: X:428.88, Y:4.31, Z:2.91 [[ 9.99610234e-01 -2.22186197e-02 -1.69030418e-02 4.28876866e+02] [ 2.22215016e-02 9.99753072e-01 -1.73263724e-05 4.30843184e+00] [ 1.68992530e-02 -3.58291352e-04 9.99857133e-01 2.91269584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4292541539999 meters 0.015695008129850568 Centerline is valid? [True, True] Translation: X:428.91, Y:4.31, Z:2.91 [[ 9.99641064e-01 -2.08685673e-02 -1.68001610e-02 4.28906094e+02] [ 2.08711540e-02 9.99782174e-01 -2.13723083e-05 4.30962043e+00] [ 1.67969474e-02 -3.29274109e-04 9.99858867e-01 2.91319209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.45925415399995 meters 0.0157924926024989 Centerline is valid? [True, True] Translation: X:428.93, Y:4.31, Z:2.91 [[ 9.99656164e-01 -1.98382373e-02 -1.71463879e-02 4.28934130e+02] [ 1.98407351e-02 9.99803153e-01 -2.44402629e-05 4.30935638e+00] [ 1.71434975e-02 -3.15765081e-04 9.99852990e-01 2.91265636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4892541539999 meters 0.015151837357585778 Centerline is valid? [True, True] Translation: X:428.96, Y:4.31, Z:2.91 [[ 9.99663727e-01 -1.84466215e-02 -1.82251314e-02 4.28962677e+02] [ 1.84491478e-02 9.99829800e-01 -2.95207184e-05 4.31075170e+00] [ 1.82225740e-02 -3.06727353e-04 9.99833908e-01 2.91273775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.51925415399995 meters 0.01632366998412426 Centerline is valid? [True, True] Translation: X:428.99, Y:4.31, Z:2.91 [[ 9.99635496e-01 -1.85261042e-02 -1.96381756e-02 4.28990799e+02] [ 1.85289932e-02 9.99828323e-01 -3.48496475e-05 4.30942824e+00] [ 1.96354498e-02 -3.29038677e-04 9.99807152e-01 2.91137037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5492541539999 meters 0.015482250702438168 Centerline is valid? [True, True] Translation: X:429.02, Y:4.31, Z:2.91 [[ 9.99579783e-01 -2.04759134e-02 -2.05181632e-02 4.29019130e+02] [ 2.04794388e-02 9.99790274e-01 -3.83110862e-05 4.30927510e+00] [ 2.05146445e-02 -3.81905481e-04 9.99789480e-01 2.91253396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.57925415399995 meters 0.017277368324155048 Centerline is valid? [True, True] Translation: X:429.05, Y:4.31, Z:2.91 [[ 9.99531890e-01 -2.23099596e-02 -2.09348345e-02 4.29046634e+02] [ 2.23139914e-02 9.99751011e-01 -4.10155308e-05 4.30506617e+00] [ 2.09305370e-02 -4.26143387e-04 9.99780841e-01 2.91035773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6092541539999 meters 0.017438616346230344 Centerline is valid? [True, True] Translation: X:429.08, Y:4.31, Z:2.91 [[ 9.99451541e-01 -2.46052085e-02 -2.21630728e-02 4.29075535e+02] [ 2.46101910e-02 9.99697122e-01 -4.79543094e-05 4.30563352e+00] [ 2.21575400e-02 -4.97509447e-04 9.99754368e-01 2.91153139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.63925415399996 meters 0.017417795268672494 Centerline is valid? [True, True] Translation: X:429.10, Y:4.30, Z:2.91 [[ 9.99371852e-01 -2.76490924e-02 -2.21681868e-02 4.29104567e+02] [ 2.76547003e-02 9.99617534e-01 -5.36150592e-05 4.30442093e+00] [ 2.21611907e-02 -5.59473181e-04 9.99754254e-01 2.91191498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.66925415399993 meters 0.017962513037876174 Centerline is valid? [True, True] Translation: X:429.13, Y:4.30, Z:2.91 [[ 9.99288381e-01 -3.02825943e-02 -2.24876786e-02 4.29133611e+02] [ 3.02889017e-02 9.99541184e-01 -6.01490469e-05 4.30273299e+00] [ 2.24791823e-02 -6.21020842e-04 9.99747118e-01 2.91212596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.69925415399996 meters 0.02013099390540361 Centerline is valid? [True, True] Translation: X:429.16, Y:4.30, Z:2.91 [[ 9.99153137e-01 -3.49134061e-02 -2.17729958e-02 4.29161866e+02] [ 3.49203565e-02 9.99390096e-01 -6.10194521e-05 4.29892330e+00] [ 2.17618468e-02 -6.99352998e-04 9.99762938e-01 2.91203623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.72925415399993 meters 0.022201323352907608 Centerline is valid? [True, True] Translation: X:429.19, Y:4.30, Z:2.91 [[ 9.99085401e-01 -3.67976633e-02 -2.17782827e-02 4.29189918e+02] [ 3.68050246e-02 9.99322464e-01 -6.28521635e-05 4.29554668e+00] [ 2.17658399e-02 -7.38755550e-04 9.99762823e-01 2.91154740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.75925415399996 meters 0.021236009128996793 Centerline is valid? [True, True] Translation: X:429.22, Y:4.30, Z:2.91 [[ 9.99022474e-01 -3.87165002e-02 -2.13337625e-02 4.29218595e+02] [ 3.87239109e-02 9.99249946e-01 -6.57906609e-05 4.29751170e+00] [ 2.13203082e-02 -7.60400368e-04 9.99772407e-01 2.91377247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.78925415399993 meters 0.021236009128996793 Centerline is valid? [True, True] Translation: X:429.25, Y:4.30, Z:2.91 [[ 9.99012709e-01 -3.89676712e-02 -2.13337451e-02 4.29246869e+02] [ 3.89750246e-02 9.99240183e-01 -7.11523222e-05 4.29765117e+00] [ 2.13203079e-02 -7.60401165e-04 9.99772407e-01 2.91396885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.81925415399996 meters 0.0207402116362094 Centerline is valid? [True, True] Translation: X:429.28, Y:4.30, Z:2.92 [[ 9.99011927e-01 -3.90287016e-02 -2.12586257e-02 4.29276122e+02] [ 3.90359692e-02 9.99237803e-01 -7.31589675e-05 4.29924498e+00] [ 2.12452778e-02 -7.56764376e-04 9.99774007e-01 2.91513981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.84925415399994 meters 0.02009792156810764 Centerline is valid? [True, True] Translation: X:429.31, Y:4.30, Z:2.92 [[ 9.99043750e-01 -3.85760201e-02 -2.05785172e-02 4.29305558e+02] [ 3.85827187e-02 9.99255407e-01 -7.15677787e-05 4.30083606e+00] [ 2.05659554e-02 -7.22475798e-04 9.99788237e-01 2.91637924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87925415399997 meters 0.019994804436823284 Centerline is valid? [True, True] Translation: X:429.33, Y:4.30, Z:2.92 [[ 9.99091521e-01 -3.77088100e-02 -1.98539266e-02 4.29333780e+02] [ 3.77148549e-02 9.99288539e-01 -7.00076376e-05 4.30124030e+00] [ 1.98424412e-02 -6.78843922e-04 9.99802889e-01 2.91736031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.90925415399994 meters 0.020181907892128197 Centerline is valid? [True, True] Translation: X:429.36, Y:4.30, Z:2.92 [[ 9.99129559e-01 -3.69484968e-02 -1.93632093e-02 4.29363543e+02] [ 3.69540923e-02 9.99316962e-01 -6.88754984e-05 4.30195581e+00] [ 1.93525284e-02 -6.46734278e-04 9.99812513e-01 2.91826827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93925415399997 meters 0.01960298627177823 Centerline is valid? [True, True] Translation: X:429.39, Y:4.30, Z:2.92 [[ 9.99204098e-01 -3.52159009e-02 -1.87352704e-02 4.29393083e+02] [ 3.52208246e-02 9.99379552e-01 -6.71938327e-05 4.30443121e+00] [ 1.87260124e-02 -5.92731319e-04 9.99824477e-01 2.92033873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.96925415399994 meters 0.01945455898024697 Centerline is valid? [True, True] Translation: X:429.42, Y:4.31, Z:2.92 [[ 9.99223015e-01 -3.45354568e-02 -1.89912657e-02 4.29422768e+02] [ 3.45403801e-02 9.99403301e-01 -6.88068132e-05 4.30509078e+00] [ 1.89823099e-02 -5.87212184e-04 9.99819647e-01 2.92094382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99925415399997 meters 0.019717833523353403 Centerline is valid? [True, True] Translation: X:429.45, Y:4.31, Z:2.92 [[ 9.99208611e-01 -3.45041784e-02 -1.97892016e-02 4.29451638e+02] [ 3.45094991e-02 9.99404367e-01 -7.26576438e-05 4.30518509e+00] [ 1.97799215e-02 -6.10315291e-04 9.99804172e-01 2.92095027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.02925415399994 meters 0.020272443692203688 Centerline is valid? [True, True] Translation: X:429.48, Y:4.30, Z:2.92 [[ 9.99153109e-01 -3.53011520e-02 -2.11398353e-02 4.29480468e+02] [ 3.53073778e-02 9.99376497e-01 -7.87787412e-05 4.30417437e+00] [ 2.11294355e-02 -6.67680126e-04 9.99776526e-01 2.92045560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.059254154 meters 0.02015861132864067 Centerline is valid? [True, True] Translation: X:429.51, Y:4.30, Z:2.92 [[ 9.99091773e-01 -3.66798642e-02 -2.16844719e-02 4.29508831e+02] [ 3.66866500e-02 9.99326815e-01 -8.49296258e-05 4.30428988e+00] [ 2.16729895e-02 -7.10678142e-04 9.99764861e-01 2.92047725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.08925415399995 meters 0.02028569391514518 Centerline is valid? [True, True] Translation: X:429.54, Y:4.30, Z:2.92 [[ 9.99051098e-01 -3.77420834e-02 -2.17356744e-02 4.29537932e+02] [ 3.77490966e-02 9.99287245e-01 -8.76975575e-05 4.30363900e+00] [ 2.17234921e-02 -7.32887732e-04 9.99763748e-01 2.92046308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1192541539999 meters 0.021757735640606145 Centerline is valid? [True, True] Translation: X:429.57, Y:4.30, Z:2.92 [[ 9.98948067e-01 -4.00291050e-02 -2.23703076e-02 4.29566772e+02] [ 4.00370792e-02 9.99198191e-01 -9.14814293e-05 4.30079022e+00] [ 2.23560328e-02 -8.04256578e-04 9.99749749e-01 2.91941964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.14925415399995 meters 0.021502365491938465 Centerline is valid? [True, True] Translation: X:429.60, Y:4.30, Z:2.92 [[ 9.98885141e-01 -4.12013744e-02 -2.30417444e-02 4.29595821e+02] [ 4.12100431e-02 9.99150500e-01 -9.86978625e-05 4.30151776e+00] [ 2.30262369e-02 -8.50963450e-04 9.99734499e-01 2.92003796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1792541539999 meters 0.02217378718954579 Centerline is valid? [True, True] Translation: X:429.62, Y:4.30, Z:2.92 [[ 9.98848450e-01 -4.16760166e-02 -2.37672587e-02 4.29624283e+02] [ 4.16853096e-02 9.99130784e-01 -1.04523848e-04 4.30076842e+00] [ 2.37509560e-02 -8.86342055e-04 9.99717513e-01 2.91989978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.20925415399995 meters 0.02217188266091385 Centerline is valid? [True, True] Translation: X:429.65, Y:4.30, Z:2.92 [[ 9.98832230e-01 -4.20424754e-02 -2.38034842e-02 4.29653476e+02] [ 4.20517914e-02 9.99115426e-01 -1.09277315e-04 4.30112763e+00] [ 2.37870226e-02 -8.91829449e-04 9.99716651e-01 2.91984519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2392541539999 meters 0.020811918808643037 Centerline is valid? [True, True] Translation: X:429.68, Y:4.30, Z:2.92 [[ 9.98829967e-01 -4.16701852e-02 -2.45416680e-02 4.29682234e+02] [ 4.16798212e-02 9.99131012e-01 -1.18974225e-04 4.30494013e+00] [ 2.45252993e-02 -9.04057314e-04 9.99698801e-01 2.92046999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.26925415399995 meters 0.0207259370461923 Centerline is valid? [True, True] Translation: X:429.71, Y:4.31, Z:2.92 [[ 9.98835888e-01 -4.11324348e-02 -2.51990586e-02 4.29710751e+02] [ 4.11422593e-02 9.99153291e-01 -1.28674291e-04 4.30620085e+00] [ 2.51830150e-02 -9.08221704e-04 9.99682445e-01 2.92052490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2992541539999 meters 0.021201354474069973 Centerline is valid? [True, True] Translation: X:429.74, Y:4.31, Z:2.92 [[ 9.98893520e-01 -4.00401892e-02 -2.46681790e-02 4.29739068e+02] [ 4.00491170e-02 9.99197704e-01 -1.32218260e-04 4.30625121e+00] [ 2.46536819e-02 -8.55866826e-04 9.99695685e-01 2.91991016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.32925415399995 meters 0.01953291895672083 Centerline is valid? [True, True] Translation: X:429.77, Y:4.31, Z:2.92 [[ 9.99062209e-01 -3.66180581e-02 -2.31045744e-02 4.29769034e+02] [ 3.66249305e-02 9.99329074e-01 -1.25780873e-04 4.31059862e+00] [ 2.30936788e-02 -7.20540515e-04 9.99733046e-01 2.92154448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3592541539999 meters 0.019002280696445144 Centerline is valid? [True, True] Translation: X:429.80, Y:4.31, Z:2.92 [[ 9.99120884e-01 -3.52102349e-02 -2.27529815e-02 4.29798144e+02] [ 3.52164405e-02 9.99379701e-01 -1.28020166e-04 4.31369901e+00] [ 2.27433754e-02 -6.73371396e-04 9.99741109e-01 2.92231658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.38925415399996 meters 0.018230816297723985 Centerline is valid? [True, True] Translation: X:429.83, Y:4.32, Z:2.92 [[ 9.99207059e-01 -3.31120440e-02 -2.21098399e-02 4.29827057e+02] [ 3.31172689e-02 9.99451464e-01 -1.29897081e-04 4.31598890e+00] [ 2.21020130e-02 -6.02423433e-04 9.99755539e-01 2.92245631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.41925415399993 meters 0.0174122915192364 Centerline is valid? [True, True] Translation: X:429.86, Y:4.32, Z:2.92 [[ 9.99276775e-01 -3.13633358e-02 -2.15004421e-02 4.29855693e+02] [ 3.13677559e-02 9.99507902e-01 -1.31722463e-04 4.31879749e+00] [ 2.14939931e-02 -5.42793422e-04 9.99768830e-01 2.92301016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.44925415399996 meters 0.0165608827726075 Centerline is valid? [True, True] Translation: X:429.88, Y:4.32, Z:2.92 [[ 9.99383706e-01 -2.82067249e-02 -2.08947300e-02 4.29884423e+02] [ 2.82101525e-02 9.99602006e-01 -1.30754850e-04 4.32230462e+00] [ 2.08901022e-02 -4.58769255e-04 9.99781673e-01 2.92367737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.47925415399993 meters 0.0165465106675306 Centerline is valid? [True, True] Translation: X:429.91, Y:4.32, Z:2.92 [[ 9.99419492e-01 -2.73631489e-02 -2.02962166e-02 4.29912873e+02] [ 2.73661299e-02 9.99625469e-01 -1.30904382e-04 4.32326591e+00] [ 2.02921969e-02 -4.24600508e-04 9.99794002e-01 2.92371960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.50925415399996 meters 0.016385476590773537 Centerline is valid? [True, True] Translation: X:429.94, Y:4.32, Z:2.92 [[ 9.99445914e-01 -2.66883003e-02 -1.98896747e-02 4.29941248e+02] [ 2.66909296e-02 9.99643725e-01 -1.33307269e-04 4.32377630e+00] [ 1.98861462e-02 -3.97640501e-04 9.99802172e-01 2.92382684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.53925415399993 meters 0.016215957197227317 Centerline is valid? [True, True] Translation: X:429.97, Y:4.32, Z:2.92 [[ 9.99450607e-01 -2.65492614e-02 -1.98398810e-02 4.29969345e+02] [ 2.65517407e-02 9.99647431e-01 -1.38485461e-04 4.32405411e+00] [ 1.98365628e-02 -3.88373999e-04 9.99803161e-01 2.92383961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.56925415399996 meters 0.016666697971894833 Centerline is valid? [True, True] Translation: X:430.00, Y:4.32, Z:2.92 [[ 9.99439138e-01 -2.70592251e-02 -1.97283688e-02 4.29996638e+02] [ 2.70616973e-02 9.99633755e-01 -1.41695936e-04 4.32308217e+00] [ 1.97249776e-02 -3.92266680e-04 9.99805367e-01 2.92312322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.59925415399994 meters 0.016567531882904954 Centerline is valid? [True, True] Translation: X:430.03, Y:4.32, Z:2.92 [[ 9.99419796e-01 -2.79098159e-02 -1.95221492e-02 4.30025600e+02] [ 2.79123164e-02 9.99610365e-01 -1.44440422e-04 4.32283613e+00] [ 1.95185740e-02 -4.00551788e-04 9.99809414e-01 2.92334018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.62925415399997 meters 0.01630696413987262 Centerline is valid? [True, True] Translation: X:430.05, Y:4.32, Z:2.92 [[ 9.99390574e-01 -2.88855362e-02 -1.95986449e-02 4.30053956e+02] [ 2.88881460e-02 9.99582639e-01 -1.49998665e-04 4.32307621e+00] [ 1.95947980e-02 -4.16261264e-04 9.99807917e-01 2.92387185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.65925415399994 meters 0.01737463773790235 Centerline is valid? [True, True] Translation: X:430.08, Y:4.32, Z:2.92 [[ 9.99367133e-01 -2.97882210e-02 -1.94421193e-02 4.30082059e+02] [ 2.97909036e-02 9.99556141e-01 -1.51695737e-04 4.32067622e+00] [ 1.94380085e-02 -4.27598570e-04 9.99810973e-01 2.92279768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.68925415399997 meters 0.01796616343717973 Centerline is valid? [True, True] Translation: X:430.11, Y:4.32, Z:2.92 [[ 9.99313339e-01 -3.15169469e-02 -1.94815961e-02 4.30109900e+02] [ 3.15199224e-02 9.99503112e-01 -1.54385085e-04 4.31721569e+00] [ 1.94767817e-02 -4.59779322e-04 9.99810204e-01 2.92200686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.71925415399994 meters 0.01738962208765681 Centerline is valid? [True, True] Translation: X:430.14, Y:4.32, Z:2.92 [[ 9.99283147e-01 -3.25131693e-02 -1.93929602e-02 4.30138567e+02] [ 3.25162252e-02 9.99471195e-01 -1.57806726e-04 4.31805220e+00] [ 1.93878359e-02 -4.72892259e-04 9.99811926e-01 2.92271983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.74925415399997 meters 0.017637349251089864 Centerline is valid? [True, True] Translation: X:430.17, Y:4.32, Z:2.92 [[ 9.99258062e-01 -3.31450288e-02 -1.96146001e-02 4.30167610e+02] [ 3.31481787e-02 9.99450435e-01 -1.64599469e-04 4.31694700e+00] [ 1.96092762e-02 -4.85710922e-04 9.99807602e-01 2.92244789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.77925415399994 meters 0.019457360581625033 Centerline is valid? [True, True] Translation: X:430.20, Y:4.32, Z:2.92 [[ 9.99238577e-01 -3.35189870e-02 -1.99685765e-02 4.30196323e+02] [ 3.35222241e-02 9.99437957e-01 -1.72690874e-04 4.31533854e+00] [ 1.99631418e-02 -4.96831715e-04 9.99800593e-01 2.92198384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.809254154 meters 0.017751953208200895 Centerline is valid? [True, True] Translation: X:430.22, Y:4.31, Z:2.92 [[ 9.99208883e-01 -3.47529228e-02 -1.93350079e-02 4.30224730e+02] [ 3.47560943e-02 9.99395810e-01 -1.72083768e-04 4.31436433e+00] [ 1.93293063e-02 -5.00061728e-04 9.99813046e-01 2.92229935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.83925415399995 meters 0.017575263445498143 Centerline is valid? [True, True] Translation: X:430.25, Y:4.31, Z:2.92 [[ 9.99198637e-01 -3.52959462e-02 -1.88754030e-02 4.30254418e+02] [ 3.52990247e-02 9.99376781e-01 -1.70152437e-04 4.31388448e+00] [ 1.88696452e-02 -4.96267234e-04 9.99821829e-01 2.92284977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8692541539999 meters 0.018080074221574892 Centerline is valid? [True, True] Translation: X:430.28, Y:4.31, Z:2.92 [[ 9.99151755e-01 -3.72087866e-02 -1.76430496e-02 4.30284093e+02] [ 3.72117630e-02 9.99307390e-01 -1.59673835e-04 4.31072055e+00] [ 1.76367711e-02 -4.96990589e-04 9.99844337e-01 2.92318382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.89925415399995 meters 0.01910018294674499 Centerline is valid? [True, True] Translation: X:430.31, Y:4.31, Z:2.92 [[ 9.99126048e-01 -3.81810159e-02 -1.70103212e-02 4.30314318e+02] [ 3.81839289e-02 9.99270716e-01 -1.53624415e-04 4.30752340e+00] [ 1.70037814e-02 -4.96030738e-04 9.99855302e-01 2.92285691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9292541539999 meters 0.01950666569689807 Centerline is valid? [True, True] Translation: X:430.35, Y:4.31, Z:2.92 [[ 9.99108780e-01 -3.89929284e-02 -1.61616069e-02 4.30345653e+02] [ 3.89956754e-02 9.99239369e-01 -1.45254738e-04 4.30604231e+00] [ 1.61549778e-02 -4.85107493e-04 9.99869382e-01 2.92300644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.95925415399995 meters 0.019288717603763977 Centerline is valid? [True, True] Translation: X:430.38, Y:4.30, Z:2.92 [[ 9.99031570e-01 -4.12129430e-02 -1.54083146e-02 4.30376630e+02] [ 4.12157096e-02 9.99150262e-01 -1.38090573e-04 4.30328049e+00] [ 1.54009127e-02 -4.97107779e-04 9.99881275e-01 2.92329907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9892541539999 meters 0.019869235134783322 Centerline is valid? [True, True] Translation: X:430.41, Y:4.30, Z:2.92 [[ 9.99014017e-01 -4.19395522e-02 -1.45625736e-02 4.30408310e+02] [ 4.19421062e-02 9.99120034e-01 -1.30114228e-04 4.30199688e+00] [ 1.45552160e-02 -4.80799071e-04 9.99893952e-01 2.92389469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.01925415399995 meters 0.020337559110811643 Centerline is valid? [True, True] Translation: X:430.44, Y:4.30, Z:2.92 [[ 9.99004053e-01 -4.24263609e-02 -1.38168945e-02 4.30440353e+02] [ 4.24287167e-02 9.99099489e-01 -1.22714876e-04 4.30082389e+00] [ 1.38096586e-02 -4.63640445e-04 9.99904535e-01 2.92437410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0492541539999 meters 0.02037862413230423 Centerline is valid? [True, True] Translation: X:430.47, Y:4.30, Z:2.92 [[ 9.99009570e-01 -4.25337602e-02 -1.30674361e-02 4.30472489e+02] [ 4.25358885e-02 9.99094933e-01 -1.15140152e-04 4.30007200e+00] [ 1.30605066e-02 -4.40808892e-04 9.99914611e-01 2.92496927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.07925415399995 meters 0.021003825352251405 Centerline is valid? [True, True] Translation: X:430.50, Y:4.30, Z:2.93 [[ 9.99021345e-01 -4.25627579e-02 -1.20318041e-02 4.30504030e+02] [ 4.25645731e-02 9.99093712e-01 -1.05278293e-04 4.29696989e+00] [ 1.20253808e-02 -4.06953345e-04 9.99927610e-01 2.92512802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1092541539999 meters 0.021446568919307154 Centerline is valid? [True, True] Translation: X:430.54, Y:4.30, Z:2.93 [[ 9.99034070e-01 -4.23778322e-02 -1.16209850e-02 4.30535120e+02] [ 4.23795202e-02 9.99101579e-01 -1.01074630e-04 4.29528826e+00] [ 1.16148278e-02 -3.91514770e-04 9.99932469e-01 2.92500405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.13925415399996 meters 0.021348361977762367 Centerline is valid? [True, True] Translation: X:430.57, Y:4.29, Z:2.92 [[ 9.99044408e-01 -4.21055286e-02 -1.17215318e-02 4.30567183e+02] [ 4.21072355e-02 9.99113092e-01 -1.01241523e-04 4.29428454e+00] [ 1.17153987e-02 -3.92416521e-04 9.99931295e-01 2.92497581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.16925415399993 meters 0.01934707818782204 Centerline is valid? [True, True] Translation: X:430.60, Y:4.30, Z:2.93 [[ 9.99090787e-01 -4.10906647e-02 -1.13647022e-02 4.30599036e+02] [ 4.10922113e-02 9.99155354e-01 -9.74771239e-05 4.29580219e+00] [ 1.13591085e-02 -3.69612249e-04 9.99935415e-01 2.92525692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.19925415399996 meters 0.0223039947026632 Centerline is valid? [True, True] Translation: X:430.63, Y:4.29, Z:2.92 [[ 9.99110591e-01 -4.06209613e-02 -1.13121329e-02 4.30630554e+02] [ 4.06224701e-02 9.99174562e-01 -9.64590311e-05 4.29050202e+00] [ 1.13067137e-02 -3.63153542e-04 9.99936011e-01 2.92486082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.22925415399993 meters 0.019167759355199966 Centerline is valid? [True, True] Translation: X:430.66, Y:4.30, Z:2.93 [[ 9.99122257e-01 -4.04107529e-02 -1.10311994e-02 4.30662378e+02] [ 4.04121823e-02 9.99183090e-01 -9.33877365e-05 4.29568702e+00] [ 1.10259618e-02 -3.52489077e-04 9.99939150e-01 2.92585209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.25925415399996 meters 0.019496264998675936 Centerline is valid? [True, True] Translation: X:430.69, Y:4.29, Z:2.93 [[ 9.99141281e-01 -3.99391697e-02 -1.10256024e-02 4.30693248e+02] [ 3.99405771e-02 9.99202052e-01 -9.26019847e-05 4.29436105e+00] [ 1.10205030e-02 -3.47846456e-04 9.99939212e-01 2.92577682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.28925415399993 meters 0.01935533929312106 Centerline is valid? [True, True] Translation: X:430.73, Y:4.29, Z:2.92 [[ 9.99109869e-01 -4.05234689e-02 -1.17182851e-02 4.30725034e+02] [ 4.05251078e-02 9.99178516e-01 -9.76594299e-05 4.29305395e+00] [ 1.17126162e-02 -3.77312266e-04 9.99931334e-01 2.92497786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.31925415399996 meters 0.019801542274185124 Centerline is valid? [True, True] Translation: X:430.76, Y:4.29, Z:2.92 [[ 9.99078417e-01 -4.11773781e-02 -1.21136259e-02 4.30756775e+02] [ 4.11791873e-02 9.99151773e-01 -1.00138391e-04 4.29180371e+00] [ 1.21074742e-02 -3.98783165e-04 9.99926622e-01 2.92457485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.34925415399994 meters 0.019985626370151797 Centerline is valid? [True, True] Translation: X:430.79, Y:4.29, Z:2.92 [[ 9.99035086e-01 -4.20535808e-02 -1.26646144e-02 4.30788785e+02] [ 4.20556391e-02 9.99115265e-01 -1.03870486e-04 4.29114970e+00] [ 1.26577777e-02 -4.28848194e-04 9.99919795e-01 2.92416761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37925415399997 meters 0.021788784858736573 Centerline is valid? [True, True] Translation: X:430.82, Y:4.29, Z:2.92 [[ 9.99019139e-01 -4.24515217e-02 -1.25947386e-02 4.30821309e+02] [ 4.24536006e-02 9.99098434e-01 -1.02372406e-04 4.29017361e+00] [ 1.25877295e-02 -4.32420010e-04 9.99920678e-01 2.92316012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.40925415399994 meters 0.0204162561481086 Centerline is valid? [True, True] Translation: X:430.85, Y:4.29, Z:2.92 [[ 9.98902176e-01 -4.49484662e-02 -1.31938682e-02 4.30852923e+02] [ 4.49509752e-02 9.98989188e-01 -1.06474725e-04 4.29109100e+00] [ 1.31853176e-02 -4.86719409e-04 9.99912951e-01 2.92435304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43925415399997 meters 0.02209735275237744 Centerline is valid? [True, True] Translation: X:430.88, Y:4.29, Z:2.92 [[ 9.98869946e-01 -4.56416273e-02 -1.32541281e-02 4.30883908e+02] [ 4.56442283e-02 9.98957753e-01 -1.06348384e-04 4.28888913e+00] [ 1.32451679e-02 -4.98746244e-04 9.99912155e-01 2.92441255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.46925415399994 meters 0.022864742276490622 Centerline is valid? [True, True] Translation: X:430.92, Y:4.29, Z:2.93 [[ 9.98790079e-01 -4.75410211e-02 -1.25789100e-02 4.30915135e+02] [ 4.75435214e-02 9.98869162e-01 -1.00361082e-04 4.28797707e+00] [ 1.25694565e-02 -4.97806023e-04 9.99920877e-01 2.92533143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49925415399997 meters 0.02174229142739326 Centerline is valid? [True, True] Translation: X:430.95, Y:4.29, Z:2.93 [[ 9.98755590e-01 -4.84446264e-02 -1.18486307e-02 4.30946840e+02] [ 4.84469143e-02 9.98825754e-01 -9.40258195e-05 4.29020745e+00] [ 1.18392726e-02 -4.80120784e-04 9.99929798e-01 2.92637192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.52925415399994 meters 0.023638061672387953 Centerline is valid? [True, True] Translation: X:430.98, Y:4.29, Z:2.93 [[ 9.98717938e-01 -4.93877308e-02 -1.11055113e-02 4.30977961e+02] [ 4.93898054e-02 9.98779575e-01 -8.75344775e-05 4.28754890e+00] [ 1.10962810e-02 -4.61076789e-04 9.99938328e-01 2.92682140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.559254154 meters 0.022554920658052174 Centerline is valid? [True, True] Translation: X:431.01, Y:4.29, Z:2.93 [[ 9.98660315e-01 -5.06947645e-02 -1.03738387e-02 4.31009843e+02] [ 5.06966515e-02 9.98714095e-01 -8.11527990e-05 4.28977983e+00] [ 1.03646130e-02 -4.44874807e-04 9.99946187e-01 2.92801864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.58925415399995 meters 0.02369791145418598 Centerline is valid? [True, True] Translation: X:431.04, Y:4.29, Z:2.93 [[ 9.98602584e-01 -5.19246982e-02 -9.83391119e-03 4.31040786e+02] [ 5.19264598e-02 9.98650908e-01 -7.62801325e-05 4.28858009e+00] [ 9.82460517e-03 -4.34466656e-04 9.99951643e-01 2.92858633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6192541539999 meters 0.025148287612526254 Centerline is valid? [True, True] Translation: X:431.07, Y:4.29, Z:2.93 [[ 9.98423605e-01 -5.53932484e-02 -9.04945047e-03 4.31071809e+02] [ 5.53948863e-02 9.98464522e-01 -6.97453654e-05 4.28756539e+00] [ 9.03941866e-03 -4.31657861e-04 9.99959050e-01 2.93001501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.64925415399995 meters 0.02550662840357287 Centerline is valid? [True, True] Translation: X:431.10, Y:4.29, Z:2.93 [[ 9.98328686e-01 -5.71396343e-02 -8.65429122e-03 4.31104155e+02] [ 5.71412014e-02 9.98366105e-01 -6.62697549e-05 4.28789618e+00] [ 8.64393764e-03 -4.28357601e-04 9.99962549e-01 2.93053318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6792541539999 meters 0.02855763142881396 Centerline is valid? [True, True] Translation: X:431.14, Y:4.28, Z:2.93 [[ 9.98209851e-01 -5.91260858e-02 -9.01101277e-03 4.31135332e+02] [ 5.91278713e-02 9.98250415e-01 -6.83549402e-05 4.28419419e+00] [ 8.99928879e-03 -4.64569429e-04 9.99959398e-01 2.93061137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.70925415399995 meters 0.02855763142881396 Centerline is valid? [True, True] Translation: X:431.17, Y:4.28, Z:2.93 [[ 9.98214062e-01 -5.90549657e-02 -9.01101675e-03 4.31167060e+02] [ 5.90567532e-02 9.98254624e-01 -6.78256534e-05 4.28436979e+00] [ 8.99929459e-03 -4.64456871e-04 9.99959398e-01 2.93083116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7392541539999 meters 0.028767302854016606 Centerline is valid? [True, True] Translation: X:431.20, Y:4.28, Z:2.93 [[ 9.97956599e-01 -6.32217701e-02 -9.25391674e-03 4.31197691e+02] [ 6.32238393e-02 9.97999369e-01 -6.90640077e-05 4.28440951e+00] [ 9.23976942e-03 -5.16145262e-04 9.99957179e-01 2.93041873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.76925415399995 meters 0.02976961235042045 Centerline is valid? [True, True] Translation: X:431.23, Y:4.28, Z:2.93 [[ 9.97816395e-01 -6.53437215e-02 -9.62499089e-03 4.31228583e+02] [ 6.53460613e-02 9.97862659e-01 -7.15272952e-05 4.28311804e+00] [ 9.60909287e-03 -5.57584137e-04 9.99953676e-01 2.93029685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7992541539999 meters 0.031694581801638755 Centerline is valid? [True, True] Translation: X:431.26, Y:4.28, Z:2.93 [[ 9.97674383e-01 -6.74493645e-02 -9.81883276e-03 4.31258420e+02] [ 6.74519024e-02 9.97722524e-01 -7.28393264e-05 4.28094242e+00] [ 9.80138357e-03 -5.89629019e-04 9.99951791e-01 2.93029005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.82925415399995 meters 0.03253504575891471 Centerline is valid? [True, True] Translation: X:431.29, Y:4.28, Z:2.93 [[ 9.97430558e-01 -7.09091210e-02 -1.02068062e-02 4.31289630e+02] [ 7.09120450e-02 9.97482569e-01 -7.55983585e-05 4.28172961e+00] [ 1.01864719e-02 -6.48381389e-04 9.99947906e-01 2.93070052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8592541539999 meters 0.03375085256361428 Centerline is valid? [True, True] Translation: X:431.32, Y:4.28, Z:2.93 [[ 9.97329537e-01 -7.22645481e-02 -1.05654528e-02 4.31321264e+02] [ 7.22677640e-02 9.97385264e-01 -7.75871156e-05 4.28136320e+00] [ 1.05434337e-02 -6.86161725e-04 9.99944181e-01 2.93088454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.88925415399996 meters 0.0328641076488715 Centerline is valid? [True, True] Translation: X:431.35, Y:4.28, Z:2.93 [[ 9.97243033e-01 -7.33768977e-02 -1.10527567e-02 4.31353780e+02] [ 7.33804974e-02 9.97304014e-01 -8.00518303e-05 4.28360413e+00] [ 1.10288326e-02 -7.31225657e-04 9.99938913e-01 2.93101769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.91925415399993 meters 0.03316645723080834 Centerline is valid? [True, True] Translation: X:431.39, Y:4.28, Z:2.93 [[ 9.97190279e-01 -7.39189338e-02 -1.21465812e-02 4.31385738e+02] [ 7.39233328e-02 9.97263924e-01 -8.70331575e-05 4.28346841e+00] [ 1.21197806e-02 -8.11127145e-04 9.99926224e-01 2.93028915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.94925415399996 meters 0.03622080521929091 Centerline is valid? [True, True] Translation: X:431.42, Y:4.28, Z:2.93 [[ 9.97136862e-01 -7.43323486e-02 -1.38845398e-02 4.31417251e+02] [ 7.43381499e-02 9.97233087e-01 -9.85256536e-05 4.27954162e+00] [ 1.38534461e-02 -9.33907440e-04 9.99903600e-01 2.92845635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.97925415399993 meters 0.03471577581546382 Centerline is valid? [True, True] Translation: X:431.45, Y:4.28, Z:2.93 [[ 9.97193028e-01 -7.34639958e-02 -1.44605240e-02 4.31449447e+02] [ 7.34702110e-02 9.97297407e-01 -1.01678053e-04 4.28234669e+00] [ 1.44289128e-02 -9.61025104e-04 9.99895436e-01 2.92835935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.00925415399996 meters 0.034831019796922325 Centerline is valid? [True, True] Translation: X:431.48, Y:4.28, Z:2.93 [[ 9.97279239e-01 -7.22167235e-02 -1.47940650e-02 4.31481013e+02] [ 7.22231038e-02 9.97388496e-01 -1.03232964e-04 4.28351336e+00] [ 1.47628854e-02 -9.65521197e-04 9.99890557e-01 2.92858528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.03925415399993 meters 0.03407181958210268 Centerline is valid? [True, True] Translation: X:431.51, Y:4.29, Z:2.93 [[ 9.97424254e-01 -7.01346997e-02 -1.50326736e-02 4.31512738e+02] [ 7.01410640e-02 9.97537077e-01 -1.04098594e-04 4.28628307e+00] [ 1.50029502e-02 -9.50577261e-04 9.99886998e-01 2.92892546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.06925415399996 meters 0.02756888251299147 Centerline is valid? [True, True] Translation: X:431.54, Y:4.30, Z:2.93 [[ 9.97864242e-01 -6.35786302e-02 -1.49904068e-02 4.31543601e+02] [ 6.35842305e-02 9.97976470e-01 -1.03198210e-04 4.29915875e+00] [ 1.49666344e-02 -8.50175675e-04 9.99887632e-01 2.93062558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.09925415399994 meters 0.026112009561903772 Centerline is valid? [True, True] Translation: X:431.57, Y:4.30, Z:2.93 [[ 9.98092534e-01 -5.98467536e-02 -1.51545390e-02 4.31574676e+02] [ 5.98520525e-02 9.98207254e-01 -1.04053403e-04 4.30376671e+00] [ 1.51335980e-02 -8.03175341e-04 9.99885158e-01 2.93105713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.12925415399997 meters 0.02559393639739198 Centerline is valid? [True, True] Translation: X:431.60, Y:4.31, Z:2.93 [[ 9.98342203e-01 -5.55515287e-02 -1.50622858e-02 4.31603987e+02] [ 5.55562752e-02 9.98455552e-01 -1.03441732e-04 4.30635073e+00] [ 1.50447692e-02 -7.33534248e-04 9.99886552e-01 2.93085630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.15925415399994 meters 0.02308424980076424 Centerline is valid? [True, True] Translation: X:431.63, Y:4.31, Z:2.93 [[ 9.98770985e-01 -4.71105448e-02 -1.53985586e-02 4.31634014e+02] [ 4.71145019e-02 9.98889490e-01 -1.05891236e-04 4.31339717e+00] [ 1.53864469e-02 -6.19734324e-04 9.99881430e-01 2.93045846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.18925415399997 meters 0.02191808479741658 Centerline is valid? [True, True] Translation: X:431.67, Y:4.32, Z:2.93 [[ 9.98964205e-01 -4.28087641e-02 -1.54249064e-02 4.31665211e+02] [ 4.28122271e-02 9.99083131e-01 -1.05782998e-04 4.31769851e+00] [ 1.54152922e-02 -5.54701168e-04 9.99881023e-01 2.93067736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.21925415399994 meters 0.021489241518874876 Centerline is valid? [True, True] Translation: X:431.70, Y:4.32, Z:2.93 [[ 9.99149661e-01 -3.83519715e-02 -1.51353993e-02 4.31696107e+02] [ 3.83548025e-02 9.99264179e-01 -1.03294636e-04 4.32080973e+00] [ 1.51282239e-02 -4.77308449e-04 9.99885448e-01 2.93095354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.24925415399997 meters 0.01884212647235426 Centerline is valid? [True, True] Translation: X:431.73, Y:4.33, Z:2.93 [[ 9.99303775e-01 -3.41926991e-02 -1.49272856e-02 4.31726951e+02] [ 3.41949945e-02 9.99415175e-01 -1.01510024e-04 4.32855081e+00] [ 1.49220267e-02 -4.08999099e-04 9.99888577e-01 2.93258687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.27925415399994 meters 0.017113487096760246 Centerline is valid? [True, True] Translation: X:431.76, Y:4.34, Z:2.93 [[ 9.99537833e-01 -2.68160616e-02 -1.43185208e-02 4.31756397e+02] [ 2.68174168e-02 9.99640344e-01 -9.73826420e-05 4.33636505e+00] [ 1.43159825e-02 -2.86648104e-04 9.99897480e-01 2.93452402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.309254154 meters 0.016412289546532084 Centerline is valid? [True, True] Translation: X:431.79, Y:4.34, Z:2.94 [[ 9.99612316e-01 -2.41087860e-02 -1.39277909e-02 4.31787208e+02] [ 2.41098038e-02 9.99709312e-01 -9.48455711e-05 4.33985852e+00] [ 1.39260289e-02 -2.40987506e-04 9.99902999e-01 2.93535206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.33925415399995 meters 0.01616643694987118 Centerline is valid? [True, True] Translation: X:431.82, Y:4.34, Z:2.94 [[ 9.99657992e-01 -2.19007491e-02 -1.42918321e-02 4.31817710e+02] [ 2.19015953e-02 9.99760127e-01 -9.73246215e-05 4.34239028e+00] [ 1.42905354e-02 -2.15722587e-04 9.99897862e-01 2.93552552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3692541539999 meters 0.015586873300426659 Centerline is valid? [True, True] Translation: X:431.85, Y:4.35, Z:2.94 [[ 9.99685074e-01 -1.98697057e-02 -1.53279815e-02 4.31847719e+02] [ 1.98704357e-02 9.99802558e-01 -1.04684270e-04 4.34544041e+00] [ 1.53270351e-02 -1.99922368e-04 9.99882514e-01 2.93561053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.39925415399995 meters 0.015662695491829085 Centerline is valid? [True, True] Translation: X:431.88, Y:4.35, Z:2.94 [[ 9.99679466e-01 -1.98401010e-02 -1.57268848e-02 4.31875923e+02] [ 1.98408494e-02 9.99803145e-01 -1.08455135e-04 4.34573102e+00] [ 1.57259406e-02 -2.03614381e-04 9.99876319e-01 2.93535430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4292541539999 meters 0.01578040343092862 Centerline is valid? [True, True] Translation: X:431.90, Y:4.35, Z:2.94 [[ 9.99658062e-01 -2.06719964e-02 -1.60133395e-02 4.31903912e+02] [ 2.06728560e-02 9.99786287e-01 -1.11871084e-04 4.34548844e+00] [ 1.60122298e-02 -2.19208629e-04 9.99871772e-01 2.93517698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.45925415399995 meters 0.016132571476518715 Centerline is valid? [True, True] Translation: X:431.93, Y:4.35, Z:2.94 [[ 9.99616730e-01 -2.20158853e-02 -1.67837322e-02 4.31932398e+02] [ 2.20169672e-02 9.99757590e-01 -1.20337375e-04 4.34502240e+00] [ 1.67823130e-02 -2.49235627e-04 9.99859136e-01 2.93502869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4892541539999 meters 0.016891450921232554 Centerline is valid? [True, True] Translation: X:431.96, Y:4.34, Z:2.93 [[ 9.99526678e-01 -2.55137766e-02 -1.71891509e-02 4.31960555e+02] [ 2.55153828e-02 9.99674422e-01 -1.25899646e-04 4.34197873e+00] [ 1.71867667e-02 -3.12747710e-04 9.99852248e-01 2.93430944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.51925415399995 meters 0.017469335174345266 Centerline is valid? [True, True] Translation: X:431.99, Y:4.34, Z:2.93 [[ 9.99464990e-01 -2.78496998e-02 -1.71501683e-02 4.31988990e+02] [ 2.78515894e-02 9.99612061e-01 -1.28705912e-04 4.33997014e+00] [ 1.71470995e-02 -3.49022392e-04 9.99852917e-01 2.93444645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5492541539999 meters 0.018316533741600593 Centerline is valid? [True, True] Translation: X:432.02, Y:4.34, Z:2.93 [[ 9.99387566e-01 -3.03966586e-02 -1.73359576e-02 4.32018630e+02] [ 3.03989365e-02 9.99537837e-01 -1.32163442e-04 4.33760404e+00] [ 1.73319629e-02 -3.94912173e-04 9.99849712e-01 2.93474432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.57925415399995 meters 0.019839749576176055 Centerline is valid? [True, True] Translation: X:432.05, Y:4.33, Z:2.94 [[ 9.99225229e-01 -3.56875864e-02 -1.65933107e-02 4.32047720e+02] [ 3.56903901e-02 9.99362887e-01 -1.27232840e-04 4.33236757e+00] [ 1.65872795e-02 -4.65087467e-04 9.99862313e-01 2.93528828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6092541539999 meters 0.021122740583093057 Centerline is valid? [True, True] Translation: X:432.08, Y:4.33, Z:2.94 [[ 9.99119286e-01 -3.84687114e-02 -1.67573772e-02 4.32078022e+02] [ 3.84719583e-02 9.99259672e-01 -1.28685352e-04 4.32901733e+00] [ 1.67499216e-02 -5.16117100e-04 9.99859577e-01 2.93553863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.63925415399996 meters 0.022413654685088366 Centerline is valid? [True, True] Translation: X:432.11, Y:4.33, Z:2.94 [[ 9.99010509e-01 -4.12415584e-02 -1.66474490e-02 4.32109677e+02] [ 4.12451548e-02 9.99149048e-01 -1.27391122e-04 4.32628595e+00] [ 1.66385367e-02 -5.59361542e-04 9.99861414e-01 2.93601877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.66925415399993 meters 0.024213731418795844 Centerline is valid? [True, True] Translation: X:432.14, Y:4.32, Z:2.94 [[ 9.98898281e-01 -4.39804473e-02 -1.63689806e-02 4.32140202e+02] [ 4.39842981e-02 9.99032215e-01 -1.24867469e-04 4.32317561e+00] [ 1.63586306e-02 -5.95248220e-04 9.99866011e-01 2.93642846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.69925415399996 meters 0.027475415836960042 Centerline is valid? [True, True] Translation: X:432.17, Y:4.32, Z:2.94 [[ 9.98651752e-01 -4.90012474e-02 -1.71334615e-02 4.32170672e+02] [ 4.90062088e-02 9.98798465e-01 -1.30409416e-04 4.31722781e+00] [ 1.71192653e-02 -7.09412402e-04 9.99853203e-01 2.93647125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.72925415399993 meters 0.0289030957487099 Centerline is valid? [True, True] Translation: X:432.20, Y:4.31, Z:2.94 [[ 9.98534761e-01 -5.12946934e-02 -1.72390917e-02 4.32201679e+02] [ 5.13000622e-02 9.98683276e-01 -1.30928919e-04 4.31406903e+00] [ 1.72231085e-02 -7.53629400e-04 9.99851387e-01 2.93649399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.75925415399996 meters 0.030526072101678264 Centerline is valid? [True, True] Translation: X:432.23, Y:4.31, Z:2.94 [[ 9.98438753e-01 -5.31608535e-02 -1.71458300e-02 4.32231640e+02] [ 5.31664553e-02 9.98585655e-01 -1.29266870e-04 4.31039558e+00] [ 1.71284518e-02 -7.82517950e-04 9.99852991e-01 2.93658901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.78925415399993 meters 0.03210309640044899 Centerline is valid? [True, True] Translation: X:432.26, Y:4.31, Z:2.94 [[ 9.98344574e-01 -5.49682215e-02 -1.69294671e-02 4.32263370e+02] [ 5.49739570e-02 9.98487781e-01 -1.26747577e-04 4.30732283e+00] [ 1.69108331e-02 -8.04142041e-04 9.99856678e-01 2.93655302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.81925415399996 meters 0.03405686744408941 Centerline is valid? [True, True] Translation: X:432.29, Y:4.30, Z:2.94 [[ 9.98219356e-01 -5.72173200e-02 -1.68610394e-02 4.32293914e+02] [ 5.72233358e-02 9.98361394e-01 -1.25849529e-04 4.30330517e+00] [ 1.68406116e-02 -8.39219484e-04 9.99857835e-01 2.93680275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.84925415399994 meters 0.03515678718711931 Centerline is valid? [True, True] Translation: X:432.32, Y:4.30, Z:2.94 [[ 9.98193627e-01 -5.76745743e-02 -1.68263787e-02 4.32324958e+02] [ 5.76806401e-02 9.98335078e-01 -1.25002186e-04 4.30162128e+00] [ 1.68055735e-02 -8.45779907e-04 9.99858419e-01 2.93676790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87925415399997 meters 0.03359861411165898 Centerline is valid? [True, True] Translation: X:432.36, Y:4.30, Z:2.94 [[ 9.98212626e-01 -5.72461029e-02 -1.71591439e-02 4.32357098e+02] [ 5.72523652e-02 9.98359730e-01 -1.26468017e-04 4.30345159e+00] [ 1.71382381e-02 -8.56159601e-04 9.99852763e-01 2.93687066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.90925415399994 meters 0.033687189565146124 Centerline is valid? [True, True] Translation: X:432.39, Y:4.30, Z:2.94 [[ 9.98263821e-01 -5.63721670e-02 -1.70740221e-02 4.32388645e+02] [ 5.63782529e-02 9.98409474e-01 -1.25064436e-04 4.30361181e+00] [ 1.70539156e-02 -8.37756235e-04 9.99854220e-01 2.93660303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93925415399997 meters 0.03321721392215335 Centerline is valid? [True, True] Translation: X:432.42, Y:4.30, Z:2.94 [[ 9.98357441e-01 -5.47379893e-02 -1.69166057e-02 4.32419018e+02] [ 5.47437359e-02 9.98500430e-01 -1.23529815e-04 4.30424805e+00] [ 1.68979998e-02 -8.02751284e-04 9.99856896e-01 2.93657566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.96925415399994 meters 0.031338654859328165 Centerline is valid? [True, True] Translation: X:432.45, Y:4.31, Z:2.94 [[ 9.98460170e-01 -5.28214930e-02 -1.69463356e-02 4.32450595e+02] [ 5.28269918e-02 9.98603672e-01 -1.23309969e-04 4.30678060e+00] [ 1.69291864e-02 -7.72103841e-04 9.99856393e-01 2.93682629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99925415399997 meters 0.03185266276410125 Centerline is valid? [True, True] Translation: X:432.48, Y:4.31, Z:2.94 [[ 9.98566221e-01 -5.07852051e-02 -1.69223257e-02 4.32481334e+02] [ 5.07904058e-02 9.98709327e-01 -1.22587797e-04 4.30653089e+00] [ 1.69067102e-02 -7.37079756e-04 9.99856800e-01 2.93639249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.02925415399994 meters 0.029864105551739458 Centerline is valid? [True, True] Translation: X:432.51, Y:4.31, Z:2.94 [[ 9.98785890e-01 -4.62237534e-02 -1.70326396e-02 4.32510816e+02] [ 4.62283610e-02 9.98930890e-01 -1.23320127e-04 4.31093785e+00] [ 1.70201302e-02 -6.64220612e-04 9.99854926e-01 2.93614948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0592541539999 meters 0.028797409616344756 Centerline is valid? [True, True] Translation: X:432.54, Y:4.31, Z:2.94 [[ 9.98881517e-01 -4.39933572e-02 -1.73291467e-02 4.32541903e+02] [ 4.39977924e-02 9.99031620e-01 -1.25416612e-04 4.31342921e+00] [ 1.73178830e-02 -6.37167862e-04 9.99849831e-01 2.93589835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.08925415399995 meters 0.027346801472127247 Centerline is valid? [True, True] Translation: X:432.57, Y:4.32, Z:2.94 [[ 9.98958483e-01 -4.20580875e-02 -1.76936800e-02 4.32572851e+02] [ 4.20624094e-02 9.99114977e-01 -1.27979382e-04 4.31650139e+00] [ 1.76834033e-02 -6.16392724e-04 9.99843446e-01 2.93617747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1192541539999 meters 0.025658481635280474 Centerline is valid? [True, True] Translation: X:432.60, Y:4.32, Z:2.94 [[ 9.99029730e-01 -4.03892551e-02 -1.75586603e-02 4.32603345e+02] [ 4.03932534e-02 9.99183851e-01 -1.27024397e-04 4.31959982e+00] [ 1.75494603e-02 -5.82350267e-04 9.99845827e-01 2.93643487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.14925415399995 meters 0.0263345226469401 Centerline is valid? [True, True] Translation: X:432.63, Y:4.32, Z:2.93 [[ 9.99112471e-01 -3.79955816e-02 -1.81825781e-02 4.32633446e+02] [ 3.79994733e-02 9.99277751e-01 -1.31537997e-04 4.31953613e+00] [ 1.81744436e-02 -5.59507136e-04 9.99834675e-01 2.93450747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1792541539999 meters 0.019883415609008952 Centerline is valid? [True, True] Translation: X:432.66, Y:4.33, Z:2.94 [[ 9.99144252e-01 -3.68656486e-02 -1.87533522e-02 4.32663545e+02] [ 3.68695896e-02 9.99320076e-01 -1.35667141e-04 4.33058328e+00] [ 1.87456028e-02 -5.55877355e-04 9.99824131e-01 2.93718233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.20925415399995 meters 0.023965848900483287 Centerline is valid? [True, True] Translation: X:432.69, Y:4.32, Z:2.93 [[ 9.99208672e-01 -3.44143854e-02 -1.99419033e-02 4.32692784e+02] [ 3.44183451e-02 9.99407503e-01 -1.44723892e-04 4.32433066e+00] [ 1.99350683e-02 -5.41757941e-04 9.99801130e-01 2.93242858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2392541539999 meters 0.017911956376912976 Centerline is valid? [True, True] Translation: X:432.72, Y:4.34, Z:2.94 [[ 9.99240980e-01 -3.30946364e-02 -2.05477403e-02 4.32722050e+02] [ 3.30985463e-02 9.99452082e-01 -1.49865684e-04 4.33517694e+00] [ 2.05414416e-02 -5.30348400e-04 9.99788862e-01 2.93703048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.26925415399995 meters 0.017607545727904066 Centerline is valid? [True, True] Translation: X:432.75, Y:4.34, Z:2.94 [[ 9.99267748e-01 -3.23938546e-02 -2.03618810e-02 4.32751000e+02] [ 3.23974739e-02 9.99475052e-01 -1.52184257e-04 4.33663461e+00] [ 2.03561219e-02 -5.07600688e-04 9.99792664e-01 2.93738548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2992541539999 meters 0.017529218477791562 Centerline is valid? [True, True] Translation: X:432.78, Y:4.34, Z:2.94 [[ 9.99289794e-01 -3.17999594e-02 -2.02156147e-02 4.32779958e+02] [ 3.18033019e-02 9.99494135e-01 -1.56211263e-04 4.33753546e+00] [ 2.02103559e-02 -4.86822979e-04 9.99795631e-01 2.93752068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.32925415399995 meters 0.017460704348119374 Centerline is valid? [True, True] Translation: X:432.81, Y:4.34, Z:2.94 [[ 9.99310160e-01 -3.15249668e-02 -1.96311019e-02 4.32809138e+02] [ 3.15279693e-02 9.99502858e-01 -1.56603949e-04 4.33815793e+00] [ 1.96262794e-02 -4.62432862e-04 9.99807279e-01 2.93819007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3592541539999 meters 0.017754928600317996 Centerline is valid? [True, True] Translation: X:432.84, Y:4.34, Z:2.94 [[ 9.99346397e-01 -3.10626110e-02 -1.84903279e-02 4.32838142e+02] [ 3.10651108e-02 9.99517351e-01 -1.52084613e-04 4.33869811e+00] [ 1.84861277e-02 -4.22418876e-04 9.99829028e-01 2.93948445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.38925415399996 meters 0.02286139229379166 Centerline is valid? [True, True] Translation: X:432.87, Y:4.33, Z:2.94 [[ 9.99373092e-01 -3.06764387e-02 -1.76742522e-02 4.32866764e+02] [ 3.06786223e-02 9.99529289e-01 -1.47632947e-04 4.32932180e+00] [ 1.76704616e-02 -3.94681313e-04 9.99843787e-01 2.93570472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.41925415399993 meters 0.01654243474894451 Centerline is valid? [True, True] Translation: X:432.90, Y:4.34, Z:2.94 [[ 9.99418364e-01 -2.97204989e-02 -1.67220010e-02 4.32896728e+02] [ 2.97223009e-02 9.99558185e-01 -1.40809344e-04 4.34106519e+00] [ 1.67187979e-02 -3.56288902e-04 9.99860168e-01 2.94164798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.44925415399996 meters 0.01653973912484987 Centerline is valid? [True, True] Translation: X:432.93, Y:4.34, Z:2.94 [[ 9.99505286e-01 -2.70705525e-02 -1.60114865e-02 4.32925880e+02] [ 2.70718536e-02 9.99633481e-01 -1.35518682e-04 4.34184137e+00] [ 1.60092865e-02 -2.98008979e-04 9.99871799e-01 2.94198220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.47925415399993 meters 0.016224745074037837 Centerline is valid? [True, True] Translation: X:432.96, Y:4.34, Z:2.94 [[ 9.99547397e-01 -2.54638891e-02 -1.60184467e-02 4.32955974e+02] [ 2.54649718e-02 9.99675706e-01 -1.36400797e-04 4.34316991e+00] [ 1.60167253e-02 -2.71570232e-04 9.99871687e-01 2.94258550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.50925415399996 meters 0.01659136728909359 Centerline is valid? [True, True] Translation: X:432.99, Y:4.35, Z:2.94 [[ 9.99593909e-01 -2.38729492e-02 -1.55595150e-02 4.32985576e+02] [ 2.38737652e-02 9.99714972e-01 -1.33323444e-04 4.34511730e+00] [ 1.55582629e-02 -2.38194906e-04 9.99878935e-01 2.94302875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.53925415399993 meters 0.01537616156784783 Centerline is valid? [True, True] Translation: X:433.02, Y:4.35, Z:2.94 [[ 9.99655746e-01 -2.14118470e-02 -1.51632160e-02 4.33015193e+02] [ 2.14123306e-02 9.99770721e-01 -1.30473511e-04 4.34685552e+00] [ 1.51625330e-02 -1.94251199e-04 9.99885023e-01 2.94422436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.56925415399996 meters 0.016483259230617643 Centerline is valid? [True, True] Translation: X:433.04, Y:4.35, Z:2.94 [[ 9.99679374e-01 -2.01223305e-02 -1.53701036e-02 4.33044230e+02] [ 2.01226624e-02 9.99797510e-01 -1.33075406e-04 4.34576435e+00] [ 1.53696691e-02 -1.76254667e-04 9.99881864e-01 2.94310945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.59925415399994 meters 0.016483259230617643 Centerline is valid? [True, True] Translation: X:433.07, Y:4.35, Z:2.94 [[ 9.99674434e-01 -2.03663234e-02 -1.53700815e-02 4.33072482e+02] [ 2.03666453e-02 9.99792569e-01 -1.35600247e-04 4.34606355e+00] [ 1.53696549e-02 -1.77480898e-04 9.99881864e-01 2.94330537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.62925415399997 meters 0.015175636705492742 Centerline is valid? [True, True] Translation: X:433.10, Y:4.35, Z:2.94 [[ 9.99670790e-01 -2.06462220e-02 -1.52330581e-02 4.33101469e+02] [ 2.06465127e-02 9.99786828e-01 -1.38194822e-04 4.34681179e+00] [ 1.52326641e-02 -1.76360202e-04 9.99883961e-01 2.94489772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.65925415399994 meters 0.01522949867692926 Centerline is valid? [True, True] Translation: X:433.13, Y:4.35, Z:2.94 [[ 9.99655088e-01 -2.11153572e-02 -1.56155784e-02 4.33130421e+02] [ 2.11156566e-02 9.99777029e-01 -1.45717385e-04 4.34601980e+00] [ 1.56151735e-02 -1.84066067e-04 9.99878059e-01 2.94477824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.68925415399997 meters 0.015576663161805561 Centerline is valid? [True, True] Translation: X:433.16, Y:4.34, Z:2.94 [[ 9.99616876e-01 -2.25583676e-02 -1.60381008e-02 4.33158594e+02] [ 2.25588292e-02 9.99745506e-01 -1.52152574e-04 4.34295054e+00] [ 1.60374516e-02 -2.09706497e-04 9.99871370e-01 2.94431233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.71925415399994 meters 0.015732904685132488 Centerline is valid? [True, True] Translation: X:433.19, Y:4.34, Z:2.94 [[ 9.99585716e-01 -2.36996198e-02 -1.63317121e-02 4.33187567e+02] [ 2.37002038e-02 9.99719098e-01 -1.57809109e-04 4.34172508e+00] [ 1.63308645e-02 -2.29321174e-04 9.99866616e-01 2.94444402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.74925415399997 meters 0.015727489280567084 Centerline is valid? [True, True] Translation: X:433.22, Y:4.34, Z:2.94 [[ 9.99563756e-01 -2.46224842e-02 -1.63104796e-02 4.33216637e+02] [ 2.46231222e-02 9.99696792e-01 -1.61733815e-04 4.34111466e+00] [ 1.63095164e-02 -2.39951673e-04 9.99866962e-01 2.94486018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.77925415399994 meters 0.015693147782958678 Centerline is valid? [True, True] Translation: X:433.25, Y:4.34, Z:2.95 [[ 9.99546180e-01 -2.53792651e-02 -1.62273559e-02 4.33245568e+02] [ 2.53799295e-02 9.99677864e-01 -1.65023657e-04 4.33981144e+00] [ 1.62263167e-02 -2.46900383e-04 9.99868314e-01 2.94510355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8092541539999 meters 0.015812245771548904 Centerline is valid? [True, True] Translation: X:433.27, Y:4.34, Z:2.95 [[ 9.99536734e-01 -2.57220638e-02 -1.62693878e-02 4.33274042e+02] [ 2.57227102e-02 9.99669102e-01 -1.69560132e-04 4.33789486e+00] [ 1.62683657e-02 -2.49011166e-04 9.99867630e-01 2.94512517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.83925415399995 meters 0.01577755674576749 Centerline is valid? [True, True] Translation: X:433.30, Y:4.34, Z:2.95 [[ 9.99531288e-01 -2.58049913e-02 -1.64714004e-02 4.33302505e+02] [ 2.58055964e-02 9.99666965e-01 -1.75839391e-04 4.33756899e+00] [ 1.64704524e-02 -2.49297338e-04 9.99864322e-01 2.94530596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8692541539999 meters 0.017728330354759878 Centerline is valid? [True, True] Translation: X:433.33, Y:4.34, Z:2.94 [[ 9.99537372e-01 -2.53486871e-02 -1.68073439e-02 4.33330904e+02] [ 2.53491808e-02 9.99678641e-01 -1.83701212e-04 4.33648396e+00] [ 1.68065993e-02 -2.42436171e-04 9.99858730e-01 2.94412615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.89925415399995 meters 0.017051233749383356 Centerline is valid? [True, True] Translation: X:433.36, Y:4.33, Z:2.95 [[ 9.99529607e-01 -2.61237269e-02 -1.60659762e-02 4.33359196e+02] [ 2.61242381e-02 9.99658688e-01 -1.78084414e-04 4.33395603e+00] [ 1.60651449e-02 -2.41710743e-04 9.99870918e-01 2.94508589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9292541539999 meters 0.015881155672621126 Centerline is valid? [True, True] Translation: X:433.39, Y:4.33, Z:2.95 [[ 9.99496876e-01 -2.74404200e-02 -1.59065223e-02 4.33388255e+02] [ 2.74410412e-02 9.99623408e-01 -1.79247113e-04 4.33418435e+00] [ 1.59054506e-02 -2.57334603e-04 9.99873467e-01 2.94678059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.95925415399995 meters 0.016476585090824655 Centerline is valid? [True, True] Translation: X:433.42, Y:4.33, Z:2.95 [[ 9.99470729e-01 -2.84783472e-02 -1.57240455e-02 4.33416479e+02] [ 2.84790450e-02 9.99594374e-01 -1.79578869e-04 4.33186280e+00] [ 1.57227815e-02 -2.68321976e-04 9.99876353e-01 2.94637559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9892541539999 meters 0.016753298982454343 Centerline is valid? [True, True] Translation: X:433.45, Y:4.33, Z:2.95 [[ 9.99371014e-01 -3.15032218e-02 -1.62826346e-02 4.33445747e+02] [ 3.15043549e-02 9.99503597e-01 -1.86972932e-04 4.32892684e+00] [ 1.62804421e-02 -3.26118572e-04 9.99867412e-01 2.94680252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.01925415399995 meters 0.01713257276516423 Centerline is valid? [True, True] Translation: X:433.48, Y:4.33, Z:2.95 [[ 9.99298310e-01 -3.35167012e-02 -1.67188169e-02 4.33475313e+02] [ 3.35181651e-02 9.99438090e-01 -1.92722495e-04 4.32692528e+00] [ 1.67158819e-02 -3.67796804e-04 9.99860212e-01 2.94677440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0492541539999 meters 0.017889606529804057 Centerline is valid? [True, True] Translation: X:433.50, Y:4.32, Z:2.95 [[ 9.99216148e-01 -3.56158848e-02 -1.72799820e-02 4.33504680e+02] [ 3.56177514e-02 9.99365467e-01 -1.99821651e-04 4.32473290e+00] [ 1.72761341e-02 -4.15809084e-04 9.99850670e-01 2.94654269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.07925415399995 meters 0.01803609673919375 Centerline is valid? [True, True] Translation: X:433.54, Y:4.32, Z:2.95 [[ 9.99152333e-01 -3.72026459e-02 -1.76232442e-02 4.33535213e+02] [ 3.72048297e-02 9.99307640e-01 -2.04044676e-04 4.32331829e+00] [ 1.76186335e-02 -4.51798083e-04 9.99844678e-01 2.94699145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1092541539999 meters 0.01956120462967397 Centerline is valid? [True, True] Translation: X:433.56, Y:4.32, Z:2.95 [[ 9.99038699e-01 -4.01424188e-02 -1.76143108e-02 4.33564210e+02] [ 4.01450501e-02 9.99193842e-01 -2.04326232e-04 4.31856039e+00] [ 1.76083131e-02 -5.02997578e-04 9.99844835e-01 2.94731802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.13925415399996 meters 0.020046629305619994 Centerline is valid? [True, True] Translation: X:433.60, Y:4.32, Z:2.95 [[ 9.98982580e-01 -4.13643162e-02 -1.79665955e-02 4.33595160e+02] [ 4.13672467e-02 9.99143987e-01 -2.08667355e-04 4.31737185e+00] [ 1.79598473e-02 -5.34773536e-04 9.99838566e-01 2.94791543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.16925415399993 meters 0.02055895710830118 Centerline is valid? [True, True] Translation: X:433.63, Y:4.32, Z:2.95 [[ 9.98936296e-01 -4.24905327e-02 -1.79117387e-02 4.33625545e+02] [ 4.24936261e-02 9.99096716e-01 -2.08030238e-04 4.31675139e+00] [ 1.79043986e-02 -5.53325773e-04 9.99839550e-01 2.94858570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.19925415399996 meters 0.02093484029841478 Centerline is valid? [True, True] Translation: X:433.66, Y:4.32, Z:2.95 [[ 9.98916581e-01 -4.31640098e-02 -1.73934640e-02 4.33656311e+02] [ 4.31670288e-02 9.99067849e-01 -2.02010900e-04 4.31586291e+00] [ 1.73859702e-02 -5.49032122e-04 9.99848702e-01 2.94913541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.22925415399993 meters 0.02065349029565394 Centerline is valid? [True, True] Translation: X:433.69, Y:4.32, Z:2.95 [[ 9.98828642e-01 -4.49358268e-02 -1.79475558e-02 4.33687498e+02] [ 4.49393340e-02 9.98989696e-01 -2.08051411e-04 4.31551502e+00] [ 1.79387723e-02 -5.98743495e-04 9.99838908e-01 2.95048383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.25925415399996 meters 0.020723136299998904 Centerline is valid? [True, True] Translation: X:433.72, Y:4.31, Z:2.95 [[ 9.98782067e-01 -4.58626346e-02 -1.81934563e-02 4.33718561e+02] [ 4.58664042e-02 9.98947561e-01 -2.10243663e-04 4.31490212e+00] [ 1.81839511e-02 -6.24480819e-04 9.99834463e-01 2.95062040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.28925415399993 meters 0.0204815212813481 Centerline is valid? [True, True] Translation: X:433.75, Y:4.31, Z:2.95 [[ 9.98736855e-01 -4.68738069e-02 -1.80980991e-02 4.33749952e+02] [ 4.68777147e-02 9.98900614e-01 -2.08484296e-04 4.31462978e+00] [ 1.80879747e-02 -6.40176577e-04 9.99836194e-01 2.95114193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.31925415399996 meters 0.02181277360251061 Centerline is valid? [True, True] Translation: X:433.78, Y:4.31, Z:2.95 [[ 9.98611364e-01 -4.93983144e-02 -1.83071270e-02 4.33780048e+02] [ 4.94027450e-02 9.98778917e-01 -2.10429001e-04 4.31117007e+00] [ 1.82951674e-02 -6.94285537e-04 9.99832388e-01 2.95097689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.34925415399994 meters 0.021373239964676282 Centerline is valid? [True, True] Translation: X:433.81, Y:4.31, Z:2.95 [[ 9.98555643e-01 -5.06092853e-02 -1.80368453e-02 4.33811413e+02] [ 5.06137929e-02 9.98718279e-01 -2.06787796e-04 4.31130879e+00] [ 1.80241925e-02 -7.06424031e-04 9.99837301e-01 2.95159054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37925415399997 meters 0.021670920027312843 Centerline is valid? [True, True] Translation: X:433.84, Y:4.31, Z:2.95 [[ 9.98486248e-01 -5.19825118e-02 -1.79730609e-02 4.33842533e+02] [ 5.19872215e-02 9.98647729e-01 -2.05392060e-04 4.31033742e+00] [ 1.79594333e-02 -7.29288352e-04 9.99838450e-01 2.95148480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.40925415399994 meters 0.022450062631149167 Centerline is valid? [True, True] Translation: X:433.87, Y:4.31, Z:2.95 [[ 9.98404393e-01 -5.34288689e-02 -1.82763437e-02 4.33873929e+02] [ 5.34339933e-02 9.98571362e-01 -2.08179668e-04 4.30855164e+00] [ 1.82613562e-02 -7.68730532e-04 9.99832952e-01 2.95134062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43925415399997 meters 0.023958606490515944 Centerline is valid? [True, True] Translation: X:433.90, Y:4.31, Z:2.95 [[ 9.98171630e-01 -5.72538011e-02 -1.93752289e-02 4.33904808e+02] [ 5.72602891e-02 9.98359259e-01 -2.20198570e-04 4.30530033e+00] [ 1.93560464e-02 -8.89635245e-04 9.99812258e-01 2.95077308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.46925415399994 meters 0.02494404479541246 Centerline is valid? [True, True] Translation: X:433.94, Y:4.30, Z:2.95 [[ 9.98036386e-01 -5.93111285e-02 -2.01385541e-02 4.33936365e+02] [ 5.93185681e-02 9.98239077e-01 -2.28259100e-04 4.30387577e+00] [ 2.01166300e-02 -9.66779306e-04 9.99797173e-01 2.95047713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49925415399997 meters 0.02884370634704012 Centerline is valid? [True, True] Translation: X:433.97, Y:4.30, Z:2.95 [[ 9.97882010e-01 -6.15935126e-02 -2.09220991e-02 4.33966377e+02] [ 6.16020485e-02 9.98100762e-01 -2.36877171e-04 4.29855893e+00] [ 2.08969531e-02 -1.05246869e-03 9.99781081e-01 2.94941032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.52925415399994 meters 0.02745782200627978 Centerline is valid? [True, True] Translation: X:434.00, Y:4.30, Z:2.95 [[ 9.97718040e-01 -6.33358649e-02 -2.33940526e-02 4.33996999e+02] [ 6.33470227e-02 9.97991525e-01 -2.64559204e-04 4.30293073e+00] [ 2.33638223e-02 -1.21798809e-03 9.99726287e-01 2.95037540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5592541539999 meters 0.030534514830757305 Centerline is valid? [True, True] Translation: X:434.03, Y:4.30, Z:2.95 [[ 9.97432875e-01 -6.82469838e-02 -2.16797037e-02 4.34026302e+02] [ 6.82577291e-02 9.97667691e-01 -2.44830635e-04 4.29757925e+00] [ 2.16458489e-02 -1.23560522e-03 9.99764938e-01 2.95012648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.58925415399995 meters 0.029235048013988647 Centerline is valid? [True, True] Translation: X:434.06, Y:4.30, Z:2.95 [[ 9.97301068e-01 -7.01789600e-02 -2.15753034e-02 4.34057406e+02] [ 7.01900663e-02 9.97533606e-01 -2.43009420e-04 4.29991221e+00] [ 2.15391443e-02 -1.27201842e-03 9.99767197e-01 2.95137699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6192541539999 meters 0.03147920577212461 Centerline is valid? [True, True] Translation: X:434.09, Y:4.30, Z:2.95 [[ 9.97140130e-01 -7.30153529e-02 -1.95017721e-02 4.34087681e+02] [ 7.30249756e-02 9.97330088e-01 -2.19195045e-04 4.29798920e+00] [ 1.94657087e-02 -1.20554826e-03 9.99809798e-01 2.95266185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.64925415399995 meters 0.03417202498906569 Centerline is valid? [True, True] Translation: X:434.12, Y:4.30, Z:2.95 [[ 9.97104734e-01 -7.37289229e-02 -1.86063432e-02 4.34118865e+02] [ 7.37378197e-02 9.97277640e-01 -2.08377657e-04 4.29570185e+00] [ 1.85710535e-02 -1.16421683e-03 9.99826865e-01 2.95287165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6792541539999 meters 0.034654898118607565 Centerline is valid? [True, True] Translation: X:434.15, Y:4.30, Z:2.95 [[ 9.97069908e-01 -7.40790651e-02 -1.90758930e-02 4.34150501e+02] [ 7.40885137e-02 9.97251647e-01 -2.11893423e-04 4.29753648e+00] [ 1.90391626e-02 -1.20203201e-03 9.99818016e-01 2.95332489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.70925415399995 meters 0.03160839928865232 Centerline is valid? [True, True] Translation: X:434.18, Y:4.30, Z:2.95 [[ 9.97069217e-01 -7.43667700e-02 -1.79599644e-02 4.34182837e+02] [ 7.43752192e-02 9.97230308e-01 -1.97960065e-04 4.30317836e+00] [ 1.79249425e-02 -1.13839640e-03 9.99838687e-01 2.95483336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7392541539999 meters 0.034435755975487675 Centerline is valid? [True, True] Translation: X:434.21, Y:4.30, Z:2.95 [[ 9.97088582e-01 -7.40475373e-02 -1.82022606e-02 4.34214017e+02] [ 7.40561836e-02 9.97254051e-01 -1.99501419e-04 4.30391426e+00] [ 1.81670507e-02 -1.14906937e-03 9.99834305e-01 2.95423213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.76925415399995 meters 0.029245062360917718 Centerline is valid? [True, True] Translation: X:434.25, Y:4.31, Z:2.96 [[ 9.97110344e-01 -7.36272689e-02 -1.87079443e-02 4.34246074e+02] [ 7.36363526e-02 9.97285138e-01 -2.03769175e-04 4.31380536e+00] [ 1.86721578e-02 -1.17440443e-03 9.99824970e-01 2.95549792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7992541539999 meters 0.030819571223946355 Centerline is valid? [True, True] Translation: X:434.28, Y:4.31, Z:2.96 [[ 9.97132734e-01 -7.32018979e-02 -1.91779239e-02 4.34277643e+02] [ 7.32113889e-02 9.97316424e-01 -2.07667081e-04 4.31398833e+00] [ 1.91416601e-02 -1.19697080e-03 9.99816065e-01 2.95512073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.82925415399995 meters 0.03358119958396872 Centerline is valid? [True, True] Translation: X:434.31, Y:4.31, Z:2.95 [[ 9.97140385e-01 -7.30674649e-02 -1.92924487e-02 4.34308402e+02] [ 7.30770652e-02 9.97326275e-01 -2.07837276e-04 4.31234251e+00] [ 1.92560522e-02 -1.20259259e-03 9.99813862e-01 2.95448601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8592541539999 meters 0.03057692756140616 Centerline is valid? [True, True] Translation: X:434.34, Y:4.32, Z:2.95 [[ 9.97049417e-01 -7.40447849e-02 -2.02442510e-02 4.34340721e+02] [ 7.40555848e-02 9.97254092e-01 -2.16704839e-04 4.31948513e+00] [ 2.02047080e-02 -1.28313442e-03 9.99795041e-01 2.95430473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.88925415399996 meters 0.035996768994471004 Centerline is valid? [True, True] Translation: X:434.37, Y:4.31, Z:2.95 [[ 9.96965703e-01 -7.50209269e-02 -2.07664922e-02 4.34372100e+02] [ 7.50325417e-02 9.97181061e-01 -2.20393850e-04 4.31349778e+00] [ 2.07244868e-02 -1.33843758e-03 9.99784329e-01 2.95255493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.91925415399993 meters 0.030974913708059014 Centerline is valid? [True, True] Translation: X:434.40, Y:4.32, Z:2.95 [[ 9.96846756e-01 -7.64094289e-02 -2.14043150e-02 4.34404189e+02] [ 7.64221253e-02 9.97075528e-01 -2.25373701e-04 4.32200977e+00] [ 2.13589394e-02 -1.41110020e-03 9.99770876e-01 2.95426748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.94925415399996 meters 0.033185030841557155 Centerline is valid? [True, True] Translation: X:434.43, Y:4.32, Z:2.95 [[ 9.96590569e-01 -7.95460029e-02 -2.19013817e-02 4.34434678e+02] [ 7.95600674e-02 9.96830047e-01 -2.29802364e-04 4.32277601e+00] [ 2.18502352e-02 -1.51345654e-03 9.99760110e-01 2.95375874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.97925415399993 meters 0.033339580092128236 Centerline is valid? [True, True] Translation: X:434.47, Y:4.32, Z:2.95 [[ 9.96469249e-01 -8.10240680e-02 -2.20030979e-02 4.34466640e+02] [ 8.10386494e-02 9.96710933e-01 -2.29620394e-04 4.32469099e+00] [ 2.19493330e-02 -1.55429167e-03 9.99757876e-01 2.95375191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.00925415399996 meters 0.03492406469392331 Centerline is valid? [True, True] Translation: X:434.50, Y:4.32, Z:2.95 [[ 9.96379484e-01 -8.20514760e-02 -2.22593694e-02 4.34498054e+02] [ 8.20666846e-02 9.96626814e-01 -2.30923908e-04 4.32438929e+00] [ 2.22032321e-02 -1.59666481e-03 9.99752203e-01 2.95335474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.03925415399993 meters 0.034846064601926525 Centerline is valid? [True, True] Translation: X:434.53, Y:4.33, Z:2.95 [[ 9.96364227e-01 -8.23136807e-02 -2.19723770e-02 4.34530461e+02] [ 8.23285955e-02 9.96605213e-01 -2.26460470e-04 4.32618980e+00] [ 2.19164262e-02 -1.58331783e-03 9.99758553e-01 2.95334300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.06925415399996 meters 0.03516619111540229 Centerline is valid? [True, True] Translation: X:434.56, Y:4.33, Z:2.95 [[ 9.96438149e-01 -8.14518185e-02 -2.18315529e-02 4.34562269e+02] [ 8.14663717e-02 9.96676066e-01 -2.23411007e-04 4.32953791e+00] [ 2.17771835e-02 -1.55592215e-03 9.99761638e-01 2.95377447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.09925415399994 meters 0.033871147023598246 Centerline is valid? [True, True] Translation: X:434.59, Y:4.33, Z:2.95 [[ 9.96545319e-01 -8.02780369e-02 -2.12806061e-02 4.34593591e+02] [ 8.02916201e-02 9.96771392e-01 -2.16745484e-04 4.33369709e+00] [ 2.12292993e-02 -1.49265764e-03 9.99773519e-01 2.95484114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.12925415399997 meters 0.03391840155136605 Centerline is valid? [True, True] Translation: X:434.62, Y:4.34, Z:2.96 [[ 9.96678273e-01 -7.87960963e-02 -2.05814549e-02 4.34623703e+02] [ 7.88084971e-02 9.96889752e-01 -2.09122724e-04 4.33609262e+00] [ 2.05339195e-02 -1.41356545e-03 9.99788158e-01 2.95581872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.15925415399994 meters 0.03285872233965206 Centerline is valid? [True, True] Translation: X:434.66, Y:4.34, Z:2.96 [[ 9.96849646e-01 -7.69008956e-02 -1.94174216e-02 4.34655060e+02] [ 7.69115863e-02 9.97037898e-01 -1.96714435e-04 4.33972849e+00] [ 1.93750328e-02 -1.29732999e-03 9.99811445e-01 2.95694527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.18925415399997 meters 0.03170757210315148 Centerline is valid? [True, True] Translation: X:434.69, Y:4.35, Z:2.96 [[ 9.97177095e-01 -7.27016314e-02 -1.87700348e-02 4.34685454e+02] [ 7.27108851e-02 9.97353042e-01 -1.89878730e-04 4.34576674e+00] [ 1.87341558e-02 -1.17544312e-03 9.99823809e-01 2.95847364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.21925415399994 meters 0.033427354245687185 Centerline is valid? [True, True] Translation: X:434.72, Y:4.35, Z:2.96 [[ 9.97359691e-01 -7.02090191e-02 -1.85564312e-02 4.34716280e+02] [ 7.02176417e-02 9.97531678e-01 -1.87279464e-04 4.34542885e+00] [ 1.85237767e-02 -1.11620385e-03 9.99827797e-01 2.95813111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.24925415399997 meters 0.030637622174314066 Centerline is valid? [True, True] Translation: X:434.75, Y:4.35, Z:2.96 [[ 9.97527277e-01 -6.77581033e-02 -1.86593516e-02 4.34747332e+02] [ 6.77664071e-02 9.97701197e-01 -1.87643790e-04 4.35124495e+00] [ 1.86291718e-02 -1.07729742e-03 9.99825882e-01 2.95855839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.27925415399994 meters 0.03057308931142813 Centerline is valid? [True, True] Translation: X:434.78, Y:4.35, Z:2.96 [[ 9.97698248e-01 -6.49874866e-02 -1.93606067e-02 4.34778173e+02] [ 6.49959199e-02 9.97885511e-01 -1.93993077e-04 4.35323428e+00] [ 1.93322760e-02 -1.06481389e-03 9.99812547e-01 2.95815168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3092541539999 meters 0.027752778934194373 Centerline is valid? [True, True] Translation: X:434.81, Y:4.36, Z:2.96 [[ 9.98017141e-01 -5.93008123e-02 -2.10997385e-02 4.34808419e+02] [ 5.93095681e-02 9.98239616e-01 -2.11112544e-04 4.36176311e+00] [ 2.10751140e-02 -1.04072244e-03 9.99777353e-01 2.95704426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.33925415399995 meters 0.026837244161822878 Centerline is valid? [True, True] Translation: X:434.84, Y:4.37, Z:2.96 [[ 9.98175739e-01 -5.61390386e-02 -2.22171602e-02 4.34839278e+02] [ 5.61479778e-02 9.98422433e-01 -2.21734999e-04 4.36514843e+00] [ 2.21945591e-02 -1.02611812e-03 9.99753144e-01 2.95614638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3692541539999 meters 0.02549589038818369 Centerline is valid? [True, True] Translation: X:434.87, Y:4.37, Z:2.96 [[ 9.98332678e-01 -5.28780980e-02 -2.31467418e-02 4.34871283e+02] [ 5.28869521e-02 9.98600479e-01 -2.29904909e-04 4.36869906e+00] [ 2.31265044e-02 -9.94639043e-04 9.99732052e-01 2.95543926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.39925415399995 meters 0.024700511633945838 Centerline is valid? [True, True] Translation: X:434.90, Y:4.37, Z:2.95 [[ 9.98488611e-01 -4.94401250e-02 -2.40034834e-02 4.34901672e+02] [ 4.94486715e-02 9.98776638e-01 -2.37736594e-04 4.37169753e+00] [ 2.39858721e-02 -9.49563083e-04 9.99711847e-01 2.95477570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4292541539999 meters 0.023186253037118583 Centerline is valid? [True, True] Translation: X:434.93, Y:4.38, Z:2.96 [[ 9.98656179e-01 -4.58642040e-02 -2.41311316e-02 4.34932020e+02] [ 4.58718022e-02 9.98947306e-01 -2.38878520e-04 4.37587212e+00] [ 2.41166849e-02 -8.68380985e-04 9.99708773e-01 2.95500097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.45925415399995 meters 0.018489509239861396 Centerline is valid? [True, True] Translation: X:434.96, Y:4.39, Z:2.96 [[ 9.98987224e-01 -3.83734359e-02 -2.34948208e-02 4.34962408e+02] [ 3.83785668e-02 9.99263244e-01 -2.32653396e-04 4.38748638e+00] [ 2.34864385e-02 -6.69279777e-04 9.99723932e-01 2.95805249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4892541539999 meters 0.01754079921279833 Centerline is valid? [True, True] Translation: X:434.99, Y:4.39, Z:2.96 [[ 9.99138889e-01 -3.45020063e-02 -2.30454253e-02 4.34991805e+02] [ 3.45058992e-02 9.99404468e-01 -2.28824800e-04 4.39135760e+00] [ 2.30395959e-02 -5.66575366e-04 9.99734393e-01 2.95928900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.51925415399995 meters 0.01754079921279833 Centerline is valid? [True, True] Translation: X:435.02, Y:4.39, Z:2.96 [[ 9.99129999e-01 -3.47585424e-02 -2.30453811e-02 4.35020056e+02] [ 3.47624023e-02 9.99395578e-01 -2.33216198e-04 4.39167898e+00] [ 2.30395582e-02 -5.68099509e-04 9.99734393e-01 2.95948485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5492541539999 meters 0.018229354764495748 Centerline is valid? [True, True] Translation: X:435.05, Y:4.39, Z:2.96 [[ 9.99274514e-01 -3.06542940e-02 -2.25999771e-02 4.35048441e+02] [ 3.06568982e-02 9.99529940e-01 -2.31307009e-04 4.39201412e+00] [ 2.25964443e-02 -4.61705999e-04 9.99744561e-01 2.95808853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.57925415399995 meters 0.015460140445781095 Centerline is valid? [True, True] Translation: X:435.08, Y:4.40, Z:2.96 [[ 9.99506283e-01 -2.32656821e-02 -2.11163031e-02 4.35078178e+02] [ 2.32662940e-02 9.99729280e-01 -2.16730211e-04 4.40205115e+00] [ 2.11156289e-02 -2.74674909e-04 9.99777003e-01 2.96240484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6092541539999 meters 0.01486457574226963 Centerline is valid? [True, True] Translation: X:435.11, Y:4.41, Z:2.96 [[ 9.99585907e-01 -2.00865420e-02 -2.06044775e-02 4.35106523e+02] [ 2.00863742e-02 9.99798225e-01 -2.15124663e-04 4.40513452e+00] [ 2.06046411e-02 -1.98833663e-04 9.99787682e-01 2.96352916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.63925415399996 meters 0.01526890367685823 Centerline is valid? [True, True] Translation: X:435.13, Y:4.41, Z:2.96 [[ 9.99631262e-01 -1.76616563e-02 -2.06253676e-02 4.35134741e+02] [ 1.76608629e-02 9.99844010e-01 -2.20631706e-04 4.40559954e+00] [ 2.06260470e-02 -1.43711439e-04 9.99787250e-01 2.96072071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.66925415399993 meters 0.014454672064774616 Centerline is valid? [True, True] Translation: X:435.16, Y:4.41, Z:2.96 [[ 9.99675271e-01 -1.55427888e-02 -2.01934077e-02 4.35163342e+02] [ 1.55414927e-02 9.99879199e-01 -2.21123479e-04 4.40849331e+00] [ 2.01944052e-02 -9.27840258e-05 9.99796068e-01 2.96376008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.69925415399996 meters 0.014768087492538457 Centerline is valid? [True, True] Translation: X:435.19, Y:4.41, Z:2.96 [[ 9.99720166e-01 -1.25894673e-02 -2.00273686e-02 4.35191509e+02] [ 1.25875412e-02 9.99920749e-01 -2.22235880e-04 4.40953822e+00] [ 2.00285792e-02 -2.99216362e-05 9.99799407e-01 2.96076736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.72925415399993 meters 0.014344223742228426 Centerline is valid? [True, True] Translation: X:435.22, Y:4.41, Z:2.96 [[ 9.99709837e-01 -1.27987847e-02 -2.04067001e-02 4.35219861e+02] [ 1.27967370e-02 9.99918092e-01 -2.30928812e-04 4.40990645e+00] [ 2.04079842e-02 -3.02773699e-05 9.99791735e-01 2.96390217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.75925415399996 meters 0.014400455830096586 Centerline is valid? [True, True] Translation: X:435.25, Y:4.41, Z:2.96 [[ 9.99698085e-01 -1.33366453e-02 -2.06366608e-02 4.35248049e+02] [ 1.33345442e-02 9.99911062e-01 -2.39422153e-04 4.40930787e+00] [ 2.06380185e-02 -3.58305970e-05 9.99787013e-01 2.96396280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.78925415399993 meters 0.014356292745916639 Centerline is valid? [True, True] Translation: X:435.28, Y:4.41, Z:2.96 [[ 9.99672234e-01 -1.47116654e-02 -2.09521277e-02 4.35276192e+02] [ 1.47096754e-02 9.99891776e-01 -2.49100919e-04 4.40829090e+00] [ 2.09535249e-02 -5.91797262e-05 9.99780449e-01 2.96451435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.81925415399996 meters 0.01438633710485313 Centerline is valid? [True, True] Translation: X:435.31, Y:4.40, Z:2.97 [[ 9.99584459e-01 -1.89581668e-02 -2.17140076e-02 4.35305330e+02] [ 1.89569627e-02 9.99820266e-01 -2.61308139e-04 4.40421049e+00] [ 2.17150588e-02 -1.50432078e-04 9.99764189e-01 2.96540145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.84925415399994 meters 0.014431758573901679 Centerline is valid? [True, True] Translation: X:435.33, Y:4.40, Z:2.97 [[ 9.99515548e-01 -2.18764413e-02 -2.21379747e-02 4.35333748e+02] [ 2.18758063e-02 9.99760659e-01 -2.70881895e-04 4.40156977e+00] [ 2.21386021e-02 -2.13535381e-04 9.99754888e-01 2.96555014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87925415399997 meters 0.014932295866483716 Centerline is valid? [True, True] Translation: X:435.36, Y:4.40, Z:2.97 [[ 9.99423697e-01 -2.52571825e-02 -2.26792533e-02 4.35361694e+02] [ 2.52573117e-02 9.99680944e-01 -2.80793385e-04 4.39825569e+00] [ 2.26791094e-02 -2.92185406e-04 9.99742753e-01 2.96528129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.90925415399994 meters 0.01560841156730534 Centerline is valid? [True, True] Translation: X:435.39, Y:4.39, Z:2.96 [[ 9.99338952e-01 -2.86791994e-02 -2.23419618e-02 4.35389130e+02] [ 2.86801280e-02 9.99588602e-01 -2.78926427e-04 4.39431454e+00] [ 2.23407698e-02 -3.62028283e-04 9.99750348e-01 2.96476113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93925415399997 meters 0.016721111337063554 Centerline is valid? [True, True] Translation: X:435.42, Y:4.39, Z:2.96 [[ 9.99135526e-01 -3.52122928e-02 -2.20973927e-02 4.35418885e+02] [ 3.52147691e-02 9.99379729e-01 -2.77171096e-04 4.38679814e+00] [ 2.20934461e-02 -5.01223092e-04 9.99755784e-01 2.96485291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.96925415399994 meters 0.017107036208548965 Centerline is valid? [True, True] Translation: X:435.45, Y:4.38, Z:2.97 [[ 9.99028219e-01 -3.83044145e-02 -2.18034153e-02 4.35447994e+02] [ 3.83075378e-02 9.99265959e-01 -2.74553801e-04 4.38432317e+00] [ 2.17979273e-02 -5.60948162e-04 9.99762240e-01 2.96566297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99925415399997 meters 0.017827386169064267 Centerline is valid? [True, True] Translation: X:435.48, Y:4.38, Z:2.97 [[ 9.98918546e-01 -4.12531354e-02 -2.14456844e-02 4.35477502e+02] [ 4.12568164e-02 9.99148538e-01 -2.70960163e-04 4.38116375e+00] [ 2.14386022e-02 -6.14113534e-04 9.99769978e-01 2.96627453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.02925415399994 meters 0.01902058322447662 Centerline is valid? [True, True] Translation: X:435.51, Y:4.38, Z:2.97 [[ 9.98806178e-01 -4.41131058e-02 -2.09821850e-02 4.35507897e+02] [ 4.41172598e-02 9.99026325e-01 -2.65097127e-04 4.37772667e+00] [ 2.09734494e-02 -6.60895858e-04 9.99779815e-01 2.96621517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0592541539999 meters 0.02226136439004956 Centerline is valid? [True, True] Translation: X:435.54, Y:4.37, Z:2.97 [[ 9.98569278e-01 -4.93596935e-02 -2.05673890e-02 4.35537764e+02] [ 4.93648129e-02 9.98780781e-01 -2.59033862e-04 4.36902729e+00] [ 2.05550987e-02 -7.56642054e-04 9.99788435e-01 2.96564944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.08925415399995 meters 0.022354261955092554 Centerline is valid? [True, True] Translation: X:435.57, Y:4.37, Z:2.97 [[ 9.98434302e-01 -5.21148656e-02 -2.03220169e-02 4.35569460e+02] [ 5.21204502e-02 9.98640773e-01 -2.55112693e-04 4.36755785e+00] [ 2.03076898e-02 -8.04479405e-04 9.99793454e-01 2.96633329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1192541539999 meters 0.022867631280949624 Centerline is valid? [True, True] Translation: X:435.60, Y:4.37, Z:2.97 [[ 9.98283519e-01 -5.49770457e-02 -2.01876220e-02 4.35600409e+02] [ 5.49831563e-02 9.98487250e-01 -2.52647864e-04 4.36556239e+00] [ 2.01709731e-02 -8.57764980e-04 9.99796177e-01 2.96637141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.14925415399995 meters 0.02365070279679979 Centerline is valid? [True, True] Translation: X:435.63, Y:4.36, Z:2.97 [[ 9.98105887e-01 -5.80790020e-02 -2.02846919e-02 4.35631658e+02] [ 5.80858263e-02 9.98311561e-01 -2.53095524e-04 4.36320950e+00] [ 2.02651420e-02 -9.25636959e-04 9.99794212e-01 2.96621144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1792541539999 meters 0.027013163103721732 Centerline is valid? [True, True] Translation: X:435.66, Y:4.36, Z:2.97 [[ 9.97673673e-01 -6.51241291e-02 -2.01516811e-02 4.35661334e+02] [ 6.51322981e-02 9.97876606e-01 -2.51387387e-04 4.35528564e+00] [ 2.01252626e-02 -1.06172272e-03 9.99796903e-01 2.96535961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.20925415399995 meters 0.027686677889597385 Centerline is valid? [True, True] Translation: X:435.69, Y:4.35, Z:2.97 [[ 9.97439088e-01 -6.88191809e-02 -1.94727150e-02 4.35692518e+02] [ 6.88275128e-02 9.97628545e-01 -2.42790662e-04 4.35287308e+00] [ 1.94432450e-02 -1.09808964e-03 9.99810359e-01 2.96579926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2392541539999 meters 0.03345235768719251 Centerline is valid? [True, True] Translation: X:435.72, Y:4.34, Z:2.96 [[ 9.97199307e-01 -7.23456328e-02 -1.89644625e-02 4.35722911e+02] [ 7.23541771e-02 9.97378974e-01 -2.36111442e-04 4.34397416e+00] [ 1.89318378e-02 -1.13670791e-03 9.99820131e-01 2.96473439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.26925415399995 meters 0.03073488684920965 Centerline is valid? [True, True] Translation: X:435.75, Y:4.35, Z:2.97 [[ 9.96964898e-01 -7.55068036e-02 -1.89661503e-02 4.35753852e+02] [ 7.55159256e-02 9.97144568e-01 -2.35785916e-04 4.34708401e+00] [ 1.89297972e-02 -1.19717611e-03 9.99820099e-01 2.96595416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2992541539999 meters 0.030449543677014277 Centerline is valid? [True, True] Translation: X:435.78, Y:4.35, Z:2.97 [[ 9.96764508e-01 -7.82588650e-02 -1.83320716e-02 4.35784939e+02] [ 7.82678566e-02 9.96932340e-01 -2.27567423e-04 4.34702162e+00] [ 1.82936442e-02 -1.20798082e-03 9.99831928e-01 2.96627606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.32925415399995 meters 0.0318092435628911 Centerline is valid? [True, True] Translation: X:435.82, Y:4.34, Z:2.97 [[ 9.96483702e-01 -8.15436190e-02 -1.92580040e-02 4.35816346e+02] [ 8.15541639e-02 9.96668883e-01 -2.38470927e-04 4.34474194e+00] [ 1.92132991e-02 -1.33293803e-03 9.99814519e-01 2.96575576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3592541539999 meters 0.03245580257911033 Centerline is valid? [True, True] Translation: X:435.85, Y:4.34, Z:2.97 [[ 9.96452986e-01 -8.19146946e-02 -1.92725216e-02 4.35848284e+02] [ 8.19253471e-02 9.96638441e-01 -2.37475313e-04 4.34430933e+00] [ 1.92271886e-02 -1.34227504e-03 9.99814240e-01 2.96540422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.38925415399996 meters 0.03163140403874884 Centerline is valid? [True, True] Translation: X:435.88, Y:4.35, Z:2.97 [[ 9.96552386e-01 -8.06157567e-02 -1.96071623e-02 4.35880982e+02] [ 8.06265657e-02 9.96744350e-01 -2.39892417e-04 4.34720231e+00] [ 1.95626674e-02 -1.34179280e-03 9.99807732e-01 2.96537241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.41925415399993 meters 0.03075801917252371 Centerline is valid? [True, True] Translation: X:435.91, Y:4.35, Z:2.97 [[ 9.96657148e-01 -7.92902252e-02 -1.96872875e-02 4.35913558e+02] [ 7.93009015e-02 9.96850696e-01 -2.39029830e-04 4.34997499e+00] [ 1.96442390e-02 -1.32298886e-03 9.99806158e-01 2.96566858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.44925415399996 meters 0.031763301005148535 Centerline is valid? [True, True] Translation: X:435.94, Y:4.35, Z:2.97 [[ 9.96801487e-01 -7.74224438e-02 -1.98131461e-02 4.35944138e+02] [ 7.74329074e-02 9.96997536e-01 -2.39662617e-04 4.35027635e+00] [ 1.97722131e-02 -1.29529345e-03 9.99803672e-01 2.96543385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.47925415399993 meters 0.0315131648017776 Centerline is valid? [True, True] Translation: X:435.98, Y:4.35, Z:2.97 [[ 9.96971756e-01 -7.52354409e-02 -1.96709669e-02 4.35975809e+02] [ 7.52453509e-02 9.97165022e-01 -2.36922958e-04 4.35257146e+00] [ 1.96330252e-02 -1.24394331e-03 9.99806480e-01 2.96575877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.50925415399996 meters 0.03456607337386814 Centerline is valid? [True, True] Translation: X:436.01, Y:4.35, Z:2.97 [[ 9.97324799e-01 -7.05649306e-02 -1.90744841e-02 4.36005670e+02] [ 7.05734023e-02 9.97506562e-01 -2.29470534e-04 4.35183766e+00] [ 1.90431156e-02 -1.11729459e-03 9.99818039e-01 2.96514801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.53925415399993 meters 0.02696149483995894 Centerline is valid? [True, True] Translation: X:436.04, Y:4.36, Z:2.97 [[ 9.97501979e-01 -6.79681729e-02 -1.92387281e-02 4.36036915e+02] [ 6.79763164e-02 9.97686908e-01 -2.31103410e-04 4.36396573e+00] [ 1.92099348e-02 -1.07725176e-03 9.99814892e-01 2.96718153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.56925415399996 meters 0.025775907237309 Centerline is valid? [True, True] Translation: X:436.07, Y:4.37, Z:2.97 [[ 9.97696600e-01 -6.50644375e-02 -1.91863050e-02 4.36068851e+02] [ 6.50720193e-02 9.97880544e-01 -2.29532426e-04 4.36743624e+00] [ 1.91605749e-02 -1.01948789e-03 9.99815900e-01 2.96733878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.59925415399994 meters 0.024874800643048776 Centerline is valid? [True, True] Translation: X:436.10, Y:4.37, Z:2.97 [[ 9.97885119e-01 -6.21178314e-02 -1.91484962e-02 4.36100425e+02] [ 6.21248626e-02 9.98068359e-01 -2.28014421e-04 4.37088148e+00] [ 1.91256719e-02 -9.62065498e-04 9.99816625e-01 2.96762255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.62925415399997 meters 0.02264737454391344 Centerline is valid? [True, True] Translation: X:436.13, Y:4.38, Z:2.97 [[ 9.98290001e-01 -5.54348808e-02 -1.85485325e-02 4.36130443e+02] [ 5.54403338e-02 9.98461978e-01 -2.20493084e-04 4.37834239e+00] [ 1.85322274e-02 -8.08220793e-04 9.99827937e-01 2.96833325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.65925415399994 meters 0.021488008590253047 Centerline is valid? [True, True] Translation: X:436.16, Y:4.38, Z:2.97 [[ 9.98466639e-01 -5.20495150e-02 -1.88472507e-02 4.36162273e+02] [ 5.20545556e-02 9.98644218e-01 -2.23378879e-04 4.38210513e+00] [ 1.88333247e-02 -7.58048899e-04 9.99822350e-01 2.96857603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.68925415399997 meters 0.020483138111390273 Centerline is valid? [True, True] Translation: X:436.19, Y:4.39, Z:2.97 [[ 9.98635859e-01 -4.87754673e-02 -1.86380121e-02 4.36193796e+02] [ 4.87798423e-02 9.98809531e-01 -2.20083982e-04 4.38554303e+00] [ 1.86265588e-02 -6.89375533e-04 9.99826273e-01 2.96884741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.71925415399994 meters 0.01901000282175302 Centerline is valid? [True, True] Translation: X:436.22, Y:4.39, Z:2.97 [[ 9.98946057e-01 -4.23643003e-02 -1.76647038e-02 4.36223235e+02] [ 4.23672295e-02 9.99102084e-01 -2.08543223e-04 4.39168482e+00] [ 1.76576772e-02 -5.40081130e-04 9.99843945e-01 2.96933487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.74925415399997 meters 0.018339158560798083 Centerline is valid? [True, True] Translation: X:436.25, Y:4.40, Z:2.97 [[ 9.99082624e-01 -3.91560538e-02 -1.73411152e-02 4.36254620e+02] [ 3.91583981e-02 9.99232995e-01 -2.04470751e-04 4.39517307e+00] [ 1.73358208e-02 -4.74767120e-04 9.99849611e-01 2.96999907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.77925415399994 meters 0.017547046148851036 Centerline is valid? [True, True] Translation: X:436.28, Y:4.40, Z:2.97 [[ 9.99208762e-01 -3.59581463e-02 -1.69959350e-02 4.36284805e+02] [ 3.59599544e-02 9.99353212e-01 -1.99313911e-04 4.39807363e+00] [ 1.69921092e-02 -4.12016842e-04 9.99855539e-01 2.97048716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8092541539999 meters 0.016803750385229008 Centerline is valid? [True, True] Translation: X:436.32, Y:4.40, Z:2.97 [[ 9.99320999e-01 -3.30029557e-02 -1.63812377e-02 4.36315801e+02] [ 3.30042531e-02 9.99455193e-01 -1.91211180e-04 4.40115125e+00] [ 1.63786236e-02 -3.49569167e-04 9.99865800e-01 2.97101201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.83925415399995 meters 0.015862726766822103 Centerline is valid? [True, True] Translation: X:436.35, Y:4.41, Z:2.97 [[ 9.99476281e-01 -2.86218398e-02 -1.50981674e-02 4.36345571e+02] [ 2.86224455e-02 9.99590278e-01 -1.76007479e-04 4.40537028e+00] [ 1.50970190e-02 -2.56231174e-04 9.99886001e-01 2.97179030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8692541539999 meters 0.015601825146937592 Centerline is valid? [True, True] Translation: X:436.38, Y:4.41, Z:2.97 [[ 9.99522563e-01 -2.71950861e-02 -1.46653703e-02 4.36376886e+02] [ 2.71955080e-02 9.99630119e-01 -1.70691839e-04 4.40704933e+00] [ 1.46645878e-02 -2.28221851e-04 9.99892443e-01 2.97201946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.89925415399995 meters 0.015461134893453366 Centerline is valid? [True, True] Translation: X:436.41, Y:4.41, Z:2.97 [[ 9.99558609e-01 -2.61699888e-02 -1.40612433e-02 4.36407657e+02] [ 2.61702847e-02 9.99657486e-01 -1.62989199e-04 4.40809016e+00] [ 1.40606926e-02 -2.05069485e-04 9.99901123e-01 2.97223993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9292541539999 meters 0.015343299466566256 Centerline is valid? [True, True] Translation: X:436.44, Y:4.41, Z:2.97 [[ 9.99572562e-01 -2.58458153e-02 -1.36633322e-02 4.36438800e+02] [ 2.58460733e-02 9.99665922e-01 -1.57728581e-04 4.40868548e+00] [ 1.36628442e-02 -1.95482323e-04 9.99906640e-01 2.97251487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.95925415399995 meters 0.01575682730288771 Centerline is valid? [True, True] Translation: X:436.47, Y:4.41, Z:2.97 [[ 9.99570858e-01 -2.64324147e-02 -1.26264490e-02 4.36470393e+02] [ 2.64326871e-02 9.99650585e-01 -1.45339912e-04 4.40812032e+00] [ 1.26258788e-02 -1.88473435e-04 9.99920273e-01 2.97284300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9892541539999 meters 0.015259079400879812 Centerline is valid? [True, True] Translation: X:436.50, Y:4.41, Z:2.97 [[ 9.99550894e-01 -2.73411585e-02 -1.22666858e-02 4.36501375e+02] [ 2.73414892e-02 9.99626142e-01 -1.40770542e-04 4.40941093e+00] [ 1.22659487e-02 -1.94682137e-04 9.99924751e-01 2.97368505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.01925415399995 meters 0.01542040687623523 Centerline is valid? [True, True] Translation: X:436.53, Y:4.41, Z:2.97 [[ 9.99526064e-01 -2.81955400e-02 -1.23555455e-02 4.36533339e+02] [ 2.81959488e-02 9.99602405e-01 -1.41136680e-04 4.40849456e+00] [ 1.23546125e-02 -2.07306540e-04 9.99923657e-01 2.97377600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0492541539999 meters 0.015912097907597712 Centerline is valid? [True, True] Translation: X:436.57, Y:4.41, Z:2.97 [[ 9.99495125e-01 -2.94526736e-02 -1.19178864e-02 4.36565304e+02] [ 2.94531535e-02 9.99566153e-01 -1.35283768e-04 4.40748034e+00] [ 1.19167003e-02 -2.15803870e-04 9.99928970e-01 2.97413811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.07925415399995 meters 0.017077848243096973 Centerline is valid? [True, True] Translation: X:436.60, Y:4.40, Z:2.98 [[ 9.99441478e-01 -3.16796515e-02 -1.06363068e-02 4.36596151e+02] [ 3.16801689e-02 9.99498050e-01 -1.19874188e-04 4.40386763e+00] [ 1.06347655e-02 -2.17152760e-04 9.99943426e-01 2.97508449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1092541539999 meters 0.01642119011660359 Centerline is valid? [True, True] Translation: X:436.63, Y:4.40, Z:2.98 [[ 9.99408615e-01 -3.29049264e-02 -9.98425709e-03 4.36628522e+02] [ 3.29054529e-02 9.99458463e-01 -1.11577697e-04 4.40494806e+00] [ 9.98252170e-03 -2.17024790e-04 9.99950150e-01 2.97593708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.13925415399996 meters 0.01829915459630489 Centerline is valid? [True, True] Translation: X:436.66, Y:4.40, Z:2.98 [[ 9.99363231e-01 -3.43556648e-02 -9.63435381e-03 4.36660057e+02] [ 3.43562302e-02 9.99409645e-01 -1.06863609e-04 4.40016444e+00] [ 9.63233749e-03 -2.24204515e-04 9.99953583e-01 2.97631196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.16925415399993 meters 0.01875510529870322 Centerline is valid? [True, True] Translation: X:436.69, Y:4.40, Z:2.98 [[ 9.99319392e-01 -3.58286551e-02 -8.77840389e-03 4.36692148e+02] [ 3.58291887e-02 9.99357924e-01 -9.65257516e-05 4.39818661e+00] [ 8.77622587e-03 -2.18063034e-04 9.99961464e-01 2.97672096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.19925415399996 meters 0.018538954933893532 Centerline is valid? [True, True] Translation: X:436.72, Y:4.40, Z:2.98 [[ 9.99157767e-01 -4.01518918e-02 -8.46065748e-03 4.36724664e+02] [ 4.01525471e-02 9.99193557e-01 -9.24577852e-05 4.39542220e+00] [ 8.45754680e-03 -2.47337034e-04 9.99964204e-01 2.97720027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.22925415399993 meters 0.01987166562959476 Centerline is valid? [True, True] Translation: X:436.76, Y:4.39, Z:2.98 [[ 9.99048105e-01 -4.27319614e-02 -8.76717726e-03 4.36755998e+02] [ 4.27327698e-02 9.99086533e-01 -9.51833095e-05 4.39143603e+00] [ 8.76323610e-03 -2.79553063e-04 9.99961563e-01 2.97688525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.25925415399996 meters 0.01998486792149815 Centerline is valid? [True, True] Translation: X:436.79, Y:4.39, Z:2.98 [[ 9.98943271e-01 -4.51312991e-02 -8.68952982e-03 4.36788157e+02] [ 4.51321883e-02 9.98981019e-01 -9.38333712e-05 4.39008635e+00] [ 8.68491018e-03 -2.98443281e-04 9.99962241e-01 2.97664792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.28925415399993 meters 0.02082544694809871 Centerline is valid? [True, True] Translation: X:436.82, Y:4.39, Z:2.98 [[ 9.98834660e-01 -4.73155449e-02 -9.51638426e-03 4.36820210e+02] [ 4.73167176e-02 9.98879932e-01 -1.02009377e-04 4.38696189e+00] [ 9.51055188e-03 -3.48393565e-04 9.99954713e-01 2.97624077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.31925415399996 meters 0.022301493094471003 Centerline is valid? [True, True] Translation: X:436.85, Y:4.38, Z:2.98 [[ 9.98637927e-01 -5.09726854e-02 -1.11389164e-02 4.36851546e+02] [ 5.09745276e-02 9.98699947e-01 -1.18652576e-04 4.38187873e+00] [ 1.11304832e-02 -4.49310037e-04 9.99937953e-01 2.97507584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.34925415399994 meters 0.023501726494717788 Centerline is valid? [True, True] Translation: X:436.88, Y:4.38, Z:2.97 [[ 9.98567718e-01 -5.21950158e-02 -1.17555434e-02 4.36882730e+02] [ 5.21971583e-02 9.98636791e-01 -1.24691737e-04 4.37864938e+00] [ 1.17460264e-02 -4.89092815e-04 9.99930893e-01 2.97423496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37925415399997 meters 0.02272893966130723 Centerline is valid? [True, True] Translation: X:436.92, Y:4.38, Z:2.97 [[ 9.98502523e-01 -5.33136163e-02 -1.22625632e-02 4.36915153e+02] [ 5.33160415e-02 9.98577680e-01 -1.29281283e-04 4.37904406e+00] [ 1.22520144e-02 -5.24703641e-04 9.99924804e-01 2.97431468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.40925415399994 meters 0.02272893966130723 Centerline is valid? [True, True] Translation: X:436.95, Y:4.38, Z:2.97 [[ 9.98506460e-01 -5.32398309e-02 -1.22625727e-02 4.36946871e+02] [ 5.32422616e-02 9.98581617e-01 -1.28374474e-04 4.37931734e+00] [ 1.22520143e-02 -5.24704363e-04 9.99924804e-01 2.97453435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43925415399997 meters 0.023945697778195964 Centerline is valid? [True, True] Translation: X:436.98, Y:4.38, Z:2.97 [[ 9.98469729e-01 -5.37725795e-02 -1.29115995e-02 4.36977981e+02] [ 5.37753301e-02 9.98553051e-01 -1.34300445e-04 4.37666100e+00] [ 1.29001388e-02 -5.60230597e-04 9.99916633e-01 2.97445356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.46925415399994 meters 0.022723234051449194 Centerline is valid? [True, True] Translation: X:437.01, Y:4.38, Z:2.97 [[ 9.98506325e-01 -5.30491222e-02 -1.30732241e-02 4.37010339e+02] [ 5.30518912e-02 9.98591748e-01 -1.35140787e-04 4.37673620e+00] [ 1.30619828e-02 -5.58620331e-04 9.99914533e-01 2.97498442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49925415399997 meters 0.02265676006852751 Centerline is valid? [True, True] Translation: X:437.04, Y:4.38, Z:2.98 [[ 9.98590195e-01 -5.15056638e-02 -1.28369866e-02 4.37041936e+02] [ 5.15082183e-02 9.98672562e-01 -1.31761939e-04 4.37606428e+00] [ 1.28267327e-02 -5.29634126e-04 9.99917594e-01 2.97540010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.52925415399994 meters 0.02176989200622971 Centerline is valid? [True, True] Translation: X:437.07, Y:4.38, Z:2.98 [[ 9.98691481e-01 -4.94653539e-02 -1.29809462e-02 4.37074556e+02] [ 4.94678078e-02 9.98775710e-01 -1.32170618e-04 4.37700597e+00] [ 1.29715916e-02 -5.10141282e-04 9.99915735e-01 2.97616244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5592541539999 meters 0.020425229765929347 Centerline is valid? [True, True] Translation: X:437.10, Y:4.38, Z:2.98 [[ 9.98964033e-01 -4.38169715e-02 -1.22854888e-02 4.37104362e+02] [ 4.38187502e-02 9.99039490e-01 -1.24488374e-04 4.37902627e+00] [ 1.22791431e-02 -4.13975355e-04 9.99924523e-01 2.97688989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.58925415399995 meters 0.018927705571316615 Centerline is valid? [True, True] Translation: X:437.14, Y:4.38, Z:2.98 [[ 9.99107819e-01 -4.03975748e-02 -1.23126452e-02 4.37135822e+02] [ 4.03991044e-02 9.99183615e-01 -1.24564908e-04 4.38163885e+00] [ 1.23076255e-02 -3.72966066e-04 9.99924189e-01 2.97734712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6192541539999 meters 0.017976930848299686 Centerline is valid? [True, True] Translation: X:437.17, Y:4.38, Z:2.98 [[ 9.99241251e-01 -3.69132644e-02 -1.24231314e-02 4.37166888e+02] [ 3.69145582e-02 9.99318418e-01 -1.25222093e-04 4.38334771e+00] [ 1.24192864e-02 -3.33467326e-04 9.99922822e-01 2.97767429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.64925415399995 meters 0.017964443885993473 Centerline is valid? [True, True] Translation: X:437.20, Y:4.38, Z:2.98 [[ 9.99359215e-01 -3.35018440e-02 -1.26010597e-02 4.37196876e+02] [ 3.35029086e-02 9.99438612e-01 -1.26653207e-04 4.38346835e+00] [ 1.25982287e-02 -2.95600101e-04 9.99920595e-01 2.97738208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6792541539999 meters 0.01668225814042991 Centerline is valid? [True, True] Translation: X:437.23, Y:4.38, Z:2.98 [[ 9.99538016e-01 -2.77819205e-02 -1.23255642e-02 4.37227164e+02] [ 2.77825070e-02 9.99613984e-01 -1.23664915e-04 4.38400591e+00] [ 1.23242420e-02 -2.18827292e-04 9.99924030e-01 2.97723620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.70925415399995 meters 0.015635264309689013 Centerline is valid? [True, True] Translation: X:437.26, Y:4.39, Z:2.98 [[ 9.99583125e-01 -2.59227631e-02 -1.27116357e-02 4.37258873e+02] [ 2.59232410e-02 9.99663928e-01 -1.27200227e-04 4.38596897e+00] [ 1.27106611e-02 -2.02379596e-04 9.99919196e-01 2.97802822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7392541539999 meters 0.01587660624403403 Centerline is valid? [True, True] Translation: X:437.29, Y:4.38, Z:2.98 [[ 9.99610221e-01 -2.46552796e-02 -1.30966897e-02 4.37288903e+02] [ 2.46556815e-02 9.99695994e-01 -1.30792757e-04 4.38407167e+00] [ 1.30959329e-02 -1.92166033e-04 9.99914226e-01 2.97731951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.76925415399995 meters 0.015253208200612168 Centerline is valid? [True, True] Translation: X:437.32, Y:4.38, Z:2.98 [[ 9.99577925e-01 -2.45709522e-02 -1.54996913e-02 4.37319663e+02] [ 2.45715051e-02 9.99698063e-01 -1.54790822e-04 4.38376713e+00] [ 1.54988147e-02 -2.26125254e-04 9.99879861e-01 2.97697393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7992541539999 meters 0.015453063307332239 Centerline is valid? [True, True] Translation: X:437.35, Y:4.38, Z:2.98 [[ 9.99540695e-01 -2.56553413e-02 -1.61307824e-02 4.37348810e+02] [ 2.56560732e-02 9.99670816e-01 -1.61598971e-04 4.38195765e+00] [ 1.61296183e-02 -2.52327787e-04 9.99869877e-01 2.97632663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.82925415399995 meters 0.016069705140895035 Centerline is valid? [True, True] Translation: X:437.38, Y:4.38, Z:2.98 [[ 9.99477443e-01 -2.70954697e-02 -1.76259942e-02 4.37377477e+02] [ 2.70965121e-02 9.99632806e-01 -1.79721905e-04 4.37944313e+00] [ 1.76243917e-02 -2.97974976e-04 9.99844634e-01 2.97563485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8592541539999 meters 0.016623777609031408 Centerline is valid? [True, True] Translation: X:437.41, Y:4.38, Z:2.97 [[ 9.99413844e-01 -2.91332984e-02 -1.79783223e-02 4.37405743e+02] [ 2.91346621e-02 9.99575478e-01 -1.86114102e-04 4.37568142e+00] [ 1.79761122e-02 -3.37787335e-04 9.99838360e-01 2.97488959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.88925415399996 meters 0.017151018825737562 Centerline is valid? [True, True] Translation: X:437.44, Y:4.37, Z:2.98 [[ 9.99269459e-01 -3.32614508e-02 -1.88208597e-02 4.37435030e+02] [ 3.32636527e-02 9.99446592e-01 -1.96133951e-04 4.37070652e+00] [ 1.88169677e-02 -4.30059872e-04 9.99822853e-01 2.97517368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.91925415399993 meters 0.01781015430975503 Centerline is valid? [True, True] Translation: X:437.46, Y:4.37, Z:2.98 [[ 9.99200852e-01 -3.53224712e-02 -1.87077466e-02 4.37463848e+02] [ 3.53249455e-02 9.99375860e-01 -1.98281912e-04 4.36763961e+00] [ 1.87030741e-02 -4.62726672e-04 9.99824975e-01 2.97544376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.94925415399996 meters 0.018037296891658262 Centerline is valid? [True, True] Translation: X:437.49, Y:4.37, Z:2.98 [[ 9.99130654e-01 -3.74058198e-02 -1.84049024e-02 4.37493812e+02] [ 3.74085286e-02 9.99300037e-01 -1.97199018e-04 4.36620847e+00] [ 1.83993960e-02 -4.91472734e-04 9.99830596e-01 2.97625801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.97925415399993 meters 0.01919288355083128 Centerline is valid? [True, True] Translation: X:437.52, Y:4.36, Z:2.98 [[ 9.99022557e-01 -4.05747908e-02 -1.75390338e-02 4.37523510e+02] [ 4.05777322e-02 9.99176367e-01 -1.88283295e-04 4.36201755e+00] [ 1.75322276e-02 -5.23594958e-04 9.99846162e-01 2.97780989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.00925415399996 meters 0.018673223409272105 Centerline is valid? [True, True] Translation: X:437.55, Y:4.36, Z:2.98 [[ 9.98994018e-01 -4.16105506e-02 -1.67186894e-02 4.37554875e+02] [ 4.16133729e-02 9.99133772e-01 -1.79190619e-04 4.36207066e+00] [ 1.67116634e-02 -5.16710700e-04 9.99860217e-01 2.97942295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.03925415399993 meters 0.019193043071892808 Centerline is valid? [True, True] Translation: X:437.59, Y:4.36, Z:2.98 [[ 9.98979808e-01 -4.21343480e-02 -1.62493071e-02 4.37585195e+02] [ 4.21370961e-02 9.99111823e-01 -1.73366403e-04 4.36045849e+00] [ 1.62421795e-02 -5.11509078e-04 9.99867956e-01 2.98010697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.06925415399996 meters 0.020039784203464295 Centerline is valid? [True, True] Translation: X:437.62, Y:4.36, Z:2.98 [[ 9.98982952e-01 -4.23699729e-02 -1.54222984e-02 4.37615760e+02] [ 4.23724847e-02 9.99101869e-01 -1.64004665e-04 4.35808759e+00] [ 1.54153961e-02 -4.89643240e-04 9.99881056e-01 2.98063801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.09925415399994 meters 0.019812143635474868 Centerline is valid? [True, True] Translation: X:437.65, Y:4.36, Z:2.98 [[ 9.99025501e-01 -4.16966814e-02 -1.44718597e-02 4.37647359e+02] [ 4.16988281e-02 9.99130214e-01 -1.53509829e-04 4.35700087e+00] [ 1.44656731e-02 -4.50099356e-04 9.99895265e-01 2.98198544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.12925415399997 meters 0.019040244045408262 Centerline is valid? [True, True] Translation: X:437.68, Y:4.36, Z:2.98 [[ 9.99067437e-01 -4.09462862e-02 -1.36988267e-02 4.37678547e+02] [ 4.09481457e-02 9.99161262e-01 -1.44830075e-04 4.35775759e+00] [ 1.36932673e-02 -4.16246541e-04 9.99906156e-01 2.98305196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.15925415399994 meters 0.019459694386066536 Centerline is valid? [True, True] Translation: X:437.71, Y:4.36, Z:2.98 [[ 9.99109986e-01 -4.00052881e-02 -1.33720618e-02 4.37708499e+02] [ 4.00069806e-02 9.99199390e-01 -1.41014362e-04 4.35661109e+00] [ 1.33669973e-02 -3.94086959e-04 9.99910580e-01 2.98354867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.18925415399997 meters 0.01823181494734919 Centerline is valid? [True, True] Translation: X:437.74, Y:4.36, Z:2.98 [[ 9.99153432e-01 -3.90442894e-02 -1.29600081e-02 4.37740352e+02] [ 3.90458043e-02 9.99237413e-01 -1.36217453e-04 4.35845711e+00] [ 1.29554434e-02 -3.69931803e-04 9.99916006e-01 2.98444430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.21925415399994 meters 0.017781569214490325 Centerline is valid? [True, True] Translation: X:437.77, Y:4.36, Z:2.98 [[ 9.99209579e-01 -3.75534897e-02 -1.30365947e-02 4.37771687e+02] [ 3.75549037e-02 9.99294556e-01 -1.36416549e-04 4.35752220e+00] [ 1.30325210e-02 -3.53279334e-04 9.99915011e-01 2.98476106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.24925415399997 meters 0.01740224687740419 Centerline is valid? [True, True] Translation: X:437.80, Y:4.36, Z:2.98 [[ 9.99229120e-01 -3.71834727e-02 -1.25918445e-02 4.37802869e+02] [ 3.71847682e-02 9.99308399e-01 -1.31307781e-04 4.35730243e+00] [ 1.25880184e-02 -3.37018260e-04 9.99920711e-01 2.98472378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.27925415399994 meters 0.017636500222888964 Centerline is valid? [True, True] Translation: X:437.83, Y:4.36, Z:2.98 [[ 9.99242369e-01 -3.67913861e-02 -1.26918023e-02 4.37834285e+02] [ 3.67926779e-02 9.99322912e-01 -1.31772163e-04 4.35557668e+00] [ 1.26880569e-02 -3.35293066e-04 9.99919447e-01 2.98417981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3092541539999 meters 0.017693251890936703 Centerline is valid? [True, True] Translation: X:437.87, Y:4.35, Z:2.98 [[ 9.99236387e-01 -3.66032911e-02 -1.36690390e-02 4.37865080e+02] [ 3.66047793e-02 9.99329810e-01 -1.41382214e-04 4.35324856e+00] [ 1.36650532e-02 -3.59077903e-04 9.99906564e-01 2.98358951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.33925415399995 meters 0.017987132384432086 Centerline is valid? [True, True] Translation: X:437.90, Y:4.35, Z:2.98 [[ 9.99237663e-01 -3.64299295e-02 -1.40340102e-02 4.37895816e+02] [ 3.64314848e-02 9.99336143e-01 -1.44899287e-04 4.35217618e+00] [ 1.40299723e-02 -3.66491005e-04 9.99901508e-01 2.98302341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3692541539999 meters 0.017489482395967027 Centerline is valid? [True, True] Translation: X:437.93, Y:4.35, Z:2.98 [[ 9.99231820e-01 -3.62540592e-02 -1.48799408e-02 4.37927296e+02] [ 3.62557945e-02 9.99342531e-01 -1.53208975e-04 4.35283196e+00] [ 1.48757122e-02 -3.86392793e-04 9.99889276e-01 2.98259308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.39925415399995 meters 0.017329925147524686 Centerline is valid? [True, True] Translation: X:437.96, Y:4.35, Z:2.98 [[ 9.99217022e-01 -3.62194247e-02 -1.59215723e-02 4.37957513e+02] [ 3.62214115e-02 9.99343776e-01 -1.63661863e-04 4.35238368e+00] [ 1.59170519e-02 -4.13168102e-04 9.99873230e-01 2.98211344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4292541539999 meters 0.018140727033008803 Centerline is valid? [True, True] Translation: X:437.99, Y:4.35, Z:2.98 [[ 9.99156341e-01 -3.69132613e-02 -1.80005055e-02 4.37987049e+02] [ 3.69159121e-02 9.99318358e-01 -1.85107196e-04 4.34972029e+00] [ 1.79950685e-02 -4.79554051e-04 9.99837961e-01 2.98003929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.45925415399995 meters 0.01862036227042977 Centerline is valid? [True, True] Translation: X:438.02, Y:4.35, Z:2.98 [[ 9.99110439e-01 -3.77913180e-02 -1.87122084e-02 4.38016765e+02] [ 3.77943277e-02 9.99285521e-01 -1.92898368e-04 4.34862544e+00] [ 1.87061288e-02 -5.14488565e-04 9.99824893e-01 2.97945066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4892541539999 meters 0.01859920756881559 Centerline is valid? [True, True] Translation: X:438.05, Y:4.35, Z:2.98 [[ 9.99067191e-01 -3.88343691e-02 -1.88849293e-02 4.38046260e+02] [ 3.88376079e-02 9.99245516e-01 -1.95362833e-04 4.34810387e+00] [ 1.88782677e-02 -5.38264880e-04 9.99821645e-01 2.97960424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.51925415399995 meters 0.019600877295510563 Centerline is valid? [True, True] Translation: X:438.08, Y:4.35, Z:2.98 [[ 9.99009015e-01 -4.03710335e-02 -1.87394919e-02 4.38075338e+02] [ 4.03744715e-02 9.99184600e-01 -1.94987020e-04 4.34625981e+00] [ 1.87320835e-02 -5.61803290e-04 9.99824381e-01 2.97957220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5492541539999 meters 0.022004814073353605 Centerline is valid? [True, True] Translation: X:438.10, Y:4.34, Z:2.98 [[ 9.98885118e-01 -4.38511814e-02 -1.74812895e-02 4.38104159e+02] [ 4.38546872e-02 9.99037904e-01 -1.82934516e-04 4.34193149e+00] [ 1.74724927e-02 -5.83905916e-04 9.99847174e-01 2.98014320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.57925415399995 meters 0.020131073785614226 Centerline is valid? [True, True] Translation: X:438.13, Y:4.34, Z:2.98 [[ 9.98810696e-01 -4.56911436e-02 -1.70150835e-02 4.38134689e+02] [ 4.56947254e-02 9.98955435e-01 -1.78412310e-04 4.34491259e+00] [ 1.70054620e-02 -5.99299446e-04 9.99855217e-01 2.98196291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6092541539999 meters 0.022399368719803636 Centerline is valid? [True, True] Translation: X:438.17, Y:4.34, Z:2.98 [[ 9.98607452e-01 -5.03348255e-02 -1.57975545e-02 4.38165067e+02] [ 5.03384956e-02 9.98732201e-01 -1.65483903e-04 4.34010683e+00] [ 1.57858559e-02 -6.29971667e-04 9.99875197e-01 2.98228166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.63925415399996 meters 0.02225585920613369 Centerline is valid? [True, True] Translation: X:438.20, Y:4.34, Z:2.98 [[ 9.98477899e-01 -5.28577251e-02 -1.57463277e-02 4.38196639e+02] [ 5.28616917e-02 9.98601830e-01 -1.64494192e-04 4.34003189e+00] [ 1.57330064e-02 -6.68133705e-04 9.99876005e-01 2.98272549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.66925415399993 meters 0.024194935181479218 Centerline is valid? [True, True] Translation: X:438.23, Y:4.34, Z:2.98 [[ 9.98350942e-01 -5.53034382e-02 -1.53924180e-02 4.38226900e+02] [ 5.53075248e-02 9.98469355e-01 -1.60390128e-04 4.33706817e+00] [ 1.53777278e-02 -6.91190903e-04 9.99881517e-01 2.98243746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.69925415399996 meters 0.02616414133158759 Centerline is valid? [True, True] Translation: X:438.26, Y:4.33, Z:2.98 [[ 9.98211489e-01 -5.78301266e-02 -1.51492348e-02 4.38257063e+02] [ 5.78343795e-02 9.98326179e-01 -1.57581547e-04 4.33392240e+00] [ 1.51329907e-02 -7.18846886e-04 9.99885231e-01 2.98257210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.72925415399993 meters 0.02610787476625912 Centerline is valid? [True, True] Translation: X:438.29, Y:4.33, Z:2.98 [[ 9.97963475e-01 -6.21319608e-02 -1.44403228e-02 4.38287895e+02] [ 6.21362795e-02 9.98067663e-01 -1.49823780e-04 4.33388704e+00] [ 1.44217281e-02 -7.47749274e-04 9.99895722e-01 2.98361861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.75925415399996 meters 0.028334172641659296 Centerline is valid? [True, True] Translation: X:438.32, Y:4.33, Z:2.98 [[ 9.97848177e-01 -6.40776995e-02 -1.38947839e-02 4.38318482e+02] [ 6.40819018e-02 9.97944632e-01 -1.43033931e-04 4.33085448e+00] [ 1.38753903e-02 -7.47678028e-04 9.99903453e-01 2.98385565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.78925415399993 meters 0.028737409226583747 Centerline is valid? [True, True] Translation: X:438.35, Y:4.33, Z:2.98 [[ 9.97761613e-01 -6.55198414e-02 -1.33758743e-02 4.38350528e+02] [ 6.55238825e-02 9.97850992e-01 -1.36366154e-04 4.33047820e+00] [ 1.33560641e-02 -7.40378302e-04 9.99910530e-01 2.98427380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.81925415399996 meters 0.028750059340112714 Centerline is valid? [True, True] Translation: X:438.38, Y:4.33, Z:2.98 [[ 9.97672017e-01 -6.68597929e-02 -1.34281232e-02 4.38383025e+02] [ 6.68639998e-02 9.97762089e-01 -1.35916637e-04 4.33106914e+00] [ 1.34071596e-02 -7.62257804e-04 9.99909829e-01 2.98491527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.84925415399994 meters 0.030825439042728327 Centerline is valid? [True, True] Translation: X:438.41, Y:4.33, Z:2.99 [[ 9.97576025e-01 -6.83074960e-02 -1.32725341e-02 4.38414474e+02] [ 6.83117449e-02 9.97664015e-01 -1.33492811e-04 4.32872734e+00] [ 1.32506482e-02 -7.73500737e-04 9.99911907e-01 2.98512360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87925415399997 meters 0.028990098878924803 Centerline is valid? [True, True] Translation: X:438.45, Y:4.33, Z:2.99 [[ 9.97566710e-01 -6.84204840e-02 -1.33901987e-02 4.38446974e+02] [ 6.84248302e-02 9.97656266e-01 -1.33816092e-04 4.33186542e+00] [ 1.33679714e-02 -7.82731594e-04 9.99910338e-01 2.98544721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.90925415399994 meters 0.03088649756003761 Centerline is valid? [True, True] Translation: X:438.48, Y:4.33, Z:2.99 [[ 9.97578859e-01 -6.81872417e-02 -1.36718903e-02 4.38478671e+02] [ 6.81917649e-02 9.97672223e-01 -1.35613513e-04 4.32997550e+00] [ 1.36493123e-02 -7.97025156e-04 9.99906526e-01 2.98519131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93925415399997 meters 0.030070079714262715 Centerline is valid? [True, True] Translation: X:438.51, Y:4.33, Z:2.98 [[ 9.97628303e-01 -6.73324354e-02 -1.42868157e-02 4.38510984e+02] [ 6.73373024e-02 9.97730258e-01 -1.40649450e-04 4.33285492e+00] [ 1.42638586e-02 -8.21719757e-04 9.99897928e-01 2.98467077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.96925415399994 meters 0.02981958460716948 Centerline is valid? [True, True] Translation: X:438.54, Y:4.33, Z:2.98 [[ 9.97695940e-01 -6.61564916e-02 -1.50375908e-02 4.38543598e+02] [ 6.61617695e-02 9.97808899e-01 -1.46781501e-04 4.33424697e+00] [ 1.50143524e-02 -8.48470307e-04 9.99886918e-01 2.98420855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99925415399997 meters 0.029580640800490634 Centerline is valid? [True, True] Translation: X:438.58, Y:4.34, Z:2.98 [[ 9.97763777e-01 -6.48844885e-02 -1.60451996e-02 4.38575647e+02] [ 6.48903547e-02 9.97892388e-01 -1.55295910e-04 4.33600045e+00] [ 1.60214589e-02 -8.86230061e-04 9.99871255e-01 2.98376385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.02925415399994 meters 0.02727128470545446 Centerline is valid? [True, True] Translation: X:438.61, Y:4.34, Z:2.98 [[ 9.97848980e-01 -6.33858173e-02 -1.67228047e-02 4.38606675e+02] [ 6.33919944e-02 9.97988692e-01 -1.60976627e-04 4.34095598e+00] [ 1.66993736e-02 -8.99461579e-04 9.99860151e-01 2.98367837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0592541539999 meters 0.026323319352237497 Centerline is valid? [True, True] Translation: X:438.64, Y:4.35, Z:2.98 [[ 9.98051307e-01 -5.97250424e-02 -1.80695487e-02 4.38637090e+02] [ 5.97316613e-02 9.98214455e-01 -1.73665959e-04 4.34577441e+00] [ 1.80476569e-02 -9.05996624e-04 9.99836717e-01 2.98309925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.08925415399995 meters 0.026825760175590806 Centerline is valid? [True, True] Translation: X:438.67, Y:4.35, Z:2.98 [[ 9.98181958e-01 -5.73665708e-02 -1.84893351e-02 4.38667729e+02] [ 5.73731050e-02 9.98352791e-01 -1.77280248e-04 4.34757480e+00] [ 1.84690493e-02 -8.83832619e-04 9.99829042e-01 2.98296393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1192541539999 meters 0.02509535573373651 Centerline is valid? [True, True] Translation: X:438.70, Y:4.35, Z:2.98 [[ 9.98345539e-01 -5.44699059e-02 -1.84177835e-02 4.38699036e+02] [ 5.44759100e-02 9.98515070e-01 -1.75927756e-04 4.35289794e+00] [ 1.84000172e-02 -8.27688826e-04 9.99830363e-01 2.98380509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.14925415399995 meters 0.02266223463403418 Centerline is valid? [True, True] Translation: X:438.73, Y:4.36, Z:2.99 [[ 9.98673874e-01 -4.82746598e-02 -1.78899559e-02 4.38729824e+02] [ 4.82793380e-02 9.98833858e-01 -1.70555539e-04 4.36262019e+00] [ 1.78773272e-02 -6.93385868e-04 9.99839947e-01 2.98524755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1792541539999 meters 0.0221141839693615 Centerline is valid? [True, True] Translation: X:438.76, Y:4.37, Z:2.99 [[ 9.98846280e-01 -4.47195232e-02 -1.75006511e-02 4.38759604e+02] [ 4.47234559e-02 9.98999392e-01 -1.66790290e-04 4.36622038e+00] [ 1.74905985e-02 -6.16091734e-04 9.99846838e-01 2.98571014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.20925415399995 meters 0.020355941240031445 Centerline is valid? [True, True] Translation: X:438.79, Y:4.37, Z:2.99 [[ 9.99004295e-01 -4.12299510e-02 -1.70443171e-02 4.38790199e+02] [ 4.12331738e-02 9.99149538e-01 -1.62441190e-04 4.37220109e+00] [ 1.70365190e-02 -5.40511842e-04 9.99854722e-01 2.98650342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2392541539999 meters 0.0194229876154738 Centerline is valid? [True, True] Translation: X:438.82, Y:4.38, Z:2.99 [[ 9.99144028e-01 -3.77153943e-02 -1.69929368e-02 4.38820856e+02] [ 3.77180899e-02 9.99288407e-01 -1.61951510e-04 4.37632843e+00] [ 1.69869528e-02 -4.79128234e-04 9.99855597e-01 2.98746411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.26925415399995 meters 0.017680907200517352 Centerline is valid? [True, True] Translation: X:438.85, Y:4.38, Z:2.99 [[ 9.99404416e-01 -3.07678630e-02 -1.56253359e-02 4.38850702e+02] [ 3.07692909e-02 9.99526502e-01 -1.49072244e-04 4.38492679e+00] [ 1.56225239e-02 -3.31797045e-04 9.99877906e-01 2.98903788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2992541539999 meters 0.017056034489600493 Centerline is valid? [True, True] Translation: X:438.88, Y:4.39, Z:2.99 [[ 9.99511222e-01 -2.74413932e-02 -1.49762014e-02 4.38881390e+02] [ 2.74423298e-02 9.99623378e-01 -1.42997351e-04 4.38918950e+00] [ 1.49744851e-02 -2.68054400e-04 9.99887840e-01 2.98986680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.32925415399995 meters 0.017056034489600493 Centerline is valid? [True, True] Translation: X:438.91, Y:4.39, Z:2.99 [[ 9.99510254e-01 -2.74766407e-02 -1.49761987e-02 4.38910549e+02] [ 2.74775770e-02 9.99622410e-01 -1.43281120e-04 4.38949898e+00] [ 1.49744807e-02 -2.68298704e-04 9.99887840e-01 2.99006887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3592541539999 meters 0.015986864148315322 Centerline is valid? [True, True] Translation: X:438.94, Y:4.39, Z:2.99 [[ 9.99600291e-01 -2.41835913e-02 -1.46428290e-02 4.38941164e+02] [ 2.41841297e-02 9.99707511e-01 -1.40330600e-04 4.39483803e+00] [ 1.46419398e-02 -2.13849566e-04 9.99892778e-01 2.99121218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.38925415399996 meters 0.01567035326505829 Centerline is valid? [True, True] Translation: X:438.97, Y:4.40, Z:2.99 [[ 9.99649401e-01 -2.18645238e-02 -1.49337471e-02 4.38971184e+02] [ 2.18648207e-02 9.99760926e-01 -1.43411839e-04 4.39816772e+00] [ 1.49333124e-02 -1.83162143e-04 9.99888475e-01 2.99171160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.41925415399993 meters 0.01677250326286404 Centerline is valid? [True, True] Translation: X:439.00, Y:4.40, Z:2.99 [[ 9.99671899e-01 -1.94637958e-02 -1.66509607e-02 4.38999606e+02] [ 1.94637859e-02 9.99810549e-01 -1.62667590e-04 4.40230815e+00] [ 1.66509723e-02 -1.61476516e-04 9.99861350e-01 2.99076982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.44925415399996 meters 0.015401914199691854 Centerline is valid? [True, True] Translation: X:439.03, Y:4.40, Z:2.99 [[ 9.99673472e-01 -1.97765957e-02 -1.61813587e-02 4.39027787e+02] [ 1.97765559e-02 9.99804412e-01 -1.62492432e-04 4.40348057e+00] [ 1.61814073e-02 -1.57572171e-04 9.99869060e-01 2.99107265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.47925415399993 meters 0.015470428169334083 Centerline is valid? [True, True] Translation: X:439.06, Y:4.40, Z:2.99 [[ 9.99653990e-01 -2.02765723e-02 -1.67559174e-02 4.39055739e+02] [ 2.02765424e-02 9.99794395e-01 -1.71687104e-04 4.40365946e+00] [ 1.67559535e-02 -1.68124371e-04 9.99859595e-01 2.99064587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.50925415399996 meters 0.015734023107795463 Centerline is valid? [True, True] Translation: X:439.08, Y:4.40, Z:2.99 [[ 9.99599527e-01 -2.21637817e-02 -1.75940979e-02 4.39083622e+02] [ 2.21640069e-02 9.99754332e-01 -1.82217094e-04 4.40254374e+00] [ 1.75938142e-02 -2.07811586e-04 9.99845195e-01 2.98986956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.53925415399993 meters 0.015767182541420365 Centerline is valid? [True, True] Translation: X:439.11, Y:4.40, Z:2.99 [[ 9.99566156e-01 -2.30964705e-02 -1.82771330e-02 4.39112124e+02] [ 2.30968061e-02 9.99733215e-01 -1.92756372e-04 4.40205399e+00] [ 1.82767089e-02 -2.29470651e-04 9.99832941e-01 2.98943861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.56925415399996 meters 0.016095177789016733 Centerline is valid? [True, True] Translation: X:439.14, Y:4.40, Z:2.99 [[ 9.99534515e-01 -2.39798688e-02 -1.88605360e-02 4.39139480e+02] [ 2.39803300e-02 9.99712410e-01 -2.01737553e-04 4.40160397e+00] [ 1.88599495e-02 -2.50638230e-04 9.99822104e-01 2.98904292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.59925415399994 meters 0.016310120702439708 Centerline is valid? [True, True] Translation: X:439.17, Y:4.40, Z:2.99 [[ 9.99495737e-01 -2.48307093e-02 -1.97916214e-02 4.39168071e+02] [ 2.48313089e-02 9.99691632e-01 -2.15488844e-04 4.40132890e+00] [ 1.97908690e-02 -2.76071685e-04 9.99804103e-01 2.98856693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.62925415399997 meters 0.016167632963675068 Centerline is valid? [True, True] Translation: X:439.19, Y:4.40, Z:2.99 [[ 9.99496106e-01 -2.49567338e-02 -1.96136439e-02 4.39194930e+02] [ 2.49572837e-02 9.99688495e-01 -2.16775404e-04 4.40095325e+00] [ 1.96129442e-02 -2.72837104e-04 9.99807610e-01 2.98885767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.65925415399994 meters 0.01617950170997717 Centerline is valid? [True, True] Translation: X:439.22, Y:4.40, Z:2.99 [[ 9.99485206e-01 -2.53653573e-02 -1.96448826e-02 4.39222532e+02] [ 2.53658998e-02 9.99678209e-01 -2.21603090e-04 4.40120786e+00] [ 1.96441821e-02 -2.76821116e-04 9.99806996e-01 2.98937103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.68925415399997 meters 0.01588748729569473 Centerline is valid? [True, True] Translation: X:439.25, Y:4.40, Z:2.99 [[ 9.99470870e-01 -2.58176265e-02 -1.97846099e-02 4.39250067e+02] [ 2.58181520e-02 9.99666630e-01 -2.28908377e-04 4.40077846e+00] [ 1.97839241e-02 -2.82014809e-04 9.99804239e-01 2.98982412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.71925415399994 meters 0.01866839201996398 Centerline is valid? [True, True] Translation: X:439.28, Y:4.40, Z:2.99 [[ 9.99419280e-01 -2.59748956e-02 -2.20546387e-02 4.39278280e+02] [ 2.59755076e-02 9.99662546e-01 -2.58773035e-04 4.39917206e+00] [ 2.20539179e-02 -3.14257675e-04 9.99756733e-01 2.98884672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.74925415399997 meters 0.015847234978345913 Centerline is valid? [True, True] Translation: X:439.31, Y:4.40, Z:2.99 [[ 9.99437926e-01 -2.69032395e-02 -2.00011709e-02 4.39307176e+02] [ 2.69038500e-02 9.99637997e-01 -2.38609778e-04 4.39940634e+00] [ 2.00003498e-02 -2.99632838e-04 9.99799928e-01 2.99114242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.77925415399994 meters 0.01605325690977139 Centerline is valid? [True, True] Translation: X:439.33, Y:4.40, Z:2.99 [[ 9.99424868e-01 -2.74152831e-02 -1.99583242e-02 4.39334538e+02] [ 2.74159337e-02 9.99624084e-01 -2.41066738e-04 4.39818596e+00] [ 1.99574304e-02 -3.06247999e-04 9.99800784e-01 2.99086376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8092541539999 meters 0.01826627150105647 Centerline is valid? [True, True] Translation: X:439.36, Y:4.40, Z:2.99 [[ 9.99388542e-01 -2.75969830e-02 -2.14697296e-02 4.39363482e+02] [ 2.75976823e-02 9.99619077e-01 -2.63777335e-04 4.39836900e+00] [ 2.14688307e-02 -3.28898730e-04 9.99769464e-01 2.99133451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.83925415399995 meters 0.017942012831254323 Centerline is valid? [True, True] Translation: X:439.39, Y:4.40, Z:2.99 [[ 9.99405664e-01 -2.76223170e-02 -2.06234631e-02 4.39390974e+02] [ 2.76229059e-02 9.99618382e-01 -2.56367143e-04 4.39589141e+00] [ 2.06226743e-02 -3.13465207e-04 9.99787281e-01 2.99103745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8692541539999 meters 0.015894141189262693 Centerline is valid? [True, True] Translation: X:439.42, Y:4.40, Z:2.99 [[ 9.99420759e-01 -2.79830036e-02 -1.93674492e-02 4.39419474e+02] [ 2.79835174e-02 9.99608355e-01 -2.44532239e-04 4.39571779e+00] [ 1.93667068e-02 -2.97578757e-04 9.99812403e-01 2.99239387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.89925415399995 meters 0.01583392603375411 Centerline is valid? [True, True] Translation: X:439.45, Y:4.39, Z:2.99 [[ 9.99430794e-01 -2.76044661e-02 -1.93928302e-02 4.39447696e+02] [ 2.76048538e-02 9.99618883e-01 -2.47753184e-04 4.39461203e+00] [ 1.93922784e-02 -2.87724082e-04 9.99811911e-01 2.99218568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9292541539999 meters 0.015655234562467153 Centerline is valid? [True, True] Translation: X:439.48, Y:4.39, Z:2.99 [[ 9.99434617e-01 -2.74349235e-02 -1.94363157e-02 4.39475217e+02] [ 2.74351973e-02 9.99623552e-01 -2.52606226e-04 4.39388072e+00] [ 1.94359292e-02 -2.80775750e-04 9.99811065e-01 2.99233525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.95925415399995 meters 0.01604729434219447 Centerline is valid? [True, True] Translation: X:439.50, Y:4.39, Z:2.99 [[ 9.99442739e-01 -2.68406695e-02 -1.98441193e-02 4.39502642e+02] [ 2.68407641e-02 9.99639688e-01 -2.61623206e-04 4.39077103e+00] [ 1.98439914e-02 -2.71153912e-04 9.99803052e-01 2.99119215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9892541539999 meters 0.015728746584001307 Centerline is valid? [True, True] Translation: X:439.53, Y:4.39, Z:2.99 [[ 9.99453921e-01 -2.64548508e-02 -1.97990134e-02 4.39530119e+02] [ 2.64547801e-02 9.99649976e-01 -2.65534121e-04 4.39070995e+00] [ 1.97991079e-02 -2.58389427e-04 9.99803945e-01 2.99146123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.01925415399995 meters 0.015405682904166709 Centerline is valid? [True, True] Translation: X:439.56, Y:4.39, Z:2.99 [[ 9.99455367e-01 -2.60913137e-02 -2.02042877e-02 4.39558196e+02] [ 2.60910464e-02 9.99659532e-01 -2.76877948e-04 4.39140473e+00] [ 2.02046330e-02 -2.50423857e-04 9.99795834e-01 2.99249220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0492541539999 meters 0.015165395750515781 Centerline is valid? [True, True] Translation: X:439.59, Y:4.39, Z:2.99 [[ 9.99482073e-01 -2.46188926e-02 -2.07242864e-02 4.39587224e+02] [ 2.46181778e-02 9.99696885e-01 -2.89658162e-04 4.39030354e+00] [ 2.07251356e-02 -2.20686026e-04 9.99785187e-01 2.99187057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.07925415399995 meters 0.015406610340618139 Centerline is valid? [True, True] Translation: X:439.61, Y:4.39, Z:2.99 [[ 9.99477955e-01 -2.41956338e-02 -2.14100299e-02 4.39614592e+02] [ 2.41947059e-02 9.99707220e-01 -3.02408654e-04 4.38913698e+00] [ 2.14110784e-02 -2.15758594e-04 9.99770733e-01 2.99073855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1092541539999 meters 0.015085154199555414 Centerline is valid? [True, True] Translation: X:439.64, Y:4.39, Z:2.99 [[ 9.99477299e-01 -2.39030583e-02 -2.17663284e-02 4.39642496e+02] [ 2.39019210e-02 9.99714259e-01 -3.12448040e-04 4.38932775e+00] [ 2.17675773e-02 -2.07972337e-04 9.99763037e-01 2.99164512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.13925415399996 meters 0.014860472901945707 Centerline is valid? [True, True] Translation: X:439.67, Y:4.39, Z:2.99 [[ 9.99480152e-01 -2.38650470e-02 -2.16768467e-02 4.39670011e+02] [ 2.38637720e-02 9.99715169e-01 -3.17529284e-04 4.38873604e+00] [ 2.16782503e-02 -1.99927109e-04 9.99764979e-01 2.99159395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.16925415399993 meters 0.014862001426268858 Centerline is valid? [True, True] Translation: X:439.70, Y:4.39, Z:2.99 [[ 9.99467437e-01 -2.44489865e-02 -2.16122703e-02 4.39698182e+02] [ 2.44477185e-02 9.99701058e-01 -3.22923739e-04 4.38726142e+00] [ 2.16137046e-02 -2.05618938e-04 9.99766375e-01 2.99198114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.19925415399996 meters 0.014832823448690349 Centerline is valid? [True, True] Translation: X:439.73, Y:4.39, Z:2.99 [[ 9.99449323e-01 -2.53691368e-02 -2.13882541e-02 4.39726554e+02] [ 2.53679711e-02 9.99678128e-01 -3.25862572e-04 4.38655775e+00] [ 2.13896366e-02 -2.16893485e-04 9.99771192e-01 2.99264961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.22925415399993 meters 0.014931339836932588 Centerline is valid? [True, True] Translation: X:439.75, Y:4.39, Z:2.99 [[ 9.99421645e-01 -2.64969097e-02 -2.13140631e-02 4.39754733e+02] [ 2.64958740e-02 9.99648868e-01 -3.31039441e-04 4.38551395e+00] [ 2.13153505e-02 -2.33886747e-04 9.99772775e-01 2.99304257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.25925415399996 meters 0.015427821375168287 Centerline is valid? [True, True] Translation: X:439.78, Y:4.38, Z:2.99 [[ 9.99346876e-01 -2.95658066e-02 -2.07770267e-02 4.39783116e+02] [ 2.95653693e-02 9.99562795e-01 -3.28284950e-04 4.38230021e+00] [ 2.07776489e-02 -2.86209929e-04 9.99784080e-01 2.99351883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.28925415399993 meters 0.015946778443218075 Centerline is valid? [True, True] Translation: X:439.81, Y:4.38, Z:2.99 [[ 9.99284630e-01 -3.16009301e-02 -2.07751911e-02 4.39811256e+02] [ 3.16008690e-02 9.99500513e-01 -3.31316806e-04 4.38008230e+00] [ 2.07752841e-02 -3.25434300e-04 9.99784118e-01 2.99271550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.31925415399996 meters 0.016116275847863376 Centerline is valid? [True, True] Translation: X:439.84, Y:4.38, Z:2.99 [[ 9.99207810e-01 -3.40227628e-02 -2.06446969e-02 4.39839531e+02] [ 3.40231801e-02 9.99420989e-01 -3.31123947e-04 4.37933530e+00] [ 2.06440092e-02 -3.71536608e-04 9.99786821e-01 2.99363432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.34925415399994 meters 0.01698254730367364 Centerline is valid? [True, True] Translation: X:439.87, Y:4.38, Z:2.99 [[ 9.99049042e-01 -3.85900471e-02 -2.02933581e-02 4.39868854e+02] [ 3.85913643e-02 9.99255022e-01 -3.26851076e-04 4.37558716e+00] [ 2.02908532e-02 -4.56608120e-04 9.99794015e-01 2.99447774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37925415399997 meters 0.019220204562692703 Centerline is valid? [True, True] Translation: X:439.90, Y:4.37, Z:2.99 [[ 9.98933347e-01 -4.12326105e-02 -2.07855572e-02 4.39898057e+02] [ 4.12344819e-02 9.99149440e-01 -3.38727762e-04 4.37337417e+00] [ 2.07818445e-02 -5.18715224e-04 9.99783900e-01 2.99427514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.40925415399994 meters 0.018538842431607968 Centerline is valid? [True, True] Translation: X:439.93, Y:4.37, Z:3.00 [[ 9.98847452e-01 -4.39133132e-02 -1.93749606e-02 4.39926335e+02] [ 4.39153933e-02 9.99035203e-01 -3.18302904e-04 4.37094702e+00] [ 1.93702454e-02 -5.32922971e-04 9.99812237e-01 2.99532748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43925415399997 meters 0.019348422183821355 Centerline is valid? [True, True] Translation: X:439.96, Y:4.37, Z:3.00 [[ 9.98732434e-01 -4.67672793e-02 -1.86104113e-02 4.39955678e+02] [ 4.67696764e-02 9.98905653e-01 -3.06649893e-04 4.36930062e+00] [ 1.86043862e-02 -5.64141721e-04 9.99826764e-01 2.99610398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.46925415399994 meters 0.021055107579307456 Centerline is valid? [True, True] Translation: X:439.99, Y:4.37, Z:3.00 [[ 9.98491821e-01 -5.19736841e-02 -1.76866830e-02 4.39986407e+02] [ 5.19766605e-02 9.98648257e-01 -2.91668085e-04 4.36523920e+00] [ 1.76779342e-02 -6.28066519e-04 9.99843536e-01 2.99698615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49925415399997 meters 0.022019240803306805 Centerline is valid? [True, True] Translation: X:440.02, Y:4.36, Z:3.00 [[ 9.98365793e-01 -5.44972658e-02 -1.71985708e-02 4.40017370e+02] [ 5.45004572e-02 9.98513705e-01 -2.83433194e-04 4.36336183e+00] [ 1.71884550e-02 -6.54359967e-04 9.99852053e-01 2.99746244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.52925415399994 meters 0.0239455421158429 Centerline is valid? [True, True] Translation: X:440.05, Y:4.36, Z:3.00 [[ 9.98240623e-01 -5.67211963e-02 -1.72732182e-02 4.40047679e+02] [ 5.67247532e-02 9.98389814e-01 -2.84352212e-04 4.36130939e+00] [ 1.72615339e-02 -6.95967109e-04 9.99850766e-01 2.99741547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5592541539999 meters 0.02526764952563124 Centerline is valid? [True, True] Translation: X:440.08, Y:4.36, Z:3.00 [[ 9.98058952e-01 -6.00379114e-02 -1.65462446e-02 4.40077685e+02] [ 6.00416425e-02 9.98195836e-01 -2.71630588e-04 4.35877357e+00] [ 1.65327006e-02 -7.22360362e-04 9.99863065e-01 2.99847408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.58925415399995 meters 0.026291638392972386 Centerline is valid? [True, True] Translation: X:440.11, Y:4.36, Z:3.00 [[ 9.97991299e-01 -6.11755567e-02 -1.64596168e-02 4.40108545e+02] [ 6.11794263e-02 9.98126748e-01 -2.68802502e-04 4.35768146e+00] [ 1.64452280e-02 -7.38727357e-04 9.99864495e-01 2.99876040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6192541539999 meters 0.027115530658518943 Centerline is valid? [True, True] Translation: X:440.14, Y:4.36, Z:3.00 [[ 9.97944507e-01 -6.19589771e-02 -1.63660209e-02 4.40139611e+02] [ 6.19629245e-02 9.98078416e-01 -2.66259162e-04 4.35710161e+00] [ 1.63510693e-02 -7.48374647e-04 9.99866032e-01 2.99865602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.64925415399995 meters 0.027969717850114092 Centerline is valid? [True, True] Translation: X:440.17, Y:4.36, Z:3.00 [[ 9.97906169e-01 -6.25247268e-02 -1.65510102e-02 4.40171098e+02] [ 6.25288511e-02 9.98043121e-01 -2.68693402e-04 4.35703302e+00] [ 1.65354219e-02 -7.66784852e-04 9.99862987e-01 2.99871467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6792541539999 meters 0.028261929027091168 Centerline is valid? [True, True] Translation: X:440.20, Y:4.36, Z:3.00 [[ 9.97907899e-01 -6.21855817e-02 -1.76855234e-02 4.40201910e+02] [ 6.21902522e-02 9.98064272e-01 -2.86299833e-04 4.35899373e+00] [ 1.76690927e-02 -8.14166293e-04 9.99843558e-01 2.99839134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.70925415399995 meters 0.023712878766705133 Centerline is valid? [True, True] Translation: X:440.23, Y:4.37, Z:3.00 [[ 9.97939257e-01 -6.14281080e-02 -1.85425591e-02 4.40233578e+02] [ 6.14331347e-02 9.98111156e-01 -2.98939972e-04 4.36758396e+00] [ 1.85258984e-02 -8.40803598e-04 9.99828027e-01 2.99997357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7392541539999 meters 0.02829966128077811 Centerline is valid? [True, True] Translation: X:440.26, Y:4.36, Z:3.00 [[ 9.97978149e-01 -6.05446840e-02 -1.93379041e-02 4.40264430e+02] [ 6.05500005e-02 9.98165117e-01 -3.11002031e-04 4.36309870e+00] [ 1.93212508e-02 -8.60536873e-04 9.99812957e-01 2.99802265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.76925415399995 meters 0.02305377061926863 Centerline is valid? [True, True] Translation: X:440.30, Y:4.37, Z:3.00 [[ 9.98060362e-01 -5.90284608e-02 -1.97776062e-02 4.40296024e+02] [ 5.90337395e-02 9.98255938e-01 -3.17326943e-04 4.37242643e+00] [ 1.97618441e-02 -8.50834608e-04 9.99804354e-01 3.00030944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7992541539999 meters 0.021855723546406712 Centerline is valid? [True, True] Translation: X:440.33, Y:4.38, Z:3.00 [[ 9.98237611e-01 -5.57284059e-02 -2.03964856e-02 4.40327018e+02] [ 5.57333498e-02 9.98445636e-01 -3.26414244e-04 4.37760159e+00] [ 2.03829726e-02 -8.10925493e-04 9.99791917e-01 3.00066112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.82925415399995 meters 0.02107651800008049 Centerline is valid? [True, True] Translation: X:440.36, Y:4.38, Z:3.00 [[ 9.98337520e-01 -5.39966136e-02 -2.01633724e-02 4.40358523e+02] [ 5.40011074e-02 9.98540824e-01 -3.21939394e-04 4.38101635e+00] [ 2.01513341e-02 -7.67440262e-04 9.99796647e-01 3.00119402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8592541539999 meters 0.020609735620674394 Centerline is valid? [True, True] Translation: X:440.39, Y:4.39, Z:3.00 [[ 9.98559114e-01 -5.00345667e-02 -1.93968500e-02 4.40388280e+02] [ 5.00379833e-02 9.98747268e-01 -3.09453748e-04 4.38555049e+00] [ 1.93880344e-02 -6.61571399e-04 9.99811816e-01 3.00225782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.88925415399996 meters 0.01962033388239927 Centerline is valid? [True, True] Translation: X:440.42, Y:4.39, Z:3.00 [[ 9.98671517e-01 -4.78304943e-02 -1.91688437e-02 4.40419294e+02] [ 4.78334298e-02 9.98855280e-01 -3.05591966e-04 4.38975866e+00] [ 1.91615174e-02 -6.11725548e-04 9.99816214e-01 3.00338547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.91925415399993 meters 0.020191195718929987 Centerline is valid? [True, True] Translation: X:440.45, Y:4.39, Z:3.00 [[ 9.98789466e-01 -4.52093925e-02 -1.93833500e-02 4.40449561e+02] [ 4.52119035e-02 9.98977371e-01 -3.08883332e-04 4.39260702e+00] [ 1.93774924e-02 -5.67848731e-04 9.99812078e-01 3.00337809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.94925415399996 meters 0.01805592501293041 Centerline is valid? [True, True] Translation: X:440.48, Y:4.40, Z:3.01 [[ 9.98900621e-01 -4.30318848e-02 -1.85958706e-02 4.40480508e+02] [ 4.30338182e-02 9.99073572e-01 -2.96367088e-04 4.39655462e+00] [ 1.85913961e-02 -5.04210044e-04 9.99827038e-01 3.00504096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.97925415399993 meters 0.018184571792484564 Centerline is valid? [True, True] Translation: X:440.51, Y:4.40, Z:3.00 [[ 9.99126230e-01 -3.75702055e-02 -1.83099874e-02 4.40510603e+02] [ 3.75711628e-02 9.99293912e-01 -2.91829974e-04 4.40066162e+00] [ 1.83080230e-02 -3.96352534e-04 9.99832316e-01 3.00480083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.00925415399996 meters 0.017065017855343895 Centerline is valid? [True, True] Translation: X:440.54, Y:4.40, Z:3.01 [[ 9.99223571e-01 -3.50846122e-02 -1.79255697e-02 4.40541117e+02] [ 3.50851299e-02 9.99384286e-01 -2.85703012e-04 4.40342263e+00] [ 1.79245565e-02 -3.43439758e-04 9.99839283e-01 3.00524251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.03925415399993 meters 0.016416422560846904 Centerline is valid? [True, True] Translation: X:440.57, Y:4.41, Z:3.01 [[ 9.99305551e-01 -3.27403337e-02 -1.77900749e-02 4.40570564e+02] [ 3.27404654e-02 9.99463847e-01 -2.83926179e-04 4.40602369e+00] [ 1.77898326e-02 -2.98726326e-04 9.99841704e-01 3.00554871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.06925415399996 meters 0.015416739636763684 Centerline is valid? [True, True] Translation: X:440.60, Y:4.41, Z:3.01 [[ 9.99405967e-01 -2.96132380e-02 -1.76286281e-02 4.40600259e+02] [ 2.96128698e-02 9.99561403e-01 -2.81982706e-04 4.41061716e+00] [ 1.76292466e-02 -2.40219070e-04 9.99844564e-01 3.00627008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.09925415399994 meters 0.01540463228780444 Centerline is valid? [True, True] Translation: X:440.63, Y:4.41, Z:3.01 [[ 9.99440290e-01 -2.85583852e-02 -1.74219676e-02 4.40629363e+02] [ 2.85578511e-02 9.99592102e-01 -2.79497715e-04 4.41160038e+00] [ 1.74228432e-02 -2.18192679e-04 9.99848187e-01 3.00614348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.12925415399997 meters 0.015245421876645234 Centerline is valid? [True, True] Translation: X:440.66, Y:4.41, Z:3.01 [[ 9.99466679e-01 -2.80264919e-02 -1.67593006e-02 4.40658510e+02] [ 2.80258743e-02 9.99607161e-01 -2.71764424e-04 4.41299334e+00] [ 1.67603335e-02 -1.98074565e-04 9.99859516e-01 3.00654756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.15925415399994 meters 0.01525746419995697 Centerline is valid? [True, True] Translation: X:440.69, Y:4.41, Z:3.01 [[ 9.99487962e-01 -2.74104951e-02 -1.65069193e-02 4.40687462e+02] [ 2.74097720e-02 9.99624245e-01 -2.70087920e-04 4.41349503e+00] [ 1.65081200e-02 -1.82501269e-04 9.99863715e-01 3.00666499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.18925415399997 meters 0.014946174065136413 Centerline is valid? [True, True] Translation: X:440.72, Y:4.41, Z:3.01 [[ 9.99526208e-01 -2.59839021e-02 -1.64983869e-02 4.40716910e+02] [ 2.59829719e-02 9.99662349e-01 -2.70771112e-04 4.41415555e+00] [ 1.64998519e-02 -1.58034301e-04 9.99863856e-01 3.00703404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.21925415399994 meters 0.014946174065136413 Centerline is valid? [True, True] Translation: X:440.75, Y:4.41, Z:3.01 [[ 9.99519542e-01 -2.62390749e-02 -1.64983424e-02 4.40745161e+02] [ 2.62381349e-02 9.99655683e-01 -2.73466320e-04 4.41465894e+00] [ 1.64998372e-02 -1.59550802e-04 9.99863856e-01 3.00722990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.24925415399997 meters 0.014886547961924785 Centerline is valid? [True, True] Translation: X:440.77, Y:4.42, Z:3.01 [[ 9.99526622e-01 -2.59594364e-02 -1.65117915e-02 4.40773944e+02] [ 2.59583873e-02 9.99662986e-01 -2.77893282e-04 4.41537850e+00] [ 1.65134408e-02 -1.50857746e-04 9.99863632e-01 3.00741514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.27925415399994 meters 0.014946859753558805 Centerline is valid? [True, True] Translation: X:440.80, Y:4.42, Z:3.01 [[ 9.99537606e-01 -2.53371545e-02 -1.68107909e-02 4.40802838e+02] [ 2.53359400e-02 9.99678953e-01 -2.85249693e-04 4.41584742e+00] [ 1.68126212e-02 -1.40799393e-04 9.99858648e-01 3.00727723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3092541539999 meters 0.014751749017376381 Centerline is valid? [True, True] Translation: X:440.83, Y:4.42, Z:3.01 [[ 9.99559582e-01 -2.41894870e-02 -1.71904373e-02 4.40831261e+02] [ 2.41879956e-02 9.99707384e-01 -2.94699142e-04 4.41662127e+00] [ 1.71925358e-02 -1.21232872e-04 9.99852190e-01 3.00741833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.33925415399995 meters 0.014704252141869793 Centerline is valid? [True, True] Translation: X:440.86, Y:4.42, Z:3.01 [[ 9.99568259e-01 -2.37460058e-02 -1.73038601e-02 4.40859556e+02] [ 2.37443443e-02 9.99718018e-01 -3.01492093e-04 4.41697357e+00] [ 1.73061399e-02 -1.09506884e-04 9.99850232e-01 3.00755786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3692541539999 meters 0.014730999508062509 Centerline is valid? [True, True] Translation: X:440.89, Y:4.42, Z:3.01 [[ 9.99587073e-01 -2.30008223e-02 -1.72233812e-02 4.40887159e+02] [ 2.29990144e-02 9.99735442e-01 -3.03066087e-04 4.41681230e+00] [ 1.72257954e-02 -9.31798487e-05 9.99851621e-01 3.00705725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.39925415399995 meters 0.014535258497715002 Centerline is valid? [True, True] Translation: X:440.92, Y:4.42, Z:3.01 [[ 9.99595895e-01 -2.23272762e-02 -1.75937236e-02 4.40915128e+02] [ 2.23252191e-02 9.99750712e-01 -3.13345961e-04 4.41593865e+00] [ 1.75963338e-02 -7.95643965e-05 9.99845169e-01 3.00731960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4292541539999 meters 0.014533231175897984 Centerline is valid? [True, True] Translation: X:440.94, Y:4.41, Z:3.01 [[ 9.99593122e-01 -2.23784278e-02 -1.76860305e-02 4.40942318e+02] [ 2.23762970e-02 9.99749569e-01 -3.18386191e-04 4.41487790e+00] [ 1.76887263e-02 -7.74912232e-05 9.99843539e-01 3.00650390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.45925415399995 meters 0.014640654132075092 Centerline is valid? [True, True] Translation: X:440.97, Y:4.41, Z:3.01 [[ 9.99570380e-01 -2.30745673e-02 -1.80726457e-02 4.40969873e+02] [ 2.30723822e-02 9.99733743e-01 -3.29431391e-04 4.41415840e+00] [ 1.80754352e-02 -8.76891272e-05 9.99836622e-01 3.00700724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4892541539999 meters 0.01607570964218903 Centerline is valid? [True, True] Translation: X:441.00, Y:4.41, Z:3.01 [[ 9.99538144e-01 -2.42336699e-02 -1.83365080e-02 4.40997636e+02] [ 2.42315601e-02 9.99706316e-01 -3.37263608e-04 4.41119274e+00] [ 1.83392960e-02 -1.07214355e-04 9.99831815e-01 3.00649339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.51925415399995 meters 0.01467195252975628 Centerline is valid? [True, True] Translation: X:441.03, Y:4.41, Z:3.01 [[ 9.99494815e-01 -2.62930064e-02 -1.78547760e-02 4.41025389e+02] [ 2.62912666e-02 9.99654270e-01 -3.32210790e-04 4.41001314e+00] [ 1.78573379e-02 -1.37381713e-04 9.99840536e-01 3.00827873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5492541539999 meters 0.014589957421910008 Centerline is valid? [True, True] Translation: X:441.05, Y:4.41, Z:3.01 [[ 9.99450553e-01 -2.76515098e-02 -1.82752780e-02 4.41054115e+02] [ 2.76498228e-02 9.99617611e-01 -3.45025116e-04 4.40827337e+00] [ 1.82778302e-02 -1.60472655e-04 9.99832934e-01 3.00842930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.57925415399995 meters 0.014836455418912743 Centerline is valid? [True, True] Translation: X:441.08, Y:4.41, Z:3.01 [[ 9.99412604e-01 -2.89839303e-02 -1.82860057e-02 4.41081459e+02] [ 2.89823993e-02 9.99579861e-01 -3.48782325e-04 4.40646338e+00] [ 1.82884321e-02 -1.81394868e-04 9.99832736e-01 3.00821825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6092541539999 meters 0.014953847601451076 Centerline is valid? [True, True] Translation: X:441.11, Y:4.40, Z:3.01 [[ 9.99339226e-01 -3.11381588e-02 -1.87490372e-02 4.41109957e+02] [ 3.11368514e-02 9.99515065e-01 -3.61715395e-04 4.40373425e+00] [ 1.87512083e-02 -2.22309602e-04 9.99824156e-01 3.00849855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.63925415399996 meters 0.01540829034695382 Centerline is valid? [True, True] Translation: X:441.14, Y:4.40, Z:3.01 [[ 9.99299750e-01 -3.23472640e-02 -1.88059652e-02 4.41138197e+02] [ 3.23461097e-02 9.99476661e-01 -3.65632914e-04 4.40221600e+00] [ 1.88079506e-02 -2.42922934e-04 9.99823085e-01 3.00838170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.66925415399993 meters 0.015386826101031715 Centerline is valid? [True, True] Translation: X:441.17, Y:4.40, Z:3.01 [[ 9.99255594e-01 -3.34999680e-02 -1.91313814e-02 4.41166559e+02] [ 3.34989514e-02 9.99438683e-01 -3.73697664e-04 4.40125604e+00] [ 1.91331615e-02 -2.67461735e-04 9.99816909e-01 3.00894364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.69925415399996 meters 0.01604059417646578 Centerline is valid? [True, True] Translation: X:441.19, Y:4.40, Z:3.01 [[ 9.99152256e-01 -3.64282858e-02 -1.91768114e-02 4.41194256e+02] [ 3.64277702e-02 9.99336218e-01 -3.76317851e-04 4.39717979e+00] [ 1.91777908e-02 -3.22569650e-04 9.99816037e-01 3.00889201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.72925415399993 meters 0.01641779329199398 Centerline is valid? [True, True] Translation: X:441.22, Y:4.40, Z:3.01 [[ 9.99077207e-01 -3.84235401e-02 -1.91928834e-02 4.41223088e+02] [ 3.84233209e-02 9.99261479e-01 -3.80317058e-04 4.39569651e+00] [ 1.91933222e-02 -3.57488216e-04 9.99815727e-01 3.00933900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.75925415399996 meters 0.01696284198599474 Centerline is valid? [True, True] Translation: X:441.25, Y:4.39, Z:3.01 [[ 9.99022903e-01 -3.99840139e-02 -1.88286444e-02 4.41252106e+02] [ 3.99840362e-02 9.99200248e-01 -3.75424838e-04 4.39345796e+00] [ 1.88285971e-02 -3.77787186e-04 9.99822655e-01 3.00957876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.78925415399993 meters 0.018079530925223086 Centerline is valid? [True, True] Translation: X:441.28, Y:4.39, Z:3.01 [[ 9.98869994e-01 -4.37851891e-02 -1.84822217e-02 4.41281684e+02] [ 4.37858466e-02 9.99040872e-01 -3.69281946e-04 4.38856777e+00] [ 1.84806640e-02 -4.40395071e-04 9.99829121e-01 3.00998515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.81925415399996 meters 0.01825009305738314 Centerline is valid? [True, True] Translation: X:441.31, Y:4.39, Z:3.01 [[ 9.98785037e-01 -4.55586406e-02 -1.87845800e-02 4.41312576e+02] [ 4.55596286e-02 9.98961550e-01 -3.75569646e-04 4.38770255e+00] [ 1.87821836e-02 -4.80705143e-04 9.99823484e-01 3.01075653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.84925415399994 meters 0.019100505398790327 Centerline is valid? [True, True] Translation: X:441.34, Y:4.39, Z:3.01 [[ 9.98708250e-01 -4.71939498e-02 -1.88298182e-02 4.41341686e+02] [ 4.71952420e-02 9.98885613e-01 -3.75997319e-04 4.38540590e+00] [ 1.88265793e-02 -5.13166202e-04 9.99822633e-01 3.01092700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87925415399997 meters 0.018254608016590616 Centerline is valid? [True, True] Translation: X:441.37, Y:4.39, Z:3.01 [[ 9.98644100e-01 -4.87065359e-02 -1.83748545e-02 4.41371972e+02] [ 4.87080271e-02 9.98812992e-01 -3.66641711e-04 4.38651324e+00] [ 1.83709013e-02 -5.28858331e-04 9.99831101e-01 3.01221722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.90925415399994 meters 0.020582932712484972 Centerline is valid? [True, True] Translation: X:441.40, Y:4.38, Z:3.01 [[ 9.98569413e-01 -5.02374231e-02 -1.83119923e-02 4.41402737e+02] [ 5.02391651e-02 9.98737149e-01 -3.65179054e-04 4.38023675e+00] [ 1.83072127e-02 -5.55322572e-04 9.99832255e-01 3.01210330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93925415399997 meters 0.021144656708475297 Centerline is valid? [True, True] Translation: X:441.43, Y:4.38, Z:3.01 [[ 9.98567334e-01 -5.03698841e-02 -1.80597185e-02 4.41431976e+02] [ 5.03715988e-02 9.98730480e-01 -3.60214454e-04 4.37920038e+00] [ 1.80549353e-02 -5.49998507e-04 9.99836845e-01 3.01253812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.96925415399994 meters 0.021165395678929895 Centerline is valid? [True, True] Translation: X:441.46, Y:4.38, Z:3.01 [[ 9.98587992e-01 -4.96795153e-02 -1.88140328e-02 4.41462102e+02] [ 4.96812516e-02 9.98765054e-01 -3.75383828e-04 4.38080321e+00] [ 1.88094474e-02 -5.59850914e-04 9.99822930e-01 3.01287973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99925415399997 meters 0.019248784057547156 Centerline is valid? [True, True] Translation: X:441.49, Y:4.38, Z:3.01 [[ 9.98598657e-01 -4.97157841e-02 -1.81400924e-02 4.41492824e+02] [ 4.97174042e-02 9.98763260e-01 -3.61937146e-04 4.38184418e+00] [ 1.81356518e-02 -5.40448359e-04 9.99835389e-01 3.01452895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.02925415399994 meters 0.018003380750939168 Centerline is valid? [True, True] Translation: X:441.52, Y:4.38, Z:3.02 [[ 9.98678008e-01 -4.81791378e-02 -1.79166664e-02 4.41523696e+02] [ 4.81804711e-02 9.98838583e-01 -3.57479276e-04 4.38286710e+00] [ 1.79130807e-02 -5.06226737e-04 9.99839420e-01 3.01642871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0592541539999 meters 0.01806859873410279 Centerline is valid? [True, True] Translation: X:441.55, Y:4.38, Z:3.02 [[ 9.98731097e-01 -4.71006944e-02 -1.78247098e-02 4.41553044e+02] [ 4.71018388e-02 9.98890029e-01 -3.55846329e-04 4.38270179e+00] [ 1.78216855e-02 -4.84181814e-04 9.99841064e-01 3.01713541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.08925415399995 meters 0.018160561519749187 Centerline is valid? [True, True] Translation: X:441.58, Y:4.38, Z:3.02 [[ 9.98770636e-01 -4.61767978e-02 -1.80255117e-02 4.41582110e+02] [ 4.61778118e-02 9.98933171e-01 -3.60186335e-04 4.38305951e+00] [ 1.80229138e-02 -4.72635152e-04 9.99837462e-01 3.01718319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1192541539999 meters 0.019270195658982765 Centerline is valid? [True, True] Translation: X:441.61, Y:4.38, Z:3.02 [[ 9.98872658e-01 -4.33265526e-02 -1.93964740e-02 4.41612813e+02] [ 4.33271872e-02 9.99060861e-01 -3.87716315e-04 4.38423482e+00] [ 1.93950565e-02 -4.53115435e-04 9.99811796e-01 3.01640302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.14925415399995 meters 0.01700606011112078 Centerline is valid? [True, True] Translation: X:441.64, Y:4.39, Z:3.02 [[ 9.98915910e-01 -4.23860301e-02 -1.92465511e-02 4.41642788e+02] [ 4.23864717e-02 9.99101215e-01 -3.85171259e-04 4.38566112e+00] [ 1.92455785e-02 -4.31039694e-04 9.99814694e-01 3.01791852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1792541539999 meters 0.016866213894064716 Centerline is valid? [True, True] Translation: X:441.67, Y:4.39, Z:3.02 [[ 9.98959657e-01 -4.12357130e-02 -1.94735717e-02 4.41671706e+02] [ 4.12359283e-02 9.99149361e-01 -3.90655683e-04 4.38624051e+00] [ 1.94731157e-02 -4.12761541e-04 9.99810296e-01 3.01779241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.20925415399995 meters 0.017018303951268257 Centerline is valid? [True, True] Translation: X:441.70, Y:4.39, Z:3.02 [[ 9.98991652e-01 -4.01709846e-02 -2.00492140e-02 4.41699961e+02] [ 4.01709244e-02 9.99192740e-01 -4.05903447e-04 4.38662409e+00] [ 2.00493347e-02 -3.99901306e-04 9.99798912e-01 3.01726002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2392541539999 meters 0.016591898251755673 Centerline is valid? [True, True] Translation: X:441.73, Y:4.39, Z:3.02 [[ 9.99074137e-01 -3.77627194e-02 -2.06117813e-02 4.41728104e+02] [ 3.77620815e-02 9.99286670e-01 -4.20300004e-04 4.38791306e+00] [ 2.06129500e-02 -3.58432903e-04 9.99787466e-01 3.01728591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.26925415399995 meters 0.015917896154565302 Centerline is valid? [True, True] Translation: X:441.76, Y:4.39, Z:3.02 [[ 9.99115115e-01 -3.67260525e-02 -2.04983961e-02 4.41757342e+02] [ 3.67251524e-02 9.99325316e-01 -4.20482882e-04 4.39023377e+00] [ 2.05000088e-02 -3.32695917e-04 9.99789797e-01 3.01848427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2992541539999 meters 0.015753989020732533 Centerline is valid? [True, True] Translation: X:441.79, Y:4.39, Z:3.02 [[ 9.99133708e-01 -3.61393703e-02 -2.06344345e-02 4.41786581e+02] [ 3.61382462e-02 9.99346709e-01 -4.27479670e-04 4.39104122e+00] [ 2.06364030e-02 -3.18582925e-04 9.99786996e-01 3.01884996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.32925415399995 meters 0.015824986216005192 Centerline is valid? [True, True] Translation: X:441.81, Y:4.39, Z:3.02 [[ 9.99124611e-01 -3.63597387e-02 -2.06877058e-02 4.41814044e+02] [ 3.63585396e-02 9.99338715e-01 -4.34208570e-04 4.39151636e+00] [ 2.06898131e-02 -3.18346303e-04 9.99785892e-01 3.01908589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3592541539999 meters 0.01764104705920735 Centerline is valid? [True, True] Translation: X:441.84, Y:4.39, Z:3.02 [[ 9.99071536e-01 -3.77083616e-02 -2.08361597e-02 4.41841431e+02] [ 3.77073514e-02 9.99288727e-01 -4.41503072e-04 4.38936736e+00] [ 2.08379878e-02 -3.44583243e-04 9.99782806e-01 3.01875788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.38925415399996 meters 0.01662248494504761 Centerline is valid? [True, True] Translation: X:441.87, Y:4.39, Z:3.02 [[ 9.99008969e-01 -4.00802622e-02 -1.93559403e-02 4.41870181e+02] [ 4.00797563e-02 9.99196398e-01 -4.14220664e-04 4.38810787e+00] [ 1.93569879e-02 -3.61971210e-04 9.99812570e-01 3.02007492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.41925415399993 meters 0.018383955764137334 Centerline is valid? [True, True] Translation: X:441.90, Y:4.38, Z:3.02 [[ 9.98823538e-01 -4.45922483e-02 -1.90544131e-02 4.41899355e+02] [ 4.45924890e-02 9.99005175e-01 -4.12462727e-04 4.38420004e+00] [ 1.90538500e-02 -4.37706228e-04 9.99818363e-01 3.02042938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.44925415399996 meters 0.01863854188244268 Centerline is valid? [True, True] Translation: X:441.93, Y:4.38, Z:3.02 [[ 9.98724304e-01 -4.71739282e-02 -1.80107137e-02 4.41927966e+02] [ 4.71745196e-02 9.98886586e-01 -3.92255790e-04 4.38228128e+00] [ 1.80091645e-02 -4.57891374e-04 9.99837717e-01 3.02107006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.47925415399993 meters 0.019649747931141076 Centerline is valid? [True, True] Translation: X:441.96, Y:4.38, Z:3.02 [[ 9.98605932e-01 -4.96133121e-02 -1.80197671e-02 4.41958820e+02] [ 4.96142923e-02 9.98768375e-01 -3.92930913e-04 4.38080073e+00] [ 1.80170681e-02 -5.01654852e-04 9.99837554e-01 3.02147748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.50925415399996 meters 0.021108908338798103 Centerline is valid? [True, True] Translation: X:441.99, Y:4.38, Z:3.02 [[ 9.98485290e-01 -5.17841778e-02 -1.85883161e-02 4.41988753e+02] [ 5.17855947e-02 9.98658144e-01 -4.05439708e-04 4.37941591e+00] [ 1.85843686e-02 -5.57781417e-04 9.99827140e-01 3.02138887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.53925415399993 meters 0.020426080546377755 Centerline is valid? [True, True] Translation: X:442.02, Y:4.38, Z:3.02 [[ 9.98391967e-01 -5.36923183e-02 -1.81828524e-02 4.42019008e+02] [ 5.36939889e-02 9.98557358e-01 -3.96660583e-04 4.37996034e+00] [ 1.81779187e-02 -5.80287133e-04 9.99834600e-01 3.02261842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.56925415399996 meters 0.023459708913731232 Centerline is valid? [True, True] Translation: X:442.05, Y:4.37, Z:3.02 [[ 9.98194592e-01 -5.74525536e-02 -1.75145546e-02 4.42048612e+02] [ 5.74546783e-02 9.98348042e-01 -3.82269194e-04 4.37331513e+00] [ 1.75075837e-02 -6.24714058e-04 9.99846535e-01 3.02226860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.59925415399994 meters 0.024296099059546536 Centerline is valid? [True, True] Translation: X:442.08, Y:4.37, Z:3.02 [[ 9.98111650e-01 -5.89754008e-02 -1.71766414e-02 4.42078893e+02] [ 5.89776673e-02 9.98259232e-01 -3.75014342e-04 4.37208440e+00] [ 1.71688575e-02 -6.38732058e-04 9.99852400e-01 3.02254513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.62925415399997 meters 0.026246939958996674 Centerline is valid? [True, True] Translation: X:442.11, Y:4.37, Z:3.02 [[ 9.98024423e-01 -6.00722999e-02 -1.84002830e-02 4.42109542e+02] [ 6.00750872e-02 9.98193780e-01 -4.01729875e-04 4.37081155e+00] [ 1.83911809e-02 -7.04462377e-04 9.99830620e-01 3.02197299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.65925415399994 meters 0.026347519625363153 Centerline is valid? [True, True] Translation: X:442.14, Y:4.37, Z:3.02 [[ 9.97948056e-01 -6.16517540e-02 -1.72840736e-02 4.42139207e+02] [ 6.16544482e-02 9.98097483e-01 -3.77444715e-04 4.36972568e+00] [ 1.72744605e-02 -6.88969802e-04 9.99850548e-01 3.02308468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.68925415399997 meters 0.027993108793875888 Centerline is valid? [True, True] Translation: X:442.17, Y:4.37, Z:3.02 [[ 9.97814184e-01 -6.35930404e-02 -1.79660491e-02 4.42168496e+02] [ 6.35962613e-02 9.97975632e-01 -3.92579909e-04 4.36774660e+00] [ 1.79546446e-02 -7.50851753e-04 9.99838520e-01 3.02241008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.71925415399994 meters 0.022497920414478862 Centerline is valid? [True, True] Translation: X:442.20, Y:4.38, Z:3.02 [[ 9.97753076e-01 -6.43757715e-02 -1.85623351e-02 4.42199448e+02] [ 6.43793507e-02 9.97925416e-01 -4.05300619e-04 4.37652210e+00] [ 1.85499175e-02 -7.90641142e-04 9.99827623e-01 3.02433263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.74925415399997 meters 0.023265687827448096 Centerline is valid? [True, True] Translation: X:442.23, Y:4.38, Z:3.02 [[ 9.97657208e-01 -6.56260202e-02 -1.93215175e-02 4.42231091e+02] [ 6.56301462e-02 9.97843929e-01 -4.21159007e-04 4.37678633e+00] [ 1.93074979e-02 -8.47901701e-04 9.99813233e-01 3.02362423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.77925415399994 meters 0.023607682953648283 Centerline is valid? [True, True] Translation: X:442.26, Y:4.38, Z:3.02 [[ 9.97637902e-01 -6.57047874e-02 -2.00373827e-02 4.42261562e+02] [ 6.57092461e-02 9.97838717e-01 -4.36500494e-04 4.37727575e+00] [ 2.00227564e-02 -8.81171872e-04 9.99799136e-01 3.02320447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8092541539999 meters 0.023377622215537318 Centerline is valid? [True, True] Translation: X:442.29, Y:4.38, Z:3.02 [[ 9.97641560e-01 -6.55817460e-02 -2.02571349e-02 4.42291618e+02] [ 6.55862778e-02 9.97846805e-01 -4.41287644e-04 4.37907953e+00] [ 2.02424578e-02 -8.88343184e-04 9.99794706e-01 3.02320300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.83925415399995 meters 0.024717319562730915 Centerline is valid? [True, True] Translation: X:442.32, Y:4.38, Z:3.02 [[ 9.97638400e-01 -6.49984371e-02 -2.21996827e-02 4.42322133e+02] [ 6.50037361e-02 9.97884903e-01 -4.83604701e-04 4.38101291e+00] [ 2.21841618e-02 -9.60599694e-04 9.99753440e-01 3.02217752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8692541539999 meters 0.023849379360081586 Centerline is valid? [True, True] Translation: X:442.35, Y:4.38, Z:3.02 [[ 9.97713573e-01 -6.39868220e-02 -2.17557666e-02 4.42351182e+02] [ 6.39916593e-02 9.97950321e-01 -4.74470443e-04 4.38414005e+00] [ 2.17415341e-02 -9.18802002e-04 9.99763203e-01 3.02276636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.89925415399995 meters 0.023950855316445113 Centerline is valid? [True, True] Translation: X:442.38, Y:4.39, Z:3.02 [[ 9.97744657e-01 -6.33881161e-02 -2.20804578e-02 4.42380978e+02] [ 6.33929352e-02 9.97988529e-01 -4.82343760e-04 4.38610167e+00] [ 2.20666185e-02 -9.18489123e-04 9.99756081e-01 3.02296648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9292541539999 meters 0.024217714422122772 Centerline is valid? [True, True] Translation: X:442.41, Y:4.39, Z:3.02 [[ 9.97749683e-01 -6.32859669e-02 -2.21462314e-02 4.42410608e+02] [ 6.32907722e-02 9.97995012e-01 -4.84565088e-04 4.38790982e+00] [ 2.21324947e-02 -9.18177426e-04 9.99754625e-01 3.02280948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.95925415399995 meters 0.024896893096725697 Centerline is valid? [True, True] Translation: X:442.44, Y:4.39, Z:3.02 [[ 9.97725021e-01 -6.39301484e-02 -2.13943583e-02 4.42440403e+02] [ 6.39347702e-02 9.97953970e-01 -4.68604350e-04 4.39004422e+00] [ 2.13805428e-02 -9.00305098e-04 9.99771005e-01 3.02342967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9892541539999 meters 0.025848981586983934 Centerline is valid? [True, True] Translation: X:442.47, Y:4.39, Z:3.02 [[ 9.97685547e-01 -6.48542877e-02 -2.04321112e-02 4.42469724e+02] [ 6.48586891e-02 9.97894358e-01 -4.47878944e-04 4.39072416e+00] [ 2.04181354e-02 -8.78357599e-04 9.99791142e-01 3.02403590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.01925415399995 meters 0.025675609377584334 Centerline is valid? [True, True] Translation: X:442.50, Y:4.39, Z:3.02 [[ 9.97613562e-01 -6.59373139e-02 -2.04805022e-02 4.42500249e+02] [ 6.59419614e-02 9.97823359e-01 -4.49060383e-04 4.39391211e+00] [ 2.04655333e-02 -9.02535758e-04 9.99790152e-01 3.02497773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0492541539999 meters 0.029290392111140262 Centerline is valid? [True, True] Translation: X:442.53, Y:4.39, Z:3.02 [[ 9.97464916e-01 -6.82830002e-02 -2.00292964e-02 4.42530644e+02] [ 6.82879215e-02 9.97665559e-01 -4.38936683e-04 4.39393651e+00] [ 2.00125111e-02 -9.29935078e-04 9.99799297e-01 3.02460120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.07925415399995 meters 0.024865621632998262 Centerline is valid? [True, True] Translation: X:442.56, Y:4.40, Z:3.03 [[ 9.97401703e-01 -6.95213815e-02 -1.88843905e-02 4.42561913e+02] [ 6.95259879e-02 9.97580055e-01 -4.13294553e-04 4.40107313e+00] [ 1.88674241e-02 -9.00735215e-04 9.99821589e-01 3.02733748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1092541539999 meters 0.025161260061680558 Centerline is valid? [True, True] Translation: X:442.59, Y:4.40, Z:3.03 [[ 9.97351004e-01 -7.01552413e-02 -1.92150279e-02 4.42594328e+02] [ 7.01601501e-02 9.97535652e-01 -4.19367816e-04 4.40306577e+00] [ 1.91970962e-02 -9.29872328e-04 9.99815286e-01 3.02711572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.13925415399996 meters 0.025161260061680558 Centerline is valid? [True, True] Translation: X:442.63, Y:4.40, Z:3.03 [[ 9.97356166e-01 -7.00818119e-02 -1.92150587e-02 4.42626047e+02] [ 7.00867344e-02 9.97540814e-01 -4.17953165e-04 4.40369632e+00] [ 1.91970962e-02 -9.29872547e-04 9.99815286e-01 3.02733545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.16925415399993 meters 0.025704094974148658 Centerline is valid? [True, True] Translation: X:442.66, Y:4.40, Z:3.03 [[ 9.97305019e-01 -7.09192562e-02 -1.87924835e-02 4.42657491e+02] [ 7.09241302e-02 9.97481630e-01 -4.07830274e-04 4.40435627e+00] [ 1.87740801e-02 -9.26109367e-04 9.99823323e-01 3.02731632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.19925415399996 meters 0.025347537849697125 Centerline is valid? [True, True] Translation: X:442.69, Y:4.41, Z:3.03 [[ 9.97202053e-01 -7.23182550e-02 -1.89244568e-02 4.42689578e+02] [ 7.23234707e-02 9.97381145e-01 -4.09549461e-04 4.40808814e+00] [ 1.89045143e-02 -9.60278835e-04 9.99820833e-01 3.02772517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.22925415399993 meters 0.026906053042598837 Centerline is valid? [True, True] Translation: X:442.72, Y:4.41, Z:3.03 [[ 9.97160659e-01 -7.29323834e-02 -1.87479946e-02 4.42720635e+02] [ 7.29376322e-02 9.97336422e-01 -4.04568444e-04 4.40840886e+00] [ 1.87275640e-02 -9.64014597e-04 9.99824159e-01 3.02767126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.25925415399996 meters 0.025445282936221163 Centerline is valid? [True, True] Translation: X:442.75, Y:4.41, Z:3.03 [[ 9.97145956e-01 -7.31004097e-02 -1.88751637e-02 4.42752961e+02] [ 7.31057841e-02 9.97324110e-01 -4.06039719e-04 4.41304605e+00] [ 1.88543375e-02 -9.75002779e-04 9.99821766e-01 3.02848891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.28925415399993 meters 0.0258625223120594 Centerline is valid? [True, True] Translation: X:442.78, Y:4.42, Z:3.03 [[ 9.97231295e-01 -7.17072414e-02 -1.96930488e-02 4.42784670e+02] [ 7.17128502e-02 9.97425230e-01 -4.22144676e-04 4.41876825e+00] [ 1.96726145e-02 -9.91268776e-04 9.99805984e-01 3.02812386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.31925415399996 meters 0.024237848103673524 Centerline is valid? [True, True] Translation: X:442.82, Y:4.42, Z:3.03 [[ 9.97300068e-01 -7.08896777e-02 -1.91632016e-02 4.42817160e+02] [ 7.08948652e-02 9.97483709e-01 -4.09365979e-04 4.42278263e+00] [ 1.91440012e-02 -9.50311876e-04 9.99816285e-01 3.02938366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.34925415399994 meters 0.02402981364232693 Centerline is valid? [True, True] Translation: X:442.85, Y:4.43, Z:3.03 [[ 9.97415247e-01 -6.93095084e-02 -1.89477711e-02 4.42848984e+02] [ 6.93143222e-02 9.97594788e-01 -4.03353879e-04 4.42554546e+00] [ 1.89301539e-02 -9.11040601e-04 9.99820394e-01 3.02967232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37925415399997 meters 0.023926287901941568 Centerline is valid? [True, True] Translation: X:442.88, Y:4.43, Z:3.03 [[ 9.97647747e-01 -6.59555640e-02 -1.86771612e-02 4.42879615e+02] [ 6.59596723e-02 9.97822211e-01 -3.96648419e-04 4.43031154e+00] [ 1.86626475e-02 -8.36224033e-04 9.99825488e-01 3.02925469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.40925415399994 meters 0.02382521870577478 Centerline is valid? [True, True] Translation: X:442.91, Y:4.43, Z:3.03 [[ 9.97766450e-01 -6.41491471e-02 -1.86279008e-02 4.42910950e+02] [ 6.41529358e-02 9.97940001e-01 -3.94724701e-04 4.43307256e+00] [ 1.86148486e-02 -8.01191463e-04 9.99826408e-01 3.02915843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43925415399997 meters 0.023943702364852746 Centerline is valid? [True, True] Translation: X:442.94, Y:4.44, Z:3.03 [[ 9.97884806e-01 -6.22825668e-02 -1.86224395e-02 4.42941834e+02] [ 6.22860473e-02 9.98058262e-01 -3.93619461e-04 4.43529690e+00] [ 1.86107953e-02 -7.67131270e-04 9.99826510e-01 3.02907706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.46925415399994 meters 0.021843148630840293 Centerline is valid? [True, True] Translation: X:442.97, Y:4.44, Z:3.03 [[ 9.98078022e-01 -5.90653127e-02 -1.87497000e-02 4.42972937e+02] [ 5.90682891e-02 9.98253866e-01 -3.95508071e-04 4.44353829e+00] [ 1.87403213e-02 -7.12764788e-04 9.99824131e-01 3.02960517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49925415399997 meters 0.021478894954997173 Centerline is valid? [True, True] Translation: X:443.00, Y:4.45, Z:3.03 [[ 9.98169378e-01 -5.76548187e-02 -1.82705853e-02 4.43004662e+02] [ 5.76574246e-02 9.98336353e-01 -3.84540100e-04 4.44692857e+00] [ 1.82623600e-02 -6.69598739e-04 9.99833005e-01 3.03004524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.52925415399994 meters 0.020934834585970605 Centerline is valid? [True, True] Translation: X:443.04, Y:4.45, Z:3.03 [[ 9.98253816e-01 -5.64421144e-02 -1.74243245e-02 4.43036080e+02] [ 5.64443127e-02 9.98405682e-01 -3.65991492e-04 4.45038661e+00] [ 1.74172019e-02 -6.18151616e-04 9.99848118e-01 3.03088060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5592541539999 meters 0.020785845657330593 Centerline is valid? [True, True] Translation: X:443.07, Y:4.45, Z:3.03 [[ 9.98313698e-01 -5.56087314e-02 -1.66561884e-02 4.43068229e+02] [ 5.56106399e-02 9.98452470e-01 -3.48916079e-04 4.45280727e+00] [ 1.66498153e-02 -5.77933597e-04 9.99861215e-01 3.03166365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.58925415399995 meters 0.020733213576859526 Centerline is valid? [True, True] Translation: X:443.10, Y:4.46, Z:3.03 [[ 9.98329723e-01 -5.58609293e-02 -1.47417994e-02 4.43100115e+02] [ 5.58624665e-02 9.98438426e-01 -3.07804313e-04 4.45624512e+00] [ 1.47359732e-02 -5.16223081e-04 9.99891286e-01 3.03323232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6192541539999 meters 0.02158861110756978 Centerline is valid? [True, True] Translation: X:443.13, Y:4.46, Z:3.03 [[ 9.98305036e-01 -5.65287297e-02 -1.38404343e-02 4.43131357e+02] [ 5.65301604e-02 9.98400850e-01 -2.88139326e-04 4.45647803e+00] [ 1.38345895e-02 -4.94751030e-04 9.99904175e-01 3.03362753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.64925415399995 meters 0.023285671368835602 Centerline is valid? [True, True] Translation: X:443.16, Y:4.46, Z:3.03 [[ 9.98242661e-01 -5.77289446e-02 -1.33775789e-02 4.43163947e+02] [ 5.77303998e-02 9.98332171e-01 -2.77678663e-04 4.45792333e+00] [ 1.33712975e-02 -4.95102292e-04 9.99910478e-01 3.03327718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6792541539999 meters 0.022616730364907675 Centerline is valid? [True, True] Translation: X:443.19, Y:4.46, Z:3.03 [[ 9.98015159e-01 -6.17434744e-02 -1.23889413e-02 4.43194918e+02] [ 6.17450381e-02 9.98091922e-01 -2.56597623e-04 4.46027500e+00] [ 1.23811454e-02 -5.08867332e-04 9.99923221e-01 3.03454398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.70925415399995 meters 0.023970414273351205 Centerline is valid? [True, True] Translation: X:443.23, Y:4.46, Z:3.03 [[ 9.97900231e-01 -6.35133440e-02 -1.26958596e-02 4.43225794e+02] [ 6.35151348e-02 9.97980841e-01 -2.62512123e-04 4.45961967e+00] [ 1.26868976e-02 -5.44418324e-04 9.99919370e-01 3.03400819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7392541539999 meters 0.024181691557197644 Centerline is valid? [True, True] Translation: X:443.26, Y:4.46, Z:3.03 [[ 9.97778026e-01 -6.53427158e-02 -1.30130849e-02 4.43257915e+02] [ 6.53447632e-02 9.97862711e-01 -2.68242526e-04 4.46101585e+00] [ 1.30027999e-02 -5.82690457e-04 9.99915290e-01 3.03386078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.76925415399995 meters 0.02573240377862976 Centerline is valid? [True, True] Translation: X:443.29, Y:4.46, Z:3.03 [[ 9.97555369e-01 -6.85607764e-02 -1.35168540e-02 4.43288963e+02] [ 6.85632913e-02 9.97646730e-01 -2.77797048e-04 4.46141328e+00] [ 1.35040911e-02 -6.49642060e-04 9.99908605e-01 3.03344910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7992541539999 meters 0.026684082516787076 Centerline is valid? [True, True] Translation: X:443.32, Y:4.46, Z:3.03 [[ 9.97479545e-01 -6.95878595e-02 -1.38595604e-02 4.43321269e+02] [ 6.95906141e-02 9.97575594e-01 -2.84004684e-04 4.46333510e+00] [ 1.38457225e-02 -6.81206458e-04 9.99903911e-01 3.03250672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.82925415399995 meters 0.02701332407970822 Centerline is valid? [True, True] Translation: X:443.35, Y:4.46, Z:3.03 [[ 9.97413300e-01 -7.05474592e-02 -1.37755176e-02 4.43353766e+02] [ 7.05502855e-02 9.97508184e-01 -2.81282340e-04 4.46457882e+00] [ 1.37610353e-02 -6.91311954e-04 9.99905073e-01 3.03339488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8592541539999 meters 0.0279061570850821 Centerline is valid? [True, True] Translation: X:443.38, Y:4.47, Z:3.03 [[ 9.97357013e-01 -7.14695737e-02 -1.30800793e-02 4.43384444e+02] [ 7.14722173e-02 9.97442555e-01 -2.65828392e-04 4.46688063e+00] [ 1.30656264e-02 -6.69736460e-04 9.99914417e-01 3.03461278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.88925415399996 meters 0.02837927316544713 Centerline is valid? [True, True] Translation: X:443.42, Y:4.47, Z:3.03 [[ 9.97375475e-01 -7.12830916e-02 -1.26839571e-02 4.43416899e+02] [ 7.12855784e-02 9.97455914e-01 -2.56519199e-04 4.46829851e+00] [ 1.26699735e-02 -6.48337257e-04 9.99919522e-01 3.03467171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.91925415399993 meters 0.029263797652720084 Centerline is valid? [True, True] Translation: X:443.45, Y:4.47, Z:3.03 [[ 9.97431420e-01 -7.05851838e-02 -1.21775920e-02 4.43449162e+02] [ 7.05874344e-02 9.97505566e-01 -2.45429338e-04 4.46993744e+00] [ 1.21645395e-02 -6.14786041e-04 9.99925820e-01 3.03419382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.94925415399996 meters 0.02774280745147828 Centerline is valid? [True, True] Translation: X:443.48, Y:4.47, Z:3.04 [[ 9.97446268e-01 -7.04355377e-02 -1.18227572e-02 4.43481337e+02] [ 7.04376583e-02 9.97516155e-01 -2.37450409e-04 4.47249236e+00] [ 1.18101162e-02 -5.95923307e-04 9.99930081e-01 3.03618494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.97925415399993 meters 0.02789664401072823 Centerline is valid? [True, True] Translation: X:443.51, Y:4.48, Z:3.04 [[ 9.97577436e-01 -6.85051390e-02 -1.20956779e-02 4.43511841e+02] [ 6.85072244e-02 9.97650591e-01 -2.42335615e-04 4.47635575e+00] [ 1.20838615e-02 -5.86892781e-04 9.99926815e-01 3.03600417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.00925415399996 meters 0.0255478442702096 Centerline is valid? [True, True] Translation: X:443.54, Y:4.48, Z:3.04 [[ 9.97678223e-01 -6.69790817e-02 -1.23274288e-02 4.43543889e+02] [ 6.69811379e-02 9.97754211e-01 -2.46457802e-04 4.48370063e+00] [ 1.23162515e-02 -5.79819623e-04 9.99923984e-01 3.03544458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.03925415399993 meters 0.023801266746931022 Centerline is valid? [True, True] Translation: X:443.58, Y:4.49, Z:3.04 [[ 9.97731166e-01 -6.61648069e-02 -1.24394209e-02 4.43575632e+02] [ 6.61668490e-02 9.97808542e-01 -2.47775873e-04 4.48761778e+00] [ 1.24285544e-02 -5.75863572e-04 9.99922597e-01 3.03678393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.06925415399996 meters 0.027078778590262458 Centerline is valid? [True, True] Translation: X:443.61, Y:4.49, Z:3.04 [[ 9.97859681e-01 -6.41154161e-02 -1.28557316e-02 4.43606493e+02] [ 6.41174370e-02 9.97942328e-01 -2.55320459e-04 4.48714218e+00] [ 1.28456486e-02 -5.69502566e-04 9.99917329e-01 3.03620628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.09925415399994 meters 0.023322749593683634 Centerline is valid? [True, True] Translation: X:443.64, Y:4.50, Z:3.04 [[ 9.97925986e-01 -6.31403411e-02 -1.25309228e-02 4.43638675e+02] [ 6.31421927e-02 9.98004510e-01 -2.48206401e-04 4.49582464e+00] [ 1.25215893e-02 -5.43538326e-04 9.99921454e-01 3.03661460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.12925415399997 meters 0.022830342559144595 Centerline is valid? [True, True] Translation: X:443.67, Y:4.50, Z:3.04 [[ 9.97949585e-01 -6.27535959e-02 -1.25941449e-02 4.43670836e+02] [ 6.27554472e-02 9.98028903e-01 -2.48525815e-04 4.49995291e+00] [ 1.25849165e-02 -5.42334960e-04 9.99920660e-01 3.03786208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.15925415399994 meters 0.023625672105086943 Centerline is valid? [True, True] Translation: X:443.70, Y:4.50, Z:3.04 [[ 9.97958369e-01 -6.27020675e-02 -1.21467667e-02 4.43702750e+02] [ 6.27037976e-02 9.98032152e-01 -2.38725244e-04 4.50116618e+00] [ 1.21378323e-02 -5.23410548e-04 9.99926197e-01 3.03826955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.18925415399997 meters 0.022439703017957214 Centerline is valid? [True, True] Translation: X:443.74, Y:4.51, Z:3.04 [[ 9.97971253e-01 -6.25712426e-02 -1.17565769e-02 4.43735152e+02] [ 6.25728658e-02 9.98040372e-01 -2.30081659e-04 4.50535907e+00] [ 1.17479349e-02 -5.06027827e-04 9.99930863e-01 3.03896998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.21925415399994 meters 0.022315915258588812 Centerline is valid? [True, True] Translation: X:443.77, Y:4.51, Z:3.04 [[ 9.97992628e-01 -6.22932280e-02 -1.14135102e-02 4.43766975e+02] [ 6.22947492e-02 9.98057771e-01 -2.22535452e-04 4.50765160e+00] [ 1.14052050e-02 -4.88913014e-04 9.99934839e-01 3.03968360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.24925415399997 meters 0.0223425877656623 Centerline is valid? [True, True] Translation: X:443.80, Y:4.51, Z:3.04 [[ 9.98075146e-01 -6.10789446e-02 -1.07408430e-02 4.43799123e+02] [ 6.10802297e-02 9.98132838e-01 -2.08655495e-04 4.51154243e+00] [ 1.07335325e-02 -4.47799293e-04 9.99942294e-01 3.03984711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.27925415399994 meters 0.0220631222074699 Centerline is valid? [True, True] Translation: X:443.83, Y:4.51, Z:3.04 [[ 9.98149084e-01 -5.98933841e-02 -1.05446142e-02 4.43831495e+02] [ 5.98945647e-02 9.98204688e-01 -2.04075801e-04 4.51407575e+00] [ 1.05379061e-02 -4.27867004e-04 9.99944383e-01 3.04015711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3092541539999 meters 0.021645268253287626 Centerline is valid? [True, True] Translation: X:443.86, Y:4.52, Z:3.04 [[ 9.98212886e-01 -5.88842457e-02 -1.01822823e-02 4.43863530e+02] [ 5.88853016e-02 9.98264736e-01 -1.96330594e-04 4.51666745e+00] [ 1.01761741e-02 -4.03607033e-04 9.99948140e-01 3.04063480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.33925415399995 meters 0.02130818925771047 Centerline is valid? [True, True] Translation: X:443.90, Y:4.52, Z:3.04 [[ 9.98302820e-01 -5.75027303e-02 -9.21495269e-03 4.43895939e+02] [ 5.75035422e-02 9.98345287e-01 -1.77047921e-04 4.51893476e+00] [ 9.20988532e-03 -3.53144982e-04 9.99957526e-01 3.04147254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3692541539999 meters 0.019948473127675705 Centerline is valid? [True, True] Translation: X:443.93, Y:4.52, Z:3.04 [[ 9.98435191e-01 -5.53601636e-02 -7.90070059e-03 4.43928442e+02] [ 5.53606976e-02 9.98466409e-01 -1.51268485e-04 4.52459023e+00] [ 7.89695839e-03 -2.86356517e-04 9.99968778e-01 3.04284872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.39925415399995 meters 0.020036248182062327 Centerline is valid? [True, True] Translation: X:443.96, Y:4.53, Z:3.04 [[ 9.98473136e-01 -5.46873246e-02 -7.79054748e-03 4.43960725e+02] [ 5.46878288e-02 9.98503490e-01 -1.48455357e-04 4.52607755e+00] [ 7.78700747e-03 -2.77819441e-04 9.99969642e-01 3.04326309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4292541539999 meters 0.020989144665590934 Centerline is valid? [True, True] Translation: X:443.99, Y:4.53, Z:3.04 [[ 9.98493465e-01 -5.42592031e-02 -8.16937918e-03 4.43992118e+02] [ 5.42597482e-02 9.98526843e-01 -1.55065091e-04 4.52618058e+00] [ 8.16575811e-03 -2.88436978e-04 9.99966618e-01 3.04303367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.45925415399995 meters 0.019910122143575494 Centerline is valid? [True, True] Translation: X:444.02, Y:4.53, Z:3.04 [[ 9.98477115e-01 -5.45272336e-02 -8.38042192e-03 4.44024529e+02] [ 5.45278209e-02 9.98512239e-01 -1.58569330e-04 4.52985305e+00] [ 8.37660020e-03 -2.98638298e-04 9.99964871e-01 3.04321638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4892541539999 meters 0.02219153889565361 Centerline is valid? [True, True] Translation: X:444.06, Y:4.53, Z:3.04 [[ 9.98444223e-01 -5.50792617e-02 -8.68383096e-03 4.44055528e+02] [ 5.50799186e-02 9.98481936e-01 -1.63677271e-04 4.52693958e+00] [ 8.67966357e-03 -3.14882077e-04 9.99962281e-01 3.04294714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.51925415399995 meters 0.022636152765419814 Centerline is valid? [True, True] Translation: X:444.09, Y:4.53, Z:3.04 [[ 9.98417779e-01 -5.55612268e-02 -8.65388022e-03 4.44087936e+02] [ 5.55619016e-02 9.98455231e-01 -1.62606998e-04 4.52696091e+00] [ 8.64954662e-03 -3.18476323e-04 9.99962541e-01 3.04253277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5492541539999 meters 0.021878804520920447 Centerline is valid? [True, True] Translation: X:444.12, Y:4.53, Z:3.04 [[ 9.98370486e-01 -5.64236127e-02 -8.52932037e-03 4.44119880e+02] [ 5.64243048e-02 9.98406867e-01 -1.59666292e-04 4.52879841e+00] [ 8.52474098e-03 -3.21854859e-04 9.99963612e-01 3.04175036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.57925415399995 meters 0.02121409034142541 Centerline is valid? [True, True] Translation: X:444.15, Y:4.53, Z:3.04 [[ 9.98347229e-01 -5.67833906e-02 -8.85763600e-03 4.44152101e+02] [ 5.67841571e-02 9.98386464e-01 -1.65142979e-04 4.52967568e+00] [ 8.85272127e-03 -3.38103359e-04 9.99960757e-01 3.04271109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6092541539999 meters 0.021183005207144126 Centerline is valid? [True, True] Translation: X:444.18, Y:4.53, Z:3.04 [[ 9.98373968e-01 -5.62975216e-02 -8.94474031e-03 4.44184215e+02] [ 5.62982897e-02 9.98413980e-01 -1.66103477e-04 4.53018158e+00] [ 8.93990499e-03 -3.37740194e-04 9.99959981e-01 3.04282324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.63925415399996 meters 0.021477756478449555 Centerline is valid? [True, True] Translation: X:444.22, Y:4.53, Z:3.04 [[ 9.98473172e-01 -5.43819951e-02 -9.69144631e-03 4.44216220e+02] [ 5.43828139e-02 9.98520144e-01 -1.79215712e-04 4.53299881e+00] [ 9.68685048e-03 -3.48106041e-04 9.99953021e-01 3.04113532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.66925415399993 meters 0.02051925629445401 Centerline is valid? [True, True] Translation: X:444.25, Y:4.53, Z:3.04 [[ 9.98510089e-01 -5.36426470e-02 -1.00033950e-02 4.44247610e+02] [ 5.36434893e-02 9.98560134e-01 -1.84287971e-04 4.53424871e+00] [ 9.99887717e-03 -3.52603615e-04 9.99949948e-01 3.04226083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.69925415399996 meters 0.020708848292608804 Centerline is valid? [True, True] Translation: X:444.28, Y:4.54, Z:3.04 [[ 9.98561644e-01 -5.24803390e-02 -1.09752977e-02 4.44278457e+02] [ 5.24812898e-02 9.98621887e-01 -2.01555788e-04 4.53501711e+00] [ 1.09707502e-02 -3.74731898e-04 9.99939749e-01 3.04154308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.72925415399993 meters 0.0201552674081063 Centerline is valid? [True, True] Translation: X:444.31, Y:4.54, Z:3.04 [[ 9.98662542e-01 -5.03888822e-02 -1.15796389e-02 4.44310313e+02] [ 5.03898087e-02 9.98729604e-01 -2.11922751e-04 4.53776193e+00] [ 1.15756067e-02 -3.71856473e-04 9.99932931e-01 3.04033883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.75925415399996 meters 0.018585788099311138 Centerline is valid? [True, True] Translation: X:444.34, Y:4.54, Z:3.04 [[ 9.98710537e-01 -4.93877096e-02 -1.17523600e-02 4.44342760e+02] [ 4.93886048e-02 9.98779615e-01 -2.14219874e-04 4.54153371e+00] [ 1.17485975e-02 -3.66489019e-04 9.99930916e-01 3.04113889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.78925415399993 meters 0.020283139564438803 Centerline is valid? [True, True] Translation: X:444.37, Y:4.54, Z:3.04 [[ 9.98789706e-01 -4.78523077e-02 -1.13701301e-02 4.44373575e+02] [ 4.78530547e-02 9.98854365e-01 -2.06507709e-04 4.54289164e+00] [ 1.13669860e-02 -3.37837685e-04 9.99935337e-01 3.03953324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.81925415399996 meters 0.018686644129458547 Centerline is valid? [True, True] Translation: X:444.40, Y:4.54, Z:3.04 [[ 9.98839209e-01 -4.68167846e-02 -1.13323852e-02 4.44404512e+02] [ 4.68174671e-02 9.98903440e-01 -2.05197701e-04 4.54417392e+00] [ 1.13295653e-02 -3.25594063e-04 9.99935765e-01 3.04208055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.84925415399994 meters 0.019611133578643063 Centerline is valid? [True, True] Translation: X:444.44, Y:4.55, Z:3.04 [[ 9.99014977e-01 -4.32701320e-02 -9.83729223e-03 4.44436186e+02] [ 4.32704792e-02 9.99063378e-01 -1.77636870e-04 4.54843112e+00] [ 9.83576478e-03 -2.48202456e-04 9.99951597e-01 3.04144243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87925415399997 meters 0.017830631912866133 Centerline is valid? [True, True] Translation: X:444.47, Y:4.55, Z:3.04 [[ 9.99084903e-01 -4.17932197e-02 -9.09309448e-03 4.44468719e+02] [ 4.17934598e-02 9.99126258e-01 -1.63689064e-04 4.55125999e+00] [ 9.09199056e-03 -2.16492607e-04 9.99958644e-01 3.04346698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.90925415399994 meters 0.016925932377959526 Centerline is valid? [True, True] Translation: X:444.50, Y:4.55, Z:3.05 [[ 9.99128657e-01 -4.08055344e-02 -8.76555113e-03 4.44499428e+02] [ 4.08057248e-02 9.99167087e-01 -1.57199466e-04 4.55276706e+00] [ 8.76466479e-03 -2.00622176e-04 9.99961569e-01 3.04501814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93925415399997 meters 0.016879852684944106 Centerline is valid? [True, True] Translation: X:444.53, Y:4.55, Z:3.04 [[ 9.99197333e-01 -3.92472472e-02 -8.02144621e-03 4.44531134e+02] [ 3.92473599e-02 9.99229515e-01 -1.43427638e-04 4.55454224e+00] [ 8.02089494e-03 -1.71508072e-04 9.99967817e-01 3.04495523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.96925415399994 meters 0.01666922760977589 Centerline is valid? [True, True] Translation: X:444.56, Y:4.56, Z:3.05 [[ 9.99204039e-01 -3.89668498e-02 -8.53657278e-03 4.44562932e+02] [ 3.89669727e-02 9.99240488e-01 -1.51988480e-04 4.55560972e+00] [ 8.53601166e-03 -1.80776896e-04 9.99963551e-01 3.04513422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99925415399997 meters 0.017786749962418354 Centerline is valid? [True, True] Translation: X:444.60, Y:4.56, Z:3.04 [[ 9.99213054e-01 -3.87480110e-02 -8.47723203e-03 4.44595712e+02] [ 3.87481300e-02 9.99248998e-01 -1.50267465e-04 4.55620489e+00] [ 8.47668818e-03 -1.78327676e-04 9.99964056e-01 3.04357059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.02925415399994 meters 0.017786749962418354 Centerline is valid? [True, True] Translation: X:444.63, Y:4.56, Z:3.04 [[ 9.99217263e-01 -3.86393387e-02 -8.47724827e-03 4.44628257e+02] [ 3.86394616e-02 9.99253206e-01 -1.49346257e-04 4.55668734e+00] [ 8.47668815e-03 -1.78326951e-04 9.99964056e-01 3.04379590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0592541539999 meters 0.016508824254068147 Centerline is valid? [True, True] Translation: X:444.66, Y:4.56, Z:3.04 [[ 9.99156625e-01 -3.99729986e-02 -9.39139983e-03 4.44660205e+02] [ 3.99732178e-02 9.99200738e-01 -1.64432441e-04 4.55826605e+00] [ 9.39046650e-03 -2.11110708e-04 9.99955886e-01 3.04454592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.08925415399995 meters 0.01809486975643092 Centerline is valid? [True, True] Translation: X:444.69, Y:4.56, Z:3.04 [[ 9.99129375e-01 -4.06296276e-02 -9.47238001e-03 4.44691333e+02] [ 4.06298881e-02 9.99174252e-01 -1.65009208e-04 4.55739688e+00] [ 9.47126247e-03 -2.19996194e-04 9.99955122e-01 3.04267279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1192541539999 meters 0.017424513083070806 Centerline is valid? [True, True] Translation: X:444.72, Y:4.56, Z:3.04 [[ 9.99052074e-01 -4.23112060e-02 -1.02330971e-02 4.44723006e+02] [ 4.23116097e-02 9.99104447e-01 -1.77136738e-04 4.55689058e+00] [ 1.02314277e-02 -2.56009986e-04 9.99947625e-01 3.04367694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.14925415399995 meters 0.01856532704378776 Centerline is valid? [True, True] Translation: X:444.75, Y:4.55, Z:3.04 [[ 9.98896764e-01 -4.54889348e-02 -1.16624151e-02 4.44754464e+02] [ 4.54896837e-02 9.98964788e-01 -2.01181175e-04 4.55373038e+00] [ 1.16594936e-02 -3.29560350e-04 9.99931971e-01 3.04245627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1792541539999 meters 0.020550335236760937 Centerline is valid? [True, True] Translation: X:444.79, Y:4.55, Z:3.04 [[ 9.98834089e-01 -4.66821927e-02 -1.22977599e-02 4.44785932e+02] [ 4.66831243e-02 9.98909726e-01 -2.11449869e-04 4.55217203e+00] [ 1.22942229e-02 -3.62894518e-04 9.99924357e-01 3.04001599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.20925415399995 meters 0.019587376968713363 Centerline is valid? [True, True] Translation: X:444.82, Y:4.55, Z:3.04 [[ 9.98717218e-01 -4.87851942e-02 -1.35618299e-02 4.44818115e+02] [ 4.87865330e-02 9.98809201e-01 -2.32291283e-04 4.55226090e+00] [ 1.35570129e-02 -4.29641358e-04 9.99908007e-01 3.04116326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2392541539999 meters 0.019960393867604342 Centerline is valid? [True, True] Translation: X:444.85, Y:4.55, Z:3.04 [[ 9.98692131e-01 -4.92032437e-02 -1.38948851e-02 4.44850705e+02] [ 4.92047037e-02 9.98788687e-01 -2.36979791e-04 4.55212132e+00] [ 1.38897142e-02 -4.47023850e-04 9.99903433e-01 3.04097088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.26925415399995 meters 0.0204958595534172 Centerline is valid? [True, True] Translation: X:444.88, Y:4.55, Z:3.04 [[ 9.98670426e-01 -4.95488745e-02 -1.42228677e-02 4.44882088e+02] [ 4.95504581e-02 9.98771592e-01 -2.41246223e-04 4.55186616e+00] [ 1.42173497e-02 -4.63824142e-04 9.99898821e-01 3.04073115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2992541539999 meters 0.022975567435886572 Centerline is valid? [True, True] Translation: X:444.91, Y:4.55, Z:3.04 [[ 9.98678235e-01 -4.94421808e-02 -1.40447141e-02 4.44913042e+02] [ 4.94437367e-02 9.98776882e-01 -2.36636489e-04 4.54817495e+00] [ 1.40392355e-02 -4.58099432e-04 9.99901340e-01 3.04071843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.32925415399995 meters 0.020672940702321445 Centerline is valid? [True, True] Translation: X:444.95, Y:4.55, Z:3.04 [[ 9.98698872e-01 -4.91469019e-02 -1.36068240e-02 4.44945316e+02] [ 4.91483519e-02 9.98791463e-01 -2.28008385e-04 4.55274304e+00] [ 1.36015855e-02 -4.41041256e-04 9.99907397e-01 3.04169439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3592541539999 meters 0.019456835097206172 Centerline is valid? [True, True] Translation: X:444.98, Y:4.56, Z:3.04 [[ 9.98810155e-01 -4.71445807e-02 -1.24764956e-02 4.44977889e+02] [ 4.71456556e-02 9.98888004e-01 -2.08115981e-04 4.55538865e+00] [ 1.24724333e-02 -3.80344209e-04 9.99922144e-01 3.04366540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.38925415399996 meters 0.01867986715354358 Centerline is valid? [True, True] Translation: X:445.01, Y:4.56, Z:3.04 [[ 9.98908595e-01 -4.52380901e-02 -1.16247096e-02 4.45010607e+02] [ 4.52389059e-02 9.98976178e-01 -1.92897766e-04 4.55793898e+00] [ 1.16215343e-02 -3.33201909e-04 9.99932412e-01 3.04454236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.41925415399993 meters 0.017640348153482206 Centerline is valid? [True, True] Translation: X:445.04, Y:4.56, Z:3.05 [[ 9.99000244e-01 -4.32400513e-02 -1.13494688e-02 4.45043198e+02] [ 4.32407118e-02 9.99064665e-01 -1.87305365e-04 4.56093603e+00] [ 1.13469523e-02 -3.03641003e-04 9.99935575e-01 3.04565588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.44925415399996 meters 0.017763503942079217 Centerline is valid? [True, True] Translation: X:445.07, Y:4.56, Z:3.05 [[ 9.99172592e-01 -3.91020919e-02 -1.11874105e-02 4.45073233e+02] [ 3.91024823e-02 9.99235189e-01 -1.83921802e-04 4.56262200e+00] [ 1.11860460e-02 -2.53685898e-04 9.99937402e-01 3.04586275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.47925415399993 meters 0.017297933267953612 Centerline is valid? [True, True] Translation: X:445.11, Y:4.56, Z:3.05 [[ 9.99243755e-01 -3.73398083e-02 -1.08469404e-02 4.45105306e+02] [ 3.73400758e-02 9.99302600e-01 -1.77927194e-04 4.56440775e+00] [ 1.08460195e-02 -2.27232938e-04 9.99941154e-01 3.04642809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.50925415399996 meters 0.01643471136977304 Centerline is valid? [True, True] Translation: X:445.14, Y:4.57, Z:3.05 [[ 9.99293595e-01 -3.61040219e-02 -1.04311918e-02 4.45137123e+02] [ 3.61042095e-02 9.99348016e-01 -1.70387307e-04 4.56699521e+00] [ 1.04305425e-02 -2.06342988e-04 9.99945579e-01 3.04729129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.53925415399993 meters 0.0160587633696245 Centerline is valid? [True, True] Translation: X:445.17, Y:4.57, Z:3.05 [[ 9.99345405e-01 -3.47878159e-02 -9.92825958e-03 4.45168855e+02] [ 3.47879279e-02 9.99394704e-01 -1.61474843e-04 4.56758763e+00] [ 9.92786740e-03 -1.84014436e-04 9.99950701e-01 3.04754006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.56925415399996 meters 0.015957788954775193 Centerline is valid? [True, True] Translation: X:445.20, Y:4.57, Z:3.05 [[ 9.99345094e-01 -3.47442912e-02 -1.01102286e-02 4.45201286e+02] [ 3.47444126e-02 9.99396217e-01 -1.63683911e-04 4.56690705e+00] [ 1.01098113e-02 -1.87697241e-04 9.99948877e-01 3.04788261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.59925415399994 meters 0.01606439931885264 Centerline is valid? [True, True] Translation: X:445.23, Y:4.57, Z:3.05 [[ 9.99328592e-01 -3.52461107e-02 -1.00038633e-02 4.45233474e+02] [ 3.52462620e-02 9.99378644e-01 -1.61235171e-04 4.56659517e+00] [ 1.00033303e-02 -1.91471872e-04 9.99949947e-01 3.04796362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.62925415399997 meters 0.016619994912223546 Centerline is valid? [True, True] Translation: X:445.26, Y:4.56, Z:3.05 [[ 9.99272356e-01 -3.65587521e-02 -1.08727432e-02 4.45264879e+02] [ 3.65590168e-02 9.99331480e-01 -1.74469961e-04 4.56427335e+00] [ 1.08718530e-02 -2.23153794e-04 9.99940875e-01 3.04746999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.65925415399994 meters 0.016733411743637086 Centerline is valid? [True, True] Translation: X:445.30, Y:4.56, Z:3.05 [[ 9.99245391e-01 -3.70163843e-02 -1.17658506e-02 4.45297038e+02] [ 3.70167349e-02 9.99314628e-01 -1.88044651e-04 4.56370904e+00] [ 1.17647474e-02 -2.47630622e-04 9.99930762e-01 3.04696434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.68925415399997 meters 0.017056605657439876 Centerline is valid? [True, True] Translation: X:445.33, Y:4.56, Z:3.05 [[ 9.99241130e-01 -3.67936389e-02 -1.27824981e-02 4.45328599e+02] [ 3.67940455e-02 9.99322849e-01 -2.03442515e-04 4.56317846e+00] [ 1.27813278e-02 -2.67031689e-04 9.99918280e-01 3.04632944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.71925415399994 meters 0.016874316309373586 Centerline is valid? [True, True] Translation: X:445.36, Y:4.56, Z:3.05 [[ 9.99244765e-01 -3.62949068e-02 -1.38773227e-02 4.45360546e+02] [ 3.62953503e-02 9.99341082e-01 -2.19977250e-04 4.56325008e+00] [ 1.38761628e-02 -2.83871174e-04 9.99903681e-01 3.04585791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.74925415399997 meters 0.016917118974751556 Centerline is valid? [True, True] Translation: X:445.39, Y:4.56, Z:3.05 [[ 9.99265661e-01 -3.54550668e-02 -1.45285068e-02 4.45392698e+02] [ 3.54554794e-02 9.99371231e-01 -2.29256250e-04 4.56350394e+00] [ 1.45275000e-02 -2.86027277e-04 9.99894429e-01 3.04540455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.77925415399994 meters 0.015755175034634986 Centerline is valid? [True, True] Translation: X:445.43, Y:4.57, Z:3.05 [[ 9.99314495e-01 -3.39714109e-02 -1.47133616e-02 4.45425326e+02] [ 3.39716921e-02 9.99422769e-01 -2.30895215e-04 4.56534874e+00] [ 1.47127124e-02 -2.69100855e-04 9.99891726e-01 3.04625533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8092541539999 meters 0.016152851150688877 Centerline is valid? [True, True] Translation: X:445.46, Y:4.56, Z:3.05 [[ 9.99326046e-01 -3.37980657e-02 -1.43228695e-02 4.45456770e+02] [ 3.37983299e-02 9.99428648e-01 -2.23682266e-04 4.56458159e+00] [ 1.43222461e-02 -2.60557553e-04 9.99897397e-01 3.04606137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.83925415399995 meters 0.016143001574043622 Centerline is valid? [True, True] Translation: X:445.49, Y:4.56, Z:3.05 [[ 9.99379872e-01 -3.29200312e-02 -1.24957109e-02 4.45487980e+02] [ 3.29201714e-02 9.99457965e-01 -1.94522684e-04 4.56444373e+00] [ 1.24953415e-02 -2.16958890e-04 9.99921907e-01 3.04749114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8692541539999 meters 0.016746026575959142 Centerline is valid? [True, True] Translation: X:445.52, Y:4.57, Z:3.05 [[ 9.99423585e-01 -3.18871341e-02 -1.16493945e-02 4.45520029e+02] [ 3.18871938e-02 9.99491458e-01 -1.80659318e-04 4.56644363e+00] [ 1.16492310e-02 -1.90911317e-04 9.99932127e-01 3.04717621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.89925415399995 meters 0.01563440963830028 Centerline is valid? [True, True] Translation: X:445.55, Y:4.57, Z:3.05 [[ 9.99455977e-01 -3.11589841e-02 -1.08105565e-02 4.45551165e+02] [ 3.11590004e-02 9.99514427e-01 -1.66965458e-04 4.56677261e+00] [ 1.08105096e-02 -1.69971509e-04 9.99941550e-01 3.04924743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9292541539999 meters 0.015360583179469065 Centerline is valid? [True, True] Translation: X:445.58, Y:4.57, Z:3.05 [[ 9.99502383e-01 -2.97293503e-02 -1.05428866e-02 4.45583350e+02] [ 2.97292928e-02 9.99557974e-01 -1.62201089e-04 4.56800430e+00] [ 1.05430485e-02 -1.51312187e-04 9.99944409e-01 3.04956332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.95925415399995 meters 0.014988081965683754 Centerline is valid? [True, True] Translation: X:445.61, Y:4.57, Z:3.05 [[ 9.99576910e-01 -2.70806610e-02 -1.06131810e-02 4.45614135e+02] [ 2.70804610e-02 9.99633244e-01 -1.62582757e-04 4.56887438e+00] [ 1.06136914e-02 -1.24895864e-04 9.99943665e-01 3.04973393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9892541539999 meters 0.015356122495723408 Centerline is valid? [True, True] Translation: X:445.65, Y:4.57, Z:3.05 [[ 9.99605467e-01 -2.59722384e-02 -1.06936170e-02 4.45645725e+02] [ 2.59719780e-02 9.99662658e-01 -1.63242199e-04 4.56902087e+00] [ 1.06942494e-02 -1.14556592e-04 9.99942808e-01 3.04872523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.01925415399995 meters 0.014528083677422783 Centerline is valid? [True, True] Translation: X:445.68, Y:4.57, Z:3.05 [[ 9.99617555e-01 -2.54515952e-02 -1.08148389e-02 4.45678075e+02] [ 2.54513054e-02 9.99676050e-01 -1.64442773e-04 4.56983810e+00] [ 1.08155208e-02 -1.10871887e-04 9.99941504e-01 3.04963517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0492541539999 meters 0.014903612388370232 Centerline is valid? [True, True] Translation: X:445.71, Y:4.57, Z:3.05 [[ 9.99597514e-01 -2.60278172e-02 -1.12854835e-02 4.45709360e+02] [ 2.60275470e-02 9.99661211e-01 -1.70842751e-04 4.56739472e+00] [ 1.12861068e-02 -1.22959462e-04 9.99936302e-01 3.04887559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.07925415399995 meters 0.014892505636633788 Centerline is valid? [True, True] Translation: X:445.74, Y:4.57, Z:3.05 [[ 9.99569293e-01 -2.69483715e-02 -1.16195621e-02 4.45741828e+02] [ 2.69481556e-02 9.99636817e-01 -1.75171979e-04 4.56698119e+00] [ 1.16200627e-02 -1.38029238e-04 9.99932475e-01 3.04905638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1092541539999 meters 0.015181822615468517 Centerline is valid? [True, True] Translation: X:445.77, Y:4.56, Z:3.05 [[ 9.99495938e-01 -2.92952898e-02 -1.22333662e-02 4.45773704e+02] [ 2.92952376e-02 9.99570786e-01 -1.83498627e-04 4.56426651e+00] [ 1.22334911e-02 -1.74973238e-04 9.99925153e-01 3.04860960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.13925415399996 meters 0.015478941165215716 Centerline is valid? [True, True] Translation: X:445.81, Y:4.56, Z:3.05 [[ 9.99457264e-01 -3.05342382e-02 -1.23627849e-02 4.45805576e+02] [ 3.05342910e-02 9.99533703e-01 -1.84524831e-04 4.56286786e+00] [ 1.23626545e-02 -1.93064191e-04 9.99923561e-01 3.04839416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.16925415399993 meters 0.015841649056647675 Centerline is valid? [True, True] Translation: X:445.84, Y:4.56, Z:3.05 [[ 9.99417310e-01 -3.17962353e-02 -1.24112708e-02 4.45837155e+02] [ 3.17963998e-02 9.99494350e-01 -1.84119725e-04 4.56071797e+00] [ 1.24108493e-02 -2.10621286e-04 9.99922960e-01 3.04840613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.19925415399996 meters 0.015885674749027266 Centerline is valid? [True, True] Translation: X:445.87, Y:4.56, Z:3.05 [[ 9.99373979e-01 -3.29844937e-02 -1.27934511e-02 4.45869194e+02] [ 3.29847816e-02 9.99455836e-01 -1.88555214e-04 4.55952811e+00] [ 1.27927087e-02 -2.33552016e-04 9.99918143e-01 3.04831598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.22925415399993 meters 0.0164694900382635 Centerline is valid? [True, True] Translation: X:445.90, Y:4.56, Z:3.05 [[ 9.99295231e-01 -3.51325773e-02 -1.32190643e-02 4.45900778e+02] [ 3.51330840e-02 9.99382624e-01 -1.93961480e-04 4.55647458e+00] [ 1.32177175e-02 -2.70601715e-04 9.99912606e-01 3.04789658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.25925415399996 meters 0.016677850834206157 Centerline is valid? [True, True] Translation: X:445.93, Y:4.56, Z:3.05 [[ 9.99256090e-01 -3.61203051e-02 -1.35126250e-02 4.45932499e+02] [ 3.61209348e-02 9.99347407e-01 -1.97524535e-04 4.55582577e+00] [ 1.35109414e-02 -2.90711051e-04 9.99908681e-01 3.04810545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.28925415399993 meters 0.0169187734626562 Centerline is valid? [True, True] Translation: X:445.96, Y:4.56, Z:3.05 [[ 9.99230823e-01 -3.67583212e-02 -1.36597255e-02 4.45964606e+02] [ 3.67590362e-02 9.99324138e-01 -1.98804058e-04 4.55550685e+00] [ 1.36578012e-02 -3.03467203e-04 9.99906682e-01 3.04800572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.31925415399996 meters 0.017057373278122335 Centerline is valid? [True, True] Translation: X:446.00, Y:4.56, Z:3.05 [[ 9.99181520e-01 -3.80419468e-02 -1.37513979e-02 4.45996626e+02] [ 3.80428069e-02 9.99276091e-01 -1.99130360e-04 4.55532088e+00] [ 1.37490185e-02 -3.24174400e-04 9.99905425e-01 3.04841422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.34925415399994 meters 0.017166256633097662 Centerline is valid? [True, True] Translation: X:446.03, Y:4.56, Z:3.05 [[ 9.99159388e-01 -3.87463096e-02 -1.33880785e-02 4.46028638e+02] [ 3.87472010e-02 9.99249027e-01 -1.92899226e-04 4.55545989e+00] [ 1.33854986e-02 -3.26013496e-04 9.99910357e-01 3.04905101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37925415399997 meters 0.017320683687518695 Centerline is valid? [True, True] Translation: X:446.06, Y:4.56, Z:3.05 [[ 9.99146864e-01 -3.91485816e-02 -1.31503912e-02 4.46060655e+02] [ 3.91494890e-02 9.99233347e-01 -1.88516683e-04 4.55522011e+00] [ 1.31476896e-02 -3.26475245e-04 9.99913512e-01 3.04943122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.40925415399994 meters 0.017529516567490133 Centerline is valid? [True, True] Translation: X:446.09, Y:4.56, Z:3.05 [[ 9.99142984e-01 -3.94175726e-02 -1.26314010e-02 4.46093250e+02] [ 3.94184427e-02 9.99222775e-01 -1.80170876e-04 4.55521339e+00] [ 1.26286855e-02 -3.17893691e-04 9.99920204e-01 3.04975346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43925415399997 meters 0.017908234248335226 Centerline is valid? [True, True] Translation: X:446.13, Y:4.56, Z:3.05 [[ 9.99125031e-01 -3.99727826e-02 -1.23024171e-02 4.46125809e+02] [ 3.99736609e-02 9.99200719e-01 -1.74595725e-04 4.55506479e+00] [ 1.22995631e-02 -3.17329689e-04 9.99924307e-01 3.05042631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.46925415399994 meters 0.017766964794860028 Centerline is valid? [True, True] Translation: X:446.16, Y:4.56, Z:3.05 [[ 9.99119019e-01 -4.02041034e-02 -1.20339084e-02 4.46157617e+02] [ 4.02049709e-02 9.99191439e-01 -1.69921300e-04 4.55573394e+00] [ 1.20310098e-02 -3.14051335e-04 9.99927575e-01 3.05091112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49925415399997 meters 0.01924963414736137 Centerline is valid? [True, True] Translation: X:446.19, Y:4.56, Z:3.05 [[ 9.99126585e-01 -3.99556237e-02 -1.22317267e-02 4.46188778e+02] [ 3.99565112e-02 9.99201405e-01 -1.71912193e-04 4.55548842e+00] [ 1.22288273e-02 -3.16975082e-04 9.99925175e-01 3.04957832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.52925415399994 meters 0.018824019588802504 Centerline is valid? [True, True] Translation: X:446.22, Y:4.55, Z:3.05 [[ 9.99093979e-01 -4.10276358e-02 -1.13116891e-02 4.46220272e+02] [ 4.10284701e-02 9.99157965e-01 -1.58396902e-04 4.55446656e+00] [ 1.13086629e-02 -3.05847907e-04 9.99936008e-01 3.05126097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5592541539999 meters 0.018111201983016925 Centerline is valid? [True, True] Translation: X:446.25, Y:4.56, Z:3.05 [[ 9.99079038e-01 -4.13264174e-02 -1.15413843e-02 4.46252757e+02] [ 4.13273140e-02 9.99145649e-01 -1.60896255e-04 4.55592838e+00] [ 1.15381732e-02 -3.16226338e-04 9.99933383e-01 3.05189655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.58925415399995 meters 0.018862054842653093 Centerline is valid? [True, True] Translation: X:446.28, Y:4.55, Z:3.05 [[ 9.99042807e-01 -4.23036100e-02 -1.11299266e-02 4.46284328e+02] [ 4.23045153e-02 9.99104751e-01 -1.54187740e-04 4.55458090e+00] [ 1.11264852e-02 -3.16805997e-04 9.99938049e-01 3.05237990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6192541539999 meters 0.01925046356408388 Centerline is valid? [True, True] Translation: X:446.32, Y:4.55, Z:3.05 [[ 9.99024849e-01 -4.27479310e-02 -1.10437870e-02 4.46316689e+02] [ 4.27488614e-02 9.99085838e-01 -1.51905934e-04 4.55403142e+00] [ 1.10401849e-02 -3.20351519e-04 9.99939004e-01 3.05274824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.64925415399995 meters 0.020196570659619165 Centerline is valid? [True, True] Translation: X:446.35, Y:4.55, Z:3.05 [[ 9.99006039e-01 -4.32729333e-02 -1.06951848e-02 4.46348234e+02] [ 4.32738432e-02 9.99063238e-01 -1.46429896e-04 4.55292185e+00] [ 1.06915024e-02 -3.16537399e-04 9.99942794e-01 3.05307351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6792541539999 meters 0.019689178818695263 Centerline is valid? [True, True] Translation: X:446.38, Y:4.55, Z:3.05 [[ 9.98981330e-01 -4.38280984e-02 -1.07424843e-02 4.46380136e+02] [ 4.38290554e-02 9.99039034e-01 -1.46434096e-04 4.55401777e+00] [ 1.07385791e-02 -3.24548011e-04 9.99942287e-01 3.05381525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.70925415399995 meters 0.019939350108975185 Centerline is valid? [True, True] Translation: X:446.41, Y:4.55, Z:3.05 [[ 9.98981639e-01 -4.37333552e-02 -1.10941190e-02 4.46412823e+02] [ 4.37343790e-02 9.99043183e-01 -1.50422930e-04 4.55378220e+00] [ 1.10900825e-02 -3.34924661e-04 9.99938447e-01 3.05357507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7392541539999 meters 0.01956748851401108 Centerline is valid? [True, True] Translation: X:446.45, Y:4.55, Z:3.05 [[ 9.98996014e-01 -4.32717869e-02 -1.15981308e-02 4.46445407e+02] [ 4.32728845e-02 9.99063278e-01 -1.56411059e-04 4.55441665e+00] [ 1.15940348e-02 -3.45630550e-04 9.99932727e-01 3.05309764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.76925415399995 meters 0.01960144246881097 Centerline is valid? [True, True] Translation: X:446.48, Y:4.56, Z:3.05 [[ 9.99031876e-01 -4.18678630e-02 -1.35053104e-02 4.46478010e+02] [ 4.18692374e-02 9.99123083e-01 -1.81085933e-04 4.55530757e+00] [ 1.35010491e-02 -3.84546428e-04 9.99908783e-01 3.05137985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7992541539999 meters 0.018073755000315467 Centerline is valid? [True, True] Translation: X:446.51, Y:4.56, Z:3.05 [[ 9.99047129e-01 -4.14505934e-02 -1.36631656e-02 4.46510027e+02] [ 4.14519747e-02 9.99140481e-01 -1.82204939e-04 4.55756569e+00] [ 1.36589744e-02 -3.84333873e-04 9.99906638e-01 3.05244854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.82925415399995 meters 0.01954944932730144 Centerline is valid? [True, True] Translation: X:446.54, Y:4.56, Z:3.05 [[ 9.99060386e-01 -4.10900220e-02 -1.37824278e-02 4.46541198e+02] [ 4.10914056e-02 9.99155375e-01 -1.82902312e-04 4.55508867e+00] [ 1.37783023e-02 -3.83608877e-04 9.99905001e-01 3.05170363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8592541539999 meters 0.018259363828913664 Centerline is valid? [True, True] Translation: X:446.57, Y:4.56, Z:3.05 [[ 9.99073192e-01 -4.07070465e-02 -1.39890305e-02 4.46573774e+02] [ 4.07084470e-02 9.99171051e-01 -1.84741959e-04 4.55772842e+00] [ 1.39849546e-02 -3.84900967e-04 9.99902132e-01 3.05256990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.88925415399996 meters 0.01799561336576642 Centerline is valid? [True, True] Translation: X:446.61, Y:4.56, Z:3.05 [[ 9.99114564e-01 -3.98982013e-02 -1.33499351e-02 4.46606491e+02] [ 3.98994188e-02 9.99203686e-01 -1.75234196e-04 4.55869472e+00] [ 1.33462959e-02 -3.57575614e-04 9.99910870e-01 3.05359651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.91925415399993 meters 0.018278641239047717 Centerline is valid? [True, True] Translation: X:446.64, Y:4.56, Z:3.05 [[ 9.99145415e-01 -3.92966423e-02 -1.28146210e-02 4.46637370e+02] [ 3.92977265e-02 9.99227532e-01 -1.67281387e-04 4.55876937e+00] [ 1.28112957e-02 -3.36447038e-04 9.99917875e-01 3.05439452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.94925415399996 meters 0.018278641239047717 Centerline is valid? [True, True] Translation: X:446.67, Y:4.56, Z:3.05 [[ 9.99148233e-01 -3.92249047e-02 -1.28146314e-02 4.46669071e+02] [ 3.92259933e-02 9.99230351e-01 -1.66482413e-04 4.55912062e+00] [ 1.28112988e-02 -3.36326034e-04 9.99917875e-01 3.05461410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.97925415399993 meters 0.01792385116555244 Centerline is valid? [True, True] Translation: X:446.70, Y:4.56, Z:3.06 [[ 9.99208901e-01 -3.78626974e-02 -1.21650239e-02 4.46700855e+02] [ 3.78635879e-02 9.99282905e-01 -1.57194009e-04 4.56034383e+00] [ 1.21622522e-02 -3.03541797e-04 9.99925991e-01 3.05564496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.00925415399996 meters 0.018696710591348763 Centerline is valid? [True, True] Translation: X:446.73, Y:4.56, Z:3.06 [[ 9.99381416e-01 -3.32988412e-02 -1.13124888e-02 4.46732106e+02] [ 3.32993259e-02 9.99445413e-01 -1.45554435e-04 4.56376380e+00] [ 1.13110618e-02 -2.31233853e-04 9.99936001e-01 3.05536808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.03925415399993 meters 0.016436617080918356 Centerline is valid? [True, True] Translation: X:446.76, Y:4.57, Z:3.06 [[ 9.99453486e-01 -3.16040016e-02 -9.69108772e-03 4.46763366e+02] [ 3.16042812e-02 9.99500452e-01 -1.24326861e-04 4.56540292e+00] [ 9.69017579e-03 -1.82020947e-04 9.99953033e-01 3.05845369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.06925415399996 meters 0.01655193694087554 Centerline is valid? [True, True] Translation: X:446.80, Y:4.57, Z:3.06 [[ 9.99540606e-01 -2.89609111e-02 -8.93552247e-03 4.46795997e+02] [ 2.89610479e-02 9.99580534e-01 -1.14105976e-04 4.56766337e+00] [ 8.93507894e-03 -1.44728538e-04 9.99960071e-01 3.05836857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.09925415399994 meters 0.017798287787191197 Centerline is valid? [True, True] Translation: X:446.83, Y:4.57, Z:3.06 [[ 9.99630264e-01 -2.56912852e-02 -8.90464421e-03 4.46828468e+02] [ 2.56912983e-02 9.99669918e-01 -1.12936947e-04 4.56898289e+00] [ 8.90460644e-03 -1.15876680e-04 9.99960346e-01 3.05781034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.12925415399997 meters 0.015020726729910752 Centerline is valid? [True, True] Translation: X:446.86, Y:4.57, Z:3.06 [[ 9.99632447e-01 -2.58470759e-02 -8.17925631e-03 4.46860714e+02] [ 2.58470967e-02 9.99665903e-01 -1.03176955e-04 4.56881495e+00] [ 8.17919046e-03 -1.08270997e-04 9.99966544e-01 3.06029960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.15925415399994 meters 0.015171363015472148 Centerline is valid? [True, True] Translation: X:446.89, Y:4.57, Z:3.06 [[ 9.99623351e-01 -2.60704508e-02 -8.57246310e-03 4.46892841e+02] [ 2.60704875e-02 9.99660101e-01 -1.07487266e-04 4.56773606e+00] [ 8.57235157e-03 -1.16041511e-04 9.99963250e-01 3.05968586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.18925415399997 meters 0.015242670193130489 Centerline is valid? [True, True] Translation: X:446.93, Y:4.57, Z:3.06 [[ 9.99598153e-01 -2.68604959e-02 -9.05798456e-03 4.46925251e+02] [ 2.68605755e-02 9.99639183e-01 -1.12889356e-04 4.56645052e+00] [ 9.05774855e-03 -1.30458686e-04 9.99958969e-01 3.05935742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.21925415399994 meters 0.015840253618757832 Centerline is valid? [True, True] Translation: X:446.96, Y:4.56, Z:3.06 [[ 9.99503306e-01 -2.97512282e-02 -1.03926176e-02 4.46957479e+02] [ 2.97514978e-02 9.99557318e-01 -1.28693518e-04 4.56285968e+00] [ 1.03918457e-02 -1.80566342e-04 9.99945987e-01 3.05726874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.24925415399997 meters 0.01595270499668768 Centerline is valid? [True, True] Translation: X:446.99, Y:4.56, Z:3.06 [[ 9.99440775e-01 -3.15635933e-02 -1.10398221e-02 4.46989874e+02] [ 3.15640173e-02 9.99501723e-01 -1.35867068e-04 4.56087213e+00] [ 1.10386096e-02 -2.12670048e-04 9.99939050e-01 3.05704256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.27925415399994 meters 0.01681807116460417 Centerline is valid? [True, True] Translation: X:447.02, Y:4.56, Z:3.06 [[ 9.99299912e-01 -3.54031678e-02 -1.20955294e-02 4.47022367e+02] [ 3.54039693e-02 9.99373072e-01 -1.47920832e-04 4.55633689e+00] [ 1.20931832e-02 -2.80412477e-04 9.99926835e-01 3.05591013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3092541539999 meters 0.01838651646701369 Centerline is valid? [True, True] Translation: X:447.05, Y:4.55, Z:3.05 [[ 9.99236988e-01 -3.69009409e-02 -1.27969762e-02 4.47054713e+02] [ 3.69019733e-02 9.99318878e-01 -1.55526819e-04 4.55377817e+00] [ 1.27939990e-02 -3.16825524e-04 9.99918103e-01 3.05414341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.33925415399995 meters 0.017894575983798247 Centerline is valid? [True, True] Translation: X:447.09, Y:4.55, Z:3.06 [[ 9.99158906e-01 -3.89962078e-02 -1.26797993e-02 4.47086788e+02] [ 3.89974016e-02 9.99239300e-01 -1.53174078e-04 4.55254112e+00] [ 1.26761270e-02 -3.41433981e-04 9.99919596e-01 3.05543911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3692541539999 meters 0.01859257026985294 Centerline is valid? [True, True] Translation: X:447.12, Y:4.55, Z:3.06 [[ 9.99037960e-01 -4.20779491e-02 -1.23531851e-02 4.47118793e+02] [ 4.20793287e-02 9.99114262e-01 -1.48329897e-04 4.54923924e+00] [ 1.23484848e-02 -3.71626537e-04 9.99923685e-01 3.05562711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.39925415399995 meters 0.018543085176845664 Centerline is valid? [True, True] Translation: X:447.15, Y:4.55, Z:3.06 [[ 9.98983966e-01 -4.34755031e-02 -1.18708431e-02 4.47150469e+02] [ 4.34768880e-02 9.99054423e-01 -1.41494429e-04 4.54868154e+00] [ 1.18657698e-02 -3.74756649e-04 9.99929529e-01 3.05644682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4292541539999 meters 0.019816193506056363 Centerline is valid? [True, True] Translation: X:447.18, Y:4.55, Z:3.06 [[ 9.98938731e-01 -4.45232672e-02 -1.17936971e-02 4.47181824e+02] [ 4.45247193e-02 9.99008273e-01 -1.39535664e-04 4.54665400e+00] [ 1.17882135e-02 -3.85723474e-04 9.99930442e-01 3.05614793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.45925415399995 meters 0.020446740638432537 Centerline is valid? [True, True] Translation: X:447.21, Y:4.55, Z:3.06 [[ 9.98906703e-01 -4.53877741e-02 -1.11958918e-02 4.47213604e+02] [ 4.53891446e-02 9.98969373e-01 -1.31783994e-04 4.54631733e+00] [ 1.11903344e-02 -3.76532037e-04 9.99937315e-01 3.05628387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4892541539999 meters 0.01990413834047972 Centerline is valid? [True, True] Translation: X:447.25, Y:4.55, Z:3.06 [[ 9.98847266e-01 -4.68741125e-02 -1.03420119e-02 4.47245422e+02] [ 4.68753690e-02 9.98900738e-01 -1.21010636e-04 4.54637016e+00] [ 1.03363156e-02 -3.63914482e-04 9.99946513e-01 3.05810474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.51925415399995 meters 0.020227221950163993 Centerline is valid? [True, True] Translation: X:447.28, Y:4.55, Z:3.06 [[ 9.98837469e-01 -4.72382106e-02 -9.60536149e-03 4.47277444e+02] [ 4.72393177e-02 9.98883594e-01 -1.11719610e-04 4.54600306e+00] [ 9.59991544e-03 -3.42160990e-04 9.99953861e-01 3.05864484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5492541539999 meters 0.020399382127408154 Centerline is valid? [True, True] Translation: X:447.31, Y:4.55, Z:3.06 [[ 9.98832918e-01 -4.73783395e-02 -9.38589081e-03 4.47309435e+02] [ 4.73794090e-02 9.98876959e-01 -1.08490491e-04 4.54601703e+00] [ 9.38049017e-03 -3.36334086e-04 9.99955946e-01 3.05905279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.57925415399995 meters 0.020118768011572218 Centerline is valid? [True, True] Translation: X:447.34, Y:4.55, Z:3.06 [[ 9.98809463e-01 -4.79338478e-02 -9.05552291e-03 4.47341984e+02] [ 4.79348721e-02 9.98850458e-01 -1.04025399e-04 4.54735668e+00] [ 9.05009954e-03 -3.30173779e-04 9.99958993e-01 3.05911175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6092541539999 meters 0.02090436876800263 Centerline is valid? [True, True] Translation: X:447.37, Y:4.55, Z:3.06 [[ 9.98803261e-01 -4.80283390e-02 -9.23711495e-03 4.47373240e+02] [ 4.80294148e-02 9.98845916e-01 -1.05459902e-04 4.54661002e+00] [ 9.23151961e-03 -3.38319531e-04 9.99957331e-01 3.05873877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.63925415399996 meters 0.021353354002411045 Centerline is valid? [True, True] Translation: X:447.41, Y:4.55, Z:3.06 [[ 9.98782584e-01 -4.82976910e-02 -1.00340751e-02 4.47405714e+02] [ 4.82989805e-02 9.98832917e-01 -1.13918752e-04 4.54748958e+00] [ 1.00278665e-02 -3.70855531e-04 9.99949651e-01 3.05825697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.66925415399993 meters 0.020272460419152632 Centerline is valid? [True, True] Translation: X:447.44, Y:4.55, Z:3.06 [[ 9.98767014e-01 -4.85902832e-02 -1.01703255e-02 4.47438198e+02] [ 4.85916307e-02 9.98818722e-01 -1.14716372e-04 4.54993803e+00] [ 1.01638856e-02 -3.79617771e-04 9.99948274e-01 3.05852776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.69925415399996 meters 0.02057113983594597 Centerline is valid? [True, True] Translation: X:447.47, Y:4.55, Z:3.06 [[ 9.98763434e-01 -4.86969137e-02 -1.00106919e-02 4.47469485e+02] [ 4.86982313e-02 9.98813531e-01 -1.12235645e-04 4.54984146e+00] [ 1.00042801e-02 -3.75406131e-04 9.99949885e-01 3.05858459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.72925415399993 meters 0.02078417995615352 Centerline is valid? [True, True] Translation: X:447.50, Y:4.55, Z:3.06 [[ 9.98766368e-01 -4.86201126e-02 -1.00908878e-02 4.47502403e+02] [ 4.86214550e-02 9.98817271e-01 -1.12396406e-04 4.55003351e+00] [ 1.00844177e-02 -3.78375896e-04 9.99949079e-01 3.05895458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.75925415399996 meters 0.020457951640204235 Centerline is valid? [True, True] Translation: X:447.53, Y:4.55, Z:3.06 [[ 9.98803733e-01 -4.80373349e-02 -9.13883679e-03 4.47534955e+02] [ 4.80384194e-02 9.98845484e-01 -1.00935296e-04 4.55182852e+00] [ 9.13313451e-03 -3.38200724e-04 9.99958235e-01 3.05952342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.78925415399993 meters 0.0204332278212185 Centerline is valid? [True, True] Translation: X:447.57, Y:4.55, Z:3.06 [[ 9.98840863e-01 -4.72807643e-02 -9.02545450e-03 4.47566747e+02] [ 4.72817971e-02 9.98881585e-01 -9.90217058e-05 4.55380797e+00] [ 9.02004213e-03 -3.27832783e-04 9.99959265e-01 3.05885169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.81925415399996 meters 0.022106984034110495 Centerline is valid? [True, True] Translation: X:447.60, Y:4.55, Z:3.06 [[ 9.98852293e-01 -4.69613651e-02 -9.41951136e-03 4.47597774e+02] [ 4.69624843e-02 9.98896649e-01 -1.02450421e-04 4.55136936e+00] [ 9.41392954e-03 -3.40030817e-04 9.99955630e-01 3.05989373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.84925415399994 meters 0.021238490180299354 Centerline is valid? [True, True] Translation: X:447.63, Y:4.55, Z:3.06 [[ 9.98907129e-01 -4.56739608e-02 -9.92153435e-03 4.47630272e+02] [ 4.56751515e-02 9.98956340e-01 -1.06659243e-04 4.55474736e+00] [ 9.91605119e-03 -3.46624906e-04 9.99950775e-01 3.06004093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87925415399997 meters 0.01971883216143594 Centerline is valid? [True, True] Translation: X:447.66, Y:4.56, Z:3.06 [[ 9.98923533e-01 -4.52010647e-02 -1.04230094e-02 4.47662302e+02] [ 4.52023613e-02 9.98977845e-01 -1.11276361e-04 4.55855039e+00] [ 1.04173853e-02 -3.59988063e-04 9.99945673e-01 3.05967899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.90925415399994 meters 0.01975855783060009 Centerline is valid? [True, True] Translation: X:447.69, Y:4.56, Z:3.06 [[ 9.98937342e-01 -4.47138468e-02 -1.11739775e-02 4.47694186e+02] [ 4.47153160e-02 9.98999763e-01 -1.18435193e-04 4.55939276e+00] [ 1.11680966e-02 -3.81338599e-04 9.99937562e-01 3.05928615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93925415399997 meters 0.01988124804947188 Centerline is valid? [True, True] Translation: X:447.73, Y:4.56, Z:3.06 [[ 9.98929507e-01 -4.45447278e-02 -1.24742634e-02 4.47727266e+02] [ 4.45465604e-02 9.99007301e-01 -1.31041283e-04 4.56072591e+00] [ 1.24677174e-02 -4.24784526e-04 9.99922185e-01 3.05859998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.96925415399994 meters 0.019730826725250367 Centerline is valid? [True, True] Translation: X:447.76, Y:4.56, Z:3.06 [[ 9.98914829e-01 -4.48166357e-02 -1.26740976e-02 4.47759748e+02] [ 4.48185645e-02 9.98995135e-01 -1.31943179e-04 4.56184789e+00] [ 1.26672751e-02 -4.36234862e-04 9.99919672e-01 3.05856268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.9992541539999 meters 0.021431248107570865 Centerline is valid? [True, True] Translation: X:447.79, Y:4.56, Z:3.06 [[ 9.98896870e-01 -4.51504394e-02 -1.29027232e-02 4.47791238e+02] [ 4.51524772e-02 9.98980098e-01 -1.33475744e-04 4.55980433e+00] [ 1.28955902e-02 -4.49261413e-04 9.99916747e-01 3.05814228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.02925415399994 meters 0.01971987271537098 Centerline is valid? [True, True] Translation: X:447.82, Y:4.56, Z:3.06 [[ 9.98871987e-01 -4.57093072e-02 -1.28612563e-02 4.47823137e+02] [ 4.57113888e-02 9.98954679e-01 -1.32227708e-04 4.56483030e+00] [ 1.28538562e-02 -4.55827332e-04 9.99917282e-01 3.05902473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0592541539999 meters 0.022062402063023703 Centerline is valid? [True, True] Translation: X:447.85, Y:4.56, Z:3.06 [[ 9.98901298e-01 -4.51758698e-02 -1.24634213e-02 4.47853959e+02] [ 4.51777931e-02 9.98978954e-01 -1.27332273e-04 4.56200966e+00] [ 1.24564479e-02 -4.35877494e-04 9.99922320e-01 3.05916996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.08925415399995 meters 0.020891149493903725 Centerline is valid? [True, True] Translation: X:447.89, Y:4.57, Z:3.06 [[ 9.99000609e-01 -4.31572727e-02 -1.16289456e-02 4.47886435e+02] [ 4.31588184e-02 9.99068217e-01 -1.18117190e-04 4.56655930e+00] [ 1.16232076e-02 -3.83892407e-04 9.99932375e-01 3.06012860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1192541539999 meters 0.02057577345728296 Centerline is valid? [True, True] Translation: X:447.92, Y:4.57, Z:3.06 [[ 9.99082450e-01 -4.13051414e-02 -1.13200434e-02 4.47918445e+02] [ 4.13064963e-02 9.99146516e-01 -1.14185577e-04 4.57028192e+00] [ 1.13150983e-02 -3.53510524e-04 9.99935920e-01 3.05924497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.14925415399995 meters 0.01937262337431243 Centerline is valid? [True, True] Translation: X:447.95, Y:4.57, Z:3.06 [[ 9.99138376e-01 -3.99603497e-02 -1.12104886e-02 4.47949812e+02] [ 3.99616021e-02 9.99201210e-01 -1.12352389e-04 4.57227762e+00] [ 1.12060234e-02 -3.35733502e-04 9.99937154e-01 3.06157727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1792541539999 meters 0.01764049156730749 Centerline is valid? [True, True] Translation: X:447.98, Y:4.58, Z:3.06 [[ 9.99222142e-01 -3.79254147e-02 -1.08062058e-02 4.47982245e+02] [ 3.79264665e-02 9.99280527e-01 -1.07653425e-04 4.57677641e+00] [ 1.08025138e-02 -3.02271515e-04 9.99941605e-01 3.06282795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.20925415399995 meters 0.018494509319757924 Centerline is valid? [True, True] Translation: X:448.01, Y:4.58, Z:3.06 [[ 9.99365384e-01 -3.41358492e-02 -1.01771215e-02 4.48013098e+02] [ 3.41365918e-02 9.99417172e-01 -1.00784422e-04 4.57807211e+00] [ 1.01746304e-02 -2.46691780e-04 9.99948207e-01 3.06296652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2392541539999 meters 0.01666991192729823 Centerline is valid? [True, True] Translation: X:448.05, Y:4.58, Z:3.06 [[ 9.99416728e-01 -3.26192880e-02 -1.01086728e-02 4.48045375e+02] [ 3.26199480e-02 9.99467823e-01 -9.96211094e-05 4.58234567e+00] [ 1.01065427e-02 -2.30181378e-04 9.99948901e-01 3.06419035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.26925415399995 meters 0.016588292580191455 Centerline is valid? [True, True] Translation: X:448.08, Y:4.58, Z:3.06 [[ 9.99456735e-01 -3.13452427e-02 -1.01838628e-02 4.48076260e+02] [ 3.13458535e-02 9.99508593e-01 -9.96748643e-05 4.58320562e+00] [ 1.01819827e-02 -2.19601156e-04 9.99948138e-01 3.06444935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2992541539999 meters 0.015991587465687 Centerline is valid? [True, True] Translation: X:448.11, Y:4.59, Z:3.06 [[ 9.99486991e-01 -3.02499238e-02 -1.05212755e-02 4.48108240e+02] [ 3.02505219e-02 9.99542343e-01 -1.02323959e-04 4.58514491e+00] [ 1.05195557e-02 -2.16002610e-04 9.99944645e-01 3.06409451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.32925415399995 meters 0.01817087950290584 Centerline is valid? [True, True] Translation: X:448.14, Y:4.58, Z:3.06 [[ 9.99486490e-01 -3.00434211e-02 -1.11422154e-02 4.48139453e+02] [ 3.00440877e-02 9.99548569e-01 -1.07593708e-04 4.58465987e+00] [ 1.11404179e-02 -2.27219239e-04 9.99937918e-01 3.06184943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3592541539999 meters 0.01667941494843098 Centerline is valid? [True, True] Translation: X:448.17, Y:4.59, Z:3.06 [[ 9.99428447e-01 -3.17733399e-02 -1.15426966e-02 4.48171896e+02] [ 3.17741789e-02 9.99495067e-01 -1.10733178e-04 4.58526462e+00] [ 1.15403867e-02 -2.56089819e-04 9.99933375e-01 3.06376252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.38925415399996 meters 0.01667941494843098 Centerline is valid? [True, True] Translation: X:448.20, Y:4.59, Z:3.06 [[ 9.99430749e-01 -3.17008481e-02 -1.15427046e-02 4.48203596e+02] [ 3.17016920e-02 9.99497369e-01 -1.09895364e-04 4.58550722e+00] [ 1.15403867e-02 -2.56090461e-04 9.99933375e-01 3.06398204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.41925415399993 meters 0.017567162652950583 Centerline is valid? [True, True] Translation: X:448.23, Y:4.58, Z:3.06 [[ 9.99374394e-01 -3.32156032e-02 -1.21467880e-02 4.48234278e+02] [ 3.32166583e-02 9.99448168e-01 -1.14929200e-04 4.58370139e+00] [ 1.21439025e-02 -2.88618407e-04 9.99926218e-01 3.06342526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.44925415399996 meters 0.01746354615573508 Centerline is valid? [True, True] Translation: X:448.27, Y:4.58, Z:3.06 [[ 9.99346657e-01 -3.38850084e-02 -1.25724416e-02 4.48266345e+02] [ 3.38862001e-02 9.99425691e-01 -1.18289940e-04 4.58393546e+00] [ 1.25692293e-02 -3.07819615e-04 9.99920957e-01 3.06314376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.47925415399993 meters 0.01783222795132449 Centerline is valid? [True, True] Translation: X:448.30, Y:4.58, Z:3.06 [[ 9.99310029e-01 -3.48007433e-02 -1.29758988e-02 4.48298336e+02] [ 3.48021022e-02 9.99394216e-01 -1.21133674e-04 4.58309921e+00] [ 1.29722537e-02 -3.30538460e-04 9.99915802e-01 3.06311158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.50925415399996 meters 0.017871292468597134 Centerline is valid? [True, True] Translation: X:448.33, Y:4.58, Z:3.06 [[ 9.99314543e-01 -3.46684350e-02 -1.29824408e-02 4.48330592e+02] [ 3.46697964e-02 9.99398815e-01 -1.20247608e-04 4.58435562e+00] [ 1.29788047e-02 -3.29933396e-04 9.99915717e-01 3.06333722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.53925415399993 meters 0.018145405389932964 Centerline is valid? [True, True] Translation: X:448.36, Y:4.58, Z:3.06 [[ 9.99309690e-01 -3.47818118e-02 -1.30525822e-02 4.48361357e+02] [ 3.47832087e-02 9.99394874e-01 -1.20045781e-04 4.58295041e+00] [ 1.30488591e-02 -3.34047779e-04 9.99914804e-01 3.06440657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.56925415399996 meters 0.020153615764156307 Centerline is valid? [True, True] Translation: X:448.39, Y:4.58, Z:3.06 [[ 9.99369372e-01 -3.29549470e-02 -1.32223276e-02 4.48393818e+02] [ 3.29562316e-02 9.99456789e-01 -1.20777238e-04 4.58393870e+00] [ 1.32191253e-02 -3.15057018e-04 9.99912574e-01 3.06221979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.59925415399994 meters 0.017150720652567574 Centerline is valid? [True, True] Translation: X:448.43, Y:4.59, Z:3.07 [[ 9.99392741e-01 -3.25198375e-02 -1.25143281e-02 4.48425656e+02] [ 3.25209650e-02 9.99471047e-01 -1.13442237e-04 4.58622618e+00] [ 1.25113977e-02 -2.93604679e-04 9.99921686e-01 3.06558598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.62925415399997 meters 0.016933150462768894 Centerline is valid? [True, True] Translation: X:448.46, Y:4.59, Z:3.07 [[ 9.99436992e-01 -3.11929430e-02 -1.23571442e-02 4.48456483e+02] [ 3.11939507e-02 9.99513344e-01 -1.11227383e-04 4.58664866e+00] [ 1.23546001e-02 -2.74303388e-04 9.99923641e-01 3.06580402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.65925415399994 meters 0.01744542077131791 Centerline is valid? [True, True] Translation: X:448.49, Y:4.59, Z:3.06 [[ 9.99537958e-01 -2.79287458e-02 -1.19940252e-02 4.48488397e+02] [ 2.79294680e-02 9.99609891e-01 -1.07318438e-04 4.58893444e+00] [ 1.19923435e-02 -2.27717891e-04 9.99928063e-01 3.06471387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.68925415399997 meters 0.015618190526536844 Centerline is valid? [True, True] Translation: X:448.52, Y:4.59, Z:3.07 [[ 9.99587154e-01 -2.63015200e-02 -1.15651264e-02 4.48520317e+02] [ 2.63020908e-02 9.99654035e-01 -1.02773633e-04 4.59105381e+00] [ 1.15638283e-02 -2.01455800e-04 9.99933116e-01 3.06676364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.71925415399994 meters 0.015510374127630643 Centerline is valid? [True, True] Translation: X:448.55, Y:4.59, Z:3.07 [[ 9.99675080e-01 -2.25647839e-02 -1.18559764e-02 4.48550554e+02] [ 2.25651282e-02 9.99745370e-01 -1.04745162e-04 4.59306588e+00] [ 1.18553211e-02 -1.62820500e-04 9.99929710e-01 3.06686726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7492541539999 meters 0.014981222273891308 Centerline is valid? [True, True] Translation: X:448.58, Y:4.60, Z:3.07 [[ 9.99712666e-01 -2.06109428e-02 -1.22382325e-02 4.48581778e+02] [ 2.06111673e-02 9.99787562e-01 -1.07800677e-04 4.59541637e+00] [ 1.22378545e-02 -1.44474556e-04 9.99925104e-01 3.06747717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.77925415399994 meters 0.01463421485610309 Centerline is valid? [True, True] Translation: X:448.61, Y:4.60, Z:3.07 [[ 9.99776381e-01 -1.63885246e-02 -1.33642713e-02 4.48612667e+02] [ 1.63884186e-02 9.99865694e-01 -1.17446559e-04 4.59778103e+00] [ 1.33644012e-02 -1.01598977e-04 9.99910687e-01 3.06704201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8092541539999 meters 0.014454195279704797 Centerline is valid? [True, True] Translation: X:448.64, Y:4.60, Z:3.07 [[ 9.99798335e-01 -1.44955585e-02 -1.38984875e-02 4.48642653e+02] [ 1.44952575e-02 9.99894931e-01 -1.22396473e-04 4.59890598e+00] [ 1.38988014e-02 -7.90903660e-05 9.99903404e-01 3.06695998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.83925415399995 meters 0.014454195279704797 Centerline is valid? [True, True] Translation: X:448.67, Y:4.60, Z:3.07 [[ 9.99794582e-01 -1.47521616e-02 -1.38984693e-02 4.48670889e+02] [ 1.47518570e-02 9.99891178e-01 -1.24438795e-04 4.59919168e+00] [ 1.38987926e-02 -8.06149982e-05 9.99903404e-01 3.06715573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8692541539999 meters 0.015088241026610263 Centerline is valid? [True, True] Translation: X:448.70, Y:4.60, Z:3.07 [[ 9.99810478e-01 -1.30856357e-02 -1.44143929e-02 4.48698912e+02] [ 1.30850986e-02 9.99914378e-01 -1.31582025e-04 4.59973736e+00] [ 1.44148806e-02 -5.70566649e-05 9.99896099e-01 3.06590405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.89925415399995 meters 0.014377525394286769 Centerline is valid? [True, True] Translation: X:448.73, Y:4.60, Z:3.07 [[ 9.99810615e-01 -1.24034746e-02 -1.49962883e-02 4.48726546e+02] [ 1.24027714e-02 9.99923073e-01 -1.39897929e-04 4.60053770e+00] [ 1.49968699e-02 -4.61241010e-05 9.99887540e-01 3.06693116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9292541539999 meters 0.0143053739245716 Centerline is valid? [True, True] Translation: X:448.75, Y:4.60, Z:3.07 [[ 9.99820140e-01 -1.16501713e-02 -1.49653501e-02 4.48754252e+02] [ 1.16493215e-02 9.99932134e-01 -1.43957994e-04 4.60101663e+00] [ 1.49660116e-02 -3.04040730e-05 9.99888003e-01 3.06715766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.95925415399995 meters 0.014274008865609443 Centerline is valid? [True, True] Translation: X:448.78, Y:4.60, Z:3.07 [[ 9.99815608e-01 -1.15615279e-02 -1.53323385e-02 4.48782481e+02] [ 1.15605564e-02 9.99933163e-01 -1.51998151e-04 4.60078474e+00] [ 1.53330711e-02 -2.52802397e-05 9.99882441e-01 3.06744733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9892541539999 meters 0.014112637709072243 Centerline is valid? [True, True] Translation: X:448.81, Y:4.60, Z:3.07 [[ 9.99799431e-01 -1.20452710e-02 -1.60002994e-02 4.48809954e+02] [ 1.20441991e-02 9.99927453e-01 -1.63358548e-04 4.60017624e+00] [ 1.60011063e-02 -2.93850078e-05 9.99871974e-01 3.06786462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.01925415399995 meters 0.014176147177223871 Centerline is valid? [True, True] Translation: X:448.84, Y:4.60, Z:3.07 [[ 9.99791869e-01 -1.28415616e-02 -1.58528579e-02 4.48837426e+02] [ 1.28405368e-02 9.99917543e-01 -1.66434493e-04 4.59896129e+00] [ 1.58536880e-02 -3.71593518e-05 9.99874322e-01 3.06719678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0492541539999 meters 0.014644229480252405 Centerline is valid? [True, True] Translation: X:448.87, Y:4.60, Z:3.07 [[ 9.99741907e-01 -1.56502046e-02 -1.64678792e-02 4.48865772e+02] [ 1.56494311e-02 9.99877525e-01 -1.75845151e-04 4.59550731e+00] [ 1.64686143e-02 -8.19131744e-05 9.99864380e-01 3.06657378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.07925415399995 meters 0.014294716153305983 Centerline is valid? [True, True] Translation: X:448.89, Y:4.59, Z:3.07 [[ 9.99704176e-01 -1.79526545e-02 -1.64092282e-02 4.48893936e+02] [ 1.79521723e-02 9.99838831e-01 -1.76698785e-04 4.59352114e+00] [ 1.64097557e-02 -1.17934779e-04 9.99865344e-01 3.06711648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1092541539999 meters 0.014530354998072233 Centerline is valid? [True, True] Translation: X:448.92, Y:4.59, Z:3.07 [[ 9.99641361e-01 -2.09688290e-02 -1.66570712e-02 4.48922448e+02] [ 2.09686984e-02 9.99780116e-01 -1.82511866e-04 4.59151144e+00] [ 1.66572357e-02 -1.66830692e-04 9.99861245e-01 3.06765499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.13925415399996 meters 0.015505045169588496 Centerline is valid? [True, True] Translation: X:448.95, Y:4.59, Z:3.07 [[ 9.99487251e-01 -2.77325381e-02 -1.60044082e-02 4.48951529e+02] [ 2.77332488e-02 9.99615344e-01 -1.77576706e-04 4.58546251e+00] [ 1.60031767e-02 -2.66368581e-04 9.99871905e-01 3.06840290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.16925415399993 meters 0.016139857944584474 Centerline is valid? [True, True] Translation: X:448.98, Y:4.58, Z:3.07 [[ 9.99395047e-01 -3.12982171e-02 -1.51645139e-02 4.48981983e+02] [ 3.12992599e-02 9.99510044e-01 -1.68617719e-04 4.58250873e+00] [ 1.51623614e-02 -3.06122350e-04 9.99884998e-01 3.06923892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.19925415399996 meters 0.01854282144211325 Centerline is valid? [True, True] Translation: X:449.01, Y:4.57, Z:3.07 [[ 9.99165663e-01 -3.84238869e-02 -1.38413709e-02 4.49012201e+02] [ 3.84254387e-02 9.99261458e-01 -1.53905388e-04 4.57466950e+00] [ 1.38370621e-02 -3.78083772e-04 9.99904192e-01 3.07010052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.22925415399993 meters 0.01867851411095107 Centerline is valid? [True, True] Translation: X:449.04, Y:4.57, Z:3.07 [[ 9.99042837e-01 -4.17494282e-02 -1.30535561e-02 4.49044405e+02] [ 4.17510979e-02 9.99128032e-01 -1.44695229e-04 4.57286310e+00] [ 1.30482147e-02 -4.00443565e-04 9.99914788e-01 3.07117741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.25925415399996 meters 0.022773254517033693 Centerline is valid? [True, True] Translation: X:449.08, Y:4.57, Z:3.07 [[ 9.98915061e-01 -4.47198174e-02 -1.29938167e-02 4.49075181e+02] [ 4.47217323e-02 9.98999473e-01 -1.43303683e-04 4.56599559e+00] [ 1.29872245e-02 -4.37957785e-04 9.99915567e-01 3.06994003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.28925415399993 meters 0.021809885870785764 Centerline is valid? [True, True] Translation: X:449.11, Y:4.56, Z:3.07 [[ 9.98622664e-01 -5.11627561e-02 -1.16253278e-02 4.49105838e+02] [ 5.11647283e-02 9.98690219e-01 -1.27900283e-04 4.56431056e+00] [ 1.16166449e-02 -4.67082619e-04 9.99932415e-01 3.07203151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.31925415399996 meters 0.022668806829367526 Centerline is valid? [True, True] Translation: X:449.14, Y:4.56, Z:3.07 [[ 9.98476243e-01 -5.39310471e-02 -1.16890378e-02 4.49138206e+02] [ 5.39332358e-02 9.98544536e-01 -1.28128431e-04 4.56194868e+00] [ 1.16789350e-02 -5.02494440e-04 9.99931673e-01 3.07204510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.34925415399994 meters 0.023396230884734765 Centerline is valid? [True, True] Translation: X:449.17, Y:4.56, Z:3.07 [[ 9.98354982e-01 -5.61463806e-02 -1.16152164e-02 4.49170048e+02] [ 5.61487036e-02 9.98422409e-01 -1.26261484e-04 4.56010646e+00] [ 1.16039815e-02 -5.26125563e-04 9.99932533e-01 3.07197767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37925415399997 meters 0.024420896627879076 Centerline is valid? [True, True] Translation: X:449.20, Y:4.56, Z:3.07 [[ 9.98232363e-01 -5.82658864e-02 -1.17147973e-02 4.49202417e+02] [ 5.82684088e-02 9.98300945e-01 -1.26166342e-04 4.55775294e+00] [ 1.17022444e-02 -5.56659270e-04 9.99931371e-01 3.07171327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.40925415399994 meters 0.026268518261521243 Centerline is valid? [True, True] Translation: X:449.23, Y:4.55, Z:3.07 [[ 9.98039748e-01 -6.14654382e-02 -1.17754213e-02 4.49232861e+02] [ 6.14682160e-02 9.98109033e-01 -1.26218337e-04 4.55376903e+00] [ 1.17609125e-02 -5.97843226e-04 9.99930659e-01 3.07150042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43925415399997 meters 0.026675966996755007 Centerline is valid? [True, True] Translation: X:449.27, Y:4.55, Z:3.07 [[ 9.97972128e-01 -6.25664584e-02 -1.17076643e-02 4.49265325e+02] [ 6.25692854e-02 9.98040615e-01 -1.25017377e-04 4.55279061e+00] [ 1.16925464e-02 -6.07776329e-04 9.99931455e-01 3.07149076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.46925415399994 meters 0.026024760619385166 Centerline is valid? [True, True] Translation: X:449.30, Y:4.55, Z:3.07 [[ 9.97915682e-01 -6.34547906e-02 -1.17379907e-02 4.49297804e+02] [ 6.34577038e-02 9.97984521e-01 -1.24475648e-04 4.55361051e+00] [ 1.17222317e-02 -6.20649739e-04 9.99931100e-01 3.07191095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.4992541539999 meters 0.02708873649637361 Centerline is valid? [True, True] Translation: X:449.33, Y:4.55, Z:3.07 [[ 9.97887955e-01 -6.37708946e-02 -1.23653469e-02 4.49329406e+02] [ 6.37741621e-02 9.97964348e-01 -1.30284181e-04 4.55210829e+00] [ 1.23484837e-02 -6.58580623e-04 9.99923538e-01 3.07135797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.52925415399994 meters 0.02727379868629835 Centerline is valid? [True, True] Translation: X:449.36, Y:4.55, Z:3.07 [[ 9.97928245e-01 -6.29858481e-02 -1.31149132e-02 4.49362033e+02] [ 6.29894674e-02 9.98014182e-01 -1.37324059e-04 4.55208759e+00] [ 1.30975188e-02 -6.89061839e-04 9.99913986e-01 3.07090558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5592541539999 meters 0.026504655893958316 Centerline is valid? [True, True] Translation: X:449.39, Y:4.55, Z:3.07 [[ 9.98058919e-01 -6.05389744e-02 -1.46091536e-02 4.49393162e+02] [ 6.05432164e-02 9.98165565e-01 -1.52127668e-04 4.55397875e+00] [ 1.45915637e-02 -7.32652774e-04 9.99893269e-01 3.06931751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.58925415399995 meters 0.027551279687096267 Centerline is valid? [True, True] Translation: X:449.42, Y:4.55, Z:3.07 [[ 9.98149612e-01 -5.87581031e-02 -1.56473005e-02 4.49424752e+02] [ 5.87627653e-02 9.98271963e-01 -1.62039363e-04 4.55316929e+00] [ 1.56297825e-02 -7.57739120e-04 9.99877560e-01 3.06841943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6192541539999 meters 0.023873318522971726 Centerline is valid? [True, True] Translation: X:449.46, Y:4.56, Z:3.07 [[ 9.98273387e-01 -5.65141816e-02 -1.60122574e-02 4.49456359e+02] [ 5.65187921e-02 9.98401522e-01 -1.64803924e-04 4.55953754e+00] [ 1.59959759e-02 -7.40474074e-04 9.99871782e-01 3.06895402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.64925415399995 meters 0.022423537602862607 Centerline is valid? [True, True] Translation: X:449.49, Y:4.56, Z:3.07 [[ 9.98521874e-01 -5.17309877e-02 -1.66725226e-02 4.49487438e+02] [ 5.17353304e-02 9.98660816e-01 -1.71020047e-04 4.56472807e+00] [ 1.66590420e-02 -6.91791206e-04 9.99860989e-01 3.06901483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6792541539999 meters 0.02227505438729671 Centerline is valid? [True, True] Translation: X:449.52, Y:4.57, Z:3.07 [[ 9.98681690e-01 -4.86332262e-02 -1.64222536e-02 4.49518031e+02] [ 4.86370405e-02 9.98816505e-01 -1.67287337e-04 4.56621351e+00] [ 1.64109536e-02 -6.31663011e-04 9.99865132e-01 3.06918320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.70925415399995 meters 0.02136924408105465 Centerline is valid? [True, True] Translation: X:449.55, Y:4.57, Z:3.07 [[ 9.98843032e-01 -4.51862102e-02 -1.64561272e-02 4.49549733e+02] [ 4.51895940e-02 9.98978415e-01 -1.66356875e-04 4.56920741e+00] [ 1.64468329e-02 -5.77481300e-04 9.99864575e-01 3.06955055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7392541539999 meters 0.01814148795822367 Centerline is valid? [True, True] Translation: X:449.58, Y:4.58, Z:3.07 [[ 9.99149881e-01 -3.79123773e-02 -1.61915626e-02 4.49580867e+02] [ 3.79147075e-02 9.99280966e-01 -1.63141432e-04 4.57877142e+00] [ 1.61861054e-02 -4.50895617e-04 9.99868895e-01 3.07122088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.76925415399995 meters 0.017239807048624056 Centerline is valid? [True, True] Translation: X:449.61, Y:4.58, Z:3.07 [[ 9.99295245e-01 -3.39839491e-02 -1.59406722e-02 4.49612309e+02] [ 3.39857155e-02 9.99422306e-01 -1.60150596e-04 4.58240923e+00] [ 1.59369060e-02 -3.81717422e-04 9.99872927e-01 3.07214310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7992541539999 meters 0.016027391241136495 Centerline is valid? [True, True] Translation: X:449.64, Y:4.59, Z:3.07 [[ 9.99540226e-01 -2.66131984e-02 -1.45283760e-02 4.49641710e+02] [ 2.66138886e-02 9.99645777e-01 -1.45865691e-04 4.58864759e+00] [ 1.45271117e-02 -2.40857956e-04 9.99894447e-01 3.07334859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.82925415399995 meters 0.015480034119268979 Centerline is valid? [True, True] Translation: X:449.67, Y:4.59, Z:3.07 [[ 9.99629249e-01 -2.31601566e-02 -1.43168182e-02 4.49672501e+02] [ 2.31604709e-02 9.99731750e-01 -1.43866808e-04 4.59207015e+00] [ 1.43163097e-02 -1.87770783e-04 9.99897499e-01 3.07400732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8592541539999 meters 0.01671357725259838 Centerline is valid? [True, True] Translation: X:449.70, Y:4.59, Z:3.07 [[ 9.99704691e-01 -1.95256954e-02 -1.44664440e-02 4.49703241e+02] [ 1.95256359e-02 9.99809346e-01 -1.45370367e-04 4.59465920e+00] [ 1.44665244e-02 -1.37139080e-04 9.99895345e-01 3.07324379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.88925415399996 meters 0.014827590388604532 Centerline is valid? [True, True] Translation: X:449.73, Y:4.60, Z:3.07 [[ 9.99767066e-01 -1.69423359e-02 -1.33705255e-02 4.49733252e+02] [ 1.69420509e-02 9.99856464e-01 -1.34590519e-04 4.59708093e+00] [ 1.33708866e-02 -9.19649552e-05 9.99910601e-01 3.07460892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.91925415399993 meters 0.014511488898962328 Centerline is valid? [True, True] Translation: X:449.76, Y:4.60, Z:3.07 [[ 9.99828110e-01 -1.30944442e-02 -1.31257884e-02 4.49762617e+02] [ 1.30938318e-02 9.99914263e-01 -1.32596023e-04 4.59992923e+00] [ 1.31263993e-02 -3.92936347e-05 9.99913844e-01 3.07425612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.94925415399996 meters 0.01433138244125561 Centerline is valid? [True, True] Translation: X:449.79, Y:4.60, Z:3.07 [[ 9.99836890e-01 -1.22581253e-02 -1.32639048e-02 4.49791540e+02] [ 1.22574012e-02 9.99924866e-01 -1.35890244e-04 4.60092829e+00] [ 1.32645740e-02 -2.67129233e-05 9.99912021e-01 3.07435424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.97925415399993 meters 0.014360391516877971 Centerline is valid? [True, True] Translation: X:449.82, Y:4.60, Z:3.07 [[ 9.99818128e-01 -1.27843006e-02 -1.41517376e-02 4.49819394e+02] [ 1.27834716e-02 9.99918277e-01 -1.49046782e-04 4.60056072e+00] [ 1.41524865e-02 -3.18886596e-05 9.99899848e-01 3.07308458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.00925415399996 meters 0.014285454413154031 Centerline is valid? [True, True] Translation: X:449.85, Y:4.60, Z:3.07 [[ 9.99792692e-01 -1.43578141e-02 -1.44370041e-02 4.49846458e+02] [ 1.43570630e-02 9.99896920e-01 -1.55669165e-04 4.59977406e+00] [ 1.44377510e-02 -5.16360843e-05 9.99895769e-01 3.07262493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.03925415399993 meters 0.0142350055752932 Centerline is valid? [True, True] Translation: X:449.87, Y:4.60, Z:3.07 [[ 9.99759421e-01 -1.63653342e-02 -1.46039549e-02 4.49874768e+02] [ 1.63647440e-02 9.99866076e-01 -1.59925540e-04 4.59829365e+00] [ 1.46046163e-02 -7.91029171e-05 9.99893344e-01 3.07256542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.06925415399996 meters 0.014854410568411226 Centerline is valid? [True, True] Translation: X:449.90, Y:4.59, Z:3.07 [[ 9.99636359e-01 -2.24277870e-02 -1.49714132e-02 4.49903955e+02] [ 2.24278233e-02 9.99748451e-01 -1.65492131e-04 4.59302264e+00] [ 1.49713588e-02 -1.70344259e-04 9.99887908e-01 3.07193746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.09925415399994 meters 0.015308822549773046 Centerline is valid? [True, True] Translation: X:449.93, Y:4.59, Z:3.07 [[ 9.99547534e-01 -2.60376627e-02 -1.50587941e-02 4.49933683e+02] [ 2.60380969e-02 9.99660937e-01 -1.67263442e-04 4.58993758e+00] [ 1.50580434e-02 -2.24914579e-04 9.99886596e-01 3.07192916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.12925415399997 meters 0.01656469482408909 Centerline is valid? [True, True] Translation: X:449.96, Y:4.58, Z:3.07 [[ 9.99334772e-01 -3.32120136e-02 -1.50657281e-02 4.49964377e+02] [ 3.32132592e-02 9.99448273e-01 -1.67593666e-04 4.58354107e+00] [ 1.50629821e-02 -3.32899754e-04 9.99886491e-01 3.07223854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.15925415399994 meters 0.018145450739096843 Centerline is valid? [True, True] Translation: X:449.99, Y:4.58, Z:3.07 [[ 9.99222726e-01 -3.64380764e-02 -1.50402624e-02 4.49994999e+02] [ 3.64396851e-02 9.99335840e-01 -1.67163479e-04 4.57922698e+00] [ 1.50363643e-02 -3.81028878e-04 9.99886875e-01 3.07180765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.18925415399997 meters 0.01839078325472371 Centerline is valid? [True, True] Translation: X:450.03, Y:4.58, Z:3.07 [[ 9.99125183e-01 -3.91774357e-02 -1.46286186e-02 4.50026666e+02] [ 3.91792589e-02 9.99232185e-01 -1.62045405e-04 4.57766188e+00] [ 1.46237350e-02 -4.11234790e-04 9.99892983e-01 3.07259580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.21925415399994 meters 0.021569225187985902 Centerline is valid? [True, True] Translation: X:450.06, Y:4.57, Z:3.07 [[ 9.98943623e-01 -4.37472700e-02 -1.40646586e-02 4.50056565e+02] [ 4.37494211e-02 9.99042524e-01 -1.54840454e-04 4.57098437e+00] [ 1.40579658e-02 -4.60643786e-04 9.99901076e-01 3.07243657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2492541539999 meters 0.023375100035118602 Centerline is valid? [True, True] Translation: X:450.09, Y:4.57, Z:3.07 [[ 9.98877993e-01 -4.53145414e-02 -1.37603325e-02 4.50088077e+02] [ 4.53167616e-02 9.98972657e-01 -1.50572230e-04 4.56786824e+00] [ 1.37530190e-02 -4.73170420e-04 9.99905311e-01 3.07243108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.27925415399994 meters 0.021481313619668495 Centerline is valid? [True, True] Translation: X:450.12, Y:4.57, Z:3.07 [[ 9.98759122e-01 -4.78898399e-02 -1.36667459e-02 4.50119612e+02] [ 4.78922806e-02 9.98852495e-01 -1.48826687e-04 4.56899543e+00] [ 1.36581905e-02 -5.05889616e-04 9.99906595e-01 3.07314231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3092541539999 meters 0.02284560186190702 Centerline is valid? [True, True] Translation: X:450.15, Y:4.57, Z:3.07 [[ 9.98689724e-01 -4.93533563e-02 -1.35307516e-02 4.50150381e+02] [ 4.93558989e-02 9.98781244e-01 -1.46148633e-04 4.56645646e+00] [ 1.35214739e-02 -5.21865271e-04 9.99908445e-01 3.07261671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.33925415399995 meters 0.022048982766344396 Centerline is valid? [True, True] Translation: X:450.18, Y:4.57, Z:3.07 [[ 9.98611142e-01 -5.08052285e-02 -1.39504523e-02 4.50182568e+02] [ 5.08080924e-02 9.98708424e-01 -1.49272422e-04 4.56771788e+00] [ 1.39400181e-02 -5.59730768e-04 9.99902677e-01 3.07290728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3692541539999 meters 0.021634214919099615 Centerline is valid? [True, True] Translation: X:450.21, Y:4.57, Z:3.07 [[ 9.98515366e-01 -5.26496326e-02 -1.39671226e-02 4.50214532e+02] [ 5.26526979e-02 9.98612874e-01 -1.48415675e-04 4.56776920e+00] [ 1.39555625e-02 -5.87211356e-04 9.99902444e-01 3.07339395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.39925415399995 meters 0.023081914664532438 Centerline is valid? [True, True] Translation: X:450.25, Y:4.57, Z:3.07 [[ 9.98432456e-01 -5.43139907e-02 -1.35137295e-02 4.50246058e+02] [ 5.43170286e-02 9.98523730e-01 -1.42396268e-04 4.56566684e+00] [ 1.35015137e-02 -5.91852577e-04 9.99908675e-01 3.07313674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4292541539999 meters 0.025232456583958344 Centerline is valid? [True, True] Translation: X:450.28, Y:4.56, Z:3.07 [[ 9.98256921e-01 -5.73561785e-02 -1.39063899e-02 4.50276582e+02] [ 5.73597055e-02 9.98353566e-01 -1.45428664e-04 4.56269268e+00] [ 1.38918351e-02 -6.52491257e-04 9.99903291e-01 3.07292002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.45925415399995 meters 0.026847756413531376 Centerline is valid? [True, True] Translation: X:450.31, Y:4.56, Z:3.07 [[ 9.98158457e-01 -5.90713750e-02 -1.37937170e-02 4.50307438e+02] [ 5.90750165e-02 9.98253536e-01 -1.43662891e-04 4.56116267e+00] [ 1.37781131e-02 -6.71465726e-04 9.99904852e-01 3.07233648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4892541539999 meters 0.02690037707042099 Centerline is valid? [True, True] Translation: X:450.34, Y:4.56, Z:3.07 [[ 9.98008360e-01 -6.13242595e-02 -1.47867696e-02 4.50338235e+02] [ 6.13286969e-02 9.98117612e-01 -1.53596788e-04 4.56223370e+00] [ 1.47683544e-02 -7.53562432e-04 9.99890658e-01 3.07183481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.51925415399995 meters 0.026503730889884353 Centerline is valid? [True, True] Translation: X:450.37, Y:4.56, Z:3.07 [[ 9.97949314e-01 -6.22650208e-02 -1.48402918e-02 4.50370217e+02] [ 6.22696046e-02 9.98059353e-01 -1.53448946e-04 4.56376434e+00] [ 1.48210466e-02 -7.70964834e-04 9.99889865e-01 3.07194931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5492541539999 meters 0.02835795070565932 Centerline is valid? [True, True] Translation: X:450.40, Y:4.56, Z:3.07 [[ 9.97919059e-01 -6.26784414e-02 -1.51316110e-02 4.50401795e+02] [ 6.26832689e-02 9.98033458e-01 -1.55497409e-04 4.56228987e+00] [ 1.51116004e-02 -7.93325014e-04 9.99885499e-01 3.07149164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.57925415399995 meters 0.02637302070562128 Centerline is valid? [True, True] Translation: X:450.43, Y:4.57, Z:3.07 [[ 9.97929302e-01 -6.23638406e-02 -1.57435757e-02 4.50434028e+02] [ 6.23690439e-02 9.98053143e-01 -1.60744584e-04 4.56815945e+00] [ 1.57229499e-02 -8.21500036e-04 9.99876049e-01 3.07194597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6092541539999 meters 0.026523009455423786 Centerline is valid? [True, True] Translation: X:450.46, Y:4.57, Z:3.07 [[ 9.97961846e-01 -6.17989205e-02 -1.59074626e-02 4.50464898e+02] [ 6.18041772e-02 9.98088281e-01 -1.61410824e-04 4.56949403e+00] [ 1.58870270e-02 -8.22065792e-04 9.99873455e-01 3.07232991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.63925415399996 meters 0.02632785974164252 Centerline is valid? [True, True] Translation: X:450.50, Y:4.57, Z:3.07 [[ 9.98012179e-01 -6.07729043e-02 -1.66836789e-02 4.50497135e+02] [ 6.07785623e-02 9.98151260e-01 -1.68167371e-04 4.57266265e+00] [ 1.66630551e-02 -8.46176930e-04 9.99860804e-01 3.07153526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.66925415399993 meters 0.02645192894460953 Centerline is valid? [True, True] Translation: X:450.53, Y:4.57, Z:3.07 [[ 9.98067328e-01 -6.00322028e-02 -1.60543597e-02 4.50528828e+02] [ 6.00373649e-02 9.98196118e-01 -1.60663381e-04 4.57488318e+00] [ 1.60350445e-02 -8.03508580e-04 9.99871108e-01 3.07235601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.69925415399996 meters 0.02493896786850748 Centerline is valid? [True, True] Translation: X:450.56, Y:4.58, Z:3.07 [[ 9.98122577e-01 -5.90190164e-02 -1.63730798e-02 4.50561154e+02] [ 5.90242694e-02 9.98256535e-01 -1.62643379e-04 4.57922428e+00] [ 1.63541330e-02 -8.04071044e-04 9.99865939e-01 3.07270662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.72925415399993 meters 0.025463190697768895 Centerline is valid? [True, True] Translation: X:450.59, Y:4.58, Z:3.07 [[ 9.98171664e-01 -5.79295580e-02 -1.72480534e-02 4.50592586e+02] [ 5.79352443e-02 9.98320329e-01 -1.70235138e-04 4.58045620e+00] [ 1.72289440e-02 -8.29346299e-04 9.99851227e-01 3.07239117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.75925415399996 meters 0.025463190697768895 Centerline is valid? [True, True] Translation: X:450.62, Y:4.58, Z:3.07 [[ 9.98175831e-01 -5.78577188e-02 -1.72480645e-02 4.50624314e+02] [ 5.78634137e-02 9.98324495e-01 -1.69113568e-04 4.58070627e+00] [ 1.72289498e-02 -8.29226813e-04 9.99851227e-01 3.07261093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.78925415399993 meters 0.02532735147608415 Centerline is valid? [True, True] Translation: X:450.65, Y:4.59, Z:3.07 [[ 9.98352305e-01 -5.43852144e-02 -1.83009154e-02 4.50654783e+02] [ 5.43910572e-02 9.98519695e-01 -1.78702211e-04 4.58525379e+00] [ 1.82835432e-02 -8.16998369e-04 9.99832508e-01 3.07117939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.81925415399996 meters 0.023894270405399362 Centerline is valid? [True, True] Translation: X:450.69, Y:4.59, Z:3.07 [[ 9.98490341e-01 -5.12861332e-02 -1.96665113e-02 4.50686245e+02] [ 5.12922924e-02 9.98683666e-01 -1.91438697e-04 4.59127841e+00] [ 1.96504417e-02 -8.17590759e-04 9.99806577e-01 3.07085586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.84925415399994 meters 0.020987051837552055 Centerline is valid? [True, True] Translation: X:450.72, Y:4.60, Z:3.07 [[ 9.98816120e-01 -4.49310523e-02 -1.86429400e-02 4.50715768e+02] [ 4.49354833e-02 9.98989875e-01 -1.81363622e-04 4.60019811e+00] [ 1.86322571e-02 -6.56580610e-04 9.99826189e-01 3.07331623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87925415399997 meters 0.019678248851929668 Centerline is valid? [True, True] Translation: X:450.75, Y:4.61, Z:3.07 [[ 9.99019702e-01 -4.05488720e-02 -1.77601774e-02 4.50747003e+02] [ 4.05522070e-02 9.99177406e-01 -1.72461418e-04 4.60531808e+00] [ 1.77525611e-02 -5.47922035e-04 9.99842261e-01 3.07456107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.90925415399994 meters 0.018289284583260422 Centerline is valid? [True, True] Translation: X:450.78, Y:4.61, Z:3.08 [[ 9.99204825e-01 -3.59086905e-02 -1.73286877e-02 4.50777786e+02] [ 3.59111786e-02 9.99354972e-01 -1.67662569e-04 4.60998370e+00] [ 1.73235307e-02 -4.54764352e-04 9.99849833e-01 3.07555129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93925415399997 meters 0.015410019040120036 Centerline is valid? [True, True] Translation: X:450.81, Y:4.62, Z:3.08 [[ 9.99532021e-01 -2.61758282e-02 -1.58292688e-02 4.50808992e+02] [ 2.61766901e-02 9.99657320e-01 -1.52773796e-04 4.62130964e+00] [ 1.58278434e-02 -2.61655562e-04 9.99874698e-01 3.07769704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.96925415399994 meters 0.014403272296422754 Centerline is valid? [True, True] Translation: X:450.84, Y:4.63, Z:3.08 [[ 9.99653445e-01 -2.14002894e-02 -1.53302872e-02 4.50839526e+02] [ 2.14005382e-02 9.99770971e-01 -1.47839211e-04 4.62736871e+00] [ 1.53299399e-02 -1.80288419e-04 9.99882473e-01 3.07922264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.9992541539999 meters 0.013913854176229243 Centerline is valid? [True, True] Translation: X:450.87, Y:4.63, Z:3.08 [[ 9.99745153e-01 -1.72284659e-02 -1.45879616e-02 4.50869464e+02] [ 1.72282429e-02 9.99851573e-01 -1.40960424e-04 4.63179933e+00] [ 1.45882249e-02 -1.10400446e-04 9.99893580e-01 3.07989597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.02925415399994 meters 0.013681154956158011 Centerline is valid? [True, True] Translation: X:450.90, Y:4.64, Z:3.08 [[ 9.99851075e-01 -1.06995489e-02 -1.35406193e-02 4.50897779e+02] [ 1.06987500e-02 9.99942758e-01 -1.31434335e-04 4.63778153e+00] [ 1.35412505e-02 -1.34529397e-05 9.99908313e-01 3.08051491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0592541539999 meters 0.013597140434667044 Centerline is valid? [True, True] Translation: X:450.93, Y:4.64, Z:3.08 [[ 9.99877383e-01 -8.32575231e-03 -1.32627749e-02 4.50925996e+02] [ 8.32474743e-03 9.99965340e-01 -1.30973213e-04 4.63983896e+00] [ 1.32634057e-02 2.05479015e-05 9.99912037e-01 3.08117820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.08925415399995 meters 0.013837400453864156 Centerline is valid? [True, True] Translation: X:450.95, Y:4.64, Z:3.08 [[ 9.99888666e-01 -7.10574948e-03 -1.31211189e-02 4.50952494e+02] [ 7.10462404e-03 9.99974753e-01 -1.32384691e-04 4.64162035e+00] [ 1.31217283e-02 3.91493353e-05 9.99913906e-01 3.08064322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1192541539999 meters 0.01390858631974662 Centerline is valid? [True, True] Translation: X:450.98, Y:4.64, Z:3.08 [[ 9.99878406e-01 -6.33880076e-03 -1.42475666e-02 4.50981122e+02] [ 6.33735584e-03 9.99979908e-01 -1.46561785e-04 4.64265795e+00] [ 1.42482094e-02 5.62520641e-05 9.99898488e-01 3.08044630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.14925415399995 meters 0.014014439834984474 Centerline is valid? [True, True] Translation: X:451.01, Y:4.64, Z:3.08 [[ 9.99867451e-01 -7.00552818e-03 -1.46970585e-02 4.51008496e+02] [ 7.00402175e-03 9.99975460e-01 -1.53968644e-04 4.64277437e+00] [ 1.46977765e-02 5.10097183e-05 9.99891981e-01 3.07995720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1792541539999 meters 0.014201894076439922 Centerline is valid? [True, True] Translation: X:451.04, Y:4.64, Z:3.08 [[ 9.99827992e-01 -9.34474609e-03 -1.60206488e-02 4.51037728e+02] [ 9.34323082e-03 9.99956337e-01 -1.69428145e-04 4.64065586e+00] [ 1.60215325e-02 1.97143824e-05 9.99871647e-01 3.07881405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.20925415399995 meters 0.013893217302543304 Centerline is valid? [True, True] Translation: X:451.07, Y:4.64, Z:3.08 [[ 9.99804675e-01 -1.09483833e-02 -1.64543138e-02 4.51065326e+02] [ 1.09469492e-02 9.99940065e-01 -1.77229493e-04 4.63925861e+00] [ 1.64552680e-02 -2.92966059e-06 9.99864603e-01 3.07864005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2392541539999 meters 0.014119458631694618 Centerline is valid? [True, True] Translation: X:451.09, Y:4.64, Z:3.08 [[ 9.99758995e-01 -1.39306924e-02 -1.69672712e-02 4.51092835e+02] [ 1.39295397e-02 9.99902962e-01 -1.86123132e-04 4.63549653e+00] [ 1.69682175e-02 -5.02680025e-05 9.99856028e-01 3.07761559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.26925415399995 meters 0.014303214170626567 Centerline is valid? [True, True] Translation: X:451.12, Y:4.63, Z:3.08 [[ 9.99742533e-01 -1.53401961e-02 -1.67196275e-02 4.51120671e+02] [ 1.53392127e-02 9.99882330e-01 -1.87059910e-04 4.63390037e+00] [ 1.67205296e-02 -6.94541756e-05 9.99860200e-01 3.07752670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2992541539999 meters 0.014289237192670933 Centerline is valid? [True, True] Translation: X:451.15, Y:4.63, Z:3.08 [[ 9.99729129e-01 -1.66161972e-02 -1.62963219e-02 4.51148401e+02] [ 1.66153592e-02 9.99861938e-01 -1.86825532e-04 4.63233248e+00] [ 1.62971763e-02 -8.39943156e-05 9.99867189e-01 3.07765508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.32925415399995 meters 0.014304641163167183 Centerline is valid? [True, True] Translation: X:451.18, Y:4.63, Z:3.08 [[ 9.99723226e-01 -1.81242120e-02 -1.49994738e-02 4.51176104e+02] [ 1.81236108e-02 9.99835738e-01 -1.76017036e-04 4.62971135e+00] [ 1.50002001e-02 -9.58763063e-05 9.99887486e-01 3.07860538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3592541539999 meters 0.014292632586787589 Centerline is valid? [True, True] Translation: X:451.20, Y:4.63, Z:3.08 [[ 9.99729209e-01 -1.84666589e-02 -1.41594836e-02 4.51204455e+02] [ 1.84661062e-02 9.99829473e-01 -1.69789130e-04 4.62867951e+00] [ 1.41602044e-02 -9.17273747e-05 9.99899735e-01 3.07894432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.38925415399996 meters 0.014291315172814383 Centerline is valid? [True, True] Translation: X:451.23, Y:4.63, Z:3.08 [[ 9.99736140e-01 -1.84181221e-02 -1.37267317e-02 4.51234460e+02] [ 1.84175720e-02 9.99830368e-01 -1.66496339e-04 4.62790626e+00] [ 1.37274698e-02 -8.63606630e-05 9.99905770e-01 3.07976488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.41925415399993 meters 0.014408398690966249 Centerline is valid? [True, True] Translation: X:451.26, Y:4.63, Z:3.08 [[ 9.99752812e-01 -1.79301365e-02 -1.31462977e-02 4.51264026e+02] [ 1.79295837e-02 9.99839239e-01 -1.59915060e-04 4.62683057e+00] [ 1.31470516e-02 -7.58321138e-05 9.99913571e-01 3.07965292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.44925415399996 meters 0.014243078391584606 Centerline is valid? [True, True] Translation: X:451.29, Y:4.62, Z:3.08 [[ 9.99786474e-01 -1.67947182e-02 -1.20392448e-02 4.51293419e+02] [ 1.67941673e-02 9.99858957e-01 -1.46860489e-04 4.62406130e+00] [ 1.20400132e-02 -5.53599602e-05 9.99927515e-01 3.08007756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.47925415399993 meters 0.014150260241722327 Centerline is valid? [True, True] Translation: X:451.32, Y:4.62, Z:3.08 [[ 9.99807562e-01 -1.62506463e-02 -1.09888419e-02 4.51323154e+02] [ 1.62501521e-02 9.99867949e-01 -1.34260818e-04 4.62230694e+00] [ 1.09895726e-02 -4.43353703e-05 9.99939612e-01 3.08024339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.50925415399996 meters 0.01385624186667971 Centerline is valid? [True, True] Translation: X:451.35, Y:4.62, Z:3.08 [[ 9.99820806e-01 -1.60505465e-02 -1.00367620e-02 4.51353414e+02] [ 1.60501244e-02 9.99871181e-01 -1.22602158e-04 4.61872259e+00] [ 1.00374369e-02 -3.85110909e-05 9.99949623e-01 3.08121842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.53925415399993 meters 0.013943880778496514 Centerline is valid? [True, True] Translation: X:451.38, Y:4.62, Z:3.08 [[ 9.99815446e-01 -1.65063825e-02 -9.82915414e-03 4.51384279e+02] [ 1.65059998e-02 9.99863759e-01 -1.20066163e-04 4.61651081e+00] [ 9.82979687e-03 -4.21960113e-05 9.99951685e-01 3.08106454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.56925415399996 meters 0.014076574621136385 Centerline is valid? [True, True] Translation: X:451.41, Y:4.61, Z:3.08 [[ 9.99800404e-01 -1.72055438e-02 -1.01548898e-02 4.51414874e+02] [ 1.72051719e-02 9.99851972e-01 -1.23987731e-04 4.61334975e+00] [ 1.01555198e-02 -5.07536408e-05 9.99948430e-01 3.08044530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.59925415399994 meters 0.013920510584366292 Centerline is valid? [True, True] Translation: X:451.45, Y:4.61, Z:3.08 [[ 9.99751680e-01 -1.92388714e-02 -1.12447563e-02 4.51445275e+02] [ 1.92385455e-02 9.99814913e-01 -1.37158128e-04 4.60707269e+00] [ 1.12453138e-02 -7.92086870e-05 9.99936766e-01 3.07889410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.62925415399997 meters 0.014097811773688792 Centerline is valid? [True, True] Translation: X:451.48, Y:4.60, Z:3.08 [[ 9.99715241e-01 -2.04883146e-02 -1.22338000e-02 4.51475373e+02] [ 2.04880224e-02 9.99790087e-01 -1.49222008e-04 4.60397075e+00] [ 1.22342893e-02 -1.01466854e-04 9.99925153e-01 3.07779050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.65925415399994 meters 0.014300755479881773 Centerline is valid? [True, True] Translation: X:451.51, Y:4.60, Z:3.08 [[ 9.99654486e-01 -2.24450714e-02 -1.36794153e-02 4.51505166e+02] [ 2.24448876e-02 9.99748068e-01 -1.66972806e-04 4.59815497e+00] [ 1.36797167e-02 -1.40117825e-04 9.99906418e-01 3.07619267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.68925415399997 meters 0.014324063262342174 Centerline is valid? [True, True] Translation: X:451.53, Y:4.60, Z:3.08 [[ 9.99637668e-01 -2.30228974e-02 -1.39455988e-02 4.51534748e+02] [ 2.30227576e-02 9.99734927e-01 -1.70587446e-04 4.59594457e+00] [ 1.39458296e-02 -1.50540505e-04 9.99902741e-01 3.07584352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.71925415399994 meters 0.014623217718875177 Centerline is valid? [True, True] Translation: X:451.56, Y:4.59, Z:3.08 [[ 9.99621577e-01 -2.34236399e-02 -1.44234605e-02 4.51564246e+02] [ 2.34235248e-02 9.99725616e-01 -1.76937456e-04 4.59414675e+00] [ 1.44236474e-02 -1.60977786e-04 9.99895961e-01 3.07543339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7492541539999 meters 0.014640710042944581 Centerline is valid? [True, True] Translation: X:451.59, Y:4.59, Z:3.07 [[ 9.99624376e-01 -2.27094712e-02 -1.53423500e-02 4.51593873e+02] [ 2.27092507e-02 9.99742094e-01 -1.88606111e-04 4.59144688e+00] [ 1.53426763e-02 -1.59878008e-04 9.99882281e-01 3.07495934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.77925415399994 meters 0.014331090025236057 Centerline is valid? [True, True] Translation: X:451.62, Y:4.59, Z:3.08 [[ 9.99634168e-01 -2.22128182e-02 -1.54311659e-02 4.51622922e+02] [ 2.22125032e-02 9.99753254e-01 -1.91828620e-04 4.59076679e+00] [ 1.54316194e-02 -1.51006379e-04 9.99880914e-01 3.07530757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8092541539999 meters 0.014354540280033082 Centerline is valid? [True, True] Translation: X:451.65, Y:4.59, Z:3.08 [[ 9.99636799e-01 -2.20042614e-02 -1.55589920e-02 4.51652039e+02] [ 2.20038585e-02 9.99757866e-01 -1.97102059e-04 4.58992596e+00] [ 1.55595617e-02 -1.45327387e-04 9.99878932e-01 3.07536907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.83925415399995 meters 0.014356425677472254 Centerline is valid? [True, True] Translation: X:451.68, Y:4.59, Z:3.08 [[ 9.99643061e-01 -2.19357001e-02 -1.52504059e-02 4.51680600e+02] [ 2.19352510e-02 9.99759374e-01 -1.96737882e-04 4.58915421e+00] [ 1.52510518e-02 -1.37853822e-04 9.99883686e-01 3.07563761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8692541539999 meters 0.014534682403738253 Centerline is valid? [True, True] Translation: X:451.71, Y:4.59, Z:3.08 [[ 9.99650191e-01 -2.22186403e-02 -1.43467013e-02 4.51709633e+02] [ 2.22182448e-02 9.99753127e-01 -1.86973228e-04 4.58615240e+00] [ 1.43473137e-02 -1.31850698e-04 9.99897063e-01 3.07653909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.89925415399995 meters 0.014685323191734451 Centerline is valid? [True, True] Translation: X:451.74, Y:4.58, Z:3.08 [[ 9.99639035e-01 -2.30887134e-02 -1.37372355e-02 4.51738912e+02] [ 2.30884253e-02 9.99733411e-01 -1.79584140e-04 4.58428231e+00] [ 1.37377197e-02 -1.37651820e-04 9.99905624e-01 3.07697456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9292541539999 meters 0.014876062393228045 Centerline is valid? [True, True] Translation: X:451.77, Y:4.58, Z:3.08 [[ 9.99625158e-01 -2.40112558e-02 -1.31530628e-02 4.51768226e+02] [ 2.40110660e-02 9.99711678e-01 -1.72369897e-04 4.57986982e+00] [ 1.31534093e-02 -1.43513773e-04 9.99913480e-01 3.07762750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.95925415399995 meters 0.014865294857046782 Centerline is valid? [True, True] Translation: X:451.80, Y:4.58, Z:3.08 [[ 9.99620684e-01 -2.42124371e-02 -1.31242236e-02 4.51797718e+02] [ 2.42122598e-02 9.99706825e-01 -1.72423999e-04 4.57873881e+00] [ 1.31245507e-02 -1.45408515e-04 9.99913859e-01 3.07778859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9892541539999 meters 0.01440057462069654 Centerline is valid? [True, True] Translation: X:451.83, Y:4.58, Z:3.08 [[ 9.99632348e-01 -2.38505273e-02 -1.28965755e-02 4.51828505e+02] [ 2.38503231e-02 9.99715526e-01 -1.69658432e-04 4.57963557e+00] [ 1.28969532e-02 -1.37991436e-04 9.99916821e-01 3.07913376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.01925415399995 meters 0.014446453666715622 Centerline is valid? [True, True] Translation: X:451.86, Y:4.58, Z:3.08 [[ 9.99663552e-01 -2.26143937e-02 -1.27032470e-02 4.51858648e+02] [ 2.26140957e-02 9.99744255e-01 -1.67115137e-04 4.57788022e+00] [ 1.27037775e-02 -1.20213534e-04 9.99919297e-01 3.07970683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0492541539999 meters 0.01409104366075045 Centerline is valid? [True, True] Translation: X:451.89, Y:4.58, Z:3.08 [[ 9.99695514e-01 -2.14826376e-02 -1.21398383e-02 4.51888628e+02] [ 2.14822797e-02 9.99769216e-01 -1.59894581e-04 4.57767464e+00] [ 1.21404716e-02 -1.00945507e-04 9.99926297e-01 3.08056181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.07925415399995 meters 0.013744396946369326 Centerline is valid? [True, True] Translation: X:451.92, Y:4.58, Z:3.08 [[ 9.99756231e-01 -1.96592234e-02 -1.00495922e-02 4.51917801e+02] [ 1.96588827e-02 9.99806737e-01 -1.32687918e-04 4.57529331e+00] [ 1.00502586e-02 -6.49081829e-05 9.99949493e-01 3.08188978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1092541539999 meters 0.013723683181625201 Centerline is valid? [True, True] Translation: X:451.95, Y:4.57, Z:3.08 [[ 9.99774396e-01 -1.92087433e-02 -9.06540233e-03 4.51947531e+02] [ 1.92084452e-02 9.99815494e-01 -1.19959131e-04 4.57398661e+00] [ 9.06603397e-03 -5.42002163e-05 9.99958901e-01 3.08247887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.13925415399996 meters 0.013771465108685977 Centerline is valid? [True, True] Translation: X:451.98, Y:4.57, Z:3.08 [[ 9.99798218e-01 -1.85512595e-02 -7.70550319e-03 4.51978052e+02] [ 1.85510238e-02 9.99827910e-01 -1.02069647e-04 4.57141051e+00] [ 7.70607067e-03 -4.08959219e-05 9.99970307e-01 3.08320949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.16925415399993 meters 0.01350975619328008 Centerline is valid? [True, True] Translation: X:452.01, Y:4.57, Z:3.08 [[ 9.99794040e-01 -1.88709022e-02 -7.46767980e-03 4.52008900e+02] [ 1.88706898e-02 9.99821928e-01 -9.89096896e-05 4.56952214e+00] [ 7.46821652e-03 -4.20309505e-05 9.99972112e-01 3.08310242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.19925415399996 meters 0.013657215096298261 Centerline is valid? [True, True] Translation: X:452.04, Y:4.57, Z:3.08 [[ 9.99777968e-01 -1.95677343e-02 -7.81778533e-03 4.52040754e+02] [ 1.95675241e-02 9.99808532e-01 -1.03383807e-04 4.56829396e+00] [ 7.81831147e-03 -4.96138502e-05 9.99969435e-01 3.08266531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.22925415399993 meters 0.014709409278634207 Centerline is valid? [True, True] Translation: X:452.07, Y:4.56, Z:3.08 [[ 9.99718620e-01 -2.19884512e-02 -8.89885227e-03 4.52070786e+02] [ 2.19882782e-02 9.99758222e-01 -1.17286423e-04 4.56250144e+00] [ 8.89927967e-03 -7.84170187e-05 9.99960398e-01 3.08090198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.25925415399996 meters 0.01417408459226244 Centerline is valid? [True, True] Translation: X:452.10, Y:4.56, Z:3.08 [[ 9.99675712e-01 -2.36792310e-02 -9.36828848e-03 4.52102589e+02] [ 2.36791179e-02 9.99719603e-01 -1.23009472e-04 4.56036353e+00] [ 9.36857441e-03 -9.88632258e-05 9.99956109e-01 3.08067161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.28925415399993 meters 0.016508897726997696 Centerline is valid? [True, True] Translation: X:452.13, Y:4.56, Z:3.08 [[ 9.99635766e-01 -2.48673512e-02 -1.04857477e-02 4.52132929e+02] [ 2.48672783e-02 9.99690752e-01 -1.37344146e-04 4.55732019e+00] [ 1.04859203e-02 -1.23457885e-04 9.99945014e-01 3.07958868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.31925415399996 meters 0.015490643984043593 Centerline is valid? [True, True] Translation: X:452.16, Y:4.55, Z:3.08 [[ 9.99535265e-01 -2.85193062e-02 -1.07658230e-02 4.52162931e+02] [ 2.85194426e-02 9.99593228e-01 -1.40887302e-04 4.55268698e+00] [ 1.07654617e-02 -1.66213443e-04 9.99942037e-01 3.07935828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.34925415399994 meters 0.017850724097426718 Centerline is valid? [True, True] Translation: X:452.19, Y:4.55, Z:3.08 [[ 9.99492876e-01 -2.96822658e-02 -1.15305963e-02 4.52192975e+02] [ 2.96825005e-02 9.99559366e-01 -1.50816390e-04 4.54989210e+00] [ 1.15299921e-02 -1.91517021e-04 9.99933509e-01 3.07843502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37925415399997 meters 0.016319274454384122 Centerline is valid? [True, True] Translation: X:452.22, Y:4.55, Z:3.08 [[ 9.99421885e-01 -3.24336338e-02 -1.01958856e-02 4.52224381e+02] [ 3.24339627e-02 9.99473872e-01 -1.33139909e-04 4.54633382e+00] [ 1.01948395e-02 -1.97630034e-04 9.99948012e-01 3.07992405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.40925415399994 meters 0.017040914317400756 Centerline is valid? [True, True] Translation: X:452.25, Y:4.54, Z:3.08 [[ 9.99394022e-01 -3.34088114e-02 -9.76936180e-03 4.52254831e+02] [ 3.34091626e-02 9.99441750e-01 -1.27290572e-04 4.54420972e+00] [ 9.76816068e-03 -1.99172761e-04 9.99952271e-01 3.08043322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43925415399997 meters 0.017564803614802043 Centerline is valid? [True, True] Translation: X:452.29, Y:4.54, Z:3.08 [[ 9.99367066e-01 -3.43315353e-02 -9.31739843e-03 4.52285944e+02] [ 3.43318971e-02 9.99410479e-01 -1.21166182e-04 4.54229676e+00] [ 9.31606545e-03 -1.98794473e-04 9.99956585e-01 3.08090454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.46925415399994 meters 0.016553382634376654 Centerline is valid? [True, True] Translation: X:452.32, Y:4.54, Z:3.08 [[ 9.99327961e-01 -3.56780741e-02 -8.40842510e-03 4.52318235e+02] [ 3.56784199e-02 9.99363317e-01 -1.08919982e-04 4.54293434e+00] [ 8.40695765e-03 -1.91152538e-04 9.99964643e-01 3.08140155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.4992541539999 meters 0.017451393502283346 Centerline is valid? [True, True] Translation: X:452.35, Y:4.54, Z:3.08 [[ 9.99310705e-01 -3.61199261e-02 -8.57124902e-03 4.52350033e+02] [ 3.61203071e-02 9.99347443e-01 -1.10396836e-04 4.54226496e+00] [ 8.56964331e-03 -1.99275406e-04 9.99963260e-01 3.08132349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.52925415399994 meters 0.017399848211378292 Centerline is valid? [True, True] Translation: X:452.38, Y:4.54, Z:3.08 [[ 9.99279716e-01 -3.70650537e-02 -8.13819861e-03 4.52381231e+02] [ 3.70654329e-02 9.99312835e-01 -1.04275782e-04 4.54055108e+00] [ 8.13647132e-03 -1.97445180e-04 9.99966879e-01 3.08126923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5592541539999 meters 0.017093102710700185 Centerline is valid? [True, True] Translation: X:452.41, Y:4.54, Z:3.08 [[ 9.99272982e-01 -3.73105588e-02 -7.83769373e-03 4.52413863e+02] [ 3.73109214e-02 9.99303700e-01 -9.99977427e-05 4.54050530e+00] [ 7.83596732e-03 -1.92506532e-04 9.99969280e-01 3.08190272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.58925415399995 meters 0.01728680578394264 Centerline is valid? [True, True] Translation: X:452.45, Y:4.54, Z:3.08 [[ 9.99250289e-01 -3.79694584e-02 -7.56181179e-03 4.52446418e+02] [ 3.79698188e-02 9.99278882e-01 -9.59454340e-05 4.53986764e+00] [ 7.56000183e-03 -1.91247121e-04 9.99971404e-01 3.08220932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6192541539999 meters 0.017483412256389216 Centerline is valid? [True, True] Translation: X:452.48, Y:4.54, Z:3.08 [[ 9.99187402e-01 -3.97283361e-02 -6.79665163e-03 4.52478439e+02] [ 3.97286709e-02 9.99210501e-01 -8.57918743e-05 4.53819799e+00] [ 6.79469405e-03 -1.84299776e-04 9.99976899e-01 3.08270686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.64925415399995 meters 0.017483412256389216 Centerline is valid? [True, True] Translation: X:452.51, Y:4.54, Z:3.08 [[ 9.99190338e-01 -3.96544400e-02 -6.79665793e-03 4.52510135e+02] [ 3.96547765e-02 9.99213436e-01 -8.52896755e-05 4.53853672e+00] [ 6.79469404e-03 -1.84299332e-04 9.99976899e-01 3.08292641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6792541539999 meters 0.018141231685811797 Centerline is valid? [True, True] Translation: X:452.54, Y:4.54, Z:3.08 [[ 9.99142610e-01 -4.07969571e-02 -7.04643978e-03 4.52541320e+02] [ 4.07973511e-02 9.99167438e-01 -8.78803756e-05 4.53741415e+00] [ 7.04415843e-03 -1.99671050e-04 9.99975170e-01 3.08317548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.70925415399995 meters 0.020396917852360738 Centerline is valid? [True, True] Translation: X:452.57, Y:4.53, Z:3.08 [[ 9.99103973e-01 -4.16362806e-02 -7.59412383e-03 4.52572388e+02] [ 4.16367687e-02 9.99132809e-01 -9.38858192e-05 4.53355526e+00] [ 7.59144733e-03 -2.22393082e-04 9.99971160e-01 3.08310738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7392541539999 meters 0.018182274577150794 Centerline is valid? [True, True] Translation: X:452.60, Y:4.54, Z:3.08 [[ 9.99014617e-01 -4.34995772e-02 -8.80804095e-03 4.52604839e+02] [ 4.35003112e-02 9.99053408e-01 -1.08315464e-04 4.53802456e+00] [ 8.80441500e-03 -2.74943791e-04 9.99961203e-01 3.08240030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.76925415399995 meters 0.019952647638667904 Centerline is valid? [True, True] Translation: X:452.64, Y:4.54, Z:3.08 [[ 9.98958057e-01 -4.47052332e-02 -9.17836267e-03 4.52635708e+02] [ 4.47060872e-02 9.99000177e-01 -1.12205067e-04 4.53578153e+00] [ 9.17420209e-03 -2.98240526e-04 9.99957872e-01 3.08184499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7992541539999 meters 0.02003067610167225 Centerline is valid? [True, True] Translation: X:452.67, Y:4.54, Z:3.08 [[ 9.98854378e-01 -4.67788230e-02 -1.00832980e-02 4.52667912e+02] [ 4.67799658e-02 9.98905211e-01 -1.22612633e-04 4.53584375e+00] [ 1.00779946e-02 -3.49224172e-04 9.99949155e-01 3.08079374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.82925415399995 meters 0.020224545542580956 Centerline is valid? [True, True] Translation: X:452.70, Y:4.54, Z:3.08 [[ 9.98811079e-01 -4.76210011e-02 -1.04244196e-02 4.52700535e+02] [ 4.76222766e-02 9.98865408e-01 -1.25978167e-04 4.53556713e+00] [ 1.04185913e-02 -3.70606202e-04 9.99945656e-01 3.08072001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8592541539999 meters 0.020160651520322204 Centerline is valid? [True, True] Translation: X:452.73, Y:4.54, Z:3.08 [[ 9.98784356e-01 -4.81095725e-02 -1.07368418e-02 4.52732648e+02] [ 4.81109624e-02 9.98841989e-01 -1.28948533e-04 4.53645799e+00] [ 1.07306121e-02 -3.87768015e-04 9.99942350e-01 3.08066426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.88925415399996 meters 0.02129720891412297 Centerline is valid? [True, True] Translation: X:452.76, Y:4.54, Z:3.08 [[ 9.98767685e-01 -4.83860263e-02 -1.10410316e-02 4.52763954e+02] [ 4.83875213e-02 9.98828629e-01 -1.31847647e-04 4.53547151e+00] [ 1.10344781e-02 -4.02562984e-04 9.99939037e-01 3.08069384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.91925415399993 meters 0.02105630653984141 Centerline is valid? [True, True] Translation: X:452.80, Y:4.54, Z:3.08 [[ 9.98769747e-01 -4.81411706e-02 -1.18919909e-02 4.52796470e+02] [ 4.81428968e-02 9.98840448e-01 -1.41235232e-04 4.53872722e+00] [ 1.18850008e-02 -4.31453413e-04 9.99929278e-01 3.08049367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.94925415399996 meters 0.020063756945565763 Centerline is valid? [True, True] Translation: X:452.83, Y:4.54, Z:3.08 [[ 9.98770083e-01 -4.79421323e-02 -1.26441062e-02 4.52828233e+02] [ 4.79440800e-02 9.98850010e-01 -1.49206291e-04 4.54124934e+00] [ 1.26367188e-02 -4.57187257e-04 9.99920049e-01 3.08074695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.97925415399993 meters 0.020480510925411644 Centerline is valid? [True, True] Translation: X:452.86, Y:4.54, Z:3.08 [[ 9.98791048e-01 -4.72159755e-02 -1.36782407e-02 4.52859247e+02] [ 4.72181996e-02 9.98884586e-01 -1.60481766e-04 4.54233196e+00] [ 1.36705611e-02 -4.85574151e-04 9.99906436e-01 3.07997915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.00925415399996 meters 0.02024491573294139 Centerline is valid? [True, True] Translation: X:452.89, Y:4.54, Z:3.08 [[ 9.98791466e-01 -4.71837739e-02 -1.37586304e-02 4.52891750e+02] [ 4.71860333e-02 9.98886106e-01 -1.60540469e-04 4.54412809e+00] [ 1.37508797e-02 -4.88868742e-04 9.99905333e-01 3.08029962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.03925415399993 meters 0.019630436899732474 Centerline is valid? [True, True] Translation: X:452.92, Y:4.55, Z:3.08 [[ 9.98813356e-01 -4.68343132e-02 -1.33576638e-02 4.52924340e+02] [ 4.68364246e-02 9.98902560e-01 -1.54892014e-04 4.54638449e+00] [ 1.33502588e-02 -4.70917000e-04 9.99910770e-01 3.08087189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.06925415399996 meters 0.01984287041685258 Centerline is valid? [True, True] Translation: X:452.96, Y:4.55, Z:3.08 [[ 9.98895608e-01 -4.52310204e-02 -1.27169131e-02 4.52955664e+02] [ 4.52328145e-02 9.98976462e-01 -1.46651174e-04 4.54923100e+00] [ 1.27105301e-02 -4.28732559e-04 9.99919126e-01 3.08183661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.09925415399994 meters 0.019081596192396185 Centerline is valid? [True, True] Translation: X:452.99, Y:4.55, Z:3.08 [[ 9.98976524e-01 -4.35723898e-02 -1.21388239e-02 4.52987403e+02] [ 4.35739101e-02 9.99050196e-01 -1.39329788e-04 4.55238635e+00] [ 1.21333653e-02 -3.89748832e-04 9.99926312e-01 3.08280478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.12925415399997 meters 0.018873703497369578 Centerline is valid? [True, True] Translation: X:453.02, Y:4.55, Z:3.08 [[ 9.99056640e-01 -4.18746218e-02 -1.15041423e-02 4.53018591e+02] [ 4.18758810e-02 9.99122812e-01 -1.31515193e-04 4.55457422e+00] [ 1.14995582e-02 -3.50354968e-04 9.99933817e-01 3.08330106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.15925415399994 meters 0.01767472747423161 Centerline is valid? [True, True] Translation: X:453.05, Y:4.56, Z:3.08 [[ 9.99189329e-01 -3.87993568e-02 -1.07374938e-02 4.53050297e+02] [ 3.88002810e-02 9.99246978e-01 -1.22309710e-04 4.56014212e+00] [ 1.07341538e-02 -2.94407221e-04 9.99942344e-01 3.08403760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.18925415399997 meters 0.01810927208875322 Centerline is valid? [True, True] Translation: X:453.08, Y:4.56, Z:3.08 [[ 9.99229022e-01 -3.76994598e-02 -1.09595346e-02 4.53081259e+02] [ 3.77003631e-02 9.99289081e-01 -1.24234970e-04 4.56092488e+00] [ 1.09564268e-02 -2.89039246e-04 9.99939935e-01 3.08408002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.21925415399994 meters 0.017498425022204424 Centerline is valid? [True, True] Translation: X:453.11, Y:4.56, Z:3.08 [[ 9.99258357e-01 -3.67224131e-02 -1.15844821e-02 4.53113521e+02] [ 3.67233653e-02 9.99325461e-01 -1.30579157e-04 4.56377228e+00] [ 1.15814631e-02 -2.94938855e-04 9.99932889e-01 3.08397665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2492541539999 meters 0.018562093729771932 Centerline is valid? [True, True] Translation: X:453.14, Y:4.56, Z:3.08 [[ 9.99246887e-01 -3.69033989e-02 -1.19915629e-02 4.53144556e+02] [ 3.69044418e-02 9.99318790e-01 -1.34373945e-04 4.56280376e+00] [ 1.19883530e-02 -3.08269188e-04 9.99928090e-01 3.08330396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.27925415399994 meters 0.017696632828484108 Centerline is valid? [True, True] Translation: X:453.18, Y:4.57, Z:3.08 [[ 9.99216866e-01 -3.73722857e-02 -1.29987028e-02 4.53175593e+02] [ 3.73735590e-02 9.99301354e-01 -1.45033586e-04 4.56520888e+00] [ 1.29950415e-02 -3.40887779e-04 9.99915503e-01 3.08346399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3092541539999 meters 0.017667652361992796 Centerline is valid? [True, True] Translation: X:453.21, Y:4.57, Z:3.08 [[ 9.99193341e-01 -3.80866737e-02 -1.27307565e-02 4.53207151e+02] [ 3.80879587e-02 9.99274380e-01 -1.41585355e-04 4.56607815e+00] [ 1.27269113e-02 -3.43417383e-04 9.99918951e-01 3.08364402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.33925415399995 meters 0.01815464941268775 Centerline is valid? [True, True] Translation: X:453.24, Y:4.57, Z:3.08 [[ 9.99128745e-01 -3.95428589e-02 -1.33459006e-02 4.53238375e+02] [ 3.95444077e-02 9.99217803e-01 -1.47926454e-04 4.56690823e+00] [ 1.33413109e-02 -3.79958161e-04 9.99910929e-01 3.08376270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3692541539999 meters 0.019331705754082194 Centerline is valid? [True, True] Translation: X:453.27, Y:4.57, Z:3.08 [[ 9.99104890e-01 -4.00040585e-02 -1.37511388e-02 4.53269840e+02] [ 4.00057534e-02 9.99199438e-01 -1.51907770e-04 4.56741644e+00] [ 1.37462071e-02 -3.98352871e-04 9.99905437e-01 3.08345025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.39925415399995 meters 0.01848805659164633 Centerline is valid? [True, True] Translation: X:453.30, Y:4.57, Z:3.08 [[ 9.99063739e-01 -4.07025326e-02 -1.46611780e-02 4.53300801e+02] [ 4.07045425e-02 9.99171214e-01 -1.61407690e-04 4.56924778e+00] [ 1.46555967e-02 -4.35519973e-04 9.99892506e-01 3.08387291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4292541539999 meters 0.018167425195098282 Centerline is valid? [True, True] Translation: X:453.33, Y:4.57, Z:3.08 [[ 9.99052979e-01 -4.07342546e-02 -1.52926851e-02 4.53332340e+02] [ 4.07364540e-02 9.99169912e-01 -1.67785694e-04 4.57163483e+00] [ 1.52868255e-02 -4.55342965e-04 9.99883046e-01 3.08409724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.45925415399995 meters 0.01893832676274617 Centerline is valid? [True, True] Translation: X:453.36, Y:4.57, Z:3.08 [[ 9.99052608e-01 -4.05398701e-02 -1.58242119e-02 4.53362945e+02] [ 4.05422075e-02 9.99177812e-01 -1.73188343e-04 4.57164848e+00] [ 1.58182225e-02 -4.68524216e-04 9.99874774e-01 3.08350272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4892541539999 meters 0.018322324509640508 Centerline is valid? [True, True] Translation: X:453.39, Y:4.57, Z:3.08 [[ 9.99055402e-01 -4.03680703e-02 -1.60848591e-02 4.53394601e+02] [ 4.03704706e-02 9.99184765e-01 -1.75574788e-04 4.57410025e+00] [ 1.60788338e-02 -4.73944393e-04 9.99870615e-01 3.08360147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.51925415399995 meters 0.0187850271687503 Centerline is valid? [True, True] Translation: X:453.43, Y:4.57, Z:3.08 [[ 9.99037036e-01 -4.08729988e-02 -1.59498726e-02 4.53426132e+02] [ 4.08754326e-02 9.99164235e-01 -1.73519341e-04 4.57443602e+00] [ 1.59436345e-02 -4.78605692e-04 9.99872778e-01 3.08374696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5492541539999 meters 0.019040530118907408 Centerline is valid? [True, True] Translation: X:453.46, Y:4.58, Z:3.08 [[ 9.98991991e-01 -4.24033177e-02 -1.47295756e-02 4.53457713e+02] [ 4.24055670e-02 9.99100467e-01 -1.59724755e-04 4.57538236e+00] [ 1.47230987e-02 -4.65052255e-04 9.99891501e-01 3.08484717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.57925415399995 meters 0.018848807549666453 Centerline is valid? [True, True] Translation: X:453.49, Y:4.58, Z:3.09 [[ 9.98954700e-01 -4.34521876e-02 -1.41920947e-02 4.53488867e+02] [ 4.34543888e-02 9.99055400e-01 -1.53381449e-04 4.57665175e+00] [ 1.41853536e-02 -4.63487680e-04 9.99899275e-01 3.08581503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6092541539999 meters 0.019838569310912536 Centerline is valid? [True, True] Translation: X:453.52, Y:4.58, Z:3.09 [[ 9.98922938e-01 -4.43448549e-02 -1.36564482e-02 4.53519686e+02] [ 4.43469905e-02 9.99016178e-01 -1.46552079e-04 4.57594868e+00] [ 1.36495116e-02 -4.59228147e-04 9.99906736e-01 3.08622751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.63925415399996 meters 0.021019957345190243 Centerline is valid? [True, True] Translation: X:453.55, Y:4.58, Z:3.09 [[ 9.98844746e-01 -4.62581780e-02 -1.30136354e-02 4.53550473e+02] [ 4.62602996e-02 9.98929410e-01 -1.38102135e-04 4.57561347e+00] [ 1.30060915e-02 -4.64072080e-04 9.99915310e-01 3.08632821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.66925415399993 meters 0.020982023688261603 Centerline is valid? [True, True] Translation: X:453.58, Y:4.58, Z:3.09 [[ 9.98790594e-01 -4.74257379e-02 -1.29672294e-02 4.53582368e+02] [ 4.74279598e-02 9.98874652e-01 -1.36289991e-04 4.57635359e+00] [ 1.29591004e-02 -4.78884073e-04 9.99915913e-01 3.08665935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.69925415399996 meters 0.022354457684667425 Centerline is valid? [True, True] Translation: X:453.61, Y:4.58, Z:3.09 [[ 9.98651024e-01 -5.03548830e-02 -1.26696019e-02 4.53613862e+02] [ 5.03572482e-02 9.98731260e-01 -1.32460108e-04 4.57534320e+00] [ 1.26601975e-02 -5.05724867e-04 9.99919729e-01 3.08693972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.72925415399993 meters 0.023125057365840036 Centerline is valid? [True, True] Translation: X:453.65, Y:4.57, Z:3.09 [[ 9.98583165e-01 -5.17140703e-02 -1.25426171e-02 4.53645787e+02] [ 5.17165036e-02 9.98661798e-01 -1.30479086e-04 4.57470683e+00] [ 1.25325802e-02 -5.18366085e-04 9.99921330e-01 3.08702286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.75925415399996 meters 0.023913462625796172 Centerline is valid? [True, True] Translation: X:453.68, Y:4.57, Z:3.09 [[ 9.98500003e-01 -5.31222414e-02 -1.32578706e-02 4.53677405e+02] [ 5.31250956e-02 9.98587856e-01 -1.37049738e-04 4.57387822e+00] [ 1.32464290e-02 -5.67481482e-04 9.99912101e-01 3.08680003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.78925415399993 meters 0.025728358796480888 Centerline is valid? [True, True] Translation: X:453.71, Y:4.57, Z:3.09 [[ 9.98357199e-01 -5.56615105e-02 -1.35904510e-02 4.53708298e+02] [ 5.56647529e-02 9.98449506e-01 -1.39866721e-04 4.57268394e+00] [ 1.35771643e-02 -6.16872149e-04 9.99907636e-01 3.08658478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.81925415399996 meters 0.027645370411725646 Centerline is valid? [True, True] Translation: X:453.74, Y:4.57, Z:3.09 [[ 9.98307660e-01 -5.65621250e-02 -1.35108164e-02 4.53738966e+02] [ 5.65654183e-02 9.98398885e-01 -1.38568019e-04 4.57106702e+00] [ 1.34970217e-02 -6.25911467e-04 9.99908715e-01 3.08634449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.84925415399994 meters 0.028568480997013878 Centerline is valid? [True, True] Translation: X:453.77, Y:4.57, Z:3.09 [[ 9.98278191e-01 -5.71825398e-02 -1.30694816e-02 4.53770043e+02] [ 5.71856817e-02 9.98363551e-01 -1.33487659e-04 4.57132509e+00] [ 1.30557272e-02 -6.14129395e-04 9.99914582e-01 3.08670051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87925415399997 meters 0.027739745324690864 Centerline is valid? [True, True] Translation: X:453.80, Y:4.57, Z:3.09 [[ 9.98299246e-01 -5.68439983e-02 -1.29373739e-02 4.53802403e+02] [ 5.68470587e-02 9.98382890e-01 -1.31366648e-04 4.57357506e+00] [ 1.29239202e-02 -6.04308428e-04 9.99916300e-01 3.08716179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.90925415399994 meters 0.027447006262242973 Centerline is valid? [True, True] Translation: X:453.83, Y:4.57, Z:3.09 [[ 9.98355880e-01 -5.58407817e-02 -1.29361697e-02 4.53834976e+02] [ 5.58437690e-02 9.98439511e-01 -1.30456715e-04 4.57494064e+00] [ 1.29232678e-02 -5.92162245e-04 9.99916316e-01 3.08728562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93925415399997 meters 0.026879741321824326 Centerline is valid? [True, True] Translation: X:453.87, Y:4.58, Z:3.09 [[ 9.98487229e-01 -5.34348923e-02 -1.29601606e-02 4.53865525e+02] [ 5.34376960e-02 9.98571177e-01 -1.30113239e-04 4.57820473e+00] [ 1.29485954e-02 -5.62644715e-04 9.99916005e-01 3.08740384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.96925415399994 meters 0.026271197009642127 Centerline is valid? [True, True] Translation: X:453.90, Y:4.58, Z:3.09 [[ 9.98577587e-01 -5.17486678e-02 -1.28404740e-02 4.53898182e+02] [ 5.17512888e-02 9.98659996e-01 -1.28288528e-04 4.58074838e+00] [ 1.28299065e-02 -5.36405032e-04 9.99917549e-01 3.08768503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.9992541539999 meters 0.025183780440577 Centerline is valid? [True, True] Translation: X:453.93, Y:4.58, Z:3.09 [[ 9.98640991e-01 -5.05407830e-02 -1.27200691e-02 4.53930550e+02] [ 5.05432697e-02 9.98721864e-01 -1.26099641e-04 4.58410867e+00] [ 1.27101843e-02 -5.16985615e-04 9.99919089e-01 3.08820070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.02925415399994 meters 0.02579481692737004 Centerline is valid? [True, True] Translation: X:453.96, Y:4.58, Z:3.09 [[ 9.98744688e-01 -4.85029856e-02 -1.25103722e-02 4.53961335e+02] [ 4.85052397e-02 9.98822920e-01 -1.23357067e-04 4.58480976e+00] [ 1.25016297e-02 -4.83616387e-04 9.99921735e-01 3.08794525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0592541539999 meters 0.021461732813614288 Centerline is valid? [True, True] Translation: X:453.99, Y:4.59, Z:3.09 [[ 9.98778355e-01 -4.77623731e-02 -1.26709508e-02 4.53993092e+02] [ 4.77646343e-02 9.98858611e-01 -1.24278695e-04 4.59198911e+00] [ 1.26624241e-02 -4.81096460e-04 9.99919713e-01 3.08871107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.08925415399995 meters 0.02093533803441045 Centerline is valid? [True, True] Translation: X:454.03, Y:4.59, Z:3.09 [[ 9.98845420e-01 -4.63779216e-02 -1.25265562e-02 4.54025439e+02] [ 4.63800342e-02 9.98923860e-01 -1.21950327e-04 4.59429367e+00] [ 1.25187317e-02 -4.59172581e-04 9.99921532e-01 3.08901759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1192541539999 meters 0.025547472342845497 Centerline is valid? [True, True] Translation: X:454.06, Y:4.59, Z:3.09 [[ 9.98900311e-01 -4.51770915e-02 -1.25378834e-02 4.54056703e+02] [ 4.51791238e-02 9.98978895e-01 -1.21244512e-04 4.58797835e+00] [ 1.25305583e-02 -4.45339403e-04 9.99921390e-01 3.08788948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.14925415399995 meters 0.024693317735297128 Centerline is valid? [True, True] Translation: X:454.09, Y:4.59, Z:3.09 [[ 9.98965150e-01 -4.36953404e-02 -1.26232627e-02 4.54087738e+02] [ 4.36972894e-02 9.99044810e-01 -1.21503445e-04 4.59016788e+00] [ 1.26165143e-02 -4.30224659e-04 9.99920316e-01 3.08836341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1792541539999 meters 0.023009198426178566 Centerline is valid? [True, True] Translation: X:454.12, Y:4.59, Z:3.09 [[ 9.99149739e-01 -3.91776093e-02 -1.28418939e-02 4.54118399e+02] [ 3.91792589e-02 9.99232190e-01 -1.23190462e-04 4.59458633e+00] [ 1.28368601e-02 -3.80050169e-04 9.99917532e-01 3.08815056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.20925415399995 meters 0.0192554232567634 Centerline is valid? [True, True] Translation: X:454.15, Y:4.60, Z:3.09 [[ 9.99260370e-01 -3.62125698e-02 -1.29368794e-02 4.54150099e+02] [ 3.62140027e-02 9.99344050e-01 -1.23551222e-04 4.60360390e+00] [ 1.29328676e-02 -3.45036349e-04 9.99916307e-01 3.08888838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2392541539999 meters 0.017461542819764163 Centerline is valid? [True, True] Translation: X:454.18, Y:4.61, Z:3.09 [[ 9.99435214e-01 -3.13030415e-02 -1.22217698e-02 4.54180388e+02] [ 3.13039591e-02 9.99509904e-01 -1.16267220e-04 4.60617746e+00] [ 1.22194195e-02 -2.66388227e-04 9.99925305e-01 3.08985927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.26925415399995 meters 0.016309702069701743 Centerline is valid? [True, True] Translation: X:454.21, Y:4.61, Z:3.09 [[ 9.99505038e-01 -2.88810160e-02 -1.24725733e-02 4.54211369e+02] [ 2.88817873e-02 9.99582827e-01 -1.18321420e-04 4.60961829e+00] [ 1.24707873e-02 -2.41967352e-04 9.99922207e-01 3.09031574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2992541539999 meters 0.015767897595031933 Centerline is valid? [True, True] Translation: X:454.24, Y:4.61, Z:3.09 [[ 9.99574015e-01 -2.64628909e-02 -1.23087283e-02 4.54242387e+02] [ 2.64634642e-02 9.99649774e-01 -1.16320842e-04 4.61158581e+00] [ 1.23074956e-02 -2.09460299e-04 9.99924238e-01 3.09065815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.32925415399995 meters 0.015422352689629448 Centerline is valid? [True, True] Translation: X:454.27, Y:4.61, Z:3.09 [[ 9.99624266e-01 -2.43831996e-02 -1.25214767e-02 4.54273852e+02] [ 2.43836355e-02 9.99702668e-01 -1.17870310e-04 4.61302152e+00] [ 1.25206277e-02 -1.87493102e-04 9.99921596e-01 3.09087776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3592541539999 meters 0.01651761396582009 Centerline is valid? [True, True] Translation: X:454.30, Y:4.62, Z:3.09 [[ 9.99699354e-01 -2.07366354e-02 -1.30841267e-02 4.54304255e+02] [ 2.07368026e-02 9.99784962e-01 -1.22902932e-04 4.61523045e+00] [ 1.30838617e-02 -1.48456971e-04 9.99914392e-01 3.08976498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.38925415399996 meters 0.014949116206929736 Centerline is valid? [True, True] Translation: X:454.33, Y:4.62, Z:3.09 [[ 9.99715005e-01 -1.99690935e-02 -1.30821925e-02 4.54333245e+02] [ 1.99691906e-02 9.99800588e-01 -1.23217107e-04 4.61594088e+00] [ 1.30820443e-02 -1.38058804e-04 9.99914417e-01 3.09094396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.41925415399993 meters 0.01634271909995051 Centerline is valid? [True, True] Translation: X:454.36, Y:4.62, Z:3.09 [[ 9.99714418e-01 -1.92961444e-02 -1.40975321e-02 4.54363322e+02] [ 1.92961810e-02 9.99813802e-01 -1.33439798e-04 4.61510789e+00] [ 1.40974821e-02 -1.38626842e-04 9.99900616e-01 3.08898209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.44925415399996 meters 0.015150178944111916 Centerline is valid? [True, True] Translation: X:454.39, Y:4.61, Z:3.09 [[ 9.99688215e-01 -2.05239770e-02 -1.42210541e-02 4.54392506e+02] [ 2.05241086e-02 9.99789349e-01 -1.36707163e-04 4.61431542e+00] [ 1.42208642e-02 -1.55209918e-04 9.99898866e-01 3.08972355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.47925415399993 meters 0.015411256487825868 Centerline is valid? [True, True] Translation: X:454.42, Y:4.61, Z:3.09 [[ 9.99655897e-01 -2.19725201e-02 -1.43281386e-02 4.54420820e+02] [ 2.19727714e-02 9.99758560e-01 -1.39904278e-04 4.61212830e+00] [ 1.43277532e-02 -1.74972776e-04 9.99897337e-01 3.08948045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.50925415399996 meters 0.016120277431195484 Centerline is valid? [True, True] Translation: X:454.45, Y:4.61, Z:3.09 [[ 9.99541901e-01 -2.64604927e-02 -1.46911943e-02 4.54450088e+02] [ 2.64612298e-02 9.99649830e-01 -1.44247439e-04 4.60768978e+00] [ 1.46898668e-02 -2.44565710e-04 9.99892068e-01 3.09012646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.53925415399993 meters 0.016516775884051104 Centerline is valid? [True, True] Translation: X:454.48, Y:4.61, Z:3.09 [[ 9.99468816e-01 -2.93136113e-02 -1.42407119e-02 4.54480107e+02] [ 2.93145844e-02 9.99570225e-01 -1.40448241e-04 4.60528973e+00] [ 1.42387087e-02 -2.77086916e-04 9.99898586e-01 3.09080326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.56925415399996 meters 0.016516775884051104 Centerline is valid? [True, True] Translation: X:454.51, Y:4.61, Z:3.09 [[ 9.99468816e-01 -2.93136131e-02 -1.42407095e-02 4.54510112e+02] [ 2.93145826e-02 9.99570225e-01 -1.40698510e-04 4.60558630e+00] [ 1.42387136e-02 -2.76836681e-04 9.99898586e-01 3.09101126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.59925415399994 meters 0.019781781722839828 Centerline is valid? [True, True] Translation: X:454.54, Y:4.60, Z:3.09 [[ 9.99286096e-01 -3.50854692e-02 -1.40110187e-02 4.54539487e+02] [ 3.50869728e-02 9.99384253e-01 -1.38555742e-04 4.59862709e+00] [ 1.40072527e-02 -3.53147405e-04 9.99901831e-01 3.09013080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.62925415399997 meters 0.019750926972029396 Centerline is valid? [True, True] Translation: X:454.57, Y:4.60, Z:3.09 [[ 9.99179185e-01 -3.80010690e-02 -1.40312511e-02 4.54569617e+02] [ 3.80028670e-02 9.99277621e-01 -1.38559426e-04 4.59529246e+00] [ 1.40263807e-02 -3.94782076e-04 9.99901548e-01 3.09120134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.65925415399994 meters 0.02159854815015593 Centerline is valid? [True, True] Translation: X:454.60, Y:4.59, Z:3.09 [[ 9.98988381e-01 -4.25485294e-02 -1.45546617e-02 4.54600820e+02] [ 4.25509528e-02 9.99094288e-01 -1.43271578e-04 4.58984788e+00] [ 1.45475754e-02 -4.76188081e-04 9.99894065e-01 3.09106816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.68925415399997 meters 0.02265203333842567 Centerline is valid? [True, True] Translation: X:454.63, Y:4.59, Z:3.09 [[ 9.98897241e-01 -4.45536348e-02 -1.48079491e-02 4.54632459e+02] [ 4.45563691e-02 9.99006861e-01 -1.45369709e-04 4.58727439e+00] [ 1.47997195e-02 -5.14579043e-04 9.99890346e-01 3.09104389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.71925415399994 meters 0.02300101467233548 Centerline is valid? [True, True] Translation: X:454.66, Y:4.59, Z:3.09 [[ 9.98821644e-01 -4.62586389e-02 -1.46785986e-02 4.54664046e+02] [ 4.62615170e-02 9.98929353e-01 -1.43592232e-04 4.58577238e+00] [ 1.46695254e-02 -5.35631209e-04 9.99892253e-01 3.09153966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7492541539999 meters 0.02415525147624498 Centerline is valid? [True, True] Translation: X:454.69, Y:4.58, Z:3.09 [[ 9.98751290e-01 -4.77421498e-02 -1.47155395e-02 4.54694206e+02] [ 4.77452118e-02 9.98859537e-01 -1.43367614e-04 4.58340767e+00] [ 1.47056016e-02 -5.59407961e-04 9.99891710e-01 3.09200979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.77925415399994 meters 0.026559555243592516 Centerline is valid? [True, True] Translation: X:454.72, Y:4.58, Z:3.09 [[ 9.98628390e-01 -5.02811503e-02 -1.45994992e-02 4.54724426e+02] [ 5.02844436e-02 9.98734927e-01 -1.41648840e-04 4.57862158e+00] [ 1.45881520e-02 -5.92673139e-04 9.99893412e-01 3.09164279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8092541539999 meters 0.026492731062491958 Centerline is valid? [True, True] Translation: X:454.76, Y:4.58, Z:3.09 [[ 9.98556205e-01 -5.15728338e-02 -1.50249495e-02 4.54755632e+02] [ 5.15764760e-02 9.98669037e-01 -1.45236540e-04 4.57779700e+00] [ 1.50124421e-02 -6.29907099e-04 9.99887109e-01 3.09197744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.83925415399995 meters 0.02360503200618819 Centerline is valid? [True, True] Translation: X:454.79, Y:4.58, Z:3.09 [[ 9.98471127e-01 -5.30066116e-02 -1.56750881e-02 4.54787728e+02] [ 5.30107661e-02 9.98593929e-01 -1.50635962e-04 4.58133661e+00] [ 1.56610325e-02 -6.80542768e-04 9.99877127e-01 3.09267694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8692541539999 meters 0.023174719920775848 Centerline is valid? [True, True] Translation: X:454.82, Y:4.58, Z:3.09 [[ 9.98446127e-01 -5.33647234e-02 -1.60479633e-02 4.54819420e+02] [ 5.33691405e-02 9.98574840e-01 -1.53195681e-04 4.58197307e+00] [ 1.60332676e-02 -7.03508373e-04 9.99871211e-01 3.09290816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.89925415399995 meters 0.0301232121985096 Centerline is valid? [True, True] Translation: X:454.85, Y:4.57, Z:3.09 [[ 9.98419889e-01 -5.38281592e-02 -1.61324128e-02 4.54850769e+02] [ 5.38326977e-02 9.98549957e-01 -1.53109939e-04 4.57176160e+00] [ 1.61172618e-02 -7.15583295e-04 9.99869852e-01 3.09077141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9292541539999 meters 0.02480357205302803 Centerline is valid? [True, True] Translation: X:454.88, Y:4.58, Z:3.09 [[ 9.98411645e-01 -5.37869154e-02 -1.67676863e-02 4.54881869e+02] [ 5.37918252e-02 9.98552159e-01 -1.58390697e-04 4.57870910e+00] [ 1.67519287e-02 -7.43825335e-04 9.99859400e-01 3.09212169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.95925415399995 meters 0.023594667822745094 Centerline is valid? [True, True] Translation: X:454.91, Y:4.58, Z:3.09 [[ 9.98417059e-01 -5.35928910e-02 -1.70639245e-02 4.54913111e+02] [ 5.35979582e-02 9.98562583e-01 -1.60565353e-04 4.58063538e+00] [ 1.70480017e-02 -7.54280326e-04 9.99854388e-01 3.09260987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9892541539999 meters 0.023770052055038023 Centerline is valid? [True, True] Translation: X:454.95, Y:4.58, Z:3.09 [[ 9.98399711e-01 -5.37072257e-02 -1.77073519e-02 4.54945020e+02] [ 5.37127189e-02 9.98556416e-01 -1.65568611e-04 4.58068196e+00] [ 1.76906821e-02 -7.85806361e-04 9.99843199e-01 3.09257326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.01925415399995 meters 0.0254359493911343 Centerline is valid? [True, True] Translation: X:454.98, Y:4.58, Z:3.09 [[ 9.98389116e-01 -5.37826916e-02 -1.80719436e-02 4.54976145e+02] [ 5.37884460e-02 9.98552340e-01 -1.67853559e-04 4.57886407e+00] [ 1.80548092e-02 -8.04478599e-04 9.99836675e-01 3.09187621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0492541539999 meters 0.025081021776074366 Centerline is valid? [True, True] Translation: X:455.01, Y:4.58, Z:3.09 [[ 9.98353469e-01 -5.43422444e-02 -1.83649356e-02 4.55007382e+02] [ 5.43482960e-02 9.98522025e-01 -1.69781894e-04 4.57940777e+00] [ 1.83470190e-02 -8.28600615e-04 9.99831336e-01 3.09225456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.07925415399995 meters 0.025203897579247327 Centerline is valid? [True, True] Translation: X:455.04, Y:4.58, Z:3.09 [[ 9.98292829e-01 -5.53124682e-02 -1.87605662e-02 4.55038303e+02] [ 5.53189631e-02 9.98468719e-01 -1.72973571e-04 4.57960151e+00] [ 1.87414061e-02 -8.65136795e-04 9.99823990e-01 3.09221659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1092541539999 meters 0.02780212070493454 Centerline is valid? [True, True] Translation: X:455.07, Y:4.58, Z:3.09 [[ 9.98137053e-01 -5.75958898e-02 -2.01280149e-02 4.55068028e+02] [ 5.76038322e-02 9.98339503e-01 -1.85448018e-04 4.57589948e+00] [ 2.01052734e-02 -9.74348253e-04 9.99797394e-01 3.09081181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.13925415399996 meters 0.028681558655735944 Centerline is valid? [True, True] Translation: X:455.10, Y:4.58, Z:3.09 [[ 9.98046466e-01 -5.90105122e-02 -2.05185426e-02 4.55099528e+02] [ 5.90190738e-02 9.98256837e-01 -1.88572614e-04 4.57527614e+00] [ 2.04939032e-02 -1.02278115e-03 9.99789455e-01 3.09028055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.16925415399993 meters 0.027639653365675004 Centerline is valid? [True, True] Translation: X:455.13, Y:4.58, Z:3.09 [[ 9.97925636e-01 -6.07563936e-02 -2.12857860e-02 4.55131135e+02] [ 6.07660201e-02 9.98152019e-01 -1.94859022e-04 4.57809874e+00] [ 2.12582892e-02 -1.09899769e-03 9.99773413e-01 3.09099765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.19925415399996 meters 0.02798495162096059 Centerline is valid? [True, True] Translation: X:455.16, Y:4.58, Z:3.09 [[ 9.97914139e-01 -6.10103751e-02 -2.10975314e-02 4.55162717e+02] [ 6.10199044e-02 9.98136531e-01 -1.92383085e-04 4.57865372e+00] [ 2.10699541e-02 -1.09538754e-03 9.99777404e-01 3.09135557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.22925415399993 meters 0.027993883250842757 Centerline is valid? [True, True] Translation: X:455.19, Y:4.58, Z:3.09 [[ 9.98014314e-01 -5.95975903e-02 -2.03852124e-02 4.55193180e+02] [ 5.96062186e-02 9.98221952e-01 -1.84619765e-04 4.58048231e+00] [ 2.03599694e-02 -1.03083226e-03 9.99792183e-01 3.09264605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.25925415399996 meters 0.025362215596726623 Centerline is valid? [True, True] Translation: X:455.22, Y:4.59, Z:3.09 [[ 9.98106473e-01 -5.82883226e-02 -1.96453738e-02 4.55224879e+02] [ 5.82961066e-02 9.98299320e-01 -1.76706725e-04 4.58575477e+00] [ 1.96222632e-02 -9.68876679e-04 9.99806995e-01 3.09450909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.28925415399993 meters 0.02559049750442369 Centerline is valid? [True, True] Translation: X:455.26, Y:4.59, Z:3.09 [[ 9.98218795e-01 -5.65532764e-02 -1.89990333e-02 4.55255452e+02] [ 5.65602542e-02 9.98399173e-01 -1.70303545e-04 4.58688848e+00] [ 1.89782504e-02 -9.04589952e-04 9.99819488e-01 3.09499203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.31925415399996 meters 0.024916043853655277 Centerline is valid? [True, True] Translation: X:455.29, Y:4.59, Z:3.10 [[ 9.98429821e-01 -5.26385186e-02 -1.91592834e-02 4.55286427e+02] [ 5.26449019e-02 9.98613281e-01 -1.71390844e-04 4.59212704e+00] [ 1.91417366e-02 -8.37516862e-04 9.99816429e-01 3.09547802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.34925415399994 meters 0.023569495956337054 Centerline is valid? [True, True] Translation: X:455.32, Y:4.59, Z:3.10 [[ 9.98534438e-01 -5.09596651e-02 -1.82232970e-02 4.55318082e+02] [ 5.09651741e-02 9.98700418e-01 -1.62285649e-04 4.59438101e+00] [ 1.82078844e-02 -7.66705695e-04 9.99833929e-01 3.09671016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37925415399997 meters 0.021909508414853174 Centerline is valid? [True, True] Translation: X:455.35, Y:4.60, Z:3.10 [[ 9.98623810e-01 -4.91676753e-02 -1.82490095e-02 4.55349583e+02] [ 4.91729156e-02 9.98790267e-01 -1.61721321e-04 4.59882302e+00] [ 1.82348845e-02 -7.35858242e-04 9.99833460e-01 3.09755576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.40925415399994 meters 0.02096198520146797 Centerline is valid? [True, True] Translation: X:455.38, Y:4.60, Z:3.10 [[ 9.98749394e-01 -4.64776966e-02 -1.84247480e-02 4.55380733e+02] [ 4.64825939e-02 9.98919087e-01 -1.62594819e-04 4.60374747e+00] [ 1.84123895e-02 -6.94038602e-04 9.99830237e-01 3.09806146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43925415399997 meters 0.021592839547130944 Centerline is valid? [True, True] Translation: X:455.41, Y:4.60, Z:3.10 [[ 9.98803235e-01 -4.55457308e-02 -1.78237215e-02 4.55411528e+02] [ 4.55501770e-02 9.98962040e-01 -1.56645139e-04 4.60393966e+00] [ 1.78123557e-02 -6.55415995e-04 9.99841133e-01 3.09827779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.46925415399994 meters 0.02090230760400179 Centerline is valid? [True, True] Translation: X:455.44, Y:4.61, Z:3.10 [[ 9.98845310e-01 -4.47219965e-02 -1.75496383e-02 4.55442476e+02] [ 4.47261911e-02 9.98999271e-01 -1.53602485e-04 4.60691875e+00] [ 1.75389453e-02 -6.31503356e-04 9.99845981e-01 3.09879392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.4992541539999 meters 0.02037003978515585 Centerline is valid? [True, True] Translation: X:455.47, Y:4.61, Z:3.10 [[ 9.98854239e-01 -4.46622521e-02 -1.71899113e-02 4.55473829e+02] [ 4.46662783e-02 9.99001953e-01 -1.49831675e-04 4.60871471e+00] [ 1.71794468e-02 -6.18149361e-04 9.99852231e-01 3.09909058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.52925415399994 meters 0.020850531257787738 Centerline is valid? [True, True] Translation: X:455.51, Y:4.61, Z:3.10 [[ 9.98831707e-01 -4.49895552e-02 -1.76397529e-02 4.55505096e+02] [ 4.49938574e-02 9.98987252e-01 -1.53102293e-04 4.60922682e+00] [ 1.76287763e-02 -6.40757103e-04 9.99844396e-01 3.09934134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5592541539999 meters 0.02178071797655711 Centerline is valid? [True, True] Translation: X:455.54, Y:4.61, Z:3.10 [[ 9.98816059e-01 -4.53011978e-02 -1.77279961e-02 4.55535879e+02] [ 4.53056071e-02 9.98973162e-01 -1.53027431e-04 4.60872885e+00] [ 1.77167246e-02 -6.50331370e-04 9.99842835e-01 3.09903657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.58925415399995 meters 0.022381503670818544 Centerline is valid? [True, True] Translation: X:455.57, Y:4.61, Z:3.10 [[ 9.98729566e-01 -4.67378313e-02 -1.88369308e-02 4.55567523e+02] [ 4.67430803e-02 9.98906932e-01 -1.61775655e-04 4.61020035e+00] [ 1.88239018e-02 -7.18926038e-04 9.99822556e-01 3.09850761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6192541539999 meters 0.021041951861662432 Centerline is valid? [True, True] Translation: X:455.60, Y:4.61, Z:3.10 [[ 9.98697720e-01 -4.73152870e-02 -1.90821318e-02 4.55598649e+02] [ 4.73207922e-02 9.98879730e-01 -1.63183711e-04 4.61325114e+00] [ 1.90684757e-02 -7.40010392e-04 9.99817906e-01 3.09919195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.64925415399995 meters 0.02231364444292484 Centerline is valid? [True, True] Translation: X:455.63, Y:4.61, Z:3.10 [[ 9.98628015e-01 -4.84460810e-02 -1.98762423e-02 4.55628709e+02] [ 4.84522876e-02 9.98825484e-01 -1.69471359e-04 4.61258983e+00] [ 1.98611075e-02 -7.93810561e-04 9.99802434e-01 3.09783128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6792541539999 meters 0.021510782441802632 Centerline is valid? [True, True] Translation: X:455.66, Y:4.62, Z:3.10 [[ 9.98618382e-01 -4.85817784e-02 -2.00284048e-02 4.55659593e+02] [ 4.85881200e-02 9.98818885e-01 -1.70158294e-04 4.61501520e+00] [ 2.00130155e-02 -8.03219333e-04 9.99799397e-01 3.09838580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.70925415399995 meters 0.02198858591788969 Centerline is valid? [True, True] Translation: X:455.69, Y:4.62, Z:3.10 [[ 9.98626481e-01 -4.85650329e-02 -1.96618718e-02 4.55690282e+02] [ 4.85711507e-02 9.98819711e-01 -1.66561211e-04 4.61574097e+00] [ 1.96467542e-02 -7.88667302e-04 9.99806673e-01 3.09856596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7392541539999 meters 0.021656440443078878 Centerline is valid? [True, True] Translation: X:455.72, Y:4.62, Z:3.10 [[ 9.98745455e-01 -4.64637956e-02 -1.86716965e-02 4.55722236e+02] [ 4.64689600e-02 9.98919722e-01 -1.57411704e-04 4.61894378e+00] [ 1.86588398e-02 -7.10440094e-04 9.99825656e-01 3.09932591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.76925415399995 meters 0.020626850542499936 Centerline is valid? [True, True] Translation: X:455.75, Y:4.62, Z:3.10 [[ 9.98854965e-01 -4.42574099e-02 -1.81670063e-02 4.55753475e+02] [ 4.42619486e-02 9.99019948e-01 -1.52375097e-04 4.62204163e+00] [ 1.81559454e-02 -6.51906479e-04 9.99834955e-01 3.10028026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7992541539999 meters 0.020734820921185882 Centerline is valid? [True, True] Translation: X:455.78, Y:4.62, Z:3.10 [[ 9.98976557e-01 -4.17836164e-02 -1.73195856e-02 4.55783769e+02] [ 4.17873775e-02 9.99126516e-01 -1.44836159e-04 4.62351648e+00] [ 1.73105090e-02 -5.79052136e-04 9.99849994e-01 3.10079883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.82925415399995 meters 0.018857456282929893 Centerline is valid? [True, True] Translation: X:455.81, Y:4.63, Z:3.10 [[ 9.99190067e-01 -3.65207885e-02 -1.68950481e-02 4.55814004e+02] [ 3.65236179e-02 9.99332780e-01 -1.41163588e-04 4.62970866e+00] [ 1.68889308e-02 -4.76019027e-04 9.99857259e-01 3.10170493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8592541539999 meters 0.017667180908876597 Centerline is valid? [True, True] Translation: X:455.84, Y:4.63, Z:3.10 [[ 9.99322988e-01 -3.25141080e-02 -1.72162127e-02 4.55844751e+02] [ 3.25164513e-02 9.99471190e-01 -1.43873285e-04 4.63492918e+00] [ 1.72117865e-02 -4.16034261e-04 9.99851780e-01 3.10176341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.88925415399996 meters 0.018369054046616446 Centerline is valid? [True, True] Translation: X:455.88, Y:4.64, Z:3.10 [[ 9.99365489e-01 -3.10909515e-02 -1.73773380e-02 4.55875163e+02] [ 3.10931354e-02 9.99516481e-01 -1.44552997e-04 4.63562396e+00] [ 1.73734300e-02 -3.95854647e-04 9.99848992e-01 3.10100130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.91925415399993 meters 0.016687456734408444 Centerline is valid? [True, True] Translation: X:455.91, Y:4.64, Z:3.10 [[ 9.99415996e-01 -2.99850481e-02 -1.63879111e-02 4.55905401e+02] [ 2.99868487e-02 9.99550284e-01 -1.35894312e-04 4.63968512e+00] [ 1.63846160e-02 -3.55606862e-04 9.99865700e-01 3.10226267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.94925415399996 meters 0.016723471542406814 Centerline is valid? [True, True] Translation: X:455.94, Y:4.64, Z:3.10 [[ 9.99413286e-01 -2.98946929e-02 -1.67149727e-02 4.55935670e+02] [ 2.98965535e-02 9.99552989e-01 -1.38606422e-04 4.64079980e+00] [ 1.67116445e-02 -3.61194977e-04 9.99860285e-01 3.10259517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.97925415399993 meters 0.01679225883423954 Centerline is valid? [True, True] Translation: X:455.97, Y:4.64, Z:3.10 [[ 9.99408158e-01 -3.00845206e-02 -1.66809608e-02 4.55966296e+02] [ 3.00864001e-02 9.99547292e-01 -1.38324383e-04 4.64183167e+00] [ 1.66775706e-02 -3.63627544e-04 9.99860854e-01 3.10244476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.00925415399996 meters 0.017685596363532397 Centerline is valid? [True, True] Translation: X:456.00, Y:4.64, Z:3.10 [[ 9.99395961e-01 -3.03828264e-02 -1.68700175e-02 4.55995455e+02] [ 3.03847909e-02 9.99538266e-01 -1.39913025e-04 4.64082166e+00] [ 1.68664790e-02 -3.72763442e-04 9.99857681e-01 3.10184127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.03925415399993 meters 0.01687832791564652 Centerline is valid? [True, True] Translation: X:456.03, Y:4.64, Z:3.10 [[ 9.99347340e-01 -3.14775102e-02 -1.77217628e-02 4.56025800e+02] [ 3.14798499e-02 9.99504376e-01 -1.46992367e-04 4.64346051e+00] [ 1.77176064e-02 -4.10982002e-04 9.99842946e-01 3.10185758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.06925415399996 meters 0.017189170591038378 Centerline is valid? [True, True] Translation: X:456.06, Y:4.64, Z:3.10 [[ 9.99309626e-01 -3.22693860e-02 -1.84108146e-02 4.56055769e+02] [ 3.22720445e-02 9.99479110e-01 -1.52760099e-04 4.64413852e+00] [ 1.84061540e-02 -4.41499990e-04 9.99830495e-01 3.10143368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.09925415399994 meters 0.01787393045242987 Centerline is valid? [True, True] Translation: X:456.09, Y:4.64, Z:3.10 [[ 9.99234772e-01 -3.36962195e-02 -1.98604002e-02 4.56085586e+02] [ 3.36995943e-02 9.99431994e-01 -1.64821875e-04 4.64472974e+00] [ 1.98546733e-02 -5.04591682e-04 9.99802749e-01 3.10007481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.12925415399997 meters 0.0180161809851255 Centerline is valid? [True, True] Translation: X:456.11, Y:4.65, Z:3.10 [[ 9.99193131e-01 -3.46900048e-02 -2.02408177e-02 4.56114913e+02] [ 3.46937041e-02 9.99397978e-01 -1.68465412e-04 4.64546081e+00] [ 2.02344764e-02 -5.33899459e-04 9.99795119e-01 3.09965543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.15925415399994 meters 0.018122740360572303 Centerline is valid? [True, True] Translation: X:456.14, Y:4.65, Z:3.10 [[ 9.99157536e-01 -3.55844833e-02 -2.04441187e-02 4.56144892e+02] [ 3.55884290e-02 9.99366517e-01 -1.70908738e-04 4.64638284e+00] [ 2.04372493e-02 -5.56809313e-04 9.99790983e-01 3.09993595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.18925415399997 meters 0.01832785050332932 Centerline is valid? [True, True] Translation: X:456.17, Y:4.65, Z:3.10 [[ 9.99123518e-01 -3.65354499e-02 -2.04293108e-02 4.56174939e+02] [ 3.65395833e-02 9.99332192e-01 -1.71038784e-04 4.64719952e+00] [ 2.04219169e-02 -5.75589633e-04 9.99791285e-01 3.10048081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.21925415399994 meters 0.01932191878474155 Centerline is valid? [True, True] Translation: X:456.20, Y:4.65, Z:3.10 [[ 9.99052996e-01 -3.88028699e-02 -1.96836918e-02 4.56204147e+02] [ 3.88071421e-02 9.99246706e-01 -1.65027865e-04 4.64759346e+00] [ 1.96752677e-02 -5.98996240e-04 9.99806244e-01 3.10069699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.2492541539999 meters 0.019765817265095808 Centerline is valid? [True, True] Translation: X:456.24, Y:4.65, Z:3.10 [[ 9.99033092e-01 -3.97078599e-02 -1.88723629e-02 4.56235838e+02] [ 3.97119542e-02 9.99211157e-01 -1.57914426e-04 4.64801202e+00] [ 1.88637460e-02 -5.91696675e-04 9.99821889e-01 3.10115407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.27925415399994 meters 0.01970010109171297 Centerline is valid? [True, True] Translation: X:456.27, Y:4.65, Z:3.10 [[ 9.99008095e-01 -4.03724421e-02 -1.87854273e-02 4.56267433e+02] [ 4.03766289e-02 9.99184519e-01 -1.56506317e-04 4.64899447e+00] [ 1.87764267e-02 -6.02141149e-04 9.99823526e-01 3.10201803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3092541539999 meters 0.019975211546864727 Centerline is valid? [True, True] Translation: X:456.30, Y:4.65, Z:3.10 [[ 9.99008089e-01 -4.08133667e-02 -1.78074902e-02 4.56298331e+02] [ 4.08172100e-02 9.99166620e-01 -1.47726757e-04 4.65103516e+00] [ 1.77986790e-02 -5.79271842e-04 9.99841423e-01 3.10317159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.33925415399995 meters 0.020271904492591645 Centerline is valid? [True, True] Translation: X:456.33, Y:4.65, Z:3.10 [[ 9.99021515e-01 -4.08192766e-02 -1.70234670e-02 4.56330556e+02] [ 4.08228062e-02 9.99166392e-01 -1.40256119e-04 4.65194264e+00] [ 1.70150012e-02 -5.54826812e-04 9.99855080e-01 3.10376204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3692541539999 meters 0.020443303302613156 Centerline is valid? [True, True] Translation: X:456.36, Y:4.65, Z:3.10 [[ 9.99050789e-01 -4.04260553e-02 -1.62251407e-02 4.56362907e+02] [ 4.04292282e-02 9.99182396e-01 -1.32538290e-04 4.65416660e+00] [ 1.62172330e-02 -5.23557433e-04 9.99868355e-01 3.10471954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.39925415399995 meters 0.02041137939701678 Centerline is valid? [True, True] Translation: X:456.40, Y:4.66, Z:3.11 [[ 9.99077675e-01 -4.00259786e-02 -1.55473892e-02 4.56395511e+02] [ 4.00288604e-02 9.99198516e-01 -1.25913383e-04 4.65540298e+00] [ 1.55399680e-02 -4.96547021e-04 9.99879124e-01 3.10554013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4292541539999 meters 0.021576605442284326 Centerline is valid? [True, True] Translation: X:456.43, Y:4.66, Z:3.11 [[ 9.99110538e-01 -3.92854751e-02 -1.53226712e-02 4.56427887e+02] [ 3.92882038e-02 9.99227913e-01 -1.23014153e-04 4.65592682e+00] [ 1.53156735e-02 -4.79095493e-04 9.99882593e-01 3.10516489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.45925415399995 meters 0.021576605442284326 Centerline is valid? [True, True] Translation: X:456.46, Y:4.66, Z:3.11 [[ 9.99113313e-01 -3.92148320e-02 -1.53226799e-02 4.56459595e+02] [ 3.92175689e-02 9.99230688e-01 -1.21931282e-04 4.65611713e+00] [ 1.53156735e-02 -4.79095087e-04 9.99882593e-01 3.10538447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4892541539999 meters 0.021080421384567866 Centerline is valid? [True, True] Translation: X:456.49, Y:4.66, Z:3.11 [[ 9.99087672e-01 -4.00590035e-02 -1.48020385e-02 4.56491879e+02] [ 4.00616653e-02 9.99197202e-01 -1.16762316e-04 4.65673288e+00] [ 1.47948329e-02 -4.76338523e-04 9.99890437e-01 3.10626201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.51925415399995 meters 0.019492494524030658 Centerline is valid? [True, True] Translation: X:456.52, Y:4.66, Z:3.11 [[ 9.99069401e-01 -4.04906238e-02 -1.48607057e-02 4.56524265e+02] [ 4.04933704e-02 9.99179800e-01 -1.16151728e-04 4.66004658e+00] [ 1.48532201e-02 -4.85716424e-04 9.99889567e-01 3.10717071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5492541539999 meters 0.020607178710061076 Centerline is valid? [True, True] Translation: X:456.56, Y:4.66, Z:3.11 [[ 9.99025340e-01 -4.16026892e-02 -1.47508266e-02 4.56555653e+02] [ 4.16055302e-02 9.99134109e-01 -1.14356146e-04 4.65975405e+00] [ 1.47428115e-02 -4.99471274e-04 9.99891194e-01 3.10715880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.57925415399995 meters 0.020391194091740977 Centerline is valid? [True, True] Translation: X:456.59, Y:4.66, Z:3.11 [[ 9.99020278e-01 -4.18038999e-02 -1.45229984e-02 4.56587618e+02] [ 4.18066885e-02 9.99125712e-01 -1.11663285e-04 4.66098813e+00] [ 1.45149690e-02 -4.95604583e-04 9.99894529e-01 3.10782080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6092541539999 meters 0.019881262208907943 Centerline is valid? [True, True] Translation: X:456.62, Y:4.66, Z:3.11 [[ 9.99000161e-01 -4.21977438e-02 -1.47657920e-02 4.56620162e+02] [ 4.22006855e-02 9.99109148e-01 -1.12436626e-04 4.66316625e+00] [ 1.47573824e-02 -5.10802338e-04 9.99890973e-01 3.10833597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.63925415399996 meters 0.020613259372964644 Centerline is valid? [True, True] Translation: X:456.65, Y:4.66, Z:3.11 [[ 9.98961101e-01 -4.27337197e-02 -1.58286730e-02 4.56651819e+02] [ 4.27371926e-02 9.99086342e-01 -1.18940667e-04 4.66382952e+00] [ 1.58192938e-02 -5.57655947e-04 9.99874712e-01 3.10732127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.66925415399993 meters 0.02038999239368452 Centerline is valid? [True, True] Translation: X:456.68, Y:4.67, Z:3.11 [[ 9.98944328e-01 -4.28648135e-02 -1.65177711e-02 4.56683925e+02] [ 4.28686389e-02 9.99080710e-01 -1.22569434e-04 4.66507641e+00] [ 1.65078404e-02 -5.85654324e-04 9.99863565e-01 3.10713435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.69925415399996 meters 0.022331448861216 Centerline is valid? [True, True] Translation: X:456.72, Y:4.66, Z:3.11 [[ 9.98924730e-01 -4.30976816e-02 -1.70872233e-02 4.56715166e+02] [ 4.31018280e-02 9.99070676e-01 -1.25709849e-04 4.66277978e+00] [ 1.70767616e-02 -6.10915883e-04 9.99853995e-01 3.10609846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.72925415399993 meters 0.020718467086376632 Centerline is valid? [True, True] Translation: X:456.75, Y:4.67, Z:3.11 [[ 9.98901469e-01 -4.35185507e-02 -1.73779161e-02 4.56746872e+02] [ 4.35229311e-02 9.99052420e-01 -1.26228808e-04 4.66649909e+00] [ 1.73669424e-02 -6.30247703e-04 9.99848985e-01 3.10684776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.75925415399996 meters 0.022217747022478453 Centerline is valid? [True, True] Translation: X:456.78, Y:4.67, Z:3.11 [[ 9.98844007e-01 -4.46997391e-02 -1.76800200e-02 4.56777858e+02] [ 4.47044830e-02 9.99000247e-01 -1.27003974e-04 4.66643391e+00] [ 1.76680214e-02 -6.63518998e-04 9.99843688e-01 3.10570460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.78925415399993 meters 0.021875809102431237 Centerline is valid? [True, True] Translation: X:456.81, Y:4.67, Z:3.11 [[ 9.98737111e-01 -4.71958610e-02 -1.72259403e-02 4.56809746e+02] [ 4.72007544e-02 9.98885416e-01 -1.22613653e-04 4.66765851e+00] [ 1.72125273e-02 -6.90618569e-04 9.99851615e-01 3.10704838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.81925415399996 meters 0.022643679067442267 Centerline is valid? [True, True] Translation: X:456.84, Y:4.67, Z:3.11 [[ 9.98689542e-01 -4.83572412e-02 -1.67563881e-02 4.56840797e+02] [ 4.83620520e-02 9.98829864e-01 -1.18234681e-04 4.66697928e+00] [ 1.67424983e-02 -6.92293571e-04 9.99859595e-01 3.10725925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.84925415399994 meters 0.02352572441575359 Centerline is valid? [True, True] Translation: X:456.87, Y:4.67, Z:3.11 [[ 9.98641942e-01 -4.96358042e-02 -1.58290410e-02 4.56872322e+02] [ 4.96402774e-02 9.98767155e-01 -1.10427772e-04 4.66620048e+00] [ 1.58150074e-02 -6.75480181e-04 9.99874707e-01 3.10778435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87925415399997 meters 0.02478944431097098 Centerline is valid? [True, True] Translation: X:456.90, Y:4.67, Z:3.11 [[ 9.98548697e-01 -5.19021965e-02 -1.43757578e-02 4.56903620e+02] [ 5.19061352e-02 9.98651963e-01 -9.92484695e-05 4.66601005e+00] [ 1.43615300e-02 -6.47085600e-04 9.99896659e-01 3.10913310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.90925415399994 meters 0.02357932359849469 Centerline is valid? [True, True] Translation: X:456.94, Y:4.67, Z:3.11 [[ 9.98516912e-01 -5.25854745e-02 -1.40976894e-02 4.56935829e+02] [ 5.25893429e-02 9.98616218e-01 -9.64325765e-05 4.66898199e+00] [ 1.40832522e-02 -6.45098664e-04 9.99900618e-01 3.11010663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93925415399997 meters 0.0257620441236268 Centerline is valid? [True, True] Translation: X:456.97, Y:4.67, Z:3.11 [[ 9.98478172e-01 -5.34785868e-02 -1.34677658e-02 4.56966941e+02] [ 5.34822097e-02 9.98568798e-01 -9.12740442e-05 4.66804682e+00] [ 1.34533719e-02 -6.29150733e-04 9.99909301e-01 3.11087706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.96925415399994 meters 0.02578439567044403 Centerline is valid? [True, True] Translation: X:457.00, Y:4.67, Z:3.11 [[ 9.98475928e-01 -5.36032652e-02 -1.31343139e-02 4.56998678e+02] [ 5.36067323e-02 9.98562121e-01 -8.81939841e-05 4.66925228e+00] [ 1.31201559e-02 -6.16028081e-04 9.99913737e-01 3.11143899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.9992541539999 meters 0.024242359400879796 Centerline is valid? [True, True] Translation: X:457.03, Y:4.67, Z:3.11 [[ 9.98464645e-01 -5.38978694e-02 -1.27817428e-02 4.57030880e+02] [ 5.39011887e-02 9.98546271e-01 -8.49062713e-05 4.67261086e+00] [ 1.27677379e-02 -6.04175220e-04 9.99918307e-01 3.11240889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.02925415399994 meters 0.026170198802359924 Centerline is valid? [True, True] Translation: X:457.06, Y:4.67, Z:3.11 [[ 9.98444996e-01 -5.43710089e-02 -1.23038141e-02 4.57062410e+02] [ 5.43741302e-02 9.98520629e-01 -8.09413420e-05 4.67054341e+00] [ 1.22900131e-02 -5.88193712e-04 9.99924302e-01 3.11256526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0592541539999 meters 0.027101570107302967 Centerline is valid? [True, True] Translation: X:457.09, Y:4.67, Z:3.11 [[ 9.98375511e-01 -5.57038154e-02 -1.19759719e-02 4.57094998e+02] [ 5.57068769e-02 9.98447163e-01 -7.80544943e-05 4.66957032e+00] [ 1.19617231e-02 -5.89216296e-04 9.99928282e-01 3.11320283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.08925415399995 meters 0.027390101525587143 Centerline is valid? [True, True] Translation: X:457.13, Y:4.67, Z:3.11 [[ 9.98355962e-01 -5.60916102e-02 -1.17942809e-02 4.57127399e+02] [ 5.60946162e-02 9.98425455e-01 -7.60394012e-05 4.66924084e+00] [ 1.17799755e-02 -5.85681272e-04 9.99930442e-01 3.11383278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1192541539999 meters 0.028858460152133905 Centerline is valid? [True, True] Translation: X:457.16, Y:4.67, Z:3.11 [[ 9.98316157e-01 -5.66910107e-02 -1.22874098e-02 4.57158765e+02] [ 5.66943285e-02 9.98391580e-01 -7.84227219e-05 4.66748470e+00] [ 1.22720923e-02 -6.18335774e-04 9.99924504e-01 3.11338842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.14925415399995 meters 0.029326783917123123 Centerline is valid? [True, True] Translation: X:457.19, Y:4.67, Z:3.11 [[ 9.98278163e-01 -5.68498858e-02 -1.44499163e-02 4.57190644e+02] [ 5.68545047e-02 9.98382470e-01 -9.12709408e-05 4.66722142e+00] [ 1.44317319e-02 -7.30429047e-04 9.99895590e-01 3.11164884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1792541539999 meters 0.02809314614142671 Centerline is valid? [True, True] Translation: X:457.22, Y:4.67, Z:3.11 [[ 9.98315415e-01 -5.60423383e-02 -1.50196183e-02 4.57222789e+02] [ 5.60472537e-02 9.98428113e-01 -9.37997995e-05 4.66940382e+00] [ 1.50012660e-02 -7.48166574e-04 9.99887195e-01 3.11122315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.20925415399995 meters 0.028734675492294078 Centerline is valid? [True, True] Translation: X:457.25, Y:4.67, Z:3.11 [[ 9.98369654e-01 -5.48483825e-02 -1.58015477e-02 4.57253705e+02] [ 5.48536892e-02 9.98494398e-01 -9.77055711e-05 4.66941565e+00] [ 1.57831159e-02 -7.69226910e-04 9.99875143e-01 3.11019918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2392541539999 meters 0.02443207411338397 Centerline is valid? [True, True] Translation: X:457.28, Y:4.68, Z:3.11 [[ 9.98595973e-01 -5.02101923e-02 -1.68825192e-02 4.57284849e+02] [ 5.02155990e-02 9.98738396e-01 -1.03772165e-04 4.67741961e+00] [ 1.68664305e-02 -7.44139347e-04 9.99857475e-01 3.11022136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.26925415399995 meters 0.023189703428425138 Centerline is valid? [True, True] Translation: X:457.32, Y:4.68, Z:3.11 [[ 9.98751747e-01 -4.69759961e-02 -1.69765690e-02 4.57315979e+02] [ 4.69810057e-02 9.98895778e-01 -1.03828913e-04 4.68059233e+00] [ 1.69627006e-02 -6.93876978e-04 9.99855882e-01 3.11068768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2992541539999 meters 0.01944771813847778 Centerline is valid? [True, True] Translation: X:457.35, Y:4.69, Z:3.11 [[ 9.99136397e-01 -3.85947544e-02 -1.53917451e-02 4.57346049e+02] [ 3.85978828e-02 9.99254820e-01 -9.38692591e-05 4.69009244e+00] [ 1.53838983e-02 -5.00300580e-04 9.99881536e-01 3.11333553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.32925415399995 meters 0.017668365898415587 Centerline is valid? [True, True] Translation: X:457.38, Y:4.70, Z:3.11 [[ 9.99324841e-01 -3.37648227e-02 -1.44844674e-02 4.57377973e+02] [ 3.37670936e-02 9.99429725e-01 -8.78223974e-05 4.69548110e+00] [ 1.44791726e-02 -4.01335262e-04 9.99895091e-01 3.11481786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3592541539999 meters 0.017104567789098874 Centerline is valid? [True, True] Translation: X:457.41, Y:4.70, Z:3.12 [[ 9.99496730e-01 -2.85500224e-02 -1.38269052e-02 4.57408172e+02] [ 2.85516006e-02 9.99592316e-01 -8.32854851e-05 4.69837800e+00] [ 1.38236460e-02 -3.11536705e-04 9.99904400e-01 3.11533674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.38925415399996 meters 0.01503125844257591 Centerline is valid? [True, True] Translation: X:457.44, Y:4.71, Z:3.12 [[ 9.99743062e-01 -1.88356543e-02 -1.26106682e-02 4.57439083e+02] [ 1.88361970e-02 9.99822580e-01 -7.57405654e-05 4.70662328e+00] [ 1.26098575e-02 -1.61815927e-04 9.99920479e-01 3.11644460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.41925415399993 meters 0.014360576362195147 Centerline is valid? [True, True] Translation: X:457.47, Y:4.71, Z:3.12 [[ 9.99813256e-01 -1.48237974e-02 -1.23979486e-02 4.57469290e+02] [ 1.48240151e-02 9.99890115e-01 -7.43412058e-05 4.71021761e+00] [ 1.23976883e-02 -1.09460054e-04 9.99923140e-01 3.11671907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.44925415399996 meters 0.014147418290024583 Centerline is valid? [True, True] Translation: X:457.50, Y:4.71, Z:3.12 [[ 9.99859145e-01 -1.14641324e-02 -1.22582207e-02 4.57498542e+02] [ 1.14640772e-02 9.99934283e-01 -7.47717441e-05 4.71282644e+00] [ 1.22582723e-02 -6.57679764e-05 9.99924862e-01 3.11655577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.47925415399993 meters 0.013958833206868625 Centerline is valid? [True, True] Translation: X:457.53, Y:4.72, Z:3.12 [[ 9.99880651e-01 -7.68951756e-03 -1.33998398e-02 4.57527053e+02] [ 7.68906636e-03 9.99970435e-01 -8.51903691e-05 4.71569678e+00] [ 1.34000987e-02 -1.78520557e-05 9.99910214e-01 3.11582410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.50925415399996 meters 0.014032054391496943 Centerline is valid? [True, True] Translation: X:457.55, Y:4.72, Z:3.11 [[ 9.99873241e-01 -7.67772506e-03 -1.39482788e-02 4.57554657e+02] [ 7.67718073e-03 9.99970526e-01 -9.25698339e-05 4.71583787e+00] [ 1.39485784e-02 -1.45253576e-05 9.99902714e-01 3.11491838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.53925415399993 meters 0.014080775603335987 Centerline is valid? [True, True] Translation: X:457.58, Y:4.71, Z:3.11 [[ 9.99843988e-01 -9.86527413e-03 -1.46518249e-02 4.57583265e+02] [ 9.86486893e-03 9.99951336e-01 -9.99303223e-05 4.71367229e+00] [ 1.46520977e-02 -4.46235999e-05 9.99892651e-01 3.11438234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.56925415399996 meters 0.014052841332823281 Centerline is valid? [True, True] Translation: X:457.61, Y:4.71, Z:3.11 [[ 9.99813260e-01 -1.24650237e-02 -1.47671501e-02 4.57611682e+02] [ 1.24648585e-02 9.99922305e-01 -1.03231507e-04 4.71185135e+00] [ 1.47672896e-02 -8.08582073e-05 9.99890954e-01 3.11413046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.59925415399994 meters 0.014457041198588531 Centerline is valid? [True, True] Translation: X:457.64, Y:4.71, Z:3.11 [[ 9.99763964e-01 -1.58696598e-02 -1.48381043e-02 4.57640034e+02] [ 1.58698117e-02 9.99874061e-01 -1.07518431e-04 4.70934380e+00] [ 1.48379419e-02 -1.27984868e-04 9.99889903e-01 3.11392996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.62925415399997 meters 0.014907423223915169 Centerline is valid? [True, True] Translation: X:457.67, Y:4.71, Z:3.11 [[ 9.99695703e-01 -1.98286598e-02 -1.46740013e-02 4.57668646e+02] [ 1.98291803e-02 9.99803376e-01 -1.10034847e-04 4.70635161e+00] [ 1.46732978e-02 -1.80972053e-04 9.99892325e-01 3.11391306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.65925415399994 meters 0.01630059253215279 Centerline is valid? [True, True] Translation: X:457.70, Y:4.70, Z:3.11 [[ 9.99493198e-01 -2.82666867e-02 -1.46403889e-02 4.57698501e+02] [ 2.82680798e-02 9.99600372e-01 -1.11816950e-04 4.69931303e+00] [ 1.46376989e-02 -3.02095400e-04 9.99892818e-01 3.11372417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.68925415399997 meters 0.017865986629064405 Centerline is valid? [True, True] Translation: X:457.73, Y:4.69, Z:3.11 [[ 9.99349991e-01 -3.27746935e-02 -1.50138067e-02 4.57729166e+02] [ 3.27766652e-02 9.99462694e-01 -1.14781766e-04 4.69445111e+00] [ 1.50095016e-02 -3.77395358e-04 9.99887280e-01 3.11340686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.71925415399994 meters 0.02136608492319281 Centerline is valid? [True, True] Translation: X:457.76, Y:4.69, Z:3.11 [[ 9.99033382e-01 -4.11931800e-02 -1.53434908e-02 4.57759252e+02] [ 4.11962312e-02 9.99151068e-01 -1.17289919e-04 4.68586526e+00] [ 1.53352968e-02 -5.14917451e-04 9.99882275e-01 3.11321697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7492541539999 meters 0.02205727596129523 Centerline is valid? [True, True] Translation: X:457.79, Y:4.68, Z:3.11 [[ 9.98875756e-01 -4.49777923e-02 -1.49740713e-02 4.57790173e+02] [ 4.49811237e-02 9.98987830e-01 -1.14416221e-04 4.68416213e+00] [ 1.49640612e-02 -5.59262964e-04 9.99887876e-01 3.11408297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.77925415399994 meters 0.024145110651563922 Centerline is valid? [True, True] Translation: X:457.82, Y:4.68, Z:3.11 [[ 9.98726222e-01 -4.83265467e-02 -1.45078921e-02 4.57820301e+02] [ 4.83300282e-02 9.98831415e-01 -1.10734792e-04 4.68044865e+00] [ 1.44962898e-02 -5.90573095e-04 9.99894749e-01 3.11424944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8092541539999 meters 0.025197356569721805 Centerline is valid? [True, True] Translation: X:457.85, Y:4.68, Z:3.12 [[ 9.98437554e-01 -5.41570376e-02 -1.37646450e-02 4.57850575e+02] [ 5.41607248e-02 9.98532225e-01 -1.05032778e-04 4.67770139e+00] [ 1.37501298e-02 -6.40634477e-04 9.99905257e-01 3.11524604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.83925415399995 meters 0.025877931748002098 Centerline is valid? [True, True] Translation: X:457.88, Y:4.68, Z:3.12 [[ 9.98318132e-01 -5.64045403e-02 -1.33953490e-02 4.57882174e+02] [ 5.64082442e-02 9.98407782e-01 -1.01448278e-04 4.67602564e+00] [ 1.33797429e-02 -6.54330464e-04 9.99910273e-01 3.11554164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8692541539999 meters 0.028725045784101916 Centerline is valid? [True, True] Translation: X:457.91, Y:4.67, Z:3.12 [[ 9.98119220e-01 -5.99573496e-02 -1.27725656e-02 4.57912251e+02] [ 5.99610168e-02 9.98200715e-01 -9.59777180e-05 4.67149962e+00] [ 1.27553387e-02 -6.70058816e-04 9.99918423e-01 3.11568934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.89925415399995 meters 0.02546122893199455 Centerline is valid? [True, True] Translation: X:457.94, Y:4.68, Z:3.12 [[ 9.98051287e-01 -6.10785739e-02 -1.27685654e-02 4.57944491e+02] [ 6.10823359e-02 9.98132726e-01 -9.55076521e-05 4.67674272e+00] [ 1.27505565e-02 -6.84612266e-04 9.99918474e-01 3.11649661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9292541539999 meters 0.02953024467827243 Centerline is valid? [True, True] Translation: X:457.98, Y:4.67, Z:3.12 [[ 9.98014016e-01 -6.17074970e-02 -1.26573560e-02 4.57975316e+02] [ 6.17112548e-02 9.98094040e-01 -9.38369985e-05 4.67130148e+00] [ 1.26390220e-02 -6.87450680e-04 9.99919888e-01 3.11604490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.95925415399995 meters 0.026445635540856084 Centerline is valid? [True, True] Translation: X:458.01, Y:4.68, Z:3.12 [[ 9.98018516e-01 -6.15870087e-02 -1.28872525e-02 4.58008639e+02] [ 6.15909079e-02 9.98101473e-01 -9.44769702e-05 4.67738877e+00] [ 1.28686043e-02 -6.99447819e-04 9.99916951e-01 3.11692007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9892541539999 meters 0.02736014071033275 Centerline is valid? [True, True] Translation: X:458.04, Y:4.68, Z:3.12 [[ 9.98034916e-01 -6.11925442e-02 -1.34825560e-02 4.58040115e+02] [ 6.11967921e-02 9.98125715e-01 -9.76636260e-05 4.67676116e+00] [ 1.34632622e-02 -7.27617468e-04 9.99909101e-01 3.11671713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.01925415399995 meters 0.029014804268279903 Centerline is valid? [True, True] Translation: X:458.07, Y:4.68, Z:3.12 [[ 9.98096911e-01 -6.00782221e-02 -1.38983101e-02 4.58071209e+02] [ 6.00826390e-02 9.98193401e-01 -9.98979208e-05 4.67558384e+00] [ 1.38792031e-02 -7.35339341e-04 9.99903409e-01 3.11532971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0492541539999 meters 0.02679569537904872 Centerline is valid? [True, True] Translation: X:458.10, Y:4.68, Z:3.12 [[ 9.98135762e-01 -5.92789155e-02 -1.45261983e-02 4.58103401e+02] [ 5.92836700e-02 9.98241171e-01 -1.03460866e-04 4.67918196e+00] [ 1.45067822e-02 -7.57898356e-04 9.99894484e-01 3.11535176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.07925415399995 meters 0.026103860456379455 Centerline is valid? [True, True] Translation: X:458.14, Y:4.68, Z:3.12 [[ 9.98158065e-01 -5.88433577e-02 -1.47626428e-02 4.58135216e+02] [ 5.88482368e-02 9.98266935e-01 -1.04053640e-04 4.68114469e+00] [ 1.47431811e-02 -7.64893521e-04 9.99891021e-01 3.11521054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1092541539999 meters 0.02691656532186455 Centerline is valid? [True, True] Translation: X:458.17, Y:4.68, Z:3.11 [[ 9.98186773e-01 -5.81725896e-02 -1.54633494e-02 4.58166270e+02] [ 5.81778895e-02 9.98306226e-01 -1.07257351e-04 4.68088844e+00] [ 1.54433975e-02 -7.92562165e-04 9.99880430e-01 3.11461684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.13925415399996 meters 0.027129339515745907 Centerline is valid? [True, True] Translation: X:458.20, Y:4.68, Z:3.11 [[ 9.98214261e-01 -5.73363324e-02 -1.67581015e-02 4.58199000e+02] [ 5.73424721e-02 9.98354560e-01 -1.14301804e-04 4.68298708e+00] [ 1.67370807e-02 -8.46853274e-04 9.99859567e-01 3.11427623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.16925415399993 meters 0.0270148027469269 Centerline is valid? [True, True] Translation: X:458.23, Y:4.68, Z:3.11 [[ 9.98230960e-01 -5.70192394e-02 -1.68450768e-02 4.58231153e+02] [ 5.70254206e-02 9.98372720e-01 -1.13554864e-04 4.68467701e+00] [ 1.68241399e-02 -8.47243606e-04 9.99858105e-01 3.11378102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.19925415399996 meters 0.0281445238819795 Centerline is valid? [True, True] Translation: X:458.26, Y:4.69, Z:3.11 [[ 9.98273774e-01 -5.60867700e-02 -1.74282998e-02 4.58262339e+02] [ 5.60932796e-02 9.98425526e-01 -1.15490509e-04 4.68577437e+00] [ 1.74073369e-02 -8.62319348e-04 9.99848109e-01 3.11259252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.22925415399993 meters 0.027820586531918583 Centerline is valid? [True, True] Translation: X:458.29, Y:4.69, Z:3.11 [[ 9.98291787e-01 -5.56268603e-02 -1.78650357e-02 4.58293586e+02] [ 5.56336552e-02 9.98451242e-01 -1.16799915e-04 4.68742574e+00] [ 1.78438643e-02 -8.77296842e-04 9.99840401e-01 3.11273879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.25925415399996 meters 0.027358509222001767 Centerline is valid? [True, True] Translation: X:458.33, Y:4.69, Z:3.11 [[ 9.98306094e-01 -5.53430125e-02 -1.79469647e-02 4.58326006e+02] [ 5.53498448e-02 9.98467016e-01 -1.16183878e-04 4.68996503e+00] [ 1.79258822e-02 -8.77374637e-04 9.99838934e-01 3.11347085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.28925415399993 meters 0.026003194522804234 Centerline is valid? [True, True] Translation: X:458.36, Y:4.70, Z:3.11 [[ 9.98366771e-01 -5.42806849e-02 -1.78156831e-02 4.58358654e+02] [ 5.42872768e-02 9.98525352e-01 -1.13768505e-04 4.69513943e+00] [ 1.77955867e-02 -8.53582223e-04 9.99841282e-01 3.11408685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.31925415399996 meters 0.026515389585088672 Centerline is valid? [True, True] Translation: X:458.39, Y:4.70, Z:3.11 [[ 9.98423813e-01 -5.33672933e-02 -1.73729891e-02 4.58389590e+02] [ 5.33734449e-02 9.98574616e-01 -1.09713764e-04 4.69577638e+00] [ 1.73540811e-02 -8.17715443e-04 9.99849072e-01 3.11454944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.34925415399994 meters 0.02609074618307968 Centerline is valid? [True, True] Translation: X:458.42, Y:4.70, Z:3.12 [[ 9.98459348e-01 -5.28257466e-02 -1.69815114e-02 4.58421341e+02] [ 5.28315641e-02 9.98603432e-01 -1.06165363e-04 4.69811953e+00] [ 1.69634038e-02 -7.91158007e-04 9.99855798e-01 3.11535042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37925415399997 meters 0.02609074618307968 Centerline is valid? [True, True] Translation: X:458.45, Y:4.70, Z:3.12 [[ 9.98463097e-01 -5.27548309e-02 -1.69815189e-02 4.58453070e+02] [ 5.27606586e-02 9.98607181e-01 -1.04959221e-04 4.69825342e+00] [ 1.69634038e-02 -7.91158210e-04 9.99855798e-01 3.11557013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.40925415399994 meters 0.026172381377510674 Centerline is valid? [True, True] Translation: X:458.49, Y:4.70, Z:3.12 [[ 9.98512572e-01 -5.20092055e-02 -1.63610878e-02 4.58485361e+02] [ 5.20145338e-02 9.98646323e-01 -9.99835165e-05 4.69994117e+00] [ 1.63441403e-02 -7.51179559e-04 9.99866143e-01 3.11648512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43925415399997 meters 0.024722447250810388 Centerline is valid? [True, True] Translation: X:458.52, Y:4.71, Z:3.12 [[ 9.98654453e-01 -4.96223023e-02 -1.50635598e-02 4.58516478e+02] [ 4.96265591e-02 9.98767839e-01 -9.13120917e-05 4.70518211e+00] [ 1.50495302e-02 -6.56363414e-04 9.99886534e-01 3.11840574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.46925415399994 meters 0.023609435337758094 Centerline is valid? [True, True] Translation: X:458.55, Y:4.71, Z:3.12 [[ 9.98740115e-01 -4.80722522e-02 -1.43958466e-02 4.58548614e+02] [ 4.80759903e-02 9.98843677e-01 -8.64900024e-05 4.70823111e+00] [ 1.43833581e-02 -6.05713546e-04 9.99896371e-01 3.11934111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.4992541539999 meters 0.021952549653329205 Centerline is valid? [True, True] Translation: X:458.58, Y:4.71, Z:3.12 [[ 9.98933700e-01 -4.39432435e-02 -1.41581567e-02 4.58579587e+02] [ 4.39464538e-02 9.99033884e-01 -8.44409739e-05 4.71310070e+00] [ 1.41481889e-02 -5.37849846e-04 9.99899765e-01 3.12000033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.52925415399994 meters 0.020551043743119526 Centerline is valid? [True, True] Translation: X:458.61, Y:4.72, Z:3.12 [[ 9.99038221e-01 -4.15479357e-02 -1.40143786e-02 4.58610954e+02] [ 4.15508512e-02 9.99136387e-01 -8.31979883e-05 4.71667540e+00] [ 1.40057323e-02 -4.99191391e-04 9.99901790e-01 3.12066399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5592541539999 meters 0.019281133109531907 Centerline is valid? [True, True] Translation: X:458.64, Y:4.72, Z:3.12 [[ 9.99241102e-01 -3.64754024e-02 -1.36662317e-02 4.58641083e+02] [ 3.64777142e-02 9.99334463e-01 -8.01488050e-05 4.72132145e+00] [ 1.36600597e-02 -4.18424912e-04 9.99906609e-01 3.12178723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.58925415399995 meters 0.019165514806695927 Centerline is valid? [True, True] Translation: X:458.67, Y:4.72, Z:3.12 [[ 9.99322937e-01 -3.41608347e-02 -1.36640173e-02 4.58672830e+02] [ 3.41629465e-02 9.99416273e-01 -7.88965941e-05 4.72280659e+00] [ 1.36587364e-02 -3.87959917e-04 9.99906640e-01 3.12258522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6192541539999 meters 0.018220731889878973 Centerline is valid? [True, True] Translation: X:458.71, Y:4.73, Z:3.12 [[ 9.99399566e-01 -3.19638931e-02 -1.33722560e-02 4.58705592e+02] [ 3.19657335e-02 9.99488962e-01 -7.61412139e-05 4.72587115e+00] [ 1.33678560e-02 -3.51358475e-04 9.99910584e-01 3.12353978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.64925415399995 meters 0.0177092281300476 Centerline is valid? [True, True] Translation: X:458.74, Y:4.73, Z:3.12 [[ 9.99515750e-01 -2.85356294e-02 -1.24090414e-02 4.58735938e+02] [ 2.85369585e-02 9.99592736e-01 -6.99784754e-05 4.72871899e+00] [ 1.24059845e-02 -2.84171712e-04 9.99923002e-01 3.12488624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6792541539999 meters 0.01870835419290714 Centerline is valid? [True, True] Translation: X:458.77, Y:4.73, Z:3.12 [[ 9.99569802e-01 -2.66570607e-02 -1.22315747e-02 4.58767629e+02] [ 2.66582176e-02 9.99644604e-01 -6.84836842e-05 4.72687897e+00] [ 1.22290532e-02 -2.57617756e-04 9.99925189e-01 3.12457994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.70925415399995 meters 0.016594114484801404 Centerline is valid? [True, True] Translation: X:458.80, Y:4.73, Z:3.13 [[ 9.99612068e-01 -2.50588943e-02 -1.21558800e-02 4.58800187e+02] [ 2.50599292e-02 9.99685948e-01 -6.71991642e-05 4.73152901e+00] [ 1.21537463e-02 -2.37452396e-04 9.99926112e-01 3.12567026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7392541539999 meters 0.015880454699042867 Centerline is valid? [True, True] Translation: X:458.83, Y:4.73, Z:3.13 [[ 9.99697597e-01 -2.15155279e-02 -1.19078536e-02 4.58832096e+02] [ 2.15162787e-02 9.99768496e-01 -6.50679628e-05 4.73289867e+00] [ 1.19064969e-02 -1.91164411e-04 9.99929097e-01 3.12604628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.76925415399995 meters 0.015666798340917883 Centerline is valid? [True, True] Translation: X:458.86, Y:4.73, Z:3.13 [[ 9.99730909e-01 -2.00214779e-02 -1.17154103e-02 4.58863769e+02] [ 2.00221084e-02 9.99799535e-01 -6.34753729e-05 4.73372124e+00] [ 1.17143326e-02 -1.71108922e-04 9.99931370e-01 3.12640519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7992541539999 meters 0.015450389127149139 Centerline is valid? [True, True] Translation: X:458.90, Y:4.73, Z:3.13 [[ 9.99760067e-01 -1.85153627e-02 -1.17042382e-02 4.58895209e+02] [ 1.85158937e-02 9.99828564e-01 -6.29959191e-05 4.73451462e+00] [ 1.17033981e-02 -1.53733627e-04 9.99931501e-01 3.12689360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.82925415399995 meters 0.01527517858552153 Centerline is valid? [True, True] Translation: X:458.93, Y:4.73, Z:3.13 [[ 9.99787485e-01 -1.64843439e-02 -1.23794913e-02 4.58925347e+02] [ 1.64847868e-02 9.99864114e-01 -6.62707488e-05 4.73481162e+00] [ 1.23789015e-02 -1.37816609e-04 9.99923369e-01 3.12699300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8592541539999 meters 0.015163617493296106 Centerline is valid? [True, True] Translation: X:458.96, Y:4.73, Z:3.13 [[ 9.99787448e-01 -1.61669269e-02 -1.27941172e-02 4.58955390e+02] [ 1.61673756e-02 9.99869297e-01 -6.83630162e-05 4.73495581e+00] [ 1.27935502e-02 -1.38498813e-04 9.99918150e-01 3.12719163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.88925415399996 meters 0.015206942220884688 Centerline is valid? [True, True] Translation: X:458.99, Y:4.73, Z:3.13 [[ 9.99783633e-01 -1.61700447e-02 -1.30849575e-02 4.58985050e+02] [ 1.61705146e-02 9.99869246e-01 -6.98947634e-05 4.73403945e+00] [ 1.30843768e-02 -1.41710856e-04 9.99914386e-01 3.12694699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.91925415399993 meters 0.015496949196666504 Centerline is valid? [True, True] Translation: X:459.01, Y:4.73, Z:3.13 [[ 9.99773044e-01 -1.61749776e-02 -1.38647253e-02 4.59014406e+02] [ 1.61755063e-02 9.99869165e-01 -7.40126167e-05 4.73042060e+00] [ 1.38641085e-02 -1.50273134e-04 9.99903877e-01 3.12598971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.94925415399996 meters 0.015534926442528418 Centerline is valid? [True, True] Translation: X:459.04, Y:4.73, Z:3.13 [[ 9.99770447e-01 -1.64477475e-02 -1.37304598e-02 4.59042827e+02] [ 1.64482872e-02 9.99864715e-01 -7.36287560e-05 4.72871517e+00] [ 1.37298133e-02 -1.52230692e-04 9.99905730e-01 3.12620484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.97925415399993 meters 0.015381138369717055 Centerline is valid? [True, True] Translation: X:459.07, Y:4.73, Z:3.13 [[ 9.99776327e-01 -1.65096417e-02 -1.32184258e-02 4.59072969e+02] [ 1.65101397e-02 9.99863696e-01 -7.14547313e-05 4.72793399e+00] [ 1.32178038e-02 -1.46799308e-04 9.99912630e-01 3.12696267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.00925415399996 meters 0.01520613682127726 Centerline is valid? [True, True] Translation: X:459.10, Y:4.73, Z:3.13 [[ 9.99774452e-01 -1.65365176e-02 -1.33262298e-02 4.59102267e+02] [ 1.65370197e-02 9.99863252e-01 -7.25243538e-05 4.72722823e+00] [ 1.33256067e-02 -1.47868128e-04 9.99911199e-01 3.12790308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.03925415399993 meters 0.016861258024095938 Centerline is valid? [True, True] Translation: X:459.13, Y:4.72, Z:3.13 [[ 9.99771654e-01 -1.63923966e-02 -1.37087186e-02 4.59131753e+02] [ 1.63929090e-02 9.99865624e-01 -7.49943170e-05 4.72328656e+00] [ 1.37081058e-02 -1.49748584e-04 9.99906028e-01 3.12683957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.06925415399996 meters 0.015703744794275963 Centerline is valid? [True, True] Translation: X:459.16, Y:4.72, Z:3.13 [[ 9.99758817e-01 -1.76550867e-02 -1.30615991e-02 4.59160750e+02] [ 1.76556525e-02 9.99844124e-01 -7.20032723e-05 4.72091688e+00] [ 1.30608343e-02 -1.58625148e-04 9.99914691e-01 3.12804537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.09925415399994 meters 0.015786970648857784 Centerline is valid? [True, True] Translation: X:459.19, Y:4.72, Z:3.13 [[ 9.99718304e-01 -1.97651463e-02 -1.31397264e-02 4.59190545e+02] [ 1.97658917e-02 9.99804633e-01 -7.31468131e-05 4.71519728e+00] [ 1.31386051e-02 -1.86592202e-04 9.99913667e-01 3.12783291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.12925415399997 meters 0.01625437118271357 Centerline is valid? [True, True] Translation: X:459.22, Y:4.71, Z:3.13 [[ 9.99684332e-01 -2.14051330e-02 -1.31551042e-02 4.59219699e+02] [ 2.14060184e-02 9.99770862e-01 -7.35140997e-05 4.71123191e+00] [ 1.31536635e-02 -2.08107509e-04 9.99913465e-01 3.12737314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.15925415399994 meters 0.01669462906226761 Centerline is valid? [True, True] Translation: X:459.25, Y:4.71, Z:3.13 [[ 9.99640148e-01 -2.32478761e-02 -1.33832271e-02 4.59250602e+02] [ 2.32489587e-02 9.99729704e-01 -7.47059186e-05 4.70698727e+00] [ 1.33813465e-02 -2.36467060e-04 9.99910438e-01 3.12708367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.18925415399997 meters 0.01725378975529769 Centerline is valid? [True, True] Translation: X:459.28, Y:4.70, Z:3.13 [[ 9.99530319e-01 -2.75490674e-02 -1.34234775e-02 4.59281948e+02] [ 2.75505490e-02 9.99620409e-01 -7.45679765e-05 4.70048508e+00] [ 1.34204363e-02 -2.95291221e-04 9.99909898e-01 3.12699159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.21925415399994 meters 0.017770524346972846 Centerline is valid? [True, True] Translation: X:459.31, Y:4.70, Z:3.13 [[ 9.99457209e-01 -2.99296792e-02 -1.37659353e-02 4.59312853e+02] [ 2.99314714e-02 9.99551950e-01 -7.58608794e-05 4.69709967e+00] [ 1.37620379e-02 -3.36214995e-04 9.99905242e-01 3.12723197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.2492541539999 meters 0.01819466908859846 Centerline is valid? [True, True] Translation: X:459.34, Y:4.69, Z:3.13 [[ 9.99370585e-01 -3.26503261e-02 -1.38704576e-02 4.59344561e+02] [ 3.26524178e-02 9.99466765e-01 -7.56940487e-05 4.69424073e+00] [ 1.38655328e-02 -3.77257571e-04 9.99903798e-01 3.12761885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.27925415399994 meters 0.02019948358795823 Centerline is valid? [True, True] Translation: X:459.38, Y:4.69, Z:3.13 [[ 9.99152883e-01 -3.85925088e-02 -1.42875374e-02 4.59375020e+02] [ 3.85953426e-02 9.99254919e-01 -7.74375526e-05 4.68558768e+00] [ 1.42798805e-02 -4.74060447e-04 9.99897925e-01 3.12692100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3092541539999 meters 0.022684310516602437 Centerline is valid? [True, True] Translation: X:459.41, Y:4.68, Z:3.13 [[ 9.99026054e-01 -4.18019241e-02 -1.41259867e-02 4.59406552e+02] [ 4.18050219e-02 9.99125785e-01 -7.60435586e-05 4.67845264e+00] [ 1.41168163e-02 -5.14567689e-04 9.99900220e-01 3.12635965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.33925415399995 meters 0.02312325063467846 Centerline is valid? [True, True] Translation: X:459.44, Y:4.67, Z:3.13 [[ 9.98705267e-01 -4.86950854e-02 -1.47165774e-02 4.59436889e+02] [ 4.86992009e-02 9.98813487e-01 -7.87996916e-05 4.67224566e+00] [ 1.47029531e-02 -6.37987891e-04 9.99891702e-01 3.12627898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3692541539999 meters 0.025394227564580332 Centerline is valid? [True, True] Translation: X:459.47, Y:4.67, Z:3.13 [[ 9.98542934e-01 -5.17983819e-02 -1.51306204e-02 4.59466646e+02] [ 5.18030991e-02 9.98657315e-01 -8.02615466e-05 4.66647810e+00] [ 1.51144621e-02 -7.03668427e-04 9.99885522e-01 3.12534599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.39925415399995 meters 0.02568576906778742 Centerline is valid? [True, True] Translation: X:459.50, Y:4.66, Z:3.13 [[ 9.98385630e-01 -5.46177293e-02 -1.55896677e-02 4.59497455e+02] [ 5.46230923e-02 9.98507041e-01 -8.19043618e-05 4.66389640e+00] [ 1.55708664e-02 -7.69783721e-04 9.99878470e-01 3.12532723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4292541539999 meters 0.028647332327403494 Centerline is valid? [True, True] Translation: X:459.53, Y:4.66, Z:3.12 [[ 9.98109695e-01 -5.92641327e-02 -1.62726499e-02 4.59527128e+02] [ 5.92705917e-02 9.98241949e-01 -8.54911778e-05 4.65718718e+00] [ 1.62491083e-02 -8.79160014e-04 9.99867588e-01 3.12477108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.45925415399995 meters 0.02856556303872289 Centerline is valid? [True, True] Translation: X:459.56, Y:4.66, Z:3.12 [[ 9.98023510e-01 -6.06533855e-02 -1.64390096e-02 4.59558973e+02] [ 6.06601792e-02 9.98158472e-01 -8.55059038e-05 4.65626814e+00] [ 1.64139229e-02 -9.11856366e-04 9.99864867e-01 3.12498324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4892541539999 meters 0.029555788821222513 Centerline is valid? [True, True] Translation: X:459.59, Y:4.65, Z:3.12 [[ 9.97975875e-01 -6.12671818e-02 -1.70436124e-02 4.59590398e+02] [ 6.12746038e-02 9.98120942e-01 -8.68843670e-05 4.65379534e+00] [ 1.70169096e-02 -9.57632093e-04 9.99854743e-01 3.12457307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.51925415399995 meters 0.029826985337904018 Centerline is valid? [True, True] Translation: X:459.62, Y:4.65, Z:3.12 [[ 9.97979239e-01 -6.10166872e-02 -1.77313725e-02 4.59622136e+02] [ 6.10247080e-02 9.98136252e-01 -8.88712225e-05 4.65195882e+00] [ 1.77037483e-02 -9.93360192e-04 9.99842783e-01 3.12399963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5492541539999 meters 0.028132765049960446 Centerline is valid? [True, True] Translation: X:459.65, Y:4.65, Z:3.12 [[ 9.98034079e-01 -6.01050536e-02 -1.77583763e-02 4.59654111e+02] [ 6.01129779e-02 9.98191576e-01 -8.77141163e-05 4.65424127e+00] [ 1.77315337e-02 -9.79967206e-04 9.99842304e-01 3.12453580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.57925415399995 meters 0.030279507616502655 Centerline is valid? [True, True] Translation: X:459.68, Y:4.65, Z:3.12 [[ 9.98181512e-01 -5.76932033e-02 -1.74689076e-02 4.59684356e+02] [ 5.77005151e-02 9.98333934e-01 -8.55904510e-05 4.65119999e+00] [ 1.74447412e-02 -9.22530159e-04 9.99847403e-01 3.12427440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6092541539999 meters 0.02606377785361937 Centerline is valid? [True, True] Translation: X:459.72, Y:4.66, Z:3.13 [[ 9.98296355e-01 -5.58190973e-02 -1.69886842e-02 4.59716309e+02] [ 5.58257534e-02 9.98440523e-01 -8.25559196e-05 4.65774461e+00] [ 1.69667989e-02 -8.65990821e-04 9.99855678e-01 3.12614271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.63925415399996 meters 0.02853933758485714 Centerline is valid? [True, True] Translation: X:459.75, Y:4.65, Z:3.13 [[ 9.98396588e-01 -5.40556858e-02 -1.67998837e-02 4.59746444e+02] [ 5.40619552e-02 9.98537580e-01 -8.10789236e-05 4.65470595e+00] [ 1.67796980e-02 -8.27285640e-04 9.99858869e-01 3.12556282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.66925415399993 meters 0.02680059367325048 Centerline is valid? [True, True] Translation: X:459.78, Y:4.66, Z:3.13 [[ 9.98632125e-01 -4.94467706e-02 -1.69969540e-02 4.59777163e+02] [ 4.94525269e-02 9.98776472e-01 -8.17273731e-05 4.65790613e+00] [ 1.69801989e-02 -7.58926746e-04 9.99855538e-01 3.12588112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.69925415399996 meters 0.02251697525458788 Centerline is valid? [True, True] Translation: X:459.81, Y:4.66, Z:3.13 [[ 9.98762312e-01 -4.67753477e-02 -1.69089008e-02 4.59808774e+02] [ 4.67806737e-02 9.98905182e-01 -8.06291479e-05 4.66496914e+00] [ 1.68941601e-02 -7.10480417e-04 9.99857031e-01 3.12720664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.72925415399993 meters 0.023253725912014515 Centerline is valid? [True, True] Translation: X:459.84, Y:4.66, Z:3.13 [[ 9.98893139e-01 -4.36904646e-02 -1.74252968e-02 4.59839229e+02] [ 4.36956626e-02 9.99044885e-01 -8.24996345e-05 4.66454877e+00] [ 1.74122581e-02 -6.79001572e-04 9.99848165e-01 3.12640273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.75925415399996 meters 0.021821313955723374 Centerline is valid? [True, True] Translation: X:459.87, Y:4.67, Z:3.13 [[ 9.99131654e-01 -3.75937093e-02 -1.79624697e-02 4.59869321e+02] [ 3.75982510e-02 9.99292932e-01 -8.49103090e-05 4.66934351e+00] [ 1.79529611e-02 -5.90520867e-04 9.99838658e-01 3.12595464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.78925415399993 meters 0.01936257045165707 Centerline is valid? [True, True] Translation: X:459.90, Y:4.68, Z:3.13 [[ 9.99246155e-01 -3.43737970e-02 -1.80433693e-02 4.59900852e+02] [ 3.43778627e-02 9.99408903e-01 -8.48865031e-05 4.67515387e+00] [ 1.80356218e-02 -5.35469962e-04 9.99837202e-01 3.12748655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.81925415399996 meters 0.018139616564625503 Centerline is valid? [True, True] Translation: X:459.93, Y:4.68, Z:3.13 [[ 9.99433707e-01 -2.80211155e-02 -1.86301320e-02 4.59930214e+02] [ 2.80243479e-02 9.99607237e-01 -8.75957691e-05 4.68031855e+00] [ 1.86252693e-02 -4.34551137e-04 9.99826440e-01 3.12759301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.84925415399994 meters 0.017439707286042744 Centerline is valid? [True, True] Translation: X:459.96, Y:4.68, Z:3.13 [[ 9.99509930e-01 -2.48719771e-02 -1.90075047e-02 4.59960204e+02] [ 2.48747621e-02 9.99690571e-01 -8.99251683e-05 4.68286065e+00] [ 1.90038599e-02 -3.82926061e-04 9.99819337e-01 3.12788100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87925415399997 meters 0.016585915011581177 Centerline is valid? [True, True] Translation: X:459.99, Y:4.69, Z:3.13 [[ 9.99574885e-01 -2.21461244e-02 -1.89630861e-02 4.59989103e+02] [ 2.21483437e-02 9.99754691e-01 -9.30023719e-05 4.68610324e+00] [ 1.89604939e-02 -3.27038113e-04 9.99820180e-01 3.12851498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.90925415399994 meters 0.015932091761139747 Centerline is valid? [True, True] Translation: X:460.02, Y:4.69, Z:3.13 [[ 9.99635735e-01 -1.93563975e-02 -1.88076426e-02 4.60018354e+02] [ 1.93580018e-02 9.99812612e-01 -9.67694837e-05 4.68861008e+00] [ 1.88059914e-02 -2.67344145e-04 9.99823116e-01 3.12935700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93925415399997 meters 0.01507035304868377 Centerline is valid? [True, True] Translation: X:460.05, Y:4.69, Z:3.13 [[ 9.99748169e-01 -1.33857272e-02 -1.80116811e-02 4.60047283e+02] [ 1.33861500e-02 9.99910397e-01 -9.70961158e-05 4.69393464e+00] [ 1.80113669e-02 -1.44035401e-04 9.99837772e-01 3.13117041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.96925415399994 meters 0.014878743392533207 Centerline is valid? [True, True] Translation: X:460.08, Y:4.70, Z:3.13 [[ 9.99817188e-01 -7.61946453e-03 -1.75366372e-02 4.60075603e+02] [ 7.61889997e-03 9.99970971e-01 -9.90038701e-05 4.69853165e+00] [ 1.75368825e-02 -3.46241137e-05 9.99846216e-01 3.13234047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.9992541539999 meters 0.014917504837671507 Centerline is valid? [True, True] Translation: X:460.10, Y:4.70, Z:3.13 [[ 9.99831297e-01 -5.29124915e-03 -1.75892243e-02 4.60103576e+02] [ 5.29023459e-03 9.99986001e-01 -1.04209759e-04 4.70024455e+00] [ 1.75895295e-02 1.11410558e-05 9.99845292e-01 3.13266257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.02925415399994 meters 0.014992898170425355 Centerline is valid? [True, True] Translation: X:460.13, Y:4.70, Z:3.13 [[ 9.99843677e-01 -3.16087091e-03 -1.73963043e-02 4.60131014e+02] [ 3.15946695e-03 9.99995003e-01 -1.08187764e-04 4.70134929e+00] [ 1.73965593e-02 5.32078033e-05 9.99848667e-01 3.13303653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0592541539999 meters 0.015225086745569784 Centerline is valid? [True, True] Translation: X:460.16, Y:4.70, Z:3.13 [[ 9.99851889e-01 4.61856299e-04 -1.72042499e-02 4.60158349e+02] [-4.63817014e-04 9.99999886e-01 -1.09976955e-04 4.70311676e+00] [ 1.72041971e-02 1.17940290e-04 9.99851990e-01 3.13307205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.08925415399995 meters 0.015342508326763149 Centerline is valid? [True, True] Translation: X:460.19, Y:4.70, Z:3.13 [[ 9.99863063e-01 1.44595735e-03 -1.64852559e-02 4.60185761e+02] [-1.44794747e-03 9.99998946e-01 -1.08785817e-04 4.70361789e+00] [ 1.64850812e-02 1.32640705e-04 9.99864103e-01 3.13386268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1192541539999 meters 0.015526549005995503 Centerline is valid? [True, True] Translation: X:460.21, Y:4.70, Z:3.13 [[ 9.99875395e-01 2.03999683e-03 -1.56535321e-02 4.60212214e+02] [-2.04191136e-03 9.99997910e-01 -1.06324657e-04 4.70448026e+00] [ 1.56532825e-02 1.38274533e-04 9.99877470e-01 3.13423684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.14925415399995 meters 0.01547036023551795 Centerline is valid? [True, True] Translation: X:460.24, Y:4.70, Z:3.14 [[ 9.99887434e-01 2.02705303e-03 -1.48664134e-02 4.60241000e+02] [-2.02879922e-03 9.99997937e-01 -1.02378108e-04 4.70382243e+00] [ 1.48661752e-02 1.32527552e-04 9.99889484e-01 3.13541758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1792541539999 meters 0.015090889246960674 Centerline is valid? [True, True] Translation: X:460.27, Y:4.70, Z:3.14 [[ 9.99908596e-01 -3.64824735e-04 -1.35153854e-02 4.60269899e+02] [ 3.63587425e-04 9.99999929e-01 -9.40052547e-05 4.69989360e+00] [ 1.35154188e-02 8.90826381e-05 9.99908659e-01 3.13663539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.20925415399995 meters 0.01484040682269454 Centerline is valid? [True, True] Translation: X:460.30, Y:4.70, Z:3.14 [[ 9.99907719e-01 -3.09934046e-03 -1.32267918e-02 4.60298264e+02] [ 3.09838198e-03 9.99995196e-01 -9.29560072e-05 4.69717125e+00] [ 1.32270164e-02 5.19657756e-05 9.99912518e-01 3.13691099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2392541539999 meters 0.014879020204671592 Centerline is valid? [True, True] Translation: X:460.33, Y:4.69, Z:3.14 [[ 9.99897606e-01 -6.44043899e-03 -1.27788521e-02 4.60327184e+02] [ 6.43980539e-03 9.99979260e-01 -9.07293511e-05 4.69378881e+00] [ 1.27791714e-02 8.42674020e-06 9.99918343e-01 3.13691730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.26925415399995 meters 0.014879020204671592 Centerline is valid? [True, True] Translation: X:460.35, Y:4.69, Z:3.14 [[ 9.99895668e-01 -6.73458961e-03 -1.27788359e-02 4.60354573e+02] [ 6.73395156e-03 9.99977322e-01 -9.29584419e-05 4.69404779e+00] [ 1.27791722e-02 6.89668122e-06 9.99918343e-01 3.13710727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2992541539999 meters 0.01520387315236628 Centerline is valid? [True, True] Translation: X:460.38, Y:4.69, Z:3.14 [[ 9.99805322e-01 -1.54236119e-02 -1.23057000e-02 4.60382388e+02] [ 1.54236481e-02 9.99881044e-01 -9.19689961e-05 4.68504145e+00] [ 1.23056547e-02 -9.78476952e-05 9.99924278e-01 3.13669537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.32925415399995 meters 0.015708885992606367 Centerline is valid? [True, True] Translation: X:460.41, Y:4.68, Z:3.14 [[ 9.99709687e-01 -2.04197088e-02 -1.27897457e-02 4.60411355e+02] [ 2.04201429e-02 9.99791482e-01 -9.66599295e-05 4.67985038e+00] [ 1.27890526e-02 -1.64536568e-04 9.99918203e-01 3.13641194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3592541539999 meters 0.017837269087973923 Centerline is valid? [True, True] Translation: X:460.44, Y:4.67, Z:3.13 [[ 9.99453933e-01 -3.01451037e-02 -1.35317557e-02 4.60441317e+02] [ 3.01464718e-02 9.99545487e-01 -1.02908159e-04 4.66939525e+00] [ 1.35287076e-02 -3.05082728e-04 9.99908436e-01 3.13493674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.38925415399996 meters 0.019234021448974962 Centerline is valid? [True, True] Translation: X:460.47, Y:4.66, Z:3.13 [[ 9.99317012e-01 -3.43079886e-02 -1.37285149e-02 4.60471431e+02] [ 3.43097952e-02 9.99411240e-01 -1.03974511e-04 4.66428753e+00] [ 1.37239992e-02 -3.67119036e-04 9.99905754e-01 3.13464171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.41925415399993 meters 0.021796733420434415 Centerline is valid? [True, True] Translation: X:460.50, Y:4.66, Z:3.13 [[ 9.99180015e-01 -3.74866609e-02 -1.52986524e-02 4.60502745e+02] [ 3.74892908e-02 9.99297023e-01 -1.14940445e-04 4.66012892e+00] [ 1.52922065e-02 -4.58689434e-04 9.99882962e-01 3.13355339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.44925415399996 meters 0.02149752166147442 Centerline is valid? [True, True] Translation: X:460.53, Y:4.66, Z:3.13 [[ 9.99057142e-01 -4.11386116e-02 -1.38723328e-02 4.60534352e+02] [ 4.11411321e-02 9.99153340e-01 -1.03757024e-04 4.65737589e+00] [ 1.38648561e-02 -4.67064280e-04 9.99903769e-01 3.13497979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.47925415399993 meters 0.023003188815257685 Centerline is valid? [True, True] Translation: X:460.57, Y:4.65, Z:3.13 [[ 9.98872756e-01 -4.53111519e-02 -1.41462809e-02 4.60565732e+02] [ 4.53141979e-02 9.98972779e-01 -1.05300340e-04 4.65224645e+00] [ 1.41365208e-02 -5.35845729e-04 9.99899931e-01 3.13479222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.50925415399996 meters 0.02458019955365908 Centerline is valid? [True, True] Translation: X:460.60, Y:4.65, Z:3.13 [[ 9.98781787e-01 -4.72453831e-02 -1.42413638e-02 4.60597074e+02] [ 4.72486755e-02 9.98883152e-01 -1.05374116e-04 4.64794259e+00] [ 1.42304368e-02 -5.67639829e-04 9.99898581e-01 3.13423941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.53925415399993 meters 0.024806586968548785 Centerline is valid? [True, True] Translation: X:460.63, Y:4.65, Z:3.13 [[ 9.98774183e-01 -4.74995303e-02 -1.39257246e-02 4.60629291e+02] [ 4.75027148e-02 9.98871104e-01 -1.02193393e-04 4.64686334e+00] [ 1.39148580e-02 -5.59441602e-04 9.99903027e-01 3.13464686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.56925415399996 meters 0.025330630243887046 Centerline is valid? [True, True] Translation: X:460.66, Y:4.65, Z:3.13 [[ 9.98769310e-01 -4.76105507e-02 -1.38960558e-02 4.60661915e+02] [ 4.76137457e-02 9.98865817e-01 -1.01012846e-04 4.64598865e+00] [ 1.38851045e-02 -5.60754738e-04 9.99903440e-01 3.13466750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.59925415399994 meters 0.025526887009543635 Centerline is valid? [True, True] Translation: X:460.69, Y:4.65, Z:3.13 [[ 9.98778596e-01 -4.73473287e-02 -1.41260738e-02 4.60694356e+02] [ 4.73506180e-02 9.98878325e-01 -1.01700848e-04 4.64576590e+00] [ 1.41150442e-02 -5.67301693e-04 9.99900217e-01 3.13462346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.62925415399997 meters 0.02261994219787331 Centerline is valid? [True, True] Translation: X:460.73, Y:4.65, Z:3.14 [[ 9.98846483e-01 -4.59320289e-02 -1.39983132e-02 4.60726130e+02] [ 4.59351340e-02 9.98944420e-01 -9.97941257e-05 4.65059320e+00] [ 1.39881206e-02 -5.43335380e-04 9.99902014e-01 3.13564142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.65925415399994 meters 0.021089083499519254 Centerline is valid? [True, True] Translation: X:460.76, Y:4.65, Z:3.14 [[ 9.98891989e-01 -4.48217310e-02 -1.43459669e-02 4.60758542e+02] [ 4.48248932e-02 9.98994854e-01 -1.01204831e-04 4.65334358e+00] [ 1.43360833e-02 -5.41963739e-04 9.99897086e-01 3.13610123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.68925415399997 meters 0.020298718341585375 Centerline is valid? [True, True] Translation: X:460.79, Y:4.66, Z:3.14 [[ 9.99001445e-01 -4.21534670e-02 -1.48053417e-02 4.60789680e+02] [ 4.21565546e-02 9.99111012e-01 -1.03618953e-04 4.65541131e+00] [ 1.47965478e-02 -5.20626713e-04 9.99890390e-01 3.13603600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.71925415399994 meters 0.020116125414619934 Centerline is valid? [True, True] Translation: X:460.82, Y:4.66, Z:3.14 [[ 9.99053453e-01 -4.06670946e-02 -1.54397166e-02 4.60821934e+02] [ 4.06702891e-02 9.99172616e-01 -1.07159880e-04 4.65635807e+00] [ 1.54312999e-02 -5.20879289e-04 9.99880795e-01 3.13571413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.7492541539999 meters 0.019906252432726482 Centerline is valid? [True, True] Translation: X:460.85, Y:4.66, Z:3.14 [[ 9.99113715e-01 -3.89913517e-02 -1.58574357e-02 4.60852632e+02] [ 3.89945289e-02 9.99239418e-01 -1.08904569e-04 4.65729190e+00] [ 1.58496212e-02 -5.09545186e-04 9.99874257e-01 3.13558709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.77925415399994 meters 0.01900271241284318 Centerline is valid? [True, True] Translation: X:460.88, Y:4.66, Z:3.14 [[ 9.99216167e-01 -3.61187333e-02 -1.62015088e-02 4.60884110e+02] [ 3.61216863e-02 9.99347393e-01 -1.10426570e-04 4.66095286e+00] [ 1.61949241e-02 -4.74885805e-04 9.99868741e-01 3.13569435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8092541539999 meters 0.018177327643820743 Centerline is valid? [True, True] Translation: X:460.92, Y:4.66, Z:3.14 [[ 9.99279751e-01 -3.34700568e-02 -1.78810962e-02 4.60915426e+02] [ 3.34732425e-02 9.99439607e-01 -1.21189296e-04 4.66398536e+00] [ 1.78751319e-02 -4.77436258e-04 9.99840113e-01 3.13556728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.83925415399995 meters 0.018360205012057214 Centerline is valid? [True, True] Translation: X:460.94, Y:4.66, Z:3.13 [[ 9.99296499e-01 -3.25273236e-02 -1.86676269e-02 4.60944590e+02] [ 3.25306379e-02 9.99470731e-01 -1.26175226e-04 4.66464595e+00] [ 1.86618509e-02 -4.81183350e-04 9.99825737e-01 3.13480481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8692541539999 meters 0.017742627547743237 Centerline is valid? [True, True] Translation: X:460.97, Y:4.67, Z:3.13 [[ 9.99315308e-01 -3.15205896e-02 -1.93743996e-02 4.60974744e+02] [ 3.15239671e-02 9.99502988e-01 -1.31132720e-04 4.66681064e+00] [ 1.93689037e-02 -4.79715001e-04 9.99812290e-01 3.13486459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.89925415399995 meters 0.017781360613574014 Centerline is valid? [True, True] Translation: X:461.00, Y:4.67, Z:3.13 [[ 9.99336811e-01 -3.05675758e-02 -1.97879048e-02 4.61003870e+02] [ 3.05709005e-02 9.99532592e-01 -1.34530797e-04 4.66727343e+00] [ 1.97827680e-02 -4.70492489e-04 9.99804191e-01 3.13406360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9292541539999 meters 0.01778013583069837 Centerline is valid? [True, True] Translation: X:461.03, Y:4.67, Z:3.13 [[ 9.99338854e-01 -3.00204850e-02 -2.05091343e-02 4.61032751e+02] [ 3.00238656e-02 9.99549172e-01 -1.43127225e-04 4.66835997e+00] [ 2.05041850e-02 -4.72730897e-04 9.99789655e-01 3.13370416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.95925415399995 meters 0.017048681565164595 Centerline is valid? [True, True] Translation: X:461.06, Y:4.67, Z:3.13 [[ 9.99366890e-01 -2.84553913e-02 -2.13567178e-02 4.61061733e+02] [ 2.84585818e-02 9.99594961e-01 -1.54579388e-04 4.67156107e+00] [ 2.13524661e-02 -4.53300379e-04 9.99771907e-01 3.13375632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9892541539999 meters 0.017050530390854687 Centerline is valid? [True, True] Translation: X:461.09, Y:4.67, Z:3.13 [[ 9.99387009e-01 -2.76235600e-02 -2.15068556e-02 4.61089539e+02] [ 2.76265359e-02 9.99618302e-01 -1.58786216e-04 4.67283691e+00] [ 2.15030327e-02 -4.35471036e-04 9.99768688e-01 3.13372269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.01925415399995 meters 0.016601138680914222 Centerline is valid? [True, True] Translation: X:461.12, Y:4.68, Z:3.13 [[ 9.99445408e-01 -2.55687016e-02 -2.13334817e-02 4.61118416e+02] [ 2.55710708e-02 9.99672994e-01 -1.61773028e-04 4.67623700e+00] [ 2.13306418e-02 -3.83836660e-04 9.99772402e-01 3.13437236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0492541539999 meters 0.016438531441738017 Centerline is valid? [True, True] Translation: X:461.15, Y:4.68, Z:3.13 [[ 9.99484122e-01 -2.45138720e-02 -2.07499185e-02 4.61147453e+02] [ 2.45157784e-02 9.99699430e-01 -1.62536683e-04 4.67811912e+00] [ 2.07476661e-02 -3.46247571e-04 9.99784684e-01 3.13492038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.07925415399995 meters 0.016133158129737354 Centerline is valid? [True, True] Translation: X:461.18, Y:4.68, Z:3.14 [[ 9.99526666e-01 -2.32631868e-02 -2.01312728e-02 4.61176068e+02] [ 2.32646267e-02 9.99729329e-01 -1.62696803e-04 4.67976941e+00] [ 2.01296086e-02 -3.05726754e-04 9.99797332e-01 3.13575495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1092541539999 meters 0.01574751954769605 Centerline is valid? [True, True] Translation: X:461.20, Y:4.68, Z:3.14 [[ 9.99605666e-01 -2.07203860e-02 -1.89519860e-02 4.61203818e+02] [ 2.07211539e-02 9.99785282e-01 -1.55869621e-04 4.68264342e+00] [ 1.89511463e-02 -2.36898862e-04 9.99820383e-01 3.13689713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.13925415399996 meters 0.015673670269254255 Centerline is valid? [True, True] Translation: X:461.23, Y:4.68, Z:3.14 [[ 9.99634576e-01 -1.99788638e-02 -1.82087807e-02 4.61232406e+02] [ 1.99793884e-02 9.99800380e-01 -1.53124198e-04 4.68394977e+00] [ 1.82082051e-02 -2.10732058e-04 9.99834195e-01 3.13779785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.16925415399993 meters 0.01553796048898222 Centerline is valid? [True, True] Translation: X:461.26, Y:4.68, Z:3.14 [[ 9.99682421e-01 -1.92792609e-02 -1.62285712e-02 4.61261675e+02] [ 1.92795264e-02 9.99814123e-01 -1.40099421e-04 4.68476153e+00] [ 1.62282557e-02 -1.72824239e-04 9.99868298e-01 3.13931411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.19925415399996 meters 0.015317262023254275 Centerline is valid? [True, True] Translation: X:461.29, Y:4.69, Z:3.14 [[ 9.99686802e-01 -1.99857500e-02 -1.50621231e-02 4.61289866e+02] [ 1.99860011e-02 9.99800251e-01 -1.33869887e-04 4.68553286e+00] [ 1.50617900e-02 -1.67203651e-04 9.99886551e-01 3.14071947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.22925415399993 meters 0.01572536360981095 Centerline is valid? [True, True] Translation: X:461.32, Y:4.68, Z:3.14 [[ 9.99682373e-01 -2.07238246e-02 -1.43414114e-02 4.61318500e+02] [ 2.07240935e-02 9.99785224e-01 -1.29880860e-04 4.68363850e+00] [ 1.43410228e-02 -1.67373144e-04 9.99897148e-01 3.14029959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.25925415399996 meters 0.016373628479583024 Centerline is valid? [True, True] Translation: X:461.35, Y:4.68, Z:3.14 [[ 9.99635822e-01 -2.32155791e-02 -1.37572036e-02 4.61347167e+02] [ 2.32160516e-02 9.99730463e-01 -1.25374872e-04 4.68075201e+00] [ 1.37564062e-02 -1.94058736e-04 9.99905357e-01 3.14022807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.28925415399993 meters 0.015876193975418958 Centerline is valid? [True, True] Translation: X:461.38, Y:4.68, Z:3.14 [[ 9.99597482e-01 -2.47996846e-02 -1.37786209e-02 4.61377248e+02] [ 2.48003041e-02 9.99692417e-01 -1.25926764e-04 4.68196071e+00] [ 1.37775058e-02 -2.15837913e-04 9.99905062e-01 3.14121767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.31925415399996 meters 0.01628337399035973 Centerline is valid? [True, True] Translation: X:461.41, Y:4.68, Z:3.14 [[ 9.99558728e-01 -2.63545490e-02 -1.37035580e-02 4.61407945e+02] [ 2.63553078e-02 9.99652631e-01 -1.25240742e-04 4.68103412e+00] [ 1.37020985e-02 -2.35976012e-04 9.99906094e-01 3.14102334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.34925415399994 meters 0.01669906088313084 Centerline is valid? [True, True] Translation: X:461.44, Y:4.68, Z:3.14 [[ 9.99485502e-01 -2.89371681e-02 -1.38336847e-02 4.61438863e+02] [ 2.89381887e-02 9.99581195e-01 -1.26430008e-04 4.67878353e+00] [ 1.38315496e-02 -2.73956819e-04 9.99904302e-01 3.14063419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37925415399997 meters 0.018895191079942576 Centerline is valid? [True, True] Translation: X:461.47, Y:4.67, Z:3.14 [[ 9.99454662e-01 -2.99188170e-02 -1.39729116e-02 4.61468826e+02] [ 2.99199631e-02 9.99552290e-01 -1.27066034e-04 4.67391490e+00] [ 1.39704574e-02 -2.91072258e-04 9.99902366e-01 3.13941984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.40925415399994 meters 0.02142701181468898 Centerline is valid? [True, True] Translation: X:461.50, Y:4.67, Z:3.14 [[ 9.99378910e-01 -3.14984804e-02 -1.58000168e-02 4.61498663e+02] [ 3.15001543e-02 9.99503737e-01 -1.42973381e-04 4.67223285e+00] [ 1.57966793e-02 -3.54818388e-04 9.99875162e-01 3.13809077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.43925415399997 meters 0.02054059633140067 Centerline is valid? [True, True] Translation: X:461.53, Y:4.67, Z:3.14 [[ 9.99341561e-01 -3.31007180e-02 -1.48588673e-02 4.61528464e+02] [ 3.31023754e-02 9.99451957e-01 -1.34456977e-04 4.67086063e+00] [ 1.48551747e-02 -3.57495359e-04 9.99889592e-01 3.13859815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.46925415399994 meters 0.017662572958451018 Centerline is valid? [True, True] Translation: X:461.56, Y:4.68, Z:3.14 [[ 9.99302972e-01 -3.41664346e-02 -1.50407816e-02 4.61559684e+02] [ 3.41682580e-02 9.99416085e-01 -1.35803419e-04 4.67591258e+00] [ 1.50366390e-02 -3.78208545e-04 9.99886872e-01 3.14019978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.4992541539999 meters 0.017891405887213573 Centerline is valid? [True, True] Translation: X:461.59, Y:4.68, Z:3.14 [[ 9.99275597e-01 -3.50748050e-02 -1.47661504e-02 4.61591201e+02] [ 3.50766695e-02 9.99384615e-01 -1.32782004e-04 4.67510771e+00] [ 1.47617209e-02 -3.85261563e-04 9.99890966e-01 3.14028005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.52925415399994 meters 0.01817886736711081 Centerline is valid? [True, True] Translation: X:461.62, Y:4.67, Z:3.14 [[ 9.99241609e-01 -3.64662277e-02 -1.36535986e-02 4.61622750e+02] [ 3.64679582e-02 9.99334815e-01 -1.22290992e-04 4.67427791e+00] [ 1.36489760e-02 -3.75720617e-04 9.99906778e-01 3.14050481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5592541539999 meters 0.019768225491664942 Centerline is valid? [True, True] Translation: X:461.65, Y:4.67, Z:3.14 [[ 9.99238397e-01 -3.65693344e-02 -1.36128418e-02 4.61653798e+02] [ 3.65710726e-02 9.99331047e-01 -1.21299903e-04 4.67105255e+00] [ 1.36081713e-02 -3.76628706e-04 9.99907334e-01 3.13948987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.58925415399995 meters 0.01824798457604787 Centerline is valid? [True, True] Translation: X:461.69, Y:4.67, Z:3.14 [[ 9.99262065e-01 -3.61039337e-02 -1.31084264e-02 4.61685999e+02] [ 3.61055163e-02 9.99347977e-01 -1.15978871e-04 4.67396053e+00] [ 1.31040667e-02 -3.57393218e-04 9.99914074e-01 3.13982909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6192541539999 meters 0.01839242762754427 Centerline is valid? [True, True] Translation: X:461.72, Y:4.67, Z:3.14 [[ 9.99284045e-01 -3.55992037e-02 -1.28099448e-02 4.61717796e+02] [ 3.56006855e-02 9.99366088e-01 -1.12405464e-04 4.67466659e+00] [ 1.28058259e-02 -3.43717829e-04 9.99917943e-01 3.13984321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.64925415399995 meters 0.01787535344949025 Centerline is valid? [True, True] Translation: X:461.75, Y:4.68, Z:3.14 [[ 9.99327836e-01 -3.44499839e-02 -1.25329835e-02 4.61750019e+02] [ 3.44513235e-02 9.99406371e-01 -1.09066661e-04 4.67625477e+00] [ 1.25293009e-02 -3.22784518e-04 9.99921453e-01 3.14026468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6792541539999 meters 0.018147738689058494 Centerline is valid? [True, True] Translation: X:461.78, Y:4.68, Z:3.14 [[ 9.99356943e-01 -3.38157899e-02 -1.19244983e-02 4.61781122e+02] [ 3.38169663e-02 9.99428038e-01 -1.03015675e-04 4.67620232e+00] [ 1.19211614e-02 -3.00300926e-04 9.99928895e-01 3.14049912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.70925415399995 meters 0.018104523982636136 Centerline is valid? [True, True] Translation: X:461.81, Y:4.68, Z:3.14 [[ 9.99374403e-01 -3.33995559e-02 -1.16306741e-02 4.61813728e+02] [ 3.34006552e-02 9.99442037e-01 -9.97690380e-05 4.67680582e+00] [ 1.16275169e-02 -2.88765513e-04 9.99932356e-01 3.14070352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7392541539999 meters 0.018054686676358445 Centerline is valid? [True, True] Translation: X:461.85, Y:4.68, Z:3.14 [[ 9.99357679e-01 -3.37965567e-02 -1.19172999e-02 4.61846145e+02] [ 3.37977494e-02 9.99428688e-01 -1.01352699e-04 4.67747189e+00] [ 1.19139168e-02 -3.01490319e-04 9.99928981e-01 3.14051115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.76925415399995 meters 0.018684914631016798 Centerline is valid? [True, True] Translation: X:461.88, Y:4.68, Z:3.14 [[ 9.99323515e-01 -3.47677097e-02 -1.19882671e-02 4.61877042e+02] [ 3.47689990e-02 9.99395370e-01 -1.00915086e-04 4.67612035e+00] [ 1.19845272e-02 -3.15973228e-04 9.99928133e-01 3.13990214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7992541539999 meters 0.019273503339195863 Centerline is valid? [True, True] Translation: X:461.91, Y:4.67, Z:3.14 [[ 9.99282282e-01 -3.59249478e-02 -1.20133173e-02 4.61909032e+02] [ 3.59263392e-02 9.99354436e-01 -1.00032042e-04 4.67478112e+00] [ 1.20091555e-02 -3.31634264e-04 9.99927832e-01 3.13962467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.82925415399995 meters 0.020477034627365654 Centerline is valid? [True, True] Translation: X:461.94, Y:4.67, Z:3.14 [[ 9.99165405e-01 -3.89417434e-02 -1.23301734e-02 4.61940850e+02] [ 3.89434484e-02 9.99241411e-01 -1.01880794e-04 4.67332610e+00] [ 1.23247872e-02 -3.78383705e-04 9.99923975e-01 3.13899366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8592541539999 meters 0.020513203582397263 Centerline is valid? [True, True] Translation: X:461.97, Y:4.67, Z:3.14 [[ 9.99104959e-01 -4.02926050e-02 -1.28757891e-02 4.61972769e+02] [ 4.02945867e-02 9.99187838e-01 -1.05581923e-04 4.67370028e+00] [ 1.28695861e-02 -4.13337178e-04 9.99917098e-01 3.13884938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.88925415399996 meters 0.019662578573424717 Centerline is valid? [True, True] Translation: X:462.00, Y:4.68, Z:3.14 [[ 9.99057818e-01 -4.12650404e-02 -1.34414416e-02 4.62004460e+02] [ 4.12672998e-02 9.99148136e-01 -1.09343977e-04 4.67538465e+00] [ 1.34345034e-02 -4.45451044e-04 9.99909654e-01 3.13879469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.91925415399993 meters 0.022751904796245746 Centerline is valid? [True, True] Translation: X:462.04, Y:4.67, Z:3.14 [[ 9.98996314e-01 -4.25905791e-02 -1.38711051e-02 4.62035780e+02] [ 4.25931236e-02 9.99092495e-01 -1.12062660e-04 4.67116492e+00] [ 1.38632898e-02 -4.78863509e-04 9.99903785e-01 3.13726225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.94925415399996 meters 0.023137008495375335 Centerline is valid? [True, True] Translation: X:462.07, Y:4.67, Z:3.14 [[ 9.98988684e-01 -4.26931619e-02 -1.41033300e-02 4.62067668e+02] [ 4.26958150e-02 9.99088112e-01 -1.13061898e-04 4.67165747e+00] [ 1.40952963e-02 -4.89205612e-04 9.99900537e-01 3.13749332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.97925415399993 meters 0.02074382696178351 Centerline is valid? [True, True] Translation: X:462.10, Y:4.68, Z:3.14 [[ 9.98995683e-01 -4.26894137e-02 -1.36102961e-02 4.62099419e+02] [ 4.26918970e-02 9.99088279e-01 -1.08166551e-04 4.67774034e+00] [ 1.36025049e-02 -4.72991442e-04 9.99907370e-01 3.13894323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.00925415399996 meters 0.020097002902234696 Centerline is valid? [True, True] Translation: X:462.13, Y:4.68, Z:3.14 [[ 9.99033672e-01 -4.19632197e-02 -1.30694076e-02 4.62131714e+02] [ 4.19654596e-02 9.99119057e-01 -1.02931929e-04 4.67998469e+00] [ 1.30622136e-02 -4.45631235e-04 9.99914586e-01 3.13975463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.03925415399993 meters 0.020346248731903178 Centerline is valid? [True, True] Translation: X:462.16, Y:4.68, Z:3.14 [[ 9.99088786e-01 -4.08047588e-02 -1.25127808e-02 4.62162689e+02] [ 4.08067311e-02 9.99167054e-01 -9.77535906e-05 4.68096076e+00] [ 1.25063471e-02 -4.12941164e-04 9.99921707e-01 3.14023080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.06925415399996 meters 0.018309887928171915 Centerline is valid? [True, True] Translation: X:462.19, Y:4.69, Z:3.14 [[ 9.99248643e-01 -3.69527122e-02 -1.16895794e-02 4.62194508e+02] [ 3.69541780e-02 9.99316957e-01 -9.06496210e-05 4.68728963e+00] [ 1.16849447e-02 -3.41397289e-04 9.99931670e-01 3.14142268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.09925415399994 meters 0.017644591971829045 Centerline is valid? [True, True] Translation: X:462.23, Y:4.69, Z:3.14 [[ 9.99393979e-01 -3.30870230e-02 -1.08131178e-02 4.62225285e+02] [ 3.30880573e-02 9.99452437e-01 -8.32808879e-05 4.69111971e+00] [ 1.08099525e-02 -2.74554645e-04 9.99941533e-01 3.14170024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.12925415399997 meters 0.01760367582064449 Centerline is valid? [True, True] Translation: X:462.26, Y:4.69, Z:3.14 [[ 9.99452725e-01 -3.14205382e-02 -1.03441148e-02 4.62256855e+02] [ 3.14213999e-02 9.99506223e-01 -7.92367100e-05 4.69286245e+00] [ 1.03414967e-02 -2.45833222e-04 9.99946495e-01 3.14225967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.15925415399994 meters 0.01709163333905642 Centerline is valid? [True, True] Translation: X:462.29, Y:4.70, Z:3.14 [[ 9.99506982e-01 -2.97384785e-02 -1.00705680e-02 4.62288803e+02] [ 2.97392160e-02 9.99557689e-01 -7.65445359e-05 4.69534018e+00] [ 1.00683900e-02 -2.22983998e-04 9.99949288e-01 3.14274750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.18925415399997 meters 0.01709163333905642 Centerline is valid? [True, True] Translation: X:462.32, Y:4.70, Z:3.14 [[ 9.99509131e-01 -2.96661518e-02 -1.00705735e-02 4.62320503e+02] [ 2.96668930e-02 9.99559838e-01 -7.58160560e-05 4.69551873e+00] [ 1.00683900e-02 -2.22983785e-04 9.99949288e-01 3.14296702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.21925415399994 meters 0.016581027640081642 Centerline is valid? [True, True] Translation: X:462.35, Y:4.70, Z:3.14 [[ 9.99542619e-01 -2.85795916e-02 -9.88736692e-03 4.62352811e+02] [ 2.85802599e-02 9.99591498e-01 -7.37282528e-05 4.69782981e+00] [ 9.88543504e-03 -2.08888985e-04 9.99951116e-01 3.14330270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.2492541539999 meters 0.01652654207988639 Centerline is valid? [True, True] Translation: X:462.38, Y:4.70, Z:3.14 [[ 9.99561110e-01 -2.78419424e-02 -1.01199311e-02 4.62384978e+02] [ 2.78426123e-02 9.99612317e-01 -7.47121455e-05 4.69926282e+00] [ 1.01180879e-02 -2.07085963e-04 9.99948789e-01 3.14282998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.27925415399994 meters 0.016399595564913994 Centerline is valid? [True, True] Translation: X:462.42, Y:4.70, Z:3.14 [[ 9.99548682e-01 -2.81477821e-02 -1.04944636e-02 4.62416727e+02] [ 2.81485276e-02 9.99603749e-01 -7.66926053e-05 4.70016747e+00] [ 1.04924639e-02 -2.18745706e-04 9.99944929e-01 3.14281293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3092541539999 meters 0.017266703184734517 Centerline is valid? [True, True] Translation: X:462.45, Y:4.70, Z:3.14 [[ 9.99462679e-01 -3.04490357e-02 -1.21329946e-02 4.62447464e+02] [ 3.04502112e-02 9.99536281e-01 -8.78864728e-05 4.69959212e+00] [ 1.21300443e-02 -2.81612998e-04 9.99926389e-01 3.14159538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.33925415399995 meters 0.01774215122318729 Centerline is valid? [True, True] Translation: X:462.48, Y:4.70, Z:3.14 [[ 9.99402009e-01 -3.20455539e-02 -1.29887247e-02 4.62479252e+02] [ 3.20470435e-02 9.99486357e-01 -9.34878536e-05 4.69902449e+00] [ 1.29850490e-02 -3.22818277e-04 9.99915639e-01 3.14154190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3692541539999 meters 0.01837884773121058 Centerline is valid? [True, True] Translation: X:462.51, Y:4.70, Z:3.14 [[ 9.99343098e-01 -3.36468531e-02 -1.34633235e-02 4.62511696e+02] [ 3.36486102e-02 9.99433721e-01 -9.60532367e-05 4.69793874e+00] [ 1.34589314e-02 -3.57031987e-04 9.99909361e-01 3.14110195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.39925415399995 meters 0.018858867305196775 Centerline is valid? [True, True] Translation: X:462.54, Y:4.70, Z:3.14 [[ 9.99292928e-01 -3.50699205e-02 -1.35552467e-02 4.62543614e+02] [ 3.50718456e-02 9.99384789e-01 -9.57414565e-05 4.69729978e+00] [ 1.35502650e-02 -3.79733758e-04 9.99908119e-01 3.14102971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4292541539999 meters 0.019695737874028035 Centerline is valid? [True, True] Translation: X:462.57, Y:4.70, Z:3.14 [[ 9.99239764e-01 -3.63748503e-02 -1.40272541e-02 4.62574461e+02] [ 3.63770572e-02 9.99338131e-01 -9.78646264e-05 4.69637758e+00] [ 1.40215297e-02 -4.12479998e-04 9.99901608e-01 3.14031129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.45925415399995 meters 0.019792241033924653 Centerline is valid? [True, True] Translation: X:462.61, Y:4.70, Z:3.14 [[ 9.99217352e-01 -3.68783190e-02 -1.43063651e-02 4.62606765e+02] [ 3.68806837e-02 9.99319671e-01 -9.85941493e-05 4.69670917e+00] [ 1.43002681e-02 -4.29111542e-04 9.99897654e-01 3.14046806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4892541539999 meters 0.021725204979797248 Centerline is valid? [True, True] Translation: X:462.64, Y:4.70, Z:3.14 [[ 9.99199079e-01 -3.70306908e-02 -1.51633701e-02 4.62638291e+02] [ 3.70333793e-02 9.99314024e-01 -1.03550873e-04 4.69645312e+00] [ 1.51568029e-02 -4.58082897e-04 9.99885024e-01 3.13965933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.51925415399995 meters 0.0209191560316564 Centerline is valid? [True, True] Translation: X:462.67, Y:4.70, Z:3.14 [[ 9.99175520e-01 -3.79668858e-02 -1.43803672e-02 4.62670283e+02] [ 3.79694129e-02 9.99278897e-01 -9.73452044e-05 4.69712732e+00] [ 1.43736934e-02 -4.48749154e-04 9.99896592e-01 3.14072883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5492541539999 meters 0.021213649900176133 Centerline is valid? [True, True] Translation: X:462.70, Y:4.70, Z:3.14 [[ 9.99168076e-01 -3.82230157e-02 -1.42182211e-02 4.62702483e+02] [ 3.82255259e-02 9.99269133e-01 -9.52731070e-05 4.69741108e+00] [ 1.42114711e-02 -4.48305133e-04 9.99898911e-01 3.14080167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.57925415399995 meters 0.021904944180702407 Centerline is valid? [True, True] Translation: X:462.73, Y:4.70, Z:3.14 [[ 9.99176243e-01 -3.82114872e-02 -1.36644879e-02 4.62733371e+02] [ 3.82138213e-02 9.99269581e-01 -9.03343971e-05 4.69722405e+00] [ 1.36579590e-02 -4.31912317e-04 9.99906632e-01 3.14061532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6092541539999 meters 0.02179347992850781 Centerline is valid? [True, True] Translation: X:462.77, Y:4.70, Z:3.14 [[ 9.99182161e-01 -3.79178937e-02 -1.40442965e-02 4.62765991e+02] [ 3.79203487e-02 9.99280761e-01 -9.15506910e-05 4.69850367e+00] [ 1.40376667e-02 -4.41088803e-04 9.99901370e-01 3.14107260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.63925415399996 meters 0.018721717759631974 Centerline is valid? [True, True] Translation: X:462.80, Y:4.70, Z:3.14 [[ 9.99189633e-01 -3.76670432e-02 -1.41870062e-02 4.62798523e+02] [ 3.76695373e-02 9.99290247e-01 -9.14753589e-05 4.70493372e+00] [ 1.41803826e-02 -4.43016730e-04 9.99899355e-01 3.14253882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.66925415399993 meters 0.022024212805534314 Centerline is valid? [True, True] Translation: X:462.83, Y:4.70, Z:3.14 [[ 9.99195405e-01 -3.71392226e-02 -1.51400380e-02 4.62829315e+02] [ 3.71420176e-02 9.99309993e-01 -9.66278977e-05 4.70185550e+00] [ 1.51331800e-02 -4.65781407e-04 9.99885378e-01 3.14103390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.69925415399996 meters 0.022429622943324793 Centerline is valid? [True, True] Translation: X:462.86, Y:4.70, Z:3.14 [[ 9.99185359e-01 -3.70713471e-02 -1.59478207e-02 4.62861704e+02] [ 3.70744555e-02 9.99312501e-01 -1.00789176e-04 4.70263617e+00] [ 1.59405930e-02 -4.90549700e-04 9.99872820e-01 3.14082518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.72925415399993 meters 0.022892438383012567 Centerline is valid? [True, True] Translation: X:462.89, Y:4.70, Z:3.14 [[ 9.99158637e-01 -3.76299856e-02 -1.63095502e-02 4.62892948e+02] [ 3.76333262e-02 9.99291610e-01 -1.02146217e-04 4.70320100e+00] [ 1.63018404e-02 -5.11722346e-04 9.99866985e-01 3.14047189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.75925415399996 meters 0.018507183573446558 Centerline is valid? [True, True] Translation: X:462.93, Y:4.71, Z:3.14 [[ 9.99144634e-01 -3.78897688e-02 -1.65640051e-02 4.62925326e+02] [ 3.78932677e-02 9.99281787e-01 -1.02681008e-04 4.71069819e+00] [ 1.65559991e-02 -5.25071101e-04 9.99862802e-01 3.14266681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.78925415399993 meters 0.024059438233181896 Centerline is valid? [True, True] Translation: X:462.96, Y:4.70, Z:3.14 [[ 9.99116089e-01 -3.85614346e-02 -1.67349165e-02 4.62956594e+02] [ 3.85651179e-02 9.99256084e-01 -1.02682261e-04 4.70255122e+00] [ 1.67264267e-02 -5.42792529e-04 9.99859956e-01 3.14019820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.81925415399996 meters 0.01923674753150875 Centerline is valid? [True, True] Translation: X:462.99, Y:4.71, Z:3.14 [[ 9.99091621e-01 -3.93521738e-02 -1.63505303e-02 4.62988298e+02] [ 3.93558129e-02 9.99225255e-01 -9.92614722e-05 4.71114186e+00] [ 1.63417689e-02 -5.44317105e-04 9.99866316e-01 3.14303603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.84925415399994 meters 0.019436894965710712 Centerline is valid? [True, True] Translation: X:463.02, Y:4.71, Z:3.14 [[ 9.99033021e-01 -4.06904791e-02 -1.66525548e-02 4.63020792e+02] [ 4.06944601e-02 9.99171632e-01 -9.98628402e-05 4.71319342e+00] [ 1.66428239e-02 -5.77900454e-04 9.99861332e-01 3.14359785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87925415399997 meters 0.019492522883857766 Centerline is valid? [True, True] Translation: X:463.05, Y:4.71, Z:3.14 [[ 9.99006670e-01 -4.12821765e-02 -1.67766303e-02 4.63053004e+02] [ 4.12863212e-02 9.99147351e-01 -9.93644306e-05 4.71453300e+00] [ 1.67664277e-02 -5.93379618e-04 9.99859257e-01 3.14397218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.90925415399994 meters 0.020816968969601477 Centerline is valid? [True, True] Translation: X:463.08, Y:4.71, Z:3.14 [[ 9.98962563e-01 -4.21214401e-02 -1.73084395e-02 4.63084470e+02] [ 4.21259967e-02 9.99112301e-01 -1.01412941e-04 4.71432048e+00] [ 1.72973465e-02 -6.27827532e-04 9.99850193e-01 3.14387980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9392541539999 meters 0.02013630058750388 Centerline is valid? [True, True] Translation: X:463.12, Y:4.72, Z:3.14 [[ 9.98951157e-01 -4.24527939e-02 -1.71564930e-02 4.63117033e+02] [ 4.24573390e-02 9.99098276e-01 -9.93940984e-05 4.71600469e+00] [ 1.71452422e-02 -6.29129191e-04 9.99852812e-01 3.14435988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.96925415399994 meters 0.020433901468599542 Centerline is valid? [True, True] Translation: X:463.15, Y:4.72, Z:3.14 [[ 9.98935422e-01 -4.29438824e-02 -1.68477248e-02 4.63148727e+02] [ 4.29483527e-02 9.99077289e-01 -9.65623864e-05 4.71611506e+00] [ 1.68363260e-02 -6.27122439e-04 9.99858062e-01 3.14449319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9992541539999 meters 0.021772101349068505 Centerline is valid? [True, True] Translation: X:463.18, Y:4.72, Z:3.14 [[ 9.98858150e-01 -4.47345906e-02 -1.67693966e-02 4.63179663e+02] [ 4.47392866e-02 9.98998692e-01 -9.51997691e-05 4.71581540e+00] [ 1.67568640e-02 -6.55159775e-04 9.99859379e-01 3.14452830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.02925415399994 meters 0.023532920067109237 Centerline is valid? [True, True] Translation: X:463.21, Y:4.72, Z:3.14 [[ 9.98824366e-01 -4.53424255e-02 -1.71449547e-02 4.63211756e+02] [ 4.53474428e-02 9.98971271e-01 -9.62126410e-05 4.71534651e+00] [ 1.71316797e-02 -6.81380322e-04 9.99853010e-01 3.14398447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0592541539999 meters 0.024068104827242115 Centerline is valid? [True, True] Translation: X:463.24, Y:4.71, Z:3.14 [[ 9.98686195e-01 -4.85327224e-02 -1.64456557e-02 4.63241668e+02] [ 4.85377921e-02 9.98821343e-01 -9.09685465e-05 4.71436960e+00] [ 1.64306869e-02 -7.07386786e-04 9.99864757e-01 3.14437301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.08925415399995 meters 0.023036954316715142 Centerline is valid? [True, True] Translation: X:463.27, Y:4.72, Z:3.15 [[ 9.98645693e-01 -4.93598609e-02 -1.64433651e-02 4.63273319e+02] [ 4.93650599e-02 9.98780798e-01 -8.98150369e-05 4.71711471e+00] [ 1.64277505e-02 -7.22034301e-04 9.99864795e-01 3.14515121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1192541539999 meters 0.025439477781484178 Centerline is valid? [True, True] Translation: X:463.30, Y:4.71, Z:3.14 [[ 9.98590290e-01 -5.05870271e-02 -1.60743403e-02 4.63304620e+02] [ 5.05921680e-02 9.98719393e-01 -8.69212105e-05 4.71382105e+00] [ 1.60581525e-02 -7.26437050e-04 9.99870796e-01 3.14494609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.14925415399995 meters 0.027211663851135232 Centerline is valid? [True, True] Translation: X:463.34, Y:4.71, Z:3.14 [[ 9.98586157e-01 -5.05811995e-02 -1.63471566e-02 4.63335798e+02] [ 5.05865301e-02 9.98719678e-01 -8.75146308e-05 4.71336451e+00] [ 1.63306536e-02 -7.39555029e-04 9.99866372e-01 3.14353866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1792541539999 meters 0.023825751584473132 Centerline is valid? [True, True] Translation: X:463.37, Y:4.72, Z:3.14 [[ 9.98595910e-01 -5.02564086e-02 -1.67481929e-02 4.63368051e+02] [ 5.02619768e-02 9.98736064e-01 -8.85615074e-05 4.71944232e+00] [ 1.67314750e-02 -7.53360124e-04 9.99859735e-01 3.14444667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.20925415399995 meters 0.027133730450428488 Centerline is valid? [True, True] Translation: X:463.40, Y:4.72, Z:3.14 [[ 9.98664034e-01 -4.86145925e-02 -1.75147928e-02 4.63399805e+02] [ 4.86204533e-02 9.98817322e-01 -9.13006134e-05 4.71783445e+00] [ 1.74985170e-02 -7.60398528e-04 9.99846600e-01 3.14288353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2392541539999 meters 0.022274073008273162 Centerline is valid? [True, True] Translation: X:463.43, Y:4.72, Z:3.15 [[ 9.98694808e-01 -4.81957439e-02 -1.69071160e-02 4.63431725e+02] [ 4.82011657e-02 9.98837644e-01 -8.69100450e-05 4.72418598e+00] [ 1.68916526e-02 -7.28146089e-04 9.99857061e-01 3.14565576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.26925415399995 meters 0.02318993788134023 Centerline is valid? [True, True] Translation: X:463.46, Y:4.73, Z:3.15 [[ 9.98824902e-01 -4.55512526e-02 -1.65498576e-02 4.63463091e+02] [ 4.55560993e-02 9.98961778e-01 -8.42247576e-05 4.72623437e+00] [ 1.65365117e-02 -6.69821171e-04 9.99863038e-01 3.14510962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2992541539999 meters 0.022483956893421305 Centerline is valid? [True, True] Translation: X:463.50, Y:4.73, Z:3.15 [[ 9.98881089e-01 -4.43523804e-02 -1.64144992e-02 4.63495308e+02] [ 4.43570020e-02 9.99015740e-01 -8.25874482e-05 4.72865357e+00] [ 1.64020060e-02 -6.45602933e-04 9.99865270e-01 3.14573297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.32925415399995 meters 0.026109933240028086 Centerline is valid? [True, True] Translation: X:463.53, Y:4.72, Z:3.14 [[ 9.98942269e-01 -4.29685247e-02 -1.63721928e-02 4.63526874e+02] [ 4.29729661e-02 9.99076232e-01 -8.05904230e-05 4.72421583e+00] [ 1.63605315e-02 -6.23056504e-04 9.99865963e-01 3.14474929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3592541539999 meters 0.019628973430711166 Centerline is valid? [True, True] Translation: X:463.56, Y:4.73, Z:3.15 [[ 9.99069583e-01 -4.01624267e-02 -1.57145914e-02 4.63558603e+02] [ 4.01661935e-02 9.99193010e-01 -7.59727000e-05 4.73447394e+00] [ 1.57049611e-02 -5.55293304e-04 9.99876515e-01 3.14798468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.38925415399996 meters 0.019205580241883086 Centerline is valid? [True, True] Translation: X:463.59, Y:4.74, Z:3.15 [[ 9.99135768e-01 -3.84981059e-02 -1.56720715e-02 4.63590758e+02] [ 3.85016637e-02 9.99258533e-01 -7.47498198e-05 4.73599719e+00] [ 1.56633289e-02 -5.28715609e-04 9.99877183e-01 3.14801399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.41925415399993 meters 0.018684324703049416 Centerline is valid? [True, True] Translation: X:463.62, Y:4.74, Z:3.15 [[ 9.99201131e-01 -3.68616010e-02 -1.54377015e-02 4.63622970e+02] [ 3.68648754e-02 9.99320257e-01 -7.25111623e-05 4.73743374e+00] [ 1.54298807e-02 -4.96655709e-04 9.99880829e-01 3.14803914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.44925415399996 meters 0.0177096336322469 Centerline is valid? [True, True] Translation: X:463.65, Y:4.74, Z:3.15 [[ 9.99304581e-01 -3.38840684e-02 -1.55635300e-02 4.63654337e+02] [ 3.38870484e-02 9.99425666e-01 -7.22736981e-05 4.74012844e+00] [ 1.55570403e-02 -4.55178657e-04 9.99878878e-01 3.14777973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.47925415399993 meters 0.019169290959213405 Centerline is valid? [True, True] Translation: X:463.69, Y:4.74, Z:3.15 [[ 9.99363330e-01 -3.20732708e-02 -1.56281588e-02 4.63685421e+02] [ 3.20760634e-02 9.99485428e-01 -7.20023790e-05 4.74117121e+00] [ 1.56224264e-02 -4.29333276e-04 9.99877870e-01 3.14691030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.50925415399996 meters 0.017239438799553256 Centerline is valid? [True, True] Translation: X:463.72, Y:4.74, Z:3.15 [[ 9.99386256e-01 -3.13774585e-02 -1.55745589e-02 4.63717411e+02] [ 3.13801613e-02 9.99507519e-01 -7.08752216e-05 4.74291278e+00] [ 1.55691127e-02 -4.17900449e-04 9.99878707e-01 3.14779497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.53925415399993 meters 0.016822892041475485 Centerline is valid? [True, True] Translation: X:463.75, Y:4.74, Z:3.15 [[ 9.99470594e-01 -2.85400671e-02 -1.56204126e-02 4.63748156e+02] [ 2.85424523e-02 9.99592579e-01 -7.02650033e-05 4.74461295e+00] [ 1.56160539e-02 -3.75617078e-04 9.99877991e-01 3.14809155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.56925415399996 meters 0.01628158046239776 Centerline is valid? [True, True] Translation: X:463.78, Y:4.75, Z:3.15 [[ 9.99517240e-01 -2.68070980e-02 -1.57056373e-02 4.63779296e+02] [ 2.68093043e-02 9.99640564e-01 -7.00831740e-05 4.74547087e+00] [ 1.57018709e-02 -3.51007870e-04 9.99876656e-01 3.14818615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.59925415399994 meters 0.015617621330917915 Centerline is valid? [True, True] Translation: X:463.81, Y:4.75, Z:3.15 [[ 9.99562452e-01 -2.50547097e-02 -1.57215434e-02 4.63810874e+02] [ 2.50567128e-02 9.99686029e-01 -6.95867049e-05 4.74603493e+00] [ 1.57183508e-02 -3.24373940e-04 9.99876406e-01 3.14807920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.62925415399997 meters 0.017161266643208488 Centerline is valid? [True, True] Translation: X:463.84, Y:4.74, Z:3.15 [[ 9.99649295e-01 -2.11982427e-02 -1.58720519e-02 4.63840984e+02] [ 2.11998024e-02 9.99775256e-01 -6.99991420e-05 4.74442920e+00] [ 1.58699686e-02 -2.66509770e-04 9.99874029e-01 3.14588339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.65925415399994 meters 0.014687618821417777 Centerline is valid? [True, True] Translation: X:463.87, Y:4.75, Z:3.15 [[ 9.99667986e-01 -2.00537394e-02 -1.61791799e-02 4.63870568e+02] [ 2.00552048e-02 9.99798872e-01 -7.16874762e-05 4.74626175e+00] [ 1.61773634e-02 -2.52813091e-04 9.99869106e-01 3.14772805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.6892541539999 meters 0.01419450425276219 Centerline is valid? [True, True] Translation: X:463.90, Y:4.75, Z:3.15 [[ 9.99716558e-01 -1.70629366e-02 -1.66030234e-02 4.63899929e+02] [ 1.70640573e-02 9.99854396e-01 -7.41724755e-05 4.74730304e+00] [ 1.66018715e-02 -2.09163492e-04 9.99862158e-01 3.14836808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.71925415399994 meters 0.013899256409838147 Centerline is valid? [True, True] Translation: X:463.93, Y:4.75, Z:3.15 [[ 9.99726910e-01 -1.58438558e-02 -1.71778379e-02 4.63929194e+02] [ 1.58448464e-02 9.99874459e-01 -7.84410598e-05 4.74795411e+00] [ 1.71769242e-02 -1.93760564e-04 9.99852447e-01 3.14865013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.7492541539999 meters 0.013861454295875375 Centerline is valid? [True, True] Translation: X:463.96, Y:4.75, Z:3.15 [[ 9.99728967e-01 -1.41857044e-02 -1.84596311e-02 4.63956182e+02] [ 1.41865195e-02 9.99899362e-01 -8.68003782e-05 4.74760263e+00] [ 1.84590047e-02 -1.75101065e-04 9.99829603e-01 3.14800644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.77925415399994 meters 0.01393254710405122 Centerline is valid? [True, True] Translation: X:463.98, Y:4.75, Z:3.15 [[ 9.99717165e-01 -1.43156931e-02 -1.89908256e-02 4.63983656e+02] [ 1.43164959e-02 9.99897509e-01 -9.36831685e-05 4.74736753e+00] [ 1.89902204e-02 -1.78225406e-04 9.99819654e-01 3.14835917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8092541539999 meters 0.014119867803197161 Centerline is valid? [True, True] Translation: X:464.01, Y:4.75, Z:3.15 [[ 9.99708021e-01 -1.45757134e-02 -1.92723046e-02 4.64011125e+02] [ 1.45764811e-02 9.99893752e-01 -1.00645904e-04 4.74666271e+00] [ 1.92717239e-02 -1.80305865e-04 9.99814267e-01 3.14884595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.83925415399995 meters 0.014072014044861433 Centerline is valid? [True, True] Translation: X:464.04, Y:4.75, Z:3.15 [[ 9.99696733e-01 -1.52892031e-02 -1.93049656e-02 4.64038723e+02] [ 1.52899977e-02 9.99883095e-01 -1.06450806e-04 4.74605514e+00] [ 1.93043363e-02 -1.88754355e-04 9.99813636e-01 3.15024919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8692541539999 meters 0.014803968616212335 Centerline is valid? [True, True] Translation: X:464.07, Y:4.74, Z:3.15 [[ 9.99676877e-01 -1.78884361e-02 -1.80594796e-02 4.64066564e+02] [ 1.78895026e-02 9.99839965e-01 -1.02503351e-04 4.74188341e+00] [ 1.80584231e-02 -2.20604878e-04 9.99836909e-01 3.15110399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.89925415399995 meters 0.014740203763105982 Centerline is valid? [True, True] Translation: X:464.10, Y:4.74, Z:3.15 [[ 9.99644392e-01 -1.96617425e-02 -1.80140589e-02 4.64095042e+02] [ 1.96630291e-02 9.99806658e-01 -1.05714312e-04 4.74078074e+00] [ 1.80126546e-02 -2.48534245e-04 9.99837728e-01 3.15263564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9292541539999 meters 0.01583071489668676 Centerline is valid? [True, True] Translation: X:464.12, Y:4.74, Z:3.15 [[ 9.99542910e-01 -2.43244584e-02 -1.79525123e-02 4.64122669e+02] [ 2.43264382e-02 9.99704063e-01 -1.08119945e-04 4.73671698e+00] [ 1.79498294e-02 -3.28650157e-04 9.99838835e-01 3.15343445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.95925415399995 meters 0.016601560326821894 Centerline is valid? [True, True] Translation: X:464.15, Y:4.73, Z:3.15 [[ 9.99463859e-01 -2.71527843e-02 -1.82953549e-02 4.64152375e+02] [ 2.71552948e-02 9.99631221e-01 -1.11236001e-04 4.73454792e+00] [ 1.82916283e-02 -3.85639392e-04 9.99832620e-01 3.15336613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9892541539999 meters 0.01820097256694737 Centerline is valid? [True, True] Translation: X:464.18, Y:4.73, Z:3.15 [[ 9.99233653e-01 -3.40360589e-02 -1.93301299e-02 4.64182534e+02] [ 3.40401389e-02 9.99420460e-01 -1.18019967e-04 4.72893792e+00] [ 1.93229442e-02 -5.40070783e-04 9.99813149e-01 3.15295101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.01925415399995 meters 0.019359060761128113 Centerline is valid? [True, True] Translation: X:464.21, Y:4.73, Z:3.15 [[ 9.99084986e-01 -3.78060035e-02 -1.99974251e-02 4.64214103e+02] [ 3.78111313e-02 9.99284896e-01 -1.21749131e-04 4.72519601e+00] [ 1.99877277e-02 -6.34487537e-04 9.99800024e-01 3.15273710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0492541539999 meters 0.020665187589413717 Centerline is valid? [True, True] Translation: X:464.25, Y:4.72, Z:3.15 [[ 9.98926792e-01 -4.18606060e-02 -1.98230755e-02 4.64245513e+02] [ 4.18664563e-02 9.99123208e-01 -1.19965695e-04 4.72176214e+00] [ 1.98107167e-02 -7.10084979e-04 9.99803496e-01 3.15262002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.07925415399995 meters 0.020665187589413717 Centerline is valid? [True, True] Translation: X:464.28, Y:4.72, Z:3.15 [[ 9.98929863e-01 -4.17872597e-02 -1.98230828e-02 4.64277229e+02] [ 4.17931193e-02 9.99126279e-01 -1.18765663e-04 4.72189385e+00] [ 1.98107258e-02 -7.09829896e-04 9.99803496e-01 3.15283972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1092541539999 meters 0.024467689260887257 Centerline is valid? [True, True] Translation: X:464.31, Y:4.71, Z:3.15 [[ 9.98743139e-01 -4.59430518e-02 -2.00344387e-02 4.64307172e+02] [ 4.59498821e-02 9.98943739e-01 -1.19517861e-04 4.71440184e+00] [ 2.00187681e-02 -8.01212452e-04 9.99799283e-01 3.15161972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.13925415399996 meters 0.024271693795356535 Centerline is valid? [True, True] Translation: X:464.34, Y:4.71, Z:3.15 [[ 9.98365799e-01 -5.34810510e-02 -2.01372427e-02 4.64337583e+02] [ 5.34894821e-02 9.98568406e-01 -1.20089417e-04 4.71184205e+00] [ 2.01148368e-02 -9.57237515e-04 9.99797218e-01 3.15244849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.16925415399993 meters 0.025504937496738118 Centerline is valid? [True, True] Translation: X:464.37, Y:4.71, Z:3.15 [[ 9.98184141e-01 -5.67675722e-02 -2.01460429e-02 4.64369087e+02] [ 5.67766885e-02 9.98386896e-01 -1.19634503e-04 4.70892420e+00] [ 2.01203366e-02 -1.02440834e-03 9.99797041e-01 3.15233556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.19925415399996 meters 0.02824603976538174 Centerline is valid? [True, True] Translation: X:464.40, Y:4.70, Z:3.15 [[ 9.97831746e-01 -6.27682274e-02 -1.97978838e-02 4.64399842e+02] [ 6.27782140e-02 9.98027496e-01 -1.17279073e-04 4.70329627e+00] [ 1.97661938e-02 -1.12585101e-03 9.99803996e-01 3.15186577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.22925415399993 meters 0.03019478245586314 Centerline is valid? [True, True] Translation: X:464.43, Y:4.70, Z:3.15 [[ 9.97689533e-01 -6.50010213e-02 -1.97601185e-02 4.64429820e+02] [ 6.50114294e-02 9.97884513e-01 -1.15882056e-04 4.70018924e+00] [ 1.97258486e-02 -1.16901923e-03 9.99804743e-01 3.15160682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.25925415399996 meters 0.03149191534573578 Centerline is valid? [True, True] Translation: X:464.46, Y:4.70, Z:3.15 [[ 9.97557074e-01 -6.69825031e-02 -1.98300038e-02 4.64460940e+02] [ 6.69934006e-02 9.97753412e-01 -1.14995031e-04 4.69798909e+00] [ 1.97931566e-02 -1.21376528e-03 9.99803360e-01 3.15180239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.28925415399993 meters 0.03332828065945692 Centerline is valid? [True, True] Translation: X:464.49, Y:4.69, Z:3.15 [[ 9.97382951e-01 -6.96348690e-02 -1.94482249e-02 4.64492419e+02] [ 6.96458685e-02 9.97571772e-01 -1.11978978e-04 4.69437707e+00] [ 1.94087978e-02 -1.24280259e-03 9.99810859e-01 3.15207427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.31925415399996 meters 0.03028927423695987 Centerline is valid? [True, True] Translation: X:464.52, Y:4.70, Z:3.15 [[ 9.97345489e-01 -7.02262297e-02 -1.92419515e-02 4.64524582e+02] [ 7.02371290e-02 9.97530317e-01 -1.09626087e-04 4.69769121e+00] [ 1.92021286e-02 -1.24216434e-03 9.99814851e-01 3.15330803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.34925415399994 meters 0.030785143340864168 Centerline is valid? [True, True] Translation: X:464.56, Y:4.70, Z:3.15 [[ 9.97365206e-01 -7.01632324e-02 -1.84327803e-02 4.64556723e+02] [ 7.01732481e-02 9.97534814e-01 -1.03667370e-04 4.69557177e+00] [ 1.83946137e-02 -1.19009384e-03 9.99830096e-01 3.15329821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37925415399997 meters 0.030653132006721366 Centerline is valid? [True, True] Translation: X:464.59, Y:4.70, Z:3.15 [[ 9.97392655e-01 -6.96406452e-02 -1.89227878e-02 4.64589066e+02] [ 6.96511338e-02 9.97571405e-01 -1.05006730e-04 4.69557885e+00] [ 1.88841448e-02 -1.21326068e-03 9.99820943e-01 3.15316732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.40925415399994 meters 0.03154458399915593 Centerline is valid? [True, True] Translation: X:464.62, Y:4.69, Z:3.15 [[ 9.97573808e-01 -6.68922624e-02 -1.92852916e-02 4.64619088e+02] [ 6.69026553e-02 9.97759502e-01 -1.06494844e-04 4.69458498e+00] [ 1.92492066e-02 -1.18400075e-03 9.99814016e-01 3.15200951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4392541539999 meters 0.029347294220037724 Centerline is valid? [True, True] Translation: X:464.65, Y:4.70, Z:3.15 [[ 9.97689530e-01 -6.49069960e-02 -2.00669643e-02 4.64650206e+02] [ 6.49178583e-02 9.97890605e-01 -1.10327669e-04 4.69823713e+00] [ 2.00317962e-02 -1.19263159e-03 9.99798632e-01 3.15221174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.46925415399994 meters 0.029818075089213403 Centerline is valid? [True, True] Translation: X:464.68, Y:4.70, Z:3.15 [[ 9.97823286e-01 -6.24575084e-02 -2.11600887e-02 4.64680555e+02] [ 6.24690764e-02 9.98046893e-01 -1.14516050e-04 4.69836954e+00] [ 2.11259132e-02 -1.20758441e-03 9.99776094e-01 3.15107235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4992541539999 meters 0.02830023189408208 Centerline is valid? [True, True] Translation: X:464.71, Y:4.70, Z:3.15 [[ 9.98159020e-01 -5.62850358e-02 -2.25957115e-02 4.64710192e+02] [ 5.62966620e-02 9.98414078e-01 -1.21755775e-04 4.70223577e+00] [ 2.25667295e-02 -1.15053151e-03 9.99744677e-01 3.14901610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.52925415399994 meters 0.02648708513006289 Centerline is valid? [True, True] Translation: X:464.74, Y:4.71, Z:3.15 [[ 9.98330237e-01 -5.27070902e-02 -2.36368377e-02 4.64741508e+02] [ 5.27188231e-02 9.98609388e-01 -1.26918107e-04 4.70564804e+00] [ 2.36106575e-02 -1.11940008e-03 9.99720603e-01 3.14908203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5592541539999 meters 0.023699476625583416 Centerline is valid? [True, True] Translation: X:464.77, Y:4.71, Z:3.15 [[ 9.98711709e-01 -4.40357435e-02 -2.52145817e-02 4.64770924e+02] [ 4.40463346e-02 9.99029480e-01 -1.35469108e-04 4.71260045e+00] [ 2.51960759e-02 -9.75315320e-04 9.99682053e-01 3.14817303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.58925415399995 meters 0.022052805369355572 Centerline is valid? [True, True] Translation: X:464.80, Y:4.72, Z:3.15 [[ 9.98905635e-01 -3.90168744e-02 -2.57917702e-02 4.64800705e+02] [ 3.90262736e-02 9.99238175e-01 -1.39025984e-04 4.71681532e+00] [ 2.57775457e-02 -8.67682843e-04 9.99667327e-01 3.14827770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6192541539999 meters 0.018504084163163795 Centerline is valid? [True, True] Translation: X:464.83, Y:4.73, Z:3.15 [[ 9.99268037e-01 -2.76066103e-02 -2.64813969e-02 4.64829913e+02] [ 2.76125012e-02 9.99618692e-01 -1.43262637e-04 4.72647726e+00] [ 2.64752543e-02 -5.88059829e-04 9.99649296e-01 3.14847730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.64925415399995 meters 0.016802878436503976 Centerline is valid? [True, True] Translation: X:464.86, Y:4.73, Z:3.15 [[ 9.99426822e-01 -2.14505480e-02 -2.61897074e-02 4.64859371e+02] [ 2.14541760e-02 9.99769823e-01 -1.42485964e-04 4.73184484e+00] [ 2.61867355e-02 -4.19474297e-04 9.99656981e-01 3.14886736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6792541539999 meters 0.015908095855956334 Centerline is valid? [True, True] Translation: X:464.89, Y:4.74, Z:3.15 [[ 9.99534313e-01 -1.53253593e-02 -2.63873121e-02 4.64887015e+02] [ 1.53268582e-02 9.99882526e-01 -1.45462941e-04 4.73718116e+00] [ 2.63864415e-02 -2.59039388e-04 9.99651784e-01 3.14897209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.70925415399995 meters 0.015026061082609163 Centerline is valid? [True, True] Translation: X:464.92, Y:4.75, Z:3.15 [[ 9.99681043e-01 -3.36272107e-03 -2.50300888e-02 4.64915630e+02] [ 3.36019166e-03 9.99994344e-01 -1.43113462e-04 4.74779247e+00] [ 2.50304284e-02 5.89619195e-05 9.99686688e-01 3.15360863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7392541539999 meters 0.016064211757163178 Centerline is valid? [True, True] Translation: X:464.94, Y:4.75, Z:3.15 [[ 9.99704463e-01 2.51325594e-03 -2.41799596e-02 4.64943822e+02] [-2.51741290e-03 9.99996821e-01 -1.41478861e-04 4.75350271e+00] [ 2.41795272e-02 2.02307991e-04 9.99707612e-01 3.15269089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.76925415399995 meters 0.01672762065542424 Centerline is valid? [True, True] Translation: X:464.97, Y:4.76, Z:3.16 [[ 9.99693041e-01 1.29659432e-02 -2.11117836e-02 4.64972962e+02] [-1.29714693e-02 9.99915859e-01 -1.24829231e-04 4.75951130e+00] [ 2.11083887e-02 3.98641766e-04 9.99777114e-01 3.15796219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7992541539999 meters 0.019889873704088703 Centerline is valid? [True, True] Translation: X:465.00, Y:4.77, Z:3.16 [[ 9.99650616e-01 1.72397905e-02 -2.00358319e-02 4.65000202e+02] [-1.72456606e-02 9.99851275e-01 -1.20220129e-04 4.76663715e+00] [ 2.00307795e-02 4.65709283e-04 9.99799255e-01 3.15699498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.82925415399995 meters 0.018721437716511833 Centerline is valid? [True, True] Translation: X:465.03, Y:4.77, Z:3.16 [[ 9.99610823e-01 2.03634569e-02 -1.90665147e-02 4.65029305e+02] [-2.03694111e-02 9.99792515e-01 -1.18111212e-04 4.76536153e+00] [ 1.90601535e-02 5.06438922e-04 9.99818211e-01 3.16026936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8592541539999 meters 0.019324634183142928 Centerline is valid? [True, True] Translation: X:465.06, Y:4.77, Z:3.16 [[ 9.99577067e-01 2.23815374e-02 -1.85675562e-02 4.65057703e+02] [-2.23875817e-02 9.99749360e-01 -1.17712461e-04 4.76640671e+00] [ 1.85602678e-02 5.33345358e-04 9.99827601e-01 3.16078532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.88925415399996 meters 0.019585750471916616 Centerline is valid? [True, True] Translation: X:465.09, Y:4.77, Z:3.16 [[ 9.99575060e-01 2.29160273e-02 -1.80153860e-02 4.65086106e+02] [-2.29218641e-02 9.99737253e-01 -1.17534904e-04 4.76503048e+00] [ 1.80079590e-02 5.30431186e-04 9.99837703e-01 3.16115860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.91925415399993 meters 0.01919094256421512 Centerline is valid? [True, True] Translation: X:465.11, Y:4.76, Z:3.16 [[ 9.99598208e-01 2.17539169e-02 -1.81711188e-02 4.65114454e+02] [-2.17597450e-02 9.99763221e-01 -1.23059294e-04 4.76306287e+00] [ 1.81641393e-02 5.18408763e-04 9.99834884e-01 3.16166082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.94925415399996 meters 0.0182836942889686 Centerline is valid? [True, True] Translation: X:465.14, Y:4.76, Z:3.16 [[ 9.99633810e-01 2.00073665e-02 -1.82195190e-02 4.65143229e+02] [-2.00130192e-02 9.99799711e-01 -1.27959831e-04 4.75978975e+00] [ 1.82133097e-02 4.92540556e-04 9.99834003e-01 3.16190340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.97925415399993 meters 0.017480274895323226 Centerline is valid? [True, True] Translation: X:465.17, Y:4.75, Z:3.16 [[ 9.99704698e-01 1.56688818e-02 -1.85742734e-02 4.65172052e+02] [-1.56740572e-02 9.99877146e-01 -1.33074157e-04 4.75384472e+00] [ 1.85699064e-02 4.24169083e-04 9.99827474e-01 3.16113656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.00925415399996 meters 0.016857392266948178 Centerline is valid? [True, True] Translation: X:465.20, Y:4.75, Z:3.16 [[ 9.99727644e-01 1.31063172e-02 -1.93096270e-02 4.65201264e+02] [-1.31114995e-02 9.99914031e-01 -1.41796710e-04 4.75011666e+00] [ 1.93061086e-02 3.94936255e-04 9.99813542e-01 3.16136850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.03925415399993 meters 0.015953451496240466 Centerline is valid? [True, True] Translation: X:465.23, Y:4.74, Z:3.16 [[ 9.99784736e-01 7.67058880e-03 -1.92780459e-02 4.65230071e+02] [-7.67479292e-03 9.99970538e-01 -1.44102260e-04 4.74249193e+00] [ 1.92763726e-02 2.92026251e-04 9.99814151e-01 3.16137774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.06925415399996 meters 0.015491441417969008 Centerline is valid? [True, True] Translation: X:465.26, Y:4.74, Z:3.16 [[ 9.99808188e-01 4.72576027e-03 -1.90066947e-02 4.65258846e+02] [-4.72934124e-03 9.99988806e-01 -1.43461052e-04 4.73789446e+00] [ 1.90058040e-02 2.33322679e-04 9.99819346e-01 3.16198932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.09925415399994 meters 0.0152099580804992 Centerline is valid? [True, True] Translation: X:465.29, Y:4.73, Z:3.16 [[ 9.99824071e-01 1.48930280e-03 -1.86978283e-02 4.65287882e+02] [-1.49222804e-03 9.99998876e-01 -1.42497349e-04 4.73353516e+00] [ 1.86975951e-02 1.70373704e-04 9.99825170e-01 3.16241095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.12925415399997 meters 0.01474264137670175 Centerline is valid? [True, True] Translation: X:465.32, Y:4.72, Z:3.16 [[ 9.99823826e-01 -4.56760866e-03 -1.82058617e-02 4.65315556e+02] [ 4.56581161e-03 9.99989567e-01 -1.40271749e-04 4.72428961e+00] [ 1.82063124e-02 5.71225018e-05 9.99834250e-01 3.16301022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.15925415399994 meters 0.014656507480955455 Centerline is valid? [True, True] Translation: X:465.34, Y:4.72, Z:3.16 [[ 9.99812386e-01 -7.79737551e-03 -1.77311707e-02 4.65344154e+02] [ 7.79615390e-03 9.99969600e-01 -1.38019014e-04 4.71967639e+00] [ 1.77317079e-02 -2.41816583e-07 9.99842781e-01 3.16365468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.1892541539999 meters 0.014792697082889758 Centerline is valid? [True, True] Translation: X:465.37, Y:4.71, Z:3.16 [[ 9.99752792e-01 -1.34295155e-02 -1.77201462e-02 4.65372640e+02] [ 1.34291571e-02 9.99909815e-01 -1.39223710e-04 4.71025615e+00] [ 1.77204178e-02 -9.87773351e-05 9.99842976e-01 3.16390022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.21925415399994 meters 0.015014436334018132 Centerline is valid? [True, True] Translation: X:465.40, Y:4.71, Z:3.16 [[ 9.99711364e-01 -1.61450161e-02 -1.77912190e-02 4.65400445e+02] [ 1.61450487e-02 9.99869650e-01 -1.41813456e-04 4.70503416e+00] [ 1.77911895e-02 -1.45467573e-04 9.99841714e-01 3.16375780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.2492541539999 meters 0.015374223013007528 Centerline is valid? [True, True] Translation: X:465.43, Y:4.70, Z:3.16 [[ 9.99658256e-01 -1.90293504e-02 -1.79235956e-02 4.65429500e+02] [ 1.90297799e-02 9.99818907e-01 -1.46607847e-04 4.69965366e+00] [ 1.79231396e-02 -1.94524334e-04 9.99839349e-01 3.16349513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.27925415399994 meters 0.015596969737868893 Centerline is valid? [True, True] Translation: X:465.46, Y:4.69, Z:3.16 [[ 9.99604270e-01 -2.19304710e-02 -1.76169610e-02 4.65458693e+02] [ 2.19312583e-02 9.99759470e-01 -1.48531370e-04 4.69450247e+00] [ 1.76159809e-02 -2.37889529e-04 9.99844798e-01 3.16369440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3092541539999 meters 0.016828845615465576 Centerline is valid? [True, True] Translation: X:465.49, Y:4.68, Z:3.16 [[ 9.99455012e-01 -2.76368766e-02 -1.80521966e-02 4.65487639e+02] [ 2.76385861e-02 9.99617969e-01 -1.54830275e-04 4.68228495e+00] [ 1.80495792e-02 -3.44191297e-04 9.99837034e-01 3.16241905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.33925415399995 meters 0.01764497227462776 Centerline is valid? [True, True] Translation: X:465.52, Y:4.68, Z:3.16 [[ 9.99348346e-01 -3.09525783e-02 -1.85693801e-02 4.65516595e+02] [ 3.09548956e-02 9.99520769e-01 -1.62692879e-04 4.67725775e+00] [ 1.85655168e-02 -4.12226362e-04 9.99827561e-01 3.16169771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3692541539999 meters 0.019589891901781765 Centerline is valid? [True, True] Translation: X:465.55, Y:4.67, Z:3.16 [[ 9.99149294e-01 -3.64410530e-02 -1.93064241e-02 4.65545138e+02] [ 3.64445301e-02 9.99335663e-01 -1.71820217e-04 4.66586827e+00] [ 1.92998594e-02 -5.31939507e-04 9.99813599e-01 3.16082823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.39925415399995 meters 0.02004742740159036 Centerline is valid? [True, True] Translation: X:465.57, Y:4.66, Z:3.16 [[ 9.99062682e-01 -3.86012235e-02 -1.95883360e-02 4.65574649e+02] [ 3.86051994e-02 9.99254526e-01 -1.75270487e-04 4.66232708e+00] [ 1.95804990e-02 -5.81105414e-04 9.99808115e-01 3.16083837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4292541539999 meters 0.02089219007112326 Centerline is valid? [True, True] Translation: X:465.60, Y:4.66, Z:3.16 [[ 9.98985818e-01 -4.04027105e-02 -1.98734973e-02 4.65604389e+02] [ 4.04071452e-02 9.99183282e-01 -1.78520563e-04 4.65829643e+00] [ 1.98644790e-02 -6.24691781e-04 9.99802487e-01 3.16071903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.45925415399995 meters 0.021792517224685608 Centerline is valid? [True, True] Translation: X:465.63, Y:4.65, Z:3.16 [[ 9.98909280e-01 -4.18242897e-02 -2.07600551e-02 4.65632972e+02] [ 4.18294155e-02 9.99124749e-01 -1.87457202e-04 4.65258046e+00] [ 2.07497251e-02 -6.81128231e-04 9.99784469e-01 3.15989647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4892541539999 meters 0.020865335754035937 Centerline is valid? [True, True] Translation: X:465.66, Y:4.65, Z:3.16 [[ 9.98891407e-01 -4.18906104e-02 -2.14740032e-02 4.65662162e+02] [ 4.18960912e-02 9.99121954e-01 -1.94791940e-04 4.65257485e+00] [ 2.14633080e-02 -7.05100804e-04 9.99769388e-01 3.16045910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.51925415399995 meters 0.022101935609578433 Centerline is valid? [True, True] Translation: X:465.69, Y:4.65, Z:3.16 [[ 9.98893480e-01 -4.13762653e-02 -2.23566721e-02 4.65690878e+02] [ 4.13820536e-02 9.99143375e-01 -2.03866792e-04 4.64856569e+00] [ 2.23459560e-02 -7.21523792e-04 9.99750038e-01 3.15945669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5492541539999 meters 0.019330716715410836 Centerline is valid? [True, True] Translation: X:465.72, Y:4.65, Z:3.16 [[ 9.98910007e-01 -4.10073795e-02 -2.22978222e-02 4.65719559e+02] [ 4.10129495e-02 9.99158593e-01 -2.07638994e-04 4.65309920e+00] [ 2.22875754e-02 -7.07086786e-04 9.99751351e-01 3.16191481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.57925415399995 meters 0.01966032757017502 Centerline is valid? [True, True] Translation: X:465.75, Y:4.65, Z:3.16 [[ 9.98932296e-01 -4.04561225e-02 -2.23062600e-02 4.65748090e+02] [ 4.04614321e-02 9.99181078e-01 -2.13427854e-04 4.65307750e+00] [ 2.22966274e-02 -6.89343250e-04 9.99751162e-01 3.16176811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6092541539999 meters 0.019378127940846073 Centerline is valid? [True, True] Translation: X:465.78, Y:4.65, Z:3.16 [[ 9.98925225e-01 -4.06307891e-02 -2.23054885e-02 4.65777104e+02] [ 4.06360147e-02 9.99173992e-01 -2.19121914e-04 4.65350139e+00] [ 2.22959670e-02 -6.87519749e-04 9.99751178e-01 3.16264390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.63925415399996 meters 0.019612211330776296 Centerline is valid? [True, True] Translation: X:465.81, Y:4.65, Z:3.16 [[ 9.98890335e-01 -4.08761769e-02 -2.33930818e-02 4.65805233e+02] [ 4.08819207e-02 9.99163958e-01 -2.32854560e-04 4.65306461e+00] [ 2.33830424e-02 -7.23757945e-04 9.99726317e-01 3.16244598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.66925415399993 meters 0.0203162334102687 Centerline is valid? [True, True] Translation: X:465.83, Y:4.65, Z:3.16 [[ 9.98848110e-01 -4.15508126e-02 -2.39996515e-02 4.65833238e+02] [ 4.15569848e-02 9.99136106e-01 -2.41729963e-04 4.65232352e+00] [ 2.39889625e-02 -7.55901636e-04 9.99711938e-01 3.16182479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.69925415399996 meters 0.02029854305708632 Centerline is valid? [True, True] Translation: X:465.86, Y:4.65, Z:3.16 [[ 9.98781888e-01 -4.28123586e-02 -2.45324735e-02 4.65862101e+02] [ 4.28190554e-02 9.99082812e-01 -2.52508348e-04 4.65290613e+00] [ 2.45207831e-02 -7.98256577e-04 9.99699002e-01 3.16228346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.72925415399993 meters 0.021529813254524053 Centerline is valid? [True, True] Translation: X:465.89, Y:4.65, Z:3.16 [[ 9.98656964e-01 -4.51516084e-02 -2.54086631e-02 4.65890431e+02] [ 4.51594667e-02 9.98979756e-01 -2.64745146e-04 4.65099653e+00] [ 2.53946938e-02 -8.83052093e-04 9.99677113e-01 3.16196171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.75925415399996 meters 0.024587897836635925 Centerline is valid? [True, True] Translation: X:465.92, Y:4.65, Z:3.16 [[ 9.98573617e-01 -4.61580838e-02 -2.68358611e-02 4.65917809e+02] [ 4.61671161e-02 9.98933690e-01 -2.83238694e-04 4.64934280e+00] [ 2.68203195e-02 -9.56099627e-04 9.99639813e-01 3.15997281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.78925415399993 meters 0.022464391298928132 Centerline is valid? [True, True] Translation: X:465.95, Y:4.65, Z:3.16 [[ 9.98474326e-01 -4.88070586e-02 -2.58242521e-02 4.65946222e+02] [ 4.88161586e-02 9.98807742e-01 -2.78302243e-04 4.65077221e+00] [ 2.58070461e-02 -9.82763142e-04 9.99666460e-01 3.16358585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.81925415399996 meters 0.0230354449820949 Centerline is valid? [True, True] Translation: X:465.97, Y:4.65, Z:3.16 [[ 9.98441253e-01 -4.94975966e-02 -2.57886197e-02 4.65974933e+02] [ 4.95067364e-02 9.98773749e-01 -2.84318100e-04 4.65114330e+00] [ 2.57710695e-02 -9.92835479e-04 9.99667378e-01 3.16376049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.84925415399994 meters 0.022657354567935453 Centerline is valid? [True, True] Translation: X:466.00, Y:4.65, Z:3.16 [[ 9.98453552e-01 -4.93616363e-02 -2.55721123e-02 4.66003929e+02] [ 4.93704166e-02 9.98780496e-01 -2.88271801e-04 4.65251117e+00] [ 2.55551565e-02 -9.74679833e-04 9.99672939e-01 3.16445441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87925415399997 meters 0.021864850820042137 Centerline is valid? [True, True] Translation: X:466.03, Y:4.66, Z:3.17 [[ 9.98558636e-01 -4.73623942e-02 -2.52478366e-02 4.66032361e+02] [ 4.73702392e-02 9.98877359e-01 -2.87617124e-04 4.65574070e+00] [ 2.52331146e-02 -9.08793497e-04 9.99681181e-01 3.16581280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.90925415399994 meters 0.02098827981712779 Centerline is valid? [True, True] Translation: X:466.06, Y:4.66, Z:3.17 [[ 9.98632453e-01 -4.58516554e-02 -2.51167031e-02 4.66060956e+02] [ 4.58588154e-02 9.98947889e-01 -2.91162761e-04 4.65898551e+00] [ 2.51036278e-02 -8.61057666e-04 9.99684483e-01 3.16677768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9392541539999 meters 0.02001521842633603 Centerline is valid? [True, True] Translation: X:466.09, Y:4.66, Z:3.17 [[ 9.98752749e-01 -4.35906989e-02 -2.43474456e-02 4.66090185e+02] [ 4.35966610e-02 9.99049173e-01 -2.86135944e-04 4.66246327e+00] [ 2.43367683e-02 -7.75688272e-04 9.99703516e-01 3.16805797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.96925415399994 meters 0.019065210423068888 Centerline is valid? [True, True] Translation: X:466.12, Y:4.67, Z:3.17 [[ 9.98983093e-01 -3.86227687e-02 -2.32607274e-02 4.66119098e+02] [ 3.86268315e-02 9.99253668e-01 -2.74783054e-04 4.66820489e+00] [ 2.32539800e-02 -6.23984572e-04 9.99729395e-01 3.16938014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9992541539999 meters 0.019065210423068888 Centerline is valid? [True, True] Translation: X:466.15, Y:4.67, Z:3.17 [[ 9.98972165e-01 -3.89044381e-02 -2.32606694e-02 4.66146522e+02] [ 3.89084644e-02 9.99242740e-01 -2.79632500e-04 4.66861640e+00] [ 2.32539340e-02 -6.25691844e-04 9.99729395e-01 3.16957025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.02925415399994 meters 0.017702703406363214 Centerline is valid? [True, True] Translation: X:466.17, Y:4.67, Z:3.17 [[ 9.99057016e-01 -3.67041869e-02 -2.31922611e-02 4.66174817e+02] [ 3.67074565e-02 9.99326014e-01 -2.84870857e-04 4.67301110e+00] [ 2.31870857e-02 -5.66726685e-04 9.99730983e-01 3.17101039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0592541539999 meters 0.017208535676238475 Centerline is valid? [True, True] Translation: X:466.20, Y:4.68, Z:3.17 [[ 9.99210856e-01 -3.27218857e-02 -2.25154215e-02 4.66202521e+02] [ 3.27238869e-02 9.99464391e-01 -2.79651315e-04 4.67716562e+00] [ 2.25125128e-02 -4.57361478e-04 9.99746457e-01 3.17126775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.08925415399995 meters 0.01670428177161491 Centerline is valid? [True, True] Translation: X:466.23, Y:4.68, Z:3.17 [[ 9.99249711e-01 -3.16786803e-02 -2.22817503e-02 4.66231160e+02] [ 3.16802823e-02 9.99498014e-01 -2.81177214e-04 4.68016625e+00] [ 2.22794725e-02 -4.24925892e-04 9.99751691e-01 3.17266509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1192541539999 meters 0.016399009306458014 Centerline is valid? [True, True] Translation: X:466.26, Y:4.68, Z:3.17 [[ 9.99285803e-01 -3.04713406e-02 -2.23468619e-02 4.66258714e+02] [ 3.04725813e-02 9.99535562e-01 -2.85081956e-04 4.68182250e+00] [ 2.23451700e-02 -3.96088216e-04 9.99750237e-01 3.17291260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.14925415399995 meters 0.016501316754136644 Centerline is valid? [True, True] Translation: X:466.29, Y:4.68, Z:3.17 [[ 9.99311074e-01 -2.99207140e-02 -2.19574149e-02 4.66286939e+02] [ 2.99216851e-02 9.99552206e-01 -2.84387641e-04 4.68433426e+00] [ 2.19560916e-02 -3.72811134e-04 9.99758866e-01 3.17316599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1792541539999 meters 0.01629683785056666 Centerline is valid? [True, True] Translation: X:466.32, Y:4.69, Z:3.17 [[ 9.99286415e-01 -3.02514543e-02 -2.26165817e-02 4.66315697e+02] [ 3.02524423e-02 9.99542246e-01 -2.98538084e-04 4.68612798e+00] [ 2.26152601e-02 -3.85881781e-04 9.99744168e-01 3.17372184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.20925415399995 meters 0.01657326983623051 Centerline is valid? [True, True] Translation: X:466.34, Y:4.69, Z:3.17 [[ 9.99271803e-01 -3.09038749e-02 -2.23788814e-02 4.66343091e+02] [ 3.09049378e-02 9.99522284e-01 -2.98437906e-04 4.68668722e+00] [ 2.23774136e-02 -3.93397354e-04 9.99749517e-01 3.17368738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2392541539999 meters 0.017614273855969743 Centerline is valid? [True, True] Translation: X:466.37, Y:4.69, Z:3.17 [[ 9.99166406e-01 -3.37737440e-02 -2.29309188e-02 4.66371004e+02] [ 3.37755501e-02 9.99429396e-01 -3.08647280e-04 4.68560550e+00] [ 2.29282585e-02 -4.66114405e-04 9.99737004e-01 3.17312147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.26925415399995 meters 0.01758795950986628 Centerline is valid? [True, True] Translation: X:466.40, Y:4.69, Z:3.17 [[ 9.99089765e-01 -3.58703918e-02 -2.30858334e-02 4.66399345e+02] [ 3.58726672e-02 9.99356319e-01 -3.15694767e-04 4.68652744e+00] [ 2.30822976e-02 -5.12743010e-04 9.99733437e-01 3.17424587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2992541539999 meters 0.020190076072799 Centerline is valid? [True, True] Translation: X:466.43, Y:4.68, Z:3.17 [[ 9.98935202e-01 -4.00294402e-02 -2.29370133e-02 4.66427638e+02] [ 4.00327170e-02 9.99198319e-01 -3.16480085e-04 4.68282228e+00] [ 2.29312937e-02 -6.02087866e-04 9.99736862e-01 3.17327828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.32925415399995 meters 0.019591790302864443 Centerline is valid? [True, True] Translation: X:466.46, Y:4.68, Z:3.18 [[ 9.98842852e-01 -4.25117582e-02 -2.24879221e-02 4.66456460e+02] [ 4.25154394e-02 9.99095760e-01 -3.14597989e-04 4.68481446e+00] [ 2.24809618e-02 -6.41849937e-04 9.99747065e-01 3.17524070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3592541539999 meters 0.02081592834852491 Centerline is valid? [True, True] Translation: X:466.49, Y:4.68, Z:3.18 [[ 9.98764484e-01 -4.46708704e-02 -2.17719936e-02 4.66485289e+02] [ 4.46747749e-02 9.99001537e-01 -3.07260822e-04 4.68296577e+00] [ 2.17639806e-02 -6.65777715e-04 9.99762915e-01 3.17557055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.38925415399996 meters 0.024682802371248164 Centerline is valid? [True, True] Translation: X:466.51, Y:4.68, Z:3.18 [[ 9.98632003e-01 -4.81747752e-02 -2.03301210e-02 4.66514615e+02] [ 4.81788908e-02 9.98838682e-01 -2.87587967e-04 4.67754195e+00] [ 2.03203657e-02 -6.92288133e-04 9.99793280e-01 3.17532749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.41925415399993 meters 0.0253909123985352 Centerline is valid? [True, True] Translation: X:466.54, Y:4.68, Z:3.18 [[ 9.98571838e-01 -4.96900429e-02 -1.96260889e-02 4.66544823e+02] [ 4.96941683e-02 9.98764443e-01 -2.77743447e-04 4.67717757e+00] [ 1.96156408e-02 -6.97955379e-04 9.99807351e-01 3.17616855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.44925415399996 meters 0.021831189261870887 Centerline is valid? [True, True] Translation: X:466.58, Y:4.68, Z:3.18 [[ 9.98504329e-01 -5.13658986e-02 -1.87256111e-02 4.66576235e+02] [ 5.13699561e-02 9.98679657e-01 -2.64578317e-04 4.68382864e+00] [ 1.87144772e-02 -6.97751228e-04 9.99824625e-01 3.17902918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.47925415399993 meters 0.02178317946584509 Centerline is valid? [True, True] Translation: X:466.61, Y:4.69, Z:3.18 [[ 9.98471581e-01 -5.18917741e-02 -1.90195915e-02 4.66607424e+02] [ 5.18960684e-02 9.98652455e-01 -2.68045979e-04 4.68504783e+00] [ 1.90078711e-02 -7.19405727e-04 9.99819075e-01 3.17935971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.50925415399996 meters 0.021890927861325665 Centerline is valid? [True, True] Translation: X:466.64, Y:4.69, Z:3.18 [[ 9.98471439e-01 -5.19364236e-02 -1.89048325e-02 4.66639292e+02] [ 5.19406951e-02 9.98650136e-01 -2.65323112e-04 4.68562789e+00] [ 1.88930934e-02 -7.17012590e-04 9.99821252e-01 3.17970139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.53925415399993 meters 0.022472778881581962 Centerline is valid? [True, True] Translation: X:466.67, Y:4.69, Z:3.18 [[ 9.98459365e-01 -5.19813233e-02 -1.94123031e-02 4.66670522e+02] [ 5.19858543e-02 9.98647784e-01 -2.71492891e-04 4.68613912e+00] [ 1.94001660e-02 -7.38090538e-04 9.99811527e-01 3.17926244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.56925415399996 meters 0.02306917923277905 Centerline is valid? [True, True] Translation: X:466.70, Y:4.69, Z:3.18 [[ 9.98435968e-01 -5.20635537e-02 -2.03716534e-02 4.66702289e+02] [ 5.20685757e-02 9.98643471e-01 -2.84179522e-04 4.68703915e+00] [ 2.03588140e-02 -7.76987918e-04 9.99792436e-01 3.17837221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.59925415399994 meters 0.023171365337808225 Centerline is valid? [True, True] Translation: X:466.73, Y:4.69, Z:3.18 [[ 9.98431211e-01 -5.18742306e-02 -2.10756251e-02 4.66733435e+02] [ 5.18795794e-02 9.98653305e-01 -2.93252336e-04 4.68776470e+00] [ 2.10624548e-02 -8.00602279e-04 9.99777841e-01 3.17817975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.62925415399997 meters 0.02345461643313921 Centerline is valid? [True, True] Translation: X:466.76, Y:4.69, Z:3.18 [[ 9.98450814e-01 -5.14573821e-02 -2.11685947e-02 4.66763322e+02] [ 5.14626951e-02 9.98674874e-01 -2.94054752e-04 4.68876489e+00] [ 2.11556750e-02 -7.95793729e-04 9.99775877e-01 3.17841677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.65925415399994 meters 0.02325672617464871 Centerline is valid? [True, True] Translation: X:466.79, Y:4.69, Z:3.18 [[ 9.98492467e-01 -5.06266950e-02 -2.12068607e-02 4.66794911e+02] [ 5.06318532e-02 9.98717342e-01 -2.93973313e-04 4.69002322e+00] [ 2.11945424e-02 -7.80212520e-04 9.99775066e-01 3.17862929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.6892541539999 meters 0.023036504147046624 Centerline is valid? [True, True] Translation: X:466.83, Y:4.69, Z:3.18 [[ 9.98555431e-01 -4.93056868e-02 -2.13541735e-02 4.66825938e+02] [ 4.93106257e-02 9.98783447e-01 -2.95527542e-04 4.69156532e+00] [ 2.13427662e-02 -7.57887025e-04 9.99771930e-01 3.17856189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.71925415399994 meters 0.021559130442116443 Centerline is valid? [True, True] Translation: X:466.86, Y:4.70, Z:3.18 [[ 9.98730763e-01 -4.49768544e-02 -2.26703762e-02 4.66856329e+02] [ 4.49813100e-02 9.98987779e-01 -3.13616830e-04 4.69716871e+00] [ 2.26615343e-02 -7.06524446e-04 9.99742945e-01 3.17846617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.7492541539999 meters 0.02090818007458121 Centerline is valid? [True, True] Translation: X:466.89, Y:4.70, Z:3.18 [[ 9.98855318e-01 -4.18898871e-02 -2.30930874e-02 4.66885981e+02] [ 4.18936800e-02 9.99122023e-01 -3.19737345e-04 4.70056558e+00] [ 2.30862060e-02 -6.48083066e-04 9.99733268e-01 3.17827789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.77925415399994 meters 0.017546561258502343 Centerline is valid? [True, True] Translation: X:466.92, Y:4.71, Z:3.18 [[ 9.99079924e-01 -3.60706210e-02 -2.31994946e-02 4.66915334e+02] [ 3.60728647e-02 9.99349111e-01 -3.21909744e-04 4.71033245e+00] [ 2.31960058e-02 -5.15258667e-04 9.99730804e-01 3.18097525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8092541539999 meters 0.018636397870974146 Centerline is valid? [True, True] Translation: X:466.94, Y:4.71, Z:3.18 [[ 9.99157231e-01 -3.39671423e-02 -2.30447739e-02 4.66943657e+02] [ 3.39686990e-02 9.99422845e-01 -3.24007807e-04 4.71021352e+00] [ 2.30424791e-02 -4.59066244e-04 9.99734381e-01 3.17897918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.83925415399995 meters 0.017700907376332474 Centerline is valid? [True, True] Translation: X:466.97, Y:4.71, Z:3.18 [[ 9.99283026e-01 -3.08608325e-02 -2.19326955e-02 4.66971392e+02] [ 3.08614319e-02 9.99523624e-01 -3.11232750e-04 4.71399106e+00] [ 2.19318522e-02 -3.65864782e-04 9.99759401e-01 3.17976771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8692541539999 meters 0.017608209537578832 Centerline is valid? [True, True] Translation: X:467.00, Y:4.72, Z:3.18 [[ 9.99305031e-01 -3.03804739e-02 -2.15981950e-02 4.67000139e+02] [ 3.03808587e-02 9.99538347e-01 -3.10383682e-04 4.71550891e+00] [ 2.15976537e-02 -3.46003734e-04 9.99766684e-01 3.17996432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.89925415399995 meters 0.017515040847140693 Centerline is valid? [True, True] Translation: X:467.03, Y:4.72, Z:3.18 [[ 9.99333826e-01 -2.97667000e-02 -2.11151004e-02 4.67029124e+02] [ 2.97668304e-02 9.99556822e-01 -3.08191120e-04 4.71673228e+00] [ 2.11149165e-02 -3.20543801e-04 9.99777004e-01 3.18003406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9292541539999 meters 0.017424473627575866 Centerline is valid? [True, True] Translation: X:467.06, Y:4.72, Z:3.18 [[ 9.99351118e-01 -2.93443927e-02 -2.08865871e-02 4.67056747e+02] [ 2.93443606e-02 9.99569314e-01 -3.08084894e-04 4.71816819e+00] [ 2.08866321e-02 -3.05018562e-04 9.99781804e-01 3.18044966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.95925415399995 meters 0.016861827618574743 Centerline is valid? [True, True] Translation: X:467.09, Y:4.72, Z:3.18 [[ 9.99346616e-01 -2.95225654e-02 -2.08508766e-02 4.67085951e+02] [ 2.95224873e-02 9.99564068e-01 -3.11630828e-04 4.72036117e+00] [ 2.08509872e-02 -3.04142528e-04 9.99782548e-01 3.18208198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9892541539999 meters 0.017670064767084805 Centerline is valid? [True, True] Translation: X:467.11, Y:4.72, Z:3.18 [[ 9.99348265e-01 -2.97875189e-02 -2.03899066e-02 4.67114105e+02] [ 2.97874446e-02 9.99556208e-01 -3.07426556e-04 4.71941977e+00] [ 2.03900152e-02 -3.00137016e-04 9.99792057e-01 3.18102829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.01925415399995 meters 0.01605716195735776 Centerline is valid? [True, True] Translation: X:467.14, Y:4.72, Z:3.19 [[ 9.99335768e-01 -3.03037283e-02 -2.02412310e-02 4.67142445e+02] [ 3.03036807e-02 9.99540690e-01 -3.09142599e-04 4.72375459e+00] [ 2.02413021e-02 -3.04446543e-04 9.99795078e-01 3.18533506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0492541539999 meters 0.01602751052819531 Centerline is valid? [True, True] Translation: X:467.17, Y:4.72, Z:3.19 [[ 9.99325429e-01 -3.11821284e-02 -1.94000704e-02 4.67171380e+02] [ 3.11821555e-02 9.99513673e-01 -3.01175313e-04 4.72387468e+00] [ 1.94000269e-02 -3.03963863e-04 9.99811756e-01 3.18609843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.07925415399995 meters 0.01629419551414827 Centerline is valid? [True, True] Translation: X:467.20, Y:4.72, Z:3.19 [[ 9.99256866e-01 -3.36724990e-02 -1.87584213e-02 4.67201416e+02] [ 3.36729226e-02 9.99432863e-01 -2.93362330e-04 4.72251552e+00] [ 1.87576610e-02 -3.38506546e-04 9.99824002e-01 3.18739139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1092541539999 meters 0.017448871100928007 Centerline is valid? [True, True] Translation: X:467.23, Y:4.72, Z:3.19 [[ 9.99107278e-01 -3.77687277e-02 -1.89253775e-02 4.67230738e+02] [ 3.77698842e-02 9.99286419e-01 -2.96450417e-04 4.71827009e+00] [ 1.89230692e-02 -4.18623547e-04 9.99820855e-01 3.18688424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.13925415399996 meters 0.017391034599913237 Centerline is valid? [True, True] Translation: X:467.26, Y:4.72, Z:3.19 [[ 9.99007712e-01 -4.01615187e-02 -1.92521194e-02 4.67262447e+02] [ 4.01631658e-02 9.99193089e-01 -3.01240270e-04 4.71764176e+00] [ 1.92486829e-02 -4.72284710e-04 9.99814615e-01 3.18723513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.16925415399993 meters 0.019050132521803702 Centerline is valid? [True, True] Translation: X:467.29, Y:4.71, Z:3.19 [[ 9.98898817e-01 -4.26976709e-02 -1.94437987e-02 4.67292389e+02] [ 4.26998362e-02 9.99087900e-01 -3.03979886e-04 4.71362788e+00] [ 1.94390432e-02 -5.26601871e-04 9.99810905e-01 3.18609945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.19925415399996 meters 0.020574403203692228 Centerline is valid? [True, True] Translation: X:467.32, Y:4.71, Z:3.19 [[ 9.98699098e-01 -4.69987539e-02 -1.97794839e-02 4.67323802e+02] [ 4.70018461e-02 9.98894755e-01 -3.08774029e-04 4.70951352e+00] [ 1.97721347e-02 -6.21299913e-04 9.99804319e-01 3.18569338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.22925415399993 meters 0.01976075163136955 Centerline is valid? [True, True] Translation: X:467.36, Y:4.71, Z:3.19 [[ 9.98643578e-01 -4.82741587e-02 -1.95092068e-02 4.67355234e+02] [ 4.82774238e-02 9.98833919e-01 -3.03851625e-04 4.71023166e+00] [ 1.95011257e-02 -6.38414772e-04 9.99809631e-01 3.18643289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.25925415399996 meters 0.019847439534609473 Centerline is valid? [True, True] Translation: X:467.39, Y:4.71, Z:3.19 [[ 9.98581077e-01 -4.94574296e-02 -1.97432194e-02 4.67387818e+02] [ 4.94610283e-02 9.98776007e-01 -3.06288610e-04 4.70970176e+00] [ 1.97342021e-02 -6.70665923e-04 9.99805037e-01 3.18699719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.28925415399993 meters 0.022802161975684118 Centerline is valid? [True, True] Translation: X:467.42, Y:4.70, Z:3.19 [[ 9.98545286e-01 -5.03813570e-02 -1.92101502e-02 4.67418603e+02] [ 5.03849530e-02 9.98729827e-01 -2.97065044e-04 4.70367115e+00] [ 1.92007165e-02 -6.71269615e-04 9.99815424e-01 3.18599104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.31925415399996 meters 0.021107274486629912 Centerline is valid? [True, True] Translation: X:467.45, Y:4.71, Z:3.19 [[ 9.98569102e-01 -5.01239394e-02 -1.86370527e-02 4.67449424e+02] [ 5.01272916e-02 9.98742796e-01 -2.87533590e-04 4.70651044e+00] [ 1.86280344e-02 -6.47102815e-04 9.99826274e-01 3.18741115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.34925415399994 meters 0.020208552534064714 Centerline is valid? [True, True] Translation: X:467.48, Y:4.71, Z:3.19 [[ 9.98632485e-01 -4.89197725e-02 -1.84395041e-02 4.67481922e+02] [ 4.89228691e-02 9.98802519e-01 -2.83397758e-04 4.70790076e+00] [ 1.84312869e-02 -6.19103236e-04 9.99829938e-01 3.18790273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37925415399997 meters 0.02083786860470388 Centerline is valid? [True, True] Translation: X:467.51, Y:4.71, Z:3.19 [[ 9.98686127e-01 -4.77274324e-02 -1.86577565e-02 4.67512963e+02] [ 4.77304164e-02 9.98860213e-01 -2.85599551e-04 4.70717157e+00] [ 1.86501216e-02 -6.05318180e-04 9.99825888e-01 3.18745801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.40925415399994 meters 0.01926113914462052 Centerline is valid? [True, True] Translation: X:467.54, Y:4.71, Z:3.19 [[ 9.98767157e-01 -4.60511950e-02 -1.85325123e-02 4.67543945e+02] [ 4.60538656e-02 9.98938918e-01 -2.82880625e-04 4.71066291e+00] [ 1.85258748e-02 -5.70961953e-04 9.99828218e-01 3.18806552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4392541539999 meters 0.018406652629766897 Centerline is valid? [True, True] Translation: X:467.57, Y:4.71, Z:3.19 [[ 9.98977826e-01 -4.10188308e-02 -1.89936550e-02 4.67574080e+02] [ 4.10207362e-02 9.99158253e-01 -2.89435507e-04 4.71277231e+00] [ 1.89895395e-02 -4.89994061e-04 9.99819562e-01 3.18738913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.46925415399994 meters 0.017964894377030163 Centerline is valid? [True, True] Translation: X:467.60, Y:4.71, Z:3.19 [[ 9.99098852e-01 -3.77888817e-02 -1.93257289e-02 4.67604229e+02] [ 3.77902718e-02 9.99285649e-01 -2.93395555e-04 4.71481245e+00] [ 1.93230107e-02 -4.37193386e-04 9.99813198e-01 3.18725214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4992541539999 meters 0.01689185808211277 Centerline is valid? [True, True] Translation: X:467.63, Y:4.72, Z:3.19 [[ 9.99237285e-01 -3.40408919e-02 -1.91328737e-02 4.67634765e+02] [ 3.40415777e-02 9.99420375e-01 -2.89931113e-04 4.71828467e+00] [ 1.91316533e-02 -3.61603230e-04 9.99816908e-01 3.18787723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.52925415399994 meters 0.01594096863313403 Centerline is valid? [True, True] Translation: X:467.67, Y:4.72, Z:3.19 [[ 9.99346621e-01 -3.04433536e-02 -1.94816173e-02 4.67665537e+02] [ 3.04433813e-02 9.99536449e-01 -2.95215820e-04 4.72221772e+00] [ 1.94815740e-02 -2.98063373e-04 9.99810172e-01 3.18884616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5592541539999 meters 0.01524415655021843 Centerline is valid? [True, True] Translation: X:467.69, Y:4.73, Z:3.19 [[ 9.99537181e-01 -2.36353198e-02 -1.91519219e-02 4.67694569e+02] [ 2.36340884e-02 9.99720634e-01 -2.90662416e-04 4.72626924e+00] [ 1.91534414e-02 -1.62110324e-04 9.99816543e-01 3.18823639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.58925415399995 meters 0.014873754626552127 Centerline is valid? [True, True] Translation: X:467.72, Y:4.73, Z:3.19 [[ 9.99638730e-01 -1.86362533e-02 -1.93675084e-02 4.67723314e+02] [ 1.86339902e-02 9.99826328e-01 -2.97325563e-04 4.73090670e+00] [ 1.93696858e-02 -6.36758129e-05 9.99812388e-01 3.18995035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6192541539999 meters 0.014807314913291377 Centerline is valid? [True, True] Translation: X:467.75, Y:4.73, Z:3.19 [[ 9.99674610e-01 -1.66737435e-02 -1.93044005e-02 4.67750048e+02] [ 1.66710657e-02 9.99860983e-01 -2.99643870e-04 4.73236233e+00] [ 1.93067130e-02 -2.22785596e-05 9.99813608e-01 3.18980754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.64925415399995 meters 0.014681391141383273 Centerline is valid? [True, True] Translation: X:467.78, Y:4.73, Z:3.19 [[ 9.99693610e-01 -1.54727267e-02 -1.93204989e-02 4.67777455e+02] [ 1.54697328e-02 9.99880290e-01 -3.04411980e-04 4.73364119e+00] [ 1.93228961e-02 5.43575470e-06 9.99813295e-01 3.19074272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6792541539999 meters 0.01476210353116904 Centerline is valid? [True, True] Translation: X:467.80, Y:4.74, Z:3.19 [[ 9.99709803e-01 -1.45704103e-02 -1.91836749e-02 4.67804510e+02] [ 1.45672061e-02 9.99893846e-01 -3.06765672e-04 4.73500455e+00] [ 1.91861081e-02 2.72241052e-05 9.99815929e-01 3.18986971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.70925415399995 meters 0.014931615133716257 Centerline is valid? [True, True] Translation: X:467.83, Y:4.74, Z:3.19 [[ 9.99710424e-01 -1.47129574e-02 -1.90419925e-02 4.67832102e+02] [ 1.47097342e-02 9.99891758e-01 -3.09326985e-04 4.73595406e+00] [ 1.90444825e-02 2.91347616e-05 9.99818637e-01 3.19052542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7392541539999 meters 0.014784235545287197 Centerline is valid? [True, True] Translation: X:467.86, Y:4.74, Z:3.19 [[ 9.99701421e-01 -1.55261747e-02 -1.88681461e-02 4.67859127e+02] [ 1.55230905e-02 9.99879462e-01 -3.09917851e-04 4.73569524e+00] [ 1.88706836e-02 1.69333755e-05 9.99821933e-01 3.19077984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.76925415399995 meters 0.014801640145560265 Centerline is valid? [True, True] Translation: X:467.89, Y:4.73, Z:3.19 [[ 9.99636511e-01 -1.95498681e-02 -1.85647255e-02 4.67886238e+02] [ 1.95475188e-02 9.99808882e-01 -3.08017355e-04 4.73196572e+00] [ 1.85671991e-02 -5.49889262e-05 9.99827613e-01 3.19050444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7992541539999 meters 0.015483938667250783 Centerline is valid? [True, True] Translation: X:467.92, Y:4.73, Z:3.19 [[ 9.99568976e-01 -2.26335872e-02 -1.86971161e-02 4.67915409e+02] [ 2.26316620e-02 9.99743822e-01 -3.14582608e-04 4.73016214e+00] [ 1.86994465e-02 -1.08699797e-04 9.99825144e-01 3.19142607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.82925415399995 meters 0.015145010318736418 Centerline is valid? [True, True] Translation: X:467.94, Y:4.73, Z:3.19 [[ 9.99480717e-01 -2.62659541e-02 -1.86653803e-02 4.67943801e+02] [ 2.62646155e-02 9.99654975e-01 -3.16893090e-04 4.72814871e+00] [ 1.86672637e-02 -1.73510503e-04 9.99825736e-01 3.19193336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8592541539999 meters 0.016176847704768703 Centerline is valid? [True, True] Translation: X:467.97, Y:4.72, Z:3.19 [[ 9.99225823e-01 -3.44385650e-02 -1.90194502e-02 4.67973628e+02] [ 3.44386343e-02 9.99406762e-01 -3.23988128e-04 4.72320480e+00] [ 1.90193248e-02 -3.31266585e-04 9.99819061e-01 3.19228276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.88925415399996 meters 0.016176847704768703 Centerline is valid? [True, True] Translation: X:468.00, Y:4.72, Z:3.19 [[ 9.99225823e-01 -3.44385668e-02 -1.90194459e-02 4.68003629e+02] [ 3.44386312e-02 9.99406762e-01 -3.24240936e-04 4.72371639e+00] [ 1.90193292e-02 -3.31013766e-04 9.99819061e-01 3.19249076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.91925415399993 meters 0.017034257003323307 Centerline is valid? [True, True] Translation: X:468.03, Y:4.72, Z:3.19 [[ 9.99078157e-01 -3.84633816e-02 -1.90631655e-02 4.68033114e+02] [ 3.84641744e-02 9.99259927e-01 -3.25206302e-04 4.72107630e+00] [ 1.90615659e-02 -4.08342411e-04 9.99818228e-01 3.19254614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.94925415399996 meters 0.019530338212755093 Centerline is valid? [True, True] Translation: X:468.06, Y:4.72, Z:3.19 [[ 9.98735735e-01 -4.65643174e-02 -1.89392446e-02 4.68062816e+02] [ 4.65665484e-02 9.98915138e-01 -3.23432514e-04 4.71528489e+00] [ 1.89337586e-02 -5.58911642e-04 9.99820584e-01 3.19266745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.97925415399993 meters 0.020872666458733084 Centerline is valid? [True, True] Translation: X:468.09, Y:4.71, Z:3.19 [[ 9.98566108e-01 -5.03078770e-02 -1.82987839e-02 4.68093782e+02] [ 5.03105889e-02 9.98733572e-01 -3.12412388e-04 4.71224162e+00] [ 1.82913267e-02 -6.08658174e-04 9.99832514e-01 3.19296063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.00925415399996 meters 0.02148308159061125 Centerline is valid? [True, True] Translation: X:468.13, Y:4.71, Z:3.19 [[ 9.98412131e-01 -5.35599177e-02 -1.74514368e-02 4.68125493e+02] [ 5.35628888e-02 9.98564434e-01 -2.97448010e-04 4.71039372e+00] [ 1.74423154e-02 -6.37773670e-04 9.99847668e-01 3.19368354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.03925415399993 meters 0.02399967859046944 Centerline is valid? [True, True] Translation: X:468.16, Y:4.71, Z:3.19 [[ 9.98144617e-01 -5.86311349e-02 -1.64229827e-02 4.68156327e+02] [ 5.86344580e-02 9.98279481e-01 -2.79509828e-04 4.70658625e+00] [ 1.64111147e-02 -6.83961461e-04 9.99865095e-01 3.19377194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.06925415399996 meters 0.025897826223468784 Centerline is valid? [True, True] Translation: X:468.19, Y:4.70, Z:3.19 [[ 9.98018206e-01 -6.08962582e-02 -1.58526470e-02 4.68187345e+02] [ 6.08996547e-02 9.98143857e-01 -2.68849641e-04 4.70218057e+00] [ 1.58395942e-02 -6.97103891e-04 9.99874303e-01 3.19468693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.09925415399994 meters 0.023794486921891993 Centerline is valid? [True, True] Translation: X:468.22, Y:4.71, Z:3.20 [[ 9.97910656e-01 -6.26596541e-02 -1.57508751e-02 4.68219316e+02] [ 6.26632466e-02 9.98034692e-01 -2.65827958e-04 4.70584409e+00] [ 1.57365765e-02 -7.21728422e-04 9.99875912e-01 3.19595157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.12925415399997 meters 0.024719217234554388 Centerline is valid? [True, True] Translation: X:468.25, Y:4.70, Z:3.20 [[ 9.97768150e-01 -6.50528309e-02 -1.50614709e-02 4.68251307e+02] [ 6.50564043e-02 9.97881556e-01 -2.53097906e-04 4.70488211e+00] [ 1.50460288e-02 -7.27312113e-04 9.99886538e-01 3.19644974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.15925415399994 meters 0.02502929210056599 Centerline is valid? [True, True] Translation: X:468.28, Y:4.70, Z:3.20 [[ 9.97712396e-01 -6.57414862e-02 -1.57490287e-02 4.68283902e+02] [ 6.57454976e-02 9.97836389e-01 -2.63461482e-04 4.70483586e+00] [ 1.57322743e-02 -7.72568942e-04 9.99875942e-01 3.19668879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.1892541539999 meters 0.02569764002527926 Centerline is valid? [True, True] Translation: X:468.32, Y:4.70, Z:3.20 [[ 9.97681413e-01 -6.61772118e-02 -1.58862865e-02 4.68316349e+02] [ 6.61813672e-02 9.97807575e-01 -2.64582269e-04 4.70446564e+00] [ 1.58689663e-02 -7.87407345e-04 9.99873770e-01 3.19656755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.21925415399994 meters 0.025428540838275 Centerline is valid? [True, True] Translation: X:468.35, Y:4.71, Z:3.20 [[ 9.97644540e-01 -6.66655528e-02 -1.61578524e-02 4.68348602e+02] [ 6.66699348e-02 9.97775049e-01 -2.67904324e-04 4.70531718e+00] [ 1.61397619e-02 -8.09969680e-04 9.99869417e-01 3.19675050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.2492541539999 meters 0.028050890206595142 Centerline is valid? [True, True] Translation: X:468.38, Y:4.70, Z:3.20 [[ 9.97599640e-01 -6.72957433e-02 -1.63169278e-02 4.68380098e+02] [ 6.73003130e-02 9.97732727e-01 -2.69506242e-04 4.70259538e+00] [ 1.62980695e-02 -8.29275020e-04 9.99866834e-01 3.19656384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.27925415399994 meters 0.026308492399750517 Centerline is valid? [True, True] Translation: X:468.41, Y:4.71, Z:3.20 [[ 9.97591702e-01 -6.74741050e-02 -1.60636327e-02 4.68412396e+02] [ 6.74785738e-02 9.97720688e-01 -2.64273482e-04 4.70653399e+00] [ 1.60448503e-02 -8.20313989e-04 9.99870937e-01 3.19765957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3092541539999 meters 0.026634128251368683 Centerline is valid? [True, True] Translation: X:468.44, Y:4.71, Z:3.20 [[ 9.97565788e-01 -6.79239611e-02 -1.57744566e-02 4.68444629e+02] [ 6.79283446e-02 9.97690169e-01 -2.58365370e-04 4.70877799e+00] [ 1.57555694e-02 -8.13796268e-04 9.99875542e-01 3.19896708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.33925415399995 meters 0.026869961525318113 Centerline is valid? [True, True] Translation: X:468.48, Y:4.71, Z:3.20 [[ 9.97570807e-01 -6.76668729e-02 -1.65432860e-02 4.68476611e+02] [ 6.76716796e-02 9.97707608e-01 -2.69713052e-04 4.71106012e+00] [ 1.65236130e-02 -8.50454085e-04 9.99863114e-01 3.19787940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3692541539999 meters 0.026389706720489105 Centerline is valid? [True, True] Translation: X:468.51, Y:4.71, Z:3.20 [[ 9.97531178e-01 -6.80342634e-02 -1.74036779e-02 4.68509224e+02] [ 6.80396618e-02 9.97682577e-01 -2.82428536e-04 4.71267303e+00] [ 1.73825611e-02 -9.02409090e-04 9.99848505e-01 3.19850313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.39925415399995 meters 0.02638490649406098 Centerline is valid? [True, True] Translation: X:468.54, Y:4.72, Z:3.20 [[ 9.97559405e-01 -6.73367576e-02 -1.84660438e-02 4.68540973e+02] [ 6.73427418e-02 9.97729856e-01 -2.98277745e-04 4.71595771e+00] [ 1.84442083e-02 -9.46004251e-04 9.99829444e-01 3.19746489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4292541539999 meters 0.026632327628134115 Centerline is valid? [True, True] Translation: X:468.57, Y:4.72, Z:3.20 [[ 9.97588397e-01 -6.66792786e-02 -1.92682324e-02 4.68571876e+02] [ 6.66856952e-02 9.97773983e-01 -3.10028333e-04 4.71774704e+00] [ 1.92460135e-02 -9.75634807e-04 9.99814302e-01 3.19751827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.45925415399995 meters 0.025203831742861577 Centerline is valid? [True, True] Translation: X:468.60, Y:4.72, Z:3.20 [[ 9.97663516e-01 -6.56166317e-02 -1.90253924e-02 4.68604258e+02] [ 6.56227189e-02 9.97844460e-01 -3.04849180e-04 4.72208034e+00] [ 1.90043855e-02 -9.44361070e-04 9.99818954e-01 3.19838590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4892541539999 meters 0.02699671940598404 Centerline is valid? [True, True] Translation: X:468.64, Y:4.72, Z:3.20 [[ 9.97885450e-01 -6.24451916e-02 -1.80340657e-02 4.68635261e+02] [ 6.24501602e-02 9.98048042e-01 -2.88070259e-04 4.72351947e+00] [ 1.80168525e-02 -8.38769170e-04 9.99837332e-01 3.19908460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.51925415399995 meters 0.024148711143637272 Centerline is valid? [True, True] Translation: X:468.67, Y:4.73, Z:3.20 [[ 9.98016633e-01 -6.05465237e-02 -1.72313317e-02 4.68666643e+02] [ 6.05507879e-02 9.98165080e-01 -2.74625626e-04 4.73004357e+00] [ 1.72163412e-02 -7.69289768e-04 9.99851492e-01 3.20123863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5492541539999 meters 0.023732945269289905 Centerline is valid? [True, True] Translation: X:468.70, Y:4.73, Z:3.20 [[ 9.98230636e-01 -5.69843097e-02 -1.69819274e-02 4.68697069e+02] [ 5.69879442e-02 9.98374830e-01 -2.70214044e-04 4.73479318e+00] [ 1.69697268e-02 -6.98029192e-04 9.99855760e-01 3.20242572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.57925415399995 meters 0.023397477847957763 Centerline is valid? [True, True] Translation: X:468.73, Y:4.74, Z:3.20 [[ 9.98341255e-01 -5.50345486e-02 -1.69096781e-02 4.68729075e+02] [ 5.50378874e-02 9.98484231e-01 -2.68210064e-04 4.73876659e+00] [ 1.68988077e-02 -6.62907785e-04 9.99856985e-01 3.20225414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6092541539999 meters 0.021579499190320355 Centerline is valid? [True, True] Translation: X:468.76, Y:4.74, Z:3.20 [[ 9.98412212e-01 -5.37859947e-02 -1.67368528e-02 4.68761768e+02] [ 5.37891139e-02 9.98552283e-01 -2.64069848e-04 4.74194530e+00] [ 1.67268258e-02 -6.36609921e-04 9.99859894e-01 3.20378233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.63925415399996 meters 0.0208312811121643 Centerline is valid? [True, True] Translation: X:468.79, Y:4.75, Z:3.20 [[ 9.98544215e-01 -5.10875987e-02 -1.73063195e-02 4.68793218e+02] [ 5.10905469e-02 9.98693988e-01 -2.72015237e-04 4.74581515e+00] [ 1.72976139e-02 -6.12570089e-04 9.99850197e-01 3.20346326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.66925415399993 meters 0.020931748745582034 Centerline is valid? [True, True] Translation: X:468.82, Y:4.75, Z:3.20 [[ 9.98623253e-01 -4.93162607e-02 -1.78747139e-02 4.68824190e+02] [ 4.93191533e-02 9.98783031e-01 -2.79225747e-04 4.74697214e+00] [ 1.78667313e-02 -6.02724429e-04 9.99840196e-01 3.20308925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.69925415399996 meters 0.020143222006981275 Centerline is valid? [True, True] Translation: X:468.86, Y:4.75, Z:3.20 [[ 9.98683446e-01 -4.79232056e-02 -1.82959490e-02 4.68856736e+02] [ 4.79260351e-02 9.98850847e-01 -2.84030474e-04 4.75047225e+00] [ 1.82885358e-02 -5.93195759e-04 9.99832575e-01 3.20354665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.72925415399993 meters 0.019442431668885287 Centerline is valid? [True, True] Translation: X:468.89, Y:4.75, Z:3.20 [[ 9.98802192e-01 -4.50583795e-02 -1.90767584e-02 4.68887925e+02] [ 4.50609522e-02 9.98984196e-01 -2.95182189e-04 4.75376023e+00] [ 1.90706806e-02 -5.64788281e-04 9.99817979e-01 3.20345078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.75925415399996 meters 0.019553050887786683 Centerline is valid? [True, True] Translation: X:468.92, Y:4.75, Z:3.20 [[ 9.98841781e-01 -4.41419264e-02 -1.91464815e-02 4.68918839e+02] [ 4.41443673e-02 9.99025119e-01 -2.95347326e-04 4.75432996e+00] [ 1.91408531e-02 -5.50204061e-04 9.99816646e-01 3.20318907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.78925415399993 meters 0.018348882690422057 Centerline is valid? [True, True] Translation: X:468.95, Y:4.76, Z:3.20 [[ 9.98941953e-01 -4.18326590e-02 -1.91050525e-02 4.68950209e+02] [ 4.18346829e-02 9.99124503e-01 -2.93889606e-04 4.75819303e+00] [ 1.91006202e-02 -5.05675154e-04 9.99817439e-01 3.20474836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81925415399996 meters 0.018946017362693305 Centerline is valid? [True, True] Translation: X:468.98, Y:4.76, Z:3.20 [[ 9.98989375e-01 -4.07415164e-02 -1.89830767e-02 4.68980435e+02] [ 4.07433266e-02 9.99169603e-01 -2.91543503e-04 4.75796201e+00] [ 1.89791911e-02 -4.82184830e-04 9.99819763e-01 3.20422152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.84925415399994 meters 0.018294366524376132 Centerline is valid? [True, True] Translation: X:469.01, Y:4.76, Z:3.20 [[ 9.99048957e-01 -3.93113092e-02 -1.88627093e-02 4.69012081e+02] [ 3.93128521e-02 9.99226909e-01 -2.89145857e-04 4.75990826e+00] [ 1.88594935e-02 -4.52676035e-04 9.99822041e-01 3.20475314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87925415399997 meters 0.016902606581231154 Centerline is valid? [True, True] Translation: X:469.04, Y:4.76, Z:3.21 [[ 9.99188573e-01 -3.54949163e-02 -1.90343711e-02 4.69043359e+02] [ 3.54958086e-02 9.99369783e-01 -2.91078536e-04 4.76403265e+00] [ 1.90327072e-02 -3.84798049e-04 9.99818788e-01 3.20569137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.90925415399994 meters 0.016629607950141224 Centerline is valid? [True, True] Translation: X:469.07, Y:4.77, Z:3.21 [[ 9.99260165e-01 -3.34360056e-02 -1.90041033e-02 4.69073801e+02] [ 3.34365277e-02 9.99440801e-01 -2.90358496e-04 4.76606265e+00] [ 1.90031846e-02 -3.45287547e-04 9.99819364e-01 3.20612912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9392541539999 meters 0.016443617608109373 Centerline is valid? [True, True] Translation: X:469.10, Y:4.77, Z:3.21 [[ 9.99328812e-01 -3.13598158e-02 -1.89337531e-02 4.69104279e+02] [ 3.13599657e-02 9.99508114e-01 -2.89062824e-04 4.76740164e+00] [ 1.89335048e-02 -3.04893041e-04 9.99820699e-01 3.20624577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.96925415399994 meters 0.01630412510120645 Centerline is valid? [True, True] Translation: X:469.13, Y:4.77, Z:3.21 [[ 9.99447625e-01 -2.70967268e-02 -1.92408937e-02 4.69133697e+02] [ 2.70960899e-02 9.99632790e-01 -2.93846238e-04 4.76992034e+00] [ 1.92417905e-02 -2.27669061e-04 9.99814834e-01 3.20611728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9992541539999 meters 0.015717828327766706 Centerline is valid? [True, True] Translation: X:469.16, Y:4.77, Z:3.21 [[ 9.99496178e-01 -2.56770155e-02 -1.86569336e-02 4.69163395e+02] [ 2.56761592e-02 9.99670272e-01 -2.85480193e-04 4.77217769e+00] [ 1.86581122e-02 -1.93702036e-04 9.99825904e-01 3.20764597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.02925415399994 meters 0.015594724676938055 Centerline is valid? [True, True] Translation: X:469.19, Y:4.77, Z:3.21 [[ 9.99540304e-01 -2.45442066e-02 -1.77978363e-02 4.69192432e+02] [ 2.45432328e-02 9.99698732e-01 -2.73170461e-04 4.77281201e+00] [ 1.77991791e-02 -1.63771553e-04 9.99841569e-01 3.20775526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0592541539999 meters 0.015511120585484551 Centerline is valid? [True, True] Translation: X:469.22, Y:4.77, Z:3.21 [[ 9.99562833e-01 -2.40302573e-02 -1.72246743e-02 4.69222007e+02] [ 2.40292562e-02 9.99711221e-01 -2.65110986e-04 4.77278166e+00] [ 1.72260708e-02 -1.48901024e-04 9.99851609e-01 3.20858164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.08925415399995 meters 0.015611601757608945 Centerline is valid? [True, True] Translation: X:469.25, Y:4.77, Z:3.21 [[ 9.99546318e-01 -2.46392947e-02 -1.73223510e-02 4.69251815e+02] [ 2.46383627e-02 9.99696394e-01 -2.67241529e-04 4.77244452e+00] [ 1.73236765e-02 -1.59674082e-04 9.99849921e-01 3.20875772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1192541539999 meters 0.015858022352229616 Centerline is valid? [True, True] Translation: X:469.28, Y:4.77, Z:3.21 [[ 9.99452942e-01 -2.80687063e-02 -1.74918208e-02 4.69280601e+02] [ 2.80682667e-02 9.99605972e-01 -2.70676712e-04 4.76901690e+00] [ 1.74925261e-02 -2.20436456e-04 9.99846970e-01 3.20831061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.14925415399995 meters 0.01613237954202809 Centerline is valid? [True, True] Translation: X:469.31, Y:4.77, Z:3.21 [[ 9.99371815e-01 -3.04805468e-02 -1.80807112e-02 4.69310695e+02] [ 3.04804612e-02 9.99535323e-01 -2.80375796e-04 4.76679082e+00] [ 1.80808555e-02 -2.70908748e-04 9.99836491e-01 3.20830951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1792541539999 meters 0.016899376401122126 Centerline is valid? [True, True] Translation: X:469.34, Y:4.76, Z:3.21 [[ 9.99269471e-01 -3.36013357e-02 -1.82064302e-02 4.69339861e+02] [ 3.36017607e-02 9.99435261e-01 -2.82653353e-04 4.76354211e+00] [ 1.82056458e-02 -3.29321242e-04 9.99834209e-01 3.20769650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.20925415399995 meters 0.01825675247305692 Centerline is valid? [True, True] Translation: X:469.37, Y:4.76, Z:3.21 [[ 9.99007607e-01 -4.03788019e-02 -1.87977223e-02 4.69370648e+02] [ 4.03804514e-02 9.99184334e-01 -2.91961281e-04 4.75789868e+00] [ 1.87941787e-02 -4.67388970e-04 9.99823265e-01 3.20786177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2392541539999 meters 0.01954119413951259 Centerline is valid? [True, True] Translation: X:469.40, Y:4.75, Z:3.21 [[ 9.98858723e-01 -4.37549836e-02 -1.91508174e-02 4.69401176e+02] [ 4.37573198e-02 9.99042146e-01 -2.97227486e-04 4.75450292e+00] [ 1.91454789e-02 -5.41100173e-04 9.99816562e-01 3.20754977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.26925415399995 meters 0.02096072895256059 Centerline is valid? [True, True] Translation: X:469.43, Y:4.75, Z:3.21 [[ 9.98713519e-01 -4.69894703e-02 -1.90603435e-02 4.69431544e+02] [ 4.69923850e-02 9.98895204e-01 -2.95182695e-04 4.75068497e+00] [ 1.90531562e-02 -6.00888054e-04 9.99818292e-01 3.20759172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2992541539999 meters 0.024287090738780187 Centerline is valid? [True, True] Translation: X:469.46, Y:4.74, Z:3.21 [[ 9.98427006e-01 -5.25928964e-02 -1.94293879e-02 4.69461752e+02] [ 5.25970031e-02 9.98615775e-01 -2.99936606e-04 4.74392041e+00] [ 1.94182678e-02 -7.22462769e-04 9.99811187e-01 3.20634787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.32925415399995 meters 0.024735497265193175 Centerline is valid? [True, True] Translation: X:469.49, Y:4.74, Z:3.21 [[ 9.98262975e-01 -5.54101091e-02 -2.00187936e-02 4.69492639e+02] [ 5.54150465e-02 9.98463358e-01 -3.08431468e-04 4.74208113e+00] [ 2.00051222e-02 -8.01446665e-04 9.99799556e-01 3.20673283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3592541539999 meters 0.026306732163832728 Centerline is valid? [True, True] Translation: X:469.52, Y:4.74, Z:3.21 [[ 9.98143937e-01 -5.72459816e-02 -2.07744832e-02 4.69524453e+02] [ 5.72517134e-02 9.98359724e-01 -3.19229330e-04 4.73968567e+00] [ 2.07586819e-02 -8.70737936e-04 9.99784136e-01 3.20564013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.38925415399996 meters 0.02956211046189422 Centerline is valid? [True, True] Translation: X:469.55, Y:4.74, Z:3.20 [[ 9.97948328e-01 -5.99591513e-02 -2.24507360e-02 4.69554414e+02] [ 5.99665397e-02 9.98200328e-01 -3.44597792e-04 4.73526350e+00] [ 2.24309938e-02 -1.00240216e-03 9.99747891e-01 3.20351915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.41925415399993 meters 0.028766790246225284 Centerline is valid? [True, True] Translation: X:469.59, Y:4.74, Z:3.21 [[ 9.97842039e-01 -6.19575826e-02 -2.17375909e-02 4.69586031e+02] [ 6.19649929e-02 9.98078268e-01 -3.33145908e-04 4.73525396e+00] [ 2.17164580e-02 -1.01454267e-03 9.99763655e-01 3.20545184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.44925415399996 meters 0.02921515685623371 Centerline is valid? [True, True] Translation: X:469.62, Y:4.74, Z:3.21 [[ 9.97786618e-01 -6.28571460e-02 -2.16989340e-02 4.69618037e+02] [ 6.28647693e-02 9.98021999e-01 -3.31306360e-04 4.73506133e+00] [ 2.16768385e-02 -1.03352543e-03 9.99764496e-01 3.20584061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.47925415399993 meters 0.030435336560225453 Centerline is valid? [True, True] Translation: X:469.65, Y:4.73, Z:3.21 [[ 9.97739556e-01 -6.40340242e-02 -2.03818966e-02 4.69649606e+02] [ 6.40410298e-02 9.97947218e-01 -3.09473790e-04 4.73394531e+00] [ 2.03598739e-02 -9.96503407e-04 9.99792220e-01 3.20717088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.50925415399996 meters 0.027463205766835218 Centerline is valid? [True, True] Translation: X:469.68, Y:4.74, Z:3.21 [[ 9.97733364e-01 -6.41934406e-02 -2.01825672e-02 4.69681359e+02] [ 6.42003745e-02 9.97936981e-01 -3.04853455e-04 4.73863437e+00] [ 2.01604998e-02 -9.91565913e-04 9.99796265e-01 3.20919871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.53925415399993 meters 0.027198822342858583 Centerline is valid? [True, True] Translation: X:469.71, Y:4.74, Z:3.21 [[ 9.97733204e-01 -6.44253719e-02 -1.94377286e-02 4.69713496e+02] [ 6.44318737e-02 9.97922065e-01 -2.92233996e-04 4.73985714e+00] [ 1.94161655e-02 -9.60837713e-04 9.99811027e-01 3.20988895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.56925415399996 meters 0.02573251179685125 Centerline is valid? [True, True] Translation: X:469.75, Y:4.74, Z:3.21 [[ 9.97760464e-01 -6.42941658e-02 -1.84476919e-02 4.69745341e+02] [ 6.43000238e-02 9.97930574e-01 -2.76036959e-04 4.74372395e+00] [ 1.84272633e-02 -9.10768264e-04 9.99829789e-01 3.21183945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.59925415399994 meters 0.02742506004147997 Centerline is valid? [True, True] Translation: X:469.78, Y:4.74, Z:3.21 [[ 9.97795650e-01 -6.35915181e-02 -1.89725888e-02 4.69776646e+02] [ 6.35976099e-02 9.97975583e-01 -2.82714512e-04 4.74412088e+00] [ 1.89521586e-02 -9.24519994e-04 9.99819964e-01 3.21067782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.62925415399997 meters 0.025912681329847944 Centerline is valid? [True, True] Translation: X:469.81, Y:4.75, Z:3.21 [[ 9.97785870e-01 -6.38230233e-02 -1.87077318e-02 4.69808319e+02] [ 6.38290188e-02 9.97960811e-01 -2.77051931e-04 4.74617635e+00] [ 1.86872655e-02 -9.17657666e-04 9.99824957e-01 3.21205827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.65925415399994 meters 0.02643407921669041 Centerline is valid? [True, True] Translation: X:469.84, Y:4.75, Z:3.21 [[ 9.97782879e-01 -6.36450326e-02 -1.94585508e-02 4.69839854e+02] [ 6.36515305e-02 9.97972144e-01 -2.85850253e-04 4.74716766e+00] [ 1.94372847e-02 -9.53350054e-04 9.99810624e-01 3.21176535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.6892541539999 meters 0.026988139642921186 Centerline is valid? [True, True] Translation: X:469.87, Y:4.75, Z:3.21 [[ 9.97784321e-01 -6.35939314e-02 -1.95515067e-02 4.69870928e+02] [ 6.36005114e-02 9.97975397e-01 -2.85703291e-04 4.74725207e+00] [ 1.95300916e-02 -9.58415557e-04 9.99808810e-01 3.21155871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.71925415399994 meters 0.027860245566374425 Centerline is valid? [True, True] Translation: X:469.90, Y:4.75, Z:3.21 [[ 9.97785324e-01 -6.33501616e-02 -2.02781551e-02 4.69902003e+02] [ 6.33572276e-02 9.97990869e-01 -2.94452664e-04 4.74796087e+00] [ 2.02560672e-02 -9.90967140e-04 9.99794334e-01 3.21133977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.7492541539999 meters 0.02790425022383472 Centerline is valid? [True, True] Translation: X:469.93, Y:4.75, Z:3.21 [[ 9.97794698e-01 -6.31835172e-02 -2.03367385e-02 4.69933742e+02] [ 6.31906244e-02 9.98001432e-01 -2.93588077e-04 4.74919495e+00] [ 2.03146441e-02 -9.92150577e-04 9.99793144e-01 3.21164362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.77925415399994 meters 0.029123335073266806 Centerline is valid? [True, True] Translation: X:469.97, Y:4.75, Z:3.21 [[ 9.97808559e-01 -6.25900632e-02 -2.14607475e-02 4.69965692e+02] [ 6.25978740e-02 9.98038782e-01 -3.08281533e-04 4.75019052e+00] [ 2.14379537e-02 -1.03579122e-03 9.99769644e-01 3.21050859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8092541539999 meters 0.029123335073266806 Centerline is valid? [True, True] Translation: X:470.00, Y:4.75, Z:3.21 [[ 9.97812942e-01 -6.25201360e-02 -2.14607690e-02 4.69997419e+02] [ 6.25279630e-02 9.98043165e-01 -3.06777897e-04 4.75058046e+00] [ 2.14379537e-02 -1.03579122e-03 9.99769644e-01 3.21072833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.83925415399995 meters 0.02844437167763041 Centerline is valid? [True, True] Translation: X:470.03, Y:4.75, Z:3.21 [[ 9.97884448e-01 -6.13398339e-02 -2.15418959e-02 4.70028250e+02] [ 6.13474727e-02 9.98116423e-01 -3.06686901e-04 4.75242101e+00] [ 2.15201322e-02 -1.01550278e-03 9.99767899e-01 3.21094511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8692541539999 meters 0.028074146398208766 Centerline is valid? [True, True] Translation: X:470.06, Y:4.75, Z:3.21 [[ 9.97978991e-01 -5.96812500e-02 -2.18192881e-02 4.70059381e+02] [ 5.96887105e-02 9.98216991e-01 -3.09759401e-04 4.75441876e+00] [ 2.17988709e-02 -9.93231794e-04 9.99761883e-01 3.21082983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.89925415399995 meters 0.025041006065220774 Centerline is valid? [True, True] Translation: X:470.09, Y:4.76, Z:3.21 [[ 9.98299285e-01 -5.41401493e-02 -2.16190287e-02 4.70089943e+02] [ 5.41461848e-02 9.98532972e-01 -3.06517119e-04 4.76203961e+00] [ 2.16039079e-02 -8.64592104e-04 9.99766234e-01 3.21165128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9292541539999 meters 0.024749788688657647 Centerline is valid? [True, True] Translation: X:470.12, Y:4.76, Z:3.21 [[ 9.98507036e-01 -5.03002549e-02 -2.12974895e-02 4.70120580e+02] [ 5.03052518e-02 9.98733844e-01 -3.01397563e-04 4.76455429e+00] [ 2.12856839e-02 -7.70427986e-04 9.99773137e-01 3.21162657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.95925415399995 meters 0.023439150579246632 Centerline is valid? [True, True] Translation: X:470.15, Y:4.77, Z:3.21 [[ 9.98728879e-01 -4.57766193e-02 -2.10980374e-02 4.70151486e+02] [ 4.57805246e-02 9.98951478e-01 -2.98106853e-04 4.76970465e+00] [ 2.10895620e-02 -6.68151298e-04 9.99777367e-01 3.21220875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9892541539999 meters 0.021442940841097696 Centerline is valid? [True, True] Translation: X:470.18, Y:4.77, Z:3.21 [[ 9.98940366e-01 -4.15698008e-02 -1.97508605e-02 4.70181601e+02] [ 4.15724036e-02 9.99135455e-01 -2.78963439e-04 4.77469362e+00] [ 1.97453815e-02 -5.42422905e-04 9.99804894e-01 3.21375206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.01925415399995 meters 0.017904306085240813 Centerline is valid? [True, True] Translation: X:470.21, Y:4.79, Z:3.22 [[ 9.99323697e-01 -3.18761830e-02 -1.83318579e-02 4.70212670e+02] [ 3.18767984e-02 9.99491772e-01 -2.58711128e-04 4.78870478e+00] [ 1.83307878e-02 -3.25824776e-04 9.99831924e-01 3.21780655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0492541539999 meters 0.01596697696454239 Centerline is valid? [True, True] Translation: X:470.24, Y:4.79, Z:3.22 [[ 9.99467877e-01 -2.80264859e-02 -1.66876865e-02 4.70242041e+02] [ 2.80264582e-02 9.99607154e-01 -2.35569305e-04 4.79223133e+00] [ 1.66877330e-02 -2.32252795e-04 9.99860723e-01 3.21934079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.07925415399995 meters 0.016612343963353992 Centerline is valid? [True, True] Translation: X:470.27, Y:4.80, Z:3.22 [[ 9.99659677e-01 -2.11037386e-02 -1.53350064e-02 4.70272382e+02] [ 2.11028989e-02 9.99777286e-01 -2.16590531e-04 4.79802279e+00] [ 1.53361619e-02 -1.07096270e-04 9.99882388e-01 3.21990134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1092541539999 meters 0.015141821297621991 Centerline is valid? [True, True] Translation: X:470.30, Y:4.80, Z:3.22 [[ 9.99715006e-01 -1.90303222e-02 -1.44136561e-02 4.70302010e+02] [ 1.90293609e-02 9.99818905e-01 -2.03850643e-04 4.80042403e+00] [ 1.44149252e-02 -7.04901179e-05 9.99896097e-01 3.22106252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.13925415399996 meters 0.015932885234701526 Centerline is valid? [True, True] Translation: X:470.33, Y:4.80, Z:3.22 [[ 9.99741383e-01 -1.72026734e-02 -1.48739859e-02 4.70331197e+02] [ 1.72014393e-02 9.99852022e-01 -2.10913052e-04 4.80193500e+00] [ 1.48754131e-02 -4.49954577e-05 9.99889354e-01 3.22047447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.16925415399993 meters 0.015079935245229867 Centerline is valid? [True, True] Translation: X:470.36, Y:4.80, Z:3.22 [[ 9.99741233e-01 -1.69098629e-02 -1.52159010e-02 4.70359857e+02] [ 1.69085267e-02 9.99857017e-01 -2.16472488e-04 4.80261811e+00] [ 1.52173859e-02 -4.08619964e-05 9.99884208e-01 3.21990063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.19925415399996 meters 0.01511390535418802 Centerline is valid? [True, True] Translation: X:470.39, Y:4.80, Z:3.22 [[ 9.99713422e-01 -1.78889527e-02 -1.59078287e-02 4.70388950e+02] [ 1.78875736e-02 9.99839978e-01 -2.28982998e-04 4.80214508e+00] [ 1.59093793e-02 -5.56350802e-05 9.99873436e-01 3.21921442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.22925415399993 meters 0.015227872266824424 Centerline is valid? [True, True] Translation: X:470.42, Y:4.80, Z:3.22 [[ 9.99674890e-01 -1.94327154e-02 -1.65070579e-02 4.70417847e+02] [ 1.94313711e-02 9.99811164e-01 -2.41836980e-04 4.80090767e+00] [ 1.65086403e-02 -7.89964111e-05 9.99863720e-01 3.21804154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.25925415399996 meters 0.015481891856876097 Centerline is valid? [True, True] Translation: X:470.45, Y:4.80, Z:3.22 [[ 9.99624216e-01 -2.13666439e-02 -1.71724731e-02 4.70446200e+02] [ 2.13654275e-02 9.99771701e-01 -2.54311732e-04 4.79948206e+00] [ 1.71739864e-02 -1.12681064e-04 9.99852510e-01 3.21711395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.28925415399993 meters 0.015510966754145601 Centerline is valid? [True, True] Translation: X:470.48, Y:4.80, Z:3.22 [[ 9.99505515e-01 -2.55463734e-02 -1.83332539e-02 4.70475466e+02] [ 2.55456662e-02 9.99673619e-01 -2.72797639e-04 4.79687002e+00] [ 1.83342393e-02 -1.95672441e-04 9.99831895e-01 3.21723284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31925415399996 meters 0.015789152098951174 Centerline is valid? [True, True] Translation: X:470.50, Y:4.80, Z:3.22 [[ 9.99452195e-01 -2.73323769e-02 -1.86614931e-02 4.70504457e+02] [ 2.73319400e-02 9.99626374e-01 -2.78508337e-04 4.79524545e+00] [ 1.86621330e-02 -2.31699042e-04 9.99825820e-01 3.21697940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.34925415399994 meters 0.015991830940771185 Centerline is valid? [True, True] Translation: X:470.53, Y:4.79, Z:3.22 [[ 9.99414341e-01 -2.88194955e-02 -1.84502403e-02 4.70534223e+02] [ 2.88193093e-02 9.99584599e-01 -2.76028344e-04 4.79443838e+00] [ 1.84505311e-02 -2.55856498e-04 9.99829742e-01 3.21763775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37925415399997 meters 0.01638470644456094 Centerline is valid? [True, True] Translation: X:470.56, Y:4.79, Z:3.22 [[ 9.99335228e-01 -3.13133857e-02 -1.86701258e-02 4.70564089e+02] [ 3.13136174e-02 9.99509569e-01 -2.80002048e-04 4.79209398e+00] [ 1.86697372e-02 -3.04813266e-04 9.99825659e-01 3.21804217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.40925415399994 meters 0.01639576900080392 Centerline is valid? [True, True] Translation: X:470.59, Y:4.79, Z:3.22 [[ 9.99314849e-01 -3.20936585e-02 -1.84344642e-02 4.70594585e+02] [ 3.20940125e-02 9.99484816e-01 -2.76717409e-04 4.79166512e+00] [ 1.84338479e-02 -3.15108108e-04 9.99830033e-01 3.21852133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4392541539999 meters 0.016636191686025 Centerline is valid? [True, True] Translation: X:470.63, Y:4.79, Z:3.22 [[ 9.99296421e-01 -3.29132666e-02 -1.79827815e-02 4.70625249e+02] [ 3.29137397e-02 9.99458160e-01 -2.69734313e-04 4.79024757e+00] [ 1.79819155e-02 -3.22336056e-04 9.99838260e-01 3.21848348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.46925415399994 meters 0.016656439755087873 Centerline is valid? [True, True] Translation: X:470.66, Y:4.79, Z:3.22 [[ 9.99280665e-01 -3.35389427e-02 -1.77000406e-02 4.70656259e+02] [ 3.35395084e-02 9.99437357e-01 -2.64972345e-04 4.78956229e+00] [ 1.76989687e-02 -3.28868919e-04 9.99843307e-01 3.21895341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4992541539999 meters 0.017696268535663986 Centerline is valid? [True, True] Translation: X:470.69, Y:4.79, Z:3.22 [[ 9.99270497e-01 -3.42390761e-02 -1.69162306e-02 4.70687448e+02] [ 3.42397033e-02 9.99413618e-01 -2.52628716e-04 4.78778883e+00] [ 1.69149610e-02 -3.26762294e-04 9.99856878e-01 3.21913286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.52925415399994 meters 0.018138126373717485 Centerline is valid? [True, True] Translation: X:470.72, Y:4.79, Z:3.22 [[ 9.99265620e-01 -3.44214964e-02 -1.68339099e-02 4.70718566e+02] [ 3.44221538e-02 9.99407351e-01 -2.50781499e-04 4.78758260e+00] [ 1.68325655e-02 -3.28862105e-04 9.99858268e-01 3.21946827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5592541539999 meters 0.01694512429020412 Centerline is valid? [True, True] Translation: X:470.75, Y:4.79, Z:3.22 [[ 9.99251981e-01 -3.52279264e-02 -1.59521820e-02 4.70750144e+02] [ 3.52286285e-02 9.99379251e-01 -2.37073819e-04 4.78710699e+00] [ 1.59506313e-02 -3.25077009e-04 9.99872728e-01 3.22050315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.58925415399995 meters 0.01721829616731158 Centerline is valid? [True, True] Translation: X:470.78, Y:4.79, Z:3.22 [[ 9.99199256e-01 -3.65503798e-02 -1.62762779e-02 4.70781317e+02] [ 3.65512960e-02 9.99331749e-01 -2.41288418e-04 4.78573114e+00] [ 1.62742205e-02 -3.53823844e-04 9.99867503e-01 3.22069628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6192541539999 meters 0.017745709605455663 Centerline is valid? [True, True] Translation: X:470.81, Y:4.78, Z:3.22 [[ 9.99158089e-01 -3.75072939e-02 -1.66227880e-02 4.70813497e+02] [ 3.75083979e-02 9.99296282e-01 -2.45455711e-04 4.78465142e+00] [ 1.66202966e-02 -3.78245087e-04 9.99861802e-01 3.22066834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.64925415399995 meters 0.018953150931004397 Centerline is valid? [True, True] Translation: X:470.84, Y:4.78, Z:3.22 [[ 9.99104107e-01 -3.89685383e-02 -1.65056282e-02 4.70844925e+02] [ 3.89698431e-02 9.99240358e-01 -2.42699178e-04 4.78115919e+00] [ 1.65025475e-02 -4.00739996e-04 9.99863743e-01 3.22006629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6792541539999 meters 0.017936356123349217 Centerline is valid? [True, True] Translation: X:470.88, Y:4.78, Z:3.22 [[ 9.99048136e-01 -4.04939760e-02 -1.62191048e-02 4.70877013e+02] [ 4.04954539e-02 9.99179694e-01 -2.37423960e-04 4.78302291e+00] [ 1.62154144e-02 -4.19602045e-04 9.99868433e-01 3.22141976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.70925415399995 meters 0.018744511530630423 Centerline is valid? [True, True] Translation: X:470.91, Y:4.78, Z:3.22 [[ 9.98922473e-01 -4.34870998e-02 -1.62100395e-02 4.70908873e+02] [ 4.34889865e-02 9.99053879e-01 -2.36261347e-04 4.78028703e+00] [ 1.62049771e-02 -4.68951420e-04 9.99868581e-01 3.22171375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7392541539999 meters 0.019770579956774142 Centerline is valid? [True, True] Translation: X:470.94, Y:4.78, Z:3.22 [[ 9.98885334e-01 -4.41872825e-02 -1.66004351e-02 4.70939736e+02] [ 4.41893732e-02 9.99023143e-01 -2.41025092e-04 4.77918992e+00] [ 1.65948691e-02 -4.92806393e-04 9.99862174e-01 3.22128425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.76925415399995 meters 0.0196335975919982 Centerline is valid? [True, True] Translation: X:470.97, Y:4.78, Z:3.22 [[ 9.98846013e-01 -4.49251028e-02 -1.69816568e-02 4.70972197e+02] [ 4.49274162e-02 9.98990224e-01 -2.45438043e-04 4.77877277e+00] [ 1.69755354e-02 -5.17787150e-04 9.99855771e-01 3.22178737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7992541539999 meters 0.02000757959576622 Centerline is valid? [True, True] Translation: X:471.00, Y:4.78, Z:3.22 [[ 9.98833811e-01 -4.47259188e-02 -1.81826888e-02 4.71003322e+02] [ 4.47285591e-02 9.98999143e-01 -2.61645926e-04 4.77817040e+00] [ 1.81761929e-02 -5.51944675e-04 9.99834647e-01 3.22107678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.82925415399995 meters 0.019700070859794985 Centerline is valid? [True, True] Translation: X:471.04, Y:4.78, Z:3.22 [[ 9.98857992e-01 -4.39338453e-02 -1.87757548e-02 4.71035453e+02] [ 4.39365442e-02 9.99034288e-01 -2.68941005e-04 4.77934244e+00] [ 1.87694384e-02 -5.56307908e-04 9.99823684e-01 3.22121801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8592541539999 meters 0.020114258437443102 Centerline is valid? [True, True] Translation: X:471.07, Y:4.78, Z:3.22 [[ 9.98915175e-01 -4.23333646e-02 -1.93999906e-02 4.71066415e+02] [ 4.23359630e-02 9.99103393e-01 -2.76922073e-04 4.78070896e+00] [ 1.93943194e-02 -5.44695622e-04 9.99811764e-01 3.22070159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.88925415399996 meters 0.01896818621678445 Centerline is valid? [True, True] Translation: X:471.10, Y:4.78, Z:3.22 [[ 9.98953560e-01 -4.15299513e-02 -1.91585165e-02 4.71097410e+02] [ 4.15323509e-02 9.99137122e-01 -2.72791699e-04 4.78246540e+00] [ 1.91533140e-02 -5.23191990e-04 9.99816422e-01 3.22175766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.91925415399993 meters 0.01877350448194446 Centerline is valid? [True, True] Translation: X:471.13, Y:4.78, Z:3.22 [[ 9.99061738e-01 -3.87934872e-02 -1.92538123e-02 4.71127997e+02] [ 3.87954119e-02 9.99247137e-01 -2.73679378e-04 4.78426091e+00] [ 1.92499338e-02 -4.73536984e-04 9.99814591e-01 3.22221045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.94925415399996 meters 0.01842914428918581 Centerline is valid? [True, True] Translation: X:471.16, Y:4.79, Z:3.22 [[ 9.99112887e-01 -3.74785847e-02 -1.92040071e-02 4.71158241e+02] [ 3.74802590e-02 9.99297331e-01 -2.72848383e-04 4.78584172e+00] [ 1.92007390e-02 -4.47164825e-04 9.99815549e-01 3.22272169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.97925415399993 meters 0.018236682039826858 Centerline is valid? [True, True] Translation: X:471.19, Y:4.79, Z:3.22 [[ 9.99165316e-01 -3.61174598e-02 -1.90840210e-02 4.71188506e+02] [ 3.61188794e-02 9.99347464e-01 -2.70398105e-04 4.78701127e+00] [ 1.90813341e-02 -4.19121044e-04 9.99817847e-01 3.22309792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.00925415399996 meters 0.01905169329449438 Centerline is valid? [True, True] Translation: X:471.22, Y:4.79, Z:3.22 [[ 9.99250117e-01 -3.32104460e-02 -1.99065390e-02 4.71218736e+02] [ 3.32114229e-02 9.99448309e-01 -2.81608991e-04 4.78959418e+00] [ 1.99049091e-02 -3.79726666e-04 9.99801806e-01 3.22259554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.03925415399993 meters 0.01661290009455488 Centerline is valid? [True, True] Translation: X:471.25, Y:4.79, Z:3.22 [[ 9.99255115e-01 -3.32237771e-02 -1.96315006e-02 4.71249641e+02] [ 3.32247297e-02 9.99447868e-01 -2.77718145e-04 4.79276679e+00] [ 1.96298882e-02 -3.74740024e-04 9.99807245e-01 3.22495211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.06925415399996 meters 0.017468151263614878 Centerline is valid? [True, True] Translation: X:471.28, Y:4.79, Z:3.22 [[ 9.99283302e-01 -3.19822951e-02 -2.02488147e-02 4.71279057e+02] [ 3.19830490e-02 9.99488370e-01 -2.86692551e-04 4.79097989e+00] [ 2.02476239e-02 -3.61131754e-04 9.99794931e-01 3.22283753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.09925415399994 meters 0.018175425892628928 Centerline is valid? [True, True] Translation: X:471.31, Y:4.79, Z:3.22 [[ 9.99292058e-01 -3.08777887e-02 -2.14929265e-02 4.71308900e+02] [ 3.08783686e-02 9.99523103e-01 -3.04972692e-04 4.79385250e+00] [ 2.14920935e-02 -3.58909717e-04 9.99768954e-01 3.22383224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.12925415399997 meters 0.01648689447721453 Centerline is valid? [True, True] Translation: X:471.34, Y:4.79, Z:3.23 [[ 9.99274422e-01 -3.19978373e-02 -2.06583537e-02 4.71337896e+02] [ 3.19985347e-02 9.99487872e-01 -2.96881098e-04 4.79465027e+00] [ 2.06572735e-02 -3.64371359e-04 9.99786549e-01 3.22550444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.15925415399994 meters 0.016433463616733906 Centerline is valid? [True, True] Translation: X:471.37, Y:4.80, Z:3.23 [[ 9.99285993e-01 -3.19416641e-02 -2.01800523e-02 4.71367682e+02] [ 3.19422734e-02 9.99489673e-01 -2.92218916e-04 4.79512014e+00] [ 2.01790879e-02 -3.52586479e-04 9.99796319e-01 3.22601678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.1892541539999 meters 0.018170735159302575 Centerline is valid? [True, True] Translation: X:471.40, Y:4.79, Z:3.22 [[ 9.99283347e-01 -3.23061837e-02 -1.97256771e-02 4.71397536e+02] [ 3.23068330e-02 9.99477957e-01 -2.85837075e-04 4.79194547e+00] [ 1.97246138e-02 -3.51641927e-04 9.99805389e-01 3.22468498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.21925415399994 meters 0.01648513178893107 Centerline is valid? [True, True] Translation: X:471.43, Y:4.80, Z:3.23 [[ 9.99282567e-01 -3.26832330e-02 -1.91352186e-02 4.71428345e+02] [ 3.26839135e-02 9.99465700e-01 -2.77255280e-04 4.79658399e+00] [ 1.91340563e-02 -3.48357461e-04 9.99816866e-01 3.22855390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.2492541539999 meters 0.017076705820814324 Centerline is valid? [True, True] Translation: X:471.46, Y:4.79, Z:3.23 [[ 9.99243714e-01 -3.44970051e-02 -1.79431768e-02 4.71458347e+02] [ 3.44978993e-02 9.99404737e-01 -2.59780796e-04 4.79499863e+00] [ 1.79414576e-02 -3.59417580e-04 9.99838974e-01 3.22899703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.27925415399994 meters 0.017633147784044123 Centerline is valid? [True, True] Translation: X:471.49, Y:4.80, Z:3.23 [[ 9.99209312e-01 -3.58189789e-02 -1.72554679e-02 4.71489515e+02] [ 3.58200116e-02 9.99358226e-01 -2.49317156e-04 4.79512373e+00] [ 1.72533241e-02 -3.68971038e-04 9.99851082e-01 3.22957390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3092541539999 meters 0.018577998970667097 Centerline is valid? [True, True] Translation: X:471.52, Y:4.79, Z:3.23 [[ 9.99148793e-01 -3.77466595e-02 -1.66397016e-02 4.71519543e+02] [ 3.77479001e-02 9.99287265e-01 -2.39628929e-04 4.79341235e+00] [ 1.66368871e-02 -3.88688839e-04 9.99861522e-01 3.22953846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.33925415399995 meters 0.01821985442160799 Centerline is valid? [True, True] Translation: X:471.55, Y:4.79, Z:3.23 [[ 9.99032130e-01 -4.12152694e-02 -1.53656944e-02 4.71551407e+02] [ 4.12167522e-02 9.99150204e-01 -2.20296464e-04 4.79258023e+00] [ 1.53617163e-02 -4.13240775e-04 9.99881916e-01 3.23088820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3692541539999 meters 0.02035945865529452 Centerline is valid? [True, True] Translation: X:471.58, Y:4.79, Z:3.23 [[ 9.98752811e-01 -4.79584851e-02 -1.38854436e-02 4.71581924e+02] [ 4.79603550e-02 9.98849220e-01 -1.98480416e-04 4.78832030e+00] [ 1.38789833e-02 -4.67717930e-04 9.99903573e-01 3.23143868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.39925415399995 meters 0.021643472297787656 Centerline is valid? [True, True] Translation: X:471.61, Y:4.79, Z:3.23 [[ 9.98562029e-01 -5.19000035e-02 -1.34262613e-02 4.71613028e+02] [ 5.19021136e-02 9.98652159e-01 -1.91462170e-04 4.78630088e+00] [ 1.34181017e-02 -5.05664486e-04 9.99909845e-01 3.23188300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4292541539999 meters 0.025132438692107583 Centerline is valid? [True, True] Translation: X:471.64, Y:4.78, Z:3.23 [[ 9.98417505e-01 -5.45254563e-02 -1.37644226e-02 4.71643952e+02] [ 5.45279317e-02 9.98512226e-01 -1.95672598e-04 4.78286046e+00] [ 1.37546134e-02 -5.55182547e-04 9.99905247e-01 3.23034403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.45925415399995 meters 0.024522765892470558 Centerline is valid? [True, True] Translation: X:471.67, Y:4.78, Z:3.23 [[ 9.98141664e-01 -5.96019765e-02 -1.26816030e-02 4.71674768e+02] [ 5.96044907e-02 9.98222056e-01 -1.79941589e-04 4.78151922e+00] [ 1.26697807e-02 -5.76273290e-04 9.99919569e-01 3.23202470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4892541539999 meters 0.02643003219275083 Centerline is valid? [True, True] Translation: X:471.70, Y:4.78, Z:3.23 [[ 9.97905843e-01 -6.34653392e-02 -1.24931834e-02 4.71704464e+02] [ 6.34680828e-02 9.97983853e-01 -1.77143584e-04 4.77854613e+00] [ 1.24792378e-02 -6.16145784e-04 9.99921941e-01 3.23191245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.51925415399995 meters 0.029521126557914903 Centerline is valid? [True, True] Translation: X:471.73, Y:4.77, Z:3.23 [[ 9.97511860e-01 -6.92305152e-02 -1.33125567e-02 4.71734974e+02] [ 6.92341426e-02 9.97600420e-01 -1.88742551e-04 4.77381331e+00] [ 1.32936789e-02 -7.33410519e-04 9.99911366e-01 3.23082459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5492541539999 meters 0.031228875643850053 Centerline is valid? [True, True] Translation: X:471.76, Y:4.77, Z:3.23 [[ 9.97287475e-01 -7.22705281e-02 -1.39521965e-02 4.71764980e+02] [ 7.22748093e-02 9.97384737e-01 -1.97789492e-04 4.77146177e+00] [ 1.39300022e-02 -8.11139356e-04 9.99902644e-01 3.23050785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.57925415399995 meters 0.03340606969185858 Centerline is valid? [True, True] Translation: X:471.80, Y:4.77, Z:3.23 [[ 9.97013716e-01 -7.56939645e-02 -1.52994780e-02 4.71795299e+02] [ 7.56995219e-02 9.97130651e-01 -2.16376237e-04 4.76898481e+00] [ 1.52719568e-02 -9.42433091e-04 9.99882933e-01 3.22960367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6092541539999 meters 0.03435098256919999 Centerline is valid? [True, True] Translation: X:471.83, Y:4.77, Z:3.23 [[ 9.96961810e-01 -7.62466857e-02 -1.59245793e-02 4.71827225e+02] [ 7.62527939e-02 9.97088492e-01 -2.24142275e-04 4.76844594e+00] [ 1.58953048e-02 -9.90832374e-04 9.99873171e-01 3.22904507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.63925415399996 meters 0.034805684154580706 Centerline is valid? [True, True] Translation: X:471.86, Y:4.77, Z:3.23 [[ 9.96946880e-01 -7.64375702e-02 -1.59441917e-02 4.71859459e+02] [ 7.64437357e-02 9.97073872e-01 -2.23297320e-04 4.76872495e+00] [ 1.59146053e-02 -9.96218010e-04 9.99872858e-01 3.22881311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.66925415399993 meters 0.03507020101559049 Centerline is valid? [True, True] Translation: X:471.89, Y:4.77, Z:3.23 [[ 9.96983243e-01 -7.59100536e-02 -1.61887921e-02 4.71891292e+02] [ 7.59163589e-02 9.97114164e-01 -2.25583527e-04 4.76898351e+00] [ 1.61591980e-02 -1.00409116e-03 9.99868927e-01 3.22862831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.69925415399996 meters 0.03507020101559049 Centerline is valid? [True, True] Translation: X:471.92, Y:4.77, Z:3.23 [[ 9.96991200e-01 -7.58054687e-02 -1.61888123e-02 4.71923889e+02] [ 7.58117838e-02 9.97122121e-01 -2.24129314e-04 4.76933769e+00] [ 1.61592131e-02 -1.00384778e-03 9.99868927e-01 3.22885407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.72925415399993 meters 0.034387945594745985 Centerline is valid? [True, True] Translation: X:471.96, Y:4.77, Z:3.23 [[ 9.97180302e-01 -7.34057546e-02 -1.55897642e-02 4.71955253e+02] [ 7.34113343e-02 9.97301725e-01 -2.14834245e-04 4.77242206e+00] [ 1.55634688e-02 -9.30236912e-04 9.99878449e-01 3.22930370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.75925415399996 meters 0.0333912206109144 Centerline is valid? [True, True] Translation: X:471.99, Y:4.78, Z:3.23 [[ 9.97309283e-01 -7.17288511e-02 -1.51382122e-02 4.71986274e+02] [ 7.17339275e-02 9.97423782e-01 -2.08091434e-04 4.77581856e+00] [ 1.51141390e-02 -8.78391897e-04 9.99885389e-01 3.22999117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.78925415399993 meters 0.03298214581772813 Centerline is valid? [True, True] Translation: X:472.02, Y:4.78, Z:3.23 [[ 9.97463649e-01 -6.96652943e-02 -1.45950793e-02 4.72017957e+02] [ 6.96698041e-02 9.97570087e-01 -1.99842459e-04 4.77859601e+00] [ 1.45735366e-02 -8.17500726e-04 9.99893466e-01 3.23029948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81925415399996 meters 0.026284169311203368 Centerline is valid? [True, True] Translation: X:472.05, Y:4.79, Z:3.23 [[ 9.97622767e-01 -6.73954730e-02 -1.43758168e-02 4.72048909e+02] [ 6.73996244e-02 9.97726041e-01 -1.96069897e-04 4.79049193e+00] [ 1.43563410e-02 -7.73320862e-04 9.99896643e-01 3.23173767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.84925415399994 meters 0.025002188207683653 Centerline is valid? [True, True] Translation: X:472.08, Y:4.80, Z:3.23 [[ 9.97942781e-01 -6.26742439e-02 -1.34960738e-02 4.72079863e+02] [ 6.26774768e-02 9.98033817e-01 -1.83707631e-04 4.79720840e+00] [ 1.34810518e-02 -6.62570146e-04 9.99908907e-01 3.23226640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87925415399997 meters 0.025318427317727137 Centerline is valid? [True, True] Translation: X:472.11, Y:4.80, Z:3.23 [[ 9.98139356e-01 -5.94031951e-02 -1.37508555e-02 4.72111550e+02] [ 5.94062485e-02 9.98233872e-01 -1.86666272e-04 4.80102632e+00] [ 1.37376583e-02 -6.30567786e-04 9.99905435e-01 3.23136541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.90925415399994 meters 0.022773874400849693 Centerline is valid? [True, True] Translation: X:472.14, Y:4.81, Z:3.23 [[ 9.98384307e-01 -5.55493415e-02 -1.19602320e-02 4.72142265e+02] [ 5.55513804e-02 9.98455817e-01 -1.61928542e-04 4.80709480e+00] [ 1.19507582e-02 -5.02740484e-04 9.99928461e-01 3.23311790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9392541539999 meters 0.022641141033733013 Centerline is valid? [True, True] Translation: X:472.17, Y:4.81, Z:3.23 [[ 9.98499073e-01 -5.34740014e-02 -1.18377679e-02 4.72173685e+02] [ 5.34758579e-02 9.98569130e-01 -1.59875180e-04 4.80902693e+00] [ 1.18293787e-02 -4.73399575e-04 9.99929918e-01 3.23318141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.96925415399994 meters 0.022218661897654295 Centerline is valid? [True, True] Translation: X:472.20, Y:4.81, Z:3.23 [[ 9.98607338e-01 -5.14406746e-02 -1.17150245e-02 4.72204714e+02] [ 5.14423605e-02 9.98675953e-01 -1.57581689e-04 4.81169669e+00] [ 1.17076194e-02 -4.45286285e-04 9.99931364e-01 3.23336080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9992541539999 meters 0.021341679786243132 Centerline is valid? [True, True] Translation: X:472.24, Y:4.82, Z:3.23 [[ 9.98769440e-01 -4.80371102e-02 -1.23305064e-02 4.72236339e+02] [ 4.80387273e-02 9.98845460e-01 -1.65172994e-04 4.81724777e+00] [ 1.23242048e-02 -4.27372097e-04 9.99923963e-01 3.23317727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.02925415399994 meters 0.02107999431741359 Centerline is valid? [True, True] Translation: X:472.27, Y:4.82, Z:3.23 [[ 9.98850062e-01 -4.63070439e-02 -1.24182115e-02 4.72269005e+02] [ 4.63085612e-02 9.98927169e-01 -1.65482176e-04 4.81973013e+00] [ 1.24125519e-02 -4.09777627e-04 9.99922877e-01 3.23286039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0592541539999 meters 0.020754547021138544 Centerline is valid? [True, True] Translation: X:472.30, Y:4.82, Z:3.23 [[ 9.98903602e-01 -4.49631243e-02 -1.30349786e-02 4.72300916e+02] [ 4.49646960e-02 9.98988562e-01 -1.72618274e-04 4.82197197e+00] [ 1.30295560e-02 -4.13684833e-04 9.99915026e-01 3.23285294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.08925415399995 meters 0.020009390525737487 Centerline is valid? [True, True] Translation: X:472.33, Y:4.83, Z:3.23 [[ 9.99014048e-01 -4.19799931e-02 -1.44433968e-02 4.72332068e+02] [ 4.19816250e-02 9.99118365e-01 -1.90326952e-04 4.82536138e+00] [ 1.44386529e-02 -4.16217967e-04 9.99895671e-01 3.23112973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1192541539999 meters 0.019893458093022044 Centerline is valid? [True, True] Translation: X:472.36, Y:4.83, Z:3.23 [[ 9.99073640e-01 -4.03581386e-02 -1.49359368e-02 4.72363387e+02] [ 4.03597234e-02 9.99185195e-01 -1.95423449e-04 4.82699541e+00] [ 1.49316538e-02 -4.07567860e-04 9.99888434e-01 3.23039375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.14925415399995 meters 0.01941330074521215 Centerline is valid? [True, True] Translation: X:472.40, Y:4.83, Z:3.23 [[ 9.99141328e-01 -3.86464980e-02 -1.49350452e-02 4.72396120e+02] [ 3.86479149e-02 9.99252871e-01 -1.93842182e-04 4.82897217e+00] [ 1.49313782e-02 -3.83532623e-04 9.99888447e-01 3.23029979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1792541539999 meters 0.01765176046234773 Centerline is valid? [True, True] Translation: X:472.43, Y:4.83, Z:3.23 [[ 9.99256712e-01 -3.57458568e-02 -1.44311513e-02 4.72427822e+02] [ 3.57468916e-02 9.99360858e-01 -1.86318812e-04 4.83478283e+00] [ 1.44285878e-02 -3.29688477e-04 9.99895848e-01 3.23210344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.20925415399995 meters 0.018405893499595132 Centerline is valid? [True, True] Translation: X:472.46, Y:4.83, Z:3.23 [[ 9.99313137e-01 -3.44796793e-02 -1.35795961e-02 4.72459259e+02] [ 3.44804884e-02 9.99405356e-01 -1.74615093e-04 4.83417619e+00] [ 1.35775417e-02 -2.93735949e-04 9.99907778e-01 3.23223547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2392541539999 meters 0.016862543112362165 Centerline is valid? [True, True] Translation: X:472.49, Y:4.84, Z:3.23 [[ 9.99356473e-01 -3.33700225e-02 -1.31560201e-02 4.72491606e+02] [ 3.33706964e-02 9.99443029e-01 -1.68351102e-04 4.83862571e+00] [ 1.31543105e-02 -2.70782790e-04 9.99913442e-01 3.23389100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.26925415399995 meters 0.016660644399271736 Centerline is valid? [True, True] Translation: X:472.52, Y:4.84, Z:3.23 [[ 9.99425749e-01 -3.17443845e-02 -1.18518335e-02 4.72522354e+02] [ 3.17448258e-02 9.99495995e-01 -1.50934494e-04 4.83949052e+00] [ 1.18506514e-02 -2.25386568e-04 9.99929753e-01 3.23450561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2992541539999 meters 0.018345061732716984 Centerline is valid? [True, True] Translation: X:472.55, Y:4.84, Z:3.23 [[ 9.99438032e-01 -3.14637875e-02 -1.15606934e-02 4.72553246e+02] [ 3.14641958e-02 9.99504869e-01 -1.46606457e-04 4.83640324e+00] [ 1.15595821e-02 -2.17223853e-04 9.99933162e-01 3.23373271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.32925415399995 meters 0.01669086578547202 Centerline is valid? [True, True] Translation: X:472.59, Y:4.84, Z:3.23 [[ 9.99412518e-01 -3.22843793e-02 -1.15038471e-02 4.72585230e+02] [ 3.22848461e-02 9.99478698e-01 -1.45175711e-04 4.83961045e+00] [ 1.15025370e-02 -2.26309510e-04 9.99933818e-01 3.23473867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3592541539999 meters 0.016890348880258404 Centerline is valid? [True, True] Translation: X:472.62, Y:4.84, Z:3.23 [[ 9.99369456e-01 -3.34060959e-02 -1.20300640e-02 4.72616943e+02] [ 3.34066974e-02 9.99441829e-01 -1.51000346e-04 4.83939433e+00] [ 1.20283935e-02 -2.50979574e-04 9.99927625e-01 3.23460293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.38925415399996 meters 0.01827688653712282 Centerline is valid? [True, True] Translation: X:472.65, Y:4.84, Z:3.23 [[ 9.99257384e-01 -3.60702097e-02 -1.35506669e-02 4.72647662e+02] [ 3.60712351e-02 9.99349207e-01 -1.68807899e-04 4.83601352e+00] [ 1.35479371e-02 -3.20106750e-04 9.99908171e-01 3.23324873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.41925415399993 meters 0.01822530042122457 Centerline is valid? [True, True] Translation: X:472.68, Y:4.84, Z:3.23 [[ 9.99174693e-01 -3.79494675e-02 -1.44834544e-02 4.72680033e+02] [ 3.79508579e-02 9.99279591e-01 -1.78932729e-04 4.83612398e+00] [ 1.44798108e-02 -3.70874465e-04 9.99895093e-01 3.23348898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.44925415399996 meters 0.02002948888862253 Centerline is valid? [True, True] Translation: X:472.71, Y:4.83, Z:3.23 [[ 9.99096918e-01 -3.96802192e-02 -1.51930438e-02 4.72711736e+02] [ 3.96819700e-02 9.99212343e-01 -1.86324190e-04 4.83451724e+00] [ 1.51884703e-02 -4.16733985e-04 9.99884562e-01 3.23220759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.47925415399993 meters 0.019125040063284898 Centerline is valid? [True, True] Translation: X:472.74, Y:4.83, Z:3.23 [[ 9.99013372e-01 -4.17635966e-02 -1.51024658e-02 4.72743606e+02] [ 4.17655841e-02 9.99127420e-01 -1.83909257e-04 4.83424209e+00] [ 1.50969684e-02 -4.47035500e-04 9.99885934e-01 3.23348981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.50925415399996 meters 0.019367537345290897 Centerline is valid? [True, True] Translation: X:472.78, Y:4.83, Z:3.23 [[ 9.98946922e-01 -4.33041658e-02 -1.51590448e-02 4.72776124e+02] [ 4.33063624e-02 9.99061823e-01 -1.83483122e-04 4.83332059e+00] [ 1.51527685e-02 -4.73193186e-04 9.99885078e-01 3.23372677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.53925415399993 meters 0.020992766231434506 Centerline is valid? [True, True] Translation: X:472.81, Y:4.83, Z:3.23 [[ 9.98899579e-01 -4.42044100e-02 -1.56716602e-02 4.72808461e+02] [ 4.42068866e-02 9.99022380e-01 -1.88517964e-04 4.83215506e+00] [ 1.56646726e-02 -5.04484793e-04 9.99877174e-01 3.23328086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.56925415399996 meters 0.019905275073481558 Centerline is valid? [True, True] Translation: X:472.84, Y:4.83, Z:3.23 [[ 9.98890292e-01 -4.48145967e-02 -1.44857349e-02 4.72840592e+02] [ 4.48167916e-02 9.98995208e-01 -1.73225957e-04 4.83228411e+00] [ 1.44789428e-02 -4.76170433e-04 9.99895061e-01 3.23470622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.59925415399994 meters 0.01982487922352347 Centerline is valid? [True, True] Translation: X:472.87, Y:4.83, Z:3.24 [[ 9.98933562e-01 -4.38966015e-02 -1.43117778e-02 4.72873241e+02] [ 4.38986667e-02 9.99035974e-01 -1.69967264e-04 4.83307589e+00] [ 1.43054419e-02 -4.58481960e-04 9.99897567e-01 3.23501637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.62925415399997 meters 0.020066087655675087 Centerline is valid? [True, True] Translation: X:472.90, Y:4.83, Z:3.24 [[ 9.99005300e-01 -4.22184445e-02 -1.43531494e-02 4.72904543e+02] [ 4.22203721e-02 9.99108308e-01 -1.68824318e-04 4.83318515e+00] [ 1.43474784e-02 -4.37338922e-04 9.99896974e-01 3.23502142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.65925415399994 meters 0.01761816965157532 Centerline is valid? [True, True] Translation: X:472.94, Y:4.84, Z:3.24 [[ 9.99200366e-01 -3.76499987e-02 -1.34576058e-02 4.72935994e+02] [ 3.76512942e-02 9.99290926e-01 -1.57171580e-04 4.83867019e+00] [ 1.34539808e-02 -3.49650375e-04 9.99909430e-01 3.23611159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.6892541539999 meters 0.017139811174662286 Centerline is valid? [True, True] Translation: X:472.97, Y:4.84, Z:3.24 [[ 9.99310537e-01 -3.47799345e-02 -1.29925714e-02 4.72968530e+02] [ 3.47809101e-02 9.99394950e-01 -1.50924452e-04 4.84044805e+00] [ 1.29899593e-02 -3.01073062e-04 9.99915582e-01 3.23646071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.71925415399994 meters 0.017023848589683876 Centerline is valid? [True, True] Translation: X:473.00, Y:4.84, Z:3.24 [[ 9.99404958e-01 -3.20429408e-02 -1.27663240e-02 4.72999924e+02] [ 3.20436718e-02 9.99486459e-01 -1.47338169e-04 4.84100241e+00] [ 1.27644891e-02 -2.61829399e-04 9.99918496e-01 3.23666186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.7492541539999 meters 0.016212819947449313 Centerline is valid? [True, True] Translation: X:473.03, Y:4.84, Z:3.24 [[ 9.99482321e-01 -2.95888740e-02 -1.26328372e-02 4.73032000e+02] [ 2.95894039e-02 9.99562127e-01 -1.44996458e-04 4.84331695e+00] [ 1.26315959e-02 -2.28876726e-04 9.99920192e-01 3.23708253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.77925415399994 meters 0.018288887125792606 Centerline is valid? [True, True] Translation: X:473.06, Y:4.84, Z:3.24 [[ 9.99560318e-01 -2.59693527e-02 -1.43095891e-02 4.73063370e+02] [ 2.59696844e-02 9.99662718e-01 -1.62673316e-04 4.84393795e+00] [ 1.43089872e-02 -2.09013720e-04 9.99897599e-01 3.23547884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8092541539999 meters 0.017783091405581267 Centerline is valid? [True, True] Translation: X:473.09, Y:4.84, Z:3.24 [[ 9.99561361e-01 -2.54662201e-02 -1.51181387e-02 4.73094287e+02] [ 2.54665520e-02 9.99675660e-01 -1.70589279e-04 4.84417169e+00] [ 1.51175795e-02 -2.14492414e-04 9.99885700e-01 3.23520679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.83925415399995 meters 0.01597092090595038 Centerline is valid? [True, True] Translation: X:473.13, Y:4.84, Z:3.24 [[ 9.99547121e-01 -2.58644713e-02 -1.53812024e-02 4.73125850e+02] [ 2.58648706e-02 9.99665433e-01 -1.73003095e-04 4.84424657e+00] [ 1.53805310e-02 -2.24908064e-04 9.99881687e-01 3.23556427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8692541539999 meters 0.01603056574181427 Centerline is valid? [True, True] Translation: X:473.16, Y:4.84, Z:3.23 [[ 9.99513710e-01 -2.64118476e-02 -1.65758404e-02 4.73157151e+02] [ 2.64123967e-02 9.99651115e-01 -1.85827747e-04 4.84375045e+00] [ 1.65749654e-02 -2.52070293e-04 9.99862594e-01 3.23470746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.89925415399995 meters 0.016310140774213368 Centerline is valid? [True, True] Translation: X:473.19, Y:4.84, Z:3.23 [[ 9.99411518e-01 -2.86548702e-02 -1.88551084e-02 4.73187388e+02] [ 2.86559852e-02 9.99589311e-01 -2.11097266e-04 4.84136308e+00] [ 1.88534138e-02 -3.29338668e-04 9.99822204e-01 3.23289594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9292541539999 meters 0.017048633819773375 Centerline is valid? [True, True] Translation: X:473.22, Y:4.84, Z:3.23 [[ 9.99355436e-01 -2.99148927e-02 -1.98447066e-02 4.73217026e+02] [ 2.99163748e-02 9.99552380e-01 -2.22249422e-04 4.83932425e+00] [ 1.98424723e-02 -3.71575512e-04 9.99803050e-01 3.23191920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.95925415399995 meters 0.017200405213405965 Centerline is valid? [True, True] Translation: X:473.25, Y:4.84, Z:3.23 [[ 9.99267022e-01 -3.22769679e-02 -2.05819358e-02 4.73246510e+02] [ 3.22790519e-02 9.99478869e-01 -2.31041564e-04 4.83904696e+00] [ 2.05786672e-02 -4.33493157e-04 9.99788143e-01 3.23247591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9892541539999 meters 0.018055934865605812 Centerline is valid? [True, True] Translation: X:473.28, Y:4.84, Z:3.23 [[ 9.99229326e-01 -3.33780330e-02 -2.06557836e-02 4.73276452e+02] [ 3.33803568e-02 9.99442694e-01 -2.32369836e-04 4.83728516e+00] [ 2.06520281e-02 -4.57306673e-04 9.99786620e-01 3.23232413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.01925415399995 meters 0.0180750424857523 Centerline is valid? [True, True] Translation: X:473.31, Y:4.84, Z:3.23 [[ 9.99197719e-01 -3.45537992e-02 -2.02472909e-02 4.73307269e+02] [ 3.45562755e-02 9.99402728e-01 -2.27659135e-04 4.83767323e+00] [ 2.02430642e-02 -4.72194472e-04 9.99794977e-01 3.23328833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0492541539999 meters 0.018692505518411326 Centerline is valid? [True, True] Translation: X:473.34, Y:4.84, Z:3.23 [[ 9.99170588e-01 -3.54774543e-02 -1.99871315e-02 4.73338729e+02] [ 3.54800637e-02 9.99370359e-01 -2.24147200e-04 4.83730701e+00] [ 1.99824989e-02 -4.85183408e-04 9.99800212e-01 3.23382158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.07925415399995 meters 0.017958316190767293 Centerline is valid? [True, True] Translation: X:473.37, Y:4.84, Z:3.24 [[ 9.99115874e-01 -3.75354251e-02 -1.89357371e-02 4.73369571e+02] [ 3.75381451e-02 9.99295173e-01 -2.11901039e-04 4.83855633e+00] [ 1.89303444e-02 -4.99098753e-04 9.99820680e-01 3.23651580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1092541539999 meters 0.01886912518515766 Centerline is valid? [True, True] Translation: X:473.40, Y:4.84, Z:3.24 [[ 9.99072856e-01 -3.87922060e-02 -1.86706339e-02 4.73400360e+02] [ 3.87950840e-02 9.99247166e-01 -2.08160188e-04 4.83697684e+00] [ 1.86646530e-02 -5.16361617e-04 9.99825667e-01 3.23647925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.13925415399996 meters 0.019375950338566362 Centerline is valid? [True, True] Translation: X:473.43, Y:4.84, Z:3.24 [[ 9.99031923e-01 -4.00103948e-02 -1.82862142e-02 4.73432350e+02] [ 4.00133812e-02 9.99199123e-01 -2.02682658e-04 4.83617213e+00] [ 1.82796786e-02 -5.29206815e-04 9.99832773e-01 3.23691001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.16925415399993 meters 0.024070333166663148 Centerline is valid? [True, True] Translation: X:473.46, Y:4.83, Z:3.23 [[ 9.98858804e-01 -4.41033262e-02 -1.83299087e-02 4.73462277e+02] [ 4.41070244e-02 9.99026791e-01 -2.02667339e-04 4.83091494e+00] [ 1.83210081e-02 -6.06041672e-04 9.99831973e-01 3.23485696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.19925415399996 meters 0.02564596226707247 Centerline is valid? [True, True] Translation: X:473.49, Y:4.83, Z:3.24 [[ 9.98713183e-01 -4.76593836e-02 -1.73367128e-02 4.73492310e+02] [ 4.76632267e-02 9.98863444e-01 -1.91685922e-04 4.82619165e+00] [ 1.73261443e-02 -6.34884413e-04 9.99849690e-01 3.23551542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.22925415399993 meters 0.02776312255774225 Centerline is valid? [True, True] Translation: X:473.52, Y:4.82, Z:3.24 [[ 9.98549225e-01 -5.10184351e-02 -1.72210457e-02 4.73522624e+02] [ 5.10227287e-02 9.98697474e-01 -1.90238235e-04 4.82246705e+00] [ 1.72083205e-02 -6.88702499e-04 9.99851689e-01 3.23563351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.25925415399996 meters 0.024850411318389623 Centerline is valid? [True, True] Translation: X:473.55, Y:4.83, Z:3.24 [[ 9.98359711e-01 -5.45044997e-02 -1.75255984e-02 4.73553557e+02] [ 5.45094880e-02 9.98513234e-01 -1.93294679e-04 4.82756072e+00] [ 1.75100774e-02 -7.62333775e-04 9.99846396e-01 3.23671960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.28925415399993 meters 0.02643194149451275 Centerline is valid? [True, True] Translation: X:473.58, Y:4.82, Z:3.24 [[ 9.97944686e-01 -6.19372222e-02 -1.64372769e-02 4.73584308e+02] [ 6.19426179e-02 9.98079696e-01 -1.81144292e-04 4.82327802e+00] [ 1.64169319e-02 -8.37395977e-04 9.99864882e-01 3.23854297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31925415399996 meters 0.02703651136746532 Centerline is valid? [True, True] Translation: X:473.62, Y:4.82, Z:3.24 [[ 9.97761170e-01 -6.49828986e-02 -1.58073203e-02 4.73615648e+02] [ 6.49882751e-02 9.97886012e-01 -1.73855283e-04 4.82244936e+00] [ 1.57852014e-02 -8.53824428e-04 9.99875041e-01 3.23940866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.34925415399994 meters 0.03164617070034257 Centerline is valid? [True, True] Translation: X:473.65, Y:4.82, Z:3.24 [[ 9.97404720e-01 -7.04217731e-02 -1.49865940e-02 4.73645332e+02] [ 7.04272192e-02 9.97516907e-01 -1.64710965e-04 4.81555753e+00] [ 1.49609801e-02 -8.91180645e-04 9.99887681e-01 3.23978837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37925415399997 meters 0.03250162738609473 Centerline is valid? [True, True] Translation: X:473.68, Y:4.81, Z:3.24 [[ 9.97244673e-01 -7.25959623e-02 -1.52606831e-02 4.73676686e+02] [ 7.26018659e-02 9.97360988e-01 -1.67534297e-04 4.81420019e+00] [ 1.52325723e-02 -9.40881386e-04 9.99883535e-01 3.23969309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.40925415399994 meters 0.03354914388340836 Centerline is valid? [True, True] Translation: X:473.71, Y:4.81, Z:3.24 [[ 9.97087341e-01 -7.45650847e-02 -1.60275752e-02 4.73708264e+02] [ 7.45718593e-02 9.97215627e-01 -1.75369323e-04 4.81277359e+00] [ 1.59960249e-02 -1.02034755e-03 9.99871535e-01 3.23899719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4392541539999 meters 0.03544498726363082 Centerline is valid? [True, True] Translation: X:473.74, Y:4.81, Z:3.24 [[ 9.96857362e-01 -7.71472172e-02 -1.79918341e-02 4.73739720e+02] [ 7.71561854e-02 9.97018999e-01 -1.96193311e-04 4.80993179e+00] [ 1.79533362e-02 -1.19260454e-03 9.99838115e-01 3.23681786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.46925415399994 meters 0.03629400049257082 Centerline is valid? [True, True] Translation: X:473.77, Y:4.81, Z:3.24 [[ 9.96797997e-01 -7.77091405e-02 -1.88425976e-02 4.73772317e+02] [ 7.77190978e-02 9.96975276e-01 -2.04367412e-04 4.80927442e+00] [ 1.88014851e-02 -1.26071665e-03 9.99822442e-01 3.23570026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4992541539999 meters 0.03417576671005136 Centerline is valid? [True, True] Translation: X:473.80, Y:4.81, Z:3.24 [[ 9.96747217e-01 -7.82814203e-02 -1.91573632e-02 4.73804403e+02] [ 7.82918449e-02 9.96930461e-01 -2.06393060e-04 4.81202975e+00] [ 1.91147157e-02 -1.29414360e-03 9.99816460e-01 3.23681309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.52925415399994 meters 0.03381936313893277 Centerline is valid? [True, True] Translation: X:473.84, Y:4.81, Z:3.24 [[ 9.96801160e-01 -7.76776177e-02 -1.88051774e-02 4.73836603e+02] [ 7.76875810e-02 9.96977733e-01 -2.01233492e-04 4.81360544e+00] [ 1.87639744e-02 -1.26033896e-03 9.99823147e-01 3.23648694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5592541539999 meters 0.03079792225355806 Centerline is valid? [True, True] Translation: X:473.87, Y:4.82, Z:3.24 [[ 9.96964956e-01 -7.56603711e-02 -1.83408195e-02 4.73867975e+02] [ 7.56695254e-02 9.97132932e-01 -1.95341447e-04 4.81897802e+00] [ 1.83030148e-02 -1.19309253e-03 9.99831774e-01 3.23864329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.58925415399995 meters 0.03597797659510504 Centerline is valid? [True, True] Translation: X:473.90, Y:4.81, Z:3.24 [[ 9.97144145e-01 -7.33890503e-02 -1.78214020e-02 4.73898981e+02] [ 7.33973436e-02 9.97302760e-01 -1.89154135e-04 4.81395884e+00] [ 1.77872153e-02 -1.11942963e-03 9.99841168e-01 3.23714166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6192541539999 meters 0.03597797659510504 Centerline is valid? [True, True] Translation: X:473.93, Y:4.81, Z:3.24 [[ 9.97151847e-01 -7.32843191e-02 -1.78214168e-02 4.73931583e+02] [ 7.32926207e-02 9.97310461e-01 -1.87753748e-04 4.81420528e+00] [ 1.77872448e-02 -1.11895934e-03 9.99841168e-01 3.23736751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.64925415399995 meters 0.02882603365237998 Centerline is valid? [True, True] Translation: X:473.96, Y:4.83, Z:3.24 [[ 9.97557109e-01 -6.76069015e-02 -1.75818521e-02 4.73962366e+02] [ 6.76141183e-02 9.97711530e-01 -1.84322048e-04 4.82671928e+00] [ 1.75540780e-02 -1.00490966e-03 9.99845410e-01 3.24041042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6792541539999 meters 0.028830938973958907 Centerline is valid? [True, True] Translation: X:473.99, Y:4.83, Z:3.24 [[ 9.97812037e-01 -6.39435368e-02 -1.68036303e-02 4.73992265e+02] [ 6.39496128e-02 9.97953113e-01 -1.76045403e-04 4.82836394e+00] [ 1.67804922e-02 -8.98925430e-04 9.99858794e-01 3.24074140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.70925415399995 meters 0.025522896010575967 Centerline is valid? [True, True] Translation: X:474.02, Y:4.84, Z:3.24 [[ 9.98333452e-01 -5.56050908e-02 -1.54399625e-02 4.74023092e+02] [ 5.56092274e-02 9.98452597e-01 -1.61621219e-04 4.83541971e+00] [ 1.54250576e-02 -6.97252514e-04 9.99880784e-01 3.24164348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7392541539999 meters 0.02680418477348075 Centerline is valid? [True, True] Translation: X:474.05, Y:4.83, Z:3.24 [[ 9.98577333e-01 -5.11606061e-02 -1.50300720e-02 4.74052802e+02] [ 5.11640249e-02 9.98690251e-01 -1.57221603e-04 4.83465843e+00] [ 1.50184300e-02 -6.12001051e-04 9.99887030e-01 3.24129378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.76925415399995 meters 0.021096990032265485 Centerline is valid? [True, True] Translation: X:474.08, Y:4.85, Z:3.24 [[ 9.98808227e-01 -4.66272583e-02 -1.44230246e-02 4.74083508e+02] [ 4.66299364e-02 9.98912222e-01 -1.50735612e-04 4.84512118e+00] [ 1.44143640e-02 -5.21988752e-04 9.99895971e-01 3.24320509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7992541539999 meters 0.02036106646164435 Centerline is valid? [True, True] Translation: X:474.11, Y:4.85, Z:3.24 [[ 9.99005272e-01 -4.22491611e-02 -1.42644973e-02 4.74113942e+02] [ 4.22513384e-02 9.99107002e-01 -1.48820799e-04 4.84820564e+00] [ 1.42580467e-02 -4.54021342e-04 9.99898246e-01 3.24327838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.82925415399995 meters 0.01717325646898099 Centerline is valid? [True, True] Translation: X:474.14, Y:4.86, Z:3.24 [[ 9.99335911e-01 -3.38173842e-02 -1.35691025e-02 4.74144246e+02] [ 3.38185791e-02 9.99427978e-01 -1.41445660e-04 4.85703357e+00] [ 1.35661240e-02 -3.17536039e-04 9.99907925e-01 3.24453313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8592541539999 meters 0.016656544825362704 Centerline is valid? [True, True] Translation: X:474.17, Y:4.86, Z:3.24 [[ 9.99460756e-01 -2.98872009e-02 -1.35996956e-02 4.74174460e+02] [ 2.98880393e-02 9.99553243e-01 -1.41642810e-04 4.85910878e+00] [ 1.35978532e-02 -2.64901807e-04 9.99907510e-01 3.24425332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.88925415399996 meters 0.01625683935480799 Centerline is valid? [True, True] Translation: X:474.21, Y:4.86, Z:3.24 [[ 9.99554316e-01 -2.64908684e-02 -1.37624000e-02 4.74205784e+02] [ 2.64914119e-02 9.99649031e-01 -1.42842715e-04 4.86101317e+00] [ 1.37613538e-02 -2.21806355e-04 9.99905283e-01 3.24366964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.91925415399993 meters 0.01598214078685257 Centerline is valid? [True, True] Translation: X:474.24, Y:4.87, Z:3.24 [[ 9.99680376e-01 -2.04697471e-02 -1.48369373e-02 4.74237136e+02] [ 2.04697259e-02 9.99790461e-01 -1.53308619e-04 4.86562203e+00] [ 1.48369666e-02 -1.50448422e-04 9.99889915e-01 3.24230366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.94925415399996 meters 0.01488807851902821 Centerline is valid? [True, True] Translation: X:474.27, Y:4.87, Z:3.24 [[ 9.99703442e-01 -1.87353010e-02 -1.55568582e-02 4.74267658e+02] [ 1.87350718e-02 9.99824470e-01 -1.60484673e-04 4.86753944e+00] [ 1.55571342e-02 -1.31021775e-04 9.99878972e-01 3.24251339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.97925415399993 meters 0.015346155422327505 Centerline is valid? [True, True] Translation: X:474.30, Y:4.87, Z:3.24 [[ 9.99729044e-01 -1.72137591e-02 -1.56692699e-02 4.74297557e+02] [ 1.72133347e-02 9.99851826e-01 -1.61961667e-04 4.86890373e+00] [ 1.56697361e-02 -1.07802604e-04 9.99877216e-01 3.24207029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.00925415399996 meters 0.014725234611217547 Centerline is valid? [True, True] Translation: X:474.33, Y:4.87, Z:3.24 [[ 9.99740542e-01 -1.65407765e-02 -1.56605064e-02 4.74326320e+02] [ 1.65402587e-02 9.99863187e-01 -1.62594790e-04 4.86957999e+00] [ 1.56610533e-02 -9.64762232e-05 9.99877354e-01 3.24214422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.03925415399993 meters 0.014440526078538412 Centerline is valid? [True, True] Translation: X:474.35, Y:4.87, Z:3.24 [[ 9.99741692e-01 -1.64849102e-02 -1.56460194e-02 4.74354628e+02] [ 1.64843456e-02 9.99864110e-01 -1.65059902e-04 4.86950877e+00] [ 1.56466143e-02 -9.28971249e-05 9.99877580e-01 3.24311087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.06925415399996 meters 0.015202426394795097 Centerline is valid? [True, True] Translation: X:474.38, Y:4.87, Z:3.24 [[ 9.99742570e-01 -1.71950785e-02 -1.48027924e-02 4.74383558e+02] [ 1.71945961e-02 9.99852149e-01 -1.59866717e-04 4.86834230e+00] [ 1.48033527e-02 -9.47024741e-05 9.99890420e-01 3.24259498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.09925415399994 meters 0.014798732192178485 Centerline is valid? [True, True] Translation: X:474.41, Y:4.87, Z:3.24 [[ 9.99709757e-01 -1.97046144e-02 -1.38610881e-02 4.74412033e+02] [ 1.97044043e-02 9.99805838e-01 -1.51735241e-04 4.86545482e+00] [ 1.38613867e-02 -1.21433283e-04 9.99903919e-01 3.24299678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.12925415399997 meters 0.01616865395033504 Centerline is valid? [True, True] Translation: X:474.44, Y:4.86, Z:3.24 [[ 9.99690245e-01 -2.08431809e-02 -1.36005760e-02 4.74442183e+02] [ 2.08430790e-02 9.99782748e-01 -1.49252737e-04 4.86406723e+00] [ 1.36007322e-02 -1.34271376e-04 9.99907497e-01 3.24200722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.15925415399994 meters 0.015093740471567009 Centerline is valid? [True, True] Translation: X:474.47, Y:4.86, Z:3.24 [[ 9.99645505e-01 -2.30745387e-02 -1.32827083e-02 4.74473024e+02] [ 2.30746400e-02 9.99733734e-01 -1.45650908e-04 4.86301325e+00] [ 1.32825324e-02 -1.60894437e-04 9.99911770e-01 3.24367748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.1892541539999 meters 0.015429847433081957 Centerline is valid? [True, True] Translation: X:474.50, Y:4.86, Z:3.24 [[ 9.99522368e-01 -2.80783333e-02 -1.29090628e-02 4.74503924e+02] [ 2.80788515e-02 9.99605701e-01 -1.41136365e-04 4.86064327e+00] [ 1.29079356e-02 -2.21402702e-04 9.99916665e-01 3.24425674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.21925415399994 meters 0.01796561304975579 Centerline is valid? [True, True] Translation: X:474.54, Y:4.86, Z:3.24 [[ 9.99449048e-01 -3.05428576e-02 -1.29897523e-02 4.74535461e+02] [ 3.05435993e-02 9.99533425e-01 -1.41331522e-04 4.85777965e+00] [ 1.29880083e-02 -2.55500133e-04 9.99915620e-01 3.24257828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.2492541539999 meters 0.019267705819540636 Centerline is valid? [True, True] Translation: X:474.57, Y:4.85, Z:3.24 [[ 9.99346310e-01 -3.37324307e-02 -1.30029259e-02 4.74566980e+02] [ 3.37334532e-02 9.99430855e-01 -1.40749178e-04 4.85462272e+00] [ 1.30002732e-02 -2.97976421e-04 9.99915448e-01 3.24169874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.27925415399994 meters 0.019250704249455283 Centerline is valid? [True, True] Translation: X:474.60, Y:4.85, Z:3.24 [[ 9.99043340e-01 -4.17520337e-02 -1.30066610e-02 4.74597754e+02] [ 4.17537420e-02 9.99127922e-01 -1.40295948e-04 4.84770370e+00] [ 1.30011758e-02 -4.02915037e-04 9.99915400e-01 3.24396462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3092541539999 meters 0.020328843291826222 Centerline is valid? [True, True] Translation: X:474.63, Y:4.84, Z:3.24 [[ 9.98891527e-01 -4.53995460e-02 -1.24337487e-02 4.74630133e+02] [ 4.54013958e-02 9.98968816e-01 -1.33595890e-04 4.84448512e+00] [ 1.24269924e-02 -4.31061744e-04 9.99922689e-01 3.24421850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.33925415399995 meters 0.024239654171157688 Centerline is valid? [True, True] Translation: X:474.66, Y:4.84, Z:3.24 [[ 9.98561128e-01 -5.22593126e-02 -1.20265158e-02 4.74660733e+02] [ 5.22615459e-02 9.98633423e-01 -1.28714277e-04 4.83722189e+00] [ 1.20168072e-02 -4.99995237e-04 9.99927671e-01 3.24261857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3692541539999 meters 0.024239654171157688 Centerline is valid? [True, True] Translation: X:474.69, Y:4.84, Z:3.24 [[ 9.98566881e-01 -5.21492817e-02 -1.20265221e-02 4.74693301e+02] [ 5.21515141e-02 9.98639176e-01 -1.28126426e-04 4.83748016e+00] [ 1.20168378e-02 -4.99258531e-04 9.99927671e-01 3.24284425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.39925415399995 meters 0.02378397278627083 Centerline is valid? [True, True] Translation: X:474.72, Y:4.83, Z:3.25 [[ 9.98199560e-01 -5.87272046e-02 -1.21964654e-02 4.74723771e+02] [ 5.87300002e-02 9.98273895e-01 -1.29139401e-04 4.83367320e+00] [ 1.21829971e-02 -5.87391524e-04 9.99925612e-01 3.24526366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4292541539999 meters 0.026364773202932283 Centerline is valid? [True, True] Translation: X:474.75, Y:4.83, Z:3.24 [[ 9.97914358e-01 -6.34034942e-02 -1.21215139e-02 4.74754119e+02] [ 6.34065998e-02 9.97987769e-01 -1.28316228e-04 4.82788420e+00] [ 1.21052583e-02 -6.40535374e-04 9.99926524e-01 3.24467815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.45925415399995 meters 0.02834911653923312 Centerline is valid? [True, True] Translation: X:474.78, Y:4.82, Z:3.24 [[ 9.97817921e-01 -6.47933402e-02 -1.26972442e-02 4.74784796e+02] [ 6.47968627e-02 9.97898466e-01 -1.34199344e-04 4.82402893e+00] [ 1.26792557e-02 -6.88835077e-04 9.99919378e-01 3.24414271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4892541539999 meters 0.027861922307444418 Centerline is valid? [True, True] Translation: X:474.82, Y:4.83, Z:3.24 [[ 9.97758026e-01 -6.57012823e-02 -1.27382203e-02 4.74816998e+02] [ 6.57049101e-02 9.97839089e-01 -1.33944348e-04 4.82509092e+00] [ 1.27194945e-02 -7.03319573e-04 9.99918857e-01 3.24283687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.51925415399995 meters 0.02899235229219366 Centerline is valid? [True, True] Translation: X:474.85, Y:4.82, Z:3.24 [[ 9.97710956e-01 -6.64413640e-02 -1.25854783e-02 4.74849384e+02] [ 6.64449756e-02 9.97790082e-01 -1.31412181e-04 4.82321395e+00] [ 1.25663966e-02 -7.05130427e-04 9.99920791e-01 3.24225415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5492541539999 meters 0.029418031673802487 Centerline is valid? [True, True] Translation: X:474.88, Y:4.82, Z:3.24 [[ 9.97635374e-01 -6.74974126e-02 -1.29522124e-02 4.74880845e+02] [ 6.75013376e-02 9.97719175e-01 -1.34384886e-04 4.82064306e+00] [ 1.29317413e-02 -7.40224547e-04 9.99916108e-01 3.24481244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.57925415399995 meters 0.030411925676124895 Centerline is valid? [True, True] Translation: X:474.91, Y:4.82, Z:3.24 [[ 9.97669775e-01 -6.70661481e-02 -1.25360544e-02 4.74913024e+02] [ 6.70698006e-02 9.97748277e-01 -1.29296027e-04 4.82017986e+00] [ 1.25164981e-02 -7.11795929e-04 9.99921412e-01 3.24424929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6092541539999 meters 0.029623078904144024 Centerline is valid? [True, True] Translation: X:474.95, Y:4.82, Z:3.25 [[ 9.97668633e-01 -6.69799323e-02 -1.30761883e-02 4.74946223e+02] [ 6.69839146e-02 9.97754047e-01 -1.33679685e-04 4.82143339e+00] [ 1.30557737e-02 -7.42526252e-04 9.99914494e-01 3.24549678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.63925415399996 meters 0.02730716581261533 Centerline is valid? [True, True] Translation: X:474.98, Y:4.83, Z:3.25 [[ 9.97766597e-01 -6.52864970e-02 -1.41241327e-02 4.74978537e+02] [ 6.52909930e-02 9.97866256e-01 -1.43049000e-04 4.82560216e+00] [ 1.41033346e-02 -7.79449138e-04 9.99900239e-01 3.24564098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.66925415399993 meters 0.028305274918678416 Centerline is valid? [True, True] Translation: X:475.01, Y:4.82, Z:3.24 [[ 9.97813888e-01 -6.43536563e-02 -1.50350435e-02 4.75009388e+02] [ 6.43586603e-02 9.97926821e-01 -1.51283396e-04 4.82471853e+00] [ 1.50136088e-02 -8.16682583e-04 9.99886956e-01 3.24440261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.69925415399996 meters 0.029439338874220077 Centerline is valid? [True, True] Translation: X:475.04, Y:4.82, Z:3.24 [[ 9.97930975e-01 -6.19266029e-02 -1.72876954e-02 4.75040403e+02] [ 6.19328700e-02 9.98080302e-01 -1.73135993e-04 4.82350995e+00] [ 1.72652300e-02 -8.97898821e-04 9.99850542e-01 3.24197382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.72925415399993 meters 0.027354684990265624 Centerline is valid? [True, True] Translation: X:475.07, Y:4.83, Z:3.24 [[ 9.98012949e-01 -6.04245892e-02 -1.78611974e-02 4.75072901e+02] [ 6.04310578e-02 9.98172358e-01 -1.77839878e-04 4.82687980e+00] [ 1.78392994e-02 -9.01884552e-04 9.99840460e-01 3.24180996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.75925415399996 meters 0.025372818470609147 Centerline is valid? [True, True] Translation: X:475.10, Y:4.83, Z:3.24 [[ 9.98115187e-01 -5.84376755e-02 -1.87379770e-02 4.75103983e+02] [ 5.84444635e-02 9.98290644e-01 -1.85614443e-04 4.83098774e+00] [ 1.87167940e-02 -9.09866418e-04 9.99824411e-01 3.24111867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.78925415399993 meters 0.025446772165517374 Centerline is valid? [True, True] Translation: X:475.13, Y:4.83, Z:3.24 [[ 9.98358975e-01 -5.38392119e-02 -1.95114329e-02 4.75133603e+02] [ 5.38457009e-02 9.98549249e-01 -1.93009907e-04 4.83256839e+00] [ 1.94935182e-02 -8.57913608e-04 9.99809615e-01 3.24164967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81925415399996 meters 0.022011940884686113 Centerline is valid? [True, True] Translation: X:475.17, Y:4.84, Z:3.24 [[ 9.98533948e-01 -5.06717777e-02 -1.90348434e-02 4.75165491e+02] [ 5.06773916e-02 9.98715058e-01 -1.87626527e-04 4.83973318e+00] [ 1.90198921e-02 -7.77284754e-04 9.99818803e-01 3.24390597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.84925415399994 meters 0.022016469468596266 Centerline is valid? [True, True] Translation: X:475.20, Y:4.84, Z:3.24 [[ 9.98734490e-01 -4.67742183e-02 -1.84821848e-02 4.75196404e+02] [ 4.67788592e-02 9.98905253e-01 -1.81383734e-04 4.84172744e+00] [ 1.84704355e-02 -6.83421328e-04 9.99829173e-01 3.24471542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87925415399997 meters 0.019132819571919236 Centerline is valid? [True, True] Translation: X:475.23, Y:4.85, Z:3.25 [[ 9.98925082e-01 -4.27898976e-02 -1.78242763e-02 4.75228190e+02] [ 4.27935955e-02 9.99083919e-01 -1.74074100e-04 4.84858100e+00] [ 1.78153964e-02 -5.88877884e-04 9.99841120e-01 3.24708018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.90925415399994 meters 0.01715067530819643 Centerline is valid? [True, True] Translation: X:475.26, Y:4.86, Z:3.25 [[ 9.99263684e-01 -3.48735783e-02 -1.59976336e-02 4.75258860e+02] [ 3.48755523e-02 9.99391651e-01 -1.55652629e-04 4.85548431e+00] [ 1.59933296e-02 -4.02388288e-04 9.99872018e-01 3.25008763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9392541539999 meters 0.016352564989939117 Centerline is valid? [True, True] Translation: X:475.29, Y:4.86, Z:3.25 [[ 9.99384898e-01 -3.16492437e-02 -1.51046848e-02 4.75290490e+02] [ 3.16506426e-02 9.99498982e-01 -1.46491404e-04 4.85832954e+00] [ 1.51017535e-02 -3.31671684e-04 9.99885907e-01 3.25106788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.96925415399994 meters 0.015906584578131697 Centerline is valid? [True, True] Translation: X:475.32, Y:4.86, Z:3.25 [[ 9.99474990e-01 -2.88417864e-02 -1.47612685e-02 4.75322318e+02] [ 2.88428264e-02 9.99583949e-01 -1.42476808e-04 4.86051143e+00] [ 1.47592363e-02 -2.83354698e-04 9.99891036e-01 3.25169790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9992541539999 meters 0.015083536637646926 Centerline is valid? [True, True] Translation: X:475.35, Y:4.86, Z:3.25 [[ 9.99602222e-01 -2.44709026e-02 -1.40204709e-02 4.75354110e+02] [ 2.44714216e-02 9.99700521e-01 -1.34566469e-04 4.86445436e+00] [ 1.40195650e-02 -2.08587912e-04 9.99901699e-01 3.25244439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.02925415399994 meters 0.015207096615798036 Centerline is valid? [True, True] Translation: X:475.38, Y:4.86, Z:3.25 [[ 9.99640653e-01 -2.28014859e-02 -1.40945682e-02 4.75384616e+02] [ 2.28018519e-02 9.99739995e-01 -1.34756424e-04 4.86479157e+00] [ 1.40939762e-02 -1.86674257e-04 9.99900658e-01 3.25234698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0592541539999 meters 0.014727822266345815 Centerline is valid? [True, True] Translation: X:475.42, Y:4.87, Z:3.25 [[ 9.99694701e-01 -2.01694697e-02 -1.42722322e-02 4.75415013e+02] [ 2.01695786e-02 9.99796564e-01 -1.36326021e-04 4.86765380e+00] [ 1.42720783e-02 -1.51580507e-04 9.99898137e-01 3.25304783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.08925415399995 meters 0.01472913352046526 Centerline is valid? [True, True] Translation: X:475.45, Y:4.87, Z:3.25 [[ 9.99707949e-01 -1.90799609e-02 -1.48314131e-02 4.75445379e+02] [ 1.90799586e-02 9.99817951e-01 -1.41667225e-04 4.86904725e+00] [ 1.48314160e-02 -1.41356896e-04 9.99889999e-01 3.25314777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1192541539999 meters 0.01458228283322712 Centerline is valid? [True, True] Translation: X:475.47, Y:4.87, Z:3.25 [[ 9.99723474e-01 -1.78327892e-02 -1.53286193e-02 4.75474947e+02] [ 1.78326355e-02 9.99840975e-01 -1.46717931e-04 4.87017840e+00] [ 1.53287980e-02 -1.26672321e-04 9.99882499e-01 3.25318201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.14925415399995 meters 0.014363348207168647 Centerline is valid? [True, True] Translation: X:475.50, Y:4.87, Z:3.25 [[ 9.99744833e-01 -1.60036770e-02 -1.59421190e-02 4.75504014e+02] [ 1.60032665e-02 9.99871928e-01 -1.53330003e-04 4.87136135e+00] [ 1.59425311e-02 -1.01835101e-04 9.99872905e-01 3.25338140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1792541539999 meters 0.016062789696012502 Centerline is valid? [True, True] Translation: X:475.53, Y:4.87, Z:3.25 [[ 9.99751443e-01 -1.54941202e-02 -1.60307042e-02 4.75532257e+02] [ 1.54936208e-02 9.99879955e-01 -1.55356967e-04 4.87137783e+00] [ 1.60311869e-02 -9.30552997e-05 9.99871488e-01 3.25158861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.20925415399995 meters 0.014505154256700062 Centerline is valid? [True, True] Translation: X:475.56, Y:4.87, Z:3.25 [[ 9.99734774e-01 -1.65506657e-02 -1.60142991e-02 4.75560068e+02] [ 1.65502507e-02 9.99863023e-01 -1.58451108e-04 4.87174285e+00] [ 1.60147280e-02 -1.06631583e-04 9.99871750e-01 3.25412591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2392541539999 meters 0.014652566973889409 Centerline is valid? [True, True] Translation: X:475.59, Y:4.87, Z:3.25 [[ 9.99695227e-01 -1.85462199e-02 -1.62938748e-02 4.75587405e+02] [ 1.85459981e-02 9.99827995e-01 -1.64726191e-04 4.86813372e+00] [ 1.62941272e-02 -1.37510183e-04 9.99867232e-01 3.25314536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.26925415399995 meters 0.014730020119578338 Centerline is valid? [True, True] Translation: X:475.62, Y:4.87, Z:3.25 [[ 9.99652779e-01 -2.03926101e-02 -1.66872289e-02 4.75616611e+02] [ 2.03925750e-02 9.99792035e-01 -1.72280313e-04 4.86660246e+00] [ 1.66872718e-02 -1.68075074e-04 9.99860744e-01 3.25344739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2992541539999 meters 0.015196290629405211 Centerline is valid? [True, True] Translation: X:475.65, Y:4.86, Z:3.25 [[ 9.99607367e-01 -2.24673704e-02 -1.67430054e-02 4.75645715e+02] [ 2.24675877e-02 9.99747557e-01 -1.75145416e-04 4.86389951e+00] [ 1.67427138e-02 -2.01098293e-04 9.99859811e-01 3.25287194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.32925415399995 meters 0.015711052303512954 Centerline is valid? [True, True] Translation: X:475.67, Y:4.86, Z:3.25 [[ 9.99462675e-01 -2.78688247e-02 -1.72536777e-02 4.75674936e+02] [ 2.78698435e-02 9.99611544e-01 -1.81442908e-04 4.86004440e+00] [ 1.72520320e-02 -2.99511883e-04 9.99851128e-01 3.25308853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3592541539999 meters 0.0179338186479291 Centerline is valid? [True, True] Translation: X:475.70, Y:4.86, Z:3.25 [[ 9.99386371e-01 -3.03838559e-02 -1.74270787e-02 4.75704804e+02] [ 3.03852674e-02 9.99538244e-01 -1.83846054e-04 4.85579288e+00] [ 1.74246176e-02 -3.45793205e-04 9.99848120e-01 3.25104451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.38925415399996 meters 0.019241359627968392 Centerline is valid? [True, True] Translation: X:475.74, Y:4.85, Z:3.25 [[ 9.99166538e-01 -3.70226659e-02 -1.71916272e-02 4.75735307e+02] [ 3.70250222e-02 9.99314322e-01 -1.81308410e-04 4.84895676e+00] [ 1.71865518e-02 -4.55363084e-04 9.99852197e-01 3.25236033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.41925415399993 meters 0.018742387526191756 Centerline is valid? [True, True] Translation: X:475.77, Y:4.85, Z:3.25 [[ 9.99032401e-01 -4.03749838e-02 -1.74390813e-02 4.75766837e+02] [ 4.03779275e-02 9.99184462e-01 -1.83412146e-04 4.84874927e+00] [ 1.74322643e-02 -5.20919282e-04 9.99847911e-01 3.25368168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.44925415399996 meters 0.022439639200780598 Centerline is valid? [True, True] Translation: X:475.80, Y:4.84, Z:3.25 [[ 9.98883951e-01 -4.39534547e-02 -1.72900503e-02 4.75797286e+02] [ 4.39568914e-02 9.99033412e-01 -1.81406591e-04 4.84108395e+00] [ 1.72813114e-02 -5.78812732e-04 9.99850499e-01 3.25297932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.47925415399993 meters 0.02399445353170974 Centerline is valid? [True, True] Translation: X:475.83, Y:4.84, Z:3.25 [[ 9.98503182e-01 -5.18528697e-02 -1.73975450e-02 4.75827907e+02] [ 5.18575488e-02 9.98654475e-01 -1.82377390e-04 4.83576620e+00] [ 1.73835929e-02 -7.20089633e-04 9.99848635e-01 3.25458024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.50925415399996 meters 0.02399445353170974 Centerline is valid? [True, True] Translation: X:475.86, Y:4.84, Z:3.25 [[ 9.98506862e-01 -5.17819537e-02 -1.73975529e-02 4.75859626e+02] [ 5.17866353e-02 9.98658155e-01 -1.81613543e-04 4.83603558e+00] [ 1.73836124e-02 -7.19618360e-04 9.99848635e-01 3.25480004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.53925415399993 meters 0.023265295418912618 Centerline is valid? [True, True] Translation: X:475.89, Y:4.84, Z:3.26 [[ 9.98312204e-01 -5.54463980e-02 -1.72754260e-02 4.75890637e+02] [ 5.54515733e-02 9.98461362e-01 -1.79659394e-04 4.83538745e+00] [ 1.72588068e-02 -7.78593385e-04 9.99850753e-01 3.25617945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.56925415399996 meters 0.02581307672351497 Centerline is valid? [True, True] Translation: X:475.92, Y:4.83, Z:3.26 [[ 9.98137402e-01 -5.85267858e-02 -1.72145735e-02 4.75920464e+02] [ 5.85323839e-02 9.98285494e-01 -1.78899344e-04 4.82992788e+00] [ 1.71955295e-02 -8.29043900e-04 9.99851802e-01 3.25591867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.59925415399994 meters 0.026562247639487953 Centerline is valid? [True, True] Translation: X:475.95, Y:4.83, Z:3.26 [[ 9.97992489e-01 -6.08877764e-02 -1.74261417e-02 4.75951898e+02] [ 6.08938786e-02 9.98144230e-01 -1.80718434e-04 4.82749336e+00] [ 1.74048064e-02 -8.80789720e-04 9.99848137e-01 3.25623816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.62925415399997 meters 0.029046165394215565 Centerline is valid? [True, True] Translation: X:475.98, Y:4.82, Z:3.26 [[ 9.97917506e-01 -6.19017738e-02 -1.81334619e-02 4.75983472e+02] [ 6.19085642e-02 9.98081808e-01 -1.87185922e-04 4.82142540e+00] [ 1.81102655e-02 -9.35820480e-04 9.99835558e-01 3.25520819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.65925415399994 meters 0.028283189456032524 Centerline is valid? [True, True] Translation: X:476.02, Y:4.82, Z:3.26 [[ 9.98007081e-01 -6.03516419e-02 -1.84267871e-02 4.76016255e+02] [ 6.03584160e-02 9.98176751e-01 -1.88819414e-04 4.82195568e+00] [ 1.84045860e-02 -9.23768568e-04 9.99830195e-01 3.25519781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.6892541539999 meters 0.026597682775422637 Centerline is valid? [True, True] Translation: X:476.05, Y:4.82, Z:3.26 [[ 9.98350260e-01 -5.43579263e-02 -1.84925240e-02 4.76046160e+02] [ 5.43637305e-02 9.98521181e-01 -1.89066856e-04 4.82453042e+00] [ 1.84754542e-02 -8.16567645e-04 9.99828981e-01 3.25602617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.71925415399994 meters 0.022461849662501792 Centerline is valid? [True, True] Translation: X:476.08, Y:4.83, Z:3.26 [[ 9.98584144e-01 -4.99208595e-02 -1.83742797e-02 4.76077228e+02] [ 4.99258415e-02 9.98752910e-01 -1.87762715e-04 4.83158674e+00] [ 1.83607386e-02 -7.29854505e-04 9.99831161e-01 3.25811145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.7492541539999 meters 0.019726182523522037 Centerline is valid? [True, True] Translation: X:476.11, Y:4.84, Z:3.26 [[ 9.99001722e-01 -4.05857995e-02 -1.86641766e-02 4.76106565e+02] [ 4.05893106e-02 9.99175896e-01 -1.90809965e-04 4.83831677e+00] [ 1.86565396e-02 -5.66946578e-04 9.99825791e-01 3.25955485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.77925415399994 meters 0.01839295340924328 Centerline is valid? [True, True] Translation: X:476.14, Y:4.84, Z:3.26 [[ 9.99186470e-01 -3.59247781e-02 -1.83251041e-02 4.76138052e+02] [ 3.59273847e-02 9.99354386e-01 -1.87059787e-04 4.84181513e+00] [ 1.83199933e-02 -4.71465456e-04 9.99832064e-01 3.25987793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8092541539999 meters 0.017146005405228815 Centerline is valid? [True, True] Translation: X:476.17, Y:4.85, Z:3.26 [[ 9.99310231e-01 -3.20865357e-02 -1.86953606e-02 4.76168971e+02] [ 3.20885861e-02 9.99485011e-01 -1.90377301e-04 4.84525094e+00] [ 1.86918412e-02 -4.09661703e-04 9.99825208e-01 3.26020255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.83925415399995 meters 0.01651878451805884 Centerline is valid? [True, True] Translation: X:476.20, Y:4.85, Z:3.26 [[ 9.99407477e-01 -2.88512038e-02 -1.87697514e-02 4.76198942e+02] [ 2.88527024e-02 9.99583656e-01 -1.91010725e-04 4.84726022e+00] [ 1.87674476e-02 -3.50660506e-04 9.99823814e-01 3.25994390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8692541539999 meters 0.015821700641556646 Centerline is valid? [True, True] Translation: X:476.23, Y:4.85, Z:3.26 [[ 9.99506514e-01 -2.53283986e-02 -1.85795961e-02 4.76228466e+02] [ 2.53292547e-02 9.99679145e-01 -1.89280305e-04 4.84913733e+00] [ 1.85784289e-02 -2.81420425e-04 9.99827366e-01 3.26027086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.89925415399995 meters 0.01514259163942639 Centerline is valid? [True, True] Translation: X:476.26, Y:4.85, Z:3.26 [[ 9.99521110e-01 -2.49948737e-02 -1.82429774e-02 4.76257473e+02] [ 2.49955880e-02 9.99687544e-01 -1.88893648e-04 4.85073928e+00] [ 1.82419987e-02 -2.67190760e-04 9.99833565e-01 3.26172098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9292541539999 meters 0.01569682026012021 Centerline is valid? [True, True] Translation: X:476.29, Y:4.85, Z:3.26 [[ 9.99524888e-01 -2.50947528e-02 -1.78955928e-02 4.76286160e+02] [ 2.50954140e-02 9.99685043e-01 -1.87653864e-04 4.84962138e+00] [ 1.78946655e-02 -2.61532601e-04 9.99839843e-01 3.26086834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.95925415399995 meters 0.016688499014999008 Centerline is valid? [True, True] Translation: X:476.32, Y:4.85, Z:3.26 [[ 9.99452664e-01 -2.78701835e-02 -1.78220623e-02 4.76315285e+02] [ 2.78712589e-02 9.99611503e-01 -1.88085520e-04 4.84540338e+00] [ 1.78203805e-02 -3.08740739e-04 9.99841157e-01 3.26014686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9892541539999 meters 0.016347325436520534 Centerline is valid? [True, True] Translation: X:476.35, Y:4.85, Z:3.26 [[ 9.99387962e-01 -3.00287125e-02 -1.79437193e-02 4.76345119e+02] [ 3.00301337e-02 9.99548976e-01 -1.90295121e-04 4.84602896e+00] [ 1.79413406e-02 -3.48673637e-04 9.99838980e-01 3.26160582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.01925415399995 meters 0.016819697778079203 Centerline is valid? [True, True] Translation: X:476.38, Y:4.84, Z:3.26 [[ 9.99304157e-01 -3.25038351e-02 -1.82948729e-02 4.76375531e+02] [ 3.25057225e-02 9.99471530e-01 -1.94274219e-04 4.84472435e+00] [ 1.82915193e-02 -4.00549027e-04 9.99832616e-01 3.26165948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0492541539999 meters 0.01911894169497455 Centerline is valid? [True, True] Translation: X:476.41, Y:4.84, Z:3.26 [[ 9.99072264e-01 -3.87225083e-02 -1.88461828e-02 4.76405314e+02] [ 3.87256125e-02 9.99249862e-01 -2.00344387e-04 4.83906602e+00] [ 1.88398034e-02 -5.29671453e-04 9.99822375e-01 3.26115609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.07925415399995 meters 0.019735062516607574 Centerline is valid? [True, True] Translation: X:476.44, Y:4.84, Z:3.26 [[ 9.98928411e-01 -4.22778118e-02 -1.88312666e-02 4.76436265e+02] [ 4.22815438e-02 9.99105716e-01 -2.00095994e-04 4.83742202e+00] [ 1.88228857e-02 -5.96333450e-04 9.99822656e-01 3.26153128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1092541539999 meters 0.02084957966841956 Centerline is valid? [True, True] Translation: X:476.47, Y:4.84, Z:3.26 [[ 9.98782678e-01 -4.56693076e-02 -1.86407306e-02 4.76467281e+02] [ 4.56735605e-02 9.98956399e-01 -1.97735610e-04 4.83502897e+00] [ 1.86303076e-02 -6.53893636e-04 9.99826227e-01 3.26189663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.13925415399996 meters 0.023721598918196675 Centerline is valid? [True, True] Translation: X:476.50, Y:4.83, Z:3.26 [[ 9.98452058e-01 -5.25073008e-02 -1.83431516e-02 4.76497312e+02] [ 5.25125776e-02 9.98620244e-01 -1.94208487e-04 4.82893979e+00] [ 1.83280398e-02 -7.69338305e-04 9.99831731e-01 3.26246471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.16925415399993 meters 0.025433179196360543 Centerline is valid? [True, True] Translation: X:476.53, Y:4.83, Z:3.26 [[ 9.98288280e-01 -5.57042197e-02 -1.78199083e-02 4.76527424e+02] [ 5.57097275e-02 9.98446990e-01 -1.87568089e-04 4.82599850e+00] [ 1.78026821e-02 -8.05495207e-04 9.99841195e-01 3.26295157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.19925415399996 meters 0.027167413032607318 Centerline is valid? [True, True] Translation: X:476.56, Y:4.82, Z:3.26 [[ 9.98123532e-01 -5.87327139e-02 -1.73171577e-02 4.76557483e+02] [ 5.87383956e-02 9.98273394e-01 -1.80789981e-04 4.82322093e+00] [ 1.72978761e-02 -8.36731328e-04 9.99850030e-01 3.26366352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.22925415399993 meters 0.028999363725005996 Centerline is valid? [True, True] Translation: X:476.59, Y:4.82, Z:3.27 [[ 9.97803805e-01 -6.43067594e-02 -1.58810114e-02 4.76587944e+02] [ 6.43122506e-02 9.97929811e-01 -1.65220348e-04 4.82011831e+00] [ 1.58587595e-02 -8.56486094e-04 9.99873875e-01 3.26534694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.25925415399996 meters 0.0306595187635318 Centerline is valid? [True, True] Translation: X:476.62, Y:4.82, Z:3.26 [[ 9.97690241e-01 -6.61680314e-02 -1.53614375e-02 4.76619930e+02] [ 6.61733986e-02 9.97808126e-01 -1.59188782e-04 4.81834486e+00] [ 1.53383004e-02 -8.57697434e-04 9.99881993e-01 3.26447264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.28925415399993 meters 0.0316199457769343 Centerline is valid? [True, True] Translation: X:476.65, Y:4.82, Z:3.26 [[ 9.97548886e-01 -6.83359620e-02 -1.50471497e-02 4.76651491e+02] [ 6.83413693e-02 9.97661983e-01 -1.55154767e-04 4.81728656e+00] [ 1.50225718e-02 -8.73568346e-04 9.99886773e-01 3.26479550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31925415399996 meters 0.03223518173479321 Centerline is valid? [True, True] Translation: X:476.68, Y:4.82, Z:3.27 [[ 9.97243635e-01 -7.26031958e-02 -1.52940461e-02 4.76682212e+02] [ 7.26092861e-02 9.97360450e-01 -1.57418675e-04 4.81654653e+00] [ 1.52651058e-02 -9.53504995e-04 9.99883027e-01 3.26681435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.34925415399994 meters 0.03347797868073054 Centerline is valid? [True, True] Translation: X:476.71, Y:4.82, Z:3.27 [[ 9.97119416e-01 -7.42318312e-02 -1.55725922e-02 4.76714567e+02] [ 7.42383533e-02 9.97240513e-01 -1.59639386e-04 4.81550407e+00] [ 1.55414701e-02 -9.96904067e-04 9.99878727e-01 3.26685398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37925415399997 meters 0.031371161929885816 Centerline is valid? [True, True] Translation: X:476.75, Y:4.82, Z:3.27 [[ 9.97022613e-01 -7.54675035e-02 -1.58292294e-02 4.76746957e+02] [ 7.54744159e-02 9.97147726e-01 -1.61103460e-04 4.81885322e+00] [ 1.57962381e-02 -1.03407805e-03 9.99874697e-01 3.26761465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.40925415399994 meters 0.03290262580462978 Centerline is valid? [True, True] Translation: X:476.78, Y:4.82, Z:3.27 [[ 9.96850854e-01 -7.77318151e-02 -1.56888524e-02 4.76778501e+02] [ 7.77388975e-02 9.96973740e-01 -1.58842285e-04 4.81704722e+00] [ 1.56537209e-02 -1.06129202e-03 9.99876910e-01 3.26766135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4392541539999 meters 0.03271548813113782 Centerline is valid? [True, True] Translation: X:476.81, Y:4.82, Z:3.27 [[ 9.96802317e-01 -7.83038053e-02 -1.59265400e-02 4.76810293e+02] [ 7.83111914e-02 9.96928950e-01 -1.60322316e-04 4.81731181e+00] [ 1.58901826e-02 -1.08741667e-03 9.99873152e-01 3.26812689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.46925415399994 meters 0.03260219819972119 Centerline is valid? [True, True] Translation: X:476.84, Y:4.82, Z:3.27 [[ 9.96797568e-01 -7.84443419e-02 -1.55271939e-02 4.76842723e+02] [ 7.84513968e-02 9.96917928e-01 -1.55161071e-04 4.81756189e+00] [ 1.54915095e-02 -1.06346587e-03 9.99879434e-01 3.26819570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4992541539999 meters 0.03123387087424191 Centerline is valid? [True, True] Translation: X:476.88, Y:4.82, Z:3.27 [[ 9.96862306e-01 -7.76915760e-02 -1.51513152e-02 4.76875227e+02] [ 7.76982239e-02 9.96976912e-01 -1.50281700e-04 4.82005024e+00] [ 1.51171870e-02 -1.02742012e-03 9.99885201e-01 3.26881097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.52925415399994 meters 0.031486533115674016 Centerline is valid? [True, True] Translation: X:476.91, Y:4.82, Z:3.27 [[ 9.96959717e-01 -7.64131215e-02 -1.52432818e-02 4.76906046e+02] [ 7.64197166e-02 9.97075726e-01 -1.50201193e-04 4.82071515e+00] [ 1.52101836e-02 -1.01514274e-03 9.99883803e-01 3.26879268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5592541539999 meters 0.04250775661455192 Centerline is valid? [True, True] Translation: X:476.94, Y:4.81, Z:3.27 [[ 9.97085817e-01 -7.47464131e-02 -1.52593499e-02 4.76937166e+02] [ 7.47528385e-02 9.97202081e-01 -1.49660500e-04 4.80734175e+00] [ 1.52278420e-02 -9.91455355e-04 9.99883558e-01 3.26668768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.58925415399995 meters 0.031205174145595996 Centerline is valid? [True, True] Translation: X:476.97, Y:4.83, Z:3.27 [[ 9.97447207e-01 -6.93911904e-02 -1.68503091e-02 4.76967608e+02] [ 6.93982692e-02 9.97589020e-01 -1.64976090e-04 4.82633598e+00] [ 1.68211312e-02 -1.00482734e-03 9.99858010e-01 3.26701172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6192541539999 meters 0.029010147707339857 Centerline is valid? [True, True] Translation: X:477.00, Y:4.83, Z:3.27 [[ 9.97654391e-01 -6.63331755e-02 -1.69004981e-02 4.76998632e+02] [ 6.63398622e-02 9.97797071e-01 -1.65283127e-04 4.83100740e+00] [ 1.68742313e-02 -9.56281280e-04 9.99857163e-01 3.26828585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.64925415399995 meters 0.02693754558218597 Centerline is valid? [True, True] Translation: X:477.03, Y:4.84, Z:3.27 [[ 9.98116721e-01 -5.88301649e-02 -1.73787897e-02 4.77028533e+02] [ 5.88361031e-02 9.98267642e-01 -1.69845762e-04 4.83772766e+00] [ 1.73586754e-02 -8.52974366e-04 9.99848963e-01 3.26795041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6792541539999 meters 0.024589774047573468 Centerline is valid? [True, True] Translation: X:477.06, Y:4.84, Z:3.27 [[ 9.98352870e-01 -5.45793545e-02 -1.76816845e-02 4.77059513e+02] [ 5.45848403e-02 9.98509121e-01 -1.72569882e-04 4.84343945e+00] [ 1.76647420e-02 -7.92866288e-04 9.99843652e-01 3.26837268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.70925415399995 meters 0.023490333072093212 Centerline is valid? [True, True] Translation: X:477.09, Y:4.85, Z:3.27 [[ 9.98573413e-01 -5.02986977e-02 -1.79214874e-02 4.77089711e+02] [ 5.03036480e-02 9.98733955e-01 -1.74749632e-04 4.84749636e+00] [ 1.79075877e-02 -7.27015860e-04 9.99839382e-01 3.26894194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7392541539999 meters 0.020698240044447005 Centerline is valid? [True, True] Translation: X:477.12, Y:4.86, Z:3.27 [[ 9.98985321e-01 -4.13820749e-02 -1.77722418e-02 4.77120417e+02] [ 4.13855335e-02 9.99143237e-01 -1.73293469e-04 4.85710329e+00] [ 1.77641864e-02 -5.62396076e-04 9.99842046e-01 3.26991983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.76925415399995 meters 0.018167743372329587 Centerline is valid? [True, True] Translation: X:477.15, Y:4.86, Z:3.27 [[ 9.99171770e-01 -3.68773197e-02 -1.71999427e-02 4.77151861e+02] [ 3.68798987e-02 9.99319691e-01 -1.67327938e-04 4.86410363e+00] [ 1.71944120e-02 -4.67142791e-04 9.99852056e-01 3.27151521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7992541539999 meters 0.017503770258113813 Centerline is valid? [True, True] Translation: X:477.18, Y:4.87, Z:3.27 [[ 9.99324987e-01 -3.26258324e-02 -1.68856792e-02 4.77183398e+02] [ 3.26277220e-02 9.99467561e-01 -1.63646445e-04 4.86774451e+00] [ 1.68820277e-02 -3.87405264e-04 9.99857413e-01 3.27162058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.82925415399995 meters 0.016158860834605306 Centerline is valid? [True, True] Translation: X:477.21, Y:4.87, Z:3.27 [[ 9.99551612e-01 -2.49098710e-02 -1.66154561e-02 4.77213353e+02] [ 2.49106390e-02 9.99689669e-01 -1.60774583e-04 4.87411477e+00] [ 1.66143047e-02 -2.53199136e-04 9.99861941e-01 3.27198915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8592541539999 meters 0.015553556217789359 Centerline is valid? [True, True] Translation: X:477.24, Y:4.88, Z:3.27 [[ 9.99635915e-01 -2.16071397e-02 -1.61607391e-02 4.77244127e+02] [ 2.16074347e-02 9.99766520e-01 -1.56374648e-04 4.87756786e+00] [ 1.61603447e-02 -1.92874401e-04 9.99869394e-01 3.27243413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.88925415399996 meters 0.0150930765963933 Centerline is valid? [True, True] Translation: X:477.27, Y:4.88, Z:3.27 [[ 9.99752475e-01 -1.57310464e-02 -1.57328291e-02 4.77273424e+02] [ 1.57305934e-02 9.99876255e-01 -1.52553147e-04 4.88315826e+00] [ 1.57332821e-02 -9.49713511e-05 9.99876220e-01 3.27289061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.91925415399993 meters 0.015053461078999927 Centerline is valid? [True, True] Translation: X:477.30, Y:4.89, Z:3.27 [[ 9.99781613e-01 -1.35591699e-02 -1.59020532e-02 4.77301135e+02] [ 1.35584155e-02 9.99908068e-01 -1.55254162e-04 4.88534511e+00] [ 1.59026965e-02 -6.03863880e-05 9.99873542e-01 3.27272278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.94925415399996 meters 0.016126636442452644 Centerline is valid? [True, True] Translation: X:477.33, Y:4.89, Z:3.27 [[ 9.99799147e-01 -1.18250685e-02 -1.61812648e-02 4.77328643e+02] [ 1.18240065e-02 9.99930081e-01 -1.61302464e-04 4.88675288e+00] [ 1.61820408e-02 -3.00573142e-05 9.99869062e-01 3.27170616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.97925415399993 meters 0.014976307135190877 Centerline is valid? [True, True] Translation: X:477.36, Y:4.89, Z:3.27 [[ 9.99799015e-01 -1.15693284e-02 -1.63731489e-02 4.77355140e+02] [ 1.15681426e-02 9.99933073e-01 -1.67136134e-04 4.88792194e+00] [ 1.63739868e-02 -2.23043785e-05 9.99865937e-01 3.27290808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.00925415399996 meters 0.014798798895183145 Centerline is valid? [True, True] Translation: X:477.38, Y:4.89, Z:3.27 [[ 9.99789198e-01 -1.14131036e-02 -1.70675376e-02 4.77382770e+02] [ 1.14117525e-02 9.99934868e-01 -1.76557169e-04 4.88772659e+00] [ 1.70684410e-02 -1.82505648e-05 9.99854323e-01 3.27206902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.03925415399993 meters 0.014797303472057464 Centerline is valid? [True, True] Translation: X:477.41, Y:4.89, Z:3.27 [[ 9.99759704e-01 -1.27475203e-02 -1.78335345e-02 4.77411634e+02] [ 1.27461968e-02 9.99918746e-01 -1.87878595e-04 4.88748597e+00] [ 1.78344804e-02 -3.94762919e-05 9.99840952e-01 3.27256336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.06925415399996 meters 0.014813951850579784 Centerline is valid? [True, True] Translation: X:477.44, Y:4.89, Z:3.27 [[ 9.99728546e-01 -1.41572976e-02 -1.85041692e-02 4.77439110e+02] [ 1.41560613e-02 9.99899778e-01 -1.97800062e-04 4.88659850e+00] [ 1.85051150e-02 -6.41997853e-05 9.99828764e-01 3.27163463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.09925415399994 meters 0.01502856689918871 Centerline is valid? [True, True] Translation: X:477.47, Y:4.88, Z:3.27 [[ 9.99658007e-01 -1.83125482e-02 -1.86686851e-02 4.77467701e+02] [ 1.83119866e-02 9.99832301e-01 -2.01040329e-04 4.88398828e+00] [ 1.86692360e-02 -1.40889138e-04 9.99825705e-01 3.27281453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.12925415399997 meters 0.015375952519914325 Centerline is valid? [True, True] Translation: X:477.50, Y:4.88, Z:3.27 [[ 9.99608638e-01 -2.06399769e-02 -1.88828459e-02 4.77495269e+02] [ 2.06397875e-02 9.99786956e-01 -2.04939105e-04 4.88158818e+00] [ 1.88830529e-02 -1.84879026e-04 9.99821682e-01 3.27246778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.15925415399994 meters 0.015367057995419165 Centerline is valid? [True, True] Translation: X:477.52, Y:4.88, Z:3.27 [[ 9.99557742e-01 -2.32165252e-02 -1.85825848e-02 4.77523882e+02] [ 2.32167197e-02 9.99730435e-01 -2.05293433e-04 4.88026766e+00] [ 1.85823418e-02 -2.26224022e-04 9.99827308e-01 3.27333104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.1892541539999 meters 0.016601154693417455 Centerline is valid? [True, True] Translation: X:477.55, Y:4.88, Z:3.27 [[ 9.99509406e-01 -2.50943138e-02 -1.87409292e-02 4.77552359e+02] [ 2.50947958e-02 9.99685054e-01 -2.09484400e-04 4.87782182e+00] [ 1.87402837e-02 -2.60918163e-04 9.99824351e-01 3.27214309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.21925415399994 meters 0.01659189249137509 Centerline is valid? [True, True] Translation: X:477.58, Y:4.87, Z:3.27 [[ 9.99419294e-01 -2.88210282e-02 -1.81775210e-02 4.77581460e+02] [ 2.88220799e-02 9.99584537e-01 -2.04172121e-04 4.87480206e+00] [ 1.81758533e-02 -3.19860404e-04 9.99834754e-01 3.27376076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.2492541539999 meters 0.016450261478544073 Centerline is valid? [True, True] Translation: X:477.61, Y:4.87, Z:3.27 [[ 9.99382537e-01 -3.02455720e-02 -1.78815636e-02 4.77611698e+02] [ 3.02468110e-02 9.99542440e-01 -2.01222573e-04 4.87404504e+00] [ 1.78794678e-02 -3.39761949e-04 9.99840092e-01 3.27496508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.27925415399994 meters 0.01678741369339974 Centerline is valid? [True, True] Translation: X:477.64, Y:4.87, Z:3.28 [[ 9.99360945e-01 -3.12422348e-02 -1.73673549e-02 4.77642236e+02] [ 3.12435573e-02 9.99511782e-01 -1.95243547e-04 4.87240758e+00] [ 1.73649757e-02 -3.47499173e-04 9.99849157e-01 3.27560261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3092541539999 meters 0.01843363321371714 Centerline is valid? [True, True] Translation: X:477.67, Y:4.87, Z:3.27 [[ 9.99344289e-01 -3.17132783e-02 -1.74717100e-02 4.77673757e+02] [ 3.17146976e-02 9.99496943e-01 -1.95901513e-04 4.87088646e+00] [ 1.74691334e-02 -3.58336941e-04 9.99847339e-01 3.27495582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.33925415399995 meters 0.0173830668118639 Centerline is valid? [True, True] Translation: X:477.70, Y:4.87, Z:3.28 [[ 9.99319534e-01 -3.26820119e-02 -1.70983807e-02 4.77703591e+02] [ 3.26835172e-02 9.99465733e-01 -1.91466934e-04 4.86933895e+00] [ 1.70955031e-02 -3.67498572e-04 9.99853794e-01 3.27675915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3692541539999 meters 0.016852460163035522 Centerline is valid? [True, True] Translation: X:477.73, Y:4.87, Z:3.28 [[ 9.99328143e-01 -3.26381071e-02 -1.66738020e-02 4.77734576e+02] [ 3.26395384e-02 9.99467171e-01 -1.86354378e-04 4.86837118e+00] [ 1.66709999e-02 -3.57996025e-04 9.99860965e-01 3.27743989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.39925415399995 meters 0.017203046363518878 Centerline is valid? [True, True] Translation: X:477.77, Y:4.87, Z:3.28 [[ 9.99335871e-01 -3.24232711e-02 -1.66297389e-02 4.77765455e+02] [ 3.24246753e-02 9.99474165e-01 -1.85253571e-04 4.86715360e+00] [ 1.66270010e-02 -3.54083346e-04 9.99861699e-01 3.27661149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4292541539999 meters 0.017203046363518878 Centerline is valid? [True, True] Translation: X:477.80, Y:4.87, Z:3.28 [[ 9.99337055e-01 -3.23867613e-02 -1.66297457e-02 4.77796308e+02] [ 3.23881705e-02 9.99475349e-01 -1.84646130e-04 4.86746716e+00] [ 1.66270010e-02 -3.54083320e-04 9.99861699e-01 3.27682522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.45925415399995 meters 0.016990460329064285 Centerline is valid? [True, True] Translation: X:477.83, Y:4.87, Z:3.28 [[ 9.99339287e-01 -3.23537732e-02 -1.65597011e-02 4.77827886e+02] [ 3.23551760e-02 9.99476417e-01 -1.83265798e-04 4.86664262e+00] [ 1.65569600e-02 -3.52647330e-04 9.99862862e-01 3.27726240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4892541539999 meters 0.01700189512918716 Centerline is valid? [True, True] Translation: X:477.86, Y:4.87, Z:3.28 [[ 9.99341839e-01 -3.16679133e-02 -1.76926885e-02 4.77857784e+02] [ 3.16694155e-02 9.99498379e-01 -1.95340786e-04 4.86512868e+00] [ 1.76899995e-02 -3.65104882e-04 9.99843453e-01 3.27658225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.51925415399995 meters 0.016993497025390353 Centerline is valid? [True, True] Translation: X:477.89, Y:4.86, Z:3.28 [[ 9.99355087e-01 -3.09101059e-02 -1.82749878e-02 4.77888999e+02] [ 3.09115918e-02 9.99522102e-01 -2.01232229e-04 4.86479121e+00] [ 1.82724743e-02 -3.63806511e-04 9.99832978e-01 3.27625882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5492541539999 meters 0.01660284018909495 Centerline is valid? [True, True] Translation: X:477.92, Y:4.86, Z:3.28 [[ 9.99389299e-01 -2.90490913e-02 -1.94210909e-02 4.77919162e+02] [ 2.90504234e-02 9.99577925e-01 -2.13587351e-04 4.86488586e+00] [ 1.94190982e-02 -3.50734001e-04 9.99811370e-01 3.27564568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.57925415399995 meters 0.016226632627417623 Centerline is valid? [True, True] Translation: X:477.95, Y:4.87, Z:3.28 [[ 9.99418205e-01 -2.75617297e-02 -2.00898415e-02 4.77948374e+02] [ 2.75628453e-02 9.99620048e-01 -2.21417063e-04 4.86550538e+00] [ 2.00883110e-02 -3.32444950e-04 9.99798154e-01 3.27575787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6092541539999 meters 0.016124754191320957 Centerline is valid? [True, True] Translation: X:477.98, Y:4.87, Z:3.28 [[ 9.99459461e-01 -2.58067620e-02 -2.03665786e-02 4.77976888e+02] [ 2.58075207e-02 9.99666905e-01 -2.25626207e-04 4.86578390e+00] [ 2.03656173e-02 -3.00106651e-04 9.99792554e-01 3.27528303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.63925415399996 meters 0.01533211862711395 Centerline is valid? [True, True] Translation: X:478.01, Y:4.87, Z:3.28 [[ 9.99551592e-01 -2.14965443e-02 -2.08449902e-02 4.78006051e+02] [ 2.14963241e-02 9.99768900e-01 -2.34656872e-04 4.86793314e+00] [ 2.08452172e-02 -2.13539016e-04 9.99782692e-01 3.27551462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.66925415399993 meters 0.015045459308567473 Centerline is valid? [True, True] Translation: X:478.03, Y:4.87, Z:3.28 [[ 9.99592131e-01 -1.92718847e-02 -2.10752418e-02 4.78034350e+02] [ 1.92710548e-02 9.99814267e-01 -2.42492891e-04 4.86918243e+00] [ 2.10760008e-02 -1.63748153e-04 9.99777863e-01 3.27624726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.69925415399996 meters 0.014894741947336674 Centerline is valid? [True, True] Translation: X:478.06, Y:4.87, Z:3.28 [[ 9.99643667e-01 -1.67280473e-02 -2.08017257e-02 4.78061747e+02] [ 1.67266128e-02 9.99860071e-01 -2.42963820e-04 4.86997754e+00] [ 2.08028792e-02 -1.05065166e-04 9.99783591e-01 3.27570313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.72925415399993 meters 0.014889275682062046 Centerline is valid? [True, True] Translation: X:478.09, Y:4.87, Z:3.28 [[ 9.99706218e-01 -1.27218903e-02 -2.06308163e-02 4.78089749e+02] [ 1.27195824e-02 9.99919073e-01 -2.43092441e-04 4.87166815e+00] [ 2.06322393e-02 -1.93943425e-05 9.99787133e-01 3.27621947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.75925415399996 meters 0.014942846592438472 Centerline is valid? [True, True] Translation: X:478.12, Y:4.87, Z:3.28 [[ 9.99731642e-01 -1.11198035e-02 -2.03222480e-02 4.78117078e+02] [ 1.11171880e-02 9.99938173e-01 -2.41673917e-04 4.87275647e+00] [ 2.03236789e-02 1.56828099e-05 9.99793453e-01 3.27696288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.78925415399993 meters 0.014867875625728017 Centerline is valid? [True, True] Translation: X:478.15, Y:4.87, Z:3.28 [[ 9.99782029e-01 -8.69947317e-03 -1.89792697e-02 4.78145364e+02] [ 8.69668464e-03 9.99962157e-01 -2.29457537e-04 4.87296665e+00] [ 1.89805477e-02 6.43507989e-05 9.99819851e-01 3.27859459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81925415399996 meters 0.015023427968046463 Centerline is valid? [True, True] Translation: X:478.17, Y:4.87, Z:3.28 [[ 9.99795662e-01 -7.86076068e-03 -1.86237294e-02 4.78171861e+02] [ 7.85787233e-03 9.99969100e-01 -2.28263605e-04 4.87298622e+00] [ 1.86249483e-02 8.18740736e-05 9.99826537e-01 3.27866929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.84925415399994 meters 0.014844618861842542 Centerline is valid? [True, True] Translation: X:478.20, Y:4.87, Z:3.28 [[ 9.99814230e-01 -7.29293737e-03 -1.78415048e-02 4.78199803e+02] [ 7.29012489e-03 9.99973402e-01 -2.22671547e-04 4.87124519e+00] [ 1.78426542e-02 9.25633835e-05 9.99840803e-01 3.28032622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.8792541539999 meters 0.014846257496050126 Centerline is valid? [True, True] Translation: X:478.23, Y:4.87, Z:3.28 [[ 9.99820150e-01 -7.63923498e-03 -1.73582823e-02 4.78227236e+02] [ 7.63653718e-03 9.99970817e-01 -2.21698149e-04 4.87018723e+00] [ 1.73594694e-02 8.91011082e-05 9.99849309e-01 3.28114453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.90925415399994 meters 0.014610510504222515 Centerline is valid? [True, True] Translation: X:478.26, Y:4.87, Z:3.28 [[ 9.99822459e-01 -9.35100618e-03 -1.63587936e-02 4.78256227e+02] [ 9.34876768e-03 9.99956277e-01 -2.13306277e-04 4.86736883e+00] [ 1.63600730e-02 6.03338455e-05 9.99866163e-01 3.28243842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9392541539999 meters 0.014657960617992486 Centerline is valid? [True, True] Translation: X:478.28, Y:4.87, Z:3.28 [[ 9.99817216e-01 -1.07663807e-02 -1.57993617e-02 4.78284178e+02] [ 1.07644227e-02 9.99942040e-01 -2.08970100e-04 4.86605054e+00] [ 1.58006959e-02 3.88608952e-05 9.99875160e-01 3.28292084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.96925415399994 meters 0.014473305031124097 Centerline is valid? [True, True] Translation: X:478.31, Y:4.86, Z:3.28 [[ 9.99803604e-01 -1.23754761e-02 -1.54790642e-02 4.78311571e+02] [ 1.23737483e-02 9.99923421e-01 -2.07391583e-04 4.86437849e+00] [ 1.54804454e-02 1.58168073e-05 9.99880171e-01 3.28309617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9992541539999 meters 0.014579617302055214 Centerline is valid? [True, True] Translation: X:478.34, Y:4.86, Z:3.28 [[ 9.99788770e-01 -1.43573015e-02 -1.47065484e-02 4.78339203e+02] [ 1.43559034e-02 9.99896929e-01 -2.00632901e-04 4.86204035e+00] [ 1.47079132e-02 -1.05352676e-05 9.99891833e-01 3.28343901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.02925415399994 meters 0.014560888798550236 Centerline is valid? [True, True] Translation: X:478.37, Y:4.86, Z:3.28 [[ 9.99722079e-01 -1.82872256e-02 -1.48775523e-02 4.78367743e+02] [ 1.82861694e-02 9.99832773e-01 -2.07037946e-04 4.85648285e+00] [ 1.48788505e-02 -6.50730349e-05 9.99889302e-01 3.28349964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0592541539999 meters 0.01583864107700307 Centerline is valid? [True, True] Translation: X:478.40, Y:4.85, Z:3.28 [[ 9.99698397e-01 -1.98460796e-02 -1.44653874e-02 4.78396070e+02] [ 1.98452096e-02 9.99803044e-01 -2.03701014e-04 4.85392250e+00] [ 1.44665810e-02 -8.34290664e-05 9.99895350e-01 3.28192904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.08925415399995 meters 0.01489925747083794 Centerline is valid? [True, True] Translation: X:478.42, Y:4.85, Z:3.28 [[ 9.99659022e-01 -2.16959756e-02 -1.45301065e-02 4.78424404e+02] [ 2.16952562e-02 9.99764609e-01 -2.07152261e-04 4.85243664e+00] [ 1.45311806e-02 -1.08152756e-04 9.99894411e-01 3.28340047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1192541539999 meters 0.016004957454812972 Centerline is valid? [True, True] Translation: X:478.45, Y:4.85, Z:3.28 [[ 9.99623016e-01 -2.35320333e-02 -1.41445653e-02 4.78453310e+02] [ 2.35315059e-02 9.99723075e-01 -2.03736833e-04 4.84910079e+00] [ 1.41454427e-02 -1.29182894e-04 9.99899940e-01 3.28275237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.14925415399995 meters 0.015185626524588203 Centerline is valid? [True, True] Translation: X:478.48, Y:4.85, Z:3.28 [[ 9.99609037e-01 -2.43256671e-02 -1.37852921e-02 4.78483003e+02] [ 2.43252349e-02 9.99704078e-01 -1.99043200e-04 4.84799462e+00] [ 1.37860546e-02 -1.36365087e-04 9.99904959e-01 3.28391253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1792541539999 meters 0.01517149942563185 Centerline is valid? [True, True] Translation: X:478.51, Y:4.85, Z:3.28 [[ 9.99591219e-01 -2.49790562e-02 -1.39083388e-02 4.78513706e+02] [ 2.49786779e-02 9.99687964e-01 -2.00943173e-04 4.84568634e+00] [ 1.39090183e-02 -1.46550885e-04 9.99903254e-01 3.28438453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.20925415399995 meters 0.015536895917146137 Centerline is valid? [True, True] Translation: X:478.54, Y:4.84, Z:3.28 [[ 9.99586505e-01 -2.51662435e-02 -1.39096702e-02 4.78543120e+02] [ 2.51658815e-02 9.99683269e-01 -2.01088752e-04 4.84352811e+00] [ 1.39103252e-02 -1.49043508e-04 9.99903236e-01 3.28394895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2392541539999 meters 0.015140690197225162 Centerline is valid? [True, True] Translation: X:478.57, Y:4.84, Z:3.29 [[ 9.99572372e-01 -2.62961366e-02 -1.27901094e-02 4.78573703e+02] [ 2.62959215e-02 9.99654185e-01 -1.85018831e-04 4.83857329e+00] [ 1.27905517e-02 -1.51388002e-04 9.99918186e-01 3.28521635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.26925415399995 meters 0.015158849340011504 Centerline is valid? [True, True] Translation: X:478.61, Y:4.84, Z:3.29 [[ 9.99574226e-01 -2.62840138e-02 -1.26695611e-02 4.78605150e+02] [ 2.62838044e-02 9.99654504e-01 -1.83065068e-04 4.83795217e+00] [ 1.26699955e-02 -1.50017142e-04 9.99919721e-01 3.28526529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2992541539999 meters 0.015150251931383002 Centerline is valid? [True, True] Translation: X:478.64, Y:4.83, Z:3.29 [[ 9.99591263e-01 -2.58958028e-02 -1.21125618e-02 4.78635364e+02] [ 2.58955869e-02 9.99664638e-01 -1.74680665e-04 4.83451055e+00] [ 1.21130232e-02 -1.39052631e-04 9.99926625e-01 3.28513237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.32925415399995 meters 0.014868952071692976 Centerline is valid? [True, True] Translation: X:478.67, Y:4.83, Z:3.29 [[ 9.99598219e-01 -2.55689366e-02 -1.22323652e-02 4.78666301e+02] [ 2.55686960e-02 9.99673052e-01 -1.76085026e-04 4.83391932e+00] [ 1.22328682e-02 -1.36751349e-04 9.99925166e-01 3.28530855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3592541539999 meters 0.014868952071692976 Centerline is valid? [True, True] Translation: X:478.70, Y:4.83, Z:3.29 [[ 9.99599166e-01 -2.55318542e-02 -1.22323717e-02 4.78697145e+02] [ 2.55316164e-02 9.99674000e-01 -1.75631609e-04 4.83433392e+00] [ 1.22328682e-02 -1.36751012e-04 9.99925166e-01 3.28552223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.38925415399996 meters 0.014738956708161662 Centerline is valid? [True, True] Translation: X:478.73, Y:4.83, Z:3.28 [[ 9.99634750e-01 -2.41734086e-02 -1.20836106e-02 4.78727238e+02] [ 2.41730815e-02 9.99707773e-01 -1.73146875e-04 4.82998292e+00] [ 1.20842650e-02 -1.19014470e-04 9.99926976e-01 3.28469727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.41925415399993 meters 0.015729183795181432 Centerline is valid? [True, True] Translation: X:478.76, Y:4.83, Z:3.28 [[ 9.99657333e-01 -2.31994036e-02 -1.21245319e-02 4.78757599e+02] [ 2.31990042e-02 9.99730852e-01 -1.73605268e-04 4.82915791e+00] [ 1.21252962e-02 -1.07731287e-04 9.99926480e-01 3.28378671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.44925415399996 meters 0.014424363856286215 Centerline is valid? [True, True] Translation: X:478.79, Y:4.83, Z:3.29 [[ 9.99698020e-01 -2.17227821e-02 -1.14886625e-02 4.78786925e+02] [ 2.17223250e-02 9.99764029e-01 -1.64584802e-04 4.82682965e+00] [ 1.14895268e-02 -8.50253607e-05 9.99933990e-01 3.28539147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.47925415399993 meters 0.01431485582128468 Centerline is valid? [True, True] Translation: X:478.82, Y:4.83, Z:3.29 [[ 9.99716008e-01 -2.08168892e-02 -1.16000446e-02 4.78817197e+02] [ 2.08163607e-02 9.99783302e-01 -1.66309678e-04 4.82589894e+00] [ 1.16009929e-02 -7.52082659e-05 9.99932703e-01 3.28561507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.50925415399996 meters 0.014251607691283693 Centerline is valid? [True, True] Translation: X:478.85, Y:4.82, Z:3.29 [[ 9.99742297e-01 -1.95068792e-02 -1.16112744e-02 4.78846694e+02] [ 1.95062594e-02 9.99809721e-01 -1.66643091e-04 4.82283770e+00] [ 1.16123158e-02 -5.98923850e-05 9.99932573e-01 3.28563242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.53925415399993 meters 0.014201461790861021 Centerline is valid? [True, True] Translation: X:478.88, Y:4.82, Z:3.29 [[ 9.99761752e-01 -1.86931380e-02 -1.12696487e-02 4.78876674e+02] [ 1.86924997e-02 9.99825267e-01 -1.61978709e-04 4.81818450e+00] [ 1.12707074e-02 -4.87177876e-05 9.99936482e-01 3.28545053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.56925415399996 meters 0.014201461790861021 Centerline is valid? [True, True] Translation: X:478.91, Y:4.82, Z:3.29 [[ 9.99761086e-01 -1.87287245e-02 -1.12696467e-02 4.78905827e+02] [ 1.87280869e-02 9.99824601e-01 -1.62118826e-04 4.81863381e+00] [ 1.12707063e-02 -4.89788290e-05 9.99936482e-01 3.28565257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.59925415399994 meters 0.014050742083654026 Centerline is valid? [True, True] Translation: X:478.94, Y:4.82, Z:3.29 [[ 9.99765593e-01 -1.84699210e-02 -1.12969786e-02 4.78935526e+02] [ 1.84692592e-02 9.99829415e-01 -1.62918634e-04 4.81664171e+00] [ 1.12980606e-02 -4.57663810e-05 9.99936174e-01 3.28594016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.6292541539999 meters 0.014172544934052273 Centerline is valid? [True, True] Translation: X:478.97, Y:4.81, Z:3.29 [[ 9.99767750e-01 -1.86978839e-02 -1.07160739e-02 4.78965602e+02] [ 1.86972974e-02 9.99825178e-01 -1.54917988e-04 4.81201899e+00] [ 1.07170971e-02 -4.54796124e-05 9.99942569e-01 3.28571228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.65925415399994 meters 0.014386183111606603 Centerline is valid? [True, True] Translation: X:479.00, Y:4.81, Z:3.29 [[ 9.99763290e-01 -1.89494194e-02 -1.06903561e-02 4.78995451e+02] [ 1.89488460e-02 9.99820442e-01 -1.54932520e-04 4.80989828e+00] [ 1.06913725e-02 -4.76740654e-05 9.99942845e-01 3.28577758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.6892541539999 meters 0.014095357223248712 Centerline is valid? [True, True] Translation: X:479.03, Y:4.81, Z:3.29 [[ 9.99752137e-01 -1.98002940e-02 -1.01790562e-02 4.79025488e+02] [ 1.97998159e-02 9.99803954e-01 -1.47749994e-04 4.80755290e+00] [ 1.01799861e-02 -5.38300660e-05 9.99948181e-01 3.28655626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.71925415399994 meters 0.014989396276140909 Centerline is valid? [True, True] Translation: X:479.05, Y:4.80, Z:3.29 [[ 9.99710962e-01 -2.17759732e-02 -1.01882176e-02 4.79054644e+02] [ 2.17755970e-02 9.99762873e-01 -1.47867596e-04 4.80047020e+00] [ 1.01890216e-02 -7.40296641e-05 9.99948088e-01 3.28548103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.7492541539999 meters 0.014361456164355345 Centerline is valid? [True, True] Translation: X:479.08, Y:4.80, Z:3.29 [[ 9.99668191e-01 -2.37822475e-02 -9.89506509e-03 4.79084534e+02] [ 2.37819902e-02 9.99717158e-01 -1.43683164e-04 4.79693788e+00] [ 9.89568346e-03 -9.16888522e-05 9.99951032e-01 3.28652670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.77925415399994 meters 0.015351157059332377 Centerline is valid? [True, True] Translation: X:479.11, Y:4.79, Z:3.29 [[ 9.99535893e-01 -2.88014471e-02 -9.92347616e-03 4.79114091e+02] [ 2.88014339e-02 9.99585142e-01 -1.44271989e-04 4.78805951e+00] [ 9.92351457e-03 -1.41605311e-04 9.99950751e-01 3.28688412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8092541539999 meters 0.015404433461835466 Centerline is valid? [True, True] Translation: X:479.15, Y:4.78, Z:3.29 [[ 9.99449998e-01 -3.15859581e-02 -1.01009025e-02 4.79145133e+02] [ 3.15860865e-02 9.99501024e-01 -1.46862012e-04 4.78427946e+00] [ 1.01005012e-02 -1.72266742e-04 9.99948974e-01 3.28739444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.83925415399995 meters 0.01694299281460903 Centerline is valid? [True, True] Translation: X:479.18, Y:4.78, Z:3.29 [[ 9.99335839e-01 -3.50748530e-02 -9.88112111e-03 4.79175624e+02] [ 3.50751492e-02 9.99384667e-01 -1.43371031e-04 4.77842302e+00] [ 9.88006965e-03 -2.03305987e-04 9.99951170e-01 3.28745424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8692541539999 meters 0.017959187842734124 Centerline is valid? [True, True] Translation: X:479.21, Y:4.77, Z:3.29 [[ 9.99220043e-01 -3.81812565e-02 -1.00745807e-02 4.79206541e+02] [ 3.81817249e-02 9.99270801e-01 -1.45909007e-04 4.77377822e+00] [ 1.00728053e-02 -2.38869666e-04 9.99949239e-01 3.28757607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.89925415399995 meters 0.02056377107327777 Centerline is valid? [True, True] Translation: X:479.24, Y:4.76, Z:3.29 [[ 9.98947267e-01 -4.46856842e-02 -1.03704694e-02 4.79237224e+02] [ 4.46865347e-02 9.99001047e-01 -1.49810365e-04 4.76385119e+00] [ 1.03668041e-02 -3.13767684e-04 9.99946214e-01 3.28779677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9292541539999 meters 0.020869552747136637 Centerline is valid? [True, True] Translation: X:479.27, Y:4.76, Z:3.29 [[ 9.98816438e-01 -4.75390216e-02 -1.02842199e-02 4.79268641e+02] [ 4.75400115e-02 9.98869323e-01 -1.48328241e-04 4.76154403e+00] [ 1.02796431e-02 -3.40759245e-04 9.99947105e-01 3.28764833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.95925415399995 meters 0.02348573738193173 Centerline is valid? [True, True] Translation: X:479.30, Y:4.75, Z:3.29 [[ 9.98563634e-01 -5.26311895e-02 -1.00312482e-02 4.79298756e+02] [ 5.26323902e-02 9.98613945e-01 -1.44442020e-04 4.75386749e+00] [ 1.00249465e-02 -3.83734021e-04 9.99949675e-01 3.28830309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9892541539999 meters 0.024550835913171424 Centerline is valid? [True, True] Translation: X:479.33, Y:4.75, Z:3.29 [[ 9.98444419e-01 -5.48564056e-02 -9.97577301e-03 4.79329592e+02] [ 5.48577045e-02 9.98494172e-01 -1.43590463e-04 4.75109288e+00] [ 9.96862807e-03 -4.03880911e-04 9.99950230e-01 3.28880698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.01925415399995 meters 0.02691738663337351 Centerline is valid? [True, True] Translation: X:479.36, Y:4.75, Z:3.29 [[ 9.98322581e-01 -5.69417210e-02 -1.04720860e-02 4.79361049e+02] [ 5.69432701e-02 9.98377404e-01 -1.50424943e-04 4.74790897e+00] [ 1.04636595e-02 -4.46142205e-04 9.99945155e-01 3.28740128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0492541539999 meters 0.02841333152274934 Centerline is valid? [True, True] Translation: X:479.39, Y:4.74, Z:3.29 [[ 9.98085910e-01 -6.09346102e-02 -1.05589039e-02 4.79391531e+02] [ 6.09364124e-02 9.98141639e-01 -1.51248395e-04 4.74367258e+00] [ 1.05484979e-02 -4.92462833e-04 9.99944242e-01 3.28854144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.07925415399995 meters 0.03111100051524456 Centerline is valid? [True, True] Translation: X:479.42, Y:4.74, Z:3.29 [[ 9.97988550e-01 -6.21689853e-02 -1.24044596e-02 4.79423012e+02] [ 6.21715719e-02 9.98065461e-01 -1.77360504e-04 4.74154995e+00] [ 1.23914890e-02 -5.94201002e-04 9.99923046e-01 3.28582494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1092541539999 meters 0.03189136532167802 Centerline is valid? [True, True] Translation: X:479.45, Y:4.74, Z:3.29 [[ 9.97780303e-01 -6.54675674e-02 -1.21846350e-02 4.79453419e+02] [ 6.54703128e-02 9.97854502e-01 -1.73852432e-04 4.73786811e+00] [ 1.21698746e-02 -6.24265332e-04 9.99925749e-01 3.28764909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.13925415399996 meters 0.026602926891927673 Centerline is valid? [True, True] Translation: X:479.48, Y:4.75, Z:3.29 [[ 9.97683601e-01 -6.69144363e-02 -1.22429728e-02 4.79484384e+02] [ 6.69173213e-02 9.97758509e-01 -1.74312529e-04 4.74533509e+00] [ 1.22271943e-02 -6.45358194e-04 9.99925037e-01 3.28834030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.16925415399993 meters 0.027713169569327335 Centerline is valid? [True, True] Translation: X:479.52, Y:4.74, Z:3.29 [[ 9.97607958e-01 -6.80199921e-02 -1.23143452e-02 4.79515092e+02] [ 6.80230004e-02 9.97683738e-01 -1.74877768e-04 4.74391015e+00] [ 1.22977171e-02 -6.63199253e-04 9.99924160e-01 3.28825874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.19925415399996 meters 0.025870229308487213 Centerline is valid? [True, True] Translation: X:479.55, Y:4.75, Z:3.29 [[ 9.97518239e-01 -6.92859568e-02 -1.25227419e-02 4.79546690e+02] [ 6.92891777e-02 9.97596601e-01 -1.76996223e-04 4.74728989e+00] [ 1.25049081e-02 -6.91133530e-04 9.99921572e-01 3.28878281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.22925415399993 meters 0.027241749749720663 Centerline is valid? [True, True] Translation: X:479.58, Y:4.75, Z:3.29 [[ 9.97382255e-01 -7.13131661e-02 -1.19612141e-02 4.79578028e+02] [ 7.13162603e-02 9.97453740e-01 -1.68182056e-04 4.74725874e+00] [ 1.19427513e-02 -6.85287261e-04 9.99928448e-01 3.28900050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.25925415399996 meters 0.028368774024027946 Centerline is valid? [True, True] Translation: X:479.61, Y:4.75, Z:3.29 [[ 9.97326653e-01 -7.20437645e-02 -1.22165502e-02 4.79608834e+02] [ 7.20470537e-02 9.97401220e-01 -1.71215204e-04 4.74679106e+00] [ 1.21971370e-02 -7.09408960e-04 9.99925361e-01 3.28912475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.28925415399993 meters 0.02897577743883088 Centerline is valid? [True, True] Translation: X:479.64, Y:4.75, Z:3.29 [[ 9.97261609e-01 -7.28523262e-02 -1.27209382e-02 4.79641040e+02] [ 7.28559688e-02 9.97342457e-01 -1.77455733e-04 4.74801496e+00] [ 1.27000599e-02 -7.49826489e-04 9.99919070e-01 3.28907650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31925415399996 meters 0.02897577743883088 Centerline is valid? [True, True] Translation: X:479.67, Y:4.75, Z:3.29 [[ 9.97266982e-01 -7.27787359e-02 -1.27209513e-02 4.79672775e+02] [ 7.27823844e-02 9.97347830e-01 -1.76517381e-04 4.74839466e+00] [ 1.27000599e-02 -7.49826210e-04 9.99919070e-01 3.28929634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.34925415399994 meters 0.029256775406237008 Centerline is valid? [True, True] Translation: X:479.71, Y:4.75, Z:3.29 [[ 9.97254984e-01 -7.28363177e-02 -1.33179184e-02 4.79705107e+02] [ 7.28403353e-02 9.97343598e-01 -1.83788516e-04 4.75066726e+00] [ 1.32959271e-02 -7.86797627e-04 9.99911296e-01 3.28822556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.3792541539999 meters 0.02858467591036772 Centerline is valid? [True, True] Translation: X:479.74, Y:4.75, Z:3.29 [[ 9.97255967e-01 -7.29545179e-02 -1.25767532e-02 4.79736819e+02] [ 7.29581215e-02 9.97334990e-01 -1.72652942e-04 4.75193139e+00] [ 1.25558319e-02 -7.45397114e-04 9.99920895e-01 3.29034462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.40925415399994 meters 0.027838237266018022 Centerline is valid? [True, True] Translation: X:479.77, Y:4.76, Z:3.29 [[ 9.97250176e-01 -7.30054821e-02 -1.27391217e-02 4.79768590e+02] [ 7.30091956e-02 9.97331252e-01 -1.73926134e-04 4.75679043e+00] [ 1.27178218e-02 -7.56625160e-04 9.99918839e-01 3.29146490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4392541539999 meters 0.032341864130237506 Centerline is valid? [True, True] Translation: X:479.80, Y:4.75, Z:3.29 [[ 9.97263498e-01 -7.25809153e-02 -1.40543829e-02 4.79799488e+02] [ 7.25854070e-02 9.97362182e-01 -1.90912939e-04 4.75475652e+00] [ 1.40311666e-02 -8.29752598e-04 9.99901214e-01 3.28934546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.46925415399994 meters 0.02882877334473228 Centerline is valid? [True, True] Translation: X:479.83, Y:4.76, Z:3.29 [[ 9.97267084e-01 -7.26640956e-02 -1.33526486e-02 4.79831091e+02] [ 7.26681685e-02 9.97356157e-01 -1.80538836e-04 4.76113688e+00] [ 1.33304650e-02 -7.90267084e-04 9.99910833e-01 3.29180069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4992541539999 meters 0.03104698054742622 Centerline is valid? [True, True] Translation: X:479.86, Y:4.76, Z:3.29 [[ 9.97289363e-01 -7.20569165e-02 -1.48904890e-02 4.79862477e+02] [ 7.20619380e-02 9.97400139e-01 -1.99746618e-04 4.76118607e+00] [ 1.48661689e-02 -8.73832315e-04 9.99889111e-01 3.28989488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.52925415399994 meters 0.032920339654483155 Centerline is valid? [True, True] Translation: X:479.89, Y:4.76, Z:3.29 [[ 9.97309661e-01 -7.17534309e-02 -1.49961611e-02 4.79893803e+02] [ 7.17585096e-02 9.97422015e-01 -1.99836075e-04 4.76051552e+00] [ 1.49718402e-02 -8.76803724e-04 9.99887531e-01 3.28971054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5592541539999 meters 0.027996635247272396 Centerline is valid? [True, True] Translation: X:479.92, Y:4.77, Z:3.29 [[ 9.97376235e-01 -7.09977004e-02 -1.41411455e-02 4.79924621e+02] [ 7.10021494e-02 9.97476145e-01 -1.87820196e-04 4.77038123e+00] [ 1.41187901e-02 -8.16724328e-04 9.99899991e-01 3.29240143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.58925415399995 meters 0.029981958501178848 Centerline is valid? [True, True] Translation: X:479.96, Y:4.77, Z:3.29 [[ 9.97457326e-01 -6.98688753e-02 -1.40435873e-02 4.79955875e+02] [ 6.98731607e-02 9.97555867e-01 -1.85877170e-04 4.77030297e+00] [ 1.40222499e-02 -7.95865288e-04 9.99901367e-01 3.29242953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6192541539999 meters 0.02883174062977109 Centerline is valid? [True, True] Translation: X:479.99, Y:4.77, Z:3.29 [[ 9.97567738e-01 -6.82907932e-02 -1.39633521e-02 4.79987002e+02] [ 6.82948845e-02 9.97665162e-01 -1.84180161e-04 4.77472431e+00] [ 1.39433277e-02 -7.69893330e-04 9.99902491e-01 3.29287806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.64925415399995 meters 0.03051657646576755 Centerline is valid? [True, True] Translation: X:480.02, Y:4.78, Z:3.29 [[ 9.97855991e-01 -6.36768344e-02 -1.51222029e-02 4.80016955e+02] [ 6.36811087e-02 9.97970278e-01 -1.99196348e-04 4.78029463e+00] [ 1.51041932e-02 -7.64229375e-04 9.99885633e-01 3.29083181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6792541539999 meters 0.02824867331853493 Centerline is valid? [True, True] Translation: X:480.05, Y:4.79, Z:3.29 [[ 9.98031245e-01 -6.09177872e-02 -1.49216690e-02 4.80048464e+02] [ 6.09216475e-02 9.98142532e-01 -1.96134087e-04 4.78566959e+00] [ 1.49059005e-02 -7.13304711e-04 9.99888646e-01 3.29188129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.70925415399995 meters 0.023791261286081077 Centerline is valid? [True, True] Translation: X:480.08, Y:4.80, Z:3.29 [[ 9.98449142e-01 -5.39060535e-02 -1.39085902e-02 4.80079345e+02] [ 5.39087346e-02 9.98545850e-01 -1.82355156e-04 4.79670396e+00] [ 1.38981951e-02 -5.67722150e-04 9.99903254e-01 3.29443048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7392541539999 meters 0.022674751751726965 Centerline is valid? [True, True] Translation: X:480.11, Y:4.80, Z:3.30 [[ 9.98654728e-01 -5.00878845e-02 -1.34140959e-02 4.80110521e+02] [ 5.00900374e-02 9.98744691e-01 -1.75642450e-04 4.80135892e+00] [ 1.34060547e-02 -4.96506404e-04 9.99910012e-01 3.29501080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.76925415399995 meters 0.02144558218591737 Centerline is valid? [True, True] Translation: X:480.14, Y:4.81, Z:3.30 [[ 9.98832150e-01 -4.64386418e-02 -1.33337777e-02 4.80141742e+02] [ 4.64404487e-02 9.98921045e-01 -1.74246587e-04 4.80620654e+00] [ 1.33274830e-02 -4.45183529e-04 9.99911086e-01 3.29534838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7992541539999 meters 0.01937886583160705 Centerline is valid? [True, True] Translation: X:480.17, Y:4.81, Z:3.30 [[ 9.99136474e-01 -3.95080114e-02 -1.28616693e-02 4.80171554e+02] [ 3.95091217e-02 9.99219196e-01 -1.67843281e-04 4.81460183e+00] [ 1.28582580e-02 -3.40454914e-04 9.99917271e-01 3.29614712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.82925415399995 meters 0.018707463012422675 Centerline is valid? [True, True] Translation: X:480.20, Y:4.82, Z:3.30 [[ 9.99243700e-01 -3.66943969e-02 -1.28666308e-02 4.80202264e+02] [ 3.66952776e-02 9.99326487e-01 -1.67707266e-04 4.81854330e+00] [ 1.28641189e-02 -3.04564161e-04 9.99917207e-01 3.29616784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8592541539999 meters 0.01764001582533425 Centerline is valid? [True, True] Translation: X:480.23, Y:4.82, Z:3.30 [[ 9.99328988e-01 -3.40124871e-02 -1.35913145e-02 4.80233877e+02] [ 3.40132283e-02 9.99421367e-01 -1.76680928e-04 4.82259484e+00] [ 1.35894595e-02 -2.85722109e-04 9.99907618e-01 3.29601675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.88925415399996 meters 0.01707985328791576 Centerline is valid? [True, True] Translation: X:480.26, Y:4.83, Z:3.30 [[ 9.99412294e-01 -3.09846303e-02 -1.46635254e-02 4.80263722e+02] [ 3.09851710e-02 9.99519826e-01 -1.90367173e-04 4.82735729e+00] [ 1.46623828e-02 -2.64096547e-04 9.99892467e-01 3.29520142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.91925415399993 meters 0.017216388271307725 Centerline is valid? [True, True] Translation: X:480.29, Y:4.83, Z:3.29 [[ 9.99419810e-01 -3.05590340e-02 -1.50395512e-02 4.80294279e+02] [ 3.05595546e-02 9.99532929e-01 -1.95248876e-04 4.82903173e+00] [ 1.50384933e-02 -2.64466392e-04 9.99886880e-01 3.29485732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.94925415399996 meters 0.017139967146635657 Centerline is valid? [True, True] Translation: X:480.32, Y:4.83, Z:3.29 [[ 9.99415084e-01 -3.03820673e-02 -1.56977533e-02 4.80324597e+02] [ 3.03826127e-02 9.99538321e-01 -2.03793893e-04 4.83035657e+00] [ 1.56966977e-02 -2.73264069e-04 9.99876762e-01 3.29455922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.97925415399993 meters 0.01572994701278465 Centerline is valid? [True, True] Translation: X:480.35, Y:4.84, Z:3.30 [[ 9.99394611e-01 -3.05613416e-02 -1.66257834e-02 4.80354436e+02] [ 3.05619723e-02 9.99532850e-01 -2.16198289e-04 4.83663171e+00] [ 1.66246240e-02 -2.92049327e-04 9.99861759e-01 3.29644307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.00925415399996 meters 0.016310273541729616 Centerline is valid? [True, True] Translation: X:480.38, Y:4.84, Z:3.30 [[ 9.99394609e-01 -3.04197336e-02 -1.68835865e-02 4.80384388e+02] [ 3.04203601e-02 9.99537170e-01 -2.19769973e-04 4.83655454e+00] [ 1.68824576e-02 -2.93967854e-04 9.99857438e-01 3.29587367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.03925415399993 meters 0.016422626270763584 Centerline is valid? [True, True] Translation: X:480.41, Y:4.84, Z:3.30 [[ 9.99410927e-01 -3.02013846e-02 -1.62995554e-02 4.80413081e+02] [ 3.02019320e-02 9.99543795e-01 -2.12626846e-04 4.83864526e+00] [ 1.62985411e-02 -2.79776470e-04 9.99867131e-01 3.29636718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.06925415399996 meters 0.016285847876466503 Centerline is valid? [True, True] Translation: X:480.44, Y:4.84, Z:3.30 [[ 9.99420928e-01 -2.99072836e-02 -1.62284339e-02 4.80443155e+02] [ 2.99077761e-02 9.99552640e-01 -2.12402289e-04 4.84215518e+00] [ 1.62275263e-02 -2.73077074e-04 9.99868288e-01 3.29760242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.09925415399994 meters 0.015722765942916436 Centerline is valid? [True, True] Translation: X:480.47, Y:4.84, Z:3.30 [[ 9.99437480e-01 -2.96119241e-02 -1.57434942e-02 4.80473107e+02] [ 2.96123444e-02 9.99561437e-01 -2.06467593e-04 4.84257522e+00] [ 1.57427036e-02 -2.59850323e-04 9.99876042e-01 3.29782018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.1292541539999 meters 0.015491687617220256 Centerline is valid? [True, True] Translation: X:480.50, Y:4.84, Z:3.30 [[ 9.99454595e-01 -2.93967332e-02 -1.50447372e-02 4.80502401e+02] [ 2.93970863e-02 9.99567793e-01 -1.97723192e-04 4.84437710e+00] [ 1.50440472e-02 -2.44656086e-04 9.99886802e-01 3.29841571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.15925415399994 meters 0.01554482911578955 Centerline is valid? [True, True] Translation: X:480.53, Y:4.85, Z:3.30 [[ 9.99458071e-01 -2.94878615e-02 -1.46297758e-02 4.80533232e+02] [ 2.94882016e-02 9.99565110e-01 -1.92516558e-04 4.84569276e+00] [ 1.46290904e-02 -2.38993551e-04 9.99892961e-01 3.29857198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.1892541539999 meters 0.015539677623115145 Centerline is valid? [True, True] Translation: X:480.56, Y:4.85, Z:3.30 [[ 9.99437087e-01 -3.01886959e-02 -1.46339316e-02 4.80563541e+02] [ 3.01891112e-02 9.99544186e-01 -1.92571245e-04 4.84595772e+00] [ 1.46330747e-02 -2.49322545e-04 9.99892900e-01 3.29874531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.21925415399994 meters 0.015610997301112855 Centerline is valid? [True, True] Translation: X:480.59, Y:4.85, Z:3.30 [[ 9.99418385e-01 -3.09075046e-02 -1.44089398e-02 4.80593996e+02] [ 3.09079820e-02 9.99522216e-01 -1.89610527e-04 4.84596850e+00] [ 1.44079158e-02 -2.55851006e-04 9.99896168e-01 3.29888619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.2492541539999 meters 0.016268145210875794 Centerline is valid? [True, True] Translation: X:480.62, Y:4.84, Z:3.30 [[ 9.99342869e-01 -3.33898670e-02 -1.41048636e-02 4.80624746e+02] [ 3.33905716e-02 9.99442362e-01 -1.85609118e-04 4.84351408e+00] [ 1.41031957e-02 -2.85482308e-04 9.99900504e-01 3.29801849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.27925415399994 meters 0.016303491443918808 Centerline is valid? [True, True] Translation: X:480.66, Y:4.84, Z:3.30 [[ 9.99293909e-01 -3.47364271e-02 -1.43200770e-02 4.80656317e+02] [ 3.47372954e-02 9.99396460e-01 -1.88168594e-04 4.84296189e+00] [ 1.43179706e-02 -3.09405015e-04 9.99897445e-01 3.29783610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3092541539999 meters 0.01663002400202781 Centerline is valid? [True, True] Translation: X:480.69, Y:4.84, Z:3.30 [[ 9.99208906e-01 -3.67573566e-02 -1.51808739e-02 4.80687980e+02] [ 3.67585744e-02 9.99324155e-01 -1.98901604e-04 4.84179356e+00] [ 1.51779251e-02 -3.59283029e-04 9.99884744e-01 3.29760586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.33925415399995 meters 0.01683503932871465 Centerline is valid? [True, True] Translation: X:480.72, Y:4.84, Z:3.30 [[ 9.99194316e-01 -3.70731034e-02 -1.53721636e-02 4.80719314e+02] [ 3.70743982e-02 9.99312488e-01 -2.00833626e-04 4.84133129e+00] [ 1.53690405e-02 -3.69241896e-04 9.99881821e-01 3.29718082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3692541539999 meters 0.017947094868054483 Centerline is valid? [True, True] Translation: X:480.75, Y:4.84, Z:3.30 [[ 9.99180805e-01 -3.70187340e-02 -1.63502762e-02 4.80749498e+02] [ 3.70201989e-02 9.99314495e-01 -2.13165620e-04 4.83902581e+00] [ 1.63469591e-02 -3.92299479e-04 9.99866303e-01 3.29596675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.39925415399995 meters 0.018473961069763695 Centerline is valid? [True, True] Translation: X:480.78, Y:4.84, Z:3.30 [[ 9.99192069e-01 -3.63671832e-02 -1.71066692e-02 4.80780817e+02] [ 3.63687001e-02 9.99338415e-01 -2.22521156e-04 4.84052501e+00] [ 1.71034442e-02 -3.99805948e-04 9.99853645e-01 3.29575107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4292541539999 meters 0.016477978386813502 Centerline is valid? [True, True] Translation: X:480.81, Y:4.84, Z:3.30 [[ 9.99296575e-01 -3.36086521e-02 -1.66377295e-02 4.80811147e+02] [ 3.36097088e-02 9.99435011e-01 -2.16174717e-04 4.84133810e+00] [ 1.66355947e-02 -3.43166590e-04 9.99861560e-01 3.29661425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.45925415399995 meters 0.01590877708131952 Centerline is valid? [True, True] Translation: X:480.84, Y:4.84, Z:3.30 [[ 9.99376030e-01 -3.11689548e-02 -1.66146720e-02 4.80841216e+02] [ 3.11696594e-02 9.99514085e-01 -2.16608197e-04 4.84270134e+00] [ 1.66133501e-02 -3.01400628e-04 9.99861943e-01 3.29687525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4892541539999 meters 0.01500300469801841 Centerline is valid? [True, True] Translation: X:480.87, Y:4.85, Z:3.30 [[ 9.99549600e-01 -2.55583898e-02 -1.57278613e-02 4.80870846e+02] [ 2.55583138e-02 9.99673312e-01 -2.05865124e-04 4.84562743e+00] [ 1.57279848e-02 -1.96205213e-04 9.99876288e-01 3.29764034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.51925415399995 meters 0.015614322597477534 Centerline is valid? [True, True] Translation: X:480.90, Y:4.85, Z:3.30 [[ 9.99620006e-01 -2.25775487e-02 -1.58144800e-02 4.80899130e+02] [ 2.25770872e-02 9.99745083e-01 -2.07737435e-04 4.84671761e+00] [ 1.58151388e-02 -1.49386398e-04 9.99874922e-01 3.29735479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5492541539999 meters 0.01458950633629146 Centerline is valid? [True, True] Translation: X:480.93, Y:4.85, Z:3.30 [[ 9.99693375e-01 -2.02269224e-02 -1.42838043e-02 4.80927939e+02] [ 2.02262749e-02 9.99795410e-01 -1.89803141e-04 4.84869897e+00] [ 1.42847211e-02 -9.91632103e-05 9.99897963e-01 3.29861785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.57925415399995 meters 0.014197850820543234 Centerline is valid? [True, True] Translation: X:480.96, Y:4.85, Z:3.30 [[ 9.99789877e-01 -1.56398125e-02 -1.32513076e-02 4.80956220e+02] [ 1.56388097e-02 9.99877690e-01 -1.79305733e-04 4.85026530e+00] [ 1.32524911e-02 -2.79666202e-05 9.99912181e-01 3.29943093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6092541539999 meters 0.013926825968315185 Centerline is valid? [True, True] Translation: X:480.98, Y:4.85, Z:3.30 [[ 9.99821076e-01 -1.40117134e-02 -1.27078168e-02 4.80983627e+02] [ 1.40106313e-02 9.99901831e-01 -1.74179532e-04 4.85015689e+00] [ 1.27090099e-02 -3.89616889e-06 9.99919237e-01 3.29931144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.63925415399996 meters 0.013944428603481364 Centerline is valid? [True, True] Translation: X:481.01, Y:4.85, Z:3.30 [[ 9.99836453e-01 -1.24984214e-02 -1.30712123e-02 4.81011400e+02] [ 1.24971149e-02 9.99921892e-01 -1.81628674e-04 4.84855938e+00] [ 1.30724614e-02 1.82465267e-05 9.99914552e-01 3.29971976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.66925415399993 meters 0.014508289887349493 Centerline is valid? [True, True] Translation: X:481.04, Y:4.85, Z:3.30 [[ 9.99838900e-01 -1.26252622e-02 -1.27584233e-02 4.81038250e+02] [ 1.26239871e-02 9.99920298e-01 -1.80476724e-04 4.84723876e+00] [ 1.27596850e-02 1.93854785e-05 9.99918592e-01 3.29922916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.69925415399996 meters 0.013980226988334427 Centerline is valid? [True, True] Translation: X:481.07, Y:4.85, Z:3.30 [[ 9.99823458e-01 -1.36195512e-02 -1.29445133e-02 4.81066169e+02] [ 1.36182804e-02 9.99907250e-01 -1.86317320e-04 4.84545889e+00] [ 1.29458502e-02 1.00024150e-05 9.99916199e-01 3.29954699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.72925415399993 meters 0.015324823827299949 Centerline is valid? [True, True] Translation: X:481.09, Y:4.84, Z:3.30 [[ 9.99798888e-01 -1.47907825e-02 -1.35431063e-02 4.81094235e+02] [ 1.47894617e-02 9.99890610e-01 -1.97676502e-04 4.84286907e+00] [ 1.35445486e-02 -2.65850428e-06 9.99908268e-01 3.29850304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.75925415399996 meters 0.014115331575398477 Centerline is valid? [True, True] Translation: X:481.12, Y:4.84, Z:3.30 [[ 9.99711295e-01 -2.02150631e-02 -1.29876324e-02 4.81122386e+02] [ 2.02142911e-02 9.99795652e-01 -1.90721178e-04 4.83553689e+00] [ 1.29888338e-02 -7.18696662e-05 9.99915639e-01 3.29819455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.78925415399993 meters 0.014438131400928667 Centerline is valid? [True, True] Translation: X:481.15, Y:4.83, Z:3.30 [[ 9.99547160e-01 -2.71512433e-02 -1.29724706e-02 4.81150972e+02] [ 2.71510433e-02 9.99631324e-01 -1.91562110e-04 4.82700034e+00] [ 1.29728891e-02 -1.60740747e-04 9.99915836e-01 3.29804249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.81925415399996 meters 0.016731381068237534 Centerline is valid? [True, True] Translation: X:481.18, Y:4.82, Z:3.30 [[ 9.99448770e-01 -3.05085290e-02 -1.30914154e-02 4.81181056e+02] [ 3.05086037e-02 9.99534485e-01 -1.94052817e-04 4.82282944e+00] [ 1.30912414e-02 -2.05454954e-04 9.99914285e-01 3.29714125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.84925415399994 meters 0.01603857300303005 Centerline is valid? [True, True] Translation: X:481.21, Y:4.82, Z:3.30 [[ 9.99330876e-01 -3.43653836e-02 -1.25228242e-02 4.81210355e+02] [ 3.43657503e-02 9.99409306e-01 -1.85968080e-04 4.81890304e+00] [ 1.25218179e-02 -2.44512605e-04 9.99921569e-01 3.29812635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.8792541539999 meters 0.017027654195061453 Centerline is valid? [True, True] Translation: X:481.24, Y:4.82, Z:3.30 [[ 9.99211153e-01 -3.78203725e-02 -1.21116487e-02 4.81241209e+02] [ 3.78209688e-02 9.99284515e-01 -1.79890419e-04 4.81526300e+00] [ 1.21097865e-02 -2.78325776e-04 9.99926635e-01 3.29836613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.90925415399994 meters 0.017455529870366387 Centerline is valid? [True, True] Translation: X:481.27, Y:4.81, Z:3.30 [[ 9.99091286e-01 -4.09866192e-02 -1.16918478e-02 4.81272644e+02] [ 4.09873949e-02 9.99159649e-01 -1.73361624e-04 4.81288853e+00] [ 1.16891281e-02 -3.06014296e-04 9.99931633e-01 3.29910640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9392541539999 meters 0.019425858656290495 Centerline is valid? [True, True] Translation: X:481.30, Y:4.81, Z:3.30 [[ 9.98846545e-01 -4.66336480e-02 -1.14404160e-02 4.81304025e+02] [ 4.66347654e-02 9.98911993e-01 -1.69222752e-04 4.80673290e+00] [ 1.14358602e-02 -3.64493556e-04 9.99934542e-01 3.29952094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.96925415399994 meters 0.019693583833326995 Centerline is valid? [True, True] Translation: X:481.34, Y:4.81, Z:3.30 [[ 9.98739104e-01 -4.88864643e-02 -1.14155780e-02 4.81335591e+02] [ 4.88877286e-02 9.98804266e-01 -1.68437400e-04 4.80559137e+00] [ 1.14101623e-02 -3.89856662e-04 9.99934826e-01 3.30003782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9992541539999 meters 0.020173254830774416 Centerline is valid? [True, True] Translation: X:481.37, Y:4.80, Z:3.30 [[ 9.98640408e-01 -5.10912140e-02 -1.03452092e-02 4.81367170e+02] [ 5.10923742e-02 9.98693920e-01 -1.52283743e-04 4.80308887e+00] [ 1.03394779e-02 -3.76484600e-04 9.99946475e-01 3.30075411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.02925415399994 meters 0.022267355855144833 Centerline is valid? [True, True] Translation: X:481.40, Y:4.80, Z:3.30 [[ 9.98437321e-01 -5.52238393e-02 -8.55820653e-03 4.81397613e+02] [ 5.52247868e-02 9.98473939e-01 -1.25736368e-04 4.79727498e+00] [ 8.55208983e-03 -3.47085248e-04 9.99963370e-01 3.30213517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0592541539999 meters 0.022298334919894264 Centerline is valid? [True, True] Translation: X:481.43, Y:4.80, Z:3.30 [[ 9.98326892e-01 -5.72696605e-02 -7.97514262e-03 4.81429732e+02] [ 5.72705501e-02 9.98358688e-01 -1.16973564e-04 4.79685664e+00] [ 7.96875196e-03 -3.39962950e-04 9.99968191e-01 3.30236873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.08925415399995 meters 0.02342983128637319 Centerline is valid? [True, True] Translation: X:481.46, Y:4.79, Z:3.30 [[ 9.98210749e-01 -5.92876788e-02 -7.76343220e-03 4.81460739e+02] [ 5.92885869e-02 9.98240878e-01 -1.13320353e-04 4.79467059e+00] [ 7.75649388e-03 -3.47165330e-04 9.99969858e-01 3.30264146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1192541539999 meters 0.026086449230830477 Centerline is valid? [True, True] Translation: X:481.49, Y:4.79, Z:3.30 [[ 9.98045475e-01 -6.19361844e-02 -8.31494559e-03 4.81491787e+02] [ 6.19373215e-02 9.98080034e-01 -1.20934148e-04 4.79096108e+00] [ 8.30647138e-03 -3.94307679e-04 9.99965423e-01 3.30059255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.14925415399995 meters 0.0248230246711568 Centerline is valid? [True, True] Translation: X:481.52, Y:4.79, Z:3.30 [[ 9.97957200e-01 -6.33725144e-02 -8.08399237e-03 4.81523776e+02] [ 6.33736378e-02 9.97989864e-01 -1.17366804e-04 4.79120210e+00] [ 8.07518027e-03 -3.95184958e-04 9.99967317e-01 3.30145836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1792541539999 meters 0.0249112919965228 Centerline is valid? [True, True] Translation: X:481.56, Y:4.79, Z:3.30 [[ 9.97893716e-01 -6.42410553e-02 -9.01213391e-03 4.81555657e+02] [ 6.42424934e-02 9.97934309e-01 -1.30116048e-04 4.79123754e+00] [ 9.00187642e-03 -4.49119967e-04 9.99959381e-01 3.30046461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.20925415399995 meters 0.026521051143437998 Centerline is valid? [True, True] Translation: X:481.59, Y:4.79, Z:3.30 [[ 9.97909434e-01 -6.39112725e-02 -9.59747185e-03 4.81587131e+02] [ 6.39128966e-02 9.97955471e-01 -1.37703814e-04 4.78960008e+00] [ 9.58665037e-03 -4.75986291e-04 9.99953934e-01 3.29970015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2392541539999 meters 0.026521051143437998 Centerline is valid? [True, True] Translation: X:481.62, Y:4.79, Z:3.30 [[ 9.97914051e-01 -6.38391286e-02 -9.59748629e-03 4.81618851e+02] [ 6.38407591e-02 9.97960089e-01 -1.36690867e-04 4.78998967e+00] [ 9.58663449e-03 -4.76305073e-04 9.99953934e-01 3.29991983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.26925415399995 meters 0.025486958041071872 Centerline is valid? [True, True] Translation: X:481.65, Y:4.79, Z:3.30 [[ 9.97971262e-01 -6.27687049e-02 -1.06512560e-02 4.81650823e+02] [ 6.27706612e-02 9.98027966e-01 -1.50866652e-04 4.79334923e+00] [ 1.06397211e-02 -5.18025799e-04 9.99943262e-01 3.29893638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2992541539999 meters 0.02540962963455818 Centerline is valid? [True, True] Translation: X:481.68, Y:4.80, Z:3.30 [[ 9.98119652e-01 -6.02344234e-02 -1.13567337e-02 4.81681374e+02] [ 6.02364910e-02 9.98184121e-01 -1.60228185e-04 4.79621359e+00] [ 1.13457625e-02 -5.24162884e-04 9.99935497e-01 3.29892609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.32925415399995 meters 0.02312489404409882 Centerline is valid? [True, True] Translation: X:481.71, Y:4.80, Z:3.30 [[ 9.98208158e-01 -5.89381915e-02 -1.03326544e-02 4.81713178e+02] [ 5.89398368e-02 9.98261526e-01 -1.45472801e-04 4.80009560e+00] [ 1.03232653e-02 -4.63792828e-04 9.99946606e-01 3.30049654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3592541539999 meters 0.02246692087879907 Centerline is valid? [True, True] Translation: X:481.74, Y:4.80, Z:3.30 [[ 9.98349145e-01 -5.65688846e-02 -9.94711052e-03 4.81744815e+02] [ 5.65702973e-02 9.98398609e-01 -1.39505620e-04 4.80283113e+00] [ 9.93907298e-03 -4.23435684e-04 9.99950517e-01 3.30115403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.38925415399996 meters 0.022162816619255597 Centerline is valid? [True, True] Translation: X:481.78, Y:4.81, Z:3.30 [[ 9.98637686e-01 -5.10337841e-02 -1.08776879e-02 4.81775118e+02] [ 5.10351502e-02 9.98696846e-01 -1.52136047e-04 4.80857829e+00] [ 1.08712767e-02 -4.03215648e-04 9.99940825e-01 3.30011458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.41925415399993 meters 0.02035821685571308 Centerline is valid? [True, True] Translation: X:481.81, Y:4.81, Z:3.30 [[ 9.98759943e-01 -4.86617488e-02 -1.05171665e-02 4.81805067e+02] [ 4.86628951e-02 9.98815249e-01 -1.47028170e-04 4.81081487e+00] [ 1.05118609e-02 -3.64949924e-04 9.99944682e-01 3.30100862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.44925415399996 meters 0.019922722270410028 Centerline is valid? [True, True] Translation: X:481.84, Y:4.82, Z:3.30 [[ 9.98899854e-01 -4.55721209e-02 -1.10572978e-02 4.81836777e+02] [ 4.55732030e-02 9.98960990e-01 -1.54216393e-04 4.81527763e+00] [ 1.10528371e-02 -3.49869744e-04 9.99938854e-01 3.30055075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.47925415399993 meters 0.01781897294916519 Centerline is valid? [True, True] Translation: X:481.87, Y:4.82, Z:3.30 [[ 9.99024311e-01 -4.28660811e-02 -1.06266400e-02 4.81868028e+02] [ 4.28669330e-02 9.99080780e-01 -1.47701699e-04 4.81936908e+00] [ 1.06232032e-02 -3.07973876e-04 9.99943525e-01 3.30125914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.50925415399996 meters 0.016614386683934886 Centerline is valid? [True, True] Translation: X:481.90, Y:4.83, Z:3.30 [[ 9.99206711e-01 -3.81297858e-02 -1.14921009e-02 4.81899461e+02] [ 3.81304741e-02 9.99272756e-01 -1.59281287e-04 4.82578480e+00] [ 1.14898167e-02 -2.79044324e-04 9.99933951e-01 3.30139238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.53925415399993 meters 0.016026269315684388 Centerline is valid? [True, True] Translation: X:481.93, Y:4.83, Z:3.30 [[ 9.99274005e-01 -3.62829852e-02 -1.16192890e-02 4.81930797e+02] [ 3.62835692e-02 9.99341522e-01 -1.60608939e-04 4.82847059e+00] [ 1.16174653e-02 -2.61096938e-04 9.99932481e-01 3.30158518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.56925415399996 meters 0.015786002692357984 Centerline is valid? [True, True] Translation: X:481.96, Y:4.83, Z:3.30 [[ 9.99330833e-01 -3.45309453e-02 -1.20623056e-02 4.81962541e+02] [ 3.45314537e-02 9.99403598e-01 -1.66180915e-04 4.83158618e+00] [ 1.20608500e-02 -2.50459235e-04 9.99927234e-01 3.30178939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.59925415399994 meters 0.01602462727131444 Centerline is valid? [True, True] Translation: X:481.99, Y:4.83, Z:3.30 [[ 9.99333960e-01 -3.42800898e-02 -1.25104624e-02 4.81993175e+02] [ 3.42806233e-02 9.99412232e-01 -1.71855030e-04 4.83281594e+00] [ 1.25090004e-02 -2.57125883e-04 9.99921726e-01 3.30194743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.6292541539999 meters 0.01615717622754283 Centerline is valid? [True, True] Translation: X:482.02, Y:4.83, Z:3.30 [[ 9.99322615e-01 -3.45573740e-02 -1.26530461e-02 4.82024797e+02] [ 3.45579463e-02 9.99402681e-01 -1.73477474e-04 4.83472346e+00] [ 1.26514831e-02 -2.63903326e-04 9.99919932e-01 3.30213516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.65925415399994 meters 0.01638163473088315 Centerline is valid? [True, True] Translation: X:482.06, Y:4.84, Z:3.30 [[ 9.99310659e-01 -3.49904117e-02 -1.24047169e-02 4.82056044e+02] [ 3.49910005e-02 9.99387613e-01 -1.69628690e-04 4.83542441e+00] [ 1.24030558e-02 -2.64541697e-04 9.99923044e-01 3.30284774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.6892541539999 meters 0.016620010813405996 Centerline is valid? [True, True] Translation: X:482.09, Y:4.84, Z:3.30 [[ 9.99295890e-01 -3.55028693e-02 -1.21355433e-02 4.82086468e+02] [ 3.55034748e-02 9.99369539e-01 -1.65610041e-04 4.83592998e+00] [ 1.21337720e-02 -2.65360522e-04 9.99926348e-01 3.30364114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.71925415399994 meters 0.01622955482055462 Centerline is valid? [True, True] Translation: X:482.12, Y:4.84, Z:3.30 [[ 9.99279196e-01 -3.61887143e-02 -1.14658038e-02 4.82117566e+02] [ 3.61893031e-02 9.99344940e-01 -1.56186348e-04 4.83802342e+00] [ 1.14639452e-02 -2.58865680e-04 9.99934253e-01 3.30475122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.7492541539999 meters 0.01714739946393022 Centerline is valid? [True, True] Translation: X:482.15, Y:4.84, Z:3.30 [[ 9.99262743e-01 -3.68467977e-02 -1.07834689e-02 4.82147978e+02] [ 3.68473602e-02 9.99320895e-01 -1.46582011e-04 4.83769585e+00] [ 1.07815468e-02 -2.50868418e-04 9.99941846e-01 3.30481881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.77925415399994 meters 0.01803365887827045 Centerline is valid? [True, True] Translation: X:482.18, Y:4.84, Z:3.31 [[ 9.99215486e-01 -3.82898593e-02 -1.01142587e-02 4.82179059e+02] [ 3.82904309e-02 9.99266643e-01 -1.37196767e-04 4.83813777e+00] [ 1.01120946e-02 -2.50190191e-04 9.99948840e-01 3.30517012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8092541539999 meters 0.019151794170631183 Centerline is valid? [True, True] Translation: X:482.21, Y:4.84, Z:3.30 [[ 9.99222837e-01 -3.80324348e-02 -1.03564270e-02 4.82211094e+02] [ 3.80330267e-02 9.99276473e-01 -1.39862706e-04 4.83910994e+00] [ 1.03542531e-02 -2.54132253e-04 9.99946361e-01 3.30459617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.83925415399995 meters 0.0172026870730298 Centerline is valid? [True, True] Translation: X:482.24, Y:4.84, Z:3.31 [[ 9.99259101e-01 -3.73215374e-02 -9.39958849e-03 4.82242986e+02] [ 3.73219993e-02 9.99303283e-01 -1.26322370e-04 4.84452083e+00] [ 9.39775419e-03 -2.24582657e-04 9.99955815e-01 3.30661177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8692541539999 meters 0.017909583408560244 Centerline is valid? [True, True] Translation: X:482.27, Y:4.84, Z:3.31 [[ 9.99291941e-01 -3.64382349e-02 -9.37400203e-03 4.82274218e+02] [ 3.64386614e-02 9.99335884e-01 -1.25349601e-04 4.84496691e+00] [ 9.37234412e-03 -2.16315239e-04 9.99956055e-01 3.30659406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.89925415399995 meters 0.01647382003077991 Centerline is valid? [True, True] Translation: X:482.31, Y:4.85, Z:3.31 [[ 9.99335770e-01 -3.51678960e-02 -9.55184459e-03 4.82306807e+02] [ 3.51682867e-02 9.99381396e-01 -1.27111406e-04 4.84938482e+00] [ 9.55040603e-03 -2.08895034e-04 9.99954372e-01 3.30701968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9292541539999 meters 0.01630954035451119 Centerline is valid? [True, True] Translation: X:482.34, Y:4.85, Z:3.31 [[ 9.99410565e-01 -3.26194342e-02 -1.07002776e-02 4.82337824e+02] [ 3.26197882e-02 9.99467823e-01 -1.41487312e-04 4.85267325e+00] [ 1.06991984e-02 -2.07636873e-04 9.99942740e-01 3.30627090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.95925415399995 meters 0.015843721629559014 Centerline is valid? [True, True] Translation: X:482.37, Y:4.86, Z:3.31 [[ 9.99442428e-01 -3.14292224e-02 -1.12710942e-02 4.82369031e+02] [ 3.14295457e-02 9.99505959e-01 -1.48485448e-04 4.85533909e+00] [ 1.12701926e-02 -2.05842714e-04 9.99936468e-01 3.30650247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9892541539999 meters 0.014961650323656426 Centerline is valid? [True, True] Translation: X:482.40, Y:4.86, Z:3.31 [[ 9.99520328e-01 -2.90758593e-02 -1.06633919e-02 4.82400868e+02] [ 2.90760195e-02 9.99577193e-01 -1.40036126e-04 4.86036775e+00] [ 1.06629550e-02 -1.70080036e-04 9.99943135e-01 3.30700272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.01925415399995 meters 0.015146298212973643 Centerline is valid? [True, True] Translation: X:482.43, Y:4.86, Z:3.31 [[ 9.99538466e-01 -2.83733747e-02 -1.08538651e-02 4.82431139e+02] [ 2.83735043e-02 9.99597381e-01 -1.42070287e-04 4.86089066e+00] [ 1.08535262e-02 -1.65957473e-04 9.99941085e-01 3.30683618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0492541539999 meters 0.015898500175024543 Centerline is valid? [True, True] Translation: X:482.46, Y:4.86, Z:3.31 [[ 9.99552123e-01 -2.77016737e-02 -1.13212716e-02 4.82462954e+02] [ 2.77017751e-02 9.99616221e-01 -1.47890517e-04 4.86236458e+00] [ 1.13210236e-02 -1.65795040e-04 9.99935901e-01 3.30624550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.07925415399995 meters 0.014887192841028778 Centerline is valid? [True, True] Translation: X:482.49, Y:4.86, Z:3.31 [[ 9.99548177e-01 -2.77556489e-02 -1.15353907e-02 4.82494712e+02] [ 2.77557628e-02 9.99614723e-01 -1.50252646e-04 4.86295678e+00] [ 1.15351167e-02 -1.69988808e-04 9.99933454e-01 3.30652978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1092541539999 meters 0.01498614192346202 Centerline is valid? [True, True] Translation: X:482.53, Y:4.86, Z:3.31 [[ 9.99519779e-01 -2.82222354e-02 -1.27951748e-02 4.82525763e+02] [ 2.82224201e-02 9.99601654e-01 -1.66160295e-04 4.86440497e+00] [ 1.27947673e-02 -1.95030298e-04 9.99918125e-01 3.30563209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.13925415399996 meters 0.015184630748651439 Centerline is valid? [True, True] Translation: X:482.56, Y:4.86, Z:3.31 [[ 9.99482641e-01 -2.90078903e-02 -1.38921486e-02 4.82556347e+02] [ 2.90081879e-02 9.99579158e-01 -1.80128498e-04 4.86482524e+00] [ 1.38915274e-02 -2.22950750e-04 9.99903483e-01 3.30514359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.16925415399993 meters 0.0152134182822115 Centerline is valid? [True, True] Translation: X:482.59, Y:4.86, Z:3.30 [[ 9.99446322e-01 -2.98198172e-02 -1.47590232e-02 4.82586809e+02] [ 2.98202415e-02 9.99555259e-01 -1.91368575e-04 4.86489879e+00] [ 1.47581659e-02 -2.48855019e-04 9.99891061e-01 3.30476620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.19925415399996 meters 0.015743904355765087 Centerline is valid? [True, True] Translation: X:482.62, Y:4.86, Z:3.30 [[ 9.99345450e-01 -3.25196902e-02 -1.58474195e-02 4.82617655e+02] [ 3.25205187e-02 9.99471047e-01 -2.05480948e-04 4.86415732e+00] [ 1.58457191e-02 -3.10019851e-04 9.99874401e-01 3.30422073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.22925415399993 meters 0.016321961577497907 Centerline is valid? [True, True] Translation: X:482.65, Y:4.86, Z:3.30 [[ 9.99286215e-01 -3.42326356e-02 -1.59745994e-02 4.82647434e+02] [ 3.42336937e-02 9.99413834e-01 -2.07294221e-04 4.86304131e+00] [ 1.59723318e-02 -3.39723283e-04 9.99872376e-01 3.30412020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.25925415399996 meters 0.016691050492435282 Centerline is valid? [True, True] Translation: X:482.68, Y:4.86, Z:3.30 [[ 9.99119363e-01 -3.84629893e-02 -1.67659244e-02 4.82677540e+02] [ 3.84647447e-02 9.99259934e-01 -2.17878475e-04 4.86230224e+00] [ 1.67618967e-02 -4.27210397e-04 9.99859418e-01 3.30484824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.28925415399993 meters 0.018508526080172654 Centerline is valid? [True, True] Translation: X:482.71, Y:4.86, Z:3.30 [[ 9.99040306e-01 -4.05028465e-02 -1.66729250e-02 4.82707696e+02] [ 4.05048672e-02 9.99179318e-01 -2.16618139e-04 4.85978189e+00] [ 1.66680154e-02 -4.58924359e-04 9.99860974e-01 3.30426444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.31925415399996 meters 0.018858701609550416 Centerline is valid? [True, True] Translation: X:482.74, Y:4.86, Z:3.31 [[ 9.98956961e-01 -4.27166488e-02 -1.61331509e-02 4.82738779e+02] [ 4.27188365e-02 9.99087112e-01 -2.09150318e-04 4.85904187e+00] [ 1.61273573e-02 -4.80257268e-04 9.99869830e-01 3.30505792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.34925415399994 meters 0.02056178643866418 Centerline is valid? [True, True] Translation: X:482.77, Y:4.86, Z:3.30 [[ 9.98873350e-01 -4.47439198e-02 -1.58117972e-02 4.82769848e+02] [ 4.47462837e-02 9.98998363e-01 -2.04421901e-04 4.85792137e+00] [ 1.58051061e-02 -5.03327573e-04 9.99874965e-01 3.30493605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.3792541539999 meters 0.020764193813856816 Centerline is valid? [True, True] Translation: X:482.80, Y:4.86, Z:3.31 [[ 9.98652683e-01 -4.97934073e-02 -1.46094433e-02 4.82801018e+02] [ 4.97959702e-02 9.98759393e-01 -1.88508210e-04 4.85624078e+00] [ 1.46007052e-02 -5.39237176e-04 9.99893259e-01 3.30689174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.40925415399994 meters 0.022345337508991155 Centerline is valid? [True, True] Translation: X:482.83, Y:4.86, Z:3.31 [[ 9.98534304e-01 -5.21455875e-02 -1.44941825e-02 4.82833223e+02] [ 5.21483675e-02 9.98639331e-01 -1.86336554e-04 4.85593710e+00] [ 1.44841774e-02 -5.69784515e-04 9.99894936e-01 3.30672561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4392541539999 meters 0.02235304907256888 Centerline is valid? [True, True] Translation: X:482.86, Y:4.86, Z:3.31 [[ 9.98390870e-01 -5.50700769e-02 -1.35262037e-02 4.82864768e+02] [ 5.50727755e-02 9.98482328e-01 -1.73172156e-04 4.85505215e+00] [ 1.35152120e-02 -5.72032081e-04 9.99908502e-01 3.30811381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.46925415399994 meters 0.02623381034430257 Centerline is valid? [True, True] Translation: X:482.89, Y:4.85, Z:3.31 [[ 9.98065667e-01 -6.07061071e-02 -1.34049955e-02 4.82894900e+02] [ 6.07092702e-02 9.98155476e-01 -1.71206495e-04 4.85014002e+00] [ 1.33906629e-02 -6.42932167e-04 9.99910134e-01 3.30844917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4992541539999 meters 0.02532977536484642 Centerline is valid? [True, True] Translation: X:482.93, Y:4.85, Z:3.31 [[ 9.97904300e-01 -6.33349781e-02 -1.32547653e-02 4.82926270e+02] [ 6.33383074e-02 9.97992099e-01 -1.68883418e-04 4.85222420e+00] [ 1.32388473e-02 -6.71004909e-04 9.99912137e-01 3.30928071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.52925415399994 meters 0.027071631173366775 Centerline is valid? [True, True] Translation: X:482.96, Y:4.85, Z:3.31 [[ 9.97737040e-01 -6.58650169e-02 -1.35129307e-02 4.82957647e+02] [ 6.58687152e-02 9.97828283e-01 -1.71669431e-04 4.85176408e+00] [ 1.34948915e-02 -7.18798438e-04 9.99908681e-01 3.30905882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5592541539999 meters 0.028197007096533562 Centerline is valid? [True, True] Translation: X:482.99, Y:4.85, Z:3.31 [[ 9.97598403e-01 -6.78968890e-02 -1.36908354e-02 4.82990063e+02] [ 6.79008866e-02 9.97692057e-01 -1.73170512e-04 4.85130251e+00] [ 1.36709954e-02 -7.56865232e-04 9.99906261e-01 3.30941554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.58925415399995 meters 0.029481340309148563 Centerline is valid? [True, True] Translation: X:483.02, Y:4.85, Z:3.31 [[ 9.97334504e-01 -7.17195444e-02 -1.34236641e-02 4.83020105e+02] [ 7.17237447e-02 9.97424521e-01 -1.68872685e-04 4.85037197e+00] [ 1.34012032e-02 -7.94372902e-04 9.99909884e-01 3.31038040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6192541539999 meters 0.030929035832694747 Centerline is valid? [True, True] Translation: X:483.05, Y:4.85, Z:3.31 [[ 9.97258214e-01 -7.27694175e-02 -1.34412189e-02 4.83051349e+02] [ 7.27737345e-02 9.97348462e-01 -1.68294003e-04 4.84995299e+00] [ 1.34178257e-02 -8.10335123e-04 9.99909649e-01 3.31016619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.64925415399995 meters 0.02987215306975839 Centerline is valid? [True, True] Translation: X:483.08, Y:4.85, Z:3.31 [[ 9.97251961e-01 -7.26183935e-02 -1.46661465e-02 4.83083524e+02] [ 7.26235317e-02 9.97359408e-01 -1.82641367e-04 4.85438464e+00] [ 1.46406824e-02 -8.82967896e-04 9.99892430e-01 3.30942253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6792541539999 meters 0.03126550249561083 Centerline is valid? [True, True] Translation: X:483.11, Y:4.85, Z:3.31 [[ 9.97311650e-01 -7.19802563e-02 -1.37227943e-02 4.83114657e+02] [ 7.19847063e-02 9.97405721e-01 -1.70031794e-04 4.85392740e+00] [ 1.36994325e-02 -8.18256627e-04 9.99905824e-01 3.31014414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.70925415399995 meters 0.027333881062629458 Centerline is valid? [True, True] Translation: X:483.15, Y:4.86, Z:3.31 [[ 9.97393528e-01 -7.07328748e-02 -1.42481792e-02 4.83146420e+02] [ 7.07375587e-02 9.97494946e-01 -1.75593479e-04 4.86125921e+00] [ 1.42249069e-02 -8.32745611e-04 9.99898474e-01 3.31052114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7392541539999 meters 0.03126349166402426 Centerline is valid? [True, True] Translation: X:483.18, Y:4.86, Z:3.31 [[ 9.97507589e-01 -6.89789220e-02 -1.48498449e-02 4.83176644e+02] [ 6.89838264e-02 9.97617762e-01 -1.82320829e-04 4.85848849e+00] [ 1.48270453e-02 -8.42532710e-04 9.99889718e-01 3.30921261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.76925415399995 meters 0.02638869686171511 Centerline is valid? [True, True] Translation: X:483.21, Y:4.87, Z:3.31 [[ 9.97829777e-01 -6.37718638e-02 -1.63977414e-02 4.83206744e+02] [ 6.37771465e-02 9.97964145e-01 -2.01103082e-04 4.87046193e+00] [ 1.63771827e-02 -8.45134511e-04 9.99865528e-01 3.30956857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7992541539999 meters 0.02643887879914276 Centerline is valid? [True, True] Translation: X:483.24, Y:4.87, Z:3.31 [[ 9.98019285e-01 -6.06009007e-02 -1.68830602e-02 4.83237200e+02] [ 6.06060524e-02 9.98161742e-01 -2.06811081e-04 4.87312182e+00] [ 1.68645577e-02 -8.16814182e-04 9.99857450e-01 3.30929455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.82925415399995 meters 0.024140803451164174 Centerline is valid? [True, True] Translation: X:483.27, Y:4.88, Z:3.31 [[ 9.98427025e-01 -5.32878699e-02 -1.74320922e-02 4.83266220e+02] [ 5.32922484e-02 9.98578936e-01 -2.13594770e-04 4.88189582e+00] [ 1.74187021e-02 -7.15736596e-04 9.99848027e-01 3.30979567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8592541539999 meters 0.02325572131215214 Centerline is valid? [True, True] Translation: X:483.30, Y:4.89, Z:3.31 [[ 9.98627922e-01 -4.93948082e-02 -1.73904353e-02 4.83296929e+02] [ 4.93985803e-02 9.98779122e-01 -2.12851814e-04 4.88671842e+00] [ 1.73797174e-02 -6.46503048e-04 9.99848752e-01 3.31017396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.88925415399996 meters 0.019417520759916 Centerline is valid? [True, True] Translation: X:483.33, Y:4.90, Z:3.31 [[ 9.98842437e-01 -4.49851684e-02 -1.70329375e-02 4.83328078e+02] [ 4.49881568e-02 9.98987499e-01 -2.07875373e-04 4.89533361e+00] [ 1.70250429e-02 -5.58645718e-04 9.99854907e-01 3.31241257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.91925415399993 meters 0.017183522415525596 Centerline is valid? [True, True] Translation: X:483.36, Y:4.91, Z:3.31 [[ 9.99186356e-01 -3.70979178e-02 -1.58231093e-02 4.83358739e+02] [ 3.70995145e-02 9.99311557e-01 -1.92713190e-04 4.90526817e+00] [ 1.58193652e-02 -3.94473281e-04 9.99874788e-01 3.31448826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.94925415399996 meters 0.01634090753771255 Centerline is valid? [True, True] Translation: X:483.39, Y:4.91, Z:3.32 [[ 9.99326137e-01 -3.34110509e-02 -1.51978466e-02 4.83390392e+02] [ 3.34121062e-02 9.99441643e-01 -1.84540359e-04 4.90945914e+00] [ 1.51955264e-02 -3.23376059e-04 9.99884489e-01 3.31523731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.97925415399993 meters 0.015348219854505655 Centerline is valid? [True, True] Translation: X:483.42, Y:4.91, Z:3.32 [[ 9.99440351e-01 -2.99847563e-02 -1.48290136e-02 4.83421326e+02] [ 2.99853914e-02 9.99550321e-01 -1.79559753e-04 4.91424581e+00] [ 1.48277293e-02 -2.65194514e-04 9.99890028e-01 3.31634626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.00925415399996 meters 0.014730297120652328 Centerline is valid? [True, True] Translation: X:483.45, Y:4.92, Z:3.32 [[ 9.99609782e-01 -2.43187313e-02 -1.37435083e-02 4.83451857e+02] [ 2.43187446e-02 9.99704242e-01 -1.66173388e-04 4.91947642e+00] [ 1.37434847e-02 -1.68116325e-04 9.99905540e-01 3.31626091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.03925415399993 meters 0.014390000478707313 Centerline is valid? [True, True] Translation: X:483.48, Y:4.92, Z:3.32 [[ 9.99653567e-01 -2.22281340e-02 -1.40945510e-02 4.83482329e+02] [ 2.22279421e-02 9.99752914e-01 -1.70288330e-04 4.92275417e+00] [ 1.40948536e-02 -1.43063526e-04 9.99900652e-01 3.31657122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.06925415399996 meters 0.014172839609089686 Centerline is valid? [True, True] Translation: X:483.51, Y:4.93, Z:3.32 [[ 9.99709871e-01 -1.93903519e-02 -1.42894572e-02 4.83511532e+02] [ 1.93898629e-02 9.99811984e-01 -1.72775872e-04 4.92603704e+00] [ 1.42901208e-02 -1.04344872e-04 9.99897886e-01 3.31653708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.09925415399994 meters 0.013983390001088981 Centerline is valid? [True, True] Translation: X:483.54, Y:4.93, Z:3.32 [[ 9.99722443e-01 -1.85654969e-02 -1.45037345e-02 4.83540693e+02] [ 1.85649005e-02 9.99827642e-01 -1.75769220e-04 4.92709083e+00] [ 1.45044979e-02 -9.35399535e-05 9.99894800e-01 3.31698929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.1292541539999 meters 0.013983390001088981 Centerline is valid? [True, True] Translation: X:483.57, Y:4.93, Z:3.32 [[ 9.99717680e-01 -1.88202984e-02 -1.45037077e-02 4.83568935e+02] [ 1.88196972e-02 9.99822878e-01 -1.77951903e-04 4.92747212e+00] [ 1.45044879e-02 -9.50537240e-05 9.99894800e-01 3.31718509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.15925415399994 meters 0.014019003058546257 Centerline is valid? [True, True] Translation: X:483.60, Y:4.93, Z:3.32 [[ 9.99729190e-01 -1.83799776e-02 -1.42731720e-02 4.83597189e+02] [ 1.83793200e-02 9.99831070e-01 -1.77258679e-04 4.92752154e+00] [ 1.42740189e-02 -8.51205206e-05 9.99898117e-01 3.31696595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.1892541539999 meters 0.01402795388312378 Centerline is valid? [True, True] Translation: X:483.63, Y:4.93, Z:3.32 [[ 9.99730701e-01 -1.83794585e-02 -1.41675768e-02 4.83625830e+02] [ 1.83787998e-02 9.99831080e-01 -1.76703465e-04 4.92738334e+00] [ 1.41684313e-02 -8.37271791e-05 9.99899619e-01 3.31720599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.21925415399994 meters 0.014065221394169438 Centerline is valid? [True, True] Translation: X:483.66, Y:4.93, Z:3.32 [[ 9.99716392e-01 -1.94398103e-02 -1.37560939e-02 4.83655060e+02] [ 1.94392605e-02 9.99811025e-01 -1.73686915e-04 4.92587533e+00] [ 1.37568708e-02 -9.37706379e-05 9.99905365e-01 3.31803283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.2492541539999 meters 0.014161186016509338 Centerline is valid? [True, True] Translation: X:483.68, Y:4.92, Z:3.32 [[ 9.99700860e-01 -2.03358648e-02 -1.35883426e-02 4.83683555e+02] [ 2.03353822e-02 9.99793200e-01 -1.73696387e-04 4.92458349e+00] [ 1.35890648e-02 -1.02679712e-04 9.99907659e-01 3.31796697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.27925415399994 meters 0.014148457536080558 Centerline is valid? [True, True] Translation: X:483.71, Y:4.92, Z:3.32 [[ 9.99681552e-01 -2.12051165e-02 -1.36798083e-02 4.83712670e+02] [ 2.12047019e-02 9.99775140e-01 -1.75368491e-04 4.92318997e+00] [ 1.36804510e-02 -1.14763611e-04 9.99906412e-01 3.31799515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3092541539999 meters 0.014482029010412551 Centerline is valid? [True, True] Translation: X:483.74, Y:4.92, Z:3.32 [[ 9.99634680e-01 -2.33809069e-02 -1.35587213e-02 4.83742661e+02] [ 2.33806948e-02 9.99726619e-01 -1.74182010e-04 4.92095051e+00] [ 1.35590871e-02 -1.42893946e-04 9.99908061e-01 3.31803338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.33925415399995 meters 0.014698325684316617 Centerline is valid? [True, True] Translation: X:483.77, Y:4.92, Z:3.32 [[ 9.99610118e-01 -2.45555689e-02 -1.32904369e-02 4.83773489e+02] [ 2.45554656e-02 9.99698454e-01 -1.70984065e-04 4.91925278e+00] [ 1.32906279e-02 -1.55435465e-04 9.99911664e-01 3.31755137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3692541539999 meters 0.014877785860485215 Centerline is valid? [True, True] Translation: X:483.80, Y:4.92, Z:3.32 [[ 9.99571953e-01 -2.61261933e-02 -1.31655806e-02 4.83803728e+02] [ 2.61262281e-02 9.99658637e-01 -1.69377764e-04 4.91707302e+00] [ 1.31655116e-02 -1.74661700e-04 9.99913316e-01 3.31701324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.39925415399995 meters 0.015062456934711973 Centerline is valid? [True, True] Translation: X:483.83, Y:4.91, Z:3.32 [[ 9.99525040e-01 -2.77926220e-02 -1.33140670e-02 4.83834676e+02] [ 2.77928084e-02 9.99613691e-01 -1.71054377e-04 4.91466820e+00] [ 1.33136777e-02 -1.99062180e-04 9.99911349e-01 3.31672012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4292541539999 meters 0.01627798485410744 Centerline is valid? [True, True] Translation: X:483.87, Y:4.91, Z:3.32 [[ 9.99421749e-01 -3.15222863e-02 -1.27480863e-02 4.83865328e+02] [ 3.15227649e-02 9.99503021e-01 -1.63434476e-04 4.90901354e+00] [ 1.27469026e-02 -2.38514958e-04 9.99918726e-01 3.31607353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.45925415399995 meters 0.01699053751769106 Centerline is valid? [True, True] Translation: X:483.90, Y:4.91, Z:3.32 [[ 9.99368600e-01 -3.33368556e-02 -1.22904642e-02 4.83895396e+02] [ 3.33374427e-02 9.99444141e-01 -1.57155244e-04 4.90669198e+00] [ 1.22888715e-02 -2.52676629e-04 9.99924457e-01 3.31628130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4892541539999 meters 0.017613778956743112 Centerline is valid? [True, True] Translation: X:483.93, Y:4.90, Z:3.32 [[ 9.99315831e-01 -3.49090702e-02 -1.22158389e-02 4.83927179e+02] [ 3.49097788e-02 9.99390456e-01 -1.55287580e-04 4.90451859e+00] [ 1.22138138e-02 -2.71270897e-04 9.99925372e-01 3.31677076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.51925415399995 meters 0.019066019498091325 Centerline is valid? [True, True] Translation: X:483.96, Y:4.90, Z:3.32 [[ 9.99205579e-01 -3.80429721e-02 -1.18719239e-02 4.83958700e+02] [ 3.80438736e-02 9.99276059e-01 -1.49968266e-04 4.89967643e+00] [ 1.18690346e-02 -3.01804846e-04 9.99929515e-01 3.31690154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5492541539999 meters 0.01986201561768796 Centerline is valid? [True, True] Translation: X:483.99, Y:4.90, Z:3.32 [[ 9.99148062e-01 -3.94997860e-02 -1.19547857e-02 4.83991180e+02] [ 3.95008130e-02 9.99219527e-01 -1.50298041e-04 4.89745201e+00] [ 1.19513921e-02 -3.22053758e-04 9.99928528e-01 3.31680286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.57925415399995 meters 0.020938405542509114 Centerline is valid? [True, True] Translation: X:484.02, Y:4.89, Z:3.32 [[ 9.99062376e-01 -4.14168840e-02 -1.26099010e-02 4.84022044e+02] [ 4.14181881e-02 9.99141886e-01 -1.57829367e-04 4.89267365e+00] [ 1.26056170e-02 -3.64597868e-04 9.99920480e-01 3.31626618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6092541539999 meters 0.02214122634165995 Centerline is valid? [True, True] Translation: X:484.05, Y:4.89, Z:3.32 [[ 9.99042689e-01 -4.17996148e-02 -1.29033955e-02 4.84054240e+02] [ 4.18010206e-02 9.99125942e-01 -1.60850091e-04 4.89091502e+00] [ 1.28988407e-02 -3.78678994e-04 9.99916735e-01 3.31563426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.63925415399996 meters 0.019111314048014496 Centerline is valid? [True, True] Translation: X:484.09, Y:4.89, Z:3.32 [[ 9.99017643e-01 -4.24437297e-02 -1.27388974e-02 4.84086259e+02] [ 4.24451636e-02 9.99098785e-01 -1.57905044e-04 4.89436635e+00] [ 1.27341190e-02 -3.82954659e-04 9.99918844e-01 3.31736900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.66925415399993 meters 0.01855401148349897 Centerline is valid? [True, True] Translation: X:484.12, Y:4.89, Z:3.32 [[ 9.99004760e-01 -4.27303566e-02 -1.27908299e-02 4.84118598e+02] [ 4.27318379e-02 9.99086565e-01 -1.57596198e-04 4.89447989e+00] [ 1.27858805e-02 -3.89136318e-04 9.99918182e-01 3.31824164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.69925415399996 meters 0.02075473794164501 Centerline is valid? [True, True] Translation: X:484.15, Y:4.89, Z:3.32 [[ 9.99019063e-01 -4.25506283e-02 -1.22619473e-02 4.84150110e+02] [ 4.25519858e-02 9.99094243e-01 -1.50283853e-04 4.88975854e+00] [ 1.22572356e-02 -3.71633774e-04 9.99924808e-01 3.31784753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.72925415399993 meters 0.018902942680609606 Centerline is valid? [True, True] Translation: X:484.18, Y:4.89, Z:3.32 [[ 9.99026323e-01 -4.23606172e-02 -1.23281699e-02 4.84182172e+02] [ 4.23619847e-02 9.99102317e-01 -1.50307193e-04 4.89270824e+00] [ 1.23234702e-02 -3.72084901e-04 9.99923994e-01 3.31894822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.75925415399996 meters 0.018350799857093723 Centerline is valid? [True, True] Translation: X:484.21, Y:4.89, Z:3.32 [[ 9.99101740e-01 -4.07066206e-02 -1.17764253e-02 4.84214559e+02] [ 4.07077636e-02 9.99171085e-01 -1.42730709e-04 4.89268974e+00] [ 1.17724737e-02 -3.36789437e-04 9.99930645e-01 3.31926793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.78925415399993 meters 0.017967955299004402 Centerline is valid? [True, True] Translation: X:484.25, Y:4.89, Z:3.32 [[ 9.99143666e-01 -3.95691650e-02 -1.20919401e-02 4.84247283e+02] [ 3.95702990e-02 9.99216778e-01 -1.45546855e-04 4.89309299e+00] [ 1.20882286e-02 -3.33059465e-04 9.99926879e-01 3.31939283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81925415399996 meters 0.020561650099894642 Centerline is valid? [True, True] Translation: X:484.28, Y:4.89, Z:3.32 [[ 9.99179181e-01 -3.85133702e-02 -1.25572487e-02 4.84278133e+02] [ 3.85145222e-02 9.99258029e-01 -1.50168141e-04 4.88842756e+00] [ 1.25537151e-02 -3.33591555e-04 9.99921143e-01 3.31825644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.84925415399994 meters 0.017816826800148403 Centerline is valid? [True, True] Translation: X:484.31, Y:4.89, Z:3.32 [[ 9.99228752e-01 -3.71345758e-02 -1.27641634e-02 4.84309492e+02] [ 3.71356613e-02 9.99310222e-01 -1.52040003e-04 4.89330571e+00] [ 1.27610049e-02 -3.22082908e-04 9.99918523e-01 3.31923634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.8792541539999 meters 0.018565645249366408 Centerline is valid? [True, True] Translation: X:484.34, Y:4.89, Z:3.32 [[ 9.99237797e-01 -3.67934883e-02 -1.30408597e-02 4.84340844e+02] [ 3.67946001e-02 9.99322837e-01 -1.54744771e-04 4.89145048e+00] [ 1.30377225e-02 -3.25206393e-04 9.99914952e-01 3.31902022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.90925415399994 meters 0.017306937872880117 Centerline is valid? [True, True] Translation: X:484.37, Y:4.89, Z:3.32 [[ 9.99243287e-01 -3.69291079e-02 -1.22103884e-02 4.84371982e+02] [ 3.69300994e-02 9.99317841e-01 -1.44340307e-04 4.89403934e+00] [ 1.22073893e-02 -3.06699772e-04 9.99925440e-01 3.31973235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9392541539999 meters 0.01815901234552732 Centerline is valid? [True, True] Translation: X:484.40, Y:4.89, Z:3.32 [[ 9.99149435e-01 -3.90250998e-02 -1.33209337e-02 4.84402925e+02] [ 3.90264745e-02 9.99238165e-01 -1.56831355e-04 4.89214171e+00] [ 1.33169057e-02 -3.63171120e-04 9.99911260e-01 3.31912772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.96925415399994 meters 0.01879219587667525 Centerline is valid? [True, True] Translation: X:484.43, Y:4.89, Z:3.32 [[ 9.99078168e-01 -4.06259346e-02 -1.38689420e-02 4.84434591e+02] [ 4.06275898e-02 9.99174345e-01 -1.62498623e-04 4.89082954e+00] [ 1.38640927e-02 -4.01112860e-04 9.99903808e-01 3.31858203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9992541539999 meters 0.019172203966150575 Centerline is valid? [True, True] Translation: X:484.47, Y:4.89, Z:3.32 [[ 9.98988076e-01 -4.25928804e-02 -1.44454627e-02 4.84466752e+02] [ 4.25948953e-02 9.99092411e-01 -1.68297602e-04 4.89000462e+00] [ 1.44395205e-02 -4.47175675e-04 9.99895645e-01 3.31829951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.02925415399994 meters 0.021270444516769144 Centerline is valid? [True, True] Translation: X:484.50, Y:4.89, Z:3.32 [[ 9.98820908e-01 -4.60526625e-02 -1.53605231e-02 4.84496929e+02] [ 4.60553601e-02 9.98938873e-01 -1.78257917e-04 4.88615308e+00] [ 1.53524329e-02 -5.29386689e-04 9.99882004e-01 3.31718538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0592541539999 meters 0.021364909028486697 Centerline is valid? [True, True] Translation: X:484.53, Y:4.89, Z:3.32 [[ 9.98757384e-01 -4.74521592e-02 -1.52308806e-02 4.84527801e+02] [ 4.74549782e-02 9.98873362e-01 -1.76477218e-04 4.88609417e+00] [ 1.52220951e-02 -5.46523184e-04 9.99883988e-01 3.31743807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.08925415399995 meters 0.024141555854322518 Centerline is valid? [True, True] Translation: X:484.56, Y:4.89, Z:3.32 [[ 9.98748652e-01 -4.75636856e-02 -1.54540222e-02 4.84559089e+02] [ 4.75666102e-02 9.98868052e-01 -1.78474670e-04 4.88501698e+00] [ 1.54450180e-02 -5.56844116e-04 9.99880564e-01 3.31575293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1192541539999 meters 0.02182588436945928 Centerline is valid? [True, True] Translation: X:484.59, Y:4.89, Z:3.32 [[ 9.98717393e-01 -4.82238084e-02 -1.54282962e-02 4.84590741e+02] [ 4.82268227e-02 9.98836394e-01 -1.76832353e-04 4.88694302e+00] [ 1.54188712e-02 -5.67452157e-04 9.99880961e-01 3.31827747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.14925415399995 meters 0.021354290544795554 Centerline is valid? [True, True] Translation: X:484.62, Y:4.89, Z:3.32 [[ 9.98732450e-01 -4.80042247e-02 -1.51356594e-02 4.84623036e+02] [ 4.80071214e-02 9.98846979e-01 -1.72101214e-04 4.88886089e+00] [ 1.51264693e-02 -5.54736371e-04 9.99885435e-01 3.31939543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1792541539999 meters 0.021157962933435526 Centerline is valid? [True, True] Translation: X:484.65, Y:4.89, Z:3.32 [[ 9.98834310e-01 -4.62987730e-02 -1.36545011e-02 4.84654315e+02] [ 4.63009808e-02 9.98927523e-01 -1.54558494e-04 4.89110153e+00] [ 1.36470128e-02 -4.77838466e-04 9.99906761e-01 3.32058182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.20925415399995 meters 0.022672647565832222 Centerline is valid? [True, True] Translation: X:484.69, Y:4.89, Z:3.32 [[ 9.98895524e-01 -4.51094396e-02 -1.31480183e-02 4.84685240e+02] [ 4.51113913e-02 9.98981952e-01 -1.48246638e-04 4.88945449e+00] [ 1.31413203e-02 -4.45042495e-04 9.99913550e-01 3.32066594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2392541539999 meters 0.020876490379167643 Centerline is valid? [True, True] Translation: X:484.72, Y:4.89, Z:3.32 [[ 9.99030282e-01 -4.25496545e-02 -1.13146772e-02 4.84716653e+02] [ 4.25509412e-02 9.99094290e-01 -1.27091384e-04 4.89489647e+00] [ 1.13098371e-02 -3.54482024e-04 9.99935979e-01 3.32143124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.26925415399995 meters 0.01911982049686909 Centerline is valid? [True, True] Translation: X:484.75, Y:4.90, Z:3.32 [[ 9.99058406e-01 -4.20252226e-02 -1.07788239e-02 4.84748948e+02] [ 4.20263656e-02 9.99116495e-01 -1.20542785e-04 4.89740481e+00] [ 1.07743666e-02 -3.32565512e-04 9.99941900e-01 3.32299094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2992541539999 meters 0.018952887232599063 Centerline is valid? [True, True] Translation: X:484.78, Y:4.90, Z:3.32 [[ 9.99112848e-01 -4.08581692e-02 -1.02042856e-02 4.84781569e+02] [ 4.08591409e-02 9.99164910e-01 -1.13323483e-04 4.89838401e+00] [ 1.02003943e-02 -3.03715394e-04 9.99947929e-01 3.32326044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.32925415399995 meters 0.018666655413648384 Centerline is valid? [True, True] Translation: X:484.81, Y:4.90, Z:3.32 [[ 9.99189973e-01 -3.89876576e-02 -9.96798927e-03 4.84814140e+02] [ 3.89885008e-02 9.99239653e-01 -1.09788494e-04 4.90029528e+00] [ 9.96469054e-03 -2.78937395e-04 9.99950312e-01 3.32325198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3592541539999 meters 0.019191488343767518 Centerline is valid? [True, True] Translation: X:484.85, Y:4.90, Z:3.32 [[ 9.99245694e-01 -3.75146520e-02 -1.00346391e-02 4.84845730e+02] [ 3.75154430e-02 9.99296042e-01 -1.09463365e-04 4.89918045e+00] [ 1.00316817e-02 -2.67073136e-04 9.99949646e-01 3.32292717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.38925415399996 meters 0.0186632015622225 Centerline is valid? [True, True] Translation: X:484.88, Y:4.90, Z:3.32 [[ 9.99350944e-01 -3.44897860e-02 -1.03993003e-02 4.84877132e+02] [ 3.44904836e-02 9.99405020e-01 -1.12305009e-04 4.90094316e+00] [ 1.03969863e-02 -2.46444782e-04 9.99945920e-01 3.32264915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.41925415399993 meters 0.016893235065454655 Centerline is valid? [True, True] Translation: X:484.91, Y:4.91, Z:3.32 [[ 9.99417128e-01 -3.23307115e-02 -1.09603978e-02 4.84908082e+02] [ 3.23313625e-02 9.99477198e-01 -1.17827914e-04 4.90527587e+00] [ 1.09584772e-02 -2.36605360e-04 9.99939926e-01 3.32316758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.44925415399996 meters 0.016588878657528627 Centerline is valid? [True, True] Translation: X:484.94, Y:4.91, Z:3.32 [[ 9.99488015e-01 -2.99961028e-02 -1.11329240e-02 4.84938009e+02] [ 2.99966336e-02 9.99549993e-01 -1.19344546e-04 4.90663597e+00] [ 1.11314940e-02 -2.14666800e-04 9.99938020e-01 3.32294557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.47925415399993 meters 0.016195636043277943 Centerline is valid? [True, True] Translation: X:484.97, Y:4.91, Z:3.32 [[ 9.99552508e-01 -2.75271784e-02 -1.17063151e-02 4.84969789e+02] [ 2.75276005e-02 9.99621036e-01 -1.25094732e-04 4.90873049e+00] [ 1.17053223e-02 -1.97208011e-04 9.99931471e-01 3.32293054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.50925415399996 meters 0.015459956906545178 Centerline is valid? [True, True] Translation: X:485.00, Y:4.91, Z:3.32 [[ 9.99665772e-01 -2.27403137e-02 -1.22972321e-02 4.85000496e+02] [ 2.27404224e-02 9.99741395e-01 -1.31009104e-04 4.91225532e+00] [ 1.22970312e-02 -1.48678936e-04 9.99924378e-01 3.32290482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.53925415399993 meters 0.015361011580776655 Centerline is valid? [True, True] Translation: X:485.03, Y:4.91, Z:3.32 [[ 9.99703462e-01 -2.08567052e-02 -1.25692664e-02 4.85029677e+02] [ 2.08566686e-02 9.99782467e-01 -1.34009782e-04 4.91376467e+00] [ 1.25693271e-02 -1.28182981e-04 9.99920995e-01 3.32225520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.56925415399996 meters 0.015391663090477972 Centerline is valid? [True, True] Translation: X:485.06, Y:4.92, Z:3.32 [[ 9.99725392e-01 -1.93307104e-02 -1.32462937e-02 4.85058880e+02] [ 1.93305310e-02 9.99813138e-01 -1.41592758e-04 4.91534289e+00] [ 1.32465556e-02 -1.14504016e-04 9.99912254e-01 3.32196604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.59925415399994 meters 0.015175685071021797 Centerline is valid? [True, True] Translation: X:485.09, Y:4.92, Z:3.32 [[ 9.99730095e-01 -1.84549126e-02 -1.41121588e-02 4.85088000e+02] [ 1.84545918e-02 9.99829688e-01 -1.52969023e-04 4.91630713e+00] [ 1.41125784e-02 -1.07506395e-04 9.99900407e-01 3.32166752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.6292541539999 meters 0.014917945832595916 Centerline is valid? [True, True] Translation: X:485.12, Y:4.92, Z:3.32 [[ 9.99726428e-01 -1.76162102e-02 -1.53862912e-02 4.85116829e+02] [ 1.76156662e-02 9.99844818e-01 -1.70893142e-04 4.91702599e+00] [ 1.53869140e-02 -1.00193379e-04 9.99881609e-01 3.32130845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.65925415399994 meters 0.014882853156677681 Centerline is valid? [True, True] Translation: X:485.14, Y:4.92, Z:3.32 [[ 9.99716101e-01 -1.82628731e-02 -1.53030753e-02 4.85144642e+02] [ 1.82623463e-02 9.99833214e-01 -1.74179927e-04 4.91690183e+00] [ 1.53037040e-02 -1.05339583e-04 9.99882886e-01 3.32132606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.6892541539999 meters 0.014863548013790279 Centerline is valid? [True, True] Translation: X:485.17, Y:4.92, Z:3.32 [[ 9.99700502e-01 -1.93927786e-02 -1.49273657e-02 4.85172462e+02] [ 1.93923391e-02 9.99811936e-01 -1.74198749e-04 4.91626033e+00] [ 1.49279366e-02 -1.15329962e-04 9.99888565e-01 3.32173691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.71925415399994 meters 0.015185667759014632 Centerline is valid? [True, True] Translation: X:485.20, Y:4.91, Z:3.32 [[ 9.99670104e-01 -2.10217683e-02 -1.47569917e-02 4.85200260e+02] [ 2.10214765e-02 9.99779009e-01 -1.74901886e-04 4.91463317e+00] [ 1.47574073e-02 -1.35369568e-04 9.99891094e-01 3.32163882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.7492541539999 meters 0.015372720958333521 Centerline is valid? [True, True] Translation: X:485.23, Y:4.91, Z:3.32 [[ 9.99575285e-01 -2.56064028e-02 -1.39126796e-02 4.85228666e+02] [ 2.56065546e-02 9.99672084e-01 -1.67260778e-04 4.91143963e+00] [ 1.39124004e-02 -1.89066051e-04 9.99903200e-01 3.32363807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.77925415399994 meters 0.015897263524433634 Centerline is valid? [True, True] Translation: X:485.26, Y:4.91, Z:3.32 [[ 9.99498028e-01 -2.87807707e-02 -1.32423030e-02 4.85258620e+02] [ 2.87811613e-02 9.99585724e-01 -1.61113303e-04 4.90960031e+00] [ 1.32414540e-02 -2.20096430e-04 9.99912304e-01 3.32440408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8092541539999 meters 0.01973831272558243 Centerline is valid? [True, True] Translation: X:485.29, Y:4.90, Z:3.32 [[ 9.99315204e-01 -3.43978487e-02 -1.36349061e-02 4.85289640e+02] [ 3.43987835e-02 9.99408173e-01 -1.66028661e-04 4.90391417e+00] [ 1.36325476e-02 -3.03109215e-04 9.99907027e-01 3.32320225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.83925415399995 meters 0.018208460294665486 Centerline is valid? [True, True] Translation: X:485.32, Y:4.90, Z:3.33 [[ 9.99179961e-01 -3.84579727e-02 -1.26644739e-02 4.85319883e+02] [ 3.84591079e-02 9.99260163e-01 -1.53989269e-04 4.90087294e+00] [ 1.26610263e-02 -3.33201374e-04 9.99919790e-01 3.32551768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8692541539999 meters 0.018604856392350478 Centerline is valid? [True, True] Translation: X:485.35, Y:4.90, Z:3.33 [[ 9.99047799e-01 -4.18711043e-02 -1.22599652e-02 4.85351720e+02] [ 4.18724329e-02 9.99122954e-01 -1.48408007e-04 4.89890471e+00] [ 1.22554266e-02 -3.65087878e-04 9.99924833e-01 3.32576712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.89925415399995 meters 0.019676663895885477 Centerline is valid? [True, True] Translation: X:485.38, Y:4.90, Z:3.33 [[ 9.98914194e-01 -4.49768828e-02 -1.21454534e-02 4.85383924e+02] [ 4.49784292e-02 9.98987948e-01 -1.45939850e-04 4.89585326e+00] [ 1.21397255e-02 -4.00502030e-04 9.99926231e-01 3.32610157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9292541539999 meters 0.020293692056902915 Centerline is valid? [True, True] Translation: X:485.42, Y:4.89, Z:3.33 [[ 9.98780141e-01 -4.78949482e-02 -1.20126147e-02 4.85415667e+02] [ 4.78966812e-02 9.98852285e-01 -1.43551362e-04 4.89403454e+00] [ 1.20057030e-02 -4.31988127e-04 9.99927836e-01 3.32661538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.95925415399995 meters 0.022179822325735836 Centerline is valid? [True, True] Translation: X:485.45, Y:4.89, Z:3.33 [[ 9.98535183e-01 -5.26905398e-02 -1.22961408e-02 4.85445588e+02] [ 5.26927285e-02 9.98610763e-01 -1.46131544e-04 4.88923223e+00] [ 1.22867583e-02 -5.01999719e-04 9.99924389e-01 3.32727118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9892541539999 meters 0.02335922041111844 Centerline is valid? [True, True] Translation: X:485.48, Y:4.89, Z:3.33 [[ 9.98437569e-01 -5.45087887e-02 -1.22968950e-02 4.85477158e+02] [ 5.45111283e-02 9.98513153e-01 -1.45084938e-04 4.88659874e+00] [ 1.22865198e-02 -5.25459368e-04 9.99924380e-01 3.32724714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.01925415399995 meters 0.02408154729292399 Centerline is valid? [True, True] Translation: X:485.51, Y:4.88, Z:3.33 [[ 9.98357041e-01 -5.59188781e-02 -1.25018978e-02 4.85509622e+02] [ 5.59214204e-02 9.98435162e-01 -1.46407035e-04 4.88493746e+00] [ 1.24905213e-02 -5.52957387e-04 9.99921838e-01 3.32750192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0492541539999 meters 0.02408154729292399 Centerline is valid? [True, True] Translation: X:485.54, Y:4.89, Z:3.33 [[ 9.98361115e-01 -5.58460908e-02 -1.25019084e-02 4.85541339e+02] [ 5.58486387e-02 9.98439236e-01 -1.45495631e-04 4.88524639e+00] [ 1.24905213e-02 -5.52957386e-04 9.99921838e-01 3.32772160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.07925415399995 meters 0.02516651887904432 Centerline is valid? [True, True] Translation: X:485.57, Y:4.88, Z:3.33 [[ 9.98240027e-01 -5.79340338e-02 -1.26687381e-02 4.85573104e+02] [ 5.79368284e-02 9.98320240e-01 -1.46611949e-04 4.88349351e+00] [ 1.26559515e-02 -5.87632590e-04 9.99919738e-01 3.32807132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1092541539999 meters 0.0253918425926821 Centerline is valid? [True, True] Translation: X:485.61, Y:4.88, Z:3.33 [[ 9.98227456e-01 -5.81181811e-02 -1.28149274e-02 4.85605011e+02] [ 5.81210661e-02 9.98309531e-01 -1.47495467e-04 4.88302700e+00] [ 1.28018364e-02 -5.97583220e-04 9.99917875e-01 3.32844398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.13925415399996 meters 0.024610239052500434 Centerline is valid? [True, True] Translation: X:485.64, Y:4.89, Z:3.33 [[ 9.98215810e-01 -5.82275639e-02 -1.32192433e-02 4.85637559e+02] [ 5.82306564e-02 9.98303144e-01 -1.51169132e-04 4.88506340e+00] [ 1.32056144e-02 -6.18865798e-04 9.99912611e-01 3.32848013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.16925415399993 meters 0.024374879859618018 Centerline is valid? [True, True] Translation: X:485.67, Y:4.89, Z:3.33 [[ 9.98257370e-01 -5.72039170e-02 -1.44891597e-02 4.85669388e+02] [ 5.72075409e-02 9.98362294e-01 -1.64572942e-04 4.88711526e+00] [ 1.44748449e-02 -6.64603042e-04 9.99895013e-01 3.32792565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.19925415399996 meters 0.0248551423791755 Centerline is valid? [True, True] Translation: X:485.70, Y:4.89, Z:3.33 [[ 9.98308905e-01 -5.63262458e-02 -1.43765076e-02 4.85700498e+02] [ 5.63297359e-02 9.98412207e-01 -1.62373727e-04 4.88685982e+00] [ 1.43628266e-02 -6.47725742e-04 9.99896639e-01 3.32790560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.22925415399993 meters 0.02383734044136624 Centerline is valid? [True, True] Translation: X:485.73, Y:4.89, Z:3.33 [[ 9.98475992e-01 -5.32151679e-02 -1.46232262e-02 4.85732475e+02] [ 5.32184576e-02 9.98582880e-01 -1.64353170e-04 4.88959672e+00] [ 1.46112495e-02 -6.14122851e-04 9.99893061e-01 3.32769271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.25925415399996 meters 0.024981328049018932 Centerline is valid? [True, True] Translation: X:485.76, Y:4.89, Z:3.33 [[ 9.98564415e-01 -5.14697978e-02 -1.48313820e-02 4.85763578e+02] [ 5.14730016e-02 9.98674373e-01 -1.65885070e-04 4.88867659e+00] [ 1.48202592e-02 -5.97768823e-04 9.99889995e-01 3.32697928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.28925415399993 meters 0.022746656437006192 Centerline is valid? [True, True] Translation: X:485.80, Y:4.89, Z:3.33 [[ 9.98655570e-01 -4.96622117e-02 -1.48565530e-02 4.85795420e+02] [ 4.96652386e-02 9.98765907e-01 -1.65364833e-04 4.89335213e+00] [ 1.48464311e-02 -5.72711740e-04 9.99889622e-01 3.32774080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31925415399996 meters 0.021817931358215206 Centerline is valid? [True, True] Translation: X:485.83, Y:4.90, Z:3.33 [[ 9.98795141e-01 -4.64626358e-02 -1.57952547e-02 4.85827279e+02] [ 4.64656716e-02 9.98919872e-01 -1.74937647e-04 4.89754526e+00] [ 1.57863218e-02 -5.59210244e-04 9.99875232e-01 3.32785651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.34925415399994 meters 0.02175146330209108 Centerline is valid? [True, True] Translation: X:485.86, Y:4.90, Z:3.33 [[ 9.98859075e-01 -4.48918274e-02 -1.62871939e-02 4.85857612e+02] [ 4.48948557e-02 9.98991701e-01 -1.79835233e-04 4.89868473e+00] [ 1.62788447e-02 -5.51581167e-04 9.99867339e-01 3.32789888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.3792541539999 meters 0.021944900495428438 Centerline is valid? [True, True] Translation: X:485.89, Y:4.90, Z:3.33 [[ 9.98896308e-01 -4.40006546e-02 -1.64349694e-02 4.85887495e+02] [ 4.40036224e-02 9.99031355e-01 -1.81177173e-04 4.89917715e+00] [ 1.64270217e-02 -5.42220980e-04 9.99864920e-01 3.32764087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.40925415399994 meters 0.020616445293314193 Centerline is valid? [True, True] Translation: X:485.92, Y:4.90, Z:3.33 [[ 9.98950866e-01 -4.27500001e-02 -1.64196445e-02 4.85918435e+02] [ 4.27528011e-02 9.99085665e-01 -1.80545307e-04 4.90286861e+00] [ 1.64123498e-02 -5.21629908e-04 9.99865172e-01 3.32877317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4392541539999 meters 0.021486590212057264 Centerline is valid? [True, True] Translation: X:485.95, Y:4.90, Z:3.33 [[ 9.98962176e-01 -4.26735912e-02 -1.59227853e-02 4.85948955e+02] [ 4.26762279e-02 9.99088940e-01 -1.74311850e-04 4.90108355e+00] [ 1.59157172e-02 -5.05393469e-04 9.99873209e-01 3.32895125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.46925415399994 meters 0.02032240137099935 Centerline is valid? [True, True] Translation: X:485.98, Y:4.90, Z:3.33 [[ 9.98967890e-01 -4.27062340e-02 -1.54703638e-02 4.85980014e+02] [ 4.27087377e-02 9.99087551e-01 -1.68657245e-04 4.90411184e+00] [ 1.54634506e-02 -4.92236539e-04 9.99880313e-01 3.33030416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4992541539999 meters 0.02177720503432074 Centerline is valid? [True, True] Translation: X:486.01, Y:4.90, Z:3.33 [[ 9.98977194e-01 -4.26665552e-02 -1.49709892e-02 4.86011379e+02] [ 4.26689054e-02 9.99089254e-01 -1.62540454e-04 4.90226259e+00] [ 1.49642895e-02 -4.76421516e-04 9.99887915e-01 3.33057123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.52925415399994 meters 0.022696344489856718 Centerline is valid? [True, True] Translation: X:486.04, Y:4.90, Z:3.33 [[ 9.98983942e-01 -4.27675589e-02 -1.42133735e-02 4.86042241e+02] [ 4.27697040e-02 9.99084946e-01 -1.53149037e-04 4.90198131e+00] [ 1.42069173e-02 -4.54908348e-04 9.99898973e-01 3.33122609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5592541539999 meters 0.022903014653130892 Centerline is valid? [True, True] Translation: X:486.07, Y:4.90, Z:3.33 [[ 9.98966891e-01 -4.31269458e-02 -1.43254188e-02 4.86074272e+02] [ 4.31291801e-02 9.99069492e-01 -1.53078126e-04 4.90251816e+00] [ 1.43186907e-02 -4.64923587e-04 9.99897374e-01 3.33192169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.58925415399995 meters 0.02149286203658806 Centerline is valid? [True, True] Translation: X:486.11, Y:4.91, Z:3.33 [[ 9.98940828e-01 -4.35711286e-02 -1.47911561e-02 4.86105907e+02] [ 4.35735800e-02 9.99050208e-01 -1.56651339e-04 4.90707996e+00] [ 1.47839330e-02 -4.88018205e-04 9.99890593e-01 3.33262468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6192541539999 meters 0.021698012866754032 Centerline is valid? [True, True] Translation: X:486.14, Y:4.91, Z:3.33 [[ 9.98819434e-01 -4.64029120e-02 -1.43703795e-02 4.86136606e+02] [ 4.64055318e-02 9.98922672e-01 -1.51272684e-04 4.90552669e+00] [ 1.43619174e-02 -5.15771008e-04 9.99896729e-01 3.33336298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.64925415399995 meters 0.02471593760679295 Centerline is valid? [True, True] Translation: X:486.17, Y:4.90, Z:3.33 [[ 9.98742783e-01 -4.76597946e-02 -1.55369703e-02 4.86168346e+02] [ 4.76630158e-02 9.98863459e-01 -1.63111782e-04 4.90371461e+00] [ 1.55270857e-02 -5.77632144e-04 9.99879281e-01 3.33212625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6792541539999 meters 0.024324657757031225 Centerline is valid? [True, True] Translation: X:486.20, Y:4.90, Z:3.33 [[ 9.98587337e-01 -5.11260668e-02 -1.44725499e-02 4.86198949e+02] [ 5.11292304e-02 9.98692034e-01 -1.51574178e-04 4.90183903e+00] [ 1.44613697e-02 -5.88610285e-04 9.99895256e-01 3.33314321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.70925415399995 meters 0.02728809177053214 Centerline is valid? [True, True] Translation: X:486.23, Y:4.90, Z:3.33 [[ 9.98248345e-01 -5.71909505e-02 -1.51471573e-02 4.86228979e+02] [ 5.71951126e-02 9.98363007e-01 -1.58627878e-04 4.89851028e+00] [ 1.51314336e-02 -7.07993348e-04 9.99885263e-01 3.33330149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7392541539999 meters 0.028825198749330316 Centerline is valid? [True, True] Translation: X:486.26, Y:4.90, Z:3.33 [[ 9.98074958e-01 -6.01653573e-02 -1.50501831e-02 4.86260224e+02] [ 6.01698064e-02 9.98188143e-01 -1.57427026e-04 4.89715250e+00] [ 1.50323860e-02 -7.48442631e-04 9.99886727e-01 3.33368322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.76925415399995 meters 0.030584460813784416 Centerline is valid? [True, True] Translation: X:486.29, Y:4.90, Z:3.33 [[ 9.97928956e-01 -6.26246528e-02 -1.46952897e-02 4.86291732e+02] [ 6.26291678e-02 9.98036855e-01 -1.53210784e-04 4.89558164e+00] [ 1.46760355e-02 -7.67460285e-04 9.99892007e-01 3.33410992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7992541539999 meters 0.031880018084351036 Centerline is valid? [True, True] Translation: X:486.32, Y:4.89, Z:3.33 [[ 9.97779298e-01 -6.48888974e-02 -1.50301039e-02 4.86322588e+02] [ 6.48938824e-02 9.97892158e-01 -1.56316862e-04 4.89461710e+00] [ 1.50085660e-02 -8.19392064e-04 9.99887029e-01 3.33447603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.82925415399995 meters 0.03400111657018127 Centerline is valid? [True, True] Translation: X:486.35, Y:4.89, Z:3.33 [[ 9.97613255e-01 -6.74139691e-02 -1.49382214e-02 4.86353037e+02] [ 6.74191793e-02 9.97724727e-01 -1.55105322e-04 4.89311605e+00] [ 1.49146891e-02 -8.52387504e-04 9.99888407e-01 3.33457599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8592541539999 meters 0.034835640763356004 Centerline is valid? [True, True] Translation: X:486.38, Y:4.89, Z:3.33 [[ 9.97581685e-01 -6.78787895e-02 -1.49416425e-02 4.86383794e+02] [ 6.78840619e-02 9.97693204e-01 -1.54613779e-04 4.89291374e+00] [ 1.49176701e-02 -8.60059507e-04 9.99888355e-01 3.33482013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.88925415399996 meters 0.03473833816546484 Centerline is valid? [True, True] Translation: X:486.42, Y:4.90, Z:3.33 [[ 9.97615091e-01 -6.74267942e-02 -1.47566456e-02 4.86415928e+02] [ 6.74319005e-02 9.97723867e-01 -1.51819666e-04 4.89541452e+00] [ 1.47332943e-02 -8.43611070e-04 9.99891103e-01 3.33480763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.91925415399993 meters 0.035544869594047034 Centerline is valid? [True, True] Translation: X:486.45, Y:4.90, Z:3.33 [[ 9.97641630e-01 -6.70072715e-02 -1.48729051e-02 4.86447183e+02] [ 6.70124252e-02 9.97752129e-01 -1.52140110e-04 4.89617710e+00] [ 1.48496672e-02 -8.44888133e-04 9.99889381e-01 3.33487160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.94925415399996 meters 0.03557658164573549 Centerline is valid? [True, True] Translation: X:486.48, Y:4.90, Z:3.33 [[ 9.97706719e-01 -6.59913987e-02 -1.50478401e-02 4.86477945e+02] [ 6.59965706e-02 9.97819838e-01 -1.53169510e-04 4.89785518e+00] [ 1.50251413e-02 -8.40287594e-04 9.99886763e-01 3.33488773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.97925415399993 meters 0.031143883146205895 Centerline is valid? [True, True] Translation: X:486.51, Y:4.91, Z:3.34 [[ 9.97779525e-01 -6.48861085e-02 -1.50270462e-02 4.86510233e+02] [ 6.48911547e-02 9.97892336e-01 -1.52046427e-04 4.90583222e+00] [ 1.50052400e-02 -8.23413571e-04 9.99887076e-01 3.33593380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.00925415399996 meters 0.03472541183812787 Centerline is valid? [True, True] Translation: X:486.54, Y:4.90, Z:3.34 [[ 9.97875390e-01 -6.34375697e-02 -1.48452493e-02 4.86541124e+02] [ 6.34423480e-02 9.97985494e-01 -1.49317056e-04 4.90239335e+00] [ 1.48248157e-02 -7.92817654e-04 9.99889792e-01 3.33525384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.03925415399993 meters 0.03401826846365819 Centerline is valid? [True, True] Translation: X:486.57, Y:4.91, Z:3.33 [[ 9.98061745e-01 -6.03978015e-02 -1.49952827e-02 4.86571181e+02] [ 6.04023400e-02 9.98174100e-01 -1.50462275e-04 4.90593796e+00] [ 1.49769904e-02 -7.55579523e-04 9.99887553e-01 3.33481886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.06925415399996 meters 0.02707660693376705 Centerline is valid? [True, True] Translation: X:486.60, Y:4.92, Z:3.34 [[ 9.98177020e-01 -5.84411202e-02 -1.50755400e-02 4.86602856e+02] [ 5.84454914e-02 9.98290590e-01 -1.50832158e-04 4.91754222e+00] [ 1.50585845e-02 -7.30540149e-04 9.99886346e-01 3.33653356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.09925415399994 meters 0.02690771809593648 Centerline is valid? [True, True] Translation: X:486.63, Y:4.92, Z:3.34 [[ 9.98287560e-01 -5.65039972e-02 -1.51408967e-02 4.86633686e+02] [ 5.65081942e-02 9.98402124e-01 -1.50823419e-04 4.91995542e+00] [ 1.51252256e-02 -7.05019589e-04 9.99885359e-01 3.33676359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.1292541539999 meters 0.02320803252463761 Centerline is valid? [True, True] Translation: X:486.66, Y:4.93, Z:3.34 [[ 9.98548650e-01 -5.18440929e-02 -1.45870979e-02 4.86663919e+02] [ 5.18474955e-02 9.98655004e-01 -1.45070538e-04 4.92988486e+00] [ 1.45749994e-02 -6.11444504e-04 9.99893592e-01 3.33777643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.15925415399994 meters 0.023248236066414674 Centerline is valid? [True, True] Translation: X:486.69, Y:4.93, Z:3.34 [[ 9.98670124e-01 -4.93800768e-02 -1.48185977e-02 4.86694017e+02] [ 4.93833195e-02 9.98779889e-01 -1.47231005e-04 4.93203055e+00] [ 1.48077877e-02 -5.84756340e-04 9.99890188e-01 3.33752764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.1892541539999 meters 0.021664382960460617 Centerline is valid? [True, True] Translation: X:486.73, Y:4.94, Z:3.34 [[ 9.98793902e-01 -4.69957299e-02 -1.42177017e-02 4.86725889e+02] [ 4.69984821e-02 9.98894951e-01 -1.40672178e-04 4.93654042e+00] [ 1.42086014e-02 -5.27707883e-04 9.99898913e-01 3.33741721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.21925415399994 meters 0.020258609884821362 Centerline is valid? [True, True] Translation: X:486.76, Y:4.94, Z:3.34 [[ 9.99024681e-01 -4.19486964e-02 -1.37838254e-02 4.86755176e+02] [ 4.19508075e-02 9.99119668e-01 -1.36070442e-04 4.94089824e+00] [ 1.37773990e-02 -4.42304874e-04 9.99904989e-01 3.33697985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.2492541539999 meters 0.019559045703349473 Centerline is valid? [True, True] Translation: X:486.79, Y:4.94, Z:3.34 [[ 9.99140492e-01 -3.91548982e-02 -1.36077801e-02 4.86785501e+02] [ 3.91566968e-02 9.99233073e-01 -1.34336643e-04 4.94299413e+00] [ 1.36026039e-02 -3.98614540e-04 9.99907401e-01 3.33705428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.27925415399994 meters 0.019031612758787946 Centerline is valid? [True, True] Translation: X:486.82, Y:4.95, Z:3.34 [[ 9.99237137e-01 -3.67512872e-02 -1.32093453e-02 4.86817076e+02] [ 3.67527766e-02 9.99324380e-01 -1.30060262e-04 4.94595372e+00] [ 1.32052007e-02 -3.55519074e-04 9.99912744e-01 3.33731223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3092541539999 meters 0.01777143591347045 Centerline is valid? [True, True] Translation: X:486.85, Y:4.95, Z:3.34 [[ 9.99426126e-01 -3.15680904e-02 -1.22831151e-02 4.86847095e+02] [ 3.15689909e-02 9.99501568e-01 -1.20616073e-04 4.95087147e+00] [ 1.22808004e-02 -2.67218694e-04 9.99924552e-01 3.33770009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.33925415399995 meters 0.016883672692295505 Centerline is valid? [True, True] Translation: X:486.88, Y:4.95, Z:3.34 [[ 9.99497017e-01 -2.92951918e-02 -1.21451858e-02 4.86878283e+02] [ 2.92959082e-02 9.99570776e-01 -1.18954154e-04 4.95440051e+00] [ 1.21434575e-02 -2.36909925e-04 9.99926237e-01 3.33840013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3692541539999 meters 0.016457420045966314 Centerline is valid? [True, True] Translation: X:486.91, Y:4.96, Z:3.34 [[ 9.99597629e-01 -2.55044448e-02 -1.24138650e-02 4.86908519e+02] [ 2.55049054e-02 9.99674690e-01 -1.21237758e-04 4.95675240e+00] [ 1.24129187e-02 -1.95425476e-04 9.99922938e-01 3.33787715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.39925415399995 meters 0.016457420045966314 Centerline is valid? [True, True] Translation: X:486.94, Y:4.96, Z:3.34 [[ 9.99598499e-01 -2.54703134e-02 -1.24138680e-02 4.86939366e+02] [ 2.54707752e-02 9.99675560e-01 -1.20928607e-04 4.95702086e+00] [ 1.24129205e-02 -1.95310786e-04 9.99922938e-01 3.33809088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4292541539999 meters 0.015666180064813278 Centerline is valid? [True, True] Translation: X:486.97, Y:4.96, Z:3.34 [[ 9.99656792e-01 -2.31605306e-02 -1.22428469e-02 4.86970826e+02] [ 2.31608116e-02 9.99731745e-01 -1.18845674e-04 4.95891459e+00] [ 1.22423152e-02 -1.64749386e-04 9.99925046e-01 3.33812755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.45925415399995 meters 0.015285772370792611 Centerline is valid? [True, True] Translation: X:487.00, Y:4.96, Z:3.34 [[ 9.99680418e-01 -2.21466490e-02 -1.21896740e-02 4.87002518e+02] [ 2.21468575e-02 9.99754721e-01 -1.17903598e-04 4.96007636e+00] [ 1.21892953e-02 -1.52097055e-04 9.99925696e-01 3.33841007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4892541539999 meters 0.015636302901476634 Centerline is valid? [True, True] Translation: X:487.03, Y:4.96, Z:3.34 [[ 9.99684065e-01 -2.17183458e-02 -1.26524557e-02 4.87032863e+02] [ 2.17185405e-02 9.99764117e-01 -1.22022337e-04 4.95964264e+00] [ 1.26521213e-02 -1.52809085e-04 9.99919947e-01 3.33795497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.51925415399995 meters 0.015249586396227378 Centerline is valid? [True, True] Translation: X:487.06, Y:4.96, Z:3.34 [[ 9.99696182e-01 -2.11198896e-02 -1.27080622e-02 4.87063760e+02] [ 2.11200393e-02 9.99776940e-01 -1.22435696e-04 4.96150099e+00] [ 1.27078134e-02 -1.45996276e-04 9.99919242e-01 3.33863134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5492541539999 meters 0.014987982211986115 Centerline is valid? [True, True] Translation: X:487.09, Y:4.96, Z:3.34 [[ 9.99695205e-01 -2.12557663e-02 -1.25574145e-02 4.87093790e+02] [ 2.12559232e-02 9.99774060e-01 -1.20984281e-04 4.96264219e+00] [ 1.25571489e-02 -1.45972032e-04 9.99921145e-01 3.33926529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.57925415399995 meters 0.015283642884521755 Centerline is valid? [True, True] Translation: X:487.12, Y:4.96, Z:3.34 [[ 9.99689393e-01 -2.15200909e-02 -1.25699417e-02 4.87123006e+02] [ 2.15202677e-02 9.99768405e-01 -1.21206492e-04 4.96212817e+00] [ 1.25696389e-02 -1.49339666e-04 9.99920988e-01 3.33898213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6092541539999 meters 0.015519325899838038 Centerline is valid? [True, True] Translation: X:487.15, Y:4.96, Z:3.34 [[ 9.99653937e-01 -2.32118598e-02 -1.23780459e-02 4.87153877e+02] [ 2.32121594e-02 9.99730554e-01 -1.19478916e-04 4.96055472e+00] [ 1.23774840e-02 -1.67883606e-04 9.99923382e-01 3.33900738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.63925415399996 meters 0.015607887611518117 Centerline is valid? [True, True] Translation: X:487.18, Y:4.96, Z:3.34 [[ 9.99614576e-01 -2.49010944e-02 -1.22733103e-02 4.87184048e+02] [ 2.49015163e-02 9.99689902e-01 -1.18467957e-04 4.95965061e+00] [ 1.22724544e-02 -1.87201739e-04 9.99924673e-01 3.33918111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.66925415399993 meters 0.016977773621244967 Centerline is valid? [True, True] Translation: X:487.21, Y:4.96, Z:3.34 [[ 9.99496318e-01 -2.93556861e-02 -1.20562811e-02 4.87214345e+02] [ 2.93564196e-02 9.99569001e-01 -1.16165660e-04 4.95538865e+00] [ 1.20544950e-02 -2.37822099e-04 9.99927314e-01 3.33897434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.69925415399996 meters 0.017176367045858884 Centerline is valid? [True, True] Translation: X:487.25, Y:4.95, Z:3.34 [[ 9.99406466e-01 -3.22484777e-02 -1.21141226e-02 4.87246106e+02] [ 3.22494374e-02 9.99479845e-01 -1.16159882e-04 4.95451291e+00] [ 1.21115674e-02 -2.74582702e-04 9.99926615e-01 3.33945359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.72925415399993 meters 0.018686231335619582 Centerline is valid? [True, True] Translation: X:487.28, Y:4.95, Z:3.34 [[ 9.99306857e-01 -3.51695479e-02 -1.22028043e-02 4.87277123e+02] [ 3.51707475e-02 9.99381311e-01 -1.16346983e-04 4.95157133e+00] [ 1.21993464e-02 -3.12915411e-04 9.99925536e-01 3.33925584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.75925415399996 meters 0.019234990781122955 Centerline is valid? [True, True] Translation: X:487.31, Y:4.95, Z:3.34 [[ 9.99199077e-01 -3.79915822e-02 -1.25636271e-02 4.87308359e+02] [ 3.79930840e-02 9.99277995e-01 -1.19202463e-04 4.94992665e+00] [ 1.25590848e-02 -3.58223947e-04 9.99921067e-01 3.33934041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.78925415399993 meters 0.0214928778383944 Centerline is valid? [True, True] Translation: X:487.34, Y:4.95, Z:3.34 [[ 9.98942946e-01 -4.40704960e-02 -1.30683331e-02 4.87339184e+02] [ 4.40726452e-02 9.99028321e-01 -1.23626844e-04 4.94511367e+00] [ 1.30610832e-02 -4.52459845e-04 9.99914598e-01 3.33884991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81925415399996 meters 0.023073977171335015 Centerline is valid? [True, True] Translation: X:487.37, Y:4.94, Z:3.34 [[ 9.98814521e-01 -4.70159759e-02 -1.26115610e-02 4.87371243e+02] [ 4.70182184e-02 9.98894025e-01 -1.18791615e-04 4.94226013e+00] [ 1.26031980e-02 -4.74322340e-04 9.99920464e-01 3.33836196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.84925415399994 meters 0.02460426678140258 Centerline is valid? [True, True] Translation: X:487.40, Y:4.94, Z:3.34 [[ 9.98674785e-01 -4.98097291e-02 -1.29485071e-02 4.87401839e+02] [ 4.98123366e-02 9.98758588e-01 -1.21261908e-04 4.93935684e+00] [ 1.29384727e-02 -5.23894186e-04 9.99916157e-01 3.33822568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.8792541539999 meters 0.027779130311845174 Centerline is valid? [True, True] Translation: X:487.43, Y:4.93, Z:3.34 [[ 9.98384574e-01 -5.53999152e-02 -1.26131404e-02 4.87431378e+02] [ 5.54028391e-02 9.98464076e-01 -1.17751390e-04 4.93353687e+00] [ 1.26002910e-02 -5.81242617e-04 9.99920444e-01 3.33781116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.90925415399994 meters 0.030219276076725806 Centerline is valid? [True, True] Translation: X:487.46, Y:4.93, Z:3.34 [[ 9.98212988e-01 -5.84057373e-02 -1.26332737e-02 4.87462603e+02] [ 5.84089153e-02 9.98292735e-01 -1.17576384e-04 4.93049042e+00] [ 1.26185725e-02 -6.20529542e-04 9.99920190e-01 3.33714966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9392541539999 meters 0.030219276076725806 Centerline is valid? [True, True] Translation: X:487.49, Y:4.93, Z:3.34 [[ 9.98217000e-01 -5.83371356e-02 -1.26332796e-02 4.87494328e+02] [ 5.83403160e-02 9.98296746e-01 -1.16946873e-04 4.93071839e+00] [ 1.26185842e-02 -6.20291166e-04 9.99920190e-01 3.33736945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.96925415399994 meters 0.031194768071361536 Centerline is valid? [True, True] Translation: X:487.53, Y:4.93, Z:3.34 [[ 9.98046349e-01 -6.11034144e-02 -1.30329532e-02 4.87525652e+02] [ 6.11070436e-02 9.98131211e-01 -1.19946786e-04 4.92858684e+00] [ 1.30159265e-02 -6.76692788e-04 9.99915060e-01 3.33744608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9992541539999 meters 0.027769346583800137 Centerline is valid? [True, True] Translation: X:487.56, Y:4.93, Z:3.34 [[ 9.97862763e-01 -6.39180565e-02 -1.35789288e-02 4.87556487e+02] [ 6.39222609e-02 9.97954873e-01 -1.24603420e-04 4.93326738e+00] [ 1.35591226e-02 -7.43658718e-04 9.99907794e-01 3.33805371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.02925415399994 meters 0.030607210361252038 Centerline is valid? [True, True] Translation: X:487.59, Y:4.93, Z:3.34 [[ 9.97562252e-01 -6.84458224e-02 -1.35912681e-02 4.87586350e+02] [ 6.84504570e-02 9.97654509e-01 -1.24435211e-04 4.92883878e+00] [ 1.35679069e-02 -8.06196642e-04 9.99907627e-01 3.33729597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0592541539999 meters 0.031363451725184545 Centerline is valid? [True, True] Translation: X:487.62, Y:4.93, Z:3.34 [[ 9.97453356e-01 -7.00710443e-02 -1.32985677e-02 4.87618584e+02] [ 7.00756336e-02 9.97541674e-01 -1.21136491e-04 4.92782616e+00] [ 1.32743637e-02 -8.11077561e-04 9.99911563e-01 3.33786789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.08925415399995 meters 0.03930924393255954 Centerline is valid? [True, True] Translation: X:487.65, Y:4.92, Z:3.34 [[ 9.97393073e-01 -7.10048208e-02 -1.28597940e-02 4.87649650e+02] [ 7.10091999e-02 9.97475654e-01 -1.16334234e-04 4.91769100e+00] [ 1.28355917e-02 -7.97132721e-04 9.99917303e-01 3.33723244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1192541539999 meters 0.039386710677181844 Centerline is valid? [True, True] Translation: X:487.68, Y:4.92, Z:3.34 [[ 9.97387424e-01 -7.11798007e-02 -1.23191687e-02 4.87682285e+02] [ 7.11838415e-02 9.97463207e-01 -1.10720588e-04 4.91997322e+00] [ 1.22957985e-02 -7.66494427e-04 9.99924110e-01 3.33711677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.14925415399995 meters 0.029660942689951977 Centerline is valid? [True, True] Translation: X:487.71, Y:4.93, Z:3.34 [[ 9.97458808e-01 -7.01465333e-02 -1.24655306e-02 4.87714286e+02] [ 7.01506013e-02 9.97536406e-01 -1.11150607e-04 4.93452029e+00] [ 1.24426174e-02 -7.63596313e-04 9.99922296e-01 3.33928405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1792541539999 meters 0.031710031699785146 Centerline is valid? [True, True] Translation: X:487.75, Y:4.93, Z:3.34 [[ 9.97531632e-01 -6.90019368e-02 -1.30144747e-02 4.87745204e+02] [ 6.90062853e-02 9.97616218e-01 -1.15171710e-04 4.93370954e+00] [ 1.29913982e-02 -7.83193134e-04 9.99915302e-01 3.33893068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.20925415399995 meters 0.03204526563054988 Centerline is valid? [True, True] Translation: X:487.78, Y:4.94, Z:3.34 [[ 9.97640251e-01 -6.72696277e-02 -1.37377970e-02 4.87775297e+02] [ 6.72743247e-02 9.97734509e-01 -1.20453070e-04 4.93532655e+00] [ 1.37147770e-02 -8.04032186e-04 9.99905625e-01 3.33856660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2392541539999 meters 0.027558749563541388 Centerline is valid? [True, True] Translation: X:487.81, Y:4.95, Z:3.34 [[ 9.97893464e-01 -6.31391728e-02 -1.49023149e-02 4.87806254e+02] [ 6.31442548e-02 9.98004402e-01 -1.29727623e-04 4.94575735e+00] [ 1.48807668e-02 -8.11541224e-04 9.99888946e-01 3.33808603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.26925415399995 meters 0.029983241812476694 Centerline is valid? [True, True] Translation: X:487.84, Y:4.94, Z:3.34 [[ 9.98026312e-01 -6.09749053e-02 -1.50180436e-02 4.87836555e+02] [ 6.09798264e-02 9.98138990e-01 -1.30457387e-04 4.94452697e+00] [ 1.49980495e-02 -7.85597787e-04 9.99887214e-01 3.33731848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2992541539999 meters 0.02939022050942455 Centerline is valid? [True, True] Translation: X:487.87, Y:4.95, Z:3.34 [[ 9.98153986e-01 -5.86775226e-02 -1.56706157e-02 4.87868102e+02] [ 5.86826052e-02 9.98276682e-01 -1.35687959e-04 4.94789833e+00] [ 1.56515721e-02 -7.84155078e-04 9.99877199e-01 3.33731654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.32925415399995 meters 0.026332364713807985 Centerline is valid? [True, True] Translation: X:487.90, Y:4.96, Z:3.34 [[ 9.98359792e-01 -5.50378004e-02 -1.57659743e-02 4.87898925e+02] [ 5.50424988e-02 9.98484003e-01 -1.36087955e-04 4.95799202e+00] [ 1.57495631e-02 -7.31933879e-04 9.99875700e-01 3.33826993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3592541539999 meters 0.0248723579487944 Centerline is valid? [True, True] Translation: X:487.93, Y:4.96, Z:3.34 [[ 9.98451754e-01 -5.33650001e-02 -1.56930689e-02 4.87931401e+02] [ 5.33694611e-02 9.98574826e-01 -1.34684083e-04 4.96284457e+00] [ 1.56778910e-02 -7.03055074e-04 9.99876847e-01 3.33908847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.38925415399996 meters 0.024726887191198234 Centerline is valid? [True, True] Translation: X:487.96, Y:4.97, Z:3.34 [[ 9.98536983e-01 -5.18148915e-02 -1.54631846e-02 4.87962438e+02] [ 5.18190520e-02 9.98656482e-01 -1.31760369e-04 4.96551961e+00] [ 1.54492367e-02 -6.69719964e-04 9.99880429e-01 3.33962048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.41925415399993 meters 0.023854917940238952 Centerline is valid? [True, True] Translation: X:487.99, Y:4.97, Z:3.34 [[ 9.98713836e-01 -4.84896337e-02 -1.48131283e-02 4.87993790e+02] [ 4.84930959e-02 9.98823510e-01 -1.25584555e-04 4.97125250e+00] [ 1.48017904e-02 -5.92911419e-04 9.99890272e-01 3.34083257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.44925415399996 meters 0.02324101174842864 Centerline is valid? [True, True] Translation: X:488.03, Y:4.97, Z:3.34 [[ 9.98821944e-01 -4.63363751e-02 -1.44105664e-02 4.88025002e+02] [ 4.63394351e-02 9.98925744e-01 -1.21667693e-04 4.97460635e+00] [ 1.44007234e-02 -5.46253148e-04 9.99896155e-01 3.34164038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.47925415399993 meters 0.02297126441865452 Centerline is valid? [True, True] Translation: X:488.06, Y:4.98, Z:3.34 [[ 9.98918337e-01 -4.42209135e-02 -1.43759191e-02 4.88056672e+02] [ 4.42237510e-02 9.99021644e-01 -1.20610875e-04 4.97735959e+00] [ 1.43671878e-02 -5.15276650e-04 9.99896654e-01 3.34223755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.50925415399996 meters 0.02013622907779132 Centerline is valid? [True, True] Translation: X:488.09, Y:4.99, Z:3.34 [[ 9.99138029e-01 -3.90702885e-02 -1.40253821e-02 4.88086860e+02] [ 3.90724889e-02 9.99236372e-01 -1.17197978e-04 4.98632497e+00] [ 1.40192509e-02 -4.30909631e-04 9.99901633e-01 3.34358104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.53925415399993 meters 0.02033837925129744 Centerline is valid? [True, True] Translation: X:488.12, Y:4.99, Z:3.34 [[ 9.99241541e-01 -3.64126291e-02 -1.38008715e-02 4.88117773e+02] [ 3.64145098e-02 9.99336765e-01 -1.15078648e-04 4.98789479e+00] [ 1.37959086e-02 -3.87560602e-04 9.99904757e-01 3.34367199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.56925415399996 meters 0.018616424870114424 Centerline is valid? [True, True] Translation: X:488.15, Y:4.99, Z:3.34 [[ 9.99331360e-01 -3.39506098e-02 -1.35716469e-02 4.88148982e+02] [ 3.39522081e-02 9.99423451e-01 -1.12690289e-04 4.99305120e+00] [ 1.35676481e-02 -3.48172441e-04 9.99907895e-01 3.34466206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.59925415399994 meters 0.017590109948054156 Centerline is valid? [True, True] Translation: X:488.18, Y:5.00, Z:3.34 [[ 9.99478983e-01 -2.92501435e-02 -1.36451767e-02 4.88179599e+02] [ 2.92513278e-02 9.99572082e-01 -1.12815732e-04 4.99798358e+00] [ 1.36426375e-02 -2.86382584e-04 9.99906894e-01 3.34462014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.6292541539999 meters 0.01655303116254546 Centerline is valid? [True, True] Translation: X:488.21, Y:5.00, Z:3.34 [[ 9.99522159e-01 -2.73624784e-02 -1.43787636e-02 4.88211643e+02] [ 2.73636099e-02 9.99625539e-01 -1.18075401e-04 5.00154303e+00] [ 1.43766101e-02 -2.75435898e-04 9.99896613e-01 3.34479856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.65925415399994 meters 0.015692835278172324 Centerline is valid? [True, True] Translation: X:488.24, Y:5.01, Z:3.34 [[ 9.99603726e-01 -2.35305552e-02 -1.54500670e-02 4.88243342e+02] [ 2.35314173e-02 9.99723090e-01 -1.26012426e-04 5.00545540e+00] [ 1.54487539e-02 -2.37599485e-04 9.99880633e-01 3.34451758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.6892541539999 meters 0.015656787775589272 Centerline is valid? [True, True] Translation: X:488.27, Y:5.01, Z:3.34 [[ 9.99638128e-01 -2.19313465e-02 -1.55765365e-02 4.88272524e+02] [ 2.19320303e-02 9.99759456e-01 -1.26944504e-04 5.00698731e+00] [ 1.55755737e-02 -2.14726503e-04 9.99878670e-01 3.34449825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.71925415399994 meters 0.01647778968339041 Centerline is valid? [True, True] Translation: X:488.30, Y:5.01, Z:3.34 [[ 9.99674055e-01 -2.01333540e-02 -1.56981306e-02 4.88302200e+02] [ 2.01338259e-02 9.99797286e-01 -1.27993947e-04 5.00702688e+00] [ 1.56975253e-02 -1.88111201e-04 9.99876769e-01 3.34369717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.7492541539999 meters 0.01541643486808582 Centerline is valid? [True, True] Translation: X:488.33, Y:5.01, Z:3.35 [[ 9.99700675e-01 -1.93258430e-02 -1.50024170e-02 4.88331695e+02] [ 1.93261796e-02 9.99813224e-01 -1.22556849e-04 5.00985649e+00] [ 1.50019835e-02 -1.67419241e-04 9.99887450e-01 3.34568961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.77925415399994 meters 0.015375752419681348 Centerline is valid? [True, True] Translation: X:488.36, Y:5.01, Z:3.35 [[ 9.99708722e-01 -1.88571779e-02 -1.50624527e-02 4.88361388e+02] [ 1.88574559e-02 9.99822175e-01 -1.23582255e-04 5.01023573e+00] [ 1.50621046e-02 -1.60493279e-04 9.99886547e-01 3.34588055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8092541539999 meters 0.015348692803395831 Centerline is valid? [True, True] Translation: X:488.39, Y:5.01, Z:3.35 [[ 9.99699474e-01 -1.92474434e-02 -1.51821790e-02 4.88391392e+02] [ 1.92477625e-02 9.99814737e-01 -1.25112851e-04 5.01040853e+00] [ 1.51817744e-02 -1.67147724e-04 9.99884736e-01 3.34605303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.83925415399995 meters 0.015458393464971538 Centerline is valid? [True, True] Translation: X:488.42, Y:5.01, Z:3.35 [[ 9.99673998e-01 -2.02836087e-02 -1.55071972e-02 4.88420991e+02] [ 2.02840573e-02 9.99794249e-01 -1.28364945e-04 5.01013869e+00] [ 1.55066103e-02 -1.86225779e-04 9.99879748e-01 3.34610646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8692541539999 meters 0.016971577010626196 Centerline is valid? [True, True] Translation: X:488.45, Y:5.01, Z:3.34 [[ 9.99620781e-01 -2.27876199e-02 -1.54602297e-02 4.88449649e+02] [ 2.27883541e-02 9.99740303e-01 -1.28696043e-04 5.00500694e+00] [ 1.54591474e-02 -2.23665950e-04 9.99880475e-01 3.34413302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.89925415399995 meters 0.015954170178435936 Centerline is valid? [True, True] Translation: X:488.48, Y:5.01, Z:3.35 [[ 9.99595369e-01 -2.41687113e-02 -1.49990814e-02 4.88480397e+02] [ 2.41695523e-02 9.99707866e-01 -1.25224597e-04 5.00704922e+00] [ 1.49977262e-02 -2.37347155e-04 9.99887500e-01 3.34634129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9292541539999 meters 0.018253957513698477 Centerline is valid? [True, True] Translation: X:488.51, Y:5.00, Z:3.34 [[ 9.99541293e-01 -2.62707825e-02 -1.50681724e-02 4.88510799e+02] [ 2.62718722e-02 9.99654827e-01 -1.25652858e-04 5.00072122e+00] [ 1.50662723e-02 -2.70273879e-04 9.99886461e-01 3.34444313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.95925415399995 meters 0.016604536833184497 Centerline is valid? [True, True] Translation: X:488.54, Y:5.00, Z:3.35 [[ 9.99489231e-01 -2.84904414e-02 -1.44766102e-02 4.88541543e+02] [ 2.84916838e-02 9.99594022e-01 -1.20457640e-04 5.00382539e+00] [ 1.44741649e-02 -2.92066886e-04 9.99895201e-01 3.34701922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9892541539999 meters 0.018538197938532005 Centerline is valid? [True, True] Translation: X:488.57, Y:5.00, Z:3.35 [[ 9.99356897e-01 -3.32820385e-02 -1.33453845e-02 4.88572399e+02] [ 3.32835244e-02 9.99445944e-01 -1.10806481e-04 4.99871725e+00] [ 1.33416782e-02 -3.33446208e-04 9.99910940e-01 3.34737705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.01925415399995 meters 0.018454804175474206 Centerline is valid? [True, True] Translation: X:488.60, Y:5.00, Z:3.35 [[ 9.99278459e-01 -3.58424517e-02 -1.25650236e-02 4.88603734e+02] [ 3.58439766e-02 9.99357393e-01 -1.03892257e-04 4.99608639e+00] [ 1.25606730e-02 -3.46563119e-04 9.99921052e-01 3.34801580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0492541539999 meters 0.020111520107868944 Centerline is valid? [True, True] Translation: X:488.63, Y:4.99, Z:3.35 [[ 9.99118879e-01 -3.98774726e-02 -1.30863433e-02 4.88634252e+02] [ 3.98794819e-02 9.99204491e-01 -1.07474573e-04 4.99041766e+00] [ 1.30802188e-02 -4.14496716e-04 9.99914364e-01 3.34797888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.07925415399995 meters 0.01980978031408802 Centerline is valid? [True, True] Translation: X:488.67, Y:4.99, Z:3.35 [[ 9.99050905e-01 -4.14762712e-02 -1.33044558e-02 4.88666327e+02] [ 4.14785009e-02 9.99139391e-01 -1.08420128e-04 4.99006819e+00] [ 1.32975027e-02 -4.43531655e-04 9.99911486e-01 3.34825126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1092541539999 meters 0.021098610740291956 Centerline is valid? [True, True] Translation: X:488.70, Y:4.99, Z:3.35 [[ 9.98990480e-01 -4.27740897e-02 -1.37257941e-02 4.88697886e+02] [ 4.27765977e-02 9.99084656e-01 -1.10949282e-04 4.98720858e+00] [ 1.37179760e-02 -4.76305495e-04 9.99905791e-01 3.34767336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.13925415399996 meters 0.02183481084691008 Centerline is valid? [True, True] Translation: X:488.73, Y:4.98, Z:3.35 [[ 9.98962431e-01 -4.31857675e-02 -1.44586065e-02 4.88729408e+02] [ 4.31886052e-02 9.99066930e-01 -1.16062795e-04 4.98493575e+00] [ 1.44501279e-02 -5.08504679e-04 9.99895462e-01 3.34715971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.16925415399993 meters 0.021279876328949454 Centerline is valid? [True, True] Translation: X:488.76, Y:4.98, Z:3.35 [[ 9.99015666e-01 -4.17276104e-02 -1.50500971e-02 4.88761546e+02] [ 4.17305344e-02 9.99128895e-01 -1.19839088e-04 4.98431100e+00] [ 1.50419875e-02 -5.08327468e-04 9.99886734e-01 3.34701305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.19925415399996 meters 0.02034249637457368 Centerline is valid? [True, True] Translation: X:488.79, Y:4.99, Z:3.35 [[ 9.99097941e-01 -3.96490683e-02 -1.52070706e-02 4.88793570e+02] [ 3.96518299e-02 9.99213550e-01 -1.19987326e-04 4.98595029e+00] [ 1.51998684e-02 -4.83109087e-04 9.99884359e-01 3.34709105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.22925415399993 meters 0.019317435003570103 Centerline is valid? [True, True] Translation: X:488.83, Y:4.99, Z:3.35 [[ 9.99202501e-01 -3.68182378e-02 -1.54524938e-02 4.88825316e+02] [ 3.68207662e-02 9.99321878e-01 -1.20946724e-04 4.98781258e+00] [ 1.54464682e-02 -4.48122393e-04 9.99880596e-01 3.34778354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.25925415399996 meters 0.018655242260740678 Centerline is valid? [True, True] Translation: X:488.86, Y:4.99, Z:3.35 [[ 9.99321537e-01 -3.33525557e-02 -1.56228203e-02 4.88857070e+02] [ 3.33547302e-02 9.99443569e-01 -1.21428601e-04 4.98962658e+00] [ 1.56181773e-02 -3.99748741e-04 9.99877949e-01 3.34794052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.28925415399993 meters 0.017768427675435104 Centerline is valid? [True, True] Translation: X:488.89, Y:4.99, Z:3.35 [[ 9.99459667e-01 -2.90816029e-02 -1.53177885e-02 4.88887193e+02] [ 2.90831998e-02 9.99576987e-01 -1.18542344e-04 4.99182615e+00] [ 1.53147563e-02 -3.27012012e-04 9.99882669e-01 3.34831139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31925415399996 meters 0.016278490632755584 Centerline is valid? [True, True] Translation: X:488.92, Y:5.00, Z:3.35 [[ 9.99672146e-01 -2.05913849e-02 -1.52182765e-02 4.88917175e+02] [ 2.05919793e-02 9.99787956e-01 -1.17649273e-04 4.99710302e+00] [ 1.52174722e-02 -1.95763735e-04 9.99884188e-01 3.34863433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.34925415399994 meters 0.015787459970786857 Centerline is valid? [True, True] Translation: X:488.95, Y:5.00, Z:3.35 [[ 9.99738263e-01 -1.68573892e-02 -1.54671671e-02 4.88946422e+02] [ 1.68575263e-02 9.99857894e-01 -1.21521205e-04 4.99957033e+00] [ 1.54670177e-02 -1.39248778e-04 9.99880369e-01 3.34891961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.3792541539999 meters 0.01555307550750504 Centerline is valid? [True, True] Translation: X:488.98, Y:5.00, Z:3.35 [[ 9.99829278e-01 -1.07709258e-02 -1.50133696e-02 4.88975424e+02] [ 1.07703160e-02 9.99941991e-01 -1.21469004e-04 5.00255679e+00] [ 1.50138070e-02 -4.02504685e-05 9.99887286e-01 3.34865372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.40925415399994 meters 0.016515707175023722 Centerline is valid? [True, True] Translation: X:489.00, Y:5.00, Z:3.35 [[ 9.99841990e-01 -8.68036809e-03 -1.55127745e-02 4.89003187e+02] [ 8.67939984e-03 9.99962325e-01 -1.29741351e-04 5.00290080e+00] [ 1.55133163e-02 -4.92072220e-06 9.99879661e-01 3.34848900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4392541539999 meters 0.015275698885960049 Centerline is valid? [True, True] Translation: X:489.03, Y:5.00, Z:3.35 [[ 9.99847200e-01 -8.14136321e-03 -1.54691301e-02 4.89031546e+02] [ 8.14026687e-03 9.99966859e-01 -1.33837567e-04 5.00295411e+00] [ 1.54697071e-02 7.89426906e-06 9.99880337e-01 3.34954278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.46925415399994 meters 0.01542887361114934 Centerline is valid? [True, True] Translation: X:489.06, Y:5.00, Z:3.35 [[ 9.99858722e-01 -7.77074887e-03 -1.49047737e-02 4.89059127e+02] [ 7.76962687e-03 9.99969807e-01 -1.33182760e-04 5.00203048e+00] [ 1.49053586e-02 1.73594140e-05 9.99888909e-01 3.34942990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4992541539999 meters 0.015321277501538172 Centerline is valid? [True, True] Translation: X:489.09, Y:5.00, Z:3.35 [[ 9.99846360e-01 -9.80830310e-03 -1.45276726e-02 4.89086642e+02] [ 9.80739168e-03 9.99951897e-01 -1.33979959e-04 4.99826809e+00] [ 1.45282879e-02 -8.51920038e-06 9.99894459e-01 3.34952847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.52925415399994 meters 0.015332000447458539 Centerline is valid? [True, True] Translation: X:489.11, Y:5.00, Z:3.35 [[ 9.99819846e-01 -1.21832778e-02 -1.45548047e-02 4.89114233e+02] [ 1.21825751e-02 9.99925780e-01 -1.36946487e-04 4.99541514e+00] [ 1.45553929e-02 -4.03931855e-05 9.99894064e-01 3.34918858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5592541539999 meters 0.015409906152834706 Centerline is valid? [True, True] Translation: X:489.14, Y:4.99, Z:3.35 [[ 9.99767024e-01 -1.54489420e-02 -1.50740893e-02 4.89142977e+02] [ 1.54485407e-02 9.99880654e-01 -1.43071496e-04 4.99199899e+00] [ 1.50745005e-02 -8.98345180e-05 9.99886369e-01 3.34897266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.58925415399995 meters 0.016441629411857697 Centerline is valid? [True, True] Translation: X:489.17, Y:4.98, Z:3.35 [[ 9.99568533e-01 -2.43116826e-02 -1.64830349e-02 4.89171894e+02] [ 2.43123898e-02 9.99704398e-01 -1.57508635e-04 4.98223540e+00] [ 1.64819918e-02 -2.43301295e-04 9.99864133e-01 3.34758446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6192541539999 meters 0.017432464262328456 Centerline is valid? [True, True] Translation: X:489.20, Y:4.98, Z:3.35 [[ 9.99423320e-01 -2.93358891e-02 -1.71007014e-02 4.89201117e+02] [ 2.93373695e-02 9.99569553e-01 -1.64342407e-04 4.97717981e+00] [ 1.70981616e-02 -3.37441963e-04 9.99853759e-01 3.34719113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.64925415399995 meters 0.02034326832098201 Centerline is valid? [True, True] Translation: X:489.23, Y:4.97, Z:3.35 [[ 9.99068738e-01 -3.96184238e-02 -1.70891168e-02 4.89230140e+02] [ 3.96213941e-02 9.99214751e-01 -1.64856663e-04 4.96640754e+00] [ 1.70822289e-02 -5.12391493e-04 9.99853957e-01 3.34688367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6792541539999 meters 0.022428643245027313 Centerline is valid? [True, True] Translation: X:489.26, Y:4.96, Z:3.35 [[ 9.98881013e-01 -4.42092928e-02 -1.68005765e-02 4.89260158e+02] [ 4.42128188e-02 9.99022122e-01 -1.61675751e-04 4.96083188e+00] [ 1.67912951e-02 -5.81306006e-04 9.99858847e-01 3.34700057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.70925415399995 meters 0.02401988504663227 Centerline is valid? [True, True] Translation: X:489.29, Y:4.96, Z:3.35 [[ 9.98693251e-01 -4.85335154e-02 -1.60090220e-02 4.89291605e+02] [ 4.85372827e-02 9.98821360e-01 -1.53360567e-04 4.95656049e+00] [ 1.59975963e-02 -6.23874265e-04 9.99871836e-01 3.34801444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7392541539999 meters 0.026654055024267202 Centerline is valid? [True, True] Translation: X:489.32, Y:4.95, Z:3.35 [[ 9.98517437e-01 -5.23221884e-02 -1.50105506e-02 4.89322495e+02] [ 5.23259331e-02 9.98630050e-01 -1.43427728e-04 4.95218108e+00] [ 1.49974913e-02 -6.42225977e-04 9.99887325e-01 3.34799610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.76925415399995 meters 0.03015926825777981 Centerline is valid? [True, True] Translation: X:489.35, Y:4.94, Z:3.35 [[ 9.98158232e-01 -5.90696276e-02 -1.38174688e-02 4.89351954e+02] [ 5.90734456e-02 9.98253630e-01 -1.32015691e-04 4.94381335e+00] [ 1.38011365e-02 -6.84472941e-04 9.99904526e-01 3.34987660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7992541539999 meters 0.03135655388031497 Centerline is valid? [True, True] Translation: X:489.38, Y:4.94, Z:3.35 [[ 9.98009531e-01 -6.16394385e-02 -1.33249807e-02 4.89383018e+02] [ 6.16432178e-02 9.98098240e-01 -1.27296666e-04 4.94162088e+00] [ 1.33074863e-02 -6.94351401e-04 9.99911210e-01 3.35019234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.82925415399995 meters 0.032832259084130885 Centerline is valid? [True, True] Translation: X:489.41, Y:4.94, Z:3.35 [[ 9.97889198e-01 -6.35817366e-02 -1.32103069e-02 4.89414227e+02] [ 6.35856266e-02 9.97976379e-01 -1.25761095e-04 4.93884358e+00] [ 1.31915704e-02 -7.14490006e-04 9.99912732e-01 3.35068277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8592541539999 meters 0.032832259084130885 Centerline is valid? [True, True] Translation: X:489.45, Y:4.94, Z:3.35 [[ 9.97893540e-01 -6.35135413e-02 -1.32103144e-02 4.89445961e+02] [ 6.35174357e-02 9.97980721e-01 -1.24976440e-04 4.93907721e+00] [ 1.31915768e-02 -7.14372112e-04 9.99912732e-01 3.35090259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.88925415399996 meters 0.034963904995713155 Centerline is valid? [True, True] Translation: X:489.48, Y:4.94, Z:3.35 [[ 9.97696762e-01 -6.66089963e-02 -1.28223654e-02 4.89477163e+02] [ 6.66129273e-02 9.97778885e-01 -1.20746838e-04 4.93553488e+00] [ 1.28019282e-02 -7.33666562e-04 9.99917783e-01 3.35109131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.91925415399993 meters 0.03612967512431214 Centerline is valid? [True, True] Translation: X:489.51, Y:4.93, Z:3.35 [[ 9.97644272e-01 -6.74484213e-02 -1.25146892e-02 4.89508680e+02] [ 6.74522403e-02 9.97722497e-01 -1.17155415e-04 4.93361694e+00] [ 1.24940889e-02 -7.27264397e-04 9.99921681e-01 3.35141938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.94925415399996 meters 0.037791508666216625 Centerline is valid? [True, True] Translation: X:489.54, Y:4.93, Z:3.35 [[ 9.97641413e-01 -6.75075705e-02 -1.24233285e-02 4.89540042e+02] [ 6.75113549e-02 9.97718499e-01 -1.14979306e-04 4.93184604e+00] [ 1.24027466e-02 -7.24007619e-04 9.99922821e-01 3.35030873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.97925415399993 meters 0.029864585230741453 Centerline is valid? [True, True] Translation: X:489.57, Y:4.94, Z:3.35 [[ 9.97638080e-01 -6.75795035e-02 -1.22992350e-02 4.89572554e+02] [ 6.75832323e-02 9.97713633e-01 -1.12680697e-04 4.94158791e+00] [ 1.22787293e-02 -7.18807501e-04 9.99924355e-01 3.35263912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.00925415399996 meters 0.02947678477280344 Centerline is valid? [True, True] Translation: X:489.60, Y:4.94, Z:3.35 [[ 9.97678573e-01 -6.69437869e-02 -1.24897789e-02 4.89604808e+02] [ 6.69475940e-02 9.97756487e-01 -1.13505371e-04 4.94276986e+00] [ 1.24693564e-02 -7.22918768e-04 9.99921993e-01 3.35271487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.03925415399993 meters 0.030010621546719234 Centerline is valid? [True, True] Translation: X:489.64, Y:4.94, Z:3.35 [[ 9.97735191e-01 -6.60455550e-02 -1.27464883e-02 4.89636050e+02] [ 6.60494578e-02 9.97816344e-01 -1.15002855e-04 4.94253224e+00] [ 1.27262498e-02 -7.27156247e-04 9.99918754e-01 3.35258516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.06925415399996 meters 0.02790241892241218 Centerline is valid? [True, True] Translation: X:489.67, Y:4.95, Z:3.35 [[ 9.97869765e-01 -6.37843938e-02 -1.36924762e-02 4.89667915e+02] [ 6.37886958e-02 9.97963420e-01 -1.22758772e-04 4.94664820e+00] [ 1.36724205e-02 -7.50927931e-04 9.99906246e-01 3.35210154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.09925415399994 meters 0.029324353822121323 Centerline is valid? [True, True] Translation: X:489.70, Y:4.95, Z:3.35 [[ 9.97966569e-01 -6.21135712e-02 -1.43049658e-02 4.89698365e+02] [ 6.21181033e-02 9.98068798e-01 -1.27717005e-04 4.94534252e+00] [ 1.42852730e-02 -7.61140043e-04 9.99897671e-01 3.35118358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.1292541539999 meters 0.028128224971432917 Centerline is valid? [True, True] Translation: X:489.73, Y:4.95, Z:3.35 [[ 9.98136558e-01 -5.86823928e-02 -1.67268648e-02 4.89730221e+02] [ 5.86881203e-02 9.98276356e-01 -1.48671220e-04 4.94890673e+00] [ 1.67067581e-02 -8.33274076e-04 9.99860085e-01 3.34923044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.15925415399994 meters 0.027390915031250594 Centerline is valid? [True, True] Translation: X:489.76, Y:4.95, Z:3.35 [[ 9.98246897e-01 -5.65661390e-02 -1.74185381e-02 4.89761716e+02] [ 5.65720419e-02 9.98398508e-01 -1.54062874e-04 4.95123272e+00] [ 1.73993572e-02 -8.31609480e-04 9.99848274e-01 3.34869939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.1892541539999 meters 0.026498460247679247 Centerline is valid? [True, True] Translation: X:489.79, Y:4.95, Z:3.35 [[ 9.98381766e-01 -5.39346930e-02 -1.80249052e-02 4.89793663e+02] [ 5.39406014e-02 9.98544133e-01 -1.58581434e-04 4.95383133e+00] [ 1.80072164e-02 -8.13949413e-04 9.99837526e-01 3.34876592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.21925415399994 meters 0.026105557906016024 Centerline is valid? [True, True] Translation: X:489.82, Y:4.96, Z:3.35 [[ 9.98515870e-01 -5.14167867e-02 -1.79547116e-02 4.89824423e+02] [ 5.14222563e-02 9.98676988e-01 -1.57211667e-04 4.95689517e+00] [ 1.79390406e-02 -7.66293435e-04 9.99838789e-01 3.34881553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.2492541539999 meters 0.022028552430460042 Centerline is valid? [True, True] Translation: X:489.85, Y:4.97, Z:3.35 [[ 9.98825150e-01 -4.53328633e-02 -1.71245676e-02 4.89854575e+02] [ 4.53369482e-02 9.98971741e-01 -1.49794771e-04 4.96758275e+00] [ 1.71137497e-02 -6.26756849e-04 9.99853353e-01 3.35116994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.27925415399994 meters 0.019811027770282732 Centerline is valid? [True, True] Translation: X:489.89, Y:4.97, Z:3.35 [[ 9.98984777e-01 -4.17679778e-02 -1.68775518e-02 4.89886331e+02] [ 4.17714459e-02 9.99127181e-01 -1.47136798e-04 4.97351489e+00] [ 1.68689663e-02 -5.58012319e-04 9.99857553e-01 3.35259041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3092541539999 meters 0.019771182893680492 Centerline is valid? [True, True] Translation: X:489.92, Y:4.98, Z:3.35 [[ 9.99142961e-01 -3.80148464e-02 -1.63772662e-02 4.89916436e+02] [ 3.80176172e-02 9.99277059e-01 -1.42226838e-04 4.97574814e+00] [ 1.63708331e-02 -4.80519692e-04 9.99865873e-01 3.35271814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.33925415399995 meters 0.017690158090304324 Centerline is valid? [True, True] Translation: X:489.95, Y:4.98, Z:3.35 [[ 9.99299620e-01 -3.38640016e-02 -1.59216389e-02 4.89947922e+02] [ 3.38661027e-02 9.99426370e-01 -1.37714224e-04 4.98127040e+00] [ 1.59171693e-02 -4.01586084e-04 9.99873233e-01 3.35424228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3692541539999 meters 0.016216321358694476 Centerline is valid? [True, True] Translation: X:489.98, Y:4.99, Z:3.36 [[ 9.99547239e-01 -2.62081523e-02 -1.47800373e-02 4.89978509e+02] [ 2.62091328e-02 9.99656474e-01 -1.27387469e-04 4.98881839e+00] [ 1.47782986e-02 -2.60042168e-04 9.99890761e-01 3.35540526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.39925415399995 meters 0.015520241265243418 Centerline is valid? [True, True] Translation: X:490.01, Y:4.99, Z:3.36 [[ 9.99646274e-01 -2.26119231e-02 -1.40009992e-02 4.90009103e+02] [ 2.26124520e-02 9.99744299e-01 -1.20552422e-04 4.99236988e+00] [ 1.40001450e-02 -1.96087142e-04 9.99901974e-01 3.35615506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4292541539999 meters 0.016572145538970646 Centerline is valid? [True, True] Translation: X:490.04, Y:4.99, Z:3.36 [[ 9.99724361e-01 -1.90321836e-02 -1.37469556e-02 4.90038831e+02] [ 1.90323562e-02 9.99818861e-01 -1.18279932e-04 4.99465546e+00] [ 1.37467167e-02 -1.43389626e-04 9.99905499e-01 3.35549079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.45925415399995 meters 0.016257792089615263 Centerline is valid? [True, True] Translation: X:490.07, Y:5.00, Z:3.36 [[ 9.99818296e-01 -1.38000920e-02 -1.31503419e-02 4.90067922e+02] [ 1.37997955e-02 9.99904772e-01 -1.13289353e-04 4.99906895e+00] [ 1.31506530e-02 -6.82032613e-05 9.99913524e-01 3.35613917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4892541539999 meters 0.014885369113801412 Centerline is valid? [True, True] Translation: X:490.10, Y:5.00, Z:3.36 [[ 9.99841617e-01 -1.21325585e-02 -1.30208526e-02 4.90095349e+02] [ 1.21321160e-02 9.99926397e-01 -1.12969114e-04 5.00126727e+00] [ 1.30212648e-02 -4.50192730e-05 9.99915219e-01 3.35734972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.51925415399995 meters 0.014688641971221278 Centerline is valid? [True, True] Translation: X:490.12, Y:5.00, Z:3.36 [[ 9.99851502e-01 -9.96506599e-03 -1.40595496e-02 4.90123013e+02] [ 9.96429742e-03 9.99950347e-01 -1.24715755e-04 5.00339744e+00] [ 1.40600943e-02 -1.53962996e-05 9.99901152e-01 3.35729342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5492541539999 meters 0.014802418282783093 Centerline is valid? [True, True] Translation: X:490.15, Y:5.00, Z:3.36 [[ 9.99850446e-01 -9.57314039e-03 -1.44027648e-02 4.90150395e+02] [ 9.57225011e-03 9.99954176e-01 -1.30750379e-04 5.00375158e+00] [ 1.44033565e-02 -7.13604173e-06 9.99896266e-01 3.35666916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.57925415399995 meters 0.014586481158007357 Centerline is valid? [True, True] Translation: X:490.18, Y:5.00, Z:3.36 [[ 9.99843873e-01 -9.88073255e-03 -1.46492748e-02 4.90178048e+02] [ 9.87979799e-03 9.99951184e-01 -1.36166163e-04 5.00383087e+00] [ 1.46499051e-02 -8.58697187e-06 9.99892684e-01 3.35730409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6092541539999 meters 0.014726791108571152 Centerline is valid? [True, True] Translation: X:490.21, Y:5.00, Z:3.36 [[ 9.99829146e-01 -1.07378041e-02 -1.50458939e-02 4.90205802e+02] [ 1.07368722e-02 9.99942348e-01 -1.42714636e-04 5.00213018e+00] [ 1.50465590e-02 -1.88555885e-05 9.99886794e-01 3.35613292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.63925415399996 meters 0.014721817881124942 Centerline is valid? [True, True] Translation: X:490.23, Y:5.00, Z:3.36 [[ 9.99809003e-01 -1.21541523e-02 -1.53047017e-02 4.90233527e+02] [ 1.21533072e-02 9.99926135e-01 -1.48230643e-04 5.00121292e+00] [ 1.53053729e-02 -3.78004094e-05 9.99882865e-01 3.35664918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.66925415399993 meters 0.014850823043690344 Centerline is valid? [True, True] Translation: X:490.26, Y:5.00, Z:3.36 [[ 9.99800607e-01 -1.31598055e-02 -1.50188335e-02 4.90261589e+02] [ 1.31590402e-02 9.99913405e-01 -1.49782646e-04 5.00050912e+00] [ 1.50195041e-02 -4.78806536e-05 9.99887200e-01 3.35695200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.69925415399996 meters 0.014737931691287337 Centerline is valid? [True, True] Translation: X:490.29, Y:5.00, Z:3.36 [[ 9.99774939e-01 -1.50858084e-02 -1.49161157e-02 4.90289035e+02] [ 1.50852026e-02 9.99886200e-01 -1.53130822e-04 4.99908948e+00] [ 1.49167284e-02 -7.19162688e-05 9.99888737e-01 3.35744434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.72925415399993 meters 0.014737931691287337 Centerline is valid? [True, True] Translation: X:490.32, Y:5.00, Z:3.36 [[ 9.99770429e-01 -1.53817920e-02 -1.49160694e-02 4.90316429e+02] [ 1.53811533e-02 9.99881691e-01 -1.57545477e-04 4.99943719e+00] [ 1.49167281e-02 -7.19170409e-05 9.99888737e-01 3.35763479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.75925415399996 meters 0.014809685499906739 Centerline is valid? [True, True] Translation: X:490.34, Y:5.00, Z:3.36 [[ 9.99749026e-01 -1.66879201e-02 -1.49465266e-02 4.90343992e+02] [ 1.66873830e-02 9.99860743e-01 -1.60656615e-04 4.99658439e+00] [ 1.49471262e-02 -8.88021202e-05 9.99888282e-01 3.35751839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.78925415399993 meters 0.014914883243348333 Centerline is valid? [True, True] Translation: X:490.37, Y:5.00, Z:3.36 [[ 9.99738515e-01 -1.74768984e-02 -1.47465260e-02 4.90371433e+02] [ 1.74764188e-02 9.99847263e-01 -1.61398246e-04 4.99517212e+00] [ 1.47470944e-02 -9.63604204e-05 9.99891251e-01 3.35761936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81925415399996 meters 0.014918940760411226 Centerline is valid? [True, True] Translation: X:490.40, Y:4.99, Z:3.36 [[ 9.99711531e-01 -1.89553063e-02 -1.47495852e-02 4.90400014e+02] [ 1.89549280e-02 9.99820326e-01 -1.65456911e-04 4.99400130e+00] [ 1.47500713e-02 -1.14168142e-04 9.99891205e-01 3.35804733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.84925415399994 meters 0.015349446756887453 Centerline is valid? [True, True] Translation: X:490.43, Y:4.99, Z:3.36 [[ 9.99652800e-01 -2.18196084e-02 -1.47710445e-02 4.90428759e+02] [ 2.18195071e-02 9.99761912e-01 -1.68037990e-04 4.98945599e+00] [ 1.47711942e-02 -1.54317263e-04 9.99890888e-01 3.35784058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.8792541539999 meters 0.015473944744422902 Centerline is valid? [True, True] Translation: X:490.46, Y:4.99, Z:3.36 [[ 9.99613814e-01 -2.36380911e-02 -1.46103919e-02 4.90458154e+02] [ 2.36381750e-02 9.99720565e-01 -1.66969648e-04 4.98787097e+00] [ 1.46102561e-02 -1.78457834e-04 9.99893249e-01 3.35854806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.90925415399994 meters 0.01611406941925073 Centerline is valid? [True, True] Translation: X:490.49, Y:4.98, Z:3.36 [[ 9.99528167e-01 -2.73299975e-02 -1.40183955e-02 4.90487700e+02] [ 2.73304326e-02 9.99626441e-01 -1.60571854e-04 4.98244285e+00] [ 1.40175472e-02 -2.22632722e-04 9.99901725e-01 3.35829022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9392541539999 meters 0.016470168788573658 Centerline is valid? [True, True] Translation: X:490.52, Y:4.98, Z:3.36 [[ 9.99480959e-01 -2.90994946e-02 -1.38214426e-02 4.90517919e+02] [ 2.91000849e-02 9.99576490e-01 -1.58438491e-04 4.97969506e+00] [ 1.38201995e-02 -2.43848898e-04 9.99904467e-01 3.35848392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.96925415399994 meters 0.017041258183442275 Centerline is valid? [True, True] Translation: X:490.55, Y:4.98, Z:3.36 [[ 9.99425950e-01 -3.06904758e-02 -1.43480209e-02 4.90549113e+02] [ 3.06912797e-02 9.99528898e-01 -1.64213245e-04 4.97732393e+00] [ 1.43463013e-02 -2.76240145e-04 9.99897048e-01 3.35833691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9992541539999 meters 0.01707152033628584 Centerline is valid? [True, True] Translation: X:490.58, Y:4.98, Z:3.36 [[ 9.99384639e-01 -3.19276286e-02 -1.45248033e-02 4.90580496e+02] [ 3.19285905e-02 9.99490139e-01 -1.65716091e-04 4.97604543e+00] [ 1.45226885e-02 -2.98142380e-04 9.99894496e-01 3.35852781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.02925415399994 meters 0.016947597217140176 Centerline is valid? [True, True] Translation: X:490.61, Y:4.97, Z:3.36 [[ 9.99361092e-01 -3.24486490e-02 -1.49831219e-02 4.90611929e+02] [ 3.24497394e-02 9.99473354e-01 -1.70394276e-04 4.97416361e+00] [ 1.49807601e-02 -3.15912991e-04 9.99887732e-01 3.35818558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0592541539999 meters 0.01689639402038815 Centerline is valid? [True, True] Translation: X:490.64, Y:4.97, Z:3.36 [[ 9.99363113e-01 -3.20233734e-02 -1.57439797e-02 4.90643553e+02] [ 3.20245339e-02 9.99487067e-01 -1.78461550e-04 4.97376901e+00] [ 1.57416190e-02 -3.25845720e-04 9.99876040e-01 3.35844135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.08925415399995 meters 0.01740498101197301 Centerline is valid? [True, True] Translation: X:490.67, Y:4.97, Z:3.36 [[ 9.99388511e-01 -3.11230412e-02 -1.59361352e-02 4.90673775e+02] [ 3.11241288e-02 9.99515511e-01 -1.79817927e-04 4.97223304e+00] [ 1.59340108e-02 -3.16290355e-04 9.99872996e-01 3.35787942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1192541539999 meters 0.01646095778384513 Centerline is valid? [True, True] Translation: X:490.70, Y:4.97, Z:3.36 [[ 9.99420431e-01 -2.97710892e-02 -1.65070902e-02 4.90703858e+02] [ 2.97720794e-02 9.99556696e-01 -1.85808442e-04 4.97472883e+00] [ 1.65053043e-02 -3.05749647e-04 9.99863731e-01 3.35911625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.14925415399995 meters 0.016482428187276164 Centerline is valid? [True, True] Translation: X:490.73, Y:4.97, Z:3.36 [[ 9.99471361e-01 -2.76102634e-02 -1.71660236e-02 4.90733008e+02] [ 2.76110124e-02 9.99618725e-01 -1.93413785e-04 4.97332652e+00] [ 1.71648189e-02 -2.80659752e-04 9.99852634e-01 3.35826198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1792541539999 meters 0.015937271668418372 Centerline is valid? [True, True] Translation: X:490.76, Y:4.97, Z:3.36 [[ 9.99487880e-01 -2.67445000e-02 -1.75701378e-02 4.90762745e+02] [ 2.67451419e-02 9.99642265e-01 -1.98483593e-04 4.97446124e+00] [ 1.75691607e-02 -2.71533883e-04 9.99845614e-01 3.35878903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.20925415399995 meters 0.015912244237934418 Centerline is valid? [True, True] Translation: X:490.79, Y:4.97, Z:3.36 [[ 9.99497730e-01 -2.59379376e-02 -1.82074504e-02 4.90791815e+02] [ 2.59384773e-02 9.99663520e-01 -2.06552343e-04 4.97411456e+00] [ 1.82066815e-02 -2.65824941e-04 9.99834209e-01 3.35870749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2392541539999 meters 0.015607069986654324 Centerline is valid? [True, True] Translation: X:490.82, Y:4.97, Z:3.36 [[ 9.99483840e-01 -2.59892832e-02 -1.88841620e-02 4.90820553e+02] [ 2.59898078e-02 9.99662184e-01 -2.17677906e-04 4.97358809e+00] [ 1.88834399e-02 -2.73230191e-04 9.99821655e-01 3.35910755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.26925415399995 meters 0.01577680174529305 Centerline is valid? [True, True] Translation: X:490.85, Y:4.97, Z:3.36 [[ 9.99466852e-01 -2.64291968e-02 -1.91705209e-02 4.90848162e+02] [ 2.64297154e-02 9.99650648e-01 -2.26352014e-04 4.97294156e+00] [ 1.91698060e-02 -2.80440077e-04 9.99816203e-01 3.35922965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2992541539999 meters 0.0166980171981522 Centerline is valid? [True, True] Translation: X:490.88, Y:4.97, Z:3.36 [[ 9.99457817e-01 -2.68178069e-02 -1.91017638e-02 4.90876349e+02] [ 2.68183332e-02 9.99640298e-01 -2.28654334e-04 4.97028623e+00] [ 1.91010248e-02 -2.83747104e-04 9.99817519e-01 3.35750157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.32925415399995 meters 0.01610327908768057 Centerline is valid? [True, True] Translation: X:490.91, Y:4.97, Z:3.36 [[ 9.99422423e-01 -2.80441954e-02 -1.91922668e-02 4.90905525e+02] [ 2.80448819e-02 9.99606638e-01 -2.33431325e-04 4.97105933e+00] [ 1.91912637e-02 -3.04948355e-04 9.99815784e-01 3.35962629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3592541539999 meters 0.015952982584859648 Centerline is valid? [True, True] Translation: X:490.93, Y:4.97, Z:3.36 [[ 9.99398729e-01 -2.89216103e-02 -1.91238135e-02 4.90933925e+02] [ 2.89223594e-02 9.99581633e-01 -2.37464632e-04 4.97143220e+00] [ 1.91226806e-02 -3.15783955e-04 9.99817095e-01 3.36070624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.38925415399996 meters 0.016673072008480155 Centerline is valid? [True, True] Translation: X:490.96, Y:4.97, Z:3.36 [[ 9.99365510e-01 -2.98796899e-02 -1.93851017e-02 4.90962103e+02] [ 2.98805871e-02 9.99553446e-01 -2.43427368e-04 4.96966332e+00] [ 1.93837188e-02 -3.35965304e-04 9.99812062e-01 3.36000166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.41925415399993 meters 0.01631220632260393 Centerline is valid? [True, True] Translation: X:490.99, Y:4.97, Z:3.36 [[ 9.99308044e-01 -3.18338378e-02 -1.92364132e-02 4.90991282e+02] [ 3.18350123e-02 9.99493107e-01 -2.45240853e-04 4.97023771e+00] [ 1.92344693e-02 -3.67320292e-04 9.99814933e-01 3.36137099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.44925415399996 meters 0.017510558397372627 Centerline is valid? [True, True] Translation: X:491.02, Y:4.97, Z:3.36 [[ 9.99261426e-01 -3.30931374e-02 -1.95306787e-02 4.91019479e+02] [ 3.30945351e-02 9.99452194e-01 -2.51729802e-04 4.96730986e+00] [ 1.95283102e-02 -3.94814850e-04 9.99809226e-01 3.36020693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.47925415399993 meters 0.016778222553263392 Centerline is valid? [True, True] Translation: X:491.05, Y:4.97, Z:3.36 [[ 9.99236092e-01 -3.40526796e-02 -1.91741092e-02 4.91049063e+02] [ 3.40541851e-02 9.99419957e-01 -2.48078744e-04 4.96854599e+00] [ 1.91714352e-02 -4.05069432e-04 9.99816129e-01 3.36193566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.50925415399996 meters 0.01723880535550556 Centerline is valid? [True, True] Translation: X:491.08, Y:4.97, Z:3.36 [[ 9.99180765e-01 -3.62517173e-02 -1.79892188e-02 4.91079024e+02] [ 3.62533871e-02 9.99342603e-01 -2.33388192e-04 4.96625177e+00] [ 1.79858535e-02 -4.18973121e-04 9.99838154e-01 3.36268532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.53925415399993 meters 0.01763206788376739 Centerline is valid? [True, True] Translation: X:491.11, Y:4.96, Z:3.36 [[ 9.99161178e-01 -3.70522090e-02 -1.74377294e-02 4.91109245e+02] [ 3.70538988e-02 9.99313243e-01 -2.26287834e-04 4.96493419e+00] [ 1.74341384e-02 -4.20037843e-04 9.99847926e-01 3.36288459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.56925415399996 meters 0.018081381878966084 Centerline is valid? [True, True] Translation: X:491.14, Y:4.96, Z:3.36 [[ 9.99134280e-01 -3.79142952e-02 -1.71229818e-02 4.91140068e+02] [ 3.79160531e-02 9.99280903e-01 -2.22080623e-04 4.96405603e+00] [ 1.71190887e-02 -4.27347525e-04 9.99853366e-01 3.36336061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.59925415399994 meters 0.018644739560878622 Centerline is valid? [True, True] Translation: X:491.17, Y:4.96, Z:3.36 [[ 9.99128641e-01 -3.86707848e-02 -1.57012442e-02 4.91169961e+02] [ 3.86723586e-02 9.99251924e-01 -2.03486031e-04 4.96291083e+00] [ 1.56973674e-02 -4.03895424e-04 9.99876707e-01 3.36466984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.6292541539999 meters 0.018374655263851448 Centerline is valid? [True, True] Translation: X:491.20, Y:4.96, Z:3.37 [[ 9.99113248e-01 -3.92804702e-02 -1.51579370e-02 4.91201531e+02] [ 3.92820133e-02 9.99228145e-01 -1.96031244e-04 4.96392237e+00] [ 1.51539374e-02 -3.99576868e-04 9.99885093e-01 3.36576682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.65925415399994 meters 0.01742036325557481 Centerline is valid? [True, True] Translation: X:491.23, Y:4.97, Z:3.37 [[ 9.99104141e-01 -3.95837803e-02 -1.49679274e-02 4.91233186e+02] [ 3.95853272e-02 9.99216175e-01 -1.93028345e-04 4.96601890e+00] [ 1.49638359e-02 -3.99654883e-04 9.99887956e-01 3.36697773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.6892541539999 meters 0.019899568224996993 Centerline is valid? [True, True] Translation: X:491.26, Y:4.96, Z:3.37 [[ 9.99043757e-01 -4.09171076e-02 -1.54065311e-02 4.91264629e+02] [ 4.09189162e-02 9.99162451e-01 -1.97946106e-04 4.96140596e+00] [ 1.54017267e-02 -4.32661732e-04 9.99881293e-01 3.36591639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.71925415399994 meters 0.019157328789256863 Centerline is valid? [True, True] Translation: X:491.30, Y:4.96, Z:3.37 [[ 9.99015743e-01 -4.14641951e-02 -1.57564209e-02 4.91295854e+02] [ 4.14661662e-02 9.99139888e-01 -2.01722385e-04 4.96401601e+00] [ 1.57512329e-02 -4.51834529e-04 9.99875840e-01 3.36608068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.7492541539999 meters 0.019157328789256863 Centerline is valid? [True, True] Translation: X:491.33, Y:4.96, Z:3.37 [[ 9.99017269e-01 -4.14274290e-02 -1.57564283e-02 4.91326709e+02] [ 4.14294046e-02 9.99141413e-01 -2.01143026e-04 4.96438074e+00] [ 1.57512329e-02 -4.51834087e-04 9.99875840e-01 3.36629444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.77925415399994 meters 0.018721956622344358 Centerline is valid? [True, True] Translation: X:491.36, Y:4.96, Z:3.37 [[ 9.98951863e-01 -4.29784104e-02 -1.57490182e-02 4.91358412e+02] [ 4.29805859e-02 9.99075888e-01 -2.00468012e-04 4.96416977e+00] [ 1.57430801e-02 -4.76644136e-04 9.99875956e-01 3.36675961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8092541539999 meters 0.018983688243427898 Centerline is valid? [True, True] Translation: X:491.39, Y:4.96, Z:3.37 [[ 9.98885023e-01 -4.43715283e-02 -1.61207362e-02 4.91390368e+02] [ 4.43740041e-02 9.99014968e-01 -2.04255992e-04 4.96361549e+00] [ 1.61139200e-02 -5.11313366e-04 9.99870032e-01 3.36655721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.83925415399995 meters 0.020394293485498954 Centerline is valid? [True, True] Translation: X:491.42, Y:4.96, Z:3.37 [[ 9.98722325e-01 -4.77191285e-02 -1.66313831e-02 4.91420928e+02] [ 4.77222391e-02 9.98860623e-01 -2.10018028e-04 4.96121025e+00] [ 1.66224556e-02 -5.83937148e-04 9.99861667e-01 3.36570939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8692541539999 meters 0.020811529612924415 Centerline is valid? [True, True] Translation: X:491.45, Y:4.96, Z:3.37 [[ 9.98629059e-01 -4.94567744e-02 -1.71473055e-02 4.91452611e+02] [ 4.94603455e-02 9.98776065e-01 -2.16026502e-04 4.96088300e+00] [ 1.71370023e-02 -6.32381311e-04 9.99852951e-01 3.36567369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.89925415399995 meters 0.02184204299501779 Centerline is valid? [True, True] Translation: X:491.48, Y:4.96, Z:3.37 [[ 9.98446325e-01 -5.31051273e-02 -1.68754483e-02 4.91484244e+02] [ 5.31091166e-02 9.98588692e-01 -2.11984016e-04 4.95974368e+00] [ 1.68628893e-02 -6.84585488e-04 9.99857577e-01 3.36554876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9292541539999 meters 0.023220158591496013 Centerline is valid? [True, True] Translation: X:491.52, Y:4.96, Z:3.37 [[ 9.98370215e-01 -5.44798242e-02 -1.69959542e-02 4.91515581e+02] [ 5.44840833e-02 9.98514617e-01 -2.12685197e-04 4.95814582e+00] [ 1.69822958e-02 -7.13670422e-04 9.99855536e-01 3.36542551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.95925415399995 meters 0.022555353477233565 Centerline is valid? [True, True] Translation: X:491.55, Y:4.96, Z:3.37 [[ 9.98313454e-01 -5.55204317e-02 -1.69625665e-02 4.91548130e+02] [ 5.55248432e-02 9.98457284e-01 -2.11139924e-04 4.96015931e+00] [ 1.69481206e-02 -7.31060016e-04 9.99856103e-01 3.36592251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9892541539999 meters 0.024647421776131825 Centerline is valid? [True, True] Translation: X:491.58, Y:4.96, Z:3.37 [[ 9.98287839e-01 -5.59219513e-02 -1.71501191e-02 4.91579294e+02] [ 5.59265386e-02 9.98434864e-01 -2.12387275e-04 4.95841234e+00] [ 1.71351539e-02 -7.47123164e-04 9.99852903e-01 3.36574837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.01925415399995 meters 0.02346149658699852 Centerline is valid? [True, True] Translation: X:491.61, Y:4.96, Z:3.37 [[ 9.98312344e-01 -5.56976490e-02 -1.64388567e-02 4.91611130e+02] [ 5.57018508e-02 9.98447426e-01 -2.02513170e-04 4.96161089e+00] [ 1.64246136e-02 -7.13503344e-04 9.99864852e-01 3.36691113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0492541539999 meters 0.02361111319657583 Centerline is valid? [True, True] Translation: X:491.64, Y:4.96, Z:3.37 [[ 9.98365326e-01 -5.50227540e-02 -1.54651795e-02 4.91642699e+02] [ 5.50264157e-02 9.98484881e-01 -1.88976007e-04 4.96281043e+00] [ 1.54521459e-02 -6.62326304e-04 9.99880389e-01 3.36773805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.07925415399995 meters 0.02136559961877528 Centerline is valid? [True, True] Translation: X:491.67, Y:4.97, Z:3.37 [[ 9.98518516e-01 -5.27167603e-02 -1.34802152e-02 4.91674515e+02] [ 5.27193482e-02 9.98609355e-01 -1.63545316e-04 4.96919165e+00] [ 1.34700906e-02 -5.47365135e-04 9.99909124e-01 3.37008494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1092541539999 meters 0.022235114892155503 Centerline is valid? [True, True] Translation: X:491.71, Y:4.97, Z:3.37 [[ 9.98625721e-01 -5.07942289e-02 -1.29079545e-02 4.91705611e+02] [ 5.07964512e-02 9.98709015e-01 -1.55839737e-04 4.96975747e+00] [ 1.28992063e-02 -5.00052712e-04 9.99916677e-01 3.36998037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.13925415399996 meters 0.021539268963212548 Centerline is valid? [True, True] Translation: X:491.74, Y:4.97, Z:3.37 [[ 9.98724147e-01 -4.88117732e-02 -1.29417887e-02 4.91737064e+02] [ 4.88138569e-02 9.98807881e-01 -1.55021464e-04 4.97127133e+00] [ 1.29339274e-02 -4.76914942e-04 9.99916240e-01 3.37074483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.16925415399993 meters 0.020639424795611837 Centerline is valid? [True, True] Translation: X:491.77, Y:4.97, Z:3.37 [[ 9.98827789e-01 -4.67424802e-02 -1.25773332e-02 4.91769822e+02] [ 4.67443026e-02 9.98906876e-01 -1.49202204e-04 4.97443188e+00] [ 1.25705587e-02 -4.38891362e-04 9.99920891e-01 3.37102433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.19925415399996 meters 0.020679898292806732 Centerline is valid? [True, True] Translation: X:491.80, Y:4.98, Z:3.37 [[ 9.98942033e-01 -4.42342510e-02 -1.25756059e-02 4.91800083e+02] [ 4.42358835e-02 9.99021103e-01 -1.48447903e-04 4.97522995e+00] [ 1.25698621e-02 -4.08002187e-04 9.99920913e-01 3.37071198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.22925415399993 meters 0.01905355085080498 Centerline is valid? [True, True] Translation: X:491.83, Y:4.98, Z:3.37 [[ 9.99165048e-01 -3.87525769e-02 -1.29400273e-02 4.91831265e+02] [ 3.87538506e-02 9.99248776e-01 -1.52398082e-04 4.98246516e+00] [ 1.29362123e-02 -3.49205049e-04 9.99916263e-01 3.36948935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.25925415399996 meters 0.017564283831327958 Centerline is valid? [True, True] Translation: X:491.86, Y:4.99, Z:3.37 [[ 9.99254790e-01 -3.61151840e-02 -1.36219904e-02 4.91861967e+02] [ 3.61163576e-02 9.99347579e-01 -1.59915240e-04 4.98504304e+00] [ 1.36188785e-02 -3.32180607e-04 9.99907204e-01 3.36995696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.28925415399993 meters 0.016214190541161733 Centerline is valid? [True, True] Translation: X:491.89, Y:4.99, Z:3.37 [[ 9.99419748e-01 -3.06705755e-02 -1.48149782e-02 4.91893502e+02] [ 3.06713742e-02 9.99529508e-01 -1.73353301e-04 4.99088870e+00] [ 1.48133247e-02 -2.81143027e-04 9.99890237e-01 3.36948983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31925415399996 meters 0.01633164045886524 Centerline is valid? [True, True] Translation: X:491.92, Y:4.99, Z:3.37 [[ 9.99487703e-01 -2.80737128e-02 -1.53687693e-02 4.91924526e+02] [ 2.80742719e-02 9.99605824e-01 -1.79411060e-04 4.99348915e+00] [ 1.53677481e-02 -2.52147860e-04 9.99881877e-01 3.36905584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.34925415399994 meters 0.01546879017963512 Centerline is valid? [True, True] Translation: X:491.95, Y:5.00, Z:3.37 [[ 9.99538804e-01 -2.60084271e-02 -1.56761166e-02 4.91954265e+02] [ 2.60087543e-02 9.99661698e-01 -1.83028620e-04 4.99555800e+00] [ 1.56755736e-02 -2.24772057e-04 9.99877105e-01 3.36939710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.3792541539999 meters 0.015010881412049811 Centerline is valid? [True, True] Translation: X:491.98, Y:5.00, Z:3.37 [[ 9.99624260e-01 -2.23761036e-02 -1.58319218e-02 4.91983604e+02] [ 2.23759773e-02 9.99749609e-01 -1.85136455e-04 4.99938829e+00] [ 1.58321003e-02 -1.69187833e-04 9.99874650e-01 3.36914186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.40925415399994 meters 0.014933220012223133 Centerline is valid? [True, True] Translation: X:492.01, Y:5.00, Z:3.37 [[ 9.99638337e-01 -2.14336375e-02 -1.62417635e-02 4.92012848e+02] [ 2.14333426e-02 9.99770261e-01 -1.92243620e-04 5.00112373e+00] [ 1.62421527e-02 -1.55941190e-04 9.99868075e-01 3.36933966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4392541539999 meters 0.014642442649439407 Centerline is valid? [True, True] Translation: X:492.04, Y:5.00, Z:3.37 [[ 9.99661207e-01 -2.05858036e-02 -1.59278567e-02 4.92041152e+02] [ 2.05853504e-02 9.99788081e-01 -1.92419154e-04 5.00239537e+00] [ 1.59284424e-02 -1.35526549e-04 9.99873125e-01 3.36983526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.46925415399994 meters 0.014721651962286118 Centerline is valid? [True, True] Translation: X:492.07, Y:5.00, Z:3.37 [[ 9.99677943e-01 -2.03102831e-02 -1.52152027e-02 4.92068695e+02] [ 2.03098005e-02 9.99793717e-01 -1.86245536e-04 5.00343817e+00] [ 1.52158468e-02 -1.22832178e-04 9.99884225e-01 3.37013947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4992541539999 meters 0.01475710178465471 Centerline is valid? [True, True] Translation: X:492.10, Y:5.00, Z:3.37 [[ 9.99657511e-01 -2.13596461e-02 -1.51203879e-02 4.92097363e+02] [ 2.13592492e-02 9.99771848e-01 -1.87758552e-04 5.00359608e+00] [ 1.51209486e-02 -1.35265887e-04 9.99885663e-01 3.37048228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.52925415399994 meters 0.0151014325784687 Centerline is valid? [True, True] Translation: X:492.13, Y:5.00, Z:3.37 [[ 9.99579637e-01 -2.45353785e-02 -1.54455057e-02 4.92125713e+02] [ 2.45353090e-02 9.99698945e-01 -1.94022766e-04 5.00142635e+00] [ 1.54456161e-02 -1.85019048e-04 9.99880692e-01 3.37014617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5592541539999 meters 0.01565547704424932 Centerline is valid? [True, True] Translation: X:492.16, Y:5.00, Z:3.37 [[ 9.99511672e-01 -2.71715772e-02 -1.54312342e-02 4.92155024e+02] [ 2.71718116e-02 9.99630759e-01 -1.94509879e-04 4.99971859e+00] [ 1.54308215e-02 -2.24879693e-04 9.99880912e-01 3.37029216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.58925415399995 meters 0.01580946030728207 Centerline is valid? [True, True] Translation: X:492.18, Y:5.00, Z:3.37 [[ 9.99424690e-01 -3.03334601e-02 -1.51713390e-02 4.92184996e+02] [ 3.03340461e-02 9.99539799e-01 -1.91541096e-04 4.99921830e+00] [ 1.51701673e-02 -2.68777197e-04 9.99884890e-01 3.37116142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6192541539999 meters 0.01746505756520982 Centerline is valid? [True, True] Translation: X:492.22, Y:5.00, Z:3.37 [[ 9.99321848e-01 -3.33777479e-02 -1.55489819e-02 4.92215712e+02] [ 3.33787334e-02 9.99442756e-01 -1.96209715e-04 4.99658890e+00] [ 1.55468663e-02 -3.22928665e-04 9.99879088e-01 3.37069860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.64925415399995 meters 0.01852869070460496 Centerline is valid? [True, True] Translation: X:492.25, Y:4.99, Z:3.37 [[ 9.99100660e-01 -3.98059651e-02 -1.46066909e-02 4.92246329e+02] [ 3.98075248e-02 9.99207349e-01 -1.84059882e-04 4.99111416e+00] [ 1.46024396e-02 -3.97561861e-04 9.99893300e-01 3.37200411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6792541539999 meters 0.01943221375764159 Centerline is valid? [True, True] Translation: X:492.28, Y:4.99, Z:3.37 [[ 9.99001056e-01 -4.22165830e-02 -1.46509245e-02 4.92277436e+02] [ 4.22184170e-02 9.99108388e-01 -1.84215930e-04 4.98912703e+00] [ 1.46456386e-02 -4.34506934e-04 9.99892652e-01 3.37274372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.70925415399995 meters 0.021495595665168853 Centerline is valid? [True, True] Translation: X:492.31, Y:4.99, Z:3.37 [[ 9.98920859e-01 -4.41290121e-02 -1.44826699e-02 4.92308888e+02] [ 4.41310144e-02 9.99025736e-01 -1.81454157e-04 4.98519518e+00] [ 1.44765673e-02 -4.57876569e-04 9.99895104e-01 3.37258276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7392541539999 meters 0.01910513084986878 Centerline is valid? [True, True] Translation: X:492.34, Y:4.99, Z:3.37 [[ 9.98889788e-01 -4.48430878e-02 -1.44322444e-02 4.92341306e+02] [ 4.48451640e-02 9.98993933e-01 -1.79898145e-04 4.98856522e+00] [ 1.44257918e-02 -4.67517947e-04 9.99895834e-01 3.37393954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.76925415399995 meters 0.019092252323807693 Centerline is valid? [True, True] Translation: X:492.37, Y:4.99, Z:3.37 [[ 9.98944319e-01 -4.36466435e-02 -1.43254517e-02 4.92372893e+02] [ 4.36485874e-02 9.99046931e-01 -1.77081020e-04 4.98863552e+00] [ 1.43195275e-02 -4.48391651e-04 9.99897370e-01 3.37419127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7992541539999 meters 0.020969019580173037 Centerline is valid? [True, True] Translation: X:492.40, Y:4.99, Z:3.37 [[ 9.99052947e-01 -4.10552314e-02 -1.44109794e-02 4.92404590e+02] [ 4.10569483e-02 9.99156792e-01 -1.76814256e-04 4.98970140e+00] [ 1.44060871e-02 -4.15024031e-04 9.99896141e-01 3.37235244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.82925415399995 meters 0.01734489120517574 Centerline is valid? [True, True] Translation: X:492.44, Y:4.99, Z:3.37 [[ 9.99252963e-01 -3.58197779e-02 -1.45072523e-02 4.92435517e+02] [ 3.58209759e-02 9.99358207e-01 -1.77339704e-04 4.99323961e+00] [ 1.45042939e-02 -3.42456709e-04 9.99894749e-01 3.37492576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8592541539999 meters 0.016131248713257617 Centerline is valid? [True, True] Translation: X:492.47, Y:5.00, Z:3.38 [[ 9.99384895e-01 -3.18797000e-02 -1.46121686e-02 4.92466801e+02] [ 3.18805023e-02 9.99491672e-01 -1.78083241e-04 4.99664473e+00] [ 1.46104181e-02 -2.87869574e-04 9.99893221e-01 3.37562522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.88925415399996 meters 0.016820801840431512 Centerline is valid? [True, True] Translation: X:492.50, Y:5.00, Z:3.37 [[ 9.99507489e-01 -2.78693959e-02 -1.44248346e-02 4.92497254e+02] [ 2.78697658e-02 9.99611547e-01 -1.75413412e-04 4.99605629e+00] [ 1.44241199e-02 -2.26689743e-04 9.99895941e-01 3.37437923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.91925415399993 meters 0.014521211263991396 Centerline is valid? [True, True] Translation: X:492.53, Y:5.00, Z:3.38 [[ 9.99690355e-01 -1.99752575e-02 -1.48385538e-02 4.92527723e+02] [ 1.99747812e-02 9.99800468e-01 -1.80315600e-04 5.00401794e+00] [ 1.48391948e-02 -1.16137099e-04 9.99889886e-01 3.37596317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.94925415399996 meters 0.014301654817370914 Centerline is valid? [True, True] Translation: X:492.56, Y:5.01, Z:3.38 [[ 9.99741497e-01 -1.69305407e-02 -1.51754809e-02 4.92555967e+02] [ 1.69296610e-02 9.99856666e-01 -1.86439959e-04 5.00610145e+00] [ 1.51764622e-02 -7.05239830e-05 9.99884828e-01 3.37575620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.97925415399993 meters 0.01418680747539056 Centerline is valid? [True, True] Translation: X:492.58, Y:5.01, Z:3.38 [[ 9.99775754e-01 -1.43003925e-02 -1.56185911e-02 4.92584019e+02] [ 1.42990724e-02 9.99897744e-01 -1.96199533e-04 5.00822824e+00] [ 1.56197997e-02 -2.71758279e-05 9.99878003e-01 3.37641392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.00925415399996 meters 0.014238293239265393 Centerline is valid? [True, True] Translation: X:492.61, Y:5.01, Z:3.38 [[ 9.99804924e-01 -1.08629585e-02 -1.64957698e-02 4.92612989e+02] [ 1.08609421e-02 9.99940996e-01 -2.11824617e-04 5.00919089e+00] [ 1.64970975e-02 3.26236943e-05 9.99863913e-01 3.37611648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.03925415399993 meters 0.014341997621266162 Centerline is valid? [True, True] Translation: X:492.64, Y:5.01, Z:3.38 [[ 9.99808267e-01 -1.00890227e-02 -1.67821763e-02 4.92640620e+02] [ 1.00867475e-02 9.99949103e-01 -2.20212554e-04 5.00900985e+00] [ 1.67835439e-02 5.08927568e-05 9.99859145e-01 3.37596867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.06925415399996 meters 0.014123229123747593 Centerline is valid? [True, True] Translation: X:492.67, Y:5.01, Z:3.38 [[ 9.99801501e-01 -9.72689057e-03 -1.73880831e-02 4.92668441e+02] [ 9.72433244e-03 9.99952691e-01 -2.31666227e-04 5.00749054e+00] [ 1.73895139e-02 6.25327415e-05 9.99848789e-01 3.37549998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.09925415399994 meters 0.01430067206414925 Centerline is valid? [True, True] Translation: X:492.70, Y:5.01, Z:3.38 [[ 9.99790770e-01 -1.02899721e-02 -1.76786030e-02 4.92695540e+02] [ 1.02873609e-02 9.99947055e-01 -2.38641460e-04 5.00625146e+00] [ 1.76801226e-02 5.67253601e-05 9.99843693e-01 3.37535067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.1292541539999 meters 0.014307968086649879 Centerline is valid? [True, True] Translation: X:492.72, Y:5.00, Z:3.38 [[ 9.99776225e-01 -1.13199803e-02 -1.78706159e-02 4.92723491e+02] [ 1.13173951e-02 9.99935926e-01 -2.45793917e-04 5.00475246e+00] [ 1.78722533e-02 4.34900931e-05 9.99840278e-01 3.37546082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.15925415399994 meters 0.014307550156432848 Centerline is valid? [True, True] Translation: X:492.75, Y:5.00, Z:3.38 [[ 9.99766941e-01 -1.23191911e-02 -1.77285297e-02 4.92750029e+02] [ 1.23167301e-02 9.99924115e-01 -2.48000739e-04 5.00301828e+00] [ 1.77302395e-02 2.95854256e-05 9.99842807e-01 3.37544091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.1892541539999 meters 0.014260293739519626 Centerline is valid? [True, True] Translation: X:492.78, Y:5.00, Z:3.38 [[ 9.99750235e-01 -1.41118550e-02 -1.73298105e-02 4.92778331e+02] [ 1.41097331e-02 9.99900423e-01 -2.44710676e-04 4.99865637e+00] [ 1.73315382e-02 1.30554043e-07 9.99849798e-01 3.37585363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.21925415399994 meters 0.014321575031964441 Centerline is valid? [True, True] Translation: X:492.81, Y:5.00, Z:3.38 [[ 9.99740884e-01 -1.53859813e-02 -1.67760961e-02 4.92805904e+02] [ 1.53841159e-02 9.99881629e-01 -2.40245814e-04 4.99673245e+00] [ 1.67778067e-02 -1.79018451e-05 9.99859243e-01 3.37641950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.2492541539999 meters 0.014260871850571843 Centerline is valid? [True, True] Translation: X:492.83, Y:4.99, Z:3.38 [[ 9.99707616e-01 -1.78952695e-02 -1.62616679e-02 4.92834183e+02] [ 1.78937758e-02 9.99839865e-01 -2.37362131e-04 4.99168700e+00] [ 1.62633115e-02 -5.36899102e-05 9.99867742e-01 3.37731088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.27925415399994 meters 0.014418645764394894 Centerline is valid? [True, True] Translation: X:492.86, Y:4.99, Z:3.38 [[ 9.99689502e-01 -1.96469817e-02 -1.53263019e-02 4.92860835e+02] [ 1.96458174e-02 9.99806977e-01 -2.26541712e-04 4.98869283e+00] [ 1.53277944e-02 -7.46263563e-05 9.99882520e-01 3.37768602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3092541539999 meters 0.014656681409895593 Centerline is valid? [True, True] Translation: X:492.89, Y:4.99, Z:3.38 [[ 9.99648164e-01 -2.14820326e-02 -1.55586247e-02 4.92889167e+02] [ 2.14810093e-02 9.99769229e-01 -2.32909878e-04 4.98547156e+00] [ 1.55600376e-02 -1.01387030e-04 9.99878930e-01 3.37838210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.33925415399995 meters 0.015031511539637894 Centerline is valid? [True, True] Translation: X:492.92, Y:4.98, Z:3.38 [[ 9.99572359e-01 -2.53427368e-02 -1.45891798e-02 4.92917558e+02] [ 2.53422157e-02 9.99678810e-01 -2.20623027e-04 4.97834268e+00] [ 1.45900851e-02 -1.49193462e-04 9.99893548e-01 3.37915859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3692541539999 meters 0.016084629343893576 Centerline is valid? [True, True] Translation: X:492.95, Y:4.98, Z:3.38 [[ 9.99535260e-01 -2.69147755e-02 -1.43128769e-02 4.92947377e+02] [ 2.69144231e-02 9.99637718e-01 -2.17279741e-04 4.97505906e+00] [ 1.43135396e-02 -1.68044061e-04 9.99897542e-01 3.37875581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.39925415399995 meters 0.018114318509199655 Centerline is valid? [True, True] Translation: X:492.98, Y:4.97, Z:3.38 [[ 9.99448375e-01 -2.94604436e-02 -1.53306384e-02 4.92977411e+02] [ 2.94603324e-02 9.99565923e-01 -2.33137709e-04 4.97058727e+00] [ 1.53308521e-02 -2.18636599e-04 9.99882452e-01 3.37882526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4292541539999 meters 0.01680077369849124 Centerline is valid? [True, True] Translation: X:493.01, Y:4.97, Z:3.38 [[ 9.99401976e-01 -3.17672936e-02 -1.36575997e-02 4.93006572e+02] [ 3.17674189e-02 9.99495267e-01 -2.07825512e-04 4.96562099e+00] [ 1.36573083e-02 -2.26165463e-04 9.99906709e-01 3.37942585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.45925415399995 meters 0.016448340752854482 Centerline is valid? [True, True] Translation: X:493.04, Y:4.97, Z:3.38 [[ 9.99362879e-01 -3.28047805e-02 -1.40599845e-02 4.93037436e+02] [ 3.28050175e-02 9.99461748e-01 -2.13836074e-04 4.96603767e+00] [ 1.40594315e-02 -2.47538203e-04 9.99901131e-01 3.38015858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4892541539999 meters 0.01660723130535952 Centerline is valid? [True, True] Translation: X:493.07, Y:4.96, Z:3.38 [[ 9.99309805e-01 -3.43357974e-02 -1.41762648e-02 4.93067350e+02] [ 3.43361942e-02 9.99410316e-01 -2.15476205e-04 4.96225930e+00] [ 1.41753039e-02 -2.71431497e-04 9.99899488e-01 3.38028845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.51925415399995 meters 0.017104494083545856 Centerline is valid? [True, True] Translation: X:493.10, Y:4.96, Z:3.38 [[ 9.99224097e-01 -3.65878711e-02 -1.45784674e-02 4.93098107e+02] [ 3.65885302e-02 9.99330391e-01 -2.21589599e-04 4.95701615e+00] [ 1.45768131e-02 -3.11987029e-04 9.99893704e-01 3.38020215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5492541539999 meters 0.016600727394564866 Centerline is valid? [True, True] Translation: X:493.13, Y:4.96, Z:3.38 [[ 9.99192045e-01 -3.74252359e-02 -1.46495178e-02 4.93129224e+02] [ 3.74259956e-02 9.99299377e-01 -2.22383601e-04 4.95667785e+00] [ 1.46475767e-02 -3.26068863e-04 9.99892665e-01 3.38072566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.57925415399995 meters 0.017154904438723906 Centerline is valid? [True, True] Translation: X:493.16, Y:4.95, Z:3.38 [[ 9.99161876e-01 -3.81671325e-02 -1.47924240e-02 4.93159601e+02] [ 3.81679943e-02 9.99271311e-01 -2.24149227e-04 4.95444448e+00] [ 1.47902000e-02 -3.40635792e-04 9.99890561e-01 3.38066920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6092541539999 meters 0.017167747097459565 Centerline is valid? [True, True] Translation: X:493.19, Y:4.95, Z:3.38 [[ 9.99146945e-01 -3.84514640e-02 -1.50621115e-02 4.93191135e+02] [ 3.84523963e-02 9.99260407e-01 -2.27809431e-04 4.95328533e+00] [ 1.50597313e-02 -3.51559185e-04 9.99886534e-01 3.38117217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.63925415399996 meters 0.017479107247382972 Centerline is valid? [True, True] Translation: X:493.22, Y:4.95, Z:3.38 [[ 9.99121100e-01 -3.89091307e-02 -1.55919039e-02 4.93221126e+02] [ 3.89101920e-02 9.99242684e-01 -2.35404203e-04 4.95022300e+00] [ 1.55892552e-02 -3.71486666e-04 9.99878411e-01 3.38135754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.66925415399993 meters 0.017479107247382972 Centerline is valid? [True, True] Translation: X:493.25, Y:4.95, Z:3.38 [[ 9.99121100e-01 -3.89091298e-02 -1.55919057e-02 4.93251132e+02] [ 3.89101930e-02 9.99242684e-01 -2.35278983e-04 4.95067572e+00] [ 1.55892522e-02 -3.71611866e-04 9.99878411e-01 3.38156546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.69925415399996 meters 0.01749306722444667 Centerline is valid? [True, True] Translation: X:493.28, Y:4.95, Z:3.38 [[ 9.99134044e-01 -3.86564876e-02 -1.53895270e-02 4.93282104e+02] [ 3.86574934e-02 9.99252493e-01 -2.32225125e-04 4.94942757e+00] [ 1.53870002e-02 -3.62896509e-04 9.99881547e-01 3.38148820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.72925415399993 meters 0.017320696787488474 Centerline is valid? [True, True] Translation: X:493.31, Y:4.95, Z:3.38 [[ 9.99136019e-01 -3.83679526e-02 -1.59723577e-02 4.93312539e+02] [ 3.83689993e-02 9.99263610e-01 -2.41019933e-04 4.94858246e+00] [ 1.59698432e-02 -3.72031685e-04 9.99872405e-01 3.38153675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.75925415399996 meters 0.01758434792577165 Centerline is valid? [True, True] Translation: X:493.34, Y:4.95, Z:3.38 [[ 9.99204944e-01 -3.64256682e-02 -1.62064702e-02 4.93341936e+02] [ 3.64264877e-02 9.99336305e-01 -2.44719045e-04 4.94575549e+00] [ 1.62046281e-02 -3.45820308e-04 9.99868637e-01 3.38129274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.78925415399993 meters 0.017628440190789872 Centerline is valid? [True, True] Translation: X:493.37, Y:4.95, Z:3.38 [[ 9.99245859e-01 -3.52295786e-02 -1.63275646e-02 4.93371844e+02] [ 3.52302496e-02 9.99379192e-01 -2.46620223e-04 4.94533438e+00] [ 1.63261166e-02 -3.28789940e-04 9.99866666e-01 3.38147615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8192541539999 meters 0.01731223534202854 Centerline is valid? [True, True] Translation: X:493.40, Y:4.95, Z:3.38 [[ 9.99281989e-01 -3.42256936e-02 -1.62514036e-02 4.93401231e+02] [ 3.42262211e-02 9.99414081e-01 -2.45748277e-04 4.94596992e+00] [ 1.62502925e-02 -3.10652305e-04 9.99867907e-01 3.38236767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.84925415399994 meters 0.01592961666139161 Centerline is valid? [True, True] Translation: X:493.43, Y:4.95, Z:3.38 [[ 9.99334928e-01 -3.25440450e-02 -1.64495423e-02 4.93430733e+02] [ 3.25443481e-02 9.99470261e-01 -2.49330565e-04 4.94807004e+00] [ 1.64489426e-02 -2.86174888e-04 9.99864666e-01 3.38455048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8792541539999 meters 0.01591410115019844 Centerline is valid? [True, True] Translation: X:493.46, Y:4.95, Z:3.38 [[ 9.99352705e-01 -3.21032161e-02 -1.62343488e-02 4.93459172e+02] [ 3.21034409e-02 9.99484521e-01 -2.46824031e-04 4.94695631e+00] [ 1.62339042e-02 -2.74514195e-04 9.99868184e-01 3.38451112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.90925415399994 meters 0.015995027910105163 Centerline is valid? [True, True] Translation: X:493.49, Y:4.95, Z:3.38 [[ 9.99340322e-01 -3.22628813e-02 -1.66741539e-02 4.93488038e+02] [ 3.22630933e-02 9.99479378e-01 -2.56354369e-04 4.94612047e+00] [ 1.66737437e-02 -2.81774526e-04 9.99860944e-01 3.38471094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9392541539999 meters 0.017947512970281833 Centerline is valid? [True, True] Translation: X:493.52, Y:4.94, Z:3.38 [[ 9.99290892e-01 -3.26551961e-02 -1.87443447e-02 4.93516962e+02] [ 3.26554401e-02 9.99466626e-01 -2.93143356e-04 4.94402219e+00] [ 1.87439196e-02 -3.19169340e-04 9.99824266e-01 3.38440968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.96925415399994 meters 0.016199870028429517 Centerline is valid? [True, True] Translation: X:493.54, Y:4.94, Z:3.39 [[ 9.99282942e-01 -3.36609741e-02 -1.73360835e-02 4.93544452e+02] [ 3.36612537e-02 9.99433261e-01 -2.75756692e-04 4.94338236e+00] [ 1.73355407e-02 -3.07995346e-04 9.99849681e-01 3.38525774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9992541539999 meters 0.015985817583717324 Centerline is valid? [True, True] Translation: X:493.57, Y:4.94, Z:3.39 [[ 9.99248383e-01 -3.45423155e-02 -1.75925442e-02 4.93573426e+02] [ 3.45426555e-02 9.99403184e-01 -2.84637204e-04 4.94343077e+00] [ 1.75918767e-02 -3.23269928e-04 9.99845199e-01 3.38603792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.02925415399994 meters 0.016439974931394954 Centerline is valid? [True, True] Translation: X:493.60, Y:4.94, Z:3.39 [[ 9.99167445e-01 -3.67985022e-02 -1.76149400e-02 4.93602150e+02] [ 3.67991130e-02 9.99322641e-01 -2.89563926e-04 4.94093513e+00] [ 1.76136639e-02 -3.58891319e-04 9.99844803e-01 3.38594548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0592541539999 meters 0.018209929444486014 Centerline is valid? [True, True] Translation: X:493.63, Y:4.94, Z:3.39 [[ 9.99092217e-01 -3.80954719e-02 -1.90650881e-02 4.93631024e+02] [ 3.80963264e-02 9.99274021e-01 -3.18494646e-04 4.93961293e+00] [ 1.90633805e-02 -4.08104299e-04 9.99818194e-01 3.38559970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.08925415399995 meters 0.01844973632348646 Centerline is valid? [True, True] Translation: X:493.66, Y:4.94, Z:3.39 [[ 9.99021606e-01 -3.96578487e-02 -1.95725836e-02 4.93659645e+02] [ 3.96589489e-02 9.99213219e-01 -3.32089048e-04 4.93820530e+00] [ 1.95703543e-02 -4.44463961e-04 9.99808383e-01 3.38560941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1192541539999 meters 0.019179768147687203 Centerline is valid? [True, True] Translation: X:493.69, Y:4.93, Z:3.39 [[ 9.98871377e-01 -4.31527035e-02 -1.98447976e-02 4.93688230e+02] [ 4.31544736e-02 9.99068354e-01 -3.39232857e-04 4.93424342e+00] [ 1.98409481e-02 -5.17541802e-04 9.99803015e-01 3.38502157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.14925415399995 meters 0.018206526985951897 Centerline is valid? [True, True] Translation: X:493.72, Y:4.93, Z:3.39 [[ 9.98763579e-01 -4.58787617e-02 -1.91429434e-02 4.93716698e+02] [ 4.58808416e-02 9.98946865e-01 -3.30755568e-04 4.93377812e+00] [ 1.91379580e-02 -5.47947738e-04 9.99816702e-01 3.38585178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1792541539999 meters 0.01937811367027265 Centerline is valid? [True, True] Translation: X:493.75, Y:4.93, Z:3.39 [[ 9.98647256e-01 -4.82503516e-02 -1.93794017e-02 4.93745348e+02] [ 4.82528810e-02 9.98835094e-01 -3.37333875e-04 4.93124416e+00] [ 1.93731030e-02 -5.98234417e-04 9.99812145e-01 3.38564535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.20925415399995 meters 0.02080128411245563 Centerline is valid? [True, True] Translation: X:493.78, Y:4.93, Z:3.39 [[ 9.98351255e-01 -5.38627268e-02 -1.98387852e-02 4.93775886e+02] [ 5.38664763e-02 9.98548088e-01 -3.45718797e-04 4.92843718e+00] [ 1.98286023e-02 -7.23496656e-04 9.99803132e-01 3.38656494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2392541539999 meters 0.02196520738358462 Centerline is valid? [True, True] Translation: X:493.81, Y:4.93, Z:3.39 [[ 9.98169244e-01 -5.69803142e-02 -2.02831220e-02 4.93805746e+02] [ 5.69848712e-02 9.98374979e-01 -3.53705403e-04 4.92659682e+00] [ 2.02703157e-02 -8.02773239e-04 9.99794214e-01 3.38676334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.26925415399995 meters 0.025106891186795866 Centerline is valid? [True, True] Translation: X:493.84, Y:4.92, Z:3.39 [[ 9.97749539e-01 -6.35465318e-02 -2.13938403e-02 4.93835350e+02] [ 6.35530988e-02 9.97978389e-01 -3.73488490e-04 4.92098976e+00] [ 2.13743241e-02 -9.86996875e-04 9.99771056e-01 3.38639192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2992541539999 meters 0.025420172278146393 Centerline is valid? [True, True] Translation: X:493.87, Y:4.92, Z:3.39 [[ 9.97516806e-01 -6.70682704e-02 -2.14958026e-02 4.93865866e+02] [ 6.70757128e-02 9.97747818e-01 -3.75403610e-04 4.92073755e+00] [ 2.14725678e-02 -1.06737487e-03 9.99768868e-01 3.38703432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.32925415399995 meters 0.02895680111794731 Centerline is valid? [True, True] Translation: X:493.90, Y:4.92, Z:3.39 [[ 9.97248841e-01 -7.07197906e-02 -2.22139776e-02 4.93895392e+02] [ 7.07286360e-02 9.97495518e-01 -3.88223800e-04 4.91634443e+00] [ 2.21857982e-02 -1.18400860e-03 9.99753164e-01 3.38672133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3592541539999 meters 0.027128599814877793 Centerline is valid? [True, True] Translation: X:493.93, Y:4.92, Z:3.39 [[ 9.96996801e-01 -7.41420554e-02 -2.23681441e-02 4.93926039e+02] [ 7.41518796e-02 9.97246883e-01 -3.91044935e-04 4.91976231e+00] [ 2.23355548e-02 -1.26876938e-03 9.99749725e-01 3.38815581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.38925415399996 meters 0.028850845483622174 Centerline is valid? [True, True] Translation: X:493.96, Y:4.92, Z:3.39 [[ 9.96501325e-01 -8.03172045e-02 -2.31139584e-02 4.93956896e+02] [ 8.03293456e-02 9.96768294e-01 -4.04236223e-04 4.91878740e+00] [ 2.30717280e-02 -1.45390722e-03 9.99732755e-01 3.38918374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.41925415399993 meters 0.03041354874337352 Centerline is valid? [True, True] Translation: X:493.99, Y:4.92, Z:3.39 [[ 9.96289526e-01 -8.28386391e-02 -2.33439472e-02 4.93987449e+02] [ 8.28517108e-02 9.96561803e-01 -4.08324502e-04 4.91766456e+00] [ 2.32975111e-02 -1.52727653e-03 9.99727410e-01 3.38909946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.44925415399996 meters 0.036813315234175484 Centerline is valid? [True, True] Translation: X:494.02, Y:4.91, Z:3.39 [[ 9.95931591e-01 -8.69199574e-02 -2.37736688e-02 4.94017256e+02] [ 8.69346631e-02 9.96213928e-01 -4.16210704e-04 4.91173427e+00] [ 2.37198370e-02 -1.65223850e-03 9.99717280e-01 3.38790742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.47925415399993 meters 0.0341537846500944 Centerline is valid? [True, True] Translation: X:494.05, Y:4.92, Z:3.39 [[ 9.95827454e-01 -8.81280555e-02 -2.36881335e-02 4.94047971e+02] [ 8.81429920e-02 9.96107746e-01 -4.14864677e-04 4.91720408e+00] [ 2.36324945e-02 -1.67480933e-03 9.99719311e-01 3.38946362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.50925415399996 meters 0.035439438161096425 Centerline is valid? [True, True] Translation: X:494.08, Y:4.92, Z:3.39 [[ 9.95750373e-01 -8.90107926e-02 -2.36278247e-02 4.94077634e+02] [ 8.90258931e-02 9.96029226e-01 -4.14111564e-04 4.91759768e+00] [ 2.35708644e-02 -1.69113646e-03 9.99720738e-01 3.38994511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.53925415399993 meters 0.03659729083895284 Centerline is valid? [True, True] Translation: X:494.11, Y:4.92, Z:3.39 [[ 9.95742745e-01 -8.91379606e-02 -2.34693526e-02 4.94108246e+02] [ 8.91528983e-02 9.96017867e-01 -4.11161577e-04 4.92034937e+00] [ 2.34125447e-02 -1.68294965e-03 9.99724472e-01 3.39057985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.5692541539999 meters 0.036808819661651684 Centerline is valid? [True, True] Translation: X:494.14, Y:4.92, Z:3.39 [[ 9.95784618e-01 -8.87055715e-02 -2.33305639e-02 4.94138331e+02] [ 8.87202178e-02 9.96056502e-01 -4.08606310e-04 4.92268923e+00] [ 2.32748056e-02 -1.66300884e-03 9.99727722e-01 3.39062942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.59925415399994 meters 0.03700231580812436 Centerline is valid? [True, True] Translation: X:494.17, Y:4.93, Z:3.39 [[ 9.95908481e-01 -8.70912252e-02 -2.41125541e-02 4.94167490e+02] [ 8.71064104e-02 9.96198924e-01 -4.21849704e-04 4.92746552e+00] [ 2.40576398e-02 -1.68023433e-03 9.99709161e-01 3.39022581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.6292541539999 meters 0.03700752814636564 Centerline is valid? [True, True] Translation: X:494.20, Y:4.93, Z:3.39 [[ 9.96028771e-01 -8.56773929e-02 -2.42088985e-02 4.94198097e+02] [ 8.56922886e-02 9.96321561e-01 -4.23352242e-04 4.93034073e+00] [ 2.41561193e-02 -1.65284490e-03 9.99706832e-01 3.39011181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.65925415399994 meters 0.030936139452761507 Centerline is valid? [True, True] Translation: X:494.23, Y:4.94, Z:3.39 [[ 9.96144237e-01 -8.43480483e-02 -2.41260263e-02 4.94228379e+02] [ 8.43624540e-02 9.96435045e-01 -4.21903017e-04 4.94164008e+00] [ 2.40756048e-02 -1.61505453e-03 9.99708836e-01 3.39215429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.6892541539999 meters 0.03214774616840889 Centerline is valid? [True, True] Translation: X:494.26, Y:4.94, Z:3.39 [[ 9.96298610e-01 -8.25520432e-02 -2.39633209e-02 4.94258272e+02] [ 8.25657379e-02 9.96585532e-01 -4.19057712e-04 4.94309592e+00] [ 2.39160930e-02 -1.56104266e-03 9.99712751e-01 3.39172194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.71925415399994 meters 0.02835519986684197 Centerline is valid? [True, True] Translation: X:494.29, Y:4.95, Z:3.39 [[ 9.96624319e-01 -7.83502184e-02 -2.45196011e-02 4.94289310e+02] [ 7.83632964e-02 9.96924777e-01 -4.28517746e-04 4.95457946e+00] [ 2.44777723e-02 -1.49436556e-03 9.99699258e-01 3.39277634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.7492541539999 meters 0.034121441885221364 Centerline is valid? [True, True] Translation: X:494.32, Y:4.95, Z:3.39 [[ 9.96834769e-01 -7.56828435e-02 -2.43423440e-02 4.94318980e+02] [ 7.56949352e-02 9.97130932e-01 -4.25636781e-04 4.95025659e+00] [ 2.43047175e-02 -1.41830261e-03 9.99703591e-01 3.39017803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.77925415399994 meters 0.027124968250023807 Centerline is valid? [True, True] Translation: X:494.35, Y:4.97, Z:3.39 [[ 9.97257019e-01 -7.00227942e-02 -2.39843063e-02 4.94348964e+02] [ 7.00328974e-02 9.97544594e-01 -4.19496927e-04 4.96593038e+00] [ 2.39547894e-02 -1.26134421e-03 9.99712247e-01 3.39268050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8092541539999 meters 0.027124968250023807 Centerline is valid? [True, True] Translation: X:494.38, Y:4.97, Z:3.39 [[ 9.97259545e-01 -6.99867969e-02 -2.39843171e-02 4.94379849e+02] [ 6.99969045e-02 9.97547121e-01 -4.18879170e-04 4.96643934e+00] [ 2.39548025e-02 -1.26109670e-03 9.99712247e-01 3.39289455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.83925415399995 meters 0.023860840039012496 Centerline is valid? [True, True] Translation: X:494.41, Y:4.98, Z:3.39 [[ 9.97704928e-01 -6.32798929e-02 -2.40942177e-02 4.94410683e+02] [ 6.32881549e-02 9.97995207e-01 -4.20254721e-04 4.97657156e+00] [ 2.40725074e-02 -1.10558838e-03 9.99709604e-01 3.39376987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8692541539999 meters 0.023808301191654047 Centerline is valid? [True, True] Translation: X:494.44, Y:4.98, Z:3.39 [[ 9.97933582e-01 -5.97362107e-02 -2.36675254e-02 4.94440364e+02] [ 5.97431906e-02 9.98213695e-01 -4.12696305e-04 4.98076644e+00] [ 2.36499009e-02 -1.00212998e-03 9.99719800e-01 3.39394767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.89925415399995 meters 0.0212160380704985 Centerline is valid? [True, True] Translation: X:494.47, Y:4.99, Z:3.39 [[ 9.98357731e-01 -5.26818238e-02 -2.25047900e-02 4.94470152e+02] [ 5.26863382e-02 9.98611033e-01 -3.92686481e-04 4.98949493e+00] [ 2.24942190e-02 -7.93653393e-04 9.99746658e-01 3.39449053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9292541539999 meters 0.019446496401156647 Centerline is valid? [True, True] Translation: X:494.50, Y:5.00, Z:3.40 [[ 9.98550288e-01 -4.91032620e-02 -2.20497806e-02 4.94500261e+02] [ 4.91067156e-02 9.98793463e-01 -3.85132786e-04 4.99529841e+00] [ 2.20420880e-02 -6.98217849e-04 9.99756800e-01 3.39530982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.95925415399995 meters 0.018883831207739052 Centerline is valid? [True, True] Translation: X:494.53, Y:5.00, Z:3.40 [[ 9.98732447e-01 -4.55459158e-02 -2.14258784e-02 4.94529552e+02] [ 4.55483506e-02 9.98962065e-01 -3.74612676e-04 4.99855654e+00] [ 2.14207018e-02 -6.01775585e-04 9.99770369e-01 3.39537025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9892541539999 meters 0.01563123876974013 Centerline is valid? [True, True] Translation: X:494.56, Y:5.01, Z:3.40 [[ 9.99081263e-01 -3.82978409e-02 -1.92329388e-02 4.94559684e+02] [ 3.82984580e-02 9.99266288e-01 -3.36381275e-04 5.00864134e+00] [ 1.92317101e-02 -4.00519671e-04 9.99814973e-01 3.39754438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.01925415399995 meters 0.015252384448893633 Centerline is valid? [True, True] Translation: X:494.59, Y:5.01, Z:3.40 [[ 9.99204959e-01 -3.50025064e-02 -1.90859899e-02 4.94589055e+02] [ 3.50025088e-02 9.99387169e-01 -3.34032750e-04 5.01154116e+00] [ 1.90859854e-02 -3.34290349e-04 9.99817790e-01 3.39725161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0492541539999 meters 0.015871536581549203 Centerline is valid? [True, True] Translation: X:494.62, Y:5.01, Z:3.40 [[ 9.99319874e-01 -3.19775596e-02 -1.83636638e-02 4.94619188e+02] [ 3.19770452e-02 9.99488552e-01 -3.21720842e-04 5.01496831e+00] [ 1.83645596e-02 -2.65713675e-04 9.99831322e-01 3.39733376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.07925415399995 meters 0.014489669978485746 Centerline is valid? [True, True] Translation: X:494.65, Y:5.02, Z:3.40 [[ 9.99450043e-01 -2.78200758e-02 -1.80459010e-02 4.94648341e+02] [ 2.78188955e-02 9.99612930e-01 -3.16478738e-04 5.01898432e+00] [ 1.80477205e-02 -1.85712347e-04 9.99837109e-01 3.39583262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1092541539999 meters 0.014004351122583475 Centerline is valid? [True, True] Translation: X:494.68, Y:5.02, Z:3.40 [[ 9.99473957e-01 -2.70649929e-02 -1.78688340e-02 4.94676816e+02] [ 2.70636640e-02 9.99633662e-01 -3.16231470e-04 5.02219510e+00] [ 1.78708468e-02 -1.67531001e-04 9.99840290e-01 3.39681015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.13925415399996 meters 0.01376312295389832 Centerline is valid? [True, True] Translation: X:494.71, Y:5.02, Z:3.40 [[ 9.99474434e-01 -2.71541437e-02 -1.77061516e-02 4.94705482e+02] [ 2.71527734e-02 9.99631245e-01 -3.17832995e-04 5.02384729e+00] [ 1.77082528e-02 -1.63105168e-04 9.99843183e-01 3.39723013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.16925415399993 meters 0.013937046494080492 Centerline is valid? [True, True] Translation: X:494.73, Y:5.02, Z:3.40 [[ 9.99426943e-01 -2.92364297e-02 -1.70591930e-02 4.94733815e+02] [ 2.92353875e-02 9.99572506e-01 -3.10524650e-04 5.02345805e+00] [ 1.70609789e-02 -1.88385416e-04 9.99854433e-01 3.39695969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.19925415399996 meters 0.015409913307344519 Centerline is valid? [True, True] Translation: X:494.76, Y:5.02, Z:3.40 [[ 9.99388945e-01 -3.10283376e-02 -1.60928350e-02 4.94763591e+02] [ 3.10276102e-02 9.99518484e-01 -2.94938976e-04 5.02263726e+00] [ 1.60942376e-02 -2.04563461e-04 9.99870458e-01 3.39669821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.22925415399993 meters 0.01498852689229054 Centerline is valid? [True, True] Translation: X:494.79, Y:5.02, Z:3.40 [[ 9.99255518e-01 -3.56850914e-02 -1.46623167e-02 4.94794402e+02] [ 3.56849852e-02 9.99363052e-01 -2.68950286e-04 5.02138520e+00] [ 1.46625751e-02 -2.54474497e-04 9.99892466e-01 3.39725120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.25925415399996 meters 0.01528884872941826 Centerline is valid? [True, True] Translation: X:494.83, Y:5.02, Z:3.40 [[ 9.99192501e-01 -3.77387804e-02 -1.37887435e-02 4.94825221e+02] [ 3.77388837e-02 9.99287603e-01 -2.52799223e-04 5.02071981e+00] [ 1.37884608e-02 -2.67776699e-04 9.99904899e-01 3.39758283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.28925415399993 meters 0.01611966302002767 Centerline is valid? [True, True] Translation: X:494.86, Y:5.02, Z:3.40 [[ 9.99101387e-01 -4.02728184e-02 -1.32105618e-02 4.94856571e+02] [ 4.02731450e-02 9.99188679e-01 -2.41406678e-04 5.01947572e+00] [ 1.32095659e-02 -2.90841123e-04 9.99912708e-01 3.39776886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3192541539999 meters 0.01674337244618068 Centerline is valid? [True, True] Translation: X:494.89, Y:5.02, Z:3.40 [[ 9.99019277e-01 -4.23977553e-02 -1.27638250e-02 4.94888346e+02] [ 4.23982467e-02 9.99100763e-01 -2.32210248e-04 5.01839134e+00] [ 1.27621925e-02 -3.09181286e-04 9.99918512e-01 3.39782039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.34925415399994 meters 0.01798421553500619 Centerline is valid? [True, True] Translation: X:494.92, Y:5.02, Z:3.40 [[ 9.98844164e-01 -4.66054353e-02 -1.17587716e-02 4.94920804e+02] [ 4.66061519e-02 9.98913320e-01 -2.13222692e-04 5.01644969e+00] [ 1.17559309e-02 -3.35054853e-04 9.99930841e-01 3.39756355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3792541539999 meters 0.019583602284328552 Centerline is valid? [True, True] Translation: X:494.95, Y:5.01, Z:3.40 [[ 9.98752711e-01 -4.85751981e-02 -1.15530470e-02 4.94951882e+02] [ 4.85760302e-02 9.98819466e-01 -2.08742517e-04 5.01376647e+00] [ 1.15495479e-02 -3.52719005e-04 9.99933240e-01 3.39709177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.40925415399994 meters 0.020620298914254983 Centerline is valid? [True, True] Translation: X:494.98, Y:5.01, Z:3.40 [[ 9.98683126e-01 -5.01219061e-02 -1.09457290e-02 4.94984211e+02] [ 5.01227527e-02 9.98743045e-01 -1.97129782e-04 5.01272805e+00] [ 1.09418512e-02 -3.51759881e-04 9.99940074e-01 3.39705271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4392541539999 meters 0.019804929519309476 Centerline is valid? [True, True] Translation: X:495.02, Y:5.02, Z:3.40 [[ 9.98566704e-01 -5.27130911e-02 -9.26652779e-03 4.95016051e+02] [ 5.27138147e-02 9.98609646e-01 -1.66304659e-04 5.01513051e+00] [ 9.26241047e-03 -3.22407733e-04 9.99957051e-01 3.39772782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.46925415399994 meters 0.021423753310017037 Centerline is valid? [True, True] Translation: X:495.05, Y:5.01, Z:3.40 [[ 9.98534211e-01 -5.34997570e-02 -8.19790703e-03 4.95047124e+02] [ 5.35003541e-02 9.98567820e-01 -1.46605871e-04 5.01420540e+00] [ 8.19400953e-03 -2.92199952e-04 9.99966386e-01 3.39752537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4992541539999 meters 0.02102957330872493 Centerline is valid? [True, True] Translation: X:495.08, Y:5.01, Z:3.40 [[ 9.98472560e-01 -5.46098792e-02 -8.38494364e-03 4.95079281e+02] [ 5.46105471e-02 9.98507719e-01 -1.49456316e-04 5.01475476e+00] [ 8.38059274e-03 -3.08678329e-04 9.99964835e-01 3.39760615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.52925415399994 meters 0.02085574891541674 Centerline is valid? [True, True] Translation: X:495.11, Y:5.02, Z:3.40 [[ 9.98372921e-01 -5.64912671e-02 -7.76186980e-03 4.95111805e+02] [ 5.64919003e-02 9.98403048e-01 -1.37821333e-04 5.01628158e+00] [ 7.75726017e-03 -3.00885689e-04 9.99969867e-01 3.39772069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5592541539999 meters 0.02085574891541674 Centerline is valid? [True, True] Translation: X:495.14, Y:5.02, Z:3.40 [[ 9.98379219e-01 -5.63798648e-02 -7.76188053e-03 4.95144360e+02] [ 5.63804993e-02 9.98409345e-01 -1.37214490e-04 5.01676873e+00] [ 7.75727020e-03 -3.00626605e-04 9.99969867e-01 3.39794617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.58925415399995 meters 0.02252163639510808 Centerline is valid? [True, True] Translation: X:495.18, Y:5.02, Z:3.40 [[ 9.98327173e-01 -5.72674316e-02 -7.95592005e-03 4.95175718e+02] [ 5.72681331e-02 9.98358824e-01 -1.39795297e-04 5.01519718e+00] [ 7.95086871e-03 -3.16059245e-04 9.99968341e-01 3.39758956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6192541539999 meters 0.02309295967059687 Centerline is valid? [True, True] Translation: X:495.21, Y:5.02, Z:3.40 [[ 9.98277483e-01 -5.81545111e-02 -7.75366771e-03 4.95207632e+02] [ 5.81552074e-02 9.98307544e-01 -1.35809093e-04 5.01522193e+00] [ 7.74844288e-03 -3.15340994e-04 9.99969931e-01 3.39721568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.64925415399995 meters 0.02431441053863095 Centerline is valid? [True, True] Translation: X:495.24, Y:5.01, Z:3.40 [[ 9.98164934e-01 -6.00212692e-02 -8.01326269e-03 4.95238613e+02] [ 6.00220777e-02 9.98197040e-01 -1.39783375e-04 5.01444074e+00] [ 8.00720508e-03 -3.41445812e-04 9.99967884e-01 3.39630057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6792541539999 meters 0.0225200178349116 Centerline is valid? [True, True] Translation: X:495.27, Y:5.02, Z:3.40 [[ 9.98130912e-01 -6.06037996e-02 -7.86519195e-03 4.95271176e+02] [ 6.06045999e-02 9.98161842e-01 -1.36766657e-04 5.01836173e+00] [ 7.85902307e-03 -3.40155784e-04 9.99969060e-01 3.39633193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.70925415399995 meters 0.025606545154733585 Centerline is valid? [True, True] Translation: X:495.30, Y:5.02, Z:3.40 [[ 9.98133606e-01 -6.05529199e-02 -7.91501599e-03 4.95303018e+02] [ 6.05537343e-02 9.98164930e-01 -1.36936469e-04 5.01648464e+00] [ 7.90878328e-03 -3.42602883e-04 9.99968666e-01 3.39598618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7392541539999 meters 0.0245826812974581 Centerline is valid? [True, True] Translation: X:495.34, Y:5.02, Z:3.40 [[ 9.98177379e-01 -5.98659077e-02 -7.61535055e-03 4.95335667e+02] [ 5.98666514e-02 9.98206375e-01 -1.30468309e-04 5.01971501e+00] [ 7.60950207e-03 -3.25675022e-04 9.99970994e-01 3.39621527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.76925415399995 meters 0.024316071279352612 Centerline is valid? [True, True] Translation: X:495.37, Y:5.02, Z:3.40 [[ 9.98242612e-01 -5.87615215e-02 -7.66619759e-03 4.95368047e+02] [ 5.87622477e-02 9.98271998e-01 -1.30670289e-04 5.02187012e+00] [ 7.66062877e-03 -3.20042351e-04 9.99970606e-01 3.39633598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7992541539999 meters 0.02401092216706323 Centerline is valid? [True, True] Translation: X:495.40, Y:5.02, Z:3.40 [[ 9.98331478e-01 -5.72537260e-02 -7.50140848e-03 4.95400700e+02] [ 5.72543830e-02 9.98359614e-01 -1.27317317e-04 5.02419380e+00] [ 7.49639266e-03 -3.02383628e-04 9.99971856e-01 3.39643841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.82925415399995 meters 0.023802768257343763 Centerline is valid? [True, True] Translation: X:495.43, Y:5.03, Z:3.40 [[ 9.98452384e-01 -5.51610728e-02 -7.07759725e-03 4.95430893e+02] [ 5.51616104e-02 9.98477432e-01 -1.19376018e-04 5.02760017e+00] [ 7.07340604e-03 -2.71220392e-04 9.99974946e-01 3.39679084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8592541539999 meters 0.02246732215444613 Centerline is valid? [True, True] Translation: X:495.46, Y:5.03, Z:3.40 [[ 9.98497266e-01 -5.43261283e-02 -7.20282472e-03 4.95463473e+02] [ 5.43266645e-02 9.98523209e-01 -1.21341647e-04 5.03166206e+00] [ 7.19877967e-03 -2.70146139e-04 9.99974052e-01 3.39692103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.88925415399996 meters 0.0239793917487512 Centerline is valid? [True, True] Translation: X:495.50, Y:5.03, Z:3.40 [[ 9.98540982e-01 -5.34816719e-02 -7.45777028e-03 4.95495948e+02] [ 5.34822282e-02 9.98568794e-01 -1.24965463e-04 5.03335803e+00] [ 7.45378003e-03 -2.74075035e-04 9.99972183e-01 3.39639604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.91925415399993 meters 0.02266291026052936 Centerline is valid? [True, True] Translation: X:495.53, Y:5.03, Z:3.40 [[ 9.98543047e-01 -5.34208064e-02 -7.61576916e-03 4.95528563e+02] [ 5.34213891e-02 9.98572050e-01 -1.27042829e-04 5.03473442e+00] [ 7.61168095e-03 -2.79987234e-04 9.99970992e-01 3.39681860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.94925415399996 meters 0.022944898754071963 Centerline is valid? [True, True] Translation: X:495.56, Y:5.04, Z:3.40 [[ 9.98550550e-01 -5.31554679e-02 -8.44368790e-03 4.95560546e+02] [ 5.31561836e-02 9.98586201e-01 -1.39795648e-04 5.03722398e+00] [ 8.43918112e-03 -3.09241203e-04 9.99964342e-01 3.39624084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.97925415399993 meters 0.02352584343064231 Centerline is valid? [True, True] Translation: X:495.59, Y:5.04, Z:3.40 [[ 9.98535361e-01 -5.33678937e-02 -8.88818808e-03 4.95591937e+02] [ 5.33687068e-02 9.98574864e-01 -1.45848316e-04 5.03838725e+00] [ 8.88330483e-03 -3.28716403e-04 9.99960489e-01 3.39614418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.00925415399996 meters 0.022194246136764104 Centerline is valid? [True, True] Translation: X:495.62, Y:5.04, Z:3.40 [[ 9.98513857e-01 -5.37208725e-02 -9.17302370e-03 4.95624212e+02] [ 5.37217582e-02 9.98555932e-01 -1.49994598e-04 5.04208608e+00] [ 9.16783507e-03 -3.43019277e-04 9.99957916e-01 3.39644786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.03925415399993 meters 0.024839455753615926 Centerline is valid? [True, True] Translation: X:495.66, Y:5.04, Z:3.40 [[ 9.98495118e-01 -5.40639364e-02 -9.19729242e-03 4.95655168e+02] [ 5.40648485e-02 9.98537415e-01 -1.49612740e-04 5.04013021e+00] [ 9.19192925e-03 -3.47862631e-04 9.99957693e-01 3.39655171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.0692541539999 meters 0.020967359268805722 Centerline is valid? [True, True] Translation: X:495.69, Y:5.05, Z:3.40 [[ 9.98496171e-01 -5.40779482e-02 -8.99841473e-03 4.95688025e+02] [ 5.40788316e-02 9.98536659e-01 -1.45293022e-04 5.04767364e+00] [ 8.99310413e-03 -3.41549229e-04 9.99959503e-01 3.39750072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.09925415399994 meters 0.02091517108733973 Centerline is valid? [True, True] Translation: X:495.72, Y:5.05, Z:3.40 [[ 9.98503255e-01 -5.40786090e-02 -8.17029757e-03 4.95720628e+02] [ 5.40793441e-02 9.98536633e-01 -1.31090166e-04 5.04958972e+00] [ 8.16543060e-03 -3.10950376e-04 9.99966614e-01 3.39823754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.1292541539999 meters 0.02051927279467496 Centerline is valid? [True, True] Translation: X:495.75, Y:5.05, Z:3.40 [[ 9.98529137e-01 -5.36498327e-02 -7.82671770e-03 4.95752559e+02] [ 5.36505003e-02 9.98559767e-01 -1.24778323e-04 5.05350242e+00] [ 7.82213974e-03 -2.95312530e-04 9.99969363e-01 3.39979867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.15925415399994 meters 0.0199959022706414 Centerline is valid? [True, True] Translation: X:495.78, Y:5.06, Z:3.40 [[ 9.98563890e-01 -5.31082684e-02 -7.04762956e-03 4.95784898e+02] [ 5.31087996e-02 9.98588726e-01 -1.11887864e-04 5.05629793e+00] [ 7.04362559e-03 -2.62563965e-04 9.99975159e-01 3.40031509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.1892541539999 meters 0.022203381517997504 Centerline is valid? [True, True] Translation: X:495.82, Y:5.06, Z:3.40 [[ 9.98630289e-01 -5.19628305e-02 -6.11642841e-03 4.95816018e+02] [ 5.19632116e-02 9.98648995e-01 -9.66998922e-05 5.05547733e+00] [ 6.11318989e-03 -2.21261823e-04 9.99981290e-01 3.40156417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.21925415399994 meters 0.0202987795241106 Centerline is valid? [True, True] Translation: X:495.85, Y:5.06, Z:3.40 [[ 9.98673712e-01 -5.12021995e-02 -5.39916534e-03 4.95848159e+02] [ 5.12024866e-02 9.98688289e-01 -8.51311965e-05 5.05994679e+00] [ 5.39644210e-03 -1.91432403e-04 9.99985421e-01 3.40232126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.2492541539999 meters 0.020406534545463147 Centerline is valid? [True, True] Translation: X:495.88, Y:5.06, Z:3.40 [[ 9.98730599e-01 -5.01145998e-02 -5.07133403e-03 4.95879168e+02] [ 5.01148410e-02 9.98743459e-01 -7.95876099e-05 5.06127183e+00] [ 5.06895019e-03 -1.74662517e-04 9.99987138e-01 3.40289396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.27925415399994 meters 0.019400969024942975 Centerline is valid? [True, True] Translation: X:495.91, Y:5.07, Z:3.40 [[ 9.98904114e-01 -4.65726676e-02 -4.64312271e-03 4.95909290e+02] [ 4.65728320e-02 9.98914894e-01 -7.27674023e-05 5.06522889e+00] [ 4.64147341e-03 -1.43555717e-04 9.99989218e-01 3.40348348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3092541539999 meters 0.018765328199032948 Centerline is valid? [True, True] Translation: X:495.94, Y:5.07, Z:3.40 [[ 9.99007373e-01 -4.42474560e-02 -5.14118274e-03 4.95941995e+02] [ 4.42476302e-02 9.99020591e-01 -7.99090188e-05 5.06798406e+00] [ 5.13968319e-03 -1.47655454e-04 9.99986781e-01 3.40345076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.33925415399995 meters 0.01729312464504557 Centerline is valid? [True, True] Translation: X:495.97, Y:5.07, Z:3.40 [[ 9.99111592e-01 -4.17744484e-02 -5.56081505e-03 4.95974085e+02] [ 4.17746171e-02 9.99127056e-01 -8.58635294e-05 5.07233459e+00] [ 5.55954767e-03 -1.46513672e-04 9.99984535e-01 3.40306623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3692541539999 meters 0.01752924072916009 Centerline is valid? [True, True] Translation: X:496.00, Y:5.07, Z:3.40 [[ 9.99217231e-01 -3.91112337e-02 -5.93599485e-03 4.96004878e+02] [ 3.91113818e-02 9.99234853e-01 -9.11671484e-05 5.07356966e+00] [ 5.93501860e-03 -1.41069176e-04 9.99982378e-01 3.40308513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.39925415399995 meters 0.015383334294250602 Centerline is valid? [True, True] Translation: X:496.04, Y:5.08, Z:3.40 [[ 9.99396341e-01 -3.40129612e-02 -7.07615535e-03 4.96035867e+02] [ 3.40130472e-02 9.99421383e-01 -1.08220108e-04 5.08107258e+00] [ 7.07574186e-03 -1.32526826e-04 9.99974958e-01 3.40251568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4292541539999 meters 0.014845651910641156 Centerline is valid? [True, True] Translation: X:496.07, Y:5.08, Z:3.40 [[ 9.99464598e-01 -3.18292830e-02 -7.57723448e-03 4.96068426e+02] [ 3.18293214e-02 9.99493312e-01 -1.15559170e-04 5.08365223e+00] [ 7.57707335e-03 -1.25680932e-04 9.99971286e-01 3.40260609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.45925415399995 meters 0.01482729453015289 Centerline is valid? [True, True] Translation: X:496.10, Y:5.08, Z:3.40 [[ 9.99524588e-01 -2.97757009e-02 -8.00037469e-03 4.96099792e+02] [ 2.97756828e-02 9.99556599e-01 -1.21405398e-04 5.08488924e+00] [ 8.00044225e-03 -1.16868939e-04 9.99967989e-01 3.40240833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4892541539999 meters 0.014557481263946626 Centerline is valid? [True, True] Translation: X:496.13, Y:5.09, Z:3.40 [[ 9.99573291e-01 -2.80626587e-02 -8.10700408e-03 4.96132250e+02] [ 2.80625876e-02 9.99606161e-01 -1.22545544e-04 5.08671643e+00] [ 8.10725018e-03 -1.05010259e-04 9.99967130e-01 3.40220259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.51925415399995 meters 0.014245879850796768 Centerline is valid? [True, True] Translation: X:496.16, Y:5.09, Z:3.40 [[ 9.99618180e-01 -2.62286990e-02 -8.69193527e-03 4.96164212e+02] [ 2.62285539e-02 9.99655964e-01 -1.30709099e-04 5.08855668e+00] [ 8.69237326e-03 -9.73177011e-05 9.99962216e-01 3.40160765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5492541539999 meters 0.014400216404633973 Centerline is valid? [True, True] Translation: X:496.20, Y:5.09, Z:3.40 [[ 9.99609530e-01 -2.63774703e-02 -9.22045825e-03 4.96196225e+02] [ 2.63773199e-02 9.99652048e-01 -1.37945227e-04 5.08905393e+00] [ 9.22088862e-03 -1.05319614e-04 9.99957481e-01 3.40166027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.57925415399995 meters 0.015938247575712865 Centerline is valid? [True, True] Translation: X:496.23, Y:5.09, Z:3.40 [[ 9.99606249e-01 -2.64446342e-02 -9.38237674e-03 4.96228172e+02] [ 2.64444879e-02 9.99650274e-01 -1.39670089e-04 5.08877601e+00] [ 9.38278900e-03 -1.08497055e-04 9.99955975e-01 3.40025577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6092541539999 meters 0.015068849546373225 Centerline is valid? [True, True] Translation: X:496.26, Y:5.09, Z:3.40 [[ 9.99504260e-01 -2.99909392e-02 -9.58005674e-03 4.96260715e+02] [ 2.99909563e-02 9.99550160e-01 -1.41904734e-04 5.08755023e+00] [ 9.58000310e-03 -1.45480677e-04 9.99954100e-01 3.40111561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.63925415399996 meters 0.01579987242636667 Centerline is valid? [True, True] Translation: X:496.29, Y:5.09, Z:3.40 [[ 9.99443472e-01 -3.18874575e-02 -9.79475113e-03 4.96292445e+02] [ 3.18875730e-02 9.99491452e-01 -1.44416342e-04 5.08631116e+00] [ 9.79437509e-03 -1.67994871e-04 9.99952020e-01 3.40096792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.66925415399993 meters 0.016566553856793755 Centerline is valid? [True, True] Translation: X:496.32, Y:5.08, Z:3.40 [[ 9.99253730e-01 -3.72903482e-02 -1.00703567e-02 4.96324328e+02] [ 3.72907501e-02 9.99304447e-01 -1.47922443e-04 5.08293894e+00] [ 1.00688683e-02 -2.27719101e-04 9.99949282e-01 3.40137350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.69925415399996 meters 0.017424543509134163 Centerline is valid? [True, True] Translation: X:496.36, Y:5.08, Z:3.40 [[ 9.99151361e-01 -3.99331612e-02 -1.00945370e-02 4.96356732e+02] [ 3.99337060e-02 9.99202321e-01 -1.47669744e-04 5.08112286e+00] [ 1.00923817e-02 -2.55567847e-04 9.99949038e-01 3.40164416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.72925415399993 meters 0.018513345993810586 Centerline is valid? [True, True] Translation: X:496.39, Y:5.08, Z:3.40 [[ 9.99023953e-01 -4.30085342e-02 -1.00700760e-02 4.96388428e+02] [ 4.30092392e-02 9.99074664e-01 -1.46641235e-04 5.07972765e+00] [ 1.00670646e-02 -2.86608202e-04 9.99949285e-01 3.40225581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.75925415399996 meters 0.02097030808697257 Centerline is valid? [True, True] Translation: X:496.42, Y:5.08, Z:3.40 [[ 9.98753418e-01 -4.90261267e-02 -9.38346639e-03 4.96418591e+02] [ 4.90270090e-02 9.98797444e-01 -1.36117571e-04 5.07506524e+00] [ 9.37885556e-03 -3.24095401e-04 9.99955965e-01 3.40266855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.78925415399993 meters 0.02222169487586283 Centerline is valid? [True, True] Translation: X:496.45, Y:5.07, Z:3.40 [[ 9.98626865e-01 -5.16285016e-02 -8.88154412e-03 4.96450476e+02] [ 5.16293999e-02 9.98666305e-01 -1.28265065e-04 5.07299389e+00] [ 8.87632098e-03 -3.30459853e-04 9.99960550e-01 3.40300150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8192541539999 meters 0.02328759346634377 Centerline is valid? [True, True] Translation: X:496.48, Y:5.07, Z:3.40 [[ 9.98510390e-01 -5.37891132e-02 -9.15056231e-03 4.96482986e+02] [ 5.37901622e-02 9.98552253e-01 -1.31611562e-04 5.07140587e+00] [ 9.14439388e-03 -3.60794719e-04 9.99958124e-01 3.40306137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.84925415399994 meters 0.02549897197805776 Centerline is valid? [True, True] Translation: X:496.51, Y:5.07, Z:3.40 [[ 9.98307405e-01 -5.74756757e-02 -8.88099428e-03 4.96513222e+02] [ 5.74768140e-02 9.98346833e-01 -1.27223740e-04 5.06798536e+00] [ 8.87362478e-03 -3.83442854e-04 9.99960555e-01 3.40284794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8792541539999 meters 0.02637658643819047 Centerline is valid? [True, True] Translation: X:496.55, Y:5.07, Z:3.40 [[ 9.98235439e-01 -5.87122000e-02 -8.88178358e-03 4.96545365e+02] [ 5.87133896e-02 9.98274873e-01 -1.26977558e-04 5.06687808e+00] [ 8.87391651e-03 -3.94726122e-04 9.99960548e-01 3.40308397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.90925415399994 meters 0.026960120033106025 Centerline is valid? [True, True] Translation: X:496.58, Y:5.07, Z:3.40 [[ 9.98172699e-01 -5.98026767e-02 -8.65462834e-03 4.96577931e+02] [ 5.98038522e-02 9.98210140e-01 -1.23140207e-04 5.06667484e+00] [ 8.64650189e-03 -3.94664921e-04 9.99962540e-01 3.40316920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9392541539999 meters 0.029004973556013426 Centerline is valid? [True, True] Translation: X:496.61, Y:5.07, Z:3.40 [[ 9.98117771e-01 -6.07098855e-02 -8.67319799e-03 4.96610529e+02] [ 6.07111054e-02 9.98155372e-01 -1.22800706e-04 5.06619797e+00] [ 8.66465438e-03 -4.03989870e-04 9.99962380e-01 3.40195783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.96925415399994 meters 0.026266771422709088 Centerline is valid? [True, True] Translation: X:496.64, Y:5.07, Z:3.40 [[ 9.98074161e-01 -6.14303431e-02 -8.61869741e-03 4.96643053e+02] [ 6.14315797e-02 9.98111290e-01 -1.21431957e-04 5.06923312e+00] [ 8.60987879e-03 -4.08262098e-04 9.99962851e-01 3.40399751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9992541539999 meters 0.029620605868212413 Centerline is valid? [True, True] Translation: X:496.68, Y:5.06, Z:3.40 [[ 9.98084219e-01 -6.12937994e-02 -8.42384228e-03 4.96675296e+02] [ 6.12949810e-02 9.98119688e-01 -1.18070678e-04 5.06483016e+00] [ 8.41523983e-03 -3.98494773e-04 9.99964512e-01 3.40410239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.02925415399994 meters 0.029731031813936513 Centerline is valid? [True, True] Translation: X:496.71, Y:5.07, Z:3.40 [[ 9.98122432e-01 -6.06734339e-02 -8.38722758e-03 4.96707570e+02] [ 6.06745894e-02 9.98157593e-01 -1.16846125e-04 5.06516304e+00] [ 8.37886435e-03 -3.92264851e-04 9.99964820e-01 3.40409663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0592541539999 meters 0.029112275415610196 Centerline is valid? [True, True] Translation: X:496.74, Y:5.07, Z:3.40 [[ 9.98225656e-01 -5.89849421e-02 -8.14347610e-03 4.96739419e+02] [ 5.89859797e-02 9.98258805e-01 -1.12916538e-04 5.06687783e+00] [ 8.13595709e-03 -3.67634730e-04 9.99966835e-01 3.40448298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.08925415399995 meters 0.028625103816699284 Centerline is valid? [True, True] Translation: X:496.77, Y:5.07, Z:3.40 [[ 9.98311313e-01 -5.75164727e-02 -8.14727539e-03 4.96772050e+02] [ 5.75174671e-02 9.98344494e-01 -1.12402793e-04 5.06793486e+00] [ 8.14025254e-03 -3.56397663e-04 9.99966804e-01 3.40482175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1192541539999 meters 0.02768192355743891 Centerline is valid? [True, True] Translation: X:496.80, Y:5.07, Z:3.40 [[ 9.98487156e-01 -5.43553770e-02 -8.30011786e-03 4.96802276e+02] [ 5.43563050e-02 9.98521597e-01 -1.13900616e-04 5.07059922e+00] [ 8.29403805e-03 -3.37435435e-04 9.99965547e-01 3.40494635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.14925415399995 meters 0.024883940290137557 Centerline is valid? [True, True] Translation: X:496.83, Y:5.08, Z:3.40 [[ 9.98592581e-01 -5.23390574e-02 -8.57210441e-03 4.96834181e+02] [ 5.23399750e-02 9.98629317e-01 -1.17401874e-04 5.07580470e+00] [ 8.56649948e-03 -3.31427091e-04 9.99963252e-01 3.40490076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1792541539999 meters 0.02295685429099839 Centerline is valid? [True, True] Translation: X:496.87, Y:5.08, Z:3.40 [[ 9.98696918e-01 -5.02183232e-02 -9.08764779e-03 4.96866857e+02] [ 5.02192731e-02 9.98738209e-01 -1.23776127e-04 5.08006353e+00] [ 9.08239691e-03 -3.32760230e-04 9.99958699e-01 3.40461937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.20925415399995 meters 0.020117025677903886 Centerline is valid? [True, True] Translation: X:496.90, Y:5.09, Z:3.40 [[ 9.98888013e-01 -4.58692313e-02 -1.08973132e-02 4.96898801e+02] [ 4.58703489e-02 9.98947391e-01 -1.47487628e-04 5.08721052e+00] [ 1.08926078e-02 -3.52539936e-04 9.99940612e-01 3.40344578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2392541539999 meters 0.019905102444396597 Centerline is valid? [True, True] Translation: X:496.93, Y:5.09, Z:3.40 [[ 9.98969420e-01 -4.38278409e-02 -1.17990679e-02 4.96930240e+02] [ 4.38290168e-02 9.99039034e-01 -1.59029432e-04 5.08924639e+00] [ 1.17946993e-02 -3.58276006e-04 9.99930376e-01 3.40283100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.26925415399995 meters 0.02146493737214281 Centerline is valid? [True, True] Translation: X:496.96, Y:5.09, Z:3.40 [[ 9.99044475e-01 -4.19395215e-02 -1.22968563e-02 4.96961485e+02] [ 4.19406639e-02 9.99120090e-01 -1.65071952e-04 5.08805695e+00] [ 1.22929592e-02 -3.50824096e-04 9.99924377e-01 3.40196792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2992541539999 meters 0.018127870540260844 Centerline is valid? [True, True] Translation: X:496.99, Y:5.10, Z:3.40 [[ 9.99166259e-01 -3.88586608e-02 -1.25216537e-02 4.96993608e+02] [ 3.88596132e-02 9.99244666e-01 -1.67325129e-04 5.09634686e+00] [ 1.25186977e-02 -3.19400995e-04 9.99921587e-01 3.40298740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.32925415399995 meters 0.016950182067026205 Centerline is valid? [True, True] Translation: X:497.03, Y:5.10, Z:3.40 [[ 9.99221771e-01 -3.75222751e-02 -1.21627156e-02 4.97025866e+02] [ 3.75230852e-02 9.99295748e-01 -1.61671103e-04 5.10001928e+00] [ 1.21602163e-02 -2.94837328e-04 9.99926018e-01 3.40400567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3592541539999 meters 0.0178304680181529 Centerline is valid? [True, True] Translation: X:497.06, Y:5.10, Z:3.40 [[ 9.99264325e-01 -3.64241110e-02 -1.20039109e-02 4.97056600e+02] [ 3.64248302e-02 9.99336383e-01 -1.58781614e-04 5.09960882e+00] [ 1.20017284e-02 -2.78575614e-04 9.99927938e-01 3.40398945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.38925415399996 meters 0.01755857602785966 Centerline is valid? [True, True] Translation: X:497.09, Y:5.10, Z:3.40 [[ 9.99309272e-01 -3.51614607e-02 -1.20270911e-02 4.97089050e+02] [ 3.51621001e-02 9.99381610e-01 -1.58355017e-04 5.10100828e+00] [ 1.20252217e-02 -2.64652144e-04 9.99927659e-01 3.40467160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.41925415399993 meters 0.016146731518040074 Centerline is valid? [True, True] Translation: X:497.12, Y:5.11, Z:3.41 [[ 9.99358842e-01 -3.38557214e-02 -1.16488579e-02 4.97121672e+02] [ 3.38562430e-02 9.99426701e-01 -1.52475325e-04 5.10525366e+00] [ 1.16473418e-02 -2.42009001e-04 9.99932138e-01 3.40575923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.44925415399996 meters 0.015741677860579853 Centerline is valid? [True, True] Translation: X:497.15, Y:5.11, Z:3.41 [[ 9.99431670e-01 -3.19287599e-02 -1.08116575e-02 4.97154209e+02] [ 3.19291061e-02 9.99490126e-01 -1.40638879e-04 5.10858268e+00] [ 1.08106354e-02 -2.04647610e-04 9.99941542e-01 3.40694589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.47925415399993 meters 0.015741677860579853 Centerline is valid? [True, True] Translation: X:497.19, Y:5.11, Z:3.41 [[ 9.99434025e-01 -3.18549392e-02 -1.08116679e-02 4.97185906e+02] [ 3.18552896e-02 9.99492482e-01 -1.39839846e-04 5.10893511e+00] [ 1.08106353e-02 -2.04648111e-04 9.99941542e-01 3.40716539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.50925415399996 meters 0.01565475535551509 Centerline is valid? [True, True] Translation: X:497.22, Y:5.11, Z:3.41 [[ 9.99454869e-01 -3.12371358e-02 -1.06866991e-02 4.97218300e+02] [ 3.12374512e-02 9.99511982e-01 -1.37442057e-04 5.10959559e+00] [ 1.06857771e-02 -1.96458108e-04 9.99942886e-01 3.40742416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.53925415399993 meters 0.015542897241271336 Centerline is valid? [True, True] Translation: X:497.25, Y:5.11, Z:3.41 [[ 9.99467522e-01 -3.09457090e-02 -1.03457800e-02 4.97250159e+02] [ 3.09459967e-02 9.99521049e-01 -1.32313410e-04 5.11061141e+00] [ 1.03449194e-02 -1.87917517e-04 9.99946472e-01 3.40766804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.5692541539999 meters 0.015801693957004176 Centerline is valid? [True, True] Translation: X:497.28, Y:5.11, Z:3.41 [[ 9.99472430e-01 -3.09763881e-02 -9.76348860e-03 4.97281684e+02] [ 3.09766520e-02 9.99520101e-01 -1.24227573e-04 5.11094882e+00] [ 9.76265123e-03 -1.78278154e-04 9.99952328e-01 3.40804537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.59925415399994 meters 0.01573733624561792 Centerline is valid? [True, True] Translation: X:497.31, Y:5.11, Z:3.41 [[ 9.99473505e-01 -3.09236588e-02 -9.82037256e-03 4.97313496e+02] [ 3.09239292e-02 9.99521733e-01 -1.24356144e-04 5.11149504e+00] [ 9.81952134e-03 -1.79393834e-04 9.99951771e-01 3.40837687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.6292541539999 meters 0.017020124521387285 Centerline is valid? [True, True] Translation: X:497.34, Y:5.11, Z:3.41 [[ 9.99478449e-01 -3.06605770e-02 -1.01369875e-02 4.97344286e+02] [ 3.06608586e-02 9.99529837e-01 -1.27667297e-04 5.11103759e+00] [ 1.01361359e-02 -1.83208030e-04 9.99948611e-01 3.40697693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.65925415399994 meters 0.015994021166018987 Centerline is valid? [True, True] Translation: X:497.38, Y:5.11, Z:3.41 [[ 9.99447578e-01 -3.15675055e-02 -1.03938073e-02 4.97376449e+02] [ 3.15678572e-02 9.99501603e-01 -1.30263730e-04 5.11134135e+00] [ 1.03927392e-02 -1.97918455e-04 9.99945974e-01 3.40844791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.6892541539999 meters 0.015981378059743912 Centerline is valid? [True, True] Translation: X:497.41, Y:5.11, Z:3.41 [[ 9.99439765e-01 -3.17237115e-02 -1.06659345e-02 4.97408403e+02] [ 3.17240991e-02 9.99496655e-01 -1.32887406e-04 5.11184509e+00] [ 1.06647815e-02 -2.05554205e-04 9.99943108e-01 3.40867443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.71925415399994 meters 0.01578087668883031 Centerline is valid? [True, True] Translation: X:497.44, Y:5.11, Z:3.41 [[ 9.99424005e-01 -3.21281568e-02 -1.09288391e-02 4.97440155e+02] [ 3.21285968e-02 9.99483734e-01 -1.35349941e-04 5.11226383e+00] [ 1.09275455e-02 -2.15856285e-04 9.99940269e-01 3.40877185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.7492541539999 meters 0.0161015455205324 Centerline is valid? [True, True] Translation: X:497.47, Y:5.11, Z:3.41 [[ 9.99414075e-01 -3.22751993e-02 -1.13937355e-02 4.97471836e+02] [ 3.22756960e-02 9.99478994e-01 -1.40325395e-04 5.11167916e+00] [ 1.13923284e-02 -2.27497570e-04 9.99935079e-01 3.40877745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.77925415399994 meters 0.01686017098609882 Centerline is valid? [True, True] Translation: X:497.50, Y:5.11, Z:3.41 [[ 9.99416371e-01 -3.22852927e-02 -1.11614517e-02 4.97503314e+02] [ 3.22857768e-02 9.99478669e-01 -1.36860144e-04 5.11015415e+00] [ 1.11600514e-02 -2.23575869e-04 9.99937700e-01 3.40837753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8092541539999 meters 0.016076568965568458 Centerline is valid? [True, True] Translation: X:497.54, Y:5.11, Z:3.41 [[ 9.99418052e-01 -3.21456426e-02 -1.14111661e-02 4.97535128e+02] [ 3.21461475e-02 9.99483169e-01 -1.39210240e-04 5.11195409e+00] [ 1.14097434e-02 -2.27695800e-04 9.99934881e-01 3.40852143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.83925415399995 meters 0.01652765999046619 Centerline is valid? [True, True] Translation: X:497.57, Y:5.11, Z:3.41 [[ 9.99419933e-01 -3.17861005e-02 -1.22246364e-02 4.97565986e+02] [ 3.17866634e-02 9.99494665e-01 -1.48303620e-04 5.11192972e+00] [ 1.22231729e-02 -2.40362808e-04 9.99925265e-01 3.40789674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8692541539999 meters 0.01610596134118166 Centerline is valid? [True, True] Translation: X:497.60, Y:5.11, Z:3.41 [[ 9.99410488e-01 -3.17149996e-02 -1.31466658e-02 4.97598145e+02] [ 3.17156556e-02 9.99496919e-01 -1.58631781e-04 5.11270933e+00] [ 1.31450829e-02 -2.58416858e-04 9.99913566e-01 3.40785955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.89925415399995 meters 0.016135207648377402 Centerline is valid? [True, True] Translation: X:497.63, Y:5.11, Z:3.41 [[ 9.99412527e-01 -3.15694085e-02 -1.33406528e-02 4.97629975e+02] [ 3.15700842e-02 9.99501528e-01 -1.59995763e-04 5.11290539e+00] [ 1.33390538e-02 -2.61263761e-04 9.99910997e-01 3.40760302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9292541539999 meters 0.016330167052209563 Centerline is valid? [True, True] Translation: X:497.66, Y:5.11, Z:3.41 [[ 9.99395762e-01 -3.17355998e-02 -1.41761603e-02 4.97661064e+02] [ 3.17363926e-02 9.99496260e-01 -1.69089077e-04 5.11204072e+00] [ 1.41743854e-02 -2.80913284e-04 9.99899499e-01 3.40707163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.95925415399995 meters 0.01658050375503452 Centerline is valid? [True, True] Translation: X:497.69, Y:5.11, Z:3.41 [[ 9.99376762e-01 -3.22458353e-02 -1.43629328e-02 4.97693543e+02] [ 3.22467148e-02 9.99479925e-01 -1.70409604e-04 5.11173640e+00] [ 1.43609580e-02 -2.92854000e-04 9.99896833e-01 3.40719439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9892541539999 meters 0.01642883866412854 Centerline is valid? [True, True] Translation: X:497.73, Y:5.11, Z:3.41 [[ 9.99356544e-01 -3.27934082e-02 -1.45289793e-02 4.97725399e+02] [ 3.27943812e-02 9.99462105e-01 -1.71335232e-04 5.11184263e+00] [ 1.45267829e-02 -3.05243900e-04 9.99894434e-01 3.40782698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.01925415399995 meters 0.0171150818604633 Centerline is valid? [True, True] Translation: X:497.76, Y:5.11, Z:3.41 [[ 9.99322221e-01 -3.36688651e-02 -1.48830723e-02 4.97756283e+02] [ 3.36700032e-02 9.99432990e-01 -1.74167202e-04 5.11004863e+00] [ 1.48804974e-02 -3.27063936e-04 9.99889226e-01 3.40823579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0492541539999 meters 0.018131358387308033 Centerline is valid? [True, True] Translation: X:497.79, Y:5.11, Z:3.41 [[ 9.99231062e-01 -3.62516376e-02 -1.49366290e-02 4.97787769e+02] [ 3.62530893e-02 9.99342626e-01 -1.73648884e-04 5.10765261e+00] [ 1.49331051e-02 -3.67983587e-04 9.99888427e-01 3.40898321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.07925415399995 meters 0.01879633644704 Centerline is valid? [True, True] Translation: X:497.82, Y:5.11, Z:3.41 [[ 9.99185938e-01 -3.74634515e-02 -1.49649703e-02 4.97819057e+02] [ 3.74650562e-02 9.99297923e-01 -1.73201957e-04 5.10599243e+00] [ 1.49609525e-02 -3.87602495e-04 9.99888004e-01 3.40928665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1092541539999 meters 0.01946572503976377 Centerline is valid? [True, True] Translation: X:497.85, Y:5.10, Z:3.41 [[ 9.99136017e-01 -3.87758380e-02 -1.49550354e-02 4.97851382e+02] [ 3.87776010e-02 9.99247851e-01 -1.72179759e-04 5.10457463e+00] [ 1.49504634e-02 -4.07889397e-04 9.99888152e-01 3.40935874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.13925415399996 meters 0.020656763574932128 Centerline is valid? [True, True] Translation: X:497.88, Y:5.10, Z:3.41 [[ 9.99058317e-01 -4.07823118e-02 -1.48081859e-02 4.97882300e+02] [ 4.07842734e-02 9.99167961e-01 -1.69616294e-04 5.10140387e+00] [ 1.48027822e-02 -4.34484532e-04 9.99890338e-01 3.40981372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.16925415399993 meters 0.01855209754583661 Centerline is valid? [True, True] Translation: X:497.91, Y:5.10, Z:3.41 [[ 9.99038271e-01 -4.14353835e-02 -1.43402280e-02 4.97914640e+02] [ 4.14373030e-02 9.99141093e-01 -1.63373000e-04 5.10469719e+00] [ 1.43346805e-02 -4.31004491e-04 9.99897160e-01 3.41137556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.19925415399996 meters 0.01900365299493896 Centerline is valid? [True, True] Translation: X:497.95, Y:5.10, Z:3.41 [[ 9.98980950e-01 -4.24259729e-02 -1.53979890e-02 4.97946969e+02] [ 4.24283214e-02 9.99099498e-01 -1.74265518e-04 5.10326285e+00] [ 1.53915165e-02 -4.79222896e-04 9.99881429e-01 3.41117274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.22925415399993 meters 0.022380531212208205 Centerline is valid? [True, True] Translation: X:497.98, Y:5.10, Z:3.41 [[ 9.98975175e-01 -4.23577881e-02 -1.59504453e-02 4.97978605e+02] [ 4.23603157e-02 9.99102383e-01 -1.79507027e-04 5.09763406e+00] [ 1.59437314e-02 -4.96342833e-04 9.99872767e-01 3.40961857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.25925415399996 meters 0.019532110669935047 Centerline is valid? [True, True] Translation: X:498.01, Y:5.10, Z:3.41 [[ 9.98971805e-01 -4.21146122e-02 -1.67837179e-02 4.98010937e+02] [ 4.21173951e-02 9.99112651e-01 -1.87784430e-04 5.10268664e+00] [ 1.67767333e-02 -5.19295125e-04 9.99859126e-01 3.41093496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.28925415399993 meters 0.01889033480114633 Centerline is valid? [True, True] Translation: X:498.04, Y:5.10, Z:3.41 [[ 9.99030613e-01 -4.02438634e-02 -1.78400302e-02 4.98042808e+02] [ 4.02467331e-02 9.99189752e-01 -1.98291418e-04 5.10465439e+00] [ 1.78335553e-02 -5.19903735e-04 9.99840834e-01 3.41164761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3192541539999 meters 0.021847421569875965 Centerline is valid? [True, True] Translation: X:498.07, Y:5.10, Z:3.41 [[ 9.99082934e-01 -3.88940265e-02 -1.79038102e-02 4.98073720e+02] [ 3.88967161e-02 9.99243217e-01 -1.98110652e-04 5.10009452e+00] [ 1.78979662e-02 -4.98470448e-04 9.99839694e-01 3.41030581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.34925415399994 meters 0.018957632549104025 Centerline is valid? [True, True] Translation: X:498.10, Y:5.11, Z:3.41 [[ 9.99137995e-01 -3.75614008e-02 -1.76750766e-02 4.98104803e+02] [ 3.75638246e-02 9.99294211e-01 -1.94961821e-04 5.10573557e+00] [ 1.76699248e-02 -4.69149715e-04 9.99843765e-01 3.41267689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3792541539999 meters 0.01782217634184377 Centerline is valid? [True, True] Translation: X:498.14, Y:5.11, Z:3.41 [[ 9.99271415e-01 -3.42777700e-02 -1.67831325e-02 4.98135881e+02] [ 3.42795022e-02 9.99412268e-01 -1.84542448e-04 5.10951169e+00] [ 1.67795942e-02 -3.90909434e-04 9.99859136e-01 3.41485671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.40925415399994 meters 0.018102583040028816 Centerline is valid? [True, True] Translation: X:498.17, Y:5.11, Z:3.42 [[ 9.99331811e-01 -3.26834678e-02 -1.63622195e-02 4.98166545e+02] [ 3.26849072e-02 9.99465690e-01 -1.79507777e-04 5.10951043e+00] [ 1.63593439e-02 -3.55409794e-04 9.99866114e-01 3.41506584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4392541539999 meters 0.017068611440460884 Centerline is valid? [True, True] Translation: X:498.20, Y:5.11, Z:3.42 [[ 9.99389081e-01 -3.06995327e-02 -1.67033763e-02 4.98197500e+02] [ 3.07007607e-02 9.99528604e-01 -1.82957559e-04 5.11136292e+00] [ 1.67011191e-02 -3.29960574e-04 9.99860472e-01 3.41608317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.46925415399994 meters 0.01608255171899242 Centerline is valid? [True, True] Translation: X:498.23, Y:5.11, Z:3.42 [[ 9.99435200e-01 -2.89958143e-02 -1.69859914e-02 4.98229157e+02] [ 2.89968466e-02 9.99579486e-01 -1.85564379e-04 5.11423708e+00] [ 1.69842291e-02 -3.07080614e-04 9.99855710e-01 3.41692848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4992541539999 meters 0.015879357514515302 Centerline is valid? [True, True] Translation: X:498.26, Y:5.12, Z:3.42 [[ 9.99474709e-01 -2.74181939e-02 -1.72785659e-02 4.98259305e+02] [ 2.74190308e-02 9.99624010e-01 -1.88503415e-04 5.11514435e+00] [ 1.72772377e-02 -2.85357135e-04 9.99850697e-01 3.41681326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.52925415399994 meters 0.015455941379199213 Centerline is valid? [True, True] Translation: X:498.29, Y:5.12, Z:3.42 [[ 9.99515612e-01 -2.52602670e-02 -1.81785402e-02 4.98290056e+02] [ 2.52608366e-02 9.99680874e-01 -1.98321836e-04 5.11631987e+00] [ 1.81777486e-02 -2.60979363e-04 9.99834737e-01 3.41704710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5592541539999 meters 0.015373190728509149 Centerline is valid? [True, True] Translation: X:498.32, Y:5.12, Z:3.42 [[ 9.99513156e-01 -2.46514482e-02 -1.91247766e-02 4.98320081e+02] [ 2.46519589e-02 9.99696072e-01 -2.09088221e-04 5.11648965e+00] [ 1.91241184e-02 -2.62476779e-04 9.99817083e-01 3.41698269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.58925415399995 meters 0.01563089036686636 Centerline is valid? [True, True] Translation: X:498.35, Y:5.11, Z:3.42 [[ 9.99474796e-01 -2.48325799e-02 -2.08200870e-02 4.98348835e+02] [ 2.48331985e-02 9.99691582e-01 -2.28873598e-04 5.11460058e+00] [ 2.08193493e-02 -2.88275961e-04 9.99783212e-01 3.41649550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6192541539999 meters 0.015492245632869788 Centerline is valid? [True, True] Translation: X:498.38, Y:5.11, Z:3.42 [[ 9.99446953e-01 -2.57986352e-02 -2.09814058e-02 4.98377297e+02] [ 2.57993917e-02 9.99667113e-01 -2.34670687e-04 5.11414956e+00] [ 2.09804756e-02 -3.06766606e-04 9.99779839e-01 3.41730131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.64925415399995 meters 0.016387299655424546 Centerline is valid? [True, True] Translation: X:498.41, Y:5.11, Z:3.42 [[ 9.99355837e-01 -2.86148616e-02 -2.16587338e-02 4.98405244e+02] [ 2.86162616e-02 9.99590441e-01 -2.45355476e-04 5.11031501e+00] [ 2.16568841e-02 -3.74594565e-04 9.99765392e-01 3.41737953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6792541539999 meters 0.016905605241111274 Centerline is valid? [True, True] Translation: X:498.43, Y:5.11, Z:3.42 [[ 9.99307444e-01 -3.03589035e-02 -2.15167350e-02 4.98433169e+02] [ 3.03606486e-02 9.99538979e-01 -2.45637687e-04 5.10792468e+00] [ 2.15142726e-02 -4.07794460e-04 9.99768458e-01 3.41764704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.70925415399995 meters 0.01651983061496496 Centerline is valid? [True, True] Translation: X:498.46, Y:5.11, Z:3.42 [[ 9.99233368e-01 -3.28776131e-02 -2.12541649e-02 4.98462014e+02] [ 3.28797936e-02 9.99459283e-01 -2.46951522e-04 5.10789366e+00] [ 2.12507916e-02 -4.52070353e-04 9.99774074e-01 3.41968647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7392541539999 meters 0.01773260346719372 Centerline is valid? [True, True] Translation: X:498.49, Y:5.10, Z:3.42 [[ 9.99070513e-01 -3.77755305e-02 -2.07634062e-02 4.98491572e+02] [ 3.77786213e-02 9.99286103e-01 -2.43510997e-04 5.10248292e+00] [ 2.07577820e-02 -5.41128202e-04 9.99784388e-01 3.42044191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.76925415399995 meters 0.01828480196999212 Centerline is valid? [True, True] Translation: X:498.52, Y:5.10, Z:3.42 [[ 9.98986173e-01 -4.01804471e-02 -2.03016619e-02 4.98521827e+02] [ 4.01838930e-02 9.99192273e-01 -2.38344436e-04 5.09981782e+00] [ 2.02948405e-02 -5.77697012e-04 9.99793872e-01 3.42093253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7992541539999 meters 0.02052674060075917 Centerline is valid? [True, True] Translation: X:498.55, Y:5.09, Z:3.42 [[ 9.98870967e-01 -4.29757647e-02 -2.02453798e-02 4.98551727e+02] [ 4.29797650e-02 9.99075915e-01 -2.37683676e-04 5.09440505e+00] [ 2.02368859e-02 -6.32726342e-04 9.99795013e-01 3.42043021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.82925415399995 meters 0.020786658838860196 Centerline is valid? [True, True] Translation: X:498.58, Y:5.09, Z:3.42 [[ 9.98734907e-01 -4.59968036e-02 -2.03194364e-02 4.98582962e+02] [ 4.60014675e-02 9.98941344e-01 -2.38070406e-04 5.09305220e+00] [ 2.03088755e-02 -6.96954667e-04 9.99793511e-01 3.42136051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8592541539999 meters 0.021854384628367206 Centerline is valid? [True, True] Translation: X:498.61, Y:5.09, Z:3.42 [[ 9.98414686e-01 -5.26132353e-02 -1.99990479e-02 4.98613911e+02] [ 5.26190846e-02 9.98614629e-01 -2.33992507e-04 5.08820980e+00] [ 1.99836529e-02 -8.18710040e-04 9.99799972e-01 3.42209292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.88925415399996 meters 0.02315777757460008 Centerline is valid? [True, True] Translation: X:498.64, Y:5.08, Z:3.42 [[ 9.98225839e-01 -5.60150448e-02 -2.01863409e-02 4.98644582e+02] [ 5.60217040e-02 9.98429523e-01 -2.35897810e-04 5.08489073e+00] [ 2.01678525e-02 -8.95393924e-04 9.99796207e-01 3.42221039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.91925415399993 meters 0.026571788182694477 Centerline is valid? [True, True] Translation: X:498.67, Y:5.08, Z:3.42 [[ 9.97823970e-01 -6.27904459e-02 -2.01167606e-02 4.98674569e+02] [ 6.27984310e-02 9.98026203e-01 -2.35156960e-04 5.07743967e+00] [ 2.00918198e-02 -1.02865575e-03 9.99797610e-01 3.42203818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.94925415399996 meters 0.027380878568170553 Centerline is valid? [True, True] Translation: X:498.71, Y:5.08, Z:3.42 [[ 9.97620969e-01 -6.57693390e-02 -2.06590682e-02 4.98705847e+02] [ 6.57784055e-02 9.97834226e-01 -2.41099991e-04 5.07568992e+00] [ 2.06301823e-02 -1.11839416e-03 9.99786550e-01 3.42205859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.97925415399993 meters 0.028133438933885084 Centerline is valid? [True, True] Translation: X:498.74, Y:5.07, Z:3.42 [[ 9.97435249e-01 -6.85937172e-02 -2.04408038e-02 4.98737471e+02] [ 6.86031994e-02 9.97643997e-01 -2.37803826e-04 5.07370378e+00] [ 2.04089570e-02 -1.16511062e-03 9.99791037e-01 3.42253790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.00925415399996 meters 0.031583549992686206 Centerline is valid? [True, True] Translation: X:498.77, Y:5.07, Z:3.42 [[ 9.97153219e-01 -7.24468116e-02 -2.09025846e-02 4.98767574e+02] [ 7.24575758e-02 9.97371466e-01 -2.42925965e-04 5.06664702e+00] [ 2.08652407e-02 -1.27231620e-03 9.99781488e-01 3.42171046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.03925415399993 meters 0.030222258361605518 Centerline is valid? [True, True] Translation: X:498.80, Y:5.07, Z:3.42 [[ 9.97065640e-01 -7.36028940e-02 -2.10410146e-02 4.98799776e+02] [ 7.36140794e-02 9.97286773e-01 -2.43497148e-04 5.06779801e+00] [ 2.10018476e-02 -1.30613228e-03 9.99778584e-01 3.42240385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.0692541539999 meters 0.031961280700355345 Centerline is valid? [True, True] Translation: X:498.83, Y:5.06, Z:3.42 [[ 9.97029265e-01 -7.42175880e-02 -2.06008489e-02 4.98831111e+02] [ 7.42284666e-02 9.97241234e-01 -2.37149818e-04 5.06479209e+00] [ 2.05616167e-02 -1.29272412e-03 9.99787752e-01 3.42197098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.09925415399994 meters 0.030214153980318858 Centerline is valid? [True, True] Translation: X:498.86, Y:5.07, Z:3.42 [[ 9.97056012e-01 -7.37112535e-02 -2.11177787e-02 4.98863686e+02] [ 7.37226025e-02 9.97278757e-01 -2.41658793e-04 5.06672442e+00] [ 2.10781251e-02 -1.31591025e-03 9.99776966e-01 3.42244895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.1292541539999 meters 0.03254684823777551 Centerline is valid? [True, True] Translation: X:498.90, Y:5.06, Z:3.42 [[ 9.97153329e-01 -7.21658029e-02 -2.18479843e-02 4.98895536e+02] [ 7.21776166e-02 9.97391764e-01 -2.48388586e-04 5.06405109e+00] [ 2.18089247e-02 -1.32925393e-03 9.99761273e-01 3.42109165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.15925415399994 meters 0.030059362065422 Centerline is valid? [True, True] Translation: X:498.93, Y:5.07, Z:3.42 [[ 9.97275879e-01 -7.04924556e-02 -2.17171433e-02 4.98926501e+02] [ 7.05037555e-02 9.97511484e-01 -2.45852629e-04 5.06749308e+00] [ 2.16804306e-02 -1.28595727e-03 9.99764125e-01 3.42156319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.1892541539999 meters 0.02766861305353206 Centerline is valid? [True, True] Translation: X:498.96, Y:5.07, Z:3.42 [[ 9.97423874e-01 -6.81399397e-02 -2.24179330e-02 4.98957742e+02] [ 6.81514076e-02 9.97674958e-01 -2.52944311e-04 5.07174677e+00] [ 2.23830460e-02 -1.27552100e-03 9.99748655e-01 3.42182825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.21925415399994 meters 0.027700797838935552 Centerline is valid? [True, True] Translation: X:498.99, Y:5.07, Z:3.42 [[ 9.97767174e-01 -6.27252801e-02 -2.29391941e-02 4.98987048e+02] [ 6.27358608e-02 9.98030132e-01 -2.58816012e-04 5.07373548e+00] [ 2.29102413e-02 -1.18087197e-03 9.99736829e-01 3.42062183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.2492541539999 meters 0.024879340393309034 Centerline is valid? [True, True] Translation: X:499.02, Y:5.08, Z:3.42 [[ 9.97964015e-01 -5.95666035e-02 -2.27957203e-02 4.99018557e+02] [ 5.95762477e-02 9.98223725e-01 -2.56427344e-04 5.07922156e+00] [ 2.27705034e-02 -1.10217822e-03 9.99740111e-01 3.42157530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.27925415399994 meters 0.02338519274193349 Centerline is valid? [True, True] Translation: X:499.05, Y:5.08, Z:3.42 [[ 9.98349797e-01 -5.33789043e-02 -2.11748820e-02 4.99047754e+02] [ 5.33858384e-02 9.98573931e-01 -2.38084710e-04 5.08326387e+00] [ 2.11573939e-02 -8.92747007e-04 9.99775759e-01 3.42216350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3092541539999 meters 0.022408344005898518 Centerline is valid? [True, True] Translation: X:499.08, Y:5.09, Z:3.42 [[ 9.98552766e-01 -4.98058607e-02 -2.02916119e-02 4.99079737e+02] [ 4.98115031e-02 9.98758611e-01 -2.27586097e-04 5.08546718e+00] [ 2.02777572e-02 -7.83498961e-04 9.99794078e-01 3.42278665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.33925415399995 meters 0.021992199546228178 Centerline is valid? [True, True] Translation: X:499.11, Y:5.09, Z:3.42 [[ 9.98733207e-01 -4.62432563e-02 -1.98379262e-02 4.99110731e+02] [ 4.62479633e-02 9.98929966e-01 -2.21686590e-04 5.08725537e+00] [ 1.98269505e-02 -6.96057925e-04 9.99803184e-01 3.42316781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3692541539999 meters 0.021992199546228178 Centerline is valid? [True, True] Translation: X:499.14, Y:5.09, Z:3.42 [[ 9.98734838e-01 -4.62080146e-02 -1.98379341e-02 4.99141595e+02] [ 4.62127286e-02 9.98931597e-01 -2.20981518e-04 5.08756816e+00] [ 1.98269503e-02 -6.96063124e-04 9.99803184e-01 3.42338163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.39925415399995 meters 0.019255888138073246 Centerline is valid? [True, True] Translation: X:499.17, Y:5.09, Z:3.42 [[ 9.99074481e-01 -3.89652367e-02 -1.82179141e-02 4.99172743e+02] [ 3.89680153e-02 9.99240438e-01 -2.02581035e-04 5.09499706e+00] [ 1.82119701e-02 -5.07522413e-04 9.99834020e-01 3.42435752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4292541539999 meters 0.01813928280695104 Centerline is valid? [True, True] Translation: X:499.20, Y:5.10, Z:3.42 [[ 9.99222224e-01 -3.51214532e-02 -1.79284628e-02 4.99204248e+02] [ 3.51235343e-02 9.99382959e-01 -1.98890121e-04 5.09864949e+00] [ 1.79243855e-02 -4.30975549e-04 9.99839252e-01 3.42482351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.45925415399995 meters 0.016615404690628853 Centerline is valid? [True, True] Translation: X:499.24, Y:5.10, Z:3.43 [[ 9.99360916e-01 -3.12109896e-02 -1.74251083e-02 4.99235319e+02] [ 3.12123656e-02 9.99512757e-01 -1.93057683e-04 5.10385166e+00] [ 1.74226435e-02 -3.50944546e-04 9.99848153e-01 3.42575185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4892541539999 meters 0.015275585117733661 Centerline is valid? [True, True] Translation: X:499.27, Y:5.11, Z:3.43 [[ 9.99576723e-01 -2.36927468e-02 -1.68828106e-02 4.99265218e+02] [ 2.36929631e-02 9.99719265e-01 -1.87229509e-04 5.10930801e+00] [ 1.68825070e-02 -2.12853551e-04 9.99857458e-01 3.42558600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.51925415399995 meters 0.014912415525867577 Centerline is valid? [True, True] Translation: X:499.29, Y:5.11, Z:3.43 [[ 9.99657904e-01 -2.00114115e-02 -1.68409474e-02 4.99293659e+02] [ 2.00110924e-02 9.99799740e-01 -1.87479681e-04 5.11115911e+00] [ 1.68413266e-02 -1.49590211e-04 9.99858164e-01 3.42523547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5492541539999 meters 0.014701350191113904 Centerline is valid? [True, True] Translation: X:499.32, Y:5.11, Z:3.43 [[ 9.99710262e-01 -1.71648725e-02 -1.68748156e-02 4.99322367e+02] [ 1.71640969e-02 9.99852668e-01 -1.90803559e-04 5.11305634e+00] [ 1.68756045e-02 -9.88926940e-05 9.99857592e-01 3.42527966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.57925415399995 meters 0.01470200896584491 Centerline is valid? [True, True] Translation: X:499.35, Y:5.12, Z:3.43 [[ 9.99779834e-01 -1.33688662e-02 -1.61726921e-02 4.99350624e+02] [ 1.33675911e-02 9.99910632e-01 -1.86945732e-04 5.11603907e+00] [ 1.61737461e-02 -2.92853619e-05 9.99869196e-01 3.42522991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6092541539999 meters 0.014574438370677716 Centerline is valid? [True, True] Translation: X:499.38, Y:5.12, Z:3.43 [[ 9.99799502e-01 -1.22983756e-02 -1.58020491e-02 4.99378008e+02] [ 1.22969790e-02 9.99924372e-01 -1.85543538e-04 5.11690369e+00] [ 1.58031359e-02 -8.81112918e-06 9.99875123e-01 3.42520166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.63925415399996 meters 0.014597242532238635 Centerline is valid? [True, True] Translation: X:499.41, Y:5.12, Z:3.43 [[ 9.99819538e-01 -1.18772586e-02 -1.48264103e-02 4.99405594e+02] [ 1.18759365e-02 9.99929463e-01 -1.77219258e-04 5.11673079e+00] [ 1.48274694e-02 1.10976945e-06 9.99890067e-01 3.42562948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.66925415399993 meters 0.014537494195674946 Centerline is valid? [True, True] Translation: X:499.43, Y:5.12, Z:3.43 [[ 9.99821421e-01 -1.27997339e-02 -1.39029767e-02 4.99433926e+02] [ 1.27986058e-02 9.99918080e-01 -1.70114344e-04 5.11585842e+00] [ 1.39040152e-02 -7.85475421e-06 9.99903334e-01 3.42597093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.69925415399996 meters 0.014559586146470077 Centerline is valid? [True, True] Translation: X:499.46, Y:5.11, Z:3.43 [[ 9.99811482e-01 -1.42511510e-02 -1.31873406e-02 4.99461711e+02] [ 1.42502127e-02 9.99898447e-01 -1.65119494e-04 5.11434782e+00] [ 1.31883545e-02 -2.28340423e-05 9.99913030e-01 3.42627250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.72925415399993 meters 0.01478056321569727 Centerline is valid? [True, True] Translation: X:499.49, Y:5.11, Z:3.43 [[ 9.99769775e-01 -1.77269399e-02 -1.20893515e-02 4.99490013e+02] [ 1.77263772e-02 9.99842864e-01 -1.53707075e-04 5.10927013e+00] [ 1.20901766e-02 -6.06287171e-05 9.99926909e-01 3.42585695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.75925415399996 meters 0.014865311954916876 Centerline is valid? [True, True] Translation: X:499.52, Y:5.11, Z:3.43 [[ 9.99723629e-01 -2.02740319e-02 -1.19007784e-02 4.99520126e+02] [ 2.02736575e-02 9.99794457e-01 -1.52114082e-04 5.10720784e+00] [ 1.19014162e-02 -8.92002624e-05 9.99929172e-01 3.42652919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.78925415399993 meters 0.015069434388190356 Centerline is valid? [True, True] Translation: X:499.55, Y:5.10, Z:3.43 [[ 9.99669651e-01 -2.30392145e-02 -1.13922388e-02 4.99550385e+02] [ 2.30390481e-02 9.99734555e-01 -1.45860541e-04 5.10496617e+00] [ 1.13925753e-02 -1.16653980e-04 9.99935096e-01 3.42682676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8192541539999 meters 0.01551741706665224 Centerline is valid? [True, True] Translation: X:499.58, Y:5.10, Z:3.43 [[ 9.99594836e-01 -2.59693528e-02 -1.16514970e-02 4.99582167e+02] [ 2.59693798e-02 9.99662728e-01 -1.49006121e-04 5.10230164e+00] [ 1.16514369e-02 -1.53636403e-04 9.99932108e-01 3.42691009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.84925415399994 meters 0.01599231067180275 Centerline is valid? [True, True] Translation: X:499.61, Y:5.10, Z:3.43 [[ 9.99503651e-01 -2.93958037e-02 -1.13286596e-02 4.99612994e+02] [ 2.93960538e-02 9.99567832e-01 -1.44467410e-04 5.09898374e+00] [ 1.13280104e-02 -1.88622184e-04 9.99935818e-01 3.42726311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8792541539999 meters 0.018496750701489095 Centerline is valid? [True, True] Translation: X:499.64, Y:5.09, Z:3.43 [[ 9.99248820e-01 -3.71581931e-02 -1.10028868e-02 4.99643224e+02] [ 3.71589058e-02 9.99309360e-01 -1.39730614e-04 5.08974457e+00] [ 1.10004799e-02 -2.69229583e-04 9.99939457e-01 3.42688288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.90925415399994 meters 0.01840559987261235 Centerline is valid? [True, True] Translation: X:499.67, Y:5.09, Z:3.43 [[ 9.99087076e-01 -4.13454950e-02 -1.07501245e-02 4.99674920e+02] [ 4.13464273e-02 9.99144862e-01 -1.35601804e-04 5.08845538e+00] [ 1.07465382e-02 -3.09001232e-04 9.99942207e-01 3.42712738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9392541539999 meters 0.02356211396298773 Centerline is valid? [True, True] Translation: X:499.70, Y:5.08, Z:3.43 [[ 9.98746251e-01 -4.89686330e-02 -1.03922612e-02 4.99704819e+02] [ 4.89699224e-02 9.98800245e-01 -1.30498202e-04 5.07624013e+00] [ 1.03861833e-02 -3.78573635e-04 9.99945990e-01 3.42706598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.96925415399994 meters 0.021964085224529084 Centerline is valid? [True, True] Translation: X:499.74, Y:5.08, Z:3.43 [[ 9.98582866e-01 -5.21646021e-02 -1.05410269e-02 4.99736380e+02] [ 5.21661070e-02 9.98638413e-01 -1.32328854e-04 5.07758835e+00] [ 1.05335773e-02 -4.17743011e-04 9.99944433e-01 3.42787866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9992541539999 meters 0.02628522257083361 Centerline is valid? [True, True] Translation: X:499.77, Y:5.07, Z:3.43 [[ 9.98471290e-01 -5.42353358e-02 -1.06588616e-02 4.99767221e+02] [ 5.42370000e-02 9.98528082e-01 -1.33073908e-04 5.07144932e+00] [ 1.06503899e-02 -4.45234200e-04 9.99943184e-01 3.42674889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.02925415399994 meters 0.024367646432941842 Centerline is valid? [True, True] Translation: X:499.80, Y:5.07, Z:3.43 [[ 9.98172290e-01 -5.94442806e-02 -1.08838384e-02 4.99797834e+02] [ 5.94463354e-02 9.98231494e-01 -1.34907398e-04 5.07106034e+00] [ 1.08726098e-02 -5.12343485e-04 9.99940760e-01 3.42759480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0592541539999 meters 0.024684339424481016 Centerline is valid? [True, True] Translation: X:499.83, Y:5.07, Z:3.43 [[ 9.98062277e-01 -6.12335021e-02 -1.10521582e-02 4.99829535e+02] [ 6.12357343e-02 9.98123322e-01 -1.36636707e-04 5.07000560e+00] [ 1.10397836e-02 -5.40415080e-04 9.99938914e-01 3.42740106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.08925415399995 meters 0.026307279308461048 Centerline is valid? [True, True] Translation: X:499.86, Y:5.07, Z:3.43 [[ 9.97884436e-01 -6.39433607e-02 -1.17430523e-02 4.99859823e+02] [ 6.39460738e-02 9.97953345e-01 -1.44677211e-04 5.06642974e+00] [ 1.17282695e-02 -6.06550951e-04 9.99931038e-01 3.42665489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1192541539999 meters 0.026675825339626327 Centerline is valid? [True, True] Translation: X:499.89, Y:5.07, Z:3.43 [[ 9.97815310e-01 -6.50176650e-02 -1.17179216e-02 4.99892249e+02] [ 6.50204459e-02 9.97883922e-01 -1.43886393e-04 5.06603671e+00] [ 1.17024807e-02 -6.18332442e-04 9.99931332e-01 3.42641706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.14925415399995 meters 0.027300881866723303 Centerline is valid? [True, True] Translation: X:499.92, Y:5.07, Z:3.43 [[ 9.97765857e-01 -6.57156738e-02 -1.20309761e-02 4.99924152e+02] [ 6.57186668e-02 9.97838181e-01 -1.46829247e-04 5.06523650e+00] [ 1.20146163e-02 -6.44158499e-04 9.99927614e-01 3.42627514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1792541539999 meters 0.02772665663812842 Centerline is valid? [True, True] Translation: X:499.96, Y:5.07, Z:3.43 [[ 9.97693266e-01 -6.67851660e-02 -1.21609855e-02 4.99956747e+02] [ 6.67883142e-02 9.97767157e-01 -1.47515151e-04 5.06518235e+00] [ 1.21436837e-02 -6.65036847e-04 9.99926042e-01 3.42618309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.20925415399995 meters 0.028965392845838888 Centerline is valid? [True, True] Translation: X:499.99, Y:5.06, Z:3.43 [[ 9.97561401e-01 -6.86449175e-02 -1.26145664e-02 4.99988675e+02] [ 6.86484637e-02 9.97640900e-01 -1.52175906e-04 5.06417026e+00] [ 1.25952535e-02 -7.14165794e-04 9.99920422e-01 3.42586248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2392541539999 meters 0.030034883695675745 Centerline is valid? [True, True] Translation: X:500.02, Y:5.06, Z:3.43 [[ 9.97509930e-01 -6.93954069e-02 -1.25784288e-02 5.00019648e+02] [ 6.93990055e-02 9.97588971e-01 -1.50690143e-04 5.06301696e+00] [ 1.25585590e-02 -7.22615535e-04 9.99920877e-01 3.42563293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.26925415399995 meters 0.03102211300489815 Centerline is valid? [True, True] Translation: X:500.05, Y:5.06, Z:3.43 [[ 9.97415940e-01 -7.06940500e-02 -1.27982249e-02 5.00051561e+02] [ 7.06978982e-02 9.97497761e-01 -1.52064049e-04 5.06207435e+00] [ 1.27769507e-02 -7.53136494e-04 9.99918088e-01 3.42545572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2992541539999 meters 0.03303396156482649 Centerline is valid? [True, True] Translation: X:500.08, Y:5.06, Z:3.43 [[ 9.97210171e-01 -7.35068110e-02 -1.29855135e-02 5.00082075e+02] [ 7.35110181e-02 9.97294393e-01 -1.53675849e-04 5.06021936e+00] [ 1.29616761e-02 -8.01331201e-04 9.99915673e-01 3.42522371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.32925415399995 meters 0.034400669947298894 Centerline is valid? [True, True] Translation: X:500.11, Y:5.06, Z:3.42 [[ 9.97077565e-01 -7.52344109e-02 -1.32707555e-02 5.00113766e+02] [ 7.52389633e-02 9.97165520e-01 -1.56590223e-04 5.05926606e+00] [ 1.32449208e-02 -8.42345287e-04 9.99911927e-01 3.42494203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3592541539999 meters 0.03697902366335163 Centerline is valid? [True, True] Translation: X:500.14, Y:5.06, Z:3.42 [[ 9.96818109e-01 -7.84744444e-02 -1.39792654e-02 5.00144193e+02] [ 7.84798203e-02 9.96915689e-01 -1.64442141e-04 5.05810695e+00] [ 1.39490535e-02 -9.33171332e-04 9.99902272e-01 3.42446580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.38925415399996 meters 0.03812644893386718 Centerline is valid? [True, True] Translation: X:500.18, Y:5.06, Z:3.42 [[ 9.96723041e-01 -7.95722053e-02 -1.45411111e-02 5.00176260e+02] [ 7.95781479e-02 9.96828616e-01 -1.70396222e-04 5.05815817e+00] [ 1.45085545e-02 -9.87316851e-04 9.99894258e-01 3.42438179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.41925415399993 meters 0.040181182832609616 Centerline is valid? [True, True] Translation: X:500.21, Y:5.06, Z:3.42 [[ 9.96504049e-01 -8.20871363e-02 -1.55364964e-02 5.00207456e+02] [ 8.20942349e-02 9.96624555e-01 -1.81396328e-04 5.05918501e+00] [ 1.54989441e-02 -1.09469461e-03 9.99879285e-01 3.42392661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.44925415399996 meters 0.034065461071900255 Centerline is valid? [True, True] Translation: X:500.24, Y:5.07, Z:3.43 [[ 9.96438289e-01 -8.28893915e-02 -1.54946732e-02 5.00239175e+02] [ 8.28965600e-02 9.96558141e-01 -1.80154108e-04 5.06891116e+00] [ 1.54562756e-02 -1.10494265e-03 9.99879934e-01 3.42533256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.47925415399993 meters 0.03402150579762362 Centerline is valid? [True, True] Translation: X:500.27, Y:5.07, Z:3.43 [[ 9.96371212e-01 -8.37678952e-02 -1.50780761e-02 5.00271530e+02] [ 8.37748001e-02 9.96484698e-01 -1.74204950e-04 5.07064488e+00] [ 1.50396649e-02 -1.08959001e-03 9.99886304e-01 3.42626443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.50925415399996 meters 0.034144401898948136 Centerline is valid? [True, True] Translation: X:500.30, Y:5.07, Z:3.43 [[ 9.96286502e-01 -8.48556383e-02 -1.45851671e-02 5.00303621e+02] [ 8.48622306e-02 9.96392681e-01 -1.67440029e-04 5.07216996e+00] [ 1.45467620e-02 -1.07091158e-03 9.99893617e-01 3.42718228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.53925415399993 meters 0.035426868265691816 Centerline is valid? [True, True] Translation: X:500.34, Y:5.07, Z:3.43 [[ 9.96172948e-01 -8.64463814e-02 -1.29027606e-02 5.00335945e+02] [ 8.64516845e-02 9.96256034e-01 -1.47224936e-04 5.07348744e+00] [ 1.28671802e-02 -9.68803891e-04 9.99916745e-01 3.42891932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.5692541539999 meters 0.03664511228610566 Centerline is valid? [True, True] Translation: X:500.37, Y:5.07, Z:3.43 [[ 9.96149308e-01 -8.68216480e-02 -1.21884580e-02 5.00367191e+02] [ 8.68264228e-02 9.96223445e-01 -1.37860011e-04 5.07395238e+00] [ 1.21543969e-02 -9.20951055e-04 9.99925708e-01 3.42996238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.59925415399994 meters 0.036284746951945085 Centerline is valid? [True, True] Translation: X:500.40, Y:5.08, Z:3.43 [[ 9.96164536e-01 -8.68685995e-02 -1.04911601e-02 5.00399805e+02] [ 8.68721524e-02 9.96219461e-01 -1.17439127e-04 5.07830859e+00] [ 1.04616997e-02 -7.94400968e-04 9.99944959e-01 3.43155719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.6292541539999 meters 0.03750035207069169 Centerline is valid? [True, True] Translation: X:500.43, Y:5.08, Z:3.43 [[ 9.96211265e-01 -8.64231083e-02 -9.70372538e-03 5.00431053e+02] [ 8.64261377e-02 9.96258255e-01 -1.07504730e-04 5.07898106e+00] [ 9.67670741e-03 -7.31558083e-04 9.99952912e-01 3.43162275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.65925415399994 meters 0.037049271568597955 Centerline is valid? [True, True] Translation: X:500.46, Y:5.08, Z:3.43 [[ 9.96181184e-01 -8.68071485e-02 -9.35777715e-03 5.00463052e+02] [ 8.68099933e-02 9.96224882e-01 -1.02516003e-04 5.08088570e+00] [ 9.33134956e-03 -7.10224059e-04 9.99956210e-01 3.43317035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.6892541539999 meters 0.035843660962222405 Centerline is valid? [True, True] Translation: X:500.49, Y:5.09, Z:3.43 [[ 9.96213838e-01 -8.64851506e-02 -8.84920076e-03 5.00494902e+02] [ 8.64876875e-02 9.96252915e-01 -9.63219517e-05 5.08558532e+00] [ 8.82437247e-03 -6.69389649e-04 9.99960840e-01 3.43362928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.71925415399994 meters 0.03706003375250788 Centerline is valid? [True, True] Translation: X:500.53, Y:5.09, Z:3.43 [[ 9.96222012e-01 -8.63962854e-02 -8.79683963e-03 5.00527142e+02] [ 8.63987948e-02 9.96260628e-01 -9.50674196e-05 5.08554266e+00] [ 8.77215845e-03 -6.65328087e-04 9.99961303e-01 3.43381660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.7492541539999 meters 0.039613072622389736 Centerline is valid? [True, True] Translation: X:500.56, Y:5.08, Z:3.43 [[ 9.96143064e-01 -8.72426024e-02 -9.36607936e-03 5.00558514e+02] [ 8.72454937e-02 9.96186837e-01 -1.00221659e-04 5.08479902e+00] [ 9.33910857e-03 -7.17313107e-04 9.99956132e-01 3.43334663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.77925415399994 meters 0.04134350700500114 Centerline is valid? [True, True] Translation: X:500.59, Y:5.08, Z:3.43 [[ 9.96065262e-01 -8.80745457e-02 -9.84219121e-03 5.00589346e+02] [ 8.80777890e-02 9.96113594e-01 -1.04275369e-04 5.08377021e+00] [ 9.81312446e-03 -7.63013367e-04 9.99951559e-01 3.43324231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8092541539999 meters 0.043021260385129836 Centerline is valid? [True, True] Translation: X:500.62, Y:5.08, Z:3.43 [[ 9.96027947e-01 -8.84691218e-02 -1.00769057e-02 5.00621363e+02] [ 8.84725465e-02 9.96078610e-01 -1.06284950e-04 5.08370141e+00] [ 1.00467932e-02 -7.85666729e-04 9.99949221e-01 3.43085403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.83925415399995 meters 0.03872179196898135 Centerline is valid? [True, True] Translation: X:500.65, Y:5.09, Z:3.43 [[ 9.95823838e-01 -9.05934353e-02 -1.13010342e-02 5.00652221e+02] [ 9.05978871e-02 9.95887548e-01 -1.18446098e-04 5.08952173e+00] [ 1.12652897e-02 -9.05898372e-04 9.99936134e-01 3.43256467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8692541539999 meters 0.04195288372729728 Centerline is valid? [True, True] Translation: X:500.68, Y:5.09, Z:3.43 [[ 9.95587635e-01 -9.30084176e-02 -1.24376933e-02 5.00682017e+02] [ 9.30140016e-02 9.95664792e-01 -1.30011828e-04 5.08685282e+00] [ 1.23958655e-02 -1.02744146e-03 9.99922640e-01 3.43129616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.89925415399995 meters 0.04342014275934926 Centerline is valid? [True, True] Translation: X:500.71, Y:5.09, Z:3.43 [[ 9.95495227e-01 -9.38969052e-02 -1.31386302e-02 5.00713561e+02] [ 9.39032231e-02 9.95581321e-01 -1.36583461e-04 5.08600786e+00] [ 1.30933996e-02 -1.09779154e-03 9.99913675e-01 3.43090405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9292541539999 meters 0.04316621365590801 Centerline is valid? [True, True] Translation: X:500.75, Y:5.09, Z:3.43 [[ 9.95430634e-01 -9.45207768e-02 -1.35527074e-02 5.00745174e+02] [ 9.45275732e-02 9.95522234e-01 -1.39660357e-04 5.08744437e+00] [ 1.35052223e-02 -1.14208234e-03 9.99908148e-01 3.43079657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.95925415399995 meters 0.04902158897096317 Centerline is valid? [True, True] Translation: X:500.78, Y:5.08, Z:3.43 [[ 9.95465508e-01 -9.41119150e-02 -1.38336141e-02 5.00776075e+02] [ 9.41189757e-02 9.95560947e-01 -1.41189190e-04 5.08207567e+00] [ 1.37854935e-02 -1.16145662e-03 9.99904301e-01 3.43041073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9892541539999 meters 0.04447549240268462 Centerline is valid? [True, True] Translation: X:500.81, Y:5.09, Z:3.43 [[ 9.95563566e-01 -9.30565974e-02 -1.39159956e-02 5.00807966e+02] [ 9.30636590e-02 9.95660151e-01 -1.40665837e-04 5.08926685e+00] [ 1.38686922e-02 -1.15503169e-03 9.99903158e-01 3.43162058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.01925415399995 meters 0.04433889148926448 Centerline is valid? [True, True] Translation: X:500.84, Y:5.09, Z:3.43 [[ 9.95870542e-01 -8.97924817e-02 -1.33855642e-02 5.00837355e+02] [ 8.97987257e-02 9.95959924e-01 -1.35047438e-04 5.09200141e+00] [ 1.33436117e-02 -1.06751684e-03 9.99910400e-01 3.43250037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0492541539999 meters 0.04363071553309784 Centerline is valid? [True, True] Translation: X:500.87, Y:5.09, Z:3.43 [[ 9.96043224e-01 -8.79532320e-02 -1.27328610e-02 5.00869262e+02] [ 8.79587350e-02 9.96124111e-01 -1.28258350e-04 5.09459766e+00] [ 1.26947905e-02 -9.92215483e-04 9.99918926e-01 3.43375055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.07925415399995 meters 0.04317028181791713 Centerline is valid? [True, True] Translation: X:500.90, Y:5.10, Z:3.43 [[ 9.96234652e-01 -8.58502898e-02 -1.20932404e-02 5.00899901e+02] [ 8.58551049e-02 9.96307626e-01 -1.21381931e-04 5.09691311e+00] [ 1.20590083e-02 -9.17341539e-04 9.99926867e-01 3.43462171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1092541539999 meters 0.03852388251141053 Centerline is valid? [True, True] Translation: X:500.93, Y:5.11, Z:3.44 [[ 9.96587490e-01 -8.18206346e-02 -1.08976429e-02 5.00930612e+02] [ 8.18243061e-02 9.96646763e-01 -1.09271708e-04 5.10521135e+00] [ 1.08700412e-02 -7.82793250e-04 9.99940613e-01 3.43672824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.13925415399996 meters 0.03785771775991793 Centerline is valid? [True, True] Translation: X:500.96, Y:5.11, Z:3.44 [[ 9.96737949e-01 -8.00065578e-02 -1.06024597e-02 5.00962175e+02] [ 8.00099330e-02 9.96794061e-01 -1.06113072e-04 5.10725952e+00] [ 1.05769586e-02 -7.42535166e-04 9.99943787e-01 3.43717172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.16925415399993 meters 0.04251934756167063 Centerline is valid? [True, True] Translation: X:500.99, Y:5.10, Z:3.44 [[ 9.96852896e-01 -7.85713161e-02 -1.05286538e-02 5.00992808e+02] [ 7.85745694e-02 9.96908234e-01 -1.04945499e-04 5.10220540e+00] [ 1.05043474e-02 -7.22669217e-04 9.99944567e-01 3.43708561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.19925415399996 meters 0.0415831510637969 Centerline is valid? [True, True] Translation: X:501.02, Y:5.10, Z:3.44 [[ 9.97059006e-01 -7.58839495e-02 -1.07221988e-02 5.01023915e+02] [ 7.58871709e-02 9.97116405e-01 -1.06671752e-04 5.10495581e+00] [ 1.06993750e-02 -7.07319300e-04 9.99942510e-01 3.43686219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.22925415399993 meters 0.03489373266090307 Centerline is valid? [True, True] Translation: X:501.06, Y:5.11, Z:3.44 [[ 9.97158198e-01 -7.45079156e-02 -1.11399627e-02 5.01055804e+02] [ 7.45113116e-02 9.97220162e-01 -1.10453093e-04 5.11443555e+00] [ 1.11172250e-02 -7.19914023e-04 9.99937943e-01 3.43716634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.25925415399996 meters 0.041327952720500674 Centerline is valid? [True, True] Translation: X:501.09, Y:5.11, Z:3.44 [[ 9.97253082e-01 -7.31546667e-02 -1.16053665e-02 5.01087188e+02] [ 7.31582685e-02 9.97320337e-01 -1.14440633e-04 5.10709573e+00] [ 1.15826398e-02 -7.34902241e-04 9.99932649e-01 3.43584425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.28925415399993 meters 0.041327952720500674 Centerline is valid? [True, True] Translation: X:501.12, Y:5.11, Z:3.44 [[ 9.97260300e-01 -7.30562012e-02 -1.16053745e-02 5.01119786e+02] [ 7.30598059e-02 9.97327555e-01 -1.13619084e-04 5.10730972e+00] [ 1.15826604e-02 -7.34578606e-04 9.99932649e-01 3.43607004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3192541539999 meters 0.032221714481886744 Centerline is valid? [True, True] Translation: X:501.15, Y:5.12, Z:3.44 [[ 9.97488017e-01 -6.96909391e-02 -1.26818090e-02 5.01150567e+02] [ 6.96949833e-02 9.97568341e-01 -1.23307762e-04 5.12118686e+00] [ 1.26595646e-02 -7.60860449e-04 9.99919575e-01 3.43616790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.34925415399994 meters 0.03285041528720313 Centerline is valid? [True, True] Translation: X:501.18, Y:5.12, Z:3.44 [[ 9.97644368e-01 -6.74001175e-02 -1.27647295e-02 5.01181111e+02] [ 6.74040308e-02 9.97725755e-01 -1.23885740e-04 5.12148369e+00] [ 1.27440493e-02 -7.36800310e-04 9.99918520e-01 3.43579088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3792541539999 meters 0.028992142361543145 Centerline is valid? [True, True] Translation: X:501.21, Y:5.13, Z:3.44 [[ 9.97970749e-01 -6.21847140e-02 -1.36910430e-02 5.01211819e+02] [ 6.21887288e-02 9.98064399e-01 -1.32705734e-04 5.12894893e+00] [ 1.36727949e-02 -7.18992119e-04 9.99906264e-01 3.43576376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.40925415399994 meters 0.02966257432808845 Centerline is valid? [True, True] Translation: X:501.24, Y:5.13, Z:3.44 [[ 9.98154766e-01 -5.91277288e-02 -1.38193634e-02 5.01242462e+02] [ 5.91315309e-02 9.98250191e-01 -1.33667062e-04 5.12912005e+00] [ 1.38030856e-02 -6.83739702e-04 9.99904499e-01 3.43534881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4392541539999 meters 0.028299055412275658 Centerline is valid? [True, True] Translation: X:501.27, Y:5.13, Z:3.44 [[ 9.98331335e-01 -5.60614667e-02 -1.38440385e-02 5.01273786e+02] [ 5.60649950e-02 9.98427112e-01 -1.33420394e-04 5.13262108e+00] [ 1.38297431e-02 -6.42968189e-04 9.99904158e-01 3.43561351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.46925415399994 meters 0.02561831756933531 Centerline is valid? [True, True] Translation: X:501.30, Y:5.14, Z:3.44 [[ 9.98698955e-01 -4.91609733e-02 -1.35497891e-02 5.01303138e+02] [ 4.91637206e-02 9.98790725e-01 -1.30460747e-04 5.13872206e+00] [ 1.35398173e-02 -5.35867035e-04 9.99908189e-01 3.43634190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4992541539999 meters 0.024371141463271653 Centerline is valid? [True, True] Translation: X:501.33, Y:5.14, Z:3.44 [[ 9.98866680e-01 -4.57388530e-02 -1.31648562e-02 5.01333756e+02] [ 4.57411510e-02 9.98953318e-01 -1.26655838e-04 5.14142755e+00] [ 1.31568699e-02 -4.75663380e-04 9.99913332e-01 3.43675336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.52925415399994 meters 0.020821607360714933 Centerline is valid? [True, True] Translation: X:501.36, Y:5.15, Z:3.44 [[ 9.99167178e-01 -3.88806331e-02 -1.23792935e-02 5.01364978e+02] [ 3.88821429e-02 9.99243797e-01 -1.18785085e-04 5.14894483e+00] [ 1.23745506e-02 -3.62647299e-04 9.99923367e-01 3.43734008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5592541539999 meters 0.019258566640927073 Centerline is valid? [True, True] Translation: X:501.40, Y:5.15, Z:3.44 [[ 9.99286782e-01 -3.55756933e-02 -1.26608876e-02 5.01396066e+02] [ 3.55770115e-02 9.99366930e-01 -1.21166891e-04 5.15272627e+00] [ 1.26571830e-02 -3.29356072e-04 9.99919840e-01 3.43769686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.58925415399995 meters 0.018334271452733936 Centerline is valid? [True, True] Translation: X:501.43, Y:5.16, Z:3.44 [[ 9.99385366e-01 -3.25982515e-02 -1.28935541e-02 5.01428549e+02] [ 3.25993795e-02 9.99468491e-01 -1.22728412e-04 5.15553900e+00] [ 1.28907018e-02 -2.97668885e-04 9.99916867e-01 3.43754482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6192541539999 meters 0.01765262281602774 Centerline is valid? [True, True] Translation: X:501.46, Y:5.16, Z:3.44 [[ 9.99453088e-01 -3.02054674e-02 -1.34593967e-02 5.01460757e+02] [ 3.02064927e-02 9.99543672e-01 -1.27151978e-04 5.15748419e+00] [ 1.34570955e-02 -2.79478733e-04 9.99909410e-01 3.43752380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.64925415399995 meters 0.017480579494523536 Centerline is valid? [True, True] Translation: X:501.49, Y:5.16, Z:3.44 [[ 9.99521479e-01 -2.74930156e-02 -1.41755973e-02 5.01490940e+02] [ 2.74938943e-02 9.99621963e-01 -1.32925711e-04 5.15898845e+00] [ 1.41738930e-02 -2.56880272e-04 9.99899512e-01 3.43675235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6792541539999 meters 0.016750537921462357 Centerline is valid? [True, True] Translation: X:501.52, Y:5.16, Z:3.44 [[ 9.99511616e-01 -2.74225293e-02 -1.49844754e-02 5.01522476e+02] [ 2.74235149e-02 9.99623895e-01 -1.39734418e-04 5.16034146e+00] [ 1.49826715e-02 -2.71260811e-04 9.99887717e-01 3.43773386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.70925415399995 meters 0.016674780998587876 Centerline is valid? [True, True] Translation: X:501.55, Y:5.16, Z:3.44 [[ 9.99491633e-01 -2.80321084e-02 -1.51880305e-02 5.01554154e+02] [ 2.80331997e-02 9.99606983e-01 -1.41086528e-04 5.15948803e+00] [ 1.51860163e-02 -2.84754287e-04 9.99884645e-01 3.43840331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7392541539999 meters 0.017284828119873634 Centerline is valid? [True, True] Translation: X:501.58, Y:5.16, Z:3.44 [[ 9.99455805e-01 -2.92352908e-02 -1.52771911e-02 5.01584081e+02] [ 2.92365505e-02 9.99572511e-01 -1.40925760e-04 5.15789686e+00] [ 1.52747803e-02 -3.05803301e-04 9.99883287e-01 3.43854122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.76925415399995 meters 0.017838057799468246 Centerline is valid? [True, True] Translation: X:501.62, Y:5.15, Z:3.44 [[ 9.99362836e-01 -3.22579706e-02 -1.52756145e-02 5.01615826e+02] [ 3.22595968e-02 9.99479514e-01 -1.39998497e-04 5.15484752e+00] [ 1.52721798e-02 -3.52875869e-04 9.99883311e-01 3.43989271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7992541539999 meters 0.018281980003504356 Centerline is valid? [True, True] Translation: X:501.65, Y:5.15, Z:3.44 [[ 9.99310297e-01 -3.39362951e-02 -1.50750580e-02 5.01646871e+02] [ 3.39380779e-02 9.99423928e-01 -1.37624185e-04 5.15270334e+00] [ 1.50710442e-02 -3.74089228e-04 9.99886355e-01 3.44041138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.82925415399995 meters 0.019859605992101688 Centerline is valid? [True, True] Translation: X:501.68, Y:5.15, Z:3.44 [[ 9.99228967e-01 -3.61504754e-02 -1.53171314e-02 5.01679049e+02] [ 3.61525891e-02 9.99346272e-01 -1.38968932e-04 5.14920921e+00] [ 1.53121420e-02 -4.14892176e-04 9.99882676e-01 3.43989302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8592541539999 meters 0.020009887789512352 Centerline is valid? [True, True] Translation: X:501.71, Y:5.15, Z:3.44 [[ 9.99165723e-01 -3.78123336e-02 -1.54300456e-02 5.01709889e+02] [ 3.78147010e-02 9.99284759e-01 -1.38405743e-04 5.14606272e+00] [ 1.54242429e-02 -4.45192288e-04 9.99880940e-01 3.44153391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.88925415399996 meters 0.020557289633647106 Centerline is valid? [True, True] Translation: X:501.74, Y:5.14, Z:3.44 [[ 9.99139473e-01 -3.84123176e-02 -1.56463325e-02 5.01741120e+02] [ 3.84148465e-02 9.99261868e-01 -1.38996431e-04 5.14409617e+00] [ 1.56401227e-02 -4.62174642e-04 9.99877579e-01 3.44212940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.91925415399993 meters 0.019881321589818337 Centerline is valid? [True, True] Translation: X:501.77, Y:5.14, Z:3.44 [[ 9.99122126e-01 -3.89650756e-02 -1.53850838e-02 5.01773707e+02] [ 3.89676010e-02 9.99240465e-01 -1.35711080e-04 5.14414907e+00] [ 1.53786863e-02 -4.63927866e-04 9.99881633e-01 3.44356670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.94925415399996 meters 0.020309854791503955 Centerline is valid? [True, True] Translation: X:501.80, Y:5.14, Z:3.45 [[ 9.99117079e-01 -3.93183398e-02 -1.48030927e-02 5.01804827e+02] [ 3.93207297e-02 9.99226633e-01 -1.29679733e-04 5.14122751e+00] [ 1.47967433e-02 -4.52503171e-04 9.99890420e-01 3.44515183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.97925415399993 meters 0.02081959176447179 Centerline is valid? [True, True] Translation: X:501.84, Y:5.14, Z:3.45 [[ 9.99116299e-01 -3.94032787e-02 -1.46288197e-02 5.01836479e+02] [ 3.94056331e-02 9.99223288e-01 -1.27381495e-04 5.13948575e+00] [ 1.46224766e-02 -4.49188974e-04 9.99892985e-01 3.44587419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.00925415399996 meters 0.020482493777192596 Centerline is valid? [True, True] Translation: X:501.87, Y:5.14, Z:3.45 [[ 9.99097496e-01 -3.98107296e-02 -1.48087249e-02 5.01868307e+02] [ 3.98132008e-02 9.99207132e-01 -1.28015765e-04 5.13939797e+00] [ 1.48020799e-02 -4.61682507e-04 9.99890337e-01 3.44674808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.03925415399993 meters 0.021378234620657268 Centerline is valid? [True, True] Translation: X:501.90, Y:5.14, Z:3.45 [[ 9.99058035e-01 -4.04573144e-02 -1.56922957e-02 5.01899176e+02] [ 4.04601845e-02 9.99181142e-01 -1.34663910e-04 5.13533494e+00] [ 1.56848941e-02 -5.00376116e-04 9.99876859e-01 3.44678546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.0692541539999 meters 0.021715200314696353 Centerline is valid? [True, True] Translation: X:501.93, Y:5.13, Z:3.45 [[ 9.99032957e-01 -4.08985786e-02 -1.61386718e-02 5.01930950e+02] [ 4.09016884e-02 9.99163166e-01 -1.37473463e-04 5.13368427e+00] [ 1.61307889e-02 -5.22758403e-04 9.99869754e-01 3.44661691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.09925415399994 meters 0.021919884332181817 Centerline is valid? [True, True] Translation: X:501.96, Y:5.13, Z:3.45 [[ 9.99011419e-01 -4.11123339e-02 -1.69104004e-02 5.01963179e+02] [ 4.11157991e-02 9.99154378e-01 -1.42848557e-04 5.13197530e+00] [ 1.69019734e-02 -5.52577285e-04 9.99856999e-01 3.44645441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.1292541539999 meters 0.022515008940043765 Centerline is valid? [True, True] Translation: X:501.99, Y:5.13, Z:3.45 [[ 9.98985135e-01 -4.10444457e-02 -1.85486758e-02 5.01994021e+02] [ 4.10486243e-02 9.99157138e-01 -1.55559028e-04 5.12856588e+00] [ 1.85394266e-02 -6.05996468e-04 9.99827946e-01 3.44509616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.15925415399994 meters 0.021140639442462663 Centerline is valid? [True, True] Translation: X:502.03, Y:5.13, Z:3.45 [[ 9.98982727e-01 -4.06292913e-02 -1.95645380e-02 5.02025132e+02] [ 4.06338768e-02 9.99174090e-01 -1.63254415e-04 5.13001766e+00] [ 1.95550124e-02 -6.31894687e-04 9.99808583e-01 3.44555642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.1892541539999 meters 0.02026257610797016 Centerline is valid? [True, True] Translation: X:502.06, Y:5.13, Z:3.45 [[ 9.99046512e-01 -3.82019286e-02 -2.11347818e-02 5.02056507e+02] [ 3.82067537e-02 9.99269840e-01 -1.75588827e-04 5.13052025e+00] [ 2.11260578e-02 -6.32069997e-04 9.99776620e-01 3.44505091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.21925415399994 meters 0.019946000697544375 Centerline is valid? [True, True] Translation: X:502.09, Y:5.13, Z:3.45 [[ 9.99094053e-01 -3.65222188e-02 -2.18449451e-02 5.02087222e+02] [ 3.65269782e-02 9.99332651e-01 -1.81234762e-04 5.13099406e+00] [ 2.18369860e-02 -6.16859263e-04 9.99761354e-01 3.44517281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.2492541539999 meters 0.019521551087427362 Centerline is valid? [True, True] Translation: X:502.12, Y:5.13, Z:3.45 [[ 9.99163930e-01 -3.44371787e-02 -2.20345534e-02 5.02117006e+02] [ 3.44415087e-02 9.99406698e-01 -1.83072053e-04 5.13168420e+00] [ 2.20277848e-02 -5.75984272e-04 9.99757193e-01 3.44554041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.27925415399994 meters 0.018949376371022085 Centerline is valid? [True, True] Translation: X:502.15, Y:5.13, Z:3.45 [[ 9.99225847e-01 -3.21419041e-02 -2.26848878e-02 5.02146958e+02] [ 3.21458873e-02 9.99483170e-01 -1.89146596e-04 5.13297504e+00] [ 2.26792431e-02 -5.40225678e-04 9.99742647e-01 3.44599169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3092541539999 meters 0.017951430689668098 Centerline is valid? [True, True] Translation: X:502.17, Y:5.14, Z:3.45 [[ 9.99360345e-01 -2.74810089e-02 -2.28843735e-02 5.02174623e+02] [ 2.74838040e-02 9.99622230e-01 -1.92424681e-04 5.13502974e+00] [ 2.28810165e-02 -4.36648041e-04 9.99738100e-01 3.44596124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.33925415399995 meters 0.0176786812341092 Centerline is valid? [True, True] Translation: X:502.20, Y:5.14, Z:3.45 [[ 9.99422913e-01 -2.53143085e-02 -2.26500748e-02 5.02202429e+02] [ 2.53164319e-02 9.99679469e-01 -1.93038581e-04 5.13605022e+00] [ 2.26477014e-02 -3.80491894e-04 9.99743436e-01 3.44596771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3692541539999 meters 0.016321151272961142 Centerline is valid? [True, True] Translation: X:502.23, Y:5.14, Z:3.45 [[ 9.99498574e-01 -2.18770819e-02 -2.28909117e-02 5.02231684e+02] [ 2.18782807e-02 9.99760622e-01 -1.98099456e-04 5.13879423e+00] [ 2.28897660e-02 -3.02813667e-04 9.99737949e-01 3.44807178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.39925415399995 meters 0.016737170493821812 Centerline is valid? [True, True] Translation: X:502.26, Y:5.14, Z:3.45 [[ 9.99525162e-01 -2.09407515e-02 -2.26038689e-02 5.02259773e+02] [ 2.09416290e-02 9.99780680e-01 -1.97914271e-04 5.13777979e+00] [ 2.26030559e-02 -2.75541541e-04 9.99744480e-01 3.44677641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4292541539999 meters 0.01560340068639654 Centerline is valid? [True, True] Translation: X:502.29, Y:5.14, Z:3.45 [[ 9.99577810e-01 -1.91288674e-02 -2.18698144e-02 5.02288882e+02] [ 1.91291578e-02 9.99817002e-01 -1.95938069e-04 5.13939422e+00] [ 2.18695603e-02 -2.22495786e-04 9.99760808e-01 3.44984961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.45925415399995 meters 0.015823644556677823 Centerline is valid? [True, True] Translation: X:502.32, Y:5.14, Z:3.45 [[ 9.99562115e-01 -1.93375142e-02 -2.23973164e-02 5.02316807e+02] [ 1.93377278e-02 9.99812987e-01 -2.07064457e-04 5.13875748e+00] [ 2.23971319e-02 -2.26139423e-04 9.99749127e-01 3.45000521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4892541539999 meters 0.015802702234697874 Centerline is valid? [True, True] Translation: X:502.34, Y:5.14, Z:3.45 [[ 9.99549962e-01 -1.95941778e-02 -2.27143609e-02 5.02344174e+02] [ 1.95943840e-02 9.99807989e-01 -2.13511774e-04 5.13755317e+00] [ 2.27141831e-02 -2.31658224e-04 9.99741973e-01 3.44943398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.51925415399995 meters 0.01618888023440602 Centerline is valid? [True, True] Translation: X:502.37, Y:5.13, Z:3.45 [[ 9.99494603e-01 -2.19353123e-02 -2.30082868e-02 5.02372902e+02] [ 2.19360352e-02 9.99759352e-01 -2.20998551e-04 5.13367285e+00] [ 2.30075976e-02 -2.83823731e-04 9.99735250e-01 3.44868290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5492541539999 meters 0.016272345321926188 Centerline is valid? [True, True] Translation: X:502.40, Y:5.13, Z:3.45 [[ 9.99451259e-01 -2.38364093e-02 -2.30001598e-02 5.02401320e+02] [ 2.38375007e-02 9.99715821e-01 -2.26754843e-04 5.13154948e+00] [ 2.29990286e-02 -3.21635913e-04 9.99735436e-01 3.44869943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.57925415399995 meters 0.01664361418882443 Centerline is valid? [True, True] Translation: X:502.43, Y:5.13, Z:3.45 [[ 9.99380543e-01 -2.62990309e-02 -2.33857057e-02 5.02430178e+02] [ 2.63006938e-02 9.99654049e-01 -2.36516636e-04 5.12938747e+00] [ 2.33838356e-02 -3.78690162e-04 9.99726489e-01 3.44878722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6092541539999 meters 0.017369063345318507 Centerline is valid? [True, True] Translation: X:502.46, Y:5.12, Z:3.45 [[ 9.99263872e-01 -3.11479843e-02 -2.23945895e-02 5.02458478e+02] [ 3.11506568e-02 9.99514674e-01 -2.29584147e-04 5.12441521e+00] [ 2.23908719e-02 -4.68191027e-04 9.99749183e-01 3.44959346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.63925415399996 meters 0.018616454668310013 Centerline is valid? [True, True] Translation: X:502.49, Y:5.12, Z:3.45 [[ 9.99178082e-01 -3.41808744e-02 -2.17905640e-02 5.02485942e+02] [ 3.41840672e-02 9.99415528e-01 -2.26058374e-04 5.12068759e+00] [ 2.17855549e-02 -5.19017531e-04 9.99762532e-01 3.44929280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.66925415399993 meters 0.019596185466039077 Centerline is valid? [True, True] Translation: X:502.51, Y:5.12, Z:3.45 [[ 9.99069368e-01 -3.75165248e-02 -2.12816467e-02 5.02514975e+02] [ 3.75202314e-02 9.99295843e-01 -2.25237748e-04 5.11747142e+00] [ 2.12751112e-02 -5.73464175e-04 9.99773495e-01 3.44976864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.69925415399996 meters 0.019989351912892726 Centerline is valid? [True, True] Translation: X:502.54, Y:5.11, Z:3.45 [[ 9.98866388e-01 -4.32996841e-02 -1.97756459e-02 5.02544975e+02] [ 4.33039805e-02 9.99061920e-01 -2.11114777e-04 5.11379428e+00] [ 1.97662360e-02 -6.45488731e-04 9.99804421e-01 3.45155321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.72925415399993 meters 0.022079321245539872 Centerline is valid? [True, True] Translation: X:502.58, Y:5.11, Z:3.45 [[ 9.98758555e-01 -4.58887728e-02 -1.93796278e-02 5.02575087e+02] [ 4.58933876e-02 9.98946322e-01 -2.06785359e-04 5.10859792e+00] [ 1.93686970e-02 -6.82868122e-04 9.99812176e-01 3.45075964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.75925415399996 meters 0.023890153563146603 Centerline is valid? [True, True] Translation: X:502.61, Y:5.10, Z:3.45 [[ 9.98613888e-01 -4.87984855e-02 -1.97233682e-02 5.02605478e+02] [ 4.88038443e-02 9.98808360e-01 -2.09834024e-04 5.10465819e+00] [ 1.97101046e-02 -7.53033018e-04 9.99805453e-01 3.45028773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.78925415399993 meters 0.02407634955092408 Centerline is valid? [True, True] Translation: X:502.64, Y:5.10, Z:3.45 [[ 9.98349916e-01 -5.42594316e-02 -1.87978400e-02 5.02636453e+02] [ 5.42652739e-02 9.98526535e-01 -1.99519751e-04 5.10257356e+00] [ 1.87809679e-02 -8.20879412e-04 9.99823285e-01 3.45162727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8192541539999 meters 0.02556156760336597 Centerline is valid? [True, True] Translation: X:502.67, Y:5.10, Z:3.45 [[ 9.98179556e-01 -5.72174777e-02 -1.90718311e-02 5.02668093e+02] [ 5.72240411e-02 9.98361342e-01 -2.01865267e-04 5.10006090e+00] [ 1.90521291e-02 -8.89869461e-04 9.99818096e-01 3.45185197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.84925415399994 meters 0.02729987160250743 Centerline is valid? [True, True] Translation: X:502.70, Y:5.10, Z:3.45 [[ 9.98022176e-01 -6.00894169e-02 -1.84661626e-02 5.02697899e+02] [ 6.00960829e-02 9.98192578e-01 -1.94225952e-04 5.09697037e+00] [ 1.84444574e-02 -9.15902231e-04 9.99829467e-01 3.45212045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8792541539999 meters 0.029364529595204865 Centerline is valid? [True, True] Translation: X:502.73, Y:5.09, Z:3.45 [[ 9.97629750e-01 -6.62066341e-02 -1.87500088e-02 5.02728920e+02] [ 6.62145954e-02 9.97805386e-01 -1.96575530e-04 5.09226115e+00] [ 1.87218744e-02 -1.04541465e-03 9.99824184e-01 3.45208339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.90925415399994 meters 0.030556081832813824 Centerline is valid? [True, True] Translation: X:502.76, Y:5.09, Z:3.45 [[ 9.97420752e-01 -6.91716847e-02 -1.91604108e-02 5.02760225e+02] [ 6.91805524e-02 9.97604135e-01 -2.00419070e-04 5.08973901e+00] [ 1.91283683e-02 -1.12562566e-03 9.99816402e-01 3.45204336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9392541539999 meters 0.03394129765802563 Centerline is valid? [True, True] Translation: X:502.79, Y:5.08, Z:3.45 [[ 9.97035122e-01 -7.44910814e-02 -1.92884380e-02 5.02789588e+02] [ 7.45010653e-02 9.97220914e-01 -2.01442076e-04 5.08369751e+00] [ 1.92498394e-02 -1.23616435e-03 9.99813940e-01 3.45081578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.96925415399994 meters 0.03411819316945022 Centerline is valid? [True, True] Translation: X:502.82, Y:5.08, Z:3.45 [[ 9.96886851e-01 -7.62485985e-02 -2.00688385e-02 5.02820803e+02] [ 7.62597717e-02 9.97087962e-01 -2.09080530e-04 5.08359629e+00] [ 2.00263394e-02 -1.32201541e-03 9.99798579e-01 3.45083331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9992541539999 meters 0.032295713618805226 Centerline is valid? [True, True] Translation: X:502.85, Y:5.09, Z:3.45 [[ 9.96786043e-01 -7.78145858e-02 -1.90387756e-02 5.02852622e+02] [ 7.78249428e-02 9.96967020e-01 -1.97438635e-04 5.08579956e+00] [ 1.89963950e-02 -1.28488755e-03 9.99818727e-01 3.45186721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.02925415399994 meters 0.033511462445318094 Centerline is valid? [True, True] Translation: X:502.88, Y:5.09, Z:3.45 [[ 9.96676072e-01 -7.92874469e-02 -1.87165308e-02 5.02884626e+02] [ 7.92977379e-02 9.96850958e-01 -1.92850007e-04 5.08537198e+00] [ 1.86728823e-02 -1.29196957e-03 9.99824812e-01 3.45206081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0592541539999 meters 0.036614323420639014 Centerline is valid? [True, True] Translation: X:502.92, Y:5.08, Z:3.45 [[ 9.96706751e-01 -7.89498687e-02 -1.85086910e-02 5.02915582e+02] [ 7.89598955e-02 9.96877775e-01 -1.89569601e-04 5.08184415e+00] [ 1.84658692e-02 -1.27249901e-03 9.99828682e-01 3.45170656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.08925415399995 meters 0.033918102998473726 Centerline is valid? [True, True] Translation: X:502.95, Y:5.09, Z:3.45 [[ 9.96908601e-01 -7.64009395e-02 -1.83340654e-02 5.02946626e+02] [ 7.64103594e-02 9.97076437e-01 -1.87199901e-04 5.08726542e+00] [ 1.82947669e-02 -1.21429133e-03 9.99831899e-01 3.45200122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1192541539999 meters 0.03355898660680415 Centerline is valid? [True, True] Translation: X:502.98, Y:5.09, Z:3.45 [[ 9.97071988e-01 -7.43190948e-02 -1.80033872e-02 5.02977935e+02] [ 7.43278492e-02 9.97233843e-01 -1.83302451e-04 5.08912130e+00] [ 1.79672099e-02 -1.15538731e-03 9.99837909e-01 3.45210099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.14925415399995 meters 0.03133490843934501 Centerline is valid? [True, True] Translation: X:503.01, Y:5.09, Z:3.45 [[ 9.97252792e-01 -7.19221910e-02 -1.77219512e-02 5.03009660e+02] [ 7.19303146e-02 9.97409644e-01 -1.79429039e-04 5.09397613e+00] [ 1.76889500e-02 -1.09580942e-03 9.99842938e-01 3.45248507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1792541539999 meters 0.03133490843934501 Centerline is valid? [True, True] Translation: X:503.04, Y:5.09, Z:3.45 [[ 9.97258026e-01 -7.18495796e-02 -1.77219641e-02 5.03041410e+02] [ 7.18577144e-02 9.97414877e-01 -1.78153906e-04 5.09423410e+00] [ 1.76889509e-02 -1.09579442e-03 9.99842938e-01 3.45270497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.20925415399995 meters 0.031549677498990285 Centerline is valid? [True, True] Translation: X:503.07, Y:5.10, Z:3.45 [[ 9.97593292e-01 -6.70898145e-02 -1.75094223e-02 5.03071306e+02] [ 6.70970302e-02 9.97746440e-01 -1.75690590e-04 5.09792141e+00] [ 1.74817508e-02 -9.99562483e-04 9.99846683e-01 3.45281417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2392541539999 meters 0.02929535337026257 Centerline is valid? [True, True] Translation: X:503.10, Y:5.10, Z:3.45 [[ 9.97752876e-01 -6.46190358e-02 -1.77081257e-02 5.03103036e+02] [ 6.46260366e-02 9.97909537e-01 -1.77217789e-04 5.10309525e+00] [ 1.76825592e-02 -9.67586425e-04 9.99843183e-01 3.45308861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.26925415399995 meters 0.027385840662777487 Centerline is valid? [True, True] Translation: X:503.14, Y:5.11, Z:3.45 [[ 9.97911752e-01 -6.20744975e-02 -1.78575311e-02 5.03135040e+02] [ 6.20812280e-02 9.98071084e-01 -1.77741129e-04 5.10773857e+00] [ 1.78341187e-02 -9.31247502e-04 9.99840526e-01 3.45331230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2992541539999 meters 0.028170972559092112 Centerline is valid? [True, True] Translation: X:503.17, Y:5.11, Z:3.45 [[ 9.98063031e-01 -5.95731115e-02 -1.79228964e-02 5.03165660e+02] [ 5.95795030e-02 9.98223548e-01 -1.77615804e-04 5.10888852e+00] [ 1.79016384e-02 -8.90565492e-04 9.99839356e-01 3.45284167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.32925415399995 meters 0.026996652635798764 Centerline is valid? [True, True] Translation: X:503.20, Y:5.11, Z:3.45 [[ 9.98408630e-01 -5.35349356e-02 -1.77262218e-02 5.03195504e+02] [ 5.35402389e-02 9.98565677e-01 -1.75596884e-04 5.11464433e+00] [ 1.77101972e-02 -7.73748705e-04 9.99842863e-01 3.45237609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3592541539999 meters 0.02388002661653244 Centerline is valid? [True, True] Translation: X:503.23, Y:5.12, Z:3.45 [[ 9.98596013e-01 -5.00044241e-02 -1.74803025e-02 5.03226802e+02] [ 5.00090458e-02 9.98748750e-01 -1.72898210e-04 5.12142760e+00] [ 1.74670759e-02 -7.01517784e-04 9.99847193e-01 3.45303846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.38925415399996 meters 0.02202215989284006 Centerline is valid? [True, True] Translation: X:503.26, Y:5.13, Z:3.45 [[ 9.98952531e-01 -4.20630076e-02 -1.80150877e-02 5.03256162e+02] [ 4.20666278e-02 9.99114792e-01 -1.78109441e-04 5.12940363e+00] [ 1.80066324e-02 -5.79911113e-04 9.99837699e-01 3.45256876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.41925415399993 meters 0.01913401797742476 Centerline is valid? [True, True] Translation: X:503.29, Y:5.14, Z:3.45 [[ 9.99139012e-01 -3.76064778e-02 -1.75210857e-02 5.03287306e+02] [ 3.76092223e-02 9.99292508e-01 -1.72949087e-04 5.13742755e+00] [ 1.75151937e-02 -4.86154229e-04 9.99846479e-01 3.45418166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.44925415399996 meters 0.018050797712081026 Centerline is valid? [True, True] Translation: X:503.32, Y:5.14, Z:3.46 [[ 9.99301480e-01 -3.34750105e-02 -1.66125384e-02 5.03317983e+02] [ 3.34769111e-02 9.99439478e-01 -1.63743425e-04 5.14241231e+00] [ 1.66087080e-02 -3.92507424e-04 9.99861989e-01 3.45502027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.47925415399993 meters 0.01621023020165615 Centerline is valid? [True, True] Translation: X:503.35, Y:5.15, Z:3.46 [[ 9.99568773e-01 -2.54574976e-02 -1.46349943e-02 5.03349082e+02] [ 2.54581154e-02 9.99675879e-01 -1.44109531e-04 5.15148492e+00] [ 1.46339195e-02 -2.28531988e-04 9.99892892e-01 3.45733613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.50925415399996 meters 0.015724997551346466 Centerline is valid? [True, True] Translation: X:503.38, Y:5.15, Z:3.46 [[ 9.99666936e-01 -2.20288221e-02 -1.34442884e-02 5.03378172e+02] [ 2.20290335e-02 9.99757323e-01 -1.32386415e-04 5.15427935e+00] [ 1.34439421e-02 -1.63822356e-04 9.99909613e-01 3.45829824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.53925415399993 meters 0.015438698298436653 Centerline is valid? [True, True] Translation: X:503.41, Y:5.16, Z:3.46 [[ 9.99742038e-01 -1.89415945e-02 -1.25328862e-02 5.03408889e+02] [ 1.89415341e-02 9.99820585e-01 -1.23529729e-04 5.15740541e+00] [ 1.25329775e-02 -1.13894229e-04 9.99921453e-01 3.45923435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.5692541539999 meters 0.015111701939760573 Centerline is valid? [True, True] Translation: X:503.44, Y:5.16, Z:3.46 [[ 9.99818478e-01 -1.48519655e-02 -1.19344087e-02 5.03438910e+02] [ 1.48516194e-02 9.99889702e-01 -1.17630867e-04 5.16160120e+00] [ 1.19348394e-02 -5.96357816e-05 9.99928775e-01 3.45988099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.59925415399994 meters 0.0150477169261193 Centerline is valid? [True, True] Translation: X:503.47, Y:5.16, Z:3.46 [[ 9.99835654e-01 -1.36506457e-02 -1.19299859e-02 5.03468319e+02] [ 1.36502122e-02 9.99906825e-01 -1.17767851e-04 5.16271825e+00] [ 1.19304819e-02 -4.50983434e-05 9.99928828e-01 3.45970962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.6292541539999 meters 0.015017891270850542 Centerline is valid? [True, True] Translation: X:503.50, Y:5.16, Z:3.46 [[ 9.99833782e-01 -1.35193068e-02 -1.22326254e-02 5.03496866e+02] [ 1.35188215e-02 9.99908609e-01 -1.22370341e-04 5.16313819e+00] [ 1.22331618e-02 -4.30206778e-05 9.99925171e-01 3.45962511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.65925415399994 meters 0.015186654716475272 Centerline is valid? [True, True] Translation: X:503.53, Y:5.16, Z:3.46 [[ 9.99791894e-01 -1.60657242e-02 -1.25722606e-02 5.03525494e+02] [ 1.60653717e-02 9.99870935e-01 -1.29043396e-04 5.16069970e+00] [ 1.25727111e-02 -7.29614968e-05 9.99920958e-01 3.45856607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.6892541539999 meters 0.015460174513658517 Centerline is valid? [True, True] Translation: X:503.55, Y:5.16, Z:3.46 [[ 9.99744326e-01 -1.84888457e-02 -1.30171321e-02 5.03554648e+02] [ 1.84886447e-02 9.99829061e-01 -1.35787203e-04 5.15800750e+00] [ 1.30174175e-02 -1.04916645e-04 9.99915264e-01 3.45755388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.71925415399994 meters 0.0160120815643272 Centerline is valid? [True, True] Translation: X:503.58, Y:5.15, Z:3.46 [[ 9.99598462e-01 -2.47678713e-02 -1.37647319e-02 5.03584675e+02] [ 2.47682328e-02 9.99693210e-01 -1.44235181e-04 5.15262182e+00] [ 1.37640814e-02 -1.96750819e-04 9.99905251e-01 3.45666999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.7492541539999 meters 0.016653827937120287 Centerline is valid? [True, True] Translation: X:503.62, Y:5.15, Z:3.46 [[ 9.99503077e-01 -2.81338304e-02 -1.42157181e-02 5.03615483e+02] [ 2.81345526e-02 9.99604134e-01 -1.49222042e-04 5.14928501e+00] [ 1.42142888e-02 -2.50804978e-04 9.99898940e-01 3.45601326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.77925415399994 meters 0.017312298380783183 Centerline is valid? [True, True] Translation: X:503.65, Y:5.15, Z:3.46 [[ 9.99400143e-01 -3.14592783e-02 -1.44799472e-02 5.03645278e+02] [ 3.14603764e-02 9.99504988e-01 -1.51995649e-04 5.14588159e+00] [ 1.44775612e-02 -3.03640118e-04 9.99895149e-01 3.45574873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8092541539999 meters 0.018075750698823324 Centerline is valid? [True, True] Translation: X:503.68, Y:5.14, Z:3.46 [[ 9.99231336e-01 -3.62269325e-02 -1.49782166e-02 5.03676511e+02] [ 3.62286472e-02 9.99343515e-01 -1.56930280e-04 5.14149729e+00] [ 1.49740687e-02 -3.85830872e-04 9.99887808e-01 3.45529265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.83925415399995 meters 0.019162457722862635 Centerline is valid? [True, True] Translation: X:503.71, Y:5.14, Z:3.45 [[ 9.99200382e-01 -3.71761060e-02 -1.47150779e-02 5.03707447e+02] [ 3.71778809e-02 9.99308652e-01 -1.53007529e-04 5.13817895e+00] [ 1.47105929e-02 -3.94190234e-04 9.99891716e-01 3.45480267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8692541539999 meters 0.01816331126526813 Centerline is valid? [True, True] Translation: X:503.74, Y:5.14, Z:3.46 [[ 9.99214625e-01 -3.71107403e-02 -1.38897561e-02 5.03740071e+02] [ 3.71123333e-02 9.99311090e-01 -1.43139611e-04 5.13791062e+00] [ 1.38854993e-02 -3.72454065e-04 9.99903522e-01 3.45586027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.89925415399995 meters 0.018280752900559454 Centerline is valid? [True, True] Translation: X:503.77, Y:5.14, Z:3.46 [[ 9.99251131e-01 -3.64502718e-02 -1.29828467e-02 5.03771273e+02] [ 3.64516184e-02 9.99335410e-01 -1.32977550e-04 5.13674956e+00] [ 1.29790655e-02 -3.40367807e-04 9.99915710e-01 3.45638047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9292541539999 meters 0.018100483926830467 Centerline is valid? [True, True] Translation: X:503.80, Y:5.14, Z:3.46 [[ 9.99293995e-01 -3.55249089e-02 -1.22266680e-02 5.03803885e+02] [ 3.55260431e-02 9.99368743e-01 -1.24483289e-04 5.13646244e+00] [ 1.22233720e-02 -3.09969729e-04 9.99925244e-01 3.45694549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.95925415399995 meters 0.017648063207302143 Centerline is valid? [True, True] Translation: X:503.84, Y:5.14, Z:3.46 [[ 9.99396290e-01 -3.33038108e-02 -9.89507066e-03 5.03836409e+02] [ 3.33044510e-02 9.99445248e-01 -1.00116440e-04 5.13512921e+00] [ 9.89291561e-03 -2.29493897e-04 9.99951038e-01 3.45720906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9892541539999 meters 0.017851958723154725 Centerline is valid? [True, True] Translation: X:503.87, Y:5.13, Z:3.46 [[ 9.99436432e-01 -3.20654839e-02 -9.93093679e-03 5.03868519e+02] [ 3.20660750e-02 9.99485746e-01 -9.97477880e-05 5.13432440e+00] [ 9.92902823e-03 -2.18754590e-04 9.99950682e-01 3.45719910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.01925415399995 meters 0.01809479439348588 Centerline is valid? [True, True] Translation: X:503.90, Y:5.13, Z:3.46 [[ 9.99441894e-01 -3.20515739e-02 -9.41258191e-03 5.03899579e+02] [ 3.20521101e-02 9.99486195e-01 -9.39196202e-05 5.13161768e+00] [ 9.41075595e-03 -2.07825909e-04 9.99955696e-01 3.45700039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0492541539999 meters 0.017807662626139472 Centerline is valid? [True, True] Translation: X:503.93, Y:5.13, Z:3.46 [[ 9.99440894e-01 -3.19606630e-02 -9.81914209e-03 5.03931349e+02] [ 3.19612480e-02 9.99489104e-01 -9.73738341e-05 5.12907666e+00] [ 9.81723766e-03 -2.16512643e-04 9.99951786e-01 3.45582992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.07925415399995 meters 0.01734532252500736 Centerline is valid? [True, True] Translation: X:503.96, Y:5.13, Z:3.46 [[ 9.99414740e-01 -3.24431031e-02 -1.08454289e-02 5.03963055e+02] [ 3.24438535e-02 9.99473554e-01 -1.06794629e-04 5.12858065e+00] [ 1.08431842e-02 -2.45135381e-04 9.99941181e-01 3.45537428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1092541539999 meters 0.01786259636471942 Centerline is valid? [True, True] Translation: X:503.99, Y:5.12, Z:3.45 [[ 9.99364353e-01 -3.34446930e-02 -1.23426831e-02 5.03993920e+02] [ 3.34457501e-02 9.99440527e-01 -1.20812916e-04 5.12459520e+00] [ 1.23398183e-02 -2.92074173e-04 9.99923819e-01 3.45323842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.13925415399996 meters 0.0181973474020089 Centerline is valid? [True, True] Translation: X:504.03, Y:5.12, Z:3.45 [[ 9.99351736e-01 -3.35285200e-02 -1.31128402e-02 5.04025224e+02] [ 3.35297286e-02 9.99437712e-01 -1.27725693e-04 5.12367548e+00] [ 1.31097495e-02 -3.12027080e-04 9.99914015e-01 3.45273738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.16925415399993 meters 0.01759121377057579 Centerline is valid? [True, True] Translation: X:504.06, Y:5.12, Z:3.45 [[ 9.99329799e-01 -3.39589194e-02 -1.36654801e-02 5.04056587e+02] [ 3.39602793e-02 9.99423175e-01 -1.32598671e-04 5.12229623e+00] [ 1.36621004e-02 -3.31573718e-04 9.99906614e-01 3.45286571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.19925415399996 meters 0.017749703397266604 Centerline is valid? [True, True] Translation: X:504.09, Y:5.12, Z:3.45 [[ 9.99324612e-01 -3.40408284e-02 -1.38398417e-02 5.04088321e+02] [ 3.40422380e-02 9.99420386e-01 -1.33783807e-04 5.12069210e+00] [ 1.38363740e-02 -3.37445733e-04 9.99904216e-01 3.45273025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.22925415399993 meters 0.017777249698408455 Centerline is valid? [True, True] Translation: X:504.12, Y:5.12, Z:3.45 [[ 9.99328674e-01 -3.36972312e-02 -1.43769984e-02 5.04118710e+02] [ 3.36987226e-02 9.99432027e-01 -1.38581055e-04 5.11840400e+00] [ 1.43735025e-02 -3.45998460e-04 9.99896636e-01 3.45318413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.25925415399996 meters 0.017827039260472355 Centerline is valid? [True, True] Translation: X:504.15, Y:5.12, Z:3.45 [[ 9.99340577e-01 -3.33966550e-02 -1.42504420e-02 5.04148625e+02] [ 3.33980932e-02 9.99442119e-01 -1.37107155e-04 5.11770565e+00] [ 1.42470708e-02 -3.38920846e-04 9.99898448e-01 3.45364133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.28925415399993 meters 0.017355997298137575 Centerline is valid? [True, True] Translation: X:504.18, Y:5.12, Z:3.45 [[ 9.99383470e-01 -3.17490488e-02 -1.49892525e-02 5.04178721e+02] [ 3.17504569e-02 9.99495817e-01 -1.44085664e-04 5.11742609e+00] [ 1.49862697e-02 -3.31918783e-04 9.99887644e-01 3.45358334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3192541539999 meters 0.01687143093718332 Centerline is valid? [True, True] Translation: X:504.21, Y:5.12, Z:3.45 [[ 9.99402380e-01 -3.08344665e-02 -1.56243235e-02 5.04209528e+02] [ 3.08358847e-02 9.99524450e-01 -1.50190347e-04 5.11776529e+00] [ 1.56215244e-02 -3.31689248e-04 9.99877922e-01 3.45368559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.34925415399994 meters 0.01716891279134122 Centerline is valid? [True, True] Translation: X:504.24, Y:5.12, Z:3.45 [[ 9.99420682e-01 -2.99187482e-02 -1.62224833e-02 5.04238713e+02] [ 2.99201538e-02 9.99552280e-01 -1.56107099e-04 5.11639730e+00] [ 1.62198907e-02 -3.29362533e-04 9.99868395e-01 3.45298673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3792541539999 meters 0.01698800560504208 Centerline is valid? [True, True] Translation: X:504.27, Y:5.11, Z:3.45 [[ 9.99450073e-01 -2.86716948e-02 -1.66578986e-02 5.04267824e+02] [ 2.86729988e-02 9.99588832e-01 -1.60594146e-04 5.11490409e+00] [ 1.66556539e-02 -3.17126076e-04 9.99861235e-01 3.45253051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.40925415399994 meters 0.01613034575573434 Centerline is valid? [True, True] Translation: X:504.30, Y:5.12, Z:3.45 [[ 9.99447598e-01 -2.87554784e-02 -1.66619573e-02 5.04297527e+02] [ 2.87567867e-02 9.99586425e-01 -1.61111607e-04 5.11599722e+00] [ 1.66596992e-02 -3.18121744e-04 9.99861167e-01 3.45417209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4392541539999 meters 0.016576315504467008 Centerline is valid? [True, True] Translation: X:504.33, Y:5.11, Z:3.45 [[ 9.99436019e-01 -2.94550271e-02 -1.61259215e-02 5.04326502e+02] [ 2.94563315e-02 9.99566056e-01 -1.56678142e-04 5.11434041e+00] [ 1.61235387e-02 -3.18420713e-04 9.99869957e-01 3.45421156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.46925415399994 meters 0.01682221938927798 Centerline is valid? [True, True] Translation: X:504.36, Y:5.11, Z:3.45 [[ 9.99398327e-01 -3.07139681e-02 -1.61132549e-02 5.04355745e+02] [ 3.07154225e-02 9.99528158e-01 -1.57265958e-04 5.11348420e+00] [ 1.61104822e-02 -3.37754097e-04 9.99870161e-01 3.45488904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4992541539999 meters 0.01746369051213403 Centerline is valid? [True, True] Translation: X:504.38, Y:5.11, Z:3.45 [[ 9.99358961e-01 -3.22555901e-02 -1.55320482e-02 5.04384761e+02] [ 3.22571303e-02 9.99479592e-01 -1.51418098e-04 5.11136213e+00] [ 1.55288492e-02 -3.49698269e-04 9.99879359e-01 3.45498214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.52925415399994 meters 0.01824974629817201 Centerline is valid? [True, True] Translation: X:504.42, Y:5.11, Z:3.46 [[ 9.99242807e-01 -3.59811847e-02 -1.48043041e-02 5.04415350e+02] [ 3.59829972e-02 9.99352392e-01 -1.44003609e-04 5.10743766e+00] [ 1.47998981e-02 -3.88808661e-04 9.99890400e-01 3.45578524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5592541539999 meters 0.01875289186590919 Centerline is valid? [True, True] Translation: X:504.45, Y:5.11, Z:3.46 [[ 9.99179558e-01 -3.78788574e-02 -1.43319062e-02 5.04446866e+02] [ 3.78807549e-02 9.99282257e-01 -1.39141938e-04 5.10586905e+00] [ 1.43268901e-02 -4.03875648e-04 9.99897283e-01 3.45651694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.58925415399995 meters 0.018683559323077147 Centerline is valid? [True, True] Translation: X:504.48, Y:5.10, Z:3.46 [[ 9.99066350e-01 -4.11342128e-02 -1.32062494e-02 5.04478509e+02] [ 4.11361142e-02 9.99153544e-01 -1.27751088e-04 5.10412591e+00] [ 1.32003258e-02 -4.15621969e-04 9.99912786e-01 3.45827209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6192541539999 meters 0.019332799495783884 Centerline is valid? [True, True] Translation: X:504.51, Y:5.10, Z:3.46 [[ 9.99008079e-01 -4.27222327e-02 -1.25566191e-02 5.04510580e+02] [ 4.27240851e-02 9.99086902e-01 -1.20805641e-04 5.10292518e+00] [ 1.25503148e-02 -4.15784252e-04 9.99921155e-01 3.45860337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.64925415399995 meters 0.02115036797743422 Centerline is valid? [True, True] Translation: X:504.54, Y:5.10, Z:3.46 [[ 9.98963475e-01 -4.38754880e-02 -1.21209519e-02 5.04541384e+02] [ 4.38773129e-02 9.99036920e-01 -1.15450040e-04 5.09962219e+00] [ 1.21143439e-02 -4.16504428e-04 9.99926532e-01 3.45853425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6792541539999 meters 0.020544442033594634 Centerline is valid? [True, True] Translation: X:504.57, Y:5.10, Z:3.46 [[ 9.98864589e-01 -4.62507151e-02 -1.14194365e-02 5.04573225e+02] [ 4.62525024e-02 9.98929775e-01 -1.07677826e-04 5.10057775e+00] [ 1.14121953e-02 -4.20621949e-04 9.99934790e-01 3.45919341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.70925415399995 meters 0.020625214547170194 Centerline is valid? [True, True] Translation: X:504.61, Y:5.10, Z:3.46 [[ 9.98811820e-01 -4.73548728e-02 -1.15093190e-02 5.04605010e+02] [ 4.73567699e-02 9.98878033e-01 -1.07795507e-04 5.10056384e+00] [ 1.15015105e-02 -4.37376744e-04 9.99933760e-01 3.45960622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7392541539999 meters 0.023179041286593184 Centerline is valid? [True, True] Translation: X:504.64, Y:5.10, Z:3.46 [[ 9.98725251e-01 -4.90128008e-02 -1.20672599e-02 5.04636139e+02] [ 4.90150171e-02 9.98798035e-01 -1.12195904e-04 5.09727439e+00] [ 1.20582545e-02 -4.79424067e-04 9.99927182e-01 3.45868905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.76925415399995 meters 0.02222165807651093 Centerline is valid? [True, True] Translation: X:504.67, Y:5.10, Z:3.46 [[ 9.98664301e-01 -5.00767887e-02 -1.27251239e-02 5.04668571e+02] [ 5.00793500e-02 9.98745235e-01 -1.17481771e-04 5.09953914e+00] [ 1.27150399e-02 -5.19941082e-04 9.99919025e-01 3.45875219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7992541539999 meters 0.024227577399681642 Centerline is valid? [True, True] Translation: X:504.70, Y:5.10, Z:3.46 [[ 9.98616191e-01 -5.09498436e-02 -1.30313473e-02 5.04699575e+02] [ 5.09526150e-02 9.98701065e-01 -1.19454099e-04 5.09732191e+00] [ 1.30205065e-02 -5.44692423e-04 9.99915081e-01 3.45821738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.82925415399995 meters 0.022810639235293733 Centerline is valid? [True, True] Translation: X:504.73, Y:5.10, Z:3.46 [[ 9.98552826e-01 -5.19637850e-02 -1.38571067e-02 5.04731548e+02] [ 5.19670290e-02 9.98648793e-01 -1.26110045e-04 5.10002083e+00] [ 1.38449360e-02 -5.94185123e-04 9.99903978e-01 3.45842057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8592541539999 meters 0.023270213931840374 Centerline is valid? [True, True] Translation: X:504.76, Y:5.10, Z:3.46 [[ 9.98437675e-01 -5.41280131e-02 -1.38696535e-02 5.04763779e+02] [ 5.41314856e-02 9.98533808e-01 -1.25199058e-04 5.09985362e+00] [ 1.38560947e-02 -6.25781491e-04 9.99903804e-01 3.45834601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.88925415399996 meters 0.024371180440780623 Centerline is valid? [True, True] Translation: X:504.79, Y:5.10, Z:3.46 [[ 9.98383881e-01 -5.50167346e-02 -1.42402631e-02 5.04794819e+02] [ 5.50205045e-02 9.98485217e-01 -1.27200380e-04 5.09830794e+00] [ 1.42256903e-02 -6.56511651e-04 9.99898594e-01 3.45816956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.91925415399993 meters 0.025085437719309572 Centerline is valid? [True, True] Translation: X:504.83, Y:5.10, Z:3.46 [[ 9.98307319e-01 -5.62305040e-02 -1.48535359e-02 5.04826578e+02] [ 5.62347642e-02 9.98417565e-01 -1.31029673e-04 5.09834951e+00] [ 1.48373990e-02 -7.04477206e-04 9.99889672e-01 3.45820500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.94925415399996 meters 0.024388376747022295 Centerline is valid? [True, True] Translation: X:504.86, Y:5.10, Z:3.46 [[ 9.98295173e-01 -5.64110634e-02 -1.49846233e-02 5.04858610e+02] [ 5.64154394e-02 9.98407372e-01 -1.30846887e-04 5.10048820e+00] [ 1.49681396e-02 -7.14740292e-04 9.99887716e-01 3.45845260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.97925415399993 meters 0.02567501859024409 Centerline is valid? [True, True] Translation: X:504.89, Y:5.10, Z:3.46 [[ 9.98291470e-01 -5.63788008e-02 -1.53483143e-02 5.04889804e+02] [ 5.63834033e-02 9.98409182e-01 -1.33031193e-04 5.09946102e+00] [ 1.53313981e-02 -7.32586290e-04 9.99882199e-01 3.45807084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.00925415399996 meters 0.023920971355770145 Centerline is valid? [True, True] Translation: X:504.92, Y:5.10, Z:3.46 [[ 9.98362712e-01 -5.49211346e-02 -1.59863704e-02 5.04921514e+02] [ 5.49259557e-02 9.98490421e-01 -1.37660366e-04 5.10464517e+00] [ 1.59697982e-02 -7.40631696e-04 9.99872200e-01 3.45873941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.03925415399993 meters 0.024143713902100714 Centerline is valid? [True, True] Translation: X:504.95, Y:5.11, Z:3.46 [[ 9.98450549e-01 -5.33985260e-02 -1.56556031e-02 5.04952868e+02] [ 5.34029763e-02 9.98573034e-01 -1.33955895e-04 5.10610857e+00] [ 1.56404162e-02 -7.02307465e-04 9.99877435e-01 3.45921699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.0692541539999 meters 0.022265561452229726 Centerline is valid? [True, True] Translation: X:504.98, Y:5.11, Z:3.46 [[ 9.98695979e-01 -4.90728597e-02 -1.40781849e-02 5.04983578e+02] [ 4.90760357e-02 9.98795038e-01 -1.19985294e-04 5.11199787e+00] [ 1.40671093e-02 -5.71072676e-04 9.99900890e-01 3.46044896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.09925415399994 meters 0.022265561452229726 Centerline is valid? [True, True] Translation: X:505.02, Y:5.11, Z:3.46 [[ 9.98699576e-01 -4.89996095e-02 -1.40781905e-02 5.05015292e+02] [ 4.90027875e-02 9.98798635e-01 -1.19334187e-04 5.11220742e+00] [ 1.40671247e-02 -5.70691573e-04 9.99900890e-01 3.46066870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.1292541539999 meters 0.021361936325385838 Centerline is valid? [True, True] Translation: X:505.05, Y:5.12, Z:3.46 [[ 9.98844554e-01 -4.60554165e-02 -1.37279133e-02 5.05046732e+02] [ 4.60581708e-02 9.98938753e-01 -1.15619092e-04 5.11557207e+00] [ 1.37186695e-02 -5.16797075e-04 9.99905761e-01 3.46124479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.15925415399994 meters 0.01967001280466258 Centerline is valid? [True, True] Translation: X:505.08, Y:5.12, Z:3.46 [[ 9.99150554e-01 -3.93330959e-02 -1.22913894e-02 5.05076394e+02] [ 3.93347985e-02 9.99226082e-01 -1.03293226e-04 5.12286045e+00] [ 1.22859397e-02 -3.80273842e-04 9.99924453e-01 3.46244277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.1892541539999 meters 0.01881019253434835 Centerline is valid? [True, True] Translation: X:505.11, Y:5.13, Z:3.46 [[ 9.99288398e-01 -3.57786310e-02 -1.19409576e-02 5.05107057e+02] [ 3.57799864e-02 9.99359686e-01 -1.00169724e-04 5.12680458e+00] [ 1.19368956e-02 -3.27148859e-04 9.99928699e-01 3.46311054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.21925415399994 meters 0.017964051900063567 Centerline is valid? [True, True] Translation: X:505.14, Y:5.13, Z:3.46 [[ 9.99395315e-01 -3.26746034e-02 -1.18901121e-02 5.05138957e+02] [ 3.26757339e-02 9.99466001e-01 -9.92281726e-05 5.13133144e+00] [ 1.18870050e-02 -2.89349968e-04 9.99929305e-01 3.46350189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.2492541539999 meters 0.01911747638918122 Centerline is valid? [True, True] Translation: X:505.17, Y:5.14, Z:3.46 [[ 9.99540904e-01 -2.74529284e-02 -1.28186541e-02 5.05169745e+02] [ 2.74538209e-02 9.99623067e-01 -1.06365287e-04 5.13662282e+00] [ 1.28167423e-02 -2.45604579e-04 9.99917832e-01 3.46201368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.27925415399994 meters 0.016818002571746676 Centerline is valid? [True, True] Translation: X:505.20, Y:5.14, Z:3.46 [[ 9.99567402e-01 -2.62511487e-02 -1.32622171e-02 5.05201205e+02] [ 2.62520047e-02 9.99655351e-01 -1.09569645e-04 5.13945191e+00] [ 1.32605226e-02 -2.38637540e-04 9.99912047e-01 3.46201661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3092541539999 meters 0.015941740201837785 Centerline is valid? [True, True] Translation: X:505.23, Y:5.14, Z:3.46 [[ 9.99564236e-01 -2.51304784e-02 -1.54853809e-02 5.05232172e+02] [ 2.51315179e-02 9.99684145e-01 -1.27499185e-04 5.14463020e+00] [ 1.54836939e-02 -2.61727501e-04 9.99880086e-01 3.46112827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.33925415399995 meters 0.015800002419550502 Centerline is valid? [True, True] Translation: X:505.26, Y:5.15, Z:3.46 [[ 9.99535508e-01 -2.57184601e-02 -1.63501758e-02 5.05261617e+02] [ 2.57196940e-02 9.99669185e-01 -1.34837951e-04 5.14636353e+00] [ 1.63482347e-02 -2.85746197e-04 9.99866318e-01 3.46059784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3692541539999 meters 0.01629482670803497 Centerline is valid? [True, True] Translation: X:505.29, Y:5.15, Z:3.46 [[ 9.99493682e-01 -2.67470233e-02 -1.72330134e-02 5.05290330e+02] [ 2.67485324e-02 9.99642184e-01 -1.42964468e-04 5.14658583e+00] [ 1.72306710e-02 -3.18065733e-04 9.99851490e-01 3.45992885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.39925415399995 meters 0.016629224052590093 Centerline is valid? [True, True] Translation: X:505.32, Y:5.15, Z:3.46 [[ 9.99411926e-01 -2.92593409e-02 -1.78799701e-02 5.05319537e+02] [ 2.92613493e-02 9.99571784e-01 -1.49335466e-04 5.14776325e+00] [ 1.78766831e-02 -3.73944405e-04 9.99840129e-01 3.46004132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4292541539999 meters 0.01705956217896777 Centerline is valid? [True, True] Translation: X:505.35, Y:5.15, Z:3.46 [[ 9.99368366e-01 -3.05833860e-02 -1.80976879e-02 5.05348968e+02] [ 3.05856461e-02 9.99532138e-01 -1.51950553e-04 5.14786665e+00] [ 1.80938678e-02 -4.01674902e-04 9.99836212e-01 3.46010538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.45925415399995 meters 0.017932608303767156 Centerline is valid? [True, True] Translation: X:505.38, Y:5.15, Z:3.46 [[ 9.99284673e-01 -3.31436032e-02 -1.82110940e-02 5.05378851e+02] [ 3.31463082e-02 9.99450498e-01 -1.53364172e-04 5.14747267e+00] [ 1.82061700e-02 -4.50376068e-04 9.99834153e-01 3.46057975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4892541539999 meters 0.019055902683662446 Centerline is valid? [True, True] Translation: X:505.41, Y:5.15, Z:3.46 [[ 9.99243401e-01 -3.41493048e-02 -1.86131925e-02 5.05409425e+02] [ 3.41523026e-02 9.99416628e-01 -1.56879470e-04 5.14757262e+00] [ 1.86076914e-02 -4.78922607e-04 9.99826747e-01 3.46122810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.51925415399995 meters 0.018509734713941694 Centerline is valid? [True, True] Translation: X:505.44, Y:5.15, Z:3.46 [[ 9.99211774e-01 -3.55296078e-02 -1.77052796e-02 5.05440071e+02] [ 3.55325367e-02 9.99368509e-01 -1.49227215e-04 5.14767334e+00] [ 1.76994009e-02 -4.80003908e-04 9.99843238e-01 3.46211848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5492541539999 meters 0.018700349227207227 Centerline is valid? [True, True] Translation: X:505.47, Y:5.15, Z:3.46 [[ 9.99182877e-01 -3.65224421e-02 -1.73115488e-02 5.05471815e+02] [ 3.65253976e-02 9.99332714e-01 -1.45529922e-04 5.14798005e+00] [ 1.73053121e-02 -4.86900195e-04 9.99850133e-01 3.46271642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.57925415399995 meters 0.02148871982347285 Centerline is valid? [True, True] Translation: X:505.50, Y:5.15, Z:3.46 [[ 9.99120374e-01 -3.84684901e-02 -1.66929289e-02 5.05502231e+02] [ 3.84715164e-02 9.99259687e-01 -1.39908924e-04 5.14566771e+00] [ 1.66859530e-02 -5.02416431e-04 9.99860654e-01 3.46238965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6092541539999 meters 0.019990517432853672 Centerline is valid? [True, True] Translation: X:505.53, Y:5.15, Z:3.46 [[ 9.99097425e-01 -3.95326421e-02 -1.55404367e-02 5.05533258e+02] [ 3.95354001e-02 9.99218162e-01 -1.29823999e-04 5.14698495e+00] [ 1.55334189e-02 -4.84690561e-04 9.99879232e-01 3.46327568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.63925415399996 meters 0.019382178767580936 Centerline is valid? [True, True] Translation: X:505.57, Y:5.15, Z:3.46 [[ 9.99060519e-01 -4.04156732e-02 -1.56413890e-02 5.05565333e+02] [ 4.04185893e-02 9.99182827e-01 -1.29773192e-04 5.14888222e+00] [ 1.56338522e-02 -5.02551607e-04 9.99877658e-01 3.46372266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.66925415399993 meters 0.021783199389583705 Centerline is valid? [True, True] Translation: X:505.60, Y:5.15, Z:3.46 [[ 9.99068576e-01 -3.98570141e-02 -1.65347589e-02 5.05596943e+02] [ 3.98602142e-02 9.99205257e-01 -1.36114082e-04 5.14698952e+00] [ 1.65270431e-02 -5.23091729e-04 9.99863282e-01 3.46264684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.69925415399996 meters 0.01888734900386924 Centerline is valid? [True, True] Translation: X:505.63, Y:5.15, Z:3.46 [[ 9.99140001e-01 -3.79537478e-02 -1.66964321e-02 5.05628264e+02] [ 3.79567577e-02 9.99279373e-01 -1.36700369e-04 5.15337103e+00] [ 1.66895885e-02 -4.97159620e-04 9.99860596e-01 3.46411356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.72925415399993 meters 0.01840426704357794 Centerline is valid? [True, True] Translation: X:505.66, Y:5.16, Z:3.46 [[ 9.99213109e-01 -3.58788694e-02 -1.69076507e-02 5.05659295e+02] [ 3.58816696e-02 9.99356036e-01 -1.37807085e-04 5.15517663e+00] [ 1.69017072e-02 -4.68976091e-04 9.99857046e-01 3.46415206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.75925415399996 meters 0.01791530298976799 Centerline is valid? [True, True] Translation: X:505.69, Y:5.16, Z:3.46 [[ 9.99279470e-01 -3.37074637e-02 -1.74455728e-02 5.05690780e+02] [ 3.37101257e-02 9.99431642e-01 -1.41545206e-04 5.15746989e+00] [ 1.74404286e-02 -4.46649232e-04 9.99847804e-01 3.46413122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.78925415399993 meters 0.017483113853818427 Centerline is valid? [True, True] Translation: X:505.72, Y:5.16, Z:3.46 [[ 9.99375460e-01 -3.08657595e-02 -1.72045264e-02 5.05721260e+02] [ 3.08679318e-02 9.99523462e-01 -1.39339418e-04 5.15947421e+00] [ 1.72006286e-02 -3.91815752e-04 9.99851981e-01 3.46429094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8192541539999 meters 0.016012752989502173 Centerline is valid? [True, True] Translation: X:505.75, Y:5.16, Z:3.46 [[ 9.99552597e-01 -2.43409057e-02 -1.73817957e-02 5.05751167e+02] [ 2.43421335e-02 9.99703676e-01 -1.40965357e-04 5.16455727e+00] [ 1.73800763e-02 -2.82207703e-04 9.99848915e-01 3.46456632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.84925415399994 meters 0.015608301715857448 Centerline is valid? [True, True] Translation: X:505.78, Y:5.17, Z:3.46 [[ 9.99618031e-01 -2.15157866e-02 -1.73454134e-02 5.05780285e+02] [ 2.15165359e-02 9.99768482e-01 -1.43438191e-04 5.16677499e+00] [ 1.73444838e-02 -2.29829808e-04 9.99849547e-01 3.46489450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8792541539999 meters 0.014968293815934662 Centerline is valid? [True, True] Translation: X:505.81, Y:5.17, Z:3.46 [[ 9.99723909e-01 -1.57023558e-02 -1.74797582e-02 5.05809095e+02] [ 1.57021504e-02 9.99876703e-01 -1.49004366e-04 5.17132440e+00] [ 1.74799427e-02 -1.25506565e-04 9.99847206e-01 3.46499148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.90925415399994 meters 0.015088892804245193 Centerline is valid? [True, True] Translation: X:505.84, Y:5.17, Z:3.46 [[ 9.99749409e-01 -1.32811447e-02 -1.80202904e-02 5.05836802e+02] [ 1.32804733e-02 9.99911798e-01 -1.56929253e-04 5.17290175e+00] [ 1.80207852e-02 -8.24280587e-05 9.99837609e-01 3.46419947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9392541539999 meters 0.014895244974114779 Centerline is valid? [True, True] Translation: X:505.87, Y:5.17, Z:3.47 [[ 9.99760269e-01 -1.20945888e-02 -1.82517426e-02 5.05865103e+02] [ 1.20936242e-02 9.99926856e-01 -1.63228009e-04 5.17473717e+00] [ 1.82523818e-02 -5.75408376e-05 9.99833410e-01 3.46554469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.96925415399994 meters 0.014866868403006911 Centerline is valid? [True, True] Translation: X:505.89, Y:5.18, Z:3.47 [[ 9.99756486e-01 -1.16077195e-02 -1.87677719e-02 5.05893411e+02] [ 1.16065540e-02 9.99932627e-01 -1.71027484e-04 5.17514377e+00] [ 1.87684927e-02 -4.68433218e-05 9.99823855e-01 3.46548270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9992541539999 meters 0.015109125917557193 Centerline is valid? [True, True] Translation: X:505.92, Y:5.17, Z:3.47 [[ 9.99704425e-01 -1.45179779e-02 -1.95010298e-02 5.05920700e+02] [ 1.45172210e-02 9.99894603e-01 -1.80382174e-04 5.17301921e+00] [ 1.95015932e-02 -1.02771901e-04 9.99809821e-01 3.46518646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.02925415399994 meters 0.015146617350870275 Centerline is valid? [True, True] Translation: X:505.95, Y:5.17, Z:3.47 [[ 9.99664752e-01 -1.68720499e-02 -1.96396909e-02 5.05949187e+02] [ 1.68716500e-02 9.99857646e-01 -1.86064524e-04 5.17189357e+00] [ 1.96400345e-02 -1.45351845e-04 9.99807105e-01 3.46602420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0592541539999 meters 0.015426022290866372 Centerline is valid? [True, True] Translation: X:505.98, Y:5.17, Z:3.47 [[ 9.99614461e-01 -1.97869666e-02 -1.94783309e-02 5.05976460e+02] [ 1.97870541e-02 9.99804199e-01 -1.88255467e-04 5.16982542e+00] [ 1.94782421e-02 -1.97235901e-04 9.99810262e-01 3.46558001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.08925415399995 meters 0.01674441320402878 Centerline is valid? [True, True] Translation: X:506.00, Y:5.16, Z:3.47 [[ 9.99448427e-01 -2.70805123e-02 -1.92220745e-02 5.06004966e+02] [ 2.70819126e-02 9.99633200e-01 -1.87501139e-04 5.16384942e+00] [ 1.92201015e-02 -3.33172826e-04 9.99815221e-01 3.46606509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1192541539999 meters 0.017868408838933734 Centerline is valid? [True, True] Translation: X:506.03, Y:5.16, Z:3.47 [[ 9.99338277e-01 -3.11925455e-02 -1.87091933e-02 5.06033152e+02] [ 3.11945701e-02 9.99513314e-01 -1.83688656e-04 5.16009331e+00] [ 1.87058175e-02 -4.00058136e-04 9.99824951e-01 3.46637018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.14925415399995 meters 0.018305473891468554 Centerline is valid? [True, True] Translation: X:506.06, Y:5.16, Z:3.47 [[ 9.99079722e-01 -3.88208740e-02 -1.82386360e-02 5.06063816e+02] [ 3.88240592e-02 9.99246046e-01 -1.79542726e-04 5.15625940e+00] [ 1.82318549e-02 -5.28720385e-04 9.99833646e-01 3.46782871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1792541539999 meters 0.019666077544691907 Centerline is valid? [True, True] Translation: X:506.09, Y:5.15, Z:3.47 [[ 9.98954715e-01 -4.20328359e-02 -1.79643708e-02 5.06093597e+02] [ 4.20364447e-02 9.99116062e-01 -1.76842835e-04 5.15335443e+00] [ 1.79559246e-02 -5.78500293e-04 9.99838612e-01 3.46800195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.20925415399995 meters 0.02140072995464053 Centerline is valid? [True, True] Translation: X:506.12, Y:5.15, Z:3.47 [[ 9.98862740e-01 -4.43296353e-02 -1.75530608e-02 5.06123775e+02] [ 4.43334383e-02 9.99016775e-01 -1.72599763e-04 5.15006392e+00] [ 1.75434535e-02 -6.05784067e-04 9.99845918e-01 3.46814404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2392541539999 meters 0.021743801202765208 Centerline is valid? [True, True] Translation: X:506.16, Y:5.15, Z:3.47 [[ 9.98794876e-01 -4.60651276e-02 -1.69351366e-02 5.06155046e+02] [ 4.60689248e-02 9.98938250e-01 -1.66041536e-04 5.14964464e+00] [ 1.69248045e-02 -6.14342101e-04 9.99856577e-01 3.46940550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.26925415399995 meters 0.02227449145097849 Centerline is valid? [True, True] Translation: X:506.19, Y:5.15, Z:3.47 [[ 9.98738494e-01 -4.77959359e-02 -1.53938295e-02 5.06186819e+02] [ 4.77992890e-02 9.98856949e-01 -1.50242601e-04 5.14863832e+00] [ 1.53834145e-02 -5.85761036e-04 9.99881497e-01 3.47123408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2992541539999 meters 0.023649787296711005 Centerline is valid? [True, True] Translation: X:506.22, Y:5.15, Z:3.47 [[ 9.98729108e-01 -4.81719343e-02 -1.48200592e-02 5.06218414e+02] [ 4.81750951e-02 9.98838896e-01 -1.43853808e-04 5.14614741e+00] [ 1.48097813e-02 -5.70286775e-04 9.99890167e-01 3.47147631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.32925415399995 meters 0.02094473185741833 Centerline is valid? [True, True] Translation: X:506.25, Y:5.15, Z:3.47 [[ 9.98726455e-01 -4.84334828e-02 -1.41302859e-02 5.06250961e+02] [ 4.84363950e-02 9.98826260e-01 -1.36259971e-04 5.15071599e+00] [ 1.41203001e-02 -5.48333670e-04 9.99900153e-01 3.47310802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3592541539999 meters 0.022965642533296374 Centerline is valid? [True, True] Translation: X:506.28, Y:5.15, Z:3.47 [[ 9.98747251e-01 -4.79871025e-02 -1.41833321e-02 5.06282053e+02] [ 4.79900049e-02 9.98847807e-01 -1.35842138e-04 5.14737732e+00] [ 1.41735089e-02 -5.44986217e-04 9.99899402e-01 3.47230878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.38925415399996 meters 0.020836559109264536 Centerline is valid? [True, True] Translation: X:506.31, Y:5.15, Z:3.47 [[ 9.98761596e-01 -4.76155611e-02 -1.44233689e-02 5.06313782e+02] [ 4.76185377e-02 9.98865585e-01 -1.37183306e-04 5.15119373e+00] [ 1.44135388e-02 -5.49806316e-04 9.99895968e-01 3.47319373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.41925415399993 meters 0.023331667836249407 Centerline is valid? [True, True] Translation: X:506.34, Y:5.15, Z:3.47 [[ 9.98806113e-01 -4.66652668e-02 -1.44465021e-02 5.06344653e+02] [ 4.66681673e-02 9.98910438e-01 -1.36460633e-04 5.14715014e+00] [ 1.44371297e-02 -5.37894061e-04 9.99895635e-01 3.47211461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.44925415399996 meters 0.02244572849279573 Centerline is valid? [True, True] Translation: X:506.38, Y:5.15, Z:3.47 [[ 9.98815972e-01 -4.64198599e-02 -1.45551110e-02 5.06376715e+02] [ 4.64227917e-02 9.98921872e-01 -1.36549284e-04 5.14926030e+00] [ 1.45457573e-02 -5.39301278e-04 9.99894059e-01 3.47239461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.47925415399993 meters 0.021495875212649267 Centerline is valid? [True, True] Translation: X:506.41, Y:5.15, Z:3.47 [[ 9.98824555e-01 -4.58394649e-02 -1.57559974e-02 5.06408575e+02] [ 4.58428470e-02 9.98948653e-01 -1.46636369e-04 5.15081270e+00] [ 1.57461541e-02 -5.75835773e-04 9.99875856e-01 3.47201951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.50925415399996 meters 0.02051026991774427 Centerline is valid? [True, True] Translation: X:506.44, Y:5.15, Z:3.47 [[ 9.98832695e-01 -4.53951546e-02 -1.65083832e-02 5.06440920e+02] [ 4.53988274e-02 9.98968930e-01 -1.52397460e-04 5.15280925e+00] [ 1.64982800e-02 -5.97241673e-04 9.99863716e-01 3.47180464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.53925415399993 meters 0.020462838244861965 Centerline is valid? [True, True] Translation: X:506.47, Y:5.15, Z:3.47 [[ 9.98848765e-01 -4.49510725e-02 -1.67495044e-02 5.06473401e+02] [ 4.49548121e-02 9.98989010e-01 -1.53368627e-04 5.15338049e+00] [ 1.67394649e-02 -5.99778759e-04 9.99859705e-01 3.47146608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.5692541539999 meters 0.02005480175053088 Centerline is valid? [True, True] Translation: X:506.51, Y:5.15, Z:3.47 [[ 9.98875884e-01 -4.38948818e-02 -1.78943584e-02 5.06505866e+02] [ 4.38990054e-02 9.99035961e-01 -1.62485036e-04 5.15453723e+00] [ 1.78842398e-02 -6.23242153e-04 9.99839870e-01 3.47099780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.59925415399994 meters 0.024487025406930405 Centerline is valid? [True, True] Translation: X:506.54, Y:5.15, Z:3.47 [[ 9.98891112e-01 -4.33074552e-02 -1.84664812e-02 5.06537038e+02] [ 4.33117681e-02 9.99061591e-01 -1.66508255e-04 5.14832049e+00] [ 1.84563632e-02 -6.33492337e-04 9.99829466e-01 3.46852527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.6292541539999 meters 0.02061005038290729 Centerline is valid? [True, True] Translation: X:506.57, Y:5.16, Z:3.47 [[ 9.98918750e-01 -4.25201138e-02 -1.87981544e-02 5.06568556e+02] [ 4.25244593e-02 9.99095412e-01 -1.68677781e-04 5.15594864e+00] [ 1.87883220e-02 -6.30885952e-04 9.99823285e-01 3.47079333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.65925415399994 meters 0.02046980047772785 Centerline is valid? [True, True] Translation: X:506.60, Y:5.16, Z:3.47 [[ 9.98935415e-01 -4.21265601e-02 -1.87986842e-02 5.06599784e+02] [ 4.21308491e-02 9.99112087e-01 -1.68001611e-04 5.15724248e+00] [ 1.87890699e-02 -6.24181768e-04 9.99823275e-01 3.47122059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.6892541539999 meters 0.0206433763031385 Centerline is valid? [True, True] Translation: X:506.63, Y:5.16, Z:3.47 [[ 9.98989852e-01 -4.12319978e-02 -1.78660931e-02 5.06630319e+02] [ 4.12357459e-02 9.99149432e-01 -1.58707798e-04 5.15819630e+00] [ 1.78574406e-02 -5.78174196e-04 9.99840376e-01 3.47198314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.71925415399994 meters 0.020050563125778083 Centerline is valid? [True, True] Translation: X:506.66, Y:5.16, Z:3.47 [[ 9.99017475e-01 -4.07657663e-02 -1.73849536e-02 5.06661396e+02] [ 4.07692590e-02 9.99168576e-01 -1.53611179e-04 5.16037882e+00] [ 1.73767614e-02 -5.55311424e-04 9.99848858e-01 3.47282344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.7492541539999 meters 0.019457015774614027 Centerline is valid? [True, True] Translation: X:506.69, Y:5.16, Z:3.47 [[ 9.99056426e-01 -3.99755449e-02 -1.69768362e-02 5.06692978e+02] [ 3.99787719e-02 9.99200518e-01 -1.49393113e-04 5.16223936e+00] [ 1.69692356e-02 -5.29460911e-04 9.99855872e-01 3.47359982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.77925415399994 meters 0.02023113829732501 Centerline is valid? [True, True] Translation: X:506.72, Y:5.16, Z:3.47 [[ 9.99096676e-01 -3.90485972e-02 -1.67642191e-02 5.06723167e+02] [ 3.90516207e-02 9.99237184e-01 -1.47093948e-04 5.16170050e+00] [ 1.67571749e-02 -5.07708849e-04 9.99859460e-01 3.47344845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8092541539999 meters 0.01881961177848314 Centerline is valid? [True, True] Translation: X:506.75, Y:5.17, Z:3.47 [[ 9.99168585e-01 -3.73486682e-02 -1.63467068e-02 5.06754233e+02] [ 3.73513232e-02 9.99302186e-01 -1.42965937e-04 5.16606337e+00] [ 1.63406395e-02 -4.67724058e-04 9.99866373e-01 3.47421711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.83925415399995 meters 0.01877155987351815 Centerline is valid? [True, True] Translation: X:506.79, Y:5.17, Z:3.47 [[ 9.99205434e-01 -3.64137748e-02 -1.62030362e-02 5.06785611e+02] [ 3.64162700e-02 9.99336698e-01 -1.41124597e-04 5.16749750e+00] [ 1.61974276e-02 -4.49041677e-04 9.99868712e-01 3.47445286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8692541539999 meters 0.018966687164620875 Centerline is valid? [True, True] Translation: X:506.82, Y:5.17, Z:3.47 [[ 9.99225331e-01 -3.58767514e-02 -1.61739309e-02 5.06815583e+02] [ 3.58791740e-02 9.99356125e-01 -1.40455294e-04 5.16806988e+00] [ 1.61685560e-02 -4.39960795e-04 9.99869184e-01 3.47463698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.89925415399995 meters 0.01866021840901526 Centerline is valid? [True, True] Translation: X:506.85, Y:5.17, Z:3.48 [[ 9.99256828e-01 -3.50337600e-02 -1.60757051e-02 5.06846924e+02] [ 3.50360517e-02 9.99386039e-01 -1.39142604e-04 5.17137844e+00] [ 1.60707099e-02 -4.24190037e-04 9.99870768e-01 3.47518119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9292541539999 meters 0.01833607024036279 Centerline is valid? [True, True] Translation: X:506.88, Y:5.17, Z:3.48 [[ 9.99262035e-01 -3.52701001e-02 -1.52120236e-02 5.06878044e+02] [ 3.52721877e-02 9.99377734e-01 -1.31123767e-04 5.17163113e+00] [ 1.52071824e-02 -4.05534349e-04 9.99884282e-01 3.47588944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.95925415399995 meters 0.018326774898843594 Centerline is valid? [True, True] Translation: X:506.91, Y:5.17, Z:3.48 [[ 9.99216058e-01 -3.64969409e-02 -1.53376272e-02 5.06909758e+02] [ 3.64992162e-02 9.99333673e-01 -1.31641992e-04 5.17267556e+00] [ 1.53322118e-02 -4.28272578e-04 9.99882363e-01 3.47691269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9892541539999 meters 0.018326774898843594 Centerline is valid? [True, True] Translation: X:506.94, Y:5.17, Z:3.48 [[ 9.99218751e-01 -3.64231417e-02 -1.53376347e-02 5.06941462e+02] [ 3.64254217e-02 9.99336366e-01 -1.30766011e-04 5.17288821e+00] [ 1.53322190e-02 -4.28015961e-04 9.99882363e-01 3.47713231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.01925415399995 meters 0.018743456928879437 Centerline is valid? [True, True] Translation: X:506.97, Y:5.17, Z:3.48 [[ 9.99182829e-01 -3.73951381e-02 -1.53387846e-02 5.06973781e+02] [ 3.73975502e-02 9.99300459e-01 -1.29647805e-04 5.17243947e+00] [ 1.53329027e-02 -4.44091109e-04 9.99882346e-01 3.47737785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0492541539999 meters 0.01888717085160924 Centerline is valid? [True, True] Translation: X:507.01, Y:5.17, Z:3.48 [[ 9.99147389e-01 -3.84700264e-02 -1.49850593e-02 5.07005708e+02] [ 3.84724657e-02 9.99259653e-01 -1.25567212e-04 5.17265644e+00] [ 1.49787958e-02 -4.51052029e-04 9.99887710e-01 3.47759432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.07925415399995 meters 0.01979723678269976 Centerline is valid? [True, True] Translation: X:507.04, Y:5.17, Z:3.48 [[ 9.99052615e-01 -4.09818134e-02 -1.46411806e-02 5.07036395e+02] [ 4.09844228e-02 9.99159778e-01 -1.21902274e-04 5.17111791e+00] [ 1.46338745e-02 -4.78273549e-04 9.99892805e-01 3.47759675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1092541539999 meters 0.02011467308313491 Centerline is valid? [True, True] Translation: X:507.07, Y:5.17, Z:3.48 [[ 9.98991179e-01 -4.23448550e-02 -1.49511921e-02 5.07069004e+02] [ 4.23477412e-02 9.99102924e-01 -1.23634855e-04 5.17100059e+00] [ 1.49430151e-02 -5.09639086e-04 9.99888217e-01 3.47751840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.13925415399996 meters 0.019944200795924894 Centerline is valid? [True, True] Translation: X:507.10, Y:5.17, Z:3.48 [[ 9.98934460e-01 -4.35879137e-02 -1.51670342e-02 5.07101597e+02] [ 4.35910442e-02 9.99049451e-01 -1.24288986e-04 5.17142917e+00] [ 1.51580347e-02 -5.36990305e-04 9.99884966e-01 3.47754339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.16925415399993 meters 0.020927836557649078 Centerline is valid? [True, True] Translation: X:507.13, Y:5.17, Z:3.48 [[ 9.98805713e-01 -4.62126528e-02 -1.58599688e-02 5.07133288e+02] [ 4.62164228e-02 9.98931442e-01 -1.28928714e-04 5.17007773e+00] [ 1.58489796e-02 -6.04216288e-04 9.99874214e-01 3.47652487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.19925415399996 meters 0.02284343412999019 Centerline is valid? [True, True] Translation: X:507.16, Y:5.17, Z:3.48 [[ 9.98728427e-01 -4.76569962e-02 -1.64420146e-02 5.07164722e+02] [ 4.76612587e-02 9.98863548e-01 -1.32734044e-04 5.16752510e+00] [ 1.64296548e-02 -6.51081849e-04 9.99864812e-01 3.47557393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.22925415399993 meters 0.022757265581855746 Centerline is valid? [True, True] Translation: X:507.20, Y:5.17, Z:3.48 [[ 9.98637916e-01 -4.92749629e-02 -1.71549207e-02 5.07196898e+02] [ 4.92798611e-02 9.98785000e-01 -1.37341959e-04 5.16826953e+00] [ 1.71408450e-02 -7.08237224e-04 9.99852834e-01 3.47543061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.25925415399996 meters 0.022825358776425084 Centerline is valid? [True, True] Translation: X:507.23, Y:5.17, Z:3.48 [[ 9.98472481e-01 -5.26219127e-02 -1.68415851e-02 5.07228355e+02] [ 5.26271232e-02 9.98614224e-01 -1.33967531e-04 5.16889330e+00] [ 1.68252961e-02 -7.52561280e-04 9.99858161e-01 3.47598041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.28925415399993 meters 0.023393987745835405 Centerline is valid? [True, True] Translation: X:507.26, Y:5.17, Z:3.48 [[ 9.98400603e-01 -5.40193841e-02 -1.66775875e-02 5.07260806e+02] [ 5.40247045e-02 9.98539591e-01 -1.31681002e-04 5.16859953e+00] [ 1.66603447e-02 -7.69531346e-04 9.99860911e-01 3.47639692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3192541539999 meters 0.025962036419931143 Centerline is valid? [True, True] Translation: X:507.29, Y:5.17, Z:3.48 [[ 9.98287065e-01 -5.64658470e-02 -1.53148318e-02 5.07291400e+02] [ 5.64706325e-02 9.98404253e-01 -1.20135007e-04 5.16584690e+00] [ 1.52971768e-02 -7.44909016e-04 9.99882714e-01 3.47697148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.34925415399994 meters 0.02532274004751518 Centerline is valid? [True, True] Translation: X:507.32, Y:5.17, Z:3.48 [[ 9.98256964e-01 -5.70741435e-02 -1.50192014e-02 5.07323144e+02] [ 5.70788274e-02 9.98369668e-01 -1.16968408e-04 5.16750356e+00] [ 1.50013909e-02 -7.40513875e-04 9.99887199e-01 3.47776647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3792541539999 meters 0.025023298098210862 Centerline is valid? [True, True] Translation: X:507.36, Y:5.17, Z:3.48 [[ 9.98257221e-01 -5.71172114e-02 -1.48372785e-02 5.07355154e+02] [ 5.71218034e-02 9.98367210e-01 -1.14464324e-04 5.16868782e+00] [ 1.48195902e-02 -7.33267268e-04 9.99889915e-01 3.47855347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.40925415399994 meters 0.024957037664174078 Centerline is valid? [True, True] Translation: X:507.39, Y:5.17, Z:3.48 [[ 9.98281560e-01 -5.67254441e-02 -1.47020859e-02 5.07386974e+02] [ 5.67299263e-02 9.98389555e-01 -1.12338749e-04 5.17024294e+00] [ 1.46847815e-02 -7.21902550e-04 9.99891912e-01 3.47882522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4392541539999 meters 0.023997277036689357 Centerline is valid? [True, True] Translation: X:507.42, Y:5.17, Z:3.48 [[ 9.98381369e-01 -5.49319344e-02 -1.47351403e-02 5.07419695e+02] [ 5.49362600e-02 9.98489857e-01 -1.11352261e-04 5.17371810e+00] [ 1.47190049e-02 -6.98321475e-04 9.99891426e-01 3.47941624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.46925415399994 meters 0.02499207697294133 Centerline is valid? [True, True] Translation: X:507.45, Y:5.17, Z:3.48 [[ 9.98447823e-01 -5.35975774e-02 -1.51408097e-02 5.07450595e+02] [ 5.36020176e-02 9.98562372e-01 -1.12691906e-04 5.17344729e+00] [ 1.51250829e-02 -6.99060960e-04 9.99885365e-01 3.47952687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4992541539999 meters 0.023478774818951394 Centerline is valid? [True, True] Translation: X:507.48, Y:5.18, Z:3.48 [[ 9.98588098e-01 -5.07774255e-02 -1.56033274e-02 5.07482572e+02] [ 5.07818194e-02 9.98709764e-01 -1.14731981e-04 5.17837180e+00] [ 1.55890212e-02 -6.77795364e-04 9.99878254e-01 3.48024248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.52925415399994 meters 0.023073859364296352 Centerline is valid? [True, True] Translation: X:507.51, Y:5.18, Z:3.48 [[ 9.98660246e-01 -4.92515289e-02 -1.58744848e-02 5.07514944e+02] [ 4.92559009e-02 9.98786185e-01 -1.15686307e-04 5.18017206e+00] [ 1.58609139e-02 -6.66380736e-04 9.99873986e-01 3.48050812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5592541539999 meters 0.022470126469412943 Centerline is valid? [True, True] Translation: X:507.55, Y:5.18, Z:3.48 [[ 9.98727173e-01 -4.76321412e-02 -1.65895274e-02 5.07547183e+02] [ 4.76367135e-02 9.98864720e-01 -1.19664840e-04 5.18238661e+00] [ 1.65763935e-02 -6.70758036e-04 9.99862377e-01 3.48039553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.58925415399995 meters 0.021874808185685192 Centerline is valid? [True, True] Translation: X:507.58, Y:5.18, Z:3.48 [[ 9.98807594e-01 -4.57322488e-02 -1.70865692e-02 5.07579421e+02] [ 4.57368432e-02 9.98953516e-01 -1.21989704e-04 5.18441923e+00] [ 1.70742672e-02 -6.59641492e-04 9.99854006e-01 3.48044421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6192541539999 meters 0.01986284970584237 Centerline is valid? [True, True] Translation: X:507.61, Y:5.19, Z:3.48 [[ 9.98948064e-01 -4.21464954e-02 -1.80676174e-02 5.07610823e+02] [ 4.21510641e-02 9.99111241e-01 -1.28043613e-04 5.19025803e+00] [ 1.80569563e-02 -6.33660382e-04 9.99836759e-01 3.48085367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.64925415399995 meters 0.02111261066130074 Centerline is valid? [True, True] Translation: X:507.64, Y:5.19, Z:3.48 [[ 9.99005290e-01 -4.03664330e-02 -1.89468001e-02 5.07641947e+02] [ 4.03711553e-02 9.99184744e-01 -1.33336852e-04 5.18953075e+00] [ 1.89367359e-02 -6.31699987e-04 9.99820484e-01 3.47972556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6792541539999 meters 0.02000509028741471 Centerline is valid? [True, True] Translation: X:507.67, Y:5.19, Z:3.48 [[ 9.99115571e-01 -3.68933956e-02 -2.01730623e-02 5.07673829e+02] [ 3.68980643e-02 9.99319025e-01 -1.40855499e-04 5.19387483e+00] [ 2.01645216e-02 -6.03616028e-04 9.99796493e-01 3.47906577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.70925415399995 meters 0.019430946243609627 Centerline is valid? [True, True] Translation: X:507.70, Y:5.20, Z:3.48 [[ 9.99171490e-01 -3.51033631e-02 -2.05933803e-02 5.07704734e+02] [ 3.51078546e-02 9.99383519e-01 -1.43499573e-04 5.19571987e+00] [ 2.05857222e-02 -5.79608718e-04 9.99787924e-01 3.47893856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7392541539999 meters 0.017380903533496375 Centerline is valid? [True, True] Translation: X:507.74, Y:5.20, Z:3.48 [[ 9.99276269e-01 -3.18879648e-02 -2.07387407e-02 5.07735385e+02] [ 3.18918271e-02 9.99491316e-01 -1.44555556e-04 5.20234575e+00] [ 2.07328008e-02 -5.16945394e-04 9.99784919e-01 3.48067210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.76925415399995 meters 0.018266669538366063 Centerline is valid? [True, True] Translation: X:507.76, Y:5.20, Z:3.48 [[ 9.99334137e-01 -3.01561163e-02 -2.05399856e-02 5.07764980e+02] [ 3.01595342e-02 9.99545087e-01 -1.43419923e-04 5.20169368e+00] [ 2.05349667e-02 -4.76151974e-04 9.99789022e-01 3.47953613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7992541539999 meters 0.016649583102492538 Centerline is valid? [True, True] Translation: X:507.79, Y:5.21, Z:3.48 [[ 9.99386231e-01 -2.86280258e-02 -2.01890335e-02 5.07794518e+02] [ 2.86310038e-02 9.99590039e-01 -1.41582999e-04 5.20629308e+00] [ 2.01848100e-02 -4.36536196e-04 9.99796171e-01 3.48177751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.82925415399995 meters 0.01632138675978171 Centerline is valid? [True, True] Translation: X:507.82, Y:5.21, Z:3.48 [[ 9.99472172e-01 -2.62306516e-02 -1.91658791e-02 5.07823907e+02] [ 2.62328814e-02 9.99655850e-01 -1.35099204e-04 5.20997906e+00] [ 1.91628269e-02 -3.67748339e-04 9.99816309e-01 3.48327667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8592541539999 meters 0.01606796911938916 Centerline is valid? [True, True] Translation: X:507.85, Y:5.21, Z:3.48 [[ 9.99497907e-01 -2.55874953e-02 -1.86872522e-02 5.07853105e+02] [ 2.55894461e-02 9.99672527e-01 -1.34760948e-04 5.21127932e+00] [ 1.86845809e-02 -3.43503148e-04 9.99825369e-01 3.48377611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.88925415399996 meters 0.015944538326618702 Centerline is valid? [True, True] Translation: X:507.88, Y:5.21, Z:3.48 [[ 9.99510959e-01 -2.53098353e-02 -1.83644847e-02 5.07882683e+02] [ 2.53116350e-02 9.99679600e-01 -1.34469170e-04 5.21235552e+00] [ 1.83620041e-02 -3.30431725e-04 9.99831350e-01 3.48431457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.91925415399993 meters 0.01596725404324973 Centerline is valid? [True, True] Translation: X:507.91, Y:5.21, Z:3.48 [[ 9.99517248e-01 -2.54272432e-02 -1.78529023e-02 5.07911993e+02] [ 2.54289511e-02 9.99676623e-01 -1.31371886e-04 5.21203173e+00] [ 1.78504695e-02 -3.22672114e-04 9.99840616e-01 3.48442960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.94925415399996 meters 0.016377333081951582 Centerline is valid? [True, True] Translation: X:507.94, Y:5.21, Z:3.48 [[ 9.99506014e-01 -2.65644893e-02 -1.67945166e-02 5.07941572e+02] [ 2.65661511e-02 9.99647050e-01 -1.24181688e-04 5.21088100e+00] [ 1.67918878e-02 -3.22045321e-04 9.99858954e-01 3.48488807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.97925415399993 meters 0.01637862564478921 Centerline is valid? [True, True] Translation: X:507.97, Y:5.21, Z:3.49 [[ 9.99502587e-01 -2.69234025e-02 -1.64228379e-02 5.07971749e+02] [ 2.69250359e-02 9.99637448e-01 -1.21680082e-04 5.21088513e+00] [ 1.64201598e-02 -3.20565943e-04 9.99865129e-01 3.48567994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.0092541539999 meters 0.016777190669911787 Centerline is valid? [True, True] Translation: X:508.00, Y:5.21, Z:3.49 [[ 9.99507269e-01 -2.71434557e-02 -1.57623460e-02 5.08001820e+02] [ 2.71449902e-02 9.99631500e-01 -1.16626621e-04 5.21027970e+00] [ 1.57597032e-02 -3.11299573e-04 9.99875760e-01 3.48617911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.03925415399993 meters 0.016687152574782056 Centerline is valid? [True, True] Translation: X:508.03, Y:5.21, Z:3.49 [[ 9.99523574e-01 -2.65014219e-02 -1.58208397e-02 5.08032876e+02] [ 2.65028944e-02 9.99648730e-01 -1.16619215e-04 5.21080071e+00] [ 1.58183729e-02 -3.02734389e-04 9.99874836e-01 3.48646421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.0692541539999 meters 0.016069848456578828 Centerline is valid? [True, True] Translation: X:508.06, Y:5.21, Z:3.49 [[ 9.99551564e-01 -2.53455562e-02 -1.59459451e-02 5.08063839e+02] [ 2.53469116e-02 9.99678709e-01 -1.17130755e-04 5.21228137e+00] [ 1.59437906e-02 -2.87102232e-04 9.99872848e-01 3.48717176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.09925415399994 meters 0.015895053568723092 Centerline is valid? [True, True] Translation: X:508.09, Y:5.21, Z:3.49 [[ 9.99611928e-01 -2.26226868e-02 -1.62544648e-02 5.08094472e+02] [ 2.26237401e-02 9.99744043e-01 -1.19100750e-04 5.21256859e+00] [ 1.62529987e-02 -2.48682256e-04 9.99867880e-01 3.48632499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.1292541539999 meters 0.015697223507277425 Centerline is valid? [True, True] Translation: X:508.12, Y:5.21, Z:3.49 [[ 9.99634781e-01 -2.13773833e-02 -1.65321427e-02 5.08124395e+02] [ 2.13782991e-02 9.99771451e-01 -1.21351822e-04 5.21293633e+00] [ 1.65309585e-02 -2.32121590e-04 9.99863327e-01 3.48598831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.15925415399994 meters 0.015563036370119056 Centerline is valid? [True, True] Translation: X:508.15, Y:5.21, Z:3.49 [[ 9.99649697e-01 -2.00965190e-02 -1.72224882e-02 5.08153860e+02] [ 2.00973121e-02 9.99798021e-01 -1.27042795e-04 5.21306005e+00] [ 1.72215627e-02 -2.19127428e-04 9.99851674e-01 3.48580860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.1892541539999 meters 0.015317153842703908 Centerline is valid? [True, True] Translation: X:508.18, Y:5.21, Z:3.48 [[ 9.99679164e-01 -1.86133644e-02 -1.71788340e-02 5.08182886e+02] [ 1.86138865e-02 9.99826738e-01 -1.29512473e-04 5.21329447e+00] [ 1.71782683e-02 -1.90293946e-04 9.99852425e-01 3.48491959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.21925415399994 meters 0.015463522204060063 Centerline is valid? [True, True] Translation: X:508.21, Y:5.21, Z:3.48 [[ 9.99668732e-01 -1.86708800e-02 -1.77150868e-02 5.08210740e+02] [ 1.86713960e-02 9.99825665e-01 -1.36278716e-04 5.21237716e+00] [ 1.77145429e-02 -1.94531830e-04 9.99843066e-01 3.48450938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.2492541539999 meters 0.015417004858783325 Centerline is valid? [True, True] Translation: X:508.24, Y:5.21, Z:3.48 [[ 9.99653310e-01 -1.96177283e-02 -1.75614408e-02 5.08238813e+02] [ 1.96183173e-02 9.99807533e-01 -1.38750766e-04 5.21190104e+00] [ 1.75607827e-02 -2.05823255e-04 9.99845776e-01 3.48480638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.27925415399994 meters 0.015882176256004597 Centerline is valid? [True, True] Translation: X:508.27, Y:5.21, Z:3.48 [[ 9.99621224e-01 -2.08538684e-02 -1.79589942e-02 5.08266682e+02] [ 2.08546298e-02 9.99782508e-01 -1.44903834e-04 5.21003591e+00] [ 1.79581101e-02 -2.29679228e-04 9.99838714e-01 3.48399989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3092541539999 meters 0.015770455267767994 Centerline is valid? [True, True] Translation: X:508.30, Y:5.21, Z:3.48 [[ 9.99585618e-01 -2.27082144e-02 -1.76898258e-02 5.08295314e+02] [ 2.27091845e-02 9.99742103e-01 -1.46061843e-04 5.20962694e+00] [ 1.76885805e-02 -2.55720201e-04 9.99843512e-01 3.48477360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.33925415399995 meters 0.01664525464720557 Centerline is valid? [True, True] Translation: X:508.32, Y:5.21, Z:3.48 [[ 9.99492703e-01 -2.67729509e-02 -1.72494959e-02 5.08324360e+02] [ 2.67744393e-02 9.99641490e-01 -1.44691355e-04 5.20538712e+00] [ 1.72471856e-02 -3.17227628e-04 9.99851206e-01 3.48452065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3692541539999 meters 0.01721226793061476 Centerline is valid? [True, True] Translation: X:508.35, Y:5.20, Z:3.49 [[ 9.99435760e-01 -2.91472192e-02 -1.66913749e-02 5.08354353e+02] [ 2.91489348e-02 9.99575070e-01 -1.40542750e-04 5.20359046e+00] [ 1.66883786e-02 -3.46072348e-04 9.99860679e-01 3.48507041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.39925415399995 meters 0.018833013860116984 Centerline is valid? [True, True] Translation: X:508.38, Y:5.20, Z:3.49 [[ 9.99296782e-01 -3.40776536e-02 -1.56414454e-02 5.08384549e+02] [ 3.40797674e-02 9.99419107e-01 -1.31460379e-04 5.19912656e+00] [ 1.56368393e-02 -4.01688889e-04 9.99877656e-01 3.48570288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4292541539999 meters 0.019924056687986542 Centerline is valid? [True, True] Translation: X:508.42, Y:5.20, Z:3.49 [[ 9.99203759e-01 -3.69805396e-02 -1.49762570e-02 5.08416112e+02] [ 3.69828114e-02 9.99315894e-01 -1.25317614e-04 5.19687203e+00] [ 1.49706460e-02 -4.28646259e-04 9.99887842e-01 3.48623878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.45925415399995 meters 0.022512949205613825 Centerline is valid? [True, True] Translation: X:508.45, Y:5.19, Z:3.49 [[ 9.98952324e-01 -4.35536649e-02 -1.40475006e-02 5.08446384e+02] [ 4.35563158e-02 9.99050966e-01 -1.17319361e-04 5.19086918e+00] [ 1.40392787e-02 -4.94660924e-04 9.99901322e-01 3.48711012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4892541539999 meters 0.024378856847899574 Centerline is valid? [True, True] Translation: X:508.48, Y:5.19, Z:3.49 [[ 9.98801672e-01 -4.70283373e-02 -1.35482492e-02 5.08477262e+02] [ 4.70311267e-02 9.98893418e-01 -1.12831418e-04 5.18747070e+00] [ 1.35385633e-02 -5.24493216e-04 9.99908212e-01 3.48730331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.51925415399995 meters 0.025177695727466465 Centerline is valid? [True, True] Translation: X:508.51, Y:5.19, Z:3.49 [[ 9.98644948e-01 -5.03821622e-02 -1.30347521e-02 5.08508206e+02] [ 5.03850348e-02 9.98729862e-01 -1.08128040e-04 5.18561651e+00] [ 1.30236439e-02 -5.48774917e-04 9.99915038e-01 3.48767871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5492541539999 meters 0.02284651343366839 Centerline is valid? [True, True] Translation: X:508.54, Y:5.19, Z:3.49 [[ 9.98495461e-01 -5.33007653e-02 -1.28780313e-02 5.08539217e+02] [ 5.33038171e-02 9.98578335e-01 -1.06389061e-04 5.18866228e+00] [ 1.28653936e-02 -5.80219229e-04 9.99917069e-01 3.48855330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.57925415399995 meters 0.02617963181646368 Centerline is valid? [True, True] Translation: X:508.57, Y:5.18, Z:3.49 [[ 9.98255309e-01 -5.77341025e-02 -1.23738357e-02 5.08568919e+02] [ 5.77372641e-02 9.98331808e-01 -1.01865882e-04 5.18241994e+00] [ 1.23590749e-02 -6.12743264e-04 9.99923436e-01 3.48793318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6092541539999 meters 0.025901791998094788 Centerline is valid? [True, True] Translation: X:508.60, Y:5.18, Z:3.49 [[ 9.98171848e-01 -5.91992476e-02 -1.21824373e-02 5.08601359e+02] [ 5.92024257e-02 9.98245993e-01 -9.99027771e-05 5.18303743e+00] [ 1.21669834e-02 -6.21509700e-04 9.99925786e-01 3.48832441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.63925415399996 meters 0.02709604734341684 Centerline is valid? [True, True] Translation: X:508.63, Y:5.18, Z:3.49 [[ 9.98109825e-01 -6.02347937e-02 -1.21880152e-02 5.08631976e+02] [ 6.02380603e-02 9.98184034e-01 -9.92438921e-05 5.18141287e+00] [ 1.21718601e-02 -6.35126089e-04 9.99925718e-01 3.48878750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.66925415399993 meters 0.026095784771570693 Centerline is valid? [True, True] Translation: X:508.66, Y:5.18, Z:3.49 [[ 9.98121670e-01 -6.00272179e-02 -1.22419342e-02 5.08664105e+02] [ 6.00305058e-02 9.98196538e-01 -9.90342694e-05 5.18343809e+00] [ 1.22258011e-02 -6.36041250e-04 9.99925060e-01 3.48927715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.69925415399996 meters 0.026878103540884934 Centerline is valid? [True, True] Translation: X:508.70, Y:5.18, Z:3.49 [[ 9.98168297e-01 -5.92568263e-02 -1.21933954e-02 5.08695525e+02] [ 5.92600406e-02 9.98242575e-01 -9.78416552e-05 5.18278431e+00] [ 1.21777642e-02 -6.24918670e-04 9.99925653e-01 3.48944105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.72925415399993 meters 0.02556087749101854 Centerline is valid? [True, True] Translation: X:508.73, Y:5.19, Z:3.49 [[ 9.98315257e-01 -5.68243978e-02 -1.17317936e-02 5.08726596e+02] [ 5.68272121e-02 9.98384024e-01 -9.35948146e-05 5.18605020e+00] [ 1.17181538e-02 -5.73247991e-04 9.99931176e-01 3.48998391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7592541539999 meters 0.0241476098207321 Centerline is valid? [True, True] Translation: X:508.76, Y:5.19, Z:3.49 [[ 9.98436045e-01 -5.46521753e-02 -1.17730287e-02 5.08758482e+02] [ 5.46548649e-02 9.98505301e-01 -9.34005307e-05 5.18894603e+00] [ 1.17605362e-02 -5.50198839e-04 9.99930691e-01 3.49014853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.78925415399993 meters 0.022783514938031883 Centerline is valid? [True, True] Translation: X:508.79, Y:5.19, Z:3.49 [[ 9.98709861e-01 -4.92129309e-02 -1.25180291e-02 5.08787945e+02] [ 4.92155491e-02 9.98788176e-01 -9.90045013e-05 5.19292222e+00] [ 1.25077317e-02 -5.17204903e-04 9.99921642e-01 3.48965079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8192541539999 meters 0.021439649605797466 Centerline is valid? [True, True] Translation: X:508.82, Y:5.20, Z:3.49 [[ 9.98864979e-01 -4.59984497e-02 -1.23651558e-02 5.08819960e+02] [ 4.60007605e-02 9.98941400e-01 -9.76206399e-05 5.19675751e+00] [ 1.23565564e-02 -4.71296732e-04 9.99923544e-01 3.48948199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.84925415399994 meters 0.020364551814257517 Centerline is valid? [True, True] Translation: X:508.85, Y:5.20, Z:3.49 [[ 9.99020293e-01 -4.22611606e-02 -1.31319702e-02 5.08851776e+02] [ 4.22634542e-02 9.99106496e-01 -1.02928441e-04 5.20029044e+00] [ 1.31245866e-02 -4.52174821e-04 9.99913767e-01 3.48939706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8792541539999 meters 0.018943600519540076 Centerline is valid? [True, True] Translation: X:508.88, Y:5.21, Z:3.49 [[ 9.99173178e-01 -3.84167176e-02 -1.33084669e-02 5.08883329e+02] [ 3.84187409e-02 9.99261722e-01 -1.03689925e-04 5.20510885e+00] [ 1.33026249e-02 -4.07690348e-04 9.99911433e-01 3.48944803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.90925415399994 meters 0.018943600519540076 Centerline is valid? [True, True] Translation: X:508.92, Y:5.21, Z:3.49 [[ 9.99176008e-01 -3.83430595e-02 -1.33084725e-02 5.08915036e+02] [ 3.83450859e-02 9.99264551e-01 -1.02962837e-04 5.20529622e+00] [ 1.33026327e-02 -4.07436524e-04 9.99911433e-01 3.48966767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9392541539999 meters 0.01734805854022165 Centerline is valid? [True, True] Translation: X:508.94, Y:5.21, Z:3.49 [[ 9.99433059e-01 -3.07775069e-02 -1.36494030e-02 5.08944965e+02] [ 3.07789405e-02 9.99526211e-01 -1.05076611e-04 5.21282315e+00] [ 1.36461700e-02 -3.15097123e-04 9.99906837e-01 3.48982481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.96925415399994 meters 0.016460976314197247 Centerline is valid? [True, True] Translation: X:508.98, Y:5.22, Z:3.49 [[ 9.99537070e-01 -2.71427522e-02 -1.37446945e-02 5.08976201e+02] [ 2.71438658e-02 9.99631532e-01 -1.05560641e-04 5.21678091e+00] [ 1.37424952e-02 -2.67572369e-04 9.99905532e-01 3.49062719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9992541539999 meters 0.015415240322826774 Centerline is valid? [True, True] Translation: X:509.01, Y:5.22, Z:3.49 [[ 9.99687227e-01 -2.10732743e-02 -1.34671731e-02 5.09006776e+02] [ 2.10737976e-02 9.99777918e-01 -1.03061996e-04 5.22169428e+00] [ 1.34663541e-02 -1.80774720e-04 9.99909308e-01 3.49110755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.02925415399994 meters 0.015097871865391747 Centerline is valid? [True, True] Translation: X:509.04, Y:5.22, Z:3.49 [[ 9.99743025e-01 -1.83575059e-02 -1.32998350e-02 5.09037484e+02] [ 1.83577777e-02 9.99831477e-01 -1.01657175e-04 5.22446431e+00] [ 1.32994598e-02 -1.42524362e-04 9.99911548e-01 3.49134439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0592541539999 meters 0.01456405290172358 Centerline is valid? [True, True] Translation: X:509.07, Y:5.23, Z:3.49 [[ 9.99803875e-01 -1.39932585e-02 -1.40142791e-02 5.09067005e+02] [ 1.39931280e-02 9.99902086e-01 -1.07376674e-04 5.22980763e+00] [ 1.40144094e-02 -8.87479859e-05 9.99901789e-01 3.49205979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.08925415399995 meters 0.014663975558996357 Centerline is valid? [True, True] Translation: X:509.09, Y:5.23, Z:3.49 [[ 9.99826782e-01 -1.23106801e-02 -1.39590008e-02 5.09094757e+02] [ 1.23103698e-02 9.99924219e-01 -1.08160163e-04 5.23146331e+00] [ 1.39592745e-02 -6.36990330e-05 9.99902563e-01 3.49158159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1192541539999 meters 0.014424170400894228 Centerline is valid? [True, True] Translation: X:509.12, Y:5.23, Z:3.49 [[ 9.99842521e-01 -1.10541772e-02 -1.38830375e-02 5.09122500e+02] [ 1.10537078e-02 9.99938900e-01 -1.10546288e-04 5.23369957e+00] [ 1.38834113e-02 -4.29301616e-05 9.99903620e-01 3.49256368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.14925415399995 meters 0.014325518261403684 Centerline is valid? [True, True] Translation: X:509.15, Y:5.24, Z:3.49 [[ 9.99871427e-01 -8.60480381e-03 -1.35309630e-02 5.09150597e+02] [ 8.60408071e-03 9.99962978e-01 -1.11653826e-04 5.23543700e+00] [ 1.35314229e-02 -4.78202787e-06 9.99908446e-01 3.49306905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1792541539999 meters 0.014346456515458877 Centerline is valid? [True, True] Translation: X:509.18, Y:5.24, Z:3.49 [[ 9.99874257e-01 -8.24618303e-03 -1.35451534e-02 5.09178312e+02] [ 8.24537162e-03 9.99966000e-01 -1.15748725e-04 5.23611561e+00] [ 1.35456473e-02 4.04934723e-06 9.99908254e-01 3.49337520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.20925415399995 meters 0.014315022533360785 Centerline is valid? [True, True] Translation: X:509.21, Y:5.24, Z:3.49 [[ 9.99871090e-01 -7.72016345e-03 -1.40784192e-02 5.09205041e+02] [ 7.71918366e-03 9.99970199e-01 -1.23934082e-04 5.23636675e+00] [ 1.40789565e-02 1.52442018e-05 9.99900886e-01 3.49334218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2392541539999 meters 0.01415672739546398 Centerline is valid? [True, True] Translation: X:509.23, Y:5.24, Z:3.49 [[ 9.99858644e-01 -8.51252528e-03 -1.44992539e-02 5.09232704e+02] [ 8.51151555e-03 9.99963768e-01 -1.31348074e-04 5.23635787e+00] [ 1.44998466e-02 7.91888301e-06 9.99894872e-01 3.49363180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.26925415399995 meters 0.014418693472609437 Centerline is valid? [True, True] Translation: X:509.26, Y:5.24, Z:3.49 [[ 9.99849059e-01 -9.73045213e-03 -1.43936305e-02 5.09260244e+02] [ 9.72952308e-03 9.99952658e-01 -1.34571769e-04 5.23581229e+00] [ 1.43942585e-02 -5.49170388e-06 9.99896397e-01 3.49364038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2992541539999 meters 0.014262433727511886 Centerline is valid? [True, True] Translation: X:509.29, Y:5.23, Z:3.49 [[ 9.99808865e-01 -1.26730162e-02 -1.48872080e-02 5.09289195e+02] [ 1.26723088e-02 9.99919693e-01 -1.41852071e-04 5.23295826e+00] [ 1.48878102e-02 -4.68303397e-05 9.99889169e-01 3.49413598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.32925415399995 meters 0.01436167936905558 Centerline is valid? [True, True] Translation: X:509.32, Y:5.23, Z:3.49 [[ 9.99785480e-01 -1.45161105e-02 -1.47742051e-02 5.09316787e+02] [ 1.45155926e-02 9.99894633e-01 -1.42294073e-04 5.23107705e+00] [ 1.47747140e-02 -7.21927939e-05 9.99890845e-01 3.49405313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3592541539999 meters 0.01434282122029926 Centerline is valid? [True, True] Translation: X:509.35, Y:5.23, Z:3.49 [[ 9.99757883e-01 -1.63892828e-02 -1.46822008e-02 5.09345277e+02] [ 1.63889311e-02 9.99865682e-01 -1.44277963e-04 5.22943643e+00] [ 1.46825934e-02 -9.63825479e-05 9.99892200e-01 3.49460005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.38925415399996 meters 0.014741669932146382 Centerline is valid? [True, True] Translation: X:509.37, Y:5.23, Z:3.49 [[ 9.99702282e-01 -1.99319211e-02 -1.40735637e-02 5.09373437e+02] [ 1.99319205e-02 9.99801330e-01 -1.40324768e-04 5.22517911e+00] [ 1.40735646e-02 -1.40230161e-04 9.99900953e-01 3.49465133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.41925415399993 meters 0.014760999968287274 Centerline is valid? [True, True] Translation: X:509.40, Y:5.22, Z:3.50 [[ 9.99671663e-01 -2.14295144e-02 -1.40478394e-02 5.09403471e+02] [ 2.14296534e-02 9.99770349e-01 -1.40655358e-04 5.22431019e+00] [ 1.40476275e-02 -1.60431154e-04 9.99901314e-01 3.49545180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.44925415399996 meters 0.014889216853036343 Centerline is valid? [True, True] Translation: X:509.43, Y:5.22, Z:3.50 [[ 9.99645687e-01 -2.28902157e-02 -1.35844914e-02 5.09434264e+02] [ 2.28904771e-02 9.99737969e-01 -1.36261332e-04 5.22180984e+00] [ 1.35840509e-02 -1.74742436e-04 9.99907717e-01 3.49597240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.47925415399993 meters 0.01541590654196785 Centerline is valid? [True, True] Translation: X:509.47, Y:5.22, Z:3.50 [[ 9.99632301e-01 -2.36227734e-02 -1.33126484e-02 5.09465013e+02] [ 2.36230909e-02 9.99720927e-01 -1.33417121e-04 5.21897645e+00] [ 1.33120849e-02 -1.81117839e-04 9.99911374e-01 3.49533630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.5092541539999 meters 0.015135992910254635 Centerline is valid? [True, True] Translation: X:509.50, Y:5.22, Z:3.50 [[ 9.99612126e-01 -2.42316807e-02 -1.37267043e-02 5.09496559e+02] [ 2.42320809e-02 9.99706351e-01 -1.37184622e-04 5.21876163e+00] [ 1.37259977e-02 -1.95495199e-04 9.99905775e-01 3.49564948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.53925415399993 meters 0.015421832382892912 Centerline is valid? [True, True] Translation: X:509.53, Y:5.22, Z:3.49 [[ 9.99578264e-01 -2.51932908e-02 -1.44427497e-02 5.09527358e+02] [ 2.51938521e-02 9.99682574e-01 -1.43106325e-04 5.21544674e+00] [ 1.44417705e-02 -2.20822528e-04 9.99895688e-01 3.49497831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.5692541539999 meters 0.01546285690955048 Centerline is valid? [True, True] Translation: X:509.56, Y:5.21, Z:3.50 [[ 9.99558635e-01 -2.59005748e-02 -1.45497279e-02 5.09557806e+02] [ 2.59012325e-02 9.99664497e-01 -1.43269286e-04 5.21423383e+00] [ 1.45485572e-02 -2.33649833e-04 9.99894137e-01 3.49502870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.59925415399994 meters 0.015696332875890395 Centerline is valid? [True, True] Translation: X:509.59, Y:5.21, Z:3.49 [[ 9.99522970e-01 -2.70550714e-02 -1.48948255e-02 5.09588986e+02] [ 2.70558931e-02 9.99633912e-01 -1.46375992e-04 5.21130121e+00] [ 1.48933329e-02 -2.56686641e-04 9.99889055e-01 3.49436540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.6292541539999 meters 0.016011465934498818 Centerline is valid? [True, True] Translation: X:509.62, Y:5.21, Z:3.49 [[ 9.99493247e-01 -2.77525689e-02 -1.55898779e-02 5.09618968e+02] [ 2.77535605e-02 9.99614784e-01 -1.52783955e-04 5.20952561e+00] [ 1.55881126e-02 -2.79968089e-04 9.99878459e-01 3.49406220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.65925415399994 meters 0.015825248246446173 Centerline is valid? [True, True] Translation: X:509.65, Y:5.21, Z:3.49 [[ 9.99480650e-01 -2.82965092e-02 -1.54187584e-02 5.09649192e+02] [ 2.82975458e-02 9.99599533e-01 -1.50982556e-04 5.20868949e+00] [ 1.54168560e-02 -2.85408878e-04 9.99881112e-01 3.49421298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.6892541539999 meters 0.015727412151943242 Centerline is valid? [True, True] Translation: X:509.68, Y:5.21, Z:3.49 [[ 9.99486864e-01 -2.83106423e-02 -1.49838677e-02 5.09680579e+02] [ 2.83116273e-02 9.99599135e-01 -1.46424503e-04 5.20652230e+00] [ 1.49820065e-02 -2.77868310e-04 9.99887725e-01 3.49440048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.71925415399994 meters 0.01600965578252969 Centerline is valid? [True, True] Translation: X:509.71, Y:5.21, Z:3.49 [[ 9.99502124e-01 -2.79491300e-02 -1.46407309e-02 5.09710928e+02] [ 2.79500373e-02 9.99609311e-01 -1.42677340e-04 5.20502715e+00] [ 1.46389987e-02 -2.66602672e-04 9.99892809e-01 3.49435450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.7492541539999 meters 0.015637627943230023 Centerline is valid? [True, True] Translation: X:509.74, Y:5.21, Z:3.50 [[ 9.99537232e-01 -2.68607963e-02 -1.42765471e-02 5.09742120e+02] [ 2.68615537e-02 9.99639154e-01 -1.38731869e-04 5.20554085e+00] [ 1.42751219e-02 -2.44822569e-04 9.99898075e-01 3.49518651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.77925415399994 meters 0.015375645245838584 Centerline is valid? [True, True] Translation: X:509.77, Y:5.21, Z:3.50 [[ 9.99610243e-01 -2.40424615e-02 -1.41888192e-02 5.09772166e+02] [ 2.40429313e-02 9.99710917e-01 -1.37491439e-04 5.20559051e+00] [ 1.41880231e-02 -2.03702955e-04 9.99899324e-01 3.49525600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8092541539999 meters 0.015184400748297506 Centerline is valid? [True, True] Translation: X:509.80, Y:5.21, Z:3.50 [[ 9.99649674e-01 -2.23482363e-02 -1.41804894e-02 5.09803007e+02] [ 2.23485370e-02 9.99750231e-01 -1.37283678e-04 5.20613739e+00] [ 1.41800156e-02 -1.79677606e-04 9.99899442e-01 3.49544102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.83925415399995 meters 0.014972964823024855 Centerline is valid? [True, True] Translation: X:509.83, Y:5.21, Z:3.50 [[ 9.99719238e-01 -1.92670462e-02 -1.37922134e-02 5.09832230e+02] [ 1.92670357e-02 9.99814365e-01 -1.33647786e-04 5.20632806e+00] [ 1.37922280e-02 -1.32124804e-04 9.99904874e-01 3.49591825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8692541539999 meters 0.0165157437331764 Centerline is valid? [True, True] Translation: X:509.86, Y:5.21, Z:3.50 [[ 9.99742790e-01 -1.80938603e-02 -1.36735644e-02 5.09861655e+02] [ 1.80937353e-02 9.99836286e-01 -1.32862452e-04 5.20619119e+00] [ 1.36737298e-02 -1.14577577e-04 9.99906504e-01 3.49553338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.89925415399995 meters 0.015535809879719321 Centerline is valid? [True, True] Translation: X:509.89, Y:5.21, Z:3.50 [[ 9.99752269e-01 -1.77666309e-02 -1.34069717e-02 5.09891632e+02] [ 1.77664749e-02 9.99842155e-01 -1.30747924e-04 5.20596662e+00] [ 1.34071785e-02 -1.07479093e-04 9.99910114e-01 3.49622680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9292541539999 meters 0.01502818105123852 Centerline is valid? [True, True] Translation: X:509.92, Y:5.20, Z:3.50 [[ 9.99736200e-01 -1.83814705e-02 -1.37714220e-02 5.09921728e+02] [ 1.83813573e-02 9.99831039e-01 -1.34804734e-04 5.20369270e+00] [ 1.37715731e-02 -1.18368255e-04 9.99905160e-01 3.49579086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.95925415399995 meters 0.015101248633223022 Centerline is valid? [True, True] Translation: X:509.95, Y:5.20, Z:3.50 [[ 9.99706328e-01 -1.94590862e-02 -1.44430625e-02 5.09950640e+02] [ 1.94590646e-02 9.99810644e-01 -1.42043987e-04 5.20204259e+00] [ 1.44430916e-02 -1.39046213e-04 9.99895683e-01 3.49537032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9892541539999 meters 0.015374886345137676 Centerline is valid? [True, True] Translation: X:509.98, Y:5.20, Z:3.49 [[ 9.99645853e-01 -2.19292642e-02 -1.50756818e-02 5.09979845e+02] [ 2.19295092e-02 9.99759508e-01 -1.49083299e-04 5.19830779e+00] [ 1.50753255e-02 -1.81571801e-04 9.99886344e-01 3.49490411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.01925415399995 meters 0.01537170837222631 Centerline is valid? [True, True] Translation: X:510.01, Y:5.20, Z:3.50 [[ 9.99617956e-01 -2.31767355e-02 -1.50592218e-02 5.10009403e+02] [ 2.31771114e-02 9.99731363e-01 -1.49584751e-04 5.19743678e+00] [ 1.50586432e-02 -1.99501658e-04 9.99886592e-01 3.49524514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0492541539999 meters 0.015678918036867964 Centerline is valid? [True, True] Translation: X:510.04, Y:5.20, Z:3.50 [[ 9.99576829e-01 -2.45408833e-02 -1.56175722e-02 5.10038683e+02] [ 2.45414450e-02 9.99698801e-01 -1.55713914e-04 5.19574297e+00] [ 1.56166896e-02 -2.27629770e-04 9.99878026e-01 3.49527774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.07925415399995 meters 0.01616333653182072 Centerline is valid? [True, True] Translation: X:510.07, Y:5.19, Z:3.49 [[ 9.99524553e-01 -2.65774310e-02 -1.56303809e-02 5.10068657e+02] [ 2.65782336e-02 9.99646724e-01 -1.56413483e-04 5.19200291e+00] [ 1.56290161e-02 -2.59088797e-04 9.99877826e-01 3.49497618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1092541539999 meters 0.016159811151104556 Centerline is valid? [True, True] Translation: X:510.10, Y:5.19, Z:3.50 [[ 9.99508710e-01 -2.74600883e-02 -1.51089977e-02 5.10098486e+02] [ 2.74609308e-02 9.99622866e-01 -1.51738671e-04 5.19042881e+00] [ 1.51074663e-02 -2.63243017e-04 9.99885841e-01 3.49535514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.13925415399996 meters 0.01652760380992318 Centerline is valid? [True, True] Translation: X:510.13, Y:5.19, Z:3.50 [[ 9.99481129e-01 -2.86390039e-02 -1.47404282e-02 5.10128375e+02] [ 2.86399282e-02 9.99589782e-01 -1.48425017e-04 5.18868849e+00] [ 1.47386322e-02 -2.73816804e-04 9.99891343e-01 3.49574559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.16925415399993 meters 0.01678256132791326 Centerline is valid? [True, True] Translation: X:510.16, Y:5.19, Z:3.50 [[ 9.99431179e-01 -3.09975568e-02 -1.32842313e-02 5.10158910e+02] [ 3.09985142e-02 9.99519422e-01 -1.33875159e-04 5.18611278e+00] [ 1.32819970e-02 -2.77992426e-04 9.99911752e-01 3.49705296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.19925415399996 meters 0.016963558465895534 Centerline is valid? [True, True] Translation: X:510.19, Y:5.18, Z:3.50 [[ 9.99406742e-01 -3.22956833e-02 -1.19646575e-02 5.10190222e+02] [ 3.22965551e-02 9.99478323e-01 -1.20389394e-04 5.18453156e+00] [ 1.19623039e-02 -2.66099250e-04 9.99928414e-01 3.49780000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.22925415399993 meters 0.017485196677516794 Centerline is valid? [True, True] Translation: X:510.22, Y:5.18, Z:3.50 [[ 9.99343616e-01 -3.47248836e-02 -1.03208536e-02 5.10221950e+02] [ 3.47256680e-02 9.99396877e-01 -1.03243532e-04 5.18045350e+00] [ 1.03182140e-02 -2.55222771e-04 9.99946733e-01 3.49826191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2592541539999 meters 0.017879439185582678 Centerline is valid? [True, True] Translation: X:510.25, Y:5.18, Z:3.50 [[ 9.99305590e-01 -3.59534527e-02 -9.78196909e-03 5.10254607e+02] [ 3.59542255e-02 9.99353433e-01 -9.68984913e-05 5.17842688e+00] [ 9.77912823e-03 -2.54871918e-04 9.99952151e-01 3.49841627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.28925415399993 meters 0.018638441770076564 Centerline is valid? [True, True] Translation: X:510.29, Y:5.18, Z:3.50 [[ 9.99255200e-01 -3.73704547e-02 -9.61743650e-03 5.10286117e+02] [ 3.73712736e-02 9.99301445e-01 -9.46129323e-05 5.17600262e+00] [ 9.61425392e-03 -2.64873387e-04 9.99953747e-01 3.49831829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3192541539999 meters 0.018448865626442972 Centerline is valid? [True, True] Translation: X:510.32, Y:5.17, Z:3.50 [[ 9.99206469e-01 -3.87423467e-02 -9.24464786e-03 5.10318023e+02] [ 3.87431670e-02 9.99249198e-01 -9.04033159e-05 5.17493576e+00] [ 9.24120939e-03 -2.67835358e-04 9.99957263e-01 3.49853440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.34925415399994 meters 0.021914646896754313 Centerline is valid? [True, True] Translation: X:510.35, Y:5.17, Z:3.50 [[ 9.99045477e-01 -4.24773250e-02 -1.01887955e-02 5.10348679e+02] [ 4.24785256e-02 9.99097375e-01 -9.86431456e-05 5.16758822e+00] [ 1.01837889e-02 -3.34256020e-04 9.99948088e-01 3.49722679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3792541539999 meters 0.02065739622954924 Centerline is valid? [True, True] Translation: X:510.38, Y:5.17, Z:3.50 [[ 9.98866724e-01 -4.63435155e-02 -1.08418757e-02 5.10379834e+02] [ 4.63451143e-02 9.98925482e-01 -1.03866850e-04 5.16655789e+00] [ 1.08350394e-02 -3.98718827e-04 9.99941220e-01 3.49720178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.40925415399994 meters 0.02120949189943832 Centerline is valid? [True, True] Translation: X:510.41, Y:5.16, Z:3.50 [[ 9.98787066e-01 -4.79313225e-02 -1.12687737e-02 5.10412332e+02] [ 4.79331572e-02 9.98850540e-01 -1.07365813e-04 5.16464756e+00] [ 1.12609669e-02 -4.32912316e-04 9.99936500e-01 3.49694449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4392541539999 meters 0.023013628525596623 Centerline is valid? [True, True] Translation: X:510.44, Y:5.16, Z:3.50 [[ 9.98718351e-01 -4.91768749e-02 -1.19703585e-02 5.10443814e+02] [ 4.91790445e-02 9.98789972e-01 -1.13222880e-04 5.16067823e+00] [ 1.19614420e-02 -4.75613024e-04 9.99928346e-01 3.49620361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.46925415399994 meters 0.0231013426561528 Centerline is valid? [True, True] Translation: X:510.48, Y:5.16, Z:3.50 [[ 9.98662670e-01 -5.01117073e-02 -1.27157067e-02 5.10475519e+02] [ 5.01142403e-02 9.98743485e-01 -1.19549201e-04 5.16000773e+00] [ 1.27057200e-02 -5.17848657e-04 9.99919145e-01 3.49594536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4992541539999 meters 0.025193349480066723 Centerline is valid? [True, True] Translation: X:510.51, Y:5.16, Z:3.49 [[ 9.98624489e-01 -5.06587204e-02 -1.35212107e-02 5.10508035e+02] [ 5.06616465e-02 9.98715866e-01 -1.26237534e-04 5.15949062e+00] [ 1.35102426e-02 -5.58942902e-04 9.99908576e-01 3.49392187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.52925415399994 meters 0.023325193911982987 Centerline is valid? [True, True] Translation: X:510.54, Y:5.16, Z:3.50 [[ 9.98670264e-01 -4.96946901e-02 -1.37164907e-02 5.10540343e+02] [ 4.96976246e-02 9.98764302e-01 -1.27041732e-04 5.16093022e+00] [ 1.37058546e-02 -5.54804206e-04 9.99905916e-01 3.49508868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5592541539999 meters 0.022078184014346764 Centerline is valid? [True, True] Translation: X:510.57, Y:5.16, Z:3.50 [[ 9.98712215e-01 -4.88903753e-02 -1.35514669e-02 5.10572283e+02] [ 4.88931792e-02 9.98804006e-01 -1.24514968e-04 5.16159889e+00] [ 1.35413470e-02 -5.38219681e-04 9.99908167e-01 3.49597262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.58925415399995 meters 0.021793762935930275 Centerline is valid? [True, True] Translation: X:510.60, Y:5.16, Z:3.50 [[ 9.98782472e-01 -4.72215523e-02 -1.42722724e-02 5.10604873e+02] [ 4.72245097e-02 9.98884292e-01 -1.29923672e-04 5.16236241e+00] [ 1.42624839e-02 -5.44235579e-04 9.99898137e-01 3.49619227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6192541539999 meters 0.021437292988821917 Centerline is valid? [True, True] Translation: X:510.64, Y:5.16, Z:3.50 [[ 9.98878640e-01 -4.52759634e-02 -1.38401781e-02 5.10636629e+02] [ 4.52785717e-02 9.98974392e-01 -1.24993686e-04 5.16380106e+00] [ 1.38316428e-02 -5.01809975e-04 9.99904212e-01 3.49633162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.64925415399995 meters 0.020488575659803842 Centerline is valid? [True, True] Translation: X:510.67, Y:5.17, Z:3.50 [[ 9.99059581e-01 -4.12200878e-02 -1.34483752e-02 5.10667338e+02] [ 4.12221915e-02 9.99149997e-01 -1.20848539e-04 5.16668887e+00] [ 1.34419254e-02 -4.33636607e-04 9.99909559e-01 3.49734236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6792541539999 meters 0.020054207236818073 Centerline is valid? [True, True] Translation: X:510.70, Y:5.17, Z:3.50 [[ 9.99157210e-01 -3.89534368e-02 -1.29421333e-02 5.10698612e+02] [ 3.89552010e-02 9.99240951e-01 -1.15842507e-04 5.16825353e+00] [ 1.29368220e-02 -3.88418527e-04 9.99916240e-01 3.49804297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.70925415399995 meters 0.019420147840360835 Centerline is valid? [True, True] Translation: X:510.73, Y:5.17, Z:3.50 [[ 9.99284030e-01 -3.57029496e-02 -1.25190900e-02 5.10729496e+02] [ 3.57043510e-02 9.99362390e-01 -1.11618175e-04 5.17085749e+00] [ 1.25150929e-02 -3.35447725e-04 9.99921627e-01 3.49899992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7392541539999 meters 0.01893572205422702 Centerline is valid? [True, True] Translation: X:510.76, Y:5.17, Z:3.50 [[ 9.99338043e-01 -3.42347759e-02 -1.23067174e-02 5.10761207e+02] [ 3.42360242e-02 9.99413770e-01 -1.09292882e-04 5.17266868e+00] [ 1.23032445e-02 -3.12112541e-04 9.99924264e-01 3.49967867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.76925415399995 meters 0.018522573924228614 Centerline is valid? [True, True] Translation: X:510.79, Y:5.17, Z:3.50 [[ 9.99435079e-01 -3.13622698e-02 -1.20801929e-02 5.10792072e+02] [ 3.13632679e-02 9.99508046e-01 -1.06861208e-04 5.17491392e+00] [ 1.20776014e-02 -2.72073486e-04 9.99927026e-01 3.50026225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7992541539999 meters 0.018522573924228614 Centerline is valid? [True, True] Translation: X:510.82, Y:5.18, Z:3.50 [[ 9.99436168e-01 -3.13275547e-02 -1.20801966e-02 5.10822922e+02] [ 3.13285553e-02 9.99509135e-01 -1.06439930e-04 5.17515410e+00] [ 1.20776014e-02 -2.72075193e-04 9.99927026e-01 3.50047598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.82925415399995 meters 0.01806407317773979 Centerline is valid? [True, True] Translation: X:510.85, Y:5.18, Z:3.50 [[ 9.99493639e-01 -2.97260363e-02 -1.13502996e-02 5.10853940e+02] [ 2.97268186e-02 9.99558055e-01 -9.98155522e-05 5.17653637e+00] [ 1.13482505e-02 -2.37643286e-04 9.99935578e-01 3.50088690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8592541539999 meters 0.017819962006740984 Centerline is valid? [True, True] Translation: X:510.88, Y:5.18, Z:3.50 [[ 9.99535089e-01 -2.81728812e-02 -1.16573616e-02 5.10884296e+02] [ 2.81736012e-02 9.99603040e-01 -1.02487938e-04 5.17794225e+00] [ 1.16556214e-02 -2.25989565e-04 9.99932045e-01 3.50097168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.88925415399996 meters 0.01712243473285286 Centerline is valid? [True, True] Translation: X:510.91, Y:5.18, Z:3.50 [[ 9.99625442e-01 -2.47096109e-02 -1.17647878e-02 5.10914550e+02] [ 2.47101068e-02 9.99694653e-01 -1.03230410e-04 5.18121925e+00] [ 1.17637462e-02 -1.87517418e-04 9.99930787e-01 3.50137144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.91925415399993 meters 0.01628913547989261 Centerline is valid? [True, True] Translation: X:510.95, Y:5.18, Z:3.50 [[ 9.99662756e-01 -2.29297873e-02 -1.21901485e-02 5.10946070e+02] [ 2.29301912e-02 9.99737063e-01 -1.06651343e-04 5.18467746e+00] [ 1.21893888e-02 -1.72907062e-04 9.99925692e-01 3.50222230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.94925415399996 meters 0.016185398960018305 Centerline is valid? [True, True] Translation: X:510.98, Y:5.19, Z:3.50 [[ 9.99725062e-01 -1.96064409e-02 -1.28603304e-02 5.10975890e+02] [ 1.96066176e-02 9.99807765e-01 -1.12357597e-04 5.18600534e+00] [ 1.28600611e-02 -1.39820874e-04 9.99917296e-01 3.50153108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.97925415399993 meters 0.01596960659155518 Centerline is valid? [True, True] Translation: X:511.01, Y:5.19, Z:3.50 [[ 9.99740618e-01 -1.81728263e-02 -1.37275542e-02 5.11005940e+02] [ 1.81728875e-02 9.99834852e-01 -1.20291065e-04 5.18750335e+00] [ 1.37274731e-02 -1.29209435e-04 9.99905765e-01 3.50127174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.0092541539999 meters 0.01588190662935372 Centerline is valid? [True, True] Translation: X:511.03, Y:5.19, Z:3.50 [[ 9.99747882e-01 -1.73008227e-02 -1.43127053e-02 5.11034333e+02] [ 1.73007722e-02 9.99850322e-01 -1.27355756e-04 5.18864026e+00] [ 1.43127664e-02 -1.20297207e-04 9.99897560e-01 3.50105022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.03925415399993 meters 0.01539809760863887 Centerline is valid? [True, True] Translation: X:511.06, Y:5.19, Z:3.50 [[ 9.99746471e-01 -1.65823435e-02 -1.52321947e-02 5.11062848e+02] [ 1.65821442e-02 9.99862497e-01 -1.39390528e-04 5.19110992e+00] [ 1.52324117e-02 -1.13227261e-04 9.99883974e-01 3.50266626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.0692541539999 meters 0.015453208932148669 Centerline is valid? [True, True] Translation: X:511.09, Y:5.19, Z:3.50 [[ 9.99747167e-01 -1.69418127e-02 -1.47843487e-02 5.11091209e+02] [ 1.69416034e-02 9.99856471e-01 -1.39401447e-04 5.19110634e+00] [ 1.47845884e-02 -1.11104371e-04 9.99890696e-01 3.50304219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.09925415399994 meters 0.015584823583281313 Centerline is valid? [True, True] Translation: X:511.12, Y:5.19, Z:3.50 [[ 9.99724087e-01 -1.85672559e-02 -1.43877073e-02 5.11119088e+02] [ 1.85671869e-02 9.99827605e-01 -1.38382356e-04 5.18938992e+00] [ 1.43877963e-02 -1.28795076e-04 9.99896482e-01 3.50276517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.1292541539999 meters 0.015651859300115145 Centerline is valid? [True, True] Translation: X:511.15, Y:5.19, Z:3.50 [[ 9.99698550e-01 -2.00941921e-02 -1.41078967e-02 5.11147736e+02] [ 2.00942425e-02 9.99798081e-01 -1.38194320e-04 5.18847445e+00] [ 1.41078249e-02 -1.45334836e-04 9.99900469e-01 3.50274609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.15925415399994 meters 0.015783870111747447 Centerline is valid? [True, True] Translation: X:511.18, Y:5.19, Z:3.50 [[ 9.99656406e-01 -2.18380564e-02 -1.44972320e-02 5.11176535e+02] [ 2.18382600e-02 9.99761506e-01 -1.44283190e-04 5.18721581e+00] [ 1.44969254e-02 -1.72360707e-04 9.99894899e-01 3.50264980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.1892541539999 meters 0.01633284015559327 Centerline is valid? [True, True] Translation: X:511.21, Y:5.18, Z:3.50 [[ 9.99542697e-01 -2.60909497e-02 -1.52859141e-02 5.11205702e+02] [ 2.60916342e-02 9.99659543e-01 -1.54680602e-04 5.18394551e+00] [ 1.52847457e-02 -2.44224615e-04 9.99883152e-01 3.50182080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.21925415399994 meters 0.016774250129681444 Centerline is valid? [True, True] Translation: X:511.23, Y:5.18, Z:3.50 [[ 9.99471952e-01 -2.84933814e-02 -1.56187062e-02 5.11233967e+02] [ 2.84943535e-02 9.99593941e-01 -1.60338151e-04 5.18186476e+00] [ 1.56169327e-02 -2.84791451e-04 9.99878008e-01 3.50158907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.2492541539999 meters 0.0169997402937369 Centerline is valid? [True, True] Translation: X:511.26, Y:5.18, Z:3.50 [[ 9.99396294e-01 -3.11447036e-02 -1.53965766e-02 5.11263668e+02] [ 3.11459521e-02 9.99514835e-01 -1.58745037e-04 5.18094330e+00] [ 1.53940508e-02 -3.20891837e-04 9.99881453e-01 3.50235937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.27925415399994 meters 0.01790097806582248 Centerline is valid? [True, True] Translation: X:511.29, Y:5.18, Z:3.50 [[ 9.99315543e-01 -3.36872135e-02 -1.52845652e-02 5.11293375e+02] [ 3.36887349e-02 9.99432361e-01 -1.58000048e-04 5.17791217e+00] [ 1.52812117e-02 -3.57025760e-04 9.99883172e-01 3.50262161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3092541539999 meters 0.018940066159586492 Centerline is valid? [True, True] Translation: X:511.32, Y:5.17, Z:3.50 [[ 9.99107025e-01 -3.95232640e-02 -1.49353510e-02 5.11323935e+02] [ 3.95253662e-02 9.99218555e-01 -1.54515023e-04 5.17387403e+00] [ 1.49297868e-02 -4.35948171e-04 9.99888449e-01 3.50357960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.33925415399995 meters 0.01991722554044283 Centerline is valid? [True, True] Translation: X:511.36, Y:5.17, Z:3.50 [[ 9.98992753e-01 -4.23128227e-02 -1.49367021e-02 5.11355400e+02] [ 4.23152411e-02 9.99104297e-01 -1.54233048e-04 5.17199059e+00] [ 1.49298493e-02 -4.77972456e-04 9.99888429e-01 3.50399010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3692541539999 meters 0.021896547502329448 Centerline is valid? [True, True] Translation: X:511.39, Y:5.17, Z:3.50 [[ 9.98740859e-01 -4.78741783e-02 -1.49919939e-02 5.11385270e+02] [ 4.78772514e-02 9.98853215e-01 -1.54062414e-04 5.16717004e+00] [ 1.49821769e-02 -5.63907035e-04 9.99887602e-01 3.50378184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.39925415399995 meters 0.022708374332892054 Centerline is valid? [True, True] Translation: X:511.42, Y:5.17, Z:3.50 [[ 9.98619373e-01 -5.00888131e-02 -1.58258901e-02 5.11416614e+02] [ 5.00925274e-02 9.98744568e-01 -1.61866767e-04 5.16589218e+00] [ 1.58141295e-02 -6.31115544e-04 9.99874750e-01 3.50408259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4292541539999 meters 0.02375301722012094 Centerline is valid? [True, True] Translation: X:511.45, Y:5.16, Z:3.50 [[ 9.98502141e-01 -5.24299128e-02 -1.56390390e-02 5.11447820e+02] [ 5.24338379e-02 9.98624387e-01 -1.59228897e-04 5.16344945e+00] [ 1.56258741e-02 -6.61024442e-04 9.99877690e-01 3.50367091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.45925415399995 meters 0.025933020480815187 Centerline is valid? [True, True] Translation: X:511.48, Y:5.16, Z:3.50 [[ 9.98225396e-01 -5.71620492e-02 -1.66900810e-02 5.11478072e+02] [ 5.71671864e-02 9.98364605e-01 -1.69527392e-04 5.15960071e+00] [ 1.66724767e-02 -7.84898423e-04 9.99860697e-01 3.50276298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4892541539999 meters 0.02810252146230808 Centerline is valid? [True, True] Translation: X:511.51, Y:5.16, Z:3.50 [[ 9.98105678e-01 -5.92325576e-02 -1.66300770e-02 5.11508420e+02] [ 5.92379531e-02 9.98243876e-01 -1.68399248e-04 5.15662614e+00] [ 1.66108472e-02 -8.17051475e-04 9.99861697e-01 3.50231152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.51925415399995 meters 0.028298110320318356 Centerline is valid? [True, True] Translation: X:511.54, Y:5.16, Z:3.50 [[ 9.97970292e-01 -6.13615775e-02 -1.70309582e-02 5.11539641e+02] [ 6.13675582e-02 9.98115220e-01 -1.71719741e-04 5.15676676e+00] [ 1.70093955e-02 -8.73777116e-04 9.99854948e-01 3.50266529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5492541539999 meters 0.030825468441828395 Centerline is valid? [True, True] Translation: X:511.57, Y:5.15, Z:3.50 [[ 9.97765874e-01 -6.47297385e-02 -1.65324478e-02 5.11570203e+02] [ 6.47358417e-02 9.97902422e-01 -1.66285301e-04 5.15396146e+00] [ 1.65085333e-02 -9.04328127e-04 9.99863316e-01 3.50322042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.57925415399995 meters 0.029007055151979638 Centerline is valid? [True, True] Translation: X:511.60, Y:5.16, Z:3.50 [[ 9.97687382e-01 -6.59941353e-02 -1.62684523e-02 5.11602304e+02] [ 6.60002256e-02 9.97819595e-01 -1.62830507e-04 5.15747400e+00] [ 1.62437264e-02 -9.11267582e-04 9.99867647e-01 3.50456470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6092541539999 meters 0.027800431722388053 Centerline is valid? [True, True] Translation: X:511.63, Y:5.16, Z:3.51 [[ 9.97629934e-01 -6.68090170e-02 -1.64641851e-02 5.11634820e+02] [ 6.68153855e-02 9.97765342e-01 -1.63569506e-04 5.16052445e+00] [ 1.64383211e-02 -9.36879035e-04 9.99864443e-01 3.50530628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.63925415399996 meters 0.030174151626196445 Centerline is valid? [True, True] Translation: X:511.67, Y:5.16, Z:3.51 [[ 9.97565313e-01 -6.78726168e-02 -1.60235408e-02 5.11665753e+02] [ 6.78788017e-02 9.97693562e-01 -1.58185042e-04 5.15928426e+00] [ 1.59973200e-02 -9.29858841e-04 9.99871602e-01 3.50511326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.66925415399993 meters 0.031468651070709015 Centerline is valid? [True, True] Translation: X:511.70, Y:5.16, Z:3.51 [[ 9.97544166e-01 -6.81309216e-02 -1.62423661e-02 5.11697224e+02] [ 6.81373253e-02 9.97675939e-01 -1.59453569e-04 5.15899517e+00] [ 1.62154816e-02 -9.47649403e-04 9.99868071e-01 3.50506080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.69925415399996 meters 0.031725414205989975 Centerline is valid? [True, True] Translation: X:511.73, Y:5.16, Z:3.50 [[ 9.97551589e-01 -6.77281560e-02 -1.74276974e-02 5.11729457e+02] [ 6.77354873e-02 9.97703300e-01 -1.69945039e-04 5.16157644e+00] [ 1.73991813e-02 -1.01094463e-03 9.99848112e-01 3.50409916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.72925415399993 meters 0.02947464809393865 Centerline is valid? [True, True] Translation: X:511.76, Y:5.17, Z:3.50 [[ 9.97568073e-01 -6.73381693e-02 -1.79864135e-02 5.11761332e+02] [ 6.73459388e-02 9.97729670e-01 -1.74078343e-04 5.16662448e+00] [ 1.79573005e-02 -1.03765691e-03 9.99838216e-01 3.50445910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7592541539999 meters 0.032482034193707814 Centerline is valid? [True, True] Translation: X:511.79, Y:5.16, Z:3.50 [[ 9.97629037e-01 -6.64224257e-02 -1.80101389e-02 5.11792558e+02] [ 6.64300870e-02 9.97791067e-01 -1.73197279e-04 5.16421963e+00] [ 1.79818599e-02 -1.02362846e-03 9.99837789e-01 3.50373404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.78925415399993 meters 0.030209377617278325 Centerline is valid? [True, True] Translation: X:511.82, Y:5.17, Z:3.50 [[ 9.97667712e-01 -6.56748078e-02 -1.85999158e-02 5.11824958e+02] [ 6.56828724e-02 9.97840533e-01 -1.77643758e-04 5.16984240e+00] [ 1.85714166e-02 -1.04446646e-03 9.99826991e-01 3.50445706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8192541539999 meters 0.026086914283001677 Centerline is valid? [True, True] Translation: X:511.86, Y:5.18, Z:3.51 [[ 9.97825019e-01 -6.30350661e-02 -1.92824002e-02 5.11856310e+02] [ 6.30432610e-02 9.98010778e-01 -1.83184057e-04 5.17989946e+00] [ 1.92555903e-02 -1.03283975e-03 9.99814060e-01 3.50502087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.84925415399994 meters 0.030086005365112807 Centerline is valid? [True, True] Translation: X:511.89, Y:5.18, Z:3.50 [[ 9.97908646e-01 -6.15056885e-02 -1.98842669e-02 5.11888054e+02] [ 6.15141248e-02 9.98106195e-01 -1.87674289e-04 5.17696912e+00] [ 1.98581530e-02 -1.03588148e-03 9.99802271e-01 3.50352440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8792541539999 meters 0.029990017955934967 Centerline is valid? [True, True] Translation: X:511.92, Y:5.18, Z:3.50 [[ 9.98025129e-01 -5.94186307e-02 -2.03781181e-02 5.11918680e+02] [ 5.94270776e-02 9.98232631e-01 -1.91343405e-04 5.18014270e+00] [ 2.03534718e-02 -1.02004648e-03 9.99792326e-01 3.50360748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.90925415399994 meters 0.0245404359584699 Centerline is valid? [True, True] Translation: X:511.95, Y:5.19, Z:3.51 [[ 9.98313413e-01 -5.44589701e-02 -2.01134048e-02 5.11949847e+02] [ 5.44662040e-02 9.98515597e-01 -1.88384085e-04 5.19433032e+00] [ 2.00938076e-02 -9.07434451e-04 9.99797687e-01 3.50543356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9392541539999 meters 0.02275130489913238 Centerline is valid? [True, True] Translation: X:511.98, Y:5.20, Z:3.51 [[ 9.98485221e-01 -5.12125765e-02 -2.01130453e-02 5.11981175e+02] [ 5.12191649e-02 9.98687420e-01 -1.87769196e-04 5.20023938e+00] [ 2.00962614e-02 -8.42688615e-04 9.99797695e-01 3.50635212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.96925415399994 meters 0.022736734743634877 Centerline is valid? [True, True] Translation: X:512.01, Y:5.20, Z:3.51 [[ 9.98667000e-01 -4.77528097e-02 -1.95931898e-02 5.12012104e+02] [ 4.77584110e-02 9.98858899e-01 -1.82203186e-04 5.20349525e+00] [ 1.95795327e-02 -7.53779303e-04 9.99808018e-01 3.50648070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9992541539999 meters 0.020235128629372406 Centerline is valid? [True, True] Translation: X:512.04, Y:5.21, Z:3.51 [[ 9.99015060e-01 -3.99969165e-02 -1.92134572e-02 5.12042083e+02] [ 4.00008753e-02 9.99199629e-01 -1.78383394e-04 5.21383196e+00] [ 1.92052141e-02 -5.90347407e-04 9.99815389e-01 3.50737263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.02925415399994 meters 0.018863955394005146 Centerline is valid? [True, True] Translation: X:512.07, Y:5.22, Z:3.51 [[ 9.99182862e-01 -3.58849973e-02 -1.85977033e-02 5.12072903e+02] [ 3.58879988e-02 9.99355803e-01 -1.72435533e-04 5.21941474e+00] [ 1.85919105e-02 -4.95139723e-04 9.99827033e-01 3.50787869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0592541539999 meters 0.01660976608721312 Centerline is valid? [True, True] Translation: X:512.10, Y:5.23, Z:3.51 [[ 9.99445760e-01 -2.82422732e-02 -1.76223372e-02 5.12103565e+02] [ 2.82437860e-02 9.99601051e-01 -1.63077962e-04 5.23005198e+00] [ 1.76199125e-02 -3.34733943e-04 9.99844701e-01 3.50931303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.08925415399995 meters 0.016309611238568413 Centerline is valid? [True, True] Translation: X:512.13, Y:5.23, Z:3.51 [[ 9.99538095e-01 -2.46922686e-02 -1.77169030e-02 5.12133665e+02] [ 2.46932389e-02 9.99695062e-01 -1.64024822e-04 5.23449666e+00] [ 1.77155506e-02 -2.73538662e-04 9.99843030e-01 3.51011461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1192541539999 meters 0.017310011040634957 Centerline is valid? [True, True] Translation: X:512.16, Y:5.24, Z:3.51 [[ 9.99595380e-01 -2.14899652e-02 -1.86348596e-02 5.12162048e+02] [ 2.14904668e-02 9.99769038e-01 -1.73356855e-04 5.23786551e+00] [ 1.86342811e-02 -2.27185120e-04 9.99826341e-01 3.51013577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.14925415399995 meters 0.015427091674703576 Centerline is valid? [True, True] Translation: X:512.19, Y:5.24, Z:3.51 [[ 9.99663547e-01 -1.93863329e-02 -1.72325940e-02 5.12191071e+02] [ 1.93863972e-02 9.99812053e-01 -1.63336981e-04 5.24155774e+00] [ 1.72325217e-02 -1.70795887e-04 9.99851494e-01 3.51031932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1792541539999 meters 0.015326634505694124 Centerline is valid? [True, True] Translation: X:512.22, Y:5.25, Z:3.51 [[ 9.99726310e-01 -1.57688529e-02 -1.72814739e-02 5.12218843e+02] [ 1.57683301e-02 9.99875658e-01 -1.66521352e-04 5.24575280e+00] [ 1.72819509e-02 -1.06024207e-04 9.99850650e-01 3.50924047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.20925415399995 meters 0.015148799422971057 Centerline is valid? [True, True] Translation: X:512.25, Y:5.25, Z:3.51 [[ 9.99721480e-01 -1.51120014e-02 -1.81270490e-02 5.12246842e+02] [ 1.51112475e-02 9.99885803e-01 -1.78573539e-04 5.24750406e+00] [ 1.81276775e-02 -9.53985207e-05 9.99835676e-01 3.50931966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2392541539999 meters 0.015184427091422278 Centerline is valid? [True, True] Translation: X:512.27, Y:5.25, Z:3.51 [[ 9.99724619e-01 -1.47493770e-02 -1.82521645e-02 5.12273548e+02] [ 1.47484741e-02 9.99891218e-01 -1.84083232e-04 5.24876900e+00] [ 1.82528941e-02 -8.51590362e-05 9.99833398e-01 3.50871507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.26925415399995 meters 0.015141474926145801 Centerline is valid? [True, True] Translation: X:512.30, Y:5.25, Z:3.51 [[ 9.99712116e-01 -1.51260321e-02 -1.86249418e-02 5.12301602e+02] [ 1.51250687e-02 9.99885591e-01 -1.92599001e-04 5.24990597e+00] [ 1.86257242e-02 -8.91599692e-05 9.99826522e-01 3.50847178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2992541539999 meters 0.015215311036545108 Centerline is valid? [True, True] Translation: X:512.33, Y:5.25, Z:3.51 [[ 9.99700513e-01 -1.60045292e-02 -1.85131958e-02 5.12329411e+02] [ 1.60036281e-02 9.99871914e-01 -1.96834701e-04 5.25047242e+00] [ 1.85139748e-02 -9.95025483e-05 9.99828597e-01 3.50911112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.32925415399995 meters 0.015202761393317363 Centerline is valid? [True, True] Translation: X:512.36, Y:5.25, Z:3.51 [[ 9.99676237e-01 -1.71604764e-02 -1.87866977e-02 5.12357551e+02] [ 1.71596475e-02 9.99852741e-01 -2.05334821e-04 5.25027843e+00] [ 1.87874548e-02 -1.17104768e-04 9.99823493e-01 3.50964293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3592541539999 meters 0.015348074840931116 Centerline is valid? [True, True] Translation: X:512.38, Y:5.25, Z:3.51 [[ 9.99674074e-01 -1.78561186e-02 -1.82456894e-02 5.12384534e+02] [ 1.78553740e-02 9.99840559e-01 -2.03726555e-04 5.25029109e+00] [ 1.82464181e-02 -1.22123453e-04 9.99833513e-01 3.50942494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.38925415399996 meters 0.015359054489899703 Centerline is valid? [True, True] Translation: X:512.41, Y:5.25, Z:3.51 [[ 9.99664872e-01 -1.84732077e-02 -1.81351824e-02 5.12412775e+02] [ 1.84724879e-02 9.99829348e-01 -2.07223011e-04 5.25083413e+00] [ 1.81359157e-02 -1.27848372e-04 9.99835523e-01 3.51015824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.41925415399993 meters 0.01566510317195303 Centerline is valid? [True, True] Translation: X:512.44, Y:5.25, Z:3.51 [[ 9.99628465e-01 -2.00390039e-02 -1.84762025e-02 5.12440507e+02] [ 2.00384658e-02 9.99799187e-01 -2.14274095e-04 5.24989518e+00] [ 1.84767860e-02 -1.56040266e-04 9.99829277e-01 3.50909394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.44925415399996 meters 0.015494932318237111 Centerline is valid? [True, True] Translation: X:512.47, Y:5.25, Z:3.51 [[ 9.99613669e-01 -2.10205813e-02 -1.81837016e-02 5.12468592e+02] [ 2.10201506e-02 9.99779029e-01 -2.14833195e-04 5.25009385e+00] [ 1.81841994e-02 -1.67473947e-04 9.99834640e-01 3.50958320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.47925415399993 meters 0.01563271602381725 Centerline is valid? [True, True] Translation: X:512.50, Y:5.25, Z:3.51 [[ 9.99581572e-01 -2.23418699e-02 -1.83717476e-02 5.12496846e+02] [ 2.23415962e-02 9.99750371e-01 -2.20169122e-04 5.24933020e+00] [ 1.83720805e-02 -1.90377170e-04 9.99831201e-01 3.50955333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.5092541539999 meters 0.01576206995557286 Centerline is valid? [True, True] Translation: X:512.53, Y:5.25, Z:3.51 [[ 9.99544263e-01 -2.39702422e-02 -1.83492416e-02 5.12525805e+02] [ 2.39701786e-02 9.99712649e-01 -2.23433629e-04 5.24844361e+00] [ 1.83493247e-02 -2.16502796e-04 9.99831614e-01 3.50934694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.53925415399993 meters 0.01619493403691645 Centerline is valid? [True, True] Translation: X:512.55, Y:5.25, Z:3.51 [[ 9.99460828e-01 -2.72064535e-02 -1.83810165e-02 5.12554681e+02] [ 2.72068507e-02 9.99629799e-01 -2.28505126e-04 5.24594488e+00] [ 1.83804287e-02 -2.71707650e-04 9.99831029e-01 3.50944712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.5692541539999 meters 0.01634313607351752 Centerline is valid? [True, True] Translation: X:512.58, Y:5.24, Z:3.51 [[ 9.99415000e-01 -2.87304933e-02 -1.85530864e-02 5.12584333e+02] [ 2.87311234e-02 9.99587149e-01 -2.32637798e-04 5.24432785e+00] [ 1.85521106e-02 -3.00549312e-04 9.99827850e-01 3.50957043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.59925415399994 meters 0.017591771952270737 Centerline is valid? [True, True] Translation: X:512.61, Y:5.24, Z:3.51 [[ 9.99361765e-01 -3.00548334e-02 -1.93072656e-02 5.12613865e+02] [ 3.00557519e-02 9.99548194e-01 -2.42666909e-04 5.24367960e+00] [ 1.93058357e-02 -3.37782353e-04 9.99813568e-01 3.50955884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.6292541539999 meters 0.017104938526400597 Centerline is valid? [True, True] Translation: X:512.64, Y:5.24, Z:3.51 [[ 9.99339607e-01 -3.10119617e-02 -1.89369645e-02 5.12642867e+02] [ 3.10130044e-02 9.99518953e-01 -2.38681328e-04 5.24221510e+00] [ 1.89352569e-02 -3.48768460e-04 9.99820651e-01 3.50915648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.65925415399994 meters 0.017088019721172187 Centerline is valid? [True, True] Translation: X:512.67, Y:5.24, Z:3.51 [[ 9.99350754e-01 -3.04456972e-02 -1.92647284e-02 5.12672454e+02] [ 3.04466675e-02 9.99536363e-01 -2.43000217e-04 5.24210952e+00] [ 1.92631949e-02 -3.43704329e-04 9.99814388e-01 3.50908962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.6892541539999 meters 0.01643805782448424 Centerline is valid? [True, True] Translation: X:512.70, Y:5.24, Z:3.51 [[ 9.99434347e-01 -2.73343458e-02 -1.95913216e-02 5.12701790e+02] [ 2.73347437e-02 9.99626305e-01 -2.47529219e-04 5.24378814e+00] [ 1.95907664e-02 -2.88134549e-04 9.99808041e-01 3.50928439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.71925415399994 meters 0.01643805782448424 Centerline is valid? [True, True] Translation: X:512.73, Y:5.24, Z:3.51 [[ 9.99427592e-01 -2.75802602e-02 -1.95912787e-02 5.12730035e+02] [ 2.75806395e-02 9.99619550e-01 -2.50887951e-04 5.24419704e+00] [ 1.95907447e-02 -2.89595654e-04 9.99808041e-01 3.50948021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.7492541539999 meters 0.01748164256795353 Centerline is valid? [True, True] Translation: X:512.76, Y:5.25, Z:3.51 [[ 9.99483924e-01 -2.48830105e-02 -2.03155452e-02 5.12759813e+02] [ 2.48828154e-02 9.99690340e-01 -2.62422258e-04 5.24697619e+00] [ 2.03157841e-02 -2.43221132e-04 9.99793584e-01 3.51095363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.77925415399994 meters 0.016022881689251638 Centerline is valid? [True, True] Translation: X:512.79, Y:5.25, Z:3.51 [[ 9.99558883e-01 -2.23278700e-02 -1.95833089e-02 5.12788248e+02] [ 2.23271299e-02 9.99750686e-01 -2.56455009e-04 5.24861918e+00] [ 1.95841526e-02 -1.80897200e-04 9.99808196e-01 3.51145980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8092541539999 meters 0.015364590802341456 Centerline is valid? [True, True] Translation: X:512.82, Y:5.25, Z:3.51 [[ 9.99679405e-01 -1.67859790e-02 -1.89557008e-02 5.12815903e+02] [ 1.67842361e-02 9.99859103e-01 -2.51046136e-04 5.25202751e+00] [ 1.89572441e-02 -6.71913056e-05 9.99820293e-01 3.51191518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.83925415399995 meters 0.01518765560065458 Centerline is valid? [True, True] Translation: X:512.84, Y:5.25, Z:3.51 [[ 9.99722882e-01 -1.42256996e-02 -1.87560163e-02 5.12843297e+02] [ 1.42234657e-02 9.99898810e-01 -2.52504907e-04 5.25373934e+00] [ 1.87577104e-02 -1.43406203e-05 9.99824059e-01 3.51253795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8692541539999 meters 0.015258650981709537 Centerline is valid? [True, True] Translation: X:512.87, Y:5.25, Z:3.51 [[ 9.99743213e-01 -1.25104850e-02 -1.88943074e-02 5.12870978e+02] [ 1.25078060e-02 9.99921741e-01 -2.59957942e-04 5.25486710e+00] [ 1.88960809e-02 2.35648564e-05 9.99821453e-01 3.51313056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.89925415399995 meters 0.01581590662326142 Centerline is valid? [True, True] Translation: X:512.90, Y:5.26, Z:3.51 [[ 9.99762364e-01 -9.84617960e-03 -1.94491176e-02 5.12898936e+02] [ 9.84276293e-03 9.99951522e-01 -2.71392308e-04 5.25570071e+00] [ 1.94508469e-02 7.98947620e-05 9.99810811e-01 3.51128894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9292541539999 meters 0.01593620339818773 Centerline is valid? [True, True] Translation: X:512.93, Y:5.26, Z:3.51 [[ 9.99751503e-01 -9.94700175e-03 -1.99496679e-02 5.12926376e+02] [ 9.94333126e-03 9.99950524e-01 -2.83174693e-04 5.25549562e+00] [ 1.99514976e-02 8.47381678e-05 9.99800945e-01 3.51198980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.95925415399995 meters 0.015889559442701238 Centerline is valid? [True, True] Translation: X:512.95, Y:5.26, Z:3.51 [[ 9.99736434e-01 -1.00859378e-02 -2.06236964e-02 5.12954975e+02] [ 1.00819288e-02 9.99949132e-01 -2.98355753e-04 5.25536439e+00] [ 2.06256565e-02 9.03504787e-05 9.99787264e-01 3.51165293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9892541539999 meters 0.015888279045180014 Centerline is valid? [True, True] Translation: X:512.98, Y:5.26, Z:3.51 [[ 9.99717771e-01 -1.08548087e-02 -2.11317834e-02 5.12982514e+02] [ 1.08506457e-02 9.99941081e-01 -3.11654673e-04 5.25521434e+00] [ 2.11339213e-02 8.22732215e-05 9.99776650e-01 3.51119350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.01925415399995 meters 0.016839301480202178 Centerline is valid? [True, True] Translation: X:513.01, Y:5.25, Z:3.51 [[ 9.99669681e-01 -1.30355157e-02 -2.21495862e-02 5.13010098e+02] [ 1.30314000e-02 9.99915033e-01 -3.30148707e-04 5.25269452e+00] [ 2.21520078e-02 4.13995366e-05 9.99754613e-01 3.51016648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0492541539999 meters 0.015990335969815694 Centerline is valid? [True, True] Translation: X:513.04, Y:5.25, Z:3.51 [[ 9.99627685e-01 -1.54826040e-02 -2.24673137e-02 5.13036571e+02] [ 1.54789233e-02 9.99880137e-01 -3.37730715e-04 5.25093243e+00] [ 2.24698497e-02 -1.01648536e-05 9.99747521e-01 3.51022914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.07925415399995 meters 0.016021978410046836 Centerline is valid? [True, True] Translation: X:513.06, Y:5.25, Z:3.51 [[ 9.99599464e-01 -1.77901560e-02 -2.20096017e-02 5.13064120e+02] [ 1.77870673e-02 9.99841741e-01 -3.36112558e-04 5.24881137e+00] [ 2.20120980e-02 -5.55083330e-05 9.99757703e-01 3.51052661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1092541539999 meters 0.01612973470197004 Centerline is valid? [True, True] Translation: X:513.09, Y:5.24, Z:3.51 [[ 9.99515157e-01 -2.30287412e-02 -2.09553906e-02 5.13092515e+02] [ 2.30270262e-02 9.99734791e-01 -3.23163856e-04 5.24329708e+00] [ 2.09572751e-02 -1.59533156e-04 9.99780359e-01 3.51195549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.13925415399996 meters 0.01635321938940012 Centerline is valid? [True, True] Translation: X:513.12, Y:5.24, Z:3.51 [[ 9.99456493e-01 -2.60381738e-02 -2.02171384e-02 5.13121762e+02] [ 2.60371125e-02 9.99660927e-01 -3.15761525e-04 5.24089563e+00] [ 2.02185051e-02 -2.10806000e-04 9.99795563e-01 3.51271198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.16925415399993 meters 0.01676872463356748 Centerline is valid? [True, True] Translation: X:513.15, Y:5.24, Z:3.51 [[ 9.99350797e-01 -3.07394384e-02 -1.87901988e-02 5.13150925e+02] [ 3.07392642e-02 9.99527393e-01 -2.98163138e-04 5.23625092e+00] [ 1.87904838e-02 -2.79627315e-04 9.99823404e-01 3.51459614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.19925415399996 meters 0.016843630391965635 Centerline is valid? [True, True] Translation: X:513.18, Y:5.23, Z:3.52 [[ 9.99308399e-01 -3.24006407e-02 -1.82461732e-02 5.13181063e+02] [ 3.24007140e-02 9.99474916e-01 -2.91678315e-04 5.23412560e+00] [ 1.82460430e-02 -2.99712449e-04 9.99833482e-01 3.51534998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.22925415399993 meters 0.017084178435600308 Centerline is valid? [True, True] Translation: X:513.21, Y:5.23, Z:3.52 [[ 9.99288694e-01 -3.33746215e-02 -1.75568119e-02 5.13210176e+02] [ 3.33748319e-02 9.99442866e-01 -2.81097750e-04 5.23167926e+00] [ 1.75564119e-02 -3.05057843e-04 9.99845828e-01 3.51555807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2592541539999 meters 0.017048045127898113 Centerline is valid? [True, True] Translation: X:513.24, Y:5.23, Z:3.52 [[ 9.99297825e-01 -3.35216755e-02 -1.67377842e-02 5.13241901e+02] [ 3.35218914e-02 9.99437948e-01 -2.67744237e-04 5.23064662e+00] [ 1.67373519e-02 -2.93525951e-04 9.99859878e-01 3.51658595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.28925415399993 meters 0.017215618432798403 Centerline is valid? [True, True] Translation: X:513.27, Y:5.23, Z:3.52 [[ 9.99363377e-01 -3.19665765e-02 -1.58423278e-02 5.13272058e+02] [ 3.19665808e-02 9.99488906e-01 -2.53016266e-04 5.22599034e+00] [ 1.58423189e-02 -2.53569862e-04 9.99874470e-01 3.51686737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3192541539999 meters 0.01635596129075931 Centerline is valid? [True, True] Translation: X:513.30, Y:5.23, Z:3.52 [[ 9.99395514e-01 -3.10867405e-02 -1.55634340e-02 5.13303002e+02] [ 3.10866380e-02 9.99516663e-01 -2.48566237e-04 5.22725437e+00] [ 1.55636388e-02 -2.35398858e-04 9.99878852e-01 3.51853074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.34925415399994 meters 0.015973507918912548 Centerline is valid? [True, True] Translation: X:513.33, Y:5.23, Z:3.52 [[ 9.99489465e-01 -2.80540207e-02 -1.52899219e-02 5.13333826e+02] [ 2.80535654e-02 9.99606391e-01 -2.44299147e-04 5.22574722e+00] [ 1.52907572e-02 -1.84762400e-04 9.99883072e-01 3.51942617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3792541539999 meters 0.015699363986473345 Centerline is valid? [True, True] Translation: X:513.36, Y:5.23, Z:3.52 [[ 9.99524127e-01 -2.66706388e-02 -1.54982513e-02 5.13364465e+02] [ 2.66700048e-02 9.99644261e-01 -2.47627790e-04 5.22537634e+00] [ 1.54993423e-02 -1.65828485e-04 9.99879864e-01 3.51974098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.40925415399994 meters 0.015638963460127445 Centerline is valid? [True, True] Translation: X:513.39, Y:5.22, Z:3.52 [[ 9.99546497e-01 -2.56716997e-02 -1.57405386e-02 5.13393578e+02] [ 2.56709194e-02 9.99670416e-01 -2.51659162e-04 5.22423976e+00] [ 1.57418113e-02 -1.52529063e-04 9.99876078e-01 3.51937703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4392541539999 meters 0.01556180608868224 Centerline is valid? [True, True] Translation: X:513.42, Y:5.22, Z:3.52 [[ 9.99561120e-01 -2.48717593e-02 -1.60923224e-02 5.13423602e+02] [ 2.48708325e-02 9.99690640e-01 -2.57749335e-04 5.22343714e+00] [ 1.60937547e-02 -1.42593242e-04 9.99870477e-01 3.51951609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.46925415399994 meters 0.015517173031867658 Centerline is valid? [True, True] Translation: X:513.45, Y:5.22, Z:3.52 [[ 9.99546886e-01 -2.42460205e-02 -1.78368695e-02 5.13452385e+02] [ 2.42447665e-02 9.99706011e-01 -2.86571110e-04 5.21910839e+00] [ 1.78385739e-02 -1.46009477e-04 9.99840869e-01 3.51742245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4992541539999 meters 0.015425824631066976 Centerline is valid? [True, True] Translation: X:513.48, Y:5.22, Z:3.52 [[ 9.99522653e-01 -2.44307766e-02 -1.89104137e-02 5.13481229e+02] [ 2.44293346e-02 9.99701512e-01 -3.07292578e-04 5.21768779e+00] [ 1.89122766e-02 -1.54822932e-04 9.99821135e-01 3.51733604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.52925415399994 meters 0.015532355454351533 Centerline is valid? [True, True] Translation: X:513.51, Y:5.22, Z:3.52 [[ 9.99505606e-01 -2.48633043e-02 -1.92447178e-02 5.13509229e+02] [ 2.48618251e-02 9.99690847e-01 -3.16144299e-04 5.21563352e+00] [ 1.92466287e-02 -1.62470810e-04 9.99814753e-01 3.51627836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5592541539999 meters 0.017087940840374773 Centerline is valid? [True, True] Translation: X:513.54, Y:5.21, Z:3.52 [[ 9.99455393e-01 -2.66375018e-02 -1.94772062e-02 5.13538058e+02] [ 2.66362432e-02 9.99645140e-01 -3.24085505e-04 5.21275245e+00] [ 1.94789273e-02 -1.94890595e-04 9.99810249e-01 3.51666353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.58925415399995 meters 0.015650204246263486 Centerline is valid? [True, True] Translation: X:513.57, Y:5.21, Z:3.52 [[ 9.99418982e-01 -2.81705842e-02 -1.91863759e-02 5.13566110e+02] [ 2.81695906e-02 9.99603106e-01 -3.22097190e-04 5.21058601e+00] [ 1.91878346e-02 -2.18562309e-04 9.99815873e-01 3.51731480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6192541539999 meters 0.01613218081351376 Centerline is valid? [True, True] Translation: X:513.59, Y:5.21, Z:3.52 [[ 9.99360512e-01 -3.04082562e-02 -1.88123433e-02 5.13594076e+02] [ 3.04076556e-02 9.99537530e-01 -3.18036557e-04 5.20754810e+00] [ 1.88133140e-02 -2.54206078e-04 9.99822982e-01 3.51726283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.64925415399995 meters 0.01657664216418102 Centerline is valid? [True, True] Translation: X:513.62, Y:5.20, Z:3.52 [[ 9.99191337e-01 -3.61111645e-02 -1.76821018e-02 5.13622966e+02] [ 3.61114618e-02 9.99347723e-01 -3.02581766e-04 5.20318721e+00] [ 1.76814947e-02 -3.36189463e-04 9.99843614e-01 3.51912040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6792541539999 meters 0.017128141905808116 Centerline is valid? [True, True] Translation: X:513.65, Y:5.20, Z:3.52 [[ 9.99077675e-01 -3.92987158e-02 -1.73034596e-02 5.13653582e+02] [ 3.92994479e-02 9.99227434e-01 -2.97850910e-04 5.20036746e+00] [ 1.73017967e-02 -3.82440215e-04 9.99850240e-01 3.51925418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.70925415399995 meters 0.018073393023219166 Centerline is valid? [True, True] Translation: X:513.68, Y:5.20, Z:3.52 [[ 9.98950539e-01 -4.25116268e-02 -1.70464576e-02 5.13684139e+02] [ 4.25128079e-02 9.99095879e-01 -2.93240844e-04 5.19658545e+00] [ 1.70435117e-02 -4.31759678e-04 9.99854656e-01 3.51918380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7392541539999 meters 0.01961113389433088 Centerline is valid? [True, True] Translation: X:513.72, Y:5.19, Z:3.52 [[ 9.98643411e-01 -4.96123135e-02 -1.58099930e-02 5.13715121e+02] [ 4.96142226e-02 9.98768419e-01 -2.71688875e-04 5.19099504e+00] [ 1.58040008e-02 -5.13080209e-04 9.99874977e-01 3.52032650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.76925415399995 meters 0.020964010438198014 Centerline is valid? [True, True] Translation: X:513.75, Y:5.19, Z:3.52 [[ 9.98460871e-01 -5.33051339e-02 -1.53118247e-02 5.13746083e+02] [ 5.33073625e-02 9.98578117e-01 -2.62850823e-04 5.18783496e+00] [ 1.53040644e-02 -5.53786727e-04 9.99882733e-01 3.52093024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7992541539999 meters 0.021877920478960266 Centerline is valid? [True, True] Translation: X:513.78, Y:5.19, Z:3.52 [[ 9.98267216e-01 -5.68754391e-02 -1.50914057e-02 5.13776975e+02] [ 5.68780188e-02 9.98381102e-01 -2.58559744e-04 5.18513675e+00] [ 1.50816800e-02 -6.00257545e-04 9.99886085e-01 3.52150348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.82925415399995 meters 0.025909380861545706 Centerline is valid? [True, True] Translation: X:513.81, Y:5.18, Z:3.52 [[ 9.97844482e-01 -6.39117350e-02 -1.48889313e-02 5.13806952e+02] [ 6.39150337e-02 9.97955311e-01 -2.54672886e-04 5.17789099e+00] [ 1.48747646e-02 -6.97502610e-04 9.99889121e-01 3.52134330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8592541539999 meters 0.026790308960483882 Centerline is valid? [True, True] Translation: X:513.84, Y:5.17, Z:3.52 [[ 9.97599830e-01 -6.76928876e-02 -1.45688984e-02 5.13838252e+02] [ 6.76964538e-02 9.97705933e-01 -2.48803302e-04 5.17428794e+00] [ 1.45523186e-02 -7.38056625e-04 9.99893837e-01 3.52148736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.88925415399996 meters 0.02823401584618129 Centerline is valid? [True, True] Translation: X:513.87, Y:5.17, Z:3.52 [[ 9.97362500e-01 -7.11077456e-02 -1.45510295e-02 5.13869076e+02] [ 7.11116715e-02 9.97468330e-01 -2.48077532e-04 5.17144960e+00] [ 1.45318313e-02 -7.87324803e-04 9.99894097e-01 3.52132482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.91925415399993 meters 0.03220627881774059 Centerline is valid? [True, True] Translation: X:513.90, Y:5.16, Z:3.52 [[ 9.96949042e-01 -7.66195468e-02 -1.49014015e-02 5.13898390e+02] [ 7.66242862e-02 9.97060005e-01 -2.53463895e-04 5.16487954e+00] [ 1.48770118e-02 -8.89118667e-04 9.99888936e-01 3.52121147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.94925415399996 meters 0.03380656608924901 Centerline is valid? [True, True] Translation: X:513.93, Y:5.16, Z:3.52 [[ 9.96805601e-01 -7.83145559e-02 -1.56660287e-02 5.13929580e+02] [ 7.83200166e-02 9.96928234e-01 -2.65590808e-04 5.16315602e+00] [ 1.56387060e-02 -9.62221226e-04 9.99877245e-01 3.52107164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.97925415399993 meters 0.03402468854436507 Centerline is valid? [True, True] Translation: X:513.96, Y:5.16, Z:3.52 [[ 9.96716468e-01 -7.93384303e-02 -1.61770081e-02 5.13962053e+02] [ 7.93444041e-02 9.96847225e-01 -2.73221475e-04 5.16366053e+00] [ 1.61476826e-02 -1.01123073e-03 9.99869106e-01 3.52109559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.0092541539999 meters 0.03493258992734054 Centerline is valid? [True, True] Translation: X:513.99, Y:5.16, Z:3.52 [[ 9.96654474e-01 -7.99557493e-02 -1.69392525e-02 5.13994602e+02] [ 7.99624088e-02 9.96797839e-01 -2.84877375e-04 5.16398776e+00] [ 1.69077878e-02 -1.07057912e-03 9.99856480e-01 3.52091778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.03925415399993 meters 0.030760296469467156 Centerline is valid? [True, True] Translation: X:514.03, Y:5.17, Z:3.52 [[ 9.96710958e-01 -7.91552586e-02 -1.73698428e-02 5.14026300e+02] [ 7.91621621e-02 9.96861709e-01 -2.90849370e-04 5.17104719e+00] [ 1.73383535e-02 -1.08514156e-03 9.99849091e-01 3.52175832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.0692541539999 meters 0.029528190851797368 Centerline is valid? [True, True] Translation: X:514.06, Y:5.17, Z:3.52 [[ 9.96805925e-01 -7.78746956e-02 -1.77053546e-02 5.14058244e+02] [ 7.78816905e-02 9.96962565e-01 -2.95144711e-04 5.17402316e+00] [ 1.76745600e-02 -1.08472095e-03 9.99843204e-01 3.52215385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.09925415399994 meters 0.027717497578468826 Centerline is valid? [True, True] Translation: X:514.09, Y:5.18, Z:3.52 [[ 9.97023368e-01 -7.50098117e-02 -1.78306695e-02 5.14089378e+02] [ 7.50164660e-02 9.97182251e-01 -2.96309133e-04 5.17890832e+00] [ 1.78026533e-02 -1.04216668e-03 9.99840977e-01 3.52197694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.1292541539999 meters 0.026956241424982545 Centerline is valid? [True, True] Translation: X:514.12, Y:5.18, Z:3.52 [[ 9.97157411e-01 -7.31314211e-02 -1.81354043e-02 5.14121053e+02] [ 7.31380113e-02 9.97321784e-01 -3.00478480e-04 5.18189416e+00] [ 1.81088081e-02 -1.02676306e-03 9.99835495e-01 3.52224383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.15925415399994 meters 0.0305655228401989 Centerline is valid? [True, True] Translation: X:514.15, Y:5.18, Z:3.52 [[ 9.97316352e-01 -7.08730795e-02 -1.83602824e-02 5.14151325e+02] [ 7.08794639e-02 9.97484842e-01 -3.03593176e-04 5.18008565e+00] [ 1.83356200e-02 -9.98588539e-04 9.99831390e-01 3.52105635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.1892541539999 meters 0.028737325579906475 Centerline is valid? [True, True] Translation: X:514.18, Y:5.19, Z:3.52 [[ 9.97561631e-01 -6.71085356e-02 -1.91634035e-02 5.14181383e+02] [ 6.71148008e-02 9.97745210e-01 -3.16736878e-04 5.18614274e+00] [ 1.91414498e-02 -9.70183449e-04 9.99816315e-01 3.52141253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.21925415399994 meters 0.024673093295351983 Centerline is valid? [True, True] Translation: X:514.21, Y:5.19, Z:3.52 [[ 9.97697188e-01 -6.49894467e-02 -1.94085976e-02 5.14212707e+02] [ 6.49954823e-02 9.97885507e-01 -3.20326252e-04 5.19430642e+00] [ 1.93883761e-02 -9.41882563e-04 9.99811584e-01 3.52252740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.2492541539999 meters 0.02359324980874202 Centerline is valid? [True, True] Translation: X:514.24, Y:5.20, Z:3.52 [[ 9.97830122e-01 -6.28730526e-02 -1.95455063e-02 5.14244367e+02] [ 6.28787869e-02 9.98021119e-01 -3.21645937e-04 5.19823771e+00] [ 1.95270510e-02 -9.08049724e-04 9.99808917e-01 3.52260491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.27925415399994 meters 0.02491071440198332 Centerline is valid? [True, True] Translation: X:514.28, Y:5.20, Z:3.52 [[ 9.97997772e-01 -6.01359687e-02 -1.95988098e-02 5.14275658e+02] [ 6.01412241e-02 9.98189826e-01 -3.21676361e-04 5.20096837e+00] [ 1.95826768e-02 -8.57664118e-04 9.99807873e-01 3.52216267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3092541539999 meters 0.021958563515288826 Centerline is valid? [True, True] Translation: X:514.31, Y:5.21, Z:3.52 [[ 9.98248825e-01 -5.65076288e-02 -1.74977650e-02 5.14305860e+02] [ 5.65112651e-02 9.98401920e-01 -2.86961469e-04 5.20702764e+00] [ 1.74860177e-02 -7.02361888e-04 9.99846861e-01 3.52496732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.33925415399995 meters 0.02139393391757749 Centerline is valid? [True, True] Translation: X:514.34, Y:5.21, Z:3.53 [[ 9.98383543e-01 -5.42746401e-02 -1.68690523e-02 5.14337072e+02] [ 5.42777075e-02 9.98525840e-01 -2.76284624e-04 5.21053657e+00] [ 1.68591798e-02 -6.39775463e-04 9.99857669e-01 3.52590488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3692541539999 meters 0.02150428014925966 Centerline is valid? [True, True] Translation: X:514.37, Y:5.21, Z:3.53 [[ 9.98532239e-01 -5.15236977e-02 -1.66935847e-02 5.14368188e+02] [ 5.15263278e-02 9.98671599e-01 -2.72800490e-04 5.21388359e+00] [ 1.66854646e-02 -5.87759036e-04 9.99860615e-01 3.52610237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.39925415399995 meters 0.02008604746016001 Centerline is valid? [True, True] Translation: X:514.40, Y:5.22, Z:3.53 [[ 9.98740413e-01 -4.74581318e-02 -1.62884538e-02 5.14399100e+02] [ 4.74601052e-02 9.98873099e-01 -2.65592260e-04 5.21932432e+00] [ 1.62827029e-02 -5.07794010e-04 9.99867299e-01 3.52690263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4292541539999 meters 0.01931812478132447 Centerline is valid? [True, True] Translation: X:514.43, Y:5.22, Z:3.53 [[ 9.98834613e-01 -4.53887148e-02 -1.64097614e-02 5.14430856e+02] [ 4.53904512e-02 9.98969287e-01 -2.66806822e-04 5.22323385e+00] [ 1.64049576e-02 -4.78350583e-04 9.99865315e-01 3.52739366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.45925415399995 meters 0.018871876403971855 Centerline is valid? [True, True] Translation: X:514.46, Y:5.23, Z:3.53 [[ 9.98925085e-01 -4.34208778e-02 -1.62265872e-02 5.14461770e+02] [ 4.34223276e-02 9.99056771e-01 -2.63129681e-04 5.22632718e+00] [ 1.62227072e-02 -4.41749347e-04 9.99868306e-01 3.52782889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4892541539999 meters 0.018603434550404592 Centerline is valid? [True, True] Translation: X:514.49, Y:5.23, Z:3.53 [[ 9.99005080e-01 -4.16352222e-02 -1.59799062e-02 5.14491922e+02] [ 4.16364064e-02 9.99132795e-01 -2.58727404e-04 5.22871466e+00] [ 1.59768206e-02 -4.06875880e-04 9.99872280e-01 3.52781090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.51925415399995 meters 0.0178684067346081 Centerline is valid? [True, True] Translation: X:514.52, Y:5.23, Z:3.53 [[ 9.99150048e-01 -3.83096338e-02 -1.52168548e-02 5.14521934e+02] [ 3.83103260e-02 9.99265860e-01 -2.46112192e-04 5.23340503e+00] [ 1.52151119e-02 -3.37059660e-04 9.99884187e-01 3.52852711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5492541539999 meters 0.01734956054569307 Centerline is valid? [True, True] Translation: X:514.55, Y:5.24, Z:3.53 [[ 9.99222139e-01 -3.65282698e-02 -1.48594250e-02 5.14553135e+02] [ 3.65287388e-02 9.99332574e-01 -2.39939097e-04 5.23664977e+00] [ 1.48582720e-02 -3.03043597e-04 9.99889564e-01 3.52921584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.57925415399995 meters 0.017245618570993066 Centerline is valid? [True, True] Translation: X:514.58, Y:5.24, Z:3.53 [[ 9.99272624e-01 -3.50970648e-02 -1.49137047e-02 5.14583391e+02] [ 3.50973836e-02 9.99383868e-01 -2.40438214e-04 5.23923033e+00] [ 1.49129546e-02 -2.83168690e-04 9.99888756e-01 3.52953269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6092541539999 meters 0.017245618570993066 Centerline is valid? [True, True] Translation: X:514.61, Y:5.24, Z:3.53 [[ 9.99273816e-01 -3.50631036e-02 -1.49137110e-02 5.14614238e+02] [ 3.50634244e-02 9.99385060e-01 -2.40048072e-04 5.23969464e+00] [ 1.49129568e-02 -2.83052025e-04 9.99888756e-01 3.52974643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.63925415399996 meters 0.016873947323044144 Centerline is valid? [True, True] Translation: X:514.65, Y:5.24, Z:3.53 [[ 9.99330574e-01 -3.34739921e-02 -1.47613092e-02 5.14645196e+02] [ 3.34741405e-02 9.99439556e-01 -2.37095581e-04 5.24289644e+00] [ 1.47609729e-02 -2.57185276e-04 9.99891018e-01 3.52999927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.66925415399993 meters 0.01564025500568932 Centerline is valid? [True, True] Translation: X:514.68, Y:5.25, Z:3.53 [[ 9.99410419e-01 -3.08076618e-02 -1.51559339e-02 5.14676621e+02] [ 3.08075198e-02 9.99525306e-01 -2.42895137e-04 5.24902812e+00] [ 1.51562225e-02 -2.24164803e-04 9.99885113e-01 3.53052174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.69925415399996 meters 0.015514213183862468 Centerline is valid? [True, True] Translation: X:514.71, Y:5.25, Z:3.53 [[ 9.99443464e-01 -2.98013610e-02 -1.49880072e-02 5.14707554e+02] [ 2.98011171e-02 9.99555819e-01 -2.39666551e-04 5.25071872e+00] [ 1.49884922e-02 -2.07126190e-04 9.99887645e-01 3.53054026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.72925415399993 meters 0.015422834874107899 Centerline is valid? [True, True] Translation: X:514.74, Y:5.25, Z:3.53 [[ 9.99487216e-01 -2.84022869e-02 -1.47856603e-02 5.14737606e+02] [ 2.84019021e-02 9.99596557e-01 -2.36044856e-04 5.25272344e+00] [ 1.47863993e-02 -1.84017061e-04 9.99890658e-01 3.53010392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7592541539999 meters 0.01611905185205024 Centerline is valid? [True, True] Translation: X:514.77, Y:5.25, Z:3.53 [[ 9.99490406e-01 -2.82175337e-02 -1.49230975e-02 5.14767953e+02] [ 2.82171251e-02 9.99601789e-01 -2.37972968e-04 5.25180031e+00] [ 1.49238699e-02 -1.83235210e-04 9.99888616e-01 3.52913919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.78925415399993 meters 0.015430651361673592 Centerline is valid? [True, True] Translation: X:514.80, Y:5.25, Z:3.53 [[ 9.99492323e-01 -2.83461238e-02 -1.45462502e-02 5.14798308e+02] [ 2.83457510e-02 9.99598152e-01 -2.31844178e-04 5.25462662e+00] [ 1.45469767e-02 -1.80597909e-04 9.99894171e-01 3.53069460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8192541539999 meters 0.01557493877179834 Centerline is valid? [True, True] Translation: X:514.83, Y:5.26, Z:3.53 [[ 9.99489757e-01 -2.86411410e-02 -1.41389923e-02 5.14829281e+02] [ 2.86408218e-02 9.99589742e-01 -2.25102269e-04 5.25536638e+00] [ 1.41396389e-02 -1.79964947e-04 9.99900014e-01 3.53110934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.84925415399994 meters 0.01589372955219917 Centerline is valid? [True, True] Translation: X:514.86, Y:5.26, Z:3.53 [[ 9.99446337e-01 -3.01399064e-02 -1.40927688e-02 5.14860279e+02] [ 3.01397451e-02 9.99545670e-01 -2.23877183e-04 5.25518259e+00] [ 1.40931137e-02 -2.00999229e-04 9.99900667e-01 3.53118108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8792541539999 meters 0.01641472819779995 Centerline is valid? [True, True] Translation: X:514.89, Y:5.25, Z:3.53 [[ 9.99415602e-01 -3.11921205e-02 -1.39823607e-02 5.14890744e+02] [ 3.11920698e-02 9.99513384e-01 -2.21762655e-04 5.25457161e+00] [ 1.39824739e-02 -2.14505714e-04 9.99902217e-01 3.53075017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.90925415399994 meters 0.016534567853912108 Centerline is valid? [True, True] Translation: X:514.92, Y:5.25, Z:3.53 [[ 9.99385718e-01 -3.20607498e-02 -1.41525637e-02 5.14921760e+02] [ 3.20607901e-02 9.99485896e-01 -2.24093348e-04 5.25401664e+00] [ 1.41524725e-02 -2.29786685e-04 9.99899822e-01 3.53050819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9392541539999 meters 0.017538253093714564 Centerline is valid? [True, True] Translation: X:514.95, Y:5.25, Z:3.53 [[ 9.99312235e-01 -3.40143975e-02 -1.47674358e-02 5.14952489e+02] [ 3.40146603e-02 9.99421307e-01 -2.33447868e-04 5.25214571e+00] [ 1.47668305e-02 -2.69022000e-04 9.99890928e-01 3.52952400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.96925415399994 meters 0.01764469935576042 Centerline is valid? [True, True] Translation: X:514.98, Y:5.25, Z:3.53 [[ 9.99288735e-01 -3.46637438e-02 -1.48475151e-02 5.14984088e+02] [ 3.46640868e-02 9.99398992e-01 -2.34327452e-04 5.25227468e+00] [ 1.48467143e-02 -2.80514769e-04 9.99889742e-01 3.52950374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9992541539999 meters 0.017859056748736397 Centerline is valid? [True, True] Translation: X:515.01, Y:5.25, Z:3.53 [[ 9.99269909e-01 -3.51001557e-02 -1.50873208e-02 5.15014413e+02] [ 3.51005697e-02 9.99383757e-01 -2.37440386e-04 5.25231660e+00] [ 1.50863575e-02 -2.92306521e-04 9.99886152e-01 3.52972257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.02925415399994 meters 0.018137239200354337 Centerline is valid? [True, True] Translation: X:515.05, Y:5.25, Z:3.53 [[ 9.99272724e-01 -3.50440545e-02 -1.50312433e-02 5.15045150e+02] [ 3.50444667e-02 9.99385726e-01 -2.36056265e-04 5.25263266e+00] [ 1.50302824e-02 -2.90877318e-04 9.99886997e-01 3.52974622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0592541539999 meters 0.018366511290976884 Centerline is valid? [True, True] Translation: X:515.08, Y:5.26, Z:3.53 [[ 9.99298558e-01 -3.42223272e-02 -1.52060569e-02 5.15076639e+02] [ 3.42226603e-02 9.99414205e-01 -2.38381905e-04 5.25713412e+00] [ 1.52053073e-02 -2.82177026e-04 9.99884353e-01 3.53037769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.08925415399995 meters 0.017935208217517706 Centerline is valid? [True, True] Translation: X:515.11, Y:5.25, Z:3.53 [[ 9.99320510e-01 -3.37922663e-02 -1.47173959e-02 5.15106917e+02] [ 3.37925424e-02 9.99428842e-01 -2.29987646e-04 5.25369116e+00] [ 1.47167618e-02 -2.67506854e-04 9.99891667e-01 3.52991656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1192541539999 meters 0.017798484688801713 Centerline is valid? [True, True] Translation: X:515.14, Y:5.25, Z:3.53 [[ 9.99355656e-01 -3.27506404e-02 -1.46856569e-02 5.15137937e+02] [ 3.27508111e-02 9.99463522e-01 -2.28932198e-04 5.25467393e+00] [ 1.46852761e-02 -2.52182489e-04 9.99892134e-01 3.52981720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.14925415399995 meters 0.015991020686626962 Centerline is valid? [True, True] Translation: X:515.17, Y:5.26, Z:3.53 [[ 9.99433188e-01 -3.01078523e-02 -1.50605421e-02 5.15168994e+02] [ 3.01077381e-02 9.99546632e-01 -2.34370379e-04 5.25981389e+00] [ 1.50607705e-02 -2.19201322e-04 9.99886556e-01 3.53146022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1792541539999 meters 0.01574163780419567 Centerline is valid? [True, True] Translation: X:515.20, Y:5.26, Z:3.53 [[ 9.99481411e-01 -2.86334445e-02 -1.47321099e-02 5.15200700e+02] [ 2.86331827e-02 9.99589960e-01 -2.28740087e-04 5.26113701e+00] [ 1.47326188e-02 -1.93205730e-04 9.99891450e-01 3.53160444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.20925415399995 meters 0.01512032687112195 Centerline is valid? [True, True] Translation: X:515.23, Y:5.26, Z:3.53 [[ 9.99571387e-01 -2.54381107e-02 -1.44894655e-02 5.15232225e+02] [ 2.54375293e-02 9.99676388e-01 -2.24451748e-04 5.26434383e+00] [ 1.44904862e-02 -1.44220659e-04 9.99894997e-01 3.53265938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2392541539999 meters 0.015003166368553906 Centerline is valid? [True, True] Translation: X:515.26, Y:5.27, Z:3.53 [[ 9.99603668e-01 -2.38522333e-02 -1.49525131e-02 5.15262658e+02] [ 2.38514482e-02 9.99715487e-01 -2.30855809e-04 5.26523675e+00] [ 1.49537654e-02 -1.25874780e-04 9.99888178e-01 3.53284685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.26925415399995 meters 0.014915540214911144 Centerline is valid? [True, True] Translation: X:515.29, Y:5.27, Z:3.53 [[ 9.99637453e-01 -2.22138351e-02 -1.52154208e-02 5.15292635e+02] [ 2.22128345e-02 9.99753237e-01 -2.34772557e-04 5.26628370e+00] [ 1.52168814e-02 -1.03290185e-04 9.99884211e-01 3.53296827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2992541539999 meters 0.014852540781303296 Centerline is valid? [True, True] Translation: X:515.32, Y:5.27, Z:3.53 [[ 9.99670803e-01 -2.07938669e-02 -1.50299636e-02 5.15321343e+02] [ 2.07927182e-02 9.99783781e-01 -2.32707628e-04 5.26683798e+00] [ 1.50315527e-02 -7.98827751e-05 9.99887017e-01 3.53271193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.32925415399995 meters 0.014579316290921823 Centerline is valid? [True, True] Translation: X:515.35, Y:5.27, Z:3.53 [[ 9.99708747e-01 -1.86580439e-02 -1.53068250e-02 5.15349916e+02] [ 1.86565880e-02 9.99825922e-01 -2.37912362e-04 5.26778240e+00] [ 1.53085994e-02 -4.77300584e-05 9.99882815e-01 3.53307706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3592541539999 meters 0.015285653372112093 Centerline is valid? [True, True] Translation: X:515.38, Y:5.27, Z:3.53 [[ 9.99714545e-01 -1.81823488e-02 -1.54994059e-02 5.15378343e+02] [ 1.81807597e-02 9.99834687e-01 -2.43434553e-04 5.26855855e+00] [ 1.55012699e-02 -3.84259116e-05 9.99879847e-01 3.53335742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.38925415399996 meters 0.01463402401404852 Centerline is valid? [True, True] Translation: X:515.41, Y:5.27, Z:3.53 [[ 9.99708917e-01 -1.83850929e-02 -1.56227445e-02 5.15406532e+02] [ 1.83834574e-02 9.99830979e-01 -2.48299592e-04 5.26859835e+00] [ 1.56246690e-02 -3.89727430e-05 9.99877927e-01 3.53378005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.41925415399993 meters 0.014612016663835272 Centerline is valid? [True, True] Translation: X:515.44, Y:5.27, Z:3.53 [[ 9.99690532e-01 -1.88744910e-02 -1.62047700e-02 5.15435648e+02] [ 1.88727427e-02 9.99821860e-01 -2.60816603e-04 5.26837060e+00] [ 1.62068061e-02 -4.50925669e-05 9.99868660e-01 3.53403790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.44925415399996 meters 0.016245547590005006 Centerline is valid? [True, True] Translation: X:515.46, Y:5.27, Z:3.53 [[ 9.99639465e-01 -2.01957269e-02 -1.76938509e-02 5.15463142e+02] [ 2.01937913e-02 9.99796043e-01 -2.88075589e-04 5.26620836e+00] [ 1.76960600e-02 -6.93342036e-05 9.99843410e-01 3.53229213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.47925415399993 meters 0.014975539812505757 Centerline is valid? [True, True] Translation: X:515.49, Y:5.26, Z:3.53 [[ 9.99595236e-01 -2.19919162e-02 -1.80477358e-02 5.15492176e+02] [ 2.19901275e-02 9.99758144e-01 -2.97582392e-04 5.26495309e+00] [ 1.80499153e-02 -9.94100695e-05 9.99837082e-01 3.53348190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5092541539999 meters 0.014972151791389691 Centerline is valid? [True, True] Translation: X:515.52, Y:5.26, Z:3.53 [[ 9.99554954e-01 -2.32726042e-02 -1.86622573e-02 5.15519808e+02] [ 2.32708613e-02 9.99729149e-01 -3.10580833e-04 5.26326758e+00] [ 1.86644307e-02 -1.23844191e-04 9.99825797e-01 3.53304705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.53925415399993 meters 0.015263243634819833 Centerline is valid? [True, True] Translation: X:515.55, Y:5.26, Z:3.53 [[ 9.99476624e-01 -2.63786301e-02 -1.87255177e-02 5.15548498e+02] [ 2.63773526e-02 9.99652007e-01 -3.15244149e-04 5.26034458e+00] [ 1.87273171e-02 -1.78850427e-04 9.99824612e-01 3.53374168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5692541539999 meters 0.015654430051465017 Centerline is valid? [True, True] Translation: X:515.58, Y:5.26, Z:3.53 [[ 9.99429439e-01 -2.80602938e-02 -1.87993568e-02 5.15576809e+02] [ 2.80592506e-02 9.99606211e-01 -3.19312539e-04 5.25796631e+00] [ 1.88009138e-02 -2.08365512e-04 9.99823225e-01 3.53323351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.59925415399994 meters 0.016365500399537228 Centerline is valid? [True, True] Translation: X:515.61, Y:5.26, Z:3.53 [[ 9.99379062e-01 -2.96764568e-02 -1.89947015e-02 5.15605433e+02] [ 2.96756162e-02 9.99559529e-01 -3.26182306e-04 5.25634396e+00] [ 1.89960148e-02 -2.37699704e-04 9.99819531e-01 3.53337053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.6292541539999 meters 0.016403630301479 Centerline is valid? [True, True] Translation: X:515.63, Y:5.25, Z:3.54 [[ 9.99258857e-01 -3.34118107e-02 -1.91151348e-02 5.15633965e+02] [ 3.34115526e-02 9.99441623e-01 -3.32956750e-04 5.25288343e+00] [ 1.91155861e-02 -3.05956351e-04 9.99817234e-01 3.53501405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.65925415399994 meters 0.016864808065782756 Centerline is valid? [True, True] Translation: X:515.66, Y:5.25, Z:3.53 [[ 9.99189380e-01 -3.52443272e-02 -1.94530036e-02 5.15663710e+02] [ 3.52443688e-02 9.99378666e-01 -3.40806697e-04 5.25068452e+00] [ 1.94529283e-02 -3.45078401e-04 9.99810714e-01 3.53491413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.6892541539999 meters 0.018120953520644762 Centerline is valid? [True, True] Translation: X:515.69, Y:5.25, Z:3.54 [[ 9.99038883e-01 -3.92986487e-02 -1.94145827e-02 5.15693413e+02] [ 3.92994501e-02 9.99227420e-01 -3.40397030e-04 5.24616581e+00] [ 1.94129605e-02 -4.22912555e-04 9.99811461e-01 3.53550074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.71925415399994 meters 0.0188844340021059 Centerline is valid? [True, True] Translation: X:515.72, Y:5.24, Z:3.54 [[ 9.98967978e-01 -4.12822858e-02 -1.89407205e-02 5.15723659e+02] [ 4.12834033e-02 9.99147422e-01 -3.32165748e-04 5.24386270e+00] [ 1.89382846e-02 -4.50114456e-04 9.99820553e-01 3.53618477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.7492541539999 meters 0.01959959653733552 Centerline is valid? [True, True] Translation: X:515.75, Y:5.24, Z:3.54 [[ 9.98892363e-01 -4.33547398e-02 -1.82870067e-02 5.15754552e+02] [ 4.33561321e-02 9.99059629e-01 -3.20505414e-04 5.24180269e+00] [ 1.82837056e-02 -4.72703467e-04 9.99832727e-01 3.53690095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.77925415399994 meters 0.021694981034207715 Centerline is valid? [True, True] Translation: X:515.79, Y:5.24, Z:3.54 [[ 9.98708548e-01 -4.76279469e-02 -1.76865850e-02 5.15785281e+02] [ 4.76299239e-02 9.98865003e-01 -3.09682031e-04 5.23593633e+00] [ 1.76812603e-02 -5.33128607e-04 9.99843532e-01 3.53753728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8092541539999 meters 0.022270156255434256 Centerline is valid? [True, True] Translation: X:515.82, Y:5.23, Z:3.54 [[ 9.98608177e-01 -4.97640232e-02 -1.74714521e-02 5.15816905e+02] [ 4.97662872e-02 9.98760844e-01 -3.05437537e-04 5.23404655e+00] [ 1.74650020e-02 -5.64476880e-04 9.99847316e-01 3.53820832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.83925415399995 meters 0.0230735731010126 Centerline is valid? [True, True] Translation: X:515.85, Y:5.23, Z:3.54 [[ 9.98510737e-01 -5.17240162e-02 -1.73474384e-02 5.15847744e+02] [ 5.17265552e-02 9.98661240e-01 -3.02601434e-04 5.23215970e+00] [ 1.73398661e-02 -5.95172447e-04 9.99849476e-01 3.53798828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8692541539999 meters 0.026121867594526185 Centerline is valid? [True, True] Translation: X:515.88, Y:5.23, Z:3.54 [[ 9.98409317e-01 -5.33319522e-02 -1.82903821e-02 5.15878053e+02] [ 5.33350534e-02 9.98576622e-01 -3.18552091e-04 5.22903043e+00] [ 1.82813370e-02 -6.57473130e-04 9.99832666e-01 3.53634541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.89925415399995 meters 0.026552828500869673 Centerline is valid? [True, True] Translation: X:515.91, Y:5.22, Z:3.54 [[ 9.98223973e-01 -5.68040317e-02 -1.79499956e-02 5.15908036e+02] [ 5.68075809e-02 9.98385097e-01 -3.12507660e-04 5.22414055e+00] [ 1.79387598e-02 -7.07743191e-04 9.99838837e-01 3.53721646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9292541539999 meters 0.027460741590793484 Centerline is valid? [True, True] Translation: X:515.94, Y:5.22, Z:3.54 [[ 9.98165800e-01 -5.76848546e-02 -1.83710060e-02 5.15939165e+02] [ 5.76887318e-02 9.98334567e-01 -3.19266934e-04 5.22249261e+00] [ 1.83588272e-02 -7.41118705e-04 9.99831188e-01 3.53716418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.95925415399995 meters 0.028196372147530457 Centerline is valid? [True, True] Translation: X:515.97, Y:5.22, Z:3.54 [[ 9.98127791e-01 -5.83344391e-02 -1.83849427e-02 5.15970688e+02] [ 5.83384455e-02 9.98296812e-01 -3.18787261e-04 5.22129335e+00] [ 1.83722260e-02 -7.54358552e-04 9.99830932e-01 3.53730084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9892541539999 meters 0.028765629243974994 Centerline is valid? [True, True] Translation: X:516.00, Y:5.22, Z:3.54 [[ 9.98115105e-01 -5.85273010e-02 -1.84605716e-02 5.16000694e+02] [ 5.85313810e-02 9.98285518e-01 -3.19682112e-04 5.22021474e+00] [ 1.84476314e-02 -7.61443205e-04 9.99829538e-01 3.53736246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.01925415399995 meters 0.028830323546314818 Centerline is valid? [True, True] Translation: X:516.03, Y:5.22, Z:3.54 [[ 9.98147186e-01 -5.81056196e-02 -1.80536020e-02 5.16032515e+02] [ 5.81094645e-02 9.98310169e-01 -3.11983157e-04 5.22035873e+00] [ 1.80412224e-02 -7.37680035e-04 9.99836972e-01 3.53828583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0492541539999 meters 0.029003605382681884 Centerline is valid? [True, True] Translation: X:516.06, Y:5.22, Z:3.54 [[ 9.98185029e-01 -5.74110178e-02 -1.81830260e-02 5.16063831e+02] [ 5.74148158e-02 9.98350360e-01 -3.13516919e-04 5.22121241e+00] [ 1.81710299e-02 -7.31027193e-04 9.99834626e-01 3.53836364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.07925415399995 meters 0.02875626129214925 Centerline is valid? [True, True] Translation: X:516.09, Y:5.22, Z:3.54 [[ 9.98232817e-01 -5.66288435e-02 -1.80115859e-02 5.16094559e+02] [ 5.66324503e-02 9.98395047e-01 -3.10161429e-04 5.22200221e+00] [ 1.80002423e-02 -7.10426928e-04 9.99837730e-01 3.53909327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1092541539999 meters 0.022415133434719348 Centerline is valid? [True, True] Translation: X:516.13, Y:5.23, Z:3.54 [[ 9.98343878e-01 -5.45606867e-02 -1.82382214e-02 5.16126123e+02] [ 5.45640534e-02 9.98510223e-01 -3.13342491e-04 5.23291965e+00] [ 1.82281467e-02 -6.82327727e-04 9.99833621e-01 3.54135749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.13925415399996 meters 0.027963768240002337 Centerline is valid? [True, True] Translation: X:516.16, Y:5.23, Z:3.54 [[ 9.98391206e-01 -5.35189589e-02 -1.87275272e-02 5.16156340e+02] [ 5.35223476e-02 9.98566600e-01 -3.20580761e-04 5.22535090e+00] [ 1.87178403e-02 -6.82276206e-04 9.99824573e-01 3.53835026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.16925415399993 meters 0.027723971096461308 Centerline is valid? [True, True] Translation: X:516.19, Y:5.23, Z:3.54 [[ 9.98432685e-01 -5.26218441e-02 -1.90555628e-02 5.16187982e+02] [ 5.26252056e-02 9.98614281e-01 -3.25347017e-04 5.22652003e+00] [ 1.90462775e-02 -6.77965812e-04 9.99818373e-01 3.53802970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.19925415399996 meters 0.020522378183727846 Centerline is valid? [True, True] Translation: X:516.22, Y:5.24, Z:3.54 [[ 9.98511753e-01 -5.11043156e-02 -1.90427807e-02 5.16219225e+02] [ 5.11074095e-02 9.98693110e-01 -3.24470392e-04 5.23873443e+00] [ 1.90344757e-02 -6.49239690e-04 9.99818617e-01 3.54214964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.22925415399993 meters 0.019852729549289638 Centerline is valid? [True, True] Translation: X:516.25, Y:5.24, Z:3.54 [[ 9.98551369e-01 -5.03076273e-02 -1.90868258e-02 5.16250117e+02] [ 5.03106035e-02 9.98733567e-01 -3.24516893e-04 5.24105507e+00] [ 1.90789793e-02 -6.36222939e-04 9.99817777e-01 3.54294240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2592541539999 meters 0.02015633007797999 Centerline is valid? [True, True] Translation: X:516.28, Y:5.24, Z:3.54 [[ 9.98595902e-01 -4.92538186e-02 -1.95009003e-02 5.16281744e+02] [ 4.92567390e-02 9.98786095e-01 -3.30827335e-04 5.24207545e+00] [ 1.94935226e-02 -6.30187936e-04 9.99809785e-01 3.54318982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.28925415399993 meters 0.019715374310795664 Centerline is valid? [True, True] Translation: X:516.31, Y:5.24, Z:3.54 [[ 9.98656216e-01 -4.82144029e-02 -1.90035358e-02 5.16312938e+02] [ 4.82170014e-02 9.98836832e-01 -3.21692460e-04 5.24344671e+00] [ 1.89969417e-02 -5.95033335e-04 9.99819365e-01 3.54396586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3192541539999 meters 0.026704110669193634 Centerline is valid? [True, True] Translation: X:516.34, Y:5.23, Z:3.54 [[ 9.98697295e-01 -4.75353939e-02 -1.85499038e-02 5.16343176e+02] [ 4.75377614e-02 9.98869392e-01 -3.13550617e-04 5.23232913e+00] [ 1.85438359e-02 -5.68678748e-04 9.99827887e-01 3.54014492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.34925415399994 meters 0.019843223133454435 Centerline is valid? [True, True] Translation: X:516.37, Y:5.24, Z:3.54 [[ 9.98740851e-01 -4.66144663e-02 -1.85419812e-02 5.16374561e+02] [ 4.66166832e-02 9.98912802e-01 -3.12873150e-04 5.24443380e+00] [ 1.85364068e-02 -5.51886469e-04 9.99828034e-01 3.54458914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3792541539999 meters 0.019299408831404283 Centerline is valid? [True, True] Translation: X:516.41, Y:5.25, Z:3.55 [[ 9.98791661e-01 -4.56467384e-02 -1.82096881e-02 5.16405601e+02] [ 4.56487277e-02 9.98957506e-01 -3.06614284e-04 5.24628478e+00] [ 1.82047005e-02 -5.25005304e-04 9.99834143e-01 3.54528922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.40925415399994 meters 0.018514151574967084 Centerline is valid? [True, True] Translation: X:516.44, Y:5.25, Z:3.55 [[ 9.98871903e-01 -4.42063322e-02 -1.73413009e-02 5.16436693e+02] [ 4.42079301e-02 9.99022309e-01 -2.91372472e-04 5.24862869e+00] [ 1.73372269e-02 -4.75579241e-04 9.99849586e-01 3.54619879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4392541539999 meters 0.018467265509762916 Centerline is valid? [True, True] Translation: X:516.47, Y:5.25, Z:3.55 [[ 9.98914793e-01 -4.34006366e-02 -1.69003348e-02 5.16468555e+02] [ 4.34020524e-02 9.99057647e-01 -2.83172033e-04 5.24945623e+00] [ 1.68966985e-02 -4.50644482e-04 9.99857139e-01 3.54645744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.46925415399994 meters 0.01837367555850622 Centerline is valid? [True, True] Translation: X:516.50, Y:5.25, Z:3.55 [[ 9.98932163e-01 -4.29284660e-02 -1.70786830e-02 5.16500257e+02] [ 4.29298557e-02 9.99078048e-01 -2.85409712e-04 5.25032988e+00] [ 1.70751894e-02 -4.48080454e-04 9.99854108e-01 3.54677968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4992541539999 meters 0.01880030667962875 Centerline is valid? [True, True] Translation: X:516.53, Y:5.25, Z:3.55 [[ 9.98937840e-01 -4.27826099e-02 -1.71125802e-02 5.16530782e+02] [ 4.27839982e-02 9.99084305e-01 -2.85130236e-04 5.25053595e+00] [ 1.71091089e-02 -4.47317218e-04 9.99853528e-01 3.54681377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.52925415399994 meters 0.01880030667962875 Centerline is valid? [True, True] Translation: X:516.56, Y:5.25, Z:3.55 [[ 9.98939369e-01 -4.27468802e-02 -1.71125929e-02 5.16561634e+02] [ 4.27482764e-02 9.99085834e-01 -2.84362247e-04 5.25101830e+00] [ 1.71091048e-02 -4.47473209e-04 9.99853528e-01 3.54702749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5592541539999 meters 0.019051932002968435 Centerline is valid? [True, True] Translation: X:516.59, Y:5.25, Z:3.55 [[ 9.98945700e-01 -4.25285327e-02 -1.72861713e-02 5.16591525e+02] [ 4.25299323e-02 9.99095152e-01 -2.86812402e-04 5.25133621e+00] [ 1.72827276e-02 -4.48669678e-04 9.99850542e-01 3.54676528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.58925415399995 meters 0.018608813187560483 Centerline is valid? [True, True] Translation: X:516.62, Y:5.25, Z:3.55 [[ 9.98939369e-01 -4.25380832e-02 -1.76252375e-02 5.16622511e+02] [ 4.25395487e-02 9.99094741e-01 -2.91928037e-04 5.25301086e+00] [ 1.76217001e-02 -4.58151238e-04 9.99844621e-01 3.54710237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6192541539999 meters 0.01831478169558155 Centerline is valid? [True, True] Translation: X:516.65, Y:5.25, Z:3.55 [[ 9.98918683e-01 -4.26087831e-02 -1.85999100e-02 5.16653740e+02] [ 4.26104403e-02 9.99091715e-01 -3.07383755e-04 5.25482609e+00] [ 1.85961132e-02 -4.85498978e-04 9.99826959e-01 3.54716104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.64925415399995 meters 0.01936858125746978 Centerline is valid? [True, True] Translation: X:516.68, Y:5.25, Z:3.55 [[ 9.98933112e-01 -4.21318882e-02 -1.89087826e-02 5.16684596e+02] [ 4.21335245e-02 9.99111940e-01 -3.12015213e-04 5.25321873e+00] [ 1.89051363e-02 -4.85011328e-04 9.99821164e-01 3.54625418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6792541539999 meters 0.018555347373320662 Centerline is valid? [True, True] Translation: X:516.71, Y:5.26, Z:3.55 [[ 9.98937462e-01 -4.17759897e-02 -1.94605702e-02 5.16714993e+02] [ 4.17776580e-02 9.99126881e-01 -3.20991387e-04 5.25541863e+00] [ 1.94569886e-02 -4.92366726e-04 9.99810574e-01 3.54688560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.70925415399995 meters 0.017679763956325294 Centerline is valid? [True, True] Translation: X:516.75, Y:5.26, Z:3.55 [[ 9.99020898e-01 -3.97057068e-02 -1.95116165e-02 5.16745833e+02] [ 3.97069893e-02 9.99211315e-01 -3.21833366e-04 5.25765354e+00] [ 1.95090066e-02 -4.53229287e-04 9.99809578e-01 3.54739980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7392541539999 meters 0.019881453867182278 Centerline is valid? [True, True] Translation: X:516.78, Y:5.26, Z:3.55 [[ 9.99088325e-01 -3.73729021e-02 -2.06345693e-02 5.16775610e+02] [ 3.73738342e-02 9.99301296e-01 -3.40601557e-04 5.25768066e+00] [ 2.06328811e-02 -4.30901931e-04 9.99787027e-01 3.54552482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.76925415399995 meters 0.017687769526336685 Centerline is valid? [True, True] Translation: X:516.81, Y:5.26, Z:3.55 [[ 9.99163459e-01 -3.59322119e-02 -1.95258430e-02 5.16805660e+02] [ 3.59327647e-02 9.99354158e-01 -3.22643498e-04 5.26086443e+00] [ 1.95248257e-02 -3.79243931e-04 9.99809300e-01 3.54809406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7992541539999 meters 0.01709057005635218 Centerline is valid? [True, True] Translation: X:516.84, Y:5.26, Z:3.55 [[ 9.99225623e-01 -3.43958526e-02 -1.91070472e-02 5.16835481e+02] [ 3.43960947e-02 9.99408229e-01 -3.16061123e-04 5.26220277e+00] [ 1.91066114e-02 -3.41391432e-04 9.99817394e-01 3.54848341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.82925415399995 meters 0.01576451456520869 Centerline is valid? [True, True] Translation: X:516.86, Y:5.27, Z:3.55 [[ 9.99368495e-01 -3.05088189e-02 -1.82160002e-02 5.16864664e+02] [ 3.05083836e-02 9.99534465e-01 -3.01852478e-04 5.26776566e+00] [ 1.82167292e-02 -2.54078864e-04 9.99834029e-01 3.55050790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8592541539999 meters 0.015570377163053265 Centerline is valid? [True, True] Translation: X:516.89, Y:5.27, Z:3.55 [[ 9.99420644e-01 -2.89305808e-02 -1.79275927e-02 5.16894505e+02] [ 2.89298937e-02 9.99581399e-01 -2.97722455e-04 5.26868083e+00] [ 1.79287015e-02 -2.21093384e-04 9.99839243e-01 3.55017818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.88925415399996 meters 0.015585480097462726 Centerline is valid? [True, True] Translation: X:516.92, Y:5.27, Z:3.55 [[ 9.99447139e-01 -2.78732079e-02 -1.81246036e-02 5.16923153e+02] [ 2.78723131e-02 9.99611446e-01 -3.02024855e-04 5.26834629e+00] [ 1.81259797e-02 -2.03316750e-04 9.99835690e-01 3.54923419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.91925415399993 meters 0.015190755134409012 Centerline is valid? [True, True] Translation: X:516.95, Y:5.27, Z:3.55 [[ 9.99461908e-01 -2.73366624e-02 -1.81273877e-02 5.16951668e+02] [ 2.73356186e-02 9.99626265e-01 -3.05411352e-04 5.26936067e+00] [ 1.81289618e-02 -1.90276343e-04 9.99835639e-01 3.54986460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.94925415399996 meters 0.015275325034011834 Centerline is valid? [True, True] Translation: X:516.98, Y:5.27, Z:3.55 [[ 9.99452085e-01 -2.78115281e-02 -1.79457279e-02 5.16980445e+02] [ 2.78105001e-02 9.99613166e-01 -3.06893303e-04 5.26930507e+00] [ 1.79473210e-02 -1.92354515e-04 9.99838915e-01 3.54996818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.97925415399993 meters 0.015178438848879676 Centerline is valid? [True, True] Translation: X:517.01, Y:5.27, Z:3.55 [[ 9.99448691e-01 -2.81660716e-02 -1.75780298e-02 5.17009546e+02] [ 2.81650611e-02 9.99603239e-01 -3.05095346e-04 5.27002339e+00] [ 1.75796488e-02 -1.90159138e-04 9.99845448e-01 3.55097804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0092541539999 meters 0.015256008251432003 Centerline is valid? [True, True] Translation: X:517.04, Y:5.27, Z:3.55 [[ 9.99434631e-01 -2.86669945e-02 -1.75676261e-02 5.17039189e+02] [ 2.86660240e-02 9.99588998e-01 -3.07108410e-04 5.27018833e+00] [ 1.75692097e-02 -1.96659213e-04 9.99845630e-01 3.55125772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.03925415399993 meters 0.01708348984067849 Centerline is valid? [True, True] Translation: X:517.07, Y:5.27, Z:3.55 [[ 9.99415704e-01 -2.85250998e-02 -1.88300073e-02 5.17068218e+02] [ 2.85239668e-02 9.99593055e-01 -3.28798711e-04 5.26938042e+00] [ 1.88317236e-02 -2.08499909e-04 9.99822646e-01 3.55010481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0692541539999 meters 0.015279808138044906 Centerline is valid? [True, True] Translation: X:517.10, Y:5.27, Z:3.55 [[ 9.99393087e-01 -2.94290412e-02 -1.86383536e-02 5.17096663e+02] [ 2.94280397e-02 9.99566848e-01 -3.28059326e-04 5.26912742e+00] [ 1.86399348e-02 -2.20629987e-04 9.99826237e-01 3.55118464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.09925415399994 meters 0.01540915228303933 Centerline is valid? [True, True] Translation: X:517.13, Y:5.27, Z:3.55 [[ 9.99382403e-01 -2.97809119e-02 -1.86523375e-02 5.17125871e+02] [ 2.97798813e-02 9.99556425e-01 -3.33072840e-04 5.26883611e+00] [ 1.86539830e-02 -2.22597262e-04 9.99825975e-01 3.55101832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.1292541539999 meters 0.015445669147010661 Centerline is valid? [True, True] Translation: X:517.15, Y:5.27, Z:3.55 [[ 9.99399267e-01 -2.96608146e-02 -1.79259846e-02 5.17154565e+02] [ 2.96597992e-02 9.99559999e-01 -3.22560898e-04 5.26738099e+00] [ 1.79276646e-02 -2.09313979e-04 9.99839265e-01 3.55102133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.15925415399994 meters 0.015406831622021295 Centerline is valid? [True, True] Translation: X:517.18, Y:5.27, Z:3.55 [[ 9.99414703e-01 -2.93192783e-02 -1.76247091e-02 5.17182920e+02] [ 2.93182253e-02 9.99570078e-01 -3.18181417e-04 5.26737905e+00] [ 1.76264607e-02 -1.98730005e-04 9.99844622e-01 3.55127849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.1892541539999 meters 0.015362976356828767 Centerline is valid? [True, True] Translation: X:517.21, Y:5.27, Z:3.55 [[ 9.99441771e-01 -2.85579663e-02 -1.73375063e-02 5.17212115e+02] [ 2.85568200e-02 9.99592122e-01 -3.13734514e-04 5.26794362e+00] [ 1.73393943e-02 -1.81544667e-04 9.99849645e-01 3.55181161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.21925415399994 meters 0.015193286547882778 Centerline is valid? [True, True] Translation: X:517.24, Y:5.27, Z:3.55 [[ 9.99480488e-01 -2.72771890e-02 -1.71670734e-02 5.17240983e+02] [ 2.72758627e-02 9.99627896e-01 -3.11439696e-04 5.26838680e+00] [ 1.71691807e-02 -1.56968839e-04 9.99852586e-01 3.55190131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.2492541539999 meters 0.016280993682469776 Centerline is valid? [True, True] Translation: X:517.27, Y:5.27, Z:3.55 [[ 9.99578545e-01 -2.34627453e-02 -1.70947840e-02 5.17270231e+02] [ 2.34608257e-02 9.99724708e-01 -3.12853349e-04 5.27073371e+00] [ 1.70974184e-02 -8.83362525e-05 9.99853825e-01 3.55141705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.27925415399994 meters 0.014581644393720177 Centerline is valid? [True, True] Translation: X:517.30, Y:5.27, Z:3.55 [[ 9.99626977e-01 -2.17639099e-02 -1.64996980e-02 5.17298485e+02] [ 2.17618253e-02 9.99763137e-01 -3.05891189e-04 5.27216281e+00] [ 1.65024472e-02 -5.32864608e-05 9.99863824e-01 3.55270068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3092541539999 meters 0.014621471918109292 Centerline is valid? [True, True] Translation: X:517.33, Y:5.27, Z:3.55 [[ 9.99678049e-01 -1.95424155e-02 -1.61831078e-02 5.17326676e+02] [ 1.95400787e-02 9.99809029e-01 -3.02522932e-04 5.27342563e+00] [ 1.61859294e-02 -1.37936656e-05 9.99868999e-01 3.55273095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.33925415399995 meters 0.014531722766616208 Centerline is valid? [True, True] Translation: X:517.35, Y:5.27, Z:3.55 [[ 9.99762966e-01 -1.56237092e-02 -1.51628130e-02 5.17354411e+02] [ 1.56211628e-02 9.99877941e-01 -2.86369137e-04 5.27418348e+00] [ 1.51654364e-02 4.94404867e-05 9.99884997e-01 3.55374345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3692541539999 meters 0.014728886643238376 Centerline is valid? [True, True] Translation: X:517.38, Y:5.27, Z:3.55 [[ 9.99796379e-01 -1.38742729e-02 -1.46528369e-02 5.17382245e+02] [ 1.38716458e-02 9.99903745e-01 -2.80917296e-04 5.27425806e+00] [ 1.46553240e-02 7.76011325e-05 9.99892602e-01 3.55422071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.39925415399995 meters 0.014829021826692528 Centerline is valid? [True, True] Translation: X:517.41, Y:5.27, Z:3.55 [[ 9.99819961e-01 -1.26441900e-02 -1.41481152e-02 5.17410309e+02] [ 1.26415598e-02 9.99920054e-01 -2.75321498e-04 5.27437432e+00] [ 1.41504653e-02 9.64176849e-05 9.99899873e-01 3.55457107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4292541539999 meters 0.014762885142389364 Centerline is valid? [True, True] Translation: X:517.44, Y:5.27, Z:3.55 [[ 9.99835342e-01 -1.15812587e-02 -1.39700703e-02 5.17438614e+02] [ 1.15785536e-02 9.99932929e-01 -2.74500727e-04 5.27414747e+00] [ 1.39723124e-02 1.12702320e-04 9.99902376e-01 3.55467116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.45925415399995 meters 0.01501332578813433 Centerline is valid? [True, True] Translation: X:517.47, Y:5.27, Z:3.55 [[ 9.99843466e-01 -1.09348407e-02 -1.39094390e-02 5.17466649e+02] [ 1.09320595e-02 9.99940205e-01 -2.75969621e-04 5.27177153e+00] [ 1.39116249e-02 1.23867608e-04 9.99903221e-01 3.55387519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4892541539999 meters 0.01499350293983678 Centerline is valid? [True, True] Translation: X:517.49, Y:5.27, Z:3.55 [[ 9.99831249e-01 -1.14241063e-02 -1.43862279e-02 5.17493689e+02] [ 1.14211295e-02 9.99934735e-01 -2.89061003e-04 5.27057310e+00] [ 1.43885912e-02 1.24705251e-04 9.99896471e-01 3.55351214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.51925415399995 meters 0.014743553803197943 Centerline is valid? [True, True] Translation: X:517.52, Y:5.27, Z:3.55 [[ 9.99818294e-01 -1.21921510e-02 -1.46537085e-02 5.17521544e+02] [ 1.21890912e-02 9.99925666e-01 -2.98102342e-04 5.26871506e+00] [ 1.46562537e-02 1.19432786e-04 9.99892584e-01 3.55295462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5492541539999 meters 0.014706085415905104 Centerline is valid? [True, True] Translation: X:517.55, Y:5.27, Z:3.55 [[ 9.99793323e-01 -1.34887726e-02 -1.52106319e-02 5.17549755e+02] [ 1.34855586e-02 9.99909016e-01 -3.13852573e-04 5.26652969e+00] [ 1.52134815e-02 1.08663838e-04 9.99884262e-01 3.55222608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.57925415399995 meters 0.01470986127200452 Centerline is valid? [True, True] Translation: X:517.58, Y:5.26, Z:3.55 [[ 9.99753220e-01 -1.57791670e-02 -1.56370245e-02 5.17577703e+02] [ 1.57760065e-02 9.99875498e-01 -3.25457958e-04 5.26173666e+00] [ 1.56402131e-02 7.86878411e-05 9.99877681e-01 3.55123987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6092541539999 meters 0.014639209977156257 Centerline is valid? [True, True] Translation: X:517.61, Y:5.26, Z:3.55 [[ 9.99722474e-01 -1.76915710e-02 -1.55557815e-02 5.17605572e+02] [ 1.76886277e-02 9.99843491e-01 -3.26787049e-04 5.25995242e+00] [ 1.55591283e-02 5.15359292e-05 9.99878948e-01 3.55151650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.63925415399996 meters 0.014565406120410709 Centerline is valid? [True, True] Translation: X:517.63, Y:5.26, Z:3.55 [[ 9.99700007e-01 -1.93494746e-02 -1.50164374e-02 5.17633258e+02] [ 1.93468803e-02 9.99812781e-01 -3.18024355e-04 5.25796362e+00] [ 1.50197797e-02 2.74077328e-05 9.99887196e-01 3.55211244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.66925415399993 meters 0.014330697127657435 Centerline is valid? [True, True] Translation: X:517.66, Y:5.26, Z:3.55 [[ 9.99668523e-01 -2.14829702e-02 -1.41889123e-02 5.17660840e+02] [ 2.14808325e-02 9.99769214e-01 -3.03060682e-04 5.25560894e+00] [ 1.41921484e-02 -1.82942504e-06 9.99899286e-01 3.55321742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.69925415399996 meters 0.014573887509781436 Centerline is valid? [True, True] Translation: X:517.69, Y:5.25, Z:3.55 [[ 9.99573006e-01 -2.64537477e-02 -1.24098903e-02 5.17688598e+02] [ 2.64524691e-02 9.99650037e-01 -2.67194322e-04 5.24869198e+00] [ 1.24126156e-02 -6.11920081e-05 9.99922959e-01 3.55487394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.72925415399993 meters 0.01502881493135515 Centerline is valid? [True, True] Translation: X:517.72, Y:5.25, Z:3.56 [[ 9.99496801e-01 -2.93369212e-02 -1.20619484e-02 5.17718362e+02] [ 2.93359152e-02 9.99569576e-01 -2.60362242e-04 5.24507636e+00] [ 1.20643949e-02 -9.36170672e-05 9.99927218e-01 3.55547861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7592541539999 meters 0.01537050333499343 Centerline is valid? [True, True] Translation: X:517.75, Y:5.24, Z:3.56 [[ 9.99409199e-01 -3.25800193e-02 -1.09450722e-02 5.17749018e+02] [ 3.25793843e-02 9.99469123e-01 -2.36359984e-04 5.24101367e+00] [ 1.09469623e-02 -1.20363371e-04 9.99940073e-01 3.55636105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.78925415399993 meters 0.016158449706969096 Centerline is valid? [True, True] Translation: X:517.78, Y:5.24, Z:3.56 [[ 9.99314390e-01 -3.56234087e-02 -1.00857578e-02 5.17779983e+02] [ 3.56230249e-02 9.99365275e-01 -2.17750352e-04 5.23703138e+00] [ 1.00871131e-02 -1.41684142e-04 9.99949114e-01 3.55750669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8192541539999 meters 0.0179435532269623 Centerline is valid? [True, True] Translation: X:517.81, Y:5.23, Z:3.56 [[ 9.99109255e-01 -4.12245348e-02 -9.01304679e-03 5.17810501e+02] [ 4.12244577e-02 9.99149892e-01 -1.94415913e-04 5.22871431e+00] [ 9.01339943e-03 -1.77315228e-04 9.99959363e-01 3.55831074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.84925415399994 meters 0.01916611254591866 Centerline is valid? [True, True] Translation: X:517.84, Y:5.22, Z:3.56 [[ 9.98995602e-01 -4.38640457e-02 -9.15060370e-03 5.17842014e+02] [ 4.38640801e-02 9.99037489e-01 -1.97031792e-04 5.22485439e+00] [ 9.15043875e-03 -2.04548920e-04 9.99958113e-01 3.55850903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8792541539999 meters 0.01726934028082789 Centerline is valid? [True, True] Translation: X:517.87, Y:5.23, Z:3.56 [[ 9.98879899e-01 -4.64498378e-02 -9.01999279e-03 5.17874040e+02] [ 4.64499810e-02 9.98920598e-01 -1.93725917e-04 5.22718678e+00] [ 9.01925513e-03 -2.25469569e-04 9.99959300e-01 3.55913439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.90925415399994 meters 0.018548031295138104 Centerline is valid? [True, True] Translation: X:517.90, Y:5.22, Z:3.56 [[ 9.98659834e-01 -5.08738257e-02 -9.50731686e-03 5.17904482e+02] [ 5.08741907e-02 9.98705049e-01 -2.03602395e-04 5.22055496e+00] [ 9.50536338e-03 -2.80347518e-04 9.99954784e-01 3.55827903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9392541539999 meters 0.02180142083999595 Centerline is valid? [True, True] Translation: X:517.94, Y:5.21, Z:3.56 [[ 9.98533627e-01 -5.32804791e-02 -9.58053950e-03 5.17935761e+02] [ 5.32809630e-02 9.98579540e-01 -2.04896324e-04 5.21340194e+00] [ 9.57784770e-03 -3.05864501e-04 9.99954085e-01 3.55750194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.96925415399994 meters 0.020792958652526273 Centerline is valid? [True, True] Translation: X:517.97, Y:5.21, Z:3.56 [[ 9.98441731e-01 -5.48650071e-02 -1.01951059e-02 5.17968198e+02] [ 5.48656442e-02 9.98493722e-01 -2.17393799e-04 5.21470412e+00] [ 1.01916766e-02 -3.42306012e-04 9.99948005e-01 3.55673782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9992541539999 meters 0.020700077373951745 Centerline is valid? [True, True] Translation: X:518.00, Y:5.21, Z:3.56 [[ 9.98312865e-01 -5.70911784e-02 -1.05840188e-02 5.18000296e+02] [ 5.70919984e-02 9.98368896e-01 -2.24888658e-04 5.21247532e+00] [ 1.05795943e-02 -3.79753545e-04 9.99943962e-01 3.55814427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.02925415399994 meters 0.022102616222036048 Centerline is valid? [True, True] Translation: X:518.03, Y:5.21, Z:3.56 [[ 9.98185571e-01 -5.91942103e-02 -1.10277253e-02 5.18031294e+02] [ 5.91952370e-02 9.98246397e-01 -2.33563002e-04 5.20862866e+00] [ 1.10222126e-02 -4.19649593e-04 9.99939166e-01 3.55818560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0592541539999 meters 0.021318251061529347 Centerline is valid? [True, True] Translation: X:518.06, Y:5.21, Z:3.56 [[ 9.98193969e-01 -5.90325878e-02 -1.11334125e-02 5.18063212e+02] [ 5.90336320e-02 9.98255967e-01 -2.35110558e-04 5.20947967e+00] [ 1.11278746e-02 -4.22559833e-04 9.99937994e-01 3.55864298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.08925415399995 meters 0.02153464075476423 Centerline is valid? [True, True] Translation: X:518.09, Y:5.21, Z:3.56 [[ 9.98334308e-01 -5.65965802e-02 -1.11998715e-02 5.18093891e+02] [ 5.65974903e-02 9.98397049e-01 -2.35925456e-04 5.20837534e+00] [ 1.11952713e-02 -3.98352144e-04 9.99937252e-01 3.55902182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1192541539999 meters 0.021164173503148344 Centerline is valid? [True, True] Translation: X:518.13, Y:5.21, Z:3.56 [[ 9.98439101e-01 -5.47224346e-02 -1.11721042e-02 5.18125449e+02] [ 5.47232261e-02 9.98501534e-01 -2.35065810e-04 5.20955607e+00] [ 1.11682265e-02 -3.76674687e-04 9.99937562e-01 3.55921837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.14925415399995 meters 0.018513052255065957 Centerline is valid? [True, True] Translation: X:518.16, Y:5.21, Z:3.56 [[ 9.98576405e-01 -5.21336532e-02 -1.12803593e-02 5.18156440e+02] [ 5.21342998e-02 9.98640055e-01 -2.36934622e-04 5.21446946e+00] [ 1.12773709e-02 -3.51496312e-04 9.99936347e-01 3.56003228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1792541539999 meters 0.018557335557937274 Centerline is valid? [True, True] Translation: X:518.19, Y:5.22, Z:3.56 [[ 9.98705399e-01 -4.94419550e-02 -1.19590247e-02 5.18186727e+02] [ 4.94424932e-02 9.98776941e-01 -2.50822504e-04 5.21531960e+00] [ 1.19567993e-02 -3.40786211e-04 9.99928457e-01 3.55983797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.20925415399995 meters 0.017257432564797948 Centerline is valid? [True, True] Translation: X:518.22, Y:5.22, Z:3.56 [[ 9.98841017e-01 -4.64524066e-02 -1.26014253e-02 5.18218474e+02] [ 4.64527721e-02 9.98920452e-01 -2.63846897e-04 5.21878607e+00] [ 1.26000778e-02 -3.21830036e-04 9.99920564e-01 3.56004339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2392541539999 meters 0.016338442788425986 Centerline is valid? [True, True] Translation: X:518.25, Y:5.22, Z:3.56 [[ 9.99067249e-01 -4.09017226e-02 -1.38448634e-02 5.18248564e+02] [ 4.09016387e-02 9.99163136e-01 -2.89331600e-04 5.22224924e+00] [ 1.38451113e-02 -2.77215874e-04 9.99904113e-01 3.55976396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.26925415399995 meters 0.015891455527098544 Centerline is valid? [True, True] Translation: X:518.28, Y:5.22, Z:3.56 [[ 9.99164568e-01 -3.84615013e-02 -1.38158749e-02 5.18279181e+02] [ 3.84611863e-02 9.99260053e-01 -2.88597734e-04 5.22451287e+00] [ 1.38167518e-02 -2.43018310e-04 9.99904515e-01 3.56029131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2992541539999 meters 0.015482905298028935 Centerline is valid? [True, True] Translation: X:518.31, Y:5.23, Z:3.56 [[ 9.99234765e-01 -3.65575910e-02 -1.39078099e-02 5.18309865e+02] [ 3.65570875e-02 9.99331524e-01 -2.90518149e-04 5.22636930e+00] [ 1.39091335e-02 -2.18133188e-04 9.99903240e-01 3.56076777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.32925415399995 meters 0.015488856993111052 Centerline is valid? [True, True] Translation: X:518.34, Y:5.23, Z:3.56 [[ 9.99286606e-01 -3.51563199e-02 -1.37954007e-02 5.18339375e+02] [ 3.51556915e-02 9.99381806e-01 -2.88128439e-04 5.22735678e+00] [ 1.37970020e-02 -1.97063962e-04 9.99904797e-01 3.56117293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3592541539999 meters 0.015458464073887922 Centerline is valid? [True, True] Translation: X:518.37, Y:5.23, Z:3.56 [[ 9.99320199e-01 -3.42654014e-02 -1.36022668e-02 5.18368592e+02] [ 3.42647069e-02 9.99412752e-01 -2.84171068e-04 5.22788844e+00] [ 1.36040161e-02 -1.82099795e-04 9.99907445e-01 3.56142273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.38925415399996 meters 0.01686416268443787 Centerline is valid? [True, True] Translation: X:518.40, Y:5.23, Z:3.56 [[ 9.99354986e-01 -3.32976516e-02 -1.34491057e-02 5.18398918e+02] [ 3.32968834e-02 9.99445466e-01 -2.81092182e-04 5.22758058e+00] [ 1.34510075e-02 -1.66902432e-04 9.99909517e-01 3.56112150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.41925415399993 meters 0.01686416268443787 Centerline is valid? [True, True] Translation: X:518.43, Y:5.23, Z:3.56 [[ 9.99354986e-01 -3.32976516e-02 -1.34491057e-02 5.18428913e+02] [ 3.32968834e-02 9.99445466e-01 -2.81092182e-04 5.22820750e+00] [ 1.34510075e-02 -1.66902432e-04 9.99909517e-01 3.56132940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.44925415399996 meters 0.015303658569297322 Centerline is valid? [True, True] Translation: X:518.46, Y:5.23, Z:3.56 [[ 9.99347073e-01 -3.37069033e-02 -1.30104610e-02 5.18458888e+02] [ 3.37062194e-02 9.99431747e-01 -2.71903090e-04 5.22776864e+00] [ 1.30122328e-02 -1.66807896e-04 9.99915323e-01 3.56331382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.47925415399993 meters 0.016314258039908124 Centerline is valid? [True, True] Translation: X:518.49, Y:5.23, Z:3.56 [[ 9.99342710e-01 -3.38798251e-02 -1.28959725e-02 5.18488044e+02] [ 3.38791681e-02 9.99425900e-01 -2.69467037e-04 5.22690358e+00] [ 1.28976984e-02 -1.67614902e-04 9.99916807e-01 3.56234885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5092541539999 meters 0.015688670826916298 Centerline is valid? [True, True] Translation: X:518.52, Y:5.23, Z:3.56 [[ 9.99302763e-01 -3.49109665e-02 -1.32367444e-02 5.18518391e+02] [ 3.49103650e-02 9.99390409e-01 -2.76564480e-04 5.22532337e+00] [ 1.32383306e-02 -1.85727930e-04 9.99912352e-01 3.56332523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.53925415399993 meters 0.01578724963536579 Centerline is valid? [True, True] Translation: X:518.55, Y:5.23, Z:3.56 [[ 9.99296981e-01 -3.49847222e-02 -1.34763710e-02 5.18548772e+02] [ 3.49841055e-02 9.99387829e-01 -2.81571166e-04 5.22521323e+00] [ 1.34779719e-02 -1.90085571e-04 9.99909150e-01 3.56336128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5692541539999 meters 0.015926854063713313 Centerline is valid? [True, True] Translation: X:518.58, Y:5.22, Z:3.56 [[ 9.99294312e-01 -3.48629910e-02 -1.39803515e-02 5.18578496e+02] [ 3.48623137e-02 9.99392082e-01 -2.92220191e-04 5.22477689e+00] [ 1.39820403e-02 -1.95373426e-04 9.99902227e-01 3.56317136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.59925415399994 meters 0.01584400361413831 Centerline is valid? [True, True] Translation: X:518.61, Y:5.22, Z:3.56 [[ 9.99293079e-01 -3.47514469e-02 -1.43415119e-02 5.18608303e+02] [ 3.47507174e-02 9.99395966e-01 -3.00137654e-04 5.22475960e+00] [ 1.43432794e-02 -1.98452347e-04 9.99897110e-01 3.56285164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.6292541539999 meters 0.015097378122502213 Centerline is valid? [True, True] Translation: X:518.64, Y:5.23, Z:3.56 [[ 9.99311614e-01 -3.37918566e-02 -1.53103905e-02 5.18638071e+02] [ 3.37909043e-02 9.99428873e-01 -3.20961736e-04 5.22555998e+00] [ 1.53124922e-02 -1.96611151e-04 9.99882738e-01 3.56364282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.65925415399994 meters 0.016749556283110985 Centerline is valid? [True, True] Translation: X:518.67, Y:5.23, Z:3.56 [[ 9.99335476e-01 -3.28629629e-02 -1.57680564e-02 5.18666913e+02] [ 3.28618258e-02 9.99459849e-01 -3.31280155e-04 5.22525022e+00] [ 1.57704261e-02 -1.87107109e-04 9.99875622e-01 3.56238684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.6892541539999 meters 0.014767137999316091 Centerline is valid? [True, True] Translation: X:518.70, Y:5.23, Z:3.56 [[ 9.99359282e-01 -3.23681451e-02 -1.52751195e-02 5.18695311e+02] [ 3.23669829e-02 9.99476000e-01 -3.23360935e-04 5.22555507e+00] [ 1.52775819e-02 -1.71255779e-04 9.99883276e-01 3.56462354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.71925415399994 meters 0.014475764427107629 Centerline is valid? [True, True] Translation: X:518.72, Y:5.23, Z:3.57 [[ 9.99443027e-01 -3.01288074e-02 -1.43488677e-02 5.18723656e+02] [ 3.01275222e-02 9.99546016e-01 -3.05767902e-04 5.22543872e+00] [ 1.43515660e-02 -1.26698232e-04 9.99897003e-01 3.56552328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.7492541539999 meters 0.014421056094499998 Centerline is valid? [True, True] Translation: X:518.75, Y:5.23, Z:3.57 [[ 9.99472502e-01 -2.91003549e-02 -1.44182713e-02 5.18752257e+02] [ 2.90989180e-02 9.99576489e-01 -3.09478776e-04 5.22639774e+00] [ 1.44211710e-02 -1.10240568e-04 9.99896003e-01 3.56655282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.77925415399994 meters 0.014286321735968468 Centerline is valid? [True, True] Translation: X:518.78, Y:5.23, Z:3.57 [[ 9.99517319e-01 -2.75623325e-02 -1.43334228e-02 5.18780693e+02] [ 2.75607242e-02 9.99620083e-01 -3.09762064e-04 5.22698664e+00] [ 1.43365151e-02 -8.54269646e-05 9.99897223e-01 3.56680328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8092541539999 meters 0.014136677870625284 Centerline is valid? [True, True] Translation: X:518.81, Y:5.23, Z:3.57 [[ 9.99556078e-01 -2.61355573e-02 -1.43031402e-02 5.18809895e+02] [ 2.61337774e-02 9.99658406e-01 -3.11369960e-04 5.22852149e+00] [ 1.43063922e-02 -6.25633459e-05 9.99897656e-01 3.56816168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.83925415399995 meters 0.016180500476744377 Centerline is valid? [True, True] Translation: X:518.84, Y:5.23, Z:3.57 [[ 9.99621830e-01 -2.22471537e-02 -1.61635467e-02 5.18837434e+02] [ 2.22443261e-02 9.99752501e-01 -3.54723143e-04 5.22863978e+00] [ 1.61674378e-02 -4.95820513e-06 9.99869298e-01 3.56624212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8692541539999 meters 0.01411906439916419 Centerline is valid? [True, True] Translation: X:518.86, Y:5.23, Z:3.57 [[ 9.99657335e-01 -2.08623624e-02 -1.58105731e-02 5.18864883e+02] [ 2.08594334e-02 9.99782357e-01 -3.50160926e-04 5.22940625e+00] [ 1.58144372e-02 2.02413420e-05 9.99874944e-01 3.56774525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.89925415399995 meters 0.014089632266800227 Centerline is valid? [True, True] Translation: X:518.89, Y:5.23, Z:3.57 [[ 9.99690020e-01 -1.90532100e-02 -1.60262082e-02 5.18892536e+02] [ 1.90498934e-02 9.99818470e-01 -3.59595315e-04 5.23004021e+00] [ 1.60301504e-02 5.41862901e-05 9.99871507e-01 3.56795609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9292541539999 meters 0.014189569792337021 Centerline is valid? [True, True] Translation: X:518.92, Y:5.23, Z:3.57 [[ 9.99736112e-01 -1.57325906e-02 -1.67389615e-02 5.18921535e+02] [ 1.57284303e-02 9.99876228e-01 -3.80166320e-04 5.22968742e+00] [ 1.67428707e-02 1.16788409e-04 9.99859821e-01 3.56876037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.95925415399995 meters 0.014399607104532005 Centerline is valid? [True, True] Translation: X:518.95, Y:5.23, Z:3.57 [[ 9.99750505e-01 -1.47492822e-02 -1.67745547e-02 5.18949812e+02] [ 1.47449215e-02 9.99891214e-01 -3.83617865e-04 5.22997036e+00] [ 1.67783879e-02 1.36182664e-04 9.99859224e-01 3.56885056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9892541539999 meters 0.01428558297383589 Centerline is valid? [True, True] Translation: X:518.98, Y:5.23, Z:3.57 [[ 9.99748243e-01 -1.43835039e-02 -1.72210888e-02 5.18978162e+02] [ 1.43787976e-02 9.99896541e-01 -3.97085434e-04 5.22927703e+00] [ 1.72250186e-02 1.49366916e-04 9.99851627e-01 3.56975373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.01925415399995 meters 0.014312464347509416 Centerline is valid? [True, True] Translation: X:519.01, Y:5.23, Z:3.57 [[ 9.99726582e-01 -1.51488547e-02 -1.78121532e-02 5.19005001e+02] [ 1.51438842e-02 9.99885239e-01 -4.13907379e-04 5.22743026e+00] [ 1.78163793e-02 1.44049023e-04 9.99841265e-01 3.56939808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0492541539999 meters 0.014144256839853814 Centerline is valid? [True, True] Translation: X:519.03, Y:5.23, Z:3.57 [[ 9.99701887e-01 -1.66562876e-02 -1.78523315e-02 5.19032988e+02] [ 1.66514649e-02 9.99861267e-01 -4.18765779e-04 5.22548997e+00] [ 1.78568298e-02 1.21373469e-04 9.99840547e-01 3.56939828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.07925415399995 meters 0.013837240965127909 Centerline is valid? [True, True] Translation: X:519.06, Y:5.22, Z:3.57 [[ 9.99656812e-01 -1.86641923e-02 -1.83822037e-02 5.19060552e+02] [ 1.86593224e-02 9.99825804e-01 -4.36421137e-04 5.22307585e+00] [ 1.83871471e-02 9.32718975e-05 9.99830938e-01 3.57001100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1092541539999 meters 0.014627631841657975 Centerline is valid? [True, True] Translation: X:519.09, Y:5.22, Z:3.57 [[ 9.99579943e-01 -2.27746220e-02 -1.79235695e-02 5.19088443e+02] [ 2.27706013e-02 9.99740624e-01 -4.28400910e-04 5.21695036e+00] [ 1.79286772e-02 2.00905030e-05 9.99839268e-01 3.56850054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.13925415399996 meters 0.013661649302331116 Centerline is valid? [True, True] Translation: X:519.12, Y:5.21, Z:3.57 [[ 9.99524402e-01 -2.52636724e-02 -1.76837882e-02 5.19115013e+02] [ 2.52601149e-02 9.99680822e-01 -4.24546860e-04 5.21431195e+00] [ 1.76888695e-02 -2.23495738e-05 9.99843539e-01 3.56946202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.16925415399993 meters 0.013646082096961169 Centerline is valid? [True, True] Translation: X:519.14, Y:5.21, Z:3.57 [[ 9.99456500e-01 -2.78405714e-02 -1.76523774e-02 5.19142876e+02] [ 2.78373604e-02 9.99612374e-01 -4.27639782e-04 5.21187598e+00] [ 1.76574406e-02 -6.39882299e-05 9.99844093e-01 3.57063300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.19925415399996 meters 0.01373205074053263 Centerline is valid? [True, True] Translation: X:519.17, Y:5.21, Z:3.57 [[ 9.99392943e-01 -3.03603803e-02 -1.70877872e-02 5.19170481e+02] [ 3.03576571e-02 9.99539012e-01 -4.18790977e-04 5.20971675e+00] [ 1.70926246e-02 -1.00208439e-04 9.99853905e-01 3.57141561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.22925415399993 meters 0.015382756428116111 Centerline is valid? [True, True] Translation: X:519.20, Y:5.20, Z:3.57 [[ 9.99236568e-01 -3.52567562e-02 -1.68298021e-02 5.19198099e+02] [ 3.52547532e-02 9.99378271e-01 -4.15781881e-04 5.20348533e+00] [ 1.68339977e-02 -1.77866061e-04 9.99858282e-01 3.57094514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2592541539999 meters 0.016428427652184257 Centerline is valid? [True, True] Translation: X:519.23, Y:5.20, Z:3.57 [[ 9.99134111e-01 -3.79208231e-02 -1.71183796e-02 5.19226518e+02] [ 3.79191093e-02 9.99280722e-01 -4.24799189e-04 5.20143450e+00] [ 1.71221755e-02 -2.24682348e-04 9.99853380e-01 3.57149653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.28925415399993 meters 0.014833701631847978 Centerline is valid? [True, True] Translation: X:519.26, Y:5.20, Z:3.57 [[ 9.99032179e-01 -4.10209912e-02 -1.58739658e-02 5.19255490e+02] [ 4.10198626e-02 9.99158252e-01 -3.96824230e-04 5.19920728e+00] [ 1.58768820e-02 -2.54707719e-04 9.99873922e-01 3.57416945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3192541539999 meters 0.015745374686318526 Centerline is valid? [True, True] Translation: X:519.28, Y:5.20, Z:3.57 [[ 9.98908263e-01 -4.40202361e-02 -1.56365441e-02 5.19283010e+02] [ 4.40194681e-02 9.99030596e-01 -3.93452767e-04 5.19612191e+00] [ 1.56387058e-02 -2.95289133e-04 9.99877664e-01 3.57429482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.34925415399994 meters 0.02080463686456104 Centerline is valid? [True, True] Translation: X:519.31, Y:5.19, Z:3.57 [[ 9.98596035e-01 -5.03860256e-02 -1.63464524e-02 5.19312313e+02] [ 5.03860194e-02 9.98729733e-01 -4.12486480e-04 5.18986936e+00] [ 1.63464716e-02 -4.11725303e-04 9.99866303e-01 3.57207060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3792541539999 meters 0.021245787772860583 Centerline is valid? [True, True] Translation: X:519.34, Y:5.19, Z:3.57 [[ 9.98400405e-01 -5.40896191e-02 -1.64604071e-02 5.19342336e+02] [ 5.40901038e-02 9.98535972e-01 -4.16084811e-04 5.18783513e+00] [ 1.64588145e-02 -4.74925883e-04 9.99864432e-01 3.57274905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.40925415399994 meters 0.019817633621946558 Centerline is valid? [True, True] Translation: X:519.37, Y:5.19, Z:3.58 [[ 9.98182419e-01 -5.82844523e-02 -1.53225717e-02 5.19371818e+02] [ 5.82853575e-02 9.98299888e-01 -3.87860516e-04 5.18531386e+00] [ 1.53191278e-02 -5.05926020e-04 9.99882527e-01 3.57528522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4392541539999 meters 0.02204618765822183 Centerline is valid? [True, True] Translation: X:519.40, Y:5.18, Z:3.58 [[ 9.97595554e-01 -6.74318905e-02 -1.60015692e-02 5.19402303e+02] [ 6.74340481e-02 9.97723652e-01 -4.05303290e-04 5.17981660e+00] [ 1.59924744e-02 -6.74721827e-04 9.99871885e-01 3.57522424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.46925415399994 meters 0.023403526220635382 Centerline is valid? [True, True] Translation: X:519.43, Y:5.18, Z:3.58 [[ 9.97249288e-01 -7.23227710e-02 -1.62257562e-02 5.19432516e+02] [ 7.23256326e-02 9.97380987e-01 -4.11149604e-04 5.17734968e+00] [ 1.62129962e-02 -7.63519434e-04 9.99868269e-01 3.57525284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4992541539999 meters 0.025688865697643618 Centerline is valid? [True, True] Translation: X:519.46, Y:5.17, Z:3.58 [[ 9.96896034e-01 -7.69960026e-02 -1.64290473e-02 5.19461526e+02] [ 7.69995612e-02 9.97031040e-01 -4.16781532e-04 5.17391778e+00] [ 1.64123606e-02 -8.49541578e-04 9.99864947e-01 3.57530245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.52925415399994 meters 0.028710972694859106 Centerline is valid? [True, True] Translation: X:519.49, Y:5.17, Z:3.58 [[ 9.96206813e-01 -8.55097350e-02 -1.61267441e-02 5.19492255e+02] [ 8.55142712e-02 9.96336862e-01 -4.09347807e-04 5.17051485e+00] [ 1.61026728e-02 -9.71271691e-04 9.99869872e-01 3.57600684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5592541539999 meters 0.029349796737275415 Centerline is valid? [True, True] Translation: X:519.52, Y:5.17, Z:3.58 [[ 9.95887226e-01 -8.91655518e-02 -1.60666432e-02 5.19522357e+02] [ 8.91705241e-02 9.96016291e-01 -4.08068151e-04 5.17111191e+00] [ 1.60390240e-02 -1.02628114e-03 9.99870840e-01 3.57677025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.58925415399995 meters 0.030578005251719297 Centerline is valid? [True, True] Translation: X:519.55, Y:5.17, Z:3.58 [[ 9.95612972e-01 -9.21646590e-02 -1.61395912e-02 5.19552658e+02] [ 9.21700619e-02 9.95743195e-01 -4.10348627e-04 5.17133326e+00] [ 1.61087078e-02 -1.07903871e-03 9.99869664e-01 3.57703405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6192541539999 meters 0.036647510792869195 Centerline is valid? [True, True] Translation: X:519.58, Y:5.17, Z:3.58 [[ 9.95300617e-01 -9.54523517e-02 -1.62951159e-02 5.19582285e+02] [ 9.54582905e-02 9.95433344e-01 -4.14743098e-04 5.16740684e+00] [ 1.62602899e-02 -1.14270984e-03 9.99867140e-01 3.57575646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.64925415399995 meters 0.03319755396226123 Centerline is valid? [True, True] Translation: X:519.61, Y:5.17, Z:3.58 [[ 9.95240420e-01 -9.61418856e-02 -1.59136437e-02 5.19611922e+02] [ 9.61476289e-02 9.95367002e-01 -4.05558008e-04 5.17418971e+00] [ 1.58789069e-02 -1.12643139e-03 9.99873288e-01 3.57763223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6792541539999 meters 0.03342916261287521 Centerline is valid? [True, True] Translation: X:519.64, Y:5.18, Z:3.58 [[ 9.95282241e-01 -9.57090916e-02 -1.59069303e-02 5.19641087e+02] [ 9.57147656e-02 9.95408719e-01 -4.05975263e-04 5.17680972e+00] [ 1.58727527e-02 -1.11846814e-03 9.99873394e-01 3.57766512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.70925415399995 meters 0.031121263787547204 Centerline is valid? [True, True] Translation: X:519.67, Y:5.18, Z:3.58 [[ 9.95384241e-01 -9.47232599e-02 -1.54180721e-02 5.19671626e+02] [ 9.47284690e-02 9.95503070e-01 -3.93746592e-04 5.18310066e+00] [ 1.53860351e-02 -1.06860121e-03 9.99881057e-01 3.57860378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7392541539999 meters 0.03216416311812806 Centerline is valid? [True, True] Translation: X:519.70, Y:5.19, Z:3.58 [[ 9.95679162e-01 -9.15081275e-02 -1.57882260e-02 5.19701428e+02] [ 9.15131874e-02 9.95803783e-01 -4.03199578e-04 5.18863226e+00] [ 1.57588712e-02 -1.04337346e-03 9.99875277e-01 3.57804522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.76925415399995 meters 0.02973442449304623 Centerline is valid? [True, True] Translation: X:519.73, Y:5.20, Z:3.58 [[ 9.95884446e-01 -8.93612215e-02 -1.51242575e-02 5.19731963e+02] [ 8.93656203e-02 9.95998814e-01 -3.86089948e-04 5.19562465e+00] [ 1.50982440e-02 -9.67087682e-04 9.99885547e-01 3.57920762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7992541539999 meters 0.03003475769442714 Centerline is valid? [True, True] Translation: X:519.76, Y:5.20, Z:3.58 [[ 9.96079746e-01 -8.71782827e-02 -1.50028937e-02 5.19761191e+02] [ 8.71823642e-02 9.96192295e-01 -3.83013042e-04 5.19896228e+00] [ 1.49791575e-02 -9.26476209e-04 9.99887377e-01 3.57926106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.82925415399995 meters 0.029488595332018374 Centerline is valid? [True, True] Translation: X:519.79, Y:5.20, Z:3.58 [[ 9.96266651e-01 -8.50268125e-02 -1.49399193e-02 5.19792124e+02] [ 8.50306191e-02 9.96378266e-01 -3.81386139e-04 5.20377997e+00] [ 1.49182389e-02 -8.90388292e-04 9.99888320e-01 3.57934137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8592541539999 meters 0.02883048742198545 Centerline is valid? [True, True] Translation: X:519.82, Y:5.21, Z:3.58 [[ 9.96607612e-01 -8.08338025e-02 -1.54649043e-02 5.19821352e+02] [ 8.08373777e-02 9.96727226e-01 -3.94811884e-04 5.21162194e+00] [ 1.54462053e-02 -8.56669782e-04 9.99880333e-01 3.57875648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.88925415399996 meters 0.026754852494345373 Centerline is valid? [True, True] Translation: X:519.85, Y:5.22, Z:3.58 [[ 9.96737897e-01 -7.91274583e-02 -1.58873967e-02 5.19852119e+02] [ 7.91310160e-02 9.96864142e-01 -4.05562167e-04 5.21856608e+00] [ 1.58696672e-02 -8.52946659e-04 9.99873705e-01 3.57912464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.91925415399993 meters 0.02751841441821653 Centerline is valid? [True, True] Translation: X:519.88, Y:5.22, Z:3.58 [[ 9.96846454e-01 -7.76457856e-02 -1.63792281e-02 5.19882139e+02] [ 7.76493698e-02 9.96980642e-01 -4.17985498e-04 5.22162419e+00] [ 1.63622282e-02 -8.55169377e-04 9.99865764e-01 3.57902622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.94925415399996 meters 0.027334934071426217 Centerline is valid? [True, True] Translation: X:519.91, Y:5.23, Z:3.58 [[ 9.96949965e-01 -7.63862410e-02 -1.59971838e-02 5.19912678e+02] [ 7.63894982e-02 9.97077970e-01 -4.08236017e-04 5.22571816e+00] [ 1.59816232e-02 -8.15025960e-04 9.99871954e-01 3.57929292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.97925415399993 meters 0.026846669440277564 Centerline is valid? [True, True] Translation: X:519.94, Y:5.24, Z:3.58 [[ 9.97081163e-01 -7.43975778e-02 -1.71509690e-02 5.19944167e+02] [ 7.44010372e-02 9.97228306e-01 -4.37168586e-04 5.23520815e+00] [ 1.71359560e-02 -8.40157319e-04 9.99852816e-01 3.57801700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0092541539999 meters 0.025000137014059943 Centerline is valid? [True, True] Translation: X:519.98, Y:5.24, Z:3.58 [[ 9.97103713e-01 -7.44134242e-02 -1.57107471e-02 5.19975855e+02] [ 7.44163388e-02 9.97227180e-01 -3.99816677e-04 5.23972129e+00] [ 1.56969358e-02 -7.70477585e-04 9.99876499e-01 3.57976297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.03925415399993 meters 0.02603295697777801 Centerline is valid? [True, True] Translation: X:520.01, Y:5.24, Z:3.58 [[ 9.97096047e-01 -7.43793225e-02 -1.63459052e-02 5.20007079e+02] [ 7.43824859e-02 9.97229699e-01 -4.15194381e-04 5.24147787e+00] [ 1.63315040e-02 -8.01860389e-04 9.99866311e-01 3.57976823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0692541539999 meters 0.027023865371535897 Centerline is valid? [True, True] Translation: X:520.04, Y:5.25, Z:3.58 [[ 9.97051694e-01 -7.49767164e-02 -1.63220916e-02 5.20038127e+02] [ 7.49799650e-02 9.97184955e-01 -4.13698977e-04 5.24638176e+00] [ 1.63071620e-02 -8.11350590e-04 9.99866700e-01 3.57986456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.09925415399994 meters 0.028794318979546027 Centerline is valid? [True, True] Translation: X:520.07, Y:5.25, Z:3.58 [[ 9.97033095e-01 -7.50794452e-02 -1.69730395e-02 5.20069781e+02] [ 7.50829857e-02 9.97177196e-01 -4.29445852e-04 5.24966267e+00] [ 1.69573705e-02 -8.46214754e-04 9.99855855e-01 3.57857633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.1292541539999 meters 0.02785688204652474 Centerline is valid? [True, True] Translation: X:520.10, Y:5.25, Z:3.58 [[ 9.96989591e-01 -7.59843527e-02 -1.54315598e-02 5.20101117e+02] [ 7.59873978e-02 9.97108702e-01 -3.89758610e-04 5.25206541e+00] [ 1.54165581e-02 -7.84018795e-04 9.99880850e-01 3.58100845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.15925415399994 meters 0.02633127259967488 Centerline is valid? [True, True] Translation: X:520.13, Y:5.26, Z:3.58 [[ 9.96949946e-01 -7.65110031e-02 -1.53906172e-02 5.20133608e+02] [ 7.65141100e-02 9.97068423e-01 -3.87729112e-04 5.25762940e+00] [ 1.53751639e-02 -7.91052858e-04 9.99881482e-01 3.58166522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.1892541539999 meters 0.02635871956085044 Centerline is valid? [True, True] Translation: X:520.17, Y:5.26, Z:3.58 [[ 9.96826992e-01 -7.80078553e-02 -1.58342084e-02 5.20165879e+02] [ 7.80113509e-02 9.96952392e-01 -3.97718811e-04 5.26328003e+00] [ 1.58169771e-02 -8.38791142e-04 9.99874552e-01 3.58208107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.21925415399994 meters 0.02835710838614997 Centerline is valid? [True, True] Translation: X:520.20, Y:5.26, Z:3.58 [[ 9.96749282e-01 -7.89579638e-02 -1.60159212e-02 5.20197364e+02] [ 7.89616788e-02 9.96877571e-01 -4.01260393e-04 5.26346843e+00] [ 1.59975954e-02 -8.64688020e-04 9.99871656e-01 3.58217111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.2492541539999 meters 0.03051000817684947 Centerline is valid? [True, True] Translation: X:520.23, Y:5.27, Z:3.58 [[ 9.96475825e-01 -8.24353640e-02 -1.55029339e-02 5.20227986e+02] [ 8.24392723e-02 9.96596014e-01 -3.87883801e-04 5.26591676e+00] [ 1.54821375e-02 -8.91533761e-04 9.99879747e-01 3.58276699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.27925415399994 meters 0.0326274487938078 Centerline is valid? [True, True] Translation: X:520.26, Y:5.27, Z:3.58 [[ 9.96313909e-01 -8.43868962e-02 -1.54093195e-02 5.20258379e+02] [ 8.43909942e-02 9.96432643e-01 -3.85267748e-04 5.26571085e+00] [ 1.53868605e-02 -9.16560176e-04 9.99881195e-01 3.58311270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3092541539999 meters 0.03287104798564633 Centerline is valid? [True, True] Translation: X:520.29, Y:5.27, Z:3.58 [[ 9.96143913e-01 -8.64661012e-02 -1.48632901e-02 5.20289543e+02] [ 8.64701503e-02 9.96254373e-01 -3.71214856e-04 5.26828538e+00] [ 1.48397152e-02 -9.15447509e-04 9.99889466e-01 3.58376146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.33925415399995 meters 0.03287104798564633 Centerline is valid? [True, True] Translation: X:520.32, Y:5.27, Z:3.58 [[ 9.96150088e-01 -8.63949305e-02 -1.48633104e-02 5.20321280e+02] [ 8.63989839e-02 9.96260547e-01 -3.70401721e-04 5.26901314e+00] [ 1.48397306e-02 -9.15199206e-04 9.99889466e-01 3.58398139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3692541539999 meters 0.03637137652870105 Centerline is valid? [True, True] Translation: X:520.35, Y:5.27, Z:3.58 [[ 9.95977738e-01 -8.83568259e-02 -1.48800462e-02 5.20351790e+02] [ 8.83611159e-02 9.96088438e-01 -3.70182458e-04 5.26737621e+00] [ 1.48545501e-02 -9.46123998e-04 9.99889217e-01 3.58391369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.39925415399995 meters 0.03662070935103403 Centerline is valid? [True, True] Translation: X:520.38, Y:5.27, Z:3.58 [[ 9.95634132e-01 -9.21551894e-02 -1.48356367e-02 5.20382520e+02] [ 9.21598757e-02 9.95744154e-01 -3.68924607e-04 5.27220500e+00] [ 1.48064968e-02 -9.99936503e-04 9.99889878e-01 3.58477603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4292541539999 meters 0.03799429113663095 Centerline is valid? [True, True] Translation: X:520.41, Y:5.27, Z:3.58 [[ 9.95535847e-01 -9.32236193e-02 -1.47558253e-02 5.20413984e+02] [ 9.32283833e-02 9.95644683e-01 -3.66181083e-04 5.27317811e+00] [ 1.47256957e-02 -1.01111534e-03 9.99891060e-01 3.58485839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.45925415399995 meters 0.038917833085709154 Centerline is valid? [True, True] Translation: X:520.45, Y:5.28, Z:3.58 [[ 9.95464770e-01 -9.38927629e-02 -1.52983907e-02 5.20446349e+02] [ 9.38979816e-02 9.95581752e-01 -3.78389491e-04 5.27503602e+00] [ 1.52663267e-02 -1.05981460e-03 9.99882901e-01 3.58468243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4892541539999 meters 0.04017105624303995 Centerline is valid? [True, True] Translation: X:520.48, Y:5.28, Z:3.58 [[ 9.95436413e-01 -9.41192582e-02 -1.57452311e-02 5.20477256e+02] [ 9.41248363e-02 9.95560327e-01 -3.88056801e-04 5.27629581e+00] [ 1.57118511e-02 -1.09573143e-03 9.99875961e-01 3.58440150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.51925415399995 meters 0.0405469782853743 Centerline is valid? [True, True] Translation: X:520.51, Y:5.28, Z:3.58 [[ 9.95468520e-01 -9.36757178e-02 -1.63488841e-02 5.20508953e+02] [ 9.36816947e-02 9.95602119e-01 -4.01564847e-04 5.28075973e+00] [ 1.63146005e-02 -1.13184600e-03 9.99866267e-01 3.58409304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5492541539999 meters 0.038232058411476054 Centerline is valid? [True, True] Translation: X:520.54, Y:5.29, Z:3.58 [[ 9.95500115e-01 -9.33299558e-02 -1.64024760e-02 5.20541376e+02] [ 9.33359439e-02 9.95634592e-01 -4.01740044e-04 5.28687494e+00] [ 1.63683669e-02 -1.13100832e-03 9.99865390e-01 3.58435343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.57925415399995 meters 0.033031581361776446 Centerline is valid? [True, True] Translation: X:520.57, Y:5.30, Z:3.59 [[ 9.95617111e-01 -9.19677371e-02 -1.69853907e-02 5.20573843e+02] [ 9.19739854e-02 9.95761324e-01 -4.14589337e-04 5.29946594e+00] [ 1.69515239e-02 -1.14944184e-03 9.99855652e-01 3.58579172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6092541539999 meters 0.036646972907641885 Centerline is valid? [True, True] Translation: X:520.61, Y:5.30, Z:3.59 [[ 9.95704438e-01 -9.09871531e-02 -1.71467394e-02 5.20605173e+02] [ 9.09934111e-02 9.95851407e-01 -4.16479452e-04 5.29784819e+00] [ 1.71134988e-02 -1.14554987e-03 9.99852897e-01 3.58524000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.63925415399996 meters 0.03373968599136326 Centerline is valid? [True, True] Translation: X:520.64, Y:5.30, Z:3.59 [[ 9.95797699e-01 -8.98667338e-02 -1.76327388e-02 5.20637611e+02] [ 8.98732111e-02 9.95953123e-01 -4.26337344e-04 5.30460445e+00] [ 1.75996948e-02 -1.16016511e-03 9.99844440e-01 3.58590406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.66925415399993 meters 0.03099960871335106 Centerline is valid? [True, True] Translation: X:520.67, Y:5.31, Z:3.59 [[ 9.95919694e-01 -8.85235204e-02 -1.75370890e-02 5.20669886e+02] [ 8.85297448e-02 9.96073444e-01 -4.22620275e-04 5.31107926e+00] [ 1.75056405e-02 -1.13165816e-03 9.99846124e-01 3.58675707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.69925415399996 meters 0.0322636519613103 Centerline is valid? [True, True] Translation: X:520.70, Y:5.31, Z:3.59 [[ 9.96193895e-01 -8.54126699e-02 -1.73896564e-02 5.20699739e+02] [ 8.54183266e-02 9.96345088e-01 -4.18561087e-04 5.31410301e+00] [ 1.73618492e-02 -1.06842735e-03 9.99848701e-01 3.58698430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.72925415399993 meters 0.029129693388571982 Centerline is valid? [True, True] Translation: X:520.73, Y:5.32, Z:3.59 [[ 9.96356776e-01 -8.35389463e-02 -1.71586415e-02 5.20731108e+02] [ 8.35441833e-02 9.96503989e-01 -4.12620284e-04 5.32135559e+00] [ 1.71331245e-02 -1.02238767e-03 9.99852695e-01 3.58790570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7592541539999 meters 0.031209439346366098 Centerline is valid? [True, True] Translation: X:520.76, Y:5.32, Z:3.59 [[ 9.96524706e-01 -8.15251330e-02 -1.70927801e-02 5.20761233e+02] [ 8.15300422e-02 9.96670800e-01 -4.10591348e-04 5.32107231e+00] [ 1.70693483e-02 -9.84410659e-04 9.99853823e-01 3.58746025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.78925415399993 meters 0.027594152956649957 Centerline is valid? [True, True] Translation: X:520.79, Y:5.33, Z:3.59 [[ 9.96697997e-01 -7.92929004e-02 -1.74853615e-02 5.20792542e+02] [ 7.92977045e-02 9.96850891e-01 -4.19497637e-04 5.32930454e+00] [ 1.74635614e-02 -9.68436578e-04 9.99847031e-01 3.58802075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8192541539999 meters 0.025429367814833535 Centerline is valid? [True, True] Translation: X:520.82, Y:5.34, Z:3.59 [[ 9.97054183e-01 -7.46710373e-02 -1.75269153e-02 5.20823202e+02] [ 7.46751613e-02 9.97207824e-01 -4.19962187e-04 5.33720077e+00] [ 1.75093361e-02 -8.90100174e-04 9.99846304e-01 3.58855177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.84925415399994 meters 0.02706755919162153 Centerline is valid? [True, True] Translation: X:520.85, Y:5.34, Z:3.59 [[ 9.97248368e-01 -7.19581266e-02 -1.78247082e-02 5.20854085e+02] [ 7.19619701e-02 9.97407285e-01 -4.26513242e-04 5.33749401e+00] [ 1.78091849e-02 -8.57361482e-04 9.99841036e-01 3.58779238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8792541539999 meters 0.025196683059228925 Centerline is valid? [True, True] Translation: X:520.89, Y:5.34, Z:3.59 [[ 9.97474349e-01 -6.86426740e-02 -1.82512282e-02 5.20885229e+02] [ 6.86461621e-02 9.97640975e-01 -4.36050988e-04 5.34272225e+00] [ 1.82381048e-02 -8.17927094e-04 9.99833337e-01 3.58796661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.90925415399994 meters 0.022627342859280763 Centerline is valid? [True, True] Translation: X:520.92, Y:5.35, Z:3.59 [[ 9.97922022e-01 -6.16502726e-02 -1.87318325e-02 5.20915286e+02] [ 6.16527225e-02 9.98097561e-01 -4.47217715e-04 5.35081622e+00] [ 1.87237674e-02 -7.08580063e-04 9.99824444e-01 3.58827027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9392541539999 meters 0.020753760762833688 Centerline is valid? [True, True] Translation: X:520.95, Y:5.36, Z:3.59 [[ 9.98124546e-01 -5.81737192e-02 -1.90580419e-02 5.20946660e+02] [ 5.81756314e-02 9.98306260e-01 -4.54528709e-04 5.35660995e+00] [ 1.90522042e-02 -6.55037359e-04 9.99818276e-01 3.58932111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.96925415399994 meters 0.019053658048361278 Centerline is valid? [True, True] Translation: X:520.98, Y:5.36, Z:3.59 [[ 9.98302040e-01 -5.49025136e-02 -1.94615223e-02 5.20977870e+02] [ 5.49039008e-02 9.98491536e-01 -4.63427582e-04 5.36269251e+00] [ 1.94576086e-02 -6.05872787e-04 9.99810499e-01 3.59063198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9992541539999 meters 0.019427218059014276 Centerline is valid? [True, True] Translation: X:521.01, Y:5.36, Z:3.59 [[ 9.98492591e-01 -5.13091415e-02 -1.94914837e-02 5.21008194e+02] [ 5.13098583e-02 9.98682674e-01 -4.63652549e-04 5.36406946e+00] [ 1.94895966e-02 -5.37151628e-04 9.99809915e-01 3.59000570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0292541539999 meters 0.017943899956194363 Centerline is valid? [True, True] Translation: X:521.04, Y:5.37, Z:3.59 [[ 9.98783343e-01 -4.53225326e-02 -1.94345504e-02 5.21039650e+02] [ 4.53221271e-02 9.98972318e-01 -4.61538963e-04 5.37050664e+00] [ 1.94354959e-02 -4.19837734e-04 9.99811025e-01 3.59062432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.059254154 meters 0.016862790378379972 Centerline is valid? [True, True] Translation: X:521.07, Y:5.37, Z:3.59 [[ 9.98887364e-01 -4.29766180e-02 -1.94176169e-02 5.21070588e+02] [ 4.29757857e-02 9.99076008e-01 -4.60336899e-04 5.37497331e+00] [ 1.94194589e-02 -3.74662630e-04 9.99811354e-01 3.59187302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.089254154 meters 0.01608142432730827 Centerline is valid? [True, True] Translation: X:521.10, Y:5.38, Z:3.59 [[ 9.98979325e-01 -4.07272626e-02 -1.95345362e-02 5.21102253e+02] [ 4.07260044e-02 9.99170245e-01 -4.62393354e-04 5.37835570e+00] [ 1.95371594e-02 -3.33642207e-04 9.99809076e-01 3.59272852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1192541539999 meters 0.018005364172411345 Centerline is valid? [True, True] Translation: X:521.13, Y:5.38, Z:3.59 [[ 9.99041945e-01 -3.90316544e-02 -1.97919839e-02 5.21132986e+02] [ 3.90300399e-02 9.99237928e-01 -4.67993703e-04 5.37817542e+00] [ 1.97951676e-02 -3.04936583e-04 9.99804010e-01 3.59033015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1492541539999 meters 0.016127459550936564 Centerline is valid? [True, True] Translation: X:521.16, Y:5.38, Z:3.59 [[ 9.99068319e-01 -3.87391294e-02 -1.90203632e-02 5.21164179e+02] [ 3.87375959e-02 9.99249317e-01 -4.49192913e-04 5.38122559e+00] [ 1.90234863e-02 -2.88028735e-04 9.99818996e-01 3.59260833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.179254154 meters 0.016149720197436542 Centerline is valid? [True, True] Translation: X:521.20, Y:5.38, Z:3.59 [[ 9.99038553e-01 -3.95328023e-02 -1.89506310e-02 5.21195549e+02] [ 3.95314355e-02 9.99218227e-01 -4.46867394e-04 5.38142583e+00] [ 1.89534818e-02 -3.02707892e-04 9.99820321e-01 3.59270314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.209254154 meters 0.016248299204361667 Centerline is valid? [True, True] Translation: X:521.23, Y:5.38, Z:3.59 [[ 9.98978913e-01 -4.08599654e-02 -1.92767726e-02 5.21227264e+02] [ 4.08588116e-02 9.99164827e-01 -4.53864416e-04 5.38093112e+00] [ 1.92792181e-02 -3.34225040e-04 9.99814083e-01 3.59328464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2392541539999 meters 0.017531035797157167 Centerline is valid? [True, True] Translation: X:521.26, Y:5.38, Z:3.59 [[ 9.98780287e-01 -4.54151892e-02 -1.93752346e-02 5.21257515e+02] [ 4.54148892e-02 9.98968108e-01 -4.55713348e-04 5.37677439e+00] [ 1.93759378e-02 -4.24766626e-04 9.99812179e-01 3.59314990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2692541539999 meters 0.01879721814030026 Centerline is valid? [True, True] Translation: X:521.29, Y:5.37, Z:3.59 [[ 9.98625704e-01 -4.89275511e-02 -1.87829176e-02 5.21289169e+02] [ 4.89279000e-02 9.98802216e-01 -4.41247413e-04 5.37408503e+00] [ 1.87820088e-02 -4.78367704e-04 9.99823488e-01 3.59347361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.299254154 meters 0.019282980985171273 Centerline is valid? [True, True] Translation: X:521.32, Y:5.37, Z:3.59 [[ 9.98473642e-01 -5.19189760e-02 -1.88363130e-02 5.21321289e+02] [ 5.19198799e-02 9.98651156e-01 -4.41370056e-04 5.37398181e+00] [ 1.88338213e-02 -5.37282744e-04 9.99822483e-01 3.59473272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.329254154 meters 0.02016916153800411 Centerline is valid? [True, True] Translation: X:521.35, Y:5.37, Z:3.60 [[ 9.98046111e-01 -5.98630284e-02 -1.78991202e-02 5.21351606e+02] [ 5.98651300e-02 9.98206387e-01 -4.18857581e-04 5.36832701e+00] [ 1.78920902e-02 -6.53493980e-04 9.99839710e-01 3.59589718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3592541539999 meters 0.023711971051798977 Centerline is valid? [True, True] Translation: X:521.38, Y:5.36, Z:3.59 [[ 9.97815819e-01 -6.35624262e-02 -1.79835713e-02 5.21381843e+02] [ 6.35651660e-02 9.97977602e-01 -4.19801499e-04 5.36161946e+00] [ 1.79738849e-02 -7.24244116e-04 9.99838194e-01 3.59481311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3892541539999 meters 0.024124634103739512 Centerline is valid? [True, True] Translation: X:521.41, Y:5.36, Z:3.59 [[ 9.97592200e-01 -6.69668240e-02 -1.80346080e-02 5.21413462e+02] [ 6.69701529e-02 9.97754891e-01 -4.19968713e-04 5.36011659e+00] [ 1.80222424e-02 -7.88822946e-04 9.99837275e-01 3.59484651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.419254154 meters 0.024193393017168507 Centerline is valid? [True, True] Translation: X:521.44, Y:5.36, Z:3.59 [[ 9.97361603e-01 -7.02831982e-02 -1.81687764e-02 5.21444348e+02] [ 7.02871341e-02 9.97526711e-01 -4.22634351e-04 5.35949135e+00] [ 1.81535439e-02 -8.55511950e-04 9.99834845e-01 3.59482927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.449254154 meters 0.025412301908117923 Centerline is valid? [True, True] Translation: X:521.47, Y:5.36, Z:3.59 [[ 9.96972720e-01 -7.55013538e-02 -1.85726119e-02 5.21474660e+02] [ 7.55063739e-02 9.97145226e-01 -4.31795970e-04 5.35565893e+00] [ 1.85521925e-02 -9.71861775e-04 9.99827421e-01 3.59444039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4792541539999 meters 0.02728658135771452 Centerline is valid? [True, True] Translation: X:521.51, Y:5.35, Z:3.59 [[ 9.96819477e-01 -7.74424700e-02 -1.88041242e-02 5.21505774e+02] [ 7.74479847e-02 9.96996299e-01 -4.35883376e-04 5.35248372e+00] [ 1.87813981e-02 -1.02184448e-03 9.99823092e-01 3.59426416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5092541539999 meters 0.027397510855106253 Centerline is valid? [True, True] Translation: X:521.54, Y:5.35, Z:3.59 [[ 9.96694549e-01 -7.90102980e-02 -1.89036659e-02 5.21538325e+02] [ 7.90161827e-02 9.96873238e-01 -4.36579414e-04 5.35196705e+00] [ 1.88790529e-02 -1.05855919e-03 9.99821214e-01 3.59454118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5392541539999 meters 0.027667827718708366 Centerline is valid? [True, True] Translation: X:521.57, Y:5.35, Z:3.59 [[ 9.96608221e-01 -8.01430994e-02 -1.86852401e-02 5.21570803e+02] [ 8.01490732e-02 9.96782795e-01 -4.30146404e-04 5.35213575e+00] [ 1.86595991e-02 -1.06891723e-03 9.99825323e-01 3.59492048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.569254154 meters 0.030665082464238522 Centerline is valid? [True, True] Translation: X:521.60, Y:5.35, Z:3.60 [[ 9.96472877e-01 -8.20665709e-02 -1.75181049e-02 5.21601697e+02] [ 8.20721502e-02 9.96626310e-01 -4.01416199e-04 5.34647435e+00] [ 1.74919471e-02 -1.03774818e-03 9.99846466e-01 3.59570106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5992541539999 meters 0.03228170061933381 Centerline is valid? [True, True] Translation: X:521.63, Y:5.34, Z:3.60 [[ 9.96400316e-01 -8.29050623e-02 -1.76963512e-02 5.21632399e+02] [ 8.29109274e-02 9.96556880e-01 -4.03242869e-04 5.34416900e+00] [ 1.76688514e-02 -1.06542957e-03 9.99843326e-01 3.59561199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6292541539999 meters 0.029394851526374353 Centerline is valid? [True, True] Translation: X:521.66, Y:5.35, Z:3.60 [[ 9.96325099e-01 -8.38099905e-02 -1.76687139e-02 5.21664635e+02] [ 8.38160084e-02 9.96481167e-01 -4.00948603e-04 5.34818752e+00] [ 1.76401441e-02 -1.08144592e-03 9.99843816e-01 3.59654835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6592541539999 meters 0.034221611328967456 Centerline is valid? [True, True] Translation: X:521.70, Y:5.34, Z:3.60 [[ 9.96155279e-01 -8.56572798e-02 -1.83709076e-02 5.21695060e+02] [ 8.56641123e-02 9.96323987e-01 -4.16137863e-04 5.34127321e+00] [ 1.83390212e-02 -1.15918957e-03 9.99831154e-01 3.59524568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.689254154 meters 0.03270135951144218 Centerline is valid? [True, True] Translation: X:521.73, Y:5.34, Z:3.60 [[ 9.96050439e-01 -8.67171627e-02 -1.90697719e-02 5.21727398e+02] [ 8.67247378e-02 9.96232219e-01 -4.30955836e-04 5.34387436e+00] [ 1.90352924e-02 -1.22456722e-03 9.99818062e-01 3.59582777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7192541539999 meters 0.03681346822443715 Centerline is valid? [True, True] Translation: X:521.76, Y:5.34, Z:3.59 [[ 9.95971127e-01 -8.75887125e-02 -1.92284044e-02 5.21758806e+02] [ 8.75965984e-02 9.96155936e-01 -4.33368689e-04 5.33866721e+00] [ 1.91924474e-02 -1.25272012e-03 9.99815023e-01 3.59474346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7492541539999 meters 0.03422608667826568 Centerline is valid? [True, True] Translation: X:521.79, Y:5.34, Z:3.60 [[ 9.95876225e-01 -8.84622627e-02 -2.01239269e-02 5.21790384e+02] [ 8.84711003e-02 9.96078641e-01 -4.52447066e-04 5.34247724e+00] [ 2.00850383e-02 -1.32980468e-03 9.99797391e-01 3.59535391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7792541539999 meters 0.03581099830259047 Centerline is valid? [True, True] Translation: X:521.82, Y:5.34, Z:3.59 [[ 9.95707099e-01 -8.99074896e-02 -2.20003841e-02 5.21820690e+02] [ 8.99184305e-02 9.95949011e-01 -4.93440459e-04 5.34073780e+00] [ 2.19556248e-02 -1.48691784e-03 9.99757840e-01 3.59410293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.809254154 meters 0.0356268011318834 Centerline is valid? [True, True] Translation: X:521.85, Y:5.34, Z:3.59 [[ 9.95662826e-01 -9.02498788e-02 -2.25941792e-02 5.21853140e+02] [ 9.02615399e-02 9.95917968e-01 -5.05266627e-04 5.34182022e+00] [ 2.25475493e-02 -1.53631021e-03 9.99744591e-01 3.59412026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.839254154 meters 0.03735266070741611 Centerline is valid? [True, True] Translation: X:521.88, Y:5.34, Z:3.59 [[ 9.95635880e-01 -9.04395762e-02 -2.30190476e-02 5.21883870e+02] [ 9.04517881e-02 9.95900704e-01 -5.12266394e-04 5.34078243e+00] [ 2.29710149e-02 -1.57208322e-03 9.99734895e-01 3.59375738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8692541539999 meters 0.036463028368890836 Centerline is valid? [True, True] Translation: X:521.92, Y:5.34, Z:3.59 [[ 9.95635059e-01 -9.04227671e-02 -2.31203769e-02 5.21916069e+02] [ 9.04351288e-02 9.95902216e-01 -5.12507174e-04 5.34333757e+00] [ 2.30719769e-02 -1.58062415e-03 9.99732557e-01 3.59432010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8992541539999 meters 0.037230707832748254 Centerline is valid? [True, True] Translation: X:521.95, Y:5.34, Z:3.59 [[ 9.95738759e-01 -8.93145716e-02 -2.29615353e-02 5.21947060e+02] [ 8.93265013e-02 9.96002268e-01 -5.07648291e-04 5.34449362e+00] [ 2.29150816e-02 -1.54558853e-03 9.99736220e-01 3.59478452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.929254154 meters 0.03368495188049733 Centerline is valid? [True, True] Translation: X:521.98, Y:5.35, Z:3.60 [[ 9.95839019e-01 -8.83315342e-02 -2.24095483e-02 5.21979530e+02] [ 8.83426885e-02 9.96090019e-01 -4.93685687e-04 5.35106935e+00] [ 2.23655354e-02 -1.48808827e-03 9.99748753e-01 3.59627695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.959254154 meters 0.031181361211260937 Centerline is valid? [True, True] Translation: X:522.01, Y:5.36, Z:3.60 [[ 9.96113929e-01 -8.54398127e-02 -2.13794054e-02 5.22010458e+02] [ 8.54493197e-02 9.96342407e-01 -4.70128312e-04 5.35777128e+00] [ 2.13413759e-02 -1.35855429e-03 9.99771324e-01 3.59844220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9892541539999 meters 0.03056869116574653 Centerline is valid? [True, True] Translation: X:522.04, Y:5.36, Z:3.60 [[ 9.96265595e-01 -8.38364566e-02 -2.06473517e-02 5.22041985e+02] [ 8.38449935e-02 9.96478706e-01 -4.53400442e-04 5.36064692e+00] [ 2.06126578e-02 -1.27946981e-03 9.99786718e-01 3.59949414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0192541539999 meters 0.02835102241458446 Centerline is valid? [True, True] Translation: X:522.07, Y:5.37, Z:3.60 [[ 9.96432116e-01 -8.20316183e-02 -1.98456961e-02 5.22072916e+02] [ 8.20391627e-02 9.96629011e-01 -4.35063521e-04 5.36586610e+00] [ 1.98144854e-02 -1.19461303e-03 9.99802960e-01 3.60090426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.049254154 meters 0.031911435724456844 Centerline is valid? [True, True] Translation: X:522.10, Y:5.36, Z:3.60 [[ 9.96570921e-01 -8.05264120e-02 -1.90235849e-02 5.22103824e+02] [ 8.05330841e-02 9.96751849e-01 -4.16340173e-04 5.36268219e+00] [ 1.89953198e-02 -1.11711545e-03 9.99818949e-01 3.60055251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.079254154 meters 0.028382135093010137 Centerline is valid? [True, True] Translation: X:522.14, Y:5.37, Z:3.60 [[ 9.96689640e-01 -7.92757188e-02 -1.80311351e-02 5.22135936e+02] [ 7.92815279e-02 9.96852188e-01 -3.93556159e-04 5.36919288e+00] [ 1.80055760e-02 -1.03728260e-03 9.99837348e-01 3.60197776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1092541539999 meters 0.02837198983011827 Centerline is valid? [True, True] Translation: X:522.17, Y:5.37, Z:3.60 [[ 9.96851755e-01 -7.72987141e-02 -1.76489962e-02 5.22166445e+02] [ 7.73039829e-02 9.97007496e-01 -3.84517193e-04 5.37188242e+00] [ 1.76259041e-02 -9.81031059e-04 9.99844170e-01 3.60197719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1392541539999 meters 0.027586032652502902 Centerline is valid? [True, True] Translation: X:522.20, Y:5.37, Z:3.60 [[ 9.96913983e-01 -7.63519971e-02 -1.82451066e-02 5.22199061e+02] [ 7.63574912e-02 9.97080426e-01 -3.96335795e-04 5.37463577e+00] [ 1.82220997e-02 -9.98037871e-04 9.99833466e-01 3.60243620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.169254154 meters 0.027665891301290754 Centerline is valid? [True, True] Translation: X:522.23, Y:5.38, Z:3.60 [[ 9.96954190e-01 -7.56751881e-02 -1.88576043e-02 5.22231220e+02] [ 7.56809655e-02 9.97132000e-01 -4.08114715e-04 5.37634225e+00] [ 1.88344049e-02 -1.02029003e-03 9.99822096e-01 3.60213290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.199254154 meters 0.030396915989906032 Centerline is valid? [True, True] Translation: X:522.26, Y:5.37, Z:3.60 [[ 9.96970596e-01 -7.52254515e-02 -1.97677172e-02 5.22262974e+02] [ 7.52317408e-02 9.97165986e-01 -4.26353673e-04 5.37442479e+00] [ 1.97437679e-02 -1.06209770e-03 9.99804509e-01 3.60083922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2292541539999 meters 0.030396915989906032 Centerline is valid? [True, True] Translation: X:522.29, Y:5.38, Z:3.60 [[ 9.96975852e-01 -7.51557433e-02 -1.97677473e-02 5.22294704e+02] [ 7.51620466e-02 9.97171242e-01 -4.24955758e-04 5.37504278e+00] [ 1.97437670e-02 -1.06211372e-03 9.99804509e-01 3.60105901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2592541539999 meters 0.029741547392816946 Centerline is valid? [True, True] Translation: X:522.33, Y:5.38, Z:3.60 [[ 9.97096944e-01 -7.32206365e-02 -2.08907148e-02 5.22326105e+02] [ 7.32272740e-02 9.97315179e-01 -4.48097173e-04 5.37831936e+00] [ 2.08674370e-02 -1.08297378e-03 9.99781665e-01 3.60075508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2892541539999 meters 0.02491425852476426 Centerline is valid? [True, True] Translation: X:522.36, Y:5.39, Z:3.60 [[ 9.97212160e-01 -7.16898256e-02 -2.06997060e-02 5.22358231e+02] [ 7.16960394e-02 9.97426429e-01 -4.42737466e-04 5.38699055e+00] [ 2.06781736e-02 -1.04258375e-03 9.99785640e-01 3.60281087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.319254154 meters 0.023864112212762727 Centerline is valid? [True, True] Translation: X:522.39, Y:5.39, Z:3.60 [[ 9.97534168e-01 -6.69898653e-02 -2.09270464e-02 5.22388246e+02] [ 6.69951951e-02 9.97753198e-01 -4.47079767e-04 5.39128705e+00] [ 2.09099773e-02 -9.56034215e-04 9.99780905e-01 3.60318589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3492541539999 meters 0.023635345608377104 Centerline is valid? [True, True] Translation: X:522.42, Y:5.39, Z:3.60 [[ 9.97738892e-01 -6.39082483e-02 -2.08047881e-02 5.22418372e+02] [ 6.39128527e-02 9.97955385e-01 -4.44212740e-04 5.39375809e+00] [ 2.07906392e-02 -8.86485030e-04 9.99783458e-01 3.60339321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3792541539999 meters 0.021923472604508148 Centerline is valid? [True, True] Translation: X:522.45, Y:5.40, Z:3.60 [[ 9.97982342e-01 -5.99244670e-02 -2.09833841e-02 5.22450025e+02] [ 5.99282902e-02 9.98202585e-01 -4.47132107e-04 5.39846818e+00] [ 2.09724624e-02 -8.11268385e-04 9.99779725e-01 3.60469824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4092541539999 meters 0.021892036328274127 Centerline is valid? [True, True] Translation: X:522.48, Y:5.40, Z:3.60 [[ 9.98232398e-01 -5.56919187e-02 -2.07482354e-02 5.22481009e+02] [ 5.56947616e-02 9.98447745e-01 -4.41249191e-04 5.40051959e+00] [ 2.07406028e-02 -7.15098786e-04 9.99784635e-01 3.60432661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.439254154 meters 0.018480671162884092 Centerline is valid? [True, True] Translation: X:522.51, Y:5.41, Z:3.61 [[ 9.98668161e-01 -4.72810308e-02 -2.06496475e-02 5.22511216e+02] [ 4.72820567e-02 9.98881482e-01 -4.38817831e-04 5.40933268e+00] [ 2.06472983e-02 -5.38124410e-04 9.99786677e-01 3.60566121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4692541539999 meters 0.017458575442194677 Centerline is valid? [True, True] Translation: X:522.54, Y:5.41, Z:3.61 [[ 9.98860759e-01 -4.31427021e-02 -2.03934122e-02 5.22542997e+02] [ 4.31428561e-02 9.99068820e-01 -4.32615787e-04 5.41281316e+00] [ 2.03930864e-02 -4.47707114e-04 9.99791939e-01 3.60605308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4992541539999 meters 0.01679121571118818 Centerline is valid? [True, True] Translation: X:522.57, Y:5.42, Z:3.61 [[ 9.99015828e-01 -3.94749619e-02 -2.02263110e-02 5.22573352e+02] [ 3.94743740e-02 9.99220491e-01 -4.28474184e-04 5.41541865e+00] [ 2.02274584e-02 -3.70368472e-04 9.99795335e-01 3.60601604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5292541539999 meters 0.01584308818136382 Centerline is valid? [True, True] Translation: X:522.60, Y:5.42, Z:3.61 [[ 9.99136298e-01 -3.62079321e-02 -2.03873458e-02 5.22603428e+02] [ 3.62066573e-02 9.99344231e-01 -4.31763507e-04 5.41783224e+00] [ 2.03896097e-02 -3.06767053e-04 9.99792063e-01 3.60653144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.559254154 meters 0.01506826773194246 Centerline is valid? [True, True] Translation: X:522.63, Y:5.42, Z:3.61 [[ 9.99295397e-01 -3.17025679e-02 -2.00911917e-02 5.22633468e+02] [ 3.17004194e-02 9.99497325e-01 -4.25491550e-04 5.42095795e+00] [ 2.00945815e-02 -2.11707455e-04 9.99798061e-01 3.60761394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.589254154 meters 0.01520581971515195 Centerline is valid? [True, True] Translation: X:522.66, Y:5.42, Z:3.61 [[ 9.99320767e-01 -3.06393402e-02 -2.04752489e-02 5.22662778e+02] [ 3.06368756e-02 9.99530486e-01 -4.34114950e-04 5.42129911e+00] [ 2.04789365e-02 -1.93477568e-04 9.99790266e-01 3.60767752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6192541539999 meters 0.01639715421540739 Centerline is valid? [True, True] Translation: X:522.69, Y:5.42, Z:3.61 [[ 9.99351234e-01 -2.95981326e-02 -2.05197661e-02 5.22692101e+02] [ 2.95954227e-02 9.99561865e-01 -4.35797358e-04 5.42108780e+00] [ 2.05236744e-02 -1.71776522e-04 9.99789352e-01 3.60706599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6492541539999 meters 0.01510003212868252 Centerline is valid? [True, True] Translation: X:522.72, Y:5.42, Z:3.61 [[ 9.99389212e-01 -2.86499326e-02 -2.00096103e-02 5.22722039e+02] [ 2.86471511e-02 9.99589495e-01 -4.25691164e-04 5.41993803e+00] [ 2.00135923e-02 -1.47787174e-04 9.99799697e-01 3.60849379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.679254154 meters 0.015121598279644863 Centerline is valid? [True, True] Translation: X:522.75, Y:5.42, Z:3.61 [[ 9.99398935e-01 -2.83774619e-02 -1.99120328e-02 5.22750362e+02] [ 2.83746340e-02 9.99597269e-01 -4.24588809e-04 5.41892502e+00] [ 1.99160624e-02 -1.40663041e-04 9.99801646e-01 3.60840527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.709254154 meters 0.015149221216732504 Centerline is valid? [True, True] Translation: X:522.78, Y:5.42, Z:3.61 [[ 9.99397263e-01 -2.86071926e-02 -1.96656986e-02 5.22778691e+02] [ 2.86044068e-02 9.99590721e-01 -4.22990218e-04 5.41782659e+00] [ 1.96697504e-02 -1.39790378e-04 9.99806522e-01 3.60864215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7392541539999 meters 0.015090679198086874 Centerline is valid? [True, True] Translation: X:522.81, Y:5.42, Z:3.61 [[ 9.99419961e-01 -2.84235829e-02 -1.87574635e-02 5.22808465e+02] [ 2.84209761e-02 9.99595960e-01 -4.05585883e-04 5.41640347e+00] [ 1.87614129e-02 -1.27754796e-04 9.99823981e-01 3.60892919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7692541539999 meters 0.015075675313360827 Centerline is valid? [True, True] Translation: X:522.84, Y:5.41, Z:3.61 [[ 9.99431046e-01 -2.84667740e-02 -1.80894436e-02 5.22837770e+02] [ 2.84643037e-02 9.99594732e-01 -3.94073276e-04 5.41374969e+00] [ 1.80933305e-02 -1.21054349e-04 9.99836295e-01 3.61036811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.799254154 meters 0.015206609809520892 Centerline is valid? [True, True] Translation: X:522.87, Y:5.41, Z:3.61 [[ 9.99448847e-01 -2.82173421e-02 -1.74866927e-02 5.22867713e+02] [ 2.82149638e-02 9.99601805e-01 -3.82749030e-04 5.41272684e+00] [ 1.74905297e-02 -1.10848324e-04 9.99847023e-01 3.61047617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.829254154 meters 0.01624851363199577 Centerline is valid? [True, True] Translation: X:522.90, Y:5.41, Z:3.61 [[ 9.99457911e-01 -2.79448915e-02 -1.74059683e-02 5.22897774e+02] [ 2.79424849e-02 9.99609460e-01 -3.81493599e-04 5.41200780e+00] [ 1.74098314e-02 -1.05079211e-04 9.99848432e-01 3.61124495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8592541539999 meters 0.015178593508674372 Centerline is valid? [True, True] Translation: X:522.93, Y:5.41, Z:3.61 [[ 9.99465009e-01 -2.77170345e-02 -1.73626832e-02 5.22927042e+02] [ 2.77145945e-02 9.99615804e-01 -3.81179992e-04 5.41085494e+00] [ 1.73665777e-02 -1.00223661e-04 9.99849185e-01 3.61219415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8892541539999 meters 0.015285024572124958 Centerline is valid? [True, True] Translation: X:522.96, Y:5.41, Z:3.61 [[ 9.99489890e-01 -2.72080381e-02 -1.67236872e-02 5.22956790e+02] [ 2.72056961e-02 9.99629789e-01 -3.67572809e-04 5.40734535e+00] [ 1.67274968e-02 -8.75942441e-05 9.99860082e-01 3.61236652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.919254154 meters 0.015375974994967932 Centerline is valid? [True, True] Translation: X:522.99, Y:5.41, Z:3.61 [[ 9.99500612e-01 -2.68007471e-02 -1.67405678e-02 5.22986645e+02] [ 2.67983352e-02 9.99640792e-01 -3.68424444e-04 5.40600805e+00] [ 1.67444286e-02 -8.03788913e-05 9.99859799e-01 3.61270890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.949254154 meters 0.015110725789444886 Centerline is valid? [True, True] Translation: X:523.02, Y:5.40, Z:3.61 [[ 9.99534063e-01 -2.55045354e-02 -1.67683152e-02 5.23015755e+02] [ 2.55019259e-02 9.99674705e-01 -3.69462463e-04 5.40214914e+00] [ 1.67722836e-02 -5.83340165e-05 9.99859334e-01 3.61260207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9792541539999 meters 0.015160120152583096 Centerline is valid? [True, True] Translation: X:523.05, Y:5.40, Z:3.61 [[ 9.99538733e-01 -2.50119036e-02 -1.72257127e-02 5.23045810e+02] [ 2.50090683e-02 9.99687152e-01 -3.80028567e-04 5.40088106e+00] [ 1.72298289e-02 -5.09457522e-05 9.99851554e-01 3.61241971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0092541539999 meters 0.015311235414590164 Centerline is valid? [True, True] Translation: X:523.07, Y:5.40, Z:3.61 [[ 9.99550177e-01 -2.46052663e-02 -1.71471693e-02 5.23074369e+02] [ 2.46023812e-02 9.99697244e-01 -3.79216326e-04 5.39951613e+00] [ 1.71513086e-02 -4.28154506e-05 9.99852905e-01 3.61212128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0392541539999 meters 0.016544808555815835 Centerline is valid? [True, True] Translation: X:523.10, Y:5.40, Z:3.61 [[ 9.99544311e-01 -2.40622336e-02 -1.82258024e-02 5.23103240e+02] [ 2.40588250e-02 9.99710462e-01 -4.06294526e-04 5.39835871e+00] [ 1.82303017e-02 -3.23820080e-05 9.99833814e-01 3.61151513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.069254154 meters 0.015199561430454618 Centerline is valid? [True, True] Translation: X:523.13, Y:5.40, Z:3.61 [[ 9.99565153e-01 -2.30485902e-02 -1.83920453e-02 5.23131133e+02] [ 2.30448545e-02 9.99734346e-01 -4.15059276e-04 5.39513759e+00] [ 1.83967259e-02 -8.96321838e-06 9.99830766e-01 3.61307919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0992541539999 meters 0.01519427792211948 Centerline is valid? [True, True] Translation: X:523.16, Y:5.39, Z:3.61 [[ 9.99572100e-01 -2.24984266e-02 -1.86932432e-02 5.23159429e+02] [ 2.24944126e-02 9.99746878e-01 -4.24993224e-04 5.39386938e+00] [ 1.86980732e-02 4.31784340e-06 9.99825176e-01 3.61301799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1292541539999 meters 0.016021211198534106 Centerline is valid? [True, True] Translation: X:523.19, Y:5.39, Z:3.61 [[ 9.99563942e-01 -2.24431311e-02 -1.91893393e-02 5.23186906e+02] [ 2.24388576e-02 9.99748121e-01 -4.38015041e-04 5.39272763e+00] [ 1.91943364e-02 7.23718777e-06 9.99815772e-01 3.61257898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1592541539999 meters 0.015331865866525865 Centerline is valid? [True, True] Translation: X:523.21, Y:5.39, Z:3.61 [[ 9.99561975e-01 -2.25811748e-02 -1.91297827e-02 5.23214776e+02] [ 2.25768729e-02 9.99745013e-01 -4.40842088e-04 5.39131456e+00] [ 1.91348595e-02 8.75831672e-06 9.99816912e-01 3.61393296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.189254154 meters 0.016033220840494668 Centerline is valid? [True, True] Translation: X:523.24, Y:5.39, Z:3.61 [[ 9.99546259e-01 -2.24625818e-02 -2.00675801e-02 5.23242771e+02] [ 2.24577574e-02 9.99747684e-01 -4.65767102e-04 5.38825058e+00] [ 2.00729790e-02 1.48829201e-05 9.99798517e-01 3.61439989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2192541539999 meters 0.015274012581681604 Centerline is valid? [True, True] Translation: X:523.27, Y:5.39, Z:3.61 [[ 9.99543127e-01 -2.28135626e-02 -1.98262062e-02 5.23270911e+02] [ 2.28088363e-02 9.99739737e-01 -4.64511407e-04 5.38682759e+00] [ 1.98316433e-02 1.20864942e-05 9.99803334e-01 3.61488613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2492541539999 meters 0.015254895717037836 Centerline is valid? [True, True] Translation: X:523.30, Y:5.39, Z:3.62 [[ 9.99526349e-01 -2.32339288e-02 -2.01807362e-02 5.23299038e+02] [ 2.32289970e-02 9.99730056e-01 -4.78788455e-04 5.38547384e+00] [ 2.01864127e-02 9.78341543e-06 9.99796234e-01 3.61613544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2792541539999 meters 0.015490876114414272 Centerline is valid? [True, True] Translation: X:523.33, Y:5.38, Z:3.62 [[ 9.99514723e-01 -2.35548584e-02 -2.03834877e-02 5.23325798e+02] [ 2.35498162e-02 9.99722546e-01 -4.87403641e-04 5.38209414e+00] [ 2.03893129e-02 7.13972775e-06 9.99792116e-01 3.61591030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.309254154 meters 0.015496832433634441 Centerline is valid? [True, True] Translation: X:523.35, Y:5.38, Z:3.62 [[ 9.99507346e-01 -2.36821537e-02 -2.05966101e-02 5.23353789e+02] [ 2.36769323e-02 9.99719538e-01 -4.97366727e-04 5.38076828e+00] [ 2.06026123e-02 9.45715511e-06 9.99787744e-01 3.61734872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.339254154 meters 0.015646491376951503 Centerline is valid? [True, True] Translation: X:523.38, Y:5.38, Z:3.62 [[ 9.99497056e-01 -2.37910342e-02 -2.09671445e-02 5.23380774e+02] [ 2.37855425e-02 9.99716953e-01 -5.11297346e-04 5.37979016e+00] [ 2.09733741e-02 1.23252858e-05 9.99780035e-01 3.61712872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3692541539999 meters 0.016963099987994824 Centerline is valid? [True, True] Translation: X:523.41, Y:5.38, Z:3.62 [[ 9.99484601e-01 -2.37713075e-02 -2.15744717e-02 5.23409584e+02] [ 2.37653795e-02 9.99717422e-01 -5.31155963e-04 5.37903748e+00] [ 2.15810015e-02 1.81566966e-05 9.99767103e-01 3.61748465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3992541539999 meters 0.01584643076833284 Centerline is valid? [True, True] Translation: X:523.44, Y:5.38, Z:3.62 [[ 9.99488922e-01 -2.35585451e-02 -2.16076441e-02 5.23436362e+02] [ 2.35524520e-02 9.99722459e-01 -5.36466866e-04 5.37577645e+00] [ 2.16142854e-02 2.72796901e-05 9.99766384e-01 3.61842957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.429254154 meters 0.015718627660913673 Centerline is valid? [True, True] Translation: X:523.46, Y:5.37, Z:3.62 [[ 9.99484385e-01 -2.34842482e-02 -2.18964461e-02 5.23464634e+02] [ 2.34778470e-02 9.99724206e-01 -5.49399059e-04 5.37420341e+00] [ 2.19033094e-02 3.50343686e-05 9.99760093e-01 3.62120553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.459254154 meters 0.015972682911569884 Centerline is valid? [True, True] Translation: X:523.49, Y:5.37, Z:3.62 [[ 9.99485201e-01 -2.33009913e-02 -2.20544038e-02 5.23491263e+02] [ 2.32943647e-02 9.99728494e-01 -5.57355136e-04 5.37294024e+00] [ 2.20614028e-02 4.33248845e-05 9.99756617e-01 3.61973768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4892541539999 meters 0.016078193405059657 Centerline is valid? [True, True] Translation: X:523.52, Y:5.37, Z:3.62 [[ 9.99497280e-01 -2.32866360e-02 -2.15155631e-02 5.23519260e+02] [ 2.32802228e-02 9.99728828e-01 -5.48527251e-04 5.37146115e+00] [ 2.15225020e-02 4.73643921e-05 9.99768363e-01 3.62026910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5192541539999 meters 0.01589483751858853 Centerline is valid? [True, True] Translation: X:523.55, Y:5.37, Z:3.62 [[ 9.99517086e-01 -2.27949848e-02 -2.11183136e-02 5.23547721e+02] [ 2.27885700e-02 9.99740159e-01 -5.44390200e-04 5.36713777e+00] [ 2.11252356e-02 6.28711379e-05 9.99776835e-01 3.62356100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.549254154 meters 0.016709142191614592 Centerline is valid? [True, True] Translation: X:523.58, Y:5.37, Z:3.62 [[ 9.99498588e-01 -2.29076720e-02 -2.18589084e-02 5.23576336e+02] [ 2.29006967e-02 9.99737582e-01 -5.69404028e-04 5.36585920e+00] [ 2.18662160e-02 6.85342897e-05 9.99760903e-01 3.62415280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.579254154 meters 0.015945824175545933 Centerline is valid? [True, True] Translation: X:523.60, Y:5.36, Z:3.62 [[ 9.99493124e-01 -2.33402273e-02 -2.16501572e-02 5.23604008e+02] [ 2.33333556e-02 9.99727578e-01 -5.69992476e-04 5.36401148e+00] [ 2.16575630e-02 6.45327434e-05 9.99765445e-01 3.62423414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6092541539999 meters 0.01604311715665263 Centerline is valid? [True, True] Translation: X:523.63, Y:5.36, Z:3.62 [[ 9.99438206e-01 -2.50030861e-02 -2.23185419e-02 5.23632538e+02] [ 2.49960522e-02 9.99687373e-01 -5.94119260e-04 5.35947426e+00] [ 2.23264193e-02 3.59100496e-05 9.99750734e-01 3.62478185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6392541539999 meters 0.016093319066801996 Centerline is valid? [True, True] Translation: X:523.66, Y:5.36, Z:3.63 [[ 9.99374617e-01 -2.72137746e-02 -2.25784297e-02 5.23660415e+02] [ 2.72069906e-02 9.99629637e-01 -6.07649166e-04 5.35705286e+00] [ 2.25866039e-02 -7.02197228e-06 9.99744890e-01 3.62541953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.669254154 meters 0.016175105899461927 Centerline is valid? [True, True] Translation: X:523.69, Y:5.35, Z:3.63 [[ 9.99324512e-01 -2.92047021e-02 -2.23070505e-02 5.23687652e+02] [ 2.91984880e-02 9.99573451e-01 -6.04299450e-04 5.35416137e+00] [ 2.23151838e-02 -4.74408925e-05 9.99750984e-01 3.62526417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.699254154 meters 0.016596183304948126 Centerline is valid? [True, True] Translation: X:523.72, Y:5.35, Z:3.63 [[ 9.99137278e-01 -3.51249334e-02 -2.21571576e-02 5.23716038e+02] [ 3.51201936e-02 9.99382914e-01 -6.03131709e-04 5.34675074e+00] [ 2.21646697e-02 -1.75552291e-04 9.99754318e-01 3.62583978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7292541539999 meters 0.01700230346268201 Centerline is valid? [True, True] Translation: X:523.74, Y:5.34, Z:3.63 [[ 9.99013336e-01 -3.87690983e-02 -2.16636087e-02 5.23744790e+02] [ 3.87653253e-02 9.99248166e-01 -5.94243256e-04 5.34315504e+00] [ 2.16703595e-02 -2.46139900e-04 9.99765140e-01 3.62628726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7592541539999 meters 0.017758619441148416 Centerline is valid? [True, True] Translation: X:523.77, Y:5.34, Z:3.63 [[ 9.98856430e-01 -4.26305430e-02 -2.16441341e-02 5.23772927e+02] [ 4.26276040e-02 9.99090852e-01 -5.97349962e-04 5.33920106e+00] [ 2.16499217e-02 -3.25970726e-04 9.99765560e-01 3.62605361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7892541539999 meters 0.01918417742423519 Centerline is valid? [True, True] Translation: X:523.80, Y:5.34, Z:3.63 [[ 9.98689890e-01 -4.61566922e-02 -2.20921676e-02 5.23801942e+02] [ 4.61543902e-02 9.98934129e-01 -6.14344559e-04 5.33557112e+00] [ 2.20969764e-02 -4.06110827e-04 9.99755750e-01 3.62600652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.819254154 meters 0.021043619272335046 Centerline is valid? [True, True] Translation: X:523.83, Y:5.33, Z:3.63 [[ 9.98358509e-01 -5.25079217e-02 -2.28736875e-02 5.23831342e+02] [ 5.25070605e-02 9.98620349e-01 -6.38657275e-04 5.32795300e+00] [ 2.28756643e-02 -5.63421168e-04 9.99738159e-01 3.62537115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8492541539999 meters 0.019810773762498943 Centerline is valid? [True, True] Translation: X:523.86, Y:5.33, Z:3.63 [[ 9.98193282e-01 -5.56277842e-02 -2.27095047e-02 5.23860489e+02] [ 5.56276420e-02 9.98451380e-01 -6.38468461e-04 5.32738533e+00] [ 2.27098529e-02 -6.25961270e-04 9.99741902e-01 3.62684931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8792541539999 meters 0.022367066594821176 Centerline is valid? [True, True] Translation: X:523.89, Y:5.32, Z:3.62 [[ 9.98069509e-01 -5.77955583e-02 -2.27360759e-02 5.23888826e+02] [ 5.77959047e-02 9.98328213e-01 -6.42421545e-04 5.32163129e+00] [ 2.27351951e-02 -6.72870722e-04 9.99741296e-01 3.62484711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9092541539999 meters 0.020658101841304868 Centerline is valid? [True, True] Translation: X:523.92, Y:5.32, Z:3.63 [[ 9.97947137e-01 -5.99387058e-02 -2.25580059e-02 5.23917602e+02] [ 5.99394890e-02 9.98201806e-01 -6.42027644e-04 5.32356742e+00] [ 2.25559245e-02 -7.11405699e-04 9.99745330e-01 3.62700458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.939254154 meters 0.02102661993319559 Centerline is valid? [True, True] Translation: X:523.95, Y:5.32, Z:3.63 [[ 9.97758851e-01 -6.31562863e-02 -2.21033517e-02 5.23946705e+02] [ 6.31577695e-02 9.98003355e-01 -6.31676697e-04 5.32068364e+00] [ 2.20991135e-02 -7.65737373e-04 9.99755492e-01 3.62837217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9692541539999 meters 0.02139218075175407 Centerline is valid? [True, True] Translation: X:523.98, Y:5.32, Z:3.63 [[ 9.97671701e-01 -6.47244915e-02 -2.14922593e-02 5.23975872e+02] [ 6.47262314e-02 9.97902869e-01 -6.15401139e-04 5.31987023e+00] [ 2.14870187e-02 -7.77144644e-04 9.99768825e-01 3.62912272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9992541539999 meters 0.021672785331201858 Centerline is valid? [True, True] Translation: X:524.01, Y:5.32, Z:3.63 [[ 9.97584106e-01 -6.61152833e-02 -2.13241839e-02 5.24005874e+02] [ 6.61172937e-02 9.97811670e-01 -6.11508579e-04 5.31922624e+00] [ 2.13179497e-02 -7.99866094e-04 9.99772427e-01 3.62976346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0292541539999 meters 0.025085668378332017 Centerline is valid? [True, True] Translation: X:524.03, Y:5.32, Z:3.63 [[ 9.97470704e-01 -6.74735749e-02 -2.23497297e-02 5.24034641e+02] [ 6.74760988e-02 9.97720684e-01 -6.42043234e-04 5.31589586e+00] [ 2.23421086e-02 -8.67653255e-04 9.99750007e-01 3.62926937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.059254154 meters 0.022872884548178717 Centerline is valid? [True, True] Translation: X:524.06, Y:5.32, Z:3.63 [[ 9.97438272e-01 -6.84264524e-02 -2.08498132e-02 5.24063748e+02] [ 6.84287743e-02 9.97655822e-01 -6.02892819e-04 5.31576567e+00] [ 2.08421914e-02 -8.25378793e-04 9.99782437e-01 3.62943197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.089254154 meters 0.02270610668079396 Centerline is valid? [True, True] Translation: X:524.09, Y:5.32, Z:3.63 [[ 9.97460112e-01 -6.80231589e-02 -2.11228700e-02 5.24093062e+02] [ 6.80254027e-02 9.97683401e-01 -6.13114065e-04 5.31644391e+00] [ 2.11156427e-02 -8.25334915e-04 9.99776699e-01 3.62934423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1192541539999 meters 0.022821744377631428 Centerline is valid? [True, True] Translation: X:524.12, Y:5.32, Z:3.63 [[ 9.97516314e-01 -6.72216757e-02 -2.10344711e-02 5.24121397e+02] [ 6.72237013e-02 9.97737741e-01 -6.11573101e-04 5.31661662e+00] [ 2.10279967e-02 -8.03960857e-04 9.99778564e-01 3.62892911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1492541539999 meters 0.022821744377631428 Centerline is valid? [True, True] Translation: X:524.15, Y:5.32, Z:3.63 [[ 9.97513868e-01 -6.72579804e-02 -2.10344452e-02 5.24150567e+02] [ 6.72599953e-02 9.97735295e-01 -6.12464861e-04 5.31749586e+00] [ 2.10280015e-02 -8.03834489e-04 9.99778564e-01 3.62913139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.179254154 meters 0.022510527840716603 Centerline is valid? [True, True] Translation: X:524.18, Y:5.32, Z:3.63 [[ 9.97629841e-01 -6.54921234e-02 -2.11064613e-02 5.24179991e+02] [ 6.54937413e-02 9.97852790e-01 -6.15327760e-04 5.31843464e+00] [ 2.11014404e-02 -7.68471781e-04 9.99777044e-01 3.62894743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.209254154 meters 0.022228472036334462 Centerline is valid? [True, True] Translation: X:524.21, Y:5.32, Z:3.63 [[ 9.97932526e-01 -6.04154038e-02 -2.19237909e-02 5.24210055e+02] [ 6.04159140e-02 9.98173085e-01 -6.39687885e-04 5.32215626e+00] [ 2.19223850e-02 -6.86180517e-04 9.99759440e-01 3.62905909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2392541539999 meters 0.020197035499607486 Centerline is valid? [True, True] Translation: X:524.24, Y:5.32, Z:3.63 [[ 9.98083193e-01 -5.84488948e-02 -2.03388094e-02 5.24239368e+02] [ 5.84488594e-02 9.98290226e-01 -5.96704119e-04 5.32369562e+00] [ 2.03389113e-02 -5.93219860e-04 9.99792967e-01 3.62904620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2692541539999 meters 0.021281473245866094 Centerline is valid? [True, True] Translation: X:524.27, Y:5.33, Z:3.63 [[ 9.98286402e-01 -5.46215632e-02 -2.09938914e-02 5.24267693e+02] [ 5.46206286e-02 9.98506988e-01 -6.18352671e-04 5.32600023e+00] [ 2.09963226e-02 -5.29406480e-04 9.99779413e-01 3.62928749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.299254154 meters 0.018949006681203515 Centerline is valid? [True, True] Translation: X:524.30, Y:5.33, Z:3.63 [[ 9.98426190e-01 -5.27452787e-02 -1.90546080e-02 5.24295846e+02] [ 5.27441053e-02 9.98607901e-01 -5.64480893e-04 5.32759329e+00] [ 1.90578558e-02 -4.41425743e-04 9.99818285e-01 3.62933426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.329254154 meters 0.01988628028603398 Centerline is valid? [True, True] Translation: X:524.32, Y:5.33, Z:3.63 [[ 9.98684965e-01 -4.72150913e-02 -1.99768805e-02 5.24324801e+02] [ 4.72126011e-02 9.98884685e-01 -5.96525361e-04 5.33159211e+00] [ 1.99827650e-02 -3.47419581e-04 9.99800264e-01 3.62972356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3592541539999 meters 0.017305435003782444 Centerline is valid? [True, True] Translation: X:524.35, Y:5.33, Z:3.63 [[ 9.98749623e-01 -4.66033041e-02 -1.80920476e-02 5.24352752e+02] [ 4.66011091e-02 9.98913431e-01 -5.43123611e-04 5.33244755e+00] [ 1.80977007e-02 -3.00664981e-04 9.99836178e-01 3.62982112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3892541539999 meters 0.016922377421241763 Centerline is valid? [True, True] Translation: X:524.38, Y:5.33, Z:3.63 [[ 9.98812338e-01 -4.54396045e-02 -1.75828007e-02 5.24381875e+02] [ 4.54372904e-02 9.98967052e-01 -5.31286223e-04 5.33330250e+00] [ 1.75887800e-02 -2.68259586e-04 9.99845269e-01 3.63021199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.419254154 meters 0.017484318946261505 Centerline is valid? [True, True] Translation: X:524.41, Y:5.33, Z:3.63 [[ 9.98828731e-01 -4.50314997e-02 -1.77011561e-02 5.24410405e+02] [ 4.50290145e-02 9.98985534e-01 -5.39136959e-04 5.33398204e+00] [ 1.77074770e-02 -2.58560131e-04 9.99843177e-01 3.63049854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.449254154 meters 0.018011213764464594 Centerline is valid? [True, True] Translation: X:524.44, Y:5.33, Z:3.63 [[ 9.98795019e-01 -4.60756673e-02 -1.68980025e-02 5.24438122e+02] [ 4.60735034e-02 9.98937918e-01 -5.17543315e-04 5.33264328e+00] [ 1.69039016e-02 -2.61630491e-04 9.99857085e-01 3.63075532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4792541539999 meters 0.016471422975240357 Centerline is valid? [True, True] Translation: X:524.47, Y:5.33, Z:3.63 [[ 9.98723026e-01 -4.78859649e-02 -1.61013043e-02 5.24467369e+02] [ 4.78842164e-02 9.98852771e-01 -4.94319326e-04 5.33317499e+00] [ 1.61065033e-02 -2.77310245e-04 9.99870243e-01 3.63178096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5092541539999 meters 0.01730698389075583 Centerline is valid? [True, True] Translation: X:524.50, Y:5.33, Z:3.63 [[ 9.98630851e-01 -4.98869549e-02 -1.57389836e-02 5.24496337e+02] [ 4.98855191e-02 9.98754825e-01 -4.84050939e-04 5.33123410e+00] [ 1.57435336e-02 -3.01759167e-04 9.99876017e-01 3.63158745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5392541539999 meters 0.01968579258428471 Centerline is valid? [True, True] Translation: X:524.53, Y:5.33, Z:3.63 [[ 9.98441699e-01 -5.37343137e-02 -1.50597956e-02 5.24525110e+02] [ 5.37334232e-02 9.98555208e-01 -4.64047238e-04 5.32576927e+00] [ 1.50629726e-02 -3.45890257e-04 9.99886487e-01 3.63075709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.569254154 meters 0.018344228168124883 Centerline is valid? [True, True] Translation: X:524.56, Y:5.33, Z:3.63 [[ 9.98351642e-01 -5.54083099e-02 -1.49638682e-02 5.24555888e+02] [ 5.54076133e-02 9.98463712e-01 -4.61450566e-04 5.32945697e+00] [ 1.49664475e-02 -3.68422289e-04 9.99887929e-01 3.63242484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5992541539999 meters 0.021034901373635236 Centerline is valid? [True, True] Translation: X:524.59, Y:5.33, Z:3.63 [[ 9.98288143e-01 -5.64109707e-02 -1.54462147e-02 5.24585897e+02] [ 5.64103460e-02 9.98407555e-01 -4.76478760e-04 5.32759636e+00] [ 1.54484960e-02 -3.95663217e-04 9.99880587e-01 3.63264669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6292541539999 meters 0.01914982140082599 Centerline is valid? [True, True] Translation: X:524.62, Y:5.33, Z:3.63 [[ 9.98138721e-01 -5.94876435e-02 -1.34280728e-02 5.24616706e+02] [ 5.94874480e-02 9.98228968e-01 -4.14332567e-04 5.32750061e+00] [ 1.34289389e-02 -3.85240404e-04 9.99909754e-01 3.63334848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6592541539999 meters 0.020193275643557818 Centerline is valid? [True, True] Translation: X:524.65, Y:5.32, Z:3.63 [[ 9.97992874e-01 -6.21873272e-02 -1.19565848e-02 5.24646209e+02] [ 6.21873646e-02 9.98064425e-01 -3.69019051e-04 5.32485167e+00] [ 1.19563902e-02 -3.75270112e-04 9.99928449e-01 3.63387534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.689254154 meters 0.019504207365849346 Centerline is valid? [True, True] Translation: X:524.68, Y:5.33, Z:3.63 [[ 9.97919870e-01 -6.34203627e-02 -1.15667597e-02 5.24677412e+02] [ 6.34204810e-02 9.97986831e-01 -3.56936511e-04 5.32650893e+00] [ 1.15661109e-02 -3.77375425e-04 9.99933039e-01 3.63463511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7192541539999 meters 0.022461770903013392 Centerline is valid? [True, True] Translation: X:524.71, Y:5.33, Z:3.64 [[ 9.97971499e-01 -6.23194691e-02 -1.30065370e-02 5.24709036e+02] [ 6.23195320e-02 9.98056168e-01 -4.00853358e-04 5.32695378e+00] [ 1.30062355e-02 -4.10521074e-04 9.99915331e-01 3.63524849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7492541539999 meters 0.02182265627813863 Centerline is valid? [True, True] Translation: X:524.74, Y:5.33, Z:3.64 [[ 9.97918559e-01 -6.33847652e-02 -1.18709981e-02 5.24739329e+02] [ 6.33848957e-02 9.97989089e-01 -3.65622690e-04 5.32673009e+00] [ 1.18703015e-02 -3.87580309e-04 9.99929470e-01 3.63519357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7792541539999 meters 0.021890442235535188 Centerline is valid? [True, True] Translation: X:524.77, Y:5.33, Z:3.63 [[ 9.97907256e-01 -6.36106615e-02 -1.16100417e-02 5.24769223e+02] [ 6.36108048e-02 9.97974718e-01 -3.57303199e-04 5.32645148e+00] [ 1.16092564e-02 -3.81968644e-04 9.99932537e-01 3.63407984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.809254154 meters 0.020394133021195224 Centerline is valid? [True, True] Translation: X:524.80, Y:5.33, Z:3.63 [[ 9.97890484e-01 -6.40737815e-02 -1.04466909e-02 5.24800330e+02] [ 6.40739281e-02 9.97945103e-01 -3.20998240e-04 5.32725698e+00] [ 1.04457916e-02 -3.49039434e-04 9.99945380e-01 3.63344554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.839254154 meters 0.01962783300882584 Centerline is valid? [True, True] Translation: X:524.83, Y:5.33, Z:3.63 [[ 9.97955527e-01 -6.31186653e-02 -1.00399373e-02 5.24831275e+02] [ 6.31187559e-02 9.98005976e-01 -3.08145407e-04 5.33001621e+00] [ 1.00393671e-02 -3.26192940e-04 9.99949551e-01 3.63351115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8692541539999 meters 0.018878033913579884 Centerline is valid? [True, True] Translation: X:524.86, Y:5.33, Z:3.63 [[ 9.98179834e-01 -5.93231612e-02 -1.08527189e-02 5.24861883e+02] [ 5.93230476e-02 9.98238782e-01 -3.32672959e-04 5.33302377e+00] [ 1.08533401e-02 -3.11748920e-04 9.99941052e-01 3.63323759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8992541539999 meters 0.020192796533809163 Centerline is valid? [True, True] Translation: X:524.89, Y:5.34, Z:3.63 [[ 9.98389348e-01 -5.56581226e-02 -1.09947159e-02 5.24892211e+02] [ 5.56577904e-02 9.98449847e-01 -3.36437602e-04 5.33524949e+00] [ 1.09963979e-02 -2.76045876e-04 9.99939500e-01 3.63370457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.929254154 meters 0.01908063553522471 Centerline is valid? [True, True] Translation: X:524.92, Y:5.34, Z:3.63 [[ 9.98528428e-01 -5.32715551e-02 -1.01548090e-02 5.24923076e+02] [ 5.32711548e-02 9.98580036e-01 -3.10100645e-04 5.33816733e+00] [ 1.01569091e-02 -2.31314092e-04 9.99948391e-01 3.63402952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.959254154 meters 0.016549810056753874 Centerline is valid? [True, True] Translation: X:524.95, Y:5.34, Z:3.63 [[ 9.98645107e-01 -5.13112341e-02 -8.66646874e-03 5.24954549e+02] [ 5.13108711e-02 9.98682695e-01 -2.64376010e-04 5.34171399e+00] [ 8.66861781e-03 -1.80666251e-04 9.99962411e-01 3.63424622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9892541539999 meters 0.01603233790568993 Centerline is valid? [True, True] Translation: X:524.99, Y:5.34, Z:3.63 [[ 9.98914530e-01 -4.60379903e-02 -7.08975922e-03 5.24985380e+02] [ 4.60376160e-02 9.98939683e-01 -2.16064482e-04 5.34475034e+00] [ 7.09218900e-03 -1.10565662e-04 9.99974844e-01 3.63495462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0192541539999 meters 0.015523285657335947 Centerline is valid? [True, True] Translation: X:525.02, Y:5.35, Z:3.64 [[ 9.99040309e-01 -4.32816125e-02 -6.72026990e-03 5.25016608e+02] [ 4.32812154e-02 9.99062908e-01 -2.04571875e-04 5.34723176e+00] [ 6.72282660e-03 -8.64859005e-05 9.99977398e-01 3.63511836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.049254154 meters 0.016699287058957842 Centerline is valid? [True, True] Translation: X:525.05, Y:5.35, Z:3.64 [[ 9.99152931e-01 -4.05016815e-02 -7.28240096e-03 5.25046837e+02] [ 4.05011434e-02 9.99179468e-01 -2.21411567e-04 5.34865173e+00] [ 7.28539306e-03 -7.37215495e-05 9.99973458e-01 3.63505804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.079254154 meters 0.015408198710164737 Centerline is valid? [True, True] Translation: X:525.08, Y:5.35, Z:3.63 [[ 9.99206689e-01 -3.92747657e-02 -6.59440777e-03 5.25078070e+02] [ 3.92742984e-02 9.99228447e-01 -2.00395963e-04 5.35126672e+00] [ 6.59719034e-03 -5.87537521e-05 9.99978237e-01 3.63444779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1092541539999 meters 0.015184278931408989 Centerline is valid? [True, True] Translation: X:525.11, Y:5.35, Z:3.63 [[ 9.99260835e-01 -3.80032513e-02 -5.79112788e-03 5.25109483e+02] [ 3.80028705e-02 9.99277615e-01 -1.75824482e-04 5.35044529e+00] [ 5.79362636e-03 -4.43849644e-05 9.99983216e-01 3.63364090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1392541539999 meters 0.015012637907248749 Centerline is valid? [True, True] Translation: X:525.14, Y:5.35, Z:3.63 [[ 9.99244778e-01 -3.84609086e-02 -5.53455536e-03 5.25141695e+02] [ 3.84605693e-02 9.99260105e-01 -1.67771395e-04 5.35132242e+00] [ 5.53691301e-03 -4.52174589e-05 9.99984670e-01 3.63353465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.169254154 meters 0.017242915559373198 Centerline is valid? [True, True] Translation: X:525.17, Y:5.35, Z:3.63 [[ 9.99221080e-01 -3.89802775e-02 -6.14589326e-03 5.25172835e+02] [ 3.89798717e-02 9.99239979e-01 -1.85845358e-04 5.34949521e+00] [ 6.14846655e-03 -5.38655314e-05 9.99981097e-01 3.63417656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.199254154 meters 0.016229301918803018 Centerline is valid? [True, True] Translation: X:525.20, Y:5.35, Z:3.63 [[ 9.99035839e-01 -4.36688240e-02 -4.51947119e-03 5.25204706e+02] [ 4.36686546e-02 9.99046060e-01 -1.36194978e-04 5.34682097e+00] [ 4.52110736e-03 -6.12955618e-05 9.99989778e-01 3.63411217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2292541539999 meters 0.01815461675535998 Centerline is valid? [True, True] Translation: X:525.24, Y:5.34, Z:3.63 [[ 9.98927727e-01 -4.60284104e-02 -4.97818486e-03 5.25236975e+02] [ 4.60282355e-02 9.98940128e-01 -1.49746318e-04 5.34496609e+00] [ 4.97980121e-03 -7.95513163e-05 9.99987598e-01 3.63452208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2592541539999 meters 0.018623714384740944 Centerline is valid? [True, True] Translation: X:525.27, Y:5.34, Z:3.63 [[ 9.98767324e-01 -4.94148508e-02 -4.69102325e-03 5.25268835e+02] [ 4.94147340e-02 9.98778336e-01 -1.40854075e-04 5.34251897e+00] [ 4.69225268e-03 -9.11252184e-05 9.99988987e-01 3.63486915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2892541539999 meters 0.019515417732122054 Centerline is valid? [True, True] Translation: X:525.30, Y:5.34, Z:3.63 [[ 9.98580913e-01 -5.30834381e-02 -4.27878647e-03 5.25299807e+02] [ 5.30833767e-02 9.98590075e-01 -1.27992745e-04 5.33953113e+00] [ 4.27954800e-03 -9.93213217e-05 9.99990838e-01 3.63483828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.319254154 meters 0.020485086509173956 Centerline is valid? [True, True] Translation: X:525.33, Y:5.33, Z:3.63 [[ 9.98133729e-01 -6.09568567e-02 -3.64969653e-03 5.25329772e+02] [ 6.09568658e-02 9.98140395e-01 -1.08853339e-04 5.33300507e+00] [ 3.64954490e-03 -1.13823872e-04 9.99993334e-01 3.63435521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3492541539999 meters 0.021690844553782215 Centerline is valid? [True, True] Translation: X:525.36, Y:5.33, Z:3.63 [[ 9.97922055e-01 -6.43117569e-02 -3.94601504e-03 5.25361372e+02] [ 6.43117933e-02 9.97929847e-01 -1.17797267e-04 5.33068635e+00] [ 3.94542193e-03 -1.36222813e-04 9.99992208e-01 3.63410279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3792541539999 meters 0.022494169823769623 Centerline is valid? [True, True] Translation: X:525.39, Y:5.33, Z:3.63 [[ 9.97710367e-01 -6.75023419e-02 -4.17828107e-03 5.25392781e+02] [ 6.75024113e-02 9.97719103e-01 -1.24568362e-04 5.32917781e+00] [ 4.17715950e-03 -1.57760901e-04 9.99991263e-01 3.63376295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4092541539999 meters 0.023573541150090395 Centerline is valid? [True, True] Translation: X:525.42, Y:5.33, Z:3.63 [[ 9.97520257e-01 -7.02368271e-02 -4.48617544e-03 5.25424040e+02] [ 7.02369355e-02 9.97530328e-01 -1.33568378e-04 5.32748048e+00] [ 4.48447748e-03 -1.81858052e-04 9.99989928e-01 3.63358443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.439254154 meters 0.02609675434413152 Centerline is valid? [True, True] Translation: X:525.45, Y:5.32, Z:3.63 [[ 9.97187438e-01 -7.47957697e-02 -4.77558095e-03 5.25454184e+02] [ 7.47959454e-02 9.97198850e-01 -1.42045243e-04 5.32371517e+00] [ 4.77282822e-03 -2.15548361e-04 9.99988587e-01 3.63354622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4692541539999 meters 0.026846596698562174 Centerline is valid? [True, True] Translation: X:525.49, Y:5.32, Z:3.63 [[ 9.97042073e-01 -7.66916408e-02 -5.04943728e-03 5.25485983e+02] [ 7.66918632e-02 9.97054831e-01 -1.49865958e-04 5.32316468e+00] [ 5.04605930e-03 -2.37828088e-04 9.99987240e-01 3.63371955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4992541539999 meters 0.028415399758353308 Centerline is valid? [True, True] Translation: X:525.52, Y:5.32, Z:3.63 [[ 9.96893126e-01 -7.86010417e-02 -5.09630383e-03 5.25516251e+02] [ 7.86012948e-02 9.96906121e-01 -1.50914845e-04 5.32154279e+00] [ 5.09239855e-03 -2.50130109e-04 9.99987002e-01 3.63402163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5292541539999 meters 0.030508636574623473 Centerline is valid? [True, True] Translation: X:525.55, Y:5.32, Z:3.63 [[ 9.96583370e-01 -8.23835559e-02 -5.87681543e-03 5.25546995e+02] [ 8.23839588e-02 9.96600649e-01 -1.73905360e-04 5.31984402e+00] [ 5.87116501e-03 -3.10844131e-04 9.99982716e-01 3.63437184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.559254154 meters 0.03156069956505985 Centerline is valid? [True, True] Translation: X:525.58, Y:5.32, Z:3.63 [[ 9.96435094e-01 -8.41432042e-02 -6.08482319e-03 5.25578401e+02] [ 8.41436694e-02 9.96453617e-01 -1.79964803e-04 5.32002272e+00] [ 6.07838689e-03 -3.32676106e-04 9.99981471e-01 3.63481687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.589254154 meters 0.03306946711363444 Centerline is valid? [True, True] Translation: X:525.61, Y:5.32, Z:3.64 [[ 9.96309056e-01 -8.55827446e-02 -6.62252161e-03 5.25608337e+02] [ 8.55833289e-02 9.96330997e-01 -1.95630475e-04 5.31947289e+00] [ 6.61496615e-03 -3.71869031e-04 9.99978052e-01 3.63505719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6192541539999 meters 0.036135784227698385 Centerline is valid? [True, True] Translation: X:525.64, Y:5.32, Z:3.64 [[ 9.96065111e-01 -8.83335964e-02 -7.17434633e-03 5.25638048e+02] [ 8.83343577e-02 9.96090858e-01 -2.11308263e-04 5.31926553e+00] [ 7.16496641e-03 -4.23264487e-04 9.99974242e-01 3.63586243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6492541539999 meters 0.03829410325779109 Centerline is valid? [True, True] Translation: X:525.67, Y:5.32, Z:3.64 [[ 9.95955610e-01 -8.95242629e-02 -7.60453484e-03 5.25669414e+02] [ 8.95251530e-02 9.95984536e-01 -2.23955692e-04 5.31958457e+00] [ 7.59404857e-03 -4.57747216e-04 9.99971060e-01 3.63624565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.679254154 meters 0.03757423493614055 Centerline is valid? [True, True] Translation: X:525.70, Y:5.32, Z:3.64 [[ 9.95810591e-01 -9.12112152e-02 -6.46378474e-03 5.25699935e+02] [ 9.12118950e-02 9.95831489e-01 -1.90160219e-04 5.32061225e+00] [ 6.45418513e-03 -4.00210496e-04 9.99979091e-01 3.63660842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.709254154 meters 0.039690417546603796 Centerline is valid? [True, True] Translation: X:525.73, Y:5.32, Z:3.64 [[ 9.95698034e-01 -9.23241623e-02 -7.85323744e-03 5.25730628e+02] [ 9.23252002e-02 9.95728881e-01 -2.31036986e-04 5.32136503e+00] [ 7.84102562e-03 -4.95008646e-04 9.99969136e-01 3.63625170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7392541539999 meters 0.043010492846803756 Centerline is valid? [True, True] Translation: X:525.76, Y:5.32, Z:3.63 [[ 9.95495282e-01 -9.41726370e-02 -1.09844058e-02 5.25760551e+02] [ 9.41747827e-02 9.95555627e-01 -3.22891565e-04 5.32370593e+00] [ 1.09659945e-02 -7.13016998e-04 9.99939617e-01 3.63473844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7692541539999 meters 0.042077494080170336 Centerline is valid? [True, True] Translation: X:525.79, Y:5.33, Z:3.63 [[ 9.95415996e-01 -9.50976523e-02 -1.01701174e-02 5.25791032e+02] [ 9.50995438e-02 9.95467723e-01 -2.98540697e-04 5.32619001e+00] [ 1.01524141e-02 -6.70001339e-04 9.99948238e-01 3.63470383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.799254154 meters 0.043189013214343756 Centerline is valid? [True, True] Translation: X:525.82, Y:5.33, Z:3.63 [[ 9.95389681e-01 -9.52666286e-02 -1.11199398e-02 5.25821822e+02] [ 9.52689006e-02 9.95451521e-01 -3.26422444e-04 5.32877548e+00] [ 1.11004581e-02 -7.34466905e-04 9.99938118e-01 3.63477675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.829254154 meters 0.04462247749567305 Centerline is valid? [True, True] Translation: X:525.85, Y:5.33, Z:3.64 [[ 9.95409410e-01 -9.49304887e-02 -1.21782453e-02 5.25851629e+02] [ 9.49331866e-02 9.95483582e-01 -3.57661023e-04 5.33223644e+00] [ 1.21571962e-02 -8.00100490e-04 9.99925778e-01 3.63501301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8592541539999 meters 0.04337962557168892 Centerline is valid? [True, True] Translation: X:525.88, Y:5.34, Z:3.64 [[ 9.95489011e-01 -9.43261966e-02 -1.02076781e-02 5.25880033e+02] [ 9.43280568e-02 9.95541123e-01 -3.00138563e-04 5.33945014e+00] [ 1.01904743e-02 -6.64085800e-04 9.99947855e-01 3.63629264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8892541539999 meters 0.04356059169509116 Centerline is valid? [True, True] Translation: X:525.91, Y:5.34, Z:3.64 [[ 9.95606529e-01 -9.30867736e-02 -1.01238729e-02 5.25910233e+02] [ 9.30885361e-02 9.95657790e-01 -2.98010051e-04 5.34377961e+00] [ 1.01076537e-02 -6.45715758e-04 9.99948708e-01 3.63705065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.919254154 meters 0.04281543497564833 Centerline is valid? [True, True] Translation: X:525.94, Y:5.35, Z:3.64 [[ 9.95719784e-01 -9.18717683e-02 -1.00841664e-02 5.25941022e+02] [ 9.18734554e-02 9.95770646e-01 -2.96790458e-04 5.34930859e+00] [ 1.00687836e-02 -6.30947085e-04 9.99949109e-01 3.63764072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.949254154 meters 0.04258286748141559 Centerline is valid? [True, True] Translation: X:525.97, Y:5.35, Z:3.64 [[ 9.95859586e-01 -9.03723575e-02 -9.82457007e-03 5.25970631e+02] [ 9.03738879e-02 9.95907866e-01 -2.88976651e-04 5.35420401e+00] [ 9.81048211e-03 -6.00104426e-04 9.99951696e-01 3.63805877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9792541539999 meters 0.0416911558599024 Centerline is valid? [True, True] Translation: X:526.00, Y:5.36, Z:3.64 [[ 9.96129565e-01 -8.73137998e-02 -1.01089383e-02 5.25999719e+02] [ 8.73152643e-02 9.96180685e-01 -2.97231468e-04 5.36341252e+00] [ 1.00962815e-02 -5.86583570e-04 9.99948859e-01 3.63790517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0092541539999 meters 0.04119247921456784 Centerline is valid? [True, True] Translation: X:526.03, Y:5.37, Z:3.64 [[ 9.96241717e-01 -8.59338805e-02 -1.08540426e-02 5.26030773e+02] [ 8.59354873e-02 9.96300653e-01 -3.19133234e-04 5.36847311e+00] [ 1.08413140e-02 -6.14813595e-04 9.99941042e-01 3.63757179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0392541539999 meters 0.04119247921456784 Centerline is valid? [True, True] Translation: X:526.06, Y:5.37, Z:3.64 [[ 9.96244412e-01 -8.59026231e-02 -1.08540526e-02 5.26061650e+02] [ 8.59042317e-02 9.96303348e-01 -3.18791149e-04 5.36934293e+00] [ 1.08413140e-02 -6.14815149e-04 9.99941042e-01 3.63778581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.069254154 meters 0.04067862089122561 Centerline is valid? [True, True] Translation: X:526.09, Y:5.37, Z:3.64 [[ 9.96359703e-01 -8.45179134e-02 -1.11384232e-02 5.26092518e+02] [ 8.45195251e-02 9.96421770e-01 -3.26787680e-04 5.37422612e+00] [ 1.11261868e-02 -6.15816166e-04 9.99937912e-01 3.63759961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0992541539999 meters 0.04043467227202342 Centerline is valid? [True, True] Translation: X:526.12, Y:5.38, Z:3.64 [[ 9.96449196e-01 -8.33645608e-02 -1.18046720e-02 5.26123888e+02] [ 8.33662949e-02 9.96518912e-01 -3.45952291e-04 5.37874395e+00] [ 1.17924191e-02 -6.39387887e-04 9.99930263e-01 3.63732251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1292541539999 meters 0.03978518653586736 Centerline is valid? [True, True] Translation: X:526.15, Y:5.39, Z:3.64 [[ 9.96604807e-01 -8.13159768e-02 -1.29061873e-02 5.26153738e+02] [ 8.13178814e-02 9.96688145e-01 -3.77998566e-04 5.38678346e+00] [ 1.28941812e-02 -6.72788621e-04 9.99916640e-01 3.63663272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1592541539999 meters 0.03951847098925308 Centerline is valid? [True, True] Translation: X:526.18, Y:5.39, Z:3.64 [[ 9.96701209e-01 -8.00820166e-02 -1.31746520e-02 5.26184667e+02] [ 8.00838963e-02 9.96788052e-01 -3.85670294e-04 5.39124489e+00] [ 1.31632209e-02 -6.70679416e-04 9.99913136e-01 3.63665572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.189254154 meters 0.038760589293913406 Centerline is valid? [True, True] Translation: X:526.22, Y:5.40, Z:3.64 [[ 9.96810126e-01 -7.86084946e-02 -1.37941295e-02 5.26215628e+02] [ 7.86104205e-02 9.96905331e-01 -4.03372297e-04 5.39620037e+00] [ 1.37831497e-02 -6.82276732e-04 9.99904775e-01 3.63685875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2192541539999 meters 0.038018250694486826 Centerline is valid? [True, True] Translation: X:526.25, Y:5.40, Z:3.64 [[ 9.96952161e-01 -7.68318171e-02 -1.35373396e-02 5.26246530e+02] [ 7.68335127e-02 9.97043858e-01 -3.95554646e-04 5.40152888e+00] [ 1.35277124e-02 -6.45772292e-04 9.99908288e-01 3.63727209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2492541539999 meters 0.03572869443042575 Centerline is valid? [True, True] Translation: X:526.28, Y:5.41, Z:3.64 [[ 9.97279932e-01 -7.22967725e-02 -1.43496990e-02 5.26275831e+02] [ 7.22982107e-02 9.97382972e-01 -4.19183040e-04 5.41181147e+00] [ 1.43424510e-02 -6.19414728e-04 9.99896950e-01 3.63703795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2792541539999 meters 0.03429985408449581 Centerline is valid? [True, True] Translation: X:526.31, Y:5.42, Z:3.64 [[ 9.97460040e-01 -6.96146417e-02 -1.50754604e-02 5.26306523e+02] [ 6.96159251e-02 9.97573771e-01 -4.40265557e-04 5.41776898e+00] [ 1.50695328e-02 -6.10344819e-04 9.99886262e-01 3.63675399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.309254154 meters 0.03267654256876581 Centerline is valid? [True, True] Translation: X:526.34, Y:5.42, Z:3.64 [[ 9.97643926e-01 -6.69324333e-02 -1.50547507e-02 5.26336747e+02] [ 6.69334097e-02 9.97757348e-01 -4.39557911e-04 5.42380348e+00] [ 1.50504088e-02 -5.69143515e-04 9.99886574e-01 3.63683171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.339254154 meters 0.03129772502989706 Centerline is valid? [True, True] Translation: X:526.37, Y:5.43, Z:3.64 [[ 9.97802873e-01 -6.43982690e-02 -1.55656401e-02 5.26366886e+02] [ 6.43990049e-02 9.97924126e-01 -4.54474498e-04 5.42965232e+00] [ 1.55625952e-02 -5.48935776e-04 9.99878745e-01 3.63675546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3692541539999 meters 0.02261993644599337 Centerline is valid? [True, True] Translation: X:526.40, Y:5.45, Z:3.64 [[ 9.98118641e-01 -5.93171901e-02 -1.55128559e-02 5.26397491e+02] [ 5.93173100e-02 9.98239075e-01 -4.52790173e-04 5.44879606e+00] [ 1.55123972e-02 -4.68242571e-04 9.99879566e-01 3.63906155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3992541539999 meters 0.027180359205415255 Centerline is valid? [True, True] Translation: X:526.43, Y:5.44, Z:3.64 [[ 9.98232895e-01 -5.73657923e-02 -1.55000745e-02 5.26428410e+02] [ 5.73656832e-02 9.98353131e-01 -4.52017872e-04 5.44472775e+00] [ 1.55004783e-02 -4.37953253e-04 9.99879764e-01 3.63664737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.429254154 meters 0.02148348358990066 Centerline is valid? [True, True] Translation: X:526.46, Y:5.46, Z:3.64 [[ 9.98304756e-01 -5.59149997e-02 -1.61594270e-02 5.26459871e+02] [ 5.59147024e-02 9.98435438e-01 -4.70551882e-04 5.45618218e+00] [ 1.61604555e-02 -4.33795372e-04 9.99869317e-01 3.63871755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.459254154 meters 0.019269058095594534 Centerline is valid? [True, True] Translation: X:526.49, Y:5.46, Z:3.64 [[ 9.98365268e-01 -5.44965743e-02 -1.72312015e-02 5.26492181e+02] [ 5.44960441e-02 9.98513861e-01 -5.00673861e-04 5.46422713e+00] [ 1.72328786e-02 -4.39176923e-04 9.99851406e-01 3.63998334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4892541539999 meters 0.019452118533749438 Centerline is valid? [True, True] Translation: X:526.52, Y:5.47, Z:3.64 [[ 9.98370942e-01 -5.42667047e-02 -1.76234949e-02 5.26523547e+02] [ 5.42661295e-02 9.98526377e-01 -5.11203867e-04 5.46636376e+00] [ 1.76252659e-02 -4.45987772e-04 9.99844563e-01 3.64037151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5192541539999 meters 0.01985570011800267 Centerline is valid? [True, True] Translation: X:526.55, Y:5.47, Z:3.64 [[ 9.98363883e-01 -5.41250847e-02 -1.84399679e-02 5.26554873e+02] [ 5.41244429e-02 9.98534055e-01 -5.34237876e-04 5.46864283e+00] [ 1.84418516e-02 -4.64689192e-04 9.99829827e-01 3.64080645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.549254154 meters 0.019642526262533933 Centerline is valid? [True, True] Translation: X:526.59, Y:5.47, Z:3.64 [[ 9.98378490e-01 -5.40039946e-02 -1.79988499e-02 5.26585494e+02] [ 5.40033710e-02 9.98540617e-01 -5.21034699e-04 5.47016149e+00] [ 1.80007207e-02 -4.51808734e-04 9.99837872e-01 3.64121454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.579254154 meters 0.02112016379377468 Centerline is valid? [True, True] Translation: X:526.62, Y:5.47, Z:3.64 [[ 9.98347325e-01 -5.39204733e-02 -1.98796648e-02 5.26615580e+02] [ 5.39197125e-02 9.98545109e-01 -5.74665556e-04 5.47173364e+00] [ 1.98817283e-02 -4.98189992e-04 9.99802215e-01 3.64228192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6092541539999 meters 0.02004397948526831 Centerline is valid? [True, True] Translation: X:526.65, Y:5.47, Z:3.64 [[ 9.98382234e-01 -5.38108705e-02 -1.83658873e-02 5.26647212e+02] [ 5.38102158e-02 9.98551040e-01 -5.30184189e-04 5.47270117e+00] [ 1.83678056e-02 -4.58945884e-04 9.99831192e-01 3.64270743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6392541539999 meters 0.02017695208804753 Centerline is valid? [True, True] Translation: X:526.68, Y:5.47, Z:3.64 [[ 9.98376258e-01 -5.37643372e-02 -1.88213421e-02 5.26678677e+02] [ 5.37636533e-02 9.98553541e-01 -5.42696128e-04 5.47349473e+00] [ 1.88232955e-02 -4.70089181e-04 9.99822716e-01 3.64322213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.669254154 meters 0.020591445882743767 Centerline is valid? [True, True] Translation: X:526.71, Y:5.47, Z:3.64 [[ 9.98356831e-01 -5.39952454e-02 -1.91872714e-02 5.26708550e+02] [ 5.39945857e-02 9.98541075e-01 -5.52807802e-04 5.47382368e+00] [ 1.91891276e-02 -4.84109327e-04 9.99815755e-01 3.64363578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.699254154 meters 0.020759314403160947 Centerline is valid? [True, True] Translation: X:526.74, Y:5.47, Z:3.64 [[ 9.98318067e-01 -5.44992230e-02 -1.97704572e-02 5.26740295e+02] [ 5.44986322e-02 9.98513683e-01 -5.69066717e-04 5.47455661e+00] [ 1.97720857e-02 -5.09353291e-04 9.99804383e-01 3.64410690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7292541539999 meters 0.021032693293599025 Centerline is valid? [True, True] Translation: X:526.77, Y:5.47, Z:3.64 [[ 9.98304062e-01 -5.47179323e-02 -1.98732730e-02 5.26770591e+02] [ 5.47173875e-02 9.98501718e-01 -5.71582980e-04 5.47491488e+00] [ 1.98747730e-02 -5.16799967e-04 9.99802344e-01 3.64448739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7592541539999 meters 0.02222967655212531 Centerline is valid? [True, True] Translation: X:526.80, Y:5.47, Z:3.64 [[ 9.98144340e-01 -5.70026295e-02 -2.14143991e-02 5.26801912e+02] [ 5.70025350e-02 9.98373844e-01 -6.15314626e-04 5.47371719e+00] [ 2.14146505e-02 -6.06502224e-04 9.99770496e-01 3.64450133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7892541539999 meters 0.022946537312197028 Centerline is valid? [True, True] Translation: X:526.83, Y:5.47, Z:3.64 [[ 9.98030014e-01 -5.86764934e-02 -2.22072253e-02 5.26832761e+02] [ 5.86768166e-02 9.98276828e-01 -6.37612933e-04 5.47303206e+00] [ 2.22063713e-02 -6.66692440e-04 9.99753186e-01 3.64476569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.819254154 meters 0.024000367023706993 Centerline is valid? [True, True] Translation: X:526.86, Y:5.47, Z:3.64 [[ 9.97907453e-01 -6.05076154e-02 -2.27935156e-02 5.26863104e+02] [ 6.05084357e-02 9.98167471e-01 -6.54330540e-04 5.47157839e+00] [ 2.27913378e-02 -7.26238649e-04 9.99739980e-01 3.64491483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8492541539999 meters 0.025207352708993356 Centerline is valid? [True, True] Translation: X:526.89, Y:5.47, Z:3.65 [[ 9.97765639e-01 -6.25685772e-02 -2.34286894e-02 5.26893580e+02] [ 6.25700114e-02 9.98040351e-01 -6.72564393e-04 5.47007090e+00] [ 2.34248588e-02 -7.94871720e-04 9.99725284e-01 3.64500546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8792541539999 meters 0.028597668573666905 Centerline is valid? [True, True] Translation: X:526.92, Y:5.47, Z:3.64 [[ 9.97596496e-01 -6.43292991e-02 -2.57482530e-02 5.26923046e+02] [ 6.43316099e-02 9.97928303e-01 -7.39453847e-04 5.46789664e+00] [ 2.57424790e-02 -9.18750001e-04 9.99668185e-01 3.64493303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9092541539999 meters 0.030728999558450713 Centerline is valid? [True, True] Translation: X:526.95, Y:5.46, Z:3.65 [[ 9.97303932e-01 -6.84450667e-02 -2.64601556e-02 5.26953584e+02] [ 6.84489502e-02 9.97654331e-01 -7.60012893e-04 5.46415270e+00] [ 2.64501080e-02 -1.05320603e-03 9.99649580e-01 3.64567699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.939254154 meters 0.029719977392724476 Centerline is valid? [True, True] Translation: X:526.98, Y:5.46, Z:3.65 [[ 9.97183901e-01 -7.03963720e-02 -2.58576380e-02 5.26983428e+02] [ 7.04007193e-02 9.97518514e-01 -7.43317355e-04 5.46436046e+00] [ 2.58457994e-02 -1.07917221e-03 9.99665359e-01 3.64660589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9692541539999 meters 0.02594716246541442 Centerline is valid? [True, True] Translation: X:527.01, Y:5.47, Z:3.65 [[ 9.96980847e-01 -7.31201095e-02 -2.61273882e-02 5.27013750e+02] [ 7.31254755e-02 9.97322466e-01 -7.51297391e-04 5.46881219e+00] [ 2.61123662e-02 -1.16154858e-03 9.99658339e-01 3.64984806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9992541539999 meters 0.02730518677446641 Centerline is valid? [True, True] Translation: X:527.04, Y:5.47, Z:3.65 [[ 9.96907638e-01 -7.36707963e-02 -2.73454937e-02 5.27044579e+02] [ 7.36768912e-02 9.97281855e-01 -7.85970471e-04 5.46812896e+00] [ 2.73290677e-02 -1.23119100e-03 9.99625733e-01 3.65011478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0292541539999 meters 0.027059305729304498 Centerline is valid? [True, True] Translation: X:527.08, Y:5.47, Z:3.65 [[ 9.96898197e-01 -7.40321559e-02 -2.67062640e-02 5.27075234e+02] [ 7.40381015e-02 9.97255118e-01 -7.67480426e-04 5.46805855e+00] [ 2.66897767e-02 -1.21218123e-03 9.99643030e-01 3.65006180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.059254154 meters 0.026847272205611252 Centerline is valid? [True, True] Translation: X:527.11, Y:5.47, Z:3.65 [[ 9.96969034e-01 -7.30161745e-02 -2.68585660e-02 5.27105758e+02] [ 7.30218202e-02 9.97330045e-01 -7.71857257e-04 5.46907262e+00] [ 2.68432129e-02 -1.19174359e-03 9.99638946e-01 3.65067695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.089254154 meters 0.02659189365687567 Centerline is valid? [True, True] Translation: X:527.14, Y:5.47, Z:3.65 [[ 9.97084905e-01 -7.14832497e-02 -2.66802847e-02 5.27135046e+02] [ 7.14882811e-02 9.97441145e-01 -7.66426297e-04 5.47047421e+00] [ 2.66668004e-02 -1.14313560e-03 9.99643724e-01 3.65098163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1192541539999 meters 0.024984531127651723 Centerline is valid? [True, True] Translation: X:527.16, Y:5.47, Z:3.65 [[ 9.97412865e-01 -6.66362939e-02 -2.69662887e-02 5.27164472e+02] [ 6.66396567e-02 9.97776807e-01 -7.74951891e-04 5.47421436e+00] [ 2.69579773e-02 -1.02407723e-03 9.99636043e-01 3.65121613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1492541539999 meters 0.025177508409546228 Centerline is valid? [True, True] Translation: X:527.19, Y:5.48, Z:3.65 [[ 9.97590087e-01 -6.34578826e-02 -2.80555911e-02 5.27194180e+02] [ 6.34602439e-02 9.97984041e-01 -8.07110524e-04 5.47747754e+00] [ 2.80502497e-02 -9.75249197e-04 9.99606039e-01 3.65157343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.179254154 meters 0.022517768154712375 Centerline is valid? [True, True] Translation: X:527.22, Y:5.48, Z:3.65 [[ 9.97790333e-01 -6.06212889e-02 -2.71939312e-02 5.27223865e+02] [ 6.06224304e-02 9.98160462e-01 -7.83217561e-04 5.48039956e+00] [ 2.71913866e-02 -8.67075287e-04 9.99629870e-01 3.65145953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.209254154 meters 0.018194582365673607 Centerline is valid? [True, True] Translation: X:527.25, Y:5.49, Z:3.65 [[ 9.98183208e-01 -5.39535745e-02 -2.68196946e-02 5.27253934e+02] [ 5.39522640e-02 9.98543217e-01 -7.73008887e-04 5.48803823e+00] [ 2.68223307e-02 -6.75378751e-04 9.99639988e-01 3.65414440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2392541539999 meters 0.018695514443609 Centerline is valid? [True, True] Translation: X:527.28, Y:5.49, Z:3.65 [[ 9.98352990e-01 -5.07719508e-02 -2.67117141e-02 5.27282677e+02] [ 5.07694824e-02 9.98710101e-01 -7.71030827e-04 5.48827174e+00] [ 2.67164054e-02 -5.86378966e-04 9.99642881e-01 3.65243327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2692541539999 meters 0.01771509291993697 Centerline is valid? [True, True] Translation: X:527.31, Y:5.49, Z:3.65 [[ 9.98503293e-01 -4.78936371e-02 -2.64078347e-02 5.27310468e+02] [ 4.78901675e-02 9.98852315e-01 -7.64180167e-04 5.49106701e+00] [ 2.64141262e-02 -5.01639217e-04 9.99650960e-01 3.65250061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.299254154 meters 0.015193402653607547 Centerline is valid? [True, True] Translation: X:527.34, Y:5.50, Z:3.65 [[ 9.98761705e-01 -4.24558753e-02 -2.59336765e-02 5.27339353e+02] [ 4.24506490e-02 9.99098282e-01 -7.52280685e-04 5.49736621e+00] [ 2.59422303e-02 -3.49552258e-04 9.99663383e-01 3.65423784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.329254154 meters 0.01418671761318361 Centerline is valid? [True, True] Translation: X:527.37, Y:5.50, Z:3.66 [[ 9.98859510e-01 -4.02284924e-02 -2.57166893e-02 5.27367690e+02] [ 4.02224838e-02 9.99190466e-01 -7.51094236e-04 5.50068246e+00] [ 2.57260861e-02 -2.84151497e-04 9.99668989e-01 3.65611414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3592541539999 meters 0.016396714723584657 Centerline is valid? [True, True] Translation: X:527.40, Y:5.50, Z:3.65 [[ 9.98975037e-01 -3.75299036e-02 -2.53057640e-02 5.27395507e+02] [ 3.75231363e-02 9.99295483e-01 -7.42386127e-04 5.50036908e+00] [ 2.53157974e-02 -2.07926425e-04 9.99679482e-01 3.65247555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3892541539999 meters 0.013995630432203211 Centerline is valid? [True, True] Translation: X:527.42, Y:5.50, Z:3.65 [[ 9.99028982e-01 -3.65328963e-02 -2.46259968e-02 5.27424252e+02] [ 3.65260701e-02 9.99332436e-01 -7.27101758e-04 5.50197592e+00] [ 2.46361205e-02 -1.73095157e-04 9.99696470e-01 3.65377879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.419254154 meters 0.013709651883950628 Centerline is valid? [True, True] Translation: X:527.45, Y:5.50, Z:3.65 [[ 9.99098749e-01 -3.52233689e-02 -2.36855312e-02 5.27452969e+02] [ 3.52165590e-02 9.99379456e-01 -7.04699770e-04 5.50291082e+00] [ 2.36956551e-02 -1.30058246e-04 9.99719210e-01 3.65436511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.449254154 meters 0.013377699424447404 Centerline is valid? [True, True] Translation: X:527.48, Y:5.50, Z:3.66 [[ 9.99221570e-01 -3.27949007e-02 -2.19259809e-02 5.27481190e+02] [ 3.27883736e-02 9.99462101e-01 -6.57219546e-04 5.50335684e+00] [ 2.19357404e-02 -6.22093071e-05 9.99759381e-01 3.65501120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4792541539999 meters 0.013297233811111754 Centerline is valid? [True, True] Translation: X:527.51, Y:5.50, Z:3.66 [[ 9.99256224e-01 -3.21877341e-02 -2.12355490e-02 5.27509783e+02] [ 3.21813740e-02 9.99481840e-01 -6.41256599e-04 5.50402600e+00] [ 2.12451862e-02 -4.26094981e-05 9.99774295e-01 3.65559092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5092541539999 meters 0.01322924130056329 Centerline is valid? [True, True] Translation: X:527.54, Y:5.50, Z:3.66 [[ 9.99295136e-01 -3.14595364e-02 -2.04823840e-02 5.27538938e+02] [ 3.14533738e-02 9.99505026e-01 -6.23034162e-04 5.50445012e+00] [ 2.04918462e-02 -2.16450746e-05 9.99790020e-01 3.65613240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5392541539999 meters 0.012569234350063584 Centerline is valid? [True, True] Translation: X:527.57, Y:5.50, Z:3.66 [[ 9.99343017e-01 -3.08238513e-02 -1.90636943e-02 5.27567653e+02] [ 3.08183091e-02 9.99524832e-01 -5.84504702e-04 5.50300080e+00] [ 1.90726526e-02 -3.39013304e-06 9.99818100e-01 3.66113499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.569254154 meters 0.01280923120837956 Centerline is valid? [True, True] Translation: X:527.60, Y:5.50, Z:3.66 [[ 9.99370091e-01 -3.05492531e-02 -1.80600307e-02 5.27595896e+02] [ 3.05441920e-02 9.99533263e-01 -5.56074341e-04 5.50189557e+00] [ 1.80685890e-02 4.09501926e-06 9.99836750e-01 3.65968030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5992541539999 meters 0.012630000611758773 Centerline is valid? [True, True] Translation: X:527.62, Y:5.50, Z:3.66 [[ 9.99372316e-01 -3.09750822e-02 -1.71906420e-02 5.27624628e+02] [ 3.09705443e-02 9.99520157e-01 -5.30199241e-04 5.50037958e+00] [ 1.71988162e-02 -2.53709736e-06 9.99852089e-01 3.65997447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6292541539999 meters 0.012532116954476083 Centerline is valid? [True, True] Translation: X:527.65, Y:5.50, Z:3.66 [[ 9.99341274e-01 -3.25375609e-02 -1.60724787e-02 5.27654432e+02] [ 3.25337855e-02 9.99470513e-01 -4.96383082e-04 5.49611420e+00] [ 1.60801197e-02 -2.68424728e-05 9.99870706e-01 3.66169785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6592541539999 meters 0.013399299165909052 Centerline is valid? [True, True] Translation: X:527.68, Y:5.49, Z:3.66 [[ 9.99322756e-01 -3.31818651e-02 -1.59057299e-02 5.27683573e+02] [ 3.31782425e-02 9.99449330e-01 -4.91651723e-04 5.49375968e+00] [ 1.59132850e-02 -3.64054097e-05 9.99873375e-01 3.66032016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.689254154 meters 0.01255468234967119 Centerline is valid? [True, True] Translation: X:527.71, Y:5.49, Z:3.66 [[ 9.99255105e-01 -3.52025645e-02 -1.58118358e-02 5.27714554e+02] [ 3.51992355e-02 9.99380195e-01 -4.88875919e-04 5.49192860e+00] [ 1.58192452e-02 -6.80527723e-05 9.99874866e-01 3.66135552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7192541539999 meters 0.012877357743601516 Centerline is valid? [True, True] Translation: X:527.74, Y:5.49, Z:3.66 [[ 9.99199282e-01 -3.67314369e-02 -1.58617773e-02 5.27744639e+02] [ 3.67282769e-02 9.99325169e-01 -4.90581580e-04 5.48865259e+00] [ 1.58690930e-02 -9.23869841e-05 9.99874074e-01 3.65983181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7492541539999 meters 0.012806206676592482 Centerline is valid? [True, True] Translation: X:527.77, Y:5.48, Z:3.66 [[ 9.99051836e-01 -4.04274894e-02 -1.61569533e-02 5.27774948e+02] [ 4.04246918e-02 9.99182463e-01 -4.99838484e-04 5.48363402e+00] [ 1.61639517e-02 -1.53775305e-04 9.99869343e-01 3.66061873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7792541539999 meters 0.013117548227433972 Centerline is valid? [True, True] Translation: X:527.81, Y:5.48, Z:3.66 [[ 9.98982481e-01 -4.20601044e-02 -1.62773055e-02 5.27805099e+02] [ 4.20574844e-02 9.99115066e-01 -5.03394404e-04 5.48049334e+00] [ 1.62840740e-02 -1.81700333e-04 9.99867389e-01 3.66022112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.809254154 meters 0.013225272518996169 Centerline is valid? [True, True] Translation: X:527.84, Y:5.48, Z:3.66 [[ 9.98913680e-01 -4.37794104e-02 -1.59631654e-02 5.27836027e+02] [ 4.37771119e-02 9.99041201e-01 -4.93557713e-04 5.47771258e+00] [ 1.59694676e-02 -2.05799725e-04 9.99872459e-01 3.66034974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.839254154 meters 0.0156814920826772 Centerline is valid? [True, True] Translation: X:527.87, Y:5.47, Z:3.66 [[ 9.98796247e-01 -4.64728484e-02 -1.56949766e-02 5.27866720e+02] [ 4.64709614e-02 9.98919523e-01 -4.85110835e-04 5.47150710e+00] [ 1.57005631e-02 -2.44833772e-04 9.99876709e-01 3.66060870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8692541539999 meters 0.016538153064397505 Centerline is valid? [True, True] Translation: X:527.90, Y:5.47, Z:3.66 [[ 9.98728391e-01 -4.80080831e-02 -1.53891015e-02 5.27896941e+02] [ 4.80064529e-02 9.98846912e-01 -4.75536708e-04 5.46925256e+00] [ 1.53941861e-02 -2.63844165e-04 9.99881468e-01 3.66075584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8992541539999 meters 0.015159942106351002 Centerline is valid? [True, True] Translation: X:527.93, Y:5.47, Z:3.66 [[ 9.98608910e-01 -5.07030536e-02 -1.44721976e-02 5.27927136e+02] [ 5.07018967e-02 9.98713732e-01 -4.47072659e-04 5.46674964e+00] [ 1.44762504e-02 -2.87317127e-04 9.99895172e-01 3.66077904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.929254154 meters 0.018604709595072384 Centerline is valid? [True, True] Translation: X:527.96, Y:5.46, Z:3.66 [[ 9.98585194e-01 -5.12038009e-02 -1.43450425e-02 5.27958698e+02] [ 5.12027212e-02 9.98688182e-01 -4.42768601e-04 5.46494908e+00] [ 1.43488958e-02 -2.92363041e-04 9.99897007e-01 3.66147518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.959254154 meters 0.018604709595072384 Centerline is valid? [True, True] Translation: X:527.99, Y:5.47, Z:3.66 [[ 9.98586964e-01 -5.11692658e-02 -1.43450578e-02 5.27989532e+02] [ 5.11681897e-02 9.98689952e-01 -4.42272445e-04 5.46586811e+00] [ 1.43488958e-02 -2.92363139e-04 9.99897007e-01 3.66168890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9892541539999 meters 0.017425822996797843 Centerline is valid? [True, True] Translation: X:528.02, Y:5.46, Z:3.66 [[ 9.98354165e-01 -5.57711460e-02 -1.33618812e-02 5.28019582e+02] [ 5.57706271e-02 9.98443522e-01 -4.11736836e-04 5.45950435e+00] [ 1.33640468e-02 -3.34141312e-04 9.99910641e-01 3.66049804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0192541539999 meters 0.018438334529254176 Centerline is valid? [True, True] Translation: X:528.05, Y:5.46, Z:3.66 [[ 9.98253775e-01 -5.76974631e-02 -1.26650112e-02 5.28050600e+02] [ 5.76971530e-02 9.98334055e-01 -3.90165988e-04 5.45662955e+00] [ 1.26664235e-02 -3.41250416e-04 9.99919719e-01 3.66047473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.049254154 meters 0.019336442975270866 Centerline is valid? [True, True] Translation: X:528.08, Y:5.45, Z:3.66 [[ 9.98163463e-01 -5.93365922e-02 -1.22012551e-02 5.28081622e+02] [ 5.93364292e-02 9.98237971e-01 -3.75677235e-04 5.45376490e+00] [ 1.22020476e-02 -3.48991622e-04 9.99925491e-01 3.66035594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.079254154 meters 0.0216079791396197 Centerline is valid? [True, True] Translation: X:528.11, Y:5.45, Z:3.66 [[ 9.97938648e-01 -6.31426943e-02 -1.14654092e-02 5.28111830e+02] [ 6.31428062e-02 9.98004440e-01 -3.52594164e-04 5.44734767e+00] [ 1.14647930e-02 -3.72090768e-04 9.99934208e-01 3.66028279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1092541539999 meters 0.023283698270705477 Centerline is valid? [True, True] Translation: X:528.14, Y:5.44, Z:3.66 [[ 9.97855388e-01 -6.43619167e-02 -1.19234172e-02 5.28142416e+02] [ 6.43621316e-02 9.97926541e-01 -3.66094001e-04 5.44494751e+00] [ 1.19222570e-02 -4.02107674e-04 9.99928847e-01 3.66047215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1392541539999 meters 0.02418947070405958 Centerline is valid? [True, True] Translation: X:528.17, Y:5.44, Z:3.66 [[ 9.97721771e-01 -6.65260531e-02 -1.12050283e-02 5.28173013e+02] [ 6.65263811e-02 9.97784607e-01 -3.43858725e-04 5.44240871e+00] [ 1.12030803e-02 -4.02354644e-04 9.99937163e-01 3.66025285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.169254154 meters 0.026090059369059646 Centerline is valid? [True, True] Translation: X:528.20, Y:5.44, Z:3.66 [[ 9.97677979e-01 -6.71001338e-02 -1.16713882e-02 5.28204558e+02] [ 6.71005322e-02 9.97746155e-01 -3.57897327e-04 5.44032378e+00] [ 1.16690977e-02 -4.26090078e-04 9.99931823e-01 3.66059951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.199254154 meters 0.026812343041984474 Centerline is valid? [True, True] Translation: X:528.23, Y:5.44, Z:3.66 [[ 9.97506581e-01 -6.96919187e-02 -1.11201056e-02 5.28234529e+02] [ 6.96924435e-02 9.97568467e-01 -3.40777547e-04 5.43608138e+00] [ 1.11168161e-02 -4.35059482e-04 9.99938112e-01 3.66016584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2292541539999 meters 0.027870616596482944 Centerline is valid? [True, True] Translation: X:528.27, Y:5.43, Z:3.66 [[ 9.97518999e-01 -6.94448391e-02 -1.15438359e-02 5.28265069e+02] [ 6.94453890e-02 9.97585692e-01 -3.53688705e-04 5.43486456e+00] [ 1.15405273e-02 -4.48854968e-04 9.99933305e-01 3.66032951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2592541539999 meters 0.0282200300334228 Centerline is valid? [True, True] Translation: X:528.30, Y:5.44, Z:3.66 [[ 9.97573910e-01 -6.85897915e-02 -1.19052240e-02 5.28296335e+02] [ 6.85903189e-02 9.97644844e-01 -3.64486367e-04 5.43571543e+00] [ 1.19021854e-02 -4.52981021e-04 9.99929064e-01 3.66093440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2892541539999 meters 0.027430759537424573 Centerline is valid? [True, True] Translation: X:528.33, Y:5.44, Z:3.66 [[ 9.97598391e-01 -6.84579833e-02 -1.05334771e-02 5.28326237e+02] [ 6.84583914e-02 9.97653920e-01 -3.22234736e-04 5.43511670e+00] [ 1.05308242e-02 -3.99644040e-04 9.99944469e-01 3.66041459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.319254154 meters 0.026527253402186625 Centerline is valid? [True, True] Translation: X:528.36, Y:5.44, Z:3.66 [[ 9.97691522e-01 -6.71499841e-02 -1.01245962e-02 5.28357446e+02] [ 6.71502960e-02 9.97742824e-01 -3.09518337e-04 5.43685511e+00] [ 1.01225274e-02 -3.71065814e-04 9.99948697e-01 3.66028191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3492541539999 meters 0.01836693010561011 Centerline is valid? [True, True] Translation: X:528.39, Y:5.45, Z:3.66 [[ 9.97797733e-01 -6.56081799e-02 -9.75962199e-03 5.28388462e+02] [ 6.56083992e-02 9.97845403e-01 -2.98042233e-04 5.44944287e+00] [ 9.75814795e-03 -3.42927311e-04 9.99952329e-01 3.66090236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3792541539999 meters 0.024841345213274236 Centerline is valid? [True, True] Translation: X:528.42, Y:5.44, Z:3.66 [[ 9.98006796e-01 -6.22870007e-02 -1.01373308e-02 5.28419117e+02] [ 6.22870717e-02 9.98058227e-01 -3.09030482e-04 5.44061688e+00] [ 1.01368950e-02 -3.23010131e-04 9.99948568e-01 3.65932571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4092541539999 meters 0.01933304066595336 Centerline is valid? [True, True] Translation: X:528.45, Y:5.45, Z:3.66 [[ 9.98102330e-01 -6.06775843e-02 -1.04866824e-02 5.28450834e+02] [ 6.06775807e-02 9.98157367e-01 -3.18799641e-04 5.45166772e+00] [ 1.04867032e-02 -3.18111850e-04 9.99944962e-01 3.66078384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.439254154 meters 0.023820433266628638 Centerline is valid? [True, True] Translation: X:528.48, Y:5.44, Z:3.66 [[ 9.98158820e-01 -6.00444128e-02 -8.58128262e-03 5.28481102e+02] [ 6.00443908e-02 9.98195674e-01 -2.60428652e-04 5.44308028e+00] [ 8.58143647e-03 -2.55308731e-04 9.99963146e-01 3.65984663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4692541539999 meters 0.019349829988961904 Centerline is valid? [True, True] Translation: X:528.51, Y:5.45, Z:3.66 [[ 9.98226010e-01 -5.87997720e-02 -9.34985750e-03 5.28512748e+02] [ 5.87996942e-02 9.98269761e-01 -2.83439791e-04 5.45356868e+00] [ 9.35034620e-03 -2.66831790e-04 9.99956249e-01 3.66086744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4992541539999 meters 0.01796682761232364 Centerline is valid? [True, True] Translation: X:528.54, Y:5.45, Z:3.66 [[ 9.98215299e-01 -5.93732324e-02 -6.40597799e-03 5.28543487e+02] [ 5.93732098e-02 9.98235836e-01 -1.93868651e-04 5.45292731e+00] [ 6.40618740e-03 -1.86820822e-04 9.99979463e-01 3.66034771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5292541539999 meters 0.01851334904530851 Centerline is valid? [True, True] Translation: X:528.58, Y:5.45, Z:3.66 [[ 9.98188289e-01 -5.98692378e-02 -5.98455504e-03 5.28575083e+02] [ 5.98692277e-02 9.98206213e-01 -1.80982304e-04 5.45246410e+00] [ 5.98465530e-03 -1.77636272e-04 9.99982076e-01 3.66064323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.559254154 meters 0.02074292593685846 Centerline is valid? [True, True] Translation: X:528.61, Y:5.45, Z:3.66 [[ 9.98087199e-01 -6.15776943e-02 -5.48918043e-03 5.28606089e+02] [ 6.15777151e-02 9.98102278e-01 -1.65384581e-04 5.45083429e+00] [ 5.48894749e-03 -1.72942956e-04 9.99984921e-01 3.66113964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.589254154 meters 0.028095349608070527 Centerline is valid? [True, True] Translation: X:528.64, Y:5.44, Z:3.66 [[ 9.98006328e-01 -6.29734997e-02 -4.20811161e-03 5.28637070e+02] [ 6.29735250e-02 9.98015190e-01 -1.26599451e-04 5.43988180e+00] [ 4.20773172e-03 -1.38652568e-04 9.99991138e-01 3.66196508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6192541539999 meters 0.029658960626898268 Centerline is valid? [True, True] Translation: X:528.67, Y:5.44, Z:3.66 [[ 9.97948753e-01 -6.38687998e-02 -4.36601928e-03 5.28667305e+02] [ 6.38688363e-02 9.97958293e-01 -1.31206244e-04 5.43838216e+00] [ 4.36548513e-03 -1.47915463e-04 9.99990460e-01 3.66168984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6492541539999 meters 0.022152448596512133 Centerline is valid? [True, True] Translation: X:528.70, Y:5.45, Z:3.66 [[ 9.97902159e-01 -6.46342877e-02 -3.69987270e-03 5.28699233e+02] [ 6.46343192e-02 9.97909010e-01 -1.11164879e-04 5.44896718e+00] [ 3.69932136e-03 -1.28207080e-04 9.99993149e-01 3.66051977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.679254154 meters 0.03094652091824012 Centerline is valid? [True, True] Translation: X:528.73, Y:5.44, Z:3.66 [[ 9.97879745e-01 -6.49875409e-02 -3.55445588e-03 5.28730840e+02] [ 6.49875725e-02 9.97886068e-01 -1.06711097e-04 5.43771521e+00] [ 3.55387689e-03 -1.24510617e-04 9.99993677e-01 3.66097228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.709254154 meters 0.03291167582497278 Centerline is valid? [True, True] Translation: X:528.76, Y:5.44, Z:3.66 [[ 9.97879995e-01 -6.49202913e-02 -4.56858798e-03 5.28761833e+02] [ 6.49203470e-02 9.97890440e-01 -1.36274088e-04 5.43809292e+00] [ 4.56779722e-03 -1.60609131e-04 9.99989555e-01 3.66006744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7392541539999 meters 0.03231841660454561 Centerline is valid? [True, True] Translation: X:528.79, Y:5.44, Z:3.66 [[ 9.97862414e-01 -6.52570861e-02 -3.48076986e-03 5.28792690e+02] [ 6.52571211e-02 9.97868477e-01 -1.03645133e-04 5.43887711e+00] [ 3.48011410e-03 -1.23721437e-04 9.99993937e-01 3.66036436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7692541539999 meters 0.032549604568158204 Centerline is valid? [True, True] Translation: X:528.82, Y:5.44, Z:3.66 [[ 9.97885594e-01 -6.49142448e-02 -3.23769689e-03 5.28824410e+02] [ 6.49142732e-02 9.97890840e-01 -9.64199690e-05 5.44050252e+00] [ 3.23712709e-03 -1.13956642e-04 9.99994754e-01 3.66030530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.799254154 meters 0.03162810899487078 Centerline is valid? [True, True] Translation: X:528.85, Y:5.44, Z:3.66 [[ 9.98013228e-01 -6.29451567e-02 -2.73933043e-03 5.28854777e+02] [ 6.29451694e-02 9.98016983e-01 -8.16761617e-05 5.44396651e+00] [ 2.73903941e-03 -9.09137283e-05 9.99996245e-01 3.66093182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.829254154 meters 0.018522547857519025 Centerline is valid? [True, True] Translation: X:528.89, Y:5.46, Z:3.66 [[ 9.98118069e-01 -6.12790370e-02 -2.28015431e-03 5.28886201e+02] [ 6.12790415e-02 9.98120671e-01 -6.79655371e-05 5.46475015e+00] [ 2.28003401e-03 -7.18880397e-05 9.99997398e-01 3.65915215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8592541539999 meters 0.02057376168735044 Centerline is valid? [True, True] Translation: X:528.92, Y:5.47, Z:3.66 [[ 9.98266900e-01 -5.88123829e-02 -2.07340504e-03 5.28918100e+02] [ 5.88123815e-02 9.98269052e-01 -6.16930985e-05 5.46697659e+00] [ 2.07344440e-03 -6.03557101e-05 9.99997849e-01 3.65996791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8892541539999 meters 0.01719397960613363 Centerline is valid? [True, True] Translation: X:528.95, Y:5.47, Z:3.66 [[ 9.98477353e-01 -5.51631680e-02 -2.84419239e-05 5.28949271e+02] [ 5.51631680e-02 9.98477353e-01 -1.09397571e-06 5.47256257e+00] [ 2.84589641e-05 -4.76636649e-07 1.00000000e+00 3.66137101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.919254154 meters 0.018069215237965536 Centerline is valid? [True, True] Translation: X:528.98, Y:5.47, Z:3.66 [[ 9.98591277e-01 -5.30608190e-02 1.08763130e-04 5.28980061e+02] [ 5.30608190e-02 9.98591282e-01 2.82007545e-06 5.47373663e+00] [-1.08759549e-04 2.95495803e-06 9.99999994e-01 3.66259820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.949254154 meters 0.016376003035560676 Centerline is valid? [True, True] Translation: X:529.01, Y:5.48, Z:3.66 [[ 9.98696983e-01 -5.10324880e-02 -1.45044139e-04 5.29012219e+02] [ 5.10324878e-02 9.98696994e-01 -4.76842584e-06 5.48008666e+00] [ 1.45098490e-04 -2.63975077e-06 9.99999989e-01 3.66195874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9792541539999 meters 0.01649381473820304 Centerline is valid? [True, True] Translation: X:529.04, Y:5.48, Z:3.66 [[ 9.98803465e-01 -4.89004371e-02 -6.21016375e-04 5.29043016e+02] [ 4.89004350e-02 9.98803658e-01 -1.85699228e-05 5.48229213e+00] [ 6.21181504e-04 -1.18202676e-05 9.99999807e-01 3.66241906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0092541539999 meters 0.016073381191736645 Centerline is valid? [True, True] Translation: X:529.08, Y:5.49, Z:3.66 [[ 9.98886755e-01 -4.71677134e-02 -6.76403958e-04 5.29075144e+02] [ 4.71677105e-02 9.98886984e-01 -2.02649102e-05 5.48612506e+00] [ 6.76606959e-04 -1.16620757e-05 9.99999771e-01 3.66176337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0392541539999 meters 0.015827029885857283 Centerline is valid? [True, True] Translation: X:529.11, Y:5.49, Z:3.66 [[ 9.99028491e-01 -4.40538284e-02 -1.15528605e-03 5.29107084e+02] [ 4.40538183e-02 9.99029159e-01 -3.41736499e-05 5.49045252e+00] [ 1.15566993e-03 -1.67543119e-05 9.99999332e-01 3.66149689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.069254154 meters 0.016058802145911048 Centerline is valid? [True, True] Translation: X:529.14, Y:5.49, Z:3.66 [[ 9.99058743e-01 -4.33548133e-02 -1.40992451e-03 5.29138639e+02] [ 4.33547976e-02 9.99059738e-01 -4.17436636e-05 5.49202972e+00] [ 1.41040860e-03 -1.94226198e-05 9.99999005e-01 3.66165812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0992541539999 meters 0.015940020798694728 Centerline is valid? [True, True] Translation: X:529.17, Y:5.49, Z:3.66 [[ 9.99076178e-01 -4.29524873e-02 -1.36884720e-03 5.29170382e+02] [ 4.29524727e-02 9.99077116e-01 -4.01233300e-05 5.49368492e+00] [ 1.36930731e-03 -1.87091088e-05 9.99999062e-01 3.66153333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1292541539999 meters 0.016103657802258163 Centerline is valid? [True, True] Translation: X:529.20, Y:5.49, Z:3.66 [[ 9.99071980e-01 -4.30428418e-02 -1.57876367e-03 5.29202675e+02] [ 4.30428227e-02 9.99073227e-01 -4.60878410e-05 5.49495598e+00] [ 1.57928427e-03 -2.19093741e-05 9.99998753e-01 3.66159011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1592541539999 meters 0.018167743403659235 Centerline is valid? [True, True] Translation: X:529.23, Y:5.50, Z:3.66 [[ 9.99051501e-01 -4.35051612e-02 -1.84391343e-03 5.29234232e+02] [ 4.35051365e-02 9.99053202e-01 -5.35224059e-05 5.49554260e+00] [ 1.84449612e-03 -2.67480658e-05 9.99998299e-01 3.66180457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.189254154 meters 0.016989847903606695 Centerline is valid? [True, True] Translation: X:529.27, Y:5.50, Z:3.66 [[ 9.98977985e-01 -4.51545637e-02 -2.01263984e-03 5.29265872e+02] [ 4.51545379e-02 9.98980012e-01 -5.82769813e-05 5.49624811e+00] [ 2.01321844e-03 -3.26624004e-05 9.99997973e-01 3.66211836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2192541539999 meters 0.01729573075705655 Centerline is valid? [True, True] Translation: X:529.30, Y:5.50, Z:3.66 [[ 9.98939956e-01 -4.59994539e-02 -1.73637907e-03 5.29298273e+02] [ 4.59994358e-02 9.98941464e-01 -5.03269129e-05 5.49674728e+00] [ 1.73685606e-03 -2.95988933e-05 9.99998491e-01 3.66265620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2492541539999 meters 0.017891287317355335 Centerline is valid? [True, True] Translation: X:529.33, Y:5.50, Z:3.66 [[ 9.98892166e-01 -4.70311802e-02 -1.58373865e-03 5.29329138e+02] [ 4.70311668e-02 9.98893421e-01 -4.57396783e-05 5.49655728e+00] [ 1.58413731e-03 -2.87960703e-05 9.99998745e-01 3.66293312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2792541539999 meters 0.01946323362409142 Centerline is valid? [True, True] Translation: X:529.36, Y:5.50, Z:3.66 [[ 9.98815288e-01 -4.86418487e-02 -1.41108836e-03 5.29361207e+02] [ 4.86418395e-02 9.98816284e-01 -4.08101794e-05 5.49588613e+00] [ 1.41140312e-03 -2.78761026e-05 9.99999004e-01 3.66278222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.309254154 meters 0.0189780638079991 Centerline is valid? [True, True] Translation: X:529.39, Y:5.50, Z:3.66 [[ 9.98739478e-01 -5.01650087e-02 -1.71090758e-03 5.29393541e+02] [ 5.01649979e-02 9.98740943e-01 -4.92602197e-05 5.49573455e+00] [ 1.71122458e-03 -3.66295488e-05 9.99998535e-01 3.66294252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.339254154 meters 0.017738606895144175 Centerline is valid? [True, True] Translation: X:529.43, Y:5.50, Z:3.66 [[ 9.98695818e-01 -5.10169682e-02 -1.98314838e-03 5.29425409e+02] [ 5.10169557e-02 9.98697786e-01 -5.69184174e-05 5.49963594e+00] [ 1.98346971e-03 -4.43300080e-05 9.99998032e-01 3.66194065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3692541539999 meters 0.017719561056757368 Centerline is valid? [True, True] Translation: X:529.46, Y:5.50, Z:3.66 [[ 9.98646344e-01 -5.19563026e-02 -2.45397586e-03 5.29457320e+02] [ 5.19562871e-02 9.98649358e-01 -7.01275874e-05 5.50005314e+00] [ 2.45430499e-03 -5.74668156e-05 9.99996987e-01 3.66176955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3992541539999 meters 0.01831450830921988 Centerline is valid? [True, True] Translation: X:529.49, Y:5.50, Z:3.66 [[ 9.98552733e-01 -5.37468093e-02 -1.92856817e-03 5.29489615e+02] [ 5.37468031e-02 9.98554594e-01 -5.50783562e-05 5.49969123e+00] [ 1.92874089e-03 -4.86557304e-05 9.99998139e-01 3.66230396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.429254154 meters 0.01847183123806179 Centerline is valid? [True, True] Translation: X:529.52, Y:5.50, Z:3.66 [[ 9.98507856e-01 -5.45875001e-02 -1.50552165e-03 5.29522168e+02] [ 5.45874973e-02 9.98508990e-01 -4.29995609e-05 5.50045919e+00] [ 1.50562414e-03 -3.92472597e-05 9.99998866e-01 3.66275406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.459254154 meters 0.019660422492713353 Centerline is valid? [True, True] Translation: X:529.55, Y:5.50, Z:3.66 [[ 9.98500096e-01 -5.47438992e-02 -8.15206533e-04 5.29553616e+02] [ 5.47438984e-02 9.98500428e-01 -2.33430820e-05 5.50019522e+00] [ 8.15261964e-04 -2.13195140e-05 9.99999667e-01 3.66296089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4892541539999 meters 0.020178493542542156 Centerline is valid? [True, True] Translation: X:529.59, Y:5.50, Z:3.66 [[ 9.98497700e-01 -5.47926980e-02 3.21034898e-04 5.29585387e+02] [ 5.47926981e-02 9.98497752e-01 8.50194810e-06 5.50174829e+00] [-3.21018469e-04 9.10119264e-06 9.99999948e-01 3.66251565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5192541539999 meters 0.019133896018067274 Centerline is valid? [True, True] Translation: X:529.62, Y:5.50, Z:3.66 [[ 9.98485163e-01 -5.50202481e-02 -3.90341100e-04 5.29616914e+02] [ 5.50202478e-02 9.98485239e-01 -1.15712785e-05 5.50224761e+00] [ 3.90386481e-04 -9.92291414e-06 9.99999924e-01 3.66402527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.549254154 meters 0.018702895901196188 Centerline is valid? [True, True] Translation: X:529.65, Y:5.51, Z:3.66 [[ 9.98534907e-01 -5.41108604e-02 -2.31534282e-04 5.29649391e+02] [ 5.41108603e-02 9.98534934e-01 -6.97894014e-06 5.50503032e+00] [ 2.31572706e-04 -5.55980384e-06 9.99999973e-01 3.66351202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.579254154 meters 0.020170225760753526 Centerline is valid? [True, True] Translation: X:529.68, Y:5.51, Z:3.66 [[ 9.98651878e-01 -5.19044338e-02 5.96275128e-04 5.29681126e+02] [ 5.19044334e-02 9.98652056e-01 1.60961632e-05 5.50670307e+00] [-5.96306845e-04 1.48748590e-05 9.99999822e-01 3.66233310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6092541539999 meters 0.02044841670694426 Centerline is valid? [True, True] Translation: X:529.71, Y:5.51, Z:3.66 [[ 9.98854028e-01 -4.78536293e-02 8.12379709e-04 5.29711772e+02] [ 4.78536270e-02 9.98854359e-01 2.23407190e-05 5.50976967e+00] [-8.12518098e-04 1.65601984e-05 9.99999670e-01 3.66117141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6392541539999 meters 0.017817855738583844 Centerline is valid? [True, True] Translation: X:529.74, Y:5.51, Z:3.66 [[ 9.98894537e-01 -4.70050690e-02 -4.77322024e-04 5.29742975e+02] [ 4.70050679e-02 9.98894651e-01 -1.36226125e-05 5.51216034e+00] [ 4.77434748e-04 -8.82900091e-06 9.99999886e-01 3.66244534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.669254154 meters 0.017421063090613004 Centerline is valid? [True, True] Translation: X:529.78, Y:5.52, Z:3.66 [[ 9.98985753e-01 -4.50191011e-02 -8.63808231e-04 5.29775623e+02] [ 4.50190967e-02 9.98986126e-01 -2.46245434e-05 5.51520201e+00] [ 8.64041013e-04 -1.42882983e-05 9.99999627e-01 3.66229339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.699254154 meters 0.0180786413478905 Centerline is valid? [True, True] Translation: X:529.81, Y:5.52, Z:3.66 [[ 9.99080506e-01 -4.28684434e-02 -6.61945216e-04 5.29807587e+02] [ 4.28684403e-02 9.99080726e-01 -1.87639875e-05 5.51809159e+00] [ 6.62141089e-04 -9.62982484e-06 9.99999781e-01 3.66104526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7292541539999 meters 0.01998777026881635 Centerline is valid? [True, True] Translation: X:529.84, Y:5.52, Z:3.66 [[ 9.99145044e-01 -4.13382558e-02 -5.74645300e-04 5.29838444e+02] [ 4.13382533e-02 9.99145209e-01 -1.61951920e-05 5.51959372e+00] [ 5.74823579e-04 -7.57348722e-06 9.99999835e-01 3.66003865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7592541539999 meters 0.019941631309354755 Centerline is valid? [True, True] Translation: X:529.87, Y:5.52, Z:3.66 [[ 9.99144117e-01 -4.13336969e-02 -1.59955908e-03 5.29869285e+02] [ 4.13336789e-02 9.99145397e-01 -4.43146115e-05 5.52063946e+00] [ 1.60002378e-03 -2.18389780e-05 9.99998720e-01 3.65988522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7892541539999 meters 0.017687909173553854 Centerline is valid? [True, True] Translation: X:529.90, Y:5.52, Z:3.66 [[ 9.99061400e-01 -4.32505421e-02 -2.38931462e-03 5.29900238e+02] [ 4.32505082e-02 9.99064257e-01 -6.58761969e-05 5.51980970e+00] [ 2.38992802e-03 -3.75247060e-05 9.99997143e-01 3.66186991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.819254154 meters 0.01974296515314579 Centerline is valid? [True, True] Translation: X:529.93, Y:5.52, Z:3.66 [[ 9.99052658e-01 -4.34710786e-02 -2.01294117e-03 5.29932573e+02] [ 4.34710549e-02 9.99054685e-01 -5.55591190e-05 5.52219732e+00] [ 2.01345352e-03 -3.19981906e-05 9.99997972e-01 3.65974267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8492541539999 meters 0.01974296515314579 Centerline is valid? [True, True] Translation: X:529.96, Y:5.52, Z:3.66 [[ 9.99055934e-01 -4.33957282e-02 -2.01294534e-03 5.29964251e+02] [ 4.33957046e-02 9.99057961e-01 -5.54070680e-05 5.52300718e+00] [ 2.01345350e-03 -3.19984214e-05 9.99997972e-01 3.65996216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8792541539999 meters 0.019134633958578628 Centerline is valid? [True, True] Translation: X:530.00, Y:5.52, Z:3.66 [[ 9.98971135e-01 -4.52994216e-02 -2.15240569e-03 5.29995202e+02] [ 4.52993997e-02 9.98973454e-01 -5.89552041e-05 5.52193584e+00] [ 2.15286678e-03 -3.86081384e-05 9.99997682e-01 3.66094330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9092541539999 meters 0.020218826061317093 Centerline is valid? [True, True] Translation: X:530.03, Y:5.52, Z:3.66 [[ 9.98895552e-01 -4.69468594e-02 -1.91511666e-03 5.30027499e+02] [ 4.69468451e-02 9.98897388e-01 -5.24763172e-05 5.52135710e+00] [ 1.91546863e-03 -3.74903253e-05 9.99998165e-01 3.66102939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.939254154 meters 0.018699683477402685 Centerline is valid? [True, True] Translation: X:530.06, Y:5.52, Z:3.66 [[ 9.98671505e-01 -5.14646761e-02 -2.57138017e-03 5.30059359e+02] [ 5.14646663e-02 9.98674814e-01 -7.00161499e-05 5.51973799e+00] [ 2.57157597e-03 -6.24120884e-05 9.99996692e-01 3.66404175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9692541539999 meters 0.020212938907600456 Centerline is valid? [True, True] Translation: X:530.09, Y:5.52, Z:3.66 [[ 9.98603830e-01 -5.27820162e-02 -2.10954786e-03 5.30091090e+02] [ 5.27820120e-02 9.98606056e-01 -5.76652391e-05 5.51906990e+00] [ 2.10965096e-03 -5.37614521e-05 9.99997773e-01 3.66378572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9992541539999 meters 0.01957331360163236 Centerline is valid? [True, True] Translation: X:530.12, Y:5.52, Z:3.67 [[ 9.98410617e-01 -5.63025161e-02 -2.50324826e-03 5.30123486e+02] [ 5.63025228e-02 9.98413753e-01 -6.78396397e-05 5.51819737e+00] [ 2.50309703e-03 -7.32073758e-05 9.99996865e-01 3.66530737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0292541539999 meters 0.022531516261461982 Centerline is valid? [True, True] Translation: X:530.16, Y:5.52, Z:3.66 [[ 9.98371579e-01 -5.70109231e-02 -1.98607228e-03 5.30155270e+02] [ 5.70109285e-02 9.98373553e-01 -5.39800757e-05 5.51740636e+00] [ 1.98591949e-03 -5.93356510e-05 9.99998026e-01 3.66348132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.059254154 meters 0.02104620179447535 Centerline is valid? [True, True] Translation: X:530.19, Y:5.52, Z:3.67 [[ 9.98246676e-01 -5.91006014e-02 -3.27008989e-03 5.30186863e+02] [ 5.91006307e-02 9.98252026e-01 -8.77818973e-05 5.51578237e+00] [ 3.26956182e-03 -1.05636388e-04 9.99994649e-01 3.66601255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.089254154 meters 0.022373534571845575 Centerline is valid? [True, True] Translation: X:530.22, Y:5.52, Z:3.66 [[ 9.98194644e-01 -5.99775906e-02 -3.18458963e-03 5.30218635e+02] [ 5.99776230e-02 9.98199718e-01 -8.53928242e-05 5.51646485e+00] [ 3.18397812e-03 -1.05765456e-04 9.99994926e-01 3.66396847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1192541539999 meters 0.023235659323160865 Centerline is valid? [True, True] Translation: X:530.25, Y:5.51, Z:3.66 [[ 9.98080045e-01 -6.17725354e-02 -4.51422378e-03 5.30249424e+02] [ 6.17726219e-02 9.98090241e-01 -1.20408929e-04 5.51453284e+00] [ 4.51304066e-03 -1.58677689e-04 9.99989804e-01 3.66481111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1492541539999 meters 0.02123849436412726 Centerline is valid? [True, True] Translation: X:530.28, Y:5.52, Z:3.67 [[ 9.98065128e-01 -6.19750194e-02 -5.00973332e-03 5.30281825e+02] [ 6.19751291e-02 9.98077685e-01 -1.33484016e-04 5.51782939e+00] [ 5.00837571e-03 -1.77253128e-04 9.99987442e-01 3.66573850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.179254154 meters 0.022398369000788156 Centerline is valid? [True, True] Translation: X:530.31, Y:5.52, Z:3.67 [[ 9.98123647e-01 -6.09868475e-02 -5.45790856e-03 5.30313500e+02] [ 6.09869655e-02 9.98138552e-01 -1.44976971e-04 5.51681431e+00] [ 5.45659064e-03 -1.88156339e-04 9.99985095e-01 3.66609713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.209254154 meters 0.022095042147393856 Centerline is valid? [True, True] Translation: X:530.35, Y:5.52, Z:3.67 [[ 9.98211103e-01 -5.95396188e-02 -5.44308186e-03 5.30345514e+02] [ 5.95397168e-02 9.98225927e-01 -1.44182881e-04 5.51837844e+00] [ 5.44201003e-03 -1.80154599e-04 9.99985176e-01 3.66647219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2392541539999 meters 0.02187574512274523 Centerline is valid? [True, True] Translation: X:530.38, Y:5.52, Z:3.67 [[ 9.98349457e-01 -5.71376025e-02 -5.80145695e-03 5.30377820e+02] [ 5.71376758e-02 9.98366297e-01 -1.53236959e-04 5.52169302e+00] [ 5.80073468e-03 -1.78497732e-04 9.99983160e-01 3.66530054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2692541539999 meters 0.019593580988725417 Centerline is valid? [True, True] Translation: X:530.41, Y:5.53, Z:3.67 [[ 9.98620531e-01 -5.20533366e-02 -6.89101189e-03 5.30408519e+02] [ 5.20533231e-02 9.98644290e-01 -1.81428535e-04 5.52662211e+00] [ 6.89111364e-03 -1.77521808e-04 9.99976240e-01 3.66645302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.299254154 meters 0.020252655619004963 Centerline is valid? [True, True] Translation: X:530.44, Y:5.53, Z:3.67 [[ 9.98775377e-01 -4.89064986e-02 -7.47664168e-03 5.30440498e+02] [ 4.89063969e-02 9.98803347e-01 -1.96541137e-04 5.52941091e+00] [ 7.47730688e-03 -1.69355158e-04 9.99972030e-01 3.66529046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.329254154 meters 0.016921175302936745 Centerline is valid? [True, True] Translation: X:530.47, Y:5.54, Z:3.67 [[ 9.99003878e-01 -4.40111313e-02 -7.36689306e-03 5.30471318e+02] [ 4.40109031e-02 9.99031032e-01 -1.93165156e-04 5.53617067e+00] [ 7.36825620e-03 -1.31250876e-04 9.99972845e-01 3.66761098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3592541539999 meters 0.016799827071690154 Centerline is valid? [True, True] Translation: X:530.50, Y:5.54, Z:3.67 [[ 9.99094430e-01 -4.19146136e-02 -7.31332600e-03 5.30502568e+02] [ 4.19143347e-02 9.99121190e-01 -1.91461520e-04 5.53813214e+00] [ 7.31492401e-03 -1.15245056e-04 9.99973239e-01 3.66806475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3892541539999 meters 0.019971383192480985 Centerline is valid? [True, True] Translation: X:530.53, Y:5.54, Z:3.67 [[ 9.99181489e-01 -3.96435207e-02 -8.04626757e-03 5.30533503e+02] [ 3.96431178e-02 9.99213881e-01 -2.09623591e-04 5.53920412e+00] [ 8.04825246e-03 -1.09527121e-04 9.99967606e-01 3.66544184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4192541539999 meters 0.01606295064518188 Centerline is valid? [True, True] Translation: X:530.57, Y:5.54, Z:3.67 [[ 9.99204462e-01 -3.91107261e-02 -7.79705578e-03 5.30565996e+02] [ 3.91103348e-02 9.99234878e-01 -2.02715611e-04 5.54234387e+00] [ 7.79901843e-03 -1.02391119e-04 9.99969582e-01 3.66842686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.449254154 meters 0.017786272624499003 Centerline is valid? [True, True] Translation: X:530.60, Y:5.54, Z:3.67 [[ 9.99186523e-01 -3.92935420e-02 -9.07244762e-03 5.30596912e+02] [ 3.92930260e-02 9.99227703e-01 -2.35181177e-04 5.54088025e+00] [ 9.07468210e-03 -1.21494057e-04 9.99958817e-01 3.66701664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4792541539999 meters 0.019551418381080682 Centerline is valid? [True, True] Translation: X:530.63, Y:5.54, Z:3.67 [[ 9.99127390e-01 -4.06741360e-02 -9.49063823e-03 5.30628646e+02] [ 4.06736386e-02 9.99172455e-01 -2.45502462e-04 5.54021036e+00] [ 9.49276990e-03 -1.40730554e-04 9.99954933e-01 3.66602614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5092541539999 meters 0.0165391063020038 Centerline is valid? [True, True] Translation: X:530.66, Y:5.54, Z:3.67 [[ 9.99014073e-01 -4.33602389e-02 -9.52740821e-03 5.30661211e+02] [ 4.33598649e-02 9.99059489e-01 -2.45906048e-04 5.54173266e+00] [ 9.52911012e-03 -1.67443531e-04 9.99954583e-01 3.66938660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5392541539999 meters 0.017245207311769067 Centerline is valid? [True, True] Translation: X:530.69, Y:5.54, Z:3.67 [[ 9.98884429e-01 -4.61777511e-02 -9.87483962e-03 5.30692438e+02] [ 4.61774938e-02 9.98933218e-01 -2.54186386e-04 5.54024622e+00] [ 9.87604308e-03 -2.02092522e-04 9.99951210e-01 3.66968173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.569254154 meters 0.018811854854365793 Centerline is valid? [True, True] Translation: X:530.72, Y:5.54, Z:3.67 [[ 9.98531640e-01 -5.32227921e-02 -1.00944785e-02 5.30723543e+02] [ 5.32228873e-02 9.98582624e-01 -2.59395831e-04 5.53563529e+00] [ 1.00939766e-02 -2.78242346e-04 9.99949016e-01 3.67019425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5992541539999 meters 0.020288201400026625 Centerline is valid? [True, True] Translation: X:530.75, Y:5.53, Z:3.67 [[ 9.98330113e-01 -5.68655279e-02 -1.01635287e-02 5.30754110e+02] [ 5.68658160e-02 9.98381796e-01 -2.60867167e-04 5.53241054e+00] [ 1.01619164e-02 -3.17525805e-04 9.99948316e-01 3.67040841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6292541539999 meters 0.021677947997198438 Centerline is valid? [True, True] Translation: X:530.79, Y:5.53, Z:3.67 [[ 9.98106075e-01 -6.06036885e-02 -1.05572262e-02 5.30785305e+02] [ 6.06042138e-02 9.98161839e-01 -2.70449430e-04 5.53024750e+00] [ 1.05542105e-02 -3.69875172e-04 9.99944234e-01 3.67023079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6592541539999 meters 0.025820488749014426 Centerline is valid? [True, True] Translation: X:530.82, Y:5.53, Z:3.67 [[ 9.97693757e-01 -6.67475722e-02 -1.23259053e-02 5.30816328e+02] [ 6.67487601e-02 9.97769765e-01 -3.15440681e-04 5.52573292e+00] [ 1.23194705e-02 -5.08025697e-04 9.99923983e-01 3.66785358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.689254154 meters 0.025371910257890342 Centerline is valid? [True, True] Translation: X:530.85, Y:5.52, Z:3.67 [[ 9.97491665e-01 -6.98755819e-02 -1.13040058e-02 5.30846134e+02] [ 6.98767818e-02 9.97555588e-01 -2.89255105e-04 5.52412198e+00] [ 1.12965860e-02 -5.01357987e-04 9.99936066e-01 3.66997578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7192541539999 meters 0.027158469799643713 Centerline is valid? [True, True] Translation: X:530.88, Y:5.52, Z:3.67 [[ 9.97307073e-01 -7.24404200e-02 -1.14449531e-02 5.30876131e+02] [ 7.24418185e-02 9.97372597e-01 -2.92861767e-04 5.52226633e+00] [ 1.14360976e-02 -5.37020100e-04 9.99934461e-01 3.66996291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7492541539999 meters 0.028442168700133615 Centerline is valid? [True, True] Translation: X:530.91, Y:5.52, Z:3.67 [[ 9.97138529e-01 -7.47178636e-02 -1.14888845e-02 5.30907204e+02] [ 7.47194246e-02 9.97204553e-01 -2.93906125e-04 5.52106096e+00] [ 1.14787280e-02 -5.65377718e-04 9.99933957e-01 3.66999755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7792541539999 meters 0.0299392956599274 Centerline is valid? [True, True] Translation: X:530.94, Y:5.52, Z:3.67 [[ 9.96944123e-01 -7.73232300e-02 -1.11146091e-02 5.30938541e+02] [ 7.73248553e-02 9.97005911e-01 -2.84068160e-04 5.51998409e+00] [ 1.11032960e-02 -5.76235457e-04 9.99938190e-01 3.67021941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.809254154 meters 0.033484660038159204 Centerline is valid? [True, True] Translation: X:530.97, Y:5.52, Z:3.67 [[ 9.96560262e-01 -8.22106599e-02 -1.04427916e-02 5.30968541e+02] [ 8.22123640e-02 9.96614798e-01 -2.66721008e-04 5.51625981e+00] [ 1.04293680e-02 -5.92723029e-04 9.99945437e-01 3.67079320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.839254154 meters 0.034696847714487715 Centerline is valid? [True, True] Translation: X:531.00, Y:5.52, Z:3.67 [[ 9.96379674e-01 -8.44061359e-02 -1.01562065e-02 5.30999250e+02] [ 8.44078609e-02 9.96431255e-01 -2.59442215e-04 5.51597517e+00] [ 1.01418601e-02 -5.98760719e-04 9.99948391e-01 3.67124071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8692541539999 meters 0.037459969992481745 Centerline is valid? [True, True] Translation: X:531.03, Y:5.51, Z:3.67 [[ 9.96218576e-01 -8.61562558e-02 -1.12093046e-02 5.31029416e+02] [ 8.61584697e-02 9.96281404e-01 -2.86139340e-04 5.51458405e+00] [ 1.11922744e-02 -6.80719208e-04 9.99937133e-01 3.67003621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8992541539999 meters 0.03902423959611369 Centerline is valid? [True, True] Translation: X:531.06, Y:5.51, Z:3.67 [[ 9.96042481e-01 -8.81558722e-02 -1.13100880e-02 5.31060411e+02] [ 8.81582567e-02 9.96106439e-01 -2.88518795e-04 5.51474844e+00] [ 1.12914861e-02 -7.09700668e-04 9.99935997e-01 3.67009878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.929254154 meters 0.031264368492325056 Centerline is valid? [True, True] Translation: X:531.09, Y:5.53, Z:3.67 [[ 9.95782776e-01 -9.10487619e-02 -1.12599532e-02 5.31091090e+02] [ 9.10513128e-02 9.95846161e-01 -2.86942963e-04 5.52836927e+00] [ 1.12393069e-02 -7.39500657e-04 9.99936564e-01 3.67206752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.959254154 meters 0.03511711517874288 Centerline is valid? [True, True] Translation: X:531.12, Y:5.53, Z:3.67 [[ 9.95692500e-01 -9.19725397e-02 -1.17259154e-02 5.31122582e+02] [ 9.19753766e-02 9.95761237e-01 -2.98249618e-04 5.52578133e+00] [ 1.17036428e-02 -7.81530577e-04 9.99931205e-01 3.67152025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9892541539999 meters 0.03329457078314094 Centerline is valid? [True, True] Translation: X:531.15, Y:5.53, Z:3.67 [[ 9.95670687e-01 -9.21635503e-02 -1.20732194e-02 5.31154716e+02] [ 9.21665811e-02 9.95743555e-01 -3.06307916e-04 5.53072068e+00] [ 1.20500608e-02 -8.07765539e-04 9.99927069e-01 3.67174664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0192541539999 meters 0.04373465887722082 Centerline is valid? [True, True] Translation: X:531.19, Y:5.52, Z:3.67 [[ 9.95709833e-01 -9.17205437e-02 -1.22176080e-02 5.31185973e+02] [ 9.17236241e-02 9.95784455e-01 -3.09166073e-04 5.51924083e+00] [ 1.21944610e-02 -8.12803586e-04 9.99925314e-01 3.67065083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.049254154 meters 0.034466780518621856 Centerline is valid? [True, True] Translation: X:531.22, Y:5.54, Z:3.67 [[ 9.95815719e-01 -9.03594611e-02 -1.36462950e-02 5.31217775e+02] [ 9.03631893e-02 9.95908819e-01 -3.44409539e-04 5.53770945e+00] [ 1.36215862e-02 -8.90154307e-04 9.99906826e-01 3.67081381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.079254154 meters 0.03406088644536216 Centerline is valid? [True, True] Translation: X:531.25, Y:5.54, Z:3.67 [[ 9.95917999e-01 -8.92721496e-02 -1.33349793e-02 5.31249579e+02] [ 8.92756235e-02 9.96006903e-01 -3.35720662e-04 5.54131956e+00] [ 1.33117019e-02 -8.56138341e-04 9.99911029e-01 3.67167214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1092541539999 meters 0.034246601373364285 Centerline is valid? [True, True] Translation: X:531.28, Y:5.54, Z:3.67 [[ 9.96039277e-01 -8.79909841e-02 -1.27806684e-02 5.31279781e+02] [ 8.79940759e-02 9.96120946e-01 -3.21306843e-04 5.54476603e+00] [ 1.27593636e-02 -8.04588868e-04 9.99918272e-01 3.67217825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1392541539999 meters 0.03347358699483391 Centerline is valid? [True, True] Translation: X:531.31, Y:5.55, Z:3.67 [[ 9.96154272e-01 -8.66988007e-02 -1.26485142e-02 5.31310893e+02] [ 8.67017293e-02 9.96234264e-01 -3.17658454e-04 5.54966395e+00] [ 1.26284238e-02 -7.80211227e-04 9.99919954e-01 3.67274418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1692541539999 meters 0.033290574153728734 Centerline is valid? [True, True] Translation: X:531.34, Y:5.56, Z:3.67 [[ 9.96410343e-01 -8.37994540e-02 -1.20032902e-02 5.31340560e+02] [ 8.38018846e-02 9.96482390e-01 -3.01219026e-04 5.55684846e+00] [ 1.19863093e-02 -7.05760589e-04 9.99927913e-01 3.67332847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.199254154 meters 0.02749829209891897 Centerline is valid? [True, True] Translation: X:531.37, Y:5.57, Z:3.67 [[ 9.96501383e-01 -8.26475983e-02 -1.24245189e-02 5.31372780e+02] [ 8.26501183e-02 9.96578577e-01 -3.11375803e-04 5.56881101e+00] [ 1.24077438e-02 -7.16601536e-04 9.99922764e-01 3.67425224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2292541539999 meters 0.026764254090116974 Centerline is valid? [True, True] Translation: X:531.40, Y:5.57, Z:3.67 [[ 9.96583738e-01 -8.16079493e-02 -1.26884185e-02 5.31404899e+02] [ 8.16105059e-02 9.96664249e-01 -3.17021789e-04 5.57346125e+00] [ 1.26719646e-02 -7.19569496e-04 9.99919449e-01 3.67433083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2592541539999 meters 0.029249884002499473 Centerline is valid? [True, True] Translation: X:531.44, Y:5.58, Z:3.67 [[ 9.96714677e-01 -8.00362393e-02 -1.24117999e-02 5.31435944e+02] [ 8.00385807e-02 9.96791719e-01 -3.08775063e-04 5.57668519e+00] [ 1.23966925e-02 -6.85662207e-04 9.99922923e-01 3.67423111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2892541539999 meters 0.028144988004963494 Centerline is valid? [True, True] Translation: X:531.47, Y:5.58, Z:3.67 [[ 9.96703827e-01 -8.01354573e-02 -1.26408195e-02 5.31468187e+02] [ 8.01379125e-02 9.96783736e-01 -3.12992129e-04 5.58229539e+00] [ 1.26252451e-02 -7.01048437e-04 9.99920053e-01 3.67453400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.319254154 meters 0.02777308149761978 Centerline is valid? [True, True] Translation: X:531.50, Y:5.59, Z:3.67 [[ 9.96697986e-01 -8.02315172e-02 -1.24911399e-02 5.31499889e+02] [ 8.02339336e-02 9.96776013e-01 -3.08369002e-04 5.58682884e+00] [ 1.24756096e-02 -6.94862526e-04 9.99921935e-01 3.67491824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3492541539999 meters 0.02857138296081763 Centerline is valid? [True, True] Translation: X:531.53, Y:5.59, Z:3.67 [[ 9.96668131e-01 -8.05671713e-02 -1.27108997e-02 5.31530514e+02] [ 8.05697100e-02 9.96748927e-01 -3.13057984e-04 5.58902071e+00] [ 1.26947979e-02 -7.12098591e-04 9.99919164e-01 3.67497661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3792541539999 meters 0.029311462961358982 Centerline is valid? [True, True] Translation: X:531.56, Y:5.59, Z:3.68 [[ 9.96579149e-01 -8.16413113e-02 -1.28333873e-02 5.31562214e+02] [ 8.16439954e-02 9.96661506e-01 -3.15492134e-04 5.59388010e+00] [ 1.28163003e-02 -7.33356130e-04 9.99917599e-01 3.67511907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4092541539999 meters 0.03165675522257653 Centerline is valid? [True, True] Translation: X:531.59, Y:5.60, Z:3.67 [[ 9.96558606e-01 -8.16165688e-02 -1.44803772e-02 5.31593646e+02] [ 8.16199958e-02 9.96663459e-01 -3.55140534e-04 5.59565274e+00] [ 1.44610481e-02 -8.27969968e-04 9.99895091e-01 3.67327692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.439254154 meters 0.032565180615007294 Centerline is valid? [True, True] Translation: X:531.63, Y:5.60, Z:3.68 [[ 9.96570655e-01 -8.17898712e-02 -1.25438027e-02 5.31625989e+02] [ 8.17924669e-02 9.96649336e-01 -3.06810518e-04 5.59599574e+00] [ 1.25268666e-02 -7.20230208e-04 9.99921276e-01 3.67529577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4692541539999 meters 0.029877408235006234 Centerline is valid? [True, True] Translation: X:531.66, Y:5.60, Z:3.68 [[ 9.96611243e-01 -8.12254513e-02 -1.29790708e-02 5.31657874e+02] [ 8.12281966e-02 9.96695480e-01 -3.16370972e-04 5.60350512e+00] [ 1.29618786e-02 -7.38967646e-04 9.99915718e-01 3.67586786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4992541539999 meters 0.030209534014385572 Centerline is valid? [True, True] Translation: X:531.69, Y:5.61, Z:3.68 [[ 9.96855305e-01 -7.82161076e-02 -1.27177967e-02 5.31688061e+02] [ 7.82185133e-02 9.96936191e-01 -3.08890133e-04 5.60942176e+00] [ 1.27029920e-02 -6.86848382e-04 9.99919078e-01 3.67614234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5292541539999 meters 0.03008830237139847 Centerline is valid? [True, True] Translation: X:531.72, Y:5.61, Z:3.68 [[ 9.97023185e-01 -7.60407428e-02 -1.27504348e-02 5.31718860e+02] [ 7.60429957e-02 9.97104492e-01 -3.08733760e-04 5.61320758e+00] [ 1.27369921e-02 -6.61766538e-04 9.99918662e-01 3.67652123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.559254154 meters 0.02748978637769974 Centerline is valid? [True, True] Translation: X:531.75, Y:5.62, Z:3.68 [[ 9.97196757e-01 -7.37098973e-02 -1.28638908e-02 5.31750279e+02] [ 7.37120028e-02 9.97279521e-01 -3.11022481e-04 5.62055849e+00] [ 1.28518203e-02 -6.38072544e-04 9.99917208e-01 3.67727901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.589254154 meters 0.027367285223139453 Centerline is valid? [True, True] Translation: X:531.78, Y:5.63, Z:3.68 [[ 9.97558006e-01 -6.85728520e-02 -1.32585567e-02 5.31779416e+02] [ 6.85746374e-02 9.97645937e-01 -3.20446551e-04 5.62745461e+00] [ 1.32493192e-02 -5.89536698e-04 9.99912050e-01 3.67658601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6192541539999 meters 0.026270276533780758 Centerline is valid? [True, True] Translation: X:531.81, Y:5.63, Z:3.68 [[ 9.97743650e-01 -6.58298078e-02 -1.31926186e-02 5.31811315e+02] [ 6.58313384e-02 9.97830714e-01 -3.18680101e-04 5.63237271e+00] [ 1.31849787e-02 -5.50526694e-04 9.99912923e-01 3.67659466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6492541539999 meters 0.024585395728684442 Centerline is valid? [True, True] Translation: X:531.84, Y:5.64, Z:3.68 [[ 9.97889580e-01 -6.35128978e-02 -1.35092122e-02 5.31842212e+02] [ 6.35142988e-02 9.97980875e-01 -3.25733139e-04 5.63826001e+00] [ 1.35026237e-02 -5.32982434e-04 9.99908693e-01 3.67687596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.679254154 meters 0.024100437357676505 Centerline is valid? [True, True] Translation: X:531.87, Y:5.64, Z:3.68 [[ 9.98012685e-01 -6.14908734e-02 -1.37678152e-02 5.31874526e+02] [ 6.14921463e-02 9.98107512e-01 -3.31249801e-04 5.64238301e+00] [ 1.37621286e-02 -5.16021003e-04 9.99905164e-01 3.67642143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.709254154 meters 0.021207477402999993 Centerline is valid? [True, True] Translation: X:531.91, Y:5.65, Z:3.68 [[ 9.98223474e-01 -5.78063848e-02 -1.44331905e-02 5.31905350e+02] [ 5.78074103e-02 9.98327693e-01 -3.46485372e-04 5.65284840e+00] [ 1.44290829e-02 -4.88475535e-04 9.99895776e-01 3.67661587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7392541539999 meters 0.02079642887067072 Centerline is valid? [True, True] Translation: X:531.94, Y:5.66, Z:3.68 [[ 9.98336632e-01 -5.58521008e-02 -1.43007423e-02 5.31936528e+02] [ 5.58529250e-02 9.98438948e-01 -3.42060394e-04 5.65590034e+00] [ 1.42975229e-02 -4.57246866e-04 9.99897681e-01 3.67703458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7692541539999 meters 0.02079642887067072 Centerline is valid? [True, True] Translation: X:531.97, Y:5.66, Z:3.68 [[ 9.98340598e-01 -5.57811642e-02 -1.43007771e-02 5.31968226e+02] [ 5.57820020e-02 9.98442914e-01 -3.40600270e-04 5.65659328e+00] [ 1.42975086e-02 -4.57690901e-04 9.99897681e-01 3.67725404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.799254154 meters 0.022067505627719974 Centerline is valid? [True, True] Translation: X:532.00, Y:5.66, Z:3.68 [[ 9.98412827e-01 -5.44648709e-02 -1.43319156e-02 5.31998987e+02] [ 5.44655974e-02 9.98515590e-01 -3.39907302e-04 5.65761490e+00] [ 1.43291541e-02 -4.41228534e-04 9.99897235e-01 3.67673713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.829254154 meters 0.021510023194339947 Centerline is valid? [True, True] Translation: X:532.03, Y:5.66, Z:3.68 [[ 9.98478935e-01 -5.33107579e-02 -1.40633940e-02 5.32031124e+02] [ 5.33113621e-02 9.98577883e-01 -3.32190838e-04 5.66022546e+00] [ 1.40611036e-02 -4.18053137e-04 9.99901050e-01 3.67750626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8592541539999 meters 0.021443061951999784 Centerline is valid? [True, True] Translation: X:532.06, Y:5.66, Z:3.68 [[ 9.98621204e-01 -5.06717027e-02 -1.37138458e-02 5.32062072e+02] [ 5.06720395e-02 9.98715295e-01 -3.23134747e-04 5.66389560e+00] [ 1.37126014e-02 -3.72219328e-04 9.99905909e-01 3.67726524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8892541539999 meters 0.01945896165892046 Centerline is valid? [True, True] Translation: X:532.09, Y:5.67, Z:3.68 [[ 9.98699682e-01 -4.89244568e-02 -1.43298152e-02 5.32094463e+02] [ 4.89246573e-02 9.98802415e-01 -3.36772614e-04 5.66942626e+00] [ 1.43291304e-02 -3.64746595e-04 9.99897266e-01 3.67738623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9192541539999 meters 0.018747071683246633 Centerline is valid? [True, True] Translation: X:532.12, Y:5.67, Z:3.68 [[ 9.98863536e-01 -4.50486044e-02 -1.55646735e-02 5.32124754e+02] [ 4.50483922e-02 9.98984739e-01 -3.64413581e-04 5.67396147e+00] [ 1.55652876e-02 -3.37164079e-04 9.99878797e-01 3.67556196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.949254154 meters 0.020002058228912278 Centerline is valid? [True, True] Translation: X:532.16, Y:5.68, Z:3.67 [[ 9.98950247e-01 -4.25423099e-02 -1.69869418e-02 5.32156812e+02] [ 4.25417193e-02 9.99094613e-01 -3.96280557e-04 5.67637471e+00] [ 1.69884207e-02 -3.26789150e-04 9.99855633e-01 3.67356307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9792541539999 meters 0.017741412399291702 Centerline is valid? [True, True] Translation: X:532.19, Y:5.68, Z:3.67 [[ 9.99020258e-01 -4.10453203e-02 -1.65470585e-02 5.32188490e+02] [ 4.10445728e-02 9.99157242e-01 -3.84916414e-04 5.67952681e+00] [ 1.65489123e-02 -2.94627652e-04 9.99863014e-01 3.67463913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0092541539999 meters 0.01718295002712032 Centerline is valid? [True, True] Translation: X:532.22, Y:5.68, Z:3.67 [[ 9.99108190e-01 -3.88639344e-02 -1.65051108e-02 5.32220750e+02] [ 3.88629115e-02 9.99244478e-01 -3.82835617e-04 5.68215996e+00] [ 1.65075193e-02 -2.58942460e-04 9.99863708e-01 3.67453479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0392541539999 meters 0.016785520635354333 Centerline is valid? [True, True] Translation: X:532.25, Y:5.68, Z:3.67 [[ 9.99263351e-01 -3.51770939e-02 -1.53403819e-02 5.32251009e+02] [ 3.51757845e-02 9.99381077e-01 -3.55249752e-04 5.68427094e+00] [ 1.53433841e-02 -1.84621911e-04 9.99882266e-01 3.67424698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.069254154 meters 0.016076834233395107 Centerline is valid? [True, True] Translation: X:532.28, Y:5.69, Z:3.68 [[ 9.99317860e-01 -3.38875615e-02 -1.46781552e-02 5.32282080e+02] [ 3.38862290e-02 9.99425639e-01 -3.39551865e-04 5.68712097e+00] [ 1.46812313e-02 -1.58067087e-04 9.99892212e-01 3.67595260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0992541539999 meters 0.016678557150673762 Centerline is valid? [True, True] Translation: X:532.31, Y:5.69, Z:3.68 [[ 9.99376742e-01 -3.21975081e-02 -1.44723491e-02 5.32312958e+02] [ 3.21960422e-02 9.99481517e-01 -3.34323846e-04 5.68844030e+00] [ 1.44756098e-02 -1.31836887e-04 9.99895214e-01 3.67562648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1292541539999 meters 0.018139868534532023 Centerline is valid? [True, True] Translation: X:532.34, Y:5.69, Z:3.67 [[ 9.99423557e-01 -3.06944556e-02 -1.45053214e-02 5.32343881e+02] [ 3.06928316e-02 9.99528808e-01 -3.34616643e-04 5.68937797e+00] [ 1.45087575e-02 -1.10785631e-04 9.99894736e-01 3.67493232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1592541539999 meters 0.015159569041188689 Centerline is valid? [True, True] Translation: X:532.37, Y:5.69, Z:3.68 [[ 9.99476679e-01 -2.96678412e-02 -1.28913887e-02 5.32374452e+02] [ 2.96664769e-02 9.99559809e-01 -2.97092130e-04 5.69056682e+00] [ 1.28945281e-02 -8.55054291e-05 9.99916858e-01 3.67697439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.189254154 meters 0.015685045667580253 Centerline is valid? [True, True] Translation: X:532.41, Y:5.69, Z:3.68 [[ 9.99500530e-01 -2.87080658e-02 -1.32112444e-02 5.32405442e+02] [ 2.87065545e-02 9.99587836e-01 -3.04050284e-04 5.69104288e+00] [ 1.32145279e-02 -7.53508868e-05 9.99912681e-01 3.67643431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2192541539999 meters 0.016387639544704992 Centerline is valid? [True, True] Translation: X:532.44, Y:5.69, Z:3.68 [[ 9.99514454e-01 -2.81256306e-02 -1.34091317e-02 5.32437213e+02] [ 2.81240285e-02 9.99604394e-01 -3.08065126e-04 5.69111815e+00] [ 1.34124915e-02 -6.92032562e-05 9.99910046e-01 3.67592979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2492541539999 meters 0.014651472540495678 Centerline is valid? [True, True] Translation: X:532.47, Y:5.69, Z:3.68 [[ 9.99532907e-01 -2.79658015e-02 -1.23240007e-02 5.32468422e+02] [ 2.79644409e-02 9.99608879e-01 -2.82741796e-04 5.69092446e+00] [ 1.23270876e-02 -6.20240586e-05 9.99924017e-01 3.67824244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2792541539999 meters 0.014714763358368669 Centerline is valid? [True, True] Translation: X:532.50, Y:5.69, Z:3.68 [[ 9.99532313e-01 -2.79657050e-02 -1.23723700e-02 5.32499295e+02] [ 2.79643393e-02 9.99608881e-01 -2.83410079e-04 5.69025702e+00] [ 1.23754567e-02 -6.27076202e-05 9.99923419e-01 3.67829443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.309254154 meters 0.014775862850126343 Centerline is valid? [True, True] Translation: X:532.53, Y:5.69, Z:3.68 [[ 9.99531042e-01 -2.80436100e-02 -1.22984696e-02 5.32530658e+02] [ 2.80422717e-02 9.99606699e-01 -2.81278916e-04 5.68960275e+00] [ 1.23015206e-02 -6.37300175e-05 9.99924331e-01 3.67882271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.339254154 meters 0.014991204955883155 Centerline is valid? [True, True] Translation: X:532.56, Y:5.69, Z:3.68 [[ 9.99532554e-01 -2.80325943e-02 -1.22002892e-02 5.32561736e+02] [ 2.80312830e-02 9.99607008e-01 -2.78499969e-04 5.68713274e+00] [ 1.22033017e-02 -6.36199738e-05 9.99925535e-01 3.67716801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3692541539999 meters 0.016166831941340703 Centerline is valid? [True, True] Translation: X:532.59, Y:5.69, Z:3.68 [[ 9.99535359e-01 -2.77787418e-02 -1.25461807e-02 5.32592642e+02] [ 2.77773425e-02 9.99614094e-01 -2.85808958e-04 5.68613882e+00] [ 1.25492785e-02 -6.28234002e-05 9.99921253e-01 3.67851302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3992541539999 meters 0.014688557365341947 Centerline is valid? [True, True] Translation: X:532.62, Y:5.69, Z:3.68 [[ 9.99546646e-01 -2.78191645e-02 -1.15150636e-02 5.32624095e+02] [ 2.78179930e-02 9.99612970e-01 -2.61926635e-04 5.68528166e+00] [ 1.15178935e-02 -5.85180677e-05 9.99933665e-01 3.67942340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.429254154 meters 0.014579299850277078 Centerline is valid? [True, True] Translation: X:532.66, Y:5.68, Z:3.68 [[ 9.99556420e-01 -2.76603079e-02 -1.10395182e-02 5.32655700e+02] [ 2.76592257e-02 9.99617379e-01 -2.50723865e-04 5.68425725e+00] [ 1.10422294e-02 -5.47318777e-05 9.99939031e-01 3.67957794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.459254154 meters 0.014742054926365707 Centerline is valid? [True, True] Translation: X:532.69, Y:5.68, Z:3.68 [[ 9.99572290e-01 -2.70676432e-02 -1.10715522e-02 5.32686603e+02] [ 2.70665262e-02 9.99633603e-01 -2.50741694e-04 5.68148278e+00] [ 1.10742826e-02 -4.90340082e-05 9.99938677e-01 3.67793676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4892541539999 meters 0.015286964843234878 Centerline is valid? [True, True] Translation: X:532.72, Y:5.68, Z:3.68 [[ 9.99586091e-01 -2.64442340e-02 -1.13291365e-02 5.32717620e+02] [ 2.64430351e-02 9.99650289e-01 -2.55625090e-04 5.68023631e+00] [ 1.13319344e-02 -4.40574709e-05 9.99935791e-01 3.67903378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5192541539999 meters 0.015980885671948594 Centerline is valid? [True, True] Translation: X:532.75, Y:5.68, Z:3.68 [[ 9.99592039e-01 -2.61281582e-02 -1.15357997e-02 5.32747984e+02] [ 2.61268982e-02 9.99658601e-01 -2.59943177e-04 5.67741065e+00] [ 1.15386532e-02 -4.15575339e-05 9.99933427e-01 3.67672870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.549254154 meters 0.01482559723211411 Centerline is valid? [True, True] Translation: X:532.78, Y:5.68, Z:3.68 [[ 9.99597173e-01 -2.62519340e-02 -1.07855377e-02 5.32779573e+02] [ 2.62508422e-02 9.99655358e-01 -2.42805358e-04 5.67616820e+00] [ 1.07881947e-02 -4.04219001e-05 9.99941805e-01 3.67777246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.579254154 meters 0.01465529273792524 Centerline is valid? [True, True] Translation: X:532.81, Y:5.68, Z:3.68 [[ 9.99593635e-01 -2.63489674e-02 -1.08764638e-02 5.32811595e+02] [ 2.63478682e-02 9.99652805e-01 -2.44357854e-04 5.67642237e+00] [ 1.08791262e-02 -4.23130807e-05 9.99940820e-01 3.67948522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6092541539999 meters 0.01574107424595818 Centerline is valid? [True, True] Translation: X:532.84, Y:5.67, Z:3.68 [[ 9.99560122e-01 -2.77777882e-02 -1.03902477e-02 5.32842750e+02] [ 2.77768693e-02 9.99614121e-01 -2.32759471e-04 5.67087594e+00] [ 1.03927039e-02 -5.59514673e-05 9.99945993e-01 3.67874300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6392541539999 meters 0.014807639575679902 Centerline is valid? [True, True] Translation: X:532.87, Y:5.67, Z:3.68 [[ 9.99502575e-01 -2.99139135e-02 -9.98796342e-03 5.32874939e+02] [ 2.99131769e-02 9.99552476e-01 -2.23162052e-04 5.66946463e+00] [ 9.99016921e-03 -7.57206709e-05 9.99950094e-01 3.67997044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6692541539999 meters 0.015071766785953563 Centerline is valid? [True, True] Translation: X:532.91, Y:5.67, Z:3.68 [[ 9.99437625e-01 -3.20692163e-02 -9.79792927e-03 5.32907158e+02] [ 3.20686179e-02 9.99485646e-01 -2.18215836e-04 5.66659346e+00] [ 9.79988767e-03 -9.61129337e-05 9.99951975e-01 3.67992496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.699254154 meters 0.01755529032715616 Centerline is valid? [True, True] Translation: X:532.94, Y:5.66, Z:3.68 [[ 9.99233194e-01 -3.78734377e-02 -9.93105189e-03 5.32939494e+02] [ 3.78731167e-02 9.99282532e-01 -2.20451993e-04 5.65880802e+00] [ 9.93227596e-03 -1.55836938e-04 9.99950662e-01 3.67861555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7292541539999 meters 0.016662473108541295 Centerline is valid? [True, True] Translation: X:532.97, Y:5.66, Z:3.68 [[ 9.99095665e-01 -4.15311023e-02 -9.11156151e-03 5.32972049e+02] [ 4.15309898e-02 9.99137196e-01 -2.01639602e-04 5.65532132e+00] [ 9.11207433e-03 -1.76954916e-04 9.99958469e-01 3.67933590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7592541539999 meters 0.01819212650025283 Centerline is valid? [True, True] Translation: X:533.00, Y:5.65, Z:3.68 [[ 9.98950847e-01 -4.50196319e-02 -8.39273583e-03 5.33003636e+02] [ 4.50196641e-02 9.98986084e-01 -1.85188885e-04 5.64980313e+00] [ 8.39256343e-03 -1.92843555e-04 9.99964763e-01 3.67947637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7892541539999 meters 0.01974266124065003 Centerline is valid? [True, True] Translation: X:533.04, Y:5.64, Z:3.68 [[ 9.98633289e-01 -5.16930260e-02 -7.70613059e-03 5.33035115e+02] [ 5.16932545e-02 9.98662996e-01 -1.69665273e-04 5.64446661e+00] [ 7.70459797e-03 -2.28921579e-04 9.99970293e-01 3.67889537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.819254154 meters 0.02215934257072003 Centerline is valid? [True, True] Translation: X:533.07, Y:5.64, Z:3.68 [[ 9.98484461e-01 -5.45176015e-02 -7.52410317e-03 5.33066638e+02] [ 5.45179018e-02 9.98512780e-01 -1.65343456e-04 5.64045772e+00] [ 7.52192730e-03 -2.45105446e-04 9.99971680e-01 3.67807559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8492541539999 meters 0.021742884898657083 Centerline is valid? [True, True] Translation: X:533.10, Y:5.64, Z:3.68 [[ 9.98305820e-01 -5.77904732e-02 -6.76396356e-03 5.33099062e+02] [ 5.77907953e-02 9.98328704e-01 -1.47986103e-04 5.63765250e+00] [ 6.76121116e-03 -2.43159446e-04 9.99977113e-01 3.67918693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8792541539999 meters 0.021415476319730255 Centerline is valid? [True, True] Translation: X:533.13, Y:5.64, Z:3.68 [[ 9.98140881e-01 -6.06199630e-02 -6.32466739e-03 5.33131124e+02] [ 6.06203040e-02 9.98160889e-01 -1.37944335e-04 5.63635700e+00] [ 6.32139780e-03 -2.45715380e-04 9.99979990e-01 3.67937803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9092541539999 meters 0.024162646520719602 Centerline is valid? [True, True] Translation: X:533.16, Y:5.63, Z:3.68 [[ 9.97842027e-01 -6.53621330e-02 -6.25143872e-03 5.33161398e+02] [ 6.53625619e-02 9.97861572e-01 -1.35884884e-04 5.62940056e+00] [ 6.24695220e-03 -2.73018403e-04 9.99980450e-01 3.67900631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.939254154 meters 0.025532472207107543 Centerline is valid? [True, True] Translation: X:533.19, Y:5.63, Z:3.68 [[ 9.97695640e-01 -6.75657620e-02 -6.18686397e-03 5.33192771e+02] [ 6.75662272e-02 9.97714782e-01 -1.34020100e-04 5.62657244e+00] [ 6.18178081e-03 -2.84311787e-04 9.99980852e-01 3.67921371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9692541539999 meters 0.0270320054401309 Centerline is valid? [True, True] Translation: X:533.22, Y:5.62, Z:3.68 [[ 9.97593767e-01 -6.91400954e-02 -5.13070302e-03 5.33224206e+02] [ 6.91404368e-02 9.97606930e-01 -1.11029497e-04 5.62381238e+00] [ 5.12610148e-03 -2.43976714e-04 9.99986832e-01 3.67940502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9992541539999 meters 0.0278512368377848 Centerline is valid? [True, True] Translation: X:533.26, Y:5.62, Z:3.68 [[ 9.97394097e-01 -7.19510080e-02 -5.29797193e-03 5.33255759e+02] [ 7.19514154e-02 9.97408132e-01 -1.13908723e-04 5.62162314e+00] [ 5.29243613e-03 -2.67584692e-04 9.99985959e-01 3.67964599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0292541539999 meters 0.029801005291603913 Centerline is valid? [True, True] Translation: X:533.29, Y:5.62, Z:3.68 [[ 9.97336639e-01 -7.27352351e-02 -5.40501388e-03 5.33286878e+02] [ 7.27356716e-02 9.97351246e-01 -1.16038601e-04 5.61966009e+00] [ 5.39913742e-03 -2.77407766e-04 9.99985386e-01 3.67912437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.059254154 meters 0.03149720463648351 Centerline is valid? [True, True] Translation: X:533.32, Y:5.62, Z:3.68 [[ 9.97295711e-01 -7.32439680e-02 -6.04855675e-03 5.33317945e+02] [ 7.32445261e-02 9.97314004e-01 -1.29486091e-04 5.61808974e+00] [ 6.04179443e-03 -3.13887749e-04 9.99981699e-01 3.67829652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.089254154 meters 0.02976306853306303 Centerline is valid? [True, True] Translation: X:533.35, Y:5.62, Z:3.68 [[ 9.97250786e-01 -7.38722036e-02 -5.81104263e-03 5.33350297e+02] [ 7.38727309e-02 9.97267669e-01 -1.24128801e-04 5.61975105e+00] [ 5.80433461e-03 -3.05490044e-04 9.99983108e-01 3.67877998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1192541539999 meters 0.03083649236383339 Centerline is valid? [True, True] Translation: X:533.38, Y:5.62, Z:3.68 [[ 9.97239463e-01 -7.39339431e-02 -6.87201604e-03 5.33381453e+02] [ 7.39346860e-02 9.97263075e-01 -1.46215269e-04 5.61918853e+00] [ 6.86401812e-03 -3.62268712e-04 9.99976377e-01 3.67755098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1492541539999 meters 0.027534518702402918 Centerline is valid? [True, True] Translation: X:533.41, Y:5.63, Z:3.68 [[ 9.97296199e-01 -7.31001017e-02 -7.52775014e-03 5.33413546e+02] [ 7.31009729e-02 9.97324532e-01 -1.59722602e-04 5.62666506e+00] [ 7.51928562e-03 -3.90995115e-04 9.99971653e-01 3.67607130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.179254154 meters 0.03138798117728577 Centerline is valid? [True, True] Translation: X:533.44, Y:5.62, Z:3.68 [[ 9.97345430e-01 -7.24551565e-02 -7.23487114e-03 5.33444545e+02] [ 7.24559480e-02 9.97371602e-01 -1.52996352e-04 5.62128381e+00] [ 7.22694039e-03 -3.71619235e-04 9.99973816e-01 3.67678022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.209254154 meters 0.03262471231184892 Centerline is valid? [True, True] Translation: X:533.47, Y:5.62, Z:3.68 [[ 9.97549867e-01 -6.94786764e-02 -8.18391481e-03 5.33474584e+02] [ 6.94795929e-02 9.97583358e-01 -1.72610437e-04 5.62451228e+00] [ 8.17612996e-03 -3.96427550e-04 9.99966496e-01 3.67509209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2392541539999 meters 0.026943057639350964 Centerline is valid? [True, True] Translation: X:533.51, Y:5.63, Z:3.68 [[ 9.97649316e-01 -6.82112444e-02 -6.56259544e-03 5.33507176e+02] [ 6.82118068e-02 9.97670853e-01 -1.38351058e-04 5.63248292e+00] [ 6.55674729e-03 -3.09620654e-04 9.99978456e-01 3.67760105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2692541539999 meters 0.02686396588771416 Centerline is valid? [True, True] Translation: X:533.54, Y:5.64, Z:3.68 [[ 9.97808939e-01 -6.57787533e-02 -7.10477051e-03 5.33538568e+02] [ 6.57793557e-02 9.97834182e-01 -1.49106438e-04 5.63716592e+00] [ 7.09919090e-03 -3.18567490e-04 9.99974750e-01 3.67642935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.299254154 meters 0.024690534372650702 Centerline is valid? [True, True] Translation: X:533.57, Y:5.64, Z:3.68 [[ 9.97924740e-01 -6.40312327e-02 -6.79807548e-03 5.33571068e+02] [ 6.40317453e-02 9.97947852e-01 -1.42439170e-04 5.64175424e+00] [ 6.79324538e-03 -2.93149065e-04 9.99976883e-01 3.67752538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.329254154 meters 0.022956140402943893 Centerline is valid? [True, True] Translation: X:533.60, Y:5.65, Z:3.68 [[ 9.98139954e-01 -6.07378438e-02 -5.24851986e-03 5.33601718e+02] [ 6.07381062e-02 9.98153731e-01 -1.09538727e-04 5.64610591e+00] [ 5.24548283e-03 -2.09450177e-04 9.99986220e-01 3.67913602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3592541539999 meters 0.020917201782463098 Centerline is valid? [True, True] Translation: X:533.63, Y:5.65, Z:3.68 [[ 9.98245877e-01 -5.89775032e-02 -5.17906574e-03 5.33634380e+02] [ 5.89777355e-02 9.98259292e-01 -1.08003150e-04 5.65162123e+00] [ 5.17642025e-03 -1.97635870e-04 9.99986583e-01 3.67894817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3892541539999 meters 0.02264984609987925 Centerline is valid? [True, True] Translation: X:533.67, Y:5.65, Z:3.68 [[ 9.98337949e-01 -5.74042806e-02 -5.10756567e-03 5.33665936e+02] [ 5.74044887e-02 9.98350997e-01 -1.05967616e-04 5.65072911e+00] [ 5.10522627e-03 -1.87405703e-04 9.99986951e-01 3.67926101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4192541539999 meters 0.022926492969652858 Centerline is valid? [True, True] Translation: X:533.70, Y:5.66, Z:3.68 [[ 9.98472097e-01 -5.49672681e-02 -5.66308060e-03 5.33698217e+02] [ 5.49674867e-02 9.98488138e-01 -1.17152298e-04 5.65575610e+00] [ 5.66095835e-03 -1.94312007e-04 9.99983958e-01 3.67714480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.449254154 meters 0.021002461440969025 Centerline is valid? [True, True] Translation: X:533.73, Y:5.66, Z:3.68 [[ 9.98622459e-01 -5.21841762e-02 -5.47691307e-03 5.33728700e+02] [ 5.21843414e-02 9.98637463e-01 -1.12832167e-04 5.65855483e+00] [ 5.47533862e-03 -1.73132365e-04 9.99984995e-01 3.67887434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4792541539999 meters 0.018938881975517352 Centerline is valid? [True, True] Translation: X:533.76, Y:5.66, Z:3.68 [[ 9.98707045e-01 -5.04891938e-02 -5.92275325e-03 5.33760872e+02] [ 5.04893576e-02 9.98724592e-01 -1.21954148e-04 5.66408245e+00] [ 5.92135668e-03 -1.77239540e-04 9.99982453e-01 3.67851363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5092541539999 meters 0.018792330389822358 Centerline is valid? [True, True] Translation: X:533.79, Y:5.67, Z:3.68 [[ 9.98798983e-01 -4.85507913e-02 -6.58873595e-03 5.33792322e+02] [ 4.85509555e-02 9.98820698e-01 -1.35112074e-04 5.66576543e+00] [ 6.58752564e-03 -1.84939624e-04 9.99978285e-01 3.67818290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5392541539999 meters 0.019869510263740255 Centerline is valid? [True, True] Translation: X:533.82, Y:5.67, Z:3.68 [[ 9.98870140e-01 -4.69668182e-02 -7.24988178e-03 5.33823663e+02] [ 4.69669785e-02 9.98896432e-01 -1.48229231e-04 5.66514121e+00] [ 7.24884289e-03 -1.92443289e-04 9.99973708e-01 3.67807408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.569254154 meters 0.017763569023614707 Centerline is valid? [True, True] Translation: X:533.86, Y:5.67, Z:3.68 [[ 9.98940824e-01 -4.53929625e-02 -7.53049369e-03 5.33856232e+02] [ 4.53930942e-02 9.98969190e-01 -1.53517079e-04 5.67045692e+00] [ 7.52969978e-03 -1.88477932e-04 9.99971634e-01 3.67801006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5992541539999 meters 0.019596325301311245 Centerline is valid? [True, True] Translation: X:533.89, Y:5.67, Z:3.68 [[ 9.99085494e-01 -4.18754039e-02 -8.63865857e-03 5.33888828e+02] [ 4.18754535e-02 9.99122823e-01 -1.75216666e-04 5.67288866e+00] [ 8.63841821e-03 -1.86691316e-04 9.99962671e-01 3.67643351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6292541539999 meters 0.016872395875906197 Centerline is valid? [True, True] Translation: X:533.92, Y:5.68, Z:3.68 [[ 9.99139640e-01 -4.08241841e-02 -7.30521654e-03 5.33920510e+02] [ 4.08241956e-02 9.99166334e-01 -1.47605646e-04 5.67535387e+00] [ 7.30515231e-03 -1.50750937e-04 9.99973306e-01 3.67845633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6592541539999 meters 0.016872395875906197 Centerline is valid? [True, True] Translation: X:533.95, Y:5.68, Z:3.68 [[ 9.99142640e-01 -4.07506982e-02 -7.30522736e-03 5.33952199e+02] [ 4.07507116e-02 9.99169334e-01 -1.47068148e-04 5.67593304e+00] [ 7.30515228e-03 -1.50751156e-04 9.99973306e-01 3.67867584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.689254154 meters 0.016533681372240677 Centerline is valid? [True, True] Translation: X:533.98, Y:5.68, Z:3.68 [[ 9.99198303e-01 -3.92862569e-02 -7.70329004e-03 5.33984684e+02] [ 3.92862329e-02 9.99227986e-01 -1.54487294e-04 5.67750570e+00] [ 7.70341222e-03 -1.48269805e-04 9.99970317e-01 3.67890488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7192541539999 meters 0.01640851907971926 Centerline is valid? [True, True] Translation: X:534.02, Y:5.68, Z:3.68 [[ 9.99248854e-01 -3.80718352e-02 -7.22934548e-03 5.34016428e+02] [ 3.80717859e-02 9.99274996e-01 -1.44481521e-04 5.67881583e+00] [ 7.22960485e-03 -1.30861099e-04 9.99973858e-01 3.67922360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7492541539999 meters 0.01644622931053015 Centerline is valid? [True, True] Translation: X:534.05, Y:5.68, Z:3.68 [[ 9.99325671e-01 -3.59195803e-02 -7.61489876e-03 5.34047393e+02] [ 3.59194679e-02 9.99354676e-01 -1.51561327e-04 5.67899676e+00] [ 7.61542870e-03 -1.22063987e-04 9.99970995e-01 3.67931964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7792541539999 meters 0.01813612757946088 Centerline is valid? [True, True] Translation: X:534.08, Y:5.68, Z:3.68 [[ 9.99343409e-01 -3.50339034e-02 -9.23994338e-03 5.34079968e+02] [ 3.50337119e-02 9.99386114e-01 -1.82632259e-04 5.68007361e+00] [ 9.24066943e-03 -1.41197170e-04 9.99957294e-01 3.67790671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.809254154 meters 0.016122240581971595 Centerline is valid? [True, True] Translation: X:534.11, Y:5.68, Z:3.68 [[ 9.99326287e-01 -3.57323074e-02 -8.37699695e-03 5.34110882e+02] [ 3.57321790e-02 9.99361388e-01 -1.65041093e-04 5.67985266e+00] [ 8.37754460e-03 -1.34398453e-04 9.99964899e-01 3.67907486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.839254154 meters 0.01658133924925671 Centerline is valid? [True, True] Translation: X:534.14, Y:5.68, Z:3.68 [[ 9.99254790e-01 -3.76133342e-02 -8.66610451e-03 5.34141699e+02] [ 3.76132727e-02 9.99292356e-01 -1.70132364e-04 5.67733584e+00] [ 8.66637124e-03 -1.55954973e-04 9.99962434e-01 3.67892730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8692541539999 meters 0.018849095526581334 Centerline is valid? [True, True] Translation: X:534.17, Y:5.67, Z:3.68 [[ 9.99181090e-01 -3.92830733e-02 -9.69482496e-03 5.34173351e+02] [ 3.92830857e-02 9.99228104e-01 -1.89214614e-04 5.67476595e+00] [ 9.69477449e-03 -1.91782975e-04 9.99952986e-01 3.67818674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8992541539999 meters 0.020712089492283012 Centerline is valid? [True, True] Translation: X:534.20, Y:5.67, Z:3.68 [[ 9.99090639e-01 -4.11585242e-02 -1.11297677e-02 5.34204188e+02] [ 4.11586641e-02 9.99152600e-01 -2.16579666e-04 5.67260784e+00] [ 1.11292504e-02 -2.41703652e-04 9.99938039e-01 3.67742544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.929254154 meters 0.01854549202589341 Centerline is valid? [True, True] Translation: X:534.24, Y:5.67, Z:3.68 [[ 9.98999098e-01 -4.36372517e-02 -9.82812239e-03 5.34236254e+02] [ 4.36374858e-02 9.99047413e-01 -1.90725575e-04 5.67236445e+00] [ 9.82708299e-03 -2.38339874e-04 9.99951685e-01 3.67917172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.959254154 meters 0.01986543694509291 Centerline is valid? [True, True] Translation: X:534.27, Y:5.67, Z:3.68 [[ 9.98791518e-01 -4.80362442e-02 -1.03933878e-02 5.34266581e+02] [ 4.80367500e-02 9.98845549e-01 -2.01110854e-04 5.66714892e+00] [ 1.03910498e-02 -2.98396757e-04 9.99945967e-01 3.67922972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9892541539999 meters 0.019282759319890944 Centerline is valid? [True, True] Translation: X:534.30, Y:5.67, Z:3.68 [[ 9.98679944e-01 -5.01224286e-02 -1.12299756e-02 5.34299067e+02] [ 5.01231560e-02 9.98743021e-01 -2.16849975e-04 5.66753220e+00] [ 1.12267288e-02 -3.46318099e-04 9.99936918e-01 3.67937092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0192541539999 meters 0.019078305284703154 Centerline is valid? [True, True] Translation: X:534.33, Y:5.67, Z:3.68 [[ 9.98601843e-01 -5.15635544e-02 -1.16429660e-02 5.34331676e+02] [ 5.15644443e-02 9.98669644e-01 -2.23944127e-04 5.66678470e+00] [ 1.16390240e-02 -3.76732053e-04 9.99932193e-01 3.67950254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.049254154 meters 0.020395580651601353 Centerline is valid? [True, True] Translation: X:534.36, Y:5.66, Z:3.68 [[ 9.98544458e-01 -5.25457978e-02 -1.21616184e-02 5.34362809e+02] [ 5.25468517e-02 9.98618433e-01 -2.33087965e-04 5.66390371e+00] [ 1.21570641e-02 -4.06306065e-04 9.99926018e-01 3.67906956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.079254154 meters 0.019740433913727214 Centerline is valid? [True, True] Translation: X:534.39, Y:5.66, Z:3.68 [[ 9.98552901e-01 -5.22396372e-02 -1.27719821e-02 5.34394890e+02] [ 5.22407852e-02 9.98634488e-01 -2.43950505e-04 5.66372659e+00] [ 1.27672857e-02 -4.23620890e-04 9.99918405e-01 3.67921502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1092541539999 meters 0.019456518648012025 Centerline is valid? [True, True] Translation: X:534.43, Y:5.66, Z:3.68 [[ 9.98632417e-01 -5.07035359e-02 -1.27454814e-02 5.34427181e+02] [ 5.07045660e-02 9.98713667e-01 -2.42509425e-04 5.66419451e+00] [ 1.27413826e-02 -4.04076333e-04 9.99918744e-01 3.67957824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1392541539999 meters 0.01831288535348629 Centerline is valid? [True, True] Translation: X:534.46, Y:5.67, Z:3.68 [[ 9.98859533e-01 -4.60236213e-02 -1.27066540e-02 5.34459025e+02] [ 4.60242772e-02 9.98940292e-01 -2.40949875e-04 5.66630576e+00] [ 1.27042780e-02 -3.44139485e-04 9.99919238e-01 3.68065361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1692541539999 meters 0.017694461175963794 Centerline is valid? [True, True] Translation: X:534.49, Y:5.67, Z:3.68 [[ 9.99002924e-01 -4.28538163e-02 -1.25183455e-02 5.34490332e+02] [ 4.28542114e-02 9.99081308e-01 -2.36803834e-04 5.66815044e+00] [ 1.25169930e-02 -2.99896103e-04 9.99921614e-01 3.68130108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.199254154 meters 0.016687864468808 Centerline is valid? [True, True] Translation: X:534.52, Y:5.67, Z:3.68 [[ 9.99150649e-01 -3.93720143e-02 -1.21583169e-02 5.34521963e+02] [ 3.93721346e-02 9.99224591e-01 -2.29557852e-04 5.67049128e+00] [ 1.21579274e-02 -2.49336012e-04 9.99926059e-01 3.68177047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2292541539999 meters 0.016098510008128057 Centerline is valid? [True, True] Translation: X:534.55, Y:5.67, Z:3.68 [[ 9.99299205e-01 -3.54532639e-02 -1.20068965e-02 5.34552259e+02] [ 3.54531025e-02 9.99371316e-01 -2.26357303e-04 5.67169226e+00] [ 1.20073730e-02 -1.99483057e-04 9.99927889e-01 3.68206373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2592541539999 meters 0.015481534124179004 Centerline is valid? [True, True] Translation: X:534.58, Y:5.67, Z:3.68 [[ 9.99433830e-01 -3.15088549e-02 -1.17988179e-02 5.34583871e+02] [ 3.15084277e-02 9.99503462e-01 -2.22140443e-04 5.67394173e+00] [ 1.17999587e-02 -1.49747526e-04 9.99930367e-01 3.68248650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2892541539999 meters 0.01454746030530552 Centerline is valid? [True, True] Translation: X:534.61, Y:5.68, Z:3.68 [[ 9.99614353e-01 -2.47384505e-02 -1.26156525e-02 5.34613863e+02] [ 2.47374274e-02 9.99693955e-01 -2.37159092e-04 5.67675880e+00] [ 1.26176585e-02 -7.50111569e-05 9.99920391e-01 3.68187031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.319254154 meters 0.01432778940756393 Centerline is valid? [True, True] Translation: X:534.64, Y:5.68, Z:3.68 [[ 9.99668808e-01 -2.21546403e-02 -1.30937742e-02 5.34644040e+02] [ 2.21533182e-02 9.99754555e-01 -2.46021641e-04 5.67797029e+00] [ 1.30960109e-02 -4.41303863e-05 9.99914243e-01 3.68221361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3492541539999 meters 0.014286375822516954 Centerline is valid? [True, True] Translation: X:534.67, Y:5.68, Z:3.68 [[ 9.99700494e-01 -2.02661264e-02 -1.37188587e-02 5.34672498e+02] [ 2.02644921e-02 9.99794621e-01 -2.58137289e-04 5.67800669e+00] [ 1.37212726e-02 -1.99457286e-05 9.99905859e-01 3.68134712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3792541539999 meters 0.014300892204142936 Centerline is valid? [True, True] Translation: X:534.70, Y:5.68, Z:3.68 [[ 9.99708483e-01 -1.92918494e-02 -1.45180278e-02 5.34701651e+02] [ 1.92898823e-02 9.99813895e-01 -2.75532744e-04 5.67749051e+00] [ 1.45206414e-02 -4.59862506e-06 9.99894570e-01 3.68126143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4092541539999 meters 0.01434022242870549 Centerline is valid? [True, True] Translation: X:534.73, Y:5.67, Z:3.68 [[ 9.99682493e-01 -1.93328884e-02 -1.61601884e-02 5.34729350e+02] [ 1.93304106e-02 9.99813102e-01 -3.09529701e-04 5.67382265e+00] [ 1.61631522e-02 -2.95165333e-06 9.99869368e-01 3.67968270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.439254154 meters 0.014212733292967988 Centerline is valid? [True, True] Translation: X:534.76, Y:5.67, Z:3.68 [[ 9.99655249e-01 -2.05463915e-02 -1.63471293e-02 5.34757693e+02] [ 2.05439617e-02 9.99788900e-01 -3.16568055e-04 5.67165666e+00] [ 1.63501828e-02 -1.93758811e-05 9.99866327e-01 3.68006459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4692541539999 meters 0.014349773757633843 Centerline is valid? [True, True] Translation: X:534.79, Y:5.67, Z:3.68 [[ 9.99612955e-01 -2.19751495e-02 -1.70596846e-02 5.34785484e+02] [ 2.19726492e-02 9.99758516e-01 -3.34008750e-04 5.66878165e+00] [ 1.70629048e-02 -4.09669905e-05 9.99854417e-01 3.67827794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4992541539999 meters 0.014153905117083313 Centerline is valid? [True, True] Translation: X:534.81, Y:5.67, Z:3.68 [[ 9.99565744e-01 -2.40060915e-02 -1.70889379e-02 5.34813116e+02] [ 2.40038112e-02 9.99711810e-01 -3.38569496e-04 5.66604045e+00] [ 1.70921407e-02 -7.17771685e-05 9.99853916e-01 3.67937887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5292541539999 meters 0.014307007219539168 Centerline is valid? [True, True] Translation: X:534.84, Y:5.66, Z:3.68 [[ 9.99492750e-01 -2.64112255e-02 -1.77957818e-02 5.34842033e+02] [ 2.64090467e-02 9.99651156e-01 -3.57466075e-04 5.66289166e+00] [ 1.77990149e-02 -1.12684881e-04 9.99841579e-01 3.67937761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.559254154 meters 0.014586727256647097 Centerline is valid? [True, True] Translation: X:534.87, Y:5.66, Z:3.68 [[ 9.99366601e-01 -3.07081594e-02 -1.79834857e-02 5.34870485e+02] [ 3.07065797e-02 9.99528376e-01 -3.64029680e-04 5.65580079e+00] [ 1.79861830e-02 -1.88412234e-04 9.99838218e-01 3.67967616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.589254154 meters 0.014866472677535813 Centerline is valid? [True, True] Translation: X:534.90, Y:5.65, Z:3.68 [[ 9.99289359e-01 -3.32949787e-02 -1.76697735e-02 5.34899104e+02] [ 3.32937988e-02 9.99445543e-01 -3.61024064e-04 5.65242848e+00] [ 1.76719966e-02 -2.27526377e-04 9.99843812e-01 3.67989833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6192541539999 meters 0.015230600735048025 Centerline is valid? [True, True] Translation: X:534.93, Y:5.65, Z:3.68 [[ 9.99222008e-01 -3.55697527e-02 -1.70343993e-02 5.34927169e+02] [ 3.55689422e-02 9.99367163e-01 -3.50646449e-04 5.64881175e+00] [ 1.70360917e-02 -2.55521913e-04 9.99854843e-01 3.68021649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6492541539999 meters 0.015943332866529023 Centerline is valid? [True, True] Translation: X:534.96, Y:5.64, Z:3.68 [[ 9.99057450e-01 -4.05794617e-02 -1.54116160e-02 5.34956544e+02] [ 4.05793757e-02 9.99176267e-01 -3.18423231e-04 5.64216198e+00] [ 1.54118424e-02 -3.07270654e-04 9.99881183e-01 3.68230783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.679254154 meters 0.01699664478140805 Centerline is valid? [True, True] Translation: X:534.99, Y:5.64, Z:3.68 [[ 9.98942811e-01 -4.33544361e-02 -1.52857434e-02 5.34985866e+02] [ 4.33546662e-02 9.99059694e-01 -3.16474922e-04 5.63794846e+00] [ 1.52850907e-02 -3.46567954e-04 9.99883116e-01 3.68255859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.709254154 meters 0.01783394328825772 Centerline is valid? [True, True] Translation: X:535.02, Y:5.63, Z:3.68 [[ 9.98805698e-01 -4.65214929e-02 -1.49308172e-02 5.35016823e+02] [ 4.65220642e-02 9.98917215e-01 -3.09249674e-04 5.63432660e+00] [ 1.49290371e-02 -3.85732098e-04 9.99888481e-01 3.68302565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7392541539999 meters 0.0185121820434583 Centerline is valid? [True, True] Translation: X:535.05, Y:5.63, Z:3.68 [[ 9.98650650e-01 -4.98670785e-02 -1.44967054e-02 5.35047266e+02] [ 4.98679691e-02 9.98755774e-01 -3.00258275e-04 5.63110757e+00] [ 1.44936412e-02 -4.23068134e-04 9.99894872e-01 3.68358648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7692541539999 meters 0.02141539565421817 Centerline is valid? [True, True] Translation: X:535.08, Y:5.62, Z:3.68 [[ 9.98222370e-01 -5.78386275e-02 -1.43803309e-02 5.35077461e+02] [ 5.78403282e-02 9.98325802e-01 -2.97957358e-04 5.62119095e+00] [ 1.43734888e-02 -5.34335359e-04 9.99896553e-01 3.68351667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.799254154 meters 0.024173076788580626 Centerline is valid? [True, True] Translation: X:535.11, Y:5.62, Z:3.68 [[ 9.97932207e-01 -6.25409545e-02 -1.48303497e-02 5.35107636e+02] [ 6.25432800e-02 9.98042205e-01 -3.07386574e-04 5.61531649e+00] [ 1.48205392e-02 -6.20787753e-04 9.99889977e-01 3.68309966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.829254154 meters 0.02652696386849287 Centerline is valid? [True, True] Translation: X:535.14, Y:5.61, Z:3.68 [[ 9.97631118e-01 -6.71073857e-02 -1.51245025e-02 5.35138403e+02] [ 6.71103280e-02 9.97745511e-01 -3.13483436e-04 5.61026660e+00] [ 1.51114415e-02 -7.02269489e-04 9.99885569e-01 3.68243350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8592541539999 meters 0.026941506427493184 Centerline is valid? [True, True] Translation: X:535.17, Y:5.61, Z:3.68 [[ 9.96966059e-01 -7.62519118e-02 -1.56308696e-02 5.35169021e+02] [ 7.62561732e-02 9.97088206e-01 -3.24070529e-04 5.60636022e+00] [ 1.56100667e-02 -8.68862983e-04 9.99877778e-01 3.68274057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8892541539999 meters 0.03298486069961651 Centerline is valid? [True, True] Translation: X:535.20, Y:5.60, Z:3.68 [[ 9.96643594e-01 -8.03828854e-02 -1.54964193e-02 5.35198891e+02] [ 8.03875689e-02 9.96763631e-01 -3.21437532e-04 5.59701756e+00] [ 1.54721052e-02 -9.25360816e-04 9.99879872e-01 3.68189384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9192541539999 meters 0.030075699623682006 Centerline is valid? [True, True] Translation: X:535.23, Y:5.60, Z:3.68 [[ 9.96357505e-01 -8.38249064e-02 -1.56559240e-02 5.35229865e+02] [ 8.38301115e-02 9.96480008e-01 -3.24652273e-04 5.60029808e+00] [ 1.56280293e-02 -9.88968128e-04 9.99877386e-01 3.68273790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.949254154 meters 0.03161794181054878 Centerline is valid? [True, True] Translation: X:535.26, Y:5.60, Z:3.68 [[ 9.96100096e-01 -8.68509102e-02 -1.55408384e-02 5.35260629e+02] [ 8.68564101e-02 9.96220789e-01 -3.21980692e-04 5.59823095e+00] [ 1.55100706e-02 -1.02909644e-03 9.99879182e-01 3.68262616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9792541539999 meters 0.03363769314303238 Centerline is valid? [True, True] Translation: X:535.29, Y:5.60, Z:3.68 [[ 9.95820349e-01 -9.00502196e-02 -1.52574941e-02 5.35291798e+02] [ 9.00558997e-02 9.95936662e-01 -3.15758488e-04 5.59591426e+00] [ 1.52239319e-02 -1.05958863e-03 9.99883548e-01 3.68242605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0092541539999 meters 0.034642110960808874 Centerline is valid? [True, True] Translation: X:535.32, Y:5.60, Z:3.68 [[ 9.95772839e-01 -9.05959375e-02 -1.51270917e-02 5.35322620e+02] [ 9.06015887e-02 9.95887169e-01 -3.12723891e-04 5.59573964e+00] [ 1.50932080e-02 -1.05913658e-03 9.99885530e-01 3.68214213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0392541539999 meters 0.03468042512445472 Centerline is valid? [True, True] Translation: X:535.35, Y:5.60, Z:3.68 [[ 9.95782279e-01 -9.04775230e-02 -1.52141297e-02 5.35354411e+02] [ 9.04832321e-02 9.95897930e-01 -3.14095315e-04 5.59728020e+00] [ 1.51801389e-02 -1.06385309e-03 9.99884209e-01 3.68233649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.069254154 meters 0.03558313942964044 Centerline is valid? [True, True] Translation: X:535.38, Y:5.60, Z:3.68 [[ 9.95935434e-01 -8.88621233e-02 -1.47015277e-02 5.35384517e+02] [ 8.88672846e-02 9.96043430e-01 -3.03126856e-04 5.59965842e+00] [ 1.46702965e-02 -1.00459007e-03 9.99891881e-01 3.68199103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0992541539999 meters 0.035384700393409095 Centerline is valid? [True, True] Translation: X:535.42, Y:5.60, Z:3.68 [[ 9.96038976e-01 -8.76870916e-02 -1.47421915e-02 5.35415477e+02] [ 8.76921594e-02 9.96147576e-01 -3.03558216e-04 5.60279183e+00] [ 1.47120164e-02 -9.90418792e-04 9.99891282e-01 3.68204541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1292541539999 meters 0.03411543847028313 Centerline is valid? [True, True] Translation: X:535.45, Y:5.61, Z:3.68 [[ 9.96209612e-01 -8.57186144e-02 -1.47894847e-02 5.35446539e+02] [ 8.57235045e-02 9.96318919e-01 -3.04142984e-04 5.60700783e+00] [ 1.47611142e-02 -9.64816298e-04 9.99890583e-01 3.68226450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1592541539999 meters 0.03362200011052995 Centerline is valid? [True, True] Translation: X:535.48, Y:5.61, Z:3.68 [[ 9.96387517e-01 -8.37272421e-02 -1.42009023e-02 5.35477514e+02] [ 8.37315527e-02 9.96488305e-01 -2.91791357e-04 5.61050777e+00] [ 1.41754639e-02 -8.98326333e-04 9.99899120e-01 3.68265856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.189254154 meters 0.028830675079210354 Centerline is valid? [True, True] Translation: X:535.51, Y:5.62, Z:3.68 [[ 9.96538201e-01 -8.17999868e-02 -1.48450529e-02 5.35508582e+02] [ 8.18044908e-02 9.96648349e-01 -3.04598107e-04 5.62109489e+00] [ 1.48202136e-02 -9.10848343e-04 9.99889760e-01 3.68338347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2192541539999 meters 0.031933091470330244 Centerline is valid? [True, True] Translation: X:535.54, Y:5.62, Z:3.68 [[ 9.96871835e-01 -7.79966609e-02 -1.27696971e-02 5.35538680e+02] [ 7.79996852e-02 9.96953349e-01 -2.61788811e-04 5.62126822e+00] [ 1.27512110e-02 -7.35062464e-04 9.99918430e-01 3.68380850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2492541539999 meters 0.02699847407757329 Centerline is valid? [True, True] Translation: X:535.57, Y:5.63, Z:3.68 [[ 9.97043246e-01 -7.58131655e-02 -1.25351147e-02 5.35569741e+02] [ 7.58159103e-02 9.97121799e-01 -2.56770871e-04 5.63111531e+00] [ 1.25185027e-02 -6.94349469e-04 9.99921399e-01 3.68476923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2792541539999 meters 0.02552005107919881 Centerline is valid? [True, True] Translation: X:535.60, Y:5.64, Z:3.69 [[ 9.97195828e-01 -7.38024028e-02 -1.23969934e-02 5.35601644e+02] [ 7.38049394e-02 9.97272664e-01 -2.53379403e-04 5.63612768e+00] [ 1.23818827e-02 -6.62290464e-04 9.99923122e-01 3.68507447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.309254154 meters 0.02500253630603913 Centerline is valid? [True, True] Translation: X:535.63, Y:5.64, Z:3.69 [[ 9.97313803e-01 -7.21789759e-02 -1.24648880e-02 5.35633179e+02] [ 7.21814214e-02 9.97391487e-01 -2.54168644e-04 5.64003273e+00] [ 1.24507189e-02 -6.46247441e-04 9.99922278e-01 3.68516491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.339254154 meters 0.025533123290343625 Centerline is valid? [True, True] Translation: X:535.66, Y:5.65, Z:3.68 [[ 9.97531009e-01 -6.89924073e-02 -1.31123747e-02 5.35663535e+02] [ 6.89948440e-02 9.97616981e-01 -2.66982727e-04 5.64586025e+00] [ 1.30995474e-02 -6.38362698e-04 9.99913993e-01 3.68487978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3692541539999 meters 0.02506341449950234 Centerline is valid? [True, True] Translation: X:535.69, Y:5.65, Z:3.68 [[ 9.97622940e-01 -6.77590594e-02 -1.25371151e-02 5.35694621e+02] [ 6.77612009e-02 9.97701536e-01 -2.54374701e-04 5.64849669e+00] [ 1.25255352e-02 -5.95759938e-04 9.99921375e-01 3.68478286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3992541539999 meters 0.023882784250805932 Centerline is valid? [True, True] Translation: X:535.73, Y:5.65, Z:3.69 [[ 9.97721270e-01 -6.62291846e-02 -1.28826097e-02 5.35726422e+02] [ 6.62313368e-02 9.97804261e-01 -2.59968903e-04 5.65289918e+00] [ 1.28715404e-02 -5.93855960e-04 9.99916982e-01 3.68506066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.429254154 meters 0.022339567392042823 Centerline is valid? [True, True] Translation: X:535.76, Y:5.66, Z:3.69 [[ 9.97950597e-01 -6.27192090e-02 -1.26848978e-02 5.35757849e+02] [ 6.27210230e-02 9.98031066e-01 -2.55158726e-04 5.66087039e+00] [ 1.26759254e-02 -5.40973962e-04 9.99919511e-01 3.68536009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.459254154 meters 0.023779791013730046 Centerline is valid? [True, True] Translation: X:535.79, Y:5.66, Z:3.69 [[ 9.98099054e-01 -6.03369093e-02 -1.25592960e-02 5.35788825e+02] [ 6.03385066e-02 9.98177941e-01 -2.52044273e-04 5.66147691e+00] [ 1.25516198e-02 -5.06244012e-04 9.99921097e-01 3.68524455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4892541539999 meters 0.02046376430743407 Centerline is valid? [True, True] Translation: X:535.82, Y:5.67, Z:3.69 [[ 9.98394699e-01 -5.53090141e-02 -1.22040399e-02 5.35819505e+02] [ 5.53101513e-02 9.98469192e-01 -2.44568960e-04 5.67382472e+00] [ 1.21988847e-02 -4.30830938e-04 9.99925498e-01 3.68663455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5192541539999 meters 0.01883351170436311 Centerline is valid? [True, True] Translation: X:535.85, Y:5.68, Z:3.69 [[ 9.98530713e-01 -5.30680904e-02 -1.09632848e-02 5.35851351e+02] [ 5.30688778e-02 9.98590830e-01 -2.19289450e-04 5.67803138e+00] [ 1.09594730e-02 -3.62841972e-04 9.99939877e-01 3.68686419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.549254154 meters 0.01794928248434524 Centerline is valid? [True, True] Translation: X:535.88, Y:5.68, Z:3.69 [[ 9.98654426e-01 -5.07403791e-02 -1.07121960e-02 5.35883610e+02] [ 5.07410055e-02 9.98711823e-01 -2.13481829e-04 5.68279174e+00] [ 1.07092289e-02 -3.30353020e-04 9.99942600e-01 3.68733907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.579254154 meters 0.01794928248434524 Centerline is valid? [True, True] Translation: X:535.92, Y:5.68, Z:3.69 [[ 9.98658225e-01 -5.06655604e-02 -1.07122119e-02 5.35915306e+02] [ 5.06661910e-02 9.98715621e-01 -2.12678351e-04 5.68336400e+00] [ 1.07092289e-02 -3.30353991e-04 9.99942600e-01 3.68755864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6092541539999 meters 0.01747006294529193 Centerline is valid? [True, True] Translation: X:535.95, Y:5.69, Z:3.69 [[ 9.98772323e-01 -4.84495108e-02 -1.03194677e-02 5.35947345e+02] [ 4.84499856e-02 9.98825589e-01 -2.04125430e-04 5.68763293e+00] [ 1.03172381e-02 -2.96103230e-04 9.99946732e-01 3.68726251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6392541539999 meters 0.017630707057102683 Centerline is valid? [True, True] Translation: X:535.98, Y:5.69, Z:3.69 [[ 9.98872643e-01 -4.63288145e-02 -1.03481440e-02 5.35978991e+02] [ 4.63291862e-02 9.98926206e-01 -2.03914568e-04 5.68972485e+00] [ 1.03464793e-02 -2.75736407e-04 9.99946436e-01 3.68709252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6692541539999 meters 0.016875477569641615 Centerline is valid? [True, True] Translation: X:536.01, Y:5.69, Z:3.69 [[ 9.98959997e-01 -4.45015093e-02 -9.92675171e-03 5.36010890e+02] [ 4.45017684e-02 9.99009287e-01 -1.94893090e-04 5.69372321e+00] [ 9.92559018e-03 -2.47067605e-04 9.99950710e-01 3.68699253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.699254154 meters 0.016462269558001136 Centerline is valid? [True, True] Translation: X:536.04, Y:5.70, Z:3.69 [[ 9.99031916e-01 -4.30039839e-02 -9.26761463e-03 5.36042819e+02] [ 4.30041513e-02 9.99074877e-01 -1.81300979e-04 5.69655346e+00] [ 9.26683761e-03 -2.17420438e-04 9.99957038e-01 3.68711191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7292541539999 meters 0.016043565747979764 Centerline is valid? [True, True] Translation: X:536.07, Y:5.70, Z:3.69 [[ 9.99120011e-01 -4.11943714e-02 -7.88839664e-03 5.36074530e+02] [ 4.11944404e-02 9.99151137e-01 -1.53813789e-04 5.70097992e+00] [ 7.88803674e-03 -1.71279651e-04 9.99968874e-01 3.68746269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7592541539999 meters 0.016215424528532855 Centerline is valid? [True, True] Translation: X:536.11, Y:5.70, Z:3.69 [[ 9.99147059e-01 -4.06314243e-02 -7.36487147e-03 5.36106526e+02] [ 4.06314728e-02 9.99174190e-01 -1.43097997e-04 5.70255930e+00] [ 7.36460376e-03 -1.56269632e-04 9.99972869e-01 3.68790813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7892541539999 meters 0.01561424087095786 Centerline is valid? [True, True] Translation: X:536.14, Y:5.71, Z:3.69 [[ 9.99163851e-01 -4.03170813e-02 -6.79200864e-03 5.36138535e+02] [ 4.03171184e-02 9.99186926e-01 -1.31512313e-04 5.70531564e+00] [ 6.79178842e-03 -1.42431867e-04 9.99976925e-01 3.68814840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.819254154 meters 0.01665361712928811 Centerline is valid? [True, True] Translation: X:536.17, Y:5.71, Z:3.69 [[ 9.99169404e-01 -4.02784754e-02 -6.17635961e-03 5.36169800e+02] [ 4.02785077e-02 9.99188485e-01 -1.19214334e-04 5.70502634e+00] [ 6.17614917e-03 -1.29659233e-04 9.99980919e-01 3.68847067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8492541539999 meters 0.016907204467879078 Centerline is valid? [True, True] Translation: X:536.20, Y:5.71, Z:3.69 [[ 9.99167854e-01 -4.03806787e-02 -5.74455503e-03 5.36200572e+02] [ 4.03807122e-02 9.99184360e-01 -1.10210661e-04 5.70594753e+00] [ 5.74431993e-03 -1.21850273e-04 9.99983494e-01 3.68864216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8792541539999 meters 0.016418301190198444 Centerline is valid? [True, True] Translation: X:536.23, Y:5.71, Z:3.69 [[ 9.99138893e-01 -4.11481444e-02 -5.32004396e-03 5.36233034e+02] [ 4.11481873e-02 9.99153050e-01 -1.01435509e-04 5.70863699e+00] [ 5.31971203e-03 -1.17562003e-04 9.99985843e-01 3.68770241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9092541539999 meters 0.01656188984326404 Centerline is valid? [True, True] Translation: X:536.27, Y:5.71, Z:3.69 [[ 9.99123129e-01 -4.15683903e-02 -5.00411434e-03 5.36265659e+02] [ 4.15684352e-02 9.99135655e-01 -9.50716587e-05 5.70896945e+00] [ 5.00374103e-03 -1.13024910e-04 9.99987475e-01 3.68772968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.939254154 meters 0.0168550123905509 Centerline is valid? [True, True] Translation: X:536.30, Y:5.71, Z:3.69 [[ 9.99093689e-01 -4.22942425e-02 -4.79562101e-03 5.36297999e+02] [ 4.22942937e-02 9.99105192e-01 -9.07792969e-05 5.70954217e+00] [ 4.79516930e-03 -1.12130381e-04 9.99988497e-01 3.68764429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9692541539999 meters 0.016508240007066015 Centerline is valid? [True, True] Translation: X:536.33, Y:5.71, Z:3.69 [[ 9.99065327e-01 -4.30057971e-02 -4.35582397e-03 5.36330304e+02] [ 4.30058473e-02 9.99074817e-01 -8.21869367e-05 5.71118171e+00] [ 4.35532855e-03 -1.05215782e-04 9.99990510e-01 3.68710195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9992541539999 meters 0.017529157998604886 Centerline is valid? [True, True] Translation: X:536.36, Y:5.71, Z:3.69 [[ 9.98976932e-01 -4.49831309e-02 -4.64837910e-03 5.36361704e+02] [ 4.49832114e-02 9.98987739e-01 -8.72815739e-05 5.71007190e+00] [ 4.64759993e-03 -1.21906741e-04 9.99989192e-01 3.68638759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0292541539999 meters 0.018665811940972197 Centerline is valid? [True, True] Translation: X:536.39, Y:5.71, Z:3.69 [[ 9.98928260e-01 -4.60315068e-02 -4.84063232e-03 5.36392868e+02] [ 4.60316072e-02 9.98939980e-01 -9.07269647e-05 5.70866128e+00] [ 4.83967745e-03 -1.32192357e-04 9.99988280e-01 3.68656464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.059254154 meters 0.017638090715204155 Centerline is valid? [True, True] Translation: X:536.42, Y:5.71, Z:3.69 [[ 9.98883975e-01 -4.70137817e-02 -4.52860523e-03 5.36424790e+02] [ 4.70138822e-02 9.98894233e-01 -8.43215176e-05 5.71146542e+00] [ 4.52756192e-03 -1.28679900e-04 9.99989742e-01 3.68624465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.089254154 meters 0.018392662039336337 Centerline is valid? [True, True] Translation: X:536.46, Y:5.71, Z:3.69 [[ 9.98781391e-01 -4.91498858e-02 -4.47455097e-03 5.36456638e+02] [ 4.91500067e-02 9.98791405e-01 -8.29877470e-05 5.71136253e+00] [ 4.47322188e-03 -1.37037593e-04 9.99989986e-01 3.68580970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1192541539999 meters 0.019129020467740288 Centerline is valid? [True, True] Translation: X:536.49, Y:5.71, Z:3.69 [[ 9.98746568e-01 -4.98959785e-02 -3.96037728e-03 5.36487420e+02] [ 4.98960803e-02 9.98754412e-01 -7.31599010e-05 5.71085790e+00] [ 3.95909467e-03 -1.24539103e-04 9.99992155e-01 3.68586175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1492541539999 meters 0.018698623130169845 Centerline is valid? [True, True] Translation: X:536.52, Y:5.71, Z:3.69 [[ 9.98707464e-01 -5.06866312e-02 -3.77723723e-03 5.36519360e+02] [ 5.06867299e-02 9.98714599e-01 -6.96459268e-05 5.71263522e+00] [ 3.77591208e-03 -1.21899896e-04 9.99992864e-01 3.68600025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.179254154 meters 0.019788672083549067 Centerline is valid? [True, True] Translation: X:536.55, Y:5.71, Z:3.69 [[ 9.98644737e-01 -5.18894697e-02 -4.02145633e-03 5.36550161e+02] [ 5.18895920e-02 9.98652825e-01 -7.39745845e-05 5.71235945e+00] [ 4.01987723e-03 -1.34797399e-04 9.99991911e-01 3.68580650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.209254154 meters 0.019536729197693812 Centerline is valid? [True, True] Translation: X:536.58, Y:5.71, Z:3.69 [[ 9.98625859e-01 -5.22302666e-02 -4.28861855e-03 5.36581836e+02] [ 5.22304114e-02 9.98635057e-01 -7.83068065e-05 5.71365303e+00] [ 4.28685482e-03 -1.45797109e-04 9.99990801e-01 3.68579876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2392541539999 meters 0.020267697082257702 Centerline is valid? [True, True] Translation: X:536.61, Y:5.71, Z:3.69 [[ 9.98606894e-01 -5.25902363e-02 -4.30563069e-03 5.36612938e+02] [ 5.25903882e-02 9.98616165e-01 -7.79949673e-05 5.71318665e+00] [ 4.30377418e-03 -1.48548477e-04 9.99990728e-01 3.68544831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2692541539999 meters 0.02041908558063215 Centerline is valid? [True, True] Translation: X:536.65, Y:5.71, Z:3.69 [[ 9.98599998e-01 -5.27289144e-02 -4.20773185e-03 5.36645272e+02] [ 5.27290640e-02 9.98608852e-01 -7.54627813e-05 5.71362285e+00] [ 4.20585735e-03 -1.46512629e-04 9.99991145e-01 3.68546167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.299254154 meters 0.020132076152859425 Centerline is valid? [True, True] Translation: X:536.68, Y:5.72, Z:3.68 [[ 9.98596017e-01 -5.27690338e-02 -4.62859998e-03 5.36678461e+02] [ 5.27692166e-02 9.98606731e-01 -8.27096506e-05 5.71546605e+00] [ 4.62651560e-03 -1.61654067e-04 9.99989285e-01 3.68492315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.329254154 meters 0.020277405814076225 Centerline is valid? [True, True] Translation: X:536.71, Y:5.72, Z:3.68 [[ 9.98595952e-01 -5.27137996e-02 -5.23263104e-03 5.36711178e+02] [ 5.27140360e-02 9.98609644e-01 -9.28226544e-05 5.71639417e+00] [ 5.23024886e-03 -1.83140774e-04 9.99986305e-01 3.68471261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3592541539999 meters 0.020377531052475806 Centerline is valid? [True, True] Translation: X:536.74, Y:5.72, Z:3.68 [[ 9.98609849e-01 -5.24111653e-02 -5.60715353e-03 5.36743074e+02] [ 5.24114361e-02 9.98625571e-01 -9.87415870e-05 5.71724332e+00] [ 5.60462206e-03 -1.95274648e-04 9.99984275e-01 3.68459753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3892541539999 meters 0.02061035169964327 Centerline is valid? [True, True] Translation: X:536.78, Y:5.72, Z:3.68 [[ 9.98621611e-01 -5.21507822e-02 -5.93067941e-03 5.36775410e+02] [ 5.21510833e-02 9.98639201e-01 -1.03975800e-04 5.71819493e+00] [ 5.92803137e-03 -2.05458875e-04 9.99982408e-01 3.68472811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4192541539999 meters 0.020827830549963466 Centerline is valid? [True, True] Translation: X:536.81, Y:5.72, Z:3.68 [[ 9.98670972e-01 -5.11612961e-02 -6.22981882e-03 5.36806787e+02] [ 5.11616121e-02 9.98690381e-01 -1.08730946e-04 5.72020405e+00] [ 6.22722295e-03 -2.10141134e-04 9.99980589e-01 3.68472445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.449254154 meters 0.02048243245797229 Centerline is valid? [True, True] Translation: X:536.84, Y:5.72, Z:3.68 [[ 9.98729762e-01 -5.00140869e-02 -6.11988125e-03 5.36839175e+02] [ 5.00143723e-02 9.98748492e-01 -1.06502136e-04 5.72217825e+00] [ 6.11754878e-03 -1.99715166e-04 9.99981268e-01 3.68476662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4792541539999 meters 0.02056135173457863 Centerline is valid? [True, True] Translation: X:536.87, Y:5.72, Z:3.68 [[ 9.98798660e-01 -4.86160985e-02 -6.14096888e-03 5.36870018e+02] [ 4.86163622e-02 9.98817520e-01 -1.06415681e-04 5.72309675e+00] [ 6.13888083e-03 -1.92263727e-04 9.99981138e-01 3.68493098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5092541539999 meters 0.02026719746011729 Centerline is valid? [True, True] Translation: X:536.90, Y:5.72, Z:3.68 [[ 9.98872084e-01 -4.70911224e-02 -6.08159837e-03 5.36902074e+02] [ 4.70913547e-02 9.98890581e-01 -1.05081894e-04 5.72481140e+00] [ 6.07979976e-03 -1.81427335e-04 9.99981501e-01 3.68496823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5392541539999 meters 0.01932977169397047 Centerline is valid? [True, True] Translation: X:536.93, Y:5.73, Z:3.69 [[ 9.99024948e-01 -4.37284027e-02 -6.08117070e-03 5.36932276e+02] [ 4.37285751e-02 9.99043443e-01 -1.04678684e-04 5.72818218e+00] [ 6.07993114e-03 -1.61344313e-04 9.99981504e-01 3.68503111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.569254154 meters 0.018504905563688865 Centerline is valid? [True, True] Translation: X:536.96, Y:5.73, Z:3.69 [[ 9.99108922e-01 -4.17117764e-02 -6.44123840e-03 5.36964927e+02] [ 4.17119325e-02 9.99129673e-01 -1.10167331e-04 5.73109837e+00] [ 6.44022769e-03 -1.58607338e-04 9.99979249e-01 3.68528290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5992541539999 meters 0.017444504398113042 Centerline is valid? [True, True] Translation: X:537.00, Y:5.74, Z:3.69 [[ 9.99275484e-01 -3.74547155e-02 -6.75657413e-03 5.36995763e+02] [ 3.74547941e-02 9.99298316e-01 -1.14940212e-04 5.73550955e+00] [ 6.75613820e-03 -1.38209157e-04 9.99977167e-01 3.68555651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6292541539999 meters 0.016861244368795436 Centerline is valid? [True, True] Translation: X:537.03, Y:5.74, Z:3.69 [[ 9.99354798e-01 -3.52232143e-02 -7.02233351e-03 5.37028374e+02] [ 3.52232460e-02 9.99379462e-01 -1.19205902e-04 5.73805802e+00] [ 7.02217470e-03 -1.28220391e-04 9.99975336e-01 3.68580196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6592541539999 meters 0.015121749183242337 Centerline is valid? [True, True] Translation: X:537.06, Y:5.74, Z:3.69 [[ 9.99426387e-01 -3.31282464e-02 -7.02973804e-03 5.37060127e+02] [ 3.31282305e-02 9.99451102e-01 -1.18738700e-04 5.74320052e+00] [ 7.02981304e-03 -1.14212192e-04 9.99975284e-01 3.68602223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.689254154 meters 0.014810739409280205 Centerline is valid? [True, True] Translation: X:537.09, Y:5.75, Z:3.69 [[ 9.99495432e-01 -3.09969668e-02 -6.93314689e-03 5.37092202e+02] [ 3.09969035e-02 9.99519474e-01 -1.16602496e-04 5.74517749e+00] [ 6.93342965e-03 -9.83624233e-05 9.99975959e-01 3.68638071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7192541539999 meters 0.014741602295819037 Centerline is valid? [True, True] Translation: X:537.12, Y:5.75, Z:3.69 [[ 9.99542224e-01 -2.94419453e-02 -6.96522812e-03 5.37123792e+02] [ 2.94418474e-02 9.99566488e-01 -1.16622404e-04 5.74626480e+00] [ 6.96564220e-03 -8.85001661e-05 9.99975736e-01 3.68628585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7492541539999 meters 0.015051831616960155 Centerline is valid? [True, True] Translation: X:537.16, Y:5.75, Z:3.69 [[ 9.99611326e-01 -2.70225089e-02 -6.85427315e-03 5.37156437e+02] [ 2.70223597e-02 9.99634823e-01 -1.14394156e-04 5.74816499e+00] [ 6.85486134e-03 -7.08689410e-05 9.99976503e-01 3.68637281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7792541539999 meters 0.0142727446851407 Centerline is valid? [True, True] Translation: X:537.19, Y:5.75, Z:3.69 [[ 9.99610530e-01 -2.71101022e-02 -6.62050003e-03 5.37188485e+02] [ 2.71099688e-02 9.99632451e-01 -1.09900640e-04 5.74885877e+00] [ 6.62104609e-03 -6.96237116e-05 9.99978078e-01 3.68711513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.809254154 meters 0.01435729771109561 Centerline is valid? [True, True] Translation: X:537.22, Y:5.75, Z:3.69 [[ 9.99608973e-01 -2.71643197e-02 -6.63333906e-03 5.37220238e+02] [ 2.71641903e-02 9.99630979e-01 -1.09626972e-04 5.74920520e+00] [ 6.63386916e-03 -7.06051793e-05 9.99977993e-01 3.68738721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.839254154 meters 0.014727751308384133 Centerline is valid? [True, True] Translation: X:537.25, Y:5.75, Z:3.69 [[ 9.99562217e-01 -2.89157435e-02 -6.26531435e-03 5.37251911e+02] [ 2.89156652e-02 9.99581849e-01 -1.03099919e-04 5.74752871e+00] [ 6.26567572e-03 -7.81109483e-05 9.99980367e-01 3.68774354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8692541539999 meters 0.015067775449846511 Centerline is valid? [True, True] Translation: X:537.28, Y:5.75, Z:3.69 [[ 9.99518882e-01 -3.04408935e-02 -5.94615288e-03 5.37284388e+02] [ 3.04408516e-02 9.99536565e-01 -9.75575216e-05 5.74605336e+00] [ 5.94636697e-03 -8.34953728e-05 9.99982317e-01 3.68796495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8992541539999 meters 0.015533347466085803 Centerline is valid? [True, True] Translation: X:537.32, Y:5.74, Z:3.69 [[ 9.99449121e-01 -3.27157400e-02 -5.57983632e-03 5.37316515e+02] [ 3.27157406e-02 9.99464693e-01 -9.11807535e-05 5.74438984e+00] [ 5.57983244e-03 -9.14179538e-05 9.99984428e-01 3.68820590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.929254154 meters 0.01569058244429055 Centerline is valid? [True, True] Translation: X:537.35, Y:5.74, Z:3.69 [[ 9.99362139e-01 -3.52506588e-02 -5.71890546e-03 5.37348555e+02] [ 3.52507034e-02 9.99378496e-01 -9.30377774e-05 5.74364362e+00] [ 5.71863078e-03 -1.08617008e-04 9.99983643e-01 3.68824378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.959254154 meters 0.01719334817436587 Centerline is valid? [True, True] Translation: X:537.38, Y:5.74, Z:3.69 [[ 9.99115130e-01 -4.16632306e-02 -5.75604675e-03 5.37380248e+02] [ 4.16633848e-02 9.99131700e-01 -9.31712497e-05 5.73885231e+00] [ 5.75493059e-03 -1.46727586e-04 9.99983429e-01 3.68767536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9892541539999 meters 0.019258611589599867 Centerline is valid? [True, True] Translation: X:537.41, Y:5.73, Z:3.69 [[ 9.98966519e-01 -4.50613470e-02 -5.94710252e-03 5.37410951e+02] [ 4.50615731e-02 9.98984207e-01 -9.60374206e-05 5.73444863e+00] [ 5.94538907e-03 -1.72047627e-04 9.99982311e-01 3.68797231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0192541539999 meters 0.019768985439775077 Centerline is valid? [True, True] Translation: X:537.44, Y:5.73, Z:3.69 [[ 9.98804653e-01 -4.84854798e-02 -6.19858350e-03 5.37442650e+02] [ 4.84857927e-02 9.98823867e-01 -9.98732747e-05 5.73306728e+00] [ 6.19613554e-03 -2.00789343e-04 9.99980784e-01 3.68789455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.049254154 meters 0.020113408703690716 Centerline is valid? [True, True] Translation: X:537.47, Y:5.73, Z:3.69 [[ 9.98631729e-01 -5.19365269e-02 -6.10471721e-03 5.37474657e+02] [ 5.19368966e-02 9.98650364e-01 -9.80509590e-05 5.73234570e+00] [ 6.10157049e-03 -2.19143268e-04 9.99981361e-01 3.68760542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.079254154 meters 0.025355331174985677 Centerline is valid? [True, True] Translation: X:537.50, Y:5.72, Z:3.69 [[ 9.98224397e-01 -5.91707667e-02 -6.84640448e-03 5.37504747e+02] [ 5.91714055e-02 9.98247831e-01 -1.09391504e-04 5.72348230e+00] [ 6.84088121e-03 -2.95914108e-04 9.99976557e-01 3.68694344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1092541539999 meters 0.024567658542216955 Centerline is valid? [True, True] Translation: X:537.54, Y:5.72, Z:3.69 [[ 9.98017551e-01 -6.25128652e-02 -7.28765888e-03 5.37535488e+02] [ 6.25136772e-02 9.98044101e-01 -1.16538329e-04 5.72450734e+00] [ 7.28069009e-03 -3.39271057e-04 9.99973438e-01 3.68656558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1392541539999 meters 0.02690350622853127 Centerline is valid? [True, True] Translation: X:537.57, Y:5.72, Z:3.69 [[ 9.97786779e-01 -6.60200721e-02 -7.93061915e-03 5.37565931e+02] [ 6.60211472e-02 9.97818216e-01 -1.26441686e-04 5.72152869e+00] [ 7.92166394e-03 -3.97426732e-04 9.99968544e-01 3.68619101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1692541539999 meters 0.029783865218751274 Centerline is valid? [True, True] Translation: X:537.60, Y:5.72, Z:3.69 [[ 9.97374558e-01 -7.18838040e-02 -8.75840326e-03 5.37596983e+02] [ 7.18853419e-02 9.97412893e-01 -1.39499382e-04 5.71846738e+00] [ 8.74577207e-03 -4.90467678e-04 9.99961635e-01 3.68593428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.199254154 meters 0.031065242897658205 Centerline is valid? [True, True] Translation: X:537.63, Y:5.72, Z:3.69 [[ 9.97211148e-01 -7.41458082e-02 -8.50449105e-03 5.37628295e+02] [ 7.41473407e-02 9.97247288e-01 -1.35392010e-04 5.71786137e+00] [ 8.49111938e-03 -4.95570973e-04 9.99963827e-01 3.68625943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2292541539999 meters 0.03281318010071979 Centerline is valid? [True, True] Translation: X:537.66, Y:5.72, Z:3.69 [[ 9.97087197e-01 -7.57377200e-02 -8.99555450e-03 5.37660329e+02] [ 7.57395028e-02 9.97127628e-01 -1.42801945e-04 5.71757837e+00] [ 8.98053142e-03 -5.38932835e-04 9.99959529e-01 3.68559306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2592541539999 meters 0.033187775739107 Centerline is valid? [True, True] Translation: X:537.69, Y:5.72, Z:3.69 [[ 9.96962606e-01 -7.73494887e-02 -9.08947666e-03 5.37692028e+02] [ 7.73513812e-02 9.97003883e-01 -1.43680094e-04 5.71806501e+00] [ 9.07335711e-03 -5.59839893e-04 9.99958680e-01 3.68654694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2892541539999 meters 0.03509486796124762 Centerline is valid? [True, True] Translation: X:537.72, Y:5.72, Z:3.69 [[ 9.96932199e-01 -7.77254544e-02 -9.21649079e-03 5.37724111e+02] [ 7.77274212e-02 9.96974637e-01 -1.45152561e-04 5.71811714e+00] [ 9.19988961e-03 -5.71666800e-04 9.99957517e-01 3.68596535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.319254154 meters 0.0346128704974849 Centerline is valid? [True, True] Translation: X:537.76, Y:5.72, Z:3.69 [[ 9.96871963e-01 -7.86019791e-02 -8.24737217e-03 5.37756197e+02] [ 7.86035882e-02 9.96905943e-01 -1.29359945e-04 5.72208859e+00] [ 8.23202228e-03 -5.19317744e-04 9.99965981e-01 3.68800769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3492541539999 meters 0.03561998766822787 Centerline is valid? [True, True] Translation: X:537.79, Y:5.72, Z:3.69 [[ 9.96907614e-01 -7.81677168e-02 -8.06337573e-03 5.37787008e+02] [ 7.81692451e-02 9.96940095e-01 -1.25935995e-04 5.72357513e+00] [ 8.04854669e-03 -5.04761441e-04 9.99967483e-01 3.68857459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3792541539999 meters 0.03540552913110607 Centerline is valid? [True, True] Translation: X:537.82, Y:5.73, Z:3.69 [[ 9.96957084e-01 -7.75763642e-02 -7.64720023e-03 5.37819248e+02] [ 7.75777245e-02 9.96986300e-01 -1.19039556e-04 5.72656175e+00] [ 7.63338852e-03 -4.74575064e-04 9.99970753e-01 3.68965476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4092541539999 meters 0.03598527629394855 Centerline is valid? [True, True] Translation: X:537.85, Y:5.73, Z:3.69 [[ 9.97023505e-01 -7.67647578e-02 -7.16251913e-03 5.37850619e+02] [ 7.67659336e-02 9.97049136e-01 -1.11031284e-04 5.72856919e+00] [ 7.14990680e-03 -4.39136668e-04 9.99974343e-01 3.69028630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.439254154 meters 0.03589461683513572 Centerline is valid? [True, True] Translation: X:537.88, Y:5.73, Z:3.69 [[ 9.97166540e-01 -7.48988054e-02 -7.00436034e-03 5.37880651e+02] [ 7.48998864e-02 9.97191053e-01 -1.08227080e-04 5.73340425e+00] [ 6.99279154e-03 -4.16705371e-04 9.99975463e-01 3.69058314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4692541539999 meters 0.03589461683513572 Centerline is valid? [True, True] Translation: X:537.91, Y:5.73, Z:3.69 [[ 9.97174206e-01 -7.47966702e-02 -7.00436231e-03 5.37913237e+02] [ 7.47977495e-02 9.97198719e-01 -1.08099808e-04 5.73380514e+00] [ 6.99282662e-03 -4.16116197e-04 9.99975463e-01 3.69080893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4992541539999 meters 0.0350377931291238 Centerline is valid? [True, True] Translation: X:537.95, Y:5.74, Z:3.69 [[ 9.97238753e-01 -7.38595507e-02 -7.72250287e-03 5.37945569e+02] [ 7.38608413e-02 9.97268551e-01 -1.18346130e-04 5.73772817e+00] [ 7.71015023e-03 -4.52371212e-04 9.99970174e-01 3.69089783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5292541539999 meters 0.03509552072818674 Centerline is valid? [True, True] Translation: X:537.98, Y:5.74, Z:3.69 [[ 9.97320285e-01 -7.26685277e-02 -8.45781328e-03 5.37978303e+02] [ 7.26700384e-02 9.97356029e-01 -1.28966322e-04 5.74023510e+00] [ 8.44482287e-03 -4.86008888e-04 9.99964224e-01 3.69025558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.559254154 meters 0.03411998423671421 Centerline is valid? [True, True] Translation: X:538.01, Y:5.74, Z:3.69 [[ 9.97420501e-01 -7.11951579e-02 -9.14292230e-03 5.38010164e+02] [ 7.11968685e-02 9.97462273e-01 -1.38665676e-04 5.74426935e+00] [ 9.12959238e-03 -5.12639448e-04 9.99958193e-01 3.68984936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.589254154 meters 0.027906604846865735 Centerline is valid? [True, True] Translation: X:538.04, Y:5.76, Z:3.69 [[ 9.97672549e-01 -6.74344592e-02 -1.01033708e-02 5.38040418e+02] [ 6.74363597e-02 9.97723566e-01 -1.52841463e-04 5.75864210e+00] [ 1.00906779e-02 -5.28848816e-04 9.99948948e-01 3.68941848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6192541539999 meters 0.02811792744497471 Centerline is valid? [True, True] Translation: X:538.07, Y:5.76, Z:3.69 [[ 9.97828797e-01 -6.50433438e-02 -1.03467384e-02 5.38070858e+02] [ 6.50452125e-02 9.97882306e-01 -1.56156186e-04 5.76179111e+00] [ 1.03349841e-02 -5.17188659e-04 9.99946459e-01 3.68960228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6492541539999 meters 0.026447149807097014 Centerline is valid? [True, True] Translation: X:538.10, Y:5.77, Z:3.69 [[ 9.98014392e-01 -6.21354048e-02 -1.03182054e-02 5.38102069e+02] [ 6.21371171e-02 9.98067610e-01 -1.54862738e-04 5.76790270e+00] [ 1.03078890e-02 -4.86588293e-04 9.99946754e-01 3.69020465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.679254154 meters 0.024672679397534553 Centerline is valid? [True, True] Translation: X:538.13, Y:5.78, Z:3.69 [[ 9.98438103e-01 -5.49543877e-02 -1.00682201e-02 5.38131069e+02] [ 5.49556554e-02 9.98488785e-01 -1.50924206e-04 5.77697864e+00] [ 1.00612988e-02 -4.02617155e-04 9.99949303e-01 3.69114757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.709254154 meters 0.019940380648688298 Centerline is valid? [True, True] Translation: X:538.16, Y:5.79, Z:3.69 [[ 9.98664242e-01 -5.07202484e-02 -9.85840649e-03 5.38162384e+02] [ 5.07212575e-02 9.98712838e-01 -1.47787875e-04 5.78834123e+00] [ 9.85321296e-03 -3.52440309e-04 9.99951394e-01 3.69222557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7392541539999 meters 0.020658595491119612 Centerline is valid? [True, True] Translation: X:538.19, Y:5.79, Z:3.69 [[ 9.98891980e-01 -4.61637374e-02 -9.14993414e-03 5.38193097e+02] [ 4.61644187e-02 9.98933846e-01 -1.36841752e-04 5.79062172e+00] [ 9.14649603e-03 -2.85711263e-04 9.99958129e-01 3.69293608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7692541539999 meters 0.01795160280642416 Centerline is valid? [True, True] Translation: X:538.22, Y:5.80, Z:3.69 [[ 9.99274760e-01 -3.73536946e-02 -7.39295806e-03 5.38223380e+02] [ 3.73539000e-02 9.99302093e-01 -1.10349583e-04 5.80160025e+00] [ 7.39192043e-03 -1.65886263e-04 9.99972666e-01 3.69465616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.799254154 meters 0.017107888394603296 Centerline is valid? [True, True] Translation: X:538.25, Y:5.81, Z:3.70 [[ 9.99419989e-01 -3.33401678e-02 -6.93681931e-03 5.38253475e+02] [ 3.33402526e-02 9.99444054e-01 -1.03446782e-04 5.80617352e+00] [ 6.93641175e-03 -1.27888527e-04 9.99975935e-01 3.69539569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.829254154 meters 0.016786910016264634 Centerline is valid? [True, True] Translation: X:538.28, Y:5.81, Z:3.70 [[ 9.99521698e-01 -3.02609348e-02 -6.37579169e-03 5.38284390e+02] [ 3.02609477e-02 9.99542028e-01 -9.44688841e-05 5.80918767e+00] [ 6.37573047e-03 -9.85137993e-05 9.99979670e-01 3.69586157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8592541539999 meters 0.015324601908583854 Centerline is valid? [True, True] Translation: X:538.32, Y:5.82, Z:3.69 [[ 9.99649141e-01 -2.57402579e-02 -6.24770368e-03 5.38316133e+02] [ 2.57401839e-02 9.99668662e-01 -9.22697577e-05 5.81700095e+00] [ 6.24800863e-03 -6.85796576e-05 9.99980479e-01 3.69478316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8892541539999 meters 0.01510791126327497 Centerline is valid? [True, True] Translation: X:538.35, Y:5.82, Z:3.69 [[ 9.99664309e-01 -2.49241674e-02 -7.07491455e-03 5.38348278e+02] [ 2.49240562e-02 9.99689342e-01 -1.03903690e-04 5.81876913e+00] [ 7.07530639e-03 -7.24667573e-05 9.99974967e-01 3.69403194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9192541539999 meters 0.01501536108324281 Centerline is valid? [True, True] Translation: X:538.38, Y:5.82, Z:3.69 [[ 9.99657439e-01 -2.48680922e-02 -8.15979740e-03 5.38380438e+02] [ 2.48679479e-02 9.99690738e-01 -1.19158513e-04 5.81940463e+00] [ 8.16023712e-03 -8.37997226e-05 9.99966701e-01 3.69349785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.949254154 meters 0.01493911494415077 Centerline is valid? [True, True] Translation: X:538.41, Y:5.82, Z:3.69 [[ 9.99617974e-01 -2.60811040e-02 -9.14778799e-03 5.38412158e+02] [ 2.60809798e-02 9.99659825e-01 -1.32892779e-04 5.81990414e+00] [ 9.14814213e-03 -1.05741263e-04 9.99958149e-01 3.69307983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9792541539999 meters 0.015445922201641187 Centerline is valid? [True, True] Translation: X:538.44, Y:5.82, Z:3.69 [[ 9.99496847e-01 -2.98036452e-02 -1.08533938e-02 5.38443644e+02] [ 2.98036972e-02 9.99555759e-01 -1.56989933e-04 5.81724890e+00] [ 1.08532511e-02 -1.66560319e-04 9.99941088e-01 3.69181510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0092541539999 meters 0.016145742579920613 Centerline is valid? [True, True] Translation: X:538.47, Y:5.82, Z:3.69 [[ 9.99414298e-01 -3.23555467e-02 -1.11435754e-02 5.38474866e+02] [ 3.23557670e-02 9.99476402e-01 -1.60560482e-04 5.81523424e+00] [ 1.11429356e-02 -2.00092487e-04 9.99937896e-01 3.69141754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0392541539999 meters 0.0166527386254802 Centerline is valid? [True, True] Translation: X:538.51, Y:5.81, Z:3.69 [[ 9.99344545e-01 -3.45157552e-02 -1.09152415e-02 5.38507397e+02] [ 3.45161026e-02 9.99404130e-01 -1.56609715e-04 5.81353989e+00] [ 1.09141430e-02 -2.20244533e-04 9.99940415e-01 3.69161551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.069254154 meters 0.01748210039384826 Centerline is valid? [True, True] Translation: X:538.54, Y:5.81, Z:3.69 [[ 9.99220243e-01 -3.80066326e-02 -1.06958571e-02 5.38539365e+02] [ 3.80071742e-02 9.99277455e-01 -1.52694686e-04 5.81068982e+00] [ 1.06939323e-02 -2.53943684e-04 9.99942786e-01 3.69264364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0992541539999 meters 0.017907715431644457 Centerline is valid? [True, True] Translation: X:538.57, Y:5.81, Z:3.69 [[ 9.99198934e-01 -3.86678273e-02 -1.03096314e-02 5.38570740e+02] [ 3.86683726e-02 9.99252088e-01 -1.46512810e-04 5.80951385e+00] [ 1.03075860e-02 -2.52261225e-04 9.99946844e-01 3.69303609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1292541539999 meters 0.018021584311059942 Centerline is valid? [True, True] Translation: X:538.60, Y:5.81, Z:3.69 [[ 9.99200327e-01 -3.87617723e-02 -9.80977730e-03 5.38602986e+02] [ 3.87622760e-02 9.99248451e-01 -1.38845887e-04 5.80872592e+00] [ 9.80778668e-03 -2.41514439e-04 9.99951873e-01 3.69360887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1592541539999 meters 0.017695293572133758 Centerline is valid? [True, True] Translation: X:538.63, Y:5.81, Z:3.69 [[ 9.99245301e-01 -3.77047464e-02 -9.33705875e-03 5.38634796e+02] [ 3.77051626e-02 9.99288899e-01 -1.31509445e-04 5.80750852e+00] [ 9.33537768e-03 -2.20645124e-04 9.99956400e-01 3.69396476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.189254154 meters 0.017377364323722975 Centerline is valid? [True, True] Translation: X:538.67, Y:5.81, Z:3.69 [[ 9.99277600e-01 -3.69349988e-02 -8.94897208e-03 5.38666669e+02] [ 3.69353558e-02 9.99317649e-01 -1.25421218e-04 5.80735813e+00] [ 8.94749817e-03 -2.05202854e-04 9.99959949e-01 3.69422045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2192541539999 meters 0.017464949478590275 Centerline is valid? [True, True] Translation: X:538.70, Y:5.81, Z:3.69 [[ 9.99307508e-01 -3.60997551e-02 -9.01734839e-03 5.38698138e+02] [ 3.61000906e-02 9.99348171e-01 -1.25618826e-04 5.80644192e+00] [ 9.01600544e-03 -1.99995257e-04 9.99959335e-01 3.69418840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2492541539999 meters 0.01724755224379444 Centerline is valid? [True, True] Translation: X:538.73, Y:5.81, Z:3.69 [[ 9.99345668e-01 -3.50374429e-02 -8.97847642e-03 5.38730878e+02] [ 3.50377418e-02 9.99385982e-01 -1.24048342e-04 5.80542421e+00] [ 8.97730981e-03 -1.90618365e-04 9.99959685e-01 3.69438497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2792541539999 meters 0.016918781104520858 Centerline is valid? [True, True] Translation: X:538.76, Y:5.81, Z:3.69 [[ 9.99360988e-01 -3.45576584e-02 -9.13146201e-03 5.38763001e+02] [ 3.45579547e-02 9.99402688e-01 -1.25376366e-04 5.80500447e+00] [ 9.13034039e-03 -1.90268402e-04 9.99958299e-01 3.69447851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.309254154 meters 0.017061234492439417 Centerline is valid? [True, True] Translation: X:538.79, Y:5.80, Z:3.69 [[ 9.99396840e-01 -3.33629499e-02 -9.63690967e-03 5.38794144e+02] [ 3.33632310e-02 9.99443284e-01 -1.31643220e-04 5.80177907e+00] [ 9.63593665e-03 -1.89954625e-04 9.99953555e-01 3.69458443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.339254154 meters 0.016958401516682382 Centerline is valid? [True, True] Translation: X:538.83, Y:5.80, Z:3.69 [[ 9.99411662e-01 -3.27414787e-02 -1.02139697e-02 5.38826175e+02] [ 3.27417684e-02 9.99463835e-01 -1.38901876e-04 5.80068869e+00] [ 1.02130412e-02 -1.95603277e-04 9.99947826e-01 3.69404408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3692541539999 meters 0.016103774629365065 Centerline is valid? [True, True] Translation: X:538.86, Y:5.80, Z:3.69 [[ 9.99441568e-01 -3.16752693e-02 -1.06409048e-02 5.38858863e+02] [ 3.16755326e-02 9.99498194e-01 -1.43832232e-04 5.80110177e+00] [ 1.06401211e-02 -1.93304417e-04 9.99943374e-01 3.69388334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3992541539999 meters 0.015822052135269302 Centerline is valid? [True, True] Translation: X:538.89, Y:5.80, Z:3.69 [[ 9.99475132e-01 -3.03758018e-02 -1.12592336e-02 5.38890713e+02] [ 3.03760260e-02 9.99538531e-01 -1.51136556e-04 5.80094173e+00] [ 1.12586287e-02 -1.90953543e-04 9.99936601e-01 3.69358851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.429254154 meters 0.015579861929875575 Centerline is valid? [True, True] Translation: X:538.92, Y:5.80, Z:3.69 [[ 9.99549270e-01 -2.72650467e-02 -1.25648153e-02 5.38921643e+02] [ 2.72650899e-02 9.99628224e-01 -1.67889442e-04 5.79931430e+00] [ 1.25647216e-02 -1.74767051e-04 9.99921045e-01 3.69297069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.459254154 meters 0.015543516987516935 Centerline is valid? [True, True] Translation: X:538.95, Y:5.80, Z:3.69 [[ 9.99594944e-01 -2.52908087e-02 -1.30507791e-02 5.38951816e+02] [ 2.52906955e-02 9.99680124e-01 -1.73735801e-04 5.79872677e+00] [ 1.30509984e-02 -1.56397853e-04 9.99914820e-01 3.69235729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4892541539999 meters 0.01481150932974959 Centerline is valid? [True, True] Translation: X:538.98, Y:5.80, Z:3.69 [[ 9.99644684e-01 -2.31044595e-02 -1.32924753e-02 5.38982909e+02] [ 2.31041579e-02 9.99733048e-01 -1.76275854e-04 5.79993055e+00] [ 1.32929996e-02 -1.30898227e-04 9.99911636e-01 3.69291475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5192541539999 meters 0.014674468610881817 Centerline is valid? [True, True] Translation: X:539.01, Y:5.80, Z:3.69 [[ 9.99722895e-01 -1.91101325e-02 -1.37454203e-02 5.39013491e+02] [ 1.91094360e-02 9.99817381e-01 -1.82020629e-04 5.79992445e+00] [ 1.37463885e-02 -8.06970390e-05 9.99905511e-01 3.69331524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.549254154 meters 0.01457973259267982 Centerline is valid? [True, True] Translation: X:539.04, Y:5.80, Z:3.69 [[ 9.99750912e-01 -1.73687675e-02 -1.40156858e-02 5.39043421e+02] [ 1.73678686e-02 9.99849150e-01 -1.85857147e-04 5.80002140e+00] [ 1.40167996e-02 -5.76117373e-05 9.99901758e-01 3.69342706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.579254154 meters 0.014603337249786798 Centerline is valid? [True, True] Translation: X:539.07, Y:5.80, Z:3.69 [[ 9.99764531e-01 -1.64586487e-02 -1.41419687e-02 5.39071808e+02] [ 1.64576127e-02 9.99864546e-01 -1.89632259e-04 5.79967590e+00] [ 1.41431742e-02 -4.31554383e-05 9.99899979e-01 3.69368840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6092541539999 meters 0.014637052327927056 Centerline is valid? [True, True] Translation: X:539.10, Y:5.80, Z:3.69 [[ 9.99768434e-01 -1.60964527e-02 -1.42822649e-02 5.39099310e+02] [ 1.60953193e-02 9.99870443e-01 -1.94307465e-04 5.79862334e+00] [ 1.42835422e-02 -3.56151444e-05 9.99897984e-01 3.69331475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6392541539999 meters 0.01452101876315208 Centerline is valid? [True, True] Translation: X:539.13, Y:5.79, Z:3.69 [[ 9.99742909e-01 -1.70588238e-02 -1.49369593e-02 5.39127504e+02] [ 1.70576423e-02 9.99854487e-01 -2.06502235e-04 5.79471114e+00] [ 1.49383084e-02 -4.83401632e-05 9.99888416e-01 3.69348012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6692541539999 meters 0.014576821796113495 Centerline is valid? [True, True] Translation: X:539.16, Y:5.79, Z:3.69 [[ 9.99703005e-01 -1.87478664e-02 -1.55698378e-02 5.39156201e+02] [ 1.87467208e-02 9.99824241e-01 -2.19536450e-04 5.79250402e+00] [ 1.55712171e-02 -7.24121525e-05 9.99878759e-01 3.69396074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.699254154 meters 0.014982800629116041 Centerline is valid? [True, True] Translation: X:539.19, Y:5.79, Z:3.69 [[ 9.99661759e-01 -2.06176418e-02 -1.58518073e-02 5.39185059e+02] [ 2.06166240e-02 9.99787429e-01 -2.27640695e-04 5.78974783e+00] [ 1.58531311e-02 -9.92470539e-05 9.99874326e-01 3.69386317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7292541539999 meters 0.015235292615720332 Centerline is valid? [True, True] Translation: X:539.21, Y:5.78, Z:3.69 [[ 9.99532657e-01 -2.57298916e-02 -1.65057742e-02 5.39213258e+02] [ 2.57294393e-02 9.99668914e-01 -2.39793536e-04 5.78282090e+00] [ 1.65064793e-02 -1.85002846e-04 9.99863742e-01 3.69361046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7592541539999 meters 0.015327969364449993 Centerline is valid? [True, True] Translation: X:539.24, Y:5.78, Z:3.69 [[ 9.99457354e-01 -2.83679070e-02 -1.67409396e-02 5.39242414e+02] [ 2.83677918e-02 9.99597523e-01 -2.44400602e-04 5.77984820e+00] [ 1.67411349e-02 -2.30635509e-04 9.99859831e-01 3.69420856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7892541539999 meters 0.016166141434199748 Centerline is valid? [True, True] Translation: X:539.27, Y:5.78, Z:3.69 [[ 9.99375946e-01 -3.12028350e-02 -1.65560436e-02 5.39271485e+02] [ 3.12030962e-02 9.99513035e-01 -2.42608447e-04 5.77542077e+00] [ 1.65555514e-02 -2.74142773e-04 9.99862910e-01 3.69401078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.819254154 meters 0.016683399824476704 Centerline is valid? [True, True] Translation: X:539.30, Y:5.77, Z:3.70 [[ 9.99218231e-01 -3.63376447e-02 -1.55724973e-02 5.39301145e+02] [ 3.63384884e-02 9.99339513e-01 -2.28870629e-04 5.76963460e+00] [ 1.55705285e-02 -3.37189307e-04 9.99878715e-01 3.69570649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8492541539999 meters 0.018085980939148975 Centerline is valid? [True, True] Translation: X:539.33, Y:5.77, Z:3.70 [[ 9.99156739e-01 -3.82090254e-02 -1.50293635e-02 5.39331536e+02] [ 3.82100214e-02 9.99269706e-01 -2.20986036e-04 5.76592089e+00] [ 1.50268313e-02 -3.53472612e-04 9.99887028e-01 3.69551682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8792541539999 meters 0.017357299167083624 Centerline is valid? [True, True] Translation: X:539.36, Y:5.77, Z:3.70 [[ 9.99108750e-01 -3.97090346e-02 -1.43142431e-02 5.39363240e+02] [ 3.97100975e-02 9.99211221e-01 -2.10076524e-04 5.76582122e+00] [ 1.43112943e-02 -3.58530697e-04 9.99897524e-01 3.69677302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9092541539999 meters 0.018302365842364828 Centerline is valid? [True, True] Translation: X:539.39, Y:5.76, Z:3.70 [[ 9.99081947e-01 -4.04776417e-02 -1.40293544e-02 5.39394554e+02] [ 4.04787475e-02 9.99180379e-01 -2.05248822e-04 5.76251490e+00] [ 1.40261636e-02 -3.62830301e-04 9.99901563e-01 3.69697756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.939254154 meters 0.01775672463076126 Centerline is valid? [True, True] Translation: X:539.43, Y:5.76, Z:3.70 [[ 9.99092467e-01 -4.04393862e-02 -1.33753030e-02 5.39425934e+02] [ 4.04403959e-02 9.99181934e-01 -1.95077390e-04 5.76142248e+00] [ 1.33722500e-02 -3.46002200e-04 9.99910528e-01 3.69798977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9692541539999 meters 0.01755659539034122 Centerline is valid? [True, True] Translation: X:539.46, Y:5.76, Z:3.70 [[ 9.99132784e-01 -3.94956331e-02 -1.31823751e-02 5.39457758e+02] [ 3.94965396e-02 9.99219689e-01 -1.91670167e-04 5.76115609e+00] [ 1.31796589e-02 -3.29154255e-04 9.99913090e-01 3.69797182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9992541539999 meters 0.01727151885621589 Centerline is valid? [True, True] Translation: X:539.49, Y:5.76, Z:3.70 [[ 9.99195225e-01 -3.78753227e-02 -1.32046293e-02 5.39489478e+02] [ 3.78760989e-02 9.99282425e-01 -1.91383694e-04 5.76101543e+00] [ 1.32024027e-02 -3.08910173e-04 9.99912797e-01 3.69858876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0292541539999 meters 0.01611257364668825 Centerline is valid? [True, True] Translation: X:539.52, Y:5.76, Z:3.70 [[ 9.99372742e-01 -3.32678108e-02 -1.21398179e-02 5.39521050e+02] [ 3.32681322e-02 9.99446447e-01 -1.75522583e-04 5.76319337e+00] [ 1.21389371e-02 -2.28456581e-04 9.99926294e-01 3.70005977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.059254154 meters 0.01612109420540404 Centerline is valid? [True, True] Translation: X:539.55, Y:5.76, Z:3.70 [[ 9.99465268e-01 -3.05931536e-02 -1.15428100e-02 5.39551265e+02] [ 3.05932696e-02 9.99531902e-01 -1.66557852e-04 5.76307475e+00] [ 1.15425024e-02 -1.86663510e-04 9.99933366e-01 3.70015143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.089254154 meters 0.014991508492310696 Centerline is valid? [True, True] Translation: X:539.58, Y:5.77, Z:3.70 [[ 9.99641293e-01 -2.43120974e-02 -1.12342283e-02 5.39582825e+02] [ 2.43118139e-02 9.99704411e-01 -1.61821821e-04 5.76611518e+00] [ 1.12348418e-02 -1.11360694e-04 9.99936881e-01 3.70096007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1192541539999 meters 0.014782481780555424 Centerline is valid? [True, True] Translation: X:539.61, Y:5.77, Z:3.70 [[ 9.99712118e-01 -2.12384287e-02 -1.11629328e-02 5.39612812e+02] [ 2.12379600e-02 9.99774436e-01 -1.60541165e-04 5.76737922e+00] [ 1.11638245e-02 -7.65829723e-05 9.99937680e-01 3.70103217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1492541539999 meters 0.014546798123547765 Centerline is valid? [True, True] Translation: X:539.64, Y:5.77, Z:3.70 [[ 9.99757804e-01 -1.86924801e-02 -1.16157106e-02 5.39643749e+02] [ 1.86918008e-02 9.99825279e-01 -1.67052847e-04 5.76873217e+00] [ 1.16168037e-02 -5.01061601e-05 9.99932521e-01 3.70076600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.179254154 meters 0.014609387029875038 Centerline is valid? [True, True] Translation: X:539.67, Y:5.77, Z:3.70 [[ 9.99789158e-01 -1.65875277e-02 -1.21034685e-02 5.39673554e+02] [ 1.65866336e-02 9.99862417e-01 -1.74257072e-04 5.76968671e+00] [ 1.21046938e-02 -2.65354666e-05 9.99926735e-01 3.70040152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.209254154 meters 0.014611498539021705 Centerline is valid? [True, True] Translation: X:539.70, Y:5.77, Z:3.70 [[ 9.99812125e-01 -1.41878913e-02 -1.32067763e-02 5.39702603e+02] [ 1.41865925e-02 9.99899347e-01 -1.92024859e-04 5.76952396e+00] [ 1.32081714e-02 4.62962916e-06 9.99912768e-01 3.69908578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2392541539999 meters 0.014541638399926133 Centerline is valid? [True, True] Translation: X:539.73, Y:5.77, Z:3.70 [[ 9.99807010e-01 -1.39230882e-02 -1.38596529e-02 5.39730353e+02] [ 1.39215785e-02 9.99903069e-01 -2.05410056e-04 5.76944284e+00] [ 1.38611694e-02 1.24221691e-05 9.99903929e-01 3.69871163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2692541539999 meters 0.014697021205467443 Centerline is valid? [True, True] Translation: X:539.76, Y:5.77, Z:3.70 [[ 9.99794320e-01 -1.42853031e-02 -1.43961248e-02 5.39758210e+02] [ 1.42836716e-02 9.99897960e-01 -2.16147950e-04 5.76878212e+00] [ 1.43977435e-02 1.04739742e-05 9.99896347e-01 3.69805795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.299254154 meters 0.014625086026467867 Centerline is valid? [True, True] Translation: X:539.78, Y:5.77, Z:3.70 [[ 9.99781595e-01 -1.50443970e-02 -1.45061530e-02 5.39784689e+02] [ 1.50427954e-02 9.99886827e-01 -2.19515260e-04 5.76772640e+00] [ 1.45078138e-02 1.25422418e-06 9.99894756e-01 3.69787458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.329254154 meters 0.014530401289617962 Centerline is valid? [True, True] Translation: X:539.81, Y:5.76, Z:3.70 [[ 9.99735086e-01 -1.76733806e-02 -1.47448048e-02 5.39812860e+02] [ 1.76719870e-02 9.99843813e-01 -2.24809013e-04 5.76382627e+00] [ 1.47464750e-02 -3.58205416e-05 9.99891264e-01 3.69794691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3592541539999 meters 0.01473481674494249 Centerline is valid? [True, True] Translation: X:539.84, Y:5.76, Z:3.70 [[ 9.99692491e-01 -1.99299139e-02 -1.47554347e-02 5.39841200e+02] [ 1.99287452e-02 9.99801377e-01 -2.26252774e-04 5.76185276e+00] [ 1.47570131e-02 -6.78740990e-05 9.99891107e-01 3.69851417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3892541539999 meters 0.01473481674494249 Centerline is valid? [True, True] Translation: X:539.87, Y:5.76, Z:3.70 [[ 9.99686881e-01 -2.02093464e-02 -1.47553915e-02 5.39868614e+02] [ 2.02081670e-02 9.99795768e-01 -2.29043658e-04 5.76235878e+00] [ 1.47570068e-02 -6.92074744e-05 9.99891107e-01 3.69870430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4192541539999 meters 0.014913007475204017 Centerline is valid? [True, True] Translation: X:539.90, Y:5.76, Z:3.70 [[ 9.99613572e-01 -2.34505645e-02 -1.49257392e-02 5.39897391e+02] [ 2.34496594e-02 9.99724991e-01 -2.35676488e-04 5.76057449e+00] [ 1.49271613e-02 -1.14418084e-04 9.99888577e-01 3.69967826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.449254154 meters 0.015860244407089615 Centerline is valid? [True, True] Translation: X:539.93, Y:5.75, Z:3.70 [[ 9.99406233e-01 -3.12143078e-02 -1.45893244e-02 5.39925940e+02] [ 3.12142387e-02 9.99512690e-01 -2.32495647e-04 5.75342830e+00] [ 1.45894721e-02 -2.23037057e-04 9.99893543e-01 3.70022555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4792541539999 meters 0.016921458155968537 Centerline is valid? [True, True] Translation: X:539.96, Y:5.75, Z:3.70 [[ 9.99245755e-01 -3.59392182e-02 -1.47068948e-02 5.39955754e+02] [ 3.59396499e-02 9.99353934e-01 -2.35022252e-04 5.74956202e+00] [ 1.47058397e-02 -2.93715662e-04 9.99891820e-01 3.70073044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5092541539999 meters 0.0179829279198826 Centerline is valid? [True, True] Translation: X:539.99, Y:5.75, Z:3.70 [[ 9.99071808e-01 -4.07810045e-02 -1.38720226e-02 5.39986421e+02] [ 4.07818518e-02 9.99168050e-01 -2.21913123e-04 5.74600930e+00] [ 1.38695317e-02 -3.44019627e-04 9.99903754e-01 3.70148491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5392541539999 meters 0.01901271345721309 Centerline is valid? [True, True] Translation: X:540.02, Y:5.74, Z:3.70 [[ 9.98855996e-01 -4.58972179e-02 -1.34217722e-02 5.40017182e+02] [ 4.58984741e-02 9.98946087e-01 -2.14592019e-04 5.74269454e+00] [ 1.34174760e-02 -4.01692340e-04 9.99909901e-01 3.70231064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.569254154 meters 0.022208430083456594 Centerline is valid? [True, True] Translation: X:540.05, Y:5.73, Z:3.70 [[ 9.98356194e-01 -5.59349848e-02 -1.24975107e-02 5.40047568e+02] [ 5.59368603e-02 9.98434288e-01 -1.99699897e-04 5.73488399e+00] [ 1.24891134e-02 -4.99699883e-04 9.99921883e-01 3.70235928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5992541539999 meters 0.022695836111439213 Centerline is valid? [True, True] Translation: X:540.08, Y:5.73, Z:3.70 [[ 9.98085010e-01 -6.06868781e-02 -1.19756623e-02 5.40078270e+02] [ 6.06889439e-02 9.98156709e-01 -1.91161765e-04 5.73273001e+00] [ 1.19651887e-02 -5.35994605e-04 9.99928271e-01 3.70406456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6292541539999 meters 0.024378246937772012 Centerline is valid? [True, True] Translation: X:540.11, Y:5.73, Z:3.70 [[ 9.97795351e-01 -6.53413532e-02 -1.16165677e-02 5.40109508e+02] [ 6.53436158e-02 9.97862805e-01 -1.85072202e-04 5.72958931e+00] [ 1.16038336e-02 -5.74404351e-04 9.99932508e-01 3.70470099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6592541539999 meters 0.026149523767823066 Centerline is valid? [True, True] Translation: X:540.14, Y:5.73, Z:3.71 [[ 9.97513623e-01 -6.95488586e-02 -1.13810832e-02 5.40141070e+02] [ 6.95513068e-02 9.97578359e-01 -1.81028502e-04 5.72641354e+00] [ 1.13661127e-02 -6.10990814e-04 9.99935217e-01 3.70514381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.689254154 meters 0.02977882713900205 Centerline is valid? [True, True] Translation: X:540.17, Y:5.72, Z:3.70 [[ 9.96972003e-01 -7.68441488e-02 -1.19080567e-02 5.40172160e+02] [ 7.68473512e-02 9.97042852e-01 -1.89078063e-04 5.72095903e+00] [ 1.18873724e-02 -7.26597081e-04 9.99929079e-01 3.70422789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7192541539999 meters 0.031939640882299045 Centerline is valid? [True, True] Translation: X:540.20, Y:5.72, Z:3.70 [[ 9.96721863e-01 -7.99639712e-02 -1.23000090e-02 5.40203594e+02] [ 7.99676280e-02 9.96797442e-01 -1.95013664e-04 5.71847298e+00] [ 1.22762116e-02 -7.89228161e-04 9.99924333e-01 3.70384676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7492541539999 meters 0.0329749638954493 Centerline is valid? [True, True] Translation: X:540.23, Y:5.72, Z:3.70 [[ 9.96367065e-01 -8.41359385e-02 -1.31838804e-02 5.40233872e+02] [ 8.41405072e-02 9.96453878e-01 -2.08734245e-04 5.71766594e+00] [ 1.31546908e-02 -9.01322460e-04 9.99913067e-01 3.70463853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7792541539999 meters 0.03247077495580496 Centerline is valid? [True, True] Translation: X:540.27, Y:5.72, Z:3.70 [[ 9.96270678e-01 -8.51911568e-02 -1.36822043e-02 5.40265969e+02] [ 8.51961838e-02 9.96364172e-01 -2.16095081e-04 5.71942532e+00] [ 1.36508675e-02 -9.50382396e-04 9.99906371e-01 3.70472103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.809254154 meters 0.03406016470192168 Centerline is valid? [True, True] Translation: X:540.30, Y:5.72, Z:3.70 [[ 9.96249419e-01 -8.54262074e-02 -1.37643484e-02 5.40297600e+02] [ 8.54313348e-02 9.96344037e-01 -2.16113223e-04 5.71853017e+00] [ 1.37324882e-02 -9.60603987e-04 9.99905244e-01 3.70461575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.839254154 meters 0.0331138150599539 Centerline is valid? [True, True] Translation: X:540.33, Y:5.72, Z:3.70 [[ 9.96270815e-01 -8.52003481e-02 -1.36148640e-02 5.40329853e+02] [ 8.52053608e-02 9.96363388e-01 -2.12509393e-04 5.72119994e+00] [ 1.35834579e-02 -9.48342497e-04 9.99907291e-01 3.70495643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8692541539999 meters 0.03194032470047984 Centerline is valid? [True, True] Translation: X:540.36, Y:5.73, Z:3.70 [[ 9.96445973e-01 -8.30380741e-02 -1.41457123e-02 5.40361788e+02] [ 8.30432818e-02 9.96545917e-01 -2.19854775e-04 5.72581311e+00] [ 1.41151081e-02 -9.55632965e-04 9.99899920e-01 3.70462524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8992541539999 meters 0.03247667848878132 Centerline is valid? [True, True] Translation: X:540.39, Y:5.73, Z:3.70 [[ 9.96583449e-01 -8.12537651e-02 -1.48072300e-02 5.40392623e+02] [ 8.12592855e-02 9.96692970e-01 -2.29436328e-04 5.72699039e+00] [ 1.47769046e-02 -9.74572480e-04 9.99890341e-01 3.70424105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.929254154 meters 0.0305265176755456 Centerline is valid? [True, True] Translation: X:540.42, Y:5.73, Z:3.70 [[ 9.96754548e-01 -7.90191632e-02 -1.53734346e-02 5.40423809e+02] [ 7.90248583e-02 9.96872617e-01 -2.37626616e-04 5.73176819e+00] [ 1.53441330e-02 -9.78028078e-04 9.99881794e-01 3.70408726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.959254154 meters 0.03037763769079395 Centerline is valid? [True, True] Translation: X:540.45, Y:5.73, Z:3.70 [[ 9.96936371e-01 -7.66200171e-02 -1.57240024e-02 5.40454189e+02] [ 7.66256844e-02 9.97059901e-01 -2.42616384e-04 5.73424238e+00] [ 1.56963616e-02 -9.62989350e-04 9.99876341e-01 3.70353368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9892541539999 meters 0.028165860529687583 Centerline is valid? [True, True] Translation: X:540.49, Y:5.74, Z:3.70 [[ 9.97335653e-01 -7.10022215e-02 -1.67415459e-02 5.40485017e+02] [ 7.10078625e-02 9.97475722e-01 -2.57997258e-04 5.74187927e+00] [ 1.67176040e-02 -9.31471527e-04 9.99859817e-01 3.70307007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0192541539999 meters 0.02940312445057498 Centerline is valid? [True, True] Translation: X:540.52, Y:5.74, Z:3.70 [[ 9.97525399e-01 -6.83087843e-02 -1.66429833e-02 5.40515483e+02] [ 6.83139904e-02 9.97663838e-01 -2.56172351e-04 5.74317116e+00] [ 1.66216014e-02 -8.81410173e-04 9.99861463e-01 3.70306383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.049254154 meters 0.028041585285058745 Centerline is valid? [True, True] Translation: X:540.55, Y:5.75, Z:3.70 [[ 9.97741503e-01 -6.51014360e-02 -1.65437899e-02 5.40545834e+02] [ 6.51061424e-02 9.97878312e-01 -2.54519070e-04 5.74791971e+00] [ 1.65252587e-02 -8.23158105e-04 9.99863110e-01 3.70381856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.079254154 meters 0.022432587813169442 Centerline is valid? [True, True] Translation: X:540.58, Y:5.76, Z:3.71 [[ 9.98176175e-01 -5.83849676e-02 -1.53466518e-02 5.40575834e+02] [ 5.83882250e-02 9.98293924e-01 -2.36100237e-04 5.76180882e+00] [ 1.53342539e-02 -6.60394125e-04 9.99882205e-01 3.70602396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1092541539999 meters 0.02185178159731094 Centerline is valid? [True, True] Translation: X:540.61, Y:5.77, Z:3.71 [[ 9.98395667e-01 -5.46028340e-02 -1.49874388e-02 5.40606452e+02] [ 5.46055197e-02 9.98507979e-01 -2.30274292e-04 5.76586821e+00] [ 1.49776508e-02 -5.88492028e-04 9.99887656e-01 3.70669349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1392541539999 meters 0.020882237668181616 Centerline is valid? [True, True] Translation: X:540.64, Y:5.77, Z:3.71 [[ 9.98633695e-01 -5.02290280e-02 -1.44148406e-02 5.40637752e+02] [ 5.02310647e-02 9.98737599e-01 -2.20955976e-04 5.77140965e+00] [ 1.44077417e-02 -5.03418709e-04 9.99896076e-01 3.70670337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1692541539999 meters 0.02084197421415522 Centerline is valid? [True, True] Translation: X:540.67, Y:5.77, Z:3.71 [[ 9.98850488e-01 -4.59621227e-02 -1.36082720e-02 5.40668727e+02] [ 4.59635488e-02 9.98943096e-01 -2.08108161e-04 5.77345376e+00] [ 1.36034545e-02 -4.17615536e-04 9.99907382e-01 3.70780230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.199254154 meters 0.01688556618044496 Centerline is valid? [True, True] Translation: X:540.70, Y:5.79, Z:3.71 [[ 9.99223133e-01 -3.75189264e-02 -1.20607051e-02 5.40699731e+02] [ 3.75194355e-02 9.99295881e-01 -1.84122153e-04 5.78669206e+00] [ 1.20591210e-02 -2.68531733e-04 9.99927250e-01 3.70961138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2292541539999 meters 0.016407058699780225 Centerline is valid? [True, True] Translation: X:540.73, Y:5.79, Z:3.71 [[ 9.99367855e-01 -3.37192876e-02 -1.12649728e-02 5.40730575e+02] [ 3.37194936e-02 9.99431321e-01 -1.71697217e-04 5.79083091e+00] [ 1.12643562e-02 -2.08260499e-04 9.99936533e-01 3.71014155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2592541539999 meters 0.01550677636004345 Centerline is valid? [True, True] Translation: X:540.76, Y:5.80, Z:3.71 [[ 9.99472326e-01 -3.05512500e-02 -1.10313574e-02 5.40762090e+02] [ 3.05512590e-02 9.99533187e-01 -1.67737693e-04 5.79559241e+00] [ 1.10313324e-02 -1.69372676e-04 9.99939139e-01 3.71086301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2892541539999 meters 0.016048156412233512 Centerline is valid? [True, True] Translation: X:540.79, Y:5.80, Z:3.71 [[ 9.99537710e-01 -2.82973948e-02 -1.11186085e-02 5.40793114e+02] [ 2.82972700e-02 9.99599538e-01 -1.68577719e-04 5.79807888e+00] [ 1.11189263e-02 -1.46126481e-04 9.99938172e-01 3.71016143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.319254154 meters 0.014792058446591191 Centerline is valid? [True, True] Translation: X:540.82, Y:5.80, Z:3.71 [[ 9.99588431e-01 -2.65641671e-02 -1.08311054e-02 5.40824517e+02] [ 2.65639524e-02 9.99647103e-01 -1.63706060e-04 5.80189399e+00] [ 1.08316318e-02 -1.24078285e-04 9.99941328e-01 3.71107663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3492541539999 meters 0.014990728713024497 Centerline is valid? [True, True] Translation: X:540.86, Y:5.80, Z:3.71 [[ 9.99569059e-01 -2.71711816e-02 -1.11095723e-02 5.40856169e+02] [ 2.71709978e-02 9.99630786e-01 -1.67503172e-04 5.80330606e+00] [ 1.11100218e-02 -1.34427178e-04 9.99938273e-01 3.71133730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3792541539999 meters 0.015244702774831354 Centerline is valid? [True, True] Translation: X:540.89, Y:5.80, Z:3.71 [[ 9.99545931e-01 -2.77505732e-02 -1.17403980e-02 5.40886973e+02] [ 2.77504142e-02 9.99614868e-01 -1.76483209e-04 5.80383815e+00] [ 1.17407739e-02 -1.49397834e-04 9.99931064e-01 3.71108041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4092541539999 meters 0.015811413868543296 Centerline is valid? [True, True] Translation: X:540.92, Y:5.80, Z:3.71 [[ 9.99451158e-01 -3.07601645e-02 -1.22961572e-02 5.40918053e+02] [ 3.07602250e-02 9.99526775e-01 -1.84247277e-04 5.80399491e+00] [ 1.22960058e-02 -1.94086407e-04 9.99924382e-01 3.71074172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.439254154 meters 0.015941186452290736 Centerline is valid? [True, True] Translation: X:540.95, Y:5.80, Z:3.71 [[ 9.99394171e-01 -3.24303352e-02 -1.26318999e-02 5.40949690e+02] [ 3.24305383e-02 9.99473974e-01 -1.88812068e-04 5.80438434e+00] [ 1.26313784e-02 -2.20961633e-04 9.99920197e-01 3.71107350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4692541539999 meters 0.016482744527548505 Centerline is valid? [True, True] Translation: X:540.98, Y:5.80, Z:3.71 [[ 9.99325107e-01 -3.43572168e-02 -1.29966360e-02 5.40980923e+02] [ 3.43576024e-02 9.99409585e-01 -1.93667324e-04 5.80343435e+00] [ 1.29956165e-02 -2.52996633e-04 9.99915521e-01 3.71080138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4992541539999 meters 0.016794210734764364 Centerline is valid? [True, True] Translation: X:541.01, Y:5.80, Z:3.71 [[ 9.99283939e-01 -3.56970917e-02 -1.25429651e-02 5.41012349e+02] [ 3.56975636e-02 9.99362621e-01 -1.86335941e-04 5.80285226e+00] [ 1.25416222e-02 -2.61550782e-04 9.99921317e-01 3.71095184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5292541539999 meters 0.01846465010742351 Centerline is valid? [True, True] Translation: X:541.04, Y:5.80, Z:3.71 [[ 9.99221692e-01 -3.73330171e-02 -1.27379911e-02 5.41044619e+02] [ 3.73336452e-02 9.99302839e-01 -1.88558174e-04 5.80240655e+00] [ 1.27361501e-02 -2.87144223e-04 9.99918851e-01 3.70994774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.559254154 meters 0.01754296068842627 Centerline is valid? [True, True] Translation: X:541.08, Y:5.80, Z:3.71 [[ 9.99211888e-01 -3.77244840e-02 -1.23477208e-02 5.41077033e+02] [ 3.77251149e-02 9.99288138e-01 -1.81904853e-04 5.80273484e+00] [ 1.23457932e-02 -2.84057695e-04 9.99923747e-01 3.71146853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.589254154 meters 0.017652982771576155 Centerline is valid? [True, True] Translation: X:541.11, Y:5.80, Z:3.71 [[ 9.99226131e-01 -3.74867645e-02 -1.19114388e-02 5.41108879e+02] [ 3.74873447e-02 9.99297087e-01 -1.74638143e-04 5.80339613e+00] [ 1.19096128e-02 -2.72025217e-04 9.99929041e-01 3.71163148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6192541539999 meters 0.017199874382318937 Centerline is valid? [True, True] Translation: X:541.14, Y:5.80, Z:3.71 [[ 9.99255525e-01 -3.67198601e-02 -1.18341755e-02 5.41140951e+02] [ 3.67203891e-02 9.99325564e-01 -1.72653326e-04 5.80469433e+00] [ 1.18325339e-02 -2.62030741e-04 9.99929959e-01 3.71189728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6492541539999 meters 0.016735720807465056 Centerline is valid? [True, True] Translation: X:541.17, Y:5.81, Z:3.71 [[ 9.99310393e-01 -3.52184319e-02 -1.17643606e-02 5.41173223e+02] [ 3.52188607e-02 9.99379609e-01 -1.70779030e-04 5.80686504e+00] [ 1.17630766e-02 -2.43666117e-04 9.99930783e-01 3.71242359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.679254154 meters 0.017204679252757253 Centerline is valid? [True, True] Translation: X:541.20, Y:5.81, Z:3.71 [[ 9.99332096e-01 -3.46687758e-02 -1.15515455e-02 5.41204410e+02] [ 3.46691613e-02 9.99398830e-01 -1.66936533e-04 5.80585061e+00] [ 1.15503885e-02 -2.33657357e-04 9.99933265e-01 3.71217149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.709254154 meters 0.01687340204107607 Centerline is valid? [True, True] Translation: X:541.24, Y:5.81, Z:3.71 [[ 9.99352330e-01 -3.40627062e-02 -1.16040174e-02 5.41236821e+02] [ 3.40630626e-02 9.99419672e-01 -1.66979464e-04 5.80690794e+00] [ 1.16029711e-02 -2.28397056e-04 9.99932657e-01 3.71218312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7392541539999 meters 0.016692965648777647 Centerline is valid? [True, True] Translation: X:541.27, Y:5.81, Z:3.71 [[ 9.99341042e-01 -3.42487811e-02 -1.20209377e-02 5.41268622e+02] [ 3.42491877e-02 9.99413310e-01 -1.72094666e-04 5.80775240e+00] [ 1.20197792e-02 -2.39726090e-04 9.99927731e-01 3.71206359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7692541539999 meters 0.017382413478861578 Centerline is valid? [True, True] Translation: X:541.30, Y:5.81, Z:3.71 [[ 9.99344624e-01 -3.41083482e-02 -1.21220355e-02 5.41300402e+02] [ 3.41087621e-02 9.99418112e-01 -1.72656118e-04 5.80780631e+00] [ 1.21208708e-02 -2.40924662e-04 9.99926511e-01 3.71135907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.799254154 meters 0.016360417668910977 Centerline is valid? [True, True] Translation: X:541.33, Y:5.81, Z:3.71 [[ 9.99348829e-01 -3.39448693e-02 -1.22337178e-02 5.41332995e+02] [ 3.39452896e-02 9.99423678e-01 -1.73346275e-04 5.80898525e+00] [ 1.22325515e-02 -2.42043698e-04 9.99925150e-01 3.71210668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.829254154 meters 0.016869517890137666 Centerline is valid? [True, True] Translation: X:541.36, Y:5.81, Z:3.71 [[ 9.99363487e-01 -3.35348587e-02 -1.21669395e-02 5.41364036e+02] [ 3.35352538e-02 9.99437520e-01 -1.71599855e-04 5.80808932e+00] [ 1.21658504e-02 -2.36530775e-04 9.99925965e-01 3.71167658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8592541539999 meters 0.015993592252079365 Centerline is valid? [True, True] Translation: X:541.40, Y:5.81, Z:3.71 [[ 9.99446422e-01 -3.09397349e-02 -1.22304095e-02 5.41395004e+02] [ 3.09399470e-02 9.99521230e-01 -1.71916618e-04 5.81063440e+00] [ 1.22298730e-02 -2.06586773e-04 9.99925191e-01 3.71178739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8892541539999 meters 0.01549757795106363 Centerline is valid? [True, True] Translation: X:541.43, Y:5.81, Z:3.71 [[ 9.99510149e-01 -2.87955873e-02 -1.22587462e-02 5.41426816e+02] [ 2.87956458e-02 9.99585305e-01 -1.71771079e-04 5.81180523e+00] [ 1.22586088e-02 -1.81311576e-04 9.99924844e-01 3.71182194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9192541539999 meters 0.015186396518704567 Centerline is valid? [True, True] Translation: X:541.46, Y:5.81, Z:3.71 [[ 9.99570553e-01 -2.64806232e-02 -1.25493873e-02 5.41457754e+02] [ 2.64805095e-02 9.99649314e-01 -1.75252692e-04 5.81364295e+00] [ 1.25496272e-02 -1.57136739e-04 9.99921238e-01 3.71173928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.949254154 meters 0.014830935262805541 Centerline is valid? [True, True] Translation: X:541.49, Y:5.82, Z:3.71 [[ 9.99623239e-01 -2.41095061e-02 -1.31191071e-02 5.41488674e+02] [ 2.41091842e-02 9.99709315e-01 -1.82718157e-04 5.81566263e+00] [ 1.31196988e-02 -1.33641652e-04 9.99913924e-01 3.71178988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9792541539999 meters 0.014646519310314212 Centerline is valid? [True, True] Translation: X:541.52, Y:5.82, Z:3.71 [[ 9.99712704e-01 -1.96653225e-02 -1.37034709e-02 5.41519064e+02] [ 1.96645573e-02 9.99806616e-01 -1.90592092e-04 5.81890777e+00] [ 1.37045689e-02 -7.89353539e-05 9.99906085e-01 3.71182537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0092541539999 meters 0.014379554317953113 Centerline is valid? [True, True] Translation: X:541.55, Y:5.82, Z:3.71 [[ 9.99738740e-01 -1.81418554e-02 -1.39041453e-02 5.41547915e+02] [ 1.81408957e-02 9.99835421e-01 -1.95154701e-04 5.82031552e+00] [ 1.39053974e-02 -5.71299342e-05 9.99903314e-01 3.71174716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0392541539999 meters 0.014456198615854373 Centerline is valid? [True, True] Translation: X:541.58, Y:5.82, Z:3.71 [[ 9.99752770e-01 -1.71497931e-02 -1.41521695e-02 5.41575814e+02] [ 1.71486649e-02 9.99852931e-01 -2.01075798e-04 5.82066325e+00] [ 1.41535365e-02 -4.16647261e-05 9.99899833e-01 3.71102792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.069254154 meters 0.014378769611996276 Centerline is valid? [True, True] Translation: X:541.60, Y:5.82, Z:3.71 [[ 9.99756577e-01 -1.66609694e-02 -1.44636741e-02 5.41604832e+02] [ 1.66597048e-02 9.99861196e-01 -2.07922114e-04 5.82103602e+00] [ 1.44651307e-02 -3.30890402e-05 9.99895374e-01 3.71100371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0992541539999 meters 0.014424119363131115 Centerline is valid? [True, True] Translation: X:541.63, Y:5.82, Z:3.71 [[ 9.99730994e-01 -1.76064227e-02 -1.50981215e-02 5.41632994e+02] [ 1.76050914e-02 9.99844994e-01 -2.21092123e-04 5.81970430e+00] [ 1.50996738e-02 -4.47711601e-05 9.99885992e-01 3.71178136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1292541539999 meters 0.014610170968864218 Centerline is valid? [True, True] Translation: X:541.66, Y:5.82, Z:3.71 [[ 9.99692771e-01 -1.91034120e-02 -1.57931454e-02 5.41660425e+02] [ 1.91020969e-02 9.99817511e-01 -2.34127431e-04 5.81846422e+00] [ 1.57947360e-02 -6.76266944e-05 9.99875253e-01 3.71182963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1592541539999 meters 0.014810292221300357 Centerline is valid? [True, True] Translation: X:541.69, Y:5.82, Z:3.71 [[ 9.99649334e-01 -2.08842035e-02 -1.62806432e-02 5.41688882e+02] [ 2.08829942e-02 9.99781897e-01 -2.44300779e-04 5.81697500e+00] [ 1.62821944e-02 -9.57734666e-05 9.99867432e-01 3.71147228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.189254154 meters 0.014889575052365066 Centerline is valid? [True, True] Translation: X:541.72, Y:5.82, Z:3.71 [[ 9.99588188e-01 -2.30586301e-02 -1.70808324e-02 5.41716339e+02] [ 2.30575705e-02 9.99734105e-01 -2.58995687e-04 5.81515516e+00] [ 1.70822628e-02 -1.34953468e-04 9.99854078e-01 3.71158025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2192541539999 meters 0.015203374407460826 Centerline is valid? [True, True] Translation: X:541.75, Y:5.81, Z:3.71 [[ 9.99494792e-01 -2.58777965e-02 -1.84526624e-02 5.41745141e+02] [ 2.58769758e-02 9.99665095e-01 -2.83287877e-04 5.81315490e+00] [ 1.84538133e-02 -1.94354339e-04 9.99829695e-01 3.71145444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2492541539999 meters 0.016881436422848305 Centerline is valid? [True, True] Translation: X:541.77, Y:5.81, Z:3.71 [[ 9.99290092e-01 -3.23491298e-02 -1.93092279e-02 5.41773575e+02] [ 3.23493877e-02 9.99476577e-01 -2.99076737e-04 5.80721016e+00] [ 1.93087959e-02 -3.25777279e-04 9.99813515e-01 3.71049025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2792541539999 meters 0.016881436422848305 Centerline is valid? [True, True] Translation: X:541.80, Y:5.81, Z:3.71 [[ 9.99282220e-01 -3.25914308e-02 -1.93091735e-02 5.41801834e+02] [ 3.25916666e-02 9.99468705e-01 -3.02556592e-04 5.80770580e+00] [ 1.93087754e-02 -3.26978724e-04 9.99813515e-01 3.71068622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.309254154 meters 0.017223242700591335 Centerline is valid? [True, True] Translation: X:541.83, Y:5.81, Z:3.71 [[ 9.99155509e-01 -3.61339797e-02 -1.95602617e-02 5.41830996e+02] [ 3.61348052e-02 9.99346876e-01 -3.11344330e-04 5.80588159e+00] [ 1.95587365e-02 -3.95724844e-04 9.99808631e-01 3.71146077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.339254154 meters 0.01825111201811389 Centerline is valid? [True, True] Translation: X:541.86, Y:5.80, Z:3.71 [[ 9.98903830e-01 -4.26338798e-02 -1.93259309e-02 5.41860842e+02] [ 4.26358594e-02 9.99090630e-01 -3.09772360e-04 5.80082295e+00] [ 1.93215632e-02 -5.14544874e-04 9.99813189e-01 3.71281957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3692541539999 meters 0.02114391900598284 Centerline is valid? [True, True] Translation: X:541.89, Y:5.79, Z:3.71 [[ 9.98773965e-01 -4.58034299e-02 -1.87779752e-02 5.41890932e+02] [ 4.58058538e-02 9.98950316e-01 -3.01233709e-04 5.79496185e+00] [ 1.87720618e-02 -5.59276799e-04 9.99823633e-01 3.71202455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3992541539999 meters 0.0229778105726746 Centerline is valid? [True, True] Translation: X:541.92, Y:5.79, Z:3.71 [[ 9.98641046e-01 -4.87740676e-02 -1.83616910e-02 5.41920722e+02] [ 4.87768867e-02 9.98809656e-01 -2.94555736e-04 5.79151944e+00] [ 1.83542010e-02 -6.01470675e-04 9.99831367e-01 3.71251087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.429254154 meters 0.024193464299065905 Centerline is valid? [True, True] Translation: X:541.95, Y:5.79, Z:3.71 [[ 9.98524758e-01 -5.12859583e-02 -1.78341846e-02 5.41951020e+02] [ 5.12890177e-02 9.98683811e-01 -2.86093549e-04 5.78920506e+00] [ 1.78253840e-02 -6.29026317e-04 9.99840917e-01 3.71324798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.459254154 meters 0.027638837884329335 Centerline is valid? [True, True] Translation: X:541.98, Y:5.78, Z:3.71 [[ 9.98217978e-01 -5.70066057e-02 -1.76384370e-02 5.41981185e+02] [ 5.70104966e-02 9.98373539e-01 -2.82561617e-04 5.78314627e+00] [ 1.76258566e-02 -7.23517965e-04 9.99844391e-01 3.71354231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4892541539999 meters 0.029678091630175926 Centerline is valid? [True, True] Translation: X:542.01, Y:5.78, Z:3.71 [[ 9.98054339e-01 -5.98677370e-02 -1.74181083e-02 5.42011594e+02] [ 5.98719735e-02 9.98206025e-01 -2.78609780e-04 5.78009985e+00] [ 1.74035404e-02 -7.64788819e-04 9.99848254e-01 3.71354809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5192541539999 meters 0.031462622075393534 Centerline is valid? [True, True] Translation: X:542.04, Y:5.78, Z:3.71 [[ 9.97858232e-01 -6.30055673e-02 -1.75854429e-02 5.42043048e+02] [ 6.30103799e-02 9.98012832e-01 -2.80822427e-04 5.77808297e+00] [ 1.75681910e-02 -8.27844467e-04 9.99845325e-01 3.71385982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.549254154 meters 0.027205612056703153 Centerline is valid? [True, True] Translation: X:542.07, Y:5.78, Z:3.72 [[ 9.97678291e-01 -6.58191978e-02 -1.74888685e-02 5.42074250e+02] [ 6.58243994e-02 9.97831184e-01 -2.78677896e-04 5.78433114e+00] [ 1.74692807e-02 -8.73163379e-04 9.99847019e-01 3.71592647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.579254154 meters 0.03079427073571697 Centerline is valid? [True, True] Translation: X:542.10, Y:5.78, Z:3.72 [[ 9.97263636e-01 -7.18162508e-02 -1.75404200e-02 5.42104193e+02] [ 7.18224134e-02 9.97417397e-01 -2.79173787e-04 5.77984919e+00] [ 1.75151693e-02 -9.81385432e-04 9.99846116e-01 3.71640749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6092541539999 meters 0.03246977108559873 Centerline is valid? [True, True] Translation: X:542.14, Y:5.78, Z:3.72 [[ 9.97072242e-01 -7.44696178e-02 -1.73556740e-02 5.42135231e+02] [ 7.44760558e-02 9.97222764e-01 -2.76000125e-04 5.77814510e+00] [ 1.73280268e-02 -1.01739008e-03 9.99849341e-01 3.71678355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6392541539999 meters 0.03245146843599079 Centerline is valid? [True, True] Translation: X:542.17, Y:5.78, Z:3.72 [[ 9.96869378e-01 -7.69926144e-02 -1.79883265e-02 5.42166681e+02] [ 7.69999490e-02 9.97031056e-01 -2.85541788e-04 5.77916063e+00] [ 1.79569048e-02 -1.10045236e-03 9.99838156e-01 3.71751749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6692541539999 meters 0.03602087426320442 Centerline is valid? [True, True] Translation: X:542.20, Y:5.78, Z:3.72 [[ 9.96558138e-01 -8.03653997e-02 -2.03293040e-02 5.42196994e+02] [ 8.03754739e-02 9.96764606e-01 -3.22359189e-04 5.77761393e+00] [ 2.02894373e-02 -1.31272777e-03 9.99793286e-01 3.71580243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.699254154 meters 0.0361687193711815 Centerline is valid? [True, True] Translation: X:542.23, Y:5.78, Z:3.72 [[ 9.96395138e-01 -8.24268892e-02 -2.00633037e-02 5.42228484e+02] [ 8.24371273e-02 9.96596217e-01 -3.17645965e-04 5.77740418e+00] [ 2.00211952e-02 -1.33746023e-03 9.99798661e-01 3.71715345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7292541539999 meters 0.03663865986518853 Centerline is valid? [True, True] Translation: X:542.26, Y:5.78, Z:3.72 [[ 9.96295791e-01 -8.35479285e-02 -2.03577913e-02 5.42261031e+02] [ 8.35587268e-02 9.96502803e-01 -3.21109468e-04 5.77833625e+00] [ 2.03134241e-02 -1.38115111e-03 9.99792707e-01 3.71709139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7592541539999 meters 0.035983441606206354 Centerline is valid? [True, True] Translation: X:542.29, Y:5.78, Z:3.72 [[ 9.96249400e-01 -8.39687347e-02 -2.08898147e-02 5.42292938e+02] [ 8.39802284e-02 9.96467367e-01 -3.27999946e-04 5.78050736e+00] [ 2.08435604e-02 -1.42756166e-03 9.99781730e-01 3.71714865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7892541539999 meters 0.03457937440778412 Centerline is valid? [True, True] Translation: X:542.33, Y:5.79, Z:3.72 [[ 9.96259368e-01 -8.35004913e-02 -2.22472248e-02 5.42325341e+02] [ 8.35134480e-02 9.96506590e-01 -3.47676180e-04 5.78534171e+00] [ 2.21985373e-02 -1.51156680e-03 9.99752439e-01 3.71764750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.819254154 meters 0.0346285103073855 Centerline is valid? [True, True] Translation: X:542.36, Y:5.79, Z:3.72 [[ 9.96328584e-01 -8.26144005e-02 -2.24546964e-02 5.42357684e+02] [ 8.26274126e-02 9.96580448e-01 -3.49290192e-04 5.78770727e+00] [ 2.24067678e-02 -1.50736566e-03 9.99747800e-01 3.71788205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8492541539999 meters 0.034578326105992756 Centerline is valid? [True, True] Translation: X:542.39, Y:5.79, Z:3.72 [[ 9.96433236e-01 -8.12141318e-02 -2.29144355e-02 5.42389051e+02] [ 8.12273387e-02 9.96695537e-01 -3.55356214e-04 5.79029401e+00] [ 2.28675755e-02 -1.50718987e-03 9.99737367e-01 3.71797680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8792541539999 meters 0.03445930124486188 Centerline is valid? [True, True] Translation: X:542.42, Y:5.79, Z:3.72 [[ 9.96592189e-01 -7.92298278e-02 -2.29487267e-02 5.42420212e+02] [ 7.92425691e-02 9.96855300e-01 -3.55069012e-04 5.79288612e+00] [ 2.29046919e-02 -1.46465706e-03 9.99736580e-01 3.71832513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9092541539999 meters 0.03268487048731017 Centerline is valid? [True, True] Translation: X:542.45, Y:5.80, Z:3.72 [[ 9.96998784e-01 -7.37506703e-02 -2.35427926e-02 5.42449563e+02] [ 7.37625566e-02 9.97275766e-01 -3.64311401e-04 5.79954170e+00] [ 2.35055247e-02 -1.37335855e-03 9.99722764e-01 3.71875851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.939254154 meters 0.0315488683376104 Centerline is valid? [True, True] Translation: X:542.48, Y:5.80, Z:3.72 [[ 9.97235462e-01 -7.05867411e-02 -2.32152142e-02 5.42480422e+02] [ 7.05974478e-02 9.97504823e-01 -3.59085962e-04 5.80391434e+00] [ 2.31826349e-02 -1.28084162e-03 9.99730426e-01 3.71917989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9692541539999 meters 0.030121032830797666 Centerline is valid? [True, True] Translation: X:542.51, Y:5.81, Z:3.72 [[ 9.97481989e-01 -6.70940531e-02 -2.29797570e-02 5.42511161e+02] [ 6.71036284e-02 9.97745948e-01 -3.55047550e-04 5.80899805e+00] [ 2.29517810e-02 -1.18787154e-03 9.99735867e-01 3.72010159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9992541539999 meters 0.027307924196656196 Centerline is valid? [True, True] Translation: X:542.54, Y:5.82, Z:3.72 [[ 9.97953044e-01 -5.98403754e-02 -2.25577474e-02 5.42540850e+02] [ 5.98477549e-02 9.98207456e-01 -3.48427865e-04 5.81815405e+00] [ 2.25381617e-02 -1.00231589e-03 9.99745481e-01 3.72115814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0292541539999 meters 0.022404661771506032 Centerline is valid? [True, True] Translation: X:542.57, Y:5.83, Z:3.72 [[ 9.98163212e-01 -5.63426822e-02 -2.22644277e-02 5.42572306e+02] [ 5.63490211e-02 9.98411073e-01 -3.43055381e-04 5.82865308e+00] [ 2.22483798e-02 -9.12153443e-04 9.99752058e-01 3.72368436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.059254154 meters 0.02512690207766847 Centerline is valid? [True, True] Translation: X:542.60, Y:5.83, Z:3.72 [[ 9.98371581e-01 -5.28064943e-02 -2.15791568e-02 5.42603185e+02] [ 5.28116436e-02 9.98604436e-01 -3.31587084e-04 5.82697805e+00] [ 2.15665517e-02 -8.08583616e-04 9.99767088e-01 3.72191861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.089254154 meters 0.020660212588195264 Centerline is valid? [True, True] Translation: X:542.63, Y:5.84, Z:3.72 [[ 9.98554192e-01 -4.92377627e-02 -2.15677507e-02 5.42634297e+02] [ 4.92420921e-02 9.98786818e-01 -3.30621837e-04 5.83666671e+00] [ 2.15578642e-02 -7.31897346e-04 9.99767334e-01 3.72422899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1192541539999 meters 0.018440473906235003 Centerline is valid? [True, True] Translation: X:542.66, Y:5.84, Z:3.72 [[ 9.98858031e-01 -4.28021204e-02 -2.12276465e-02 5.42664832e+02] [ 4.28048702e-02 9.99083399e-01 -3.25028488e-04 5.84482514e+00] [ 2.12221012e-02 -5.83989339e-04 9.99774615e-01 3.72489875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1492541539999 meters 0.017971989709217557 Centerline is valid? [True, True] Translation: X:542.69, Y:5.85, Z:3.72 [[ 9.99007052e-01 -3.92757576e-02 -2.10315397e-02 5.42694841e+02] [ 3.92776772e-02 9.99228282e-01 -3.21963341e-04 5.84714536e+00] [ 2.10279547e-02 -5.04426379e-04 9.99778761e-01 3.72465021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.179254154 meters 0.016630994355755855 Centerline is valid? [True, True] Translation: X:542.73, Y:5.85, Z:3.73 [[ 9.99130047e-01 -3.62431945e-02 -2.06295986e-02 5.42725517e+02] [ 3.62443952e-02 9.99342906e-01 -3.15810186e-04 5.85199542e+00] [ 2.06274890e-02 -4.32171876e-04 9.99787137e-01 3.72591224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.209254154 meters 0.01622941522187187 Centerline is valid? [True, True] Translation: X:542.76, Y:5.86, Z:3.73 [[ 9.99232737e-01 -3.34252789e-02 -2.04129523e-02 5.42755589e+02] [ 3.34258667e-02 9.99441151e-01 -3.12493636e-04 5.85551355e+00] [ 2.04119897e-02 -3.70066751e-04 9.99791585e-01 3.72609007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2392541539999 meters 0.015467043473473888 Centerline is valid? [True, True] Translation: X:542.78, Y:5.86, Z:3.73 [[ 9.99403282e-01 -2.73472785e-02 -2.10998991e-02 5.42784732e+02] [ 2.73465414e-02 9.99625961e-01 -3.23523036e-04 5.86168807e+00] [ 2.11008544e-02 -2.53679280e-04 9.99777320e-01 3.72592755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2692541539999 meters 0.015104017599256515 Centerline is valid? [True, True] Translation: X:542.81, Y:5.86, Z:3.73 [[ 9.99478842e-01 -2.44511237e-02 -2.10757516e-02 5.42813623e+02] [ 2.44496639e-02 9.99701009e-01 -3.26975157e-04 5.86473098e+00] [ 2.10774450e-02 -1.88490290e-04 9.99777828e-01 3.72571063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.299254154 meters 0.014850267415800622 Centerline is valid? [True, True] Translation: X:542.84, Y:5.87, Z:3.73 [[ 9.99540548e-01 -2.15819613e-02 -2.12817316e-02 5.42841862e+02] [ 2.15797085e-02 9.99767075e-01 -3.35529346e-04 5.86757897e+00] [ 2.12840159e-02 -1.23878377e-04 9.99773462e-01 3.72501080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.329254154 meters 0.014751686585735531 Centerline is valid? [True, True] Translation: X:542.87, Y:5.87, Z:3.73 [[ 9.99662785e-01 -1.55190240e-02 -2.08201100e-02 5.42870910e+02] [ 1.55154437e-02 9.99879573e-01 -3.33496481e-04 5.87277364e+00] [ 2.08227783e-02 1.03507749e-05 9.99783182e-01 3.72611244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3592541539999 meters 0.014925472427195717 Centerline is valid? [True, True] Translation: X:542.90, Y:5.87, Z:3.73 [[ 9.99706496e-01 -1.29780202e-02 -2.04570853e-02 5.42898703e+02] [ 1.29739153e-02 9.99915780e-01 -3.33367074e-04 5.87497822e+00] [ 2.04596888e-02 6.78607374e-05 9.99790676e-01 3.72665297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3892541539999 meters 0.014988327912756711 Centerline is valid? [True, True] Translation: X:542.93, Y:5.88, Z:3.73 [[ 9.99736281e-01 -1.09127890e-02 -2.02059322e-02 5.42926380e+02] [ 1.09082447e-02 9.99940447e-01 -3.35109801e-04 5.87698613e+00] [ 2.02083858e-02 1.14610175e-04 9.99795783e-01 3.72700055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4192541539999 meters 0.015354579705055571 Centerline is valid? [True, True] Translation: X:542.95, Y:5.88, Z:3.73 [[ 9.99765040e-01 -9.23387942e-03 -1.96112474e-02 5.42953935e+02] [ 9.22921528e-03 9.99957356e-01 -3.28325546e-04 5.87886425e+00] [ 1.96134428e-02 1.47251978e-04 9.99807627e-01 3.72710090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.449254154 meters 0.01523915864107672 Centerline is valid? [True, True] Translation: X:542.98, Y:5.88, Z:3.73 [[ 9.99770668e-01 -8.41364673e-03 -1.96932012e-02 5.42982221e+02] [ 8.40870958e-03 9.99964591e-01 -3.33496639e-04 5.87904316e+00] [ 1.96953098e-02 1.67825748e-04 9.99806014e-01 3.72817728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4792541539999 meters 0.015241881409356148 Centerline is valid? [True, True] Translation: X:543.01, Y:5.88, Z:3.73 [[ 9.99754653e-01 -9.59222807e-03 -1.99655411e-02 5.43009860e+02] [ 9.58727786e-03 9.99953982e-01 -3.43642230e-04 5.87806636e+00] [ 1.99679186e-02 1.52142729e-04 9.99800610e-01 3.72847418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5092541539999 meters 0.014985561657476795 Centerline is valid? [True, True] Translation: X:543.04, Y:5.88, Z:3.73 [[ 9.99722904e-01 -1.15532663e-02 -2.05094212e-02 5.43037373e+02] [ 1.15483878e-02 9.99933252e-01 -3.56290418e-04 5.87710089e+00] [ 2.05121686e-02 1.19340940e-04 9.99789596e-01 3.72838362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5392541539999 meters 0.014869438644460784 Centerline is valid? [True, True] Translation: X:543.07, Y:5.87, Z:3.73 [[ 9.99613609e-01 -1.74930492e-02 -2.16015092e-02 5.43065383e+02] [ 1.74889755e-02 9.99846985e-01 -3.77499967e-04 5.87214269e+00] [ 2.16048075e-02 -4.34161608e-07 9.99766589e-01 3.72838667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.569254154 meters 0.015033560276544771 Centerline is valid? [True, True] Translation: X:543.09, Y:5.87, Z:3.73 [[ 9.99529142e-01 -2.18319118e-02 -2.15606773e-02 5.43093079e+02] [ 2.18287538e-02 9.99761651e-01 -3.81837767e-04 5.86920421e+00] [ 2.15638746e-02 -8.89847408e-05 9.99767469e-01 3.72888409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5992541539999 meters 0.01524793007932366 Centerline is valid? [True, True] Translation: X:543.12, Y:5.87, Z:3.73 [[ 9.99429602e-01 -2.60021714e-02 -2.15489475e-02 5.43121327e+02] [ 2.59999132e-02 9.99661871e-01 -3.84999323e-04 5.86562884e+00] [ 2.15516719e-02 -1.75491044e-04 9.99767720e-01 3.72868971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6292541539999 meters 0.015519617962947992 Centerline is valid? [True, True] Translation: X:543.15, Y:5.86, Z:3.73 [[ 9.99311920e-01 -3.02599191e-02 -2.14481706e-02 5.43150304e+02] [ 3.02585679e-02 9.99542030e-01 -3.87600509e-04 5.86259928e+00] [ 2.14500767e-02 -2.61657119e-04 9.99769886e-01 3.72996153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6592541539999 meters 0.016018456636402258 Centerline is valid? [True, True] Translation: X:543.18, Y:5.86, Z:3.73 [[ 9.99204115e-01 -3.37310054e-02 -2.12921612e-02 5.43178117e+02] [ 3.37303954e-02 9.99430893e-01 -3.87889795e-04 5.85818604e+00] [ 2.12931276e-02 -3.30611935e-04 9.99773221e-01 3.72970882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.689254154 meters 0.01688234161586126 Centerline is valid? [True, True] Translation: X:543.21, Y:5.85, Z:3.73 [[ 9.98995098e-01 -3.94136168e-02 -2.13392002e-02 5.43207892e+02] [ 3.94142747e-02 9.99222879e-01 -3.89916086e-04 5.85314109e+00] [ 2.13379850e-02 -4.51544839e-04 9.99772217e-01 3.73135854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7192541539999 meters 0.018296081137269996 Centerline is valid? [True, True] Translation: X:543.24, Y:5.85, Z:3.73 [[ 9.98916516e-01 -4.13652795e-02 -2.13238957e-02 5.43237077e+02] [ 4.13663698e-02 9.99143969e-01 -3.90154586e-04 5.84927505e+00] [ 2.13217806e-02 -4.92360294e-04 9.99772544e-01 3.73060411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7492541539999 meters 0.017826626183439952 Centerline is valid? [True, True] Translation: X:543.27, Y:5.85, Z:3.73 [[ 9.98862162e-01 -4.26380089e-02 -2.13630672e-02 5.43267861e+02] [ 4.26393914e-02 9.99090451e-01 -3.90998192e-04 5.84910901e+00] [ 2.13603079e-02 -5.20354884e-04 9.99771707e-01 3.73175436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7792541539999 meters 0.018340783190609333 Centerline is valid? [True, True] Translation: X:543.30, Y:5.85, Z:3.73 [[ 9.98769538e-01 -4.44869892e-02 -2.19161462e-02 5.43298692e+02] [ 4.44888890e-02 9.99009799e-01 -4.01120937e-04 5.84560318e+00] [ 2.19122894e-02 -5.74397622e-04 9.99759732e-01 3.73163947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.809254154 meters 0.018246761708114664 Centerline is valid? [True, True] Translation: X:543.33, Y:5.84, Z:3.73 [[ 9.98746866e-01 -4.50040191e-02 -2.18937351e-02 5.43329693e+02] [ 4.50060512e-02 9.98986634e-01 -4.00160857e-04 5.84460607e+00] [ 2.18895576e-02 -5.85691163e-04 9.99760223e-01 3.73201453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.839254154 meters 0.018659165580520387 Centerline is valid? [True, True] Translation: X:543.36, Y:5.84, Z:3.73 [[ 9.98737622e-01 -4.53717399e-02 -2.15538210e-02 5.43360266e+02] [ 4.53738060e-02 9.98970001e-01 -3.93430738e-04 5.84292199e+00] [ 2.15494713e-02 -5.85044815e-04 9.99767612e-01 3.73201285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8692541539999 meters 0.018820780529786262 Centerline is valid? [True, True] Translation: X:543.39, Y:5.84, Z:3.73 [[ 9.98761479e-01 -4.51628947e-02 -2.08763335e-02 5.43390629e+02] [ 4.51647899e-02 9.98979478e-01 -3.80941894e-04 5.84071110e+00] [ 2.08722332e-02 -5.62405128e-04 9.99781993e-01 3.73290092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8992541539999 meters 0.019398840827731707 Centerline is valid? [True, True] Translation: X:543.42, Y:5.84, Z:3.73 [[ 9.98793044e-01 -4.43696306e-02 -2.10663650e-02 5.43421162e+02] [ 4.43713841e-02 9.99015031e-01 -3.84409501e-04 5.84035972e+00] [ 2.10626714e-02 -5.50798236e-04 9.99778006e-01 3.73264869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.929254154 meters 0.01881028055777196 Centerline is valid? [True, True] Translation: X:543.45, Y:5.84, Z:3.73 [[ 9.98830986e-01 -4.33868012e-02 -2.13130783e-02 5.43450311e+02] [ 4.33883670e-02 9.99058206e-01 -3.89167334e-04 5.84029313e+00] [ 2.13098905e-02 -5.36027273e-04 9.99772775e-01 3.73294032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.959254154 meters 0.018252370052172298 Centerline is valid? [True, True] Translation: X:543.48, Y:5.84, Z:3.73 [[ 9.98874420e-01 -4.19414796e-02 -2.21541310e-02 5.43480968e+02] [ 4.19428135e-02 9.99119931e-01 -4.04652683e-04 5.84142495e+00] [ 2.21516056e-02 -5.25009371e-04 9.99754485e-01 3.73302199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9892541539999 meters 0.01781350699338669 Centerline is valid? [True, True] Translation: X:543.51, Y:5.84, Z:3.73 [[ 9.98904143e-01 -4.07613107e-02 -2.30006354e-02 5.43511815e+02] [ 4.07624360e-02 9.99168778e-01 -4.20114373e-04 5.84245782e+00] [ 2.29986412e-02 -5.17907942e-04 9.99735362e-01 3.73297933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0192541539999 meters 0.01744749947422675 Centerline is valid? [True, True] Translation: X:543.54, Y:5.84, Z:3.73 [[ 9.98977112e-01 -3.82357858e-02 -2.41403132e-02 5.43540250e+02] [ 3.82362661e-02 9.99268629e-01 -4.41855431e-04 5.84211482e+00] [ 2.41395524e-02 -4.81631979e-04 9.99708483e-01 3.73142823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.049254154 meters 0.016902507860905414 Centerline is valid? [True, True] Translation: X:543.57, Y:5.84, Z:3.73 [[ 9.98962562e-01 -3.82604434e-02 -2.46969306e-02 5.43568805e+02] [ 3.82608315e-02 9.99267682e-01 -4.56994715e-04 5.84290207e+00] [ 2.46963294e-02 -4.88404490e-04 9.99694880e-01 3.73202976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.079254154 meters 0.017203777030889617 Centerline is valid? [True, True] Translation: X:543.60, Y:5.84, Z:3.73 [[ 9.98952362e-01 -3.83820506e-02 -2.49198205e-02 5.43596395e+02] [ 3.83823060e-02 9.99263018e-01 -4.68241546e-04 5.84259050e+00] [ 2.49194271e-02 -4.88729178e-04 9.99689343e-01 3.73186385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1092541539999 meters 0.01827590367744062 Centerline is valid? [True, True] Translation: X:543.62, Y:5.84, Z:3.73 [[ 9.98937887e-01 -3.85605819e-02 -2.52225824e-02 5.43624648e+02] [ 3.85608059e-02 9.99256141e-01 -4.77679635e-04 5.83917483e+00] [ 2.52222399e-02 -4.95430817e-04 9.99681746e-01 3.72928032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1392541539999 meters 0.017491705500659947 Centerline is valid? [True, True] Translation: X:543.65, Y:5.84, Z:3.73 [[ 9.98873563e-01 -4.00167870e-02 -2.55002405e-02 5.43653742e+02] [ 4.00173563e-02 9.99198866e-01 -4.88190255e-04 5.83855972e+00] [ 2.54993472e-02 -5.32811870e-04 9.99674697e-01 3.73050621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1692541539999 meters 0.017631455992668243 Centerline is valid? [True, True] Translation: X:543.68, Y:5.84, Z:3.73 [[ 9.98822329e-01 -4.12897170e-02 -2.54777247e-02 5.43682316e+02] [ 4.12905363e-02 9.99147060e-01 -4.94146383e-04 5.83871608e+00] [ 2.54763969e-02 -5.58424474e-04 9.99675268e-01 3.73129111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.199254154 meters 0.017631455992668243 Centerline is valid? [True, True] Translation: X:543.71, Y:5.84, Z:3.73 [[ 9.98810405e-01 -4.15772424e-02 -2.54775861e-02 5.43709731e+02] [ 4.15779747e-02 9.99135136e-01 -5.01227548e-04 5.83932784e+00] [ 2.54763911e-02 -5.58675139e-04 9.99675268e-01 3.73148157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2292541539999 meters 0.017525818624790582 Centerline is valid? [True, True] Translation: X:543.74, Y:5.84, Z:3.73 [[ 9.98766329e-01 -4.28244787e-02 -2.51372881e-02 5.43738555e+02] [ 4.28254203e-02 9.99082445e-01 -5.01131338e-04 5.83931834e+00] [ 2.51356839e-02 -5.76001819e-04 9.99683883e-01 3.73232513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2592541539999 meters 0.01774763318317923 Centerline is valid? [True, True] Translation: X:543.77, Y:5.84, Z:3.73 [[ 9.98683408e-01 -4.49785609e-02 -2.46653427e-02 5.43766966e+02] [ 4.49799693e-02 9.98987765e-01 -4.97984304e-04 5.83828635e+00] [ 2.46627742e-02 -6.12117696e-04 9.99695640e-01 3.73384106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2892541539999 meters 0.01800676139994937 Centerline is valid? [True, True] Translation: X:543.80, Y:5.84, Z:3.73 [[ 9.98648352e-01 -4.59903907e-02 -2.42147100e-02 5.43796273e+02] [ 4.59919880e-02 9.98941688e-01 -4.91251628e-04 5.83769170e+00] [ 2.42116761e-02 -6.23095022e-04 9.99706660e-01 3.73465292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.319254154 meters 0.01826935151395616 Centerline is valid? [True, True] Translation: X:543.83, Y:5.84, Z:3.74 [[ 9.98632667e-01 -4.67451535e-02 -2.34027035e-02 5.43825983e+02] [ 4.67468328e-02 9.98906656e-01 -4.75616828e-04 5.83709713e+00] [ 2.33993491e-02 -6.19035765e-04 9.99726006e-01 3.73523489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3492541539999 meters 0.01870418660358987 Centerline is valid? [True, True] Translation: X:543.86, Y:5.84, Z:3.74 [[ 9.98599451e-01 -4.75873116e-02 -2.31210645e-02 5.43855769e+02] [ 4.75891569e-02 9.98866883e-01 -4.70722631e-04 5.83647137e+00] [ 2.31172660e-02 -6.30248604e-04 9.99732562e-01 3.73581973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3792541539999 meters 0.01854380533449258 Centerline is valid? [True, True] Translation: X:543.89, Y:5.84, Z:3.74 [[ 9.98568207e-01 -4.87516776e-02 -2.20184167e-02 5.43885949e+02] [ 4.87536285e-02 9.98810734e-01 -4.48510942e-04 5.83593875e+00] [ 2.20140966e-02 -6.25608941e-04 9.99757465e-01 3.73749219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4092541539999 meters 0.018846857444476433 Centerline is valid? [True, True] Translation: X:543.92, Y:5.84, Z:3.74 [[ 9.98550706e-01 -4.94789018e-02 -2.11737227e-02 5.43916604e+02] [ 4.94808691e-02 9.98774978e-01 -4.31304687e-04 5.83546512e+00] [ 2.11691249e-02 -6.17014604e-04 9.99775719e-01 3.73786716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.439254154 meters 0.01817988618278873 Centerline is valid? [True, True] Translation: X:543.95, Y:5.84, Z:3.74 [[ 9.98553657e-01 -4.96822882e-02 -2.05490938e-02 5.43946719e+02] [ 4.96841840e-02 9.98764891e-01 -4.18581115e-04 5.83619764e+00] [ 2.05445095e-02 -6.02989255e-04 9.99788757e-01 3.73900603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4692541539999 meters 0.01883005730003297 Centerline is valid? [True, True] Translation: X:543.98, Y:5.83, Z:3.74 [[ 9.98569817e-01 -4.94486930e-02 -2.03260457e-02 5.43976753e+02] [ 4.94505046e-02 9.98776490e-01 -4.13791668e-04 5.83476671e+00] [ 2.03216381e-02 -5.91933348e-04 9.99793319e-01 3.73867912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4992541539999 meters 0.01830589968762041 Centerline is valid? [True, True] Translation: X:544.01, Y:5.84, Z:3.74 [[ 9.98614347e-01 -4.84420227e-02 -2.05610188e-02 5.44008541e+02] [ 4.84436761e-02 9.98825828e-01 -4.17949730e-04 5.83507762e+00] [ 2.05571230e-02 -5.78680738e-04 9.99788513e-01 3.73936030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5292541539999 meters 0.01823952610014873 Centerline is valid? [True, True] Translation: X:544.04, Y:5.84, Z:3.74 [[ 9.98679258e-01 -4.70767622e-02 -2.05795402e-02 5.44039254e+02] [ 4.70781392e-02 9.98891122e-01 -4.17826831e-04 5.83514600e+00] [ 2.05763900e-02 -5.51571469e-04 9.99788132e-01 3.73941434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.559254154 meters 0.017934599483099112 Centerline is valid? [True, True] Translation: X:544.07, Y:5.84, Z:3.74 [[ 9.98757994e-01 -4.53570663e-02 -2.06205166e-02 5.44069594e+02] [ 4.53580851e-02 9.98970705e-01 -4.18533328e-04 5.83631807e+00] [ 2.06182754e-02 -5.17293640e-04 9.99787287e-01 3.73940662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.589254154 meters 0.016831194698546374 Centerline is valid? [True, True] Translation: X:544.10, Y:5.84, Z:3.74 [[ 9.98955979e-01 -4.08880516e-02 -2.03744935e-02 5.44099230e+02] [ 4.08881122e-02 9.99163646e-01 -4.13778507e-04 5.83867316e+00] [ 2.03743718e-02 -4.19728062e-04 9.99792333e-01 3.73981031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6192541539999 meters 0.016007799853256517 Centerline is valid? [True, True] Translation: X:544.13, Y:5.84, Z:3.74 [[ 9.99059624e-01 -3.81952605e-02 -2.05180416e-02 5.44129618e+02] [ 3.81947518e-02 9.99270227e-01 -4.16817605e-04 5.84082250e+00] [ 2.05189886e-02 -3.67255868e-04 9.99789396e-01 3.74040559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6492541539999 meters 0.01533985453013097 Centerline is valid? [True, True] Translation: X:544.16, Y:5.84, Z:3.74 [[ 9.99175011e-01 -3.52667769e-02 -2.01383354e-02 5.44159084e+02] [ 3.52656827e-02 9.99377888e-01 -4.09575958e-04 5.84293383e+00] [ 2.01402516e-02 -3.00954086e-04 9.99797119e-01 3.74069920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.679254154 meters 0.014676750916965476 Centerline is valid? [True, True] Translation: X:544.19, Y:5.85, Z:3.74 [[ 9.99284173e-01 -3.23160362e-02 -1.96676406e-02 5.44189016e+02] [ 3.23144071e-02 9.99477673e-01 -4.00715565e-04 5.84574632e+00] [ 1.96703171e-02 -2.35119421e-04 9.99806493e-01 3.74188066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.709254154 meters 0.014110459756415365 Centerline is valid? [True, True] Translation: X:544.22, Y:5.85, Z:3.74 [[ 9.99475448e-01 -2.63058895e-02 -1.88898949e-02 5.44217392e+02] [ 2.63032962e-02 9.99653934e-01 -3.85773007e-04 5.84761106e+00] [ 1.88935058e-02 -1.11295850e-04 9.99821496e-01 3.74113191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7392541539999 meters 0.013995277310616498 Centerline is valid? [True, True] Translation: X:544.24, Y:5.85, Z:3.74 [[ 9.99534280e-01 -2.40295051e-02 -1.88097252e-02 5.44244878e+02] [ 2.40265039e-02 9.99711248e-01 -3.85558682e-04 5.84885184e+00] [ 1.88135586e-02 -6.65528150e-05 9.99823007e-01 3.74058065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7692541539999 meters 0.015529444818727417 Centerline is valid? [True, True] Translation: X:544.27, Y:5.85, Z:3.74 [[ 9.99575000e-01 -2.19700497e-02 -1.91607820e-02 5.44273089e+02] [ 2.19664803e-02 9.99758629e-01 -3.96761455e-04 5.85020371e+00] [ 1.91648740e-02 -2.43021085e-05 9.99816337e-01 3.74032542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.799254154 meters 0.013768576640987832 Centerline is valid? [True, True] Translation: X:544.30, Y:5.85, Z:3.74 [[ 9.99601497e-01 -2.15713236e-02 -1.82078217e-02 5.44301785e+02] [ 2.15679497e-02 9.99767312e-01 -3.81666546e-04 5.85043403e+00] [ 1.82118180e-02 -1.11909317e-05 9.99834151e-01 3.74149399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.829254154 meters 0.013867976589237954 Centerline is valid? [True, True] Translation: X:544.33, Y:5.85, Z:3.74 [[ 9.99601287e-01 -2.18009498e-02 -1.79439424e-02 5.44330117e+02] [ 2.17976229e-02 9.99762331e-01 -3.80990338e-04 5.84893848e+00] [ 1.79479836e-02 -1.02968580e-05 9.99838922e-01 3.74129153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8592541539999 meters 0.013972173253936777 Centerline is valid? [True, True] Translation: X:544.36, Y:5.85, Z:3.74 [[ 9.99568755e-01 -2.35472683e-02 -1.75451120e-02 5.44357751e+02] [ 2.35442676e-02 9.99722724e-01 -3.77598632e-04 5.84806172e+00] [ 1.75491385e-02 -3.56510161e-05 9.99846001e-01 3.74212248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8892541539999 meters 0.01656193318792438 Centerline is valid? [True, True] Translation: X:544.39, Y:5.84, Z:3.74 [[ 9.99471581e-01 -2.71454861e-02 -1.78796212e-02 5.44385714e+02] [ 2.71428810e-02 9.99631489e-01 -3.88402590e-04 5.84384605e+00] [ 1.78835758e-02 -9.71070814e-05 9.99840071e-01 3.74162603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9192541539999 meters 0.014353979373233438 Centerline is valid? [True, True] Translation: X:544.41, Y:5.84, Z:3.74 [[ 9.99364535e-01 -3.14665847e-02 -1.67445551e-02 5.44414907e+02] [ 3.14648489e-02 9.99504792e-01 -3.67169233e-04 5.84132144e+00] [ 1.67478166e-02 -1.59928986e-04 9.99859733e-01 3.74255876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.949254154 meters 0.017374739947806212 Centerline is valid? [True, True] Translation: X:544.44, Y:5.84, Z:3.74 [[ 9.99260799e-01 -3.44603375e-02 -1.70394121e-02 5.44443489e+02] [ 3.44589319e-02 9.99406044e-01 -3.76171314e-04 5.83577319e+00] [ 1.70422544e-02 -2.11266694e-04 9.99854748e-01 3.74017099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9792541539999 meters 0.01731370869947642 Centerline is valid? [True, True] Translation: X:544.47, Y:5.83, Z:3.74 [[ 9.99086633e-01 -3.96201683e-02 -1.60044665e-02 5.44473104e+02] [ 3.96195778e-02 9.99214774e-01 -3.54083665e-04 5.83117623e+00] [ 1.60059282e-02 -2.80329948e-04 9.99871858e-01 3.74099039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0092541539999 meters 0.0169071344470737 Centerline is valid? [True, True] Translation: X:544.50, Y:5.83, Z:3.74 [[ 9.98727468e-01 -4.81072396e-02 -1.51372996e-02 5.44504063e+02] [ 4.81076863e-02 9.98842099e-01 -3.34827470e-04 5.82872352e+00] [ 1.51358797e-02 -3.93819069e-04 9.99885368e-01 3.74394098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0392541539999 meters 0.018311264150447065 Centerline is valid? [True, True] Translation: X:544.53, Y:5.82, Z:3.74 [[ 9.98531102e-01 -5.21655406e-02 -1.46422051e-02 5.44534638e+02] [ 5.21663999e-02 9.98638354e-01 -3.23501436e-04 5.82499684e+00] [ 1.46391432e-02 -4.40804881e-04 9.99892745e-01 3.74395430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.069254154 meters 0.019988610623246823 Centerline is valid? [True, True] Translation: X:544.57, Y:5.82, Z:3.74 [[ 9.98366122e-01 -5.53254311e-02 -1.42892870e-02 5.44566417e+02] [ 5.53265804e-02 9.98468262e-01 -3.15168296e-04 5.82188362e+00] [ 1.42848364e-02 -4.75924035e-04 9.99897853e-01 3.74408573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0992541539999 meters 0.02029718684855765 Centerline is valid? [True, True] Translation: X:544.60, Y:5.82, Z:3.74 [[ 9.98139661e-01 -5.94319225e-02 -1.36038471e-02 5.44597529e+02] [ 5.94333516e-02 9.98232231e-01 -2.99558211e-04 5.81958007e+00] [ 1.35976019e-02 -5.09521295e-04 9.99907419e-01 3.74444526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1292541539999 meters 0.023226561815761132 Centerline is valid? [True, True] Translation: X:544.63, Y:5.81, Z:3.74 [[ 9.97772453e-01 -6.53260300e-02 -1.35145116e-02 5.44627307e+02] [ 6.53279813e-02 9.97863802e-01 -2.97489023e-04 5.81331157e+00] [ 1.35050757e-02 -5.86049410e-04 9.99908631e-01 3.74382324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1592541539999 meters 0.024269098733441314 Centerline is valid? [True, True] Translation: X:544.66, Y:5.81, Z:3.74 [[ 9.97616699e-01 -6.77381383e-02 -1.31326491e-02 5.44659027e+02] [ 6.77401973e-02 9.97702953e-01 -2.88493290e-04 5.81184407e+00] [ 1.31220248e-02 -6.01802516e-04 9.99913721e-01 3.74363289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.189254154 meters 0.026415624226012294 Centerline is valid? [True, True] Translation: X:544.69, Y:5.81, Z:3.74 [[ 9.97545869e-01 -6.86044915e-02 -1.39879494e-02 5.44691159e+02] [ 6.86069298e-02 9.97643722e-01 -3.06034014e-04 5.81019467e+00] [ 1.39759852e-02 -6.54387299e-04 9.99902117e-01 3.74291615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2192541539999 meters 0.025243208349169842 Centerline is valid? [True, True] Translation: X:544.72, Y:5.81, Z:3.74 [[ 9.97349244e-01 -7.14232616e-02 -1.38997687e-02 5.44722029e+02] [ 7.14259510e-02 9.97445859e-01 -3.03474290e-04 5.81078711e+00] [ 1.38859419e-02 -6.90134347e-04 9.99903347e-01 3.74351998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2492541539999 meters 0.025569174277810944 Centerline is valid? [True, True] Translation: X:544.75, Y:5.81, Z:3.74 [[ 9.97232285e-01 -7.30868633e-02 -1.36410982e-02 5.44754081e+02] [ 7.30896173e-02 9.97325333e-01 -2.97202900e-04 5.81065695e+00] [ 1.36263345e-02 -7.00642321e-04 9.99906912e-01 3.74359593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2792541539999 meters 0.028094535305981636 Centerline is valid? [True, True] Translation: X:544.78, Y:5.81, Z:3.74 [[ 9.97021764e-01 -7.59564174e-02 -1.33500646e-02 5.44784236e+02] [ 7.59593183e-02 9.97110875e-01 -2.90358517e-04 5.80730767e+00] [ 1.33335492e-02 -7.24568047e-04 9.99910842e-01 3.74307292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.309254154 meters 0.029833468535910686 Centerline is valid? [True, True] Translation: X:544.82, Y:5.81, Z:3.74 [[ 9.96984972e-01 -7.64164136e-02 -1.34720967e-02 5.44816512e+02] [ 7.64194161e-02 9.97075718e-01 -2.92536508e-04 5.80663588e+00] [ 1.34550551e-02 -7.37875260e-04 9.99909204e-01 3.74262089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.339254154 meters 0.030663975611736317 Centerline is valid? [True, True] Translation: X:544.85, Y:5.80, Z:3.74 [[ 9.96817957e-01 -7.87081930e-02 -1.26087902e-02 5.44846464e+02] [ 7.87110116e-02 9.96897438e-01 -2.73318732e-04 5.80497274e+00] [ 1.25911831e-02 -7.20001613e-04 9.99920469e-01 3.74318777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3692541539999 meters 0.03087445500162109 Centerline is valid? [True, True] Translation: X:544.88, Y:5.81, Z:3.74 [[ 9.96722382e-01 -7.99265519e-02 -1.24996047e-02 5.44878968e+02] [ 7.99294223e-02 9.96800489e-01 -2.70550779e-04 5.80573701e+00] [ 1.24812362e-02 -7.29422164e-04 9.99921840e-01 3.74339566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3992541539999 meters 0.0319732875763413 Centerline is valid? [True, True] Translation: X:544.91, Y:5.81, Z:3.74 [[ 9.96616901e-01 -8.13456300e-02 -1.17320591e-02 5.44910537e+02] [ 8.13482652e-02 9.96685706e-01 -2.53211063e-04 5.80648943e+00] [ 1.17137732e-02 -7.02028229e-04 9.99931145e-01 3.74419236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.429254154 meters 0.03316935307643552 Centerline is valid? [True, True] Translation: X:544.94, Y:5.81, Z:3.74 [[ 9.96584698e-01 -8.17197903e-02 -1.18665843e-02 5.44941521e+02] [ 8.17225203e-02 9.96655088e-01 -2.55474499e-04 5.80652642e+00] [ 1.18477690e-02 -7.15165203e-04 9.99929557e-01 3.74394802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.459254154 meters 0.03392678918384344 Centerline is valid? [True, True] Translation: X:544.97, Y:5.81, Z:3.74 [[ 9.96575247e-01 -8.18240667e-02 -1.19414987e-02 5.44973639e+02] [ 8.18268474e-02 9.96646528e-01 -2.56363083e-04 5.80734706e+00] [ 1.19224299e-02 -7.21650088e-04 9.99928665e-01 3.74386194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4892541539999 meters 0.030939215498575933 Centerline is valid? [True, True] Translation: X:545.01, Y:5.82, Z:3.74 [[ 9.96558600e-01 -8.19460860e-02 -1.24818228e-02 5.45006150e+02] [ 8.19491450e-02 9.96636477e-01 -2.67048135e-04 5.81504953e+00] [ 1.24617235e-02 -7.56745593e-04 9.99922063e-01 3.74370250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5192541539999 meters 0.0316529709502755 Centerline is valid? [True, True] Translation: X:545.04, Y:5.82, Z:3.74 [[ 9.96595057e-01 -8.14847119e-02 -1.25910170e-02 5.45037540e+02] [ 8.14877982e-02 9.96674303e-01 -2.68565938e-04 5.81614298e+00] [ 1.25710271e-02 -7.58362764e-04 9.99920694e-01 3.74370748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.549254154 meters 0.029321837688970967 Centerline is valid? [True, True] Translation: X:545.07, Y:5.82, Z:3.74 [[ 9.96622964e-01 -8.11213845e-02 -1.27274537e-02 5.45069573e+02] [ 8.11245189e-02 9.96703938e-01 -2.70664408e-04 5.82178562e+00] [ 1.27074599e-02 -7.62758196e-04 9.99918966e-01 3.74396776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.579254154 meters 0.029366893602016903 Centerline is valid? [True, True] Translation: X:545.10, Y:5.83, Z:3.74 [[ 9.96785257e-01 -7.90484367e-02 -1.30574436e-02 5.45101059e+02] [ 7.90515684e-02 9.96870490e-01 -2.76921304e-04 5.82637965e+00] [ 1.30384704e-02 -7.56180320e-04 9.99914710e-01 3.74341013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6092541539999 meters 0.02892953924302418 Centerline is valid? [True, True] Translation: X:545.13, Y:5.83, Z:3.74 [[ 9.96929790e-01 -7.73450268e-02 -1.21959389e-02 5.45131696e+02] [ 7.73476372e-02 9.97004151e-01 -2.58206830e-04 5.82983646e+00] [ 1.21793728e-02 -6.85912980e-04 9.99925593e-01 3.74473090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6392541539999 meters 0.027493280899518847 Centerline is valid? [True, True] Translation: X:545.16, Y:5.83, Z:3.75 [[ 9.96995626e-01 -7.65702289e-02 -1.16927869e-02 5.45163688e+02] [ 7.65725822e-02 9.97063979e-01 -2.46950653e-04 5.83354921e+00] [ 1.16773657e-02 -6.49138168e-04 9.99931607e-01 3.74588504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6692541539999 meters 0.02746752562209497 Centerline is valid? [True, True] Translation: X:545.20, Y:5.84, Z:3.75 [[ 9.97105131e-01 -7.51859335e-02 -1.13328778e-02 5.45195728e+02] [ 7.51880643e-02 9.97169343e-01 -2.38524861e-04 5.83641721e+00] [ 1.13187320e-02 -6.14262780e-04 9.99935752e-01 3.74642691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.699254154 meters 0.02543605362355706 Centerline is valid? [True, True] Translation: X:545.23, Y:5.84, Z:3.75 [[ 9.97348261e-01 -7.20176568e-02 -1.04835086e-02 5.45227120e+02] [ 7.20193126e-02 9.97403213e-01 -2.19975757e-04 5.84321179e+00] [ 1.04721273e-02 -5.35622646e-04 9.99945022e-01 3.74717810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7292541539999 meters 0.02592249746394679 Centerline is valid? [True, True] Translation: X:545.26, Y:5.85, Z:3.75 [[ 9.97501758e-01 -6.98755755e-02 -1.03753196e-02 5.45258213e+02] [ 6.98770870e-02 9.97555585e-01 -2.17193075e-04 5.84614899e+00] [ 1.03651345e-02 -5.08346638e-04 9.99946151e-01 3.74667000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7592541539999 meters 0.026464139226913354 Centerline is valid? [True, True] Translation: X:545.29, Y:5.85, Z:3.75 [[ 9.97561210e-01 -6.89611970e-02 -1.07696719e-02 5.45289781e+02] [ 6.89627814e-02 9.97619208e-01 -2.24626874e-04 5.84640028e+00] [ 1.07595221e-02 -5.18627475e-04 9.99941980e-01 3.74702687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7892541539999 meters 0.026694426052699814 Centerline is valid? [True, True] Translation: X:545.32, Y:5.85, Z:3.75 [[ 9.97701803e-01 -6.68876291e-02 -1.08239167e-02 5.45321179e+02] [ 6.68891200e-02 9.97760390e-01 -2.24617428e-04 5.85004949e+00] [ 1.08146994e-02 -4.99901049e-04 9.99941394e-01 3.74620258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.819254154 meters 0.02439185421399758 Centerline is valid? [True, True] Translation: X:545.35, Y:5.86, Z:3.75 [[ 9.97827443e-01 -6.48892803e-02 -1.13918888e-02 5.45352784e+02] [ 6.48908076e-02 9.97892343e-01 -2.35893385e-04 5.85530205e+00] [ 1.13831856e-02 -5.03847974e-04 9.99935083e-01 3.74702154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8492541539999 meters 0.024202943321918646 Centerline is valid? [True, True] Translation: X:545.38, Y:5.86, Z:3.75 [[ 9.97905207e-01 -6.35836272e-02 -1.19297629e-02 5.45384694e+02] [ 6.35852181e-02 9.97976382e-01 -2.46272290e-04 5.85753640e+00] [ 1.19212805e-02 -5.12800172e-04 9.99928808e-01 3.74701665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8792541539999 meters 0.023040860150697205 Centerline is valid? [True, True] Translation: X:545.42, Y:5.86, Z:3.75 [[ 9.97990337e-01 -6.22382901e-02 -1.19030533e-02 5.45416445e+02] [ 6.22397887e-02 9.98061195e-01 -2.44854450e-04 5.86147945e+00] [ 1.18952149e-02 -4.96481145e-04 9.99929126e-01 3.74719093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9092541539999 meters 0.02291568944657514 Centerline is valid? [True, True] Translation: X:545.45, Y:5.86, Z:3.75 [[ 9.98195936e-01 -5.88709059e-02 -1.17936105e-02 5.45446583e+02] [ 5.88721494e-02 9.98265501e-01 -2.42008658e-04 5.86450270e+00] [ 1.17874018e-02 -4.52743141e-04 9.99930424e-01 3.74755235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.939254154 meters 0.021684209343567705 Centerline is valid? [True, True] Translation: X:545.48, Y:5.87, Z:3.75 [[ 9.98292466e-01 -5.73038480e-02 -1.13323070e-02 5.45479135e+02] [ 5.73049020e-02 9.98356697e-01 -2.31942671e-04 5.86855748e+00] [ 1.13269758e-02 -4.17850119e-04 9.99935760e-01 3.74836093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9692541539999 meters 0.022177439188903025 Centerline is valid? [True, True] Translation: X:545.51, Y:5.87, Z:3.75 [[ 9.98398542e-01 -5.54490962e-02 -1.12138051e-02 5.45509975e+02] [ 5.54500224e-02 9.98461438e-01 -2.28541212e-04 5.86947059e+00] [ 1.12092244e-02 -3.93630533e-04 9.99937097e-01 3.74856900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9992541539999 meters 0.02060209909106478 Centerline is valid? [True, True] Translation: X:545.54, Y:5.87, Z:3.75 [[ 9.98492438e-01 -5.37361255e-02 -1.11928153e-02 5.45541675e+02] [ 5.37369484e-02 9.98555100e-01 -2.27422290e-04 5.87418262e+00] [ 1.11888636e-02 -3.74388301e-04 9.99937333e-01 3.74911463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0292541539999 meters 0.0196419159111669 Centerline is valid? [True, True] Translation: X:545.57, Y:5.88, Z:3.75 [[ 9.98575771e-01 -5.21619245e-02 -1.12055144e-02 5.45573439e+02] [ 5.21626596e-02 9.98638576e-01 -2.26850312e-04 5.87705809e+00] [ 1.12020919e-02 -3.57982210e-04 9.99937191e-01 3.74962343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.059254154 meters 0.018815725877464 Centerline is valid? [True, True] Translation: X:545.60, Y:5.88, Z:3.75 [[ 9.98745574e-01 -4.87315093e-02 -1.15116402e-02 5.45604729e+02] [ 4.87320656e-02 9.98811860e-01 -2.32347356e-04 5.88085931e+00] [ 1.15092854e-02 -3.28930109e-04 9.99933712e-01 3.74958984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.089254154 meters 0.018815725877464 Centerline is valid? [True, True] Translation: X:545.64, Y:5.88, Z:3.75 [[ 9.98749181e-01 -4.86575317e-02 -1.15116522e-02 5.45636426e+02] [ 4.86580899e-02 9.98815467e-01 -2.31749932e-04 5.88143966e+00] [ 1.15092926e-02 -3.28674952e-04 9.99933712e-01 3.74980946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1192541539999 meters 0.01995506357911953 Centerline is valid? [True, True] Translation: X:545.67, Y:5.88, Z:3.75 [[ 9.98867956e-01 -4.60980005e-02 -1.17380222e-02 5.45667282e+02] [ 4.60984135e-02 9.98936875e-01 -2.35518161e-04 5.88270308e+00] [ 1.17364002e-02 -3.05852659e-04 9.99931079e-01 3.74887830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1492541539999 meters 0.018406583030427394 Centerline is valid? [True, True] Translation: X:545.70, Y:5.88, Z:3.75 [[ 9.98957939e-01 -4.40933081e-02 -1.17819990e-02 5.45699071e+02] [ 4.40935935e-02 9.99027377e-01 -2.35665532e-04 5.88461589e+00] [ 1.17809309e-02 -2.84090722e-04 9.99930562e-01 3.74959973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.179254154 meters 0.01735845588079305 Centerline is valid? [True, True] Translation: X:545.73, Y:5.89, Z:3.75 [[ 9.99129040e-01 -3.98710223e-02 -1.23070021e-02 5.45730941e+02] [ 3.98710236e-02 9.99204804e-01 -2.45349197e-04 5.88851596e+00] [ 1.23069980e-02 -2.45557265e-04 9.99924236e-01 3.75006264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.209254154 meters 0.017036911083337547 Centerline is valid? [True, True] Translation: X:545.76, Y:5.89, Z:3.75 [[ 9.99208792e-01 -3.78234347e-02 -1.22954202e-02 5.45763154e+02] [ 3.78232905e-02 9.99284413e-01 -2.44350210e-04 5.89039291e+00] [ 1.22958640e-02 -2.20896373e-04 9.99924379e-01 3.75044346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2392541539999 meters 0.016597168727757364 Centerline is valid? [True, True] Translation: X:545.80, Y:5.89, Z:3.75 [[ 9.99268484e-01 -3.62006259e-02 -1.23292986e-02 5.45795793e+02] [ 3.62003697e-02 9.99344522e-01 -2.44022947e-04 5.89215092e+00] [ 1.23300508e-02 -2.02480727e-04 9.99923962e-01 3.75087781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2692541539999 meters 0.016376878061867814 Centerline is valid? [True, True] Translation: X:545.83, Y:5.89, Z:3.75 [[ 9.99333024e-01 -3.42189830e-02 -1.27502110e-02 5.45826764e+02] [ 3.42185657e-02 9.99414342e-01 -2.50945925e-04 5.89272064e+00] [ 1.27513308e-02 -1.85515382e-04 9.99918681e-01 3.75118641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.299254154 meters 0.016115816835261924 Centerline is valid? [True, True] Translation: X:545.86, Y:5.89, Z:3.75 [[ 9.99349041e-01 -3.37717421e-02 -1.26871176e-02 5.45859076e+02] [ 3.37713096e-02 9.99429556e-01 -2.48385100e-04 5.89324981e+00] [ 1.26882687e-02 -1.80237164e-04 9.99919484e-01 3.75163071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.329254154 meters 0.016061897916733327 Centerline is valid? [True, True] Translation: X:545.89, Y:5.89, Z:3.75 [[ 9.99336968e-01 -3.41292428e-02 -1.26814185e-02 5.45890880e+02] [ 3.41288488e-02 9.99417410e-01 -2.47540045e-04 5.89263643e+00] [ 1.26824788e-02 -1.85426296e-04 9.99919557e-01 3.75191361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3592541539999 meters 0.018907218374352674 Centerline is valid? [True, True] Translation: X:545.92, Y:5.89, Z:3.75 [[ 9.99345014e-01 -3.39460115e-02 -1.25383917e-02 5.45922011e+02] [ 3.39456240e-02 9.99423651e-01 -2.43786244e-04 5.88997920e+00] [ 1.25394408e-02 -1.81996964e-04 9.99921362e-01 3.74962796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3892541539999 meters 0.01691465822307142 Centerline is valid? [True, True] Translation: X:545.95, Y:5.89, Z:3.75 [[ 9.99220377e-01 -3.74802043e-02 -1.24045021e-02 5.45953132e+02] [ 3.74801104e-02 9.99297345e-01 -2.40119737e-04 5.88801761e+00] [ 1.24047857e-02 -2.24989573e-04 9.99923032e-01 3.75163867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4192541539999 meters 0.017237852747285613 Centerline is valid? [True, True] Translation: X:545.99, Y:5.89, Z:3.75 [[ 9.99151506e-01 -3.93167875e-02 -1.22661663e-02 5.45985019e+02] [ 3.93168419e-02 9.99226766e-01 -2.36799189e-04 5.88647692e+00] [ 1.22659918e-02 -2.45668654e-04 9.99924740e-01 3.75158054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.449254154 meters 0.017585315008683104 Centerline is valid? [True, True] Translation: X:546.02, Y:5.88, Z:3.75 [[ 9.99074394e-01 -4.10962823e-02 -1.27063430e-02 5.46016835e+02] [ 4.10964966e-02 9.99155152e-01 -2.44344836e-04 5.88478953e+00] [ 1.27056498e-02 -2.78067516e-04 9.99919241e-01 3.75165890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4792541539999 meters 0.01889355422374211 Centerline is valid? [True, True] Translation: X:546.05, Y:5.88, Z:3.75 [[ 9.98901830e-01 -4.50212441e-02 -1.29700323e-02 5.46048344e+02] [ 4.50218090e-02 9.98985973e-01 -2.48565466e-04 5.87966204e+00] [ 1.29680710e-02 -3.35641817e-04 9.99915855e-01 3.75156511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5092541539999 meters 0.019244396915107615 Centerline is valid? [True, True] Translation: X:546.08, Y:5.88, Z:3.75 [[ 9.98819259e-01 -4.67814402e-02 -1.30990077e-02 5.46080173e+02] [ 4.67821786e-02 9.98905083e-01 -2.50207833e-04 5.87802720e+00] [ 1.30963704e-02 -3.62887714e-04 9.99914173e-01 3.75213652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5392541539999 meters 0.019373726407085273 Centerline is valid? [True, True] Translation: X:546.11, Y:5.88, Z:3.75 [[ 9.98736027e-01 -4.85578482e-02 -1.29801099e-02 5.46112630e+02] [ 4.85587354e-02 9.98820298e-01 -2.46994929e-04 5.87717309e+00] [ 1.29767908e-02 -3.83614986e-04 9.99915724e-01 3.75286156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.569254154 meters 0.020604726310416443 Centerline is valid? [True, True] Translation: X:546.14, Y:5.88, Z:3.75 [[ 9.98668741e-01 -4.98918086e-02 -1.30978186e-02 5.46144308e+02] [ 4.98928376e-02 9.98754546e-01 -2.48381320e-04 5.87539949e+00] [ 1.30938981e-02 -4.05436678e-04 9.99914189e-01 3.75251251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5992541539999 meters 0.021160872291876145 Centerline is valid? [True, True] Translation: X:546.18, Y:5.87, Z:3.75 [[ 9.98558633e-01 -5.20439894e-02 -1.31179261e-02 5.46175288e+02] [ 5.20452165e-02 9.98644699e-01 -2.48043255e-04 5.87180764e+00] [ 1.31130565e-02 -4.35039572e-04 9.99913926e-01 3.75315653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6292541539999 meters 0.02145770552035915 Centerline is valid? [True, True] Translation: X:546.21, Y:5.87, Z:3.75 [[ 9.98521424e-01 -5.28030004e-02 -1.29154905e-02 5.46207478e+02] [ 5.28042637e-02 9.98604852e-01 -2.43413020e-04 5.87070236e+00] [ 1.29103245e-02 -4.38939853e-04 9.99916562e-01 3.75353970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6592541539999 meters 0.021914832772842424 Centerline is valid? [True, True] Translation: X:546.24, Y:5.87, Z:3.75 [[ 9.98508605e-01 -5.30102035e-02 -1.30569656e-02 5.46238584e+02] [ 5.30115281e-02 9.98593870e-01 -2.44869316e-04 5.86926167e+00] [ 1.30515863e-02 -4.47665578e-04 9.99914724e-01 3.75359523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.689254154 meters 0.021389084105802095 Centerline is valid? [True, True] Translation: X:546.27, Y:5.87, Z:3.75 [[ 9.98490502e-01 -5.32148586e-02 -1.35976254e-02 5.46271160e+02] [ 5.32163322e-02 9.98582975e-01 -2.53691806e-04 5.86803627e+00] [ 1.35918574e-02 -4.70306892e-04 9.99907516e-01 3.75334044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7192541539999 meters 0.022353248898321843 Centerline is valid? [True, True] Translation: X:546.30, Y:5.87, Z:3.75 [[ 9.98494613e-01 -5.31127190e-02 -1.36947964e-02 5.46302853e+02] [ 5.31142160e-02 9.98588411e-01 -2.54630425e-04 5.86553503e+00] [ 1.36889891e-02 -4.73141266e-04 9.99906189e-01 3.75292867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7492541539999 meters 0.02125598920873026 Centerline is valid? [True, True] Translation: X:546.33, Y:5.87, Z:3.75 [[ 9.98508486e-01 -5.28326976e-02 -1.37662413e-02 5.46334924e+02] [ 5.28341958e-02 9.98603266e-01 -2.55083783e-04 5.86679671e+00] [ 1.37604903e-02 -4.72624966e-04 9.99905208e-01 3.75325576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7792541539999 meters 0.024083178462561118 Centerline is valid? [True, True] Translation: X:546.37, Y:5.86, Z:3.75 [[ 9.98558261e-01 -5.17172119e-02 -1.43781002e-02 5.46366013e+02] [ 5.17187515e-02 9.98661655e-01 -2.64978147e-04 5.86338774e+00] [ 1.43725613e-02 -4.79021276e-04 9.99896595e-01 3.75171165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.809254154 meters 0.0200013794157633 Centerline is valid? [True, True] Translation: X:546.40, Y:5.87, Z:3.75 [[ 9.98659987e-01 -4.97235242e-02 -1.43458062e-02 5.46397841e+02] [ 4.97248688e-02 9.98762919e-01 -2.63167358e-04 5.86723448e+00] [ 1.43411449e-02 -4.50528621e-04 9.99897059e-01 3.75418513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.839254154 meters 0.019749678498165623 Centerline is valid? [True, True] Translation: X:546.43, Y:5.87, Z:3.75 [[ 9.98742938e-01 -4.79513662e-02 -1.46017263e-02 5.46430295e+02] [ 4.79525832e-02 9.98849578e-01 -2.66955547e-04 5.86776601e+00] [ 1.45977290e-02 -4.33570528e-04 9.99893353e-01 3.75446943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8692541539999 meters 0.01949058217265391 Centerline is valid? [True, True] Translation: X:546.46, Y:5.87, Z:3.75 [[ 9.98853999e-01 -4.55975675e-02 -1.45447835e-02 5.46460537e+02] [ 4.55985418e-02 9.98959810e-01 -2.64804791e-04 5.86830232e+00] [ 1.45417286e-02 -3.98719595e-04 9.99894184e-01 3.75459842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8992541539999 meters 0.01867219314652915 Centerline is valid? [True, True] Translation: X:546.49, Y:5.87, Z:3.76 [[ 9.98966656e-01 -4.30479352e-02 -1.45772499e-02 5.46492302e+02] [ 4.30486568e-02 9.99072942e-01 -2.64422407e-04 5.87010003e+00] [ 1.45751188e-02 -3.63381862e-04 9.99893711e-01 3.75501639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.929254154 meters 0.017239545890993666 Centerline is valid? [True, True] Translation: X:546.52, Y:5.87, Z:3.76 [[ 9.99187185e-01 -3.75984436e-02 -1.45370460e-02 5.46523550e+02] [ 3.75985942e-02 9.99292888e-01 -2.63033738e-04 5.87138863e+00] [ 1.45366564e-02 -2.83752554e-04 9.99894297e-01 3.75609977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.959254154 meters 0.01710639091004633 Centerline is valid? [True, True] Translation: X:546.55, Y:5.87, Z:3.76 [[ 9.99291277e-01 -3.47237443e-02 -1.45328747e-02 5.46553746e+02] [ 3.47236023e-02 9.99396919e-01 -2.62179034e-04 5.87129598e+00] [ 1.45332141e-02 -2.42640540e-04 9.99894358e-01 3.75608122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9892541539999 meters 0.016550732805504034 Centerline is valid? [True, True] Translation: X:546.58, Y:5.87, Z:3.76 [[ 9.99376963e-01 -3.21008715e-02 -1.46703747e-02 5.46584261e+02] [ 3.21004513e-02 9.99484613e-01 -2.64176972e-04 5.87366066e+00] [ 1.46712941e-02 -2.06913268e-04 9.99892349e-01 3.75655692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0192541539999 meters 0.015849892156542963 Centerline is valid? [True, True] Translation: X:546.61, Y:5.88, Z:3.76 [[ 9.99519378e-01 -2.68072470e-02 -1.55687281e-02 5.46614367e+02] [ 2.68061316e-02 9.99640612e-01 -2.80354084e-04 5.87591045e+00] [ 1.55706484e-02 -1.37118036e-04 9.99878761e-01 3.75674612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.049254154 meters 0.015738606390525857 Centerline is valid? [True, True] Translation: X:546.64, Y:5.88, Z:3.76 [[ 9.99568621e-01 -2.46300979e-02 -1.59978139e-02 5.46643707e+02] [ 2.46286362e-02 9.99696628e-01 -2.88403661e-04 5.87688666e+00] [ 1.60000640e-02 -1.05725088e-04 9.99871985e-01 3.75673492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.079254154 meters 0.01551760282459591 Centerline is valid? [True, True] Translation: X:546.67, Y:5.88, Z:3.76 [[ 9.99598401e-01 -2.29212669e-02 -1.66628791e-02 5.46672576e+02] [ 2.29193984e-02 9.99737270e-01 -3.03116482e-04 5.87771720e+00] [ 1.66654491e-02 -7.89084135e-05 9.99861119e-01 3.75699014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1092541539999 meters 0.01695560815720576 Centerline is valid? [True, True] Translation: X:546.70, Y:5.88, Z:3.76 [[ 9.99623146e-01 -2.11588962e-02 -1.74890421e-02 5.46700543e+02] [ 2.11565194e-02 9.99776124e-01 -3.20933815e-04 5.87805469e+00] [ 1.74919173e-02 -4.91943880e-05 9.99847003e-01 3.75587779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1392541539999 meters 0.015278749227826346 Centerline is valid? [True, True] Translation: X:546.73, Y:5.88, Z:3.76 [[ 9.99643818e-01 -2.03771125e-02 -1.72340054e-02 5.46728387e+02] [ 2.03746272e-02 9.99792365e-01 -3.19799312e-04 5.87763175e+00] [ 1.72369436e-02 -3.14510304e-05 9.99851432e-01 3.75758271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1692541539999 meters 0.015372568246943863 Centerline is valid? [True, True] Translation: X:546.75, Y:5.88, Z:3.76 [[ 9.99643732e-01 -2.05974227e-02 -1.69751301e-02 5.46754940e+02] [ 2.05949755e-02 9.99787850e-01 -3.18981305e-04 5.87721599e+00] [ 1.69780990e-02 -3.07347271e-05 9.99855861e-01 3.75817473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.199254154 meters 0.015393107792822436 Centerline is valid? [True, True] Translation: X:546.78, Y:5.88, Z:3.76 [[ 9.99635390e-01 -2.13052465e-02 -1.65883573e-02 5.46782620e+02] [ 2.13029390e-02 9.99773017e-01 -3.15816047e-04 5.87678159e+00] [ 1.65913206e-02 -3.76798659e-05 9.99862354e-01 3.75923878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2292541539999 meters 0.015422920089179165 Centerline is valid? [True, True] Translation: X:546.81, Y:5.87, Z:3.76 [[ 9.99599276e-01 -2.30586722e-02 -1.64190536e-02 5.46809199e+02] [ 2.30565860e-02 9.99734112e-01 -3.16367692e-04 5.87488438e+00] [ 1.64219830e-02 -6.23264062e-05 9.99865148e-01 3.76014644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2592541539999 meters 0.015579173063790076 Centerline is valid? [True, True] Translation: X:546.84, Y:5.87, Z:3.76 [[ 9.99567308e-01 -2.46015530e-02 -1.61233149e-02 5.46837146e+02] [ 2.45996795e-02 9.99697333e-01 -3.14547539e-04 5.87352569e+00] [ 1.61261733e-02 -8.22169427e-05 9.99869961e-01 3.76039769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2892541539999 meters 0.01548062603209372 Centerline is valid? [True, True] Translation: X:546.87, Y:5.87, Z:3.76 [[ 9.99530224e-01 -2.59729347e-02 -1.62708001e-02 5.46866086e+02] [ 2.59711400e-02 9.99662641e-01 -3.21626137e-04 5.87186646e+00] [ 1.62736646e-02 -1.01096182e-04 9.99867570e-01 3.76038930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.319254154 meters 0.015798113423050764 Centerline is valid? [True, True] Translation: X:546.89, Y:5.87, Z:3.76 [[ 9.99433276e-01 -2.91172463e-02 -1.68911865e-02 5.46893904e+02] [ 2.91157174e-02 9.99575991e-01 -3.36477185e-04 5.86766292e+00] [ 1.68938218e-02 -1.55512519e-04 9.99857277e-01 3.75999840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3492541539999 meters 0.01621239768706227 Centerline is valid? [True, True] Translation: X:546.92, Y:5.87, Z:3.76 [[ 9.99374825e-01 -3.07568960e-02 -1.74348169e-02 5.46921961e+02] [ 3.07554904e-02 9.99526877e-01 -3.48806809e-04 5.86568581e+00] [ 1.74372963e-02 -1.87627600e-04 9.99847941e-01 3.75918506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3792541539999 meters 0.016392115560178205 Centerline is valid? [True, True] Translation: X:546.95, Y:5.86, Z:3.76 [[ 9.99312309e-01 -3.24308933e-02 -1.79762688e-02 5.46950320e+02] [ 3.24296421e-02 9.99473956e-01 -3.61180305e-04 5.86412985e+00] [ 1.79785259e-02 -2.22032040e-04 9.99838349e-01 3.75896709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4092541539999 meters 0.01651983671565649 Centerline is valid? [True, True] Translation: X:546.98, Y:5.86, Z:3.76 [[ 9.99235055e-01 -3.45670163e-02 -1.82872993e-02 5.46979382e+02] [ 3.45660173e-02 9.99402348e-01 -3.70801073e-04 5.86289346e+00] [ 1.82891874e-02 -2.61601675e-04 9.99832705e-01 3.75934242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.439254154 meters 0.0173287077329691 Centerline is valid? [True, True] Translation: X:547.01, Y:5.86, Z:3.76 [[ 9.99162133e-01 -3.63903099e-02 -1.87290617e-02 5.47006960e+02] [ 3.63895308e-02 9.99337608e-01 -3.82511254e-04 5.85983847e+00] [ 1.87305754e-02 -2.99351005e-04 9.99824523e-01 3.75829379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4692541539999 meters 0.019368092264195506 Centerline is valid? [True, True] Translation: X:547.04, Y:5.86, Z:3.76 [[ 9.99026001e-01 -3.98408973e-02 -1.89671480e-02 5.47035287e+02] [ 3.98406944e-02 9.99205969e-01 -3.88713374e-04 5.85510599e+00] [ 1.89675741e-02 -3.67329578e-04 9.99820032e-01 3.75771576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4992541539999 meters 0.019181582914018135 Centerline is valid? [True, True] Translation: X:547.06, Y:5.85, Z:3.76 [[ 9.98978979e-01 -4.13271179e-02 -1.82501481e-02 5.47064491e+02] [ 4.13271604e-02 9.99145598e-01 -3.74981234e-04 5.85372821e+00] [ 1.82500521e-02 -3.79628428e-04 9.99833382e-01 3.75887256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5292541539999 meters 0.019498899028359804 Centerline is valid? [True, True] Translation: X:547.09, Y:5.85, Z:3.76 [[ 9.98955242e-01 -4.18901728e-02 -1.82657635e-02 5.47092855e+02] [ 4.18902931e-02 9.99122146e-01 -3.76195500e-04 5.85278710e+00] [ 1.82654878e-02 -3.89355721e-04 9.99833096e-01 3.75916235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.559254154 meters 0.01757472161275035 Centerline is valid? [True, True] Translation: X:547.12, Y:5.86, Z:3.76 [[ 9.98984093e-01 -4.12054227e-02 -1.82453960e-02 5.47121966e+02] [ 4.12054151e-02 9.99150625e-01 -3.76512304e-04 5.85665754e+00] [ 1.82454132e-02 -3.75679314e-04 9.99833468e-01 3.76170034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.589254154 meters 0.016701557152522344 Centerline is valid? [True, True] Translation: X:547.15, Y:5.86, Z:3.76 [[ 9.99033740e-01 -4.01240451e-02 -1.79345167e-02 5.47151577e+02] [ 4.01238521e-02 9.99194645e-01 -3.70741034e-04 5.85943805e+00] [ 1.79349487e-02 -3.49219094e-04 9.99839095e-01 3.76308852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6192541539999 meters 0.016598579021659846 Centerline is valid? [True, True] Translation: X:547.18, Y:5.86, Z:3.76 [[ 9.99104903e-01 -3.83211717e-02 -1.79131233e-02 5.47181068e+02] [ 3.83206812e-02 9.99265424e-01 -3.70752575e-04 5.85978680e+00] [ 1.79141725e-02 -3.16022374e-04 9.99839478e-01 3.76293424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6492541539999 meters 0.015751676973320083 Centerline is valid? [True, True] Translation: X:547.21, Y:5.86, Z:3.76 [[ 9.99280243e-01 -3.36306838e-02 -1.75491537e-02 5.47210457e+02] [ 3.36294810e-02 9.99434303e-01 -3.63722259e-04 5.86235931e+00] [ 1.75514584e-02 -2.26708465e-04 9.99845936e-01 3.76344111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.679254154 meters 0.01578761139057698 Centerline is valid? [True, True] Translation: X:547.24, Y:5.86, Z:3.76 [[ 9.99368578e-01 -3.10463191e-02 -1.72791914e-02 5.47239360e+02] [ 3.10447174e-02 9.99517931e-01 -3.60985802e-04 5.86458659e+00] [ 1.72820689e-02 -1.75669746e-04 9.99850638e-01 3.76342468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.709254154 meters 0.015115847792463765 Centerline is valid? [True, True] Translation: X:547.27, Y:5.87, Z:3.76 [[ 9.99449553e-01 -2.84093134e-02 -1.71318741e-02 5.47266821e+02] [ 2.84072984e-02 9.99596366e-01 -3.61008744e-04 5.86653941e+00] [ 1.71352151e-02 -1.25860232e-04 9.99853174e-01 3.76384308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7392541539999 meters 0.014867735829748317 Centerline is valid? [True, True] Translation: X:547.30, Y:5.87, Z:3.76 [[ 9.99517116e-01 -2.60062606e-02 -1.70061376e-02 5.47295926e+02] [ 2.60038694e-02 9.99661777e-01 -3.61759460e-04 5.86828438e+00] [ 1.70097938e-02 -8.06406090e-05 9.99855320e-01 3.76384206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7692541539999 meters 0.014728506775930187 Centerline is valid? [True, True] Translation: X:547.32, Y:5.87, Z:3.76 [[ 9.99589945e-01 -2.28614025e-02 -1.72423458e-02 5.47324321e+02] [ 2.28583990e-02 9.99738644e-01 -3.71282964e-04 5.87061459e+00] [ 1.72463274e-02 -2.30017010e-05 9.99851271e-01 3.76413790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.799254154 meters 0.014687231353627787 Centerline is valid? [True, True] Translation: X:547.35, Y:5.87, Z:3.76 [[ 9.99606011e-01 -2.22870267e-02 -1.70619916e-02 5.47351282e+02] [ 2.22839491e-02 9.99751613e-01 -3.70499281e-04 5.87140797e+00] [ 1.70660110e-02 -9.85524440e-06 9.99854365e-01 3.76414007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.829254154 meters 0.015801543570040804 Centerline is valid? [True, True] Translation: X:547.38, Y:5.87, Z:3.76 [[ 9.99599396e-01 -2.23212883e-02 -1.74013936e-02 5.47379392e+02] [ 2.23180257e-02 9.99750849e-01 -3.81691498e-04 5.87150567e+00] [ 1.74055779e-02 -6.82615864e-06 9.99848511e-01 3.76308768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8592541539999 meters 0.014835270402556812 Centerline is valid? [True, True] Translation: X:547.41, Y:5.87, Z:3.76 [[ 9.99591047e-01 -2.32092668e-02 -1.67053485e-02 5.47407687e+02] [ 2.32063386e-02 9.99730629e-01 -3.69143851e-04 5.87078472e+00] [ 1.67094161e-02 -1.86770837e-05 9.99860388e-01 3.76354223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8892541539999 meters 0.014724489908426076 Centerline is valid? [True, True] Translation: X:547.44, Y:5.87, Z:3.76 [[ 9.99514842e-01 -2.66635244e-02 -1.60977529e-02 5.47435675e+02] [ 2.66612023e-02 9.99644463e-01 -3.58882468e-04 5.86721236e+00] [ 1.61015987e-02 -7.04770941e-05 9.99870358e-01 3.76495357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9192541539999 meters 0.014959003587434542 Centerline is valid? [True, True] Translation: X:547.46, Y:5.87, Z:3.77 [[ 9.99451517e-01 -2.90516672e-02 -1.58954519e-02 5.47463917e+02] [ 2.90496619e-02 9.99577906e-01 -3.57082069e-04 5.86523712e+00] [ 1.58991163e-02 -1.04871287e-04 9.99873596e-01 3.76516679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.949254154 meters 0.01576348230901968 Centerline is valid? [True, True] Translation: X:547.49, Y:5.86, Z:3.77 [[ 9.99364638e-01 -3.19093124e-02 -1.58781851e-02 5.47492527e+02] [ 3.19076254e-02 9.99490757e-01 -3.59630706e-04 5.86429168e+00] [ 1.58815748e-02 -1.47232972e-04 9.99873869e-01 3.76603387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9792541539999 meters 0.016408656154988186 Centerline is valid? [True, True] Translation: X:547.52, Y:5.86, Z:3.77 [[ 9.99180776e-01 -3.73406803e-02 -1.56028914e-02 5.47521483e+02] [ 3.73396504e-02 9.99302568e-01 -3.57426533e-04 5.85952378e+00] [ 1.56053560e-02 -2.25472790e-04 9.99878204e-01 3.76680644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0092541539999 meters 0.016408656154988186 Centerline is valid? [True, True] Translation: X:547.55, Y:5.86, Z:3.77 [[ 9.99179391e-01 -3.73777571e-02 -1.56028426e-02 5.47550635e+02] [ 3.73766986e-02 9.99301182e-01 -3.59549255e-04 5.86022453e+00] [ 1.56053782e-02 -2.23928538e-04 9.99878204e-01 3.76700886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0392541539999 meters 0.01597445967680494 Centerline is valid? [True, True] Translation: X:547.58, Y:5.86, Z:3.77 [[ 9.99084209e-01 -4.00927592e-02 -1.49437131e-02 5.47579634e+02] [ 4.00920837e-02 9.99195930e-01 -3.44901887e-04 5.85801173e+00] [ 1.49455254e-02 -2.54538567e-04 9.99888277e-01 3.76766515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.069254154 meters 0.01740112983162364 Centerline is valid? [True, True] Translation: X:547.61, Y:5.85, Z:3.77 [[ 9.98909831e-01 -4.42633350e-02 -1.48292509e-02 5.47609426e+02] [ 4.42631240e-02 9.99019849e-01 -3.42603328e-04 5.85243981e+00] [ 1.48298807e-02 -3.14159139e-04 9.99889982e-01 3.76699965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0992541539999 meters 0.018796589833529213 Centerline is valid? [True, True] Translation: X:547.64, Y:5.85, Z:3.77 [[ 9.98808664e-01 -4.63230871e-02 -1.53435329e-02 5.47640367e+02] [ 4.63231052e-02 9.98926446e-01 -3.54412876e-04 5.85093853e+00] [ 1.53434783e-02 -3.56769435e-04 9.99882218e-01 3.76591840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1292541539999 meters 0.01801124796581846 Centerline is valid? [True, True] Translation: X:547.67, Y:5.85, Z:3.77 [[ 9.98714271e-01 -4.84481118e-02 -1.49193108e-02 5.47671351e+02] [ 4.84483738e-02 9.98825629e-01 -3.44076724e-04 5.84886460e+00] [ 1.49184599e-02 -3.79182012e-04 9.99888642e-01 3.76730080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1592541539999 meters 0.02003522796705741 Centerline is valid? [True, True] Translation: X:547.70, Y:5.85, Z:3.77 [[ 9.98624190e-01 -5.00864746e-02 -1.55265213e-02 5.47701589e+02] [ 5.00869621e-02 9.98744796e-01 -3.57706843e-04 5.84683022e+00] [ 1.55249486e-02 -4.20461576e-04 9.99879392e-01 3.76595028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.189254154 meters 0.019504884555165955 Centerline is valid? [True, True] Translation: X:547.73, Y:5.84, Z:3.77 [[ 9.98451513e-01 -5.36972677e-02 -1.45320507e-02 5.47731988e+02] [ 5.36980767e-02 9.98557161e-01 -3.34795791e-04 5.84318317e+00] [ 1.45290609e-02 -4.46065809e-04 9.99894348e-01 3.76818306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2192541539999 meters 0.02031511902280343 Centerline is valid? [True, True] Translation: X:547.76, Y:5.84, Z:3.77 [[ 9.98380653e-01 -5.50797686e-02 -1.42229064e-02 5.47762074e+02] [ 5.50806886e-02 9.98481853e-01 -3.27330804e-04 5.84111745e+00] [ 1.42193432e-02 -4.56606735e-04 9.99898796e-01 3.76866326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2492541539999 meters 0.021071319784019833 Centerline is valid? [True, True] Translation: X:547.79, Y:5.84, Z:3.77 [[ 9.98301988e-01 -5.66478002e-02 -1.35708216e-02 5.47792942e+02] [ 5.66487913e-02 9.98394119e-01 -3.11666445e-04 5.83942418e+00] [ 1.35666837e-02 -4.57633408e-04 9.99907864e-01 3.76918120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2792541539999 meters 0.023026920745999786 Centerline is valid? [True, True] Translation: X:547.82, Y:5.84, Z:3.77 [[ 9.98244268e-01 -5.76292981e-02 -1.36837490e-02 5.47823672e+02] [ 5.76304046e-02 9.98337938e-01 -3.13776388e-04 5.83774424e+00] [ 1.36790885e-02 -4.75374511e-04 9.99906324e-01 3.76818411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.309254154 meters 0.02211913812931572 Centerline is valid? [True, True] Translation: X:547.85, Y:5.84, Z:3.77 [[ 9.98197405e-01 -5.86636773e-02 -1.26693627e-02 5.47854892e+02] [ 5.86647130e-02 9.98277700e-01 -2.90200243e-04 5.83710045e+00] [ 1.26645664e-02 -4.53567395e-04 9.99919698e-01 3.77032690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.339254154 meters 0.023158647060625568 Centerline is valid? [True, True] Translation: X:547.88, Y:5.84, Z:3.77 [[ 9.98141353e-01 -5.96591961e-02 -1.24346562e-02 5.47884913e+02] [ 5.96602750e-02 9.98218699e-01 -2.84488010e-04 5.83502093e+00] [ 1.24294786e-02 -4.57895760e-04 9.99922646e-01 3.77080821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3692541539999 meters 0.023466910142462338 Centerline is valid? [True, True] Translation: X:547.92, Y:5.83, Z:3.77 [[ 9.98146013e-01 -5.96093148e-02 -1.22990636e-02 5.47916599e+02] [ 5.96103703e-02 9.98221681e-01 -2.81080672e-04 5.83474576e+00] [ 1.22939470e-02 -4.52592184e-04 9.99924324e-01 3.77096766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3992541539999 meters 0.022767900231666832 Centerline is valid? [True, True] Translation: X:547.95, Y:5.84, Z:3.77 [[ 9.98156677e-01 -5.93221984e-02 -1.28111524e-02 5.47947987e+02] [ 5.93233258e-02 9.98238778e-01 -2.92329325e-04 5.83602983e+00] [ 1.28059307e-02 -4.68209700e-04 9.99917891e-01 3.77106064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.429254154 meters 0.02441336684817004 Centerline is valid? [True, True] Translation: X:547.98, Y:5.83, Z:3.77 [[ 9.98162265e-01 -5.90778941e-02 -1.34868746e-02 5.47978280e+02] [ 5.90791263e-02 9.98253256e-01 -3.07379502e-04 5.83452454e+00] [ 1.34814758e-02 -4.89978149e-04 9.99909001e-01 3.76969400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.459254154 meters 0.023707726983060888 Centerline is valid? [True, True] Translation: X:548.01, Y:5.84, Z:3.77 [[ 9.98163412e-01 -5.89625590e-02 -1.39003283e-02 5.48010041e+02] [ 5.89638618e-02 9.98260068e-01 -3.16440741e-04 5.83576785e+00] [ 1.38948008e-02 -5.03757465e-04 9.99903336e-01 3.77030826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4892541539999 meters 0.024607298871751372 Centerline is valid? [True, True] Translation: X:548.04, Y:5.84, Z:3.77 [[ 9.98160027e-01 -5.90070798e-02 -1.39544116e-02 5.48039987e+02] [ 5.90084059e-02 9.98257435e-01 -3.17043666e-04 5.83503588e+00] [ 1.39488030e-02 -5.06967271e-04 9.99902582e-01 3.77014353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5192541539999 meters 0.020837487260684844 Centerline is valid? [True, True] Translation: X:548.07, Y:5.84, Z:3.77 [[ 9.98150303e-01 -5.93018251e-02 -1.33890613e-02 5.48071436e+02] [ 5.93030805e-02 9.98239977e-01 -3.03591607e-04 5.84171844e+00] [ 1.33834998e-02 -4.90982525e-04 9.99910316e-01 3.77173871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.549254154 meters 0.02076297004882741 Centerline is valid? [True, True] Translation: X:548.10, Y:5.84, Z:3.77 [[ 9.98090506e-01 -6.02238012e-02 -1.37271777e-02 5.48102609e+02] [ 6.02252150e-02 9.98184766e-01 -3.10745933e-04 5.84228506e+00] [ 1.37209739e-02 -5.16569660e-04 9.99905730e-01 3.77259296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.579254154 meters 0.0213785352871811 Centerline is valid? [True, True] Translation: X:548.13, Y:5.84, Z:3.77 [[ 9.98060248e-01 -6.07982903e-02 -1.33906193e-02 5.48133299e+02] [ 6.07996920e-02 9.98149942e-01 -3.02758923e-04 5.84216526e+00] [ 1.33842531e-02 -5.11973882e-04 9.99910296e-01 3.77281690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6092541539999 meters 0.021985097431486567 Centerline is valid? [True, True] Translation: X:548.16, Y:5.84, Z:3.77 [[ 9.98045405e-01 -6.11302452e-02 -1.29792845e-02 5.48164176e+02] [ 6.11315946e-02 9.98129672e-01 -2.93114150e-04 5.84252124e+00] [ 1.29729271e-02 -5.00903129e-04 9.99915723e-01 3.77296085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6392541539999 meters 0.022174431906433874 Centerline is valid? [True, True] Translation: X:548.19, Y:5.84, Z:3.77 [[ 9.97997210e-01 -6.19416315e-02 -1.28375518e-02 5.48194898e+02] [ 6.19430232e-02 9.98079645e-01 -2.89555162e-04 5.84273022e+00] [ 1.28308346e-02 -5.06221524e-04 9.99917553e-01 3.77416750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6692541539999 meters 0.02249386539222931 Centerline is valid? [True, True] Translation: X:548.23, Y:5.84, Z:3.77 [[ 9.98008578e-01 -6.17820376e-02 -1.27223331e-02 5.48225842e+02] [ 6.17833957e-02 9.98089540e-01 -2.86622594e-04 5.84325608e+00] [ 1.27157358e-02 -4.99977136e-04 9.99919027e-01 3.77444902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.699254154 meters 0.022921280971512303 Centerline is valid? [True, True] Translation: X:548.26, Y:5.84, Z:3.77 [[ 9.98028421e-01 -6.14672865e-02 -1.26903004e-02 5.48257194e+02] [ 6.14686182e-02 9.98108976e-01 -2.85445020e-04 5.84398058e+00] [ 1.26838482e-02 -4.95172986e-04 9.99919434e-01 3.77424197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7292541539999 meters 0.023156293554142317 Centerline is valid? [True, True] Translation: X:548.29, Y:5.84, Z:3.77 [[ 9.98028285e-01 -6.14618787e-02 -1.27271206e-02 5.48287499e+02] [ 6.14632253e-02 9.98109308e-01 -2.85680908e-04 5.84478906e+00] [ 1.27206161e-02 -4.97132257e-04 9.99918966e-01 3.77470283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7592541539999 meters 0.02387052701329499 Centerline is valid? [True, True] Translation: X:548.32, Y:5.85, Z:3.77 [[ 9.98028200e-01 -6.13877581e-02 -1.30864253e-02 5.48318897e+02] [ 6.13891838e-02 9.98113862e-01 -2.93108122e-04 5.84574434e+00] [ 1.30797358e-02 -5.10834798e-04 9.99914326e-01 3.77416383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7892541539999 meters 0.02409165728053079 Centerline is valid? [True, True] Translation: X:548.35, Y:5.85, Z:3.77 [[ 9.97999306e-01 -6.18869627e-02 -1.29378587e-02 5.48350617e+02] [ 6.18884039e-02 9.98083033e-01 -2.89329205e-04 5.84708791e+00] [ 1.29309630e-02 -5.11953081e-04 9.99916261e-01 3.77493820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.819254154 meters 0.02489380582304333 Centerline is valid? [True, True] Translation: X:548.38, Y:5.85, Z:3.77 [[ 9.97941731e-01 -6.26722765e-02 -1.35825856e-02 5.48381215e+02] [ 6.26739425e-02 9.98034010e-01 -3.03377013e-04 5.84808938e+00] [ 1.35748957e-02 -5.48521607e-04 9.99907706e-01 3.77497449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8492541539999 meters 0.025736212724593234 Centerline is valid? [True, True] Translation: X:548.41, Y:5.85, Z:3.78 [[ 9.97892660e-01 -6.34068994e-02 -1.37769369e-02 5.48411437e+02] [ 6.34086867e-02 9.97987597e-01 -3.07478447e-04 5.84857652e+00] [ 1.37687084e-02 -5.66746987e-04 9.99905046e-01 3.77502635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8792541539999 meters 0.026455109615222686 Centerline is valid? [True, True] Translation: X:548.44, Y:5.85, Z:3.77 [[ 9.97858531e-01 -6.38756503e-02 -1.40802182e-02 5.48443156e+02] [ 6.38775689e-02 9.97957693e-01 -3.13880081e-04 5.84980912e+00] [ 1.40715114e-02 -5.86202194e-04 9.99900820e-01 3.77416311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9092541539999 meters 0.026990660899273683 Centerline is valid? [True, True] Translation: X:548.47, Y:5.85, Z:3.78 [[ 9.97804894e-01 -6.47517031e-02 -1.38784276e-02 5.48472948e+02] [ 6.47536549e-02 9.97901232e-01 -3.09147234e-04 5.84993200e+00] [ 1.38693178e-02 -5.90210286e-04 9.99903642e-01 3.77552982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.939254154 meters 0.023004597072183282 Centerline is valid? [True, True] Translation: X:548.50, Y:5.86, Z:3.78 [[ 9.97767368e-01 -6.53974097e-02 -1.35446972e-02 5.48504044e+02] [ 6.53993315e-02 9.97859127e-01 -3.01469643e-04 5.85889695e+00] [ 1.35354151e-02 -5.85017571e-04 9.99908221e-01 3.77684249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9692541539999 meters 0.02372533477336772 Centerline is valid? [True, True] Translation: X:548.54, Y:5.86, Z:3.78 [[ 9.97796464e-01 -6.48493199e-02 -1.40279153e-02 5.48536508e+02] [ 6.48513383e-02 9.97894888e-01 -3.11431279e-04 5.86165518e+00] [ 1.40185811e-02 -5.98984051e-04 9.99901555e-01 3.77598679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9992541539999 meters 0.022427000013136945 Centerline is valid? [True, True] Translation: X:548.57, Y:5.86, Z:3.78 [[ 9.97835662e-01 -6.43990650e-02 -1.32948328e-02 5.48568583e+02] [ 6.44008508e-02 9.97924067e-01 -2.94194279e-04 5.86389796e+00] [ 1.32861794e-02 -5.62640998e-04 9.99911577e-01 3.77850170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0292541539999 meters 0.02235639241311791 Centerline is valid? [True, True] Translation: X:548.60, Y:5.87, Z:3.78 [[ 9.97977585e-01 -6.21625709e-02 -1.32874093e-02 5.48599466e+02] [ 6.21641667e-02 9.98065895e-01 -2.93281422e-04 5.86750259e+00] [ 1.32799412e-02 -5.33312440e-04 9.99911675e-01 3.77920624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.059254154 meters 0.022842667042278764 Centerline is valid? [True, True] Translation: X:548.63, Y:5.87, Z:3.78 [[ 9.98088801e-01 -6.03292377e-02 -1.33838618e-02 5.48631301e+02] [ 6.03307004e-02 9.98178401e-01 -2.94801879e-04 5.86939860e+00] [ 1.33772670e-02 -5.13219304e-04 9.99910389e-01 3.77844958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.089254154 meters 0.02318780825108999 Centerline is valid? [True, True] Translation: X:548.66, Y:5.87, Z:3.78 [[ 9.98187363e-01 -5.85913809e-02 -1.37490977e-02 5.48662329e+02] [ 5.85927686e-02 9.98281922e-01 -3.02215957e-04 5.87163689e+00] [ 1.37431829e-02 -5.03929549e-04 9.99905431e-01 3.77800556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1192541539999 meters 0.021341553924230136 Centerline is valid? [True, True] Translation: X:548.69, Y:5.88, Z:3.78 [[ 9.98328463e-01 -5.60958834e-02 -1.39115996e-02 5.48693281e+02] [ 5.60970690e-02 9.98425273e-01 -3.05287234e-04 5.87668541e+00] [ 1.39068180e-02 -4.75623031e-04 9.99903182e-01 3.77980905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1492541539999 meters 0.021181350451833548 Centerline is valid? [True, True] Translation: X:548.72, Y:5.88, Z:3.78 [[ 9.98409328e-01 -5.45198598e-02 -1.43666150e-02 5.48723393e+02] [ 5.45209668e-02 9.98512576e-01 -3.14885626e-04 5.87916349e+00] [ 1.43624132e-02 -4.68896992e-04 9.99896745e-01 3.77982873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.179254154 meters 0.020750626444046266 Centerline is valid? [True, True] Translation: X:548.76, Y:5.88, Z:3.78 [[ 9.98490843e-01 -5.30667729e-02 -1.41404860e-02 5.48755131e+02] [ 5.30677068e-02 9.98590869e-01 -3.09431358e-04 5.88175943e+00] [ 1.41369807e-02 -4.41438786e-04 9.99899970e-01 3.78012745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.209254154 meters 0.020255051761511413 Centerline is valid? [True, True] Translation: X:548.79, Y:5.89, Z:3.78 [[ 9.98624789e-01 -5.05145179e-02 -1.40290252e-02 5.48785425e+02] [ 5.05151923e-02 9.98723246e-01 -3.06509072e-04 5.88568156e+00] [ 1.40265968e-02 -4.02591349e-04 9.99901541e-01 3.78059506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2392541539999 meters 0.01999446732039219 Centerline is valid? [True, True] Translation: X:548.82, Y:5.89, Z:3.78 [[ 9.98679827e-01 -4.94323942e-02 -1.39657385e-02 5.48816427e+02] [ 4.94329618e-02 9.98777397e-01 -3.04765105e-04 5.88724497e+00] [ 1.39637292e-02 -3.86005056e-04 9.99902428e-01 3.78117049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2692541539999 meters 0.020061752845215407 Centerline is valid? [True, True] Translation: X:548.85, Y:5.89, Z:3.78 [[ 9.98716710e-01 -4.86859935e-02 -1.39501491e-02 5.48846292e+02] [ 4.86864920e-02 9.98814063e-01 -3.04067735e-04 5.88829026e+00] [ 1.39484089e-02 -3.75506293e-04 9.99902646e-01 3.78150013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.299254154 meters 0.01972533615242456 Centerline is valid? [True, True] Translation: X:548.88, Y:5.89, Z:3.78 [[ 9.98749453e-01 -4.80442328e-02 -1.38304707e-02 5.48877834e+02] [ 4.80446662e-02 9.98845143e-01 -3.01107915e-04 5.88999708e+00] [ 1.38289649e-02 -3.63748980e-04 9.99904309e-01 3.78220758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.329254154 meters 0.01736053097245231 Centerline is valid? [True, True] Translation: X:548.91, Y:5.90, Z:3.78 [[ 9.98816062e-01 -4.65930574e-02 -1.39842906e-02 5.48909091e+02] [ 4.65933654e-02 9.98913893e-01 -3.03959327e-04 5.89669803e+00] [ 1.39832646e-02 -3.47975703e-04 9.99902169e-01 3.78412631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3592541539999 meters 0.017131324355067024 Centerline is valid? [True, True] Translation: X:548.94, Y:5.90, Z:3.78 [[ 9.98845433e-01 -4.59491372e-02 -1.40170824e-02 5.48940731e+02] [ 4.59493905e-02 9.98943723e-01 -3.04154167e-04 5.89836397e+00] [ 1.40162521e-02 -3.40273393e-04 9.99901710e-01 3.78474904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3892541539999 meters 0.01720135230735192 Centerline is valid? [True, True] Translation: X:548.97, Y:5.90, Z:3.78 [[ 9.98879501e-01 -4.52912754e-02 -1.37274296e-02 5.48972097e+02] [ 4.52914716e-02 9.98973771e-01 -2.96755315e-04 5.89921151e+00] [ 1.37267826e-02 -3.25312688e-04 9.99905730e-01 3.78466079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4192541539999 meters 0.016803551964669462 Centerline is valid? [True, True] Translation: X:549.00, Y:5.90, Z:3.79 [[ 9.98895575e-01 -4.49166364e-02 -1.37886080e-02 5.49003230e+02] [ 4.49168142e-02 9.98990686e-01 -2.96940681e-04 5.90119364e+00] [ 1.37880285e-02 -3.22727611e-04 9.99904889e-01 3.78501217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.449254154 meters 0.019515218230524784 Centerline is valid? [True, True] Translation: X:549.03, Y:5.90, Z:3.78 [[ 9.98919118e-01 -4.42647112e-02 -1.41856267e-02 5.49033946e+02] [ 4.42648394e-02 9.99019785e-01 -3.05092663e-04 5.89612165e+00] [ 1.41852266e-02 -3.23161595e-04 9.99899332e-01 3.78261055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4792541539999 meters 0.01855222066081606 Centerline is valid? [True, True] Translation: X:549.06, Y:5.90, Z:3.78 [[ 9.98920393e-01 -4.38615309e-02 -1.53040439e-02 5.49064851e+02] [ 4.38616398e-02 9.99037561e-01 -3.28697152e-04 5.90205734e+00] [ 1.53037319e-02 -3.42918174e-04 9.99882832e-01 3.78268932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5092541539999 meters 0.020539213947816496 Centerline is valid? [True, True] Translation: X:549.10, Y:5.90, Z:3.78 [[ 9.98918307e-01 -4.42166820e-02 -1.43910101e-02 5.49095370e+02] [ 4.42168206e-02 9.99021910e-01 -3.08706844e-04 5.89599812e+00] [ 1.43905844e-02 -3.27951795e-04 9.99896396e-01 3.78217512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5392541539999 meters 0.01728536874205014 Centerline is valid? [True, True] Translation: X:549.13, Y:5.90, Z:3.79 [[ 9.98889383e-01 -4.51987326e-02 -1.33069625e-02 5.49126206e+02] [ 4.51989428e-02 9.98977965e-01 -2.85101674e-04 5.90158009e+00] [ 1.33062486e-02 -3.16675604e-04 9.99911418e-01 3.78560997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.569254154 meters 0.01747448827836194 Centerline is valid? [True, True] Translation: X:549.16, Y:5.90, Z:3.79 [[ 9.98863332e-01 -4.57998169e-02 -1.32068801e-02 5.49157544e+02] [ 4.58000827e-02 9.98950586e-01 -2.82478448e-04 5.90154009e+00] [ 1.32059581e-02 -3.22718838e-04 9.99912745e-01 3.78595926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5992541539999 meters 0.017021811031860543 Centerline is valid? [True, True] Translation: X:549.19, Y:5.90, Z:3.79 [[ 9.98840513e-01 -4.63288806e-02 -1.30868281e-02 5.49189731e+02] [ 4.63291963e-02 9.98926187e-01 -2.79200412e-04 5.90268909e+00] [ 1.30857104e-02 -3.27425547e-04 9.99914325e-01 3.78649720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6292541539999 meters 0.01765808557665159 Centerline is valid? [True, True] Translation: X:549.22, Y:5.90, Z:3.79 [[ 9.98782100e-01 -4.74274517e-02 -1.35997601e-02 5.49220770e+02] [ 4.74279068e-02 9.98874622e-01 -2.89233675e-04 5.90066283e+00] [ 1.35981728e-02 -3.56126737e-04 9.99907477e-01 3.78605192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6592541539999 meters 0.01812726659474437 Centerline is valid? [True, True] Translation: X:549.25, Y:5.90, Z:3.79 [[ 9.98780525e-01 -4.74523736e-02 -1.36284709e-02 5.49252714e+02] [ 4.74528451e-02 9.98873437e-01 -2.88954947e-04 5.90112860e+00] [ 1.36268291e-02 -3.58107142e-04 9.99907086e-01 3.78543893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.689254154 meters 0.01733560969543186 Centerline is valid? [True, True] Translation: X:549.29, Y:5.90, Z:3.79 [[ 9.98768321e-01 -4.78138605e-02 -1.32543049e-02 5.49285152e+02] [ 4.78143512e-02 9.98856201e-01 -2.80042171e-04 5.90121565e+00] [ 1.32525346e-02 -3.54048743e-04 9.99912119e-01 3.78697064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7192541539999 meters 0.018049102320096724 Centerline is valid? [True, True] Translation: X:549.32, Y:5.90, Z:3.79 [[ 9.98779666e-01 -4.76658914e-02 -1.29283333e-02 5.49316589e+02] [ 4.76663568e-02 9.98863276e-01 -2.72314142e-04 5.89995747e+00] [ 1.29266174e-02 -3.44264719e-04 9.99916389e-01 3.78663926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7492541539999 meters 0.01771350732669628 Centerline is valid? [True, True] Translation: X:549.35, Y:5.90, Z:3.79 [[ 9.98823660e-01 -4.68576095e-02 -1.24764402e-02 5.49348241e+02] [ 4.68579871e-02 9.98901527e-01 -2.62219812e-04 5.90090438e+00] [ 1.24750221e-02 -3.22709520e-04 9.99922132e-01 3.78718549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7792541539999 meters 0.017388082788318056 Centerline is valid? [True, True] Translation: X:549.38, Y:5.90, Z:3.79 [[ 9.98862229e-01 -4.59578274e-02 -1.27328474e-02 5.49379593e+02] [ 4.59581536e-02 9.98943330e-01 -2.67135912e-04 5.90212846e+00] [ 1.27316699e-02 -3.18346183e-04 9.99918898e-01 3.78757716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.809254154 meters 0.017015591884042933 Centerline is valid? [True, True] Translation: X:549.41, Y:5.90, Z:3.79 [[ 9.98916572e-01 -4.48595872e-02 -1.23813946e-02 5.49411221e+02] [ 4.48598169e-02 9.98993258e-01 -2.59311765e-04 5.90321120e+00] [ 1.23805624e-02 -2.96396277e-04 9.99923314e-01 3.78786759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.839254154 meters 0.016949628409480715 Centerline is valid? [True, True] Translation: X:549.44, Y:5.90, Z:3.79 [[ 9.98965804e-01 -4.37839223e-02 -1.22592960e-02 5.49442016e+02] [ 4.37840721e-02 9.99040985e-01 -2.56303935e-04 5.90359445e+00] [ 1.22587611e-02 -2.80723032e-04 9.99924819e-01 3.78815616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8692541539999 meters 0.016749810835437775 Centerline is valid? [True, True] Translation: X:549.47, Y:5.90, Z:3.79 [[ 9.99043902e-01 -4.18776198e-02 -1.25517521e-02 5.49472172e+02] [ 4.18776309e-02 9.99122713e-01 -2.62054927e-04 5.90421044e+00] [ 1.25517149e-02 -2.63833265e-04 9.99921189e-01 3.78788265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8992541539999 meters 0.016749810835437775 Centerline is valid? [True, True] Translation: X:549.50, Y:5.90, Z:3.79 [[ 9.99045419e-01 -4.18414149e-02 -1.25517590e-02 5.49503015e+02] [ 4.18414274e-02 9.99124230e-01 -2.61725101e-04 5.90482400e+00] [ 1.25517175e-02 -2.63708249e-04 9.99921189e-01 3.78809639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.929254154 meters 0.01744502437025569 Centerline is valid? [True, True] Translation: X:549.53, Y:5.91, Z:3.79 [[ 9.99080204e-01 -4.09185276e-02 -1.28226478e-02 5.49534048e+02] [ 4.09184706e-02 9.99162453e-01 -2.66903301e-04 5.90504033e+00] [ 1.28228295e-02 -2.58025331e-04 9.99917751e-01 3.78716720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.959254154 meters 0.016142008208479584 Centerline is valid? [True, True] Translation: X:549.57, Y:5.91, Z:3.79 [[ 9.99085844e-01 -4.06947138e-02 -1.30926240e-02 5.49565860e+02] [ 4.06946416e-02 9.99171593e-01 -2.72035670e-04 5.90596280e+00] [ 1.30928484e-02 -2.61012654e-04 9.99914251e-01 3.78823448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9892541539999 meters 0.017149803100645275 Centerline is valid? [True, True] Translation: X:549.60, Y:5.90, Z:3.79 [[ 9.99075924e-01 -4.09336192e-02 -1.31048183e-02 5.49596146e+02] [ 4.09335723e-02 9.99161833e-01 -2.71915117e-04 5.90337577e+00] [ 1.31049647e-02 -2.64763181e-04 9.99914091e-01 3.78769704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0192541539999 meters 0.017053233607109617 Centerline is valid? [True, True] Translation: X:549.63, Y:5.90, Z:3.79 [[ 9.99042120e-01 -4.16740702e-02 -1.33459307e-02 5.49627720e+02] [ 4.16740925e-02 9.99131219e-01 -2.76551628e-04 5.90442481e+00] [ 1.33458611e-02 -2.79892827e-04 9.99910901e-01 3.78797836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.049254154 meters 0.0192650562109326 Centerline is valid? [True, True] Translation: X:549.66, Y:5.90, Z:3.79 [[ 9.98944181e-01 -4.38867553e-02 -1.35821882e-02 5.49657853e+02] [ 4.38869880e-02 9.99036462e-01 -2.81067021e-04 5.90128283e+00] [ 1.35814364e-02 -3.15311065e-04 9.99907718e-01 3.78709319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.079254154 meters 0.01745178257426294 Centerline is valid? [True, True] Translation: X:549.69, Y:5.90, Z:3.79 [[ 9.98867025e-01 -4.58359160e-02 -1.27958784e-02 5.49689530e+02] [ 4.58362866e-02 9.98948930e-01 -2.64460941e-04 5.90113626e+00] [ 1.27945509e-02 -3.22354238e-04 9.99918094e-01 3.78874292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1092541539999 meters 0.018281516071386953 Centerline is valid? [True, True] Translation: X:549.72, Y:5.90, Z:3.79 [[ 9.98776065e-01 -4.77144183e-02 -1.30271620e-02 5.49720783e+02] [ 4.77149698e-02 9.98860956e-01 -2.68647324e-04 5.89931436e+00] [ 1.30251419e-02 -3.53272125e-04 9.99915107e-01 3.78891810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1392541539999 meters 0.01933813947991646 Centerline is valid? [True, True] Translation: X:549.75, Y:5.90, Z:3.79 [[ 9.98543908e-01 -5.22219274e-02 -1.35253403e-02 5.49751635e+02] [ 5.22229419e-02 9.98635412e-01 -2.78405383e-04 5.89645237e+00] [ 1.35214227e-02 -4.28333062e-04 9.99908490e-01 3.78909773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1692541539999 meters 0.02033726724463415 Centerline is valid? [True, True] Translation: X:549.78, Y:5.89, Z:3.79 [[ 9.98416288e-01 -5.45924861e-02 -1.35859081e-02 5.49781563e+02] [ 5.45937306e-02 9.98508611e-01 -2.79524992e-04 5.89440780e+00] [ 1.35809062e-02 -4.62623103e-04 9.99907668e-01 3.78917411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.199254154 meters 0.019991020675636274 Centerline is valid? [True, True] Translation: X:549.81, Y:5.89, Z:3.79 [[ 9.98285624e-01 -5.70238301e-02 -1.31945119e-02 5.49812732e+02] [ 5.70252191e-02 9.98372701e-01 -2.71238376e-04 5.89485870e+00] [ 1.31885076e-02 -4.81646562e-04 9.99912912e-01 3.78950766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2292541539999 meters 0.020564762272920888 Centerline is valid? [True, True] Translation: X:549.84, Y:5.89, Z:3.79 [[ 9.98159341e-01 -5.93306890e-02 -1.25618425e-02 5.49843799e+02] [ 5.93321361e-02 9.98238264e-01 -2.57775632e-04 5.89369927e+00] [ 1.25550058e-02 -4.88019792e-04 9.99921064e-01 3.78968719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2592541539999 meters 0.024286132697165716 Centerline is valid? [True, True] Translation: X:549.87, Y:5.89, Z:3.79 [[ 9.97927975e-01 -6.31584548e-02 -1.22786921e-02 5.49873806e+02] [ 6.31601349e-02 9.98003374e-01 -2.51279694e-04 5.88861937e+00] [ 1.22700465e-02 -5.24764812e-04 9.99924582e-01 3.78865293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2892541539999 meters 0.0239800606458077 Centerline is valid? [True, True] Translation: X:549.91, Y:5.89, Z:3.79 [[ 9.97798166e-01 -6.53060909e-02 -1.15730215e-02 5.49905837e+02] [ 6.53077376e-02 9.97865143e-01 -2.35971968e-04 5.88830994e+00] [ 1.15637251e-02 -5.20355453e-04 9.99933002e-01 3.79049538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.319254154 meters 0.024346423956287593 Centerline is valid? [True, True] Translation: X:549.94, Y:5.89, Z:3.79 [[ 9.97692068e-01 -6.68560023e-02 -1.18664150e-02 5.49937513e+02] [ 6.68578524e-02 9.97762481e-01 -2.41162643e-04 5.88867731e+00] [ 1.18559868e-02 -5.52756963e-04 9.99929563e-01 3.79072877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3492541539999 meters 0.023866413088043634 Centerline is valid? [True, True] Translation: X:549.97, Y:5.89, Z:3.79 [[ 9.97617670e-01 -6.80280765e-02 -1.14527340e-02 5.49969363e+02] [ 6.80298849e-02 9.97683257e-01 -2.32048402e-04 5.89003473e+00] [ 1.14419868e-02 -5.47632590e-04 9.99934388e-01 3.79143401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3792541539999 meters 0.025514568889319144 Centerline is valid? [True, True] Translation: X:550.00, Y:5.89, Z:3.79 [[ 9.97445179e-01 -7.04826791e-02 -1.16321222e-02 5.50000027e+02] [ 7.04847201e-02 9.97512832e-01 -2.34911001e-04 5.88912216e+00] [ 1.16197483e-02 -5.85576032e-04 9.99932317e-01 3.79144428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4092541539999 meters 0.02593213615095662 Centerline is valid? [True, True] Translation: X:550.03, Y:5.89, Z:3.79 [[ 9.97355306e-01 -7.17187489e-02 -1.17819437e-02 5.50031725e+02] [ 7.17209363e-02 9.97424709e-01 -2.37298401e-04 5.89004556e+00] [ 1.17686205e-02 -6.08341214e-04 9.99930562e-01 3.79135440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.439254154 meters 0.029579198345342086 Centerline is valid? [True, True] Translation: X:550.06, Y:5.89, Z:3.79 [[ 9.97217679e-01 -7.32803498e-02 -1.36708001e-02 5.50062363e+02] [ 7.32834508e-02 9.97311115e-01 -2.74646212e-04 5.88941669e+00] [ 1.36541671e-02 -7.27961349e-04 9.99906513e-01 3.78879723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4692541539999 meters 0.029312859237257398 Centerline is valid? [True, True] Translation: X:550.09, Y:5.89, Z:3.79 [[ 9.97158386e-01 -7.42222285e-02 -1.28924223e-02 5.50093354e+02] [ 7.42250721e-02 9.97241481e-01 -2.58443608e-04 5.88864480e+00] [ 1.28760406e-02 -6.99231764e-04 9.99916856e-01 3.79069053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4992541539999 meters 0.029191073990692217 Centerline is valid? [True, True] Translation: X:550.13, Y:5.89, Z:3.79 [[ 9.97125902e-01 -7.45046413e-02 -1.37475150e-02 5.50125420e+02] [ 7.45079139e-02 9.97220385e-01 -2.74682436e-04 5.89182791e+00] [ 1.37297673e-02 -7.50405689e-04 9.99905461e-01 3.78898225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5292541539999 meters 0.03018910269437021 Centerline is valid? [True, True] Translation: X:550.16, Y:5.89, Z:3.79 [[ 9.97112295e-01 -7.47353565e-02 -1.34795452e-02 5.50156877e+02] [ 7.47385353e-02 9.97203128e-01 -2.68470328e-04 5.89126900e+00] [ 1.34619089e-02 -7.39746402e-04 9.99909111e-01 3.78949985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.559254154 meters 0.030431303875831005 Centerline is valid? [True, True] Translation: X:550.19, Y:5.89, Z:3.79 [[ 9.97103968e-01 -7.48809511e-02 -1.32860544e-02 5.50188418e+02] [ 7.48840616e-02 9.97192212e-01 -2.63902264e-04 5.89323743e+00] [ 1.32685112e-02 -7.31775719e-04 9.99911702e-01 3.79100000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.589254154 meters 0.027717370811649662 Centerline is valid? [True, True] Translation: X:550.22, Y:5.90, Z:3.79 [[ 9.97131381e-01 -7.43670937e-02 -1.40906016e-02 5.50220954e+02] [ 7.43705573e-02 9.97230637e-01 -2.78752748e-04 5.90020669e+00] [ 1.40723097e-02 -7.69972782e-04 9.99900684e-01 3.79092839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6192541539999 meters 0.030862793268137876 Centerline is valid? [True, True] Translation: X:550.25, Y:5.90, Z:3.79 [[ 9.97165158e-01 -7.39771669e-02 -1.37486721e-02 5.50252496e+02] [ 7.39804421e-02 9.97259656e-01 -2.70913963e-04 5.89674142e+00] [ 1.37310375e-02 -7.46986878e-04 9.99905446e-01 3.79153080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6492541539999 meters 0.03119510115250268 Centerline is valid? [True, True] Translation: X:550.28, Y:5.90, Z:3.79 [[ 9.97229419e-01 -7.30955612e-02 -1.38030418e-02 5.50282597e+02] [ 7.30987899e-02 9.97324668e-01 -2.71139616e-04 5.89845029e+00] [ 1.37859332e-02 -7.38597253e-04 9.99904697e-01 3.79159939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.679254154 meters 0.030540095461700164 Centerline is valid? [True, True] Translation: X:550.31, Y:5.90, Z:3.79 [[ 9.97363341e-01 -7.10263937e-02 -1.48868039e-02 5.50314363e+02] [ 7.10299330e-02 9.97474142e-01 -2.91518077e-04 5.90349702e+00] [ 1.48699074e-02 -7.66659240e-04 9.99889143e-01 3.79199255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.709254154 meters 0.025302266860462493 Centerline is valid? [True, True] Translation: X:550.35, Y:5.91, Z:3.79 [[ 9.97445558e-01 -6.98115490e-02 -1.51230609e-02 5.50346490e+02] [ 6.98150770e-02 9.97559907e-01 -2.95174582e-04 5.91353452e+00] [ 1.51067658e-02 -7.61397082e-04 9.99885596e-01 3.79313289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7392541539999 meters 0.02647545131357528 Centerline is valid? [True, True] Translation: X:550.38, Y:5.92, Z:3.79 [[ 9.97536761e-01 -6.83350946e-02 -1.58342951e-02 5.50377833e+02] [ 6.83387930e-02 9.97662124e-01 -3.08029114e-04 5.91512042e+00] [ 1.58183257e-02 -7.74826252e-04 9.99874582e-01 3.79262970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7692541539999 meters 0.024189452238506624 Centerline is valid? [True, True] Translation: X:550.41, Y:5.92, Z:3.79 [[ 9.97708142e-01 -6.58578462e-02 -1.55308242e-02 5.50409698e+02] [ 6.58611178e-02 9.97828754e-01 -3.01275061e-04 5.92269545e+00] [ 1.55169443e-02 -7.22292861e-04 9.99879344e-01 3.79370526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.799254154 meters 0.024437238971950756 Centerline is valid? [True, True] Translation: X:550.44, Y:5.93, Z:3.79 [[ 9.97804996e-01 -6.41610498e-02 -1.63875080e-02 5.50441532e+02] [ 6.41644794e-02 9.97939286e-01 -3.16960600e-04 5.92647647e+00] [ 1.63740746e-02 -7.35231049e-04 9.99865666e-01 3.79322743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.829254154 meters 0.02296586744861266 Centerline is valid? [True, True] Translation: X:550.47, Y:5.93, Z:3.79 [[ 9.97898256e-01 -6.29013094e-02 -1.55722850e-02 5.50472641e+02] [ 6.29042637e-02 9.98019520e-01 -3.00507023e-04 5.92990783e+00] [ 1.55603467e-02 -6.79687691e-04 9.99878699e-01 3.79481931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8592541539999 meters 0.022715966874412085 Centerline is valid? [True, True] Translation: X:550.50, Y:5.93, Z:3.80 [[ 9.98022369e-01 -6.09785524e-02 -1.52632923e-02 5.50503131e+02] [ 6.09811723e-02 9.98138873e-01 -2.94142144e-04 5.93306980e+00] [ 1.52528217e-02 -6.37213017e-04 9.99883466e-01 3.79522545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8892541539999 meters 0.02034884131590918 Centerline is valid? [True, True] Translation: X:550.53, Y:5.94, Z:3.80 [[ 9.98259390e-01 -5.68891413e-02 -1.55504242e-02 5.50534160e+02] [ 5.68913723e-02 9.98380329e-01 -2.99221898e-04 5.94275450e+00] [ 1.55422601e-02 -5.85983903e-04 9.99879040e-01 3.79599219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9192541539999 meters 0.020417849348757146 Centerline is valid? [True, True] Translation: X:550.57, Y:5.95, Z:3.80 [[ 9.98383062e-01 -5.47235425e-02 -1.53816802e-02 5.50565087e+02] [ 5.47254798e-02 9.98501394e-01 -2.95247243e-04 5.94568529e+00] [ 1.53747861e-02 -5.46999984e-04 9.99881651e-01 3.79585984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.949254154 meters 0.021742146182325835 Centerline is valid? [True, True] Translation: X:550.60, Y:5.95, Z:3.79 [[ 9.98505999e-01 -5.22088760e-02 -1.61245887e-02 5.50595947e+02] [ 5.22106895e-02 9.98636044e-01 -3.08767237e-04 5.94719614e+00] [ 1.61187159e-02 -5.33569957e-04 9.99869943e-01 3.79472081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9792541539999 meters 0.020145368418283127 Centerline is valid? [True, True] Translation: X:550.63, Y:5.95, Z:3.80 [[ 9.98628980e-01 -4.99907337e-02 -1.55269803e-02 5.50626823e+02] [ 4.99921559e-02 9.98749566e-01 -2.96773271e-04 5.95212697e+00] [ 1.55224007e-02 -4.79860830e-04 9.99879405e-01 3.79566112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0092541539999 meters 0.017598846636552347 Centerline is valid? [True, True] Translation: X:550.66, Y:5.96, Z:3.80 [[ 9.98861799e-01 -4.51844796e-02 -1.52797120e-02 5.50658021e+02] [ 4.51853033e-02 9.98978580e-01 -2.91492667e-04 5.96253930e+00] [ 1.52772759e-02 -3.99257530e-04 9.99883216e-01 3.79695471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0392541539999 meters 0.019220308712866285 Centerline is valid? [True, True] Translation: X:550.69, Y:5.96, Z:3.80 [[ 9.98969133e-01 -4.24308009e-02 -1.61337423e-02 5.50688357e+02] [ 4.24313761e-02 9.99099336e-01 -3.06813728e-04 5.96469111e+00] [ 1.61322296e-02 -3.78079444e-04 9.99869796e-01 3.79569058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.069254154 meters 0.019355932380756457 Centerline is valid? [True, True] Translation: X:550.72, Y:5.97, Z:3.80 [[ 9.99073559e-01 -3.97432110e-02 -1.65075894e-02 5.50719943e+02] [ 3.97434612e-02 9.99209867e-01 -3.13029224e-04 5.97017838e+00] [ 1.65069870e-02 -3.43329518e-04 9.99863691e-01 3.79610565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0992541539999 meters 0.015659682517426988 Centerline is valid? [True, True] Translation: X:550.75, Y:5.98, Z:3.80 [[ 9.99234923e-01 -3.63095608e-02 -1.45321904e-02 5.50750535e+02] [ 3.63093990e-02 9.99340559e-01 -2.75061263e-04 5.97709548e+00] [ 1.45325946e-02 -2.52804280e-04 9.99894364e-01 3.79844575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1292541539999 meters 0.015661122794681646 Centerline is valid? [True, True] Translation: X:550.78, Y:5.98, Z:3.80 [[ 9.99282416e-01 -3.48779765e-02 -1.47709282e-02 5.50781307e+02] [ 3.48776611e-02 9.99391550e-01 -2.79033139e-04 5.97964488e+00] [ 1.47716729e-02 -2.36342519e-04 9.99890865e-01 3.79836267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1592541539999 meters 0.015614092738407805 Centerline is valid? [True, True] Translation: X:550.81, Y:5.98, Z:3.80 [[ 9.99312803e-01 -3.39600420e-02 -1.48538702e-02 5.50812320e+02] [ 3.39596298e-02 9.99423166e-01 -2.80056588e-04 5.98231324e+00] [ 1.48548127e-02 -2.24567800e-04 9.99889636e-01 3.79822154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.189254154 meters 0.015526722023964882 Centerline is valid? [True, True] Translation: X:550.84, Y:5.99, Z:3.80 [[ 9.99324143e-01 -3.33212241e-02 -1.55226568e-02 5.50843215e+02] [ 3.33207058e-02 9.99444668e-01 -2.92087529e-04 5.98547164e+00] [ 1.55237693e-02 -2.25335762e-04 9.99879474e-01 3.79754663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2192541539999 meters 0.0158599542971394 Centerline is valid? [True, True] Translation: X:550.87, Y:5.99, Z:3.80 [[ 9.99318331e-01 -3.36737905e-02 -1.51310351e-02 5.50873347e+02] [ 3.36733496e-02 9.99432852e-01 -2.83981065e-04 5.98615125e+00] [ 1.51320163e-02 -2.25725151e-04 9.99885479e-01 3.79751605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2492541539999 meters 0.015797497969625828 Centerline is valid? [True, True] Translation: X:550.90, Y:5.99, Z:3.80 [[ 9.99288379e-01 -3.44907190e-02 -1.52684404e-02 5.50904467e+02] [ 3.44903764e-02 9.99404989e-01 -2.85835709e-04 5.98769139e+00] [ 1.52692142e-02 -2.40981955e-04 9.99883390e-01 3.79815271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2792541539999 meters 0.016323473229303727 Centerline is valid? [True, True] Translation: X:550.94, Y:5.99, Z:3.80 [[ 9.99193842e-01 -3.74542442e-02 -1.44515119e-02 5.50936039e+02] [ 3.74542545e-02 9.99298307e-01 -2.70026858e-04 5.98786677e+00] [ 1.44514850e-02 -2.71461430e-04 9.99895535e-01 3.79820049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.309254154 meters 0.018133086953663335 Centerline is valid? [True, True] Translation: X:550.97, Y:5.99, Z:3.80 [[ 9.99124729e-01 -3.90311911e-02 -1.50446426e-02 5.50967847e+02] [ 3.90313895e-02 9.99237946e-01 -2.80548888e-04 5.98751275e+00] [ 1.50441279e-02 -3.06909974e-04 9.99886784e-01 3.79745833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.339254154 meters 0.016922178765270617 Centerline is valid? [True, True] Translation: X:551.00, Y:5.99, Z:3.80 [[ 9.99028062e-01 -4.15249527e-02 -1.47854825e-02 5.50999074e+02] [ 4.15254252e-02 9.99137410e-01 -2.75175745e-04 5.98801965e+00] [ 1.47841553e-02 -3.39065156e-04 9.99890651e-01 3.79855609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3692541539999 meters 0.017798935483016656 Centerline is valid? [True, True] Translation: X:551.03, Y:5.99, Z:3.80 [[ 9.98834964e-01 -4.59686585e-02 -1.46832402e-02 5.51030746e+02] [ 4.59696143e-02 9.98942801e-01 -2.72587433e-04 5.98646331e+00] [ 1.46802476e-02 -4.02713032e-04 9.99892158e-01 3.79881374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3992541539999 meters 0.021654485506086583 Centerline is valid? [True, True] Translation: X:551.06, Y:5.98, Z:3.80 [[ 9.98736743e-01 -4.79302712e-02 -1.50866816e-02 5.51062336e+02] [ 4.79315167e-02 9.98850585e-01 -2.79226878e-04 5.98034843e+00] [ 1.50827241e-02 -4.44253387e-04 9.99886151e-01 3.79721219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.429254154 meters 0.02151120542772863 Centerline is valid? [True, True] Translation: X:551.09, Y:5.99, Z:3.80 [[ 9.98662815e-01 -4.91046930e-02 -1.61651075e-02 5.51094691e+02] [ 4.91062945e-02 9.98793514e-01 -2.98083522e-04 5.98503032e+00] [ 1.61602418e-02 -4.96123600e-04 9.99869292e-01 3.79750383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.459254154 meters 0.019530067640116694 Centerline is valid? [True, True] Translation: X:551.13, Y:5.99, Z:3.80 [[ 9.98553724e-01 -5.16642877e-02 -1.48748599e-02 5.51126631e+02] [ 5.16659432e-02 9.98664386e-01 -2.73224895e-04 5.98519738e+00] [ 1.48691088e-02 -4.95693930e-04 9.99889326e-01 3.79936082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4892541539999 meters 0.021456814043618638 Centerline is valid? [True, True] Translation: X:551.16, Y:5.98, Z:3.80 [[ 9.98531994e-01 -5.20498282e-02 -1.49891050e-02 5.51157800e+02] [ 5.20515670e-02 9.98644361e-01 -2.74356602e-04 5.98323255e+00] [ 1.49830654e-02 -5.06252558e-04 9.99887619e-01 3.79886163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5192541539999 meters 0.021653355661870096 Centerline is valid? [True, True] Translation: X:551.19, Y:5.98, Z:3.80 [[ 9.98560227e-01 -5.15248302e-02 -1.49219361e-02 5.51189107e+02] [ 5.15265070e-02 9.98671590e-01 -2.72321532e-04 5.98378350e+00] [ 1.49161450e-02 -4.96945794e-04 9.99888625e-01 3.79917093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.549254154 meters 0.020012108752615835 Centerline is valid? [True, True] Translation: X:551.22, Y:5.99, Z:3.80 [[ 9.98615740e-01 -5.05035217e-02 -1.46968510e-02 5.51221252e+02] [ 5.05050514e-02 9.98723770e-01 -2.67286170e-04 5.98793585e+00] [ 1.46915933e-02 -4.75349036e-04 9.99891960e-01 3.79979679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.579254154 meters 0.02030205743716854 Centerline is valid? [True, True] Translation: X:551.25, Y:5.99, Z:3.80 [[ 9.98810266e-01 -4.64099847e-02 -1.49721722e-02 5.51252626e+02] [ 4.64111250e-02 9.98922386e-01 -2.71476408e-04 5.99192855e+00] [ 1.49686372e-02 -4.23721930e-04 9.99887874e-01 3.79923460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6092541539999 meters 0.01811896658766906 Centerline is valid? [True, True] Translation: X:551.28, Y:5.99, Z:3.80 [[ 9.98908600e-01 -4.45039159e-02 -1.41778002e-02 5.51283644e+02] [ 4.45047557e-02 9.99009140e-01 -2.56422681e-04 5.99385341e+00] [ 1.41751638e-02 -3.74836712e-04 9.99899457e-01 3.80081653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6392541539999 meters 0.01713421016362114 Centerline is valid? [True, True] Translation: X:551.32, Y:6.00, Z:3.80 [[ 9.99026359e-01 -4.18711994e-02 -1.38973653e-02 5.51315463e+02] [ 4.18717623e-02 9.99122962e-01 -2.50586348e-04 5.99667635e+00] [ 1.38956691e-02 -3.31564810e-04 9.99903396e-01 3.80145066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6692541539999 meters 0.017809128435708917 Centerline is valid? [True, True] Translation: X:551.35, Y:6.00, Z:3.80 [[ 9.99198571e-01 -3.73750122e-02 -1.43291487e-02 5.51346457e+02] [ 3.73751580e-02 9.99301271e-01 -2.57702576e-04 6.00080730e+00] [ 1.43287682e-02 -2.78058152e-04 9.99897299e-01 3.80081454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.699254154 meters 0.01718631039678282 Centerline is valid? [True, True] Translation: X:551.38, Y:6.00, Z:3.80 [[ 9.99268353e-01 -3.53325941e-02 -1.46412268e-02 5.51377808e+02] [ 3.53325352e-02 9.99375576e-01 -2.62771596e-04 6.00314282e+00] [ 1.46413689e-02 -2.54732321e-04 9.99892777e-01 3.80091313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7292541539999 meters 0.01607464423581503 Centerline is valid? [True, True] Translation: X:551.41, Y:6.01, Z:3.80 [[ 9.99306175e-01 -3.40742689e-02 -1.50370436e-02 5.51409154e+02] [ 3.40740750e-02 9.99419274e-01 -2.69173046e-04 6.00505939e+00] [ 1.50374831e-02 -2.43387065e-04 9.99886901e-01 3.80105833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7592541539999 meters 0.01861202246097464 Centerline is valid? [True, True] Translation: X:551.44, Y:6.01, Z:3.80 [[ 9.99345829e-01 -3.22652262e-02 -1.63361083e-02 5.51440135e+02] [ 3.22647680e-02 9.99479314e-01 -2.91675933e-04 6.00625656e+00] [ 1.63370134e-02 -2.35595618e-04 9.99866514e-01 3.79925234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7892541539999 meters 0.015596150904667178 Centerline is valid? [True, True] Translation: X:551.47, Y:6.01, Z:3.80 [[ 9.99401368e-01 -3.06194180e-02 -1.61045485e-02 5.51470503e+02] [ 3.06187657e-02 9.99531094e-01 -2.87129580e-04 6.00781526e+00] [ 1.61057888e-02 -2.06143703e-04 9.99870272e-01 3.79994941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.819254154 meters 0.015596150904667178 Centerline is valid? [True, True] Translation: X:551.50, Y:6.01, Z:3.80 [[ 9.99401368e-01 -3.06194172e-02 -1.61045507e-02 5.51500501e+02] [ 3.06187668e-02 9.99531094e-01 -2.87005279e-04 6.00834981e+00] [ 1.61057872e-02 -2.06268016e-04 9.99870272e-01 3.80015728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8492541539999 meters 0.015534990943781411 Centerline is valid? [True, True] Translation: X:551.53, Y:6.01, Z:3.80 [[ 9.99426934e-01 -2.95607646e-02 -1.64913356e-02 5.51530623e+02] [ 2.95599385e-02 9.99562966e-01 -2.93898318e-04 6.00934752e+00] [ 1.64928162e-02 -1.93752972e-04 9.99863965e-01 3.80004644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8792541539999 meters 0.015369337903191829 Centerline is valid? [True, True] Translation: X:551.56, Y:6.01, Z:3.80 [[ 9.99459297e-01 -2.84945627e-02 -1.64064889e-02 5.51560612e+02] [ 2.84936015e-02 9.99593932e-01 -2.92386232e-04 6.01032404e+00] [ 1.64081581e-02 -1.75251818e-04 9.99865362e-01 3.79997737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9092541539999 meters 0.015058230918402042 Centerline is valid? [True, True] Translation: X:551.59, Y:6.01, Z:3.80 [[ 9.99492643e-01 -2.71446418e-02 -1.66620847e-02 5.51590799e+02] [ 2.71434629e-02 9.99631504e-01 -2.96941301e-04 6.01235621e+00] [ 1.66640051e-02 -1.55476032e-04 9.99861134e-01 3.80068686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.939254154 meters 0.015872375152015773 Centerline is valid? [True, True] Translation: X:551.62, Y:6.01, Z:3.80 [[ 9.99581750e-01 -2.36586186e-02 -1.66311225e-02 5.51620392e+02] [ 2.36569587e-02 9.99720091e-01 -2.96562673e-04 6.01485656e+00] [ 1.66334836e-02 -9.70031430e-05 9.99861649e-01 3.80068699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9692541539999 meters 0.014488991672988775 Centerline is valid? [True, True] Translation: X:551.65, Y:6.02, Z:3.80 [[ 9.99620749e-01 -2.22045433e-02 -1.62885603e-02 5.51649589e+02] [ 2.22027197e-02 9.99753446e-01 -2.92804826e-04 6.01673958e+00] [ 1.62910459e-02 -6.89565583e-05 9.99867290e-01 3.80244734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9992541539999 meters 0.014394463218069925 Centerline is valid? [True, True] Translation: X:551.68, Y:6.02, Z:3.80 [[ 9.99658214e-01 -2.07439629e-02 -1.59104594e-02 5.51677919e+02] [ 2.07419757e-02 9.99784820e-01 -2.89921078e-04 6.01768522e+00] [ 1.59130499e-02 -4.01923765e-05 9.99873379e-01 3.80282221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0292541539999 meters 0.014275518341846507 Centerline is valid? [True, True] Translation: X:551.71, Y:6.02, Z:3.80 [[ 9.99720961e-01 -1.84016928e-02 -1.48114078e-02 5.51706478e+02] [ 1.83996587e-02 9.99830675e-01 -2.73600943e-04 6.01800648e+00] [ 1.48139346e-02 9.99748889e-07 9.99890268e-01 3.80366071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.059254154 meters 0.014736638854718067 Centerline is valid? [True, True] Translation: X:551.73, Y:6.02, Z:3.80 [[ 9.99730612e-01 -1.79358974e-02 -1.47311251e-02 5.51734652e+02] [ 1.79337977e-02 9.99839139e-01 -2.74632549e-04 6.01806286e+00] [ 1.47336812e-02 1.03735504e-05 9.99891453e-01 3.80376927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.089254154 meters 0.01435222784497003 Centerline is valid? [True, True] Translation: X:551.76, Y:6.02, Z:3.80 [[ 9.99737660e-01 -1.83548991e-02 -1.37006733e-02 5.51763206e+02] [ 1.83530904e-02 9.99831535e-01 -2.57749709e-04 6.01748163e+00] [ 1.37030962e-02 6.23239564e-06 9.99906108e-01 3.80484678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1192541539999 meters 0.014281454265093611 Centerline is valid? [True, True] Translation: X:551.79, Y:6.01, Z:3.81 [[ 9.99711211e-01 -2.03202619e-02 -1.28289341e-02 5.51792109e+02] [ 2.03188123e-02 9.99793522e-01 -2.43331674e-04 6.01427549e+00] [ 1.28312298e-02 -1.74073022e-05 9.99917676e-01 3.80545288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1492541539999 meters 0.014281479752723094 Centerline is valid? [True, True] Translation: X:551.82, Y:6.01, Z:3.81 [[ 9.99677869e-01 -2.21822847e-02 -1.23330675e-02 5.51822155e+02] [ 2.21810799e-02 9.99753942e-01 -2.34489128e-04 6.01216135e+00] [ 1.23352343e-02 -3.91471632e-05 9.99923917e-01 3.80578282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.179254154 meters 0.0144689046930379 Centerline is valid? [True, True] Translation: X:551.85, Y:6.01, Z:3.81 [[ 9.99623482e-01 -2.45040123e-02 -1.23469343e-02 5.51852933e+02] [ 2.45029786e-02 9.99699729e-01 -2.35010385e-04 6.00940051e+00] [ 1.23489856e-02 -6.76147683e-05 9.99923746e-01 3.80556516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.209254154 meters 0.014593566065561451 Centerline is valid? [True, True] Translation: X:551.88, Y:6.01, Z:3.81 [[ 9.99542910e-01 -2.72403192e-02 -1.31124368e-02 5.51883055e+02] [ 2.72393934e-02 9.99628908e-01 -2.49230672e-04 6.00580904e+00] [ 1.31143600e-02 -1.08058073e-04 9.99913997e-01 3.80524966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2392541539999 meters 0.01598222640809197 Centerline is valid? [True, True] Translation: X:551.91, Y:6.00, Z:3.80 [[ 9.99456919e-01 -3.00758898e-02 -1.34650953e-02 5.51913932e+02] [ 3.00751762e-02 9.99547607e-01 -2.55530859e-04 6.00172468e+00] [ 1.34666891e-02 -1.49573029e-04 9.99909309e-01 3.80381619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2692541539999 meters 0.015741863516749707 Centerline is valid? [True, True] Translation: X:551.95, Y:5.99, Z:3.80 [[ 9.99200294e-01 -3.74747590e-02 -1.39432565e-02 5.51945486e+02] [ 3.74747174e-02 9.99297541e-01 -2.64346536e-04 5.99474936e+00] [ 1.39433683e-02 -2.58384461e-04 9.99902753e-01 3.80406695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.299254154 meters 0.01665380253820298 Centerline is valid? [True, True] Translation: X:551.98, Y:5.99, Z:3.80 [[ 9.99061357e-01 -4.09373605e-02 -1.41610926e-02 5.51976362e+02] [ 4.09376727e-02 9.99161666e-01 -2.67949985e-04 5.99083904e+00] [ 1.41601901e-02 -3.12023701e-04 9.99899691e-01 3.80402905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.329254154 meters 0.020029862459718304 Centerline is valid? [True, True] Translation: X:552.01, Y:5.98, Z:3.80 [[ 9.98787501e-01 -4.71202524e-02 -1.42551916e-02 5.52006944e+02] [ 4.71212035e-02 9.98889143e-01 -2.69340292e-04 5.98165562e+00] [ 1.42520475e-02 -4.02708066e-04 9.99898353e-01 3.80266800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3592541539999 meters 0.021076837880991926 Centerline is valid? [True, True] Translation: X:552.04, Y:5.98, Z:3.80 [[ 9.98639061e-01 -5.02977516e-02 -1.37898991e-02 5.52038111e+02] [ 5.02989492e-02 9.98734173e-01 -2.60185309e-04 5.97801102e+00] [ 1.37855302e-02 -4.33786222e-04 9.99904881e-01 3.80302168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3892541539999 meters 0.020629138741046212 Centerline is valid? [True, True] Translation: X:552.07, Y:5.98, Z:3.80 [[ 9.98516943e-01 -5.27740505e-02 -1.33721685e-02 5.52069874e+02] [ 5.27754062e-02 9.98606375e-01 -2.51719214e-04 5.97584186e+00] [ 1.33668170e-02 -4.54375725e-04 9.99910557e-01 3.80401444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4192541539999 meters 0.022518235894454536 Centerline is valid? [True, True] Translation: X:552.10, Y:5.97, Z:3.80 [[ 9.98401720e-01 -5.49490130e-02 -1.32140399e-02 5.52100733e+02] [ 5.49505422e-02 9.98489047e-01 -2.47591891e-04 5.97141071e+00] [ 1.32076790e-02 -4.78922488e-04 9.99912660e-01 3.80397263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.449254154 meters 0.024457198288313976 Centerline is valid? [True, True] Translation: X:552.13, Y:5.97, Z:3.80 [[ 9.98174017e-01 -5.89534425e-02 -1.31576424e-02 5.52131310e+02] [ 5.89553188e-02 9.98260592e-01 -2.45569222e-04 5.96526361e+00] [ 1.31492330e-02 -5.30592185e-04 9.99913404e-01 3.80372947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4792541539999 meters 0.024753067644241195 Centerline is valid? [True, True] Translation: X:552.16, Y:5.96, Z:3.80 [[ 9.98062250e-01 -6.08331656e-02 -1.30794002e-02 5.52162981e+02] [ 6.08351900e-02 9.98147795e-01 -2.43395680e-04 5.96401804e+00] [ 1.30699810e-02 -5.52763754e-04 9.99914431e-01 3.80404769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5092541539999 meters 0.02289972114601225 Centerline is valid? [True, True] Translation: X:552.20, Y:5.97, Z:3.80 [[ 9.97948699e-01 -6.28288380e-02 -1.22853861e-02 5.52195262e+02] [ 6.28307876e-02 9.98024168e-01 -2.27595089e-04 5.96607147e+00] [ 1.22754117e-02 -5.44772258e-04 9.99924506e-01 3.80485101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5392541539999 meters 0.02596543291258953 Centerline is valid? [True, True] Translation: X:552.23, Y:5.96, Z:3.80 [[ 9.97715064e-01 -6.62874132e-02 -1.30625365e-02 5.52226628e+02] [ 6.62899230e-02 9.97800375e-01 -2.41216338e-04 5.96339266e+00] [ 1.30497934e-02 -6.25249364e-04 9.99914652e-01 3.80317033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.569254154 meters 0.02489106935847528 Centerline is valid? [True, True] Translation: X:552.26, Y:5.96, Z:3.81 [[ 9.97543810e-01 -6.89417267e-02 -1.23849137e-02 5.52257251e+02] [ 6.89441912e-02 9.97620492e-01 -2.28353738e-04 5.96122675e+00] [ 1.23711868e-02 -6.26074997e-04 9.99923278e-01 3.80540723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5992541539999 meters 0.03205366252877193 Centerline is valid? [True, True] Translation: X:552.29, Y:5.95, Z:3.80 [[ 9.97393911e-01 -7.10801378e-02 -1.23693386e-02 5.52288387e+02] [ 7.10827655e-02 9.97470395e-01 -2.27635199e-04 5.95139704e+00] [ 1.23542294e-02 -6.52204836e-04 9.99923471e-01 3.80438842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6292541539999 meters 0.02903954938571889 Centerline is valid? [True, True] Translation: X:552.32, Y:5.96, Z:3.81 [[ 9.97060924e-01 -7.55893193e-02 -1.24807380e-02 5.52319143e+02] [ 7.55923518e-02 9.97138779e-01 -2.29267548e-04 5.95565176e+00] [ 1.24623580e-02 -7.14854623e-04 9.99922086e-01 3.80501705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6592541539999 meters 0.027973989036579845 Centerline is valid? [True, True] Translation: X:552.35, Y:5.96, Z:3.81 [[ 9.96878730e-01 -7.79567561e-02 -1.24716092e-02 5.52349998e+02] [ 7.79599704e-02 9.96956464e-01 -2.28959151e-04 5.95666168e+00] [ 1.24515004e-02 -7.44041779e-04 9.99922200e-01 3.80642515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.689254154 meters 0.03094170651582578 Centerline is valid? [True, True] Translation: X:552.38, Y:5.96, Z:3.80 [[ 9.96785081e-01 -7.90114211e-02 -1.32927828e-02 5.52382127e+02] [ 7.90151743e-02 9.96873384e-01 -2.43421094e-04 5.95556628e+00] [ 1.32704544e-02 -8.07693037e-04 9.99911617e-01 3.80451393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7192541539999 meters 0.03213189470517543 Centerline is valid? [True, True] Translation: X:552.41, Y:5.95, Z:3.80 [[ 9.96652239e-01 -8.06719874e-02 -1.32794707e-02 5.52413336e+02] [ 8.06758954e-02 9.96740358e-01 -2.42011419e-04 5.95438017e+00] [ 1.32557079e-02 -8.30131968e-04 9.99911795e-01 3.80482866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7492541539999 meters 0.031212457593465016 Centerline is valid? [True, True] Translation: X:552.44, Y:5.95, Z:3.81 [[ 9.96478970e-01 -8.28199761e-02 -1.30580672e-02 5.52444429e+02] [ 8.28239490e-02 9.96564166e-01 -2.37167798e-04 5.95473339e+00] [ 1.30328440e-02 -8.45187966e-04 9.99914712e-01 3.80674163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7792541539999 meters 0.033568519458334486 Centerline is valid? [True, True] Translation: X:552.48, Y:5.96, Z:3.80 [[ 9.96490209e-01 -8.24358626e-02 -1.45461956e-02 5.52476532e+02] [ 8.24407624e-02 9.96595932e-01 -2.63488925e-04 5.95578498e+00] [ 1.45184003e-02 -9.36635325e-04 9.99894164e-01 3.80472835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.809254154 meters 0.035459645331227065 Centerline is valid? [True, True] Translation: X:552.51, Y:5.95, Z:3.81 [[ 9.96503360e-01 -8.22687594e-02 -1.45912822e-02 5.52507812e+02] [ 8.22736854e-02 9.96609739e-01 -2.63366745e-04 5.95405871e+00] [ 1.45634808e-02 -9.38032718e-04 9.99893507e-01 3.80505407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.839254154 meters 0.032341662236807754 Centerline is valid? [True, True] Translation: X:552.54, Y:5.96, Z:3.81 [[ 9.96529734e-01 -8.20634608e-02 -1.39312098e-02 5.52539681e+02] [ 8.20679434e-02 9.96626705e-01 -2.50577460e-04 5.95839211e+00] [ 1.39047789e-02 -8.93597845e-04 9.99902925e-01 3.80728845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8692541539999 meters 0.030474436200436134 Centerline is valid? [True, True] Translation: X:552.57, Y:5.96, Z:3.81 [[ 9.96740164e-01 -7.92568190e-02 -1.50798703e-02 5.52570878e+02] [ 7.92617641e-02 9.96853801e-01 -2.70397475e-04 5.96492199e+00] [ 1.50538569e-02 -9.25741098e-04 9.99886256e-01 3.80759069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8992541539999 meters 0.033400574516871694 Centerline is valid? [True, True] Translation: X:552.60, Y:5.96, Z:3.81 [[ 9.96879270e-01 -7.73336597e-02 -1.58501166e-02 5.52601722e+02] [ 7.73388901e-02 9.97004822e-01 -2.83619201e-04 5.96345229e+00] [ 1.58245760e-02 -9.43096324e-04 9.99874339e-01 3.80721771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.929254154 meters 0.027969465104381145 Centerline is valid? [True, True] Translation: X:552.63, Y:5.97, Z:3.81 [[ 9.97049539e-01 -7.50595720e-02 -1.60710372e-02 5.52633199e+02] [ 7.50646671e-02 9.97178627e-01 -2.86805918e-04 5.97344395e+00] [ 1.60472224e-02 -9.20407352e-04 9.99870811e-01 3.80868326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.959254154 meters 0.025981725335790382 Centerline is valid? [True, True] Translation: X:552.66, Y:5.98, Z:3.81 [[ 9.97422471e-01 -6.99974668e-02 -1.57724224e-02 5.52663960e+02] [ 7.00017495e-02 9.97546829e-01 -2.81066194e-04 5.98041862e+00] [ 1.57534039e-02 -8.23755423e-04 9.99875568e-01 3.80990295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9892541539999 meters 0.02430777920099011 Centerline is valid? [True, True] Translation: X:552.70, Y:5.99, Z:3.81 [[ 9.97632766e-01 -6.69452953e-02 -1.57223114e-02 5.52695338e+02] [ 6.69491783e-02 9.97756348e-01 -2.79818208e-04 5.98529155e+00] [ 1.57057685e-02 -7.73440013e-04 9.99876358e-01 3.81105503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0192541539999 meters 0.023896783777939044 Centerline is valid? [True, True] Translation: X:552.73, Y:5.99, Z:3.81 [[ 9.97832452e-01 -6.39998366e-02 -1.53107165e-02 5.52726308e+02] [ 6.40031815e-02 9.97949657e-01 -2.71927730e-04 5.98864850e+00] [ 1.52967276e-02 -7.08596255e-04 9.99882747e-01 3.81169070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.049254154 meters 0.023762591062067503 Centerline is valid? [True, True] Translation: X:552.76, Y:5.99, Z:3.81 [[ 9.98034714e-01 -6.08141595e-02 -1.51111740e-02 5.52756445e+02] [ 6.08170594e-02 9.98148893e-01 -2.67977822e-04 5.99113557e+00] [ 1.50994984e-02 -6.51565998e-04 9.99885784e-01 3.81230003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.079254154 meters 0.020770647854986037 Centerline is valid? [True, True] Translation: X:552.79, Y:6.00, Z:3.81 [[ 9.98368090e-01 -5.50690723e-02 -1.51179812e-02 5.52787136e+02] [ 5.50713214e-02 9.98482387e-01 -2.67818731e-04 6.00019201e+00] [ 1.51097865e-02 -5.65185525e-04 9.99885681e-01 3.81317082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1092541539999 meters 0.020457043820386978 Centerline is valid? [True, True] Translation: X:552.82, Y:6.00, Z:3.81 [[ 9.98556215e-01 -5.16434527e-02 -1.47796739e-02 5.52817454e+02] [ 5.16452419e-02 9.98665460e-01 -2.60839110e-04 6.00228439e+00] [ 1.47734205e-02 -5.02837320e-04 9.99890741e-01 3.81300453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1392541539999 meters 0.019061289383384483 Centerline is valid? [True, True] Translation: X:552.85, Y:6.01, Z:3.81 [[ 9.98683552e-01 -4.88258065e-02 -1.57226911e-02 5.52848899e+02] [ 4.88275004e-02 9.98807188e-01 -2.76348971e-04 6.00657383e+00] [ 1.57174298e-02 -4.91714533e-04 9.99876353e-01 3.81343219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1692541539999 meters 0.018481329909733675 Centerline is valid? [True, True] Translation: X:552.88, Y:6.01, Z:3.81 [[ 9.98801682e-01 -4.61360479e-02 -1.63299097e-02 5.52880040e+02] [ 4.61375260e-02 9.98935056e-01 -2.86407752e-04 6.01028421e+00] [ 1.63257329e-02 -4.67357088e-04 9.99866617e-01 3.81335904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.199254154 meters 0.017156507338476488 Centerline is valid? [True, True] Translation: X:552.91, Y:6.01, Z:3.81 [[ 9.98984165e-01 -4.17974389e-02 -1.68407926e-02 5.52910607e+02] [ 4.17984055e-02 9.99126021e-01 -2.94736421e-04 6.01457803e+00] [ 1.68383934e-02 -4.09481262e-04 9.99858140e-01 3.81337744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2292541539999 meters 0.017179960606599886 Centerline is valid? [True, True] Translation: X:552.94, Y:6.02, Z:3.81 [[ 9.99049549e-01 -4.02526325e-02 -1.67249715e-02 5.52941237e+02] [ 4.02533768e-02 9.99189462e-01 -2.92276983e-04 6.01604638e+00] [ 1.67231802e-02 -3.81237392e-04 9.99860085e-01 3.81323018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2592541539999 meters 0.01636991509631537 Centerline is valid? [True, True] Translation: X:552.97, Y:6.02, Z:3.81 [[ 9.99097665e-01 -3.89595469e-02 -1.69117893e-02 5.52972604e+02] [ 3.89601311e-02 9.99240722e-01 -2.95047415e-04 6.01873345e+00] [ 1.69104435e-02 -3.64104346e-04 9.99856942e-01 3.81444685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2892541539999 meters 0.016157059245505694 Centerline is valid? [True, True] Translation: X:553.00, Y:6.02, Z:3.81 [[ 9.99187243e-01 -3.67542018e-02 -1.65523796e-02 5.53002755e+02] [ 3.67544659e-02 9.99324285e-01 -2.88352232e-04 6.02021463e+00] [ 1.65517930e-02 -3.20255999e-04 9.99862958e-01 3.81493901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.319254154 meters 0.016157230235120598 Centerline is valid? [True, True] Translation: X:553.03, Y:6.02, Z:3.82 [[ 9.99213929e-01 -3.61038133e-02 -1.63718791e-02 5.53033758e+02] [ 3.61039921e-02 9.99347998e-01 -2.84741650e-04 6.02093283e+00] [ 1.63714848e-02 -3.06572370e-04 9.99865931e-01 3.81539262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3492541539999 meters 0.018744818276362294 Centerline is valid? [True, True] Translation: X:553.07, Y:6.02, Z:3.82 [[ 9.99201586e-01 -3.55538467e-02 -1.82239982e-02 5.53065139e+02] [ 3.55539895e-02 9.99367707e-01 -3.16259435e-04 6.02194998e+00] [ 1.82237195e-02 -3.31928912e-04 9.99833879e-01 3.81539906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3792541539999 meters 0.016180950676404265 Centerline is valid? [True, True] Translation: X:553.10, Y:6.02, Z:3.82 [[ 9.99233220e-01 -3.55366938e-02 -1.64352020e-02 5.53095229e+02] [ 3.55368142e-02 9.99368327e-01 -2.84813073e-04 6.02167664e+00] [ 1.64349416e-02 -2.99460036e-04 9.99864892e-01 3.81599363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4092541539999 meters 0.01575611471556118 Centerline is valid? [True, True] Translation: X:553.13, Y:6.02, Z:3.82 [[ 9.99229324e-01 -3.54826010e-02 -1.67852288e-02 5.53126871e+02] [ 3.54827273e-02 9.99370248e-01 -2.90384065e-04 6.02306851e+00] [ 1.67849618e-02 -3.05425423e-04 9.99859076e-01 3.81707921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.439254154 meters 0.01578022902781186 Centerline is valid? [True, True] Translation: X:553.16, Y:6.02, Z:3.82 [[ 9.99216302e-01 -3.57258253e-02 -1.70424929e-02 5.53157649e+02] [ 3.57259985e-02 9.99361579e-01 -2.94388056e-04 6.02279416e+00] [ 1.70421299e-02 -3.14702731e-04 9.99854723e-01 3.81698060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4692541539999 meters 0.01571077656260911 Centerline is valid? [True, True] Translation: X:553.19, Y:6.02, Z:3.82 [[ 9.99191318e-01 -3.60044498e-02 -1.78994454e-02 5.53188847e+02] [ 3.60046952e-02 9.99351573e-01 -3.08650497e-04 6.02326949e+00] [ 1.78989517e-02 -3.36063178e-04 9.99839744e-01 3.81726827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4992541539999 meters 0.016591001303056043 Centerline is valid? [True, True] Translation: X:553.22, Y:6.02, Z:3.82 [[ 9.99144723e-01 -3.69768598e-02 -1.85076660e-02 5.53219443e+02] [ 3.69772978e-02 9.99316055e-01 -3.18659982e-04 6.02047529e+00] [ 1.85067908e-02 -3.65976038e-04 9.99828668e-01 3.81638012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5292541539999 meters 0.016776852217935668 Centerline is valid? [True, True] Translation: X:553.25, Y:6.02, Z:3.82 [[ 9.99119597e-01 -3.73408402e-02 -1.91230869e-02 5.53250011e+02] [ 3.73413771e-02 9.99302513e-01 -3.29124539e-04 6.01999160e+00] [ 1.91220386e-02 -3.85247621e-04 9.99817083e-01 3.81647901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.559254154 meters 0.018498726079238244 Centerline is valid? [True, True] Translation: X:553.28, Y:6.02, Z:3.82 [[ 9.99076490e-01 -3.74334972e-02 -2.10926754e-02 5.53280436e+02] [ 3.74341711e-02 9.99299030e-01 -3.63022828e-04 6.02012895e+00] [ 2.10914793e-02 -4.26899248e-04 9.99777459e-01 3.81672900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.589254154 meters 0.01620903066349744 Centerline is valid? [True, True] Translation: X:553.31, Y:6.02, Z:3.82 [[ 9.99083020e-01 -3.81820105e-02 -1.93714707e-02 5.53310553e+02] [ 3.81827105e-02 9.99270719e-01 -3.33859181e-04 6.02087968e+00] [ 1.93700909e-02 -4.06102220e-04 9.99812300e-01 3.81766016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6192541539999 meters 0.016554727700362825 Centerline is valid? [True, True] Translation: X:553.34, Y:6.02, Z:3.82 [[ 9.99047042e-01 -3.89762483e-02 -1.96433098e-02 5.53340116e+02] [ 3.89771119e-02 9.99240046e-01 -3.39036704e-04 6.01893982e+00] [ 1.96415962e-02 -4.26925868e-04 9.99806994e-01 3.81674773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6492541539999 meters 0.01618930277676351 Centerline is valid? [True, True] Translation: X:553.37, Y:6.02, Z:3.82 [[ 9.99042336e-01 -3.90837891e-02 -1.96689452e-02 5.53370866e+02] [ 3.90846733e-02 9.99235845e-01 -3.39606240e-04 6.01908329e+00] [ 1.96671882e-02 -4.29473286e-04 9.99806490e-01 3.81724753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.679254154 meters 0.016614714127669888 Centerline is valid? [True, True] Translation: X:553.40, Y:6.02, Z:3.82 [[ 9.99027728e-01 -3.92391247e-02 -2.00970140e-02 5.53400477e+02] [ 3.92400743e-02 9.99229751e-01 -3.47238791e-04 6.01807433e+00] [ 2.00951596e-02 -4.41707143e-04 9.99797974e-01 3.81673205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.709254154 meters 0.016614714127669888 Centerline is valid? [True, True] Translation: X:553.43, Y:6.02, Z:3.82 [[ 9.99027728e-01 -3.92391255e-02 -2.00970118e-02 5.53430482e+02] [ 3.92400727e-02 9.99229751e-01 -3.47365775e-04 6.01859300e+00] [ 2.00951624e-02 -4.41580163e-04 9.99797974e-01 3.81694002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7392541539999 meters 0.01731650218225744 Centerline is valid? [True, True] Translation: X:553.46, Y:6.02, Z:3.82 [[ 9.99031449e-01 -3.89936188e-02 -2.03877900e-02 5.53460478e+02] [ 3.89945433e-02 9.99239361e-01 -3.52350294e-04 6.01531545e+00] [ 2.03860217e-02 -4.43003535e-04 9.99792085e-01 3.81574211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7692541539999 meters 0.017212218650794735 Centerline is valid? [True, True] Translation: X:553.49, Y:6.02, Z:3.82 [[ 9.99055755e-01 -3.85401676e-02 -2.00562535e-02 5.53490527e+02] [ 3.85409621e-02 9.99256961e-01 -3.47059133e-04 6.01516847e+00] [ 2.00547267e-02 -4.26255884e-04 9.99798793e-01 3.81575225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.799254154 meters 0.016631935870400922 Centerline is valid? [True, True] Translation: X:553.52, Y:6.02, Z:3.82 [[ 9.99089733e-01 -3.76839966e-02 -1.99905511e-02 5.53520084e+02] [ 3.76846005e-02 9.99289623e-01 -3.46629647e-04 6.01596872e+00] [ 1.99894127e-02 -4.07021810e-04 9.99800109e-01 3.81642496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.829254154 meters 0.016525066137011442 Centerline is valid? [True, True] Translation: X:553.55, Y:6.02, Z:3.82 [[ 9.99128982e-01 -3.66896544e-02 -1.98782983e-02 5.53549194e+02] [ 3.66900453e-02 9.99326634e-01 -3.45158063e-04 6.01587146e+00] [ 1.98775767e-02 -3.84478241e-04 9.99802348e-01 3.81607899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8592541539999 meters 0.01585042297782174 Centerline is valid? [True, True] Translation: X:553.58, Y:6.02, Z:3.82 [[ 9.99215429e-01 -3.40684983e-02 -2.01956243e-02 5.53578525e+02] [ 3.40683546e-02 9.99419443e-01 -3.51264521e-04 6.01767101e+00] [ 2.01958666e-02 -3.37042761e-04 9.99795986e-01 3.81684850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8892541539999 meters 0.015060649193894464 Centerline is valid? [True, True] Translation: X:553.61, Y:6.02, Z:3.82 [[ 9.99240345e-01 -3.30595280e-02 -2.06349271e-02 5.53607353e+02] [ 3.30590843e-02 9.99453333e-01 -3.62715966e-04 6.01988650e+00] [ 2.06356379e-02 -3.19731367e-04 9.99787011e-01 3.81797802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9192541539999 meters 0.015742153193153106 Centerline is valid? [True, True] Translation: X:553.64, Y:6.02, Z:3.82 [[ 9.99277088e-01 -3.18817013e-02 -2.07088781e-02 5.53635380e+02] [ 3.18809380e-02 9.99491606e-01 -3.67084405e-04 6.01897774e+00] [ 2.07100532e-02 -2.93399424e-04 9.99785481e-01 3.81697262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.949254154 meters 0.015267025857043965 Centerline is valid? [True, True] Translation: X:553.66, Y:6.02, Z:3.82 [[ 9.99294164e-01 -3.14824926e-02 -2.04945688e-02 5.53664099e+02] [ 3.14815799e-02 9.99504265e-01 -3.67246186e-04 6.01885134e+00] [ 2.04959707e-02 -2.78214434e-04 9.99789897e-01 3.81716757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9792541539999 meters 0.015212854820771103 Centerline is valid? [True, True] Translation: X:553.69, Y:6.02, Z:3.82 [[ 9.99288736e-01 -3.19734156e-02 -1.99930929e-02 5.53691568e+02] [ 3.19725393e-02 9.99488682e-01 -3.63559229e-04 6.01654531e+00] [ 1.99944943e-02 -2.75929305e-04 9.99800052e-01 3.81722241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0092541539999 meters 0.015724011668006816 Centerline is valid? [True, True] Translation: X:553.72, Y:6.01, Z:3.82 [[ 9.99238116e-01 -3.34995199e-02 -2.00242468e-02 5.53720663e+02] [ 3.34988450e-02 9.99438688e-01 -3.69223404e-04 6.01496972e+00] [ 2.00253757e-02 -3.01847042e-04 9.99799426e-01 3.81720215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0392541539999 meters 0.015608289836258463 Centerline is valid? [True, True] Translation: X:553.75, Y:6.01, Z:3.82 [[ 9.99185260e-01 -3.50916557e-02 -1.99346982e-02 5.53749678e+02] [ 3.50912048e-02 9.99384045e-01 -3.72527573e-04 6.01430519e+00] [ 1.99354919e-02 -3.27308516e-04 9.99801215e-01 3.81847898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.069254154 meters 0.01651746658482285 Centerline is valid? [True, True] Translation: X:553.78, Y:6.01, Z:3.82 [[ 9.99005978e-01 -3.95606521e-02 -2.05429029e-02 5.53778547e+02] [ 3.95610596e-02 9.99217080e-01 -3.86715874e-04 6.00994545e+00] [ 2.05421182e-02 -4.26367536e-04 9.99788898e-01 3.81779383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0992541539999 meters 0.017541231841710192 Centerline is valid? [True, True] Translation: X:553.81, Y:6.01, Z:3.82 [[ 9.98923754e-01 -4.13774516e-02 -2.09580408e-02 5.53807609e+02] [ 4.13782759e-02 9.99143475e-01 -3.94502072e-04 6.00708442e+00] [ 2.09564132e-02 -4.73130104e-04 9.99780278e-01 3.81697002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1292541539999 meters 0.016870467366193197 Centerline is valid? [True, True] Translation: X:553.84, Y:6.01, Z:3.82 [[ 9.98830545e-01 -4.34987126e-02 -2.11046066e-02 5.53836830e+02] [ 4.35000110e-02 9.99053347e-01 -3.97765799e-04 6.00821291e+00] [ 2.11019302e-02 -5.20749990e-04 9.99777194e-01 3.81839878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1592541539999 meters 0.01724994268949718 Centerline is valid? [True, True] Translation: X:553.87, Y:6.01, Z:3.82 [[ 9.98754205e-01 -4.51509470e-02 -2.12468696e-02 5.53866908e+02] [ 4.51526173e-02 9.98980020e-01 -4.01354579e-04 6.00654377e+00] [ 2.12433198e-02 -5.58497199e-04 9.99774179e-01 3.81838551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.189254154 meters 0.01777263369430728 Centerline is valid? [True, True] Translation: X:553.90, Y:6.00, Z:3.82 [[ 9.98624035e-01 -4.77780950e-02 -2.16168857e-02 5.53896852e+02] [ 4.77804217e-02 9.98857780e-01 -4.09139330e-04 6.00382736e+00] [ 2.16117423e-02 -6.24287544e-04 9.99766244e-01 3.81884949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2192541539999 meters 0.018529036711760177 Centerline is valid? [True, True] Translation: X:553.93, Y:6.00, Z:3.82 [[ 9.98580649e-01 -4.88443388e-02 -2.12348165e-02 5.53927688e+02] [ 4.88468195e-02 9.98806201e-01 -4.02157071e-04 6.00290771e+00] [ 2.12291095e-02 -6.35666980e-04 9.99774435e-01 3.81925013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2492541539999 meters 0.018549956336886383 Centerline is valid? [True, True] Translation: X:553.96, Y:6.00, Z:3.82 [[ 9.98550747e-01 -4.95967252e-02 -2.08942709e-02 5.53958340e+02] [ 4.95992914e-02 9.98769119e-01 -3.95707625e-04 6.00284396e+00] [ 2.08881784e-02 -6.41206888e-04 9.99781613e-01 3.82031587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2792541539999 meters 0.018863406679369286 Centerline is valid? [True, True] Translation: X:553.99, Y:6.00, Z:3.82 [[ 9.98526931e-01 -5.05693100e-02 -1.96650221e-02 5.53988998e+02] [ 5.05717714e-02 9.98720360e-01 -3.72427409e-04 6.00154001e+00] [ 1.96586913e-02 -6.22616205e-04 9.99806555e-01 3.82173563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.309254154 meters 0.019013257329709005 Centerline is valid? [True, True] Translation: X:554.02, Y:6.00, Z:3.82 [[ 9.98521345e-01 -5.08188061e-02 -1.93021537e-02 5.54019861e+02] [ 5.08212240e-02 9.98707700e-01 -3.65555200e-04 6.00157532e+00] [ 1.92957866e-02 -6.15944406e-04 9.99813629e-01 3.82218169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.339254154 meters 0.018653765875531126 Centerline is valid? [True, True] Translation: X:554.05, Y:6.00, Z:3.82 [[ 9.98508737e-01 -5.10578162e-02 -1.93236016e-02 5.54050086e+02] [ 5.10602842e-02 9.98695506e-01 -3.65961393e-04 6.00239732e+00] [ 1.93170793e-02 -6.21252942e-04 9.99813215e-01 3.82274881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3692541539999 meters 0.020071013501002776 Centerline is valid? [True, True] Translation: X:554.08, Y:6.00, Z:3.82 [[ 9.98525139e-01 -5.07879563e-02 -1.91867133e-02 5.54081018e+02] [ 5.07903397e-02 9.98709272e-01 -3.63368924e-04 6.00153942e+00] [ 1.91804032e-02 -6.11666680e-04 9.99815852e-01 3.82269006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3992541539999 meters 0.019624137480390467 Centerline is valid? [True, True] Translation: X:554.11, Y:6.00, Z:3.82 [[ 9.98543291e-01 -5.07447448e-02 -1.83375929e-02 5.54111832e+02] [ 5.07469184e-02 9.98711485e-01 -3.47078595e-04 6.00027092e+00] [ 1.83315771e-02 -5.84003329e-04 9.99831792e-01 3.82236042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.429254154 meters 0.0216294573208816 Centerline is valid? [True, True] Translation: X:554.14, Y:6.00, Z:3.82 [[ 9.98540058e-01 -5.04323437e-02 -1.93476238e-02 5.54143193e+02] [ 5.04347162e-02 9.98727293e-01 -3.65607742e-04 6.00172439e+00] [ 1.93414383e-02 -6.10717938e-04 9.99812750e-01 3.82277891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.459254154 meters 0.018861940558362482 Centerline is valid? [True, True] Translation: X:554.17, Y:6.00, Z:3.82 [[ 9.98539255e-01 -5.07298729e-02 -1.85966809e-02 5.54173732e+02] [ 5.07321207e-02 9.98712235e-01 -3.51174021e-04 6.00285406e+00] [ 1.85905477e-02 -5.92788014e-04 9.99827005e-01 3.82290619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4892541539999 meters 0.020200880608795997 Centerline is valid? [True, True] Translation: X:554.20, Y:6.00, Z:3.82 [[ 9.98542913e-01 -5.05403986e-02 -1.89134806e-02 5.54204388e+02] [ 5.05426939e-02 9.98721837e-01 -3.56938042e-04 6.00140055e+00] [ 1.89073459e-02 -5.99520310e-04 9.99821060e-01 3.82178999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5192541539999 meters 0.019434123495136218 Centerline is valid? [True, True] Translation: X:554.23, Y:6.00, Z:3.82 [[ 9.98544835e-01 -5.04543930e-02 -1.90411618e-02 5.54234922e+02] [ 5.04567063e-02 9.98726185e-01 -3.59220620e-04 6.00313029e+00] [ 1.90350311e-02 -6.02056413e-04 9.99818636e-01 3.82213511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.549254154 meters 0.018942986230266457 Centerline is valid? [True, True] Translation: X:554.27, Y:6.00, Z:3.82 [[ 9.98539519e-01 -5.04727637e-02 -1.92698780e-02 5.54265775e+02] [ 5.04751363e-02 9.98725252e-01 -3.63535461e-04 6.00470417e+00] [ 1.92636624e-02 -6.09645196e-04 9.99814253e-01 3.82271851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.579254154 meters 0.02158405248809113 Centerline is valid? [True, True] Translation: X:554.30, Y:6.00, Z:3.82 [[ 9.98546146e-01 -5.02740567e-02 -1.94451186e-02 5.54295808e+02] [ 5.02764307e-02 9.98735273e-01 -3.67068348e-04 6.00208263e+00] [ 1.94389799e-02 -6.11096474e-04 9.99810858e-01 3.82165062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6092541539999 meters 0.01988149152785541 Centerline is valid? [True, True] Translation: X:554.33, Y:6.01, Z:3.82 [[ 9.98579485e-01 -4.98928643e-02 -1.87006632e-02 5.54325775e+02] [ 4.98949908e-02 9.98754407e-01 -3.53135913e-04 6.00564182e+00] [ 1.86949888e-02 -5.80435143e-04 9.99825065e-01 3.82286442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6392541539999 meters 0.018610605905525823 Centerline is valid? [True, True] Translation: X:554.36, Y:6.01, Z:3.82 [[ 9.98617286e-01 -4.93569970e-02 -1.80942787e-02 5.54356605e+02] [ 4.93588999e-02 9.98781048e-01 -3.41685189e-04 6.00656790e+00] [ 1.80890872e-02 -5.51900957e-04 9.99836227e-01 3.82319749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6692541539999 meters 0.017584316528754418 Centerline is valid? [True, True] Translation: X:554.39, Y:6.01, Z:3.82 [[ 9.98654770e-01 -4.87288246e-02 -1.77243090e-02 5.54387908e+02] [ 4.87305587e-02 9.98811905e-01 -3.34295862e-04 6.00919106e+00] [ 1.77195407e-02 -5.29869324e-04 9.99842856e-01 3.82415065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.699254154 meters 0.017661802016321223 Centerline is valid? [True, True] Translation: X:554.42, Y:6.01, Z:3.82 [[ 9.98723821e-01 -4.74907491e-02 -1.71859659e-02 5.54418779e+02] [ 4.74922071e-02 9.98871556e-01 -3.23511950e-04 6.01050663e+00] [ 1.71819363e-02 -4.93100361e-04 9.99852258e-01 3.82389504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7292541539999 meters 0.01770639302772007 Centerline is valid? [True, True] Translation: X:554.45, Y:6.01, Z:3.82 [[ 9.98767884e-01 -4.67100802e-02 -1.67595286e-02 5.54450073e+02] [ 4.67113671e-02 9.98908379e-01 -3.14873846e-04 6.01137892e+00] [ 1.67559413e-02 -4.68374609e-04 9.99859500e-01 3.82407936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7592541539999 meters 0.01761875675498394 Centerline is valid? [True, True] Translation: X:554.48, Y:6.01, Z:3.82 [[ 9.98819061e-01 -4.57666192e-02 -1.63064564e-02 5.54481127e+02] [ 4.57677215e-02 9.98952062e-01 -3.05771946e-04 6.01219182e+00] [ 1.63033624e-02 -4.40898509e-04 9.99866994e-01 3.82439183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7892541539999 meters 0.017911543381769247 Centerline is valid? [True, True] Translation: X:554.51, Y:6.01, Z:3.82 [[ 9.98850436e-01 -4.50584973e-02 -1.63565932e-02 5.54511680e+02] [ 4.50595249e-02 9.98984257e-01 -3.05891892e-04 6.01209027e+00] [ 1.63537621e-02 -4.31480067e-04 9.99866175e-01 3.82441223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.819254154 meters 0.017481383430859133 Centerline is valid? [True, True] Translation: X:554.54, Y:6.01, Z:3.83 [[ 9.98914919e-01 -4.39387502e-02 -1.54392333e-02 5.54542669e+02] [ 4.39395405e-02 9.99034150e-01 -2.88190923e-04 6.01359765e+00] [ 1.54369840e-02 -3.90514602e-04 9.99880766e-01 3.82528601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8492541539999 meters 0.01728163198134415 Centerline is valid? [True, True] Translation: X:554.57, Y:6.02, Z:3.83 [[ 9.98937403e-01 -4.35710743e-02 -1.50208403e-02 5.54574094e+02] [ 4.35717870e-02 9.99050259e-01 -2.79968258e-04 6.01522864e+00] [ 1.50187730e-02 -3.74814091e-04 9.99887142e-01 3.82613212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8792541539999 meters 0.017160113154554055 Centerline is valid? [True, True] Translation: X:554.61, Y:6.02, Z:3.83 [[ 9.98960433e-01 -4.32443698e-02 -1.44214557e-02 5.54605324e+02] [ 4.32450001e-02 9.99064461e-01 -2.68286757e-04 6.01609903e+00] [ 1.44195657e-02 -3.55647996e-04 9.99895969e-01 3.82657170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9092541539999 meters 0.017875388765806712 Centerline is valid? [True, True] Translation: X:554.64, Y:6.02, Z:3.83 [[ 9.98959431e-01 -4.33372647e-02 -1.42104240e-02 5.54636318e+02] [ 4.33378950e-02 9.99060437e-01 -2.63723832e-04 6.01565106e+00] [ 1.42085015e-02 -3.52400455e-04 9.99898992e-01 3.82684136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.939254154 meters 0.017862365799387877 Centerline is valid? [True, True] Translation: X:554.67, Y:6.02, Z:3.83 [[ 9.98929834e-01 -4.41823090e-02 -1.36787998e-02 5.54667470e+02] [ 4.41829804e-02 9.99023423e-01 -2.53259793e-04 6.01578098e+00] [ 1.36766310e-02 -3.51381379e-04 9.99906409e-01 3.82725545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9692541539999 meters 0.018232787846399912 Centerline is valid? [True, True] Translation: X:554.70, Y:6.02, Z:3.83 [[ 9.98906685e-01 -4.48553719e-02 -1.31693049e-02 5.54699260e+02] [ 4.48560616e-02 9.98993431e-01 -2.43147808e-04 6.01551533e+00] [ 1.31669556e-02 -3.47841181e-04 9.99913251e-01 3.82749396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9992541539999 meters 0.01816088475396529 Centerline is valid? [True, True] Translation: X:554.73, Y:6.02, Z:3.83 [[ 9.98869671e-01 -4.56367796e-02 -1.32915212e-02 5.54731148e+02] [ 4.56375639e-02 9.98958034e-01 -2.44453154e-04 6.01607002e+00] [ 1.32888280e-02 -3.62415807e-04 9.99911634e-01 3.82775068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0292541539999 meters 0.017449276328471187 Centerline is valid? [True, True] Translation: X:554.76, Y:6.02, Z:3.83 [[ 9.98825039e-01 -4.67247757e-02 -1.28582993e-02 5.54763002e+02] [ 4.67256116e-02 9.98907734e-01 -2.35566086e-04 6.01785803e+00] [ 1.28552614e-02 -3.65522594e-04 9.99917301e-01 3.82824369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.059254154 meters 0.020528282112494682 Centerline is valid? [True, True] Translation: X:554.79, Y:6.01, Z:3.83 [[ 9.98717987e-01 -4.88236123e-02 -1.33655016e-02 5.54793794e+02] [ 4.88247135e-02 9.98807333e-01 -2.44086320e-04 6.01367252e+00] [ 1.33614782e-02 -4.08793390e-04 9.99910648e-01 3.82698281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.089254154 meters 0.021251598423360288 Centerline is valid? [True, True] Translation: X:554.83, Y:6.01, Z:3.83 [[ 9.98644080e-01 -5.02135727e-02 -1.37330923e-02 5.54825222e+02] [ 5.02148735e-02 9.98738406e-01 -2.50303784e-04 6.01369568e+00] [ 1.37283354e-02 -4.39641100e-04 9.99905665e-01 3.82691843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1192541539999 meters 0.01873623772458528 Centerline is valid? [True, True] Translation: X:554.86, Y:6.02, Z:3.83 [[ 9.98569548e-01 -5.16947319e-02 -1.36569575e-02 5.54857127e+02] [ 5.16961667e-02 9.98662828e-01 -2.48178900e-04 6.01893807e+00] [ 1.36515253e-02 -4.58188458e-04 9.99906709e-01 3.82781403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1492541539999 meters 0.020447432568408204 Centerline is valid? [True, True] Translation: X:554.89, Y:6.02, Z:3.83 [[ 9.98478664e-01 -5.34104701e-02 -1.36996291e-02 5.54887789e+02] [ 5.34120857e-02 9.98572525e-01 -2.48184215e-04 6.01642072e+00] [ 1.36933288e-02 -4.83919119e-04 9.99906125e-01 3.82740033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.179254154 meters 0.021612291804884654 Centerline is valid? [True, True] Translation: X:554.92, Y:6.02, Z:3.83 [[ 9.98376172e-01 -5.54047514e-02 -1.32413398e-02 5.54919342e+02] [ 5.54064436e-02 9.98463854e-01 -2.39294133e-04 6.01504421e+00] [ 1.32342572e-02 -4.94749988e-04 9.99912301e-01 3.82773622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.209254154 meters 0.023996214853726522 Centerline is valid? [True, True] Translation: X:554.95, Y:6.01, Z:3.83 [[ 9.98129804e-01 -5.99346011e-02 -1.20307450e-02 5.54949721e+02] [ 5.99363329e-02 9.98202178e-01 -2.16874478e-04 6.01277205e+00] [ 1.20221141e-02 -5.04609855e-04 9.99927604e-01 3.82817407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2392541539999 meters 0.023542231069757405 Centerline is valid? [True, True] Translation: X:554.98, Y:6.01, Z:3.83 [[ 9.98021554e-01 -6.18162680e-02 -1.14772163e-02 5.54982075e+02] [ 6.18179751e-02 9.98087419e-01 -2.06301871e-04 6.01442622e+00] [ 1.14680180e-02 -5.03604558e-04 9.99934113e-01 3.82856440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2692541539999 meters 0.023548184289520126 Centerline is valid? [True, True] Translation: X:555.01, Y:6.02, Z:3.83 [[ 9.97916198e-01 -6.35462487e-02 -1.11864437e-02 5.55014025e+02] [ 6.35479878e-02 9.97978764e-01 -2.00273671e-04 6.01531071e+00] [ 1.11765599e-02 -5.11019647e-04 9.99937410e-01 3.82877657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.299254154 meters 0.02577457079469307 Centerline is valid? [True, True] Translation: X:555.04, Y:6.01, Z:3.83 [[ 9.97733817e-01 -6.65176793e-02 -1.01305806e-02 5.55044398e+02] [ 6.65192636e-02 9.97785125e-01 -1.80851852e-04 6.01448167e+00] [ 1.01201725e-02 -4.93436756e-04 9.99948668e-01 3.82892801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.329254154 meters 0.02647202546168991 Centerline is valid? [True, True] Translation: X:555.08, Y:6.02, Z:3.83 [[ 9.97701777e-01 -6.70640830e-02 -9.67335390e-03 5.55076942e+02] [ 6.70655563e-02 9.97748556e-01 -1.72368945e-04 6.01642399e+00] [ 9.66313465e-03 -4.76776058e-04 9.99953197e-01 3.82904544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3592541539999 meters 0.027040468153273167 Centerline is valid? [True, True] Translation: X:555.11, Y:6.02, Z:3.83 [[ 9.97602240e-01 -6.85663354e-02 -9.40368596e-03 5.55107897e+02] [ 6.85678001e-02 9.97646445e-01 -1.66937598e-04 6.01593772e+00] [ 9.39300017e-03 -4.78252738e-04 9.99955770e-01 3.82916700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3892541539999 meters 0.028914837394576832 Centerline is valid? [True, True] Translation: X:555.14, Y:6.02, Z:3.83 [[ 9.97502217e-01 -7.00323722e-02 -9.20834153e-03 5.55139374e+02] [ 7.00338446e-02 9.97544603e-01 -1.62849786e-04 6.01664861e+00] [ 9.19713615e-03 -4.82452537e-04 9.99957589e-01 3.82887655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4192541539999 meters 0.026862426545812473 Centerline is valid? [True, True] Translation: X:555.17, Y:6.02, Z:3.83 [[ 9.97469595e-01 -7.04369918e-02 -9.64562503e-03 5.55171173e+02] [ 7.04386359e-02 9.97516100e-01 -1.69585350e-04 6.02154139e+00] [ 9.63361134e-03 -5.10268439e-04 9.99953465e-01 3.82927884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.449254154 meters 0.02811711419200074 Centerline is valid? [True, True] Translation: X:555.20, Y:6.02, Z:3.83 [[ 9.97455549e-01 -7.06845159e-02 -9.28044024e-03 5.55202428e+02] [ 7.06860542e-02 9.97498599e-01 -1.62550165e-04 6.02193964e+00] [ 9.26871591e-03 -4.93861137e-04 9.99956923e-01 3.82933955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4792541539999 meters 0.027122869065158314 Centerline is valid? [True, True] Translation: X:555.23, Y:6.03, Z:3.83 [[ 9.97439375e-01 -7.09179495e-02 -9.23782093e-03 5.55234991e+02] [ 7.09194887e-02 9.97482030e-01 -1.61259863e-04 6.02564621e+00] [ 9.22599659e-03 -4.94294600e-04 9.99957317e-01 3.83009830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5092541539999 meters 0.030734386886804778 Centerline is valid? [True, True] Translation: X:555.27, Y:6.02, Z:3.83 [[ 9.97440910e-01 -7.08911633e-02 -9.27755630e-03 5.55267374e+02] [ 7.08927213e-02 9.97483933e-01 -1.61231153e-04 6.02281443e+00] [ 9.26564321e-03 -4.96892665e-04 9.99956950e-01 3.83036145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5392541539999 meters 0.031805033934782345 Centerline is valid? [True, True] Translation: X:555.30, Y:6.03, Z:3.83 [[ 9.97446155e-01 -7.08065625e-02 -9.35937756e-03 5.55299752e+02] [ 7.08081524e-02 9.97489939e-01 -1.61806187e-04 6.02564939e+00] [ 9.34734190e-03 -5.01327274e-04 9.99956187e-01 3.83045439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.569254154 meters 0.027221279577872955 Centerline is valid? [True, True] Translation: X:555.33, Y:6.03, Z:3.83 [[ 9.97479989e-01 -7.02589177e-02 -9.86695460e-03 5.55331963e+02] [ 7.02606663e-02 9.97528651e-01 -1.69735899e-04 6.03437242e+00] [ 9.85449538e-03 -5.23950643e-04 9.99951306e-01 3.83098951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5992541539999 meters 0.027397373250653258 Centerline is valid? [True, True] Translation: X:555.36, Y:6.04, Z:3.83 [[ 9.97540233e-01 -6.93455846e-02 -1.02310492e-02 5.55363632e+02] [ 6.93474245e-02 9.97592554e-01 -1.75237634e-04 6.03686091e+00] [ 1.02185704e-02 -5.34690320e-04 9.99947646e-01 3.83093558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6292541539999 meters 0.027397373250653258 Centerline is valid? [True, True] Translation: X:555.40, Y:6.04, Z:3.83 [[ 9.97547754e-01 -6.92373024e-02 -1.02310638e-02 5.55396204e+02] [ 6.92391454e-02 9.97600075e-01 -1.74378505e-04 6.03732283e+00] [ 1.02185835e-02 -5.34439230e-04 9.99947646e-01 3.83116120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6592541539999 meters 0.023804227604697772 Centerline is valid? [True, True] Translation: X:555.43, Y:6.05, Z:3.83 [[ 9.97753290e-01 -6.61014246e-02 -1.09075372e-02 5.55427535e+02] [ 6.61033429e-02 9.97812765e-01 -1.84956825e-04 6.04819503e+00] [ 1.08959058e-02 -5.36483392e-04 9.99940494e-01 3.83140568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.689254154 meters 0.023221562116088168 Centerline is valid? [True, True] Translation: X:555.46, Y:6.05, Z:3.83 [[ 9.97906490e-01 -6.37324707e-02 -1.09913346e-02 5.55458934e+02] [ 6.37342797e-02 9.97966887e-01 -1.85963901e-04 6.05207013e+00] [ 1.09808399e-02 -5.14950211e-04 9.99939576e-01 3.83169963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7192541539999 meters 0.021658619394366464 Centerline is valid? [True, True] Translation: X:555.49, Y:6.06, Z:3.83 [[ 9.98081956e-01 -6.08951597e-02 -1.11440133e-02 5.55490748e+02] [ 6.08968484e-02 9.98144047e-01 -1.88047380e-04 6.05772890e+00] [ 1.11347817e-02 -4.90948594e-04 9.99937886e-01 3.83194537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7492541539999 meters 0.01972277276755082 Centerline is valid? [True, True] Translation: X:555.52, Y:6.07, Z:3.83 [[ 9.98417527e-01 -5.51571246e-02 -1.09605756e-02 5.55521180e+02] [ 5.51584182e-02 9.98477599e-01 -1.84464352e-04 6.06712224e+00] [ 1.09540637e-02 -4.20395571e-04 9.99939914e-01 3.83232200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7792541539999 meters 0.019426626482178633 Centerline is valid? [True, True] Translation: X:555.55, Y:6.07, Z:3.83 [[ 9.98557261e-01 -5.25255569e-02 -1.11562616e-02 5.55551759e+02] [ 5.25267360e-02 9.98619501e-01 -1.87498249e-04 6.07105040e+00] [ 1.11507088e-02 -3.98774268e-04 9.99937749e-01 3.83253958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.809254154 meters 0.018303555877336807 Centerline is valid? [True, True] Translation: X:555.58, Y:6.08, Z:3.83 [[ 9.98821751e-01 -4.73699232e-02 -1.05451424e-02 5.55582853e+02] [ 4.73706915e-02 9.98877363e-01 -1.77039259e-04 6.07919266e+00] [ 1.05416904e-02 -3.22700025e-04 9.99944383e-01 3.83321119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.839254154 meters 0.01838436032042372 Centerline is valid? [True, True] Translation: X:555.61, Y:6.08, Z:3.83 [[ 9.98927052e-01 -4.50608814e-02 -1.06893479e-02 5.55614501e+02] [ 4.50615431e-02 9.98984197e-01 -1.79056894e-04 6.08195470e+00] [ 1.06865581e-02 -3.02813736e-04 9.99942851e-01 3.83374681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8692541539999 meters 0.01725645708332313 Centerline is valid? [True, True] Translation: X:555.65, Y:6.09, Z:3.83 [[ 9.99040598e-01 -4.25825482e-02 -1.02278831e-02 5.55646701e+02] [ 4.25830316e-02 9.99092917e-01 -1.70603652e-04 6.08636092e+00] [ 1.02258703e-02 -2.65094294e-04 9.99947679e-01 3.83425606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8992541539999 meters 0.01691212209959394 Centerline is valid? [True, True] Translation: X:555.68, Y:6.09, Z:3.83 [[ 9.99135888e-01 -4.03781651e-02 -9.85292747e-03 5.55679410e+02] [ 4.03785140e-02 9.99184442e-01 -1.63603174e-04 6.08976072e+00] [ 9.85149784e-03 -2.34384768e-04 9.99951445e-01 3.83470388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.929254154 meters 0.016428749033199817 Centerline is valid? [True, True] Translation: X:555.71, Y:6.09, Z:3.84 [[ 9.99218688e-01 -3.81680259e-02 -1.02574456e-02 5.55711391e+02] [ 3.81682967e-02 9.99271311e-01 -1.69432521e-04 6.09361088e+00] [ 1.02564380e-02 -2.22209086e-04 9.99947377e-01 3.83503962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.959254154 meters 0.016874082447227528 Centerline is valid? [True, True] Translation: X:555.74, Y:6.10, Z:3.83 [[ 9.99305047e-01 -3.57342446e-02 -1.06059736e-02 5.55742653e+02] [ 3.57344047e-02 9.99361307e-01 -1.74476223e-04 6.09636097e+00] [ 1.06054344e-02 -2.04643183e-04 9.99943740e-01 3.83496155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9892541539999 meters 0.015664783935305578 Centerline is valid? [True, True] Translation: X:555.77, Y:6.10, Z:3.84 [[ 9.99407833e-01 -3.25371024e-02 -1.11946158e-02 5.55773884e+02] [ 3.25370870e-02 9.99470512e-01 -1.83543026e-04 6.10179900e+00] [ 1.11946604e-02 -1.80805851e-04 9.99937321e-01 3.83508000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0192541539999 meters 0.01493298420179543 Centerline is valid? [True, True] Translation: X:555.81, Y:6.11, Z:3.84 [[ 9.99446146e-01 -3.12196423e-02 -1.15211038e-02 5.55806087e+02] [ 3.12195468e-02 9.99512533e-01 -1.88187097e-04 6.10565863e+00] [ 1.15213628e-02 -1.71600770e-04 9.99933612e-01 3.83553643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.049254154 meters 0.015158861431077015 Centerline is valid? [True, True] Translation: X:555.84, Y:6.11, Z:3.84 [[ 9.99465751e-01 -3.04004665e-02 -1.20010452e-02 5.55836810e+02] [ 3.04003133e-02 9.99537785e-01 -1.95227147e-04 6.10619420e+00] [ 1.20014331e-02 -1.69712686e-04 9.99927966e-01 3.83523210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.079254154 meters 0.015537437520811376 Centerline is valid? [True, True] Translation: X:555.87, Y:6.11, Z:3.83 [[ 9.99446315e-01 -3.07431961e-02 -1.27247860e-02 5.55868378e+02] [ 3.07430605e-02 9.99527299e-01 -2.06304327e-04 6.10764189e+00] [ 1.27251135e-02 -1.85008768e-04 9.99919015e-01 3.83464547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1092541539999 meters 0.015225272909030384 Centerline is valid? [True, True] Translation: X:555.90, Y:6.11, Z:3.83 [[ 9.99413693e-01 -3.14639415e-02 -1.35015166e-02 5.55900746e+02] [ 3.14638662e-02 9.99504866e-01 -2.18048329e-04 6.10926750e+00] [ 1.35016922e-02 -2.06889426e-04 9.99908827e-01 3.83490567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1392541539999 meters 0.015427584567069885 Centerline is valid? [True, True] Translation: X:555.93, Y:6.11, Z:3.83 [[ 9.99376454e-01 -3.25232560e-02 -1.37455713e-02 5.55933291e+02] [ 3.25232917e-02 9.99470953e-01 -2.20997564e-04 6.10918107e+00] [ 1.37454868e-02 -2.26191462e-04 9.99905501e-01 3.83482481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1692541539999 meters 0.017397310385580605 Centerline is valid? [True, True] Translation: X:555.96, Y:6.11, Z:3.83 [[ 9.99267907e-01 -3.57149267e-02 -1.37147043e-02 5.55964721e+02] [ 3.57152744e-02 9.99361982e-01 -2.19645149e-04 6.10508165e+00] [ 1.37137987e-02 -2.70340079e-04 9.99905925e-01 3.83405181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.199254154 meters 0.016239370230833904 Centerline is valid? [True, True] Translation: X:556.00, Y:6.11, Z:3.84 [[ 9.99195603e-01 -3.76781529e-02 -1.37296329e-02 5.55996617e+02] [ 3.76786985e-02 9.99289882e-01 -2.19020884e-04 6.10782401e+00] [ 1.37281355e-02 -2.98469993e-04 9.99905720e-01 3.83580072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2292541539999 meters 0.017139063615420544 Centerline is valid? [True, True] Translation: X:556.03, Y:6.11, Z:3.84 [[ 9.99121645e-01 -3.96944720e-02 -1.34271029e-02 5.56027957e+02] [ 3.96951871e-02 9.99211813e-01 -2.13351552e-04 6.10595254e+00] [ 1.34249887e-02 -3.19827209e-04 9.99909830e-01 3.83604978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2592541539999 meters 0.017713522124024127 Centerline is valid? [True, True] Translation: X:556.06, Y:6.10, Z:3.84 [[ 9.99029520e-01 -4.18650526e-02 -1.36870839e-02 5.56060380e+02] [ 4.18660110e-02 9.99123211e-01 -2.16616491e-04 6.10493995e+00] [ 1.36841519e-02 -3.56617337e-04 9.99906304e-01 3.83670590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2892541539999 meters 0.01966495084219399 Centerline is valid? [True, True] Translation: X:556.09, Y:6.10, Z:3.84 [[ 9.98839768e-01 -4.62406599e-02 -1.34506222e-02 5.56090378e+02] [ 4.62419962e-02 9.98930244e-01 -2.11809094e-04 6.10097055e+00] [ 1.34460275e-02 -4.10420272e-04 9.99909514e-01 3.83701690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.319254154 meters 0.021303697670707503 Centerline is valid? [True, True] Translation: X:556.12, Y:6.10, Z:3.84 [[ 9.98733558e-01 -4.84392183e-02 -1.35986111e-02 5.56121838e+02] [ 4.84408010e-02 9.98826033e-01 -2.13167681e-04 6.09840407e+00] [ 1.35929725e-02 -4.45829899e-04 9.99907512e-01 3.83674281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3492541539999 meters 0.02235381778437846 Centerline is valid? [True, True] Translation: X:556.15, Y:6.10, Z:3.84 [[ 9.98613750e-01 -5.07687248e-02 -1.38965450e-02 5.56154008e+02] [ 5.07706147e-02 9.98710317e-01 -2.16985270e-04 6.09645989e+00] [ 1.38896390e-02 -4.88851659e-04 9.99903415e-01 3.83680581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3792541539999 meters 0.023284941889381443 Centerline is valid? [True, True] Translation: X:556.19, Y:6.10, Z:3.84 [[ 9.98502746e-01 -5.29289867e-02 -1.38126159e-02 5.56186544e+02] [ 5.29310733e-02 9.98598145e-01 -2.14724895e-04 6.09513324e+00] [ 1.38046178e-02 -5.16713187e-04 9.99904578e-01 3.83669947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4092541539999 meters 0.021540521079117206 Centerline is valid? [True, True] Translation: X:556.22, Y:6.10, Z:3.84 [[ 9.98266783e-01 -5.71267514e-02 -1.41408726e-02 5.56217249e+02] [ 5.71293676e-02 9.98366760e-01 -2.19203467e-04 6.09718575e+00] [ 1.41302995e-02 -5.89035566e-04 9.99899989e-01 3.83709560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.439254154 meters 0.021635516742450612 Centerline is valid? [True, True] Translation: X:556.25, Y:6.10, Z:3.84 [[ 9.98176024e-01 -5.86757978e-02 -1.42047570e-02 5.56248947e+02] [ 5.86786018e-02 9.98276902e-01 -2.19653526e-04 6.09685627e+00] [ 1.41931692e-02 -6.14262398e-04 9.99899083e-01 3.83739588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4692541539999 meters 0.022324837259654496 Centerline is valid? [True, True] Translation: X:556.28, Y:6.10, Z:3.84 [[ 9.98102170e-01 -5.99336360e-02 -1.41427781e-02 5.56280762e+02] [ 5.99365530e-02 9.98202165e-01 -2.17898811e-04 6.09627131e+00] [ 1.41304112e-02 -6.30184093e-04 9.99899962e-01 3.83760355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4992541539999 meters 0.02453580868849849 Centerline is valid? [True, True] Translation: X:556.31, Y:6.09, Z:3.84 [[ 9.98028581e-01 -6.12641232e-02 -1.36256990e-02 5.56311692e+02] [ 6.12669707e-02 9.98121393e-01 -2.08731727e-04 6.09358081e+00] [ 1.36128894e-02 -6.26485072e-04 9.99907144e-01 3.83795286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5292541539999 meters 0.02521532554266053 Centerline is valid? [True, True] Translation: X:556.34, Y:6.09, Z:3.84 [[ 9.98013464e-01 -6.15470155e-02 -1.34569590e-02 5.56343031e+02] [ 6.15498347e-02 9.98103990e-01 -2.04951480e-04 6.09340857e+00] [ 1.34440586e-02 -6.23729262e-04 9.99909430e-01 3.83804980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.559254154 meters 0.025068598441041055 Centerline is valid? [True, True] Translation: X:556.38, Y:6.09, Z:3.84 [[ 9.98023407e-01 -6.13293731e-02 -1.37108514e-02 5.56375050e+02] [ 6.13322911e-02 9.98117381e-01 -2.07947703e-04 6.09443968e+00] [ 1.36977924e-02 -6.33381254e-04 9.99905980e-01 3.83807631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.589254154 meters 0.02488300516182246 Centerline is valid? [True, True] Translation: X:556.41, Y:6.10, Z:3.84 [[ 9.98042399e-01 -6.09306723e-02 -1.41004796e-02 5.56407659e+02] [ 6.09337333e-02 9.98141791e-01 -2.12827209e-04 6.09539120e+00] [ 1.40872457e-02 -6.46784288e-04 9.99900561e-01 3.83794508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6192541539999 meters 0.023407386097313018 Centerline is valid? [True, True] Translation: X:556.44, Y:6.10, Z:3.84 [[ 9.98124405e-01 -5.95153672e-02 -1.43385190e-02 5.56439973e+02] [ 5.95184018e-02 9.98227185e-01 -2.15368592e-04 6.09921204e+00] [ 1.43259172e-02 -6.38441087e-04 9.99897175e-01 3.83792978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6492541539999 meters 0.023656908714828225 Centerline is valid? [True, True] Translation: X:556.47, Y:6.10, Z:3.84 [[ 9.98186624e-01 -5.84000457e-02 -1.45910275e-02 5.56470764e+02] [ 5.84030829e-02 9.98293059e-01 -2.18224778e-04 6.09984060e+00] [ 1.45788658e-02 -6.34331937e-04 9.99893521e-01 3.83794973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.679254154 meters 0.024811974750701446 Centerline is valid? [True, True] Translation: X:556.50, Y:6.10, Z:3.84 [[ 9.98264859e-01 -5.70691117e-02 -1.45047453e-02 5.56502447e+02] [ 5.70719862e-02 9.98370042e-01 -2.16012525e-04 6.09884868e+00] [ 1.44934308e-02 -6.12176910e-04 9.99894777e-01 3.83770711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.709254154 meters 0.02252519778659139 Centerline is valid? [True, True] Translation: X:556.53, Y:6.10, Z:3.84 [[ 9.98352066e-01 -5.55516150e-02 -1.43934232e-02 5.56534560e+02] [ 5.55543030e-02 9.98455644e-01 -2.13317274e-04 6.10337625e+00] [ 1.43830448e-02 -5.86650853e-04 9.99896387e-01 3.83825646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7392541539999 meters 0.021024096651593365 Centerline is valid? [True, True] Translation: X:556.57, Y:6.11, Z:3.84 [[ 9.98560607e-01 -5.16356891e-02 -1.45075822e-02 5.56566161e+02] [ 5.16380229e-02 9.98665844e-01 -2.13928106e-04 6.10776257e+00] [ 1.44992732e-02 -5.35522685e-04 9.99894737e-01 3.83858613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7692541539999 meters 0.02048958697618971 Centerline is valid? [True, True] Translation: X:556.60, Y:6.11, Z:3.84 [[ 9.98690967e-01 -4.90838882e-02 -1.43918123e-02 5.56596176e+02] [ 4.90859297e-02 9.98794537e-01 -2.11566671e-04 6.10987514e+00] [ 1.43848480e-02 -4.95145762e-04 9.99896410e-01 3.83852479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.799254154 meters 0.019883088014614993 Centerline is valid? [True, True] Translation: X:556.63, Y:6.11, Z:3.84 [[ 9.98816019e-01 -4.61250194e-02 -1.54610006e-02 5.56627298e+02] [ 4.61270284e-02 9.98935556e-01 -2.26834542e-04 6.11412189e+00] [ 1.54550060e-02 -4.86604040e-04 9.99880446e-01 3.83869615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.829254154 meters 0.018507602562460403 Centerline is valid? [True, True] Translation: X:556.66, Y:6.12, Z:3.84 [[ 9.99062618e-01 -4.04040972e-02 -1.55368699e-02 5.56657464e+02] [ 4.04054410e-02 9.99183341e-01 -2.27534114e-04 6.11715909e+00] [ 1.55333749e-02 -4.00453252e-04 9.99879270e-01 3.83737130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8592541539999 meters 0.017171017970793866 Centerline is valid? [True, True] Translation: X:556.69, Y:6.12, Z:3.84 [[ 9.99171343e-01 -3.75333023e-02 -1.57441656e-02 5.56688774e+02] [ 3.75343329e-02 9.99295312e-01 -2.30130781e-04 6.12115660e+00] [ 1.57417085e-02 -3.61006673e-04 9.99876026e-01 3.83768143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8892541539999 meters 0.016547023898202177 Centerline is valid? [True, True] Translation: X:556.72, Y:6.12, Z:3.84 [[ 9.99272776e-01 -3.46006774e-02 -1.60222303e-02 5.56720651e+02] [ 3.46013797e-02 9.99401166e-01 -2.33459987e-04 6.12403571e+00] [ 1.60207135e-02 -3.21101067e-04 9.99871609e-01 3.83769962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9192541539999 meters 0.016147049092447893 Centerline is valid? [True, True] Translation: X:556.75, Y:6.13, Z:3.84 [[ 9.99353528e-01 -3.22015887e-02 -1.59869998e-02 5.56752474e+02] [ 3.22019946e-02 9.99481354e-01 -2.32096821e-04 6.12667948e+00] [ 1.59861821e-02 -2.82866506e-04 9.99872173e-01 3.83807549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.949254154 meters 0.014917179593005595 Centerline is valid? [True, True] Translation: X:556.78, Y:6.13, Z:3.84 [[ 9.99499141e-01 -2.78420918e-02 -1.50428046e-02 5.56784239e+02] [ 2.78419695e-02 9.99612314e-01 -2.17590147e-04 6.13168589e+00] [ 1.50430308e-02 -2.01340141e-04 9.99886827e-01 3.83931284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9792541539999 meters 0.014858908106552516 Centerline is valid? [True, True] Translation: X:556.81, Y:6.13, Z:3.84 [[ 9.99554628e-01 -2.60580628e-02 -1.45438342e-02 5.56814159e+02] [ 2.60577671e-02 9.99660417e-01 -2.09858778e-04 6.13235616e+00] [ 1.45443639e-02 -1.69214532e-04 9.99894211e-01 3.83938215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0092541539999 meters 0.014518912442863456 Centerline is valid? [True, True] Translation: X:556.85, Y:6.13, Z:3.84 [[ 9.99600778e-01 -2.45163913e-02 -1.40439095e-02 5.56845146e+02] [ 2.45159688e-02 9.99699418e-01 -2.02261729e-04 6.13409985e+00] [ 1.40446469e-02 -1.42119067e-04 9.99901359e-01 3.84004718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0392541539999 meters 0.014554431736665667 Centerline is valid? [True, True] Translation: X:556.88, Y:6.14, Z:3.84 [[ 9.99658601e-01 -2.19518650e-02 -1.41702834e-02 5.56875122e+02] [ 2.19511828e-02 9.99759023e-01 -2.03694141e-04 6.13586800e+00] [ 1.41713402e-02 -1.07429882e-04 9.99899576e-01 3.84020388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.069254154 meters 0.014406591416467001 Centerline is valid? [True, True] Translation: X:556.91, Y:6.14, Z:3.84 [[ 9.99682878e-01 -2.09614833e-02 -1.39555997e-02 5.56905761e+02] [ 2.09607269e-02 9.99780280e-01 -2.00484084e-04 6.13669300e+00] [ 1.39567358e-02 -9.20990074e-05 9.99902596e-01 3.84020636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0992541539999 meters 0.014178519938286366 Centerline is valid? [True, True] Translation: X:556.94, Y:6.14, Z:3.84 [[ 9.99700816e-01 -2.00494988e-02 -1.40105365e-02 5.56936360e+02] [ 2.00486469e-02 9.99798985e-01 -2.01273298e-04 6.13736122e+00] [ 1.40117556e-02 -7.96792185e-05 9.99901827e-01 3.84037615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1292541539999 meters 0.014111744593882283 Centerline is valid? [True, True] Translation: X:556.97, Y:6.14, Z:3.84 [[ 9.99712545e-01 -1.96155475e-02 -1.37861388e-02 5.56966091e+02] [ 1.96146779e-02 9.99807594e-01 -1.98299906e-04 6.13773390e+00] [ 1.37873760e-02 -7.21677667e-05 9.99904947e-01 3.84059954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1592541539999 meters 0.014236128911862723 Centerline is valid? [True, True] Translation: X:557.00, Y:6.14, Z:3.84 [[ 9.99713657e-01 -1.94306513e-02 -1.39661799e-02 5.56995801e+02] [ 1.94297374e-02 9.99811205e-01 -2.01132443e-04 6.13782586e+00] [ 1.39674513e-02 -7.02843578e-05 9.99902448e-01 3.84052273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.189254154 meters 0.014454536070804705 Centerline is valid? [True, True] Translation: X:557.03, Y:6.14, Z:3.84 [[ 9.99718534e-01 -1.94224567e-02 -1.36242878e-02 5.57025016e+02] [ 1.94215831e-02 9.99811364e-01 -1.96441415e-04 6.13662329e+00] [ 1.36255331e-02 -6.82191142e-05 9.99907166e-01 3.84045424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2192541539999 meters 0.01436509606695941 Centerline is valid? [True, True] Translation: X:557.05, Y:6.14, Z:3.84 [[ 9.99714890e-01 -1.96386191e-02 -1.35816919e-02 5.57054208e+02] [ 1.96377658e-02 9.99807141e-01 -1.96201454e-04 6.13576874e+00] [ 1.35829256e-02 -7.05685691e-05 9.99907745e-01 3.84023220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2492541539999 meters 0.01447050229027874 Centerline is valid? [True, True] Translation: X:557.08, Y:6.14, Z:3.84 [[ 9.99707842e-01 -1.99521435e-02 -1.36434326e-02 5.57083510e+02] [ 1.99513066e-02 9.99800933e-01 -1.97461611e-04 6.13543326e+00] [ 1.36446565e-02 -7.48003856e-05 9.99906905e-01 3.84035404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2792541539999 meters 0.014402951273245953 Centerline is valid? [True, True] Translation: X:557.11, Y:6.14, Z:3.84 [[ 9.99704868e-01 -2.02442261e-02 -1.34293579e-02 5.57113039e+02] [ 2.02434351e-02 9.99795062e-01 -1.94845162e-04 6.13512320e+00] [ 1.34305502e-02 -7.70686793e-05 9.99909803e-01 3.84065670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.309254154 meters 0.014829990078601933 Centerline is valid? [True, True] Translation: X:557.14, Y:6.13, Z:3.84 [[ 9.99666419e-01 -2.15729764e-02 -1.42006436e-02 5.57142891e+02] [ 2.15722219e-02 9.99767271e-01 -2.06324099e-04 6.13300548e+00] [ 1.42017898e-02 -1.00084162e-04 9.99899144e-01 3.83972757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.339254154 meters 0.014923108535435202 Centerline is valid? [True, True] Translation: X:557.17, Y:6.13, Z:3.84 [[ 9.99651529e-01 -2.20885656e-02 -1.44539395e-02 5.57173082e+02] [ 2.20878375e-02 9.99756012e-01 -2.10025647e-04 6.13255995e+00] [ 1.44550521e-02 -1.09303808e-04 9.99895514e-01 3.83967994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3692541539999 meters 0.014880288555235741 Centerline is valid? [True, True] Translation: X:557.20, Y:6.13, Z:3.84 [[ 9.99633691e-01 -2.25271035e-02 -1.50004342e-02 5.57202923e+02] [ 2.25263665e-02 9.99746225e-01 -2.18112476e-04 6.13157434e+00] [ 1.50015409e-02 -1.19872699e-04 9.99887463e-01 3.83941021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3992541539999 meters 0.01507261862960049 Centerline is valid? [True, True] Translation: X:557.23, Y:6.13, Z:3.84 [[ 9.99611185e-01 -2.33218637e-02 -1.52829519e-02 5.57232468e+02] [ 2.33211849e-02 9.99727999e-01 -2.22651188e-04 6.12926294e+00] [ 1.52839875e-02 -1.33851930e-04 9.99883184e-01 3.83872350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.429254154 meters 0.015091512608756085 Centerline is valid? [True, True] Translation: X:557.26, Y:6.13, Z:3.84 [[ 9.99610436e-01 -2.34629300e-02 -1.51151516e-02 5.57262153e+02] [ 2.34622762e-02 9.99724699e-01 -2.20602689e-04 6.12822480e+00] [ 1.51161663e-02 -1.34119111e-04 9.99885735e-01 3.83856732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.459254154 meters 0.016813812886502334 Centerline is valid? [True, True] Translation: X:557.29, Y:6.13, Z:3.84 [[ 9.99628158e-01 -2.26461186e-02 -1.51887581e-02 5.57291619e+02] [ 2.26453629e-02 9.99743536e-01 -2.21760874e-04 6.12701746e+00] [ 1.51898847e-02 -1.22276525e-04 9.99884620e-01 3.83889874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4892541539999 meters 0.015274000824640192 Centerline is valid? [True, True] Translation: X:557.32, Y:6.13, Z:3.84 [[ 9.99646185e-01 -2.25581817e-02 -1.40937158e-02 5.57321714e+02] [ 2.25575191e-02 9.99745526e-01 -2.05997150e-04 6.12675180e+00] [ 1.40947762e-02 -1.11994997e-04 9.99900657e-01 3.83972219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5192541539999 meters 0.015274000824640192 Centerline is valid? [True, True] Translation: X:557.35, Y:6.13, Z:3.84 [[ 9.99646185e-01 -2.25581834e-02 -1.40937121e-02 5.57351712e+02] [ 2.25575174e-02 9.99745526e-01 -2.06245137e-04 6.12719090e+00] [ 1.40947782e-02 -1.11746991e-04 9.99900657e-01 3.83993015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.549254154 meters 0.015249534588440545 Centerline is valid? [True, True] Translation: X:557.38, Y:6.13, Z:3.84 [[ 9.99665206e-01 -2.16313055e-02 -1.41972777e-02 5.57382651e+02] [ 2.16305361e-02 9.99766011e-01 -2.07760699e-04 6.12707402e+00] [ 1.41984498e-02 -9.94035859e-05 9.99899192e-01 3.84013244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.579254154 meters 0.015167988302836236 Centerline is valid? [True, True] Translation: X:557.41, Y:6.13, Z:3.84 [[ 9.99691457e-01 -2.06480884e-02 -1.38075271e-02 5.57411979e+02] [ 2.06472652e-02 9.99786802e-01 -2.02180120e-04 6.12654027e+00] [ 1.38087580e-02 -8.29699361e-05 9.99904651e-01 3.83997686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6092541539999 meters 0.015154880496753379 Centerline is valid? [True, True] Translation: X:557.44, Y:6.13, Z:3.84 [[ 9.99714734e-01 -1.93067506e-02 -1.40605809e-02 5.57441723e+02] [ 1.93057589e-02 9.99813605e-01 -2.06268709e-04 6.12687944e+00] [ 1.40619424e-02 -6.52403163e-05 9.99901124e-01 3.84019281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6392541539999 meters 0.015102883840185866 Centerline is valid? [True, True] Translation: X:557.47, Y:6.13, Z:3.84 [[ 9.99750738e-01 -1.66118154e-02 -1.49167419e-02 5.57470404e+02] [ 1.66103873e-02 9.99862014e-01 -2.19637937e-04 6.12685415e+00] [ 1.49183322e-02 -2.81896697e-05 9.99888715e-01 3.83936705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6692541539999 meters 0.015161882147541347 Centerline is valid? [True, True] Translation: X:557.50, Y:6.13, Z:3.84 [[ 9.99770988e-01 -1.52932941e-02 -1.49694935e-02 5.57499223e+02] [ 1.52916714e-02 9.99883051e-01 -2.22867213e-04 6.12712084e+00] [ 1.49711512e-02 -6.09240076e-06 9.99887926e-01 3.83952495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.699254154 meters 0.015159980853895574 Centerline is valid? [True, True] Translation: X:557.53, Y:6.13, Z:3.84 [[ 9.99795749e-01 -1.41640848e-02 -1.44165904e-02 5.57527266e+02] [ 1.41624081e-02 9.99899684e-01 -2.18392179e-04 6.12727552e+00] [ 1.44182375e-02 1.41739355e-05 9.99896052e-01 3.83976797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7292541539999 meters 0.01505432679745015 Centerline is valid? [True, True] Translation: X:557.56, Y:6.13, Z:3.84 [[ 9.99816059e-01 -1.32112727e-02 -1.39036345e-02 5.57555438e+02] [ 1.32095667e-02 9.99912727e-01 -2.14534321e-04 6.12728115e+00] [ 1.39052553e-02 3.08338719e-05 9.99903317e-01 3.84060633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7592541539999 meters 0.015286354001813322 Centerline is valid? [True, True] Translation: X:557.58, Y:6.13, Z:3.84 [[ 9.99858221e-01 -1.05031543e-02 -1.31613641e-02 5.57582946e+02] [ 1.05013585e-02 9.99944838e-01 -2.05545363e-04 6.12699135e+00] [ 1.31627969e-02 6.73040185e-05 9.99913364e-01 3.84043605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7892541539999 meters 0.015361068985956225 Centerline is valid? [True, True] Translation: X:557.61, Y:6.13, Z:3.84 [[ 9.99866397e-01 -9.56142193e-03 -1.32577302e-02 5.57611101e+02] [ 9.55948448e-03 9.99954285e-01 -2.09502525e-04 6.12682089e+00] [ 1.32591273e-02 8.27374683e-05 9.99912090e-01 3.84113105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.819254154 meters 0.01551699687382821 Centerline is valid? [True, True] Translation: X:557.64, Y:6.13, Z:3.84 [[ 9.99871622e-01 -8.71685988e-03 -1.34445508e-02 5.57639057e+02] [ 8.71475603e-03 9.99962003e-01 -2.15062318e-04 6.12744912e+00] [ 1.34459146e-02 9.78687290e-05 9.99909595e-01 3.84079787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8492541539999 meters 0.015447600618386364 Centerline is valid? [True, True] Translation: X:557.67, Y:6.13, Z:3.84 [[ 9.99874074e-01 -7.60960631e-03 -1.39258742e-02 5.57668091e+02] [ 7.60720783e-03 9.99971039e-01 -2.25195560e-04 6.12572262e+00] [ 1.39271845e-02 1.19230183e-04 9.99903005e-01 3.84062621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8792541539999 meters 0.01559010423237532 Centerline is valid? [True, True] Translation: X:557.70, Y:6.12, Z:3.84 [[ 9.99868565e-01 -7.99879878e-03 -1.41021716e-02 5.57695859e+02] [ 7.99632288e-03 9.99968002e-01 -2.31946526e-04 6.12473991e+00] [ 1.41035756e-02 1.19150523e-04 9.99900533e-01 3.84031801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9092541539999 meters 0.015356844895928947 Centerline is valid? [True, True] Translation: X:557.72, Y:6.12, Z:3.84 [[ 9.99859144e-01 -8.78574042e-03 -1.43004367e-02 5.57723460e+02] [ 8.78321472e-03 9.99961398e-01 -2.39413741e-04 6.12352230e+00] [ 1.43019881e-02 1.13776212e-04 9.99897715e-01 3.84024424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.939254154 meters 0.015324475776817304 Centerline is valid? [True, True] Translation: X:557.75, Y:6.12, Z:3.84 [[ 9.99847686e-01 -9.86250702e-03 -1.43991857e-02 5.57751289e+02] [ 9.85999726e-03 9.99951359e-01 -2.45282164e-04 6.12197342e+00] [ 1.44009045e-02 1.03268872e-04 9.99896296e-01 3.84036358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9692541539999 meters 0.015233802037834908 Centerline is valid? [True, True] Translation: X:557.78, Y:6.12, Z:3.84 [[ 9.99814325e-01 -1.32137014e-02 -1.40254894e-02 5.57779878e+02] [ 1.32116150e-02 9.99912694e-01 -2.41404704e-04 6.11721873e+00] [ 1.40274548e-02 5.60605153e-05 9.99901609e-01 3.84057195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9992541539999 meters 0.015181650515858427 Centerline is valid? [True, True] Translation: X:557.81, Y:6.11, Z:3.84 [[ 9.99782293e-01 -1.57793611e-02 -1.36520710e-02 5.57807321e+02] [ 1.57775902e-02 9.99875498e-01 -2.37416579e-04 6.11480590e+00] [ 1.36541176e-02 2.19681099e-05 9.99906778e-01 3.84049649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0292541539999 meters 0.014998512602090234 Centerline is valid? [True, True] Translation: X:557.84, Y:6.11, Z:3.84 [[ 9.99743690e-01 -1.84483620e-02 -1.31230032e-02 5.57836594e+02] [ 1.84469099e-02 9.99829814e-01 -2.31702068e-04 6.11225911e+00] [ 1.31250444e-02 -1.04361768e-05 9.99913863e-01 3.84123541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.059254154 meters 0.015051121328013752 Centerline is valid? [True, True] Translation: X:557.87, Y:6.11, Z:3.84 [[ 9.99694845e-01 -2.12567439e-02 -1.25844332e-02 5.57865080e+02] [ 2.12555922e-02 9.99774049e-01 -2.25275262e-04 6.10948329e+00] [ 1.25863783e-02 -4.22830615e-05 9.99920788e-01 3.84189549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.089254154 meters 0.015423025017986735 Centerline is valid? [True, True] Translation: X:557.89, Y:6.10, Z:3.84 [[ 9.99559143e-01 -2.69596808e-02 -1.24376560e-02 5.57894980e+02] [ 2.69589734e-02 9.99636516e-01 -2.24559218e-04 6.10328232e+00] [ 1.24391892e-02 -1.10846219e-04 9.99922624e-01 3.84213265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1192541539999 meters 0.015991965843652707 Centerline is valid? [True, True] Translation: X:557.92, Y:6.10, Z:3.84 [[ 9.99479947e-01 -2.96906460e-02 -1.25817733e-02 5.57924994e+02] [ 2.96901366e-02 9.99559125e-01 -2.27314895e-04 6.09910284e+00] [ 1.25829754e-02 -1.46357889e-04 9.99920821e-01 3.84146548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1492541539999 meters 0.01634499033017102 Centerline is valid? [True, True] Translation: X:557.96, Y:6.10, Z:3.84 [[ 9.99379422e-01 -3.26514619e-02 -1.32156025e-02 5.57956195e+02] [ 3.26511634e-02 9.99466780e-01 -2.38408070e-04 6.09626440e+00] [ 1.32163401e-02 -1.93244678e-04 9.99912642e-01 3.84131586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.179254154 meters 0.016827690057777442 Centerline is valid? [True, True] Translation: X:557.99, Y:6.09, Z:3.84 [[ 9.99171491e-01 -3.84317694e-02 -1.33914380e-02 5.57987504e+02] [ 3.84319883e-02 9.99261189e-01 -2.41087984e-04 6.09055223e+00] [ 1.33908097e-02 -2.73771347e-04 9.99910302e-01 3.84153779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.209254154 meters 0.019101146733039514 Centerline is valid? [True, True] Translation: X:558.02, Y:6.08, Z:3.84 [[ 9.99059705e-01 -4.13167626e-02 -1.31388840e-02 5.58018632e+02] [ 4.13172305e-02 9.99146051e-01 -2.35944249e-04 6.08435859e+00] [ 1.31374125e-02 -3.07139907e-04 9.99913653e-01 3.84072329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2392541539999 meters 0.018970389200658452 Centerline is valid? [True, True] Translation: X:558.05, Y:6.08, Z:3.84 [[ 9.98932274e-01 -4.42908483e-02 -1.31389416e-02 5.58050246e+02] [ 4.42915813e-02 9.99018619e-01 -2.35337293e-04 6.08334131e+00] [ 1.31364705e-02 -3.46858481e-04 9.99913653e-01 3.84177285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2692541539999 meters 0.020785439601893992 Centerline is valid? [True, True] Translation: X:558.08, Y:6.08, Z:3.84 [[ 9.98691378e-01 -4.94872223e-02 -1.29053055e-02 5.58080705e+02] [ 4.94883673e-02 9.98774673e-01 -2.30801352e-04 6.07645490e+00] [ 1.29009140e-02 -4.08163177e-04 9.99916696e-01 3.84226203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.299254154 meters 0.0205956121641658 Centerline is valid? [True, True] Translation: X:558.11, Y:6.08, Z:3.84 [[ 9.98576454e-01 -5.17831252e-02 -1.27895557e-02 5.58113255e+02] [ 5.17844449e-02 9.98658259e-01 -2.28179331e-04 6.07568282e+00] [ 1.27842113e-02 -4.34445537e-04 9.99918184e-01 3.84276945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.329254154 meters 0.021551243565543856 Centerline is valid? [True, True] Translation: X:558.14, Y:6.07, Z:3.84 [[ 9.98479946e-01 -5.35877591e-02 -1.28898734e-02 5.58143896e+02] [ 5.35892591e-02 9.98563037e-01 -2.29239917e-04 6.07290733e+00] [ 1.28836356e-02 -4.61867309e-04 9.99916896e-01 3.84258866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3592541539999 meters 0.021865125278358735 Centerline is valid? [True, True] Translation: X:558.18, Y:6.07, Z:3.84 [[ 9.98396644e-01 -5.50215173e-02 -1.32956685e-02 5.58175836e+02] [ 5.50232499e-02 9.98485046e-01 -2.35731344e-04 6.07161251e+00] [ 1.32884965e-02 -4.96217509e-04 9.99911581e-01 3.84265265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3892541539999 meters 0.02339817135228386 Centerline is valid? [True, True] Translation: X:558.21, Y:6.07, Z:3.84 [[ 9.98290136e-01 -5.68280313e-02 -1.36886349e-02 5.58207245e+02] [ 5.68300496e-02 9.98383838e-01 -2.41810385e-04 6.06738663e+00] [ 1.36802535e-02 -5.36528881e-04 9.99906277e-01 3.84206951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4192541539999 meters 0.022905949369675004 Centerline is valid? [True, True] Translation: X:558.24, Y:6.07, Z:3.84 [[ 9.98286263e-01 -5.68464842e-02 -1.38929935e-02 5.58239554e+02] [ 5.68485772e-02 9.98382782e-01 -2.44534151e-04 6.06786130e+00] [ 1.38844264e-02 -5.45681831e-04 9.99903458e-01 3.84252527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.449254154 meters 0.023771007851825503 Centerline is valid? [True, True] Translation: X:558.27, Y:6.07, Z:3.84 [[ 9.98310942e-01 -5.63708290e-02 -1.40567390e-02 5.58271033e+02] [ 5.63729371e-02 9.98409751e-01 -2.46524875e-04 6.06693704e+00] [ 1.40482821e-02 -5.46311186e-04 9.99901169e-01 3.84224859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4792541539999 meters 0.023659969150010007 Centerline is valid? [True, True] Translation: X:558.30, Y:6.07, Z:3.84 [[ 9.98366745e-01 -5.53436165e-02 -1.41748795e-02 5.58303262e+02] [ 5.53456694e-02 9.98467223e-01 -2.47710439e-04 6.06743973e+00] [ 1.41668618e-02 -5.37212330e-04 9.99899501e-01 3.84234252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5092541539999 meters 0.02105900668100003 Centerline is valid? [True, True] Translation: X:558.33, Y:6.07, Z:3.84 [[ 9.98497841e-01 -5.28459425e-02 -1.44695543e-02 5.58334455e+02] [ 5.28478310e-02 9.98602545e-01 -2.52085556e-04 6.07235141e+00] [ 1.44626555e-02 -5.12977678e-04 9.99895279e-01 3.84288231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5392541539999 meters 0.02088076840279397 Centerline is valid? [True, True] Translation: X:558.37, Y:6.07, Z:3.84 [[ 9.98576625e-01 -5.13507750e-02 -1.44160095e-02 5.58366191e+02] [ 5.13525034e-02 9.98680558e-01 -2.50491387e-04 6.07369090e+00] [ 1.44098514e-02 -4.90163334e-04 9.99896053e-01 3.84291313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.569254154 meters 0.020578399767165446 Centerline is valid? [True, True] Translation: X:558.40, Y:6.08, Z:3.84 [[ 9.98653839e-01 -4.98268936e-02 -1.44149377e-02 5.58397997e+02] [ 4.98284745e-02 9.98757759e-01 -2.49690693e-04 6.07502495e+00] [ 1.44094722e-02 -4.68919785e-04 9.99896068e-01 3.84298836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5992541539999 meters 0.020371090817407487 Centerline is valid? [True, True] Translation: X:558.43, Y:6.08, Z:3.84 [[ 9.98726123e-01 -4.82890317e-02 -1.46390067e-02 5.58429868e+02] [ 4.82905087e-02 9.98833301e-01 -2.52777189e-04 6.07632646e+00] [ 1.46341338e-02 -4.54469900e-04 9.99892812e-01 3.84301217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6292541539999 meters 0.020012927893813207 Centerline is valid? [True, True] Translation: X:558.46, Y:6.08, Z:3.84 [[ 9.98824287e-01 -4.61418189e-02 -1.48652883e-02 5.58460607e+02] [ 4.61431141e-02 9.98934806e-01 -2.56024830e-04 6.07835553e+00] [ 1.48612674e-02 -4.30206877e-04 9.99889473e-01 3.84318892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6592541539999 meters 0.019994899222822604 Centerline is valid? [True, True] Translation: X:558.49, Y:6.08, Z:3.84 [[ 9.98859747e-01 -4.53725083e-02 -1.48506546e-02 5.58492198e+02] [ 4.53737238e-02 9.98970050e-01 -2.55248398e-04 6.07928590e+00] [ 1.48469405e-02 -4.18872152e-04 9.99889690e-01 3.84352528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.689254154 meters 0.01968242758678226 Centerline is valid? [True, True] Translation: X:558.52, Y:6.08, Z:3.84 [[ 9.98873103e-01 -4.50909598e-02 -1.48097929e-02 5.58523555e+02] [ 4.50921454e-02 9.98982800e-01 -2.54023744e-04 6.08046246e+00] [ 1.48061825e-02 -4.14067848e-04 9.99890297e-01 3.84370305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7192541539999 meters 0.020391126533530195 Centerline is valid? [True, True] Translation: X:558.56, Y:6.08, Z:3.84 [[ 9.98876501e-01 -4.50797745e-02 -1.46133171e-02 5.58555133e+02] [ 4.50809372e-02 9.98983306e-01 -2.50003671e-04 6.07982678e+00] [ 1.46097300e-02 -4.09059241e-04 9.99893189e-01 3.84350512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7492541539999 meters 0.02075526922265585 Centerline is valid? [True, True] Translation: X:558.59, Y:6.08, Z:3.84 [[ 9.98866567e-01 -4.53619415e-02 -1.44178662e-02 5.58586754e+02] [ 4.53631116e-02 9.98970534e-01 -2.46040154e-04 6.07991066e+00] [ 1.44141844e-02 -4.08277991e-04 9.99896027e-01 3.84358492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7792541539999 meters 0.020824141772972 Centerline is valid? [True, True] Translation: X:558.62, Y:6.08, Z:3.84 [[ 9.98839530e-01 -4.55048934e-02 -1.57764739e-02 5.58618464e+02] [ 4.55063262e-02 9.98964014e-01 -2.68342753e-04 6.08133274e+00] [ 1.57723406e-02 -4.49898016e-04 9.99875508e-01 3.84405562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.809254154 meters 0.020692743346044682 Centerline is valid? [True, True] Translation: X:558.65, Y:6.08, Z:3.84 [[ 9.98822594e-01 -4.61148010e-02 -1.50615663e-02 5.58648679e+02] [ 4.61161852e-02 9.98936050e-01 -2.55576801e-04 6.08063114e+00] [ 1.50573274e-02 -4.39306096e-04 9.99886536e-01 3.84383608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.839254154 meters 0.02034816582984995 Centerline is valid? [True, True] Translation: X:558.68, Y:6.08, Z:3.84 [[ 9.98731491e-01 -4.76985478e-02 -1.61324814e-02 5.58680264e+02] [ 4.77003497e-02 9.98861653e-01 -2.73289453e-04 6.08195883e+00] [ 1.61271526e-02 -4.96582223e-04 9.99869826e-01 3.84468326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8692541539999 meters 0.022174147519436787 Centerline is valid? [True, True] Translation: X:558.71, Y:6.08, Z:3.84 [[ 9.98675426e-01 -4.88281059e-02 -1.62237555e-02 5.58710664e+02] [ 4.88300840e-02 9.98807062e-01 -2.74419783e-04 6.07896536e+00] [ 1.62178009e-02 -5.18151049e-04 9.99868349e-01 3.84376872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8992541539999 meters 0.022717391347949766 Centerline is valid? [True, True] Translation: X:558.74, Y:6.08, Z:3.84 [[ 9.98595260e-01 -5.03325144e-02 -1.65573111e-02 5.58742143e+02] [ 5.03347888e-02 9.98732362e-01 -2.79606198e-04 6.07892237e+00] [ 1.65503958e-02 -5.54195336e-04 9.99862879e-01 3.84429169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.929254154 meters 0.022153106937633324 Centerline is valid? [True, True] Translation: X:558.77, Y:6.08, Z:3.85 [[ 9.98487736e-01 -5.22695206e-02 -1.70334186e-02 5.58772950e+02] [ 5.22722163e-02 9.98632832e-01 -2.87223274e-04 6.08038949e+00] [ 1.70251441e-02 -6.03585626e-04 9.99854880e-01 3.84508625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.959254154 meters 0.022430386539062135 Centerline is valid? [True, True] Translation: X:558.80, Y:6.08, Z:3.85 [[ 9.98250302e-01 -5.65673517e-02 -1.72182969e-02 5.58804164e+02] [ 5.65707531e-02 9.98398551e-01 -2.89842736e-04 6.07988502e+00] [ 1.72071184e-02 -6.84716426e-04 9.99851712e-01 3.84569554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9892541539999 meters 0.025719962608176064 Centerline is valid? [True, True] Translation: X:558.84, Y:6.08, Z:3.85 [[ 9.98113204e-01 -5.89867004e-02 -1.70470517e-02 5.58835130e+02] [ 5.89903972e-02 9.98258509e-01 -2.86342841e-04 6.07541692e+00] [ 1.70342548e-02 -7.19809778e-04 9.99854647e-01 3.84522173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0192541539999 meters 0.026158045071407045 Centerline is valid? [True, True] Translation: X:558.87, Y:6.08, Z:3.85 [[ 9.97971999e-01 -6.13951500e-02 -1.68084594e-02 5.58865903e+02] [ 6.13990919e-02 9.98113256e-01 -2.81913203e-04 6.07534022e+00] [ 1.67940543e-02 -7.50682664e-04 9.99858688e-01 3.84613780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.049254154 meters 0.02435628677576964 Centerline is valid? [True, True] Translation: X:558.90, Y:6.08, Z:3.85 [[ 9.97732318e-01 -6.52798636e-02 -1.63939323e-02 5.58897351e+02] [ 6.52841442e-02 9.97866677e-01 -2.74489776e-04 6.07923956e+00] [ 1.63768774e-02 -7.96396523e-04 9.99865573e-01 3.84791609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.079254154 meters 0.029627208510954517 Centerline is valid? [True, True] Translation: X:558.93, Y:6.07, Z:3.85 [[ 9.97634360e-01 -6.67774873e-02 -1.63232987e-02 5.58928632e+02] [ 6.67819438e-02 9.97767557e-01 -2.72527585e-04 6.07233219e+00] [ 1.63050566e-02 -8.18218737e-04 9.99866729e-01 3.84711509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1092541539999 meters 0.026179907607372658 Centerline is valid? [True, True] Translation: X:558.96, Y:6.08, Z:3.85 [[ 9.97540815e-01 -6.81374982e-02 -1.64196149e-02 5.58961042e+02] [ 6.81422091e-02 9.97675581e-01 -2.73045693e-04 6.07846204e+00] [ 1.64000535e-02 -8.46494612e-04 9.99865152e-01 3.84821191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1392541539999 meters 0.026751583816189584 Centerline is valid? [True, True] Translation: X:558.99, Y:6.08, Z:3.85 [[ 9.97393515e-01 -7.03206713e-02 -1.61610273e-02 5.58992802e+02] [ 7.03255371e-02 9.97524058e-01 -2.67727038e-04 6.07933950e+00] [ 1.61398403e-02 -8.69503714e-04 9.99869366e-01 3.84906199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1692541539999 meters 0.028423168776073256 Centerline is valid? [True, True] Translation: X:559.02, Y:6.08, Z:3.85 [[ 9.97330728e-01 -7.12921668e-02 -1.57748290e-02 5.59024052e+02] [ 7.12969376e-02 9.97455101e-01 -2.60463799e-04 6.07811795e+00] [ 1.57532527e-02 -8.64928447e-04 9.99875536e-01 3.84940539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.199254154 meters 0.028518632241734607 Centerline is valid? [True, True] Translation: X:559.06, Y:6.08, Z:3.85 [[ 9.97260633e-01 -7.23157601e-02 -1.55454347e-02 5.59056253e+02] [ 7.23205327e-02 9.97381409e-01 -2.55667709e-04 6.07950625e+00] [ 1.55232164e-02 -8.69286780e-04 9.99879130e-01 3.85010487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2292541539999 meters 0.03073081177333622 Centerline is valid? [True, True] Translation: X:559.09, Y:6.08, Z:3.85 [[ 9.97190908e-01 -7.32589100e-02 -1.56020551e-02 5.59087423e+02] [ 7.32638478e-02 9.97312560e-01 -2.55615877e-04 6.07805878e+00] [ 1.55788517e-02 -8.88168765e-04 9.99878248e-01 3.85033038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2592541539999 meters 0.028598169990492302 Centerline is valid? [True, True] Translation: X:559.12, Y:6.08, Z:3.85 [[ 9.97084494e-01 -7.46921099e-02 -1.56077142e-02 5.59118982e+02] [ 7.46972397e-02 9.97206226e-01 -2.54846669e-04 6.08371688e+00] [ 1.55831448e-02 -9.11749504e-04 9.99878160e-01 3.85121117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2892541539999 meters 0.027693222762669868 Centerline is valid? [True, True] Translation: X:559.15, Y:6.09, Z:3.85 [[ 9.97064830e-01 -7.49281564e-02 -1.57320340e-02 5.59150638e+02] [ 7.49334205e-02 9.97188506e-01 -2.55420275e-04 6.08665657e+00] [ 1.57069417e-02 -9.24184547e-04 9.99876211e-01 3.85177029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.319254154 meters 0.02801244676256863 Centerline is valid? [True, True] Translation: X:559.18, Y:6.09, Z:3.85 [[ 9.97034581e-01 -7.53274478e-02 -1.57423021e-02 5.59182814e+02] [ 7.53327919e-02 9.97158416e-01 -2.54084174e-04 6.08821573e+00] [ 1.57167085e-02 -9.32580857e-04 9.99876050e-01 3.85210526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3492541539999 meters 0.027796541198947994 Centerline is valid? [True, True] Translation: X:559.21, Y:6.09, Z:3.85 [[ 9.97025627e-01 -7.54753219e-02 -1.56005074e-02 5.59214820e+02] [ 7.54806065e-02 9.97147238e-01 -2.50625503e-04 6.09034353e+00] [ 1.55749190e-02 -9.27655714e-04 9.99878273e-01 3.85207520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3792541539999 meters 0.028938637021060972 Centerline is valid? [True, True] Translation: X:559.25, Y:6.09, Z:3.85 [[ 9.96999253e-01 -7.56428500e-02 -1.64514345e-02 5.59245556e+02] [ 7.56487674e-02 9.97134492e-01 -2.63209754e-04 6.09174950e+00] [ 1.64242027e-02 -9.82110812e-04 9.99864631e-01 3.85125054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4092541539999 meters 0.02917465738830679 Centerline is valid? [True, True] Translation: X:559.28, Y:6.09, Z:3.85 [[ 9.97000812e-01 -7.55206386e-02 -1.69119274e-02 5.59277585e+02] [ 7.55268938e-02 9.97143729e-01 -2.69437856e-04 6.09337526e+00] [ 1.68839705e-02 -1.00867558e-03 9.99856947e-01 3.85085935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.439254154 meters 0.02917465738830679 Centerline is valid? [True, True] Translation: X:559.31, Y:6.09, Z:3.85 [[ 9.97006404e-01 -7.54467826e-02 -1.69119473e-02 5.59309326e+02] [ 7.54530484e-02 9.97149320e-01 -2.68185457e-04 6.09381910e+00] [ 1.68839705e-02 -1.00867536e-03 9.99856947e-01 3.85107921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4692541539999 meters 0.029721344250322013 Centerline is valid? [True, True] Translation: X:559.34, Y:6.10, Z:3.85 [[ 9.96998893e-01 -7.54092720e-02 -1.75113790e-02 5.59341717e+02] [ 7.54160071e-02 9.97152120e-01 -2.76380727e-04 6.09546201e+00] [ 1.74823504e-02 -1.04508701e-03 9.99846626e-01 3.85053921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4992541539999 meters 0.030734212112605012 Centerline is valid? [True, True] Translation: X:559.37, Y:6.10, Z:3.85 [[ 9.97011084e-01 -7.50629466e-02 -1.82880184e-02 5.59372686e+02] [ 7.50702555e-02 9.97178206e-01 -2.87483149e-04 6.09867273e+00] [ 1.82579927e-02 -1.08626233e-03 9.99832719e-01 3.85035389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5292541539999 meters 0.03136307778184034 Centerline is valid? [True, True] Translation: X:559.40, Y:6.10, Z:3.85 [[ 9.97054936e-01 -7.43697337e-02 -1.87242255e-02 5.59404965e+02] [ 7.43772970e-02 9.97230130e-01 -2.93100333e-04 6.10103938e+00] [ 1.86941596e-02 -1.10042015e-03 9.99824643e-01 3.85049022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.559254154 meters 0.031646273188972285 Centerline is valid? [True, True] Translation: X:559.44, Y:6.10, Z:3.85 [[ 9.97053981e-01 -7.46138579e-02 -1.77800972e-02 5.59436536e+02] [ 7.46207472e-02 9.97211947e-01 -2.76567924e-04 6.10257563e+00] [ 1.77511612e-02 -1.05101099e-03 9.99841883e-01 3.85089585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.589254154 meters 0.03157867777300281 Centerline is valid? [True, True] Translation: X:559.47, Y:6.11, Z:3.85 [[ 9.97084523e-01 -7.42666894e-02 -1.75189269e-02 5.59468253e+02] [ 7.42733517e-02 9.97237883e-01 -2.70944623e-04 6.10530626e+00] [ 1.74906597e-02 -1.03103473e-03 9.99846495e-01 3.85142054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6192541539999 meters 0.03212953316070344 Centerline is valid? [True, True] Translation: X:559.50, Y:6.11, Z:3.85 [[ 9.97240862e-01 -7.22913398e-02 -1.68708206e-02 5.59499162e+02] [ 7.22972504e-02 9.97383096e-01 -2.60091175e-04 6.10985414e+00] [ 1.68454736e-02 -9.60340396e-04 9.99857644e-01 3.85248785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6492541539999 meters 0.031904933006000634 Centerline is valid? [True, True] Translation: X:559.53, Y:6.11, Z:3.85 [[ 9.97377038e-01 -7.05829204e-02 -1.60342216e-02 5.59531084e+02] [ 7.05880505e-02 9.97505522e-01 -2.46483619e-04 6.11346960e+00] [ 1.60116221e-02 -8.85987344e-04 9.99871413e-01 3.85347447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.679254154 meters 0.031279445161707456 Centerline is valid? [True, True] Translation: X:559.56, Y:6.12, Z:3.85 [[ 9.97541715e-01 -6.83702787e-02 -1.53633267e-02 5.59562992e+02] [ 6.83747406e-02 9.97659681e-01 -2.35269626e-04 6.11737922e+00] [ 1.53434571e-02 -8.15772210e-04 9.99881949e-01 3.85447707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.709254154 meters 0.025301134156775575 Centerline is valid? [True, True] Translation: X:559.59, Y:6.13, Z:3.86 [[ 9.97719932e-01 -6.59425197e-02 -1.43708253e-02 5.59594115e+02] [ 6.59461825e-02 9.97823157e-01 -2.19366012e-04 6.12922103e+00] [ 1.43540078e-02 -7.28835227e-04 9.99896710e-01 3.85638796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7392541539999 meters 0.024099544714207586 Centerline is valid? [True, True] Translation: X:559.62, Y:6.14, Z:3.86 [[ 9.98113144e-01 -5.99147235e-02 -1.34304939e-02 5.59623855e+02] [ 5.99173797e-02 9.98203319e-01 -2.04876377e-04 6.13670586e+00] [ 1.34186387e-02 -6.00230197e-04 9.99909786e-01 3.85697002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7692541539999 meters 0.02701874136043346 Centerline is valid? [True, True] Translation: X:559.65, Y:6.13, Z:3.86 [[ 9.98311871e-01 -5.65455278e-02 -1.32669610e-02 5.59654871e+02] [ 5.65478242e-02 9.98399871e-01 -2.02263350e-04 6.13497544e+00] [ 1.32571692e-02 -5.48295873e-04 9.99911970e-01 3.85612415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.799254154 meters 0.02174926219560585 Centerline is valid? [True, True] Translation: X:559.69, Y:6.15, Z:3.86 [[ 9.98475458e-01 -5.35538197e-02 -1.33696453e-02 5.59686530e+02] [ 5.35558923e-02 9.98564833e-01 -2.03218041e-04 6.14593483e+00] [ 1.33613407e-02 -5.13115058e-04 9.99910602e-01 3.85706484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.829254154 meters 0.019894286361353406 Centerline is valid? [True, True] Translation: X:559.72, Y:6.15, Z:3.86 [[ 9.98750346e-01 -4.80624309e-02 -1.37021592e-02 5.59716842e+02] [ 4.80640970e-02 9.98844232e-01 -2.07879651e-04 6.15325734e+00] [ 1.36963139e-02 -4.50962034e-04 9.99906099e-01 3.85681708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8592541539999 meters 0.018904045332433624 Centerline is valid? [True, True] Translation: X:559.75, Y:6.16, Z:3.86 [[ 9.98834553e-01 -4.61746706e-02 -1.40511812e-02 5.59749344e+02] [ 4.61762436e-02 9.98933286e-01 -2.12638265e-04 6.15762710e+00] [ 1.40460111e-02 -4.36440320e-04 9.99901255e-01 3.85683250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8892541539999 meters 0.018600526923226265 Centerline is valid? [True, True] Translation: X:559.78, Y:6.16, Z:3.86 [[ 9.98905935e-01 -4.45465434e-02 -1.42316267e-02 5.59781254e+02] [ 4.45480072e-02 9.99007222e-01 -2.14292681e-04 6.16055272e+00] [ 1.42270438e-02 -4.19932378e-04 9.99898702e-01 3.85688835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9192541539999 meters 0.018490590013692042 Centerline is valid? [True, True] Translation: X:559.81, Y:6.16, Z:3.86 [[ 9.98956732e-01 -4.32592496e-02 -1.46316120e-02 5.59813874e+02] [ 4.32606772e-02 9.99063795e-01 -2.19065876e-04 6.16265487e+00] [ 1.46273904e-02 -4.14136112e-04 9.99892928e-01 3.85661207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.949254154 meters 0.018200637466821306 Centerline is valid? [True, True] Translation: X:559.85, Y:6.17, Z:3.86 [[ 9.98985049e-01 -4.22564727e-02 -1.55968944e-02 5.59845556e+02] [ 4.22579936e-02 9.99106705e-01 -2.32187742e-04 6.16591381e+00] [ 1.55927732e-02 -4.27141382e-04 9.99878334e-01 3.85599373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9792541539999 meters 0.01842191155042743 Centerline is valid? [True, True] Translation: X:559.88, Y:6.17, Z:3.86 [[ 9.98982284e-01 -4.21773298e-02 -1.59834044e-02 5.59876946e+02] [ 4.21789334e-02 9.99110045e-01 -2.36912654e-04 6.16671213e+00] [ 1.59791723e-02 -4.37491408e-04 9.99872229e-01 3.85566572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0092541539999 meters 0.01805826363916876 Centerline is valid? [True, True] Translation: X:559.91, Y:6.17, Z:3.86 [[ 9.98980720e-01 -4.20361683e-02 -1.64463131e-02 5.59908740e+02] [ 4.20378653e-02 9.99115989e-01 -2.42667436e-04 6.16874924e+00] [ 1.64419752e-02 -4.48947804e-04 9.99864721e-01 3.85600056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0392541539999 meters 0.01837613160614819 Centerline is valid? [True, True] Translation: X:559.94, Y:6.17, Z:3.86 [[ 9.98978810e-01 -4.21410217e-02 -1.62932648e-02 5.59940077e+02] [ 4.21427180e-02 9.99111572e-01 -2.39373013e-04 6.16956169e+00] [ 1.62888769e-02 -4.47513898e-04 9.99867227e-01 3.85571340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.069254154 meters 0.01825944105736259 Centerline is valid? [True, True] Translation: X:559.97, Y:6.17, Z:3.86 [[ 9.98966011e-01 -4.25046727e-02 -1.61326399e-02 5.59972584e+02] [ 4.25064003e-02 9.99096167e-01 -2.35943708e-04 6.17175761e+00] [ 1.61280874e-02 -4.50040705e-04 9.99869833e-01 3.85633295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0992541539999 meters 0.01838114442047777 Centerline is valid? [True, True] Translation: X:560.00, Y:6.17, Z:3.86 [[ 9.98965896e-01 -4.25880630e-02 -1.59183997e-02 5.60004830e+02] [ 4.25897743e-02 9.99092617e-01 -2.31634379e-04 6.17245260e+00] [ 1.59138205e-02 -4.46566208e-04 9.99873267e-01 3.85652915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1292541539999 meters 0.018701888261530294 Centerline is valid? [True, True] Translation: X:560.04, Y:6.17, Z:3.86 [[ 9.98922994e-01 -4.35518082e-02 -1.60028849e-02 5.60037299e+02] [ 4.35536803e-02 9.99051061e-01 -2.31674904e-04 6.17375671e+00] [ 1.59977890e-02 -4.65559143e-04 9.99871919e-01 3.85676903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1592541539999 meters 0.018632614907673366 Centerline is valid? [True, True] Translation: X:560.07, Y:6.17, Z:3.86 [[ 9.98904972e-01 -4.39342689e-02 -1.60822061e-02 5.60069106e+02] [ 4.39362285e-02 9.99034311e-01 -2.31624382e-04 6.17460817e+00] [ 1.60768520e-02 -4.75220736e-04 9.99870646e-01 3.85697106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.189254154 meters 0.019207400328811807 Centerline is valid? [True, True] Translation: X:560.10, Y:6.17, Z:3.86 [[ 9.98866669e-01 -4.48903507e-02 -1.58188075e-02 5.60101089e+02] [ 4.48923847e-02 9.98991803e-01 -2.26663970e-04 6.17473417e+00] [ 1.58130340e-02 -4.83736907e-04 9.99874849e-01 3.85715115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2192541539999 meters 0.01969203481141697 Centerline is valid? [True, True] Translation: X:560.13, Y:6.17, Z:3.86 [[ 9.98817529e-01 -4.60127005e-02 -1.56963328e-02 5.60133480e+02] [ 4.60148598e-02 9.98940730e-01 -2.23755052e-04 6.17404666e+00] [ 1.56900017e-02 -4.98774086e-04 9.99876780e-01 3.85718545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2492541539999 meters 0.020382266516787848 Centerline is valid? [True, True] Translation: X:560.17, Y:6.17, Z:3.86 [[ 9.98705799e-01 -4.83596410e-02 -1.57503350e-02 5.60165104e+02] [ 4.83621223e-02 9.98829843e-01 -2.23527858e-04 6.17309061e+00] [ 1.57427143e-02 -5.38481057e-04 9.99875931e-01 3.85760647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2792541539999 meters 0.021047185324335624 Centerline is valid? [True, True] Translation: X:560.20, Y:6.17, Z:3.86 [[ 9.98662833e-01 -4.92422697e-02 -1.57398904e-02 5.60195803e+02] [ 4.92448807e-02 9.98786710e-01 -2.21881505e-04 6.17230107e+00] [ 1.57317193e-02 -5.53524213e-04 9.99876096e-01 3.85787031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.309254154 meters 0.021865860335750716 Centerline is valid? [True, True] Translation: X:560.23, Y:6.17, Z:3.86 [[ 9.98610499e-01 -5.03908666e-02 -1.54217724e-02 5.60226982e+02] [ 5.03935303e-02 9.98729416e-01 -2.16077957e-04 6.17135392e+00] [ 1.54130661e-02 -5.61379838e-04 9.99881054e-01 3.85799970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.339254154 meters 0.021489644224111003 Centerline is valid? [True, True] Translation: X:560.26, Y:6.17, Z:3.86 [[ 9.98569100e-01 -5.11736542e-02 -1.55244574e-02 5.60259539e+02] [ 5.11764635e-02 9.98689603e-01 -2.16514106e-04 6.17207517e+00] [ 1.55151940e-02 -5.78282533e-04 9.99879465e-01 3.85826998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3692541539999 meters 0.022157414523500975 Centerline is valid? [True, True] Translation: X:560.29, Y:6.17, Z:3.86 [[ 9.98529311e-01 -5.18923284e-02 -1.56971461e-02 5.60291098e+02] [ 5.18953047e-02 9.98652507e-01 -2.17936239e-04 6.17124252e+00] [ 1.56873035e-02 -5.96992458e-04 9.99876768e-01 3.85828015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3992541539999 meters 0.02331570256113236 Centerline is valid? [True, True] Translation: X:560.32, Y:6.17, Z:3.86 [[ 9.98558103e-01 -5.13682249e-02 -1.55891196e-02 5.60322280e+02] [ 5.13711097e-02 9.98679610e-01 -2.15596683e-04 6.16961429e+00] [ 1.55796107e-02 -5.85544558e-04 9.99878459e-01 3.85776929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.429254154 meters 0.022487961980692472 Centerline is valid? [True, True] Translation: X:560.35, Y:6.17, Z:3.86 [[ 9.98616561e-01 -5.02191116e-02 -1.55885861e-02 5.60354542e+02] [ 5.02218717e-02 9.98738063e-01 -2.14606570e-04 6.17132574e+00] [ 1.55796916e-02 -5.68578294e-04 9.99878468e-01 3.85818311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.459254154 meters 0.0230819702582806 Centerline is valid? [True, True] Translation: X:560.39, Y:6.17, Z:3.86 [[ 9.98671038e-01 -4.90941388e-02 -1.56819445e-02 5.60386061e+02] [ 4.90968084e-02 9.98794001e-01 -2.14941480e-04 6.17115821e+00] [ 1.56735845e-02 -5.55277595e-04 9.99877008e-01 3.85836036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4892541539999 meters 0.019112600046725194 Centerline is valid? [True, True] Translation: X:560.42, Y:6.18, Z:3.86 [[ 9.98846022e-01 -4.55122491e-02 -1.53381650e-02 5.60417441e+02] [ 4.55143913e-02 9.98963661e-01 -2.09561570e-04 6.17889403e+00] [ 1.53318071e-02 -4.88787503e-04 9.99882341e-01 3.86013892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5192541539999 meters 0.01881973656637388 Centerline is valid? [True, True] Translation: X:560.45, Y:6.18, Z:3.86 [[ 9.98949413e-01 -4.33150933e-02 -1.49623640e-02 5.60448939e+02] [ 4.33168959e-02 9.99061362e-01 -2.03733738e-04 6.18014843e+00] [ 1.49571445e-02 -4.44603464e-04 9.99888037e-01 3.86045347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.549254154 meters 0.01810024440048581 Centerline is valid? [True, True] Translation: X:560.48, Y:6.18, Z:3.86 [[ 9.99037294e-01 -4.11854369e-02 -1.51077500e-02 5.60481297e+02] [ 4.11870463e-02 9.99151433e-01 -2.04725354e-04 6.18239605e+00] [ 1.51033618e-02 -4.17715335e-04 9.99885850e-01 3.86099980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.579254154 meters 0.017609288197438275 Centerline is valid? [True, True] Translation: X:560.51, Y:6.18, Z:3.86 [[ 9.99124198e-01 -3.90156911e-02 -1.51199758e-02 5.60513197e+02] [ 3.90170717e-02 9.99238523e-01 -2.03778547e-04 6.18386827e+00] [ 1.51164129e-02 -3.86337103e-04 9.99885666e-01 3.86125546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6092541539999 meters 0.017460280611479598 Centerline is valid? [True, True] Translation: X:560.54, Y:6.18, Z:3.86 [[ 9.99194010e-01 -3.72590264e-02 -1.49363867e-02 5.60544930e+02] [ 3.72601937e-02 9.99305578e-01 -2.00218920e-04 6.18482985e+00] [ 1.49334745e-02 -3.56475118e-04 9.99888426e-01 3.86121780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6392541539999 meters 0.016933749579122265 Centerline is valid? [True, True] Translation: X:560.58, Y:6.19, Z:3.86 [[ 9.99302133e-01 -3.39213650e-02 -1.56392804e-02 5.60575110e+02] [ 3.39222547e-02 9.99424453e-01 -2.08459880e-04 6.18700874e+00] [ 1.56373505e-02 -3.22205250e-04 9.99877677e-01 3.86104622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6692541539999 meters 0.016884929549581023 Centerline is valid? [True, True] Translation: X:560.61, Y:6.19, Z:3.86 [[ 9.99330126e-01 -3.30344124e-02 -1.57488408e-02 5.60606972e+02] [ 3.30352201e-02 9.99454166e-01 -2.08930061e-04 6.18806340e+00] [ 1.57471464e-02 -3.11476317e-04 9.99875957e-01 3.86119615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.699254154 meters 0.016230263578638212 Centerline is valid? [True, True] Translation: X:560.64, Y:6.19, Z:3.86 [[ 9.99352429e-01 -3.22129274e-02 -1.60327967e-02 5.60638017e+02] [ 3.22136702e-02 9.99480983e-01 -2.11992039e-04 6.18997707e+00] [ 1.60313043e-02 -3.04620466e-04 9.99871444e-01 3.86192262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7292541539999 meters 0.016164813633470106 Centerline is valid? [True, True] Translation: X:560.67, Y:6.19, Z:3.86 [[ 9.99359383e-01 -3.19987466e-02 -1.60282348e-02 5.60669720e+02] [ 3.19994707e-02 9.99487863e-01 -2.11350174e-04 6.18995538e+00] [ 1.60267891e-02 -3.01680250e-04 9.99871517e-01 3.86202917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7592541539999 meters 0.01688933459146653 Centerline is valid? [True, True] Translation: X:560.70, Y:6.19, Z:3.86 [[ 9.99322537e-01 -3.26560088e-02 -1.69720744e-02 5.60700057e+02] [ 3.26569294e-02 9.99466595e-01 -2.22972387e-04 6.18840785e+00] [ 1.69703028e-02 -3.31434504e-04 9.99855939e-01 3.86180776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7892541539999 meters 0.017018404044884448 Centerline is valid? [True, True] Translation: X:560.73, Y:6.19, Z:3.86 [[ 9.99295184e-01 -3.34692243e-02 -1.69984446e-02 5.60731145e+02] [ 3.34702780e-02 9.99439688e-01 -2.22578314e-04 6.18809948e+00] [ 1.69963697e-02 -3.46521228e-04 9.99855491e-01 3.86216232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.819254154 meters 0.016540905316724655 Centerline is valid? [True, True] Translation: X:560.76, Y:6.19, Z:3.86 [[ 9.99250540e-01 -3.45914742e-02 -1.73720513e-02 5.60762350e+02] [ 3.45927553e-02 9.99401466e-01 -2.26835245e-04 6.18890474e+00] [ 1.73695001e-02 -3.74281878e-04 9.99849069e-01 3.86352692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8492541539999 meters 0.017267446731700782 Centerline is valid? [True, True] Translation: X:560.79, Y:6.19, Z:3.86 [[ 9.99137808e-01 -3.75632599e-02 -1.76816874e-02 5.60793235e+02] [ 3.75650602e-02 9.99294157e-01 -2.30420939e-04 6.18638656e+00] [ 1.76778623e-02 -4.33991380e-04 9.99843640e-01 3.86406684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8792541539999 meters 0.01755437745182536 Centerline is valid? [True, True] Translation: X:560.82, Y:6.19, Z:3.86 [[ 9.99085131e-01 -3.89130073e-02 -1.77391729e-02 5.60824493e+02] [ 3.89150413e-02 9.99242496e-01 -2.30644003e-04 6.18568890e+00] [ 1.77347104e-02 -4.59887651e-04 9.99842622e-01 3.86458581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9092541539999 meters 0.018577247447296615 Centerline is valid? [True, True] Translation: X:560.86, Y:6.18, Z:3.86 [[ 9.99015930e-01 -4.04704392e-02 -1.81470405e-02 5.60855214e+02] [ 4.04728368e-02 9.99180611e-01 -2.35272010e-04 6.18361794e+00] [ 1.81416926e-02 -4.99421723e-04 9.99835301e-01 3.86444937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.939254154 meters 0.01836376537219782 Centerline is valid? [True, True] Translation: X:560.89, Y:6.18, Z:3.87 [[ 9.98954622e-01 -4.19525157e-02 -1.81562667e-02 5.60887473e+02] [ 4.19551801e-02 9.99119466e-01 -2.34303153e-04 6.18412592e+00] [ 1.81501091e-02 -5.27691221e-04 9.99835134e-01 3.86546063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9692541539999 meters 0.018815045975180883 Centerline is valid? [True, True] Translation: X:560.92, Y:6.18, Z:3.87 [[ 9.98836488e-01 -4.45756035e-02 -1.84034069e-02 5.60918637e+02] [ 4.45788030e-02 9.99005843e-01 -2.36546178e-04 6.18263072e+00] [ 1.83956552e-02 -5.84130898e-04 9.99830615e-01 3.86672952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9992541539999 meters 0.020273344594950306 Centerline is valid? [True, True] Translation: X:560.95, Y:6.18, Z:3.87 [[ 9.98784464e-01 -4.57323463e-02 -1.83887781e-02 5.60950199e+02] [ 4.57357530e-02 9.98953545e-01 -2.35466267e-04 6.18041071e+00] [ 1.83803035e-02 -6.05844564e-04 9.99830884e-01 3.86679253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0292541539999 meters 0.01981303131420471 Centerline is valid? [True, True] Translation: X:560.98, Y:6.18, Z:3.87 [[ 9.98744707e-01 -4.66346545e-02 -1.82816712e-02 5.60982393e+02] [ 4.66381949e-02 9.98911820e-01 -2.32873567e-04 6.18097225e+00] [ 1.82726375e-02 -6.20042904e-04 9.99832849e-01 3.86783454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.059254154 meters 0.020112498301041754 Centerline is valid? [True, True] Translation: X:561.01, Y:6.18, Z:3.87 [[ 9.98720713e-01 -4.71157308e-02 -1.83587958e-02 5.61014329e+02] [ 4.71194072e-02 9.98889237e-01 -2.32499952e-04 6.17999396e+00] [ 1.83493580e-02 -6.32853059e-04 9.99831436e-01 3.86862543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.089254154 meters 0.019188085377447622 Centerline is valid? [True, True] Translation: X:561.05, Y:6.18, Z:3.87 [[ 9.98718666e-01 -4.69937962e-02 -1.87778724e-02 5.61046756e+02] [ 4.69976475e-02 9.98894972e-01 -2.36391698e-04 6.18171692e+00] [ 1.87682312e-02 -6.46427025e-04 9.99823652e-01 3.86966985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1192541539999 meters 0.02036597790054592 Centerline is valid? [True, True] Translation: X:561.08, Y:6.18, Z:3.87 [[ 9.98725411e-01 -4.63207068e-02 -2.00485997e-02 5.61077542e+02] [ 4.63249876e-02 9.98926390e-01 -2.51095180e-04 6.18146898e+00] [ 2.00387062e-02 -6.77975994e-04 9.99798975e-01 3.87025286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1492541539999 meters 0.01883198940730526 Centerline is valid? [True, True] Translation: X:561.11, Y:6.18, Z:3.87 [[ 9.98757113e-01 -4.56121582e-02 -2.00937774e-02 5.61109621e+02] [ 4.56163429e-02 9.98959001e-01 -2.50279572e-04 6.18325362e+00] [ 2.00842756e-02 -6.66636135e-04 9.99798068e-01 3.87141872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.179254154 meters 0.018889210741579933 Centerline is valid? [True, True] Translation: X:561.14, Y:6.18, Z:3.87 [[ 9.98799003e-01 -4.46075203e-02 -2.02662596e-02 5.61141143e+02] [ 4.46115965e-02 9.99004376e-01 -2.51150785e-04 6.18344394e+00] [ 2.02572852e-02 -6.53261041e-04 9.99794587e-01 3.87169953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.209254154 meters 0.018954978292487663 Centerline is valid? [True, True] Translation: X:561.17, Y:6.18, Z:3.87 [[ 9.98834419e-01 -4.34172723e-02 -2.10889487e-02 5.61171386e+02] [ 4.34214353e-02 9.99056811e-01 -2.60679035e-04 6.18319555e+00] [ 2.10803758e-02 -6.55337230e-04 9.99777569e-01 3.87149786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2392541539999 meters 0.01783963729295015 Centerline is valid? [True, True] Translation: X:561.20, Y:6.19, Z:3.87 [[ 9.98919635e-01 -4.05420742e-02 -2.27134841e-02 5.61203002e+02] [ 4.05461774e-02 9.99177626e-01 -2.80040350e-04 6.18527936e+00] [ 2.27061585e-02 -6.41207151e-04 9.99741976e-01 3.87191062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2692541539999 meters 0.017451841070934664 Centerline is valid? [True, True] Translation: X:561.23, Y:6.19, Z:3.87 [[ 9.98977078e-01 -3.90234704e-02 -2.28465781e-02 5.61233091e+02] [ 3.90272309e-02 9.99238108e-01 -2.81424475e-04 6.18674632e+00] [ 2.28401536e-02 -6.10502080e-04 9.99738943e-01 3.87213480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2992541539999 meters 0.016983080356454378 Centerline is valid? [True, True] Translation: X:561.26, Y:6.19, Z:3.87 [[ 9.99028520e-01 -3.72312323e-02 -2.35764893e-02 5.61264057e+02] [ 3.72347456e-02 9.99306504e-01 -2.90109727e-04 6.18795691e+00] [ 2.35709402e-02 -5.88036690e-04 9.99721994e-01 3.87205649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.329254154 meters 0.016983080356454378 Centerline is valid? [True, True] Translation: X:561.29, Y:6.19, Z:3.87 [[ 9.99027153e-01 -3.72679160e-02 -2.35764833e-02 5.61293221e+02] [ 3.72714281e-02 9.99305137e-01 -2.90593699e-04 6.18834507e+00] [ 2.35709307e-02 -5.88418208e-04 9.99721994e-01 3.87225856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3592541539999 meters 0.016850792004176402 Centerline is valid? [True, True] Translation: X:561.32, Y:6.19, Z:3.87 [[ 9.99079989e-01 -3.59176905e-02 -2.34327912e-02 5.61323363e+02] [ 3.59207828e-02 9.99354599e-01 -2.89075433e-04 6.18951988e+00] [ 2.34280506e-02 -5.52914725e-04 9.99725373e-01 3.87257726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3892541539999 meters 0.016353002352358332 Centerline is valid? [True, True] Translation: X:561.35, Y:6.19, Z:3.87 [[ 9.99159911e-01 -3.34501849e-02 -2.36760988e-02 5.61352520e+02] [ 3.34526423e-02 9.99440261e-01 -2.92381025e-04 6.19073414e+00] [ 2.36726265e-02 -4.99892663e-04 9.99719639e-01 3.87241522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4192541539999 meters 0.016345492233708306 Centerline is valid? [True, True] Translation: X:561.38, Y:6.19, Z:3.87 [[ 9.99171726e-01 -3.27565242e-02 -2.41427580e-02 5.61381614e+02] [ 3.27588517e-02 9.99463240e-01 -2.99195666e-04 6.19086578e+00] [ 2.41395998e-02 -4.91941181e-04 9.99708476e-01 3.87245076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.449254154 meters 0.016042365295393938 Centerline is valid? [True, True] Translation: X:561.41, Y:6.19, Z:3.87 [[ 9.99169656e-01 -3.26305419e-02 -2.43976766e-02 5.61410335e+02] [ 3.26327645e-02 9.99467362e-01 -3.07140485e-04 6.19136663e+00] [ 2.43947037e-02 -4.89278184e-04 9.99702285e-01 3.87303309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4792541539999 meters 0.016161181131138923 Centerline is valid? [True, True] Translation: X:561.44, Y:6.19, Z:3.87 [[ 9.99152381e-01 -3.30034611e-02 -2.46026615e-02 5.61438809e+02] [ 3.30056817e-02 9.99455114e-01 -3.15922988e-04 6.19113934e+00] [ 2.45996824e-02 -4.96372409e-04 9.99697259e-01 3.87306976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5092541539999 meters 0.01633232749835898 Centerline is valid? [True, True] Translation: X:561.47, Y:6.19, Z:3.87 [[ 9.99113576e-01 -3.42967086e-02 -2.44089592e-02 5.61467561e+02] [ 3.42991269e-02 9.99411561e-01 -3.19706057e-04 6.19113881e+00] [ 2.44055608e-02 -5.17783326e-04 9.99702006e-01 3.87489636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5392541539999 meters 0.017195651860459807 Centerline is valid? [True, True] Translation: X:561.50, Y:6.19, Z:3.87 [[ 9.99077785e-01 -3.55781811e-02 -2.40368792e-02 5.61495823e+02] [ 3.55808316e-02 9.99366751e-01 -3.17549702e-04 6.18816540e+00] [ 2.40329557e-02 -5.37995297e-04 9.99711022e-01 3.87354502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.569254154 meters 0.0175848401756356 Centerline is valid? [True, True] Translation: X:561.53, Y:6.19, Z:3.87 [[ 9.99039744e-01 -3.67689442e-02 -2.38250690e-02 5.61525001e+02] [ 3.67718563e-02 9.99323637e-01 -3.16013415e-04 6.18762469e+00] [ 2.38205741e-02 -5.60382054e-04 9.99716093e-01 3.87414996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5992541539999 meters 0.018060900827143764 Centerline is valid? [True, True] Translation: X:561.55, Y:6.19, Z:3.87 [[ 9.98987568e-01 -3.82070118e-02 -2.37500178e-02 5.61554790e+02] [ 3.82102893e-02 9.99269670e-01 -3.15963007e-04 6.18684123e+00] [ 2.37447445e-02 -5.91851935e-04 9.99717879e-01 3.87447721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6292541539999 meters 0.01980394013765048 Centerline is valid? [True, True] Translation: X:561.58, Y:6.18, Z:3.87 [[ 9.98848680e-01 -4.17227768e-02 -2.36754159e-02 5.61584234e+02] [ 4.17270079e-02 9.99128999e-01 -3.15499035e-04 6.18363214e+00] [ 2.36679581e-02 -6.72768471e-04 9.99719648e-01 3.87458790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6592541539999 meters 0.021811121193273286 Centerline is valid? [True, True] Translation: X:561.61, Y:6.18, Z:3.87 [[ 9.98795684e-01 -4.30274782e-02 -2.35757807e-02 5.61614222e+02] [ 4.30320273e-02 9.99073644e-01 -3.14573014e-04 6.18150434e+00] [ 2.35674764e-02 -7.00319470e-04 9.99722003e-01 3.87417866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.689254154 meters 0.018277075547125123 Centerline is valid? [True, True] Translation: X:561.65, Y:6.19, Z:3.88 [[ 9.98685385e-01 -4.55135771e-02 -2.35799920e-02 5.61645887e+02] [ 4.55188317e-02 9.98963431e-01 -3.14128815e-04 6.18515076e+00] [ 2.35698468e-02 -7.59617828e-04 9.99721904e-01 3.87718028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7192541539999 meters 0.019219717294211045 Centerline is valid? [True, True] Translation: X:561.68, Y:6.18, Z:3.88 [[ 9.98519790e-01 -4.93966566e-02 -2.27639775e-02 5.61677413e+02] [ 4.94025803e-02 9.98778901e-01 -3.02417772e-04 6.18304094e+00] [ 2.27511189e-02 -8.22629097e-04 9.99740821e-01 3.87770439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7492541539999 meters 0.020344789762036887 Centerline is valid? [True, True] Translation: X:561.71, Y:6.18, Z:3.88 [[ 9.98442345e-01 -5.09915880e-02 -2.26438123e-02 5.61708123e+02] [ 5.09978780e-02 9.98698717e-01 -2.99976195e-04 6.18161204e+00] [ 2.26296426e-02 -8.55277442e-04 9.99743551e-01 3.87777418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7792541539999 meters 0.020617653593798007 Centerline is valid? [True, True] Translation: X:561.74, Y:6.18, Z:3.88 [[ 9.98369669e-01 -5.25667938e-02 -2.22426500e-02 5.61739320e+02] [ 5.25732713e-02 9.98617026e-01 -2.93841543e-04 6.18077654e+00] [ 2.22273353e-02 -8.76006390e-04 9.99752558e-01 3.87809035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.809254154 meters 0.021253063109065898 Centerline is valid? [True, True] Translation: X:561.77, Y:6.18, Z:3.88 [[ 9.98299483e-01 -5.39033058e-02 -2.21940586e-02 5.61771668e+02] [ 5.39101154e-02 9.98545750e-01 -2.91817116e-04 6.17994815e+00] [ 2.21775128e-02 -9.05163384e-04 9.99753639e-01 3.87870330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.839254154 meters 0.022053172200276437 Centerline is valid? [True, True] Translation: X:561.80, Y:6.18, Z:3.88 [[ 9.98244386e-01 -5.53436657e-02 -2.11003617e-02 5.61804003e+02] [ 5.53501737e-02 9.98466966e-01 -2.75910950e-04 6.17890950e+00] [ 2.10832841e-02 -8.92482129e-04 9.99777325e-01 3.87930420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8692541539999 meters 0.021785129250756933 Centerline is valid? [True, True] Translation: X:561.84, Y:6.18, Z:3.88 [[ 9.98243840e-01 -5.53204797e-02 -2.11867775e-02 5.61836462e+02] [ 5.53270690e-02 9.98468247e-01 -2.75477863e-04 6.17975019e+00] [ 2.11695641e-02 -8.97208219e-04 9.99775497e-01 3.87966154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8992541539999 meters 0.02449978139087891 Centerline is valid? [True, True] Translation: X:561.87, Y:6.18, Z:3.88 [[ 9.98272156e-01 -5.48983864e-02 -2.09492368e-02 5.61867354e+02] [ 5.49047627e-02 9.98491559e-01 -2.71112021e-04 6.17788830e+00] [ 2.09325197e-02 -8.79569292e-04 9.99780504e-01 3.87870050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.929254154 meters 0.021724620367480536 Centerline is valid? [True, True] Translation: X:561.90, Y:6.18, Z:3.88 [[ 9.98262192e-01 -5.49053834e-02 -2.14007945e-02 5.61899673e+02] [ 5.49120705e-02 9.98491156e-01 -2.75498341e-04 6.18103139e+00] [ 2.13836304e-02 -9.00142360e-04 9.99770939e-01 3.87941894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.959254154 meters 0.023246635780775588 Centerline is valid? [True, True] Translation: X:561.93, Y:6.18, Z:3.88 [[ 9.98326408e-01 -5.35104453e-02 -2.19320753e-02 5.61931032e+02] [ 5.35171622e-02 9.98566890e-01 -2.80988633e-04 6.17986037e+00] [ 2.19156800e-02 -8.93224056e-04 9.99759424e-01 3.87765902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9892541539999 meters 0.02364392416610421 Centerline is valid? [True, True] Translation: X:561.96, Y:6.18, Z:3.88 [[ 9.98372779e-01 -5.25024404e-02 -2.22550845e-02 5.61961912e+02] [ 5.25091555e-02 9.98620403e-01 -2.82930558e-04 6.18018478e+00] [ 2.22392360e-02 -8.86125527e-04 9.99752285e-01 3.87730883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0192541539999 meters 0.022848351764897853 Centerline is valid? [True, True] Translation: X:561.99, Y:6.18, Z:3.88 [[ 9.98443553e-01 -5.10902693e-02 -2.23664052e-02 5.61993419e+02] [ 5.10967286e-02 9.98693669e-01 -2.82979182e-04 6.18305418e+00] [ 2.23516447e-02 -8.60311396e-04 9.99749801e-01 3.87753613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0492541539999 meters 0.022114406154937035 Centerline is valid? [True, True] Translation: X:562.02, Y:6.19, Z:3.88 [[ 9.98573352e-01 -4.83578100e-02 -2.26447207e-02 5.62024285e+02] [ 4.83637477e-02 9.98829748e-01 -2.85699571e-04 6.18540676e+00] [ 2.26320365e-02 -8.09891580e-04 9.99743535e-01 3.87709023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.079254154 meters 0.01906974338211924 Centerline is valid? [True, True] Translation: X:562.06, Y:6.19, Z:3.88 [[ 9.98660059e-01 -4.64979639e-02 -2.27161858e-02 5.62055951e+02] [ 4.65034839e-02 9.98918087e-01 -2.85486174e-04 6.19128102e+00] [ 2.27048834e-02 -7.71278142e-04 9.99741913e-01 3.87900728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1092541539999 meters 0.01826528581262271 Centerline is valid? [True, True] Translation: X:562.09, Y:6.19, Z:3.88 [[ 9.98735076e-01 -4.46565074e-02 -2.31093788e-02 5.62087660e+02] [ 4.46617574e-02 9.99002124e-01 -2.89145597e-04 6.19415482e+00] [ 2.30992308e-02 -7.43325621e-04 9.99732901e-01 3.87977089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1392541539999 meters 0.01720227019870718 Centerline is valid? [True, True] Translation: X:562.12, Y:6.20, Z:3.88 [[ 9.98927744e-01 -4.03773695e-02 -2.26501798e-02 5.62118414e+02] [ 4.03813231e-02 9.99184302e-01 -2.82992123e-04 6.19919420e+00] [ 2.26431306e-02 -6.31955547e-04 9.99743412e-01 3.88051742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1692541539999 meters 0.016624445550221828 Centerline is valid? [True, True] Translation: X:562.15, Y:6.20, Z:3.88 [[ 9.99015438e-01 -3.82355147e-02 -2.24988965e-02 5.62149091e+02] [ 3.82388731e-02 9.99268587e-01 -2.81087539e-04 6.20203342e+00] [ 2.24931881e-02 -5.79521659e-04 9.99746828e-01 3.88089719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.199254154 meters 0.01616028727762413 Centerline is valid? [True, True] Translation: X:562.18, Y:6.20, Z:3.88 [[ 9.99100382e-01 -3.61493102e-02 -2.21732782e-02 5.62179616e+02] [ 3.61520587e-02 9.99346262e-01 -2.77019461e-04 6.20489065e+00] [ 2.21687967e-02 -5.24839404e-04 9.99754104e-01 3.88135610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2292541539999 meters 0.015311622127063388 Centerline is valid? [True, True] Translation: X:562.21, Y:6.21, Z:3.88 [[ 9.99257364e-01 -3.25176975e-02 -2.06716919e-02 5.62210234e+02] [ 3.25193094e-02 9.99471074e-01 -2.58259555e-04 6.20951772e+00] [ 2.06691561e-02 -4.14161383e-04 9.99786284e-01 3.88207375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2592541539999 meters 0.015074338798127022 Centerline is valid? [True, True] Translation: X:562.24, Y:6.21, Z:3.88 [[ 9.99315246e-01 -3.10389047e-02 -2.01401347e-02 5.62240738e+02] [ 3.10401345e-02 9.99518107e-01 -2.51618603e-04 6.21143192e+00] [ 2.01382393e-02 -3.73706185e-04 9.99797135e-01 3.88258714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2892541539999 meters 0.014906966058654733 Centerline is valid? [True, True] Translation: X:562.27, Y:6.21, Z:3.88 [[ 9.99369247e-01 -2.95472811e-02 -1.96993959e-02 5.62271382e+02] [ 2.95481679e-02 9.99563327e-01 -2.46112280e-04 6.21328749e+00] [ 1.96980657e-02 -3.36124016e-04 9.99805918e-01 3.88295671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.319254154 meters 0.014421547688219787 Centerline is valid? [True, True] Translation: X:562.30, Y:6.22, Z:3.88 [[ 9.99453865e-01 -2.67981467e-02 -1.93346919e-02 5.62300792e+02] [ 2.67984824e-02 9.99640827e-01 -2.41776745e-04 6.21651473e+00] [ 1.93342265e-02 -2.76495698e-04 9.99813038e-01 3.88306556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3492541539999 meters 0.01425416653389537 Centerline is valid? [True, True] Translation: X:562.33, Y:6.22, Z:3.88 [[ 9.99492606e-01 -2.53973498e-02 -1.92225064e-02 5.62330713e+02] [ 2.53974120e-02 9.99677405e-01 -2.40928534e-04 6.21847783e+00] [ 1.92224243e-02 -2.47395627e-04 9.99815202e-01 3.88321180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3792541539999 meters 0.01409483632366551 Centerline is valid? [True, True] Translation: X:562.36, Y:6.22, Z:3.88 [[ 9.99526521e-01 -2.43753786e-02 -1.87769896e-02 5.62360320e+02] [ 2.43752453e-02 9.99702852e-01 -2.35999112e-04 6.22045251e+00] [ 1.87771627e-02 -2.21806358e-04 9.99823669e-01 3.88366427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4092541539999 meters 0.013936446250119632 Centerline is valid? [True, True] Translation: X:562.39, Y:6.22, Z:3.88 [[ 9.99564360e-01 -2.31781469e-02 -1.82719286e-02 5.62388648e+02] [ 2.31778026e-02 9.99731332e-01 -2.30638893e-04 6.22189320e+00] [ 1.82723653e-02 -1.92964738e-04 9.99833028e-01 3.88405040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.439254154 meters 0.0139792148578551 Centerline is valid? [True, True] Translation: X:562.42, Y:6.22, Z:3.89 [[ 9.99626145e-01 -2.07855049e-02 -1.77632704e-02 5.62418287e+02] [ 2.07847868e-02 9.99783948e-01 -2.25063820e-04 6.22480380e+00] [ 1.77641106e-02 -1.44226109e-04 9.99842195e-01 3.88584481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4692541539999 meters 0.013590575142379593 Centerline is valid? [True, True] Translation: X:562.45, Y:6.22, Z:3.88 [[ 9.99643340e-01 -2.03589342e-02 -1.72831538e-02 5.62446758e+02] [ 2.03581764e-02 9.99792727e-01 -2.19798139e-04 6.22453685e+00] [ 1.72840463e-02 -1.32133748e-04 9.99850611e-01 3.88452677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4992541539999 meters 0.014326336376482252 Centerline is valid? [True, True] Translation: X:562.48, Y:6.23, Z:3.89 [[ 9.99673726e-01 -1.91267055e-02 -1.69295702e-02 5.62475988e+02] [ 1.91257559e-02 9.99817062e-01 -2.18010173e-04 6.22530270e+00] [ 1.69306430e-02 -1.05851786e-04 9.99856661e-01 3.88525543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5292541539999 meters 0.013578070598016127 Centerline is valid? [True, True] Translation: X:562.50, Y:6.23, Z:3.89 [[ 9.99670215e-01 -1.93248334e-02 -1.69119088e-02 5.62504246e+02] [ 1.93238446e-02 9.99813252e-01 -2.21894380e-04 6.22535248e+00] [ 1.69130387e-02 -1.04981895e-04 9.99856959e-01 3.88552443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.559254154 meters 0.013633815093108247 Centerline is valid? [True, True] Translation: X:562.53, Y:6.23, Z:3.89 [[ 9.99670734e-01 -1.93994525e-02 -1.67953571e-02 5.62533349e+02] [ 1.93984176e-02 9.99811808e-01 -2.24542316e-04 6.22557569e+00] [ 1.67965523e-02 -1.01334969e-04 9.99858923e-01 3.88569520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.589254154 meters 0.013612500276594762 Centerline is valid? [True, True] Translation: X:562.56, Y:6.23, Z:3.89 [[ 9.99668911e-01 -1.95265586e-02 -1.67565387e-02 5.62562358e+02] [ 1.95255088e-02 9.99809333e-01 -2.26264239e-04 6.22528097e+00] [ 1.67577619e-02 -1.00990617e-04 9.99859574e-01 3.88571173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6192541539999 meters 0.01410715140227754 Centerline is valid? [True, True] Translation: X:562.59, Y:6.22, Z:3.88 [[ 9.99630284e-01 -2.12275944e-02 -1.69907145e-02 5.62591258e+02] [ 2.12267454e-02 9.99774661e-01 -2.30324398e-04 6.22271877e+00] [ 1.69917751e-02 -1.30418329e-04 9.99855621e-01 3.88437678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6492541539999 meters 0.014086220671503098 Centerline is valid? [True, True] Translation: X:562.62, Y:6.22, Z:3.89 [[ 9.99596088e-01 -2.26340271e-02 -1.71860848e-02 5.62621221e+02] [ 2.26333540e-02 9.99743806e-01 -2.33695024e-04 6.22238241e+00] [ 1.71869713e-02 -1.55378109e-04 9.99852281e-01 3.88546888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.679254154 meters 0.01406125184896279 Centerline is valid? [True, True] Translation: X:562.65, Y:6.22, Z:3.89 [[ 9.99563297e-01 -2.41047279e-02 -1.70931982e-02 5.62650992e+02] [ 2.41042666e-02 9.99709423e-01 -2.33039656e-04 6.22208126e+00] [ 1.70938487e-02 -1.79081121e-04 9.99853873e-01 3.88659305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.709254154 meters 0.014420978216510142 Centerline is valid? [True, True] Translation: X:562.68, Y:6.22, Z:3.89 [[ 9.99517608e-01 -2.60025685e-02 -1.69828761e-02 5.62680626e+02] [ 2.60023828e-02 9.99661854e-01 -2.31787546e-04 6.22051403e+00] [ 1.69831605e-02 -2.09919512e-04 9.99855754e-01 3.88659081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7392541539999 meters 0.014904785359083895 Centerline is valid? [True, True] Translation: X:562.71, Y:6.22, Z:3.89 [[ 9.99385525e-01 -3.05306083e-02 -1.72178652e-02 5.62710618e+02] [ 3.05310859e-02 9.99533790e-01 -2.35185000e-04 6.21756512e+00] [ 1.72170184e-02 -2.90639637e-04 9.99851734e-01 3.88742580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7692541539999 meters 0.015497322064645477 Centerline is valid? [True, True] Translation: X:562.74, Y:6.22, Z:3.89 [[ 9.99323915e-01 -3.28151233e-02 -1.65795109e-02 5.62740926e+02] [ 3.28158863e-02 9.99461388e-01 -2.26105047e-04 6.21553898e+00] [ 1.65780006e-02 -3.18119164e-04 9.99862525e-01 3.88733586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7992541539999 meters 0.016590203726255245 Centerline is valid? [True, True] Translation: X:562.77, Y:6.21, Z:3.89 [[ 9.99260155e-01 -3.47870267e-02 -1.64013925e-02 5.62772653e+02] [ 3.47880502e-02 9.99394688e-01 -2.22988394e-04 6.21378148e+00] [ 1.63992217e-02 -3.47749049e-04 9.99865463e-01 3.88733520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.829254154 meters 0.018325008433421556 Centerline is valid? [True, True] Translation: X:562.80, Y:6.21, Z:3.89 [[ 9.99194179e-01 -3.68010653e-02 -1.60210532e-02 5.62804369e+02] [ 3.68023124e-02 9.99322542e-01 -2.17071202e-04 6.21175954e+00] [ 1.60181881e-02 -3.72715525e-04 9.99871631e-01 3.88746621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8592541539999 meters 0.019940737335504725 Centerline is valid? [True, True] Translation: X:562.83, Y:6.21, Z:3.89 [[ 9.99014752e-01 -4.19062903e-02 -1.46078176e-02 5.62834315e+02] [ 4.19078775e-02 9.99121459e-01 -1.97575715e-04 6.20591680e+00] [ 1.46032637e-02 -4.14801575e-04 9.99893281e-01 3.88740634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8892541539999 meters 0.01837873851698306 Centerline is valid? [True, True] Translation: X:562.87, Y:6.21, Z:3.89 [[ 9.98888882e-01 -4.49752698e-02 -1.40793162e-02 5.62866713e+02] [ 4.49770561e-02 9.98988002e-01 -1.89901535e-04 6.20565197e+00] [ 1.40736088e-02 -4.43555660e-04 9.99900863e-01 3.88867193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9192541539999 meters 0.020222914692048885 Centerline is valid? [True, True] Translation: X:562.90, Y:6.20, Z:3.89 [[ 9.98762742e-01 -4.78351021e-02 -1.35937079e-02 5.62897427e+02] [ 4.78370418e-02 9.98855137e-01 -1.82615264e-04 6.20224918e+00] [ 1.35868804e-02 -4.67893452e-04 9.99907585e-01 3.88875045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.949254154 meters 0.023226609429397582 Centerline is valid? [True, True] Translation: X:562.93, Y:6.20, Z:3.89 [[ 9.98442467e-01 -5.41695246e-02 -1.33529771e-02 5.62926807e+02] [ 5.41719677e-02 9.98531605e-01 -1.78928792e-04 6.19583445e+00] [ 1.33430621e-02 -5.44706939e-04 9.99910829e-01 3.88823982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9792541539999 meters 0.024278998465654584 Centerline is valid? [True, True] Translation: X:562.96, Y:6.19, Z:3.89 [[ 9.98250198e-01 -5.76865372e-02 -1.29925316e-02 5.62958363e+02] [ 5.76891530e-02 9.98334579e-01 -1.73669566e-04 6.19377622e+00] [ 1.29809120e-02 -5.76162466e-04 9.99915578e-01 3.88826351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0092541539999 meters 0.02663232350846448 Centerline is valid? [True, True] Translation: X:562.99, Y:6.19, Z:3.89 [[ 9.98066476e-01 -6.08377693e-02 -1.27309177e-02 5.62988145e+02] [ 6.08405396e-02 9.98147484e-01 -1.69930563e-04 6.18984623e+00] [ 1.27176716e-02 -6.04953903e-04 9.99918944e-01 3.88799734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0392541539999 meters 0.030631968094955123 Centerline is valid? [True, True] Translation: X:563.02, Y:6.18, Z:3.89 [[ 9.97702484e-01 -6.67204568e-02 -1.17530377e-02 5.63017482e+02] [ 6.67232240e-02 9.97771510e-01 -1.56948083e-04 6.18380590e+00] [ 1.17373178e-02 -6.27613073e-04 9.99930918e-01 3.88800103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.069254154 meters 0.03230844533967258 Centerline is valid? [True, True] Translation: X:563.05, Y:6.18, Z:3.89 [[ 9.97565669e-01 -6.88694547e-02 -1.09422779e-02 5.63048442e+02] [ 6.88719819e-02 9.97625495e-01 -1.46146165e-04 6.18149954e+00] [ 1.09263604e-02 -6.07825965e-04 9.99940121e-01 3.88814239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0992541539999 meters 0.03312384989469042 Centerline is valid? [True, True] Translation: X:563.08, Y:6.18, Z:3.89 [[ 9.97440230e-01 -7.07728381e-02 -1.02075164e-02 5.63080780e+02] [ 7.07751400e-02 9.97492286e-01 -1.35995372e-04 6.18061041e+00] [ 1.01915437e-02 -5.86791149e-04 9.99947893e-01 3.88831031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1292541539999 meters 0.034274442103277555 Centerline is valid? [True, True] Translation: X:563.11, Y:6.18, Z:3.89 [[ 9.97352086e-01 -7.21234252e-02 -9.32893247e-03 5.63112744e+02] [ 7.21254124e-02 9.97395563e-01 -1.23687858e-04 6.17943051e+00] [ 9.31355665e-03 -5.49492758e-04 9.99956477e-01 3.88840147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1592541539999 meters 0.03680052092480129 Centerline is valid? [True, True] Translation: X:563.14, Y:6.18, Z:3.89 [[ 9.97264117e-01 -7.34484481e-02 -8.34309225e-03 5.63144250e+02] [ 7.34500885e-02 9.97298888e-01 -1.10028492e-04 6.17605137e+00] [ 8.32863805e-03 -5.03073398e-04 9.99965190e-01 3.88804280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.189254154 meters 0.03624891183342305 Centerline is valid? [True, True] Translation: X:563.18, Y:6.18, Z:3.89 [[ 9.97248408e-01 -7.36684359e-02 -8.28094608e-03 5.63176624e+02] [ 7.36700668e-02 9.97282663e-01 -1.08328416e-04 6.17716088e+00] [ 8.26642435e-03 -5.02027511e-04 9.99965707e-01 3.88761186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2192541539999 meters 0.029331887202571186 Centerline is valid? [True, True] Translation: X:563.21, Y:6.19, Z:3.89 [[ 9.97272343e-01 -7.33260978e-02 -8.43547733e-03 5.63208460e+02] [ 7.33277830e-02 9.97307888e-01 -1.09758575e-04 6.18722108e+00] [ 8.42081625e-03 -5.09095660e-04 9.99964415e-01 3.88756944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2492541539999 meters 0.029331887202571186 Centerline is valid? [True, True] Translation: X:563.24, Y:6.19, Z:3.89 [[ 9.97280469e-01 -7.32154941e-02 -8.43548610e-03 5.63241054e+02] [ 7.32171810e-02 9.97316014e-01 -1.09080667e-04 6.18755188e+00] [ 8.42083177e-03 -5.08838494e-04 9.99964415e-01 3.88779517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2792541539999 meters 0.03727317024067031 Centerline is valid? [True, True] Translation: X:563.27, Y:6.18, Z:3.89 [[ 9.97445054e-01 -7.08919974e-02 -8.81410226e-03 5.63271321e+02] [ 7.08937561e-02 9.97483866e-01 -1.13138726e-04 6.17870761e+00] [ 8.79994543e-03 -5.12015154e-04 9.99961149e-01 3.88608194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.309254154 meters 0.02804187741320406 Centerline is valid? [True, True] Translation: X:563.30, Y:6.19, Z:3.89 [[ 9.97579169e-01 -6.89508469e-02 -9.03227374e-03 5.63302856e+02] [ 6.89526167e-02 9.97619929e-01 -1.15692109e-04 6.19237253e+00] [ 9.01875336e-03 -5.07386872e-04 9.99959201e-01 3.88597008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.339254154 meters 0.026261707223786405 Centerline is valid? [True, True] Translation: X:563.33, Y:6.20, Z:3.89 [[ 9.97757970e-01 -6.62697191e-02 -9.34658115e-03 5.63334037e+02] [ 6.62715014e-02 9.97801621e-01 -1.19233217e-04 6.19606306e+00] [ 9.33393537e-03 -5.00446073e-04 9.99956313e-01 3.88576089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3692541539999 meters 0.02362329775990705 Centerline is valid? [True, True] Translation: X:563.37, Y:6.20, Z:3.89 [[ 9.97972730e-01 -6.29739988e-02 -9.20355396e-03 5.63365848e+02] [ 6.29755907e-02 9.98015061e-01 -1.17026339e-04 6.20159543e+00] [ 9.19265508e-03 -4.62810151e-04 9.99957640e-01 3.88588830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3992541539999 meters 0.021969902778811782 Centerline is valid? [True, True] Translation: X:563.40, Y:6.21, Z:3.89 [[ 9.98472016e-01 -5.46314602e-02 -8.30884595e-03 5.63395684e+02] [ 5.46324721e-02 9.98506526e-01 -1.05297942e-04 6.20792975e+00] [ 8.30218949e-03 -3.48795747e-04 9.99965475e-01 3.88648790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.429254154 meters 0.020142905049695483 Centerline is valid? [True, True] Translation: X:563.43, Y:6.21, Z:3.89 [[ 9.98729003e-01 -4.98567224e-02 -7.39494193e-03 5.63426375e+02] [ 4.98573933e-02 9.98756342e-01 -9.37157599e-05 6.21322587e+00] [ 7.39041752e-03 -2.75095881e-04 9.99972653e-01 3.88695590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.459254154 meters 0.018871311619997323 Centerline is valid? [True, True] Translation: X:563.46, Y:6.22, Z:3.89 [[ 9.98985223e-01 -4.45413074e-02 -6.67808817e-03 5.63455888e+02] [ 4.45417365e-02 9.99007521e-01 -8.45333191e-05 6.21761748e+00] [ 6.67522553e-03 -2.13006107e-04 9.99977698e-01 3.88764993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4892541539999 meters 0.017160457313752302 Centerline is valid? [True, True] Translation: X:563.49, Y:6.22, Z:3.89 [[ 9.99223755e-01 -3.89612507e-02 -5.82313253e-03 5.63487746e+02] [ 3.89614844e-02 9.99240710e-01 -7.33385103e-05 6.22335561e+00] [ 5.82156844e-03 -1.53596305e-04 9.99983043e-01 3.88813878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5192541539999 meters 0.014935674323776267 Centerline is valid? [True, True] Translation: X:563.52, Y:6.23, Z:3.89 [[ 9.99600426e-01 -2.78943057e-02 -4.57112250e-03 5.63517085e+02] [ 2.78943356e-02 9.99610876e-01 -5.72243369e-05 6.23248887e+00] [ 4.57094000e-03 -7.03069535e-05 9.99989551e-01 3.88875290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5492541539999 meters 0.014223836355451927 Centerline is valid? [True, True] Translation: X:563.55, Y:6.24, Z:3.89 [[ 9.99727786e-01 -2.29357779e-02 -4.27830747e-03 5.63548145e+02] [ 2.29357576e-02 9.99736939e-01 -5.38219607e-05 6.23670393e+00] [ 4.27841647e-03 -4.43189133e-05 9.99990847e-01 3.88900526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.579254154 meters 0.013625022480815362 Centerline is valid? [True, True] Translation: X:563.58, Y:6.24, Z:3.89 [[ 9.99830624e-01 -1.79618436e-02 -4.01182622e-03 5.63580792e+02] [ 1.79617860e-02 9.99838673e-01 -5.03771409e-05 6.24079151e+00] [ 4.01208387e-03 -2.16909559e-05 9.99991951e-01 3.88890798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6092541539999 meters 0.01349702131737912 Centerline is valid? [True, True] Translation: X:563.61, Y:6.25, Z:3.89 [[ 9.99936508e-01 -1.05253317e-02 -4.02465317e-03 5.63612842e+02] [ 1.05252152e-02 9.99944607e-01 -5.01255599e-05 6.24708118e+00] [ 4.02495782e-03 7.76203669e-06 9.99991900e-01 3.88819066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6392541539999 meters 0.013548719282760024 Centerline is valid? [True, True] Translation: X:563.64, Y:6.25, Z:3.89 [[ 9.99961136e-01 -7.72834860e-03 -4.24252809e-03 5.63644665e+02] [ 7.72819541e-03 9.99970136e-01 -5.25009685e-05 6.24953709e+00] [ 4.24280713e-03 1.97118420e-05 9.99990999e-01 3.88811448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6692541539999 meters 0.013841152762299313 Centerline is valid? [True, True] Translation: X:563.67, Y:6.25, Z:3.89 [[ 9.99971937e-01 -5.88573492e-03 -4.63500900e-03 5.63674579e+02] [ 5.88553463e-03 9.99982678e-01 -5.68506386e-05 6.25136266e+00] [ 4.63526332e-03 2.95695372e-05 9.99989257e-01 3.88784683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.699254154 meters 0.01386651700772391 Centerline is valid? [True, True] Translation: X:563.71, Y:6.25, Z:3.89 [[ 9.99976592e-01 -4.75246532e-03 -4.92226948e-03 5.63705089e+02] [ 4.75222636e-03 9.99988706e-01 -6.02424037e-05 6.25224723e+00] [ 4.92250019e-03 3.68492548e-05 9.99987884e-01 3.88729761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7292541539999 meters 0.01394677724226103 Centerline is valid? [True, True] Translation: X:563.73, Y:6.25, Z:3.89 [[ 9.99977381e-01 -4.12399942e-03 -5.31320325e-03 5.63734825e+02] [ 4.12371243e-03 9.99991495e-01 -6.49683376e-05 6.25213800e+00] [ 5.31342599e-03 4.30567458e-05 9.99985883e-01 3.88624903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7592541539999 meters 0.013789914589903725 Centerline is valid? [True, True] Translation: X:563.76, Y:6.25, Z:3.89 [[ 9.99973747e-01 -4.56582964e-03 -5.62664112e-03 5.63764015e+02] [ 4.56551356e-03 9.99989576e-01 -6.90197298e-05 6.25190497e+00] [ 5.62689760e-03 4.33294115e-05 9.99984168e-01 3.88625169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7892541539999 meters 0.013689236582486603 Centerline is valid? [True, True] Translation: X:563.79, Y:6.25, Z:3.89 [[ 9.99969542e-01 -5.49521540e-03 -5.54233014e-03 5.63793846e+02] [ 5.49492189e-03 9.99984900e-01 -6.81837485e-05 6.25147568e+00] [ 5.54262113e-03 3.77270006e-05 9.99984639e-01 3.88643896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.819254154 meters 0.013592367250821604 Centerline is valid? [True, True] Translation: X:563.82, Y:6.25, Z:3.89 [[ 9.99967642e-01 -6.44487129e-03 -4.81443541e-03 5.63823627e+02] [ 6.44466015e-03 9.99979231e-01 -5.93695889e-05 6.25056723e+00] [ 4.81471805e-03 2.83402679e-05 9.99988409e-01 3.88677886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8492541539999 meters 0.01346486632423498 Centerline is valid? [True, True] Translation: X:563.85, Y:6.25, Z:3.89 [[ 9.99955695e-01 -8.80147417e-03 -3.33784912e-03 5.63853390e+02] [ 8.80138543e-03 9.99961266e-01 -4.12717892e-05 6.24781694e+00] [ 3.33808309e-03 1.18922640e-05 9.99994429e-01 3.88709456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8792541539999 meters 0.013471420989852928 Centerline is valid? [True, True] Translation: X:563.88, Y:6.25, Z:3.89 [[ 9.99949140e-01 -9.72677093e-03 -2.66600934e-03 5.63884163e+02] [ 9.72671672e-03 9.99952694e-01 -3.32961803e-05 6.24627343e+00] [ 2.66620708e-03 7.36296922e-06 9.99996446e-01 3.88744172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9092541539999 meters 0.013541007394485187 Centerline is valid? [True, True] Translation: X:563.92, Y:6.24, Z:3.89 [[ 9.99937098e-01 -1.09356466e-02 -2.49243756e-03 5.63916111e+02] [ 1.09356030e-02 9.99940204e-01 -3.11022444e-05 6.24471945e+00] [ 2.49262865e-03 3.84398027e-06 9.99996893e-01 3.88750529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.939254154 meters 0.013465250444748106 Centerline is valid? [True, True] Translation: X:563.95, Y:6.24, Z:3.89 [[ 9.99915423e-01 -1.28281863e-02 -2.14097347e-03 5.63947209e+02] [ 1.28281582e-02 9.99917715e-01 -2.68621534e-05 6.24104995e+00] [ 2.14114189e-03 -6.04864810e-07 9.99997708e-01 3.88757673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9692541539999 meters 0.013709858022174606 Centerline is valid? [True, True] Translation: X:563.98, Y:6.24, Z:3.89 [[ 9.99901874e-01 -1.39064127e-02 -1.68937986e-03 5.63979358e+02] [ 1.39063972e-02 9.99903301e-01 -2.09035862e-05 6.23893654e+00] [ 1.68950719e-03 -2.59165233e-06 9.99998573e-01 3.88775098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9992541539999 meters 0.013657828595847177 Centerline is valid? [True, True] Translation: X:564.01, Y:6.24, Z:3.89 [[ 9.99885941e-01 -1.50349874e-02 -1.43318692e-03 5.64011592e+02] [ 1.50349775e-02 9.99886968e-01 -1.77152510e-05 6.23691753e+00] [ 1.43329127e-03 -3.83470266e-06 9.99998973e-01 3.88757378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0292541539999 meters 0.013763839184722688 Centerline is valid? [True, True] Translation: X:564.04, Y:6.24, Z:3.89 [[ 9.99868157e-01 -1.61995197e-02 -1.11500688e-03 5.64044181e+02] [ 1.61995144e-02 9.99868779e-01 -1.38122008e-05 6.23502877e+00] [ 1.11508432e-03 -4.25219023e-06 9.99999378e-01 3.88798313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.059254154 meters 0.013818142096916152 Centerline is valid? [True, True] Translation: X:564.08, Y:6.23, Z:3.89 [[ 9.99846599e-01 -1.74956295e-02 -8.25060304e-04 5.64075497e+02] [ 1.74956270e-02 9.99846940e-01 -1.01786323e-05 6.23040021e+00] [ 8.25112101e-04 -4.25787647e-06 9.99999660e-01 3.88779586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.089254154 meters 0.014015880546760968 Centerline is valid? [True, True] Translation: X:564.11, Y:6.23, Z:3.89 [[ 9.99838602e-01 -1.79424581e-02 -9.15392770e-04 5.64107625e+02] [ 1.79424553e-02 9.99839021e-01 -1.13154205e-05 6.22830461e+00] [ 9.15448437e-04 -5.11079961e-06 9.99999581e-01 3.88726036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1192541539999 meters 0.01393473553241124 Centerline is valid? [True, True] Translation: X:564.14, Y:6.23, Z:3.89 [[ 9.99837028e-01 -1.80136803e-02 -1.19382745e-03 5.64139443e+02] [ 1.80136759e-02 9.99837740e-01 -1.45176204e-05 6.22624278e+00] [ 1.19389525e-03 -6.98996619e-06 9.99999287e-01 3.88685155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1492541539999 meters 0.0140326071724219 Centerline is valid? [True, True] Translation: X:564.17, Y:6.22, Z:3.89 [[ 9.99851287e-01 -1.71875669e-02 -1.41140104e-03 5.64170781e+02] [ 1.71875602e-02 9.99852283e-01 -1.68662820e-05 6.22239549e+00] [ 1.41148244e-03 -7.39476667e-06 9.99999004e-01 3.88603143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.179254154 meters 0.013892875738682763 Centerline is valid? [True, True] Translation: X:564.20, Y:6.22, Z:3.89 [[ 9.99867713e-01 -1.61202974e-02 -2.16612675e-03 5.64202796e+02] [ 1.61202797e-02 9.99870060e-01 -2.56539596e-05 6.22093091e+00] [ 2.16625883e-03 -9.26800312e-06 9.99997654e-01 3.88558331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.209254154 meters 0.01389714520709085 Centerline is valid? [True, True] Translation: X:564.23, Y:6.22, Z:3.89 [[ 9.99887388e-01 -1.48464340e-02 -2.18977583e-03 5.64234185e+02] [ 1.48464134e-02 9.99889786e-01 -2.56822338e-05 6.21958301e+00] [ 2.18991578e-03 -6.83097551e-06 9.99997602e-01 3.88545157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2392541539999 meters 0.014094733080145461 Centerline is valid? [True, True] Translation: X:564.27, Y:6.22, Z:3.88 [[ 9.99925091e-01 -1.19383764e-02 -2.69950563e-03 5.64266768e+02] [ 1.19383348e-02 9.99928735e-01 -3.15078074e-05 6.21690659e+00] [ 2.69968940e-03 -7.22154877e-07 9.99996356e-01 3.88482433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2692541539999 meters 0.013784543659540141 Centerline is valid? [True, True] Translation: X:564.30, Y:6.22, Z:3.88 [[ 9.99940467e-01 -1.04662234e-02 -3.08558428e-03 5.64298775e+02] [ 1.04661630e-02 9.99945228e-01 -3.57170331e-05 6.21580251e+00] [ 3.08578909e-03 3.42067885e-06 9.99995239e-01 3.88473178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2992541539999 meters 0.014000008380477932 Centerline is valid? [True, True] Translation: X:564.33, Y:6.21, Z:3.88 [[ 9.99951375e-01 -9.27395509e-03 -3.35285834e-03 5.64330271e+02] [ 9.27387827e-03 9.99956996e-01 -3.84576557e-05 6.21447727e+00] [ 3.35307081e-03 7.36178561e-06 9.99994378e-01 3.88496974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.329254154 meters 0.013930419366604238 Centerline is valid? [True, True] Translation: X:564.36, Y:6.21, Z:3.88 [[ 9.99958252e-01 -8.43352970e-03 -3.51705998e-03 5.64361420e+02] [ 8.43344094e-03 9.99964437e-01 -4.00685056e-05 6.21266436e+00] [ 3.51727282e-03 1.04059152e-05 9.99993814e-01 3.88476918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3592541539999 meters 0.014080872874448215 Centerline is valid? [True, True] Translation: X:564.39, Y:6.21, Z:3.88 [[ 9.99956079e-01 -8.51327167e-03 -3.91973315e-03 5.64392200e+02] [ 8.51316289e-03 9.99963761e-01 -4.44357322e-05 6.20737163e+00] [ 3.91996940e-03 1.10644537e-05 9.99992317e-01 3.88432471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3892541539999 meters 0.014003522112253008 Centerline is valid? [True, True] Translation: X:564.42, Y:6.20, Z:3.88 [[ 9.99946428e-01 -9.42096750e-03 -4.28804355e-03 5.64422334e+02] [ 9.42084624e-03 9.99955622e-01 -4.84780108e-05 6.20436980e+00] [ 4.28830996e-03 8.07841475e-06 9.99990805e-01 3.88402457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4192541539999 meters 0.014038171230681785 Centerline is valid? [True, True] Translation: X:564.45, Y:6.20, Z:3.88 [[ 9.99936108e-01 -1.03366596e-02 -4.57532817e-03 5.64453142e+02] [ 1.03365311e-02 9.99946575e-01 -5.17258759e-05 6.20114925e+00] [ 4.57561841e-03 4.42954889e-06 9.99989532e-01 3.88366566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.449254154 meters 0.013957289917113197 Centerline is valid? [True, True] Translation: X:564.48, Y:6.19, Z:3.88 [[ 9.99891451e-01 -1.35685120e-02 -5.74295796e-03 5.64483263e+02] [ 1.35683625e-02 9.99907943e-01 -6.49903836e-05 6.19338611e+00] [ 5.74331110e-03 -1.29392066e-05 9.99983507e-01 3.88286611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4792541539999 meters 0.014144152947019656 Centerline is valid? [True, True] Translation: X:564.51, Y:6.19, Z:3.88 [[ 9.99857567e-01 -1.56694099e-02 -6.27019234e-03 5.64514248e+02] [ 1.56692754e-02 9.99877227e-01 -7.05709575e-05 6.18941506e+00] [ 6.27052833e-03 -2.76884648e-05 9.99980340e-01 3.88257547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5092541539999 meters 0.01430873414419702 Centerline is valid? [True, True] Translation: X:564.55, Y:6.18, Z:3.88 [[ 9.99815099e-01 -1.81035404e-02 -6.48303067e-03 5.64546073e+02] [ 1.81034493e-02 9.99836116e-01 -7.27384614e-05 6.18480965e+00] [ 6.48328503e-03 -4.46402051e-05 9.99978982e-01 3.88251596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5392541539999 meters 0.01439498452320083 Centerline is valid? [True, True] Translation: X:564.58, Y:6.18, Z:3.88 [[ 9.99761886e-01 -2.07591759e-02 -6.72515407e-03 5.64577095e+02] [ 2.07591395e-02 9.99784503e-01 -7.52197415e-05 6.18138982e+00] [ 6.72526631e-03 -6.44065807e-05 9.99977383e-01 3.88246563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.569254154 meters 0.015209182295686718 Centerline is valid? [True, True] Translation: X:564.61, Y:6.17, Z:3.88 [[ 9.99633025e-01 -2.62848435e-02 -6.55146817e-03 5.64608649e+02] [ 2.62849291e-02 9.99654489e-01 -7.30491322e-05 6.17167101e+00] [ 6.55112465e-03 -9.91825513e-05 9.99978536e-01 3.88233041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5992541539999 meters 0.015981328700216447 Centerline is valid? [True, True] Translation: X:564.64, Y:6.17, Z:3.88 [[ 9.99565191e-01 -2.87960040e-02 -6.34185823e-03 5.64639897e+02] [ 2.87961369e-02 9.99585303e-01 -7.03742985e-05 6.16693350e+00] [ 6.34125478e-03 -1.12277319e-04 9.99979888e-01 3.88259764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6292541539999 meters 0.016121731950723004 Centerline is valid? [True, True] Translation: X:564.67, Y:6.16, Z:3.88 [[ 9.99506004e-01 -3.08658882e-02 -5.91986476e-03 5.64671709e+02] [ 3.08660419e-02 9.99523528e-01 -6.54125744e-05 6.16361846e+00] [ 5.91906313e-03 -1.17342533e-04 9.99982475e-01 3.88287531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6592541539999 meters 0.019723190267763577 Centerline is valid? [True, True] Translation: X:564.70, Y:6.15, Z:3.88 [[ 9.99450125e-01 -3.27074242e-02 -5.44714746e-03 5.64702467e+02] [ 3.27075832e-02 9.99464962e-01 -5.99111021e-05 6.15441977e+00] [ 5.44619257e-03 -1.18284871e-04 9.99985162e-01 3.88353611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.689254154 meters 0.016892864102658 Centerline is valid? [True, True] Translation: X:564.74, Y:6.16, Z:3.88 [[ 9.99381817e-01 -3.48018077e-02 -4.98176075e-03 5.64735025e+02] [ 3.48019700e-02 9.99394226e-01 -5.41327738e-05 6.15511830e+00] [ 4.98062685e-03 -1.19275778e-04 9.99987589e-01 3.88329421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7192541539999 meters 0.017501259089496873 Centerline is valid? [True, True] Translation: X:564.77, Y:6.15, Z:3.88 [[ 9.99383159e-01 -3.47546453e-02 -5.04137783e-03 5.64766706e+02] [ 3.47548129e-02 9.99395868e-01 -5.43678014e-05 6.15214471e+00] [ 5.04022171e-03 -1.20877878e-04 9.99987291e-01 3.88341297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7492541539999 meters 0.01670594653373258 Centerline is valid? [True, True] Translation: X:564.80, Y:6.15, Z:3.88 [[ 9.99431385e-01 -3.32596860e-02 -5.54078086e-03 5.64799204e+02] [ 3.32598674e-02 9.99446736e-01 -5.94371435e-05 6.14975167e+00] [ 5.53969221e-03 -1.24882290e-04 9.99984648e-01 3.88306708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7792541539999 meters 0.016671811424461953 Centerline is valid? [True, True] Translation: X:564.83, Y:6.15, Z:3.88 [[ 9.99482740e-01 -3.17381798e-02 -5.19050363e-03 5.64831744e+02] [ 3.17383202e-02 9.99496211e-01 -5.53304253e-05 6.14862370e+00] [ 5.18964480e-03 -1.09436061e-04 9.99986528e-01 3.88315256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.809254154 meters 0.016163172311440144 Centerline is valid? [True, True] Translation: X:564.86, Y:6.15, Z:3.88 [[ 9.99539509e-01 -2.98248230e-02 -5.59016226e-03 5.64864132e+02] [ 2.98249585e-02 9.99555135e-01 -5.91441625e-05 6.14818461e+00] [ 5.58943936e-03 -1.07609430e-04 9.99984373e-01 3.88335338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.839254154 meters 0.01618144370157695 Centerline is valid? [True, True] Translation: X:564.90, Y:6.15, Z:3.88 [[ 9.99599183e-01 -2.77748147e-02 -5.48030735e-03 5.64895003e+02] [ 2.77749166e-02 9.99614201e-01 -5.75406606e-05 6.14742831e+00] [ 5.47979123e-03 -9.46974822e-05 9.99984981e-01 3.88345531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8692541539999 meters 0.0167062435940443 Centerline is valid? [True, True] Translation: X:564.93, Y:6.15, Z:3.88 [[ 9.99667265e-01 -2.52597834e-02 -5.22509570e-03 5.64926496e+02] [ 2.52598425e-02 9.99680918e-01 -5.46851335e-05 6.14744748e+00] [ 5.22480980e-03 -7.73181566e-05 9.99986348e-01 3.88301278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8992541539999 meters 0.014667487914847514 Centerline is valid? [True, True] Translation: X:564.96, Y:6.15, Z:3.88 [[ 9.99757882e-01 -2.09895949e-02 -6.60411142e-03 5.64957487e+02] [ 2.09895982e-02 9.99779692e-01 -6.88167697e-05 6.14737576e+00] [ 6.60410092e-03 -6.98175374e-05 9.99978190e-01 3.88269854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.929254154 meters 0.014404866670209054 Centerline is valid? [True, True] Translation: X:564.99, Y:6.15, Z:3.88 [[ 9.99795591e-01 -1.88783484e-02 -7.23763451e-03 5.64988738e+02] [ 1.88782990e-02 9.99821786e-01 -7.51373908e-05 6.14751550e+00] [ 7.23776313e-03 -6.15121964e-05 9.99973805e-01 3.88235053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.959254154 meters 0.014220519583584845 Centerline is valid? [True, True] Translation: X:565.02, Y:6.15, Z:3.88 [[ 9.99825383e-01 -1.68599203e-02 -8.05895588e-03 5.65019082e+02] [ 1.68597958e-02 9.99857860e-01 -8.33885982e-05 6.14740262e+00] [ 8.05921631e-03 -5.24983138e-05 9.99967523e-01 3.88208888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9892541539999 meters 0.014051650836350947 Centerline is valid? [True, True] Translation: X:565.05, Y:6.15, Z:3.88 [[ 9.99860125e-01 -1.43154250e-02 -8.64866693e-03 5.65048657e+02] [ 1.43151862e-02 9.99897528e-01 -8.95210858e-05 6.14539463e+00] [ 8.64906222e-03 -3.42987133e-05 9.99962596e-01 3.88101331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0192541539999 meters 0.015907527713223665 Centerline is valid? [True, True] Translation: X:565.08, Y:6.14, Z:3.88 [[ 9.99863654e-01 -1.35666585e-02 -9.41381094e-03 5.65078650e+02] [ 1.35663403e-02 9.99907968e-01 -9.76641885e-05 6.14403692e+00] [ 9.41426955e-03 -3.00600903e-05 9.99955684e-01 3.88062541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0492541539999 meters 0.014027603984880751 Centerline is valid? [True, True] Translation: X:565.11, Y:6.14, Z:3.88 [[ 9.99850045e-01 -1.42950037e-02 -9.77445916e-03 5.65107138e+02] [ 1.42946859e-02 9.99897821e-01 -1.02377054e-04 6.14303796e+00] [ 9.77492389e-03 -3.73611218e-05 9.99952224e-01 3.88130768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.079254154 meters 0.014068338935269424 Centerline is valid? [True, True] Translation: X:565.14, Y:6.14, Z:3.88 [[ 9.99812441e-01 -1.60690634e-02 -1.08105879e-02 5.65136249e+02] [ 1.60687472e-02 9.99870883e-01 -1.16117811e-04 6.13852280e+00] [ 1.08110580e-02 -5.76165718e-05 9.99941557e-01 3.88115608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1092541539999 meters 0.014225092520008819 Centerline is valid? [True, True] Translation: X:565.17, Y:6.14, Z:3.88 [[ 9.99775184e-01 -1.80257993e-02 -1.11647457e-02 5.65165333e+02] [ 1.80255523e-02 9.99837519e-01 -1.22760750e-04 6.13606702e+00] [ 1.11651445e-02 -7.85175563e-05 9.99937665e-01 3.88137662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1392541539999 meters 0.014225092520008819 Centerline is valid? [True, True] Translation: X:565.19, Y:6.14, Z:3.88 [[ 9.99770661e-01 -1.82749527e-02 -1.11647146e-02 5.65193601e+02] [ 1.82746902e-02 9.99832996e-01 -1.25540592e-04 6.13643042e+00] [ 1.11651443e-02 -7.85198996e-05 9.99937665e-01 3.88157285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1692541539999 meters 0.014393508802531551 Centerline is valid? [True, True] Translation: X:565.22, Y:6.13, Z:3.88 [[ 9.99724594e-01 -2.05750543e-02 -1.12872637e-02 5.65222286e+02] [ 2.05749007e-02 9.99788306e-01 -1.29742332e-04 6.13375759e+00] [ 1.12875437e-02 -1.02527730e-04 9.99936288e-01 3.88192763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.199254154 meters 0.017934517095459943 Centerline is valid? [True, True] Translation: X:565.25, Y:6.13, Z:3.88 [[ 9.99678651e-01 -2.27749888e-02 -1.11307717e-02 5.65251137e+02] [ 2.27749536e-02 9.99740609e-01 -1.29929990e-04 6.13005122e+00] [ 1.11308437e-02 -1.23614573e-04 9.99938043e-01 3.88123988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2292541539999 meters 0.018806115702911786 Centerline is valid? [True, True] Translation: X:565.28, Y:6.12, Z:3.88 [[ 9.99533246e-01 -2.84495485e-02 -1.11315972e-02 5.65280255e+02] [ 2.84498581e-02 9.99595212e-01 -1.30574619e-04 6.12274691e+00] [ 1.11308061e-02 -1.86178688e-04 9.99938033e-01 3.88198436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2592541539999 meters 0.015838400788687167 Centerline is valid? [True, True] Translation: X:565.31, Y:6.12, Z:3.88 [[ 9.99442240e-01 -3.15344517e-02 -1.09903172e-02 5.65310182e+02] [ 3.15349365e-02 9.99502642e-01 -1.29228641e-04 6.12168030e+00] [ 1.09889262e-02 -2.17422392e-04 9.99939596e-01 3.88386728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2892541539999 meters 0.016700596744490856 Centerline is valid? [True, True] Translation: X:565.34, Y:6.12, Z:3.88 [[ 9.99358701e-01 -3.41384727e-02 -1.08051936e-02 5.65339613e+02] [ 3.41390913e-02 9.99417083e-01 -1.27245354e-04 6.11819684e+00] [ 1.08032391e-02 -2.41715740e-04 9.99941614e-01 3.88439577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.319254154 meters 0.017834447389831257 Centerline is valid? [True, True] Translation: X:565.37, Y:6.11, Z:3.89 [[ 9.99279544e-01 -3.67506581e-02 -9.47532537e-03 5.65369877e+02] [ 3.67512506e-02 9.99324438e-01 -1.11648344e-04 6.11461030e+00] [ 9.47302735e-03 -2.36662150e-04 9.99955102e-01 3.88513128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3492541539999 meters 0.019608144511038907 Centerline is valid? [True, True] Translation: X:565.40, Y:6.11, Z:3.89 [[ 9.99095616e-01 -4.15945765e-02 -8.82282452e-03 5.65401523e+02] [ 4.15952805e-02 9.99134536e-01 -1.03778160e-04 6.10881534e+00] [ 8.81950529e-03 -2.63303556e-04 9.99961073e-01 3.88608686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3792541539999 meters 0.02082954580450051 Centerline is valid? [True, True] Translation: X:565.43, Y:6.11, Z:3.89 [[ 9.98992920e-01 -4.39752055e-02 -8.90659236e-03 5.65431584e+02] [ 4.39760199e-02 9.99032581e-01 -1.04483236e-04 6.10565189e+00] [ 8.90257063e-03 -2.87298470e-04 9.99960330e-01 3.88631041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4092541539999 meters 0.024195500606487452 Centerline is valid? [True, True] Translation: X:565.46, Y:6.10, Z:3.89 [[ 9.98886681e-01 -4.62543230e-02 -9.27017633e-03 5.65462588e+02] [ 4.62553048e-02 9.98929645e-01 -1.08581940e-04 6.10199252e+00] [ 9.26527633e-03 -3.20333778e-04 9.99957025e-01 3.88502720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.439254154 meters 0.024822831588104787 Centerline is valid? [True, True] Translation: X:565.49, Y:6.10, Z:3.89 [[ 9.98615838e-01 -5.16440488e-02 -9.96490608e-03 5.65492511e+02] [ 5.16454536e-02 9.98665476e-01 -1.16470625e-04 6.09663241e+00] [ 9.95762270e-03 -3.98332684e-04 9.99950342e-01 3.88538864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4692541539999 meters 0.024552174450343606 Centerline is valid? [True, True] Translation: X:565.52, Y:6.10, Z:3.88 [[ 9.98503370e-01 -5.36850267e-02 -1.04373097e-02 5.65523888e+02] [ 5.36866835e-02 9.98557823e-01 -1.21578813e-04 6.09821289e+00] [ 1.04287842e-02 -4.38947687e-04 9.99945522e-01 3.88470316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4992541539999 meters 0.025160561267172674 Centerline is valid? [True, True] Translation: X:565.55, Y:6.10, Z:3.88 [[ 9.98373572e-01 -5.60095789e-02 -1.06366704e-02 5.65554921e+02] [ 5.60114347e-02 9.98430120e-01 -1.23578924e-04 6.09741401e+00] [ 1.06268937e-02 -4.72397235e-04 9.99943421e-01 3.88497531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5292541539999 meters 0.02402487657066559 Centerline is valid? [True, True] Translation: X:565.59, Y:6.10, Z:3.89 [[ 9.98253628e-01 -5.81062842e-02 -1.06468002e-02 5.65586323e+02] [ 5.81082653e-02 9.98310280e-01 -1.23434716e-04 6.09751873e+00] [ 1.06359824e-02 -4.95447938e-04 9.99943314e-01 3.88620963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.559254154 meters 0.024811175705901592 Centerline is valid? [True, True] Translation: X:565.62, Y:6.10, Z:3.89 [[ 9.98091905e-01 -6.06456560e-02 -1.16040439e-02 5.65617847e+02] [ 6.06481858e-02 9.98159196e-01 -1.34085094e-04 6.09701736e+00] [ 1.15908148e-02 -5.69934963e-04 9.99932662e-01 3.88584971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.589254154 meters 0.027045124011871053 Centerline is valid? [True, True] Translation: X:565.65, Y:6.09, Z:3.89 [[ 9.98055050e-01 -6.12098299e-02 -1.18098881e-02 5.65648309e+02] [ 6.12124960e-02 9.98124748e-01 -1.35931152e-04 6.09474692e+00] [ 1.17960619e-02 -5.87245957e-04 9.99930252e-01 3.88578108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6192541539999 meters 0.027204388671194037 Centerline is valid? [True, True] Translation: X:565.68, Y:6.10, Z:3.89 [[ 9.98045017e-01 -6.12334512e-02 -1.25143698e-02 5.65679908e+02] [ 6.12364544e-02 9.98123277e-01 -1.43425872e-04 6.09698504e+00] [ 1.24996662e-02 -6.23190157e-04 9.99921682e-01 3.88536111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6492541539999 meters 0.0261904770291099 Centerline is valid? [True, True] Translation: X:565.71, Y:6.10, Z:3.89 [[ 9.98141312e-01 -5.96159702e-02 -1.26435065e-02 5.65710821e+02] [ 5.96189120e-02 9.98221200e-01 -1.44446431e-04 6.10030420e+00] [ 1.26296275e-02 -6.09614150e-04 9.99920057e-01 3.88599697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.679254154 meters 0.02677586707652516 Centerline is valid? [True, True] Translation: X:565.74, Y:6.10, Z:3.89 [[ 9.98209730e-01 -5.83686877e-02 -1.30549551e-02 5.65741234e+02] [ 5.83717224e-02 9.98294906e-01 -1.48780263e-04 6.10145093e+00] [ 1.30413793e-02 -6.13526309e-04 9.99914769e-01 3.88609894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.709254154 meters 0.02690765312303232 Centerline is valid? [True, True] Translation: X:565.77, Y:6.11, Z:3.89 [[ 9.98298524e-01 -5.67987384e-02 -1.31894289e-02 5.65772422e+02] [ 5.68017038e-02 9.98385469e-01 -1.49966837e-04 6.10501842e+00] [ 1.31766521e-02 -5.99470360e-04 9.99913004e-01 3.88530134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7392541539999 meters 0.02394146572855399 Centerline is valid? [True, True] Translation: X:565.80, Y:6.11, Z:3.89 [[ 9.98373383e-01 -5.54270530e-02 -1.33577550e-02 5.65803367e+02] [ 5.54299786e-02 9.98462565e-01 -1.51400097e-04 6.10999057e+00] [ 1.33456100e-02 -5.89266248e-04 9.99910770e-01 3.88672402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7692541539999 meters 0.02390479683101467 Centerline is valid? [True, True] Translation: X:565.83, Y:6.12, Z:3.89 [[ 9.98532921e-01 -5.24218357e-02 -1.35630531e-02 5.65834282e+02] [ 5.24245801e-02 9.98624874e-01 -1.53353406e-04 6.11552749e+00] [ 1.35524413e-02 -5.57908941e-04 9.99908006e-01 3.88643019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7992541539999 meters 0.023795175752856088 Centerline is valid? [True, True] Translation: X:565.86, Y:6.12, Z:3.89 [[ 9.98601117e-01 -5.12747655e-02 -1.29115250e-02 5.65864712e+02] [ 5.12771598e-02 9.98684450e-01 -1.45760219e-04 6.11650464e+00] [ 1.29020131e-02 -5.16510015e-04 9.99916632e-01 3.88716299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.829254154 meters 0.023320550677407202 Centerline is valid? [True, True] Translation: X:565.90, Y:6.12, Z:3.89 [[ 9.98666500e-01 -4.99523026e-02 -1.30380217e-02 5.65896182e+02] [ 4.99546359e-02 9.98751477e-01 -1.46848306e-04 6.11964922e+00] [ 1.30290789e-02 -5.04657145e-04 9.99914991e-01 3.88745166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8592541539999 meters 0.022255786100987992 Centerline is valid? [True, True] Translation: X:565.93, Y:6.13, Z:3.89 [[ 9.98795826e-01 -4.74378143e-02 -1.25120460e-02 5.65926475e+02] [ 4.74397690e-02 9.98874090e-01 -1.40690846e-04 6.12582673e+00] [ 1.25046326e-02 -4.53047141e-04 9.99921711e-01 3.88818459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8892541539999 meters 0.020821627059962117 Centerline is valid? [True, True] Translation: X:565.96, Y:6.13, Z:3.89 [[ 9.98872768e-01 -4.58267537e-02 -1.23734167e-02 5.65958323e+02] [ 4.58285455e-02 9.98949311e-01 -1.38838076e-04 6.13063726e+00] [ 1.23667785e-02 -4.28374115e-04 9.99923437e-01 3.88902334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9192541539999 meters 0.02099200392465228 Centerline is valid? [True, True] Translation: X:565.99, Y:6.13, Z:3.89 [[ 9.98958101e-01 -4.39160031e-02 -1.24135890e-02 5.65988430e+02] [ 4.39176650e-02 9.99035144e-01 -1.38815995e-04 6.13342933e+00] [ 1.24077079e-02 -4.06504479e-04 9.99922939e-01 3.88897791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.949254154 meters 0.02058254105549941 Centerline is valid? [True, True] Translation: X:566.02, Y:6.14, Z:3.89 [[ 9.99043718e-01 -4.19352943e-02 -1.23726012e-02 5.66018898e+02] [ 4.19368001e-02 9.99120256e-01 -1.37827543e-04 6.13626476e+00] [ 1.23674963e-02 -3.81171561e-04 9.99923447e-01 3.88923285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9792541539999 meters 0.01811468174267981 Centerline is valid? [True, True] Translation: X:566.05, Y:6.15, Z:3.89 [[ 9.99216148e-01 -3.75748595e-02 -1.24586750e-02 5.66049871e+02] [ 3.75760542e-02 9.99293761e-01 -1.38259873e-04 6.14585814e+00] [ 1.24550713e-02 -3.29996349e-04 9.99922378e-01 3.89013450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0092541539999 meters 0.019107351683486852 Centerline is valid? [True, True] Translation: X:566.08, Y:6.15, Z:3.89 [[ 9.99305441e-01 -3.50621822e-02 -1.26205733e-02 5.66080604e+02] [ 3.50632080e-02 9.99385087e-01 -1.40050811e-04 6.14937518e+00] [ 1.26177232e-02 -3.02564249e-04 9.99920348e-01 3.88958954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0392541539999 meters 0.019047713976036502 Centerline is valid? [True, True] Translation: X:566.11, Y:6.15, Z:3.89 [[ 9.99399425e-01 -3.21464730e-02 -1.29380610e-02 5.66110745e+02] [ 3.21473068e-02 9.99483131e-01 -1.43573980e-04 6.15380688e+00] [ 1.29359891e-02 -2.72436064e-04 9.99916289e-01 3.88998327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.069254154 meters 0.01824895400403626 Centerline is valid? [True, True] Translation: X:566.14, Y:6.16, Z:3.89 [[ 9.99490817e-01 -2.93390129e-02 -1.25431073e-02 5.66140139e+02] [ 2.93395766e-02 9.99569492e-01 -1.39108100e-04 6.15716988e+00] [ 1.25417887e-02 -2.28972188e-04 9.99921322e-01 3.89034065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0992541539999 meters 0.015237151084661529 Centerline is valid? [True, True] Translation: X:566.17, Y:6.16, Z:3.89 [[ 9.99633302e-01 -2.44094958e-02 -1.17233971e-02 5.66169883e+02] [ 2.44096504e-02 9.99702032e-01 -1.29921369e-04 6.16454532e+00] [ 1.17230753e-02 -1.56290298e-04 9.99931270e-01 3.89148429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1292541539999 meters 0.014918966400440797 Centerline is valid? [True, True] Translation: X:566.20, Y:6.17, Z:3.89 [[ 9.99689087e-01 -2.20392381e-02 -1.16619943e-02 5.66199966e+02] [ 2.20392288e-02 9.99757098e-01 -1.29326639e-04 6.16812444e+00] [ 1.16620118e-02 -1.27734931e-04 9.99931988e-01 3.89188079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1592541539999 meters 0.014423932554357203 Centerline is valid? [True, True] Translation: X:566.23, Y:6.17, Z:3.89 [[ 9.99754164e-01 -1.88667347e-02 -1.16471903e-02 5.66229526e+02] [ 1.88665067e-02 9.99822003e-01 -1.29458520e-04 6.17269544e+00] [ 1.16475596e-02 -9.03150991e-05 9.99932161e-01 3.89221232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.189254154 meters 0.014406503182192713 Centerline is valid? [True, True] Translation: X:566.26, Y:6.17, Z:3.89 [[ 9.99765515e-01 -1.82801507e-02 -1.16082367e-02 5.66258662e+02] [ 1.82798682e-02 9.99832901e-01 -1.30452268e-04 6.17415553e+00] [ 1.16086817e-02 -8.17753581e-05 9.99932614e-01 3.89234910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2192541539999 meters 0.014274916993859106 Centerline is valid? [True, True] Translation: X:566.29, Y:6.18, Z:3.89 [[ 9.99765775e-01 -1.81413746e-02 -1.18019591e-02 5.66287496e+02] [ 1.81410370e-02 9.99835429e-01 -1.35666320e-04 6.17548638e+00] [ 1.18024780e-02 -7.84652331e-05 9.99930345e-01 3.89288925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2492541539999 meters 0.014368229879366392 Centerline is valid? [True, True] Translation: X:566.32, Y:6.18, Z:3.89 [[ 9.99771143e-01 -1.81331109e-02 -1.13512645e-02 5.66316358e+02] [ 1.81327756e-02 9.99835579e-01 -1.32459491e-04 6.17556661e+00] [ 1.13518001e-02 -7.34007564e-05 9.99935564e-01 3.89240644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2792541539999 meters 0.014382569863252634 Centerline is valid? [True, True] Translation: X:566.34, Y:6.18, Z:3.89 [[ 9.99758627e-01 -1.87162139e-02 -1.15061224e-02 5.66344822e+02] [ 1.87158901e-02 9.99824833e-01 -1.35829559e-04 6.17636159e+00] [ 1.15066492e-02 -7.95505503e-05 9.99933793e-01 3.89293544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.309254154 meters 0.014333581672498506 Centerline is valid? [True, True] Translation: X:566.37, Y:6.18, Z:3.89 [[ 9.99739215e-01 -1.96869236e-02 -1.15727114e-02 5.66374501e+02] [ 1.96866383e-02 9.99806190e-01 -1.38576485e-04 6.17647614e+00] [ 1.15731967e-02 -8.92874387e-05 9.99933024e-01 3.89276780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.339254154 meters 0.014536504670757549 Centerline is valid? [True, True] Translation: X:566.40, Y:6.18, Z:3.89 [[ 9.99715112e-01 -2.06061547e-02 -1.20449923e-02 5.66403037e+02] [ 2.06059047e-02 9.99787665e-01 -1.44867589e-04 6.17619938e+00] [ 1.20454199e-02 -1.03371647e-04 9.99927446e-01 3.89263040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3692541539999 meters 0.016241998492690462 Centerline is valid? [True, True] Translation: X:566.43, Y:6.18, Z:3.89 [[ 9.99696401e-01 -2.11929229e-02 -1.25684551e-02 5.66433095e+02] [ 2.11926879e-02 9.99775398e-01 -1.51894723e-04 6.17600154e+00] [ 1.25688513e-02 -1.14510738e-04 9.99921002e-01 3.89228982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3992541539999 meters 0.014608749911250033 Centerline is valid? [True, True] Translation: X:566.46, Y:6.18, Z:3.89 [[ 9.99680297e-01 -2.23469592e-02 -1.18286872e-02 5.66463188e+02] [ 2.23468269e-02 9.99750268e-01 -1.43374796e-04 6.17633016e+00] [ 1.18289371e-02 -1.21004665e-04 9.99930028e-01 3.89306630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.429254154 meters 0.01478644246403496 Centerline is valid? [True, True] Translation: X:566.49, Y:6.17, Z:3.89 [[ 9.99625690e-01 -2.45238759e-02 -1.21267822e-02 5.66493208e+02] [ 2.45238914e-02 9.99699233e-01 -1.47444248e-04 6.17459908e+00] [ 1.21267508e-02 -1.50006832e-04 9.99926457e-01 3.89275117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.459254154 meters 0.015795213437327434 Centerline is valid? [True, True] Translation: X:566.52, Y:6.17, Z:3.89 [[ 9.99587033e-01 -2.59549531e-02 -1.23330023e-02 5.66522373e+02] [ 2.59550736e-02 9.99663099e-01 -1.50313666e-04 6.17061461e+00] [ 1.23327486e-02 -1.69852390e-04 9.99923934e-01 3.89140162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4892541539999 meters 0.01595971909950615 Centerline is valid? [True, True] Translation: X:566.55, Y:6.17, Z:3.89 [[ 9.99456700e-01 -3.01099419e-02 -1.34050799e-02 5.66552316e+02] [ 3.01104529e-02 9.99546564e-01 -1.63753524e-04 6.17084750e+00] [ 1.34039321e-02 -2.39968468e-04 9.99910134e-01 3.89182665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5192541539999 meters 0.015902181769251754 Centerline is valid? [True, True] Translation: X:566.58, Y:6.17, Z:3.89 [[ 9.99405512e-01 -3.17165144e-02 -1.35161098e-02 5.66582915e+02] [ 3.17171773e-02 9.99496870e-01 -1.65362695e-04 6.17044191e+00] [ 1.35145542e-02 -2.63428462e-04 9.99908640e-01 3.89205284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5492541539999 meters 0.017050542852594046 Centerline is valid? [True, True] Translation: X:566.61, Y:6.17, Z:3.89 [[ 9.99337938e-01 -3.36825719e-02 -1.37539118e-02 5.66612237e+02] [ 3.36834438e-02 9.99432538e-01 -1.68317683e-04 6.16777102e+00] [ 1.37517764e-02 -2.95072870e-04 9.99905396e-01 3.89161427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.579254154 meters 0.016588881834557468 Centerline is valid? [True, True] Translation: X:566.64, Y:6.17, Z:3.89 [[ 9.99284415e-01 -3.52574164e-02 -1.36956818e-02 5.66643099e+02] [ 3.52584281e-02 9.99378214e-01 -1.67651171e-04 6.16859287e+00] [ 1.36930770e-02 -3.15357009e-04 9.99906196e-01 3.89244139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6092541539999 meters 0.0169302986149212 Centerline is valid? [True, True] Translation: X:566.67, Y:6.17, Z:3.89 [[ 9.99241990e-01 -3.65014732e-02 -1.35310115e-02 5.66673925e+02] [ 3.65025764e-02 9.99333545e-01 -1.65514397e-04 6.16790182e+00] [ 1.35280353e-02 -3.28527847e-04 9.99908438e-01 3.89267708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6392541539999 meters 0.019174322983174428 Centerline is valid? [True, True] Translation: X:566.70, Y:6.17, Z:3.89 [[ 9.99165774e-01 -3.81848873e-02 -1.44799835e-02 5.66704680e+02] [ 3.81863313e-02 9.99270620e-01 -1.76849259e-04 6.16583842e+00] [ 1.44761750e-02 -3.76235719e-04 9.99895144e-01 3.89244221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6692541539999 meters 0.01757015506298291 Centerline is valid? [True, True] Translation: X:566.74, Y:6.17, Z:3.89 [[ 9.99162975e-01 -3.86311588e-02 -1.34530116e-02 5.66736371e+02] [ 3.86324504e-02 9.99253475e-01 -1.63951762e-04 6.16664973e+00] [ 1.34493022e-02 -3.55908273e-04 9.99909491e-01 3.89372010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.699254154 meters 0.018539738838332896 Centerline is valid? [True, True] Translation: X:566.77, Y:6.17, Z:3.89 [[ 9.99152111e-01 -3.88100934e-02 -1.37417744e-02 5.66767319e+02] [ 3.88114650e-02 9.99246537e-01 -1.66961341e-04 6.16742769e+00] [ 1.37379003e-02 -3.66518621e-04 9.99905563e-01 3.89414740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7292541539999 meters 0.017601299515150413 Centerline is valid? [True, True] Translation: X:566.80, Y:6.17, Z:3.90 [[ 9.99186433e-01 -3.84370240e-02 -1.22092746e-02 5.66797541e+02] [ 3.84380827e-02 9.99260973e-01 -1.48017143e-04 6.16846000e+00] [ 1.22059410e-02 -3.21404387e-04 9.99925453e-01 3.89562905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7592541539999 meters 0.017939330694575244 Centerline is valid? [True, True] Translation: X:566.83, Y:6.17, Z:3.90 [[ 9.99196666e-01 -3.81581893e-02 -1.22464432e-02 5.66827518e+02] [ 3.81592391e-02 9.99271660e-01 -1.48014067e-04 6.16839173e+00] [ 1.22431716e-02 -3.19419791e-04 9.99924999e-01 3.89625405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7892541539999 meters 0.01864689112038852 Centerline is valid? [True, True] Translation: X:566.86, Y:6.17, Z:3.90 [[ 9.99196091e-01 -3.82661131e-02 -1.19530523e-02 5.66858174e+02] [ 3.82671269e-02 9.99267535e-01 -1.43964341e-04 6.16804640e+00] [ 1.19498061e-02 -3.13560365e-04 9.99928549e-01 3.89629195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.819254154 meters 0.017551989202077414 Centerline is valid? [True, True] Translation: X:566.89, Y:6.17, Z:3.90 [[ 9.99189623e-01 -3.85050605e-02 -1.17242216e-02 5.66889020e+02] [ 3.85060558e-02 9.99258357e-01 -1.40913795e-04 6.17098542e+00] [ 1.17209523e-02 -3.10653930e-04 9.99931259e-01 3.89729414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8492541539999 meters 0.01772428606397635 Centerline is valid? [True, True] Translation: X:566.92, Y:6.17, Z:3.90 [[ 9.99182476e-01 -3.87273243e-02 -1.16005761e-02 5.66920507e+02] [ 3.87283185e-02 9.99249768e-01 -1.39009921e-04 6.17159501e+00] [ 1.15972564e-02 -3.10374528e-04 9.99932701e-01 3.89773179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8792541539999 meters 0.018054681838358507 Centerline is valid? [True, True] Translation: X:566.95, Y:6.17, Z:3.90 [[ 9.99162139e-01 -3.92208596e-02 -1.16937255e-02 5.66951595e+02] [ 3.92219086e-02 9.99230515e-01 -1.39701308e-04 6.17229016e+00] [ 1.16902066e-02 -3.19065975e-04 9.99931616e-01 3.89783537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9092541539999 meters 0.017801058863654663 Centerline is valid? [True, True] Translation: X:566.98, Y:6.17, Z:3.90 [[ 9.99154550e-01 -3.95244842e-02 -1.13137403e-02 5.66982691e+02] [ 3.95254901e-02 9.99218553e-01 -1.34759624e-04 6.17364579e+00] [ 1.13102255e-02 -3.12535440e-04 9.99935989e-01 3.89825025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.939254154 meters 0.018196594859263244 Centerline is valid? [True, True] Translation: X:567.01, Y:6.17, Z:3.90 [[ 9.99115739e-01 -4.05097934e-02 -1.12559389e-02 5.67013893e+02] [ 4.05108600e-02 9.99179089e-01 -1.33321082e-04 6.17483836e+00] [ 1.12520996e-02 -3.22784573e-04 9.99936641e-01 3.89882665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9692541539999 meters 0.018606374708103664 Centerline is valid? [True, True] Translation: X:567.05, Y:6.18, Z:3.90 [[ 9.99094458e-01 -4.10424932e-02 -1.12150650e-02 5.67045018e+02] [ 4.10435971e-02 9.99157348e-01 -1.31810026e-04 6.17556847e+00] [ 1.12110245e-02 -3.28615944e-04 9.99937100e-01 3.89880397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9992541539999 meters 0.01944874186657846 Centerline is valid? [True, True] Translation: X:567.08, Y:6.18, Z:3.90 [[ 9.99056299e-01 -4.18505260e-02 -1.16209245e-02 5.67077191e+02] [ 4.18517743e-02 9.99123821e-01 -1.35853688e-04 6.17614695e+00] [ 1.16164280e-02 -3.50630826e-04 9.99932466e-01 3.89862657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0292541539999 meters 0.01957271418083865 Centerline is valid? [True, True] Translation: X:567.11, Y:6.18, Z:3.90 [[ 9.98941477e-01 -4.44950751e-02 -1.16667499e-02 5.67108507e+02] [ 4.44965213e-02 9.99009530e-01 -1.35717992e-04 6.17711291e+00] [ 1.16612331e-02 -3.83555454e-04 9.99931932e-01 3.89887548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.059254154 meters 0.01957271418083865 Centerline is valid? [True, True] Translation: X:567.14, Y:6.18, Z:3.90 [[ 9.98944706e-01 -4.44225278e-02 -1.16667568e-02 5.67140209e+02] [ 4.44239759e-02 9.99012759e-01 -1.35123501e-04 6.17742015e+00] [ 1.16612414e-02 -3.83302817e-04 9.99931932e-01 3.89909511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.089254154 meters 0.020396788094996746 Centerline is valid? [True, True] Translation: X:567.17, Y:6.18, Z:3.90 [[ 9.98874834e-01 -4.60184367e-02 -1.14616898e-02 5.67171198e+02] [ 4.60199506e-02 9.98940512e-01 -1.31761591e-04 6.17713697e+00] [ 1.14556097e-02 -3.95853060e-04 9.99934304e-01 3.89957383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1192541539999 meters 0.021624829595470803 Centerline is valid? [True, True] Translation: X:567.20, Y:6.18, Z:3.90 [[ 9.98820606e-01 -4.72444087e-02 -1.11965199e-02 5.67202331e+02] [ 4.72459411e-02 9.98883279e-01 -1.27749035e-04 6.17668117e+00] [ 1.11900519e-02 -4.01391752e-04 9.99937309e-01 3.90001736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1492541539999 meters 0.024023869391658247 Centerline is valid? [True, True] Translation: X:567.23, Y:6.18, Z:3.90 [[ 9.98715270e-01 -4.95602217e-02 -1.05638079e-02 5.67234407e+02] [ 4.95617215e-02 9.98771056e-01 -1.19919767e-04 6.17826479e+00] [ 1.05567688e-02 -4.03794805e-04 9.99944194e-01 3.90036970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.179254154 meters 0.02341742597230088 Centerline is valid? [True, True] Translation: X:567.27, Y:6.18, Z:3.90 [[ 9.98649515e-01 -5.10327256e-02 -9.73693603e-03 5.67265242e+02] [ 5.10340757e-02 9.98696906e-01 -1.09927567e-04 6.17872532e+00] [ 9.72985780e-03 -3.87136419e-04 9.99952589e-01 3.90233127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.209254154 meters 0.02552360644206346 Centerline is valid? [True, True] Translation: X:567.30, Y:6.18, Z:3.90 [[ 9.98577696e-01 -5.25332715e-02 -9.10167883e-03 5.67296238e+02] [ 5.25345175e-02 9.98619104e-01 -1.02296539e-04 6.17730134e+00] [ 9.09448433e-03 -3.76001264e-04 9.99958574e-01 3.90252606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2392541539999 meters 0.02504515290978567 Centerline is valid? [True, True] Translation: X:567.33, Y:6.18, Z:3.90 [[ 9.98374748e-01 -5.63465068e-02 -8.54012720e-03 5.67327678e+02] [ 5.63477464e-02 9.98411199e-01 -9.55858297e-05 6.18149973e+00] [ 8.53194456e-03 -3.85786443e-04 9.99963528e-01 3.90372861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2692541539999 meters 0.023558535973178755 Centerline is valid? [True, True] Translation: X:567.36, Y:6.19, Z:3.90 [[ 9.98248093e-01 -5.85447129e-02 -8.55923019e-03 5.67359919e+02] [ 5.85460418e-02 9.98284705e-01 -9.54306143e-05 6.18555290e+00] [ 8.55013554e-03 -4.05845620e-04 9.99963365e-01 3.90412126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2992541539999 meters 0.025817712110191945 Centerline is valid? [True, True] Translation: X:567.39, Y:6.19, Z:3.90 [[ 9.98120223e-01 -6.07045005e-02 -8.42518956e-03 5.67391777e+02] [ 6.07058699e-02 9.98155694e-01 -9.33437037e-05 6.18609789e+00] [ 8.41531731e-03 -4.18290223e-04 9.99964503e-01 3.90363335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.329254154 meters 0.031836295612035596 Centerline is valid? [True, True] Translation: X:567.42, Y:6.18, Z:3.90 [[ 9.97820197e-01 -6.54441126e-02 -8.48074813e-03 5.67421752e+02] [ 6.54456738e-02 9.97856129e-01 -9.35888220e-05 6.18136987e+00] [ 8.46869134e-03 -4.61643459e-04 9.99964033e-01 3.90449022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3592541539999 meters 0.02726310596212093 Centerline is valid? [True, True] Translation: X:567.45, Y:6.19, Z:3.91 [[ 9.97709997e-01 -6.71690131e-02 -7.94260676e-03 5.67453975e+02] [ 6.71704369e-02 9.97741512e-01 -8.76606643e-05 6.18898524e+00] [ 7.93055656e-03 -4.46048445e-04 9.99968453e-01 3.90581845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3892541539999 meters 0.028826335542254434 Centerline is valid? [True, True] Translation: X:567.49, Y:6.19, Z:3.91 [[ 9.97646553e-01 -6.80702051e-02 -8.23428448e-03 5.67485806e+02] [ 6.80717712e-02 9.97680423e-01 -9.02472509e-05 6.18985252e+00] [ 8.22132756e-03 -4.70487470e-04 9.99966094e-01 3.90547745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4192541539999 meters 0.028685450688717664 Centerline is valid? [True, True] Translation: X:567.52, Y:6.19, Z:3.91 [[ 9.97571475e-01 -6.91857412e-02 -8.03028342e-03 5.67518293e+02] [ 6.91872713e-02 9.97603686e-01 -8.74283699e-05 6.19173366e+00] [ 8.01708913e-03 -4.68377350e-04 9.99967753e-01 3.90655673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.449254154 meters 0.028059112957843083 Centerline is valid? [True, True] Translation: X:567.55, Y:6.20, Z:3.91 [[ 9.97560864e-01 -6.93083829e-02 -8.28680181e-03 5.67550206e+02] [ 6.93100219e-02 9.97595165e-01 -8.95904890e-05 6.19849102e+00] [ 8.27308279e-03 -4.84986449e-04 9.99965660e-01 3.90616467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4792541539999 meters 0.030218504057119393 Centerline is valid? [True, True] Translation: X:567.58, Y:6.20, Z:3.91 [[ 9.97592408e-01 -6.88520309e-02 -8.29367883e-03 5.67580973e+02] [ 6.88536618e-02 9.97626767e-01 -8.90641608e-05 6.19688748e+00] [ 8.28012825e-03 -4.82200427e-04 9.99965603e-01 3.90663624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5092541539999 meters 0.030256463051688623 Centerline is valid? [True, True] Translation: X:567.61, Y:6.20, Z:3.91 [[ 9.97633806e-01 -6.82570145e-02 -8.23225087e-03 5.67613369e+02] [ 6.82586051e-02 9.97667658e-01 -8.79231255e-05 6.19913678e+00] [ 8.21905181e-03 -4.74206879e-04 9.99966111e-01 3.90667031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5392541539999 meters 0.030101941474490964 Centerline is valid? [True, True] Translation: X:567.64, Y:6.20, Z:3.91 [[ 9.97809459e-01 -6.54731369e-02 -9.46319584e-03 5.67643443e+02] [ 6.54751219e-02 9.97854197e-01 -1.00222308e-04 6.20369163e+00] [ 9.44945155e-03 -5.19601135e-04 9.99955218e-01 3.90617024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.569254154 meters 0.02718209963928836 Centerline is valid? [True, True] Translation: X:567.68, Y:6.21, Z:3.91 [[ 9.97909873e-01 -6.38430577e-02 -9.99749513e-03 5.67675669e+02] [ 6.38452017e-02 9.97959808e-01 -1.04870103e-04 6.21071613e+00] [ 9.98379355e-03 -5.33641183e-04 9.99950018e-01 3.90577634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5992541539999 meters 0.027424993815509013 Centerline is valid? [True, True] Translation: X:567.71, Y:6.21, Z:3.91 [[ 9.98021995e-01 -6.19157691e-02 -1.08874093e-02 5.67706474e+02] [ 6.19182052e-02 9.98081221e-01 -1.13509499e-04 6.21330561e+00] [ 1.08735468e-02 -5.60843866e-04 9.99940724e-01 3.90577124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6292541539999 meters 0.02527261808329015 Centerline is valid? [True, True] Translation: X:567.74, Y:6.22, Z:3.91 [[ 9.98141714e-01 -5.98429673e-02 -1.14864696e-02 5.67737913e+02] [ 5.98455469e-02 9.98207642e-01 -1.19319829e-04 6.21949518e+00] [ 1.14730222e-02 -5.68315955e-04 9.99934021e-01 3.90602227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6592541539999 meters 0.022858318442201316 Centerline is valid? [True, True] Translation: X:567.77, Y:6.23, Z:3.91 [[ 9.98403840e-01 -5.51565583e-02 -1.21460303e-02 5.67768894e+02] [ 5.51591010e-02 9.98477570e-01 -1.25802472e-04 6.22844206e+00] [ 1.21344776e-02 -5.44362439e-04 9.99926226e-01 3.90599715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.689254154 meters 0.02407949035349237 Centerline is valid? [True, True] Translation: X:567.80, Y:6.23, Z:3.90 [[ 9.98533269e-01 -5.26057950e-02 -1.28039106e-02 5.67799770e+02] [ 5.26084159e-02 9.98615210e-01 -1.32261980e-04 6.23155430e+00] [ 1.27931376e-02 -5.41525468e-04 9.99918018e-01 3.90494725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7192541539999 meters 0.021784035979459736 Centerline is valid? [True, True] Translation: X:567.83, Y:6.24, Z:3.91 [[ 9.98657065e-01 -5.03047862e-02 -1.23893305e-02 5.67831391e+02] [ 5.03070701e-02 9.98733790e-01 -1.27427753e-04 6.23514730e+00] [ 1.23800532e-02 -4.96014290e-04 9.99923241e-01 3.90611187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7492541539999 meters 0.020448413575561365 Centerline is valid? [True, True] Translation: X:567.86, Y:6.24, Z:3.91 [[ 9.98855947e-01 -4.62743197e-02 -1.20616606e-02 5.67863062e+02] [ 4.62761989e-02 9.98928675e-01 -1.23398096e-04 6.24185390e+00] [ 1.20544488e-02 -4.34910884e-04 9.99927248e-01 3.90600365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7792541539999 meters 0.019909381770271368 Centerline is valid? [True, True] Translation: X:567.89, Y:6.24, Z:3.91 [[ 9.98959229e-01 -4.40431601e-02 -1.18599554e-02 5.67894977e+02] [ 4.40448287e-02 9.99029548e-01 -1.20590348e-04 6.24463102e+00] [ 1.18537571e-02 -4.01904863e-04 9.99929661e-01 3.90623337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.809254154 meters 0.0197646910612385 Centerline is valid? [True, True] Translation: X:567.93, Y:6.25, Z:3.91 [[ 9.99053653e-01 -4.18194030e-02 -1.19555450e-02 5.67926147e+02] [ 4.18209490e-02 9.99125114e-01 -1.20769023e-04 6.24687419e+00] [ 1.19501358e-02 -3.79337506e-04 9.99928523e-01 3.90600020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.839254154 meters 0.018738199007327802 Centerline is valid? [True, True] Translation: X:567.96, Y:6.25, Z:3.91 [[ 9.99140585e-01 -3.96324893e-02 -1.21390461e-02 5.67958891e+02] [ 3.96339324e-02 9.99214260e-01 -1.21757556e-04 6.25053581e+00] [ 1.21343335e-02 -3.59465216e-04 9.99926312e-01 3.90599948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8692541539999 meters 0.017415041823182494 Centerline is valid? [True, True] Translation: X:567.99, Y:6.26, Z:3.91 [[ 9.99310606e-01 -3.50395795e-02 -1.22694882e-02 5.67990143e+02] [ 3.50407181e-02 9.99385878e-01 -1.22225864e-04 6.25529679e+00] [ 1.22662359e-02 -3.07790073e-04 9.99924720e-01 3.90531521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8992541539999 meters 0.016951763446368697 Centerline is valid? [True, True] Translation: X:568.02, Y:6.26, Z:3.91 [[ 9.99397902e-01 -3.25317956e-02 -1.20629683e-02 5.68021420e+02] [ 3.25327252e-02 9.99470664e-01 -1.19212062e-04 6.25629645e+00] [ 1.20604612e-02 -2.73300950e-04 9.99927233e-01 3.90553536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.929254154 meters 0.016145134635845788 Centerline is valid? [True, True] Translation: X:568.05, Y:6.26, Z:3.91 [[ 9.99461322e-01 -3.06483247e-02 -1.17365136e-02 5.68053128e+02] [ 3.06490878e-02 9.99530200e-01 -1.14884457e-04 6.25858012e+00] [ 1.17345208e-02 -2.44890863e-04 9.99931118e-01 3.90580431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.959254154 meters 0.015437330476449044 Centerline is valid? [True, True] Translation: X:568.08, Y:6.26, Z:3.91 [[ 9.99528819e-01 -2.85316277e-02 -1.13174992e-02 5.68084452e+02] [ 2.85322062e-02 9.99592868e-01 -1.10373937e-04 6.26007772e+00] [ 1.13160406e-02 -2.12591289e-04 9.99935949e-01 3.90609955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9892541539999 meters 0.015089654310252262 Centerline is valid? [True, True] Translation: X:568.11, Y:6.26, Z:3.91 [[ 9.99624364e-01 -2.50831259e-02 -1.10439263e-02 5.68114770e+02] [ 2.50834700e-02 9.99685354e-01 -1.07378124e-04 6.26086686e+00] [ 1.10431447e-02 -1.69682204e-04 9.99939008e-01 3.90579767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0192541539999 meters 0.014682492350397529 Centerline is valid? [True, True] Translation: X:568.15, Y:6.26, Z:3.91 [[ 9.99658621e-01 -2.34985659e-02 -1.14218172e-02 5.68146205e+02] [ 2.34988340e-02 9.99723858e-01 -1.10755930e-04 6.26100063e+00] [ 1.14212658e-02 -1.57681266e-04 9.99934763e-01 3.90550351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0492541539999 meters 0.014355188707691298 Centerline is valid? [True, True] Translation: X:568.18, Y:6.26, Z:3.90 [[ 9.99685590e-01 -2.14579019e-02 -1.29722874e-02 5.68177856e+02] [ 2.14580826e-02 9.99769741e-01 -1.25276561e-04 6.25991586e+00] [ 1.29719886e-02 -1.53123241e-04 9.99915848e-01 3.90404904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.079254154 meters 0.014337842800416901 Centerline is valid? [True, True] Translation: X:568.21, Y:6.26, Z:3.90 [[ 9.99698205e-01 -2.06229871e-02 -1.33487994e-02 5.68207352e+02] [ 2.06231059e-02 9.99787313e-01 -1.28764701e-04 6.25829781e+00] [ 1.33486157e-02 -1.46567863e-04 9.99910893e-01 3.90299092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1092541539999 meters 0.014227160027292662 Centerline is valid? [True, True] Translation: X:568.24, Y:6.26, Z:3.90 [[ 9.99711274e-01 -2.00561644e-02 -1.32332570e-02 5.68236937e+02] [ 2.00562268e-02 9.99798845e-01 -1.28010176e-04 6.25653756e+00] [ 1.32331624e-02 -1.37435986e-04 9.99912428e-01 3.90271510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1392541539999 meters 0.014094632469117754 Centerline is valid? [True, True] Translation: X:568.27, Y:6.25, Z:3.90 [[ 9.99714854e-01 -1.99920060e-02 -1.30587620e-02 5.68266299e+02] [ 1.99920550e-02 9.99800131e-01 -1.26799870e-04 6.25439556e+00] [ 1.30586869e-02 -1.34307775e-04 9.99914723e-01 3.90251527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1692541539999 meters 0.014480911016765637 Centerline is valid? [True, True] Translation: X:568.30, Y:6.25, Z:3.90 [[ 9.99707341e-01 -2.05550525e-02 -1.27562374e-02 5.68296439e+02] [ 2.05551392e-02 9.99788713e-01 -1.24325001e-04 6.24937180e+00] [ 1.27560977e-02 -1.37917619e-04 9.99918628e-01 3.90203657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.199254154 meters 0.014590506683848578 Centerline is valid? [True, True] Translation: X:568.33, Y:6.25, Z:3.90 [[ 9.99686310e-01 -2.12435269e-02 -1.32662911e-02 5.68325980e+02] [ 2.12436762e-02 9.99774319e-01 -1.29675334e-04 6.24637117e+00] [ 1.32660519e-02 -1.52190136e-04 9.99911990e-01 3.90167580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2292541539999 meters 0.01483471096011291 Centerline is valid? [True, True] Translation: X:568.36, Y:6.24, Z:3.90 [[ 9.99618866e-01 -2.36677126e-02 -1.42113354e-02 5.68355638e+02] [ 2.36681233e-02 9.99719861e-01 -1.39309563e-04 6.24007343e+00] [ 1.42106514e-02 -1.97099170e-04 9.99899004e-01 3.90047554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2592541539999 meters 0.016082597005105722 Centerline is valid? [True, True] Translation: X:568.39, Y:6.24, Z:3.90 [[ 9.99560445e-01 -2.53546747e-02 -1.53641737e-02 5.68385659e+02] [ 2.53553476e-02 9.99678490e-01 -1.51030351e-04 6.23630037e+00] [ 1.53630633e-02 -2.38600000e-04 9.99881953e-01 3.89933920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2892541539999 meters 0.015818239902798917 Centerline is valid? [True, True] Translation: X:568.42, Y:6.23, Z:3.90 [[ 9.99497041e-01 -2.74720938e-02 -1.58413894e-02 5.68415030e+02] [ 2.74730679e-02 9.99622532e-01 -1.56165245e-04 6.23191819e+00] [ 1.58396999e-02 -2.79124865e-04 9.99874505e-01 3.89929092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.319254154 meters 0.01662828809142513 Centerline is valid? [True, True] Translation: X:568.44, Y:6.23, Z:3.90 [[ 9.99436385e-01 -2.95424749e-02 -1.59422217e-02 5.68444074e+02] [ 2.95437263e-02 9.99563477e-01 -1.57060631e-04 6.22746677e+00] [ 1.59399025e-02 -3.14020525e-04 9.99872902e-01 3.89864371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3492541539999 meters 0.017070078902486456 Centerline is valid? [True, True] Translation: X:568.47, Y:6.22, Z:3.90 [[ 9.99371673e-01 -3.16132596e-02 -1.60269007e-02 5.68473582e+02] [ 3.16147896e-02 9.99500115e-01 -1.57948270e-04 6.22326795e+00] [ 1.60238823e-02 -3.48838066e-04 9.99871549e-01 3.89850570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3792541539999 meters 0.01787557865474008 Centerline is valid? [True, True] Translation: X:568.50, Y:6.22, Z:3.90 [[ 9.99236200e-01 -3.57160847e-02 -1.58549052e-02 5.68503522e+02] [ 3.57180892e-02 9.99361893e-01 -1.56815426e-04 6.21618959e+00] [ 1.58503889e-02 -4.09611267e-04 9.99874291e-01 3.89893997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4092541539999 meters 0.018654910840423138 Centerline is valid? [True, True] Translation: X:568.53, Y:6.21, Z:3.90 [[ 9.99185388e-01 -3.71868294e-02 -1.56748097e-02 5.68533629e+02] [ 3.71889680e-02 9.99308239e-01 -1.55124184e-04 6.21228104e+00] [ 1.56697351e-02 -4.27932180e-04 9.99877131e-01 3.89905059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.439254154 meters 0.01991950040508034 Centerline is valid? [True, True] Translation: X:568.56, Y:6.21, Z:3.90 [[ 9.99110372e-01 -3.93242960e-02 -1.52336411e-02 5.68563537e+02] [ 3.93265771e-02 9.99226400e-01 -1.49908834e-04 6.20502267e+00] [ 1.52277514e-02 -4.49311489e-04 9.99883950e-01 3.89913790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4692541539999 meters 0.020370933514603163 Centerline is valid? [True, True] Translation: X:568.59, Y:6.20, Z:3.90 [[ 9.99077393e-01 -4.01408723e-02 -1.52667297e-02 5.68594795e+02] [ 4.01432723e-02 9.99193923e-01 -1.49335927e-04 6.20176586e+00] [ 1.52604180e-02 -4.63658339e-04 9.99883446e-01 3.89918896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4992541539999 meters 0.02079719870880401 Centerline is valid? [True, True] Translation: X:568.63, Y:6.20, Z:3.90 [[ 9.99051707e-01 -4.09023451e-02 -1.49226353e-02 5.68626224e+02] [ 4.09047305e-02 9.99163041e-01 -1.45459557e-04 6.19884408e+00] [ 1.49160953e-02 -4.65084758e-04 9.99888641e-01 3.89935703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5292541539999 meters 0.02164749690172121 Centerline is valid? [True, True] Translation: X:568.66, Y:6.19, Z:3.90 [[ 9.99024261e-01 -4.15490933e-02 -1.49732513e-02 5.68656456e+02] [ 4.15515732e-02 9.99136350e-01 -1.45575000e-04 6.19362680e+00] [ 1.49663682e-02 -4.76729191e-04 9.99887884e-01 3.89930634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.559254154 meters 0.019456082536212786 Centerline is valid? [True, True] Translation: X:568.69, Y:6.20, Z:3.90 [[ 9.99032233e-01 -4.12439795e-02 -1.52817150e-02 5.68688128e+02] [ 4.12465336e-02 9.99148989e-01 -1.48143006e-04 6.19689894e+00] [ 1.52748201e-02 -4.82318133e-04 9.99883217e-01 3.90033392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.589254154 meters 0.022133281317912385 Centerline is valid? [True, True] Translation: X:568.72, Y:6.19, Z:3.90 [[ 9.99036026e-01 -4.10619068e-02 -1.55221678e-02 5.68718440e+02] [ 4.10645322e-02 9.99156485e-01 -1.49684292e-04 6.19030303e+00] [ 1.55152210e-02 -4.87870560e-04 9.99879513e-01 3.89948718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6192541539999 meters 0.019193251339994884 Centerline is valid? [True, True] Translation: X:568.75, Y:6.19, Z:3.90 [[ 9.99052969e-01 -4.06108761e-02 -1.56179685e-02 5.68750163e+02] [ 4.06134906e-02 9.99174921e-01 -1.49861619e-04 6.19442493e+00] [ 1.56111685e-02 -4.84580523e-04 9.99878021e-01 3.90096222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6492541539999 meters 0.019115679182944833 Centerline is valid? [True, True] Translation: X:568.78, Y:6.19, Z:3.90 [[ 9.99091594e-01 -3.95585296e-02 -1.58464417e-02 5.68780166e+02] [ 3.95610929e-02 9.99217142e-01 -1.51796988e-04 6.19206744e+00] [ 1.58400410e-02 -4.75243457e-04 9.99874426e-01 3.90096572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.679254154 meters 0.018408009149825266 Centerline is valid? [True, True] Translation: X:568.81, Y:6.19, Z:3.90 [[ 9.99103474e-01 -3.91199185e-02 -1.61827327e-02 5.68810406e+02] [ 3.91225344e-02 9.99234409e-01 -1.55018403e-04 6.19276633e+00] [ 1.61764077e-02 -4.78230092e-04 9.99869039e-01 3.90138557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.709254154 meters 0.018278211731408468 Centerline is valid? [True, True] Translation: X:568.84, Y:6.19, Z:3.90 [[ 9.99116166e-01 -3.86526337e-02 -1.65184913e-02 5.68841266e+02] [ 3.86552955e-02 9.99252592e-01 -1.58234718e-04 6.19170202e+00] [ 1.65122614e-02 -4.80432298e-04 9.99863548e-01 3.90137797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7392541539999 meters 0.018487664854047865 Centerline is valid? [True, True] Translation: X:568.87, Y:6.19, Z:3.90 [[ 9.99109956e-01 -3.86008823e-02 -1.70078750e-02 5.68872226e+02] [ 3.86036967e-02 9.99254586e-01 -1.62922646e-04 6.19068336e+00] [ 1.70014861e-02 -4.93789211e-04 9.99855342e-01 3.90102097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7692541539999 meters 0.018633539337882463 Centerline is valid? [True, True] Translation: X:568.90, Y:6.19, Z:3.90 [[ 9.99098347e-01 -3.86829096e-02 -1.74964281e-02 5.68902107e+02] [ 3.86858938e-02 9.99251406e-01 -1.67990034e-04 6.18889460e+00] [ 1.74898287e-02 -5.09026394e-04 9.99846912e-01 3.90073721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7992541539999 meters 0.018432501674715322 Centerline is valid? [True, True] Translation: X:568.93, Y:6.19, Z:3.90 [[ 9.99068099e-01 -3.90679352e-02 -1.83474569e-02 5.68932111e+02] [ 3.90712730e-02 9.99236411e-01 -1.76638163e-04 6.18886226e+00] [ 1.83403479e-02 -5.40384943e-04 9.99831656e-01 3.90108970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.829254154 meters 0.01857483254267978 Centerline is valid? [True, True] Translation: X:568.96, Y:6.19, Z:3.90 [[ 9.99048240e-01 -3.94106556e-02 -1.86926427e-02 5.68961724e+02] [ 3.94141696e-02 9.99222943e-01 -1.80524610e-04 6.18818930e+00] [ 1.86852320e-02 -5.56402196e-04 9.99825261e-01 3.90094772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8592541539999 meters 0.018636815002804962 Centerline is valid? [True, True] Translation: X:568.99, Y:6.19, Z:3.90 [[ 9.99031949e-01 -3.97803468e-02 -1.87800157e-02 5.68991158e+02] [ 3.97839460e-02 9.99208289e-01 -1.82062373e-04 6.18661605e+00] [ 1.87723899e-02 -5.65257004e-04 9.99823623e-01 3.90120353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8892541539999 meters 0.01868545490788635 Centerline is valid? [True, True] Translation: X:569.02, Y:6.19, Z:3.90 [[ 9.99039319e-01 -3.98009285e-02 -1.83391843e-02 5.69020918e+02] [ 3.98043519e-02 9.99207477e-01 -1.78458607e-04 6.18575790e+00] [ 1.83317529e-02 -5.51692180e-04 9.99831807e-01 3.90180750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9192541539999 meters 0.019996685110633582 Centerline is valid? [True, True] Translation: X:569.05, Y:6.18, Z:3.90 [[ 9.99042246e-01 -3.97205711e-02 -1.83539342e-02 5.69049948e+02] [ 3.97239703e-02 9.99210675e-01 -1.79483378e-04 6.18310048e+00] [ 1.83465762e-02 -5.49779660e-04 9.99831536e-01 3.90170967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.949254154 meters 0.019996685110633582 Centerline is valid? [True, True] Translation: X:569.08, Y:6.18, Z:3.90 [[ 9.99040849e-01 -3.97556940e-02 -1.83539265e-02 5.69079118e+02] [ 3.97590848e-02 9.99209279e-01 -1.80264585e-04 6.18341819e+00] [ 1.83465802e-02 -5.49643637e-04 9.99831536e-01 3.90191189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9792541539999 meters 0.018942985749772306 Centerline is valid? [True, True] Translation: X:569.11, Y:6.18, Z:3.90 [[ 9.99074198e-01 -3.94918632e-02 -1.70628041e-02 5.69109042e+02] [ 3.94947450e-02 9.99219764e-01 -1.68176731e-04 6.18457635e+00] [ 1.70561327e-02 -5.05870064e-04 9.99854406e-01 3.90396389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0092541539999 meters 0.018609439839476206 Centerline is valid? [True, True] Translation: X:569.14, Y:6.19, Z:3.91 [[ 9.99085330e-01 -3.95620990e-02 -1.62278591e-02 5.69138838e+02] [ 3.95647054e-02 9.99216998e-01 -1.60525556e-04 6.18521061e+00] [ 1.62215034e-02 -4.81671738e-04 9.99868307e-01 3.90546284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0392541539999 meters 0.019377855802807695 Centerline is valid? [True, True] Translation: X:569.17, Y:6.18, Z:3.91 [[ 9.99100695e-01 -3.95527371e-02 -1.52768397e-02 5.69168615e+02] [ 3.95550428e-02 9.99217382e-01 -1.51318518e-04 6.18430308e+00] [ 1.52708689e-02 -4.53093614e-04 9.99883291e-01 3.90606943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.069254154 meters 0.020318919539972266 Centerline is valid? [True, True] Translation: X:569.20, Y:6.19, Z:3.91 [[ 9.99110816e-01 -3.94329972e-02 -1.49203228e-02 5.69199538e+02] [ 3.94351836e-02 9.99222120e-01 -1.47756355e-04 6.18509904e+00] [ 1.49145430e-02 -4.40760695e-04 9.99888675e-01 3.90661925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0992541539999 meters 0.01988328658576336 Centerline is valid? [True, True] Translation: X:569.23, Y:6.18, Z:3.91 [[ 9.99066794e-01 -4.10072826e-02 -1.35626238e-02 5.69230303e+02] [ 4.10092388e-02 9.99158758e-01 -1.33962097e-04 6.18266508e+00] [ 1.35567078e-02 -4.22355797e-04 9.99908014e-01 3.90789632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1292541539999 meters 0.02066529294097233 Centerline is valid? [True, True] Translation: X:569.26, Y:6.18, Z:3.91 [[ 9.99020830e-01 -4.22671587e-02 -1.30717050e-02 5.69260773e+02] [ 4.22690922e-02 9.99106254e-01 -1.28444546e-04 6.18046089e+00] [ 1.30654512e-02 -4.24210326e-04 9.99914553e-01 3.90805361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1592541539999 meters 0.01972700210887037 Centerline is valid? [True, True] Translation: X:569.29, Y:6.18, Z:3.91 [[ 9.98955349e-01 -4.38792456e-02 -1.27601620e-02 5.69292043e+02] [ 4.38812266e-02 9.99036747e-01 -1.24818635e-04 6.18169860e+00] [ 1.27533477e-02 -4.35243318e-04 9.99918578e-01 3.90840786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.189254154 meters 0.022735255619727262 Centerline is valid? [True, True] Translation: X:569.32, Y:6.18, Z:3.91 [[ 9.98864774e-01 -4.59764365e-02 -1.24631734e-02 5.69322231e+02] [ 4.59784959e-02 9.98942422e-01 -1.21397057e-04 6.17689648e+00] [ 1.24555741e-02 -4.51778724e-04 9.99922324e-01 3.90788567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2192541539999 meters 0.024027524911481926 Centerline is valid? [True, True] Translation: X:569.35, Y:6.17, Z:3.91 [[ 9.98632914e-01 -5.08958469e-02 -1.19128378e-02 5.69353296e+02] [ 5.08980831e-02 9.98703846e-01 -1.15591840e-04 6.17492755e+00] [ 1.19032801e-02 -4.90906794e-04 9.99929033e-01 3.90789925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2492541539999 meters 0.025076047693526324 Centerline is valid? [True, True] Translation: X:569.38, Y:6.17, Z:3.91 [[ 9.98483945e-01 -5.37599255e-02 -1.18186906e-02 5.69384290e+02] [ 5.37623297e-02 9.98553754e-01 -1.14418434e-04 6.17380653e+00] [ 1.18077490e-02 -5.21155373e-04 9.99930150e-01 3.90807513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2792541539999 meters 0.029222005107075708 Centerline is valid? [True, True] Translation: X:569.41, Y:6.17, Z:3.91 [[ 9.98317370e-01 -5.67425416e-02 -1.19462768e-02 5.69414292e+02] [ 5.67452126e-02 9.98388686e-01 -1.15529421e-04 6.16854104e+00] [ 1.19335830e-02 -5.62558987e-04 9.99928634e-01 3.90777504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.309254154 meters 0.033882473957271765 Centerline is valid? [True, True] Translation: X:569.44, Y:6.16, Z:3.91 [[ 9.98000598e-01 -6.20396632e-02 -1.20783710e-02 5.69443497e+02] [ 6.20427796e-02 9.98073484e-01 -1.16877847e-04 6.16434200e+00] [ 1.20623529e-02 -6.32731551e-04 9.99927047e-01 3.90708624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.339254154 meters 0.028290241038051247 Centerline is valid? [True, True] Translation: X:569.47, Y:6.17, Z:3.91 [[ 9.97839407e-01 -6.46378487e-02 -1.17671741e-02 5.69474586e+02] [ 6.46409877e-02 9.97908578e-01 -1.13784190e-04 6.17214990e+00] [ 1.17499187e-02 -6.47103405e-04 9.99930758e-01 3.90865823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3692541539999 meters 0.029993193140989433 Centerline is valid? [True, True] Translation: X:569.50, Y:6.17, Z:3.91 [[ 9.97710107e-01 -6.66221841e-02 -1.16630738e-02 5.69504788e+02] [ 6.66254087e-02 9.97778053e-01 -1.12276180e-04 6.17080127e+00] [ 1.16446391e-02 -6.65037976e-04 9.99931978e-01 3.90893977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3992541539999 meters 0.03905954074542281 Centerline is valid? [True, True] Translation: X:569.54, Y:6.16, Z:3.91 [[ 9.97661471e-01 -6.74032361e-02 -1.13310774e-02 5.69535823e+02] [ 6.74063367e-02 9.97725601e-01 -1.08485052e-04 6.16081176e+00] [ 1.13126183e-02 -6.55555064e-04 9.99935795e-01 3.90744974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.429254154 meters 0.030340847382978084 Centerline is valid? [True, True] Translation: X:569.57, Y:6.18, Z:3.91 [[ 9.97574883e-01 -6.89021881e-02 -9.84077892e-03 5.69567247e+02] [ 6.89046053e-02 9.97623249e-01 -9.36021693e-05 6.17543508e+00] [ 9.82383923e-03 -5.84699814e-04 9.99951574e-01 3.91077129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.459254154 meters 0.02857141280905403 Centerline is valid? [True, True] Translation: X:569.60, Y:6.18, Z:3.91 [[ 9.97584570e-01 -6.88958769e-02 -8.85349678e-03 5.69599705e+02] [ 6.88978400e-02 9.97623717e-01 -8.34429588e-05 6.18030813e+00] [ 8.83820724e-03 -5.26745397e-04 9.99960804e-01 3.91135608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4892541539999 meters 0.032664649243467035 Centerline is valid? [True, True] Translation: X:569.63, Y:6.18, Z:3.91 [[ 9.97607968e-01 -6.85175115e-02 -9.14833695e-03 5.69631279e+02] [ 6.85195976e-02 9.97649767e-01 -8.55637180e-05 6.17811676e+00] [ 9.13269884e-03 -5.41481320e-04 9.99958149e-01 3.91047165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5192541539999 meters 0.031829814454375965 Centerline is valid? [True, True] Translation: X:569.66, Y:6.18, Z:3.91 [[ 9.97599047e-01 -6.86239158e-02 -9.32195308e-03 5.69663476e+02] [ 6.86260918e-02 9.97642447e-01 -8.66240420e-05 6.18005523e+00] [ 9.30592056e-03 -5.53313146e-04 9.99956546e-01 3.91118167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5492541539999 meters 0.03233992059667952 Centerline is valid? [True, True] Translation: X:569.70, Y:6.18, Z:3.91 [[ 9.97584816e-01 -6.86949416e-02 -1.02732498e-02 5.69695256e+02] [ 6.86975962e-02 9.97637525e-01 -9.46780910e-05 6.18385323e+00] [ 1.02554834e-02 -6.11298143e-04 9.99947224e-01 3.90910983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.579254154 meters 0.03024708604423623 Centerline is valid? [True, True] Translation: X:569.73, Y:6.19, Z:3.91 [[ 9.97493405e-01 -6.99388111e-02 -1.07457037e-02 5.69727088e+02] [ 6.99417961e-02 9.97551069e-01 -9.82298727e-05 6.18796054e+00] [ 1.07262583e-02 -6.53590167e-04 9.99942258e-01 3.90979315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6092541539999 meters 0.03332683788967555 Centerline is valid? [True, True] Translation: X:569.76, Y:6.19, Z:3.91 [[ 9.97426668e-01 -7.07953837e-02 -1.13161657e-02 5.69758202e+02] [ 7.07987577e-02 9.97490614e-01 -1.02667027e-04 6.18572133e+00] [ 1.12950374e-02 -6.98767641e-04 9.99935965e-01 3.90943889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6392541539999 meters 0.03417203297805124 Centerline is valid? [True, True] Translation: X:569.79, Y:6.19, Z:3.91 [[ 9.97322750e-01 -7.21812850e-02 -1.17130215e-02 5.69789804e+02] [ 7.21850026e-02 9.97391254e-01 -1.05619032e-04 6.18687287e+00] [ 1.16900889e-02 -7.40168223e-04 9.99931395e-01 3.90972918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6692541539999 meters 0.031955898444885174 Centerline is valid? [True, True] Translation: X:569.82, Y:6.19, Z:3.91 [[ 9.97129532e-01 -7.47593471e-02 -1.19890351e-02 5.69820355e+02] [ 7.47634331e-02 9.97201292e-01 -1.07635889e-04 6.19428197e+00] [ 1.19635280e-02 -7.89014497e-04 9.99928123e-01 3.91107685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.699254154 meters 0.03316634031198063 Centerline is valid? [True, True] Translation: X:569.85, Y:6.20, Z:3.91 [[ 9.97034655e-01 -7.60378561e-02 -1.18381245e-02 5.69851243e+02] [ 7.60419386e-02 9.97104615e-01 -1.05523930e-04 6.19526320e+00] [ 1.18118724e-02 -7.94982924e-04 9.99929921e-01 3.91150936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7292541539999 meters 0.03418871887839243 Centerline is valid? [True, True] Translation: X:569.88, Y:6.20, Z:3.91 [[ 9.96979812e-01 -7.67479490e-02 -1.18746488e-02 5.69883018e+02] [ 7.67521242e-02 9.97050200e-01 -1.04385876e-04 6.19612000e+00] [ 1.18476324e-02 -8.07333908e-04 9.99929488e-01 3.91180370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7592541539999 meters 0.03482309724234272 Centerline is valid? [True, True] Translation: X:569.91, Y:6.20, Z:3.91 [[ 9.96935226e-01 -7.73645462e-02 -1.16138503e-02 5.69914833e+02] [ 7.73685946e-02 9.97002553e-01 -1.00971077e-04 6.19952043e+00] [ 1.15868500e-02 -7.97885656e-04 9.99932552e-01 3.91171800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7892541539999 meters 0.03569279371144596 Centerline is valid? [True, True] Translation: X:569.95, Y:6.20, Z:3.91 [[ 9.96977657e-01 -7.67508812e-02 -1.20354825e-02 5.69946201e+02] [ 7.67551941e-02 9.97049963e-01 -1.03838124e-04 6.20096711e+00] [ 1.20079471e-02 -8.20261509e-04 9.99927566e-01 3.91173001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.819254154 meters 0.03512931186968751 Centerline is valid? [True, True] Translation: X:569.98, Y:6.20, Z:3.91 [[ 9.97090368e-01 -7.52681521e-02 -1.20625051e-02 5.69977859e+02] [ 7.52723841e-02 9.97163004e-01 -1.03418174e-04 6.20468885e+00] [ 1.20360679e-02 -8.04856251e-04 9.99927240e-01 3.91175336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8492541539999 meters 0.03473443190091035 Centerline is valid? [True, True] Translation: X:570.01, Y:6.21, Z:3.91 [[ 9.97245229e-01 -7.31366692e-02 -1.23685533e-02 5.70008883e+02] [ 7.31409627e-02 9.97321607e-01 -1.05462852e-04 6.20934891e+00] [ 1.23431387e-02 -7.99475571e-04 9.99923501e-01 3.91159600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8792541539999 meters 0.031024314504147058 Centerline is valid? [True, True] Translation: X:570.04, Y:6.22, Z:3.91 [[ 9.97638202e-01 -6.75783571e-02 -1.22956376e-02 5.70039258e+02] [ 6.75821824e-02 9.97713705e-01 -1.04595080e-04 6.22045848e+00] [ 1.22745946e-02 -7.26617978e-04 9.99924400e-01 3.91345315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9092541539999 meters 0.02965902396790565 Centerline is valid? [True, True] Translation: X:570.07, Y:6.23, Z:3.91 [[ 9.97853360e-01 -6.43348642e-02 -1.22350677e-02 5.70069997e+02] [ 6.43384100e-02 9.97928133e-01 -1.03987330e-04 6.22580771e+00] [ 1.22164083e-02 -6.83420696e-04 9.99925143e-01 3.91426182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.939254154 meters 0.02878719867889575 Centerline is valid? [True, True] Translation: X:570.10, Y:6.23, Z:3.91 [[ 9.98051342e-01 -6.12045060e-02 -1.21461095e-02 5.70100908e+02] [ 6.12077719e-02 9.98125041e-01 -1.03014556e-04 6.23051086e+00] [ 1.21296410e-02 -6.40622485e-04 9.99926228e-01 3.91497804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9692541539999 meters 0.027473718326496834 Centerline is valid? [True, True] Translation: X:570.13, Y:6.24, Z:3.92 [[ 9.98366610e-01 -5.58324103e-02 -1.21183009e-02 5.70130196e+02] [ 5.58352669e-02 9.98439989e-01 -1.02730206e-04 6.23851430e+00] [ 1.21051319e-02 -5.74066160e-04 9.99926565e-01 3.91527755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9992541539999 meters 0.026601529912935427 Centerline is valid? [True, True] Translation: X:570.16, Y:6.24, Z:3.92 [[ 9.98462807e-01 -5.39593390e-02 -1.26654474e-02 5.70162799e+02] [ 5.39623142e-02 9.98542967e-01 -1.06969116e-04 6.24265114e+00] [ 1.26527654e-02 -5.76652166e-04 9.99919784e-01 3.91560176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0292541539999 meters 0.025900355851859357 Centerline is valid? [True, True] Translation: X:570.20, Y:6.25, Z:3.91 [[ 9.98549290e-01 -5.22752479e-02 -1.29079127e-02 5.70195134e+02] [ 5.22782112e-02 9.98632554e-01 -1.07966825e-04 6.24762986e+00] [ 1.28959058e-02 -5.66992390e-04 9.99916684e-01 3.91492216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.059254154 meters 0.024982808801474462 Centerline is valid? [True, True] Translation: X:570.23, Y:6.25, Z:3.92 [[ 9.98591511e-01 -5.13856518e-02 -1.32102195e-02 5.70227720e+02] [ 5.13886905e-02 9.98678722e-01 -1.09538457e-04 6.25017012e+00] [ 1.31983939e-02 -5.69471709e-04 9.99912735e-01 3.91584094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.089254154 meters 0.025363935575321572 Centerline is valid? [True, True] Translation: X:570.26, Y:6.25, Z:3.91 [[ 9.98647911e-01 -5.00870695e-02 -1.39152811e-02 5.70258482e+02] [ 5.00903278e-02 9.98744685e-01 -1.14494132e-04 6.25409727e+00] [ 1.39035477e-02 -5.82681668e-04 9.99903171e-01 3.91496322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1192541539999 meters 0.02506854356002566 Centerline is valid? [True, True] Translation: X:570.29, Y:6.26, Z:3.91 [[ 9.98685586e-01 -4.92575793e-02 -1.41700753e-02 5.70290747e+02] [ 4.92608872e-02 9.98785939e-01 -1.15708187e-04 6.25667585e+00] [ 1.41585715e-02 -5.82474384e-04 9.99899593e-01 3.91484914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1492541539999 meters 0.025194577742759777 Centerline is valid? [True, True] Translation: X:570.32, Y:6.26, Z:3.91 [[ 9.98716960e-01 -4.84967934e-02 -1.45772256e-02 5.70322423e+02] [ 4.85002283e-02 9.98823164e-01 -1.18001772e-04 6.25872088e+00] [ 1.45657933e-02 -5.89148397e-04 9.99893740e-01 3.91445964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.179254154 meters 0.02518185035808172 Centerline is valid? [True, True] Translation: X:570.35, Y:6.26, Z:3.91 [[ 9.98760089e-01 -4.75050863e-02 -1.48846172e-02 5.70353472e+02] [ 4.75085791e-02 9.98870823e-01 -1.19048754e-04 6.26069632e+00] [ 1.48734652e-02 -5.88245867e-04 9.99889211e-01 3.91457148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.209254154 meters 0.02523061222157558 Centerline is valid? [True, True] Translation: X:570.38, Y:6.26, Z:3.91 [[ 9.98820678e-01 -4.61873873e-02 -1.49658941e-02 5.70384435e+02] [ 4.61907892e-02 9.98932629e-01 -1.18454842e-04 6.26483356e+00] [ 1.49553910e-02 -5.72971312e-04 9.99887998e-01 3.91445094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2392541539999 meters 0.02525322354507974 Centerline is valid? [True, True] Translation: X:570.42, Y:6.27, Z:3.91 [[ 9.98829832e-01 -4.59579971e-02 -1.50608538e-02 5.70416598e+02] [ 4.59614299e-02 9.98943208e-01 -1.18298235e-04 6.26654923e+00] [ 1.50503744e-02 -5.74058572e-04 9.99886572e-01 3.91490066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2692541539999 meters 0.026326771131478716 Centerline is valid? [True, True] Translation: X:570.45, Y:6.27, Z:3.92 [[ 9.98807631e-01 -4.66711647e-02 -1.43219941e-02 5.70447756e+02] [ 4.66743595e-02 9.98910152e-01 -1.11285999e-04 6.26877236e+00] [ 1.43115791e-02 -5.57316594e-04 9.99897429e-01 3.91554968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2992541539999 meters 0.02712858210738599 Centerline is valid? [True, True] Translation: X:570.48, Y:6.27, Z:3.92 [[ 9.98776583e-01 -4.73934733e-02 -1.41136708e-02 5.70480062e+02] [ 4.73966644e-02 9.98876141e-01 -1.08485168e-04 6.26968464e+00] [ 1.41029505e-02 -5.60588475e-04 9.99900391e-01 3.91613113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.329254154 meters 0.027788145277660586 Centerline is valid? [True, True] Translation: X:570.51, Y:6.27, Z:3.92 [[ 9.98733253e-01 -4.84247591e-02 -1.36722864e-02 5.70512309e+02] [ 4.84278624e-02 9.98826677e-01 -1.04198067e-04 6.27050409e+00] [ 1.36612902e-02 -5.58053531e-04 9.99906524e-01 3.91667382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3592541539999 meters 0.023110756852649572 Centerline is valid? [True, True] Translation: X:570.54, Y:6.28, Z:3.92 [[ 9.98698403e-01 -4.92219641e-02 -1.33678303e-02 5.70544377e+02] [ 4.92250143e-02 9.98787709e-01 -1.00955466e-04 6.27910740e+00] [ 1.33565938e-02 -5.57207574e-04 9.99910641e-01 3.91821018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3892541539999 meters 0.02427023921697098 Centerline is valid? [True, True] Translation: X:570.58, Y:6.28, Z:3.92 [[ 9.98594670e-01 -5.13587883e-02 -1.30751501e-02 5.70576537e+02] [ 5.13619016e-02 9.98680102e-01 -9.78009958e-05 6.27980371e+00] [ 1.30629152e-02 -5.73901020e-04 9.99914512e-01 3.91839180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4192541539999 meters 0.0251568127877456 Centerline is valid? [True, True] Translation: X:570.61, Y:6.28, Z:3.92 [[ 9.98532893e-01 -5.24224907e-02 -1.35625626e-02 5.70607269e+02] [ 5.24259487e-02 9.98624809e-01 -1.00683508e-04 6.27984479e+00] [ 1.35491895e-02 -6.10494415e-04 9.99908019e-01 3.91853626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.449254154 meters 0.03251497494528578 Centerline is valid? [True, True] Translation: X:570.64, Y:6.27, Z:3.92 [[ 9.98476980e-01 -5.35406530e-02 -1.33085699e-02 5.70638663e+02] [ 5.35440940e-02 9.98565481e-01 -9.78817280e-05 6.27086060e+00] [ 1.32947191e-02 -6.14862664e-04 9.99911432e-01 3.91758173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4792541539999 meters 0.027741512589129547 Centerline is valid? [True, True] Translation: X:570.67, Y:6.28, Z:3.92 [[ 9.98347316e-01 -5.57181920e-02 -1.40754710e-02 5.70671025e+02] [ 5.57222748e-02 9.98446302e-01 -1.02250159e-04 6.28003655e+00] [ 1.40592992e-02 -6.82236094e-04 9.99900930e-01 3.91875095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5092541539999 meters 0.027699151876438934 Centerline is valid? [True, True] Translation: X:570.70, Y:6.28, Z:3.92 [[ 9.98261214e-01 -5.69451405e-02 -1.52249923e-02 5.70703133e+02] [ 5.69500769e-02 9.98377021e-01 -1.09482735e-04 6.28139616e+00] [ 1.52065169e-02 -7.57772113e-04 9.99884087e-01 3.91877100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5392541539999 meters 0.037216391092498045 Centerline is valid? [True, True] Translation: X:570.73, Y:6.27, Z:3.92 [[ 9.98187092e-01 -5.81216901e-02 -1.56332466e-02 5.70733985e+02] [ 5.81270515e-02 9.98309187e-01 -1.11602591e-04 6.26926551e+00] [ 1.56133003e-02 -7.97314267e-04 9.99877787e-01 3.91653848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.569254154 meters 0.039174622339105 Centerline is valid? [True, True] Translation: X:570.76, Y:6.27, Z:3.92 [[ 9.98070397e-01 -5.99135526e-02 -1.63048559e-02 5.70764717e+02] [ 5.99196320e-02 9.98203198e-01 -1.15851455e-04 6.26839826e+00] [ 1.62825004e-02 -8.61353059e-04 9.99867060e-01 3.91599350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5992541539999 meters 0.03199738685998952 Centerline is valid? [True, True] Translation: X:570.80, Y:6.28, Z:3.92 [[ 9.98047196e-01 -6.02646798e-02 -1.64305759e-02 5.70796652e+02] [ 6.02709150e-02 9.98182049e-01 -1.15876583e-04 6.27917923e+00] [ 1.64076892e-02 -8.74635544e-04 9.99865002e-01 3.91819016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6292541539999 meters 0.028932032147264954 Centerline is valid? [True, True] Translation: X:570.83, Y:6.28, Z:3.92 [[ 9.98032438e-01 -6.05215555e-02 -1.63827183e-02 5.70829110e+02] [ 6.05278077e-02 9.98166505e-01 -1.14386371e-04 6.28438284e+00] [ 1.63596035e-02 -8.77448713e-04 9.99865788e-01 3.91967338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6592541539999 meters 0.03249835308673896 Centerline is valid? [True, True] Translation: X:570.86, Y:6.28, Z:3.92 [[ 9.98070824e-01 -5.99600057e-02 -1.61067514e-02 5.70860773e+02] [ 5.99659945e-02 9.98200414e-01 -1.11318103e-04 6.28038664e+00] [ 1.60844405e-02 -8.54754013e-04 9.99870272e-01 3.91937023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.689254154 meters 0.031579470716259 Centerline is valid? [True, True] Translation: X:570.89, Y:6.28, Z:3.92 [[ 9.98254944e-01 -5.69602793e-02 -1.55754288e-02 5.70890970e+02] [ 5.69655226e-02 9.98376140e-01 -1.07169304e-04 6.28374153e+00] [ 1.55562409e-02 -7.80280154e-04 9.99878690e-01 3.92041364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7192541539999 meters 0.02773324621356689 Centerline is valid? [True, True] Translation: X:570.92, Y:6.29, Z:3.92 [[ 9.98388110e-01 -5.46077035e-02 -1.54654453e-02 5.70922459e+02] [ 5.46125961e-02 9.98507613e-01 -1.06110646e-04 6.29061165e+00] [ 1.54481594e-02 -7.38668513e-04 9.99880397e-01 3.92151596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7492541539999 meters 0.02664446323656836 Centerline is valid? [True, True] Translation: X:570.95, Y:6.29, Z:3.92 [[ 9.98512648e-01 -5.22381829e-02 -1.56097570e-02 5.70953625e+02] [ 5.22428870e-02 9.98634402e-01 -1.06546999e-04 6.29343508e+00] [ 1.55940062e-02 -7.09110245e-04 9.99878155e-01 3.92166999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7792541539999 meters 0.024997878975486942 Centerline is valid? [True, True] Translation: X:570.99, Y:6.30, Z:3.92 [[ 9.98648203e-01 -4.95685383e-02 -1.56437194e-02 5.70985246e+02] [ 4.95729470e-02 9.98770500e-01 -1.06069567e-04 6.29722334e+00] [ 1.56297432e-02 -6.69579089e-04 9.99877624e-01 3.92187712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.809254154 meters 0.022065211800878715 Centerline is valid? [True, True] Translation: X:571.02, Y:6.30, Z:3.92 [[ 9.98866870e-01 -4.45382132e-02 -1.67727259e-02 5.71015524e+02] [ 4.45425799e-02 9.99007480e-01 -1.13328979e-04 6.30422270e+00] [ 1.67611261e-02 -6.33899920e-04 9.99859322e-01 3.92141052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.839254154 meters 0.02154858073512851 Centerline is valid? [True, True] Translation: X:571.05, Y:6.31, Z:3.92 [[ 9.98955460e-01 -4.22672603e-02 -1.73628425e-02 5.71047405e+02] [ 4.22716101e-02 9.99106149e-01 -1.16567109e-04 6.30626421e+00] [ 1.73522497e-02 -6.17509960e-04 9.99849248e-01 3.92119763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8692541539999 meters 0.02154858073512851 Centerline is valid? [True, True] Translation: X:571.08, Y:6.31, Z:3.92 [[ 9.98958488e-01 -4.21956211e-02 -1.73628508e-02 5.71079119e+02] [ 4.21999817e-02 9.99109177e-01 -1.15321510e-04 6.30641422e+00] [ 1.73522497e-02 -6.17510586e-04 9.99849248e-01 3.92141724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8992541539999 meters 0.0206765192359833 Centerline is valid? [True, True] Translation: X:571.11, Y:6.31, Z:3.92 [[ 9.99047799e-01 -3.98989924e-02 -1.76512375e-02 5.71110224e+02] [ 3.99031568e-02 9.99203545e-01 -1.16348052e-04 6.30854725e+00] [ 1.76418212e-02 -5.88102830e-04 9.99844198e-01 3.92100409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.929254154 meters 0.02223354928010155 Centerline is valid? [True, True] Translation: X:571.14, Y:6.31, Z:3.92 [[ 9.99123629e-01 -3.78159706e-02 -1.79423144e-02 5.71140288e+02] [ 3.78199460e-02 9.99284563e-01 -1.17819122e-04 6.30713747e+00] [ 1.79339332e-02 -5.60861492e-04 9.99839017e-01 3.91978245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.959254154 meters 0.01905874099886927 Centerline is valid? [True, True] Translation: X:571.17, Y:6.31, Z:3.92 [[ 9.99291530e-01 -3.29899821e-02 -1.81134955e-02 5.71172131e+02] [ 3.29932539e-02 9.99455567e-01 -1.18260204e-04 6.31444503e+00] [ 1.81075354e-02 -4.79446737e-04 9.99835930e-01 3.92097707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9892541539999 meters 0.018359471326963847 Centerline is valid? [True, True] Translation: X:571.20, Y:6.32, Z:3.92 [[ 9.99382970e-01 -3.02278756e-02 -1.78872731e-02 5.71203405e+02] [ 3.02306370e-02 9.99542943e-01 -1.16061396e-04 6.31710772e+00] [ 1.78826059e-02 -4.24753877e-04 9.99840003e-01 3.92126262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0192541539999 meters 0.017609928257609788 Centerline is valid? [True, True] Translation: X:571.23, Y:6.32, Z:3.92 [[ 9.99470886e-01 -2.71002785e-02 -1.79867441e-02 5.71234018e+02] [ 2.71025688e-02 9.99632651e-01 -1.16465233e-04 6.32006312e+00] [ 1.79832929e-02 -3.71083359e-04 9.99838219e-01 3.92141572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0492541539999 meters 0.015520416696671561 Centerline is valid? [True, True] Translation: X:571.26, Y:6.33, Z:3.92 [[ 9.99631885e-01 -2.08613471e-02 -1.73464095e-02 5.71264421e+02] [ 2.08625380e-02 9.99782347e-01 -1.12319029e-04 6.32717948e+00] [ 1.73449772e-02 -2.49612446e-04 9.99849533e-01 3.92352288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.079254154 meters 0.014725008276842958 Centerline is valid? [True, True] Translation: X:571.29, Y:6.33, Z:3.92 [[ 9.99690466e-01 -1.83550256e-02 -1.67948207e-02 5.71293608e+02] [ 1.83557483e-02 9.99831513e-01 -1.11135806e-04 6.33009766e+00] [ 1.67940309e-02 -1.97180096e-04 9.99858951e-01 3.92442652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1092541539999 meters 0.014504317181229432 Centerline is valid? [True, True] Translation: X:571.32, Y:6.33, Z:3.92 [[ 9.99736262e-01 -1.59278493e-02 -1.65441598e-02 5.71320946e+02] [ 1.59281762e-02 9.99873132e-01 -1.12015291e-04 6.33106132e+00] [ 1.65438451e-02 -1.51532545e-04 9.99863130e-01 3.92444055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1392541539999 meters 0.014098838914686765 Centerline is valid? [True, True] Translation: X:571.35, Y:6.33, Z:3.92 [[ 9.99775497e-01 -1.34244317e-02 -1.63932826e-02 5.71350116e+02] [ 1.34243671e-02 9.99909883e-01 -1.13990271e-04 6.33258496e+00] [ 1.63933356e-02 -1.06104764e-04 9.99865615e-01 3.92463402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1692541539999 meters 0.013979917041690652 Centerline is valid? [True, True] Translation: X:571.38, Y:6.33, Z:3.93 [[ 9.99774023e-01 -1.37996273e-02 -1.61701102e-02 5.71377653e+02] [ 1.37995424e-02 9.99904775e-01 -1.16831889e-04 6.33261160e+00] [ 1.61701826e-02 -1.06334633e-04 9.99869248e-01 3.92541585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.199254154 meters 0.014023255995099572 Centerline is valid? [True, True] Translation: X:571.41, Y:6.33, Z:3.93 [[ 9.99761431e-01 -1.49451657e-02 -1.59286750e-02 5.71405696e+02] [ 1.49451552e-02 9.99888308e-01 -1.19705052e-04 6.33161053e+00] [ 1.59286849e-02 -1.18380025e-04 9.99873123e-01 3.92553301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2292541539999 meters 0.014158182123813694 Centerline is valid? [True, True] Translation: X:571.43, Y:6.33, Z:3.93 [[ 9.99730455e-01 -1.70486340e-02 -1.57595104e-02 5.71434201e+02] [ 1.70488177e-02 9.99854651e-01 -1.22701412e-04 6.33009634e+00] [ 1.57593116e-02 -1.46012681e-04 9.99875804e-01 3.92570694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2592541539999 meters 0.01593101704317692 Centerline is valid? [True, True] Translation: X:571.46, Y:6.32, Z:3.92 [[ 9.99633288e-01 -2.21988618e-02 -1.55080430e-02 5.71461785e+02] [ 2.21996202e-02 9.99753550e-01 -1.23267112e-04 6.32218889e+00] [ 1.55069574e-02 -2.21050755e-04 9.99879735e-01 3.92400154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2892541539999 meters 0.015590825513601692 Centerline is valid? [True, True] Translation: X:571.49, Y:6.32, Z:3.93 [[ 9.99546744e-01 -2.58526544e-02 -1.54255111e-02 5.71491656e+02] [ 2.58538253e-02 9.99665726e-01 -1.23540613e-04 6.32178268e+00] [ 1.54235486e-02 -2.75323851e-04 9.99881012e-01 3.92546457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.319254154 meters 0.016359619000922997 Centerline is valid? [True, True] Translation: X:571.52, Y:6.32, Z:3.93 [[ 9.99439241e-01 -2.96261107e-02 -1.56044222e-02 5.71521902e+02] [ 2.96277646e-02 9.99560994e-01 -1.25225149e-04 6.31850673e+00] [ 1.56012817e-02 -3.37169221e-04 9.99878236e-01 3.92519096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3492541539999 meters 0.02065979710499368 Centerline is valid? [True, True] Translation: X:571.55, Y:6.31, Z:3.92 [[ 9.99153909e-01 -3.76325717e-02 -1.65908102e-02 5.71552075e+02] [ 3.76355440e-02 9.99291523e-01 -1.33140891e-04 6.30766001e+00] [ 1.65840664e-02 -4.91375925e-04 9.99862354e-01 3.92310752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3792541539999 meters 0.021577395881442814 Centerline is valid? [True, True] Translation: X:571.58, Y:6.30, Z:3.92 [[ 9.98982660e-01 -4.14137293e-02 -1.78479078e-02 5.71582750e+02] [ 4.14177754e-02 9.99141906e-01 -1.43041208e-04 6.30484531e+00] [ 1.78385165e-02 -5.96324952e-04 9.99840703e-01 3.92336894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4092541539999 meters 0.023154148791311252 Centerline is valid? [True, True] Translation: X:571.61, Y:6.30, Z:3.92 [[ 9.98819241e-01 -4.52623607e-02 -1.76477194e-02 5.71614017e+02] [ 4.52669249e-02 9.98974917e-01 -1.40950044e-04 6.30130391e+00] [ 1.76360087e-02 -6.58074372e-04 9.99844257e-01 3.92323977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.439254154 meters 0.025452257324683005 Centerline is valid? [True, True] Translation: X:571.64, Y:6.30, Z:3.92 [[ 9.98641862e-01 -4.89461610e-02 -1.78522819e-02 5.71644287e+02] [ 4.89514268e-02 9.98801150e-01 -1.42156101e-04 6.29686729e+00] [ 1.78378376e-02 -7.31931636e-04 9.99840625e-01 3.92268182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4692541539999 meters 0.027648488151255562 Centerline is valid? [True, True] Translation: X:571.67, Y:6.29, Z:3.92 [[ 9.98310911e-01 -5.54375033e-02 -1.73783614e-02 5.71674585e+02] [ 5.54434769e-02 9.98461818e-01 -1.38236508e-04 6.29150237e+00] [ 1.73592938e-02 -8.25513767e-04 9.99848975e-01 3.92352976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4992541539999 meters 0.029051733943135684 Centerline is valid? [True, True] Translation: X:571.71, Y:6.29, Z:3.92 [[ 9.98189199e-01 -5.77757963e-02 -1.67415898e-02 5.71707013e+02] [ 5.77816797e-02 9.98329234e-01 -1.32476816e-04 6.28857767e+00] [ 1.67212725e-02 -8.35120256e-04 9.99859841e-01 3.92388475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5292541539999 meters 0.030583218001978035 Centerline is valid? [True, True] Translation: X:571.74, Y:6.29, Z:3.92 [[ 9.98085609e-01 -5.95959786e-02 -1.65359055e-02 5.71738216e+02] [ 5.96019834e-02 9.98222213e-01 -1.29882912e-04 6.28576031e+00] [ 1.65142486e-02 -8.55938498e-04 9.99863264e-01 3.92393959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.559254154 meters 0.03161100377566674 Centerline is valid? [True, True] Translation: X:571.77, Y:6.28, Z:3.92 [[ 9.98011299e-01 -6.08137735e-02 -1.65871159e-02 5.71770215e+02] [ 6.08200002e-02 9.98148742e-01 -1.29267224e-04 6.28401401e+00] [ 1.65642701e-02 -8.79818242e-04 9.99862416e-01 3.92420594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.589254154 meters 0.027215303719772113 Centerline is valid? [True, True] Translation: X:571.80, Y:6.29, Z:3.93 [[ 9.97968292e-01 -6.16976365e-02 -1.58962078e-02 5.71801807e+02] [ 6.17034820e-02 9.98094517e-01 -1.22936918e-04 6.29064349e+00] [ 1.58735028e-02 -8.58164228e-04 9.99873640e-01 3.92627398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6192541539999 meters 0.02930778654277547 Centerline is valid? [True, True] Translation: X:571.83, Y:6.29, Z:3.93 [[ 9.97989500e-01 -6.13435989e-02 -1.59348618e-02 5.71832923e+02] [ 6.13494417e-02 9.98116341e-01 -1.22363748e-04 6.28824461e+00] [ 1.59123522e-02 -8.55477139e-04 9.99873025e-01 3.92631291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6492541539999 meters 0.02754757661364008 Centerline is valid? [True, True] Translation: X:571.86, Y:6.29, Z:3.93 [[ 9.98053720e-01 -6.04338667e-02 -1.53791846e-02 5.71864733e+02] [ 6.04392163e-02 9.98171873e-01 -1.17121530e-04 6.29131737e+00] [ 1.53581476e-02 -8.12612286e-04 9.99881726e-01 3.92689226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.679254154 meters 0.027568753423220838 Centerline is valid? [True, True] Translation: X:571.90, Y:6.29, Z:3.93 [[ 9.98241370e-01 -5.72320471e-02 -1.54486056e-02 5.71895612e+02] [ 5.72370751e-02 9.98360608e-01 -1.16846085e-04 6.29311008e+00] [ 1.54299667e-02 -7.67592405e-04 9.99880656e-01 3.92721575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.709254154 meters 0.028249996128323546 Centerline is valid? [True, True] Translation: X:571.93, Y:6.29, Z:3.93 [[ 9.98336685e-01 -5.54510447e-02 -1.57811872e-02 5.71927352e+02] [ 5.54560831e-02 9.98461120e-01 -1.18495891e-04 6.29352979e+00] [ 1.57634726e-02 -7.56864035e-04 9.99875462e-01 3.92719364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7392541539999 meters 0.027443838990917648 Centerline is valid? [True, True] Translation: X:571.96, Y:6.30, Z:3.93 [[ 9.98443980e-01 -5.34850097e-02 -1.57788884e-02 5.71958635e+02] [ 5.34898141e-02 9.98568388e-01 -1.17689230e-04 6.29607476e+00] [ 1.57625937e-02 -7.26503704e-04 9.99875499e-01 3.92758134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7692541539999 meters 0.025642628902271408 Centerline is valid? [True, True] Translation: X:571.99, Y:6.30, Z:3.93 [[ 9.98539712e-01 -5.15296208e-02 -1.62216178e-02 5.71990465e+02] [ 5.15344557e-02 9.98671210e-01 -1.20098223e-04 6.29979020e+00] [ 1.62062513e-02 -7.16049398e-04 9.99868414e-01 3.92809281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7992541539999 meters 0.026021641701627393 Centerline is valid? [True, True] Translation: X:572.02, Y:6.30, Z:3.93 [[ 9.98713629e-01 -4.76724227e-02 -1.72750355e-02 5.72021161e+02] [ 4.76773451e-02 9.98862781e-01 -1.27023165e-04 6.30292761e+00] [ 1.72614455e-02 -6.96768065e-04 9.99850767e-01 3.92596909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.829254154 meters 0.024742886296304903 Centerline is valid? [True, True] Translation: X:572.05, Y:6.30, Z:3.93 [[ 9.98740181e-01 -4.69595369e-02 -1.76876601e-02 5.72053215e+02] [ 4.69646032e-02 9.98896546e-01 -1.29067665e-04 6.30498310e+00] [ 1.76742035e-02 -7.01788874e-04 9.99843553e-01 3.92686641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8592541539999 meters 0.023289685197797904 Centerline is valid? [True, True] Translation: X:572.09, Y:6.31, Z:3.93 [[ 9.98773605e-01 -4.58061634e-02 -1.87904684e-02 5.72085069e+02] [ 4.58117027e-02 9.98950084e-01 -1.35774489e-04 6.30875201e+00] [ 1.87769593e-02 -7.25215380e-04 9.99823434e-01 3.92688867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8892541539999 meters 0.022130519932678762 Centerline is valid? [True, True] Translation: X:572.12, Y:6.31, Z:3.93 [[ 9.98873550e-01 -4.25727953e-02 -2.09568096e-02 5.72116560e+02] [ 4.25789971e-02 9.99093092e-01 -1.50390791e-04 6.31361785e+00] [ 2.09442062e-02 -7.42098551e-04 9.99780371e-01 3.92579529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9192541539999 meters 0.019858194859646433 Centerline is valid? [True, True] Translation: X:572.15, Y:6.32, Z:3.93 [[ 9.98930291e-01 -4.06035544e-02 -2.21274617e-02 5.72147635e+02] [ 4.06100042e-02 9.99175061e-01 -1.57980213e-04 6.31902344e+00] [ 2.21156224e-02 -7.40785091e-04 9.99755145e-01 3.92712035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.949254154 meters 0.02039808130495559 Centerline is valid? [True, True] Translation: X:572.18, Y:6.32, Z:3.93 [[ 9.99076450e-01 -3.62617175e-02 -2.30506825e-02 5.72177647e+02] [ 3.62675684e-02 9.99342102e-01 -1.64308702e-04 6.32173266e+00] [ 2.30414756e-02 -6.71835250e-04 9.99734284e-01 3.92608315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9792541539999 meters 0.018525770915947815 Centerline is valid? [True, True] Translation: X:572.21, Y:6.33, Z:3.93 [[ 9.99167923e-01 -3.38323458e-02 -2.27779147e-02 5.72207725e+02] [ 3.38374283e-02 9.99427337e-01 -1.62364372e-04 6.32683880e+00] [ 2.27703638e-02 -6.08516782e-04 9.99740536e-01 3.92832159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0092541539999 meters 0.019100771374337702 Centerline is valid? [True, True] Translation: X:572.24, Y:6.33, Z:3.93 [[ 9.99259721e-01 -3.11062808e-02 -2.26364710e-02 5.72236732e+02] [ 3.11105887e-02 9.99515935e-01 -1.61913025e-04 6.32764029e+00] [ 2.26305500e-02 -5.42440775e-04 9.99743749e-01 3.92818181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0392541539999 meters 0.018073252526334616 Centerline is valid? [True, True] Translation: X:572.27, Y:6.33, Z:3.93 [[ 9.99370478e-01 -2.79465045e-02 -2.18550053e-02 5.72266168e+02] [ 2.79497486e-02 9.99609317e-01 -1.57065163e-04 6.33106715e+00] [ 2.18508563e-02 -4.53875616e-04 9.99761139e-01 3.92933987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.069254154 meters 0.015989869555339233 Centerline is valid? [True, True] Translation: X:572.30, Y:6.34, Z:3.93 [[ 9.99564040e-01 -2.09170668e-02 -2.08376228e-02 5.72295932e+02] [ 2.09184739e-02 9.99781173e-01 -1.50462343e-04 6.33894635e+00] [ 2.08362102e-02 -2.85494523e-04 9.99782862e-01 3.93272862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0992541539999 meters 0.015265482869267934 Centerline is valid? [True, True] Translation: X:572.33, Y:6.34, Z:3.93 [[ 9.99649309e-01 -1.71971234e-02 -2.01374642e-02 5.72325125e+02] [ 1.71976179e-02 9.99852099e-01 -1.48629051e-04 6.34251683e+00] [ 2.01370418e-02 -1.97739487e-04 9.99797210e-01 3.93399063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1292541539999 meters 0.014956283398244676 Centerline is valid? [True, True] Translation: X:572.35, Y:6.35, Z:3.94 [[ 9.99708659e-01 -1.37968733e-02 -1.98051441e-02 5.72352749e+02] [ 1.37966212e-02 9.99904811e-01 -1.49371288e-04 6.34577231e+00] [ 1.98053197e-02 -1.23916300e-04 9.99803848e-01 3.93503376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1592541539999 meters 0.014721439231016374 Centerline is valid? [True, True] Translation: X:572.38, Y:6.35, Z:3.94 [[ 9.99775654e-01 -7.54138456e-03 -1.97931707e-02 5.72380835e+02] [ 7.53985574e-03 9.99971563e-01 -1.51865619e-04 6.35054643e+00] [ 1.97937531e-02 2.59389714e-06 9.99804084e-01 3.93596110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.189254154 meters 0.01613093692422779 Centerline is valid? [True, True] Translation: X:572.41, Y:6.35, Z:3.93 [[ 9.99781104e-01 -5.14515764e-03 -2.02798500e-02 5.72408949e+02] [ 5.14300506e-03 9.99986762e-01 -1.58297903e-04 6.35175660e+00] [ 2.02803960e-02 5.39638813e-05 9.99794330e-01 3.93435132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2192541539999 meters 0.014879712160430639 Centerline is valid? [True, True] Translation: X:572.44, Y:6.35, Z:3.94 [[ 9.99787569e-01 -4.62854791e-03 -2.00846344e-02 5.72437168e+02] [ 4.62624319e-03 9.99989286e-01 -1.61212025e-04 6.35183318e+00] [ 2.00851654e-02 6.82613760e-05 9.99798270e-01 3.93623779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2492541539999 meters 0.014789488955614133 Centerline is valid? [True, True] Translation: X:572.47, Y:6.35, Z:3.94 [[ 9.99777646e-01 -4.92763113e-03 -2.05031081e-02 5.72465373e+02] [ 4.92517896e-03 9.99987857e-01 -1.70094870e-04 6.34963205e+00] [ 2.05036973e-02 6.90755718e-05 9.99789775e-01 3.93627038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2792541539999 meters 0.014715763608573492 Centerline is valid? [True, True] Translation: X:572.49, Y:6.35, Z:3.94 [[ 9.99759055e-01 -6.39137119e-03 -2.09995639e-02 5.72493401e+02] [ 6.38900334e-03 9.99979574e-01 -1.79846191e-04 6.34762420e+00] [ 2.10002844e-02 4.56365738e-05 9.99779469e-01 3.93604458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.309254154 meters 0.01459266099176179 Centerline is valid? [True, True] Translation: X:572.52, Y:6.35, Z:3.94 [[ 9.99735350e-01 -8.53922003e-03 -2.13614351e-02 5.72521163e+02] [ 8.53713860e-03 9.99963540e-01 -1.88631948e-04 6.34512600e+00] [ 2.13622670e-02 6.21649428e-06 9.99771801e-01 3.93599190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.339254154 meters 0.014614397639443782 Centerline is valid? [True, True] Translation: X:572.55, Y:6.34, Z:3.94 [[ 9.99665421e-01 -1.31987794e-02 -2.22449737e-02 5.72550375e+02] [ 1.31976101e-02 9.99912888e-01 -1.99379636e-04 6.33833155e+00] [ 2.22456675e-02 -9.42675623e-05 9.99752530e-01 3.93658545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3692541539999 meters 0.01483488879078293 Centerline is valid? [True, True] Translation: X:572.58, Y:6.33, Z:3.93 [[ 9.99621214e-01 -1.55555701e-02 -2.27035789e-02 5.72578047e+02] [ 1.55549022e-02 9.99878994e-01 -2.06025351e-04 6.33375134e+00] [ 2.27040365e-02 -1.47204637e-04 9.99742219e-01 3.93499592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3992541539999 meters 0.015082351320380829 Centerline is valid? [True, True] Translation: X:572.61, Y:6.33, Z:3.94 [[ 9.99570575e-01 -1.86483622e-02 -2.26031850e-02 5.72606472e+02] [ 1.86483865e-02 9.99826082e-01 -2.09724483e-04 6.33040880e+00] [ 2.26031649e-02 -2.11878510e-04 9.99744493e-01 3.93647772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.429254154 meters 0.01610788573111204 Centerline is valid? [True, True] Translation: X:572.63, Y:6.33, Z:3.93 [[ 9.99527655e-01 -2.10808057e-02 -2.23621666e-02 5.72633926e+02] [ 2.10813728e-02 9.99777741e-01 -2.10405032e-04 6.32523309e+00] [ 2.23616320e-02 -2.61119524e-04 9.99749913e-01 3.93498196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.459254154 meters 0.016877479284423062 Centerline is valid? [True, True] Translation: X:572.66, Y:6.32, Z:3.94 [[ 9.99421735e-01 -2.56706846e-02 -2.22982501e-02 5.72662345e+02] [ 2.56723494e-02 9.99670389e-01 -2.11644482e-04 6.31773363e+00] [ 2.22963334e-02 -3.60926372e-04 9.99751341e-01 3.93694857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4892541539999 meters 0.017536044272062696 Centerline is valid? [True, True] Translation: X:572.69, Y:6.31, Z:3.94 [[ 9.99366656e-01 -2.80178198e-02 -2.19383011e-02 5.72691578e+02] [ 2.80199085e-02 9.99607343e-01 -2.12239626e-04 6.31364408e+00] [ 2.19356334e-02 -4.02603985e-04 9.99759304e-01 3.93759122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5192541539999 meters 0.01937122918163414 Centerline is valid? [True, True] Translation: X:572.72, Y:6.31, Z:3.94 [[ 9.99315041e-01 -2.99395042e-02 -2.17503042e-02 5.72718919e+02] [ 2.99419463e-02 9.99551617e-01 -2.13451013e-04 6.30766770e+00] [ 2.17469423e-02 -4.37941632e-04 9.99763411e-01 3.93662955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5492541539999 meters 0.018783175568266836 Centerline is valid? [True, True] Translation: X:572.75, Y:6.31, Z:3.94 [[ 9.99276140e-01 -3.13631587e-02 -2.15301840e-02 5.72748025e+02] [ 3.13657959e-02 9.99507949e-01 -2.15275802e-04 6.30576390e+00] [ 2.15263418e-02 -4.60191387e-04 9.99768176e-01 3.93850218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.579254154 meters 0.019076851165910482 Centerline is valid? [True, True] Translation: X:572.78, Y:6.30, Z:3.94 [[ 9.99242043e-01 -3.26448214e-02 -2.12050773e-02 5.72776588e+02] [ 3.26475662e-02 9.99466903e-01 -2.16825924e-04 6.30048015e+00] [ 2.12008511e-02 -4.75632585e-04 9.99775124e-01 3.93960826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6092541539999 meters 0.01656710877644771 Centerline is valid? [True, True] Translation: X:572.81, Y:6.30, Z:3.94 [[ 9.99249571e-01 -3.22098176e-02 -2.15133101e-02 5.72805787e+02] [ 3.22124964e-02 9.99481018e-01 -2.22098734e-04 6.30272880e+00] [ 2.15092988e-02 -4.71065358e-04 9.99768537e-01 3.94268830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6392541539999 meters 0.01902999832787336 Centerline is valid? [True, True] Translation: X:572.83, Y:6.30, Z:3.94 [[ 9.99280060e-01 -3.12852701e-02 -2.14614259e-02 5.72834545e+02] [ 3.12877010e-02 9.99510395e-01 -2.22582096e-04 6.29641521e+00] [ 2.14578818e-02 -4.49056827e-04 9.99769652e-01 3.93948816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6692541539999 meters 0.01639917314146134 Centerline is valid? [True, True] Translation: X:572.86, Y:6.30, Z:3.94 [[ 9.99393793e-01 -2.78542714e-02 -2.08850530e-02 5.72863494e+02] [ 2.78557971e-02 9.99611928e-01 -2.17916436e-04 6.29718800e+00] [ 2.08830180e-02 -3.63985466e-04 9.99781860e-01 3.94176235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.699254154 meters 0.017376770412377302 Centerline is valid? [True, True] Translation: X:572.89, Y:6.29, Z:3.94 [[ 9.99433711e-01 -2.63049328e-02 -2.09835365e-02 5.72891794e+02] [ 2.63060517e-02 9.99653911e-01 -2.22754731e-04 6.29349625e+00] [ 2.09821339e-02 -3.29365407e-04 9.99779797e-01 3.93918431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7292541539999 meters 0.01477790729902047 Centerline is valid? [True, True] Translation: X:572.92, Y:6.30, Z:3.94 [[ 9.99469112e-01 -2.45324312e-02 -2.14395455e-02 5.72920360e+02] [ 2.45330747e-02 9.99698992e-01 -2.33045658e-04 6.29742897e+00] [ 2.14388092e-02 -2.93056035e-04 9.99770119e-01 3.94359345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7592541539999 meters 0.01477790729902047 Centerline is valid? [True, True] Translation: X:572.95, Y:6.30, Z:3.94 [[ 9.99461781e-01 -2.48293504e-02 -2.14394780e-02 5.72947761e+02] [ 2.48299311e-02 9.99691661e-01 -2.39155580e-04 6.29779287e+00] [ 2.14388054e-02 -2.93313899e-04 9.99770119e-01 3.94378386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7892541539999 meters 0.014588287835687372 Centerline is valid? [True, True] Translation: X:572.98, Y:6.30, Z:3.94 [[ 9.99509359e-01 -2.27767822e-02 -2.15002255e-02 5.72975959e+02] [ 2.27768182e-02 9.99740545e-01 -2.43235954e-04 6.29644508e+00] [ 2.15001873e-02 -2.46590116e-04 9.99768814e-01 3.94336513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.819254154 meters 0.01407730719586187 Centerline is valid? [True, True] Translation: X:573.01, Y:6.29, Z:3.94 [[ 9.99604550e-01 -1.82359597e-02 -2.14054500e-02 5.73005230e+02] [ 1.82348663e-02 9.99833701e-01 -2.46279229e-04 6.29442373e+00] [ 2.14063814e-02 -1.44143681e-04 9.99770847e-01 3.94390157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8492541539999 meters 0.014285574731212274 Centerline is valid? [True, True] Translation: X:573.03, Y:6.29, Z:3.94 [[ 9.99655595e-01 -1.58505671e-02 -2.09153508e-02 5.73032882e+02] [ 1.58489402e-02 9.99874368e-01 -2.43550721e-04 6.29365333e+00] [ 2.09165836e-02 -8.80193045e-05 9.99781220e-01 3.94356573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8792541539999 meters 0.013944589842641141 Centerline is valid? [True, True] Translation: X:573.06, Y:6.29, Z:3.94 [[ 9.99699797e-01 -1.31458421e-02 -2.06761164e-02 5.73061333e+02] [ 1.31435887e-02 9.99913589e-01 -2.44883289e-04 6.29343941e+00] [ 2.06775489e-02 -2.69485947e-05 9.99786196e-01 3.94372462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9092541539999 meters 0.014094337905262582 Centerline is valid? [True, True] Translation: X:573.09, Y:6.29, Z:3.94 [[ 9.99743249e-01 -6.90292521e-03 -2.15820678e-02 5.73090277e+02] [ 6.89889491e-03 9.99976168e-01 -2.61193118e-04 6.29278214e+00] [ 2.15833564e-02 1.12233639e-04 9.99767046e-01 3.94346157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.939254154 meters 0.014584769410207981 Centerline is valid? [True, True] Translation: X:573.12, Y:6.29, Z:3.94 [[ 9.99758753e-01 -4.15356815e-03 -2.15681230e-02 5.73118822e+02] [ 4.14878511e-03 9.99991358e-01 -2.66505963e-04 6.29241826e+00] [ 2.15690435e-02 1.76960162e-04 9.99767345e-01 3.94268458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9692541539999 meters 0.014859174298429006 Centerline is valid? [True, True] Translation: X:573.15, Y:6.29, Z:3.94 [[ 9.99762149e-01 -1.79633334e-03 -2.17351998e-02 5.73147477e+02] [ 1.79079951e-03 9.99998359e-01 -2.74063549e-04 6.29199520e+00] [ 2.17356565e-02 2.35074977e-04 9.99763725e-01 3.94258882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9992541539999 meters 0.015262335625584732 Centerline is valid? [True, True] Translation: X:573.18, Y:6.29, Z:3.94 [[ 9.99760266e-01 -2.82731025e-04 -2.18936319e-02 5.73176579e+02] [ 2.76632986e-04 9.99999922e-01 -2.81558363e-04 6.29120640e+00] [ 2.18937098e-02 2.75434363e-04 9.99760266e-01 3.94204222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0292541539999 meters 0.015576720441694013 Centerline is valid? [True, True] Translation: X:573.20, Y:6.29, Z:3.94 [[ 9.99751061e-01 1.21645090e-04 -2.23114483e-02 5.73204566e+02] [-1.28163704e-04 9.99999950e-01 -2.90734836e-04 6.28608083e+00] [ 2.23114118e-02 2.93521978e-04 9.99751026e-01 3.94108133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.059254154 meters 0.015226913100037298 Centerline is valid? [True, True] Translation: X:573.23, Y:6.28, Z:3.94 [[ 9.99754340e-01 -1.30477936e-03 -2.21259336e-02 5.73233303e+02] [ 1.29867428e-03 9.99999115e-01 -2.90290899e-04 6.28265282e+00] [ 2.21262928e-02 2.61485205e-04 9.99755149e-01 3.94121911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.089254154 meters 0.014876040119484693 Centerline is valid? [True, True] Translation: X:573.26, Y:6.28, Z:3.94 [[ 9.99741210e-01 -3.90531287e-03 -2.24111862e-02 5.73261893e+02] [ 3.89966739e-03 9.99992353e-01 -2.95602439e-04 6.27849477e+00] [ 2.24121692e-02 2.08129768e-04 9.99748794e-01 3.94143068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1192541539999 meters 0.01439252075135672 Centerline is valid? [True, True] Translation: X:573.29, Y:6.27, Z:3.94 [[ 9.99678865e-01 -1.08245199e-02 -2.29128196e-02 5.73290335e+02] [ 1.08203993e-02 9.99941412e-01 -3.03816352e-04 6.26832566e+00] [ 2.29147659e-02 5.57929294e-05 9.99737421e-01 3.94146710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1492541539999 meters 0.01415790773165075 Centerline is valid? [True, True] Translation: X:573.32, Y:6.26, Z:3.94 [[ 9.99630314e-01 -1.49148389e-02 -2.27328569e-02 5.73319535e+02] [ 1.49118047e-02 9.99888767e-01 -3.02990903e-04 6.26296625e+00] [ 2.27348473e-02 -3.61090309e-05 9.99741529e-01 3.94206799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.179254154 meters 0.014775881998263763 Centerline is valid? [True, True] Translation: X:573.35, Y:6.26, Z:3.94 [[ 9.99564451e-01 -1.92708257e-02 -2.23504696e-02 5.73348128e+02] [ 1.92688881e-02 9.99814292e-01 -3.02070127e-04 6.25734996e+00] [ 2.23521401e-02 -1.28730138e-04 9.99750151e-01 3.94241901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.209254154 meters 0.01638581253359686 Centerline is valid? [True, True] Translation: X:573.38, Y:6.25, Z:3.94 [[ 9.99400780e-01 -2.71568911e-02 -2.14612052e-02 5.73375757e+02] [ 2.71568612e-02 9.99631142e-01 -2.92888954e-04 6.24550426e+00] [ 2.14612430e-02 -2.90105523e-04 9.99769639e-01 3.94329322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2392541539999 meters 0.01630850673149903 Centerline is valid? [True, True] Translation: X:573.40, Y:6.24, Z:3.94 [[ 9.99299133e-01 -3.08986482e-02 -2.11309123e-02 5.73404268e+02] [ 3.08993712e-02 9.99522458e-01 -2.92366632e-04 6.24104010e+00] [ 2.11298551e-02 -3.60770180e-04 9.99776675e-01 3.94497791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2692541539999 meters 0.017768567958887198 Centerline is valid? [True, True] Translation: X:573.43, Y:6.23, Z:3.95 [[ 9.99156887e-01 -3.58921879e-02 -1.99315559e-02 5.73431777e+02] [ 3.58937540e-02 9.99355573e-01 -2.79278476e-04 6.23181869e+00] [ 1.99287354e-02 -4.36375352e-04 9.99801308e-01 3.94640038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2992541539999 meters 0.01894265166323259 Centerline is valid? [True, True] Translation: X:573.46, Y:6.23, Z:3.95 [[ 9.99103323e-01 -3.75720559e-02 -1.95164351e-02 5.73459237e+02] [ 3.75738373e-02 9.99293816e-01 -2.75534277e-04 6.22776047e+00] [ 1.95130053e-02 -4.58020148e-04 9.99809498e-01 3.94654959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.329254154 meters 0.018924404047179624 Centerline is valid? [True, True] Translation: X:573.49, Y:6.23, Z:3.95 [[ 9.99065137e-01 -3.86013598e-02 -1.94624625e-02 5.73487594e+02] [ 3.86032578e-02 9.99254578e-01 -2.78299549e-04 6.22594325e+00] [ 1.94586975e-02 -4.73275082e-04 9.99810550e-01 3.94730507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3592541539999 meters 0.017775892981351023 Centerline is valid? [True, True] Translation: X:573.52, Y:6.22, Z:3.95 [[ 9.99033427e-01 -3.91605020e-02 -1.99666456e-02 5.73516659e+02] [ 3.91625143e-02 9.99232812e-01 -2.90368231e-04 6.22432107e+00] [ 1.99626984e-02 -4.91856476e-04 9.99800604e-01 3.94831599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3892541539999 meters 0.01799859696173653 Centerline is valid? [True, True] Translation: X:573.54, Y:6.22, Z:3.95 [[ 9.99032942e-01 -3.89700548e-02 -2.03596786e-02 5.73544365e+02] [ 3.89720368e-02 9.99240257e-01 -2.99562621e-04 6.22232736e+00] [ 2.03558844e-02 -4.94185216e-04 9.99792675e-01 3.94786173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4192541539999 meters 0.017890817456275927 Centerline is valid? [True, True] Translation: X:573.57, Y:6.22, Z:3.95 [[ 9.99037636e-01 -3.87345610e-02 -2.05775278e-02 5.73572864e+02] [ 3.87364492e-02 9.99249415e-01 -3.06970947e-04 6.22124964e+00] [ 2.05739730e-02 -4.90424832e-04 9.99788213e-01 3.94793834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.449254154 meters 0.01801138927863898 Centerline is valid? [True, True] Translation: X:573.60, Y:6.22, Z:3.95 [[ 9.99055963e-01 -3.83476279e-02 -2.04117942e-02 5.73601013e+02] [ 3.83493479e-02 9.99264346e-01 -3.07305368e-04 6.21974180e+00] [ 2.04085626e-02 -4.75763737e-04 9.99791610e-01 3.94775614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4792541539999 meters 0.017806675716126225 Centerline is valid? [True, True] Translation: X:573.63, Y:6.22, Z:3.95 [[ 9.99087799e-01 -3.76175082e-02 -2.02111993e-02 5.73628836e+02] [ 3.76190107e-02 9.99292108e-01 -3.05990087e-04 6.21870875e+00] [ 2.02084025e-02 -4.54614360e-04 9.99795686e-01 3.94771207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5092541539999 meters 0.017155550488286143 Centerline is valid? [True, True] Translation: X:573.66, Y:6.22, Z:3.95 [[ 9.99160971e-01 -3.58003175e-02 -1.98919865e-02 5.73657909e+02] [ 3.58013409e-02 9.99358880e-01 -3.04782880e-04 6.21759165e+00] [ 1.98901447e-02 -4.07632632e-04 9.99802088e-01 3.94780388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5392541539999 meters 0.01661611015275568 Centerline is valid? [True, True] Translation: X:573.69, Y:6.22, Z:3.95 [[ 9.99192875e-01 -3.46842798e-02 -2.02632687e-02 5.73686838e+02] [ 3.46850153e-02 9.99398244e-01 -3.15259329e-04 6.21768302e+00] [ 2.02620097e-02 -3.87826910e-04 9.99794629e-01 3.94774748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.569254154 meters 0.016501478524533434 Centerline is valid? [True, True] Translation: X:573.71, Y:6.22, Z:3.95 [[ 9.99241771e-01 -3.32022834e-02 -2.03345024e-02 5.73714518e+02] [ 3.32026616e-02 9.99448589e-01 -3.19109564e-04 6.21770168e+00] [ 2.03338849e-02 -3.56291998e-04 9.99793182e-01 3.94706624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5992541539999 meters 0.015448745863685612 Centerline is valid? [True, True] Translation: X:573.74, Y:6.22, Z:3.95 [[ 9.99347867e-01 -2.91378435e-02 -2.13266801e-02 5.73743433e+02] [ 2.91372508e-02 9.99575363e-01 -3.38591661e-04 6.21878377e+00] [ 2.13274899e-02 -2.83029974e-04 9.99772503e-01 3.94582223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6292541539999 meters 0.014211642234467806 Centerline is valid? [True, True] Translation: X:573.77, Y:6.22, Z:3.95 [[ 9.99404369e-01 -2.67831789e-02 -2.17616386e-02 5.73772118e+02] [ 2.67818899e-02 9.99641239e-01 -3.50728691e-04 6.22120050e+00] [ 2.17632250e-02 -2.32298022e-04 9.99763126e-01 3.94742528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6592541539999 meters 0.013731012918459495 Centerline is valid? [True, True] Translation: X:573.80, Y:6.22, Z:3.95 [[ 9.99463214e-01 -2.40871832e-02 -2.22056628e-02 5.73800642e+02] [ 2.40850533e-02 9.99709847e-01 -3.63395639e-04 6.22273586e+00] [ 2.22079730e-02 -1.71623998e-04 9.99753358e-01 3.94807417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.689254154 meters 0.013150283426009227 Centerline is valid? [True, True] Translation: X:573.83, Y:6.22, Z:3.95 [[ 9.99584415e-01 -1.88514236e-02 -2.18087252e-02 5.73829744e+02] [ 1.88480045e-02 9.99822295e-01 -3.62337651e-04 6.22471533e+00] [ 2.18116802e-02 -4.88638808e-05 9.99762096e-01 3.94901718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7192541539999 meters 0.013139371163732726 Centerline is valid? [True, True] Translation: X:573.86, Y:6.23, Z:3.95 [[ 9.99626715e-01 -1.68225349e-02 -2.15274948e-02 5.73856318e+02] [ 1.68186336e-02 9.99858491e-01 -3.62278397e-04 6.22543021e+00] [ 2.15305429e-02 8.01162786e-08 9.99768191e-01 3.94900229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7492541539999 meters 0.013157368431018649 Centerline is valid? [True, True] Translation: X:573.88, Y:6.23, Z:3.95 [[ 9.99661975e-01 -1.51826042e-02 -2.11050802e-02 5.73884515e+02] [ 1.51783748e-02 9.99884737e-01 -3.60581120e-04 6.22592746e+00] [ 2.11081221e-02 4.01184176e-05 9.99777198e-01 3.95041116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7792541539999 meters 0.01309383132068471 Centerline is valid? [True, True] Translation: X:573.91, Y:6.23, Z:3.95 [[ 9.99689128e-01 -1.41012744e-02 -2.05621140e-02 5.73912285e+02] [ 1.40969113e-02 9.99900570e-01 -3.57126105e-04 6.22606227e+00] [ 2.05651055e-02 6.71527860e-05 9.99788514e-01 3.95108689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.809254154 meters 0.014502829540356619 Centerline is valid? [True, True] Translation: X:573.94, Y:6.22, Z:3.95 [[ 9.99704361e-01 -1.29300825e-02 -2.05913328e-02 5.73940244e+02] [ 1.29253931e-02 9.99916399e-01 -3.60815530e-04 6.22449017e+00] [ 2.05942767e-02 9.45577878e-05 9.99787911e-01 3.95107289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.839254154 meters 0.013013563280335075 Centerline is valid? [True, True] Translation: X:573.97, Y:6.22, Z:3.95 [[ 9.99709882e-01 -1.40869868e-02 -1.95373821e-02 5.73969093e+02] [ 1.40829142e-02 9.99900771e-01 -3.46025447e-04 6.22334290e+00] [ 1.95403179e-02 7.07817821e-05 9.99809067e-01 3.95205180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8692541539999 meters 0.012891966252950268 Centerline is valid? [True, True] Translation: X:574.00, Y:6.22, Z:3.95 [[ 9.99694696e-01 -1.51861427e-02 -1.94909115e-02 5.73996174e+02] [ 1.51822355e-02 9.99884683e-01 -3.48428406e-04 6.22164953e+00] [ 1.94939551e-02 5.24064216e-05 9.99809973e-01 3.95195993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8992541539999 meters 0.013305245587195431 Centerline is valid? [True, True] Translation: X:574.02, Y:6.22, Z:3.95 [[ 9.99616158e-01 -1.94651741e-02 -1.97140247e-02 5.74023506e+02] [ 1.94619445e-02 9.99810535e-01 -3.55683073e-04 6.21577131e+00] [ 1.97172130e-02 -2.81267076e-05 9.99805596e-01 3.95147010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.929254154 meters 0.012914685191539224 Centerline is valid? [True, True] Translation: X:574.05, Y:6.21, Z:3.95 [[ 9.99546433e-01 -2.28562759e-02 -1.96091771e-02 5.74051948e+02] [ 2.28536479e-02 9.99738757e-01 -3.58131686e-04 6.21235700e+00] [ 1.96122399e-02 -9.01719782e-05 9.99807657e-01 3.95157668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.959254154 meters 0.013177671105495354 Centerline is valid? [True, True] Translation: X:574.08, Y:6.21, Z:3.95 [[ 9.99446612e-01 -2.69707355e-02 -1.94691841e-02 5.74080729e+02] [ 2.69688343e-02 9.99636210e-01 -3.60248289e-04 6.20850381e+00] [ 1.94718176e-02 -1.65012269e-04 9.99810393e-01 3.95203889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9892541539999 meters 0.014030452489864814 Centerline is valid? [True, True] Translation: X:574.11, Y:6.20, Z:3.95 [[ 9.99326092e-01 -3.12615666e-02 -1.92373714e-02 5.74108120e+02] [ 3.12604492e-02 9.99511208e-01 -3.58871367e-04 6.20390524e+00] [ 1.92391872e-02 -2.42739350e-04 9.99814880e-01 3.95197820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0192541539999 meters 0.017048426518951273 Centerline is valid? [True, True] Translation: X:574.14, Y:6.19, Z:3.95 [[ 9.98987384e-01 -4.07538777e-02 -1.90611540e-02 5.74137677e+02] [ 4.07544899e-02 9.99169127e-01 -3.56491477e-04 6.19406320e+00] [ 1.90598450e-02 -4.20697121e-04 9.99818256e-01 3.95190373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0492541539999 meters 0.016152392844188183 Centerline is valid? [True, True] Translation: X:574.17, Y:6.19, Z:3.95 [[ 9.98772026e-01 -4.58777385e-02 -1.86995550e-02 5.74167297e+02] [ 4.58792146e-02 9.98946933e-01 -3.50276482e-04 6.19381499e+00] [ 1.86959330e-02 -5.08074548e-04 9.99825087e-01 3.95434803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.079254154 meters 0.017750273954129744 Centerline is valid? [True, True] Translation: X:574.20, Y:6.19, Z:3.95 [[ 9.98540206e-01 -5.08004498e-02 -1.83513242e-02 5.74196683e+02] [ 5.08026856e-02 9.98708650e-01 -3.44634041e-04 6.18928386e+00] [ 1.83451338e-02 -5.88165606e-04 9.99831541e-01 3.95425797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1092541539999 meters 0.0212836118802191 Centerline is valid? [True, True] Translation: X:574.23, Y:6.18, Z:3.95 [[ 9.98046433e-01 -6.01743110e-02 -1.68038880e-02 5.74226588e+02] [ 6.01775026e-02 9.98187642e-01 -3.16106703e-04 6.18017705e+00] [ 1.67924549e-02 -6.95726848e-04 9.99858755e-01 3.95494862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1392541539999 meters 0.022207964320813005 Centerline is valid? [True, True] Translation: X:574.26, Y:6.18, Z:3.96 [[ 9.97808975e-01 -6.41294220e-02 -1.62685752e-02 5.74256451e+02] [ 6.41329331e-02 9.97941317e-01 -3.06332868e-04 6.17804790e+00] [ 1.62547283e-02 -7.37689759e-04 9.99867611e-01 3.95596469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1692541539999 meters 0.024035782341839177 Centerline is valid? [True, True] Translation: X:574.29, Y:6.17, Z:3.96 [[ 9.97596192e-01 -6.75812261e-02 -1.53171366e-02 5.74287256e+02] [ 6.75847425e-02 9.97713496e-01 -2.88537474e-04 6.17496827e+00] [ 1.53016136e-02 -7.47360845e-04 9.99882644e-01 3.95645413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.199254154 meters 0.025958068967668724 Centerline is valid? [True, True] Translation: X:574.32, Y:6.17, Z:3.96 [[ 9.97257619e-01 -7.24961083e-02 -1.48847385e-02 5.74317851e+02] [ 7.24999736e-02 9.97368375e-01 -2.80460480e-04 6.17164824e+00] [ 1.48658997e-02 -7.99451799e-04 9.99889177e-01 3.95666473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2292541539999 meters 0.02837829875024891 Centerline is valid? [True, True] Translation: X:574.35, Y:6.17, Z:3.96 [[ 9.97116355e-01 -7.41683496e-02 -1.60633510e-02 5.74348332e+02] [ 7.41730695e-02 9.97245338e-01 -3.02566490e-04 6.16965844e+00] [ 1.60415427e-02 -8.89774053e-04 9.99870930e-01 3.95609731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2592541539999 meters 0.027638552977811186 Centerline is valid? [True, True] Translation: X:574.38, Y:6.17, Z:3.96 [[ 9.97012766e-01 -7.53556988e-02 -1.69429200e-02 5.74379028e+02] [ 7.53611312e-02 9.97156256e-01 -3.18517745e-04 6.17250251e+00] [ 1.69187407e-02 -9.59271355e-04 9.99856408e-01 3.95638101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2892541539999 meters 0.027551537655297702 Centerline is valid? [True, True] Translation: X:574.41, Y:6.17, Z:3.96 [[ 9.96899849e-01 -7.70893729e-02 -1.57454622e-02 5.74408791e+02] [ 7.70942847e-02 9.97023763e-01 -2.95695346e-04 6.17294804e+00] [ 1.57213950e-02 -9.19106503e-04 9.99875989e-01 3.95633790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.319254154 meters 0.02956024412381521 Centerline is valid? [True, True] Translation: X:574.44, Y:6.17, Z:3.96 [[ 9.96889530e-01 -7.72032196e-02 -1.58407004e-02 5.74438965e+02] [ 7.72082079e-02 9.97014947e-01 -2.97321174e-04 6.17166090e+00] [ 1.58163692e-02 -9.26635723e-04 9.99874484e-01 3.95606015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3492541539999 meters 0.028541168664246778 Centerline is valid? [True, True] Translation: X:574.47, Y:6.17, Z:3.96 [[ 9.96889700e-01 -7.72594048e-02 -1.55534681e-02 5.74469523e+02] [ 7.72642226e-02 9.97010609e-01 -2.91805800e-04 6.17477278e+00] [ 1.55295174e-02 -9.10828425e-04 9.99878995e-01 3.95646854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3792541539999 meters 0.0287057486051087 Centerline is valid? [True, True] Translation: X:574.50, Y:6.18, Z:3.96 [[ 9.96907460e-01 -7.71273321e-02 -1.50628805e-02 5.74500453e+02] [ 7.71318400e-02 9.97020862e-01 -2.82306323e-04 6.17749070e+00] [ 1.50397796e-02 -8.80394409e-04 9.99886509e-01 3.95666474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4092541539999 meters 0.029103283428485588 Centerline is valid? [True, True] Translation: X:574.53, Y:6.18, Z:3.96 [[ 9.96902281e-01 -7.72059250e-02 -1.50029107e-02 5.74531954e+02] [ 7.72104141e-02 9.97014781e-01 -2.80639926e-04 6.17899176e+00] [ 1.49797908e-02 -8.78610364e-04 9.99887411e-01 3.95656478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.439254154 meters 0.02950607608435886 Centerline is valid? [True, True] Translation: X:574.56, Y:6.18, Z:3.96 [[ 9.96858537e-01 -7.77532894e-02 -1.50825286e-02 5.74563144e+02] [ 7.77578970e-02 9.96972231e-01 -2.81583458e-04 6.18064948e+00] [ 1.50587562e-02 -8.92086832e-04 9.99886213e-01 3.95657579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4692541539999 meters 0.028800962761871184 Centerline is valid? [True, True] Translation: X:574.59, Y:6.18, Z:3.96 [[ 9.96829808e-01 -7.80907543e-02 -1.52370611e-02 5.74593968e+02] [ 7.80955071e-02 9.96945842e-01 -2.83749968e-04 6.18410053e+00] [ 1.52126830e-02 -9.07095589e-04 9.99883869e-01 3.95635593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4992541539999 meters 0.03188020711294115 Centerline is valid? [True, True] Translation: X:574.62, Y:6.18, Z:3.95 [[ 9.96731327e-01 -7.91299281e-02 -1.62824008e-02 5.74624567e+02] [ 7.91355031e-02 9.96863822e-01 -3.02632141e-04 6.18434258e+00] [ 1.62552836e-02 -9.86873047e-04 9.99867387e-01 3.95466586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5292541539999 meters 0.029896150355985918 Centerline is valid? [True, True] Translation: X:574.66, Y:6.19, Z:3.95 [[ 9.96670650e-01 -7.97162989e-02 -1.71151198e-02 5.74655615e+02] [ 7.97225536e-02 9.96817041e-01 -3.17607581e-04 6.18972473e+00] [ 1.70859616e-02 -1.04791091e-03 9.99853475e-01 3.95479087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.559254154 meters 0.027723329812922304 Centerline is valid? [True, True] Translation: X:574.69, Y:6.20, Z:3.96 [[ 9.96613284e-01 -8.02635009e-02 -1.78810911e-02 5.74687018e+02] [ 8.02704279e-02 9.96773068e-01 -3.31149045e-04 6.19536079e+00] [ 1.78499692e-02 -1.10529529e-03 9.99840066e-01 3.95510140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.589254154 meters 0.02864805455760133 Centerline is valid? [True, True] Translation: X:574.72, Y:6.20, Z:3.95 [[ 9.96545943e-01 -8.09996557e-02 -1.83095191e-02 5.74718000e+02] [ 8.10070550e-02 9.96713471e-01 -3.38395607e-04 6.19992492e+00] [ 1.82767543e-02 -1.14597345e-03 9.99832309e-01 3.95482911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6192541539999 meters 0.0321295762726918 Centerline is valid? [True, True] Translation: X:574.75, Y:6.20, Z:3.95 [[ 9.96528134e-01 -8.13029886e-02 -1.79304985e-02 5.74748363e+02] [ 8.13101417e-02 9.96688794e-01 -3.30936258e-04 6.19847235e+00] [ 1.78980330e-02 -1.12814408e-03 9.99839181e-01 3.95456852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6492541539999 meters 0.02972317843093456 Centerline is valid? [True, True] Translation: X:574.78, Y:6.20, Z:3.96 [[ 9.96550909e-01 -8.11172438e-02 -1.75007997e-02 5.74779648e+02] [ 8.11240385e-02 9.96703961e-01 -3.22492885e-04 6.20471453e+00] [ 1.74692761e-02 -1.09835497e-03 9.99846797e-01 3.95596040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.679254154 meters 0.02972317843093456 Centerline is valid? [True, True] Translation: X:574.81, Y:6.21, Z:3.96 [[ 9.96553882e-01 -8.10807175e-02 -1.75008115e-02 5.74810547e+02] [ 8.10875178e-02 9.96706933e-01 -3.21851202e-04 6.20525253e+00] [ 1.74692761e-02 -1.09835530e-03 9.99846797e-01 3.95617450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.709254154 meters 0.03120294642895191 Centerline is valid? [True, True] Translation: X:574.84, Y:6.21, Z:3.96 [[ 9.96676872e-01 -7.98602431e-02 -1.60485203e-02 5.74840841e+02] [ 7.98658101e-02 9.96805581e-01 -2.94743836e-04 6.20917845e+00] [ 1.60207929e-02 -9.87963709e-04 9.99871171e-01 3.95721121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7392541539999 meters 0.02719804012985361 Centerline is valid? [True, True] Translation: X:574.87, Y:6.22, Z:3.96 [[ 9.96770593e-01 -7.88287524e-02 -1.53105328e-02 5.74872677e+02] [ 7.88337093e-02 9.96887741e-01 -2.80440236e-04 6.21777341e+00] [ 1.52849892e-02 -9.27451514e-04 9.99882748e-01 3.95865567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7692541539999 meters 0.02702510915486938 Centerline is valid? [True, True] Translation: X:574.90, Y:6.22, Z:3.96 [[ 9.96916830e-01 -7.70759735e-02 -1.47012979e-02 5.74904096e+02] [ 7.70803654e-02 9.97024847e-01 -2.68490879e-04 6.22095932e+00] [ 1.46782535e-02 -8.65518337e-04 9.99891894e-01 3.95902085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7992541539999 meters 0.03325907160010333 Centerline is valid? [True, True] Translation: X:574.93, Y:6.22, Z:3.96 [[ 9.97072033e-01 -7.51033003e-02 -1.43824755e-02 5.74934981e+02] [ 7.51073068e-02 9.97175423e-01 -2.62138955e-04 6.21616809e+00] [ 1.43615386e-02 -8.18857579e-04 9.99896532e-01 3.95823509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.829254154 meters 0.025236843355684723 Centerline is valid? [True, True] Translation: X:574.96, Y:6.23, Z:3.96 [[ 9.97452378e-01 -6.99959804e-02 -1.37592543e-02 5.74964962e+02] [ 6.99991661e-02 9.97547018e-01 -2.50515660e-04 6.23341053e+00] [ 1.37430382e-02 -7.13258885e-04 9.99905306e-01 3.95979614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8592541539999 meters 0.024295069407180292 Centerline is valid? [True, True] Translation: X:575.00, Y:6.24, Z:3.96 [[ 9.97652129e-01 -6.70908078e-02 -1.37496531e-02 5.74996286e+02] [ 6.70937175e-02 9.97746646e-01 -2.50071355e-04 6.23809136e+00] [ 1.37354478e-02 -6.73031123e-04 9.99905438e-01 3.95987844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8892541539999 meters 0.023419392604865207 Centerline is valid? [True, True] Translation: X:575.03, Y:6.24, Z:3.96 [[ 9.97827299e-01 -6.44060723e-02 -1.38758236e-02 5.75027368e+02] [ 6.44087837e-02 9.97923567e-01 -2.51855477e-04 6.24251432e+00] [ 1.38632324e-02 -6.42416647e-04 9.99903694e-01 3.96007052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9192541539999 meters 0.02245965163660927 Centerline is valid? [True, True] Translation: X:575.06, Y:6.25, Z:3.96 [[ 9.98012665e-01 -6.15861507e-02 -1.33366339e-02 5.75059075e+02] [ 6.15884123e-02 9.98101603e-01 -2.41457141e-04 6.24693597e+00] [ 1.33261861e-02 -5.80404824e-04 9.99911034e-01 3.96036988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.949254154 meters 0.021226476388513483 Centerline is valid? [True, True] Translation: X:575.09, Y:6.25, Z:3.96 [[ 9.98282206e-01 -5.71079553e-02 -1.30888589e-02 5.75089145e+02] [ 5.71097544e-02 9.98367878e-01 -2.36580540e-04 6.25419546e+00] [ 1.30810069e-02 -5.11327375e-04 9.99914309e-01 3.96097465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9792541539999 meters 0.02036399311713718 Centerline is valid? [True, True] Translation: X:575.12, Y:6.26, Z:3.96 [[ 9.98374149e-01 -5.53542924e-02 -1.36000531e-02 5.75121359e+02] [ 5.53560788e-02 9.98466647e-01 -2.45338285e-04 6.25826613e+00] [ 1.35927800e-02 -5.07906211e-04 9.99907485e-01 3.96089153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0092541539999 meters 0.021202131322727774 Centerline is valid? [True, True] Translation: X:575.15, Y:6.26, Z:3.96 [[ 9.98456183e-01 -5.37225527e-02 -1.41116263e-02 5.75152330e+02] [ 5.37243261e-02 9.98555773e-01 -2.53660467e-04 6.25930039e+00] [ 1.41048732e-02 -5.04868749e-04 9.99900394e-01 3.96013888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0392541539999 meters 0.019694307386817402 Centerline is valid? [True, True] Translation: X:575.18, Y:6.26, Z:3.96 [[ 9.98575814e-01 -5.12846929e-02 -1.47045795e-02 5.75184200e+02] [ 5.12863663e-02 9.98683954e-01 -2.63517572e-04 6.26498792e+00] [ 1.46987420e-02 -4.91002179e-04 9.99891847e-01 3.95957609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.069254154 meters 0.01954577741641166 Centerline is valid? [True, True] Translation: X:575.22, Y:6.27, Z:3.96 [[ 9.98607748e-01 -5.06463583e-02 -1.47483070e-02 5.75215916e+02] [ 5.06479816e-02 9.98716533e-01 -2.63657356e-04 6.26686008e+00] [ 1.47427313e-02 -4.83681705e-04 9.99891203e-01 3.95932385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0992541539999 meters 0.017586605188746274 Centerline is valid? [True, True] Translation: X:575.25, Y:6.27, Z:3.96 [[ 9.98635343e-01 -5.00955900e-02 -1.47608656e-02 5.75247975e+02] [ 5.00971681e-02 9.98744314e-01 -2.63057794e-04 6.27141467e+00] [ 1.47555086e-02 -4.76778753e-04 9.99891018e-01 3.95984868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1292541539999 meters 0.018029607482758964 Centerline is valid? [True, True] Translation: X:575.28, Y:6.27, Z:3.96 [[ 9.98681473e-01 -4.91805074e-02 -1.47170844e-02 5.75278872e+02] [ 4.91819908e-02 9.98789799e-01 -2.61336662e-04 6.27382687e+00] [ 1.47121265e-02 -4.62823428e-04 9.99891664e-01 3.95992129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1592541539999 meters 0.01818422353458115 Centerline is valid? [True, True] Translation: X:575.31, Y:6.28, Z:3.96 [[ 9.98703527e-01 -4.87363870e-02 -1.46979315e-02 5.75311238e+02] [ 4.87378324e-02 9.98811572e-01 -2.60051409e-04 6.27546932e+00] [ 1.46931380e-02 -4.56631061e-04 9.99891946e-01 3.96030923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.189254154 meters 0.017311749183481905 Centerline is valid? [True, True] Translation: X:575.34, Y:6.28, Z:3.96 [[ 9.98725724e-01 -4.83550799e-02 -1.44469626e-02 5.75343797e+02] [ 4.83564517e-02 9.98830110e-01 -2.54556699e-04 6.27859245e+00] [ 1.44423703e-02 -4.44371524e-04 9.99895605e-01 3.96087801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2192541539999 meters 0.019123826709588655 Centerline is valid? [True, True] Translation: X:575.37, Y:6.28, Z:3.96 [[ 9.98766586e-01 -4.76644082e-02 -1.39072324e-02 5.75374625e+02] [ 4.76656247e-02 9.98863318e-01 -2.44161873e-04 6.27725073e+00] [ 1.39030621e-02 -4.19036201e-04 9.99903260e-01 3.96041834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2492541539999 meters 0.019250290884003783 Centerline is valid? [True, True] Translation: X:575.41, Y:6.28, Z:3.96 [[ 9.98781858e-01 -4.73559943e-02 -1.38640154e-02 5.75406091e+02] [ 4.73571823e-02 9.98877990e-01 -2.42776339e-04 6.27833557e+00] [ 1.38599568e-02 -4.14080102e-04 9.99903860e-01 3.96067668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2792541539999 meters 0.01911422668002412 Centerline is valid? [True, True] Translation: X:575.44, Y:6.28, Z:3.96 [[ 9.98799058e-01 -4.71711386e-02 -1.32410244e-02 5.75437080e+02] [ 4.71722119e-02 9.98886745e-01 -2.31414546e-04 6.27919753e+00] [ 1.32371999e-02 -3.93471781e-04 9.99912307e-01 3.96099712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.309254154 meters 0.02006928833487997 Centerline is valid? [True, True] Translation: X:575.47, Y:6.28, Z:3.96 [[ 9.98777562e-01 -4.78779645e-02 -1.22915585e-02 5.75468606e+02] [ 4.78789492e-02 9.98853122e-01 -2.14315850e-04 6.27869419e+00] [ 1.22877226e-02 -3.74453043e-04 9.99924433e-01 3.96177480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.339254154 meters 0.02093340884055714 Centerline is valid? [True, True] Translation: X:575.50, Y:6.28, Z:3.96 [[ 9.98748357e-01 -4.86246771e-02 -1.17200421e-02 5.75500477e+02] [ 4.86256315e-02 9.98817054e-01 -2.03677848e-04 6.27778099e+00] [ 1.17160817e-02 -3.66471531e-04 9.99931297e-01 3.96229198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3692541539999 meters 0.02135286638291821 Centerline is valid? [True, True] Translation: X:575.53, Y:6.28, Z:3.96 [[ 9.98712444e-01 -4.94252906e-02 -1.14278429e-02 5.75532286e+02] [ 4.94262592e-02 9.98777756e-01 -1.97830035e-04 6.27714614e+00] [ 1.14236531e-02 -3.67260209e-04 9.99934680e-01 3.96221391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3992541539999 meters 0.019748282666350387 Centerline is valid? [True, True] Translation: X:575.56, Y:6.28, Z:3.96 [[ 9.98623822e-01 -5.13283192e-02 -1.07640646e-02 5.75564324e+02] [ 5.13292967e-02 9.98681766e-01 -1.85614249e-04 6.27952316e+00] [ 1.07594023e-02 -3.67153054e-04 9.99942049e-01 3.96232330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.429254154 meters 0.023503993786583653 Centerline is valid? [True, True] Translation: X:575.60, Y:6.27, Z:3.96 [[ 9.98577808e-01 -5.22638679e-02 -1.05285501e-02 5.75595392e+02] [ 5.22648623e-02 9.98633242e-01 -1.80864262e-04 6.27344743e+00] [ 1.05236128e-02 -3.69666185e-04 9.99944557e-01 3.96165135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.459254154 meters 0.024355123524023043 Centerline is valid? [True, True] Translation: X:575.63, Y:6.27, Z:3.96 [[ 9.98541512e-01 -5.28894078e-02 -1.08425202e-02 5.75626092e+02] [ 5.28905048e-02 9.98600300e-01 -1.85739634e-04 6.27235373e+00] [ 1.08371676e-02 -3.87997631e-04 9.99941201e-01 3.96109549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4892541539999 meters 0.020931899020731563 Centerline is valid? [True, True] Translation: X:575.66, Y:6.28, Z:3.96 [[ 9.98495383e-01 -5.36802536e-02 -1.11982340e-02 5.75657643e+02] [ 5.36814787e-02 9.98558092e-01 -1.91361791e-04 6.27797040e+00] [ 1.11923596e-02 -4.10063897e-04 9.99937279e-01 3.96102903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5192541539999 meters 0.02031441737193062 Centerline is valid? [True, True] Translation: X:575.69, Y:6.28, Z:3.96 [[ 9.98457645e-01 -5.41832348e-02 -1.21040414e-02 5.75690226e+02] [ 5.41847127e-02 9.98530908e-01 -2.06048909e-04 6.28001840e+00] [ 1.20974239e-02 -4.50122897e-04 9.99926722e-01 3.96039804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5492541539999 meters 0.026266069888581225 Centerline is valid? [True, True] Translation: X:575.72, Y:6.27, Z:3.96 [[ 9.98453430e-01 -5.41894054e-02 -1.24199922e-02 5.75721943e+02] [ 5.41909723e-02 9.98530567e-01 -2.10594446e-04 6.27125742e+00] [ 1.24131539e-02 -4.62782707e-04 9.99922847e-01 3.95862444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.579254154 meters 0.020293997996666265 Centerline is valid? [True, True] Translation: X:575.75, Y:6.28, Z:3.96 [[ 9.98468956e-01 -5.38485600e-02 -1.26520943e-02 5.75753821e+02] [ 5.38501690e-02 9.98549004e-01 -2.13712873e-04 6.28128031e+00] [ 1.26452443e-02 -4.67931748e-04 9.99919936e-01 3.96013236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6092541539999 meters 0.020679657475828356 Centerline is valid? [True, True] Translation: X:575.78, Y:6.28, Z:3.96 [[ 9.98478300e-01 -5.37288385e-02 -1.24215875e-02 5.75784823e+02] [ 5.37303903e-02 9.98555457e-01 -2.09008281e-04 6.28148236e+00] [ 1.24148738e-02 -4.58726512e-04 9.99922827e-01 3.96023230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6392541539999 meters 0.020691858323631813 Centerline is valid? [True, True] Translation: X:575.82, Y:6.28, Z:3.96 [[ 9.98492967e-01 -5.34873752e-02 -1.22839829e-02 5.75817029e+02] [ 5.34888840e-02 9.98568424e-01 -2.05917846e-04 6.28235411e+00] [ 1.22774115e-02 -4.51449016e-04 9.99924528e-01 3.96037060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6692541539999 meters 0.020959979397000027 Centerline is valid? [True, True] Translation: X:575.85, Y:6.28, Z:3.96 [[ 9.98513020e-01 -5.31716982e-02 -1.20216510e-02 5.75849507e+02] [ 5.31731309e-02 9.98585288e-01 -2.00645842e-04 6.28316554e+00] [ 1.20153125e-02 -4.38881336e-04 9.99927717e-01 3.96049748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.699254154 meters 0.020442352828555235 Centerline is valid? [True, True] Translation: X:575.88, Y:6.29, Z:3.96 [[ 9.98520642e-01 -5.29793104e-02 -1.22360091e-02 5.75881379e+02] [ 5.29807914e-02 9.98595511e-01 -2.03309976e-04 6.28504364e+00] [ 1.22295950e-02 -4.45264239e-04 9.99925117e-01 3.96020646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7292541539999 meters 0.021082712668897947 Centerline is valid? [True, True] Translation: X:575.91, Y:6.29, Z:3.96 [[ 9.98522111e-01 -5.28955092e-02 -1.24763153e-02 5.75913555e+02] [ 5.28970541e-02 9.98599949e-01 -2.06365081e-04 6.28511415e+00] [ 1.24697636e-02 -4.53900229e-04 9.99922146e-01 3.96045462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7592541539999 meters 0.022688304124530868 Centerline is valid? [True, True] Translation: X:575.94, Y:6.28, Z:3.96 [[ 9.98497167e-01 -5.34238302e-02 -1.22189538e-02 5.75944311e+02] [ 5.34253600e-02 9.98571825e-01 -2.01409086e-04 6.28228852e+00] [ 1.22122630e-02 -4.51695603e-04 9.99925326e-01 3.95989564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7892541539999 meters 0.02255535617836071 Centerline is valid? [True, True] Translation: X:575.98, Y:6.28, Z:3.96 [[ 9.98443606e-01 -5.42904300e-02 -1.27637844e-02 5.75976154e+02] [ 5.42921789e-02 9.98525070e-01 -2.09696147e-04 6.28422652e+00] [ 1.27563432e-02 -4.83603888e-04 9.99918518e-01 3.96037889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.819254154 meters 0.022269129966058288 Centerline is valid? [True, True] Translation: X:576.01, Y:6.28, Z:3.96 [[ 9.98429170e-01 -5.45023166e-02 -1.29880464e-02 5.76008419e+02] [ 5.45041578e-02 9.98513521e-01 -2.12424745e-04 6.28445510e+00] [ 1.29803175e-02 -4.95811467e-04 9.99915629e-01 3.95992397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8492541539999 meters 0.022913238506848226 Centerline is valid? [True, True] Translation: X:576.04, Y:6.28, Z:3.96 [[ 9.98408781e-01 -5.47548329e-02 -1.34838381e-02 5.76039173e+02] [ 5.47568522e-02 9.98499694e-01 -2.19653814e-04 6.28398360e+00] [ 1.34756354e-02 -5.19028235e-04 9.99909065e-01 3.95957676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8792541539999 meters 0.02254917074413371 Centerline is valid? [True, True] Translation: X:576.07, Y:6.29, Z:3.96 [[ 9.98415481e-01 -5.46397819e-02 -1.34544189e-02 5.76071621e+02] [ 5.46417934e-02 9.98505997e-01 -2.18324396e-04 6.28585504e+00] [ 1.34462471e-02 -5.17195121e-04 9.99909461e-01 3.95988347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9092541539999 meters 0.02347121276909168 Centerline is valid? [True, True] Translation: X:576.10, Y:6.28, Z:3.96 [[ 9.98441495e-01 -5.42327303e-02 -1.31678307e-02 5.76102628e+02] [ 5.42346326e-02 9.98528197e-01 -2.12842628e-04 6.28478789e+00] [ 1.31599933e-02 -5.01641548e-04 9.99913278e-01 3.96018370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.939254154 meters 0.024005235864644696 Centerline is valid? [True, True] Translation: X:576.13, Y:6.28, Z:3.96 [[ 9.98473375e-01 -5.37945807e-02 -1.25324514e-02 5.76134243e+02] [ 5.37962776e-02 9.98551911e-01 -2.01919131e-04 6.28451345e+00] [ 1.25251654e-02 -4.72588356e-04 9.99921445e-01 3.96058135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9692541539999 meters 0.021002546940281076 Centerline is valid? [True, True] Translation: X:576.17, Y:6.29, Z:3.96 [[ 9.98601463e-01 -5.17073592e-02 -1.10211993e-02 5.76165340e+02] [ 5.17085498e-02 9.98662202e-01 -1.77096013e-04 6.29097263e+00] [ 1.10156123e-02 -3.93041895e-04 9.99939249e-01 3.96225560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9992541539999 meters 0.020678742950715024 Centerline is valid? [True, True] Translation: X:576.20, Y:6.29, Z:3.96 [[ 9.98703017e-01 -4.98334959e-02 -1.04358507e-02 5.76197388e+02] [ 4.98344664e-02 9.98757477e-01 -1.67186848e-04 6.29255767e+00] [ 1.04312154e-02 -3.53095043e-04 9.99945531e-01 3.96226193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0292541539999 meters 0.020216894859596213 Centerline is valid? [True, True] Translation: X:576.23, Y:6.29, Z:3.96 [[ 9.98820545e-01 -4.74776887e-02 -1.01679872e-02 5.76229966e+02] [ 4.74784962e-02 9.98872247e-01 -1.62100001e-04 6.29424708e+00] [ 1.01642164e-02 -3.20851931e-04 9.99948292e-01 3.96223701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.059254154 meters 0.01877298846485343 Centerline is valid? [True, True] Translation: X:576.26, Y:6.30, Z:3.96 [[ 9.99096466e-01 -4.13977628e-02 -9.61647685e-03 5.76259332e+02] [ 4.13982088e-02 9.99142715e-01 -1.52755933e-04 6.29796035e+00] [ 9.61455654e-03 -2.45487003e-04 9.99953749e-01 3.96165275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.089254154 meters 0.01833418103977206 Centerline is valid? [True, True] Translation: X:576.29, Y:6.30, Z:3.96 [[ 9.99214864e-01 -3.84273043e-02 -9.64351358e-03 5.76290167e+02] [ 3.84276148e-02 9.99261375e-01 -1.53164686e-04 6.30003325e+00] [ 9.64227634e-03 -2.17532794e-04 9.99953489e-01 3.96158668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1192541539999 meters 0.01752271114029755 Centerline is valid? [True, True] Translation: X:576.32, Y:6.30, Z:3.96 [[ 9.99333917e-01 -3.52630890e-02 -9.39340973e-03 5.76322020e+02] [ 3.52632485e-02 9.99378047e-01 -1.48694609e-04 6.30253165e+00] [ 9.39281090e-03 -1.82646575e-04 9.99955870e-01 3.96151783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1492541539999 meters 0.01710164082395991 Centerline is valid? [True, True] Translation: X:576.35, Y:6.30, Z:3.96 [[ 9.99420886e-01 -3.27078752e-02 -9.38551367e-03 5.76354494e+02] [ 3.27079269e-02 9.99464942e-01 -1.48020163e-04 6.30443171e+00] [ 9.38533330e-03 -1.59046253e-04 9.99955944e-01 3.96163242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.179254154 meters 0.016578511847584135 Centerline is valid? [True, True] Translation: X:576.39, Y:6.31, Z:3.96 [[ 9.99531114e-01 -2.91955559e-02 -9.22881420e-03 5.76385340e+02] [ 2.91954615e-02 9.99573711e-01 -1.44980566e-04 6.30598350e+00] [ 9.22911285e-03 -1.24526902e-04 9.99957403e-01 3.96172848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.209254154 meters 0.016178022754036785 Centerline is valid? [True, True] Translation: X:576.42, Y:6.31, Z:3.96 [[ 9.99552353e-01 -2.85595063e-02 -8.91338741e-03 5.76416752e+02] [ 2.85593957e-02 9.99592087e-01 -1.39715580e-04 6.30772071e+00] [ 8.91374174e-03 -1.14907922e-04 9.99960265e-01 3.96181777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2392541539999 meters 0.016249887474597366 Centerline is valid? [True, True] Translation: X:576.45, Y:6.31, Z:3.96 [[ 9.99548598e-01 -2.86386568e-02 -9.07891844e-03 5.76448315e+02] [ 2.86385484e-02 9.99589823e-01 -1.41970058e-04 6.30736765e+00] [ 9.07926031e-03 -1.18101073e-04 9.99958776e-01 3.96169375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2692541539999 meters 0.01655158458742331 Centerline is valid? [True, True] Translation: X:576.48, Y:6.31, Z:3.96 [[ 9.99519426e-01 -2.94956381e-02 -9.53540144e-03 5.76479849e+02] [ 2.94955615e-02 9.99564900e-01 -1.48697203e-04 6.30586240e+00] [ 9.53563851e-03 -1.32626276e-04 9.99954526e-01 3.96090368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2992541539999 meters 0.016709701475960195 Centerline is valid? [True, True] Translation: X:576.51, Y:6.30, Z:3.96 [[ 9.99420868e-01 -3.23549798e-02 -1.05395975e-02 5.76511909e+02] [ 3.23550523e-02 9.99476425e-01 -1.63669165e-04 6.30306483e+00] [ 1.05393748e-02 -1.77434851e-04 9.99944444e-01 3.95914874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.329254154 meters 0.017510088327733216 Centerline is valid? [True, True] Translation: X:576.54, Y:6.30, Z:3.96 [[ 9.99331735e-01 -3.48620661e-02 -1.09872109e-02 5.76543516e+02] [ 3.48623048e-02 9.99392111e-01 -1.69864166e-04 6.30054381e+00] [ 1.09864537e-02 -2.13288845e-04 9.99939624e-01 3.95854369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3592541539999 meters 0.0185209369561304 Centerline is valid? [True, True] Translation: X:576.57, Y:6.30, Z:3.96 [[ 9.99113304e-01 -4.02983694e-02 -1.21920700e-02 5.76574693e+02] [ 4.02990741e-02 9.99187645e-01 -1.87972560e-04 6.29571008e+00] [ 1.21897407e-02 -3.03523247e-04 9.99925656e-01 3.95700309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3892541539999 meters 0.019238504348806303 Centerline is valid? [True, True] Translation: X:576.61, Y:6.29, Z:3.96 [[ 9.98998267e-01 -4.29794442e-02 -1.24591221e-02 5.76606094e+02] [ 4.29803925e-02 9.99075898e-01 -1.91759314e-04 6.29352691e+00] [ 1.24558503e-02 -3.43930735e-04 9.99922364e-01 3.95661799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4192541539999 meters 0.020343468357334867 Centerline is valid? [True, True] Translation: X:576.64, Y:6.29, Z:3.96 [[ 9.98888117e-01 -4.55077455e-02 -1.23115910e-02 5.76636952e+02] [ 4.55088688e-02 9.98963917e-01 -1.89043775e-04 6.29105004e+00] [ 1.23074381e-02 -3.71453000e-04 9.99924192e-01 3.95644356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.449254154 meters 0.022010996976459418 Centerline is valid? [True, True] Translation: X:576.67, Y:6.29, Z:3.96 [[ 9.98698853e-01 -4.96644482e-02 -1.15776906e-02 5.76666948e+02] [ 4.96657232e-02 9.98765881e-01 -1.77537831e-04 6.28676709e+00] [ 1.15722197e-02 -3.97707548e-04 9.99932961e-01 3.95708057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4792541539999 meters 0.021348282431917276 Centerline is valid? [True, True] Translation: X:576.70, Y:6.29, Z:3.96 [[ 9.98637794e-01 -5.09864112e-02 -1.10879382e-02 5.76699518e+02] [ 5.09876654e-02 9.98699269e-01 -1.69720614e-04 6.28796503e+00] [ 1.10821692e-02 -3.95858665e-04 9.99938513e-01 3.95835934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5092541539999 meters 0.023411150681954096 Centerline is valid? [True, True] Translation: X:576.73, Y:6.29, Z:3.96 [[ 9.98604686e-01 -5.18074465e-02 -1.02307975e-02 5.76731165e+02] [ 5.18085661e-02 9.98657022e-01 -1.55745167e-04 6.28504800e+00] [ 1.02251265e-02 -3.74515094e-04 9.99947652e-01 3.95884245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5392541539999 meters 0.02383940677065937 Centerline is valid? [True, True] Translation: X:576.76, Y:6.28, Z:3.96 [[ 9.98603009e-01 -5.20590700e-02 -9.04897055e-03 5.76762149e+02] [ 5.20599636e-02 9.98643951e-01 -1.36930804e-04 6.28482643e+00] [ 9.04382819e-03 -3.34349565e-04 9.99959048e-01 3.96012378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.569254154 meters 0.02383940677065937 Centerline is valid? [True, True] Translation: X:576.79, Y:6.29, Z:3.96 [[ 9.98606649e-01 -5.19891874e-02 -9.04897830e-03 5.76793854e+02] [ 5.19900828e-02 9.98647592e-01 -1.36417183e-04 6.28524053e+00] [ 9.04383260e-03 -3.34230025e-04 9.99959048e-01 3.96034341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5992541539999 meters 0.02378381409032043 Centerline is valid? [True, True] Translation: X:576.83, Y:6.29, Z:3.96 [[ 9.98625279e-01 -5.16561965e-02 -8.89882516e-03 5.76826549e+02] [ 5.16570551e-02 9.98664874e-01 -1.33486848e-04 6.28598915e+00] [ 8.89383953e-03 -3.26383761e-04 9.99960396e-01 3.96084376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6292541539999 meters 0.022105769056255158 Centerline is valid? [True, True] Translation: X:576.86, Y:6.29, Z:3.96 [[ 9.98660358e-01 -5.10603669e-02 -8.38624093e-03 5.76858544e+02] [ 5.10611146e-02 9.98695523e-01 -1.25062301e-04 6.28938398e+00] [ 8.38168699e-03 -3.03316047e-04 9.99964827e-01 3.96122422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6592541539999 meters 0.023739964626942684 Centerline is valid? [True, True] Translation: X:576.89, Y:6.29, Z:3.96 [[ 9.98784985e-01 -4.85987984e-02 -8.16760497e-03 5.76890065e+02] [ 4.85994302e-02 9.98818342e-01 -1.21219963e-04 6.28782746e+00] [ 8.16384480e-03 -2.75868269e-04 9.99966637e-01 3.96138259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.689254154 meters 0.02041779891620661 Centerline is valid? [True, True] Translation: X:576.92, Y:6.29, Z:3.96 [[ 9.98858008e-01 -4.70631305e-02 -8.23048012e-03 5.76922451e+02] [ 4.70637249e-02 9.98891882e-01 -1.21556132e-04 6.29453939e+00] [ 8.22708058e-03 -2.65939736e-04 9.99966122e-01 3.96153483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7192541539999 meters 0.019829022529159298 Centerline is valid? [True, True] Translation: X:576.96, Y:6.30, Z:3.96 [[ 9.98961254e-01 -4.47709063e-02 -8.48407176e-03 5.76955182e+02] [ 4.47714610e-02 9.98997248e-01 -1.24624825e-04 6.29615394e+00] [ 8.48114390e-03 -2.55348917e-04 9.99964002e-01 3.96155817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7492541539999 meters 0.01955431293380182 Centerline is valid? [True, True] Translation: X:576.99, Y:6.30, Z:3.96 [[ 9.99050469e-01 -4.26946235e-02 -8.67921134e-03 5.76987125e+02] [ 4.26951325e-02 9.99088139e-01 -1.26706520e-04 6.29782839e+00] [ 8.67670679e-03 -2.43973870e-04 9.99962327e-01 3.96128322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7792541539999 meters 0.02025243050049164 Centerline is valid? [True, True] Translation: X:577.02, Y:6.30, Z:3.96 [[ 9.99244000e-01 -3.78475617e-02 -8.88761723e-03 5.77017945e+02] [ 3.78479092e-02 9.99283503e-01 -1.29155428e-04 6.30084014e+00] [ 8.88613749e-03 -2.07319943e-04 9.99960496e-01 3.96125360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.809254154 meters 0.0181908885129143 Centerline is valid? [True, True] Translation: X:577.05, Y:6.30, Z:3.96 [[ 9.99293419e-01 -3.62293242e-02 -1.00049110e-02 5.77050419e+02] [ 3.62296885e-02 9.99343479e-01 -1.44884763e-04 6.30190935e+00] [ 1.00035917e-02 -2.17692420e-04 9.99949939e-01 3.96036292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.839254154 meters 0.01805817112292914 Centerline is valid? [True, True] Translation: X:577.08, Y:6.30, Z:3.96 [[ 9.99339781e-01 -3.48127536e-02 -1.03958771e-02 5.77082120e+02] [ 3.48130770e-02 9.99393830e-01 -1.49904081e-04 6.30268068e+00] [ 1.03947940e-02 -2.12107358e-04 9.99945950e-01 3.95982084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8692541539999 meters 0.017546617676582176 Centerline is valid? [True, True] Translation: X:577.11, Y:6.30, Z:3.96 [[ 9.99412287e-01 -3.24049304e-02 -1.11803851e-02 5.77112145e+02] [ 3.24051600e-02 9.99474802e-01 -1.60668468e-04 6.30282626e+00] [ 1.11797197e-02 -2.01728128e-04 9.99937485e-01 3.95883403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8992541539999 meters 0.017364004194504918 Centerline is valid? [True, True] Translation: X:577.14, Y:6.30, Z:3.96 [[ 9.99426898e-01 -3.17646863e-02 -1.16995948e-02 5.77143671e+02] [ 3.17649014e-02 9.99495354e-01 -1.67480647e-04 6.30333575e+00] [ 1.16990106e-02 -2.04251812e-04 9.99931543e-01 3.95878513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.929254154 meters 0.01742742639979634 Centerline is valid? [True, True] Translation: X:577.17, Y:6.30, Z:3.96 [[ 9.99435214e-01 -3.13612931e-02 -1.20715271e-02 5.77173904e+02] [ 3.13614995e-02 9.99508092e-01 -1.72251025e-04 6.30346464e+00] [ 1.20709910e-02 -2.06427450e-04 9.99927122e-01 3.95861704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.959254154 meters 0.017405529930953817 Centerline is valid? [True, True] Translation: X:577.20, Y:6.30, Z:3.96 [[ 9.99429367e-01 -3.11966050e-02 -1.29503611e-02 5.77204028e+02] [ 3.11968388e-02 9.99513243e-01 -1.84010757e-04 6.30246557e+00] [ 1.29497980e-02 -2.20104573e-04 9.99916124e-01 3.95793696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9892541539999 meters 0.018752888910154763 Centerline is valid? [True, True] Translation: X:577.23, Y:6.30, Z:3.96 [[ 9.99425693e-01 -3.12115790e-02 -1.31955322e-02 5.77234860e+02] [ 3.12118283e-02 9.99512775e-01 -1.87092428e-04 6.30188563e+00] [ 1.31949425e-02 -2.24871708e-04 9.99912918e-01 3.95792916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0192541539999 meters 0.01765633997174711 Centerline is valid? [True, True] Translation: X:577.27, Y:6.30, Z:3.96 [[ 9.99376837e-01 -3.25744425e-02 -1.35957058e-02 5.77265610e+02] [ 3.25748332e-02 9.99469281e-01 -1.92766276e-04 6.30087613e+00] [ 1.35947696e-02 -2.50231698e-04 9.99907556e-01 3.95781988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0492541539999 meters 0.017674820399938368 Centerline is valid? [True, True] Translation: X:577.30, Y:6.30, Z:3.96 [[ 9.99274948e-01 -3.53501618e-02 -1.41401816e-02 5.77295840e+02] [ 3.53508622e-02 9.99374943e-01 -2.00486109e-04 6.29932481e+00] [ 1.41384304e-02 -2.99526867e-04 9.99900003e-01 3.95863929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.079254154 meters 0.018110321690831967 Centerline is valid? [True, True] Translation: X:577.33, Y:6.30, Z:3.96 [[ 9.99216393e-01 -3.71639668e-02 -1.36176471e-02 5.77326474e+02] [ 3.71647848e-02 9.99309132e-01 -1.93077369e-04 6.29915110e+00] [ 1.36154146e-02 -3.13170849e-04 9.99907257e-01 3.95942370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1092541539999 meters 0.01892418457359308 Centerline is valid? [True, True] Translation: X:577.36, Y:6.30, Z:3.96 [[ 9.99115049e-01 -3.98812813e-02 -1.33641867e-02 5.77356411e+02] [ 3.98823120e-02 9.99204366e-01 -1.89483690e-04 6.29530770e+00] [ 1.33611105e-02 -3.43678657e-04 9.99910677e-01 3.95977453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1392541539999 meters 0.01956158737501581 Centerline is valid? [True, True] Translation: X:577.39, Y:6.29, Z:3.96 [[ 9.98858411e-01 -4.61195302e-02 -1.24444548e-02 5.77387179e+02] [ 4.61209087e-02 9.98935849e-01 -1.76341235e-04 6.29144253e+00] [ 1.24393448e-02 -3.97809638e-04 9.99922549e-01 3.96134006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1692541539999 meters 0.020720707963727415 Centerline is valid? [True, True] Translation: X:577.42, Y:6.29, Z:3.96 [[ 9.98671756e-01 -5.00992032e-02 -1.20330576e-02 5.77418311e+02] [ 5.01007832e-02 9.98744153e-01 -1.70293251e-04 6.28850476e+00] [ 1.20264775e-02 -4.32798549e-04 9.99927586e-01 3.96185775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.199254154 meters 0.022748690979690456 Centerline is valid? [True, True] Translation: X:577.45, Y:6.28, Z:3.96 [[ 9.98481112e-01 -5.38193236e-02 -1.17876402e-02 5.77448554e+02] [ 5.38211011e-02 9.98550580e-01 -1.66605339e-04 6.28405459e+00] [ 1.17795216e-02 -4.68071493e-04 9.99930509e-01 3.96248915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2292541539999 meters 0.025172268854426413 Centerline is valid? [True, True] Translation: X:577.48, Y:6.28, Z:3.96 [[ 9.98275333e-01 -5.76548846e-02 -1.10577676e-02 5.77478388e+02] [ 5.76566850e-02 9.98336457e-01 -1.56170074e-04 6.27992637e+00] [ 1.10483765e-02 -4.81653489e-04 9.99938849e-01 3.96309257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2592541539999 meters 0.02680350339079538 Centerline is valid? [True, True] Translation: X:577.51, Y:6.28, Z:3.96 [[ 9.97849548e-01 -6.47368775e-02 -1.02672627e-02 5.77509219e+02] [ 6.47388036e-02 9.97902233e-01 -1.44995774e-04 6.27621898e+00] [ 1.02551109e-02 -5.20006335e-04 9.99947280e-01 3.96481437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2892541539999 meters 0.02806442964142118 Centerline is valid? [True, True] Translation: X:577.54, Y:6.27, Z:3.97 [[ 9.97643575e-01 -6.78090387e-02 -1.04513792e-02 5.77540248e+02] [ 6.78112044e-02 9.97698160e-01 -1.47418085e-04 6.27446112e+00] [ 1.04373181e-02 -5.61649907e-04 9.99945372e-01 3.96541038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.319254154 meters 0.02921369440723839 Centerline is valid? [True, True] Translation: X:577.57, Y:6.27, Z:3.97 [[ 9.97455745e-01 -7.04602788e-02 -1.08345114e-02 5.77571773e+02] [ 7.04627671e-02 9.97514399e-01 -1.52360674e-04 6.27301784e+00] [ 1.08183165e-02 -6.11456625e-04 9.99941293e-01 3.96605764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3492541539999 meters 0.031240835651854308 Centerline is valid? [True, True] Translation: X:577.60, Y:6.27, Z:3.97 [[ 9.97291187e-01 -7.27513084e-02 -1.08413472e-02 5.77601784e+02] [ 7.27539375e-02 9.97349909e-01 -1.52205281e-04 6.27076128e+00] [ 1.08236898e-02 -6.36957712e-04 9.99941219e-01 3.96628143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3792541539999 meters 0.033503135420650185 Centerline is valid? [True, True] Translation: X:577.63, Y:6.27, Z:3.97 [[ 9.97104259e-01 -7.51311274e-02 -1.17647746e-02 5.77632749e+02] [ 7.51343896e-02 9.97173403e-01 -1.65082915e-04 6.26938063e+00] [ 1.17439232e-02 -7.19334278e-04 9.99930779e-01 3.96587769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4092541539999 meters 0.034013321743081366 Centerline is valid? [True, True] Translation: X:577.66, Y:6.27, Z:3.97 [[ 9.97009085e-01 -7.62951679e-02 -1.23260900e-02 5.77664245e+02] [ 7.62988426e-02 9.97084980e-01 -1.72540056e-04 6.26850584e+00] [ 1.23033231e-02 -7.68442394e-04 9.99924016e-01 3.96637233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.439254154 meters 0.031172587947050707 Centerline is valid? [True, True] Translation: X:577.70, Y:6.27, Z:3.97 [[ 9.96991002e-01 -7.64666094e-02 -1.27200618e-02 5.77696053e+02] [ 7.64705469e-02 9.97071825e-01 -1.77246608e-04 6.27410050e+00] [ 1.26963687e-02 -7.95996813e-04 9.99919081e-01 3.96775280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4692541539999 meters 0.03388525323794188 Centerline is valid? [True, True] Translation: X:577.73, Y:6.27, Z:3.97 [[ 9.97055676e-01 -7.55315089e-02 -1.32276479e-02 5.77726898e+02] [ 7.55356966e-02 9.97143081e-01 -1.83446020e-04 6.27182419e+00] [ 1.32037135e-02 -8.16253701e-04 9.99912494e-01 3.96750505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4992541539999 meters 0.02998218626184249 Centerline is valid? [True, True] Translation: X:577.76, Y:6.28, Z:3.97 [[ 9.97137464e-01 -7.43561372e-02 -1.37128403e-02 5.77758887e+02] [ 7.43605392e-02 9.97231405e-01 -1.89283064e-04 6.27844071e+00] [ 1.36889493e-02 -8.30952963e-04 9.99905957e-01 3.96831683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5292541539999 meters 0.02950338917883322 Centerline is valid? [True, True] Translation: X:577.79, Y:6.28, Z:3.97 [[ 9.97254812e-01 -7.27026526e-02 -1.40415440e-02 5.77790133e+02] [ 7.27071159e-02 9.97353317e-01 -1.93036569e-04 6.28056346e+00] [ 1.40184147e-02 -8.28413518e-04 9.99901394e-01 3.96836133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.559254154 meters 0.03277354147194881 Centerline is valid? [True, True] Translation: X:577.82, Y:6.28, Z:3.97 [[ 9.97486966e-01 -6.91470248e-02 -1.54415473e-02 5.77820275e+02] [ 6.91520023e-02 9.97606112e-01 -2.12002642e-04 6.27945512e+00] [ 1.54192413e-02 -8.56344039e-04 9.99880750e-01 3.96727276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.589254154 meters 0.03006586753217263 Centerline is valid? [True, True] Translation: X:577.85, Y:6.29, Z:3.97 [[ 9.97606365e-01 -6.72136381e-02 -1.62440052e-02 5.77851484e+02] [ 6.72188962e-02 9.97738227e-01 -2.22689490e-04 6.28536794e+00] [ 1.62222328e-02 -8.69747650e-04 9.99868033e-01 3.96761780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6192541539999 meters 0.026131000207197465 Centerline is valid? [True, True] Translation: X:577.88, Y:6.29, Z:3.97 [[ 9.97714750e-01 -6.54611799e-02 -1.67365266e-02 5.77883306e+02] [ 6.54665293e-02 9.97854740e-01 -2.28645282e-04 6.29236960e+00] [ 1.67155898e-02 -8.67559537e-04 9.99859908e-01 3.96837844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6492541539999 meters 0.025103034852959755 Centerline is valid? [True, True] Translation: X:577.92, Y:6.30, Z:3.97 [[ 9.97905558e-01 -6.23512727e-02 -1.72283428e-02 5.77915316e+02] [ 6.23564961e-02 9.98053913e-01 -2.34361343e-04 6.29689924e+00] [ 1.72094277e-02 -8.40428606e-04 9.99851554e-01 3.96861425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.679254154 meters 0.02492074985371386 Centerline is valid? [True, True] Translation: X:577.95, Y:6.30, Z:3.97 [[ 9.97989811e-01 -6.08475672e-02 -1.77175322e-02 5.77946667e+02] [ 6.08528695e-02 9.98146718e-01 -2.40202806e-04 6.29858262e+00] [ 1.76993124e-02 -8.38442723e-04 9.99843003e-01 3.96878376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.709254154 meters 0.02474028375254082 Centerline is valid? [True, True] Translation: X:577.98, Y:6.30, Z:3.97 [[ 9.98080300e-01 -5.93978016e-02 -1.75389604e-02 5.77978384e+02] [ 5.94027886e-02 9.98234067e-01 -2.36954725e-04 6.30038758e+00] [ 1.75220624e-02 -8.05363315e-04 9.99846153e-01 3.96915831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7392541539999 meters 0.025405744464998676 Centerline is valid? [True, True] Translation: X:578.01, Y:6.30, Z:3.97 [[ 9.98228339e-01 -5.69080584e-02 -1.73682672e-02 5.78008691e+02] [ 5.69125825e-02 9.98379138e-01 -2.34085395e-04 6.30214873e+00] [ 1.73534370e-02 -7.54802267e-04 9.99849133e-01 3.96978047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7692541539999 meters 0.0244487991722582 Centerline is valid? [True, True] Translation: X:578.04, Y:6.30, Z:3.97 [[ 9.98319334e-01 -5.53219359e-02 -1.72624127e-02 5.78040140e+02] [ 5.53261767e-02 9.98468307e-01 -2.32168757e-04 6.30488469e+00] [ 1.72488160e-02 -7.23284739e-04 9.99850966e-01 3.97046099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7992541539999 meters 0.02293794921077798 Centerline is valid? [True, True] Translation: X:578.07, Y:6.31, Z:3.97 [[ 9.98416668e-01 -5.35440772e-02 -1.72391716e-02 5.78071607e+02] [ 5.35480526e-02 9.98565247e-01 -2.31241777e-04 6.30864248e+00] [ 1.72268193e-02 -6.92248424e-04 9.99851368e-01 3.97143693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.829254154 meters 0.02276204252883925 Centerline is valid? [True, True] Translation: X:578.10, Y:6.31, Z:3.97 [[ 9.98631684e-01 -4.94049953e-02 -1.71436949e-02 5.78101712e+02] [ 4.94083220e-02 9.98778637e-01 -2.29713731e-04 6.31101291e+00] [ 1.71341053e-02 -6.17641789e-04 9.99853010e-01 3.97110176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8592541539999 meters 0.020392588879711567 Centerline is valid? [True, True] Translation: X:578.13, Y:6.32, Z:3.97 [[ 9.98739009e-01 -4.70629049e-02 -1.74778136e-02 5.78133071e+02] [ 4.70660109e-02 9.98891754e-01 -2.33808256e-04 6.31579628e+00] [ 1.74694476e-02 -5.89097541e-04 9.99847224e-01 3.97245756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8892541539999 meters 0.01985473958067273 Centerline is valid? [True, True] Translation: X:578.16, Y:6.32, Z:3.97 [[ 9.98854525e-01 -4.45423257e-02 -1.74819931e-02 5.78163979e+02] [ 4.45450586e-02 9.99007349e-01 -2.33233671e-04 6.31812940e+00] [ 1.74750284e-02 -5.45769901e-04 9.99847151e-01 3.97244842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9192541539999 meters 0.019597127446670103 Centerline is valid? [True, True] Translation: X:578.19, Y:6.32, Z:3.97 [[ 9.99068641e-01 -3.91570467e-02 -1.81266677e-02 5.78194174e+02] [ 3.91591038e-02 9.99232959e-01 -2.41576342e-04 6.32091693e+00] [ 1.81222232e-02 -4.68472714e-04 9.99835669e-01 3.97142970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.949254154 meters 0.01857335116842034 Centerline is valid? [True, True] Translation: X:578.22, Y:6.32, Z:3.97 [[ 9.99155752e-01 -3.67337077e-02 -1.83961445e-02 5.78224147e+02] [ 3.67354089e-02 9.99324997e-01 -2.45556096e-04 6.32371096e+00] [ 1.83927472e-02 -4.30441103e-04 9.99830746e-01 3.97122181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9792541539999 meters 0.01675253323249473 Centerline is valid? [True, True] Translation: X:578.25, Y:6.33, Z:3.97 [[ 9.99228908e-01 -3.44998552e-02 -1.87443349e-02 5.78253961e+02] [ 3.45012161e-02 9.99404624e-01 -2.50866861e-04 6.32834526e+00] [ 1.87418298e-02 -3.96028927e-04 9.99824278e-01 3.97235352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0092541539999 meters 0.016186382153212005 Centerline is valid? [True, True] Translation: X:578.28, Y:6.33, Z:3.97 [[ 9.99269976e-01 -3.32381215e-02 -1.88346193e-02 5.78283965e+02] [ 3.32392587e-02 9.99447391e-01 -2.52758503e-04 6.33059906e+00] [ 1.88326123e-02 -3.73474800e-04 9.99822581e-01 3.97303575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0392541539999 meters 0.01576095965248576 Centerline is valid? [True, True] Translation: X:578.31, Y:6.33, Z:3.97 [[ 9.99303294e-01 -3.22877850e-02 -1.87196562e-02 5.78312876e+02] [ 3.22886806e-02 9.99478552e-01 -2.54479094e-04 6.33153878e+00] [ 1.87181114e-02 -3.50131203e-04 9.99824739e-01 3.97276763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.069254154 meters 0.01592670087414071 Centerline is valid? [True, True] Translation: X:578.34, Y:6.33, Z:3.97 [[ 9.99287554e-01 -3.28884308e-02 -1.85131008e-02 5.78341680e+02] [ 3.28893657e-02 9.99458966e-01 -2.54050686e-04 6.33095712e+00] [ 1.85114400e-02 -3.55014455e-04 9.99828586e-01 3.97260401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0992541539999 meters 0.016016099243589724 Centerline is valid? [True, True] Translation: X:578.37, Y:6.33, Z:3.97 [[ 9.99263559e-01 -3.37774661e-02 -1.82049916e-02 5.78370350e+02] [ 3.37784587e-02 9.99429313e-01 -2.53051084e-04 6.33071471e+00] [ 1.82031497e-02 -3.62071831e-04 9.99834243e-01 3.97293971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1292541539999 meters 0.016333196417700188 Centerline is valid? [True, True] Translation: X:578.40, Y:6.33, Z:3.97 [[ 9.99170182e-01 -3.68440056e-02 -1.73627955e-02 5.78399867e+02] [ 3.68453355e-02 9.99320950e-01 -2.43401940e-04 6.32922972e+00] [ 1.73599732e-02 -3.96538065e-04 9.99849226e-01 3.97335412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1592541539999 meters 0.016579133778006974 Centerline is valid? [True, True] Translation: X:578.43, Y:6.33, Z:3.97 [[ 9.99104795e-01 -3.88537268e-02 -1.67331025e-02 5.78430310e+02] [ 3.88552395e-02 9.99244822e-01 -2.34819254e-04 6.32816670e+00] [ 1.67295896e-02 -4.15559662e-04 9.99859964e-01 3.97367220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.189254154 meters 0.017790504120372745 Centerline is valid? [True, True] Translation: X:578.46, Y:6.33, Z:3.97 [[ 9.99012132e-01 -4.11429480e-02 -1.67933794e-02 5.78460709e+02] [ 4.11447979e-02 9.99153167e-01 -2.35483874e-04 6.32562631e+00] [ 1.67888467e-02 -4.55708955e-04 9.99858954e-01 3.97377263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2192541539999 meters 0.019522364259040036 Centerline is valid? [True, True] Translation: X:578.49, Y:6.32, Z:3.97 [[ 9.98766412e-01 -4.67833742e-02 -1.66424442e-02 5.78491735e+02] [ 4.67859780e-02 9.98904909e-01 -2.33065638e-04 6.32059077e+00] [ 1.66351228e-02 -5.45854897e-04 9.99861478e-01 3.97346137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2492541539999 meters 0.02082468892575148 Centerline is valid? [True, True] Translation: X:578.52, Y:6.32, Z:3.97 [[ 9.98639951e-01 -4.94710403e-02 -1.64579311e-02 5.78522232e+02] [ 4.94739560e-02 9.98775388e-01 -2.30186721e-04 6.31749409e+00] [ 1.64491641e-02 -5.84365305e-04 9.99864533e-01 3.97316717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2792541539999 meters 0.020910001455943045 Centerline is valid? [True, True] Translation: X:578.55, Y:6.32, Z:3.97 [[ 9.98482264e-01 -5.25557179e-02 -1.64640799e-02 5.78553656e+02] [ 5.25590622e-02 9.98617791e-01 -2.29798611e-04 6.31692222e+00] [ 1.64534004e-02 -6.35886764e-04 9.99864431e-01 3.97363455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.309254154 meters 0.024529379252670003 Centerline is valid? [True, True] Translation: X:578.58, Y:6.31, Z:3.97 [[ 9.98137739e-01 -5.83569799e-02 -1.77628181e-02 5.78583899e+02] [ 5.83617952e-02 9.98295467e-01 -2.47607964e-04 6.31226536e+00] [ 1.77469905e-02 -7.89523101e-04 9.99842198e-01 3.97331493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.339254154 meters 0.024431492130031696 Centerline is valid? [True, True] Translation: X:578.61, Y:6.31, Z:3.97 [[ 9.97982154e-01 -6.11125519e-02 -1.72301001e-02 5.78614787e+02] [ 6.11174961e-02 9.98130550e-01 -2.39964621e-04 6.31153477e+00] [ 1.72125541e-02 -8.13580165e-04 9.99851522e-01 3.97391354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3692541539999 meters 0.025994376671816408 Centerline is valid? [True, True] Translation: X:578.65, Y:6.31, Z:3.97 [[ 9.97842726e-01 -6.32866612e-02 -1.74554456e-02 5.78645793e+02] [ 6.32920730e-02 9.97995017e-01 -2.42777767e-04 6.31054001e+00] [ 1.74358123e-02 -8.62537308e-04 9.99847613e-01 3.97424716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3992541539999 meters 0.02800260578675415 Centerline is valid? [True, True] Translation: X:578.68, Y:6.30, Z:3.97 [[ 9.97626581e-01 -6.70907827e-02 -1.54929311e-02 5.78675681e+02] [ 6.70955050e-02 9.97746534e-01 -2.15368013e-04 6.30419985e+00] [ 1.54724676e-02 -8.24649184e-04 9.99879954e-01 3.97461418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.429254154 meters 0.028746529070339987 Centerline is valid? [True, True] Translation: X:578.71, Y:6.30, Z:3.98 [[ 9.97586165e-01 -6.77925276e-02 -1.50338609e-02 5.78707419e+02] [ 6.77970601e-02 9.97699111e-01 -2.08551456e-04 6.30303448e+00] [ 1.50134079e-02 -8.11203526e-04 9.99886963e-01 3.97515510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.459254154 meters 0.026153851443901113 Centerline is valid? [True, True] Translation: X:578.74, Y:6.31, Z:3.98 [[ 9.97570048e-01 -6.80269021e-02 -1.50446212e-02 5.78739035e+02] [ 6.80314801e-02 9.97683153e-01 -2.07873790e-04 6.30740585e+00] [ 1.50239062e-02 -8.16139183e-04 9.99886802e-01 3.97616590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4892541539999 meters 0.026153851443901113 Centerline is valid? [True, True] Translation: X:578.77, Y:6.31, Z:3.98 [[ 9.97575119e-01 -6.79524892e-02 -1.50446349e-02 5.78770766e+02] [ 6.79570737e-02 9.97688225e-01 -2.06880228e-04 6.30778363e+00] [ 1.50239131e-02 -8.16010794e-04 9.99886802e-01 3.97638572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5192541539999 meters 0.027176839308031782 Centerline is valid? [True, True] Translation: X:578.80, Y:6.31, Z:3.98 [[ 9.97593857e-01 -6.77222898e-02 -1.48387426e-02 5.78802410e+02] [ 6.77267456e-02 9.97703887e-01 -2.02602908e-04 6.30701537e+00] [ 1.48183919e-02 -8.02864331e-04 9.99889879e-01 3.97668067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5492541539999 meters 0.025898986266395016 Centerline is valid? [True, True] Translation: X:578.83, Y:6.31, Z:3.98 [[ 9.97718382e-01 -6.58302968e-02 -1.49800563e-02 5.78833558e+02] [ 6.58346421e-02 9.97830526e-01 -2.03404247e-04 6.31078502e+00] [ 1.49609476e-02 -7.83266487e-04 9.99887772e-01 3.97737654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.579254154 meters 0.02628333288224331 Centerline is valid? [True, True] Translation: X:578.86, Y:6.31, Z:3.98 [[ 9.97798074e-01 -6.47843109e-02 -1.42125820e-02 5.78864475e+02] [ 6.47881257e-02 9.97899024e-01 -1.92335646e-04 6.31071556e+00] [ 1.41951821e-02 -7.28894414e-04 9.99898978e-01 3.97754544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6092541539999 meters 0.02502981297614304 Centerline is valid? [True, True] Translation: X:578.90, Y:6.31, Z:3.98 [[ 9.97885523e-01 -6.34710181e-02 -1.39969125e-02 5.78897141e+02] [ 6.34746035e-02 9.97983436e-01 -1.88391998e-04 6.31342225e+00] [ 1.39806443e-02 -7.00454824e-04 9.99902021e-01 3.97799027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6392541539999 meters 0.025177509513296975 Centerline is valid? [True, True] Translation: X:578.93, Y:6.32, Z:3.98 [[ 9.98034308e-01 -6.06906237e-02 -1.56259083e-02 5.78928484e+02] [ 6.06947684e-02 9.98156351e-01 -2.09287775e-04 6.31635068e+00] [ 1.56098014e-02 -7.39534508e-04 9.99877886e-01 3.97722918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6692541539999 meters 0.02534287354581448 Centerline is valid? [True, True] Translation: X:578.96, Y:6.32, Z:3.98 [[ 9.98077665e-01 -6.00795968e-02 -1.52123588e-02 5.78959601e+02] [ 6.00834648e-02 9.98193336e-01 -2.03047004e-04 6.31579208e+00] [ 1.51970741e-02 -7.11354542e-04 9.99884265e-01 3.97719930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.699254154 meters 0.02768537771908674 Centerline is valid? [True, True] Translation: X:578.99, Y:6.32, Z:3.98 [[ 9.98152965e-01 -5.82516986e-02 -1.72452294e-02 5.78990821e+02] [ 5.82564145e-02 9.98301627e-01 -2.29201152e-04 6.31584328e+00] [ 1.72292919e-02 -7.75867422e-04 9.99851264e-01 3.97625142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7292541539999 meters 0.022083123255047698 Centerline is valid? [True, True] Translation: X:579.02, Y:6.32, Z:3.98 [[ 9.98211719e-01 -5.77210153e-02 -1.55450424e-02 5.79023040e+02] [ 5.77247979e-02 9.98332512e-01 -2.05627879e-04 6.32275164e+00] [ 1.55309902e-02 -6.92074271e-04 9.99879147e-01 3.97817325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7592541539999 meters 0.025591459014058383 Centerline is valid? [True, True] Translation: X:579.05, Y:6.32, Z:3.98 [[ 9.98295803e-01 -5.59847520e-02 -1.64680440e-02 5.79054478e+02] [ 5.59887792e-02 9.98431375e-01 -2.16758147e-04 6.32048704e+00] [ 1.64543469e-02 -7.05636929e-04 9.99864369e-01 3.97710429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7892541539999 meters 0.020895976871109577 Centerline is valid? [True, True] Translation: X:579.09, Y:6.33, Z:3.98 [[ 9.98349222e-01 -5.49313903e-02 -1.67741785e-02 5.79086273e+02] [ 5.49354392e-02 9.98489884e-01 -2.19655115e-04 6.32878282e+00] [ 1.67609135e-02 -7.02204349e-04 9.99859279e-01 3.97842447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.819254154 meters 0.023276458868144435 Centerline is valid? [True, True] Translation: X:579.12, Y:6.33, Z:3.98 [[ 9.98387476e-01 -5.40219321e-02 -1.74378450e-02 5.79117399e+02] [ 5.40261891e-02 9.98539493e-01 -2.27216134e-04 6.32614283e+00] [ 1.74246515e-02 -7.15250566e-04 9.99847923e-01 3.97735956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8492541539999 meters 0.022913662729998816 Centerline is valid? [True, True] Translation: X:579.15, Y:6.33, Z:3.98 [[ 9.98452175e-01 -5.25175850e-02 -1.83073337e-02 5.79148991e+02] [ 5.25220395e-02 9.98619737e-01 -2.37737763e-04 6.32884824e+00] [ 1.82945502e-02 -7.24168719e-04 9.99832378e-01 3.97683435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8792541539999 meters 0.020637939961572562 Centerline is valid? [True, True] Translation: X:579.18, Y:6.33, Z:3.98 [[ 9.98499261e-01 -5.17050430e-02 -1.80503100e-02 5.79180366e+02] [ 5.17092524e-02 9.98662154e-01 -2.33751508e-04 6.33328348e+00] [ 1.80382476e-02 -6.99967327e-04 9.99837053e-01 3.97788039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9092541539999 meters 0.019874642038409482 Centerline is valid? [True, True] Translation: X:579.21, Y:6.34, Z:3.98 [[ 9.98555821e-01 -5.07056391e-02 -1.77541863e-02 5.79211769e+02] [ 5.07095653e-02 9.98713416e-01 -2.29263856e-04 6.33571064e+00] [ 1.77429690e-02 -6.71374312e-04 9.99842356e-01 3.97859013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.939254154 meters 0.019408562912317243 Centerline is valid? [True, True] Translation: X:579.24, Y:6.34, Z:3.98 [[ 9.98698192e-01 -4.82879214e-02 -1.64377140e-02 5.79242927e+02] [ 4.82909695e-02 9.98833288e-01 -2.11670681e-04 6.33878910e+00] [ 1.64287571e-02 -5.82398019e-04 9.99864869e-01 3.97989395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9692541539999 meters 0.0192321412456598 Centerline is valid? [True, True] Translation: X:579.27, Y:6.34, Z:3.98 [[ 9.98771255e-01 -4.69206351e-02 -1.59510231e-02 5.79274209e+02] [ 4.69233405e-02 9.98898472e-01 -2.04820378e-04 6.34039606e+00] [ 1.59430629e-02 -5.43906583e-04 9.99872753e-01 3.98068438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9992541539999 meters 0.0201642317623899 Centerline is valid? [True, True] Translation: X:579.30, Y:6.34, Z:3.98 [[ 9.98834065e-01 -4.55758608e-02 -1.59170342e-02 5.79304914e+02] [ 4.55783908e-02 9.98960744e-01 -2.03965290e-04 6.34105934e+00] [ 1.59097883e-02 -5.21745327e-04 9.99873295e-01 3.98109021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0292541539999 meters 0.02043373389865307 Centerline is valid? [True, True] Translation: X:579.34, Y:6.34, Z:3.98 [[ 9.98878507e-01 -4.44590458e-02 -1.62825236e-02 5.79336593e+02] [ 4.44615528e-02 9.99011075e-01 -2.08176326e-04 6.34257059e+00] [ 1.62756767e-02 -5.16003425e-04 9.99867409e-01 3.98148179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.059254154 meters 0.019050657653714834 Centerline is valid? [True, True] Translation: X:579.37, Y:6.34, Z:3.98 [[ 9.98906178e-01 -4.44291035e-02 -1.45774638e-02 5.79367564e+02] [ 4.44311190e-02 9.99012433e-01 -1.85729454e-04 6.34270601e+00] [ 1.45713193e-02 -4.62166728e-04 9.99893726e-01 3.98173898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.089254154 meters 0.019024951573800953 Centerline is valid? [True, True] Translation: X:579.40, Y:6.34, Z:3.98 [[ 9.98898263e-01 -4.46429693e-02 -1.44659939e-02 5.79399344e+02] [ 4.46449899e-02 9.99002899e-01 -1.83383016e-04 6.34320381e+00] [ 1.44597566e-02 -4.62653174e-04 9.99895345e-01 3.98185795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1192541539999 meters 0.02130160122794226 Centerline is valid? [True, True] Translation: X:579.43, Y:6.34, Z:3.98 [[ 9.98893961e-01 -4.46463342e-02 -1.47499118e-02 5.79430444e+02] [ 4.46484567e-02 9.99002743e-01 -1.85533251e-04 6.34147398e+00] [ 1.47434858e-02 -4.73232756e-04 9.99891197e-01 3.98124016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1492541539999 meters 0.020273226036125868 Centerline is valid? [True, True] Translation: X:579.46, Y:6.34, Z:3.98 [[ 9.98816568e-01 -4.67688301e-02 -1.33469239e-02 5.79461650e+02] [ 4.67707702e-02 9.98905635e-01 -1.66906866e-04 6.34122917e+00] [ 1.33401236e-02 -4.57536570e-04 9.99910912e-01 3.98208414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.179254154 meters 0.02161994745117802 Centerline is valid? [True, True] Translation: X:579.49, Y:6.34, Z:3.98 [[ 9.98776789e-01 -4.76476123e-02 -1.32148092e-02 5.79493122e+02] [ 4.76495987e-02 9.98864099e-01 -1.64672594e-04 6.33934147e+00] [ 1.32076447e-02 -4.65209189e-04 9.99912667e-01 3.98218193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.209254154 meters 0.021270280317555998 Centerline is valid? [True, True] Translation: X:579.52, Y:6.34, Z:3.98 [[ 9.98737812e-01 -4.84740922e-02 -1.31546541e-02 5.79524878e+02] [ 4.84761429e-02 9.98824327e-01 -1.63107451e-04 6.34037547e+00] [ 1.31470950e-02 -4.74785313e-04 9.99913460e-01 3.98273633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2392541539999 meters 0.023405208537078014 Centerline is valid? [True, True] Translation: X:579.56, Y:6.34, Z:3.98 [[ 9.98705424e-01 -4.91971161e-02 -1.29274887e-02 5.79555949e+02] [ 4.91991676e-02 9.98788975e-01 -1.59482120e-04 6.33746851e+00] [ 1.29196792e-02 -4.76746023e-04 9.99916424e-01 3.98228377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2692541539999 meters 0.022102985567581973 Centerline is valid? [True, True] Translation: X:579.59, Y:6.34, Z:3.98 [[ 9.98641189e-01 -5.03311870e-02 -1.35109940e-02 5.79587744e+02] [ 5.03335430e-02 9.98732450e-01 -1.65824182e-04 6.33959940e+00] [ 1.35022142e-02 -5.14457338e-04 9.99908709e-01 3.98246379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2992541539999 meters 0.02258125389070165 Centerline is valid? [True, True] Translation: X:579.62, Y:6.34, Z:3.98 [[ 9.98635722e-01 -5.03019718e-02 -1.40145136e-02 5.79618715e+02] [ 5.03045164e-02 9.98733912e-01 -1.71115020e-04 6.33895304e+00] [ 1.40053774e-02 -5.34111756e-04 9.99901777e-01 3.98221830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.329254154 meters 0.02247662268236504 Centerline is valid? [True, True] Translation: X:579.65, Y:6.34, Z:3.98 [[ 9.98623833e-01 -5.04303354e-02 -1.43951695e-02 5.79651053e+02] [ 5.04330464e-02 9.98727429e-01 -1.74854348e-04 6.33984686e+00] [ 1.43856686e-02 -5.51378533e-04 9.99896369e-01 3.98212497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3592541539999 meters 0.023557740389289948 Centerline is valid? [True, True] Translation: X:579.68, Y:6.34, Z:3.98 [[ 9.98653054e-01 -4.96327391e-02 -1.51217844e-02 5.79682120e+02] [ 4.96356539e-02 9.98767375e-01 -1.82730275e-04 6.34006464e+00] [ 1.51122143e-02 -5.68095509e-04 9.99885643e-01 3.98187793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3892541539999 meters 0.022581681600290837 Centerline is valid? [True, True] Translation: X:579.71, Y:6.34, Z:3.98 [[ 9.98698263e-01 -4.86786807e-02 -1.52369785e-02 5.79712953e+02] [ 4.86815392e-02 9.98814334e-01 -1.83464093e-04 6.34160688e+00] [ 1.52278433e-02 -5.58534294e-04 9.99883894e-01 3.98153677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4192541539999 meters 0.02228925328650653 Centerline is valid? [True, True] Translation: X:579.74, Y:6.34, Z:3.98 [[ 9.98732145e-01 -4.80584320e-02 -1.49829577e-02 5.79744066e+02] [ 4.80611340e-02 9.98844380e-01 -1.79888522e-04 6.34288091e+00] [ 1.49742883e-02 -5.40437488e-04 9.99887733e-01 3.98170625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.449254154 meters 0.022361127253842716 Centerline is valid? [True, True] Translation: X:579.77, Y:6.34, Z:3.98 [[ 9.98765575e-01 -4.73581113e-02 -1.49845243e-02 5.79774990e+02] [ 4.73607429e-02 9.98877834e-01 -1.79388418e-04 6.34359616e+00] [ 1.49762047e-02 -5.30511228e-04 9.99887710e-01 3.98183880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4792541539999 meters 0.021041137295014136 Centerline is valid? [True, True] Translation: X:579.81, Y:6.35, Z:3.98 [[ 9.98848124e-01 -4.57307734e-02 -1.45300025e-02 5.79806098e+02] [ 4.57330830e-02 9.98953680e-01 -1.73448613e-04 6.34677477e+00] [ 1.45227314e-02 -4.91252988e-04 9.99894419e-01 3.98245394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5092541539999 meters 0.021128075587490892 Centerline is valid? [True, True] Translation: X:579.84, Y:6.35, Z:3.98 [[ 9.98883911e-01 -4.50014119e-02 -1.43458902e-02 5.79837494e+02] [ 4.50035972e-02 9.98986810e-01 -1.70621470e-04 6.34726046e+00] [ 1.43390333e-02 -4.75185624e-04 9.99897078e-01 3.98262116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5392541539999 meters 0.021512112536697055 Centerline is valid? [True, True] Translation: X:579.87, Y:6.35, Z:3.98 [[ 9.98920968e-01 -4.42143869e-02 -1.42122340e-02 5.79869074e+02] [ 4.42164608e-02 9.99021960e-01 -1.68419397e-04 6.34839373e+00] [ 1.42057804e-02 -4.60177019e-04 9.99898987e-01 3.98312103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.569254154 meters 0.02123609052908888 Centerline is valid? [True, True] Translation: X:579.90, Y:6.35, Z:3.98 [[ 9.98931485e-01 -4.40435068e-02 -1.40020630e-02 5.79901089e+02] [ 4.40455132e-02 9.99029512e-01 -1.65205385e-04 6.34950357e+00] [ 1.39957504e-02 -4.51699191e-04 9.99901953e-01 3.98392613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5992541539999 meters 0.021599661341178373 Centerline is valid? [True, True] Translation: X:579.93, Y:6.35, Z:3.98 [[ 9.98936098e-01 -4.38655539e-02 -1.42297239e-02 5.79931947e+02] [ 4.38676203e-02 9.99037339e-01 -1.67031545e-04 6.35047443e+00] [ 1.42233524e-02 -4.57370284e-04 9.99898738e-01 3.98436010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6292541539999 meters 0.021759972158806394 Centerline is valid? [True, True] Translation: X:579.96, Y:6.35, Z:3.98 [[ 9.98929183e-01 -4.38583399e-02 -1.47286290e-02 5.79963649e+02] [ 4.38605707e-02 9.99037647e-01 -1.71683502e-04 6.35075451e+00] [ 1.47219846e-02 -4.74506413e-04 9.99891513e-01 3.98450390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6592541539999 meters 0.022255741424553825 Centerline is valid? [True, True] Translation: X:580.00, Y:6.35, Z:3.98 [[ 9.98902644e-01 -4.43117089e-02 -1.51650684e-02 5.79995388e+02] [ 4.43141418e-02 9.99017630e-01 -1.75729482e-04 6.35072434e+00] [ 1.51579575e-02 -4.96490347e-04 9.99884988e-01 3.98429408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.689254154 meters 0.023525796120172016 Centerline is valid? [True, True] Translation: X:580.03, Y:6.35, Z:3.98 [[ 9.98872641e-01 -4.46812876e-02 -1.60321316e-02 5.80025319e+02] [ 4.46840607e-02 9.99001151e-01 -1.85378958e-04 6.35002392e+00] [ 1.60244009e-02 -5.31210771e-04 9.99871460e-01 3.98387072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7192541539999 meters 0.02010671721037914 Centerline is valid? [True, True] Translation: X:580.06, Y:6.35, Z:3.99 [[ 9.98757182e-01 -4.68587300e-02 -1.69809171e-02 5.80056752e+02] [ 4.68621637e-02 9.98901346e-01 -1.95864673e-04 6.35494442e+00] [ 1.69714389e-02 -6.00141269e-04 9.99855795e-01 3.98584157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7492541539999 meters 0.022350020991505046 Centerline is valid? [True, True] Translation: X:580.09, Y:6.35, Z:3.99 [[ 9.98703439e-01 -4.75338476e-02 -1.82201632e-02 5.80088347e+02] [ 4.75379255e-02 9.98869412e-01 -2.09481862e-04 6.35466016e+00] [ 1.82095212e-02 -6.56938503e-04 9.99833977e-01 3.98564795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7792541539999 meters 0.02177175146639788 Centerline is valid? [True, True] Translation: X:580.12, Y:6.35, Z:3.99 [[ 9.98604745e-01 -4.94039229e-02 -1.86498272e-02 5.80118156e+02] [ 4.94085454e-02 9.98778629e-01 -2.13111831e-04 6.35464659e+00] [ 1.86375774e-02 -7.08646348e-04 9.99826054e-01 3.98603868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.809254154 meters 0.020607464476617512 Centerline is valid? [True, True] Translation: X:580.15, Y:6.36, Z:3.99 [[ 9.98595442e-01 -4.93769378e-02 -1.92109748e-02 5.80149904e+02] [ 4.93818587e-02 9.98779948e-01 -2.18433138e-04 6.35752891e+00] [ 1.91983220e-02 -7.30547309e-04 9.99815428e-01 3.98700587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.839254154 meters 0.021554910857120947 Centerline is valid? [True, True] Translation: X:580.18, Y:6.36, Z:3.99 [[ 9.98615115e-01 -4.88295867e-02 -1.95837344e-02 5.80180017e+02] [ 4.88346150e-02 9.98806854e-01 -2.21671431e-04 6.35737201e+00] [ 1.95711923e-02 -7.34999689e-04 9.99808196e-01 3.98683910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8692541539999 meters 0.020341558236830273 Centerline is valid? [True, True] Translation: X:580.21, Y:6.36, Z:3.99 [[ 9.98760490e-01 -4.56289929e-02 -1.98866293e-02 5.80210562e+02] [ 4.56335526e-02 9.98958222e-01 -2.24687694e-04 6.36132059e+00] [ 1.98761641e-02 -6.83088352e-04 9.99802216e-01 3.98815338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8992541539999 meters 0.018955322464829037 Centerline is valid? [True, True] Translation: X:580.24, Y:6.37, Z:3.99 [[ 9.98865459e-01 -4.32565891e-02 -1.99163960e-02 5.80241110e+02] [ 4.32606913e-02 9.99063793e-01 -2.25024011e-04 6.36520190e+00] [ 1.99074839e-02 -6.36828348e-04 9.99801624e-01 3.98953868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.929254154 meters 0.019584841028609 Centerline is valid? [True, True] Translation: X:580.27, Y:6.37, Z:3.99 [[ 9.98983266e-01 -4.06327849e-02 -1.95297692e-02 5.80270691e+02] [ 4.06362240e-02 9.99173983e-01 -2.20882020e-04 6.36550364e+00] [ 1.95226123e-02 -5.72958634e-04 9.99809251e-01 3.98937098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.959254154 meters 0.016313610594546484 Centerline is valid? [True, True] Translation: X:580.30, Y:6.37, Z:3.99 [[ 9.99206160e-01 -3.53477301e-02 -1.83735470e-02 5.80301777e+02] [ 3.53498805e-02 9.99374976e-01 -2.07825410e-04 6.37359583e+00] [ 1.83694092e-02 -4.41842260e-04 9.99831171e-01 3.99291691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9892541539999 meters 0.015794426709010014 Centerline is valid? [True, True] Translation: X:580.33, Y:6.38, Z:3.99 [[ 9.99283185e-01 -3.32986584e-02 -1.80087748e-02 5.80332104e+02] [ 3.33003927e-02 9.99445367e-01 -2.03642015e-04 6.37612323e+00] [ 1.80055675e-02 -3.96203232e-04 9.99837808e-01 3.99388644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0192541539999 meters 0.015309958480165156 Centerline is valid? [True, True] Translation: X:580.36, Y:6.38, Z:3.99 [[ 9.99355106e-01 -3.13247756e-02 -1.75536311e-02 5.80362572e+02] [ 3.13261190e-02 9.99509197e-01 -1.98495281e-04 6.37746983e+00] [ 1.75512335e-02 -3.51519865e-04 9.99845903e-01 3.99444925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0492541539999 meters 0.01504261365345919 Centerline is valid? [True, True] Translation: X:580.39, Y:6.38, Z:3.99 [[ 9.99387828e-01 -2.96438164e-02 -1.85799212e-02 5.80392916e+02] [ 2.96450312e-02 9.99560467e-01 -2.10100501e-04 6.37807125e+00] [ 1.85779829e-02 -3.40830461e-04 9.99827356e-01 3.99408155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.079254154 meters 0.015137058464462205 Centerline is valid? [True, True] Translation: X:580.42, Y:6.38, Z:3.99 [[ 9.99370597e-01 -2.96617029e-02 -1.94574776e-02 5.80421322e+02] [ 2.96630254e-02 9.99559931e-01 -2.20704409e-04 6.37749530e+00] [ 1.94554615e-02 -3.56602155e-04 9.99810661e-01 3.99364134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1092541539999 meters 0.015583462408681527 Centerline is valid? [True, True] Translation: X:580.45, Y:6.38, Z:3.99 [[ 9.99318667e-01 -3.05660840e-02 -2.06861428e-02 5.80450229e+02] [ 3.05677490e-02 9.99532669e-01 -2.35780892e-04 6.37645788e+00] [ 2.06836824e-02 -3.96708572e-04 9.99785991e-01 3.99279614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1392541539999 meters 0.016079406371039228 Centerline is valid? [True, True] Translation: X:580.48, Y:6.38, Z:3.99 [[ 9.99253309e-01 -3.19450306e-02 -2.17333912e-02 5.80478627e+02] [ 3.19471575e-02 9.99489528e-01 -2.49421271e-04 6.37517997e+00] [ 2.17302647e-02 -4.45085041e-04 9.99763771e-01 3.99218706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1692541539999 meters 0.017566508190184075 Centerline is valid? [True, True] Translation: X:580.51, Y:6.37, Z:3.99 [[ 9.99071642e-01 -3.58858374e-02 -2.38340180e-02 5.80506715e+02] [ 3.58894701e-02 9.99355727e-01 -2.75458212e-04 6.37126130e+00] [ 2.38285474e-02 -5.80187789e-04 9.99715891e-01 3.99104249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.199254154 meters 0.017805838823582033 Centerline is valid? [True, True] Translation: X:580.54, Y:6.37, Z:3.99 [[ 9.98956083e-01 -3.83725975e-02 -2.47848333e-02 5.80535384e+02] [ 3.83771670e-02 9.99263283e-01 -2.91440859e-04 6.37020081e+00] [ 2.47777572e-02 -6.60035068e-04 9.99692766e-01 3.99152564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2292541539999 meters 0.01883001536657202 Centerline is valid? [True, True] Translation: X:580.56, Y:6.37, Z:3.99 [[ 9.98838145e-01 -4.09721083e-02 -2.53701795e-02 5.80562779e+02] [ 4.09776158e-02 9.99160019e-01 -3.02979466e-04 6.36776453e+00] [ 2.53612827e-02 -7.36982020e-04 9.99678079e-01 3.99141510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2592541539999 meters 0.01876503229261088 Centerline is valid? [True, True] Translation: X:580.59, Y:6.37, Z:3.99 [[ 9.98625323e-01 -4.56325473e-02 -2.57901910e-02 5.80591920e+02] [ 4.56397224e-02 9.98957917e-01 -3.10655235e-04 6.36569306e+00] [ 2.57774915e-02 -8.66828974e-04 9.99667329e-01 3.99314720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2892541539999 meters 0.02008605051554005 Centerline is valid? [True, True] Translation: X:580.62, Y:6.36, Z:3.99 [[ 9.98526065e-01 -4.80216724e-02 -2.52906453e-02 5.80620940e+02] [ 4.80292976e-02 9.98845880e-01 -3.06205388e-04 6.36266412e+00] [ 2.52761613e-02 -9.08937867e-04 9.99680094e-01 3.99319928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.319254154 meters 0.022324043794246788 Centerline is valid? [True, True] Translation: X:580.65, Y:6.36, Z:3.99 [[ 9.98409306e-01 -5.05044222e-02 -2.50631509e-02 5.80649340e+02] [ 5.05126577e-02 9.98723374e-01 -3.04805545e-04 6.35882260e+00] [ 2.50465487e-02 -9.61685671e-04 9.99685823e-01 3.99292704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3492541539999 meters 0.02483332686272786 Centerline is valid? [True, True] Translation: X:580.68, Y:6.35, Z:3.99 [[ 9.98168827e-01 -5.54079487e-02 -2.42683384e-02 5.80678116e+02] [ 5.54170927e-02 9.98463248e-01 -2.96106581e-04 6.35392739e+00] [ 2.42474506e-02 -1.04931640e-03 9.99705437e-01 3.99363100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3792541539999 meters 0.02483332686272786 Centerline is valid? [True, True] Translation: X:580.71, Y:6.35, Z:3.99 [[ 9.98166897e-01 -5.54427033e-02 -2.42683280e-02 5.80707301e+02] [ 5.54518370e-02 9.98461319e-01 -2.96951955e-04 6.35431634e+00] [ 2.42474507e-02 -1.04931576e-03 9.99705437e-01 3.99383331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4092541539999 meters 0.024346633191405898 Centerline is valid? [True, True] Translation: X:580.74, Y:6.35, Z:4.00 [[ 9.98031383e-01 -5.79767562e-02 -2.39176711e-02 5.80737248e+02] [ 5.79863408e-02 9.98317333e-01 -2.93202914e-04 6.35482652e+00] [ 2.38944246e-02 -1.09427252e-03 9.99713889e-01 3.99532103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.439254154 meters 0.025958053533568396 Centerline is valid? [True, True] Translation: X:580.77, Y:6.35, Z:4.00 [[ 9.97888461e-01 -6.04412715e-02 -2.37796669e-02 5.80767279e+02] [ 6.04514409e-02 9.98171097e-01 -2.91634374e-04 6.35268689e+00] [ 2.37538029e-02 -1.14649655e-03 9.99717181e-01 3.99563335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4692541539999 meters 0.02708876511147306 Centerline is valid? [True, True] Translation: X:580.80, Y:6.35, Z:4.00 [[ 9.97744935e-01 -6.30178167e-02 -2.31040997e-02 5.80798077e+02] [ 6.30281051e-02 9.98011712e-01 -2.83349203e-04 6.35098243e+00] [ 2.30760182e-02 -1.17349739e-03 9.99733025e-01 3.99651796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4992541539999 meters 0.029729372977308526 Centerline is valid? [True, True] Translation: X:580.83, Y:6.35, Z:4.00 [[ 9.97427734e-01 -6.83098002e-02 -2.17183430e-02 5.80828565e+02] [ 6.83201424e-02 9.97663414e-01 -2.66301381e-04 6.34705997e+00] [ 2.16857872e-02 -1.21818390e-03 9.99764094e-01 3.99760359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5292541539999 meters 0.032435919520996434 Centerline is valid? [True, True] Translation: X:580.86, Y:6.34, Z:4.00 [[ 9.97261526e-01 -7.08410267e-02 -2.12366968e-02 5.80858652e+02] [ 7.08515058e-02 9.97486840e-01 -2.59504978e-04 6.34327187e+00] [ 2.12017092e-02 -1.24585762e-03 9.99774442e-01 3.99782014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.559254154 meters 0.03385773870993478 Centerline is valid? [True, True] Translation: X:580.89, Y:6.34, Z:4.00 [[ 9.97123813e-01 -7.26699508e-02 -2.15216098e-02 5.80889433e+02] [ 7.26811522e-02 9.97355193e-01 -2.62304314e-04 6.34290561e+00] [ 2.14837510e-02 -1.30266552e-03 9.99768349e-01 3.99818380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.589254154 meters 0.03421226657233451 Centerline is valid? [True, True] Translation: X:580.92, Y:6.34, Z:4.00 [[ 9.96962253e-01 -7.51661048e-02 -2.04040018e-02 5.80921066e+02] [ 7.51767052e-02 9.97170197e-01 -2.48095591e-04 6.34145795e+00] [ 2.03649109e-02 -1.28656369e-03 9.99791786e-01 3.99890877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6192541539999 meters 0.037008884662893274 Centerline is valid? [True, True] Translation: X:580.95, Y:6.34, Z:4.00 [[ 9.96741616e-01 -7.83020297e-02 -1.93634573e-02 5.80951517e+02] [ 7.83121739e-02 9.96928858e-01 -2.34996985e-04 6.33879323e+00] [ 1.93223901e-02 -1.28216316e-03 9.99812483e-01 3.99936585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6492541539999 meters 0.03802091759380494 Centerline is valid? [True, True] Translation: X:580.98, Y:6.34, Z:4.00 [[ 9.96659601e-01 -7.93484084e-02 -1.93253842e-02 5.80982565e+02] [ 7.93587191e-02 9.96846096e-01 -2.33988302e-04 6.33782912e+00] [ 1.92830004e-02 -1.30043105e-03 9.99813220e-01 3.99934843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.679254154 meters 0.03900161052305986 Centerline is valid? [True, True] Translation: X:581.01, Y:6.34, Z:4.00 [[ 9.96608380e-01 -8.00645697e-02 -1.90105674e-02 5.81014045e+02] [ 8.00746890e-02 9.96788840e-01 -2.29529008e-04 6.33707154e+00] [ 1.89678985e-02 -1.29351474e-03 9.99819256e-01 3.99891242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.709254154 meters 0.040359628672527105 Centerline is valid? [True, True] Translation: X:581.05, Y:6.34, Z:4.00 [[ 9.96633342e-01 -7.96377274e-02 -1.94888351e-02 5.81045035e+02] [ 7.96483147e-02 9.96822999e-01 -2.33582182e-04 6.33626963e+00] [ 1.94455211e-02 -1.31945708e-03 9.99810047e-01 3.99751739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7392541539999 meters 0.040107252557293464 Centerline is valid? [True, True] Translation: X:581.08, Y:6.34, Z:4.00 [[ 9.96745917e-01 -7.81475084e-02 -1.97621870e-02 5.81076634e+02] [ 7.81581281e-02 9.96940947e-01 -2.35595951e-04 6.33844061e+00] [ 1.97201446e-02 -1.30974624e-03 9.99804681e-01 3.99699198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7692541539999 meters 0.03947965012083833 Centerline is valid? [True, True] Translation: X:581.11, Y:6.34, Z:4.00 [[ 9.96833910e-01 -7.69182060e-02 -2.01431379e-02 5.81107247e+02] [ 7.69289986e-02 9.97036545e-01 -2.39676655e-04 6.34056170e+00] [ 2.01018801e-02 -1.31067361e-03 9.99797078e-01 3.99672002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7992541539999 meters 0.0379093969898187 Centerline is valid? [True, True] Translation: X:581.14, Y:6.35, Z:4.00 [[ 9.97157733e-01 -7.24856249e-02 -2.05496818e-02 5.81136881e+02] [ 7.24959181e-02 9.97368679e-01 -2.44608438e-04 6.34717213e+00] [ 2.05133396e-02 -1.24585485e-03 9.99788803e-01 3.99588808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.829254154 meters 0.0368524698478034 Centerline is valid? [True, True] Translation: X:581.17, Y:6.35, Z:4.00 [[ 9.97358157e-01 -6.97260981e-02 -2.03709996e-02 5.81166328e+02] [ 6.97356539e-02 9.97565477e-01 -2.41762335e-04 6.35111557e+00] [ 2.03382630e-02 -1.17946134e-03 9.99792460e-01 3.99611650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8592541539999 meters 0.026014683384096206 Centerline is valid? [True, True] Translation: X:581.20, Y:6.37, Z:4.00 [[ 9.97566111e-01 -6.67546158e-02 -2.01414068e-02 5.81197186e+02] [ 6.67633717e-02 9.97768809e-01 -2.38135369e-04 6.36844024e+00] [ 2.01123641e-02 -1.10715245e-03 9.99797113e-01 3.99898223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8892541539999 meters 0.025829995642193924 Centerline is valid? [True, True] Translation: X:581.23, Y:6.37, Z:4.00 [[ 9.97985896e-01 -6.04681763e-02 -1.91768460e-02 5.81226895e+02] [ 6.04749557e-02 9.98169689e-01 -2.26723698e-04 6.37431324e+00] [ 1.91554560e-02 -9.33451863e-04 9.99816082e-01 3.99895332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9192541539999 meters 0.023293376322040964 Centerline is valid? [True, True] Translation: X:581.26, Y:6.38, Z:4.00 [[ 9.98133522e-01 -5.81968042e-02 -1.85095762e-02 5.81258674e+02] [ 5.82027397e-02 9.98304760e-01 -2.18322992e-04 6.37905054e+00] [ 1.84909037e-02 -8.59392546e-04 9.99828659e-01 4.00018110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.949254154 meters 0.022096668252504323 Centerline is valid? [True, True] Translation: X:581.29, Y:6.38, Z:4.00 [[ 9.98312304e-01 -5.54299087e-02 -1.73224910e-02 5.81289862e+02] [ 5.54347042e-02 9.98462294e-01 -2.03579864e-04 6.38307187e+00] [ 1.73071385e-02 -7.57030879e-04 9.99849934e-01 4.00102140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9792541539999 meters 0.019674706584467697 Centerline is valid? [True, True] Translation: X:581.32, Y:6.39, Z:4.00 [[ 9.98653753e-01 -4.95303567e-02 -1.54085835e-02 5.81320881e+02] [ 4.95334544e-02 9.98772449e-01 -1.80773149e-04 6.39135961e+00] [ 1.53986224e-02 -5.82710583e-04 9.99881264e-01 4.00253165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0092541539999 meters 0.018689945384941287 Centerline is valid? [True, True] Translation: X:581.35, Y:6.40, Z:4.00 [[ 9.98809698e-01 -4.64870274e-02 -1.47696972e-02 5.81352301e+02] [ 4.64895465e-02 9.98918762e-01 -1.72918738e-04 6.39575491e+00] [ 1.47617661e-02 -5.13923613e-04 9.99890907e-01 4.00319707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0392541539999 meters 0.017913636524852845 Centerline is valid? [True, True] Translation: X:581.38, Y:6.40, Z:4.00 [[ 9.98976249e-01 -4.31594801e-02 -1.35541198e-02 5.81384130e+02] [ 4.31613037e-02 9.99068104e-01 -1.58084416e-04 6.39970914e+00] [ 1.35483116e-02 -4.27090904e-04 9.99908126e-01 4.00354668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.069254154 meters 0.016948351838086094 Centerline is valid? [True, True] Translation: X:581.42, Y:6.40, Z:4.00 [[ 9.99116903e-01 -4.00346775e-02 -1.27529772e-02 5.81415708e+02] [ 4.00360448e-02 9.99198225e-01 -1.48164764e-04 6.40314703e+00] [ 1.27486839e-02 -3.62544845e-04 9.99918667e-01 4.00375063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0992541539999 meters 0.01580928020562501 Centerline is valid? [True, True] Translation: X:581.45, Y:6.41, Z:4.00 [[ 9.99303875e-01 -3.52044231e-02 -1.23455801e-02 5.81446758e+02] [ 3.52053416e-02 9.99380090e-01 -1.42983805e-04 6.40727977e+00] [ 1.23429606e-02 -2.91746094e-04 9.99923780e-01 4.00295111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1292541539999 meters 0.01695219930085904 Centerline is valid? [True, True] Translation: X:581.48, Y:6.41, Z:4.00 [[ 9.99364248e-01 -3.32839475e-02 -1.27780438e-02 5.81478293e+02] [ 3.32847821e-02 9.99445897e-01 -1.47407620e-04 6.40557716e+00] [ 1.27758698e-02 -2.78000498e-04 9.99918347e-01 4.00169162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1592541539999 meters 0.01525661013234702 Centerline is valid? [True, True] Translation: X:581.51, Y:6.41, Z:4.00 [[ 9.99431852e-01 -3.12955896e-02 -1.25123862e-02 5.81509144e+02] [ 3.12962412e-02 9.99510142e-01 -1.43770390e-04 6.41083803e+00] [ 1.25107562e-02 -2.47901948e-04 9.99921707e-01 4.00205540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.189254154 meters 0.0151950488498874 Centerline is valid? [True, True] Translation: X:581.54, Y:6.41, Z:4.00 [[ 9.99455805e-01 -3.04856326e-02 -1.25984025e-02 5.81540940e+02] [ 3.04862372e-02 9.99535176e-01 -1.44100704e-04 6.41131665e+00] [ 1.25969394e-02 -2.40055600e-04 9.99920627e-01 4.00193561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2192541539999 meters 0.014895130838984487 Centerline is valid? [True, True] Translation: X:581.57, Y:6.41, Z:4.00 [[ 9.99466778e-01 -3.01945541e-02 -1.24277420e-02 5.81572207e+02] [ 3.01951285e-02 9.99544013e-01 -1.41459586e-04 6.41243031e+00] [ 1.24263464e-02 -2.33873110e-04 9.99922763e-01 4.00214679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2492541539999 meters 0.015177852351150697 Centerline is valid? [True, True] Translation: X:581.60, Y:6.41, Z:4.00 [[ 9.99469182e-01 -3.03311134e-02 -1.18902789e-02 5.81603083e+02] [ 3.03316549e-02 9.99539880e-01 -1.34833466e-04 6.41203331e+00] [ 1.18888976e-02 -2.25889941e-04 9.99929299e-01 4.00232558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2792541539999 meters 0.015452447652394915 Centerline is valid? [True, True] Translation: X:581.64, Y:6.41, Z:4.00 [[ 9.99462850e-01 -3.06047869e-02 -1.17199875e-02 5.81635766e+02] [ 3.06053401e-02 9.99531538e-01 -1.32189916e-04 6.41184737e+00] [ 1.17185428e-02 -2.26575293e-04 9.99931310e-01 4.00252912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.309254154 meters 0.01575001835060178 Centerline is valid? [True, True] Translation: X:581.67, Y:6.41, Z:4.00 [[ 9.99436464e-01 -3.15326274e-02 -1.15085731e-02 5.81668386e+02] [ 3.15332317e-02 9.99502696e-01 -1.28992868e-04 6.41057916e+00] [ 1.15069173e-02 -2.33982325e-04 9.99933766e-01 4.00212319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.339254154 meters 0.01622505449672632 Centerline is valid? [True, True] Translation: X:581.70, Y:6.41, Z:4.00 [[ 9.99430145e-01 -3.19211754e-02 -1.09737394e-02 5.81700282e+02] [ 3.19217565e-02 9.99490363e-01 -1.22243005e-04 6.40988360e+00] [ 1.09720489e-02 -2.28127694e-04 9.99939779e-01 4.00200156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3692541539999 meters 0.016966558222050995 Centerline is valid? [True, True] Translation: X:581.73, Y:6.41, Z:4.00 [[ 9.99403544e-01 -3.29619296e-02 -1.02989180e-02 5.81731324e+02] [ 3.29625032e-02 9.99456583e-01 -1.14089906e-04 6.40816749e+00] [ 1.02970820e-02 -2.25456262e-04 9.99946958e-01 4.00207728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3992541539999 meters 0.0176066293372513 Centerline is valid? [True, True] Translation: X:581.76, Y:6.41, Z:4.00 [[ 9.99396295e-01 -3.33721278e-02 -9.66161595e-03 5.81763753e+02] [ 3.33726569e-02 9.99442972e-01 -1.06498345e-04 6.40779088e+00] [ 9.65978824e-03 -2.15999742e-04 9.99953320e-01 4.00223565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.429254154 meters 0.01778619759654226 Centerline is valid? [True, True] Translation: X:581.80, Y:6.41, Z:4.00 [[ 9.99349223e-01 -3.48915975e-02 -9.14917744e-03 5.81795244e+02] [ 3.48921408e-02 9.99391079e-01 -1.00278708e-04 6.40601352e+00] [ 9.14710520e-03 -2.19020939e-04 9.99958140e-01 4.00314548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.459254154 meters 0.017829806798391107 Centerline is valid? [True, True] Translation: X:581.83, Y:6.41, Z:4.00 [[ 9.99334596e-01 -3.54464278e-02 -8.59746682e-03 5.81827874e+02] [ 3.54469320e-02 9.99371556e-01 -9.37788825e-05 6.40566958e+00] [ 8.59538792e-03 -2.11037340e-04 9.99963037e-01 4.00362808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4892541539999 meters 0.018475720592581273 Centerline is valid? [True, True] Translation: X:581.86, Y:6.40, Z:4.00 [[ 9.99310060e-01 -3.62235103e-02 -8.20125321e-03 5.81858815e+02] [ 3.62240000e-02 9.99343692e-01 -8.88682508e-05 6.40400966e+00] [ 8.19908978e-03 -2.08275259e-04 9.99966365e-01 4.00403722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5192541539999 meters 0.01888497151807803 Centerline is valid? [True, True] Translation: X:581.89, Y:6.40, Z:4.00 [[ 9.99275391e-01 -3.72096651e-02 -8.00829449e-03 5.81891393e+02] [ 3.72101699e-02 9.99307458e-01 -8.60099848e-05 6.40266056e+00] [ 8.00594882e-03 -2.12042337e-04 9.99967929e-01 4.00410214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5492541539999 meters 0.020101225808434712 Centerline is valid? [True, True] Translation: X:581.92, Y:6.40, Z:4.00 [[ 9.99186047e-01 -3.95050011e-02 -8.16074324e-03 5.81922913e+02] [ 3.95056062e-02 9.99219345e-01 -8.70988867e-05 6.39810017e+00] [ 8.15781336e-03 -2.35367117e-04 9.99966697e-01 4.00367054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.579254154 meters 0.017795691404132764 Centerline is valid? [True, True] Translation: X:581.95, Y:6.40, Z:4.00 [[ 9.99127543e-01 -4.10233204e-02 -7.82565456e-03 5.81954730e+02] [ 4.10239266e-02 9.99158161e-01 -8.31152551e-05 6.40115397e+00] [ 7.82247628e-03 -2.37996337e-04 9.99969376e-01 4.00370167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6092541539999 meters 0.022592342063322484 Centerline is valid? [True, True] Translation: X:581.99, Y:6.39, Z:4.00 [[ 9.99068240e-01 -4.24154279e-02 -7.97395909e-03 5.81986212e+02] [ 4.24161068e-02 9.99100028e-01 -8.40412566e-05 6.39223783e+00] [ 7.97034740e-03 -2.54261350e-04 9.99968204e-01 4.00334527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6392541539999 meters 0.02457703174040198 Centerline is valid? [True, True] Translation: X:582.02, Y:6.39, Z:4.00 [[ 9.98954348e-01 -4.50789361e-02 -7.62231886e-03 5.82017792e+02] [ 4.50796401e-02 9.98983393e-01 -7.95153664e-05 6.38708408e+00] [ 7.61815442e-03 -2.64179170e-04 9.99970947e-01 4.00361820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6692541539999 meters 0.02039699844035089 Centerline is valid? [True, True] Translation: X:582.05, Y:6.39, Z:4.00 [[ 9.98920968e-01 -4.58530878e-02 -7.37519955e-03 5.82049893e+02] [ 4.58537706e-02 9.98948160e-01 -7.65749766e-05 6.39253378e+00] [ 7.37095322e-03 -2.61688358e-04 9.99972800e-01 4.00412348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.699254154 meters 0.020141807653305685 Centerline is valid? [True, True] Translation: X:582.08, Y:6.39, Z:4.00 [[ 9.98910240e-01 -4.61738460e-02 -6.80500238e-03 5.82081798e+02] [ 4.61744378e-02 9.98933389e-01 -7.02007351e-05 6.39208345e+00] [ 6.80098553e-03 -2.44092926e-04 9.99976843e-01 4.00420121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7292541539999 meters 0.02024476378410748 Centerline is valid? [True, True] Translation: X:582.11, Y:6.39, Z:4.00 [[ 9.98902657e-01 -4.63295019e-02 -6.85989107e-03 5.82113928e+02] [ 4.63301104e-02 9.98926181e-01 -7.02601745e-05 6.39058983e+00] [ 6.85577991e-03 -2.47636436e-04 9.99976468e-01 4.00452140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7592541539999 meters 0.020719197266226983 Centerline is valid? [True, True] Translation: X:582.14, Y:6.39, Z:4.00 [[ 9.98942260e-01 -4.55644070e-02 -6.18441085e-03 5.82144798e+02] [ 4.55648895e-02 9.98961379e-01 -6.29266277e-05 6.38825810e+00] [ 6.18085481e-03 -2.18931930e-04 9.99980874e-01 4.00437750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7892541539999 meters 0.02041716900047917 Centerline is valid? [True, True] Translation: X:582.18, Y:6.39, Z:4.00 [[ 9.98972234e-01 -4.48821388e-02 -6.33009958e-03 5.82177350e+02] [ 4.48826328e-02 9.98992265e-01 -6.40667064e-05 6.38840858e+00] [ 6.32659597e-03 -2.20110674e-04 9.99979963e-01 4.00453115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.819254154 meters 0.020398876551459326 Centerline is valid? [True, True] Translation: X:582.21, Y:6.39, Z:4.00 [[ 9.99011080e-01 -4.40253300e-02 -6.21553587e-03 5.82209868e+02] [ 4.40257925e-02 9.99030393e-01 -6.24677972e-05 6.38794255e+00] [ 6.21225941e-03 -2.11237871e-04 9.99980681e-01 4.00444374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8492541539999 meters 0.01895326969244371 Centerline is valid? [True, True] Translation: X:582.24, Y:6.39, Z:4.00 [[ 9.99073248e-01 -4.25773996e-02 -6.30959265e-03 5.82242510e+02] [ 4.25778502e-02 9.99093150e-01 -6.29662226e-05 6.38920934e+00] [ 6.30655173e-03 -2.05741022e-04 9.99980092e-01 4.00414141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8792541539999 meters 0.02124336041258689 Centerline is valid? [True, True] Translation: X:582.27, Y:6.39, Z:4.00 [[ 9.99128902e-01 -4.13231224e-02 -5.81692906e-03 5.82274952e+02] [ 4.13234871e-02 9.99145818e-01 -5.75430864e-05 6.38841020e+00] [ 5.81433821e-03 -1.82882832e-04 9.99983080e-01 4.00250782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9092541539999 meters 0.020687445205794568 Centerline is valid? [True, True] Translation: X:582.31, Y:6.39, Z:4.00 [[ 9.99142231e-01 -4.09300101e-02 -6.28773638e-03 5.82305869e+02] [ 4.09304315e-02 9.99161997e-01 -6.16885986e-05 6.38545000e+00] [ 6.28499216e-03 -1.95724079e-04 9.99980230e-01 4.00366691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.939254154 meters 0.020444903362208396 Centerline is valid? [True, True] Translation: X:582.34, Y:6.39, Z:4.00 [[ 9.99178253e-01 -4.00000112e-02 -6.54351609e-03 5.82338498e+02] [ 4.00004502e-02 9.99199660e-01 -6.38317409e-05 6.38509457e+00] [ 6.54083232e-03 -1.97964302e-04 9.99978589e-01 4.00370705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9692541539999 meters 0.018224620346381275 Centerline is valid? [True, True] Translation: X:582.37, Y:6.39, Z:4.00 [[ 9.99281688e-01 -3.73804017e-02 -6.22998213e-03 5.82371162e+02] [ 3.73807511e-02 9.99301094e-01 -6.03786883e-05 6.38736151e+00] [ 6.22788493e-03 -1.72546094e-04 9.99980592e-01 4.00366138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9992541539999 meters 0.018117996731562613 Centerline is valid? [True, True] Translation: X:582.40, Y:6.39, Z:4.00 [[ 9.99338947e-01 -3.57799461e-02 -6.43923763e-03 5.82402885e+02] [ 3.57802902e-02 9.99359678e-01 -6.17980101e-05 6.38754484e+00] [ 6.43732557e-03 -1.68640633e-04 9.99979266e-01 4.00396742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0292541539999 meters 0.01926324100873937 Centerline is valid? [True, True] Translation: X:582.43, Y:6.39, Z:4.00 [[ 9.99407837e-01 -3.38892944e-02 -5.95738084e-03 5.82434826e+02] [ 3.38895577e-02 9.99425582e-01 -5.67868379e-05 6.38919924e+00] [ 5.95588328e-03 -1.45139791e-04 9.99982253e-01 4.00283114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.059254154 meters 0.016360185521829013 Centerline is valid? [True, True] Translation: X:582.47, Y:6.39, Z:4.00 [[ 9.99460513e-01 -3.22221009e-02 -6.35758718e-03 5.82466898e+02] [ 3.22223701e-02 9.99480723e-01 -6.01079727e-05 6.39072615e+00] [ 6.35622263e-03 -1.44780982e-04 9.99979789e-01 4.00445922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.089254154 meters 0.016549882214412545 Centerline is valid? [True, True] Translation: X:582.50, Y:6.39, Z:4.00 [[ 9.99486658e-01 -3.14197789e-02 -6.26245736e-03 5.82498424e+02] [ 3.14200270e-02 9.99506267e-01 -5.87876557e-05 6.38994085e+00] [ 6.26121247e-03 -1.38009102e-04 9.99980389e-01 4.00468431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1192541539999 meters 0.017075951258804324 Centerline is valid? [True, True] Translation: X:582.53, Y:6.39, Z:4.00 [[ 9.99491764e-01 -3.14288443e-02 -5.33300582e-03 5.82529254e+02] [ 3.14290279e-02 9.99505985e-01 -4.93896040e-05 6.38734473e+00] [ 5.33192350e-03 -1.18246686e-04 9.99985778e-01 4.00499317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1492541539999 meters 0.016926376506924707 Centerline is valid? [True, True] Translation: X:582.56, Y:6.39, Z:4.01 [[ 9.99458501e-01 -3.25257933e-02 -4.97777113e-03 5.82561864e+02] [ 3.25259679e-02 9.99470890e-01 -4.58911773e-05 6.38612659e+00] [ 4.97662999e-03 -1.16040497e-04 9.99987610e-01 4.00536522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.179254154 meters 0.018597700506005663 Centerline is valid? [True, True] Translation: X:582.59, Y:6.38, Z:4.00 [[ 9.99411401e-01 -3.40427286e-02 -4.23598070e-03 5.82594014e+02] [ 3.40428697e-02 9.99420373e-01 -3.88180388e-05 6.38380337e+00] [ 4.23484688e-03 -1.05409748e-04 9.99991027e-01 4.00496321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.209254154 meters 0.019002955347926828 Centerline is valid? [True, True] Translation: X:582.62, Y:6.38, Z:4.01 [[ 9.99201583e-01 -3.97451274e-02 -4.06474263e-03 5.82624006e+02] [ 3.97453065e-02 9.99209842e-01 -3.67597878e-05 6.37744306e+00] [ 4.06299186e-03 -1.24824003e-04 9.99991738e-01 4.00661698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2392541539999 meters 0.01995739051019615 Centerline is valid? [True, True] Translation: X:582.66, Y:6.37, Z:4.01 [[ 9.99058599e-01 -4.32163611e-02 -3.77659069e-03 5.82655649e+02] [ 4.32165398e-02 9.99065728e-01 -3.43276673e-05 6.37405235e+00] [ 3.77454584e-03 -1.28915830e-04 9.99992868e-01 4.00649362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2692541539999 meters 0.02301680004992064 Centerline is valid? [True, True] Translation: X:582.69, Y:6.37, Z:4.01 [[ 9.98880719e-01 -4.70911079e-02 -4.44251910e-03 5.82685899e+02] [ 4.70913952e-02 9.98890584e-01 -3.99765394e-05 6.36750289e+00] [ 4.43947304e-03 -1.69272628e-04 9.99990131e-01 4.00682929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2992541539999 meters 0.02301680004992064 Centerline is valid? [True, True] Translation: X:582.72, Y:6.37, Z:4.01 [[ 9.98884049e-01 -4.70204250e-02 -4.44251866e-03 5.82717608e+02] [ 4.70207113e-02 9.98893914e-01 -4.00264429e-05 6.36772396e+00] [ 4.43948691e-03 -1.68908612e-04 9.99990131e-01 4.00704899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.329254154 meters 0.022471304327422673 Centerline is valid? [True, True] Translation: X:582.75, Y:6.37, Z:4.01 [[ 9.98672989e-01 -5.12845332e-02 -4.70709778e-03 5.82748513e+02] [ 5.12849042e-02 9.98684063e-01 -4.19317077e-05 6.36677521e+00] [ 4.70305398e-03 -1.99526995e-04 9.99988921e-01 4.00645239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3592541539999 meters 0.027810059158631092 Centerline is valid? [True, True] Translation: X:582.78, Y:6.36, Z:4.01 [[ 9.98234164e-01 -5.91389737e-02 -5.57987491e-03 5.82778947e+02] [ 5.91396182e-02 9.98249720e-01 -4.95665832e-05 6.35584490e+00] [ 5.57303988e-03 -2.80512615e-04 9.99984431e-01 4.00619560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3892541539999 meters 0.030633188959906018 Centerline is valid? [True, True] Translation: X:582.81, Y:6.35, Z:4.01 [[ 9.98023943e-01 -6.25292981e-02 -6.18842811e-03 5.82810102e+02] [ 6.25301562e-02 9.98043073e-01 -5.49193661e-05 6.35180578e+00] [ 6.17975188e-03 -3.32152534e-04 9.99980850e-01 4.00516996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4192541539999 meters 0.028164710702687737 Centerline is valid? [True, True] Translation: X:582.84, Y:6.35, Z:4.01 [[ 9.97854547e-01 -6.51179470e-02 -6.77914742e-03 5.82841533e+02] [ 6.51190371e-02 9.97877501e-01 -6.00327990e-05 6.35271705e+00] [ 6.76866790e-03 -3.81547551e-04 9.99977020e-01 4.00653250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.449254154 meters 0.029064428721398652 Centerline is valid? [True, True] Translation: X:582.87, Y:6.35, Z:4.01 [[ 9.97725388e-01 -6.70275147e-02 -7.16679448e-03 5.82873855e+02] [ 6.70287842e-02 9.97751040e-01 -6.31789756e-05 6.35075937e+00] [ 7.15491137e-03 -4.17346252e-04 9.99974316e-01 4.00689461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4792541539999 meters 0.030834461107573593 Centerline is valid? [True, True] Translation: X:582.91, Y:6.35, Z:4.01 [[ 9.97627574e-01 -6.84936075e-02 -6.91737172e-03 5.82905146e+02] [ 6.84948287e-02 9.97651470e-01 -6.04877970e-05 6.34732012e+00] [ 6.90526909e-03 -4.13459897e-04 9.99976073e-01 4.00752784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5092541539999 meters 0.03249230919554995 Centerline is valid? [True, True] Translation: X:582.94, Y:6.34, Z:4.01 [[ 9.97660740e-01 -6.79950082e-02 -7.05173382e-03 5.82936385e+02] [ 6.79962677e-02 9.97685574e-01 -6.12680369e-05 6.34462752e+00] [ 7.03957903e-03 -4.18366866e-04 9.99975134e-01 4.00778135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5392541539999 meters 0.030625547370843945 Centerline is valid? [True, True] Translation: X:582.97, Y:6.35, Z:4.01 [[ 9.97726507e-01 -6.70009390e-02 -7.25892492e-03 5.82968381e+02] [ 6.70022504e-02 9.97752822e-01 -6.26572744e-05 6.34748753e+00] [ 7.24681092e-03 -4.23849481e-04 9.99973652e-01 4.00708778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.569254154 meters 0.027385029512128668 Centerline is valid? [True, True] Translation: X:583.00, Y:6.35, Z:4.01 [[ 9.97908151e-01 -6.40806785e-02 -8.54329856e-03 5.83000131e+02] [ 6.40823941e-02 9.97944608e-01 -7.30605280e-05 6.35150062e+00] [ 8.53042051e-03 -4.74567329e-04 9.99963503e-01 4.00724067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5992541539999 meters 0.029951750222426347 Centerline is valid? [True, True] Translation: X:583.03, Y:6.35, Z:4.01 [[ 9.98032757e-01 -6.20629165e-02 -8.87752870e-03 5.83030282e+02] [ 6.20646933e-02 9.98072126e-01 -7.54798815e-05 6.34860728e+00] [ 8.86509845e-03 -4.75649702e-04 9.99960591e-01 4.00691129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6292541539999 meters 0.02452865635462395 Centerline is valid? [True, True] Translation: X:583.06, Y:6.36, Z:4.01 [[ 9.98305525e-01 -5.73200154e-02 -1.00246633e-02 5.83061511e+02] [ 5.73220446e-02 9.98355736e-01 -8.50292023e-05 6.35836059e+00] [ 1.00130540e-02 -4.89749075e-04 9.99949748e-01 4.00639382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6592541539999 meters 0.02398427283150164 Centerline is valid? [True, True] Translation: X:583.09, Y:6.36, Z:4.01 [[ 9.98449483e-01 -5.46108542e-02 -1.07835004e-02 5.83092127e+02] [ 5.46130476e-02 9.98507590e-01 -9.11826438e-05 6.36040769e+00] [ 1.07723866e-02 -4.97878557e-04 9.99941852e-01 4.00660716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.689254154 meters 0.022815591539984865 Centerline is valid? [True, True] Translation: X:583.12, Y:6.36, Z:4.01 [[ 9.98582240e-01 -5.19767773e-02 -1.14858022e-02 5.83123636e+02] [ 5.19790970e-02 9.98648168e-01 -9.66754663e-05 6.36391524e+00] [ 1.14753002e-02 -5.00483224e-04 9.99934031e-01 4.00680277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7192541539999 meters 0.022391407439756192 Centerline is valid? [True, True] Translation: X:583.15, Y:6.37, Z:4.01 [[ 9.98825670e-01 -4.68254841e-02 -1.24360658e-02 5.83153231e+02] [ 4.68278083e-02 9.98902971e-01 -1.04393277e-04 6.36696116e+00] [ 1.24273113e-02 -4.78083020e-04 9.99922664e-01 4.00663942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7492541539999 meters 0.02121459795095717 Centerline is valid? [True, True] Translation: X:583.18, Y:6.37, Z:4.01 [[ 9.98914601e-01 -4.48190918e-02 -1.26834033e-02 5.83184836e+02] [ 4.48213505e-02 9.98995013e-01 -1.06259307e-04 6.37025468e+00] [ 1.26754191e-02 -4.62343292e-04 9.99919557e-01 4.00667495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7792541539999 meters 0.02067383698669061 Centerline is valid? [True, True] Translation: X:583.22, Y:6.37, Z:4.01 [[ 9.99012002e-01 -4.25904917e-02 -1.26913585e-02 5.83215951e+02] [ 4.25925795e-02 9.99092519e-01 -1.05862048e-04 6.37223019e+00] [ 1.26843501e-02 -4.34800241e-04 9.99919456e-01 4.00713580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.809254154 meters 0.020597889090671156 Centerline is valid? [True, True] Translation: X:583.25, Y:6.37, Z:4.01 [[ 9.99095215e-01 -4.05451696e-02 -1.28390522e-02 5.83246533e+02] [ 4.05471466e-02 9.99177621e-01 -1.06394019e-04 6.37440793e+00] [ 1.28328074e-02 -4.14289178e-04 9.99917570e-01 4.00743836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.839254154 meters 0.02015647060918533 Centerline is valid? [True, True] Translation: X:583.28, Y:6.38, Z:4.01 [[ 9.99259287e-01 -3.59320218e-02 -1.37756003e-02 5.83278305e+02] [ 3.59338726e-02 9.99354163e-01 -1.13224536e-04 6.38100557e+00] [ 1.37707719e-02 -3.81869995e-04 9.99905106e-01 4.00710497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8692541539999 meters 0.018562569060209786 Centerline is valid? [True, True] Translation: X:583.31, Y:6.38, Z:4.01 [[ 9.99324556e-01 -3.41349565e-02 -1.36101349e-02 5.83309380e+02] [ 3.41366048e-02 9.99417170e-01 -1.11252143e-04 6.38370339e+00] [ 1.36060001e-02 -3.53426798e-04 9.99907372e-01 4.00826383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8992541539999 meters 0.018145230091956954 Centerline is valid? [True, True] Translation: X:583.34, Y:6.39, Z:4.01 [[ 9.99442677e-01 -2.98912995e-02 -1.48608558e-02 5.83340473e+02] [ 2.98928021e-02 9.99553103e-01 -1.21060999e-04 6.38884887e+00] [ 1.48578332e-02 -3.23239093e-04 9.99889564e-01 4.00735981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.929254154 meters 0.017162987937858365 Centerline is valid? [True, True] Translation: X:583.37, Y:6.39, Z:4.01 [[ 9.99483133e-01 -2.81498842e-02 -1.55258218e-02 5.83370966e+02] [ 2.81513163e-02 9.99603665e-01 -1.26347744e-04 6.39114194e+00] [ 1.55232251e-02 -3.10789882e-04 9.99879459e-01 4.00771334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.959254154 meters 0.01734730021095272 Centerline is valid? [True, True] Translation: X:583.40, Y:6.39, Z:4.01 [[ 9.99520647e-01 -2.66162658e-02 -1.58129604e-02 5.83400138e+02] [ 2.66175545e-02 9.99645682e-01 -1.29000405e-04 6.39193205e+00] [ 1.58107911e-02 -2.91963767e-04 9.99874959e-01 4.00675475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9892541539999 meters 0.016592741259990166 Centerline is valid? [True, True] Translation: X:583.43, Y:6.40, Z:4.01 [[ 9.99543022e-01 -2.54450881e-02 -1.63185085e-02 5.83429355e+02] [ 2.54462948e-02 9.99676182e-01 -1.33715470e-04 6.39508062e+00] [ 1.63166266e-02 -2.81591212e-04 9.99866835e-01 4.00755811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0192541539999 meters 0.016604172441083472 Centerline is valid? [True, True] Translation: X:583.46, Y:6.40, Z:4.01 [[ 9.99547293e-01 -2.44616894e-02 -1.75166725e-02 5.83457907e+02] [ 2.44629145e-02 9.99700728e-01 -1.44364332e-04 6.39681917e+00] [ 1.75149616e-02 -2.84209884e-04 9.99846561e-01 4.00761349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0492541539999 meters 0.01622297394389462 Centerline is valid? [True, True] Translation: X:583.49, Y:6.40, Z:4.01 [[ 9.99534866e-01 -2.47444493e-02 -1.78259257e-02 5.83487002e+02] [ 2.47457066e-02 9.99693767e-01 -1.50074097e-04 6.39874010e+00] [ 1.78241803e-02 -2.91110835e-04 9.99841094e-01 4.00853375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.079254154 meters 0.017288971731545057 Centerline is valid? [True, True] Translation: X:583.51, Y:6.40, Z:4.01 [[ 9.99515984e-01 -2.53195477e-02 -1.80753388e-02 5.83514386e+02] [ 2.53208838e-02 9.99679363e-01 -1.54976672e-04 6.39653601e+00] [ 1.80734671e-02 -3.02781891e-04 9.99836616e-01 4.00747265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1092541539999 meters 0.018311319663044376 Centerline is valid? [True, True] Translation: X:583.54, Y:6.39, Z:4.01 [[ 9.99455163e-01 -2.75136026e-02 -1.82312511e-02 5.83541829e+02] [ 2.75152887e-02 9.99621370e-01 -1.58395091e-04 6.39406934e+00] [ 1.82287062e-02 -3.43329346e-04 9.99833784e-01 4.00780520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1392541539999 meters 0.016746648688547486 Centerline is valid? [True, True] Translation: X:583.57, Y:6.40, Z:4.01 [[ 9.99404357e-01 -2.92549618e-02 -1.83051239e-02 5.83570167e+02] [ 2.92568841e-02 9.99571912e-01 -1.62833814e-04 6.39695344e+00] [ 1.83020514e-02 -3.72814065e-04 9.99832434e-01 4.01068196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1692541539999 meters 0.017844223408076215 Centerline is valid? [True, True] Translation: X:583.60, Y:6.39, Z:4.01 [[ 9.99269465e-01 -3.34179011e-02 -1.85413068e-02 5.83598756e+02] [ 3.34205445e-02 9.99441364e-01 -1.67355953e-04 6.39378684e+00] [ 1.85365416e-02 -4.52426876e-04 9.99828081e-01 4.01103365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.199254154 meters 0.01806853140610224 Centerline is valid? [True, True] Translation: X:583.63, Y:6.39, Z:4.01 [[ 9.99178725e-01 -3.59874073e-02 -1.86220820e-02 5.83628297e+02] [ 3.59905047e-02 9.99352118e-01 -1.68891195e-04 6.39285425e+00] [ 1.86160950e-02 -5.01465642e-04 9.99826580e-01 4.01178046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2292541539999 meters 0.01882604506376663 Centerline is valid? [True, True] Translation: X:583.66, Y:6.39, Z:4.01 [[ 9.99075987e-01 -3.86892324e-02 -1.87167005e-02 5.83658100e+02] [ 3.86928222e-02 9.99251138e-01 -1.70435741e-04 6.39091031e+00] [ 1.87092783e-02 -5.53923706e-04 9.99824813e-01 4.01152090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2592541539999 meters 0.020581639961534677 Centerline is valid? [True, True] Translation: X:583.69, Y:6.39, Z:4.01 [[ 9.98956226e-01 -4.15488134e-02 -1.89777580e-02 5.83687610e+02] [ 4.15530104e-02 9.99136286e-01 -1.73288442e-04 6.38723154e+00] [ 1.89685665e-02 -6.15475406e-04 9.99819891e-01 4.01104342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2892541539999 meters 0.021121573009984775 Centerline is valid? [True, True] Translation: X:583.72, Y:6.39, Z:4.01 [[ 9.98700157e-01 -4.69184136e-02 -1.99162718e-02 5.83718090e+02] [ 4.69240995e-02 9.98898441e-01 -1.81990078e-04 6.38562186e+00] [ 1.99028716e-02 -7.52799602e-04 9.99801635e-01 4.01151701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.319254154 meters 0.023703992787050873 Centerline is valid? [True, True] Translation: X:583.75, Y:6.38, Z:4.01 [[ 9.98568248e-01 -4.94363807e-02 -2.04327786e-02 5.83747773e+02] [ 4.94428867e-02 9.98776935e-01 -1.86956896e-04 6.38098975e+00] [ 2.04170305e-02 -8.23566337e-04 9.99791212e-01 4.01058034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3492541539999 meters 0.023335196914917502 Centerline is valid? [True, True] Translation: X:583.78, Y:6.38, Z:4.01 [[ 9.98323899e-01 -5.40340436e-02 -2.07295631e-02 5.83778921e+02] [ 5.40417317e-02 9.98538660e-01 -1.89546534e-04 6.38079014e+00] [ 2.07095121e-02 -9.31032653e-04 9.99785102e-01 4.01174715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3792541539999 meters 0.02485897444958028 Centerline is valid? [True, True] Translation: X:583.81, Y:6.38, Z:4.01 [[ 9.98208347e-01 -5.60512836e-02 -2.09367797e-02 5.83809592e+02] [ 5.60595770e-02 9.98427407e-01 -1.91055703e-04 6.37827921e+00] [ 2.09145635e-02 -9.82993614e-04 9.99780783e-01 4.01143909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4092541539999 meters 0.026000672968838706 Centerline is valid? [True, True] Translation: X:583.84, Y:6.38, Z:4.01 [[ 9.98080942e-01 -5.80642414e-02 -2.15168844e-02 5.83840804e+02] [ 5.80734816e-02 9.98312292e-01 -1.95692190e-04 6.37648749e+00] [ 2.14919329e-02 -1.05424374e-03 9.99768466e-01 4.01136149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.439254154 meters 0.02496879598218727 Centerline is valid? [True, True] Translation: X:583.87, Y:6.38, Z:4.01 [[ 9.97950078e-01 -6.01960278e-02 -2.17274066e-02 5.83871496e+02] [ 6.02059651e-02 9.98185956e-01 -1.97078321e-04 6.37804100e+00] [ 2.16998555e-02 -1.11144516e-03 9.99763913e-01 4.01224090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4692541539999 meters 0.02709488490192967 Centerline is valid? [True, True] Translation: X:583.90, Y:6.37, Z:4.01 [[ 9.97714383e-01 -6.39712257e-02 -2.17644588e-02 5.83901132e+02] [ 6.39820951e-02 9.97951027e-01 -1.97285018e-04 6.37493233e+00] [ 2.17324846e-02 -1.19570157e-03 9.99763107e-01 4.01219831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4992541539999 meters 0.030662302610088024 Centerline is valid? [True, True] Translation: X:583.93, Y:6.37, Z:4.01 [[ 9.97612095e-01 -6.56621501e-02 -2.14147354e-02 5.83930979e+02] [ 6.56730884e-02 9.97841174e-01 -1.92841281e-04 6.37041866e+00] [ 2.13811671e-02 -1.21399102e-03 9.99770660e-01 4.01113733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5292541539999 meters 0.029604541073032047 Centerline is valid? [True, True] Translation: X:583.96, Y:6.37, Z:4.01 [[ 9.97418666e-01 -6.84593191e-02 -2.16639637e-02 5.83962058e+02] [ 6.84711901e-02 9.97653075e-01 -1.94200402e-04 6.37252543e+00] [ 2.16264148e-02 -1.28965827e-03 9.99765290e-01 4.01219878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.559254154 meters 0.03217994571368163 Centerline is valid? [True, True] Translation: X:583.99, Y:6.37, Z:4.01 [[ 9.97330924e-01 -6.98524000e-02 -2.12525193e-02 5.83992161e+02] [ 6.98641475e-02 9.97556497e-01 -1.90128548e-04 6.36991207e+00] [ 2.12138697e-02 -1.29516806e-03 9.99774122e-01 4.01195584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.589254154 meters 0.031841034886238455 Centerline is valid? [True, True] Translation: X:584.02, Y:6.37, Z:4.01 [[ 9.97234350e-01 -7.11080811e-02 -2.16169287e-02 5.84023720e+02] [ 7.11205430e-02 9.97467709e-01 -1.92731044e-04 6.37128863e+00] [ 2.15758931e-02 -1.34520969e-03 9.99766308e-01 4.01229818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6192541539999 meters 0.032171484192499995 Centerline is valid? [True, True] Translation: X:584.06, Y:6.37, Z:4.01 [[ 9.97172477e-01 -7.18914170e-02 -2.18786668e-02 5.84055672e+02] [ 7.19043995e-02 9.97411510e-01 -1.93730828e-04 6.37168734e+00] [ 2.18359616e-02 -1.37998935e-03 9.99760615e-01 4.01257933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6492541539999 meters 0.03249713023026739 Centerline is valid? [True, True] Translation: X:584.09, Y:6.37, Z:4.01 [[ 9.97077378e-01 -7.29215498e-02 -2.27848419e-02 5.84086410e+02] [ 7.29359167e-02 9.97336609e-01 -2.00946550e-04 6.37360742e+00] [ 2.27388103e-02 -1.46147407e-03 9.99740372e-01 4.01254930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.679254154 meters 0.03423881710624199 Centerline is valid? [True, True] Translation: X:584.12, Y:6.37, Z:4.01 [[ 9.97086352e-01 -7.28428224e-02 -2.26435369e-02 5.84117848e+02] [ 7.28570134e-02 9.97342377e-01 -1.98725242e-04 6.37241837e+00] [ 2.25978347e-02 -1.45159425e-03 9.99743582e-01 4.01247613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.709254154 meters 0.033282147416184876 Centerline is valid? [True, True] Translation: X:584.15, Y:6.38, Z:4.01 [[ 9.97120167e-01 -7.23685368e-02 -2.26752797e-02 5.84150070e+02] [ 7.23826796e-02 9.97376914e-01 -1.97500161e-04 6.37535784e+00] [ 2.26300933e-02 -1.44436611e-03 9.99742863e-01 4.01297816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7392541539999 meters 0.03496747860022086 Centerline is valid? [True, True] Translation: X:584.18, Y:6.38, Z:4.01 [[ 9.97261048e-01 -7.06271156e-02 -2.19593298e-02 5.84180956e+02] [ 7.06399808e-02 9.97501858e-01 -1.90247396e-04 6.37604870e+00] [ 2.19179089e-02 -1.36148032e-03 9.99758847e-01 4.01325776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7692541539999 meters 0.033540057518363135 Centerline is valid? [True, True] Translation: X:584.21, Y:6.38, Z:4.01 [[ 9.97344650e-01 -6.94462449e-02 -2.19287249e-02 5.84212404e+02] [ 6.94588069e-02 9.97584803e-01 -1.89208585e-04 6.37963256e+00] [ 2.18889025e-02 -1.33443690e-03 9.99759519e-01 4.01380455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7992541539999 meters 0.028507280433549827 Centerline is valid? [True, True] Translation: X:584.24, Y:6.39, Z:4.02 [[ 9.97563363e-01 -6.60138043e-02 -2.25724104e-02 5.84243406e+02] [ 6.60262513e-02 9.97817867e-01 -1.94225273e-04 6.39002273e+00] [ 2.25359760e-02 -1.29661963e-03 9.99745192e-01 4.01531481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.829254154 meters 0.027639025316431688 Centerline is valid? [True, True] Translation: X:584.27, Y:6.39, Z:4.02 [[ 9.97735051e-01 -6.33632787e-02 -2.25801417e-02 5.84274904e+02] [ 6.33750734e-02 9.97989761e-01 -1.93587822e-04 6.39318029e+00] [ 2.25470166e-02 -1.23786879e-03 9.99745017e-01 4.01529036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8592541539999 meters 0.030367506783926083 Centerline is valid? [True, True] Translation: X:584.31, Y:6.39, Z:4.01 [[ 9.97920992e-01 -6.02592698e-02 -2.28585559e-02 5.84305173e+02] [ 6.02705573e-02 9.98182058e-01 -1.95449207e-04 6.39155578e+00] [ 2.28287780e-02 -1.18265504e-03 9.99738690e-01 4.01381774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8892541539999 meters 0.024027863586265207 Centerline is valid? [True, True] Translation: X:584.34, Y:6.41, Z:4.02 [[ 9.98350369e-01 -5.26792194e-02 -2.28350639e-02 5.84335489e+02] [ 5.26885100e-02 9.98610977e-01 -1.95024424e-04 6.40552262e+00] [ 2.28136192e-02 -1.00844279e-03 9.99739227e-01 4.01623567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9192541539999 meters 0.021761814432619035 Centerline is valid? [True, True] Translation: X:584.37, Y:6.41, Z:4.02 [[ 9.98582955e-01 -4.82046467e-02 -2.25475741e-02 5.84366194e+02] [ 4.82125734e-02 9.98837079e-01 -1.92236250e-04 6.41151268e+00] [ 2.25306198e-02 -8.95112731e-04 9.99745753e-01 4.01729216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.949254154 meters 0.02091687073623892 Centerline is valid? [True, True] Translation: X:584.40, Y:6.42, Z:4.02 [[ 9.98795468e-01 -4.34360072e-02 -2.28238197e-02 5.84396488e+02] [ 4.34428890e-02 9.99055893e-01 -1.94462853e-04 6.41662521e+00] [ 2.28107182e-02 -7.97304048e-04 9.99739484e-01 4.01821973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9792541539999 meters 0.01826310811401602 Centerline is valid? [True, True] Translation: X:584.43, Y:6.43, Z:4.02 [[ 9.99186741e-01 -3.44489410e-02 -2.09553378e-02 5.84426201e+02] [ 3.44527602e-02 9.99406311e-01 -1.78848316e-04 6.42500495e+00] [ 2.09490580e-02 -5.43266363e-04 9.99780397e-01 4.01925320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0092541539999 meters 0.017301933088752955 Centerline is valid? [True, True] Translation: X:584.46, Y:6.43, Z:4.02 [[ 9.99332819e-01 -3.02743670e-02 -2.04298753e-02 5.84456143e+02] [ 3.02771063e-02 9.99541528e-01 -1.75288449e-04 6.42897291e+00] [ 2.04258155e-02 -4.43386005e-04 9.99791273e-01 4.01992186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0392541539999 meters 0.016360185999789837 Centerline is valid? [True, True] Translation: X:584.49, Y:6.43, Z:4.02 [[ 9.99461086e-01 -2.63110929e-02 -1.96281443e-02 5.84485187e+02] [ 2.63128321e-02 9.99653743e-01 -1.69694901e-04 6.43270261e+00] [ 1.96258128e-02 -3.46868615e-04 9.99807335e-01 4.02040183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.069254154 meters 0.015578755774598474 Centerline is valid? [True, True] Translation: X:584.51, Y:6.44, Z:4.02 [[ 9.99541218e-01 -2.32840351e-02 -1.93702785e-02 5.84513774e+02] [ 2.32850912e-02 9.99728851e-01 -1.71043319e-04 6.43593273e+00] [ 1.93690088e-02 -2.80073854e-04 9.99812364e-01 4.02074619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0992541539999 meters 0.014894013541913031 Centerline is valid? [True, True] Translation: X:584.54, Y:6.44, Z:4.02 [[ 9.99641717e-01 -1.89539760e-02 -1.88993306e-02 5.84542136e+02] [ 1.89541192e-02 9.99820340e-01 -1.71563147e-04 6.43983662e+00] [ 1.88991869e-02 -1.86718486e-04 9.99821377e-01 4.02080078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1292541539999 meters 0.014864291617059967 Centerline is valid? [True, True] Translation: X:584.57, Y:6.44, Z:4.02 [[ 9.99657881e-01 -1.76988936e-02 -1.92579811e-02 5.84569889e+02] [ 1.76987452e-02 9.99843349e-01 -1.78152029e-04 6.44086843e+00] [ 1.92581174e-02 -1.62751022e-04 9.99814532e-01 4.02028339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1592541539999 meters 0.014461795574886855 Centerline is valid? [True, True] Translation: X:584.60, Y:6.44, Z:4.02 [[ 9.99657233e-01 -1.73725503e-02 -1.95859875e-02 5.84598120e+02] [ 1.73722431e-02 9.99849074e-01 -1.85840475e-04 6.44257398e+00] [ 1.95862600e-02 -1.54475762e-04 9.99808159e-01 4.02130760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.189254154 meters 0.014461795574886855 Centerline is valid? [True, True] Translation: X:584.63, Y:6.44, Z:4.02 [[ 9.99652023e-01 -1.76698605e-02 -1.95859311e-02 5.84625519e+02] [ 1.76694963e-02 9.99843864e-01 -1.91662086e-04 6.44290069e+00] [ 1.95862597e-02 -1.54478146e-04 9.99808159e-01 4.02149806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2192541539999 meters 0.015363924098815129 Centerline is valid? [True, True] Translation: X:584.65, Y:6.44, Z:4.02 [[ 9.99622496e-01 -1.79651719e-02 -2.07874427e-02 5.84653601e+02] [ 1.79647535e-02 9.99838599e-01 -2.06881124e-04 6.44205774e+00] [ 2.07878042e-02 -1.66638258e-04 9.99783896e-01 4.02050352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2492541539999 meters 0.014352199745921411 Centerline is valid? [True, True] Translation: X:584.68, Y:6.44, Z:4.02 [[ 9.99612227e-01 -1.93898056e-02 -1.99857818e-02 5.84680892e+02] [ 1.93896581e-02 9.99811983e-01 -2.01172726e-04 6.44091815e+00] [ 1.99859248e-02 -1.86422761e-04 9.99800244e-01 4.02087745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2792541539999 meters 0.014440623882394242 Centerline is valid? [True, True] Translation: X:584.71, Y:6.44, Z:4.02 [[ 9.99569782e-01 -2.24489733e-02 -1.88757640e-02 5.84709759e+02] [ 2.24493129e-02 9.99747964e-01 -1.93929081e-04 6.43864964e+00] [ 1.88753601e-02 -2.29902283e-04 9.99821818e-01 4.02218635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.309254154 meters 0.014568942496334726 Centerline is valid? [True, True] Translation: X:584.74, Y:6.44, Z:4.02 [[ 9.99537088e-01 -2.42509032e-02 -1.83712648e-02 5.84738276e+02] [ 2.42514429e-02 9.99705872e-01 -1.93441652e-04 6.43661597e+00] [ 1.83705524e-02 -2.52177573e-04 9.99831215e-01 4.02249290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.339254154 meters 0.014902584710230577 Centerline is valid? [True, True] Translation: X:584.77, Y:6.43, Z:4.02 [[ 9.99494004e-01 -2.62536199e-02 -1.79577954e-02 5.84766700e+02] [ 2.62543762e-02 9.99655276e-01 -1.93680171e-04 6.43473952e+00] [ 1.79566897e-02 -2.77888548e-04 9.99838727e-01 4.02273164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3692541539999 meters 0.015725466971334198 Centerline is valid? [True, True] Translation: X:584.79, Y:6.43, Z:4.02 [[ 9.99409194e-01 -2.91473637e-02 -1.82124508e-02 5.84794902e+02] [ 2.91485737e-02 9.99575070e-01 -1.99065718e-04 6.43065449e+00] [ 1.82105140e-02 -3.31918857e-04 9.99834120e-01 4.02238609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3992541539999 meters 0.01579922217048586 Centerline is valid? [True, True] Translation: X:584.82, Y:6.43, Z:4.02 [[ 9.99376134e-01 -3.01743056e-02 -1.83536033e-02 5.84824393e+02] [ 3.01756907e-02 9.99544590e-01 -2.01532945e-04 6.42934373e+00] [ 1.83513260e-02 -3.52425440e-04 9.99831538e-01 4.02278899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.429254154 meters 0.015919660547836105 Centerline is valid? [True, True] Translation: X:584.85, Y:6.43, Z:4.02 [[ 9.99354733e-01 -3.10015512e-02 -1.81389686e-02 5.84853895e+02] [ 3.10030284e-02 9.99519271e-01 -1.99829381e-04 6.42733912e+00] [ 1.81364437e-02 -3.62662520e-04 9.99835455e-01 4.02258964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.459254154 meters 0.01617295785685112 Centerline is valid? [True, True] Translation: X:584.88, Y:6.43, Z:4.02 [[ 9.99342919e-01 -3.16711165e-02 -1.76258357e-02 5.84883248e+02] [ 3.16726042e-02 9.99498278e-01 -1.94806416e-04 6.42530480e+00] [ 1.76231622e-02 -3.63577706e-04 9.99844634e-01 4.02266143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4892541539999 meters 0.01603526310159286 Centerline is valid? [True, True] Translation: X:584.91, Y:6.42, Z:4.02 [[ 9.99331302e-01 -3.25572860e-02 -1.66424755e-02 5.84913554e+02] [ 3.25587312e-02 9.99469807e-01 -1.84174549e-04 6.42228258e+00] [ 1.66396480e-02 -3.57806493e-04 9.99861487e-01 4.02345790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5192541539999 meters 0.017139148727226293 Centerline is valid? [True, True] Translation: X:584.94, Y:6.42, Z:4.02 [[ 9.99327124e-01 -3.26606368e-02 -1.66907649e-02 5.84944185e+02] [ 3.26621048e-02 9.99466434e-01 -1.84708946e-04 6.42101350e+00] [ 1.66878920e-02 -3.60570854e-04 9.99860682e-01 4.02359136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5492541539999 meters 0.016859564014346226 Centerline is valid? [True, True] Translation: X:584.97, Y:6.42, Z:4.02 [[ 9.99278048e-01 -3.44392984e-02 -1.60411234e-02 5.84973755e+02] [ 3.44408807e-02 9.99406721e-01 -1.77685414e-04 6.41649224e+00] [ 1.60377259e-02 -3.74913283e-04 9.99871317e-01 4.02407514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.579254154 meters 0.016524357609759906 Centerline is valid? [True, True] Translation: X:585.01, Y:6.42, Z:4.02 [[ 9.99264149e-01 -3.48939974e-02 -1.59238774e-02 5.85005462e+02] [ 3.48956176e-02 9.99390947e-01 -1.76184258e-04 6.41570735e+00] [ 1.59203266e-02 -3.79618921e-04 9.99873192e-01 4.02474402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6092541539999 meters 0.017129528476952326 Centerline is valid? [True, True] Translation: X:585.04, Y:6.41, Z:4.02 [[ 9.99239587e-01 -3.55406587e-02 -1.60346596e-02 5.85035658e+02] [ 3.55423913e-02 9.99368154e-01 -1.76991470e-04 6.41361356e+00] [ 1.60308185e-02 -3.93053263e-04 9.99871421e-01 4.02428427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6392541539999 meters 0.017195937611984673 Centerline is valid? [True, True] Translation: X:585.07, Y:6.41, Z:4.02 [[ 9.99212802e-01 -3.61982396e-02 -1.62315761e-02 5.85067323e+02] [ 3.62001093e-02 9.99344545e-01 -1.78705926e-04 6.40975560e+00] [ 1.62274058e-02 -4.09019578e-04 9.99868243e-01 4.02410250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6692541539999 meters 0.01724286325975523 Centerline is valid? [True, True] Translation: X:585.10, Y:6.41, Z:4.02 [[ 9.99226691e-01 -3.59534452e-02 -1.59175851e-02 5.85098244e+02] [ 3.59552211e-02 9.99353387e-01 -1.74684822e-04 6.40816402e+00] [ 1.59135731e-02 -3.97770555e-04 9.99873292e-01 4.02400601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.699254154 meters 0.01670408236431232 Centerline is valid? [True, True] Translation: X:585.13, Y:6.41, Z:4.02 [[ 9.99257102e-01 -3.52067087e-02 -1.56758382e-02 5.85129517e+02] [ 3.52083481e-02 9.99379979e-01 -1.71471757e-04 6.40769646e+00] [ 1.56721558e-02 -3.80575998e-04 9.99877112e-01 4.02456768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7292541539999 meters 0.016281270571428273 Centerline is valid? [True, True] Translation: X:585.16, Y:6.41, Z:4.02 [[ 9.99374025e-01 -3.18217752e-02 -1.54574559e-02 5.85159519e+02] [ 3.18229683e-02 9.99493507e-01 -1.68836037e-04 6.40598658e+00] [ 1.54549995e-02 -3.23171780e-04 9.99880512e-01 4.02438481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7592541539999 meters 0.015574756883404187 Centerline is valid? [True, True] Translation: X:585.19, Y:6.41, Z:4.02 [[ 9.99452841e-01 -2.93082095e-02 -1.53312770e-02 5.85189791e+02] [ 2.93090876e-02 9.99570382e-01 -1.67457832e-04 6.40621589e+00] [ 1.53295983e-02 -2.81979535e-04 9.99882455e-01 4.02451763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7892541539999 meters 0.015455499006749645 Centerline is valid? [True, True] Translation: X:585.22, Y:6.41, Z:4.02 [[ 9.99530387e-01 -2.65102152e-02 -1.53692551e-02 5.85219287e+02] [ 2.65107647e-02 9.99648514e-01 -1.68020888e-04 6.40583362e+00] [ 1.53683072e-02 -2.39508721e-04 9.99881872e-01 4.02404354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.819254154 meters 0.014560573067193416 Centerline is valid? [True, True] Translation: X:585.25, Y:6.41, Z:4.02 [[ 9.99586546e-01 -2.40752096e-02 -1.57200918e-02 5.85249048e+02] [ 2.40754766e-02 9.99710129e-01 -1.72292065e-04 6.40740646e+00] [ 1.57196830e-02 -2.06247872e-04 9.99876417e-01 4.02477200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8492541539999 meters 0.013975185204175542 Centerline is valid? [True, True] Translation: X:585.28, Y:6.41, Z:4.02 [[ 9.99677782e-01 -1.94250480e-02 -1.63401059e-02 5.85277842e+02] [ 1.94247030e-02 9.99811306e-01 -1.79838267e-04 6.40732889e+00] [ 1.63405160e-02 -1.37621384e-04 9.99866475e-01 4.02446682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8792541539999 meters 0.013652226527977422 Centerline is valid? [True, True] Translation: X:585.31, Y:6.41, Z:4.02 [[ 9.99706274e-01 -1.78071300e-02 -1.64399496e-02 5.85306866e+02] [ 1.78065174e-02 9.99841435e-01 -1.83647300e-04 6.40715714e+00] [ 1.64406131e-02 -1.09144892e-04 9.99864838e-01 4.02455523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9092541539999 meters 0.014687094911709294 Centerline is valid? [True, True] Translation: X:585.34, Y:6.41, Z:4.02 [[ 9.99730544e-01 -1.53047606e-02 -1.74529001e-02 5.85335130e+02] [ 1.53036049e-02 9.99882873e-01 -1.99779968e-04 6.40550177e+00] [ 1.74539135e-02 -6.73661515e-05 9.99847667e-01 4.02426043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.939254154 meters 0.015188878895345538 Centerline is valid? [True, True] Translation: X:585.36, Y:6.40, Z:4.02 [[ 9.99721200e-01 -1.49204714e-02 -1.83003478e-02 5.85363457e+02] [ 1.49190794e-02 9.99888682e-01 -2.12592272e-04 6.40403323e+00] [ 1.83014826e-02 -6.04913402e-05 9.99832512e-01 4.02463464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9692541539999 meters 0.013684392889578673 Centerline is valid? [True, True] Translation: X:585.39, Y:6.40, Z:4.02 [[ 9.99705212e-01 -1.59461357e-02 -1.83087118e-02 5.85389983e+02] [ 1.59448610e-02 9.99872849e-01 -2.15608540e-04 6.40185504e+00] [ 1.83098219e-02 -7.63848830e-05 9.99832358e-01 4.02467456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9992541539999 meters 0.014291112646691318 Centerline is valid? [True, True] Translation: X:585.42, Y:6.40, Z:4.02 [[ 9.99667734e-01 -1.80105539e-02 -1.84402084e-02 5.85418031e+02] [ 1.80095675e-02 9.99837790e-01 -2.19569346e-04 6.39646801e+00] [ 1.84411718e-02 -1.12603787e-04 9.99829941e-01 4.02493702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0292541539999 meters 0.014168810691645111 Centerline is valid? [True, True] Translation: X:585.45, Y:6.39, Z:4.03 [[ 9.99622552e-01 -2.07065733e-02 -1.80552264e-02 5.85446616e+02] [ 2.07060044e-02 9.99785584e-01 -2.18470234e-04 6.39383782e+00] [ 1.80558788e-02 -1.55463824e-04 9.99836967e-01 4.02662140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.059254154 meters 0.014101173754118363 Centerline is valid? [True, True] Translation: X:585.48, Y:6.39, Z:4.03 [[ 9.99563185e-01 -2.38151845e-02 -1.75007718e-02 5.85475571e+02] [ 2.38150478e-02 9.99716358e-01 -2.16244656e-04 6.38989705e+00] [ 1.75009578e-02 -2.00631522e-04 9.99846826e-01 4.02697869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.089254154 meters 0.014615292643503232 Centerline is valid? [True, True] Translation: X:585.50, Y:6.39, Z:4.03 [[ 9.99465756e-01 -2.75792615e-02 -1.75381771e-02 5.85504693e+02] [ 2.75796238e-02 9.99619585e-01 -2.21253523e-04 6.38563560e+00] [ 1.75376074e-02 -2.62561009e-04 9.99846170e-01 4.02739229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1192541539999 meters 0.01609606397764048 Centerline is valid? [True, True] Translation: X:585.53, Y:6.38, Z:4.03 [[ 9.99209784e-01 -3.58483517e-02 -1.71669134e-02 5.85534199e+02] [ 3.58498784e-02 9.99357163e-01 -2.18898056e-04 6.37699894e+00] [ 1.71637250e-02 -3.96706677e-04 9.99852614e-01 4.02805775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1492541539999 meters 0.01764482025718851 Centerline is valid? [True, True] Translation: X:585.56, Y:6.37, Z:4.03 [[ 9.99034345e-01 -4.04781828e-02 -1.70848881e-02 5.85562666e+02] [ 4.04803551e-02 9.99180311e-01 -2.18800632e-04 6.37183364e+00] [ 1.70797405e-02 -4.73012991e-04 9.99854019e-01 4.02775120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.179254154 meters 0.01993305524788723 Centerline is valid? [True, True] Translation: X:585.59, Y:6.36, Z:4.03 [[ 9.98630824e-01 -4.97038127e-02 -1.63097395e-02 5.85593353e+02] [ 4.97070145e-02 9.98763820e-01 -2.09262978e-04 6.36307770e+00] [ 1.62999789e-02 -6.01731999e-04 9.99866965e-01 4.02829536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.209254154 meters 0.021714732759353126 Centerline is valid? [True, True] Translation: X:585.62, Y:6.36, Z:4.03 [[ 9.98389437e-01 -5.45135477e-02 -1.57100563e-02 5.85624468e+02] [ 5.45171149e-02 9.98512816e-01 -2.01423042e-04 6.35801979e+00] [ 1.56976729e-02 -6.55368310e-04 9.99876569e-01 4.02873090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2392541539999 meters 0.02484031717518422 Centerline is valid? [True, True] Translation: X:585.65, Y:6.35, Z:4.03 [[ 9.98158986e-01 -5.86998674e-02 -1.52631394e-02 5.85654558e+02] [ 5.87037248e-02 9.98275430e-01 -1.95569024e-04 6.35143302e+00] [ 1.52482969e-02 -7.00794155e-04 9.99883492e-01 4.02887970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2692541539999 meters 0.027039383059256808 Centerline is valid? [True, True] Translation: X:585.69, Y:6.34, Z:4.03 [[ 9.97689894e-01 -6.63579116e-02 -1.45431652e-02 5.85685506e+02] [ 6.63622278e-02 9.97795580e-01 -1.86130157e-04 6.34494114e+00] [ 1.45234571e-02 -7.79416665e-04 9.99894225e-01 4.02992729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2992541539999 meters 0.028642408596964226 Centerline is valid? [True, True] Translation: X:585.72, Y:6.34, Z:4.03 [[ 9.97462460e-01 -6.96623124e-02 -1.46902242e-02 5.85717029e+02] [ 6.96670806e-02 9.97570280e-01 -1.87533613e-04 6.34122460e+00] [ 1.46675951e-02 -8.36367295e-04 9.99892075e-01 4.03016590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.329254154 meters 0.02901823012069811 Centerline is valid? [True, True] Translation: X:585.75, Y:6.34, Z:4.03 [[ 9.97096611e-01 -7.47715716e-02 -1.44069404e-02 5.85747249e+02] [ 7.47766927e-02 9.97200287e-01 -1.83646864e-04 6.33771552e+00] [ 1.43803366e-02 -8.94189687e-04 9.99896198e-01 4.03083109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3592541539999 meters 0.03368895953455259 Centerline is valid? [True, True] Translation: X:585.78, Y:6.33, Z:4.03 [[ 9.96963778e-01 -7.65620271e-02 -1.41944307e-02 5.85777596e+02] [ 7.65671811e-02 9.97064408e-01 -1.80782580e-04 6.33075733e+00] [ 1.41666027e-02 -9.06593859e-04 9.99899238e-01 4.03016473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3892541539999 meters 0.03187447838672603 Centerline is valid? [True, True] Translation: X:585.81, Y:6.33, Z:4.03 [[ 9.96839345e-01 -7.80541315e-02 -1.47943728e-02 5.85808545e+02] [ 7.80598982e-02 9.96948653e-01 -1.88146113e-04 6.33278220e+00] [ 1.47639156e-02 -9.67295790e-04 9.99890540e-01 4.03077441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4192541539999 meters 0.03162189963984308 Centerline is valid? [True, True] Translation: X:585.84, Y:6.33, Z:4.03 [[ 9.96772093e-01 -7.88536025e-02 -1.50832023e-02 5.85840373e+02] [ 7.88596988e-02 9.96885706e-01 -1.91086875e-04 6.33270064e+00] [ 1.50512967e-02 -9.98986725e-04 9.99886224e-01 4.03100184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.449254154 meters 0.03263500191281783 Centerline is valid? [True, True] Translation: X:585.87, Y:6.33, Z:4.03 [[ 9.96726481e-01 -7.93335801e-02 -1.55725479e-02 5.85872480e+02] [ 7.93401548e-02 9.96847582e-01 -1.96122781e-04 6.33112322e+00] [ 1.55390159e-02 -1.04004759e-03 9.99878721e-01 4.03055294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4792541539999 meters 0.03322248493699097 Centerline is valid? [True, True] Translation: X:585.90, Y:6.33, Z:4.03 [[ 9.96721717e-01 -7.94203347e-02 -1.54346526e-02 5.85904250e+02] [ 7.94268163e-02 9.96840681e-01 -1.93572907e-04 6.33071227e+00] [ 1.54012632e-02 -1.03298699e-03 9.99880860e-01 4.03070779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5092541539999 meters 0.03368187273473651 Centerline is valid? [True, True] Translation: X:585.94, Y:6.33, Z:4.03 [[ 9.96750850e-01 -7.89626332e-02 -1.58948519e-02 5.85935626e+02] [ 7.89694585e-02 9.96877016e-01 -1.98762200e-04 6.33064062e+00] [ 1.58609073e-02 -1.05709146e-03 9.99873649e-01 4.03046300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5392541539999 meters 0.03328670940533336 Centerline is valid? [True, True] Translation: X:585.97, Y:6.33, Z:4.03 [[ 9.96915481e-01 -7.69922538e-02 -1.52222379e-02 5.85966021e+02] [ 7.69982884e-02 9.97031207e-01 -1.90112228e-04 6.33317877e+00] [ 1.51916834e-02 -9.82560439e-04 9.99884117e-01 4.03056825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.569254154 meters 0.029779828833227752 Centerline is valid? [True, True] Translation: X:586.00, Y:6.34, Z:4.03 [[ 9.97006279e-01 -7.57675882e-02 -1.54191935e-02 5.85996941e+02] [ 7.57736391e-02 9.97125027e-01 -1.92256712e-04 6.33908970e+00] [ 1.53894305e-02 -9.76687252e-04 9.99881099e-01 4.03130024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5992541539999 meters 0.027849276250012354 Centerline is valid? [True, True] Translation: X:586.03, Y:6.34, Z:4.03 [[ 9.97089707e-01 -7.45389424e-02 -1.60019579e-02 5.86027983e+02] [ 7.45453115e-02 9.97217608e-01 -1.98913527e-04 6.34317587e+00] [ 1.59722609e-02 -9.94536304e-04 9.99871941e-01 4.03155700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6292541539999 meters 0.032319605222247125 Centerline is valid? [True, True] Translation: X:586.06, Y:6.34, Z:4.03 [[ 9.97203830e-01 -7.30349037e-02 -1.58248303e-02 5.86058155e+02] [ 7.30409506e-02 9.97328923e-01 -1.96286878e-04 6.34010996e+00] [ 1.57968968e-02 -9.60122624e-04 9.99874760e-01 4.03051241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6592541539999 meters 0.02809148933089736 Centerline is valid? [True, True] Translation: X:586.09, Y:6.35, Z:4.03 [[ 9.97235599e-01 -7.26023965e-02 -1.58130310e-02 5.86090268e+02] [ 7.26083927e-02 9.97360508e-01 -1.95346403e-04 6.34760912e+00] [ 1.57854752e-02 -9.53352377e-04 9.99874947e-01 4.03146173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.689254154 meters 0.02858382437090132 Centerline is valid? [True, True] Translation: X:586.12, Y:6.35, Z:4.03 [[ 9.97268026e-01 -7.21281849e-02 -1.59376818e-02 5.86121849e+02] [ 7.21342321e-02 9.97394914e-01 -1.95861094e-04 6.34867169e+00] [ 1.59102899e-02 -9.54326431e-04 9.99872968e-01 4.03143174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7192541539999 meters 0.028519140268815243 Centerline is valid? [True, True] Translation: X:586.15, Y:6.35, Z:4.03 [[ 9.97302521e-01 -7.17199341e-02 -1.56183320e-02 5.86153876e+02] [ 7.17257073e-02 9.97424376e-01 -1.90914585e-04 6.35204084e+00] [ 1.55917974e-02 -9.29836310e-04 9.99878008e-01 4.03188256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7492541539999 meters 0.029352355653506912 Centerline is valid? [True, True] Translation: X:586.18, Y:6.35, Z:4.03 [[ 9.97326639e-01 -7.15805425e-02 -1.46901359e-02 5.86184791e+02] [ 7.15856481e-02 9.97434440e-01 -1.78657861e-04 6.35266342e+00] [ 1.46652359e-02 -8.73422651e-04 9.99892078e-01 4.03233850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7792541539999 meters 0.029964427386122393 Centerline is valid? [True, True] Translation: X:586.22, Y:6.35, Z:4.03 [[ 9.97335588e-01 -7.15655117e-02 -1.41457555e-02 5.86216725e+02] [ 7.15702570e-02 9.97435546e-01 -1.71143495e-04 6.35387873e+00] [ 1.41217273e-02 -8.41727859e-04 9.99899929e-01 4.03279259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.809254154 meters 0.02913018895950159 Centerline is valid? [True, True] Translation: X:586.25, Y:6.36, Z:4.03 [[ 9.97353723e-01 -7.14286749e-02 -1.35460803e-02 5.86249351e+02] [ 7.14330285e-02 9.97445385e-01 -1.62797342e-04 6.35863748e+00] [ 1.35231037e-02 -8.05271008e-04 9.99908234e-01 4.03328679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.839254154 meters 0.026954447293248612 Centerline is valid? [True, True] Translation: X:586.28, Y:6.36, Z:4.03 [[ 9.97376359e-01 -7.11524338e-02 -1.33315308e-02 5.86281350e+02] [ 7.11566407e-02 9.97465141e-01 -1.59108685e-04 6.36372799e+00] [ 1.33090582e-02 -7.89935705e-04 9.99911119e-01 4.03372304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8692541539999 meters 0.028677154672925007 Centerline is valid? [True, True] Translation: X:586.31, Y:6.36, Z:4.03 [[ 9.97398282e-01 -7.07918258e-02 -1.36082718e-02 5.86312993e+02] [ 7.07961939e-02 9.97490788e-01 -1.61074423e-04 6.36320623e+00] [ 1.35855285e-02 -8.02758495e-04 9.99907390e-01 4.03333579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8992541539999 meters 0.02782678430247703 Centerline is valid? [True, True] Translation: X:586.34, Y:6.37, Z:4.03 [[ 9.97518727e-01 -6.91061175e-02 -1.34437238e-02 5.86344433e+02] [ 6.91102424e-02 9.97609016e-01 -1.58061443e-04 6.36804843e+00] [ 1.34225031e-02 -7.71429764e-04 9.99909617e-01 4.03307743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.929254154 meters 0.028754816136861667 Centerline is valid? [True, True] Translation: X:586.38, Y:6.37, Z:4.03 [[ 9.97589683e-01 -6.82347840e-02 -1.26031577e-02 5.86375224e+02] [ 6.82383468e-02 9.97669036e-01 -1.47622705e-04 6.36879638e+00] [ 1.25838532e-02 -7.12751758e-04 9.99920566e-01 4.03313506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.959254154 meters 0.028865857871836507 Centerline is valid? [True, True] Translation: X:586.41, Y:6.37, Z:4.03 [[ 9.97692330e-01 -6.67373812e-02 -1.24954486e-02 5.86405271e+02] [ 6.67407722e-02 9.97770338e-01 -1.45880993e-04 6.37073664e+00] [ 1.24773237e-02 -6.88411541e-04 9.99921918e-01 4.03318312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9892541539999 meters 0.028350956084717032 Centerline is valid? [True, True] Translation: X:586.44, Y:6.37, Z:4.03 [[ 9.97811701e-01 -6.49600432e-02 -1.23288764e-02 5.86437150e+02] [ 6.49632142e-02 9.97887649e-01 -1.43522925e-04 6.37361707e+00] [ 1.23121567e-02 -6.57714584e-04 9.99923986e-01 4.03324295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0192541539999 meters 0.02513222327745935 Centerline is valid? [True, True] Translation: X:586.47, Y:6.38, Z:4.03 [[ 9.98076798e-01 -6.08435408e-02 -1.18646241e-02 5.86468305e+02] [ 6.08461926e-02 9.98147144e-01 -1.37669514e-04 6.38179990e+00] [ 1.18510170e-02 -5.84512458e-04 9.99929603e-01 4.03364912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0492541539999 meters 0.023886948514355546 Centerline is valid? [True, True] Translation: X:586.50, Y:6.39, Z:4.03 [[ 9.98209882e-01 -5.85924098e-02 -1.19984125e-02 5.86499645e+02] [ 5.85949633e-02 9.98281829e-01 -1.38905787e-04 6.38575094e+00] [ 1.19859360e-02 -5.64389411e-04 9.99928007e-01 4.03408992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.079254154 meters 0.02331921573113254 Centerline is valid? [True, True] Translation: X:586.53, Y:6.39, Z:4.03 [[ 9.98334992e-01 -5.63624341e-02 -1.22686378e-02 5.86531396e+02] [ 5.63649431e-02 9.98410223e-01 -1.41447710e-04 6.38872644e+00] [ 1.22571058e-02 -5.50308876e-04 9.99924727e-01 4.03438796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1092541539999 meters 0.02331921573113254 Centerline is valid? [True, True] Translation: X:586.56, Y:6.39, Z:4.03 [[ 9.98339122e-01 -5.62892416e-02 -1.22686472e-02 5.86563113e+02] [ 5.62917550e-02 9.98414352e-01 -1.40636146e-04 6.38903036e+00] [ 1.22571097e-02 -5.50221114e-04 9.99924727e-01 4.03460766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1392541539999 meters 0.02217856027023427 Centerline is valid? [True, True] Translation: X:586.59, Y:6.39, Z:4.03 [[ 9.98580362e-01 -5.19843784e-02 -1.16139988e-02 5.86592609e+02] [ 5.19863447e-02 9.98647787e-01 -1.32735925e-04 6.39424458e+00] [ 1.16051944e-02 -4.71221855e-04 9.99932546e-01 4.03478839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1692541539999 meters 0.021521765425842377 Centerline is valid? [True, True] Translation: X:586.62, Y:6.40, Z:4.04 [[ 9.98687171e-01 -4.99381327e-02 -1.14068777e-02 5.86623835e+02] [ 4.99398966e-02 9.98752216e-01 -1.30329125e-04 6.39735768e+00] [ 1.13991527e-02 -4.39500267e-04 9.99934931e-01 4.03521338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.199254154 meters 0.018813555984458913 Centerline is valid? [True, True] Translation: X:586.65, Y:6.41, Z:4.04 [[ 9.98877107e-01 -4.60522127e-02 -1.11228932e-02 5.86654811e+02] [ 4.60536537e-02 9.98938960e-01 -1.26680414e-04 6.40628958e+00] [ 1.11169252e-02 -3.85711704e-04 9.99938131e-01 4.03617365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2292541539999 meters 0.02053191702663214 Centerline is valid? [True, True] Translation: X:586.69, Y:6.41, Z:4.04 [[ 9.98951143e-01 -4.44014580e-02 -1.11859444e-02 5.86686351e+02] [ 4.44028176e-02 9.99013700e-01 -1.26897940e-04 6.40569625e+00] [ 1.11805461e-02 -3.69922606e-04 9.99937427e-01 4.03570515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2592541539999 meters 0.01829348858412398 Centerline is valid? [True, True] Translation: X:586.72, Y:6.41, Z:4.04 [[ 9.99011376e-01 -4.28655150e-02 -1.17821238e-02 5.86718199e+02] [ 4.28669258e-02 9.99080782e-01 -1.32892942e-04 6.41105107e+00] [ 1.17769900e-02 -3.72301867e-04 9.99930580e-01 4.03604585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2892541539999 meters 0.018538069806697758 Centerline is valid? [True, True] Translation: X:586.75, Y:6.41, Z:4.04 [[ 9.99065153e-01 -4.15490553e-02 -1.19371736e-02 5.86749351e+02] [ 4.15504191e-02 9.99136399e-01 -1.33843639e-04 6.41212518e+00] [ 1.19324257e-02 -3.62276051e-04 9.99928740e-01 4.03574342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.319254154 meters 0.01774329153062026 Centerline is valid? [True, True] Translation: X:586.78, Y:6.42, Z:4.04 [[ 9.99114711e-01 -4.01449747e-02 -1.25768071e-02 5.86781535e+02] [ 4.01463878e-02 9.99193799e-01 -1.40195894e-04 6.41607064e+00] [ 1.25722959e-02 -3.64841596e-04 9.99920899e-01 4.03565165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3492541539999 meters 0.017816600831293206 Centerline is valid? [True, True] Translation: X:586.81, Y:6.42, Z:4.04 [[ 9.99130842e-01 -3.97430462e-02 -1.25718081e-02 5.86813831e+02] [ 3.97444380e-02 9.99209868e-01 -1.39214879e-04 6.41727157e+00] [ 1.25674075e-02 -3.60565567e-04 9.99920962e-01 4.03534123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3792541539999 meters 0.01901153359228442 Centerline is valid? [True, True] Translation: X:586.84, Y:6.42, Z:4.03 [[ 9.99147309e-01 -3.92810362e-02 -1.27143870e-02 5.86844868e+02] [ 3.92824330e-02 9.99228138e-01 -1.39961590e-04 6.41584189e+00] [ 1.27100710e-02 -3.59609807e-04 9.99919159e-01 4.03496912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4092541539999 meters 0.017799150114816392 Centerline is valid? [True, True] Translation: X:586.88, Y:6.42, Z:4.04 [[ 9.99188979e-01 -3.80499345e-02 -1.31752490e-02 5.86876255e+02] [ 3.80513355e-02 9.99275775e-01 -1.44417362e-04 6.42069384e+00] [ 1.31712022e-02 -3.57035584e-04 9.99913192e-01 4.03531774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.439254154 meters 0.017854648063892396 Centerline is valid? [True, True] Translation: X:586.91, Y:6.42, Z:4.04 [[ 9.99219586e-01 -3.71538044e-02 -1.34094761e-02 5.86907681e+02] [ 3.71551831e-02 9.99309497e-01 -1.46383969e-04 6.42182497e+00] [ 1.34056555e-02 -3.51961811e-04 9.99910078e-01 4.03527242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4692541539999 meters 0.01752050335883521 Centerline is valid? [True, True] Translation: X:586.94, Y:6.42, Z:4.03 [[ 9.99280736e-01 -3.52478944e-02 -1.39856003e-02 5.86938235e+02] [ 3.52492147e-02 9.99378542e-01 -1.52161268e-04 6.42353654e+00] [ 1.39822722e-02 -3.40929603e-04 9.99902185e-01 4.03461094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4992541539999 meters 0.017312353821017593 Centerline is valid? [True, True] Translation: X:586.97, Y:6.42, Z:4.03 [[ 9.99307070e-01 -3.44248699e-02 -1.41530605e-02 5.86968677e+02] [ 3.44261413e-02 9.99407233e-01 -1.53859864e-04 6.42421479e+00] [ 1.41499677e-02 -3.33482012e-04 9.99899829e-01 4.03470643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5292541539999 meters 0.017176315893867172 Centerline is valid? [True, True] Translation: X:587.00, Y:6.43, Z:4.03 [[ 9.99330828e-01 -3.37012733e-02 -1.42169148e-02 5.87000457e+02] [ 3.37024866e-02 9.99431898e-01 -1.54300969e-04 6.42509687e+00] [ 1.42140382e-02 -3.24947664e-04 9.99898923e-01 4.03498631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.559254154 meters 0.017061056816876096 Centerline is valid? [True, True] Translation: X:587.03, Y:6.43, Z:4.04 [[ 9.99378398e-01 -3.24434423e-02 -1.37927394e-02 5.87030770e+02] [ 3.24444694e-02 9.99473528e-01 -1.49345593e-04 6.42620612e+00] [ 1.37903232e-02 -2.98245350e-04 9.99904864e-01 4.03544752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.589254154 meters 0.01713344989110275 Centerline is valid? [True, True] Translation: X:587.06, Y:6.43, Z:4.04 [[ 9.99397456e-01 -3.18769672e-02 -1.37326124e-02 5.87062203e+02] [ 3.18779367e-02 9.99491758e-01 -1.48344246e-04 6.42699542e+00] [ 1.37303616e-02 -2.89512485e-04 9.99905692e-01 4.03598328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6192541539999 meters 0.015956079123395434 Centerline is valid? [True, True] Translation: X:587.09, Y:6.43, Z:4.04 [[ 9.99411717e-01 -3.13900506e-02 -1.38160800e-02 5.87093380e+02] [ 3.13909921e-02 9.99507170e-01 -1.48761417e-04 6.43002247e+00] [ 1.38139406e-02 -2.85026555e-04 9.99904542e-01 4.03709650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6492541539999 meters 0.01698891380373492 Centerline is valid? [True, True] Translation: X:587.12, Y:6.43, Z:4.04 [[ 9.99449190e-01 -3.00374855e-02 -1.41090770e-02 5.87123831e+02] [ 3.00383380e-02 9.99548736e-01 -1.51534120e-04 6.42868098e+00] [ 1.41072618e-02 -2.72362571e-04 9.99900451e-01 4.03578441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.679254154 meters 0.016558536661150317 Centerline is valid? [True, True] Translation: X:587.15, Y:6.43, Z:4.04 [[ 9.99474641e-01 -2.89759129e-02 -1.45202490e-02 5.87154177e+02] [ 2.89767057e-02 9.99580075e-01 -1.55823102e-04 6.42965378e+00] [ 1.45186667e-02 -2.65007743e-04 9.99894563e-01 4.03609880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.709254154 meters 0.015220889127360483 Centerline is valid? [True, True] Translation: X:587.18, Y:6.43, Z:4.04 [[ 9.99510889e-01 -2.78142242e-02 -1.42951404e-02 5.87184764e+02] [ 2.78148739e-02 9.99613080e-01 -1.53407363e-04 6.43306638e+00] [ 1.42938762e-02 -2.44285196e-04 9.99897807e-01 4.03707305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7392541539999 meters 0.01498791574699206 Centerline is valid? [True, True] Translation: X:587.21, Y:6.43, Z:4.04 [[ 9.99573477e-01 -2.53316031e-02 -1.45318031e-02 5.87213908e+02] [ 2.53320133e-02 9.99679081e-01 -1.55866305e-04 6.43461261e+00] [ 1.45310879e-02 -2.12320005e-04 9.99894396e-01 4.03715718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7692541539999 meters 0.014475944572769225 Centerline is valid? [True, True] Translation: X:587.24, Y:6.44, Z:4.04 [[ 9.99594560e-01 -2.42434475e-02 -1.49321766e-02 5.87243511e+02] [ 2.42437560e-02 9.99706064e-01 -1.60378300e-04 6.43679379e+00] [ 1.49316756e-02 -2.01698770e-04 9.99888496e-01 4.03824485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7992541539999 meters 0.01424215315207807 Centerline is valid? [True, True] Translation: X:587.27, Y:6.44, Z:4.04 [[ 9.99640428e-01 -2.25520654e-02 -1.45058373e-02 5.87272402e+02] [ 2.25521676e-02 9.99745655e-01 -1.56551602e-04 6.43753320e+00] [ 1.45056784e-02 -1.70642764e-04 9.99894773e-01 4.03869669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.829254154 meters 0.014472167627116023 Centerline is valid? [True, True] Translation: X:587.30, Y:6.44, Z:4.04 [[ 9.99647677e-01 -2.21854882e-02 -1.45714310e-02 5.87300571e+02] [ 2.21855381e-02 9.99753858e-01 -1.58239197e-04 6.43732816e+00] [ 1.45713550e-02 -1.65091593e-04 9.99893819e-01 4.03864837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8592541539999 meters 0.014408801467722748 Centerline is valid? [True, True] Translation: X:587.33, Y:6.44, Z:4.04 [[ 9.99639974e-01 -2.24584212e-02 -1.46813495e-02 5.87329707e+02] [ 2.24584659e-02 9.99747764e-01 -1.61847032e-04 6.43772382e+00] [ 1.46812812e-02 -1.67931825e-04 9.99892210e-01 4.03913343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8892541539999 meters 0.014626229670646132 Centerline is valid? [True, True] Translation: X:587.36, Y:6.44, Z:4.04 [[ 9.99618935e-01 -2.32150038e-02 -1.49347710e-02 5.87358166e+02] [ 2.32150781e-02 9.99730480e-01 -1.68416770e-04 6.43733670e+00] [ 1.49346555e-02 -1.78359282e-04 9.99888456e-01 4.03922276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9192541539999 meters 0.014913884644410465 Centerline is valid? [True, True] Translation: X:587.39, Y:6.43, Z:4.04 [[ 9.99548393e-01 -2.57068009e-02 -1.55618165e-02 5.87386535e+02] [ 2.57071481e-02 9.99669501e-01 -1.77759497e-04 6.43434909e+00] [ 1.55612429e-02 -2.22370701e-04 9.99878892e-01 4.03902746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.949254154 meters 0.01551902886396555 Centerline is valid? [True, True] Translation: X:587.41, Y:6.43, Z:4.04 [[ 9.99498584e-01 -2.74574468e-02 -1.57692485e-02 5.87414788e+02] [ 2.74580079e-02 9.99622941e-01 -1.80969679e-04 6.43242270e+00] [ 1.57682715e-02 -2.52113212e-04 9.99875641e-01 4.03910679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9792541539999 meters 0.015840526051943492 Centerline is valid? [True, True] Translation: X:587.44, Y:6.43, Z:4.04 [[ 9.99444282e-01 -2.95499863e-02 -1.54248656e-02 5.87444625e+02] [ 2.95507621e-02 9.99563265e-01 -1.77673885e-04 6.43077431e+00] [ 1.54233793e-02 -2.78241386e-04 9.99881014e-01 4.03949606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0092541539999 meters 0.017467029987434306 Centerline is valid? [True, True] Translation: X:587.47, Y:6.43, Z:4.04 [[ 9.99294035e-01 -3.42731598e-02 -1.53877356e-02 5.87474340e+02] [ 3.42744855e-02 9.99412441e-01 -1.77636828e-04 6.42577728e+00] [ 1.53847825e-02 -3.49895297e-04 9.99881586e-01 4.03974508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0392541539999 meters 0.0204454843030815 Centerline is valid? [True, True] Translation: X:587.50, Y:6.42, Z:4.04 [[ 9.99213666e-01 -3.64599697e-02 -1.55795056e-02 5.87504899e+02] [ 3.64615946e-02 9.99335039e-01 -1.79824028e-04 6.42192613e+00] [ 1.55757022e-02 -3.88370992e-04 9.99878616e-01 4.03878667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.069254154 meters 0.01849110251144388 Centerline is valid? [True, True] Translation: X:587.54, Y:6.42, Z:4.04 [[ 9.99106362e-01 -3.93634679e-02 -1.53946262e-02 5.87535626e+02] [ 3.93654007e-02 9.99224866e-01 -1.77572132e-04 6.42169511e+00] [ 1.53896831e-02 -4.28602181e-04 9.99881480e-01 4.04066015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0992541539999 meters 0.02034204201397925 Centerline is valid? [True, True] Translation: X:587.57, Y:6.42, Z:4.04 [[ 9.98895111e-01 -4.45038051e-02 -1.50986259e-02 5.87566511e+02] [ 4.45062530e-02 9.99009091e-01 -1.74013373e-04 6.41682036e+00] [ 1.50914088e-02 -4.98162155e-04 9.99885994e-01 4.04083856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1292541539999 meters 0.02008245133243958 Centerline is valid? [True, True] Translation: X:587.60, Y:6.42, Z:4.04 [[ 9.98786781e-01 -4.68672306e-02 -1.51138479e-02 5.87597582e+02] [ 4.68699600e-02 9.98900984e-01 -1.73767688e-04 6.41647347e+00] [ 1.51053815e-02 -5.34828576e-04 9.99885764e-01 4.04156248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1592541539999 meters 0.02138016060786696 Centerline is valid? [True, True] Translation: X:587.63, Y:6.41, Z:4.04 [[ 9.98574540e-01 -5.11716571e-02 -1.51772458e-02 5.87629157e+02] [ 5.11749142e-02 9.98689690e-01 -1.73940723e-04 6.41296431e+00] [ 1.51662597e-02 -6.03001474e-04 9.99884804e-01 4.04180792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.189254154 meters 0.02193593939009648 Centerline is valid? [True, True] Translation: X:587.66, Y:6.41, Z:4.04 [[ 9.98478375e-01 -5.30676964e-02 -1.49918212e-02 5.87660348e+02] [ 5.30710959e-02 9.98590722e-01 -1.71269432e-04 6.41162705e+00] [ 1.49797825e-02 -6.24623558e-04 9.99887602e-01 4.04234447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2192541539999 meters 0.023569589624473062 Centerline is valid? [True, True] Translation: X:587.69, Y:6.41, Z:4.04 [[ 9.98378223e-01 -5.49607295e-02 -1.48405554e-02 5.87691548e+02] [ 5.49642854e-02 9.98488307e-01 -1.68469051e-04 6.40903261e+00] [ 1.48273802e-02 -6.47504691e-04 9.99889859e-01 4.04243530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2492541539999 meters 0.024292548198783327 Centerline is valid? [True, True] Translation: X:587.72, Y:6.41, Z:4.04 [[ 9.98274272e-01 -5.68233895e-02 -1.48182074e-02 5.87723823e+02] [ 5.68271585e-02 9.98384017e-01 -1.66927070e-04 6.40749345e+00] [ 1.48037468e-02 -6.75437624e-04 9.99890190e-01 4.04280266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2792541539999 meters 0.02407503208616507 Centerline is valid? [True, True] Translation: X:587.75, Y:6.41, Z:4.04 [[ 9.98018745e-01 -6.11006655e-02 -1.50097641e-02 5.87754755e+02] [ 6.11050250e-02 9.98131328e-01 -1.68426762e-04 6.40697976e+00] [ 1.49920067e-02 -7.49078943e-04 9.99887333e-01 4.04363009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.309254154 meters 0.0258040159577626 Centerline is valid? [True, True] Translation: X:587.79, Y:6.40, Z:4.04 [[ 9.97874736e-01 -6.34285190e-02 -1.49276084e-02 5.87785260e+02] [ 6.34330948e-02 9.97986079e-01 -1.67228274e-04 6.40415788e+00] [ 1.49081524e-02 -7.80031526e-04 9.99888563e-01 4.04376509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.339254154 meters 0.027534512307222002 Centerline is valid? [True, True] Translation: X:587.82, Y:6.40, Z:4.04 [[ 9.97718465e-01 -6.58011976e-02 -1.51018830e-02 5.87815251e+02] [ 6.58061650e-02 9.97832411e-01 -1.68306098e-04 6.40147066e+00] [ 1.50802230e-02 -8.25874900e-04 9.99885946e-01 4.04360589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3692541539999 meters 0.027272670663939614 Centerline is valid? [True, True] Translation: X:587.85, Y:6.40, Z:4.04 [[ 9.97557450e-01 -6.81935803e-02 -1.51251431e-02 5.87846858e+02] [ 6.81988512e-02 9.97671734e-01 -1.67629335e-04 6.40213233e+00] [ 1.51013590e-02 -8.64297489e-04 9.99885594e-01 4.04410598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3992541539999 meters 0.030565308565816567 Centerline is valid? [True, True] Translation: X:587.88, Y:6.40, Z:4.04 [[ 9.97241528e-01 -7.26340346e-02 -1.52850280e-02 5.87876759e+02] [ 7.26399392e-02 9.97358216e-01 -1.69267160e-04 6.39856243e+00] [ 1.52569428e-02 -9.41503262e-04 9.99883163e-01 4.04401749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.429254154 meters 0.035697193775519935 Centerline is valid? [True, True] Translation: X:587.91, Y:6.39, Z:4.04 [[ 9.97097595e-01 -7.45585603e-02 -1.54080139e-02 5.87906560e+02] [ 7.45647874e-02 9.97216157e-01 -1.70733814e-04 6.39223817e+00] [ 1.53778501e-02 -9.78657006e-04 9.99881275e-01 4.04355300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.459254154 meters 0.03113754680904566 Centerline is valid? [True, True] Translation: X:587.94, Y:6.40, Z:4.04 [[ 9.96926045e-01 -7.66671292e-02 -1.61434916e-02 5.87937523e+02] [ 7.66742478e-02 9.97056181e-01 -1.78428742e-04 6.39902058e+00] [ 1.61096477e-02 -1.05990981e-03 9.99869669e-01 4.04447379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4892541539999 meters 0.03313337857502493 Centerline is valid? [True, True] Translation: X:587.97, Y:6.40, Z:4.04 [[ 9.96893300e-01 -7.70252915e-02 -1.64575948e-02 5.87968948e+02] [ 7.70327528e-02 9.97028546e-01 -1.81025415e-04 6.39709909e+00] [ 1.64226353e-02 -1.08731081e-03 9.99864548e-01 4.04435634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5192541539999 meters 0.03484813173628612 Centerline is valid? [True, True] Translation: X:588.00, Y:6.40, Z:4.04 [[ 9.96889312e-01 -7.70245902e-02 -1.67006586e-02 5.88000291e+02] [ 7.70322888e-02 9.97028582e-01 -1.82781184e-04 6.39734470e+00] [ 1.66651126e-02 -1.10427734e-03 9.99860518e-01 4.04482849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5492541539999 meters 0.03548706664004351 Centerline is valid? [True, True] Translation: X:588.03, Y:6.40, Z:4.04 [[ 9.96919241e-01 -7.65467192e-02 -1.71063067e-02 5.88032620e+02] [ 7.65547453e-02 9.97065362e-01 -1.86111521e-04 6.39879423e+00] [ 1.70703521e-02 -1.12403080e-03 9.99853659e-01 4.04467973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.579254154 meters 0.03478291229304668 Centerline is valid? [True, True] Translation: X:588.06, Y:6.40, Z:4.05 [[ 9.96951153e-01 -7.61913626e-02 -1.68307724e-02 5.88064381e+02] [ 7.61991017e-02 9.97092605e-01 -1.81923779e-04 6.40081148e+00] [ 1.67956998e-02 -1.10112062e-03 9.99858336e-01 4.04581033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6092541539999 meters 0.03463366303352665 Centerline is valid? [True, True] Translation: X:588.10, Y:6.40, Z:4.05 [[ 9.96992775e-01 -7.55240520e-02 -1.73644507e-02 5.88096377e+02] [ 7.55322107e-02 9.97143345e-01 -1.86442135e-04 6.40296588e+00] [ 1.73289273e-02 -1.12569388e-03 9.99849209e-01 4.04599737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6392541539999 meters 0.03196272960427353 Centerline is valid? [True, True] Translation: X:588.13, Y:6.41, Z:4.05 [[ 9.97105745e-01 -7.38434985e-02 -1.80906390e-02 5.88127363e+02] [ 7.38520953e-02 9.97269187e-01 -1.93319370e-04 6.41046210e+00] [ 1.80555122e-02 -1.14327174e-03 9.99836332e-01 4.04675456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6692541539999 meters 0.034140649090935504 Centerline is valid? [True, True] Translation: X:588.16, Y:6.41, Z:4.05 [[ 9.97194996e-01 -7.26375228e-02 -1.80535546e-02 5.88158689e+02] [ 7.26459028e-02 9.97357777e-01 -1.92069079e-04 6.40968707e+00] [ 1.80198045e-02 -1.11998645e-03 9.99837003e-01 4.04659820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.699254154 meters 0.030016334151264354 Centerline is valid? [True, True] Translation: X:588.19, Y:6.42, Z:4.05 [[ 9.97323313e-01 -7.07957320e-02 -1.82804103e-02 5.88190400e+02] [ 7.08040342e-02 9.97490226e-01 -1.93473989e-04 6.41845426e+00] [ 1.82482277e-02 -1.10137067e-03 9.99832881e-01 4.04800615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7292541539999 meters 0.027999528443869576 Centerline is valid? [True, True] Translation: X:588.22, Y:6.43, Z:4.05 [[ 9.97571816e-01 -6.74855281e-02 -1.72097379e-02 5.88221130e+02] [ 6.74924045e-02 9.97719771e-01 -1.81592275e-04 6.42627123e+00] [ 1.71827506e-02 -9.80375257e-04 9.99851885e-01 4.05049688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7592541539999 meters 0.027623391834656504 Centerline is valid? [True, True] Translation: X:588.25, Y:6.43, Z:4.05 [[ 9.97722034e-01 -6.52999735e-02 -1.69309488e-02 5.88252989e+02] [ 6.53063265e-02 9.97865247e-01 -1.77976469e-04 6.42966219e+00] [ 1.69064273e-02 -9.28127027e-04 9.99856645e-01 4.05116749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7892541539999 meters 0.026864791419726763 Centerline is valid? [True, True] Translation: X:588.28, Y:6.44, Z:4.05 [[ 9.98007967e-01 -6.07046947e-02 -1.71766450e-02 5.88283009e+02] [ 6.07105612e-02 9.98155396e-01 -1.80173380e-04 6.43645685e+00] [ 1.71558983e-02 -8.62989288e-04 9.99852454e-01 4.05186016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.819254154 meters 0.02639311807666154 Centerline is valid? [True, True] Translation: X:588.31, Y:6.44, Z:4.05 [[ 9.98139127e-01 -5.84071425e-02 -1.75182597e-02 5.88313138e+02] [ 5.84128951e-02 9.98292492e-01 -1.83565675e-04 6.44039814e+00] [ 1.74990687e-02 -8.40068185e-04 9.99846527e-01 4.05214661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8492541539999 meters 0.024569453433293836 Centerline is valid? [True, True] Translation: X:588.34, Y:6.45, Z:4.05 [[ 9.98267729e-01 -5.60037183e-02 -1.80312024e-02 5.88344811e+02] [ 5.60094348e-02 9.98430222e-01 -1.88208385e-04 6.44596957e+00] [ 1.80134378e-02 -8.22035096e-04 9.99837407e-01 4.05257913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8792541539999 meters 0.02389388725569184 Centerline is valid? [True, True] Translation: X:588.37, Y:6.45, Z:4.05 [[ 9.98501838e-01 -5.13527814e-02 -1.88936698e-02 5.88374137e+02] [ 5.13582504e-02 9.98680275e-01 -1.95959690e-04 6.45242544e+00] [ 1.88787985e-02 -7.74679717e-04 9.99821479e-01 4.05181614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9092541539999 meters 0.02324090936647316 Centerline is valid? [True, True] Translation: X:588.40, Y:6.46, Z:4.05 [[ 9.98609190e-01 -4.90128710e-02 -1.94273811e-02 5.88404431e+02] [ 4.90182256e-02 9.98797864e-01 -2.00766292e-04 6.45629410e+00] [ 1.94138668e-02 -7.51808683e-04 9.99811250e-01 4.05169118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.939254154 meters 0.02230045435313585 Centerline is valid? [True, True] Translation: X:588.44, Y:6.46, Z:4.05 [[ 9.98739775e-01 -4.61585991e-02 -1.97039388e-02 5.88436189e+02] [ 4.61635680e-02 9.98933874e-01 -2.02836219e-04 6.46055697e+00] [ 1.96922946e-02 -7.07023520e-04 9.99805838e-01 4.05182789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9692541539999 meters 0.01834615417748755 Centerline is valid? [True, True] Translation: X:588.47, Y:6.47, Z:4.05 [[ 9.98954264e-01 -4.08381772e-02 -2.05577860e-02 5.88467028e+02] [ 4.08424722e-02 9.99165576e-01 -2.11064967e-04 6.47168494e+00] [ 2.05492516e-02 -6.28786556e-04 9.99788644e-01 4.05362392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9992541539999 meters 0.01834615417748755 Centerline is valid? [True, True] Translation: X:588.50, Y:6.47, Z:4.05 [[ 9.98955774e-01 -4.08011995e-02 -2.05577921e-02 5.88497889e+02] [ 4.08054990e-02 9.99167087e-01 -2.10466676e-04 6.47197228e+00] [ 2.05492566e-02 -6.28624066e-04 9.99788644e-01 4.05383775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0292541539999 meters 0.01788038105599696 Centerline is valid? [True, True] Translation: X:588.53, Y:6.48, Z:4.05 [[ 9.99050769e-01 -3.83962072e-02 -2.05740803e-02 5.88528426e+02] [ 3.84000093e-02 9.99262426e-01 -2.10376788e-04 6.47542158e+00] [ 2.05669831e-02 -5.79867784e-04 9.99788309e-01 4.05423438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.059254154 meters 0.01685635430574211 Centerline is valid? [True, True] Translation: X:588.56, Y:6.48, Z:4.06 [[ 9.99217726e-01 -3.38718856e-02 -2.04115470e-02 5.88559101e+02] [ 3.38746844e-02 9.99426066e-01 -2.08714831e-04 6.48140158e+00] [ 2.04069017e-02 -4.82883155e-04 9.99791641e-01 4.05500698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.089254154 meters 0.016327318014287343 Centerline is valid? [True, True] Translation: X:588.59, Y:6.48, Z:4.05 [[ 9.99285447e-01 -3.18557472e-02 -2.03422300e-02 5.88589239e+02] [ 3.18581046e-02 9.99492380e-01 -2.08250042e-04 6.48414620e+00] [ 2.03385379e-02 -4.39963656e-04 9.99793054e-01 4.05498456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1192541539999 meters 0.015935620394347833 Centerline is valid? [True, True] Translation: X:588.62, Y:6.49, Z:4.06 [[ 9.99335684e-01 -3.03088128e-02 -2.02377703e-02 5.88619221e+02] [ 3.03108166e-02 9.99540500e-01 -2.07790622e-04 6.48633660e+00] [ 2.02347689e-02 -4.05770761e-04 9.99795174e-01 4.05502044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1492541539999 meters 0.015615422167776703 Centerline is valid? [True, True] Translation: X:588.65, Y:6.49, Z:4.05 [[ 9.99376145e-01 -2.87627004e-02 -2.04945876e-02 5.88648073e+02] [ 2.87644101e-02 9.99586196e-01 -2.11418726e-04 6.48906813e+00] [ 2.04921879e-02 -3.78227893e-04 9.99789942e-01 4.05467386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.179254154 meters 0.015946650646670425 Centerline is valid? [True, True] Translation: X:588.68, Y:6.49, Z:4.05 [[ 9.99365469e-01 -2.91568885e-02 -2.04581260e-02 5.88676570e+02] [ 2.91585977e-02 9.99574775e-01 -2.14809629e-04 6.48991091e+00] [ 2.04556898e-02 -3.81856939e-04 9.99790688e-01 4.05443157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.209254154 meters 0.01685692828142998 Centerline is valid? [True, True] Translation: X:588.70, Y:6.49, Z:4.05 [[ 9.99328274e-01 -3.04396427e-02 -2.04065912e-02 5.88704894e+02] [ 3.04415605e-02 9.99536525e-01 -2.16719185e-04 6.48957114e+00] [ 2.04037301e-02 -4.04634871e-04 9.99791740e-01 4.05363011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2392541539999 meters 0.015932316318100406 Centerline is valid? [True, True] Translation: X:588.73, Y:6.49, Z:4.06 [[ 9.99284045e-01 -3.17684264e-02 -2.05466587e-02 5.88734301e+02] [ 3.17706334e-02 9.99495162e-01 -2.19084787e-04 6.49264848e+00] [ 2.05432460e-02 -4.33852430e-04 9.99788871e-01 4.05559815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2692541539999 meters 0.017303718030460782 Centerline is valid? [True, True] Translation: X:588.76, Y:6.49, Z:4.05 [[ 9.99241186e-01 -3.32246286e-02 -2.03267367e-02 5.88763819e+02] [ 3.32270794e-02 9.99447805e-01 -2.17241359e-04 6.49034327e+00] [ 2.03227301e-02 -4.58321581e-04 9.99793367e-01 4.05445971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2992541539999 meters 0.017449269372091285 Centerline is valid? [True, True] Translation: X:588.79, Y:6.49, Z:4.06 [[ 9.99107218e-01 -3.68169986e-02 -2.07189663e-02 5.88794285e+02] [ 3.68203142e-02 9.99321878e-01 -2.21563320e-04 6.49060995e+00] [ 2.07130736e-02 -5.41513334e-04 9.99785315e-01 4.05554765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.329254154 meters 0.018166029003928084 Centerline is valid? [True, True] Translation: X:588.82, Y:6.49, Z:4.06 [[ 9.99049323e-01 -3.83995388e-02 -2.06379892e-02 5.88824416e+02] [ 3.84031710e-02 9.99262302e-01 -2.20449665e-04 6.48947698e+00] [ 2.06312298e-02 -5.72324140e-04 9.99786990e-01 4.05576227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3592541539999 meters 0.02079109556064223 Centerline is valid? [True, True] Translation: X:588.86, Y:6.49, Z:4.05 [[ 9.98977627e-01 -4.03705505e-02 -2.03450258e-02 5.88855228e+02] [ 4.03745047e-02 9.99184594e-01 -2.16527045e-04 6.48574815e+00] [ 2.03371776e-02 -6.05114665e-04 9.99792995e-01 4.05486978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3892541539999 meters 0.019673936287029008 Centerline is valid? [True, True] Translation: X:588.89, Y:6.49, Z:4.06 [[ 9.98959171e-01 -4.06083936e-02 -2.07733868e-02 5.88886871e+02] [ 4.06125852e-02 9.99174944e-01 -2.20229149e-04 6.48965160e+00] [ 2.07651908e-02 -6.23661016e-04 9.99784186e-01 4.05657667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4192541539999 meters 0.019200008253828147 Centerline is valid? [True, True] Translation: X:588.92, Y:6.49, Z:4.06 [[ 9.98944490e-01 -4.11926764e-02 -2.03241022e-02 5.88918502e+02] [ 4.11968243e-02 9.99151027e-01 -2.14734614e-04 6.48984744e+00] [ 2.03156930e-02 -6.22780506e-04 9.99793421e-01 4.05710956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.449254154 meters 0.018433529957062374 Centerline is valid? [True, True] Translation: X:588.95, Y:6.49, Z:4.06 [[ 9.98983448e-01 -4.04797529e-02 -1.98358516e-02 5.88949583e+02] [ 4.04835777e-02 9.99180182e-01 -2.08857307e-04 6.49144317e+00] [ 1.98280443e-02 -5.94381247e-04 9.99803228e-01 4.05813734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4792541539999 meters 0.018208090724362636 Centerline is valid? [True, True] Translation: X:588.98, Y:6.49, Z:4.06 [[ 9.99049742e-01 -3.91920338e-02 -1.90682370e-02 5.88981124e+02] [ 3.91953470e-02 9.99231547e-01 -2.00084954e-04 6.49251455e+00] [ 1.90614257e-02 -5.47491344e-04 9.99818165e-01 4.05857306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5092541539999 meters 0.01808789622972143 Centerline is valid? [True, True] Translation: X:589.01, Y:6.49, Z:4.06 [[ 9.99118992e-01 -3.76330143e-02 -1.85740818e-02 5.89011208e+02] [ 3.76359085e-02 9.99291499e-01 -1.93839424e-04 6.49344994e+00] [ 1.85682168e-02 -5.05383791e-04 9.99827468e-01 4.05879773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5392541539999 meters 0.01671021872645955 Centerline is valid? [True, True] Translation: X:589.04, Y:6.50, Z:4.06 [[ 9.99300863e-01 -3.31248159e-02 -1.73358617e-02 5.89041839e+02] [ 3.31266667e-02 9.99451145e-01 -1.80466058e-04 6.49722022e+00] [ 1.73323248e-02 -3.93939427e-04 9.99849706e-01 4.06019982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.569254154 meters 0.016421225288742253 Centerline is valid? [True, True] Translation: X:589.07, Y:6.50, Z:4.06 [[ 9.99379251e-01 -3.09437982e-02 -1.68402467e-02 5.89072451e+02] [ 3.09452351e-02 9.99521066e-01 -1.75306712e-04 6.49908731e+00] [ 1.68376060e-02 -3.45927502e-04 9.99858178e-01 4.06087960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5992541539999 meters 0.01573393822715518 Centerline is valid? [True, True] Translation: X:589.10, Y:6.50, Z:4.06 [[ 9.99500057e-01 -2.68524056e-02 -1.66908540e-02 5.89102379e+02] [ 2.68532498e-02 9.99639371e-01 -1.73575303e-04 6.50188334e+00] [ 1.66894957e-02 -2.74715146e-04 9.99860683e-01 4.06107414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6292541539999 meters 0.015410396587405867 Centerline is valid? [True, True] Translation: X:589.13, Y:6.50, Z:4.06 [[ 9.99543657e-01 -2.52388187e-02 -1.65975809e-02 5.89132866e+02] [ 2.52394332e-02 9.99681420e-01 -1.72480938e-04 6.50304468e+00] [ 1.65966465e-02 -2.46511307e-04 9.99862236e-01 4.06114638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6592541539999 meters 0.015006367504751778 Centerline is valid? [True, True] Translation: X:589.16, Y:6.50, Z:4.06 [[ 9.99565250e-01 -2.39708141e-02 -1.71671549e-02 5.89163741e+02] [ 2.39712846e-02 9.99712632e-01 -1.78399912e-04 6.50410517e+00] [ 1.71664980e-02 -2.33196402e-04 9.99852618e-01 4.06119290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.689254154 meters 0.015309006752795735 Centerline is valid? [True, True] Translation: X:589.19, Y:6.50, Z:4.06 [[ 9.99568129e-01 -2.36183731e-02 -1.74850991e-02 5.89192605e+02] [ 2.36187971e-02 9.99721021e-01 -1.82283723e-04 6.50285753e+00] [ 1.74845264e-02 -2.30772009e-04 9.99847107e-01 4.06021565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7192541539999 meters 0.015170590825406366 Centerline is valid? [True, True] Translation: X:589.22, Y:6.50, Z:4.06 [[ 9.99545522e-01 -2.42873348e-02 -1.78570940e-02 5.89222056e+02] [ 2.42878697e-02 9.99704989e-01 -1.86951055e-04 6.50145952e+00] [ 1.78563665e-02 -2.46844683e-04 9.99840532e-01 4.05997532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7492541539999 meters 0.015292117689958635 Centerline is valid? [True, True] Translation: X:589.25, Y:6.50, Z:4.06 [[ 9.99511694e-01 -2.53055715e-02 -1.83303402e-02 5.89251547e+02] [ 2.53062938e-02 9.99679726e-01 -1.92583036e-04 6.50014476e+00] [ 1.83293428e-02 -2.71383977e-04 9.99831967e-01 4.05993593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7792541539999 meters 0.016150201347569094 Centerline is valid? [True, True] Translation: X:589.28, Y:6.50, Z:4.06 [[ 9.99406697e-01 -2.85508169e-02 -1.92640595e-02 5.89280640e+02] [ 2.85521993e-02 9.99592282e-01 -2.03330281e-04 6.49671586e+00] [ 1.92620105e-02 -3.46821623e-04 9.99814410e-01 4.05888492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.809254154 meters 0.01747340385063049 Centerline is valid? [True, True] Translation: X:589.31, Y:6.49, Z:4.06 [[ 9.99348423e-01 -3.01833345e-02 -1.97912832e-02 5.89309318e+02] [ 3.01850924e-02 9.99544304e-01 -2.09970253e-04 6.49430399e+00] [ 1.97886020e-02 -3.87568270e-04 9.99804111e-01 4.05782948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.839254154 meters 0.016407261721980735 Centerline is valid? [True, True] Translation: X:589.34, Y:6.49, Z:4.06 [[ 9.99285098e-01 -3.21816500e-02 -1.98402126e-02 5.89338612e+02] [ 3.21837934e-02 9.99481945e-01 -2.11334380e-04 6.49481205e+00] [ 1.98367353e-02 -4.27350007e-04 9.99803141e-01 4.05895162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8692541539999 meters 0.018674837188403078 Centerline is valid? [True, True] Translation: X:589.37, Y:6.49, Z:4.06 [[ 9.99173205e-01 -3.57066767e-02 -1.94406881e-02 5.89367760e+02] [ 3.57093877e-02 9.99362195e-01 -2.07783295e-04 6.48881855e+00] [ 1.94357080e-02 -4.86603567e-04 9.99810990e-01 4.05738200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8992541539999 meters 0.019453216057501225 Centerline is valid? [True, True] Translation: X:589.40, Y:6.49, Z:4.06 [[ 9.99108832e-01 -3.79865496e-02 -1.84000783e-02 5.89398268e+02] [ 3.79893600e-02 9.99278124e-01 -1.96899944e-04 6.48720973e+00] [ 1.83942753e-02 -5.02282724e-04 9.99830685e-01 4.05827069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.929254154 meters 0.020092444262918476 Centerline is valid? [True, True] Translation: X:589.43, Y:6.49, Z:4.06 [[ 9.98944432e-01 -4.28981962e-02 -1.64246003e-02 5.89428978e+02] [ 4.29011012e-02 9.99079308e-01 -1.75590952e-04 6.48541028e+00] [ 1.64170108e-02 -5.29227835e-04 9.99865092e-01 4.06039126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.959254154 meters 0.022385440230682646 Centerline is valid? [True, True] Translation: X:589.46, Y:6.48, Z:4.06 [[ 9.98845293e-01 -4.56802577e-02 -1.48793270e-02 5.89459996e+02] [ 4.56829580e-02 9.98955976e-01 -1.58534064e-04 6.48177201e+00] [ 1.48710345e-02 -5.21380667e-04 9.99889284e-01 4.06074196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9892541539999 meters 0.023310650290582983 Centerline is valid? [True, True] Translation: X:589.49, Y:6.48, Z:4.06 [[ 9.98541871e-01 -5.24540646e-02 -1.27555185e-02 5.89490743e+02] [ 5.24566049e-02 9.98623195e-01 -1.35560645e-04 6.48005284e+00] [ 1.27450674e-02 -5.33748215e-04 9.99918636e-01 4.06242723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0192541539999 meters 0.025387079680678753 Centerline is valid? [True, True] Translation: X:589.52, Y:6.48, Z:4.06 [[ 9.98401637e-01 -5.52013882e-02 -1.21234309e-02 5.89522681e+02] [ 5.52038901e-02 9.98475094e-01 -1.28430399e-04 6.47949300e+00] [ 1.21120334e-02 -5.41035429e-04 9.99926500e-01 4.06254733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0492541539999 meters 0.024842363926463558 Centerline is valid? [True, True] Translation: X:589.55, Y:6.48, Z:4.06 [[ 9.98163952e-01 -5.95416977e-02 -1.11135749e-02 5.89554075e+02] [ 5.95440753e-02 9.98225671e-01 -1.17111768e-04 6.47784674e+00] [ 1.11008288e-02 -5.44850796e-04 9.99938235e-01 4.06381049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.079254154 meters 0.026715171136052207 Centerline is valid? [True, True] Translation: X:589.59, Y:6.48, Z:4.06 [[ 9.97772558e-01 -6.59529240e-02 -1.00066923e-02 5.89585016e+02] [ 6.59551754e-02 9.97822581e-01 -1.05207307e-04 6.47523093e+00] [ 9.99184227e-03 -5.55020183e-04 9.99949926e-01 4.06411574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1092541539999 meters 0.029584247401779656 Centerline is valid? [True, True] Translation: X:589.62, Y:6.47, Z:4.06 [[ 9.97591604e-01 -6.86621181e-02 -9.82375026e-03 5.89615011e+02] [ 6.86644191e-02 9.97639808e-01 -1.03260494e-04 6.47182665e+00] [ 9.80765441e-03 -5.71530303e-04 9.99951740e-01 4.06404164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1392541539999 meters 0.030599603144239814 Centerline is valid? [True, True] Translation: X:589.65, Y:6.47, Z:4.06 [[ 9.97435866e-01 -7.09151811e-02 -9.62967580e-03 5.89645837e+02] [ 7.09174971e-02 9.97482179e-01 -1.01171422e-04 6.47116474e+00] [ 9.61260460e-03 -5.82000501e-04 9.99953628e-01 4.06389880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1692541539999 meters 0.03270056419937477 Centerline is valid? [True, True] Translation: X:589.68, Y:6.47, Z:4.06 [[ 9.97216554e-01 -7.39218375e-02 -9.73174880e-03 5.89675685e+02] [ 7.39243467e-02 9.97263847e-01 -1.02116536e-04 6.46993013e+00] [ 9.71266988e-03 -6.17580872e-04 9.99952640e-01 4.06355729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.199254154 meters 0.031246841683242623 Centerline is valid? [True, True] Translation: X:589.71, Y:6.47, Z:4.06 [[ 9.97147751e-01 -7.48191405e-02 -9.92267763e-03 5.89707834e+02] [ 7.48217956e-02 9.97196915e-01 -1.03898835e-04 6.47323804e+00] [ 9.90263715e-03 -6.38830068e-04 9.99950764e-01 4.06376871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2292541539999 meters 0.03857406341485309 Centerline is valid? [True, True] Translation: X:589.74, Y:6.47, Z:4.06 [[ 9.97136726e-01 -7.48569812e-02 -1.07136259e-02 5.89738970e+02] [ 7.48600868e-02 9.97194041e-01 -1.11419813e-04 6.46564831e+00] [ 1.06919044e-02 -6.90922175e-04 9.99942601e-01 4.06226839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2592541539999 meters 0.03148012345231382 Centerline is valid? [True, True] Translation: X:589.77, Y:6.48, Z:4.06 [[ 9.97212508e-01 -7.38442128e-02 -1.06885658e-02 5.89771115e+02] [ 7.38472529e-02 9.97269558e-01 -1.10502985e-04 6.47690826e+00] [ 1.06675413e-02 -6.79126264e-04 9.99942870e-01 4.06260159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2892541539999 meters 0.03183919232271513 Centerline is valid? [True, True] Translation: X:589.80, Y:6.48, Z:4.06 [[ 9.97472479e-01 -7.01732194e-02 -1.11522507e-02 5.89800955e+02] [ 7.01763063e-02 9.97534597e-01 -1.14766547e-04 6.48132317e+00] [ 1.11328094e-02 -6.68147289e-04 9.99937805e-01 4.06251777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.319254154 meters 0.033007541078124966 Centerline is valid? [True, True] Translation: X:589.83, Y:6.48, Z:4.06 [[ 9.97686316e-01 -6.70548145e-02 -1.12100786e-02 5.89831184e+02] [ 6.70577373e-02 9.97749090e-01 -1.15361647e-04 6.48273665e+00] [ 1.11925812e-02 -6.36627767e-04 9.99937158e-01 4.06250949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3492541539999 meters 0.029785687614071008 Centerline is valid? [True, True] Translation: X:589.86, Y:6.49, Z:4.06 [[ 9.97920704e-01 -6.34862203e-02 -1.11251004e-02 5.89862379e+02] [ 6.34888786e-02 9.97982540e-01 -1.14413384e-04 6.49062049e+00] [ 1.11099197e-02 -5.92144666e-04 9.99938108e-01 4.06286085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3792541539999 meters 0.024608704019410683 Centerline is valid? [True, True] Translation: X:589.89, Y:6.50, Z:4.06 [[ 9.98421742e-01 -5.50259649e-02 -1.12324247e-02 5.89893201e+02] [ 5.50281424e-02 9.98484797e-01 -1.15339149e-04 6.50468836e+00] [ 1.12217520e-02 -5.02942354e-04 9.99936908e-01 4.06398593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4092541539999 meters 0.021967213446882503 Centerline is valid? [True, True] Translation: X:589.92, Y:6.51, Z:4.06 [[ 9.98647158e-01 -5.08362361e-02 -1.09329964e-02 5.89924045e+02] [ 5.08380502e-02 9.98706904e-01 -1.12104982e-04 6.51205417e+00] [ 1.09245580e-02 -4.43858899e-04 9.99940227e-01 4.06453921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.439254154 meters 0.019310331196069307 Centerline is valid? [True, True] Translation: X:589.95, Y:6.52, Z:4.07 [[ 9.99045725e-01 -4.24358299e-02 -1.03363010e-02 5.89954125e+02] [ 4.24370034e-02 9.99099139e-01 -1.05863847e-04 6.52228487e+00] [ 1.03314818e-02 -3.32878816e-04 9.99946573e-01 4.06528805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4692541539999 meters 0.018485145985615594 Centerline is valid? [True, True] Translation: X:589.98, Y:6.53, Z:4.07 [[ 9.99211106e-01 -3.84355305e-02 -9.99373343e-03 5.89984977e+02] [ 3.84364288e-02 9.99261042e-01 -1.02238190e-04 6.52685137e+00] [ 9.99027807e-03 -2.81965888e-04 9.99950056e-01 4.06563248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4992541539999 meters 0.01756808790193061 Centerline is valid? [True, True] Translation: X:590.02, Y:6.53, Z:4.07 [[ 9.99359067e-01 -3.45017492e-02 -9.54381160e-03 5.90016215e+02] [ 3.45023923e-02 9.99404610e-01 -9.72998858e-05 6.53165508e+00] [ 9.54148634e-03 -2.32046809e-04 9.99954452e-01 4.06637037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5292541539999 meters 0.016427736829992736 Centerline is valid? [True, True] Translation: X:590.05, Y:6.54, Z:4.07 [[ 9.99482243e-01 -3.09349211e-02 -8.84745849e-03 5.90048432e+02] [ 3.09353374e-02 9.99521384e-01 -8.98289907e-05 6.53670026e+00] [ 8.84600281e-03 -1.83916632e-04 9.99960856e-01 4.06730571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.559254154 meters 0.015276331377434811 Centerline is valid? [True, True] Translation: X:590.08, Y:6.54, Z:4.07 [[ 9.99653722e-01 -2.49039000e-02 -8.49894306e-03 5.90078623e+02] [ 2.49040705e-02 9.99689842e-01 -8.57793607e-05 6.54412096e+00] [ 8.49844328e-03 -1.25908620e-04 9.99963880e-01 4.06789510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.589254154 meters 0.01486940314108573 Centerline is valid? [True, True] Translation: X:590.11, Y:6.55, Z:4.07 [[ 9.99711264e-01 -2.24266433e-02 -8.62758034e-03 5.90111053e+02] [ 2.24267290e-02 9.99748486e-01 -8.68291528e-05 6.54701805e+00] [ 8.62735767e-03 -1.06684324e-04 9.99962778e-01 4.06787954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6192541539999 meters 0.014276887979218077 Centerline is valid? [True, True] Translation: X:590.14, Y:6.55, Z:4.07 [[ 9.99795231e-01 -1.80455455e-02 -9.15715292e-03 5.90141833e+02] [ 1.80454657e-02 9.99837163e-01 -9.13489985e-05 6.55210046e+00] [ 9.15731024e-03 -7.39147954e-05 9.99958068e-01 4.06754328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6492541539999 meters 0.014176228504096082 Centerline is valid? [True, True] Translation: X:590.17, Y:6.55, Z:4.07 [[ 9.99819243e-01 -1.62682423e-02 -9.83998411e-03 5.90173599e+02] [ 1.62680744e-02 9.99867661e-01 -9.70992291e-05 6.55455983e+00] [ 9.84026153e-03 -6.29959163e-05 9.99951581e-01 4.06734026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.679254154 meters 0.014003336607170602 Centerline is valid? [True, True] Translation: X:590.20, Y:6.56, Z:4.07 [[ 9.99839526e-01 -1.48306254e-02 -1.00486618e-02 5.90204945e+02] [ 1.48303815e-02 9.99890019e-01 -9.87976772e-05 6.55701007e+00] [ 1.00490219e-02 -5.02436648e-05 9.99949506e-01 4.06754574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.709254154 meters 0.013964645372753645 Centerline is valid? [True, True] Translation: X:590.24, Y:6.56, Z:4.07 [[ 9.99864510e-01 -1.30286850e-02 -1.00605860e-02 5.90235112e+02] [ 1.30283518e-02 9.99915123e-01 -9.86619731e-05 6.55967149e+00] [ 1.00610176e-02 -3.24242490e-05 9.99949386e-01 4.06755469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7392541539999 meters 0.013989077575268315 Centerline is valid? [True, True] Translation: X:590.26, Y:6.56, Z:4.07 [[ 9.99862825e-01 -1.30568862e-02 -1.01906306e-02 5.90264499e+02] [ 1.30565452e-02 9.99914755e-01 -9.99963970e-05 6.56047047e+00] [ 1.01910675e-02 -3.30717488e-05 9.99948069e-01 4.06780848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7692541539999 meters 0.013936221980010417 Centerline is valid? [True, True] Translation: X:590.29, Y:6.56, Z:4.07 [[ 9.99847925e-01 -1.42866471e-02 -1.00009608e-02 5.90293980e+02] [ 1.42863784e-02 9.99897940e-01 -9.83134048e-05 6.56040768e+00] [ 1.00013446e-02 -4.45790561e-05 9.99949984e-01 4.06808931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7992541539999 meters 0.01414604890970357 Centerline is valid? [True, True] Translation: X:590.32, Y:6.56, Z:4.07 [[ 9.99833668e-01 -1.55442738e-02 -9.54001950e-03 5.90324440e+02] [ 1.55440854e-02 9.99879179e-01 -9.39003672e-05 6.56014671e+00] [ 9.54032647e-03 -5.44061288e-05 9.99954489e-01 4.06842128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.829254154 meters 0.01426229934365324 Centerline is valid? [True, True] Translation: X:590.36, Y:6.56, Z:4.07 [[ 9.99810303e-01 -1.72062902e-02 -9.12698156e-03 5.90355470e+02] [ 1.72061877e-02 9.99851959e-01 -8.97568106e-05 6.55946231e+00] [ 9.12717477e-03 -6.73007735e-05 9.99958344e-01 4.06899805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8592541539999 meters 0.014878212964843363 Centerline is valid? [True, True] Translation: X:590.39, Y:6.56, Z:4.07 [[ 9.99747097e-01 -2.10485792e-02 -7.91828742e-03 5.90386391e+02] [ 2.10486247e-02 9.99778450e-01 -7.76039819e-05 6.55688298e+00] [ 7.91816658e-03 -8.90847042e-05 9.99968647e-01 4.06977439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8892541539999 meters 0.015210085384532435 Centerline is valid? [True, True] Translation: X:590.42, Y:6.56, Z:4.07 [[ 9.99703088e-01 -2.32924558e-02 -7.15524874e-03 5.90418513e+02] [ 2.32925528e-02 9.99728689e-01 -6.97767665e-05 6.55533298e+00] [ 7.15493272e-03 -9.69079606e-05 9.99974398e-01 4.07042838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9192541539999 meters 0.015210085384532435 Centerline is valid? [True, True] Translation: X:590.45, Y:6.56, Z:4.07 [[ 9.99704720e-01 -2.32222801e-02 -7.15525361e-03 5.90450209e+02] [ 2.32223790e-02 9.99730322e-01 -6.92743059e-05 6.55557728e+00] [ 7.15493270e-03 -9.69081606e-05 9.99974398e-01 4.07064786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.949254154 meters 0.016099627195912625 Centerline is valid? [True, True] Translation: X:590.48, Y:6.55, Z:4.07 [[ 9.99560021e-01 -2.91426633e-02 -5.52000630e-03 5.90482255e+02] [ 2.91428139e-02 9.99575257e-01 -5.31700510e-05 6.55266720e+00] [ 5.51921123e-03 -1.07721859e-04 9.99984763e-01 4.07180106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9792541539999 meters 0.017579101976953934 Centerline is valid? [True, True] Translation: X:590.51, Y:6.55, Z:4.07 [[ 9.99476675e-01 -3.19799042e-02 -4.86441499e-03 5.90513830e+02] [ 3.19800564e-02 9.99488506e-01 -4.65220934e-05 6.54951088e+00] [ 4.86341465e-03 -1.09066519e-04 9.99988168e-01 4.07235714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0092541539999 meters 0.017944280610496386 Centerline is valid? [True, True] Translation: X:590.55, Y:6.55, Z:4.07 [[ 9.99371665e-01 -3.51743257e-02 -4.36373063e-03 5.90545991e+02] [ 3.51744793e-02 9.99381186e-01 -4.15809426e-05 6.54795574e+00] [ 4.36249287e-03 -1.11937137e-04 9.99990478e-01 4.07323894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0392541539999 meters 0.022208466896359882 Centerline is valid? [True, True] Translation: X:590.58, Y:6.54, Z:4.07 [[ 9.99147542e-01 -4.11539322e-02 -3.24699551e-03 5.90575702e+02] [ 4.11540490e-02 9.99152813e-01 -3.08594605e-05 6.53924745e+00] [ 3.24551468e-03 -1.02793858e-04 9.99994728e-01 4.07443233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.069254154 meters 0.019330268776549628 Centerline is valid? [True, True] Translation: X:590.61, Y:6.54, Z:4.07 [[ 9.99019227e-01 -4.41668660e-02 -3.14192891e-03 5.90607616e+02] [ 4.41669910e-02 9.99024162e-01 -2.96123104e-05 6.54335237e+00] [ 3.14017078e-03 -1.09186278e-04 9.99995064e-01 4.07403620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0992541539999 meters 0.02676508206096528 Centerline is valid? [True, True] Translation: X:590.64, Y:6.53, Z:4.07 [[ 9.98772713e-01 -4.94371662e-02 -3.00561828e-03 5.90637907e+02] [ 4.94373051e-02 9.98777228e-01 -2.81161409e-05 6.53047866e+00] [ 3.00333307e-03 -1.20508033e-04 9.99995483e-01 4.07465759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1292541539999 meters 0.02821990650368145 Centerline is valid? [True, True] Translation: X:590.67, Y:6.53, Z:4.07 [[ 9.98663374e-01 -5.15993714e-02 -2.99513711e-03 5.90670325e+02] [ 5.15995197e-02 9.98667857e-01 -2.77750738e-05 6.52797116e+00] [ 2.99258034e-03 -1.26809688e-04 9.99995514e-01 4.07474605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1592541539999 meters 0.022828959194008 Centerline is valid? [True, True] Translation: X:590.70, Y:6.54, Z:4.07 [[ 9.98564693e-01 -5.34919131e-02 -2.67744086e-03 5.90702360e+02] [ 5.34920387e-02 9.98568276e-01 -2.47333931e-05 6.53562649e+00] [ 2.67493054e-03 -1.18523877e-04 9.99996415e-01 4.07383439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.189254154 meters 0.02576478791257359 Centerline is valid? [True, True] Translation: X:590.73, Y:6.53, Z:4.07 [[ 9.98463099e-01 -5.53695770e-02 -2.37703546e-03 5.90733077e+02] [ 5.53696810e-02 9.98465922e-01 -2.20877453e-05 6.53113818e+00] [ 2.37461189e-03 -1.09561896e-04 9.99997175e-01 4.07421520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2192541539999 meters 0.023390608439074614 Centerline is valid? [True, True] Translation: X:590.77, Y:6.53, Z:4.07 [[ 9.98469459e-01 -5.52589361e-02 -2.27794482e-03 5.90766203e+02] [ 5.52590321e-02 9.98472052e-01 -2.08325460e-05 6.53493237e+00] [ 2.27561543e-03 -1.05076365e-04 9.99997405e-01 4.07407145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2492541539999 meters 0.024663691890007892 Centerline is valid? [True, True] Translation: X:590.80, Y:6.53, Z:4.07 [[ 9.98513901e-01 -5.44584723e-02 -2.06520688e-03 5.90797528e+02] [ 5.44585494e-02 9.98516032e-01 -1.89023095e-05 6.53440893e+00] [ 2.06317157e-03 -9.35939519e-05 9.99997867e-01 4.07476049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2792541539999 meters 0.025034941521527767 Centerline is valid? [True, True] Translation: X:590.83, Y:6.54, Z:4.08 [[ 9.98565176e-01 -5.35175774e-02 -1.85981464e-03 5.90828634e+02] [ 5.35176378e-02 9.98566904e-01 -1.72812138e-05 6.53504271e+00] [ 1.85807420e-03 -8.22764680e-05 9.99998270e-01 4.07520420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.309254154 meters 0.024223699535540974 Centerline is valid? [True, True] Translation: X:590.86, Y:6.54, Z:4.08 [[ 9.98639512e-01 -5.21140216e-02 -1.80372082e-03 5.90861360e+02] [ 5.21140782e-02 9.98641138e-01 -1.56514528e-05 6.53719122e+00] [ 1.80208548e-03 -7.83690888e-05 9.99998373e-01 4.07555610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.339254154 meters 0.023574027401537034 Centerline is valid? [True, True] Translation: X:590.89, Y:6.54, Z:4.08 [[ 9.98770160e-01 -4.95339577e-02 -2.13414538e-03 5.90892413e+02] [ 4.95340322e-02 9.98772436e-01 -1.79504395e-05 6.54013976e+00] [ 2.13241474e-03 -8.77844627e-05 9.99997723e-01 4.07602495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3692541539999 meters 0.02128656983419122 Centerline is valid? [True, True] Translation: X:590.92, Y:6.54, Z:4.08 [[ 9.98851389e-01 -4.78766303e-02 -1.93146747e-03 5.90924843e+02] [ 4.78766879e-02 9.98853254e-01 -1.63928335e-05 6.54478401e+00] [ 1.93003740e-03 -7.60982609e-05 9.99998135e-01 4.07582108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3992541539999 meters 0.020570972324039784 Centerline is valid? [True, True] Translation: X:590.96, Y:6.55, Z:4.08 [[ 9.99013223e-01 -4.43548499e-02 -2.28627260e-03 5.90955037e+02] [ 4.43549226e-02 9.99015836e-01 -1.88773639e-05 6.54804644e+00] [ 2.28485984e-03 -8.25487083e-05 9.99997386e-01 4.07636959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.429254154 meters 0.020347620627812632 Centerline is valid? [True, True] Translation: X:590.99, Y:6.55, Z:4.08 [[ 9.99100062e-01 -4.23271602e-02 -2.73470379e-03 5.90986805e+02] [ 4.23272563e-02 9.99103800e-01 -2.27317723e-05 6.54960691e+00] [ 2.73321512e-03 -9.30411933e-05 9.99996260e-01 4.07641653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.459254154 meters 0.020720514106037844 Centerline is valid? [True, True] Translation: X:591.02, Y:6.55, Z:4.08 [[ 9.99190048e-01 -4.01603142e-02 -2.52931807e-03 5.91018270e+02] [ 4.01603891e-02 9.99193246e-01 -2.11925427e-05 6.55040277e+00] [ 2.52812863e-03 -8.04030200e-05 9.99996801e-01 4.07672046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4892541539999 meters 0.018544256978330256 Centerline is valid? [True, True] Translation: X:591.05, Y:6.56, Z:4.08 [[ 9.99362066e-01 -3.54800196e-02 -4.07780147e-03 5.91049750e+02] [ 3.54801815e-02 9.99370380e-01 -3.26537851e-05 6.55622927e+00] [ 4.07639256e-03 -1.12048182e-04 9.99991685e-01 4.07550459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5192541539999 meters 0.017905059988597184 Centerline is valid? [True, True] Translation: X:591.08, Y:6.56, Z:4.08 [[ 9.99451554e-01 -3.28203555e-02 -4.40629613e-03 5.91081484e+02] [ 3.28205191e-02 9.99461261e-01 -3.51935863e-05 6.55825829e+00] [ 4.40507735e-03 -1.09442642e-04 9.99990292e-01 4.07529247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5492541539999 meters 0.01763089816102627 Centerline is valid? [True, True] Translation: X:591.11, Y:6.57, Z:4.07 [[ 9.99619408e-01 -2.67738117e-02 -6.64845619e-03 5.91113296e+02] [ 2.67740553e-02 9.99641509e-01 -5.23715452e-05 6.56502687e+00] [ 6.64747497e-03 -1.25654521e-04 9.99977897e-01 4.07259464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.579254154 meters 0.016501649500862307 Centerline is valid? [True, True] Translation: X:591.15, Y:6.57, Z:4.07 [[ 9.99685942e-01 -2.40552775e-02 -7.02573020e-03 5.91145624e+02] [ 2.40554854e-02 9.99710623e-01 -5.49319953e-05 6.56781090e+00] [ 7.02501852e-03 -1.14092607e-04 9.99975318e-01 4.07278879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6092541539999 meters 0.014961749043092195 Centerline is valid? [True, True] Translation: X:591.18, Y:6.57, Z:4.07 [[ 9.99742857e-01 -2.14976464e-02 -7.21608950e-03 5.91178078e+02] [ 2.14978030e-02 9.99768894e-01 -5.58799399e-05 6.57035290e+00] [ 7.21562311e-03 -9.92644996e-05 9.99973962e-01 4.07319917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6392541539999 meters 0.014179478668528547 Centerline is valid? [True, True] Translation: X:591.21, Y:6.57, Z:4.07 [[ 9.99836889e-01 -1.61232945e-02 -8.13853077e-03 5.91209648e+02] [ 1.61233210e-02 9.99870009e-01 -6.23671278e-05 6.57468823e+00] [ 8.13847839e-03 -6.88631886e-05 9.99966880e-01 4.07264975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6692541539999 meters 0.01404974777050551 Centerline is valid? [True, True] Translation: X:591.24, Y:6.58, Z:4.07 [[ 9.99872126e-01 -1.35785978e-02 -8.44704563e-03 5.91239589e+02] [ 1.35785401e-02 9.99907805e-01 -6.41863962e-05 6.57673563e+00] [ 8.44713841e-03 -5.05203595e-05 9.99964321e-01 4.07263919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.699254154 meters 0.013816264532719582 Centerline is valid? [True, True] Translation: X:591.27, Y:6.58, Z:4.07 [[ 9.99897105e-01 -1.14387034e-02 -8.65655798e-03 5.91270532e+02] [ 1.14385642e-02 9.99934575e-01 -6.55917709e-05 6.57860666e+00] [ 8.65674191e-03 -3.34335721e-05 9.99962529e-01 4.07250927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7292541539999 meters 0.013515851394018098 Centerline is valid? [True, True] Translation: X:591.30, Y:6.58, Z:4.07 [[ 9.99920232e-01 -7.56029855e-03 -1.01178553e-02 5.91300681e+02] [ 7.55991272e-03 9.99971421e-01 -7.63789904e-05 6.58121774e+00] [ 1.01181436e-02 -1.17204912e-07 9.99948810e-01 4.07130780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7592541539999 meters 0.014845768844313751 Centerline is valid? [True, True] Translation: X:591.33, Y:6.58, Z:4.07 [[ 9.99916230e-01 -5.78394965e-03 -1.15792744e-02 5.91329746e+02] [ 5.78331213e-03 9.99983273e-01 -8.85403492e-05 6.58251817e+00] [ 1.15795928e-02 2.15663740e-05 9.99932954e-01 4.06981521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7892541539999 meters 0.01371676479837746 Centerline is valid? [True, True] Translation: X:591.36, Y:6.58, Z:4.07 [[ 9.99920408e-01 -4.42675193e-03 -1.18144458e-02 5.91358042e+02] [ 4.42595711e-03 9.99990201e-01 -9.34208525e-05 6.58333629e+00] [ 1.18147436e-02 4.11231864e-05 9.99930203e-01 4.06984108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.819254154 meters 0.014747696071919671 Centerline is valid? [True, True] Translation: X:591.39, Y:6.58, Z:4.07 [[ 9.99907924e-01 -3.94282325e-03 -1.29844914e-02 5.91386594e+02] [ 3.94177525e-03 9.99992226e-01 -1.06302320e-04 6.58269722e+00] [ 1.29848096e-02 5.51105852e-05 9.99915692e-01 4.06900803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8492541539999 meters 0.01476878310226291 Centerline is valid? [True, True] Translation: X:591.41, Y:6.58, Z:4.07 [[ 9.99887763e-01 -5.06621386e-03 -1.40994596e-02 5.91414911e+02] [ 5.06505429e-03 9.99987166e-01 -1.17950449e-04 6.58002200e+00] [ 1.40998762e-02 4.65226819e-05 9.99900591e-01 4.06905980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8792541539999 meters 0.013466927274632702 Centerline is valid? [True, True] Translation: X:591.44, Y:6.58, Z:4.07 [[ 9.99869431e-01 -6.28426190e-03 -1.48871764e-02 5.91442307e+02] [ 6.28307915e-03 9.99980253e-01 -1.26218556e-04 6.57849805e+00] [ 1.48876756e-02 3.26647679e-05 9.99889172e-01 4.06966062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9092541539999 meters 0.01338831696771346 Centerline is valid? [True, True] Translation: X:591.47, Y:6.58, Z:4.07 [[ 9.99847962e-01 -7.30362897e-03 -1.58338107e-02 5.91469918e+02] [ 7.30236304e-03 9.99973328e-01 -1.37766085e-04 6.57678510e+00] [ 1.58343946e-02 2.21209053e-05 9.99874628e-01 4.06908673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.939254154 meters 0.013603936882668826 Centerline is valid? [True, True] Translation: X:591.50, Y:6.57, Z:4.07 [[ 9.99785753e-01 -9.04589649e-03 -1.86177220e-02 5.91497614e+02] [ 9.04437495e-03 9.99959085e-01 -1.65925149e-04 6.57258241e+00] [ 1.86184612e-02 -2.49605820e-06 9.99826661e-01 4.06708909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9692541539999 meters 0.013604485191410397 Centerline is valid? [True, True] Translation: X:591.53, Y:6.57, Z:4.07 [[ 9.99762353e-01 -9.67266505e-03 -1.95365549e-02 5.91526039e+02] [ 9.67102855e-03 9.99953219e-01 -1.78245227e-04 6.57030680e+00] [ 1.95373650e-02 -1.07357127e-05 9.99809127e-01 4.06694005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9992541539999 meters 0.01595745074785427 Centerline is valid? [True, True] Translation: X:591.56, Y:6.57, Z:4.07 [[ 9.99722382e-01 -9.72055812e-03 -2.14632180e-02 5.91555241e+02] [ 9.71847380e-03 9.99952754e-01 -2.01418730e-04 6.56833350e+00] [ 2.14641619e-02 -7.22690933e-06 9.99769618e-01 4.06557820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0292541539999 meters 0.013676438188161454 Centerline is valid? [True, True] Translation: X:591.58, Y:6.56, Z:4.07 [[ 9.99704664e-01 -1.04054758e-02 -2.19615569e-02 5.91583433e+02] [ 1.04033239e-02 9.99945861e-01 -2.12234051e-04 6.56345538e+00] [ 2.19625764e-02 -1.63018207e-05 9.99758793e-01 4.06622602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.059254154 meters 0.01372433584401339 Centerline is valid? [True, True] Translation: X:591.61, Y:6.56, Z:4.07 [[ 9.99693202e-01 -1.05014007e-02 -2.24326334e-02 5.91611060e+02] [ 1.04990339e-02 9.99944859e-01 -2.23284919e-04 6.56114677e+00] [ 2.24337412e-02 -1.23045629e-05 9.99748332e-01 4.06589710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.089254154 meters 0.013752449582205917 Centerline is valid? [True, True] Translation: X:591.64, Y:6.56, Z:4.07 [[ 9.99675276e-01 -1.05296287e-02 -2.32049432e-02 5.91638659e+02] [ 1.05270223e-02 9.99944562e-01 -2.34479294e-04 6.55603351e+00] [ 2.32061258e-02 -9.87580172e-06 9.99730702e-01 4.06540732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1192541539999 meters 0.01365285544578217 Centerline is valid? [True, True] Translation: X:591.67, Y:6.55, Z:4.07 [[ 9.99667569e-01 -1.08814111e-02 -2.33740598e-02 5.91666401e+02] [ 1.08787369e-02 9.99940796e-01 -2.41565725e-04 6.55334174e+00] [ 2.33753046e-02 -1.27948264e-05 9.99726760e-01 4.06602208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1492541539999 meters 0.013724161073762519 Centerline is valid? [True, True] Translation: X:591.69, Y:6.55, Z:4.07 [[ 9.99659607e-01 -1.15004787e-02 -2.34181375e-02 5.91694381e+02] [ 1.14978053e-02 9.99933867e-01 -2.48806549e-04 6.55039832e+00] [ 2.34194502e-02 -2.05353287e-05 9.99725727e-01 4.06625484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1792541539999 meters 0.013917706347102357 Centerline is valid? [True, True] Translation: X:591.72, Y:6.54, Z:4.07 [[ 9.99619076e-01 -1.31573850e-02 -2.42607861e-02 5.91723315e+02] [ 1.31548471e-02 9.99913436e-01 -2.64210022e-04 6.54359167e+00] [ 2.42621623e-02 -5.50375539e-05 9.99705629e-01 4.06584919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.209254154 meters 0.013933112357749869 Centerline is valid? [True, True] Translation: X:591.75, Y:6.54, Z:4.06 [[ 9.99605896e-01 -1.41615464e-02 -2.42384733e-02 5.91750648e+02] [ 1.41592135e-02 9.99899717e-01 -2.67876572e-04 6.53965917e+00] [ 2.42398361e-02 -7.54267188e-05 9.99706169e-01 4.06477675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2392541539999 meters 0.01472753047116626 Centerline is valid? [True, True] Translation: X:591.78, Y:6.54, Z:4.06 [[ 9.99569781e-01 -1.53412373e-02 -2.49980008e-02 5.91779219e+02] [ 1.53389905e-02 9.99882311e-01 -2.81639029e-04 6.53574830e+00] [ 2.49993795e-02 -1.01926234e-04 9.99687461e-01 4.06396393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2692541539999 meters 0.013936304421650976 Centerline is valid? [True, True] Translation: X:591.81, Y:6.53, Z:4.07 [[ 9.99494221e-01 -1.88162342e-02 -2.56369071e-02 5.91808396e+02] [ 1.88148454e-02 9.99822941e-01 -2.95409074e-04 6.52756613e+00] [ 2.56379263e-02 -1.87094780e-04 9.99671277e-01 4.06518713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2992541539999 meters 0.01505771131676586 Centerline is valid? [True, True] Translation: X:591.84, Y:6.52, Z:4.06 [[ 9.99453959e-01 -2.04915089e-02 -2.59206988e-02 5.91836605e+02] [ 2.04905608e-02 9.99790001e-01 -3.02210580e-04 6.52283374e+00] [ 2.59214482e-02 -2.29084094e-04 9.99663957e-01 4.06333041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.329254154 meters 0.015930936024744265 Centerline is valid? [True, True] Translation: X:591.86, Y:6.51, Z:4.06 [[ 9.99383867e-01 -2.34455429e-02 -2.61188321e-02 5.91864055e+02] [ 2.34454930e-02 9.99725069e-01 -3.08190649e-04 6.51438306e+00] [ 2.61188770e-02 -3.04368133e-04 9.99658798e-01 4.06278758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3592541539999 meters 0.01634001429957177 Centerline is valid? [True, True] Translation: X:591.89, Y:6.51, Z:4.06 [[ 9.99338053e-01 -2.50779426e-02 -2.63543678e-02 5.91893142e+02] [ 2.50783002e-02 9.99685440e-01 -3.17002798e-04 6.51156257e+00] [ 2.63540276e-02 -3.44129789e-04 9.99652613e-01 4.06379195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3892541539999 meters 0.015123509956893396 Centerline is valid? [True, True] Translation: X:591.92, Y:6.51, Z:4.06 [[ 9.99299628e-01 -2.65682753e-02 -2.63511047e-02 5.91921968e+02] [ 2.65689750e-02 9.99646930e-01 -3.23632790e-04 6.50796153e+00] [ 2.63503993e-02 -3.76715714e-04 9.99652697e-01 4.06496584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4192541539999 meters 0.014921357324755814 Centerline is valid? [True, True] Translation: X:591.95, Y:6.50, Z:4.07 [[ 9.99304073e-01 -2.64073472e-02 -2.63442925e-02 5.91950398e+02] [ 2.64077964e-02 9.99651199e-01 -3.30918642e-04 6.50223529e+00] [ 2.63438423e-02 -3.65006367e-04 9.99652874e-01 4.06522512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.449254154 meters 0.014981251401289662 Centerline is valid? [True, True] Translation: X:591.98, Y:6.50, Z:4.07 [[ 9.99326331e-01 -2.55687401e-02 -2.63272302e-02 5.91977996e+02] [ 2.55687993e-02 9.99673009e-01 -3.34442164e-04 6.50046291e+00] [ 2.63271727e-02 -3.38938804e-04 9.99653322e-01 4.06528462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4792541539999 meters 0.014623929663081058 Centerline is valid? [True, True] Translation: X:592.01, Y:6.50, Z:4.07 [[ 9.99413061e-01 -2.21390788e-02 -2.61418045e-02 5.92006005e+02] [ 2.21379035e-02 9.99754871e-01 -3.34405991e-04 6.49869771e+00] [ 2.61427998e-02 -2.44515029e-04 9.99658189e-01 4.06589144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5092541539999 meters 0.0167179542482793 Centerline is valid? [True, True] Translation: X:592.04, Y:6.50, Z:4.06 [[ 9.99461369e-01 -1.92803111e-02 -2.65563794e-02 5.92035101e+02] [ 1.92779443e-02 9.99814104e-01 -3.45168715e-04 6.49879705e+00] [ 2.65580976e-02 -1.66969606e-04 9.99647258e-01 4.06493754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5392541539999 meters 0.014234301319776207 Centerline is valid? [True, True] Translation: X:592.06, Y:6.50, Z:4.07 [[ 9.99575602e-01 -1.57166193e-02 -2.45276263e-02 5.92064121e+02] [ 1.57133818e-02 9.99876484e-01 -3.24732884e-04 6.49849894e+00] [ 2.45297005e-02 -6.08168901e-05 9.99699100e-01 4.06902962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.569254154 meters 0.01420899111883566 Centerline is valid? [True, True] Translation: X:592.09, Y:6.50, Z:4.07 [[ 9.99609504e-01 -1.39212799e-02 -2.42288441e-02 5.92092195e+02] [ 1.39175158e-02 9.99903094e-01 -3.23985140e-04 6.49834625e+00] [ 2.42310065e-02 -1.33466950e-05 9.99706386e-01 4.06984497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5992541539999 meters 0.014850379802172138 Centerline is valid? [True, True] Translation: X:592.12, Y:6.50, Z:4.07 [[ 9.99638032e-01 -1.25632057e-02 -2.37901338e-02 5.92119717e+02] [ 1.25590596e-02 9.99921080e-01 -3.23687965e-04 6.49774527e+00] [ 2.37923229e-02 2.47890916e-05 9.99716922e-01 4.07194389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6292541539999 meters 0.014096168336914273 Centerline is valid? [True, True] Translation: X:592.15, Y:6.50, Z:4.07 [[ 9.99661740e-01 -1.19025455e-02 -2.31243186e-02 5.92147588e+02] [ 1.18983538e-02 9.99929161e-01 -3.18856913e-04 6.49585828e+00] [ 2.31264757e-02 4.36077341e-05 9.99732546e-01 4.07335741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6592541539999 meters 0.014259104053722443 Centerline is valid? [True, True] Translation: X:592.17, Y:6.50, Z:4.07 [[ 9.99652070e-01 -1.25685930e-02 -2.31898472e-02 5.92174756e+02] [ 1.25644869e-02 9.99921012e-01 -3.22762578e-04 6.49528904e+00] [ 2.31920721e-02 3.12817471e-05 9.99731027e-01 4.07247368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.689254154 meters 0.014493198816681917 Centerline is valid? [True, True] Translation: X:592.20, Y:6.49, Z:4.07 [[ 9.99618452e-01 -1.51764013e-02 -2.30787302e-02 5.92202859e+02] [ 1.51729071e-02 9.99884832e-01 -3.26513399e-04 6.49189360e+00] [ 2.30810275e-02 -2.37826116e-05 9.99733597e-01 4.07302702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7192541539999 meters 0.01698657846492777 Centerline is valid? [True, True] Translation: X:592.23, Y:6.49, Z:4.07 [[ 9.99582667e-01 -1.60573540e-02 -2.40136096e-02 5.92231819e+02] [ 1.60536797e-02 9.99871072e-01 -3.45793773e-04 6.48953159e+00] [ 2.40160661e-02 -3.98573365e-05 9.99711572e-01 4.07168473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7492541539999 meters 0.014568781846926959 Centerline is valid? [True, True] Translation: X:592.26, Y:6.49, Z:4.07 [[ 9.99568505e-01 -1.89899559e-02 -2.24095034e-02 5.92260486e+02] [ 1.89873754e-02 9.99819670e-01 -3.27938021e-04 6.48725851e+00] [ 2.24116898e-02 -9.77011381e-05 9.99748822e-01 4.07395723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7792541539999 meters 0.014215682071963203 Centerline is valid? [True, True] Translation: X:592.29, Y:6.48, Z:4.08 [[ 9.99508240e-01 -2.28575494e-02 -2.14665015e-02 5.92288179e+02] [ 2.28559506e-02 9.99738717e-01 -3.19857348e-04 6.48459460e+00] [ 2.14682038e-02 -1.70937242e-04 9.99769517e-01 4.07758607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.809254154 meters 0.014215682071963203 Centerline is valid? [True, True] Translation: X:592.32, Y:6.49, Z:4.08 [[ 9.99501700e-01 -2.31418362e-02 -2.14664094e-02 5.92315591e+02] [ 2.31401718e-02 9.99732177e-01 -3.25960385e-04 6.48508438e+00] [ 2.14682035e-02 -1.70938443e-04 9.99769517e-01 4.07777654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.839254154 meters 0.016695365568952323 Centerline is valid? [True, True] Translation: X:592.34, Y:6.48, Z:4.08 [[ 9.99452159e-01 -2.43739332e-02 -2.23895987e-02 5.92343913e+02] [ 2.43722972e-02 9.99702892e-01 -3.45980904e-04 6.48473475e+00] [ 2.23913795e-02 -1.99894595e-04 9.99749262e-01 4.07824678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8692541539999 meters 0.01466052558689133 Centerline is valid? [True, True] Translation: X:592.37, Y:6.48, Z:4.08 [[ 9.99370338e-01 -2.92543165e-02 -2.00776485e-02 5.92372598e+02] [ 2.92538859e-02 9.99571964e-01 -3.15210034e-04 6.48232206e+00] [ 2.00782758e-02 -2.72337681e-04 9.99798374e-01 4.08135894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8992541539999 meters 0.01523695392459713 Centerline is valid? [True, True] Translation: X:592.40, Y:6.48, Z:4.08 [[ 9.99314723e-01 -3.14101246e-02 -1.95828484e-02 5.92400331e+02] [ 3.14100608e-02 9.99506534e-01 -3.10911883e-04 6.48038535e+00] [ 1.95829507e-02 -3.04399636e-04 9.99808189e-01 4.08134761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9292541539999 meters 0.016129285813039136 Centerline is valid? [True, True] Translation: X:592.43, Y:6.48, Z:4.08 [[ 9.99234163e-01 -3.36172477e-02 -2.00241968e-02 5.92428924e+02] [ 3.36175378e-02 9.99434719e-01 -3.22222388e-04 6.47993498e+00] [ 2.00237097e-02 -3.51188575e-04 9.99799444e-01 4.08186628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.959254154 meters 0.017321438648165623 Centerline is valid? [True, True] Translation: X:592.46, Y:6.47, Z:4.08 [[ 9.99023950e-01 -3.95910414e-02 -1.95881683e-02 5.92457609e+02] [ 3.95924193e-02 9.99215862e-01 -3.17612509e-04 6.47464304e+00] [ 1.95853831e-02 -4.58240469e-04 9.99808083e-01 4.08115574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9892541539999 meters 0.0172916543059401 Centerline is valid? [True, True] Translation: X:592.49, Y:6.47, Z:4.08 [[ 9.98909639e-01 -4.23876262e-02 -1.95658358e-02 5.92487953e+02] [ 4.23895297e-02 9.99101109e-01 -3.17623901e-04 6.47493888e+00] [ 1.95617116e-02 -5.12109003e-04 9.99808520e-01 4.08203996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0192541539999 meters 0.01979364088027569 Centerline is valid? [True, True] Translation: X:592.52, Y:6.47, Z:4.08 [[ 9.98685308e-01 -4.75068369e-02 -1.92550507e-02 5.92518093e+02] [ 4.75096473e-02 9.98870730e-01 -3.11720129e-04 6.47119880e+00] [ 1.92481154e-02 -6.03490356e-04 9.99814556e-01 4.08231169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0492541539999 meters 0.019639837223672917 Centerline is valid? [True, True] Translation: X:592.55, Y:6.47, Z:4.08 [[ 9.98574701e-01 -4.97894509e-02 -1.92243881e-02 5.92549463e+02] [ 4.97926927e-02 9.98759526e-01 -3.10294970e-04 6.47149350e+00] [ 1.92159902e-02 -6.47381342e-04 9.99815146e-01 4.08344393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.079254154 meters 0.020976649534768087 Centerline is valid? [True, True] Translation: X:592.58, Y:6.47, Z:4.08 [[ 9.98481313e-01 -5.17636941e-02 -1.88570460e-02 5.92579819e+02] [ 5.17671734e-02 9.98659135e-01 -3.03903612e-04 6.46931661e+00] [ 1.88474924e-02 -6.72733894e-04 9.99822144e-01 4.08335059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1092541539999 meters 0.022646588130834557 Centerline is valid? [True, True] Translation: X:592.61, Y:6.47, Z:4.08 [[ 9.98347438e-01 -5.45863676e-02 -1.79644392e-02 5.92609735e+02] [ 5.45899996e-02 9.98508813e-01 -2.88505490e-04 6.46755481e+00] [ 1.79533993e-02 -6.92650013e-04 9.99838585e-01 4.08427603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1392541539999 meters 0.02336703355521854 Centerline is valid? [True, True] Translation: X:592.64, Y:6.47, Z:4.08 [[ 9.98342672e-01 -5.48740941e-02 -1.73419431e-02 5.92640131e+02] [ 5.48775420e-02 9.98493054e-01 -2.77355100e-04 6.46746009e+00] [ 1.73310293e-02 -6.74787779e-04 9.99849579e-01 4.08475562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1692541539999 meters 0.021710625833723584 Centerline is valid? [True, True] Translation: X:592.67, Y:6.47, Z:4.09 [[ 9.98440161e-01 -5.33730733e-02 -1.63878024e-02 5.92671381e+02] [ 5.33759621e-02 9.98574453e-01 -2.61370741e-04 6.47201642e+00] [ 1.63783910e-02 -6.13751677e-04 9.99865677e-01 4.08626530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.199254154 meters 0.02203495170978489 Centerline is valid? [True, True] Translation: X:592.70, Y:6.47, Z:4.09 [[ 9.98541824e-01 -5.14262425e-02 -1.64185021e-02 5.92702280e+02] [ 5.14288889e-02 9.98676625e-01 -2.61273021e-04 6.47308747e+00] [ 1.64102105e-02 -5.83493281e-04 9.99865173e-01 4.08642128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2292541539999 meters 0.01997179807998267 Centerline is valid? [True, True] Translation: X:592.73, Y:6.48, Z:4.09 [[ 9.98662609e-01 -4.89528592e-02 -1.66316436e-02 5.92733546e+02] [ 4.89552422e-02 9.98800938e-01 -2.64064737e-04 6.47816500e+00] [ 1.66246279e-02 -5.50494561e-04 9.99861650e-01 4.08713851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2592541539999 meters 0.020307344046628047 Centerline is valid? [True, True] Translation: X:592.76, Y:6.48, Z:4.09 [[ 9.98776004e-01 -4.64498865e-02 -1.69971247e-02 5.92763686e+02] [ 4.64520312e-02 9.98920486e-01 -2.68814965e-04 6.47983014e+00] [ 1.69912625e-02 -5.21065033e-04 9.99855502e-01 4.08612181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2892541539999 meters 0.018121140221636824 Centerline is valid? [True, True] Translation: X:592.79, Y:6.49, Z:4.09 [[ 9.98987804e-01 -4.16040307e-02 -1.71018404e-02 5.92794913e+02] [ 4.16055079e-02 9.99134080e-01 -2.69556406e-04 6.48546924e+00] [ 1.70982462e-02 -4.42247193e-04 9.99853716e-01 4.08594296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.319254154 meters 0.01667934492183078 Centerline is valid? [True, True] Translation: X:592.83, Y:6.49, Z:4.09 [[ 9.99085964e-01 -3.93431593e-02 -1.67138394e-02 5.92825793e+02] [ 3.93442641e-02 9.99225680e-01 -2.62840448e-04 6.48944246e+00] [ 1.67112385e-02 -3.94993508e-04 9.99860279e-01 4.08703779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3492541539999 meters 0.015997076716443924 Centerline is valid? [True, True] Translation: X:592.86, Y:6.49, Z:4.09 [[ 9.99190365e-01 -3.68732641e-02 -1.60927716e-02 5.92857436e+02] [ 3.68739774e-02 9.99319892e-01 -2.52492115e-04 6.49271243e+00] [ 1.60911370e-02 -3.41116809e-04 9.99870471e-01 4.08735892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3792541539999 meters 0.015845942215755738 Centerline is valid? [True, True] Translation: X:592.89, Y:6.49, Z:4.09 [[ 9.99202881e-01 -3.66542708e-02 -1.58134936e-02 5.92889131e+02] [ 3.66549414e-02 9.99327951e-01 -2.47532400e-04 6.49404521e+00] [ 1.58119393e-02 -3.32307592e-04 9.99874928e-01 4.08760117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4092541539999 meters 0.01608236678613571 Centerline is valid? [True, True] Translation: X:592.92, Y:6.50, Z:4.09 [[ 9.99191226e-01 -3.69361796e-02 -1.58937590e-02 5.92920269e+02] [ 3.69369019e-02 9.99317569e-01 -2.48201092e-04 6.49507751e+00] [ 1.58920802e-02 -3.39065863e-04 9.99873655e-01 4.08755163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.439254154 meters 0.017213132687522482 Centerline is valid? [True, True] Translation: X:592.95, Y:6.49, Z:4.09 [[ 9.99123204e-01 -3.87004322e-02 -1.59718361e-02 5.92950547e+02] [ 3.87013937e-02 9.99250789e-01 -2.48997982e-04 6.49385243e+00] [ 1.59695062e-02 -3.69352657e-04 9.99872411e-01 4.08581788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4692541539999 meters 0.017258390298116013 Centerline is valid? [True, True] Translation: X:592.98, Y:6.49, Z:4.09 [[ 9.99070777e-01 -4.00550474e-02 -1.59114982e-02 5.92981736e+02] [ 4.00561804e-02 9.99197398e-01 -2.47608126e-04 6.49394104e+00] [ 1.59086456e-02 -3.89975800e-04 9.99873373e-01 4.08544025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4992541539999 meters 0.018078827938474033 Centerline is valid? [True, True] Translation: X:593.01, Y:6.49, Z:4.08 [[ 9.99038119e-01 -4.09592078e-02 -1.56582042e-02 5.93012075e+02] [ 4.09604274e-02 9.99160740e-01 -2.42938700e-04 6.49210664e+00] [ 1.56550135e-02 -3.98661714e-04 9.99877373e-01 4.08459974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5292541539999 meters 0.017330830906616516 Centerline is valid? [True, True] Translation: X:593.04, Y:6.49, Z:4.08 [[ 9.98995932e-01 -4.23862133e-02 -1.45098629e-02 5.93043692e+02] [ 4.23874201e-02 9.99101224e-01 -2.24489205e-04 6.49299356e+00] [ 1.45063371e-02 -3.90771854e-04 9.99894701e-01 4.08479141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.559254154 meters 0.01749571913380371 Centerline is valid? [True, True] Translation: X:593.08, Y:6.49, Z:4.09 [[ 9.99014279e-01 -4.23271412e-02 -1.33747593e-02 5.93076276e+02] [ 4.23281707e-02 9.99103740e-01 -2.06221328e-04 6.49318304e+00] [ 1.33715008e-02 -3.60111042e-04 9.99910533e-01 4.08512864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.589254154 meters 0.019276074530581774 Centerline is valid? [True, True] Translation: X:593.11, Y:6.49, Z:4.08 [[ 9.99065902e-01 -4.14928140e-02 -1.20693503e-02 5.93107652e+02] [ 4.14936004e-02 9.99138753e-01 -1.85355458e-04 6.49073445e+00] [ 1.20666465e-02 -3.15618480e-04 9.99927146e-01 4.08443832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6192541539999 meters 0.016777972001283045 Centerline is valid? [True, True] Translation: X:593.14, Y:6.50, Z:4.09 [[ 9.99107061e-01 -4.06885729e-02 -1.13807212e-02 5.93139962e+02] [ 4.06892277e-02 9.99171835e-01 -1.74092422e-04 6.49615688e+00] [ 1.13783796e-02 -2.89135788e-04 9.99935222e-01 4.08540347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6492541539999 meters 0.017161107708621774 Centerline is valid? [True, True] Translation: X:593.17, Y:6.50, Z:4.09 [[ 9.99191467e-01 -3.86664335e-02 -1.10145411e-02 5.93172480e+02] [ 3.86669329e-02 9.99252140e-01 -1.67689953e-04 6.49755249e+00] [ 1.10127877e-02 -2.58344151e-04 9.99939324e-01 4.08524470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6792541539999 meters 0.01636002271344117 Centerline is valid? [True, True] Translation: X:593.20, Y:6.50, Z:4.09 [[ 9.99240496e-01 -3.77749908e-02 -9.56462944e-03 5.93204103e+02] [ 3.77753322e-02 9.99286247e-01 -1.45025569e-04 6.49734377e+00] [ 9.56328099e-03 -2.16391633e-04 9.99954247e-01 4.08504722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.709254154 meters 0.01642582772919185 Centerline is valid? [True, True] Translation: X:593.24, Y:6.50, Z:4.08 [[ 9.99276504e-01 -3.68848202e-02 -9.27249247e-03 5.93236441e+02] [ 3.68851077e-02 9.99319503e-01 -1.40055576e-04 6.49785774e+00] [ 9.27134850e-03 -2.02062638e-04 9.99957000e-01 4.08476081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7392541539999 meters 0.015773602493744814 Centerline is valid? [True, True] Translation: X:593.27, Y:6.50, Z:4.09 [[ 9.99359334e-01 -3.48867687e-02 -7.98973275e-03 5.93268923e+02] [ 3.48869224e-02 9.99391259e-01 -1.20168631e-04 6.49945448e+00] [ 7.98906136e-03 -1.58645544e-04 9.99968074e-01 4.08507345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7692541539999 meters 0.015621236419170556 Centerline is valid? [True, True] Translation: X:593.30, Y:6.50, Z:4.09 [[ 9.99414431e-01 -3.34890798e-02 -7.01966802e-03 5.93300867e+02] [ 3.34891672e-02 9.99439075e-01 -1.05125947e-04 6.50052096e+00] [ 7.01925109e-03 -1.30018447e-04 9.99975356e-01 4.08547973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7992541539999 meters 0.015287093639595848 Centerline is valid? [True, True] Translation: X:593.33, Y:6.50, Z:4.09 [[ 9.99530823e-01 -3.00347776e-02 -6.00385686e-03 5.93332608e+02] [ 3.00347815e-02 9.99548850e-01 -8.95470168e-05 6.50097657e+00] [ 6.00383774e-03 -9.08195253e-05 9.99981973e-01 4.08564027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.829254154 meters 0.014664456806261033 Centerline is valid? [True, True] Translation: X:593.37, Y:6.50, Z:4.09 [[ 9.99591706e-01 -2.80263456e-02 -5.56283029e-03 5.93365244e+02] [ 2.80263196e-02 9.99607182e-01 -8.26430591e-05 6.50334929e+00] [ 5.56296130e-03 -7.32963430e-05 9.99984524e-01 4.08520590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8592541539999 meters 0.01404179929179118 Centerline is valid? [True, True] Translation: X:593.40, Y:6.51, Z:4.08 [[ 9.99682827e-01 -2.44746203e-02 -5.93616879e-03 5.93397486e+02] [ 2.44745321e-02 9.99700450e-01 -8.75079770e-05 6.50620604e+00] [ 5.93653233e-03 -5.78047317e-05 9.99982377e-01 4.08421314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8892541539999 meters 0.01406564488062978 Centerline is valid? [True, True] Translation: X:593.43, Y:6.51, Z:4.08 [[ 9.99713253e-01 -2.30202432e-02 -6.59391695e-03 5.93428770e+02] [ 2.30201063e-02 9.99734998e-01 -9.66679099e-05 6.50694144e+00] [ 6.59439486e-03 -5.51524784e-05 9.99978255e-01 4.08369447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9192541539999 meters 0.014125702349238224 Centerline is valid? [True, True] Translation: X:593.46, Y:6.51, Z:4.08 [[ 9.99735899e-01 -2.18749866e-02 -7.04390657e-03 5.93461064e+02] [ 2.18748083e-02 9.99760713e-01 -1.02362060e-04 6.50750980e+00] [ 7.04446022e-03 -5.17490800e-05 9.99975186e-01 4.08324277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.949254154 meters 0.014092686287600435 Centerline is valid? [True, True] Translation: X:593.49, Y:6.51, Z:4.08 [[ 9.99744459e-01 -2.10585048e-02 -8.21927642e-03 5.93492674e+02] [ 2.10582399e-02 9.99778244e-01 -1.18780997e-04 6.50701536e+00] [ 8.21995510e-03 -5.43328511e-05 9.99966214e-01 4.08157847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9792541539999 meters 0.01574196419034071 Centerline is valid? [True, True] Translation: X:593.52, Y:6.51, Z:4.08 [[ 9.99736557e-01 -2.11022130e-02 -9.02844016e-03 5.93524047e+02] [ 2.11018996e-02 9.99777322e-01 -1.29986945e-04 6.50687388e+00] [ 9.02917274e-03 -6.05645370e-05 9.99959234e-01 4.08079597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0092541539999 meters 0.014387492748667352 Centerline is valid? [True, True] Translation: X:593.56, Y:6.51, Z:4.08 [[ 9.99695826e-01 -2.28311253e-02 -9.32708957e-03 5.93555525e+02] [ 2.28308691e-02 9.99739333e-01 -1.33953717e-04 6.50578936e+00] [ 9.32771662e-03 -7.90325895e-05 9.99956493e-01 4.08047126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0392541539999 meters 0.014603217403704648 Centerline is valid? [True, True] Translation: X:593.59, Y:6.50, Z:4.08 [[ 9.99666960e-01 -2.39761521e-02 -9.54530099e-03 5.93587229e+02] [ 2.39759392e-02 9.99712526e-01 -1.36742184e-04 6.50490010e+00] [ 9.54583552e-03 -9.21609135e-05 9.99954433e-01 4.08037511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.069254154 meters 0.014777097485119187 Centerline is valid? [True, True] Translation: X:593.62, Y:6.50, Z:4.08 [[ 9.99627789e-01 -2.54713640e-02 -9.77206762e-03 5.93618548e+02] [ 2.54712159e-02 9.99675546e-01 -1.39634437e-04 6.50417366e+00] [ 9.77245371e-03 -1.09323981e-04 9.99952242e-01 4.08045117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0992541539999 meters 0.015522308132239752 Centerline is valid? [True, True] Translation: X:593.65, Y:6.50, Z:4.08 [[ 9.99520252e-01 -2.92289198e-02 -1.02438209e-02 5.93650199e+02] [ 2.92289583e-02 9.99572732e-01 -1.45989398e-04 6.50112561e+00] [ 1.02437111e-02 -1.53496852e-04 9.99947520e-01 4.08035257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1292541539999 meters 0.015763199869582998 Centerline is valid? [True, True] Translation: X:593.68, Y:6.50, Z:4.08 [[ 9.99461571e-01 -3.12564954e-02 -9.97992133e-03 5.93681583e+02] [ 3.12566365e-02 9.99511382e-01 -1.41871330e-04 6.49985585e+00] [ 9.97947936e-03 -1.70143830e-04 9.99950189e-01 4.08068180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1592541539999 meters 0.016304750456966423 Centerline is valid? [True, True] Translation: X:593.71, Y:6.50, Z:4.08 [[ 9.99387408e-01 -3.36869845e-02 -9.48656291e-03 5.93712962e+02] [ 3.36872247e-02 9.99432415e-01 -1.34522605e-04 6.49810890e+00] [ 9.48571014e-03 -1.85135779e-04 9.99954992e-01 4.08086942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.189254154 meters 0.017593586416898895 Centerline is valid? [True, True] Translation: X:593.74, Y:6.49, Z:4.08 [[ 9.99207469e-01 -3.87685741e-02 -9.02396935e-03 5.93743934e+02] [ 3.87690017e-02 9.99248192e-01 -1.27607924e-04 6.49395743e+00] [ 9.02213223e-03 -2.22343492e-04 9.99959275e-01 4.08206279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2192541539999 meters 0.018607483161972548 Centerline is valid? [True, True] Translation: X:593.78, Y:6.49, Z:4.08 [[ 9.99114441e-01 -4.12197838e-02 -8.44170514e-03 5.93775195e+02] [ 4.12202497e-02 9.99150077e-01 -1.18866890e-04 6.49191955e+00] [ 8.43943001e-03 -2.29207567e-04 9.99964361e-01 4.08277176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2492541539999 meters 0.019278617063321058 Centerline is valid? [True, True] Translation: X:593.81, Y:6.49, Z:4.08 [[ 9.99008514e-01 -4.37925646e-02 -8.01245211e-03 5.93807570e+02] [ 4.37930730e-02 9.99040617e-01 -1.12070015e-04 6.49039472e+00] [ 8.00967293e-03 -2.38931001e-04 9.99967894e-01 4.08342992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2792541539999 meters 0.020738531473344528 Centerline is valid? [True, True] Translation: X:593.84, Y:6.49, Z:4.08 [[ 9.98735683e-01 -4.96133884e-02 -8.09608686e-03 5.93838583e+02] [ 4.96141027e-02 9.98768456e-01 -1.12711525e-04 6.48720733e+00] [ 8.09170817e-03 -2.89111063e-04 9.99967220e-01 4.08432323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.309254154 meters 0.02230922421593232 Centerline is valid? [True, True] Translation: X:593.87, Y:6.48, Z:4.08 [[ 9.98595202e-01 -5.23280778e-02 -8.33036854e-03 5.93869256e+02] [ 5.23289310e-02 9.98629896e-01 -1.15664393e-04 6.48427973e+00] [ 8.32500756e-03 -3.20417372e-04 9.99965295e-01 4.08474528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.339254154 meters 0.02340705281103945 Centerline is valid? [True, True] Translation: X:593.90, Y:6.48, Z:4.09 [[ 9.98426281e-01 -5.54328047e-02 -8.49503238e-03 5.93900921e+02] [ 5.54338122e-02 9.98462357e-01 -1.16994727e-04 6.48231669e+00] [ 8.48845540e-03 -3.54101420e-04 9.99963910e-01 4.08504254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3692541539999 meters 0.02554499330827186 Centerline is valid? [True, True] Translation: X:593.93, Y:6.48, Z:4.09 [[ 9.98062342e-01 -6.16400829e-02 -8.48890064e-03 5.93931724e+02] [ 6.16413151e-02 9.98098359e-01 -1.16653867e-04 6.47798695e+00] [ 8.47994835e-03 -4.06839168e-04 9.99963962e-01 4.08509136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3992541539999 meters 0.027183397945310758 Centerline is valid? [True, True] Translation: X:593.96, Y:6.48, Z:4.09 [[ 9.97863164e-01 -6.47169091e-02 -8.99037377e-03 5.93962779e+02] [ 6.47184164e-02 9.97903558e-01 -1.23480561e-04 6.47558943e+00] [ 8.97951725e-03 -4.58626050e-04 9.99959578e-01 4.08531747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4292541539999 meters 0.02747358000152496 Centerline is valid? [True, True] Translation: X:593.99, Y:6.48, Z:4.09 [[ 9.97665689e-01 -6.76994577e-02 -8.94186379e-03 5.93994032e+02] [ 6.77010700e-02 9.97705643e-01 -1.22616025e-04 6.47506090e+00] [ 8.92964900e-03 -4.83043945e-04 9.99960013e-01 4.08562445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.459254154 meters 0.02938123576070001 Centerline is valid? [True, True] Translation: X:594.02, Y:6.47, Z:4.09 [[ 9.97363117e-01 -7.19087687e-02 -9.79502274e-03 5.94024519e+02] [ 7.19109085e-02 9.97411050e-01 -1.34015070e-04 6.47275839e+00] [ 9.77930078e-03 -5.70707297e-04 9.99952019e-01 4.08566456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4892541539999 meters 0.030537242780860403 Centerline is valid? [True, True] Translation: X:594.06, Y:6.47, Z:4.09 [[ 9.97261956e-01 -7.32537874e-02 -1.01229037e-02 5.94056573e+02] [ 7.32561448e-02 9.97313149e-01 -1.38213067e-04 6.47232295e+00] [ 1.01058296e-02 -6.03730268e-04 9.99948753e-01 4.08562120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5192541539999 meters 0.030206645374741516 Centerline is valid? [True, True] Translation: X:594.09, Y:6.47, Z:4.09 [[ 9.97203026e-01 -7.39435892e-02 -1.08844392e-02 5.94088913e+02] [ 7.39463647e-02 9.97262209e-01 -1.47777175e-04 6.47444034e+00] [ 1.08655670e-02 -6.57500863e-04 9.99940752e-01 4.08580588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5492541539999 meters 0.02882065765366901 Centerline is valid? [True, True] Translation: X:594.12, Y:6.48, Z:4.09 [[ 9.97218721e-01 -7.36321045e-02 -1.15384340e-02 5.94120926e+02] [ 7.36352130e-02 9.97285231e-01 -1.55771833e-04 6.47961961e+00] [ 1.15185796e-02 -6.94296455e-04 9.99933418e-01 4.08574698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.579254154 meters 0.027857912980018922 Centerline is valid? [True, True] Translation: X:594.15, Y:6.48, Z:4.09 [[ 9.97300156e-01 -7.24162983e-02 -1.21769420e-02 5.94153451e+02] [ 7.24196827e-02 9.97374234e-01 -1.63353803e-04 6.48293606e+00] [ 1.21567977e-02 -7.18937506e-04 9.99925845e-01 4.08602858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6092541539999 meters 0.02814983912012406 Centerline is valid? [True, True] Translation: X:594.18, Y:6.49, Z:4.09 [[ 9.97574293e-01 -6.83949081e-02 -1.29486060e-02 5.94183721e+02] [ 6.83984063e-02 9.97658072e-01 -1.73015722e-04 6.48766531e+00] [ 1.29301146e-02 -7.13067975e-04 9.99916148e-01 4.08572937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6392541539999 meters 0.0267761787404915 Centerline is valid? [True, True] Translation: X:594.22, Y:6.49, Z:4.09 [[ 9.97728136e-01 -6.60521772e-02 -1.32542780e-02 5.94215176e+02] [ 6.60556395e-02 9.97815926e-01 -1.76867236e-04 6.49250803e+00] [ 1.32370122e-02 -6.99054394e-04 9.99912143e-01 4.08608234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6692541539999 meters 0.027638632282982894 Centerline is valid? [True, True] Translation: X:594.25, Y:6.49, Z:4.09 [[ 9.97884282e-01 -6.35541722e-02 -1.37049670e-02 5.94245558e+02] [ 6.35576444e-02 9.97978152e-01 -1.82492937e-04 6.49418122e+00] [ 1.36888558e-02 -6.88948583e-04 9.99906066e-01 4.08594958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.699254154 meters 0.02603601809611615 Centerline is valid? [True, True] Translation: X:594.28, Y:6.50, Z:4.09 [[ 9.98001312e-01 -6.16913464e-02 -1.36952114e-02 5.94276667e+02] [ 6.16946437e-02 9.98095054e-01 -1.81990378e-04 6.49884580e+00] [ 1.36803500e-02 -6.63294553e-04 9.99906200e-01 4.08645074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7292541539999 meters 0.02603601809611615 Centerline is valid? [True, True] Translation: X:594.31, Y:6.50, Z:4.09 [[ 9.98005765e-01 -6.16192653e-02 -1.36952212e-02 5.94308390e+02] [ 6.16225659e-02 9.98099507e-01 -1.81250637e-04 6.49920422e+00] [ 1.36803621e-02 -6.63045492e-04 9.99906200e-01 4.08667052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7592541539999 meters 0.024022903892563046 Centerline is valid? [True, True] Translation: X:594.34, Y:6.51, Z:4.09 [[ 9.98172904e-01 -5.86759553e-02 -1.44216991e-02 5.94339754e+02] [ 5.86793205e-02 9.98276866e-01 -1.90060162e-04 6.50703023e+00] [ 1.44080006e-02 -6.56542602e-04 9.99895984e-01 4.08704391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7892541539999 meters 0.022220005853957402 Centerline is valid? [True, True] Translation: X:594.37, Y:6.51, Z:4.09 [[ 9.98211223e-01 -5.79331116e-02 -1.47684812e-02 5.94371920e+02] [ 5.79365721e-02 9.98320247e-01 -1.93776441e-04 6.51124371e+00] [ 1.47548999e-02 -6.62205359e-04 9.99890921e-01 4.08700579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.819254154 meters 0.02318776292645194 Centerline is valid? [True, True] Translation: X:594.40, Y:6.51, Z:4.09 [[ 9.98284201e-01 -5.64049022e-02 -1.57207514e-02 5.94403443e+02] [ 5.64086508e-02 9.98407743e-01 -2.05222214e-04 6.51337789e+00] [ 1.57072955e-02 -6.81916283e-04 9.99876400e-01 4.08628790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8492541539999 meters 0.02233044368699338 Centerline is valid? [True, True] Translation: X:594.44, Y:6.52, Z:4.09 [[ 9.98313503e-01 -5.57451243e-02 -1.62058992e-02 5.94435861e+02] [ 5.57490387e-02 9.98444791e-01 -2.10467690e-04 6.51677498e+00] [ 1.61924282e-02 -6.93350567e-04 9.99868654e-01 4.08674712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8792541539999 meters 0.02281543908817871 Centerline is valid? [True, True] Translation: X:594.47, Y:6.52, Z:4.09 [[ 9.98383035e-01 -5.42757226e-02 -1.68956195e-02 5.94468059e+02] [ 5.42797889e-02 9.98525742e-01 -2.18147803e-04 6.52012976e+00] [ 1.68825511e-02 -6.99295592e-04 9.99857235e-01 4.08723469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9092541539999 meters 0.021270503967055477 Centerline is valid? [True, True] Translation: X:594.50, Y:6.53, Z:4.09 [[ 9.98502182e-01 -5.22036345e-02 -1.63760184e-02 5.94499761e+02] [ 5.22071931e-02 9.98636252e-01 -2.10413007e-04 6.52546067e+00] [ 1.63646700e-02 -6.44848108e-04 9.99865882e-01 4.08825656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.939254154 meters 0.02043192335419908 Centerline is valid? [True, True] Translation: X:594.53, Y:6.53, Z:4.09 [[ 9.98586294e-01 -5.04957929e-02 -1.66008348e-02 5.94531899e+02] [ 5.04992327e-02 9.98724077e-01 -2.12190596e-04 6.52896180e+00] [ 1.65903682e-02 -6.26438801e-04 9.99862174e-01 4.08900473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9692541539999 meters 0.020480566921558602 Centerline is valid? [True, True] Translation: X:594.56, Y:6.53, Z:4.09 [[ 9.98668293e-01 -4.89096260e-02 -1.64161244e-02 5.94563768e+02] [ 4.89127926e-02 9.98803031e-01 -2.08793258e-04 6.53150810e+00] [ 1.64066868e-02 -5.94443282e-04 9.99865225e-01 4.08930391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9992541539999 meters 0.020382019456189403 Centerline is valid? [True, True] Translation: X:594.59, Y:6.53, Z:4.09 [[ 9.98854438e-01 -4.50317459e-02 -1.61849611e-02 5.94594580e+02] [ 4.50343271e-02 9.98985419e-01 -2.05134147e-04 6.53455348e+00] [ 1.61777777e-02 -5.23979679e-04 9.99868994e-01 4.08902335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0292541539999 meters 0.02003116815468014 Centerline is valid? [True, True] Translation: X:594.62, Y:6.54, Z:4.09 [[ 9.98955060e-01 -4.27674466e-02 -1.61162708e-02 5.94624540e+02] [ 4.27697182e-02 9.99084936e-01 -2.03848423e-04 6.53699649e+00] [ 1.61102414e-02 -4.85652947e-04 9.99870104e-01 4.08896112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.059254154 meters 0.01827286997915916 Centerline is valid? [True, True] Translation: X:594.66, Y:6.54, Z:4.09 [[ 9.99033282e-01 -4.07415401e-02 -1.65114520e-02 5.94656210e+02] [ 4.07436587e-02 9.99169611e-01 -2.08198538e-04 6.54222578e+00] [ 1.65062234e-02 -4.64739698e-04 9.99863655e-01 4.08994813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.089254154 meters 0.01857779254768789 Centerline is valid? [True, True] Translation: X:594.69, Y:6.55, Z:4.09 [[ 9.99192603e-01 -3.64655107e-02 -1.68644174e-02 5.94686344e+02] [ 3.64671218e-02 9.99334831e-01 -2.12080435e-04 6.54582539e+00] [ 1.68609333e-02 -4.03087560e-04 9.99857763e-01 4.08909142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1192541539999 meters 0.017890721959324146 Centerline is valid? [True, True] Translation: X:594.72, Y:6.55, Z:4.09 [[ 9.99254154e-01 -3.43729400e-02 -1.75965045e-02 5.94717283e+02] [ 3.43743753e-02 9.99409002e-01 -2.20969283e-04 6.54865987e+00] [ 1.75937004e-02 -3.84064376e-04 9.99845145e-01 4.08937491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1492541539999 meters 0.016518537686416444 Centerline is valid? [True, True] Translation: X:594.75, Y:6.55, Z:4.09 [[ 9.99308354e-01 -3.25122069e-02 -1.80490823e-02 5.94748294e+02] [ 3.25134233e-02 9.99471273e-01 -2.26118851e-04 6.55318525e+00] [ 1.80468909e-02 -3.60874995e-04 9.99837076e-01 4.09037286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1792541539999 meters 0.016835586954437157 Centerline is valid? [True, True] Translation: X:594.78, Y:6.56, Z:4.09 [[ 9.99373586e-01 -2.95747887e-02 -1.94362572e-02 5.94777365e+02] [ 2.95756520e-02 9.99562515e-01 -2.43092954e-04 6.55568893e+00] [ 1.94349435e-02 -3.31899302e-04 9.99811069e-01 4.08940805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.209254154 meters 0.016900884127803033 Centerline is valid? [True, True] Translation: X:594.81, Y:6.56, Z:4.09 [[ 9.99406469e-01 -2.81464292e-02 -1.98617400e-02 5.94806680e+02] [ 2.81470411e-02 9.99603763e-01 -2.48795757e-04 6.55730332e+00] [ 1.98608727e-02 -3.10401123e-04 9.99802705e-01 4.08933751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2392541539999 meters 0.01644064207666012 Centerline is valid? [True, True] Translation: X:594.84, Y:6.56, Z:4.09 [[ 9.99403712e-01 -2.77206861e-02 -2.05860151e-02 5.94835066e+02] [ 2.77211780e-02 9.99615660e-01 -2.61527639e-04 6.55946666e+00] [ 2.05853528e-02 -3.09296893e-04 9.99788051e-01 4.08958526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2692541539999 meters 0.01630812151111498 Centerline is valid? [True, True] Translation: X:594.86, Y:6.56, Z:4.09 [[ 9.99392795e-01 -2.80935857e-02 -2.06104641e-02 5.94863566e+02] [ 2.80940523e-02 9.99605249e-01 -2.66963355e-04 6.55982747e+00] [ 2.06098280e-02 -3.12230203e-04 9.99787546e-01 4.08987838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2992541539999 meters 0.01649121175511286 Centerline is valid? [True, True] Translation: X:594.89, Y:6.56, Z:4.09 [[ 9.99376709e-01 -2.90293823e-02 -2.00869995e-02 5.94892631e+02] [ 2.90299155e-02 9.99578508e-01 -2.65106344e-04 6.55965214e+00] [ 2.00862289e-02 -3.18182792e-04 9.99798201e-01 4.09000516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.329254154 meters 0.017016116819933667 Centerline is valid? [True, True] Translation: X:594.92, Y:6.56, Z:4.09 [[ 9.99307967e-01 -3.16249348e-02 -1.95819013e-02 5.94921049e+02] [ 3.16258940e-02 9.99499742e-01 -2.60770342e-04 6.55735930e+00] [ 1.95803522e-02 -3.58705255e-04 9.99808222e-01 4.09047298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3592541539999 meters 0.017195113700745692 Centerline is valid? [True, True] Translation: X:594.95, Y:6.56, Z:4.09 [[ 9.99257028e-01 -3.35074425e-02 -1.90432110e-02 5.94950484e+02] [ 3.35086763e-02 9.99438394e-01 -2.54381469e-04 6.55692358e+00] [ 1.90410399e-02 -3.83920323e-04 9.99818629e-01 4.09118679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3892541539999 meters 0.01767768892398718 Centerline is valid? [True, True] Translation: X:594.98, Y:6.56, Z:4.09 [[ 9.99183314e-01 -3.56861752e-02 -1.89525996e-02 5.94981354e+02] [ 3.56877843e-02 9.99362956e-01 -2.53416776e-04 6.55538550e+00] [ 1.89495694e-02 -4.23166471e-04 9.99820351e-01 4.09158103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4192541539999 meters 0.019481904493833233 Centerline is valid? [True, True] Translation: X:595.01, Y:6.55, Z:4.09 [[ 9.98981183e-01 -4.07498394e-02 -1.93919028e-02 5.95011608e+02] [ 4.07524815e-02 9.99169239e-01 -2.59070598e-04 6.55073574e+00] [ 1.93863499e-02 -5.31461508e-04 9.99811926e-01 4.09112537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.449254154 meters 0.01883894223830794 Centerline is valid? [True, True] Translation: X:595.04, Y:6.55, Z:4.09 [[ 9.98869173e-01 -4.32466134e-02 -1.97510813e-02 5.95042895e+02] [ 4.32498537e-02 9.99064253e-01 -2.63271838e-04 6.55175509e+00] [ 1.97439849e-02 -5.91257253e-04 9.99804894e-01 4.09223003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4792541539999 meters 0.019965107969665198 Centerline is valid? [True, True] Translation: X:595.07, Y:6.55, Z:4.09 [[ 9.98742642e-01 -4.58743406e-02 -2.02158239e-02 5.95072721e+02] [ 4.58782782e-02 9.98947001e-01 -2.69205242e-04 6.54942816e+00] [ 2.02068863e-02 -6.58600437e-04 9.99795603e-01 4.09191153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5092541539999 meters 0.022630874772235965 Centerline is valid? [True, True] Translation: X:595.10, Y:6.54, Z:4.09 [[ 9.98516712e-01 -5.05573739e-02 -2.02071244e-02 5.95102904e+02] [ 5.05622808e-02 9.98720874e-01 -2.68336395e-04 6.54343403e+00] [ 2.01948433e-02 -7.53779924e-04 9.99795779e-01 4.09138414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5392541539999 meters 0.021921299961773978 Centerline is valid? [True, True] Translation: X:595.13, Y:6.54, Z:4.09 [[ 9.98391841e-01 -5.29243997e-02 -2.03159929e-02 5.95134560e+02] [ 5.29298669e-02 9.98598196e-01 -2.68895925e-04 6.54396411e+00] [ 2.03017450e-02 -8.06859300e-04 9.99793573e-01 4.09252797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.569254154 meters 0.023332478854836653 Centerline is valid? [True, True] Translation: X:595.17, Y:6.54, Z:4.09 [[ 9.98141396e-01 -5.74679024e-02 -2.02779046e-02 5.95165697e+02] [ 5.74742947e-02 9.98346951e-01 -2.67892919e-04 6.54039142e+00] [ 2.02597794e-02 -8.98063251e-04 9.99794346e-01 4.09293722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5992541539999 meters 0.024399998225902893 Centerline is valid? [True, True] Translation: X:595.20, Y:6.54, Z:4.09 [[ 9.98026829e-01 -5.94954140e-02 -2.00684767e-02 5.95197346e+02] [ 5.95021009e-02 9.98228145e-01 -2.64276941e-04 6.53849036e+00] [ 2.00486415e-02 -9.30361047e-04 9.99798573e-01 4.09288311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6292541539999 meters 0.026721589902780857 Centerline is valid? [True, True] Translation: X:595.23, Y:6.53, Z:4.09 [[ 9.97876646e-01 -6.21067606e-02 -1.96201567e-02 5.95227921e+02] [ 6.21136759e-02 9.98069048e-01 -2.57332970e-04 6.53377080e+00] [ 1.95982532e-02 -9.61893494e-04 9.99807473e-01 4.09273354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6592541539999 meters 0.024897496742648954 Centerline is valid? [True, True] Translation: X:595.26, Y:6.54, Z:4.09 [[ 9.97843798e-01 -6.27324439e-02 -1.92975663e-02 5.95259888e+02] [ 6.27392749e-02 9.98029919e-01 -2.51826553e-04 6.53634368e+00] [ 1.92753462e-02 -9.59431751e-04 9.99813753e-01 4.09370878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.689254154 meters 0.026580512691009514 Centerline is valid? [True, True] Translation: X:595.29, Y:6.53, Z:4.09 [[ 9.97853484e-01 -6.25965181e-02 -1.92379776e-02 5.95291163e+02] [ 6.26033046e-02 9.98038458e-01 -2.49857666e-04 6.53406344e+00] [ 1.92158818e-02 -9.55039632e-04 9.99814902e-01 4.09355773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7192541539999 meters 0.02583018386183211 Centerline is valid? [True, True] Translation: X:595.32, Y:6.54, Z:4.09 [[ 9.97913577e-01 -6.16577307e-02 -1.91524625e-02 5.95323402e+02] [ 6.16643088e-02 9.98096915e-01 -2.47480088e-04 6.53551679e+00] [ 1.91312728e-02 -9.34059625e-04 9.99816544e-01 4.09415150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7492541539999 meters 0.0261229367417734 Centerline is valid? [True, True] Translation: X:595.35, Y:6.54, Z:4.09 [[ 9.98109040e-01 -5.85741581e-02 -1.86389739e-02 5.95354112e+02] [ 5.85798685e-02 9.98282696e-01 -2.39932888e-04 6.53593736e+00] [ 1.86210190e-02 -8.52389457e-04 9.99826250e-01 4.09490993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7792541539999 meters 0.024289817962910028 Centerline is valid? [True, True] Translation: X:595.39, Y:6.54, Z:4.10 [[ 9.98240371e-01 -5.65328867e-02 -1.78939613e-02 5.95385576e+02] [ 5.65378336e-02 9.98400431e-01 -2.29707612e-04 6.53924030e+00] [ 1.78783248e-02 -7.82382398e-04 9.99839864e-01 4.09648185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.809254154 meters 0.022583212519335392 Centerline is valid? [True, True] Translation: X:595.42, Y:6.54, Z:4.10 [[ 9.98575309e-01 -5.07712790e-02 -1.64204045e-02 5.95415943e+02] [ 5.07746724e-02 9.98710112e-01 -2.10442919e-04 6.54394772e+00] [ 1.64099085e-02 -6.23597559e-04 9.99865154e-01 4.09825259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.839254154 meters 0.021277478487694595 Centerline is valid? [True, True] Translation: X:595.45, Y:6.55, Z:4.10 [[ 9.98751808e-01 -4.73634223e-02 -1.58597760e-02 5.95447229e+02] [ 4.73661651e-02 9.98877573e-01 -2.02856125e-04 6.54685300e+00] [ 1.58515826e-02 -5.48613848e-04 9.99874205e-01 4.09926086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8692541539999 meters 0.02036256804005035 Centerline is valid? [True, True] Translation: X:595.48, Y:6.55, Z:4.10 [[ 9.98908561e-01 -4.40638173e-02 -1.54940634e-02 5.95478537e+02] [ 4.40660469e-02 9.99028600e-01 -1.97634965e-04 6.54975260e+00] [ 1.54877211e-02 -4.85342868e-04 9.99879940e-01 4.09960953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8992541539999 meters 0.018514418263534393 Centerline is valid? [True, True] Translation: X:595.51, Y:6.55, Z:4.10 [[ 9.99170270e-01 -3.75540102e-02 -1.57628783e-02 5.95508688e+02] [ 3.75555122e-02 9.99294523e-01 -2.00814608e-04 6.55420095e+00] [ 1.57592993e-02 -3.91334983e-04 9.99875738e-01 4.09932269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9292541539999 meters 0.017782328138530926 Centerline is valid? [True, True] Translation: X:595.54, Y:6.56, Z:4.10 [[ 9.99252367e-01 -3.50971201e-02 -1.62141512e-02 5.95539758e+02] [ 3.50983913e-02 9.99383840e-01 -2.06244776e-04 6.55667148e+00] [ 1.62113993e-02 -3.63000041e-04 9.99868521e-01 4.09928914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.959254154 meters 0.017326986016711378 Centerline is valid? [True, True] Translation: X:595.57, Y:6.56, Z:4.10 [[ 9.99337102e-01 -3.26511951e-02 -1.61014260e-02 5.95571115e+02] [ 3.26521402e-02 9.99466756e-01 -2.04260664e-04 6.55878612e+00] [ 1.60995093e-02 -3.21620759e-04 9.99870343e-01 4.09909815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9892541539999 meters 0.017044504952508494 Centerline is valid? [True, True] Translation: X:595.60, Y:6.56, Z:4.10 [[ 9.99443720e-01 -2.83348327e-02 -1.75894397e-02 5.95601549e+02] [ 2.83353001e-02 9.99598450e-01 -2.22697413e-04 6.56094071e+00] [ 1.75886867e-02 -2.75828521e-04 9.99845269e-01 4.09818448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0192541539999 meters 0.01600458049596075 Centerline is valid? [True, True] Translation: X:595.63, Y:6.56, Z:4.10 [[ 9.99477074e-01 -2.69483383e-02 -1.78708239e-02 5.95630923e+02] [ 2.69485947e-02 9.99636795e-01 -2.26508239e-04 6.56239945e+00] [ 1.78704372e-02 -2.55203800e-04 9.99840278e-01 4.09779999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0492541539999 meters 0.015428079470543423 Centerline is valid? [True, True] Translation: X:595.66, Y:6.56, Z:4.10 [[ 9.99504354e-01 -2.55291037e-02 -1.84204018e-02 5.95660714e+02] [ 2.55291235e-02 9.99674051e-01 -2.34111083e-04 6.56403983e+00] [ 1.84203743e-02 -2.36261666e-04 9.99830303e-01 4.09797352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.079254154 meters 0.015252659194607186 Centerline is valid? [True, True] Translation: X:595.69, Y:6.56, Z:4.10 [[ 9.99557792e-01 -2.33121044e-02 -1.84598345e-02 5.95689581e+02] [ 2.33116907e-02 9.99728217e-01 -2.37623839e-04 6.56483112e+00] [ 1.84603570e-02 -1.92811193e-04 9.99829574e-01 4.09786101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1092541539999 meters 0.015112068197582807 Centerline is valid? [True, True] Translation: X:595.72, Y:6.57, Z:4.10 [[ 9.99578707e-01 -2.28007836e-02 -1.79591975e-02 5.95718190e+02] [ 2.28002328e-02 9.99740013e-01 -2.35445666e-04 6.56513539e+00] [ 1.79598967e-02 -1.74127411e-04 9.99838693e-01 4.09841533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1392541539999 meters 0.014684740247207178 Centerline is valid? [True, True] Translation: X:595.75, Y:6.57, Z:4.10 [[ 9.99607459e-01 -2.24293782e-02 -1.67883909e-02 5.95747253e+02] [ 2.24287765e-02 9.99748418e-01 -2.24147138e-04 6.56642457e+00] [ 1.67891948e-02 -1.52483916e-04 9.99859040e-01 4.10040829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1692541539999 meters 0.014695943749153834 Centerline is valid? [True, True] Translation: X:595.78, Y:6.57, Z:4.10 [[ 9.99633493e-01 -2.29475088e-02 -1.43628728e-02 5.95775643e+02] [ 2.29470733e-02 9.99736662e-01 -1.95138630e-04 6.56538771e+00] [ 1.43635685e-02 -1.34518786e-04 9.99896830e-01 4.10208414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.199254154 meters 0.015483793865893075 Centerline is valid? [True, True] Translation: X:595.81, Y:6.56, Z:4.10 [[ 9.99632336e-01 -2.36502846e-02 -1.32611206e-02 5.95805596e+02] [ 2.36499509e-02 9.99720284e-01 -1.82009029e-04 6.56385670e+00] [ 1.32617158e-02 -1.31682739e-04 9.99912051e-01 4.10237850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2292541539999 meters 0.014885782642418827 Centerline is valid? [True, True] Translation: X:595.84, Y:6.56, Z:4.10 [[ 9.99612750e-01 -2.50353870e-02 -1.21482435e-02 5.95836060e+02] [ 2.50352065e-02 9.99686556e-01 -1.66961786e-04 6.56256230e+00] [ 1.21486157e-02 -1.37236655e-04 9.99926193e-01 4.10282965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2592541539999 meters 0.015445455793097796 Centerline is valid? [True, True] Translation: X:595.87, Y:6.56, Z:4.10 [[ 9.99531581e-01 -2.85919514e-02 -1.09142028e-02 5.95866300e+02] [ 2.85920184e-02 9.99591153e-01 -1.49930725e-04 6.55747991e+00] [ 1.09140273e-02 -1.62198591e-04 9.99940427e-01 4.10261599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2892541539999 meters 0.015965805197625995 Centerline is valid? [True, True] Translation: X:595.90, Y:6.55, Z:4.10 [[ 9.99472132e-01 -3.07936300e-02 -1.03542442e-02 5.95897677e+02] [ 3.07938134e-02 9.99525748e-01 -1.41753542e-04 6.55455785e+00] [ 1.03536988e-02 -1.77167950e-04 9.99946383e-01 4.10267450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.319254154 meters 0.016295655060817295 Centerline is valid? [True, True] Translation: X:595.93, Y:6.55, Z:4.10 [[ 9.99381199e-01 -3.37777064e-02 -9.81252314e-03 5.95930076e+02] [ 3.37780238e-02 9.99429351e-01 -1.33420230e-04 6.55314417e+00] [ 9.81143026e-03 -1.98109971e-04 9.99951847e-01 4.10303475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3492541539999 meters 0.01804771584619209 Centerline is valid? [True, True] Translation: X:595.96, Y:6.55, Z:4.10 [[ 9.99189439e-01 -3.92209956e-02 -9.06522114e-03 5.95960761e+02] [ 3.92214950e-02 9.99230534e-01 -1.22751709e-04 6.54669132e+00] [ 9.06306020e-03 -2.32899314e-04 9.99958903e-01 4.10293142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3792541539999 meters 0.020493059071793676 Centerline is valid? [True, True] Translation: X:595.99, Y:6.55, Z:4.10 [[ 9.99096493e-01 -4.14995130e-02 -9.16454980e-03 5.95993342e+02] [ 4.15001219e-02 9.99138491e-01 -1.23804116e-04 6.54518137e+00] [ 9.16179227e-03 -2.56637676e-04 9.99957997e-01 4.10305663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4092541539999 meters 0.01944745309196412 Centerline is valid? [True, True] Translation: X:596.02, Y:6.54, Z:4.10 [[ 9.98852503e-01 -4.68381369e-02 -9.99329350e-03 5.96024419e+02] [ 4.68391347e-02 9.98902436e-01 -1.34301267e-04 6.54114366e+00] [ 9.98861565e-03 -3.33930064e-04 9.99950057e-01 4.10182507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.439254154 meters 0.020090598148243898 Centerline is valid? [True, True] Translation: X:596.06, Y:6.54, Z:4.10 [[ 9.98745476e-01 -4.89194993e-02 -1.06937670e-02 5.96056716e+02] [ 4.89207676e-02 9.98802652e-01 -1.43103781e-04 6.53957935e+00] [ 1.06879634e-02 -3.80223036e-04 9.99942810e-01 4.10128283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4692541539999 meters 0.020823982137710268 Centerline is valid? [True, True] Translation: X:596.09, Y:6.54, Z:4.10 [[ 9.98655249e-01 -5.06113147e-02 -1.12333548e-02 5.96088567e+02] [ 5.06128298e-02 9.98718338e-01 -1.49551969e-04 6.53789770e+00] [ 1.12265264e-02 -4.19201015e-04 9.99936893e-01 4.10094801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4992541539999 meters 0.022192492439917208 Centerline is valid? [True, True] Translation: X:596.12, Y:6.54, Z:4.10 [[ 9.98550279e-01 -5.26160985e-02 -1.13527961e-02 5.96119408e+02] [ 5.26177815e-02 9.98614714e-01 -1.50594973e-04 6.53551210e+00] [ 1.13449930e-02 -4.46982293e-04 9.99935544e-01 4.10112133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5292541539999 meters 0.02261761814299939 Centerline is valid? [True, True] Translation: X:596.15, Y:6.54, Z:4.10 [[ 9.98548058e-01 -5.27184471e-02 -1.10698546e-02 5.96151975e+02] [ 5.27200596e-02 9.98609320e-01 -1.46297312e-04 6.53528529e+00] [ 1.10621726e-02 -4.37518498e-04 9.99938717e-01 4.10153308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.559254154 meters 0.021759186022397757 Centerline is valid? [True, True] Translation: X:596.18, Y:6.54, Z:4.10 [[ 9.98567196e-01 -5.23085036e-02 -1.12860863e-02 5.96184112e+02] [ 5.23101629e-02 9.98630875e-01 -1.48329280e-04 6.53746042e+00] [ 1.12783931e-02 -4.42260260e-04 9.99936299e-01 4.10202307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.589254154 meters 0.02257337094941508 Centerline is valid? [True, True] Translation: X:596.21, Y:6.54, Z:4.10 [[ 9.98613807e-01 -5.14483630e-02 -1.11143875e-02 5.96214961e+02] [ 5.14499270e-02 9.98675565e-01 -1.45346912e-04 6.53699307e+00] [ 1.11071450e-02 -4.26688991e-04 9.99938223e-01 4.10192963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6192541539999 meters 0.02257337094941508 Centerline is valid? [True, True] Translation: X:596.25, Y:6.54, Z:4.10 [[ 9.98617473e-01 -5.13771532e-02 -1.11143963e-02 5.96246671e+02] [ 5.13787204e-02 9.98679231e-01 -1.44672048e-04 6.53734374e+00] [ 1.11071495e-02 -4.26571422e-04 9.99938223e-01 4.10214928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6492541539999 meters 0.021911605019878176 Centerline is valid? [True, True] Translation: X:596.28, Y:6.54, Z:4.10 [[ 9.98690786e-01 -4.99145279e-02 -1.11917211e-02 5.96278938e+02] [ 4.99160342e-02 9.98753407e-01 -1.44875714e-04 6.53942455e+00] [ 1.11850009e-02 -4.13960291e-04 9.99937360e-01 4.10245470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6792541539999 meters 0.02098030885665418 Centerline is valid? [True, True] Translation: X:596.31, Y:6.54, Z:4.10 [[ 9.98859112e-01 -4.64227825e-02 -1.11982191e-02 5.96310285e+02] [ 4.64240786e-02 9.98921811e-01 -1.44310725e-04 6.54361050e+00] [ 1.11928446e-02 -3.75720922e-04 9.99937288e-01 4.10299038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.709254154 meters 0.02053819838271064 Centerline is valid? [True, True] Translation: X:596.34, Y:6.55, Z:4.10 [[ 9.98929733e-01 -4.48134321e-02 -1.14518208e-02 5.96342491e+02] [ 4.48146885e-02 9.98995306e-01 -1.47004826e-04 6.54597393e+00] [ 1.14469031e-02 -3.66362292e-04 9.99934415e-01 4.10334573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7392541539999 meters 0.02003223550890806 Centerline is valid? [True, True] Translation: X:596.37, Y:6.55, Z:4.10 [[ 9.99036592e-01 -4.23207359e-02 -1.16122302e-02 5.96374050e+02] [ 4.23218692e-02 9.99104017e-01 -1.48236620e-04 6.54964414e+00] [ 1.16080993e-02 -3.43357479e-04 9.99932565e-01 4.10335129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7692541539999 meters 0.02031021868881482 Centerline is valid? [True, True] Translation: X:596.40, Y:6.55, Z:4.10 [[ 9.99069578e-01 -4.14428478e-02 -1.19360487e-02 5.96404943e+02] [ 4.14439916e-02 9.99140817e-01 -1.51607833e-04 6.55017669e+00] [ 1.19320766e-02 -3.43210730e-04 9.99928751e-01 4.10290165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7992541539999 meters 0.020265062948583074 Centerline is valid? [True, True] Translation: X:596.44, Y:6.55, Z:4.10 [[ 9.99062512e-01 -4.12793811e-02 -1.30425858e-02 5.96437092e+02] [ 4.12807437e-02 9.99147573e-01 -1.64844848e-04 6.55230895e+00] [ 1.30382726e-02 -3.73717331e-04 9.99914928e-01 4.10191174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.829254154 meters 0.020254216594558037 Centerline is valid? [True, True] Translation: X:596.47, Y:6.55, Z:4.10 [[ 9.99051938e-01 -4.12038826e-02 -1.40522128e-02 5.96469644e+02] [ 4.12054709e-02 9.99150678e-01 -1.76600968e-04 6.55311842e+00] [ 1.40475546e-02 -4.02594508e-04 9.99901247e-01 4.10172323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8592541539999 meters 0.020681821203027032 Centerline is valid? [True, True] Translation: X:596.50, Y:6.55, Z:4.10 [[ 9.99043227e-01 -4.13821002e-02 -1.41475473e-02 5.96500980e+02] [ 4.13837461e-02 9.99143310e-01 -1.76521668e-04 6.55351730e+00] [ 1.41427321e-02 -4.09125730e-04 9.99899903e-01 4.10148682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8892541539999 meters 0.020596254524065574 Centerline is valid? [True, True] Translation: X:596.53, Y:6.56, Z:4.10 [[ 9.99031407e-01 -4.12300814e-02 -1.53729522e-02 5.96533401e+02] [ 4.12320285e-02 9.99149580e-01 -1.90403072e-04 6.55580332e+00] [ 1.53677291e-02 -4.43639355e-04 9.99881811e-01 4.10131461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9192541539999 meters 0.020612487600092825 Centerline is valid? [True, True] Translation: X:596.57, Y:6.56, Z:4.10 [[ 9.99056363e-01 -4.06692381e-02 -1.52445296e-02 5.96565128e+02] [ 4.06710990e-02 9.99172571e-01 -1.88063534e-04 6.55746942e+00] [ 1.52395642e-02 -4.32125702e-04 9.99883778e-01 4.10162880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.949254154 meters 0.02045531977590018 Centerline is valid? [True, True] Translation: X:596.60, Y:6.56, Z:4.10 [[ 9.99095504e-01 -3.96702189e-02 -1.53116694e-02 5.96596433e+02] [ 3.96719869e-02 9.99212739e-01 -1.88375605e-04 6.55951370e+00] [ 1.53070880e-02 -4.19239126e-04 9.99882752e-01 4.10193176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9792541539999 meters 0.02002105980561236 Centerline is valid? [True, True] Translation: X:596.63, Y:6.56, Z:4.10 [[ 9.99157303e-01 -3.81084959e-02 -1.52455323e-02 5.96626444e+02] [ 3.81100726e-02 9.99273530e-01 -1.87191736e-04 6.56159129e+00] [ 1.52415905e-02 -3.93974352e-04 9.99883763e-01 4.10234692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0092541539999 meters 0.01852942986392687 Centerline is valid? [True, True] Translation: X:596.66, Y:6.57, Z:4.10 [[ 9.99310397e-01 -3.37752903e-02 -1.54259481e-02 5.96656904e+02] [ 3.37763925e-02 9.99429397e-01 -1.89148031e-04 6.56698823e+00] [ 1.54235345e-02 -3.32015284e-04 9.99880995e-01 4.10299803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0392541539999 meters 0.017658593059982113 Centerline is valid? [True, True] Translation: X:596.69, Y:6.57, Z:4.10 [[ 9.99407229e-01 -3.09597328e-02 -1.50560701e-02 5.96688272e+02] [ 3.09604692e-02 9.99520593e-01 -1.84232467e-04 6.57061695e+00] [ 1.50545559e-02 -2.82019736e-04 9.99886634e-01 4.10351157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.069254154 meters 0.01687485983895172 Centerline is valid? [True, True] Translation: X:596.72, Y:6.57, Z:4.10 [[ 9.99490807e-01 -2.81478503e-02 -1.50274794e-02 5.96718826e+02] [ 2.81482778e-02 9.99603742e-01 -1.83107783e-04 6.57382892e+00] [ 1.50266788e-02 -2.39983120e-04 9.99887064e-01 4.10388013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0992541539999 meters 0.01524311727622625 Centerline is valid? [True, True] Translation: X:596.75, Y:6.58, Z:4.10 [[ 9.99616636e-01 -2.35519920e-02 -1.45562270e-02 5.96748994e+02] [ 2.35519125e-02 9.99722600e-01 -1.76911899e-04 6.58082497e+00] [ 1.45563557e-02 -1.65982906e-04 9.99894037e-01 4.10487809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1292541539999 meters 0.015017657062734634 Centerline is valid? [True, True] Translation: X:596.78, Y:6.58, Z:4.11 [[ 9.99657231e-01 -2.17675188e-02 -1.45463042e-02 5.96779741e+02] [ 2.17672504e-02 9.99763050e-01 -1.76791301e-04 6.58306398e+00] [ 1.45467058e-02 -1.39902344e-04 9.99894181e-01 4.10525785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1592541539999 meters 0.014813436670622338 Centerline is valid? [True, True] Translation: X:596.81, Y:6.58, Z:4.11 [[ 9.99678853e-01 -2.07824611e-02 -1.45010181e-02 5.96809106e+02] [ 2.07820870e-02 9.99784014e-01 -1.76500050e-04 6.58498423e+00] [ 1.45015541e-02 -1.24918052e-04 9.99894839e-01 4.10558191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.189254154 meters 0.015037904529650571 Centerline is valid? [True, True] Translation: X:596.84, Y:6.59, Z:4.11 [[ 9.99686417e-01 -2.05357045e-02 -1.43301360e-02 5.96837946e+02] [ 2.05353051e-02 9.99789113e-01 -1.75031443e-04 6.58629294e+00] [ 1.43307084e-02 -1.19297159e-04 9.99897303e-01 4.10543793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2192541539999 meters 0.015082039306424697 Centerline is valid? [True, True] Translation: X:596.87, Y:6.59, Z:4.11 [[ 9.99672288e-01 -2.11589728e-02 -1.44088576e-02 5.96866733e+02] [ 2.11586232e-02 9.99776116e-01 -1.76724425e-04 6.58588848e+00] [ 1.44093710e-02 -1.28205079e-04 9.99896171e-01 4.10512213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2492541539999 meters 0.015244850755754083 Centerline is valid? [True, True] Translation: X:596.90, Y:6.59, Z:4.11 [[ 9.99639978e-01 -2.23357133e-02 -1.48670542e-02 5.96896644e+02] [ 2.23354620e-02 9.99750516e-01 -1.82970249e-04 6.58560825e+00] [ 1.48674318e-02 -1.49158147e-04 9.99889463e-01 4.10527824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2792541539999 meters 0.01606005044563975 Centerline is valid? [True, True] Translation: X:596.93, Y:6.58, Z:4.10 [[ 9.99563360e-01 -2.53590669e-02 -1.51659628e-02 5.96925146e+02] [ 2.53591433e-02 9.99678388e-01 -1.87297255e-04 6.58295776e+00] [ 1.51658349e-02 -1.97380352e-04 9.99884973e-01 4.10464509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.309254154 meters 0.016442002885131566 Centerline is valid? [True, True] Translation: X:596.95, Y:6.58, Z:4.10 [[ 9.99506373e-01 -2.75852095e-02 -1.50355201e-02 5.96954630e+02] [ 2.75855293e-02 9.99619430e-01 -1.86162498e-04 6.58144630e+00] [ 1.50349334e-02 -2.28692179e-04 9.99886943e-01 4.10442961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.339254154 meters 0.016960590058332253 Centerline is valid? [True, True] Translation: X:596.98, Y:6.58, Z:4.10 [[ 9.99448396e-01 -2.95683532e-02 -1.51200433e-02 5.96984851e+02] [ 2.95689018e-02 9.99562727e-01 -1.87323455e-04 6.57986214e+00] [ 1.51189705e-02 -2.59862948e-04 9.99885668e-01 4.10426399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3692541539999 meters 0.018803455674613265 Centerline is valid? [True, True] Translation: X:597.01, Y:6.58, Z:4.10 [[ 9.99308735e-01 -3.39797522e-02 -1.50807327e-02 5.97014978e+02] [ 3.39808019e-02 9.99422468e-01 -1.86704436e-04 6.57622033e+00] [ 1.50783672e-02 -3.25880015e-04 9.99886262e-01 4.10420775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3992541539999 meters 0.019576802248478624 Centerline is valid? [True, True] Translation: X:597.05, Y:6.57, Z:4.10 [[ 9.99246631e-01 -3.59668005e-02 -1.45794482e-02 5.97046688e+02] [ 3.59679981e-02 9.99352926e-01 -1.80142827e-04 6.57454563e+00] [ 1.45764934e-02 -3.44386452e-04 9.99893698e-01 4.10451857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4292541539999 meters 0.02130265160039886 Centerline is valid? [True, True] Translation: X:597.08, Y:6.57, Z:4.11 [[ 9.99122683e-01 -3.93838756e-02 -1.42399040e-02 5.97078153e+02] [ 3.93853713e-02 9.99224080e-01 -1.75494395e-04 6.57153796e+00] [ 1.42357667e-02 -3.85503477e-04 9.99898592e-01 4.10508181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.459254154 meters 0.02223896778625261 Centerline is valid? [True, True] Translation: X:597.11, Y:6.57, Z:4.11 [[ 9.99068023e-01 -4.08312839e-02 -1.39961581e-02 5.97109217e+02] [ 4.08328769e-02 9.99165975e-01 -1.72046725e-04 6.57069159e+00] [ 1.39915098e-02 -3.99617019e-04 9.99902034e-01 4.10534674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4892541539999 meters 0.02343625901949896 Centerline is valid? [True, True] Translation: X:597.14, Y:6.57, Z:4.11 [[ 9.99016582e-01 -4.22897915e-02 -1.33207425e-02 5.97140236e+02] [ 4.22913708e-02 9.99105306e-01 -1.63229180e-04 6.56944749e+00] [ 1.33157275e-02 -4.00283803e-04 9.99911262e-01 4.10562407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5192541539999 meters 0.02559021699261034 Centerline is valid? [True, True] Translation: X:597.17, Y:6.57, Z:4.11 [[ 9.98886764e-01 -4.53220886e-02 -1.30821148e-02 5.97171684e+02] [ 4.53238796e-02 9.98972332e-01 -1.59694407e-04 6.56640236e+00] [ 1.30759084e-02 -4.33415566e-04 9.99914413e-01 4.10561723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5492541539999 meters 0.027132916536846945 Centerline is valid? [True, True] Translation: X:597.20, Y:6.56, Z:4.11 [[ 9.98770829e-01 -4.77913230e-02 -1.31461581e-02 5.97203708e+02] [ 4.77933546e-02 9.98857232e-01 -1.59762590e-04 6.56462501e+00] [ 1.31387703e-02 -4.68732779e-04 9.99913573e-01 4.10559861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.579254154 meters 0.029024735274532976 Centerline is valid? [True, True] Translation: X:597.24, Y:6.56, Z:4.11 [[ 9.98650245e-01 -5.03241207e-02 -1.28518524e-02 5.97236037e+02] [ 5.03262819e-02 9.98732818e-01 -1.55395422e-04 6.56218548e+00] [ 1.28433869e-02 -4.91600273e-04 9.99917399e-01 4.10562563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6092541539999 meters 0.034187380199946556 Centerline is valid? [True, True] Translation: X:597.27, Y:6.56, Z:4.11 [[ 9.98313768e-01 -5.67024744e-02 -1.24277660e-02 5.97265855e+02] [ 5.67049927e-02 9.98390966e-01 -1.49925176e-04 6.55528044e+00] [ 1.24162704e-02 -5.55044012e-04 9.99922761e-01 4.10532439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6392541539999 meters 0.025034159350830355 Centerline is valid? [True, True] Translation: X:597.30, Y:6.57, Z:4.11 [[ 9.98123977e-01 -5.99864567e-02 -1.22536296e-02 5.97297204e+02] [ 5.99891531e-02 9.98199018e-01 -1.47719582e-04 6.56835041e+00] [ 1.22404222e-02 -5.87642406e-04 9.99924911e-01 4.10705730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6692541539999 meters 0.03916162657549026 Centerline is valid? [True, True] Translation: X:597.33, Y:6.55, Z:4.11 [[ 9.97921897e-01 -6.32892190e-02 -1.20980457e-02 5.97327507e+02] [ 6.32920924e-02 9.97995035e-01 -1.45595378e-04 6.54941569e+00] [ 1.20830042e-02 -6.20417811e-04 9.99926805e-01 4.10536166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.699254154 meters 0.04180789326579673 Centerline is valid? [True, True] Translation: X:597.36, Y:6.55, Z:4.11 [[ 9.97745361e-01 -6.60428057e-02 -1.19391035e-02 5.97357586e+02] [ 6.60458046e-02 9.97816582e-01 -1.43348125e-04 6.54640973e+00] [ 1.19225026e-02 -6.45502771e-04 9.99928716e-01 4.10523037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7292541539999 meters 0.02937991470644117 Centerline is valid? [True, True] Translation: X:597.39, Y:6.57, Z:4.11 [[ 9.97435769e-01 -7.04131951e-02 -1.28011335e-02 5.97387542e+02] [ 7.04170081e-02 9.97517630e-01 -1.53175688e-04 6.56501669e+00] [ 1.27801419e-02 -7.48634609e-04 9.99918050e-01 4.10698787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7592541539999 meters 0.04712516521715036 Centerline is valid? [True, True] Translation: X:597.42, Y:6.54, Z:4.10 [[ 9.97376444e-01 -7.12059380e-02 -1.30362600e-02 5.97418885e+02] [ 7.12099696e-02 9.97461336e-01 -1.55240355e-04 6.54293291e+00] [ 1.30142194e-02 -7.73478606e-04 9.99915012e-01 4.10478990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7892541539999 meters 0.029508173591354686 Centerline is valid? [True, True] Translation: X:597.45, Y:6.57, Z:4.11 [[ 9.97403194e-01 -7.08413954e-02 -1.29755413e-02 5.97451256e+02] [ 7.08453765e-02 9.97487298e-01 -1.53156621e-04 6.56920767e+00] [ 1.29537874e-02 -7.66498203e-04 9.99915802e-01 4.10760790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.819254154 meters 0.047038567357164315 Centerline is valid? [True, True] Translation: X:597.48, Y:6.55, Z:4.11 [[ 9.97492456e-01 -6.96270814e-02 -1.26834630e-02 5.97482736e+02] [ 6.96307992e-02 9.97572819e-01 -1.48778704e-04 6.54771593e+00] [ 1.26630370e-02 -7.34754033e-04 9.99919551e-01 4.10582125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8492541539999 meters 0.03205851137055846 Centerline is valid? [True, True] Translation: X:597.51, Y:6.57, Z:4.11 [[ 9.97705891e-01 -6.64237226e-02 -1.30707167e-02 5.97512730e+02] [ 6.64274019e-02 9.97791249e-01 -1.52932967e-04 6.57192322e+00] [ 1.30520052e-02 -7.15671633e-04 9.99914563e-01 4.10823199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8792541539999 meters 0.02847565229735304 Centerline is valid? [True, True] Translation: X:597.54, Y:6.58, Z:4.11 [[ 9.97835076e-01 -6.44219940e-02 -1.32275543e-02 5.97543795e+02] [ 6.44255897e-02 9.97922502e-01 -1.54542885e-04 6.57932090e+00] [ 1.32100300e-02 -6.97984676e-04 9.99912500e-01 4.10908391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9092541539999 meters 0.027723453713663485 Centerline is valid? [True, True] Translation: X:597.58, Y:6.58, Z:4.11 [[ 9.97980440e-01 -6.20985458e-02 -1.33720414e-02 5.97575671e+02] [ 6.21020222e-02 9.98069794e-01 -1.55505158e-04 6.58285541e+00] [ 1.33558873e-02 -6.75239707e-04 9.99910578e-01 4.10938802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.939254154 meters 0.026137595342653384 Centerline is valid? [True, True] Translation: X:597.61, Y:6.59, Z:4.11 [[ 9.98127253e-01 -5.97435600e-02 -1.31413275e-02 5.97606854e+02] [ 5.97467233e-02 9.98213557e-01 -1.52096633e-04 6.58763121e+00] [ 1.31269380e-02 -6.33339461e-04 9.99913637e-01 4.10995872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9692541539999 meters 0.02514027570464433 Centerline is valid? [True, True] Translation: X:597.64, Y:6.59, Z:4.11 [[ 9.98260585e-01 -5.75442524e-02 -1.28243100e-02 5.97637953e+02] [ 5.75470896e-02 9.98342782e-01 -1.47972539e-04 6.59170245e+00] [ 1.28115723e-02 -5.90286563e-04 9.99917754e-01 4.11069522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9992541539999 meters 0.02477126623019997 Centerline is valid? [True, True] Translation: X:597.67, Y:6.60, Z:4.11 [[ 9.98535392e-01 -5.27452439e-02 -1.20419843e-02 5.97667987e+02] [ 5.27473999e-02 9.98607877e-01 -1.38711572e-04 6.59702437e+00] [ 1.20325368e-02 -4.96674950e-04 9.99927483e-01 4.11097159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0292541539999 meters 0.021191541280954546 Centerline is valid? [True, True] Translation: X:597.70, Y:6.61, Z:4.11 [[ 9.98663424e-01 -5.03611340e-02 -1.16242174e-02 5.97699453e+02] [ 5.03629837e-02 9.98730971e-01 -1.33725229e-04 6.60501164e+00] [ 1.16162005e-02 -4.51883776e-04 9.99932428e-01 4.11230404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.059254154 meters 0.022483572680469837 Centerline is valid? [True, True] Translation: X:597.73, Y:6.61, Z:4.11 [[ 9.98931242e-01 -4.50238442e-02 -1.04511866e-02 5.97729362e+02] [ 4.50250501e-02 9.98985851e-01 -1.19999698e-04 6.60737578e+00] [ 1.04459904e-02 -3.50693754e-04 9.99945378e-01 4.11249278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.089254154 meters 0.020735213969972553 Centerline is valid? [True, True] Translation: X:597.76, Y:6.61, Z:4.11 [[ 9.99062224e-01 -4.20781635e-02 -1.02029439e-02 5.97761214e+02] [ 4.20791615e-02 9.99114273e-01 -1.16928485e-04 6.61257747e+00] [ 1.01988270e-02 -3.12512493e-04 9.99947942e-01 4.11318784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1192541539999 meters 0.020161315661053787 Centerline is valid? [True, True] Translation: X:597.79, Y:6.62, Z:4.11 [[ 9.99178761e-01 -3.92895970e-02 -9.90610730e-03 5.97791901e+02] [ 3.92904063e-02 9.99227827e-01 -1.12970267e-04 6.61585843e+00] [ 9.90289663e-03 -2.76337490e-04 9.99950927e-01 4.11365934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1492541539999 meters 0.017140102520154986 Centerline is valid? [True, True] Translation: X:597.82, Y:6.62, Z:4.11 [[ 9.99376990e-01 -3.40916828e-02 -9.13175536e-03 5.97823668e+02] [ 3.40921571e-02 9.99418688e-01 -1.03761743e-04 6.62463341e+00] [ 9.12998438e-03 -2.07624140e-04 9.99958299e-01 4.11472240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1792541539999 meters 0.01769132189007044 Centerline is valid? [True, True] Translation: X:597.85, Y:6.62, Z:4.11 [[ 9.99465885e-01 -3.13708013e-02 -9.15520595e-03 5.97854692e+02] [ 3.13711711e-02 9.99507798e-01 -1.03245405e-04 6.62423560e+00] [ 9.15393863e-03 -1.84019273e-04 9.99958085e-01 4.11474463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.209254154 meters 0.01620731580747505 Centerline is valid? [True, True] Translation: X:597.89, Y:6.63, Z:4.11 [[ 9.99561572e-01 -2.80813004e-02 -9.38640745e-03 5.97886911e+02] [ 2.80815543e-02 9.99605630e-01 -1.04767891e-04 6.62890184e+00] [ 9.38564775e-03 -1.58862953e-04 9.99955941e-01 4.11468997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2392541539999 meters 0.01563403657002621 Centerline is valid? [True, True] Translation: X:597.92, Y:6.63, Z:4.11 [[ 9.99593646e-01 -2.68191808e-02 -9.65791328e-03 5.97919477e+02] [ 2.68193975e-02 9.99640290e-01 -1.07090612e-04 6.63024933e+00] [ 9.65731131e-03 -1.51972321e-04 9.99953356e-01 4.11455975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2692541539999 meters 0.015544258477165961 Centerline is valid? [True, True] Translation: X:597.95, Y:6.63, Z:4.11 [[ 9.99605449e-01 -2.60466683e-02 -1.05126977e-02 5.97951957e+02] [ 2.60468910e-02 9.99660715e-01 -1.15754847e-04 6.63073833e+00] [ 1.05121459e-02 -1.58113915e-04 9.99944733e-01 4.11418582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2992541539999 meters 0.01561606031906268 Centerline is valid? [True, True] Translation: X:597.98, Y:6.63, Z:4.11 [[ 9.99611008e-01 -2.54651891e-02 -1.13735507e-02 5.97982670e+02] [ 2.54654212e-02 9.99675696e-01 -1.24441986e-04 6.63058538e+00] [ 1.13730311e-02 -1.65238680e-04 9.99935311e-01 4.11356485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.329254154 meters 0.01573584333279081 Centerline is valid? [True, True] Translation: X:598.01, Y:6.63, Z:4.11 [[ 9.99605479e-01 -2.48586543e-02 -1.30741533e-02 5.98014083e+02] [ 2.48589237e-02 9.99690959e-01 -1.41924302e-04 6.63012319e+00] [ 1.30736409e-02 -1.83141070e-04 9.99914520e-01 4.11260790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3592541539999 meters 0.01565062095842878 Centerline is valid? [True, True] Translation: X:598.05, Y:6.63, Z:4.11 [[ 9.99599364e-01 -2.47498440e-02 -1.37316036e-02 5.98045037e+02] [ 2.47501456e-02 9.99693657e-01 -1.48001287e-04 6.63000287e+00] [ 1.37310601e-02 -1.91917197e-04 9.99905706e-01 4.11246353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3892541539999 meters 0.01567440013448323 Centerline is valid? [True, True] Translation: X:598.08, Y:6.63, Z:4.11 [[ 9.99605408e-01 -2.45187177e-02 -1.37062601e-02 5.98075310e+02] [ 2.45190014e-02 9.99699353e-01 -1.47360981e-04 6.62879179e+00] [ 1.37057524e-02 -1.88760977e-04 9.99906054e-01 4.11302808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4192541539999 meters 0.015965976238583344 Centerline is valid? [True, True] Translation: X:598.11, Y:6.63, Z:4.11 [[ 9.99602509e-01 -2.50037608e-02 -1.30244213e-02 5.98106533e+02] [ 2.50040625e-02 9.99687340e-01 -1.39699259e-04 6.62803637e+00] [ 1.30238421e-02 -1.86019716e-04 9.99915169e-01 4.11363608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.449254154 meters 0.01611364382443059 Centerline is valid? [True, True] Translation: X:598.14, Y:6.63, Z:4.11 [[ 9.99585238e-01 -2.56013303e-02 -1.31880419e-02 5.98138045e+02] [ 2.56016978e-02 9.99672213e-01 -1.40988111e-04 6.62682676e+00] [ 1.31873285e-02 -1.96706628e-04 9.99913024e-01 4.11427857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4792541539999 meters 0.016640392422938157 Centerline is valid? [True, True] Translation: X:598.17, Y:6.62, Z:4.11 [[ 9.99537614e-01 -2.76451992e-02 -1.26609897e-02 5.98169414e+02] [ 2.76457085e-02 9.99617775e-01 -1.34820156e-04 6.62309024e+00] [ 1.26598775e-02 -2.15264214e-04 9.99919837e-01 4.11472054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5092541539999 meters 0.017845127727976865 Centerline is valid? [True, True] Translation: X:598.20, Y:6.62, Z:4.11 [[ 9.99508677e-01 -2.89172008e-02 -1.20913236e-02 5.98200359e+02] [ 2.89177647e-02 9.99581786e-01 -1.28229591e-04 6.62074807e+00] [ 1.20899749e-02 -2.21487461e-04 9.99926889e-01 4.11494150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5392541539999 meters 0.017845127727976865 Centerline is valid? [True, True] Translation: X:598.23, Y:6.62, Z:4.12 [[ 9.99510678e-01 -2.88479372e-02 -1.20913299e-02 5.98232056e+02] [ 2.88485033e-02 9.99583787e-01 -1.27633083e-04 6.62101907e+00] [ 1.20899793e-02 -2.21246141e-04 9.99926889e-01 4.11516107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.569254154 meters 0.018458546762456358 Centerline is valid? [True, True] Translation: X:598.26, Y:6.62, Z:4.12 [[ 9.99478475e-01 -3.00731891e-02 -1.17635760e-02 5.98264303e+02] [ 3.00738192e-02 9.99547673e-01 -1.23372228e-04 6.61920342e+00] [ 1.17619652e-02 -2.30467770e-04 9.99930799e-01 4.11559102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5992541539999 meters 0.017564706621067662 Centerline is valid? [True, True] Translation: X:598.30, Y:6.62, Z:4.12 [[ 9.99428966e-01 -3.16887795e-02 -1.17287383e-02 5.98296247e+02] [ 3.16895265e-02 9.99497753e-01 -1.22194481e-04 6.61856115e+00] [ 1.17267198e-02 -2.49553460e-04 9.99931209e-01 4.11594833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6292541539999 meters 0.01749657168116374 Centerline is valid? [True, True] Translation: X:598.33, Y:6.62, Z:4.12 [[ 9.99326978e-01 -3.48248615e-02 -1.15247842e-02 5.98328593e+02] [ 3.48258005e-02 9.99393391e-01 -1.19257178e-04 6.61663231e+00] [ 1.15219463e-02 -2.82182921e-04 9.99933580e-01 4.11607139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6592541539999 meters 0.01782840553944271 Centerline is valid? [True, True] Translation: X:598.36, Y:6.61, Z:4.12 [[ 9.99257420e-01 -3.67635392e-02 -1.15347919e-02 5.98361048e+02] [ 3.67646187e-02 9.99323946e-01 -1.18512900e-04 6.61490604e+00] [ 1.15313507e-02 -3.05647329e-04 9.99933465e-01 4.11625464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.689254154 meters 0.018938280321131526 Centerline is valid? [True, True] Translation: X:598.39, Y:6.61, Z:4.12 [[ 9.99093914e-01 -4.10720562e-02 -1.11551409e-02 5.98392656e+02] [ 4.10733413e-02 9.99156128e-01 -1.13964109e-04 6.61042390e+00] [ 1.11504081e-02 -3.44318060e-04 9.99937773e-01 4.11581644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7192541539999 meters 0.019674538483961067 Centerline is valid? [True, True] Translation: X:598.42, Y:6.61, Z:4.12 [[ 9.99000913e-01 -4.32465430e-02 -1.12655726e-02 5.98423834e+02] [ 4.32480001e-02 9.99064361e-01 -1.14351895e-04 6.60801262e+00] [ 1.12599774e-02 -3.72975837e-04 9.99936535e-01 4.11570159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7492541539999 meters 0.02119164059028196 Centerline is valid? [True, True] Translation: X:598.45, Y:6.60, Z:4.12 [[ 9.98894536e-01 -4.56539436e-02 -1.11992645e-02 5.98454948e+02] [ 4.56555460e-02 9.98957236e-01 -1.12677807e-04 6.60472872e+00] [ 1.11927305e-02 -3.98755289e-04 9.99937280e-01 4.11531096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7792541539999 meters 0.02112626763128522 Centerline is valid? [True, True] Translation: X:598.49, Y:6.60, Z:4.11 [[ 9.98677297e-01 -5.01029452e-02 -1.15478121e-02 5.98485938e+02] [ 5.01049512e-02 9.98743951e-01 -1.15711607e-04 6.60360272e+00] [ 1.15391050e-02 -4.63044006e-04 9.99933315e-01 4.11491702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.809254154 meters 0.02526749063530621 Centerline is valid? [True, True] Translation: X:598.52, Y:6.60, Z:4.11 [[ 9.98562694e-01 -5.21677823e-02 -1.22909880e-02 5.98516863e+02] [ 5.21702211e-02 9.98638199e-01 -1.22330547e-04 6.59656369e+00] [ 1.22806319e-02 -5.19068843e-04 9.99924455e-01 4.11371992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.839254154 meters 0.02359953093987001 Centerline is valid? [True, True] Translation: X:598.55, Y:6.60, Z:4.11 [[ 9.98336015e-01 -5.62389465e-02 -1.27429295e-02 5.98547596e+02] [ 5.62419121e-02 9.98417163e-01 -1.25795698e-04 6.59784698e+00] [ 1.27298341e-02 -5.91100345e-04 9.99918798e-01 4.11309064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8692541539999 meters 0.023348495485777956 Centerline is valid? [True, True] Translation: X:598.58, Y:6.60, Z:4.11 [[ 9.98218372e-01 -5.82424512e-02 -1.29575729e-02 5.98579992e+02] [ 5.82456936e-02 9.98302270e-01 -1.27332207e-04 6.59789060e+00] [ 1.29429905e-02 -6.27617470e-04 9.99916039e-01 4.11305296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8992541539999 meters 0.02475687941874239 Centerline is valid? [True, True] Translation: X:598.61, Y:6.60, Z:4.11 [[ 9.98104916e-01 -6.01240249e-02 -1.31025994e-02 5.98610568e+02] [ 6.01275118e-02 9.98190696e-01 -1.27999790e-04 6.59565175e+00] [ 1.30865887e-02 -6.60069481e-04 9.99914149e-01 4.11290879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9292541539999 meters 0.026710709931991688 Centerline is valid? [True, True] Translation: X:598.64, Y:6.59, Z:4.11 [[ 9.97905955e-01 -6.33706348e-02 -1.29563909e-02 5.98640304e+02] [ 6.33743205e-02 9.97989819e-01 -1.26314713e-04 6.59285996e+00] [ 1.29383509e-02 -6.95052265e-04 9.99916054e-01 4.11261009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.959254154 meters 0.027651623198142055 Centerline is valid? [True, True] Translation: X:598.67, Y:6.59, Z:4.11 [[ 9.97820565e-01 -6.46623438e-02 -1.31492335e-02 5.98672522e+02] [ 6.46662578e-02 9.97906939e-01 -1.27740431e-04 6.59196329e+00] [ 1.31299713e-02 -7.22849691e-04 9.99913537e-01 4.11247701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9892541539999 meters 0.03205621005818321 Centerline is valid? [True, True] Translation: X:598.70, Y:6.59, Z:4.11 [[ 9.97746415e-01 -6.57610235e-02 -1.33259059e-02 5.98703377e+02] [ 6.57651510e-02 9.97835121e-01 -1.28711023e-04 6.58717328e+00] [ 1.33055211e-02 -7.47959255e-04 9.99911198e-01 4.11157177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0192541539999 meters 0.02887857516681521 Centerline is valid? [True, True] Translation: X:598.73, Y:6.59, Z:4.11 [[ 9.97569993e-01 -6.80492789e-02 -1.49467287e-02 5.98734617e+02] [ 6.80547363e-02 9.97681579e-01 -1.43790987e-04 6.59178789e+00] [ 1.49218607e-02 -8.73754103e-04 9.99888281e-01 4.11153748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0492541539999 meters 0.029385398331201115 Centerline is valid? [True, True] Translation: X:598.77, Y:6.59, Z:4.11 [[ 9.97520784e-01 -6.86723227e-02 -1.53752369e-02 5.98766449e+02] [ 6.86781848e-02 9.97638855e-01 -1.47036099e-04 6.59155555e+00] [ 1.53490311e-02 -9.09271798e-04 9.99881783e-01 4.11114384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.079254154 meters 0.029029555961378618 Centerline is valid? [True, True] Translation: X:598.80, Y:6.59, Z:4.11 [[ 9.97473131e-01 -6.92515471e-02 -1.58611763e-02 5.98798948e+02] [ 6.92578773e-02 9.97598779e-01 -1.50503401e-04 6.59254993e+00] [ 1.58335127e-02 -9.48388306e-04 9.99874192e-01 4.11118208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1092541539999 meters 0.028796264095831085 Centerline is valid? [True, True] Translation: X:598.83, Y:6.59, Z:4.11 [[ 9.97482559e-01 -6.91049787e-02 -1.59074576e-02 5.98831932e+02] [ 6.91113512e-02 9.97608941e-01 -1.49433941e-04 6.59408563e+00] [ 1.58797486e-02 -9.50328142e-04 9.99873457e-01 4.11131141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1392541539999 meters 0.030681367481761833 Centerline is valid? [True, True] Translation: X:598.86, Y:6.59, Z:4.11 [[ 9.97535241e-01 -6.83943186e-02 -1.56735269e-02 5.98863317e+02] [ 6.84004371e-02 9.97657937e-01 -1.45997114e-04 6.59266199e+00] [ 1.56468038e-02 -9.26438821e-04 9.99877152e-01 4.11125912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1692541539999 meters 0.029155041419068276 Centerline is valid? [True, True] Translation: X:598.90, Y:6.60, Z:4.11 [[ 9.97653418e-01 -6.66730824e-02 -1.55678151e-02 5.98895254e+02] [ 6.66789229e-02 9.97774474e-01 -1.44163561e-04 6.59623980e+00] [ 1.55427803e-02 -8.94219873e-04 9.99878804e-01 4.11199754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.199254154 meters 0.026266727778246953 Centerline is valid? [True, True] Translation: X:598.93, Y:6.60, Z:4.11 [[ 9.97996591e-01 -6.14276972e-02 -1.51473440e-02 5.98925858e+02] [ 6.14326298e-02 9.98111222e-01 -1.39886174e-04 6.60408529e+00] [ 1.51273269e-02 -7.90935251e-04 9.99885263e-01 4.11364509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2292541539999 meters 0.027977182016749553 Centerline is valid? [True, True] Translation: X:598.96, Y:6.60, Z:4.11 [[ 9.98208030e-01 -5.80003041e-02 -1.47205019e-02 5.98955582e+02] [ 5.80045909e-02 9.98316307e-01 -1.35930611e-04 6.60384764e+00] [ 1.47036011e-02 -7.18169665e-04 9.99891638e-01 4.11393544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2592541539999 meters 0.02640106926133641 Centerline is valid? [True, True] Translation: X:598.99, Y:6.61, Z:4.11 [[ 9.98444383e-01 -5.39369487e-02 -1.41286781e-02 5.98986789e+02] [ 5.39404935e-02 9.98544143e-01 -1.30341099e-04 6.60820230e+00] [ 1.41151390e-02 -6.31969532e-04 9.99900177e-01 4.11463746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2892541539999 meters 0.02272563364132598 Centerline is valid? [True, True] Translation: X:599.02, Y:6.62, Z:4.12 [[ 9.98905111e-01 -4.47609670e-02 -1.36027881e-02 5.99017763e+02] [ 4.47634060e-02 9.98997608e-01 -1.25267376e-04 6.61748873e+00] [ 1.35947598e-02 -4.83776902e-04 9.99907470e-01 4.11599729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.319254154 meters 0.019473857117383524 Centerline is valid? [True, True] Translation: X:599.05, Y:6.63, Z:4.12 [[ 9.99114358e-01 -3.98821490e-02 -1.34132015e-02 5.99049395e+02] [ 3.98840874e-02 9.99204306e-01 -1.23063992e-04 6.62505390e+00] [ 1.34074368e-02 -4.12018299e-04 9.99910031e-01 4.11729467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3492541539999 meters 0.017095012861429674 Centerline is valid? [True, True] Translation: X:599.08, Y:6.63, Z:4.12 [[ 9.99454246e-01 -3.05995248e-02 -1.24450592e-02 5.99079459e+02] [ 3.06004778e-02 9.99531689e-01 -1.13878789e-04 6.63312864e+00] [ 1.24427157e-02 -2.67008119e-04 9.99922551e-01 4.11844698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3792541539999 meters 0.016039278283792993 Centerline is valid? [True, True] Translation: X:599.11, Y:6.64, Z:4.12 [[ 9.99584427e-01 -2.62306749e-02 -1.19550863e-02 5.99110890e+02] [ 2.62312435e-02 9.99655896e-01 -1.09264600e-04 6.63754461e+00] [ 1.19538386e-02 -2.04377586e-04 9.99928529e-01 4.11915379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4092541539999 meters 0.015347245110318777 Centerline is valid? [True, True] Translation: X:599.14, Y:6.64, Z:4.12 [[ 9.99680060e-01 -2.22899597e-02 -1.19555782e-02 5.99142461e+02] [ 2.22902518e-02 9.99751536e-01 -1.08833449e-04 6.64173863e+00] [ 1.19550335e-02 -1.57694219e-04 9.99928524e-01 4.11974528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.439254154 meters 0.014978063174879996 Centerline is valid? [True, True] Translation: X:599.17, Y:6.64, Z:4.12 [[ 9.99757967e-01 -1.85273459e-02 -1.18636237e-02 5.99172979e+02] [ 1.85273758e-02 9.99828348e-01 -1.07400445e-04 6.64465295e+00] [ 1.18635771e-02 -1.12427364e-04 9.99929619e-01 4.12005891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4692541539999 meters 0.014713865518979104 Centerline is valid? [True, True] Translation: X:599.20, Y:6.65, Z:4.12 [[ 9.99849072e-01 -1.25460789e-02 -1.20178914e-02 5.99203793e+02] [ 1.25456833e-02 9.99921294e-01 -1.08308974e-04 6.64955850e+00] [ 1.20183044e-02 -4.24800325e-05 9.99927777e-01 4.11973831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4992541539999 meters 0.014747361509982918 Centerline is valid? [True, True] Translation: X:599.23, Y:6.65, Z:4.12 [[ 9.99867518e-01 -1.05671978e-02 -1.23806267e-02 5.99232588e+02] [ 1.05666091e-02 9.99944165e-01 -1.12962449e-04 6.65163293e+00] [ 1.23811291e-02 -1.78737592e-05 9.99923351e-01 4.11966074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5292541539999 meters 0.014698765026477805 Centerline is valid? [True, True] Translation: X:599.26, Y:6.65, Z:4.12 [[ 9.99880574e-01 -8.55085082e-03 -1.28732446e-02 5.99260210e+02] [ 8.55001682e-03 9.99963441e-01 -1.19821046e-04 6.65329808e+00] [ 1.28737985e-02 9.74027819e-06 9.99917129e-01 4.11924337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.559254154 meters 0.014863010408947412 Centerline is valid? [True, True] Translation: X:599.29, Y:6.65, Z:4.12 [[ 9.99885074e-01 -6.26506345e-03 -1.38053289e-02 5.99288976e+02] [ 6.26385302e-03 9.99980373e-01 -1.30916517e-04 6.65499139e+00] [ 1.38058782e-02 4.44269202e-05 9.99904693e-01 4.11815566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.589254154 meters 0.014942685817003606 Centerline is valid? [True, True] Translation: X:599.32, Y:6.66, Z:4.12 [[ 9.99876676e-01 -5.86876042e-03 -1.45667640e-02 5.99317004e+02] [ 5.86733355e-03 9.99982777e-01 -1.40688024e-04 6.65580006e+00] [ 1.45673387e-02 5.52026106e-05 9.99893889e-01 4.11737371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6192541539999 meters 0.01501605075229567 Centerline is valid? [True, True] Translation: X:599.34, Y:6.66, Z:4.12 [[ 9.99866470e-01 -5.89459341e-03 -1.52412902e-02 5.99344470e+02] [ 5.89298801e-03 9.99982625e-01 -1.50241774e-04 6.65649196e+00] [ 1.52419110e-02 6.04049716e-05 9.99883834e-01 4.11757280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6492541539999 meters 0.014933209146139511 Centerline is valid? [True, True] Translation: X:599.37, Y:6.66, Z:4.12 [[ 9.99871961e-01 -6.29126282e-03 -1.47133130e-02 5.99372329e+02] [ 6.28974799e-03 9.99980208e-01 -1.49228608e-04 6.65652770e+00] [ 1.47139607e-02 5.66664701e-05 9.99891742e-01 4.11792588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6792541539999 meters 0.014879464928404586 Centerline is valid? [True, True] Translation: X:599.40, Y:6.66, Z:4.12 [[ 9.99871004e-01 -6.88852583e-03 -1.45094492e-02 5.99399853e+02] [ 6.88705464e-03 9.99976272e-01 -1.51359722e-04 6.65622379e+00] [ 1.45101476e-02 5.14128281e-05 9.99894721e-01 4.11834236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.709254154 meters 0.014808410698553574 Centerline is valid? [True, True] Translation: X:599.43, Y:6.66, Z:4.12 [[ 9.99874168e-01 -8.17025571e-03 -1.35976264e-02 5.99427634e+02] [ 8.16904829e-03 9.99966622e-01 -1.44336800e-04 6.65501330e+00] [ 1.35983518e-02 3.32389717e-05 9.99907538e-01 4.11813125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7392541539999 meters 0.01463087540884739 Centerline is valid? [True, True] Translation: X:599.46, Y:6.65, Z:4.12 [[ 9.99866919e-01 -9.52315693e-03 -1.32458849e-02 5.99455604e+02] [ 9.52209732e-03 9.99954654e-01 -1.43061992e-04 6.65425563e+00] [ 1.32466467e-02 1.69143479e-05 9.99912259e-01 4.11907807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7692541539999 meters 0.014641571556796991 Centerline is valid? [True, True] Translation: X:599.48, Y:6.65, Z:4.12 [[ 9.99856162e-01 -1.08133185e-02 -1.30662851e-02 5.99482144e+02] [ 1.08123553e-02 9.99941534e-01 -1.44350830e-04 6.65329424e+00] [ 1.30670821e-02 3.05274887e-06 9.99914622e-01 4.11899271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7992541539999 meters 0.014557316466980013 Centerline is valid? [True, True] Translation: X:599.51, Y:6.65, Z:4.12 [[ 9.99822571e-01 -1.40732806e-02 -1.25207571e-02 5.99509711e+02] [ 1.40726275e-02 9.99900966e-01 -1.40263445e-04 6.64963395e+00] [ 1.25214911e-02 -3.59613931e-05 9.99921602e-01 4.11910159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.829254154 meters 0.014578655775166578 Centerline is valid? [True, True] Translation: X:599.54, Y:6.65, Z:4.12 [[ 9.99787191e-01 -1.64194265e-02 -1.24889695e-02 5.99538609e+02] [ 1.64189325e-02 9.99865190e-01 -1.42089327e-04 6.64740891e+00] [ 1.24896189e-02 -6.29964588e-05 9.99922000e-01 4.11882356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8592541539999 meters 0.014705626807397587 Centerline is valid? [True, True] Translation: X:599.57, Y:6.64, Z:4.12 [[ 9.99746932e-01 -1.88935590e-02 -1.22108664e-02 5.99568200e+02] [ 1.88932478e-02 9.99821497e-01 -1.40851754e-04 6.64484037e+00] [ 1.22113479e-02 -8.98868158e-05 9.99925435e-01 4.11866041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8892541539999 meters 0.015512456601934023 Centerline is valid? [True, True] Translation: X:599.60, Y:6.64, Z:4.12 [[ 9.99623059e-01 -2.47186870e-02 -1.19467791e-02 5.99598644e+02] [ 2.47188020e-02 9.99694434e-01 -1.38051525e-04 6.63841588e+00] [ 1.19465410e-02 -1.57310579e-04 9.99928625e-01 4.11797799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9192541539999 meters 0.01600592084070019 Centerline is valid? [True, True] Translation: X:599.63, Y:6.64, Z:4.12 [[ 9.99543930e-01 -2.76844202e-02 -1.20625479e-02 5.99630411e+02] [ 2.76847567e-02 9.99616694e-01 -1.39109977e-04 6.63532071e+00] [ 1.20617754e-02 -1.94902171e-04 9.99927235e-01 4.11772204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.949254154 meters 0.016536245270789018 Centerline is valid? [True, True] Translation: X:599.66, Y:6.63, Z:4.12 [[ 9.99462788e-01 -3.04629842e-02 -1.20888816e-02 5.99662713e+02] [ 3.04635345e-02 9.99535869e-01 -1.38661245e-04 6.63276084e+00] [ 1.20874948e-02 -2.29683306e-04 9.99926917e-01 4.11761411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9792541539999 meters 0.017508850564413453 Centerline is valid? [True, True] Translation: X:599.69, Y:6.63, Z:4.12 [[ 9.99275410e-01 -3.60054202e-02 -1.23395412e-02 5.99694233e+02] [ 3.60064246e-02 9.99351549e-01 -1.40824665e-04 6.62766465e+00] [ 1.23366100e-02 -3.03580134e-04 9.99923855e-01 4.11726606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0092541539999 meters 0.01799007686087236 Centerline is valid? [True, True] Translation: X:599.73, Y:6.63, Z:4.12 [[ 9.99180362e-01 -3.84568026e-02 -1.26363982e-02 5.99726581e+02] [ 3.84580604e-02 9.99260205e-01 -1.43529183e-04 6.62537740e+00] [ 1.26325695e-02 -3.42559824e-04 9.99920147e-01 4.11699387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0392541539999 meters 0.01991425495146681 Centerline is valid? [True, True] Translation: X:599.76, Y:6.62, Z:4.12 [[ 9.99091700e-01 -4.05729984e-02 -1.30233357e-02 5.99757797e+02] [ 4.05745293e-02 9.99176504e-01 -1.46752668e-04 6.62050710e+00] [ 1.30185653e-02 -3.81796345e-04 9.99915182e-01 4.11639968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.069254154 meters 0.019503670398328753 Centerline is valid? [True, True] Translation: X:599.79, Y:6.62, Z:4.12 [[ 9.98964577e-01 -4.36430255e-02 -1.28476104e-02 5.99789915e+02] [ 4.36447839e-02 9.99047102e-01 -1.43614731e-04 6.61948404e+00] [ 1.28416357e-02 -4.17265151e-04 9.99917456e-01 4.11677318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0992541539999 meters 0.01938779893489902 Centerline is valid? [True, True] Translation: X:599.82, Y:6.62, Z:4.12 [[ 9.98949412e-01 -4.40122987e-02 -1.27667215e-02 5.99822091e+02] [ 4.40140772e-02 9.99030901e-01 -1.41766086e-04 6.61904459e+00] [ 1.27605888e-02 -4.20298319e-04 9.99918492e-01 4.11690845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1292541539999 meters 0.019575281460619536 Centerline is valid? [True, True] Translation: X:599.85, Y:6.62, Z:4.12 [[ 9.98928177e-01 -4.44762146e-02 -1.28204235e-02 5.99853957e+02] [ 4.44780585e-02 9.99010351e-01 -1.41405818e-04 6.61892682e+00] [ 1.28140250e-02 -4.28973290e-04 9.99917805e-01 4.11700445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1592541539999 meters 0.02036743611216582 Centerline is valid? [True, True] Translation: X:599.88, Y:6.62, Z:4.12 [[ 9.98946291e-01 -4.40696544e-02 -1.28129952e-02 5.99884928e+02] [ 4.40714735e-02 9.99028371e-01 -1.40482824e-04 6.61786778e+00] [ 1.28067368e-02 -4.24352785e-04 9.99917900e-01 4.11684312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.189254154 meters 0.01986782728655515 Centerline is valid? [True, True] Translation: X:599.92, Y:6.62, Z:4.12 [[ 9.98975892e-01 -4.34991188e-02 -1.24496277e-02 5.99917319e+02] [ 4.35008017e-02 9.99053383e-01 -1.35719783e-04 6.61958578e+00] [ 1.24437463e-02 -4.05987994e-04 9.99922491e-01 4.11741102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2192541539999 meters 0.01979475086541101 Centerline is valid? [True, True] Translation: X:599.95, Y:6.62, Z:4.12 [[ 9.99055039e-01 -4.16964002e-02 -1.22653941e-02 5.99948160e+02] [ 4.16979130e-02 9.99130255e-01 -1.32479422e-04 6.62000792e+00] [ 1.22602503e-02 -3.79087103e-04 9.99924768e-01 4.11761094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2492541539999 meters 0.01941405134142763 Centerline is valid? [True, True] Translation: X:599.98, Y:6.62, Z:4.12 [[ 9.99088125e-01 -4.08955527e-02 -1.22667509e-02 5.99980737e+02] [ 4.08970218e-02 9.99163358e-01 -1.31160812e-04 6.62090275e+00] [ 1.22618519e-02 -3.70632369e-04 9.99924752e-01 4.11784756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2792541539999 meters 0.01971977866052484 Centerline is valid? [True, True] Translation: X:600.01, Y:6.62, Z:4.12 [[ 9.99099092e-01 -4.04740340e-02 -1.27615136e-02 6.00013110e+02] [ 4.04756017e-02 9.99180518e-01 -1.35512605e-04 6.62116735e+00] [ 1.27565405e-02 -3.81139418e-04 9.99918559e-01 4.11785523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.309254154 meters 0.0185593824213152 Centerline is valid? [True, True] Translation: X:600.04, Y:6.62, Z:4.12 [[ 9.99091051e-01 -4.03886972e-02 -1.36317333e-02 6.00044801e+02] [ 4.03904921e-02 9.99183961e-01 -1.43725374e-04 6.62410342e+00] [ 1.36264141e-02 -4.06997679e-04 9.99907073e-01 4.11773424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.339254154 meters 0.019846704506457192 Centerline is valid? [True, True] Translation: X:600.08, Y:6.62, Z:4.12 [[ 9.99073715e-01 -4.07520594e-02 -1.38195961e-02 6.00076457e+02] [ 4.07539574e-02 9.99169202e-01 -1.44357169e-04 6.62334667e+00] [ 1.38139977e-02 -4.18979779e-04 9.99904494e-01 4.11673077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3692541539999 meters 0.01969772179282562 Centerline is valid? [True, True] Translation: X:600.11, Y:6.62, Z:4.12 [[ 9.99039931e-01 -4.14641757e-02 -1.41399245e-02 6.00108678e+02] [ 4.14662535e-02 9.99139894e-01 -1.46329303e-04 6.62331533e+00] [ 1.41338301e-02 -4.40140876e-04 9.99900016e-01 4.11636279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3992541539999 meters 0.02045567186997886 Centerline is valid? [True, True] Translation: X:600.14, Y:6.62, Z:4.12 [[ 9.98944589e-01 -4.34389844e-02 -1.49252546e-02 6.00140062e+02] [ 4.34415340e-02 9.99055959e-01 -1.53493366e-04 6.62187946e+00] [ 1.49178321e-02 -4.95044585e-04 9.99888600e-01 4.11561915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4292541539999 meters 0.02045567186997886 Centerline is valid? [True, True] Translation: X:600.17, Y:6.62, Z:4.12 [[ 9.98947702e-01 -4.33673195e-02 -1.49252643e-02 6.00171771e+02] [ 4.33698753e-02 9.99059073e-01 -1.52544942e-04 6.62214296e+00] [ 1.49178361e-02 -4.94922430e-04 9.99888600e-01 4.11583877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.459254154 meters 0.021010768956766415 Centerline is valid? [True, True] Translation: X:600.20, Y:6.62, Z:4.12 [[ 9.98909111e-01 -4.43584957e-02 -1.45915082e-02 6.00204115e+02] [ 4.43610591e-02 9.99015553e-01 -1.48099802e-04 6.62171684e+00] [ 1.45837131e-02 -4.99356515e-04 9.99893527e-01 4.11580038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4892541539999 meters 0.021107164726298675 Centerline is valid? [True, True] Translation: X:600.24, Y:6.62, Z:4.12 [[ 9.98866010e-01 -4.52993162e-02 -1.46514654e-02 6.00236580e+02] [ 4.53020172e-02 9.98973326e-01 -1.47652718e-04 6.62251480e+00] [ 1.46431117e-02 -5.16255658e-04 9.99892651e-01 4.11606135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5192541539999 meters 0.022784576541577128 Centerline is valid? [True, True] Translation: X:600.27, Y:6.62, Z:4.12 [[ 9.98792490e-01 -4.70077232e-02 -1.42770922e-02 6.00267807e+02] [ 4.70104795e-02 9.98894386e-01 -1.42669901e-04 6.62127413e+00] [ 1.42680138e-02 -5.28675324e-04 9.99898067e-01 4.11704886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5492541539999 meters 0.02348455475914504 Centerline is valid? [True, True] Translation: X:600.30, Y:6.62, Z:4.12 [[ 9.98755255e-01 -4.79639561e-02 -1.36894149e-02 6.00300327e+02] [ 4.79665952e-02 9.98848931e-01 -1.35670487e-04 6.62170335e+00] [ 1.36801647e-02 -5.21133010e-04 9.99906286e-01 4.11738754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.579254154 meters 0.024123543977021388 Centerline is valid? [True, True] Translation: X:600.33, Y:6.62, Z:4.12 [[ 9.98736086e-01 -4.84317811e-02 -1.34384999e-02 6.00331836e+02] [ 4.84343777e-02 9.98826358e-01 -1.32367330e-04 6.62169940e+00] [ 1.34291387e-02 -5.18685352e-04 9.99909691e-01 4.11824094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6092541539999 meters 0.02445199783581639 Centerline is valid? [True, True] Translation: X:600.36, Y:6.62, Z:4.12 [[ 9.98689029e-01 -4.96348153e-02 -1.25143475e-02 6.00363552e+02] [ 4.96371691e-02 9.98767308e-01 -1.22635198e-04 6.62342107e+00] [ 1.25050082e-02 -4.98702358e-04 9.99921685e-01 4.11897264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6392541539999 meters 0.024837538246551844 Centerline is valid? [True, True] Translation: X:600.40, Y:6.62, Z:4.12 [[ 9.98670685e-01 -5.00886508e-02 -1.21650812e-02 6.00395416e+02] [ 5.00909174e-02 9.98744655e-01 -1.18495315e-04 6.62366914e+00] [ 1.21557451e-02 -4.91022278e-04 9.99925996e-01 4.11934342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6692541539999 meters 0.025712779536486593 Centerline is valid? [True, True] Translation: X:600.43, Y:6.62, Z:4.12 [[ 9.98630284e-01 -5.09293793e-02 -1.19897541e-02 6.00427017e+02] [ 5.09316533e-02 9.98702134e-01 -1.15795910e-04 6.62393420e+00] [ 1.19800904e-02 -4.95020698e-04 9.99928114e-01 4.11902059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.699254154 meters 0.02633072554466286 Centerline is valid? [True, True] Translation: X:600.46, Y:6.62, Z:4.12 [[ 9.98615725e-01 -5.12209858e-02 -1.19601017e-02 6.00459136e+02] [ 5.12232820e-02 9.98687219e-01 -1.14460113e-04 6.62432868e+00] [ 1.19502635e-02 -4.98333993e-04 9.99928469e-01 4.11884170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7292541539999 meters 0.02654670147399674 Centerline is valid? [True, True] Translation: X:600.49, Y:6.63, Z:4.12 [[ 9.98591081e-01 -5.16666697e-02 -1.20998985e-02 6.00491486e+02] [ 5.16690626e-02 9.98664255e-01 -1.14964847e-04 6.62591223e+00] [ 1.20896760e-02 -5.10387542e-04 9.99926787e-01 4.11893926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7592541539999 meters 0.027448423135205985 Centerline is valid? [True, True] Translation: X:600.52, Y:6.63, Z:4.12 [[ 9.98595802e-01 -5.16053273e-02 -1.19714191e-02 6.00523406e+02] [ 5.16076760e-02 9.98667430e-01 -1.12845022e-04 6.62707034e+00] [ 1.19612897e-02 -5.05130551e-04 9.99928334e-01 4.11994669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7892541539999 meters 0.027832683533114362 Centerline is valid? [True, True] Translation: X:600.55, Y:6.63, Z:4.12 [[ 9.98620710e-01 -5.12517882e-02 -1.13987795e-02 6.00554132e+02] [ 5.12539036e-02 9.98685649e-01 -1.06661471e-04 6.62814406e+00] [ 1.13892641e-02 -4.77717593e-04 9.99935026e-01 4.12055510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.819254154 meters 0.02776154875951821 Centerline is valid? [True, True] Translation: X:600.59, Y:6.63, Z:4.12 [[ 9.98650717e-01 -5.08190898e-02 -1.06848675e-02 6.00586371e+02] [ 5.08209299e-02 9.98707777e-01 -9.94070410e-05 6.62968012e+00] [ 1.06761120e-02 -4.43741989e-04 9.99942910e-01 4.12146900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8492541539999 meters 0.02156190182664762 Centerline is valid? [True, True] Translation: X:600.62, Y:6.64, Z:4.12 [[ 9.98717612e-01 -4.95238885e-02 -1.05126824e-02 6.00618434e+02] [ 4.95256056e-02 9.98772850e-01 -9.70867271e-05 6.64181496e+00] [ 1.05045899e-02 -4.23684738e-04 9.99944736e-01 4.12303359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8792541539999 meters 0.027695597222314357 Centerline is valid? [True, True] Translation: X:600.65, Y:6.63, Z:4.12 [[ 9.98765987e-01 -4.85453027e-02 -1.04812477e-02 6.00649711e+02] [ 4.85469632e-02 9.98820896e-01 -9.60871116e-05 6.63411809e+00] [ 1.04735538e-02 -4.12864206e-04 9.99945066e-01 4.12239616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9092541539999 meters 0.02756293944725089 Centerline is valid? [True, True] Translation: X:600.68, Y:6.64, Z:4.12 [[ 9.98842593e-01 -4.68221690e-02 -1.10072223e-02 6.00681174e+02] [ 4.68239062e-02 9.98903154e-01 -9.99792476e-05 6.63752347e+00] [ 1.09998303e-02 -4.15537613e-04 9.99939414e-01 4.12217439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.939254154 meters 0.022201180013188708 Centerline is valid? [True, True] Translation: X:600.71, Y:6.65, Z:4.12 [[ 9.98889691e-01 -4.56673608e-02 -1.15705599e-02 6.00713724e+02] [ 4.56692193e-02 9.98956611e-01 -1.03682192e-04 6.64721184e+00] [ 1.15632222e-02 -4.24851365e-04 9.99933053e-01 4.12274285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9692541539999 meters 0.02116114125347394 Centerline is valid? [True, True] Translation: X:600.75, Y:6.65, Z:4.12 [[ 9.98933422e-01 -4.46373319e-02 -1.18121589e-02 6.00745527e+02] [ 4.46392095e-02 9.99003168e-01 -1.04776543e-04 6.65052681e+00] [ 1.18050611e-02 -4.22620644e-04 9.99930229e-01 4.12293624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9992541539999 meters 0.02174997040272336 Centerline is valid? [True, True] Translation: X:600.78, Y:6.65, Z:4.12 [[ 9.99013082e-01 -4.28105435e-02 -1.18372065e-02 6.00776338e+02] [ 4.28123101e-02 9.99083127e-01 -1.04235842e-04 6.65247591e+00] [ 1.18308157e-02 -4.02645186e-04 9.99929932e-01 4.12251458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0292541539999 meters 0.019762708927073533 Centerline is valid? [True, True] Translation: X:600.81, Y:6.66, Z:4.12 [[ 9.99047317e-01 -4.20080016e-02 -1.18231288e-02 6.00808525e+02] [ 4.20097164e-02 9.99117197e-01 -1.03384523e-04 6.65694171e+00] [ 1.18170343e-02 -3.93400257e-04 9.99930099e-01 4.12293405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.059254154 meters 0.021273672077776796 Centerline is valid? [True, True] Translation: X:600.84, Y:6.66, Z:4.12 [[ 9.99079325e-01 -4.13149977e-02 -1.15573861e-02 6.00839448e+02] [ 4.13166021e-02 9.99146100e-01 -1.00011286e-04 6.65585412e+00] [ 1.15516492e-02 -3.77592715e-04 9.99933206e-01 4.12301624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.089254154 meters 0.020823551650626562 Centerline is valid? [True, True] Translation: X:600.87, Y:6.66, Z:4.12 [[ 9.99096162e-01 -4.08131214e-02 -1.18805960e-02 6.00871787e+02] [ 4.08147957e-02 9.99166724e-01 -1.01605142e-04 6.65818073e+00] [ 1.18748430e-02 -3.83390792e-04 9.99929418e-01 4.12340188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1192541539999 meters 0.02064035474271651 Centerline is valid? [True, True] Translation: X:600.90, Y:6.66, Z:4.12 [[ 9.99145958e-01 -3.96781929e-02 -1.15323445e-02 6.00904478e+02] [ 3.96797050e-02 9.99212446e-01 -9.77574772e-05 6.66167322e+00] [ 1.15271409e-02 -3.59926037e-04 9.99933496e-01 4.12404002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1492541539999 meters 0.018562367610259374 Centerline is valid? [True, True] Translation: X:600.94, Y:6.67, Z:4.12 [[ 9.99190214e-01 -3.83082656e-02 -1.23041943e-02 6.00936821e+02] [ 3.83098958e-02 9.99265901e-01 -1.03267613e-04 6.66825503e+00] [ 1.22991178e-02 -3.68188411e-04 9.99924295e-01 4.12474245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1792541539999 meters 0.018279851637616047 Centerline is valid? [True, True] Translation: X:600.97, Y:6.67, Z:4.12 [[ 9.99227693e-01 -3.71709060e-02 -1.27413479e-02 6.00969525e+02] [ 3.71725760e-02 9.99308855e-01 -1.05814608e-04 6.67056078e+00] [ 1.27364750e-02 -3.67895835e-04 9.99918820e-01 4.12470048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.209254154 meters 0.0176942792349654 Centerline is valid? [True, True] Translation: X:601.00, Y:6.67, Z:4.12 [[ 9.99267967e-01 -3.58983758e-02 -1.32225805e-02 6.01001489e+02] [ 3.59000788e-02 9.99355378e-01 -1.08610158e-04 6.67298541e+00] [ 1.32179559e-02 -3.66161030e-04 9.99912572e-01 4.12487648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2392541539999 meters 0.01724202500868319 Centerline is valid? [True, True] Translation: X:601.03, Y:6.68, Z:4.12 [[ 9.99308267e-01 -3.45521557e-02 -1.37526512e-02 6.01033957e+02] [ 3.45538848e-02 9.99402830e-01 -1.11938329e-04 6.67500756e+00] [ 1.37483062e-02 -3.63346627e-04 9.99905422e-01 4.12471083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2692541539999 meters 0.01722736556788716 Centerline is valid? [True, True] Translation: X:601.07, Y:6.68, Z:4.12 [[ 9.99410318e-01 -3.12323419e-02 -1.42673383e-02 6.01065212e+02] [ 3.12338780e-02 9.99512097e-01 -1.15201180e-04 6.67803009e+00] [ 1.42639752e-02 -3.30491056e-04 9.99898210e-01 4.12407503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2992541539999 meters 0.016269244162765824 Centerline is valid? [True, True] Translation: X:601.10, Y:6.68, Z:4.13 [[ 9.99475200e-01 -2.92046484e-02 -1.40147673e-02 6.01097740e+02] [ 2.92059437e-02 9.99573409e-01 -1.12283003e-04 6.68203734e+00] [ 1.40120679e-02 -2.97090427e-04 9.99901782e-01 4.12509735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.329254154 meters 0.015821432814300606 Centerline is valid? [True, True] Translation: X:601.13, Y:6.68, Z:4.13 [[ 9.99547690e-01 -2.67742814e-02 -1.36949834e-02 6.01128544e+02] [ 2.67753089e-02 9.99641471e-01 -1.08347322e-04 6.68485595e+00] [ 1.36929742e-02 -2.58389095e-04 9.99906213e-01 4.12593781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3592541539999 meters 0.01559088103029673 Centerline is valid? [True, True] Translation: X:601.16, Y:6.69, Z:4.13 [[ 9.99672505e-01 -2.18837096e-02 -1.32659352e-02 6.01158978e+02] [ 2.18842564e-02 9.99760506e-01 -1.03961287e-04 6.68839625e+00] [ 1.32650332e-02 -1.86387888e-04 9.99911998e-01 4.12594912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3892541539999 meters 0.014081577661465543 Centerline is valid? [True, True] Translation: X:601.19, Y:6.69, Z:4.13 [[ 9.99715100e-01 -1.96478867e-02 -1.35528095e-02 6.01190208e+02] [ 1.96482569e-02 9.99806949e-01 -1.05847288e-04 6.69427349e+00] [ 1.35522728e-02 -1.60471950e-04 9.99908151e-01 4.12770445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4192541539999 meters 0.013652050992530711 Centerline is valid? [True, True] Translation: X:601.22, Y:6.70, Z:4.13 [[ 9.99755504e-01 -1.67997724e-02 -1.43770688e-02 6.01221100e+02] [ 1.67998983e-02 9.99858865e-01 -1.12019699e-04 6.69839166e+00] [ 1.43769216e-02 -1.29540984e-04 9.99896638e-01 4.12770516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.449254154 meters 0.013594930518119917 Centerline is valid? [True, True] Translation: X:601.25, Y:6.70, Z:4.13 [[ 9.99759957e-01 -1.62760908e-02 -1.46668853e-02 6.01250784e+02] [ 1.62761615e-02 9.99867528e-01 -1.14556326e-04 6.69921496e+00] [ 1.46668069e-02 -1.24191766e-04 9.99892429e-01 4.12750120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4792541539999 meters 0.013580658096856529 Centerline is valid? [True, True] Translation: X:601.28, Y:6.70, Z:4.13 [[ 9.99755281e-01 -1.64126533e-02 -1.48325081e-02 6.01280210e+02] [ 1.64127326e-02 9.99865295e-01 -1.16386567e-04 6.69940852e+00] [ 1.48324203e-02 -1.27083904e-04 9.99889986e-01 4.12738430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5092541539999 meters 0.013859916395464775 Centerline is valid? [True, True] Translation: X:601.31, Y:6.70, Z:4.13 [[ 9.99717562e-01 -1.83079211e-02 -1.51530755e-02 6.01310109e+02] [ 1.83082133e-02 9.99832383e-01 -1.19453132e-04 6.69917541e+00] [ 1.51527226e-02 -1.58006345e-04 9.99885178e-01 4.12717413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5392541539999 meters 0.013944235200870531 Centerline is valid? [True, True] Translation: X:601.34, Y:6.70, Z:4.13 [[ 9.99683695e-01 -1.99494350e-02 -1.53143752e-02 6.01340113e+02] [ 1.99499174e-02 9.99800973e-01 -1.21284063e-04 6.69890023e+00] [ 1.53137467e-02 -1.84274819e-04 9.99882721e-01 4.12734981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.569254154 meters 0.01633194006431599 Centerline is valid? [True, True] Translation: X:601.37, Y:6.70, Z:4.13 [[ 9.99624878e-01 -2.20330030e-02 -1.62680412e-02 6.01369291e+02] [ 2.20338160e-02 9.99757218e-01 -1.29275764e-04 6.69723925e+00] [ 1.62669399e-02 -2.29219758e-04 9.99867658e-01 4.12584737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5992541539999 meters 0.015439880638492047 Centerline is valid? [True, True] Translation: X:601.40, Y:6.69, Z:4.13 [[ 9.99501905e-01 -2.70224099e-02 -1.63012862e-02 6.01399748e+02] [ 2.70238875e-02 9.99634780e-01 -1.29665997e-04 6.69478615e+00] [ 1.62988365e-02 -3.10922713e-04 9.99867117e-01 4.12651115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6292541539999 meters 0.016338968158102703 Centerline is valid? [True, True] Translation: X:601.43, Y:6.69, Z:4.13 [[ 9.99426461e-01 -2.94092445e-02 -1.67882534e-02 6.01430265e+02] [ 2.94111513e-02 9.99567390e-01 -1.33362663e-04 6.69285291e+00] [ 1.67849127e-02 -3.60475685e-04 9.99859058e-01 4.12619335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6592541539999 meters 0.017130437756006364 Centerline is valid? [True, True] Translation: X:601.46, Y:6.69, Z:4.13 [[ 9.99259624e-01 -3.44233922e-02 -1.71823436e-02 6.01461567e+02] [ 3.44261388e-02 9.99407236e-01 -1.35991996e-04 6.69072031e+00] [ 1.71768399e-02 -4.55630437e-04 9.99852363e-01 4.12658895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.689254154 meters 0.01972692189903373 Centerline is valid? [True, True] Translation: X:601.49, Y:6.69, Z:4.13 [[ 9.99171044e-01 -3.70629796e-02 -1.68392564e-02 6.01492998e+02] [ 3.70660135e-02 9.99312810e-01 -1.32010625e-04 6.68595596e+00] [ 1.68325773e-02 -4.92262910e-04 9.99858201e-01 4.12607328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7192541539999 meters 0.018852353589567092 Centerline is valid? [True, True] Translation: X:601.53, Y:6.69, Z:4.13 [[ 9.99062380e-01 -3.96358257e-02 -1.74173003e-02 6.01525098e+02] [ 3.96394882e-02 9.99214037e-01 -1.35041999e-04 6.68749223e+00] [ 1.74089634e-02 -5.55497487e-04 9.99848298e-01 4.12752960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7492541539999 meters 0.019760598644123474 Centerline is valid? [True, True] Translation: X:601.56, Y:6.69, Z:4.13 [[ 9.98943091e-01 -4.24402833e-02 -1.76500170e-02 6.01557358e+02] [ 4.24445043e-02 9.99098817e-01 -1.35554096e-04 6.68626185e+00] [ 1.76398641e-02 -6.13735396e-04 9.99844217e-01 4.12814184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7792541539999 meters 0.02123557904099704 Centerline is valid? [True, True] Translation: X:601.59, Y:6.68, Z:4.13 [[ 9.98698844e-01 -4.76341963e-02 -1.82099374e-02 6.01588074e+02] [ 4.76395645e-02 9.98864582e-01 -1.39127593e-04 6.68340668e+00] [ 1.81958887e-02 -7.28566922e-04 9.99834176e-01 4.12808558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.809254154 meters 0.02205234178859978 Centerline is valid? [True, True] Translation: X:601.62, Y:6.68, Z:4.13 [[ 9.98581085e-01 -4.99609850e-02 -1.84313891e-02 6.01620299e+02] [ 4.99668982e-02 9.98750865e-01 -1.39848193e-04 6.68213689e+00] [ 1.84153528e-02 -7.81309583e-04 9.99830118e-01 4.12835977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.839254154 meters 0.02333228598437093 Centerline is valid? [True, True] Translation: X:601.65, Y:6.68, Z:4.13 [[ 9.98436643e-01 -5.29644086e-02 -1.78617065e-02 6.01651185e+02] [ 5.29704602e-02 9.98596071e-01 -1.34470104e-04 6.68102208e+00] [ 1.78437520e-02 -8.11882932e-04 9.99840458e-01 4.12947107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8692541539999 meters 0.02391607927956836 Centerline is valid? [True, True] Translation: X:601.68, Y:6.68, Z:4.13 [[ 9.98431152e-01 -5.32069087e-02 -1.74430114e-02 6.01682428e+02] [ 5.32127328e-02 9.98583190e-01 -1.30396020e-04 6.68049189e+00] [ 1.74252359e-02 -7.97998856e-04 9.99847851e-01 4.13013913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8992541539999 meters 0.023804345991645232 Centerline is valid? [True, True] Translation: X:601.71, Y:6.68, Z:4.13 [[ 9.98457175e-01 -5.29256370e-02 -1.67972435e-02 6.01714231e+02] [ 5.29310161e-02 9.98598163e-01 -1.24489653e-04 6.68133919e+00] [ 1.67802852e-02 -7.64797580e-04 9.99858909e-01 4.13083170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9292541539999 meters 0.023232836779041477 Centerline is valid? [True, True] Translation: X:601.75, Y:6.68, Z:4.13 [[ 9.98568252e-01 -5.09199005e-02 -1.63892915e-02 6.01745537e+02] [ 5.09247655e-02 9.98702485e-01 -1.20631634e-04 6.68435218e+00] [ 1.63741687e-02 -7.14161908e-04 9.99865679e-01 4.13252811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.959254154 meters 0.022897068395575607 Centerline is valid? [True, True] Translation: X:601.78, Y:6.69, Z:4.13 [[ 9.98634990e-01 -4.95465221e-02 -1.65317259e-02 6.01777704e+02] [ 4.95513000e-02 9.98771573e-01 -1.20727962e-04 6.68655847e+00] [ 1.65173995e-02 -6.98605343e-04 9.99863334e-01 4.13301489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9892541539999 meters 0.021553223746398033 Centerline is valid? [True, True] Translation: X:601.81, Y:6.69, Z:4.13 [[ 9.98793686e-01 -4.59905017e-02 -1.72059938e-02 6.01808766e+02] [ 4.59951659e-02 9.98941655e-01 -1.24755723e-04 6.69129825e+00] [ 1.71935215e-02 -6.66787312e-04 9.99851958e-01 4.13375895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0192541539999 meters 0.021302272931163362 Centerline is valid? [True, True] Translation: X:601.84, Y:6.69, Z:4.13 [[ 9.98867664e-01 -4.43148468e-02 -1.73085142e-02 6.01840354e+02] [ 4.43193450e-02 9.99017407e-01 -1.23798740e-04 6.69297644e+00] [ 1.72969932e-02 -6.43443457e-04 9.99850189e-01 4.13407399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0492541539999 meters 0.020398955895398502 Centerline is valid? [True, True] Translation: X:601.87, Y:6.70, Z:4.13 [[ 9.98944127e-01 -4.26855939e-02 -1.69874049e-02 6.01872359e+02] [ 4.26897198e-02 9.99088371e-01 -1.19830425e-04 6.69566805e+00] [ 1.69770337e-02 -6.05483654e-04 9.99855696e-01 4.13480599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.079254154 meters 0.018981940672748998 Centerline is valid? [True, True] Translation: X:601.90, Y:6.70, Z:4.14 [[ 9.99077293e-01 -3.96317508e-02 -1.65495043e-02 6.01903718e+02] [ 3.96352620e-02 9.99214208e-01 -1.15904985e-04 6.70040778e+00] [ 1.65410933e-02 -5.40145900e-04 9.99863041e-01 4.13599331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1092541539999 meters 0.019203058480734243 Centerline is valid? [True, True] Translation: X:601.94, Y:6.70, Z:4.14 [[ 9.99127756e-01 -3.83371929e-02 -1.65525271e-02 6.01935238e+02] [ 3.83405407e-02 9.99264725e-01 -1.15151820e-04 6.70135867e+00] [ 1.65447710e-02 -5.19581460e-04 9.99862991e-01 4.13621723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1392541539999 meters 0.017883864256098773 Centerline is valid? [True, True] Translation: X:601.97, Y:6.71, Z:4.14 [[ 9.99206707e-01 -3.60585915e-02 -1.69036798e-02 6.01967041e+02] [ 3.60617759e-02 9.99349556e-01 -1.16486154e-04 6.70554826e+00] [ 1.68968853e-02 -4.93182969e-04 9.99857116e-01 4.13653661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1692541539999 meters 0.018549303756608668 Centerline is valid? [True, True] Translation: X:602.00, Y:6.71, Z:4.14 [[ 9.99239994e-01 -3.49741365e-02 -1.72117505e-02 6.01998123e+02] [ 3.49772958e-02 9.99388100e-01 -1.17538389e-04 6.70506664e+00] [ 1.72053295e-02 -4.84571431e-04 9.99851860e-01 4.13571020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.199254154 meters 0.018237848595960008 Centerline is valid? [True, True] Translation: X:602.03, Y:6.71, Z:4.14 [[ 9.99254279e-01 -3.42146223e-02 -1.78954101e-02 6.02030438e+02] [ 3.42179367e-02 9.99414388e-01 -1.21041654e-04 6.70639986e+00] [ 1.78890718e-02 -4.91392621e-04 9.99839857e-01 4.13524236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2292541539999 meters 0.01772427384650423 Centerline is valid? [True, True] Translation: X:602.06, Y:6.71, Z:4.14 [[ 9.99259712e-01 -3.38313204e-02 -1.83158255e-02 6.02062458e+02] [ 3.38347522e-02 9.99427433e-01 -1.22569816e-04 6.70819548e+00] [ 1.83094851e-02 -4.97232337e-04 9.99832244e-01 4.13558186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2592541539999 meters 0.017695714536108315 Centerline is valid? [True, True] Translation: X:602.09, Y:6.71, Z:4.14 [[ 9.99263368e-01 -3.34546992e-02 -1.88017037e-02 6.02094803e+02] [ 3.34582744e-02 9.99440107e-01 -1.24467052e-04 6.71011143e+00] [ 1.87953408e-02 -5.04697195e-04 9.99823225e-01 4.13580446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2892541539999 meters 0.01745762808627447 Centerline is valid? [True, True] Translation: X:602.13, Y:6.71, Z:4.14 [[ 9.99271318e-01 -3.33422541e-02 -1.85775937e-02 6.02127415e+02] [ 3.33457498e-02 9.99443868e-01 -1.21656477e-04 6.71149628e+00] [ 1.85713184e-02 -4.97915964e-04 9.99827414e-01 4.13647632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.319254154 meters 0.01764915264900158 Centerline is valid? [True, True] Translation: X:602.16, Y:6.71, Z:4.14 [[ 9.99262909e-01 -3.36021391e-02 -1.85616359e-02 6.02159799e+02] [ 3.36056983e-02 9.99435162e-01 -1.20221227e-04 6.71166806e+00] [ 1.85551913e-02 -5.03644122e-04 9.99827711e-01 4.13661962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3492541539999 meters 0.01764915264900158 Centerline is valid? [True, True] Translation: X:602.19, Y:6.71, Z:4.14 [[ 9.99265313e-01 -3.35305821e-02 -1.85616444e-02 6.02191509e+02] [ 3.35341535e-02 9.99437565e-01 -1.18892886e-04 6.71181053e+00] [ 1.85551913e-02 -5.03643497e-04 9.99827711e-01 4.13683917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3792541539999 meters 0.01824496410291253 Centerline is valid? [True, True] Translation: X:602.22, Y:6.71, Z:4.14 [[ 9.99254229e-01 -3.44022192e-02 -1.75349282e-02 6.02223197e+02] [ 3.44055587e-02 9.99407947e-01 -1.11281548e-04 6.71155405e+00] [ 1.75283749e-02 -4.92100444e-04 9.99846245e-01 4.13762521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4092541539999 meters 0.017819696682369043 Centerline is valid? [True, True] Translation: X:602.26, Y:6.71, Z:4.14 [[ 9.99249197e-01 -3.49186310e-02 -1.67848319e-02 6.02255620e+02] [ 3.49217815e-02 9.99390043e-01 -1.05452259e-04 6.71255836e+00] [ 1.67782762e-02 -4.80783148e-04 9.99859119e-01 4.13873253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.439254154 meters 0.017919288872959092 Centerline is valid? [True, True] Translation: X:602.29, Y:6.71, Z:4.14 [[ 9.99262775e-01 -3.53225183e-02 -1.50408501e-02 6.02288291e+02] [ 3.53251094e-02 9.99375869e-01 -9.34527888e-05 6.71285437e+00] [ 1.50347637e-02 -4.37935783e-04 9.99886876e-01 4.14014325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4692541539999 meters 0.019352496251432826 Centerline is valid? [True, True] Translation: X:602.32, Y:6.71, Z:4.14 [[ 9.99282449e-01 -3.50712247e-02 -1.43036839e-02 6.02319060e+02] [ 3.50735624e-02 9.99384730e-01 -8.74605063e-05 6.71070086e+00] [ 1.42979506e-02 -4.14283401e-04 9.99897693e-01 4.14043040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4992541539999 meters 0.017953097140385843 Centerline is valid? [True, True] Translation: X:602.35, Y:6.71, Z:4.14 [[ 9.99289281e-01 -3.51668645e-02 -1.35729089e-02 6.02351010e+02] [ 3.51689961e-02 9.99381376e-01 -8.16783392e-05 6.71406923e+00] [ 1.35673847e-02 -3.95725289e-04 9.99907880e-01 4.14172193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5292541539999 meters 0.017878650465523543 Centerline is valid? [True, True] Translation: X:602.38, Y:6.71, Z:4.14 [[ 9.99311361e-01 -3.46489322e-02 -1.32760812e-02 6.02383702e+02] [ 3.46509401e-02 9.99399473e-01 -7.88222465e-05 6.71479357e+00] [ 1.32708397e-02 -3.81260728e-04 9.99911866e-01 4.14269989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.559254154 meters 0.01738103855979569 Centerline is valid? [True, True] Translation: X:602.42, Y:6.72, Z:4.14 [[ 9.99336674e-01 -3.40841073e-02 -1.28251772e-02 6.02415514e+02] [ 3.40859480e-02 9.99418902e-01 -7.51038473e-05 6.71624688e+00] [ 1.28202844e-02 -3.62104296e-04 9.99917751e-01 4.14380144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.589254154 meters 0.01772752344211024 Centerline is valid? [True, True] Translation: X:602.45, Y:6.72, Z:4.14 [[ 9.99345157e-01 -3.37330386e-02 -1.30896261e-02 6.02446557e+02] [ 3.37349371e-02 9.99430812e-01 -7.57950693e-05 6.71579739e+00] [ 1.30847324e-02 -3.65832278e-04 9.99914324e-01 4.14370162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6192541539999 meters 0.017905237732472205 Centerline is valid? [True, True] Translation: X:602.48, Y:6.72, Z:4.14 [[ 9.99338974e-01 -3.34607356e-02 -1.42124428e-02 6.02477731e+02] [ 3.34629638e-02 9.99439955e-01 -8.10657855e-05 6.71504145e+00] [ 1.42071958e-02 -3.94578262e-04 9.99898995e-01 4.14297841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6492541539999 meters 0.01834150846072357 Centerline is valid? [True, True] Translation: X:602.51, Y:6.71, Z:4.14 [[ 9.99340377e-01 -3.32249224e-02 -1.46600145e-02 6.02509440e+02] [ 3.32272877e-02 9.99447818e-01 -8.22649880e-05 6.71408287e+00] [ 1.46546527e-02 -4.04901794e-04 9.99892533e-01 4.14210831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6792541539999 meters 0.018077092962203438 Centerline is valid? [True, True] Translation: X:602.54, Y:6.71, Z:4.14 [[ 9.99337515e-01 -3.30382977e-02 -1.52644018e-02 6.02541226e+02] [ 3.30408572e-02 9.99453998e-01 -8.45496169e-05 6.71412661e+00] [ 1.52588608e-02 -4.19855316e-04 9.99883489e-01 4.14181688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.709254154 meters 0.018330881092655557 Centerline is valid? [True, True] Translation: X:602.57, Y:6.71, Z:4.14 [[ 9.99335518e-01 -3.28883412e-02 -1.57124140e-02 6.02573324e+02] [ 3.28910523e-02 9.99458939e-01 -8.59027361e-05 6.71307754e+00] [ 1.57067378e-02 -4.30952176e-04 9.99876549e-01 4.14132129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7392541539999 meters 0.018548716206343643 Centerline is valid? [True, True] Translation: X:602.61, Y:6.71, Z:4.14 [[ 9.99329658e-01 -3.29176964e-02 -1.60206165e-02 6.02605319e+02] [ 3.29205370e-02 9.99457968e-01 -8.64496722e-05 6.71249628e+00] [ 1.60147785e-02 -4.41015575e-04 9.99871658e-01 4.14140955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7692541539999 meters 0.019009077787679945 Centerline is valid? [True, True] Translation: X:602.64, Y:6.71, Z:4.14 [[ 9.99327923e-01 -3.31288963e-02 -1.56900965e-02 6.02636157e+02] [ 3.31316616e-02 9.99450992e-01 -8.37307949e-05 6.71092613e+00] [ 1.56842564e-02 -4.36164446e-04 9.99876899e-01 4.14179113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7992541539999 meters 0.019194162945704956 Centerline is valid? [True, True] Translation: X:602.67, Y:6.71, Z:4.14 [[ 9.99329679e-01 -3.31273305e-02 -1.55811315e-02 6.02668017e+02] [ 3.31300722e-02 9.99451045e-01 -8.21894740e-05 6.71025446e+00] [ 1.55753009e-02 -4.34069632e-04 9.99878603e-01 4.14207526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.829254154 meters 0.019411139920863164 Centerline is valid? [True, True] Translation: X:602.70, Y:6.71, Z:4.14 [[ 9.99345042e-01 -3.29308743e-02 -1.50014777e-02 6.02699204e+02] [ 3.29334069e-02 9.99457545e-01 -7.82530961e-05 6.70851738e+00] [ 1.49959170e-02 -4.15847925e-04 9.99887468e-01 4.14244918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8592541539999 meters 0.019600228330348878 Centerline is valid? [True, True] Translation: X:602.73, Y:6.71, Z:4.14 [[ 9.99357072e-01 -3.27833485e-02 -1.45153309e-02 6.02731157e+02] [ 3.27857165e-02 9.99462401e-01 -7.48553186e-05 6.70735387e+00] [ 1.45099815e-02 -4.01088334e-04 9.99894644e-01 4.14277890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8892541539999 meters 0.01996453303619154 Centerline is valid? [True, True] Translation: X:602.76, Y:6.71, Z:4.14 [[ 9.99364593e-01 -3.26616565e-02 -1.42697983e-02 6.02762282e+02] [ 3.26639446e-02 9.99466388e-01 -7.27534862e-05 6.70595362e+00] [ 1.42645601e-02 -3.93400644e-04 9.99898179e-01 4.14284229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9192541539999 meters 0.02000930074212203 Centerline is valid? [True, True] Translation: X:602.79, Y:6.70, Z:4.14 [[ 9.99395878e-01 -3.19914119e-02 -1.35804522e-02 6.02793395e+02] [ 3.19934314e-02 9.99488077e-01 -6.85699347e-05 6.70445751e+00] [ 1.35756937e-02 -3.65956757e-04 9.99907779e-01 4.14367920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.949254154 meters 0.01992694900379036 Centerline is valid? [True, True] Translation: X:602.83, Y:6.70, Z:4.14 [[ 9.99420684e-01 -3.13959868e-02 -1.31372820e-02 6.02825596e+02] [ 3.13978351e-02 9.99506964e-01 -6.55825012e-05 6.70426890e+00] [ 1.31328639e-02 -3.46937707e-04 9.99913700e-01 4.14430149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9792541539999 meters 0.01993419937167346 Centerline is valid? [True, True] Translation: X:602.86, Y:6.70, Z:4.14 [[ 9.99442359e-01 -3.07321159e-02 -1.30578784e-02 6.02857758e+02] [ 3.07338966e-02 9.99527600e-01 -6.43235521e-05 6.70391663e+00] [ 1.30536867e-02 -3.37031802e-04 9.99914740e-01 4.14484115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0092541539999 meters 0.019757428542177373 Centerline is valid? [True, True] Translation: X:602.89, Y:6.70, Z:4.15 [[ 9.99480747e-01 -2.94628019e-02 -1.30452917e-02 6.02889179e+02] [ 2.94644811e-02 9.99565826e-01 -6.35029821e-05 6.70307283e+00] [ 1.30414988e-02 -3.20902743e-04 9.99914905e-01 4.14550160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0392541539999 meters 0.01965068043531063 Centerline is valid? [True, True] Translation: X:602.92, Y:6.70, Z:4.15 [[ 9.99499358e-01 -2.88040407e-02 -1.30904410e-02 6.02921520e+02] [ 2.88056847e-02 9.99585028e-01 -6.29806570e-05 6.70260210e+00] [ 1.30868230e-02 -3.14129991e-04 9.99914315e-01 4.14586766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.069254154 meters 0.019602750701704953 Centerline is valid? [True, True] Translation: X:602.95, Y:6.70, Z:4.15 [[ 9.99517042e-01 -2.80246857e-02 -1.34275523e-02 6.02952824e+02] [ 2.80263556e-02 9.99607183e-01 -6.38276330e-05 6.70105834e+00] [ 1.34240665e-02 -3.12528549e-04 9.99909844e-01 4.14583720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0992541539999 meters 0.019335849261085634 Centerline is valid? [True, True] Translation: X:602.99, Y:6.70, Z:4.15 [[ 9.99543220e-01 -2.72838927e-02 -1.29976826e-02 6.02985554e+02] [ 2.72854064e-02 9.99627682e-01 -6.08939278e-05 6.70041558e+00] [ 1.29945048e-02 -2.93780939e-04 9.99915525e-01 4.14601998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1292541539999 meters 0.019180175742922863 Centerline is valid? [True, True] Translation: X:603.02, Y:6.70, Z:4.15 [[ 9.99553244e-01 -2.67740975e-02 -1.32837979e-02 6.03017434e+02] [ 2.67756477e-02 9.99641466e-01 -6.11672809e-05 6.70004023e+00] [ 1.32806729e-02 -2.94542340e-04 9.99911765e-01 4.14646365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1592541539999 meters 0.01643332060649722 Centerline is valid? [True, True] Translation: X:603.05, Y:6.70, Z:4.15 [[ 9.99557956e-01 -2.63473276e-02 -1.37735321e-02 6.03049201e+02] [ 2.63489668e-02 9.99652804e-01 -6.24738299e-05 6.70441230e+00] [ 1.37703960e-02 -3.00472125e-04 9.99905138e-01 4.14804024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.189254154 meters 0.016106665278649547 Centerline is valid? [True, True] Translation: X:603.08, Y:6.70, Z:4.15 [[ 9.99572136e-01 -2.54007996e-02 -1.45032488e-02 6.03081809e+02] [ 2.54025331e-02 9.99677301e-01 -6.47166283e-05 6.70366652e+00] [ 1.45002124e-02 -3.03730317e-04 9.99894820e-01 4.14756750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2192541539999 meters 0.016224962973379324 Centerline is valid? [True, True] Translation: X:603.11, Y:6.70, Z:4.15 [[ 9.99566355e-01 -2.52463848e-02 -1.51566043e-02 6.03113514e+02] [ 2.52482726e-02 9.99681209e-01 -6.68164968e-05 6.70320172e+00] [ 1.51534594e-02 -3.15890554e-04 9.99885130e-01 4.14727185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2492541539999 meters 0.016246391981094403 Centerline is valid? [True, True] Translation: X:603.14, Y:6.70, Z:4.15 [[ 9.99557634e-01 -2.51553959e-02 -1.58664070e-02 6.03144707e+02] [ 2.51574624e-02 9.99683499e-01 -6.93691214e-05 6.70266498e+00] [ 1.58631303e-02 -3.29820102e-04 9.99874118e-01 4.14698627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2792541539999 meters 0.016506350261069218 Centerline is valid? [True, True] Translation: X:603.18, Y:6.70, Z:4.15 [[ 9.99541762e-01 -2.51455249e-02 -1.68513923e-02 6.03175029e+02] [ 2.51478619e-02 9.99683740e-01 -7.32393532e-05 6.70061934e+00] [ 1.68479045e-02 -3.50570694e-04 9.99858003e-01 4.14627040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.309254154 meters 0.019814681718706297 Centerline is valid? [True, True] Translation: X:603.21, Y:6.69, Z:4.14 [[ 9.99530338e-01 -2.55612810e-02 -1.69033574e-02 6.03205011e+02] [ 2.55636969e-02 9.99673193e-01 -7.31693282e-05 6.69384104e+00] [ 1.68997035e-02 -3.58977341e-04 9.99857125e-01 4.14328384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.339254154 meters 0.016139472140403933 Centerline is valid? [True, True] Translation: X:603.24, Y:6.70, Z:4.15 [[ 9.99492297e-01 -2.67983040e-02 -1.72336857e-02 6.03235936e+02] [ 2.68010076e-02 9.99640786e-01 -7.41014550e-05 6.69927381e+00] [ 1.72294809e-02 -3.87816309e-04 9.99851486e-01 4.14709979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3692541539999 meters 0.016407552313258866 Centerline is valid? [True, True] Translation: X:603.27, Y:6.70, Z:4.15 [[ 9.99463975e-01 -2.76923742e-02 -1.74612644e-02 6.03266936e+02] [ 2.76952971e-02 9.99616409e-01 -7.44444363e-05 6.69818899e+00] [ 1.74566279e-02 -4.09190372e-04 9.99847538e-01 4.14760838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3992541539999 meters 0.016757335187048528 Centerline is valid? [True, True] Translation: X:603.30, Y:6.70, Z:4.15 [[ 9.99449584e-01 -2.85159477e-02 -1.69519870e-02 6.03297835e+02] [ 2.85188311e-02 9.99593253e-01 -7.16708072e-05 6.69703193e+00] [ 1.69471356e-02 -4.11819497e-04 9.99856302e-01 4.14772484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4292541539999 meters 0.017334468107530518 Centerline is valid? [True, True] Translation: X:603.33, Y:6.70, Z:4.15 [[ 9.99385112e-01 -3.07281639e-02 -1.68871962e-02 6.03328893e+02] [ 3.07313512e-02 9.99527678e-01 -7.07895097e-05 6.69649646e+00] [ 1.68813952e-02 -4.48220375e-04 9.99857399e-01 4.14783036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.459254154 meters 0.01773156767024856 Centerline is valid? [True, True] Translation: X:603.36, Y:6.70, Z:4.15 [[ 9.99354908e-01 -3.16520043e-02 -1.69681545e-02 6.03360528e+02] [ 3.16553657e-02 9.99498841e-01 -7.05173817e-05 6.69576251e+00] [ 1.69618828e-02 -4.66661246e-04 9.99856028e-01 4.14807701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4892541539999 meters 0.01952486722008496 Centerline is valid? [True, True] Translation: X:603.39, Y:6.69, Z:4.15 [[ 9.99300820e-01 -3.35509345e-02 -1.64986425e-02 6.03391441e+02] [ 3.35543834e-02 9.99436891e-01 -6.78110667e-05 6.69289681e+00] [ 1.64916271e-02 -4.85838121e-04 9.99863886e-01 4.14814432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5192541539999 meters 0.01820463664816285 Centerline is valid? [True, True] Translation: X:603.42, Y:6.70, Z:4.15 [[ 9.99268716e-01 -3.47488208e-02 -1.59546931e-02 6.03423427e+02] [ 3.47522148e-02 9.99395957e-01 -6.45572856e-05 6.69548741e+00] [ 1.59472991e-02 -4.89950847e-04 9.99872714e-01 4.14968860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5492541539999 meters 0.019628539325266953 Centerline is valid? [True, True] Translation: X:603.45, Y:6.69, Z:4.15 [[ 9.99249247e-01 -3.57051817e-02 -1.50360519e-02 6.03454795e+02] [ 3.57083180e-02 9.99362253e-01 -5.99229435e-05 6.69331102e+00] [ 1.50286022e-02 -4.77034165e-04 9.99886950e-01 4.14976154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.579254154 meters 0.019981503972041837 Centerline is valid? [True, True] Translation: X:603.49, Y:6.69, Z:4.15 [[ 9.99170477e-01 -3.84418820e-02 -1.34380178e-02 6.03486681e+02] [ 3.84446450e-02 9.99260730e-01 -5.27492243e-05 6.69330326e+00] [ 1.34301112e-02 -4.63914355e-04 9.99909704e-01 4.15191011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6092541539999 meters 0.021289600383005636 Centerline is valid? [True, True] Translation: X:603.52, Y:6.69, Z:4.15 [[ 9.99132083e-01 -3.96648826e-02 -1.27191670e-02 6.03517918e+02] [ 3.96674711e-02 9.99212935e-01 -4.88006732e-05 6.69164245e+00] [ 1.27110918e-02 -4.55778870e-04 9.99919107e-01 4.15263033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6392541539999 meters 0.021070226152817367 Centerline is valid? [True, True] Translation: X:603.55, Y:6.69, Z:4.15 [[ 9.99085593e-01 -4.12606145e-02 -1.12044724e-02 6.03549591e+02] [ 4.12627365e-02 9.99148330e-01 -4.18139345e-05 6.69295746e+00] [ 1.11966552e-02 -4.20551494e-04 9.99937227e-01 4.15429112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6692541539999 meters 0.020661423924189428 Centerline is valid? [True, True] Translation: X:603.58, Y:6.69, Z:4.15 [[ 9.99134475e-01 -3.99997275e-02 -1.14159038e-02 6.03582159e+02] [ 4.00018610e-02 9.99199604e-01 -4.14790132e-05 6.69309368e+00] [ 1.14084257e-02 -4.15214285e-04 9.99934836e-01 4.15419366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.699254154 meters 0.02186503073466447 Centerline is valid? [True, True] Translation: X:603.61, Y:6.69, Z:4.15 [[ 9.99192855e-01 -3.86900227e-02 -1.08037494e-02 6.03613388e+02] [ 3.86918673e-02 9.99251189e-01 -3.82990835e-05 6.69149884e+00] [ 1.07971412e-02 -3.79749066e-04 9.99941637e-01 4.15444561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7292541539999 meters 0.018320867532899656 Centerline is valid? [True, True] Translation: X:603.64, Y:6.70, Z:4.16 [[ 9.99361629e-01 -3.46640120e-02 -8.64522936e-03 6.03644950e+02] [ 3.46650494e-02 9.99398986e-01 -2.98611654e-05 6.69836883e+00] [ 8.64106857e-03 -2.69845200e-04 9.99962629e-01 4.15652348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7592541539999 meters 0.020175203557374875 Centerline is valid? [True, True] Translation: X:603.68, Y:6.70, Z:4.16 [[ 9.99438223e-01 -3.26374056e-02 -7.61821555e-03 6.03676433e+02] [ 3.26381556e-02 9.99467233e-01 -2.58839781e-05 6.69625204e+00] [ 7.61500160e-03 -2.22775068e-04 9.99970981e-01 4.15781469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7892541539999 meters 0.019286164244735542 Centerline is valid? [True, True] Translation: X:603.71, Y:6.70, Z:4.16 [[ 9.99517076e-01 -3.04104006e-02 -6.38923385e-03 6.03708792e+02] [ 3.04108875e-02 9.99537482e-01 -2.09582747e-05 6.69831152e+00] [ 6.38691606e-03 -1.73354118e-04 9.99979588e-01 4.15946129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.819254154 meters 0.01584421161634357 Centerline is valid? [True, True] Translation: X:603.74, Y:6.71, Z:4.16 [[ 9.99656102e-01 -2.59136124e-02 -4.02022782e-03 6.03740424e+02] [ 2.59137693e-02 9.99664182e-01 -1.30514757e-05 6.70613840e+00] [ 4.01921596e-03 -9.11322690e-05 9.99991919e-01 4.16156428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8492541539999 meters 0.01566237897140859 Centerline is valid? [True, True] Translation: X:603.77, Y:6.71, Z:4.16 [[ 9.99722618e-01 -2.33959484e-02 -2.70486389e-03 6.03771817e+02] [ 2.33960094e-02 9.99726276e-01 -9.12136327e-06 6.70728504e+00] [ 2.70433690e-03 -5.41641876e-05 9.99996342e-01 4.16294664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8792541539999 meters 0.014976942980399456 Centerline is valid? [True, True] Translation: X:603.80, Y:6.71, Z:4.17 [[ 9.99807459e-01 -1.96197145e-02 3.35469659e-04 6.03803506e+02] [ 1.96197155e-02 9.99807515e-01 4.83596775e-07 6.71052240e+00] [-3.35414574e-04 6.09831560e-06 9.99999944e-01 4.16528354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9092541539999 meters 0.014708881565180753 Centerline is valid? [True, True] Translation: X:603.84, Y:6.71, Z:4.17 [[ 9.99841265e-01 -1.77686567e-02 1.31114286e-03 6.03835533e+02] [ 1.77686677e-02 9.99842125e-01 3.26047884e-06 6.71190950e+00] [-1.31099380e-03 2.00373005e-05 9.99999140e-01 4.16649650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.939254154 meters 0.014331428994843453 Centerline is valid? [True, True] Translation: X:603.87, Y:6.71, Z:4.17 [[ 9.99874968e-01 -1.56803652e-02 2.04298554e-03 6.03866487e+02] [ 1.56803885e-02 9.99877055e-01 4.62403556e-06 6.71338518e+00] [-2.04280687e-03 2.74113495e-05 9.99997913e-01 4.16720267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9692541539999 meters 0.013261756310671828 Centerline is valid? [True, True] Translation: X:603.90, Y:6.72, Z:4.17 [[ 9.99937388e-01 -1.09023396e-02 2.52162998e-03 6.03899204e+02] [ 1.09023591e-02 9.99940567e-01 6.01878992e-06 6.71756130e+00] [-2.52154573e-03 2.14733025e-05 9.99996821e-01 4.16727007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9992541539999 meters 0.013216626769854741 Centerline is valid? [True, True] Translation: X:603.93, Y:6.72, Z:4.17 [[ 9.99963810e-01 -8.11590501e-03 2.55172637e-03 6.03931435e+02] [ 8.11591605e-03 9.99967065e-01 6.02960242e-06 6.71952347e+00] [-2.55169127e-03 1.46802128e-05 9.99996744e-01 4.16680289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0292541539999 meters 0.013081751563388635 Centerline is valid? [True, True] Translation: X:603.96, Y:6.72, Z:4.17 [[ 9.99992586e-01 -2.67985950e-03 2.76532978e-03 6.03963060e+02] [ 2.67985161e-03 9.99996409e-01 6.55640163e-06 6.72200984e+00] [-2.76533742e-03 8.54320459e-07 9.99996176e-01 4.16635061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.059254154 meters 0.013085368385868863 Centerline is valid? [True, True] Translation: X:604.00, Y:6.72, Z:4.17 [[ 9.99995068e-01 -1.28499784e-04 3.13817259e-03 6.03995737e+02] [ 1.28478018e-04 9.99999992e-01 7.13748501e-06 6.72289231e+00] [-3.13817348e-03 -6.73426361e-06 9.99995076e-01 4.16601491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.089254154 meters 0.013301507503257422 Centerline is valid? [True, True] Translation: X:604.03, Y:6.72, Z:4.17 [[ 9.99991711e-01 2.16516362e-03 3.44806731e-03 6.04026808e+02] [-2.16520350e-03 9.99997656e-01 7.83436663e-06 6.72363209e+00] [-3.44804227e-03 -1.53000691e-05 9.99994055e-01 4.16627601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1192541539999 meters 0.013372265344417883 Centerline is valid? [True, True] Translation: X:604.06, Y:6.72, Z:4.17 [[ 9.99983757e-01 4.16171734e-03 3.89424269e-03 6.04058053e+02] [-4.16178349e-03 9.99991340e-01 8.88240850e-06 6.72394368e+00] [-3.89417200e-03 -2.50892592e-05 9.99992417e-01 4.16623426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1492541539999 meters 0.013716466898050698 Centerline is valid? [True, True] Translation: X:604.09, Y:6.72, Z:4.17 [[ 9.99960490e-01 7.19459621e-03 5.22067627e-03 6.04088620e+02] [-7.19475818e-03 9.99974117e-01 1.22432736e-05 6.72379934e+00] [-5.22045306e-03 -4.98042932e-05 9.99986372e-01 4.16563476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1792541539999 meters 0.014052359256289245 Centerline is valid? [True, True] Translation: X:604.12, Y:6.72, Z:4.17 [[ 9.99947772e-01 8.36100815e-03 5.87759488e-03 6.04117800e+02] [-8.36123497e-03 9.99965044e-01 1.40182587e-05 6.72384484e+00] [-5.87727221e-03 -6.31614783e-05 9.99982727e-01 4.16599915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.209254154 meters 0.014277522686661078 Centerline is valid? [True, True] Translation: X:604.15, Y:6.72, Z:4.16 [[ 9.99933819e-01 9.67092140e-03 6.23137335e-03 6.04148581e+02] [-9.67120094e-03 9.99953233e-01 1.47275727e-05 6.72145854e+00] [-6.23093949e-03 -7.49914618e-05 9.99980585e-01 4.16478772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2392541539999 meters 0.014277522686661078 Centerline is valid? [True, True] Translation: X:604.18, Y:6.72, Z:4.16 [[ 9.99934166e-01 9.63503379e-03 6.23137222e-03 6.04177736e+02] [-9.63531558e-03 9.99953579e-01 1.51998987e-05 6.72155692e+00] [-6.23093650e-03 -7.52401359e-05 9.99980585e-01 4.16498975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2692541539999 meters 0.014307855367238668 Centerline is valid? [True, True] Translation: X:604.21, Y:6.72, Z:4.16 [[ 9.99932073e-01 9.75563048e-03 6.37779260e-03 6.04207270e+02] [-9.75592957e-03 9.99952410e-01 1.57855716e-05 6.71948810e+00] [-6.37733508e-03 -7.80057947e-05 9.99979662e-01 4.16410834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2992541539999 meters 0.014288125846918959 Centerline is valid? [True, True] Translation: X:604.24, Y:6.71, Z:4.16 [[ 9.99950578e-01 8.32671075e-03 5.43215366e-03 6.04237391e+02] [-8.32690916e-03 9.99965331e-01 1.39101228e-05 6.71426883e+00] [-5.43184951e-03 -5.91424855e-05 9.99985246e-01 4.16178249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.329254154 meters 0.014149197469610629 Centerline is valid? [True, True] Translation: X:604.27, Y:6.71, Z:4.16 [[ 9.99963180e-01 6.82565043e-03 5.20083949e-03 6.04267563e+02] [-6.82581011e-03 9.99976704e-01 1.29532327e-05 6.71066131e+00] [-5.20062992e-03 -4.84526985e-05 9.99986475e-01 4.16003856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3592541539999 meters 0.01400562994461474 Centerline is valid? [True, True] Translation: X:604.30, Y:6.71, Z:4.16 [[ 9.99980407e-01 4.65401031e-03 4.18629406e-03 6.04298258e+02] [-4.65409474e-03 9.99989170e-01 1.04264016e-05 6.70671261e+00] [-4.18620019e-03 -2.99096064e-05 9.99991237e-01 4.15813063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3892541539999 meters 0.013706691163988396 Centerline is valid? [True, True] Translation: X:604.33, Y:6.70, Z:4.15 [[ 9.99998984e-01 -1.20739861e-03 7.57240361e-04 6.04328618e+02] [ 1.20739763e-03 9.99999271e-01 1.74589166e-06 6.69810541e+00] [-7.57241917e-04 -8.31599670e-07 9.99999713e-01 4.15481902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4192541539999 meters 0.013912652780295545 Centerline is valid? [True, True] Translation: X:604.36, Y:6.69, Z:4.15 [[ 9.99986617e-01 -4.99833107e-03 -1.33516314e-03 6.04360015e+02] [ 4.99833084e-03 9.99987508e-01 -3.50441051e-06 6.69317354e+00] [ 1.33516397e-03 -3.16922347e-06 9.99999109e-01 4.15195338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.449254154 meters 0.014449765744056367 Centerline is valid? [True, True] Translation: X:604.39, Y:6.68, Z:4.15 [[ 9.99897816e-01 -1.29045584e-02 -6.15067647e-03 6.04391839e+02] [ 1.29047101e-02 9.99916731e-01 -1.50113213e-05 6.68159324e+00] [ 6.15035802e-03 -6.43629098e-05 9.99981084e-01 4.14601588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4792541539999 meters 0.015175355459762209 Centerline is valid? [True, True] Translation: X:604.42, Y:6.67, Z:4.14 [[ 9.99827103e-01 -1.67878993e-02 -7.99563044e-03 6.04422730e+02] [ 1.67882830e-02 9.99859067e-01 -1.91305679e-05 6.67494382e+00] [ 7.99482475e-03 -1.15105646e-04 9.99968034e-01 4.14319218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5092541539999 meters 0.015942234039822405 Centerline is valid? [True, True] Translation: X:604.45, Y:6.67, Z:4.14 [[ 9.99743391e-01 -2.03212676e-02 -1.00098915e-02 6.04454508e+02] [ 2.03220524e-02 9.99793485e-01 -2.33143443e-05 6.66878248e+00] [ 1.00082981e-02 -1.80113178e-04 9.99949900e-01 4.14109690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5392541539999 meters 0.01862338629126009 Centerline is valid? [True, True] Translation: X:604.48, Y:6.65, Z:4.14 [[ 9.99539970e-01 -2.71007894e-02 -1.36160165e-02 6.04484945e+02] [ 2.71028787e-02 9.99632649e-01 -3.10907530e-05 6.65498359e+00] [ 1.36118572e-02 -3.37956793e-04 9.99907297e-01 4.13609519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.569254154 meters 0.017987622640657893 Centerline is valid? [True, True] Translation: X:604.52, Y:6.65, Z:4.14 [[ 9.99439196e-01 -2.98674717e-02 -1.51402778e-02 6.04515865e+02] [ 2.98703801e-02 9.99553780e-01 -3.40540144e-05 6.65232708e+00] [ 1.51345390e-02 -4.18210936e-04 9.99885379e-01 4.13510328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5992541539999 meters 0.019043287451988813 Centerline is valid? [True, True] Translation: X:604.55, Y:6.65, Z:4.13 [[ 9.99336958e-01 -3.21556090e-02 -1.70781085e-02 6.04545790e+02] [ 3.21596497e-02 9.99482744e-01 -3.80496702e-05 6.64631723e+00] [ 1.70704982e-02 -5.11201543e-04 9.99854158e-01 4.13287080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6292541539999 meters 0.020117109681105277 Centerline is valid? [True, True] Translation: X:604.58, Y:6.64, Z:4.13 [[ 9.99138088e-01 -3.58761380e-02 -2.08802175e-02 6.04576264e+02] [ 3.58829920e-02 9.99355997e-01 -4.64400435e-05 6.63688847e+00] [ 2.08684367e-02 -7.02844661e-04 9.99781983e-01 4.12893909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6592541539999 meters 0.02059661719785685 Centerline is valid? [True, True] Translation: X:604.61, Y:6.63, Z:4.13 [[ 9.99066171e-01 -3.74361345e-02 -2.15713359e-02 6.04606350e+02] [ 3.74438082e-02 9.99298734e-01 -4.82012538e-05 6.63144658e+00] [ 2.15580131e-02 -7.59556720e-04 9.99767310e-01 4.12691952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.689254154 meters 0.021525170561517076 Centerline is valid? [True, True] Translation: X:604.64, Y:6.62, Z:4.12 [[ 9.98946484e-01 -3.93378069e-02 -2.36317433e-02 6.04635551e+02] [ 3.93475485e-02 9.99225584e-01 -5.28042190e-05 6.62007198e+00] [ 2.36155197e-02 -8.77102575e-04 9.99720730e-01 4.12332958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7192541539999 meters 0.0217003825207443 Centerline is valid? [True, True] Translation: X:604.66, Y:6.62, Z:4.12 [[ 9.98884420e-01 -4.04420221e-02 -2.43794836e-02 6.04664588e+02] [ 4.04526122e-02 9.99181456e-01 -5.88386929e-05 6.61527608e+00] [ 2.43619074e-02 -9.27440741e-04 9.99702774e-01 4.12193470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7492541539999 meters 0.02262941842013785 Centerline is valid? [True, True] Translation: X:604.69, Y:6.61, Z:4.12 [[ 9.98838149e-01 -4.09524675e-02 -2.54017244e-02 6.04692490e+02] [ 4.09640410e-02 9.99160619e-01 -6.47937225e-05 6.60931193e+00] [ 2.53830561e-02 -9.75838838e-04 9.99677322e-01 4.11985850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7792541539999 meters 0.022307625195287333 Centerline is valid? [True, True] Translation: X:604.72, Y:6.60, Z:4.12 [[ 9.98722779e-01 -4.16124199e-02 -2.86569020e-02 6.04721108e+02] [ 4.16272455e-02 9.99133207e-01 -7.92905813e-05 6.60123869e+00] [ 2.86353619e-02 -1.11371859e-03 9.99589304e-01 4.11731425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.809254154 meters 0.022165845207482337 Centerline is valid? [True, True] Translation: X:604.75, Y:6.60, Z:4.12 [[ 9.98650999e-01 -4.21931239e-02 -3.02642258e-02 6.04749940e+02] [ 4.22096910e-02 9.99108770e-01 -9.15291104e-05 6.59720958e+00] [ 3.02411153e-02 -1.18603798e-03 9.99541929e-01 4.11576549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.839254154 meters 0.022457639646026144 Centerline is valid? [True, True] Translation: X:604.78, Y:6.59, Z:4.11 [[ 9.98535292e-01 -4.27825892e-02 -3.31197922e-02 6.04778468e+02] [ 4.28024729e-02 9.99083548e-01 -1.08734157e-04 6.58703223e+00] [ 3.30940915e-02 -1.30903412e-03 9.99451383e-01 4.11237008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8692541539999 meters 0.022807835849993706 Centerline is valid? [True, True] Translation: X:604.81, Y:6.58, Z:4.11 [[ 9.98479768e-01 -4.33137635e-02 -3.40891614e-02 6.04807671e+02] [ 4.33348427e-02 9.99060597e-01 -1.20585781e-04 6.58189168e+00] [ 3.40623610e-02 -1.35684599e-03 9.99418788e-01 4.11146788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8992541539999 meters 0.02421284000169715 Centerline is valid? [True, True] Translation: X:604.84, Y:6.58, Z:4.11 [[ 9.98461123e-01 -4.33891779e-02 -3.45364232e-02 6.04835855e+02] [ 4.34107131e-02 9.99057303e-01 -1.26408065e-04 6.57530936e+00] [ 3.45093505e-02 -1.37303722e-03 9.99403432e-01 4.10922960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9292541539999 meters 0.022273382175915526 Centerline is valid? [True, True] Translation: X:604.86, Y:6.57, Z:4.11 [[ 9.98439047e-01 -4.30661963e-02 -3.55636427e-02 6.04863703e+02] [ 4.30885088e-02 9.99071249e-01 -1.39154834e-04 6.57013956e+00] [ 3.55366058e-02 -1.39344671e-03 9.99367404e-01 4.11055711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.959254154 meters 0.023282318194540963 Centerline is valid? [True, True] Translation: X:604.89, Y:6.57, Z:4.11 [[ 9.98441508e-01 -4.25030009e-02 -3.61669608e-02 6.04891473e+02] [ 4.25255392e-02 9.99095369e-01 -1.46207521e-04 6.56515141e+00] [ 3.61404573e-02 -1.39203985e-03 9.99345751e-01 4.10931367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9892541539999 meters 0.02307145834679035 Centerline is valid? [True, True] Translation: X:604.92, Y:6.56, Z:4.11 [[ 9.98469985e-01 -4.16106320e-02 -3.64176299e-02 6.04920829e+02] [ 4.16327259e-02 9.99132971e-01 -1.51771368e-04 6.56210060e+00] [ 3.63923700e-02 -1.36462605e-03 9.99336647e-01 4.10930826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0192541539999 meters 0.022276835916356798 Centerline is valid? [True, True] Translation: X:604.95, Y:6.56, Z:4.11 [[ 9.98601103e-01 -3.81654574e-02 -3.65955525e-02 6.04949381e+02] [ 3.81853671e-02 9.99270661e-01 -1.54993598e-04 6.55764173e+00] [ 3.65747773e-02 -1.24263783e-03 9.99330146e-01 4.10959462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0492541539999 meters 0.021522764984795374 Centerline is valid? [True, True] Translation: X:604.98, Y:6.56, Z:4.11 [[ 9.98670292e-01 -3.64378811e-02 -3.64681862e-02 6.04978130e+02] [ 3.64562251e-02 9.99335238e-01 -1.62049943e-04 6.55639559e+00] [ 3.64498483e-02 -1.16765794e-03 9.99334801e-01 4.10992703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.079254154 meters 0.020812475466470536 Centerline is valid? [True, True] Translation: X:605.01, Y:6.56, Z:4.11 [[ 9.98843871e-01 -3.16164422e-02 -3.62121908e-02 6.05008296e+02] [ 3.16312554e-02 9.99499593e-01 -1.63909519e-04 6.55505040e+00] [ 3.61992522e-02 -9.81717039e-04 9.99344110e-01 4.11168906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1092541539999 meters 0.01853227196248914 Centerline is valid? [True, True] Translation: X:605.04, Y:6.56, Z:4.11 [[ 9.98954644e-01 -2.92339029e-02 -3.51425436e-02 6.05037374e+02] [ 2.92462991e-02 9.99572222e-01 -1.61370113e-04 6.55553175e+00] [ 3.51322279e-02 -8.66587918e-04 9.99382297e-01 4.11425446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1392541539999 meters 0.01851868787591645 Centerline is valid? [True, True] Translation: X:605.07, Y:6.56, Z:4.12 [[ 9.99079072e-01 -2.62772641e-02 -3.39192266e-02 6.05065988e+02] [ 2.62870281e-02 9.99654424e-01 -1.58131427e-04 6.55561671e+00] [ 3.39116601e-02 -7.33649861e-04 9.99424565e-01 4.11574200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1692541539999 meters 0.017023572517243804 Centerline is valid? [True, True] Translation: X:605.10, Y:6.56, Z:4.12 [[ 9.99214827e-01 -2.39897848e-02 -3.15312616e-02 6.05095215e+02] [ 2.39968909e-02 9.99712021e-01 -1.53087240e-04 6.55573775e+00] [ 3.15258538e-02 -6.03685206e-04 9.99502754e-01 4.11809518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.199254154 meters 0.015876492407497587 Centerline is valid? [True, True] Translation: X:605.12, Y:6.56, Z:4.12 [[ 9.99424071e-01 -1.91807101e-02 -2.79933240e-02 6.05124033e+02] [ 1.91843642e-02 9.99815954e-01 -1.38052738e-04 6.55703604e+00] [ 2.79908199e-02 -3.99060893e-04 9.99608101e-01 4.12274602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2292541539999 meters 0.015283326402131195 Centerline is valid? [True, True] Translation: X:605.15, Y:6.56, Z:4.13 [[ 9.99476354e-01 -1.76790212e-02 -2.71010889e-02 6.05152838e+02] [ 1.76817533e-02 9.99843656e-01 -1.38843895e-04 6.55881309e+00] [ 2.70993064e-02 -3.40423578e-04 9.99632688e-01 4.12531500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2592541539999 meters 0.014791703982081895 Centerline is valid? [True, True] Translation: X:605.18, Y:6.56, Z:4.13 [[ 9.99558188e-01 -1.59782121e-02 -2.50624231e-02 6.05181789e+02] [ 1.59798612e-02 9.99872305e-01 -1.34491953e-04 6.56150886e+00] [ 2.50613717e-02 -2.66061509e-04 9.99685879e-01 4.12902381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2892541539999 meters 0.014381547383551272 Centerline is valid? [True, True] Translation: X:605.21, Y:6.56, Z:4.13 [[ 9.99582055e-01 -1.60733310e-02 -2.40283770e-02 6.05210472e+02] [ 1.60747289e-02 9.99870784e-01 -1.34988639e-04 6.56201242e+00] [ 2.40274419e-02 -2.51317424e-04 9.99711268e-01 4.13143778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.319254154 meters 0.014736392578775832 Centerline is valid? [True, True] Translation: X:605.24, Y:6.56, Z:4.13 [[ 9.99600978e-01 -1.65590642e-02 -2.28841236e-02 6.05238213e+02] [ 1.65603873e-02 9.99862859e-01 -1.31704979e-04 6.56060610e+00] [ 2.28831661e-02 -2.47317524e-04 9.99738115e-01 4.13156018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3492541539999 meters 0.014737055122634657 Centerline is valid? [True, True] Translation: X:605.27, Y:6.56, Z:4.13 [[ 9.99597229e-01 -1.93167957e-02 -2.07904001e-02 6.05266325e+02] [ 1.93183883e-02 9.99813375e-01 -1.24249552e-04 6.55945589e+00] [ 2.07889201e-02 -2.77437514e-04 9.99783849e-01 4.13476409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3792541539999 meters 0.015026980868185909 Centerline is valid? [True, True] Translation: X:605.29, Y:6.56, Z:4.14 [[ 9.99568658e-01 -2.11748354e-02 -2.03500562e-02 6.05294642e+02] [ 2.11766368e-02 9.99775742e-01 -1.26993880e-04 6.55974073e+00] [ 2.03481816e-02 -3.04006647e-04 9.99792908e-01 4.13629861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4092541539999 meters 0.015577052579299498 Centerline is valid? [True, True] Translation: X:605.32, Y:6.56, Z:4.14 [[ 9.99510645e-01 -2.44197619e-02 -1.95485397e-02 6.05323261e+02] [ 2.44219491e-02 9.99701732e-01 -1.26873319e-04 6.55985868e+00] [ 1.95458072e-02 -3.50602208e-04 9.99808901e-01 4.13841930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.439254154 meters 0.015981691167870703 Centerline is valid? [True, True] Translation: X:605.35, Y:6.56, Z:4.14 [[ 9.99480679e-01 -2.59138657e-02 -1.91531471e-02 6.05352270e+02] [ 2.59161477e-02 9.99664112e-01 -1.29095258e-04 6.55911028e+00] [ 1.91500591e-02 -3.67347573e-04 9.99816553e-01 4.13909377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4692541539999 meters 0.017304146987290922 Centerline is valid? [True, True] Translation: X:605.38, Y:6.56, Z:4.14 [[ 9.99412505e-01 -2.85232479e-02 -1.90018160e-02 6.05380057e+02] [ 2.85259121e-02 9.99593045e-01 -1.30876888e-04 6.55681606e+00] [ 1.89978161e-02 -4.11244134e-04 9.99819441e-01 4.13943324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4992541539999 meters 0.01667190698091637 Centerline is valid? [True, True] Translation: X:605.41, Y:6.56, Z:4.14 [[ 9.99361920e-01 -3.00805241e-02 -1.92591746e-02 6.05408526e+02] [ 3.00834778e-02 9.99547380e-01 -1.36401216e-04 6.55852202e+00] [ 1.92545606e-02 -4.43068772e-04 9.99814516e-01 4.14121079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5292541539999 meters 0.016833673168620115 Centerline is valid? [True, True] Translation: X:605.44, Y:6.56, Z:4.14 [[ 9.99307194e-01 -3.17537563e-02 -1.94121469e-02 6.05437257e+02] [ 3.17569762e-02 9.99495610e-01 -1.42452743e-04 6.55921024e+00] [ 1.94068790e-02 -4.74117036e-04 9.99811556e-01 4.14220481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.559254154 meters 0.01811615568556714 Centerline is valid? [True, True] Translation: X:605.46, Y:6.56, Z:4.14 [[ 9.99214695e-01 -3.47475698e-02 -1.90420694e-02 6.05464546e+02] [ 3.47511529e-02 9.99395986e-01 -1.42795334e-04 6.55907931e+00] [ 1.90355295e-02 -5.19050670e-04 9.99818673e-01 4.14334977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.589254154 meters 0.01976045507693019 Centerline is valid? [True, True] Translation: X:605.49, Y:6.56, Z:4.14 [[ 9.99161718e-01 -3.62574614e-02 -1.90067663e-02 6.05492165e+02] [ 3.62612694e-02 9.99342333e-01 -1.44361800e-04 6.55714791e+00] [ 1.89995004e-02 -5.44968688e-04 9.99819345e-01 4.14323944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6192541539999 meters 0.0193897827503435 Centerline is valid? [True, True] Translation: X:605.52, Y:6.56, Z:4.15 [[ 9.99046258e-01 -3.96803110e-02 -1.82221895e-02 6.05521161e+02] [ 3.96843577e-02 9.99212256e-01 -1.39610277e-04 6.55881243e+00] [ 1.82133749e-02 -5.83658762e-04 9.99833952e-01 4.14589453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6492541539999 meters 0.0191099250853356 Centerline is valid? [True, True] Translation: X:605.55, Y:6.56, Z:4.15 [[ 9.98979291e-01 -4.15246987e-02 -1.77785354e-02 6.05550812e+02] [ 4.15288287e-02 9.99137297e-01 -1.36981866e-04 6.55949004e+00] [ 1.77688859e-02 -6.01479702e-04 9.99841940e-01 4.14738722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6792541539999 meters 0.02323364485047916 Centerline is valid? [True, True] Translation: X:605.58, Y:6.55, Z:4.15 [[ 9.98907852e-01 -4.31831381e-02 -1.78415267e-02 6.05579279e+02] [ 4.31875419e-02 9.99066973e-01 -1.38570619e-04 6.55325770e+00] [ 1.78308639e-02 -6.32112402e-04 9.99840818e-01 4.14645526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.709254154 meters 0.022681609341263384 Centerline is valid? [True, True] Translation: X:605.61, Y:6.56, Z:4.15 [[ 9.98775072e-01 -4.62839580e-02 -1.74971774e-02 6.05608708e+02] [ 4.62886528e-02 9.98928096e-01 -1.36796530e-04 6.55575184e+00] [ 1.74847536e-02 -6.73291807e-04 9.99846903e-01 4.14865610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7392541539999 meters 0.023234799170532578 Centerline is valid? [True, True] Translation: X:605.64, Y:6.56, Z:4.15 [[ 9.98706467e-01 -4.77953241e-02 -1.73493671e-02 6.05638628e+02] [ 4.78001602e-02 9.98856910e-01 -1.36068635e-04 6.55594940e+00] [ 1.73360386e-02 -6.93409900e-04 9.99849479e-01 4.14989442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7692541539999 meters 0.023320940866295558 Centerline is valid? [True, True] Translation: X:605.67, Y:6.56, Z:4.15 [[ 9.98608524e-01 -5.02325466e-02 -1.60532795e-02 6.05668489e+02] [ 5.02369967e-02 9.98737317e-01 -1.26181914e-04 6.55766173e+00] [ 1.60393477e-02 -6.80462213e-04 9.99871130e-01 4.15219612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7992541539999 meters 0.023260266251086844 Centerline is valid? [True, True] Translation: X:605.70, Y:6.56, Z:4.15 [[ 9.98563211e-01 -5.11330471e-02 -1.60289041e-02 6.05699569e+02] [ 5.11376029e-02 9.98691609e-01 -1.25784119e-04 6.55837965e+00] [ 1.60143638e-02 -6.94076339e-04 9.99871521e-01 4.15309169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.829254154 meters 0.02299001320593834 Centerline is valid? [True, True] Translation: X:605.73, Y:6.56, Z:4.15 [[ 9.98527367e-01 -5.18368083e-02 -1.60013358e-02 6.05730894e+02] [ 5.18414479e-02 9.98655320e-01 -1.24983568e-04 6.55933134e+00] [ 1.59862979e-02 -7.04732902e-04 9.99871963e-01 4.15361622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8592541539999 meters 0.02369028489789722 Centerline is valid? [True, True] Translation: X:605.76, Y:6.56, Z:4.15 [[ 9.98487646e-01 -5.26183314e-02 -1.59289643e-02 6.05760900e+02] [ 5.26230350e-02 9.98614441e-01 -1.24001766e-04 6.55989716e+00] [ 1.59134185e-02 -7.14416214e-04 9.99873118e-01 4.15449650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8892541539999 meters 0.024211581074160455 Centerline is valid? [True, True] Translation: X:605.79, Y:6.56, Z:4.15 [[ 9.98480792e-01 -5.27578542e-02 -1.58970951e-02 6.05791912e+02] [ 5.27625638e-02 9.98607078e-01 -1.23304760e-04 6.56113535e+00] [ 1.58814570e-02 -7.15654059e-04 9.99873626e-01 4.15495537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9192541539999 meters 0.02478976111955867 Centerline is valid? [True, True] Translation: X:605.82, Y:6.56, Z:4.16 [[ 9.98443836e-01 -5.33178298e-02 -1.63436791e-02 6.05821728e+02] [ 5.33228868e-02 9.98577315e-01 -1.26512014e-04 6.56367306e+00] [ 1.63271726e-02 -7.45177012e-04 9.99866425e-01 4.15528780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.949254154 meters 0.025182050461001068 Centerline is valid? [True, True] Translation: X:605.85, Y:6.57, Z:4.16 [[ 9.98420927e-01 -5.36943414e-02 -1.65096831e-02 6.05852646e+02] [ 5.36995587e-02 9.98557130e-01 -1.27455435e-04 6.56508347e+00] [ 1.64927054e-02 -7.59308523e-04 9.99863698e-01 4.15516184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9792541539999 meters 0.026324813408429636 Centerline is valid? [True, True] Translation: X:605.88, Y:6.56, Z:4.16 [[ 9.98364956e-01 -5.45908167e-02 -1.69486509e-02 6.05883364e+02] [ 5.45964514e-02 9.98508493e-01 -1.30413250e-04 6.56498509e+00] [ 1.69304913e-02 -7.95136179e-04 9.99856353e-01 4.15502216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0092541539999 meters 0.027120775592851285 Centerline is valid? [True, True] Translation: X:605.91, Y:6.57, Z:4.15 [[ 9.98189315e-01 -5.75627375e-02 -1.74534237e-02 6.05914322e+02] [ 5.75691715e-02 9.98341511e-01 -1.33984024e-04 6.56578203e+00] [ 1.74321899e-02 -8.71037723e-04 9.99847668e-01 4.15463789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0392541539999 meters 0.02597489248851895 Centerline is valid? [True, True] Translation: X:605.95, Y:6.57, Z:4.16 [[ 9.98084537e-01 -5.93040554e-02 -1.76149431e-02 6.05945756e+02] [ 5.93108885e-02 9.98239551e-01 -1.34710355e-04 6.56859497e+00] [ 1.75919218e-02 -9.10305604e-04 9.99844836e-01 4.15561477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.069254154 meters 0.027854070380583653 Centerline is valid? [True, True] Translation: X:605.98, Y:6.57, Z:4.16 [[ 9.97865474e-01 -6.29344797e-02 -1.74283334e-02 6.05977197e+02] [ 6.29417317e-02 9.98017195e-01 -1.32652575e-04 6.57003775e+00] [ 1.74021249e-02 -9.64600062e-04 9.99848106e-01 4.15676250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0992541539999 meters 0.028799195503714417 Centerline is valid? [True, True] Translation: X:606.01, Y:6.57, Z:4.16 [[ 9.97760710e-01 -6.45509628e-02 -1.75139751e-02 6.06008801e+02] [ 6.45585568e-02 9.97913912e-01 -1.32027748e-04 6.57066110e+00] [ 1.74859619e-02 -9.98944855e-04 9.99846610e-01 4.15732417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1292541539999 meters 0.028174175023507837 Centerline is valid? [True, True] Translation: X:606.04, Y:6.57, Z:4.16 [[ 9.97719576e-01 -6.52336026e-02 -1.73270144e-02 6.06040996e+02] [ 6.52411626e-02 9.97869518e-01 -1.29190703e-04 6.57303504e+00] [ 1.72985271e-02 -1.00153847e-03 9.99849868e-01 4.15819024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1592541539999 meters 0.028174175023507837 Centerline is valid? [True, True] Translation: X:606.07, Y:6.57, Z:4.16 [[ 9.97724369e-01 -6.51602436e-02 -1.73270239e-02 6.06072736e+02] [ 6.51678146e-02 9.97874311e-01 -1.27916900e-04 6.57320935e+00] [ 1.72985271e-02 -1.00153847e-03 9.99849868e-01 4.15841008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.189254154 meters 0.029507906187319886 Centerline is valid? [True, True] Translation: X:606.10, Y:6.57, Z:4.16 [[ 9.97658507e-01 -6.61863805e-02 -1.72298091e-02 6.06103667e+02] [ 6.61940377e-02 9.97806762e-01 -1.26128354e-04 6.57493369e+00] [ 1.72003680e-02 -1.01467761e-03 9.99851548e-01 4.15892438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2192541539999 meters 0.028985892876761222 Centerline is valid? [True, True] Translation: X:606.14, Y:6.58, Z:4.16 [[ 9.97644667e-01 -6.63279052e-02 -1.74850715e-02 6.06136271e+02] [ 6.63358329e-02 9.97797345e-01 -1.26838928e-04 6.57685467e+00] [ 1.74549709e-02 -1.03334660e-03 9.99847116e-01 4.15909456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2492541539999 meters 0.02763871719004596 Centerline is valid? [True, True] Translation: X:606.17, Y:6.58, Z:4.16 [[ 9.97664431e-01 -6.59474407e-02 -1.77937732e-02 6.06168855e+02] [ 6.59556141e-02 9.97822550e-01 -1.27751554e-04 6.58114189e+00] [ 1.77634530e-02 -1.04614606e-03 9.99841670e-01 4.15971970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2792541539999 meters 0.030715827976628026 Centerline is valid? [True, True] Translation: X:606.20, Y:6.58, Z:4.16 [[ 9.97694962e-01 -6.55219483e-02 -1.76532181e-02 6.06200158e+02] [ 6.55299463e-02 9.97850595e-01 -1.25633556e-04 6.57891760e+00] [ 1.76235059e-02 -1.03147047e-03 9.99844162e-01 4.15981250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.309254154 meters 0.031564004181552745 Centerline is valid? [True, True] Translation: X:606.23, Y:6.58, Z:4.16 [[ 9.97732672e-01 -6.49881971e-02 -1.74942687e-02 6.06231067e+02] [ 6.49959864e-02 9.97885518e-01 -1.23559140e-04 6.57987748e+00] [ 1.74653072e-02 -1.01377826e-03 9.99846956e-01 4.16042471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.339254154 meters 0.03145581171865187 Centerline is valid? [True, True] Translation: X:606.26, Y:6.58, Z:4.16 [[ 9.97811334e-01 -6.37975927e-02 -1.73899109e-02 6.06262669e+02] [ 6.38051217e-02 9.97962370e-01 -1.22091196e-04 6.58279957e+00] [ 1.73622658e-02 -9.87741401e-04 9.99848777e-01 4.16096730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3692541539999 meters 0.03138920017935194 Centerline is valid? [True, True] Translation: X:606.29, Y:6.58, Z:4.16 [[ 9.97867103e-01 -6.29885476e-02 -1.71373266e-02 6.06294795e+02] [ 6.29957568e-02 9.98013788e-01 -1.19367885e-04 6.58435927e+00] [ 1.71108070e-02 -9.60465572e-04 9.99853138e-01 4.16129460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3992541539999 meters 0.025593235521657612 Centerline is valid? [True, True] Translation: X:606.33, Y:6.60, Z:4.16 [[ 9.97990654e-01 -6.06735996e-02 -1.82583912e-02 6.06325742e+02] [ 6.06814140e-02 9.98157177e-01 -1.26237783e-04 6.59524894e+00] [ 1.82324035e-02 -9.81960868e-04 9.99833294e-01 4.16224438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4292541539999 meters 0.026238663918476682 Centerline is valid? [True, True] Translation: X:606.36, Y:6.60, Z:4.16 [[ 9.98062269e-01 -5.91578579e-02 -1.92887231e-02 6.06356582e+02] [ 5.91663155e-02 9.98248130e-01 -1.32401513e-04 6.59569613e+00] [ 1.92627643e-02 -1.00909772e-03 9.99813947e-01 4.16158341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.459254154 meters 0.02476115180574294 Centerline is valid? [True, True] Translation: X:606.39, Y:6.60, Z:4.16 [[ 9.98145057e-01 -5.74948679e-02 -2.00196280e-02 6.06388117e+02] [ 5.75036629e-02 9.98345286e-01 -1.36536984e-04 6.59921349e+00] [ 1.99943514e-02 -1.01491822e-03 9.99799578e-01 4.16163040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4892541539999 meters 0.023602744818280175 Centerline is valid? [True, True] Translation: X:606.42, Y:6.61, Z:4.16 [[ 9.98379387e-01 -5.28552291e-02 -2.10932482e-02 6.06417686e+02] [ 5.28639655e-02 9.98601713e-01 -1.43590197e-04 6.60517454e+00] [ 2.10713433e-02 -9.71715254e-04 9.99777502e-01 4.16187476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5192541539999 meters 0.024502613216818223 Centerline is valid? [True, True] Translation: X:606.45, Y:6.61, Z:4.16 [[ 9.98529873e-01 -5.01070749e-02 -2.06730011e-02 6.06447760e+02] [ 5.01148788e-02 9.98743450e-01 -1.40729406e-04 6.60571889e+00] [ 2.06540760e-02 -8.95502427e-04 9.99786281e-01 4.16127981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5492541539999 meters 0.02268162856164882 Centerline is valid? [True, True] Translation: X:606.48, Y:6.61, Z:4.16 [[ 9.98845274e-01 -4.37317965e-02 -1.98909375e-02 6.06478258e+02] [ 4.37377598e-02 9.99043037e-01 -1.35346181e-04 6.61363017e+00] [ 1.98778216e-02 -7.34795154e-04 9.99802147e-01 4.16245955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.579254154 meters 0.020411791002839977 Centerline is valid? [True, True] Translation: X:606.51, Y:6.62, Z:4.16 [[ 9.98935953e-01 -4.18153115e-02 -1.94535608e-02 6.06509247e+02] [ 4.18206574e-02 9.99125125e-01 -1.32115908e-04 6.61686114e+00] [ 1.94420658e-02 -6.81585370e-04 9.99810753e-01 4.16351500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6092541539999 meters 0.019408274718175484 Centerline is valid? [True, True] Translation: X:606.54, Y:6.62, Z:4.16 [[ 9.99049689e-01 -3.90010061e-02 -1.94587107e-02 6.06539722e+02] [ 3.90058239e-02 9.99238975e-01 -1.32027422e-04 6.62051487e+00] [ 1.94490513e-02 -6.27101089e-04 9.99810653e-01 4.16438866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6392541539999 meters 0.016581705666589962 Centerline is valid? [True, True] Translation: X:606.57, Y:6.63, Z:4.17 [[ 9.99254241e-01 -3.27638411e-02 -2.04326330e-02 6.06569943e+02] [ 3.27678455e-02 9.99462980e-01 -1.38882037e-04 6.63015947e+00] [ 2.04262106e-02 -5.30754896e-04 9.99791222e-01 4.16529849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6692541539999 meters 0.01664535711277765 Centerline is valid? [True, True] Translation: X:606.60, Y:6.63, Z:4.16 [[ 9.99344398e-01 -2.96977499e-02 -2.07078937e-02 6.06599150e+02] [ 2.97011921e-02 9.99558812e-01 -1.41379622e-04 6.63250408e+00] [ 2.07029563e-02 -4.73762195e-04 9.99785559e-01 4.16447925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.699254154 meters 0.015183914202693752 Centerline is valid? [True, True] Translation: X:606.63, Y:6.64, Z:4.16 [[ 9.99490199e-01 -2.43955099e-02 -2.05961691e-02 6.06627679e+02] [ 2.43977648e-02 9.99702320e-01 -1.41825613e-04 6.63886911e+00] [ 2.05934979e-02 -3.60747179e-04 9.99787866e-01 4.16425054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7292541539999 meters 0.014642700768711209 Centerline is valid? [True, True] Translation: X:606.66, Y:6.64, Z:4.16 [[ 9.99541690e-01 -2.25741961e-02 -2.01696507e-02 6.06656965e+02] [ 2.25759405e-02 9.99745121e-01 -1.41235895e-04 6.64127697e+00] [ 2.01676982e-02 -3.14177670e-04 9.99796562e-01 4.16474229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7592541539999 meters 0.014034977287253213 Centerline is valid? [True, True] Translation: X:606.69, Y:6.64, Z:4.17 [[ 9.99581276e-01 -2.05749305e-02 -2.03456291e-02 6.06685241e+02] [ 2.05762037e-02 9.99788277e-01 -1.46780522e-04 6.64491035e+00] [ 2.03443415e-02 -2.71916749e-04 9.99792995e-01 4.16563541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7892541539999 meters 0.013712042538928227 Centerline is valid? [True, True] Translation: X:606.71, Y:6.65, Z:4.17 [[ 9.99577414e-01 -2.08123503e-02 -2.02938081e-02 6.06713263e+02] [ 2.08135521e-02 9.99783363e-01 -1.52018204e-04 6.64703165e+00] [ 2.02925756e-02 -2.70432268e-04 9.99794048e-01 4.16694906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.819254154 meters 0.01429436382108836 Centerline is valid? [True, True] Translation: X:606.74, Y:6.65, Z:4.17 [[ 9.99570133e-01 -2.13517326e-02 -2.00910917e-02 6.06740748e+02] [ 2.13529553e-02 9.99771988e-01 -1.53688979e-04 6.64648002e+00] [ 2.00897922e-02 -2.75381269e-04 9.99798142e-01 4.16560412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8492541539999 meters 0.014285273628367148 Centerline is valid? [True, True] Translation: X:606.77, Y:6.65, Z:4.17 [[ 9.99449394e-01 -2.49777929e-02 -2.18407717e-02 6.06769424e+02] [ 2.49800045e-02 9.99687936e-01 -1.71602250e-04 6.64664289e+00] [ 2.18382422e-02 -3.74074810e-04 9.99761447e-01 4.16584132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8792541539999 meters 0.015877288997235527 Centerline is valid? [True, True] Translation: X:606.80, Y:6.64, Z:4.16 [[ 9.99363852e-01 -2.74551287e-02 -2.27619793e-02 6.06796845e+02] [ 2.74580911e-02 9.99622939e-01 -1.82440571e-04 6.64276967e+00] [ 2.27584056e-02 -4.42675989e-04 9.99740896e-01 4.16316328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9092541539999 meters 0.016170680933203667 Centerline is valid? [True, True] Translation: X:606.83, Y:6.64, Z:4.16 [[ 9.99140561e-01 -3.38733218e-02 -2.38900936e-02 6.06826365e+02] [ 3.38783846e-02 9.99425944e-01 -1.92901007e-04 6.64148518e+00] [ 2.38829136e-02 -6.16622560e-04 9.99714572e-01 4.16459744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.939254154 meters 0.017041110720416613 Centerline is valid? [True, True] Translation: X:606.86, Y:6.64, Z:4.16 [[ 9.99022632e-01 -3.70222171e-02 -2.41482077e-02 6.06855635e+02] [ 3.70282798e-02 9.99314199e-01 -1.96188973e-04 6.63939685e+00] [ 2.41389102e-02 -6.98169368e-04 9.99708370e-01 4.16470345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9692541539999 meters 0.019006054439813912 Centerline is valid? [True, True] Translation: X:606.88, Y:6.64, Z:4.17 [[ 9.98833822e-01 -4.24607496e-02 -2.29800157e-02 6.06883809e+02] [ 4.24676375e-02 9.99097825e-01 -1.88420097e-04 6.63606968e+00] [ 2.29672841e-02 -7.87706610e-04 9.99735907e-01 4.16600080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9992541539999 meters 0.02017928090044769 Centerline is valid? [True, True] Translation: X:606.91, Y:6.63, Z:4.17 [[ 9.98789983e-01 -4.39829119e-02 -2.20016792e-02 6.06913003e+02] [ 4.39895760e-02 9.99031974e-01 -1.81231458e-04 6.63468661e+00] [ 2.19883521e-02 -7.86832374e-04 9.99757917e-01 4.16666929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0292541539999 meters 0.020297558581936406 Centerline is valid? [True, True] Translation: X:606.94, Y:6.63, Z:4.17 [[ 9.98785362e-01 -4.45305561e-02 -2.10910196e-02 6.06943887e+02] [ 4.45367992e-02 9.99007729e-01 -1.73849775e-04 6.63483628e+00] [ 2.10778332e-02 -7.65687895e-04 9.99777545e-01 4.16784276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.059254154 meters 0.0203884101307822 Centerline is valid? [True, True] Translation: X:606.97, Y:6.64, Z:4.17 [[ 9.98877748e-01 -4.30385923e-02 -1.97718032e-02 6.06974563e+02] [ 4.30437912e-02 9.99073173e-01 -1.62747645e-04 6.63532855e+00] [ 1.97604826e-02 -6.88488367e-04 9.99804506e-01 4.16844467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.089254154 meters 0.020478900947522867 Centerline is valid? [True, True] Translation: X:607.01, Y:6.64, Z:4.17 [[ 9.98978710e-01 -4.07130320e-02 -1.95955766e-02 6.07006029e+02] [ 4.07177029e-02 9.99170678e-01 -1.60724725e-04 6.63725905e+00] [ 1.95858691e-02 -6.37326286e-04 9.99807975e-01 4.16851434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1192541539999 meters 0.018649354469736548 Centerline is valid? [True, True] Translation: X:607.04, Y:6.64, Z:4.17 [[ 9.99165369e-01 -3.56045867e-02 -2.00219340e-02 6.07035761e+02] [ 3.56084433e-02 9.99365805e-01 -1.63970025e-04 6.64179755e+00] [ 2.00150743e-02 -5.49116733e-04 9.99799528e-01 4.16827157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1492541539999 meters 0.01880898760370653 Centerline is valid? [True, True] Translation: X:607.07, Y:6.64, Z:4.17 [[ 9.99250666e-01 -3.29373270e-02 -2.03282835e-02 6.07065866e+02] [ 3.29407510e-02 9.99457292e-01 -1.66478880e-04 6.64415589e+00] [ 2.03227346e-02 -5.03274795e-04 9.99793345e-01 4.16833075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1792541539999 meters 0.016730870511861066 Centerline is valid? [True, True] Translation: X:607.10, Y:6.65, Z:4.17 [[ 9.99322374e-01 -3.10594892e-02 -1.97509959e-02 6.07095679e+02] [ 3.10623462e-02 9.99517436e-01 -1.62191673e-04 6.64642260e+00] [ 1.97465024e-02 -4.51430505e-04 9.99804917e-01 4.16856678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.209254154 meters 0.01535617760463756 Centerline is valid? [True, True] Translation: X:607.12, Y:6.65, Z:4.17 [[ 9.99432581e-01 -2.76096086e-02 -1.92931329e-02 6.07124939e+02] [ 2.76116340e-02 9.99618713e-01 -1.61440936e-04 6.64895821e+00] [ 1.92902340e-02 -3.71365594e-04 9.99813857e-01 4.16860989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2392541539999 meters 0.013821530763144949 Centerline is valid? [True, True] Translation: X:607.15, Y:6.65, Z:4.17 [[ 9.99503099e-01 -2.59561795e-02 -1.78838701e-02 6.07153904e+02] [ 2.59575790e-02 9.99663033e-01 -1.53906482e-04 6.65151747e+00] [ 1.78818387e-02 -3.10391967e-04 9.99840059e-01 4.17062156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2692541539999 meters 0.015035825203780794 Centerline is valid? [True, True] Translation: X:607.18, Y:6.65, Z:4.17 [[ 9.99509692e-01 -2.56574024e-02 -1.79463849e-02 6.07182276e+02] [ 2.56587180e-02 9.99670749e-01 -1.56986262e-04 6.64892127e+00] [ 1.79445039e-02 -3.03571939e-04 9.99838938e-01 4.16883663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2992541539999 meters 0.013657307747748508 Centerline is valid? [True, True] Translation: X:607.21, Y:6.65, Z:4.17 [[ 9.99511789e-01 -2.49523925e-02 -1.88032502e-02 6.07210744e+02] [ 2.49536455e-02 9.99688595e-01 -1.68020397e-04 6.65238299e+00] [ 1.88015873e-02 -3.01271274e-04 9.99823189e-01 4.17015388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.329254154 meters 0.01409394018199651 Centerline is valid? [True, True] Translation: X:607.24, Y:6.65, Z:4.17 [[ 9.99504669e-01 -2.44443055e-02 -1.98215219e-02 6.07238726e+02] [ 2.44455379e-02 9.99701147e-01 -1.80156601e-04 6.65153075e+00] [ 1.98200020e-02 -3.04480402e-04 9.99803518e-01 4.16860301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3592541539999 meters 0.01331036423342716 Centerline is valid? [True, True] Translation: X:607.27, Y:6.65, Z:4.17 [[ 9.99509864e-01 -2.29679008e-02 -2.12722207e-02 6.07266615e+02] [ 2.29688841e-02 9.99736161e-01 -1.98135125e-04 6.65174044e+00] [ 2.12711590e-02 -2.90561160e-04 9.99773701e-01 4.16736254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3892541539999 meters 0.013440513328313065 Centerline is valid? [True, True] Translation: X:607.29, Y:6.65, Z:4.17 [[ 9.99521142e-01 -2.19959231e-02 -2.17638826e-02 6.07294166e+02] [ 2.19966490e-02 9.99758023e-01 -2.06070146e-04 6.65148301e+00] [ 2.17631490e-02 -2.72761019e-04 9.99763117e-01 4.16684511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4192541539999 meters 0.012754340188045547 Centerline is valid? [True, True] Translation: X:607.32, Y:6.65, Z:4.17 [[ 9.99595512e-01 -1.94076119e-02 -2.07884078e-02 6.07323015e+02] [ 1.94076288e-02 9.99811634e-01 -2.00958357e-04 6.65336388e+00] [ 2.07883921e-02 -2.02576630e-04 9.99783878e-01 4.16827734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.449254154 meters 0.012708288337179501 Centerline is valid? [True, True] Translation: X:607.35, Y:6.65, Z:4.17 [[ 9.99640636e-01 -1.76442072e-02 -2.01811890e-02 6.07351765e+02] [ 1.76437614e-02 9.99844317e-01 -2.00159697e-04 6.65477271e+00] [ 2.01815788e-02 -1.55984316e-04 9.99796319e-01 4.16901140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4792541539999 meters 0.012366189265914153 Centerline is valid? [True, True] Translation: X:607.38, Y:6.66, Z:4.17 [[ 9.99683507e-01 -1.58983260e-02 -1.94969235e-02 6.07380409e+02] [ 1.58974830e-02 9.99873607e-01 -1.98241039e-04 6.65635806e+00] [ 1.94976109e-02 -1.11773712e-04 9.99809897e-01 4.16984682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5092541539999 meters 0.0124069775326008 Centerline is valid? [True, True] Translation: X:607.41, Y:6.66, Z:4.17 [[ 9.99724726e-01 -1.41133226e-02 -1.87426200e-02 6.07409252e+02] [ 1.41121427e-02 9.99900400e-01 -1.95220940e-04 6.65747919e+00] [ 1.87435084e-02 -6.93313274e-05 9.99824323e-01 4.17037184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5392541539999 meters 0.01351651768940009 Centerline is valid? [True, True] Translation: X:607.44, Y:6.66, Z:4.17 [[ 9.99772015e-01 -1.01806843e-02 -1.87689110e-02 6.07436646e+02] [ 1.01787556e-02 9.99948175e-01 -1.98290199e-04 6.65782767e+00] [ 1.87699571e-02 7.20083442e-06 9.99823829e-01 4.17010978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.569254154 meters 0.01254867293846512 Centerline is valid? [True, True] Translation: X:607.46, Y:6.66, Z:4.17 [[ 9.99807752e-01 -7.96282713e-03 -1.79179161e-02 6.07464170e+02] [ 7.96068547e-03 9.99968295e-01 -1.90849051e-04 6.65846206e+00] [ 1.79188677e-02 4.81734663e-05 9.99839443e-01 4.17085703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5992541539999 meters 0.012606424329807592 Centerline is valid? [True, True] Translation: X:607.49, Y:6.66, Z:4.17 [[ 9.99813927e-01 -7.63988972e-03 -1.77128009e-02 6.07491840e+02] [ 7.63768221e-03 9.99970814e-01 -1.92273393e-04 6.65873697e+00] [ 1.77137529e-02 5.69528713e-05 9.99843098e-01 4.17120735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6292541539999 meters 0.01262811778042542 Centerline is valid? [True, True] Translation: X:607.52, Y:6.66, Z:4.17 [[ 9.99817452e-01 -7.56155886e-03 -1.75466564e-02 6.07519972e+02] [ 7.55929521e-03 9.99971409e-01 -1.95330683e-04 6.65869201e+00] [ 1.75476318e-02 6.26546701e-05 9.99846026e-01 4.17157297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6592541539999 meters 0.01252753079372262 Centerline is valid? [True, True] Translation: X:607.55, Y:6.66, Z:4.17 [[ 9.99818942e-01 -8.91736614e-03 -1.68096126e-02 6.07547534e+02] [ 8.91540088e-03 9.99960239e-01 -1.91848284e-04 6.65697717e+00] [ 1.68106550e-02 4.19491129e-05 9.99858690e-01 4.17349398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.689254154 meters 0.012522809952671533 Centerline is valid? [True, True] Translation: X:607.58, Y:6.66, Z:4.17 [[ 9.99814270e-01 -1.02878146e-02 -1.62968329e-02 6.07575345e+02] [ 1.02860728e-02 9.99947079e-01 -1.90698611e-04 6.65576747e+00] [ 1.62979323e-02 2.30327831e-05 9.99867180e-01 4.17372373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7192541539999 meters 0.012889617092828312 Centerline is valid? [True, True] Translation: X:607.60, Y:6.65, Z:4.17 [[ 9.99776998e-01 -1.40322066e-02 -1.57813417e-02 6.07601892e+02] [ 1.40309910e-02 9.99901543e-01 -1.87754303e-04 6.65030214e+00] [ 1.57824225e-02 -3.37154292e-05 9.99875449e-01 4.17180012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7492541539999 meters 0.012912872997956862 Centerline is valid? [True, True] Translation: X:607.63, Y:6.65, Z:4.17 [[ 9.99743082e-01 -1.63088930e-02 -1.57413474e-02 6.07630227e+02] [ 1.63079401e-02 9.99866999e-01 -1.88903329e-04 6.64736466e+00] [ 1.57423346e-02 -6.78541543e-05 9.99876079e-01 4.17216158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7792541539999 meters 0.013277535783410213 Centerline is valid? [True, True] Translation: X:607.66, Y:6.64, Z:4.17 [[ 9.99706630e-01 -1.86612561e-02 -1.54405758e-02 6.07658324e+02] [ 1.86605998e-02 9.99825858e-01 -1.86588789e-04 6.64474177e+00] [ 1.54413689e-02 -1.01596356e-04 9.99880770e-01 4.17241163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.809254154 meters 0.014106101462797092 Centerline is valid? [True, True] Translation: X:607.69, Y:6.64, Z:4.17 [[ 9.99604165e-01 -2.32770679e-02 -1.58016245e-02 6.07686466e+02] [ 2.32769361e-02 9.99729037e-01 -1.92288842e-04 6.63904740e+00] [ 1.58018188e-02 -1.75600676e-04 9.99875128e-01 4.17244372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.839254154 meters 0.015213691811368713 Centerline is valid? [True, True] Translation: X:607.72, Y:6.64, Z:4.17 [[ 9.99523503e-01 -2.58875885e-02 -1.68107063e-02 6.07715444e+02] [ 2.58877561e-02 9.99664834e-01 -2.07677032e-04 6.63823256e+00] [ 1.68104482e-02 -2.27613391e-04 9.99858669e-01 4.17378651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8692541539999 meters 0.01676290917142755 Centerline is valid? [True, True] Translation: X:607.74, Y:6.63, Z:4.17 [[ 9.99374219e-01 -3.10273356e-02 -1.69845596e-02 6.07743623e+02] [ 3.10282073e-02 9.99518487e-01 -2.12256070e-04 6.62866887e+00] [ 1.69829671e-02 -3.14877194e-04 9.99855729e-01 4.17187466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8992541539999 meters 0.015768579320177584 Centerline is valid? [True, True] Translation: X:607.77, Y:6.63, Z:4.17 [[ 9.99291342e-01 -3.34388260e-02 -1.72817421e-02 6.07772914e+02] [ 3.34400745e-02 9.99440701e-01 -2.16805708e-04 6.62895880e+00] [ 1.72793261e-02 -3.61250675e-04 9.99850636e-01 4.17359794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9292541539999 meters 0.01892990708389177 Centerline is valid? [True, True] Translation: X:607.80, Y:6.62, Z:4.17 [[ 9.99213630e-01 -3.54379377e-02 -1.77840818e-02 6.07802146e+02] [ 3.54395684e-02 9.99371796e-01 -2.23555354e-04 6.62185544e+00] [ 1.77808321e-02 -4.06880625e-04 9.99841826e-01 4.17129968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.959254154 meters 0.016828524228009803 Centerline is valid? [True, True] Translation: X:607.83, Y:6.62, Z:4.17 [[ 9.99102050e-01 -3.84819002e-02 -1.77267389e-02 6.07832548e+02] [ 3.84839969e-02 9.99259192e-01 -2.22957128e-04 6.62328024e+00] [ 1.77221866e-02 -4.59438841e-04 9.99842844e-01 4.17459741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9892541539999 meters 0.018525893321872804 Centerline is valid? [True, True] Translation: X:607.86, Y:6.62, Z:4.17 [[ 9.99064257e-01 -3.94313159e-02 -1.77702612e-02 6.07862834e+02] [ 3.94335765e-02 9.99222169e-01 -2.23307538e-04 6.61990226e+00] [ 1.77652442e-02 -4.77646373e-04 9.99842072e-01 4.17412811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0192541539999 meters 0.017300061768441382 Centerline is valid? [True, True] Translation: X:607.89, Y:6.62, Z:4.18 [[ 9.99030470e-01 -4.01941740e-02 -1.79596249e-02 6.07894158e+02] [ 4.01966158e-02 9.99191764e-01 -2.25154289e-04 6.62073134e+00] [ 1.79541592e-02 -4.96980147e-04 9.99838688e-01 4.17539335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0492541539999 meters 0.017300061768441382 Centerline is valid? [True, True] Translation: X:607.93, Y:6.62, Z:4.18 [[ 9.99031947e-01 -4.01574576e-02 -1.79596332e-02 6.07925014e+02] [ 4.01599053e-02 9.99193240e-01 -2.24494206e-04 6.62108805e+00] [ 1.79541592e-02 -4.96980284e-04 9.99838688e-01 4.17560711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.079254154 meters 0.017591641547565446 Centerline is valid? [True, True] Translation: X:607.96, Y:6.62, Z:4.18 [[ 9.99034725e-01 -4.00096036e-02 -1.81342420e-02 6.07955461e+02] [ 4.00120918e-02 9.99199170e-01 -2.25739957e-04 6.61994568e+00] [ 1.81287514e-02 -5.00066901e-04 9.99835536e-01 4.17556096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1092541539999 meters 0.01758141297160417 Centerline is valid? [True, True] Translation: X:607.99, Y:6.62, Z:4.18 [[ 9.99041556e-01 -3.97720341e-02 -1.82799192e-02 6.07985941e+02] [ 3.97745304e-02 9.99208654e-01 -2.27129746e-04 6.61974018e+00] [ 1.82744869e-02 -5.00163148e-04 9.99832883e-01 4.17576097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1392541539999 meters 0.017629154173547275 Centerline is valid? [True, True] Translation: X:608.02, Y:6.62, Z:4.18 [[ 9.99087261e-01 -3.85728066e-02 -1.83516772e-02 6.08015973e+02] [ 3.85751204e-02 9.99255677e-01 -2.28021346e-04 6.61837037e+00] [ 1.83468130e-02 -4.80104936e-04 9.99831568e-01 4.17616024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1692541539999 meters 0.017389288022097427 Centerline is valid? [True, True] Translation: X:608.05, Y:6.62, Z:4.18 [[ 9.99124891e-01 -3.77915404e-02 -1.79235033e-02 6.08046374e+02] [ 3.77936219e-02 9.99285541e-01 -2.22701245e-04 6.61816593e+00] [ 1.79191139e-02 -4.54887751e-04 9.99839336e-01 4.17683350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.199254154 meters 0.017614031370515273 Centerline is valid? [True, True] Translation: X:608.08, Y:6.62, Z:4.18 [[ 9.99173347e-01 -3.67606430e-02 -1.73573530e-02 6.08076332e+02] [ 3.67624395e-02 9.99324010e-01 -2.15666772e-04 6.61793260e+00] [ 1.73535476e-02 -4.22610148e-04 9.99849327e-01 4.17870401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2292541539999 meters 0.01741901431153825 Centerline is valid? [True, True] Translation: X:608.11, Y:6.62, Z:4.18 [[ 9.99196625e-01 -3.60835088e-02 -1.74380085e-02 6.08106416e+02] [ 3.60852191e-02 9.99348693e-01 -2.16668925e-04 6.61862492e+00] [ 1.74344691e-02 -4.12759497e-04 9.99847923e-01 4.17973799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2592541539999 meters 0.01622486948362489 Centerline is valid? [True, True] Translation: X:608.14, Y:6.62, Z:4.18 [[ 9.99198889e-01 -3.58358591e-02 -1.78149491e-02 6.08136999e+02] [ 3.58376048e-02 9.99357602e-01 -2.21352448e-04 6.62109978e+00] [ 1.78114372e-02 -4.17269985e-04 9.99841277e-01 4.18076238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2892541539999 meters 0.017728643865099137 Centerline is valid? [True, True] Translation: X:608.17, Y:6.62, Z:4.18 [[ 9.99141651e-01 -3.64598387e-02 -1.96631866e-02 6.08166561e+02] [ 3.64620817e-02 9.99335007e-01 -2.44550570e-04 6.61769014e+00] [ 1.96590270e-02 -4.72620056e-04 9.99806631e-01 4.17881445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.319254154 meters 0.018189902361661684 Centerline is valid? [True, True] Translation: X:608.20, Y:6.62, Z:4.18 [[ 9.99107127e-01 -3.70126439e-02 -2.03718597e-02 6.08196450e+02] [ 3.70151542e-02 9.99314672e-01 -2.53962719e-04 6.61667461e+00] [ 2.03672981e-02 -5.00331565e-04 9.99792440e-01 4.17817788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3492541539999 meters 0.017050253741036418 Centerline is valid? [True, True] Translation: X:608.23, Y:6.62, Z:4.18 [[ 9.99055910e-01 -3.78924756e-02 -2.12473286e-02 6.08225990e+02] [ 3.78953887e-02 9.99281676e-01 -2.65656969e-04 6.61853585e+00] [ 2.12421326e-02 -5.39769612e-04 9.99774215e-01 4.17956887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3792541539999 meters 0.017003784466953952 Centerline is valid? [True, True] Translation: X:608.25, Y:6.62, Z:4.18 [[ 9.99018486e-01 -3.87936789e-02 -2.13802402e-02 6.08254395e+02] [ 3.87967491e-02 9.99247086e-01 -2.71329101e-04 6.61867392e+00] [ 2.13746686e-02 -5.58421025e-04 9.99771380e-01 4.18016515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4092541539999 meters 0.01979552585537946 Centerline is valid? [True, True] Translation: X:608.28, Y:6.61, Z:4.18 [[ 9.98983027e-01 -3.96315642e-02 -2.15000219e-02 6.08283005e+02] [ 3.96348066e-02 9.99214194e-01 -2.75460719e-04 6.61392910e+00] [ 2.14940440e-02 -5.76968628e-04 9.99768810e-01 4.17813621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.439254154 meters 0.017704073876890488 Centerline is valid? [True, True] Translation: X:608.31, Y:6.62, Z:4.18 [[ 9.98897158e-01 -4.16228540e-02 -2.17256716e-02 6.08312361e+02] [ 4.16266151e-02 9.99133198e-01 -2.79284515e-04 6.61768082e+00] [ 2.17184643e-02 -6.25389661e-04 9.99763931e-01 4.18152855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4692541539999 meters 0.022438892727589258 Centerline is valid? [True, True] Translation: X:608.34, Y:6.61, Z:4.18 [[ 9.98814032e-01 -4.35913388e-02 -2.16869553e-02 6.08340961e+02] [ 4.35955269e-02 9.99049224e-01 -2.79854701e-04 6.60923544e+00] [ 2.16785351e-02 -6.65931440e-04 9.99764771e-01 4.17888407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4992541539999 meters 0.018669056781626732 Centerline is valid? [True, True] Translation: X:608.37, Y:6.62, Z:4.18 [[ 9.98773832e-01 -4.44912893e-02 -2.17107809e-02 6.08370135e+02] [ 4.44956788e-02 9.99009537e-01 -2.81090435e-04 6.61505835e+00] [ 2.17017833e-02 -6.85290163e-04 9.99764254e-01 4.18247297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5292541539999 meters 0.020477757925164344 Centerline is valid? [True, True] Translation: X:608.40, Y:6.61, Z:4.18 [[ 9.98737032e-01 -4.52574402e-02 -2.18198199e-02 6.08399563e+02] [ 4.52620451e-02 9.98975108e-01 -2.83032791e-04 6.61140305e+00] [ 2.18102662e-02 -7.04934340e-04 9.99761879e-01 4.18142921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.559254154 meters 0.020417675339133554 Centerline is valid? [True, True] Translation: X:608.43, Y:6.61, Z:4.18 [[ 9.98662297e-01 -4.65000980e-02 -2.26132179e-02 6.08428898e+02] [ 4.65053464e-02 9.98917998e-01 -2.94016876e-04 6.61081386e+00] [ 2.26024221e-02 -7.58011963e-04 9.99744245e-01 4.18183454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.589254154 meters 0.02038666495646766 Centerline is valid? [True, True] Translation: X:608.46, Y:6.61, Z:4.18 [[ 9.98622478e-01 -4.70773253e-02 -2.31704749e-02 6.08458411e+02] [ 4.70829715e-02 9.98890936e-01 -3.02100851e-04 6.61170894e+00] [ 2.31589994e-02 -7.89250108e-04 9.99731483e-01 4.18224965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6192541539999 meters 0.01916804015616629 Centerline is valid? [True, True] Translation: X:608.49, Y:6.61, Z:4.18 [[ 9.98635169e-01 -4.65166103e-02 -2.37487784e-02 6.08488129e+02] [ 4.65223629e-02 9.98917200e-01 -3.10516989e-04 6.61405890e+00] [ 2.37375074e-02 -7.94756103e-04 9.99717910e-01 4.18344033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6492541539999 meters 0.018983695665651317 Centerline is valid? [True, True] Translation: X:608.52, Y:6.61, Z:4.18 [[ 9.98657949e-01 -4.58985191e-02 -2.39922352e-02 6.08518202e+02] [ 4.59041909e-02 9.98945797e-01 -3.14589661e-04 6.61491764e+00] [ 2.39813817e-02 -7.87176677e-04 9.99712095e-01 4.18404041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6792541539999 meters 0.018638633554725198 Centerline is valid? [True, True] Translation: X:608.55, Y:6.62, Z:4.19 [[ 9.98819108e-01 -4.26751177e-02 -2.32212040e-02 6.08546599e+02] [ 4.26795337e-02 9.99088767e-01 -3.05623574e-04 6.61631681e+00] [ 2.32130866e-02 -6.85807492e-04 9.99730305e-01 4.18523427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.709254154 meters 0.01804096249119079 Centerline is valid? [True, True] Translation: X:608.58, Y:6.62, Z:4.19 [[ 9.98914635e-01 -4.05288128e-02 -2.29557816e-02 6.08575586e+02] [ 4.05324595e-02 9.99178175e-01 -3.06598949e-04 6.61805846e+00] [ 2.29493420e-02 -6.24188110e-04 9.99736434e-01 4.18631413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7392541539999 meters 0.017376336997904328 Centerline is valid? [True, True] Translation: X:608.60, Y:6.62, Z:4.19 [[ 9.98996216e-01 -3.84906774e-02 -2.29134774e-02 6.08604011e+02] [ 3.84936397e-02 9.99258797e-01 -3.11939499e-04 6.62094067e+00] [ 2.29085006e-02 -5.70396764e-04 9.99737403e-01 4.18767406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7692541539999 meters 0.016270449946738468 Centerline is valid? [True, True] Translation: X:608.63, Y:6.62, Z:4.19 [[ 9.99185683e-01 -3.35753372e-02 -2.23756212e-02 6.08633020e+02] [ 3.35768656e-02 9.99436091e-01 -3.07496650e-04 6.62459862e+00] [ 2.23733277e-02 -4.44056976e-04 9.99749587e-01 4.18861110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7992541539999 meters 0.015740029114479897 Centerline is valid? [True, True] Translation: X:608.66, Y:6.63, Z:4.19 [[ 9.99249136e-01 -3.15210863e-02 -2.25296492e-02 6.08661550e+02] [ 3.15220123e-02 9.99503009e-01 -3.14122621e-04 6.62629649e+00] [ 2.25283536e-02 -3.96293121e-04 9.99746126e-01 4.18883384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.829254154 meters 0.015425586403211239 Centerline is valid? [True, True] Translation: X:608.69, Y:6.63, Z:4.19 [[ 9.99313582e-01 -2.90761963e-02 -2.29551705e-02 6.08688970e+02] [ 2.90764379e-02 9.99577139e-01 -3.23318246e-04 6.62739571e+00] [ 2.29548645e-02 -3.44358273e-04 9.99736443e-01 4.18759530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8592541539999 meters 0.01597767302388009 Centerline is valid? [True, True] Translation: X:608.72, Y:6.63, Z:4.19 [[ 9.99318434e-01 -2.87866632e-02 -2.31083386e-02 6.08716260e+02] [ 2.87867423e-02 9.99585522e-01 -3.29298925e-04 6.62616878e+00] [ 2.31082401e-02 -3.36139302e-04 9.99732912e-01 4.18595077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8892541539999 meters 0.015327714007664263 Centerline is valid? [True, True] Translation: X:608.74, Y:6.63, Z:4.19 [[ 9.99318013e-01 -2.90061813e-02 -2.28506030e-02 6.08744196e+02] [ 2.90061802e-02 9.99579177e-01 -3.31569477e-04 6.62694434e+00] [ 2.28506045e-02 -3.31465357e-04 9.99738836e-01 4.18715466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9192541539999 meters 0.015709395453235627 Centerline is valid? [True, True] Translation: X:608.77, Y:6.62, Z:4.19 [[ 9.99281991e-01 -3.03782841e-02 -2.26420642e-02 6.08772148e+02] [ 3.03785585e-02 9.99538410e-01 -3.31924751e-04 6.62423700e+00] [ 2.26416962e-02 -3.56146846e-04 9.99743581e-01 4.18640339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.949254154 meters 0.016366783060890018 Centerline is valid? [True, True] Translation: X:608.80, Y:6.62, Z:4.19 [[ 9.99195576e-01 -3.32470273e-02 -2.24240092e-02 6.08800675e+02] [ 3.32479187e-02 9.99447080e-01 -3.33173818e-04 6.62220366e+00] [ 2.24226875e-02 -4.12645829e-04 9.99748495e-01 4.18675293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9792541539999 meters 0.01692508565270268 Centerline is valid? [True, True] Translation: X:608.83, Y:6.62, Z:4.19 [[ 9.99138868e-01 -3.49473603e-02 -2.23652409e-02 6.08828588e+02] [ 3.49486043e-02 9.99389055e-01 -3.35362893e-04 6.62107231e+00] [ 2.23632970e-02 -4.46559853e-04 9.99749810e-01 4.18668016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0092541539999 meters 0.0173633050139111 Centerline is valid? [True, True] Translation: X:608.86, Y:6.62, Z:4.19 [[ 9.99057985e-01 -3.69854400e-02 -2.26984664e-02 6.08857027e+02] [ 3.69871457e-02 9.99315682e-01 -3.44822893e-04 6.61992200e+00] [ 2.26956869e-02 -4.95053421e-04 9.99742297e-01 4.18692036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0392541539999 meters 0.019053419047441456 Centerline is valid? [True, True] Translation: X:608.89, Y:6.61, Z:4.19 [[ 9.98891486e-01 -4.15399865e-02 -2.21411125e-02 6.08885305e+02] [ 4.15426655e-02 9.99136673e-01 -3.39146708e-04 6.61468018e+00] [ 2.21360856e-02 -5.81030071e-04 9.99754798e-01 4.18653540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.069254154 meters 0.020305912763023536 Centerline is valid? [True, True] Translation: X:608.91, Y:6.61, Z:4.19 [[ 9.98798433e-01 -4.37753541e-02 -2.20319969e-02 6.08913988e+02] [ 4.37784586e-02 9.99041205e-01 -3.41623664e-04 6.61145370e+00] [ 2.20258275e-02 -6.23313686e-04 9.99757208e-01 4.18674987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0992541539999 meters 0.020163182484805368 Centerline is valid? [True, True] Translation: X:608.94, Y:6.61, Z:4.19 [[ 9.98623691e-01 -4.84355698e-02 -2.01176496e-02 6.08943974e+02] [ 4.84390623e-02 9.98826090e-01 -3.13934183e-04 6.60942855e+00] [ 2.01092388e-02 -6.60977968e-04 9.99797570e-01 4.18910256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1292541539999 meters 0.021764206346986583 Centerline is valid? [True, True] Translation: X:608.97, Y:6.61, Z:4.19 [[ 9.98555858e-01 -4.98642003e-02 -1.99939949e-02 6.08973407e+02] [ 4.98679264e-02 9.98755772e-01 -3.12484141e-04 6.60764814e+00] [ 1.99846996e-02 -6.85026198e-04 9.99800051e-01 4.18963510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1592541539999 meters 0.019916302972572877 Centerline is valid? [True, True] Translation: X:609.01, Y:6.61, Z:4.19 [[ 9.98516483e-01 -5.11070266e-02 -1.87857561e-02 6.09005162e+02] [ 5.11105416e-02 9.98692959e-01 -2.93275698e-04 6.61015914e+00] [ 1.87761907e-02 -6.67309547e-04 9.99823489e-01 4.19119538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.189254154 meters 0.019847027383489126 Centerline is valid? [True, True] Translation: X:609.04, Y:6.61, Z:4.19 [[ 9.98499555e-01 -5.14597726e-02 -1.87224821e-02 6.09036485e+02] [ 5.14633389e-02 9.98674842e-01 -2.91591549e-04 6.61029046e+00] [ 1.87126770e-02 -6.72367407e-04 9.99824676e-01 4.19154922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2192541539999 meters 0.020500583011566757 Centerline is valid? [True, True] Translation: X:609.07, Y:6.61, Z:4.19 [[ 9.98545626e-01 -5.06803283e-02 -1.83884869e-02 6.09067388e+02] [ 5.06836488e-02 9.98714717e-01 -2.85712693e-04 6.60817805e+00] [ 1.83793325e-02 -6.46698453e-04 9.99830877e-01 4.19029392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2492541539999 meters 0.019751120047483292 Centerline is valid? [True, True] Translation: X:609.10, Y:6.61, Z:4.19 [[ 9.98646950e-01 -4.88660332e-02 -1.77870488e-02 6.09098495e+02] [ 4.88688642e-02 9.98805165e-01 -2.75720694e-04 6.60824180e+00] [ 1.77792696e-02 -5.93885239e-04 9.99841760e-01 4.19060371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2792541539999 meters 0.022389973062746628 Centerline is valid? [True, True] Translation: X:609.13, Y:6.60, Z:4.19 [[ 9.98715894e-01 -4.76297976e-02 -1.72616701e-02 6.09128599e+02] [ 4.76322835e-02 9.98864903e-01 -2.67329334e-04 6.60386547e+00] [ 1.72548092e-02 -5.55226707e-04 9.99850971e-01 4.18907716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.309254154 meters 0.018993485693319347 Centerline is valid? [True, True] Translation: X:609.16, Y:6.61, Z:4.19 [[ 9.98786425e-01 -4.62099747e-02 -1.70386655e-02 6.09160032e+02] [ 4.62121967e-02 9.98931611e-01 -2.63501977e-04 6.60981859e+00] [ 1.70326380e-02 -5.24211964e-04 9.99854797e-01 4.19109923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.339254154 meters 0.019070740986523154 Centerline is valid? [True, True] Translation: X:609.19, Y:6.61, Z:4.19 [[ 9.98951969e-01 -4.24057774e-02 -1.72253878e-02 6.09190099e+02] [ 4.24074877e-02 9.99100362e-01 -2.66130744e-04 6.61048515e+00] [ 1.72211767e-02 -4.64633593e-04 9.99851597e-01 4.19048242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3692541539999 meters 0.01752277432474609 Centerline is valid? [True, True] Translation: X:609.22, Y:6.61, Z:4.19 [[ 9.99041651e-01 -4.02441443e-02 -1.72101111e-02 6.09220694e+02] [ 4.02455311e-02 9.99189785e-01 -2.65894720e-04 6.61461152e+00] [ 1.72068680e-02 -4.26990162e-04 9.99851860e-01 4.19144726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3992541539999 meters 0.01815198986240193 Centerline is valid? [True, True] Translation: X:609.25, Y:6.61, Z:4.19 [[ 9.99128951e-01 -3.78636846e-02 -1.75408502e-02 6.09250186e+02] [ 3.78647552e-02 9.99282836e-01 -2.71199189e-04 6.61383068e+00] [ 1.75385391e-02 -3.93217037e-04 9.99846111e-01 4.19000196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4292541539999 meters 0.01640635036248721 Centerline is valid? [True, True] Translation: X:609.28, Y:6.62, Z:4.19 [[ 9.99296681e-01 -3.31902540e-02 -1.74513967e-02 6.09279607e+02] [ 3.31905923e-02 9.99449004e-01 -2.70327122e-04 6.61734501e+00] [ 1.74507533e-02 -3.09085198e-04 9.99847676e-01 4.18997128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.459254154 meters 0.016204139507698275 Centerline is valid? [True, True] Translation: X:609.31, Y:6.62, Z:4.19 [[ 9.99359070e-01 -3.13874156e-02 -1.72127737e-02 6.09308794e+02] [ 3.13874666e-02 9.99507256e-01 -2.67252765e-04 6.61754460e+00] [ 1.72126806e-02 -2.73183886e-04 9.99851814e-01 4.18980128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4892541539999 meters 0.015820780721687872 Centerline is valid? [True, True] Translation: X:609.34, Y:6.62, Z:4.19 [[ 9.99443185e-01 -2.87321504e-02 -1.69642029e-02 6.09337078e+02] [ 2.87318043e-02 9.99587122e-01 -2.64176055e-04 6.61930315e+00] [ 1.69647891e-02 -2.23383200e-04 9.99856063e-01 4.19056398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5192541539999 meters 0.015573696964550892 Centerline is valid? [True, True] Translation: X:609.37, Y:6.62, Z:4.19 [[ 9.99466769e-01 -2.80200744e-02 -1.67646402e-02 6.09365692e+02] [ 2.80195888e-02 9.99607339e-01 -2.63897278e-04 6.62055641e+00] [ 1.67654518e-02 -2.05981765e-04 9.99859429e-01 4.19116581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5492541539999 meters 0.015193037869550605 Centerline is valid? [True, True] Translation: X:609.39, Y:6.62, Z:4.19 [[ 9.99487564e-01 -2.74431736e-02 -1.64767245e-02 6.09394102e+02] [ 2.74425577e-02 9.99623347e-01 -2.63520487e-04 6.62149121e+00] [ 1.64777503e-02 -1.88778013e-04 9.99864215e-01 4.19223309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.579254154 meters 0.015437862948340651 Centerline is valid? [True, True] Translation: X:609.42, Y:6.62, Z:4.19 [[ 9.99474997e-01 -2.80239610e-02 -1.62599936e-02 6.09422190e+02] [ 2.80233957e-02 9.99607233e-01 -2.62655674e-04 6.62026209e+00] [ 1.62609678e-02 -1.93142454e-04 9.99867763e-01 4.19183228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6092541539999 meters 0.01576554530203659 Centerline is valid? [True, True] Translation: X:609.45, Y:6.62, Z:4.19 [[ 9.99431970e-01 -2.96076543e-02 -1.60973284e-02 6.09451171e+02] [ 2.96072879e-02 9.99561574e-01 -2.61128977e-04 6.61916633e+00] [ 1.60980023e-02 -2.15617587e-04 9.99870396e-01 4.19176849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6392541539999 meters 0.016175679302956575 Centerline is valid? [True, True] Translation: X:609.48, Y:6.62, Z:4.19 [[ 9.99292611e-01 -3.38897092e-02 -1.63022900e-02 6.09480378e+02] [ 3.38898887e-02 9.99425538e-01 -2.65324797e-04 6.61706233e+00] [ 1.63019168e-02 -2.87345686e-04 9.99867074e-01 4.19231049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6692541539999 meters 0.017582367578227752 Centerline is valid? [True, True] Translation: X:609.51, Y:6.61, Z:4.19 [[ 9.99200385e-01 -3.65260257e-02 -1.62616060e-02 6.09509661e+02] [ 3.65265446e-02 9.99332648e-01 -2.65201280e-04 6.61338527e+00] [ 1.62604406e-02 -3.28991056e-04 9.99867736e-01 4.19163287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.699254154 meters 0.01921008939451376 Centerline is valid? [True, True] Translation: X:609.54, Y:6.61, Z:4.19 [[ 9.98989335e-01 -4.22199402e-02 -1.54202906e-02 6.09539517e+02] [ 4.22210782e-02 9.99108261e-01 -2.51888444e-04 6.60903994e+00] [ 1.54171745e-02 -3.99427427e-04 9.99881069e-01 4.19232746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7292541539999 meters 0.01933061273488376 Centerline is valid? [True, True] Translation: X:609.57, Y:6.61, Z:4.19 [[ 9.98876249e-01 -4.49142954e-02 -1.51309176e-02 6.09571192e+02] [ 4.49157008e-02 9.98990750e-01 -2.47103819e-04 6.60913758e+00] [ 1.51267453e-02 -4.32789634e-04 9.99885491e-01 4.19305730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7592541539999 meters 0.01880585967629504 Centerline is valid? [True, True] Translation: X:609.60, Y:6.61, Z:4.19 [[ 9.98774470e-01 -4.71022106e-02 -1.51966853e-02 6.09602890e+02] [ 4.71038896e-02 9.98889965e-01 -2.47627290e-04 6.61007073e+00] [ 1.51914802e-02 -4.68499170e-04 9.99884493e-01 4.19397973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7892541539999 meters 0.021649741046512055 Centerline is valid? [True, True] Translation: X:609.63, Y:6.61, Z:4.19 [[ 9.98612888e-01 -5.04342072e-02 -1.51225253e-02 6.09633619e+02] [ 5.04362605e-02 9.98727252e-01 -2.45816042e-04 6.60520571e+00] [ 1.51156757e-02 -5.17248559e-04 9.99885618e-01 4.19347706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.819254154 meters 0.02061300536118715 Centerline is valid? [True, True] Translation: X:609.66, Y:6.61, Z:4.19 [[ 9.98553649e-01 -5.16915050e-02 -1.47850743e-02 6.09664758e+02] [ 5.16936138e-02 9.98662963e-01 -2.39756726e-04 6.60714622e+00] [ 1.47776995e-02 -5.24883968e-04 9.99890666e-01 4.19460608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8492541539999 meters 0.022012020131621294 Centerline is valid? [True, True] Translation: X:609.70, Y:6.60, Z:4.19 [[ 9.98437017e-01 -5.38326337e-02 -1.50189992e-02 6.09695509e+02] [ 5.38350577e-02 9.98549812e-01 -2.43148583e-04 6.60475956e+00] [ 1.50103082e-02 -5.65780145e-04 9.99887179e-01 4.19460808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8792541539999 meters 0.02254803694554605 Centerline is valid? [True, True] Translation: X:609.73, Y:6.60, Z:4.19 [[ 9.98408441e-01 -5.44907768e-02 -1.45375405e-02 6.09726707e+02] [ 5.44931232e-02 9.98514118e-01 -2.34963114e-04 6.60432132e+00] [ 1.45287428e-02 -5.57606831e-04 9.99894297e-01 4.19480021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9092541539999 meters 0.02295828939316103 Centerline is valid? [True, True] Translation: X:609.76, Y:6.60, Z:4.20 [[ 9.98405325e-01 -5.45822953e-02 -1.44076096e-02 6.09757825e+02] [ 5.45846186e-02 9.98509121e-01 -2.32222344e-04 6.60442286e+00] [ 1.43988048e-02 -5.54581850e-04 9.99896178e-01 4.19586932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.939254154 meters 0.02331922416479918 Centerline is valid? [True, True] Translation: X:609.79, Y:6.60, Z:4.20 [[ 9.98416587e-01 -5.45845736e-02 -1.35956853e-02 6.09788877e+02] [ 5.45866505e-02 9.98509013e-01 -2.18555987e-04 6.60469433e+00] [ 1.35873441e-02 -5.23933001e-04 9.99907551e-01 4.19636661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9692541539999 meters 0.02331922416479918 Centerline is valid? [True, True] Translation: X:609.82, Y:6.61, Z:4.20 [[ 9.98420406e-01 -5.45146726e-02 -1.35956967e-02 6.09820583e+02] [ 5.45167526e-02 9.98512832e-01 -2.17847500e-04 6.60513913e+00] [ 1.35873535e-02 -5.23689845e-04 9.99907551e-01 4.19658628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9992541539999 meters 0.022009361014568584 Centerline is valid? [True, True] Translation: X:609.85, Y:6.61, Z:4.20 [[ 9.98430956e-01 -5.43645412e-02 -1.34209885e-02 6.09853162e+02] [ 5.43665673e-02 9.98521022e-01 -2.14102045e-04 6.60785090e+00] [ 1.34127787e-02 -5.15886967e-04 9.99909912e-01 4.19768527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0292541539999 meters 0.021911510654536944 Centerline is valid? [True, True] Translation: X:609.89, Y:6.61, Z:4.20 [[ 9.98460409e-01 -5.38478383e-02 -1.33124624e-02 6.09885034e+02] [ 5.38497986e-02 9.98549025e-01 -2.11418228e-04 6.60855870e+00] [ 1.33045307e-02 -5.05780686e-04 9.99911363e-01 4.19795917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.059254154 meters 0.021488225294236173 Centerline is valid? [True, True] Translation: X:609.92, Y:6.61, Z:4.20 [[ 9.98455296e-01 -5.37398148e-02 -1.41086487e-02 6.09917644e+02] [ 5.37420206e-02 9.98554828e-01 -2.23014443e-04 6.61047719e+00] [ 1.41002441e-02 -5.35557339e-04 9.99900443e-01 4.19787566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.089254154 meters 0.020795594771405312 Centerline is valid? [True, True] Translation: X:609.95, Y:6.61, Z:4.20 [[ 9.98393069e-01 -5.41801516e-02 -1.66069418e-02 6.09949812e+02] [ 5.41832906e-02 9.98530972e-01 -2.61195995e-04 6.61364758e+00] [ 1.65966974e-02 -6.39042481e-04 9.99862061e-01 4.19644541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1192541539999 meters 0.02321596879164715 Centerline is valid? [True, True] Translation: X:609.98, Y:6.61, Z:4.19 [[ 9.98345117e-01 -5.47691229e-02 -1.75320008e-02 6.09980625e+02] [ 5.47727310e-02 9.98498809e-01 -2.74671145e-04 6.61053823e+00] [ 1.75207255e-02 -6.86058969e-04 9.99846265e-01 4.19474020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1492541539999 meters 0.024560083305436818 Centerline is valid? [True, True] Translation: X:610.01, Y:6.61, Z:4.19 [[ 9.98305719e-01 -5.53364798e-02 -1.79879092e-02 6.10012365e+02] [ 5.53403833e-02 9.98467507e-01 -2.81071400e-04 6.61022781e+00] [ 1.79758964e-02 -7.14862606e-04 9.99838165e-01 4.19445758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1792541539999 meters 0.025180349659817945 Centerline is valid? [True, True] Translation: X:610.04, Y:6.61, Z:4.20 [[ 9.98193376e-01 -5.74527511e-02 -1.75830961e-02 6.10042800e+02] [ 5.74568159e-02 9.98347955e-01 -2.74326044e-04 6.61071330e+00] [ 1.75698088e-02 -7.36438276e-04 9.99845368e-01 4.19528507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.209254154 meters 0.023962935595025533 Centerline is valid? [True, True] Translation: X:610.07, Y:6.62, Z:4.20 [[ 9.98153022e-01 -5.79887284e-02 -1.81066960e-02 6.10074272e+02] [ 5.79931366e-02 9.98316942e-01 -2.81966872e-04 6.61535949e+00] [ 1.80925723e-02 -7.68618009e-04 9.99836021e-01 4.19664177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2392541539999 meters 0.023202393464181938 Centerline is valid? [True, True] Translation: X:610.11, Y:6.62, Z:4.20 [[ 9.98017896e-01 -6.05553189e-02 -1.71269428e-02 6.10105543e+02] [ 6.05596504e-02 9.98164545e-01 -2.66098049e-04 6.61689657e+00] [ 1.71116207e-02 -7.71631052e-04 9.99853288e-01 4.19758237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2692541539999 meters 0.023588928462940834 Centerline is valid? [True, True] Translation: X:610.14, Y:6.62, Z:4.20 [[ 9.97951394e-01 -6.17032689e-02 -1.69033087e-02 6.10137035e+02] [ 6.17076627e-02 9.98094232e-01 -2.62005442e-04 6.61745015e+00] [ 1.68872615e-02 -7.81594978e-04 9.99857095e-01 4.19806116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2992541539999 meters 0.023627803209027347 Centerline is valid? [True, True] Translation: X:610.17, Y:6.62, Z:4.20 [[ 9.97939168e-01 -6.21736560e-02 -1.58699072e-02 6.10169653e+02] [ 6.21776025e-02 9.98065071e-01 -2.45085580e-04 6.61885015e+00] [ 1.58544380e-02 -7.42172285e-04 9.99874035e-01 4.19893088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.329254154 meters 0.02362781414472456 Centerline is valid? [True, True] Translation: X:610.20, Y:6.62, Z:4.20 [[ 9.97996770e-01 -6.14516950e-02 -1.50378435e-02 6.10201574e+02] [ 6.14551729e-02 9.98109818e-01 -2.31152989e-04 6.61953913e+00] [ 1.50236240e-02 -6.93463335e-04 9.99886899e-01 4.19959242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3592541539999 meters 0.02332954070712244 Centerline is valid? [True, True] Translation: X:610.23, Y:6.62, Z:4.20 [[ 9.98108674e-01 -5.98688818e-02 -1.39567523e-02 6.10234047e+02] [ 5.98717368e-02 9.98206056e-01 -2.13546661e-04 6.62136558e+00] [ 1.39444994e-02 -6.22472225e-04 9.99902577e-01 4.20031473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3892541539999 meters 0.02312618564379406 Centerline is valid? [True, True] Translation: X:610.27, Y:6.63, Z:4.20 [[ 9.98420898e-01 -5.47808243e-02 -1.24407155e-02 6.10265287e+02] [ 5.47827052e-02 9.98498282e-01 -1.89797174e-04 6.62606477e+00] [ 1.24324303e-02 -4.92038583e-04 9.99922593e-01 4.20199650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4192541539999 meters 0.021176454133524487 Centerline is valid? [True, True] Translation: X:610.30, Y:6.63, Z:4.20 [[ 9.98558236e-01 -5.24343182e-02 -1.14931347e-02 6.10296735e+02] [ 5.24357714e-02 9.98624283e-01 -1.75058470e-04 6.62943269e+00] [ 1.14865025e-02 -4.27845306e-04 9.99933936e-01 4.20283097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.449254154 meters 0.019516103132539625 Centerline is valid? [True, True] Translation: X:610.33, Y:6.64, Z:4.20 [[ 9.98853246e-01 -4.63590611e-02 -1.19595384e-02 6.10327643e+02] [ 4.63602039e-02 9.98924771e-01 -1.81810185e-04 6.63508625e+00] [ 1.19551077e-02 -3.72844947e-04 9.99928466e-01 4.20248041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4792541539999 meters 0.01857882294583867 Centerline is valid? [True, True] Translation: X:610.36, Y:6.64, Z:4.20 [[ 9.98985672e-01 -4.33969033e-02 -1.20140134e-02 6.10358961e+02] [ 4.33978461e-02 9.99057853e-01 -1.82329980e-04 6.63776623e+00] [ 1.20106069e-02 -3.39237266e-04 9.99927813e-01 4.20173202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5092541539999 meters 0.018328870872113025 Centerline is valid? [True, True] Translation: X:610.39, Y:6.64, Z:4.20 [[ 9.99086285e-01 -4.08209381e-02 -1.26588001e-02 6.10389569e+02] [ 4.08217829e-02 9.99166425e-01 -1.91750331e-04 6.63946538e+00] [ 1.26560755e-02 -3.25179664e-04 9.99919856e-01 4.20124125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5392541539999 meters 0.016486691982361117 Centerline is valid? [True, True] Translation: X:610.42, Y:6.65, Z:4.20 [[ 9.99226249e-01 -3.70095282e-02 -1.33116036e-02 6.10421217e+02] [ 3.70101305e-02 9.99314870e-01 -2.01178186e-04 6.64515711e+00] [ 1.33099290e-02 -2.91641663e-04 9.99911376e-01 4.20115506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.569254154 meters 0.01640465504222141 Centerline is valid? [True, True] Translation: X:610.45, Y:6.65, Z:4.20 [[ 9.99256284e-01 -3.60615248e-02 -1.36545093e-02 6.10452612e+02] [ 3.60620784e-02 9.99349531e-01 -2.05747350e-04 6.64658840e+00] [ 1.36530470e-02 -2.86815652e-04 9.99906752e-01 4.20096602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5992541539999 meters 0.01623993771066342 Centerline is valid? [True, True] Translation: X:610.48, Y:6.65, Z:4.20 [[ 9.99284077e-01 -3.54167624e-02 -1.33036236e-02 6.10483277e+02] [ 3.54172356e-02 9.99372593e-01 -2.00099942e-04 6.64737861e+00] [ 1.33023637e-02 -2.71220885e-04 9.99911483e-01 4.20093770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6292541539999 meters 0.016253805498315652 Centerline is valid? [True, True] Translation: X:610.51, Y:6.65, Z:4.20 [[ 9.99323005e-01 -3.45381419e-02 -1.26747470e-02 6.10514684e+02] [ 3.45385049e-02 9.99403350e-01 -1.90315860e-04 6.64870520e+00] [ 1.26737578e-02 -2.47579796e-04 9.99919654e-01 4.20121770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6592541539999 meters 0.016373469967649157 Centerline is valid? [True, True] Translation: X:610.55, Y:6.65, Z:4.20 [[ 9.99334123e-01 -3.42967674e-02 -1.24515664e-02 6.10545890e+02] [ 3.42971045e-02 9.99411664e-01 -1.86522660e-04 6.64951425e+00] [ 1.24506378e-02 -2.40654213e-04 9.99922459e-01 4.20120783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.689254154 meters 0.01652942073328561 Centerline is valid? [True, True] Translation: X:610.58, Y:6.65, Z:4.20 [[ 9.99330746e-01 -3.43863720e-02 -1.24754795e-02 6.10577723e+02] [ 3.43867230e-02 9.99408584e-01 -1.86434898e-04 6.64912195e+00] [ 1.24745121e-02 -2.42680731e-04 9.99922161e-01 4.20065335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7192541539999 meters 0.016570922028521402 Centerline is valid? [True, True] Translation: X:610.61, Y:6.65, Z:4.20 [[ 9.99319721e-01 -3.47484064e-02 -1.23548900e-02 6.10608460e+02] [ 3.47487825e-02 9.99396062e-01 -1.84292972e-04 6.64867140e+00] [ 1.23538323e-02 -2.45149782e-04 9.99923658e-01 4.20043858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7492541539999 meters 0.016815856541632163 Centerline is valid? [True, True] Translation: X:610.64, Y:6.65, Z:4.20 [[ 9.99305024e-01 -3.51378888e-02 -1.24417511e-02 6.10640023e+02] [ 3.51383043e-02 9.99382442e-01 -1.85270748e-04 6.64854471e+00] [ 1.24405776e-02 -2.52040047e-04 9.99922581e-01 4.20056382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7792541539999 meters 0.017289986001510934 Centerline is valid? [True, True] Translation: X:610.67, Y:6.65, Z:4.20 [[ 9.99277548e-01 -3.63330450e-02 -1.11485907e-02 6.10670246e+02] [ 3.63334562e-02 9.99339708e-01 -1.65720913e-04 6.64693260e+00] [ 1.11472505e-02 -2.39465643e-04 9.99937839e-01 4.20131936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.809254154 meters 0.018267620495552812 Centerline is valid? [True, True] Translation: X:610.70, Y:6.64, Z:4.20 [[ 9.99186290e-01 -3.91375942e-02 -9.74712048e-03 6.10702485e+02] [ 3.91380448e-02 9.99233803e-01 -1.44584481e-04 6.64371702e+00] [ 9.74531095e-03 -2.37016407e-04 9.99952485e-01 4.20225767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.839254154 meters 0.01923623948057332 Centerline is valid? [True, True] Translation: X:610.73, Y:6.64, Z:4.20 [[ 9.99124132e-01 -4.08047971e-02 -9.27028032e-03 6.10733285e+02] [ 4.08052815e-02 9.99167108e-01 -1.36966926e-04 6.64103784e+00] [ 9.26814809e-03 -2.41429437e-04 9.99957021e-01 4.20263554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8692541539999 meters 0.020935047242234335 Centerline is valid? [True, True] Translation: X:610.76, Y:6.64, Z:4.20 [[ 9.98945615e-01 -4.50262583e-02 -8.96068204e-03 6.10764887e+02] [ 4.50268832e-02 9.98985767e-01 -1.32088526e-04 6.63617617e+00] [ 8.95754127e-03 -2.71522330e-04 9.99959844e-01 4.20285767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8992541539999 meters 0.022302410134608156 Centerline is valid? [True, True] Translation: X:610.80, Y:6.63, Z:4.20 [[ 9.98842521e-01 -4.72659865e-02 -8.91883519e-03 6.10796278e+02] [ 4.72666985e-02 9.98882296e-01 -1.31055297e-04 6.63310364e+00] [ 8.91506103e-03 -2.90660291e-04 9.99960218e-01 4.20294670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9292541539999 meters 0.02334056373101261 Centerline is valid? [True, True] Translation: X:610.83, Y:6.63, Z:4.20 [[ 9.98735616e-01 -4.93608271e-02 -9.52253375e-03 6.10828689e+02] [ 4.93617419e-02 9.98780957e-01 -1.39083552e-04 6.63071854e+00] [ 9.51779064e-03 -3.31141155e-04 9.99954650e-01 4.20306767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.959254154 meters 0.02581794430687494 Centerline is valid? [True, True] Translation: X:610.86, Y:6.63, Z:4.20 [[ 9.98523363e-01 -5.32904733e-02 -1.05460660e-02 6.10858820e+02] [ 5.32918197e-02 9.98578970e-01 -1.53510579e-04 6.62576456e+00] [ 1.05392603e-02 -4.08735145e-04 9.99944377e-01 4.20198776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9892541539999 meters 0.0266584671720232 Centerline is valid? [True, True] Translation: X:610.89, Y:6.62, Z:4.20 [[ 9.98456169e-01 -5.43834712e-02 -1.13012198e-02 6.10890725e+02] [ 5.43850905e-02 9.98520022e-01 -1.64209640e-04 6.62392291e+00] [ 1.12934245e-02 -4.50661732e-04 9.99936126e-01 4.20153493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0192541539999 meters 0.027038700196749605 Centerline is valid? [True, True] Translation: X:610.92, Y:6.62, Z:4.20 [[ 9.98428968e-01 -5.48103839e-02 -1.16369337e-02 6.10923322e+02] [ 5.48121390e-02 9.98496671e-01 -1.68294610e-04 6.62279699e+00] [ 1.16286638e-02 -4.69815012e-04 9.99932274e-01 4.20149913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0492541539999 meters 0.021725125986118275 Centerline is valid? [True, True] Translation: X:610.96, Y:6.63, Z:4.20 [[ 9.98510777e-01 -5.34343825e-02 -1.09997413e-02 6.10955795e+02] [ 5.34358763e-02 9.98571270e-01 -1.58265296e-04 6.63030275e+00] [ 1.09924825e-02 -4.29751214e-04 9.99939488e-01 4.20251774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.079254154 meters 0.022915097918877754 Centerline is valid? [True, True] Translation: X:610.99, Y:6.63, Z:4.20 [[ 9.98588465e-01 -5.19178016e-02 -1.12080418e-02 6.10987459e+02] [ 5.19192679e-02 9.98651272e-01 -1.60295822e-04 6.62854146e+00] [ 1.12012474e-02 -4.21843768e-04 9.99937175e-01 4.20277554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1092541539999 meters 0.021342313695086147 Centerline is valid? [True, True] Translation: X:611.02, Y:6.63, Z:4.20 [[ 9.98705876e-01 -4.93186727e-02 -1.24194020e-02 6.11018767e+02] [ 4.93202819e-02 9.98782999e-01 -1.76858105e-04 6.63167438e+00] [ 1.24130100e-02 -4.35899177e-04 9.99922861e-01 4.20240737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1392541539999 meters 0.02083610804616039 Centerline is valid? [True, True] Translation: X:611.05, Y:6.63, Z:4.20 [[ 9.98778914e-01 -4.76285567e-02 -1.31225613e-02 6.11050884e+02] [ 4.76302169e-02 9.98865020e-01 -1.86160663e-04 6.63319382e+00] [ 1.31165341e-02 -4.39097098e-04 9.99913878e-01 4.20230845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1692541539999 meters 0.020214245673384246 Centerline is valid? [True, True] Translation: X:611.08, Y:6.64, Z:4.20 [[ 9.98922679e-01 -4.44087745e-02 -1.34663164e-02 6.11080892e+02] [ 4.44102390e-02 9.99013360e-01 -1.90409699e-04 6.63719283e+00] [ 1.34614859e-02 -4.07837764e-04 9.99909307e-01 4.20234237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.199254154 meters 0.01977221713448115 Centerline is valid? [True, True] Translation: X:611.11, Y:6.64, Z:4.20 [[ 9.98982954e-01 -4.29983943e-02 -1.35718358e-02 6.11112380e+02] [ 4.29997566e-02 9.99075064e-01 -1.91543008e-04 6.63902209e+00] [ 1.35675187e-02 -3.92237435e-04 9.99907880e-01 4.20285295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2292541539999 meters 0.01989456719925031 Centerline is valid? [True, True] Translation: X:611.14, Y:6.64, Z:4.20 [[ 9.99011256e-01 -4.23192019e-02 -1.36233661e-02 6.11143807e+02] [ 4.23205181e-02 9.99104067e-01 -1.91790607e-04 6.63986641e+00] [ 1.36192769e-02 -3.84946937e-04 9.99907179e-01 4.20295197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2592541539999 meters 0.020034816481533123 Centerline is valid? [True, True] Translation: X:611.17, Y:6.64, Z:4.20 [[ 9.98992491e-01 -4.24400004e-02 -1.45893574e-02 6.11174815e+02] [ 4.24415324e-02 9.99098931e-01 -2.04729487e-04 6.64065917e+00] [ 1.45849001e-02 -4.14671464e-04 9.99893549e-01 4.20266822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2892541539999 meters 0.020590985606483158 Centerline is valid? [True, True] Translation: X:611.21, Y:6.64, Z:4.20 [[ 9.98948692e-01 -4.33712651e-02 -1.48473545e-02 6.11205776e+02] [ 4.33729641e-02 9.99058929e-01 -2.07706783e-04 6.64135586e+00] [ 1.48423905e-02 -4.36485352e-04 9.99889750e-01 4.20262640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.319254154 meters 0.021769418686707256 Centerline is valid? [True, True] Translation: X:611.24, Y:6.64, Z:4.20 [[ 9.98843335e-01 -4.56592737e-02 -1.50739273e-02 6.11235502e+02] [ 4.56612889e-02 9.98956957e-01 -2.10632908e-04 6.64165117e+00] [ 1.50678219e-02 -4.77905672e-04 9.99886360e-01 4.20328567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3492541539999 meters 0.02172299159128675 Centerline is valid? [True, True] Translation: X:611.27, Y:6.64, Z:4.20 [[ 9.98796211e-01 -4.67841272e-02 -1.47436359e-02 6.11266841e+02] [ 4.67861814e-02 9.98904906e-01 -2.05746255e-04 6.64338582e+00] [ 1.47371159e-02 -4.84299843e-04 9.99891286e-01 4.20421221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3792541539999 meters 0.02274309688919526 Centerline is valid? [True, True] Translation: X:611.30, Y:6.64, Z:4.20 [[ 9.98695196e-01 -4.89197645e-02 -1.46547783e-02 6.11298160e+02] [ 4.89220310e-02 9.98802580e-01 -2.04000102e-04 6.64418535e+00] [ 1.46472100e-02 -5.13207595e-04 9.99892592e-01 4.20479619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4092541539999 meters 0.02405551895560104 Centerline is valid? [True, True] Translation: X:611.33, Y:6.64, Z:4.20 [[ 9.98642167e-01 -5.00065354e-02 -1.46002689e-02 6.11328855e+02] [ 5.00089180e-02 9.98748751e-01 -2.02081149e-04 6.64358268e+00] [ 1.45921057e-02 -5.28336893e-04 9.99893390e-01 4.20466980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.439254154 meters 0.0247848235380967 Centerline is valid? [True, True] Translation: X:611.36, Y:6.64, Z:4.20 [[ 9.98570876e-01 -5.12900075e-02 -1.50180298e-02 6.11360425e+02] [ 5.12926925e-02 9.98683642e-01 -2.06594557e-04 6.64311139e+00] [ 1.50088570e-02 -5.64015879e-04 9.99887202e-01 4.20467017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4692541539999 meters 0.02531740617351168 Centerline is valid? [True, True] Translation: X:611.39, Y:6.64, Z:4.20 [[ 9.98501921e-01 -5.26041604e-02 -1.50570973e-02 6.11391890e+02] [ 5.26070181e-02 9.98615271e-01 -2.06501946e-04 6.64349443e+00] [ 1.50471101e-02 -5.85916399e-04 9.99886614e-01 4.20458097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4992541539999 meters 0.0229394772415471 Centerline is valid? [True, True] Translation: X:611.42, Y:6.65, Z:4.21 [[ 9.98394440e-01 -5.45732393e-02 -1.51757613e-02 6.11423481e+02] [ 5.45763797e-02 9.98509577e-01 -2.07441303e-04 6.64968494e+00] [ 1.51644638e-02 -6.21129868e-04 9.99884820e-01 4.20596596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5292541539999 meters 0.02414821892034715 Centerline is valid? [True, True] Translation: X:611.46, Y:6.65, Z:4.21 [[ 9.98431568e-01 -5.38286752e-02 -1.53908034e-02 6.11455158e+02] [ 5.38318323e-02 9.98549994e-01 -2.09375828e-04 6.65356973e+00] [ 1.53797571e-02 -6.19467713e-04 9.99881533e-01 4.20650705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.559254154 meters 0.023263431030008642 Centerline is valid? [True, True] Translation: X:611.49, Y:6.65, Z:4.21 [[ 9.98475649e-01 -5.31393540e-02 -1.49193939e-02 6.11486475e+02] [ 5.31422577e-02 9.98586931e-01 -2.02034159e-04 6.65498488e+00] [ 1.49090477e-02 -5.91124088e-04 9.99888679e-01 4.20745773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.589254154 meters 0.023410835240144506 Centerline is valid? [True, True] Translation: X:611.52, Y:6.66, Z:4.21 [[ 9.98548502e-01 -5.16945752e-02 -1.51181993e-02 6.11517955e+02] [ 5.16974126e-02 9.98662774e-01 -2.03328769e-04 6.65715305e+00] [ 1.51084938e-02 -5.78538149e-04 9.99885693e-01 4.20781064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6192541539999 meters 0.022307264376994485 Centerline is valid? [True, True] Translation: X:611.55, Y:6.66, Z:4.21 [[ 9.98715829e-01 -4.82080177e-02 -1.55781788e-02 6.11549593e+02] [ 4.82106279e-02 9.98837170e-01 -2.08156874e-04 6.66286588e+00] [ 1.55700988e-02 -5.43144216e-04 9.99878631e-01 4.20833849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6492541539999 meters 0.020496771631312343 Centerline is valid? [True, True] Translation: X:611.58, Y:6.67, Z:4.21 [[ 9.98825770e-01 -4.59574278e-02 -1.53295648e-02 6.11581201e+02] [ 4.59597009e-02 9.98943274e-01 -2.04159414e-04 6.66700612e+00] [ 1.53227483e-02 -5.00622530e-04 9.99882474e-01 4.20905662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6792541539999 meters 0.019648350959537722 Centerline is valid? [True, True] Translation: X:611.61, Y:6.67, Z:4.21 [[ 9.99012611e-01 -4.17223713e-02 -1.52658878e-02 6.11611940e+02] [ 4.17241399e-02 9.99129148e-01 -2.02767100e-04 6.67166029e+00] [ 1.52610534e-02 -4.34389146e-04 9.99883449e-01 4.20928994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.709254154 meters 0.019185903304726203 Centerline is valid? [True, True] Translation: X:611.64, Y:6.67, Z:4.21 [[ 9.99086874e-01 -3.98943348e-02 -1.52924897e-02 6.11643699e+02] [ 3.98959051e-02 9.99203821e-01 -2.02498213e-04 6.67431726e+00] [ 1.52883926e-02 -4.07794410e-04 9.99883043e-01 4.20956675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7392541539999 meters 0.017554502743798352 Centerline is valid? [True, True] Translation: X:611.68, Y:6.68, Z:4.21 [[ 9.99139190e-01 -3.84640176e-02 -1.55370190e-02 6.11675348e+02] [ 3.84654755e-02 9.99259909e-01 -2.05102738e-04 6.67964958e+00] [ 1.55334092e-02 -3.92712640e-04 9.99879272e-01 4.21073977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7692541539999 meters 0.01884814849757863 Centerline is valid? [True, True] Translation: X:611.71, Y:6.68, Z:4.21 [[ 9.99174845e-01 -3.73557430e-02 -1.59429773e-02 6.11705697e+02] [ 3.73571440e-02 9.99301956e-01 -2.10034727e-04 6.67875543e+00] [ 1.59396944e-02 -3.85722683e-04 9.99872881e-01 4.20966688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7992541539999 meters 0.018318713250254005 Centerline is valid? [True, True] Translation: X:611.74, Y:6.68, Z:4.21 [[ 9.99199320e-01 -3.61202404e-02 -1.72059965e-02 6.11735866e+02] [ 3.61216914e-02 9.99347373e-01 -2.26537149e-04 6.68110141e+00] [ 1.72029499e-02 -3.95153930e-04 9.99851940e-01 4.20900280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.829254154 meters 0.01709120632819192 Centerline is valid? [True, True] Translation: X:611.77, Y:6.68, Z:4.21 [[ 9.99199375e-01 -3.59286701e-02 -1.75994169e-02 6.11766825e+02] [ 3.59301654e-02 9.99354276e-01 -2.31330189e-04 6.68406999e+00] [ 1.75963639e-02 -4.01204981e-04 9.99845092e-01 4.20992572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8592541539999 meters 0.01709120632819192 Centerline is valid? [True, True] Translation: X:611.80, Y:6.68, Z:4.21 [[ 9.99199375e-01 -3.59286684e-02 -1.75994202e-02 6.11796832e+02] [ 3.59301681e-02 9.99354276e-01 -2.31079101e-04 6.68446385e+00] [ 1.75963582e-02 -4.01456033e-04 9.99845092e-01 4.21013360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8892541539999 meters 0.01687497338872611 Centerline is valid? [True, True] Translation: X:611.83, Y:6.69, Z:4.21 [[ 9.99191120e-01 -3.65276871e-02 -1.68176579e-02 6.11827302e+02] [ 3.65291413e-02 9.99332564e-01 -2.20814619e-04 6.68593857e+00] [ 1.68144991e-02 -3.93698596e-04 9.99858549e-01 4.21096411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9192541539999 meters 0.017644188221464744 Centerline is valid? [True, True] Translation: X:611.86, Y:6.69, Z:4.21 [[ 9.99161979e-01 -3.71899217e-02 -1.70953302e-02 6.11857126e+02] [ 3.71915212e-02 9.99308131e-01 -2.24460436e-04 6.68547345e+00] [ 1.70918501e-02 -4.11529002e-04 9.99853839e-01 4.21115488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.949254154 meters 0.01760526825754228 Centerline is valid? [True, True] Translation: X:611.89, Y:6.69, Z:4.21 [[ 9.99138428e-01 -3.77856138e-02 -1.71653375e-02 6.11888282e+02] [ 3.77873207e-02 9.99285779e-01 -2.25010641e-04 6.68693689e+00] [ 1.71615798e-02 -4.23815333e-04 9.99852639e-01 4.21177001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9792541539999 meters 0.018007087853837672 Centerline is valid? [True, True] Translation: X:611.92, Y:6.69, Z:4.21 [[ 9.99060679e-01 -3.97361443e-02 -1.72858013e-02 6.11919647e+02] [ 3.97381777e-02 9.99210101e-01 -2.25963503e-04 6.68835818e+00] [ 1.72811262e-02 -4.61154994e-04 9.99850564e-01 4.21211534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0092541539999 meters 0.01849158962845972 Centerline is valid? [True, True] Translation: X:611.95, Y:6.69, Z:4.21 [[ 9.99016657e-01 -4.09894949e-02 -1.68991219e-02 6.11951312e+02] [ 4.09916277e-02 9.99159466e-01 -2.20303300e-04 6.68832412e+00] [ 1.68939477e-02 -4.72635846e-04 9.99857175e-01 4.21239797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0392541539999 meters 0.02027169179333445 Centerline is valid? [True, True] Translation: X:611.98, Y:6.68, Z:4.21 [[ 9.98924733e-01 -4.34832811e-02 -1.60804903e-02 6.11981677e+02] [ 4.34855415e-02 9.99054035e-01 -2.09228948e-04 6.68469398e+00] [ 1.60743767e-02 -4.90264856e-04 9.99870679e-01 4.21236535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.069254154 meters 0.020848080302055313 Centerline is valid? [True, True] Translation: X:612.01, Y:6.68, Z:4.21 [[ 9.98885200e-01 -4.45342405e-02 -1.56543789e-02 6.12013354e+02] [ 4.45365206e-02 9.99007736e-01 -2.03106743e-04 6.68358778e+00] [ 1.56478908e-02 -4.94311250e-04 9.99877442e-01 4.21251425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0992541539999 meters 0.02179387508670808 Centerline is valid? [True, True] Translation: X:612.05, Y:6.68, Z:4.21 [[ 9.98821923e-01 -4.59229839e-02 -1.56794635e-02 6.12045094e+02] [ 4.59254527e-02 9.98944849e-01 -2.02766375e-04 6.68298552e+00] [ 1.56722309e-02 -5.17558957e-04 9.99877049e-01 4.21261318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1292541539999 meters 0.021238594714760747 Centerline is valid? [True, True] Translation: X:612.08, Y:6.69, Z:4.21 [[ 9.98761251e-01 -4.71816444e-02 -1.58068542e-02 6.12076407e+02] [ 4.71843197e-02 9.98886179e-01 -2.03857194e-04 6.68546579e+00] [ 1.57988665e-02 -5.42230994e-04 9.99875043e-01 4.21311638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1592541539999 meters 0.021440419513854416 Centerline is valid? [True, True] Translation: X:612.11, Y:6.69, Z:4.21 [[ 9.98760439e-01 -4.71630121e-02 -1.59134012e-02 6.12108096e+02] [ 4.71657353e-02 9.98887057e-01 -2.04346004e-04 6.68652744e+00] [ 1.59053281e-02 -5.46474565e-04 9.99873353e-01 4.21315674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.189254154 meters 0.021246391113191203 Centerline is valid? [True, True] Translation: X:612.14, Y:6.69, Z:4.21 [[ 9.98792753e-01 -4.64904871e-02 -1.58641282e-02 6.12139949e+02] [ 4.64931240e-02 9.98918589e-01 -2.02750685e-04 6.68797471e+00] [ 1.58563986e-02 -5.35066965e-04 9.99874136e-01 4.21372368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2192541539999 meters 0.021009340269372043 Centerline is valid? [True, True] Translation: X:612.17, Y:6.69, Z:4.21 [[ 9.98906885e-01 -4.39508988e-02 -1.59170784e-02 6.12169989e+02] [ 4.39532485e-02 9.99033569e-01 -2.02345407e-04 6.68989263e+00] [ 1.59105889e-02 -4.97483081e-04 9.99873295e-01 4.21411953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2492541539999 meters 0.02034598824971123 Centerline is valid? [True, True] Translation: X:612.20, Y:6.69, Z:4.21 [[ 9.98988959e-01 -4.20270498e-02 -1.59620428e-02 6.12201088e+02] [ 4.20291812e-02 9.99116363e-01 -2.02053415e-04 6.69152403e+00] [ 1.59564298e-02 -4.69022457e-04 9.99872578e-01 4.21430232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2792541539999 meters 0.019805862674348872 Centerline is valid? [True, True] Translation: X:612.23, Y:6.69, Z:4.21 [[ 9.99079186e-01 -3.97728383e-02 -1.60903941e-02 6.12231588e+02] [ 3.97747184e-02 9.99208652e-01 -2.03280757e-04 6.69337239e+00] [ 1.60857461e-02 -4.36897322e-04 9.99870521e-01 4.21431615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.309254154 meters 0.01816081761857077 Centerline is valid? [True, True] Translation: X:612.26, Y:6.70, Z:4.22 [[ 9.99296390e-01 -3.37473890e-02 -1.63657801e-02 6.12262938e+02] [ 3.37485339e-02 9.99430335e-01 -2.06294070e-04 6.70174362e+00] [ 1.63634190e-02 -3.46172167e-04 9.99866050e-01 4.21608494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.339254154 meters 0.01595821822398821 Centerline is valid? [True, True] Translation: X:612.29, Y:6.71, Z:4.22 [[ 9.99393158e-01 -3.10573643e-02 -1.57720164e-02 6.12293849e+02] [ 3.10580992e-02 9.99517561e-01 -1.98402275e-04 6.70598878e+00] [ 1.57705692e-02 -2.91566974e-04 9.99875594e-01 4.21764114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3692541539999 meters 0.015208861394143472 Centerline is valid? [True, True] Translation: X:612.32, Y:6.71, Z:4.22 [[ 9.99564341e-01 -2.50999661e-02 -1.55280254e-02 6.12323093e+02] [ 2.50999592e-02 9.99684927e-01 -1.95364532e-04 6.71049555e+00] [ 1.55280366e-02 -1.94473385e-04 9.99879414e-01 4.21749832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3992541539999 meters 0.015072583888068104 Centerline is valid? [True, True] Translation: X:612.35, Y:6.71, Z:4.22 [[ 9.99615548e-01 -2.26770111e-02 -1.59533340e-02 6.12352581e+02] [ 2.26766880e-02 9.99742831e-01 -2.01166233e-04 6.71276587e+00] [ 1.59537931e-02 -1.60679884e-04 9.99872717e-01 4.21712969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4292541539999 meters 0.01500006696556402 Centerline is valid? [True, True] Translation: X:612.38, Y:6.71, Z:4.22 [[ 9.99656972e-01 -2.04764922e-02 -1.63294494e-02 6.12381511e+02] [ 2.04758458e-02 9.99790327e-01 -2.06793201e-04 6.71370955e+00] [ 1.63302600e-02 -1.27637023e-04 9.99866644e-01 4.21552597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.459254154 meters 0.014464414483735812 Centerline is valid? [True, True] Translation: X:612.41, Y:6.72, Z:4.22 [[ 9.99691469e-01 -1.80969190e-02 -1.70137595e-02 6.12410594e+02] [ 1.80958211e-02 9.99836233e-01 -2.18493048e-04 6.71737334e+00] [ 1.70149272e-02 -8.94523112e-05 9.99855232e-01 4.21668319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4892541539999 meters 0.01428813965988595 Centerline is valid? [True, True] Translation: X:612.44, Y:6.72, Z:4.22 [[ 9.99691376e-01 -1.78802792e-02 -1.72466897e-02 6.12438443e+02] [ 1.78790359e-02 9.99840132e-01 -2.26283952e-04 6.71777844e+00] [ 1.72479785e-02 -8.21400692e-05 9.99851239e-01 4.21708867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5192541539999 meters 0.014708398547107196 Centerline is valid? [True, True] Translation: X:612.47, Y:6.72, Z:4.22 [[ 9.99660517e-01 -1.87265038e-02 -1.81154108e-02 6.12466020e+02] [ 1.87252141e-02 9.99824639e-01 -2.40829672e-04 6.71704421e+00] [ 1.81167440e-02 -9.84670310e-05 9.99835873e-01 4.21600146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5492541539999 meters 0.014449141647442381 Centerline is valid? [True, True] Translation: X:612.49, Y:6.72, Z:4.22 [[ 9.99640433e-01 -1.97047669e-02 -1.81859164e-02 6.12493979e+02] [ 1.97035586e-02 9.99805836e-01 -2.45636203e-04 6.71728795e+00] [ 1.81872255e-02 -1.12779388e-04 9.99834592e-01 4.21773135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.579254154 meters 0.014575562980957107 Centerline is valid? [True, True] Translation: X:612.52, Y:6.71, Z:4.22 [[ 9.99599807e-01 -2.21232157e-02 -1.76291887e-02 6.12522844e+02] [ 2.21223743e-02 9.99755241e-01 -2.42763115e-04 6.71473063e+00] [ 1.76302445e-02 -1.47333548e-04 9.99844564e-01 4.21865529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6092541539999 meters 0.014893115478927806 Centerline is valid? [True, True] Translation: X:612.55, Y:6.71, Z:4.22 [[ 9.99564260e-01 -2.37986029e-02 -1.74618558e-02 6.12552020e+02] [ 2.37979563e-02 9.99716759e-01 -2.44856405e-04 6.71287595e+00] [ 1.74627371e-02 -1.70806769e-04 9.99847500e-01 4.21871691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6392541539999 meters 0.014799547414390718 Centerline is valid? [True, True] Translation: X:612.58, Y:6.71, Z:4.22 [[ 9.99525490e-01 -2.54689820e-02 -1.73241232e-02 6.12581265e+02] [ 2.54685209e-02 9.99675594e-01 -2.47275944e-04 6.71081092e+00] [ 1.73248010e-02 -1.94061185e-04 9.99849896e-01 4.21900963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6692541539999 meters 0.0171168617871274 Centerline is valid? [True, True] Translation: X:612.61, Y:6.70, Z:4.22 [[ 9.99452113e-01 -2.84709683e-02 -1.68783191e-02 6.12609534e+02] [ 2.84709179e-02 9.99594592e-01 -2.43321634e-04 6.70417920e+00] [ 1.68784041e-02 -2.37352917e-04 9.99857521e-01 4.21798279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.699254154 meters 0.015568236911677589 Centerline is valid? [True, True] Translation: X:612.64, Y:6.70, Z:4.22 [[ 9.99426325e-01 -3.01498808e-02 -1.54274314e-02 6.12638751e+02] [ 3.01500270e-02 9.99545360e-01 -2.23161005e-04 6.70254337e+00] [ 1.54271458e-02 -2.42104491e-04 9.99880965e-01 4.21922703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7292541539999 meters 0.01621412857060608 Centerline is valid? [True, True] Translation: X:612.67, Y:6.70, Z:4.22 [[ 9.99385006e-01 -3.19366088e-02 -1.44797227e-02 6.12668703e+02] [ 3.19369314e-02 9.99489864e-01 -2.09014565e-04 6.69753352e+00] [ 1.44790113e-02 -2.53551887e-04 9.99895141e-01 4.21919480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7592541539999 meters 0.016202932062999453 Centerline is valid? [True, True] Translation: X:612.70, Y:6.70, Z:4.22 [[ 9.99364808e-01 -3.26774120e-02 -1.42185693e-02 6.12699888e+02] [ 3.26778102e-02 9.99465917e-01 -2.04381103e-04 6.69629447e+00] [ 1.42176540e-02 -2.60380427e-04 9.99898890e-01 4.21949272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7892541539999 meters 0.016983542016972678 Centerline is valid? [True, True] Translation: X:612.73, Y:6.69, Z:4.22 [[ 9.99337586e-01 -3.34014959e-02 -1.44474483e-02 6.12730308e+02] [ 3.34019924e-02 9.99441976e-01 -2.06999350e-04 6.69295884e+00] [ 1.44463003e-02 -2.75711325e-04 9.99895609e-01 4.21903780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.819254154 meters 0.017385219998557487 Centerline is valid? [True, True] Translation: X:612.76, Y:6.69, Z:4.22 [[ 9.99273090e-01 -3.51295420e-02 -1.48056615e-02 6.12761195e+02] [ 3.51302609e-02 9.99382719e-01 -2.11598166e-04 6.68914971e+00] [ 1.48039556e-02 -3.08682400e-04 9.99890368e-01 4.21876817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8492541539999 meters 0.016555695822340073 Centerline is valid? [True, True] Translation: X:612.79, Y:6.69, Z:4.22 [[ 9.99221429e-01 -3.63797944e-02 -1.52658840e-02 6.12792472e+02] [ 3.63807111e-02 9.99337979e-01 -2.17745287e-04 6.68950720e+00] [ 1.52636992e-02 -3.37807960e-04 9.99883446e-01 4.21959044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8792541539999 meters 0.017442811403384426 Centerline is valid? [True, True] Translation: X:612.82, Y:6.68, Z:4.22 [[ 9.99147310e-01 -3.84652720e-02 -1.50025011e-02 6.12822396e+02] [ 3.84663961e-02 9.99259871e-01 -2.13738029e-04 6.68335511e+00] [ 1.49996189e-02 -3.63536374e-04 9.99887433e-01 4.21856738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9092541539999 meters 0.017422619793159146 Centerline is valid? [True, True] Translation: X:612.85, Y:6.68, Z:4.22 [[ 9.99126886e-01 -3.91916708e-02 -1.44733927e-02 6.12854212e+02] [ 3.91927971e-02 9.99231646e-01 -2.05923474e-04 6.68097612e+00] [ 1.44703425e-02 -3.61509066e-04 9.99895234e-01 4.21889765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.939254154 meters 0.017677847726205648 Centerline is valid? [True, True] Translation: X:612.89, Y:6.68, Z:4.22 [[ 9.99114322e-01 -3.96176765e-02 -1.41778701e-02 6.12885534e+02] [ 3.96188073e-02 9.99214847e-01 -2.01206683e-04 6.67875621e+00] [ 1.41747096e-02 -3.60681825e-04 9.99899469e-01 4.21911614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9692541539999 meters 0.017196680517313875 Centerline is valid? [True, True] Translation: X:612.92, Y:6.68, Z:4.22 [[ 9.99135278e-01 -3.95545611e-02 -1.28114594e-02 6.12916957e+02] [ 3.95554850e-02 9.99217359e-01 -1.81368954e-04 6.67639357e+00] [ 1.28086066e-02 -3.25551370e-04 9.99917913e-01 4.21951793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9992541539999 meters 0.016796357420298613 Centerline is valid? [True, True] Translation: X:612.95, Y:6.68, Z:4.22 [[ 9.99162723e-01 -3.87710765e-02 -1.30635717e-02 6.12949483e+02] [ 3.87719797e-02 9.99248067e-01 -1.84211384e-04 6.67601452e+00] [ 1.30608909e-02 -3.22443391e-04 9.99914651e-01 4.21985202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0292541539999 meters 0.017085736887316766 Centerline is valid? [True, True] Translation: X:612.98, Y:6.67, Z:4.22 [[ 9.99218430e-01 -3.72034487e-02 -1.33578483e-02 6.12980365e+02] [ 3.72042650e-02 9.99307664e-01 -1.87463025e-04 6.67366535e+00] [ 1.33555744e-02 -3.09652416e-04 9.99910762e-01 4.21973331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.059254154 meters 0.016645721828644433 Centerline is valid? [True, True] Translation: X:613.01, Y:6.67, Z:4.22 [[ 9.99240560e-01 -3.65122492e-02 -1.36073374e-02 6.13010514e+02] [ 3.65130394e-02 9.99333158e-01 -1.90443523e-04 6.67242657e+00] [ 1.36052170e-02 -3.06546354e-04 9.99907398e-01 4.21920466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.089254154 meters 0.016507705844246184 Centerline is valid? [True, True] Translation: X:613.04, Y:6.67, Z:4.22 [[ 9.99266064e-01 -3.56305153e-02 -1.40641355e-02 6.13042195e+02] [ 3.56312777e-02 9.99364985e-01 -1.96441989e-04 6.67184825e+00] [ 1.40622039e-02 -3.04825303e-04 9.99901076e-01 4.21879737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1192541539999 meters 0.016425801727604317 Centerline is valid? [True, True] Translation: X:613.07, Y:6.67, Z:4.22 [[ 9.99280899e-01 -3.49355604e-02 -1.47374274e-02 6.13073029e+02] [ 3.49363281e-02 9.99389519e-01 -2.05436931e-04 6.66977286e+00] [ 1.47356075e-02 -3.09582398e-04 9.99891377e-01 4.21850680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1492541539999 meters 0.01656158225176327 Centerline is valid? [True, True] Translation: X:613.10, Y:6.67, Z:4.22 [[ 9.99270010e-01 -3.52306859e-02 -1.47731267e-02 6.13103895e+02] [ 3.52314935e-02 9.99379157e-01 -2.05666226e-04 6.66839458e+00] [ 1.47712007e-02 -3.14963226e-04 9.99890850e-01 4.21882118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1792541539999 meters 0.017270403913215205 Centerline is valid? [True, True] Translation: X:613.13, Y:6.66, Z:4.22 [[ 9.99206801e-01 -3.72570718e-02 -1.40598543e-02 6.13133972e+02] [ 3.72580107e-02 9.99305660e-01 -1.95245487e-04 6.66366891e+00] [ 1.40573663e-02 -3.28751584e-04 9.99901136e-01 4.21922143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.209254154 meters 0.01761459810213726 Centerline is valid? [True, True] Translation: X:613.17, Y:6.66, Z:4.22 [[ 9.99163530e-01 -3.83837847e-02 -1.41040629e-02 6.13165078e+02] [ 3.83848503e-02 9.99263011e-01 -1.95239817e-04 6.66195946e+00] [ 1.41011625e-02 -3.46305840e-04 9.99900514e-01 4.21945478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2392541539999 meters 0.018437429992655293 Centerline is valid? [True, True] Translation: X:613.20, Y:6.66, Z:4.22 [[ 9.99072533e-01 -4.07751665e-02 -1.38368790e-02 6.13195306e+02] [ 4.07764264e-02 9.99168277e-01 -1.91174540e-04 6.65758099e+00] [ 1.38331657e-02 -3.73221246e-04 9.99904248e-01 4.21921160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2692541539999 meters 0.019568697714790827 Centerline is valid? [True, True] Translation: X:613.23, Y:6.66, Z:4.22 [[ 9.99038277e-01 -4.15500625e-02 -1.40040544e-02 6.13225358e+02] [ 4.15514326e-02 9.99136348e-01 -1.93234661e-04 6.65558191e+00] [ 1.39999887e-02 -3.88839701e-04 9.99901920e-01 4.21909446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2992541539999 meters 0.019397062632588762 Centerline is valid? [True, True] Translation: X:613.26, Y:6.65, Z:4.22 [[ 9.99002318e-01 -4.26384962e-02 -1.32788478e-02 6.13256455e+02] [ 4.26398286e-02 9.99090492e-01 -1.82888609e-04 6.65426477e+00] [ 1.32745687e-02 -3.83501651e-04 9.99911815e-01 4.21954329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.329254154 meters 0.020254624115823065 Centerline is valid? [True, True] Translation: X:613.29, Y:6.65, Z:4.22 [[ 9.98939035e-01 -4.42000944e-02 -1.29288791e-02 6.13286859e+02] [ 4.42014926e-02 9.99022621e-01 -1.77726393e-04 6.65062614e+00] [ 1.29240982e-02 -3.93937924e-04 9.99916403e-01 4.21917039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3592541539999 meters 0.020949179266079684 Centerline is valid? [True, True] Translation: X:613.32, Y:6.65, Z:4.22 [[ 9.98891532e-01 -4.52555234e-02 -1.29478114e-02 6.13318594e+02] [ 4.52570185e-02 9.98975360e-01 -1.77656488e-04 6.64921983e+00] [ 1.29425845e-02 -4.08519778e-04 9.99916158e-01 4.21903866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3892541539999 meters 0.02153835585580591 Centerline is valid? [True, True] Translation: X:613.35, Y:6.65, Z:4.22 [[ 9.98853915e-01 -4.61370783e-02 -1.27367806e-02 6.13348882e+02] [ 4.61386010e-02 9.98935032e-01 -1.74424370e-04 6.64763292e+00] [ 1.27312638e-02 -4.13432772e-04 9.99918869e-01 4.21876030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4192541539999 meters 0.020020754883655494 Centerline is valid? [True, True] Translation: X:613.38, Y:6.65, Z:4.22 [[ 9.98724198e-01 -4.89628762e-02 -1.23536300e-02 6.13379607e+02] [ 4.89645290e-02 9.98800504e-01 -1.68815815e-04 6.65013480e+00] [ 1.23470776e-02 -4.36289235e-04 9.99923677e-01 4.21997796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.449254154 meters 0.02407525511652938 Centerline is valid? [True, True] Translation: X:613.41, Y:6.64, Z:4.22 [[ 9.98650933e-01 -5.05714059e-02 -1.17833027e-02 6.13409666e+02] [ 5.05730277e-02 9.98720353e-01 -1.60479929e-04 6.64394633e+00] [ 1.17763399e-02 -4.35653864e-04 9.99930562e-01 4.21956270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4792541539999 meters 0.0266551799597117 Centerline is valid? [True, True] Translation: X:613.44, Y:6.64, Z:4.22 [[ 9.98444243e-01 -5.43565258e-02 -1.24282310e-02 6.13439596e+02] [ 5.43586273e-02 9.98521463e-01 -1.68897850e-04 6.63975185e+00] [ 1.24190361e-02 -5.06946491e-04 9.99922752e-01 4.21891583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5092541539999 meters 0.02769968949058567 Centerline is valid? [True, True] Translation: X:613.47, Y:6.64, Z:4.22 [[ 9.98351568e-01 -5.60019692e-02 -1.25668820e-02 6.13470853e+02] [ 5.60042503e-02 9.98430516e-01 -1.70594278e-04 6.63839642e+00] [ 1.25567121e-02 -5.33485743e-04 9.99921019e-01 4.21900534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5392541539999 meters 0.02361114843015641 Centerline is valid? [True, True] Translation: X:613.50, Y:6.64, Z:4.22 [[ 9.98265868e-01 -5.75701486e-02 -1.22855203e-02 6.13502561e+02] [ 5.75724536e-02 9.98341317e-01 -1.66255307e-04 6.64486765e+00] [ 1.22747139e-02 -5.41340551e-04 9.99924516e-01 4.22004170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.569254154 meters 0.024193790762634722 Centerline is valid? [True, True] Translation: X:613.53, Y:6.64, Z:4.22 [[ 9.98092919e-01 -6.06196477e-02 -1.16526339e-02 6.13533890e+02] [ 6.06219349e-02 9.98160787e-01 -1.57156309e-04 6.64410743e+00] [ 1.16407290e-02 -5.49548615e-04 9.99932093e-01 4.22075001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5992541539999 meters 0.02535287082532406 Centerline is valid? [True, True] Translation: X:613.57, Y:6.64, Z:4.22 [[ 9.98049600e-01 -6.13732128e-02 -1.14159600e-02 6.13565358e+02] [ 6.13754628e-02 9.98114737e-01 -1.53467414e-04 6.64235668e+00] [ 1.14038567e-02 -5.47491738e-04 9.99934824e-01 4.22109478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6292541539999 meters 0.025928556526680566 Centerline is valid? [True, True] Translation: X:613.60, Y:6.64, Z:4.22 [[ 9.98019095e-01 -6.18972560e-02 -1.12523903e-02 6.13597392e+02] [ 6.18994831e-02 9.98082377e-01 -1.50579217e-04 6.64224147e+00] [ 1.12401329e-02 -5.46236207e-04 9.99936679e-01 4.22143981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6592541539999 meters 0.027109272236001875 Centerline is valid? [True, True] Translation: X:613.63, Y:6.64, Z:4.22 [[ 9.98063442e-01 -6.09970129e-02 -1.21955373e-02 6.13628605e+02] [ 6.09995720e-02 9.98137779e-01 -1.62371834e-04 6.64346100e+00] [ 1.21827307e-02 -5.81865164e-04 9.99925618e-01 4.22169231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.689254154 meters 0.02670221998318562 Centerline is valid? [True, True] Translation: X:613.66, Y:6.65, Z:4.22 [[ 9.98099568e-01 -6.02747794e-02 -1.28142108e-02 6.13660431e+02] [ 6.02775558e-02 9.98181641e-01 -1.69798235e-04 6.64594395e+00] [ 1.28011445e-02 -6.02933760e-04 9.99917880e-01 4.22150541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7192541539999 meters 0.025492756175249355 Centerline is valid? [True, True] Translation: X:613.69, Y:6.65, Z:4.22 [[ 9.98233884e-01 -5.77991177e-02 -1.37249482e-02 6.13691650e+02] [ 5.78020798e-02 9.98328046e-01 -1.81096375e-04 6.65015741e+00] [ 1.37124680e-02 -6.12554015e-04 9.99905792e-01 4.22128280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7492541539999 meters 0.02494212757238105 Centerline is valid? [True, True] Translation: X:613.72, Y:6.65, Z:4.22 [[ 9.98293425e-01 -5.67472747e-02 -1.37834876e-02 6.13723477e+02] [ 5.67501705e-02 9.98388394e-01 -1.81255413e-04 6.65180890e+00] [ 1.37715598e-02 -6.01269183e-04 9.99904987e-01 4.22187485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7792541539999 meters 0.02494212757238105 Centerline is valid? [True, True] Translation: X:613.76, Y:6.65, Z:4.22 [[ 9.98297460e-01 -5.66762492e-02 -1.37834988e-02 6.13755191e+02] [ 5.66791501e-02 9.98392429e-01 -1.80400008e-04 6.65216147e+00] [ 1.37715652e-02 -6.01144126e-04 9.99904987e-01 4.22209454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.809254154 meters 0.022919346798037504 Centerline is valid? [True, True] Translation: X:613.79, Y:6.66, Z:4.22 [[ 9.98364290e-01 -5.54998473e-02 -1.37299197e-02 6.13786929e+02] [ 5.55026282e-02 9.98458525e-01 -1.78708785e-04 6.65656712e+00] [ 1.37186737e-02 -5.83630160e-04 9.99905724e-01 4.22290513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.839254154 meters 0.021495815335417934 Centerline is valid? [True, True] Translation: X:613.82, Y:6.66, Z:4.22 [[ 9.98436786e-01 -5.42407823e-02 -1.34878054e-02 6.13818751e+02] [ 5.42433647e-02 9.98527730e-01 -1.74565272e-04 6.66024071e+00] [ 1.34774162e-02 -5.57331556e-04 9.99909020e-01 4.22356165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8692541539999 meters 0.024421456276968383 Centerline is valid? [True, True] Translation: X:613.85, Y:6.66, Z:4.22 [[ 9.98586950e-01 -5.15721714e-02 -1.28224113e-02 6.13849747e+02] [ 5.15742947e-02 9.98669147e-01 -1.65238198e-04 6.65765039e+00] [ 1.28138683e-02 -4.96302112e-04 9.99917776e-01 4.22375129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8992541539999 meters 0.021226067700372674 Centerline is valid? [True, True] Translation: X:613.88, Y:6.66, Z:4.23 [[ 9.98648303e-01 -5.04592617e-02 -1.24671745e-02 6.13881415e+02] [ 5.04611906e-02 9.98726010e-01 -1.60002477e-04 6.66446828e+00] [ 1.24593650e-02 -4.69322265e-04 9.99922269e-01 4.22538073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9292541539999 meters 0.020814581071273337 Centerline is valid? [True, True] Translation: X:613.91, Y:6.67, Z:4.23 [[ 9.98746754e-01 -4.84096694e-02 -1.27052965e-02 6.13912373e+02] [ 4.84115163e-02 9.98827462e-01 -1.62331115e-04 6.66807684e+00] [ 1.26982575e-02 -4.52954994e-04 9.99919271e-01 4.22543868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.959254154 meters 0.02141974866198353 Centerline is valid? [True, True] Translation: X:613.94, Y:6.67, Z:4.22 [[ 9.98767408e-01 -4.77348993e-02 -1.36031046e-02 6.13943304e+02] [ 4.77369625e-02 9.98859926e-01 -1.73170374e-04 6.66822567e+00] [ 1.35958623e-02 -4.76413968e-04 9.99907458e-01 4.22445673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9892541539999 meters 0.02126641701200299 Centerline is valid? [True, True] Translation: X:613.98, Y:6.67, Z:4.22 [[ 9.98759259e-01 -4.72798547e-02 -1.56383731e-02 6.13975495e+02] [ 4.72825425e-02 9.98881535e-01 -1.98024104e-04 6.67003795e+00] [ 1.56302446e-02 -5.41643632e-04 9.99877694e-01 4.22319835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0192541539999 meters 0.01985686375801484 Centerline is valid? [True, True] Translation: X:614.01, Y:6.67, Z:4.22 [[ 9.98745621e-01 -4.74950686e-02 -1.58557176e-02 6.14006857e+02] [ 4.74978720e-02 9.98871319e-01 -1.99941896e-04 6.67376346e+00] [ 1.58473178e-02 -5.53421752e-04 9.99874270e-01 4.22405174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0492541539999 meters 0.020973822332450136 Centerline is valid? [True, True] Translation: X:614.04, Y:6.67, Z:4.22 [[ 9.98742725e-01 -4.75692738e-02 -1.58156185e-02 6.14037933e+02] [ 4.75720842e-02 9.98867788e-01 -1.98686322e-04 6.67323526e+00] [ 1.58071633e-02 -5.53945418e-04 9.99874906e-01 4.22437478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.079254154 meters 0.019905154262257477 Centerline is valid? [True, True] Translation: X:614.07, Y:6.68, Z:4.23 [[ 9.98771633e-01 -4.71951288e-02 -1.50945308e-02 6.14069727e+02] [ 4.71976583e-02 9.98885552e-01 -1.88808043e-04 6.67661765e+00] [ 1.50866195e-02 -5.23850389e-04 9.99886053e-01 4.22562824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1092541539999 meters 0.019476937801198805 Centerline is valid? [True, True] Translation: X:614.10, Y:6.68, Z:4.23 [[ 9.98901205e-01 -4.47153448e-02 -1.40328095e-02 6.14101623e+02] [ 4.47172971e-02 9.98999666e-01 -1.74776787e-04 6.67940186e+00] [ 1.40265873e-02 -4.52924570e-04 9.99901520e-01 4.22668752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1392541539999 meters 0.018601531773380225 Centerline is valid? [True, True] Translation: X:614.13, Y:6.68, Z:4.23 [[ 9.99132002e-01 -3.96954705e-02 -1.26297765e-02 6.14131683e+02] [ 3.96966554e-02 9.99211765e-01 -1.56956519e-04 6.68389293e+00] [ 1.26260517e-02 -3.44539603e-04 9.99920229e-01 4.22815312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1692541539999 meters 0.017958795165436425 Centerline is valid? [True, True] Translation: X:614.16, Y:6.69, Z:4.23 [[ 9.99264921e-01 -3.62241679e-02 -1.25470225e-02 6.14162332e+02] [ 3.62250664e-02 9.99343645e-01 -1.55725047e-04 6.68756939e+00] [ 1.25444282e-02 -2.98906145e-04 9.99921271e-01 4.22849354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.199254154 meters 0.01699077218430403 Centerline is valid? [True, True] Translation: X:614.19, Y:6.69, Z:4.23 [[ 9.99397906e-01 -3.21960478e-02 -1.29321390e-02 6.14193294e+02] [ 3.21966714e-02 9.99481540e-01 -1.60031201e-04 6.69171906e+00] [ 1.29305866e-02 -2.56436983e-04 9.99916364e-01 4.22864569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2292541539999 meters 0.01625149380520892 Centerline is valid? [True, True] Translation: X:614.22, Y:6.70, Z:4.23 [[ 9.99513727e-01 -2.82991799e-02 -1.30944961e-02 6.14224322e+02] [ 2.82994880e-02 9.99599476e-01 -1.61803352e-04 6.69585047e+00] [ 1.30938303e-02 -2.08842862e-04 9.99914250e-01 4.22823712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2592541539999 meters 0.015224154044259018 Centerline is valid? [True, True] Translation: X:614.25, Y:6.70, Z:4.23 [[ 9.99687296e-01 -2.08931835e-02 -1.37399307e-02 6.14254412e+02] [ 2.08928230e-02 9.99781707e-01 -1.69796339e-04 6.70329322e+00] [ 1.37404789e-02 -1.17322697e-04 9.99905588e-01 4.22765714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2892541539999 meters 0.014826864899036833 Centerline is valid? [True, True] Translation: X:614.28, Y:6.71, Z:4.23 [[ 9.99739133e-01 -1.83846944e-02 -1.35524423e-02 6.14283087e+02] [ 1.83840902e-02 9.99830984e-01 -1.69169341e-04 6.70697763e+00] [ 1.35532619e-02 -8.00241127e-05 9.99908147e-01 4.22839688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.319254154 meters 0.014801436420291756 Centerline is valid? [True, True] Translation: X:614.31, Y:6.71, Z:4.23 [[ 9.99794126e-01 -1.54633803e-02 -1.31373380e-02 6.14312127e+02] [ 1.54625324e-02 9.99880434e-01 -1.66117846e-04 6.71008217e+00] [ 1.31383359e-02 -3.70528673e-05 9.99913688e-01 4.22867503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3492541539999 meters 0.014848570415833836 Centerline is valid? [True, True] Translation: X:614.34, Y:6.71, Z:4.23 [[ 9.99799476e-01 -1.54597364e-02 -1.27281305e-02 6.14341251e+02] [ 1.54589161e-02 9.99880491e-01 -1.62842941e-04 6.71089209e+00] [ 1.27291269e-02 -3.39528134e-05 9.99918981e-01 4.22909812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3792541539999 meters 0.016947203410387995 Centerline is valid? [True, True] Translation: X:614.37, Y:6.71, Z:4.23 [[ 9.99788240e-01 -1.55245331e-02 -1.35079258e-02 6.14368585e+02] [ 1.55235823e-02 9.99879487e-01 -1.75238511e-04 6.71116423e+00] [ 1.35090184e-02 -3.44899950e-05 9.99908748e-01 4.22834557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4092541539999 meters 0.01480998208336749 Centerline is valid? [True, True] Translation: X:614.40, Y:6.71, Z:4.23 [[ 9.99772496e-01 -1.72551087e-02 -1.25386586e-02 6.14396537e+02] [ 1.72543990e-02 9.99851118e-01 -1.64787698e-04 6.71167946e+00] [ 1.25396352e-02 -5.15968089e-05 9.99921374e-01 4.22951400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.439254154 meters 0.015284506485481025 Centerline is valid? [True, True] Translation: X:614.43, Y:6.71, Z:4.23 [[ 9.99678667e-01 -2.14530335e-02 -1.35029377e-02 6.14425506e+02] [ 2.14525438e-02 9.99769851e-01 -1.81121733e-04 6.71025672e+00] [ 1.35037156e-02 -1.08608830e-04 9.99908815e-01 4.22911076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4692541539999 meters 0.016347394909784856 Centerline is valid? [True, True] Translation: X:614.45, Y:6.71, Z:4.23 [[ 9.99532252e-01 -2.65799965e-02 -1.51255272e-02 6.14453748e+02] [ 2.65799320e-02 9.99646670e-01 -2.05330568e-04 6.70627716e+00] [ 1.51256406e-02 -1.96800961e-04 9.99885582e-01 4.22706119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4992541539999 meters 0.016833334123086616 Centerline is valid? [True, True] Translation: X:614.48, Y:6.70, Z:4.23 [[ 9.99451218e-01 -2.92073372e-02 -1.56267391e-02 6.14483442e+02] [ 2.92075771e-02 9.99573345e-01 -2.12923214e-04 6.70463534e+00] [ 1.56262908e-02 -2.43612822e-04 9.99877872e-01 4.22659306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5292541539999 meters 0.01721961654815733 Centerline is valid? [True, True] Translation: X:614.51, Y:6.70, Z:4.23 [[ 9.99365185e-01 -3.16403587e-02 -1.63741916e-02 6.14512892e+02] [ 3.16409391e-02 9.99499275e-01 -2.23682843e-04 6.70344239e+00] [ 1.63730701e-02 -2.94553955e-04 9.99865909e-01 4.22643731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.559254154 meters 0.018677445839654905 Centerline is valid? [True, True] Translation: X:614.54, Y:6.70, Z:4.23 [[ 9.99223588e-01 -3.61911156e-02 -1.55699668e-02 6.14542073e+02] [ 3.61921911e-02 9.99344825e-01 -2.12783746e-04 6.70003783e+00] [ 1.55674667e-02 -3.50892677e-04 9.99878758e-01 4.22683255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.589254154 meters 0.019924765724806507 Centerline is valid? [True, True] Translation: X:614.57, Y:6.70, Z:4.23 [[ 9.99157305e-01 -3.80443210e-02 -1.54048710e-02 6.14572208e+02] [ 3.80455978e-02 9.99275982e-01 -2.10272012e-04 6.69843096e+00] [ 1.54017172e-02 -3.75992709e-04 9.99881316e-01 4.22737465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6192541539999 meters 0.018397130425947858 Centerline is valid? [True, True] Translation: X:614.60, Y:6.70, Z:4.23 [[ 9.99012112e-01 -4.17328017e-02 -1.52699824e-02 6.14603208e+02] [ 4.17344933e-02 9.99128715e-01 -2.08006907e-04 6.70222221e+00] [ 1.52653586e-02 -4.29483557e-04 9.99883385e-01 4.23041275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6492541539999 meters 0.020625255559471027 Centerline is valid? [True, True] Translation: X:614.63, Y:6.70, Z:4.23 [[ 9.98931589e-01 -4.33052820e-02 -1.61348273e-02 6.14634494e+02] [ 4.33073855e-02 9.99061771e-01 -2.19175128e-04 6.70195422e+00] [ 1.61291806e-02 -4.79816228e-04 9.99869801e-01 4.22989469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6792541539999 meters 0.019182446884743617 Centerline is valid? [True, True] Translation: X:614.67, Y:6.70, Z:4.23 [[ 9.98833263e-01 -4.58441191e-02 -1.51799087e-02 6.14665891e+02] [ 4.58462821e-02 9.98948485e-01 -2.05653258e-04 6.70138252e+00] [ 1.51733748e-02 -4.90529061e-04 9.99884757e-01 4.23091573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.709254154 meters 0.024085348326044687 Centerline is valid? [True, True] Translation: X:614.70, Y:6.69, Z:4.23 [[ 9.98621876e-01 -5.04885088e-02 -1.43268523e-02 6.14695870e+02] [ 5.04909162e-02 9.98724501e-01 -1.93852401e-04 6.69274854e+00] [ 1.43183657e-02 -5.29790649e-04 9.99897347e-01 4.23000636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7392541539999 meters 0.022559108041284477 Centerline is valid? [True, True] Translation: X:614.73, Y:6.70, Z:4.23 [[ 9.98424301e-01 -5.45705703e-02 -1.30754770e-02 6.14726474e+02] [ 5.45729263e-02 9.98509772e-01 -1.76807568e-04 6.69649175e+00] [ 1.30656401e-02 -5.37038072e-04 9.99914497e-01 4.23244420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7692541539999 meters 0.022559108041284477 Centerline is valid? [True, True] Translation: X:614.76, Y:6.70, Z:4.23 [[ 9.98428318e-01 -5.44970320e-02 -1.30754849e-02 6.14758187e+02] [ 5.44993893e-02 9.98513788e-01 -1.76227671e-04 6.69686028e+00] [ 1.30656558e-02 -5.36655242e-04 9.99914497e-01 4.23266394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7992541539999 meters 0.02885199049354939 Centerline is valid? [True, True] Translation: X:614.79, Y:6.69, Z:4.23 [[ 9.98198260e-01 -5.85562918e-02 -1.30917335e-02 6.14787890e+02] [ 5.85590101e-02 9.98283933e-01 -1.75935653e-04 6.68904870e+00] [ 1.30795694e-02 -5.91020292e-04 9.99914284e-01 4.23242056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.829254154 meters 0.024255448854918753 Centerline is valid? [True, True] Translation: X:614.82, Y:6.70, Z:4.23 [[ 9.98061947e-01 -6.07481902e-02 -1.34910060e-02 6.14819619e+02] [ 6.07512816e-02 9.98152919e-01 -1.80935150e-04 6.69646410e+00] [ 1.34770785e-02 -6.39011418e-04 9.99908976e-01 4.23308734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8592541539999 meters 0.027845860280820152 Centerline is valid? [True, True] Translation: X:614.85, Y:6.69, Z:4.23 [[ 9.97774831e-01 -6.46494385e-02 -1.63045220e-02 6.14849424e+02] [ 6.46544811e-02 9.97907686e-01 -2.18201481e-04 6.69426173e+00] [ 1.62845144e-02 -8.36444461e-04 9.99867049e-01 4.23057599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8892541539999 meters 0.027635929790552568 Centerline is valid? [True, True] Translation: X:614.88, Y:6.69, Z:4.23 [[ 9.97609733e-01 -6.72534432e-02 -1.58680662e-02 6.14880482e+02] [ 6.72585504e-02 9.97735557e-01 -2.12197249e-04 6.69392792e+00] [ 1.58464048e-02 -8.55573088e-04 9.99874072e-01 4.23172584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9192541539999 meters 0.02947129573982707 Centerline is valid? [True, True] Translation: X:614.91, Y:6.69, Z:4.23 [[ 9.97485821e-01 -6.89407307e-02 -1.64077049e-02 6.14912176e+02] [ 6.89464294e-02 9.97620340e-01 -2.18765693e-04 6.69342933e+00] [ 1.63837420e-02 -9.13036989e-04 9.99865361e-01 4.23142403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.949254154 meters 0.02849703193510263 Centerline is valid? [True, True] Translation: X:614.94, Y:6.70, Z:4.23 [[ 9.97302531e-01 -7.16485277e-02 -1.59420780e-02 6.14943064e+02] [ 7.16542607e-02 9.97429507e-01 -2.12023953e-04 6.69625017e+00] [ 1.59162903e-02 -9.30865792e-04 9.99872895e-01 4.23333318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9792541539999 meters 0.02920631755617233 Centerline is valid? [True, True] Translation: X:614.97, Y:6.70, Z:4.23 [[ 9.97280556e-01 -7.19520473e-02 -1.59497880e-02 6.14974878e+02] [ 7.19578371e-02 9.97407652e-01 -2.11335679e-04 6.69662601e+00] [ 1.59236466e-02 -9.36951284e-04 9.99872772e-01 4.23364732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0092541539999 meters 0.028627586553964482 Centerline is valid? [True, True] Translation: X:615.01, Y:6.70, Z:4.23 [[ 9.97309368e-01 -7.14946132e-02 -1.62032304e-02 6.15006645e+02] [ 7.15005479e-02 9.97440538e-01 -2.13490744e-04 6.70111651e+00] [ 1.61770222e-02 -9.45623529e-04 9.99868696e-01 4.23443661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0392541539999 meters 0.030659477173457947 Centerline is valid? [True, True] Translation: X:615.04, Y:6.70, Z:4.23 [[ 9.97374047e-01 -7.05015108e-02 -1.65694413e-02 6.15037627e+02] [ 7.05076097e-02 9.97511218e-01 -2.16537744e-04 6.70156749e+00] [ 1.65434698e-02 -9.52302575e-04 9.99862694e-01 4.23434011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.069254154 meters 0.029842890843162988 Centerline is valid? [True, True] Translation: X:615.07, Y:6.71, Z:4.24 [[ 9.97493007e-01 -6.89752585e-02 -1.58150379e-02 6.15069248e+02] [ 6.89806463e-02 9.97617977e-01 -2.05220929e-04 6.70508550e+00] [ 1.57915212e-02 -8.86225091e-04 9.99874913e-01 4.23550356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0992541539999 meters 0.02759063451470266 Centerline is valid? [True, True] Translation: X:615.10, Y:6.71, Z:4.24 [[ 9.97860596e-01 -6.35835257e-02 -1.52107466e-02 6.15099855e+02] [ 6.35878917e-02 9.97976223e-01 -1.96918674e-04 6.71234634e+00] [ 1.51924842e-02 -7.70721920e-04 9.99884291e-01 4.23645629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1292541539999 meters 0.026244756812837944 Centerline is valid? [True, True] Translation: X:615.13, Y:6.72, Z:4.24 [[ 9.98070364e-01 -6.02182398e-02 -1.51430509e-02 6.15131762e+02] [ 6.02221873e-02 9.98184978e-01 -1.95598615e-04 6.71633579e+00] [ 1.51273445e-02 -7.16726466e-04 9.99885318e-01 4.23676058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1592541539999 meters 0.02345388626390565 Centerline is valid? [True, True] Translation: X:615.16, Y:6.73, Z:4.24 [[ 9.98497997e-01 -5.26455353e-02 -1.51722385e-02 6.15162504e+02] [ 5.26486310e-02 9.98613080e-01 -1.95588868e-04 6.72609646e+00] [ 1.51614927e-02 -6.03502495e-04 9.99884876e-01 4.23738495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.189254154 meters 0.022679570686379418 Centerline is valid? [True, True] Translation: X:615.19, Y:6.73, Z:4.24 [[ 9.98689046e-01 -4.87838202e-02 -1.55025143e-02 6.15192764e+02] [ 4.87865901e-02 9.98809205e-01 -1.99676201e-04 6.73106186e+00] [ 1.54937950e-02 -5.56900376e-04 9.99879809e-01 4.23772067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2192541539999 meters 0.02112826158977049 Centerline is valid? [True, True] Translation: X:615.22, Y:6.74, Z:4.24 [[ 9.98868309e-01 -4.47110421e-02 -1.62180334e-02 6.15224738e+02] [ 4.47135475e-02 9.98999827e-01 -2.08275634e-04 6.73727089e+00] [ 1.62111248e-02 -5.17125878e-04 9.99868457e-01 4.23805920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2492541539999 meters 0.01870060711061726 Centerline is valid? [True, True] Translation: X:615.25, Y:6.75, Z:4.24 [[ 9.99181959e-01 -3.71436132e-02 -1.59926553e-02 6.15254926e+02] [ 3.71450864e-02 9.99309862e-01 -2.05022596e-04 6.74774534e+00] [ 1.59892334e-02 -3.89193682e-04 9.99872088e-01 4.23927728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2792541539999 meters 0.017639933090682517 Centerline is valid? [True, True] Translation: X:615.29, Y:6.75, Z:4.24 [[ 9.99319846e-01 -3.36550694e-02 -1.50725170e-02 6.15286259e+02] [ 3.36559855e-02 9.99433458e-01 -1.92944621e-04 6.75190016e+00] [ 1.50704714e-02 -3.14467024e-04 9.99886385e-01 4.23963057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.309254154 meters 0.0168120763138751 Centerline is valid? [True, True] Translation: X:615.32, Y:6.76, Z:4.24 [[ 9.99420086e-01 -3.06077868e-02 -1.49216052e-02 6.15318160e+02] [ 3.06083548e-02 9.99531436e-01 -1.90361946e-04 6.75536778e+00] [ 1.49204401e-02 -2.66474234e-04 9.99888649e-01 4.23968920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.339254154 meters 0.01509369399165262 Centerline is valid? [True, True] Translation: X:615.35, Y:6.76, Z:4.24 [[ 9.99561994e-01 -2.53019323e-02 -1.53503531e-02 6.15349491e+02] [ 2.53019182e-02 9.99679836e-01 -1.95153684e-04 6.76333267e+00] [ 1.53503763e-02 -1.93325175e-04 9.99882157e-01 4.23991952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3692541539999 meters 0.015055751147270357 Centerline is valid? [True, True] Translation: X:615.38, Y:6.77, Z:4.24 [[ 9.99589979e-01 -2.36323427e-02 -1.61674647e-02 6.15379855e+02] [ 2.36321131e-02 9.99720702e-01 -2.05273770e-04 6.76691289e+00] [ 1.61678003e-02 -1.76881751e-04 9.99869277e-01 4.23999007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3992541539999 meters 0.015144679697599242 Centerline is valid? [True, True] Translation: X:615.41, Y:6.77, Z:4.24 [[ 9.99659464e-01 -2.04988181e-02 -1.61479051e-02 6.15409154e+02] [ 2.04981776e-02 9.99789869e-01 -2.05194302e-04 6.77244904e+00] [ 1.61487181e-02 -1.25878200e-04 9.99869593e-01 4.23906484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4292541539999 meters 0.014599819371928424 Centerline is valid? [True, True] Translation: X:615.44, Y:6.78, Z:4.24 [[ 9.99686308e-01 -1.93915248e-02 -1.58510057e-02 6.15437825e+02] [ 1.93907299e-02 9.99811961e-01 -2.03853097e-04 6.77670104e+00] [ 1.58519781e-02 -1.03573420e-04 9.99874344e-01 4.24135248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.459254154 meters 0.014678370908415424 Centerline is valid? [True, True] Translation: X:615.47, Y:6.78, Z:4.24 [[ 9.99699338e-01 -1.87701027e-02 -1.57770685e-02 6.15466081e+02] [ 1.87692001e-02 9.99823822e-01 -2.05291037e-04 6.77817151e+00] [ 1.57781423e-02 -9.08936424e-05 9.99875513e-01 4.24129824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4892541539999 meters 0.014478427762447925 Centerline is valid? [True, True] Translation: X:615.49, Y:6.78, Z:4.24 [[ 9.99687656e-01 -1.89366786e-02 -1.63092802e-02 6.15494935e+02] [ 1.89356893e-02 9.99820681e-01 -2.15093273e-04 6.77859461e+00] [ 1.63104288e-02 -9.38013721e-05 9.99866972e-01 4.24056612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5192541539999 meters 0.01463187696175107 Centerline is valid? [True, True] Translation: X:615.52, Y:6.78, Z:4.24 [[ 9.99676056e-01 -1.97444696e-02 -1.60604761e-02 6.15522330e+02] [ 1.97435734e-02 9.99805054e-01 -2.14369634e-04 6.77861256e+00] [ 1.60615778e-02 -1.02790998e-04 9.99870999e-01 4.24041196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5492541539999 meters 0.014890231055272813 Centerline is valid? [True, True] Translation: X:615.55, Y:6.78, Z:4.24 [[ 9.99625418e-01 -2.29903125e-02 -1.48482206e-02 6.15551300e+02] [ 2.29898668e-02 9.99735678e-01 -2.00725909e-04 6.77862087e+00] [ 1.48489107e-02 -1.40707894e-04 9.99889739e-01 4.24231585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.579254154 meters 0.01484739939299429 Centerline is valid? [True, True] Translation: X:615.58, Y:6.78, Z:4.24 [[ 9.99601181e-01 -2.48279011e-02 -1.34556547e-02 6.15581677e+02] [ 2.48276807e-02 9.99691729e-01 -1.83454796e-04 6.77931553e+00] [ 1.34560615e-02 -1.50691067e-04 9.99909452e-01 4.24425333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6092541539999 meters 0.015491453894206452 Centerline is valid? [True, True] Translation: X:615.61, Y:6.78, Z:4.24 [[ 9.99510667e-01 -2.88595788e-02 -1.20644535e-02 6.15611975e+02] [ 2.88596982e-02 9.99583459e-01 -1.64228274e-04 6.77552884e+00] [ 1.20641677e-02 -1.84028575e-04 9.99927208e-01 4.24474777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6392541539999 meters 0.01631425757414492 Centerline is valid? [True, True] Translation: X:615.64, Y:6.77, Z:4.24 [[ 9.99438412e-01 -3.13054153e-02 -1.19512518e-02 6.15642738e+02] [ 3.13057136e-02 9.99509843e-01 -1.62155810e-04 6.77196325e+00] [ 1.19504702e-02 -2.12077723e-04 9.99928568e-01 4.24469033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6692541539999 meters 0.01631425757414492 Centerline is valid? [True, True] Translation: X:615.67, Y:6.77, Z:4.24 [[ 9.99440635e-01 -3.12343405e-02 -1.19512601e-02 6.15674432e+02] [ 3.12346411e-02 9.99512067e-01 -1.61542677e-04 6.77233078e+00] [ 1.19504744e-02 -2.11841005e-04 9.99928568e-01 4.24490990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.699254154 meters 0.01637499724117316 Centerline is valid? [True, True] Translation: X:615.71, Y:6.77, Z:4.25 [[ 9.99350064e-01 -3.39422523e-02 -1.21397080e-02 6.15706170e+02] [ 3.39427718e-02 9.99423765e-01 -1.63298826e-04 6.77148142e+00] [ 1.21382554e-02 -2.48862646e-04 9.99926298e-01 4.24516298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7292541539999 meters 0.017685175503868767 Centerline is valid? [True, True] Translation: X:615.74, Y:6.77, Z:4.24 [[ 9.99165698e-01 -3.89549181e-02 -1.22646764e-02 6.15738183e+02] [ 3.89558352e-02 9.99240920e-01 -1.64198923e-04 6.76625290e+00] [ 1.22617629e-02 -3.13718781e-04 9.99924773e-01 4.24470311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7592541539999 meters 0.017884698349627883 Centerline is valid? [True, True] Translation: X:615.77, Y:6.76, Z:4.25 [[ 9.99082519e-01 -4.08751306e-02 -1.27806120e-02 6.15770262e+02] [ 4.08762959e-02 9.99164200e-01 -1.70142034e-04 6.76479900e+00] [ 1.27768846e-02 -3.52438147e-04 9.99918310e-01 4.24514545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7892541539999 meters 0.019202171641651628 Centerline is valid? [True, True] Translation: X:615.80, Y:6.76, Z:4.24 [[ 9.99010386e-01 -4.24594059e-02 -1.32456435e-02 6.15802455e+02] [ 4.24608100e-02 9.99098118e-01 -1.75327689e-04 6.76235702e+00] [ 1.32411418e-02 -3.87266571e-04 9.99912257e-01 4.24453394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.819254154 meters 0.021191606062483565 Centerline is valid? [True, True] Translation: X:615.83, Y:6.76, Z:4.24 [[ 9.99002732e-01 -4.23984279e-02 -1.39969649e-02 6.15834794e+02] [ 4.24000049e-02 9.99100698e-01 -1.84197092e-04 6.76148292e+00] [ 1.39921871e-02 -4.09457981e-04 9.99902021e-01 4.24338714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8492541539999 meters 0.01880705892113906 Centerline is valid? [True, True] Translation: X:615.87, Y:6.76, Z:4.24 [[ 9.98988734e-01 -4.26268306e-02 -1.42990264e-02 6.15865942e+02] [ 4.26285202e-02 9.99090974e-01 -1.86744003e-04 6.75932763e+00] [ 1.42939885e-02 -4.22991181e-04 9.99897746e-01 4.24398151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8792541539999 meters 0.01814860330428039 Centerline is valid? [True, True] Translation: X:615.90, Y:6.76, Z:4.24 [[ 9.99035671e-01 -4.07878584e-02 -1.62504696e-02 6.15898014e+02] [ 4.07898246e-02 9.99167727e-01 -2.10579554e-04 6.75882402e+00] [ 1.62455339e-02 -4.52477320e-04 9.99867930e-01 4.24253106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9092541539999 meters 0.01788301745586252 Centerline is valid? [True, True] Translation: X:615.93, Y:6.76, Z:4.24 [[ 9.99089489e-01 -3.91006207e-02 -1.70685112e-02 6.15929260e+02] [ 3.91025626e-02 9.99235178e-01 -2.20079988e-04 6.75917443e+00] [ 1.70640621e-02 -4.47542925e-04 9.99854298e-01 4.24230380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.939254154 meters 0.017092054947152626 Centerline is valid? [True, True] Translation: X:615.96, Y:6.76, Z:4.24 [[ 9.99286801e-01 -3.40580459e-02 -1.63076493e-02 6.15959275e+02] [ 3.40591560e-02 9.99419797e-01 -2.09731695e-04 6.76202399e+00] [ 1.63053306e-02 -3.45842658e-04 9.99866999e-01 4.24260813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9692541539999 meters 0.016106108000524734 Centerline is valid? [True, True] Translation: X:615.99, Y:6.77, Z:4.24 [[ 9.99397915e-01 -3.07810410e-02 -1.60104943e-02 6.15990575e+02] [ 3.07816980e-02 9.99526110e-01 -2.05450923e-04 6.76564005e+00] [ 1.60092311e-02 -2.87502978e-04 9.99871803e-01 4.24357873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9992541539999 meters 0.014996474388472604 Centerline is valid? [True, True] Translation: X:616.02, Y:6.77, Z:4.24 [[ 9.99602507e-01 -2.35199986e-02 -1.55446927e-02 6.16020864e+02] [ 2.35197439e-02 9.99723353e-01 -1.99226034e-04 6.77023186e+00] [ 1.55450781e-02 -1.66460348e-04 9.99879154e-01 4.24356564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0292541539999 meters 0.014844114768076185 Centerline is valid? [True, True] Translation: X:616.05, Y:6.77, Z:4.24 [[ 9.99670512e-01 -2.03119837e-02 -1.56936215e-02 6.16050515e+02] [ 2.03113263e-02 9.99793683e-01 -2.01294553e-04 6.77201618e+00] [ 1.56944723e-02 -1.17530038e-04 9.99876827e-01 4.24329491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.059254154 meters 0.017277291549747206 Centerline is valid? [True, True] Translation: X:616.08, Y:6.77, Z:4.24 [[ 9.99732732e-01 -1.69084792e-02 -1.57660517e-02 6.16079246e+02] [ 1.69073553e-02 9.99857040e-01 -2.04582486e-04 6.77383138e+00] [ 1.57672570e-02 -6.20344299e-05 9.99875687e-01 4.24255229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.089254154 meters 0.014436545806690224 Centerline is valid? [True, True] Translation: X:616.11, Y:6.78, Z:4.25 [[ 9.99846682e-01 -1.13175526e-02 -1.33613635e-02 6.16107347e+02] [ 1.13162186e-02 9.99935954e-01 -1.75437037e-04 6.77681121e+00] [ 1.33624933e-02 2.42100285e-05 9.99910718e-01 4.24516307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1192541539999 meters 0.014680034947294312 Centerline is valid? [True, True] Translation: X:616.14, Y:6.78, Z:4.25 [[ 9.99872134e-01 -9.15950037e-03 -1.31079833e-02 6.16135165e+02] [ 9.15800022e-03 9.99958049e-01 -1.74465898e-04 6.77816106e+00] [ 1.31090314e-02 5.44006764e-05 9.99914071e-01 4.24572863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1492541539999 meters 0.014850566027288849 Centerline is valid? [True, True] Translation: X:616.16, Y:6.78, Z:4.25 [[ 9.99888705e-01 -5.62369523e-03 -1.38185108e-02 6.16163524e+02] [ 5.62163820e-03 9.99984181e-01 -1.87699015e-04 6.77884307e+00] [ 1.38193477e-02 1.09995457e-04 9.99904502e-01 4.24549485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1792541539999 meters 0.015028240155692712 Centerline is valid? [True, True] Translation: X:616.19, Y:6.78, Z:4.25 [[ 9.99884309e-01 -4.92172722e-03 -1.43925120e-02 6.16192525e+02] [ 4.91937079e-03 9.99987880e-01 -1.99124515e-04 6.77875887e+00] [ 1.43933176e-02 1.28299375e-04 9.99896403e-01 4.24524057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.209254154 meters 0.015209875278568775 Centerline is valid? [True, True] Translation: X:616.22, Y:6.78, Z:4.24 [[ 9.99873078e-01 -5.01748539e-03 -1.51212696e-02 6.16220796e+02] [ 5.01483346e-03 9.99987403e-01 -2.13290360e-04 6.77785433e+00] [ 1.51221493e-02 1.37432640e-04 9.99885644e-01 4.24450622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2392541539999 meters 0.014991901886986009 Centerline is valid? [True, True] Translation: X:616.25, Y:6.77, Z:4.24 [[ 9.99846279e-01 -6.77296595e-03 -1.61723682e-02 6.16248395e+02] [ 6.77011564e-03 9.99977056e-01 -2.30987715e-04 6.77296716e+00] [ 1.61735617e-02 1.21463404e-04 9.99869192e-01 4.24322494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2692541539999 meters 0.014792253145775577 Centerline is valid? [True, True] Translation: X:616.28, Y:6.77, Z:4.24 [[ 9.99835435e-01 -8.08155616e-03 -1.62416723e-02 6.16277711e+02] [ 8.07882366e-03 9.99967338e-01 -2.33845340e-04 6.77000534e+00] [ 1.62430317e-02 1.02593250e-04 9.99868068e-01 4.24353729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2992541539999 meters 0.014527724629007838 Centerline is valid? [True, True] Translation: X:616.31, Y:6.77, Z:4.24 [[ 9.99806849e-01 -1.06633416e-02 -1.65093548e-02 6.16306779e+02] [ 1.06608433e-02 9.99943143e-01 -2.39332333e-04 6.76595141e+00] [ 1.65109682e-02 6.32824614e-05 9.99863683e-01 4.24426343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.329254154 meters 0.014577655093802325 Centerline is valid? [True, True] Translation: X:616.33, Y:6.76, Z:4.24 [[ 9.99778244e-01 -1.21719440e-02 -1.71844892e-02 6.16334743e+02] [ 1.21694001e-02 9.99925918e-01 -2.52600632e-04 6.76482469e+00] [ 1.71862908e-02 4.34196912e-05 9.99852304e-01 4.24488630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3592541539999 meters 0.014540833407364498 Centerline is valid? [True, True] Translation: X:616.36, Y:6.76, Z:4.25 [[ 9.99726483e-01 -1.46079070e-02 -1.82638543e-02 6.16363576e+02] [ 1.46053475e-02 9.99893299e-01 -2.73528319e-04 6.76259418e+00] [ 1.82659012e-02 6.70356682e-06 9.99833164e-01 4.24614124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3892541539999 meters 0.014582015313407718 Centerline is valid? [True, True] Translation: X:616.39, Y:6.76, Z:4.25 [[ 9.99703848e-01 -1.57091122e-02 -1.85860161e-02 6.16391311e+02] [ 1.57065981e-02 9.99876604e-01 -2.81239294e-04 6.76108734e+00] [ 1.85881407e-02 -1.07670823e-05 9.99827226e-01 4.24542663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4192541539999 meters 0.014550090952244606 Centerline is valid? [True, True] Translation: X:616.42, Y:6.76, Z:4.25 [[ 9.99658451e-01 -1.87049281e-02 -1.82511957e-02 6.16418775e+02] [ 1.87029312e-02 9.99825046e-01 -2.80108465e-04 6.75783482e+00] [ 1.82532420e-02 -6.13380641e-05 9.99833394e-01 4.24722487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.449254154 meters 0.014474426158041105 Centerline is valid? [True, True] Translation: X:616.45, Y:6.76, Z:4.25 [[ 9.99632581e-01 -2.02461892e-02 -1.80220617e-02 6.16446963e+02] [ 2.02443972e-02 9.99795021e-01 -2.81888156e-04 6.75685826e+00] [ 1.80240747e-02 -8.30611899e-05 9.99837550e-01 4.24844337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4792541539999 meters 0.014449683214059551 Centerline is valid? [True, True] Translation: X:616.47, Y:6.76, Z:4.25 [[ 9.99609540e-01 -2.21748390e-02 -1.70012953e-02 6.16474995e+02] [ 2.21734394e-02 9.99754102e-01 -2.70843394e-04 6.75626807e+00] [ 1.70031206e-02 -1.06239551e-04 9.99855431e-01 4.24919852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5092541539999 meters 0.014841281263233827 Centerline is valid? [True, True] Translation: X:616.50, Y:6.75, Z:4.25 [[ 9.99517496e-01 -2.65102730e-02 -1.61858210e-02 6.16503205e+02] [ 2.65095209e-02 9.99648527e-01 -2.61058309e-04 6.75378280e+00] [ 1.61870528e-02 -1.68146013e-04 9.99868967e-01 4.25010967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5392541539999 meters 0.015639866620711963 Centerline is valid? [True, True] Translation: X:616.53, Y:6.75, Z:4.25 [[ 9.99358002e-01 -3.13911432e-02 -1.72678849e-02 6.16532303e+02] [ 3.13910023e-02 9.99507142e-01 -2.79276466e-04 6.75053827e+00] [ 1.72681411e-02 -2.62959044e-04 9.99850860e-01 4.24956004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.569254154 meters 0.015912357018194868 Centerline is valid? [True, True] Translation: X:616.56, Y:6.75, Z:4.25 [[ 9.99258613e-01 -3.39470081e-02 -1.81610953e-02 6.16562861e+02] [ 3.39472772e-02 9.99423582e-01 -2.93556422e-04 6.74953839e+00] [ 1.81605922e-02 -3.23180952e-04 9.99835031e-01 4.24904756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5992541539999 meters 0.016795893564002413 Centerline is valid? [True, True] Translation: X:616.59, Y:6.75, Z:4.25 [[ 9.99133024e-01 -3.69971823e-02 -1.90894986e-02 6.16592410e+02] [ 3.69980319e-02 9.99315291e-01 -3.08782664e-04 6.74753754e+00] [ 1.90878519e-02 -3.97758921e-04 9.99817731e-01 4.24780887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6292541539999 meters 0.017756143943748446 Centerline is valid? [True, True] Translation: X:616.62, Y:6.75, Z:4.25 [[ 9.98989475e-01 -4.02494567e-02 -2.00002317e-02 6.16622474e+02] [ 4.02510334e-02 9.99189546e-01 -3.23879363e-04 6.74563665e+00] [ 1.99970584e-02 -4.81477917e-04 9.99799923e-01 4.24709463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6592541539999 meters 0.020903265148482366 Centerline is valid? [True, True] Translation: X:616.65, Y:6.74, Z:4.25 [[ 9.98644763e-01 -4.76187768e-02 -2.10021464e-02 6.16652121e+02] [ 4.76221352e-02 9.98865364e-01 -3.40484327e-04 6.74081119e+00] [ 2.09945300e-02 -6.60144164e-04 9.99779373e-01 4.24638632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.689254154 meters 0.020422319836760995 Centerline is valid? [True, True] Translation: X:616.68, Y:6.74, Z:4.25 [[ 9.98466016e-01 -5.14550634e-02 -2.04448449e-02 6.16682962e+02] [ 5.14590516e-02 9.98675050e-01 -3.31321931e-04 6.74253817e+00] [ 2.04348047e-02 -7.21258643e-04 9.99790927e-01 4.24832962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7192541539999 meters 0.022988642205404124 Centerline is valid? [True, True] Translation: X:616.71, Y:6.74, Z:4.25 [[ 9.98057421e-01 -5.89153734e-02 -2.02574294e-02 6.16713570e+02] [ 5.89208261e-02 9.98262605e-01 -3.28094130e-04 6.73966961e+00] [ 2.02415640e-02 -8.66127694e-04 9.99794743e-01 4.24888786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7492541539999 meters 0.024640400740474043 Centerline is valid? [True, True] Translation: X:616.74, Y:6.74, Z:4.25 [[ 9.97872751e-01 -6.19579163e-02 -2.02778301e-02 6.16743329e+02] [ 6.19640075e-02 9.98078331e-01 -3.28390696e-04 6.73803531e+00] [ 2.02592093e-02 -9.28803492e-04 9.99794330e-01 4.24878288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7792541539999 meters 0.025531379984860703 Centerline is valid? [True, True] Translation: X:616.77, Y:6.74, Z:4.25 [[ 9.97716430e-01 -6.44528268e-02 -2.01930379e-02 6.16774473e+02] [ 6.44593866e-02 9.97920278e-01 -3.26536695e-04 6.73795141e+00] [ 2.01720882e-02 -9.75839812e-04 9.99796046e-01 4.24897133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.809254154 meters 0.025596968519838236 Centerline is valid? [True, True] Translation: X:616.81, Y:6.74, Z:4.25 [[ 9.97540726e-01 -6.72154198e-02 -1.98642378e-02 6.16805092e+02] [ 6.72223235e-02 9.97737970e-01 -3.20733912e-04 6.74205635e+00] [ 1.98408625e-02 -1.01537508e-03 9.99802635e-01 4.25009062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.839254154 meters 0.027857342025849323 Centerline is valid? [True, True] Translation: X:616.84, Y:6.74, Z:4.25 [[ 9.97522662e-01 -6.73225345e-02 -2.04013405e-02 6.16835863e+02] [ 6.73298569e-02 9.97730716e-01 -3.28530685e-04 6.74155240e+00] [ 2.03771616e-02 -1.04590253e-03 9.99791817e-01 4.24954966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8692541539999 meters 0.026180447318275745 Centerline is valid? [True, True] Translation: X:616.87, Y:6.75, Z:4.25 [[ 9.97575106e-01 -6.63342195e-02 -2.10637091e-02 6.16867718e+02] [ 6.63418356e-02 9.97796897e-01 -3.37770808e-04 6.74904983e+00] [ 2.10397093e-02 -1.06045338e-03 9.99778078e-01 4.25006371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8992541539999 meters 0.024358538728412617 Centerline is valid? [True, True] Translation: X:616.90, Y:6.75, Z:4.25 [[ 9.97617769e-01 -6.56458307e-02 -2.11993506e-02 6.16899953e+02] [ 6.56534236e-02 9.97842429e-01 -3.38366304e-04 6.75461535e+00] [ 2.11758238e-02 -1.05424971e-03 9.99775211e-01 4.25088803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9292541539999 meters 0.024602336880109307 Centerline is valid? [True, True] Translation: X:616.93, Y:6.76, Z:4.25 [[ 9.97666213e-01 -6.49854455e-02 -2.09527701e-02 6.16931799e+02] [ 6.49927501e-02 9.97885681e-01 -3.32872831e-04 6.75680424e+00] [ 2.09301011e-02 -1.02968217e-03 9.99780411e-01 4.25091655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.959254154 meters 0.026039023394785393 Centerline is valid? [True, True] Translation: X:616.96, Y:6.76, Z:4.25 [[ 9.97758670e-01 -6.37970778e-02 -2.01883353e-02 6.16963359e+02] [ 6.38036460e-02 9.97962421e-01 -3.19253706e-04 6.75966091e+00] [ 2.01675674e-02 -9.69551247e-04 9.99796144e-01 4.25139290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9892541539999 meters 0.027128797266696755 Centerline is valid? [True, True] Translation: X:616.99, Y:6.76, Z:4.25 [[ 9.97869703e-01 -6.20384721e-02 -2.01812607e-02 6.16994657e+02] [ 6.20446967e-02 9.98073321e-01 -3.18152589e-04 6.76401204e+00] [ 2.01621156e-02 -9.34665370e-04 9.99796287e-01 4.25149532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0192541539999 meters 0.025363975727683393 Centerline is valid? [True, True] Translation: X:617.03, Y:6.77, Z:4.25 [[ 9.97906520e-01 -6.19460363e-02 -1.85813351e-02 6.17027007e+02] [ 6.19513167e-02 9.98079130e-01 -2.91857926e-04 6.76751870e+00] [ 1.85637222e-02 -8.59891247e-04 9.99827309e-01 4.25252330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0492541539999 meters 0.024832138949760406 Centerline is valid? [True, True] Translation: X:617.06, Y:6.77, Z:4.25 [[ 9.97968036e-01 -6.10499539e-02 -1.82401196e-02 6.17059260e+02] [ 6.10549167e-02 9.98134368e-01 -2.85185764e-04 6.77128123e+00] [ 1.82235009e-02 -8.29042708e-04 9.99833595e-01 4.25270957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.079254154 meters 0.023131039144923028 Centerline is valid? [True, True] Translation: X:617.09, Y:6.78, Z:4.25 [[ 9.98034485e-01 -5.99011392e-02 -1.84125007e-02 6.17091105e+02] [ 5.99060262e-02 9.98203980e-01 -2.86520397e-04 6.77668889e+00] [ 1.83965944e-02 -8.17062515e-04 9.99830434e-01 4.25335467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1092541539999 meters 0.02360885348727187 Centerline is valid? [True, True] Translation: X:617.12, Y:6.78, Z:4.25 [[ 9.98113183e-01 -5.84994593e-02 -1.86517483e-02 6.17122589e+02] [ 5.85042517e-02 9.98287117e-01 -2.89074452e-04 6.77901818e+00] [ 1.86367107e-02 -8.02677552e-04 9.99825999e-01 4.25312204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1392541539999 meters 0.02187373023188019 Centerline is valid? [True, True] Translation: X:617.15, Y:6.79, Z:4.25 [[ 9.98337320e-01 -5.45667020e-02 -1.85760592e-02 6.17153752e+02] [ 5.45707908e-02 9.98509863e-01 -2.87091494e-04 6.78737152e+00] [ 1.85640439e-02 -7.27096087e-04 9.99827409e-01 4.25396268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1692541539999 meters 0.020858833158766046 Centerline is valid? [True, True] Translation: X:617.18, Y:6.79, Z:4.25 [[ 9.98631316e-01 -4.93206285e-02 -1.74060463e-02 6.17183929e+02] [ 4.93234266e-02 9.98782823e-01 -2.68770157e-04 6.79366628e+00] [ 1.73981160e-02 -5.90123553e-04 9.99848467e-01 4.25442816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.199254154 meters 0.01999100480110565 Centerline is valid? [True, True] Translation: X:617.22, Y:6.80, Z:4.25 [[ 9.98783345e-01 -4.63553972e-02 -1.68228288e-02 6.17215393e+02] [ 4.63575966e-02 9.98924875e-01 -2.59407303e-04 6.79765952e+00] [ 1.68167671e-02 -5.20774217e-04 9.99858453e-01 4.25475507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2292541539999 meters 0.020597182121229806 Centerline is valid? [True, True] Translation: X:617.25, Y:6.80, Z:4.25 [[ 9.98911571e-01 -4.30353219e-02 -1.79898586e-02 6.17245853e+02] [ 4.30373075e-02 9.99073427e-01 -2.76938791e-04 6.80168090e+00] [ 1.79851079e-02 -4.97597714e-04 9.99838131e-01 4.25431051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2592541539999 meters 0.017799462723374713 Centerline is valid? [True, True] Translation: X:617.28, Y:6.81, Z:4.25 [[ 9.99137604e-01 -3.76277476e-02 -1.75556381e-02 6.17277364e+02] [ 3.76288162e-02 9.99291749e-01 -2.69569721e-04 6.81017095e+00] [ 1.75533476e-02 -3.91260635e-04 9.99845852e-01 4.25407069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2892541539999 meters 0.0177020461709106 Centerline is valid? [True, True] Translation: X:617.31, Y:6.81, Z:4.25 [[ 9.99257045e-01 -3.41734592e-02 -1.78194240e-02 6.17308084e+02] [ 3.41740246e-02 9.99415860e-01 -2.72865945e-04 6.81450239e+00] [ 1.78183397e-02 -3.36298215e-04 9.99841184e-01 4.25408644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.319254154 meters 0.016193977158384037 Centerline is valid? [True, True] Translation: X:617.34, Y:6.82, Z:4.25 [[ 9.99367054e-01 -3.10174847e-02 -1.74185596e-02 6.17339530e+02] [ 3.10175562e-02 9.99518804e-01 -2.66121489e-04 6.81923610e+00] [ 1.74184323e-02 -2.74328102e-04 9.99848250e-01 4.25457166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3492541539999 meters 0.015071097539902961 Centerline is valid? [True, True] Translation: X:617.37, Y:6.83, Z:4.26 [[ 9.99581306e-01 -2.37924008e-02 -1.64661739e-02 6.17370482e+02] [ 2.37914938e-02 9.99716911e-01 -2.51004577e-04 6.82719459e+00] [ 1.64674845e-02 -1.40855392e-04 9.99864392e-01 4.25516861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3792541539999 meters 0.014749930611535232 Centerline is valid? [True, True] Translation: X:617.40, Y:6.83, Z:4.26 [[ 9.99660995e-01 -2.06237450e-02 -1.58919908e-02 6.17400745e+02] [ 2.06225034e-02 9.99787304e-01 -2.42016564e-04 6.83163822e+00] [ 1.58936020e-02 -8.57981158e-05 9.99873685e-01 4.25628300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4092541539999 meters 0.014645014461501835 Centerline is valid? [True, True] Translation: X:617.43, Y:6.84, Z:4.26 [[ 9.99766938e-01 -1.60774060e-02 -1.44078497e-02 6.17430596e+02] [ 1.60759095e-02 9.99870750e-01 -2.19680280e-04 6.83769435e+00] [ 1.44095194e-02 -1.19902068e-05 9.99896177e-01 4.25683564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.439254154 meters 0.01462545662947561 Centerline is valid? [True, True] Translation: X:617.46, Y:6.84, Z:4.26 [[ 9.99797925e-01 -1.45191944e-02 -1.39032934e-02 6.17458736e+02] [ 1.45176406e-02 9.99894591e-01 -2.12687202e-04 6.83988943e+00] [ 1.39049159e-02 1.08012068e-05 9.99903322e-01 4.25702407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4692541539999 meters 0.015898545373888705 Centerline is valid? [True, True] Translation: X:617.49, Y:6.84, Z:4.26 [[ 9.99806594e-01 -1.35692178e-02 -1.42355290e-02 6.17487125e+02] [ 1.35674805e-02 9.99907934e-01 -2.18615893e-04 6.84164458e+00] [ 1.42371848e-02 2.54333501e-05 9.99898646e-01 4.25661894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4992541539999 meters 0.01468068722031158 Centerline is valid? [True, True] Translation: X:617.52, Y:6.84, Z:4.26 [[ 9.99802541e-01 -1.46083158e-02 -1.34712752e-02 6.17515571e+02] [ 1.46068280e-02 9.99893293e-01 -2.08830305e-04 6.84306616e+00] [ 1.34728884e-02 1.20164699e-05 9.99909236e-01 4.25703400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5292541539999 meters 0.014713076639995167 Centerline is valid? [True, True] Translation: X:617.54, Y:6.84, Z:4.26 [[ 9.99786657e-01 -1.56863191e-02 -1.34379845e-02 6.17544125e+02] [ 1.56849086e-02 9.99876962e-01 -2.10360152e-04 6.84337928e+00] [ 1.34396309e-02 -4.58285126e-07 9.99909684e-01 4.25656326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.559254154 meters 0.014627153152929595 Centerline is valid? [True, True] Translation: X:617.57, Y:6.84, Z:4.26 [[ 9.99717474e-01 -1.92997198e-02 -1.38741802e-02 6.17573309e+02] [ 1.92985539e-02 9.99813742e-01 -2.17924189e-04 6.84149540e+00] [ 1.38758019e-02 -4.98889956e-05 9.99903725e-01 4.25644098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.589254154 meters 0.014627153152929595 Centerline is valid? [True, True] Translation: X:617.60, Y:6.84, Z:4.26 [[ 9.99717474e-01 -1.92997223e-02 -1.38741746e-02 6.17603305e+02] [ 1.92985514e-02 9.99813742e-01 -2.18284189e-04 6.84196751e+00] [ 1.38758032e-02 -4.95289528e-05 9.99903725e-01 4.25664899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6192541539999 meters 0.014758447618160192 Centerline is valid? [True, True] Translation: X:617.63, Y:6.84, Z:4.26 [[ 9.99661056e-01 -2.19053168e-02 -1.40687858e-02 6.17633051e+02] [ 2.19043691e-02 9.99760046e-01 -2.21468769e-04 6.84005114e+00] [ 1.40702613e-02 -8.67741739e-05 9.99901005e-01 4.25592151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6492541539999 meters 0.015248768997710988 Centerline is valid? [True, True] Translation: X:617.66, Y:6.84, Z:4.26 [[ 9.99591722e-01 -2.47351838e-02 -1.43024558e-02 6.17663426e+02] [ 2.47344922e-02 9.99694030e-01 -2.25268229e-04 6.83779907e+00] [ 1.43036517e-02 -1.28587724e-04 9.99897689e-01 4.25591556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6792541539999 meters 0.01624146809330921 Centerline is valid? [True, True] Translation: X:617.69, Y:6.83, Z:4.26 [[ 9.99436306e-01 -3.06396541e-02 -1.37215468e-02 6.17694632e+02] [ 3.06395770e-02 9.99530475e-01 -2.15884894e-04 6.83316258e+00] [ 1.37217188e-02 -2.04659188e-04 9.99905832e-01 4.25678922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.709254154 meters 0.01708508384583433 Centerline is valid? [True, True] Translation: X:617.73, Y:6.83, Z:4.26 [[ 9.99352172e-01 -3.33826729e-02 -1.34474426e-02 6.17725394e+02] [ 3.33828534e-02 9.99442615e-01 -2.11113898e-04 6.83011537e+00] [ 1.34469947e-02 -2.37936871e-04 9.99909557e-01 4.25671110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7392541539999 meters 0.018992613910115384 Centerline is valid? [True, True] Translation: X:617.76, Y:6.82, Z:4.26 [[ 9.99186079e-01 -3.80214531e-02 -1.34739997e-02 6.17756129e+02] [ 3.80220620e-02 9.99276878e-01 -2.11070739e-04 6.82437563e+00] [ 1.34722816e-02 -3.01410307e-04 9.99909199e-01 4.25633224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7692541539999 meters 0.019637642818680363 Centerline is valid? [True, True] Translation: X:617.79, Y:6.82, Z:4.26 [[ 9.99122668e-01 -3.95626659e-02 -1.37364296e-02 6.17787875e+02] [ 3.95634522e-02 9.99217037e-01 -2.14604943e-04 6.82297880e+00] [ 1.37341649e-02 -3.29043913e-04 9.99905628e-01 4.25636743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7992541539999 meters 0.02021950835616837 Centerline is valid? [True, True] Translation: X:617.82, Y:6.82, Z:4.26 [[ 9.99069134e-01 -4.09192313e-02 -1.36558539e-02 6.17820198e+02] [ 4.09201458e-02 9.99162397e-01 -2.12557409e-04 6.82217247e+00] [ 1.36531134e-02 -3.46439987e-04 9.99906732e-01 4.25606582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.829254154 meters 0.020739487334928412 Centerline is valid? [True, True] Translation: X:617.85, Y:6.82, Z:4.26 [[ 9.99013271e-01 -4.21284204e-02 -1.40598947e-02 6.17852120e+02] [ 4.21295227e-02 9.99112134e-01 -2.17900653e-04 6.82000427e+00] [ 1.40565912e-02 -3.74651010e-04 9.99901131e-01 4.25534875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8592541539999 meters 0.01753970836694787 Centerline is valid? [True, True] Translation: X:617.88, Y:6.83, Z:4.26 [[ 9.99014378e-01 -4.19688336e-02 -1.44530085e-02 6.17884310e+02] [ 4.19699968e-02 9.99118847e-01 -2.22957841e-04 6.82579107e+00] [ 1.44496304e-02 -3.83854631e-04 9.99895525e-01 4.25660723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8892541539999 meters 0.017569583765399473 Centerline is valid? [True, True] Translation: X:617.92, Y:6.83, Z:4.26 [[ 9.99035779e-01 -4.13388622e-02 -1.47855122e-02 6.17916522e+02] [ 4.13400272e-02 9.99145110e-01 -2.26968745e-04 6.82609544e+00] [ 1.47822549e-02 -3.84483580e-04 9.99890663e-01 4.25703709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9192541539999 meters 0.021387162385394766 Centerline is valid? [True, True] Translation: X:617.95, Y:6.82, Z:4.26 [[ 9.99059254e-01 -4.07935480e-02 -1.47137079e-02 6.17948266e+02] [ 4.07946565e-02 9.99167526e-01 -2.24917240e-04 6.81919295e+00] [ 1.47106342e-02 -3.75535008e-04 9.99891722e-01 4.25500064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.949254154 meters 0.020945352226964996 Centerline is valid? [True, True] Translation: X:617.98, Y:6.82, Z:4.25 [[ 9.99130613e-01 -3.91192885e-02 -1.44117663e-02 6.17979168e+02] [ 3.91201952e-02 9.99234488e-01 -2.19097849e-04 6.81998678e+00] [ 1.44093049e-02 -3.44883743e-04 9.99896121e-01 4.25497473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9792541539999 meters 0.020557711672968323 Centerline is valid? [True, True] Translation: X:618.01, Y:6.82, Z:4.26 [[ 9.99179297e-01 -3.78776502e-02 -1.43532311e-02 6.18010676e+02] [ 3.78784375e-02 9.99282331e-01 -2.17094051e-04 6.82086384e+00] [ 1.43511533e-02 -3.26762087e-04 9.99896964e-01 4.25512865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0092541539999 meters 0.01677981340155642 Centerline is valid? [True, True] Translation: X:618.04, Y:6.83, Z:4.26 [[ 9.99240995e-01 -3.62518302e-02 -1.42562012e-02 6.18042843e+02] [ 3.62524538e-02 9.99342641e-01 -2.14761747e-04 6.82869189e+00] [ 1.42546152e-02 -3.02223533e-04 9.99898352e-01 4.25729844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0392541539999 meters 0.016758164246638393 Centerline is valid? [True, True] Translation: X:618.07, Y:6.83, Z:4.26 [[ 9.99306093e-01 -3.43303601e-02 -1.44484630e-02 6.18074117e+02] [ 3.43308133e-02 9.99410500e-01 -2.16731450e-04 6.82932127e+00] [ 1.44473861e-02 -2.79446427e-04 9.99895592e-01 4.25660804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.069254154 meters 0.015707568954661223 Centerline is valid? [True, True] Translation: X:618.11, Y:6.83, Z:4.26 [[ 9.99442012e-01 -2.98554464e-02 -1.49771902e-02 6.18105498e+02] [ 2.98554413e-02 9.99554202e-01 -2.23980147e-04 6.83245436e+00] [ 1.49772004e-02 -2.23295452e-04 9.99887811e-01 4.25653091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0992541539999 meters 0.015369176402672071 Centerline is valid? [True, True] Translation: X:618.14, Y:6.83, Z:4.26 [[ 9.99511857e-01 -2.73967395e-02 -1.50155608e-02 6.18136746e+02] [ 2.73964650e-02 9.99624621e-01 -2.24014818e-04 6.83414224e+00] [ 1.50160615e-02 -1.87467818e-04 9.99887235e-01 4.25639673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1292541539999 meters 0.014976674603194238 Centerline is valid? [True, True] Translation: X:618.17, Y:6.84, Z:4.26 [[ 9.99638145e-01 -2.22773208e-02 -1.50764800e-02 6.18167861e+02] [ 2.22764700e-02 9.99751823e-01 -2.24386632e-04 6.83710004e+00] [ 1.50777371e-02 -1.11545318e-04 9.99886318e-01 4.25632870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1592541539999 meters 0.014674445451739737 Centerline is valid? [True, True] Translation: X:618.20, Y:6.84, Z:4.26 [[ 9.99696819e-01 -1.93979297e-02 -1.51654014e-02 6.18198249e+02] [ 1.93967413e-02 9.99811840e-01 -2.25463278e-04 6.83891931e+00] [ 1.51669214e-02 -6.87644461e-05 9.99884973e-01 4.25641635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.189254154 meters 0.014525344663430636 Centerline is valid? [True, True] Translation: X:618.23, Y:6.84, Z:4.26 [[ 9.99741426e-01 -1.68253511e-02 -1.52966717e-02 6.18228010e+02] [ 1.68238363e-02 9.99858443e-01 -2.27708442e-04 6.84100810e+00] [ 1.52983376e-02 -2.96991380e-05 9.99882973e-01 4.25658145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2192541539999 meters 0.014390324337568535 Centerline is valid? [True, True] Translation: X:618.26, Y:6.84, Z:4.26 [[ 9.99803719e-01 -1.25051156e-02 -1.53670342e-02 6.18256620e+02] [ 1.25030401e-02 9.99921807e-01 -2.31133409e-04 6.84390743e+00] [ 1.53687230e-02 3.89533965e-05 9.99881893e-01 4.25726412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2492541539999 meters 0.014672290720528055 Centerline is valid? [True, True] Translation: X:618.28, Y:6.85, Z:4.26 [[ 9.99833358e-01 -9.79203106e-03 -1.54068946e-02 6.18284445e+02] [ 9.78958391e-03 9.99952053e-01 -2.34246819e-04 6.84512141e+00] [ 1.54084497e-02 8.33806953e-05 9.99881279e-01 4.25620757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2792541539999 meters 0.014532516685127925 Centerline is valid? [True, True] Translation: X:618.31, Y:6.84, Z:4.26 [[ 9.99835331e-01 -9.53470961e-03 -1.54401863e-02 6.18312229e+02] [ 9.53217354e-03 9.99954540e-01 -2.37838148e-04 6.84438874e+00] [ 1.54417521e-02 9.06204483e-05 9.99880765e-01 4.25676913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.309254154 meters 0.014615683737299058 Centerline is valid? [True, True] Translation: X:618.34, Y:6.84, Z:4.26 [[ 9.99832883e-01 -1.00484426e-02 -1.52720473e-02 6.18340211e+02] [ 1.00459544e-02 9.99949509e-01 -2.39633447e-04 6.84408661e+00] [ 1.52736842e-02 8.61711088e-05 9.99883347e-01 4.25690892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.339254154 meters 0.014350432938971607 Centerline is valid? [True, True] Translation: X:618.37, Y:6.84, Z:4.26 [[ 9.99833283e-01 -1.18308504e-02 -1.39081348e-02 6.18368052e+02] [ 1.18289254e-02 9.99930011e-01 -2.20669931e-04 6.84235107e+00] [ 1.39097721e-02 5.61148531e-05 9.99903253e-01 4.25798721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3692541539999 meters 0.015303517697715778 Centerline is valid? [True, True] Translation: X:618.40, Y:6.84, Z:4.26 [[ 9.99818324e-01 -1.35332531e-02 -1.34227408e-02 6.18395531e+02] [ 1.35315807e-02 9.99908421e-01 -2.15407057e-04 6.84105449e+00] [ 1.34244267e-02 3.37370219e-05 9.99909888e-01 4.25850185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3992541539999 meters 0.014241893398689583 Centerline is valid? [True, True] Translation: X:618.42, Y:6.84, Z:4.26 [[ 9.99745856e-01 -1.89323585e-02 -1.22388528e-02 6.18423845e+02] [ 1.89313450e-02 9.99820766e-01 -1.98666927e-04 6.83649119e+00] [ 1.22404204e-02 -3.30815073e-05 9.99925083e-01 4.25893542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4292541539999 meters 0.014468692204651835 Centerline is valid? [True, True] Translation: X:618.45, Y:6.83, Z:4.26 [[ 9.99684809e-01 -2.21441742e-02 -1.18286954e-02 6.18454233e+02] [ 2.21434453e-02 9.99754785e-01 -1.92597145e-04 6.83369456e+00] [ 1.18300598e-02 -6.93916308e-05 9.99930020e-01 4.25900704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.459254154 meters 0.014871130805867947 Centerline is valid? [True, True] Translation: X:618.49, Y:6.83, Z:4.26 [[ 9.99602767e-01 -2.56382464e-02 -1.17042052e-02 6.18485828e+02] [ 2.56377742e-02 9.99671280e-01 -1.90404618e-04 6.83033667e+00] [ 1.17052394e-02 -1.09740787e-04 9.99931485e-01 4.25915310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4892541539999 meters 0.015414727409394759 Centerline is valid? [True, True] Translation: X:618.52, Y:6.83, Z:4.26 [[ 9.99503966e-01 -2.91482723e-02 -1.19247970e-02 6.18517850e+02] [ 2.91480390e-02 9.99575087e-01 -1.93401610e-04 6.82674407e+00] [ 1.19253674e-02 -1.54278772e-04 9.99928878e-01 4.25882241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5192541539999 meters 0.01715541487779663 Centerline is valid? [True, True] Translation: X:618.55, Y:6.82, Z:4.26 [[ 9.99219972e-01 -3.77117442e-02 -1.17163406e-02 6.18549419e+02] [ 3.77121148e-02 9.99288627e-01 -1.89373691e-04 6.82091523e+00] [ 1.17151475e-02 -2.52622007e-04 9.99931343e-01 4.25922103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5492541539999 meters 0.01750787404513511 Centerline is valid? [True, True] Translation: X:618.58, Y:6.82, Z:4.26 [[ 9.99051957e-01 -4.20941369e-02 -1.11027164e-02 6.18581589e+02] [ 4.20947462e-02 9.99113607e-01 -1.78903135e-04 6.81914331e+00] [ 1.11004058e-02 -2.88632504e-04 9.99938347e-01 4.26005868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.579254154 meters 0.02061964191449447 Centerline is valid? [True, True] Translation: X:618.61, Y:6.81, Z:4.26 [[ 9.98870773e-01 -4.62924118e-02 -1.06859961e-02 6.18612875e+02] [ 4.62932239e-02 9.98927879e-01 -1.71478758e-04 6.81217383e+00] [ 1.06824775e-02 -3.23404088e-04 9.99942888e-01 4.25997562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6092541539999 meters 0.02436000281149991 Centerline is valid? [True, True] Translation: X:618.64, Y:6.80, Z:4.26 [[ 9.98478859e-01 -5.41009681e-02 -1.06326620e-02 6.18643043e+02] [ 5.41022177e-02 9.98535388e-01 -1.70292052e-04 6.80442378e+00] [ 1.06263022e-02 -4.05217580e-04 9.99943457e-01 4.25999562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6392541539999 meters 0.021646176267298374 Centerline is valid? [True, True] Translation: X:618.67, Y:6.81, Z:4.26 [[ 9.98285195e-01 -5.75011859e-02 -1.09674081e-02 6.18674060e+02] [ 5.75027198e-02 9.98345334e-01 -1.75680243e-04 6.80816646e+00] [ 1.09593625e-02 -4.55276808e-04 9.99939841e-01 4.26048850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6692541539999 meters 0.030892198741982273 Centerline is valid? [True, True] Translation: X:618.70, Y:6.80, Z:4.26 [[ 9.97998751e-01 -6.21980550e-02 -1.13971627e-02 6.18704615e+02] [ 6.22000207e-02 9.98063687e-01 -1.82256177e-04 6.79508439e+00] [ 1.13864302e-02 -5.27012317e-04 9.99935034e-01 4.25898738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.699254154 meters 0.031678176846026626 Centerline is valid? [True, True] Translation: X:618.74, Y:6.79, Z:4.26 [[ 9.97874313e-01 -6.41338595e-02 -1.15630154e-02 6.18735264e+02] [ 6.41360174e-02 9.97941149e-01 -1.84480882e-04 6.79344991e+00] [ 1.15510403e-02 -5.57517021e-04 9.99933129e-01 4.25979131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7292541539999 meters 0.032420062817895785 Centerline is valid? [True, True] Translation: X:618.77, Y:6.79, Z:4.26 [[ 9.97814335e-01 -6.50128150e-02 -1.18273644e-02 6.18767246e+02] [ 6.50151409e-02 9.97884260e-01 -1.88139943e-04 6.79307945e+00] [ 1.18145723e-02 -5.81229033e-04 9.99930037e-01 4.25982658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7592541539999 meters 0.024840907446086684 Centerline is valid? [True, True] Translation: X:618.80, Y:6.81, Z:4.26 [[ 9.97822243e-01 -6.48638964e-02 -1.19769350e-02 6.18799945e+02] [ 6.48662830e-02 9.97893947e-01 -1.89495067e-04 6.80544875e+00] [ 1.19640023e-02 -5.87816862e-04 9.99928256e-01 4.26129544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7892541539999 meters 0.02447714463619528 Centerline is valid? [True, True] Translation: X:618.83, Y:6.81, Z:4.26 [[ 9.97896146e-01 -6.36598017e-02 -1.22764879e-02 6.18832234e+02] [ 6.36622329e-02 9.97971484e-01 -1.93048469e-04 6.80784786e+00] [ 1.22638743e-02 -5.88906307e-04 9.99924622e-01 4.26173365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.819254154 meters 0.025402109327856078 Centerline is valid? [True, True] Translation: X:618.86, Y:6.81, Z:4.26 [[ 9.98115908e-01 -6.02854266e-02 -1.14149332e-02 6.18862841e+02] [ 6.02873155e-02 9.98181050e-01 -1.78858782e-04 6.80853536e+00] [ 1.14049526e-02 -5.09653883e-04 9.99934832e-01 4.26195690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8492541539999 meters 0.03090340987597887 Centerline is valid? [True, True] Translation: X:618.89, Y:6.80, Z:4.26 [[ 9.98256028e-01 -5.79590494e-02 -1.12094001e-02 6.18893896e+02] [ 5.79607291e-02 9.98318848e-01 -1.75236443e-04 6.80212138e+00] [ 1.12007119e-02 -4.74774167e-04 9.99937157e-01 4.26108634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8792541539999 meters 0.021392042761107163 Centerline is valid? [True, True] Translation: X:618.93, Y:6.82, Z:4.26 [[ 9.98384319e-01 -5.57113667e-02 -1.11801679e-02 6.18925246e+02] [ 5.57129013e-02 9.98446815e-01 -1.74375977e-04 6.81735362e+00] [ 1.11725177e-02 -4.48785348e-04 9.99937485e-01 4.26276226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9092541539999 meters 0.020237670882264875 Centerline is valid? [True, True] Translation: X:618.95, Y:6.82, Z:4.26 [[ 9.98647581e-01 -5.05516629e-02 -1.21465360e-02 6.18954932e+02] [ 5.05530966e-02 9.98721357e-01 -1.89166986e-04 6.82367760e+00] [ 1.21405676e-02 -4.25133852e-04 9.99926210e-01 4.26299634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.939254154 meters 0.02559330191391945 Centerline is valid? [True, True] Translation: X:618.99, Y:6.82, Z:4.26 [[ 9.98778979e-01 -4.78549274e-02 -1.22661040e-02 6.18985608e+02] [ 4.78561875e-02 9.98854218e-01 -1.90932344e-04 6.81772305e+00] [ 1.22611868e-02 -3.96309762e-04 9.99924750e-01 4.26152355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9692541539999 meters 0.01820376317568581 Centerline is valid? [True, True] Translation: X:619.02, Y:6.83, Z:4.26 [[ 9.99008296e-01 -4.23421351e-02 -1.37683911e-02 6.19017113e+02] [ 4.23432067e-02 9.99103101e-01 -2.13805417e-04 6.83324336e+00] [ 1.37650953e-02 -3.69404447e-04 9.99905188e-01 4.26245475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9992541539999 meters 0.0178214148200138 Centerline is valid? [True, True] Translation: X:619.05, Y:6.84, Z:4.26 [[ 9.99118873e-01 -3.94255295e-02 -1.43911215e-02 6.19048511e+02] [ 3.94264092e-02 9.99222452e-01 -2.22682859e-04 6.83596133e+00] [ 1.43887111e-02 -3.44903600e-04 9.99896418e-01 4.26181221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0292541539999 meters 0.017059483527221014 Centerline is valid? [True, True] Translation: X:619.08, Y:6.84, Z:4.26 [[ 9.99214410e-01 -3.66868544e-02 -1.49878953e-02 6.19080844e+02] [ 3.66875151e-02 9.99326760e-01 -2.30957740e-04 6.83993544e+00] [ 1.49862779e-02 -3.19092330e-04 9.99887649e-01 4.26199933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.059254154 meters 0.01598263956177053 Centerline is valid? [True, True] Translation: X:619.11, Y:6.85, Z:4.26 [[ 9.99399807e-01 -3.11848686e-02 -1.50841140e-02 6.19111722e+02] [ 3.11849231e-02 9.99513605e-01 -2.31657906e-04 6.84702674e+00] [ 1.50840014e-02 -2.38878068e-04 9.99886201e-01 4.26267212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.089254154 meters 0.014904627900675135 Centerline is valid? [True, True] Translation: X:619.14, Y:6.85, Z:4.26 [[ 9.99483493e-01 -2.86682758e-02 -1.45215765e-02 6.19143371e+02] [ 2.86680682e-02 9.99588962e-01 -2.22503132e-04 6.85211647e+00] [ 1.45219863e-02 -1.93917336e-04 9.99894532e-01 4.26405140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1192541539999 meters 0.014705100162226316 Centerline is valid? [True, True] Translation: X:619.17, Y:6.85, Z:4.26 [[ 9.99562250e-01 -2.59190530e-02 -1.42657561e-02 6.19174363e+02] [ 2.59185900e-02 9.99664033e-01 -2.17370160e-04 6.85402322e+00] [ 1.42665973e-02 -1.52473276e-04 9.99898215e-01 4.26382792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1492541539999 meters 0.014340663221138127 Centerline is valid? [True, True] Translation: X:619.21, Y:6.86, Z:4.26 [[ 9.99668104e-01 -2.14518610e-02 -1.42653421e-02 6.19205249e+02] [ 2.14509599e-02 9.99769878e-01 -2.16190608e-04 6.86104832e+00] [ 1.42666970e-02 -8.98864258e-05 9.99898221e-01 4.26488397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1792541539999 meters 0.014060163208364625 Centerline is valid? [True, True] Translation: X:619.24, Y:6.86, Z:4.27 [[ 9.99712860e-01 -1.91588167e-02 -1.43922440e-02 6.19235582e+02] [ 1.91576655e-02 9.99816451e-01 -2.17861494e-04 6.86440233e+00] [ 1.43937763e-02 -5.79228581e-05 9.99896403e-01 4.26509342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.209254154 meters 0.013851488406559281 Centerline is valid? [True, True] Translation: X:619.27, Y:6.87, Z:4.27 [[ 9.99794228e-01 -1.47478067e-02 -1.39285180e-02 6.19266411e+02] [ 1.47463005e-02 9.99891245e-01 -2.10841878e-04 6.86973930e+00] [ 1.39301127e-02 5.40438092e-06 9.99902971e-01 4.26557517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2392541539999 meters 0.013934252227291617 Centerline is valid? [True, True] Translation: X:619.29, Y:6.87, Z:4.27 [[ 9.99823715e-01 -1.30930494e-02 -1.34577693e-02 6.19294869e+02] [ 1.30914710e-02 9.99914282e-01 -2.05378110e-04 6.87196471e+00] [ 1.34593047e-02 2.91599085e-05 9.99909419e-01 4.26609080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2692541539999 meters 0.01391349568856306 Centerline is valid? [True, True] Translation: X:619.32, Y:6.87, Z:4.27 [[ 9.99858981e-01 -1.08243551e-02 -1.28394529e-02 6.19323540e+02] [ 1.08226903e-02 9.99941413e-01 -1.99136086e-04 6.87472645e+00] [ 1.28408562e-02 6.01505812e-05 9.99917551e-01 4.26691522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2992541539999 meters 0.01399741027117316 Centerline is valid? [True, True] Translation: X:619.35, Y:6.88, Z:4.27 [[ 9.99871711e-01 -1.02845274e-02 -1.22796598e-02 6.19352639e+02] [ 1.02829264e-02 9.99947111e-01 -1.93508807e-04 6.87602132e+00] [ 1.22810005e-02 6.72131446e-05 9.99924583e-01 4.26763584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.329254154 meters 0.014083531053208082 Centerline is valid? [True, True] Translation: X:619.38, Y:6.88, Z:4.27 [[ 9.99878364e-01 -9.96448924e-03 -1.19986100e-02 6.19381219e+02] [ 9.96290162e-03 9.99950351e-01 -1.92083958e-04 6.87699388e+00] [ 1.19999283e-02 7.25196220e-05 9.99927996e-01 4.26789512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3592541539999 meters 0.013824375026785896 Centerline is valid? [True, True] Translation: X:619.41, Y:6.88, Z:4.27 [[ 9.99863854e-01 -1.10220266e-02 -1.22795557e-02 6.19409566e+02] [ 1.10204048e-02 9.99939254e-01 -1.99732315e-04 6.87674894e+00] [ 1.22810112e-02 6.43794473e-05 9.99924583e-01 4.26818578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3892541539999 meters 0.013889420895014448 Centerline is valid? [True, True] Translation: X:619.44, Y:6.88, Z:4.27 [[ 9.99846547e-01 -1.23490991e-02 -1.24251024e-02 6.19436926e+02] [ 1.23475101e-02 9.99923746e-01 -2.04594533e-04 6.87625311e+00] [ 1.24266815e-02 5.11440597e-05 9.99922785e-01 4.26781081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4192541539999 meters 0.013748687290010915 Centerline is valid? [True, True] Translation: X:619.47, Y:6.87, Z:4.27 [[ 9.99794057e-01 -1.56371027e-02 -1.29354349e-02 6.19465631e+02] [ 1.56356393e-02 9.99877733e-01 -2.14259154e-04 6.87288641e+00] [ 1.29372037e-02 1.19612346e-05 9.99916311e-01 4.26649616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.449254154 meters 0.013646046583260723 Centerline is valid? [True, True] Translation: X:619.49, Y:6.87, Z:4.27 [[ 9.99746604e-01 -1.80432301e-02 -1.34599531e-02 6.19494865e+02] [ 1.80418553e-02 9.99837207e-01 -2.23573606e-04 6.87094033e+00] [ 1.34617959e-02 -1.93255728e-05 9.99909386e-01 4.26683528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4792541539999 meters 0.013646046583260723 Centerline is valid? [True, True] Translation: X:619.52, Y:6.87, Z:4.27 [[ 9.99746604e-01 -1.80432319e-02 -1.34599489e-02 6.19524861e+02] [ 1.80418536e-02 9.99837207e-01 -2.23830333e-04 6.87143926e+00] [ 1.34617963e-02 -1.90688113e-05 9.99909386e-01 4.26704324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5092541539999 meters 0.015615995078883916 Centerline is valid? [True, True] Translation: X:619.55, Y:6.87, Z:4.27 [[ 9.99694993e-01 -2.01477548e-02 -1.42824964e-02 6.19554384e+02] [ 2.01464175e-02 9.99797012e-01 -2.37514117e-04 6.86925294e+00] [ 1.42843826e-02 -5.02994622e-05 9.99897972e-01 4.26563199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5392541539999 meters 0.01401455138500266 Centerline is valid? [True, True] Translation: X:619.58, Y:6.87, Z:4.27 [[ 9.99615285e-01 -2.38474975e-02 -1.41625698e-02 6.19584563e+02] [ 2.38465538e-02 9.99715603e-01 -2.35524762e-04 6.86733527e+00] [ 1.41641587e-02 -1.02294330e-04 9.99899678e-01 4.26656645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.569254154 meters 0.015699393619773152 Centerline is valid? [True, True] Translation: X:619.61, Y:6.86, Z:4.27 [[ 9.99476810e-01 -2.91600989e-02 -1.39926632e-02 6.19614823e+02] [ 2.91597000e-02 9.99574738e-01 -2.32570705e-04 6.86132121e+00] [ 1.39934944e-02 -1.75572833e-04 9.99902071e-01 4.26559960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5992541539999 meters 0.016610309454352507 Centerline is valid? [True, True] Translation: X:619.65, Y:6.86, Z:4.27 [[ 9.99407116e-01 -3.15926745e-02 -1.36864990e-02 6.19645988e+02] [ 3.15925327e-02 9.99500806e-01 -2.26621284e-04 6.85920898e+00] [ 1.36868264e-02 -2.05904244e-04 9.99906310e-01 4.26587463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6292541539999 meters 0.015334215966311696 Centerline is valid? [True, True] Translation: X:619.68, Y:6.86, Z:4.27 [[ 9.99314523e-01 -3.45226453e-02 -1.33668080e-02 6.19677754e+02] [ 3.45227867e-02 9.99403887e-01 -2.20232085e-04 6.85918220e+00] [ 1.33664428e-02 -2.41378340e-04 9.99910636e-01 4.26789200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6592541539999 meters 0.01598529453054139 Centerline is valid? [True, True] Translation: X:619.71, Y:6.86, Z:4.27 [[ 9.99234493e-01 -3.67910212e-02 -1.32984802e-02 6.19708416e+02] [ 3.67913702e-02 9.99322944e-01 -2.18488924e-04 6.85726934e+00] [ 1.32975149e-02 -2.70947640e-04 9.99911547e-01 4.26821353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.689254154 meters 0.017360984852928266 Centerline is valid? [True, True] Translation: X:619.74, Y:6.85, Z:4.27 [[ 9.99054003e-01 -4.12083969e-02 -1.38912525e-02 6.19739630e+02] [ 4.12092133e-02 9.99150514e-01 -2.27583260e-04 6.85198856e+00] [ 1.38888304e-02 -3.45079620e-04 9.99903486e-01 4.26735619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7192541539999 meters 0.018096894163456112 Centerline is valid? [True, True] Translation: X:619.77, Y:6.85, Z:4.27 [[ 9.98964262e-01 -4.32928302e-02 -1.40047624e-02 6.19771651e+02] [ 4.32938771e-02 9.99062354e-01 -2.28555055e-04 6.84956951e+00] [ 1.40015256e-02 -3.78002128e-04 9.99901902e-01 4.26674596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7492541539999 meters 0.018956626291969876 Centerline is valid? [True, True] Translation: X:619.80, Y:6.85, Z:4.27 [[ 9.98771443e-01 -4.76536315e-02 -1.35917886e-02 6.19802806e+02] [ 4.76550291e-02 9.98863829e-01 -2.21210831e-04 6.84637939e+00] [ 1.35868875e-02 -4.26778018e-04 9.99907603e-01 4.26695928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7792541539999 meters 0.019789855036639242 Centerline is valid? [True, True] Translation: X:619.83, Y:6.84, Z:4.27 [[ 9.98665839e-01 -4.98346326e-02 -1.35296834e-02 6.19834720e+02] [ 4.98362255e-02 9.98757379e-01 -2.19595176e-04 6.84443794e+00] [ 1.35238146e-02 -4.54966153e-04 9.99908446e-01 4.26712646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.809254154 meters 0.020782079035028427 Centerline is valid? [True, True] Translation: X:619.87, Y:6.84, Z:4.27 [[ 9.98557910e-01 -5.21074638e-02 -1.29195039e-02 6.19866631e+02] [ 5.21091181e-02 9.98641375e-01 -2.08777166e-04 6.84269647e+00] [ 1.29128300e-02 -4.64747865e-04 9.99916518e-01 4.26732146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.839254154 meters 0.0230011956810172 Centerline is valid? [True, True] Translation: X:619.90, Y:6.84, Z:4.27 [[ 9.98330653e-01 -5.62678088e-02 -1.30323208e-02 6.19896832e+02] [ 5.62698592e-02 9.98415574e-01 -2.09587292e-04 6.83873493e+00] [ 1.30234650e-02 -5.24089436e-04 9.99915054e-01 4.26718868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8692541539999 meters 0.024914734398019226 Centerline is valid? [True, True] Translation: X:619.93, Y:6.84, Z:4.27 [[ 9.98096710e-01 -6.01028195e-02 -1.38061111e-02 6.19928230e+02] [ 6.01054985e-02 9.98192006e-01 -2.21179031e-04 6.83505248e+00] [ 1.37944432e-02 -6.09065125e-04 9.99904667e-01 4.26593194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8992541539999 meters 0.02451189649868576 Centerline is valid? [True, True] Translation: X:619.96, Y:6.84, Z:4.27 [[ 9.97967611e-01 -6.19749668e-02 -1.48239959e-02 6.19960055e+02] [ 6.19782795e-02 9.98077470e-01 -2.36281388e-04 6.83532033e+00] [ 1.48101398e-02 -6.82964586e-04 9.99890091e-01 4.26572949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9292541539999 meters 0.02565072431087471 Centerline is valid? [True, True] Translation: X:619.99, Y:6.83, Z:4.27 [[ 9.97827430e-01 -6.41024619e-02 -1.52083328e-02 6.19991974e+02] [ 6.41062148e-02 9.97943052e-01 -2.41111127e-04 6.83413631e+00] [ 1.51925059e-02 -7.34361354e-04 9.99884318e-01 4.26517550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.959254154 meters 0.026450175683658983 Centerline is valid? [True, True] Translation: X:620.02, Y:6.83, Z:4.27 [[ 9.97698912e-01 -6.61139771e-02 -1.50274397e-02 6.20023986e+02] [ 6.61178831e-02 9.97811790e-01 -2.37287412e-04 6.83356172e+00] [ 1.50102445e-02 -7.56841107e-04 9.99887053e-01 4.26546893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9892541539999 meters 0.02962823645849444 Centerline is valid? [True, True] Translation: X:620.05, Y:6.83, Z:4.27 [[ 9.97459619e-01 -6.97362799e-02 -1.45313049e-02 6.20053830e+02] [ 6.97403303e-02 9.97565153e-01 -2.28425325e-04 6.82990804e+00] [ 1.45118529e-02 -7.85572966e-04 9.99894389e-01 4.26553702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0192541539999 meters 0.030862547425143487 Centerline is valid? [True, True] Translation: X:620.09, Y:6.83, Z:4.27 [[ 9.97368140e-01 -7.11585451e-02 -1.39015932e-02 6.20086130e+02] [ 7.11624032e-02 9.97464719e-01 -2.17561896e-04 6.82860019e+00] [ 1.38818301e-02 -7.72281476e-04 9.99903345e-01 4.26544668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0492541539999 meters 0.03148877177859245 Centerline is valid? [True, True] Translation: X:620.12, Y:6.83, Z:4.27 [[ 9.97195468e-01 -7.36100761e-02 -1.35186946e-02 6.20117502e+02] [ 7.36139586e-02 9.97286790e-01 -2.10863043e-04 6.82842991e+00] [ 1.34975372e-02 -7.84892957e-04 9.99908596e-01 4.26539328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.079254154 meters 0.033038392242249054 Centerline is valid? [True, True] Translation: X:620.15, Y:6.83, Z:4.27 [[ 9.97138991e-01 -7.43938089e-02 -1.33937776e-02 6.20148580e+02] [ 7.43976982e-02 9.97228629e-01 -2.08331227e-04 6.82729138e+00] [ 1.33721570e-02 -7.88731034e-04 9.99910278e-01 4.26534514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1092541539999 meters 0.030275637120703205 Centerline is valid? [True, True] Translation: X:620.18, Y:6.83, Z:4.27 [[ 9.97105224e-01 -7.48309495e-02 -1.34722558e-02 6.20180321e+02] [ 7.48349357e-02 9.97195913e-01 -2.08709068e-04 6.83268648e+00] [ 1.34500963e-02 -8.00090496e-04 9.99909223e-01 4.26576229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1392541539999 meters 0.02860835539650035 Centerline is valid? [True, True] Translation: X:620.21, Y:6.84, Z:4.27 [[ 9.97158439e-01 -7.40059536e-02 -1.40771574e-02 6.20212802e+02] [ 7.40102386e-02 9.97257458e-01 -2.17026821e-04 6.83803131e+00] [ 1.40546114e-02 -8.25443650e-04 9.99900888e-01 4.26621500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1692541539999 meters 0.028990041860581555 Centerline is valid? [True, True] Translation: X:620.24, Y:6.84, Z:4.27 [[ 9.97230993e-01 -7.29980183e-02 -1.41998663e-02 6.20243994e+02] [ 7.30022896e-02 9.97331749e-01 -2.18003896e-04 6.83950503e+00] [ 1.41778914e-02 -8.19222513e-04 9.99899153e-01 4.26639275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.199254154 meters 0.02801382774006136 Centerline is valid? [True, True] Translation: X:620.28, Y:6.84, Z:4.27 [[ 9.97421449e-01 -7.05030293e-02 -1.34080268e-02 6.20275476e+02] [ 7.05066221e-02 9.97511290e-01 -2.05132795e-04 6.84407974e+00] [ 1.33891206e-02 -7.40750829e-04 9.99910087e-01 4.26735452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2292541539999 meters 0.026525221634594844 Centerline is valid? [True, True] Translation: X:620.31, Y:6.85, Z:4.27 [[ 9.97524262e-01 -6.91147542e-02 -1.29806858e-02 6.20308157e+02] [ 6.91180201e-02 9.97608470e-01 -1.97392667e-04 6.84807919e+00] [ 1.29632848e-02 -7.00295327e-04 9.99915728e-01 4.26836580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2592541539999 meters 0.03377772549430779 Centerline is valid? [True, True] Translation: X:620.34, Y:6.84, Z:4.27 [[ 9.97624791e-01 -6.77682935e-02 -1.23383666e-02 6.20339370e+02] [ 6.77711562e-02 9.97700875e-01 -1.86419176e-04 6.84003199e+00] [ 1.23226324e-02 -6.50208978e-04 9.99923862e-01 4.26835734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2892541539999 meters 0.025155444123359513 Centerline is valid? [True, True] Translation: X:620.37, Y:6.86, Z:4.27 [[ 9.97806766e-01 -6.53180360e-02 -1.07336767e-02 6.20370298e+02] [ 6.53200662e-02 9.97864351e-01 -1.61700556e-04 6.85534414e+00] [ 1.07213153e-02 -5.39778564e-04 9.99942379e-01 4.27072811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.319254154 meters 0.026081862285683193 Centerline is valid? [True, True] Translation: X:620.40, Y:6.86, Z:4.27 [[ 9.97916438e-01 -6.37094750e-02 -1.01924026e-02 6.20401917e+02] [ 6.37112267e-02 9.97968364e-01 -1.53062336e-04 6.85568294e+00] [ 1.01814469e-02 -4.96627053e-04 9.99948044e-01 4.27096015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3492541539999 meters 0.02611285656733623 Centerline is valid? [True, True] Translation: X:620.43, Y:6.86, Z:4.27 [[ 9.98128449e-01 -6.04234289e-02 -9.41319191e-03 6.20432689e+02] [ 6.04247824e-02 9.98172743e-01 -1.40801959e-04 6.85883717e+00] [ 9.40449933e-03 -4.28251632e-04 9.99955685e-01 4.27100042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3792541539999 meters 0.02568549031265805 Centerline is valid? [True, True] Translation: X:620.46, Y:6.86, Z:4.27 [[ 9.98234514e-01 -5.85878051e-02 -9.76337507e-03 6.20464976e+02] [ 5.85891780e-02 9.98282168e-01 -1.45583745e-04 6.86127476e+00] [ 9.75513267e-03 -4.26701401e-04 9.99952327e-01 4.27093519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4092541539999 meters 0.021927278682308756 Centerline is valid? [True, True] Translation: X:620.50, Y:6.87, Z:4.27 [[ 9.98338804e-01 -5.68314537e-02 -9.47721385e-03 6.20497000e+02] [ 5.68326746e-02 9.98383707e-01 -1.40656458e-04 6.86869718e+00] [ 9.46988961e-03 -3.98192611e-04 9.99955080e-01 4.27122944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.439254154 meters 0.021584393001327435 Centerline is valid? [True, True] Translation: X:620.53, Y:6.87, Z:4.27 [[ 9.98516680e-01 -5.36143931e-02 -9.48347258e-03 6.20527178e+02] [ 5.36154783e-02 9.98561646e-01 -1.39951029e-04 6.87185488e+00] [ 9.47733538e-03 -3.68717481e-04 9.99955021e-01 4.27100696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4692541539999 meters 0.022198067595009748 Centerline is valid? [True, True] Translation: X:620.56, Y:6.87, Z:4.27 [[ 9.98633669e-01 -5.14735640e-02 -9.01487531e-03 6.20559170e+02] [ 5.14744655e-02 9.98674302e-01 -1.32153292e-04 6.87419483e+00] [ 9.00972671e-03 -3.32063160e-04 9.99959356e-01 4.26985149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4992541539999 meters 0.02223112772365792 Centerline is valid? [True, True] Translation: X:620.59, Y:6.87, Z:4.27 [[ 9.98743312e-01 -4.93614454e-02 -8.67440513e-03 6.20590830e+02] [ 4.93622059e-02 9.98780935e-01 -1.26543646e-04 6.87392880e+00] [ 8.67007684e-03 -3.01803152e-04 9.99962369e-01 4.27137300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5292541539999 meters 0.019220763092680105 Centerline is valid? [True, True] Translation: X:620.62, Y:6.88, Z:4.27 [[ 9.98821098e-01 -4.77882621e-02 -8.52623639e-03 6.20622723e+02] [ 4.77889447e-02 9.98857448e-01 -1.23766843e-04 6.88011690e+00] [ 8.52240932e-03 -2.83838905e-04 9.99963643e-01 4.27142237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.559254154 meters 0.019410529442278415 Centerline is valid? [True, True] Translation: X:620.65, Y:6.88, Z:4.27 [[ 9.98991377e-01 -4.40361347e-02 -8.77770812e-03 6.20654231e+02] [ 4.40367187e-02 9.99029905e-01 -1.26821781e-04 6.88416713e+00] [ 8.77477765e-03 -2.59847598e-04 9.99961467e-01 4.27050699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.589254154 meters 0.018385119502473398 Centerline is valid? [True, True] Translation: X:620.69, Y:6.89, Z:4.27 [[ 9.99057979e-01 -4.24037262e-02 -9.22381765e-03 6.20686050e+02] [ 4.24043056e-02 9.99100524e-01 -1.32830958e-04 6.88630169e+00] [ 9.22115358e-03 -2.58423754e-04 9.99957451e-01 4.27128493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6192541539999 meters 0.017739937685725352 Centerline is valid? [True, True] Translation: X:620.72, Y:6.89, Z:4.27 [[ 9.99118359e-01 -4.09493851e-02 -9.25491254e-03 6.20718373e+02] [ 4.09499123e-02 9.99161192e-01 -1.32602415e-04 6.88796674e+00] [ 9.25257943e-03 -2.46502350e-04 9.99957164e-01 4.27182955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6492541539999 meters 0.018219181449099838 Centerline is valid? [True, True] Translation: X:620.75, Y:6.89, Z:4.27 [[ 9.99287092e-01 -3.67509227e-02 -8.64160711e-03 6.20749585e+02] [ 3.67512301e-02 9.99324438e-01 -1.23281808e-04 6.89040927e+00] [ 8.64029988e-03 -1.94395772e-04 9.99962653e-01 4.27022751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6792541539999 meters 0.01698160906685528 Centerline is valid? [True, True] Translation: X:620.78, Y:6.89, Z:4.27 [[ 9.99342354e-01 -3.51736127e-02 -8.81347662e-03 6.20781008e+02] [ 3.51738743e-02 9.99381200e-01 -1.25368891e-04 6.88993303e+00] [ 8.81243252e-03 -1.84717676e-04 9.99961153e-01 4.27120626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.709254154 meters 0.015801799298913056 Centerline is valid? [True, True] Translation: X:620.81, Y:6.89, Z:4.27 [[ 9.99427264e-01 -3.26685362e-02 -8.82666093e-03 6.20813205e+02] [ 3.26687055e-02 9.99466228e-01 -1.25036763e-04 6.89320385e+00] [ 8.82603427e-03 -1.63390437e-04 9.99961036e-01 4.27128132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7392541539999 meters 0.0146807429109961 Centerline is valid? [True, True] Translation: X:620.84, Y:6.90, Z:4.27 [[ 9.99599394e-01 -2.70643287e-02 -8.28090026e-03 6.20844882e+02] [ 2.70642902e-02 9.99633688e-01 -1.16734238e-04 6.89832117e+00] [ 8.28102620e-03 -1.07429214e-04 9.99965706e-01 4.27219171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7692541539999 meters 0.0142900855897453 Centerline is valid? [True, True] Translation: X:620.88, Y:6.90, Z:4.27 [[ 9.99672023e-01 -2.43194723e-02 -8.02561156e-03 6.20876588e+02] [ 2.43193522e-02 9.99704234e-01 -1.12572083e-04 6.90104526e+00] [ 8.02597555e-03 -8.26425120e-05 9.99967788e-01 4.27291199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7992541539999 meters 0.01388136913176431 Centerline is valid? [True, True] Translation: X:620.91, Y:6.90, Z:4.27 [[ 9.99760175e-01 -2.03807238e-02 -8.01365156e-03 6.20908798e+02] [ 2.03804822e-02 9.99792290e-01 -1.11814751e-04 6.90352412e+00] [ 8.01426591e-03 -5.15341481e-05 9.99967884e-01 4.27304465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.829254154 meters 0.013898839443402214 Centerline is valid? [True, True] Translation: X:620.94, Y:6.90, Z:4.27 [[ 9.99778126e-01 -1.94827921e-02 -8.00749655e-03 6.20940071e+02] [ 1.94825267e-02 9.99810191e-01 -1.11152982e-04 6.90368949e+00] [ 8.00814223e-03 -4.48779454e-05 9.99967933e-01 4.27299240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8592541539999 meters 0.01392583362949657 Centerline is valid? [True, True] Translation: X:620.97, Y:6.90, Z:4.27 [[ 9.99789506e-01 -1.89257431e-02 -7.92206260e-03 6.20971562e+02] [ 1.89254693e-02 9.99820891e-01 -1.09532610e-04 6.90320557e+00] [ 7.92271668e-03 -4.04191989e-05 9.99968614e-01 4.27303688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8892541539999 meters 0.01396085051312547 Centerline is valid? [True, True] Translation: X:621.00, Y:6.90, Z:4.27 [[ 9.99779969e-01 -1.94262950e-02 -7.91407152e-03 6.21003688e+02] [ 1.94260410e-02 9.99811291e-01 -1.08973775e-04 6.90202736e+00] [ 7.91469502e-03 -4.47892808e-05 9.99968677e-01 4.27313379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9192541539999 meters 0.014000278582811523 Centerline is valid? [True, True] Translation: X:621.04, Y:6.90, Z:4.27 [[ 9.99762721e-01 -2.03245771e-02 -7.83665827e-03 6.21036197e+02] [ 2.03243600e-02 9.99793433e-01 -1.07348078e-04 6.90115072e+00] [ 7.83722128e-03 -5.19524577e-05 9.99969287e-01 4.27335293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.949254154 meters 0.0144033742372522 Centerline is valid? [True, True] Translation: X:621.07, Y:6.90, Z:4.27 [[ 9.99730139e-01 -2.21277890e-02 -7.07179624e-03 6.21066989e+02] [ 2.21276605e-02 9.99755149e-01 -9.64152746e-05 6.89808027e+00] [ 7.07219816e-03 -6.00930506e-05 9.99974990e-01 4.27314908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9792541539999 meters 0.014667416167747152 Centerline is valid? [True, True] Translation: X:621.10, Y:6.90, Z:4.27 [[ 9.99707800e-01 -2.31068488e-02 -7.09843167e-03 6.21099429e+02] [ 2.31067468e-02 9.99732999e-01 -9.63949547e-05 6.89639519e+00] [ 7.09876376e-03 -6.76548748e-05 9.99974801e-01 4.27243220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0092541539999 meters 0.014633123184617215 Centerline is valid? [True, True] Translation: X:621.13, Y:6.90, Z:4.27 [[ 9.99681071e-01 -2.40651056e-02 -7.65680598e-03 6.21131480e+02] [ 2.40650194e-02 9.99710390e-01 -1.03399626e-04 6.89521826e+00] [ 7.65707682e-03 -8.08945361e-05 9.99970681e-01 4.27207658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0392541539999 meters 0.01506693250138927 Centerline is valid? [True, True] Translation: X:621.16, Y:6.89, Z:4.27 [[ 9.99613901e-01 -2.63112301e-02 -8.93128919e-03 6.21162725e+02] [ 2.63112087e-02 9.99653793e-01 -1.19923183e-04 6.89169286e+00] [ 8.93135244e-03 -1.15116133e-04 9.99960108e-01 4.27088230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.069254154 meters 0.015543706362542108 Centerline is valid? [True, True] Translation: X:621.19, Y:6.89, Z:4.27 [[ 9.99569310e-01 -2.78075740e-02 -9.37724501e-03 6.21194150e+02] [ 2.78076210e-02 9.99613285e-01 -1.25394129e-04 6.88997013e+00] [ 9.37710560e-03 -1.35418752e-04 9.99956025e-01 4.27055073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0992541539999 meters 0.015860496204169985 Centerline is valid? [True, True] Translation: X:621.23, Y:6.89, Z:4.27 [[ 9.99485218e-01 -3.06764625e-02 -9.39435959e-03 6.21226388e+02] [ 3.06766415e-02 9.99529353e-01 -1.25082790e-04 6.88816291e+00] [ 9.39377526e-03 -1.63169001e-04 9.99955864e-01 4.27109031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1292541539999 meters 0.015917589336568987 Centerline is valid? [True, True] Translation: X:621.26, Y:6.89, Z:4.27 [[ 9.99432135e-01 -3.24512891e-02 -9.07306514e-03 6.21258726e+02] [ 3.24515349e-02 9.99473303e-01 -1.20165536e-04 6.88767827e+00] [ 9.07218591e-03 -1.74337592e-04 9.99958832e-01 4.27122692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1592541539999 meters 0.016109055641004347 Centerline is valid? [True, True] Translation: X:621.29, Y:6.89, Z:4.27 [[ 9.99366593e-01 -3.43363541e-02 -9.35032327e-03 6.21291301e+02] [ 3.43367043e-02 9.99410314e-01 -1.23128860e-04 6.88618305e+00] [ 9.34903731e-03 -1.98008416e-04 9.99956277e-01 4.27125937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.189254154 meters 0.017674064510223672 Centerline is valid? [True, True] Translation: X:621.32, Y:6.88, Z:4.27 [[ 9.99279976e-01 -3.67183834e-02 -9.55457811e-03 6.21322849e+02] [ 3.67188643e-02 9.99325627e-01 -1.25144019e-04 6.88198754e+00] [ 9.55272985e-03 -2.25779345e-04 9.99954346e-01 4.27095508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2192541539999 meters 0.01936385143676702 Centerline is valid? [True, True] Translation: X:621.35, Y:6.88, Z:4.27 [[ 9.99114916e-01 -4.09478863e-02 -9.62573157e-03 6.21354011e+02] [ 4.09485771e-02 9.99161247e-01 -1.25393227e-04 6.87694748e+00] [ 9.62279255e-03 -2.68877768e-04 9.99953664e-01 4.26986687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2492541539999 meters 0.01879141628633222 Centerline is valid? [True, True] Translation: X:621.39, Y:6.88, Z:4.27 [[ 9.99029335e-01 -4.29218598e-02 -9.90461172e-03 6.21386270e+02] [ 4.29226980e-02 9.99078388e-01 -1.28030299e-04 6.87759117e+00] [ 9.90097881e-03 -2.97226632e-04 9.99950940e-01 4.27034054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2792541539999 meters 0.019220013426366308 Centerline is valid? [True, True] Translation: X:621.42, Y:6.88, Z:4.27 [[ 9.98952682e-01 -4.47328231e-02 -9.61836470e-03 6.21418874e+02] [ 4.47337040e-02 9.98998939e-01 -1.23640151e-04 6.87653456e+00] [ 9.61426690e-03 -3.06754419e-04 9.99953735e-01 4.27043183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.309254154 meters 0.020499512897320767 Centerline is valid? [True, True] Translation: X:621.45, Y:6.87, Z:4.27 [[ 9.98801317e-01 -4.79617978e-02 -9.77729909e-03 6.21449692e+02] [ 4.79628687e-02 9.98849112e-01 -1.25060685e-04 6.87346330e+00] [ 9.77204465e-03 -3.44036536e-04 9.99952193e-01 4.27025260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.339254154 meters 0.021315360665918735 Centerline is valid? [True, True] Translation: X:621.48, Y:6.87, Z:4.27 [[ 9.98726446e-01 -4.93665796e-02 -1.04128373e-02 6.21481587e+02] [ 4.93678759e-02 9.98780654e-01 -1.32666724e-04 6.87215087e+00] [ 1.04066898e-02 -3.81561896e-04 9.99945776e-01 4.27015398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3692541539999 meters 0.023065749912823594 Centerline is valid? [True, True] Translation: X:621.51, Y:6.87, Z:4.27 [[ 9.98570597e-01 -5.22598447e-02 -1.12103542e-02 6.21512321e+02] [ 5.22615413e-02 9.98633422e-01 -1.41750468e-04 6.86912916e+00] [ 1.12024422e-02 -4.44322537e-04 9.99937152e-01 4.26894341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3992541539999 meters 0.023065749912823594 Centerline is valid? [True, True] Translation: X:621.54, Y:6.87, Z:4.27 [[ 9.98576207e-01 -5.21525304e-02 -1.12103708e-02 6.21544884e+02] [ 5.21542351e-02 9.98639032e-01 -1.40422562e-04 6.86944438e+00] [ 1.12024373e-02 -4.44445687e-04 9.99937152e-01 4.26916880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4292541539999 meters 0.02337918059687582 Centerline is valid? [True, True] Translation: X:621.58, Y:6.87, Z:4.27 [[ 9.98510108e-01 -5.32509985e-02 -1.19119756e-02 6.21577323e+02] [ 5.32530150e-02 9.98581041e-01 -1.48063468e-04 6.86900011e+00] [ 1.19029575e-02 -4.86505744e-04 9.99929039e-01 4.26878356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.459254154 meters 0.024583584397365386 Centerline is valid? [True, True] Translation: X:621.61, Y:6.87, Z:4.27 [[ 9.98449102e-01 -5.42842529e-02 -1.23536022e-02 6.21608846e+02] [ 5.42865106e-02 9.98525388e-01 -1.52750289e-04 6.86769508e+00] [ 1.23436774e-02 -5.18120567e-04 9.99923680e-01 4.26857180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4892541539999 meters 0.025324319854493297 Centerline is valid? [True, True] Translation: X:621.64, Y:6.87, Z:4.27 [[ 9.98341148e-01 -5.60717419e-02 -1.30733165e-02 6.21640582e+02] [ 5.60744327e-02 9.98426578e-01 -1.60933409e-04 6.86741448e+00] [ 1.30617705e-02 -5.72412360e-04 9.99914528e-01 4.26853430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5192541539999 meters 0.026068428475921567 Centerline is valid? [True, True] Translation: X:621.67, Y:6.87, Z:4.27 [[ 9.98265011e-01 -5.72189747e-02 -1.38908537e-02 6.21672256e+02] [ 5.72221339e-02 9.98361457e-01 -1.70239863e-04 6.86782782e+00] [ 1.38778339e-02 -6.24919790e-04 9.99903503e-01 4.26810326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5492541539999 meters 0.023891804241497325 Centerline is valid? [True, True] Translation: X:621.70, Y:6.87, Z:4.27 [[ 9.98235213e-01 -5.76336777e-02 -1.43114904e-02 6.21704527e+02] [ 5.76370868e-02 9.98337586e-01 -1.74477551e-04 6.87203839e+00] [ 1.42977546e-02 -6.50702980e-04 9.99897570e-01 4.26847914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.579254154 meters 0.02292796407143772 Centerline is valid? [True, True] Translation: X:621.74, Y:6.87, Z:4.27 [[ 9.98217089e-01 -5.79225449e-02 -1.44091129e-02 6.21736445e+02] [ 5.79260462e-02 9.98320862e-01 -1.74596858e-04 6.87439706e+00] [ 1.43950311e-02 -6.60377371e-04 9.99896168e-01 4.26889880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6092541539999 meters 0.023339231125744205 Centerline is valid? [True, True] Translation: X:621.77, Y:6.87, Z:4.27 [[ 9.98225246e-01 -5.78652167e-02 -1.40703669e-02 6.21769217e+02] [ 5.78685679e-02 9.98324196e-01 -1.69186530e-04 6.87427937e+00] [ 1.40565778e-02 -6.45345720e-04 9.99900993e-01 4.26881310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6392541539999 meters 0.025126615296363973 Centerline is valid? [True, True] Translation: X:621.80, Y:6.87, Z:4.27 [[ 9.98308204e-01 -5.66400744e-02 -1.31389598e-02 6.21800816e+02] [ 5.66429122e-02 9.98394489e-01 -1.56345323e-04 6.87320554e+00] [ 1.31267205e-02 -5.88148129e-04 9.99913668e-01 4.26902520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6692541539999 meters 0.025347151630034422 Centerline is valid? [True, True] Translation: X:621.83, Y:6.87, Z:4.27 [[ 9.98385003e-01 -5.53169558e-02 -1.29390762e-02 6.21832242e+02] [ 5.53196141e-02 9.98468686e-01 -1.52639639e-04 6.87443930e+00] [ 1.29277060e-02 -5.63391576e-04 9.99916275e-01 4.26960070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.699254154 meters 0.021299549495912718 Centerline is valid? [True, True] Translation: X:621.86, Y:6.88, Z:4.27 [[ 9.98577158e-01 -5.18813753e-02 -1.23281020e-02 6.21863496e+02] [ 5.18835339e-02 9.98653132e-01 -1.44880053e-04 6.88389075e+00] [ 1.23190142e-02 -4.94951586e-04 9.99923996e-01 4.27110506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7292541539999 meters 0.02113337494255085 Centerline is valid? [True, True] Translation: X:621.89, Y:6.89, Z:4.27 [[ 9.98679641e-01 -4.98974427e-02 -1.22155181e-02 6.21894785e+02] [ 4.98994206e-02 9.98754238e-01 -1.43007978e-04 6.88592573e+00] [ 1.22074362e-02 -4.66728119e-04 9.99925378e-01 4.27187616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7592541539999 meters 0.020291246732074695 Centerline is valid? [True, True] Translation: X:621.93, Y:6.89, Z:4.27 [[ 9.98785698e-01 -4.78021382e-02 -1.19199379e-02 6.21927278e+02] [ 4.78038813e-02 9.98856731e-01 -1.38805750e-04 6.88928922e+00] [ 1.19129454e-02 -4.31182098e-04 9.99928945e-01 4.27240143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7892541539999 meters 0.019450343166733733 Centerline is valid? [True, True] Translation: X:621.96, Y:6.89, Z:4.27 [[ 9.98936553e-01 -4.45003581e-02 -1.20615238e-02 6.21958551e+02] [ 4.45019110e-02 9.99009289e-01 -1.39749179e-04 6.89309928e+00] [ 1.20557932e-02 -3.97160294e-04 9.99927247e-01 4.27202992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.819254154 meters 0.018758357824014738 Centerline is valid? [True, True] Translation: X:621.99, Y:6.90, Z:4.27 [[ 9.99018595e-01 -4.25941497e-02 -1.21484852e-02 6.21990781e+02] [ 4.25955920e-02 9.99092386e-01 -1.40118052e-04 6.89529534e+00] [ 1.21434273e-02 -3.77491380e-04 9.99926195e-01 4.27211631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8492541539999 meters 0.018914650584909733 Centerline is valid? [True, True] Translation: X:622.02, Y:6.90, Z:4.27 [[ 9.99101131e-01 -4.04779794e-02 -1.25882305e-02 6.22021801e+02] [ 4.04793706e-02 9.99180364e-01 -1.44357075e-04 6.89643593e+00] [ 1.25837561e-02 -3.65336333e-04 9.99920755e-01 4.27187744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8792541539999 meters 0.01770612065794965 Centerline is valid? [True, True] Translation: X:622.05, Y:6.90, Z:4.27 [[ 9.99256568e-01 -3.62234971e-02 -1.31973099e-02 6.22052772e+02] [ 3.62246636e-02 9.99343660e-01 -1.50724129e-04 6.90159333e+00] [ 1.31941077e-02 -3.27456034e-04 9.99912900e-01 4.27188238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9092541539999 meters 0.01663642715839747 Centerline is valid? [True, True] Translation: X:622.08, Y:6.91, Z:4.27 [[ 9.99329402e-01 -3.40247054e-02 -1.35302117e-02 6.22084590e+02] [ 3.40257400e-02 9.99420945e-01 -1.53793918e-04 6.90544182e+00] [ 1.35276097e-02 -3.06684680e-04 9.99908451e-01 4.27210795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.939254154 meters 0.015368106624660923 Centerline is valid? [True, True] Translation: X:622.12, Y:6.91, Z:4.27 [[ 9.99484484e-01 -2.87685137e-02 -1.42527129e-02 6.22116360e+02] [ 2.87691408e-02 9.99586070e-01 -1.61071087e-04 6.91128759e+00] [ 1.42514470e-02 -2.49050251e-04 9.99898412e-01 4.27221510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9692541539999 meters 0.015268320181325188 Centerline is valid? [True, True] Translation: X:622.15, Y:6.91, Z:4.27 [[ 9.99554318e-01 -2.60666545e-02 -1.45497116e-02 6.22146666e+02] [ 2.60670296e-02 9.99660184e-01 -1.63898168e-04 6.91323185e+00] [ 1.45490396e-02 -2.15442640e-04 9.99894134e-01 4.27211256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9992541539999 meters 0.014685614331201224 Centerline is valid? [True, True] Translation: X:622.18, Y:6.92, Z:4.27 [[ 9.99621501e-01 -2.29351720e-02 -1.51931492e-02 6.22178197e+02] [ 2.29352259e-02 9.99736939e-01 -1.70715812e-04 6.91681182e+00] [ 1.51930679e-02 -1.77807112e-04 9.99884563e-01 4.27264982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0292541539999 meters 0.014253265762869114 Centerline is valid? [True, True] Translation: X:622.21, Y:6.92, Z:4.27 [[ 9.99722937e-01 -1.73665301e-02 -1.58887687e-02 6.22208723e+02] [ 1.73658900e-02 9.99849186e-01 -1.78269922e-04 6.92218679e+00] [ 1.58894684e-02 -9.77020791e-05 9.99873750e-01 4.27285430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0592541539999 meters 0.014245156280589534 Centerline is valid? [True, True] Translation: X:622.24, Y:6.93, Z:4.27 [[ 9.99780053e-01 -1.30657040e-02 -1.64052506e-02 6.22237630e+02] [ 1.30644029e-02 9.99914640e-01 -1.86481422e-04 6.92750382e+00] [ 1.64062868e-02 -2.78843991e-05 9.99865407e-01 4.27346124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.089254154 meters 0.014222333075629362 Centerline is valid? [True, True] Translation: X:622.27, Y:6.93, Z:4.27 [[ 9.99800022e-01 -1.13749549e-02 -1.64476833e-02 6.22265206e+02] [ 1.13733428e-02 9.99935303e-01 -1.91551591e-04 6.92993366e+00] [ 1.64487981e-02 4.44814375e-06 9.99864709e-01 4.27435126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1192541539999 meters 0.014361779654644809 Centerline is valid? [True, True] Translation: X:622.29, Y:6.93, Z:4.28 [[ 9.99836469e-01 -8.68108442e-03 -1.58642279e-02 6.22292113e+02] [ 8.67918529e-03 9.99962317e-01 -1.88557048e-04 6.93314581e+00] [ 1.58652670e-02 5.08376390e-05 9.99874137e-01 4.27523115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1492541539999 meters 0.014389810051538629 Centerline is valid? [True, True] Translation: X:622.32, Y:6.93, Z:4.28 [[ 9.99835227e-01 -8.17938907e-03 -1.62054240e-02 6.22320180e+02] [ 8.17727397e-03 9.99966546e-01 -1.96777521e-04 6.93431764e+00] [ 1.62064914e-02 6.42289054e-05 9.99868664e-01 4.27581662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1792541539999 meters 0.014491200596554038 Centerline is valid? [True, True] Translation: X:622.35, Y:6.94, Z:4.28 [[ 9.99835426e-01 -8.13026674e-03 -1.62178747e-02 6.22348092e+02] [ 8.12806490e-03 9.99966946e-01 -2.01677170e-04 6.93545242e+00] [ 1.62189783e-02 6.98240412e-05 9.99868461e-01 4.27621658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.209254154 meters 0.014587255357505272 Centerline is valid? [True, True] Translation: X:622.37, Y:6.94, Z:4.28 [[ 9.99827525e-01 -8.56524111e-03 -1.64789536e-02 6.22374766e+02] [ 8.56297302e-03 9.99963315e-01 -2.08191083e-04 6.93732818e+00] [ 1.64801323e-02 6.70463397e-05 9.99864191e-01 4.27680109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2392541539999 meters 0.014630775324130554 Centerline is valid? [True, True] Translation: X:622.40, Y:6.94, Z:4.28 [[ 9.99815243e-01 -8.96230952e-03 -1.70045996e-02 6.22402108e+02] [ 8.95992107e-03 9.99959836e-01 -2.16640750e-04 6.93850364e+00] [ 1.70058583e-02 6.42408537e-05 9.99855388e-01 4.27671452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2692541539999 meters 0.014671231400269769 Centerline is valid? [True, True] Translation: X:622.43, Y:6.94, Z:4.28 [[ 9.99812274e-01 -9.19124862e-03 -1.70568984e-02 6.22429480e+02] [ 9.18884692e-03 9.99957758e-01 -2.19174147e-04 6.93902437e+00] [ 1.70581924e-02 6.23997740e-05 9.99854497e-01 4.27696574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2992541539999 meters 0.014490018926274426 Centerline is valid? [True, True] Translation: X:622.46, Y:6.94, Z:4.28 [[ 9.99779089e-01 -1.07710591e-02 -1.80487374e-02 6.22457139e+02] [ 1.07685547e-02 9.99941990e-01 -2.35938794e-04 6.93818121e+00] [ 1.80502317e-02 4.15278565e-05 9.99837080e-01 4.27699033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.329254154 meters 0.014582749896293688 Centerline is valid? [True, True] Translation: X:622.49, Y:6.94, Z:4.28 [[ 9.99754191e-01 -1.18915100e-02 -1.87122958e-02 6.22485164e+02] [ 1.18889147e-02 9.99929293e-01 -2.49935329e-04 6.93800090e+00] [ 1.87139449e-02 2.74050033e-05 9.99824878e-01 4.27694342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3592541539999 meters 0.01447287829444079 Centerline is valid? [True, True] Translation: X:622.51, Y:6.94, Z:4.28 [[ 9.99745789e-01 -1.26546578e-02 -1.86605863e-02 6.22512035e+02] [ 1.26521470e-02 9.99919926e-01 -2.52609854e-04 6.93811748e+00] [ 1.86622888e-02 1.64491570e-05 9.99825844e-01 4.27724708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3892541539999 meters 0.014568838159212083 Centerline is valid? [True, True] Translation: X:622.54, Y:6.94, Z:4.28 [[ 9.99723663e-01 -1.36244245e-02 -1.91565167e-02 6.22538929e+02] [ 1.36218952e-02 9.99907183e-01 -2.62520953e-04 6.93809892e+00] [ 1.91583154e-02 1.50034690e-06 9.99816463e-01 4.27807418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4192541539999 meters 0.014363656150935775 Centerline is valid? [True, True] Translation: X:622.57, Y:6.94, Z:4.28 [[ 9.99709358e-01 -1.44320271e-02 -1.93110233e-02 6.22566832e+02] [ 1.44295134e-02 9.99895853e-01 -2.69504132e-04 6.93823075e+00] [ 1.93129016e-02 -9.22286706e-06 9.99813488e-01 4.27935874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.449254154 meters 0.01449883870515792 Centerline is valid? [True, True] Translation: X:622.59, Y:6.94, Z:4.28 [[ 9.99698803e-01 -1.49204352e-02 -1.94854766e-02 6.22593830e+02] [ 1.49178996e-02 9.99888684e-01 -2.75485779e-04 6.93810444e+00] [ 1.94874179e-02 -1.52795794e-05 9.99810102e-01 4.27944210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4792541539999 meters 0.014462955395664395 Centerline is valid? [True, True] Translation: X:622.62, Y:6.94, Z:4.28 [[ 9.99692436e-01 -1.49651782e-02 -1.97756467e-02 6.22621587e+02] [ 1.49624866e-02 9.99888015e-01 -2.84068294e-04 6.93843135e+00] [ 1.97776833e-02 -1.19119244e-05 9.99804402e-01 4.27985932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5092541539999 meters 0.014351066491204208 Centerline is valid? [True, True] Translation: X:622.65, Y:6.94, Z:4.28 [[ 9.99696178e-01 -1.40156971e-02 -2.02758707e-02 6.22649559e+02] [ 1.40125534e-02 9.99901775e-01 -2.97114868e-04 6.93835953e+00] [ 2.02780434e-02 1.29078776e-05 9.99794379e-01 4.28107943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5392541539999 meters 0.014658192260227852 Centerline is valid? [True, True] Translation: X:622.68, Y:6.94, Z:4.28 [[ 9.99705008e-01 -1.29568922e-02 -2.05430312e-02 6.22676956e+02] [ 1.29533444e-02 9.99916055e-01 -3.05764006e-04 6.93851215e+00] [ 2.05452685e-02 3.95728511e-05 9.99788923e-01 4.28051926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.569254154 meters 0.014402928431642885 Centerline is valid? [True, True] Translation: X:622.70, Y:6.94, Z:4.28 [[ 9.99714793e-01 -1.22964896e-02 -2.04726455e-02 6.22704339e+02] [ 1.22927203e-02 9.99924394e-01 -3.09951455e-04 6.93888611e+00] [ 2.04749090e-02 5.81985491e-05 9.99790365e-01 4.28155131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5992541539999 meters 0.015111151180533664 Centerline is valid? [True, True] Translation: X:622.73, Y:6.94, Z:4.28 [[ 9.99734263e-01 -1.05332202e-02 -2.05049859e-02 6.22732462e+02] [ 1.05289899e-02 9.99944519e-01 -3.14254905e-04 6.94023709e+00] [ 2.05071584e-02 9.82746057e-05 9.99789701e-01 4.28015311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6292541539999 meters 0.014663216449931077 Centerline is valid? [True, True] Translation: X:622.76, Y:6.94, Z:4.28 [[ 9.99737248e-01 -9.77384601e-03 -2.07342083e-02 6.22761173e+02] [ 9.76926761e-03 9.99952228e-01 -3.22094916e-04 6.94017369e+00] [ 2.07363659e-02 1.19452255e-04 9.99784971e-01 4.28310306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6592541539999 meters 0.014827176734992885 Centerline is valid? [True, True] Translation: X:622.79, Y:6.94, Z:4.28 [[ 9.99726071e-01 -9.39606340e-03 -2.14358781e-02 6.22789480e+02] [ 9.39101831e-03 9.99955847e-01 -3.36011635e-04 6.94058319e+00] [ 2.14380888e-02 1.34614868e-04 9.99770169e-01 4.28313312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.689254154 meters 0.015093183660283458 Centerline is valid? [True, True] Translation: X:622.82, Y:6.94, Z:4.28 [[ 9.99707438e-01 -9.19702624e-03 -2.23707883e-02 6.22817224e+02] [ 9.19143763e-03 9.99957696e-01 -3.52629437e-04 6.94054466e+00] [ 2.23730851e-02 1.46906565e-04 9.99749680e-01 4.28272535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7192541539999 meters 0.01513097977650422 Centerline is valid? [True, True] Translation: X:622.85, Y:6.94, Z:4.28 [[ 9.99689985e-01 -9.58629416e-03 -2.29790619e-02 6.22846143e+02] [ 9.58039756e-03 9.99954040e-01 -3.66685500e-04 6.93800480e+00] [ 2.29815209e-02 1.46423273e-04 9.99735879e-01 4.28194155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7492541539999 meters 0.0149585062782146 Centerline is valid? [True, True] Translation: X:622.87, Y:6.93, Z:4.28 [[ 9.99628806e-01 -1.22789392e-02 -2.43203136e-02 6.22874629e+02] [ 1.22729861e-02 9.99924606e-01 -3.94033051e-04 6.93388569e+00] [ 2.43233183e-02 9.54039172e-05 9.99704140e-01 4.28155088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7792541539999 meters 0.015045408339487283 Centerline is valid? [True, True] Translation: X:622.90, Y:6.93, Z:4.28 [[ 9.99589099e-01 -1.43408244e-02 -2.48188234e-02 6.22901144e+02] [ 1.43351649e-02 9.99897164e-01 -4.05943571e-04 6.93205616e+00] [ 2.48220927e-02 4.99948413e-05 9.99691883e-01 4.28133938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8092541539999 meters 0.015052758262218717 Centerline is valid? [True, True] Translation: X:622.93, Y:6.93, Z:4.28 [[ 9.99559320e-01 -1.63357499e-02 -2.47852662e-02 6.22929166e+02] [ 1.63305788e-02 9.99866563e-01 -4.11046925e-04 6.93029888e+00] [ 2.47886736e-02 6.10804422e-06 9.99692714e-01 4.28165104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.839254154 meters 0.015192025863101609 Centerline is valid? [True, True] Translation: X:622.96, Y:6.93, Z:4.28 [[ 9.99516106e-01 -1.87449198e-02 -2.48230263e-02 6.22957318e+02] [ 1.87403093e-02 9.99824297e-01 -4.18375071e-04 6.92845824e+00] [ 2.48265072e-02 -4.70185680e-05 9.99691774e-01 4.28224190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8692541539999 meters 0.014913718458126618 Centerline is valid? [True, True] Translation: X:622.99, Y:6.92, Z:4.28 [[ 9.99420600e-01 -2.29323256e-02 -2.51509851e-02 6.22986151e+02] [ 2.29287542e-02 9.99737009e-01 -4.30412425e-04 6.92373765e+00] [ 2.51542410e-02 -1.46517711e-04 9.99683571e-01 4.28497829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8992541539999 meters 0.015099751978880253 Centerline is valid? [True, True] Translation: X:623.01, Y:6.92, Z:4.28 [[ 9.99361231e-01 -2.51566858e-02 -2.53825024e-02 6.23014757e+02] [ 2.51536021e-02 9.99683501e-01 -4.40814677e-04 6.92142671e+00] [ 2.53855583e-02 -1.97928270e-04 9.99677715e-01 4.28499068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9292541539999 meters 0.015439230508359703 Centerline is valid? [True, True] Translation: X:623.04, Y:6.92, Z:4.29 [[ 9.99260601e-01 -2.91943366e-02 -2.50188435e-02 6.23043880e+02] [ 2.91924484e-02 9.99573712e-01 -4.40782719e-04 6.91698288e+00] [ 2.50210466e-02 -2.89904494e-04 9.99686883e-01 4.28540570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.959254154 meters 0.015679710860534664 Centerline is valid? [True, True] Translation: X:623.07, Y:6.91, Z:4.29 [[ 9.99207707e-01 -3.11289627e-02 -2.47981014e-02 6.23072254e+02] [ 3.11276204e-02 9.99515321e-01 -4.40234168e-04 6.91499654e+00] [ 2.47997863e-02 -3.32020512e-04 9.99692383e-01 4.28614768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9892541539999 meters 0.0161123432199889 Centerline is valid? [True, True] Translation: X:623.10, Y:6.91, Z:4.29 [[ 9.99167331e-01 -3.29815870e-02 -2.40179130e-02 6.23099913e+02] [ 3.29808114e-02 9.99455893e-01 -4.28520555e-04 6.91242326e+00] [ 2.40189780e-02 -3.63966521e-04 9.99711436e-01 4.28630937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0192541539999 meters 0.016714213004824327 Centerline is valid? [True, True] Translation: X:623.13, Y:6.91, Z:4.29 [[ 9.99101968e-01 -3.52341956e-02 -2.35331556e-02 6.23128856e+02] [ 3.52340342e-02 9.99379000e-01 -4.21628808e-04 6.90814011e+00] [ 2.35333972e-02 -4.07917836e-04 9.99722968e-01 4.28666554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0492541539999 meters 0.01672947591445729 Centerline is valid? [True, True] Translation: X:623.16, Y:6.91, Z:4.29 [[ 9.99073348e-01 -3.59304265e-02 -2.36949385e-02 6.23159665e+02] [ 3.59304472e-02 9.99354203e-01 -4.25009875e-04 6.90723729e+00] [ 2.36949071e-02 -4.26753696e-04 9.99719145e-01 4.28745034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.079254154 meters 0.016764371297229904 Centerline is valid? [True, True] Translation: X:623.19, Y:6.91, Z:4.29 [[ 9.99095769e-01 -3.51777497e-02 -2.38782587e-02 6.23188884e+02] [ 3.51775487e-02 9.99380987e-01 -4.28596602e-04 6.90570431e+00] [ 2.38785548e-02 -4.11769556e-04 9.99714782e-01 4.28771650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1092541539999 meters 0.016654277583301656 Centerline is valid? [True, True] Translation: X:623.22, Y:6.91, Z:4.29 [[ 9.99141688e-01 -3.41053111e-02 -2.35098732e-02 6.23218963e+02] [ 3.41048030e-02 9.99418173e-01 -4.22684142e-04 6.90631807e+00] [ 2.35106103e-02 -3.79478246e-04 9.99723515e-01 4.28817811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1392541539999 meters 0.016069639803958414 Centerline is valid? [True, True] Translation: X:623.25, Y:6.91, Z:4.29 [[ 9.99172346e-01 -3.27378644e-02 -2.41424026e-02 6.23248914e+02] [ 3.27369083e-02 9.99463909e-01 -4.34938082e-04 6.90841808e+00] [ 2.41436990e-02 -3.55769517e-04 9.99708435e-01 4.28980743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1692541539999 meters 0.01564217977897693 Centerline is valid? [True, True] Translation: X:623.28, Y:6.91, Z:4.29 [[ 9.99248975e-01 -2.89959448e-02 -2.57045115e-02 6.23277553e+02] [ 2.89935901e-02 9.99579490e-01 -4.64376350e-04 6.90863199e+00] [ 2.57071676e-02 -2.81238479e-04 9.99669477e-01 4.28874541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.199254154 meters 0.015424773843956104 Centerline is valid? [True, True] Translation: X:623.31, Y:6.91, Z:4.29 [[ 9.99282828e-01 -2.73856014e-02 -2.61507000e-02 6.23305891e+02] [ 2.73824555e-02 9.99624916e-01 -4.78456418e-04 6.90976781e+00] [ 2.61539941e-02 -2.37957096e-04 9.99657897e-01 4.28926166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2292541539999 meters 0.015434904155251084 Centerline is valid? [True, True] Translation: X:623.33, Y:6.91, Z:4.29 [[ 9.99315615e-01 -2.53081874e-02 -2.69777289e-02 6.23333206e+02] [ 2.53039573e-02 9.99679679e-01 -4.98227630e-04 6.91103855e+00] [ 2.69816966e-02 -1.84756649e-04 9.99635911e-01 4.28882118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2592541539999 meters 0.01547785267448969 Centerline is valid? [True, True] Translation: X:623.36, Y:6.91, Z:4.29 [[ 9.99345138e-01 -2.34324047e-02 -2.75720302e-02 6.23361359e+02] [ 2.34270837e-02 9.99725415e-01 -5.16040709e-04 6.91249345e+00] [ 2.75765514e-02 -1.30229486e-04 9.99619686e-01 4.28893247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2892541539999 meters 0.01547785267448969 Centerline is valid? [True, True] Translation: X:623.39, Y:6.91, Z:4.29 [[ 9.99338366e-01 -2.37196321e-02 -2.75718804e-02 6.23388749e+02] [ 2.37142018e-02 9.99718641e-01 -5.23964056e-04 6.91308246e+00] [ 2.75765511e-02 -1.30227753e-04 9.99619686e-01 4.28912295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.319254154 meters 0.015240328900004185 Centerline is valid? [True, True] Translation: X:623.42, Y:6.91, Z:4.29 [[ 9.99406238e-01 -2.01178472e-02 -2.79721849e-02 6.23416832e+02] [ 2.01106191e-02 9.99797615e-01 -5.39729300e-04 6.91476039e+00] [ 2.79773819e-02 -2.31291267e-05 9.99608556e-01 4.29053129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3492541539999 meters 0.015475946710810394 Centerline is valid? [True, True] Translation: X:623.44, Y:6.92, Z:4.29 [[ 9.99445314e-01 -1.81457608e-02 -2.79248176e-02 6.23443942e+02] [ 1.81376571e-02 9.99835351e-01 -5.43485628e-04 6.91634714e+00] [ 2.79300818e-02 3.66933979e-05 9.99609878e-01 4.29007710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3792541539999 meters 0.015328811952702316 Centerline is valid? [True, True] Translation: X:623.47, Y:6.92, Z:4.29 [[ 9.99505410e-01 -1.54647292e-02 -2.73820504e-02 6.23471857e+02] [ 1.54557459e-02 9.99880407e-01 -5.39698707e-04 6.91816445e+00] [ 2.73871220e-02 1.16221763e-04 9.99624896e-01 4.29240430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4092541539999 meters 0.015426914577219583 Centerline is valid? [True, True] Translation: X:623.50, Y:6.92, Z:4.29 [[ 9.99518223e-01 -1.50870780e-02 -2.71238276e-02 6.23499511e+02] [ 1.50779126e-02 9.99886175e-01 -5.42413941e-04 6.91843477e+00] [ 2.71289237e-02 1.33181918e-04 9.99631934e-01 4.29304484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.439254154 meters 0.015233999410166283 Centerline is valid? [True, True] Translation: X:623.53, Y:6.92, Z:4.29 [[ 9.99559490e-01 -1.51419066e-02 -2.55254332e-02 6.23528574e+02] [ 1.51336392e-02 9.99885346e-01 -5.17047968e-04 6.91670676e+00] [ 2.55303357e-02 1.30527508e-04 9.99674039e-01 4.29422815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4692541539999 meters 0.015174423863284534 Centerline is valid? [True, True] Translation: X:623.56, Y:6.92, Z:4.29 [[ 9.99552464e-01 -1.62056853e-02 -2.51445118e-02 6.23556068e+02] [ 1.61978226e-02 9.99868673e-01 -5.16358804e-04 6.91575817e+00] [ 2.51495776e-02 1.08841373e-04 9.99683693e-01 4.29493615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4992541539999 meters 0.015091582472727776 Centerline is valid? [True, True] Translation: X:623.58, Y:6.91, Z:4.30 [[ 9.99525117e-01 -1.79712304e-02 -2.50314739e-02 6.23583868e+02] [ 1.79638103e-02 9.99838502e-01 -5.21282919e-04 6.91412052e+00] [ 2.50367995e-02 7.13747221e-05 9.99686528e-01 4.29522588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5292541539999 meters 0.014977952321183237 Centerline is valid? [True, True] Translation: X:623.61, Y:6.91, Z:4.30 [[ 9.99458367e-01 -2.16975502e-02 -2.47424679e-02 6.23611772e+02] [ 2.16913535e-02 9.99764580e-01 -5.18841976e-04 6.90944987e+00] [ 2.47479006e-02 -1.81366656e-05 9.99693724e-01 4.29515224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5592541539999 meters 0.015049793611691006 Centerline is valid? [True, True] Translation: X:623.64, Y:6.91, Z:4.30 [[ 9.99412862e-01 -2.39472872e-02 -2.45042384e-02 6.23640046e+02] [ 2.39417477e-02 9.99713220e-01 -5.19462640e-04 6.90761942e+00] [ 2.45096508e-02 -6.75166499e-05 9.99699591e-01 4.29557349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.589254154 meters 0.015463805393419747 Centerline is valid? [True, True] Translation: X:623.67, Y:6.90, Z:4.30 [[ 9.99288535e-01 -2.86952386e-02 -2.44746243e-02 6.23668962e+02] [ 2.86909798e-02 9.99588191e-01 -5.25218426e-04 6.90197954e+00] [ 2.44796167e-02 -1.77356201e-04 9.99700314e-01 4.29621414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6192541539999 meters 0.01599637384292467 Centerline is valid? [True, True] Translation: X:623.70, Y:6.90, Z:4.30 [[ 9.99200515e-01 -3.13142760e-02 -2.48545299e-02 6.23697646e+02] [ 3.13105370e-02 9.99509559e-01 -5.39680451e-04 6.89895593e+00] [ 2.48592399e-02 -2.38959691e-04 9.99690933e-01 4.29600608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6492541539999 meters 0.01695370396395582 Centerline is valid? [True, True] Translation: X:623.73, Y:6.90, Z:4.29 [[ 9.99111710e-01 -3.34893760e-02 -2.55783625e-02 6.23726507e+02] [ 3.34859622e-02 9.99439030e-01 -5.61899485e-04 6.89571975e+00] [ 2.55828315e-02 -2.95115727e-04 9.99672662e-01 4.29493579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6792541539999 meters 0.016151289658521348 Centerline is valid? [True, True] Translation: X:623.75, Y:6.89, Z:4.30 [[ 9.98911484e-01 -3.91379218e-02 -2.53785469e-02 6.23754945e+02] [ 3.91362962e-02 9.99233724e-01 -5.60931891e-04 6.89117710e+00] [ 2.53810536e-02 -4.32901020e-04 9.99677755e-01 4.29677915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.709254154 meters 0.01648785957649985 Centerline is valid? [True, True] Translation: X:623.78, Y:6.89, Z:4.30 [[ 9.98841238e-01 -4.10836651e-02 -2.50661965e-02 6.23784813e+02] [ 4.10826593e-02 9.99155597e-01 -5.55316742e-04 6.88898701e+00] [ 2.50678449e-02 -4.75112747e-04 9.99685639e-01 4.29721796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7392541539999 meters 0.01667122440532635 Centerline is valid? [True, True] Translation: X:623.81, Y:6.89, Z:4.30 [[ 9.98786856e-01 -4.27312890e-02 -2.44714689e-02 6.23814570e+02] [ 4.27308027e-02 9.99086475e-01 -5.43031280e-04 6.88709353e+00] [ 2.44723180e-02 -5.03313002e-04 9.99700381e-01 4.29787999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7692541539999 meters 0.016946974556507385 Centerline is valid? [True, True] Translation: X:623.85, Y:6.88, Z:4.30 [[ 9.98734613e-01 -4.44789668e-02 -2.34690231e-02 6.23845160e+02] [ 4.44789959e-02 9.99010184e-01 -5.21030269e-04 6.88304996e+00] [ 2.34689680e-02 -5.23507618e-04 9.99724429e-01 4.29821151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7992541539999 meters 0.01733270734694832 Centerline is valid? [True, True] Translation: X:623.88, Y:6.88, Z:4.30 [[ 9.98715957e-01 -4.47765648e-02 -2.36959121e-02 6.23875203e+02] [ 4.47766855e-02 9.98996883e-01 -5.25762885e-04 6.88128895e+00] [ 2.36956842e-02 -5.35936619e-04 9.99719074e-01 4.29800621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.829254154 meters 0.01711979690363992 Centerline is valid? [True, True] Translation: X:623.91, Y:6.88, Z:4.30 [[ 9.98724787e-01 -4.45677427e-02 -2.37174121e-02 6.23905448e+02] [ 4.45678076e-02 9.99006223e-01 -5.26114042e-04 6.87947026e+00] [ 2.37172900e-02 -5.31589927e-04 9.99718564e-01 4.29823482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8592541539999 meters 0.017222213302703 Centerline is valid? [True, True] Translation: X:623.94, Y:6.88, Z:4.30 [[ 9.98754511e-01 -4.40045793e-02 -2.35164427e-02 6.23936178e+02] [ 4.40044872e-02 9.99031197e-01 -5.21656015e-04 6.87942710e+00] [ 2.35166151e-02 -5.13822700e-04 9.99723314e-01 4.29883031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8892541539999 meters 0.017398420896503296 Centerline is valid? [True, True] Translation: X:623.97, Y:6.88, Z:4.30 [[ 9.98759829e-01 -4.37375847e-02 -2.37871155e-02 6.23965885e+02] [ 4.37374156e-02 9.99042922e-01 -5.27627159e-04 6.87872670e+00] [ 2.37874265e-02 -5.13414146e-04 9.99716907e-01 4.29870720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9192541539999 meters 0.016878898309793222 Centerline is valid? [True, True] Translation: X:624.00, Y:6.88, Z:4.30 [[ 9.98781899e-01 -4.32524440e-02 -2.37474924e-02 6.23996055e+02] [ 4.32521387e-02 9.99064050e-01 -5.26734700e-04 6.87801928e+00] [ 2.37480484e-02 -5.01036749e-04 9.99717850e-01 4.30012407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.949254154 meters 0.01685660354716945 Centerline is valid? [True, True] Translation: X:624.03, Y:6.88, Z:4.30 [[ 9.98787628e-01 -4.34584674e-02 -2.31222085e-02 6.24026313e+02] [ 4.34582330e-02 9.99055113e-01 -5.12865501e-04 6.87638479e+00] [ 2.31226490e-02 -4.92606609e-04 9.99732514e-01 4.30005957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9792541539999 meters 0.016813932482859305 Centerline is valid? [True, True] Translation: X:624.06, Y:6.88, Z:4.30 [[ 9.98777319e-01 -4.38775849e-02 -2.27733446e-02 6.24057031e+02] [ 4.38774664e-02 9.99036793e-01 -5.05127474e-04 6.87557709e+00] [ 2.27735729e-02 -4.94726797e-04 9.99740526e-01 4.30100474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0092541539999 meters 0.017110940811145916 Centerline is valid? [True, True] Translation: X:624.09, Y:6.87, Z:4.30 [[ 9.98766433e-01 -4.42798147e-02 -2.24701922e-02 6.24086930e+02] [ 4.42798074e-02 9.99019044e-01 -4.98116599e-04 6.87387511e+00] [ 2.24702065e-02 -4.97473646e-04 9.99747389e-01 4.30092625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0392541539999 meters 0.017969484115306366 Centerline is valid? [True, True] Translation: X:624.12, Y:6.87, Z:4.30 [[ 9.98715591e-01 -4.50938569e-02 -2.31022083e-02 6.24117222e+02] [ 4.50940903e-02 9.98982613e-01 -5.11116609e-04 6.87056692e+00] [ 2.31017526e-02 -5.31312940e-04 9.99732978e-01 4.30006424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.069254154 meters 0.019201323859870698 Centerline is valid? [True, True] Translation: X:624.15, Y:6.87, Z:4.30 [[ 9.98696802e-01 -4.53812215e-02 -2.33504107e-02 6.24147844e+02] [ 4.53815474e-02 9.98969593e-01 -5.16227403e-04 6.86935107e+00] [ 2.33497773e-02 -5.44123111e-04 9.99727209e-01 4.29946161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0992541539999 meters 0.01877625918381835 Centerline is valid? [True, True] Translation: X:624.18, Y:6.87, Z:4.30 [[ 9.98624584e-01 -4.68751799e-02 -2.34873897e-02 6.24177960e+02] [ 4.68759225e-02 9.98900585e-01 -5.19255715e-04 6.86828726e+00] [ 2.34859075e-02 -5.82451537e-04 9.99723998e-01 4.30074551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1292541539999 meters 0.01912253414294755 Centerline is valid? [True, True] Translation: X:624.21, Y:6.86, Z:4.30 [[ 9.98571522e-01 -4.81382185e-02 -2.31867827e-02 6.24208125e+02] [ 4.81392893e-02 9.98840501e-01 -5.12312347e-04 6.86431489e+00] [ 2.31845595e-02 -6.04614724e-04 9.99731019e-01 4.30005865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1592541539999 meters 0.018490883188053444 Centerline is valid? [True, True] Translation: X:624.24, Y:6.86, Z:4.30 [[ 9.98538855e-01 -4.90538964e-02 -2.26686899e-02 6.24238827e+02] [ 4.90551584e-02 9.98795945e-01 -5.00741138e-04 6.86430407e+00] [ 2.26659589e-02 -6.12006690e-04 9.99742907e-01 4.30113726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.189254154 meters 0.018512702832920884 Centerline is valid? [True, True] Translation: X:624.27, Y:6.86, Z:4.30 [[ 9.98510024e-01 -4.98384969e-02 -2.22228716e-02 6.24269218e+02] [ 4.98399037e-02 9.98757099e-01 -4.90893213e-04 6.86329869e+00] [ 2.22197161e-02 -6.17423987e-04 9.99752921e-01 4.30198011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2192541539999 meters 0.018630819750939952 Centerline is valid? [True, True] Translation: X:624.30, Y:6.86, Z:4.30 [[ 9.98481101e-01 -5.06832558e-02 -2.16031835e-02 6.24299765e+02] [ 5.06847828e-02 9.98714586e-01 -4.77204582e-04 6.86195480e+00] [ 2.15996007e-02 -6.18472906e-04 9.99766510e-01 4.30353603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2492541539999 meters 0.01876561520778801 Centerline is valid? [True, True] Translation: X:624.33, Y:6.86, Z:4.30 [[ 9.98484309e-01 -5.09013939e-02 -2.09316062e-02 6.24331589e+02] [ 5.09028859e-02 9.98703501e-01 -4.61858679e-04 6.86197677e+00] [ 2.09279776e-02 -6.04320515e-04 9.99780803e-01 4.30438804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2792541539999 meters 0.019047512014413476 Centerline is valid? [True, True] Translation: X:624.36, Y:6.86, Z:4.30 [[ 9.98532940e-01 -5.01307429e-02 -2.04664862e-02 6.24361895e+02] [ 5.01320175e-02 9.98742498e-01 -4.51103420e-04 6.85982553e+00] [ 2.04633637e-02 -5.75584620e-04 9.99790438e-01 4.30425051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3092541539999 meters 0.01836613039848712 Centerline is valid? [True, True] Translation: X:624.39, Y:6.86, Z:4.30 [[ 9.98533919e-01 -4.99984392e-02 -2.07404979e-02 6.24393585e+02] [ 4.99997329e-02 9.98749127e-01 -4.56508696e-04 6.86073241e+00] [ 2.07373789e-02 -5.81179938e-04 9.99784789e-01 4.30484878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.339254154 meters 0.018450318584424915 Centerline is valid? [True, True] Translation: X:624.43, Y:6.86, Z:4.30 [[ 9.98534877e-01 -4.97925661e-02 -2.11848932e-02 6.24425295e+02] [ 4.97938862e-02 9.98759407e-01 -4.65510950e-04 6.85993034e+00] [ 2.11817904e-02 -5.90049242e-04 9.99775467e-01 4.30464654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3692541539999 meters 0.019540593194102566 Centerline is valid? [True, True] Translation: X:624.46, Y:6.86, Z:4.30 [[ 9.98470763e-01 -5.05145920e-02 -2.24591051e-02 6.24455649e+02] [ 5.05162706e-02 9.98723116e-01 -4.92962016e-04 6.85747074e+00] [ 2.24553292e-02 -6.42342071e-04 9.99747641e-01 4.30318577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3992541539999 meters 0.01936394903187321 Centerline is valid? [True, True] Translation: X:624.49, Y:6.86, Z:4.30 [[ 9.98440731e-01 -5.10861515e-02 -2.25013630e-02 6.24485763e+02] [ 5.10879843e-02 9.98694034e-01 -4.93764168e-04 6.85794408e+00] [ 2.24972015e-02 -6.56555023e-04 9.99746690e-01 4.30383887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4292541539999 meters 0.02019342101664927 Centerline is valid? [True, True] Translation: X:624.52, Y:6.86, Z:4.30 [[ 9.98380436e-01 -5.22572511e-02 -2.24874516e-02 6.24515658e+02] [ 5.22593784e-02 9.98633423e-01 -4.93458899e-04 6.85675074e+00] [ 2.24825075e-02 -6.82520530e-04 9.99747004e-01 4.30427277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.459254154 meters 0.020517363428223884 Centerline is valid? [True, True] Translation: X:624.55, Y:6.86, Z:4.30 [[ 9.98353263e-01 -5.27510302e-02 -2.25408613e-02 6.24546253e+02] [ 5.27532933e-02 9.98607453e-01 -4.94630909e-04 6.85620366e+00] [ 2.25355644e-02 -6.95288287e-04 9.99745800e-01 4.30417659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4892541539999 meters 0.019022718615430347 Centerline is valid? [True, True] Translation: X:624.58, Y:6.86, Z:4.31 [[ 9.98309695e-01 -5.34018835e-02 -2.29345226e-02 6.24577069e+02] [ 5.34044047e-02 9.98572840e-01 -5.02973024e-04 6.85858631e+00] [ 2.29286510e-02 -7.22681681e-04 9.99736843e-01 4.30598732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5192541539999 meters 0.019953769222838178 Centerline is valid? [True, True] Translation: X:624.61, Y:6.86, Z:4.31 [[ 9.98242765e-01 -5.44997990e-02 -2.32627000e-02 6.24607718e+02] [ 5.45027008e-02 9.98513493e-01 -5.09740236e-04 6.85743479e+00] [ 2.32559005e-02 -7.59035472e-04 9.99729257e-01 4.30545586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5492541539999 meters 0.022822798727220706 Centerline is valid? [True, True] Translation: X:624.64, Y:6.85, Z:4.30 [[ 9.98205302e-01 -5.50397596e-02 -2.35966106e-02 6.24637523e+02] [ 5.50428919e-02 9.98483857e-01 -5.17230735e-04 6.85318362e+00] [ 2.35893030e-02 -7.82523225e-04 9.99721427e-01 4.30355180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.579254154 meters 0.021320098292495305 Centerline is valid? [True, True] Translation: X:624.67, Y:6.86, Z:4.31 [[ 9.98192771e-01 -5.53640839e-02 -2.33668575e-02 6.24667789e+02] [ 5.53672413e-02 9.98465926e-01 -5.12319181e-04 6.85615152e+00] [ 2.33593751e-02 -7.82365132e-04 9.99726826e-01 4.30535446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6092541539999 meters 0.020807349552761676 Centerline is valid? [True, True] Translation: X:624.70, Y:6.86, Z:4.31 [[ 9.98162746e-01 -5.60722030e-02 -2.29573693e-02 6.24698363e+02] [ 5.60754377e-02 9.98426408e-01 -5.03341139e-04 6.85749154e+00] [ 2.29494672e-02 -7.84928159e-04 9.99736318e-01 4.30739396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6392541539999 meters 0.024512566272757438 Centerline is valid? [True, True] Translation: X:624.73, Y:6.85, Z:4.31 [[ 9.98140331e-01 -5.64470036e-02 -2.30133662e-02 6.24729295e+02] [ 5.64503601e-02 9.98405280e-01 -5.04282701e-04 6.85231322e+00] [ 2.30051315e-02 -7.95767907e-04 9.99735030e-01 4.30538177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6692541539999 meters 0.025945900145626425 Centerline is valid? [True, True] Translation: X:624.76, Y:6.85, Z:4.30 [[ 9.98129878e-01 -5.64504558e-02 -2.34540642e-02 6.24758813e+02] [ 5.64539397e-02 9.98405072e-01 -5.14085388e-04 6.85160036e+00] [ 2.34456770e-02 -8.10950341e-04 9.99724783e-01 4.30469025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.699254154 meters 0.02181266189687996 Centerline is valid? [True, True] Translation: X:624.79, Y:6.86, Z:4.31 [[ 9.98095863e-01 -5.72629738e-02 -2.29259651e-02 6.24789174e+02] [ 5.72665140e-02 9.98358800e-01 -5.02621273e-04 6.85758116e+00] [ 2.29171206e-02 -8.11225890e-04 9.99737039e-01 4.30937943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7292541539999 meters 0.020332744982782654 Centerline is valid? [True, True] Translation: X:624.82, Y:6.86, Z:4.31 [[ 9.98092027e-01 -5.75771218e-02 -2.22975676e-02 6.24820080e+02] [ 5.75805613e-02 9.98340744e-01 -4.88280198e-04 6.85976385e+00] [ 2.22886840e-02 -7.96557888e-04 9.99751259e-01 4.31141368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7592541539999 meters 0.02151528427014971 Centerline is valid? [True, True] Translation: X:624.85, Y:6.86, Z:4.31 [[ 9.98067872e-01 -5.80841599e-02 -2.20624940e-02 6.24850055e+02] [ 5.80876626e-02 9.98311370e-01 -4.82605266e-04 6.85844452e+00] [ 2.20532704e-02 -7.99885899e-04 9.99756477e-01 4.31165701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7892541539999 meters 0.02056967644512746 Centerline is valid? [True, True] Translation: X:624.88, Y:6.86, Z:4.31 [[ 9.98003934e-01 -5.92305081e-02 -2.19065098e-02 6.24881201e+02] [ 5.92342520e-02 9.98243995e-01 -4.78515943e-04 6.85963537e+00] [ 2.18963846e-02 -8.20054926e-04 9.99759909e-01 4.31304046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.819254154 meters 0.022521669460379024 Centerline is valid? [True, True] Translation: X:624.91, Y:6.86, Z:4.31 [[ 9.97959966e-01 -5.99795399e-02 -2.18714819e-02 6.24912033e+02] [ 5.99834629e-02 9.98199257e-01 -4.77223205e-04 6.85640343e+00] [ 2.18607206e-02 -8.35677568e-04 9.99760677e-01 4.31247035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8492541539999 meters 0.022410920529561725 Centerline is valid? [True, True] Translation: X:624.94, Y:6.86, Z:4.31 [[ 9.97852140e-01 -6.17544357e-02 -2.18516854e-02 6.24942816e+02] [ 6.17587851e-02 9.98090991e-01 -4.76394934e-04 6.85623528e+00] [ 2.18393898e-02 -8.74161836e-04 9.99761110e-01 4.31334177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8792541539999 meters 0.02387604132841677 Centerline is valid? [True, True] Translation: X:624.97, Y:6.85, Z:4.31 [[ 9.97804703e-01 -6.24651243e-02 -2.19973511e-02 6.24973410e+02] [ 6.24697130e-02 9.98046745e-01 -4.79173814e-04 6.85407492e+00] [ 2.19843163e-02 -8.96046326e-04 9.99757914e-01 4.31303659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9092541539999 meters 0.022823553884497114 Centerline is valid? [True, True] Translation: X:625.00, Y:6.86, Z:4.31 [[ 9.97778650e-01 -6.28629019e-02 -2.20458937e-02 6.25004795e+02] [ 6.28676227e-02 9.98021759e-01 -4.79560158e-04 6.85577810e+00] [ 2.20324281e-02 -9.07478037e-04 9.99756845e-01 4.31426238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.939254154 meters 0.02329331948778697 Centerline is valid? [True, True] Translation: X:625.04, Y:6.86, Z:4.31 [[ 9.97761922e-01 -6.31655674e-02 -2.19376099e-02 6.25035174e+02] [ 6.31703262e-02 9.98002647e-01 -4.76686867e-04 6.85520310e+00] [ 2.19239029e-02 -9.10185967e-04 9.99759228e-01 4.31462872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9692541539999 meters 0.023497130062058495 Centerline is valid? [True, True] Translation: X:625.07, Y:6.85, Z:4.31 [[ 9.97747668e-01 -6.31621555e-02 -2.25861182e-02 6.25066644e+02] [ 6.31672146e-02 9.98002837e-01 -4.90090800e-04 6.85487612e+00] [ 2.25719652e-02 -9.37715221e-04 9.99744781e-01 4.31473656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9992541539999 meters 0.025391516999822273 Centerline is valid? [True, True] Translation: X:625.10, Y:6.85, Z:4.31 [[ 9.97778286e-01 -6.25788520e-02 -2.28556257e-02 6.25097292e+02] [ 6.25838922e-02 9.98039584e-01 -4.95405534e-04 6.85348979e+00] [ 2.28418211e-02 -9.36089130e-04 9.99738653e-01 4.31351151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0292541539999 meters 0.024627581918137617 Centerline is valid? [True, True] Translation: X:625.13, Y:6.85, Z:4.31 [[ 9.97812279e-01 -6.20253377e-02 -2.28803943e-02 6.25128082e+02] [ 6.20302590e-02 9.98074146e-01 -4.95265699e-04 6.85385982e+00] [ 2.28670491e-02 -9.25094591e-04 9.99738087e-01 4.31482307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0592541539999 meters 0.02493915547203824 Centerline is valid? [True, True] Translation: X:625.16, Y:6.85, Z:4.31 [[ 9.97849411e-01 -6.14559246e-02 -2.27974171e-02 6.25158697e+02] [ 6.14606735e-02 9.98109384e-01 -4.92956896e-04 6.85376548e+00] [ 2.27846110e-02 -9.09247860e-04 9.99739984e-01 4.31485002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.089254154 meters 0.024488416264677924 Centerline is valid? [True, True] Translation: X:625.19, Y:6.85, Z:4.32 [[ 9.97873677e-01 -6.10106334e-02 -2.29309139e-02 6.25189761e+02] [ 6.10153362e-02 9.98136706e-01 -4.95170163e-04 6.85461973e+00] [ 2.29183975e-02 -9.05020150e-04 9.99736929e-01 4.31529816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1192541539999 meters 0.022930115640809823 Centerline is valid? [True, True] Translation: X:625.22, Y:6.86, Z:4.32 [[ 9.97906122e-01 -6.02960089e-02 -2.34043420e-02 6.25221376e+02] [ 6.03007313e-02 9.98180128e-01 -5.04563039e-04 6.85690921e+00] [ 2.33921722e-02 -9.07792394e-04 9.99725954e-01 4.31643147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1492541539999 meters 0.02042971994335337 Centerline is valid? [True, True] Translation: X:625.25, Y:6.86, Z:4.32 [[ 9.97993920e-01 -5.86484244e-02 -2.38432158e-02 6.25252396e+02] [ 5.86528773e-02 9.98278306e-01 -5.13141272e-04 6.86152598e+00] [ 2.38322600e-02 -8.86361340e-04 9.99715578e-01 4.31869049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1792541539999 meters 0.020756929569478968 Centerline is valid? [True, True] Translation: X:625.28, Y:6.86, Z:4.32 [[ 9.98060550e-01 -5.74522035e-02 -2.39662824e-02 6.25283184e+02] [ 5.74563794e-02 9.98347885e-01 -5.14898392e-04 6.86155004e+00] [ 2.39562694e-02 -8.63116045e-04 9.99712635e-01 4.31898263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.209254154 meters 0.020756929569478968 Centerline is valid? [True, True] Translation: X:625.31, Y:6.86, Z:4.32 [[ 9.98060550e-01 -5.74522017e-02 -2.39662879e-02 6.25313200e+02] [ 5.74563838e-02 9.98347885e-01 -5.14641928e-04 6.86219448e+00] [ 2.39562602e-02 -8.63372433e-04 9.99712635e-01 4.31919061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2392541539999 meters 0.01976967564510907 Centerline is valid? [True, True] Translation: X:625.34, Y:6.86, Z:4.32 [[ 9.98211428e-01 -5.49405847e-02 -2.35685793e-02 6.25343776e+02] [ 5.49439298e-02 9.98489313e-01 -5.06101700e-04 6.86466325e+00] [ 2.35607801e-02 -7.89753865e-04 9.99722094e-01 4.32112359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2692541539999 meters 0.020278163219531395 Centerline is valid? [True, True] Translation: X:625.37, Y:6.87, Z:4.32 [[ 9.98293450e-01 -5.31147242e-02 -2.42695956e-02 6.25374221e+02] [ 5.31177325e-02 9.98588121e-01 -5.21155028e-04 6.86657227e+00] [ 2.42630109e-02 -7.68880236e-04 9.99705314e-01 4.32121910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2992541539999 meters 0.018925629962520684 Centerline is valid? [True, True] Translation: X:625.40, Y:6.87, Z:4.32 [[ 9.98388919e-01 -5.13338666e-02 -2.41743747e-02 6.25403527e+02] [ 5.13363220e-02 9.98681287e-01 -5.19427481e-04 6.86791092e+00] [ 2.41691599e-02 -7.22432845e-04 9.99707622e-01 4.32218418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.329254154 meters 0.018986939915093107 Centerline is valid? [True, True] Translation: X:625.43, Y:6.87, Z:4.32 [[ 9.98590170e-01 -4.69639594e-02 -2.47398268e-02 6.25432473e+02] [ 4.69651718e-02 9.98896386e-01 -5.32355717e-04 6.86841468e+00] [ 2.47375251e-02 -6.30305028e-04 9.99693782e-01 4.32119225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3592541539999 meters 0.020353285358577944 Centerline is valid? [True, True] Translation: X:625.46, Y:6.87, Z:4.32 [[ 9.98688442e-01 -4.42011340e-02 -2.58390299e-02 6.25461652e+02] [ 4.42014114e-02 9.99022483e-01 -5.60696659e-04 6.87209011e+00] [ 2.58385553e-02 -5.82160320e-04 9.99665959e-01 4.32131466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3892541539999 meters 0.016581747377103218 Centerline is valid? [True, True] Translation: X:625.49, Y:6.88, Z:4.32 [[ 9.98938953e-01 -3.88210364e-02 -2.47769184e-02 6.25490033e+02] [ 3.88195790e-02 9.99246090e-01 -5.39988430e-04 6.87747482e+00] [ 2.47792017e-02 -4.22414064e-04 9.99692859e-01 4.32401273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4192541539999 meters 0.016006301001993944 Centerline is valid? [True, True] Translation: X:625.52, Y:6.88, Z:4.32 [[ 9.99059026e-01 -3.59340472e-02 -2.42859524e-02 6.25518825e+02] [ 3.59316828e-02 9.99354106e-01 -5.33873165e-04 6.88031797e+00] [ 2.42894505e-02 -3.39264334e-04 9.99704910e-01 4.32498679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.449254154 meters 0.015429551872711856 Centerline is valid? [True, True] Translation: X:625.55, Y:6.88, Z:4.33 [[ 9.99156902e-01 -3.34524935e-02 -2.37995057e-02 6.25547112e+02] [ 3.34493799e-02 9.99440273e-01 -5.29021790e-04 6.88280165e+00] [ 2.38038816e-02 -2.67502936e-04 9.99716612e-01 4.32602751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4792541539999 meters 0.015411901228265962 Centerline is valid? [True, True] Translation: X:625.57, Y:6.88, Z:4.33 [[ 9.99238289e-01 -3.11583027e-02 -2.34947110e-02 6.25574985e+02] [ 3.11545436e-02 9.99514441e-01 -5.26102987e-04 6.88459658e+00] [ 2.34996954e-02 -2.06264749e-04 9.99723823e-01 4.32623298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5092541539999 meters 0.014845292668656815 Centerline is valid? [True, True] Translation: X:625.60, Y:6.89, Z:4.33 [[ 9.99381837e-01 -2.68489694e-02 -2.26952837e-02 6.25603107e+02] [ 2.68442447e-02 9.99639497e-01 -5.12867137e-04 6.88754003e+00] [ 2.27008720e-02 -9.66876487e-05 9.99742297e-01 4.32720900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5392541539999 meters 0.014477293898784927 Centerline is valid? [True, True] Translation: X:625.63, Y:6.89, Z:4.33 [[ 9.99433995e-01 -2.45580216e-02 -2.29911582e-02 6.25630660e+02] [ 2.45524251e-02 9.99698406e-01 -5.25710393e-04 6.88961130e+00] [ 2.29971346e-02 -3.90758526e-05 9.99735530e-01 4.32836949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.569254154 meters 0.014477293898784927 Centerline is valid? [True, True] Translation: X:625.66, Y:6.89, Z:4.33 [[ 9.99427135e-01 -2.48357848e-02 -2.29910109e-02 6.25658068e+02] [ 2.48301148e-02 9.99691544e-01 -5.32100500e-04 6.89032625e+00] [ 2.29971343e-02 -3.90737639e-05 9.99735530e-01 4.32855995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5992541539999 meters 0.014888616272538622 Centerline is valid? [True, True] Translation: X:625.68, Y:6.89, Z:4.33 [[ 9.99416726e-01 -2.50002973e-02 -2.32635559e-02 6.25684606e+02] [ 2.49944186e-02 9.99687443e-01 -5.43478604e-04 6.89045645e+00] [ 2.32698718e-02 -3.82974477e-05 9.99729219e-01 4.32730916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6292541539999 meters 0.015192111185786025 Centerline is valid? [True, True] Translation: X:625.71, Y:6.89, Z:4.33 [[ 9.99384712e-01 -2.60166394e-02 -2.35229921e-02 6.25712850e+02] [ 2.60108463e-02 9.99661508e-01 -5.52260452e-04 6.88993311e+00] [ 2.35293977e-02 -5.99322775e-05 9.99723144e-01 4.32679239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6592541539999 meters 0.014542069835702446 Centerline is valid? [True, True] Translation: X:625.74, Y:6.89, Z:4.33 [[ 9.99288771e-01 -2.86928477e-02 -2.44678022e-02 6.25741267e+02] [ 2.86872565e-02 9.99588268e-01 -5.79566833e-04 6.88804837e+00] [ 2.44743574e-02 -1.22759488e-04 9.99700451e-01 4.33053352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.689254154 meters 0.01736815976374683 Centerline is valid? [True, True] Translation: X:625.77, Y:6.89, Z:4.33 [[ 9.99227840e-01 -3.02779737e-02 -2.50393235e-02 6.25770065e+02] [ 3.02724532e-02 9.99541504e-01 -5.99592544e-04 6.88630688e+00] [ 2.50459975e-02 -1.58872185e-04 9.99686287e-01 4.32931131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7192541539999 meters 0.014963893015080984 Centerline is valid? [True, True] Translation: X:625.80, Y:6.88, Z:4.33 [[ 9.99174364e-01 -3.27744480e-02 -2.40088816e-02 6.25797526e+02] [ 3.27699316e-02 9.99462752e-01 -5.81636240e-04 6.88487549e+00] [ 2.40150457e-02 -2.05613387e-04 9.99711576e-01 4.33080959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7492541539999 meters 0.015165066300194692 Centerline is valid? [True, True] Translation: X:625.83, Y:6.88, Z:4.33 [[ 9.99036262e-01 -3.68820778e-02 -2.37961890e-02 6.25826401e+02] [ 3.68786536e-02 9.99319581e-01 -5.82876078e-04 6.88129693e+00] [ 2.38014953e-02 -2.95257074e-04 9.99716661e-01 4.33265605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7792541539999 meters 0.015877186241721155 Centerline is valid? [True, True] Translation: X:625.85, Y:6.88, Z:4.33 [[ 9.98977565e-01 -3.85965790e-02 -2.35399390e-02 6.25854095e+02] [ 3.85936261e-02 9.99254820e-01 -5.79905799e-04 6.87866231e+00] [ 2.35447799e-02 -3.29178722e-04 9.99722729e-01 4.33135220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8092541539999 meters 0.017911136994771256 Centerline is valid? [True, True] Translation: X:625.88, Y:6.88, Z:4.33 [[ 9.98835536e-01 -4.15810904e-02 -2.44659866e-02 6.25882987e+02] [ 4.15786722e-02 9.99135048e-01 -6.07758510e-04 6.87630481e+00] [ 2.44700959e-02 -4.10212438e-04 9.99700478e-01 4.33160396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.839254154 meters 0.01887970183861475 Centerline is valid? [True, True] Translation: X:625.91, Y:6.87, Z:4.33 [[ 9.98775331e-01 -4.27741839e-02 -2.48637868e-02 6.25910597e+02] [ 4.27719729e-02 9.99084667e-01 -6.20982218e-04 6.87319928e+00] [ 2.48675902e-02 -4.43251495e-04 9.99690655e-01 4.33004279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8692541539999 meters 0.017475737785134567 Centerline is valid? [True, True] Translation: X:625.94, Y:6.87, Z:4.33 [[ 9.98709802e-01 -4.41110015e-02 -2.51585086e-02 6.25938932e+02] [ 4.41091070e-02 9.99026521e-01 -6.30515666e-04 6.87187913e+00] [ 2.51618300e-02 -4.80017170e-04 9.99683276e-01 4.33058947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8992541539999 meters 0.016644749295475988 Centerline is valid? [True, True] Translation: X:625.97, Y:6.87, Z:4.33 [[ 9.98670967e-01 -4.48031497e-02 -2.54750391e-02 6.25967210e+02] [ 4.48012976e-02 9.98995710e-01 -6.43734995e-04 6.87313761e+00] [ 2.54782961e-02 -4.98435358e-04 9.99675251e-01 4.33255441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9292541539999 meters 0.016366564949344117 Centerline is valid? [True, True] Translation: X:625.99, Y:6.87, Z:4.33 [[ 9.98711739e-01 -4.40622129e-02 -2.51671347e-02 6.25994781e+02] [ 4.40600854e-02 9.99028678e-01 -6.39316774e-04 6.87211282e+00] [ 2.51708590e-02 -4.70372937e-04 9.99683053e-01 4.33311589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.959254154 meters 0.018551229809982576 Centerline is valid? [True, True] Translation: X:626.02, Y:6.87, Z:4.33 [[ 9.98754104e-01 -4.27374541e-02 -2.57633590e-02 6.26023010e+02] [ 4.27346485e-02 9.99086240e-01 -6.59728327e-04 6.87263893e+00] [ 2.57680126e-02 -4.42081717e-04 9.99667852e-01 4.33250787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9892541539999 meters 0.018313507136403156 Centerline is valid? [True, True] Translation: X:626.05, Y:6.87, Z:4.33 [[ 9.98829358e-01 -4.12595156e-02 -2.52500747e-02 6.26051668e+02] [ 4.12561935e-02 9.99148388e-01 -6.52719404e-04 6.87371296e+00] [ 2.52555023e-02 -3.89766666e-04 9.99680953e-01 4.33282961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0192541539999 meters 0.015486423322500376 Centerline is valid? [True, True] Translation: X:626.08, Y:6.88, Z:4.33 [[ 9.98983749e-01 -3.79887841e-02 -2.42553436e-02 6.26079758e+02] [ 3.79846136e-02 9.99278124e-01 -6.32815356e-04 6.87542380e+00] [ 2.42618742e-02 -2.89157600e-04 9.99705596e-01 4.33430042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0492541539999 meters 0.015077677563273518 Centerline is valid? [True, True] Translation: X:626.11, Y:6.88, Z:4.33 [[ 9.99045979e-01 -3.60943616e-02 -2.45831112e-02 6.26107223e+02] [ 3.60894255e-02 9.99348357e-01 -6.44568889e-04 6.87652754e+00] [ 2.45903571e-02 -2.43236405e-04 9.99697582e-01 4.33491245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.079254154 meters 0.016434928172971527 Centerline is valid? [True, True] Translation: X:626.14, Y:6.88, Z:4.33 [[ 9.99109080e-01 -3.39218551e-02 -2.51068619e-02 6.26136431e+02] [ 3.39158963e-02 9.99424470e-01 -6.63251397e-04 6.87803960e+00] [ 2.51149109e-02 -1.88861232e-04 9.99684553e-01 4.33449159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1092541539999 meters 0.014549026501712888 Centerline is valid? [True, True] Translation: X:626.17, Y:6.88, Z:4.34 [[ 9.99166870e-01 -3.20622946e-02 -2.52502473e-02 6.26165205e+02] [ 3.20555212e-02 9.99485863e-01 -6.73074981e-04 6.87976436e+00] [ 2.52588455e-02 -1.36895617e-04 9.99680935e-01 4.33552811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1392541539999 meters 0.016052586412422673 Centerline is valid? [True, True] Translation: X:626.19, Y:6.88, Z:4.34 [[ 9.99300551e-01 -2.71467106e-02 -2.57189466e-02 6.26192678e+02] [ 2.71378729e-02 9.99631460e-01 -6.92666700e-04 6.88219983e+00] [ 2.57282718e-02 -5.77528816e-06 9.99668973e-01 4.33724908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1692541539999 meters 0.015382409962010714 Centerline is valid? [True, True] Translation: X:626.22, Y:6.88, Z:4.34 [[ 9.99378674e-01 -2.47691627e-02 -2.50749598e-02 6.26220073e+02] [ 2.47598327e-02 9.99693195e-01 -6.82538672e-04 6.88368126e+00] [ 2.50841726e-02 6.12627848e-05 9.99685341e-01 4.33862402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.199254154 meters 0.013998561052677813 Centerline is valid? [True, True] Translation: X:626.25, Y:6.88, Z:4.34 [[ 9.99497872e-01 -2.06431537e-02 -2.40387941e-02 6.26248052e+02] [ 2.06332200e-02 9.99786894e-01 -6.61223534e-04 6.88497315e+00] [ 2.40473210e-02 1.64893789e-04 9.99710808e-01 4.34045467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2292541539999 meters 0.014181088057688813 Centerline is valid? [True, True] Translation: X:626.28, Y:6.89, Z:4.34 [[ 9.99540057e-01 -1.91669730e-02 -2.35011065e-02 6.26276053e+02] [ 1.91569117e-02 9.99816276e-01 -6.53200773e-04 6.88544021e+00] [ 2.35093087e-02 2.02691715e-04 9.99723597e-01 4.34063659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2592541539999 meters 0.014409579546863891 Centerline is valid? [True, True] Translation: X:626.30, Y:6.89, Z:4.34 [[ 9.99563159e-01 -1.80857799e-02 -2.33751046e-02 6.26304914e+02] [ 1.80753856e-02 9.99836412e-01 -6.55900463e-04 6.88542977e+00] [ 2.33831431e-02 2.33099910e-04 9.99726550e-01 4.34086697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2892541539999 meters 0.014536992251705927 Centerline is valid? [True, True] Translation: X:626.33, Y:6.88, Z:4.34 [[ 9.99602892e-01 -1.63289093e-02 -2.29657199e-02 6.26332932e+02] [ 1.63183391e-02 9.99866637e-01 -6.47602455e-04 6.88430363e+00] [ 2.29732318e-02 2.72582882e-04 9.99736043e-01 4.34103762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.319254154 meters 0.016129938718121437 Centerline is valid? [True, True] Translation: X:626.36, Y:6.88, Z:4.34 [[ 9.99612452e-01 -1.61344199e-02 -2.26853610e-02 6.26361047e+02] [ 1.61239386e-02 9.99869793e-01 -6.44879006e-04 6.88373119e+00] [ 2.26928120e-02 2.78851718e-04 9.99742446e-01 4.34048706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3492541539999 meters 0.015000161002666317 Centerline is valid? [True, True] Translation: X:626.39, Y:6.88, Z:4.34 [[ 9.99615297e-01 -1.55906056e-02 -2.29388533e-02 6.26388536e+02] [ 1.55796660e-02 9.99878415e-01 -6.55547959e-04 6.88237126e+00] [ 2.29462846e-02 2.97916095e-04 9.99736655e-01 4.34035811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3792541539999 meters 0.015543740364170144 Centerline is valid? [True, True] Translation: X:626.42, Y:6.88, Z:4.34 [[ 9.99626777e-01 -1.59967915e-02 -2.21451996e-02 6.26417720e+02] [ 1.59865954e-02 9.99872003e-01 -6.37387053e-04 6.87996574e+00] [ 2.21525612e-02 2.83122819e-04 9.99754562e-01 4.34166169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4092541539999 meters 0.01428734975381328 Centerline is valid? [True, True] Translation: X:626.45, Y:6.88, Z:4.34 [[ 9.99625160e-01 -1.62584953e-02 -2.20272625e-02 6.26445490e+02] [ 1.62483335e-02 9.99867782e-01 -6.40235163e-04 6.87868169e+00] [ 2.20347594e-02 2.82088869e-04 9.99757165e-01 4.34309191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.439254154 meters 0.014240039762093157 Centerline is valid? [True, True] Translation: X:626.47, Y:6.88, Z:4.34 [[ 9.99664004e-01 -1.61684138e-02 -2.02598710e-02 6.26474423e+02] [ 1.61596915e-02 9.99869247e-01 -5.94172051e-04 6.87506972e+00] [ 2.02668288e-02 2.66579147e-04 9.99794571e-01 4.34417509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4692541539999 meters 0.014536018004105821 Centerline is valid? [True, True] Translation: X:626.50, Y:6.87, Z:4.34 [[ 9.99676069e-01 -1.59920830e-02 -1.97992268e-02 6.26501199e+02] [ 1.59836515e-02 9.99872083e-01 -5.84035663e-04 6.87397695e+00] [ 1.98060341e-02 2.67382535e-04 9.99803806e-01 4.34416838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4992541539999 meters 0.01614711456880645 Centerline is valid? [True, True] Translation: X:626.53, Y:6.87, Z:4.34 [[ 9.99697999e-01 -1.52916434e-02 -1.92373813e-02 6.26529323e+02] [ 1.52834687e-02 9.99883037e-01 -5.71892190e-04 6.87287240e+00] [ 1.92438764e-02 2.77705563e-04 9.99814781e-01 4.34369457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5292541539999 meters 0.017199084584571634 Centerline is valid? [True, True] Translation: X:626.56, Y:6.87, Z:4.34 [[ 9.99727302e-01 -1.37089937e-02 -1.89046576e-02 6.26558246e+02] [ 1.37007213e-02 9.99905980e-01 -5.67036930e-04 6.87100820e+00] [ 1.89106537e-02 3.07874855e-04 9.99821130e-01 4.34448705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5592541539999 meters 0.016122760428619987 Centerline is valid? [True, True] Translation: X:626.59, Y:6.87, Z:4.35 [[ 9.99747502e-01 -1.29733389e-02 -1.83473430e-02 6.26586733e+02] [ 1.29653375e-02 9.99915792e-01 -5.54992797e-04 6.86968393e+00] [ 1.83529981e-02 3.16973168e-04 9.99831519e-01 4.34561997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.589254154 meters 0.015022644816359816 Centerline is valid? [True, True] Translation: X:626.62, Y:6.87, Z:4.35 [[ 9.99741575e-01 -1.28884233e-02 -1.87262342e-02 6.26615104e+02] [ 1.28799821e-02 9.99916886e-01 -5.71311473e-04 6.86846876e+00] [ 1.87320411e-02 3.29970271e-04 9.99824485e-01 4.34633734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6192541539999 meters 0.017000026140171626 Centerline is valid? [True, True] Translation: X:626.64, Y:6.87, Z:4.35 [[ 9.99753616e-01 -1.27875632e-02 -1.81434673e-02 6.26642636e+02] [ 1.27795312e-02 9.99918182e-01 -5.58572021e-04 6.86647883e+00] [ 1.81491256e-02 3.26569392e-04 9.99835238e-01 4.34531506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6492541539999 meters 0.01693258077494522 Centerline is valid? [True, True] Translation: X:626.67, Y:6.86, Z:4.35 [[ 9.99749486e-01 -1.31615318e-02 -1.81035768e-02 6.26670807e+02] [ 1.31534997e-02 9.99913331e-01 -5.62682124e-04 6.86160673e+00] [ 1.81094135e-02 3.24415773e-04 9.99835958e-01 4.34545143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6792541539999 meters 0.014932282931405397 Centerline is valid? [True, True] Translation: X:626.70, Y:6.86, Z:4.35 [[ 9.99746818e-01 -1.41471435e-02 -1.74973970e-02 6.26698379e+02] [ 1.41397398e-02 9.99899879e-01 -5.46777125e-04 6.85971250e+00] [ 1.75033805e-02 2.99230050e-04 9.99846759e-01 4.34678978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.709254154 meters 0.015580952034266014 Centerline is valid? [True, True] Translation: X:626.73, Y:6.85, Z:4.35 [[ 9.99731507e-01 -1.57535242e-02 -1.69923633e-02 6.26725994e+02] [ 1.57467413e-02 9.99875870e-01 -5.32904825e-04 6.85490990e+00] [ 1.69986492e-02 2.65187394e-04 9.99855477e-01 4.34713073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7392541539999 meters 0.015115619745766246 Centerline is valid? [True, True] Translation: X:626.75, Y:6.85, Z:4.35 [[ 9.99692451e-01 -1.74638634e-02 -1.76072766e-02 6.26754584e+02] [ 1.74567822e-02 9.99847464e-01 -5.55799006e-04 6.85289899e+00] [ 1.76142973e-02 2.48261677e-04 9.99844825e-01 4.34725791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7692541539999 meters 0.01683241810749613 Centerline is valid? [True, True] Translation: X:626.78, Y:6.85, Z:4.35 [[ 9.99659591e-01 -1.89945088e-02 -1.78860541e-02 6.26782192e+02] [ 1.89873974e-02 9.99819562e-01 -5.67342618e-04 6.85161711e+00] [ 1.78936032e-02 2.27539872e-04 9.99839871e-01 4.34527965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7992541539999 meters 0.015039559242957008 Centerline is valid? [True, True] Translation: X:626.81, Y:6.84, Z:4.35 [[ 9.99569173e-01 -2.31377272e-02 -1.80586439e-02 6.26811746e+02] [ 2.31311164e-02 9.99732275e-01 -5.74889214e-04 6.84346367e+00] [ 1.80671107e-02 1.56924942e-04 9.99836764e-01 4.34596130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.829254154 meters 0.013332529282776822 Centerline is valid? [True, True] Translation: X:626.84, Y:6.84, Z:4.35 [[ 9.99512812e-01 -2.55806368e-02 -1.78820930e-02 6.26840987e+02] [ 2.55744798e-02 9.99672755e-01 -5.72945594e-04 6.83970493e+00] [ 1.78908975e-02 1.15341236e-04 9.99839938e-01 4.34805085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8592541539999 meters 0.014213909831399082 Centerline is valid? [True, True] Translation: X:626.87, Y:6.83, Z:4.35 [[ 9.99434237e-01 -2.94714588e-02 -1.62061531e-02 6.26869127e+02] [ 2.94668740e-02 9.99565621e-01 -5.21676752e-04 6.83387012e+00] [ 1.62144881e-02 4.38369346e-05 9.99868536e-01 4.34874900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8892541539999 meters 0.01289375054928707 Centerline is valid? [True, True] Translation: X:626.90, Y:6.83, Z:4.35 [[ 9.99363948e-01 -3.20793776e-02 -1.55760660e-02 6.26896991e+02] [ 3.20754112e-02 9.99485324e-01 -5.04463463e-04 6.83127721e+00] [ 1.55842322e-02 4.53387641e-06 9.99878558e-01 4.35028506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9192541539999 meters 0.016659466074601153 Centerline is valid? [True, True] Translation: X:626.93, Y:6.83, Z:4.35 [[ 9.99298265e-01 -3.40879786e-02 -1.55237410e-02 6.26925038e+02] [ 3.40842387e-02 9.99418836e-01 -5.05500942e-04 6.82879990e+00] [ 1.55319506e-02 -2.39686795e-05 9.99879372e-01 4.34839727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.949254154 meters 0.013445782612979745 Centerline is valid? [True, True] Translation: X:626.95, Y:6.82, Z:4.35 [[ 9.99084564e-01 -3.93336051e-02 -1.68196529e-02 6.26952704e+02] [ 3.93299321e-02 9.99226128e-01 -5.49227784e-04 6.82234692e+00] [ 1.68282397e-02 -1.12790804e-04 9.99858389e-01 4.35013179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9792541539999 meters 0.014232134554588544 Centerline is valid? [True, True] Translation: X:626.98, Y:6.82, Z:4.35 [[ 9.98998570e-01 -4.16069423e-02 -1.64535267e-02 6.26981278e+02] [ 4.16036881e-02 9.99134046e-01 -5.40167919e-04 6.81979003e+00] [ 1.64617534e-02 -1.44900413e-04 9.99864486e-01 4.34974413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0092541539999 meters 0.01439643835880323 Centerline is valid? [True, True] Translation: X:627.01, Y:6.81, Z:4.35 [[ 9.98856763e-01 -4.50378291e-02 -1.60237787e-02 6.27008880e+02] [ 4.50351454e-02 9.98985263e-01 -5.28470238e-04 6.81373775e+00] [ 1.60313199e-02 -1.93767132e-04 9.99871471e-01 4.35057363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0392541539999 meters 0.017265497870285737 Centerline is valid? [True, True] Translation: X:627.04, Y:6.81, Z:4.35 [[ 9.98814751e-01 -4.63292638e-02 -1.49228672e-02 6.27037841e+02] [ 4.63270433e-02 9.98926204e-01 -4.94635512e-04 6.81231784e+00] [ 1.49297591e-02 -1.97283066e-04 9.99888525e-01 4.34984211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.069254154 meters 0.016355459531939252 Centerline is valid? [True, True] Translation: X:627.07, Y:6.81, Z:4.35 [[ 9.98749025e-01 -4.78521755e-02 -1.45105252e-02 6.27067956e+02] [ 4.78502094e-02 9.98854406e-01 -4.82843094e-04 6.81071991e+00] [ 1.45170071e-02 -2.12092599e-04 9.99894600e-01 4.35128590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0992541539999 meters 0.016355459531939252 Centerline is valid? [True, True] Translation: X:627.10, Y:6.81, Z:4.35 [[ 9.98747387e-01 -4.78863391e-02 -1.45105087e-02 6.27097102e+02] [ 4.78843695e-02 9.98852769e-01 -4.83337742e-04 6.81172372e+00] [ 1.45170071e-02 -2.12094254e-04 9.99894600e-01 4.35148801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1292541539999 meters 0.015444485907919242 Centerline is valid? [True, True] Translation: X:627.13, Y:6.81, Z:4.35 [[ 9.98664360e-01 -4.93914573e-02 -1.51650961e-02 6.27127063e+02] [ 4.93894715e-02 9.98779467e-01 -5.05669826e-04 6.81038722e+00] [ 1.51715624e-02 -2.44001649e-04 9.99884875e-01 4.35345779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1592541539999 meters 0.014615936674337754 Centerline is valid? [True, True] Translation: X:627.16, Y:6.81, Z:4.36 [[ 9.98605764e-01 -5.06104888e-02 -1.50035392e-02 6.27157106e+02] [ 5.06086746e-02 9.98718434e-01 -5.00811500e-04 6.81036558e+00] [ 1.50096575e-02 -2.59195982e-04 9.99887315e-01 4.35567248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.189254154 meters 0.014685303390231531 Centerline is valid? [True, True] Translation: X:627.19, Y:6.81, Z:4.36 [[ 9.98582353e-01 -5.11018181e-02 -1.48959171e-02 6.27186951e+02] [ 5.11000765e-02 9.98693414e-01 -4.97762171e-04 6.81007801e+00] [ 1.49018908e-02 -2.64125983e-04 9.99888926e-01 4.35625217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2192541539999 meters 0.016019487139885064 Centerline is valid? [True, True] Translation: X:627.22, Y:6.81, Z:4.36 [[ 9.98568497e-01 -5.14069329e-02 -1.47744101e-02 6.27216189e+02] [ 5.14052411e-02 9.98677754e-01 -4.94495497e-04 6.80769833e+00] [ 1.47802952e-02 -2.65694488e-04 9.99890730e-01 4.35594839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2492541539999 meters 0.014757707721332818 Centerline is valid? [True, True] Translation: X:627.25, Y:6.81, Z:4.36 [[ 9.98547150e-01 -5.16731310e-02 -1.52799209e-02 6.27246280e+02] [ 5.16713405e-02 9.98664013e-01 -5.12214281e-04 6.80852797e+00] [ 1.52859748e-02 -2.78063884e-04 9.99883124e-01 4.35762579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2792541539999 meters 0.015359279269871155 Centerline is valid? [True, True] Translation: X:627.28, Y:6.81, Z:4.36 [[ 9.98527250e-01 -5.20628520e-02 -1.52574851e-02 6.27276030e+02] [ 5.20611037e-02 9.98643770e-01 -5.12017900e-04 6.80889914e+00] [ 1.52634496e-02 -2.83057690e-04 9.99883467e-01 4.35771511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3092541539999 meters 0.01512358512604899 Centerline is valid? [True, True] Translation: X:627.31, Y:6.81, Z:4.36 [[ 9.98471469e-01 -5.28806162e-02 -1.60737519e-02 6.27306098e+02] [ 5.28787722e-02 9.98600793e-01 -5.40009123e-04 6.80826818e+00] [ 1.60798175e-02 -3.10776564e-04 9.99870663e-01 4.35916644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.339254154 meters 0.01659973574130969 Centerline is valid? [True, True] Translation: X:627.33, Y:6.81, Z:4.36 [[ 9.98443851e-01 -5.34759843e-02 -1.58175514e-02 6.27334833e+02] [ 5.34742616e-02 9.98569086e-01 -5.32131134e-04 6.80640809e+00] [ 1.58233741e-02 -3.14528825e-04 9.99874753e-01 4.35824394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3692541539999 meters 0.01590442498880964 Centerline is valid? [True, True] Translation: X:627.36, Y:6.81, Z:4.36 [[ 9.98312046e-01 -5.56838947e-02 -1.65033844e-02 6.27363361e+02] [ 5.56822744e-02 9.98448383e-01 -5.58023136e-04 6.80607262e+00] [ 1.65088504e-02 -3.61864762e-04 9.99863654e-01 4.36005604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3992541539999 meters 0.01819277232299958 Centerline is valid? [True, True] Translation: X:627.39, Y:6.81, Z:4.36 [[ 9.98201419e-01 -5.74858051e-02 -1.70091088e-02 6.27392345e+02] [ 5.74842712e-02 9.98346244e-01 -5.79481668e-04 6.80532987e+00] [ 1.70142918e-02 -3.99316800e-04 9.99855167e-01 4.35876688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4292541539999 meters 0.018783204201012437 Centerline is valid? [True, True] Translation: X:627.42, Y:6.80, Z:4.36 [[ 9.98116726e-01 -5.90117351e-02 -1.67515907e-02 6.27420764e+02] [ 5.90104106e-02 9.98257202e-01 -5.73785542e-04 6.80430925e+00] [ 1.67562561e-02 -4.15813298e-04 9.99859518e-01 4.35940034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.459254154 meters 0.020088506301502204 Centerline is valid? [True, True] Translation: X:627.45, Y:6.80, Z:4.36 [[ 9.97869718e-01 -6.30064634e-02 -1.69177855e-02 6.27450574e+02] [ 6.30056634e-02 9.98013000e-01 -5.80811520e-04 6.80403906e+00] [ 1.69207647e-02 -4.86342070e-04 9.99856715e-01 4.36086257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4892541539999 meters 0.02083974481579312 Centerline is valid? [True, True] Translation: X:627.48, Y:6.80, Z:4.36 [[ 9.97717336e-01 -6.54317450e-02 -1.66974352e-02 6.27478726e+02] [ 6.54312774e-02 9.97856912e-01 -5.74891891e-04 6.80055422e+00] [ 1.66992673e-02 -5.18954906e-04 9.99860423e-01 4.36080451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5192541539999 meters 0.020838772948197998 Centerline is valid? [True, True] Translation: X:627.51, Y:6.80, Z:4.36 [[ 9.97545113e-01 -6.80003606e-02 -1.67241804e-02 6.27507023e+02] [ 6.80002211e-02 9.97685139e-01 -5.77660421e-04 6.79900453e+00] [ 1.67247474e-02 -5.61005637e-04 9.99859974e-01 4.36190001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5492541539999 meters 0.020842376344482532 Centerline is valid? [True, True] Translation: X:627.54, Y:6.80, Z:4.36 [[ 9.97239827e-01 -7.23005733e-02 -1.68924374e-02 6.27536091e+02] [ 7.23010275e-02 9.97382685e-01 -5.84628230e-04 6.79750469e+00] [ 1.68904936e-02 -6.38326029e-04 9.99857142e-01 4.36305704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.579254154 meters 0.0216321063791366 Centerline is valid? [True, True] Translation: X:627.56, Y:6.80, Z:4.36 [[ 9.97055645e-01 -7.47415001e-02 -1.71390969e-02 6.27564910e+02] [ 7.47422767e-02 9.97202706e-01 -5.96137070e-04 6.79666746e+00] [ 1.71357100e-02 -6.86633291e-04 9.99852937e-01 4.36366461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6092541539999 meters 0.024000581666476273 Centerline is valid? [True, True] Translation: X:627.59, Y:6.80, Z:4.36 [[ 9.96903520e-01 -7.65365239e-02 -1.80425239e-02 6.27593959e+02] [ 7.65375941e-02 9.97066496e-01 -6.32211167e-04 6.79571981e+00] [ 1.80379833e-02 -7.50677830e-04 9.99837021e-01 4.36210924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6392541539999 meters 0.023679183543701954 Centerline is valid? [True, True] Translation: X:627.62, Y:6.79, Z:4.36 [[ 9.96732585e-01 -7.89349471e-02 -1.71297605e-02 6.27622940e+02] [ 7.89361929e-02 9.96879487e-01 -6.04447575e-04 6.79483501e+00] [ 1.71240189e-02 -7.49685487e-04 9.99853092e-01 4.36402486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6692541539999 meters 0.025809474929192583 Centerline is valid? [True, True] Translation: X:627.65, Y:6.79, Z:4.37 [[ 9.96428474e-01 -8.26777507e-02 -1.71664076e-02 6.27652248e+02] [ 8.26795198e-02 9.96576002e-01 -6.07847397e-04 6.79230678e+00] [ 1.71578853e-02 -8.13633885e-04 9.99852462e-01 4.36510436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.699254154 meters 0.02617272358461301 Centerline is valid? [True, True] Translation: X:627.68, Y:6.79, Z:4.37 [[ 9.96211936e-01 -8.53682890e-02 -1.65539530e-02 6.27681253e+02] [ 8.53702919e-02 9.96349120e-01 -5.86917428e-04 6.79232164e+00] [ 1.65436206e-02 -8.28521654e-04 9.99862802e-01 4.36648668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7292541539999 meters 0.028329738172123656 Centerline is valid? [True, True] Translation: X:627.71, Y:6.79, Z:4.36 [[ 9.96097764e-01 -8.63452842e-02 -1.82684816e-02 6.27709508e+02] [ 8.63478518e-02 9.96264837e-01 -6.49668711e-04 6.79241778e+00] [ 1.82563417e-02 -9.30310591e-04 9.99832906e-01 4.36459482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7592541539999 meters 0.029657625911947844 Centerline is valid? [True, True] Translation: X:627.74, Y:6.79, Z:4.37 [[ 9.96034701e-01 -8.72239910e-02 -1.75171124e-02 6.27737391e+02] [ 8.72264548e-02 9.96188313e-01 -6.24796712e-04 6.78943261e+00] [ 1.75048399e-02 -9.05636403e-04 9.99846368e-01 4.36555228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7892541539999 meters 0.025950271416603585 Centerline is valid? [True, True] Translation: X:627.77, Y:6.80, Z:4.37 [[ 9.95962724e-01 -8.78016012e-02 -1.86850743e-02 6.27765838e+02] [ 8.78044376e-02 9.96137506e-01 -6.70121398e-04 6.79665023e+00] [ 1.86717410e-02 -9.73216506e-04 9.99825194e-01 4.36649418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.819254154 meters 0.02816430323042238 Centerline is valid? [True, True] Translation: X:627.79, Y:6.80, Z:4.37 [[ 9.96001472e-01 -8.72013521e-02 -1.94162889e-02 6.27793365e+02] [ 8.72042435e-02 9.96190208e-01 -6.99319496e-04 6.79721536e+00] [ 1.94032985e-02 -9.96659542e-04 9.99811242e-01 4.36516449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8492541539999 meters 0.026575637083439026 Centerline is valid? [True, True] Translation: X:627.82, Y:6.80, Z:4.37 [[ 9.96020182e-01 -8.70563447e-02 -1.91047292e-02 6.27822357e+02] [ 8.70590470e-02 9.96202913e-01 -6.91783967e-04 6.80002958e+00] [ 1.90924110e-02 -9.74208723e-04 9.99817249e-01 4.36701620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8792541539999 meters 0.026505665963108542 Centerline is valid? [True, True] Translation: X:627.85, Y:6.80, Z:4.37 [[ 9.96089275e-01 -8.62070459e-02 -1.93520489e-02 6.27851103e+02] [ 8.62095643e-02 9.96276775e-01 -7.05630816e-04 6.80249969e+00] [ 1.93408272e-02 -9.65460414e-04 9.99812483e-01 4.36670651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9092541539999 meters 0.025611140783068222 Centerline is valid? [True, True] Translation: X:627.88, Y:6.81, Z:4.37 [[ 9.96360851e-01 -8.31269744e-02 -1.88403849e-02 6.27880227e+02] [ 8.31287719e-02 9.96538575e-01 -6.89092404e-04 6.80648435e+00] [ 1.88324525e-02 -8.79593366e-04 9.99822267e-01 4.36735024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.939254154 meters 0.02683634027574643 Centerline is valid? [True, True] Translation: X:627.91, Y:6.81, Z:4.37 [[ 9.96509122e-01 -8.10507025e-02 -2.00088498e-02 6.27909191e+02] [ 8.10522887e-02 9.96709581e-01 -7.33013090e-04 6.80983865e+00] [ 2.00024235e-02 -8.91308838e-04 9.99799534e-01 4.36580764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9692541539999 meters 0.023955437389729113 Centerline is valid? [True, True] Translation: X:627.94, Y:6.82, Z:4.37 [[ 9.96854583e-01 -7.68619137e-02 -1.93180256e-02 6.27938142e+02] [ 7.68625893e-02 9.97041444e-01 -7.08609283e-04 6.81503503e+00] [ 1.93153372e-02 -7.78453056e-04 9.99813138e-01 4.36772018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9992541539999 meters 0.02339932670939912 Centerline is valid? [True, True] Translation: X:627.97, Y:6.82, Z:4.37 [[ 9.97005784e-01 -7.48941326e-02 -1.92441058e-02 6.27966995e+02] [ 7.48944160e-02 9.97191219e-01 -7.06986687e-04 6.81887955e+00] [ 1.92430024e-02 -7.36406248e-04 9.99814565e-01 4.36803229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0292541539999 meters 0.02491935093462396 Centerline is valid? [True, True] Translation: X:628.00, Y:6.82, Z:4.37 [[ 9.97182536e-01 -7.21276653e-02 -2.06055976e-02 6.27995633e+02] [ 7.21273709e-02 9.97395141e-01 -7.58451203e-04 6.82323068e+00] [ 2.06066283e-02 -7.29913289e-04 9.99787394e-01 4.36648328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0592541539999 meters 0.0239149770482288 Centerline is valid? [True, True] Translation: X:628.02, Y:6.83, Z:4.37 [[ 9.97482891e-01 -6.78677713e-02 -2.05389550e-02 6.28024447e+02] [ 6.78665574e-02 9.97694120e-01 -7.56932584e-04 6.82972550e+00] [ 2.05429659e-02 -6.38880864e-04 9.99788767e-01 4.36683506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.089254154 meters 0.020884177984440238 Centerline is valid? [True, True] Translation: X:628.05, Y:6.83, Z:4.37 [[ 9.97562259e-01 -6.72508534e-02 -1.86242367e-02 6.28052860e+02] [ 6.72496923e-02 9.97735939e-01 -6.89337620e-04 6.83230869e+00] [ 1.86284288e-02 -5.64816993e-04 9.99826316e-01 4.36870266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1192541539999 meters 0.020732281425513883 Centerline is valid? [True, True] Translation: X:628.08, Y:6.83, Z:4.37 [[ 9.97610632e-01 -6.64848247e-02 -1.87828358e-02 6.28081640e+02] [ 6.64834250e-02 9.97787284e-01 -6.99630616e-04 6.83473073e+00] [ 1.87877895e-02 -5.50788312e-04 9.99823342e-01 4.36895802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1492541539999 meters 0.02281370255263481 Centerline is valid? [True, True] Translation: X:628.11, Y:6.84, Z:4.37 [[ 9.97690047e-01 -6.48682464e-02 -2.01663128e-02 6.28110592e+02] [ 6.48662057e-02 9.97893684e-01 -7.55986116e-04 6.83875757e+00] [ 2.01728757e-02 -5.53872372e-04 9.99796353e-01 4.36729586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1792541539999 meters 0.024790431107084055 Centerline is valid? [True, True] Translation: X:628.14, Y:6.84, Z:4.37 [[ 9.97689380e-01 -6.47318206e-02 -2.06323032e-02 6.28137930e+02] [ 6.47295981e-02 9.97902539e-01 -7.76233084e-04 6.84177017e+00] [ 2.06392748e-02 -5.61081193e-04 9.99786830e-01 4.36677031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.209254154 meters 0.023919981134704744 Centerline is valid? [True, True] Translation: X:628.17, Y:6.84, Z:4.37 [[ 9.97667859e-01 -6.52709147e-02 -1.99637335e-02 6.28165588e+02] [ 6.52688631e-02 9.97867429e-01 -7.55014715e-04 6.84330220e+00] [ 1.99704400e-02 -5.49756278e-04 9.99800420e-01 4.36712371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2392541539999 meters 0.0191803610223011 Centerline is valid? [True, True] Translation: X:628.19, Y:6.85, Z:4.37 [[ 9.97624765e-01 -6.61146700e-02 -1.93307913e-02 6.28194558e+02] [ 6.61128105e-02 9.97811883e-01 -7.35940274e-04 6.85017849e+00] [ 1.93371498e-02 -5.43820702e-04 9.99812872e-01 4.37028621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2692541539999 meters 0.023095838179680372 Centerline is valid? [True, True] Translation: X:628.22, Y:6.85, Z:4.37 [[ 9.97613613e-01 -6.62467449e-02 -1.94537538e-02 6.28223765e+02] [ 6.62448397e-02 9.97803121e-01 -7.43045954e-04 6.84584913e+00] [ 1.94602407e-02 -5.47438044e-04 9.99810482e-01 4.36762597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2992541539999 meters 0.021731335315138874 Centerline is valid? [True, True] Translation: X:628.25, Y:6.85, Z:4.37 [[ 9.97527956e-01 -6.75048611e-02 -1.95210134e-02 6.28252700e+02] [ 6.75031155e-02 9.97718782e-01 -7.49089528e-04 6.85287966e+00] [ 1.95270489e-02 -5.70491473e-04 9.99809166e-01 4.36995892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.329254154 meters 0.018917135661472066 Centerline is valid? [True, True] Translation: X:628.28, Y:6.86, Z:4.37 [[ 9.97458816e-01 -6.89506533e-02 -1.79365107e-02 6.28282629e+02] [ 6.89493777e-02 9.97619921e-01 -6.90251126e-04 6.85570239e+00] [ 1.79414137e-02 -5.48214182e-04 9.99838890e-01 4.37168471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3592541539999 meters 0.019059861143187237 Centerline is valid? [True, True] Translation: X:628.31, Y:6.86, Z:4.37 [[ 9.97414318e-01 -6.97799337e-02 -1.71883418e-02 6.28312304e+02] [ 6.97788748e-02 9.97562264e-01 -6.62069942e-04 6.85710427e+00] [ 1.71926404e-02 -5.39025111e-04 9.99852050e-01 4.37202614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3892541539999 meters 0.020180133322334284 Centerline is valid? [True, True] Translation: X:628.34, Y:6.86, Z:4.37 [[ 9.97229476e-01 -7.23769816e-02 -1.71739310e-02 6.28342005e+02] [ 7.23763016e-02 9.97377177e-01 -6.61948803e-04 6.85769133e+00] [ 1.71767966e-02 -5.82870749e-04 9.99852298e-01 4.37199733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4192541539999 meters 0.021106212909076626 Centerline is valid? [True, True] Translation: X:628.37, Y:6.86, Z:4.37 [[ 9.97103417e-01 -7.41377552e-02 -1.69814391e-02 6.28372004e+02] [ 7.41373371e-02 9.97247826e-01 -6.55009943e-04 6.85824185e+00] [ 1.69832641e-02 -6.05846020e-04 9.99855590e-01 4.37191911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.449254154 meters 0.027077436863497048 Centerline is valid? [True, True] Translation: X:628.40, Y:6.85, Z:4.37 [[ 9.96776255e-01 -7.82973691e-02 -1.75105758e-02 6.28401712e+02] [ 7.82975570e-02 9.96929805e-01 -6.75897238e-04 6.85407942e+00] [ 1.75097359e-02 -6.97316988e-04 9.99846450e-01 4.37055764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4792541539999 meters 0.024546006799189897 Centerline is valid? [True, True] Translation: X:628.43, Y:6.86, Z:4.37 [[ 9.96562916e-01 -8.13234530e-02 -1.57750061e-02 6.28431153e+02] [ 8.13239767e-02 9.96687534e-01 -6.09348140e-04 6.85682436e+00] [ 1.57723063e-02 -6.75632472e-04 9.99875381e-01 4.37234727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5092541539999 meters 0.026394692071360908 Centerline is valid? [True, True] Translation: X:628.46, Y:6.86, Z:4.37 [[ 9.96343047e-01 -8.39983178e-02 -1.56465969e-02 6.28461027e+02] [ 8.39991559e-02 9.96465642e-01 -6.04781560e-04 6.85571543e+00] [ 1.56420969e-02 -7.11731034e-04 9.99877402e-01 4.37253432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5392541539999 meters 0.024777403993612973 Centerline is valid? [True, True] Translation: X:628.49, Y:6.86, Z:4.37 [[ 9.96119432e-01 -8.67135263e-02 -1.50612790e-02 6.28491920e+02] [ 8.67146129e-02 9.96233023e-01 -5.82125743e-04 6.86002098e+00] [ 1.50550217e-02 -7.26166212e-04 9.99886403e-01 4.37363720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.569254154 meters 0.02919618054207 Centerline is valid? [True, True] Translation: X:628.52, Y:6.86, Z:4.37 [[ 9.95725433e-01 -9.10672301e-02 -1.54149938e-02 6.28522954e+02] [ 9.10688912e-02 9.95844417e-01 -5.95619768e-04 6.85997859e+00] [ 1.54051770e-02 -8.10752644e-04 9.99881005e-01 4.37310066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5992541539999 meters 0.035441592489878514 Centerline is valid? [True, True] Translation: X:628.55, Y:6.85, Z:4.37 [[ 9.95329122e-01 -9.55712475e-02 -1.36409755e-02 6.28552464e+02] [ 9.55729680e-02 9.95422287e-01 -5.27190783e-04 6.85249740e+00] [ 1.36289153e-02 -7.78980175e-04 9.99906819e-01 4.37253354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6292541539999 meters 0.02998691269196175 Centerline is valid? [True, True] Translation: X:628.58, Y:6.86, Z:4.37 [[ 9.95133698e-01 -9.76344134e-02 -1.32832369e-02 6.28583521e+02] [ 9.76362290e-02 9.95222037e-01 -5.13288160e-04 6.86192154e+00] [ 1.32698846e-02 -7.86134812e-04 9.99911642e-01 4.37424511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6592541539999 meters 0.02908765827056098 Centerline is valid? [True, True] Translation: X:628.61, Y:6.87, Z:4.37 [[ 9.95027706e-01 -9.87256204e-02 -1.31573859e-02 6.28614484e+02] [ 9.87275031e-02 9.95114376e-01 -5.07944143e-04 6.86797845e+00] [ 1.31432509e-02 -7.93577358e-04 9.99913309e-01 4.37443542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.689254154 meters 0.030848373143034822 Centerline is valid? [True, True] Translation: X:628.65, Y:6.87, Z:4.37 [[ 9.94949841e-01 -9.95824079e-02 -1.25761045e-02 6.28646067e+02] [ 9.95842019e-02 9.95029020e-01 -4.85045308e-04 6.87035441e+00] [ 1.25618910e-02 -7.69785581e-04 9.99920800e-01 4.37419267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7192541539999 meters 0.036858935245624856 Centerline is valid? [True, True] Translation: X:628.68, Y:6.87, Z:4.37 [[ 9.94828767e-01 -1.00839338e-01 -1.21306285e-02 6.28676311e+02] [ 1.00841105e-01 9.94902434e-01 -4.67518631e-04 6.86670914e+00] [ 1.21159360e-02 -7.58164992e-04 9.99926312e-01 4.37362460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7492541539999 meters 0.03068799471986237 Centerline is valid? [True, True] Translation: X:628.71, Y:6.88, Z:4.38 [[ 9.94729460e-01 -1.01991818e-01 -1.05342034e-02 6.28708379e+02] [ 1.01993219e-01 9.94785011e-01 -4.05614424e-04 6.87807837e+00] [ 1.05206370e-02 -6.70940695e-04 9.99944431e-01 4.37562412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7792541539999 meters 0.03203708982422567 Centerline is valid? [True, True] Translation: X:628.74, Y:6.88, Z:4.38 [[ 9.94763225e-01 -1.01687849e-01 -1.02814648e-02 6.28740376e+02] [ 1.01689174e-01 9.94816142e-01 -3.95136289e-04 6.88170316e+00] [ 1.02683477e-02 -6.52446617e-04 9.99947066e-01 4.37525894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8092541539999 meters 0.031016294060983343 Centerline is valid? [True, True] Translation: X:628.77, Y:6.89, Z:4.38 [[ 9.94628976e-01 -1.03087094e-01 -9.28715226e-03 6.28772576e+02] [ 1.03088242e-01 9.94672151e-01 -3.56285831e-04 6.88806460e+00] [ 9.27440019e-03 -6.03023993e-04 9.99956810e-01 4.37647543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.839254154 meters 0.031016294060983343 Centerline is valid? [True, True] Translation: X:628.80, Y:6.89, Z:4.38 [[ 9.94636601e-01 -1.03013494e-01 -9.28717857e-03 6.28804303e+02] [ 1.03014645e-01 9.94679776e-01 -3.55599072e-04 6.88921830e+00] [ 9.27440020e-03 -6.03023548e-04 9.99956810e-01 4.37669535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8692541539999 meters 0.0337249154601047 Centerline is valid? [True, True] Translation: X:628.84, Y:6.89, Z:4.38 [[ 9.94576678e-01 -1.03532277e-01 -9.91456121e-03 6.28835142e+02] [ 1.03533622e-01 9.94625882e-01 -3.78908204e-04 6.89194664e+00] [ 9.90050842e-03 -6.49637166e-04 9.99950778e-01 4.37610087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8992541539999 meters 0.033714689439823246 Centerline is valid? [True, True] Translation: X:628.87, Y:6.90, Z:4.37 [[ 9.94628705e-01 -1.03050729e-01 -9.71007801e-03 6.28867150e+02] [ 1.03052001e-01 9.94675901e-01 -3.70514459e-04 6.89764644e+00] [ 9.69656238e-03 -6.32118654e-04 9.99952787e-01 4.37479358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9292541539999 meters 0.0346113125095918 Centerline is valid? [True, True] Translation: X:628.90, Y:6.90, Z:4.38 [[ 9.94591519e-01 -1.03498170e-01 -8.70859806e-03 6.28898328e+02] [ 1.03499216e-01 9.94629480e-01 -3.31746877e-04 6.90271896e+00] [ 8.69616356e-03 -5.71380440e-04 9.99962024e-01 4.37571569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.959254154 meters 0.03257457980235515 Centerline is valid? [True, True] Translation: X:628.93, Y:6.91, Z:4.38 [[ 9.94552091e-01 -1.03930246e-01 -8.04003529e-03 6.28930708e+02] [ 1.03931154e-01 9.94584447e-01 -3.05847457e-04 6.90849870e+00] [ 8.02828085e-03 -5.31428922e-04 9.99967632e-01 4.37719980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9892541539999 meters 0.034374497576569074 Centerline is valid? [True, True] Translation: X:628.96, Y:6.91, Z:4.38 [[ 9.94587458e-01 -1.03607085e-01 -7.83324077e-03 6.28961599e+02] [ 1.03607942e-01 9.94618171e-01 -2.97437407e-04 6.91108057e+00] [ 7.82190023e-03 -5.15758442e-04 9.99969275e-01 4.37669405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0192541539999 meters 0.034374497576569074 Centerline is valid? [True, True] Translation: X:628.99, Y:6.91, Z:4.38 [[ 9.94594929e-01 -1.03535346e-01 -7.83325756e-03 6.28993329e+02] [ 1.03536204e-01 9.94625641e-01 -2.96994681e-04 6.91221993e+00] [ 7.82190827e-03 -5.15636346e-04 9.99969275e-01 4.37691400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0492541539999 meters 0.03536010357013961 Centerline is valid? [True, True] Translation: X:629.02, Y:6.92, Z:4.38 [[ 9.94545744e-01 -1.03995890e-01 -7.97602425e-03 6.29024442e+02] [ 1.03996799e-01 9.94577586e-01 -3.01841735e-04 6.91765523e+00] [ 7.96416524e-03 -5.29285579e-04 9.99968145e-01 4.37684693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.079254154 meters 0.037786309243242076 Centerline is valid? [True, True] Translation: X:629.06, Y:6.92, Z:4.38 [[ 9.94641482e-01 -1.03078591e-01 -7.94521229e-03 6.29056963e+02] [ 1.03079467e-01 9.94673079e-01 -3.00214264e-04 6.92105750e+00] [ 7.93383443e-03 -5.20382687e-04 9.99968391e-01 4.37565073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1092541539999 meters 0.03472008139320917 Centerline is valid? [True, True] Translation: X:629.09, Y:6.93, Z:4.38 [[ 9.94682135e-01 -1.02771517e-01 -6.74277784e-03 6.29089044e+02] [ 1.02772145e-01 9.94704892e-01 -2.54273714e-04 6.93035207e+00] [ 6.73320619e-03 -4.40048220e-04 9.99977235e-01 4.37810714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1392541539999 meters 0.036907256571939336 Centerline is valid? [True, True] Translation: X:629.12, Y:6.93, Z:4.38 [[ 9.94796496e-01 -1.01629187e-01 -7.17214971e-03 6.29120237e+02] [ 1.01629871e-01 9.94822244e-01 -2.69926894e-04 6.93338305e+00] [ 7.16244652e-03 -4.60382325e-04 9.99974243e-01 4.37735581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1692541539999 meters 0.03766466719949121 Centerline is valid? [True, True] Translation: X:629.15, Y:6.94, Z:4.38 [[ 9.94864231e-01 -1.00957253e-01 -7.26602959e-03 6.29151249e+02] [ 1.00957940e-01 9.94890657e-01 -2.73069228e-04 6.93704809e+00] [ 7.25647327e-03 -4.61896574e-04 9.99973565e-01 4.37719670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.199254154 meters 0.03246125782063647 Centerline is valid? [True, True] Translation: X:629.18, Y:6.95, Z:4.38 [[ 9.94996551e-01 -9.96684350e-02 -6.93301891e-03 6.29183311e+02] [ 9.96690320e-02 9.95020611e-01 -2.60207672e-04 6.95065015e+00] [ 6.92443120e-03 -4.32101548e-04 9.99975932e-01 4.37801876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2292541539999 meters 0.030339926857652213 Centerline is valid? [True, True] Translation: X:629.22, Y:6.96, Z:4.38 [[ 9.95106914e-01 -9.85797757e-02 -6.65263180e-03 6.29215333e+02] [ 9.85803065e-02 9.95129068e-01 -2.48874820e-04 6.95834028e+00] [ 6.64476130e-03 -4.08161428e-04 9.99977840e-01 4.37822984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2592541539999 meters 0.03212371281290842 Centerline is valid? [True, True] Translation: X:629.25, Y:6.96, Z:4.38 [[ 9.95389045e-01 -9.56978199e-02 -6.52510516e-03 6.29245097e+02] [ 9.56982721e-02 9.95410358e-01 -2.43602496e-04 6.96482127e+00] [ 6.51846949e-03 -3.81962034e-04 9.99978682e-01 4.37755630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2892541539999 meters 0.028382053044267986 Centerline is valid? [True, True] Translation: X:629.28, Y:6.97, Z:4.38 [[ 9.95582108e-01 -9.36843687e-02 -6.28535273e-03 6.29276208e+02] [ 9.36847481e-02 9.95601885e-01 -2.34675534e-04 6.97471407e+00] [ 6.27969446e-03 -3.55202925e-04 9.99980219e-01 4.37708339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.319254154 meters 0.0298079448468275 Centerline is valid? [True, True] Translation: X:629.31, Y:6.98, Z:4.38 [[ 9.95847583e-01 -9.07726309e-02 -6.92246363e-03 6.29307966e+02] [ 9.07730229e-02 9.95871574e-01 -2.58180033e-04 6.97990975e+00] [ 6.91732043e-03 -3.71264988e-04 9.99976006e-01 4.37638411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3492541539999 meters 0.029477751916720515 Centerline is valid? [True, True] Translation: X:629.34, Y:6.99, Z:4.38 [[ 9.96054552e-01 -8.84639594e-02 -7.03257949e-03 6.29339525e+02] [ 8.84643094e-02 9.96079313e-01 -2.61893048e-04 6.98599131e+00] [ 7.02817505e-03 -3.61272526e-04 9.99975237e-01 4.37631939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3792541539999 meters 0.026491826075552505 Centerline is valid? [True, True] Translation: X:629.37, Y:7.00, Z:4.38 [[ 9.96338198e-01 -8.52157565e-02 -6.96200987e-03 6.29369539e+02] [ 8.52160231e-02 9.96362465e-01 -2.58887050e-04 6.99665611e+00] [ 6.95874658e-03 -3.35335737e-04 9.99975731e-01 4.37812275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4092541539999 meters 0.02593438948089645 Centerline is valid? [True, True] Translation: X:629.40, Y:7.00, Z:4.38 [[ 9.96553038e-01 -8.25979284e-02 -7.72175072e-03 6.29400966e+02] [ 8.25981793e-02 9.96582891e-01 -2.86957682e-04 7.00206406e+00] [ 7.71906676e-03 -3.51834000e-04 9.99970146e-01 4.37837076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.439254154 meters 0.026476033624937903 Centerline is valid? [True, True] Translation: X:629.43, Y:7.01, Z:4.38 [[ 9.96744200e-01 -8.02243404e-02 -8.06563335e-03 6.29432603e+02] [ 8.02245402e-02 9.96776772e-01 -2.99286843e-04 7.00661004e+00] [ 8.06364607e-03 -3.48749302e-04 9.99967427e-01 4.37820333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4692541539999 meters 0.02420849539727654 Centerline is valid? [True, True] Translation: X:629.46, Y:7.01, Z:4.38 [[ 9.97028109e-01 -7.66843332e-02 -7.37985164e-03 6.29462688e+02] [ 7.66844061e-02 9.97055378e-01 -2.73493682e-04 7.01496705e+00] [ 7.37909345e-03 -2.93238651e-04 9.99972731e-01 4.37966645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4992541539999 meters 0.023800632681646755 Centerline is valid? [True, True] Translation: X:629.49, Y:7.02, Z:4.38 [[ 9.97176309e-01 -7.47617885e-02 -7.07691662e-03 6.29494259e+02] [ 7.47618081e-02 9.97201386e-01 -2.62138047e-04 7.01970607e+00] [ 7.07670897e-03 -2.67685232e-04 9.99974924e-01 4.38051972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5292541539999 meters 0.025124488151194238 Centerline is valid? [True, True] Translation: X:629.53, Y:7.03, Z:4.38 [[ 9.97507512e-01 -7.01384264e-02 -7.70479016e-03 6.29525058e+02] [ 7.01383161e-02 9.97537235e-01 -2.84855461e-04 7.02904821e+00] [ 7.70579438e-03 -2.56255545e-04 9.99970277e-01 4.37892621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5592541539999 meters 0.02451760530783622 Centerline is valid? [True, True] Translation: X:629.56, Y:7.03, Z:4.38 [[ 9.97625958e-01 -6.83775733e-02 -8.18260072e-03 6.29557220e+02] [ 6.83773914e-02 9.97659481e-01 -3.02307493e-04 7.03360033e+00] [ 8.18412024e-03 -2.57915090e-04 9.99966476e-01 4.37851096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.589254154 meters 0.021737216482947602 Centerline is valid? [True, True] Translation: X:629.59, Y:7.04, Z:4.38 [[ 9.97684125e-01 -6.74575223e-02 -8.71024991e-03 6.29589562e+02] [ 6.74572867e-02 9.97722111e-01 -3.21172565e-04 7.03807459e+00] [ 8.71207444e-03 -2.67141056e-04 9.99962013e-01 4.37961390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6192541539999 meters 0.02135088481303984 Centerline is valid? [True, True] Translation: X:629.62, Y:7.04, Z:4.38 [[ 9.97784470e-01 -6.59070207e-02 -9.07837153e-03 6.29620657e+02] [ 6.59067061e-02 9.97825733e-01 -3.34142388e-04 7.04182411e+00] [ 9.08065506e-03 -2.64923479e-04 9.99958735e-01 4.37939845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6492541539999 meters 0.02102900983143295 Centerline is valid? [True, True] Translation: X:629.65, Y:7.05, Z:4.38 [[ 9.97942529e-01 -6.34429881e-02 -9.25724422e-03 6.29651798e+02] [ 6.34425594e-02 9.97985434e-01 -3.40248037e-04 7.04794182e+00] [ 9.26018124e-03 -2.47755280e-04 9.99957093e-01 4.37935360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6792541539999 meters 0.020793506220424432 Centerline is valid? [True, True] Translation: X:629.68, Y:7.05, Z:4.38 [[ 9.98009344e-01 -6.23852246e-02 -9.24302096e-03 6.29683737e+02] [ 6.23847566e-02 9.98052116e-01 -3.39221726e-04 7.05106269e+00] [ 9.24617905e-03 -2.38077160e-04 9.99957225e-01 4.37938444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.709254154 meters 0.020501445802784207 Centerline is valid? [True, True] Translation: X:629.71, Y:7.06, Z:4.38 [[ 9.98115897e-01 -6.07536835e-02 -8.58168693e-03 6.29714664e+02] [ 6.07532242e-02 9.98152767e-01 -3.14440789e-04 7.05564849e+00] [ 8.58493800e-03 -2.07516799e-04 9.99963127e-01 4.37977562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7392541539999 meters 0.021679862426528307 Centerline is valid? [True, True] Translation: X:629.75, Y:7.06, Z:4.38 [[ 9.98202646e-01 -5.93056122e-02 -8.62102274e-03 6.29747296e+02] [ 5.93050989e-02 9.98239854e-01 -3.15397912e-04 7.05909693e+00] [ 8.62455335e-03 -1.96439576e-04 9.99962789e-01 4.37929215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7692541539999 meters 0.019875930146832563 Centerline is valid? [True, True] Translation: X:629.78, Y:7.06, Z:4.38 [[ 9.98233740e-01 -5.88122518e-02 -8.39754105e-03 6.29778998e+02] [ 5.88117528e-02 9.98269044e-01 -3.06572211e-04 7.06238664e+00] [ 8.40103548e-03 -1.87843383e-04 9.99964693e-01 4.38060573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7992541539999 meters 0.020449696962786625 Centerline is valid? [True, True] Translation: X:629.81, Y:7.07, Z:4.38 [[ 9.98355969e-01 -5.65244686e-02 -9.50489439e-03 6.29811345e+02] [ 5.65237321e-02 9.98401196e-01 -3.46318197e-04 7.06694199e+00] [ 9.50927338e-03 -1.91503265e-04 9.99954767e-01 4.37928182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.829254154 meters 0.018684294776565066 Centerline is valid? [True, True] Translation: X:629.84, Y:7.07, Z:4.38 [[ 9.98393627e-01 -5.57677952e-02 -1.00059360e-02 6.29843303e+02] [ 5.57669477e-02 9.98443747e-01 -3.63896506e-04 7.06894684e+00] [ 1.00106580e-02 -1.94688560e-04 9.99949873e-01 4.37971163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8592541539999 meters 0.019095999552906296 Centerline is valid? [True, True] Translation: X:629.87, Y:7.07, Z:4.38 [[ 9.98473347e-01 -5.40918888e-02 -1.11822587e-02 6.29874917e+02] [ 5.40907345e-02 9.98535942e-01 -4.05864674e-04 7.07482149e+00] [ 1.11878412e-02 -1.99611527e-04 9.99937394e-01 4.37895755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8892541539999 meters 0.017675065839784915 Centerline is valid? [True, True] Translation: X:629.91, Y:7.07, Z:4.38 [[ 9.98553849e-01 -5.25707863e-02 -1.12482442e-02 6.29905818e+02] [ 5.25695301e-02 9.98617183e-01 -4.07520913e-04 7.07411087e+00] [ 1.12541136e-02 -1.84383336e-04 9.99936653e-01 4.37885826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9192541539999 meters 0.018262821471018896 Centerline is valid? [True, True] Translation: X:629.94, Y:7.08, Z:4.38 [[ 9.98629965e-01 -5.09792845e-02 -1.18027569e-02 6.29937793e+02] [ 5.09777991e-02 9.98699695e-01 -4.26866740e-04 7.08010084e+00] [ 1.18091711e-02 -1.75396653e-04 9.99930254e-01 4.37912924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.949254154 meters 0.01564867010586549 Centerline is valid? [True, True] Translation: X:629.97, Y:7.08, Z:4.38 [[ 9.98719484e-01 -4.91401623e-02 -1.20264861e-02 6.29969733e+02] [ 4.91384972e-02 9.98791880e-01 -4.34083620e-04 7.08389213e+00] [ 1.20332876e-02 -1.57435686e-04 9.99927585e-01 4.38082420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9792541539999 meters 0.01707770889059477 Centerline is valid? [True, True] Translation: X:630.00, Y:7.09, Z:4.38 [[ 9.98800808e-01 -4.73482498e-02 -1.24534946e-02 6.30002372e+02] [ 4.73463379e-02 9.98878433e-01 -4.48464877e-04 7.08664535e+00] [ 1.24607612e-02 -1.41700282e-04 9.99922352e-01 4.38060854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0092541539999 meters 0.015467436328188588 Centerline is valid? [True, True] Translation: X:630.03, Y:7.09, Z:4.38 [[ 9.98862861e-01 -4.61325227e-02 -1.20322540e-02 6.30034997e+02] [ 4.61306619e-02 9.98935321e-01 -4.32290782e-04 7.08805711e+00] [ 1.20393862e-02 -1.23256633e-04 9.99927516e-01 4.38153749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0392541539999 meters 0.01478139758695058 Centerline is valid? [True, True] Translation: X:630.07, Y:7.09, Z:4.38 [[ 9.98998337e-01 -4.31189176e-02 -1.19617031e-02 6.30067059e+02] [ 4.31168731e-02 9.99069943e-01 -4.28871457e-04 7.09008804e+00] [ 1.19690705e-02 -8.73093642e-05 9.99928364e-01 4.38211615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.069254154 meters 0.01634245043005796 Centerline is valid? [True, True] Translation: X:630.10, Y:7.09, Z:4.38 [[ 9.99080486e-01 -4.11329467e-02 -1.20939565e-02 6.30099632e+02] [ 4.11307222e-02 9.99153680e-01 -4.32713870e-04 7.09152622e+00] [ 1.21015199e-02 -6.51171799e-05 9.99926772e-01 4.38195658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0992541539999 meters 0.016641051462398155 Centerline is valid? [True, True] Translation: X:630.13, Y:7.09, Z:4.38 [[ 9.99117751e-01 -4.01651587e-02 -1.22669796e-02 6.30133114e+02] [ 4.01628107e-02 9.99193053e-01 -4.37794194e-04 7.09288424e+00] [ 1.22746649e-02 -5.52684287e-05 9.99924662e-01 4.38226204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1292541539999 meters 0.01511555781926471 Centerline is valid? [True, True] Translation: X:630.16, Y:7.09, Z:4.38 [[ 9.99190346e-01 -3.85220671e-02 -1.16061942e-02 6.30164696e+02] [ 3.85198694e-02 9.99257749e-01 -4.12921125e-04 7.09354338e+00] [ 1.16134861e-02 -3.44822835e-05 9.99932561e-01 4.38272554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1592541539999 meters 0.01618366893312964 Centerline is valid? [True, True] Translation: X:630.20, Y:7.09, Z:4.38 [[ 9.99204449e-01 -3.80578359e-02 -1.19193378e-02 6.30195869e+02] [ 3.80555023e-02 9.99275538e-01 -4.22606181e-04 7.09360104e+00] [ 1.19267862e-02 -3.13264113e-05 9.99928873e-01 4.38223684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.189254154 meters 0.015502176110498358 Centerline is valid? [True, True] Translation: X:630.23, Y:7.09, Z:4.38 [[ 9.99197136e-01 -3.83040454e-02 -1.17424018e-02 6.30228528e+02] [ 3.83018113e-02 9.99266130e-01 -4.15170437e-04 7.09343386e+00] [ 1.17496871e-02 -3.49181464e-05 9.99930969e-01 4.38262790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2192541539999 meters 0.014667740142976123 Centerline is valid? [True, True] Translation: X:630.26, Y:7.09, Z:4.38 [[ 9.99115330e-01 -4.02724225e-02 -1.21115336e-02 6.30261066e+02] [ 4.02702010e-02 9.99188735e-01 -4.27339149e-04 7.09036783e+00] [ 1.21189179e-02 -6.07727963e-05 9.99926561e-01 4.38254186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2492541539999 meters 0.016399506612071655 Centerline is valid? [True, True] Translation: X:630.29, Y:7.09, Z:4.38 [[ 9.99074563e-01 -4.11099856e-02 -1.26486144e-02 6.30293325e+02] [ 4.11076417e-02 9.99154624e-01 -4.45355281e-04 7.08891285e+00] [ 1.26562301e-02 -7.50115752e-05 9.99919904e-01 4.38220276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2792541539999 meters 0.0156032955734329 Centerline is valid? [True, True] Translation: X:630.33, Y:7.08, Z:4.38 [[ 9.98924493e-01 -4.46992463e-02 -1.23220840e-02 6.30325002e+02] [ 4.46973045e-02 9.99000482e-01 -4.33075795e-04 7.08413928e+00] [ 1.23291260e-02 -1.18153922e-04 9.99923986e-01 4.38288906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3092541539999 meters 0.015680122639255976 Centerline is valid? [True, True] Translation: X:630.36, Y:7.08, Z:4.38 [[ 9.98851305e-01 -4.64444092e-02 -1.17892642e-02 6.30356427e+02] [ 4.64427641e-02 9.98920867e-01 -4.13430637e-04 7.08205329e+00] [ 1.17957435e-02 -1.34570283e-04 9.99930419e-01 4.38352202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.339254154 meters 0.015373442527280599 Centerline is valid? [True, True] Translation: X:630.39, Y:7.08, Z:4.38 [[ 9.98775909e-01 -4.80447712e-02 -1.17636854e-02 6.30388143e+02] [ 4.80432566e-02 9.98845171e-01 -4.11477276e-04 7.08076368e+00] [ 1.17698697e-02 -1.54192165e-04 9.99930721e-01 4.38451729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3692541539999 meters 0.017431303857568498 Centerline is valid? [True, True] Translation: X:630.42, Y:7.08, Z:4.38 [[ 9.98734885e-01 -4.87919935e-02 -1.21643197e-02 6.30419002e+02] [ 4.87904412e-02 9.98808947e-01 -4.24512058e-04 7.07862471e+00] [ 1.21705441e-02 -1.69527522e-04 9.99925922e-01 4.38397647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3992541539999 meters 0.015758690733232494 Centerline is valid? [True, True] Translation: X:630.45, Y:7.08, Z:4.39 [[ 9.98603788e-01 -5.15350324e-02 -1.16023451e-02 6.30451622e+02] [ 5.15338180e-02 9.98671168e-01 -4.03810525e-04 7.07566865e+00] [ 1.16077380e-02 -1.94666421e-04 9.99932609e-01 4.38543960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4292541539999 meters 0.018334006046768735 Centerline is valid? [True, True] Translation: X:630.48, Y:7.07, Z:4.38 [[ 9.98595655e-01 -5.14317415e-02 -1.27080333e-02 6.30483896e+02] [ 5.14302888e-02 9.98676489e-01 -4.41304191e-04 7.07485588e+00] [ 1.27139111e-02 -2.12893376e-04 9.99919152e-01 4.38489047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.459254154 meters 0.018491417866910182 Centerline is valid? [True, True] Translation: X:630.52, Y:7.07, Z:4.38 [[ 9.98550676e-01 -5.23829503e-02 -1.23520988e-02 6.30515681e+02] [ 5.23816606e-02 9.98627047e-01 -4.28138469e-04 7.07135342e+00] [ 1.23575671e-02 -2.19505488e-04 9.99923618e-01 4.38468706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4892541539999 meters 0.019342597473656797 Centerline is valid? [True, True] Translation: X:630.55, Y:7.07, Z:4.38 [[ 9.98560908e-01 -5.22551762e-02 -1.20627404e-02 6.30547281e+02] [ 5.22539448e-02 9.98633742e-01 -4.17452520e-04 7.07004731e+00] [ 1.20680736e-02 -2.13474001e-04 9.99927155e-01 4.38453675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5192541539999 meters 0.016000427192515716 Centerline is valid? [True, True] Translation: X:630.58, Y:7.07, Z:4.39 [[ 9.98542613e-01 -5.27389533e-02 -1.14565200e-02 6.30579709e+02] [ 5.27378823e-02 9.98608311e-01 -3.95784124e-04 7.07006062e+00] [ 1.14614493e-02 -2.08985287e-04 9.99934294e-01 4.38592202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5492541539999 meters 0.01627872672582421 Centerline is valid? [True, True] Translation: X:630.61, Y:7.07, Z:4.39 [[ 9.98544264e-01 -5.24475779e-02 -1.25938536e-02 6.30610813e+02] [ 5.24462714e-02 9.98623653e-01 -4.34211275e-04 7.06819721e+00] [ 1.25992934e-02 -2.26921487e-04 9.99920600e-01 4.38550080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.579254154 meters 0.015930084831000196 Centerline is valid? [True, True] Translation: X:630.64, Y:7.07, Z:4.39 [[ 9.98591697e-01 -5.14988610e-02 -1.27471469e-02 6.30643143e+02] [ 5.14974554e-02 9.98673029e-01 -4.38698490e-04 7.06674273e+00] [ 1.27528243e-02 -2.18364958e-04 9.99918656e-01 4.38562780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6092541539999 meters 0.016244131238135395 Centerline is valid? [True, True] Translation: X:630.67, Y:7.07, Z:4.39 [[ 9.98614080e-01 -5.10092967e-02 -1.29603517e-02 6.30674803e+02] [ 5.10078132e-02 9.98698155e-01 -4.45209514e-04 7.06540094e+00] [ 1.29661891e-02 -2.16486708e-04 9.99915912e-01 4.38501601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6392541539999 meters 0.01673873077418212 Centerline is valid? [True, True] Translation: X:630.71, Y:7.06, Z:4.38 [[ 9.98644693e-01 -5.01761486e-02 -1.38250203e-02 6.30707016e+02] [ 5.01743928e-02 9.98740359e-01 -4.74036092e-04 7.06494456e+00] [ 1.38313911e-02 -2.20268373e-04 9.99904317e-01 4.38429332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6692541539999 meters 0.018030824478782417 Centerline is valid? [True, True] Translation: X:630.74, Y:7.07, Z:4.38 [[ 9.98676416e-01 -4.93483421e-02 -1.44968121e-02 6.30738849e+02] [ 4.93463395e-02 9.98781604e-01 -4.96027180e-04 7.06554605e+00] [ 1.45036274e-02 -2.19993968e-04 9.99894793e-01 4.38397341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.699254154 meters 0.01592141201610921 Centerline is valid? [True, True] Translation: X:630.77, Y:7.07, Z:4.39 [[ 9.98684956e-01 -4.93200587e-02 -1.39960530e-02 6.30770798e+02] [ 4.93182029e-02 9.98783003e-01 -4.77922712e-04 7.06557850e+00] [ 1.40025910e-02 -2.12965957e-04 9.99901936e-01 4.38553820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7292541539999 meters 0.018837791929043984 Centerline is valid? [True, True] Translation: X:630.80, Y:7.06, Z:4.38 [[ 9.98723642e-01 -4.84347144e-02 -1.43236287e-02 6.30802353e+02] [ 4.84326923e-02 9.98826329e-01 -4.88222983e-04 7.06479450e+00] [ 1.43304644e-02 -2.06132067e-04 9.99897292e-01 4.38416452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7592541539999 meters 0.01586343900110257 Centerline is valid? [True, True] Translation: X:630.83, Y:7.07, Z:4.39 [[ 9.98706695e-01 -4.91219495e-02 -1.31138005e-02 6.30834880e+02] [ 4.91203239e-02 9.98792769e-01 -4.46222442e-04 7.06532668e+00] [ 1.31198884e-02 -1.98508788e-04 9.99913911e-01 4.38617610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7892541539999 meters 0.016480519282701146 Centerline is valid? [True, True] Translation: X:630.87, Y:7.06, Z:4.39 [[ 9.98659719e-01 -5.01218992e-02 -1.29058108e-02 6.30866152e+02] [ 5.01204183e-02 9.98743086e-01 -4.38359609e-04 7.06258676e+00] [ 1.29115607e-02 -2.09072552e-04 9.99916620e-01 4.38645382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.819254154 meters 0.016257503957588727 Centerline is valid? [True, True] Translation: X:630.90, Y:7.06, Z:4.39 [[ 9.98616722e-01 -5.08997540e-02 -1.31855257e-02 6.30898429e+02] [ 5.08982866e-02 9.98703742e-01 -4.47056652e-04 7.06300639e+00] [ 1.31911889e-02 -2.24682417e-04 9.99912967e-01 4.38711690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8492541539999 meters 0.018687102834349614 Centerline is valid? [True, True] Translation: X:630.93, Y:7.06, Z:4.39 [[ 9.98584670e-01 -5.12800248e-02 -1.41073276e-02 6.30930802e+02] [ 5.12783973e-02 9.98684284e-01 -4.77295197e-04 7.06236267e+00] [ 1.41132421e-02 -2.46781483e-04 9.99900373e-01 4.38636042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8792541539999 meters 0.017147512019193557 Centerline is valid? [True, True] Translation: X:630.96, Y:7.06, Z:4.39 [[ 9.98422341e-01 -5.44215816e-02 -1.38246242e-02 6.30963163e+02] [ 5.44203330e-02 9.98518007e-01 -4.66773117e-04 7.06187484e+00] [ 1.38295387e-02 -2.86303941e-04 9.99904326e-01 4.38794409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9092541539999 meters 0.017147512019193557 Centerline is valid? [True, True] Translation: X:630.99, Y:7.06, Z:4.39 [[ 9.98426170e-01 -5.43512735e-02 -1.38246570e-02 6.30994841e+02] [ 5.43500315e-02 9.98521836e-01 -4.65799944e-04 7.06288024e+00] [ 1.38295387e-02 -2.86303688e-04 9.99904326e-01 4.38816359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.939254154 meters 0.0178270129108239 Centerline is valid? [True, True] Translation: X:631.03, Y:7.06, Z:4.39 [[ 9.98355204e-01 -5.55043079e-02 -1.43582391e-02 6.31027431e+02] [ 5.55031022e-02 9.98458398e-01 -4.82748999e-04 7.06206400e+00] [ 1.43628991e-02 -3.14971837e-04 9.99896799e-01 4.38785858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9692541539999 meters 0.01908211357009913 Centerline is valid? [True, True] Translation: X:631.06, Y:7.06, Z:4.39 [[ 9.98174349e-01 -5.86604864e-02 -1.43846091e-02 6.31059356e+02] [ 5.86596165e-02 9.98277925e-01 -4.82751928e-04 7.05921327e+00] [ 1.43881562e-02 -3.61925060e-04 9.99896420e-01 4.38798102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9992541539999 meters 0.019600403885786762 Centerline is valid? [True, True] Translation: X:631.09, Y:7.06, Z:4.39 [[ 9.98085510e-01 -6.03091093e-02 -1.37159059e-02 6.31090252e+02] [ 6.03084837e-02 9.98179681e-01 -4.59601132e-04 7.05711466e+00] [ 1.37186567e-02 -3.68464258e-04 9.99905827e-01 4.38817010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0292541539999 meters 0.019321866130611043 Centerline is valid? [True, True] Translation: X:631.12, Y:7.06, Z:4.39 [[ 9.97980560e-01 -6.20133065e-02 -1.37532417e-02 6.31122710e+02] [ 6.20128507e-02 9.98075245e-01 -4.60002774e-04 7.05804730e+00] [ 1.37552964e-02 -3.93803901e-04 9.99905314e-01 4.38879215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0592541539999 meters 0.020347329525297917 Centerline is valid? [True, True] Translation: X:631.15, Y:7.06, Z:4.39 [[ 9.97731765e-01 -6.59481269e-02 -1.34970318e-02 6.31153604e+02] [ 6.59480556e-02 9.97822956e-01 -4.50834785e-04 7.05693083e+00] [ 1.34973798e-02 -4.40290817e-04 9.99908809e-01 4.38888145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.089254154 meters 0.021751010935977727 Centerline is valid? [True, True] Translation: X:631.18, Y:7.06, Z:4.39 [[ 9.97616222e-01 -6.76585082e-02 -1.35720325e-02 6.31184487e+02] [ 6.76586072e-02 9.97708428e-01 -4.52388017e-04 7.05600347e+00] [ 1.35715391e-02 -4.66955190e-04 9.99907793e-01 4.38889940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1192541539999 meters 0.02416065224515061 Centerline is valid? [True, True] Translation: X:631.22, Y:7.06, Z:4.39 [[ 9.97487940e-01 -6.95534809e-02 -1.34210201e-02 6.31216633e+02] [ 6.95537666e-02 9.97578105e-01 -4.46040717e-04 7.05555684e+00] [ 1.34195395e-02 -4.88562263e-04 9.99909835e-01 4.38840695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1492541539999 meters 0.023610793185813824 Centerline is valid? [True, True] Translation: X:631.25, Y:7.05, Z:4.39 [[ 9.97307974e-01 -7.22472855e-02 -1.25353775e-02 6.31248382e+02] [ 7.22477566e-02 9.97386630e-01 -4.15850278e-04 7.05468664e+00] [ 1.25326620e-02 -4.90922107e-04 9.99921343e-01 4.39006079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1792541539999 meters 0.026568440563919556 Centerline is valid? [True, True] Translation: X:631.28, Y:7.05, Z:4.39 [[ 9.96884581e-01 -7.79663057e-02 -1.19325756e-02 6.31278239e+02] [ 7.79671471e-02 9.96955850e-01 -3.95369372e-04 7.05124722e+00] [ 1.19270765e-02 -5.36211245e-04 9.99928726e-01 4.39057952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.209254154 meters 0.029277415521138373 Centerline is valid? [True, True] Translation: X:631.31, Y:7.05, Z:4.39 [[ 9.96658363e-01 -8.07615813e-02 -1.22341439e-02 6.31309352e+02] [ 8.07626793e-02 9.96733277e-01 -4.05079213e-04 7.04990424e+00] [ 1.22268932e-02 -5.84336657e-04 9.99925078e-01 4.38990150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2392541539999 meters 0.03215806883564649 Centerline is valid? [True, True] Translation: X:631.34, Y:7.05, Z:4.39 [[ 9.96117702e-01 -8.73083887e-02 -1.12591782e-02 6.31339251e+02] [ 8.73097370e-02 9.96181144e-01 -3.72674208e-04 7.04643940e+00] [ 1.12487186e-02 -6.11808514e-04 9.99936544e-01 4.39151271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2692541539999 meters 0.034155428008800656 Centerline is valid? [True, True] Translation: X:631.37, Y:7.05, Z:4.39 [[ 9.95874578e-01 -9.01249801e-02 -1.05504585e-02 6.31370669e+02] [ 9.01263229e-02 9.95930281e-01 -3.49072949e-04 7.04549690e+00] [ 1.05389813e-02 -6.03241158e-04 9.99944281e-01 4.39209281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2992541539999 meters 0.03705848226607074 Centerline is valid? [True, True] Translation: X:631.40, Y:7.04, Z:4.39 [[ 9.95699200e-01 -9.20807486e-02 -1.02097222e-02 6.31401174e+02] [ 9.20821125e-02 9.95751360e-01 -3.37407379e-04 7.04451720e+00] [ 1.01974135e-02 -6.04176530e-04 9.99947823e-01 4.39177460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.329254154 meters 0.038593946805211755 Centerline is valid? [True, True] Translation: X:631.43, Y:7.04, Z:4.39 [[ 9.95407811e-01 -9.52971389e-02 -9.04131156e-03 6.31430848e+02] [ 9.52983446e-02 9.95448711e-01 -2.98358151e-04 7.04416674e+00] [ 9.02859462e-03 -5.64633991e-04 9.99959082e-01 4.39312925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3592541539999 meters 0.04022925929630879 Centerline is valid? [True, True] Translation: X:631.46, Y:7.05, Z:4.39 [[ 9.95365724e-01 -9.57019464e-02 -9.39213630e-03 6.31462481e+02] [ 9.57032708e-02 9.95409859e-01 -3.09366244e-04 7.04527384e+00] [ 9.37863202e-03 -5.90925607e-04 9.99955845e-01 4.39270684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3892541539999 meters 0.04011388744125216 Centerline is valid? [True, True] Translation: X:631.49, Y:7.05, Z:4.39 [[ 9.95326757e-01 -9.61364082e-02 -9.07949796e-03 6.31494697e+02] [ 9.61376682e-02 9.95368002e-01 -2.98586950e-04 7.04726380e+00] [ 9.06614683e-03 -5.75690182e-04 9.99958736e-01 4.39360731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4192541539999 meters 0.04048992602180438 Centerline is valid? [True, True] Translation: X:631.53, Y:7.05, Z:4.40 [[ 9.95446931e-01 -9.49994900e-02 -7.77847087e-03 6.31525603e+02] [ 9.50003836e-02 9.95477203e-01 -2.55362397e-04 7.05087613e+00] [ 7.76754972e-03 -4.84758002e-04 9.99969715e-01 4.39522595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.449254154 meters 0.04025539682948992 Centerline is valid? [True, True] Translation: X:631.56, Y:7.05, Z:4.40 [[ 9.95573237e-01 -9.37204129e-02 -7.10029191e-03 6.31557953e+02] [ 9.37211274e-02 9.95598461e-01 -2.32772068e-04 7.05388572e+00] [ 7.09085520e-03 -4.33705722e-04 9.99974766e-01 4.39622024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4792541539999 meters 0.0402969812618599 Centerline is valid? [True, True] Translation: X:631.59, Y:7.06, Z:4.40 [[ 9.95733486e-01 -9.20201628e-02 -6.86393832e-03 6.31589089e+02] [ 9.20207932e-02 9.95757060e-01 -2.24589796e-04 7.05708461e+00] [ 6.85548184e-03 -4.07993468e-04 9.99976418e-01 4.39633357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5092541539999 meters 0.038351579814871174 Centerline is valid? [True, True] Translation: X:631.62, Y:7.06, Z:4.40 [[ 9.96040942e-01 -8.87001574e-02 -5.89267992e-03 6.31620018e+02] [ 8.87005651e-02 9.96058318e-01 -1.92631954e-04 7.06408787e+00] [ 5.88653933e-03 -3.30814726e-04 9.99982619e-01 4.39755440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5392541539999 meters 0.03952518471991105 Centerline is valid? [True, True] Translation: X:631.65, Y:7.07, Z:4.40 [[ 9.96242185e-01 -8.64039612e-02 -5.98874179e-03 6.31651858e+02] [ 8.64043413e-02 9.96260132e-01 -1.95722277e-04 7.06800099e+00] [ 5.98325586e-03 -3.22466500e-04 9.99982048e-01 4.39651201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.569254154 meters 0.03620917966961315 Centerline is valid? [True, True] Translation: X:631.68, Y:7.08, Z:4.40 [[ 9.96566500e-01 -8.26244869e-02 -5.32957883e-03 6.31680975e+02] [ 8.26247364e-02 9.96580716e-01 -1.73734133e-04 7.07620733e+00] [ 5.32571018e-03 -2.67217429e-04 9.99985783e-01 4.39785260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5992541539999 meters 0.035548811679712106 Centerline is valid? [True, True] Translation: X:631.71, Y:7.08, Z:4.40 [[ 9.96708253e-01 -8.08226128e-02 -6.35328523e-03 6.31711863e+02] [ 8.08229298e-02 9.96728454e-01 -2.07254774e-04 7.08036094e+00] [ 6.34925104e-03 -3.06918583e-04 9.99979796e-01 4.39678145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6292541539999 meters 0.03501071053441758 Centerline is valid? [True, True] Translation: X:631.74, Y:7.08, Z:4.40 [[ 9.96822932e-01 -7.93586288e-02 -6.80071198e-03 6.31744472e+02] [ 7.93589595e-02 9.96846080e-01 -2.21624978e-04 7.08364748e+00] [ 6.79685093e-03 -3.18776567e-04 9.99976850e-01 4.39628085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6592541539999 meters 0.034245058922643457 Centerline is valid? [True, True] Translation: X:631.78, Y:7.09, Z:4.40 [[ 9.96944873e-01 -7.77916078e-02 -7.02751445e-03 6.31777040e+02] [ 7.77919261e-02 9.96969590e-01 -2.28445957e-04 7.08715358e+00] [ 7.02398938e-03 -3.18935859e-04 9.99975281e-01 4.39574964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.689254154 meters 0.02304420929188728 Centerline is valid? [True, True] Translation: X:631.81, Y:7.11, Z:4.40 [[ 9.97168549e-01 -7.48467099e-02 -7.27011899e-03 6.31808323e+02] [ 7.48469767e-02 9.97195003e-01 -2.35753081e-04 7.10809371e+00] [ 7.26737167e-03 -3.09060868e-04 9.99973545e-01 4.39582526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7192541539999 meters 0.024526737417046737 Centerline is valid? [True, True] Translation: X:631.84, Y:7.11, Z:4.40 [[ 9.97308467e-01 -7.29864407e-02 -6.98584523e-03 6.31839873e+02] [ 7.29866441e-02 9.97332893e-01 -2.26161265e-04 7.10994101e+00] [ 6.98371993e-03 -2.84320855e-04 9.99975573e-01 4.39534630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7492541539999 meters 0.022203619656086998 Centerline is valid? [True, True] Translation: X:631.87, Y:7.12, Z:4.40 [[ 9.97497820e-01 -7.03452478e-02 -7.04598880e-03 6.31871293e+02] [ 7.03453926e-02 9.97522668e-01 -2.27593295e-04 7.11661924e+00] [ 7.04454365e-03 -2.68629033e-04 9.99975151e-01 4.39599615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7792541539999 meters 0.023188970898681143 Centerline is valid? [True, True] Translation: X:631.90, Y:7.12, Z:4.40 [[ 9.97640361e-01 -6.82448340e-02 -7.50684188e-03 6.31903264e+02] [ 6.82449412e-02 9.97668567e-01 -2.42169215e-04 7.11973631e+00] [ 7.50586698e-03 -2.70706200e-04 9.99971794e-01 4.39529005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8092541539999 meters 0.021357816096625577 Centerline is valid? [True, True] Translation: X:631.94, Y:7.12, Z:4.40 [[ 9.97728332e-01 -6.69058336e-02 -7.86031624e-03 6.31935866e+02] [ 6.69059144e-02 9.97759257e-01 -2.52967322e-04 7.12372685e+00] [ 7.85962828e-03 -2.73508981e-04 9.99969075e-01 4.39674664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.839254154 meters 0.02015733086966328 Centerline is valid? [True, True] Translation: X:631.97, Y:7.13, Z:4.40 [[ 9.97998271e-01 -6.27577043e-02 -7.80525318e-03 6.31967589e+02] [ 6.27576625e-02 9.98028764e-01 -2.50511355e-04 7.13088319e+00] [ 7.80558870e-03 -2.39829546e-04 9.99969507e-01 4.39670669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8692541539999 meters 0.01976251711943169 Centerline is valid? [True, True] Translation: X:632.00, Y:7.13, Z:4.40 [[ 9.98147865e-01 -6.03452799e-02 -7.69979292e-03 6.31998944e+02] [ 6.03451720e-02 9.98177539e-01 -2.46558917e-04 7.13344532e+00] [ 7.70063901e-03 -2.18543072e-04 9.99970326e-01 4.39662905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8992541539999 meters 0.019673754126165125 Centerline is valid? [True, True] Translation: X:632.03, Y:7.14, Z:4.40 [[ 9.98268096e-01 -5.83182846e-02 -7.73216349e-03 6.32031386e+02] [ 5.83181182e-02 9.98298020e-01 -2.47168988e-04 7.13654740e+00] [ 7.73341797e-03 -2.04184310e-04 9.99970076e-01 4.39652102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9292541539999 meters 0.018175925326967355 Centerline is valid? [True, True] Translation: X:632.06, Y:7.14, Z:4.40 [[ 9.98470265e-01 -5.46820524e-02 -8.18556385e-03 6.32063013e+02] [ 5.46817486e-02 9.98503800e-01 -2.61084445e-04 7.14241809e+00] [ 8.18759324e-03 -1.86915889e-04 9.99966464e-01 4.39616234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.959254154 meters 0.019436234081356328 Centerline is valid? [True, True] Translation: X:632.10, Y:7.15, Z:4.39 [[ 9.98592523e-01 -5.22743501e-02 -8.96468185e-03 6.32095133e+02] [ 5.22738936e-02 9.98632745e-01 -2.85394689e-04 7.14544431e+00] [ 8.96734366e-03 -1.83625823e-04 9.99959776e-01 4.39463100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9892541539999 meters 0.019692390836539408 Centerline is valid? [True, True] Translation: X:632.13, Y:7.15, Z:4.39 [[ 9.98671497e-01 -5.07205838e-02 -9.09193072e-03 6.32127565e+02] [ 5.07200556e-02 9.98712868e-01 -2.88806236e-04 7.14805679e+00] [ 9.09487663e-03 -1.72720676e-04 9.99958626e-01 4.39421291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0192541539999 meters 0.018108894420262617 Centerline is valid? [True, True] Translation: X:632.16, Y:7.15, Z:4.39 [[ 9.98759001e-01 -4.89126192e-02 -9.38159095e-03 6.32159120e+02] [ 4.89119849e-02 9.98803048e-01 -2.97174829e-04 7.15143135e+00] [ 9.38489724e-03 -1.62066200e-04 9.99955948e-01 4.39475427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0492541539999 meters 0.018135802767855896 Centerline is valid? [True, True] Translation: X:632.19, Y:7.15, Z:4.39 [[ 9.98805595e-01 -4.79496692e-02 -9.39213336e-03 6.32191396e+02] [ 4.79490015e-02 9.98849741e-01 -2.96379613e-04 7.15415809e+00] [ 9.39554128e-03 -1.54317802e-04 9.99955849e-01 4.39427678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.079254154 meters 0.019147653345210423 Centerline is valid? [True, True] Translation: X:632.22, Y:7.15, Z:4.39 [[ 9.98811200e-01 -4.76532355e-02 -1.02642744e-02 6.32223005e+02] [ 4.76524310e-02 9.98863925e-01 -3.23067980e-04 7.15409545e+00] [ 1.02680087e-02 -1.66433713e-04 9.99947269e-01 4.39247620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1092541539999 meters 0.01651305721534149 Centerline is valid? [True, True] Translation: X:632.26, Y:7.15, Z:4.39 [[ 9.98759578e-01 -4.87091009e-02 -1.03309449e-02 6.32255260e+02] [ 4.87083513e-02 9.98812991e-01 -3.24310353e-04 7.15448029e+00] [ 1.03344789e-02 -1.79295222e-04 9.99946582e-01 4.39391487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1392541539999 meters 0.016637823346933034 Centerline is valid? [True, True] Translation: X:632.29, Y:7.15, Z:4.39 [[ 9.98733992e-01 -4.92770974e-02 -1.01084891e-02 6.32285936e+02] [ 4.92764147e-02 9.98785129e-01 -3.16739540e-04 7.15487227e+00] [ 1.01118166e-02 -1.81771556e-04 9.99948858e-01 4.39422766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1692541539999 meters 0.017058078010923128 Centerline is valid? [True, True] Translation: X:632.32, Y:7.15, Z:4.39 [[ 9.98649421e-01 -5.08758303e-02 -1.05349286e-02 6.32318330e+02] [ 5.08751831e-02 9.98704965e-01 -3.29591599e-04 7.15493401e+00] [ 1.05380538e-02 -2.06819964e-04 9.99944452e-01 4.39343388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.199254154 meters 0.01830000416741756 Centerline is valid? [True, True] Translation: X:632.35, Y:7.15, Z:4.39 [[ 9.98598706e-01 -5.17878901e-02 -1.08921404e-02 6.32349949e+02] [ 5.17872603e-02 9.98658082e-01 -3.40046282e-04 7.15361430e+00] [ 1.08951344e-02 -2.24504335e-04 9.99940621e-01 4.39219476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2292541539999 meters 0.020861398671702728 Centerline is valid? [True, True] Translation: X:632.38, Y:7.15, Z:4.39 [[ 9.98457623e-01 -5.44508927e-02 -1.08386189e-02 6.32381645e+02] [ 5.44504347e-02 9.98516418e-01 -3.37556085e-04 7.14806274e+00] [ 1.08409191e-02 -2.53132064e-04 9.99941203e-01 4.39059231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2592541539999 meters 0.020861398671702728 Centerline is valid? [True, True] Translation: X:632.41, Y:7.15, Z:4.39 [[ 9.98463146e-01 -5.43495132e-02 -1.08386561e-02 6.32414176e+02] [ 5.43490623e-02 9.98521941e-01 -3.36357529e-04 7.14897297e+00] [ 1.08409168e-02 -2.53230199e-04 9.99941203e-01 4.39081759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2892541539999 meters 0.022125841271727373 Centerline is valid? [True, True] Translation: X:632.45, Y:7.15, Z:4.39 [[ 9.98339393e-01 -5.66697022e-02 -1.03441669e-02 6.32445052e+02] [ 5.66694270e-02 9.98392946e-01 -3.19939786e-04 7.14517558e+00] [ 1.03456742e-02 -2.66789520e-04 9.99946446e-01 4.39048575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.319254154 meters 0.018969916581098083 Centerline is valid? [True, True] Translation: X:632.48, Y:7.15, Z:4.39 [[ 9.98140262e-01 -6.00628255e-02 -1.04150899e-02 6.32476875e+02] [ 6.00627440e-02 9.98194552e-01 -3.20894382e-04 7.14704055e+00] [ 1.04155598e-02 -3.05261276e-04 9.99945710e-01 4.39234096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3492541539999 meters 0.018922060409458718 Centerline is valid? [True, True] Translation: X:632.51, Y:7.15, Z:4.39 [[ 9.98058717e-01 -6.13408266e-02 -1.07749665e-02 6.32509198e+02] [ 6.13408262e-02 9.98116824e-01 -3.30829044e-04 7.14761178e+00] [ 1.07749687e-02 -3.30758536e-04 9.99941894e-01 4.39203355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3792541539999 meters 0.02141500974203011 Centerline is valid? [True, True] Translation: X:632.54, Y:7.15, Z:4.39 [[ 9.98001692e-01 -6.20486215e-02 -1.19411399e-02 6.32541090e+02] [ 6.20486829e-02 9.98073057e-01 -3.65689835e-04 7.14645773e+00] [ 1.19408205e-02 -3.75972928e-04 9.99928635e-01 4.39007699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4092541539999 meters 0.019570039562055597 Centerline is valid? [True, True] Translation: X:632.57, Y:7.15, Z:4.39 [[ 9.97854533e-01 -6.44881838e-02 -1.12962098e-02 6.32573350e+02] [ 6.44884041e-02 9.97918397e-01 -3.45125618e-04 7.14521640e+00] [ 1.12949521e-02 -3.84089380e-04 9.99936136e-01 4.39105840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.439254154 meters 0.02929974934629811 Centerline is valid? [True, True] Translation: X:632.60, Y:7.13, Z:4.39 [[ 9.97640733e-01 -6.75090433e-02 -1.24698444e-02 6.32604720e+02] [ 6.75095570e-02 9.97718555e-01 -3.80207132e-04 7.13047799e+00] [ 1.24670625e-02 -4.62523548e-04 9.99922176e-01 4.38689178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4692541539999 meters 0.02216446629832747 Centerline is valid? [True, True] Translation: X:632.64, Y:7.14, Z:4.39 [[ 9.97465835e-01 -7.00148530e-02 -1.26423453e-02 6.32636720e+02] [ 7.00155908e-02 9.97545823e-01 -3.84775024e-04 7.13996160e+00] [ 1.26382587e-02 -5.01361333e-04 9.99920008e-01 4.38887613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4992541539999 meters 0.022395837810160735 Centerline is valid? [True, True] Translation: X:632.67, Y:7.14, Z:4.39 [[ 9.97288617e-01 -7.25592873e-02 -1.22704585e-02 6.32667735e+02] [ 7.25601889e-02 9.97363966e-01 -3.72284887e-04 7.13768725e+00] [ 1.22651259e-02 -5.19071306e-04 9.99924646e-01 4.38911039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5292541539999 meters 0.026938030581638295 Centerline is valid? [True, True] Translation: X:632.70, Y:7.13, Z:4.39 [[ 9.97029249e-01 -7.59964204e-02 -1.25387930e-02 6.32697806e+02] [ 7.59976503e-02 9.97107925e-01 -3.79057990e-04 7.13065641e+00] [ 1.25313369e-02 -5.74986905e-04 9.99921314e-01 4.38810457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5592541539999 meters 0.024589921879095044 Centerline is valid? [True, True] Translation: X:632.73, Y:7.14, Z:4.39 [[ 9.96946985e-01 -7.69961203e-02 -1.29732759e-02 6.32729740e+02] [ 7.69975352e-02 9.97031206e-01 -3.91119109e-04 7.13593870e+00] [ 1.29648755e-02 -6.08985249e-04 9.99915767e-01 4.38877517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.589254154 meters 0.025367437280391147 Centerline is valid? [True, True] Translation: X:632.76, Y:7.13, Z:4.39 [[ 9.96717056e-01 -8.00029285e-02 -1.24354726e-02 6.32761083e+02] [ 8.00044706e-02 9.96794434e-01 -3.74205056e-04 7.13485640e+00] [ 1.24255474e-02 -6.21916842e-04 9.99922606e-01 4.38903003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6192541539999 meters 0.026465236846820568 Centerline is valid? [True, True] Translation: X:632.79, Y:7.13, Z:4.39 [[ 9.96550021e-01 -8.21107529e-02 -1.20780955e-02 6.32792237e+02] [ 8.21123727e-02 9.96623011e-01 -3.62570169e-04 7.13239849e+00] [ 1.20670788e-02 -6.30441766e-04 9.99926991e-01 4.38962949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6492541539999 meters 0.02682237238000062 Centerline is valid? [True, True] Translation: X:632.82, Y:7.13, Z:4.39 [[ 9.96433010e-01 -8.36113255e-02 -1.14193936e-02 6.32824525e+02] [ 8.36128845e-02 9.96498253e-01 -3.41664512e-04 7.13203121e+00] [ 1.14079728e-02 -6.14362637e-04 9.99934738e-01 4.38989014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6792541539999 meters 0.028217913668825433 Centerline is valid? [True, True] Translation: X:632.86, Y:7.13, Z:4.39 [[ 9.96183031e-01 -8.66527012e-02 -1.05203362e-02 6.32855199e+02] [ 8.66541990e-02 9.96238401e-01 -3.14227721e-04 7.13133235e+00] [ 1.05079916e-02 -5.98602982e-04 9.99944610e-01 4.39146589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.709254154 meters 0.02949891237581392 Centerline is valid? [True, True] Translation: X:632.89, Y:7.13, Z:4.39 [[ 9.96098207e-01 -8.75538101e-02 -1.10766853e-02 6.32887651e+02] [ 8.75555310e-02 9.96159586e-01 -3.30403404e-04 7.13251291e+00] [ 1.10630743e-02 -6.40710826e-04 9.99938597e-01 4.39131630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7392541539999 meters 0.030325266067242215 Centerline is valid? [True, True] Translation: X:632.92, Y:7.13, Z:4.39 [[ 9.95866388e-01 -9.03320301e-02 -9.50063625e-03 6.32918193e+02] [ 9.03334266e-02 9.95911538e-01 -2.82904320e-04 7.13192390e+00] [ 9.48734859e-03 -5.76490124e-04 9.99954828e-01 4.39311908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7692541539999 meters 0.03138702128816924 Centerline is valid? [True, True] Translation: X:632.95, Y:7.13, Z:4.39 [[ 9.95835186e-01 -9.07242272e-02 -9.02200754e-03 6.32948964e+02] [ 9.07255060e-02 9.95875901e-01 -2.68264777e-04 7.13163715e+00] [ 9.00913801e-03 -5.51378696e-04 9.99959265e-01 4.39364512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7992541539999 meters 0.031161564077723733 Centerline is valid? [True, True] Translation: X:632.98, Y:7.13, Z:4.39 [[ 9.95843685e-01 -9.06220269e-02 -9.11062166e-03 6.32982390e+02] [ 9.06233370e-02 9.95885203e-01 -2.69769364e-04 7.13364961e+00] [ 9.09758035e-03 -5.56986820e-04 9.99958461e-01 4.39371495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.829254154 meters 0.031161564077723733 Centerline is valid? [True, True] Translation: X:633.01, Y:7.13, Z:4.39 [[ 9.95853639e-01 -9.05125667e-02 -9.11065123e-03 6.33014973e+02] [ 9.05138814e-02 9.95895158e-01 -2.68767254e-04 7.13451867e+00] [ 9.09758026e-03 -5.56987558e-04 9.99958461e-01 4.39394062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8592541539999 meters 0.033006401953885524 Centerline is valid? [True, True] Translation: X:633.05, Y:7.14, Z:4.39 [[ 9.95965094e-01 -8.91908867e-02 -9.92561161e-03 6.33047630e+02] [ 8.91923927e-02 9.96014373e-01 -2.91707020e-04 7.13675072e+00] [ 9.91206944e-03 -5.94759040e-04 9.99950697e-01 4.39214216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8892541539999 meters 0.03208045243326828 Centerline is valid? [True, True] Translation: X:633.08, Y:7.14, Z:4.39 [[ 9.95987066e-01 -8.90826368e-02 -8.60514894e-03 6.33078782e+02] [ 8.90837701e-02 9.96024105e-01 -2.52264780e-04 7.13766922e+00] [ 8.59340818e-03 -5.15326651e-04 9.99962943e-01 4.39402087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9192541539999 meters 0.030564801947717084 Centerline is valid? [True, True] Translation: X:633.11, Y:7.15, Z:4.39 [[ 9.96290749e-01 -8.55928131e-02 -8.86645479e-03 6.33108933e+02] [ 8.55938820e-02 9.96330076e-01 -2.59539586e-04 7.14547555e+00] [ 8.85613029e-03 -5.00337396e-04 9.99960659e-01 4.39366775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.949254154 meters 0.030496774767079085 Centerline is valid? [True, True] Translation: X:633.14, Y:7.15, Z:4.39 [[ 9.96466654e-01 -8.35809810e-02 -8.27208803e-03 6.33139344e+02] [ 8.35818425e-02 9.96500887e-01 -2.42116733e-04 7.14824122e+00] [ 8.26337941e-03 -4.50135109e-04 9.99965756e-01 4.39427569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9792541539999 meters 0.03010871268700041 Centerline is valid? [True, True] Translation: X:633.17, Y:7.15, Z:4.39 [[ 9.96647684e-01 -8.13982188e-02 -8.22945123e-03 6.33171124e+02] [ 8.13989988e-02 9.96681567e-01 -2.40673357e-04 7.15212017e+00] [ 8.22173273e-03 -4.30002547e-04 9.99966109e-01 4.39430612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0092541539999 meters 0.027956859838963177 Centerline is valid? [True, True] Translation: X:633.20, Y:7.16, Z:4.40 [[ 9.96961093e-01 -7.75680045e-02 -7.19606437e-03 6.33201052e+02] [ 7.75685037e-02 9.96987002e-01 -2.10126302e-04 7.15821582e+00] [ 7.19068172e-03 -3.48700198e-04 9.99974086e-01 4.39568706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0392541539999 meters 0.027640358817662365 Centerline is valid? [True, True] Translation: X:633.23, Y:7.16, Z:4.40 [[ 9.97185290e-01 -7.45970193e-02 -7.53534174e-03 6.33232265e+02] [ 7.45974821e-02 9.97213702e-01 -2.20011728e-04 7.16242506e+00] [ 7.53075826e-03 -3.42725062e-04 9.99971585e-01 4.39515825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.069254154 meters 0.02610311005958385 Centerline is valid? [True, True] Translation: X:633.26, Y:7.17, Z:4.40 [[ 9.97337827e-01 -7.25693659e-02 -7.13766869e-03 6.33263592e+02] [ 7.25697311e-02 9.97363319e-01 -2.08161389e-04 7.16677588e+00] [ 7.13395508e-03 -3.10371470e-04 9.99974505e-01 4.39649677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0992541539999 meters 0.02503398143767626 Centerline is valid? [True, True] Translation: X:633.29, Y:7.18, Z:4.40 [[ 9.97797251e-01 -6.60284877e-02 -6.39404814e-03 6.33293116e+02] [ 6.60286481e-02 9.97817710e-01 -1.86248839e-04 7.17534689e+00] [ 6.39239220e-03 -2.36351775e-04 9.99979541e-01 4.39621287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1292541539999 meters 0.023092113974459674 Centerline is valid? [True, True] Translation: X:633.32, Y:7.18, Z:4.40 [[ 9.97964035e-01 -6.35493915e-02 -5.40929269e-03 6.33324807e+02] [ 6.35494688e-02 9.97978677e-01 -1.57755986e-04 7.17990953e+00] [ 5.40838406e-03 -1.86322877e-04 9.99985357e-01 4.39806991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1592541539999 meters 0.019900331921246565 Centerline is valid? [True, True] Translation: X:633.36, Y:7.19, Z:4.40 [[ 9.98194535e-01 -5.98324864e-02 -5.26715088e-03 6.33355951e+02] [ 5.98325103e-02 9.98208419e-01 -1.53194622e-04 7.18955855e+00] [ 5.26688037e-03 -1.62228825e-04 9.99986117e-01 4.39742123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.189254154 meters 0.017627092344231165 Centerline is valid? [True, True] Translation: X:633.39, Y:7.20, Z:4.40 [[ 9.98569143e-01 -5.33244706e-02 -4.02089118e-03 6.33385258e+02] [ 5.33244327e-02 9.98577233e-01 -1.16695599e-04 7.19681982e+00] [ 4.02139312e-03 -9.78831167e-05 9.99991909e-01 4.39821858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2192541539999 meters 0.020566407291692047 Centerline is valid? [True, True] Translation: X:633.42, Y:7.20, Z:4.40 [[ 9.98804281e-01 -4.87161771e-02 -4.09166126e-03 6.33416081e+02] [ 4.87160983e-02 9.98812659e-01 -1.18983028e-04 7.19774442e+00] [ 4.09259946e-03 -8.04890140e-05 9.99991622e-01 4.39710183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2492541539999 meters 0.015692260361712406 Centerline is valid? [True, True] Translation: X:633.45, Y:7.21, Z:4.40 [[ 9.99087428e-01 -4.26267192e-02 -2.69710144e-03 6.33447340e+02] [ 4.26266628e-02 9.99091068e-01 -7.84174055e-05 7.20866530e+00] [ 2.69799263e-03 -3.66225896e-05 9.99996360e-01 4.39826442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2792541539999 meters 0.015261820405524215 Centerline is valid? [True, True] Translation: X:633.48, Y:7.21, Z:4.40 [[ 9.99228295e-01 -3.91941758e-02 -2.57504330e-03 6.33478833e+02] [ 3.91941130e-02 9.99231613e-01 -7.48626312e-05 7.21212932e+00] [ 2.57599885e-03 -2.61216787e-05 9.99996682e-01 4.39837877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3092541539999 meters 0.016785564349415392 Centerline is valid? [True, True] Translation: X:633.51, Y:7.22, Z:4.40 [[ 9.99369031e-01 -3.54423326e-02 -2.31989662e-03 6.33510942e+02] [ 3.54422715e-02 9.99371723e-01 -6.74359622e-05 7.21561150e+00] [ 2.32082917e-03 -1.48289937e-05 9.99997307e-01 4.39699752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.339254154 meters 0.014519297754040273 Centerline is valid? [True, True] Translation: X:633.54, Y:7.22, Z:4.40 [[ 9.99506148e-01 -3.13498397e-02 -2.15577161e-03 6.33542857e+02] [ 3.13497777e-02 9.99508473e-01 -6.25614489e-05 7.22066003e+00] [ 2.15667328e-03 -5.05240784e-06 9.99997674e-01 4.39721257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3692541539999 meters 0.016376389930138558 Centerline is valid? [True, True] Translation: X:633.58, Y:7.22, Z:4.40 [[ 9.99565814e-01 -2.93856050e-02 -2.16107445e-03 6.33576079e+02] [ 2.93855381e-02 9.99568150e-01 -6.27296157e-05 7.22226555e+00] [ 2.16198453e-03 -8.01956068e-07 9.99997663e-01 4.39570834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3992541539999 meters 0.01446280507722895 Centerline is valid? [True, True] Translation: X:633.61, Y:7.22, Z:4.40 [[ 9.99529767e-01 -3.06287889e-02 -1.45673998e-03 6.33606950e+02] [ 3.06287601e-02 9.99530829e-01 -4.20657598e-05 7.22265259e+00] [ 1.45734494e-03 -2.57216035e-06 9.99998938e-01 4.39647885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4292541539999 meters 0.015155744497274345 Centerline is valid? [True, True] Translation: X:633.64, Y:7.22, Z:4.40 [[ 9.99490597e-01 -3.18830921e-02 -1.41977739e-03 6.33639974e+02] [ 3.18830657e-02 9.99491605e-01 -4.12311810e-05 7.22205977e+00] [ 1.42037016e-03 -4.05667811e-06 9.99998991e-01 4.39528847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.459254154 meters 0.014663822427523782 Centerline is valid? [True, True] Translation: X:633.67, Y:7.22, Z:4.40 [[ 9.99407300e-01 -3.43716214e-02 -1.90797333e-03 6.33671347e+02] [ 3.43715797e-02 9.99409121e-01 -5.46592980e-05 7.22081310e+00] [ 1.90872467e-03 -1.09531558e-05 9.99998178e-01 4.39529033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4892541539999 meters 0.015329576856348568 Centerline is valid? [True, True] Translation: X:633.70, Y:7.22, Z:4.39 [[ 9.99162307e-01 -4.09093376e-02 -1.05330434e-03 6.33703672e+02] [ 4.09093283e-02 9.99162863e-01 -3.03993922e-05 7.21627114e+00] [ 1.05366619e-03 -1.27160460e-05 9.99999445e-01 4.39442033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5192541539999 meters 0.01706812237025165 Centerline is valid? [True, True] Translation: X:633.73, Y:7.21, Z:4.39 [[ 9.98799466e-01 -4.89858212e-02 1.25396013e-04 6.33734177e+02] [ 4.89858212e-02 9.98799474e-01 3.20357948e-06 7.21000150e+00] [-1.25402402e-04 2.94289322e-06 9.99999992e-01 4.39491781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5492541539999 meters 0.019214706148301258 Centerline is valid? [True, True] Translation: X:633.77, Y:7.21, Z:4.39 [[ 9.98617430e-01 -5.25575406e-02 9.65839645e-04 6.33766042e+02] [ 5.25575391e-02 9.98617897e-01 2.69285635e-05 7.20717381e+00] [-9.65920054e-04 2.38708220e-05 9.99999533e-01 4.39444507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.579254154 meters 0.02089399629841392 Centerline is valid? [True, True] Translation: X:633.80, Y:7.20, Z:4.40 [[ 9.98398111e-01 -5.65469114e-02 1.91275149e-03 6.33797159e+02] [ 5.65469124e-02 9.98399942e-01 5.36016918e-05 7.20305992e+00] [-1.91272198e-03 5.46443628e-05 9.99998169e-01 4.39547091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6092541539999 meters 0.019443064498896025 Centerline is valid? [True, True] Translation: X:633.83, Y:7.20, Z:4.40 [[ 9.98158886e-01 -6.06056575e-02 2.40677486e-03 6.33828601e+02] [ 6.06056706e-02 9.98161785e-01 6.75654047e-05 7.20339998e+00] [-2.40644553e-03 7.84231950e-05 9.99997101e-01 4.39531690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6392541539999 meters 0.021661588906408263 Centerline is valid? [True, True] Translation: X:633.86, Y:7.20, Z:4.40 [[ 9.97708894e-01 -6.75895125e-02 2.93605998e-03 6.33859500e+02] [ 6.75895614e-02 9.97713207e-01 8.26756779e-05 7.19732578e+00] [-2.93493383e-03 1.15960747e-04 9.99995686e-01 4.39506163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6692541539999 meters 0.023228760219434774 Centerline is valid? [True, True] Translation: X:633.89, Y:7.19, Z:4.39 [[ 9.97534056e-01 -7.01119227e-02 3.18206656e-03 6.33890783e+02] [ 7.01120005e-02 9.97539122e-01 8.72252767e-05 7.19408161e+00] [-3.18035142e-03 1.36090868e-04 9.99994933e-01 4.39488426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.699254154 meters 0.023853600749894538 Centerline is valid? [True, True] Translation: X:633.92, Y:7.19, Z:4.39 [[ 9.97359928e-01 -7.25617928e-02 2.82125977e-03 6.33922664e+02] [ 7.25618662e-02 9.97363910e-01 7.64626233e-05 7.19280639e+00] [-2.81937094e-03 1.28455117e-04 9.99996017e-01 4.39442058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7292541539999 meters 0.02469546389519091 Centerline is valid? [True, True] Translation: X:633.96, Y:7.19, Z:4.39 [[ 9.97217824e-01 -7.45110962e-02 2.16994510e-03 6.33955142e+02] [ 7.45111430e-02 9.97220179e-01 5.94180995e-05 7.19183129e+00] [-2.16834035e-03 1.02432302e-04 9.99997644e-01 4.39365693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7592541539999 meters 0.026679254509390495 Centerline is valid? [True, True] Translation: X:633.99, Y:7.19, Z:4.39 [[ 9.97075631e-01 -7.64090976e-02 1.35460515e-03 6.33986448e+02] [ 7.64091198e-02 9.97076549e-01 3.54394870e-05 7.18874056e+00] [-1.35335292e-03 6.81683381e-05 9.99999082e-01 4.39180803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7892541539999 meters 0.028707633184065048 Centerline is valid? [True, True] Translation: X:634.02, Y:7.19, Z:4.39 [[ 9.97102877e-01 -7.60646466e-02 1.47574186e-04 6.34018634e+02] [ 7.60646471e-02 9.97102888e-01 2.24748894e-06 7.18830105e+00] [-1.47317601e-04 8.98420065e-06 9.99999989e-01 4.38907798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.819254154 meters 0.02810642613588408 Centerline is valid? [True, True] Translation: X:634.05, Y:7.19, Z:4.39 [[ 9.96980183e-01 -7.76563457e-02 -8.12545111e-05 6.34049943e+02] [ 7.76563457e-02 9.96980186e-01 -3.80265661e-06 7.18783992e+00] [ 8.13044380e-05 -2.51875511e-06 9.99999997e-01 4.39050965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8492541539999 meters 0.028557836389625325 Centerline is valid? [True, True] Translation: X:634.08, Y:7.19, Z:4.39 [[ 9.96987258e-01 -7.75641959e-02 -4.51212184e-04 6.34082744e+02] [ 7.75641975e-02 9.96987360e-01 -1.39805297e-05 7.18840988e+00] [ 4.50937233e-04 -2.10595010e-05 9.99999898e-01 4.39061495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8792541539999 meters 0.028794059932312852 Centerline is valid? [True, True] Translation: X:634.12, Y:7.19, Z:4.39 [[ 9.96980221e-01 -7.76549505e-02 -3.83895992e-04 6.34115262e+02] [ 7.76549521e-02 9.96980295e-01 -1.06814075e-05 7.18959927e+00] [ 3.83566203e-04 -1.91622728e-05 9.99999926e-01 4.39048768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9092541539999 meters 0.02941346798710729 Centerline is valid? [True, True] Translation: X:634.15, Y:7.19, Z:4.39 [[ 9.97018788e-01 -7.71553219e-02 -7.69411128e-04 6.34146059e+02] [ 7.71553279e-02 9.97019085e-01 -2.18288709e-05 7.19087939e+00] [ 7.68801792e-04 -3.76003735e-05 9.99999704e-01 4.39022535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.939254154 meters 0.029693246352116228 Centerline is valid? [True, True] Translation: X:634.18, Y:7.19, Z:4.39 [[ 9.97044909e-01 -7.68158654e-02 -8.79047534e-04 6.34178639e+02] [ 7.68158744e-02 9.97045295e-01 -2.35493959e-05 7.19208711e+00] [ 8.78259175e-04 -4.40449997e-05 9.99999613e-01 4.39054257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9692541539999 meters 0.0302014296331623 Centerline is valid? [True, True] Translation: X:634.21, Y:7.19, Z:4.39 [[ 9.97057226e-01 -7.66599771e-02 -3.69909778e-04 6.34212036e+02] [ 7.66599785e-02 9.97057294e-01 -1.03906616e-05 7.19334626e+00] [ 3.69617790e-04 -1.79971913e-05 9.99999932e-01 4.39098233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9992541539999 meters 0.031399982753958854 Centerline is valid? [True, True] Translation: X:634.24, Y:7.20, Z:4.39 [[ 9.97189144e-01 -7.49253424e-02 6.53570478e-05 6.34243400e+02] [ 7.49253425e-02 9.97189146e-01 1.47038774e-07 7.19635098e+00] [-6.51843556e-05 4.75027372e-06 9.99999998e-01 4.38990759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0292541539999 meters 0.030932342087828402 Centerline is valid? [True, True] Translation: X:634.28, Y:7.20, Z:4.39 [[ 9.97153343e-01 -7.54002668e-02 9.85638126e-05 6.34275113e+02] [ 7.54002670e-02 9.97153348e-01 2.07476830e-06 7.19778323e+00] [-9.84396738e-05 5.36287564e-06 9.99999995e-01 4.39202778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0592541539999 meters 0.031042480117760736 Centerline is valid? [True, True] Translation: X:634.31, Y:7.20, Z:4.39 [[ 9.97189411e-01 -7.49218025e-02 5.40011254e-05 6.34307394e+02] [ 7.49218025e-02 9.97189412e-01 9.21892607e-07 7.19941615e+00] [-5.39184204e-05 3.12656011e-06 9.99999999e-01 4.39191430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.089254154 meters 0.031474163517039584 Centerline is valid? [True, True] Translation: X:634.34, Y:7.20, Z:4.39 [[ 9.97231019e-01 -7.43638181e-02 -5.62450857e-04 6.34338842e+02] [ 7.43638210e-02 9.97231178e-01 -1.58868275e-05 7.20224927e+00] [ 5.62074936e-04 -2.59831577e-05 9.99999842e-01 4.39155538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1192541539999 meters 0.03262372492309294 Centerline is valid? [True, True] Translation: X:634.37, Y:7.20, Z:4.39 [[ 9.97281947e-01 -7.36692688e-02 -1.24749954e-03 6.34371463e+02] [ 7.36692858e-02 9.97282726e-01 -3.23562668e-05 7.20411345e+00] [ 1.24649340e-03 -5.96340792e-05 9.99999221e-01 4.38975095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1492541539999 meters 0.033331672208530574 Centerline is valid? [True, True] Translation: X:634.40, Y:7.21, Z:4.39 [[ 9.97212060e-01 -7.45827028e-02 -2.35132632e-03 6.34402196e+02] [ 7.45827681e-02 9.97214825e-01 -6.00472181e-05 7.20531875e+00] [ 2.34925595e-03 -1.15488616e-04 9.99997234e-01 4.38932485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1792541539999 meters 0.03402796834957693 Centerline is valid? [True, True] Translation: X:634.43, Y:7.21, Z:4.39 [[ 9.97153173e-01 -7.53597056e-02 -2.54250093e-03 6.34433293e+02] [ 7.53597845e-02 9.97156406e-01 -6.48963296e-05 7.20560712e+00] [ 2.54016166e-03 -1.26890741e-04 9.99996766e-01 4.38931240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.209254154 meters 0.03455155087300551 Centerline is valid? [True, True] Translation: X:634.46, Y:7.21, Z:4.39 [[ 9.97135268e-01 -7.55849512e-02 -2.85859353e-03 6.34464618e+02] [ 7.55850524e-02 9.97139356e-01 -7.27783529e-05 7.20739049e+00] [ 2.85591706e-03 -1.43497079e-04 9.99995912e-01 4.39024534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2392541539999 meters 0.03423923590954239 Centerline is valid? [True, True] Translation: X:634.50, Y:7.21, Z:4.39 [[ 9.97216853e-01 -7.45148561e-02 -2.46672229e-03 6.34496536e+02] [ 7.45149281e-02 9.97219896e-01 -6.27979763e-05 7.21005628e+00] [ 2.46454393e-03 -1.21184434e-04 9.99996956e-01 4.39092993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2692541539999 meters 0.032742840366990024 Centerline is valid? [True, True] Translation: X:634.53, Y:7.22, Z:4.39 [[ 9.97474920e-01 -7.10061995e-02 -1.37948598e-03 6.34526130e+02] [ 7.10062190e-02 9.97475872e-01 -3.48679263e-05 7.21706708e+00] [ 1.37847982e-03 -6.31722014e-05 9.99999048e-01 4.39298372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2992541539999 meters 0.031631010646474556 Centerline is valid? [True, True] Translation: X:634.56, Y:7.22, Z:4.39 [[ 9.97673107e-01 -6.81766596e-02 -5.60635127e-04 6.34557170e+02] [ 6.81766622e-02 9.97673264e-01 -1.43746267e-05 7.22145824e+00] [ 5.60310691e-04 -2.38810532e-05 9.99999843e-01 4.39426341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.329254154 meters 0.029952133301056217 Centerline is valid? [True, True] Translation: X:634.59, Y:7.23, Z:4.40 [[ 9.97906705e-01 -6.46697405e-02 -1.83331632e-04 6.34588893e+02] [ 6.46697407e-02 9.97906721e-01 -4.94864252e-06 7.22670407e+00] [ 1.83267895e-04 -6.91772552e-06 9.99999983e-01 4.39501613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3592541539999 meters 0.027875626160428598 Centerline is valid? [True, True] Translation: X:634.62, Y:7.23, Z:4.40 [[ 9.98142317e-01 -6.09254459e-02 -7.16089412e-05 6.34620757e+02] [ 6.09254459e-02 9.98142320e-01 -2.12963955e-06 7.23227490e+00] [ 7.16056639e-05 -2.23712332e-06 9.99999997e-01 4.39527057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3892541539999 meters 0.024044266425155537 Centerline is valid? [True, True] Translation: X:634.65, Y:7.24, Z:4.40 [[ 9.98593391e-01 -5.30194730e-02 4.18446636e-04 6.34649976e+02] [ 5.30194732e-02 9.98593479e-01 1.06258258e-05 7.24220131e+00] [-4.18421458e-04 1.15749408e-05 9.99999912e-01 4.39515409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4192541539999 meters 0.020197241628608423 Centerline is valid? [True, True] Translation: X:634.68, Y:7.25, Z:4.40 [[ 9.98976876e-01 -4.52006113e-02 1.45130594e-03 6.34679960e+02] [ 4.52006059e-02 9.98977930e-01 3.65190797e-05 7.25299572e+00] [-1.45147329e-03 2.91181918e-05 9.99998946e-01 4.39680944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.449254154 meters 0.01970595286637994 Centerline is valid? [True, True] Translation: X:634.71, Y:7.26, Z:4.40 [[ 9.99156155e-01 -4.10475724e-02 1.44025077e-03 6.34710851e+02] [ 4.10475632e-02 9.99157193e-01 3.59841235e-05 7.25845537e+00] [-1.44051398e-03 2.31650261e-05 9.99998962e-01 4.39560066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4792541539999 meters 0.01742130545183993 Centerline is valid? [True, True] Translation: X:634.74, Y:7.26, Z:4.40 [[ 9.99258318e-01 -3.84683522e-02 1.73173418e-03 6.34743051e+02] [ 3.84683354e-02 9.99259819e-01 4.29954015e-05 7.26301164e+00] [-1.73210635e-03 2.36534188e-05 9.99998500e-01 4.39745479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5092541539999 meters 0.015856683773772026 Centerline is valid? [True, True] Translation: X:634.77, Y:7.27, Z:4.40 [[ 9.99421914e-01 -3.39883928e-02 7.91563696e-04 6.34774441e+02] [ 3.39883880e-02 9.99422228e-01 1.94953105e-05 7.26897039e+00] [-7.91768967e-04 7.41993351e-06 9.99999687e-01 4.39638362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5392541539999 meters 0.015447491813038998 Centerline is valid? [True, True] Translation: X:634.81, Y:7.27, Z:4.40 [[ 9.99465634e-01 -3.26871011e-02 1.04931603e-05 6.34806947e+02] [ 3.26871012e-02 9.99465634e-01 -1.52639290e-07 7.27117687e+00] [-1.04825638e-05 4.95548720e-07 1.00000000e+00 4.39512495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.569254154 meters 0.015176278489338623 Centerline is valid? [True, True] Translation: X:634.84, Y:7.27, Z:4.39 [[ 9.99500994e-01 -3.15843111e-02 -4.39835843e-04 6.34839280e+02] [ 3.15843092e-02 9.99501091e-01 -1.13666408e-05 7.27281012e+00] [ 4.39975412e-04 -2.53094249e-06 9.99999903e-01 4.39435684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5992541539999 meters 0.014227156432479448 Centerline is valid? [True, True] Translation: X:634.87, Y:7.28, Z:4.39 [[ 9.99517095e-01 -3.09965526e-02 -2.18871807e-03 6.34871772e+02] [ 3.09965068e-02 9.99519491e-01 -5.48661684e-05 7.27666438e+00] [ 2.18936703e-03 -1.30029411e-05 9.99997603e-01 4.38918343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6292541539999 meters 0.015011666670690215 Centerline is valid? [True, True] Translation: X:634.90, Y:7.27, Z:4.39 [[ 9.99511639e-01 -3.10921116e-02 -3.12460046e-03 6.34904088e+02] [ 3.10920199e-02 9.99516523e-01 -7.79432256e-05 7.27390520e+00] [ 3.12551321e-03 -1.92449785e-05 9.99995115e-01 4.39030237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6592541539999 meters 0.015220714264985188 Centerline is valid? [True, True] Translation: X:634.94, Y:7.28, Z:4.39 [[ 9.99499337e-01 -3.13592277e-02 -4.20413710e-03 6.34937527e+02] [ 3.13590663e-02 9.99508178e-01 -1.04312055e-04 7.27720435e+00] [ 4.20534056e-03 -2.75779840e-05 9.99991157e-01 4.38693719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.689254154 meters 0.01585350109616983 Centerline is valid? [True, True] Translation: X:634.97, Y:7.27, Z:4.39 [[ 9.99430952e-01 -3.34590518e-02 -4.27371713e-03 6.34968792e+02] [ 3.34589069e-02 9.99440088e-01 -1.05400718e-04 7.27218509e+00] [ 4.27485083e-03 -3.76531640e-05 9.99990862e-01 4.38927053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7192541539999 meters 0.01585350109616983 Centerline is valid? [True, True] Translation: X:635.00, Y:7.27, Z:4.39 [[ 9.99433839e-01 -3.33726872e-02 -4.27372088e-03 6.35001322e+02] [ 3.33725422e-02 9.99442976e-01 -1.05248457e-04 7.27286611e+00] [ 4.27485274e-03 -3.74360606e-05 9.99990862e-01 4.38949586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7492541539999 meters 0.01469972364102158 Centerline is valid? [True, True] Translation: X:635.03, Y:7.28, Z:4.39 [[ 9.99388708e-01 -3.47177292e-02 -4.10974809e-03 6.35033595e+02] [ 3.47176080e-02 9.99397157e-01 -1.00840488e-04 7.27668535e+00] [ 4.11077151e-03 -4.19017777e-05 9.99991550e-01 4.38870528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7792541539999 meters 0.016045922701553732 Centerline is valid? [True, True] Translation: X:635.06, Y:7.27, Z:4.39 [[ 9.99300486e-01 -3.72564839e-02 -3.23920424e-03 6.35064777e+02] [ 3.72564226e-02 9.99305735e-01 -7.92815347e-05 7.27367074e+00] [ 3.23990913e-03 -4.14550859e-05 9.99994751e-01 4.38916856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8092541539999 meters 0.015670137652820732 Centerline is valid? [True, True] Translation: X:635.10, Y:7.27, Z:4.39 [[ 9.99220613e-01 -3.94138883e-02 -2.17057458e-03 6.35096739e+02] [ 3.94138656e-02 9.99222970e-01 -5.32128554e-05 7.27245267e+00] [ 2.17098531e-03 -3.23793530e-05 9.99997643e-01 4.39086216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.839254154 meters 0.015871230294721202 Centerline is valid? [True, True] Translation: X:635.13, Y:7.27, Z:4.39 [[ 9.99158514e-01 -4.09906103e-02 -1.42589443e-03 6.35128897e+02] [ 4.09906021e-02 9.99159531e-01 -3.50330781e-05 7.27162389e+00] [ 1.42613204e-03 -2.34446728e-05 9.99998983e-01 4.39113836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8692541539999 meters 0.01725807310762837 Centerline is valid? [True, True] Translation: X:635.16, Y:7.27, Z:4.39 [[ 9.99019251e-01 -4.42776570e-02 -1.58965449e-04 6.35160278e+02] [ 4.42776568e-02 9.99019264e-01 -4.71885981e-06 7.26637950e+00] [ 1.59018486e-04 -2.32438579e-06 9.99999987e-01 4.39201237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8992541539999 meters 0.016537300744672787 Centerline is valid? [True, True] Translation: X:635.19, Y:7.27, Z:4.39 [[ 9.98946896e-01 -4.58792189e-02 4.42880868e-04 6.35192175e+02] [ 4.58792189e-02 9.98946994e-01 1.01190436e-05 7.26679717e+00] [-4.42878766e-04 1.02106411e-05 9.99999902e-01 4.39186568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9292541539999 meters 0.017783620012681804 Centerline is valid? [True, True] Translation: X:635.22, Y:7.26, Z:4.39 [[ 9.98874875e-01 -4.74146075e-02 9.16233851e-04 6.35223613e+02] [ 4.74146077e-02 9.98875295e-01 2.15654909e-05 7.26385126e+00] [-9.16225877e-04 2.19016416e-05 9.99999580e-01 4.39269150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.959254154 meters 0.018124410858900136 Centerline is valid? [True, True] Translation: X:635.26, Y:7.26, Z:4.39 [[ 9.98756012e-01 -4.98577232e-02 7.97823050e-04 6.35255386e+02] [ 4.98577252e-02 9.98756330e-01 1.72905514e-05 7.26107700e+00] [-7.97692889e-04 2.25086003e-05 9.99999682e-01 4.39180863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9892541539999 meters 0.019790274937787296 Centerline is valid? [True, True] Translation: X:635.29, Y:7.26, Z:4.39 [[ 9.98726780e-01 -5.04383300e-02 -8.90819073e-04 6.35287287e+02] [ 5.04383308e-02 9.98727177e-01 -2.15729571e-05 7.25964666e+00] [ 8.90773322e-04 -2.33859370e-05 9.99999603e-01 4.38910105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0192541539999 meters 0.020819253804586508 Centerline is valid? [True, True] Translation: X:635.32, Y:7.25, Z:4.39 [[ 9.98610479e-01 -5.26757737e-02 -1.54110935e-03 6.35318169e+02] [ 5.26757798e-02 9.98611667e-01 -3.66396159e-05 7.25262805e+00] [ 1.54089980e-03 -4.45904326e-05 9.99998812e-01 4.39007359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0492541539999 meters 0.018272495381234183 Centerline is valid? [True, True] Translation: X:635.35, Y:7.26, Z:4.39 [[ 9.98613958e-01 -5.25843622e-02 -2.24675154e-03 6.35350827e+02] [ 5.25843747e-02 9.98616483e-01 -5.35698206e-05 7.25660966e+00] [ 2.24646006e-03 -6.46484542e-05 9.99997475e-01 4.38897036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.079254154 meters 0.018577918002663844 Centerline is valid? [True, True] Translation: X:635.38, Y:7.26, Z:4.39 [[ 9.98735459e-01 -5.01899206e-02 -2.90783913e-03 6.35382251e+02] [ 5.01899315e-02 9.98739689e-01 -6.92891296e-05 7.25543479e+00] [ 2.90765196e-03 -7.67427361e-05 9.99995770e-01 4.38885032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1092541539999 meters 0.020036819625246314 Centerline is valid? [True, True] Translation: X:635.41, Y:7.26, Z:4.39 [[ 9.98879250e-01 -4.71296319e-02 -4.36375708e-03 6.35414345e+02] [ 4.71296371e-02 9.98888776e-01 -1.01685484e-04 7.25674812e+00] [ 4.36370037e-03 -1.04090767e-04 9.99990474e-01 4.38662134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1392541539999 meters 0.0163440736103134 Centerline is valid? [True, True] Translation: X:635.44, Y:7.26, Z:4.39 [[ 9.99159056e-01 -4.08354322e-02 -3.69435633e-03 6.35444568e+02] [ 4.08353942e-02 9.99165884e-01 -8.57290059e-05 7.26095619e+00] [ 3.69477559e-03 -6.52035846e-05 9.99993172e-01 4.38811893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1692541539999 meters 0.015549876122214285 Centerline is valid? [True, True] Translation: X:635.48, Y:7.26, Z:4.39 [[ 9.99321652e-01 -3.66163698e-02 -3.93411183e-03 6.35476317e+02] [ 3.66162938e-02 9.99329394e-01 -9.13701355e-05 7.26397982e+00] [ 3.93481924e-03 -5.27444399e-05 9.99992257e-01 4.38805363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.199254154 meters 0.01523616055865407 Centerline is valid? [True, True] Translation: X:635.51, Y:7.27, Z:4.39 [[ 9.99619716e-01 -2.73006058e-02 -3.88601199e-03 6.35506925e+02] [ 2.73004626e-02 9.99627269e-01 -8.98807629e-05 7.27035724e+00] [ 3.88701735e-03 -1.62433424e-05 9.99992445e-01 4.38726137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2292541539999 meters 0.014154435141236668 Centerline is valid? [True, True] Translation: X:635.54, Y:7.27, Z:4.39 [[ 9.99725945e-01 -2.32160016e-02 -3.00868891e-03 6.35539212e+02] [ 2.32158970e-02 9.99730472e-01 -6.96715483e-05 7.27361854e+00] [ 3.00949548e-03 -1.96957574e-07 9.99995471e-01 4.38825308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2592541539999 meters 0.014276559998676282 Centerline is valid? [True, True] Translation: X:635.57, Y:7.28, Z:4.39 [[ 9.99802467e-01 -1.97050423e-02 -2.59582520e-03 6.35571302e+02] [ 1.97049529e-02 9.99805837e-01 -5.99968148e-05 7.27646940e+00] [ 2.59650342e-03 8.83435013e-06 9.99996629e-01 4.38849937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2892541539999 meters 0.014206966526487083 Centerline is valid? [True, True] Translation: X:635.60, Y:7.28, Z:4.39 [[ 9.99880856e-01 -1.51985152e-02 -2.69803970e-03 6.35603554e+02] [ 1.51984027e-02 9.99884496e-01 -6.21755559e-05 7.27791367e+00] [ 2.69867304e-03 2.11622540e-05 9.99996358e-01 4.38806176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.319254154 meters 0.014886832873428638 Centerline is valid? [True, True] Translation: X:635.64, Y:7.28, Z:4.39 [[ 9.99895535e-01 -1.41595947e-02 -2.90259449e-03 6.35636060e+02] [ 1.41594609e-02 9.99899748e-01 -6.66410343e-05 7.27798216e+00] [ 2.90324710e-03 2.55348993e-05 9.99995785e-01 4.38727267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3492541539999 meters 0.014331481801042087 Centerline is valid? [True, True] Translation: X:635.67, Y:7.28, Z:4.39 [[ 9.99893916e-01 -1.43549986e-02 -2.46778303e-03 6.35668471e+02] [ 1.43549028e-02 9.99896961e-01 -5.65540243e-05 7.27709962e+00] [ 2.46834059e-03 2.11232393e-05 9.99996953e-01 4.38762074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3792541539999 meters 0.014145003277704567 Centerline is valid? [True, True] Translation: X:635.70, Y:7.27, Z:4.39 [[ 9.99862166e-01 -1.62629845e-02 -3.34123250e-03 6.35700037e+02] [ 1.62628211e-02 9.99867749e-01 -7.60765151e-05 7.27345041e+00] [ 3.34202785e-03 2.17281629e-05 9.99994415e-01 4.38667570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4092541539999 meters 0.01392041609208366 Centerline is valid? [True, True] Translation: X:635.73, Y:7.27, Z:4.39 [[ 9.99838066e-01 -1.76108322e-02 -3.70130966e-03 6.35732048e+02] [ 1.76106416e-02 9.99844917e-01 -8.40918078e-05 7.27108232e+00] [ 3.70221657e-03 1.88957529e-05 9.99993147e-01 4.38605369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.439254154 meters 0.013844784115600597 Centerline is valid? [True, True] Translation: X:635.76, Y:7.27, Z:4.39 [[ 9.99764508e-01 -2.13417009e-02 -3.93188593e-03 6.35762926e+02] [ 2.13415161e-02 9.99772240e-01 -8.89531958e-05 7.26630027e+00] [ 3.93288881e-03 5.01984122e-06 9.99992266e-01 4.38585475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4692541539999 meters 0.013959975870061597 Centerline is valid? [True, True] Translation: X:635.80, Y:7.26, Z:4.39 [[ 9.99720290e-01 -2.33251655e-02 -3.90875861e-03 6.35795201e+02] [ 2.33249986e-02 9.99727931e-01 -8.82711805e-05 7.26404398e+00] [ 3.90975410e-03 -2.92529914e-06 9.99992357e-01 4.38579166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4992541539999 meters 0.014004364778555994 Centerline is valid? [True, True] Translation: X:635.83, Y:7.26, Z:4.39 [[ 9.99677178e-01 -2.51540056e-02 -3.57992765e-03 6.35826032e+02] [ 2.51538776e-02 9.99683588e-01 -8.07896844e-05 7.26154767e+00] [ 3.58082711e-03 -9.28545834e-06 9.99993589e-01 4.38607412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5292541539999 meters 0.015741999719264068 Centerline is valid? [True, True] Translation: X:635.86, Y:7.26, Z:4.38 [[ 9.99638634e-01 -2.65373007e-02 -4.28639361e-03 6.35858416e+02] [ 2.65371333e-02 9.99647824e-01 -9.59178940e-05 7.25878361e+00] [ 4.28742945e-03 -1.78653663e-05 9.99990809e-01 4.38474805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5592541539999 meters 0.014403806778223942 Centerline is valid? [True, True] Translation: X:635.89, Y:7.25, Z:4.39 [[ 9.99515355e-01 -3.09937452e-02 -2.90564755e-03 6.35890610e+02] [ 3.09936873e-02 9.99519578e-01 -6.49801089e-05 7.25338280e+00] [ 2.90626559e-03 -2.51081149e-05 9.99995776e-01 4.38627584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.589254154 meters 0.014833246445480954 Centerline is valid? [True, True] Translation: X:635.92, Y:7.25, Z:4.39 [[ 9.99450625e-01 -3.30128196e-02 -2.93286800e-03 6.35922155e+02] [ 3.30127701e-02 9.99454928e-01 -6.53003744e-05 7.25075181e+00] [ 2.93342512e-03 -3.15575970e-05 9.99995697e-01 4.38657611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6192541539999 meters 0.015573678667395716 Centerline is valid? [True, True] Translation: X:635.95, Y:7.25, Z:4.39 [[ 9.99323152e-01 -3.67070222e-02 -2.41517607e-03 6.35953968e+02] [ 3.67069996e-02 9.99326070e-01 -5.37084449e-05 7.24535121e+00] [ 2.41551988e-03 -3.49817743e-05 9.99997082e-01 4.38672406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6492541539999 meters 0.015561408141433555 Centerline is valid? [True, True] Translation: X:635.99, Y:7.24, Z:4.39 [[ 9.99264092e-01 -3.82970771e-02 -2.14685306e-03 6.35986140e+02] [ 3.82970629e-02 9.99266397e-01 -4.77633595e-05 7.24400562e+00] [ 2.14710732e-03 -3.44899566e-05 9.99997694e-01 4.38663133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6792541539999 meters 0.016296285562955877 Centerline is valid? [True, True] Translation: X:636.02, Y:7.24, Z:4.39 [[ 9.99132224e-01 -4.16262422e-02 -1.43371607e-03 6.36018419e+02] [ 4.16262392e-02 9.99133252e-01 -3.19602646e-05 7.23922167e+00] [ 1.43380378e-03 -2.77476777e-05 9.99998972e-01 4.38672375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.709254154 meters 0.0166076031572541 Centerline is valid? [True, True] Translation: X:636.05, Y:7.24, Z:4.39 [[ 9.99073163e-01 -4.30196289e-02 -1.45854160e-03 6.36051065e+02] [ 4.30196275e-02 9.99074227e-01 -3.24016743e-05 7.23778291e+00] [ 1.45858523e-03 -3.03742731e-05 9.99998936e-01 4.38671920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7392541539999 meters 0.016842475866475286 Centerline is valid? [True, True] Translation: X:636.08, Y:7.24, Z:4.39 [[ 9.99030459e-01 -4.39960495e-02 -1.57756219e-03 6.36083239e+02] [ 4.39960493e-02 9.99031704e-01 -3.48873305e-05 7.23627062e+00] [ 1.57756954e-03 -3.45529978e-05 9.99998755e-01 4.38655039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7692541539999 meters 0.01958747927238252 Centerline is valid? [True, True] Translation: X:636.11, Y:7.23, Z:4.38 [[ 9.98993845e-01 -4.47716080e-02 -2.60775692e-03 6.36114096e+02] [ 4.47716105e-02 9.98997247e-01 -5.74342339e-05 7.23221271e+00] [ 2.60771341e-03 -5.93770310e-05 9.99996598e-01 4.38466169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7992541539999 meters 0.017345354669573168 Centerline is valid? [True, True] Translation: X:636.15, Y:7.23, Z:4.39 [[ 9.98956702e-01 -4.56261328e-02 -1.93998336e-03 6.36145874e+02] [ 4.56261365e-02 9.98958585e-01 -4.23728278e-05 7.23278146e+00] [ 1.93989634e-03 -4.61853255e-05 9.99998117e-01 4.38564639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.829254154 meters 0.01777404838446342 Centerline is valid? [True, True] Translation: X:636.18, Y:7.23, Z:4.39 [[ 9.98937479e-01 -4.60228044e-02 -2.41134394e-03 6.36177417e+02] [ 4.60228122e-02 9.98940388e-01 -5.22845147e-05 7.23167334e+00] [ 2.41119513e-03 -5.87478681e-05 9.99997091e-01 4.38543737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8592541539999 meters 0.018607615421963968 Centerline is valid? [True, True] Translation: X:636.21, Y:7.23, Z:4.38 [[ 9.98905024e-01 -4.66061330e-02 -4.07704003e-03 6.36209943e+02] [ 4.66061619e-02 9.98913339e-01 -8.79687114e-05 7.23015449e+00] [ 4.07670955e-03 -1.02142800e-04 9.99991685e-01 4.38318614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8892541539999 meters 0.017613438832014865 Centerline is valid? [True, True] Translation: X:636.24, Y:7.23, Z:4.38 [[ 9.98888072e-01 -4.69588498e-02 -4.18158943e-03 6.36242406e+02] [ 4.69588846e-02 9.98896819e-01 -8.99120501e-05 7.23044087e+00] [ 4.18119855e-03 -1.06550701e-04 9.99991253e-01 4.38334818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9192541539999 meters 0.017492418164611136 Centerline is valid? [True, True] Translation: X:636.28, Y:7.23, Z:4.38 [[ 9.98887505e-01 -4.69173872e-02 -4.74449237e-03 6.36275820e+02] [ 4.69174332e-02 9.98898766e-01 -1.01680043e-04 7.22922043e+00] [ 4.74403814e-03 -1.21032479e-04 9.99988740e-01 4.38273743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.949254154 meters 0.01817212057352983 Centerline is valid? [True, True] Translation: X:636.31, Y:7.23, Z:4.38 [[ 9.98901771e-01 -4.65581698e-02 -5.25256912e-03 6.36306557e+02] [ 4.65582251e-02 9.98915572e-01 -1.11811184e-04 7.22866557e+00] [ 5.25207881e-03 -1.32861906e-04 9.99986199e-01 4.38214186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9792541539999 meters 0.017057535576996057 Centerline is valid? [True, True] Translation: X:636.34, Y:7.23, Z:4.38 [[ 9.98918392e-01 -4.62774591e-02 -4.52129935e-03 6.36340003e+02] [ 4.62774975e-02 9.98928618e-01 -9.61897601e-05 7.23001777e+00] [ 4.52090673e-03 -1.13148699e-04 9.99989774e-01 4.38243617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0092541539999 meters 0.017507214195333864 Centerline is valid? [True, True] Translation: X:636.37, Y:7.23, Z:4.38 [[ 9.98935532e-01 -4.58897872e-02 -4.68304508e-03 6.36370846e+02] [ 4.58898273e-02 9.98946502e-01 -9.89459902e-05 7.22879679e+00] [ 4.68265211e-03 -1.16063465e-04 9.99989030e-01 4.38257197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0392541539999 meters 0.017035316754006203 Centerline is valid? [True, True] Translation: X:636.40, Y:7.23, Z:4.38 [[ 9.98997418e-01 -4.45577055e-02 -4.33237004e-03 6.36403074e+02] [ 4.45577280e-02 9.99006807e-01 -9.13679563e-05 7.23011655e+00] [ 4.33213830e-03 -1.01764213e-04 9.99990611e-01 4.38254845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.069254154 meters 0.01657273041582043 Centerline is valid? [True, True] Translation: X:636.44, Y:7.23, Z:4.38 [[ 9.99042610e-01 -4.35194547e-02 -4.46318346e-03 6.36435529e+02] [ 4.35194697e-02 9.99052575e-01 -9.37877303e-05 7.23146865e+00] [ 4.46303652e-03 -1.00537439e-04 9.99990036e-01 4.38251872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0992541539999 meters 0.016353384630015448 Centerline is valid? [True, True] Translation: X:636.47, Y:7.23, Z:4.38 [[ 9.99098519e-01 -4.21996754e-02 -4.61909253e-03 6.36467634e+02] [ 4.21996791e-02 9.99109192e-01 -9.67059496e-05 7.23188773e+00] [ 4.61905877e-03 -9.83054514e-05 9.99989327e-01 4.38181838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1292541539999 meters 0.015901139137973908 Centerline is valid? [True, True] Translation: X:636.50, Y:7.23, Z:4.38 [[ 9.99112114e-01 -4.18654123e-02 -4.71916528e-03 6.36499732e+02] [ 4.18654141e-02 9.99123254e-01 -9.84483058e-05 7.23249960e+00] [ 4.71914936e-03 -9.92089140e-05 9.99988860e-01 4.38149214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1592541539999 meters 0.01577333133833833 Centerline is valid? [True, True] Translation: X:636.53, Y:7.23, Z:4.38 [[ 9.99110799e-01 -4.19163392e-02 -4.54231284e-03 6.36532474e+02] [ 4.19163424e-02 9.99121119e-01 -9.45328621e-05 7.23275949e+00] [ 4.54228316e-03 -9.59483367e-05 9.99989679e-01 4.38118876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.189254154 meters 0.016272833618304696 Centerline is valid? [True, True] Translation: X:636.56, Y:7.23, Z:4.38 [[ 9.99050399e-01 -4.33755426e-02 -4.10634925e-03 6.36563409e+02] [ 4.33755589e-02 9.99058834e-01 -8.51363565e-05 7.23103350e+00] [ 4.10617733e-03 -9.30596828e-05 9.99991565e-01 4.38108794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2192541539999 meters 0.017165826579093508 Centerline is valid? [True, True] Translation: X:636.60, Y:7.23, Z:4.38 [[ 9.98921363e-01 -4.63033384e-02 -3.48007401e-03 6.36595848e+02] [ 4.63033698e-02 9.98927421e-01 -7.16108839e-05 7.22896247e+00] [ 3.47965718e-03 -8.96055120e-05 9.99993942e-01 4.38084044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2492541539999 meters 0.01842880290533364 Centerline is valid? [True, True] Translation: X:636.63, Y:7.23, Z:4.38 [[ 9.98845328e-01 -4.78978832e-02 -3.71523238e-03 6.36628149e+02] [ 4.78979310e-02 9.98852233e-01 -7.61399040e-05 7.22763221e+00] [ 3.71461510e-03 -1.01899957e-04 9.99993096e-01 4.38060349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2792541539999 meters 0.018540273753384833 Centerline is valid? [True, True] Translation: X:636.66, Y:7.23, Z:4.38 [[ 9.98743015e-01 -5.00121274e-02 -3.34333154e-03 6.36659175e+02] [ 5.00121789e-02 9.98748606e-01 -6.82575752e-05 7.22590411e+00] [ 3.34256142e-03 -9.90355186e-05 9.99994409e-01 4.38122977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3092541539999 meters 0.01997529074495288 Centerline is valid? [True, True] Translation: X:636.69, Y:7.22, Z:4.38 [[ 9.98619929e-01 -5.24159604e-02 -3.28705646e-03 6.36690308e+02] [ 5.24160237e-02 9.98625333e-01 -6.69341345e-05 7.22357136e+00] [ 3.28604627e-03 -1.05452668e-04 9.99994595e-01 4.38094998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.339254154 meters 0.02225140694191894 Centerline is valid? [True, True] Translation: X:636.72, Y:7.22, Z:4.38 [[ 9.98352135e-01 -5.72953236e-02 -3.20316825e-03 6.36720351e+02] [ 5.72954099e-02 9.98357267e-01 -6.48612424e-05 7.21925360e+00] [ 3.20162254e-03 -1.18772478e-04 9.99994868e-01 4.38086327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3692541539999 meters 0.024641709940079536 Centerline is valid? [True, True] Translation: X:636.75, Y:7.22, Z:4.38 [[ 9.98095871e-01 -6.15662537e-02 -3.77207913e-03 6.36751977e+02] [ 6.15664035e-02 9.98102987e-01 -7.64927539e-05 7.21614197e+00] [ 3.76963282e-03 -1.55886244e-04 9.99992883e-01 4.38012645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3992541539999 meters 0.024641709940079536 Centerline is valid? [True, True] Translation: X:636.78, Y:7.22, Z:4.38 [[ 9.98102440e-01 -6.14596730e-02 -3.77207728e-03 6.36784533e+02] [ 6.14598217e-02 9.98109555e-01 -7.65848733e-05 7.21670520e+00] [ 3.76965326e-03 -1.55391649e-04 9.99992883e-01 4.38035201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4292541539999 meters 0.027273024637972283 Centerline is valid? [True, True] Translation: X:636.81, Y:7.21, Z:4.38 [[ 9.97877485e-01 -6.50045097e-02 -3.86499766e-03 6.36814644e+02] [ 6.50046953e-02 9.97884955e-01 -7.77131236e-05 7.21327483e+00] [ 3.86187472e-03 -1.73694819e-04 9.99992528e-01 4.38160592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.459254154 meters 0.023111111676888264 Centerline is valid? [True, True] Translation: X:636.85, Y:7.22, Z:4.38 [[ 9.97828024e-01 -6.57255738e-02 -4.40266019e-03 6.36846506e+02] [ 6.57258208e-02 9.97837717e-01 -8.87122879e-05 7.22058131e+00] [ 4.39897106e-03 -2.00848848e-04 9.99990304e-01 4.38117701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4892541539999 meters 0.028371843642799172 Centerline is valid? [True, True] Translation: X:636.88, Y:7.21, Z:4.38 [[ 9.97796845e-01 -6.62125423e-02 -4.16587569e-03 6.36877765e+02] [ 6.62127691e-02 9.97805523e-01 -8.36055351e-05 7.21456966e+00] [ 4.16226951e-03 -1.92412826e-04 9.99991319e-01 4.38192381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5192541539999 meters 0.027954121320529234 Centerline is valid? [True, True] Translation: X:636.91, Y:7.22, Z:4.38 [[ 9.97835970e-01 -6.56316247e-02 -3.98331395e-03 6.36909911e+02] [ 6.56318281e-02 9.97843904e-01 -7.97757723e-05 7.21639115e+00] [ 3.97996135e-03 -1.81829041e-04 9.99992063e-01 4.38247910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5492541539999 meters 0.02275171323385667 Centerline is valid? [True, True] Translation: X:636.94, Y:7.23, Z:4.38 [[ 9.97869591e-01 -6.51483936e-02 -3.45912424e-03 6.36941884e+02] [ 6.51485446e-02 9.97875575e-01 -6.91244619e-05 7.22562393e+00] [ 3.45627894e-03 -1.56379711e-04 9.99994015e-01 4.38240951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.579254154 meters 0.023330532108905285 Centerline is valid? [True, True] Translation: X:636.97, Y:7.23, Z:4.38 [[ 9.97914165e-01 -6.44691115e-02 -3.32453277e-03 6.36973512e+02] [ 6.44692480e-02 9.97919692e-01 -6.62030825e-05 7.22645184e+00] [ 3.32188477e-03 -1.48265134e-04 9.99994472e-01 4.38239687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6092541539999 meters 0.024792464600805482 Centerline is valid? [True, True] Translation: X:637.00, Y:7.23, Z:4.38 [[ 9.98064072e-01 -6.20065919e-02 -4.82614997e-03 6.37003649e+02] [ 6.20068542e-02 9.98075719e-01 -9.53962364e-05 7.22832409e+00] [ 4.82277830e-03 -2.04042821e-04 9.99988350e-01 4.38101906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6392541539999 meters 0.024792464600805482 Centerline is valid? [True, True] Translation: X:637.04, Y:7.23, Z:4.38 [[ 9.98070841e-01 -6.18975396e-02 -4.82614799e-03 6.37036207e+02] [ 6.18978001e-02 9.98082488e-01 -9.54971839e-05 7.22887529e+00] [ 4.82280483e-03 -2.03414989e-04 9.99988350e-01 4.38124467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6692541539999 meters 0.022168511600937243 Centerline is valid? [True, True] Translation: X:637.07, Y:7.23, Z:4.38 [[ 9.98087806e-01 -6.16557993e-02 -4.39237978e-03 6.37068626e+02] [ 6.16560150e-02 9.98097454e-01 -8.64133894e-05 7.23334986e+00] [ 4.38935096e-03 -1.84568483e-04 9.99990350e-01 4.38228996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.699254154 meters 0.02867802580711539 Centerline is valid? [True, True] Translation: X:637.10, Y:7.23, Z:4.38 [[ 9.98147714e-01 -6.06006762e-02 -5.35711532e-03 6.37100374e+02] [ 6.06009841e-02 9.98162066e-01 -1.04996766e-04 7.22710952e+00] [ 5.35363217e-03 -2.19844178e-04 9.99985645e-01 4.38168623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7292541539999 meters 0.02217878600643129 Centerline is valid? [True, True] Translation: X:637.13, Y:7.24, Z:4.38 [[ 9.98236882e-01 -5.90689597e-02 -5.82966921e-03 6.37132843e+02] [ 5.90693040e-02 9.98253878e-01 -1.13246272e-04 7.23956093e+00] [ 5.82617924e-03 -2.31307897e-04 9.99983001e-01 4.38097539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7592541539999 meters 0.021435755135100792 Centerline is valid? [True, True] Translation: X:637.17, Y:7.24, Z:4.38 [[ 9.98272129e-01 -5.85042839e-02 -5.47779055e-03 6.37165478e+02] [ 5.85045820e-02 9.98287134e-01 -1.05940569e-04 7.24135839e+00] [ 5.47460581e-03 -2.14718329e-04 9.99984991e-01 4.38203723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7892541539999 meters 0.021428636705118256 Centerline is valid? [True, True] Translation: X:637.20, Y:7.24, Z:4.38 [[ 9.98302148e-01 -5.79894087e-02 -5.48174044e-03 6.37197168e+02] [ 5.79897024e-02 9.98317176e-01 -1.05485640e-04 7.24426749e+00] [ 5.47863268e-03 -2.12577956e-04 9.99984970e-01 4.38251328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.819254154 meters 0.020470316124707726 Centerline is valid? [True, True] Translation: X:637.23, Y:7.25, Z:4.38 [[ 9.98346601e-01 -5.71454581e-02 -6.20173218e-03 6.37229555e+02] [ 5.71458210e-02 9.98365835e-01 -1.18814710e-04 7.24967764e+00] [ 6.19838725e-03 -2.35784815e-04 9.99980762e-01 4.38276406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8492541539999 meters 0.020546393521012882 Centerline is valid? [True, True] Translation: X:637.26, Y:7.25, Z:4.38 [[ 9.98353736e-01 -5.69726934e-02 -6.62804624e-03 6.37262627e+02] [ 5.69731076e-02 9.98375705e-01 -1.26458931e-04 7.25146197e+00] [ 6.62448504e-03 -2.51369645e-04 9.99978026e-01 4.38310709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8792541539999 meters 0.020256067560269625 Centerline is valid? [True, True] Translation: X:637.30, Y:7.25, Z:4.38 [[ 9.98388261e-01 -5.63112155e-02 -7.06598849e-03 6.37295039e+02] [ 5.63116756e-02 9.98413230e-01 -1.33973488e-04 7.25483602e+00] [ 7.06232059e-03 -2.64140094e-04 9.99975027e-01 4.38244216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9092541539999 meters 0.020368307823729784 Centerline is valid? [True, True] Translation: X:637.33, Y:7.26, Z:4.38 [[ 9.98411235e-01 -5.59319041e-02 -6.82841778e-03 6.37327588e+02] [ 5.59323283e-02 9.98434554e-01 -1.28975253e-04 7.25632296e+00] [ 6.82494209e-03 -2.53158964e-04 9.99976678e-01 4.38212829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.939254154 meters 0.01994066531694291 Centerline is valid? [True, True] Translation: X:637.36, Y:7.26, Z:4.38 [[ 9.98452736e-01 -5.51948648e-02 -6.75723624e-03 6.37360140e+02] [ 5.51952667e-02 9.98475571e-01 -1.27132225e-04 7.25851121e+00] [ 6.75395236e-03 -2.46031938e-04 9.99977162e-01 4.38269261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9692541539999 meters 0.020220980414841785 Centerline is valid? [True, True] Translation: X:637.39, Y:7.26, Z:4.38 [[ 9.98507792e-01 -5.42067361e-02 -6.61957330e-03 6.37391321e+02] [ 5.42071034e-02 9.98529706e-01 -1.24050153e-04 7.25965514e+00] [ 6.61656494e-03 -2.34962850e-04 9.99978083e-01 4.38347369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9992541539999 meters 0.019874682191826108 Centerline is valid? [True, True] Translation: X:637.42, Y:7.26, Z:4.38 [[ 9.98657942e-01 -5.12952593e-02 -7.14920376e-03 6.37421798e+02] [ 5.12956163e-02 9.98683504e-01 -1.33533282e-04 7.26405902e+00] [ 7.14664149e-03 -2.33368741e-04 9.99974435e-01 4.38386289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0292541539999 meters 0.01902464361569221 Centerline is valid? [True, True] Translation: X:637.45, Y:7.27, Z:4.38 [[ 9.98764438e-01 -4.90379682e-02 -8.05449277e-03 6.37454202e+02] [ 4.90383556e-02 9.98796885e-01 -1.49515147e-04 7.26882156e+00] [ 8.05213421e-03 -2.45648669e-04 9.99967551e-01 4.38345957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0592541539999 meters 0.019216491224499244 Centerline is valid? [True, True] Translation: X:637.49, Y:7.27, Z:4.38 [[ 9.98864155e-01 -4.68798569e-02 -8.52520378e-03 6.37486143e+02] [ 4.68802179e-02 9.98900506e-01 -1.57590307e-04 7.27162095e+00] [ 8.52321818e-03 -2.42252102e-04 9.99963647e-01 4.38299217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.089254154 meters 0.01779392418624444 Centerline is valid? [True, True] Translation: X:637.52, Y:7.28, Z:4.38 [[ 9.99013717e-01 -4.36170907e-02 -8.31518303e-03 6.37516234e+02] [ 4.36173256e-02 9.99048300e-01 -1.53183433e-04 7.27524170e+00] [ 8.31395089e-03 -2.09653695e-04 9.99965417e-01 4.38422396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1192541539999 meters 0.01690862045908178 Centerline is valid? [True, True] Translation: X:637.55, Y:7.28, Z:4.38 [[ 9.99088428e-01 -4.19080300e-02 -8.12592628e-03 6.37548351e+02] [ 4.19081995e-02 9.99121454e-01 -1.49485254e-04 7.27838868e+00] [ 8.12505191e-03 -1.91193952e-04 9.99966973e-01 4.38460784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1492541539999 meters 0.016653203251034907 Centerline is valid? [True, True] Translation: X:637.58, Y:7.28, Z:4.38 [[ 9.99151813e-01 -4.03917059e-02 -8.01023229e-03 6.37580223e+02] [ 4.03918265e-02 9.99183906e-01 -1.46776150e-04 7.27990400e+00] [ 8.00962372e-03 -1.76896257e-04 9.99967907e-01 4.38464589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1792541539999 meters 0.01665095843872939 Centerline is valid? [True, True] Translation: X:637.61, Y:7.28, Z:4.38 [[ 9.99208720e-01 -3.89195969e-02 -8.19746128e-03 6.37611761e+02] [ 3.89196785e-02 9.99242331e-01 -1.49619512e-04 7.28219502e+00] [ 8.19707345e-03 -1.69541437e-04 9.99966389e-01 4.38455997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.209254154 meters 0.016495931758175958 Centerline is valid? [True, True] Translation: X:637.64, Y:7.28, Z:4.38 [[ 9.99218892e-01 -3.85745897e-02 -8.57946563e-03 6.37644326e+02] [ 3.85746708e-02 9.99255708e-01 -1.56077759e-04 7.28352184e+00] [ 8.57910064e-03 -1.74994217e-04 9.99963184e-01 4.38481700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2392541539999 meters 0.016481334689736643 Centerline is valid? [True, True] Translation: X:637.68, Y:7.29, Z:4.39 [[ 9.99206362e-01 -3.89724939e-02 -8.23351701e-03 6.37676036e+02] [ 3.89725869e-02 9.99240269e-01 -1.49209297e-04 7.28536869e+00] [ 8.23307681e-03 -1.71790579e-04 9.99966093e-01 4.38503745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2692541539999 meters 0.01647764740626027 Centerline is valid? [True, True] Translation: X:637.71, Y:7.29, Z:4.39 [[ 9.99187564e-01 -3.94194745e-02 -8.38548453e-03 6.37708608e+02] [ 3.94195919e-02 9.99222734e-01 -1.51340735e-04 7.28651236e+00] [ 8.38493255e-03 -1.79334598e-04 9.99964830e-01 4.38511005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2992541539999 meters 0.01655233920052629 Centerline is valid? [True, True] Translation: X:637.74, Y:7.29, Z:4.39 [[ 9.99168213e-01 -3.99424752e-02 -8.21460959e-03 6.37740756e+02] [ 3.99426104e-02 9.99201965e-01 -1.47659887e-04 7.28706797e+00] [ 8.21395194e-03 -1.80575885e-04 9.99966249e-01 4.38522475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.329254154 meters 0.016642290001903263 Centerline is valid? [True, True] Translation: X:637.77, Y:7.29, Z:4.39 [[ 9.99142854e-01 -4.05351430e-02 -8.39397801e-03 6.37772652e+02] [ 4.05353104e-02 9.99178095e-01 -1.50253316e-04 7.28739185e+00] [ 8.39316950e-03 -1.90127977e-04 9.99964759e-01 4.38532974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3592541539999 meters 0.01759596974769087 Centerline is valid? [True, True] Translation: X:637.80, Y:7.29, Z:4.38 [[ 9.99043524e-01 -4.27431277e-02 -9.22290580e-03 6.37804151e+02] [ 4.27434302e-02 9.99086068e-01 -1.64405871e-04 7.28642298e+00] [ 9.22150392e-03 -2.29970009e-04 9.99957455e-01 4.38491741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3892541539999 meters 0.01808315920619631 Centerline is valid? [True, True] Translation: X:637.84, Y:7.29, Z:4.38 [[ 9.98974105e-01 -4.42032527e-02 -9.83917754e-03 6.37836591e+02] [ 4.42036737e-02 9.99022525e-01 -1.74778489e-04 7.28581775e+00] [ 9.83728576e-03 -2.60328609e-04 9.99951579e-01 4.38452417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4192541539999 meters 0.019877865984114125 Centerline is valid? [True, True] Translation: X:637.87, Y:7.28, Z:4.38 [[ 9.98792555e-01 -4.80642791e-02 -1.01615331e-02 6.37867787e+02] [ 4.80649347e-02 9.98844197e-01 -1.79821004e-04 7.28263745e+00] [ 1.01584313e-02 -3.08809544e-04 9.99948354e-01 4.38375213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.449254154 meters 0.020950098650529807 Centerline is valid? [True, True] Translation: X:637.90, Y:7.28, Z:4.38 [[ 9.98691563e-01 -5.01333619e-02 -1.00900429e-02 6.37899048e+02] [ 5.01341211e-02 9.98742478e-01 -1.77830281e-04 7.28076648e+00] [ 1.00862696e-02 -3.28257830e-04 9.99949078e-01 4.38377595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4792541539999 meters 0.0201226247307376 Centerline is valid? [True, True] Translation: X:637.93, Y:7.28, Z:4.38 [[ 9.98581437e-01 -5.23217740e-02 -9.87651418e-03 6.37931042e+02] [ 5.23226181e-02 9.98630219e-01 -1.73078935e-04 7.28247719e+00] [ 9.87204131e-03 -3.43931668e-04 9.99951211e-01 4.38441423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5092541539999 meters 0.021897631850130293 Centerline is valid? [True, True] Translation: X:637.96, Y:7.28, Z:4.38 [[ 9.98417128e-01 -5.55868412e-02 -8.56393479e-03 6.37961636e+02] [ 5.55876013e-02 9.98453803e-01 -1.49432821e-04 7.28065066e+00] [ 8.55899976e-03 -3.26852305e-04 9.99963318e-01 4.38488120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5392541539999 meters 0.021740395006939913 Centerline is valid? [True, True] Translation: X:637.99, Y:7.28, Z:4.39 [[ 9.98392367e-01 -5.60564747e-02 -8.38769878e-03 6.37994009e+02] [ 5.60572284e-02 9.98427547e-01 -1.45396965e-04 7.28149224e+00] [ 8.38265995e-03 -3.25027925e-04 9.99964812e-01 4.38562334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.569254154 meters 0.021496114438570378 Centerline is valid? [True, True] Translation: X:638.03, Y:7.28, Z:4.39 [[ 9.98394131e-01 -5.61563808e-02 -7.45790588e-03 6.38026360e+02] [ 5.61569831e-02 9.98421943e-01 -1.28792614e-04 7.28335248e+00] [ 7.45336941e-03 -2.90227704e-04 9.99972181e-01 4.38595388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5992541539999 meters 0.02301048530451579 Centerline is valid? [True, True] Translation: X:638.06, Y:7.28, Z:4.39 [[ 9.98437322e-01 -5.53600685e-02 -7.62741316e-03 6.38057946e+02] [ 5.53606795e-02 9.98466413e-01 -1.31162136e-04 7.28191369e+00] [ 7.62297701e-03 -2.91301604e-04 9.99970902e-01 4.38591083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6292541539999 meters 0.023278354025309592 Centerline is valid? [True, True] Translation: X:638.09, Y:7.28, Z:4.38 [[ 9.98549415e-01 -5.33174345e-02 -7.50450312e-03 6.38090552e+02] [ 5.33179716e-02 9.98577577e-01 -1.28623907e-04 7.28497382e+00] [ 7.50068643e-03 -2.71687557e-04 9.99971833e-01 4.38399287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6592541539999 meters 0.0202079797581437 Centerline is valid? [True, True] Translation: X:638.12, Y:7.29, Z:4.39 [[ 9.98545046e-01 -5.34524889e-02 -7.11498796e-03 6.38122465e+02] [ 5.34529795e-02 9.98570360e-01 -1.21338773e-04 7.28855330e+00] [ 7.11130195e-03 -2.59155075e-04 9.99974681e-01 4.38610598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.689254154 meters 0.019373656826907292 Centerline is valid? [True, True] Translation: X:638.15, Y:7.29, Z:4.39 [[ 9.98618671e-01 -5.20339101e-02 -7.29534544e-03 6.38154765e+02] [ 5.20343920e-02 9.98645286e-01 -1.23857732e-04 7.29197348e+00] [ 7.29190713e-03 -2.55922221e-04 9.99973381e-01 4.38625760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7192541539999 meters 0.02154207599594085 Centerline is valid? [True, True] Translation: X:638.19, Y:7.29, Z:4.39 [[ 9.98637598e-01 -5.15563044e-02 -8.05570595e-03 6.38186376e+02] [ 5.15568817e-02 9.98670050e-01 -1.36128604e-04 7.28958309e+00] [ 8.05201056e-03 -2.79383937e-04 9.99967543e-01 4.38613837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7492541539999 meters 0.021490258384872448 Centerline is valid? [True, True] Translation: X:638.22, Y:7.29, Z:4.38 [[ 9.98606567e-01 -5.19074376e-02 -9.51538784e-03 6.38218048e+02] [ 5.19082646e-02 9.98651844e-01 -1.60199549e-04 7.29146725e+00] [ 9.51087516e-03 -3.33950948e-04 9.99954715e-01 4.38484288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7792541539999 meters 0.020152700623266684 Centerline is valid? [True, True] Translation: X:638.25, Y:7.29, Z:4.38 [[ 9.98574342e-01 -5.24166009e-02 -1.00887889e-02 6.38249992e+02] [ 5.24175628e-02 9.98625240e-01 -1.69230360e-04 7.29473667e+00] [ 1.00837897e-02 -3.59840629e-04 9.99949093e-01 4.38454548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8092541539999 meters 0.02301534379493567 Centerline is valid? [True, True] Translation: X:638.28, Y:7.29, Z:4.38 [[ 9.98547149e-01 -5.27874982e-02 -1.08199098e-02 6.38281241e+02] [ 5.27886346e-02 9.98605692e-01 -1.80735353e-04 7.29093832e+00] [ 1.08143641e-02 -3.90695493e-04 9.99941447e-01 4.38379443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.839254154 meters 0.020002570696085045 Centerline is valid? [True, True] Translation: X:638.31, Y:7.30, Z:4.38 [[ 9.98533207e-01 -5.29212165e-02 -1.14358943e-02 6.38313265e+02] [ 5.29225032e-02 9.98598604e-01 -1.90289003e-04 7.29756899e+00] [ 1.14299384e-02 -4.15206263e-04 9.99934590e-01 4.38438689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8692541539999 meters 0.01997936905697216 Centerline is valid? [True, True] Translation: X:638.35, Y:7.30, Z:4.38 [[ 9.98566914e-01 -5.22275058e-02 -1.16793271e-02 6.38345636e+02] [ 5.22288107e-02 9.98635126e-01 -1.93462826e-04 7.29900064e+00] [ 1.16734904e-02 -4.16811787e-04 9.99931776e-01 4.38451443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8992541539999 meters 0.02031089378923413 Centerline is valid? [True, True] Translation: X:638.38, Y:7.30, Z:4.38 [[ 9.98627476e-01 -5.10183876e-02 -1.18443066e-02 6.38377153e+02] [ 5.10196541e-02 9.98697630e-01 -1.95405598e-04 7.30011990e+00] [ 1.18388502e-02 -4.09155028e-04 9.99929835e-01 4.38472845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9292541539999 meters 0.018221363929698704 Centerline is valid? [True, True] Translation: X:638.41, Y:7.31, Z:4.39 [[ 9.98786901e-01 -4.77580455e-02 -1.19956679e-02 6.38409006e+02] [ 4.77591187e-02 9.98858863e-01 -1.97142945e-04 7.30675098e+00] [ 1.19913944e-02 -3.75998737e-04 9.99928030e-01 4.38597460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.959254154 meters 0.018692726806470425 Centerline is valid? [True, True] Translation: X:638.44, Y:7.31, Z:4.39 [[ 9.98864990e-01 -4.60401796e-02 -1.22079321e-02 6.38440469e+02] [ 4.60411729e-02 9.98939523e-01 -1.99818935e-04 7.30765994e+00] [ 1.22041856e-02 -3.62475373e-04 9.99925460e-01 4.38574114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9892541539999 meters 0.018802718068350276 Centerline is valid? [True, True] Translation: X:638.47, Y:7.31, Z:4.39 [[ 9.98983177e-01 -4.33949840e-02 -1.22265154e-02 6.38472928e+02] [ 4.33957918e-02 9.99057939e-01 -1.99345020e-04 7.31092979e+00] [ 1.22236478e-02 -3.31436995e-04 9.99925233e-01 4.38531857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0192541539999 meters 0.017078291375054094 Centerline is valid? [True, True] Translation: X:638.50, Y:7.32, Z:4.39 [[ 9.99126486e-01 -4.01699319e-02 -1.15170226e-02 6.38503448e+02] [ 4.01704411e-02 9.99192825e-01 -1.87209005e-04 7.31500589e+00] [ 1.15152465e-02 -2.75598400e-04 9.99933659e-01 4.38687956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0492541539999 meters 0.016242897818650074 Centerline is valid? [True, True] Translation: X:638.54, Y:7.32, Z:4.39 [[ 9.99197752e-01 -3.84921740e-02 -1.10546699e-02 6.38535549e+02] [ 3.84925452e-02 9.99258871e-01 -1.79265505e-04 7.31836071e+00] [ 1.10533773e-02 -2.46400692e-04 9.99938879e-01 4.38773966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.079254154 meters 0.016180563669259605 Centerline is valid? [True, True] Translation: X:638.57, Y:7.32, Z:4.39 [[ 9.99257223e-01 -3.70194062e-02 -1.07035295e-02 6.38567477e+02] [ 3.70196781e-02 9.99314522e-01 -1.72794895e-04 7.32032568e+00] [ 1.07025892e-02 -2.23574669e-04 9.99942701e-01 4.38791667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1092541539999 meters 0.016120024207255196 Centerline is valid? [True, True] Translation: X:638.60, Y:7.32, Z:4.39 [[ 9.99355496e-01 -3.43534163e-02 -1.04132653e-02 6.38598536e+02] [ 3.43535388e-02 9.99409729e-01 -1.67161884e-04 7.32183727e+00] [ 1.04128613e-02 -1.90678366e-04 9.99945767e-01 4.38797416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1392541539999 meters 0.015893015493629096 Centerline is valid? [True, True] Translation: X:638.63, Y:7.32, Z:4.39 [[ 9.99383004e-01 -3.36882895e-02 -9.93531765e-03 6.38630868e+02] [ 3.36883788e-02 9.99432373e-01 -1.58421979e-04 7.32345342e+00] [ 9.93501506e-03 -1.76380511e-04 9.99950631e-01 4.38863725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1692541539999 meters 0.017869968586580045 Centerline is valid? [True, True] Translation: X:638.66, Y:7.32, Z:4.39 [[ 9.99434052e-01 -3.23092137e-02 -9.36428866e-03 6.38663185e+02] [ 3.23092385e-02 9.99477909e-01 -1.48668975e-04 7.32489168e+00] [ 9.36420303e-03 -1.53968200e-04 9.99956143e-01 4.38868480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.199254154 meters 0.01542718840606689 Centerline is valid? [True, True] Translation: X:638.69, Y:7.33, Z:4.39 [[ 9.99414587e-01 -3.32641181e-02 -7.99890181e-03 6.38694844e+02] [ 3.32641708e-02 9.99446586e-01 -1.26494420e-04 7.32547544e+00] [ 7.99868284e-03 -1.39656468e-04 9.99968000e-01 4.39061926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2292541539999 meters 0.016133102860514056 Centerline is valid? [True, True] Translation: X:638.73, Y:7.33, Z:4.39 [[ 9.99424013e-01 -3.29649057e-02 -8.05961867e-03 6.38727358e+02] [ 3.29649532e-02 9.99456500e-01 -1.26983634e-04 7.32517589e+00] [ 8.05942428e-03 -1.38774459e-04 9.99967513e-01 4.39046051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2592541539999 meters 0.015979747450837547 Centerline is valid? [True, True] Translation: X:638.76, Y:7.32, Z:4.39 [[ 9.99366057e-01 -3.45876446e-02 -8.43679841e-03 6.38758707e+02] [ 3.45877597e-02 9.99401656e-01 -1.32308458e-04 7.32414416e+00] [ 8.43632654e-03 -1.59585374e-04 9.99964401e-01 4.39040990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2892541539999 meters 0.016235475148797352 Centerline is valid? [True, True] Translation: X:638.79, Y:7.32, Z:4.39 [[ 9.99332170e-01 -3.53935328e-02 -9.08360796e-03 6.38790772e+02] [ 3.53937047e-02 9.99373436e-01 -1.41885823e-04 7.32297994e+00] [ 9.08293834e-03 -1.79711470e-04 9.99958733e-01 4.38986775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.319254154 meters 0.016141947779025077 Centerline is valid? [True, True] Translation: X:638.82, Y:7.32, Z:4.39 [[ 9.99253337e-01 -3.74279190e-02 -9.58746753e-03 6.38822749e+02] [ 3.74282110e-02 9.99299308e-01 -1.49031407e-04 7.32113888e+00] [ 9.58632761e-03 -2.09921627e-04 9.99954028e-01 4.38891466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3492541539999 meters 0.016537092707448766 Centerline is valid? [True, True] Translation: X:638.85, Y:7.32, Z:4.39 [[ 9.99203638e-01 -3.87944930e-02 -9.33152078e-03 6.38854959e+02] [ 3.87948355e-02 9.99247187e-01 -1.44375890e-04 7.31980134e+00] [ 9.33009687e-03 -2.17753899e-04 9.99956450e-01 4.38895652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3792541539999 meters 0.016924412324724834 Centerline is valid? [True, True] Translation: X:638.89, Y:7.32, Z:4.39 [[ 9.99161300e-01 -3.99346302e-02 -9.05107740e-03 6.38886817e+02] [ 3.99350050e-02 9.99202270e-01 -1.39385707e-04 7.31853027e+00] [ 9.04942340e-03 -2.22186017e-04 9.99959028e-01 4.38910641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4092541539999 meters 0.018093843762948026 Centerline is valid? [True, True] Translation: X:638.92, Y:7.32, Z:4.39 [[ 9.99047637e-01 -4.27007221e-02 -8.97034128e-03 6.38918324e+02] [ 4.27012073e-02 9.99087878e-01 -1.37524453e-04 7.31509971e+00] [ 8.96803162e-03 -2.45650922e-04 9.99959756e-01 4.38905462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.439254154 meters 0.01871302684829266 Centerline is valid? [True, True] Translation: X:638.95, Y:7.31, Z:4.39 [[ 9.99001264e-01 -4.38260411e-02 -8.70363328e-03 6.38949819e+02] [ 4.38265456e-02 9.99039147e-01 -1.32837450e-04 7.31356635e+00] [ 8.70109210e-03 -2.48745401e-04 9.99962114e-01 4.38893213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4692541539999 meters 0.018463609725239468 Centerline is valid? [True, True] Translation: X:638.98, Y:7.31, Z:4.39 [[ 9.98886098e-01 -4.63491135e-02 -8.84997072e-03 6.38981820e+02] [ 4.63497434e-02 9.98925264e-01 -1.34019519e-04 7.31329806e+00] [ 8.84667102e-03 -2.76323637e-04 9.99960829e-01 4.38892047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4992541539999 meters 0.01897840029399668 Centerline is valid? [True, True] Translation: X:639.01, Y:7.31, Z:4.39 [[ 9.98827973e-01 -4.75256271e-02 -9.16492759e-03 6.39014228e+02] [ 4.75263585e-02 9.98869975e-01 -1.38089780e-04 7.31250138e+00] [ 9.16113379e-03 -2.97647699e-04 9.99957992e-01 4.38899574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5292541539999 meters 0.01897840029399668 Centerline is valid? [True, True] Translation: X:639.05, Y:7.31, Z:4.39 [[ 9.98833254e-01 -4.74144885e-02 -9.16493902e-03 6.39046783e+02] [ 4.74152222e-02 9.98875256e-01 -1.37327540e-04 7.31290180e+00] [ 9.16114213e-03 -2.97390307e-04 9.99957992e-01 4.38922119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5592541539999 meters 0.0208470156645021 Centerline is valid? [True, True] Translation: X:639.08, Y:7.31, Z:4.39 [[ 9.98679798e-01 -5.06475532e-02 -8.57237636e-03 6.39077792e+02] [ 5.06483210e-02 9.98716542e-01 -1.27636791e-04 7.30915067e+00] [ 8.56783856e-03 -3.06708185e-04 9.99963248e-01 4.38868894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.589254154 meters 0.022116124587227084 Centerline is valid? [True, True] Translation: X:639.11, Y:7.31, Z:4.39 [[ 9.98579467e-01 -5.25392698e-02 -8.86974832e-03 6.39108732e+02] [ 5.25401708e-02 9.98618803e-01 -1.31564945e-04 7.30720685e+00] [ 8.86440978e-03 -3.34640039e-04 9.99960654e-01 4.38831659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6192541539999 meters 0.022754238456960618 Centerline is valid? [True, True] Translation: X:639.14, Y:7.31, Z:4.39 [[ 9.98454110e-01 -5.48448333e-02 -9.02408818e-03 6.39140665e+02] [ 5.48458647e-02 9.98494824e-01 -1.33324384e-04 7.30649150e+00] [ 9.01781749e-03 -3.61815640e-04 9.99959273e-01 4.38844223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6492541539999 meters 0.02220569339393168 Centerline is valid? [True, True] Translation: X:639.17, Y:7.31, Z:4.39 [[ 9.98322009e-01 -5.72608084e-02 -8.62360582e-03 6.39173188e+02] [ 5.72618454e-02 9.98359186e-01 -1.26807422e-04 7.30772589e+00] [ 8.61671719e-03 -3.67208943e-04 9.99962808e-01 4.38834015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6792541539999 meters 0.023614977539130916 Centerline is valid? [True, True] Translation: X:639.20, Y:7.31, Z:4.39 [[ 9.98180655e-01 -5.97398121e-02 -8.15694750e-03 6.39204367e+02] [ 5.97408270e-02 9.98213915e-01 -1.19392220e-04 7.30581086e+00] [ 8.14951096e-03 -3.68127785e-04 9.99966724e-01 4.38845497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.709254154 meters 0.024704667092060126 Centerline is valid? [True, True] Translation: X:639.24, Y:7.30, Z:4.39 [[ 9.98045016e-01 -6.19536904e-02 -8.23929919e-03 6.39236637e+02] [ 6.19548052e-02 9.98078949e-01 -1.20115100e-04 7.30447491e+00] [ 8.23091264e-03 -3.90583899e-04 9.99966049e-01 4.38848774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7392541539999 meters 0.02975235527405652 Centerline is valid? [True, True] Translation: X:639.27, Y:7.30, Z:4.39 [[ 9.97795384e-01 -6.58548304e-02 -8.21667697e-03 6.39266824e+02] [ 6.58560751e-02 9.97829125e-01 -1.19279219e-04 7.29707659e+00] [ 8.20669471e-03 -4.22101842e-04 9.99966235e-01 4.38780950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7692541539999 meters 0.029982121427951224 Centerline is valid? [True, True] Translation: X:639.30, Y:7.30, Z:4.39 [[ 9.97685449e-01 -6.74771881e-02 -8.40078457e-03 6.39299229e+02] [ 6.74785475e-02 9.97720718e-01 -1.21848817e-04 7.29716086e+00] [ 8.38985883e-03 -4.45305949e-04 9.99964705e-01 4.38776995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7992541539999 meters 0.02997036725831491 Centerline is valid? [True, True] Translation: X:639.33, Y:7.30, Z:4.39 [[ 9.97505231e-01 -6.99376660e-02 -9.59358794e-03 6.39330089e+02] [ 6.99395580e-02 9.97551221e-01 -1.38548816e-04 7.29831132e+00] [ 9.57978515e-03 -5.32768132e-04 9.99953971e-01 4.38760508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.829254154 meters 0.028162106522501857 Centerline is valid? [True, True] Translation: X:639.36, Y:7.30, Z:4.39 [[ 9.97483070e-01 -7.01969145e-02 -9.99595784e-03 6.39362226e+02] [ 7.01989850e-02 9.97532998e-01 -1.44007552e-04 7.30171194e+00] [ 9.98140668e-03 -5.58061000e-04 9.99950029e-01 4.38765873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8592541539999 meters 0.028069710084746523 Centerline is valid? [True, True] Translation: X:639.39, Y:7.30, Z:4.39 [[ 9.97603608e-01 -6.83451796e-02 -1.07692507e-02 6.39392267e+02] [ 6.83474819e-02 9.97661565e-01 -1.54532759e-04 7.30284865e+00] [ 1.07546291e-02 -5.81888730e-04 9.99941998e-01 4.38757892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8892541539999 meters 0.029209160314807765 Centerline is valid? [True, True] Translation: X:639.42, Y:7.30, Z:4.39 [[ 9.97745251e-01 -6.62159901e-02 -1.09478962e-02 6.39422926e+02] [ 6.62182446e-02 9.97805151e-01 -1.56824106e-04 7.30203927e+00] [ 1.09342515e-02 -5.68479962e-04 9.99940058e-01 4.38744323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9192541539999 meters 0.02560273085088557 Centerline is valid? [True, True] Translation: X:639.45, Y:7.31, Z:4.39 [[ 9.97921317e-01 -6.34691545e-02 -1.11674091e-02 6.39453991e+02] [ 6.34713333e-02 9.97983649e-01 -1.59559208e-04 7.30845895e+00] [ 1.11550187e-02 -5.49582808e-04 9.99937630e-01 4.38778485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.949254154 meters 0.023497614054575403 Centerline is valid? [True, True] Translation: X:639.48, Y:7.32, Z:4.39 [[ 9.98346085e-01 -5.62120220e-02 -1.20541783e-02 6.39483181e+02] [ 5.62140347e-02 9.98418726e-01 -1.72049610e-04 7.31571579e+00] [ 1.20447886e-02 -5.05848944e-04 9.99927331e-01 4.38790394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9792541539999 meters 0.021278889436379938 Centerline is valid? [True, True] Translation: X:639.51, Y:7.32, Z:4.39 [[ 9.98573198e-01 -5.19244015e-02 -1.24669727e-02 6.39513974e+02] [ 5.19262205e-02 9.98650908e-01 -1.77965106e-04 7.32149621e+00] [ 1.24593944e-02 -4.69651589e-04 9.99922268e-01 4.38813749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0092541539999 meters 0.01921753968783985 Centerline is valid? [True, True] Translation: X:639.54, Y:7.33, Z:4.39 [[ 9.98984893e-01 -4.29979521e-02 -1.34298126e-02 6.39543827e+02] [ 4.29992574e-02 9.99075086e-01 -1.91671070e-04 7.32917611e+00] [ 1.34256327e-02 -3.85995467e-04 9.99909798e-01 4.38778491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0392541539999 meters 0.017213108017920895 Centerline is valid? [True, True] Translation: X:639.58, Y:7.33, Z:4.39 [[ 9.99164709e-01 -3.84708245e-02 -1.37796634e-02 6.39575437e+02] [ 3.84717719e-02 9.99259668e-01 -1.96410071e-04 7.33499918e+00] [ 1.37770179e-02 -3.33882056e-04 9.99905037e-01 4.38793252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.069254154 meters 0.01615669880208051 Centerline is valid? [True, True] Translation: X:639.61, Y:7.34, Z:4.39 [[ 9.99321358e-01 -3.39243683e-02 -1.43513372e-02 6.39607195e+02] [ 3.39249387e-02 9.99424363e-01 -2.03769383e-04 7.33943035e+00] [ 1.43499887e-02 -2.83237137e-04 9.99896993e-01 4.38769225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0992541539999 meters 0.01715369944743035 Centerline is valid? [True, True] Translation: X:639.64, Y:7.34, Z:4.39 [[ 9.99448453e-01 -2.92942219e-02 -1.56409127e-02 6.39638773e+02] [ 2.92943439e-02 9.99570804e-01 -2.21358474e-04 7.34413474e+00] [ 1.56406842e-02 -2.36953893e-04 9.99877649e-01 4.38724464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1292541539999 meters 0.014079896794184513 Centerline is valid? [True, True] Translation: X:639.67, Y:7.35, Z:4.39 [[ 9.99645263e-01 -2.19937145e-02 -1.50208143e-02 6.39668667e+02] [ 2.19930166e-02 9.99758102e-01 -2.11664293e-04 7.35246609e+00] [ 1.50218361e-02 -1.18763811e-04 9.99887159e-01 4.38802125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1592541539999 meters 0.013756868729112392 Centerline is valid? [True, True] Translation: X:639.70, Y:7.36, Z:4.39 [[ 9.99755452e-01 -1.62924252e-02 -1.49530515e-02 6.39699299e+02] [ 1.62911046e-02 9.99867269e-01 -2.10131811e-04 7.35938981e+00] [ 1.49544903e-02 -3.35213019e-05 9.99888175e-01 4.38885309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.189254154 meters 0.013777442700421952 Centerline is valid? [True, True] Translation: X:639.73, Y:7.36, Z:4.39 [[ 9.99780701e-01 -1.45122005e-02 -1.50978917e-02 6.39727808e+02] [ 1.45106208e-02 9.99894692e-01 -2.14181534e-04 7.36183778e+00] [ 1.50994100e-02 -4.94521723e-06 9.99885997e-01 4.38866584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2192541539999 meters 0.013671298352678688 Centerline is valid? [True, True] Translation: X:639.76, Y:7.36, Z:4.39 [[ 9.99794792e-01 -1.32868607e-02 -1.52915799e-02 6.39756738e+02] [ 1.32850391e-02 9.99911726e-01 -2.20705907e-04 7.36359861e+00] [ 1.52931626e-02 1.75113796e-05 9.99883053e-01 4.38850157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2492541539999 meters 0.013692814991884348 Centerline is valid? [True, True] Translation: X:639.78, Y:7.37, Z:4.39 [[ 9.99806931e-01 -1.24235344e-02 -1.52235470e-02 6.39784144e+02] [ 1.24215878e-02 9.99922824e-01 -2.22418227e-04 7.36540621e+00] [ 1.52251353e-02 3.32746592e-05 9.99884090e-01 4.38854900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2792541539999 meters 0.01357828490812339 Centerline is valid? [True, True] Translation: X:639.81, Y:7.37, Z:4.39 [[ 9.99807592e-01 -1.28309908e-02 -1.48372669e-02 6.39811929e+02] [ 1.28291399e-02 9.99917679e-01 -2.19917700e-04 7.36568661e+00] [ 1.48388672e-02 2.95260127e-05 9.99889898e-01 4.38995434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3092541539999 meters 0.01354673516967023 Centerline is valid? [True, True] Translation: X:639.84, Y:7.37, Z:4.39 [[ 9.99801584e-01 -1.36725308e-02 -1.44863405e-02 6.39839871e+02] [ 1.36707935e-02 9.99906526e-01 -2.18951158e-04 7.36568993e+00] [ 1.44879800e-02 2.08679453e-05 9.99895043e-01 4.39080509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.339254154 meters 0.013575390862208743 Centerline is valid? [True, True] Translation: X:639.87, Y:7.36, Z:4.39 [[ 9.99779813e-01 -1.59336912e-02 -1.36544441e-02 6.39867265e+02] [ 1.59323236e-02 9.99873051e-01 -2.08938077e-04 7.36460257e+00] [ 1.36560399e-02 -8.65495048e-06 9.99906752e-01 4.39116489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3692541539999 meters 0.013492068246436771 Centerline is valid? [True, True] Translation: X:639.90, Y:7.36, Z:4.39 [[ 9.99757508e-01 -1.73884484e-02 -1.35117448e-02 6.39896560e+02] [ 1.73872303e-02 9.99848809e-01 -2.07624626e-04 7.36349314e+00] [ 1.35133122e-02 -2.73575408e-05 9.99908691e-01 4.39157720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3992541539999 meters 0.013607070096944719 Centerline is valid? [True, True] Translation: X:639.93, Y:7.36, Z:4.39 [[ 9.99733692e-01 -1.90274200e-02 -1.30576868e-02 6.39926388e+02] [ 1.90264161e-02 9.99818961e-01 -2.01112789e-04 7.36216428e+00] [ 1.30591495e-02 -4.73817511e-05 9.99914725e-01 4.39182794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4292541539999 meters 0.013676515534318565 Centerline is valid? [True, True] Translation: X:639.96, Y:7.36, Z:4.39 [[ 9.99672966e-01 -2.28057373e-02 -1.15697367e-02 6.39956742e+02] [ 2.28051996e-02 9.99739912e-01 -1.78417665e-04 7.35819897e+00] [ 1.15707965e-02 -8.54908376e-05 9.99933052e-01 4.39263425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.459254154 meters 0.013852599589329304 Centerline is valid? [True, True] Translation: X:639.99, Y:7.36, Z:4.39 [[ 9.99634992e-01 -2.45753025e-02 -1.12221597e-02 6.39987981e+02] [ 2.45749108e-02 9.99697976e-01 -1.72822413e-04 7.35569444e+00] [ 1.12230175e-02 -1.03024242e-04 9.99937015e-01 4.39278852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4892541539999 meters 0.01452169752550355 Centerline is valid? [True, True] Translation: X:640.02, Y:7.35, Z:4.39 [[ 9.99551550e-01 -2.79716756e-02 -1.06903597e-02 6.40019598e+02] [ 2.79715204e-02 9.99608707e-01 -1.64066737e-04 7.35055569e+00] [ 1.06907658e-02 -1.35032452e-04 9.99942843e-01 4.39318183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5192541539999 meters 0.014617288209472354 Centerline is valid? [True, True] Translation: X:640.05, Y:7.35, Z:4.39 [[ 9.99523294e-01 -2.90732895e-02 -1.03888919e-02 6.40051871e+02] [ 2.90732088e-02 9.99577272e-01 -1.58823117e-04 7.34912218e+00] [ 1.03891178e-02 -1.43291020e-04 9.99946021e-01 4.39353897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5492541539999 meters 0.015003175237763572 Centerline is valid? [True, True] Translation: X:640.08, Y:7.35, Z:4.39 [[ 9.99495734e-01 -2.97887783e-02 -1.09957317e-02 6.40084010e+02] [ 2.97887404e-02 9.99556203e-01 -1.67270192e-04 7.34762200e+00] [ 1.09958346e-02 -1.60363153e-04 9.99939531e-01 4.39348400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.579254154 meters 0.014946567532928102 Centerline is valid? [True, True] Translation: X:640.12, Y:7.34, Z:4.39 [[ 9.99476964e-01 -3.02171089e-02 -1.15205935e-02 6.40115410e+02] [ 3.02171047e-02 9.99543344e-01 -1.74472611e-04 7.34411821e+00] [ 1.15206046e-02 -1.73737625e-04 9.99933621e-01 4.39261696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6092541539999 meters 0.014823272316905937 Centerline is valid? [True, True] Translation: X:640.15, Y:7.34, Z:4.39 [[ 9.99491831e-01 -2.97552868e-02 -1.14325625e-02 6.40147702e+02] [ 2.97552605e-02 9.99557199e-01 -1.72434948e-04 7.34402887e+00] [ 1.14326310e-02 -1.67831554e-04 9.99934631e-01 4.39239100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6392541539999 meters 0.014877910977141187 Centerline is valid? [True, True] Translation: X:640.18, Y:7.34, Z:4.39 [[ 9.99506638e-01 -2.91311627e-02 -1.17412022e-02 6.40179017e+02] [ 2.91311011e-02 9.99575584e-01 -1.76307623e-04 7.34297144e+00] [ 1.17413551e-02 -1.65813509e-04 9.99931054e-01 4.39193007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6692541539999 meters 0.014524421178449074 Centerline is valid? [True, True] Translation: X:640.21, Y:7.34, Z:4.39 [[ 9.99530436e-01 -2.81420150e-02 -1.21216911e-02 6.40211450e+02] [ 2.81418859e-02 9.99603922e-01 -1.81250217e-04 7.34320337e+00] [ 1.21219908e-02 -1.59962141e-04 9.99926513e-01 4.39180774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.699254154 meters 0.014183331475178336 Centerline is valid? [True, True] Translation: X:640.24, Y:7.34, Z:4.39 [[ 9.99593269e-01 -2.57127483e-02 -1.23349915e-02 6.40243356e+02] [ 2.57124411e-02 9.99669364e-01 -1.83524000e-04 7.34196189e+00] [ 1.23356320e-02 -1.33713387e-04 9.99923904e-01 4.39117753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7292541539999 meters 0.014081823546499837 Centerline is valid? [True, True] Translation: X:640.27, Y:7.34, Z:4.39 [[ 9.99621455e-01 -2.44322246e-02 -1.26496025e-02 6.40273454e+02] [ 2.44318068e-02 9.99701481e-01 -1.87577025e-04 7.34132183e+00] [ 1.26504093e-02 -1.21546627e-04 9.99919973e-01 4.39073409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7592541539999 meters 0.013876458745676267 Centerline is valid? [True, True] Translation: X:640.30, Y:7.34, Z:4.39 [[ 9.99675018e-01 -2.17027940e-02 -1.33733897e-02 6.40304444e+02] [ 2.17020878e-02 9.99764462e-01 -1.97944448e-04 7.34094464e+00] [ 1.33745358e-02 -9.23503579e-05 9.99910553e-01 4.39005019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7892541539999 meters 0.013915988985623167 Centerline is valid? [True, True] Translation: X:640.34, Y:7.34, Z:4.39 [[ 9.99695985e-01 -2.07716794e-02 -1.32843583e-02 6.40335259e+02] [ 2.07709089e-02 9.99784242e-01 -1.95982269e-04 7.33978415e+00] [ 1.32855630e-02 -8.00055072e-05 9.99911740e-01 4.38922046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.819254154 meters 0.013919453878688396 Centerline is valid? [True, True] Translation: X:640.37, Y:7.34, Z:4.39 [[ 9.99703483e-01 -2.03185145e-02 -1.34202749e-02 6.40365645e+02] [ 2.03176931e-02 9.99793555e-01 -1.97550921e-04 7.33997781e+00] [ 1.34215183e-02 -7.51766842e-05 9.99909925e-01 4.39014558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8492541539999 meters 0.013844596327697998 Centerline is valid? [True, True] Translation: X:640.40, Y:7.34, Z:4.39 [[ 9.99695109e-01 -2.10121678e-02 -1.29683565e-02 6.40395976e+02] [ 2.10114592e-02 9.99779217e-01 -1.90898531e-04 7.33676045e+00] [ 1.29695045e-02 -8.16437667e-05 9.99915889e-01 4.38969963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8792541539999 meters 0.01394110694179401 Centerline is valid? [True, True] Translation: X:640.43, Y:7.33, Z:4.39 [[ 9.99674075e-01 -2.21372426e-02 -1.27155679e-02 6.40425188e+02] [ 2.21366511e-02 9.99754937e-01 -1.87280893e-04 7.33478804e+00] [ 1.27165977e-02 -9.42602370e-05 9.99919136e-01 4.38950434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9092541539999 meters 0.014157377189505507 Centerline is valid? [True, True] Translation: X:640.46, Y:7.33, Z:4.39 [[ 9.99606228e-01 -2.51137683e-02 -1.25174964e-02 6.40456210e+02] [ 2.51134268e-02 9.99684591e-01 -1.84485572e-04 7.33014755e+00] [ 1.25181814e-02 -1.29944302e-04 9.99921636e-01 4.38939114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.939254154 meters 0.014394702511964756 Centerline is valid? [True, True] Translation: X:640.49, Y:7.33, Z:4.39 [[ 9.99560889e-01 -2.67239703e-02 -1.28007633e-02 6.40487745e+02] [ 2.67237480e-02 9.99642839e-01 -1.88444376e-04 7.32818586e+00] [ 1.28012273e-02 -1.53722744e-04 9.99918049e-01 4.38963093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9692541539999 meters 0.01463587502193924 Centerline is valid? [True, True] Translation: X:640.52, Y:7.33, Z:4.39 [[ 9.99517647e-01 -2.84057463e-02 -1.25533741e-02 6.40519023e+02] [ 2.84056721e-02 9.99596460e-01 -1.84243312e-04 7.32631559e+00] [ 1.25535419e-02 -1.72432587e-04 9.99921186e-01 4.38964878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9992541539999 meters 0.015262087364833418 Centerline is valid? [True, True] Translation: X:640.55, Y:7.32, Z:4.39 [[ 9.99426939e-01 -3.13909808e-02 -1.26649383e-02 6.40550219e+02] [ 3.13911537e-02 9.99507159e-01 -1.85184654e-04 7.32221805e+00] [ 1.26645096e-02 -2.12488494e-04 9.99919779e-01 4.38966891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0292541539999 meters 0.015813849155125636 Centerline is valid? [True, True] Translation: X:640.58, Y:7.32, Z:4.39 [[ 9.99390151e-01 -3.26958449e-02 -1.22600035e-02 6.40581596e+02] [ 3.26961131e-02 9.99465323e-01 -1.78614211e-04 7.32014096e+00] [ 1.22592883e-02 -2.22349177e-04 9.99924827e-01 4.38963426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0592541539999 meters 0.016468148301423756 Centerline is valid? [True, True] Translation: X:640.61, Y:7.32, Z:4.39 [[ 9.99307949e-01 -3.51032034e-02 -1.23039625e-02 6.40613979e+02] [ 3.51036651e-02 9.99383660e-01 -1.78502522e-04 7.31654473e+00] [ 1.23026451e-02 -2.53535190e-04 9.99924287e-01 4.38927120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.089254154 meters 0.016308431999935237 Centerline is valid? [True, True] Translation: X:640.65, Y:7.32, Z:4.39 [[ 9.99267101e-01 -3.62434607e-02 -1.23155504e-02 6.40646206e+02] [ 3.62440207e-02 9.99342954e-01 -1.77789032e-04 7.31634843e+00] [ 1.23139022e-02 -2.68706332e-04 9.99924145e-01 4.38933606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1192541539999 meters 0.01664398520483781 Centerline is valid? [True, True] Translation: X:640.68, Y:7.32, Z:4.39 [[ 9.99231968e-01 -3.72620821e-02 -1.21248646e-02 6.40678506e+02] [ 3.72627104e-02 9.99305489e-01 -1.74165088e-04 7.31563256e+00] [ 1.21229335e-02 -2.77773997e-04 9.99926476e-01 4.38968574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1492541539999 meters 0.016703221492524043 Centerline is valid? [True, True] Translation: X:640.71, Y:7.32, Z:4.39 [[ 9.99184058e-01 -3.84933510e-02 -1.22262202e-02 6.40710291e+02] [ 3.84940929e-02 9.99258812e-01 -1.74724669e-04 7.31508733e+00] [ 1.22238841e-02 -2.96055154e-04 9.99925242e-01 4.39031721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1792541539999 meters 0.01842416211646349 Centerline is valid? [True, True] Translation: X:640.74, Y:7.31, Z:4.39 [[ 9.99161367e-01 -3.89339855e-02 -1.26770065e-02 6.40741990e+02] [ 3.89348294e-02 9.99241736e-01 -1.80321962e-04 7.31148527e+00] [ 1.26744146e-02 -3.13406345e-04 9.99919627e-01 4.38966909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.209254154 meters 0.017152968937571584 Centerline is valid? [True, True] Translation: X:640.77, Y:7.31, Z:4.39 [[ 9.99116730e-01 -3.96549557e-02 -1.39012405e-02 6.40774137e+02] [ 3.96560530e-02 9.99213370e-01 -1.96810230e-04 7.31304511e+00] [ 1.38981099e-02 -3.54631937e-04 9.99903354e-01 4.38955863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2392541539999 meters 0.017696398492188865 Centerline is valid? [True, True] Translation: X:640.81, Y:7.31, Z:4.39 [[ 9.99105371e-01 -3.96622121e-02 -1.46753970e-02 6.40805863e+02] [ 3.96634520e-02 9.99213074e-01 -2.06669968e-04 7.31284537e+00] [ 1.46720456e-02 -3.75591830e-04 9.99892289e-01 4.38919713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2692541539999 meters 0.01820840425000165 Centerline is valid? [True, True] Translation: X:640.84, Y:7.31, Z:4.39 [[ 9.99083284e-01 -4.02673299e-02 -1.45304366e-02 6.40837171e+02] [ 4.02686227e-02 9.99188869e-01 -2.03711496e-04 7.31099744e+00] [ 1.45268535e-02 -3.81595921e-04 9.99894407e-01 4.38903931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2992541539999 meters 0.017875954825595553 Centerline is valid? [True, True] Translation: X:640.87, Y:7.31, Z:4.39 [[ 9.99060143e-01 -4.09269030e-02 -1.42765360e-02 6.40869531e+02] [ 4.09282312e-02 9.99162069e-01 -1.99245015e-04 7.31180954e+00] [ 1.42727278e-02 -3.85255615e-04 9.99898065e-01 4.39032481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.329254154 meters 0.017952030811142924 Centerline is valid? [True, True] Translation: X:640.90, Y:7.31, Z:4.39 [[ 9.99048109e-01 -4.15008656e-02 -1.34370568e-02 6.40901811e+02] [ 4.15021068e-02 9.99138399e-01 -1.86583125e-04 7.31110928e+00] [ 1.34332228e-02 -3.71260649e-04 9.99909701e-01 4.39083694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3592541539999 meters 0.01823702368802391 Centerline is valid? [True, True] Translation: X:640.93, Y:7.31, Z:4.39 [[ 9.99029075e-01 -4.19886596e-02 -1.33363811e-02 6.40934294e+02] [ 4.19899384e-02 9.99118017e-01 -1.84225531e-04 7.31036968e+00] [ 1.33323540e-02 -3.75947159e-04 9.99911050e-01 4.39106330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3892541539999 meters 0.0197185804829335 Centerline is valid? [True, True] Translation: X:640.97, Y:7.31, Z:4.39 [[ 9.98999936e-01 -4.25922161e-02 -1.36025854e-02 6.40966892e+02] [ 4.25936160e-02 9.99092463e-01 -1.86908436e-04 7.31001909e+00] [ 1.35982014e-02 -3.92661782e-04 9.99907463e-01 4.39116461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4192541539999 meters 0.019673212333139834 Centerline is valid? [True, True] Translation: X:641.00, Y:7.31, Z:4.39 [[ 9.98846864e-01 -4.61370269e-02 -1.32784281e-02 6.40999364e+02] [ 4.61386864e-02 9.98935027e-01 -1.81495895e-04 7.30947937e+00] [ 1.32726606e-02 -4.31362624e-04 9.99911821e-01 4.39171953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.449254154 meters 0.019673212333139834 Centerline is valid? [True, True] Translation: X:641.03, Y:7.31, Z:4.39 [[ 9.98850259e-01 -4.60634629e-02 -1.32784414e-02 6.41031070e+02] [ 4.60651289e-02 9.98938422e-01 -1.80518480e-04 7.30985194e+00] [ 1.32726606e-02 -4.31362184e-04 9.99911821e-01 4.39193911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4792541539999 meters 0.021324791311324403 Centerline is valid? [True, True] Translation: X:641.06, Y:7.31, Z:4.39 [[ 9.98744555e-01 -4.84450661e-02 -1.27431869e-02 6.41062075e+02] [ 4.84468076e-02 9.98825749e-01 -1.72177539e-04 7.30643564e+00] [ 1.27365643e-02 -4.45405344e-04 9.99918787e-01 4.39176271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5092541539999 meters 0.024625966286528234 Centerline is valid? [True, True] Translation: X:641.09, Y:7.30, Z:4.39 [[ 9.98447238e-01 -5.42993624e-02 -1.24375246e-02 6.41092611e+02] [ 5.43014843e-02 9.98524572e-01 -1.67285581e-04 7.30116208e+00] [ 1.24282575e-02 -5.08350222e-04 9.99922637e-01 4.39133707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5392541539999 meters 0.02294714329835873 Centerline is valid? [True, True] Translation: X:641.12, Y:7.30, Z:4.39 [[ 9.98261555e-01 -5.77380427e-02 -1.18400620e-02 6.41123957e+02] [ 5.77402104e-02 9.98331630e-01 -1.58956923e-04 7.30359247e+00] [ 1.18294863e-02 -5.24967088e-04 9.99929891e-01 4.39210137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.569254154 meters 0.027224856303777138 Centerline is valid? [True, True] Translation: X:641.15, Y:7.30, Z:4.39 [[ 9.97832643e-01 -6.46110067e-02 -1.24673073e-02 6.41153965e+02] [ 6.46139475e-02 9.97910322e-01 -1.67193987e-04 7.29894322e+00] [ 1.24520572e-02 -6.38730322e-04 9.99922266e-01 4.39176133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5992541539999 meters 0.02787082387626763 Centerline is valid? [True, True] Translation: X:641.18, Y:7.30, Z:4.39 [[ 9.97591056e-01 -6.82905681e-02 -1.21853775e-02 6.41184681e+02] [ 6.82936509e-02 9.97665250e-01 -1.63419941e-04 7.29831875e+00] [ 1.21680878e-02 -6.69157649e-04 9.99925742e-01 4.39213516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6292541539999 meters 0.02904448772936207 Centerline is valid? [True, True] Translation: X:641.22, Y:7.30, Z:4.39 [[ 9.97310423e-01 -7.21969315e-02 -1.26302794e-02 6.41215694e+02] [ 7.22005587e-02 9.97390120e-01 -1.69149995e-04 7.29859482e+00] [ 1.26095280e-02 -7.43218179e-04 9.99920221e-01 4.39225272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6592541539999 meters 0.031849543439695954 Centerline is valid? [True, True] Translation: X:641.25, Y:7.29, Z:4.39 [[ 9.97223379e-01 -7.34825214e-02 -1.20768640e-02 6.41247029e+02] [ 7.34859366e-02 9.97296240e-01 -1.61329641e-04 7.29440224e+00] [ 1.20560660e-02 -7.26597975e-04 9.99927059e-01 4.39172663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.689254154 meters 0.032640878081162464 Centerline is valid? [True, True] Translation: X:641.28, Y:7.29, Z:4.39 [[ 9.97209313e-01 -7.36114791e-02 -1.24473733e-02 6.41278155e+02] [ 7.36151256e-02 9.97286712e-01 -1.65586973e-04 7.29427743e+00] [ 1.24257891e-02 -7.51190081e-04 9.99922515e-01 4.39130656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7192541539999 meters 0.029820594679861673 Centerline is valid? [True, True] Translation: X:641.31, Y:7.30, Z:4.39 [[ 9.97251331e-01 -7.30603730e-02 -1.23273587e-02 6.41310686e+02] [ 7.30639170e-02 9.97327247e-01 -1.63226739e-04 7.29946127e+00] [ 1.23063361e-02 -7.37907028e-04 9.99924002e-01 4.39176081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7492541539999 meters 0.029460551221145118 Centerline is valid? [True, True] Translation: X:641.34, Y:7.30, Z:4.39 [[ 9.97446378e-01 -7.03092781e-02 -1.25430763e-02 6.41341088e+02] [ 7.03127446e-02 9.97524983e-01 -1.64955054e-04 7.30255642e+00] [ 1.25236298e-02 -7.17404299e-04 9.99921319e-01 4.39183065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7792541539999 meters 0.026947471879200824 Centerline is valid? [True, True] Translation: X:641.37, Y:7.31, Z:4.39 [[ 9.97594304e-01 -6.80976924e-02 -1.29733798e-02 6.41372243e+02] [ 6.81012273e-02 9.97678402e-01 -1.69609507e-04 7.30737260e+00] [ 1.29548108e-02 -7.14301607e-04 9.99915828e-01 4.39178944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8092541539999 meters 0.025982504642345822 Centerline is valid? [True, True] Translation: X:641.40, Y:7.31, Z:4.39 [[ 9.97765792e-01 -6.55023682e-02 -1.31477916e-02 6.41403272e+02] [ 6.55057807e-02 9.97852175e-01 -1.71397213e-04 7.31044276e+00] [ 1.31307793e-02 -6.90242075e-04 9.99913549e-01 4.39167707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.839254154 meters 0.02392698423570407 Centerline is valid? [True, True] Translation: X:641.43, Y:7.32, Z:4.39 [[ 9.98159990e-01 -5.91338238e-02 -1.34099088e-02 6.41433279e+02] [ 5.91368038e-02 9.98249873e-01 -1.74545428e-04 7.31714420e+00] [ 1.33967613e-02 -6.18794881e-04 9.99910068e-01 4.39181692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8692541539999 meters 0.022968387809558583 Centerline is valid? [True, True] Translation: X:641.46, Y:7.32, Z:4.39 [[ 9.98372564e-01 -5.54146292e-02 -1.34700243e-02 6.41464164e+02] [ 5.54173013e-02 9.98463265e-01 -1.75084700e-04 7.32055290e+00] [ 1.34590267e-02 -5.71672631e-04 9.99909260e-01 4.39181160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8992541539999 meters 0.021633772521314012 Centerline is valid? [True, True] Translation: X:641.49, Y:7.33, Z:4.39 [[ 9.98797865e-01 -4.69486732e-02 -1.40942479e-02 6.41494219e+02] [ 4.69507605e-02 9.98897188e-01 -1.82936182e-04 7.32765743e+00] [ 1.40872932e-02 -4.79019391e-04 9.99900654e-01 4.39200962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9292541539999 meters 0.019358563275252188 Centerline is valid? [True, True] Translation: X:641.53, Y:7.33, Z:4.39 [[ 9.98953342e-01 -4.38355744e-02 -1.30638166e-02 6.41526081e+02] [ 4.38371060e-02 9.99038678e-01 -1.69228968e-04 7.33218725e+00] [ 1.30586763e-02 -4.03628068e-04 9.99914650e-01 4.39245587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.959254154 meters 0.017651534819383093 Centerline is valid? [True, True] Translation: X:641.56, Y:7.34, Z:4.39 [[ 9.99250692e-01 -3.65628253e-02 -1.26970080e-02 6.41556060e+02] [ 3.65636899e-02 9.99331311e-01 -1.64111766e-04 7.33961647e+00] [ 1.26945181e-02 -3.00260669e-04 9.99919376e-01 4.39266944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9892541539999 meters 0.018199411455495827 Centerline is valid? [True, True] Translation: X:641.59, Y:7.34, Z:4.39 [[ 9.99394925e-01 -3.21906801e-02 -1.31736417e-02 6.41587568e+02] [ 3.21912340e-02 9.99481713e-01 -1.70049555e-04 7.34285717e+00] [ 1.31722880e-02 -2.54129122e-04 9.99913209e-01 4.39263098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0192541539999 meters 0.01608243087854938 Centerline is valid? [True, True] Translation: X:641.62, Y:7.35, Z:4.39 [[ 9.99492875e-01 -2.94844585e-02 -1.20274295e-02 6.41618947e+02] [ 2.94847292e-02 9.99565219e-01 -1.54848451e-04 7.34707172e+00] [ 1.20267658e-02 -1.99855578e-04 9.99927656e-01 4.39302383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0492541539999 meters 0.015106679729825297 Centerline is valid? [True, True] Translation: X:641.65, Y:7.35, Z:4.39 [[ 9.99655538e-01 -2.34159884e-02 -1.18531619e-02 6.41650154e+02] [ 2.34158298e-02 9.99725800e-01 -1.52183319e-04 7.35338083e+00] [ 1.18534753e-02 -1.25420723e-04 9.99929737e-01 4.39309329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.079254154 meters 0.014893186650715918 Centerline is valid? [True, True] Translation: X:641.68, Y:7.36, Z:4.39 [[ 9.99706421e-01 -2.10788865e-02 -1.19478900e-02 6.41680780e+02] [ 2.10785626e-02 9.99777811e-01 -1.53052523e-04 7.35521073e+00] [ 1.19484615e-02 -9.88367565e-05 9.99928610e-01 4.39247417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1092541539999 meters 0.014653521642099248 Centerline is valid? [True, True] Translation: X:641.71, Y:7.36, Z:4.39 [[ 9.99773088e-01 -1.73619267e-02 -1.23424732e-02 6.41712141e+02] [ 1.73613017e-02 9.99849269e-01 -1.57783748e-04 7.35902285e+00] [ 1.23433522e-02 -5.65334558e-05 9.99923816e-01 4.39205634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1392541539999 meters 0.01477561695009711 Centerline is valid? [True, True] Translation: X:641.74, Y:7.36, Z:4.39 [[ 9.99790399e-01 -1.61899092e-02 -1.25317387e-02 6.41741166e+02] [ 1.61891748e-02 9.99868934e-01 -1.60050725e-04 7.36024874e+00] [ 1.25326874e-02 -4.28613305e-05 9.99921462e-01 4.39141219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1692541539999 meters 0.0147526314302729 Centerline is valid? [True, True] Translation: X:641.77, Y:7.36, Z:4.39 [[ 9.99790287e-01 -1.57091709e-02 -1.31379179e-02 6.41771110e+02] [ 1.57083176e-02 9.99876603e-01 -1.68139146e-04 7.36121150e+00] [ 1.31389381e-02 -3.82707029e-05 9.99913680e-01 4.39078098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.199254154 meters 0.01476549492896556 Centerline is valid? [True, True] Translation: X:641.80, Y:7.36, Z:4.39 [[ 9.99776042e-01 -1.61387159e-02 -1.36897044e-02 6.41800222e+02] [ 1.61378025e-02 9.99869761e-01 -1.77193840e-04 7.36175406e+00] [ 1.36907811e-02 -4.37675886e-05 9.99906276e-01 4.39094651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2292541539999 meters 0.01491036793606805 Centerline is valid? [True, True] Translation: X:641.83, Y:7.36, Z:4.39 [[ 9.99741881e-01 -1.80092706e-02 -1.38505739e-02 6.41829043e+02] [ 1.80084653e-02 9.99837818e-01 -1.82868943e-04 7.36063418e+00] [ 1.38516209e-02 -6.66058396e-05 9.99904059e-01 4.39062404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2592541539999 meters 0.015024927835090242 Centerline is valid? [True, True] Translation: X:641.86, Y:7.36, Z:4.39 [[ 9.99723796e-01 -1.94347382e-02 -1.32145070e-02 6.41857856e+02] [ 1.94341026e-02 9.99811124e-01 -1.76523674e-04 7.35952455e+00] [ 1.32154417e-02 -8.03371665e-05 9.99912669e-01 4.39096448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2892541539999 meters 0.015615101673289401 Centerline is valid? [True, True] Translation: X:641.89, Y:7.35, Z:4.39 [[ 9.99685377e-01 -2.24076654e-02 -1.12713472e-02 6.41887041e+02] [ 2.24073873e-02 9.99748912e-01 -1.50968813e-04 7.35398668e+00] [ 1.12719000e-02 -1.01640128e-04 9.99936465e-01 4.39141690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.319254154 meters 0.015474694089930803 Centerline is valid? [True, True] Translation: X:641.92, Y:7.35, Z:4.39 [[ 9.99656068e-01 -2.41429597e-02 -1.02402712e-02 6.41918788e+02] [ 2.41428213e-02 9.99708510e-01 -1.37151221e-04 7.35381054e+00] [ 1.02405975e-02 -1.10124987e-04 9.99947558e-01 4.39324819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3492541539999 meters 0.01538078858315008 Centerline is valid? [True, True] Translation: X:641.95, Y:7.35, Z:4.39 [[ 9.99631322e-01 -2.53902474e-02 -9.62062301e-03 6.41951046e+02] [ 2.53901872e-02 9.99677609e-01 -1.28416199e-04 7.35202485e+00] [ 9.62078193e-03 -1.15900565e-04 9.99953712e-01 4.39385778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3792541539999 meters 0.016211472402999697 Centerline is valid? [True, True] Translation: X:641.98, Y:7.35, Z:4.39 [[ 9.99569669e-01 -2.81103854e-02 -8.38349656e-03 6.41982356e+02] [ 2.81104405e-02 9.99604817e-01 -1.11291420e-04 7.34680203e+00] [ 8.38331199e-03 -1.24420254e-04 9.99964852e-01 4.39439574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4092541539999 meters 0.01641885667207872 Centerline is valid? [True, True] Translation: X:642.01, Y:7.34, Z:4.39 [[ 9.99534954e-01 -2.94842194e-02 -7.78185219e-03 6.42013683e+02] [ 2.94843145e-02 9.99565238e-01 -1.02521383e-04 7.34389991e+00] [ 7.78149170e-03 -1.26968872e-04 9.99969716e-01 4.39458894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.439254154 meters 0.016755807752194825 Centerline is valid? [True, True] Translation: X:642.05, Y:7.34, Z:4.39 [[ 9.99486102e-01 -3.12027122e-02 -7.34323563e-03 6.42046349e+02] [ 3.12028460e-02 9.99513068e-01 -9.63654442e-05 7.34104168e+00] [ 7.34266683e-03 -1.32813928e-04 9.99973033e-01 4.39428452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4692541539999 meters 0.018024650854408398 Centerline is valid? [True, True] Translation: X:642.08, Y:7.33, Z:4.39 [[ 9.99351731e-01 -3.51425326e-02 -7.81799722e-03 6.42077203e+02] [ 3.51428091e-02 9.99382295e-01 -1.02040550e-04 7.33384645e+00] [ 7.81675397e-03 -1.72771984e-04 9.99969434e-01 4.39293256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4992541539999 meters 0.01830165995524815 Centerline is valid? [True, True] Translation: X:642.11, Y:7.33, Z:4.39 [[ 9.99273169e-01 -3.72117523e-02 -8.27159694e-03 6.42109791e+02] [ 3.72121357e-02 9.99307383e-01 -1.07605771e-04 7.33120144e+00] [ 8.26987209e-03 -2.00276228e-04 9.99965784e-01 4.39213567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5292541539999 meters 0.018381616884140847 Centerline is valid? [True, True] Translation: X:642.14, Y:7.33, Z:4.39 [[ 9.99204015e-01 -3.89401587e-02 -8.66023803e-03 6.42142308e+02] [ 3.89406494e-02 9.99241519e-01 -1.12019509e-04 7.32907013e+00] [ 8.65803146e-03 -2.25304950e-04 9.99962493e-01 4.39139811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5592541539999 meters 0.01897190400772654 Centerline is valid? [True, True] Translation: X:642.17, Y:7.33, Z:4.39 [[ 9.99134598e-01 -4.04785185e-02 -9.56788809e-03 6.42174092e+02] [ 4.04791946e-02 9.99180374e-01 -1.23061779e-04 7.32562063e+00] [ 9.56502736e-03 -2.64345123e-04 9.99954219e-01 4.39059356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.589254154 meters 0.018653191034481768 Centerline is valid? [True, True] Translation: X:642.21, Y:7.33, Z:4.39 [[ 9.99148371e-01 -4.00108296e-02 -1.00829758e-02 6.42206368e+02] [ 4.00115630e-02 9.99199208e-01 -1.29060578e-04 7.32533814e+00] [ 1.00800653e-02 -2.74484955e-04 9.99949157e-01 4.39029316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6192541539999 meters 0.018654868201193747 Centerline is valid? [True, True] Translation: X:642.24, Y:7.33, Z:4.39 [[ 9.99172383e-01 -3.92445617e-02 -1.06964311e-02 6.42238094e+02] [ 3.92453517e-02 9.99229595e-01 -1.36107288e-04 7.32524402e+00] [ 1.06935320e-02 -2.83790556e-04 9.99942782e-01 4.39014013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6492541539999 meters 0.01842811627365602 Centerline is valid? [True, True] Translation: X:642.27, Y:7.32, Z:4.39 [[ 9.99260474e-01 -3.66681347e-02 -1.15738396e-02 6.42269090e+02] [ 3.66688962e-02 9.99327459e-01 -1.46480139e-04 7.32489406e+00] [ 1.15714269e-02 -2.78028111e-04 9.99933010e-01 4.38912227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6792541539999 meters 0.019309869523673858 Centerline is valid? [True, True] Translation: X:642.30, Y:7.32, Z:4.39 [[ 9.99311554e-01 -3.51914829e-02 -1.17463745e-02 6.42300722e+02] [ 3.51921728e-02 9.99380553e-01 -1.48029982e-04 7.32255055e+00] [ 1.17443077e-02 -2.65452371e-04 9.99930998e-01 4.38857642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.709254154 meters 0.017394575054270178 Centerline is valid? [True, True] Translation: X:642.33, Y:7.33, Z:4.39 [[ 9.99350305e-01 -3.41779623e-02 -1.14382720e-02 6.42332452e+02] [ 3.41785579e-02 9.99415732e-01 -1.43462626e-04 7.32686403e+00] [ 1.14364922e-02 -2.47574222e-04 9.99934571e-01 4.38936909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7392541539999 meters 0.016584090369782832 Centerline is valid? [True, True] Translation: X:642.36, Y:7.33, Z:4.39 [[ 9.99390570e-01 -3.30029568e-02 -1.13707126e-02 6.42364330e+02] [ 3.30034788e-02 9.99455227e-01 -1.41786988e-04 7.32734128e+00] [ 1.13691976e-02 -2.33572495e-04 9.99935341e-01 4.38946327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7692541539999 meters 0.017377354789554877 Centerline is valid? [True, True] Translation: X:642.40, Y:7.32, Z:4.39 [[ 9.99394940e-01 -3.27204478e-02 -1.17951974e-02 6.42395757e+02] [ 3.27210032e-02 9.99464514e-01 -1.45945109e-04 7.32499279e+00] [ 1.17936566e-02 -2.40093889e-04 9.99930424e-01 4.38879313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7992541539999 meters 0.017086434637956376 Centerline is valid? [True, True] Translation: X:642.43, Y:7.32, Z:4.39 [[ 9.99345994e-01 -3.38416465e-02 -1.27407314e-02 6.42427910e+02] [ 3.38424029e-02 9.99427170e-01 -1.56288114e-04 7.32425335e+00] [ 1.27387221e-02 -2.74991063e-04 9.99918821e-01 4.38793313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.829254154 meters 0.017317321010525105 Centerline is valid? [True, True] Translation: X:642.46, Y:7.32, Z:4.39 [[ 9.99299453e-01 -3.48877770e-02 -1.35442595e-02 6.42459067e+02] [ 3.48887385e-02 9.99391189e-01 -1.65358165e-04 7.32314794e+00] [ 1.35417826e-02 -3.07299805e-04 9.99908259e-01 4.38769251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8592541539999 meters 0.01756713292958803 Centerline is valid? [True, True] Translation: X:642.49, Y:7.32, Z:4.39 [[ 9.99250542e-01 -3.60480273e-02 -1.41029800e-02 6.42490660e+02] [ 3.60491927e-02 9.99350002e-01 -1.71652411e-04 7.32234545e+00] [ 1.41000008e-02 -3.36877278e-04 9.99900533e-01 4.38764026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8892541539999 meters 0.0181157249012714 Centerline is valid? [True, True] Translation: X:642.52, Y:7.32, Z:4.39 [[ 9.99179832e-01 -3.76195921e-02 -1.49810075e-02 6.42522170e+02] [ 3.76210921e-02 9.99292060e-01 -1.81776053e-04 7.32119184e+00] [ 1.49772402e-02 -3.81974897e-04 9.99887762e-01 4.38762523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9192541539999 meters 0.0191723135246131 Centerline is valid? [True, True] Translation: X:642.55, Y:7.32, Z:4.39 [[ 9.99007651e-01 -4.13552153e-02 -1.65365973e-02 6.42553718e+02] [ 4.13575648e-02 9.99144390e-01 -2.00023543e-04 7.31720485e+00] [ 1.65307205e-02 -4.84088346e-04 9.99863241e-01 4.38684964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.949254154 meters 0.020030908007632717 Centerline is valid? [True, True] Translation: X:642.59, Y:7.31, Z:4.39 [[ 9.98902092e-01 -4.33734689e-02 -1.77017590e-02 6.42585020e+02] [ 4.33764894e-02 9.99058774e-01 -2.13459880e-04 7.31480901e+00] [ 1.76943562e-02 -5.54614643e-04 9.99843289e-01 4.38603221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9792541539999 meters 0.020781367214201815 Centerline is valid? [True, True] Translation: X:642.62, Y:7.31, Z:4.39 [[ 9.98783447e-01 -4.54027952e-02 -1.92409035e-02 6.42616462e+02] [ 4.54067539e-02 9.98968555e-01 -2.31306769e-04 7.31252291e+00] [ 1.92315595e-02 -6.42641597e-04 9.99814850e-01 4.38539577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0092541539999 meters 0.02291892447021789 Centerline is valid? [True, True] Translation: X:642.65, Y:7.31, Z:4.38 [[ 9.98548105e-01 -4.97187107e-02 -2.07299579e-02 6.42647043e+02] [ 4.97242495e-02 9.98762953e-01 -2.48487967e-04 7.30776702e+00] [ 2.07166685e-02 -7.82654411e-04 9.99785080e-01 4.38425483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0392541539999 meters 0.023492149403977848 Centerline is valid? [True, True] Translation: X:642.68, Y:7.31, Z:4.38 [[ 9.98448867e-01 -5.14753208e-02 -2.12167927e-02 6.42677619e+02] [ 5.14815239e-02 9.98673915e-01 -2.54091496e-04 7.30675155e+00] [ 2.12017369e-02 -8.38575454e-04 9.99774866e-01 4.38447270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.069254154 meters 0.025193864213791436 Centerline is valid? [True, True] Translation: X:642.71, Y:7.30, Z:4.38 [[ 9.98317882e-01 -5.35138413e-02 -2.23086186e-02 6.42708311e+02] [ 5.35212136e-02 9.98566677e-01 -2.66896608e-04 7.30441668e+00] [ 2.22909258e-02 -9.27536682e-04 9.99751096e-01 4.38374244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0992541539999 meters 0.02313670308311725 Centerline is valid? [True, True] Translation: X:642.74, Y:7.31, Z:4.39 [[ 9.98291144e-01 -5.36951878e-02 -2.30568408e-02 6.42739187e+02] [ 5.37031143e-02 9.98556908e-01 -2.75722263e-04 7.30813436e+00] [ 2.30383727e-02 -9.62973065e-04 9.99734118e-01 4.38522444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1292541539999 meters 0.025516203684396287 Centerline is valid? [True, True] Translation: X:642.77, Y:7.31, Z:4.38 [[ 9.98287389e-01 -5.35665817e-02 -2.35140438e-02 6.42768801e+02] [ 5.35747832e-02 9.98563800e-01 -2.81489823e-04 7.30523877e+00] [ 2.34953514e-02 -9.78752057e-04 9.99723467e-01 4.38423295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1592541539999 meters 0.022650570570820868 Centerline is valid? [True, True] Translation: X:642.80, Y:7.31, Z:4.39 [[ 9.98375066e-01 -5.19720788e-02 -2.33694535e-02 6.42798877e+02] [ 5.19797407e-02 9.98648100e-01 -2.79883512e-04 7.31152305e+00] [ 2.33524065e-02 -9.35309415e-04 9.99726858e-01 4.38764128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.189254154 meters 0.023152724588474356 Centerline is valid? [True, True] Translation: X:642.83, Y:7.31, Z:4.39 [[ 9.98450306e-01 -5.05966564e-02 -2.31725049e-02 6.42828488e+02] [ 5.06038130e-02 9.98718768e-01 -2.77816875e-04 7.31189648e+00] [ 2.31568722e-02 -8.95230762e-04 9.99731443e-01 4.38803117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2192541539999 meters 0.021969437085388954 Centerline is valid? [True, True] Translation: X:642.86, Y:7.32, Z:4.39 [[ 9.98529676e-01 -4.90131414e-02 -2.31559407e-02 6.42859143e+02] [ 4.90198598e-02 9.98797765e-01 -2.77742772e-04 7.31577208e+00] [ 2.31417149e-02 -8.57766565e-04 9.99731827e-01 4.38989557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2492541539999 meters 0.020507178574313552 Centerline is valid? [True, True] Translation: X:642.89, Y:7.32, Z:4.39 [[ 9.98718280e-01 -4.58705679e-02 -2.13936646e-02 6.42888972e+02] [ 4.58755764e-02 9.98947128e-01 -2.56869001e-04 7.31909519e+00] [ 2.13829226e-02 -7.24906928e-04 9.99771096e-01 4.39167247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2792541539999 meters 0.019635766874762456 Centerline is valid? [True, True] Translation: X:642.92, Y:7.32, Z:4.39 [[ 9.98792208e-01 -4.44979224e-02 -2.08341074e-02 6.42919586e+02] [ 4.45023714e-02 9.99009247e-01 -2.50273539e-04 7.32142566e+00] [ 2.08246026e-02 -6.77195924e-04 9.99782915e-01 4.39269451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3092541539999 meters 0.023128438863388407 Centerline is valid? [True, True] Translation: X:642.95, Y:7.32, Z:4.39 [[ 9.98853177e-01 -4.33163745e-02 -2.03966243e-02 6.42949651e+02] [ 4.33203924e-02 9.99061201e-01 -2.45018193e-04 7.31610217e+00] [ 2.03880892e-02 -6.38852567e-04 9.99791937e-01 4.39054307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.339254154 meters 0.023128438863388407 Centerline is valid? [True, True] Translation: X:642.98, Y:7.32, Z:4.39 [[ 9.98853177e-01 -4.33163745e-02 -2.03966243e-02 6.42979665e+02] [ 4.33203924e-02 9.99061201e-01 -2.45018193e-04 7.31646272e+00] [ 2.03880892e-02 -6.38852567e-04 9.99791937e-01 4.39075106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3692541539999 meters 0.020234245533822033 Centerline is valid? [True, True] Translation: X:643.01, Y:7.32, Z:4.39 [[ 9.98886397e-01 -4.26123255e-02 -2.02522982e-02 6.43010569e+02] [ 4.26161393e-02 9.99091490e-01 -2.43424503e-04 7.32195761e+00] [ 2.02442716e-02 -6.19921336e-04 9.99794872e-01 4.39324776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3992541539999 meters 0.01969584580733428 Centerline is valid? [True, True] Translation: X:643.04, Y:7.32, Z:4.39 [[ 9.98905893e-01 -4.20897002e-02 -2.03831733e-02 6.43041462e+02] [ 4.20934533e-02 9.99113648e-01 -2.45070862e-04 7.32445958e+00] [ 2.03754216e-02 -6.13195426e-04 9.99792212e-01 4.39403684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4292541539999 meters 0.019023750681642724 Centerline is valid? [True, True] Translation: X:643.07, Y:7.33, Z:4.39 [[ 9.98884589e-01 -4.23116622e-02 -2.09595149e-02 6.43071514e+02] [ 4.23156794e-02 9.99104259e-01 -2.52000329e-04 7.32646405e+00] [ 2.09514031e-02 -6.35196868e-04 9.99780293e-01 4.39427239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.459254154 meters 0.019935072160971335 Centerline is valid? [True, True] Translation: X:643.10, Y:7.32, Z:4.39 [[ 9.98861012e-01 -4.26499477e-02 -2.13929943e-02 6.43101408e+02] [ 4.26542104e-02 9.99089862e-01 -2.57212137e-04 7.32491915e+00] [ 2.13844938e-02 -6.55582104e-04 9.99771111e-01 4.39327432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4892541539999 meters 0.020427780129450242 Centerline is valid? [True, True] Translation: X:643.13, Y:7.32, Z:4.39 [[ 9.98812901e-01 -4.35120214e-02 -2.18973352e-02 6.43130740e+02] [ 4.35166887e-02 9.99052665e-01 -2.63542766e-04 7.32425162e+00] [ 2.18880584e-02 -6.89669605e-04 9.99760190e-01 4.39270710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5192541539999 meters 0.020824356857053805 Centerline is valid? [True, True] Translation: X:643.16, Y:7.32, Z:4.39 [[ 9.98759653e-01 -4.45822773e-02 -2.21714929e-02 6.43161261e+02] [ 4.45873229e-02 9.99005455e-01 -2.66967400e-04 7.32410158e+00] [ 2.21613444e-02 -7.21931246e-04 9.99754147e-01 4.39281797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5492541539999 meters 0.020584068801788806 Centerline is valid? [True, True] Translation: X:643.19, Y:7.33, Z:4.39 [[ 9.98689504e-01 -4.59219344e-02 -2.25931381e-02 6.43191544e+02] [ 4.59275162e-02 9.98944738e-01 -2.72044438e-04 7.32538108e+00] [ 2.25817892e-02 -7.65958792e-04 9.99744705e-01 4.39351931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.579254154 meters 0.020753663956888664 Centerline is valid? [True, True] Translation: X:643.22, Y:7.33, Z:4.39 [[ 9.98560297e-01 -4.85044855e-02 -2.29051840e-02 6.43221702e+02] [ 4.85108958e-02 9.98822615e-01 -2.76029320e-04 7.32630394e+00] [ 2.28916044e-02 -8.35519072e-04 9.99737604e-01 4.39400488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6092541539999 meters 0.021122804952998505 Centerline is valid? [True, True] Translation: X:643.25, Y:7.33, Z:4.39 [[ 9.98518522e-01 -4.90606798e-02 -2.35331922e-02 6.43252473e+02] [ 4.90675985e-02 9.98795420e-01 -2.83698781e-04 7.32673314e+00] [ 2.35187630e-02 -8.71438737e-04 9.99723016e-01 4.39402689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6392541539999 meters 0.02162204200415515 Centerline is valid? [True, True] Translation: X:643.28, Y:7.33, Z:4.39 [[ 9.98503156e-01 -4.90953865e-02 -2.41058084e-02 6.43281755e+02] [ 4.91026488e-02 9.98793695e-01 -2.90913283e-04 7.32670409e+00] [ 2.40910119e-02 -8.93181210e-04 9.99709370e-01 4.39324397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6692541539999 meters 0.02072724575556235 Centerline is valid? [True, True] Translation: X:643.31, Y:7.33, Z:4.39 [[ 9.98531348e-01 -4.79595761e-02 -2.51997298e-02 6.43312719e+02] [ 4.79671568e-02 9.98848867e-01 -3.03912053e-04 7.32940912e+00] [ 2.51852971e-02 -9.05293681e-04 9.99682390e-01 4.39268495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.699254154 meters 0.02048969760730287 Centerline is valid? [True, True] Translation: X:643.34, Y:7.33, Z:4.39 [[ 9.98575174e-01 -4.69975820e-02 -2.52754575e-02 6.43341970e+02] [ 4.70048869e-02 9.98894613e-01 -3.05369053e-04 7.33125943e+00] [ 2.52618700e-02 -8.83136067e-04 9.99680478e-01 4.39325360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7292541539999 meters 0.020603165564907495 Centerline is valid? [True, True] Translation: X:643.37, Y:7.33, Z:4.39 [[ 9.98692784e-01 -4.48766612e-02 -2.44705650e-02 6.43370576e+02] [ 4.48828427e-02 9.98992213e-01 -2.96843559e-04 7.33331637e+00] [ 2.44592252e-02 -8.01852999e-04 9.99700507e-01 4.39433792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7592541539999 meters 0.01957915275814564 Centerline is valid? [True, True] Translation: X:643.40, Y:7.34, Z:4.40 [[ 9.98730239e-01 -4.41193597e-02 -2.43185654e-02 6.43400537e+02] [ 4.41252159e-02 9.99025964e-01 -2.96007209e-04 7.33577858e+00] [ 2.43079379e-02 -7.77430596e-04 9.99704216e-01 4.39577515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7892541539999 meters 0.01945641812363012 Centerline is valid? [True, True] Translation: X:643.43, Y:7.34, Z:4.40 [[ 9.98779947e-01 -4.33283874e-02 -2.36910877e-02 6.43430093e+02] [ 4.33337026e-02 9.99060612e-01 -2.89223337e-04 7.33688787e+00] [ 2.36813641e-02 -7.37752079e-04 9.99719285e-01 4.39647559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.819254154 meters 0.019576887776588312 Centerline is valid? [True, True] Translation: X:643.46, Y:7.34, Z:4.40 [[ 9.98814899e-01 -4.21984438e-02 -2.42505244e-02 6.43459715e+02] [ 4.22036763e-02 9.99108984e-01 -2.96226632e-04 7.33817847e+00] [ 2.42414171e-02 -7.27585706e-04 9.99705869e-01 4.39721758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8492541539999 meters 0.02067196843101485 Centerline is valid? [True, True] Translation: X:643.49, Y:7.34, Z:4.40 [[ 9.98801724e-01 -4.22689776e-02 -2.46667571e-02 6.43488784e+02] [ 4.22743904e-02 9.99105993e-01 -3.02219635e-04 7.33691116e+00] [ 2.46574794e-02 -7.40914628e-04 9.99695684e-01 4.39614000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8792541539999 meters 0.01867459104586492 Centerline is valid? [True, True] Translation: X:643.52, Y:7.34, Z:4.40 [[ 9.98795018e-01 -4.22682606e-02 -2.49380269e-02 6.43518838e+02] [ 4.22737673e-02 9.99106018e-01 -3.06575798e-04 7.34041710e+00] [ 2.49286912e-02 -7.48017967e-04 9.99688952e-01 4.39837343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9092541539999 meters 0.018999171195349787 Centerline is valid? [True, True] Translation: X:643.55, Y:7.34, Z:4.40 [[ 9.98754937e-01 -4.30123919e-02 -2.52687592e-02 6.43547987e+02] [ 4.30181586e-02 9.99074241e-01 -3.15584976e-04 7.34025059e+00] [ 2.52589405e-02 -7.71823441e-04 9.99680644e-01 4.39846619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.939254154 meters 0.019862727746726136 Centerline is valid? [True, True] Translation: X:643.58, Y:7.34, Z:4.40 [[ 9.98753293e-01 -4.29919736e-02 -2.53682664e-02 6.43576475e+02] [ 4.29977089e-02 9.99075120e-01 -3.19604903e-04 7.33928471e+00] [ 2.53585443e-02 -7.71570886e-04 9.99678123e-01 4.39788933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9692541539999 meters 0.01877750547351642 Centerline is valid? [True, True] Translation: X:643.61, Y:7.34, Z:4.40 [[ 9.98779007e-01 -4.29112417e-02 -2.44769524e-02 6.43605210e+02] [ 4.29164372e-02 9.99078616e-01 -3.13252244e-04 7.34177591e+00] [ 2.44678417e-02 -7.37593824e-04 9.99700345e-01 4.40001840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9992541539999 meters 0.021231569192468828 Centerline is valid? [True, True] Translation: X:643.63, Y:7.34, Z:4.40 [[ 9.98796685e-01 -4.26280757e-02 -2.42493123e-02 6.43634362e+02] [ 4.26330259e-02 9.99090750e-01 -3.13048630e-04 7.33949790e+00] [ 2.42406083e-02 -7.21149625e-04 9.99705893e-01 4.39936751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0292541539999 meters 0.020340189047941718 Centerline is valid? [True, True] Translation: X:643.66, Y:7.34, Z:4.40 [[ 9.98812584e-01 -4.28735718e-02 -2.31360962e-02 6.43664045e+02] [ 4.28781220e-02 9.99080265e-01 -2.99602027e-04 7.33953263e+00] [ 2.31276622e-02 -6.92786081e-04 9.99732280e-01 4.39974393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0592541539999 meters 0.01837926788584869 Centerline is valid? [True, True] Translation: X:643.69, Y:7.34, Z:4.40 [[ 9.98805863e-01 -4.32703519e-02 -2.26831446e-02 6.43694248e+02] [ 4.32748224e-02 9.99063163e-01 -2.93972944e-04 7.34332341e+00] [ 2.26746145e-02 -6.87987155e-04 9.99742661e-01 4.40170133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.089254154 meters 0.019796126282737272 Centerline is valid? [True, True] Translation: X:643.72, Y:7.34, Z:4.40 [[ 9.98784028e-01 -4.35590901e-02 -2.30883232e-02 6.43723959e+02] [ 4.35637921e-02 9.99050602e-01 -2.99520768e-04 7.34187046e+00] [ 2.30794501e-02 -7.06658354e-04 9.99733384e-01 4.40039725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1192541539999 meters 0.01921454910691951 Centerline is valid? [True, True] Translation: X:643.75, Y:7.34, Z:4.40 [[ 9.98761552e-01 -4.37780302e-02 -2.36399353e-02 6.43754090e+02] [ 4.37830179e-02 9.99041017e-01 -3.06806972e-04 7.34384975e+00] [ 2.36306964e-02 -7.28600704e-04 9.99720491e-01 4.40033392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1492541539999 meters 0.01914839177404864 Centerline is valid? [True, True] Translation: X:643.78, Y:7.34, Z:4.40 [[ 9.98764714e-01 -4.35365504e-02 -2.39502763e-02 6.43784297e+02] [ 4.35416007e-02 9.99051566e-01 -3.10834680e-04 7.34475024e+00] [ 2.39410937e-02 -7.32382655e-04 9.99713103e-01 4.40050040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1792541539999 meters 0.019035310521479446 Centerline is valid? [True, True] Translation: X:643.81, Y:7.35, Z:4.40 [[ 9.98800386e-01 -4.28118854e-02 -2.37682689e-02 6.43814241e+02] [ 4.28166396e-02 9.99082899e-01 -3.09081230e-04 7.34614292e+00] [ 2.37597034e-02 -7.08966954e-04 9.99717447e-01 4.40081919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.209254154 meters 0.018130125744597908 Centerline is valid? [True, True] Translation: X:643.84, Y:7.35, Z:4.40 [[ 9.98915155e-01 -4.04233387e-02 -2.31185408e-02 6.43844311e+02] [ 4.04271849e-02 9.99182442e-01 -3.01171677e-04 7.35057714e+00] [ 2.31118144e-02 -6.33772569e-04 9.99732685e-01 4.40250778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2392541539999 meters 0.01693171287867002 Centerline is valid? [True, True] Translation: X:643.87, Y:7.36, Z:4.40 [[ 9.99066342e-01 -3.69997484e-02 -2.23038683e-02 6.43874193e+02] [ 3.70024517e-02 9.99315132e-01 -2.91622619e-04 7.35506488e+00] [ 2.22993831e-02 -5.33947467e-04 9.99751195e-01 4.40408374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2692541539999 meters 0.017027608217149735 Centerline is valid? [True, True] Translation: X:643.90, Y:7.36, Z:4.40 [[ 9.99104826e-01 -3.59330168e-02 -2.23241073e-02 6.43902728e+02] [ 3.59354306e-02 9.99354071e-01 -2.93160370e-04 7.35648035e+00] [ 2.23202216e-02 -5.09328466e-04 9.99750743e-01 4.40419537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2992541539999 meters 0.016870165715061863 Centerline is valid? [True, True] Translation: X:643.93, Y:7.36, Z:4.40 [[ 9.99150143e-01 -3.49103972e-02 -2.19147634e-02 6.43931956e+02] [ 3.49124572e-02 9.99390333e-01 -2.88706613e-04 7.35750996e+00] [ 2.19114815e-02 -4.76636983e-04 9.99759801e-01 4.40420631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.329254154 meters 0.017632712063933645 Centerline is valid? [True, True] Translation: X:643.96, Y:7.36, Z:4.40 [[ 9.99158653e-01 -3.44235559e-02 -2.22936145e-02 6.43960772e+02] [ 3.44255423e-02 9.99407222e-01 -2.94790594e-04 7.35634770e+00] [ 2.22905471e-02 -4.72927195e-04 9.99751423e-01 4.40303227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3592541539999 meters 0.016614882146643403 Centerline is valid? [True, True] Translation: X:643.99, Y:7.36, Z:4.40 [[ 9.99202751e-01 -3.36964658e-02 -2.14105157e-02 6.43989303e+02] [ 3.36980440e-02 9.99432018e-01 -2.87174529e-04 7.35947418e+00] [ 2.14080317e-02 -4.34546919e-04 9.99770727e-01 4.40498626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3892541539999 meters 0.016494420376741262 Centerline is valid? [True, True] Translation: X:644.02, Y:7.36, Z:4.41 [[ 9.99196552e-01 -3.37523763e-02 -2.16108340e-02 6.44018904e+02] [ 3.37539470e-02 9.99430130e-01 -2.92185907e-04 7.36026487e+00] [ 2.16083806e-02 -4.37499795e-04 9.99766416e-01 4.40530444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4192541539999 meters 0.017363971314340105 Centerline is valid? [True, True] Translation: X:644.05, Y:7.36, Z:4.40 [[ 9.99179762e-01 -3.40276085e-02 -2.19528034e-02 6.44047669e+02] [ 3.40292721e-02 9.99420792e-01 -2.97887067e-04 7.35869968e+00] [ 2.19502245e-02 -4.49395190e-04 9.99758964e-01 4.40406664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.449254154 meters 0.01675832840116989 Centerline is valid? [True, True] Translation: X:644.08, Y:7.36, Z:4.41 [[ 9.99121042e-01 -3.54279985e-02 -2.24053659e-02 6.44076012e+02] [ 3.54299854e-02 9.99372113e-01 -3.08399725e-04 7.36066072e+00] [ 2.24022239e-02 -4.85693134e-04 9.99748921e-01 4.40567442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4792541539999 meters 0.017199661236949295 Centerline is valid? [True, True] Translation: X:644.10, Y:7.36, Z:4.41 [[ 9.99078237e-01 -3.64688524e-02 -2.26428627e-02 6.44104577e+02] [ 3.64710817e-02 9.99334659e-01 -3.14631737e-04 7.36010028e+00] [ 2.26392717e-02 -5.11467973e-04 9.99743568e-01 4.40535702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5092541539999 meters 0.017860015524135183 Centerline is valid? [True, True] Translation: X:644.13, Y:7.36, Z:4.40 [[ 9.98904324e-01 -4.02353604e-02 -2.39011834e-02 6.44133686e+02] [ 4.02388775e-02 9.99190033e-01 -3.33973986e-04 7.35802247e+00] [ 2.38952618e-02 -6.28148731e-04 9.99714270e-01 4.40479638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5392541539999 meters 0.01903849830912318 Centerline is valid? [True, True] Translation: X:644.16, Y:7.36, Z:4.40 [[ 9.98789884e-01 -4.29568430e-02 -2.39473724e-02 6.44162760e+02] [ 4.29611200e-02 9.99076688e-01 -3.36082739e-04 7.35543423e+00] [ 2.39396986e-02 -6.93129902e-04 9.99713164e-01 4.40402982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.569254154 meters 0.018994801754906636 Centerline is valid? [True, True] Translation: X:644.19, Y:7.36, Z:4.40 [[ 9.98661355e-01 -4.57542126e-02 -2.41257234e-02 6.44192763e+02] [ 4.57593446e-02 9.98952435e-01 -3.39597199e-04 7.35547638e+00] [ 2.41159882e-02 -7.64834694e-04 9.99708875e-01 4.40495583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5992541539999 meters 0.02013630978542957 Centerline is valid? [True, True] Translation: X:644.22, Y:7.35, Z:4.40 [[ 9.98524481e-01 -4.85712023e-02 -2.42837111e-02 6.44222824e+02] [ 4.85772198e-02 9.98819371e-01 -3.42394298e-04 7.35367644e+00] [ 2.42716715e-02 -8.37746082e-04 9.99705049e-01 4.40477197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6292541539999 meters 0.02264174736685922 Centerline is valid? [True, True] Translation: X:644.25, Y:7.35, Z:4.40 [[ 9.98264287e-01 -5.38557931e-02 -2.38320744e-02 6.44252343e+02] [ 5.38630816e-02 9.98548274e-01 -3.36457106e-04 7.34989234e+00] [ 2.38155969e-02 -9.47795855e-04 9.99715919e-01 4.40424719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6592541539999 meters 0.022890807641746322 Centerline is valid? [True, True] Translation: X:644.28, Y:7.35, Z:4.40 [[ 9.98147374e-01 -5.59096860e-02 -2.39984622e-02 6.44283287e+02] [ 5.59176736e-02 9.98435325e-01 -3.38621644e-04 7.35034305e+00] [ 2.39798447e-02 -1.00394387e-03 9.99711938e-01 4.40477317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.689254154 meters 0.02325990437847598 Centerline is valid? [True, True] Translation: X:644.31, Y:7.35, Z:4.41 [[ 9.98002178e-01 -5.87651247e-02 -2.32015615e-02 6.44314609e+02] [ 5.87733771e-02 9.98271298e-01 -3.26655687e-04 7.35148056e+00] [ 2.31806488e-02 -1.03763104e-03 9.99730754e-01 4.40599206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7192541539999 meters 0.023043106081688972 Centerline is valid? [True, True] Translation: X:644.35, Y:7.35, Z:4.41 [[ 9.97968308e-01 -5.97468885e-02 -2.21261266e-02 6.44346288e+02] [ 5.97546582e-02 9.98213046e-01 -3.10419469e-04 7.35311904e+00] [ 2.21051348e-02 -1.01235034e-03 9.99755139e-01 4.40693811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7492541539999 meters 0.024157327733998864 Centerline is valid? [True, True] Translation: X:644.38, Y:7.35, Z:4.41 [[ 9.97978694e-01 -5.99504566e-02 -2.10824143e-02 6.44377218e+02] [ 5.99575990e-02 9.98200882e-01 -2.93713016e-04 7.35266866e+00] [ 2.10620928e-02 -9.70931612e-04 9.99777698e-01 4.40758590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7792541539999 meters 0.02362182618398934 Centerline is valid? [True, True] Translation: X:644.41, Y:7.36, Z:4.41 [[ 9.98042782e-01 -5.95021128e-02 -1.92380660e-02 6.44409182e+02] [ 5.95080087e-02 9.98227793e-01 -2.66351171e-04 7.35590454e+00] [ 1.92198206e-02 -8.78989136e-04 9.99814896e-01 4.40943375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8092541539999 meters 0.023656211097386706 Centerline is valid? [True, True] Translation: X:644.44, Y:7.36, Z:4.41 [[ 9.98087438e-01 -5.89922077e-02 -1.84766075e-02 6.44441143e+02] [ 5.89975836e-02 9.98258093e-01 -2.54467444e-04 7.35762734e+00] [ 1.84594345e-02 -8.36094433e-04 9.99829261e-01 4.41067921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.839254154 meters 0.024744628705116612 Centerline is valid? [True, True] Translation: X:644.47, Y:7.36, Z:4.41 [[ 9.98134140e-01 -5.83816900e-02 -1.78834162e-02 6.44472745e+02] [ 5.83866478e-02 9.98294014e-01 -2.45204792e-04 7.35765379e+00] [ 1.78672228e-02 -7.99405450e-04 9.99840049e-01 4.41111703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8692541539999 meters 0.02415099130213135 Centerline is valid? [True, True] Translation: X:644.50, Y:7.36, Z:4.41 [[ 9.98189928e-01 -5.77816524e-02 -1.66777546e-02 6.44504708e+02] [ 5.77858982e-02 9.98328973e-01 -2.27614583e-04 7.36038685e+00] [ 1.66630376e-02 -7.36536444e-04 9.99860891e-01 4.41155323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8992541539999 meters 0.024451251060402926 Centerline is valid? [True, True] Translation: X:644.54, Y:7.36, Z:4.41 [[ 9.98203259e-01 -5.76441610e-02 -1.63524743e-02 6.44536898e+02] [ 5.76482435e-02 9.98336932e-01 -2.22006487e-04 7.36043168e+00] [ 1.63380764e-02 -7.21083820e-04 9.99866265e-01 4.41141314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9292541539999 meters 0.024941594315194677 Centerline is valid? [True, True] Translation: X:644.57, Y:7.36, Z:4.41 [[ 9.98190986e-01 -5.77371957e-02 -1.67681803e-02 6.44568773e+02] [ 5.77415218e-02 9.98331541e-01 -2.26437190e-04 7.36072223e+00] [ 1.67532771e-02 -7.42192688e-04 9.99859379e-01 4.41075854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.959254154 meters 0.025191436348797138 Centerline is valid? [True, True] Translation: X:644.60, Y:7.36, Z:4.41 [[ 9.98165967e-01 -5.79621892e-02 -1.74667398e-02 6.44601202e+02] [ 5.79669399e-02 9.98318476e-01 -2.34603762e-04 7.36163568e+00] [ 1.74509672e-02 -7.78319967e-04 9.99847417e-01 4.41019134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9892541539999 meters 0.025323447291928772 Centerline is valid? [True, True] Translation: X:644.63, Y:7.36, Z:4.41 [[ 9.98167207e-01 -5.78474111e-02 -1.77736991e-02 6.44633580e+02] [ 5.78523348e-02 9.98325123e-01 -2.37451461e-04 7.36217449e+00] [ 1.77576663e-02 -7.91233731e-04 9.99842007e-01 4.40948884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0192541539999 meters 0.02360059829960226 Centerline is valid? [True, True] Translation: X:644.67, Y:7.37, Z:4.41 [[ 9.98225803e-01 -5.65088730e-02 -1.87614910e-02 6.44666287e+02] [ 5.65141533e-02 9.98401767e-01 -2.49051376e-04 7.36514440e+00] [ 1.87455794e-02 -8.11680268e-04 9.99823957e-01 4.40858942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0492541539999 meters 0.024578207212966316 Centerline is valid? [True, True] Translation: X:644.70, Y:7.36, Z:4.41 [[ 9.98274970e-01 -5.54130224e-02 -1.94031161e-02 6.44697063e+02] [ 5.54184893e-02 9.98463182e-01 -2.56240466e-04 7.36467515e+00] [ 1.93874961e-02 -8.19492940e-04 9.99811709e-01 4.40792812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.079254154 meters 0.023230168857005833 Centerline is valid? [True, True] Translation: X:644.73, Y:7.37, Z:4.41 [[ 9.98417365e-01 -5.23070162e-02 -2.06576943e-02 6.44728404e+02] [ 5.23125679e-02 9.98630723e-01 -2.71918854e-04 7.36981697e+00] [ 2.06436314e-02 -8.09168529e-04 9.99786570e-01 4.40811364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1092541539999 meters 0.02141093333339684 Centerline is valid? [True, True] Translation: X:644.76, Y:7.37, Z:4.41 [[ 9.98523614e-01 -4.99315344e-02 -2.13877186e-02 6.44759952e+02] [ 4.99369581e-02 9.98752332e-01 -2.80744771e-04 7.37459945e+00] [ 2.13750518e-02 -7.87707324e-04 9.99771217e-01 4.40841281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1392541539999 meters 0.022007961583726508 Centerline is valid? [True, True] Translation: X:644.79, Y:7.38, Z:4.41 [[ 9.98635066e-01 -4.74182951e-02 -2.18977328e-02 6.44789932e+02] [ 4.74234097e-02 9.98874836e-01 -2.85961377e-04 7.37564983e+00] [ 2.18866541e-02 -7.52894097e-04 9.99760175e-01 4.40751816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1692541539999 meters 0.019636386902575013 Centerline is valid? [True, True] Translation: X:644.82, Y:7.38, Z:4.41 [[ 9.98904579e-01 -4.10231333e-02 -2.25110056e-02 6.44820409e+02] [ 4.10269290e-02 9.99157998e-01 -2.93390036e-04 7.38348728e+00] [ 2.25040871e-02 -6.30488779e-04 9.99746552e-01 4.40801046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.199254154 meters 0.019424769516705 Centerline is valid? [True, True] Translation: X:644.85, Y:7.39, Z:4.41 [[ 9.99050355e-01 -3.74019084e-02 -2.23491809e-02 6.44849701e+02] [ 3.74047381e-02 9.99300155e-01 -2.91551931e-04 7.38571937e+00] [ 2.23444445e-02 -5.44690197e-04 9.99750183e-01 4.40726842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2292541539999 meters 0.016975323642430512 Centerline is valid? [True, True] Translation: X:644.88, Y:7.39, Z:4.41 [[ 9.99213113e-01 -3.30766006e-02 -2.18882179e-02 6.44880182e+02] [ 3.30782749e-02 9.99452723e-01 -2.85657752e-04 7.39255816e+00] [ 2.18856876e-02 -4.38591517e-04 9.99760383e-01 4.41003759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2592541539999 meters 0.016975323642430512 Centerline is valid? [True, True] Translation: X:644.91, Y:7.39, Z:4.41 [[ 9.99211907e-01 -3.31130001e-02 -2.18882108e-02 6.44909340e+02] [ 3.31146712e-02 9.99451518e-01 -2.86202627e-04 7.39296847e+00] [ 2.18856825e-02 -4.38843830e-04 9.99760383e-01 4.41023966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2892541539999 meters 0.01568541848181982 Centerline is valid? [True, True] Translation: X:644.94, Y:7.40, Z:4.41 [[ 9.99508183e-01 -2.40733555e-02 -2.00963922e-02 6.44938432e+02] [ 2.40729228e-02 9.99710170e-01 -2.63480854e-04 7.40159993e+00] [ 2.00969105e-02 -2.20427628e-04 9.99798012e-01 4.41220195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.319254154 meters 0.015346859874898509 Centerline is valid? [True, True] Translation: X:644.97, Y:7.41, Z:4.41 [[ 9.99620567e-01 -1.96096661e-02 -1.93438171e-02 6.44966252e+02] [ 1.96084034e-02 9.99807704e-01 -2.54962099e-04 7.40599443e+00] [ 1.93450971e-02 -1.24436011e-04 9.99812858e-01 4.41349337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3492541539999 meters 0.01517463674295099 Centerline is valid? [True, True] Translation: X:645.00, Y:7.41, Z:4.41 [[ 9.99762440e-01 -1.20524687e-02 -1.81604574e-02 6.44995299e+02] [ 1.20500479e-02 9.99927366e-01 -2.42725438e-04 7.41310621e+00] [ 1.81620637e-02 2.38333962e-05 9.99835056e-01 4.41448753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3792541539999 meters 0.015419368546662024 Centerline is valid? [True, True] Translation: X:645.02, Y:7.42, Z:4.41 [[ 9.99790246e-01 -9.79573254e-03 -1.79863343e-02 6.45022904e+02] [ 9.79290568e-03 9.99952018e-01 -2.45239246e-04 7.41591575e+00] [ 1.79878735e-02 6.90493308e-05 9.99838203e-01 4.41487683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4092541539999 meters 0.015529833863119197 Centerline is valid? [True, True] Translation: X:645.05, Y:7.42, Z:4.41 [[ 9.99807959e-01 -8.45567804e-03 -1.76789624e-02 6.45051112e+02] [ 8.45268658e-03 9.99964246e-01 -2.43927960e-04 7.41798930e+00] [ 1.76803928e-02 9.44463876e-05 9.99843685e-01 4.41473890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.439254154 meters 0.015295172530048914 Centerline is valid? [True, True] Translation: X:645.08, Y:7.42, Z:4.42 [[ 9.99794728e-01 -9.48706825e-03 -1.79024356e-02 6.45078636e+02] [ 9.48409796e-03 9.99954993e-01 -2.50811123e-04 7.41776845e+00] [ 1.79040093e-02 8.09711856e-05 9.99839707e-01 4.41532507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4692541539999 meters 0.015102038709753003 Centerline is valid? [True, True] Translation: X:645.11, Y:7.42, Z:4.42 [[ 9.99770750e-01 -1.16773068e-02 -1.79468322e-02 6.45106228e+02] [ 1.16745804e-02 9.99931817e-01 -2.56680715e-04 7.41648793e+00] [ 1.79486059e-02 4.71001362e-05 9.99838910e-01 4.41535199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4992541539999 meters 0.014874895623782048 Centerline is valid? [True, True] Translation: X:645.13, Y:7.41, Z:4.42 [[ 9.99733823e-01 -1.46944668e-02 -1.77863655e-02 6.45134375e+02] [ 1.46922131e-02 9.99892030e-01 -2.57384596e-04 7.41441005e+00] [ 1.77882272e-02 -4.00498466e-06 9.99841777e-01 4.41514535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5292541539999 meters 0.01523626416077915 Centerline is valid? [True, True] Translation: X:645.16, Y:7.41, Z:4.41 [[ 9.99589708e-01 -2.27631290e-02 -1.73855249e-02 6.45163561e+02] [ 2.27621720e-02 9.99740876e-01 -2.52946395e-04 7.40852642e+00] [ 1.73867777e-02 -1.42889695e-04 9.99848828e-01 4.41493308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5592541539999 meters 0.015497855551650834 Centerline is valid? [True, True] Translation: X:645.19, Y:7.41, Z:4.42 [[ 9.99464539e-01 -2.74498296e-02 -1.78084853e-02 6.45192379e+02] [ 2.74495108e-02 9.99623157e-01 -2.62383502e-04 7.40596429e+00] [ 1.78089767e-02 -2.26591205e-04 9.99841382e-01 4.41533083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.589254154 meters 0.018460285965971664 Centerline is valid? [True, True] Translation: X:645.22, Y:7.40, Z:4.41 [[ 9.99166880e-01 -3.63328170e-02 -1.85869116e-02 6.45222229e+02] [ 3.63339675e-02 9.99339665e-01 -2.75907856e-04 7.39750541e+00] [ 1.85846626e-02 -3.99658251e-04 9.99827210e-01 4.41314712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6192541539999 meters 0.018389879164010872 Centerline is valid? [True, True] Translation: X:645.25, Y:7.40, Z:4.41 [[ 9.99002328e-01 -4.03224536e-02 -1.91950254e-02 6.45253083e+02] [ 4.03244182e-02 9.99186599e-01 -2.84844221e-04 7.39736386e+00] [ 1.91908977e-02 -4.89468192e-04 9.99815718e-01 4.41415207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6492541539999 meters 0.01953240716721668 Centerline is valid? [True, True] Translation: X:645.28, Y:7.39, Z:4.41 [[ 9.98853993e-01 -4.38321911e-02 -1.92208034e-02 6.45284107e+02] [ 4.38348168e-02 9.99038752e-01 -2.84883049e-04 7.39460641e+00] [ 1.92148144e-02 -5.57983822e-04 9.99815223e-01 4.41372036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6792541539999 meters 0.020731987092151176 Centerline is valid? [True, True] Translation: X:645.31, Y:7.39, Z:4.41 [[ 9.98710061e-01 -4.68345080e-02 -1.96148832e-02 6.45314723e+02] [ 4.68378278e-02 9.98902464e-01 -2.90372810e-04 7.39183115e+00] [ 1.96069546e-02 -6.28720275e-04 9.99807568e-01 4.41302975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.709254154 meters 0.022466385724805273 Centerline is valid? [True, True] Translation: X:645.35, Y:7.39, Z:4.41 [[ 9.98466826e-01 -5.15723020e-02 -2.01071124e-02 6.45346335e+02] [ 5.15767616e-02 9.98668989e-01 -2.97068617e-04 7.38807939e+00] [ 2.00956702e-02 -7.40446587e-04 9.99797787e-01 4.41211001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7392541539999 meters 0.023391583475622674 Centerline is valid? [True, True] Translation: X:645.38, Y:7.39, Z:4.41 [[ 9.98386066e-01 -5.31017474e-02 -2.01362131e-02 6.45378483e+02] [ 5.31065543e-02 9.98588807e-01 -2.96321869e-04 7.38720287e+00] [ 2.01235323e-02 -7.73521270e-04 9.99797202e-01 4.41229504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7692541539999 meters 0.02459036687438621 Centerline is valid? [True, True] Translation: X:645.41, Y:7.39, Z:4.41 [[ 9.98287050e-01 -5.52459739e-02 -1.92573981e-02 6.45410394e+02] [ 5.52507940e-02 9.98472468e-01 -2.82059014e-04 7.38587372e+00] [ 1.92435644e-02 -7.82410672e-04 9.99814519e-01 4.41280747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7992541539999 meters 0.025230338096332537 Centerline is valid? [True, True] Translation: X:645.44, Y:7.39, Z:4.41 [[ 9.98238349e-01 -5.62939553e-02 -1.87400351e-02 6.45443004e+02] [ 5.62987284e-02 9.98413931e-01 -2.73185007e-04 7.38573997e+00] [ 1.87256908e-02 -7.82336398e-04 9.99824353e-01 4.41325504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.829254154 meters 0.027381048878028183 Centerline is valid? [True, True] Translation: X:645.47, Y:7.38, Z:4.41 [[ 9.98134839e-01 -5.85126206e-02 -1.74102619e-02 6.45473643e+02] [ 5.85170912e-02 9.98286375e-01 -2.52986487e-04 7.38405393e+00] [ 1.73952301e-02 -7.66283254e-04 9.99848398e-01 4.41427315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8592541539999 meters 0.027821146143847817 Centerline is valid? [True, True] Translation: X:645.51, Y:7.38, Z:4.41 [[ 9.98086650e-01 -5.95593582e-02 -1.66048666e-02 6.45505976e+02] [ 5.95635840e-02 9.98224485e-01 -2.40391792e-04 7.38368631e+00] [ 1.65897020e-02 -7.49113528e-04 9.99862101e-01 4.41475050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8892541539999 meters 0.028824596668426836 Centerline is valid? [True, True] Translation: X:645.54, Y:7.38, Z:4.41 [[ 9.98027673e-01 -6.07411007e-02 -1.58519012e-02 6.45538219e+02] [ 6.07451173e-02 9.98153284e-01 -2.28432102e-04 7.38220658e+00] [ 1.58365025e-02 -7.34944041e-04 9.99874325e-01 4.41492390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9192541539999 meters 0.025411736586121374 Centerline is valid? [True, True] Translation: X:645.57, Y:7.39, Z:4.42 [[ 9.97975389e-01 -6.17695580e-02 -1.51540090e-02 6.45570415e+02] [ 6.17733628e-02 9.98090178e-01 -2.17327543e-04 7.38735397e+00] [ 1.51384918e-02 -7.19226557e-04 9.99885148e-01 4.41616768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.949254154 meters 0.027499338887019477 Centerline is valid? [True, True] Translation: X:645.60, Y:7.39, Z:4.42 [[ 9.97834504e-01 -6.40455217e-02 -1.49824634e-02 6.45601163e+02] [ 6.40495085e-02 9.97946699e-01 -2.14078329e-04 7.38527547e+00] [ 1.49654107e-02 -7.46004674e-04 9.99887734e-01 4.41570986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9792541539999 meters 0.028061776693987503 Centerline is valid? [True, True] Translation: X:645.63, Y:7.39, Z:4.42 [[ 9.97756383e-01 -6.51600721e-02 -1.53741491e-02 6.45632969e+02] [ 6.51644130e-02 9.97874517e-01 -2.18965917e-04 7.38539766e+00] [ 1.53557394e-02 -7.83372759e-04 9.99881787e-01 4.41561592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0092541539999 meters 0.034605109577654745 Centerline is valid? [True, True] Translation: X:645.66, Y:7.38, Z:4.41 [[ 9.97636253e-01 -6.69157957e-02 -1.56263381e-02 6.45664322e+02] [ 6.69205080e-02 9.97758286e-01 -2.21719883e-04 7.37728670e+00] [ 1.56061449e-02 -8.24526694e-04 9.99877877e-01 4.41371294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0392541539999 meters 0.02792810088106689 Centerline is valid? [True, True] Translation: X:645.70, Y:7.39, Z:4.41 [[ 9.97586131e-01 -6.75347984e-02 -1.61543007e-02 6.45696395e+02] [ 6.75399325e-02 9.97716546e-01 -2.28160280e-04 7.38675770e+00] [ 1.61328218e-02 -8.63450847e-04 9.99869485e-01 4.41477816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.069254154 meters 0.02854253318568419 Centerline is valid? [True, True] Translation: X:645.73, Y:7.39, Z:4.41 [[ 9.97525518e-01 -6.83133819e-02 -1.66169727e-02 6.45728579e+02] [ 6.83189423e-02 9.97663504e-01 -2.33475996e-04 7.38630849e+00] [ 1.65940968e-02 -9.02355737e-04 9.99861901e-01 4.41381578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0992541539999 meters 0.02959689615259748 Centerline is valid? [True, True] Translation: X:645.76, Y:7.39, Z:4.41 [[ 9.97433286e-01 -6.91410630e-02 -1.86105519e-02 6.45759309e+02] [ 6.91482194e-02 9.97606363e-01 -2.59460738e-04 7.38597639e+00] [ 1.85839444e-02 -1.02809175e-03 9.99826775e-01 4.41236615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1292541539999 meters 0.029817293699680728 Centerline is valid? [True, True] Translation: X:645.79, Y:7.39, Z:4.41 [[ 9.97409938e-01 -6.92487729e-02 -1.94428175e-02 6.45791492e+02] [ 6.92566393e-02 9.97598840e-01 -2.69261225e-04 7.38698894e+00] [ 1.94147782e-02 -1.07798037e-03 9.99810934e-01 4.41188536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1592541539999 meters 0.030106164309762536 Centerline is valid? [True, True] Translation: X:645.82, Y:7.39, Z:4.41 [[ 9.97404682e-01 -6.91355163e-02 -2.01042668e-02 6.45823707e+02] [ 6.91439335e-02 9.97606656e-01 -2.76971940e-04 7.38816247e+00] [ 2.00752990e-02 -1.11383498e-03 9.99797850e-01 4.41142060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.189254154 meters 0.02931466498423285 Centerline is valid? [True, True] Translation: X:645.86, Y:7.39, Z:4.41 [[ 9.97389639e-01 -6.89542249e-02 -2.14294804e-02 6.45855706e+02] [ 6.89637805e-02 9.97619121e-01 -2.93661508e-04 7.39218707e+00] [ 2.13987086e-02 -1.18496304e-03 9.99770319e-01 4.41151869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2192541539999 meters 0.03000062047431614 Centerline is valid? [True, True] Translation: X:645.89, Y:7.39, Z:4.41 [[ 9.97413521e-01 -6.86060991e-02 -2.14352984e-02 6.45886555e+02] [ 6.86156072e-02 9.97643129e-01 -2.92465326e-04 7.39306529e+00] [ 2.14048430e-02 -1.17908714e-03 9.99770195e-01 4.41157983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2492541539999 meters 0.029312693989633452 Centerline is valid? [True, True] Translation: X:645.92, Y:7.40, Z:4.41 [[ 9.97532247e-01 -6.70552007e-02 -2.08090339e-02 6.45917943e+02] [ 6.70638424e-02 9.97748646e-01 -2.83063784e-04 7.39730997e+00] [ 2.07811663e-02 -1.11316852e-03 9.99783429e-01 4.41284090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2792541539999 meters 0.028187634424400167 Centerline is valid? [True, True] Translation: X:645.95, Y:7.40, Z:4.41 [[ 9.97609946e-01 -6.61957402e-02 -1.98120831e-02 6.45949945e+02] [ 6.62034274e-02 9.97806111e-01 -2.68340044e-04 7.40063533e+00] [ 1.97863805e-02 -1.04392911e-03 9.99803685e-01 4.41417417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3092541539999 meters 0.027071643502682267 Centerline is valid? [True, True] Translation: X:645.98, Y:7.41, Z:4.42 [[ 9.97800894e-01 -6.39947670e-02 -1.72640083e-02 6.45981653e+02] [ 6.40002921e-02 9.97949853e-01 -2.32833733e-04 7.40515550e+00] [ 1.72435147e-02 -8.72579870e-04 9.99850939e-01 4.41706154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.339254154 meters 0.02925504860601617 Centerline is valid? [True, True] Translation: X:646.01, Y:7.40, Z:4.42 [[ 9.97871367e-01 -6.31053415e-02 -1.64453976e-02 6.46013002e+02] [ 6.31102487e-02 9.98006537e-01 -2.20923441e-04 7.40341707e+00] [ 1.64265558e-02 -8.17419958e-04 9.99864741e-01 4.41764428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3692541539999 meters 0.025300460579554 Centerline is valid? [True, True] Translation: X:646.04, Y:7.41, Z:4.42 [[ 9.97923651e-01 -6.24414261e-02 -1.57941254e-02 6.46044679e+02] [ 6.24458853e-02 9.98048329e-01 -2.11162613e-04 7.41026230e+00] [ 1.57764858e-02 -7.75553976e-04 9.99875243e-01 4.41950209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3992541539999 meters 0.026896442712921565 Centerline is valid? [True, True] Translation: X:646.08, Y:7.41, Z:4.42 [[ 9.97974283e-01 -6.18803133e-02 -1.47701283e-02 6.46075486e+02] [ 6.18841650e-02 9.98083319e-01 -1.96562338e-04 7.40842670e+00] [ 1.47539821e-02 -7.17872901e-04 9.99890896e-01 4.41948886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4292541539999 meters 0.026987915688113435 Centerline is valid? [True, True] Translation: X:646.11, Y:7.41, Z:4.42 [[ 9.98019468e-01 -6.10531313e-02 -1.51544480e-02 6.46108232e+02] [ 6.10571079e-02 9.98134254e-01 -2.00556248e-04 7.40916267e+00] [ 1.51384182e-02 -7.25127725e-04 9.99885145e-01 4.41903311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.459254154 meters 0.026398181219624305 Centerline is valid? [True, True] Translation: X:646.14, Y:7.41, Z:4.42 [[ 9.97978289e-01 -6.12119469e-02 -1.71006789e-02 6.46140790e+02] [ 6.12170584e-02 9.98124452e-01 -2.24889945e-04 7.41090606e+00] [ 1.70823717e-02 -8.22417976e-04 9.99853747e-01 4.41819036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4892541539999 meters 0.026938811632722715 Centerline is valid? [True, True] Translation: X:646.17, Y:7.41, Z:4.42 [[ 9.97915041e-01 -6.19268539e-02 -1.81834069e-02 6.46172723e+02] [ 6.19327760e-02 9.98080295e-01 -2.37795519e-04 7.41058109e+00] [ 1.81632260e-02 -8.88849138e-04 9.99834640e-01 4.41734522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5192541539999 meters 0.027758702330143693 Centerline is valid? [True, True] Translation: X:646.20, Y:7.41, Z:4.42 [[ 9.97849325e-01 -6.27919070e-02 -1.88122750e-02 6.46203567e+02] [ 6.27984208e-02 9.98026201e-01 -2.44873271e-04 7.40967834e+00] [ 1.87905194e-02 -9.37034532e-04 9.99823004e-01 4.41677718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5492541539999 meters 0.028682290138115723 Centerline is valid? [True, True] Translation: X:646.24, Y:7.41, Z:4.42 [[ 9.97748221e-01 -6.40763701e-02 -1.98168248e-02 6.46235310e+02] [ 6.40838723e-02 9.97944483e-01 -2.56876277e-04 7.40902043e+00] [ 1.97925507e-02 -1.01364102e-03 9.99803594e-01 4.41671988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.579254154 meters 0.030825640071976742 Centerline is valid? [True, True] Translation: X:646.27, Y:7.41, Z:4.42 [[ 9.97567050e-01 -6.64940044e-02 -2.09410740e-02 6.46265835e+02] [ 6.65029349e-02 9.97786193e-01 -2.70418021e-04 7.40665233e+00] [ 2.09126957e-02 -1.12288278e-03 9.99780675e-01 4.41611209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6092541539999 meters 0.031103267416815343 Centerline is valid? [True, True] Translation: X:646.30, Y:7.41, Z:4.42 [[ 9.97509410e-01 -6.72213945e-02 -2.13602586e-02 6.46297564e+02] [ 6.72308757e-02 9.97737407e-01 -2.74750525e-04 7.40646708e+00] [ 2.13303981e-02 -1.16200265e-03 9.99771806e-01 4.41608277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6392541539999 meters 0.032156330569785424 Centerline is valid? [True, True] Translation: X:646.33, Y:7.41, Z:4.42 [[ 9.97513893e-01 -6.72338027e-02 -2.11104042e-02 6.46329808e+02] [ 6.72430996e-02 9.97736585e-01 -2.69942830e-04 7.40612322e+00] [ 2.10807718e-02 -1.15025729e-03 9.99777114e-01 4.41660406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6692541539999 meters 0.03269971180239463 Centerline is valid? [True, True] Translation: X:646.36, Y:7.41, Z:4.42 [[ 9.97575430e-01 -6.63201700e-02 -2.10925502e-02 6.46360660e+02] [ 6.63292756e-02 9.97797753e-01 -2.68382513e-04 7.40681403e+00] [ 2.10638983e-02 -1.13132177e-03 9.99777491e-01 4.41699787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.699254154 meters 0.03186762778840518 Centerline is valid? [True, True] Translation: X:646.39, Y:7.41, Z:4.42 [[ 9.97667980e-01 -6.49840191e-02 -2.08729445e-02 6.46393184e+02] [ 6.49926766e-02 9.97885706e-01 -2.64045073e-04 7.40984476e+00] [ 2.08459716e-02 -1.09315921e-03 9.99782101e-01 4.41806618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7292541539999 meters 0.030124780128866494 Centerline is valid? [True, True] Translation: X:646.42, Y:7.42, Z:4.42 [[ 9.97949338e-01 -6.07820225e-02 -2.00664977e-02 6.46424193e+02] [ 6.07891938e-02 9.98150595e-01 -2.52968768e-04 7.41646901e+00] [ 2.00447626e-02 -9.67376206e-04 9.99798616e-01 4.42036047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7592541539999 meters 0.029000287732663697 Centerline is valid? [True, True] Translation: X:646.46, Y:7.42, Z:4.42 [[ 9.98094802e-01 -5.83957739e-02 -1.99173448e-02 6.46455336e+02] [ 5.84023768e-02 9.98293093e-01 -2.50487252e-04 7.41982034e+00] [ 1.98979752e-02 -9.13210254e-04 9.99801599e-01 4.42120868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7892541539999 meters 0.027601999580542307 Centerline is valid? [True, True] Translation: X:646.49, Y:7.42, Z:4.42 [[ 9.98232137e-01 -5.60294454e-02 -1.98318454e-02 6.46486361e+02] [ 5.60355390e-02 9.98428744e-01 -2.48738035e-04 7.42309114e+00] [ 1.98146211e-02 -8.62989845e-04 9.99803299e-01 4.42154850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.819254154 meters 0.023720909875621636 Centerline is valid? [True, True] Translation: X:646.52, Y:7.43, Z:4.42 [[ 9.98334372e-01 -5.40830887e-02 -2.00873156e-02 6.46518255e+02] [ 5.40889709e-02 9.98536089e-01 -2.50757282e-04 7.42995187e+00] [ 2.00714713e-02 -8.36162614e-04 9.99798198e-01 4.42304804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8492541539999 meters 0.026358284606943 Centerline is valid? [True, True] Translation: X:646.55, Y:7.43, Z:4.42 [[ 9.98465247e-01 -5.14325972e-02 -2.05386912e-02 6.46548917e+02] [ 5.14382024e-02 9.98676147e-01 -2.55641120e-04 7.42796363e+00] [ 2.05246493e-02 -8.01224580e-04 9.99789026e-01 4.42144741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8792541539999 meters 0.024056931916830632 Centerline is valid? [True, True] Translation: X:646.58, Y:7.43, Z:4.42 [[ 9.98496795e-01 -5.04464520e-02 -2.14314378e-02 6.46581073e+02] [ 5.04523528e-02 9.98726434e-01 -2.65618084e-04 7.43266610e+00] [ 2.14175430e-02 -8.16047658e-04 9.99770285e-01 4.42245708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9092541539999 meters 0.023384399407489546 Centerline is valid? [True, True] Translation: X:646.61, Y:7.44, Z:4.42 [[ 9.98528545e-01 -4.91725545e-02 -2.28649249e-02 6.46613137e+02] [ 4.91789750e-02 9.98789942e-01 -2.81761635e-04 7.43523560e+00] [ 2.28511119e-02 -8.43126534e-04 9.99738524e-01 4.42157360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.939254154 meters 0.02292110641699297 Centerline is valid? [True, True] Translation: X:646.65, Y:7.44, Z:4.42 [[ 9.98511091e-01 -4.90786184e-02 -2.38094511e-02 6.46645717e+02] [ 4.90855943e-02 9.98794533e-01 -2.91708033e-04 7.43674000e+00] [ 2.37950663e-02 -8.77427353e-04 9.99716472e-01 4.42164917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9692541539999 meters 0.02291365159757375 Centerline is valid? [True, True] Translation: X:646.68, Y:7.44, Z:4.42 [[ 9.98490724e-01 -4.90664181e-02 -2.46730936e-02 6.46677421e+02] [ 4.90739337e-02 9.98795103e-01 -3.01158157e-04 7.43759002e+00] [ 2.46581418e-02 -9.10102136e-04 9.99695528e-01 4.42164093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9992541539999 meters 0.02425131648969562 Centerline is valid? [True, True] Translation: X:646.71, Y:7.44, Z:4.42 [[ 9.98514588e-01 -4.84897699e-02 -2.48467196e-02 6.46707997e+02] [ 4.84972477e-02 9.98823271e-01 -3.01901019e-04 7.43709043e+00] [ 2.48321209e-02 -9.03544943e-04 9.99691227e-01 4.42153664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0292541539999 meters 0.023032474695720354 Centerline is valid? [True, True] Translation: X:646.74, Y:7.44, Z:4.42 [[ 9.98542998e-01 -4.77786910e-02 -2.50814346e-02 6.46739788e+02] [ 4.77861216e-02 9.98857545e-01 -3.03366734e-04 7.43992835e+00] [ 2.50672747e-02 -8.95619758e-04 9.99685365e-01 4.42311717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0592541539999 meters 0.0226712658143911 Centerline is valid? [True, True] Translation: X:646.77, Y:7.44, Z:4.42 [[ 9.98579991e-01 -4.69858012e-02 -2.51064855e-02 6.46770998e+02] [ 4.69930213e-02 9.98895172e-01 -3.02676727e-04 7.44116358e+00] [ 2.50929686e-02 -8.77582684e-04 9.99684737e-01 4.42410656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.089254154 meters 0.022398166200427182 Centerline is valid? [True, True] Translation: X:646.80, Y:7.44, Z:4.42 [[ 9.98726328e-01 -4.42251839e-02 -2.42869322e-02 6.46801314e+02] [ 4.42311378e-02 9.99021282e-01 -2.92259725e-04 7.44167346e+00] [ 2.42760874e-02 -7.82351161e-04 9.99704986e-01 4.42482198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1192541539999 meters 0.01983230278500728 Centerline is valid? [True, True] Translation: X:646.83, Y:7.45, Z:4.43 [[ 9.98795491e-01 -4.26290480e-02 -2.42967255e-02 6.46832821e+02] [ 4.26345531e-02 9.99090691e-01 -2.91629429e-04 7.44619888e+00] [ 2.42870641e-02 -7.44601874e-04 9.99704748e-01 4.42738573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1492541539999 meters 0.01983230278500728 Centerline is valid? [True, True] Translation: X:646.86, Y:7.45, Z:4.43 [[ 9.98797026e-01 -4.25930734e-02 -2.42967360e-02 6.46863686e+02] [ 4.25985892e-02 9.99092226e-01 -2.90754013e-04 7.44653854e+00] [ 2.42870641e-02 -7.44602429e-04 9.99704748e-01 4.42759953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1792541539999 meters 0.021740875412901137 Centerline is valid? [True, True] Translation: X:646.89, Y:7.44, Z:4.43 [[ 9.98861518e-01 -4.12274369e-02 -2.39992891e-02 6.46893720e+02] [ 4.12324377e-02 9.99149540e-01 -2.86643012e-04 7.44362161e+00] [ 2.39906962e-02 -7.03232520e-04 9.99711934e-01 4.42637911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.209254154 meters 0.018876206450588875 Centerline is valid? [True, True] Translation: X:646.93, Y:7.45, Z:4.43 [[ 9.98984669e-01 -3.84031808e-02 -2.35547497e-02 6.46925185e+02] [ 3.84072305e-02 9.99262131e-01 -2.80614420e-04 7.45003894e+00] [ 2.35481459e-02 -6.24343198e-04 9.99722509e-01 4.43043773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2392541539999 meters 0.020536328253178786 Centerline is valid? [True, True] Translation: X:646.95, Y:7.45, Z:4.43 [[ 9.99029356e-01 -3.71304820e-02 -2.36996614e-02 6.46954738e+02] [ 3.71342228e-02 9.99310247e-01 -2.82386947e-04 7.44814810e+00] [ 2.36937996e-02 -5.97955657e-04 9.99719084e-01 4.42865673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2692541539999 meters 0.01781270053012545 Centerline is valid? [True, True] Translation: X:646.99, Y:7.45, Z:4.43 [[ 9.99062190e-01 -3.58121982e-02 -2.43357233e-02 6.46985412e+02] [ 3.58157488e-02 9.99358368e-01 -2.90091602e-04 7.45342241e+00] [ 2.43304976e-02 -5.81782602e-04 9.99703800e-01 4.43184163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2992541539999 meters 0.017729847850873816 Centerline is valid? [True, True] Translation: X:647.02, Y:7.45, Z:4.43 [[ 9.99097027e-01 -3.38508214e-02 -2.56759301e-02 6.47015041e+02] [ 3.38541182e-02 9.99426738e-01 -3.06402064e-04 7.45366787e+00] [ 2.56715830e-02 -5.63110582e-04 9.99670272e-01 4.43081245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.329254154 meters 0.017545795479860227 Centerline is valid? [True, True] Translation: X:647.04, Y:7.45, Z:4.43 [[ 9.99078743e-01 -3.36895168e-02 -2.65834754e-02 6.47043874e+02] [ 3.36928615e-02 9.99432182e-01 -3.22217314e-04 7.45405771e+00] [ 2.65792362e-02 -5.73752885e-04 9.99646545e-01 4.43044192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3592541539999 meters 0.01769551813521351 Centerline is valid? [True, True] Translation: X:647.07, Y:7.45, Z:4.43 [[ 9.99015612e-01 -3.34830877e-02 -2.90979371e-02 6.47072129e+02] [ 3.34868972e-02 9.99439093e-01 -3.56511259e-04 7.45374398e+00] [ 2.90935530e-02 -6.18239314e-04 9.99576502e-01 4.42915991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3892541539999 meters 0.01784149190776121 Centerline is valid? [True, True] Translation: X:647.10, Y:7.45, Z:4.43 [[ 9.98972516e-01 -3.38831871e-02 -3.00972061e-02 6.47100768e+02] [ 3.38872552e-02 9.99425592e-01 -3.75044113e-04 7.45371710e+00] [ 3.00926257e-02 -6.45252943e-04 9.99546906e-01 4.42914612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4192541539999 meters 0.017944885883089335 Centerline is valid? [True, True] Translation: X:647.13, Y:7.45, Z:4.43 [[ 9.98924942e-01 -3.44641025e-02 -3.10029871e-02 6.47129874e+02] [ 3.44684622e-02 9.99405708e-01 -3.93968520e-04 7.45389066e+00] [ 3.09981401e-02 -6.75080310e-04 9.99519214e-01 4.42956064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.449254154 meters 0.018543926471786397 Centerline is valid? [True, True] Translation: X:647.16, Y:7.45, Z:4.43 [[ 9.98869974e-01 -3.57417634e-02 -3.13257236e-02 6.47157782e+02] [ 3.57467223e-02 9.99360801e-01 -4.01896385e-04 7.45193528e+00] [ 3.13200647e-02 -7.18349708e-04 9.99509148e-01 4.42972599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4792541539999 meters 0.01856408757789769 Centerline is valid? [True, True] Translation: X:647.19, Y:7.45, Z:4.43 [[ 9.98801834e-01 -3.69570905e-02 -3.20791066e-02 6.47186856e+02] [ 3.69627010e-02 9.99316558e-01 -4.18307806e-04 7.45177198e+00] [ 3.20726418e-02 -7.67923821e-04 9.99485245e-01 4.43092204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5092541539999 meters 0.01903648225179249 Centerline is valid? [True, True] Translation: X:647.22, Y:7.45, Z:4.43 [[ 9.98706101e-01 -3.96572517e-02 -3.18343601e-02 6.47215260e+02] [ 3.96638999e-02 9.99212988e-01 -4.22883918e-04 7.45013987e+00] [ 3.18260765e-02 -8.40338123e-04 9.99493069e-01 4.43310665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5392541539999 meters 0.01911094086508203 Centerline is valid? [True, True] Translation: X:647.24, Y:7.45, Z:4.43 [[ 9.98697756e-01 -4.08772233e-02 -3.05261201e-02 6.47243021e+02] [ 4.08836530e-02 9.99163828e-01 -4.13755228e-04 7.44929260e+00] [ 3.05175082e-02 -8.34802884e-04 9.99533884e-01 4.43445418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.569254154 meters 0.020207287143507443 Centerline is valid? [True, True] Translation: X:647.27, Y:7.45, Z:4.44 [[ 9.98678246e-01 -4.20843755e-02 -2.95070672e-02 6.47270685e+02] [ 4.20907956e-02 9.99113708e-01 -4.03787065e-04 7.44670754e+00] [ 2.94979085e-02 -8.38722575e-04 9.99564490e-01 4.43504914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5992541539999 meters 0.021354623892842022 Centerline is valid? [True, True] Translation: X:647.30, Y:7.44, Z:4.44 [[ 9.98641663e-01 -4.42017172e-02 -2.75869111e-02 6.47299249e+02] [ 4.42080905e-02 9.99022273e-01 -3.79126575e-04 7.44322171e+00] [ 2.75766967e-02 -8.40953070e-04 9.99619337e-01 4.43725584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6292541539999 meters 0.01881666417149988 Centerline is valid? [True, True] Translation: X:647.33, Y:7.45, Z:4.44 [[ 9.98608056e-01 -4.51892496e-02 -2.72007741e-02 6.47330671e+02] [ 4.51958222e-02 9.98978077e-01 -3.73427072e-04 7.44692869e+00] [ 2.71898519e-02 -8.56454069e-04 9.99629921e-01 4.44133169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6592541539999 meters 0.019469657739688617 Centerline is valid? [True, True] Translation: X:647.36, Y:7.45, Z:4.44 [[ 9.98555486e-01 -4.61788046e-02 -2.74674325e-02 6.47360733e+02] [ 4.61858979e-02 9.98932791e-01 -3.76459801e-04 7.44538425e+00] [ 2.74555035e-02 -8.92692035e-04 9.99622628e-01 4.44151961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.689254154 meters 0.020365171972289577 Centerline is valid? [True, True] Translation: X:647.39, Y:7.44, Z:4.44 [[ 9.98435793e-01 -4.81966359e-02 -2.83381617e-02 6.47391412e+02] [ 4.82050018e-02 9.98837388e-01 -3.88264118e-04 7.44218822e+00] [ 2.83239284e-02 -9.78384340e-04 9.99598318e-01 4.44135801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7192541539999 meters 0.021124136172861796 Centerline is valid? [True, True] Translation: X:647.42, Y:7.44, Z:4.44 [[ 9.98369281e-01 -4.92857378e-02 -2.88044227e-02 6.47420725e+02] [ 4.92948229e-02 9.98784193e-01 -3.95041551e-04 7.44031952e+00] [ 2.87888719e-02 -1.02551156e-03 9.99584988e-01 4.44090868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7492541539999 meters 0.02248977260680465 Centerline is valid? [True, True] Translation: X:647.45, Y:7.44, Z:4.44 [[ 9.98307871e-01 -5.01816245e-02 -2.93802586e-02 6.47450287e+02] [ 5.01914489e-02 9.98739533e-01 -4.03460710e-04 7.43724564e+00] [ 2.93634721e-02 -1.07185975e-03 9.99568226e-01 4.43974742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7792541539999 meters 0.02261180736276621 Centerline is valid? [True, True] Translation: X:647.48, Y:7.43, Z:4.44 [[ 9.98195241e-01 -5.13167318e-02 -3.11906127e-02 6.47480595e+02] [ 5.13283547e-02 9.98681739e-01 -4.28450901e-04 7.43483686e+00] [ 3.11714821e-02 -1.17328518e-03 9.99513363e-01 4.43915323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8092541539999 meters 0.021639483357174513 Centerline is valid? [True, True] Translation: X:647.51, Y:7.44, Z:4.44 [[ 9.98155514e-01 -5.16381515e-02 -3.19228818e-02 6.47511088e+02] [ 5.16504911e-02 9.98665126e-01 -4.38509739e-04 7.43559487e+00] [ 3.19029126e-02 -1.21113161e-03 9.99490239e-01 4.44031462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.839254154 meters 0.021488477545177347 Centerline is valid? [True, True] Translation: X:647.54, Y:7.43, Z:4.44 [[ 9.98179416e-01 -5.04674610e-02 -3.30285950e-02 6.47541303e+02] [ 5.04800314e-02 9.98724967e-01 -4.53698406e-04 7.43390343e+00] [ 3.30093794e-02 -1.21441210e-03 9.99454304e-01 4.44045044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8692541539999 meters 0.02156569995693533 Centerline is valid? [True, True] Translation: X:647.57, Y:7.43, Z:4.44 [[ 9.98232838e-01 -4.91934877e-02 -3.33346869e-02 6.47570395e+02] [ 4.92055521e-02 9.98788568e-01 -4.58839018e-04 7.43334149e+00] [ 3.33168761e-02 -1.18222350e-03 9.99444140e-01 4.44055367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8992541539999 meters 0.01975341165993068 Centerline is valid? [True, True] Translation: X:647.60, Y:7.44, Z:4.44 [[ 9.98297892e-01 -4.76172774e-02 -3.36736236e-02 6.47599263e+02] [ 4.76284550e-02 9.98865010e-01 -4.70576717e-04 7.43639581e+00] [ 3.36578120e-02 -1.13404692e-03 9.99432772e-01 4.44272278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9292541539999 meters 0.018175620010179357 Centerline is valid? [True, True] Translation: X:647.63, Y:7.44, Z:4.44 [[ 9.98585999e-01 -4.14920992e-02 -3.32326256e-02 6.47628291e+02] [ 4.14995073e-02 9.99138415e-01 -4.67109086e-04 7.43921293e+00] [ 3.32233742e-02 -9.12688993e-04 9.99447535e-01 4.44428105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.959254154 meters 0.01669869931054808 Centerline is valid? [True, True] Translation: X:647.66, Y:7.44, Z:4.45 [[ 9.98757994e-01 -3.75561595e-02 -3.27414787e-02 6.47657086e+02] [ 3.75611667e-02 9.99294223e-01 -4.62342227e-04 7.44206328e+00] [ 3.27357343e-02 -7.68040144e-04 9.99463747e-01 4.44604090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9892541539999 meters 0.016022283470322397 Centerline is valid? [True, True] Translation: X:647.68, Y:7.44, Z:4.45 [[ 9.98915314e-01 -3.34742725e-02 -3.23676928e-02 6.47684768e+02] [ 3.34768982e-02 9.99439385e-01 -4.60955015e-04 7.44376280e+00] [ 3.23649771e-02 -6.23114932e-04 9.99475923e-01 4.44628481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0192541539999 meters 0.014767095565086489 Centerline is valid? [True, True] Translation: X:647.71, Y:7.45, Z:4.45 [[ 9.99145960e-01 -2.51330579e-02 -3.27975689e-02 6.47713246e+02] [ 2.51311695e-02 9.99684052e-01 -4.69871903e-04 7.44764454e+00] [ 3.27990158e-02 -3.54770649e-04 9.99461905e-01 4.44689170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0492541539999 meters 0.01454093710947533 Centerline is valid? [True, True] Translation: X:647.74, Y:7.45, Z:4.45 [[ 9.99207651e-01 -2.19290879e-02 -3.32142425e-02 6.47741497e+02] [ 2.19251449e-02 9.99759498e-01 -4.82968369e-04 7.44932777e+00] [ 3.32168454e-02 -2.45641389e-04 9.99448138e-01 4.44689217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.079254154 meters 0.014434285597889687 Centerline is valid? [True, True] Translation: X:647.77, Y:7.45, Z:4.45 [[ 9.99278410e-01 -1.70928821e-02 -3.39189061e-02 6.47768133e+02] [ 1.70858100e-02 9.99853903e-01 -4.98359452e-04 7.45053257e+00] [ 3.39224690e-02 -8.15321438e-05 9.99424464e-01 4.44694888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1092541539999 meters 0.01452575226833856 Centerline is valid? [True, True] Translation: X:647.80, Y:7.45, Z:4.45 [[ 9.99293015e-01 -1.59664805e-02 -3.40373700e-02 6.47796246e+02] [ 1.59584147e-02 9.99872527e-01 -5.08642940e-04 7.45018403e+00] [ 3.40411524e-02 -3.48991299e-05 9.99420431e-01 4.44680328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1392541539999 meters 0.014409561995424291 Centerline is valid? [True, True] Translation: X:647.82, Y:7.45, Z:4.45 [[ 9.99290190e-01 -1.57217022e-02 -3.42336767e-02 6.47823982e+02] [ 1.57130632e-02 9.99876406e-01 -5.21392585e-04 7.44913536e+00] [ 3.42376428e-02 -1.68934299e-05 9.99413720e-01 4.44789600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1692541539999 meters 0.014533471645182535 Centerline is valid? [True, True] Translation: X:647.85, Y:7.45, Z:4.45 [[ 9.99288984e-01 -1.60471216e-02 -3.41176971e-02 6.47850915e+02] [ 1.60385474e-02 9.99871236e-01 -5.24993052e-04 7.44723650e+00] [ 3.41217287e-02 -2.25785292e-05 9.99417684e-01 4.44696371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.199254154 meters 0.015767614423047947 Centerline is valid? [True, True] Translation: X:647.88, Y:7.44, Z:4.45 [[ 9.99237339e-01 -1.83808041e-02 -3.44512093e-02 6.47878405e+02] [ 1.83733356e-02 9.99831054e-01 -5.33384995e-04 7.44161745e+00] [ 3.44551930e-02 -1.00005428e-04 9.99406239e-01 4.44676085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2292541539999 meters 0.014307837365751813 Centerline is valid? [True, True] Translation: X:647.91, Y:7.44, Z:4.45 [[ 9.99178600e-01 -2.07818124e-02 -3.47885287e-02 6.47907492e+02] [ 2.07753825e-02 9.99784019e-01 -5.46340476e-04 7.43927380e+00] [ 3.47923690e-02 -1.76853277e-04 9.99394547e-01 4.44967627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2592541539999 meters 0.014470593924080954 Centerline is valid? [True, True] Translation: X:647.94, Y:7.43, Z:4.45 [[ 9.99053030e-01 -2.59966611e-02 -3.48886229e-02 6.47936768e+02] [ 2.59930603e-02 9.99661968e-01 -5.56850269e-04 7.43276047e+00] [ 3.48913057e-02 -3.50539129e-04 9.99391052e-01 4.44969149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2892541539999 meters 0.014933337217841885 Centerline is valid? [True, True] Translation: X:647.96, Y:7.43, Z:4.45 [[ 9.98992926e-01 -2.87629017e-02 -3.44358646e-02 6.47964646e+02] [ 2.87608901e-02 9.99586167e-01 -5.53867599e-04 7.42898297e+00] [ 3.44375447e-02 -4.37096303e-04 9.99406756e-01 4.44898865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.319254154 meters 0.0160244749401376 Centerline is valid? [True, True] Translation: X:647.99, Y:7.42, Z:4.45 [[ 9.98851521e-01 -3.47993218e-02 -3.29339647e-02 6.47992454e+02] [ 3.48006641e-02 9.99394131e-01 -5.32630605e-04 7.42051746e+00] [ 3.29325462e-02 -6.14104955e-04 9.99457388e-01 4.44942827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3492541539999 meters 0.016493500291527196 Centerline is valid? [True, True] Translation: X:648.02, Y:7.42, Z:4.45 [[ 9.98762283e-01 -3.79395206e-02 -3.21635790e-02 6.48020742e+02] [ 3.79423353e-02 9.99279793e-01 -5.23040927e-04 7.41728301e+00] [ 3.21602585e-02 -6.97967748e-04 9.99482481e-01 4.45052334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3792541539999 meters 0.017893621132979775 Centerline is valid? [True, True] Translation: X:648.05, Y:7.41, Z:4.45 [[ 9.98654830e-01 -4.12622499e-02 -3.13999505e-02 6.48048739e+02] [ 4.12664857e-02 9.99148044e-01 -5.13409880e-04 7.41285417e+00] [ 3.13943836e-02 -7.83046353e-04 9.99506768e-01 4.45002065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4092541539999 meters 0.01968020235139303 Centerline is valid? [True, True] Translation: X:648.08, Y:7.41, Z:4.45 [[ 9.98378327e-01 -4.82491788e-02 -3.02114648e-02 6.48078609e+02] [ 4.82562626e-02 9.98834865e-01 -4.95018815e-04 7.40583223e+00] [ 3.02001486e-02 -9.63676323e-04 9.99543407e-01 4.45145733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.439254154 meters 0.021747767224583898 Centerline is valid? [True, True] Translation: X:648.11, Y:7.40, Z:4.45 [[ 9.98200292e-01 -5.20419357e-02 -2.97962185e-02 6.48107179e+02] [ 5.20504731e-02 9.98644335e-01 -4.89553081e-04 7.40092519e+00] [ 2.97813022e-02 -1.06223525e-03 9.99555874e-01 4.45130628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4692541539999 meters 0.024035473520090007 Centerline is valid? [True, True] Translation: X:648.14, Y:7.39, Z:4.45 [[ 9.97826522e-01 -5.95167667e-02 -2.82840393e-02 6.48137503e+02] [ 5.95274426e-02 9.98226561e-01 -4.65150459e-04 7.39371183e+00] [ 2.82615635e-02 -1.21953706e-03 9.99599818e-01 4.45293304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4992541539999 meters 0.023660319645472192 Centerline is valid? [True, True] Translation: X:648.17, Y:7.39, Z:4.45 [[ 9.97627258e-01 -6.30039837e-02 -2.77552063e-02 6.48168155e+02] [ 6.30156197e-02 9.98012437e-01 -4.56105192e-04 7.39227005e+00] [ 2.77287775e-02 -1.29398855e-03 9.99614646e-01 4.45468465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5292541539999 meters 0.026634729800400523 Centerline is valid? [True, True] Translation: X:648.20, Y:7.39, Z:4.45 [[ 9.97431618e-01 -6.63955319e-02 -2.68663574e-02 6.48198094e+02] [ 6.64076644e-02 9.97792477e-01 -4.41376713e-04 7.38639701e+00] [ 2.68363548e-02 -1.34388896e-03 9.99638937e-01 4.45421418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5592541539999 meters 0.027457531174112013 Centerline is valid? [True, True] Translation: X:648.23, Y:7.38, Z:4.46 [[ 9.97141011e-01 -7.12579637e-02 -2.51417386e-02 6.48229210e+02] [ 7.12701366e-02 9.97456965e-01 -4.12708144e-04 7.38304582e+00] [ 2.51072110e-02 -1.38032693e-03 9.99683811e-01 4.45635326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.589254154 meters 0.028097970485833235 Centerline is valid? [True, True] Translation: X:648.26, Y:7.38, Z:4.46 [[ 9.96965647e-01 -7.36154545e-02 -2.53034492e-02 6.48258985e+02] [ 7.36285445e-02 9.97285649e-01 -4.15234255e-04 7.37953410e+00] [ 2.52653344e-02 -1.44908185e-03 9.99679730e-01 4.45659935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6192541539999 meters 0.028878817123582496 Centerline is valid? [True, True] Translation: X:648.29, Y:7.38, Z:4.46 [[ 9.96758250e-01 -7.63868926e-02 -2.52593347e-02 6.48290625e+02] [ 7.64008404e-02 9.97077098e-01 -4.13838975e-04 7.37543901e+00] [ 2.52171160e-02 -1.51733698e-03 9.99680846e-01 4.45666354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6492541539999 meters 0.03127191382188571 Centerline is valid? [True, True] Translation: X:648.32, Y:7.37, Z:4.46 [[ 9.96719169e-01 -7.69605223e-02 -2.50594649e-02 6.48322516e+02] [ 7.69744701e-02 9.97032980e-01 -4.08989926e-04 7.37294074e+00] [ 2.50165890e-02 -1.52129093e-03 9.99685879e-01 4.45603343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6792541539999 meters 0.03101212035516454 Centerline is valid? [True, True] Translation: X:648.35, Y:7.37, Z:4.46 [[ 9.96642785e-01 -7.76553053e-02 -2.59386228e-02 6.48353475e+02] [ 7.76705242e-02 9.96978993e-01 -4.21783302e-04 7.37056736e+00] [ 2.58930157e-02 -1.59429915e-03 9.99663448e-01 4.45551886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.709254154 meters 0.02945538140477664 Centerline is valid? [True, True] Translation: X:648.39, Y:7.37, Z:4.46 [[ 9.96682110e-01 -7.68180565e-02 -2.69027373e-02 6.48385985e+02] [ 7.68341747e-02 9.97043790e-01 -4.35603243e-04 7.37161780e+00] [ 2.68566694e-02 -1.63289166e-03 9.99637961e-01 4.45506018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7392541539999 meters 0.028645590029605525 Centerline is valid? [True, True] Translation: X:648.42, Y:7.37, Z:4.46 [[ 9.96767902e-01 -7.56335530e-02 -2.70797832e-02 6.48417740e+02] [ 7.56494926e-02 9.97134376e-01 -4.36844594e-04 7.37269235e+00] [ 2.70352229e-02 -1.61313919e-03 9.99633180e-01 4.45526727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7692541539999 meters 0.028366620941056672 Centerline is valid? [True, True] Translation: X:648.45, Y:7.37, Z:4.46 [[ 9.96890598e-01 -7.38674215e-02 -2.74360959e-02 6.48449339e+02] [ 7.38831483e-02 9.97266808e-01 -4.41452928e-04 7.37336127e+00] [ 2.73937167e-02 -1.58698487e-03 9.99623462e-01 4.45502690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7992541539999 meters 0.027018675686161855 Centerline is valid? [True, True] Translation: X:648.48, Y:7.38, Z:4.45 [[ 9.97238470e-01 -6.90563703e-02 -2.73249319e-02 6.48479932e+02] [ 6.90701798e-02 9.97611707e-01 -4.39269566e-04 7.37528409e+00] [ 2.72900064e-02 -1.44928145e-03 9.99626508e-01 4.45464606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.829254154 meters 0.027437625261391874 Centerline is valid? [True, True] Translation: X:648.51, Y:7.38, Z:4.45 [[ 9.97509581e-01 -6.52545516e-02 -2.67671363e-02 6.48510118e+02] [ 6.52664386e-02 9.97867780e-01 -4.30255407e-04 7.37676718e+00] [ 2.67381390e-02 -1.31781176e-03 9.99641603e-01 4.45458043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8592541539999 meters 0.02127674717195689 Centerline is valid? [True, True] Translation: X:648.54, Y:7.39, Z:4.46 [[ 9.98047053e-01 -5.67604264e-02 -2.60832255e-02 6.48540468e+02] [ 5.67688168e-02 9.98387262e-01 -4.19290617e-04 7.38637761e+00] [ 2.60649592e-02 -1.06224208e-03 9.99659687e-01 4.45605896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8892541539999 meters 0.019827352552801308 Centerline is valid? [True, True] Translation: X:648.57, Y:7.39, Z:4.46 [[ 9.98355604e-01 -5.15524946e-02 -2.50684575e-02 6.48570710e+02] [ 5.15586045e-02 9.98669889e-01 -4.02987985e-04 7.39070635e+00] [ 2.50558887e-02 -8.90169373e-04 9.99685656e-01 4.45645242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9192541539999 meters 0.01776894887050009 Centerline is valid? [True, True] Translation: X:648.60, Y:7.40, Z:4.46 [[ 9.98656393e-01 -4.59065954e-02 -2.40415075e-02 6.48600865e+02] [ 4.59105646e-02 9.98945479e-01 -3.87125222e-04 7.39616010e+00] [ 2.40339268e-02 -7.17154104e-04 9.99710886e-01 4.45763795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.949254154 meters 0.015418380474403186 Centerline is valid? [True, True] Translation: X:648.63, Y:7.40, Z:4.46 [[ 9.99185960e-01 -3.42510275e-02 -2.13139293e-02 6.48630373e+02] [ 3.42514841e-02 9.99413187e-01 -3.43743370e-04 7.40386370e+00] [ 2.13131956e-02 -3.86570162e-04 9.99772773e-01 4.45840565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9792541539999 meters 0.01411686074996684 Centerline is valid? [True, True] Translation: X:648.66, Y:7.41, Z:4.46 [[ 9.99400165e-01 -2.85684773e-02 -1.95742727e-02 6.48659933e+02] [ 2.85677611e-02 9.99591808e-01 -3.16269120e-04 7.40840509e+00] [ 1.95753179e-02 -2.43113734e-04 9.99808356e-01 4.45920239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0092541539999 meters 0.013073008174788802 Centerline is valid? [True, True] Translation: X:648.69, Y:7.42, Z:4.46 [[ 9.99683598e-01 -1.83428519e-02 -1.72117402e-02 6.48688366e+02] [ 1.83407657e-02 9.99831755e-01 -2.79064688e-04 7.41565067e+00] [ 1.72139633e-02 -3.67001029e-05 9.99851828e-01 4.46080296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0392541539999 meters 0.01325883177599502 Centerline is valid? [True, True] Translation: X:648.72, Y:7.42, Z:4.46 [[ 9.99767218e-01 -1.43123901e-02 -1.61451580e-02 6.48716135e+02] [ 1.43100013e-02 9.99897572e-01 -2.63475523e-04 7.41843279e+00] [ 1.61472753e-02 3.23769579e-05 9.99869624e-01 4.46069718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.069254154 meters 0.01325883177599502 Centerline is valid? [True, True] Translation: X:648.74, Y:7.42, Z:4.46 [[ 9.99763039e-01 -1.46014244e-02 -1.61450989e-02 6.48743532e+02] [ 1.45990154e-02 9.99893393e-01 -2.67062926e-04 7.41895134e+00] [ 1.61472772e-02 3.12970954e-05 9.99869624e-01 4.46088732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0992541539999 meters 0.013451429910051438 Centerline is valid? [True, True] Translation: X:648.77, Y:7.42, Z:4.46 [[ 9.99816670e-01 -1.15322736e-02 -1.52850907e-02 6.48771539e+02] [ 1.15296899e-02 9.99933498e-01 -2.57144739e-04 7.42124606e+00] [ 1.52870397e-02 8.08652403e-05 9.99883143e-01 4.46119676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1292541539999 meters 0.013668789823308103 Centerline is valid? [True, True] Translation: X:648.80, Y:7.42, Z:4.46 [[ 9.99857444e-01 -8.96902687e-03 -1.43055221e-02 6.48799256e+02] [ 8.96646526e-03 9.99959771e-01 -2.43193881e-04 7.42356146e+00] [ 1.43071279e-02 1.14889245e-04 9.99897641e-01 4.46096537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1592541539999 meters 0.013635888730975907 Centerline is valid? [True, True] Translation: X:648.83, Y:7.42, Z:4.46 [[ 9.99885003e-01 -7.59151155e-03 -1.31281879e-02 6.48827257e+02] [ 7.58920395e-03 9.99971176e-01 -2.25584750e-04 7.42336084e+00] [ 1.31295221e-02 1.25926313e-04 9.99913796e-01 4.46178321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.189254154 meters 0.013887343222098615 Centerline is valid? [True, True] Translation: X:648.85, Y:7.42, Z:4.46 [[ 9.99902621e-01 -7.01360894e-03 -1.20647745e-02 6.48854554e+02] [ 7.01158219e-03 9.99975396e-01 -2.10279752e-04 7.42247700e+00] [ 1.20659525e-02 1.25666116e-04 9.99927196e-01 4.46020636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2192541539999 meters 0.013624059551822339 Centerline is valid? [True, True] Translation: X:648.88, Y:7.42, Z:4.46 [[ 9.99901485e-01 -8.02087170e-03 -1.15189263e-02 6.48882292e+02] [ 8.01905934e-03 9.99967826e-01 -2.03516113e-04 7.42018442e+00] [ 1.15201881e-02 1.11125109e-04 9.99933634e-01 4.45966311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2492541539999 meters 0.01348060694217036 Centerline is valid? [True, True] Translation: X:648.91, Y:7.41, Z:4.46 [[ 9.99887475e-01 -1.11256841e-02 -1.00626304e-02 6.48910444e+02] [ 1.11244374e-02 9.99938105e-01 -1.79865557e-04 7.41483064e+00] [ 1.00640087e-02 6.79042170e-05 9.99949354e-01 4.45839838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2792541539999 meters 0.013650435715897045 Centerline is valid? [True, True] Translation: X:648.94, Y:7.41, Z:4.46 [[ 9.99867517e-01 -1.35415537e-02 -9.03182770e-03 6.48939011e+02] [ 1.35406417e-02 9.99908308e-01 -1.62123077e-04 7.41217092e+00] [ 9.03319496e-03 3.98048556e-05 9.99959199e-01 4.45865298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3092541539999 meters 0.013207127709724662 Centerline is valid? [True, True] Translation: X:648.97, Y:7.41, Z:4.46 [[ 9.99833032e-01 -1.64286645e-02 -8.00041467e-03 6.48968520e+02] [ 1.64280384e-02 9.99865040e-01 -1.43977870e-04 7.40903296e+00] [ 8.00170030e-03 1.25227111e-05 9.99967986e-01 4.45879956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.339254154 meters 0.0133449932461571 Centerline is valid? [True, True] Translation: X:649.00, Y:7.40, Z:4.46 [[ 9.99724830e-01 -2.26437517e-02 -6.12567571e-03 6.48999073e+02] [ 2.26434997e-02 9.99743597e-01 -1.10498246e-04 7.40165233e+00] [ 6.12660716e-03 -2.82388956e-05 9.99981232e-01 4.45851463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3692541539999 meters 0.013782236735694222 Centerline is valid? [True, True] Translation: X:649.03, Y:7.40, Z:4.46 [[ 9.99643974e-01 -2.61278912e-02 -5.40915090e-03 6.49031051e+02] [ 2.61277478e-02 9.99658607e-01 -9.71791342e-05 7.39775850e+00] [ 5.40984334e-03 -4.41843949e-05 9.99985366e-01 4.45844363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3992541539999 meters 0.014995284693887773 Centerline is valid? [True, True] Translation: X:649.06, Y:7.39, Z:4.46 [[ 9.99429780e-01 -3.35040372e-02 -4.19451130e-03 6.49062763e+02] [ 3.35040170e-02 9.99438580e-01 -7.51174197e-05 7.38838900e+00] [ 4.19467315e-03 -6.54583914e-05 9.99991200e-01 4.45778573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4292541539999 meters 0.015994592007441924 Centerline is valid? [True, True] Translation: X:649.10, Y:7.38, Z:4.46 [[ 9.99297856e-01 -3.73033853e-02 -3.50037070e-03 6.49095088e+02] [ 3.73033947e-02 9.99303984e-01 -6.26195359e-05 7.38359237e+00] [ 3.50027031e-03 -6.80001421e-05 9.99993872e-01 4.45741211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.459254154 meters 0.016395154059796715 Centerline is valid? [True, True] Translation: X:649.13, Y:7.38, Z:4.46 [[ 9.99159742e-01 -4.08153965e-02 -3.73006848e-03 6.49126785e+02] [ 4.08154329e-02 9.99166701e-01 -6.63803186e-05 7.38001160e+00] [ 3.72966956e-03 -8.59198179e-05 9.99993041e-01 4.45652518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4892541539999 meters 0.01829815946064838 Centerline is valid? [True, True] Translation: X:649.16, Y:7.37, Z:4.46 [[ 9.98862094e-01 -4.75842129e-02 -3.20322215e-03 6.49158227e+02] [ 4.75842751e-02 9.98867225e-01 -5.68137255e-05 7.37203500e+00] [ 3.20229706e-03 -9.56739274e-05 9.99994868e-01 4.45600655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5192541539999 meters 0.01914459682048366 Centerline is valid? [True, True] Translation: X:649.19, Y:7.37, Z:4.46 [[ 9.98722695e-01 -5.04608196e-02 -2.58543937e-03 6.49190170e+02] [ 5.04608695e-02 9.98726038e-01 -4.59720423e-05 7.36956255e+00] [ 2.58446540e-03 -8.45501965e-05 9.99996657e-01 4.45630097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5492541539999 meters 0.020950014659690465 Centerline is valid? [True, True] Translation: X:649.22, Y:7.36, Z:4.46 [[ 9.98465185e-01 -5.53686396e-02 -1.26013564e-03 6.49221197e+02] [ 5.53686555e-02 9.98465979e-01 -2.22619687e-05 7.36436215e+00] [ 1.25943518e-03 -4.75442153e-05 9.99999206e-01 4.45710680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.579254154 meters 0.022158074681967205 Centerline is valid? [True, True] Translation: X:649.25, Y:7.36, Z:4.46 [[ 9.98331691e-01 -5.77383218e-02 -3.48656294e-04 6.49253034e+02] [ 5.77383231e-02 9.98331751e-01 -6.48654532e-06 7.36182710e+00] [ 3.48449170e-04 -1.36551060e-05 9.99999939e-01 4.45772264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6092541539999 meters 0.022276260191148683 Centerline is valid? [True, True] Translation: X:649.29, Y:7.36, Z:4.46 [[ 9.98213808e-01 -5.97418870e-02 3.17675074e-04 6.49285093e+02] [ 5.97418884e-02 9.98213858e-01 5.02559896e-06 7.36039323e+00] [-3.17407900e-04 1.39618866e-05 9.99999950e-01 4.45765210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6392541539999 meters 0.023470405333458344 Centerline is valid? [True, True] Translation: X:649.32, Y:7.36, Z:4.46 [[ 9.97985734e-01 -6.34381550e-02 2.73046520e-04 6.49316750e+02] [ 6.34381561e-02 9.97985772e-01 4.49424691e-06 7.35678758e+00] [-2.72781648e-04 1.28363734e-05 9.99999963e-01 4.45724596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6692541539999 meters 0.027357370094245603 Centerline is valid? [True, True] Translation: X:649.35, Y:7.35, Z:4.46 [[ 9.97912415e-01 -6.45804021e-02 4.28658921e-04 6.49348043e+02] [ 6.45804050e-02 9.97912507e-01 7.05073260e-06 7.35135868e+00] [-4.28219438e-04 2.06469532e-05 9.99999908e-01 4.45765568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.699254154 meters 0.02380492931197043 Centerline is valid? [True, True] Translation: X:649.38, Y:7.36, Z:4.46 [[ 9.97861788e-01 -6.53588867e-02 2.61191273e-04 6.49380145e+02] [ 6.53588879e-02 9.97861822e-01 3.99058047e-06 7.35698253e+00] [-2.60893620e-04 1.30891234e-05 9.99999966e-01 4.45645345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7292541539999 meters 0.026181624647238756 Centerline is valid? [True, True] Translation: X:649.41, Y:7.35, Z:4.46 [[ 9.97842257e-01 -6.56565262e-02 -2.24325916e-04 6.49411416e+02] [ 6.56565269e-02 9.97842282e-01 -4.24900650e-06 7.35445315e+00] [ 2.24120859e-04 -1.04886223e-05 9.99999975e-01 4.45669111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7592541539999 meters 0.025676384117105933 Centerline is valid? [True, True] Translation: X:649.44, Y:7.36, Z:4.46 [[ 9.97861198e-01 -6.53670539e-02 -4.22815863e-04 6.49443121e+02] [ 6.53670564e-02 9.97861287e-01 -7.75096964e-06 7.35606635e+00] [ 4.22418239e-04 -1.99038365e-05 9.99999911e-01 4.45629318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7892541539999 meters 0.027693316741166447 Centerline is valid? [True, True] Translation: X:649.48, Y:7.35, Z:4.46 [[ 9.97866416e-01 -6.52791044e-02 -1.11982814e-03 6.49475686e+02] [ 6.52791227e-02 9.97867043e-01 -2.02420400e-05 7.35421859e+00] [ 1.11876098e-03 -5.29025466e-05 9.99999373e-01 4.45592506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.819254154 meters 0.025110426954561355 Centerline is valid? [True, True] Translation: X:649.51, Y:7.36, Z:4.45 [[ 9.97876514e-01 -6.50628595e-02 -3.04733839e-03 6.49507971e+02] [ 6.50630035e-02 9.97881157e-01 -5.19660742e-05 7.35869155e+00] [ 3.04426262e-03 -1.46413264e-04 9.99995356e-01 4.45372112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8492541539999 meters 0.026602063776552835 Centerline is valid? [True, True] Translation: X:649.54, Y:7.36, Z:4.45 [[ 9.97871243e-01 -6.50489772e-02 -4.64891501e-03 6.49539948e+02] [ 6.50493147e-02 9.97882047e-01 -7.87124076e-05 7.35879908e+00] [ 4.64418899e-03 -2.23863888e-04 9.99989191e-01 4.45272374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8792541539999 meters 0.025032659399517557 Centerline is valid? [True, True] Translation: X:649.57, Y:7.36, Z:4.45 [[ 9.97766711e-01 -6.64191124e-02 -7.07757363e-03 6.49571812e+02] [ 6.64199362e-02 9.97791751e-01 -1.18860968e-04 7.36335042e+00] [ 7.06983922e-03 -3.51496472e-04 9.99974947e-01 4.45163976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9092541539999 meters 0.025126067047628313 Centerline is valid? [True, True] Translation: X:649.60, Y:7.36, Z:4.45 [[ 9.97752310e-01 -6.65595616e-02 -7.75576820e-03 6.49603757e+02] [ 6.65605598e-02 9.97782379e-01 -1.29627768e-04 7.36492255e+00] [ 7.74719681e-03 -3.86891867e-04 9.99969915e-01 4.45138312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.939254154 meters 0.026412201416648955 Centerline is valid? [True, True] Translation: X:649.63, Y:7.36, Z:4.45 [[ 9.97726760e-01 -6.68468481e-02 -8.53299046e-03 6.49634849e+02] [ 6.68480725e-02 9.97763156e-01 -1.41966038e-04 7.36455609e+00] [ 8.52339348e-03 -4.28770650e-04 9.99963583e-01 4.45154254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9692541539999 meters 0.026470347191657643 Centerline is valid? [True, True] Translation: X:649.67, Y:7.37, Z:4.45 [[ 9.97756604e-01 -6.63292871e-02 -9.06553682e-03 6.49667469e+02] [ 6.63306532e-02 9.97797686e-01 -1.50224822e-04 7.36930013e+00] [ 9.05553597e-03 -4.51435170e-04 9.99958896e-01 4.45196695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9992541539999 meters 0.02617178655033407 Centerline is valid? [True, True] Translation: X:649.70, Y:7.37, Z:4.45 [[ 9.97783554e-01 -6.59194867e-02 -9.08847745e-03 6.49699115e+02] [ 6.59208500e-02 9.97824844e-01 -1.49810694e-04 7.37139566e+00] [ 9.07858403e-03 -4.49641511e-04 9.99958688e-01 4.45299296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0292541539999 meters 0.023391162039785505 Centerline is valid? [True, True] Translation: X:649.73, Y:7.38, Z:4.45 [[ 9.98018791e-01 -6.23851108e-02 -8.16032212e-03 6.49729603e+02] [ 6.23860956e-02 9.98052081e-01 -1.34058235e-04 7.38015807e+00] [ 8.15278972e-03 -3.75297998e-04 9.99966695e-01 4.45491415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0592541539999 meters 0.022731427589717676 Centerline is valid? [True, True] Translation: X:649.76, Y:7.38, Z:4.46 [[ 9.98177819e-01 -5.98280199e-02 -7.85176622e-03 6.49760774e+02] [ 5.98288530e-02 9.98208641e-01 -1.28954919e-04 7.38424463e+00] [ 7.84541601e-03 -3.41042226e-04 9.99969166e-01 4.45585162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.089254154 meters 0.02198960071611275 Centerline is valid? [True, True] Translation: X:649.79, Y:7.39, Z:4.46 [[ 9.98370687e-01 -5.65717454e-02 -7.45708189e-03 6.49792243e+02] [ 5.65724081e-02 9.98398491e-01 -1.22208506e-04 7.38853891e+00] [ 7.45205286e-03 -2.99855691e-04 9.99972188e-01 4.45675439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1192541539999 meters 0.0237297937863076 Centerline is valid? [True, True] Translation: X:649.82, Y:7.39, Z:4.46 [[ 9.98569659e-01 -5.30484435e-02 -6.67067734e-03 6.49822449e+02] [ 5.30488968e-02 9.98591910e-01 -1.09096217e-04 7.38911375e+00] [ 6.66707181e-03 -2.44931902e-04 9.99977745e-01 4.45833664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1492541539999 meters 0.01829791701101763 Centerline is valid? [True, True] Translation: X:649.85, Y:7.40, Z:4.46 [[ 9.98935006e-01 -4.58225581e-02 -5.39886774e-03 6.49853337e+02] [ 4.58227499e-02 9.98949582e-01 -8.82211256e-05 7.40400915e+00] [ 5.39723919e-03 -1.59263796e-04 9.99985422e-01 4.46068723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1792541539999 meters 0.017762909088817027 Centerline is valid? [True, True] Translation: X:649.88, Y:7.41, Z:4.46 [[ 9.99085072e-01 -4.24838580e-02 -4.91332045e-03 6.49883470e+02] [ 4.24839769e-02 9.99097145e-01 -8.02065598e-05 7.40771449e+00] [ 4.91229192e-03 -1.28604216e-04 9.99987926e-01 4.46170912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.209254154 meters 0.016354229398985513 Centerline is valid? [True, True] Translation: X:649.91, Y:7.41, Z:4.46 [[ 9.99297327e-01 -3.71842140e-02 -4.71017615e-03 6.49914561e+02] [ 3.71842647e-02 9.99308423e-01 -7.68506250e-05 7.41454543e+00] [ 4.70977633e-03 -9.83478125e-05 9.99988904e-01 4.46239849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2392541539999 meters 0.016285832861928504 Centerline is valid? [True, True] Translation: X:649.95, Y:7.42, Z:4.46 [[ 9.99348073e-01 -3.57414866e-02 -5.09656416e-03 6.49946165e+02] [ 3.57415274e-02 9.99361064e-01 -8.31110556e-05 7.41638885e+00] [ 5.09627829e-03 -9.91021143e-05 9.99987009e-01 4.46231439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2692541539999 meters 0.01624462761007092 Centerline is valid? [True, True] Translation: X:649.98, Y:7.42, Z:4.46 [[ 9.99324783e-01 -3.61454788e-02 -6.59415147e-03 6.49977864e+02] [ 3.61455633e-02 9.99346530e-01 -1.06399257e-04 7.41791647e+00] [ 6.59368824e-03 -1.32021905e-04 9.99978253e-01 4.46143472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2992541539999 meters 0.01787912647407986 Centerline is valid? [True, True] Translation: X:650.01, Y:7.42, Z:4.46 [[ 9.99295565e-01 -3.67913436e-02 -7.40066772e-03 6.50008737e+02] [ 3.67914722e-02 9.99322958e-01 -1.18809792e-04 7.41708710e+00] [ 7.40002832e-03 -1.53555362e-04 9.99972608e-01 4.46067397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.329254154 meters 0.0170868269758332 Centerline is valid? [True, True] Translation: X:650.04, Y:7.42, Z:4.46 [[ 9.99217688e-01 -3.86116918e-02 -8.55268982e-03 6.50041002e+02] [ 3.86119350e-02 9.99254272e-01 -1.36742965e-04 7.41856123e+00] [ 8.55159172e-03 -1.93599914e-04 9.99963416e-01 4.46067968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3592541539999 meters 0.018840456583794275 Centerline is valid? [True, True] Translation: X:650.07, Y:7.42, Z:4.46 [[ 9.99054567e-01 -4.21179741e-02 -1.07725452e-02 6.50072094e+02] [ 4.21185728e-02 9.99112604e-01 -1.71386542e-04 7.41601282e+00] [ 1.07702041e-02 -2.82499722e-04 9.99941960e-01 4.45903259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3892541539999 meters 0.017844052963050774 Centerline is valid? [True, True] Translation: X:650.10, Y:7.42, Z:4.46 [[ 9.98954717e-01 -4.42340679e-02 -1.15247487e-02 6.50104184e+02] [ 4.42349024e-02 9.99021141e-01 -1.82605614e-04 7.41859342e+00] [ 1.15215450e-02 -3.27381395e-04 9.99933571e-01 4.45950523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4192541539999 meters 0.019777175257943088 Centerline is valid? [True, True] Translation: X:650.14, Y:7.42, Z:4.46 [[ 9.98775963e-01 -4.80012760e-02 -1.19354110e-02 6.50135012e+02] [ 4.80024484e-02 9.98847200e-01 -1.88389743e-04 7.41632082e+00] [ 1.19306948e-02 -3.84769804e-04 9.99928753e-01 4.45982719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.449254154 meters 0.020201302139589428 Centerline is valid? [True, True] Translation: X:650.17, Y:7.42, Z:4.46 [[ 9.98697859e-01 -4.95646358e-02 -1.20802713e-02 6.50167265e+02] [ 4.95659588e-02 9.98770834e-01 -1.90039747e-04 7.41637283e+00] [ 1.20748419e-02 -4.08977941e-04 9.99927013e-01 4.46047563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4792541539999 meters 0.020101704297520683 Centerline is valid? [True, True] Translation: X:650.20, Y:7.42, Z:4.46 [[ 9.98607761e-01 -5.13678467e-02 -1.19951721e-02 6.50199027e+02] [ 5.13692905e-02 9.98679709e-01 -1.87912632e-04 7.41769336e+00] [ 1.19889876e-02 -4.28532467e-04 9.99928038e-01 4.46125400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5092541539999 meters 0.021452717586429488 Centerline is valid? [True, True] Translation: X:650.23, Y:7.42, Z:4.46 [[ 9.98449614e-01 -5.44419757e-02 -1.15947938e-02 6.50230261e+02] [ 5.44435390e-02 9.98516834e-01 -1.81003336e-04 7.41629912e+00] [ 1.15874510e-02 -4.50538899e-04 9.99932762e-01 4.46241005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5392541539999 meters 0.022000607866318404 Centerline is valid? [True, True] Translation: X:650.26, Y:7.42, Z:4.46 [[ 9.98356234e-01 -5.60024064e-02 -1.21885452e-02 6.50261969e+02] [ 5.60042585e-02 9.98430512e-01 -1.89574592e-04 7.41591839e+00] [ 1.21800320e-02 -4.93347459e-04 9.99925699e-01 4.46273527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.569254154 meters 0.023010420993324402 Centerline is valid? [True, True] Translation: X:650.29, Y:7.41, Z:4.46 [[ 9.98287021e-01 -5.72420581e-02 -1.20983489e-02 6.50292925e+02] [ 5.72439818e-02 9.98360201e-01 -1.87507595e-04 7.41478396e+00] [ 1.20892434e-02 -5.05371269e-04 9.99926795e-01 4.46276766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5992541539999 meters 0.02428168397679655 Centerline is valid? [True, True] Translation: X:650.32, Y:7.41, Z:4.46 [[ 9.98229748e-01 -5.82353927e-02 -1.20834210e-02 6.50324428e+02] [ 5.82373923e-02 9.98302745e-01 -1.86617011e-04 7.41356738e+00] [ 1.20737800e-02 -5.17420275e-04 9.99926975e-01 4.46252921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6292541539999 meters 0.026201752711704555 Centerline is valid? [True, True] Translation: X:650.36, Y:7.41, Z:4.46 [[ 9.98200544e-01 -5.84667403e-02 -1.33159295e-02 6.50357028e+02] [ 5.84692009e-02 9.98289192e-01 -2.04777850e-04 7.41413968e+00] [ 1.33051212e-02 -5.74162395e-04 9.99911318e-01 4.46192026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6592541539999 meters 0.022537361681560963 Centerline is valid? [True, True] Translation: X:650.39, Y:7.42, Z:4.46 [[ 9.98177080e-01 -5.89978706e-02 -1.27187765e-02 6.50389461e+02] [ 5.90001700e-02 9.98257954e-01 -1.94686588e-04 7.41780033e+00] [ 1.27081059e-02 -5.56078288e-04 9.99919094e-01 4.46380214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.689254154 meters 0.025021736363806727 Centerline is valid? [True, True] Translation: X:650.42, Y:7.42, Z:4.46 [[ 9.98276609e-01 -5.72075521e-02 -1.30807855e-02 6.50421297e+02] [ 5.72098437e-02 9.98362156e-01 -1.99242898e-04 7.41549083e+00] [ 1.30707594e-02 -5.49450167e-04 9.99914423e-01 4.46386506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7192541539999 meters 0.02260660796008716 Centerline is valid? [True, True] Translation: X:650.45, Y:7.42, Z:4.46 [[ 9.98357329e-01 -5.56809101e-02 -1.35010800e-02 6.50453202e+02] [ 5.56832255e-02 9.98448465e-01 -2.04639719e-04 7.42045346e+00] [ 1.34915271e-02 -5.47480120e-04 9.99908835e-01 4.46450724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7492541539999 meters 0.022183968538981316 Centerline is valid? [True, True] Translation: X:650.49, Y:7.42, Z:4.46 [[ 9.98437073e-01 -5.42056934e-02 -1.36071353e-02 6.50485635e+02] [ 5.42079220e-02 9.98529649e-01 -2.05256445e-04 7.42266246e+00] [ 1.35982541e-02 -5.32678883e-04 9.99907398e-01 4.46470460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7792541539999 meters 0.021383419231475624 Centerline is valid? [True, True] Translation: X:650.52, Y:7.43, Z:4.46 [[ 9.98594594e-01 -5.08626811e-02 -1.48937922e-02 6.50516044e+02] [ 5.08649902e-02 9.98705513e-01 -2.23971230e-04 7.42545353e+00] [ 1.48859042e-02 -5.33916136e-04 9.99889056e-01 4.46403236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8092541539999 meters 0.019457011568066764 Centerline is valid? [True, True] Translation: X:650.55, Y:7.43, Z:4.46 [[ 9.98765360e-01 -4.71865680e-02 -1.55300973e-02 6.50547912e+02] [ 4.71886450e-02 9.98885968e-01 -2.32878515e-04 7.43027299e+00] [ 1.55237850e-02 -5.00253254e-04 9.99879374e-01 4.46350530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.839254154 meters 0.0183407440998647 Centerline is valid? [True, True] Translation: X:650.58, Y:7.43, Z:4.46 [[ 9.98831100e-01 -4.55908914e-02 -1.60594202e-02 6.50579808e+02] [ 4.55929244e-02 9.98960073e-01 -2.39697928e-04 7.43360819e+00] [ 1.60536476e-02 -4.92778184e-04 9.99871010e-01 4.46374707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8692541539999 meters 0.018496790736137574 Centerline is valid? [True, True] Translation: X:650.61, Y:7.43, Z:4.46 [[ 9.98891663e-01 -4.40013515e-02 -1.67130396e-02 6.50611022e+02] [ 4.40033491e-02 9.99031353e-01 -2.48379829e-04 7.43475904e+00] [ 1.67077796e-02 -4.87325175e-04 9.99860297e-01 4.46329824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8992541539999 meters 0.01762309698390786 Centerline is valid? [True, True] Translation: X:650.64, Y:7.44, Z:4.46 [[ 9.98941777e-01 -4.24806738e-02 -1.76271907e-02 6.50642083e+02] [ 4.24826734e-02 9.99097170e-01 -2.61170453e-04 7.43732947e+00] [ 1.76223710e-02 -4.87956108e-04 9.99844595e-01 4.46328744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9292541539999 meters 0.01745354772387751 Centerline is valid? [True, True] Translation: X:650.67, Y:7.44, Z:4.46 [[ 9.99021132e-01 -4.03212346e-02 -1.81927425e-02 6.50672627e+02] [ 4.03230255e-02 9.99186660e-01 -2.68523040e-04 7.44024935e+00] [ 1.81887728e-02 -4.65326227e-04 9.99834462e-01 4.46252694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.959254154 meters 0.01745354772387751 Centerline is valid? [True, True] Translation: X:650.70, Y:7.44, Z:4.46 [[ 9.99022587e-01 -4.02851558e-02 -1.81927554e-02 6.50703481e+02] [ 4.02869566e-02 9.99188115e-01 -2.67645936e-04 7.44067346e+00] [ 1.81887671e-02 -4.65546412e-04 9.99834462e-01 4.46274063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9892541539999 meters 0.017205749639334328 Centerline is valid? [True, True] Translation: X:650.74, Y:7.44, Z:4.46 [[ 9.99043096e-01 -3.94380682e-02 -1.89085092e-02 6.50735095e+02] [ 3.94398750e-02 9.99221907e-01 -2.77484941e-04 7.44251380e+00] [ 1.89047401e-02 -4.68529825e-04 9.99821180e-01 4.46309418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0192541539999 meters 0.01727262502916029 Centerline is valid? [True, True] Translation: X:650.77, Y:7.44, Z:4.46 [[ 9.99058095e-01 -3.91308410e-02 -1.87536553e-02 6.50766306e+02] [ 3.91325769e-02 9.99233990e-01 -2.74541560e-04 7.44399484e+00] [ 1.87500328e-02 -4.59595888e-04 9.99824097e-01 4.46337077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0492541539999 meters 0.017387243543348502 Centerline is valid? [True, True] Translation: X:650.80, Y:7.45, Z:4.46 [[ 9.99085373e-01 -3.85033068e-02 -1.85987447e-02 6.50796902e+02] [ 3.85049231e-02 9.99258374e-01 -2.71320317e-04 7.44514226e+00] [ 1.85953981e-02 -4.45071076e-04 9.99826992e-01 4.46361742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.079254154 meters 0.01726633695296524 Centerline is valid? [True, True] Translation: X:650.83, Y:7.45, Z:4.46 [[ 9.99086020e-01 -3.83984225e-02 -1.87799210e-02 6.50828609e+02] [ 3.84000679e-02 9.99262408e-01 -2.73120276e-04 7.44588929e+00] [ 1.87765565e-02 -4.48279593e-04 9.99823604e-01 4.46383883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1092541539999 meters 0.01780594146476959 Centerline is valid? [True, True] Translation: X:650.86, Y:7.45, Z:4.46 [[ 9.99091414e-01 -3.82366461e-02 -1.88230067e-02 6.50858777e+02] [ 3.82382789e-02 9.99268612e-01 -2.73292432e-04 7.44682961e+00] [ 1.88196896e-02 -4.46715258e-04 9.99822794e-01 4.46413891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1392541539999 meters 0.017649965475799233 Centerline is valid? [True, True] Translation: X:650.89, Y:7.45, Z:4.46 [[ 9.99120027e-01 -3.80775341e-02 -1.75861439e-02 6.50889607e+02] [ 3.80789366e-02 9.99274702e-01 -2.55220676e-04 7.44747767e+00] [ 1.75831069e-02 -4.14665571e-04 9.99845319e-01 4.46495146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1692541539999 meters 0.01727702412583565 Centerline is valid? [True, True] Translation: X:650.92, Y:7.45, Z:4.47 [[ 9.99140565e-01 -3.79103066e-02 -1.67612901e-02 6.50921000e+02] [ 3.79115629e-02 9.99281069e-01 -2.42903244e-04 7.44865417e+00] [ 1.67584484e-02 -3.92752218e-04 9.99859490e-01 4.46626559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.199254154 meters 0.017613781873581372 Centerline is valid? [True, True] Translation: X:650.95, Y:7.45, Z:4.47 [[ 9.99272223e-01 -3.53973741e-02 -1.42144213e-02 6.50952349e+02] [ 3.53980301e-02 9.99373272e-01 -2.05524492e-04 7.45115701e+00] [ 1.42127878e-02 -2.97787596e-04 9.99898949e-01 4.46782609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2292541539999 meters 0.016486491123749572 Centerline is valid? [True, True] Translation: X:650.98, Y:7.45, Z:4.47 [[ 9.99335679e-01 -3.41426628e-02 -1.27467250e-02 6.50982629e+02] [ 3.41430923e-02 9.99416938e-01 -1.83976191e-04 7.45153294e+00] [ 1.27455743e-02 -2.51358635e-04 9.99918740e-01 4.46920471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2592541539999 meters 0.01599950133545537 Centerline is valid? [True, True] Translation: X:651.01, Y:7.45, Z:4.47 [[ 9.99477337e-01 -3.01194696e-02 -1.17418235e-02 6.51013185e+02] [ 3.01195588e-02 9.99546289e-01 -1.69276704e-04 7.45354495e+00] [ 1.17415946e-02 -1.84470313e-04 9.99931048e-01 4.46966482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2892541539999 meters 0.014722871828313397 Centerline is valid? [True, True] Translation: X:651.05, Y:7.46, Z:4.47 [[ 9.99524246e-01 -2.85472069e-02 -1.16764392e-02 6.51045006e+02] [ 2.85471922e-02 9.99592432e-01 -1.67961714e-04 7.45703085e+00] [ 1.16764751e-02 -1.65447750e-04 9.99931814e-01 4.47066319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.319254154 meters 0.01529969961449698 Centerline is valid? [True, True] Translation: X:651.08, Y:7.46, Z:4.47 [[ 9.99542792e-01 -2.77126943e-02 -1.20918812e-02 6.51076284e+02] [ 2.77126254e-02 9.99615916e-01 -1.73277496e-04 7.45647375e+00] [ 1.20920389e-02 -1.61899502e-04 9.99926876e-01 4.47021343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3492541539999 meters 0.015219758179506354 Centerline is valid? [True, True] Translation: X:651.11, Y:7.46, Z:4.47 [[ 9.99532013e-01 -2.78069848e-02 -1.27485963e-02 6.51107142e+02] [ 2.78069222e-02 9.99613296e-01 -1.82201000e-04 7.45616763e+00] [ 1.27487328e-02 -1.72383494e-04 9.99918717e-01 4.46979804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3792541539999 meters 0.015060231975939222 Centerline is valid? [True, True] Translation: X:651.14, Y:7.46, Z:4.47 [[ 9.99435920e-01 -3.04184570e-02 -1.42323188e-02 6.51138888e+02] [ 3.04186512e-02 9.99537225e-01 -2.02875636e-04 7.45586472e+00] [ 1.42319036e-02 -2.30166745e-04 9.99898695e-01 4.46936987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4092541539999 meters 0.016831060418547553 Centerline is valid? [True, True] Translation: X:651.17, Y:7.45, Z:4.47 [[ 9.99376539e-01 -3.19298734e-02 -1.50670719e-02 6.51169207e+02] [ 3.19302758e-02 9.99490076e-01 -2.13915276e-04 7.45164446e+00] [ 1.50662191e-02 -2.67313852e-04 9.99886462e-01 4.46747182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.439254154 meters 0.017820479720810717 Centerline is valid? [True, True] Translation: X:651.20, Y:7.45, Z:4.47 [[ 9.99276288e-01 -3.46522195e-02 -1.56883391e-02 6.51199614e+02] [ 3.46530039e-02 9.99399380e-01 -2.21924553e-04 7.44747003e+00] [ 1.56866065e-02 -3.21884131e-04 9.99876906e-01 4.46643693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4692541539999 meters 0.01912776856529074 Centerline is valid? [True, True] Translation: X:651.23, Y:7.44, Z:4.47 [[ 9.99177344e-01 -3.71964220e-02 -1.61574029e-02 6.51230224e+02] [ 3.71975942e-02 9.99307904e-01 -2.28078561e-04 7.44419080e+00] [ 1.61547041e-02 -3.73125583e-04 9.99869435e-01 4.46562493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4992541539999 meters 0.017957874009914925 Centerline is valid? [True, True] Translation: X:651.26, Y:7.45, Z:4.47 [[ 9.98960694e-01 -4.22945988e-02 -1.69911337e-02 6.51261263e+02] [ 4.22966370e-02 9.99105068e-01 -2.39547066e-04 7.44522059e+00] [ 1.69860593e-02 -4.79369712e-04 9.99855612e-01 4.46721965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5292541539999 meters 0.020864686088583693 Centerline is valid? [True, True] Translation: X:651.29, Y:7.44, Z:4.47 [[ 9.98874055e-01 -4.40168543e-02 -1.76957377e-02 6.51293515e+02] [ 4.40193513e-02 9.99030648e-01 -2.48566703e-04 7.44389587e+00] [ 1.76895254e-02 -5.30668063e-04 9.99843387e-01 4.46635737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5592541539999 meters 0.018242220283451346 Centerline is valid? [True, True] Translation: X:651.32, Y:7.44, Z:4.47 [[ 9.98757416e-01 -4.67772671e-02 -1.71904358e-02 6.51324273e+02] [ 4.67800479e-02 9.98905185e-01 -2.40535001e-04 7.44457491e+00] [ 1.71828670e-02 -5.63933294e-04 9.99852205e-01 4.46821530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.589254154 meters 0.019421319750889194 Centerline is valid? [True, True] Translation: X:651.36, Y:7.44, Z:4.47 [[ 9.98674491e-01 -4.85853709e-02 -1.69918659e-02 6.51355687e+02] [ 4.85883638e-02 9.98818860e-01 -2.36895476e-04 7.44182700e+00] [ 1.69833058e-02 -5.89025493e-04 9.99855600e-01 4.46802000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6192541539999 meters 0.021822459983761484 Centerline is valid? [True, True] Translation: X:651.39, Y:7.44, Z:4.47 [[ 9.98519185e-01 -5.18104612e-02 -1.65865557e-02 6.51386462e+02] [ 5.18137694e-02 9.98656738e-01 -2.30510123e-04 7.43662317e+00] [ 1.65762184e-02 -6.29243191e-04 9.99862407e-01 4.46795859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6492541539999 meters 0.020996412932965305 Centerline is valid? [True, True] Translation: X:651.42, Y:7.44, Z:4.47 [[ 9.98458255e-01 -5.31171921e-02 -1.61145168e-02 6.51418630e+02] [ 5.31204995e-02 9.98588085e-01 -2.23023966e-04 7.43793531e+00] [ 1.61036109e-02 -6.33331063e-04 9.99870128e-01 4.46890187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6792541539999 meters 0.0241002663855935 Centerline is valid? [True, True] Translation: X:651.45, Y:7.43, Z:4.47 [[ 9.98329542e-01 -5.57956161e-02 -1.49991612e-02 6.51450133e+02] [ 5.57987970e-02 9.98442012e-01 -2.06666548e-04 7.43311862e+00] [ 1.49873238e-02 -6.30613831e-04 9.99887485e-01 4.46959580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.709254154 meters 0.023140125335769573 Centerline is valid? [True, True] Translation: X:651.48, Y:7.44, Z:4.47 [[ 9.98253160e-01 -5.72575121e-02 -1.45672713e-02 6.51482519e+02] [ 5.72606813e-02 9.98359241e-01 -1.99787330e-04 7.43509730e+00] [ 1.45548093e-02 -6.34693546e-04 9.99893872e-01 4.47087036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7392541539999 meters 0.023494522742225632 Centerline is valid? [True, True] Translation: X:651.51, Y:7.43, Z:4.47 [[ 9.98191789e-01 -5.83862891e-02 -1.42896638e-02 6.51514408e+02] [ 5.83894687e-02 9.98293861e-01 -1.94946081e-04 7.43467057e+00] [ 1.42766658e-02 -6.39772300e-04 9.99897879e-01 4.47149519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7692541539999 meters 0.02519292983755065 Centerline is valid? [True, True] Translation: X:651.55, Y:7.43, Z:4.47 [[ 9.98044904e-01 -6.08844784e-02 -1.41226569e-02 6.51545448e+02] [ 6.08878462e-02 9.98144595e-01 -1.91780123e-04 7.43142218e+00] [ 1.41081301e-02 -6.68492988e-04 9.99900252e-01 4.47121224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7992541539999 meters 0.025917724447831293 Centerline is valid? [True, True] Translation: X:651.58, Y:7.43, Z:4.47 [[ 9.97965907e-01 -6.20776839e-02 -1.45054801e-02 6.51577300e+02] [ 6.20813760e-02 9.98071072e-01 -1.96049712e-04 7.43004876e+00] [ 1.44896704e-02 -7.04869234e-04 9.99894771e-01 4.47105756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.829254154 meters 0.026730315747310694 Centerline is valid? [True, True] Translation: X:651.61, Y:7.43, Z:4.47 [[ 9.97839985e-01 -6.40652124e-02 -1.45263064e-02 6.51609431e+02] [ 6.40691404e-02 9.97945443e-01 -1.95283556e-04 7.42882921e+00] [ 1.45089722e-02 -7.35826225e-04 9.99894469e-01 4.47106829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8592541539999 meters 0.027606576523792455 Centerline is valid? [True, True] Translation: X:651.64, Y:7.43, Z:4.47 [[ 9.97791395e-01 -6.47674586e-02 -1.47481672e-02 6.51640892e+02] [ 6.47715976e-02 9.97900096e-01 -1.97338175e-04 7.42838704e+00] [ 1.47299785e-02 -7.58360016e-04 9.99891220e-01 4.47124962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8892541539999 meters 0.02716632049511993 Centerline is valid? [True, True] Translation: X:651.67, Y:7.43, Z:4.47 [[ 9.97748791e-01 -6.53528152e-02 -1.50452703e-02 6.51672782e+02] [ 6.53572037e-02 9.97861912e-01 -2.00345829e-04 7.42998024e+00] [ 1.50261954e-02 -7.83421989e-04 9.99886793e-01 4.47078605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9192541539999 meters 0.027347236905008083 Centerline is valid? [True, True] Translation: X:651.70, Y:7.43, Z:4.47 [[ 9.97760170e-01 -6.51209553e-02 -1.52939573e-02 6.51704749e+02] [ 6.51254799e-02 9.97877062e-01 -2.02544251e-04 7.43017470e+00] [ 1.52746790e-02 -7.93935721e-04 9.99883020e-01 4.47056829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.949254154 meters 0.027323625714605632 Centerline is valid? [True, True] Translation: X:651.74, Y:7.43, Z:4.47 [[ 9.97820049e-01 -6.41925099e-02 -1.53124653e-02 6.51736544e+02] [ 6.41969533e-02 9.97937228e-01 -2.01687213e-04 7.43049915e+00] [ 1.52938260e-02 -7.81766076e-04 9.99882737e-01 4.47043604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9792541539999 meters 0.028188943386818606 Centerline is valid? [True, True] Translation: X:651.77, Y:7.43, Z:4.47 [[ 9.98013955e-01 -6.10833435e-02 -1.53938425e-02 6.51766987e+02] [ 6.10874753e-02 9.98132396e-01 -2.02106545e-04 7.43110203e+00] [ 1.53774382e-02 -7.38665821e-04 9.99881487e-01 4.47078835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0092541539999 meters 0.02581403305473797 Centerline is valid? [True, True] Translation: X:651.80, Y:7.44, Z:4.47 [[ 9.98163732e-01 -5.86436664e-02 -1.51685081e-02 6.51798674e+02] [ 5.86474071e-02 9.98278740e-01 -1.98479512e-04 7.43560096e+00] [ 1.51540387e-02 -6.91478619e-04 9.99884932e-01 4.47158329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0392541539999 meters 0.022482440215673794 Centerline is valid? [True, True] Translation: X:651.83, Y:7.44, Z:4.47 [[ 9.98506372e-01 -5.25234272e-02 -1.50437872e-02 6.51829630e+02] [ 5.25264206e-02 9.98619515e-01 -1.96343774e-04 7.44317959e+00] [ 1.50333322e-02 -5.94145787e-04 9.99886817e-01 4.47215512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.069254154 meters 0.023740542154786763 Centerline is valid? [True, True] Translation: X:651.86, Y:7.44, Z:4.47 [[ 9.98684071e-01 -4.91265250e-02 -1.47210746e-02 6.51859720e+02] [ 4.91290255e-02 9.98792422e-01 -1.91950572e-04 7.44273842e+00] [ 1.47127276e-02 -5.31534069e-04 9.99891621e-01 4.47182448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0992541539999 meters 0.018847645796414687 Centerline is valid? [True, True] Translation: X:651.89, Y:7.45, Z:4.47 [[ 9.98876452e-01 -4.52994475e-02 -1.39209444e-02 6.51890952e+02] [ 4.53013175e-02 9.98973352e-01 -1.81139143e-04 7.45193328e+00] [ 1.39148580e-02 -4.49701498e-04 9.99903083e-01 4.47361041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1292541539999 meters 0.01746480168810037 Centerline is valid? [True, True] Translation: X:651.92, Y:7.46, Z:4.47 [[ 9.99175074e-01 -3.81670078e-02 -1.38726682e-02 6.51920887e+02] [ 3.81681813e-02 9.99271313e-01 -1.80254000e-04 7.45613922e+00] [ 1.38694391e-02 -3.49389211e-04 9.99903754e-01 4.47346794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1592541539999 meters 0.017281085540384794 Centerline is valid? [True, True] Translation: X:651.95, Y:7.46, Z:4.47 [[ 9.99300445e-01 -3.45961489e-02 -1.42030356e-02 6.51951325e+02] [ 3.45970203e-02 9.99401327e-01 -1.84416662e-04 7.45808013e+00] [ 1.42009127e-02 -3.07095058e-04 9.99899115e-01 4.47291630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.189254154 meters 0.015886473435132335 Centerline is valid? [True, True] Translation: X:651.98, Y:7.46, Z:4.47 [[ 9.99413651e-01 -3.10348902e-02 -1.44633807e-02 6.51983162e+02] [ 3.10354288e-02 9.99518268e-01 -1.87262505e-04 7.46280984e+00] [ 1.44622249e-02 -2.61724519e-04 9.99895382e-01 4.47347846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2192541539999 meters 0.014672635502361791 Centerline is valid? [True, True] Translation: X:652.01, Y:7.47, Z:4.47 [[ 9.99591335e-01 -2.42407404e-02 -1.51509068e-02 6.52013957e+02] [ 2.42405593e-02 9.99706135e-01 -1.95623883e-04 7.46750357e+00] [ 1.51511966e-02 -1.71722518e-04 9.99885199e-01 4.47332236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2492541539999 meters 0.014382465113040876 Centerline is valid? [True, True] Translation: X:652.04, Y:7.47, Z:4.47 [[ 9.99653225e-01 -2.16754002e-02 -1.49534873e-02 6.52043560e+02] [ 2.16749365e-02 9.99765052e-01 -1.93094757e-04 7.46917859e+00] [ 1.49541594e-02 -1.31088091e-04 9.99888172e-01 4.47370701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2792541539999 meters 0.013966495848211693 Centerline is valid? [True, True] Translation: X:652.07, Y:7.47, Z:4.47 [[ 9.99744181e-01 -1.79402694e-02 -1.37738695e-02 6.52072325e+02] [ 1.79395150e-02 9.99839058e-01 -1.78334591e-04 7.47088278e+00] [ 1.37748520e-02 -6.88075684e-05 9.99905120e-01 4.47473956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3092541539999 meters 0.013891940788907247 Centerline is valid? [True, True] Translation: X:652.10, Y:7.47, Z:4.48 [[ 9.99760006e-01 -1.73312519e-02 -1.33999346e-02 6.52101182e+02] [ 1.73304565e-02 9.99849801e-01 -1.75477675e-04 7.47179994e+00] [ 1.34009632e-02 -5.67914219e-05 9.99910201e-01 4.47591196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.339254154 meters 0.014125085809553191 Centerline is valid? [True, True] Translation: X:652.13, Y:7.47, Z:4.47 [[ 9.99740208e-01 -1.79180034e-02 -1.40876407e-02 6.52129791e+02] [ 1.79171513e-02 9.99839458e-01 -1.86701920e-04 7.46846848e+00] [ 1.40887244e-02 -6.57569739e-05 9.99900747e-01 4.47479195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3692541539999 meters 0.01378710035833738 Centerline is valid? [True, True] Translation: X:652.16, Y:7.47, Z:4.48 [[ 9.99715225e-01 -1.93868296e-02 -1.39147316e-02 6.52158677e+02] [ 1.93861104e-02 9.99812054e-01 -1.86574839e-04 7.46746099e+00] [ 1.39157335e-02 -8.32308164e-05 9.99903168e-01 4.47546791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3992541539999 meters 0.014544540172008869 Centerline is valid? [True, True] Translation: X:652.19, Y:7.46, Z:4.47 [[ 9.99624830e-01 -2.31725181e-02 -1.46025350e-02 6.52187629e+02] [ 2.31720965e-02 9.99731471e-01 -1.98087982e-04 7.46295571e+00] [ 1.46032040e-02 -1.40357685e-04 9.99893358e-01 4.47476213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4292541539999 meters 0.014767735302936201 Centerline is valid? [True, True] Translation: X:652.22, Y:7.46, Z:4.48 [[ 9.99570866e-01 -2.54527932e-02 -1.44996103e-02 6.52217189e+02] [ 2.54526080e-02 9.99676010e-01 -1.97334561e-04 7.46101727e+00] [ 1.44999353e-02 -1.71803019e-04 9.99894856e-01 4.47515722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.459254154 meters 0.014841304907807707 Centerline is valid? [True, True] Translation: X:652.25, Y:7.46, Z:4.48 [[ 9.99500149e-01 -2.82043684e-02 -1.42816667e-02 6.52247578e+02] [ 2.82044662e-02 9.99602156e-01 -1.94609086e-04 7.45965427e+00] [ 1.42814737e-02 -2.08294976e-04 9.99897993e-01 4.47614469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4892541539999 meters 0.015899739731176105 Centerline is valid? [True, True] Translation: X:652.28, Y:7.46, Z:4.48 [[ 9.99419903e-01 -3.10340126e-02 -1.40266675e-02 6.52278414e+02] [ 3.10343855e-02 9.99518299e-01 -1.91134341e-04 7.45737606e+00] [ 1.40258425e-02 -2.44285543e-04 9.99901603e-01 4.47613303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5192541539999 meters 0.016237666860223127 Centerline is valid? [True, True] Translation: X:652.31, Y:7.45, Z:4.48 [[ 9.99322199e-01 -3.39643853e-02 -1.41973273e-02 6.52310157e+02] [ 3.39650666e-02 9.99423002e-01 -1.93191171e-04 7.45466640e+00] [ 1.41956971e-02 -2.89152941e-04 9.99899194e-01 4.47633013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5492541539999 meters 0.017567098230246544 Centerline is valid? [True, True] Translation: X:652.34, Y:7.45, Z:4.48 [[ 9.99069339e-01 -4.06536135e-02 -1.44131409e-02 6.52341668e+02] [ 4.06550190e-02 9.99173224e-01 -1.95591653e-04 7.44847209e+00] [ 1.44091760e-02 -3.90556896e-04 9.99896106e-01 4.47627388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.579254154 meters 0.020048531882459718 Centerline is valid? [True, True] Translation: X:652.37, Y:7.44, Z:4.48 [[ 9.98924214e-01 -4.38219254e-02 -1.51675093e-02 6.52372034e+02] [ 4.38238532e-02 9.99039252e-01 -2.05408573e-04 7.44264493e+00] [ 1.51619385e-02 -4.59511103e-04 9.99884946e-01 4.47547792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6092541539999 meters 0.020262539957309447 Centerline is valid? [True, True] Translation: X:652.40, Y:7.44, Z:4.48 [[ 9.98612625e-01 -5.01414021e-02 -1.60830899e-02 6.52402603e+02] [ 5.01443929e-02 9.98741955e-01 -2.17505005e-04 7.43957537e+00] [ 1.60737626e-02 -5.89273533e-04 9.99870635e-01 4.47604272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6392541539999 meters 0.020931255083943553 Centerline is valid? [True, True] Translation: X:652.43, Y:7.44, Z:4.48 [[ 9.98452253e-01 -5.30406666e-02 -1.67268347e-02 6.52433806e+02] [ 5.30443162e-02 9.98592134e-01 -2.25714701e-04 7.43808173e+00] [ 1.67152576e-02 -6.61898156e-04 9.99860071e-01 4.47638148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6692541539999 meters 0.023098030796488568 Centerline is valid? [True, True] Translation: X:652.46, Y:7.43, Z:4.48 [[ 9.98161899e-01 -5.81317655e-02 -1.71324575e-02 6.52463765e+02] [ 5.81363470e-02 9.98308626e-01 -2.30924822e-04 7.43303319e+00] [ 1.71169042e-02 -7.65518138e-04 9.99853202e-01 4.47671027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.699254154 meters 0.023794535427243413 Centerline is valid? [True, True] Translation: X:652.49, Y:7.43, Z:4.48 [[ 9.98016455e-01 -6.06142610e-02 -1.70019700e-02 6.52494836e+02] [ 6.06191421e-02 9.98160943e-01 -2.28597964e-04 7.43085076e+00] [ 1.69845587e-02 -8.02500308e-04 9.99855430e-01 4.47659456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7292541539999 meters 0.025418204821727873 Centerline is valid? [True, True] Translation: X:652.53, Y:7.43, Z:4.48 [[ 9.97739150e-01 -6.47355267e-02 -1.80527307e-02 6.52526140e+02] [ 6.47417138e-02 9.97902025e-01 -2.42105943e-04 7.42657448e+00] [ 1.80305294e-02 -9.27206148e-04 9.99837007e-01 4.47587938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7592541539999 meters 0.02638998054723319 Centerline is valid? [True, True] Translation: X:652.56, Y:7.43, Z:4.48 [[ 9.97614126e-01 -6.63911172e-02 -1.89281784e-02 6.52558478e+02] [ 6.63982355e-02 9.97793170e-01 -2.52829964e-04 7.42532832e+00] [ 1.89031928e-02 -1.00457091e-03 9.99820814e-01 4.47574421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7892541539999 meters 0.026583164797823487 Centerline is valid? [True, True] Translation: X:652.59, Y:7.43, Z:4.48 [[ 9.97493329e-01 -6.79953916e-02 -1.95878724e-02 6.52590179e+02] [ 6.80033589e-02 9.97685058e-01 -2.59822780e-04 7.42569770e+00] [ 1.95601944e-02 -1.07286963e-03 9.99808105e-01 4.47585889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.819254154 meters 0.028325043755806977 Centerline is valid? [True, True] Translation: X:652.62, Y:7.42, Z:4.48 [[ 9.97301768e-01 -7.06685074e-02 -1.98782925e-02 6.52619902e+02] [ 7.06772562e-02 9.97499201e-01 -2.62957782e-04 7.42309937e+00] [ 1.98471638e-02 -1.14269491e-03 9.99802373e-01 4.47572276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8492541539999 meters 0.028371448556285542 Centerline is valid? [True, True] Translation: X:652.65, Y:7.42, Z:4.48 [[ 9.97240009e-01 -7.16553172e-02 -1.94391301e-02 6.52652140e+02] [ 7.16638883e-02 9.97428805e-01 -2.56223761e-04 7.42344302e+00] [ 1.94075081e-02 -1.13756706e-03 9.99811009e-01 4.47632806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8792541539999 meters 0.028371448556285542 Centerline is valid? [True, True] Translation: X:652.68, Y:7.42, Z:4.48 [[ 9.97245306e-01 -7.15815528e-02 -1.94391490e-02 6.52683882e+02] [ 7.15901378e-02 9.97434102e-01 -2.54786595e-04 7.42379982e+00] [ 1.94075081e-02 -1.13756662e-03 9.99811009e-01 4.47654791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9092541539999 meters 0.029551113959649194 Centerline is valid? [True, True] Translation: X:652.72, Y:7.42, Z:4.48 [[ 9.97223017e-01 -7.19868544e-02 -1.90826584e-02 6.52715042e+02] [ 7.19952359e-02 9.97404945e-01 -2.48299222e-04 7.42270443e+00] [ 1.90510122e-02 -1.12625080e-03 9.99817879e-01 4.47667698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9392541539999 meters 0.029239690987135594 Centerline is valid? [True, True] Translation: X:652.75, Y:7.43, Z:4.48 [[ 9.97181192e-01 -7.24560702e-02 -1.94881327e-02 6.52746756e+02] [ 7.24649426e-02 9.97370928e-01 -2.51444546e-04 7.42505674e+00] [ 1.94551157e-02 -1.16147064e-03 9.99810057e-01 4.47700919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9692541539999 meters 0.029910712359406115 Centerline is valid? [True, True] Translation: X:652.78, Y:7.43, Z:4.48 [[ 9.97214359e-01 -7.18750206e-02 -1.99375091e-02 6.52777521e+02] [ 7.18842208e-02 9.97412950e-01 -2.55757123e-04 7.42528240e+00] [ 1.99043124e-02 -1.17814763e-03 9.99801195e-01 4.47681827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9992541539999 meters 0.03043907862160452 Centerline is valid? [True, True] Translation: X:652.81, Y:7.43, Z:4.48 [[ 9.97307362e-01 -7.03599913e-02 -2.06760111e-02 6.52807946e+02] [ 7.03695747e-02 9.97520954e-01 -2.64589411e-04 7.42762205e+00] [ 2.06433709e-02 -1.19108514e-03 9.99786193e-01 4.47591135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0292541539999 meters 0.029191656759920748 Centerline is valid? [True, True] Translation: X:652.84, Y:7.43, Z:4.48 [[ 9.97386784e-01 -6.91879987e-02 -2.07996221e-02 6.52840518e+02] [ 6.91974718e-02 9.97602947e-01 -2.64790225e-04 7.43110890e+00] [ 2.07680846e-02 -1.17518299e-03 9.99783629e-01 4.47593916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0592541539999 meters 0.030005735512421212 Centerline is valid? [True, True] Translation: X:652.87, Y:7.43, Z:4.48 [[ 9.97478916e-01 -6.77764541e-02 -2.10276920e-02 6.52871510e+02] [ 6.77858528e-02 9.97699858e-01 -2.66299773e-04 7.43167280e+00] [ 2.09973741e-02 -1.15975162e-03 9.99778858e-01 4.47551251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.089254154 meters 0.02945117674278553 Centerline is valid? [True, True] Translation: X:652.90, Y:7.44, Z:4.47 [[ 9.97634785e-01 -6.53786938e-02 -2.12241046e-02 6.52903432e+02] [ 6.53877520e-02 9.97859895e-01 -2.67653462e-04 7.43580774e+00] [ 2.11961816e-02 -1.12077608e-03 9.99774707e-01 4.47496271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1192541539999 meters 0.02921004471736906 Centerline is valid? [True, True] Translation: X:652.93, Y:7.44, Z:4.47 [[ 9.97699113e-01 -6.42556752e-02 -2.16261011e-02 6.52934516e+02] [ 6.42648359e-02 9.97932842e-01 -2.71835703e-04 7.43794974e+00] [ 2.15988635e-02 -1.11858760e-03 9.99766092e-01 4.47486426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1492541539999 meters 0.02882114042643415 Centerline is valid? [True, True] Translation: X:652.96, Y:7.44, Z:4.47 [[ 9.97802114e-01 -6.23329615e-02 -2.24842829e-02 6.52964889e+02] [ 6.23423889e-02 9.98054782e-01 -2.82101426e-04 7.44316267e+00] [ 2.24581302e-02 -1.12024251e-03 9.99747157e-01 4.47465408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1792541539999 meters 0.029030969305267586 Centerline is valid? [True, True] Translation: X:653.00, Y:7.45, Z:4.47 [[ 9.97861965e-01 -6.13447768e-02 -2.25458941e-02 6.52996117e+02] [ 6.13540191e-02 9.98116028e-01 -2.82217068e-04 7.44563652e+00] [ 2.25207308e-02 -1.10166754e-03 9.99745769e-01 4.47461377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.209254154 meters 0.02503828157379015 Centerline is valid? [True, True] Translation: X:653.03, Y:7.45, Z:4.48 [[ 9.97960025e-01 -5.99049148e-02 -2.20723847e-02 6.53027271e+02] [ 5.99134388e-02 9.98203538e-01 -2.75506851e-04 7.45350474e+00] [ 2.20492367e-02 -1.04748764e-03 9.99756337e-01 4.47662077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2392541539999 meters 0.027242778011993055 Centerline is valid? [True, True] Translation: X:653.06, Y:7.45, Z:4.48 [[ 9.98189343e-01 -5.62746916e-02 -2.12413398e-02 6.53056857e+02] [ 5.62817649e-02 9.98414890e-01 -2.65149390e-04 7.45377464e+00] [ 2.12225911e-02 -9.30830796e-04 9.99774342e-01 4.47514435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2692541539999 meters 0.02414118407741813 Centerline is valid? [True, True] Translation: X:653.09, Y:7.46, Z:4.48 [[ 9.98309054e-01 -5.42496280e-02 -2.08808669e-02 6.53088019e+02] [ 5.42560288e-02 9.98527023e-01 -2.60275007e-04 7.46072030e+00] [ 2.08642297e-02 -8.73078022e-04 9.99781937e-01 4.47722162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2992541539999 meters 0.021611859315219126 Centerline is valid? [True, True] Translation: X:653.12, Y:7.47, Z:4.48 [[ 9.98439546e-01 -5.19987019e-02 -2.03619077e-02 6.53119058e+02] [ 5.20043361e-02 9.98646827e-01 -2.53069108e-04 7.46764961e+00] [ 2.03475137e-02 -8.06233284e-04 9.99792643e-01 4.47906482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.329254154 meters 0.02425041258565327 Centerline is valid? [True, True] Translation: X:653.15, Y:7.47, Z:4.48 [[ 9.98736865e-01 -4.65601484e-02 -1.88898574e-02 6.53149309e+02] [ 4.65640300e-02 9.98915280e-01 -2.34536158e-04 7.46863215e+00] [ 1.88802872e-02 -6.45347980e-04 9.99821543e-01 4.47809491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3592541539999 meters 0.01942730104314693 Centerline is valid? [True, True] Translation: X:653.18, Y:7.48, Z:4.48 [[ 9.98894230e-01 -4.32377400e-02 -1.84611583e-02 6.53180584e+02] [ 4.32408882e-02 9.99064649e-01 -2.28794151e-04 7.47909695e+00] [ 1.84537831e-02 -5.69735723e-04 9.99829552e-01 4.48085961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3892541539999 meters 0.01712926691417048 Centerline is valid? [True, True] Translation: X:653.21, Y:7.49, Z:4.48 [[ 9.99199029e-01 -3.59810972e-02 -1.75117394e-02 6.53211135e+02] [ 3.59828235e-02 9.99352385e-01 -2.16595797e-04 7.48719201e+00] [ 1.75081919e-02 -4.13699519e-04 9.99846634e-01 4.48153636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4192541539999 meters 0.01843436714631362 Centerline is valid? [True, True] Translation: X:653.24, Y:7.49, Z:4.48 [[ 9.99329952e-01 -3.23412056e-02 -1.71374668e-02 6.53241515e+02] [ 3.23423292e-02 9.99476828e-01 -2.11658363e-04 7.48685833e+00] [ 1.71353463e-02 -3.42749052e-04 9.99853120e-01 4.47955608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.449254154 meters 0.015750706248075626 Centerline is valid? [True, True] Translation: X:653.27, Y:7.50, Z:4.48 [[ 9.99441733e-01 -2.88088507e-02 -1.69196058e-02 6.53271925e+02] [ 2.88094419e-02 9.99584900e-01 -2.08843998e-04 7.49536287e+00] [ 1.69185991e-02 -2.78716994e-04 9.99856831e-01 4.48234919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4792541539999 meters 0.015045895079184479 Centerline is valid? [True, True] Translation: X:653.30, Y:7.50, Z:4.48 [[ 9.99591570e-01 -2.33585230e-02 -1.64642913e-02 6.53301783e+02] [ 2.33583436e-02 9.99727136e-01 -2.03223909e-04 7.50249165e+00] [ 1.64645458e-02 -1.81437669e-04 9.99864434e-01 4.48313120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5092541539999 meters 0.014874966190039298 Centerline is valid? [True, True] Translation: X:653.33, Y:7.51, Z:4.48 [[ 9.99632686e-01 -2.17012915e-02 -1.62341175e-02 6.53331613e+02] [ 2.17008932e-02 9.99764488e-01 -2.00713325e-04 7.50526619e+00] [ 1.62346499e-02 -1.51655249e-04 9.99868198e-01 4.48331111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5392541539999 meters 0.015614770466491915 Centerline is valid? [True, True] Translation: X:653.36, Y:7.51, Z:4.48 [[ 9.99658085e-01 -2.07081845e-02 -1.59651232e-02 6.53360829e+02] [ 2.07076353e-02 9.99785554e-01 -1.99730739e-04 7.50726755e+00] [ 1.59658356e-02 -1.30937500e-04 9.99872529e-01 4.48271308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.569254154 meters 0.014724734544118243 Centerline is valid? [True, True] Translation: X:653.39, Y:7.51, Z:4.48 [[ 9.99635008e-01 -2.15906903e-02 -1.62386517e-02 6.53389567e+02] [ 2.15901741e-02 9.99766884e-01 -2.07117499e-04 7.50720422e+00] [ 1.62393380e-02 -1.43553414e-04 9.99868123e-01 4.48283769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5992541539999 meters 0.014982116891909166 Centerline is valid? [True, True] Translation: X:653.42, Y:7.51, Z:4.48 [[ 9.99617187e-01 -2.25525808e-02 -1.60268708e-02 6.53417782e+02] [ 2.25521664e-02 9.99745646e-01 -2.06608983e-04 7.50658440e+00] [ 1.60274539e-02 -1.54910767e-04 9.99871540e-01 4.48240234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6292541539999 meters 0.015409951024606858 Centerline is valid? [True, True] Translation: X:653.45, Y:7.51, Z:4.48 [[ 9.99536033e-01 -2.58096785e-02 -1.61733917e-02 6.53446806e+02] [ 2.58096660e-02 9.99666853e-01 -2.09535369e-04 7.50517666e+00] [ 1.61734116e-02 -2.07991686e-04 9.99869180e-01 4.48232849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6592541539999 meters 0.015740860718348744 Centerline is valid? [True, True] Translation: X:653.48, Y:7.50, Z:4.48 [[ 9.99489373e-01 -2.76769608e-02 -1.59680918e-02 6.53476803e+02] [ 2.76771765e-02 9.99616892e-01 -2.07525973e-04 7.50438167e+00] [ 1.59677179e-02 -2.34531689e-04 9.99872480e-01 4.48252448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6892541539999 meters 0.01660511103141509 Centerline is valid? [True, True] Translation: X:653.51, Y:7.50, Z:4.48 [[ 9.99370801e-01 -3.16411198e-02 -1.60262522e-02 6.53507147e+02] [ 3.16418446e-02 9.99499250e-01 -2.08403367e-04 7.50178081e+00] [ 1.60248212e-02 -2.98827942e-04 9.99871550e-01 4.48240506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7192541539999 meters 0.016668342643388675 Centerline is valid? [True, True] Translation: X:653.54, Y:7.50, Z:4.48 [[ 9.99303880e-01 -3.37287447e-02 -1.59413810e-02 6.53538452e+02] [ 3.37297325e-02 9.99430969e-01 -2.06973014e-04 7.50184379e+00] [ 1.59392909e-02 -3.30869582e-04 9.99872907e-01 4.48302111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7492541539999 meters 0.018001020860546668 Centerline is valid? [True, True] Translation: X:653.57, Y:7.50, Z:4.48 [[ 9.99242263e-01 -3.54721766e-02 -1.60195128e-02 6.53568677e+02] [ 3.54734047e-02 9.99370599e-01 -2.07571318e-04 7.49882023e+00] [ 1.60167931e-02 -3.60852627e-04 9.99871658e-01 4.48239212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7792541539999 meters 0.017363313330996125 Centerline is valid? [True, True] Translation: X:653.60, Y:7.50, Z:4.48 [[ 9.99171474e-01 -3.72315219e-02 -1.64371269e-02 6.53600292e+02] [ 3.72330635e-02 9.99306587e-01 -2.12331812e-04 7.49989912e+00] [ 1.64336346e-02 -3.99848702e-04 9.99864879e-01 4.48316276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8092541539999 meters 0.018025835901054183 Centerline is valid? [True, True] Translation: X:653.63, Y:7.50, Z:4.48 [[ 9.99066642e-01 -3.98345097e-02 -1.67049754e-02 6.53632254e+02] [ 3.98364840e-02 9.99206189e-01 -2.14689658e-04 7.49785772e+00] [ 1.67002669e-02 -4.50978211e-04 9.99860439e-01 4.48308131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.839254154 meters 0.01897279886621937 Centerline is valid? [True, True] Translation: X:653.66, Y:7.50, Z:4.48 [[ 9.99041205e-01 -4.04437955e-02 -1.67621647e-02 6.53663273e+02] [ 4.04458864e-02 9.99181707e-01 -2.14379579e-04 7.49635973e+00] [ 1.67571187e-02 -4.63786578e-04 9.99859482e-01 4.48327082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8692541539999 meters 0.019358388251402483 Centerline is valid? [True, True] Translation: X:653.69, Y:7.50, Z:4.48 [[ 9.99057376e-01 -4.05246636e-02 -1.55599428e-02 6.53694412e+02] [ 4.05264877e-02 9.99178445e-01 -1.98194044e-04 7.49533275e+00] [ 1.55551912e-02 -4.32582611e-04 9.99878917e-01 4.48386367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8992541539999 meters 0.019491577788587955 Centerline is valid? [True, True] Translation: X:653.73, Y:7.50, Z:4.48 [[ 9.99061548e-01 -4.02769402e-02 -1.59308273e-02 6.53727085e+02] [ 4.02788369e-02 9.99188458e-01 -2.01908809e-04 7.49525648e+00] [ 1.59260311e-02 -4.39955870e-04 9.99873076e-01 4.48390673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9292541539999 meters 0.018660666305082074 Centerline is valid? [True, True] Translation: X:653.76, Y:7.50, Z:4.48 [[ 9.99091939e-01 -3.93804901e-02 -1.62626489e-02 6.53759076e+02] [ 3.93823669e-02 9.99224193e-01 -2.04950653e-04 7.49684581e+00] [ 1.62581033e-02 -4.35697061e-04 9.99867733e-01 4.48447382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.959254154 meters 0.017451474932124855 Centerline is valid? [True, True] Translation: X:653.79, Y:7.50, Z:4.48 [[ 9.99190778e-01 -3.67154166e-02 -1.64245731e-02 6.53790536e+02] [ 3.67169852e-02 9.99325683e-01 -2.06144436e-04 7.50023667e+00] [ 1.64210664e-02 -3.97083188e-04 9.99865086e-01 4.48494298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9892541539999 meters 0.017304309409701193 Centerline is valid? [True, True] Translation: X:653.82, Y:7.50, Z:4.48 [[ 9.99248082e-01 -3.49280008e-02 -1.68316982e-02 6.53821412e+02] [ 3.49294050e-02 9.99389760e-01 -2.10636601e-04 7.50090633e+00] [ 1.68287839e-02 -3.77442984e-04 9.99858315e-01 4.48467649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0192541539999 meters 0.016272225134859993 Centerline is valid? [True, True] Translation: X:653.85, Y:7.50, Z:4.48 [[ 9.99383702e-01 -3.03840767e-02 -1.75791065e-02 6.53852298e+02] [ 3.03849137e-02 9.99538248e-01 -2.19535986e-04 7.50448769e+00] [ 1.75776597e-02 -3.14738947e-04 9.99845451e-01 4.48450121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0492541539999 meters 0.015732989462589612 Centerline is valid? [True, True] Translation: X:653.88, Y:7.51, Z:4.48 [[ 9.99454960e-01 -2.79153096e-02 -1.76215140e-02 6.53882820e+02] [ 2.79157693e-02 9.99610255e-01 -2.19940322e-04 7.50699906e+00] [ 1.76207858e-02 -2.72097674e-04 9.99844705e-01 4.48478366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.079254154 meters 0.01516267741925149 Centerline is valid? [True, True] Translation: X:653.91, Y:7.51, Z:4.49 [[ 9.99568854e-01 -2.32518373e-02 -1.79292747e-02 6.53913232e+02] [ 2.32515631e-02 9.99729621e-01 -2.23781591e-04 7.51040323e+00] [ 1.79296303e-02 -1.93198553e-04 9.99839233e-01 4.48548244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1092541539999 meters 0.0149431059893459 Centerline is valid? [True, True] Translation: X:653.94, Y:7.51, Z:4.49 [[ 9.99612857e-01 -2.11401819e-02 -1.80894813e-02 6.53942175e+02] [ 2.11395051e-02 9.99776510e-01 -2.28654797e-04 7.51218950e+00] [ 1.80902723e-02 -1.53836408e-04 9.99836346e-01 4.48603146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1392541539999 meters 0.014902144890434567 Centerline is valid? [True, True] Translation: X:653.97, Y:7.51, Z:4.49 [[ 9.99689998e-01 -1.68823429e-02 -1.83001156e-02 6.53969632e+02] [ 1.68808848e-02 9.99857480e-01 -2.34157975e-04 7.51466723e+00] [ 1.83014606e-02 -7.48367578e-05 9.99832511e-01 4.48579623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1692541539999 meters 0.014745668100515816 Centerline is valid? [True, True] Translation: X:654.00, Y:7.52, Z:4.49 [[ 9.99700094e-01 -1.52411521e-02 -1.91684384e-02 6.53997811e+02] [ 1.52391705e-02 9.99883846e-01 -2.49450169e-04 7.51602849e+00] [ 1.91700138e-02 -4.27357439e-05 9.99816237e-01 4.48593190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.199254154 meters 0.014802214167781762 Centerline is valid? [True, True] Translation: X:654.03, Y:7.52, Z:4.49 [[ 9.99707683e-01 -1.38597599e-02 -1.98104676e-02 6.54025816e+02] [ 1.38573086e-02 9.99903949e-01 -2.61010194e-04 7.51683304e+00] [ 1.98121824e-02 -1.35858676e-05 9.99803719e-01 4.48540043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2292541539999 meters 0.015505255388492222 Centerline is valid? [True, True] Translation: X:654.05, Y:7.52, Z:4.49 [[ 9.99726968e-01 -1.18865450e-02 -2.01171410e-02 6.54054184e+02] [ 1.18835292e-02 9.99929352e-01 -2.69451794e-04 7.51684303e+00] [ 2.01189226e-02 3.03155916e-05 9.99797594e-01 4.48535859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2592541539999 meters 0.014980040221875615 Centerline is valid? [True, True] Translation: X:654.08, Y:7.52, Z:4.49 [[ 9.99717474e-01 -1.20365766e-02 -2.04961701e-02 6.54082541e+02] [ 1.20333569e-02 9.99927557e-01 -2.80416229e-04 7.51671161e+00] [ 2.04980606e-02 3.36992743e-05 9.99789892e-01 4.48562299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2892541539999 meters 0.014819388777242282 Centerline is valid? [True, True] Translation: X:654.11, Y:7.52, Z:4.49 [[ 9.99710367e-01 -1.20508901e-02 -2.08316738e-02 6.54110933e+02] [ 1.20474427e-02 9.99927385e-01 -2.90982480e-04 7.51595105e+00] [ 2.08336677e-02 3.99298053e-05 9.99782955e-01 4.48612770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.319254154 meters 0.014986357273092606 Centerline is valid? [True, True] Translation: X:654.14, Y:7.51, Z:4.49 [[ 9.99689602e-01 -1.28438533e-02 -2.13479605e-02 6.54138707e+02] [ 1.28403432e-02 9.99917514e-01 -3.01494622e-04 7.51402407e+00] [ 2.13500719e-02 2.72858997e-05 9.99772061e-01 4.48600856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3492541539999 meters 0.014903453363891452 Centerline is valid? [True, True] Translation: X:654.17, Y:7.51, Z:4.49 [[ 9.99669928e-01 -1.35519822e-02 -2.18261022e-02 6.54166926e+02] [ 1.35483769e-02 9.99908168e-01 -3.13051118e-04 7.51270118e+00] [ 2.18283404e-02 1.72395290e-05 9.99761733e-01 4.48634875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3792541539999 meters 0.014915084784517824 Centerline is valid? [True, True] Translation: X:654.19, Y:7.51, Z:4.49 [[ 9.99661837e-01 -1.48110499e-02 -2.13739390e-02 6.54194986e+02] [ 1.48078128e-02 9.99890310e-01 -3.09722511e-04 7.50921287e+00] [ 2.13761819e-02 -6.88351302e-06 9.99771503e-01 4.48688846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4092541539999 meters 0.014870479906575465 Centerline is valid? [True, True] Translation: X:654.22, Y:7.51, Z:4.49 [[ 9.99648752e-01 -1.60234302e-02 -2.11097829e-02 6.54222690e+02] [ 1.60204479e-02 9.99871616e-01 -3.10391879e-04 7.50788858e+00] [ 2.11120463e-02 -2.79053238e-05 9.99777116e-01 4.48749809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4392541539999 meters 0.014664288397472382 Centerline is valid? [True, True] Translation: X:654.25, Y:7.51, Z:4.49 [[ 9.99633264e-01 -1.73443116e-02 -2.07969347e-02 6.54251084e+02] [ 1.73415797e-02 9.99849575e-01 -3.11712311e-04 7.50658859e+00] [ 2.07992128e-02 -4.90537057e-05 9.99783672e-01 4.48966098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4692541539999 meters 0.014584817853052736 Centerline is valid? [True, True] Translation: X:654.28, Y:7.50, Z:4.49 [[ 9.99598733e-01 -1.97779176e-02 -2.02782464e-02 6.54278621e+02] [ 1.97757021e-02 9.99804394e-01 -3.09797636e-04 7.50302934e+00] [ 2.02804070e-02 -9.13432370e-05 9.99794327e-01 4.49015742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4992541539999 meters 0.01468633815767463 Centerline is valid? [True, True] Translation: X:654.31, Y:7.50, Z:4.49 [[ 9.99563511e-01 -2.13874667e-02 -2.03804596e-02 6.54307493e+02] [ 2.13854516e-02 9.99771255e-01 -3.16835323e-04 7.50150414e+00] [ 2.03825740e-02 -1.19148306e-04 9.99792247e-01 4.49100217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5292541539999 meters 0.01478057575278895 Centerline is valid? [True, True] Translation: X:654.34, Y:7.50, Z:4.49 [[ 9.99505566e-01 -2.43480763e-02 -1.98945739e-02 6.54336073e+02] [ 2.43466418e-02 9.99703527e-01 -3.14343871e-04 7.49774758e+00] [ 1.98963293e-02 -1.70177615e-04 9.99802034e-01 4.49108134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5592541539999 meters 0.014741701694058801 Centerline is valid? [True, True] Translation: X:654.36, Y:7.50, Z:4.49 [[ 9.99463555e-01 -2.59098782e-02 -2.00320029e-02 6.54364975e+02] [ 2.59086337e-02 9.99664263e-01 -3.21695673e-04 7.49599312e+00] [ 2.00336125e-02 -1.97478724e-04 9.99799288e-01 4.49129207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.589254154 meters 0.015151956526224216 Centerline is valid? [True, True] Translation: X:654.39, Y:7.49, Z:4.49 [[ 9.99426645e-01 -2.76327649e-02 -1.95655642e-02 6.54393836e+02] [ 2.76318098e-02 9.99618118e-01 -3.19206964e-04 7.49383388e+00] [ 1.95669131e-02 -2.21608004e-04 9.99808525e-01 4.49105946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6192541539999 meters 0.015256569526355547 Centerline is valid? [True, True] Translation: X:654.42, Y:7.49, Z:4.49 [[ 9.99357706e-01 -3.04664188e-02 -1.88672237e-02 6.54422633e+02] [ 3.04659455e-02 9.99535756e-01 -3.12583398e-04 7.49006880e+00] [ 1.88679880e-02 -2.62425181e-04 9.99821949e-01 4.49207785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6492541539999 meters 0.015453575455726924 Centerline is valid? [True, True] Translation: X:654.45, Y:7.49, Z:4.49 [[ 9.99320264e-01 -3.18529087e-02 -1.85580979e-02 6.54452585e+02] [ 3.18526496e-02 9.99492528e-01 -3.09624826e-04 7.48814062e+00] [ 1.85585426e-02 -2.81710226e-04 9.99827736e-01 4.49254108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6792541539999 meters 0.015785230154823318 Centerline is valid? [True, True] Translation: X:654.48, Y:7.48, Z:4.49 [[ 9.99277728e-01 -3.36563585e-02 -1.76429044e-02 6.54481909e+02] [ 3.36563942e-02 9.99433420e-01 -2.94980711e-04 7.48300024e+00] [ 1.76428362e-02 -2.99028889e-04 9.99844308e-01 4.49297284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.709254154 meters 0.015994667393263218 Centerline is valid? [True, True] Translation: X:654.51, Y:7.48, Z:4.49 [[ 9.99263382e-01 -3.41146758e-02 -1.75750678e-02 6.54512325e+02] [ 3.41147777e-02 9.99417878e-01 -2.94095275e-04 7.48079025e+00] [ 1.75748700e-02 -3.05690894e-04 9.99845503e-01 4.49311087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7392541539999 meters 0.01611402633090703 Centerline is valid? [True, True] Translation: X:654.54, Y:7.48, Z:4.49 [[ 9.99251690e-01 -3.43481194e-02 -1.77838919e-02 6.54542116e+02] [ 3.43482613e-02 9.99409880e-01 -2.97559787e-04 7.47854070e+00] [ 1.77836179e-02 -3.13508645e-04 9.99841810e-01 4.49300116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7692541539999 meters 0.01611402633090703 Centerline is valid? [True, True] Translation: X:654.57, Y:7.48, Z:4.49 [[ 9.99251690e-01 -3.43481193e-02 -1.77838922e-02 6.54572118e+02] [ 3.43482615e-02 9.99409880e-01 -2.97540724e-04 7.47904264e+00] [ 1.77836175e-02 -3.13527708e-04 9.99841810e-01 4.49320907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7992541539999 meters 0.015975403451674672 Centerline is valid? [True, True] Translation: X:654.60, Y:7.48, Z:4.49 [[ 9.99270244e-01 -3.36318862e-02 -1.81073173e-02 6.54602978e+02] [ 3.36319161e-02 9.99434241e-01 -3.02951921e-04 7.47553906e+00] [ 1.81072617e-02 -3.06252935e-04 9.99836003e-01 4.49333988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.829254154 meters 0.015629984866406245 Centerline is valid? [True, True] Translation: X:654.63, Y:7.47, Z:4.49 [[ 9.99295366e-01 -3.29767737e-02 -1.79249392e-02 6.54632319e+02] [ 3.29766906e-02 9.99456076e-01 -3.00293887e-04 7.47434143e+00] [ 1.79250921e-02 -2.91022883e-04 9.99839290e-01 4.49377768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8592541539999 meters 0.015530571499347907 Centerline is valid? [True, True] Translation: X:654.66, Y:7.47, Z:4.49 [[ 9.99359376e-01 -3.12444893e-02 -1.74533610e-02 6.54662401e+02] [ 3.12441356e-02 9.99511740e-01 -2.93009270e-04 7.47210320e+00] [ 1.74539942e-02 -2.52493618e-04 9.99847636e-01 4.49412909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8892541539999 meters 0.015120868587346896 Centerline is valid? [True, True] Translation: X:654.69, Y:7.47, Z:4.50 [[ 9.99381020e-01 -3.04506607e-02 -1.76162915e-02 6.54691914e+02] [ 3.04501657e-02 9.99536242e-01 -2.96388921e-04 7.47231181e+00] [ 1.76171471e-02 -2.40213533e-04 9.99844777e-01 4.49525357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9192541539999 meters 0.01635609219726984 Centerline is valid? [True, True] Translation: X:654.72, Y:7.47, Z:4.49 [[ 9.99400926e-01 -2.95044764e-02 -1.80907459e-02 6.54720773e+02] [ 2.95037836e-02 9.99564622e-01 -3.05248896e-04 7.47083188e+00] [ 1.80918758e-02 -2.28679423e-04 9.99836302e-01 4.49404583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.949254154 meters 0.015022339878248168 Centerline is valid? [True, True] Translation: X:654.75, Y:7.47, Z:4.49 [[ 9.99396170e-01 -2.91645486e-02 -1.88871255e-02 6.54749669e+02] [ 2.91636682e-02 9.99574598e-01 -3.22105058e-04 7.46855319e+00] [ 1.88884849e-02 -2.28907299e-04 9.99821570e-01 4.49399767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9792541539999 meters 0.015050223227921 Centerline is valid? [True, True] Translation: X:654.78, Y:7.47, Z:4.49 [[ 9.99381898e-01 -2.94524791e-02 -1.91930785e-02 6.54778874e+02] [ 2.94515289e-02 9.99566154e-01 -3.32224997e-04 7.46756521e+00] [ 1.91945365e-02 -2.33245858e-04 9.99815741e-01 4.49389845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0092541539999 meters 0.015465346335141765 Centerline is valid? [True, True] Translation: X:654.81, Y:7.46, Z:4.49 [[ 9.99325130e-01 -3.11619263e-02 -1.94478309e-02 6.54807691e+02] [ 3.11611777e-02 9.99514314e-01 -3.41601109e-04 7.46393727e+00] [ 1.94490303e-02 -2.64646741e-04 9.99810815e-01 4.49334786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0392541539999 meters 0.01610068348430869 Centerline is valid? [True, True] Translation: X:654.84, Y:7.46, Z:4.49 [[ 9.99278875e-01 -3.23686153e-02 -1.98495063e-02 6.54836545e+02] [ 3.23679715e-02 9.99475957e-01 -3.53790774e-04 7.46275042e+00] [ 1.98505561e-02 -2.88952609e-04 9.99802917e-01 4.49362213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.069254154 meters 0.016172348867519344 Centerline is valid? [True, True] Translation: X:654.86, Y:7.46, Z:4.49 [[ 9.99224543e-01 -3.42883934e-02 -1.93550797e-02 6.54863968e+02] [ 3.42880856e-02 9.99411930e-01 -3.47859060e-04 7.46004406e+00] [ 1.93556251e-02 -3.16059319e-04 9.99812612e-01 4.49352605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0992541539999 meters 0.016370479341772694 Centerline is valid? [True, True] Translation: X:654.89, Y:7.46, Z:4.50 [[ 9.99110852e-01 -3.84323645e-02 -1.73337443e-02 6.54893097e+02] [ 3.84326844e-02 9.99261142e-01 -3.14782622e-04 7.45827958e+00] [ 1.73330350e-02 -3.51679592e-04 9.99849710e-01 4.49606877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1292541539999 meters 0.017015513155081374 Centerline is valid? [True, True] Translation: X:654.92, Y:7.46, Z:4.50 [[ 9.99050219e-01 -4.03020571e-02 -1.65651593e-02 6.54923585e+02] [ 4.03025808e-02 9.99187475e-01 -3.02357266e-04 7.45614039e+00] [ 1.65638853e-02 -3.65548577e-04 9.99862743e-01 4.49656891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1592541539999 meters 0.017294198444011 Centerline is valid? [True, True] Translation: X:654.95, Y:7.46, Z:4.50 [[ 9.98980793e-01 -4.23281554e-02 -1.56749275e-02 6.54954472e+02] [ 4.23288779e-02 9.99103691e-01 -2.85827323e-04 7.45547459e+00] [ 1.56729764e-02 -3.77966085e-04 9.99877100e-01 4.49750348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1892541539999 meters 0.018269279105361053 Centerline is valid? [True, True] Translation: X:654.99, Y:7.45, Z:4.50 [[ 9.98786673e-01 -4.68548418e-02 -1.51593732e-02 6.54985974e+02] [ 4.68560449e-02 9.98901614e-01 -2.75996948e-04 7.45273106e+00] [ 1.51556541e-02 -4.34646195e-04 9.99885052e-01 4.49806426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2192541539999 meters 0.01902068958548003 Centerline is valid? [True, True] Translation: X:655.02, Y:7.45, Z:4.50 [[ 9.98666420e-01 -4.94402345e-02 -1.48675782e-02 6.55017700e+02] [ 4.94416860e-02 9.98776975e-01 -2.70137448e-04 7.45103211e+00] [ 1.48627504e-02 -4.65300933e-04 9.99889435e-01 4.49822996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2492541539999 meters 0.020806927244069257 Centerline is valid? [True, True] Translation: X:655.05, Y:7.45, Z:4.50 [[ 9.98362660e-01 -5.53179721e-02 -1.45575260e-02 6.55049182e+02] [ 5.53199954e-02 9.98468642e-01 -2.63971205e-04 7.44684926e+00] [ 1.45498356e-02 -5.41783278e-04 9.99893999e-01 4.49889693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2792541539999 meters 0.022091011746193608 Centerline is valid? [True, True] Translation: X:655.08, Y:7.44, Z:4.50 [[ 9.98168770e-01 -5.88900256e-02 -1.38228673e-02 6.55080552e+02] [ 5.88921985e-02 9.98264317e-01 -2.50153455e-04 7.44458947e+00] [ 1.38136067e-02 -5.64363679e-04 9.99904428e-01 4.49941890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3092541539999 meters 0.026902824974760386 Centerline is valid? [True, True] Translation: X:655.11, Y:7.44, Z:4.50 [[ 9.97729765e-01 -6.59578049e-02 -1.35971825e-02 6.55109873e+02] [ 6.59605642e-02 9.97822200e-01 -2.45921423e-04 7.43559067e+00] [ 1.35837909e-02 -6.51514702e-04 9.99907524e-01 4.49869247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.339254154 meters 0.02757365564559422 Centerline is valid? [True, True] Translation: X:655.14, Y:7.43, Z:4.50 [[ 9.97496237e-01 -6.93551396e-02 -1.38246601e-02 6.55140710e+02] [ 6.93583175e-02 9.97591781e-01 -2.50018814e-04 7.43491539e+00] [ 1.38087074e-02 -7.09462341e-04 9.99904404e-01 4.49782355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3692541539999 meters 0.02895061242004729 Centerline is valid? [True, True] Translation: X:655.17, Y:7.43, Z:4.50 [[ 9.97214275e-01 -7.33500299e-02 -1.35448513e-02 6.55170958e+02] [ 7.33534553e-02 9.97305977e-01 -2.44408414e-04 7.43206218e+00] [ 1.35262885e-02 -7.49834083e-04 9.99908234e-01 4.49884996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3992541539999 meters 0.031181032102941136 Centerline is valid? [True, True] Translation: X:655.20, Y:7.43, Z:4.50 [[ 9.96732501e-01 -7.95755397e-02 -1.38583829e-02 6.55201812e+02] [ 7.95797321e-02 9.96828473e-01 -2.49544005e-04 7.42968929e+00] [ 1.38342882e-02 -8.54117777e-04 9.99903937e-01 4.49905861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4292541539999 meters 0.034259460538133626 Centerline is valid? [True, True] Translation: X:655.23, Y:7.43, Z:4.50 [[ 9.96536362e-01 -8.19634365e-02 -1.40454152e-02 6.55232311e+02] [ 8.19679818e-02 9.96634931e-01 -2.52717613e-04 7.42635842e+00] [ 1.40188650e-02 -8.99432049e-04 9.99901326e-01 4.49877474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.459254154 meters 0.03682658544483131 Centerline is valid? [True, True] Translation: X:655.26, Y:7.42, Z:4.50 [[ 9.96322306e-01 -8.43809837e-02 -1.48900289e-02 6.55262880e+02] [ 8.43863650e-02 9.96433073e-01 -2.67642255e-04 7.42423484e+00] [ 1.48595012e-02 -9.89857468e-04 9.99889102e-01 4.49800298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4892541539999 meters 0.03723173782305169 Centerline is valid? [True, True] Translation: X:655.30, Y:7.43, Z:4.50 [[ 9.96320586e-01 -8.43362171e-02 -1.52542522e-02 6.55295495e+02] [ 8.43418705e-02 9.96436839e-01 -2.73480383e-04 7.42528458e+00] [ 1.52229632e-02 -1.01409803e-03 9.99883610e-01 4.49780929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5192541539999 meters 0.037783769728248276 Centerline is valid? [True, True] Translation: X:655.33, Y:7.43, Z:4.50 [[ 9.96371457e-01 -8.36848892e-02 -1.55163843e-02 6.55326327e+02] [ 8.36906746e-02 9.96491743e-01 -2.77237054e-04 7.42704230e+00] [ 1.54851494e-02 -1.02234558e-03 9.99879575e-01 4.49761133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5492541539999 meters 0.030695905850784036 Centerline is valid? [True, True] Translation: X:655.36, Y:7.44, Z:4.50 [[ 9.96432670e-01 -8.29100740e-02 -1.57433466e-02 6.55358620e+02] [ 8.29159497e-02 9.96556505e-01 -2.80265056e-04 7.43903214e+00] [ 1.57123713e-02 -1.02610928e-03 9.99876027e-01 4.49888557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.579254154 meters 0.033320238719899836 Centerline is valid? [True, True] Translation: X:655.39, Y:7.44, Z:4.50 [[ 9.96496220e-01 -8.20040506e-02 -1.64504904e-02 6.55389621e+02] [ 8.20103608e-02 9.96631434e-01 -2.91781367e-04 7.43793265e+00] [ 1.64190031e-02 -1.05835162e-03 9.99864639e-01 4.49884524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6092541539999 meters 0.031386009873676526 Centerline is valid? [True, True] Translation: X:655.42, Y:7.45, Z:4.50 [[ 9.96660804e-01 -7.99165234e-02 -1.67508343e-02 6.55420622e+02] [ 7.99227851e-02 9.96801014e-01 -2.96355496e-04 7.44574795e+00] [ 1.67209323e-02 -1.04340742e-03 9.99859651e-01 4.49942053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6392541539999 meters 0.030488543560406235 Centerline is valid? [True, True] Translation: X:655.45, Y:7.45, Z:4.50 [[ 9.96775927e-01 -7.84948648e-02 -1.66225071e-02 6.55452608e+02] [ 7.85008499e-02 9.96914004e-01 -2.93130100e-04 7.44942529e+00] [ 1.65942193e-02 -1.01269591e-03 9.99861794e-01 4.50008392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6692541539999 meters 0.027604192709553443 Centerline is valid? [True, True] Translation: X:655.48, Y:7.46, Z:4.50 [[ 9.97001624e-01 -7.56361166e-02 -1.63383006e-02 6.55484320e+02] [ 7.56415327e-02 9.97135034e-01 -2.87100585e-04 7.45819444e+00] [ 1.63132071e-02 -9.49614347e-04 9.99866480e-01 4.50124828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.699254154 meters 0.02672964619762172 Centerline is valid? [True, True] Translation: X:655.52, Y:7.46, Z:4.50 [[ 9.97118098e-01 -7.40771079e-02 -1.63731637e-02 6.55516738e+02] [ 7.40823556e-02 9.97252086e-01 -2.86617534e-04 7.46195462e+00] [ 1.63494035e-02 -9.27171007e-04 9.99865910e-01 4.50181433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7292541539999 meters 0.028193993138523905 Centerline is valid? [True, True] Translation: X:655.55, Y:7.46, Z:4.50 [[ 9.97240572e-01 -7.24579338e-02 -1.61582797e-02 6.55546730e+02] [ 7.24628572e-02 9.97371072e-01 -2.81342555e-04 7.46234673e+00] [ 1.61361863e-02 -8.90308904e-04 9.99869407e-01 4.50202252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7592541539999 meters 0.026070494234490888 Centerline is valid? [True, True] Translation: X:655.58, Y:7.47, Z:4.50 [[ 9.97528347e-01 -6.84849973e-02 -1.57162690e-02 6.55577532e+02] [ 6.84891771e-02 9.97651822e-01 -2.72755076e-04 7.47044739e+00] [ 1.56980440e-02 -8.04313409e-04 9.99876455e-01 4.50362974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7892541539999 meters 0.0252126110761916 Centerline is valid? [True, True] Translation: X:655.61, Y:7.47, Z:4.50 [[ 9.97712901e-01 -6.58610017e-02 -1.52083737e-02 6.55609441e+02] [ 6.58646203e-02 9.97828534e-01 -2.63360386e-04 7.47451848e+00] [ 1.51926944e-02 -7.38935701e-04 9.99884311e-01 4.50429003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.819254154 meters 0.024741216565870257 Centerline is valid? [True, True] Translation: X:655.64, Y:7.48, Z:4.50 [[ 9.97897271e-01 -6.30983888e-02 -1.48199238e-02 6.55639879e+02] [ 6.31015285e-02 9.98007080e-01 -2.56115696e-04 7.47766686e+00] [ 1.48065493e-02 -6.79582688e-04 9.99890146e-01 4.50466607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8492541539999 meters 0.023002089314416725 Centerline is valid? [True, True] Translation: X:655.67, Y:7.48, Z:4.51 [[ 9.98258968e-01 -5.72621251e-02 -1.41450035e-02 6.55670924e+02] [ 5.72644029e-02 9.98359018e-01 -2.44271648e-04 7.48456430e+00] [ 1.41357793e-02 -5.66158816e-04 9.99899925e-01 4.50508612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8792541539999 meters 0.021683936063532597 Centerline is valid? [True, True] Translation: X:655.70, Y:7.49, Z:4.51 [[ 9.98423282e-01 -5.41573656e-02 -1.47624344e-02 6.55702546e+02] [ 5.41595149e-02 9.98532264e-01 -2.54450567e-04 7.48869323e+00] [ 1.47545474e-02 -5.45476915e-04 9.99890997e-01 4.50539571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9092541539999 meters 0.019257701612872595 Centerline is valid? [True, True] Translation: X:655.73, Y:7.50, Z:4.51 [[ 9.98719950e-01 -4.81522406e-02 -1.54862166e-02 6.55733666e+02] [ 4.81538931e-02 9.98839893e-01 -2.66375362e-04 7.49712473e+00] [ 1.54810775e-02 -4.79687230e-04 9.99880046e-01 4.50559252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9392541539999 meters 0.019644013323483752 Centerline is valid? [True, True] Translation: X:655.77, Y:7.50, Z:4.50 [[ 9.98829238e-01 -4.55692287e-02 -1.62357151e-02 6.55765012e+02] [ 4.55707266e-02 9.98961076e-01 -2.77884342e-04 7.49916131e+00] [ 1.62315104e-02 -4.62314327e-04 9.99868153e-01 4.50488461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9692541539999 meters 0.01835108267909248 Centerline is valid? [True, True] Translation: X:655.80, Y:7.50, Z:4.51 [[ 9.98947855e-01 -4.29384581e-02 -1.61081499e-02 6.55796304e+02] [ 4.29396109e-02 9.99077632e-01 -2.74447165e-04 7.50357035e+00] [ 1.61050765e-02 -4.17519280e-04 9.99870218e-01 4.50531150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9992541539999 meters 0.016879737310705495 Centerline is valid? [True, True] Translation: X:655.83, Y:7.51, Z:4.51 [[ 9.99087739e-01 -3.92925861e-02 -1.67266876e-02 6.55828048e+02] [ 3.92933319e-02 9.99227678e-01 -2.84186403e-04 7.50901930e+00] [ 1.67249356e-02 -3.73320136e-04 9.99860059e-01 4.50569710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0292541539999 meters 0.01757537131539514 Centerline is valid? [True, True] Translation: X:655.86, Y:7.51, Z:4.51 [[ 9.99141667e-01 -3.81149226e-02 -1.62228949e-02 6.55858819e+02] [ 3.81154776e-02 9.99273303e-01 -2.75087967e-04 7.50929579e+00] [ 1.62215907e-02 -3.43491538e-04 9.99868362e-01 4.50509573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0592541539999 meters 0.017298622510813138 Centerline is valid? [True, True] Translation: X:655.89, Y:7.51, Z:4.51 [[ 9.99164837e-01 -3.75798431e-02 -1.60431792e-02 6.55890578e+02] [ 3.75803241e-02 9.99293573e-01 -2.71595410e-04 7.51157050e+00] [ 1.60420524e-02 -3.31539290e-04 9.99871263e-01 4.50597719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.089254154 meters 0.01666057735148829 Centerline is valid? [True, True] Translation: X:655.92, Y:7.51, Z:4.51 [[ 9.99168978e-01 -3.78456617e-02 -1.51346754e-02 6.55922238e+02] [ 3.78461283e-02 9.99283546e-01 -2.55682549e-04 7.51477177e+00] [ 1.51335086e-02 -3.17318797e-04 9.99885432e-01 4.50692015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1192541539999 meters 0.018187011817552994 Centerline is valid? [True, True] Translation: X:655.95, Y:7.51, Z:4.51 [[ 9.99161172e-01 -3.82428115e-02 -1.46437309e-02 6.55953707e+02] [ 3.82433083e-02 9.99268427e-01 -2.46203320e-04 7.51356884e+00] [ 1.46424334e-02 -3.14027916e-04 9.99892745e-01 4.50606208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1492541539999 meters 0.01767061245287082 Centerline is valid? [True, True] Translation: X:655.99, Y:7.52, Z:4.51 [[ 9.99064218e-01 -4.08385376e-02 -1.42443428e-02 6.55986031e+02] [ 4.08392905e-02 9.99165700e-01 -2.38140530e-04 7.51544550e+00] [ 1.42421841e-02 -3.43811172e-04 9.99898516e-01 4.50765288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1792541539999 meters 0.01769755231285095 Centerline is valid? [True, True] Translation: X:656.02, Y:7.52, Z:4.51 [[ 9.98986927e-01 -4.25751035e-02 -1.45766999e-02 6.56018391e+02] [ 4.25760924e-02 9.99093198e-01 -2.42617329e-04 7.51630334e+00] [ 1.45738112e-02 -3.78247382e-04 9.99893725e-01 4.50774637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.209254154 meters 0.01880996372852437 Centerline is valid? [True, True] Translation: X:656.05, Y:7.51, Z:4.51 [[ 9.98906929e-01 -4.44130543e-02 -1.45749063e-02 6.56049236e+02] [ 4.44142521e-02 9.99013171e-01 -2.41650678e-04 7.51405084e+00] [ 1.45712558e-02 -4.05947024e-04 9.99893751e-01 4.50751211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2392541539999 meters 0.019709610670405494 Centerline is valid? [True, True] Translation: X:656.08, Y:7.51, Z:4.51 [[ 9.98662081e-01 -4.95649641e-02 -1.47432372e-02 6.56080684e+02] [ 4.95667605e-02 9.98770783e-01 -2.43765945e-04 7.51225007e+00] [ 1.47371968e-02 -4.87334700e-04 9.99891283e-01 4.50699868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2692541539999 meters 0.021457413550192952 Centerline is valid? [True, True] Translation: X:656.11, Y:7.51, Z:4.51 [[ 9.98510860e-01 -5.24839094e-02 -1.48829113e-02 6.56112076e+02] [ 5.24860741e-02 9.98621626e-01 -2.45379214e-04 7.50896009e+00] [ 1.48752755e-02 -5.36131773e-04 9.99889213e-01 4.50672156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2992541539999 meters 0.023938148768459153 Centerline is valid? [True, True] Translation: X:656.14, Y:7.50, Z:4.51 [[ 9.98173818e-01 -5.85115093e-02 -1.50144364e-02 6.56142957e+02] [ 5.85144007e-02 9.98286534e-01 -2.47033172e-04 7.50422467e+00] [ 1.50031639e-02 -6.31978701e-04 9.99887246e-01 4.50668514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.329254154 meters 0.025448713012561224 Centerline is valid? [True, True] Translation: X:656.17, Y:7.50, Z:4.51 [[ 9.98017073e-01 -6.11140736e-02 -1.50662783e-02 6.56173938e+02] [ 6.11172892e-02 9.98130560e-01 -2.47343350e-04 7.50138715e+00] [ 1.50532289e-02 -6.73957198e-04 9.99886467e-01 4.50691998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3592541539999 meters 0.025280686374267225 Centerline is valid? [True, True] Translation: X:656.21, Y:7.50, Z:4.51 [[ 9.97876342e-01 -6.32965944e-02 -1.53736180e-02 6.56206141e+02] [ 6.33002161e-02 9.97994499e-01 -2.51401402e-04 7.50184489e+00] [ 1.53586991e-02 -7.22285833e-04 9.99881787e-01 4.50732181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3892541539999 meters 0.02449403994496505 Centerline is valid? [True, True] Translation: X:656.24, Y:7.50, Z:4.51 [[ 9.97688937e-01 -6.61783550e-02 -1.54016129e-02 6.56237214e+02] [ 6.61823425e-02 9.97807514e-01 -2.51197439e-04 7.50342099e+00] [ 1.53844689e-02 -7.68697914e-04 9.99881357e-01 4.50790459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4192541539999 meters 0.0289164525866055 Centerline is valid? [True, True] Translation: X:656.27, Y:7.50, Z:4.51 [[ 9.97649660e-01 -6.67562814e-02 -1.54516936e-02 6.56268080e+02] [ 6.67603832e-02 9.97769005e-01 -2.50778012e-04 7.49748100e+00] [ 1.54339619e-02 -7.81372385e-04 9.99880584e-01 4.50687297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.449254154 meters 0.026013819027566713 Centerline is valid? [True, True] Translation: X:656.30, Y:7.50, Z:4.51 [[ 9.97655817e-01 -6.67071026e-02 -1.52654490e-02 6.56301089e+02] [ 6.67111280e-02 9.97772301e-01 -2.45941538e-04 7.50307913e+00] [ 1.52478482e-02 -7.73010316e-04 9.99883446e-01 4.50761995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4792541539999 meters 0.026629206828560098 Centerline is valid? [True, True] Translation: X:656.33, Y:7.50, Z:4.51 [[ 9.97675661e-01 -6.63762149e-02 -1.54101445e-02 6.56333091e+02] [ 6.63802991e-02 9.97794365e-01 -2.46873175e-04 7.50399818e+00] [ 1.53925418e-02 -7.76630641e-04 9.99881226e-01 4.50692525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5092541539999 meters 0.025438645501484097 Centerline is valid? [True, True] Translation: X:656.37, Y:7.51, Z:4.51 [[ 9.97698935e-01 -6.60666568e-02 -1.52325715e-02 6.56365493e+02] [ 6.60706284e-02 9.97814919e-01 -2.42909069e-04 7.50772323e+00] [ 1.52153353e-02 -7.64075455e-04 9.99883948e-01 4.50794430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5392541539999 meters 0.02492897540669785 Centerline is valid? [True, True] Translation: X:656.40, Y:7.51, Z:4.51 [[ 9.97709997e-01 -6.58571664e-02 -1.54141111e-02 6.56397544e+02] [ 6.58612261e-02 9.97828762e-01 -2.44651957e-04 7.51010813e+00] [ 1.53967555e-02 -7.71100553e-04 9.99881166e-01 4.50847506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.569254154 meters 0.024992486857233688 Centerline is valid? [True, True] Translation: X:656.43, Y:7.51, Z:4.51 [[ 9.97722600e-01 -6.57053871e-02 -1.52451730e-02 6.56429223e+02] [ 6.57093578e-02 9.97838776e-01 -2.40840924e-04 7.51165428e+00] [ 1.52280493e-02 -7.61458097e-04 9.99883757e-01 4.50891420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5992541539999 meters 0.02599220093184996 Centerline is valid? [True, True] Translation: X:656.46, Y:7.51, Z:4.51 [[ 9.97694947e-01 -6.60006725e-02 -1.57703436e-02 6.56459940e+02] [ 6.60049746e-02 9.97819263e-01 -2.48112724e-04 7.51371210e+00] [ 1.57523283e-02 -7.93380319e-04 9.99875610e-01 4.50879527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6292541539999 meters 0.02544699499182225 Centerline is valid? [True, True] Translation: X:656.49, Y:7.52, Z:4.51 [[ 9.97667086e-01 -6.62741638e-02 -1.63743775e-02 6.56492466e+02] [ 6.62788565e-02 9.97801106e-01 -2.56516867e-04 7.51587565e+00] [ 1.63553724e-02 -8.29356579e-04 9.99865898e-01 4.50924926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6592541539999 meters 0.025307190463701768 Centerline is valid? [True, True] Translation: X:656.53, Y:7.52, Z:4.51 [[ 9.97627049e-01 -6.67067914e-02 -1.70433139e-02 6.56525031e+02] [ 6.67119603e-02 9.97772240e-01 -2.65706527e-04 7.51804092e+00] [ 1.70230699e-02 -8.71916863e-04 9.99854717e-01 4.50918609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6892541539999 meters 0.025307190463701768 Centerline is valid? [True, True] Translation: X:656.56, Y:7.52, Z:4.51 [[ 9.97634537e-01 -6.65947118e-02 -1.70433396e-02 6.56557609e+02] [ 6.65998926e-02 9.97779727e-01 -2.64052788e-04 7.51845859e+00] [ 1.70230832e-02 -8.71656406e-04 9.99854717e-01 4.50941172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7192541539999 meters 0.026173939411003613 Centerline is valid? [True, True] Translation: X:656.59, Y:7.52, Z:4.51 [[ 9.97562426e-01 -6.74569583e-02 -1.78539670e-02 6.56588356e+02] [ 6.74628033e-02 9.97721752e-01 -2.75390035e-04 7.52032435e+00] [ 1.78318682e-02 -9.29759910e-04 9.99840567e-01 4.50922414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7492541539999 meters 0.026253357593536687 Centerline is valid? [True, True] Translation: X:656.62, Y:7.52, Z:4.51 [[ 9.97557428e-01 -6.74975405e-02 -1.79794216e-02 6.56620642e+02] [ 6.75034939e-02 9.97719000e-01 -2.76248398e-04 7.52234745e+00] [ 1.79570566e-02 -9.38100133e-04 9.99838319e-01 4.50958885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7792541539999 meters 0.027340232239900026 Centerline is valid? [True, True] Translation: X:656.65, Y:7.52, Z:4.51 [[ 9.97573976e-01 -6.70076077e-02 -1.88717382e-02 6.56651844e+02] [ 6.70141020e-02 9.97751987e-01 -2.88762734e-04 7.52498282e+00] [ 1.88486636e-02 -9.76610399e-04 9.99821871e-01 4.51015274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8092541539999 meters 0.02772984672801207 Centerline is valid? [True, True] Translation: X:656.68, Y:7.53, Z:4.51 [[ 9.97615934e-01 -6.64739833e-02 -1.85379833e-02 6.56683028e+02] [ 6.64801766e-02 9.97787706e-01 -2.82653543e-04 7.52691183e+00] [ 1.85157609e-02 -9.50428726e-04 9.99828117e-01 4.51057326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.839254154 meters 0.02749530795082113 Centerline is valid? [True, True] Translation: X:656.72, Y:7.53, Z:4.51 [[ 9.97687745e-01 -6.53595629e-02 -1.86357368e-02 6.56715697e+02] [ 6.53656577e-02 9.97861339e-01 -2.82536647e-04 7.52972114e+00] [ 1.86143477e-02 -9.36253840e-04 9.99826300e-01 4.51122060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8692541539999 meters 0.02538369171246262 Centerline is valid? [True, True] Translation: X:656.75, Y:7.54, Z:4.51 [[ 9.97888700e-01 -6.22618476e-02 -1.84825286e-02 6.56747007e+02] [ 6.22673335e-02 9.98059468e-01 -2.79069752e-04 7.53779505e+00] [ 1.84640380e-02 -8.72377218e-04 9.99829145e-01 4.51261355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8992541539999 meters 0.0247179044598421 Centerline is valid? [True, True] Translation: X:656.78, Y:7.54, Z:4.51 [[ 9.98140065e-01 -5.79522758e-02 -1.89194027e-02 6.56776985e+02] [ 5.79572564e-02 9.98319025e-01 -2.85407385e-04 7.54401053e+00] [ 1.89041396e-02 -8.11640126e-04 9.99820971e-01 4.51294001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9292541539999 meters 0.024159485525041505 Centerline is valid? [True, True] Translation: X:656.81, Y:7.55, Z:4.51 [[ 9.98273910e-01 -5.56462025e-02 -1.87803245e-02 6.56807074e+02] [ 5.56507068e-02 9.98450258e-01 -2.83097630e-04 7.54759403e+00] [ 1.87669732e-02 -7.62529353e-04 9.99823594e-01 4.51370243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.959254154 meters 0.02323098426099727 Centerline is valid? [True, True] Translation: X:656.84, Y:7.55, Z:4.51 [[ 9.98428496e-01 -5.29181743e-02 -1.84446627e-02 6.56838435e+02] [ 5.29220638e-02 9.98598607e-01 -2.77510180e-04 7.55188964e+00] [ 1.84334999e-02 -6.99055548e-04 9.99829844e-01 4.51434640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9892541539999 meters 0.022445754103370085 Centerline is valid? [True, True] Translation: X:656.87, Y:7.56, Z:4.51 [[ 9.98591169e-01 -4.98069908e-02 -1.83013761e-02 6.56869479e+02] [ 4.98103099e-02 9.98758658e-01 -2.74714449e-04 7.55628803e+00] [ 1.82923406e-02 -6.37269794e-04 9.99832478e-01 4.51493362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0192541539999 meters 0.019097046731715854 Centerline is valid? [True, True] Translation: X:656.90, Y:7.57, Z:4.52 [[ 9.98862381e-01 -4.41777046e-02 -1.79519878e-02 6.56900033e+02] [ 4.41799976e-02 9.99023551e-01 -2.69032983e-04 7.56790752e+00] [ 1.79463439e-02 -5.24391852e-04 9.99838814e-01 4.51670467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0492541539999 meters 0.01843593810607626 Centerline is valid? [True, True] Translation: X:656.93, Y:7.57, Z:4.52 [[ 9.98977286e-01 -4.15334281e-02 -1.78705457e-02 6.56931867e+02] [ 4.15352941e-02 9.99137002e-01 -2.66889465e-04 7.57251547e+00] [ 1.78662082e-02 -4.75641856e-04 9.99840273e-01 4.51724454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.079254154 meters 0.01721630783139176 Centerline is valid? [True, True] Translation: X:656.96, Y:7.58, Z:4.52 [[ 9.99180980e-01 -3.62436947e-02 -1.79934441e-02 6.56962667e+02] [ 3.62447455e-02 9.99342907e-01 -2.67813894e-04 7.58039149e+00] [ 1.79913273e-02 -3.84573251e-04 9.99838069e-01 4.51787062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1092541539999 meters 0.01672464624391812 Centerline is valid? [True, True] Translation: X:656.99, Y:7.58, Z:4.52 [[ 9.99272974e-01 -3.35295842e-02 -1.81463777e-02 6.56994427e+02] [ 3.35302211e-02 9.99437668e-01 -2.69235811e-04 7.58407070e+00] [ 1.81452008e-02 -3.39411988e-04 9.99835305e-01 4.51775319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1392541539999 meters 0.016432984671682242 Centerline is valid? [True, True] Translation: X:657.03, Y:7.59, Z:4.52 [[ 9.99338967e-01 -3.12911761e-02 -1.85065202e-02 6.57025720e+02] [ 3.12914695e-02 9.99510265e-01 -2.73790606e-04 7.58761146e+00] [ 1.85060241e-02 -3.05486590e-04 9.99828702e-01 4.51775675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1692541539999 meters 0.01572300372500144 Centerline is valid? [True, True] Translation: X:657.06, Y:7.59, Z:4.52 [[ 9.99476561e-01 -2.64693969e-02 -1.86004216e-02 6.57056511e+02] [ 2.64688707e-02 9.99649600e-01 -2.74522407e-04 7.59386419e+00] [ 1.86011705e-02 -2.17953443e-04 9.99826960e-01 4.51820384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.199254154 meters 0.015567304245334859 Centerline is valid? [True, True] Translation: X:657.09, Y:7.60, Z:4.52 [[ 9.99531962e-01 -2.44911446e-02 -1.83314051e-02 6.57087056e+02] [ 2.44903053e-02 9.99700031e-01 -2.70311849e-04 7.59710789e+00] [ 1.83325265e-02 -1.78756374e-04 9.99831929e-01 4.51842534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2292541539999 meters 0.015140217196270535 Centerline is valid? [True, True] Translation: X:657.12, Y:7.60, Z:4.52 [[ 9.99631355e-01 -2.00225682e-02 -1.83371389e-02 6.57116900e+02] [ 2.00209690e-02 9.99799524e-01 -2.70799889e-04 7.60259081e+00] [ 1.83388848e-02 -9.64272302e-05 9.99831824e-01 4.51931117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2592541539999 meters 0.014905061968925 Centerline is valid? [True, True] Translation: X:657.15, Y:7.61, Z:4.52 [[ 9.99671233e-01 -1.82554079e-02 -1.80046344e-02 6.57145395e+02] [ 1.82535241e-02 9.99833354e-01 -2.68976077e-04 7.60524956e+00] [ 1.80065442e-02 -5.97603811e-05 9.99837867e-01 4.52067316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2892541539999 meters 0.015009834369596683 Centerline is valid? [True, True] Translation: X:657.17, Y:7.61, Z:4.52 [[ 9.99707794e-01 -1.66583672e-02 -1.75164337e-02 6.57172816e+02] [ 1.66562918e-02 9.99861239e-01 -2.64376273e-04 7.60717067e+00] [ 1.75184072e-02 -2.74598109e-05 9.99846541e-01 4.52062978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.319254154 meters 0.014874547298599727 Centerline is valid? [True, True] Translation: X:657.20, Y:7.61, Z:4.52 [[ 9.99753699e-01 -1.46931321e-02 -1.66328902e-02 6.57200779e+02] [ 1.46909323e-02 9.99892050e-01 -2.54442054e-04 7.60904604e+00] [ 1.66348332e-02 1.00267203e-05 9.99861632e-01 4.52113048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3492541539999 meters 0.014873743253064124 Centerline is valid? [True, True] Translation: X:657.23, Y:7.61, Z:4.52 [[ 9.99752409e-01 -1.49509242e-02 -1.64799805e-02 6.57228381e+02] [ 1.49487219e-02 9.99888229e-01 -2.56822749e-04 7.60926354e+00] [ 1.64819783e-02 1.04045170e-05 9.99864163e-01 4.52091586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3792541539999 meters 0.014881872645337626 Centerline is valid? [True, True] Translation: X:657.26, Y:7.61, Z:4.52 [[ 9.99720589e-01 -1.69217770e-02 -1.65044460e-02 6.57256533e+02] [ 1.69197578e-02 9.99856816e-01 -2.61977743e-04 7.60810931e+00] [ 1.65065160e-02 -1.73466869e-05 9.99863758e-01 4.52081068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4092541539999 meters 0.014903357813181053 Centerline is valid? [True, True] Translation: X:657.28, Y:7.61, Z:4.52 [[ 9.99687521e-01 -1.87260327e-02 -1.65588919e-02 6.57284225e+02] [ 1.87241998e-02 9.99824651e-01 -2.65730002e-04 7.60670247e+00] [ 1.65609644e-02 -4.44050354e-05 9.99862857e-01 4.52021101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4392541539999 meters 0.01548512026663855 Centerline is valid? [True, True] Translation: X:657.31, Y:7.60, Z:4.52 [[ 9.99639307e-01 -2.08486451e-02 -1.69289374e-02 6.57313363e+02] [ 2.08469807e-02 9.99782640e-01 -2.74796963e-04 7.60442996e+00] [ 1.69309869e-02 -7.82193860e-05 9.99856658e-01 4.51944943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4692541539999 meters 0.01512762611718461 Centerline is valid? [True, True] Translation: X:657.34, Y:7.60, Z:4.52 [[ 9.99517461e-01 -2.59526673e-02 -1.70676165e-02 6.57343496e+02] [ 2.59516837e-02 9.99663159e-01 -2.79146852e-04 7.59878715e+00] [ 1.70691120e-02 -1.63921230e-04 9.99854299e-01 4.51926506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4992541539999 meters 0.015722575895116858 Centerline is valid? [True, True] Translation: X:657.37, Y:7.60, Z:4.52 [[ 9.99432723e-01 -2.89153849e-02 -1.72665390e-02 6.57374156e+02] [ 2.89148191e-02 9.99581839e-01 -2.82466513e-04 7.59555678e+00] [ 1.72674865e-02 -2.16952577e-04 9.99850882e-01 4.51860726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5292541539999 meters 0.01616633801403498 Centerline is valid? [True, True] Translation: X:657.40, Y:7.59, Z:4.52 [[ 9.99354978e-01 -3.15984088e-02 -1.70636379e-02 6.57404630e+02] [ 3.15982573e-02 9.99500612e-01 -2.78556707e-04 7.59241296e+00] [ 1.70639185e-02 -2.60804189e-04 9.99854367e-01 4.51885568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5592541539999 meters 0.017398172118929894 Centerline is valid? [True, True] Translation: X:657.44, Y:7.59, Z:4.52 [[ 9.99191499e-01 -3.66185581e-02 -1.65960406e-02 6.57436425e+02] [ 3.66191176e-02 9.99329259e-01 -2.70274452e-04 7.58631165e+00] [ 1.65948060e-02 -3.37676427e-04 9.99862240e-01 4.51936665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.589254154 meters 0.01835227839535657 Centerline is valid? [True, True] Translation: X:657.47, Y:7.58, Z:4.52 [[ 9.99121105e-01 -3.85366763e-02 -1.64906486e-02 6.57468203e+02] [ 3.85375022e-02 9.99257119e-01 -2.67807259e-04 7.58421564e+00] [ 1.64887184e-02 -3.67936522e-04 9.99863984e-01 4.51928642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6192541539999 meters 0.017789451048553135 Centerline is valid? [True, True] Translation: X:657.50, Y:7.58, Z:4.52 [[ 9.99002338e-01 -4.16369118e-02 -1.61460627e-02 6.57500615e+02] [ 4.16381249e-02 9.99132723e-01 -2.61173546e-04 7.58083564e+00] [ 1.61429341e-02 -4.11378793e-04 9.99869610e-01 4.52047127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6492541539999 meters 0.019974682224930998 Centerline is valid? [True, True] Translation: X:657.53, Y:7.58, Z:4.52 [[ 9.98951089e-01 -4.27870524e-02 -1.63092072e-02 6.57531705e+02] [ 4.27884600e-02 9.99084120e-01 -2.62788030e-04 7.57555329e+00] [ 1.63055138e-02 -4.35333471e-04 9.99866962e-01 4.51936600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6792541539999 meters 0.01962195590924879 Centerline is valid? [True, True] Translation: X:657.56, Y:7.58, Z:4.52 [[ 9.98914035e-01 -4.36486913e-02 -1.62954767e-02 6.57563924e+02] [ 4.36502279e-02 9.99046840e-01 -2.61535652e-04 7.57509221e+00] [ 1.62913602e-02 -4.50049638e-04 9.99867186e-01 4.51992547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.709254154 meters 0.02159089508723542 Centerline is valid? [True, True] Translation: X:657.60, Y:7.57, Z:4.52 [[ 9.98843140e-01 -4.52898403e-02 -1.61620593e-02 6.57595522e+02] [ 4.52915899e-02 9.98973776e-01 -2.57939290e-04 7.56945256e+00] [ 1.61571554e-02 -4.74364472e-04 9.99869352e-01 4.51932022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7392541539999 meters 0.019914970998216857 Centerline is valid? [True, True] Translation: X:657.63, Y:7.57, Z:4.52 [[ 9.98818940e-01 -4.58910720e-02 -1.59604326e-02 6.57627396e+02] [ 4.58928767e-02 9.98946335e-01 -2.53356449e-04 7.57145889e+00] [ 1.59552425e-02 -4.79412947e-04 9.99872592e-01 4.52061242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7692541539999 meters 0.020772443309917885 Centerline is valid? [True, True] Translation: X:657.66, Y:7.57, Z:4.52 [[ 9.98702882e-01 -4.82670000e-02 -1.62126308e-02 6.57659495e+02] [ 4.82691940e-02 9.98834330e-01 -2.56187992e-04 7.56845580e+00] [ 1.62060976e-02 -5.26714933e-04 9.99868534e-01 4.52010867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7992541539999 meters 0.02078350827267271 Centerline is valid? [True, True] Translation: X:657.69, Y:7.57, Z:4.52 [[ 9.98618393e-01 -5.00107058e-02 -1.61317565e-02 6.57691579e+02] [ 5.00131239e-02 9.98748528e-01 -2.53747379e-04 7.56638198e+00] [ 1.61242582e-02 -5.53402736e-04 9.99869843e-01 4.52061733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.829254154 meters 0.02259673764818498 Centerline is valid? [True, True] Translation: X:657.72, Y:7.56, Z:4.52 [[ 9.98505751e-01 -5.21084435e-02 -1.64613543e-02 6.57723173e+02] [ 5.21112630e-02 9.98641252e-01 -2.57909503e-04 7.56237873e+00] [ 1.64524268e-02 -6.00297843e-04 9.99864469e-01 4.51963055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8592541539999 meters 0.023550910257636837 Centerline is valid? [True, True] Translation: X:657.75, Y:7.56, Z:4.52 [[ 9.98263906e-01 -5.62834923e-02 -1.73591981e-02 6.57754327e+02] [ 5.62872679e-02 9.98414578e-01 -2.71398720e-04 7.55780854e+00] [ 1.73469517e-02 -7.06174288e-04 9.99849281e-01 4.51914167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8892541539999 meters 0.022347821668614345 Centerline is valid? [True, True] Translation: X:657.79, Y:7.56, Z:4.52 [[ 9.98176579e-01 -5.78850990e-02 -1.71123407e-02 6.57786690e+02] [ 5.78890179e-02 9.98322989e-01 -2.66662793e-04 7.55879782e+00] [ 1.70990789e-02 -7.24440041e-04 9.99853538e-01 4.51989219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9192541539999 meters 0.023546942630976626 Centerline is valid? [True, True] Translation: X:657.82, Y:7.56, Z:4.52 [[ 9.98017366e-01 -6.06939654e-02 -1.66607188e-02 6.57818351e+02] [ 6.06980878e-02 9.98156138e-01 -2.58592505e-04 7.55585661e+00] [ 1.66456938e-02 -7.53193965e-04 9.99861167e-01 4.52064540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.949254154 meters 0.027731535038113167 Centerline is valid? [True, True] Translation: X:657.85, Y:7.55, Z:4.52 [[ 9.97961544e-01 -6.14619685e-02 -1.71808932e-02 6.57849155e+02] [ 6.14664792e-02 9.98109113e-01 -2.65898449e-04 7.55027162e+00] [ 1.71647487e-02 -7.90692586e-04 9.99852362e-01 4.51911494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9792541539999 meters 0.02750074181675913 Centerline is valid? [True, True] Translation: X:657.88, Y:7.55, Z:4.52 [[ 9.97892707e-01 -6.26809430e-02 -1.67703328e-02 6.57881090e+02] [ 6.26854281e-02 9.98033301e-01 -2.58609143e-04 7.54920489e+00] [ 1.67535605e-02 -7.93191316e-04 9.99859335e-01 4.52001655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0092541539999 meters 0.025765188297386436 Centerline is valid? [True, True] Translation: X:657.91, Y:7.55, Z:4.52 [[ 9.97751294e-01 -6.45390465e-02 -1.80849776e-02 6.57913344e+02] [ 6.45445911e-02 9.97914785e-01 -2.77547749e-04 7.55077303e+00] [ 1.80651792e-02 -8.90363855e-04 9.99836415e-01 4.51989119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0392541539999 meters 0.026266395684692048 Centerline is valid? [True, True] Translation: X:657.95, Y:7.55, Z:4.52 [[ 9.97704366e-01 -6.50603287e-02 -1.87923356e-02 6.57945379e+02] [ 6.50664339e-02 9.97880893e-01 -2.87017976e-04 7.54995920e+00] [ 1.87711861e-02 -9.36391171e-04 9.99823367e-01 4.51938619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.069254154 meters 0.02654524590436363 Centerline is valid? [True, True] Translation: X:657.98, Y:7.55, Z:4.52 [[ 9.97666755e-01 -6.54886586e-02 -1.92945989e-02 6.57977521e+02] [ 6.54952017e-02 9.97852841e-01 -2.93276591e-04 7.54989051e+00] [ 1.92723766e-02 -9.71111341e-04 9.99813799e-01 4.51906596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0992541539999 meters 0.02594763034753877 Centerline is valid? [True, True] Translation: X:658.01, Y:7.55, Z:4.52 [[ 9.97670900e-01 -6.52772202e-02 -1.97903812e-02 6.58009793e+02] [ 6.52840914e-02 9.97866673e-01 -2.99358331e-04 7.55131229e+00] [ 1.97677031e-02 -9.93335956e-04 9.99804106e-01 4.51913978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1292541539999 meters 0.031193584075216267 Centerline is valid? [True, True] Translation: X:658.04, Y:7.54, Z:4.52 [[ 9.97696173e-01 -6.48461821e-02 -1.99328468e-02 6.58040888e+02] [ 6.48530910e-02 9.97894777e-01 -3.00296622e-04 7.54479740e+00] [ 1.99103569e-02 -9.93101939e-04 9.99801276e-01 4.51755437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1592541539999 meters 0.027712511747398447 Centerline is valid? [True, True] Translation: X:658.07, Y:7.55, Z:4.52 [[ 9.97750077e-01 -6.40829245e-02 -1.97018292e-02 6.58072735e+02] [ 6.40895507e-02 9.97944108e-01 -2.95542619e-04 7.55099774e+00] [ 1.96802636e-02 -9.67803709e-04 9.99805856e-01 4.51960151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1892541539999 meters 0.02519748936381958 Centerline is valid? [True, True] Translation: X:658.10, Y:7.56, Z:4.52 [[ 9.97949468e-01 -6.14192500e-02 -1.80148299e-02 6.58103848e+02] [ 6.14243719e-02 9.98111704e-01 -2.69387815e-04 7.55721049e+00] [ 1.79973581e-02 -8.37714184e-04 9.99837683e-01 4.52216237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2192541539999 meters 0.026378020996512416 Centerline is valid? [True, True] Translation: X:658.13, Y:7.56, Z:4.52 [[ 9.98068346e-01 -5.97830244e-02 -1.68987274e-02 6.58134121e+02] [ 5.97873041e-02 9.98211107e-01 -2.52285018e-04 7.55697061e+00] [ 1.68835797e-02 -7.58531661e-04 9.99857174e-01 4.52246214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2492541539999 meters 0.02363342478459024 Centerline is valid? [True, True] Translation: X:658.17, Y:7.56, Z:4.52 [[ 9.98198576e-01 -5.76612611e-02 -1.65765426e-02 6.58165822e+02] [ 5.76650977e-02 9.98335953e-01 -2.46829492e-04 7.56242470e+00] [ 1.65631909e-02 -7.09503099e-04 9.99862569e-01 4.52400696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2792541539999 meters 0.02233305542169799 Centerline is valid? [True, True] Translation: X:658.20, Y:7.57, Z:4.53 [[ 9.98501458e-01 -5.25112765e-02 -1.54079060e-02 6.58195960e+02] [ 5.25139842e-02 9.98620163e-01 -2.29078073e-04 7.56766438e+00] [ 1.53986747e-02 -5.80395741e-04 9.99881265e-01 4.52511946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3092541539999 meters 0.02137785509765964 Centerline is valid? [True, True] Translation: X:658.23, Y:7.57, Z:4.53 [[ 9.98650213e-01 -4.96094004e-02 -1.53837488e-02 6.58227595e+02] [ 4.96117627e-02 9.98768552e-01 -2.28267927e-04 7.57132022e+00] [ 1.53761288e-02 -5.35255081e-04 9.99881637e-01 4.52566438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.339254154 meters 0.019996242351816927 Centerline is valid? [True, True] Translation: X:658.26, Y:7.58, Z:4.53 [[ 9.98897397e-01 -4.43317414e-02 -1.54495178e-02 6.58257737e+02] [ 4.43334990e-02 9.99016761e-01 -2.28872722e-04 7.57772012e+00] [ 1.54444735e-02 -4.56310813e-04 9.99880623e-01 4.52594712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3692541539999 meters 0.019154238150124316 Centerline is valid? [True, True] Translation: X:658.29, Y:7.58, Z:4.53 [[ 9.98998731e-01 -4.19195002e-02 -1.56298246e-02 6.58290167e+02] [ 4.19210136e-02 9.99120901e-01 -2.30933453e-04 7.58068191e+00] [ 1.56257651e-02 -4.24515865e-04 9.99877820e-01 4.52596353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3992541539999 meters 0.019034825757312412 Centerline is valid? [True, True] Translation: X:658.32, Y:7.58, Z:4.53 [[ 9.99087088e-01 -3.95757698e-02 -1.60857020e-02 6.58322597e+02] [ 3.95770877e-02 9.99216492e-01 -2.36514619e-04 7.58377778e+00] [ 1.60824590e-02 -4.00326538e-04 9.99870589e-01 4.52533376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4292541539999 meters 0.016627280689419297 Centerline is valid? [True, True] Translation: X:658.36, Y:7.59, Z:4.53 [[ 9.99182105e-01 -3.68787386e-02 -1.65854984e-02 6.58355075e+02] [ 3.68797888e-02 9.99319680e-01 -2.42635728e-04 7.58958366e+00] [ 1.65831630e-02 -3.69232400e-04 9.99862422e-01 4.52663555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.459254154 meters 0.016643815135249176 Centerline is valid? [True, True] Translation: X:658.39, Y:7.59, Z:4.53 [[ 9.99203583e-01 -3.60778111e-02 -1.70467427e-02 6.58385812e+02] [ 3.60788347e-02 9.99348916e-01 -2.47580176e-04 7.59067140e+00] [ 1.70445760e-02 -3.67643612e-04 9.99854663e-01 4.52639351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4892541539999 meters 0.016607692679994013 Centerline is valid? [True, True] Translation: X:658.42, Y:7.59, Z:4.53 [[ 9.99195606e-01 -3.60695508e-02 -1.75251025e-02 6.58417891e+02] [ 3.60706609e-02 9.99349210e-01 -2.52851799e-04 7.59239008e+00] [ 1.75228176e-02 -3.79493624e-04 9.99846392e-01 4.52641861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5192541539999 meters 0.017536908383611535 Centerline is valid? [True, True] Translation: X:658.45, Y:7.59, Z:4.53 [[ 9.99186358e-01 -3.61909613e-02 -1.77998803e-02 6.58449602e+02] [ 3.61921582e-02 9.99344817e-01 -2.54990248e-04 7.59215341e+00] [ 1.77974465e-02 -3.89433307e-04 9.99841537e-01 4.52595075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5492541539999 meters 0.01671184249382853 Centerline is valid? [True, True] Translation: X:658.48, Y:7.59, Z:4.53 [[ 9.99176191e-01 -3.66916574e-02 -1.73395783e-02 6.58481813e+02] [ 3.66928959e-02 9.99326558e-01 -2.46818569e-04 7.59346980e+00] [ 1.73369573e-02 -3.89624104e-04 9.99849628e-01 4.52690850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.579254154 meters 0.01671184249382853 Centerline is valid? [True, True] Translation: X:658.51, Y:7.59, Z:4.53 [[ 9.99178883e-01 -3.66182628e-02 -1.73395963e-02 6.58513515e+02] [ 3.66195124e-02 9.99329251e-01 -2.45544862e-04 7.59386106e+00] [ 1.73369572e-02 -3.89624322e-04 9.99849628e-01 4.52712802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6092541539999 meters 0.017221690216613485 Centerline is valid? [True, True] Translation: X:658.54, Y:7.59, Z:4.53 [[ 9.99153790e-01 -3.73636397e-02 -1.71948244e-02 6.58544611e+02] [ 3.73649971e-02 9.99301655e-01 -2.42428102e-04 7.59336695e+00] [ 1.71918745e-02 -4.00261608e-04 9.99852129e-01 4.52692665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6392541539999 meters 0.016840883181474083 Centerline is valid? [True, True] Translation: X:658.58, Y:7.59, Z:4.53 [[ 9.99145636e-01 -3.76467706e-02 -1.70504496e-02 6.58576679e+02] [ 3.76481657e-02 9.99291028e-01 -2.39265999e-04 7.59421643e+00] [ 1.70473689e-02 -4.02856572e-04 9.99854602e-01 4.52738644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6692541539999 meters 0.01784249172970869 Centerline is valid? [True, True] Translation: X:658.61, Y:7.59, Z:4.53 [[ 9.99121128e-01 -3.85131781e-02 -1.65441124e-02 6.58608032e+02] [ 3.85146273e-02 9.99258010e-01 -2.31131654e-04 7.59289126e+00] [ 1.65407384e-02 -4.06261801e-04 9.99863110e-01 4.52717798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.699254154 meters 0.01736758800757605 Centerline is valid? [True, True] Translation: X:658.64, Y:7.59, Z:4.53 [[ 9.99108475e-01 -3.89796781e-02 -1.62123265e-02 6.58640254e+02] [ 3.89811483e-02 9.99239921e-01 -2.25434988e-04 7.59443114e+00] [ 1.62087912e-02 -4.06741095e-04 9.99868546e-01 4.52811114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7292541539999 meters 0.017524952196216585 Centerline is valid? [True, True] Translation: X:658.67, Y:7.59, Z:4.53 [[ 9.99091101e-01 -3.96498089e-02 -1.56481465e-02 6.58672882e+02] [ 3.96512785e-02 9.99213555e-01 -2.16452657e-04 7.59421397e+00] [ 1.56444224e-02 -4.04213090e-04 9.99877537e-01 4.52856003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7592541539999 meters 0.01854144178229075 Centerline is valid? [True, True] Translation: X:658.70, Y:7.59, Z:4.53 [[ 9.99029602e-01 -4.16093401e-02 -1.44401558e-02 6.58703722e+02] [ 4.16108142e-02 9.99133875e-01 -1.98479799e-04 7.59215202e+00] [ 1.44359074e-02 -4.02579445e-04 9.99895716e-01 4.52920155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7892541539999 meters 0.01887555769847096 Centerline is valid? [True, True] Translation: X:658.74, Y:7.59, Z:4.53 [[ 9.98998151e-01 -4.24816956e-02 -1.40712650e-02 6.58736207e+02] [ 4.24831991e-02 9.99097163e-01 -1.92180966e-04 7.59111326e+00] [ 1.40667252e-02 -4.05803925e-04 9.99900976e-01 4.52952961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.819254154 meters 0.01975296239506748 Centerline is valid? [True, True] Translation: X:658.77, Y:7.59, Z:4.53 [[ 9.98898986e-01 -4.49615177e-02 -1.33894593e-02 6.58768120e+02] [ 4.49631141e-02 9.98988631e-01 -1.81925701e-04 7.58886149e+00] [ 1.33840972e-02 -4.20306387e-04 9.99910341e-01 4.52946283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8492541539999 meters 0.01955242197598387 Centerline is valid? [True, True] Translation: X:658.80, Y:7.59, Z:4.53 [[ 9.98849561e-01 -4.60364015e-02 -1.34240502e-02 6.58800557e+02] [ 4.60381163e-02 9.98939667e-01 -1.81416582e-04 7.58917393e+00] [ 1.34181680e-02 -4.36810111e-04 9.99909877e-01 4.52972093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8792541539999 meters 0.021202804897074167 Centerline is valid? [True, True] Translation: X:658.83, Y:7.59, Z:4.53 [[ 9.98806064e-01 -4.70345684e-02 -1.31983197e-02 6.58831231e+02] [ 4.70363227e-02 9.98893164e-01 -1.77635892e-04 7.58654966e+00] [ 1.31920663e-02 -4.43376618e-04 9.99912883e-01 4.52928753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9092541539999 meters 0.022651890197626295 Centerline is valid? [True, True] Translation: X:658.86, Y:7.59, Z:4.53 [[ 9.98764666e-01 -4.77973481e-02 -1.35851505e-02 6.58863843e+02] [ 4.77992872e-02 9.98856944e-01 -1.82109667e-04 7.58573822e+00] [ 1.35783263e-02 -4.67475809e-04 9.99907701e-01 4.52853387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9392541539999 meters 0.022840197360315315 Centerline is valid? [True, True] Translation: X:658.90, Y:7.58, Z:4.53 [[ 9.98680320e-01 -4.96416801e-02 -1.31651506e-02 6.58895400e+02] [ 4.96436717e-02 9.98766977e-01 -1.75674811e-04 7.58385889e+00] [ 1.31576384e-02 -4.78123436e-04 9.99913320e-01 4.52851729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9692541539999 meters 0.020679255433797127 Centerline is valid? [True, True] Translation: X:658.93, Y:7.59, Z:4.53 [[ 9.98652088e-01 -5.01495286e-02 -1.33803065e-02 6.58927420e+02] [ 5.01516427e-02 9.98741599e-01 -1.77696267e-04 7.58757316e+00] [ 1.33723801e-02 -4.93587603e-04 9.99910464e-01 4.52932395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9992541539999 meters 0.02288528201991702 Centerline is valid? [True, True] Translation: X:658.96, Y:7.58, Z:4.53 [[ 9.98608625e-01 -5.11010389e-02 -1.30191419e-02 6.58958876e+02] [ 5.11031320e-02 9.98693366e-01 -1.72063956e-04 7.58431987e+00] [ 1.30109233e-02 -4.93494378e-04 9.99915233e-01 4.52870682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0292541539999 meters 0.021054675126526933 Centerline is valid? [True, True] Translation: X:658.99, Y:7.59, Z:4.53 [[ 9.98596043e-01 -5.13309588e-02 -1.30795954e-02 6.58991117e+02] [ 5.13331021e-02 9.98681572e-01 -1.72021012e-04 7.58758144e+00] [ 1.30711809e-02 -4.99636702e-04 9.99914444e-01 4.52953824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0592541539999 meters 0.022909581398147756 Centerline is valid? [True, True] Translation: X:659.02, Y:7.59, Z:4.53 [[ 9.98569607e-01 -5.17902120e-02 -1.32858468e-02 6.59022820e+02] [ 5.17924822e-02 9.98657854e-01 -1.73370415e-04 7.58527917e+00] [ 1.32769942e-02 -5.14984558e-04 9.99911724e-01 4.52932518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.089254154 meters 0.02150568053059543 Centerline is valid? [True, True] Translation: X:659.05, Y:7.59, Z:4.53 [[ 9.98531141e-01 -5.24283827e-02 -1.36683944e-02 6.59054572e+02] [ 5.24308649e-02 9.98624541e-01 -1.76920186e-04 7.58860860e+00] [ 1.36588697e-02 -5.39985425e-04 9.99906567e-01 4.52983172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1192541539999 meters 0.02271373647560495 Centerline is valid? [True, True] Translation: X:659.09, Y:7.59, Z:4.53 [[ 9.98479345e-01 -5.31441036e-02 -1.46527415e-02 6.59086021e+02] [ 5.31470476e-02 9.98586679e-01 -1.88682401e-04 7.58702873e+00] [ 1.46420598e-02 -5.90354470e-04 9.99892625e-01 4.52926512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1492541539999 meters 0.02187285428031797 Centerline is valid? [True, True] Translation: X:659.12, Y:7.59, Z:4.53 [[ 9.98464468e-01 -5.34053565e-02 -1.47164380e-02 6.59118350e+02] [ 5.34083686e-02 9.98572737e-01 -1.88539355e-04 7.58890206e+00] [ 1.47055028e-02 -5.97731099e-04 9.99891690e-01 4.52919287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1792541539999 meters 0.022384941763042322 Centerline is valid? [True, True] Translation: X:659.15, Y:7.59, Z:4.53 [[ 9.98439317e-01 -5.37726831e-02 -1.50807280e-02 6.59149746e+02] [ 5.37759028e-02 9.98553011e-01 -1.92229109e-04 7.58823988e+00] [ 1.50692431e-02 -6.19050665e-04 9.99886261e-01 4.52902972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.209254154 meters 0.02379677000705444 Centerline is valid? [True, True] Translation: X:659.18, Y:7.59, Z:4.53 [[ 9.98383515e-01 -5.47073855e-02 -1.54097334e-02 6.59180637e+02] [ 5.47108807e-02 9.98502219e-01 -1.94975732e-04 7.58650083e+00] [ 1.53973196e-02 -6.48419526e-04 9.99881244e-01 4.52827355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2392541539999 meters 0.025757772231642023 Centerline is valid? [True, True] Translation: X:659.21, Y:7.59, Z:4.53 [[ 9.98370736e-01 -5.46023167e-02 -1.65668380e-02 6.59211878e+02] [ 5.46063661e-02 9.98507938e-01 -2.08171982e-04 7.58561777e+00] [ 1.65534859e-02 -6.96822004e-04 9.99862739e-01 4.52711540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2692541539999 meters 0.022457242275531437 Centerline is valid? [True, True] Translation: X:659.24, Y:7.59, Z:4.53 [[ 9.98365888e-01 -5.45633598e-02 -1.69821534e-02 6.59244308e+02] [ 5.45676282e-02 9.98510054e-01 -2.12267618e-04 7.59004909e+00] [ 1.69684329e-02 -7.14755082e-04 9.99855770e-01 4.52912818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2992541539999 meters 0.022460109848046226 Centerline is valid? [True, True] Translation: X:659.28, Y:7.59, Z:4.53 [[ 9.98409249e-01 -5.36273555e-02 -1.74091625e-02 6.59276781e+02] [ 5.36317218e-02 9.98560760e-01 -2.16310746e-04 7.59087098e+00] [ 1.73957067e-02 -7.17716708e-04 9.99848426e-01 4.52898256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.329254154 meters 0.02302635353119547 Centerline is valid? [True, True] Translation: X:659.31, Y:7.59, Z:4.53 [[ 9.98461771e-01 -5.24367668e-02 -1.80132706e-02 6.59307605e+02] [ 5.24412684e-02 9.98623985e-01 -2.22683020e-04 7.59081806e+00] [ 1.80001609e-02 -7.22298279e-04 9.99837723e-01 4.52845972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3592541539999 meters 0.020686582911265634 Centerline is valid? [True, True] Translation: X:659.34, Y:7.60, Z:4.53 [[ 9.98601477e-01 -4.94318457e-02 -1.87505242e-02 6.59338741e+02] [ 4.94362102e-02 9.98777256e-01 -2.30961608e-04 7.59617662e+00] [ 1.87390140e-02 -6.96316254e-04 9.99824167e-01 4.52874953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3892541539999 meters 0.021866212984368735 Centerline is valid? [True, True] Translation: X:659.37, Y:7.60, Z:4.53 [[ 9.98704691e-01 -4.71026015e-02 -1.92427850e-02 6.59370394e+02] [ 4.71067890e-02 9.98889831e-01 -2.35854777e-04 7.59675233e+00] [ 1.92325316e-02 -6.70916538e-04 9.99814813e-01 4.52820269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4192541539999 meters 0.020469285072822054 Centerline is valid? [True, True] Translation: X:659.40, Y:7.60, Z:4.53 [[ 9.98813067e-01 -4.49372208e-02 -1.87910571e-02 6.59402406e+02] [ 4.49408568e-02 9.98989623e-01 -2.28956118e-04 7.59978982e+00] [ 1.87823597e-02 -6.15801842e-04 9.99823406e-01 4.52939273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.449254154 meters 0.01913654344212276 Centerline is valid? [True, True] Translation: X:659.43, Y:7.60, Z:4.53 [[ 9.99037308e-01 -3.99363927e-02 -1.81532831e-02 6.59433024e+02] [ 3.99389772e-02 9.99202096e-01 -2.20290409e-04 7.60391464e+00] [ 1.81475961e-02 -5.04945221e-04 9.99835191e-01 4.53027567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4792541539999 meters 0.01767190381582877 Centerline is valid? [True, True] Translation: X:659.46, Y:7.61, Z:4.53 [[ 9.99155805e-01 -3.71751076e-02 -1.74839766e-02 6.59464397e+02] [ 3.71770935e-02 9.99308671e-01 -2.11538656e-04 7.60767471e+00] [ 1.74797534e-02 -4.38643357e-04 9.99847121e-01 4.53107596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5092541539999 meters 0.016858486297571987 Centerline is valid? [True, True] Translation: X:659.50, Y:7.61, Z:4.53 [[ 9.99250454e-01 -3.46281276e-02 -1.73038634e-02 6.59495766e+02] [ 3.46297021e-02 9.99400190e-01 -2.08725940e-04 7.61012921e+00] [ 1.73007122e-02 -3.90658145e-04 9.99850255e-01 4.53144836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5392541539999 meters 0.017493191735406064 Centerline is valid? [True, True] Translation: X:659.53, Y:7.61, Z:4.53 [[ 9.99440131e-01 -2.90316141e-02 -1.66310192e-02 6.59526413e+02] [ 2.90323039e-02 9.99578454e-01 -2.00008818e-04 7.61443091e+00] [ 1.66298151e-02 -2.82939964e-04 9.99861675e-01 4.53115792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.569254154 meters 0.016613385147870727 Centerline is valid? [True, True] Translation: X:659.56, Y:7.62, Z:4.53 [[ 9.99529844e-01 -2.63754266e-02 -1.56341907e-02 6.59557131e+02] [ 2.63757247e-02 9.99652083e-01 -1.87168054e-04 7.61674085e+00] [ 1.56336879e-02 -2.25283053e-04 9.99877761e-01 4.53188271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5992541539999 meters 0.014953822724735616 Centerline is valid? [True, True] Translation: X:659.59, Y:7.62, Z:4.53 [[ 9.99688424e-01 -2.04666298e-02 -1.42888931e-02 6.59587447e+02] [ 2.04662833e-02 9.99790529e-01 -1.70485722e-04 7.62102925e+00] [ 1.42893893e-02 -1.22007932e-04 9.99897894e-01 4.53279359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6292541539999 meters 0.014398833452281188 Centerline is valid? [True, True] Translation: X:659.62, Y:7.62, Z:4.53 [[ 9.99745359e-01 -1.76506070e-02 -1.40596326e-02 6.59617546e+02] [ 1.76499949e-02 9.99844213e-01 -1.67629492e-04 7.62393854e+00] [ 1.40604011e-02 -8.05656360e-05 9.99901144e-01 4.53373032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6592541539999 meters 0.014969132875158638 Centerline is valid? [True, True] Translation: X:659.65, Y:7.63, Z:4.53 [[ 9.99808012e-01 -1.36852388e-02 -1.40233099e-02 6.59647480e+02] [ 1.36842362e-02 9.99906352e-01 -1.67450620e-04 7.62660376e+00] [ 1.40242883e-02 -2.44798135e-05 9.99901655e-01 4.53335813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6892541539999 meters 0.01418439213184879 Centerline is valid? [True, True] Translation: X:659.68, Y:7.63, Z:4.53 [[ 9.99821614e-01 -1.28160378e-02 -1.38740571e-02 6.59676303e+02] [ 1.28149447e-02 9.99917871e-01 -1.67688482e-04 7.62734631e+00] [ 1.38750667e-02 -1.01367062e-05 9.99903737e-01 4.53411415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7192541539999 meters 0.014272262930715967 Centerline is valid? [True, True] Translation: X:659.70, Y:7.63, Z:4.53 [[ 9.99825392e-01 -1.26442901e-02 -1.37588855e-02 6.59704742e+02] [ 1.26431508e-02 9.99920058e-01 -1.69783298e-04 7.62757586e+00] [ 1.37599323e-02 -4.20201147e-06 9.99905328e-01 4.53390300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7492541539999 meters 0.014214598333877516 Centerline is valid? [True, True] Translation: X:659.73, Y:7.63, Z:4.53 [[ 9.99810016e-01 -1.39048473e-02 -1.36597017e-02 6.59733153e+02] [ 1.39037918e-02 9.99903323e-01 -1.72240372e-04 7.62549036e+00] [ 1.36607761e-02 -1.77139992e-05 9.99906687e-01 4.53325967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7792541539999 meters 0.014213059459778467 Centerline is valid? [True, True] Translation: X:659.76, Y:7.62, Z:4.53 [[ 9.99780107e-01 -1.55489285e-02 -1.40701206e-02 6.59761903e+02] [ 1.55479173e-02 9.99879107e-01 -1.81258866e-04 7.62354006e+00] [ 1.40712380e-02 -3.75420623e-05 9.99900995e-01 4.53274978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8092541539999 meters 0.014550679743829394 Centerline is valid? [True, True] Translation: X:659.79, Y:7.62, Z:4.53 [[ 9.99688446e-01 -2.01089781e-02 -1.47864473e-02 6.59790136e+02] [ 2.01083248e-02 9.99797789e-01 -1.92868516e-04 7.61808505e+00] [ 1.47873357e-02 -1.04522258e-04 9.99890656e-01 4.53090201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.839254154 meters 0.01472696397189418 Centerline is valid? [True, True] Translation: X:659.82, Y:7.62, Z:4.53 [[ 9.99630966e-01 -2.26745305e-02 -1.49598391e-02 6.59820251e+02] [ 2.26741372e-02 9.99742889e-01 -1.95922742e-04 7.61659810e+00] [ 1.49604353e-02 -1.43351006e-04 9.99888076e-01 4.53106097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8692541539999 meters 0.01523181142961937 Centerline is valid? [True, True] Translation: X:659.85, Y:7.61, Z:4.53 [[ 9.99566408e-01 -2.54340111e-02 -1.48359960e-02 6.59850197e+02] [ 2.54339223e-02 9.99676487e-01 -1.94697940e-04 7.61352838e+00] [ 1.48361483e-02 -1.82724048e-04 9.99889922e-01 4.53063062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8992541539999 meters 0.016990442922632902 Centerline is valid? [True, True] Translation: X:659.88, Y:7.61, Z:4.53 [[ 9.99422021e-01 -3.05552002e-02 -1.48998122e-02 6.59881202e+02] [ 3.05556796e-02 9.99533047e-01 -1.95520705e-04 7.60974269e+00] [ 1.48988289e-02 -2.59866190e-04 9.99888973e-01 4.53067774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9292541539999 meters 0.016966217989496293 Centerline is valid? [True, True] Translation: X:659.91, Y:7.61, Z:4.53 [[ 9.99256581e-01 -3.58746784e-02 -1.41171278e-02 6.59912522e+02] [ 3.58756447e-02 9.99356245e-01 -1.84871650e-04 7.60572922e+00] [ 1.41146720e-02 -3.21726847e-04 9.99900331e-01 4.53139847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.959254154 meters 0.01749948675966469 Centerline is valid? [True, True] Translation: X:659.94, Y:7.60, Z:4.53 [[ 9.99156126e-01 -3.85539048e-02 -1.41644672e-02 6.59944667e+02] [ 3.85551577e-02 9.99256456e-01 -1.84706275e-04 7.60371545e+00] [ 1.41610565e-02 -3.61562861e-04 9.99899662e-01 4.53181013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9892541539999 meters 0.01822371864985779 Centerline is valid? [True, True] Translation: X:659.98, Y:7.60, Z:4.53 [[ 9.99069485e-01 -4.09083997e-02 -1.36626180e-02 6.59976302e+02] [ 4.09097972e-02 9.99162828e-01 -1.77299322e-04 7.60133944e+00] [ 1.36584331e-02 -3.81800589e-04 9.99906646e-01 4.53213158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0192541539999 meters 0.020051722266079045 Centerline is valid? [True, True] Translation: X:660.01, Y:7.60, Z:4.53 [[ 9.98888645e-01 -4.54820449e-02 -1.23635710e-02 6.60006645e+02] [ 4.54835446e-02 9.98965075e-01 -1.59997255e-04 7.59622304e+00] [ 1.23580526e-02 -4.02519591e-04 9.99923555e-01 4.53294841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0492541539999 meters 0.020337314492920845 Centerline is valid? [True, True] Translation: X:660.04, Y:7.60, Z:4.53 [[ 9.98817551e-01 -4.71907573e-02 -1.16847047e-02 6.60038572e+02] [ 4.71922190e-02 9.98885815e-01 -1.50745438e-04 7.59511748e+00] [ 1.16787996e-02 -4.00859957e-04 9.99931720e-01 4.53369580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.079254154 meters 0.021946153188698234 Centerline is valid? [True, True] Translation: X:660.07, Y:7.59, Z:4.53 [[ 9.98761013e-01 -4.84241224e-02 -1.14692087e-02 6.60069669e+02] [ 4.84256205e-02 9.98826781e-01 -1.47221162e-04 7.59173714e+00] [ 1.14628818e-02 -4.08364790e-04 9.99934216e-01 4.53394333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1092541539999 meters 0.02201135345845926 Centerline is valid? [True, True] Translation: X:660.10, Y:7.59, Z:4.53 [[ 9.98710082e-01 -4.93363621e-02 -1.20039910e-02 6.60101589e+02] [ 4.93380780e-02 9.98782124e-01 -1.53329998e-04 7.59077083e+00] [ 1.19969363e-02 -4.39121628e-04 9.99927938e-01 4.53409322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1392541539999 meters 0.02058857529192935 Centerline is valid? [True, True] Translation: X:660.13, Y:7.59, Z:4.53 [[ 9.98744141e-01 -4.85702447e-02 -1.22911681e-02 6.60134208e+02] [ 4.85719968e-02 9.98819672e-01 -1.56099647e-04 7.59280231e+00] [ 1.22842423e-02 -4.41102968e-04 9.99924449e-01 4.53394625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1692541539999 meters 0.02016009968702455 Centerline is valid? [True, True] Translation: X:660.17, Y:7.59, Z:4.53 [[ 9.98793880e-01 -4.74795826e-02 -1.25090114e-02 6.60166332e+02] [ 4.74813237e-02 9.98872113e-01 -1.57932807e-04 7.59388308e+00] [ 1.25024012e-02 -4.36202096e-04 9.99921747e-01 4.53382179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.199254154 meters 0.019059570279060887 Centerline is valid? [True, True] Translation: X:660.20, Y:7.60, Z:4.53 [[ 9.98945883e-01 -4.40077011e-02 -1.30554412e-02 6.60197646e+02] [ 4.40093114e-02 9.99031107e-01 -1.64065556e-04 7.59536075e+00] [ 1.30500120e-02 -4.10668363e-04 9.99914761e-01 4.53436732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2292541539999 meters 0.01879100127172356 Centerline is valid? [True, True] Translation: X:660.23, Y:7.60, Z:4.53 [[ 9.99054309e-01 -4.14686220e-02 -1.30706472e-02 6.60228864e+02] [ 4.14700267e-02 9.99139735e-01 -1.63660069e-04 7.59654856e+00] [ 1.30661897e-02 -3.78534791e-04 9.99914562e-01 4.53464971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2592541539999 meters 0.01758630980379901 Centerline is valid? [True, True] Translation: X:660.26, Y:7.60, Z:4.54 [[ 9.99165573e-01 -3.86224653e-02 -1.32839436e-02 6.60260746e+02] [ 3.86236763e-02 9.99253814e-01 -1.65472618e-04 7.59928464e+00] [ 1.32804222e-02 -3.47740193e-04 9.99911751e-01 4.53526574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2892541539999 meters 0.01843309702352212 Centerline is valid? [True, True] Translation: X:660.29, Y:7.60, Z:4.53 [[ 9.99396366e-01 -3.20107077e-02 -1.34988560e-02 6.60291705e+02] [ 3.20113656e-02 9.99487491e-01 -1.67387501e-04 7.60129765e+00] [ 1.34972959e-02 -2.64830353e-04 9.99908872e-01 4.53444075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.319254154 meters 0.015910285112460478 Centerline is valid? [True, True] Translation: X:660.32, Y:7.60, Z:4.54 [[ 9.99465217e-01 -2.99977007e-02 -1.30160629e-02 6.60323248e+02] [ 2.99981478e-02 9.99549941e-01 -1.60935259e-04 7.60361626e+00] [ 1.30150326e-02 -2.29608584e-04 9.99915275e-01 4.53572878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3492541539999 meters 0.015274073851622352 Centerline is valid? [True, True] Translation: X:660.35, Y:7.61, Z:4.53 [[ 9.99579463e-01 -2.56966877e-02 -1.34378953e-02 6.60354886e+02] [ 2.56967822e-02 9.99669769e-01 -1.65658434e-04 7.60573095e+00] [ 1.34377145e-02 -1.79721899e-04 9.99909694e-01 4.53497701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3792541539999 meters 0.014804826241580107 Centerline is valid? [True, True] Translation: X:660.39, Y:7.61, Z:4.54 [[ 9.99614133e-01 -2.41395376e-02 -1.37429150e-02 6.60386080e+02] [ 2.41394963e-02 9.99708586e-01 -1.68914060e-04 7.60723345e+00] [ 1.37429876e-02 -1.62898163e-04 9.99905547e-01 4.53510649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4092541539999 meters 0.014663237571765176 Centerline is valid? [True, True] Translation: X:660.42, Y:7.61, Z:4.53 [[ 9.99633899e-01 -2.24124105e-02 -1.51575527e-02 6.60417529e+02] [ 2.24121705e-02 9.99748799e-01 -1.85718565e-04 7.60872225e+00] [ 1.51579075e-02 -1.54063083e-04 9.99885100e-01 4.53433264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4392541539999 meters 0.014913055433745874 Centerline is valid? [True, True] Translation: X:660.45, Y:7.61, Z:4.53 [[ 9.99617559e-01 -2.24679960e-02 -1.61221736e-02 6.60447155e+02] [ 2.24677360e-02 9.99747549e-01 -1.97270659e-04 7.60819612e+00] [ 1.61225358e-02 -1.65033525e-04 9.99870010e-01 4.53300562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4692541539999 meters 0.014732287450518291 Centerline is valid? [True, True] Translation: X:660.48, Y:7.61, Z:4.53 [[ 9.99594341e-01 -2.31906926e-02 -1.65331295e-02 6.60476748e+02] [ 2.31905123e-02 9.99731043e-01 -2.02648086e-04 7.60847535e+00] [ 1.65333824e-02 -1.80845864e-04 9.99863298e-01 4.53327745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4992541539999 meters 0.014732287450518291 Centerline is valid? [True, True] Translation: X:660.51, Y:7.61, Z:4.53 [[ 9.99593507e-01 -2.32266232e-02 -1.65331222e-02 6.60505901e+02] [ 2.32264380e-02 9.99730209e-01 -2.03242608e-04 7.60886323e+00] [ 1.65333824e-02 -1.80845547e-04 9.99863298e-01 4.53347956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5292541539999 meters 0.015480358131606172 Centerline is valid? [True, True] Translation: X:660.54, Y:7.61, Z:4.53 [[ 9.99504601e-01 -2.63662395e-02 -1.71864557e-02 6.60535025e+02] [ 2.63664927e-02 9.99652321e-01 -2.11899022e-04 7.60611027e+00] [ 1.71860673e-02 -2.41352511e-04 9.99852280e-01 4.53292146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5592541539999 meters 0.015946784173859842 Centerline is valid? [True, True] Translation: X:660.56, Y:7.60, Z:4.53 [[ 9.99451169e-01 -2.83692229e-02 -1.71040063e-02 6.60564116e+02] [ 2.83697596e-02 9.99597475e-01 -2.11303778e-04 7.60481046e+00] [ 1.71031160e-02 -2.74048738e-04 9.99853693e-01 4.53302839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.589254154 meters 0.01622297994531554 Centerline is valid? [True, True] Translation: X:660.59, Y:7.60, Z:4.53 [[ 9.99290550e-01 -3.36674812e-02 -1.68789297e-02 6.60594832e+02] [ 3.36687573e-02 9.99433025e-01 -2.08640928e-04 7.60390199e+00] [ 1.68763842e-02 -3.59799678e-04 9.99857519e-01 4.53473142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6192541539999 meters 0.01746970471300292 Centerline is valid? [True, True] Translation: X:660.62, Y:7.60, Z:4.53 [[ 9.99186779e-01 -3.67487580e-02 -1.65924390e-02 6.60624999e+02] [ 3.67504185e-02 9.99324454e-01 -2.04922947e-04 7.60087798e+00] [ 1.65887607e-02 -4.05022778e-04 9.99862315e-01 4.53479612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6492541539999 meters 0.017444811347183464 Centerline is valid? [True, True] Translation: X:660.66, Y:7.60, Z:4.54 [[ 9.99083982e-01 -3.95921710e-02 -1.62375166e-02 6.60656710e+02] [ 3.95941542e-02 9.99215824e-01 -1.99447197e-04 7.60093083e+00] [ 1.62326801e-02 -4.43646237e-04 9.99868143e-01 4.53620141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6792541539999 meters 0.01944649962509151 Centerline is valid? [True, True] Translation: X:660.69, Y:7.60, Z:4.54 [[ 9.98867816e-01 -4.51425785e-02 -1.50077826e-02 6.60686505e+02] [ 4.51449084e-02 9.98980432e-01 -1.83676103e-04 7.59671433e+00] [ 1.50007728e-02 -4.94056824e-04 9.99887360e-01 4.53660851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.709254154 meters 0.02149981457062043 Centerline is valid? [True, True] Translation: X:660.72, Y:7.59, Z:4.54 [[ 9.98760978e-01 -4.76833304e-02 -1.42411289e-02 6.60717322e+02] [ 4.76856993e-02 9.98862375e-01 -1.73368980e-04 7.59312958e+00] [ 1.42331947e-02 -5.05944019e-04 9.99898575e-01 4.53666616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7392541539999 meters 0.022578416750750712 Centerline is valid? [True, True] Translation: X:660.75, Y:7.59, Z:4.54 [[ 9.98551943e-01 -5.20949700e-02 -1.34212871e-02 6.60748603e+02] [ 5.20974860e-02 9.98641991e-01 -1.62330342e-04 7.59065804e+00] [ 1.34115175e-02 -5.37120037e-04 9.99909917e-01 4.53767657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7692541539999 meters 0.02221051844708204 Centerline is valid? [True, True] Translation: X:660.78, Y:7.59, Z:4.54 [[ 9.98438761e-01 -5.42232365e-02 -1.34119556e-02 6.60780625e+02] [ 5.42259504e-02 9.98528678e-01 -1.61490628e-04 7.59139657e+00] [ 1.34009788e-02 -5.66037536e-04 9.99910043e-01 4.53866633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7992541539999 meters 0.026121299760727756 Centerline is valid? [True, True] Translation: X:660.81, Y:7.59, Z:4.54 [[ 9.98330716e-01 -5.61387747e-02 -1.35727139e-02 6.60812010e+02] [ 5.61417427e-02 9.98422795e-01 -1.62543082e-04 7.58626436e+00] [ 1.35604319e-02 -5.99724060e-04 9.99907873e-01 4.53801453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.829254154 meters 0.024955670539336294 Centerline is valid? [True, True] Translation: X:660.84, Y:7.59, Z:4.54 [[ 9.98083188e-01 -6.04778283e-02 -1.31294204e-02 6.60842934e+02] [ 6.04809881e-02 9.98169337e-01 -1.56623522e-04 7.58749710e+00] [ 1.31148571e-02 -6.37757012e-04 9.99913793e-01 4.53933294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8592541539999 meters 0.026400920146619503 Centerline is valid? [True, True] Translation: X:660.87, Y:7.59, Z:4.54 [[ 9.97978451e-01 -6.21602049e-02 -1.32332904e-02 6.60873919e+02] [ 6.21635706e-02 9.98065963e-01 -1.57244920e-04 7.58554661e+00] [ 1.32174711e-02 -6.65701537e-04 9.99912424e-01 4.53910622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8892541539999 meters 0.02909610567461221 Centerline is valid? [True, True] Translation: X:660.90, Y:7.58, Z:4.54 [[ 9.97789058e-01 -6.46822780e-02 -1.52708609e-02 6.60904905e+02] [ 6.46870637e-02 9.97905582e-01 -1.80867568e-04 7.58381592e+00] [ 1.52505763e-02 -8.07359473e-04 9.99883377e-01 4.53713884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9192541539999 meters 0.029060055094007317 Centerline is valid? [True, True] Translation: X:660.94, Y:7.58, Z:4.54 [[ 9.97695445e-01 -6.61302180e-02 -1.51852826e-02 6.60936251e+02] [ 6.61351260e-02 9.97810660e-01 -1.79281772e-04 7.58215425e+00] [ 1.51638927e-02 -8.25411968e-04 9.99884681e-01 4.53757871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.949254154 meters 0.028464080979323396 Centerline is valid? [True, True] Translation: X:660.97, Y:7.58, Z:4.54 [[ 9.97661726e-01 -6.65494550e-02 -1.55643742e-02 6.60968579e+02] [ 6.65546777e-02 9.97782763e-01 -1.82748597e-04 7.58356089e+00] [ 1.55420261e-02 -8.53560627e-04 9.99878851e-01 4.53755614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9792541539999 meters 0.026406847404303747 Centerline is valid? [True, True] Translation: X:661.00, Y:7.59, Z:4.54 [[ 9.97656789e-01 -6.64623281e-02 -1.62385408e-02 6.61000920e+02] [ 6.64680214e-02 9.97788538e-01 -1.89448691e-04 7.58764306e+00] [ 1.62152211e-02 -8.90338906e-04 9.99868128e-01 4.53797020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0092541539999 meters 0.02522748298649168 Centerline is valid? [True, True] Translation: X:661.03, Y:7.59, Z:4.54 [[ 9.97777379e-01 -6.45361267e-02 -1.65948773e-02 6.61032812e+02] [ 6.45418248e-02 9.97914984e-01 -1.92534376e-04 7.59199576e+00] [ 1.65727022e-02 -8.78957219e-04 9.99862277e-01 4.53827904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0392541539999 meters 0.024678229209892818 Centerline is valid? [True, True] Translation: X:661.06, Y:7.60, Z:4.54 [[ 9.97990868e-01 -6.09056890e-02 -1.74563621e-02 6.61062427e+02] [ 6.09114602e-02 9.98143153e-01 -2.01385594e-04 7.59586297e+00] [ 1.74362138e-02 -8.62311521e-04 9.99847606e-01 4.53822860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.069254154 meters 0.025715396454430755 Centerline is valid? [True, True] Translation: X:661.09, Y:7.60, Z:4.54 [[ 9.98143751e-01 -5.82708963e-02 -1.77075111e-02 6.61093261e+02] [ 5.82764367e-02 9.98300464e-01 -2.03397207e-04 7.59612015e+00] [ 1.76892687e-02 -8.28911002e-04 9.99843189e-01 4.53770115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0992541539999 meters 0.022499157489694416 Centerline is valid? [True, True] Translation: X:661.12, Y:7.60, Z:4.54 [[ 9.98438948e-01 -5.28253800e-02 -1.81423917e-02 6.61123932e+02] [ 5.28303070e-02 9.98603483e-01 -2.07927663e-04 7.60463004e+00] [ 1.81280394e-02 -7.50865045e-04 9.99835392e-01 4.53813096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1292541539999 meters 0.02162648144166386 Centerline is valid? [True, True] Translation: X:661.16, Y:7.61, Z:4.54 [[ 9.98594275e-01 -4.96631887e-02 -1.85213806e-02 6.61155798e+02] [ 4.96677949e-02 9.98765771e-01 -2.11504141e-04 7.60841854e+00] [ 1.85090250e-02 -7.08709308e-04 9.99828442e-01 4.53819279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1592541539999 meters 0.022041052023765006 Centerline is valid? [True, True] Translation: X:661.19, Y:7.61, Z:4.54 [[ 9.98723897e-01 -4.67189508e-02 -1.91811500e-02 6.61185977e+02] [ 4.67233815e-02 9.98907843e-01 -2.17332687e-04 7.61102703e+00] [ 1.91703548e-02 -6.79152841e-04 9.99816001e-01 4.53776327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1892541539999 meters 0.01912274788235165 Centerline is valid? [True, True] Translation: X:661.22, Y:7.62, Z:4.54 [[ 9.98928872e-01 -4.22331457e-02 -1.89068969e-02 6.61217173e+02] [ 4.22366700e-02 9.99107611e-01 -2.13057734e-04 7.61796175e+00] [ 1.88990227e-02 -5.85734843e-04 9.99821226e-01 4.53919098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2192541539999 meters 0.01972813599701317 Centerline is valid? [True, True] Translation: X:661.25, Y:7.62, Z:4.54 [[ 9.99036384e-01 -3.95914506e-02 -1.89425643e-02 6.61248365e+02] [ 3.95945268e-02 9.99215807e-01 -2.12768191e-04 7.62091756e+00] [ 1.89361335e-02 -5.37458707e-04 9.99820551e-01 4.53887197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2492541539999 meters 0.0176856042009558 Centerline is valid? [True, True] Translation: X:661.28, Y:7.62, Z:4.54 [[ 9.99123533e-01 -3.75983642e-02 -1.83991393e-02 6.61280203e+02] [ 3.76009448e-02 9.99292813e-01 -2.05788607e-04 7.62417575e+00] [ 1.83938649e-02 -4.86216779e-04 9.99830700e-01 4.54046603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2792541539999 meters 0.01616228855403747 Centerline is valid? [True, True] Translation: X:661.31, Y:7.63, Z:4.54 [[ 9.99323075e-01 -3.24197835e-02 -1.73882094e-02 6.61311681e+02] [ 3.24213177e-02 9.99474272e-01 -1.93730291e-04 7.63005047e+00] [ 1.73853486e-02 -3.70149511e-04 9.99848795e-01 4.54221013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3092541539999 meters 0.015968961080241484 Centerline is valid? [True, True] Translation: X:661.34, Y:7.63, Z:4.54 [[ 9.99415218e-01 -2.97041850e-02 -1.69376611e-02 6.61342181e+02] [ 2.97052583e-02 9.99558684e-01 -1.88273758e-04 7.63171930e+00] [ 1.69357788e-02 -3.14973939e-04 9.99856530e-01 4.54203811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.339254154 meters 0.014754012893241457 Centerline is valid? [True, True] Translation: X:661.37, Y:7.64, Z:4.54 [[ 9.99570729e-01 -2.35950019e-02 -1.73676274e-02 6.61373239e+02] [ 2.35952140e-02 9.99721576e-01 -1.92730196e-04 7.63882874e+00] [ 1.73673393e-02 -2.17145422e-04 9.99849153e-01 4.54302719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3692541539999 meters 0.014584360330899413 Centerline is valid? [True, True] Translation: X:661.40, Y:7.64, Z:4.54 [[ 9.99658668e-01 -1.98625430e-02 -1.69713513e-02 6.61403002e+02] [ 1.98622066e-02 9.99802709e-01 -1.88391161e-04 7.64155511e+00] [ 1.69717450e-02 -1.48761630e-04 9.99855958e-01 4.54277121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3992541539999 meters 0.014072555111360293 Centerline is valid? [True, True] Translation: X:661.43, Y:7.65, Z:4.54 [[ 9.99782123e-01 -1.29675862e-02 -1.63568889e-02 6.61431969e+02] [ 1.29663106e-02 9.99915917e-01 -1.84043516e-04 7.64798781e+00] [ 1.63579002e-02 -2.80850843e-05 9.99866200e-01 4.54336620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4292541539999 meters 0.014020504349482097 Centerline is valid? [True, True] Translation: X:661.46, Y:7.65, Z:4.54 [[ 9.99813870e-01 -1.03349382e-02 -1.62915317e-02 6.61459804e+02] [ 1.03332498e-02 9.99946593e-01 -1.87810477e-04 7.65068167e+00] [ 1.62926027e-02 1.94310522e-05 9.99867267e-01 4.54432149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.459254154 meters 0.014212996817533304 Centerline is valid? [True, True] Translation: X:661.49, Y:7.65, Z:4.54 [[ 9.99837564e-01 -7.87382669e-03 -1.62126180e-02 6.61487677e+02] [ 7.87178407e-03 9.99968999e-01 -1.89802308e-04 7.65288382e+00] [ 1.62136099e-02 6.21492487e-05 9.99868549e-01 4.54372381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4892541539999 meters 0.014493253874308283 Centerline is valid? [True, True] Translation: X:661.52, Y:7.65, Z:4.54 [[ 9.99863730e-01 -4.08729784e-03 -1.59942026e-02 6.61516767e+02] [ 4.08477879e-03 9.99991639e-01 -1.90163168e-04 7.65498256e+00] [ 1.59948462e-02 1.24804474e-04 9.99872066e-01 4.54335899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5192541539999 meters 0.014630647671782461 Centerline is valid? [True, True] Translation: X:661.55, Y:7.66, Z:4.54 [[ 9.99864202e-01 -3.15068183e-03 -1.61756318e-02 6.61545961e+02] [ 3.14791608e-03 9.99995026e-01 -1.96441502e-04 7.65579516e+00] [ 1.61761702e-02 1.45495294e-04 9.99869147e-01 4.54359398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5492541539999 meters 0.01473871976247696 Centerline is valid? [True, True] Translation: X:661.57, Y:7.66, Z:4.54 [[ 9.99865740e-01 -2.77835934e-03 -1.61487837e-02 6.61573466e+02] [ 2.77551240e-03 9.99996129e-01 -1.98703395e-04 7.65648932e+00] [ 1.61492733e-02 1.53855567e-04 9.99869580e-01 4.54344711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.579254154 meters 0.014958590670135866 Centerline is valid? [True, True] Translation: X:661.60, Y:7.66, Z:4.54 [[ 9.99868134e-01 -3.45257447e-03 -1.58679999e-02 6.61602067e+02] [ 3.44989074e-03 9.99994030e-01 -1.96498801e-04 7.65620583e+00] [ 1.58685836e-02 1.41730024e-04 9.99874076e-01 4.54298263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6092541539999 meters 0.014525540994956341 Centerline is valid? [True, True] Translation: X:661.63, Y:7.66, Z:4.54 [[ 9.99852032e-01 -4.56754016e-03 -1.65846768e-02 6.61630219e+02] [ 4.56473619e-03 9.99989560e-01 -2.06921186e-04 7.65555875e+00] [ 1.65854487e-02 1.31185894e-04 9.99862443e-01 4.54298941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6392541539999 meters 0.014276503446611043 Centerline is valid? [True, True] Translation: X:661.66, Y:7.65, Z:4.54 [[ 9.99817073e-01 -8.13384318e-03 -1.73107197e-02 6.61659366e+02] [ 8.13129637e-03 9.99966917e-01 -2.17504097e-04 7.65183214e+00] [ 1.73119162e-02 7.67057175e-05 9.99850135e-01 4.54250767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6692541539999 meters 0.014017097035429778 Centerline is valid? [True, True] Translation: X:661.69, Y:7.65, Z:4.54 [[ 9.99795334e-01 -1.03435848e-02 -1.73867834e-02 6.61687740e+02] [ 1.03413278e-02 9.99946503e-01 -2.19717408e-04 7.64974609e+00] [ 1.73881259e-02 3.98700133e-05 9.99848814e-01 4.54274443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.699254154 meters 0.013990328496219532 Centerline is valid? [True, True] Translation: X:661.72, Y:7.64, Z:4.54 [[ 9.99734402e-01 -1.54253202e-02 -1.71226257e-02 6.61716068e+02] [ 1.54238525e-02 9.99881022e-01 -2.17780976e-04 7.64413253e+00] [ 1.71239479e-02 -4.63737203e-05 9.99853373e-01 4.54276761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7292541539999 meters 0.014144659938328936 Centerline is valid? [True, True] Translation: X:661.74, Y:7.64, Z:4.54 [[ 9.99705722e-01 -1.79443415e-02 -1.63238832e-02 6.61743817e+02] [ 1.79432898e-02 9.99838984e-01 -2.10901160e-04 7.64161578e+00] [ 1.63250392e-02 -8.20650699e-05 9.99866734e-01 4.54374388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7592541539999 meters 0.014088742372072076 Centerline is valid? [True, True] Translation: X:661.77, Y:7.64, Z:4.54 [[ 9.99669117e-01 -2.01691648e-02 -1.59644033e-02 6.61772952e+02] [ 2.01683755e-02 9.99796575e-01 -2.10456129e-04 7.63954044e+00] [ 1.59654004e-02 -1.11589587e-04 9.99872539e-01 4.54465335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7892541539999 meters 0.014666875060151727 Centerline is valid? [True, True] Translation: X:661.80, Y:7.64, Z:4.55 [[ 9.99622418e-01 -2.31763125e-02 -1.47607795e-02 6.61801340e+02] [ 2.31759357e-02 9.99731383e-01 -1.96606699e-04 7.63534424e+00] [ 1.47613711e-02 -1.45562412e-04 9.99891034e-01 4.54564751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.819254154 meters 0.014623496069327222 Centerline is valid? [True, True] Translation: X:661.83, Y:7.63, Z:4.55 [[ 9.99606981e-01 -2.39720556e-02 -1.45335455e-02 6.61831565e+02] [ 2.39717692e-02 9.99712617e-01 -1.93942094e-04 7.63271693e+00] [ 1.45340179e-02 -1.54528926e-04 9.99894364e-01 4.54660195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8492541539999 meters 0.014664236599733678 Centerline is valid? [True, True] Translation: X:661.86, Y:7.63, Z:4.55 [[ 9.99597710e-01 -2.40181504e-02 -1.50846504e-02 6.61862057e+02] [ 2.40178471e-02 9.99711510e-01 -2.01296283e-04 7.63148806e+00] [ 1.50851334e-02 -1.61085523e-04 9.99886200e-01 4.54655955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8792541539999 meters 0.015616827265711508 Centerline is valid? [True, True] Translation: X:661.89, Y:7.63, Z:4.55 [[ 9.99592417e-01 -2.37038778e-02 -1.59099481e-02 6.61892996e+02] [ 2.37035005e-02 9.99719010e-01 -2.12309423e-04 7.63057514e+00] [ 1.59105101e-02 -1.64898575e-04 9.99873406e-01 4.54576199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9092541539999 meters 0.014697154591758393 Centerline is valid? [True, True] Translation: X:661.92, Y:7.63, Z:4.55 [[ 9.99595884e-01 -2.35521097e-02 -1.59174836e-02 6.61922738e+02] [ 2.35517103e-02 9.99722597e-01 -2.12573793e-04 7.62941598e+00] [ 1.59180746e-02 -1.62396074e-04 9.99873286e-01 4.54606644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9392541539999 meters 0.014615197468314866 Centerline is valid? [True, True] Translation: X:661.95, Y:7.63, Z:4.55 [[ 9.99612976e-01 -2.20563488e-02 -1.69533535e-02 6.61952791e+02] [ 2.20556722e-02 9.99756718e-01 -2.26906058e-04 7.62786014e+00] [ 1.69542338e-02 -1.47099367e-04 9.99856256e-01 4.54597391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9692541539999 meters 0.01456663079440974 Centerline is valid? [True, True] Translation: X:661.98, Y:7.63, Z:4.55 [[ 9.99625209e-01 -2.13136535e-02 -1.71805102e-02 6.61981741e+02] [ 2.13127989e-02 9.99772829e-01 -2.32860245e-04 7.62802050e+00] [ 1.71815704e-02 -1.33391787e-04 9.99852377e-01 4.54642865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9992541539999 meters 0.014319861570573392 Centerline is valid? [True, True] Translation: X:662.01, Y:7.63, Z:4.55 [[ 9.99682955e-01 -1.78332786e-02 -1.77753445e-02 6.62009933e+02] [ 1.78317700e-02 9.99840972e-01 -2.43378182e-04 7.62790268e+00] [ 1.77768580e-02 -7.36648341e-05 9.99841976e-01 4.54651675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0292541539999 meters 0.014410483443959248 Centerline is valid? [True, True] Translation: X:662.04, Y:7.63, Z:4.55 [[ 9.99704701e-01 -1.60744168e-02 -1.82242699e-02 6.62037661e+02] [ 1.60724716e-02 9.99870797e-01 -2.53207623e-04 7.62858511e+00] [ 1.82259854e-02 -3.97762088e-05 9.99833892e-01 4.54637029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0592541539999 meters 0.014442846616837979 Centerline is valid? [True, True] Translation: X:662.07, Y:7.63, Z:4.55 [[ 9.99754047e-01 -1.21907012e-02 -1.85265335e-02 6.62065592e+02] [ 1.21879233e-02 9.99925690e-01 -2.62846022e-04 7.62957969e+00] [ 1.85283610e-02 3.69814048e-05 9.99828334e-01 4.54638884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.089254154 meters 0.014558102167947064 Centerline is valid? [True, True] Translation: X:662.09, Y:7.63, Z:4.55 [[ 9.99776129e-01 -1.03565679e-02 -1.84508325e-02 6.62093966e+02] [ 1.03534012e-02 9.99946366e-01 -2.67145832e-04 7.63007981e+00] [ 1.84526096e-02 7.60571553e-05 9.99829733e-01 4.54627651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1192541539999 meters 0.014644358640902192 Centerline is valid? [True, True] Translation: X:662.12, Y:7.63, Z:4.55 [[ 9.99798779e-01 -8.63484943e-03 -1.81063872e-02 6.62121578e+02] [ 8.63142166e-03 9.99962713e-01 -2.67453965e-04 7.63004917e+00] [ 1.81080215e-02 1.11116284e-04 9.99836030e-01 4.54695553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1492541539999 meters 0.014963034921396903 Centerline is valid? [True, True] Translation: X:662.15, Y:7.63, Z:4.55 [[ 9.99829753e-01 -6.00076468e-03 -1.74486838e-02 6.62149264e+02] [ 5.99712899e-03 9.99981983e-01 -2.60683060e-04 7.62874079e+00] [ 1.74499337e-02 1.55996672e-04 9.99847726e-01 4.54692350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1792541539999 meters 0.01499386677060484 Centerline is valid? [True, True] Translation: X:662.18, Y:7.63, Z:4.55 [[ 9.99830880e-01 -6.36573094e-03 -1.72536469e-02 6.62177369e+02] [ 6.36216786e-03 9.99979727e-01 -2.61393910e-04 7.62771509e+00] [ 1.72549611e-02 1.51579105e-04 9.99851111e-01 4.54721167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.209254154 meters 0.01506121159704822 Centerline is valid? [True, True] Translation: X:662.21, Y:7.63, Z:4.55 [[ 9.99824392e-01 -7.33714397e-03 -1.72438743e-02 6.62205187e+02] [ 7.33364291e-03 9.99973073e-01 -2.66259180e-04 7.62627622e+00] [ 1.72453635e-02 1.39752006e-04 9.99851278e-01 4.54748827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2392541539999 meters 0.01479926141562001 Centerline is valid? [True, True] Translation: X:662.23, Y:7.62, Z:4.55 [[ 9.99794518e-01 -1.05261483e-02 -1.73240193e-02 6.62234230e+02] [ 1.05230451e-02 9.99944595e-01 -2.70280423e-04 7.62188588e+00] [ 1.73259044e-02 8.79234498e-05 9.99849891e-01 4.54769346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2692541539999 meters 0.014729807731580244 Centerline is valid? [True, True] Translation: X:662.26, Y:7.62, Z:4.55 [[ 9.99755425e-01 -1.32918029e-02 -1.76753495e-02 6.62262056e+02] [ 1.32889400e-02 9.99911659e-01 -2.79419284e-04 7.61909612e+00] [ 1.76775020e-02 4.44642877e-05 9.99843740e-01 4.54772639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2992541539999 meters 0.014898332545976384 Centerline is valid? [True, True] Translation: X:662.29, Y:7.61, Z:4.55 [[ 9.99638113e-01 -1.98273415e-02 -1.81802096e-02 6.62289723e+02] [ 1.98253369e-02 9.99803416e-01 -2.90502546e-04 7.61100695e+00] [ 1.81823956e-02 -7.00313647e-05 9.99834684e-01 4.54672440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.329254154 meters 0.014994387476567858 Centerline is valid? [True, True] Translation: X:662.32, Y:7.61, Z:4.55 [[ 9.99539994e-01 -2.39129728e-02 -1.86539677e-02 6.62318584e+02] [ 2.39115054e-02 9.99714034e-01 -3.01736798e-04 7.60696273e+00] [ 1.86558487e-02 -1.44446452e-04 9.99825954e-01 4.54751330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3592541539999 meters 0.01565710735309491 Centerline is valid? [True, True] Translation: X:662.35, Y:7.60, Z:4.55 [[ 9.99424196e-01 -2.79841553e-02 -1.91875859e-02 6.62346889e+02] [ 2.79832960e-02 9.99608342e-01 -3.13323406e-04 7.60209249e+00] [ 1.91888390e-02 -2.23788903e-04 9.99815852e-01 4.54722865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3892541539999 meters 0.01565710735309491 Centerline is valid? [True, True] Translation: X:662.38, Y:7.60, Z:4.55 [[ 9.99417101e-01 -2.82364471e-02 -1.91875245e-02 6.62375136e+02] [ 2.82355628e-02 9.99601247e-01 -3.17050132e-04 7.60259885e+00] [ 1.91888258e-02 -2.24905230e-04 9.99815852e-01 4.54742459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4192541539999 meters 0.01752389657411394 Centerline is valid? [True, True] Translation: X:662.40, Y:7.59, Z:4.55 [[ 9.99156453e-01 -3.64144061e-02 -1.89834838e-02 6.62404015e+02] [ 3.64149705e-02 9.99336705e-01 -3.16055048e-04 7.59233940e+00] [ 1.89824011e-02 -3.75494563e-04 9.99819747e-01 4.54730540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.449254154 meters 0.01842744512016647 Centerline is valid? [True, True] Translation: X:662.43, Y:7.59, Z:4.55 [[ 9.99034460e-01 -3.97402511e-02 -1.87312793e-02 6.62434355e+02] [ 3.97413779e-02 9.99209951e-01 -3.12222397e-04 7.58819907e+00] [ 1.87288885e-02 -4.32485917e-04 9.99824505e-01 4.54764294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4792541539999 meters 0.019187287282826027 Centerline is valid? [True, True] Translation: X:662.46, Y:7.58, Z:4.55 [[ 9.98911526e-01 -4.26765956e-02 -1.88274027e-02 6.62464837e+02] [ 4.26782552e-02 9.99088819e-01 -3.13824631e-04 7.58471501e+00] [ 1.88236405e-02 -4.90037658e-04 9.99822699e-01 4.54815820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5092541539999 meters 0.02089894939791249 Centerline is valid? [True, True] Translation: X:662.50, Y:7.58, Z:4.55 [[ 9.98714761e-01 -4.73108150e-02 -1.81800079e-02 6.62496309e+02] [ 4.73131364e-02 9.98880061e-01 -3.02641004e-04 7.57828206e+00] [ 1.81739656e-02 -5.57901157e-04 9.99834684e-01 4.54881813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5392541539999 meters 0.021546058136563306 Centerline is valid? [True, True] Translation: X:662.53, Y:7.58, Z:4.55 [[ 9.98665405e-01 -4.85500820e-02 -1.76152924e-02 6.62527455e+02] [ 4.85524646e-02 9.98820591e-01 -2.92633592e-04 7.57627130e+00] [ 1.76087242e-02 -5.63022817e-04 9.99844796e-01 4.54938610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.569254154 meters 0.022226624920737896 Centerline is valid? [True, True] Translation: X:662.56, Y:7.57, Z:4.55 [[ 9.98631457e-01 -4.93318889e-02 -1.73660156e-02 6.62557561e+02] [ 4.93343368e-02 9.98782279e-01 -2.87676522e-04 7.57409854e+00] [ 1.73590602e-02 -5.69458037e-04 9.99849158e-01 4.54987163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5992541539999 meters 0.019950684621785297 Centerline is valid? [True, True] Translation: X:662.59, Y:7.58, Z:4.55 [[ 9.98614910e-01 -4.96904203e-02 -1.72951999e-02 6.62589833e+02] [ 4.96929219e-02 9.98764503e-01 -2.85352322e-04 7.57682501e+00] [ 1.72880110e-02 -5.74491934e-04 9.99850386e-01 4.55157402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6292541539999 meters 0.019832521020199362 Centerline is valid? [True, True] Translation: X:662.62, Y:7.58, Z:4.55 [[ 9.98628152e-01 -4.94456845e-02 -1.72319010e-02 6.62622180e+02] [ 4.94481534e-02 9.98776652e-01 -2.83031841e-04 7.57659029e+00] [ 1.72248151e-02 -5.69442119e-04 9.99851480e-01 4.55187854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6592541539999 meters 0.019748955458054707 Centerline is valid? [True, True] Translation: X:662.65, Y:7.58, Z:4.55 [[ 9.98690966e-01 -4.81430126e-02 -1.72801730e-02 6.62653482e+02] [ 4.81453193e-02 9.98840302e-01 -2.82737826e-04 7.57604039e+00] [ 1.72737450e-02 -5.49591732e-04 9.99850647e-01 4.55224056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6892541539999 meters 0.02002492897597657 Centerline is valid? [True, True] Translation: X:662.69, Y:7.58, Z:4.55 [[ 9.98710776e-01 -4.76797066e-02 -1.74192838e-02 6.62685065e+02] [ 4.76819935e-02 9.98862526e-01 -2.84249037e-04 7.57657109e+00] [ 1.74130227e-02 -5.46703600e-04 9.99848232e-01 4.55250878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7192541539999 meters 0.019908092121363335 Centerline is valid? [True, True] Translation: X:662.72, Y:7.58, Z:4.55 [[ 9.98805620e-01 -4.58776559e-02 -1.68099279e-02 6.62715307e+02] [ 4.58795376e-02 9.98946942e-01 -2.73886907e-04 7.57651257e+00] [ 1.68047914e-02 -4.97671938e-04 9.99858666e-01 4.55305844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7492541539999 meters 0.019637133118703163 Centerline is valid? [True, True] Translation: X:662.75, Y:7.58, Z:4.55 [[ 9.98828273e-01 -4.53084780e-02 -1.70065730e-02 6.62747066e+02] [ 4.53103298e-02 9.98972921e-01 -2.76605525e-04 7.57760827e+00] [ 1.70016385e-02 -4.94292015e-04 9.99855340e-01 4.55364274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7792541539999 meters 0.01972919019044146 Centerline is valid? [True, True] Translation: X:662.78, Y:7.58, Z:4.55 [[ 9.98826735e-01 -4.49845323e-02 -1.79316778e-02 6.62778584e+02] [ 4.49865542e-02 9.98987550e-01 -2.90804686e-04 7.57763793e+00] [ 1.79266046e-02 -5.16220899e-04 9.99839172e-01 4.55337091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8092541539999 meters 0.019188744577223478 Centerline is valid? [True, True] Translation: X:662.81, Y:7.58, Z:4.55 [[ 9.98795051e-01 -4.50201143e-02 -1.95354879e-02 6.62809678e+02] [ 4.50225380e-02 9.98985921e-01 -3.15952446e-04 7.57935967e+00] [ 1.95299016e-02 -5.63965506e-04 9.99809114e-01 4.55301428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.839254154 meters 0.019618841594139985 Centerline is valid? [True, True] Translation: X:662.84, Y:7.58, Z:4.55 [[ 9.98786303e-01 -4.51548289e-02 -1.96713404e-02 6.62839991e+02] [ 4.51573221e-02 9.98979837e-01 -3.17664856e-04 7.57814470e+00] [ 1.96656165e-02 -5.71025747e-04 9.99806450e-01 4.55235412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8692541539999 meters 0.02003276171271566 Centerline is valid? [True, True] Translation: X:662.87, Y:7.58, Z:4.55 [[ 9.98736464e-01 -4.56309792e-02 -2.10544298e-02 6.62870292e+02] [ 4.56339440e-02 9.98958171e-01 -3.39865713e-04 7.57842035e+00] [ 2.10480031e-02 -6.21360391e-04 9.99778273e-01 4.55154381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8992541539999 meters 0.020059121822617258 Centerline is valid? [True, True] Translation: X:662.90, Y:7.58, Z:4.55 [[ 9.98741947e-01 -4.54384286e-02 -2.12101971e-02 6.62900372e+02] [ 4.54413940e-02 9.98966948e-01 -3.42380146e-04 7.57856866e+00] [ 2.12038430e-02 -6.21871509e-04 9.99774980e-01 4.55098349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9292541539999 meters 0.018865506258438473 Centerline is valid? [True, True] Translation: X:662.93, Y:7.58, Z:4.55 [[ 9.98741333e-01 -4.50791631e-02 -2.19913196e-02 6.62930348e+02] [ 4.50822642e-02 9.98983215e-01 -3.54989216e-04 7.58117714e+00] [ 2.19849618e-02 -6.36876078e-04 9.99758099e-01 4.55196548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.959254154 meters 0.017586125963091184 Centerline is valid? [True, True] Translation: X:662.96, Y:7.58, Z:4.55 [[ 9.98828111e-01 -4.28907848e-02 -2.24228530e-02 6.62960586e+02] [ 4.28934579e-02 9.99079587e-01 -3.61955133e-04 7.58433329e+00] [ 2.24177393e-02 -6.00262740e-04 9.99748511e-01 4.55255293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9892541539999 meters 0.01769699842966311 Centerline is valid? [True, True] Translation: X:662.99, Y:7.59, Z:4.55 [[ 9.98903362e-01 -4.11157372e-02 -2.23957488e-02 6.62990122e+02] [ 4.11179515e-02 9.99154234e-01 -3.61803651e-04 7.58560304e+00] [ 2.23916831e-02 -5.59460431e-04 9.99749118e-01 4.55292383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0192541539999 meters 0.017171307367492963 Centerline is valid? [True, True] Translation: X:663.02, Y:7.59, Z:4.55 [[ 9.99134886e-01 -3.59129071e-02 -2.09700462e-02 6.63019102e+02] [ 3.59136896e-02 9.99354838e-01 -3.39401947e-04 7.58991789e+00] [ 2.09687060e-02 -4.14003406e-04 9.99780047e-01 4.55441988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0492541539999 meters 0.015805138809494326 Centerline is valid? [True, True] Translation: X:663.05, Y:7.59, Z:4.56 [[ 9.99235337e-01 -3.36294369e-02 -1.99449880e-02 6.63048480e+02] [ 3.36296757e-02 9.99434310e-01 -3.23525103e-04 7.59259452e+00] [ 1.99445852e-02 -3.47465762e-04 9.99801027e-01 4.55617361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.079254154 meters 0.015233697302811636 Centerline is valid? [True, True] Translation: X:663.08, Y:7.60, Z:4.56 [[ 9.99402678e-01 -2.95675658e-02 -1.78898338e-02 6.63077593e+02] [ 2.95670567e-02 9.99562756e-01 -2.93007221e-04 7.59633746e+00] [ 1.78906751e-02 -2.36117529e-04 9.99839921e-01 4.55707488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1092541539999 meters 0.014883780426907117 Centerline is valid? [True, True] Translation: X:663.11, Y:7.60, Z:4.56 [[ 9.99480022e-01 -2.75434582e-02 -1.67643397e-02 6.63106489e+02] [ 2.75426918e-02 9.99620590e-01 -2.76639468e-04 7.59773362e+00] [ 1.67655987e-02 -1.85239420e-04 9.99859430e-01 4.55757551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1392541539999 meters 0.014545004619420761 Centerline is valid? [True, True] Translation: X:663.14, Y:7.60, Z:4.56 [[ 9.99537970e-01 -2.59415903e-02 -1.58392263e-02 6.63136454e+02] [ 2.59406944e-02 9.99663449e-01 -2.62047936e-04 7.59938914e+00] [ 1.58406935e-02 -1.48953666e-04 9.99874517e-01 4.55804833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1692541539999 meters 0.0143190425207443 Centerline is valid? [True, True] Translation: X:663.17, Y:7.60, Z:4.56 [[ 9.99613005e-01 -2.34656699e-02 -1.49399769e-02 6.63166598e+02] [ 2.34645906e-02 9.99724638e-01 -2.47552166e-04 7.60197183e+00] [ 1.49416719e-02 -1.03104076e-04 9.99888362e-01 4.55874853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.199254154 meters 0.01468840384118652 Centerline is valid? [True, True] Translation: X:663.20, Y:7.60, Z:4.56 [[ 9.99629562e-01 -2.24793425e-02 -1.53433356e-02 6.63195019e+02] [ 2.24780789e-02 9.99747304e-01 -2.54822483e-04 7.60241686e+00] [ 1.53451866e-02 -9.01606223e-05 9.99882252e-01 4.55803015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2292541539999 meters 0.014229117499669215 Centerline is valid? [True, True] Translation: X:663.22, Y:7.60, Z:4.56 [[ 9.99629497e-01 -2.24862644e-02 -1.53374200e-02 6.63224006e+02] [ 2.24849639e-02 9.99747148e-01 -2.57248538e-04 7.60305388e+00] [ 1.53393265e-02 -8.77081097e-05 9.99882342e-01 4.55832717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2592541539999 meters 0.014431512212029025 Centerline is valid? [True, True] Translation: X:663.25, Y:7.60, Z:4.56 [[ 9.99618259e-01 -2.29139523e-02 -1.54365802e-02 6.63252449e+02] [ 2.29126252e-02 9.99737437e-01 -2.62849078e-04 7.60258980e+00] [ 1.54385500e-02 -9.09438369e-05 9.99880814e-01 4.55815113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2892541539999 meters 0.014397305309774967 Centerline is valid? [True, True] Translation: X:663.28, Y:7.60, Z:4.56 [[ 9.99588382e-01 -2.42792846e-02 -1.52834211e-02 6.63281235e+02] [ 2.42780841e-02 9.99705209e-01 -2.64106400e-04 7.60071734e+00] [ 1.52853280e-02 -1.07054493e-04 9.99883167e-01 4.55845863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.319254154 meters 0.015594186509994331 Centerline is valid? [True, True] Translation: X:663.31, Y:7.60, Z:4.56 [[ 9.99527818e-01 -2.66276009e-02 -1.53333349e-02 6.63310704e+02] [ 2.66266371e-02 9.99645413e-01 -2.67041833e-04 7.59742879e+00] [ 1.53350085e-02 -1.41359402e-04 9.99882402e-01 4.55827443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3492541539999 meters 0.015594186509994331 Centerline is valid? [True, True] Translation: X:663.34, Y:7.60, Z:4.56 [[ 9.99526856e-01 -2.66637232e-02 -1.53333252e-02 6.63339856e+02] [ 2.66627551e-02 9.99644450e-01 -2.67595584e-04 7.59796691e+00] [ 1.53350085e-02 -1.41359722e-04 9.99882402e-01 4.55847654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3792541539999 meters 0.015758474827575256 Centerline is valid? [True, True] Translation: X:663.37, Y:7.59, Z:4.56 [[ 9.99426047e-01 -3.01418260e-02 -1.54611418e-02 6.63369455e+02] [ 3.01412515e-02 9.99545613e-01 -2.70231762e-04 7.59352066e+00] [ 1.54622617e-02 -1.95941502e-04 9.99880433e-01 4.55734439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4092541539999 meters 0.015420397042011168 Centerline is valid? [True, True] Translation: X:663.40, Y:7.59, Z:4.56 [[ 9.99355623e-01 -3.22532335e-02 -1.57501498e-02 6.63398865e+02] [ 3.22528950e-02 9.99479702e-01 -2.75566293e-04 7.59126965e+00] [ 1.57508429e-02 -2.32599202e-04 9.99875921e-01 4.55683409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4392541539999 meters 0.01628245554519712 Centerline is valid? [True, True] Translation: X:663.43, Y:7.59, Z:4.56 [[ 9.99212247e-01 -3.61968967e-02 -1.62686946e-02 6.63429272e+02] [ 3.61970559e-02 9.99344631e-01 -2.84765871e-04 7.58669903e+00] [ 1.62683403e-02 -3.04337304e-04 9.99867615e-01 4.55545535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4692541539999 meters 0.016786363789489854 Centerline is valid? [True, True] Translation: X:663.46, Y:7.59, Z:4.56 [[ 9.99145850e-01 -3.79895298e-02 -1.62593379e-02 6.63460216e+02] [ 3.79899262e-02 9.99278082e-01 -2.84602090e-04 7.58523975e+00] [ 1.62584118e-02 -3.33332047e-04 9.99867768e-01 4.55570058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4992541539999 meters 0.01706610017417657 Centerline is valid? [True, True] Translation: X:663.49, Y:7.58, Z:4.56 [[ 9.99036491e-01 -4.07937461e-02 -1.61851527e-02 6.63491943e+02] [ 4.07945120e-02 9.99167517e-01 -2.82968104e-04 7.58293900e+00] [ 1.61832222e-02 -3.77569944e-04 9.99868972e-01 4.55611791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5292541539999 meters 0.01871633165676822 Centerline is valid? [True, True] Translation: X:663.52, Y:7.58, Z:4.56 [[ 9.98977863e-01 -4.21770687e-02 -1.62580274e-02 6.63522093e+02] [ 4.21780368e-02 9.99110070e-01 -2.83489998e-04 7.57912978e+00] [ 1.62555157e-02 -4.02531444e-04 9.99867789e-01 4.55512160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5592541539999 meters 0.0202184530978021 Centerline is valid? [True, True] Translation: X:663.55, Y:7.58, Z:4.56 [[ 9.98826633e-01 -4.59079056e-02 -1.54214350e-02 6.63553348e+02] [ 4.59092307e-02 9.98945579e-01 -2.68259653e-04 7.57551886e+00] [ 1.54174895e-02 -4.40041330e-04 9.99881047e-01 4.55617407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.589254154 meters 0.02058708089850779 Centerline is valid? [True, True] Translation: X:663.58, Y:7.57, Z:4.56 [[ 9.98755965e-01 -4.77623724e-02 -1.43275475e-02 6.63584913e+02] [ 4.77637136e-02 9.98858632e-01 -2.48754919e-04 7.57456535e+00] [ 1.43230756e-02 -4.35891416e-04 9.99897324e-01 4.55718060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6192541539999 meters 0.022512732887638765 Centerline is valid? [True, True] Translation: X:663.62, Y:7.57, Z:4.56 [[ 9.98653039e-01 -5.01127925e-02 -1.34468072e-02 6.63615867e+02] [ 5.01141943e-02 9.98743467e-01 -2.32900906e-04 7.57126216e+00] [ 1.34415822e-02 -4.41288712e-04 9.99909560e-01 4.55780671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6492541539999 meters 0.02364850092862787 Centerline is valid? [True, True] Translation: X:663.65, Y:7.57, Z:4.56 [[ 9.98565955e-01 -5.20024971e-02 -1.27190690e-02 6.63647720e+02] [ 5.20039124e-02 9.98646857e-01 -2.19664083e-04 7.56936906e+00] [ 1.27132814e-02 -4.42092275e-04 9.99919085e-01 4.55834490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6792541539999 meters 0.02596448328613171 Centerline is valid? [True, True] Translation: X:663.68, Y:7.57, Z:4.56 [[ 9.98344606e-01 -5.61309545e-02 -1.25444808e-02 6.63678853e+02] [ 5.61326621e-02 9.98423296e-01 -2.16209570e-04 7.56535641e+00] [ 1.25368379e-02 -4.88303443e-04 9.99921292e-01 4.55831043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.709254154 meters 0.02335106403433333 Centerline is valid? [True, True] Translation: X:663.71, Y:7.57, Z:4.56 [[ 9.98250469e-01 -5.78680265e-02 -1.21363926e-02 6.63710554e+02] [ 5.78697576e-02 9.98324119e-01 -2.08783938e-04 7.56930489e+00] [ 1.21281354e-02 -4.93911434e-04 9.99926329e-01 4.55897902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7392541539999 meters 0.023568731073871176 Centerline is valid? [True, True] Translation: X:663.74, Y:7.57, Z:4.56 [[ 9.98019542e-01 -6.16787887e-02 -1.23580535e-02 6.63741591e+02] [ 6.16808811e-02 9.98095899e-01 -2.12118151e-04 7.56957254e+00] [ 1.23476057e-02 -5.50557570e-04 9.99923614e-01 4.55897910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7692541539999 meters 0.026100374683204332 Centerline is valid? [True, True] Translation: X:663.77, Y:7.57, Z:4.56 [[ 9.97926927e-01 -6.31596945e-02 -1.23572556e-02 6.63772658e+02] [ 6.31619052e-02 9.98003271e-01 -2.11680285e-04 7.56666363e+00] [ 1.23459512e-02 -5.69266349e-04 9.99923624e-01 4.55879416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7992541539999 meters 0.025023547881534342 Centerline is valid? [True, True] Translation: X:663.80, Y:7.57, Z:4.56 [[ 9.97845448e-01 -6.43762301e-02 -1.26555194e-02 6.63804732e+02] [ 6.43786566e-02 9.97925519e-01 -2.15982374e-04 7.56964077e+00] [ 1.26431699e-02 -5.99228309e-04 9.99919892e-01 4.55947709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.829254154 meters 0.02672911124566788 Centerline is valid? [True, True] Translation: X:663.84, Y:7.57, Z:4.56 [[ 9.97729051e-01 -6.59634906e-02 -1.36219888e-02 6.63836056e+02] [ 6.59664619e-02 9.97821814e-01 -2.31566609e-04 7.56901706e+00] [ 1.36075925e-02 -6.67553669e-04 9.99907190e-01 4.55920998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8592541539999 meters 0.031616024113162645 Centerline is valid? [True, True] Translation: X:663.87, Y:7.56, Z:4.56 [[ 9.97639681e-01 -6.72959647e-02 -1.36499124e-02 6.63866844e+02] [ 6.72990811e-02 9.97732820e-01 -2.31421554e-04 7.56252834e+00] [ 1.36345393e-02 -6.87751234e-04 9.99906809e-01 4.55850010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8892541539999 meters 0.026978801205020157 Centerline is valid? [True, True] Translation: X:663.90, Y:7.57, Z:4.56 [[ 9.97605767e-01 -6.78077448e-02 -1.35957451e-02 6.63898817e+02] [ 6.78108938e-02 9.97698166e-01 -2.29773135e-04 7.56988241e+00] [ 1.35800303e-02 -6.92716620e-04 9.99907547e-01 4.55954242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9192541539999 meters 0.02920798331972119 Centerline is valid? [True, True] Translation: X:663.93, Y:7.57, Z:4.56 [[ 9.97656229e-01 -6.70139093e-02 -1.38269510e-02 6.63929957e+02] [ 6.70171024e-02 9.97751800e-01 -2.32799258e-04 7.57035527e+00] [ 1.38114661e-02 -6.94388564e-04 9.99904376e-01 4.55904701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.949254154 meters 0.028649999163798522 Centerline is valid? [True, True] Translation: X:663.96, Y:7.57, Z:4.56 [[ 9.97663352e-01 -6.70581725e-02 -1.30781255e-02 6.63962072e+02] [ 6.70610431e-02 9.97748850e-01 -2.19406808e-04 7.57168689e+00] [ 1.30633977e-02 -6.58138605e-04 9.99914454e-01 4.55990809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9792541539999 meters 0.026526057740654863 Centerline is valid? [True, True] Translation: X:663.99, Y:7.58, Z:4.56 [[ 9.97789732e-01 -6.50547292e-02 -1.35474047e-02 6.63993661e+02] [ 6.50576370e-02 9.97881482e-01 -2.26419815e-04 7.57801465e+00] [ 1.35334340e-02 -6.55442771e-04 9.99908204e-01 4.56016157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0092541539999 meters 0.028713951380063513 Centerline is valid? [True, True] Translation: X:664.02, Y:7.58, Z:4.56 [[ 9.97927189e-01 -6.26704348e-02 -1.46198890e-02 6.64024582e+02] [ 6.26735759e-02 9.98034049e-01 -2.43667398e-04 7.57809120e+00] [ 1.46064177e-02 -6.73118400e-04 9.99893094e-01 4.55854420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0392541539999 meters 0.023366899206938886 Centerline is valid? [True, True] Translation: X:664.06, Y:7.59, Z:4.56 [[ 9.98072855e-01 -6.02340223e-02 -1.49143971e-02 6.64056112e+02] [ 6.02370300e-02 9.98184071e-01 -2.47885161e-04 7.58737509e+00] [ 1.49022447e-02 -6.50991534e-04 9.99888743e-01 4.55940225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.069254154 meters 0.0235828966515113 Centerline is valid? [True, True] Translation: X:664.09, Y:7.59, Z:4.56 [[ 9.98168984e-01 -5.85460930e-02 -1.51998256e-02 6.64087171e+02] [ 5.85490344e-02 9.98284502e-01 -2.51790830e-04 7.58928991e+00] [ 1.51884917e-02 -6.38605312e-04 9.99884444e-01 4.55924255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0992541539999 meters 0.024198795269108783 Centerline is valid? [True, True] Translation: X:664.12, Y:7.59, Z:4.56 [[ 9.98254470e-01 -5.69408414e-02 -1.56765057e-02 6.64118354e+02] [ 5.69437860e-02 9.98377353e-01 -2.58829446e-04 7.59068142e+00] [ 1.56658062e-02 -6.34301932e-04 9.99877083e-01 4.55923421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1292541539999 meters 0.02165006035545918 Centerline is valid? [True, True] Translation: X:664.15, Y:7.60, Z:4.56 [[ 9.98486863e-01 -5.29166900e-02 -1.49602504e-02 6.64149569e+02] [ 5.29189302e-02 9.98598781e-01 -2.46362528e-04 7.59944490e+00] [ 1.49523245e-02 -5.45690698e-04 9.99888059e-01 4.56060508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1592541539999 meters 0.021063382093295342 Centerline is valid? [True, True] Translation: X:664.18, Y:7.60, Z:4.56 [[ 9.98627966e-01 -5.03315862e-02 -1.44539339e-02 6.64179500e+02] [ 5.03334122e-02 9.98732442e-01 -2.37651911e-04 7.60284597e+00] [ 1.44475741e-02 -4.90189966e-04 9.99895508e-01 4.56143263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1892541539999 meters 0.019345654208082805 Centerline is valid? [True, True] Translation: X:664.21, Y:7.61, Z:4.56 [[ 9.98935559e-01 -4.40415676e-02 -1.37145672e-02 6.64209520e+02] [ 4.40426207e-02 9.99029628e-01 -2.25378627e-04 7.61091984e+00] [ 1.37111850e-02 -3.78886755e-04 9.99905925e-01 4.56293007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2192541539999 meters 0.01783937750789075 Centerline is valid? [True, True] Translation: X:664.24, Y:7.62, Z:4.56 [[ 9.99091028e-01 -4.04960730e-02 -1.33111216e-02 6.64241353e+02] [ 4.04967551e-02 9.99179646e-01 -2.18408595e-04 7.61634701e+00] [ 1.33090464e-02 -3.20847162e-04 9.99911379e-01 4.56388072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2492541539999 meters 0.017671210494901536 Centerline is valid? [True, True] Translation: X:664.27, Y:7.62, Z:4.56 [[ 9.99241513e-01 -3.67684807e-02 -1.28249140e-02 6.64271926e+02] [ 3.67688128e-02 9.99323777e-01 -2.09971981e-04 7.61903410e+00] [ 1.28239619e-02 -2.61744144e-04 9.99917735e-01 4.56379969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2792541539999 meters 0.0156926193425092 Centerline is valid? [True, True] Translation: X:664.30, Y:7.63, Z:4.56 [[ 9.99465182e-01 -3.02048248e-02 -1.25307243e-02 6.64303634e+02] [ 3.02046311e-02 9.99543715e-01 -2.04750391e-04 7.62714554e+00] [ 1.25311912e-02 -1.73845020e-04 9.99921466e-01 4.56402695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3092541539999 meters 0.0156926193425092 Centerline is valid? [True, True] Translation: X:664.33, Y:7.63, Z:4.56 [[ 9.99466205e-01 -3.01709477e-02 -1.25307332e-02 6.64334477e+02] [ 3.01707582e-02 9.99544738e-01 -2.04206456e-04 7.62761578e+00] [ 1.25311896e-02 -1.73964270e-04 9.99921466e-01 4.56424061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.339254154 meters 0.015073667174997281 Centerline is valid? [True, True] Translation: X:664.37, Y:7.63, Z:4.56 [[ 9.99541257e-01 -2.76469840e-02 -1.23660590e-02 6.64365498e+02] [ 2.76466115e-02 9.99617739e-01 -2.01103622e-04 7.63163481e+00] [ 1.23668919e-02 -1.40868262e-04 9.99923517e-01 4.56441940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3692541539999 meters 0.015204819987320041 Centerline is valid? [True, True] Translation: X:664.40, Y:7.64, Z:4.56 [[ 9.99600025e-01 -2.47110964e-02 -1.37532736e-02 6.64396696e+02] [ 2.47103648e-02 9.99694627e-01 -2.23152046e-04 7.63721145e+00] [ 1.37545880e-02 -1.16785616e-04 9.99905394e-01 4.56346807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3992541539999 meters 0.014518391776729164 Centerline is valid? [True, True] Translation: X:664.43, Y:7.64, Z:4.56 [[ 9.99579883e-01 -2.49418377e-02 -1.47635225e-02 6.64426796e+02] [ 2.49410259e-02 9.99688896e-01 -2.39136289e-04 7.63829103e+00] [ 1.47648940e-02 -1.29181572e-04 9.99890985e-01 4.56270346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4292541539999 meters 0.015005419866477293 Centerline is valid? [True, True] Translation: X:664.46, Y:7.64, Z:4.56 [[ 9.99483601e-01 -2.72093355e-02 -1.70933579e-02 6.64457579e+02] [ 2.72085812e-02 9.99629740e-01 -2.76731338e-04 7.63854942e+00] [ 1.70945585e-02 -1.88497581e-04 9.99853860e-01 4.56105088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.459254154 meters 0.015516744102763921 Centerline is valid? [True, True] Translation: X:664.49, Y:7.64, Z:4.56 [[ 9.99429846e-01 -2.88937678e-02 -1.74680592e-02 6.64487576e+02] [ 2.88932308e-02 9.99582463e-01 -2.83169611e-04 7.63830506e+00] [ 1.74689475e-02 -2.21700505e-04 9.99847382e-01 4.56130032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4892541539999 meters 0.016384139778132915 Centerline is valid? [True, True] Translation: X:664.52, Y:7.64, Z:4.56 [[ 9.99297864e-01 -3.37038752e-02 -1.63654672e-02 6.64517196e+02] [ 3.37040421e-02 9.99431822e-01 -2.65690195e-04 7.63543427e+00] [ 1.63651235e-02 -2.86078753e-04 9.99866041e-01 4.56188675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5192541539999 meters 0.01695695638018878 Centerline is valid? [True, True] Translation: X:664.55, Y:7.63, Z:4.56 [[ 9.99213602e-01 -3.61837810e-02 -1.62145247e-02 6.64548111e+02] [ 3.61842718e-02 9.99345100e-01 -2.63198427e-04 7.63406319e+00] [ 1.62134293e-02 -3.23719321e-04 9.99868501e-01 4.56242775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5492541539999 meters 0.01759457884206566 Centerline is valid? [True, True] Translation: X:664.58, Y:7.63, Z:4.56 [[ 9.99140590e-01 -3.83420027e-02 -1.57471449e-02 6.64578904e+02] [ 3.83427378e-02 9.99264614e-01 -2.55341251e-04 7.63343483e+00] [ 1.57453549e-02 -3.48666838e-04 9.99875973e-01 4.56297727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.579254154 meters 0.018661588590785066 Centerline is valid? [True, True] Translation: X:664.61, Y:7.63, Z:4.56 [[ 9.99012022e-01 -4.20730709e-02 -1.43120907e-02 6.64609844e+02] [ 4.20740640e-02 9.99114468e-01 -2.31832976e-04 7.63191764e+00] [ 1.43091708e-02 -3.70563891e-04 9.99897550e-01 4.56401718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6092541539999 meters 0.020299754155557237 Centerline is valid? [True, True] Translation: X:664.64, Y:7.63, Z:4.56 [[ 9.98947702e-01 -4.38084972e-02 -1.35758709e-02 6.64641072e+02] [ 4.38095571e-02 9.99039876e-01 -2.19445231e-04 7.62948048e+00] [ 1.35724500e-02 -3.75538584e-04 9.99907820e-01 4.56413234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6392541539999 meters 0.021212755821194168 Centerline is valid? [True, True] Translation: X:664.67, Y:7.63, Z:4.56 [[ 9.98844684e-01 -4.63959881e-02 -1.25183984e-02 6.64673341e+02] [ 4.63971013e-02 9.98923054e-01 -2.01636391e-04 7.62772280e+00] [ 1.25142719e-02 -3.79413961e-04 9.99921621e-01 4.56443031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6692541539999 meters 0.022067515254415266 Centerline is valid? [True, True] Translation: X:664.71, Y:7.63, Z:4.56 [[ 9.98807126e-01 -4.71310921e-02 -1.27665694e-02 6.64705642e+02] [ 4.71323211e-02 9.98888634e-01 -2.04752522e-04 7.62709944e+00] [ 1.27620313e-02 -3.97209772e-04 9.99918483e-01 4.56432115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.699254154 meters 0.022356131986283074 Centerline is valid? [True, True] Translation: X:664.74, Y:7.63, Z:4.56 [[ 9.98736438e-01 -4.86210690e-02 -1.27090024e-02 6.64738045e+02] [ 4.86224185e-02 9.98817210e-01 -2.02964043e-04 7.62615010e+00] [ 1.27038387e-02 -4.15234849e-04 9.99919217e-01 4.56448048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7292541539999 meters 0.023688361342559944 Centerline is valid? [True, True] Translation: X:664.77, Y:7.62, Z:4.56 [[ 9.98640399e-01 -5.04281847e-02 -1.32042118e-02 6.64768999e+02] [ 5.04298138e-02 9.98727585e-01 -2.09764041e-04 7.62416892e+00] [ 1.31979886e-02 -4.56407097e-04 9.99912799e-01 4.56380476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7592541539999 meters 0.024347244807039793 Centerline is valid? [True, True] Translation: X:664.80, Y:7.62, Z:4.56 [[ 9.98596112e-01 -5.12549600e-02 -1.33691246e-02 6.64801000e+02] [ 5.12567191e-02 9.98685488e-01 -2.11261533e-04 7.62359687e+00] [ 1.33623789e-02 -4.74292517e-04 9.99910607e-01 4.56359414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7892541539999 meters 0.02511494826142883 Centerline is valid? [True, True] Translation: X:664.83, Y:7.62, Z:4.56 [[ 9.98569489e-01 -5.17444495e-02 -1.34717215e-02 6.64832423e+02] [ 5.17462908e-02 9.98660241e-01 -2.12087140e-04 7.62233157e+00] [ 1.34646470e-02 -4.85327871e-04 9.99909230e-01 4.56313601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.819254154 meters 0.024832910728256136 Centerline is valid? [True, True] Translation: X:664.86, Y:7.62, Z:4.56 [[ 9.98599034e-01 -5.10921155e-02 -1.37682343e-02 6.64864370e+02] [ 5.10939880e-02 9.98693826e-01 -2.15947004e-04 7.62292234e+00] [ 1.37612838e-02 -4.87829529e-04 9.99905190e-01 4.56293096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8492541539999 meters 0.02257109893284192 Centerline is valid? [True, True] Translation: X:664.90, Y:7.63, Z:4.56 [[ 9.98696925e-01 -4.89067205e-02 -1.45802837e-02 6.64896176e+02] [ 4.89086027e-02 9.98803232e-01 -2.27659956e-04 7.62783978e+00] [ 1.45739686e-02 -4.85738004e-04 9.99893676e-01 4.56313677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8792541539999 meters 0.01996547048279061 Centerline is valid? [True, True] Translation: X:664.93, Y:7.63, Z:4.56 [[ 9.98925525e-01 -4.41901253e-02 -1.39652379e-02 6.64927767e+02] [ 4.41914032e-02 9.99023059e-01 -2.17222668e-04 7.63163516e+00] [ 1.39611938e-02 -4.00154191e-04 9.99902458e-01 4.56354318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9092541539999 meters 0.017491763618754607 Centerline is valid? [True, True] Translation: X:664.96, Y:7.64, Z:4.56 [[ 9.99081786e-01 -4.05143687e-02 -1.39345029e-02 6.64959524e+02] [ 4.05152941e-02 9.99178895e-01 -2.15996686e-04 7.63764233e+00] [ 1.39318122e-02 -3.48762130e-04 9.99902887e-01 4.56474511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9392541539999 meters 0.016118445794617724 Centerline is valid? [True, True] Translation: X:664.99, Y:7.64, Z:4.57 [[ 9.99395068e-01 -3.21587339e-02 -1.32405947e-02 6.64989239e+02] [ 3.21588410e-02 9.99482750e-01 -2.04877758e-04 7.64384812e+00] [ 1.32403346e-02 -2.21048360e-04 9.99912318e-01 4.56517647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9692541539999 meters 0.015743868830206415 Centerline is valid? [True, True] Translation: X:665.02, Y:7.65, Z:4.57 [[ 9.99528183e-01 -2.79209719e-02 -1.27996148e-02 6.65020629e+02] [ 2.79207272e-02 9.99610121e-01 -1.97845113e-04 7.64786009e+00] [ 1.28001485e-02 -1.59622787e-04 9.99918062e-01 4.56552605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9992541539999 meters 0.01447857538900927 Centerline is valid? [True, True] Translation: X:665.05, Y:7.65, Z:4.57 [[ 9.99704615e-01 -2.10895372e-02 -1.20794846e-02 6.65051627e+02] [ 2.10888256e-02 9.99777589e-01 -1.86295527e-04 7.65321025e+00] [ 1.20807269e-02 -6.85016458e-05 9.99927023e-01 4.56585555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0292541539999 meters 0.016030303590293803 Centerline is valid? [True, True] Translation: X:665.08, Y:7.65, Z:4.57 [[ 9.99746575e-01 -1.87532707e-02 -1.24539101e-02 6.65081950e+02] [ 1.87523375e-02 9.99824141e-01 -1.91714116e-04 7.65499821e+00] [ 1.24553153e-02 -4.18743958e-05 9.99922429e-01 4.56535095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0592541539999 meters 0.014687451672900795 Centerline is valid? [True, True] Translation: X:665.11, Y:7.66, Z:4.57 [[ 9.99732225e-01 -1.90390470e-02 -1.31526681e-02 6.65111921e+02] [ 1.90380295e-02 9.99818740e-01 -2.02567802e-04 7.65577673e+00] [ 1.31541407e-02 -4.78873238e-05 9.99913479e-01 4.56557666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.089254154 meters 0.014476214064604717 Centerline is valid? [True, True] Translation: X:665.14, Y:7.65, Z:4.57 [[ 9.99680771e-01 -2.11197338e-02 -1.38676945e-02 6.65141069e+02] [ 2.11187940e-02 9.99776950e-01 -2.14225128e-04 7.65459902e+00] [ 1.38691257e-02 -7.87122424e-05 9.99903816e-01 4.56506370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1192541539999 meters 0.015447652510656669 Centerline is valid? [True, True] Translation: X:665.17, Y:7.65, Z:4.56 [[ 9.99613105e-01 -2.38252597e-02 -1.43525799e-02 6.65171040e+02] [ 2.38245224e-02 9.99716131e-01 -2.22372272e-04 7.65223466e+00] [ 1.43538038e-02 -1.19657125e-04 9.99896972e-01 4.56405876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1492541539999 meters 0.01640315296780155 Centerline is valid? [True, True] Translation: X:665.20, Y:7.64, Z:4.56 [[ 9.99376689e-01 -3.20943672e-02 -1.47032550e-02 6.65200235e+02] [ 3.20944884e-02 9.99484813e-01 -2.27780389e-04 7.64317703e+00] [ 1.47029906e-02 -2.44255036e-04 9.99891875e-01 4.56299705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1792541539999 meters 0.01763121832112032 Centerline is valid? [True, True] Translation: X:665.23, Y:7.64, Z:4.56 [[ 9.99225260e-01 -3.64907447e-02 -1.47412463e-02 6.65231214e+02] [ 3.64913503e-02 9.99333943e-01 -2.27984908e-04 7.63894093e+00] [ 1.47397472e-02 -3.10119705e-04 9.99891316e-01 4.56297606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.209254154 meters 0.0199196959490745 Centerline is valid? [True, True] Translation: X:665.26, Y:7.63, Z:4.56 [[ 9.98896962e-01 -4.45867150e-02 -1.47270133e-02 6.65262527e+02] [ 4.45882022e-02 9.99005426e-01 -2.27510187e-04 7.63179530e+00] [ 1.47225101e-02 -4.29391811e-04 9.99891526e-01 4.56356386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2392541539999 meters 0.020128368966146178 Centerline is valid? [True, True] Translation: X:665.29, Y:7.63, Z:4.56 [[ 9.98742149e-01 -4.80530283e-02 -1.43187524e-02 6.65294627e+02] [ 4.80547992e-02 9.98844676e-01 -2.20553130e-04 7.63024416e+00] [ 1.43128078e-02 -4.67809063e-04 9.99897457e-01 4.56437916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2692541539999 meters 0.02318353336622193 Centerline is valid? [True, True] Translation: X:665.33, Y:7.63, Z:4.56 [[ 9.98517765e-01 -5.25762446e-02 -1.40716459e-02 6.65325681e+02] [ 5.25784121e-02 9.98616775e-01 -2.16126507e-04 7.62640549e+00] [ 1.40635448e-02 -5.24058643e-04 9.99900966e-01 4.56449734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2992541539999 meters 0.022176716432842386 Centerline is valid? [True, True] Translation: X:665.36, Y:7.63, Z:4.57 [[ 9.98405256e-01 -5.49956704e-02 -1.27444328e-02 6.65357786e+02] [ 5.49976519e-02 9.98486465e-01 -1.95204227e-04 7.62503236e+00] [ 1.27358790e-02 -5.06020950e-04 9.99918767e-01 4.56603153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.329254154 meters 0.026261980558237967 Centerline is valid? [True, True] Translation: X:665.39, Y:7.62, Z:4.57 [[ 9.98292542e-01 -5.74335327e-02 -1.06484426e-02 6.65388875e+02] [ 5.74350610e-02 9.98349231e-01 -1.62476578e-04 7.61688436e+00] [ 1.06401960e-02 -4.49394792e-04 9.99943291e-01 4.56681781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3592541539999 meters 0.02675438468230243 Centerline is valid? [True, True] Translation: X:665.42, Y:7.62, Z:4.57 [[ 9.98237383e-01 -5.85693879e-02 -9.57885795e-03 6.65421246e+02] [ 5.85706817e-02 9.98283253e-01 -1.45635766e-04 7.61574613e+00] [ 9.57094327e-03 -4.15661174e-04 9.99954111e-01 4.56756380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3892541539999 meters 0.02897802509176379 Centerline is valid? [True, True] Translation: X:665.45, Y:7.61, Z:4.57 [[ 9.98110756e-01 -6.09140142e-02 -8.02505239e-03 6.65452171e+02] [ 6.09150014e-02 9.98142950e-01 -1.21574937e-04 7.61197655e+00] [ 8.01755508e-03 -3.67500826e-04 9.99967791e-01 4.56854139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4192541539999 meters 0.029611659640614196 Centerline is valid? [True, True] Translation: X:665.48, Y:7.61, Z:4.57 [[ 9.98049350e-01 -6.19686535e-02 -7.57503722e-03 6.65484451e+02] [ 6.19695655e-02 9.98078033e-01 -1.14489381e-04 7.61147321e+00] [ 7.56757301e-03 -3.55155713e-04 9.99971302e-01 4.56888585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.449254154 meters 0.026133780791384096 Centerline is valid? [True, True] Translation: X:665.52, Y:7.62, Z:4.57 [[ 9.97990060e-01 -6.27825375e-02 -8.61357238e-03 6.65516254e+02] [ 6.27837526e-02 9.98027146e-01 -1.29528849e-04 7.61867857e+00] [ 8.60471121e-03 -4.11523893e-04 9.99962894e-01 4.56815120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4792541539999 meters 0.026503349178385045 Centerline is valid? [True, True] Translation: X:665.55, Y:7.62, Z:4.57 [[ 9.97770810e-01 -6.61052075e-02 -9.13854479e-03 6.65547088e+02] [ 6.61067196e-02 9.97812549e-01 -1.36841760e-04 7.61676103e+00] [ 9.12760063e-03 -4.67582504e-04 9.99958233e-01 4.56793170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5092541539999 meters 0.027769883201741813 Centerline is valid? [True, True] Translation: X:665.58, Y:7.62, Z:4.57 [[ 9.97676337e-01 -6.73780345e-02 -1.01057633e-02 6.65578357e+02] [ 6.73799518e-02 9.97727377e-01 -1.51011969e-04 7.61550674e+00] [ 1.00929716e-02 -5.30264776e-04 9.99948924e-01 4.56711118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5392541539999 meters 0.027167981366244234 Centerline is valid? [True, True] Translation: X:665.61, Y:7.62, Z:4.57 [[ 9.97591349e-01 -6.84412845e-02 -1.12823108e-02 6.65610403e+02] [ 6.84437505e-02 9.97654963e-01 -1.67851891e-04 7.61720770e+00] [ 1.12673414e-02 -6.04756073e-04 9.99936339e-01 4.56631897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.569254154 meters 0.028130796649246694 Centerline is valid? [True, True] Translation: X:665.64, Y:7.62, Z:4.57 [[ 9.97619790e-01 -6.79101220e-02 -1.19570044e-02 6.65642557e+02] [ 6.79128646e-02 9.97691241e-01 -1.76984899e-04 7.61771074e+00] [ 1.19414176e-02 -6.35470784e-04 9.99928497e-01 4.56566062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5992541539999 meters 0.025882505426120257 Centerline is valid? [True, True] Translation: X:665.68, Y:7.62, Z:4.57 [[ 9.97731788e-01 -6.62735008e-02 -1.17941331e-02 6.65675102e+02] [ 6.62760662e-02 9.97801309e-01 -1.73626849e-04 7.62295125e+00] [ 1.17797083e-02 -6.08435720e-04 9.99930432e-01 4.56601870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6292541539999 meters 0.02620831293544824 Centerline is valid? [True, True] Translation: X:665.71, Y:7.62, Z:4.57 [[ 9.97859158e-01 -6.41760369e-02 -1.25911356e-02 6.65705799e+02] [ 6.41788055e-02 9.97938398e-01 -1.84467805e-04 7.62403905e+00] [ 1.25770161e-02 -6.24011152e-04 9.99920711e-01 4.56556989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6592541539999 meters 0.02686885443018449 Centerline is valid? [True, True] Translation: X:665.74, Y:7.63, Z:4.56 [[ 9.97982263e-01 -6.20814462e-02 -1.33153050e-02 6.65736262e+02] [ 6.20843615e-02 9.98070886e-01 -1.94693059e-04 7.62527948e+00] [ 1.33017051e-02 -6.32371988e-04 9.99911328e-01 4.56499960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6892541539999 meters 0.023794244164233796 Centerline is valid? [True, True] Translation: X:665.77, Y:7.64, Z:4.56 [[ 9.98354486e-01 -5.55941903e-02 -1.40572302e-02 6.65766932e+02] [ 5.55968001e-02 9.98453281e-01 -2.05367764e-04 7.63510693e+00] [ 1.40469049e-02 -5.76507189e-04 9.99901171e-01 4.56464242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7192541539999 meters 0.022089997050450876 Centerline is valid? [True, True] Translation: X:665.80, Y:7.64, Z:4.57 [[ 9.98531821e-01 -5.23623688e-02 -1.38702587e-02 6.65797908e+02] [ 5.23646023e-02 9.98628013e-01 -2.02345730e-04 7.63950293e+00] [ 1.38618242e-02 -5.24261931e-04 9.99903783e-01 4.56554181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7492541539999 meters 0.01947281002173093 Centerline is valid? [True, True] Translation: X:665.83, Y:7.65, Z:4.57 [[ 9.98907251e-01 -4.46409054e-02 -1.38381000e-02 6.65828196e+02] [ 4.46423924e-02 9.99003011e-01 -2.01573452e-04 7.65024733e+00] [ 1.38333019e-02 -4.16412706e-04 9.99904229e-01 4.56614311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7792541539999 meters 0.02039081282709952 Centerline is valid? [True, True] Translation: X:665.86, Y:7.65, Z:4.57 [[ 9.99069544e-01 -4.09205430e-02 -1.36218992e-02 6.65858439e+02] [ 4.09216407e-02 9.99162339e-01 -1.98248354e-04 7.65237121e+00] [ 1.36186011e-02 -3.59366574e-04 9.99907198e-01 4.56553363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8092541539999 meters 0.017036847804730394 Centerline is valid? [True, True] Translation: X:665.89, Y:7.66, Z:4.57 [[ 9.99177290e-01 -3.82056500e-02 -1.36040682e-02 6.65890023e+02] [ 3.82064984e-02 9.99269846e-01 -1.97620067e-04 7.65792738e+00] [ 1.36016854e-02 -3.22306328e-04 9.99907441e-01 4.56742525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.839254154 meters 0.015779044008990734 Centerline is valid? [True, True] Translation: X:665.92, Y:7.66, Z:4.57 [[ 9.99397163e-01 -3.21701948e-02 -1.30533005e-02 6.65921750e+02] [ 3.21704687e-02 9.99482379e-01 -1.89043441e-04 7.66476619e+00] [ 1.30526254e-02 -2.31001317e-04 9.99914784e-01 4.56830924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8692541539999 meters 0.015295367345393019 Centerline is valid? [True, True] Translation: X:665.95, Y:7.67, Z:4.57 [[ 9.99490066e-01 -2.94036039e-02 -1.24513518e-02 6.65953004e+02] [ 2.94036455e-02 9.99567603e-01 -1.79765426e-04 7.66829138e+00] [ 1.24512536e-02 -1.86441376e-04 9.99922463e-01 4.56907533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8992541539999 meters 0.014698909473052831 Centerline is valid? [True, True] Translation: X:665.98, Y:7.67, Z:4.57 [[ 9.99624855e-01 -2.47422768e-02 -1.17460095e-02 6.65983441e+02] [ 2.47419958e-02 9.99693856e-01 -1.69259520e-04 7.67396970e+00] [ 1.17466014e-02 -1.21423695e-04 9.99930999e-01 4.56950821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9292541539999 meters 0.015005158666534584 Centerline is valid? [True, True] Translation: X:666.01, Y:7.68, Z:4.57 [[ 9.99672780e-01 -2.26600063e-02 -1.18683267e-02 6.66013683e+02] [ 2.26595752e-02 9.99743224e-01 -1.70809313e-04 7.67627943e+00] [ 1.18691498e-02 -9.81778223e-05 9.99929554e-01 4.56940176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.959254154 meters 0.014181341595899205 Centerline is valid? [True, True] Translation: X:666.05, Y:7.68, Z:4.57 [[ 9.99703944e-01 -2.12747653e-02 -1.18071605e-02 6.66045111e+02] [ 2.12742455e-02 9.99773663e-01 -1.69634853e-04 7.67901270e+00] [ 1.18080970e-02 -8.16037990e-05 9.99930279e-01 4.56975969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9892541539999 meters 0.014229022234537416 Centerline is valid? [True, True] Translation: X:666.08, Y:7.68, Z:4.57 [[ 9.99713384e-01 -2.09191247e-02 -1.16421911e-02 6.66075879e+02] [ 2.09185990e-02 9.99781168e-01 -1.66940528e-04 7.67977386e+00] [ 1.16431357e-02 -7.66456467e-05 9.99932213e-01 4.56968488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0192541539999 meters 0.014076356859972517 Centerline is valid? [True, True] Translation: X:666.11, Y:7.68, Z:4.57 [[ 9.99702358e-01 -2.14060082e-02 -1.17037456e-02 6.66105933e+02] [ 2.14055117e-02 9.99770862e-01 -1.67700978e-04 7.68119431e+00] [ 1.17046536e-02 -8.28735999e-05 9.99931495e-01 4.57039916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0492541539999 meters 0.014381987867249058 Centerline is valid? [True, True] Translation: X:666.14, Y:7.68, Z:4.57 [[ 9.99659885e-01 -2.31859943e-02 -1.19383572e-02 6.66136669e+02] [ 2.31856057e-02 9.99731163e-01 -1.70971783e-04 7.68030250e+00] [ 1.19391118e-02 -1.05884409e-04 9.99928721e-01 4.56970921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.079254154 meters 0.014222654810065774 Centerline is valid? [True, True] Translation: X:666.17, Y:7.68, Z:4.57 [[ 9.99623144e-01 -2.46894316e-02 -1.20000970e-02 6.66167831e+02] [ 2.46891510e-02 9.99695162e-01 -1.71547202e-04 7.68010297e+00] [ 1.20006743e-02 -1.24789652e-04 9.99927982e-01 4.57033729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1092541539999 meters 0.014359004380005315 Centerline is valid? [True, True] Translation: X:666.20, Y:7.68, Z:4.57 [[ 9.99581156e-01 -2.63886410e-02 -1.18807240e-02 6.66198952e+02] [ 2.63884910e-02 9.99651749e-01 -1.69412831e-04 7.67950428e+00] [ 1.18810571e-02 -1.44172504e-04 9.99929407e-01 4.57064364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1392541539999 meters 0.014884723429573476 Centerline is valid? [True, True] Translation: X:666.23, Y:7.68, Z:4.57 [[ 9.99475153e-01 -3.01586167e-02 -1.18268995e-02 6.66231295e+02] [ 3.01587392e-02 9.99545108e-01 -1.68030467e-04 7.67753619e+00] [ 1.18265871e-02 -1.88742099e-04 9.99930046e-01 4.57043054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1692541539999 meters 0.017996896952490064 Centerline is valid? [True, True] Translation: X:666.26, Y:7.68, Z:4.57 [[ 9.99436349e-01 -3.13469082e-02 -1.20147943e-02 6.66262166e+02] [ 3.13471301e-02 9.99508544e-01 -1.69898301e-04 7.67532321e+00] [ 1.20142154e-02 -2.06826783e-04 9.99927805e-01 4.56868289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.199254154 meters 0.017996896952490064 Centerline is valid? [True, True] Translation: X:666.29, Y:7.68, Z:4.57 [[ 9.99438609e-01 -3.12747853e-02 -1.20148049e-02 6.66293860e+02] [ 3.12750109e-02 9.99510803e-01 -1.69148904e-04 7.67570987e+00] [ 1.20142174e-02 -2.06709209e-04 9.99927805e-01 4.56890241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2292541539999 meters 0.015774250405074568 Centerline is valid? [True, True] Translation: X:666.33, Y:7.67, Z:4.57 [[ 9.99316840e-01 -3.53603776e-02 -1.07469105e-02 6.66325860e+02] [ 3.53608021e-02 9.99374600e-01 -1.50570085e-04 7.67297352e+00] [ 1.07455136e-02 -2.29552154e-04 9.99942239e-01 4.57099560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2592541539999 meters 0.016233433126129286 Centerline is valid? [True, True] Translation: X:666.36, Y:7.67, Z:4.57 [[ 9.99260981e-01 -3.69467961e-02 -1.06030936e-02 6.66358048e+02] [ 3.69473068e-02 9.99317204e-01 -1.47779618e-04 7.67160074e+00] [ 1.06013139e-02 -2.44085347e-04 9.99943775e-01 4.57112492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2892541539999 meters 0.017932170607107962 Centerline is valid? [True, True] Translation: X:666.39, Y:7.67, Z:4.57 [[ 9.99205545e-01 -3.84541414e-02 -1.04670072e-02 6.66389010e+02] [ 3.84547310e-02 9.99260333e-01 -1.44991873e-04 7.66795469e+00] [ 1.04648406e-02 -2.57629263e-04 9.99945209e-01 4.57114611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.319254154 meters 0.01800986228678829 Centerline is valid? [True, True] Translation: X:666.42, Y:7.67, Z:4.57 [[ 9.99111526e-01 -4.07198559e-02 -1.08652107e-02 6.66421189e+02] [ 4.07206368e-02 9.99170560e-01 -1.49436067e-04 7.66798454e+00] [ 1.08622836e-02 -2.93135000e-04 9.99940961e-01 4.57073755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3492541539999 meters 0.017475669337199698 Centerline is valid? [True, True] Translation: X:666.45, Y:7.67, Z:4.57 [[ 9.99072793e-01 -4.16191770e-02 -1.10181132e-02 6.66452920e+02] [ 4.16200428e-02 9.99133499e-01 -1.50801364e-04 7.66772225e+00] [ 1.10148422e-02 -3.07912802e-04 9.99939287e-01 4.57151934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3792541539999 meters 0.01846475550315458 Centerline is valid? [True, True] Translation: X:666.48, Y:7.67, Z:4.57 [[ 9.99031696e-01 -4.26574077e-02 -1.07711120e-02 6.66483849e+02] [ 4.26583017e-02 9.99089710e-01 -1.46837832e-04 7.66549803e+00] [ 1.07675709e-02 -3.12781699e-04 9.99941979e-01 4.57121359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4092541539999 meters 0.018875261824911574 Centerline is valid? [True, True] Translation: X:666.52, Y:7.66, Z:4.57 [[ 9.99022818e-01 -4.28079515e-02 -1.09949324e-02 6.66515457e+02] [ 4.28088988e-02 9.99083268e-01 -1.49284788e-04 7.66456008e+00] [ 1.09912436e-02 -3.21542039e-04 9.99939543e-01 4.57141180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4392541539999 meters 0.017842185530826313 Centerline is valid? [True, True] Translation: X:666.55, Y:7.67, Z:4.57 [[ 9.99006631e-01 -4.30638494e-02 -1.14566695e-02 6.66547867e+02] [ 4.30649030e-02 9.99072265e-01 -1.54834603e-04 7.66663656e+00] [ 1.14527085e-02 -3.38699563e-04 9.99934358e-01 4.57174123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4692541539999 meters 0.01911141794673699 Centerline is valid? [True, True] Translation: X:666.58, Y:7.67, Z:4.57 [[ 9.99029619e-01 -4.24594074e-02 -1.17055326e-02 6.66580268e+02] [ 4.24604760e-02 9.99098135e-01 -1.57324260e-04 7.66742966e+00] [ 1.17016557e-02 -3.39850890e-04 9.99931476e-01 4.57000851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4992541539999 meters 0.02001869380118504 Centerline is valid? [True, True] Translation: X:666.61, Y:7.67, Z:4.57 [[ 9.99056487e-01 -4.19590266e-02 -1.12060781e-02 6.66611085e+02] [ 4.19599827e-02 9.99119281e-01 -1.49884373e-04 7.66535421e+00] [ 1.12024977e-02 -3.20463888e-04 9.99937199e-01 4.57007293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5292541539999 meters 0.018833726784668443 Centerline is valid? [True, True] Translation: X:666.64, Y:7.67, Z:4.57 [[ 9.99070442e-01 -4.13605973e-02 -1.21471707e-02 6.66642063e+02] [ 4.13616849e-02 9.99144226e-01 -1.61782857e-04 7.66613551e+00] [ 1.21434669e-02 -3.40794977e-04 9.99926207e-01 4.57119361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5592541539999 meters 0.018643963030001987 Centerline is valid? [True, True] Translation: X:666.67, Y:7.67, Z:4.57 [[ 9.99090568e-01 -4.07186926e-02 -1.26500614e-02 6.66674232e+02] [ 4.07198307e-02 9.99170590e-01 -1.67689801e-04 7.66868018e+00] [ 1.26463974e-02 -3.47571060e-04 9.99919971e-01 4.57041043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.589254154 meters 0.018393172017112873 Centerline is valid? [True, True] Translation: X:666.71, Y:7.67, Z:4.57 [[ 9.99127595e-01 -3.95658492e-02 -1.33638575e-02 6.66706909e+02] [ 3.95670312e-02 9.99216903e-01 -1.76040754e-04 7.67045050e+00] [ 1.33603575e-02 -3.52880992e-04 9.99910684e-01 4.56992785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6192541539999 meters 0.016984245482479978 Centerline is valid? [True, True] Translation: X:666.74, Y:7.67, Z:4.57 [[ 9.99210841e-01 -3.72143045e-02 -1.38849186e-02 6.66739322e+02] [ 3.72153697e-02 9.99307252e-01 -1.81742300e-04 7.67303193e+00] [ 1.38820633e-02 -3.35133504e-04 9.99903583e-01 4.57068375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6492541539999 meters 0.016307412341182888 Centerline is valid? [True, True] Translation: X:666.77, Y:7.68, Z:4.57 [[ 9.99282197e-01 -3.51995849e-02 -1.40028873e-02 6.66771272e+02] [ 3.52004850e-02 9.99380254e-01 -1.82255447e-04 7.67552009e+00] [ 1.40006244e-02 -3.10783801e-04 9.99901938e-01 4.57132215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6792541539999 meters 0.015941114492538645 Centerline is valid? [True, True] Translation: X:666.80, Y:7.68, Z:4.57 [[ 9.99356829e-01 -3.30573012e-02 -1.38975612e-02 6.66802630e+02] [ 3.30579914e-02 9.99453419e-01 -1.80123942e-04 7.67758923e+00] [ 1.38959195e-02 -2.79417366e-04 9.99903408e-01 4.57179476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.709254154 meters 0.01513029043471968 Centerline is valid? [True, True] Translation: X:666.83, Y:7.68, Z:4.57 [[ 9.99505545e-01 -2.82624309e-02 -1.37804105e-02 6.66834450e+02] [ 2.82626624e-02 9.99600515e-01 -1.77979742e-04 7.68206035e+00] [ 1.37799355e-02 -2.11579350e-04 9.99905030e-01 4.57298884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7392541539999 meters 0.014823468517564128 Centerline is valid? [True, True] Translation: X:666.87, Y:7.68, Z:4.57 [[ 9.99573509e-01 -2.58161068e-02 -1.36502145e-02 6.66866315e+02] [ 2.58161149e-02 9.99666693e-01 -1.75640300e-04 7.68462403e+00] [ 1.36501992e-02 -1.76830116e-04 9.99906816e-01 4.57368721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7692541539999 meters 0.01446470583420777 Centerline is valid? [True, True] Translation: X:666.90, Y:7.69, Z:4.57 [[ 9.99684000e-01 -2.12716693e-02 -1.33946578e-02 6.66897265e+02] [ 2.12712746e-02 9.99773726e-01 -1.71949997e-04 7.68825565e+00] [ 1.33952846e-02 -1.13025784e-04 9.99910273e-01 4.57420994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7992541539999 meters 0.014082723376153277 Centerline is valid? [True, True] Translation: X:666.93, Y:7.69, Z:4.57 [[ 9.99730906e-01 -1.91645154e-02 -1.30704299e-02 6.66927461e+02] [ 1.91639611e-02 9.99816340e-01 -1.67665973e-04 7.68968754e+00] [ 1.30712426e-02 -8.28603540e-05 9.99914564e-01 4.57476226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.829254154 meters 0.01414305754608907 Centerline is valid? [True, True] Translation: X:666.96, Y:7.69, Z:4.58 [[ 9.99760428e-01 -1.76393939e-02 -1.29590802e-02 6.66956701e+02] [ 1.76387181e-02 9.99844412e-01 -1.66455151e-04 7.69067515e+00] [ 1.29600001e-02 -6.21662886e-05 9.99916014e-01 4.57511504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8592541539999 meters 0.01393221553157343 Centerline is valid? [True, True] Translation: X:666.99, Y:7.69, Z:4.58 [[ 9.99774676e-01 -1.66172528e-02 -1.32084661e-02 6.66985030e+02] [ 1.66164536e-02 9.99861923e-01 -1.70250128e-04 7.69142850e+00] [ 1.32094714e-02 -4.92660981e-05 9.99912750e-01 4.57558440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8892541539999 meters 0.013970569644003115 Centerline is valid? [True, True] Translation: X:667.01, Y:7.69, Z:4.58 [[ 9.99780491e-01 -1.55016245e-02 -1.40950282e-02 6.67013456e+02] [ 1.55005927e-02 9.99879842e-01 -1.82453917e-04 7.69195441e+00] [ 1.40961629e-02 -3.60674238e-05 9.99900644e-01 4.57598404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9192541539999 meters 0.014091310064323929 Centerline is valid? [True, True] Translation: X:667.04, Y:7.69, Z:4.58 [[ 9.99772777e-01 -1.56758872e-02 -1.44450876e-02 6.67041612e+02] [ 1.56748087e-02 9.99877125e-01 -1.87886355e-04 7.69146628e+00] [ 1.44462580e-02 -3.85803214e-05 9.99895647e-01 4.57618356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.949254154 meters 0.014195587780979917 Centerline is valid? [True, True] Translation: X:667.07, Y:7.69, Z:4.58 [[ 9.99728025e-01 -1.77046275e-02 -1.51796472e-02 6.67070681e+02] [ 1.77036309e-02 9.99843258e-01 -2.00038725e-04 7.68876118e+00] [ 1.51808095e-02 -6.87505506e-05 9.99884763e-01 4.57704455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9792541539999 meters 0.014274352755112093 Centerline is valid? [True, True] Translation: X:667.10, Y:7.69, Z:4.58 [[ 9.99692856e-01 -1.92229876e-02 -1.56419339e-02 6.67098781e+02] [ 1.92220747e-02 9.99815217e-01 -2.08719800e-04 7.68671916e+00] [ 1.56430557e-02 -9.20147272e-05 9.99877636e-01 4.57708744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0092541539999 meters 0.014368434483004993 Centerline is valid? [True, True] Translation: X:667.13, Y:7.68, Z:4.58 [[ 9.99631979e-01 -2.17159035e-02 -1.62581039e-02 6.67127305e+02] [ 2.17151984e-02 9.99764173e-01 -2.19925210e-04 7.68434387e+00] [ 1.62590457e-02 -1.33203679e-04 9.99867804e-01 4.57791480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0392541539999 meters 0.01523845993547907 Centerline is valid? [True, True] Translation: X:667.16, Y:7.68, Z:4.58 [[ 9.99479747e-01 -2.75663917e-02 -1.67430316e-02 6.67156529e+02] [ 2.75664226e-02 9.99619948e-01 -2.28991007e-04 7.67892614e+00] [ 1.67429808e-02 -2.32673610e-04 9.99859799e-01 4.57904604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.069254154 meters 0.016169541323738903 Centerline is valid? [True, True] Translation: X:667.19, Y:7.68, Z:4.58 [[ 9.99374098e-01 -3.09578043e-02 -1.71180404e-02 6.67186271e+02] [ 3.09583186e-02 9.99520649e-01 -2.35010410e-04 7.67585590e+00] [ 1.71171102e-02 -2.95082430e-04 9.99853448e-01 4.57932334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0992541539999 meters 0.01742740101377158 Centerline is valid? [True, True] Translation: X:667.22, Y:7.67, Z:4.58 [[ 9.99251064e-01 -3.44800903e-02 -1.75622936e-02 6.67215558e+02] [ 3.44811675e-02 9.99405319e-01 -2.41561769e-04 7.67098347e+00] [ 1.75601787e-02 -3.64187532e-04 9.99845742e-01 4.57901780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1292541539999 meters 0.019584822636875502 Centerline is valid? [True, True] Translation: X:667.25, Y:7.66, Z:4.58 [[ 9.98983725e-01 -4.13578537e-02 -1.79177555e-02 6.67246047e+02] [ 4.13600779e-02 9.99144275e-01 -2.46579035e-04 7.66466900e+00] [ 1.79126208e-02 -4.94751319e-04 9.99839434e-01 4.57979803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1592541539999 meters 0.020874370815414014 Centerline is valid? [True, True] Translation: X:667.28, Y:7.66, Z:4.58 [[ 9.98848278e-01 -4.46858230e-02 -1.74726758e-02 6.67275847e+02] [ 4.46884466e-02 9.99000943e-01 -2.40453976e-04 7.66055061e+00] [ 1.74659645e-02 -5.40649700e-04 9.99847312e-01 4.58105917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1892541539999 meters 0.02124210692269698 Centerline is valid? [True, True] Translation: X:667.31, Y:7.66, Z:4.58 [[ 9.98535036e-01 -5.14571390e-02 -1.67315690e-02 6.67306921e+02] [ 5.14604991e-02 9.98675004e-01 -2.29941215e-04 7.65699126e+00] [ 1.67212319e-02 -6.31410534e-04 9.99859991e-01 4.58341027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2192541539999 meters 0.022452713917801095 Centerline is valid? [True, True] Translation: X:667.34, Y:7.65, Z:4.58 [[ 9.98358871e-01 -5.48624606e-02 -1.64217700e-02 6.67338304e+02] [ 5.48661665e-02 9.98493692e-01 -2.25119137e-04 7.65363093e+00] [ 1.64093843e-02 -6.76249877e-04 9.99865128e-01 4.58396773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2492541539999 meters 0.028919269732451097 Centerline is valid? [True, True] Translation: X:667.37, Y:7.64, Z:4.58 [[ 9.98172237e-01 -5.78692010e-02 -1.74167081e-02 6.67368142e+02] [ 5.78738473e-02 9.98323876e-01 -2.37559179e-04 7.64387533e+00] [ 1.74012629e-02 -7.70846929e-04 9.99848289e-01 4.58144765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2792541539999 meters 0.028571665377122493 Centerline is valid? [True, True] Translation: X:667.40, Y:7.64, Z:4.58 [[ 9.97784269e-01 -6.36502595e-02 -1.93700220e-02 6.67398683e+02] [ 6.36571072e-02 9.97971795e-01 -2.63480946e-04 7.64414486e+00] [ 1.93475062e-02 -9.70142424e-04 9.99812349e-01 4.58160081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3092541539999 meters 0.028479388800628593 Centerline is valid? [True, True] Translation: X:667.43, Y:7.64, Z:4.58 [[ 9.97597709e-01 -6.65225894e-02 -1.93275973e-02 6.67430115e+02] [ 6.65299536e-02 9.97784394e-01 -2.62435650e-04 7.64251606e+00] [ 1.93022329e-02 -1.02405895e-03 9.99813170e-01 4.58281698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.339254154 meters 0.030805408778114208 Centerline is valid? [True, True] Translation: X:667.46, Y:7.64, Z:4.58 [[ 9.97305282e-01 -7.04412745e-02 -2.04988358e-02 6.67460055e+02] [ 7.04504018e-02 9.97515245e-01 -2.77451678e-04 7.63819674e+00] [ 2.04674452e-02 -1.16744719e-03 9.99789838e-01 4.58238507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3692541539999 meters 0.03231645365391705 Centerline is valid? [True, True] Translation: X:667.49, Y:7.64, Z:4.58 [[ 9.97212039e-01 -7.15671727e-02 -2.11255512e-02 6.67492295e+02] [ 7.15771468e-02 9.97435026e-01 -2.84594287e-04 7.63663753e+00] [ 2.10917323e-02 -1.22830583e-03 9.99776790e-01 4.58190762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3992541539999 meters 0.03138091220687549 Centerline is valid? [True, True] Translation: X:667.52, Y:7.64, Z:4.58 [[ 9.97141402e-01 -7.27253462e-02 -2.04951045e-02 6.67523938e+02] [ 7.27350142e-02 9.97351263e-01 -2.74304997e-04 7.63658799e+00] [ 2.04607673e-02 -1.21719085e-03 9.99789916e-01 4.58373484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4292541539999 meters 0.0314159472814847 Centerline is valid? [True, True] Translation: X:667.56, Y:7.64, Z:4.58 [[ 9.97053285e-01 -7.30923073e-02 -2.32864996e-02 6.67555906e+02] [ 7.31049351e-02 9.97324206e-01 -3.09695922e-04 7.64007370e+00] [ 2.32468261e-02 -1.39357470e-03 9.99728785e-01 4.58282535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.459254154 meters 0.02927786108618932 Centerline is valid? [True, True] Translation: X:667.59, Y:7.64, Z:4.58 [[ 9.97071712e-01 -7.29046126e-02 -2.30850165e-02 6.67588518e+02] [ 7.29170118e-02 9.97337965e-01 -3.05315230e-04 7.64294650e+00] [ 2.30458223e-02 -1.37886924e-03 9.99733459e-01 4.58350263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4892541539999 meters 0.02927786108618932 Centerline is valid? [True, True] Translation: X:667.62, Y:7.64, Z:4.58 [[ 9.97077110e-01 -7.28307506e-02 -2.30850390e-02 6.67620265e+02] [ 7.28431694e-02 9.97343361e-01 -3.03606243e-04 7.64330470e+00] [ 2.30458223e-02 -1.37886858e-03 9.99733459e-01 4.58372250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5192541539999 meters 0.029303788264151996 Centerline is valid? [True, True] Translation: X:667.65, Y:7.65, Z:4.58 [[ 9.97192754e-01 -7.10110452e-02 -2.37495987e-02 6.67650614e+02] [ 7.10237230e-02 9.97474578e-01 -3.10341360e-04 7.64566436e+00] [ 2.37116586e-02 -1.37731476e-03 9.99717890e-01 4.58336345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5492541539999 meters 0.029581424304043074 Centerline is valid? [True, True] Translation: X:667.68, Y:7.65, Z:4.58 [[ 9.97265490e-01 -6.99872747e-02 -2.37344464e-02 6.67681759e+02] [ 6.99996834e-02 9.97546966e-01 -3.08619768e-04 7.64718012e+00] [ 2.36978244e-02 -1.35362789e-03 9.99718251e-01 4.58329900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.579254154 meters 0.0282696158205037 Centerline is valid? [True, True] Translation: X:667.71, Y:7.65, Z:4.58 [[ 9.97475103e-01 -6.68610445e-02 -2.39378246e-02 6.67712371e+02] [ 6.68727866e-02 9.97761461e-01 -3.10543928e-04 7.65245068e+00] [ 2.39050022e-02 -1.29102920e-03 9.99713401e-01 4.58355142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6092541539999 meters 0.028301422838184515 Centerline is valid? [True, True] Translation: X:667.74, Y:7.65, Z:4.58 [[ 9.97608635e-01 -6.47486366e-02 -2.41790216e-02 6.67742522e+02] [ 6.47600089e-02 9.97900818e-01 -3.13219377e-04 7.65466638e+00] [ 2.41485460e-02 -1.25336330e-03 9.99707596e-01 4.58357731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6392541539999 meters 0.027950818031714328 Centerline is valid? [True, True] Translation: X:667.77, Y:7.66, Z:4.58 [[ 9.97753666e-01 -6.22424794e-02 -2.47688446e-02 6.67773839e+02] [ 6.22536623e-02 9.98060308e-01 -3.20094673e-04 7.65844620e+00] [ 2.47407242e-02 -1.22257566e-03 9.99693154e-01 4.58365142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6692541539999 meters 0.02400906090722641 Centerline is valid? [True, True] Translation: X:667.80, Y:7.67, Z:4.59 [[ 9.98009629e-01 -5.83153355e-02 -2.40021116e-02 6.67804036e+02] [ 5.83247089e-02 9.98297617e-01 -3.09946563e-04 7.66962556e+00] [ 2.39793254e-02 -1.09058652e-03 9.99711860e-01 4.58612669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.699254154 meters 0.025127988814280928 Centerline is valid? [True, True] Translation: X:667.84, Y:7.67, Z:4.58 [[ 9.98132555e-01 -5.55250673e-02 -2.54631063e-02 6.67835245e+02] [ 5.55347285e-02 9.98456702e-01 -3.28127828e-04 7.67345053e+00] [ 2.54420285e-02 -1.08657163e-03 9.99675709e-01 4.58476065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7292541539999 meters 0.023101962054621315 Centerline is valid? [True, True] Translation: X:667.86, Y:7.68, Z:4.59 [[ 9.98364616e-01 -5.22765099e-02 -2.31356995e-02 6.67864935e+02] [ 5.22836194e-02 9.98632232e-01 -2.97903318e-04 7.67870262e+00] [ 2.31196285e-02 -9.12201973e-04 9.99732289e-01 4.58622476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7592541539999 meters 0.02348291368148089 Centerline is valid? [True, True] Translation: X:667.90, Y:7.68, Z:4.59 [[ 9.98450578e-01 -5.07149675e-02 -2.29005557e-02 6.67896294e+02] [ 5.07215362e-02 9.98712791e-01 -2.94298704e-04 7.68182095e+00] [ 2.28860032e-02 -8.67708652e-04 9.99737705e-01 4.58613581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7892541539999 meters 0.022246792842070384 Centerline is valid? [True, True] Translation: X:667.93, Y:7.68, Z:4.59 [[ 9.98518451e-01 -4.99965305e-02 -2.14767164e-02 6.67926367e+02] [ 5.00021521e-02 9.98749072e-01 -2.75505483e-04 7.68393411e+00] [ 2.14636249e-02 -7.98784732e-04 9.99769311e-01 4.58774370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.819254154 meters 0.02233761105570779 Centerline is valid? [True, True] Translation: X:667.96, Y:7.69, Z:4.59 [[ 9.98595049e-01 -4.89327821e-02 -2.03349794e-02 6.67956326e+02] [ 4.89376086e-02 9.98801803e-01 -2.60503138e-04 7.68820187e+00] [ 2.03233612e-02 -7.35008118e-04 9.99793189e-01 4.58843865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8492541539999 meters 0.023329549849533518 Centerline is valid? [True, True] Translation: X:667.99, Y:7.69, Z:4.59 [[ 9.98582345e-01 -4.88517207e-02 -2.11378784e-02 6.67988690e+02] [ 4.88569418e-02 9.98805750e-01 -2.69659906e-04 7.69014812e+00] [ 2.11258079e-02 -7.63454476e-04 9.99776534e-01 4.58801447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8792541539999 meters 0.023018416143139472 Centerline is valid? [True, True] Translation: X:668.02, Y:7.69, Z:4.59 [[ 9.98550043e-01 -4.96212695e-02 -2.08696128e-02 6.68020364e+02] [ 4.96265469e-02 9.98767809e-01 -2.65268957e-04 7.69138404e+00] [ 2.08570605e-02 -7.70802491e-04 9.99782171e-01 4.58860477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9092541539999 meters 0.023611928983254673 Centerline is valid? [True, True] Translation: X:668.05, Y:7.69, Z:4.59 [[ 9.98403037e-01 -5.21096208e-02 -2.18165890e-02 6.68051194e+02] [ 5.21159925e-02 9.98641000e-01 -2.76790527e-04 7.69371913e+00] [ 2.18013637e-02 -8.60644684e-04 9.99761952e-01 4.58792078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9392541539999 meters 0.02556211771244687 Centerline is valid? [True, True] Translation: X:668.08, Y:7.69, Z:4.59 [[ 9.98310075e-01 -5.37196069e-02 -2.21629928e-02 6.68082694e+02] [ 5.37265992e-02 9.98555644e-01 -2.80259171e-04 7.69264558e+00] [ 2.21460370e-02 -9.10956678e-04 9.99754331e-01 4.58709057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9692541539999 meters 0.02734635223659951 Centerline is valid? [True, True] Translation: X:668.11, Y:7.69, Z:4.59 [[ 9.98111594e-01 -5.72420097e-02 -2.22844707e-02 6.68113763e+02] [ 5.72499690e-02 9.98359836e-01 -2.81164849e-04 7.69328941e+00] [ 2.22640149e-02 -9.95151359e-04 9.99751631e-01 4.58694068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9992541539999 meters 0.023936021658235825 Centerline is valid? [True, True] Translation: X:668.15, Y:7.70, Z:4.59 [[ 9.98001696e-01 -5.92069234e-02 -2.20715884e-02 6.68145969e+02] [ 5.92152380e-02 9.98245200e-01 -2.77236567e-04 7.70004410e+00] [ 2.20492715e-02 -1.03029180e-03 9.99756354e-01 4.58933496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0292541539999 meters 0.026110422656358 Centerline is valid? [True, True] Translation: X:668.18, Y:7.70, Z:4.59 [[ 9.97884373e-01 -6.11064691e-02 -2.21985890e-02 6.68176788e+02] [ 6.11153726e-02 9.98130670e-01 -2.77749120e-04 7.69838132e+00] [ 2.21740647e-02 -1.07951353e-03 9.99753542e-01 4.58930377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0592541539999 meters 0.03449013683183718 Centerline is valid? [True, True] Translation: X:668.21, Y:7.69, Z:4.59 [[ 9.97679470e-01 -6.42467495e-02 -2.25395095e-02 6.68206984e+02] [ 6.42567614e-02 9.97933359e-01 -2.80520513e-04 7.69105542e+00] [ 2.25109510e-02 -1.16844633e-03 9.99745914e-01 4.58653380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.089254154 meters 0.027267944172841518 Centerline is valid? [True, True] Translation: X:668.24, Y:7.70, Z:4.59 [[ 9.97581051e-01 -6.63156657e-02 -2.08393654e-02 6.68238744e+02] [ 6.63247055e-02 9.97798059e-01 -2.57833898e-04 7.69972327e+00] [ 2.08105767e-02 -1.12495456e-03 9.99782804e-01 4.59101143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1192541539999 meters 0.027267944172841518 Centerline is valid? [True, True] Translation: X:668.27, Y:7.70, Z:4.59 [[ 9.97585906e-01 -6.62425883e-02 -2.08393842e-02 6.68270483e+02] [ 6.62516440e-02 9.97802913e-01 -2.56306724e-04 7.70005402e+00] [ 2.08105767e-02 -1.12495549e-03 9.99782804e-01 4.59123122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1492541539999 meters 0.028993149361331967 Centerline is valid? [True, True] Translation: X:668.30, Y:7.70, Z:4.59 [[ 9.97486619e-01 -6.79290457e-02 -2.01516592e-02 6.68302014e+02] [ 6.79378808e-02 9.97689523e-01 -2.46635786e-04 7.69878594e+00] [ 2.01218530e-02 -1.12304513e-03 9.99796904e-01 4.59164597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1792541539999 meters 0.029911258227348643 Centerline is valid? [True, True] Translation: X:668.33, Y:7.70, Z:4.59 [[ 9.97324630e-01 -7.06152373e-02 -1.88962928e-02 6.68333238e+02] [ 7.06235009e-02 9.97503017e-01 -2.30483995e-04 7.69935340e+00] [ 1.88653848e-02 -1.10465499e-03 9.99821423e-01 4.59329863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.209254154 meters 0.030797955275409676 Centerline is valid? [True, True] Translation: X:668.37, Y:7.70, Z:4.59 [[ 9.97282217e-01 -7.14290520e-02 -1.80573973e-02 6.68365436e+02] [ 7.14367497e-02 9.97445108e-01 -2.19210652e-04 7.69900782e+00] [ 1.80269206e-02 -1.07134688e-03 9.99836928e-01 4.59407208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2392541539999 meters 0.031212202519468366 Centerline is valid? [True, True] Translation: X:668.40, Y:7.70, Z:4.59 [[ 9.97263513e-01 -7.18635443e-02 -1.73527289e-02 6.68397342e+02] [ 7.18707395e-02 9.97413933e-01 -2.09427723e-04 7.69932672e+00] [ 1.73229038e-02 -1.03829883e-03 9.99849408e-01 4.59417984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2692541539999 meters 0.030718002292402655 Centerline is valid? [True, True] Translation: X:668.43, Y:7.70, Z:4.59 [[ 9.97238630e-01 -7.22005936e-02 -1.73835905e-02 6.68429556e+02] [ 7.22078873e-02 9.97389582e-01 -2.08543227e-04 7.70167541e+00] [ 1.73532690e-02 -1.04726498e-03 9.99848872e-01 4.59435276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2992541539999 meters 0.030913135547821984 Centerline is valid? [True, True] Translation: X:668.46, Y:7.70, Z:4.59 [[ 9.97260235e-01 -7.19005221e-02 -1.73878865e-02 6.68462076e+02] [ 7.19077959e-02 9.97411262e-01 -2.07336222e-04 7.70232711e+00] [ 1.73577814e-02 -1.04355643e-03 9.99848798e-01 4.59396428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.329254154 meters 0.030305933775355138 Centerline is valid? [True, True] Translation: X:668.49, Y:7.70, Z:4.59 [[ 9.97307537e-01 -7.11745674e-02 -1.76594957e-02 6.68494223e+02] [ 7.11819794e-02 9.97463324e-01 -2.09289810e-04 7.70466621e+00] [ 1.76295954e-02 -1.04831155e-03 9.99844037e-01 4.59359814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3592541539999 meters 0.029883185187243855 Centerline is valid? [True, True] Translation: X:668.53, Y:7.71, Z:4.59 [[ 9.97370729e-01 -7.02902067e-02 -1.76328100e-02 6.68526796e+02] [ 7.02974811e-02 9.97526050e-01 -2.07697170e-04 7.70638328e+00] [ 1.76037864e-02 -1.03239105e-03 9.99844508e-01 4.59369756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3892541539999 meters 0.030117635361158288 Centerline is valid? [True, True] Translation: X:668.56, Y:7.71, Z:4.59 [[ 9.97404729e-01 -6.97355661e-02 -1.79097252e-02 6.68558711e+02] [ 6.97430050e-02 9.97564970e-01 -2.09655374e-04 7.70749901e+00] [ 1.78807349e-02 -1.03996679e-03 9.99839586e-01 4.59404517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4192541539999 meters 0.028058010166245526 Centerline is valid? [True, True] Translation: X:668.59, Y:7.71, Z:4.59 [[ 9.97468162e-01 -6.87288000e-02 -1.82652334e-02 6.68590434e+02] [ 6.87363937e-02 9.97634835e-01 -2.12468593e-04 7.71174013e+00] [ 1.82366358e-02 -1.04355562e-03 9.99833154e-01 4.59458155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.449254154 meters 0.028141357332819316 Centerline is valid? [True, True] Translation: X:668.62, Y:7.71, Z:4.59 [[ 9.97599995e-01 -6.66000326e-02 -1.89390220e-02 6.68621190e+02] [ 6.66078330e-02 9.97779208e-01 -2.19334122e-04 7.71392746e+00] [ 1.89115700e-02 -1.04267950e-03 9.99820617e-01 4.59371537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4792541539999 meters 0.02741372181259305 Centerline is valid? [True, True] Translation: X:668.65, Y:7.72, Z:4.59 [[ 9.97656095e-01 -6.56001749e-02 -1.94662090e-02 6.68653045e+02] [ 6.56082489e-02 9.97845433e-01 -2.24258156e-04 7.71634796e+00] [ 1.94389791e-02 -1.05341137e-03 9.99810490e-01 4.59383895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5092541539999 meters 0.02655406054926867 Centerline is valid? [True, True] Translation: X:668.69, Y:7.72, Z:4.59 [[ 9.97744559e-01 -6.42321520e-02 -1.94942311e-02 6.68685654e+02] [ 6.42400213e-02 9.97934452e-01 -2.22919435e-04 7.71865719e+00] [ 1.94682834e-02 -1.02989317e-03 9.99809945e-01 4.59391289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5392541539999 meters 0.026505165440795175 Centerline is valid? [True, True] Translation: X:668.72, Y:7.72, Z:4.59 [[ 9.97952364e-01 -6.07086665e-02 -2.01379557e-02 6.68716612e+02] [ 6.07163667e-02 9.98155033e-01 -2.29382792e-04 7.72278733e+00] [ 2.01147274e-02 -9.93790404e-04 9.99797184e-01 4.59323173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.569254154 meters 0.02538319073498545 Centerline is valid? [True, True] Translation: X:668.75, Y:7.72, Z:4.59 [[ 9.98049375e-01 -5.90803103e-02 -2.01732814e-02 6.68748034e+02] [ 5.90877471e-02 9.98252767e-01 -2.27731362e-04 7.72451903e+00] [ 2.01514884e-02 -9.64706607e-04 9.99796473e-01 4.59410245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5992541539999 meters 0.023668273233148105 Centerline is valid? [True, True] Translation: X:668.78, Y:7.73, Z:4.60 [[ 9.98186628e-01 -5.68834325e-02 -1.96908772e-02 6.68779212e+02] [ 5.68901199e-02 9.98380421e-01 -2.20831023e-04 7.72850845e+00] [ 1.96715479e-02 -8.99785793e-04 9.99806091e-01 4.59515356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6292541539999 meters 0.02327659010654477 Centerline is valid? [True, True] Translation: X:668.81, Y:7.73, Z:4.60 [[ 9.98406568e-01 -5.31669331e-02 -1.89103923e-02 6.68810130e+02] [ 5.31724440e-02 9.98585323e-01 -2.11612703e-04 7.73351601e+00] [ 1.88948910e-02 -7.94236265e-04 9.99821160e-01 4.59622665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6592541539999 meters 0.021482395894482476 Centerline is valid? [True, True] Translation: X:668.84, Y:7.74, Z:4.60 [[ 9.98500802e-01 -5.14874539e-02 -1.85792861e-02 6.68842092e+02] [ 5.14925016e-02 9.98673360e-01 -2.06918710e-04 7.73666528e+00] [ 1.85652918e-02 -7.50085422e-04 9.99827369e-01 4.59769029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6892541539999 meters 0.021473762775377686 Centerline is valid? [True, True] Translation: X:668.87, Y:7.74, Z:4.60 [[ 9.98626875e-01 -4.90452904e-02 -1.84099153e-02 6.68872367e+02] [ 4.90498642e-02 9.98796310e-01 -2.03285263e-04 7.73907023e+00] [ 1.83977257e-02 -6.99997720e-04 9.99830502e-01 4.59773302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7192541539999 meters 0.02129151613781553 Centerline is valid? [True, True] Translation: X:668.90, Y:7.74, Z:4.60 [[ 9.98668818e-01 -4.81192401e-02 -1.85777141e-02 6.68904617e+02] [ 4.81237674e-02 9.98841360e-01 -2.03542334e-04 7.73983704e+00] [ 1.85659835e-02 -6.90758209e-04 9.99827399e-01 4.59723352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7492541539999 meters 0.020637760277660105 Centerline is valid? [True, True] Translation: X:668.94, Y:7.74, Z:4.60 [[ 9.98666868e-01 -4.78663971e-02 -1.93208539e-02 6.68937194e+02] [ 4.78712744e-02 9.98853491e-01 -2.10252596e-04 7.74189198e+00] [ 1.93087664e-02 -7.14941596e-04 9.99813313e-01 4.59732178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7792541539999 meters 0.021141297254270795 Centerline is valid? [True, True] Translation: X:668.97, Y:7.74, Z:4.60 [[ 9.98677357e-01 -4.73165751e-02 -2.01166030e-02 6.68968501e+02] [ 4.73217763e-02 9.98879673e-01 -2.17659907e-04 7.74153603e+00] [ 2.01043647e-02 -7.34581366e-04 9.99797617e-01 4.59659047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8092541539999 meters 0.019888690810980658 Centerline is valid? [True, True] Translation: X:669.00, Y:7.75, Z:4.60 [[ 9.98710907e-01 -4.63163023e-02 -2.07683395e-02 6.69000302e+02] [ 4.63216595e-02 9.98926551e-01 -2.23293921e-04 7.74591013e+00] [ 2.07563879e-02 -7.39017878e-04 9.99784290e-01 4.59746150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.839254154 meters 0.020217391205765635 Centerline is valid? [True, True] Translation: X:669.03, Y:7.75, Z:4.60 [[ 9.98772751e-01 -4.50511414e-02 -2.05763358e-02 6.69031139e+02] [ 4.50561579e-02 9.98984431e-01 -2.19964108e-04 7.74622791e+00] [ 2.05653487e-02 -7.07396476e-04 9.99788261e-01 4.59751169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8692541539999 meters 0.019039600265373584 Centerline is valid? [True, True] Translation: X:669.06, Y:7.75, Z:4.60 [[ 9.98872711e-01 -4.31547367e-02 -1.97731282e-02 6.69063025e+02] [ 4.31590239e-02 9.99068193e-01 -2.10062533e-04 7.74911998e+00] [ 1.97637686e-02 -6.43563181e-04 9.99804471e-01 4.59878836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8992541539999 meters 0.01788745420263108 Centerline is valid? [True, True] Translation: X:669.09, Y:7.75, Z:4.60 [[ 9.99092866e-01 -3.86156790e-02 -1.79519882e-02 6.69094402e+02] [ 3.86184961e-02 9.99254010e-01 -1.89845337e-04 7.75397049e+00] [ 1.79459272e-02 -5.03605666e-04 9.99838832e-01 4.60109186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9292541539999 meters 0.017336908069035737 Centerline is valid? [True, True] Translation: X:669.13, Y:7.76, Z:4.60 [[ 9.99211300e-01 -3.59309761e-02 -1.69039126e-02 6.69125753e+02] [ 3.59331001e-02 9.99354182e-01 -1.78154838e-04 7.75656575e+00] [ 1.68993970e-02 -4.29395656e-04 9.99857103e-01 4.60247474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.959254154 meters 0.016587800185234775 Centerline is valid? [True, True] Translation: X:669.16, Y:7.76, Z:4.60 [[ 9.99304820e-01 -3.36108044e-02 -1.61303943e-02 6.69157921e+02] [ 3.36124512e-02 9.99434928e-01 -1.69081721e-04 7.75957384e+00] [ 1.61269624e-02 -3.73217911e-04 9.99869882e-01 4.60371611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9892541539999 meters 0.01627472458964357 Centerline is valid? [True, True] Translation: X:669.19, Y:7.76, Z:4.60 [[ 9.99393880e-01 -3.11362231e-02 -1.55694431e-02 6.69189619e+02] [ 3.11374747e-02 9.99515098e-01 -1.62076959e-04 7.76181456e+00] [ 1.55669399e-02 -3.22814418e-04 9.99878776e-01 4.60429325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0192541539999 meters 0.015533730210418258 Centerline is valid? [True, True] Translation: X:669.22, Y:7.76, Z:4.60 [[ 9.99522089e-01 -2.75254146e-02 -1.40692797e-02 6.69220160e+02] [ 2.75260936e-02 9.99621075e-01 -1.45419834e-04 7.76387829e+00] [ 1.40679513e-02 -2.41921974e-04 9.99901012e-01 4.60440209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0492541539999 meters 0.015444718593391062 Centerline is valid? [True, True] Translation: X:669.25, Y:7.76, Z:4.60 [[ 9.99554818e-01 -2.65794021e-02 -1.35536136e-02 6.69251713e+02] [ 2.65799574e-02 9.99646681e-01 -1.39192261e-04 7.76412673e+00] [ 1.35525245e-02 -2.21124176e-04 9.99908136e-01 4.60393861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.079254154 meters 0.01743412729811854 Centerline is valid? [True, True] Translation: X:669.28, Y:7.76, Z:4.60 [[ 9.99553137e-01 -2.65612497e-02 -1.37122645e-02 6.69283446e+02] [ 2.65618248e-02 9.99647163e-01 -1.40209935e-04 7.76344410e+00] [ 1.37111504e-02 -2.24075487e-04 9.99905973e-01 4.60219686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1092541539999 meters 0.017319875420620277 Centerline is valid? [True, True] Translation: X:669.31, Y:7.76, Z:4.60 [[ 9.99523661e-01 -2.75375640e-02 -1.39331506e-02 6.69314113e+02] [ 2.75382595e-02 9.99620740e-01 -1.41975634e-04 7.76261119e+00] [ 1.39317760e-02 -2.41786712e-04 9.99902919e-01 4.60207653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1392541539999 meters 0.016139186090548752 Centerline is valid? [True, True] Translation: X:669.35, Y:7.76, Z:4.60 [[ 9.99474439e-01 -2.89492062e-02 -1.45873055e-02 6.69346751e+02] [ 2.89501305e-02 9.99580846e-01 -1.47842584e-04 7.76249309e+00] [ 1.45854711e-02 -2.74539515e-04 9.99893589e-01 4.60265172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1692541539999 meters 0.016658252756839645 Centerline is valid? [True, True] Translation: X:669.38, Y:7.76, Z:4.60 [[ 9.99422468e-01 -3.04419871e-02 -1.51001766e-02 6.69378513e+02] [ 3.04431621e-02 9.99536488e-01 -1.52096002e-04 7.76152795e+00] [ 1.50978076e-02 -3.07688963e-04 9.99885974e-01 4.60222501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.199254154 meters 0.01840327214020015 Centerline is valid? [True, True] Translation: X:669.41, Y:7.76, Z:4.60 [[ 9.99289051e-01 -3.42560915e-02 -1.57452421e-02 6.69410690e+02] [ 3.42578582e-02 9.99413015e-01 -1.57577287e-04 7.75864629e+00] [ 1.57413979e-02 -3.81933015e-04 9.99876024e-01 4.60104463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2292541539999 meters 0.01884151543991756 Centerline is valid? [True, True] Translation: X:669.44, Y:7.76, Z:4.60 [[ 9.99195685e-01 -3.66673516e-02 -1.62322963e-02 6.69441384e+02] [ 3.66695610e-02 9.99327432e-01 -1.61607847e-04 7.75568556e+00] [ 1.62273047e-02 -4.33753315e-04 9.99868235e-01 4.60082430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2592541539999 meters 0.019247345559482765 Centerline is valid? [True, True] Translation: X:669.47, Y:7.75, Z:4.60 [[ 9.99120335e-01 -3.86156143e-02 -1.63520510e-02 6.69473335e+02] [ 3.86181321e-02 9.99254029e-01 -1.61880464e-04 7.75427207e+00] [ 1.63461039e-02 -4.69747600e-04 9.99866283e-01 4.60071301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2892541539999 meters 0.02086386789349661 Centerline is valid? [True, True] Translation: X:669.50, Y:7.75, Z:4.60 [[ 9.98944482e-01 -4.29271794e-02 -1.63456418e-02 6.69504806e+02] [ 4.29302852e-02 9.99078057e-01 -1.60990196e-04 7.75122665e+00] [ 1.63374829e-02 -5.40902797e-04 9.99866388e-01 4.60054050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.319254154 meters 0.021654271403771498 Centerline is valid? [True, True] Translation: X:669.54, Y:7.75, Z:4.60 [[ 9.98870158e-01 -4.46519384e-02 -1.62669090e-02 6.69536414e+02] [ 4.46552548e-02 9.99002444e-01 -1.59474504e-04 7.74962914e+00] [ 1.62578027e-02 -5.67108645e-04 9.99867672e-01 4.60049225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3492541539999 meters 0.023139484913990576 Centerline is valid? [True, True] Translation: X:669.57, Y:7.75, Z:4.60 [[ 9.98751903e-01 -4.74265445e-02 -1.56639473e-02 6.69567590e+02] [ 4.74299731e-02 9.98874554e-01 -1.52750087e-04 7.74752711e+00] [ 1.56535628e-02 -5.90381160e-04 9.99877301e-01 4.60106635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3792541539999 meters 0.023955559944512848 Centerline is valid? [True, True] Translation: X:669.60, Y:7.75, Z:4.60 [[ 9.98724291e-01 -4.83216342e-02 -1.46564091e-02 6.69599796e+02] [ 4.83247448e-02 9.98831667e-01 -1.42046976e-04 7.74675819e+00] [ 1.46461495e-02 -5.66401465e-04 9.99892579e-01 4.60165910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4092541539999 meters 0.024246853768731265 Centerline is valid? [True, True] Translation: X:669.63, Y:7.75, Z:4.60 [[ 9.98700146e-01 -4.90551270e-02 -1.38424126e-02 6.69631863e+02] [ 4.90579850e-02 9.98795923e-01 -1.33222412e-04 7.74681359e+00] [ 1.38322805e-02 -5.46031628e-04 9.99904180e-01 4.60251509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4392541539999 meters 0.0227024760865415 Centerline is valid? [True, True] Translation: X:669.66, Y:7.75, Z:4.60 [[ 9.98682199e-01 -4.97301450e-02 -1.26798122e-02 6.69664310e+02] [ 4.97326081e-02 9.98762561e-01 -1.21176859e-04 7.74992146e+00] [ 1.26701478e-02 -5.09582959e-04 9.99919601e-01 4.60400271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4692541539999 meters 0.023905788948287647 Centerline is valid? [True, True] Translation: X:669.70, Y:7.75, Z:4.60 [[ 9.98666679e-01 -5.01900493e-02 -1.20757418e-02 6.69695726e+02] [ 5.01923260e-02 9.98739564e-01 -1.14650582e-04 7.74837236e+00] [ 1.20662754e-02 -4.91611852e-04 9.99927079e-01 4.60491254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4992541539999 meters 0.027705340518189302 Centerline is valid? [True, True] Translation: X:669.73, Y:7.74, Z:4.61 [[ 9.98602321e-01 -5.17910550e-02 -1.05399624e-02 6.69726377e+02] [ 5.17928831e-02 9.98657843e-01 -9.96169994e-05 7.74367466e+00] [ 1.05309754e-02 -4.46417272e-04 9.99944448e-01 4.60539063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5292541539999 meters 0.025583317347174096 Centerline is valid? [True, True] Translation: X:669.76, Y:7.75, Z:4.61 [[ 9.98558641e-01 -5.26469987e-02 -1.04371923e-02 6.69758576e+02] [ 5.26488431e-02 9.98613083e-01 -9.81566241e-05 7.74785389e+00] [ 1.04278845e-02 -4.51490957e-04 9.99945526e-01 4.60554223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5592541539999 meters 0.02626325875139289 Centerline is valid? [True, True] Translation: X:669.79, Y:7.75, Z:4.61 [[ 9.98449934e-01 -5.44997504e-02 -1.12918432e-02 6.69790233e+02] [ 5.45020394e-02 9.98513654e-01 -1.05145766e-04 7.74680746e+00] [ 1.12807900e-02 -5.10445697e-04 9.99936240e-01 4.60523206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.589254154 meters 0.027601898980942466 Centerline is valid? [True, True] Translation: X:669.82, Y:7.75, Z:4.60 [[ 9.98401650e-01 -5.52576327e-02 -1.18633292e-02 6.69821193e+02] [ 5.52602260e-02 9.98471980e-01 -1.09340948e-04 7.74532448e+00] [ 1.18512438e-02 -5.46404072e-04 9.99929622e-01 4.60480430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6192541539999 meters 0.028547583103354184 Centerline is valid? [True, True] Translation: X:669.85, Y:7.74, Z:4.60 [[ 9.98351370e-01 -5.60723235e-02 -1.22652302e-02 6.69853699e+02] [ 5.60751659e-02 9.98426544e-01 -1.12298002e-04 7.74435089e+00] [ 1.22522282e-02 -5.75661954e-04 9.99924773e-01 4.60436206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6492541539999 meters 0.02838163485461644 Centerline is valid? [True, True] Translation: X:669.89, Y:7.74, Z:4.60 [[ 9.98325187e-01 -5.64664231e-02 -1.25842981e-02 6.69885450e+02] [ 5.64694578e-02 9.98404321e-01 -1.14331191e-04 7.74496892e+00] [ 1.25706734e-02 -5.96488782e-04 9.99920808e-01 4.60421342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6792541539999 meters 0.029341520421280375 Centerline is valid? [True, True] Translation: X:669.92, Y:7.74, Z:4.60 [[ 9.98325524e-01 -5.62331797e-02 -1.35638713e-02 6.69917278e+02] [ 5.62366988e-02 9.98417457e-01 -1.22131914e-04 7.74407653e+00] [ 1.35492738e-02 -6.40859940e-04 9.99907999e-01 4.60303236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.709254154 meters 0.028660944386719175 Centerline is valid? [True, True] Translation: X:669.95, Y:7.75, Z:4.60 [[ 9.98352369e-01 -5.55994845e-02 -1.41860614e-02 6.69949495e+02] [ 5.56032860e-02 9.98452933e-01 -1.26608776e-04 7.74551831e+00] [ 1.41711540e-02 -6.62391457e-04 9.99899365e-01 4.60275075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7392541539999 meters 0.02882240101942527 Centerline is valid? [True, True] Translation: X:669.98, Y:7.75, Z:4.60 [[ 9.98399989e-01 -5.45527479e-02 -1.48815445e-02 6.69980917e+02] [ 5.45568287e-02 9.98510658e-01 -1.31915250e-04 7.74608485e+00] [ 1.48665771e-02 -6.80185689e-04 9.99889255e-01 4.60228868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7692541539999 meters 0.0277184711743327 Centerline is valid? [True, True] Translation: X:670.01, Y:7.75, Z:4.60 [[ 9.98556457e-01 -5.13140860e-02 -1.58702896e-02 6.70011369e+02] [ 5.13183272e-02 9.98682337e-01 -1.40152298e-04 7.74989392e+00] [ 1.58565697e-02 -6.74486731e-04 9.99874049e-01 4.60169559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7992541539999 meters 0.0268146374237545 Centerline is valid? [True, True] Translation: X:670.04, Y:7.75, Z:4.60 [[ 9.98670351e-01 -4.89520645e-02 -1.61624669e-02 6.70042682e+02] [ 4.89561615e-02 9.98800918e-01 -1.42304651e-04 7.75273499e+00] [ 1.61500529e-02 -6.49136905e-04 9.99869369e-01 4.60189112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.829254154 meters 0.025631575314556773 Centerline is valid? [True, True] Translation: X:670.07, Y:7.76, Z:4.60 [[ 9.98797800e-01 -4.61829356e-02 -1.64344475e-02 6.70074473e+02] [ 4.61868090e-02 9.98932810e-01 -1.43991258e-04 7.75626320e+00] [ 1.64235587e-02 -6.15236534e-04 9.99864935e-01 4.60227205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8592541539999 meters 0.02221496868232563 Centerline is valid? [True, True] Translation: X:670.10, Y:7.77, Z:4.60 [[ 9.99071801e-01 -4.01112593e-02 -1.57042166e-02 6.70104792e+02] [ 4.01140519e-02 9.99195098e-01 -1.37263935e-04 7.76503533e+00] [ 1.56970821e-02 -4.92823235e-04 9.99876672e-01 4.60369481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8892541539999 meters 0.02113597955357047 Centerline is valid? [True, True] Translation: X:670.14, Y:7.77, Z:4.60 [[ 9.99200817e-01 -3.69535702e-02 -1.52368530e-02 6.70136665e+02] [ 3.69558384e-02 9.99316891e-01 -1.32764541e-04 7.76836756e+00] [ 1.52313507e-02 -4.30432241e-04 9.99883904e-01 4.60465887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9192541539999 meters 0.020045145787144503 Centerline is valid? [True, True] Translation: X:670.17, Y:7.77, Z:4.61 [[ 9.99312311e-01 -3.40011567e-02 -1.47928021e-02 6.70168376e+02] [ 3.40029821e-02 9.99421723e-01 -1.28169820e-04 7.77159090e+00] [ 1.47886057e-02 -3.74917708e-04 9.99890572e-01 4.60522060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.949254154 meters 0.017922280146668412 Centerline is valid? [True, True] Translation: X:670.20, Y:7.78, Z:4.61 [[ 9.99496782e-01 -2.83202523e-02 -1.42879856e-02 6.70200260e+02] [ 2.83213849e-02 9.99598862e-01 -1.23101877e-04 7.77787388e+00] [ 1.42857404e-02 -2.81615610e-04 9.99897914e-01 4.60665589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9792541539999 meters 0.01712371810806612 Centerline is valid? [True, True] Translation: X:670.23, Y:7.78, Z:4.61 [[ 9.99579775e-01 -2.56193702e-02 -1.35617725e-02 6.70231877e+02] [ 2.56201494e-02 9.99671743e-01 -1.16306215e-04 7.78105386e+00] [ 1.35603004e-02 -2.31197298e-04 9.99908028e-01 4.60736561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0092541539999 meters 0.01712371810806612 Centerline is valid? [True, True] Translation: X:670.26, Y:7.78, Z:4.61 [[ 9.99580606e-01 -2.55869151e-02 -1.35617763e-02 6.70262728e+02] [ 2.55876973e-02 9.99672575e-01 -1.15866114e-04 7.78128308e+00] [ 1.35603004e-02 -2.31197105e-04 9.99908028e-01 4.60757931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0392541539999 meters 0.016292609364805324 Centerline is valid? [True, True] Translation: X:670.29, Y:7.78, Z:4.61 [[ 9.99641509e-01 -2.30094048e-02 -1.36901939e-02 6.70294062e+02] [ 2.30099663e-02 9.99735229e-01 -1.16517010e-04 7.78467197e+00] [ 1.36892501e-02 -1.98535659e-04 9.99906278e-01 4.60823184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.069254154 meters 0.015692447888245403 Centerline is valid? [True, True] Translation: X:670.33, Y:7.79, Z:4.61 [[ 9.99693933e-01 -2.05688971e-02 -1.37462749e-02 6.70325470e+02] [ 2.05692387e-02 9.99788424e-01 -1.16549389e-04 7.78773682e+00] [ 1.37457638e-02 -1.66236692e-04 9.99905509e-01 4.60869881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0992541539999 meters 0.014704151891184701 Centerline is valid? [True, True] Translation: X:670.36, Y:7.79, Z:4.61 [[ 9.99773896e-01 -1.55514988e-02 -1.45019924e-02 6.70356035e+02] [ 1.55513545e-02 9.99879063e-01 -1.22721560e-04 7.79345936e+00] [ 1.45021471e-02 -1.02831813e-04 9.99894833e-01 4.60868991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1292541539999 meters 0.01404610681590823 Centerline is valid? [True, True] Translation: X:670.39, Y:7.80, Z:4.61 [[ 9.99800692e-01 -1.35261104e-02 -1.46839959e-02 6.70386004e+02] [ 1.35257400e-02 9.99908515e-01 -1.24537579e-04 7.79700482e+00] [ 1.46843370e-02 -7.40991523e-05 9.99892177e-01 4.61039750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1592541539999 meters 0.014128765076118679 Centerline is valid? [True, True] Translation: X:670.41, Y:7.80, Z:4.61 [[ 9.99814170e-01 -1.19981022e-02 -1.50887888e-02 6.70414267e+02] [ 1.19975225e-02 9.99928019e-01 -1.28942761e-04 7.79794735e+00] [ 1.50892498e-02 -5.21092834e-05 9.99886149e-01 4.60847387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1892541539999 meters 0.014062897914087375 Centerline is valid? [True, True] Translation: X:670.44, Y:7.80, Z:4.61 [[ 9.99831834e-01 -9.48372899e-03 -1.56959442e-02 6.70441864e+02] [ 9.48276488e-03 9.99955028e-01 -1.35849494e-04 7.80081134e+00] [ 1.56965267e-02 -1.30142999e-05 9.99876802e-01 4.60854176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2192541539999 meters 0.0137601773988671 Centerline is valid? [True, True] Translation: X:670.47, Y:7.80, Z:4.61 [[ 9.99829242e-01 -9.10656666e-03 -1.60797250e-02 6.70469261e+02] [ 9.10545011e-03 9.99958534e-01 -1.42649686e-04 7.80161466e+00] [ 1.60803573e-02 -3.78780582e-06 9.99870703e-01 4.61113409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2492541539999 meters 0.01396556481805892 Centerline is valid? [True, True] Translation: X:670.50, Y:7.80, Z:4.61 [[ 9.99834041e-01 -8.82017664e-03 -1.59403632e-02 6.70495973e+02] [ 8.81899414e-03 9.99961101e-01 -1.44475914e-04 7.80192991e+00] [ 1.59410175e-02 3.87396703e-06 9.99872934e-01 4.60900253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2792541539999 meters 0.01374426825864544 Centerline is valid? [True, True] Translation: X:670.52, Y:7.80, Z:4.61 [[ 9.99820937e-01 -9.77973530e-03 -1.62003365e-02 6.70524277e+02] [ 9.77858323e-03 9.99952177e-01 -1.50327504e-04 7.80024390e+00] [ 1.62010320e-02 -8.11575308e-06 9.99868755e-01 4.61121777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3092541539999 meters 0.01422312211205295 Centerline is valid? [True, True] Translation: X:670.55, Y:7.80, Z:4.61 [[ 9.99806733e-01 -1.08823122e-02 -1.63729039e-02 6.70552246e+02] [ 1.08812072e-02 9.99940786e-01 -1.56578400e-04 7.79911469e+00] [ 1.63736384e-02 -2.16088214e-05 9.99865943e-01 4.61053335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.339254154 meters 0.013732914661730069 Centerline is valid? [True, True] Translation: X:670.58, Y:7.80, Z:4.61 [[ 9.99787879e-01 -1.24991329e-02 -1.63697307e-02 6.70580292e+02] [ 1.24981698e-02 9.99921882e-01 -1.61142327e-04 7.79790230e+00] [ 1.63704660e-02 -4.34835274e-05 9.99865994e-01 4.61067600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3692541539999 meters 0.014352913735655651 Centerline is valid? [True, True] Translation: X:670.61, Y:7.80, Z:4.61 [[ 9.99763141e-01 -1.37056317e-02 -1.69061491e-02 6.70608250e+02] [ 1.37047285e-02 9.99906071e-01 -1.69286504e-04 7.79638680e+00] [ 1.69068813e-02 -6.24477757e-05 9.99857067e-01 4.61004910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3992541539999 meters 0.013801419750056956 Centerline is valid? [True, True] Translation: X:670.64, Y:7.79, Z:4.61 [[ 9.99717360e-01 -1.70362734e-02 -1.65820727e-02 6.70637191e+02] [ 1.70358137e-02 9.99854866e-01 -1.68986502e-04 7.79260000e+00] [ 1.65825450e-02 -1.13550362e-04 9.99862494e-01 4.61077089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4292541539999 meters 0.013840466877144483 Centerline is valid? [True, True] Translation: X:670.67, Y:7.79, Z:4.61 [[ 9.99686643e-01 -1.88783207e-02 -1.64385084e-02 6.70666173e+02] [ 1.88780520e-02 9.99821779e-01 -1.71537900e-04 7.79077515e+00] [ 1.64388171e-02 -1.38842869e-04 9.99864864e-01 4.61136900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.459254154 meters 0.014189749195300532 Centerline is valid? [True, True] Translation: X:670.70, Y:7.79, Z:4.61 [[ 9.99651978e-01 -2.09039181e-02 -1.60918866e-02 6.70696202e+02] [ 2.09038910e-02 9.99781475e-01 -1.69907442e-04 7.78873462e+00] [ 1.60919219e-02 -1.66534733e-04 9.99870503e-01 4.61216471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4892541539999 meters 0.014294981740747056 Centerline is valid? [True, True] Translation: X:670.73, Y:7.79, Z:4.61 [[ 9.99609225e-01 -2.29769312e-02 -1.59203676e-02 6.70726746e+02] [ 2.29771637e-02 9.99735976e-01 -1.68335584e-04 7.78696535e+00] [ 1.59200321e-02 -1.97535090e-04 9.99873249e-01 4.61297077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5192541539999 meters 0.014954074328344936 Centerline is valid? [True, True] Translation: X:670.76, Y:7.78, Z:4.61 [[ 9.99504859e-01 -2.72711688e-02 -1.56946156e-02 6.70757179e+02] [ 2.72719240e-02 9.99628038e-01 -1.65948573e-04 7.78186459e+00] [ 1.56933035e-02 -2.62155960e-04 9.99876818e-01 4.61296629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5492541539999 meters 0.015623405235941615 Centerline is valid? [True, True] Translation: X:670.79, Y:7.78, Z:4.61 [[ 9.99430910e-01 -2.96986384e-02 -1.59952247e-02 6.70787974e+02] [ 2.96997361e-02 9.99558851e-01 -1.68966230e-04 7.77854075e+00] [ 1.59931864e-02 -3.06183878e-04 9.99872054e-01 4.61282177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.579254154 meters 0.016374507994993844 Centerline is valid? [True, True] Translation: X:670.82, Y:7.78, Z:4.61 [[ 9.99343826e-01 -3.24932696e-02 -1.60033054e-02 6.70819091e+02] [ 3.24947336e-02 9.99471892e-01 -1.68606980e-04 7.77533848e+00] [ 1.60003325e-02 -3.51526802e-04 9.99871925e-01 4.61260774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6092541539999 meters 0.021759910898917025 Centerline is valid? [True, True] Translation: X:670.85, Y:7.76, Z:4.61 [[ 9.99176197e-01 -3.70463979e-02 -1.65678190e-02 6.70849842e+02] [ 3.70485995e-02 9.99313450e-01 -1.74130543e-04 7.76427245e+00] [ 1.65628953e-02 -4.39827397e-04 9.99862729e-01 4.60961768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6392541539999 meters 0.021998366258825307 Centerline is valid? [True, True] Translation: X:670.88, Y:7.76, Z:4.61 [[ 9.99062953e-01 -4.01910206e-02 -1.60591814e-02 6.70881383e+02] [ 4.01935041e-02 9.99191900e-01 -1.68216585e-04 7.75962965e+00] [ 1.60529648e-02 -4.77415814e-04 9.99871029e-01 4.61034699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6692541539999 meters 0.022982112108706924 Centerline is valid? [True, True] Translation: X:670.91, Y:7.76, Z:4.61 [[ 9.98973377e-01 -4.22825001e-02 -1.62598162e-02 6.70913269e+02] [ 4.22853358e-02 9.99105561e-01 -1.69516159e-04 7.75626114e+00] [ 1.62524404e-02 -5.18209660e-04 9.99867786e-01 4.61016781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.699254154 meters 0.0230939590774055 Centerline is valid? [True, True] Translation: X:670.95, Y:7.75, Z:4.61 [[ 9.98896827e-01 -4.38657424e-02 -1.67608223e-02 6.70945536e+02] [ 4.38689950e-02 9.99037277e-01 -1.73739289e-04 7.75450640e+00] [ 1.67523075e-02 -5.61732805e-04 9.99859512e-01 4.61011850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7292541539999 meters 0.022966033232152235 Centerline is valid? [True, True] Translation: X:670.98, Y:7.75, Z:4.61 [[ 9.98792912e-01 -4.60925814e-02 -1.69762304e-02 6.70977750e+02] [ 4.60962587e-02 9.98936987e-01 -1.74825301e-04 7.75188946e+00] [ 1.69662426e-02 -6.07926434e-04 9.99855878e-01 4.61097031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7592541539999 meters 0.023013087367938993 Centerline is valid? [True, True] Translation: X:671.01, Y:7.75, Z:4.61 [[ 9.98779234e-01 -4.62860000e-02 -1.72524830e-02 6.71010165e+02] [ 4.62898475e-02 9.98928035e-01 -1.76470125e-04 7.75214597e+00] [ 1.72421571e-02 -6.22360113e-04 9.99851149e-01 4.61088907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7892541539999 meters 0.022572316187407515 Centerline is valid? [True, True] Translation: X:671.04, Y:7.75, Z:4.61 [[ 9.98744782e-01 -4.71010195e-02 -1.70398171e-02 6.71041956e+02] [ 4.71049114e-02 9.98889933e-01 -1.73107843e-04 7.75035056e+00] [ 1.70290553e-02 -6.29768519e-04 9.99854797e-01 4.61183329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.819254154 meters 0.022171631308997897 Centerline is valid? [True, True] Translation: X:671.07, Y:7.75, Z:4.61 [[ 9.98678597e-01 -4.85452073e-02 -1.68648150e-02 6.71074461e+02] [ 4.85492453e-02 9.98820776e-01 -1.70143128e-04 7.74677016e+00] [ 1.68531872e-02 -6.48855738e-04 9.99857764e-01 4.61214565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8492541539999 meters 0.02381671486909297 Centerline is valid? [True, True] Translation: X:671.11, Y:7.74, Z:4.61 [[ 9.98662997e-01 -4.85970871e-02 -1.76221688e-02 6.71106741e+02] [ 4.86015264e-02 9.98818232e-01 -1.76514380e-04 7.74455536e+00] [ 1.76099215e-02 -6.80185920e-04 9.99844702e-01 4.61078144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8792541539999 meters 0.025199999572287735 Centerline is valid? [True, True] Translation: X:671.14, Y:7.74, Z:4.61 [[ 9.98628153e-01 -4.93089835e-02 -1.76192196e-02 6.71137989e+02] [ 4.93135504e-02 9.98783331e-01 -1.75433281e-04 7.74042589e+00] [ 1.76064333e-02 -6.93673662e-04 9.99844754e-01 4.61073308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9092541539999 meters 0.02408157389774845 Centerline is valid? [True, True] Translation: X:671.17, Y:7.74, Z:4.61 [[ 9.98578073e-01 -5.00514763e-02 -1.83488718e-02 6.71170014e+02] [ 5.00565761e-02 9.98746367e-01 -1.81526147e-04 7.73959438e+00] [ 1.83349547e-02 -7.37213667e-04 9.99831629e-01 4.61129147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9392541539999 meters 0.024955102102856164 Centerline is valid? [True, True] Translation: X:671.20, Y:7.74, Z:4.61 [[ 9.98595824e-01 -4.95549255e-02 -1.87266871e-02 6.71201696e+02] [ 4.95601847e-02 9.98771122e-01 -1.83431752e-04 7.73753938e+00] [ 1.87127642e-02 -7.44923889e-04 9.99824623e-01 4.61072109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9692541539999 meters 0.024441455457960413 Centerline is valid? [True, True] Translation: X:671.23, Y:7.74, Z:4.61 [[ 9.98602674e-01 -4.93762220e-02 -1.88331763e-02 6.71233757e+02] [ 4.93815402e-02 9.98779971e-01 -1.82841674e-04 7.73840251e+00] [ 1.88192273e-02 -7.47425070e-04 9.99822623e-01 4.61071754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9992541539999 meters 0.02700060669605655 Centerline is valid? [True, True] Translation: X:671.26, Y:7.73, Z:4.61 [[ 9.98590855e-01 -4.96134941e-02 -1.88362827e-02 6.71264667e+02] [ 4.96188772e-02 9.98768208e-01 -1.81756501e-04 7.73136514e+00] [ 1.88220979e-02 -7.53134819e-04 9.99822565e-01 4.61032068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0292541539999 meters 0.025313438728102166 Centerline is valid? [True, True] Translation: X:671.30, Y:7.73, Z:4.61 [[ 9.98587202e-01 -4.95177900e-02 -1.92766291e-02 6.71296981e+02] [ 4.95234333e-02 9.98772945e-01 -1.84795214e-04 7.73320755e+00] [ 1.92621263e-02 -7.70110720e-04 9.99814171e-01 4.61106954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0592541539999 meters 0.027231595033978304 Centerline is valid? [True, True] Translation: X:671.33, Y:7.73, Z:4.61 [[ 9.98615363e-01 -4.85162992e-02 -2.03353452e-02 6.71328690e+02] [ 4.85224007e-02 9.98822076e-01 -1.93546752e-04 7.73135003e+00] [ 2.03207819e-02 -7.93441010e-04 9.99793197e-01 4.60936104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.089254154 meters 0.02511377394055651 Centerline is valid? [True, True] Translation: X:671.36, Y:7.73, Z:4.61 [[ 9.98600023e-01 -4.89332936e-02 -2.00879656e-02 6.71360527e+02] [ 4.89393590e-02 9.98801734e-01 -1.89836862e-04 7.73210514e+00] [ 2.00731842e-02 -7.93521068e-04 9.99798198e-01 4.61101854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1192541539999 meters 0.024421690277872204 Centerline is valid? [True, True] Translation: X:671.39, Y:7.73, Z:4.61 [[ 9.98614009e-01 -4.86205281e-02 -2.01520340e-02 6.71392341e+02] [ 4.86265966e-02 9.98817009e-01 -1.89060104e-04 7.73256956e+00] [ 2.01373865e-02 -7.91126757e-04 9.99796909e-01 4.61138389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1492541539999 meters 0.02454072360556167 Centerline is valid? [True, True] Translation: X:671.42, Y:7.73, Z:4.61 [[ 9.98643012e-01 -4.82233053e-02 -1.96633484e-02 6.71424631e+02] [ 4.82290323e-02 9.98836286e-01 -1.83142029e-04 7.73200359e+00] [ 1.96492976e-02 -7.65450756e-04 9.99806641e-01 4.61166345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1792541539999 meters 0.024314424355439863 Centerline is valid? [True, True] Translation: X:671.45, Y:7.73, Z:4.61 [[ 9.98749954e-01 -4.63916565e-02 -1.86103043e-02 6.71454980e+02] [ 4.63964807e-02 9.98923089e-01 -1.72689961e-04 7.73199550e+00] [ 1.85982740e-02 -6.90978534e-04 9.99826798e-01 4.61275424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.209254154 meters 0.023661012042526176 Centerline is valid? [True, True] Translation: X:671.49, Y:7.73, Z:4.61 [[ 9.98847430e-01 -4.47936952e-02 -1.72434450e-02 6.71486074e+02] [ 4.47976067e-02 9.98996071e-01 -1.59549111e-04 7.73342143e+00] [ 1.72332806e-02 -6.13099848e-04 9.99851308e-01 4.61405679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2392541539999 meters 0.022847206279288327 Centerline is valid? [True, True] Translation: X:671.52, Y:7.74, Z:4.62 [[ 9.98959941e-01 -4.26031486e-02 -1.62482998e-02 6.71517649e+02] [ 4.26063408e-02 9.99091926e-01 -1.49805831e-04 7.73501903e+00] [ 1.62399274e-02 -5.42630577e-04 9.99867976e-01 4.61542031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2692541539999 meters 0.019913892259643767 Centerline is valid? [True, True] Translation: X:671.55, Y:7.74, Z:4.62 [[ 9.99216179e-01 -3.70888004e-02 -1.38364965e-02 6.71548235e+02] [ 3.70905912e-02 9.99311899e-01 -1.27252705e-04 7.74086333e+00] [ 1.38316952e-02 -3.86050875e-04 9.99904263e-01 4.61844942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2992541539999 meters 0.019493384415844927 Centerline is valid? [True, True] Translation: X:671.58, Y:7.74, Z:4.62 [[ 9.99355045e-01 -3.34823611e-02 -1.29778622e-02 6.71578496e+02] [ 3.34836353e-02 9.99439259e-01 -1.19142991e-04 7.74310495e+00] [ 1.29745742e-02 -3.15479858e-04 9.99915777e-01 4.61866126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.329254154 meters 0.018140555793381582 Centerline is valid? [True, True] Translation: X:671.61, Y:7.75, Z:4.62 [[ 9.99461141e-01 -3.04407927e-02 -1.22794694e-02 6.71610277e+02] [ 3.04417088e-02 9.99536537e-01 -1.12349551e-04 7.74542866e+00] [ 1.22771983e-02 -2.61519020e-04 9.99924598e-01 4.61965821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3592541539999 meters 0.015918456177465186 Centerline is valid? [True, True] Translation: X:671.64, Y:7.75, Z:4.62 [[ 9.99617104e-01 -2.47527808e-02 -1.23671102e-02 6.71641794e+02] [ 2.47532814e-02 9.99693584e-01 -1.12610078e-04 7.74965755e+00] [ 1.23661082e-02 -1.93559600e-04 9.99923518e-01 4.61994469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3892541539999 meters 0.016387401667298573 Centerline is valid? [True, True] Translation: X:671.67, Y:7.75, Z:4.62 [[ 9.99673986e-01 -2.20546541e-02 -1.28651898e-02 6.71672128e+02] [ 2.20549805e-02 9.99756753e-01 -1.16519052e-04 7.74918008e+00] [ 1.28646302e-02 -1.67260445e-04 9.99917233e-01 4.61876453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4192541539999 meters 0.015263976118970273 Centerline is valid? [True, True] Translation: X:671.70, Y:7.75, Z:4.62 [[ 9.99714648e-01 -1.99782966e-02 -1.30954047e-02 6.71703277e+02] [ 1.99784653e-02 9.99800404e-01 -1.17952658e-04 7.75141377e+00] [ 1.30951474e-02 -1.43707089e-04 9.99914245e-01 4.61933283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.449254154 meters 0.014567259207939526 Centerline is valid? [True, True] Translation: X:671.73, Y:7.75, Z:4.62 [[ 9.99767984e-01 -1.63420254e-02 -1.40327110e-02 6.71733698e+02] [ 1.63418643e-02 9.99866455e-01 -1.26150764e-04 7.75367001e+00] [ 1.40328985e-02 -1.03199164e-04 9.99901529e-01 4.61971296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4792541539999 meters 0.014532975429198586 Centerline is valid? [True, True] Translation: X:671.76, Y:7.75, Z:4.62 [[ 9.99788746e-01 -1.48546390e-02 -1.42057451e-02 6.71762556e+02] [ 1.48543186e-02 9.99889660e-01 -1.28076616e-04 7.75349694e+00] [ 1.42060802e-02 -8.29671038e-05 9.99899085e-01 4.61916086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5092541539999 meters 0.014423761716321688 Centerline is valid? [True, True] Translation: X:671.79, Y:7.75, Z:4.62 [[ 9.99803439e-01 -1.39480602e-02 -1.40902567e-02 6.71791161e+02] [ 1.39476261e-02 9.99902719e-01 -1.29083294e-04 7.75322278e+00] [ 1.40906865e-02 -6.74677113e-05 9.99900719e-01 4.61933291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5392541539999 meters 0.014404275877771268 Centerline is valid? [True, True] Translation: X:671.82, Y:7.75, Z:4.62 [[ 9.99825645e-01 -1.26877654e-02 -1.37003413e-02 6.71818571e+02] [ 1.26872069e-02 9.99919506e-01 -1.27676943e-04 7.75097816e+00] [ 1.37008584e-02 -4.61643834e-05 9.99906138e-01 4.61889393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.569254154 meters 0.014167831927237718 Centerline is valid? [True, True] Translation: X:671.85, Y:7.75, Z:4.62 [[ 9.99827120e-01 -1.27775565e-02 -1.35079220e-02 6.71846507e+02] [ 1.27769891e-02 9.99918363e-01 -1.28304327e-04 7.75000951e+00] [ 1.35084587e-02 -4.43084269e-05 9.99908756e-01 4.62013900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5992541539999 meters 0.014282171331428638 Centerline is valid? [True, True] Translation: X:671.87, Y:7.75, Z:4.62 [[ 9.99825907e-01 -1.30340312e-02 -1.33517576e-02 6.71874562e+02] [ 1.30334667e-02 9.99915052e-01 -1.29302534e-04 7.74836745e+00] [ 1.33523087e-02 -4.47396633e-05 9.99910853e-01 4.62028583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6292541539999 meters 0.014227681541224831 Centerline is valid? [True, True] Translation: X:671.90, Y:7.74, Z:4.62 [[ 9.99818477e-01 -1.39879281e-02 -1.29364069e-02 6.71902983e+02] [ 1.39874486e-02 9.99902163e-01 -1.27551817e-04 7.74440974e+00] [ 1.29369254e-02 -5.34186619e-05 9.99916313e-01 4.62107051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6592541539999 meters 0.015044336654055468 Centerline is valid? [True, True] Translation: X:671.93, Y:7.74, Z:4.62 [[ 9.99807020e-01 -1.48615569e-02 -1.28474478e-02 6.71930905e+02] [ 1.48611216e-02 9.99889559e-01 -1.29355506e-04 7.74178880e+00] [ 1.28479513e-02 -6.15969414e-05 9.99917460e-01 4.62035113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6892541539999 meters 0.014514564768656476 Centerline is valid? [True, True] Translation: X:671.96, Y:7.74, Z:4.62 [[ 9.99780526e-01 -1.64600589e-02 -1.29602030e-02 6.71959643e+02] [ 1.64597348e-02 9.99864521e-01 -1.31679588e-04 7.73888718e+00] [ 1.29606146e-02 -8.16708159e-05 9.99916004e-01 4.62061342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7192541539999 meters 0.01643471901984797 Centerline is valid? [True, True] Translation: X:671.99, Y:7.73, Z:4.62 [[ 9.99714332e-01 -2.01069738e-02 -1.29214697e-02 6.71988768e+02] [ 2.01069335e-02 9.99797826e-01 -1.33043050e-04 7.73117482e+00] [ 1.29215324e-02 -1.26806089e-04 9.99916505e-01 4.61988072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7492541539999 meters 0.01655173938905248 Centerline is valid? [True, True] Translation: X:672.02, Y:7.73, Z:4.62 [[ 9.99668509e-01 -2.27993528e-02 -1.19608362e-02 6.72018774e+02] [ 2.27994909e-02 9.99740050e-01 -1.24825250e-04 7.72669962e+00] [ 1.19605730e-02 -1.47917106e-04 9.99928459e-01 4.62016920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7792541539999 meters 0.01882200040416664 Centerline is valid? [True, True] Translation: X:672.05, Y:7.72, Z:4.62 [[ 9.99514530e-01 -2.89735129e-02 -1.14559541e-02 6.72049460e+02] [ 2.89740433e-02 9.99580157e-01 -1.19702615e-04 7.71590018e+00] [ 1.14546126e-02 -2.12280806e-04 9.99934371e-01 4.61945070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8092541539999 meters 0.019026507776096404 Centerline is valid? [True, True] Translation: X:672.08, Y:7.71, Z:4.62 [[ 9.99400991e-01 -3.28503389e-02 -1.08864725e-02 6.72080606e+02] [ 3.28510504e-02 9.99460252e-01 -1.13513492e-04 7.71056792e+00] [ 1.08843255e-02 -2.44186561e-04 9.99940734e-01 4.62024876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.839254154 meters 0.021402231215576287 Centerline is valid? [True, True] Translation: X:672.11, Y:7.71, Z:4.62 [[ 9.99289763e-01 -3.60560460e-02 -1.09513085e-02 6.72112321e+02] [ 3.60569630e-02 9.99349730e-01 -1.13764186e-04 7.70503851e+00] [ 1.09482891e-02 -2.81187540e-04 9.99940026e-01 4.61942143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8692541539999 meters 0.018126635164024924 Centerline is valid? [True, True] Translation: X:672.14, Y:7.71, Z:4.62 [[ 9.99154616e-01 -3.96203496e-02 -1.09673058e-02 6.72144683e+02] [ 3.96214908e-02 9.99214754e-01 -1.13291814e-04 7.70706692e+00] [ 1.09631824e-02 -3.21344966e-04 9.99939851e-01 4.62093263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8992541539999 meters 0.021523052979406935 Centerline is valid? [True, True] Translation: X:672.18, Y:7.70, Z:4.62 [[ 9.98883084e-01 -4.57461326e-02 -1.18268811e-02 6.72175079e+02] [ 4.57478961e-02 9.98953010e-01 -1.21529552e-04 7.69780933e+00] [ 1.18200580e-02 -4.19661113e-04 9.99930053e-01 4.61893566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9292541539999 meters 0.021523052979406935 Centerline is valid? [True, True] Translation: X:672.21, Y:7.70, Z:4.62 [[ 9.98886424e-01 -4.56731462e-02 -1.18268860e-02 6.72206788e+02] [ 4.56749103e-02 9.98956349e-01 -1.21045095e-04 7.69807451e+00] [ 1.18200714e-02 -4.19281657e-04 9.99930053e-01 4.61915535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.959254154 meters 0.02415682705355515 Centerline is valid? [True, True] Translation: X:672.24, Y:7.69, Z:4.62 [[ 9.98754536e-01 -4.82913078e-02 -1.25429761e-02 6.72237614e+02] [ 4.82935075e-02 9.98833180e-01 -1.27632700e-04 7.69237680e+00] [ 1.25345042e-02 -4.78270570e-04 9.99921326e-01 4.61841399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9892541539999 meters 0.02333055873386071 Centerline is valid? [True, True] Translation: X:672.27, Y:7.69, Z:4.62 [[ 9.98630301e-01 -5.10710570e-02 -1.13696271e-02 6.72269319e+02] [ 5.10730495e-02 9.98694914e-01 -1.15225178e-04 7.68914460e+00] [ 1.13606734e-02 -4.65614173e-04 9.99935357e-01 4.61965337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0192541539999 meters 0.023841735478614408 Centerline is valid? [True, True] Translation: X:672.30, Y:7.69, Z:4.62 [[ 9.98530880e-01 -5.30472326e-02 -1.10486545e-02 6.72301634e+02] [ 5.30492421e-02 9.98591891e-01 -1.11311923e-04 7.68671044e+00] [ 1.10390016e-02 -4.74974354e-04 9.99938956e-01 4.61989432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0492541539999 meters 0.02586697393288864 Centerline is valid? [True, True] Translation: X:672.33, Y:7.68, Z:4.62 [[ 9.98371167e-01 -5.61071453e-02 -1.03441263e-02 6.72331764e+02] [ 5.61090754e-02 9.98424640e-01 -1.03745424e-04 7.68154095e+00] [ 1.03336514e-02 -4.76822923e-04 9.99946493e-01 4.62050737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.079254154 meters 0.027220232957121945 Centerline is valid? [True, True] Translation: X:672.36, Y:7.68, Z:4.62 [[ 9.98330221e-01 -5.67432215e-02 -1.08155708e-02 6.72364183e+02] [ 5.67453719e-02 9.98388677e-01 -1.08197279e-04 7.67988445e+00] [ 1.08042829e-02 -5.05716975e-04 9.99941504e-01 4.61967412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1092541539999 meters 0.028663581258414048 Centerline is valid? [True, True] Translation: X:672.40, Y:7.68, Z:4.62 [[ 9.98270936e-01 -5.77552328e-02 -1.09302971e-02 6.72395445e+02] [ 5.77574973e-02 9.98330636e-01 -1.08634929e-04 7.67798897e+00] [ 1.09183247e-02 -5.22859515e-04 9.99940257e-01 4.61939217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1392541539999 meters 0.029628816782643896 Centerline is valid? [True, True] Translation: X:672.43, Y:7.67, Z:4.62 [[ 9.98132838e-01 -6.01570696e-02 -1.05813783e-02 6.72425734e+02] [ 6.01593309e-02 9.98188782e-01 -1.04747946e-04 7.67380387e+00] [ 1.05685144e-02 -5.32016272e-04 9.99944010e-01 4.61991492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1692541539999 meters 0.030325024165618615 Centerline is valid? [True, True] Translation: X:672.46, Y:7.67, Z:4.62 [[ 9.98056535e-01 -6.12780778e-02 -1.13203086e-02 6.72457986e+02] [ 6.12807427e-02 9.98120563e-01 -1.11629942e-04 7.67255617e+00] [ 1.13058733e-02 -5.82303927e-04 9.99935917e-01 4.61904878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.199254154 meters 0.03169727298507429 Centerline is valid? [True, True] Translation: X:672.49, Y:7.67, Z:4.62 [[ 9.98007448e-01 -6.18941161e-02 -1.22577161e-02 6.72490357e+02] [ 6.18972979e-02 9.98082517e-01 -1.19988983e-04 7.67102265e+00] [ 1.22416388e-02 -6.38969609e-04 9.99924864e-01 4.61742426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2292541539999 meters 0.032036029078296425 Centerline is valid? [True, True] Translation: X:672.52, Y:7.67, Z:4.62 [[ 9.97912031e-01 -6.33238925e-02 -1.27146777e-02 6.72522649e+02] [ 6.33274430e-02 9.97992795e-01 -1.23572128e-04 7.66995579e+00] [ 1.26969818e-02 -6.81873913e-04 9.99919158e-01 4.61770911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2592541539999 meters 0.034519676642174306 Centerline is valid? [True, True] Translation: X:672.55, Y:7.67, Z:4.62 [[ 9.97801860e-01 -6.46079600e-02 -1.47397419e-02 6.72554009e+02] [ 6.46128855e-02 9.97910394e-01 -1.42304782e-04 7.66820322e+00] [ 1.47181357e-02 -8.10385282e-04 9.99891354e-01 4.61524797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2892541539999 meters 0.03479154522371772 Centerline is valid? [True, True] Translation: X:672.59, Y:7.67, Z:4.62 [[ 9.97741521e-01 -6.55698212e-02 -1.45758390e-02 6.72585073e+02] [ 6.55747553e-02 9.97847650e-01 -1.39676223e-04 7.66687517e+00] [ 1.45536252e-02 -8.16446305e-04 9.99893757e-01 4.61659076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.319254154 meters 0.035475976168534484 Centerline is valid? [True, True] Translation: X:672.62, Y:7.67, Z:4.62 [[ 9.97712576e-01 -6.59651767e-02 -1.47719641e-02 6.72616892e+02] [ 6.59703048e-02 9.97821577e-01 -1.40391015e-04 7.66650667e+00] [ 1.47490455e-02 -8.34441095e-04 9.99890879e-01 4.61646772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3492541539999 meters 0.03629011746635445 Centerline is valid? [True, True] Translation: X:672.65, Y:7.67, Z:4.62 [[ 9.97724459e-01 -6.56816927e-02 -1.52255897e-02 6.72648278e+02] [ 6.56871213e-02 9.97840258e-01 -1.43809950e-04 7.66582597e+00] [ 1.52021521e-02 -8.56642455e-04 9.99884074e-01 4.61654827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3792541539999 meters 0.036106543367616296 Centerline is valid? [True, True] Translation: X:672.68, Y:7.67, Z:4.62 [[ 9.97774335e-01 -6.48532382e-02 -1.55059498e-02 6.72680043e+02] [ 6.48587809e-02 9.97894442e-01 -1.45683367e-04 7.66643016e+00] [ 1.54827491e-02 -8.60337874e-04 9.99879765e-01 4.61666352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4092541539999 meters 0.03603778746598344 Centerline is valid? [True, True] Translation: X:672.71, Y:7.67, Z:4.62 [[ 9.97858534e-01 -6.34471571e-02 -1.58998338e-02 6.72711614e+02] [ 6.34528173e-02 9.97984828e-01 -1.48739092e-04 7.66771917e+00] [ 1.58772300e-02 -8.60468678e-04 9.99873579e-01 4.61661572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4392541539999 meters 0.03387465255194188 Centerline is valid? [True, True] Translation: X:672.74, Y:7.67, Z:4.62 [[ 9.98140704e-01 -5.89071491e-02 -1.56551177e-02 6.72741516e+02] [ 5.89120812e-02 9.98263164e-01 -1.46330513e-04 7.67262565e+00] [ 1.56365473e-02 -7.76217125e-04 9.99877440e-01 4.61745441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4692541539999 meters 0.032317580552463435 Centerline is valid? [True, True] Translation: X:672.77, Y:7.68, Z:4.62 [[ 9.98323121e-01 -5.57621813e-02 -1.55410917e-02 6.72772733e+02] [ 5.57666625e-02 9.98443818e-01 -1.45208906e-04 7.67628421e+00] [ 1.55250041e-02 -7.21709406e-04 9.99879219e-01 4.61814363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4992541539999 meters 0.030409502877682633 Centerline is valid? [True, True] Translation: X:672.80, Y:7.68, Z:4.62 [[ 9.98539433e-01 -5.18391764e-02 -1.52217218e-02 6.72803987e+02] [ 5.18430237e-02 9.98655236e-01 -1.41998570e-04 7.68050610e+00] [ 1.52086132e-02 -6.47348911e-04 9.99884133e-01 4.61877742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5292541539999 meters 0.02637465301066878 Centerline is valid? [True, True] Translation: X:672.83, Y:7.69, Z:4.62 [[ 9.98955340e-01 -4.32562636e-02 -1.47351645e-02 6.72833993e+02] [ 4.32589383e-02 9.99063885e-01 -1.37311816e-04 7.68889542e+00] [ 1.47273103e-02 -5.00259200e-04 9.99891422e-01 4.61943104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5592541539999 meters 0.02371818694723431 Centerline is valid? [True, True] Translation: X:672.87, Y:7.69, Z:4.62 [[ 9.99143888e-01 -3.86457133e-02 -1.47648273e-02 6.72865040e+02] [ 3.86478975e-02 9.99252881e-01 -1.37476220e-04 7.69432189e+00] [ 1.47591091e-02 -4.33271005e-04 9.99890985e-01 4.61992094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.589254154 meters 0.021634153972672647 Centerline is valid? [True, True] Translation: X:672.89, Y:7.70, Z:4.62 [[ 9.99304426e-01 -3.41502308e-02 -1.49808355e-02 6.72894247e+02] [ 3.41519735e-02 9.99416641e-01 -1.39555274e-04 7.69920837e+00] [ 1.49768621e-02 -3.72166893e-04 9.99887771e-01 4.62016988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6192541539999 meters 0.017850406133428257 Centerline is valid? [True, True] Translation: X:672.92, Y:7.71, Z:4.62 [[ 9.99550385e-01 -2.55215616e-02 -1.57377559e-02 6.72924078e+02] [ 2.55224139e-02 9.99674239e-01 -1.46720256e-04 7.70961270e+00] [ 1.57363737e-02 -2.55011230e-04 9.99876143e-01 4.62057596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6492541539999 meters 0.01649246314758467 Centerline is valid? [True, True] Translation: X:672.95, Y:7.71, Z:4.62 [[ 9.99636376e-01 -2.16613524e-02 -1.60593378e-02 6.72953623e+02] [ 2.16617374e-02 9.99765346e-01 -1.49996770e-04 7.71446688e+00] [ 1.60588185e-02 -1.97930930e-04 9.99871029e-01 4.62067209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6792541539999 meters 0.01559387433312168 Centerline is valid? [True, True] Translation: X:672.98, Y:7.72, Z:4.62 [[ 9.99694732e-01 -1.86900873e-02 -1.61593106e-02 6.72982406e+02] [ 1.86900537e-02 9.99825314e-01 -1.53111292e-04 7.71890358e+00] [ 1.61593494e-02 -1.48953830e-04 9.99869418e-01 4.62093322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.709254154 meters 0.01473855226345475 Centerline is valid? [True, True] Translation: X:673.01, Y:7.72, Z:4.62 [[ 9.99766714e-01 -1.39552418e-02 -1.64854411e-02 6.73010593e+02] [ 1.39545050e-02 9.99902618e-01 -1.59729744e-04 7.72483937e+00] [ 1.64860648e-02 -7.03536876e-05 9.99864093e-01 4.62071121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7392541539999 meters 0.014725977580538816 Centerline is valid? [True, True] Translation: X:673.04, Y:7.73, Z:4.62 [[ 9.99799579e-01 -1.21745237e-02 -1.58928433e-02 6.73039427e+02] [ 1.21735616e-02 9.99925887e-01 -1.57282449e-04 7.72696569e+00] [ 1.58935803e-02 -3.62215805e-05 9.99873688e-01 4.62068205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7692541539999 meters 0.014118333671631247 Centerline is valid? [True, True] Translation: X:673.07, Y:7.73, Z:4.62 [[ 9.99799521e-01 -1.14227599e-02 -1.64450148e-02 6.73067096e+02] [ 1.14215586e-02 9.99934758e-01 -1.66971481e-04 7.72893470e+00] [ 1.64458492e-02 -2.08896936e-05 9.99864758e-01 4.62457158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7992541539999 meters 0.014017619696831055 Centerline is valid? [True, True] Translation: X:673.10, Y:7.73, Z:4.62 [[ 9.99816094e-01 -1.06197484e-02 -1.59686931e-02 6.73095402e+02] [ 1.06184416e-02 9.99943609e-01 -1.66622471e-04 7.72992189e+00] [ 1.59695621e-02 -2.97080653e-06 9.99872478e-01 4.62484002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.829254154 meters 0.01400736769363987 Centerline is valid? [True, True] Translation: X:673.12, Y:7.73, Z:4.62 [[ 9.99819242e-01 -1.00139965e-02 -1.61617969e-02 6.73122694e+02] [ 1.00125283e-02 9.99949859e-01 -1.71762360e-04 7.73078239e+00] [ 1.61627065e-02 9.91086423e-06 9.99869375e-01 4.62492318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8592541539999 meters 0.01412159288947048 Centerline is valid? [True, True] Translation: X:673.15, Y:7.73, Z:4.63 [[ 9.99818091e-01 -1.03252156e-02 -1.60366537e-02 6.73150953e+02] [ 1.03237546e-02 9.99946694e-01 -1.73889538e-04 7.73081215e+00] [ 1.60375943e-02 8.29942902e-06 9.99871389e-01 4.62542240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8892541539999 meters 0.014068184250784498 Centerline is valid? [True, True] Translation: X:673.18, Y:7.73, Z:4.63 [[ 9.99814639e-01 -1.07221265e-02 -1.59913847e-02 6.73178717e+02] [ 1.07206510e-02 9.99942516e-01 -1.77992627e-04 7.73040527e+00] [ 1.59923739e-02 6.52157840e-06 9.99872114e-01 4.62583648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9192541539999 meters 0.014740737850525766 Centerline is valid? [True, True] Translation: X:673.21, Y:7.73, Z:4.63 [[ 9.99818800e-01 -1.14100164e-02 -1.52374335e-02 6.73206937e+02] [ 1.14086905e-02 9.99934904e-01 -1.73945866e-04 7.72837048e+00] [ 1.52384263e-02 7.51849479e-08 9.99883888e-01 4.62622480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.949254154 meters 0.015726068876605957 Centerline is valid? [True, True] Translation: X:673.23, Y:7.73, Z:4.63 [[ 9.99818085e-01 -1.17987422e-02 -1.49861840e-02 6.73233444e+02] [ 1.17974578e-02 9.99930392e-01 -1.74106197e-04 7.72727050e+00] [ 1.49871950e-02 -2.72434862e-06 9.99887686e-01 4.62559825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9792541539999 meters 0.01613059853524498 Centerline is valid? [True, True] Translation: X:673.26, Y:7.73, Z:4.63 [[ 9.99815012e-01 -1.28247277e-02 -1.43341809e-02 6.73261547e+02] [ 1.28236152e-02 9.99917760e-01 -1.69519254e-04 7.72588396e+00] [ 1.43351761e-02 -1.43281264e-05 9.99897246e-01 4.62671156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0092541539999 meters 0.014070023475229912 Centerline is valid? [True, True] Translation: X:673.29, Y:7.72, Z:4.63 [[ 9.99804769e-01 -1.44327566e-02 -1.34951369e-02 6.73288902e+02] [ 1.44318804e-02 9.99895842e-01 -1.62308231e-04 7.72424472e+00] [ 1.34960738e-02 -3.24836581e-05 9.99908923e-01 4.62907516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0392541539999 meters 0.01629489046616655 Centerline is valid? [True, True] Translation: X:673.32, Y:7.72, Z:4.63 [[ 9.99766599e-01 -1.70192229e-02 -1.33076159e-02 6.73316730e+02] [ 1.70185644e-02 9.99855160e-01 -1.62728602e-04 7.71980412e+00] [ 1.33084580e-02 -6.37858981e-05 9.99911437e-01 4.62814974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.069254154 meters 0.014656430790038352 Centerline is valid? [True, True] Translation: X:673.34, Y:7.72, Z:4.63 [[ 9.99730544e-01 -1.89630159e-02 -1.33882031e-02 6.73344539e+02] [ 1.89624895e-02 9.99820182e-01 -1.66272204e-04 7.71690938e+00] [ 1.33889487e-02 -8.76462596e-05 9.99910360e-01 4.62922610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0992541539999 meters 0.014484484314737327 Centerline is valid? [True, True] Translation: X:673.37, Y:7.71, Z:4.63 [[ 9.99687980e-01 -2.08996518e-02 -1.36801585e-02 6.73373392e+02] [ 2.08992701e-02 9.99781572e-01 -1.70876512e-04 7.71355082e+00] [ 1.36807416e-02 -1.15082131e-04 9.99906408e-01 4.62918574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1292541539999 meters 0.014602552162294731 Centerline is valid? [True, True] Translation: X:673.40, Y:7.71, Z:4.63 [[ 9.99636907e-01 -2.28540310e-02 -1.42740015e-02 6.73402800e+02] [ 2.28538056e-02 9.99738802e-01 -1.78932793e-04 7.71073611e+00] [ 1.42743625e-02 -1.47347430e-04 9.99898105e-01 4.62904782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1592541539999 meters 0.015434363642737377 Centerline is valid? [True, True] Translation: X:673.43, Y:7.70, Z:4.63 [[ 9.99530615e-01 -2.65605942e-02 -1.52670957e-02 6.73431209e+02] [ 2.65607555e-02 9.99647182e-01 -1.92236971e-04 7.70381799e+00] [ 1.52668152e-02 -2.13358859e-04 9.99883433e-01 4.62804847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1892541539999 meters 0.015514056190310039 Centerline is valid? [True, True] Translation: X:673.46, Y:7.70, Z:4.63 [[ 9.99471310e-01 -2.83836223e-02 -1.58578044e-02 6.73460753e+02] [ 2.83840126e-02 9.99597073e-01 -2.00502638e-04 7.70173929e+00] [ 1.58571058e-02 -2.49711486e-04 9.99874237e-01 4.62844272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2192541539999 meters 0.01653054115511984 Centerline is valid? [True, True] Translation: X:673.49, Y:7.70, Z:4.63 [[ 9.99362721e-01 -3.19798390e-02 -1.58569002e-02 6.73490613e+02] [ 3.19806728e-02 9.99488467e-01 -2.01050813e-04 7.69569126e+00] [ 1.58552184e-02 -3.06191649e-04 9.99874251e-01 4.62819598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2492541539999 meters 0.016277515014681925 Centerline is valid? [True, True] Translation: X:673.52, Y:7.69, Z:4.63 [[ 9.99316487e-01 -3.35339252e-02 -1.55574406e-02 6.73520616e+02] [ 3.35349117e-02 9.99437527e-01 -1.97534608e-04 7.69421558e+00] [ 1.55553140e-02 -3.24317805e-04 9.99878956e-01 4.62894257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2792541539999 meters 0.019798401510735638 Centerline is valid? [True, True] Translation: X:673.55, Y:7.69, Z:4.63 [[ 9.99278475e-01 -3.45437403e-02 -1.57879387e-02 6.73549764e+02] [ 3.45448792e-02 9.99403127e-01 -2.00655174e-04 7.69049164e+00] [ 1.57854467e-02 -3.44882039e-04 9.99875343e-01 4.62630118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3092541539999 meters 0.016623575754342278 Centerline is valid? [True, True] Translation: X:673.58, Y:7.69, Z:4.63 [[ 9.99215928e-01 -3.64255887e-02 -1.55146839e-02 6.73580111e+02] [ 3.64269132e-02 9.99336300e-01 -1.97305312e-04 7.69011827e+00] [ 1.55115738e-02 -3.68001433e-04 9.99879621e-01 4.62968099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.339254154 meters 0.01774256600310405 Centerline is valid? [True, True] Translation: X:673.61, Y:7.69, Z:4.63 [[ 9.99131088e-01 -3.89757108e-02 -1.47635431e-02 6.73610767e+02] [ 3.89771884e-02 9.99240083e-01 -1.87752809e-04 7.68578666e+00] [ 1.47596419e-02 -3.87851733e-04 9.99890995e-01 4.62968969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3692541539999 meters 0.018714463228248965 Centerline is valid? [True, True] Translation: X:673.64, Y:7.68, Z:4.63 [[ 9.99091675e-01 -4.00001709e-02 -1.46905410e-02 6.73640814e+02] [ 4.00017466e-02 9.99199592e-01 -1.86682126e-04 7.68311898e+00] [ 1.46862499e-02 -4.01134740e-04 9.99892071e-01 4.62936387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3992541539999 meters 0.019447785505418015 Centerline is valid? [True, True] Translation: X:673.67, Y:7.68, Z:4.63 [[ 9.99061678e-01 -4.08256897e-02 -1.44577762e-02 6.73672287e+02] [ 4.08273080e-02 9.99166201e-01 -1.83323414e-04 7.68219420e+00] [ 1.44532057e-02 -4.07120687e-04 9.99895464e-01 4.62932925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4292541539999 meters 0.019406113649252776 Centerline is valid? [True, True] Translation: X:673.70, Y:7.68, Z:4.63 [[ 9.99014520e-01 -4.21751536e-02 -1.38291507e-02 6.73703408e+02] [ 4.21767702e-02 9.99110149e-01 -1.74858920e-04 7.68038016e+00] [ 1.38242195e-02 -4.08582311e-04 9.99904357e-01 4.62998292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.459254154 meters 0.021582018394496038 Centerline is valid? [True, True] Translation: X:673.74, Y:7.68, Z:4.63 [[ 9.98914330e-01 -4.44194329e-02 -1.40383518e-02 6.73735104e+02] [ 4.44213274e-02 9.99012870e-01 -1.76990778e-04 7.67658520e+00] [ 1.40323559e-02 -4.46803596e-04 9.99901442e-01 4.62869811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4892541539999 meters 0.02258729177340114 Centerline is valid? [True, True] Translation: X:673.77, Y:7.67, Z:4.63 [[ 9.98842237e-01 -4.59075300e-02 -1.43765261e-02 6.73765470e+02] [ 4.59096764e-02 9.98945579e-01 -1.80863101e-04 7.67406765e+00] [ 1.43696701e-02 -4.79367956e-04 9.99896636e-01 4.62845531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5192541539999 meters 0.02222118664949479 Centerline is valid? [True, True] Translation: X:673.80, Y:7.67, Z:4.63 [[ 9.98738306e-01 -4.82553248e-02 -1.39003625e-02 6.73796629e+02] [ 4.82575636e-02 9.98834910e-01 -1.74501210e-04 7.67216828e+00] [ 1.38925880e-02 -4.96516586e-04 9.99903370e-01 4.62934676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5492541539999 meters 0.02380497225796248 Centerline is valid? [True, True] Translation: X:673.83, Y:7.67, Z:4.63 [[ 9.98479818e-01 -5.33736098e-02 -1.37590569e-02 6.73826997e+02] [ 5.33762935e-02 9.98574455e-01 -1.72358482e-04 7.66661088e+00] [ 1.37486421e-02 -5.62310993e-04 9.99905325e-01 4.63027734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.579254154 meters 0.02519026010096983 Centerline is valid? [True, True] Translation: X:673.86, Y:7.66, Z:4.63 [[ 9.98337836e-01 -5.59254380e-02 -1.39251675e-02 6.73858104e+02] [ 5.59284381e-02 9.98434765e-01 -1.74190717e-04 7.66441878e+00] [ 1.39131131e-02 -6.04911687e-04 9.99903025e-01 4.63020801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6092541539999 meters 0.026681500413645618 Centerline is valid? [True, True] Translation: X:673.89, Y:7.66, Z:4.63 [[ 9.98196060e-01 -5.82777466e-02 -1.44336656e-02 6.73889501e+02] [ 5.82812209e-02 9.98300189e-01 -1.80162075e-04 7.66224125e+00] [ 1.44196305e-02 -6.61374580e-04 9.99895813e-01 4.62990605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6392541539999 meters 0.0287733416331153 Centerline is valid? [True, True] Translation: X:673.92, Y:7.66, Z:4.63 [[ 9.98067607e-01 -6.01151286e-02 -1.57233048e-02 6.73920705e+02] [ 6.01194881e-02 9.98191168e-01 -1.95688677e-04 7.66048637e+00] [ 1.57066278e-02 -7.49966505e-04 9.99876362e-01 4.62848617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6692541539999 meters 0.03086038700564369 Centerline is valid? [True, True] Translation: X:673.95, Y:7.66, Z:4.63 [[ 9.97758031e-01 -6.50887807e-02 -1.55679676e-02 6.73950816e+02] [ 6.50936622e-02 9.97879140e-01 -1.93486150e-04 7.65613379e+00] [ 1.55475439e-02 -8.20323663e-04 9.99878793e-01 4.62926009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.699254154 meters 0.032028726817395346 Centerline is valid? [True, True] Translation: X:673.98, Y:7.65, Z:4.63 [[ 9.97642386e-01 -6.67324631e-02 -1.60140204e-02 6.73982470e+02] [ 6.67378450e-02 9.97770525e-01 -1.98692680e-04 7.65440462e+00] [ 1.59915768e-02 -8.70516971e-04 9.99871748e-01 4.62930158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7292541539999 meters 0.03330797862070094 Centerline is valid? [True, True] Translation: X:674.01, Y:7.65, Z:4.63 [[ 9.97543027e-01 -6.81783777e-02 -1.61126502e-02 6.74013778e+02] [ 6.81840230e-02 9.97672742e-01 -1.99362997e-04 7.65313534e+00] [ 1.60887441e-02 -8.99752140e-04 9.99870163e-01 4.62912581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7592541539999 meters 0.028994303613019922 Centerline is valid? [True, True] Translation: X:674.05, Y:7.66, Z:4.63 [[ 9.97403700e-01 -7.00920637e-02 -1.65215675e-02 6.74045267e+02] [ 7.00982707e-02 9.97540070e-01 -2.03829358e-04 7.66082315e+00] [ 1.64952124e-02 -9.54833155e-04 9.99863489e-01 4.63163051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7892541539999 meters 0.030110764363356263 Centerline is valid? [True, True] Translation: X:674.08, Y:7.66, Z:4.63 [[ 9.97365329e-01 -7.07572421e-02 -1.59941477e-02 6.74076152e+02] [ 7.07631561e-02 9.97493126e-01 -1.96581712e-04 7.66036491e+00] [ 1.59679620e-02 -9.35732587e-04 9.99872066e-01 4.63217450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.819254154 meters 0.030110764363356263 Centerline is valid? [True, True] Translation: X:674.11, Y:7.66, Z:4.63 [[ 9.97370457e-01 -7.06849271e-02 -1.59941604e-02 6.74107891e+02] [ 7.06908484e-02 9.97498253e-01 -1.95545665e-04 7.66069159e+00] [ 1.59679692e-02 -9.35609298e-04 9.99872066e-01 4.63239436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8492541539999 meters 0.030460779254020205 Centerline is valid? [True, True] Translation: X:674.14, Y:7.66, Z:4.63 [[ 9.97345638e-01 -7.10695090e-02 -1.58367853e-02 6.74139589e+02] [ 7.10753868e-02 9.97470928e-01 -1.92089700e-04 7.66159621e+00] [ 1.58103846e-02 -9.34025814e-04 9.99874572e-01 4.63284737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8792541539999 meters 0.03043754004744894 Centerline is valid? [True, True] Translation: X:674.17, Y:7.66, Z:4.63 [[ 9.97359520e-01 -7.08647806e-02 -1.58798656e-02 6.74172116e+02] [ 7.08706877e-02 9.97485493e-01 -1.91156801e-04 7.66399017e+00] [ 1.58534819e-02 -9.34764942e-04 9.99873889e-01 4.63317384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9092541539999 meters 0.029630734754120296 Centerline is valid? [True, True] Translation: X:674.20, Y:7.67, Z:4.63 [[ 9.97395246e-01 -7.03970751e-02 -1.57154556e-02 6.74204302e+02] [ 7.04028205e-02 9.97518625e-01 -1.88038667e-04 7.66643100e+00] [ 1.56896970e-02 -9.18863525e-04 9.99876487e-01 4.63376080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9392541539999 meters 0.029424913121233458 Centerline is valid? [True, True] Translation: X:674.24, Y:7.67, Z:4.63 [[ 9.97468777e-01 -6.95032700e-02 -1.50111222e-02 6.74237014e+02] [ 6.95084293e-02 9.97581348e-01 -1.78392038e-04 7.66798254e+00] [ 1.49872143e-02 -8.65459037e-04 9.99887311e-01 4.63425034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9692541539999 meters 0.028981967239660664 Centerline is valid? [True, True] Translation: X:674.27, Y:7.67, Z:4.64 [[ 9.97639492e-01 -6.72261617e-02 -1.40030875e-02 6.74268126e+02] [ 6.72304393e-02 9.97737461e-01 -1.65567463e-04 7.67280613e+00] [ 1.39825355e-02 -7.76257088e-04 9.99901938e-01 4.63600921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9992541539999 meters 0.02814113704174366 Centerline is valid? [True, True] Translation: X:674.30, Y:7.68, Z:4.64 [[ 9.97757298e-01 -6.53926349e-02 -1.42890966e-02 6.74299553e+02] [ 6.53969092e-02 9.97859317e-01 -1.68422391e-04 7.67720316e+00] [ 1.42695217e-02 -7.66418080e-04 9.99897891e-01 4.63593530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0292541539999 meters 0.02854338348674399 Centerline is valid? [True, True] Translation: X:674.33, Y:7.68, Z:4.64 [[ 9.97862553e-01 -6.38963757e-02 -1.36959120e-02 6.74330250e+02] [ 6.39001685e-02 9.97956283e-01 -1.60941202e-04 7.67820392e+00] [ 1.36782050e-02 -7.14573885e-04 9.99906194e-01 4.63685495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0592541539999 meters 0.025681637857559593 Centerline is valid? [True, True] Translation: X:674.36, Y:7.69, Z:4.64 [[ 9.98118509e-01 -5.97929679e-02 -1.35736163e-02 6.74360516e+02] [ 5.97963181e-02 9.98210586e-01 -1.59254599e-04 7.68635654e+00] [ 1.35588498e-02 -6.52697315e-04 9.99907862e-01 4.63697663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.089254154 meters 0.025037243316779353 Centerline is valid? [True, True] Translation: X:674.39, Y:7.69, Z:4.64 [[ 9.98240497e-01 -5.76284073e-02 -1.39598296e-02 6.74392057e+02] [ 5.76317433e-02 9.98337896e-01 -1.63531454e-04 7.68972316e+00] [ 1.39460510e-02 -6.41285596e-04 9.99902543e-01 4.63723522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1192541539999 meters 0.024694200253444668 Centerline is valid? [True, True] Translation: X:674.42, Y:7.69, Z:4.64 [[ 9.98376189e-01 -5.53746979e-02 -1.33651492e-02 6.74422952e+02] [ 5.53775604e-02 9.98465473e-01 -1.56094357e-04 7.69268155e+00] [ 1.33532837e-02 -5.84288465e-04 9.99910670e-01 4.63756614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1492541539999 meters 0.02265954199935727 Centerline is valid? [True, True] Translation: X:674.45, Y:7.70, Z:4.64 [[ 9.98638730e-01 -5.01194511e-02 -1.44474400e-02 6.74453680e+02] [ 5.01222528e-02 9.98743076e-01 -1.68332608e-04 7.70107721e+00] [ 1.44377174e-02 -5.56034778e-04 9.99895616e-01 4.63773673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1792541539999 meters 0.020511094280715028 Centerline is valid? [True, True] Translation: X:674.49, Y:7.71, Z:4.64 [[ 9.98777110e-01 -4.72369575e-02 -1.45929864e-02 6.74485023e+02] [ 4.72395145e-02 9.98883577e-01 -1.69621261e-04 7.70760456e+00] [ 1.45847068e-02 -5.19951760e-04 9.99893502e-01 4.63821153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.209254154 meters 0.02194545669850159 Centerline is valid? [True, True] Translation: X:674.52, Y:7.71, Z:4.64 [[ 9.98919503e-01 -4.38539492e-02 -1.53836729e-02 6.74515773e+02] [ 4.38563991e-02 9.99037829e-01 -1.78233314e-04 7.70921385e+00] [ 1.53766874e-02 -4.96631762e-04 9.99881648e-01 4.63653923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2392541539999 meters 0.02040973727826585 Centerline is valid? [True, True] Translation: X:674.55, Y:7.71, Z:4.64 [[ 9.99039846e-01 -4.09486386e-02 -1.55754799e-02 6.74547505e+02] [ 4.09508079e-02 9.99161148e-01 -1.79764350e-04 7.71360847e+00] [ 1.55697755e-02 -4.58236737e-04 9.99878679e-01 4.63743287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2692541539999 meters 0.017138840833216682 Centerline is valid? [True, True] Translation: X:674.58, Y:7.72, Z:4.64 [[ 9.99261564e-01 -3.54152902e-02 -1.49025006e-02 6.74578853e+02] [ 3.54166703e-02 9.99372618e-01 -1.71372523e-04 7.72440928e+00] [ 1.48992203e-02 -3.56550977e-04 9.99888937e-01 4.63947305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2992541539999 meters 0.018607696117383457 Centerline is valid? [True, True] Translation: X:674.61, Y:7.73, Z:4.64 [[ 9.99362166e-01 -3.22630696e-02 -1.53086653e-02 6.74609570e+02] [ 3.22641650e-02 9.99479361e-01 -1.75479832e-04 7.72711649e+00] [ 1.53063565e-02 -3.18553397e-04 9.99882800e-01 4.63786042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.329254154 meters 0.015976472709034684 Centerline is valid? [True, True] Translation: X:674.64, Y:7.73, Z:4.64 [[ 9.99433954e-01 -3.03947144e-02 -1.44198928e-02 6.74640414e+02] [ 3.03954993e-02 9.99537936e-01 -1.64780483e-04 7.73237394e+00] [ 1.44182384e-02 -2.73612631e-04 9.99896014e-01 4.64054863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3592541539999 meters 0.017915356061627342 Centerline is valid? [True, True] Translation: X:674.67, Y:7.73, Z:4.64 [[ 9.99483992e-01 -2.83816222e-02 -1.50410346e-02 6.74670311e+02] [ 2.83822545e-02 9.99597128e-01 -1.71465082e-04 7.73483118e+00] [ 1.50398415e-02 -2.55521868e-04 9.99886863e-01 4.63894555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3892541539999 meters 0.016054598440775714 Centerline is valid? [True, True] Translation: X:674.70, Y:7.74, Z:4.64 [[ 9.99502819e-01 -2.80623981e-02 -1.43741720e-02 6.74701125e+02] [ 2.80629443e-02 9.99606145e-01 -1.63742282e-04 7.73909548e+00] [ 1.43731056e-02 -2.39720714e-04 9.99896673e-01 4.64071580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4192541539999 meters 0.015805022508821154 Centerline is valid? [True, True] Translation: X:674.73, Y:7.74, Z:4.64 [[ 9.99478353e-01 -2.90330834e-02 -1.41457743e-02 6.74731595e+02] [ 2.90337095e-02 9.99578420e-01 -1.61140508e-04 7.74011063e+00] [ 1.41444891e-02 -2.49647854e-04 9.99899931e-01 4.64113686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.449254154 meters 0.01626279204761927 Centerline is valid? [True, True] Translation: X:674.76, Y:7.74, Z:4.64 [[ 9.99436153e-01 -3.04089007e-02 -1.42363837e-02 6.74761740e+02] [ 3.04096804e-02 9.99537506e-01 -1.61755589e-04 7.74016949e+00] [ 1.42347183e-02 -2.71259494e-04 9.99898644e-01 4.64114971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4792541539999 meters 0.016953162454825234 Centerline is valid? [True, True] Translation: X:674.79, Y:7.74, Z:4.64 [[ 9.99276690e-01 -3.53536713e-02 -1.40076707e-02 6.74792646e+02] [ 3.53549189e-02 9.99374807e-01 -1.58637170e-04 7.74025001e+00] [ 1.40045216e-02 -3.36717636e-04 9.99901875e-01 4.64228978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5092541539999 meters 0.018292825234553126 Centerline is valid? [True, True] Translation: X:674.83, Y:7.74, Z:4.64 [[ 9.99167546e-01 -3.84224620e-02 -1.37087261e-02 6.74825083e+02] [ 3.84239541e-02 9.99261515e-01 -1.54620127e-04 7.73978693e+00] [ 1.37045433e-02 -3.72252051e-04 9.99906019e-01 4.64203249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5392541539999 meters 0.019805486773370448 Centerline is valid? [True, True] Translation: X:674.86, Y:7.74, Z:4.64 [[ 9.98884890e-01 -4.54046248e-02 -1.29381630e-02 6.74855289e+02] [ 4.54065503e-02 9.98968580e-01 -1.45038909e-04 7.73609460e+00] [ 1.29314037e-02 -4.42600173e-04 9.99916288e-01 4.64285377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.569254154 meters 0.019805486773370448 Centerline is valid? [True, True] Translation: X:674.89, Y:7.74, Z:4.64 [[ 9.98888231e-01 -4.53310586e-02 -1.29381731e-02 6.74886997e+02] [ 4.53329897e-02 9.98971921e-01 -1.44133230e-04 7.73638911e+00] [ 1.29314053e-02 -4.42553079e-04 9.99916288e-01 4.64307337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5992541539999 meters 0.022120484832334985 Centerline is valid? [True, True] Translation: X:674.92, Y:7.73, Z:4.64 [[ 9.98533101e-01 -5.23618426e-02 -1.37797934e-02 6.74917422e+02] [ 5.23647092e-02 9.98628016e-01 -1.52940421e-04 7.73344399e+00] [ 1.37688960e-02 -5.68858804e-04 9.99905042e-01 4.64235673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6292541539999 meters 0.02366804226665003 Centerline is valid? [True, True] Translation: X:674.95, Y:7.73, Z:4.64 [[ 9.98373682e-01 -5.51227967e-02 -1.45419725e-02 6.74948124e+02] [ 5.51262840e-02 9.98479377e-01 -1.61231658e-04 7.73264917e+00] [ 1.45287472e-02 -6.40675465e-04 9.99894247e-01 4.64089469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6592541539999 meters 0.025647159814506004 Centerline is valid? [True, True] Translation: X:674.98, Y:7.73, Z:4.64 [[ 9.98210921e-01 -5.78822075e-02 -1.49869122e-02 6.74978292e+02] [ 5.78862260e-02 9.98323173e-01 -1.65883833e-04 7.72965898e+00] [ 1.49713834e-02 -7.01948730e-04 9.99887676e-01 4.64086983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6892541539999 meters 0.027260674063099517 Centerline is valid? [True, True] Translation: X:675.01, Y:7.73, Z:4.64 [[ 9.98079905e-01 -5.99210313e-02 -1.56835209e-02 6.75010106e+02] [ 5.99256929e-02 9.98202826e-01 -1.72979307e-04 7.72977591e+00] [ 1.56657000e-02 -7.67198689e-04 9.99876991e-01 4.63988339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7192541539999 meters 0.026217071253162513 Centerline is valid? [True, True] Translation: X:675.04, Y:7.73, Z:4.64 [[ 9.97863162e-01 -6.36191852e-02 -1.48898998e-02 6.75041450e+02] [ 6.36238071e-02 9.97973940e-01 -1.63571573e-04 7.73122318e+00] [ 1.48701383e-02 -7.84130068e-04 9.99889126e-01 4.64263068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7492541539999 meters 0.027995251734956414 Centerline is valid? [True, True] Translation: X:675.07, Y:7.73, Z:4.64 [[ 9.97799572e-01 -6.47085672e-02 -1.44504740e-02 6.75072882e+02] [ 6.47130438e-02 9.97903902e-01 -1.58083142e-04 7.72994314e+00] [ 1.44304137e-02 -7.77398867e-04 9.99895574e-01 4.64289519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7792541539999 meters 0.03134320367393964 Centerline is valid? [True, True] Translation: X:675.10, Y:7.73, Z:4.64 [[ 9.97687530e-01 -6.64124703e-02 -1.44559782e-02 6.75103596e+02] [ 6.64171380e-02 9.97791932e-01 -1.57489602e-04 7.72760384e+00] [ 1.44345177e-02 -8.02999288e-04 9.99895494e-01 4.64125966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8092541539999 meters 0.0288553109251632 Centerline is valid? [True, True] Translation: X:675.14, Y:7.73, Z:4.64 [[ 9.97608981e-01 -6.75662238e-02 -1.45301743e-02 6.75135513e+02] [ 6.75710732e-02 9.97714451e-01 -1.57490904e-04 7.73118147e+00] [ 1.45076060e-02 -8.24705134e-04 9.99894419e-01 4.64295637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.839254154 meters 0.02941285702073477 Centerline is valid? [True, True] Translation: X:675.17, Y:7.73, Z:4.64 [[ 9.97546275e-01 -6.85187106e-02 -1.43741348e-02 6.75167471e+02] [ 6.85235699e-02 9.97649486e-01 -1.54757887e-04 7.73138683e+00] [ 1.43509520e-02 -8.30588880e-04 9.99896675e-01 4.64302996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8692541539999 meters 0.030160582303603422 Centerline is valid? [True, True] Translation: X:675.20, Y:7.73, Z:4.64 [[ 9.97478948e-01 -6.95269124e-02 -1.42041388e-02 6.75199197e+02] [ 6.95317719e-02 9.97579726e-01 -1.52034002e-04 7.73165804e+00] [ 1.41803313e-02 -8.35988220e-04 9.99899105e-01 4.64295738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8992541539999 meters 0.03134589829615194 Centerline is valid? [True, True] Translation: X:675.23, Y:7.73, Z:4.64 [[ 9.97350184e-01 -7.14221055e-02 -1.38381027e-02 6.75231609e+02] [ 7.14269114e-02 9.97445825e-01 -1.47252291e-04 7.73266911e+00] [ 1.38132749e-02 -8.41550839e-04 9.99904238e-01 4.64263046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9292541539999 meters 0.032651611058771776 Centerline is valid? [True, True] Translation: X:675.26, Y:7.73, Z:4.64 [[ 9.97262371e-01 -7.25344410e-02 -1.43707726e-02 6.75263246e+02] [ 7.25397524e-02 9.97365510e-01 -1.52002867e-04 7.73245536e+00] [ 1.43439384e-02 -8.90865550e-04 9.99896724e-01 4.64231674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.959254154 meters 0.03382820180008831 Centerline is valid? [True, True] Translation: X:675.29, Y:7.73, Z:4.64 [[ 9.97217113e-01 -7.30227421e-02 -1.50236233e-02 6.75294631e+02] [ 7.30286146e-02 9.97329833e-01 -1.58085818e-04 7.73258556e+00] [ 1.49950515e-02 -9.39508511e-04 9.99887127e-01 4.64121618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9892541539999 meters 0.03347026352221214 Centerline is valid? [True, True] Translation: X:675.33, Y:7.73, Z:4.64 [[ 9.97144161e-01 -7.39216901e-02 -1.54630415e-02 6.75326483e+02] [ 7.39280341e-02 9.97263566e-01 -1.61718767e-04 7.73419728e+00] [ 1.54326824e-02 -9.81895336e-04 9.99880427e-01 4.64180148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0192541539999 meters 0.03452361863657097 Centerline is valid? [True, True] Translation: X:675.36, Y:7.74, Z:4.64 [[ 9.97048245e-01 -7.50750082e-02 -1.60792073e-02 6.75358602e+02] [ 7.50820361e-02 9.97177346e-01 -1.66997122e-04 7.73575496e+00] [ 1.60463585e-02 -1.04075543e-03 9.99870707e-01 4.64150611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0492541539999 meters 0.03610082065350185 Centerline is valid? [True, True] Translation: X:675.39, Y:7.74, Z:4.64 [[ 9.97007423e-01 -7.55146802e-02 -1.65448219e-02 6.75390126e+02] [ 7.55221981e-02 9.97144106e-01 -1.70816431e-04 7.73527827e+00] [ 1.65104707e-02 -1.07919606e-03 9.99863110e-01 4.64116714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.079254154 meters 0.036180525033833115 Centerline is valid? [True, True] Translation: X:675.42, Y:7.74, Z:4.64 [[ 9.96988857e-01 -7.56989390e-02 -1.68193424e-02 6.75422403e+02] [ 7.57067525e-02 9.97130111e-01 -1.72583035e-04 7.73707786e+00] [ 1.67841371e-02 -1.10127443e-03 9.99858530e-01 4.64070486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1092541539999 meters 0.036686988337489006 Centerline is valid? [True, True] Translation: X:675.45, Y:7.74, Z:4.64 [[ 9.96943620e-01 -7.59055105e-02 -1.84871037e-02 6.75454696e+02] [ 7.59150111e-02 9.97114274e-01 -1.88346768e-04 7.74043421e+00] [ 1.84480516e-02 -1.21567758e-03 9.99829081e-01 4.63881385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1392541539999 meters 0.03660070500926389 Centerline is valid? [True, True] Translation: X:675.49, Y:7.74, Z:4.64 [[ 9.96926293e-01 -7.60361921e-02 -1.88802237e-02 6.75486714e+02] [ 7.60461497e-02 9.97104281e-01 -1.91017034e-04 7.74145153e+00] [ 1.88400760e-02 -1.24533841e-03 9.99821734e-01 4.63974637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1692541539999 meters 0.04033008920455756 Centerline is valid? [True, True] Translation: X:675.52, Y:7.74, Z:4.64 [[ 9.96922351e-01 -7.60114484e-02 -1.91855734e-02 6.75517704e+02] [ 7.60217480e-02 9.97106141e-01 -1.92974274e-04 7.73859958e+00] [ 1.91447213e-02 -1.26614046e-03 9.99815921e-01 4.63914664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.199254154 meters 0.03271187672952649 Centerline is valid? [True, True] Translation: X:675.55, Y:7.75, Z:4.64 [[ 9.96949427e-01 -7.56304501e-02 -1.92840586e-02 6.75549973e+02] [ 7.56408093e-02 9.97135112e-01 -1.92686447e-04 7.75263450e+00] [ 1.92433849e-02 -1.26656316e-03 9.99814027e-01 4.63986236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2292541539999 meters 0.03262909896218833 Centerline is valid? [True, True] Translation: X:675.58, Y:7.76, Z:4.64 [[ 9.96964394e-01 -7.56698856e-02 -1.83320829e-02 6.75582407e+02] [ 7.56792818e-02 9.97132194e-01 -1.81634195e-04 7.75589137e+00] [ 1.82932543e-02 -1.20627605e-03 9.99831937e-01 4.64292322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2592541539999 meters 0.034485575994091765 Centerline is valid? [True, True] Translation: X:675.61, Y:7.76, Z:4.64 [[ 9.97038969e-01 -7.47085416e-02 -1.82189040e-02 6.75613935e+02] [ 7.47176850e-02 9.97204711e-01 -1.79264030e-04 7.75687526e+00] [ 1.81813694e-02 -1.18254111e-03 9.99834006e-01 4.64229518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2892541539999 meters 0.03199554158901492 Centerline is valid? [True, True] Translation: X:675.65, Y:7.76, Z:4.65 [[ 9.97073195e-01 -7.45764014e-02 -1.68346035e-02 6.75645953e+02] [ 7.45842071e-02 9.97214706e-01 -1.64571198e-04 7.76103423e+00] [ 1.67999873e-02 -1.09150602e-03 9.99858274e-01 4.64527434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.319254154 meters 0.03212733641334831 Centerline is valid? [True, True] Translation: X:675.68, Y:7.76, Z:4.65 [[ 9.97226883e-01 -7.28644020e-02 -1.51434228e-02 6.75677201e+02] [ 7.28705327e-02 9.97341398e-01 -1.47283888e-04 7.76417833e+00] [ 1.51138943e-02 -9.56633836e-04 9.99885321e-01 4.64680688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3492541539999 meters 0.030631030310104064 Centerline is valid? [True, True] Translation: X:675.71, Y:7.77, Z:4.65 [[ 9.97288589e-01 -7.21346371e-02 -1.45624503e-02 6.75709611e+02] [ 7.21402405e-02 9.97394489e-01 -1.40828308e-04 7.76824872e+00] [ 1.45346663e-02 -9.10092201e-04 9.99893952e-01 4.64787060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3792541539999 meters 0.031170862369371666 Centerline is valid? [True, True] Translation: X:675.74, Y:7.77, Z:4.65 [[ 9.97422837e-01 -7.05087924e-02 -1.32738317e-02 6.75740373e+02] [ 7.05133137e-02 9.97510830e-01 -1.27668869e-04 7.77123559e+00] [ 1.32497927e-02 -8.08642016e-04 9.99911891e-01 4.64929604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4092541539999 meters 0.030269551252252707 Centerline is valid? [True, True] Translation: X:675.77, Y:7.77, Z:4.65 [[ 9.97485386e-01 -6.96741336e-02 -1.29776742e-02 6.75772151e+02] [ 6.96783940e-02 9.97569499e-01 -1.24130218e-04 7.77432791e+00] [ 1.29547806e-02 -7.80445415e-04 9.99915779e-01 4.65029272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4392541539999 meters 0.0303834078838018 Centerline is valid? [True, True] Translation: X:675.80, Y:7.78, Z:4.65 [[ 9.97509560e-01 -6.92397741e-02 -1.34362129e-02 6.75804562e+02] [ 6.92443150e-02 9.97599724e-01 -1.27519466e-04 7.77564361e+00] [ 1.34127917e-02 -8.03179471e-04 9.99909722e-01 4.65051085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4692541539999 meters 0.029301317509986276 Centerline is valid? [True, True] Translation: X:675.84, Y:7.78, Z:4.65 [[ 9.97532803e-01 -6.88687292e-02 -1.36163867e-02 6.75837271e+02] [ 6.88733736e-02 9.97625402e-01 -1.28105123e-04 7.77792540e+00] [ 1.35928756e-02 -8.10017422e-04 9.99907285e-01 4.65019459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4992541539999 meters 0.0291972699423377 Centerline is valid? [True, True] Translation: X:675.87, Y:7.78, Z:4.65 [[ 9.97507001e-01 -6.89129141e-02 -1.51918479e-02 6.75869193e+02] [ 6.89187206e-02 9.97622268e-01 -1.41609986e-04 7.77847903e+00] [ 1.51654845e-02 -9.05745765e-04 9.99884587e-01 4.64909538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5292541539999 meters 0.030115088506717583 Centerline is valid? [True, True] Translation: X:675.90, Y:7.78, Z:4.65 [[ 9.97508415e-01 -6.87089062e-02 -1.60015276e-02 6.75901730e+02] [ 6.87153567e-02 9.97636296e-01 -1.46991809e-04 7.77810346e+00] [ 1.59738044e-02 -9.52925114e-04 9.99871957e-01 4.64859446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5592541539999 meters 0.02811271432315156 Centerline is valid? [True, True] Translation: X:675.93, Y:7.78, Z:4.65 [[ 9.97536970e-01 -6.81781877e-02 -1.64842085e-02 6.75934111e+02] [ 6.81849939e-02 9.97672684e-01 -1.49432509e-04 7.78176289e+00] [ 1.64560325e-02 -9.74911202e-04 9.99864115e-01 4.64866383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.589254154 meters 0.028783224318107235 Centerline is valid? [True, True] Translation: X:675.97, Y:7.78, Z:4.65 [[ 9.97614773e-01 -6.65413730e-02 -1.83578162e-02 6.75965374e+02] [ 6.65495608e-02 9.97783107e-01 -1.65208497e-04 7.78280674e+00] [ 1.83281121e-02 -1.05689017e-03 9.99831467e-01 4.64767458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6192541539999 meters 0.028173606815419076 Centerline is valid? [True, True] Translation: X:676.00, Y:7.78, Z:4.65 [[ 9.97723637e-01 -6.48255572e-02 -1.85793459e-02 6.75996919e+02] [ 6.48336625e-02 9.97896071e-01 -1.66386466e-04 7.78492533e+00] [ 1.85510424e-02 -1.03855933e-03 9.99827375e-01 4.64779824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6492541539999 meters 0.02791053889030246 Centerline is valid? [True, True] Translation: X:676.03, Y:7.79, Z:4.65 [[ 9.97825906e-01 -6.30096388e-02 -1.93196113e-02 6.76027991e+02] [ 6.30180774e-02 9.98012371e-01 -1.72301147e-04 7.78692660e+00] [ 1.92920677e-02 -1.04555821e-03 9.99813344e-01 4.64767220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6792541539999 meters 0.02553292333879056 Centerline is valid? [True, True] Translation: X:676.06, Y:7.79, Z:4.65 [[ 9.98134916e-01 -5.80518619e-02 -1.88857230e-02 6.76058790e+02] [ 5.80590467e-02 9.98313137e-01 -1.68100510e-04 7.79194136e+00] [ 1.88636240e-02 -9.28700088e-04 9.99821635e-01 4.64857114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.709254154 meters 0.02601074029819393 Centerline is valid? [True, True] Translation: X:676.09, Y:7.79, Z:4.65 [[ 9.98290066e-01 -5.55707745e-02 -1.81337477e-02 6.76089610e+02] [ 5.55769981e-02 9.98454391e-01 -1.60954221e-04 7.79255755e+00] [ 1.81146644e-02 -8.47140263e-04 9.99835557e-01 4.64891302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7392541539999 meters 0.02601074029819393 Centerline is valid? [True, True] Translation: X:676.12, Y:7.79, Z:4.65 [[ 9.98294007e-01 -5.54999377e-02 -1.81337569e-02 6.76121338e+02] [ 5.55061686e-02 9.98458331e-01 -1.59908212e-04 7.79277527e+00] [ 1.81146756e-02 -8.46899961e-04 9.99835557e-01 4.64913280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7692541539999 meters 0.02529559728644184 Centerline is valid? [True, True] Translation: X:676.15, Y:7.80, Z:4.65 [[ 9.98442859e-01 -5.30294814e-02 -1.73127629e-02 6.76152470e+02] [ 5.30348046e-02 9.98592653e-01 -1.51831532e-04 7.79547868e+00] [ 1.72964494e-02 -7.66583891e-04 9.99850111e-01 4.65014701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7992541539999 meters 0.025104760628131394 Centerline is valid? [True, True] Translation: X:676.18, Y:7.80, Z:4.65 [[ 9.98704923e-01 -4.83086518e-02 -1.59609306e-02 6.76182054e+02] [ 4.83125776e-02 9.98832256e-01 -1.39749955e-04 7.79978067e+00] [ 1.59490434e-02 -6.31544729e-04 9.99872606e-01 4.65014622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.829254154 meters 0.021774372134849146 Centerline is valid? [True, True] Translation: X:676.21, Y:7.80, Z:4.65 [[ 9.98795060e-01 -4.66396950e-02 -1.52698125e-02 6.76214319e+02] [ 4.66431026e-02 9.98911609e-01 -1.33096505e-04 7.80489668e+00] [ 1.52594005e-02 -5.79295298e-04 9.99883401e-01 4.65258317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8592541539999 meters 0.02046262141298819 Centerline is valid? [True, True] Translation: X:676.25, Y:7.81, Z:4.65 [[ 9.98870881e-01 -4.50747884e-02 -1.50075436e-02 6.76246275e+02] [ 4.50779198e-02 9.98983465e-01 -1.29725474e-04 7.80818133e+00] [ 1.49981352e-02 -5.46929846e-04 9.99887372e-01 4.65328675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8892541539999 meters 0.02071596404672391 Centerline is valid? [True, True] Translation: X:676.28, Y:7.81, Z:4.65 [[ 9.98935667e-01 -4.34906230e-02 -1.53655148e-02 6.76278101e+02] [ 4.34937359e-02 9.99053691e-01 -1.31681654e-04 7.80976282e+00] [ 1.53567012e-02 -5.36762144e-04 9.99881935e-01 4.65266766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9192541539999 meters 0.022759170905919272 Centerline is valid? [True, True] Translation: X:676.31, Y:7.81, Z:4.65 [[ 9.98968478e-01 -4.27143001e-02 -1.54100430e-02 6.76309782e+02] [ 4.27173634e-02 9.99087188e-01 -1.30473016e-04 7.80658024e+00] [ 1.54015496e-02 -5.27937975e-04 9.99881250e-01 4.65221624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.949254154 meters 0.021488538519243056 Centerline is valid? [True, True] Translation: X:676.34, Y:7.81, Z:4.65 [[ 9.98996655e-01 -4.16449839e-02 -1.64735908e-02 6.76342228e+02] [ 4.16483662e-02 9.99132321e-01 -1.37852883e-04 7.81147755e+00] [ 1.64650379e-02 -5.48383571e-04 9.99864292e-01 4.65128057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9792541539999 meters 0.021127579862075804 Centerline is valid? [True, True] Translation: X:676.37, Y:7.81, Z:4.65 [[ 9.98991392e-01 -4.17145209e-02 -1.66161744e-02 6.76373537e+02] [ 4.17179884e-02 9.99129416e-01 -1.38033935e-04 7.81104395e+00] [ 1.66074667e-02 -5.55298658e-04 9.99861932e-01 4.65196299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0092541539999 meters 0.021522038713666827 Centerline is valid? [True, True] Translation: X:676.41, Y:7.81, Z:4.65 [[ 9.98967032e-01 -4.22084102e-02 -1.68320599e-02 6.76405630e+02] [ 4.22120564e-02 9.99108664e-01 -1.38764200e-04 7.81116951e+00] [ 1.68229139e-02 -5.71895001e-04 9.99858321e-01 4.65173048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0392541539999 meters 0.02006420656818009 Centerline is valid? [True, True] Translation: X:676.44, Y:7.81, Z:4.65 [[ 9.98916016e-01 -4.32069259e-02 -1.73192234e-02 6.76438126e+02] [ 4.32109579e-02 9.99065960e-01 -1.41523694e-04 7.81448758e+00] [ 1.73091613e-02 -6.07009948e-04 9.99850001e-01 4.65201431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.069254154 meters 0.020254100498244828 Centerline is valid? [True, True] Translation: X:676.47, Y:7.81, Z:4.65 [[ 9.98893373e-01 -4.36204373e-02 -1.75865675e-02 6.76470209e+02] [ 4.36246814e-02 9.99047980e-01 -1.42416703e-04 7.81476828e+00] [ 1.75760370e-02 -6.24949303e-04 9.99845334e-01 4.65194601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0992541539999 meters 0.021091500003473967 Centerline is valid? [True, True] Translation: X:676.50, Y:7.81, Z:4.65 [[ 9.98885060e-01 -4.37325583e-02 -1.77792035e-02 6.76501477e+02] [ 4.37369332e-02 9.99043072e-01 -1.42876415e-04 7.81420805e+00] [ 1.77684384e-02 -6.34890719e-04 9.99841927e-01 4.65161181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1292541539999 meters 0.02065492510451835 Centerline is valid? [True, True] Translation: X:676.53, Y:7.82, Z:4.65 [[ 9.98926459e-01 -4.30064683e-02 -1.72154642e-02 6.76533998e+02] [ 4.30104815e-02 9.99074612e-01 -1.37238629e-04 7.81649405e+00] [ 1.72054353e-02 -6.03354106e-04 9.99851793e-01 4.65264048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1592541539999 meters 0.02091232347739032 Centerline is valid? [True, True] Translation: X:676.56, Y:7.82, Z:4.65 [[ 9.98958095e-01 -4.24501724e-02 -1.67543431e-02 6.76564771e+02] [ 4.24539123e-02 9.99098417e-01 -1.32547173e-04 7.81697771e+00] [ 1.67448644e-02 -5.78878342e-04 9.99859627e-01 4.65324491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1892541539999 meters 0.02336848079143144 Centerline is valid? [True, True] Translation: X:676.60, Y:7.81, Z:4.65 [[ 9.99010458e-01 -4.14217044e-02 -1.61971076e-02 6.76595827e+02] [ 4.14250784e-02 9.99141605e-01 -1.27285909e-04 7.81378170e+00] [ 1.61884765e-02 -5.43806498e-04 9.99868810e-01 4.65272788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2192541539999 meters 0.019589646537499898 Centerline is valid? [True, True] Translation: X:676.63, Y:7.82, Z:4.65 [[ 9.99070993e-01 -4.00766525e-02 -1.58433932e-02 6.76627693e+02] [ 4.00797277e-02 9.99196477e-01 -1.23498837e-04 7.82091248e+00] [ 1.58356121e-02 -5.11614779e-04 9.99874478e-01 4.65463370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2492541539999 meters 0.019779491652219067 Centerline is valid? [True, True] Translation: X:676.66, Y:7.82, Z:4.65 [[ 9.99183021e-01 -3.75694585e-02 -1.48938530e-02 6.76658911e+02] [ 3.75719091e-02 9.99293920e-01 -1.15335333e-04 7.82333733e+00] [ 1.48876698e-02 -4.44349384e-04 9.99889074e-01 4.65437241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2792541539999 meters 0.017867120126454215 Centerline is valid? [True, True] Translation: X:676.69, Y:7.83, Z:4.66 [[ 9.99221934e-01 -3.67380916e-02 -1.43470802e-02 6.76691139e+02] [ 3.67402913e-02 9.99324841e-01 -1.10310086e-04 7.82567701e+00] [ 1.43414462e-02 -4.16891647e-04 9.99897069e-01 4.65633552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3092541539999 meters 0.01775073199595613 Centerline is valid? [True, True] Translation: X:676.72, Y:7.83, Z:4.66 [[ 9.99257370e-01 -3.57706611e-02 -1.43237296e-02 6.76723406e+02] [ 3.57727694e-02 9.99359944e-01 -1.09074284e-04 7.82641902e+00] [ 1.43184633e-02 -4.03406194e-04 9.99897404e-01 4.65675830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.339254154 meters 0.01821004691098487 Centerline is valid? [True, True] Translation: X:676.75, Y:7.83, Z:4.66 [[ 9.99279500e-01 -3.52646242e-02 -1.40316669e-02 6.76754509e+02] [ 3.52666100e-02 9.99377934e-01 -1.05961469e-04 7.82632030e+00] [ 1.40266750e-02 -3.88964200e-04 9.99901546e-01 4.65653319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3692541539999 meters 0.017872178540663017 Centerline is valid? [True, True] Translation: X:676.79, Y:7.83, Z:4.66 [[ 9.99283367e-01 -3.47607223e-02 -1.49814831e-02 6.76786390e+02] [ 3.47629444e-02 9.99395580e-01 -1.12142618e-04 7.82705963e+00] [ 1.49763262e-02 -4.08738213e-04 9.99887765e-01 4.65594791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3992541539999 meters 0.018355258212732435 Centerline is valid? [True, True] Translation: X:676.82, Y:7.83, Z:4.65 [[ 9.99265746e-01 -3.50112555e-02 -1.55621489e-02 6.76817694e+02] [ 3.50136991e-02 9.99386826e-01 -1.15496422e-04 7.82647540e+00] [ 1.55566503e-02 -4.29476780e-04 9.99878896e-01 4.65496816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4292541539999 meters 0.01841085487620978 Centerline is valid? [True, True] Translation: X:676.85, Y:7.83, Z:4.65 [[ 9.99234510e-01 -3.54305455e-02 -1.65852371e-02 6.76849534e+02] [ 3.54333970e-02 9.99372033e-01 -1.21991890e-04 7.82662588e+00] [ 1.65791444e-02 -4.65772784e-04 9.99862448e-01 4.65467623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.459254154 meters 0.018774217431918712 Centerline is valid? [True, True] Translation: X:676.88, Y:7.83, Z:4.65 [[ 9.99182130e-01 -3.63019629e-02 -1.78111736e-02 6.76881819e+02] [ 3.63054134e-02 9.99340733e-01 -1.29691879e-04 7.82627048e+00] [ 1.78041393e-02 -5.17056212e-04 9.99841360e-01 4.65360812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4892541539999 meters 0.019499867014648706 Centerline is valid? [True, True] Translation: X:676.91, Y:7.83, Z:4.65 [[ 9.99158960e-01 -3.66238532e-02 -1.84408600e-02 6.76912608e+02] [ 3.66276406e-02 9.99328974e-01 -1.32442170e-04 7.82551792e+00] [ 1.84333363e-02 -5.43114414e-04 9.99829944e-01 4.65301700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5192541539999 meters 0.01949796266846696 Centerline is valid? [True, True] Translation: X:676.94, Y:7.83, Z:4.65 [[ 9.99153544e-01 -3.67019886e-02 -1.85784691e-02 6.76944647e+02] [ 3.67058763e-02 9.99326104e-01 -1.31810419e-04 7.82592089e+00] [ 1.85707868e-02 -5.50240139e-04 9.99827397e-01 4.65320373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5492541539999 meters 0.019248574911507364 Centerline is valid? [True, True] Translation: X:676.98, Y:7.83, Z:4.65 [[ 9.99160577e-01 -3.66985928e-02 -1.82031377e-02 6.76976796e+02] [ 3.67023476e-02 9.99326234e-01 -1.27870327e-04 7.82674799e+00] [ 1.81955657e-02 -5.40334898e-04 9.99834301e-01 4.65356928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.579254154 meters 0.01804734301951165 Centerline is valid? [True, True] Translation: X:677.01, Y:7.83, Z:4.66 [[ 9.99188409e-01 -3.59622235e-02 -1.81450477e-02 6.77009351e+02] [ 3.59658569e-02 9.99353011e-01 -1.26148716e-04 7.83035348e+00] [ 1.81378447e-02 -5.26555856e-04 9.99835357e-01 4.65526821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6092541539999 meters 0.01883052098840121 Centerline is valid? [True, True] Translation: X:677.04, Y:7.83, Z:4.66 [[ 9.99234922e-01 -3.50232417e-02 -1.74052860e-02 6.77040181e+02] [ 3.50264610e-02 9.99386378e-01 -1.19943451e-04 7.83018088e+00] [ 1.73988066e-02 -4.89793887e-04 9.99848509e-01 4.65547989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6392541539999 meters 0.01844509597337616 Centerline is valid? [True, True] Translation: X:677.07, Y:7.83, Z:4.66 [[ 9.99272931e-01 -3.42775361e-02 -1.66931349e-02 6.77072894e+02] [ 3.42804154e-02 9.99412247e-01 -1.13714450e-04 7.83235279e+00] [ 1.66872213e-02 -4.58615826e-04 9.99860653e-01 4.65692131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6692541539999 meters 0.01975852690825276 Centerline is valid? [True, True] Translation: X:677.10, Y:7.83, Z:4.66 [[ 9.99336857e-01 -3.29618193e-02 -1.54714428e-02 6.77104131e+02] [ 3.29641517e-02 9.99456529e-01 -1.04308086e-04 7.83141431e+00] [ 1.54664727e-02 -4.05764073e-04 9.99880305e-01 4.65814280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.699254154 meters 0.01966578513866287 Centerline is valid? [True, True] Translation: X:677.14, Y:7.83, Z:4.66 [[ 9.99346689e-01 -3.26838436e-02 -1.54260282e-02 6.77136680e+02] [ 3.26861436e-02 9.99465660e-01 -1.03065957e-04 7.83191445e+00] [ 1.54211541e-02 -4.01218752e-04 9.99881006e-01 4.65887322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7292541539999 meters 0.017426529598152156 Centerline is valid? [True, True] Translation: X:677.17, Y:7.84, Z:4.66 [[ 9.99345348e-01 -3.29880077e-02 -1.48548237e-02 6.77168364e+02] [ 3.29901894e-02 9.99455671e-01 -9.82198640e-05 7.83653332e+00] [ 1.48499778e-02 -3.91907883e-04 9.99889656e-01 4.66032797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7592541539999 meters 0.017806960673251746 Centerline is valid? [True, True] Translation: X:677.20, Y:7.84, Z:4.66 [[ 9.99338879e-01 -3.33404965e-02 -1.44988636e-02 6.77199930e+02] [ 3.33426252e-02 9.99443976e-01 -9.49529696e-05 7.83519333e+00] [ 1.44939677e-02 -3.88539981e-04 9.99894881e-01 4.66059287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7892541539999 meters 0.0183908844068999 Centerline is valid? [True, True] Translation: X:677.23, Y:7.83, Z:4.66 [[ 9.99293558e-01 -3.50057772e-02 -1.36740846e-02 6.77232478e+02] [ 3.50078379e-02 9.99387034e-01 -8.87049723e-05 7.83314395e+00] [ 1.36688080e-02 -3.90057829e-04 9.99906501e-01 4.66090067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.819254154 meters 0.018607948348847887 Centerline is valid? [True, True] Translation: X:677.26, Y:7.83, Z:4.66 [[ 9.99258953e-01 -3.59666008e-02 -1.37094627e-02 6.77264331e+02] [ 3.59687761e-02 9.99352910e-01 -8.79388879e-05 7.83246299e+00] [ 1.37037543e-02 -4.05238873e-04 9.99906017e-01 4.66155551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8492541539999 meters 0.019301212352681073 Centerline is valid? [True, True] Translation: X:677.30, Y:7.83, Z:4.66 [[ 9.99240193e-01 -3.65826201e-02 -1.34443041e-02 6.77295744e+02] [ 3.65847792e-02 9.99330549e-01 -8.53912325e-05 7.83127493e+00] [ 1.34384276e-02 -4.06530544e-04 9.99909618e-01 4.66129188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8792541539999 meters 0.020314812335645006 Centerline is valid? [True, True] Translation: X:677.33, Y:7.83, Z:4.66 [[ 9.99181562e-01 -3.78691391e-02 -1.42174307e-02 6.77327337e+02] [ 3.78716950e-02 9.99282606e-01 -8.95145707e-05 7.82905032e+00] [ 1.42106210e-02 -4.48996889e-04 9.99898923e-01 4.66121760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9092541539999 meters 0.021047322856662797 Centerline is valid? [True, True] Translation: X:677.36, Y:7.83, Z:4.66 [[ 9.99162240e-01 -3.81820780e-02 -1.47291371e-02 6.77358365e+02] [ 3.81848668e-02 9.99270688e-01 -9.19420796e-05 7.82737258e+00] [ 1.47219055e-02 -4.70565086e-04 9.99891516e-01 4.66100122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9392541539999 meters 0.02096974586896814 Centerline is valid? [True, True] Translation: X:677.39, Y:7.83, Z:4.66 [[ 9.99153782e-01 -3.84108278e-02 -1.47080680e-02 6.77390867e+02] [ 3.84136468e-02 9.99261919e-01 -9.09033490e-05 7.82706621e+00] [ 1.47007040e-02 -4.74164106e-04 9.99891826e-01 4.66093041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9692541539999 meters 0.02036974590629923 Centerline is valid? [True, True] Translation: X:677.42, Y:7.83, Z:4.66 [[ 9.99110823e-01 -3.92889125e-02 -1.52952425e-02 6.77423038e+02] [ 3.92920807e-02 9.99227764e-01 -9.34293203e-05 7.82657184e+00] [ 1.52871017e-02 -5.07635658e-04 9.99883017e-01 4.66110874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9992541539999 meters 0.020616410309856524 Centerline is valid? [True, True] Translation: X:677.46, Y:7.83, Z:4.66 [[ 9.99109863e-01 -3.93576123e-02 -1.51808823e-02 6.77455270e+02] [ 3.93607576e-02 9.99225061e-01 -9.16510200e-05 7.82536938e+00] [ 1.51727252e-02 -5.05961592e-04 9.99884760e-01 4.66116722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0292541539999 meters 0.020100539801294098 Centerline is valid? [True, True] Translation: X:677.49, Y:7.83, Z:4.66 [[ 9.99094008e-01 -3.96416598e-02 -1.54823258e-02 6.77487214e+02] [ 3.96449828e-02 9.99213824e-01 -9.23494519e-05 7.82566869e+00] [ 1.54738149e-02 -5.21530758e-04 9.99880137e-01 4.66171989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0592541539999 meters 0.020731953156677124 Centerline is valid? [True, True] Translation: X:677.52, Y:7.82, Z:4.66 [[ 9.99096053e-01 -3.95622356e-02 -1.55533161e-02 6.77518091e+02] [ 3.95656034e-02 9.99216971e-01 -9.12343015e-05 7.82389125e+00] [ 1.55447469e-02 -5.24224507e-04 9.99879036e-01 4.66200572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.089254154 meters 0.020239140832740355 Centerline is valid? [True, True] Translation: X:677.55, Y:7.82, Z:4.66 [[ 9.99154275e-01 -3.79191923e-02 -1.59018928e-02 6.77550350e+02] [ 3.79225286e-02 9.99280678e-01 -9.17895289e-05 7.82408160e+00] [ 1.58939348e-02 -5.11328085e-04 9.99873553e-01 4.66245580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1192541539999 meters 0.01902433693889865 Centerline is valid? [True, True] Translation: X:677.58, Y:7.83, Z:4.66 [[ 9.99215850e-01 -3.62457349e-02 -1.59352380e-02 6.77582219e+02] [ 3.62488910e-02 9.99342789e-01 -9.08313938e-05 7.82666045e+00] [ 1.59280575e-02 -4.86874538e-04 9.99873022e-01 4.66311234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1492541539999 meters 0.017902724368137665 Centerline is valid? [True, True] Translation: X:677.61, Y:7.83, Z:4.66 [[ 9.99390434e-01 -3.12457461e-02 -1.55712336e-02 6.77612752e+02] [ 3.12481657e-02 9.99511653e-01 -8.79507123e-05 7.82902188e+00] [ 1.55663775e-02 -3.98675386e-04 9.99878757e-01 4.66376781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1792541539999 meters 0.017055259128806406 Centerline is valid? [True, True] Translation: X:677.64, Y:7.83, Z:4.66 [[ 9.99482758e-01 -2.81846609e-02 -1.54868359e-02 6.77643886e+02] [ 2.81866956e-02 9.99602672e-01 -8.69181761e-05 7.83069963e+00] [ 1.54831323e-02 -3.49649512e-04 9.99880068e-01 4.66470877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.209254154 meters 0.016442461727800357 Centerline is valid? [True, True] Translation: X:677.68, Y:7.83, Z:4.66 [[ 9.99570722e-01 -2.52700167e-02 -1.48255524e-02 6.77675051e+02] [ 2.52715685e-02 9.99680619e-01 -8.26872385e-05 7.83228739e+00] [ 1.48229069e-02 -2.92013221e-04 9.99890092e-01 4.66475914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2392541539999 meters 0.015646514566215023 Centerline is valid? [True, True] Translation: X:677.71, Y:7.83, Z:4.66 [[ 9.99681687e-01 -2.00653393e-02 -1.52940435e-02 6.77705365e+02] [ 2.00663880e-02 9.99798646e-01 -8.48967601e-05 7.83418056e+00] [ 1.52926674e-02 -2.22026474e-04 9.99883036e-01 4.66488543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2692541539999 meters 0.01531490955739662 Centerline is valid? [True, True] Translation: X:677.74, Y:7.83, Z:4.66 [[ 9.99726119e-01 -1.78370277e-02 -1.51501756e-02 6.77735114e+02] [ 1.78378040e-02 9.99840890e-01 -8.38995082e-05 7.83458344e+00] [ 1.51492616e-02 -1.86369334e-04 9.99885226e-01 4.66473343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2992541539999 meters 0.014867857496397893 Centerline is valid? [True, True] Translation: X:677.76, Y:7.84, Z:4.67 [[ 9.99749095e-01 -1.63139555e-02 -1.53493220e-02 6.77764927e+02] [ 1.63145691e-02 9.99866905e-01 -8.52471061e-05 7.83604526e+00] [ 1.53486698e-02 -1.65191858e-04 9.99882189e-01 4.66552494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.329254154 meters 0.014641575434871226 Centerline is valid? [True, True] Translation: X:677.79, Y:7.84, Z:4.67 [[ 9.99761947e-01 -1.53667970e-02 -1.54890386e-02 6.77793287e+02] [ 1.53672697e-02 9.99881913e-01 -8.85070249e-05 7.83588205e+00] [ 1.54885696e-02 -1.49538278e-04 9.99880034e-01 4.66543813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3592541539999 meters 0.014577545163807853 Centerline is valid? [True, True] Translation: X:677.82, Y:7.83, Z:4.67 [[ 9.99761219e-01 -1.49805912e-02 -1.59087336e-02 6.77821728e+02] [ 1.49809747e-02 9.99887774e-01 -9.50724700e-05 7.83391719e+00] [ 1.59083724e-02 -1.43278566e-04 9.99873444e-01 4.66554996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3892541539999 meters 0.016570832132108065 Centerline is valid? [True, True] Translation: X:677.85, Y:7.83, Z:4.66 [[ 9.99751149e-01 -1.49137761e-02 -1.65897500e-02 6.77849542e+02] [ 1.49141316e-02 9.99888773e-01 -1.02295374e-04 7.83238357e+00] [ 1.65894304e-02 -1.45151798e-04 9.99862375e-01 4.66372518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4192541539999 meters 0.014866705185701792 Centerline is valid? [True, True] Translation: X:677.88, Y:7.83, Z:4.67 [[ 9.99736120e-01 -1.63229423e-02 -1.61632656e-02 6.77877464e+02] [ 1.63234360e-02 9.99866759e-01 -1.01393860e-04 7.83031293e+00] [ 1.61627670e-02 -1.62472927e-04 9.99869361e-01 4.66523712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.449254154 meters 0.014845154308926448 Centerline is valid? [True, True] Translation: X:677.91, Y:7.83, Z:4.67 [[ 9.99716832e-01 -1.73689545e-02 -1.62657574e-02 6.77906082e+02] [ 1.73695440e-02 9.99849133e-01 -1.05041873e-04 7.82900335e+00] [ 1.62651279e-02 -1.77516660e-04 9.99867698e-01 4.66552523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4792541539999 meters 0.01749533353508707 Centerline is valid? [True, True] Translation: X:677.93, Y:7.83, Z:4.66 [[ 9.99656813e-01 -1.92613181e-02 -1.77555152e-02 6.77934871e+02] [ 1.92622352e-02 9.99814459e-01 -1.19383024e-04 7.82565492e+00] [ 1.77545203e-02 -2.22668857e-04 9.99842351e-01 4.66382851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5092541539999 meters 0.015512094997492346 Centerline is valid? [True, True] Translation: X:677.96, Y:7.82, Z:4.67 [[ 9.99612127e-01 -2.17549136e-02 -1.73873417e-02 6.77962278e+02] [ 2.17561232e-02 9.99763300e-01 -1.19610749e-04 7.82367839e+00] [ 1.73858282e-02 -2.58716792e-04 9.99848822e-01 4.66580624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5392541539999 meters 0.015446016310772385 Centerline is valid? [True, True] Translation: X:677.99, Y:7.82, Z:4.67 [[ 9.99568480e-01 -2.33663313e-02 -1.78008216e-02 6.77991872e+02] [ 2.33678358e-02 9.99726927e-01 -1.23504808e-04 7.82254630e+00] [ 1.77988465e-02 -2.92515162e-04 9.99841545e-01 4.66657159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.569254154 meters 0.016217344616106338 Centerline is valid? [True, True] Translation: X:678.02, Y:7.82, Z:4.67 [[ 9.99461114e-01 -2.74386278e-02 -1.80167424e-02 6.78021905e+02] [ 2.74408182e-02 9.99623422e-01 -1.25671321e-04 7.81792289e+00] [ 1.80134059e-02 -3.68790555e-04 9.99837677e-01 4.66621528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5992541539999 meters 0.016872283232941942 Centerline is valid? [True, True] Translation: X:678.05, Y:7.81, Z:4.67 [[ 9.99400979e-01 -2.96235111e-02 -1.78921929e-02 6.78051447e+02] [ 2.96260132e-02 9.99561045e-01 -1.25256511e-04 7.81450399e+00] [ 1.78880496e-02 -4.04892865e-04 9.99839914e-01 4.66597461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6292541539999 meters 0.016872283232941942 Centerline is valid? [True, True] Translation: X:678.08, Y:7.81, Z:4.67 [[ 9.99402055e-01 -2.95871879e-02 -1.78921948e-02 6.78082303e+02] [ 2.95896890e-02 9.99562121e-01 -1.24984787e-04 7.81469043e+00] [ 1.78880582e-02 -4.04514428e-04 9.99839914e-01 4.66618846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6592541539999 meters 0.017317231234088105 Centerline is valid? [True, True] Translation: X:678.11, Y:7.81, Z:4.67 [[ 9.99320817e-01 -3.22790350e-02 -1.77754798e-02 6.78112814e+02] [ 3.22819336e-02 9.99478795e-01 -1.23919315e-04 7.81229102e+00] [ 1.77702151e-02 -4.49991706e-04 9.99841996e-01 4.66647014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6892541539999 meters 0.018169701960198466 Centerline is valid? [True, True] Translation: X:678.14, Y:7.81, Z:4.67 [[ 9.99243521e-01 -3.48140344e-02 -1.73311249e-02 6.78143504e+02] [ 3.48171741e-02 9.99393691e-01 -1.20631600e-04 7.80868282e+00] [ 1.73248166e-02 -4.82880449e-04 9.99849797e-01 4.66675859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7192541539999 meters 0.019097330325256404 Centerline is valid? [True, True] Translation: X:678.17, Y:7.81, Z:4.67 [[ 9.99160050e-01 -3.73770610e-02 -1.67973305e-02 6.78174788e+02] [ 3.73803801e-02 9.99301103e-01 -1.16436072e-04 7.80541741e+00] [ 1.67899429e-02 -5.11552325e-04 9.99858908e-01 4.66729858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7492541539999 meters 0.020006808671490905 Centerline is valid? [True, True] Translation: X:678.21, Y:7.80, Z:4.67 [[ 9.99071568e-01 -3.98441990e-02 -1.63842161e-02 6.78206499e+02] [ 3.98476978e-02 9.99205759e-01 -1.12986675e-04 7.80244787e+00] [ 1.63757050e-02 -5.39991518e-04 9.99865763e-01 4.66784271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7792541539999 meters 0.021844158638539342 Centerline is valid? [True, True] Translation: X:678.24, Y:7.80, Z:4.67 [[ 9.98889028e-01 -4.43292680e-02 -1.59882777e-02 6.78236860e+02] [ 4.43331798e-02 9.99016795e-01 -1.09850345e-04 7.79639101e+00] [ 1.59774275e-02 -5.99082887e-04 9.99872173e-01 4.66826893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8092541539999 meters 0.021614306537759424 Centerline is valid? [True, True] Translation: X:678.27, Y:7.80, Z:4.67 [[ 9.98817654e-01 -4.61285305e-02 -1.53444858e-02 6.78269320e+02] [ 4.61323568e-02 9.98935331e-01 -1.04690220e-04 7.79531313e+00] [ 1.53329782e-02 -6.03310855e-04 9.99882261e-01 4.66852137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.839254154 meters 0.02409018574479511 Centerline is valid? [True, True] Translation: X:678.30, Y:7.79, Z:4.67 [[ 9.98745589e-01 -4.77184052e-02 -1.51724009e-02 6.78299978e+02] [ 4.77223530e-02 9.98860634e-01 -1.01961190e-04 7.79007255e+00] [ 1.51599794e-02 -6.22229380e-04 9.99884887e-01 4.66778127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8692541539999 meters 0.0254086236199464 Centerline is valid? [True, True] Translation: X:678.33, Y:7.79, Z:4.67 [[ 9.98578073e-01 -5.10597638e-02 -1.53209684e-02 6.78331500e+02] [ 5.10641999e-02 9.98695368e-01 -1.01770813e-04 7.78537115e+00] [ 1.53061765e-02 -6.80726888e-04 9.99882622e-01 4.66847806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8992541539999 meters 0.0263248391896685 Centerline is valid? [True, True] Translation: X:678.36, Y:7.78, Z:4.67 [[ 9.98508441e-01 -5.24606770e-02 -1.51251939e-02 6.78363492e+02] [ 5.24651732e-02 9.98622749e-01 -9.96514659e-05 7.78260576e+00] [ 1.51095905e-02 -6.94043086e-04 9.99885603e-01 4.66844799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9292541539999 meters 0.026350746992057132 Centerline is valid? [True, True] Translation: X:678.40, Y:7.78, Z:4.67 [[ 9.98447853e-01 -5.36195684e-02 -1.50607390e-02 6.78395308e+02] [ 5.36241779e-02 9.98561184e-01 -9.78976839e-05 7.78124036e+00] [ 1.50443186e-02 -7.09874016e-04 9.99886576e-01 4.66871374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.959254154 meters 0.027398992948680666 Centerline is valid? [True, True] Translation: X:678.43, Y:7.78, Z:4.67 [[ 9.98381228e-01 -5.48127226e-02 -1.51818538e-02 6.78427784e+02] [ 5.48175640e-02 9.98496382e-01 -9.73787983e-05 7.77853694e+00] [ 1.51643637e-02 -7.35011078e-04 9.99884744e-01 4.66812694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9892541539999 meters 0.028669839419117917 Centerline is valid? [True, True] Translation: X:678.46, Y:7.77, Z:4.67 [[ 9.98282621e-01 -5.63734677e-02 -1.59323666e-02 6.78458965e+02] [ 5.63790136e-02 9.98409433e-01 -1.01205680e-04 7.77418612e+00] [ 1.59127304e-02 -7.97219243e-04 9.99873067e-01 4.66727097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0192541539999 meters 0.03005605942610123 Centerline is valid? [True, True] Translation: X:678.49, Y:7.77, Z:4.67 [[ 9.98256699e-01 -5.69349009e-02 -1.55556960e-02 6.78490019e+02] [ 5.69402682e-02 9.98377582e-01 -9.80076314e-05 7.77161204e+00] [ 1.55360382e-02 -7.87908726e-04 9.99878998e-01 4.66703643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0492541539999 meters 0.030685409986463387 Centerline is valid? [True, True] Translation: X:678.52, Y:7.77, Z:4.67 [[ 9.98239141e-01 -5.71786977e-02 -1.57864846e-02 6.78522396e+02] [ 5.71842712e-02 9.98363636e-01 -9.84908290e-05 7.77019691e+00] [ 1.57662837e-02 -8.04421215e-04 9.99875381e-01 4.66698893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.079254154 meters 0.030449284875760277 Centerline is valid? [True, True] Translation: X:678.56, Y:7.77, Z:4.67 [[ 9.98268467e-01 -5.66352521e-02 -1.58907616e-02 6.78555018e+02] [ 5.66408480e-02 9.98394614e-01 -9.80527845e-05 7.76990476e+00] [ 1.58708040e-02 -8.02183210e-04 9.99873729e-01 4.66690562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1092541539999 meters 0.03062899066706897 Centerline is valid? [True, True] Translation: X:678.59, Y:7.77, Z:4.67 [[ 9.98315486e-01 -5.58160591e-02 -1.58353305e-02 6.78587699e+02] [ 5.58215327e-02 9.98440758e-01 -9.64847126e-05 7.76972334e+00] [ 1.58160248e-02 -7.87630238e-04 9.99874609e-01 4.66718324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1392541539999 meters 0.02547362892236575 Centerline is valid? [True, True] Translation: X:678.62, Y:7.78, Z:4.67 [[ 9.98399646e-01 -5.42949454e-02 -1.58178736e-02 6.78619777e+02] [ 5.43002359e-02 9.98524649e-01 -9.51454702e-05 7.77714424e+00] [ 1.57997026e-02 -7.63921062e-04 9.99874885e-01 4.66868428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1692541539999 meters 0.029945977004374607 Centerline is valid? [True, True] Translation: X:678.65, Y:7.77, Z:4.67 [[ 9.98504227e-01 -5.24179567e-02 -1.55456333e-02 6.78649916e+02] [ 5.24228614e-02 9.98624972e-01 -9.21078005e-05 7.77111181e+00] [ 1.55290857e-02 -7.22976551e-04 9.99879155e-01 4.66786178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.199254154 meters 0.022314715342575203 Centerline is valid? [True, True] Translation: X:678.68, Y:7.78, Z:4.67 [[ 9.98780297e-01 -4.72100718e-02 -1.44612719e-02 6.78681132e+02] [ 4.72137836e-02 9.98884804e-01 -8.48141773e-05 7.78380515e+00] [ 1.44491488e-02 -5.98060633e-04 9.99895427e-01 4.67078323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2292541539999 meters 0.02088605667805326 Centerline is valid? [True, True] Translation: X:678.71, Y:7.79, Z:4.67 [[ 9.98930432e-01 -4.40065052e-02 -1.41922001e-02 6.78712326e+02] [ 4.40097637e-02 9.99031098e-01 -8.27904715e-05 7.78725015e+00] [ 1.41820925e-02 -5.41893450e-04 9.99899282e-01 4.67179199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2592541539999 meters 0.019767435376305185 Centerline is valid? [True, True] Translation: X:678.74, Y:7.79, Z:4.67 [[ 9.99078250e-01 -4.06950335e-02 -1.36588905e-02 6.78744008e+02] [ 4.06977511e-02 9.99171500e-01 -7.90509172e-05 7.79012987e+00] [ 1.36507911e-02 -4.76908073e-04 9.99906710e-01 4.67282182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2892541539999 meters 0.018357961017920168 Centerline is valid? [True, True] Translation: X:678.78, Y:7.79, Z:4.67 [[ 9.99333862e-01 -3.42574347e-02 -1.25801439e-02 6.78775288e+02] [ 3.42592361e-02 9.99412977e-01 -7.23441135e-05 7.79366948e+00] [ 1.25752374e-02 -3.58690199e-04 9.99920864e-01 4.67281360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.319254154 meters 0.01783496541518861 Centerline is valid? [True, True] Translation: X:678.81, Y:7.79, Z:4.67 [[ 9.99430657e-01 -3.12227169e-02 -1.27868745e-02 6.78805686e+02] [ 3.12243328e-02 9.99512399e-01 -7.32953187e-05 7.79484044e+00] [ 1.27829281e-02 -3.26008037e-04 9.99918242e-01 4.67280814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3492541539999 meters 0.017317783232249334 Centerline is valid? [True, True] Translation: X:678.84, Y:7.80, Z:4.67 [[ 9.99516331e-01 -2.83882619e-02 -1.26969050e-02 6.78837364e+02] [ 2.83896308e-02 9.99596931e-01 -7.24433574e-05 7.79646040e+00] [ 1.26938438e-02 -2.88052126e-04 9.99919388e-01 4.67291985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3792541539999 meters 0.0173341567262362 Centerline is valid? [True, True] Translation: X:678.87, Y:7.80, Z:4.67 [[ 9.99604008e-01 -2.51320640e-02 -1.26572986e-02 6.78869055e+02] [ 2.51331694e-02 9.99684109e-01 -7.17539581e-05 7.79866093e+00] [ 1.26551036e-02 -2.46392486e-04 9.99919891e-01 4.67238890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4092541539999 meters 0.015898993670671217 Centerline is valid? [True, True] Translation: X:678.90, Y:7.80, Z:4.67 [[ 9.99731080e-01 -1.97661775e-02 -1.21271104e-02 6.78899053e+02] [ 1.97668016e-02 9.99804615e-01 -6.84078562e-05 7.80049608e+00] [ 1.21260931e-02 -1.71324725e-04 9.99926462e-01 4.67341599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4392541539999 meters 0.015256558504470418 Centerline is valid? [True, True] Translation: X:678.93, Y:7.80, Z:4.67 [[ 9.99781114e-01 -1.69203313e-02 -1.23055516e-02 6.78929811e+02] [ 1.69207600e-02 9.99856831e-01 -6.92857355e-05 7.80262509e+00] [ 1.23049622e-02 -1.38948715e-04 9.99924281e-01 4.67400990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4692541539999 meters 0.014954125964850896 Centerline is valid? [True, True] Translation: X:678.96, Y:7.80, Z:4.67 [[ 9.99820912e-01 -1.41242917e-02 -1.25955749e-02 6.78959314e+02] [ 1.41245163e-02 9.99900242e-01 -7.11273202e-05 7.80422258e+00] [ 1.25953230e-02 -1.06791821e-04 9.99920670e-01 4.67398135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4992541539999 meters 0.0149530393010413 Centerline is valid? [True, True] Translation: X:678.99, Y:7.81, Z:4.67 [[ 9.99847764e-01 -1.17507150e-02 -1.28984261e-02 6.78987679e+02] [ 1.17507454e-02 9.99930955e-01 -7.34256539e-05 7.80541441e+00] [ 1.28983983e-02 -7.81516454e-05 9.99916809e-01 4.67412111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5292541539999 meters 0.014677110472083109 Centerline is valid? [True, True] Translation: X:679.02, Y:7.81, Z:4.67 [[ 9.99876468e-01 -8.11154329e-03 -1.34630018e-02 6.79016548e+02] [ 8.11121901e-03 9.99967100e-01 -7.86909377e-05 7.80614422e+00] [ 1.34631972e-02 -3.05201393e-05 9.99909367e-01 4.67413701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5592541539999 meters 0.014694925947520322 Centerline is valid? [True, True] Translation: X:679.04, Y:7.81, Z:4.67 [[ 9.99884762e-01 -7.54716407e-03 -1.31720583e-02 6.79043637e+02] [ 7.54677173e-03 9.99971520e-01 -7.94913796e-05 7.80552344e+00] [ 1.31722831e-02 -1.99242979e-05 9.99913242e-01 4.67357715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.589254154 meters 0.01462754976817463 Centerline is valid? [True, True] Translation: X:679.07, Y:7.80, Z:4.67 [[ 9.99877805e-01 -7.71233198e-03 -1.35975831e-02 6.79071616e+02] [ 7.71189121e-03 9.99970259e-01 -8.48502516e-05 7.80277420e+00] [ 1.35978331e-02 -2.00231982e-05 9.99907545e-01 4.67399356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6192541539999 meters 0.014715549536936755 Centerline is valid? [True, True] Translation: X:679.10, Y:7.80, Z:4.67 [[ 9.99868552e-01 -8.83040321e-03 -1.35979295e-02 6.79099709e+02] [ 8.83001342e-03 9.99961011e-01 -8.87041191e-05 7.80062955e+00] [ 1.35981826e-02 -3.13774411e-05 9.99907540e-01 4.67388217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6492541539999 meters 0.014836403343098579 Centerline is valid? [True, True] Translation: X:679.13, Y:7.80, Z:4.67 [[ 9.99854597e-01 -1.01813597e-02 -1.36793328e-02 6.79127792e+02] [ 1.01810567e-02 9.99948167e-01 -9.17950556e-05 7.79788496e+00] [ 1.36795583e-02 -4.74883536e-05 9.99906429e-01 4.67316215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6792541539999 meters 0.014810650099651509 Centerline is valid? [True, True] Translation: X:679.16, Y:7.80, Z:4.67 [[ 9.99826533e-01 -1.23661135e-02 -1.39278014e-02 6.79156897e+02] [ 1.23659787e-02 9.99923534e-01 -9.58045337e-05 7.79561431e+00] [ 1.39279211e-02 -7.64429801e-05 9.99902999e-01 4.67399452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.709254154 meters 0.015473658826404987 Centerline is valid? [True, True] Translation: X:679.19, Y:7.79, Z:4.67 [[ 9.99750803e-01 -1.74674295e-02 -1.39004119e-02 6.79185313e+02] [ 1.74677557e-02 9.99847422e-01 -9.79566755e-05 7.78941946e+00] [ 1.39000021e-02 -1.44876734e-04 9.99903380e-01 4.67380732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7392541539999 meters 0.01572303808811607 Centerline is valid? [True, True] Translation: X:679.21, Y:7.79, Z:4.67 [[ 9.99691786e-01 -2.07014109e-02 -1.37034579e-02 6.79213675e+02] [ 2.07020180e-02 9.99785685e-01 -9.75595754e-05 7.78508243e+00] [ 1.37025407e-02 -1.86159725e-04 9.99906098e-01 4.67367159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7692541539999 meters 0.016060776064238416 Centerline is valid? [True, True] Translation: X:679.24, Y:7.78, Z:4.67 [[ 9.99617557e-01 -2.42452599e-02 -1.33006083e-02 6.79243282e+02] [ 2.42461375e-02 9.99706015e-01 -9.52902606e-05 7.78176540e+00] [ 1.32990085e-02 -2.27234560e-04 9.99911538e-01 4.67389186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7992541539999 meters 0.016665481840330666 Centerline is valid? [True, True] Translation: X:679.27, Y:7.78, Z:4.67 [[ 9.99516868e-01 -2.80117005e-02 -1.34675818e-02 6.79273798e+02] [ 2.80129385e-02 9.99607556e-01 -9.67435967e-05 7.77799671e+00] [ 1.34650065e-02 -2.80569685e-04 9.99909303e-01 4.67410837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.829254154 meters 0.02032135648387137 Centerline is valid? [True, True] Translation: X:679.30, Y:7.77, Z:4.67 [[ 9.99304554e-01 -3.44808529e-02 -1.41943111e-02 6.79303642e+02] [ 3.44828802e-02 9.99405283e-01 -1.01964015e-04 7.76929737e+00] [ 1.41893853e-02 -3.87567626e-04 9.99899250e-01 4.67227495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8592541539999 meters 0.01967563195935151 Centerline is valid? [True, True] Translation: X:679.33, Y:7.77, Z:4.67 [[ 9.99168242e-01 -3.86562382e-02 -1.29814851e-02 6.79334792e+02] [ 3.86582887e-02 9.99252485e-01 -9.30317970e-05 7.76527500e+00] [ 1.29753775e-02 -4.08887582e-04 9.99915733e-01 4.67455452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8892541539999 meters 0.020913314631131264 Centerline is valid? [True, True] Translation: X:679.37, Y:7.76, Z:4.67 [[ 9.99038782e-01 -4.19534463e-02 -1.27051250e-02 6.79366335e+02] [ 4.19556825e-02 9.99119469e-01 -9.05955691e-05 7.76133466e+00] [ 1.26977385e-02 -4.42543702e-04 9.99919283e-01 4.67468027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9192541539999 meters 0.023320393799017302 Centerline is valid? [True, True] Translation: X:679.40, Y:7.75, Z:4.67 [[ 9.98791826e-01 -4.73931160e-02 -1.29916073e-02 6.79396739e+02] [ 4.73959183e-02 9.98876178e-01 -9.22725647e-05 7.75342653e+00] [ 1.29813802e-02 -5.23588077e-04 9.99915601e-01 4.67437763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.949254154 meters 0.02472263397992546 Centerline is valid? [True, True] Translation: X:679.43, Y:7.75, Z:4.67 [[ 9.98685352e-01 -4.96607931e-02 -1.27032843e-02 6.79429065e+02] [ 4.96636623e-02 9.98765995e-01 -8.96916023e-05 7.74992553e+00] [ 1.26920626e-02 -5.41317933e-04 9.99919306e-01 4.67421251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9792541539999 meters 0.025750524528235313 Centerline is valid? [True, True] Translation: X:679.46, Y:7.75, Z:4.67 [[ 9.98580614e-01 -5.16222031e-02 -1.31112743e-02 6.79460779e+02] [ 5.16254393e-02 9.98666514e-01 -9.17333242e-05 7.74696646e+00] [ 1.30985261e-02 -5.85272176e-04 9.99914039e-01 4.67402418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0092541539999 meters 0.02613220507587454 Centerline is valid? [True, True] Translation: X:679.49, Y:7.75, Z:4.67 [[ 9.98501197e-01 -5.31217795e-02 -1.31695047e-02 6.79492798e+02] [ 5.31251854e-02 9.98587856e-01 -9.13252590e-05 7.74530795e+00] [ 1.31557588e-02 -6.08443999e-04 9.99913274e-01 4.67418986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0392541539999 meters 0.028693029256839517 Centerline is valid? [True, True] Translation: X:679.52, Y:7.74, Z:4.67 [[ 9.98376582e-01 -5.52835214e-02 -1.37088848e-02 6.79523948e+02] [ 5.52874273e-02 9.98470476e-01 -9.41921430e-05 7.74083046e+00] [ 1.36931240e-02 -6.63889740e-04 9.99906024e-01 4.67348147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.069254154 meters 0.029237802992275776 Centerline is valid? [True, True] Translation: X:679.56, Y:7.74, Z:4.67 [[ 9.98344415e-01 -5.59884124e-02 -1.31805164e-02 6.79556377e+02] [ 5.59920947e-02 9.98431208e-01 -8.97747842e-05 7.73970881e+00] [ 1.31648653e-02 -6.48378567e-04 9.99913129e-01 4.67431810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0992541539999 meters 0.027483904676978275 Centerline is valid? [True, True] Translation: X:679.59, Y:7.74, Z:4.68 [[ 9.98318020e-01 -5.64453307e-02 -1.32308750e-02 6.79588979e+02] [ 5.64490935e-02 9.98405475e-01 -8.91855575e-05 7.74226588e+00] [ 1.32148122e-02 -6.57835353e-04 9.99912464e-01 4.67507874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1292541539999 meters 0.026719877151894274 Centerline is valid? [True, True] Translation: X:679.62, Y:7.74, Z:4.68 [[ 9.98305241e-01 -5.66924565e-02 -1.31381282e-02 6.79620915e+02] [ 5.66962004e-02 9.98391473e-01 -8.76180927e-05 7.74374807e+00] [ 1.31219624e-02 -6.57412347e-04 9.99913687e-01 4.67552806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1592541539999 meters 0.024405825400480762 Centerline is valid? [True, True] Translation: X:679.65, Y:7.75, Z:4.68 [[ 9.98314225e-01 -5.65580960e-02 -1.30342157e-02 6.79653025e+02] [ 5.65617820e-02 9.98399097e-01 -8.59654363e-05 7.74755973e+00] [ 1.30182112e-02 -6.51417950e-04 9.99915047e-01 4.67625422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1892541539999 meters 0.026492851043313823 Centerline is valid? [True, True] Translation: X:679.68, Y:7.75, Z:4.67 [[ 9.98345021e-01 -5.57919655e-02 -1.39454445e-02 6.79683975e+02] [ 5.57961237e-02 9.98442179e-01 -9.10223502e-05 7.74679830e+00] [ 1.39287983e-02 -6.87230038e-04 9.99902753e-01 4.67480591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2192541539999 meters 0.025504566789031985 Centerline is valid? [True, True] Translation: X:679.72, Y:7.75, Z:4.68 [[ 9.98329781e-01 -5.61475729e-02 -1.36050615e-02 6.79715631e+02] [ 5.61515737e-02 9.98422252e-01 -8.80510044e-05 7.74762521e+00] [ 1.35885400e-02 -6.76041673e-04 9.99907443e-01 4.67679364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2492541539999 meters 0.02812961725849459 Centerline is valid? [True, True] Translation: X:679.75, Y:7.75, Z:4.68 [[ 9.98352503e-01 -5.53891794e-02 -1.49772984e-02 6.79746495e+02] [ 5.53939559e-02 9.98464571e-01 -9.60669362e-05 7.74587373e+00] [ 1.49596229e-02 -7.33743140e-04 9.99887829e-01 4.67571034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2792541539999 meters 0.026321616497183772 Centerline is valid? [True, True] Translation: X:679.78, Y:7.75, Z:4.68 [[ 9.98382301e-01 -5.46337510e-02 -1.57459267e-02 6.79779178e+02] [ 5.46389554e-02 9.98506172e-01 -9.98012313e-05 7.74962770e+00] [ 1.57278575e-02 -7.60701206e-04 9.99876020e-01 4.67562749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3092541539999 meters 0.02474822601837206 Centerline is valid? [True, True] Translation: X:679.81, Y:7.75, Z:4.68 [[ 9.98423399e-01 -5.35419740e-02 -1.68514838e-02 6.79811755e+02] [ 5.35478036e-02 9.98565282e-01 -1.05408197e-04 7.75290692e+00] [ 1.68329504e-02 -7.97117934e-04 9.99857998e-01 4.67581220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.339254154 meters 0.025179627169755303 Centerline is valid? [True, True] Translation: X:679.84, Y:7.75, Z:4.68 [[ 9.98488479e-01 -5.22038089e-02 -1.71906660e-02 6.79843205e+02] [ 5.22096963e-02 9.98636138e-01 -1.06445569e-04 7.75364275e+00] [ 1.71727772e-02 -7.91234776e-04 9.99852224e-01 4.67519361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3692541539999 meters 0.023905278441868766 Centerline is valid? [True, True] Translation: X:679.87, Y:7.76, Z:4.68 [[ 9.98638933e-01 -4.89792024e-02 -1.79253578e-02 6.79874698e+02] [ 4.89850997e-02 9.98799503e-01 -1.10197503e-04 7.75863316e+00] [ 1.79092358e-02 -7.68027922e-04 9.99839322e-01 4.67529194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3992541539999 meters 0.021939123705490712 Centerline is valid? [True, True] Translation: X:679.91, Y:7.76, Z:4.68 [[ 9.98723928e-01 -4.71714623e-02 -1.80379692e-02 6.79905858e+02] [ 4.71771517e-02 9.98886532e-01 -1.10222450e-04 7.76383641e+00] [ 1.80230838e-02 -7.40898210e-04 9.99837297e-01 4.67655836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4292541539999 meters 0.021568537426278032 Centerline is valid? [True, True] Translation: X:679.94, Y:7.77, Z:4.68 [[ 9.98816023e-01 -4.52951015e-02 -1.77456095e-02 6.79937333e+02] [ 4.53003237e-02 9.98973408e-01 -1.07782403e-04 7.76657893e+00] [ 1.77322740e-02 -6.96227065e-04 9.99842528e-01 4.67763223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.459254154 meters 0.02084270309440017 Centerline is valid? [True, True] Translation: X:679.97, Y:7.77, Z:4.68 [[ 9.98999989e-01 -4.14746437e-02 -1.66995523e-02 6.79967418e+02] [ 4.14787422e-02 9.99139382e-01 -1.01006053e-04 7.77220654e+00] [ 1.66893695e-02 -5.91771378e-04 9.99860548e-01 4.67909785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4892541539999 meters 0.02047736456374104 Centerline is valid? [True, True] Translation: X:680.00, Y:7.77, Z:4.68 [[ 9.99079066e-01 -3.97496887e-02 -1.61549556e-02 6.79999290e+02] [ 3.97533092e-02 9.99209520e-01 -9.70828605e-05 7.77495949e+00] [ 1.61460445e-02 -5.45219493e-04 9.99869495e-01 4.68005827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5192541539999 meters 0.019908251209675154 Centerline is valid? [True, True] Translation: X:680.03, Y:7.78, Z:4.68 [[ 9.99152065e-01 -3.80865189e-02 -1.56386883e-02 6.80030571e+02] [ 3.80897188e-02 9.99274319e-01 -9.32961422e-05 7.77799716e+00] [ 1.56308929e-02 -5.02456206e-04 9.99877704e-01 4.68073520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5492541539999 meters 0.019908251209675154 Centerline is valid? [True, True] Translation: X:680.06, Y:7.78, Z:4.68 [[ 9.99154847e-01 -3.80134456e-02 -1.56386935e-02 6.80062278e+02] [ 3.80166505e-02 9.99277102e-01 -9.24066979e-05 7.77812569e+00] [ 1.56309011e-02 -5.02202146e-04 9.99877704e-01 4.68095485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.579254154 meters 0.021096704935458645 Centerline is valid? [True, True] Translation: X:680.09, Y:7.78, Z:4.68 [[ 9.99238977e-01 -3.56981536e-02 -1.57197190e-02 6.80094202e+02] [ 3.57011212e-02 9.99362508e-01 -9.18943143e-05 7.78031984e+00] [ 1.57129782e-02 -4.69387211e-04 9.99876433e-01 4.67986084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6092541539999 meters 0.019590066896807395 Centerline is valid? [True, True] Translation: X:680.12, Y:7.78, Z:4.68 [[ 9.99318554e-01 -3.40883186e-02 -1.41567922e-02 6.80124354e+02] [ 3.40905706e-02 9.99418744e-01 -8.22854114e-05 7.78326296e+00] [ 1.41513685e-02 -4.00383787e-04 9.99899784e-01 4.68167404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6392541539999 meters 0.018488553763508206 Centerline is valid? [True, True] Translation: X:680.16, Y:7.79, Z:4.68 [[ 9.99357340e-01 -3.29681593e-02 -1.40715277e-02 6.80156804e+02] [ 3.29702824e-02 9.99456329e-01 -8.11407864e-05 7.78687027e+00] [ 1.40665525e-02 -3.82853601e-04 9.99900988e-01 4.68246151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6692541539999 meters 0.017831639114579967 Centerline is valid? [True, True] Translation: X:680.19, Y:7.79, Z:4.68 [[ 9.99414296e-01 -3.12950996e-02 -1.38449149e-02 6.80188401e+02] [ 3.12970049e-02 9.99510126e-01 -7.90772896e-05 7.79103783e+00] [ 1.38406074e-02 -3.54273396e-04 9.99904151e-01 4.68322742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.699254154 meters 0.01785723271972523 Centerline is valid? [True, True] Translation: X:680.22, Y:7.79, Z:4.68 [[ 9.99436850e-01 -3.05695504e-02 -1.38378413e-02 6.80219986e+02] [ 3.05713930e-02 9.99532583e-01 -7.83988445e-05 7.79212820e+00] [ 1.38337698e-02 -3.44687390e-04 9.99904249e-01 4.68316933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7292541539999 meters 0.017716288481953 Centerline is valid? [True, True] Translation: X:680.25, Y:7.79, Z:4.68 [[ 9.99464706e-01 -2.97208418e-02 -1.36738007e-02 6.80251829e+02] [ 2.97225705e-02 9.99558184e-01 -7.68187836e-05 7.79311723e+00] [ 1.36700425e-02 -3.29642844e-04 9.99906506e-01 4.68309655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7592541539999 meters 0.018377103429724765 Centerline is valid? [True, True] Translation: X:680.28, Y:7.79, Z:4.68 [[ 9.99476480e-01 -2.90612347e-02 -1.42200461e-02 6.80281902e+02] [ 2.90630482e-02 9.99577577e-01 -7.91423344e-05 7.79226471e+00] [ 1.42163392e-02 -3.34176984e-04 9.99898887e-01 4.68212654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7892541539999 meters 0.017552648072392645 Centerline is valid? [True, True] Translation: X:680.31, Y:7.80, Z:4.68 [[ 9.99517210e-01 -2.75844625e-02 -1.42983918e-02 6.80313376e+02] [ 2.75861551e-02 9.99619426e-01 -7.88786290e-05 7.79514221e+00] [ 1.42951261e-02 -3.15597107e-04 9.99897770e-01 4.68216307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.819254154 meters 0.01717381913762497 Centerline is valid? [True, True] Translation: X:680.34, Y:7.80, Z:4.68 [[ 9.99534454e-01 -2.67749863e-02 -1.46278955e-02 6.80344239e+02] [ 2.67766789e-02 9.99641437e-01 -8.01614900e-05 7.79638871e+00] [ 1.46247968e-02 -3.11562289e-04 9.99893003e-01 4.68272180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8492541539999 meters 0.01740466567211695 Centerline is valid? [True, True] Translation: X:680.38, Y:7.80, Z:4.68 [[ 9.99580201e-01 -2.53112096e-02 -1.40984060e-02 6.80375135e+02] [ 2.53126435e-02 9.99679581e-01 -7.67596936e-05 7.79639446e+00] [ 1.40958314e-02 -2.80140454e-04 9.99900610e-01 4.68263405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8792541539999 meters 0.016593673127439347 Centerline is valid? [True, True] Translation: X:680.41, Y:7.80, Z:4.68 [[ 9.99611963e-01 -2.42155261e-02 -1.37670788e-02 6.80405638e+02] [ 2.42167928e-02 9.99706728e-01 -7.47124615e-05 7.79836315e+00] [ 1.37648505e-02 -2.58711024e-04 9.99905226e-01 4.68351566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9092541539999 meters 0.016491959215713635 Centerline is valid? [True, True] Translation: X:680.44, Y:7.80, Z:4.68 [[ 9.99641566e-01 -2.31986520e-02 -1.33626996e-02 6.80435598e+02] [ 2.31997545e-02 9.99730847e-01 -7.25179388e-05 7.79839771e+00] [ 1.33607853e-02 -2.37519404e-04 9.99910713e-01 4.68367624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9392541539999 meters 0.01615270296140209 Centerline is valid? [True, True] Translation: X:680.47, Y:7.80, Z:4.68 [[ 9.99667097e-01 -2.21135080e-02 -1.32924057e-02 6.80466181e+02] [ 2.21145031e-02 9.99755442e-01 -7.21364617e-05 7.79858753e+00] [ 1.32907502e-02 -2.21842501e-04 9.99911649e-01 4.68370176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9692541539999 meters 0.015845876987332943 Centerline is valid? [True, True] Translation: X:680.50, Y:7.80, Z:4.68 [[ 9.99726200e-01 -1.96472926e-02 -1.27086183e-02 6.80497041e+02] [ 1.96480030e-02 9.99806957e-01 -6.89683097e-05 7.79850624e+00] [ 1.27075200e-02 -1.80749544e-04 9.99919240e-01 4.68402695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9992541539999 meters 0.015723998551594787 Centerline is valid? [True, True] Translation: X:680.53, Y:7.80, Z:4.68 [[ 9.99745776e-01 -1.87917413e-02 -1.24601081e-02 6.80527640e+02] [ 1.87923578e-02 9.99823406e-01 -6.76196716e-05 7.79888184e+00] [ 1.24591784e-02 -1.66552328e-04 9.99922368e-01 4.68445402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0292541539999 meters 0.015649560840012164 Centerline is valid? [True, True] Translation: X:680.56, Y:7.80, Z:4.68 [[ 9.99757773e-01 -1.81490156e-02 -1.24502761e-02 6.80556776e+02] [ 1.81495800e-02 9.99835281e-01 -6.76663164e-05 7.79839426e+00] [ 1.24494534e-02 -1.58317356e-04 9.99922490e-01 4.68436451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0592541539999 meters 0.015612030657435775 Centerline is valid? [True, True] Translation: X:680.59, Y:7.80, Z:4.68 [[ 9.99763099e-01 -1.75424712e-02 -1.28843637e-02 6.80586865e+02] [ 1.75430207e-02 9.99846107e-01 -7.03730316e-05 7.79734833e+00] [ 1.28836154e-02 -1.55674299e-04 9.99916991e-01 4.68377839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.089254154 meters 0.015519169579850146 Centerline is valid? [True, True] Translation: X:680.62, Y:7.80, Z:4.68 [[ 9.99760217e-01 -1.77987855e-02 -1.27558326e-02 6.80616101e+02] [ 1.77993391e-02 9.99841577e-01 -7.01342790e-05 7.79600147e+00] [ 1.27550600e-02 -1.56927927e-04 9.99918639e-01 4.68360343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1192541539999 meters 0.01544799603503786 Centerline is valid? [True, True] Translation: X:680.65, Y:7.79, Z:4.68 [[ 9.99743266e-01 -1.84647936e-02 -1.31321747e-02 6.80645501e+02] [ 1.84654314e-02 9.99829497e-01 -7.26902213e-05 7.79432676e+00] [ 1.31312778e-02 -1.69819711e-04 9.99913767e-01 4.68345773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1492541539999 meters 0.015919162927766413 Centerline is valid? [True, True] Translation: X:680.68, Y:7.79, Z:4.68 [[ 9.99693577e-01 -2.07756814e-02 -1.34582195e-02 6.80675221e+02] [ 2.07765540e-02 9.99784141e-01 -7.49908075e-05 7.78984484e+00] [ 1.34568724e-02 -2.04647595e-04 9.99909431e-01 4.68279627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1792541539999 meters 0.016164078377345122 Centerline is valid? [True, True] Translation: X:680.71, Y:7.79, Z:4.68 [[ 9.99657563e-01 -2.21378096e-02 -1.39525363e-02 6.80705267e+02] [ 2.21388729e-02 9.99754902e-01 -7.82622784e-05 7.78848110e+00] [ 1.39508491e-02 -2.30657948e-04 9.99902656e-01 4.68315539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.209254154 meters 0.016767274789259153 Centerline is valid? [True, True] Translation: X:680.73, Y:7.78, Z:4.68 [[ 9.99621670e-01 -2.36191327e-02 -1.40944452e-02 6.80734482e+02] [ 2.36203607e-02 9.99720997e-01 -7.93523419e-05 7.78480292e+00] [ 1.40923870e-02 -2.53593559e-04 9.99900665e-01 4.68289503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2392541539999 meters 0.01638025501853609 Centerline is valid? [True, True] Translation: X:680.77, Y:7.79, Z:4.68 [[ 9.99613016e-01 -2.40506747e-02 -1.39779312e-02 6.80765048e+02] [ 2.40519242e-02 9.99710708e-01 -7.87330019e-05 7.78518935e+00] [ 1.39757811e-02 -2.57493608e-04 9.99902301e-01 4.68371968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2692541539999 meters 0.016755811575629626 Centerline is valid? [True, True] Translation: X:680.79, Y:7.78, Z:4.68 [[ 9.99615427e-01 -2.42075090e-02 -1.35275834e-02 6.80794498e+02] [ 2.42086920e-02 9.99706924e-01 -7.63159102e-05 7.78365351e+00] [ 1.35254662e-02 -2.51198539e-04 9.99908495e-01 4.68360810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2992541539999 meters 0.016823406099583302 Centerline is valid? [True, True] Translation: X:680.83, Y:7.78, Z:4.68 [[ 9.99625309e-01 -2.37825211e-02 -1.35511362e-02 6.80825075e+02] [ 2.37836674e-02 9.99717126e-01 -7.65745519e-05 7.78311660e+00] [ 1.35491241e-02 -2.45749856e-04 9.99908176e-01 4.68357467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.329254154 meters 0.016360630122247845 Centerline is valid? [True, True] Translation: X:680.86, Y:7.78, Z:4.68 [[ 9.99639771e-01 -2.29368872e-02 -1.39365208e-02 6.80855479e+02] [ 2.29380176e-02 9.99736886e-01 -7.87522776e-05 7.78287626e+00] [ 1.39346603e-02 -2.40952251e-04 9.99902879e-01 4.68361718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3592541539999 meters 0.01580337456664576 Centerline is valid? [True, True] Translation: X:680.88, Y:7.78, Z:4.68 [[ 9.99685282e-01 -2.07718281e-02 -1.40665677e-02 6.80884722e+02] [ 2.07727617e-02 9.99784220e-01 -7.97490774e-05 7.78343180e+00] [ 1.40651889e-02 -2.12477480e-04 9.99901058e-01 4.68391255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3892541539999 meters 0.015968022953106942 Centerline is valid? [True, True] Translation: X:680.91, Y:7.78, Z:4.68 [[ 9.99705803e-01 -1.98400899e-02 -1.39527486e-02 6.80912957e+02] [ 1.98409089e-02 9.99803147e-01 -7.97395713e-05 7.78346543e+00] [ 1.39515840e-02 -1.97119100e-04 9.99902652e-01 4.68395972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4192541539999 meters 0.01568460995457276 Centerline is valid? [True, True] Translation: X:680.94, Y:7.78, Z:4.68 [[ 9.99740069e-01 -1.86123733e-02 -1.31671631e-02 6.80943012e+02] [ 1.86129885e-02 9.99826760e-01 -7.58328840e-05 7.78397841e+00] [ 1.31662935e-02 -1.69267084e-04 9.99913306e-01 4.68453121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.449254154 meters 0.016723657733187937 Centerline is valid? [True, True] Translation: X:680.97, Y:7.78, Z:4.68 [[ 9.99801363e-01 -1.55464614e-02 -1.24716631e-02 6.80972063e+02] [ 1.55467681e-02 9.99879139e-01 -7.23631994e-05 7.78434023e+00] [ 1.24712807e-02 -1.21545228e-04 9.99922223e-01 4.68463253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4792541539999 meters 0.015198939075214114 Centerline is valid? [True, True] Translation: X:681.00, Y:7.78, Z:4.69 [[ 9.99825786e-01 -1.45353716e-02 -1.17098867e-02 6.81001118e+02] [ 1.45355656e-02 9.99894351e-01 -6.85447437e-05 7.78453823e+00] [ 1.17096459e-02 -1.01677024e-04 9.99931435e-01 4.68590713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5092541539999 meters 0.015020399861677611 Centerline is valid? [True, True] Translation: X:681.03, Y:7.78, Z:4.69 [[ 9.99834077e-01 -1.36821431e-02 -1.20257300e-02 6.81029912e+02] [ 1.36822659e-02 9.99906391e-01 -7.20613740e-05 7.78487727e+00] [ 1.20255902e-02 -9.24898181e-05 9.99927686e-01 4.68655592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5392541539999 meters 0.01484202257382225 Centerline is valid? [True, True] Translation: X:681.06, Y:7.78, Z:4.69 [[ 9.99858550e-01 -1.16622376e-02 -1.21190643e-02 6.81058214e+02] [ 1.16621764e-02 9.99931992e-01 -7.57200143e-05 7.78392668e+00] [ 1.21191232e-02 -6.56253624e-05 9.99926559e-01 4.68655083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.569254154 meters 0.01481816941052237 Centerline is valid? [True, True] Translation: X:681.09, Y:7.78, Z:4.69 [[ 9.99867675e-01 -1.09052307e-02 -1.20709634e-02 6.81086266e+02] [ 1.09050880e-02 9.99940535e-01 -7.76487407e-05 7.78329970e+00] [ 1.20710924e-02 -5.39964520e-05 9.99927140e-01 4.68645706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5992541539999 meters 0.014769000167533675 Centerline is valid? [True, True] Translation: X:681.11, Y:7.78, Z:4.69 [[ 9.99870683e-01 -1.05825110e-02 -1.21089712e-02 6.81114164e+02] [ 1.05823178e-02 9.99944002e-01 -8.00281850e-05 7.78266378e+00] [ 1.21091400e-02 -4.81231458e-05 9.99926681e-01 4.68670562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6292541539999 meters 0.01481928894693019 Centerline is valid? [True, True] Translation: X:681.14, Y:7.78, Z:4.69 [[ 9.99867026e-01 -1.06730742e-02 -1.23294746e-02 6.81142174e+02] [ 1.06728358e-02 9.99943040e-01 -8.51374742e-05 7.78016870e+00] [ 1.23296810e-02 -4.64643047e-05 9.99923986e-01 4.68702952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6592541539999 meters 0.014798280394037133 Centerline is valid? [True, True] Translation: X:681.17, Y:7.78, Z:4.69 [[ 9.99860318e-01 -1.12630839e-02 -1.23485985e-02 6.81170365e+02] [ 1.12628444e-02 9.99936568e-01 -8.89447834e-05 7.77862507e+00] [ 1.23488170e-02 -5.01479835e-05 9.99923749e-01 4.68705314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6892541539999 meters 0.014953503653332475 Centerline is valid? [True, True] Translation: X:681.20, Y:7.78, Z:4.69 [[ 9.99835190e-01 -1.22671500e-02 -1.33831794e-02 6.81197968e+02] [ 1.22669160e-02 9.99924754e-01 -9.95815452e-05 7.77608081e+00] [ 1.33833939e-02 -6.46052039e-05 9.99910436e-01 4.68635847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7192541539999 meters 0.017444282092104954 Centerline is valid? [True, True] Translation: X:681.23, Y:7.77, Z:4.68 [[ 9.99801394e-01 -1.31447558e-02 -1.49795930e-02 6.81226442e+02] [ 1.31445145e-02 9.99913601e-01 -1.14571376e-04 7.77364727e+00] [ 1.49798048e-02 -8.23508557e-05 9.99887793e-01 4.68417356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7492541539999 meters 0.015636565772355174 Centerline is valid? [True, True] Translation: X:681.25, Y:7.77, Z:4.69 [[ 9.99746387e-01 -1.67465323e-02 -1.50570453e-02 6.81254883e+02] [ 1.67466621e-02 9.99859758e-01 -1.17473631e-04 7.76937224e+00] [ 1.50569009e-02 -1.34711411e-04 9.99886629e-01 4.68530557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7792541539999 meters 0.01565197569349045 Centerline is valid? [True, True] Translation: X:681.28, Y:7.77, Z:4.68 [[ 9.99704198e-01 -1.88405852e-02 -1.53801586e-02 6.81282326e+02] [ 1.88409486e-02 9.99822486e-01 -1.21282714e-04 7.76612167e+00] [ 1.53797135e-02 -1.68529939e-04 9.99881711e-01 4.68478784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8092541539999 meters 0.01676819404921455 Centerline is valid? [True, True] Translation: X:681.31, Y:7.76, Z:4.68 [[ 9.99666589e-01 -2.07823579e-02 -1.53233588e-02 6.81311088e+02] [ 2.07829060e-02 9.99784004e-01 -1.23484634e-04 7.76379596e+00] [ 1.53226153e-02 -1.95020464e-04 9.99882583e-01 4.68447000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.839254154 meters 0.01657011116315498 Centerline is valid? [True, True] Translation: X:681.34, Y:7.76, Z:4.69 [[ 9.99616379e-01 -2.34365811e-02 -1.47587945e-02 6.81340162e+02] [ 2.34373273e-02 9.99725301e-01 -1.22425531e-04 7.76124320e+00] [ 1.47576095e-02 -2.23528130e-04 9.99891076e-01 4.68567391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8692541539999 meters 0.017990001107052202 Centerline is valid? [True, True] Translation: X:681.37, Y:7.75, Z:4.69 [[ 9.99517249e-01 -2.79879915e-02 -1.34885414e-02 6.81368878e+02] [ 2.79890039e-02 9.99608225e-01 -1.13746866e-04 7.75420429e+00] [ 1.34864404e-02 -2.63838883e-04 9.99909019e-01 4.68692504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8992541539999 meters 0.016973756148710977 Centerline is valid? [True, True] Translation: X:681.40, Y:7.76, Z:4.69 [[ 9.99462762e-01 -3.02910377e-02 -1.25155844e-02 6.81399775e+02] [ 3.02920857e-02 9.99541084e-01 -1.05870366e-04 7.75509990e+00] [ 1.25130477e-02 -2.73309667e-04 9.99921671e-01 4.68877110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9292541539999 meters 0.017880112277009412 Centerline is valid? [True, True] Translation: X:681.43, Y:7.75, Z:4.69 [[ 9.99397901e-01 -3.24734503e-02 -1.22192265e-02 6.81429826e+02] [ 3.24746135e-02 9.99472555e-01 -1.03265570e-04 7.75225704e+00] [ 1.22161350e-02 -2.93611264e-04 9.99925337e-01 4.68929494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.959254154 meters 0.01879024168576605 Centerline is valid? [True, True] Translation: X:681.46, Y:7.75, Z:4.69 [[ 9.99266950e-01 -3.66528264e-02 -1.10513624e-02 6.81460354e+02] [ 3.66540353e-02 9.99328011e-01 -9.32043280e-05 7.74703818e+00] [ 1.10473522e-02 -3.11941021e-04 9.99938927e-01 4.69074506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9892541539999 meters 0.019164739234917183 Centerline is valid? [True, True] Translation: X:681.49, Y:7.74, Z:4.69 [[ 9.99208752e-01 -3.83348636e-02 -1.05975238e-02 6.81492824e+02] [ 3.83360739e-02 9.99264899e-01 -8.89852072e-05 7.74485397e+00] [ 1.05931447e-02 -3.17352657e-04 9.99943841e-01 4.69136398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0192541539999 meters 0.01981944160041767 Centerline is valid? [True, True] Translation: X:681.52, Y:7.74, Z:4.69 [[ 9.99146131e-01 -3.99168381e-02 -1.06608935e-02 6.81524484e+02] [ 3.99181605e-02 9.99202949e-01 -8.87998478e-05 7.74226374e+00] [ 1.06559409e-02 -3.36839235e-04 9.99943167e-01 4.69152455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0492541539999 meters 0.02289742164391786 Centerline is valid? [True, True] Translation: X:681.56, Y:7.74, Z:4.69 [[ 9.98975364e-01 -4.35628917e-02 -1.22677243e-02 6.81555148e+02] [ 4.35649240e-02 9.99050593e-01 -1.01649412e-04 7.73656071e+00] [ 1.22605054e-02 -4.32897218e-04 9.99924743e-01 4.68956184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.079254154 meters 0.02180629110690734 Centerline is valid? [True, True] Translation: X:681.59, Y:7.73, Z:4.69 [[ 9.98891284e-01 -4.55631688e-02 -1.18406441e-02 6.81586846e+02] [ 4.55652059e-02 9.98961362e-01 -9.78112012e-05 7.73480270e+00] [ 1.18328025e-02 -4.41818629e-04 9.99929892e-01 4.69015906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1092541539999 meters 0.020716477900621977 Centerline is valid? [True, True] Translation: X:681.62, Y:7.74, Z:4.69 [[ 9.98800270e-01 -4.73300702e-02 -1.25652620e-02 6.81618465e+02] [ 4.73325113e-02 9.98879183e-01 -1.03209080e-04 7.73509407e+00] [ 1.25560635e-02 -4.91660149e-04 9.99921049e-01 4.69031411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1392541539999 meters 0.022994622952430755 Centerline is valid? [True, True] Translation: X:681.65, Y:7.73, Z:4.69 [[ 9.98713310e-01 -4.90349377e-02 -1.29344377e-02 6.81649490e+02] [ 4.90376767e-02 9.98796924e-01 -1.05497178e-04 7.73029528e+00] [ 1.29240496e-02 -5.28913337e-04 9.99916341e-01 4.68948049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1692541539999 meters 0.02514486596992839 Centerline is valid? [True, True] Translation: X:681.68, Y:7.73, Z:4.69 [[ 9.98626138e-01 -5.06322808e-02 -1.34984320e-02 6.81680701e+02] [ 5.06354199e-02 9.98717198e-01 -1.09333206e-04 7.72614178e+00] [ 1.34866520e-02 -5.74315776e-04 9.99908886e-01 4.68912734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.199254154 meters 0.023741860143215943 Centerline is valid? [True, True] Translation: X:681.71, Y:7.73, Z:4.69 [[ 9.98473940e-01 -5.33307306e-02 -1.43396320e-02 6.81712172e+02] [ 5.33345605e-02 9.98576693e-01 -1.15473911e-04 7.72688402e+00] [ 1.43253806e-02 -6.49500278e-04 9.99897176e-01 4.68937442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2292541539999 meters 0.02395418400716771 Centerline is valid? [True, True] Translation: X:681.74, Y:7.73, Z:4.69 [[ 9.98425516e-01 -5.42132506e-02 -1.44018336e-02 6.81744242e+02] [ 5.42172171e-02 9.98529158e-01 -1.15164739e-04 7.72623788e+00] [ 1.43868943e-02 -6.65843925e-04 9.99896282e-01 4.68961781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2592541539999 meters 0.02479056107254827 Centerline is valid? [True, True] Translation: X:681.78, Y:7.73, Z:4.69 [[ 9.98396948e-01 -5.45735166e-02 -1.50088620e-02 6.81776084e+02] [ 5.45778821e-02 9.98509510e-01 -1.18890333e-04 7.72563672e+00] [ 1.49929797e-02 -7.00452155e-04 9.99887354e-01 4.68955306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2892541539999 meters 0.0253155501635646 Centerline is valid? [True, True] Translation: X:681.81, Y:7.73, Z:4.69 [[ 9.98392650e-01 -5.42368055e-02 -1.64464257e-02 6.81807446e+02] [ 5.42420196e-02 9.98527810e-01 -1.29199192e-04 7.72582739e+00] [ 1.64292208e-02 -7.63095823e-04 9.99864740e-01 4.68895699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.319254154 meters 0.02482872501681844 Centerline is valid? [True, True] Translation: X:681.84, Y:7.73, Z:4.69 [[ 9.98427921e-01 -5.34581531e-02 -1.68496899e-02 6.81838978e+02] [ 5.34635280e-02 9.98569794e-01 -1.31620411e-04 7.72691065e+00] [ 1.68326275e-02 -7.69430374e-04 9.99858025e-01 4.68916754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3492541539999 meters 0.025796201787146044 Centerline is valid? [True, True] Translation: X:681.87, Y:7.73, Z:4.69 [[ 9.98482729e-01 -5.20652090e-02 -1.79291626e-02 6.81869648e+02] [ 5.20710898e-02 9.98643371e-01 -1.38994595e-04 7.72760998e+00] [ 1.79120762e-02 -7.94807334e-04 9.99839250e-01 4.68846118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3792541539999 meters 0.023943872400076168 Centerline is valid? [True, True] Translation: X:681.90, Y:7.73, Z:4.69 [[ 9.98602604e-01 -4.98711791e-02 -1.74844362e-02 6.81900433e+02] [ 4.98764477e-02 9.98755386e-01 -1.34871776e-04 7.73186513e+00] [ 1.74694010e-02 -7.37378261e-04 9.99847126e-01 4.68935080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4092541539999 meters 0.022011465906573786 Centerline is valid? [True, True] Translation: X:681.93, Y:7.74, Z:4.69 [[ 9.98687244e-01 -4.82766939e-02 -1.71216065e-02 6.81931330e+02] [ 4.82815175e-02 9.98833759e-01 -1.31764138e-04 7.73629742e+00] [ 1.71079998e-02 -6.95065983e-04 9.99853406e-01 4.69010002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4392541539999 meters 0.022011465906573786 Centerline is valid? [True, True] Translation: X:681.96, Y:7.74, Z:4.69 [[ 9.98689021e-01 -4.82399202e-02 -1.71216104e-02 6.81962199e+02] [ 4.82447469e-02 9.98835536e-01 -1.31261431e-04 7.73650478e+00] [ 1.71080049e-02 -6.94938411e-04 9.99853406e-01 4.69031389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4692541539999 meters 0.022041124140021483 Centerline is valid? [True, True] Translation: X:681.99, Y:7.74, Z:4.69 [[ 9.98797925e-01 -4.60718525e-02 -1.67359013e-02 6.81992636e+02] [ 4.60761675e-02 9.98937921e-01 -1.27875896e-04 7.73761588e+00] [ 1.67240180e-02 -6.43404014e-04 9.99859937e-01 4.69068622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4992541539999 meters 0.02091544402663791 Centerline is valid? [True, True] Translation: X:682.02, Y:7.74, Z:4.69 [[ 9.98903906e-01 -4.38744983e-02 -1.63099943e-02 6.82024148e+02] [ 4.38783115e-02 9.99036875e-01 -1.24154035e-04 7.74085265e+00] [ 1.62997329e-02 -5.91637059e-04 9.99866975e-01 4.69123649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5292541539999 meters 0.020104677735076203 Centerline is valid? [True, True] Translation: X:682.05, Y:7.75, Z:4.69 [[ 9.99135558e-01 -3.88145173e-02 -1.48852148e-02 6.82054266e+02] [ 3.88171357e-02 9.99246325e-01 -1.13076383e-04 7.74550538e+00] [ 1.48783852e-02 -4.64822768e-04 9.99889203e-01 4.69179055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5592541539999 meters 0.019527497184878215 Centerline is valid? [True, True] Translation: X:682.09, Y:7.75, Z:4.69 [[ 9.99235662e-01 -3.62758654e-02 -1.45654797e-02 6.82085014e+02] [ 3.62781030e-02 9.99341727e-01 -1.10647497e-04 7.74836628e+00] [ 1.45599055e-02 -4.17845048e-04 9.99893912e-01 4.69204677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.589254154 meters 0.01872955510119527 Centerline is valid? [True, True] Translation: X:682.12, Y:7.75, Z:4.69 [[ 9.99350844e-01 -3.30283615e-02 -1.43880900e-02 6.82115727e+02] [ 3.30302086e-02 9.99454348e-01 -1.09299946e-04 7.75335965e+00] [ 1.43838491e-02 -3.66012621e-04 9.99896480e-01 4.69253806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6192541539999 meters 0.017188404066543428 Centerline is valid? [True, True] Translation: X:682.15, Y:7.76, Z:4.69 [[ 9.99431571e-01 -3.09186412e-02 -1.34377113e-02 6.82146000e+02] [ 3.09200618e-02 9.99521855e-01 -1.02080340e-04 7.75561881e+00] [ 1.34344423e-02 -3.13472549e-04 9.99909705e-01 4.69343094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6492541539999 meters 0.016297880536340032 Centerline is valid? [True, True] Translation: X:682.18, Y:7.76, Z:4.69 [[ 9.99580728e-01 -2.62315805e-02 -1.22585301e-02 6.82175308e+02] [ 2.62324119e-02 9.99655867e-01 -9.29958752e-05 7.75878150e+00] [ 1.22567509e-02 -2.28613926e-04 9.99924857e-01 4.69331558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6792541539999 meters 0.015995697693599726 Centerline is valid? [True, True] Translation: X:682.21, Y:7.76, Z:4.69 [[ 9.99630295e-01 -2.45145184e-02 -1.17606029e-02 6.82205538e+02] [ 2.45151666e-02 9.99699454e-01 -8.90604053e-05 7.76043658e+00] [ 1.17592515e-02 -1.99285659e-04 9.99930838e-01 4.69364692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.709254154 meters 0.01583102698143212 Centerline is valid? [True, True] Translation: X:682.24, Y:7.76, Z:4.69 [[ 9.99668467e-01 -2.30492143e-02 -1.14756173e-02 6.82235437e+02] [ 2.30497359e-02 9.99734316e-01 -8.68203197e-05 7.76148049e+00] [ 1.14745696e-02 -1.77718413e-04 9.99934149e-01 4.69366007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7392541539999 meters 0.01571919110529144 Centerline is valid? [True, True] Translation: X:682.27, Y:7.76, Z:4.69 [[ 9.99707740e-01 -2.12636735e-02 -1.15017569e-02 6.82266109e+02] [ 2.12640808e-02 9.99773890e-01 -8.68929057e-05 7.76290322e+00] [ 1.15010039e-02 -1.57706778e-04 9.99933849e-01 4.69287109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7692541539999 meters 0.015635966667821036 Centerline is valid? [True, True] Translation: X:682.30, Y:7.76, Z:4.69 [[ 9.99705555e-01 -2.13107425e-02 -1.16041525e-02 6.82296052e+02] [ 2.13111592e-02 9.99772888e-01 -8.77504267e-05 7.76213468e+00] [ 1.16033871e-02 -1.59573352e-04 9.99932666e-01 4.69232728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7992541539999 meters 0.015440228369146191 Centerline is valid? [True, True] Translation: X:682.33, Y:7.76, Z:4.69 [[ 9.99703833e-01 -2.12806497e-02 -1.18059116e-02 6.82325332e+02] [ 2.12810754e-02 9.99773528e-01 -8.95811800e-05 7.76297052e+00] [ 1.18051443e-02 -1.61687846e-04 9.99930304e-01 4.69210569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.829254154 meters 0.015417273052996137 Centerline is valid? [True, True] Translation: X:682.36, Y:7.76, Z:4.69 [[ 9.99699810e-01 -2.13631466e-02 -1.19960614e-02 6.82355110e+02] [ 2.13635868e-02 9.99771768e-01 -9.14678509e-05 7.76313478e+00] [ 1.19952776e-02 -1.64838505e-04 9.99928040e-01 4.69187673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8592541539999 meters 0.015605786794618402 Centerline is valid? [True, True] Translation: X:682.39, Y:7.76, Z:4.69 [[ 9.99697154e-01 -2.08818490e-02 -1.30211110e-02 6.82385002e+02] [ 2.08823217e-02 9.99781936e-01 -9.96711030e-05 7.76272759e+00] [ 1.30203528e-02 -1.72270111e-04 9.99915217e-01 4.69061475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8892541539999 meters 0.015429081762193791 Centerline is valid? [True, True] Translation: X:682.41, Y:7.76, Z:4.69 [[ 9.99708403e-01 -2.06941925e-02 -1.24442143e-02 6.82414931e+02] [ 2.06946058e-02 9.99785839e-01 -9.55766197e-05 7.76272920e+00] [ 1.24435271e-02 -1.61979359e-04 9.99922563e-01 4.69057120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9192541539999 meters 0.015372693933131149 Centerline is valid? [True, True] Translation: X:682.44, Y:7.76, Z:4.69 [[ 9.99720843e-01 -2.03114439e-02 -1.20698731e-02 6.82444189e+02] [ 2.03117995e-02 9.99793690e-01 -9.31378610e-05 7.76329257e+00] [ 1.20692748e-02 -1.52048982e-04 9.99927152e-01 4.69069782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.949254154 meters 0.01675562114803132 Centerline is valid? [True, True] Translation: X:682.47, Y:7.76, Z:4.69 [[ 9.99739036e-01 -1.94702996e-02 -1.19485376e-02 6.82473612e+02] [ 1.94705827e-02 9.99810426e-01 -9.26443699e-05 7.76301200e+00] [ 1.19480763e-02 -1.40024798e-04 9.99928609e-01 4.68999916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9792541539999 meters 0.015211598506929606 Centerline is valid? [True, True] Translation: X:682.50, Y:7.76, Z:4.69 [[ 9.99736462e-01 -2.05194278e-02 -1.02936481e-02 6.82502850e+02] [ 2.05196899e-02 9.99789446e-01 -8.01596019e-05 7.76171007e+00] [ 1.02931256e-02 -1.31083991e-04 9.99947016e-01 4.69083746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0092541539999 meters 0.015233127927238636 Centerline is valid? [True, True] Translation: X:682.53, Y:7.76, Z:4.69 [[ 9.99734013e-01 -2.10228048e-02 -9.48393904e-03 6.82533829e+02] [ 2.10230477e-02 9.99778989e-01 -7.40900696e-05 7.76029618e+00] [ 9.48340056e-03 -1.25310940e-04 9.99955024e-01 4.69109851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0392541539999 meters 0.015401070141995765 Centerline is valid? [True, True] Translation: X:682.56, Y:7.76, Z:4.69 [[ 9.99714507e-01 -2.21751057e-02 -8.89772113e-03 6.82563836e+02] [ 2.21753655e-02 9.99754094e-01 -6.94745886e-05 7.75847517e+00] [ 8.89707373e-03 -1.27855464e-04 9.99960412e-01 4.69142265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.069254154 meters 0.015914262284180455 Centerline is valid? [True, True] Translation: X:682.60, Y:7.75, Z:4.69 [[ 9.99648594e-01 -2.53074606e-02 -7.88806417e-03 6.82595340e+02] [ 2.53077634e-02 9.99679705e-01 -6.14443548e-05 7.75401310e+00] [ 7.88709267e-03 -1.38206499e-04 9.99968887e-01 4.69135335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0992541539999 meters 0.016358658190281535 Centerline is valid? [True, True] Translation: X:682.63, Y:7.75, Z:4.69 [[ 9.99606384e-01 -2.69371255e-02 -7.84018985e-03 6.82626063e+02] [ 2.69374769e-02 9.99637118e-01 -6.07881665e-05 7.75147002e+00] [ 7.83898225e-03 -1.50430694e-04 9.99969263e-01 4.69146492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1292541539999 meters 0.018512299055837317 Centerline is valid? [True, True] Translation: X:682.66, Y:7.75, Z:4.69 [[ 9.99576556e-01 -2.81079892e-02 -7.52653858e-03 6.82657619e+02] [ 2.81083482e-02 9.99604881e-01 -5.80931953e-05 7.74944517e+00] [ 7.52519759e-03 -1.53489971e-04 9.99971674e-01 4.69025653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1592541539999 meters 0.017555057665148668 Centerline is valid? [True, True] Translation: X:682.69, Y:7.75, Z:4.69 [[ 9.99528136e-01 -2.97852157e-02 -7.50641409e-03 6.82688963e+02] [ 2.97856222e-02 9.99556308e-01 -5.76588546e-05 7.74687966e+00] [ 7.50480094e-03 -1.65951567e-04 9.99971825e-01 4.69132025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1892541539999 meters 0.017915521223022306 Centerline is valid? [True, True] Translation: X:682.72, Y:7.74, Z:4.69 [[ 9.99492101e-01 -3.12304295e-02 -6.34031984e-03 6.82721342e+02] [ 3.12307503e-02 9.99512200e-01 -4.84297035e-05 7.74364911e+00] [ 6.33873951e-03 -1.49607840e-04 9.99979899e-01 4.69153348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2192541539999 meters 0.0180191921291069 Centerline is valid? [True, True] Translation: X:682.75, Y:7.74, Z:4.69 [[ 9.99489132e-01 -3.13680259e-02 -6.12549869e-03 6.82753620e+02] [ 3.13683304e-02 9.99507892e-01 -4.63690660e-05 7.74235802e+00] [ 6.12393879e-03 -1.45801289e-04 9.99981238e-01 4.69153722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2492541539999 meters 0.018119042683422865 Centerline is valid? [True, True] Translation: X:682.78, Y:7.74, Z:4.69 [[ 9.99496816e-01 -3.11883361e-02 -5.77954003e-03 6.82784847e+02] [ 3.11886066e-02 9.99513516e-01 -4.33443424e-05 7.74080042e+00] [ 5.77808021e-03 -1.36933268e-04 9.99983297e-01 4.69182670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2792541539999 meters 0.01817527085797545 Centerline is valid? [True, True] Translation: X:682.82, Y:7.74, Z:4.69 [[ 9.99516697e-01 -3.04239066e-02 -6.38415140e-03 6.82815598e+02] [ 3.04242234e-02 9.99537075e-01 -4.74998856e-05 7.73913058e+00] [ 6.38264115e-03 -1.46755920e-04 9.99979620e-01 4.69118096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3092541539999 meters 0.018379987690616367 Centerline is valid? [True, True] Translation: X:682.85, Y:7.74, Z:4.69 [[ 9.99521602e-01 -3.01094300e-02 -7.07029210e-03 6.82846678e+02] [ 3.01098137e-02 9.99546595e-01 -5.21930996e-05 7.73865805e+00] [ 7.06865791e-03 -1.60717047e-04 9.99975004e-01 4.69051113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.339254154 meters 0.018399830363333612 Centerline is valid? [True, True] Translation: X:682.88, Y:7.74, Z:4.69 [[ 9.99535512e-01 -2.94953621e-02 -7.66710089e-03 6.82878149e+02] [ 2.94957989e-02 9.99564903e-01 -5.61225785e-05 7.73817659e+00] [ 7.66542032e-03 -1.70050756e-04 9.99970606e-01 4.69004352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3692541539999 meters 0.018044341895995502 Centerline is valid? [True, True] Translation: X:682.91, Y:7.74, Z:4.69 [[ 9.99557801e-01 -2.84256890e-02 -8.72821791e-03 6.82909883e+02] [ 2.84262229e-02 9.99595891e-01 -6.29043112e-05 7.73793564e+00] [ 8.72647886e-03 -1.85233773e-04 9.99961906e-01 4.68903964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3992541539999 meters 0.017898030439786498 Centerline is valid? [True, True] Translation: X:682.94, Y:7.74, Z:4.69 [[ 9.99580431e-01 -2.75798197e-02 -8.84959903e-03 6.82939882e+02] [ 2.75803386e-02 9.99619588e-01 -6.34266194e-05 7.73752007e+00] [ 8.84798183e-03 -1.80674930e-04 9.99960840e-01 4.68897975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4292541539999 meters 0.01622798311239869 Centerline is valid? [True, True] Translation: X:682.97, Y:7.74, Z:4.69 [[ 9.99607550e-01 -2.65900208e-02 -8.81568732e-03 6.82971497e+02] [ 2.65905014e-02 9.99646408e-01 -6.27050907e-05 7.74100187e+00] [ 8.81423749e-03 -1.71733064e-04 9.99961139e-01 4.68901248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.459254154 meters 0.016097072262563364 Centerline is valid? [True, True] Translation: X:683.00, Y:7.74, Z:4.69 [[ 9.99624104e-01 -2.58202138e-02 -9.21778760e-03 6.83002760e+02] [ 2.58207098e-02 9.99666588e-01 -6.52149344e-05 7.74120259e+00] [ 9.21639814e-03 -1.72819399e-04 9.99957513e-01 4.68901026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4892541539999 meters 0.01605348316214251 Centerline is valid? [True, True] Translation: X:683.03, Y:7.74, Z:4.69 [[ 9.99643653e-01 -2.46523135e-02 -1.02386944e-02 6.83033335e+02] [ 2.46528692e-02 9.99696069e-01 -7.19438909e-05 7.74199651e+00] [ 1.02373562e-02 -1.80494941e-04 9.99947581e-01 4.68874470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5192541539999 meters 0.015939708902645736 Centerline is valid? [True, True] Translation: X:683.06, Y:7.74, Z:4.69 [[ 9.99655605e-01 -2.41675418e-02 -1.02274785e-02 6.83063673e+02] [ 2.41680755e-02 9.99707907e-01 -7.14212881e-05 7.74264937e+00] [ 1.02262172e-02 -1.75781781e-04 9.99947695e-01 4.68892289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5492541539999 meters 0.015869205064481574 Centerline is valid? [True, True] Translation: X:683.09, Y:7.74, Z:4.69 [[ 9.99643447e-01 -2.44826105e-02 -1.06574393e-02 6.83094278e+02] [ 2.44832079e-02 9.99700239e-01 -7.44238225e-05 7.74308040e+00] [ 1.06560667e-02 -1.86531016e-04 9.99943205e-01 4.68914004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.579254154 meters 0.016063430930337862 Centerline is valid? [True, True] Translation: X:683.12, Y:7.74, Z:4.69 [[ 9.99627279e-01 -2.50704681e-02 -1.08062135e-02 6.83124323e+02] [ 2.50711167e-02 9.99685667e-01 -7.54627538e-05 7.74235095e+00] [ 1.08047087e-02 -1.95489213e-04 9.99941608e-01 4.68941207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6092541539999 meters 0.016880984810636768 Centerline is valid? [True, True] Translation: X:683.15, Y:7.74, Z:4.69 [[ 9.99544404e-01 -2.83692826e-02 -1.03037862e-02 6.83153946e+02] [ 2.83700468e-02 9.99597487e-01 -7.20147053e-05 7.73909464e+00] [ 1.03016818e-02 -2.20337000e-04 9.99946912e-01 4.68975232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6392541539999 meters 0.01792835734004132 Centerline is valid? [True, True] Translation: X:683.18, Y:7.74, Z:4.69 [[ 9.99468415e-01 -3.09651756e-02 -1.02002309e-02 6.83184237e+02] [ 3.09660590e-02 9.99520434e-01 -7.13558195e-05 7.73654796e+00] [ 1.01975487e-02 -2.44543063e-04 9.99947974e-01 4.69001798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6692541539999 meters 0.02042069802004426 Centerline is valid? [True, True] Translation: X:683.21, Y:7.73, Z:4.69 [[ 9.99262571e-01 -3.70779989e-02 -9.97682026e-03 6.83214579e+02] [ 3.70791504e-02 9.99312329e-01 -6.95893059e-05 7.73114967e+00] [ 9.97253972e-03 -3.00394031e-04 9.99950228e-01 4.69026870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.699254154 meters 0.023056314654403706 Centerline is valid? [True, True] Translation: X:683.25, Y:7.73, Z:4.69 [[ 9.99129015e-01 -4.04326981e-02 -1.03154172e-02 6.83245591e+02] [ 4.04341104e-02 9.99182204e-01 -7.16965291e-05 7.72839592e+00] [ 1.03098802e-02 -3.45460634e-04 9.99946792e-01 4.68924976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7292541539999 meters 0.023415964307358993 Centerline is valid? [True, True] Translation: X:683.28, Y:7.73, Z:4.69 [[ 9.98961466e-01 -4.44648820e-02 -9.94301627e-03 6.83276519e+02] [ 4.44663953e-02 9.99010878e-01 -6.89392343e-05 7.72518226e+00] [ 9.93624679e-03 -3.73262453e-04 9.99950565e-01 4.69039450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7592541539999 meters 0.02591960128627959 Centerline is valid? [True, True] Translation: X:683.31, Y:7.72, Z:4.69 [[ 9.98791732e-01 -4.79581952e-02 -1.07278574e-02 6.83307835e+02] [ 4.79601607e-02 9.98849247e-01 -7.41195828e-05 7.72175265e+00] [ 1.07190670e-02 -4.40479740e-04 9.99942452e-01 4.68944723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7892541539999 meters 0.030247715032177165 Centerline is valid? [True, True] Translation: X:683.34, Y:7.71, Z:4.69 [[ 9.98430107e-01 -5.49194258e-02 -1.10081233e-02 6.83336958e+02] [ 5.49219188e-02 9.98490649e-01 -7.59397241e-05 7.71480399e+00] [ 1.09956787e-02 -5.28766745e-04 9.99939406e-01 4.68910024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8192541539999 meters 0.029384956510504736 Centerline is valid? [True, True] Translation: X:683.37, Y:7.71, Z:4.69 [[ 9.98232886e-01 -5.84702667e-02 -1.05987600e-02 6.83368064e+02] [ 5.84727757e-02 9.98289001e-01 -7.32636198e-05 7.71468333e+00] [ 1.05849093e-02 -5.46604763e-04 9.99943829e-01 4.69124066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8492541539999 meters 0.031687123126076376 Centerline is valid? [True, True] Translation: X:683.40, Y:7.71, Z:4.69 [[ 9.98082356e-01 -6.10353623e-02 -1.03100018e-02 6.83398049e+02] [ 6.10378741e-02 9.98135448e-01 -7.11495120e-05 7.71159088e+00] [ 1.02951209e-02 -5.58287520e-04 9.99946848e-01 4.69139882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8792541539999 meters 0.032533903788574195 Centerline is valid? [True, True] Translation: X:683.43, Y:7.71, Z:4.69 [[ 9.97948183e-01 -6.31621711e-02 -1.04864129e-02 6.83429571e+02] [ 6.31648880e-02 9.98003102e-01 -7.22437411e-05 7.71057792e+00] [ 1.04700357e-02 -5.90277586e-04 9.99945013e-01 4.69164373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9092541539999 meters 0.03227942231854478 Centerline is valid? [True, True] Translation: X:683.46, Y:7.71, Z:4.69 [[ 9.97786233e-01 -6.56823509e-02 -1.04144780e-02 6.83460931e+02] [ 6.56851711e-02 9.97840395e-01 -7.13869520e-05 7.71187753e+00] [ 1.03966757e-02 -6.12847854e-04 9.99945765e-01 4.69191476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9392541539999 meters 0.029478920725502775 Centerline is valid? [True, True] Translation: X:683.49, Y:7.72, Z:4.69 [[ 9.97766213e-01 -6.58834156e-02 -1.10435085e-02 6.83493225e+02] [ 6.58866053e-02 9.97827114e-01 -7.51343770e-05 7.71732947e+00] [ 1.10244623e-02 -6.52652744e-04 9.99939016e-01 4.69148732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9692541539999 meters 0.029252821244307826 Centerline is valid? [True, True] Translation: X:683.53, Y:7.72, Z:4.69 [[ 9.97750939e-01 -6.62118457e-02 -1.04429648e-02 6.83525044e+02] [ 6.62147236e-02 9.97805395e-01 -7.03030253e-05 7.71791529e+00] [ 1.04247015e-02 -6.21333121e-04 9.99945468e-01 4.69261870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9992541539999 meters 0.030461755554158795 Centerline is valid? [True, True] Translation: X:683.56, Y:7.72, Z:4.69 [[ 9.97821096e-01 -6.50967710e-02 -1.07457202e-02 6.83556630e+02] [ 6.50997624e-02 9.97878758e-01 -7.15349149e-05 7.71872503e+00] [ 1.07275827e-02 -6.28164787e-04 9.99942261e-01 4.69299234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0292541539999 meters 0.028931205055760367 Centerline is valid? [True, True] Translation: X:683.59, Y:7.72, Z:4.69 [[ 9.97894869e-01 -6.39039611e-02 -1.10505244e-02 6.83588452e+02] [ 6.39070609e-02 9.97955852e-01 -7.27386338e-05 7.72288631e+00] [ 1.10325838e-02 -6.33621028e-04 9.99938938e-01 4.69282438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0592541539999 meters 0.032923186817657255 Centerline is valid? [True, True] Translation: X:683.62, Y:7.72, Z:4.69 [[ 9.97948940e-01 -6.29062246e-02 -1.18625492e-02 6.83619785e+02] [ 6.29097362e-02 9.98019218e-01 -7.72660961e-05 7.71861286e+00] [ 1.18439126e-02 -6.69162219e-04 9.99929635e-01 4.69295367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.089254154 meters 0.031236750464875625 Centerline is valid? [True, True] Translation: X:683.65, Y:7.72, Z:4.69 [[ 9.98043355e-01 -6.11472880e-02 -1.30564404e-02 6.83650833e+02] [ 6.11514003e-02 9.98128498e-01 -8.44052928e-05 7.72474346e+00] [ 1.30371664e-02 -7.14179472e-04 9.99914757e-01 4.69098796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1192541539999 meters 0.02745486290495807 Centerline is valid? [True, True] Translation: X:683.68, Y:7.73, Z:4.69 [[ 9.98196097e-01 -5.86604033e-02 -1.27870984e-02 6.83682578e+02] [ 5.86641514e-02 9.98277772e-01 -8.21021233e-05 7.73237535e+00] [ 1.27698922e-02 -6.68190256e-04 9.99918238e-01 4.69354190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1492541539999 meters 0.02706108122326226 Centerline is valid? [True, True] Translation: X:683.71, Y:7.74, Z:4.69 [[ 9.98305123e-01 -5.67526885e-02 -1.28846351e-02 6.83714305e+02] [ 5.67563445e-02 9.98388056e-01 -8.20259195e-05 7.73505786e+00] [ 1.28685210e-02 -6.49397894e-04 9.99916986e-01 4.69407936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1792541539999 meters 0.02674144303056428 Centerline is valid? [True, True] Translation: X:683.75, Y:7.74, Z:4.69 [[ 9.98395793e-01 -5.52340830e-02 -1.24513930e-02 6.83746184e+02] [ 5.52373876e-02 9.98473247e-01 -7.86080859e-05 7.73770081e+00] [ 1.24367247e-02 -6.09300441e-04 9.99922475e-01 4.69481200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.209254154 meters 0.025922979724532072 Centerline is valid? [True, True] Translation: X:683.78, Y:7.74, Z:4.70 [[ 9.98469268e-01 -5.39311970e-02 -1.22697620e-02 6.83778207e+02] [ 5.39343170e-02 9.98544483e-01 -7.67084600e-05 7.74091816e+00] [ 1.22560401e-02 -5.85170193e-04 9.99924721e-01 4.69549774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2392541539999 meters 0.024652548407016084 Centerline is valid? [True, True] Translation: X:683.81, Y:7.75, Z:4.70 [[ 9.98642856e-01 -5.07320740e-02 -1.17772435e-02 6.83810064e+02] [ 5.07347353e-02 9.98712161e-01 -7.28875384e-05 7.74704958e+00] [ 1.17657741e-02 -5.24726714e-04 9.99930643e-01 4.69617119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2692541539999 meters 0.02583205728774159 Centerline is valid? [True, True] Translation: X:683.84, Y:7.75, Z:4.70 [[ 9.98721441e-01 -4.90724289e-02 -1.21400483e-02 6.83841095e+02] [ 4.90751424e-02 9.98795087e-01 -7.44671677e-05 7.74781872e+00] [ 1.21290748e-02 -5.21402640e-04 9.99926304e-01 4.69610850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2992541539999 meters 0.024408272754103386 Centerline is valid? [True, True] Translation: X:683.87, Y:7.75, Z:4.70 [[ 9.98808402e-01 -4.71292818e-02 -1.26730609e-02 6.83872078e+02] [ 4.71320901e-02 9.98888663e-01 -7.71459749e-05 7.75247926e+00] [ 1.26626127e-02 -5.20253802e-04 9.99919691e-01 4.69597715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.329254154 meters 0.02309686618441836 Centerline is valid? [True, True] Translation: X:683.90, Y:7.76, Z:4.69 [[ 9.98992827e-01 -4.26555954e-02 -1.39223361e-02 6.83902033e+02] [ 4.26585547e-02 9.99089706e-01 -8.44823092e-05 7.75917622e+00] [ 1.39132663e-02 -5.09509515e-04 9.99903076e-01 4.69488029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3592541539999 meters 0.02309686618441836 Centerline is valid? [True, True] Translation: X:683.93, Y:7.76, Z:4.70 [[ 9.98994306e-01 -4.26209566e-02 -1.39223376e-02 6.83932897e+02] [ 4.26239159e-02 9.99091184e-01 -8.42398314e-05 7.75933099e+00] [ 1.39132751e-02 -5.09269433e-04 9.99903076e-01 4.69509416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3892541539999 meters 0.020437168522463908 Centerline is valid? [True, True] Translation: X:683.96, Y:7.77, Z:4.70 [[ 9.99095575e-01 -3.98961384e-02 -1.47081618e-02 6.83963852e+02] [ 3.98991541e-02 9.99203708e-01 -8.84590741e-05 7.76595884e+00] [ 1.46999789e-02 -4.98464143e-04 9.99891825e-01 4.69595835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4192541539999 meters 0.020255965507688257 Centerline is valid? [True, True] Translation: X:683.99, Y:7.77, Z:4.70 [[ 9.99173145e-01 -3.75573652e-02 -1.55714848e-02 6.83993899e+02] [ 3.75604683e-02 9.99294352e-01 -9.32316661e-05 7.76905929e+00] [ 1.55639984e-02 -4.91717684e-04 9.99878753e-01 4.69571961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.449254154 meters 0.020163338256313182 Centerline is valid? [True, True] Translation: X:684.02, Y:7.77, Z:4.70 [[ 9.99235721e-01 -3.56403903e-02 -1.60541817e-02 6.84024245e+02] [ 3.56434462e-02 9.99364566e-01 -9.58344905e-05 7.77168903e+00] [ 1.60473959e-02 -4.76465117e-04 9.99871119e-01 4.69571694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4792541539999 meters 0.017965359868187595 Centerline is valid? [True, True] Translation: X:684.05, Y:7.78, Z:4.70 [[ 9.99336228e-01 -3.25170477e-02 -1.64239334e-02 6.84054774e+02] [ 3.25198265e-02 9.99471086e-01 -9.79174654e-05 7.78022491e+00] [ 1.64184306e-02 -4.36250995e-04 9.99865113e-01 4.69725053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5092541539999 meters 0.01780563596049284 Centerline is valid? [True, True] Translation: X:684.08, Y:7.78, Z:4.70 [[ 9.99357101e-01 -3.16024235e-02 -1.69313753e-02 6.84084949e+02] [ 3.16052455e-02 9.99500424e-01 -1.00942771e-04 7.78285098e+00] [ 1.69261069e-02 -4.34242399e-04 9.99856649e-01 4.69761657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5392541539999 meters 0.018779223881117885 Centerline is valid? [True, True] Translation: X:684.11, Y:7.78, Z:4.70 [[ 9.99376841e-01 -3.08895309e-02 -1.70811646e-02 6.84114686e+02] [ 3.08922960e-02 9.99522714e-01 -1.02017169e-04 7.78321642e+00] [ 1.70761632e-02 -4.25722796e-04 9.99854101e-01 4.69700092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5692541539999 meters 0.018275810254419815 Centerline is valid? [True, True] Translation: X:684.14, Y:7.79, Z:4.70 [[ 9.99374330e-01 -3.07321709e-02 -1.75066185e-02 6.84144238e+02] [ 3.07350427e-02 9.99527561e-01 -1.05055083e-04 7.78731846e+00] [ 1.75015763e-02 -4.33077314e-04 9.99846742e-01 4.69722692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5992541539999 meters 0.01807418049949498 Centerline is valid? [True, True] Translation: X:684.17, Y:7.79, Z:4.70 [[ 9.99366407e-01 -3.07943374e-02 -1.78463640e-02 6.84174335e+02] [ 3.07973204e-02 9.99525644e-01 -1.07725055e-04 7.78888042e+00] [ 1.78412158e-02 -4.41963388e-04 9.99840735e-01 4.69744246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6292541539999 meters 0.018320571251108194 Centerline is valid? [True, True] Translation: X:684.20, Y:7.79, Z:4.70 [[ 9.99358313e-01 -3.11656194e-02 -1.76540905e-02 6.84204254e+02] [ 3.11685854e-02 9.99514136e-01 -1.07182098e-04 7.78997575e+00] [ 1.76488534e-02 -4.43139707e-04 9.99844149e-01 4.69768721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6592541539999 meters 0.018561702414070198 Centerline is valid? [True, True] Translation: X:684.23, Y:7.79, Z:4.70 [[ 9.99346920e-01 -3.16406015e-02 -1.74529384e-02 6.84234326e+02] [ 3.16435621e-02 9.99499211e-01 -1.06568104e-04 7.79064707e+00] [ 1.74475701e-02 -4.45774636e-04 9.99847680e-01 4.69786527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6892541539999 meters 0.019341670250794783 Centerline is valid? [True, True] Translation: X:684.26, Y:7.79, Z:4.70 [[ 9.99321870e-01 -3.28438880e-02 -1.66457216e-02 6.84263396e+02] [ 3.28467412e-02 9.99460395e-01 -1.02037530e-04 7.79104328e+00] [ 1.66400908e-02 -4.44789373e-04 9.99861445e-01 4.69845083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7192541539999 meters 0.019673007510345827 Centerline is valid? [True, True] Translation: X:684.29, Y:7.79, Z:4.70 [[ 9.99307041e-01 -3.35395016e-02 -1.61412121e-02 6.84293473e+02] [ 3.35422732e-02 9.99437295e-01 -9.90610733e-05 7.79127678e+00] [ 1.61354519e-02 -4.42420519e-04 9.99869717e-01 4.69875702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7492541539999 meters 0.02093043890986305 Centerline is valid? [True, True] Translation: X:684.32, Y:7.79, Z:4.70 [[ 9.99299693e-01 -3.35946767e-02 -1.64779206e-02 6.84323676e+02] [ 3.35975753e-02 9.99435437e-01 -1.00964860e-04 7.79122419e+00] [ 1.64720097e-02 -4.52724026e-04 9.99864225e-01 4.69800622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7792541539999 meters 0.021034467542168346 Centerline is valid? [True, True] Translation: X:684.35, Y:7.79, Z:4.70 [[ 9.99250250e-01 -3.52543036e-02 -1.60022402e-02 6.84353599e+02] [ 3.52572640e-02 9.99378265e-01 -9.71698062e-05 7.79048208e+00] [ 1.59957167e-02 -4.67098255e-04 9.99871951e-01 4.69894268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8092541539999 meters 0.021365932670502612 Centerline is valid? [True, True] Translation: X:684.39, Y:7.79, Z:4.70 [[ 9.99230064e-01 -3.59114138e-02 -1.58002948e-02 6.84385330e+02] [ 3.59143958e-02 9.99354865e-01 -9.50692528e-05 7.79032416e+00] [ 1.57935156e-02 -4.72461986e-04 9.99875163e-01 4.69959349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.839254154 meters 0.02187514928534794 Centerline is valid? [True, True] Translation: X:684.42, Y:7.79, Z:4.70 [[ 9.99202603e-01 -3.65973450e-02 -1.59622303e-02 6.84416335e+02] [ 3.66004844e-02 9.99329973e-01 -9.55086532e-05 7.79015120e+00] [ 1.59550305e-02 -4.88792866e-04 9.99872591e-01 4.69946341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8692541539999 meters 0.02265803784181706 Centerline is valid? [True, True] Translation: X:684.45, Y:7.79, Z:4.70 [[ 9.99165739e-01 -3.74118492e-02 -1.63761720e-02 6.84446779e+02] [ 3.74152693e-02 9.99299799e-01 -9.75925667e-05 7.78967083e+00] [ 1.63683565e-02 -5.15207737e-04 9.99865897e-01 4.69921738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8992541539999 meters 0.020046117414849577 Centerline is valid? [True, True] Translation: X:684.48, Y:7.79, Z:4.70 [[ 9.99108629e-01 -3.88464256e-02 -1.65197435e-02 6.84477679e+02] [ 3.88501066e-02 9.99245045e-01 -9.81597836e-05 7.79453715e+00] [ 1.65110850e-02 -5.43721508e-04 9.99863535e-01 4.70033373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9292541539999 meters 0.020189501810861904 Centerline is valid? [True, True] Translation: X:684.51, Y:7.79, Z:4.70 [[ 9.99083897e-01 -3.93392412e-02 -1.68461108e-02 6.84508730e+02] [ 3.93431472e-02 9.99225754e-01 -9.96138036e-05 7.79490530e+00] [ 1.68369865e-02 -5.63256471e-04 9.99858089e-01 4.70020251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.959254154 meters 0.02077558689195747 Centerline is valid? [True, True] Translation: X:684.54, Y:7.79, Z:4.70 [[ 9.99084106e-01 -3.92949896e-02 -1.69367390e-02 6.84538941e+02] [ 3.92989387e-02 9.99227493e-01 -9.97192782e-05 7.79436047e+00] [ 1.69275737e-02 -5.65967920e-04 9.99856558e-01 4.69987118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9892541539999 meters 0.01997537021736232 Centerline is valid? [True, True] Translation: X:684.57, Y:7.80, Z:4.70 [[ 9.99101329e-01 -3.88228151e-02 -1.70095379e-02 6.84570542e+02] [ 3.88267383e-02 9.99245953e-01 -9.96570717e-05 7.79688130e+00] [ 1.70005809e-02 -5.60857365e-04 9.99855322e-01 4.70005353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0192541539999 meters 0.018648740242981406 Centerline is valid? [True, True] Translation: X:684.60, Y:7.80, Z:4.70 [[ 9.99224758e-01 -3.54814992e-02 -1.70571537e-02 6.84602010e+02] [ 3.54849686e-02 9.99370205e-01 -9.93091138e-05 7.80082085e+00] [ 1.70499348e-02 -5.06040438e-04 9.99854511e-01 4.70006899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0492541539999 meters 0.018567017319598172 Centerline is valid? [True, True] Translation: X:684.63, Y:7.80, Z:4.70 [[ 9.99309920e-01 -3.32321681e-02 -1.65923873e-02 6.84631821e+02] [ 3.32351424e-02 9.99447555e-01 -9.65297847e-05 7.80204530e+00] [ 1.65864289e-02 -4.54987185e-04 9.99862332e-01 4.70053589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.079254154 meters 0.016983327178458563 Centerline is valid? [True, True] Translation: X:684.66, Y:7.81, Z:4.70 [[ 9.99408960e-01 -3.02680959e-02 -1.62963826e-02 6.84662897e+02] [ 3.02705720e-02 9.99541737e-01 -9.47588769e-05 7.80658289e+00] [ 1.62917827e-02 -3.98597952e-04 9.99867201e-01 4.70201282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1092541539999 meters 0.016632059434132603 Centerline is valid? [True, True] Translation: X:684.69, Y:7.81, Z:4.70 [[ 9.99591052e-01 -2.40763474e-02 -1.54291145e-02 6.84692186e+02] [ 2.40778290e-02 9.99710083e-01 -8.97505493e-05 7.81076859e+00] [ 1.54268022e-02 -2.81785736e-04 9.99880960e-01 4.70251988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1392541539999 meters 0.0161844227984525 Centerline is valid? [True, True] Translation: X:684.72, Y:7.81, Z:4.70 [[ 9.99669466e-01 -2.09500662e-02 -1.49014599e-02 6.84720966e+02] [ 2.09510930e-02 9.99780498e-01 -8.72174975e-05 7.81321509e+00] [ 1.49000162e-02 -2.25013202e-04 9.99888963e-01 4.70302131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1692541539999 meters 0.015205279930284381 Centerline is valid? [True, True] Translation: X:684.75, Y:7.82, Z:4.70 [[ 9.99732008e-01 -1.83097953e-02 -1.41656121e-02 6.84750873e+02] [ 1.83104496e-02 9.99832346e-01 -8.35107615e-05 7.81669688e+00] [ 1.41647663e-02 -1.75890346e-04 9.99899659e-01 4.70429907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.199254154 meters 0.014740729718332683 Centerline is valid? [True, True] Translation: X:684.78, Y:7.82, Z:4.70 [[ 9.99772449e-01 -1.60434279e-02 -1.40590879e-02 6.84779938e+02] [ 1.60438199e-02 9.99871286e-01 -8.49122722e-05 7.81861360e+00] [ 1.40586406e-02 -1.40668524e-04 9.99901163e-01 4.70497525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2292541539999 meters 0.014470571503801035 Centerline is valid? [True, True] Translation: X:684.81, Y:7.82, Z:4.70 [[ 9.99825557e-01 -1.27083812e-02 -1.36876953e-02 6.84809223e+02] [ 1.27083957e-02 9.99919241e-01 -8.59217435e-05 7.82037268e+00] [ 1.36876818e-02 -8.80418925e-05 9.99906315e-01 4.70479923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2592541539999 meters 0.014453797763697398 Centerline is valid? [True, True] Translation: X:684.84, Y:7.82, Z:4.70 [[ 9.99831179e-01 -1.21709748e-02 -1.37651967e-02 6.84836282e+02] [ 1.21709047e-02 9.99925928e-01 -8.88643937e-05 7.82044268e+00] [ 1.37652587e-02 -7.86855063e-05 9.99905251e-01 4.70428398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2892541539999 meters 0.014304476825591403 Centerline is valid? [True, True] Translation: X:684.86, Y:7.82, Z:4.70 [[ 9.99819125e-01 -1.23917441e-02 -1.44278073e-02 6.84864029e+02] [ 1.23916463e-02 9.99923216e-01 -9.61770843e-05 7.82061251e+00] [ 1.44278913e-02 -8.26245969e-05 9.99895909e-01 4.70411545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3192541539999 meters 0.014488835639176769 Centerline is valid? [True, True] Translation: X:684.89, Y:7.82, Z:4.70 [[ 9.99795609e-01 -1.32343860e-02 -1.52837169e-02 6.84892801e+02] [ 1.32343107e-02 9.99912417e-01 -1.06074940e-04 7.81992049e+00] [ 1.52837822e-02 -9.62161991e-05 9.99883192e-01 4.70344546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3492541539999 meters 0.01474261776612863 Centerline is valid? [True, True] Translation: X:684.92, Y:7.82, Z:4.70 [[ 9.99717733e-01 -1.68182649e-02 -1.67809648e-02 6.84921361e+02] [ 1.68186045e-02 9.99858550e-01 -1.20899738e-04 7.81657875e+00] [ 1.67806245e-02 -1.61366798e-04 9.99859182e-01 4.70220681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3792541539999 meters 0.017431868754813788 Centerline is valid? [True, True] Translation: X:684.95, Y:7.81, Z:4.70 [[ 9.99657354e-01 -1.88644941e-02 -1.81467819e-02 6.84949766e+02] [ 1.88651410e-02 9.99822028e-01 -1.35549761e-04 7.81409529e+00] [ 1.81461093e-02 -2.06838284e-04 9.99835324e-01 4.70010471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4092541539999 meters 0.01592595261352376 Centerline is valid? [True, True] Translation: X:684.98, Y:7.81, Z:4.70 [[ 9.99524085e-01 -2.51916886e-02 -1.78040141e-02 6.84979521e+02] [ 2.51932763e-02 9.99682590e-01 -1.35138868e-04 7.80860841e+00] [ 1.78017673e-02 -3.13466895e-04 9.99841487e-01 4.70189693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4392541539999 meters 0.016395835381129747 Centerline is valid? [True, True] Translation: X:685.01, Y:7.81, Z:4.70 [[ 9.99447550e-01 -2.82775500e-02 -1.74635330e-02 6.85007816e+02] [ 2.82795272e-02 9.99600045e-01 -1.33768466e-04 7.80604903e+00] [ 1.74603310e-02 -3.60165891e-04 9.99847492e-01 4.70249244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4692541539999 meters 0.018387651381853044 Centerline is valid? [True, True] Translation: X:685.04, Y:7.80, Z:4.70 [[ 9.99356602e-01 -3.14974865e-02 -1.71549015e-02 6.85036353e+02] [ 3.14998482e-02 9.99503748e-01 -1.32586213e-04 7.80106972e+00] [ 1.71505645e-02 -4.07875888e-04 9.99852835e-01 4.70192936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4992541539999 meters 0.018984370079994158 Centerline is valid? [True, True] Translation: X:685.07, Y:7.80, Z:4.70 [[ 9.99192089e-01 -3.70476705e-02 -1.55769064e-02 6.85066298e+02] [ 3.70502837e-02 9.99313395e-01 -1.20889231e-04 7.79737667e+00] [ 1.55706899e-02 -4.56337239e-04 9.99878665e-01 4.70422274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5292541539999 meters 0.020149274810912273 Centerline is valid? [True, True] Translation: X:685.10, Y:7.80, Z:4.70 [[ 9.99131123e-01 -3.90303288e-02 -1.46162033e-02 6.85097377e+02] [ 3.90328438e-02 9.99237922e-01 -1.13272339e-04 7.79507717e+00] [ 1.46094857e-02 -4.57338062e-04 9.99893171e-01 4.70441047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5592541539999 meters 0.020777897640908222 Centerline is valid? [True, True] Translation: X:685.13, Y:7.79, Z:4.71 [[ 9.99072234e-01 -4.07895660e-02 -1.38160296e-02 6.85129062e+02] [ 4.07919949e-02 9.99167655e-01 -1.06070358e-04 7.79322262e+00] [ 1.38088565e-02 -4.57611461e-04 9.99904548e-01 4.70502880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.589254154 meters 0.021819816083856657 Centerline is valid? [True, True] Translation: X:685.16, Y:7.79, Z:4.71 [[ 9.98911713e-01 -4.49896784e-02 -1.23011797e-02 6.85159447e+02] [ 4.49919315e-02 9.98987346e-01 -9.36591960e-05 7.78871903e+00] [ 1.22929365e-02 -4.59896564e-04 9.99924333e-01 4.70685851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6192541539999 meters 0.02324605727230755 Centerline is valid? [True, True] Translation: X:685.19, Y:7.79, Z:4.71 [[ 9.98840738e-01 -4.66680782e-02 -1.18012702e-02 6.85190490e+02] [ 4.66702733e-02 9.98910345e-01 -8.94708959e-05 7.78573130e+00] [ 1.17925863e-02 -4.61401331e-04 9.99930359e-01 4.70712222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6492541539999 meters 0.022371443486451054 Centerline is valid? [True, True] Translation: X:685.22, Y:7.79, Z:4.71 [[ 9.98778644e-01 -4.80243891e-02 -1.16137108e-02 6.85222434e+02] [ 4.80266148e-02 9.98846053e-01 -8.73317751e-05 7.78797002e+00] [ 1.16045032e-02 -4.70542101e-04 9.99932555e-01 4.70688149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6792541539999 meters 0.022564766812525318 Centerline is valid? [True, True] Translation: X:685.25, Y:7.79, Z:4.71 [[ 9.98577728e-01 -5.21772221e-02 -1.09571282e-02 6.85253255e+02] [ 5.21794589e-02 9.98637721e-01 -8.18302611e-05 7.78601045e+00] [ 1.09464712e-02 -4.90023146e-04 9.99939966e-01 4.70852522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.709254154 meters 0.02360623799700698 Centerline is valid? [True, True] Translation: X:685.28, Y:7.78, Z:4.71 [[ 9.98493406e-01 -5.37737587e-02 -1.09224976e-02 6.85283961e+02] [ 5.37760797e-02 9.98553016e-01 -8.12928862e-05 7.78357259e+00] [ 1.09110643e-02 -5.06198691e-04 9.99940344e-01 4.70864198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7392541539999 meters 0.02469016793268531 Centerline is valid? [True, True] Translation: X:685.32, Y:7.78, Z:4.71 [[ 9.98402864e-01 -5.54035102e-02 -1.10531356e-02 6.85315629e+02] [ 5.54059922e-02 9.98463905e-01 -8.17738960e-05 7.78147865e+00] [ 1.10406875e-02 -5.30766652e-04 9.99938909e-01 4.70866950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7692541539999 meters 0.026395970683396323 Centerline is valid? [True, True] Translation: X:685.35, Y:7.78, Z:4.71 [[ 9.98277386e-01 -5.75360325e-02 -1.14832502e-02 6.85347161e+02] [ 5.75388596e-02 9.98343264e-01 -8.43055515e-05 7.77819332e+00] [ 1.14690761e-02 -5.76572795e-04 9.99934062e-01 4.70844338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7992541539999 meters 0.02483676390452344 Centerline is valid? [True, True] Translation: X:685.38, Y:7.78, Z:4.71 [[ 9.98263247e-01 -5.78214927e-02 -1.12767004e-02 6.85379194e+02] [ 5.78242451e-02 9.98326775e-01 -8.20884207e-05 7.78072398e+00] [ 1.12625785e-02 -5.70120836e-04 9.99936413e-01 4.70887316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.829254154 meters 0.025374257908981884 Centerline is valid? [True, True] Translation: X:685.41, Y:7.78, Z:4.71 [[ 9.98263878e-01 -5.77249062e-02 -1.17074950e-02 6.85410413e+02] [ 5.77278757e-02 9.98332352e-01 -8.44182351e-05 7.78057237e+00] [ 1.16928440e-02 -5.91577140e-04 9.99931461e-01 4.70885237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8592541539999 meters 0.025235803794839393 Centerline is valid? [True, True] Translation: X:685.44, Y:7.78, Z:4.71 [[ 9.98327471e-01 -5.66179557e-02 -1.16904600e-02 6.85442460e+02] [ 5.66208494e-02 9.98395749e-01 -8.35571687e-05 7.78125436e+00] [ 1.16764365e-02 -5.78506361e-04 9.99931661e-01 4.70882076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8892541539999 meters 0.024362081780945764 Centerline is valid? [True, True] Translation: X:685.47, Y:7.78, Z:4.71 [[ 9.98514731e-01 -5.29260430e-02 -1.29292323e-02 6.85472418e+02] [ 5.29292811e-02 9.98598259e-01 -9.18452376e-05 7.78498920e+00] [ 1.29159699e-02 -5.92626148e-04 9.99916410e-01 4.70830511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9192541539999 meters 0.023650931383532046 Centerline is valid? [True, True] Translation: X:685.50, Y:7.79, Z:4.71 [[ 9.98654830e-01 -4.99322703e-02 -1.39749406e-02 6.85504054e+02] [ 4.99357664e-02 9.98752427e-01 -9.88825156e-05 7.78866199e+00] [ 1.39624432e-02 -5.99099865e-04 9.99902341e-01 4.70730053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.949254154 meters 0.02281517455072004 Centerline is valid? [True, True] Translation: X:685.53, Y:7.79, Z:4.71 [[ 9.98779245e-01 -4.71535581e-02 -1.47160169e-02 6.85534331e+02] [ 4.71571520e-02 9.98887477e-01 -1.02880663e-04 7.79156817e+00] [ 1.47044962e-02 -5.91210373e-04 9.99891708e-01 4.70711521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9792541539999 meters 0.022206282908767156 Centerline is valid? [True, True] Translation: X:685.57, Y:7.80, Z:4.71 [[ 9.98887415e-01 -4.43516432e-02 -1.60269699e-02 6.85565392e+02] [ 4.43555644e-02 9.99015801e-01 -1.10897973e-04 7.79504001e+00] [ 1.60161147e-02 -6.00110704e-04 9.99871554e-01 4.70649251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0092541539999 meters 0.020355547028600818 Centerline is valid? [True, True] Translation: X:685.60, Y:7.80, Z:4.71 [[ 9.99070109e-01 -3.97283511e-02 -1.67504061e-02 6.85595520e+02] [ 3.97319927e-02 9.99210366e-01 -1.15458832e-04 7.80102428e+00] [ 1.67417664e-02 -5.50175543e-04 9.99859695e-01 4.70736557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0392541539999 meters 0.01981138268313847 Centerline is valid? [True, True] Translation: X:685.63, Y:7.80, Z:4.71 [[ 9.99147901e-01 -3.78104795e-02 -1.65480821e-02 6.85626739e+02] [ 3.78137786e-02 9.99284797e-01 -1.13596679e-04 7.80345224e+00] [ 1.65405420e-02 -5.12245630e-04 9.99863065e-01 4.70762004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0692541539999 meters 0.019480006476480984 Centerline is valid? [True, True] Translation: X:685.66, Y:7.81, Z:4.71 [[ 9.99200659e-01 -3.64267382e-02 -1.64661837e-02 6.85658092e+02] [ 3.64298266e-02 9.99336207e-01 -1.12451463e-04 7.80524978e+00] [ 1.64593498e-02 -4.87498640e-04 9.99864417e-01 4.70848843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0992541539999 meters 0.018727280129813766 Centerline is valid? [True, True] Translation: X:685.69, Y:7.81, Z:4.71 [[ 9.99305183e-01 -3.40700916e-02 -1.51122634e-02 6.85688852e+02] [ 3.40724270e-02 9.99419361e-01 -1.02980076e-04 7.80910416e+00] [ 1.51069971e-02 -4.12002967e-04 9.99885798e-01 4.71007153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1292541539999 meters 0.018812499672110752 Centerline is valid? [True, True] Translation: X:685.72, Y:7.81, Z:4.71 [[ 9.99357070e-01 -3.27378302e-02 -1.46178676e-02 6.85719290e+02] [ 3.27398749e-02 9.99463902e-01 -9.94769917e-05 7.81092204e+00] [ 1.46132877e-02 -3.79174121e-04 9.99893148e-01 4.71073477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1592541539999 meters 0.01845547258430094 Centerline is valid? [True, True] Translation: X:685.75, Y:7.81, Z:4.71 [[ 9.99415477e-01 -3.11173295e-02 -1.41568397e-02 6.85750708e+02] [ 3.11190899e-02 9.99515679e-01 -9.59726286e-05 7.81309480e+00] [ 1.41529697e-02 -3.44631437e-04 9.99899782e-01 4.71115497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1892541539999 meters 0.01780913199224117 Centerline is valid? [True, True] Translation: X:685.78, Y:7.82, Z:4.71 [[ 9.99468658e-01 -2.94329670e-02 -1.40036202e-02 6.85781096e+02] [ 2.94345276e-02 9.99566706e-01 -9.46968978e-05 7.81555972e+00] [ 1.40003397e-02 -3.17543364e-04 9.99901940e-01 4.71196240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2192541539999 meters 0.01596478327152481 Centerline is valid? [True, True] Translation: X:685.81, Y:7.82, Z:4.71 [[ 9.99553884e-01 -2.62639266e-02 -1.42210480e-02 6.85811674e+02] [ 2.62652154e-02 9.99655005e-01 -9.61672131e-05 7.82202890e+00] [ 1.42186675e-02 -2.77394577e-04 9.99898871e-01 4.71246302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2492541539999 meters 0.01596478327152481 Centerline is valid? [True, True] Translation: X:685.84, Y:7.82, Z:4.71 [[ 9.99553884e-01 -2.62639266e-02 -1.42210480e-02 6.85841679e+02] [ 2.62652154e-02 9.99655005e-01 -9.61672131e-05 7.82223181e+00] [ 1.42186675e-02 -2.77394577e-04 9.99898871e-01 4.71267094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2792541539999 meters 0.015846606558997736 Centerline is valid? [True, True] Translation: X:685.87, Y:7.82, Z:4.71 [[ 9.99588691e-01 -2.47333804e-02 -1.45157896e-02 6.85872389e+02] [ 2.47345619e-02 9.99694049e-01 -9.81603491e-05 7.82383710e+00] [ 1.45137764e-02 -2.60921722e-04 9.99894636e-01 4.71270555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3092541539999 meters 0.016448081505098085 Centerline is valid? [True, True] Translation: X:685.90, Y:7.82, Z:4.71 [[ 9.99614365e-01 -2.34787788e-02 -1.48279876e-02 6.85901885e+02] [ 2.34798716e-02 9.99724305e-01 -1.00414072e-04 7.82295282e+00] [ 1.48262572e-02 -2.47783896e-04 9.99890054e-01 4.71145745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.339254154 meters 0.015407634081160766 Centerline is valid? [True, True] Translation: X:685.93, Y:7.83, Z:4.71 [[ 9.99641630e-01 -2.17555036e-02 -1.55983661e-02 6.85931611e+02] [ 2.17564963e-02 9.99763294e-01 -1.06066761e-04 7.82626260e+00] [ 1.55969814e-02 -2.33337045e-04 9.99878332e-01 4.71155642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3692541539999 meters 0.015255874142783536 Centerline is valid? [True, True] Translation: X:685.96, Y:7.83, Z:4.71 [[ 9.99637468e-01 -2.16186482e-02 -1.60489056e-02 6.85960634e+02] [ 2.16196411e-02 9.99766262e-01 -1.11643588e-04 7.82755405e+00] [ 1.60475680e-02 -2.35368466e-04 9.99871202e-01 4.71179045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3992541539999 meters 0.01514031139473392 Centerline is valid? [True, True] Translation: X:685.99, Y:7.83, Z:4.71 [[ 9.99634710e-01 -2.15025173e-02 -1.63733924e-02 6.85989279e+02] [ 2.15034676e-02 9.99768767e-01 -1.18034488e-04 7.82914675e+00] [ 1.63721444e-02 -2.34093342e-04 9.99865940e-01 4.71226280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4292541539999 meters 0.015008086985959094 Centerline is valid? [True, True] Translation: X:686.02, Y:7.83, Z:4.71 [[ 9.99628871e-01 -2.20959904e-02 -1.59338705e-02 6.86017685e+02] [ 2.20969019e-02 9.99755827e-01 -1.18870122e-04 7.83087974e+00] [ 1.59326064e-02 -2.33263167e-04 9.99873041e-01 4.71307839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.459254154 meters 0.015386657774434825 Centerline is valid? [True, True] Translation: X:686.05, Y:7.83, Z:4.71 [[ 9.99629254e-01 -2.23263025e-02 -1.55849690e-02 6.86046297e+02] [ 2.23271681e-02 9.99750711e-01 -1.18472892e-04 7.82990259e+00] [ 1.55837289e-02 -2.29539256e-04 9.99878540e-01 4.71271880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4892541539999 meters 0.015022494806162844 Centerline is valid? [True, True] Translation: X:686.08, Y:7.83, Z:4.71 [[ 9.99620234e-01 -2.28042815e-02 -1.54710166e-02 6.86075995e+02] [ 2.28051811e-02 9.99739921e-01 -1.18294330e-04 7.83128177e+00] [ 1.54696905e-02 -2.34569929e-04 9.99880310e-01 4.71359614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5192541539999 meters 0.015265310622673034 Centerline is valid? [True, True] Translation: X:686.11, Y:7.83, Z:4.71 [[ 9.99608172e-01 -2.36410207e-02 -1.49868447e-02 6.86105068e+02] [ 2.36419469e-02 9.99720483e-01 -1.15390597e-04 7.83079815e+00] [ 1.49853836e-02 -2.38972802e-04 9.99887684e-01 4.71329126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5492541539999 meters 0.015635249930434716 Centerline is valid? [True, True] Translation: X:686.13, Y:7.83, Z:4.71 [[ 9.99559962e-01 -2.57444926e-02 -1.47344097e-02 6.86134484e+02] [ 2.57456074e-02 9.99668520e-01 -1.14054544e-04 7.82979279e+00] [ 1.47324618e-02 -2.65341971e-04 9.99891436e-01 4.71316833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.579254154 meters 0.015664025465391918 Centerline is valid? [True, True] Translation: X:686.17, Y:7.83, Z:4.71 [[ 9.99522541e-01 -2.68645229e-02 -1.52639227e-02 6.86165056e+02] [ 2.68658478e-02 9.99639041e-01 -1.18282990e-04 7.82984737e+00] [ 1.52615906e-02 -2.91851709e-04 9.99883493e-01 4.71324745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6092541539999 meters 0.016672557324384066 Centerline is valid? [True, True] Translation: X:686.19, Y:7.83, Z:4.71 [[ 9.99454867e-01 -2.92984321e-02 -1.52174429e-02 6.86194189e+02] [ 2.93000286e-02 9.99570655e-01 -1.18071156e-04 7.82908430e+00] [ 1.52143687e-02 -3.27864722e-04 9.99884201e-01 4.71293932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6392541539999 meters 0.01686145731122581 Centerline is valid? [True, True] Translation: X:686.23, Y:7.83, Z:4.71 [[ 9.99415319e-01 -3.05882151e-02 -1.52768326e-02 6.86225396e+02] [ 3.05899773e-02 9.99532010e-01 -1.18360037e-04 7.82872437e+00] [ 1.52733036e-02 -3.49027128e-04 9.99883295e-01 4.71338642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6692541539999 meters 0.01669195050489174 Centerline is valid? [True, True] Translation: X:686.26, Y:7.83, Z:4.71 [[ 9.99375543e-01 -3.19319985e-02 -1.51285126e-02 6.86256886e+02] [ 3.19338887e-02 9.99489977e-01 -1.16667053e-04 7.82949447e+00] [ 1.51245221e-02 -3.66518040e-04 9.99885551e-01 4.71405955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.699254154 meters 0.017532069655603454 Centerline is valid? [True, True] Translation: X:686.29, Y:7.83, Z:4.71 [[ 9.99321103e-01 -3.35850414e-02 -1.51452121e-02 6.86287515e+02] [ 3.35871316e-02 9.99435786e-01 -1.16392725e-04 7.82790351e+00] [ 1.51405760e-02 -3.92370526e-04 9.99885298e-01 4.71410696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7292541539999 meters 0.019592019542220795 Centerline is valid? [True, True] Translation: X:686.32, Y:7.82, Z:4.71 [[ 9.99224425e-01 -3.66458056e-02 -1.44094578e-02 6.86317954e+02] [ 3.66480216e-02 9.99328230e-01 -1.10320710e-04 7.82439389e+00] [ 1.44038207e-02 -4.17842972e-04 9.99896172e-01 4.71346341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7592541539999 meters 0.020250207352063013 Centerline is valid? [True, True] Translation: X:686.35, Y:7.82, Z:4.71 [[ 9.99169976e-01 -3.80072461e-02 -1.46563228e-02 6.86349972e+02] [ 3.80096969e-02 9.99277364e-01 -1.11397314e-04 7.82351071e+00] [ 1.46499655e-02 -4.45777537e-04 9.99892584e-01 4.71378302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7892541539999 meters 0.021167975809797752 Centerline is valid? [True, True] Translation: X:686.38, Y:7.82, Z:4.71 [[ 9.99127260e-01 -3.92210032e-02 -1.43677463e-02 6.86381190e+02] [ 3.92234961e-02 9.99230457e-01 -1.08353127e-04 7.82292973e+00] [ 1.43609394e-02 -4.55294677e-04 9.99896773e-01 4.71389540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8192541539999 meters 0.019723700465441647 Centerline is valid? [True, True] Translation: X:686.41, Y:7.83, Z:4.72 [[ 9.99103969e-01 -3.98950738e-02 -1.41294533e-02 6.86413676e+02] [ 3.98975642e-02 9.99203770e-01 -1.05688397e-04 7.82668917e+00] [ 1.41224195e-02 -4.58137075e-04 9.99900169e-01 4.71514042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8492541539999 meters 0.018883181994650795 Centerline is valid? [True, True] Translation: X:686.45, Y:7.83, Z:4.72 [[ 9.99128457e-01 -3.92112452e-02 -1.43110294e-02 6.86446068e+02] [ 3.92137450e-02 9.99230840e-01 -1.06002109e-04 7.82906800e+00] [ 1.43041784e-02 -4.55279335e-04 9.99897586e-01 4.71562287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8792541539999 meters 0.02236718693050649 Centerline is valid? [True, True] Translation: X:686.48, Y:7.83, Z:4.71 [[ 9.99191092e-01 -3.75754234e-02 -1.43265342e-02 6.86477226e+02] [ 3.75777737e-02 9.99293700e-01 -1.05206006e-04 7.82541583e+00] [ 1.43203686e-02 -4.33238358e-04 9.99897364e-01 4.71330960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9092541539999 meters 0.018715341326398745 Centerline is valid? [True, True] Translation: X:686.51, Y:7.83, Z:4.72 [[ 9.99253350e-01 -3.59825811e-02 -1.40711188e-02 6.86508141e+02] [ 3.59846992e-02 9.99352336e-01 -1.02706703e-04 7.83160636e+00] [ 1.40657011e-02 -4.03714962e-04 9.99900992e-01 4.71535271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9392541539999 meters 0.01639552913360709 Centerline is valid? [True, True] Translation: X:686.54, Y:7.84, Z:4.72 [[ 9.99400933e-01 -3.15465121e-02 -1.42335345e-02 6.86539755e+02] [ 3.15482391e-02 9.99502225e-01 -1.03243168e-04 7.83839679e+00] [ 1.42297064e-02 -3.45861632e-04 9.99898693e-01 4.71711460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9692541539999 meters 0.016025180179818615 Centerline is valid? [True, True] Translation: X:686.57, Y:7.84, Z:4.72 [[ 9.99468169e-01 -2.95616773e-02 -1.37654231e-02 6.86570903e+02] [ 2.95631128e-02 9.99562911e-01 -9.92311779e-05 7.84111358e+00] [ 1.37623398e-02 -3.07770351e-04 9.99905247e-01 4.71766153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9992541539999 meters 0.019005950083059504 Centerline is valid? [True, True] Translation: X:686.60, Y:7.84, Z:4.72 [[ 9.99528929e-01 -2.74318166e-02 -1.37628328e-02 6.86601767e+02] [ 2.74330567e-02 9.99623638e-01 -9.87137266e-05 7.83854640e+00] [ 1.37603609e-02 -2.78889348e-04 9.99905283e-01 4.71531627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0292541539999 meters 0.015270933413254159 Centerline is valid? [True, True] Translation: X:686.63, Y:7.85, Z:4.72 [[ 9.99590254e-01 -2.55572607e-02 -1.28899188e-02 6.86632927e+02] [ 2.55581984e-02 9.99673332e-01 -9.20051441e-05 7.84607120e+00] [ 1.28880595e-02 -2.37475657e-04 9.99916917e-01 4.71870790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0592541539999 meters 0.01531563465923698 Centerline is valid? [True, True] Translation: X:686.66, Y:7.85, Z:4.72 [[ 9.99606147e-01 -2.50236854e-02 -1.27030043e-02 6.86663877e+02] [ 2.50245587e-02 9.99686833e-01 -9.02212813e-05 7.84680792e+00] [ 1.27012838e-02 -2.27701329e-04 9.99919310e-01 4.71885095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.089254154 meters 0.015340423901146283 Centerline is valid? [True, True] Translation: X:686.70, Y:7.85, Z:4.72 [[ 9.99601472e-01 -2.50377386e-02 -1.30387628e-02 6.86695459e+02] [ 2.50386660e-02 9.99686479e-01 -9.21354660e-05 7.84764274e+00] [ 1.30369817e-02 -2.34374479e-04 9.99914987e-01 4.71877564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1192541539999 meters 0.01583140816655736 Centerline is valid? [True, True] Translation: X:686.73, Y:7.85, Z:4.72 [[ 9.99564494e-01 -2.57363777e-02 -1.44381993e-02 6.86725603e+02] [ 2.57375978e-02 9.99668728e-01 -1.01329164e-04 7.84789044e+00] [ 1.44360242e-02 -2.70319533e-04 9.99895759e-01 4.71766716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1492541539999 meters 0.01599870559810025 Centerline is valid? [True, True] Translation: X:686.76, Y:7.85, Z:4.72 [[ 9.99530821e-01 -2.66091307e-02 -1.51687887e-02 6.86756557e+02] [ 2.66105841e-02 9.99645870e-01 -1.06047514e-04 7.84952986e+00] [ 1.51662388e-02 -2.97652569e-04 9.99884942e-01 4.71753422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1792541539999 meters 0.016596004514182285 Centerline is valid? [True, True] Translation: X:686.79, Y:7.85, Z:4.72 [[ 9.99503483e-01 -2.73167116e-02 -1.57030367e-02 6.86786603e+02] [ 2.73183590e-02 9.99626778e-01 -1.09625804e-04 7.84893568e+00] [ 1.57001706e-02 -3.19409820e-04 9.99876694e-01 4.71717773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.209254154 meters 0.016572439101787097 Centerline is valid? [True, True] Translation: X:686.82, Y:7.85, Z:4.72 [[ 9.99456159e-01 -2.87938788e-02 -1.60716983e-02 6.86816968e+02] [ 2.87957974e-02 9.99585309e-01 -1.12072833e-04 7.85177196e+00] [ 1.60682605e-02 -3.50785484e-04 9.99870836e-01 4.71804282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2392541539999 meters 0.018155875266539643 Centerline is valid? [True, True] Translation: X:686.85, Y:7.85, Z:4.72 [[ 9.99424576e-01 -2.98488339e-02 -1.61109735e-02 6.86847156e+02] [ 2.98509072e-02 9.99554356e-01 -1.11827587e-04 7.84935278e+00] [ 1.61071317e-02 -3.69163937e-04 9.99870204e-01 4.71737603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2692541539999 meters 0.0185717593312184 Centerline is valid? [True, True] Translation: X:686.88, Y:7.85, Z:4.72 [[ 9.99359673e-01 -3.23932167e-02 -1.51961852e-02 6.86878020e+02] [ 3.23953630e-02 9.99475127e-01 -1.04960617e-04 7.85032960e+00] [ 1.51916091e-02 -3.87392527e-04 9.99884526e-01 4.71878162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2992541539999 meters 0.018954705603050945 Centerline is valid? [True, True] Translation: X:686.91, Y:7.85, Z:4.72 [[ 9.99337377e-01 -3.34766512e-02 -1.42870822e-02 6.86909198e+02] [ 3.34786643e-02 9.99439428e-01 -9.83019870e-05 7.85006447e+00] [ 1.42823641e-02 -3.80075579e-04 9.99897930e-01 4.71957262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.329254154 meters 0.021511043226342813 Centerline is valid? [True, True] Translation: X:686.94, Y:7.85, Z:4.72 [[ 9.99332350e-01 -3.39440389e-02 -1.35150681e-02 6.86940273e+02] [ 3.39458910e-02 9.99423668e-01 -9.24037108e-05 7.84798536e+00] [ 1.35104155e-02 -3.66439010e-04 9.99908663e-01 4.71902454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3592541539999 meters 0.019802739130789872 Centerline is valid? [True, True] Translation: X:686.97, Y:7.85, Z:4.72 [[ 9.99273968e-01 -3.59281533e-02 -1.26769318e-02 6.86972804e+02] [ 3.59299519e-02 9.99354307e-01 -8.59161962e-05 7.84991988e+00] [ 1.26718332e-02 -3.69627731e-04 9.99919641e-01 4.72162916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3892541539999 meters 0.021202810576123787 Centerline is valid? [True, True] Translation: X:687.00, Y:7.85, Z:4.72 [[ 9.99224552e-01 -3.78602475e-02 -1.08118337e-02 6.87003634e+02] [ 3.78616784e-02 9.99282987e-01 -7.23758153e-05 7.84831890e+00] [ 1.08068216e-02 -3.37034478e-04 9.99941548e-01 4.72284202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4192541539999 meters 0.02138498665440829 Centerline is valid? [True, True] Translation: X:687.04, Y:7.85, Z:4.72 [[ 9.99193423e-01 -3.87907747e-02 -1.03816376e-02 6.87035771e+02] [ 3.87921552e-02 9.99247299e-01 -6.84339849e-05 7.84769335e+00] [ 1.03764780e-02 -3.34347311e-04 9.99946107e-01 4.72306966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.449254154 meters 0.02194054706857426 Centerline is valid? [True, True] Translation: X:687.07, Y:7.85, Z:4.72 [[ 9.99142385e-01 -4.00722865e-02 -1.04261869e-02 6.87068259e+02] [ 4.00737562e-02 9.99196722e-01 -6.79981282e-05 7.84638553e+00] [ 1.04205366e-02 -3.49876660e-04 9.99945644e-01 4.72312148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4792541539999 meters 0.022004449297615955 Centerline is valid? [True, True] Translation: X:687.10, Y:7.85, Z:4.72 [[ 9.99006327e-01 -4.33037061e-02 -1.05426400e-02 6.87100029e+02] [ 4.33053957e-02 9.99061879e-01 -6.80719055e-05 7.84746212e+00] [ 1.05356974e-02 -3.88548931e-04 9.99944423e-01 4.72199648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5092541539999 meters 0.021325712859728993 Centerline is valid? [True, True] Translation: X:687.13, Y:7.85, Z:4.72 [[ 9.98895042e-01 -4.58068559e-02 -1.05084730e-02 6.87132448e+02] [ 4.58086797e-02 9.98950229e-01 -6.72062709e-05 7.84729927e+00] [ 1.05005200e-02 -4.14247262e-04 9.99944782e-01 4.72360536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5392541539999 meters 0.02268049878777024 Centerline is valid? [True, True] Translation: X:687.16, Y:7.85, Z:4.72 [[ 9.98792575e-01 -4.80111288e-02 -1.04078157e-02 6.87163784e+02] [ 4.80130445e-02 9.98846707e-01 -6.58628128e-05 7.84532414e+00] [ 1.03989746e-02 -4.33927632e-04 9.99945835e-01 4.72391105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5692541539999 meters 0.022407022372431827 Centerline is valid? [True, True] Translation: X:687.20, Y:7.85, Z:4.72 [[ 9.98683939e-01 -5.02138546e-02 -1.04383355e-02 6.87195418e+02] [ 5.02159101e-02 9.98738383e-01 -6.52504808e-05 7.84578295e+00] [ 1.04284428e-02 -4.59005909e-04 9.99945517e-01 4.72458062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5992541539999 meters 0.027779185577575992 Centerline is valid? [True, True] Translation: X:687.23, Y:7.84, Z:4.72 [[ 9.98501011e-01 -5.36879419e-02 -1.06459663e-02 6.87225422e+02] [ 5.36902860e-02 9.98557634e-01 -6.56983224e-05 7.83922071e+00] [ 1.06341381e-02 -5.05985135e-04 9.99943328e-01 4.72302094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6292541539999 meters 0.026810092309792297 Centerline is valid? [True, True] Translation: X:687.26, Y:7.84, Z:4.72 [[ 9.98395407e-01 -5.55724270e-02 -1.08773678e-02 6.87257517e+02] [ 5.55749887e-02 9.98454514e-01 -6.68422055e-05 7.83934956e+00] [ 1.08642716e-02 -5.37774644e-04 9.99940837e-01 4.72453744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6592541539999 meters 0.02781848560302931 Centerline is valid? [True, True] Translation: X:687.29, Y:7.84, Z:4.72 [[ 9.98325724e-01 -5.66988176e-02 -1.14451914e-02 6.87289071e+02] [ 5.67017364e-02 9.98391160e-01 -6.95642186e-05 7.83769242e+00] [ 1.14307222e-02 -5.79514479e-04 9.99934499e-01 4.72459740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6892541539999 meters 0.02850196168757051 Centerline is valid? [True, True] Translation: X:687.32, Y:7.84, Z:4.72 [[ 9.98276751e-01 -5.74341730e-02 -1.20351425e-02 6.87320759e+02] [ 5.74374618e-02 9.98349104e-01 -7.24868804e-05 7.83711912e+00] [ 1.20194370e-02 -6.18906073e-04 9.99927572e-01 4.72436987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7192541539999 meters 0.028696046157022398 Centerline is valid? [True, True] Translation: X:687.35, Y:7.84, Z:4.72 [[ 9.98327744e-01 -5.64369872e-02 -1.25132726e-02 6.87351960e+02] [ 5.64404729e-02 9.98405963e-01 -7.46889817e-05 7.83732398e+00] [ 1.24975412e-02 -6.31690941e-04 9.99921703e-01 4.72418208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7492541539999 meters 0.028490254592766245 Centerline is valid? [True, True] Translation: X:687.38, Y:7.84, Z:4.72 [[ 9.98404466e-01 -5.49534823e-02 -1.29860600e-02 6.87384371e+02] [ 5.49571216e-02 9.98488712e-01 -7.67100776e-05 7.83841667e+00] [ 1.29706498e-02 -6.37088795e-04 9.99915675e-01 4.72424342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7792541539999 meters 0.025805222188795406 Centerline is valid? [True, True] Translation: X:687.41, Y:7.84, Z:4.72 [[ 9.98630839e-01 -5.03659187e-02 -1.41323225e-02 6.87414659e+02] [ 5.03697779e-02 9.98730634e-01 -8.29561328e-05 7.84485031e+00] [ 1.41185615e-02 -6.28999391e-04 9.99900130e-01 4.72423640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8092541539999 meters 0.022155710899212044 Centerline is valid? [True, True] Translation: X:687.45, Y:7.85, Z:4.73 [[ 9.98774536e-01 -4.72586215e-02 -1.46985925e-02 6.87445887e+02] [ 4.72624645e-02 9.98882502e-01 -8.59947801e-05 7.85136840e+00] [ 1.46862308e-02 -6.08802308e-04 9.99891966e-01 4.72531429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.839254154 meters 0.021855149593730503 Centerline is valid? [True, True] Translation: X:687.48, Y:7.85, Z:4.73 [[ 9.98904484e-01 -4.43284697e-02 -1.49939663e-02 6.87476181e+02] [ 4.43321453e-02 9.99016843e-01 -8.73154357e-05 7.85372531e+00] [ 1.49830954e-02 -5.77494912e-04 9.99887580e-01 4.72512726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8692541539999 meters 0.020937928437101603 Centerline is valid? [True, True] Translation: X:687.51, Y:7.86, Z:4.73 [[ 9.99041593e-01 -4.11230310e-02 -1.49930618e-02 6.87507397e+02] [ 4.11263518e-02 9.99153950e-01 -8.68921331e-05 7.85647021e+00] [ 1.49839502e-02 -5.29801079e-04 9.99887594e-01 4.72566333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8992541539999 meters 0.019391129749597065 Centerline is valid? [True, True] Translation: X:687.54, Y:7.86, Z:4.73 [[ 9.99173473e-01 -3.79062193e-02 -1.46795855e-02 6.87539074e+02] [ 3.79090662e-02 9.99281189e-01 -8.43721240e-05 7.86003691e+00] [ 1.46722319e-02 -4.72186991e-04 9.99892246e-01 4.72649793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9292541539999 meters 0.017983631121133988 Centerline is valid? [True, True] Translation: X:687.57, Y:7.86, Z:4.73 [[ 9.99367300e-01 -3.26348264e-02 -1.41410097e-02 6.87570872e+02] [ 3.26369520e-02 9.99467270e-01 -8.04897601e-05 7.86491252e+00] [ 1.41361031e-02 -3.81080620e-04 9.99900008e-01 4.72759594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.959254154 meters 0.017285058194976933 Centerline is valid? [True, True] Translation: X:687.60, Y:7.87, Z:4.73 [[ 9.99452508e-01 -3.00591932e-02 -1.38249232e-02 6.87602668e+02] [ 3.00609889e-02 9.99548063e-01 -7.79470000e-05 7.86745154e+00] [ 1.38210182e-02 -3.37686538e-04 9.99904428e-01 4.72837176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9892541539999 meters 0.016864448719712585 Centerline is valid? [True, True] Translation: X:687.63, Y:7.87, Z:4.73 [[ 9.99528492e-01 -2.76530701e-02 -1.33454815e-02 6.87634494e+02] [ 2.76545383e-02 9.99617537e-01 -7.45497297e-05 7.86945020e+00] [ 1.33424389e-02 -2.94548550e-04 9.99910942e-01 4.72887419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0192541539999 meters 0.015833819542129687 Centerline is valid? [True, True] Translation: X:687.67, Y:7.87, Z:4.73 [[ 9.99659475e-01 -2.27660015e-02 -1.27531509e-02 6.87665067e+02] [ 2.27669551e-02 9.99740797e-01 -7.04240013e-05 7.87310971e+00] [ 1.27514485e-02 -2.19950394e-04 9.99918673e-01 4.72975062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0492541539999 meters 0.015487113816889104 Centerline is valid? [True, True] Translation: X:687.70, Y:7.87, Z:4.73 [[ 9.99710401e-01 -2.03224444e-02 -1.28884879e-02 6.87695886e+02] [ 2.03232253e-02 9.99793459e-01 -7.03893376e-05 7.87473134e+00] [ 1.28872564e-02 -1.91566691e-04 9.99916938e-01 4.72956487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.079254154 meters 0.014794435184956815 Centerline is valid? [True, True] Translation: X:687.73, Y:7.88, Z:4.73 [[ 9.99751694e-01 -1.81226978e-02 -1.29660673e-02 6.87726245e+02] [ 1.81233064e-02 9.99835757e-01 -7.05682190e-05 7.87790606e+00] [ 1.29652166e-02 -1.64437314e-04 9.99915935e-01 4.73019983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1092541539999 meters 0.0145229786996491 Centerline is valid? [True, True] Translation: X:687.76, Y:7.88, Z:4.73 [[ 9.99805164e-01 -1.41508307e-02 -1.37618000e-02 6.87756274e+02] [ 1.41511401e-02 9.99899865e-01 -7.48990188e-05 7.87977462e+00] [ 1.37614818e-02 -1.19860734e-04 9.99905299e-01 4.72914055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1392541539999 meters 0.014471625327423639 Centerline is valid? [True, True] Translation: X:687.79, Y:7.88, Z:4.73 [[ 9.99816484e-01 -1.29796997e-02 -1.40899314e-02 6.87785132e+02] [ 1.29798828e-02 9.99915755e-01 -7.84565908e-05 7.88137678e+00] [ 1.40897627e-02 -1.04443465e-04 9.99900729e-01 4.72884856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1692541539999 meters 0.014471625327423639 Centerline is valid? [True, True] Translation: X:687.81, Y:7.88, Z:4.73 [[ 9.99812775e-01 -1.32623278e-02 -1.40899099e-02 6.87812522e+02] [ 1.32624862e-02 9.99912046e-01 -8.21948989e-05 7.88161279e+00] [ 1.40897607e-02 -1.04687726e-04 9.99900729e-01 4.72903893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.199254154 meters 0.014353935525600037 Centerline is valid? [True, True] Translation: X:687.84, Y:7.88, Z:4.73 [[ 9.99815233e-01 -1.14555701e-02 -1.54359657e-02 6.87840229e+02] [ 1.14555004e-02 9.99934379e-01 -9.29371919e-05 7.88265893e+00] [ 1.54360175e-02 -8.39066911e-05 9.99880854e-01 4.72844053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2292541539999 meters 0.014337485118551764 Centerline is valid? [True, True] Translation: X:687.87, Y:7.88, Z:4.73 [[ 9.99810925e-01 -1.13795327e-02 -1.57677015e-02 6.87867677e+02] [ 1.13793998e-02 9.99935248e-01 -9.81509950e-05 7.88325372e+00] [ 1.57677974e-02 -8.12945417e-05 9.99875677e-01 4.72937144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2592541539999 meters 0.014427214375550366 Centerline is valid? [True, True] Translation: X:687.89, Y:7.88, Z:4.73 [[ 9.99809675e-01 -1.15976695e-02 -1.56878058e-02 6.87894330e+02] [ 1.15975041e-02 9.99932742e-01 -1.01521416e-04 7.88245691e+00] [ 1.56879281e-02 -8.04372980e-05 9.99876934e-01 4.72877027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2892541539999 meters 0.01601598980168368 Centerline is valid? [True, True] Translation: X:687.92, Y:7.88, Z:4.73 [[ 9.99810570e-01 -1.15747323e-02 -1.56476905e-02 6.87922710e+02] [ 1.15745023e-02 9.99933008e-01 -1.05268802e-04 7.88156014e+00] [ 1.56478607e-02 -7.58653683e-05 9.99877562e-01 4.72806726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3192541539999 meters 0.014493996269425574 Centerline is valid? [True, True] Translation: X:687.95, Y:7.88, Z:4.73 [[ 9.99808012e-01 -1.33335100e-02 -1.43581420e-02 6.87950032e+02] [ 1.33334573e-02 9.99911101e-01 -9.93974521e-05 7.87876716e+00] [ 1.43581909e-02 -9.20653048e-05 9.99896912e-01 4.72923957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3492541539999 meters 0.014547582010282554 Centerline is valid? [True, True] Translation: X:687.98, Y:7.88, Z:4.73 [[ 9.99792781e-01 -1.47311301e-02 -1.40495078e-02 6.87978238e+02] [ 1.47311774e-02 9.99891485e-01 -1.00126905e-04 7.87697585e+00] [ 1.40494582e-02 -1.06859637e-04 9.99901296e-01 4.72940120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3792541539999 meters 0.014534553707126205 Centerline is valid? [True, True] Translation: X:688.01, Y:7.88, Z:4.73 [[ 9.99773419e-01 -1.60905260e-02 -1.39357555e-02 6.88007360e+02] [ 1.60906528e-02 9.99870532e-01 -1.03032816e-04 7.87578609e+00] [ 1.39356091e-02 -1.21225932e-04 9.99902887e-01 4.72965911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4092541539999 meters 0.014839205145497454 Centerline is valid? [True, True] Translation: X:688.04, Y:7.87, Z:4.73 [[ 9.99739135e-01 -1.84445964e-02 -1.34706557e-02 6.88036107e+02] [ 1.84448832e-02 9.99829873e-01 -1.02955244e-04 7.87261123e+00] [ 1.34702629e-02 -1.45536284e-04 9.99909261e-01 4.72980571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4392541539999 meters 0.014964682448306314 Centerline is valid? [True, True] Translation: X:688.07, Y:7.87, Z:4.73 [[ 9.99719904e-01 -1.93630086e-02 -1.36083881e-02 6.88065729e+02] [ 1.93633589e-02 9.99812507e-01 -1.06024742e-04 7.87105944e+00] [ 1.36078896e-02 -1.57509058e-04 9.99907396e-01 4.72998515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4692541539999 meters 0.017018042978927526 Centerline is valid? [True, True] Translation: X:688.10, Y:7.87, Z:4.73 [[ 9.99716445e-01 -1.96939192e-02 -1.33857697e-02 6.88095028e+02] [ 1.96942830e-02 9.99806043e-01 -1.04651807e-04 7.86868198e+00] [ 1.33852345e-02 -1.59001004e-04 9.99910401e-01 4.72819354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4992541539999 meters 0.015371850060164024 Centerline is valid? [True, True] Translation: X:688.12, Y:7.87, Z:4.73 [[ 9.99671375e-01 -2.21197955e-02 -1.29559409e-02 6.88124524e+02] [ 2.21203356e-02 9.99755310e-01 -1.01629893e-04 7.86543296e+00] [ 1.29550188e-02 -1.84993265e-04 9.99916063e-01 4.73017232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5292541539999 meters 0.015554623569983174 Centerline is valid? [True, True] Translation: X:688.15, Y:7.86, Z:4.73 [[ 9.99646462e-01 -2.34569077e-02 -1.25189961e-02 6.88154709e+02] [ 2.34575138e-02 9.99724830e-01 -9.84451229e-05 7.86346348e+00] [ 1.25178605e-02 -1.95254205e-04 9.99921629e-01 4.73035002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5592541539999 meters 0.015692079413904596 Centerline is valid? [True, True] Translation: X:688.19, Y:7.86, Z:4.73 [[ 9.99610123e-01 -2.47979293e-02 -1.28321784e-02 6.88186140e+02] [ 2.47986793e-02 9.99692460e-01 -1.00689718e-04 7.86095780e+00] [ 1.28307289e-02 -2.17570616e-04 9.99917659e-01 4.73041373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.589254154 meters 0.01631144094092658 Centerline is valid? [True, True] Translation: X:688.22, Y:7.86, Z:4.73 [[ 9.99568267e-01 -2.65497278e-02 -1.25853569e-02 6.88216882e+02] [ 2.65505951e-02 9.99647466e-01 -9.81888292e-05 7.85741947e+00] [ 1.25835270e-02 -2.36002277e-04 9.99920796e-01 4.73011642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6192541539999 meters 0.018850523763696562 Centerline is valid? [True, True] Translation: X:688.25, Y:7.85, Z:4.73 [[ 9.99482884e-01 -2.92821458e-02 -1.32860733e-02 6.88247005e+02] [ 2.92833606e-02 9.99571145e-01 -1.03137418e-04 7.85108989e+00] [ 1.32833956e-02 -2.85976793e-04 9.99911731e-01 4.72804857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6492541539999 meters 0.017473567811102 Centerline is valid? [True, True] Translation: X:688.28, Y:7.85, Z:4.73 [[ 9.99443771e-01 -3.06130676e-02 -1.32283289e-02 6.88278795e+02] [ 3.06143930e-02 9.99531264e-01 -1.02340705e-04 7.85025656e+00] [ 1.32252613e-02 -3.02693481e-04 9.99912497e-01 4.72926598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6792541539999 meters 0.01806228927068842 Centerline is valid? [True, True] Translation: X:688.31, Y:7.85, Z:4.73 [[ 9.99417931e-01 -3.11543629e-02 -1.38998294e-02 6.88310176e+02] [ 3.11558874e-02 9.99514532e-01 -1.06902371e-04 7.84735479e+00] [ 1.38964120e-02 -3.26221373e-04 9.99903387e-01 4.72819228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.709254154 meters 0.018295190212050463 Centerline is valid? [True, True] Translation: X:688.34, Y:7.84, Z:4.73 [[ 9.99432409e-01 -3.07118412e-02 -1.38435024e-02 6.88340156e+02] [ 3.07133177e-02 9.99528229e-01 -1.05979803e-04 7.84427215e+00] [ 1.38402263e-02 -3.19260237e-04 9.99904169e-01 4.72745760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7392541539999 meters 0.01834773076990672 Centerline is valid? [True, True] Translation: X:688.37, Y:7.84, Z:4.73 [[ 9.99451371e-01 -3.02053528e-02 -1.35865295e-02 6.88370920e+02] [ 3.02067314e-02 9.99543667e-01 -1.03780259e-04 7.84323325e+00] [ 1.35834642e-02 -3.06681323e-04 9.99907693e-01 4.72785224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7692541539999 meters 0.016679068696843092 Centerline is valid? [True, True] Translation: X:688.40, Y:7.85, Z:4.73 [[ 9.99481009e-01 -2.95365251e-02 -1.28571713e-02 6.88402178e+02] [ 2.95377085e-02 9.99563662e-01 -9.78760999e-05 7.84611649e+00] [ 1.28544522e-02 -2.81946076e-04 9.99917338e-01 4.72936742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7992541539999 meters 0.01669737038138643 Centerline is valid? [True, True] Translation: X:688.43, Y:7.85, Z:4.73 [[ 9.99507699e-01 -2.88719060e-02 -1.22789377e-02 6.88433911e+02] [ 2.88729407e-02 9.99583085e-01 -9.30305126e-05 7.84537796e+00] [ 1.22765044e-02 -2.61544327e-04 9.99924607e-01 4.72964132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.829254154 meters 0.016826600714677467 Centerline is valid? [True, True] Translation: X:688.47, Y:7.84, Z:4.73 [[ 9.99538738e-01 -2.77036544e-02 -1.24426172e-02 6.88465126e+02] [ 2.77046334e-02 9.99616149e-01 -9.37067620e-05 7.84380639e+00] [ 1.24404371e-02 -2.51054611e-04 9.99922583e-01 4.72986326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8592541539999 meters 0.016703269084563235 Centerline is valid? [True, True] Translation: X:688.50, Y:7.84, Z:4.73 [[ 9.99530797e-01 -2.77495816e-02 -1.29671397e-02 6.88496899e+02] [ 2.77506568e-02 9.99614872e-01 -9.70377278e-05 7.84359007e+00] [ 1.29648384e-02 -2.62854446e-04 9.99915918e-01 4.72998134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8892541539999 meters 0.016977537638638907 Centerline is valid? [True, True] Translation: X:688.53, Y:7.84, Z:4.73 [[ 9.99517258e-01 -2.81954657e-02 -1.30486298e-02 6.88527812e+02] [ 2.81965987e-02 9.99602392e-01 -9.71713107e-05 7.84251585e+00] [ 1.30461814e-02 -2.70802578e-04 9.99914858e-01 4.72952111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9192541539999 meters 0.016990284811408286 Centerline is valid? [True, True] Translation: X:688.56, Y:7.84, Z:4.73 [[ 9.99495359e-01 -2.88012530e-02 -1.33983065e-02 6.88559547e+02] [ 2.88025085e-02 9.99585117e-01 -9.92819983e-05 7.84122927e+00] [ 1.33956072e-02 -2.86672939e-04 9.99910234e-01 4.72966289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.949254154 meters 0.018139317258162348 Centerline is valid? [True, True] Translation: X:688.59, Y:7.84, Z:4.73 [[ 9.99406893e-01 -3.17232216e-02 -1.33977481e-02 6.88590286e+02] [ 3.17247444e-02 9.99496639e-01 -9.89088780e-05 7.83637124e+00] [ 1.33941419e-02 -3.26189918e-04 9.99910241e-01 4.72860646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9792541539999 meters 0.019296723221740263 Centerline is valid? [True, True] Translation: X:688.62, Y:7.83, Z:4.73 [[ 9.99345781e-01 -3.32512193e-02 -1.42255420e-02 6.88621514e+02] [ 3.32530964e-02 9.99446957e-01 -1.04628238e-04 7.83424317e+00] [ 1.42211537e-02 -3.68483530e-04 9.99898806e-01 4.72752790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0092541539999 meters 0.019217124221123916 Centerline is valid? [True, True] Translation: X:688.65, Y:7.83, Z:4.73 [[ 9.99195613e-01 -3.72733068e-02 -1.47928189e-02 6.88653018e+02] [ 3.72757849e-02 9.99305011e-01 -1.08258735e-04 7.83198251e+00] [ 1.47865732e-02 -4.43242281e-04 9.99890574e-01 4.72799251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0392541539999 meters 0.019491211210388288 Centerline is valid? [True, True] Translation: X:688.68, Y:7.83, Z:4.73 [[ 9.99122806e-01 -3.90607836e-02 -1.50955021e-02 6.88684713e+02] [ 3.90635787e-02 9.99236721e-01 -1.09764456e-04 7.83096211e+00] [ 1.50882675e-02 -4.80016163e-04 9.99886050e-01 4.72807901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0692541539999 meters 0.020358985069937083 Centerline is valid? [True, True] Translation: X:688.72, Y:7.83, Z:4.73 [[ 9.99050862e-01 -4.07401346e-02 -1.54148311e-02 6.88716122e+02] [ 4.07432621e-02 9.99169642e-01 -1.11228901e-04 7.82895579e+00] [ 1.54065627e-02 -5.16927172e-04 9.99881178e-01 4.72781029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0992541539999 meters 0.02097471055359233 Centerline is valid? [True, True] Translation: X:688.75, Y:7.83, Z:4.73 [[ 9.99001744e-01 -4.18499563e-02 -1.56236216e-02 6.88748696e+02] [ 4.18533206e-02 9.99123760e-01 -1.11718591e-04 7.82737535e+00] [ 1.56146070e-02 -5.42293376e-04 9.99877938e-01 4.72790334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1292541539999 meters 0.02163076531433811 Centerline is valid? [True, True] Translation: X:688.78, Y:7.83, Z:4.73 [[ 9.98960030e-01 -4.28257987e-02 -1.56464125e-02 6.88779488e+02] [ 4.28293076e-02 9.99082398e-01 -1.10905977e-04 7.82619872e+00] [ 1.56368050e-02 -5.59334378e-04 9.99877581e-01 4.72809306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1592541539999 meters 0.02069273539206926 Centerline is valid? [True, True] Translation: X:688.81, Y:7.83, Z:4.73 [[ 9.98935961e-01 -4.33824031e-02 -1.56496682e-02 6.88811270e+02] [ 4.33859976e-02 9.99058378e-01 -1.09909333e-04 7.82794625e+00] [ 1.56397003e-02 -5.69184084e-04 9.99877530e-01 4.72973825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1892541539999 meters 0.021611616541854436 Centerline is valid? [True, True] Translation: X:688.84, Y:7.83, Z:4.73 [[ 9.98942254e-01 -4.33178842e-02 -1.54251237e-02 6.88842687e+02] [ 4.33213836e-02 9.99061182e-01 -1.07359148e-04 7.82710450e+00] [ 1.54152929e-02 -5.60992113e-04 9.99881020e-01 4.73004618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2192541539999 meters 0.02046078152561898 Centerline is valid? [True, True] Translation: X:688.87, Y:7.83, Z:4.73 [[ 9.98987217e-01 -4.24044327e-02 -1.50467386e-02 6.88874555e+02] [ 4.24076737e-02 9.99100385e-01 -1.03752626e-04 7.82913223e+00] [ 1.50376019e-02 -5.34449634e-04 9.99886786e-01 4.73099927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2492541539999 meters 0.02144543653765153 Centerline is valid? [True, True] Translation: X:688.91, Y:7.83, Z:4.73 [[ 9.99042442e-01 -4.12255041e-02 -1.46511957e-02 6.88905546e+02] [ 4.12284638e-02 9.99149740e-01 -1.00100587e-04 7.82779446e+00] [ 1.46428650e-02 -5.04041555e-04 9.99892660e-01 4.73093893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2792541539999 meters 0.018578322053626976 Centerline is valid? [True, True] Translation: X:688.94, Y:7.83, Z:4.73 [[ 9.99234023e-01 -3.66750673e-02 -1.36493916e-02 6.88936603e+02] [ 3.66772202e-02 9.99327160e-01 -9.26481464e-05 7.83364865e+00] [ 1.36436056e-02 -4.08044560e-04 9.99906838e-01 4.73272808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3092541539999 meters 0.019818275884370063 Centerline is valid? [True, True] Translation: X:688.97, Y:7.83, Z:4.73 [[ 9.99350631e-01 -3.36686237e-02 -1.28350767e-02 6.88966724e+02] [ 3.36702841e-02 9.99432991e-01 -8.67675864e-05 7.83246543e+00] [ 1.28307204e-02 -3.45449435e-04 9.99917623e-01 4.73273813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.339254154 meters 0.017464614798085788 Centerline is valid? [True, True] Translation: X:689.00, Y:7.84, Z:4.73 [[ 9.99576242e-01 -2.66555984e-02 -1.16968006e-02 6.88997380e+02] [ 2.66564992e-02 9.99644649e-01 -7.89103143e-05 7.83888390e+00] [ 1.16947475e-02 -2.32918881e-04 9.99931587e-01 4.73451284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3692541539999 meters 0.01603404070735618 Centerline is valid? [True, True] Translation: X:689.03, Y:7.84, Z:4.74 [[ 9.99653848e-01 -2.36741357e-02 -1.14769497e-02 6.89028714e+02] [ 2.36748092e-02 9.99719709e-01 -7.71953536e-05 7.84354091e+00] [ 1.14755603e-02 -1.94545962e-04 9.99934135e-01 4.73526420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3992541539999 meters 0.015484220400374775 Centerline is valid? [True, True] Translation: X:689.06, Y:7.85, Z:4.74 [[ 9.99709196e-01 -2.09680286e-02 -1.19107183e-02 6.89059766e+02] [ 2.09685662e-02 9.99780132e-01 -7.97595298e-05 7.84549812e+00] [ 1.19097720e-02 -1.70014351e-04 9.99929062e-01 4.73538253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4292541539999 meters 0.015137332230706966 Centerline is valid? [True, True] Translation: X:689.09, Y:7.85, Z:4.73 [[ 9.99751072e-01 -1.80395207e-02 -1.31289950e-02 6.89090729e+02] [ 1.80399248e-02 9.99837263e-01 -8.76650975e-05 7.84774074e+00] [ 1.31284399e-02 -1.49202807e-04 9.99913807e-01 4.73435015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.459254154 meters 0.01510271946663721 Centerline is valid? [True, True] Translation: X:689.12, Y:7.85, Z:4.73 [[ 9.99745022e-01 -1.77373809e-02 -1.39740948e-02 6.89119089e+02] [ 1.77378056e-02 9.99842668e-01 -9.35570305e-05 7.84727216e+00] [ 1.39735557e-02 -1.54336602e-04 9.99902353e-01 4.73356681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4892541539999 meters 0.015354168284922129 Centerline is valid? [True, True] Translation: X:689.15, Y:7.85, Z:4.73 [[ 9.99720260e-01 -1.86682750e-02 -1.45222758e-02 6.89147487e+02] [ 1.86688203e-02 9.99825718e-01 -9.80271161e-05 7.84614856e+00] [ 1.45215748e-02 -1.73114063e-04 9.99894541e-01 4.73240830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5192541539999 meters 0.015428125441915776 Centerline is valid? [True, True] Translation: X:689.18, Y:7.84, Z:4.73 [[ 9.99641217e-01 -2.16239042e-02 -1.58064600e-02 6.89176075e+02] [ 2.16248775e-02 9.99766149e-01 -1.09359558e-04 7.84361212e+00] [ 1.58051285e-02 -2.32492440e-04 9.99875064e-01 4.73170426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5492541539999 meters 0.016064237819221998 Centerline is valid? [True, True] Translation: X:689.20, Y:7.84, Z:4.73 [[ 9.99583098e-01 -2.39359954e-02 -1.61461266e-02 6.89204623e+02] [ 2.39372723e-02 9.99713456e-01 -1.14195450e-04 7.84173606e+00] [ 1.61442334e-02 -2.72346387e-04 9.99869636e-01 4.73117014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.579254154 meters 0.016606923973024393 Centerline is valid? [True, True] Translation: X:689.23, Y:7.84, Z:4.73 [[ 9.99532457e-01 -2.59675194e-02 -1.61417327e-02 6.89232744e+02] [ 2.59690431e-02 9.99662741e-01 -1.15238497e-04 7.83967590e+00] [ 1.61392812e-02 -3.04000736e-04 9.99869707e-01 4.73099366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6092541539999 meters 0.017080417556592026 Centerline is valid? [True, True] Translation: X:689.26, Y:7.84, Z:4.73 [[ 9.99460205e-01 -2.85427574e-02 -1.62668395e-02 6.89262484e+02] [ 2.85446334e-02 9.99592512e-01 -1.16889208e-04 7.83816683e+00] [ 1.62635473e-02 -3.47504858e-04 9.99867679e-01 4.73141573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6392541539999 meters 0.018633297497306908 Centerline is valid? [True, True] Translation: X:689.29, Y:7.83, Z:4.73 [[ 9.99308176e-01 -3.37147010e-02 -1.56999417e-02 6.89291589e+02] [ 3.37170830e-02 9.99431411e-01 -1.13025596e-04 7.83357831e+00] [ 1.56948255e-02 -4.16408836e-04 9.99876742e-01 4.73195406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6692541539999 meters 0.019789213745828125 Centerline is valid? [True, True] Translation: X:689.32, Y:7.83, Z:4.73 [[ 9.99230007e-01 -3.61280382e-02 -1.53022138e-02 6.89321473e+02] [ 3.61305841e-02 9.99347071e-01 -1.10140175e-04 7.83096781e+00] [ 1.52962017e-02 -4.42822556e-04 9.99882908e-01 4.73216921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.699254154 meters 0.019393786258109766 Centerline is valid? [True, True] Translation: X:689.35, Y:7.83, Z:4.73 [[ 9.99134348e-01 -3.87701994e-02 -1.50806771e-02 6.89352919e+02] [ 3.87729772e-02 9.99248040e-01 -1.08248148e-04 7.83094316e+00] [ 1.50735338e-02 -4.76568305e-04 9.99886274e-01 4.73325596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7292541539999 meters 0.021698394055213323 Centerline is valid? [True, True] Translation: X:689.38, Y:7.83, Z:4.73 [[ 9.98890120e-01 -4.45238998e-02 -1.53671693e-02 6.89383448e+02] [ 4.45274723e-02 9.99008154e-01 -1.09771460e-04 7.82568421e+00] [ 1.53568149e-02 -5.74611580e-04 9.99881912e-01 4.73349247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7592541539999 meters 0.02304963949296264 Centerline is valid? [True, True] Translation: X:689.41, Y:7.82, Z:4.73 [[ 9.98762441e-01 -4.74199418e-02 -1.49978525e-02 6.89414681e+02] [ 4.74236782e-02 9.98874859e-01 -1.06623073e-04 7.82317273e+00] [ 1.49860338e-02 -6.04762208e-04 9.99887520e-01 4.73376393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7892541539999 meters 0.024540253669384705 Centerline is valid? [True, True] Translation: X:689.44, Y:7.82, Z:4.73 [[ 9.98625393e-01 -5.02653863e-02 -1.48565202e-02 6.89444559e+02] [ 5.02693809e-02 9.98735690e-01 -1.04665568e-04 7.82038248e+00] [ 1.48429980e-02 -6.42306379e-04 9.99889630e-01 4.73426086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8192541539999 meters 0.02812285729993284 Centerline is valid? [True, True] Translation: X:689.47, Y:7.81, Z:4.73 [[ 9.98323005e-01 -5.60997627e-02 -1.42826826e-02 6.89474369e+02] [ 5.61040572e-02 9.98424922e-01 -1.00133588e-04 7.81357950e+00] [ 1.42658037e-02 -7.01350777e-04 9.99897992e-01 4.73462196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8492541539999 meters 0.025399832009851468 Centerline is valid? [True, True] Translation: X:689.51, Y:7.82, Z:4.74 [[ 9.98168396e-01 -5.88621696e-02 -1.39677776e-02 6.89505859e+02] [ 5.88665489e-02 9.98265856e-01 -9.77601425e-05 7.81666190e+00] [ 1.39493098e-02 -7.24653778e-04 9.99902441e-01 4.73569954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8792541539999 meters 0.030944756340597443 Centerline is valid? [True, True] Translation: X:689.54, Y:7.81, Z:4.74 [[ 9.97992927e-01 -6.18086591e-02 -1.37770346e-02 6.89535882e+02] [ 6.18132111e-02 9.98087731e-01 -9.55835138e-05 7.80844101e+00] [ 1.37565971e-02 -7.56211076e-04 9.99905088e-01 4.73532524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9092541539999 meters 0.03267880388432405 Centerline is valid? [True, True] Translation: X:689.57, Y:7.81, Z:4.74 [[ 9.97659509e-01 -6.68825993e-02 -1.42204556e-02 6.89566904e+02] [ 6.68879716e-02 9.97760487e-01 -9.80245269e-05 7.80597964e+00] [ 1.41951648e-02 -8.53382328e-04 9.99898879e-01 4.73598627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9392541539999 meters 0.034065582828077694 Centerline is valid? [True, True] Translation: X:689.60, Y:7.80, Z:4.74 [[ 9.97524165e-01 -6.88360180e-02 -1.43924611e-02 6.89598191e+02] [ 6.88417277e-02 9.97627589e-01 -9.89273676e-05 7.80414179e+00] [ 1.43651260e-02 -8.92119445e-04 9.99896418e-01 4.73610326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9692541539999 meters 0.031729049912153195 Centerline is valid? [True, True] Translation: X:689.63, Y:7.81, Z:4.74 [[ 9.97395374e-01 -7.05498420e-02 -1.50062353e-02 6.89629757e+02] [ 7.05562526e-02 9.97507797e-01 -1.02452159e-04 7.80791804e+00] [ 1.49760647e-02 -9.56598417e-04 9.99887395e-01 4.73671305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9992541539999 meters 0.03305903382626186 Centerline is valid? [True, True] Translation: X:689.66, Y:7.81, Z:4.74 [[ 9.97304531e-01 -7.16921016e-02 -1.56177961e-02 6.89661013e+02] [ 7.16991985e-02 9.97426295e-01 -1.05760915e-04 7.80683943e+00] [ 1.55851828e-02 -1.01430763e-03 9.99878029e-01 4.73686709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0292541539999 meters 0.038201303023559216 Centerline is valid? [True, True] Translation: X:689.69, Y:7.80, Z:4.74 [[ 9.97246145e-01 -7.23305886e-02 -1.63832835e-02 6.89691915e+02] [ 7.23384990e-02 9.97380133e-01 -1.10039489e-04 7.80125901e+00] [ 1.63483207e-02 -1.07540568e-03 9.99865779e-01 4.73587327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0592541539999 meters 0.038201303023559216 Centerline is valid? [True, True] Translation: X:689.72, Y:7.80, Z:4.74 [[ 9.97251101e-01 -7.22622281e-02 -1.63832903e-02 6.89723671e+02] [ 7.22701461e-02 9.97385088e-01 -1.09018163e-04 7.80140384e+00] [ 1.63483273e-02 -1.07530430e-03 9.99865779e-01 4.73609323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.089254154 meters 0.0378723082334335 Centerline is valid? [True, True] Translation: X:689.76, Y:7.80, Z:4.74 [[ 9.97288346e-01 -7.16614983e-02 -1.67506411e-02 6.89755952e+02] [ 7.16697104e-02 9.97428414e-01 -1.10303188e-04 7.80257881e+00] [ 1.67154699e-02 -1.09050951e-03 9.99859692e-01 4.73620942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1192541539999 meters 0.035249041129357 Centerline is valid? [True, True] Translation: X:689.79, Y:7.81, Z:4.74 [[ 9.97318379e-01 -7.11763086e-02 -1.70289026e-02 6.89787960e+02] [ 7.11847458e-02 9.97463142e-01 -1.10938874e-04 7.80721559e+00] [ 1.69935989e-02 -1.10155673e-03 9.99854992e-01 4.73675620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1492541539999 meters 0.034882043482774176 Centerline is valid? [True, True] Translation: X:689.82, Y:7.81, Z:4.74 [[ 9.97393557e-01 -7.00525883e-02 -1.72837296e-02 6.89819968e+02] [ 7.00611331e-02 9.97542693e-01 -1.11372140e-04 7.80874257e+00] [ 1.72490601e-02 -1.09983582e-03 9.99850619e-01 4.73677364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1792541539999 meters 0.0346193070317749 Centerline is valid? [True, True] Translation: X:689.85, Y:7.81, Z:4.74 [[ 9.97536344e-01 -6.76753267e-02 -1.84740889e-02 6.89850629e+02] [ 6.76847003e-02 9.97706754e-01 -1.18116185e-04 7.81172456e+00] [ 1.84397169e-02 -1.13258798e-03 9.99829332e-01 4.73599913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.209254154 meters 0.03398893699760246 Centerline is valid? [True, True] Translation: X:689.88, Y:7.81, Z:4.74 [[ 9.97636946e-01 -6.59439616e-02 -1.92851615e-02 6.89881997e+02] [ 6.59538674e-02 9.97822666e-01 -1.22618661e-04 7.81422117e+00] [ 1.92512572e-02 -1.14960208e-03 9.99814016e-01 4.73589386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2392541539999 meters 0.03328419072005673 Centerline is valid? [True, True] Translation: X:689.91, Y:7.82, Z:4.74 [[ 9.97752216e-01 -6.39789149e-02 -1.99302253e-02 6.89913551e+02] [ 6.39891179e-02 9.97950588e-01 -1.26020236e-04 7.81701976e+00] [ 1.98974427e-02 -1.14958057e-03 9.99801365e-01 4.73582183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2692541539999 meters 0.02857280906264069 Centerline is valid? [True, True] Translation: X:689.94, Y:7.83, Z:4.74 [[ 9.97998164e-01 -5.93462849e-02 -2.18559634e-02 6.89944292e+02] [ 5.93574596e-02 9.98236782e-01 -1.37663483e-04 7.82898658e+00] [ 2.18255964e-02 -1.15992656e-03 9.99761120e-01 4.73637175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2992541539999 meters 0.0315866508337041 Centerline is valid? [True, True] Translation: X:689.98, Y:7.83, Z:4.74 [[ 9.98160782e-01 -5.69609124e-02 -2.07486900e-02 6.89975199e+02] [ 5.69704819e-02 9.98375855e-01 -1.30071949e-04 7.82565254e+00] [ 2.07224002e-02 -1.05223015e-03 9.99784714e-01 4.73582825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.329254154 meters 0.030037762578844315 Centerline is valid? [True, True] Translation: X:690.01, Y:7.83, Z:4.74 [[ 9.98316124e-01 -5.40962715e-02 -2.09406192e-02 6.90006648e+02] [ 5.41054054e-02 9.98535221e-01 -1.30548416e-04 7.83013691e+00] [ 2.09170080e-02 -1.00267211e-03 9.99780713e-01 4.73645427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3592541539999 meters 0.023330206894765063 Centerline is valid? [True, True] Translation: X:690.04, Y:7.84, Z:4.74 [[ 9.98473064e-01 -5.13050047e-02 -2.04777035e-02 6.90037807e+02] [ 5.13131683e-02 9.98682604e-01 -1.26930210e-04 7.84236015e+00] [ 2.04572384e-02 -9.24039453e-04 9.99790302e-01 4.73960926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3892541539999 meters 0.02174738199317134 Centerline is valid? [True, True] Translation: X:690.07, Y:7.85, Z:4.74 [[ 9.98797209e-01 -4.50173466e-02 -1.94312504e-02 6.90067760e+02] [ 4.50235101e-02 9.98985920e-01 -1.20385288e-04 7.84936493e+00] [ 1.94169650e-02 -7.54622610e-04 9.99811188e-01 4.74097151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4192541539999 meters 0.0202750620540033 Centerline is valid? [True, True] Translation: X:690.10, Y:7.85, Z:4.74 [[ 9.98957560e-01 -4.18488508e-02 -1.82337008e-02 6.90099284e+02] [ 4.18537565e-02 9.99123741e-01 -1.12645668e-04 7.85416963e+00] [ 1.82224375e-02 -6.50620633e-04 9.99833746e-01 4.74252769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.449254154 meters 0.0190404414676821 Centerline is valid? [True, True] Translation: X:690.13, Y:7.86, Z:4.74 [[ 9.99107188e-01 -3.85544725e-02 -1.72736642e-02 6.90130588e+02] [ 3.85583940e-02 9.99256343e-01 -1.06089068e-04 7.85882356e+00] [ 1.72649087e-02 -5.60050400e-04 9.99850794e-01 4.74385325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4792541539999 meters 0.018381026626911635 Centerline is valid? [True, True] Translation: X:690.16, Y:7.86, Z:4.74 [[ 9.99255783e-01 -3.50331586e-02 -1.61417828e-02 6.90160585e+02] [ 3.50361305e-02 9.99386041e-01 -9.87268708e-05 7.86243337e+00] [ 1.61353311e-02 -4.66892211e-04 9.99869708e-01 4.74464996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5092541539999 meters 0.016453698556422126 Centerline is valid? [True, True] Translation: X:690.19, Y:7.87, Z:4.75 [[ 9.99496609e-01 -2.80272866e-02 -1.48660873e-02 6.90191586e+02] [ 2.80290366e-02 9.99607105e-01 -9.06613550e-05 7.86999910e+00] [ 1.48627875e-02 -3.26066390e-04 9.99889490e-01 4.74517450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5392541539999 meters 0.015570380279065632 Centerline is valid? [True, True] Translation: X:690.22, Y:7.87, Z:4.75 [[ 9.99592065e-01 -2.44955417e-02 -1.46857732e-02 6.90222540e+02] [ 2.44968724e-02 9.99699903e-01 -8.92929660e-05 7.87413893e+00] [ 1.46835533e-02 -2.70498973e-04 9.99892154e-01 4.74568601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5692541539999 meters 0.014967160543329803 Centerline is valid? [True, True] Translation: X:690.25, Y:7.88, Z:4.75 [[ 9.99676215e-01 -2.09881581e-02 -1.43862063e-02 6.90252695e+02] [ 2.09890738e-02 9.99779701e-01 -8.73458115e-05 7.87751871e+00] [ 1.43848703e-02 -2.14635616e-04 9.99896509e-01 4.74581156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5992541539999 meters 0.014273547235281157 Centerline is valid? [True, True] Translation: X:690.28, Y:7.88, Z:4.75 [[ 9.99788015e-01 -1.47784515e-02 -1.43360366e-02 6.90282700e+02] [ 1.47787206e-02 9.99890785e-01 -8.71782928e-05 7.88365684e+00] [ 1.43357592e-02 -1.24708466e-04 9.99897230e-01 4.74560730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6292541539999 meters 0.013875476693814351 Centerline is valid? [True, True] Translation: X:690.31, Y:7.89, Z:4.75 [[ 9.99816729e-01 -1.25613931e-02 -1.44471530e-02 6.90310487e+02] [ 1.25614230e-02 9.99921098e-01 -8.86717326e-05 7.88582133e+00] [ 1.44471269e-02 -9.28213190e-05 9.99895631e-01 4.74570999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6592541539999 meters 0.013968887720403275 Centerline is valid? [True, True] Translation: X:690.34, Y:7.89, Z:4.75 [[ 9.99834243e-01 -1.10758185e-02 -1.44503350e-02 6.90338596e+02] [ 1.10756528e-02 9.99938659e-01 -9.15024725e-05 7.88781125e+00] [ 1.44504621e-02 -6.85595879e-05 9.99895584e-01 4.74548017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6892541539999 meters 0.01386964060980368 Centerline is valid? [True, True] Translation: X:690.37, Y:7.89, Z:4.75 [[ 9.99847308e-01 -9.98939306e-03 -1.43377887e-02 6.90366375e+02] [ 9.98905833e-03 9.99950104e-01 -9.49618683e-05 7.88975329e+00] [ 1.43380219e-02 -4.82736387e-05 9.99897204e-01 4.74584609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7192541539999 meters 0.013869262180171758 Centerline is valid? [True, True] Translation: X:690.39, Y:7.89, Z:4.74 [[ 9.99842236e-01 -9.19143339e-03 -1.51993642e-02 6.90394026e+02] [ 9.19092067e-03 9.99957757e-01 -1.03585930e-04 7.89105194e+00] [ 1.51996743e-02 -3.61265632e-05 9.99884478e-01 4.74444685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7492541539999 meters 0.013803619123739832 Centerline is valid? [True, True] Translation: X:690.42, Y:7.89, Z:4.74 [[ 9.99832527e-01 -9.87687275e-03 -1.54066830e-02 6.90421556e+02] [ 9.87637934e-03 9.99951222e-01 -1.08112831e-04 7.89139158e+00] [ 1.54069993e-02 -4.40675207e-05 9.99881304e-01 4.74440056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7792541539999 meters 0.01388748578541256 Centerline is valid? [True, True] Translation: X:690.45, Y:7.89, Z:4.74 [[ 9.99817237e-01 -1.11416749e-02 -1.55356295e-02 6.90449037e+02] [ 1.11412550e-02 9.99937928e-01 -1.13583556e-04 7.89132133e+00] [ 1.55359307e-02 -5.95236124e-05 9.99879308e-01 4.74431628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8092541539999 meters 0.014042385023256504 Centerline is valid? [True, True] Translation: X:690.48, Y:7.89, Z:4.74 [[ 9.99799272e-01 -1.24966669e-02 -1.56604234e-02 6.90477195e+02] [ 1.24963618e-02 9.99921911e-01 -1.17340018e-04 7.89081221e+00] [ 1.56606668e-02 -7.83818513e-05 9.99877361e-01 4.74383612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.839254154 meters 0.014164673786159288 Centerline is valid? [True, True] Translation: X:690.51, Y:7.89, Z:4.74 [[ 9.99761538e-01 -1.53863860e-02 -1.54959773e-02 6.90505149e+02] [ 1.53864068e-02 9.99881615e-01 -1.17889223e-04 7.88885529e+00] [ 1.54959567e-02 -1.20566298e-04 9.99879923e-01 4.74372646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8692541539999 meters 0.014254665293881464 Centerline is valid? [True, True] Translation: X:690.53, Y:7.89, Z:4.74 [[ 9.99735839e-01 -1.72066263e-02 -1.52376230e-02 6.90533872e+02] [ 1.72068122e-02 9.99851945e-01 -1.18917089e-04 7.88790959e+00] [ 1.52374132e-02 -1.43305241e-04 9.99883894e-01 4.74384033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8992541539999 meters 0.015415448181738236 Centerline is valid? [True, True] Translation: X:690.56, Y:7.89, Z:4.74 [[ 9.99668747e-01 -2.04148525e-02 -1.56726166e-02 6.90562190e+02] [ 2.04154028e-02 9.99791576e-01 -1.24893988e-04 7.88717539e+00] [ 1.56718998e-02 -1.95110164e-04 9.99877169e-01 4.74442294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9292541539999 meters 0.014624188658812654 Centerline is valid? [True, True] Translation: X:690.59, Y:7.89, Z:4.75 [[ 9.99626143e-01 -2.25009323e-02 -1.55332735e-02 6.90591924e+02] [ 2.25017099e-02 9.99746797e-01 -1.24734312e-04 7.88669508e+00] [ 1.55321471e-02 -2.24837535e-04 9.99879344e-01 4.74505322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.959254154 meters 0.01492675703337387 Centerline is valid? [True, True] Translation: X:690.62, Y:7.89, Z:4.75 [[ 9.99588511e-01 -2.41765875e-02 -1.54370190e-02 6.90621959e+02] [ 2.41775507e-02 9.99707673e-01 -1.24257584e-04 7.88567211e+00] [ 1.54355105e-02 -2.49022856e-04 9.99880834e-01 4.74537596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9892541539999 meters 0.015172191189626904 Centerline is valid? [True, True] Translation: X:690.65, Y:7.88, Z:4.75 [[ 9.99544410e-01 -2.61184754e-02 -1.51260805e-02 6.90652730e+02] [ 2.61196219e-02 9.99658817e-01 -1.21787661e-04 7.88494821e+00] [ 1.51241006e-02 -2.73355328e-04 9.99885587e-01 4.74545342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0192541539999 meters 0.01613302023159406 Centerline is valid? [True, True] Translation: X:690.68, Y:7.88, Z:4.75 [[ 9.99450232e-01 -2.97645500e-02 -1.46049766e-02 6.90683018e+02] [ 2.97660134e-02 9.99556887e-01 -1.17214511e-04 7.88186302e+00] [ 1.46019938e-02 -3.17581858e-04 9.99893335e-01 4.74552644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0492541539999 meters 0.016290157946884983 Centerline is valid? [True, True] Translation: X:690.71, Y:7.88, Z:4.75 [[ 9.99405323e-01 -3.13928357e-02 -1.42650284e-02 6.90713915e+02] [ 3.13944042e-02 9.99507068e-01 -1.14017802e-04 7.88088165e+00] [ 1.42615760e-02 -3.33892068e-04 9.99898243e-01 4.74566252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.079254154 meters 0.016930533869018397 Centerline is valid? [True, True] Translation: X:690.75, Y:7.88, Z:4.75 [[ 9.99370582e-01 -3.24524330e-02 -1.43275558e-02 6.90745409e+02] [ 3.24541319e-02 9.99473219e-01 -1.13979653e-04 7.87880934e+00] [ 1.43237073e-02 -3.51080474e-04 9.99897349e-01 4.74539443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1092541539999 meters 0.017177355917532118 Centerline is valid? [True, True] Translation: X:690.78, Y:7.88, Z:4.75 [[ 9.99346758e-01 -3.33162902e-02 -1.40029251e-02 6.90777972e+02] [ 3.33180101e-02 9.99444795e-01 -1.10508274e-04 7.87766979e+00] [ 1.39988323e-02 -3.56113514e-04 9.99901948e-01 4.74520081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1392541539999 meters 0.01736524052077948 Centerline is valid? [True, True] Translation: X:690.81, Y:7.88, Z:4.74 [[ 9.99358658e-01 -3.32167342e-02 -1.33761273e-02 6.90810250e+02] [ 3.32183073e-02 9.99448114e-01 -1.04615307e-04 7.87660964e+00] [ 1.33722201e-02 -3.39784093e-04 9.99910530e-01 4.74494485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1692541539999 meters 0.016883773054139958 Centerline is valid? [True, True] Translation: X:690.84, Y:7.88, Z:4.75 [[ 9.99388667e-01 -3.22564849e-02 -1.34837668e-02 6.90842410e+02] [ 3.22580093e-02 9.99479570e-01 -1.04475236e-04 7.87777617e+00] [ 1.34801195e-02 -3.30548109e-04 9.99909084e-01 4.74532556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.199254154 meters 0.01716826218471261 Centerline is valid? [True, True] Translation: X:690.87, Y:7.88, Z:4.74 [[ 9.99431474e-01 -3.08710550e-02 -1.35538701e-02 6.90874138e+02] [ 3.08724813e-02 9.99523326e-01 -1.04031484e-04 7.87768689e+00] [ 1.35506209e-02 -3.14469262e-04 9.99908137e-01 4.74477668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2292541539999 meters 0.015812369240459093 Centerline is valid? [True, True] Translation: X:690.91, Y:7.88, Z:4.75 [[ 9.99537662e-01 -2.70327417e-02 -1.39173506e-02 6.90905971e+02] [ 2.70338862e-02 9.99634512e-01 -1.05925341e-04 7.88144341e+00] [ 1.39151274e-02 -2.70363704e-04 9.99903143e-01 4.74502213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2592541539999 meters 0.015929835768473257 Centerline is valid? [True, True] Translation: X:690.94, Y:7.88, Z:4.74 [[ 9.99599793e-01 -2.45748932e-02 -1.40116946e-02 6.90937566e+02] [ 2.45758208e-02 9.99697963e-01 -1.06005586e-04 7.88331536e+00] [ 1.40100676e-02 -2.38385734e-04 9.99901826e-01 4.74477937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2892541539999 meters 0.015035579479463376 Centerline is valid? [True, True] Translation: X:690.97, Y:7.88, Z:4.74 [[ 9.99657469e-01 -2.23066747e-02 -1.36878152e-02 6.90967922e+02] [ 2.23073523e-02 9.99751155e-01 -1.03187941e-04 7.88438643e+00] [ 1.36867108e-02 -2.02186319e-04 9.99906312e-01 4.74497005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3192541539999 meters 0.01601167355179582 Centerline is valid? [True, True] Translation: X:691.00, Y:7.89, Z:4.74 [[ 9.99697101e-01 -2.01514502e-02 -1.41288659e-02 6.90998030e+02] [ 2.01519606e-02 9.99796923e-01 -1.06256907e-04 7.88561859e+00] [ 1.41281379e-02 -1.78499627e-04 9.99900177e-01 4.74410274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3492541539999 meters 0.0142151859427314 Centerline is valid? [True, True] Translation: X:691.03, Y:7.89, Z:4.74 [[ 9.99740824e-01 -1.75094146e-02 -1.45501097e-02 6.91027984e+02] [ 1.75096739e-02 9.99846688e-01 -1.09578479e-04 7.88839899e+00] [ 1.45497977e-02 -1.45217598e-04 9.99894136e-01 4.74480011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3792541539999 meters 0.014150886004788468 Centerline is valid? [True, True] Translation: X:691.06, Y:7.89, Z:4.74 [[ 9.99746648e-01 -1.70523569e-02 -1.46920559e-02 6.91057084e+02] [ 1.70525390e-02 9.99854589e-01 -1.12886533e-04 7.88934787e+00] [ 1.46918444e-02 -1.37678923e-04 9.99892060e-01 4.74460058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4092541539999 meters 0.014098633686477466 Centerline is valid? [True, True] Translation: X:691.09, Y:7.89, Z:4.74 [[ 9.99741961e-01 -1.68784466e-02 -1.52029376e-02 6.91086070e+02] [ 1.68785616e-02 9.99857540e-01 -1.20751509e-04 7.89019877e+00] [ 1.52028099e-02 -1.35883369e-04 9.99884421e-01 4.74427846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4392541539999 meters 0.014182281889438555 Centerline is valid? [True, True] Translation: X:691.11, Y:7.89, Z:4.74 [[ 9.99724301e-01 -1.73186989e-02 -1.58551064e-02 6.91114778e+02] [ 1.73188142e-02 9.99850010e-01 -1.30045102e-04 7.89059325e+00] [ 1.58549805e-02 -1.44582393e-04 9.99874291e-01 4.74388410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4692541539999 meters 0.014352831759056472 Centerline is valid? [True, True] Translation: X:691.14, Y:7.89, Z:4.74 [[ 9.99677886e-01 -1.91466140e-02 -1.66592509e-02 6.91143260e+02] [ 1.91469231e-02 9.99816671e-01 -1.40955516e-04 7.88966564e+00] [ 1.66588956e-02 -1.78063283e-04 9.99861215e-01 4.74266404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4992541539999 meters 0.014449627247438734 Centerline is valid? [True, True] Translation: X:691.17, Y:7.89, Z:4.74 [[ 9.99637458e-01 -2.09170475e-02 -1.69537692e-02 6.91171533e+02] [ 2.09175765e-02 9.99781193e-01 -1.46147704e-04 7.88931104e+00] [ 1.69531166e-02 -2.08537045e-04 9.99856264e-01 4.74253827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5292541539999 meters 0.015035771536486848 Centerline is valid? [True, True] Translation: X:691.20, Y:7.89, Z:4.74 [[ 9.99600918e-01 -2.27091996e-02 -1.68017181e-02 6.91199569e+02] [ 2.27099395e-02 9.99742085e-01 -1.46783683e-04 7.88780376e+00] [ 1.68007180e-02 -2.34840896e-04 9.99858830e-01 4.74195249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5592541539999 meters 0.017857559968254427 Centerline is valid? [True, True] Translation: X:691.23, Y:7.89, Z:4.74 [[ 9.99527823e-01 -2.57618481e-02 -1.67468668e-02 6.91229330e+02] [ 2.57629901e-02 9.99668068e-01 -1.47580354e-04 7.88613107e+00] [ 1.67451099e-02 -2.83938693e-04 9.99859750e-01 4.74157537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.589254154 meters 0.016079519845790168 Centerline is valid? [True, True] Translation: X:691.26, Y:7.89, Z:4.74 [[ 9.99456557e-01 -2.85044134e-02 -1.65556390e-02 6.91259213e+02] [ 2.85058957e-02 9.99593614e-01 -1.46493701e-04 7.88607776e+00] [ 1.65530867e-02 -3.25519228e-04 9.99862935e-01 4.74336677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6192541539999 meters 0.01681540477604568 Centerline is valid? [True, True] Translation: X:691.29, Y:7.88, Z:4.74 [[ 9.99387383e-01 -3.08835924e-02 -1.64639499e-02 6.91289137e+02] [ 3.08853768e-02 9.99522922e-01 -1.45934403e-04 7.88443690e+00] [ 1.64606023e-02 -3.62650293e-04 9.99864449e-01 4.74365514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6492541539999 meters 0.017937173638884092 Centerline is valid? [True, True] Translation: X:691.32, Y:7.88, Z:4.75 [[ 9.99271323e-01 -3.50801901e-02 -1.50400258e-02 6.91320488e+02] [ 3.50821584e-02 9.99384423e-01 -1.33022972e-04 7.88280073e+00] [ 1.50354339e-02 -3.94710525e-04 9.99886884e-01 4.74509823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6792541539999 meters 0.0190764074539128 Centerline is valid? [True, True] Translation: X:691.35, Y:7.88, Z:4.75 [[ 9.99215214e-01 -3.69507541e-02 -1.42687550e-02 6.91352065e+02] [ 3.69527252e-02 9.99317007e-01 -1.25573667e-04 7.88102076e+00] [ 1.42636496e-02 -4.01794265e-04 9.99898188e-01 4.74544996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.709254154 meters 0.019125200193054276 Centerline is valid? [True, True] Translation: X:691.38, Y:7.88, Z:4.75 [[ 9.99097464e-01 -4.07002689e-02 -1.21550569e-02 6.91383871e+02] [ 4.07019837e-02 9.99171325e-01 -1.06368658e-04 7.88111148e+00] [ 1.21493135e-02 -3.88462272e-04 9.99926119e-01 4.74731240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7392541539999 meters 0.02084716599590879 Centerline is valid? [True, True] Translation: X:691.41, Y:7.88, Z:4.75 [[ 9.99046396e-01 -4.21972527e-02 -1.12111617e-02 6.91414590e+02] [ 4.21988113e-02 9.99109229e-01 -9.76009632e-05 7.87849355e+00] [ 1.12052936e-02 -3.75589805e-04 9.99937148e-01 4.74754198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7692541539999 meters 0.02046213159757876 Centerline is valid? [True, True] Translation: X:691.45, Y:7.88, Z:4.75 [[ 9.98986507e-01 -4.36533265e-02 -1.09702457e-02 6.91447037e+02] [ 4.36549125e-02 9.99046665e-01 -9.49629061e-05 7.88013462e+00] [ 1.09639329e-02 -3.84038456e-04 9.99939821e-01 4.74819012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7992541539999 meters 0.02058752610849813 Centerline is valid? [True, True] Translation: X:691.48, Y:7.88, Z:4.75 [[ 9.98946693e-01 -4.46460128e-02 -1.05942341e-02 6.91479632e+02] [ 4.46475557e-02 9.99002797e-01 -9.09547535e-05 7.88068263e+00] [ 1.05877302e-02 -3.82147705e-04 9.99943875e-01 4.74871371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.829254154 meters 0.021415899737862766 Centerline is valid? [True, True] Translation: X:691.51, Y:7.88, Z:4.75 [[ 9.98874468e-01 -4.64132108e-02 -9.77809151e-03 6.91511332e+02] [ 4.64146157e-02 9.98922257e-01 -8.33251547e-05 7.88141928e+00] [ 9.77142063e-03 -3.70614989e-04 9.99952190e-01 4.74945807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8592541539999 meters 0.022033218468544054 Centerline is valid? [True, True] Translation: X:691.54, Y:7.88, Z:4.75 [[ 9.98838919e-01 -4.71860207e-02 -9.71044751e-03 6.91543508e+02] [ 4.71874482e-02 9.98886049e-01 -8.21718071e-05 7.88178052e+00] [ 9.70350791e-03 -3.76134840e-04 9.99952849e-01 4.74980468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8892541539999 meters 0.022621458977305105 Centerline is valid? [True, True] Translation: X:691.58, Y:7.88, Z:4.75 [[ 9.98810762e-01 -4.78093312e-02 -9.55663525e-03 6.91575989e+02] [ 4.78107489e-02 9.98856409e-01 -8.01888488e-05 7.88236621e+00] [ 9.54954014e-03 -3.76816403e-04 9.99954331e-01 4.75000009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9192541539999 meters 0.0232195806232784 Centerline is valid? [True, True] Translation: X:691.61, Y:7.88, Z:4.75 [[ 9.98802133e-01 -4.79629794e-02 -9.68770186e-03 6.91606676e+02] [ 4.79644493e-02 9.98849040e-01 -8.06846405e-05 7.88217521e+00] [ 9.68042158e-03 -3.84077294e-04 9.99953070e-01 4.74995361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.949254154 meters 0.023613950366099406 Centerline is valid? [True, True] Translation: X:691.64, Y:7.88, Z:4.75 [[ 9.98797971e-01 -4.79273152e-02 -1.02754782e-02 6.91639954e+02] [ 4.79289734e-02 9.98850743e-01 -8.49622267e-05 7.88308525e+00] [ 1.02677411e-02 -4.07633024e-04 9.99947202e-01 4.74903385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9792541539999 meters 0.023613950366099406 Centerline is valid? [True, True] Translation: X:691.67, Y:7.88, Z:4.75 [[ 9.98803048e-01 -4.78213836e-02 -1.02754872e-02 6.91672517e+02] [ 4.78230474e-02 9.98855820e-01 -8.38730835e-05 7.88325635e+00] [ 1.02677411e-02 -4.07632417e-04 9.99947202e-01 4.74925927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0092541539999 meters 0.023794080992086648 Centerline is valid? [True, True] Translation: X:691.70, Y:7.88, Z:4.75 [[ 9.98837463e-01 -4.70361052e-02 -1.05511887e-02 6.91704219e+02] [ 4.70378264e-02 9.98893105e-01 -8.51156475e-05 7.88416415e+00] [ 1.05435131e-02 -4.11288283e-04 9.99944331e-01 4.74917689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0392541539999 meters 0.023447163712787954 Centerline is valid? [True, True] Translation: X:691.74, Y:7.89, Z:4.75 [[ 9.98901344e-01 -4.56745712e-02 -1.04851450e-02 6.91736718e+02] [ 4.56762035e-02 9.98956294e-01 -8.38545374e-05 7.88605506e+00] [ 1.04780317e-02 -3.95159209e-04 9.99945026e-01 4.74933153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0692541539999 meters 0.022715518301543492 Centerline is valid? [True, True] Translation: X:691.77, Y:7.89, Z:4.75 [[ 9.99114300e-01 -4.05022566e-02 -1.14097439e-02 6.91767114e+02] [ 4.05038586e-02 9.99179378e-01 -9.07253589e-05 7.89155012e+00] [ 1.14040554e-02 -3.71493650e-04 9.99934903e-01 4.74801802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0992541539999 meters 0.022446227002420032 Centerline is valid? [True, True] Translation: X:691.80, Y:7.89, Z:4.75 [[ 9.99240249e-01 -3.71869514e-02 -1.16642937e-02 6.91798103e+02] [ 3.71884020e-02 9.99308268e-01 -9.25865751e-05 7.89436523e+00] [ 1.16596681e-02 -3.41260209e-04 9.99931966e-01 4.74742222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1292541539999 meters 0.019487316649156313 Centerline is valid? [True, True] Translation: X:691.83, Y:7.90, Z:4.75 [[ 9.99347839e-01 -3.40857688e-02 -1.19187939e-02 6.91829301e+02] [ 3.40870678e-02 9.99418863e-01 -9.41925720e-05 7.89874764e+00] [ 1.19150781e-02 -3.12145593e-04 9.99928964e-01 4.74899472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1592541539999 meters 0.016991878528784605 Centerline is valid? [True, True] Translation: X:691.86, Y:7.91, Z:4.75 [[ 9.99576000e-01 -2.63016707e-02 -1.24917208e-02 6.91859419e+02] [ 2.63024932e-02 9.99654025e-01 -9.84719982e-05 7.90667544e+00] [ 1.24899889e-02 -2.30133155e-04 9.99921971e-01 4.74861870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1892541539999 meters 0.016271288566421425 Centerline is valid? [True, True] Translation: X:691.89, Y:7.91, Z:4.75 [[ 9.99659346e-01 -2.27017451e-02 -1.28771910e-02 6.91889692e+02] [ 2.27023218e-02 9.99742264e-01 -1.01412069e-04 7.91024633e+00] [ 1.28761743e-02 -1.90964611e-04 9.99917080e-01 4.74861867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2192541539999 meters 0.015360236177145761 Centerline is valid? [True, True] Translation: X:691.92, Y:7.91, Z:4.75 [[ 9.99725707e-01 -1.96233012e-02 -1.27842579e-02 6.91920101e+02] [ 1.96236194e-02 9.99807433e-01 -1.00566187e-04 7.91373538e+00] [ 1.27837695e-02 -1.50334808e-04 9.99918273e-01 4.74891114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2492541539999 meters 0.01490362169414315 Centerline is valid? [True, True] Translation: X:691.95, Y:7.92, Z:4.75 [[ 9.99772244e-01 -1.72698717e-02 -1.25384384e-02 6.91951047e+02] [ 1.72699939e-02 9.99850858e-01 -9.85400372e-05 7.91648286e+00] [ 1.25382702e-02 -1.18021161e-04 9.99921386e-01 4.74935151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2792541539999 meters 0.014558821490113363 Centerline is valid? [True, True] Translation: X:691.98, Y:7.92, Z:4.75 [[ 9.99819257e-01 -1.44118157e-02 -1.23997053e-02 6.91980303e+02] [ 1.44117157e-02 9.99896141e-01 -9.74266651e-05 7.91948671e+00] [ 1.23998216e-02 -8.12919721e-05 9.99923116e-01 4.74981163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3092541539999 meters 0.014442560502306351 Centerline is valid? [True, True] Translation: X:692.01, Y:7.92, Z:4.75 [[ 9.99827792e-01 -1.40174283e-02 -1.21613041e-02 6.92010292e+02] [ 1.40172995e-02 9.99901748e-01 -9.58338545e-05 7.92013767e+00] [ 1.21614525e-02 -7.46512904e-05 9.99926044e-01 4.75005662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.339254154 meters 0.014562460880892771 Centerline is valid? [True, True] Translation: X:692.04, Y:7.92, Z:4.75 [[ 9.99820828e-01 -1.45319052e-02 -1.21299323e-02 6.92039985e+02] [ 1.45318102e-02 9.99894403e-01 -9.59760286e-05 7.91984478e+00] [ 1.21300461e-02 -8.03110406e-05 9.99926425e-01 4.75011404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3692541539999 meters 0.01564792821315915 Centerline is valid? [True, True] Translation: X:692.07, Y:7.92, Z:4.75 [[ 9.99808810e-01 -1.48936524e-02 -1.26697584e-02 6.92069273e+02] [ 1.48935723e-02 9.99889080e-01 -1.00682638e-04 7.92063567e+00] [ 1.26698526e-02 -8.80345750e-05 9.99919730e-01 4.75001674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3992541539999 meters 0.014576434720040951 Centerline is valid? [True, True] Translation: X:692.10, Y:7.92, Z:4.75 [[ 9.99763260e-01 -1.79122217e-02 -1.23521872e-02 6.92098620e+02] [ 1.79123706e-02 9.99839556e-01 -9.85902780e-05 7.91800289e+00] [ 1.23519713e-02 -1.22690017e-04 9.99923704e-01 4.75007532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4292541539999 meters 0.014694669624184146 Centerline is valid? [True, True] Translation: X:692.13, Y:7.92, Z:4.75 [[ 9.99742479e-01 -1.91346530e-02 -1.22000242e-02 6.92129273e+02] [ 1.91348863e-02 9.99816907e-01 -9.76176338e-05 7.91717201e+00] [ 1.21996583e-02 -1.35853581e-04 9.99925572e-01 4.74995775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.459254154 meters 0.0149773914586751 Centerline is valid? [True, True] Translation: X:692.16, Y:7.92, Z:4.75 [[ 9.99711513e-01 -2.04919429e-02 -1.25288312e-02 6.92159697e+02] [ 2.04922955e-02 9.99790006e-01 -1.00248560e-04 7.91551296e+00] [ 1.25282545e-02 -1.56524872e-04 9.99921506e-01 4.74939060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4892541539999 meters 0.017619258532422306 Centerline is valid? [True, True] Translation: X:692.19, Y:7.91, Z:4.75 [[ 9.99651114e-01 -2.33696149e-02 -1.23089792e-02 6.92190152e+02] [ 2.33701768e-02 9.99726875e-01 -9.82037550e-05 7.90838642e+00] [ 1.23079123e-02 -1.89493526e-04 9.99924237e-01 4.74776891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5192541539999 meters 0.015981467729115767 Centerline is valid? [True, True] Translation: X:692.22, Y:7.91, Z:4.75 [[ 9.99629375e-01 -2.45140075e-02 -1.18395668e-02 6.92221346e+02] [ 2.45146139e-02 9.99699467e-01 -9.39313843e-05 7.91222003e+00] [ 1.18383112e-02 -1.96345837e-04 9.99929905e-01 4.75008911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5492541539999 meters 0.01637067036772846 Centerline is valid? [True, True] Translation: X:692.25, Y:7.91, Z:4.75 [[ 9.99606568e-01 -2.55538414e-02 -1.15632852e-02 6.92252584e+02] [ 2.55544949e-02 9.99673426e-01 -9.12558018e-05 7.91123413e+00] [ 1.15618409e-02 -2.04274015e-04 9.99933139e-01 4.75067267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.579254154 meters 0.01619435184132931 Centerline is valid? [True, True] Translation: X:692.28, Y:7.91, Z:4.75 [[ 9.99562375e-01 -2.75181455e-02 -1.08540645e-02 6.92284804e+02] [ 2.75188439e-02 9.99621281e-01 -8.50270961e-05 7.91125488e+00] [ 1.08522936e-02 -2.13701420e-04 9.99941089e-01 4.75165954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6092541539999 meters 0.01650341905171092 Centerline is valid? [True, True] Translation: X:692.32, Y:7.91, Z:4.75 [[ 9.99543696e-01 -2.81533746e-02 -1.09447823e-02 6.92315585e+02] [ 2.81541309e-02 9.99603590e-01 -8.50052470e-05 7.91000851e+00] [ 1.09428369e-02 -2.23174376e-04 9.99940100e-01 4.75162441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6392541539999 meters 0.016619896948187284 Centerline is valid? [True, True] Translation: X:692.35, Y:7.91, Z:4.75 [[ 9.99517743e-01 -2.91186677e-02 -1.07881354e-02 6.92347421e+02] [ 2.91194657e-02 9.99575935e-01 -8.31341401e-05 7.90946672e+00] [ 1.07859813e-02 -2.31050691e-04 9.99941803e-01 4.75193754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6692541539999 meters 0.017012935154684727 Centerline is valid? [True, True] Translation: X:692.38, Y:7.91, Z:4.75 [[ 9.99494303e-01 -2.99321345e-02 -1.07333769e-02 6.92378827e+02] [ 2.99329789e-02 9.99551905e-01 -8.20027987e-05 7.90814614e+00] [ 1.07310219e-02 -2.39320615e-04 9.99942392e-01 4.75189087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.699254154 meters 0.017975460066849587 Centerline is valid? [True, True] Translation: X:692.41, Y:7.91, Z:4.75 [[ 9.99428054e-01 -3.20407420e-02 -1.08146069e-02 6.92410464e+02] [ 3.20417290e-02 9.99486529e-01 -8.20346087e-05 7.90526806e+00] [ 1.08116824e-02 -2.64531016e-04 9.99941517e-01 4.75139263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7292541539999 meters 0.01844187031494085 Centerline is valid? [True, True] Translation: X:692.44, Y:7.90, Z:4.75 [[ 9.99389369e-01 -3.31261020e-02 -1.11153562e-02 6.92443021e+02] [ 3.31272193e-02 9.99451140e-01 -8.36358888e-05 7.90413678e+00] [ 1.11120260e-02 -2.84636024e-04 9.99938219e-01 4.75093549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7592541539999 meters 0.01873049664884953 Centerline is valid? [True, True] Translation: X:692.47, Y:7.90, Z:4.75 [[ 9.99340750e-01 -3.42540430e-02 -1.20301946e-02 6.92474865e+02] [ 3.42554442e-02 9.99413106e-01 -8.96275664e-05 7.90318283e+00] [ 1.20262042e-02 -3.22531179e-04 9.99927631e-01 4.75038950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7892541539999 meters 0.01888097480463167 Centerline is valid? [True, True] Translation: X:692.51, Y:7.90, Z:4.75 [[ 9.99243282e-01 -3.64405266e-02 -1.35996962e-02 6.92506859e+02] [ 3.64425337e-02 9.99335745e-01 -1.00285050e-04 7.90195238e+00] [ 1.35943170e-02 -3.95398224e-04 9.99907515e-01 4.74904924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8192541539999 meters 0.01999939182654281 Centerline is valid? [True, True] Translation: X:692.54, Y:7.90, Z:4.75 [[ 9.99207460e-01 -3.72004268e-02 -1.41626022e-02 6.92537828e+02] [ 3.72026927e-02 9.99307735e-01 -1.03525864e-04 7.89952412e+00] [ 1.41566491e-02 -4.23443120e-04 9.99899700e-01 4.74820042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8492541539999 meters 0.019512861385872403 Centerline is valid? [True, True] Translation: X:692.57, Y:7.90, Z:4.75 [[ 9.99167458e-01 -3.79881692e-02 -1.48757966e-02 6.92569806e+02] [ 3.79907706e-02 9.99278084e-01 -1.07774971e-04 7.89990976e+00] [ 1.48691517e-02 -4.57457732e-04 9.99889343e-01 4.74834124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8792541539999 meters 0.020143542721497494 Centerline is valid? [True, True] Translation: X:692.60, Y:7.90, Z:4.75 [[ 9.99138052e-01 -3.85661207e-02 -1.53560373e-02 6.92601017e+02] [ 3.85689758e-02 9.99255934e-01 -1.10286271e-04 7.89849376e+00] [ 1.53488647e-02 -4.82075421e-04 9.99882083e-01 4.74818908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9092541539999 meters 0.02029076124307895 Centerline is valid? [True, True] Translation: X:692.63, Y:7.90, Z:4.75 [[ 9.99114399e-01 -3.93093627e-02 -1.50064066e-02 6.92633569e+02] [ 3.93121872e-02 9.99226971e-01 -1.06835954e-04 7.89785614e+00] [ 1.49990059e-02 -4.83193326e-04 9.99887392e-01 4.74836126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9392541539999 meters 0.01988715331253656 Centerline is valid? [True, True] Translation: X:692.67, Y:7.90, Z:4.75 [[ 9.99116863e-01 -3.92297417e-02 -1.50506209e-02 6.92665486e+02] [ 3.92325900e-02 9.99230100e-01 -1.06070868e-04 7.89867104e+00] [ 1.50431946e-02 -4.84497647e-04 9.99886727e-01 4.74902178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9692541539999 meters 0.02043871251588302 Centerline is valid? [True, True] Translation: X:692.70, Y:7.90, Z:4.75 [[ 9.99146152e-01 -3.86162439e-02 -1.46884950e-02 6.92697178e+02] [ 3.86189058e-02 9.99254007e-01 -1.02477483e-04 7.89844278e+00] [ 1.46814948e-02 -4.64863622e-04 9.99892113e-01 4.74875204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9992541539999 meters 0.018999531186432557 Centerline is valid? [True, True] Translation: X:692.73, Y:7.90, Z:4.75 [[ 9.99290748e-01 -3.46690554e-02 -1.46988818e-02 6.92729181e+02] [ 3.46713079e-02 9.99398764e-01 -1.01639147e-04 7.90221602e+00] [ 1.46935680e-02 -4.08062397e-04 9.99891960e-01 4.74898779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0292541539999 meters 0.017577414961916202 Centerline is valid? [True, True] Translation: X:692.76, Y:7.91, Z:4.75 [[ 9.99397054e-01 -3.15427157e-02 -1.45115663e-02 6.92761039e+02] [ 3.15445931e-02 9.99502341e-01 -9.95630971e-05 7.90604146e+00] [ 1.45074850e-02 -3.58258387e-04 9.99894697e-01 4.74961488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0592541539999 meters 0.016858906857033857 Centerline is valid? [True, True] Translation: X:692.79, Y:7.91, Z:4.75 [[ 9.99500525e-01 -2.80738038e-02 -1.45107787e-02 6.92791313e+02] [ 2.80753296e-02 9.99605805e-01 -9.85946324e-05 7.90848512e+00] [ 1.45078265e-02 -3.08849506e-04 9.99894708e-01 4.74985099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.089254154 meters 0.015697253943007243 Centerline is valid? [True, True] Translation: X:692.82, Y:7.91, Z:4.75 [[ 9.99660960e-01 -2.17706807e-02 -1.42829754e-02 6.92821534e+02] [ 2.17715329e-02 9.99762967e-01 -9.58367753e-05 7.91441634e+00] [ 1.42816763e-02 -2.15157987e-04 9.99897989e-01 4.75070813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1192541539999 meters 0.015261918303352417 Centerline is valid? [True, True] Translation: X:692.85, Y:7.92, Z:4.75 [[ 9.99715850e-01 -1.90117453e-02 -1.43796070e-02 6.92852413e+02] [ 1.90123331e-02 9.99819245e-01 -9.58355129e-05 7.91728555e+00] [ 1.43788298e-02 -1.77581597e-04 9.99896604e-01 4.75125760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1492541539999 meters 0.015215243569601853 Centerline is valid? [True, True] Translation: X:692.88, Y:7.92, Z:4.75 [[ 9.99754314e-01 -1.67590688e-02 -1.45067579e-02 6.92881700e+02] [ 1.67594260e-02 9.99859546e-01 -9.69535568e-05 7.91981905e+00] [ 1.45063452e-02 -1.46195199e-04 9.99894767e-01 4.75124248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1792541539999 meters 0.014755804577525547 Centerline is valid? [True, True] Translation: X:692.91, Y:7.92, Z:4.75 [[ 9.99773370e-01 -1.50742220e-02 -1.50325457e-02 6.92910070e+02] [ 1.50744049e-02 9.99886370e-01 -1.01154597e-04 7.92141554e+00] [ 1.50323624e-02 -1.25475007e-04 9.99887000e-01 4.75106252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.209254154 meters 0.014634951093118017 Centerline is valid? [True, True] Translation: X:692.94, Y:7.92, Z:4.75 [[ 9.99782205e-01 -1.35232653e-02 -1.58954308e-02 6.92938292e+02] [ 1.35232276e-02 9.99908551e-01 -1.09859946e-04 7.92391018e+00] [ 1.58954629e-02 -1.05121511e-04 9.99873654e-01 4.75043815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2392541539999 meters 0.016828532264262067 Centerline is valid? [True, True] Translation: X:692.97, Y:7.92, Z:4.75 [[ 9.99777841e-01 -1.30820128e-02 -1.65266501e-02 6.92966065e+02] [ 1.30818334e-02 9.99914422e-01 -1.18965915e-04 7.92454889e+00] [ 1.65267921e-02 -9.72593972e-05 9.99863419e-01 4.74913622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2692541539999 meters 0.014525929127090453 Centerline is valid? [True, True] Translation: X:692.99, Y:7.92, Z:4.75 [[ 9.99755256e-01 -1.41419117e-02 -1.70127638e-02 6.92993431e+02] [ 1.41418181e-02 9.99899992e-01 -1.25810553e-04 7.92419024e+00] [ 1.70128416e-02 -1.14811649e-04 9.99855265e-01 4.74998489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2992541539999 meters 0.014589500027167409 Centerline is valid? [True, True] Translation: X:693.02, Y:7.92, Z:4.75 [[ 9.99711058e-01 -1.68260270e-02 -1.71664037e-02 6.93022200e+02] [ 1.68262674e-02 9.99858420e-01 -1.30435165e-04 7.92282066e+00] [ 1.71661680e-02 -1.58449023e-04 9.99852638e-01 4.75030277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.329254154 meters 0.014844557102365697 Centerline is valid? [True, True] Translation: X:693.05, Y:7.92, Z:4.75 [[ 9.99682053e-01 -1.86130648e-02 -1.70102225e-02 6.93050671e+02] [ 1.86134874e-02 9.99826745e-01 -1.33492265e-04 7.92215120e+00] [ 1.70097601e-02 -1.83169740e-04 9.99855307e-01 4.75074016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3592541539999 meters 0.015133574445380901 Centerline is valid? [True, True] Translation: X:693.08, Y:7.92, Z:4.75 [[ 9.99657510e-01 -2.03530338e-02 -1.64504414e-02 6.93079614e+02] [ 2.03535982e-02 9.99792835e-01 -1.33131022e-04 7.92120518e+00] [ 1.64497430e-02 -2.01740247e-04 9.99864673e-01 4.75099534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3892541539999 meters 0.01580494045314019 Centerline is valid? [True, True] Translation: X:693.11, Y:7.92, Z:4.75 [[ 9.99592315e-01 -2.38321625e-02 -1.57235938e-02 6.93108809e+02] [ 2.38330752e-02 9.99715944e-01 -1.29354963e-04 7.91910797e+00] [ 1.57222102e-02 -2.45439367e-04 9.99876368e-01 4.75205316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4192541539999 meters 0.01742695058615082 Centerline is valid? [True, True] Translation: X:693.14, Y:7.92, Z:4.75 [[ 9.99554555e-01 -2.53561972e-02 -1.57402215e-02 6.93138282e+02] [ 2.53572926e-02 9.99678444e-01 -1.30013405e-04 7.91767061e+00] [ 1.57384568e-02 -2.69173912e-04 9.99876107e-01 4.75147327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.449254154 meters 0.01688591349839136 Centerline is valid? [True, True] Translation: X:693.17, Y:7.92, Z:4.75 [[ 9.99497606e-01 -2.77300043e-02 -1.53486791e-02 6.93168939e+02] [ 2.77313260e-02 9.99615405e-01 -1.26751611e-04 7.91587388e+00] [ 1.53462909e-02 -2.98951294e-04 9.99882194e-01 4.75258670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4792541539999 meters 0.018026675653874728 Centerline is valid? [True, True] Translation: X:693.20, Y:7.91, Z:4.75 [[ 9.99379297e-01 -3.19051053e-02 -1.49360421e-02 6.93200530e+02] [ 3.19068288e-02 9.99490840e-01 -1.22950342e-04 7.91260422e+00] [ 1.49323600e-02 -3.53687712e-04 9.99888444e-01 4.75301012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5092541539999 meters 0.018170713950311272 Centerline is valid? [True, True] Translation: X:693.23, Y:7.91, Z:4.75 [[ 9.99315002e-01 -3.39105318e-02 -1.48189773e-02 6.93232165e+02] [ 3.39124642e-02 9.99424800e-01 -1.20940030e-04 7.91206132e+00] [ 1.48145546e-02 -3.81690851e-04 9.99890186e-01 4.75351978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5392541539999 meters 0.01892942280385132 Centerline is valid? [True, True] Translation: X:693.26, Y:7.91, Z:4.75 [[ 9.99244063e-01 -3.60417564e-02 -1.45703576e-02 6.93264420e+02] [ 3.60438690e-02 9.99350202e-01 -1.17668751e-04 7.91044590e+00] [ 1.45651308e-02 -4.07592260e-04 9.99893840e-01 4.75375728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5692541539999 meters 0.022147042753323385 Centerline is valid? [True, True] Translation: X:693.30, Y:7.90, Z:4.75 [[ 9.99110611e-01 -3.96761851e-02 -1.42754234e-02 6.93295439e+02] [ 3.96785959e-02 9.99212488e-01 -1.14423313e-04 7.90470713e+00] [ 1.42687212e-02 -4.52107211e-04 9.99898094e-01 4.75359348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5992541539999 meters 0.02052366595164953 Centerline is valid? [True, True] Translation: X:693.33, Y:7.91, Z:4.75 [[ 9.99072823e-01 -4.07891625e-02 -1.37745292e-02 6.93327983e+02] [ 4.07915242e-02 9.99167673e-01 -1.09573090e-04 7.90732504e+00] [ 1.37675337e-02 -4.52412545e-04 9.99905121e-01 4.75465595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6292541539999 meters 0.020654866353271514 Centerline is valid? [True, True] Translation: X:693.36, Y:7.91, Z:4.76 [[ 9.99047448e-01 -4.14987151e-02 -1.34927398e-02 6.93360193e+02] [ 4.15010587e-02 9.99138454e-01 -1.06375350e-04 7.90708793e+00] [ 1.34855296e-02 -4.53688965e-04 9.99908963e-01 4.75503250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6592541539999 meters 0.021114827913328638 Centerline is valid? [True, True] Translation: X:693.39, Y:7.91, Z:4.76 [[ 9.99037333e-01 -4.17987435e-02 -1.33143633e-02 6.93391510e+02] [ 4.18010633e-02 9.99125948e-01 -1.04135952e-04 7.90641268e+00] [ 1.33070786e-02 -4.52518839e-04 9.99911355e-01 4.75521086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6892541539999 meters 0.019853620175727404 Centerline is valid? [True, True] Translation: X:693.42, Y:7.91, Z:4.76 [[ 9.99075571e-01 -4.09588052e-02 -1.30529879e-02 6.93424151e+02] [ 4.09609752e-02 9.99160742e-01 -1.01168335e-04 7.90916200e+00] [ 1.30461768e-02 -4.33588300e-04 9.99914801e-01 4.75596801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7192541539999 meters 0.019812592155854722 Centerline is valid? [True, True] Translation: X:693.46, Y:7.91, Z:4.76 [[ 9.99113471e-01 -3.99307961e-02 -1.33342891e-02 6.93456717e+02] [ 3.99329840e-02 9.99202355e-01 -1.02237943e-04 7.90962869e+00] [ 1.33277355e-02 -4.30330646e-04 9.99911089e-01 4.75609191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7492541539999 meters 0.01944503571968826 Centerline is valid? [True, True] Translation: X:693.49, Y:7.91, Z:4.76 [[ 9.99168816e-01 -3.85034550e-02 -1.33851169e-02 6.93489400e+02] [ 3.85055462e-02 9.99258381e-01 -1.01538309e-04 7.91098236e+00] [ 1.33790998e-02 -4.13947325e-04 9.99910410e-01 4.75644236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7792541539999 meters 0.01851245244249198 Centerline is valid? [True, True] Translation: X:693.52, Y:7.91, Z:4.76 [[ 9.99289060e-01 -3.51892443e-02 -1.35310993e-02 6.93520745e+02] [ 3.51910897e-02 9.99380597e-01 -1.01770572e-04 7.91312414e+00] [ 1.35262994e-02 -3.74475911e-04 9.99908445e-01 4.75701018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8092541539999 meters 0.018003115073165897 Centerline is valid? [True, True] Translation: X:693.55, Y:7.91, Z:4.76 [[ 9.99365311e-01 -3.31029403e-02 -1.31594459e-02 6.93552317e+02] [ 3.31045140e-02 9.99451891e-01 -9.82828250e-05 7.91378068e+00] [ 1.31554865e-02 -3.37416614e-04 9.99913406e-01 4.75740719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.839254154 meters 0.017211826782143294 Centerline is valid? [True, True] Translation: X:693.58, Y:7.92, Z:4.76 [[ 9.99429144e-01 -3.10892985e-02 -1.32227723e-02 6.93584813e+02] [ 3.10907239e-02 9.99516562e-01 -9.77959685e-05 7.91546858e+00] [ 1.32194203e-02 -3.13365422e-04 9.99912571e-01 4.75792417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8692541539999 meters 0.017211826782143294 Centerline is valid? [True, True] Translation: X:693.62, Y:7.92, Z:4.76 [[ 9.99431409e-01 -3.10164013e-02 -1.32227794e-02 6.93616516e+02] [ 3.10178331e-02 9.99518827e-01 -9.68306778e-05 7.91564219e+00] [ 1.32194203e-02 -3.13366343e-04 9.99912571e-01 4.75814369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8992541539999 meters 0.016935386646842573 Centerline is valid? [True, True] Translation: X:693.65, Y:7.92, Z:4.76 [[ 9.99499700e-01 -2.89239764e-02 -1.27965781e-02 6.93647890e+02] [ 2.89251564e-02 9.99581576e-01 -9.29016068e-05 7.91595175e+00] [ 1.27939108e-02 -2.77287893e-04 9.99918116e-01 4.75798404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9292541539999 meters 0.0157934353994333 Centerline is valid? [True, True] Translation: X:693.68, Y:7.92, Z:4.76 [[ 9.99612165e-01 -2.44086510e-02 -1.34066230e-02 6.93679251e+02] [ 2.44095486e-02 9.99702038e-01 -9.66995817e-05 7.91804966e+00] [ 1.34049887e-02 -2.30587538e-04 9.99910123e-01 4.75780468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.959254154 meters 0.01549364768264855 Centerline is valid? [True, True] Translation: X:693.71, Y:7.92, Z:4.76 [[ 9.99653779e-01 -2.23786634e-02 -1.38389798e-02 6.93709406e+02] [ 2.23794307e-02 9.99749544e-01 -9.94329917e-05 7.91893286e+00] [ 1.38377390e-02 -2.10309925e-04 9.99904232e-01 4.75749298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9892541539999 meters 0.015105660567919421 Centerline is valid? [True, True] Translation: X:693.74, Y:7.92, Z:4.76 [[ 9.99695109e-01 -1.99640819e-02 -1.45301556e-02 6.93739775e+02] [ 1.99646747e-02 9.99800681e-01 -1.04268374e-04 7.92036907e+00] [ 1.45293411e-02 -1.85853246e-04 9.99894426e-01 4.75735798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0192541539999 meters 0.014723788888171245 Centerline is valid? [True, True] Translation: X:693.77, Y:7.92, Z:4.76 [[ 9.99757525e-01 -1.58908411e-02 -1.52437589e-02 6.93769276e+02] [ 1.58910179e-02 9.99873724e-01 -1.09537258e-04 7.92184242e+00] [ 1.52435746e-02 -1.32728148e-04 9.99883801e-01 4.75640152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0492541539999 meters 0.014465192583311953 Centerline is valid? [True, True] Translation: X:693.80, Y:7.92, Z:4.76 [[ 9.99777467e-01 -1.41059744e-02 -1.56855694e-02 6.93797393e+02] [ 1.41059279e-02 9.99900500e-01 -1.13605484e-04 7.92235427e+00] [ 1.56856112e-02 -1.07679307e-04 9.99876967e-01 4.75630014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.079254154 meters 0.014534085860909955 Centerline is valid? [True, True] Translation: X:693.82, Y:7.92, Z:4.76 [[ 9.99787219e-01 -1.32895063e-02 -1.57767574e-02 6.93824803e+02] [ 1.32893091e-02 9.99911686e-01 -1.17342540e-04 7.92286527e+00] [ 1.57769235e-02 -9.23446331e-05 9.99875532e-01 4.75647158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1092541539999 meters 0.014503520441850768 Centerline is valid? [True, True] Translation: X:693.85, Y:7.92, Z:4.76 [[ 9.99789594e-01 -1.27743811e-02 -1.60493752e-02 6.93852522e+02] [ 1.27740386e-02 9.99918401e-01 -1.23858733e-04 7.92289626e+00] [ 1.60496478e-02 -8.11826657e-05 9.99871193e-01 4.75675111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1392541539999 meters 0.014284092610688208 Centerline is valid? [True, True] Translation: X:693.88, Y:7.92, Z:4.76 [[ 9.99783657e-01 -1.35540013e-02 -1.57774333e-02 6.93880894e+02] [ 1.35536967e-02 9.99908136e-01 -1.26235645e-04 7.92166544e+00] [ 1.57776949e-02 -8.76342113e-05 9.99875521e-01 4.75786585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1692541539999 meters 0.014561186040510056 Centerline is valid? [True, True] Translation: X:693.91, Y:7.92, Z:4.76 [[ 9.99763103e-01 -1.51954464e-02 -1.55832258e-02 6.93908981e+02] [ 1.51952777e-02 9.99884537e-01 -1.29229642e-04 7.92012916e+00] [ 1.55833902e-02 -1.07592416e-04 9.99878566e-01 4.75808051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.199254154 meters 0.014611302433561997 Centerline is valid? [True, True] Translation: X:693.94, Y:7.92, Z:4.76 [[ 9.99732663e-01 -1.74153727e-02 -1.52087869e-02 6.93936690e+02] [ 1.74154273e-02 9.99848332e-01 -1.28863546e-04 7.91789631e+00] [ 1.52087244e-02 -1.36038426e-04 9.99884331e-01 4.75829801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2292541539999 meters 0.0153803561224902 Centerline is valid? [True, True] Translation: X:693.97, Y:7.91, Z:4.76 [[ 9.99614639e-01 -2.37744961e-02 -1.43298962e-02 6.93965104e+02] [ 2.37751797e-02 9.99717323e-01 -1.22678138e-04 7.91269291e+00] [ 1.43287621e-02 -2.18064995e-04 9.99897314e-01 4.75915960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2592541539999 meters 0.01642485072151533 Centerline is valid? [True, True] Translation: X:694.00, Y:7.91, Z:4.76 [[ 9.99522713e-01 -2.76766600e-02 -1.37240076e-02 6.93995094e+02] [ 2.76776464e-02 9.99616894e-01 -1.18091021e-04 7.90891689e+00] [ 1.37220182e-02 -2.61813572e-04 9.99905814e-01 4.75921788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2892541539999 meters 0.018579916155701367 Centerline is valid? [True, True] Translation: X:694.03, Y:7.90, Z:4.76 [[ 9.99399321e-01 -3.18292680e-02 -1.37074826e-02 6.94025770e+02] [ 3.18306440e-02 9.99493270e-01 -1.17828776e-04 7.90336699e+00] [ 1.37042870e-02 -3.18559998e-04 9.99906041e-01 4.75900996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3192541539999 meters 0.01998494255905467 Centerline is valid? [True, True] Translation: X:694.06, Y:7.90, Z:4.76 [[ 9.99093413e-01 -4.02993136e-02 -1.37228841e-02 6.94056892e+02] [ 4.03014934e-02 9.99187558e-01 -1.17765907e-04 7.89808221e+00] [ 1.37164809e-02 -4.35393581e-04 9.99905830e-01 4.75983610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3492541539999 meters 0.024959075309085203 Centerline is valid? [True, True] Translation: X:694.09, Y:7.89, Z:4.76 [[ 9.98925762e-01 -4.42459343e-02 -1.37702041e-02 6.94086929e+02] [ 4.42485047e-02 9.99020548e-01 -1.18097890e-04 7.88905608e+00] [ 1.37619422e-02 -4.91339917e-04 9.99905179e-01 4.75926252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3792541539999 meters 0.021775279441729013 Centerline is valid? [True, True] Translation: X:694.12, Y:7.89, Z:4.76 [[ 9.98770058e-01 -4.77301544e-02 -1.34239848e-02 6.94118244e+02] [ 4.77329146e-02 9.98860128e-01 -1.14890574e-04 7.89293572e+00] [ 1.34141670e-02 -5.26016657e-04 9.99909888e-01 4.76115468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4092541539999 meters 0.023162615834496737 Centerline is valid? [True, True] Translation: X:694.15, Y:7.89, Z:4.76 [[ 9.98472159e-01 -5.39249018e-02 -1.20603352e-02 6.94148477e+02] [ 5.39275835e-02 9.98544844e-01 -1.02965998e-04 7.88755925e+00] [ 1.20483380e-02 -5.47576052e-04 9.99927266e-01 4.76241263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4392541539999 meters 0.026540240192412932 Centerline is valid? [True, True] Translation: X:694.18, Y:7.88, Z:4.76 [[ 9.98358267e-01 -5.60932897e-02 -1.15893689e-02 6.94179287e+02] [ 5.60959192e-02 9.98425379e-01 -9.83086808e-05 7.88081684e+00] [ 1.15766345e-02 -5.51969017e-04 9.99932836e-01 4.76253335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4692541539999 meters 0.026466378449012767 Centerline is valid? [True, True] Translation: X:694.21, Y:7.88, Z:4.76 [[ 9.98247263e-01 -5.80556312e-02 -1.14867323e-02 6.94211368e+02] [ 5.80583579e-02 9.98313186e-01 -9.62197070e-05 7.87939555e+00] [ 1.14729425e-02 -5.70849758e-04 9.99934021e-01 4.76283034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4992541539999 meters 0.028945439157779775 Centerline is valid? [True, True] Translation: X:694.24, Y:7.87, Z:4.76 [[ 9.98062784e-01 -6.10159646e-02 -1.21544667e-02 6.94241053e+02] [ 6.10192429e-02 9.98136585e-01 -1.01283237e-04 7.87312224e+00] [ 1.21379978e-02 -6.40569325e-04 9.99926127e-01 4.76174752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5292541539999 meters 0.028856249621854946 Centerline is valid? [True, True] Translation: X:694.27, Y:7.87, Z:4.76 [[ 9.98032871e-01 -6.14011444e-02 -1.26605039e-02 6.94272931e+02] [ 6.14047375e-02 9.98112943e-01 -1.05091662e-04 7.87201660e+00] [ 1.26430655e-02 -6.72529982e-04 9.99919847e-01 4.76124561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5592541539999 meters 0.02952642954079188 Centerline is valid? [True, True] Translation: X:694.30, Y:7.87, Z:4.76 [[ 9.98044814e-01 -6.10265159e-02 -1.35023631e-02 6.94303687e+02] [ 6.10305804e-02 9.98135890e-01 -1.11204001e-04 7.87021146e+00] [ 1.34839796e-02 -7.13070480e-04 9.99908833e-01 4.76049733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.589254154 meters 0.02741644750655165 Centerline is valid? [True, True] Translation: X:694.34, Y:7.87, Z:4.76 [[ 9.98090334e-01 -6.01633031e-02 -1.40022542e-02 6.94335828e+02] [ 6.01676020e-02 9.98188282e-01 -1.14427039e-04 7.87292793e+00] [ 1.39837704e-02 -7.28273537e-04 9.99901957e-01 4.76065487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6192541539999 meters 0.026381614539643907 Centerline is valid? [True, True] Translation: X:694.37, Y:7.87, Z:4.76 [[ 9.98321565e-01 -5.61056738e-02 -1.43599040e-02 6.94366555e+02] [ 5.61097856e-02 9.98424598e-01 -1.16702211e-04 7.87414158e+00] [ 1.43438290e-02 -6.89224800e-04 9.99896884e-01 4.76035434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6492541539999 meters 0.024825245237243047 Centerline is valid? [True, True] Translation: X:694.40, Y:7.88, Z:4.76 [[ 9.98506321e-01 -5.26789877e-02 -1.44931140e-02 6.94398398e+02] [ 5.26828237e-02 9.98611289e-01 -1.17250984e-04 7.87666698e+00] [ 1.44791639e-02 -6.46462321e-04 9.99894962e-01 4.76049883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6792541539999 meters 0.02420392172225814 Centerline is valid? [True, True] Translation: X:694.43, Y:7.88, Z:4.76 [[ 9.98702419e-01 -4.86698756e-02 -1.49907015e-02 6.94428489e+02] [ 4.86735345e-02 9.98814734e-01 -1.20889291e-04 7.87845608e+00] [ 1.49788172e-02 -6.08917998e-04 9.99887626e-01 4.76052734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.709254154 meters 0.019694929522547384 Centerline is valid? [True, True] Translation: X:694.46, Y:7.89, Z:4.76 [[ 9.99147198e-01 -3.83722592e-02 -1.52461915e-02 6.94458995e+02] [ 3.83748460e-02 9.99263407e-01 -1.22956013e-04 7.88852219e+00] [ 1.52396794e-02 -4.62219097e-04 9.99883763e-01 4.76115751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7392541539999 meters 0.01778713168001166 Centerline is valid? [True, True] Translation: X:694.49, Y:7.89, Z:4.76 [[ 9.99356127e-01 -3.26259830e-02 -1.49290609e-02 6.94490085e+02] [ 3.26278266e-02 9.99467564e-01 -1.20124669e-04 7.89386553e+00] [ 1.49250313e-02 -3.67055485e-04 9.99888548e-01 4.76189451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7692541539999 meters 0.016496541475691417 Centerline is valid? [True, True] Translation: X:694.52, Y:7.90, Z:4.76 [[ 9.99530562e-01 -2.68760528e-02 -1.47082466e-02 6.94521200e+02] [ 2.68772255e-02 9.99638735e-01 -1.17970457e-04 7.89844138e+00] [ 1.47061036e-02 -2.77401784e-04 9.99891821e-01 4.76244253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7992541539999 meters 0.014997308552845097 Centerline is valid? [True, True] Translation: X:694.55, Y:7.91, Z:4.76 [[ 9.99761814e-01 -1.62070655e-02 -1.46166193e-02 6.94551122e+02] [ 1.62070852e-02 9.99868650e-01 -1.17112142e-04 7.90634875e+00] [ 1.46165974e-02 -1.19808547e-04 9.99893165e-01 4.76279055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.829254154 meters 0.014488948244540044 Centerline is valid? [True, True] Translation: X:694.58, Y:7.91, Z:4.76 [[ 9.99820903e-01 -1.18911262e-02 -1.47228519e-02 6.94580022e+02] [ 1.18906497e-02 9.99929297e-01 -1.19904815e-04 7.90973203e+00] [ 1.47232367e-02 -5.51809344e-05 9.99891606e-01 4.76322964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8592541539999 meters 0.014543284248610521 Centerline is valid? [True, True] Translation: X:694.61, Y:7.91, Z:4.76 [[ 9.99860367e-01 -7.81544855e-03 -1.47703923e-02 6.94607586e+02] [ 7.81448847e-03 9.99969459e-01 -1.22714565e-04 7.91247938e+00] [ 1.47709003e-02 7.27437001e-06 9.99890904e-01 4.76304189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8892541539999 meters 0.014516820499434242 Centerline is valid? [True, True] Translation: X:694.64, Y:7.91, Z:4.76 [[ 9.99880872e-01 -4.58965443e-03 -1.47368916e-02 6.94635917e+02] [ 4.58831131e-03 9.99989466e-01 -1.24949503e-04 7.91499729e+00] [ 1.47373099e-02 5.73171717e-05 9.99891398e-01 4.76341011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9192541539999 meters 0.014945303235421325 Centerline is valid? [True, True] Translation: X:694.66, Y:7.92, Z:4.76 [[ 9.99891877e-01 2.37247866e-04 -1.47030144e-02 6.94664876e+02] [-2.39159964e-04 9.99999963e-01 -1.28289834e-04 7.91798419e+00] [ 1.47029835e-02 1.31792336e-04 9.99891897e-01 4.76457608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.949254154 meters 0.015190611304989696 Centerline is valid? [True, True] Translation: X:694.69, Y:7.92, Z:4.76 [[ 9.99891665e-01 1.52338574e-03 -1.46402699e-02 6.94692584e+02] [-1.52545460e-03 9.99998828e-01 -1.30146718e-04 7.91902292e+00] [ 1.46400545e-02 1.52465685e-04 9.99892817e-01 4.76461595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9792541539999 meters 0.014944833828514834 Centerline is valid? [True, True] Translation: X:694.72, Y:7.92, Z:4.77 [[ 9.99884562e-01 1.64756560e-03 -1.51045442e-02 6.94721154e+02] [-1.64980051e-03 9.99998630e-01 -1.35503421e-04 7.91744837e+00] [ 1.51043003e-02 1.60407264e-04 9.99885911e-01 4.76551849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0092541539999 meters 0.015117727267490626 Centerline is valid? [True, True] Translation: X:694.75, Y:7.92, Z:4.76 [[ 9.99884922e-01 3.98421365e-04 -1.51652429e-02 6.94749378e+02] [-4.00549691e-04 9.99999910e-01 -1.37305223e-04 7.91720365e+00] [ 1.51651868e-02 1.43363856e-04 9.99884992e-01 4.76482381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0392541539999 meters 0.014711428135911534 Centerline is valid? [True, True] Translation: X:694.78, Y:7.91, Z:4.77 [[ 9.99888364e-01 -1.32806894e-03 -1.48827158e-02 6.94778546e+02] [ 1.32619295e-03 9.99999111e-01 -1.35920255e-04 7.91495143e+00] [ 1.48828831e-02 1.16167729e-04 9.99889237e-01 4.76553651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0692541539999 meters 0.014394298646907552 Centerline is valid? [True, True] Translation: X:694.81, Y:7.91, Z:4.77 [[ 9.99885374e-01 -3.92426261e-03 -1.46232610e-02 6.94807319e+02] [ 3.92271398e-03 9.99992297e-01 -1.34583156e-04 7.91179501e+00] [ 1.46236765e-02 7.72048582e-05 9.99893065e-01 4.76632281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0992541539999 meters 0.014128320570931288 Centerline is valid? [True, True] Translation: X:694.84, Y:7.91, Z:4.77 [[ 9.99846033e-01 -1.02938209e-02 -1.42108497e-02 6.94836110e+02] [ 1.02929870e-02 9.99947017e-01 -1.31818084e-04 7.90508021e+00] [ 1.42114537e-02 -1.44743031e-05 9.99899012e-01 4.76728676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1292541539999 meters 0.014323679830197965 Centerline is valid? [True, True] Translation: X:694.86, Y:7.90, Z:4.77 [[ 9.99802600e-01 -1.41673085e-02 -1.39301201e-02 6.94864292e+02] [ 1.41668671e-02 9.99899636e-01 -1.30369436e-04 7.90113564e+00] [ 1.39305690e-02 -6.70024593e-05 9.99902963e-01 4.76676401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1592541539999 meters 0.015311997956418381 Centerline is valid? [True, True] Translation: X:694.89, Y:7.89, Z:4.77 [[ 9.99640140e-01 -2.27522455e-02 -1.42100739e-02 6.94892564e+02] [ 2.27526367e-02 9.99741116e-01 -1.34156865e-04 7.89228335e+00] [ 1.42094475e-02 -1.89208061e-04 9.99899023e-01 4.76620628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1892541539999 meters 0.015703139058440715 Centerline is valid? [True, True] Translation: X:694.92, Y:7.89, Z:4.77 [[ 9.99522880e-01 -2.72998922e-02 -1.44474262e-02 6.94922218e+02] [ 2.73007603e-02 9.99627255e-01 -1.37169015e-04 7.88964800e+00] [ 1.44457857e-02 -2.57322152e-04 9.99895621e-01 4.76651469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2192541539999 meters 0.016970635939070926 Centerline is valid? [True, True] Translation: X:694.95, Y:7.88, Z:4.77 [[ 9.99400695e-01 -3.14585238e-02 -1.44434414e-02 6.94952909e+02] [ 3.14598268e-02 9.99505008e-01 -1.37035885e-04 7.88498418e+00] [ 1.44406030e-02 -3.17434408e-04 9.99895679e-01 4.76603723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2492541539999 meters 0.018974098412361574 Centerline is valid? [True, True] Translation: X:694.98, Y:7.88, Z:4.76 [[ 9.99262993e-01 -3.51899555e-02 -1.53341882e-02 6.94983912e+02] [ 3.51918708e-02 9.99380564e-01 -1.44994203e-04 7.88126863e+00] [ 1.53297920e-02 -3.94751430e-04 9.99882414e-01 4.76494702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2792541539999 meters 0.02060679770517993 Centerline is valid? [True, True] Translation: X:695.02, Y:7.87, Z:4.76 [[ 9.98971313e-01 -4.27323454e-02 -1.51743868e-02 6.95015353e+02] [ 4.27350962e-02 9.99086428e-01 -1.43077841e-04 7.87443444e+00] [ 1.51666380e-02 -5.05548222e-04 9.99884852e-01 4.76490626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3092541539999 meters 0.02140342543163137 Centerline is valid? [True, True] Translation: X:695.05, Y:7.87, Z:4.77 [[ 9.98816932e-01 -4.64012914e-02 -1.45484450e-02 6.95046039e+02] [ 4.64042139e-02 9.98922735e-01 -1.36811143e-04 7.87128639e+00] [ 1.45391207e-02 -5.38459867e-04 9.99894156e-01 4.76563928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.339254154 meters 0.02316432548015565 Centerline is valid? [True, True] Translation: X:695.08, Y:7.87, Z:4.77 [[ 9.98688154e-01 -4.89144031e-02 -1.51443933e-02 6.95078313e+02] [ 4.89178694e-02 9.98802794e-01 -1.41692659e-04 7.86950795e+00] [ 1.51331931e-02 -5.99324671e-04 9.99885307e-01 4.76515373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3692541539999 meters 0.02433303975305087 Centerline is valid? [True, True] Translation: X:695.11, Y:7.87, Z:4.77 [[ 9.98541954e-01 -5.21457462e-02 -1.39565909e-02 6.95108287e+02] [ 5.21490203e-02 9.98639306e-01 -1.29483783e-04 7.86553748e+00] [ 1.39443523e-02 -5.98527552e-04 9.99902594e-01 4.76662605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3992541539999 meters 0.026950885269713006 Centerline is valid? [True, True] Translation: X:695.14, Y:7.86, Z:4.77 [[ 9.98293730e-01 -5.69554861e-02 -1.28725049e-02 6.95138856e+02] [ 5.69586789e-02 9.98376530e-01 -1.18743904e-04 7.86070518e+00] [ 1.28583699e-02 -6.14659582e-04 9.99917139e-01 4.76721902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4292541539999 meters 0.028013571298034674 Centerline is valid? [True, True] Translation: X:695.17, Y:7.86, Z:4.77 [[ 9.98206521e-01 -5.85570407e-02 -1.24424082e-02 6.95170830e+02] [ 5.85601541e-02 9.98283875e-01 -1.14270916e-04 7.85841355e+00] [ 1.24277468e-02 -6.14563367e-04 9.99922584e-01 4.76775338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.459254154 meters 0.03038746333858731 Centerline is valid? [True, True] Translation: X:695.20, Y:7.85, Z:4.77 [[ 9.98009011e-01 -6.19613948e-02 -1.17813599e-02 6.95200458e+02] [ 6.19644323e-02 9.98078352e-01 -1.07376043e-04 7.85429311e+00] [ 1.17653735e-02 -6.22863022e-04 9.99930592e-01 4.76781258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4892541539999 meters 0.031109976273644563 Centerline is valid? [True, True] Translation: X:695.23, Y:7.85, Z:4.77 [[ 9.97934648e-01 -6.31475396e-02 -1.17824716e-02 6.95232826e+02] [ 6.31506702e-02 9.98003999e-01 -1.06531013e-04 7.85305067e+00] [ 1.17656810e-02 -6.37759991e-04 9.99930579e-01 4.76772743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5192541539999 meters 0.032812540017666696 Centerline is valid? [True, True] Translation: X:695.26, Y:7.85, Z:4.77 [[ 9.97848041e-01 -6.44744929e-02 -1.19300845e-02 6.95263471e+02] [ 6.44778049e-02 9.97919136e-01 -1.07205127e-04 7.85067147e+00] [ 1.19121716e-02 -6.62251231e-04 9.99928828e-01 4.76697877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5492541539999 meters 0.035195319758203274 Centerline is valid? [True, True] Translation: X:695.29, Y:7.85, Z:4.77 [[ 9.97651342e-01 -6.72532450e-02 -1.29923434e-02 6.95293269e+02] [ 6.72574113e-02 9.97735650e-01 -1.16489612e-04 7.84730946e+00] [ 1.29707585e-02 -7.57615368e-04 9.99915589e-01 4.76567714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.579254154 meters 0.03238759453086106 Centerline is valid? [True, True] Translation: X:695.33, Y:7.85, Z:4.77 [[ 9.97572939e-01 -6.83284347e-02 -1.33961672e-02 6.95325785e+02] [ 6.83329667e-02 9.97662564e-01 -1.19652177e-04 7.85123878e+00] [ 1.33730301e-02 -7.96038071e-04 9.99910260e-01 4.76600491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6092541539999 meters 0.03240153241563703 Centerline is valid? [True, True] Translation: X:695.36, Y:7.85, Z:4.77 [[ 9.97480708e-01 -6.94974993e-02 -1.42244206e-02 6.95358294e+02] [ 6.95027425e-02 9.97581752e-01 -1.26009776e-04 7.85178854e+00] [ 1.41987798e-02 -8.62943918e-04 9.99898820e-01 4.76590242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6392541539999 meters 0.033103569822943345 Centerline is valid? [True, True] Translation: X:695.39, Y:7.85, Z:4.76 [[ 9.97317538e-01 -7.14352935e-02 -1.59601937e-02 6.95389371e+02] [ 7.14421531e-02 9.97444735e-01 -1.40672752e-04 7.85185904e+00] [ 1.59294602e-02 -9.99935201e-04 9.99872618e-01 4.76458342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6692541539999 meters 0.035231148437530724 Centerline is valid? [True, True] Translation: X:695.42, Y:7.85, Z:4.76 [[ 9.97287179e-01 -7.16495684e-02 -1.68707616e-02 6.95420540e+02] [ 7.16572749e-02 9.97429302e-01 -1.48039345e-04 7.84923399e+00] [ 1.68379989e-02 -1.06127506e-03 9.99857668e-01 4.76337296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.699254154 meters 0.030721866251766584 Centerline is valid? [True, True] Translation: X:695.45, Y:7.86, Z:4.76 [[ 9.97284742e-01 -7.14058817e-02 -1.80095515e-02 6.95453089e+02] [ 7.14146461e-02 9.97446702e-01 -1.56824062e-04 7.85583016e+00] [ 1.79747659e-02 -1.12974750e-03 9.99837803e-01 4.76391223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7292541539999 meters 0.030409736913979035 Centerline is valid? [True, True] Translation: X:695.48, Y:7.86, Z:4.76 [[ 9.97336429e-01 -7.04538546e-02 -1.88759758e-02 6.95484992e+02] [ 7.04633396e-02 9.97514356e-01 -1.62956505e-04 7.85746683e+00] [ 1.88405378e-02 -1.16754184e-03 9.99821820e-01 4.76394746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7592541539999 meters 0.03429049543628311 Centerline is valid? [True, True] Translation: X:695.52, Y:7.86, Z:4.76 [[ 9.97585972e-01 -6.64790296e-02 -2.00690485e-02 6.95515310e+02] [ 6.64889612e-02 9.97787146e-01 -1.72714737e-04 7.85633478e+00] [ 2.00361205e-02 -1.16207239e-03 9.99798581e-01 4.76227663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7892541539999 meters 0.03429049543628311 Centerline is valid? [True, True] Translation: X:695.55, Y:7.86, Z:4.76 [[ 9.97590547e-01 -6.64103465e-02 -2.00690562e-02 6.95547053e+02] [ 6.64202823e-02 9.97791720e-01 -1.71810145e-04 7.85654116e+00] [ 2.00361481e-02 -1.16159620e-03 9.99798581e-01 4.76249659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8192541539999 meters 0.028805361882999522 Centerline is valid? [True, True] Translation: X:695.58, Y:7.87, Z:4.76 [[ 9.97776295e-01 -6.37139142e-02 -1.95704471e-02 6.95578886e+02] [ 6.37228677e-02 9.97967619e-01 -1.66392420e-04 7.86545701e+00] [ 1.95412740e-02 -1.08106260e-03 9.99808467e-01 4.76491824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8492541539999 meters 0.027791221553622014 Centerline is valid? [True, True] Translation: X:695.61, Y:7.87, Z:4.77 [[ 9.98019099e-01 -5.96835035e-02 -1.98936522e-02 6.95610079e+02] [ 5.96919689e-02 9.98216830e-01 -1.68526414e-04 7.86977907e+00] [ 1.98682367e-02 -1.01929869e-03 9.99802088e-01 4.76514652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8792541539999 meters 0.02405759148203139 Centerline is valid? [True, True] Translation: X:695.64, Y:7.88, Z:4.77 [[ 9.98540469e-01 -5.05309611e-02 -1.90670811e-02 6.95640963e+02] [ 5.05370773e-02 9.98722172e-01 -1.61238783e-04 7.87991062e+00] [ 1.90508642e-02 -8.02591102e-04 9.99818194e-01 4.76644170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9092541539999 meters 0.02158913241346265 Centerline is valid? [True, True] Translation: X:695.67, Y:7.88, Z:4.77 [[ 9.98778656e-01 -4.60298467e-02 -1.79568552e-02 6.95671294e+02] [ 4.60345464e-02 9.98939837e-01 -1.51760957e-04 7.88436934e+00] [ 1.79448035e-02 -6.75060079e-04 9.99838751e-01 4.76824428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9392541539999 meters 0.018495332564447776 Centerline is valid? [True, True] Translation: X:695.70, Y:7.89, Z:4.77 [[ 9.99203910e-01 -3.63063908e-02 -1.65345960e-02 6.95702267e+02] [ 3.63090453e-02 9.99340599e-01 -1.39725669e-04 7.89393248e+00] [ 1.65287660e-02 -4.60740962e-04 9.99863284e-01 4.77004280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9692541539999 meters 0.017313880477412516 Centerline is valid? [True, True] Translation: X:695.73, Y:7.90, Z:4.77 [[ 9.99372486e-01 -3.17826119e-02 -1.56364775e-02 6.95732124e+02] [ 3.17844325e-02 9.99494739e-01 -1.32125763e-04 7.89818521e+00] [ 1.56327763e-02 -3.64953712e-04 9.99877734e-01 4.77101651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9992541539999 meters 0.015856732960329818 Centerline is valid? [True, True] Translation: X:695.76, Y:7.90, Z:4.77 [[ 9.99502556e-01 -2.78194429e-02 -1.48566027e-02 6.95762622e+02] [ 2.78206488e-02 9.99612923e-01 -1.25535944e-04 7.90370757e+00] [ 1.48543443e-02 -2.87846828e-04 9.99889627e-01 4.77199038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0292541539999 meters 0.015180651879485444 Centerline is valid? [True, True] Translation: X:695.79, Y:7.91, Z:4.77 [[ 9.99654548e-01 -2.17397623e-02 -1.47704939e-02 6.95792399e+02] [ 2.17402907e-02 9.99763644e-01 -1.24808339e-04 7.90801443e+00] [ 1.47697161e-02 -1.96349608e-04 9.99890903e-01 4.77193889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0592541539999 meters 0.014880717686186333 Centerline is valid? [True, True] Translation: X:695.82, Y:7.91, Z:4.77 [[ 9.99689809e-01 -1.97991551e-02 -1.51089333e-02 6.95822095e+02] [ 1.97994820e-02 9.99803963e-01 -1.27960209e-04 7.90999884e+00] [ 1.51085049e-02 -1.71228536e-04 9.99885845e-01 4.77191794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.089254154 meters 0.014851916636869212 Centerline is valid? [True, True] Translation: X:695.85, Y:7.91, Z:4.77 [[ 9.99711876e-01 -1.83745954e-02 -1.54446977e-02 6.95850938e+02] [ 1.83747561e-02 9.99831161e-01 -1.31508883e-04 7.91102792e+00] [ 1.54445064e-02 -1.52321560e-04 9.99880715e-01 4.77124235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1192541539999 meters 0.014510439439630077 Centerline is valid? [True, True] Translation: X:695.88, Y:7.91, Z:4.77 [[ 9.99731101e-01 -1.66384276e-02 -1.61520320e-02 6.95879743e+02] [ 1.66383331e-02 9.99861564e-01 -1.40240277e-04 7.91363769e+00] [ 1.61521294e-02 -1.28540323e-04 9.99869538e-01 4.77133117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1492541539999 meters 0.015232753496730214 Centerline is valid? [True, True] Translation: X:695.91, Y:7.91, Z:4.77 [[ 9.99725436e-01 -1.61659796e-02 -1.69621304e-02 6.95908058e+02] [ 1.61657268e-02 9.99869315e-01 -1.52026208e-04 7.91409259e+00] [ 1.69623713e-02 -1.22220699e-04 9.99856121e-01 4.77090046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1792541539999 meters 0.014472504255711807 Centerline is valid? [True, True] Translation: X:695.94, Y:7.91, Z:4.77 [[ 9.99733033e-01 -1.56224217e-02 -1.70236150e-02 6.95935655e+02] [ 1.56220039e-02 9.99877957e-01 -1.57529013e-04 7.91465993e+00] [ 1.70239984e-02 -1.08456022e-04 9.99855075e-01 4.77086912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.209254154 meters 0.014414230041150207 Centerline is valid? [True, True] Translation: X:695.96, Y:7.92, Z:4.77 [[ 9.99746653e-01 -1.37717824e-02 -1.78035922e-02 6.95962449e+02] [ 1.37709704e-02 9.99905162e-01 -1.68215078e-04 7.91600252e+00] [ 1.78042204e-02 -7.70002791e-05 9.99841489e-01 4.77002071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2392541539999 meters 0.014483310620171814 Centerline is valid? [True, True] Translation: X:695.99, Y:7.92, Z:4.77 [[ 9.99751678e-01 -1.31108154e-02 -1.80191400e-02 6.95990118e+02] [ 1.31098014e-02 9.99914048e-01 -1.74399246e-04 7.91724933e+00] [ 1.80198777e-02 -6.18714080e-05 9.99837627e-01 4.77141758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2692541539999 meters 0.014470976775660508 Centerline is valid? [True, True] Translation: X:696.02, Y:7.92, Z:4.77 [[ 9.99761982e-01 -1.29100161e-02 -1.75872520e-02 6.96017784e+02] [ 1.29089290e-02 9.99916661e-01 -1.75342322e-04 7.91793610e+00] [ 1.75880499e-02 -5.17320000e-05 9.99845317e-01 4.77167348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2992541539999 meters 0.014350604065187903 Centerline is valid? [True, True] Translation: X:696.05, Y:7.92, Z:4.77 [[ 9.99767132e-01 -1.28014358e-02 -1.73725631e-02 6.96045206e+02] [ 1.28003006e-02 9.99918057e-01 -1.76541807e-04 7.91743225e+00] [ 1.73733996e-02 -4.58733340e-05 9.99849070e-01 4.77247807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.329254154 meters 0.014440390840595951 Centerline is valid? [True, True] Translation: X:696.07, Y:7.92, Z:4.77 [[ 9.99765864e-01 -1.39058697e-02 -1.65783935e-02 6.96072654e+02] [ 1.39049276e-02 9.99903307e-01 -1.72097837e-04 7.91670082e+00] [ 1.65791837e-02 -5.84638191e-05 9.99862554e-01 4.77283383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3592541539999 meters 0.014357817770516248 Centerline is valid? [True, True] Translation: X:696.10, Y:7.92, Z:4.77 [[ 9.99754571e-01 -1.50572299e-02 -1.62504499e-02 6.96100152e+02] [ 1.50564014e-02 9.99886631e-01 -1.73331396e-04 7.91508310e+00] [ 1.62512175e-02 -7.13844415e-05 9.99867938e-01 4.77312634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3892541539999 meters 0.01461613451955757 Centerline is valid? [True, True] Translation: X:696.13, Y:7.91, Z:4.77 [[ 9.99705235e-01 -1.87744567e-02 -1.53935726e-02 6.96128930e+02] [ 1.87740917e-02 9.99823737e-01 -1.68235236e-04 7.91064721e+00] [ 1.53940178e-02 -1.20814698e-04 9.99881498e-01 4.77354469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4192541539999 meters 0.016530450775527287 Centerline is valid? [True, True] Translation: X:696.16, Y:7.91, Z:4.77 [[ 9.99654718e-01 -2.06299403e-02 -1.62742451e-02 6.96156787e+02] [ 2.06297341e-02 9.99787168e-01 -1.80570090e-04 7.90756201e+00] [ 1.62745066e-02 -1.55225607e-04 9.99867549e-01 4.77243465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.449254154 meters 0.015457916718637202 Centerline is valid? [True, True] Translation: X:696.19, Y:7.91, Z:4.77 [[ 9.99602538e-01 -2.35057844e-02 -1.55642147e-02 6.96185762e+02] [ 2.35059018e-02 9.99723683e-01 -1.75419445e-04 7.90532583e+00] [ 1.55640374e-02 -1.90501179e-04 9.99878855e-01 4.77326104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4792541539999 meters 0.016258457479706875 Centerline is valid? [True, True] Translation: X:696.21, Y:7.90, Z:4.77 [[ 9.99475324e-01 -2.80362870e-02 -1.62186077e-02 6.96214771e+02] [ 2.80369766e-02 9.99606870e-01 -1.84899977e-04 7.89996726e+00] [ 1.62174156e-02 -2.69917761e-04 9.99868453e-01 4.77299906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5092541539999 meters 0.016708475872380623 Centerline is valid? [True, True] Translation: X:696.24, Y:7.90, Z:4.77 [[ 9.99415854e-01 -2.99950045e-02 -1.63783418e-02 6.96244687e+02] [ 2.99959613e-02 9.99550002e-01 -1.87292610e-04 7.89724427e+00] [ 1.63765894e-02 -3.04100901e-04 9.99865848e-01 4.77271329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5392541539999 meters 0.01653483215223058 Centerline is valid? [True, True] Translation: X:696.28, Y:7.90, Z:4.77 [[ 9.99343471e-01 -3.19699003e-02 -1.70456022e-02 6.96275152e+02] [ 3.19712196e-02 9.99488771e-01 -1.95172785e-04 7.89658798e+00] [ 1.70431276e-02 -3.49924042e-04 9.99854694e-01 4.77365989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5692541539999 meters 0.016780479464659544 Centerline is valid? [True, True] Translation: X:696.31, Y:7.89, Z:4.77 [[ 9.99301134e-01 -3.33539202e-02 -1.68748319e-02 6.96305542e+02] [ 3.33554103e-02 9.99443535e-01 -1.93217459e-04 7.89460466e+00] [ 1.68718862e-02 -3.69784517e-04 9.99857591e-01 4.77391993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5992541539999 meters 0.018921359851225672 Centerline is valid? [True, True] Translation: X:696.34, Y:7.89, Z:4.77 [[ 9.99240790e-01 -3.50184240e-02 -1.70749144e-02 6.96335898e+02] [ 3.50201957e-02 9.99386586e-01 -1.95323549e-04 7.88672492e+00] [ 1.70712803e-02 -4.02791586e-04 9.99854194e-01 4.77267642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6292541539999 meters 0.01736566711345248 Centerline is valid? [True, True] Translation: X:696.37, Y:7.89, Z:4.77 [[ 9.99234363e-01 -3.49887087e-02 -1.75065027e-02 6.96367062e+02] [ 3.49905756e-02 9.99387622e-01 -1.99749166e-04 7.88872328e+00] [ 1.75027710e-02 -4.12966374e-04 9.99846729e-01 4.77454630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6592541539999 meters 0.01757639131189368 Centerline is valid? [True, True] Translation: X:696.40, Y:7.89, Z:4.77 [[ 9.99248119e-01 -3.45310999e-02 -1.76295232e-02 6.96397350e+02] [ 3.45329379e-02 9.99403540e-01 -2.00246377e-04 7.88801324e+00] [ 1.76259226e-02 -4.08703415e-04 9.99844568e-01 4.77471160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6892541539999 meters 0.017075676842460762 Centerline is valid? [True, True] Translation: X:696.43, Y:7.89, Z:4.77 [[ 9.99307139e-01 -3.25753960e-02 -1.80023824e-02 6.96428191e+02] [ 3.25770032e-02 9.99469208e-01 -2.04048821e-04 7.88772047e+00] [ 1.79994739e-02 -3.82556226e-04 9.99837923e-01 4.77483310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7192541539999 meters 0.018257563536191186 Centerline is valid? [True, True] Translation: X:696.46, Y:7.88, Z:4.77 [[ 9.99338757e-01 -3.11786082e-02 -1.87067749e-02 6.96457744e+02] [ 3.11800953e-02 9.99513760e-01 -2.12240398e-04 7.88480201e+00] [ 1.87042963e-02 -3.71178968e-04 9.99824990e-01 4.77307516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7492541539999 meters 0.01640264986646785 Centerline is valid? [True, True] Translation: X:696.49, Y:7.89, Z:4.77 [[ 9.99437179e-01 -2.76373005e-02 -1.90133035e-02 6.96486999e+02] [ 2.76381417e-02 9.99617970e-01 -2.18574354e-04 7.88773633e+00] [ 1.90120807e-02 -3.07041042e-04 9.99819207e-01 4.77394324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7792541539999 meters 0.015443564484001554 Centerline is valid? [True, True] Translation: X:696.52, Y:7.89, Z:4.78 [[ 9.99488210e-01 -2.56295252e-02 -1.91427790e-02 6.96515396e+02] [ 2.56299198e-02 9.99671474e-01 -2.24763233e-04 7.89003269e+00] [ 1.91422507e-02 -2.65979690e-04 9.99816735e-01 4.77522591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8092541539999 meters 0.014966221575196448 Centerline is valid? [True, True] Translation: X:696.54, Y:7.89, Z:4.78 [[ 9.99599138e-01 -2.08952194e-02 -1.91037259e-02 6.96543669e+02] [ 2.08946551e-02 9.99781657e-01 -2.29159054e-04 7.89130352e+00] [ 1.91043430e-02 -1.70098571e-04 9.99817481e-01 4.77540459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.839254154 meters 0.014725773838054393 Centerline is valid? [True, True] Translation: X:696.57, Y:7.89, Z:4.78 [[ 9.99646637e-01 -1.86367020e-02 -1.89545315e-02 6.96572783e+02] [ 1.86356502e-02 9.99826314e-01 -2.32131799e-04 7.89239297e+00] [ 1.89555655e-02 -1.21180247e-04 9.99820320e-01 4.77587651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8692541539999 meters 0.014634369739227694 Centerline is valid? [True, True] Translation: X:696.60, Y:7.89, Z:4.78 [[ 9.99685649e-01 -1.63963056e-02 -1.89674442e-02 6.96600360e+02] [ 1.63947959e-02 9.99865569e-01 -2.35100130e-04 7.89365520e+00] [ 1.89687491e-02 -7.59411497e-05 9.99820074e-01 4.77599847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8992541539999 meters 0.014518328578162898 Centerline is valid? [True, True] Translation: X:696.63, Y:7.90, Z:4.78 [[ 9.99721517e-01 -1.44296180e-02 -1.86728128e-02 6.96627871e+02] [ 1.44277387e-02 9.99895887e-01 -2.35366048e-04 7.89502438e+00] [ 1.86742650e-02 -3.41059616e-05 9.99825620e-01 4.77628460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9292541539999 meters 0.01457248149840417 Centerline is valid? [True, True] Translation: X:696.66, Y:7.90, Z:4.78 [[ 9.99744979e-01 -1.21064276e-02 -1.90633613e-02 6.96655621e+02] [ 1.21039883e-02 9.99926714e-01 -2.43342046e-04 7.89555744e+00] [ 1.90649102e-02 1.25372880e-05 9.99818248e-01 4.77617887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.959254154 meters 0.014519776192675962 Centerline is valid? [True, True] Translation: X:696.68, Y:7.89, Z:4.78 [[ 9.99741155e-01 -1.20559904e-02 -1.92944675e-02 6.96683742e+02] [ 1.20533999e-02 9.99927324e-01 -2.50551493e-04 7.89486160e+00] [ 1.92960859e-02 1.79227060e-05 9.99813813e-01 4.77716304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9892541539999 meters 0.014606777884259015 Centerline is valid? [True, True] Translation: X:696.71, Y:7.89, Z:4.78 [[ 9.99729690e-01 -1.23359312e-02 -1.97071731e-02 6.96711553e+02] [ 1.23332190e-02 9.99923909e-01 -2.59163571e-04 7.89391201e+00] [ 1.97088706e-02 1.60406349e-05 9.99805761e-01 4.77643816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0192541539999 meters 0.014464053826219075 Centerline is valid? [True, True] Translation: X:696.74, Y:7.89, Z:4.78 [[ 9.99683889e-01 -1.47677267e-02 -2.03479055e-02 6.96740116e+02] [ 1.47652569e-02 9.99890951e-01 -2.71621346e-04 7.89028000e+00] [ 2.03496978e-02 -2.89065683e-05 9.99792923e-01 4.77648673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0492541539999 meters 0.016475133318900766 Centerline is valid? [True, True] Translation: X:696.77, Y:7.89, Z:4.78 [[ 9.99630230e-01 -1.63383925e-02 -2.17361663e-02 6.96769054e+02] [ 1.63358226e-02 9.99866518e-01 -2.95797412e-04 7.88806381e+00] [ 2.17380978e-02 -5.93901210e-05 9.99763698e-01 4.77653015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.079254154 meters 0.014544406260378282 Centerline is valid? [True, True] Translation: X:696.80, Y:7.89, Z:4.78 [[ 9.99605802e-01 -1.87838681e-02 -2.08663900e-02 6.96796510e+02] [ 1.87819602e-02 9.99823562e-01 -2.87420810e-04 7.88604856e+00] [ 2.08681072e-02 -1.04604197e-04 9.99782232e-01 4.77696818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1092541539999 meters 0.014929185969935374 Centerline is valid? [True, True] Translation: X:696.82, Y:7.88, Z:4.78 [[ 9.99500530e-01 -2.35159993e-02 -2.11113206e-02 6.96824482e+02] [ 2.35150427e-02 9.99723440e-01 -2.93591805e-04 7.88098461e+00] [ 2.11123861e-02 -2.02988439e-04 9.99777088e-01 4.77682782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1392541539999 meters 0.01530643167248472 Centerline is valid? [True, True] Translation: X:696.85, Y:7.88, Z:4.78 [[ 9.99442547e-01 -2.62134088e-02 -2.06749358e-02 6.96852164e+02] [ 2.62130113e-02 9.99656338e-01 -2.90281178e-04 7.87805106e+00] [ 2.06754398e-02 -2.51832964e-04 9.99786209e-01 4.77649552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1692541539999 meters 0.015775073578195773 Centerline is valid? [True, True] Translation: X:696.88, Y:7.87, Z:4.78 [[ 9.99341962e-01 -2.95591926e-02 -2.10213350e-02 6.96880606e+02] [ 2.95594285e-02 9.99562980e-01 -2.99573020e-04 7.87495957e+00] [ 2.10210034e-02 -3.22002760e-04 9.99778982e-01 4.77675363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.199254154 meters 0.017542054976670125 Centerline is valid? [True, True] Translation: X:696.91, Y:7.87, Z:4.78 [[ 9.99154186e-01 -3.58892147e-02 -2.00717869e-02 6.96908910e+02] [ 3.58906548e-02 9.99355681e-01 -2.88597095e-04 7.86694884e+00] [ 2.00692118e-02 -4.32036580e-04 9.99798500e-01 4.77682971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2292541539999 meters 0.01831957618091006 Centerline is valid? [True, True] Translation: X:696.94, Y:7.86, Z:4.78 [[ 9.99029867e-01 -3.94705420e-02 -1.95294779e-02 6.96938016e+02] [ 3.94725191e-02 9.99220616e-01 -2.84378376e-04 7.86379849e+00] [ 1.95254815e-02 -4.86775198e-04 9.99809241e-01 4.77787974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2592541539999 meters 0.018136058955870532 Centerline is valid? [True, True] Translation: X:696.97, Y:7.86, Z:4.78 [[ 9.98901676e-01 -4.29915569e-02 -1.86324469e-02 6.96967820e+02] [ 4.29939300e-02 9.99075296e-01 -2.73375815e-04 7.86263644e+00] [ 1.86269702e-02 -5.28006558e-04 9.99826364e-01 4.77977713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2892541539999 meters 0.021351585188753557 Centerline is valid? [True, True] Translation: X:697.00, Y:7.85, Z:4.78 [[ 9.98622387e-01 -4.94580028e-02 -1.75281155e-02 6.96997988e+02] [ 4.94610934e-02 9.98776018e-01 -2.57412577e-04 7.85333494e+00] [ 1.75193925e-02 -6.09901794e-04 9.99846338e-01 4.77962580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3192541539999 meters 0.020305167418286904 Centerline is valid? [True, True] Translation: X:697.03, Y:7.85, Z:4.78 [[ 9.98471116e-01 -5.24867177e-02 -1.73371051e-02 6.97029596e+02] [ 5.24902039e-02 9.98621407e-01 -2.54219946e-04 7.85346210e+00] [ 1.73265474e-02 -6.56196908e-04 9.99849669e-01 4.78077372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3492541539999 meters 0.02417049778768101 Centerline is valid? [True, True] Translation: X:697.06, Y:7.85, Z:4.78 [[ 9.98312606e-01 -5.54976209e-02 -1.70866606e-02 6.97059382e+02] [ 5.55014516e-02 9.98458575e-01 -2.50293400e-04 7.84638211e+00] [ 1.70742135e-02 -6.98463409e-04 9.99853981e-01 4.77977531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3792541539999 meters 0.027517551118460746 Centerline is valid? [True, True] Translation: X:697.09, Y:7.84, Z:4.78 [[ 9.98143976e-01 -5.83282882e-02 -1.75046969e-02 6.97089346e+02] [ 5.83327431e-02 9.98297163e-01 -2.56416991e-04 7.84036539e+00] [ 1.74898456e-02 -7.65155912e-04 9.99846748e-01 4.77867900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4092541539999 meters 0.0236708326615264 Centerline is valid? [True, True] Translation: X:697.12, Y:7.84, Z:4.78 [[ 9.97976172e-01 -6.10197894e-02 -1.78925908e-02 6.97120437e+02] [ 6.10248828e-02 9.98136211e-01 -2.61694698e-04 7.84476034e+00] [ 1.78752114e-02 -8.30728186e-04 9.99839881e-01 4.78024091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4392541539999 meters 0.02644253596175257 Centerline is valid? [True, True] Translation: X:697.15, Y:7.84, Z:4.78 [[ 9.97666223e-01 -6.58440882e-02 -1.80738503e-02 6.97150540e+02] [ 6.58500877e-02 9.97829493e-01 -2.63632012e-04 7.83926831e+00] [ 1.80519795e-02 -9.27147876e-04 9.99836620e-01 4.77950372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4692541539999 meters 0.025817278352629737 Centerline is valid? [True, True] Translation: X:697.18, Y:7.84, Z:4.78 [[ 9.97534104e-01 -6.76896678e-02 -1.85424124e-02 6.97181706e+02] [ 6.76963138e-02 9.97705937e-01 -2.69744701e-04 7.83997645e+00] [ 1.85181339e-02 -9.86173430e-04 9.99828038e-01 4.78015701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4992541539999 meters 0.030171989801146392 Centerline is valid? [True, True] Translation: X:697.21, Y:7.83, Z:4.78 [[ 9.97453990e-01 -6.88798174e-02 -1.84691143e-02 6.97212729e+02] [ 6.88866309e-02 9.97624459e-01 -2.67781174e-04 7.83375681e+00] [ 1.84436849e-02 -1.00517566e-03 9.99829396e-01 4.77917912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5292541539999 meters 0.02664018664048337 Centerline is valid? [True, True] Translation: X:697.24, Y:7.84, Z:4.78 [[ 9.97344552e-01 -7.03851805e-02 -1.87021595e-02 6.97244385e+02] [ 7.03924500e-02 9.97519338e-01 -2.70138225e-04 7.83866388e+00] [ 1.86747795e-02 -1.04706994e-03 9.99825063e-01 4.78099832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5592541539999 meters 0.027373645727562793 Centerline is valid? [True, True] Translation: X:697.28, Y:7.84, Z:4.78 [[ 9.97353068e-01 -7.02049305e-02 -1.89241848e-02 6.97275420e+02] [ 7.02123611e-02 9.97532030e-01 -2.72299728e-04 7.83777919e+00] [ 1.88965972e-02 -1.05713273e-03 9.99820884e-01 4.78098045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.589254154 meters 0.029439402638245824 Centerline is valid? [True, True] Translation: X:697.31, Y:7.84, Z:4.78 [[ 9.97382395e-01 -6.97638739e-02 -1.90094582e-02 6.97306354e+02] [ 6.97713118e-02 9.97562975e-01 -2.72471053e-04 7.83515234e+00] [ 1.89821404e-02 -1.05455701e-03 9.99819267e-01 4.78036413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6192541539999 meters 0.029796530107384023 Centerline is valid? [True, True] Translation: X:697.34, Y:7.84, Z:4.78 [[ 9.97477264e-01 -6.81024717e-02 -2.00289875e-02 6.97337028e+02] [ 6.81104230e-02 9.97677748e-01 -2.85693007e-04 7.83592068e+00] [ 2.00019315e-02 -1.07921053e-03 9.99799359e-01 4.77960325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6492541539999 meters 0.02745258535973128 Centerline is valid? [True, True] Translation: X:697.37, Y:7.84, Z:4.78 [[ 9.97556201e-01 -6.67979687e-02 -2.04855524e-02 6.97368469e+02] [ 6.68060335e-02 9.97765939e-01 -2.91181872e-04 7.84070636e+00] [ 2.04592368e-02 -1.07808822e-03 9.99790107e-01 4.78034563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6792541539999 meters 0.02745258535973128 Centerline is valid? [True, True] Translation: X:697.40, Y:7.84, Z:4.78 [[ 9.97558608e-01 -6.67620112e-02 -2.04855629e-02 6.97399354e+02] [ 6.67700836e-02 9.97768346e-01 -2.90443377e-04 7.84111376e+00] [ 2.04592368e-02 -1.07808845e-03 9.99790107e-01 4.78055961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.709254154 meters 0.026507255233637964 Centerline is valid? [True, True] Translation: X:697.43, Y:7.84, Z:4.78 [[ 9.97654860e-01 -6.51257892e-02 -2.10573604e-02 6.97430371e+02] [ 6.51339597e-02 9.97876484e-01 -2.98335047e-04 7.84425520e+00] [ 2.10320740e-02 -1.07391385e-03 9.99778225e-01 4.78088395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7392541539999 meters 0.023421861943171928 Centerline is valid? [True, True] Translation: X:697.46, Y:7.85, Z:4.78 [[ 9.97935022e-01 -6.06540696e-02 -2.11370489e-02 6.97460665e+02] [ 6.06613008e-02 9.98158363e-01 -2.99484444e-04 7.85224329e+00] [ 2.11162871e-02 -9.83334864e-04 9.99776543e-01 4.78205336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7692541539999 meters 0.02345179685571851 Centerline is valid? [True, True] Translation: X:697.49, Y:7.85, Z:4.78 [[ 9.98099780e-01 -5.79338855e-02 -2.09879315e-02 6.97491053e+02] [ 5.79404203e-02 9.98319999e-01 -2.97108682e-04 7.85416865e+00] [ 2.09698844e-02 -9.19505460e-04 9.99779685e-01 4.78198648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7992541539999 meters 0.020463299416475463 Centerline is valid? [True, True] Translation: X:697.52, Y:7.86, Z:4.78 [[ 9.98448520e-01 -5.16896145e-02 -2.07059698e-02 6.97521852e+02] [ 5.16946401e-02 9.98662895e-01 -2.92823725e-04 7.86282838e+00] [ 2.06934197e-02 -7.78018244e-04 9.99785566e-01 4.78372691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.829254154 meters 0.02111171234374256 Centerline is valid? [True, True] Translation: X:697.55, Y:7.86, Z:4.78 [[ 9.98610381e-01 -4.83920895e-02 -2.08689347e-02 6.97551307e+02] [ 4.83964717e-02 9.98828161e-01 -2.95301133e-04 7.86441979e+00] [ 2.08587699e-02 -7.15092032e-04 9.99782176e-01 4.78349288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8592541539999 meters 0.01877665177314729 Centerline is valid? [True, True] Translation: X:697.58, Y:7.87, Z:4.79 [[ 9.98790588e-01 -4.49557221e-02 -1.99083880e-02 6.97581359e+02] [ 4.49590209e-02 9.98988792e-01 -2.82068742e-04 7.87085392e+00] [ 1.99009371e-02 -6.13334029e-04 9.99801769e-01 4.78536792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8892541539999 meters 0.017811964186047632 Centerline is valid? [True, True] Translation: X:697.61, Y:7.88, Z:4.79 [[ 9.99117495e-01 -3.71767994e-02 -1.95478108e-02 6.97610985e+02] [ 3.71784893e-02 9.99308603e-01 -2.77084642e-04 7.87750680e+00] [ 1.95445966e-02 -4.49917960e-04 9.99808885e-01 4.78584919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9192541539999 meters 0.01593007980907197 Centerline is valid? [True, True] Translation: X:697.64, Y:7.88, Z:4.79 [[ 9.99252324e-01 -3.33260548e-02 -1.96001749e-02 6.97640241e+02] [ 3.33270041e-02 9.99444462e-01 -2.78291956e-04 7.88394302e+00] [ 1.95985606e-02 -3.75131226e-04 9.99807859e-01 4.78753552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.949254154 meters 0.015451016887919278 Centerline is valid? [True, True] Translation: X:697.67, Y:7.89, Z:4.79 [[ 9.99372115e-01 -2.94389447e-02 -1.97161039e-02 6.97668385e+02] [ 2.94390797e-02 9.99566536e-01 -2.83453555e-04 7.88680225e+00] [ 1.97159022e-02 -2.97148375e-04 9.99805579e-01 4.78703136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9792541539999 meters 0.014631162428444285 Centerline is valid? [True, True] Translation: X:697.70, Y:7.89, Z:4.79 [[ 9.99475946e-01 -2.57288974e-02 -1.96432539e-02 6.97696952e+02] [ 2.57282166e-02 9.99668933e-01 -2.87416744e-04 7.89107181e+00] [ 1.96441455e-02 -2.18119767e-04 9.99807011e-01 4.78793809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0092541539999 meters 0.014080380605911443 Centerline is valid? [True, True] Translation: X:697.73, Y:7.90, Z:4.79 [[ 9.99621954e-01 -1.89721426e-02 -1.98998999e-02 6.97725252e+02] [ 1.89700030e-02 9.99820009e-01 -2.96296316e-04 7.89712990e+00] [ 1.99019395e-02 -8.13168599e-05 9.99801933e-01 4.78840567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0392541539999 meters 0.013988860679531211 Centerline is valid? [True, True] Translation: X:697.75, Y:7.90, Z:4.79 [[ 9.99650781e-01 -1.67762817e-02 -2.04174363e-02 6.97752671e+02] [ 1.67734534e-02 9.99859268e-01 -3.09779177e-04 7.89957589e+00] [ 2.04197598e-02 -3.27999195e-05 9.99791494e-01 4.78852927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0692541539999 meters 0.014060676924714919 Centerline is valid? [True, True] Translation: X:697.78, Y:7.90, Z:4.79 [[ 9.99656706e-01 -1.56905530e-02 -2.09827477e-02 6.97781027e+02] [ 1.56871964e-02 9.99876896e-01 -3.24568827e-04 7.90111651e+00] [ 2.09852573e-02 -4.70307810e-06 9.99779785e-01 4.78846559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0992541539999 meters 0.01399904416216783 Centerline is valid? [True, True] Translation: X:697.81, Y:7.90, Z:4.79 [[ 9.99641942e-01 -1.55142665e-02 -2.18012909e-02 6.97809829e+02] [ 1.55104720e-02 9.99879647e-01 -3.43142286e-04 7.90182916e+00] [ 2.18039907e-02 4.87110781e-06 9.99762265e-01 4.78836768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1292541539999 meters 0.014095422559047542 Centerline is valid? [True, True] Translation: X:697.84, Y:7.90, Z:4.79 [[ 9.99571875e-01 -1.80115440e-02 -2.30575448e-02 6.97838969e+02] [ 1.80078265e-02 9.99837778e-01 -3.68873599e-04 7.90028598e+00] [ 2.30604483e-02 -4.65005891e-05 9.99734071e-01 4.78766885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1592541539999 meters 0.014208308497345423 Centerline is valid? [True, True] Translation: X:697.87, Y:7.90, Z:4.79 [[ 9.99521011e-01 -2.06833393e-02 -2.30205966e-02 6.97866599e+02] [ 2.06801948e-02 9.99786072e-01 -3.74680245e-04 7.89863126e+00] [ 2.30234214e-02 -1.01569643e-04 9.99734921e-01 4.78766614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1892541539999 meters 0.014149397991069908 Centerline is valid? [True, True] Translation: X:697.90, Y:7.90, Z:4.79 [[ 9.99461714e-01 -2.34527950e-02 -2.29401191e-02 6.97895650e+02] [ 2.34502627e-02 9.99724933e-01 -3.79430860e-04 7.89678508e+00] [ 2.29427077e-02 -1.58725201e-04 9.99736769e-01 4.78808332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2192541539999 meters 0.0166905065058377 Centerline is valid? [True, True] Translation: X:697.92, Y:7.89, Z:4.79 [[ 9.99317886e-01 -2.93026214e-02 -2.24748761e-02 6.97923114e+02] [ 2.93015931e-02 9.99570546e-01 -3.75139086e-04 7.89193770e+00] [ 2.24762167e-02 -2.83666476e-04 9.99747338e-01 4.78870699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2492541539999 meters 0.015423733348329957 Centerline is valid? [True, True] Translation: X:697.95, Y:7.89, Z:4.79 [[ 9.99267574e-01 -3.25176283e-02 -2.01722360e-02 6.97951735e+02] [ 3.25173746e-02 9.99471112e-01 -3.40668625e-04 7.89000640e+00] [ 2.01726449e-02 -3.15529044e-04 9.99796462e-01 4.79005406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2792541539999 meters 0.016009424304615726 Centerline is valid? [True, True] Translation: X:697.98, Y:7.89, Z:4.79 [[ 9.99206555e-01 -3.50648383e-02 -1.88869520e-02 6.97979890e+02] [ 3.50650204e-02 9.99384981e-01 -3.21628341e-04 7.88750512e+00] [ 1.88866140e-02 -3.40898211e-04 9.99821574e-01 4.79101002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3092541539999 meters 0.017114111603822677 Centerline is valid? [True, True] Translation: X:698.01, Y:7.88, Z:4.79 [[ 9.99052586e-01 -3.97719989e-02 -1.76668828e-02 6.98009899e+02] [ 3.97728769e-02 9.99208701e-01 -3.01800706e-04 7.88338036e+00] [ 1.76649062e-02 -4.01147979e-04 9.99843883e-01 4.79228680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.339254154 meters 0.018079688186982138 Centerline is valid? [True, True] Translation: X:698.04, Y:7.88, Z:4.79 [[ 9.98973895e-01 -4.19300644e-02 -1.71180240e-02 6.98040599e+02] [ 4.19312098e-02 9.99120457e-01 -2.92153350e-04 7.88076902e+00] [ 1.71152180e-02 -4.25925887e-04 9.99853433e-01 4.79220893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3692541539999 meters 0.018386601072372097 Centerline is valid? [True, True] Translation: X:698.07, Y:7.88, Z:4.79 [[ 9.98877477e-01 -4.41562282e-02 -1.71468241e-02 6.98071784e+02] [ 4.41577173e-02 9.99024530e-01 -2.91938257e-04 7.87958326e+00] [ 1.71429888e-02 -4.65554062e-04 9.99852940e-01 4.79250959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3992541539999 meters 0.019868488331834157 Centerline is valid? [True, True] Translation: X:698.10, Y:7.87, Z:4.79 [[ 9.98647998e-01 -4.90167310e-02 -1.73071363e-02 6.98103005e+02] [ 4.90189846e-02 9.98797804e-01 -2.94236949e-04 7.87463037e+00] [ 1.73007522e-02 -5.54539107e-04 9.99850177e-01 4.79210082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4292541539999 meters 0.020895103238319345 Centerline is valid? [True, True] Translation: X:698.13, Y:7.87, Z:4.79 [[ 9.98522491e-01 -5.14948058e-02 -1.73528311e-02 6.98134522e+02] [ 5.14974536e-02 9.98673082e-01 -2.94521527e-04 7.87248078e+00] [ 1.73449717e-02 -5.99540248e-04 9.99849385e-01 4.79208517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.459254154 meters 0.02064571192733779 Centerline is valid? [True, True] Translation: X:698.17, Y:7.87, Z:4.79 [[ 9.98393868e-01 -5.39701815e-02 -1.72309064e-02 6.98165685e+02] [ 5.39731710e-02 9.98542343e-01 -2.91833610e-04 7.87255330e+00] [ 1.72215400e-02 -6.38641772e-04 9.99851494e-01 4.79285178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4892541539999 meters 0.022848503245011285 Centerline is valid? [True, True] Translation: X:698.20, Y:7.87, Z:4.79 [[ 9.98262549e-01 -5.63122097e-02 -1.73441009e-02 6.98196263e+02] [ 5.63155992e-02 9.98412974e-01 -2.93308851e-04 7.86853317e+00] [ 1.73330922e-02 -6.83944190e-04 9.99849537e-01 4.79221505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5192541539999 meters 0.02256960458445776 Centerline is valid? [True, True] Translation: X:698.23, Y:7.87, Z:4.79 [[ 9.98066537e-01 -5.98019836e-02 -1.69384423e-02 6.98226915e+02] [ 5.98057231e-02 9.98209995e-01 -2.86143305e-04 7.86780383e+00] [ 1.69252344e-02 -7.27425734e-04 9.99856493e-01 4.79301432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5492541539999 meters 0.02212889433888515 Centerline is valid? [True, True] Translation: X:698.26, Y:7.87, Z:4.79 [[ 9.98017484e-01 -6.06048560e-02 -1.69750819e-02 6.98258925e+02] [ 6.06087425e-02 9.98161559e-01 -2.85886271e-04 7.86877381e+00] [ 1.69612003e-02 -7.43518870e-04 9.99855872e-01 4.79347190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.579254154 meters 0.02415720886213861 Centerline is valid? [True, True] Translation: X:698.29, Y:7.87, Z:4.79 [[ 9.98016478e-01 -6.04978409e-02 -1.74103564e-02 6.98290600e+02] [ 6.05019437e-02 9.98168037e-01 -2.91455881e-04 7.86728060e+00] [ 1.73960937e-02 -7.62482631e-04 9.99848386e-01 4.79325307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6092541539999 meters 0.022230155667504293 Centerline is valid? [True, True] Translation: X:698.32, Y:7.87, Z:4.79 [[ 9.98125905e-01 -5.89698497e-02 -1.63473138e-02 6.98321732e+02] [ 5.89732802e-02 9.98259524e-01 -2.72551205e-04 7.86959811e+00] [ 1.63349340e-02 -6.92014297e-04 9.99866337e-01 4.79334813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6392541539999 meters 0.02209577100683373 Centerline is valid? [True, True] Translation: X:698.35, Y:7.87, Z:4.79 [[ 9.98226232e-01 -5.72475467e-02 -1.63434170e-02 6.98352716e+02] [ 5.72507576e-02 9.98359793e-01 -2.71717550e-04 7.87084337e+00] [ 1.63321656e-02 -6.64437421e-04 9.99866401e-01 4.79335693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6692541539999 meters 0.019537403637411854 Centerline is valid? [True, True] Translation: X:698.38, Y:7.88, Z:4.79 [[ 9.98454078e-01 -5.30346717e-02 -1.66366654e-02 6.98384124e+02] [ 5.30374274e-02 9.98592487e-01 -2.75841932e-04 7.87768108e+00] [ 1.66278783e-02 -6.06950433e-04 9.99861563e-01 4.79361855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.699254154 meters 0.020882643188997047 Centerline is valid? [True, True] Translation: X:698.41, Y:7.88, Z:4.79 [[ 9.98572791e-01 -5.06921705e-02 -1.68132111e-02 6.98414384e+02] [ 5.06946718e-02 9.98714160e-01 -2.77674314e-04 7.87664188e+00] [ 1.68056679e-02 -5.75062205e-04 9.99858609e-01 4.79232438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7292541539999 meters 0.019396324348504624 Centerline is valid? [True, True] Translation: X:698.45, Y:7.88, Z:4.79 [[ 9.98655494e-01 -4.89200178e-02 -1.71474912e-02 6.98445288e+02] [ 4.89223751e-02 9.98802544e-01 -2.82231290e-04 7.88039426e+00] [ 1.71407646e-02 -5.57044168e-04 9.99852931e-01 4.79262748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7592541539999 meters 0.018347931002815388 Centerline is valid? [True, True] Translation: X:698.48, Y:7.88, Z:4.79 [[ 9.98716465e-01 -4.75989972e-02 -1.73135473e-02 6.98476344e+02] [ 4.76012131e-02 9.98866379e-01 -2.84328523e-04 7.88331325e+00] [ 1.73074540e-02 -5.40182277e-04 9.99850069e-01 4.79291020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7892541539999 meters 0.019506865887294386 Centerline is valid? [True, True] Translation: X:698.51, Y:7.88, Z:4.79 [[ 9.98748067e-01 -4.67723340e-02 -1.77383037e-02 6.98506937e+02] [ 4.67745379e-02 9.98905430e-01 -2.90844433e-04 7.88223600e+00] [ 1.77324913e-02 -5.39220644e-04 9.99842622e-01 4.79200398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8192541539999 meters 0.01812334452469672 Centerline is valid? [True, True] Translation: X:698.54, Y:7.89, Z:4.79 [[ 9.98722150e-01 -4.70269300e-02 -1.85076822e-02 6.98537958e+02] [ 4.70293834e-02 9.98893460e-01 -3.02898153e-04 7.88587048e+00] [ 1.85014471e-02 -5.67893788e-04 9.99828672e-01 4.79224797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8492541539999 meters 0.01812157727931828 Centerline is valid? [True, True] Translation: X:698.57, Y:7.89, Z:4.79 [[ 9.98683636e-01 -4.77129073e-02 -1.88274624e-02 6.98569364e+02] [ 4.77155812e-02 9.98860916e-01 -3.07428806e-04 7.88621849e+00] [ 1.88206847e-02 -5.91339194e-04 9.99822700e-01 4.79213439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8792541539999 meters 0.01876974756503769 Centerline is valid? [True, True] Translation: X:698.60, Y:7.89, Z:4.79 [[ 9.98632749e-01 -4.86567646e-02 -1.91089372e-02 6.98599729e+02] [ 4.86597010e-02 9.98815367e-01 -3.11539441e-04 7.88550567e+00] [ 1.91014586e-02 -6.18721680e-04 9.99817359e-01 4.79149823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9092541539999 meters 0.01934864373411489 Centerline is valid? [True, True] Translation: X:698.63, Y:7.89, Z:4.79 [[ 9.98526231e-01 -5.05631264e-02 -1.97163867e-02 6.98631273e+02] [ 5.05666356e-02 9.98720638e-01 -3.20840617e-04 7.88573607e+00] [ 1.97073850e-02 -6.76623570e-04 9.99805562e-01 4.79095653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9392541539999 meters 0.019418348167639706 Centerline is valid? [True, True] Translation: X:698.66, Y:7.89, Z:4.79 [[ 9.98483755e-01 -5.11002715e-02 -2.04683338e-02 6.98661690e+02] [ 5.11041717e-02 9.98693273e-01 -3.32812267e-04 7.88659310e+00] [ 2.04585941e-02 -7.13709603e-04 9.99790446e-01 4.79121311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9692541539999 meters 0.019557860432336153 Centerline is valid? [True, True] Translation: X:698.69, Y:7.89, Z:4.79 [[ 9.98467459e-01 -5.15052757e-02 -2.02469892e-02 6.98692506e+02] [ 5.15091800e-02 9.98672467e-01 -3.28968015e-04 7.88728748e+00] [ 2.02370542e-02 -7.14441955e-04 9.99794955e-01 4.79142570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9992541539999 meters 0.020005490160224845 Centerline is valid? [True, True] Translation: X:698.72, Y:7.89, Z:4.79 [[ 9.98480929e-01 -5.13489232e-02 -1.99780518e-02 6.98722803e+02] [ 5.13527005e-02 9.98680527e-01 -3.24234613e-04 7.88868149e+00] [ 1.99683404e-02 -7.02184832e-04 9.99800366e-01 4.79174331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0292541539999 meters 0.019565186604127573 Centerline is valid? [True, True] Translation: X:698.75, Y:7.89, Z:4.79 [[ 9.98523723e-01 -5.09101584e-02 -1.89349030e-02 6.98754252e+02] [ 5.09134832e-02 9.98703020e-01 -3.06744132e-04 7.89064421e+00] [ 1.89259612e-02 -6.57750573e-04 9.99820672e-01 4.79267343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0592541539999 meters 0.019456832789567884 Centerline is valid? [True, True] Translation: X:698.79, Y:7.89, Z:4.79 [[ 9.98564530e-01 -5.03267175e-02 -1.83330429e-02 6.98785627e+02] [ 5.03297481e-02 9.98732611e-01 -2.96330845e-04 7.89183713e+00] [ 1.83247212e-02 -6.26791963e-04 9.99831892e-01 4.79352447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.089254154 meters 0.019238683747799194 Centerline is valid? [True, True] Translation: X:698.82, Y:7.90, Z:4.80 [[ 9.98690789e-01 -4.87392550e-02 -1.55304174e-02 6.98817380e+02] [ 4.87412480e-02 9.98811408e-01 -2.50377889e-04 7.89511470e+00] [ 1.55241613e-02 -5.06921838e-04 9.99879364e-01 4.79538713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1192541539999 meters 0.01909527574602176 Centerline is valid? [True, True] Translation: X:698.85, Y:7.90, Z:4.80 [[ 9.98771456e-01 -4.73586013e-02 -1.45856606e-02 6.98849890e+02] [ 4.73602250e-02 9.98877847e-01 -2.34262650e-04 7.89709899e+00] [ 1.45803876e-02 -4.56805319e-04 9.99893596e-01 4.79625788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1492541539999 meters 0.018165588110111493 Centerline is valid? [True, True] Translation: X:698.88, Y:7.90, Z:4.80 [[ 9.98859255e-01 -4.57014836e-02 -1.38406563e-02 6.98881845e+02] [ 4.57028002e-02 9.98955057e-01 -2.21317825e-04 7.90028840e+00] [ 1.38363081e-02 -4.11491390e-04 9.99904189e-01 4.79734497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1792541539999 meters 0.018193600482926064 Centerline is valid? [True, True] Translation: X:698.91, Y:7.90, Z:4.80 [[ 9.99010317e-01 -4.28405156e-02 -1.19614711e-02 6.98912524e+02] [ 4.28413013e-02 9.99081872e-01 -1.90649411e-04 7.90365485e+00] [ 1.19586564e-02 -3.21984259e-04 9.99928441e-01 4.79827539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.209254154 meters 0.017696464384757048 Centerline is valid? [True, True] Translation: X:698.94, Y:7.91, Z:4.80 [[ 9.99065792e-01 -4.16875888e-02 -1.13880579e-02 6.98944562e+02] [ 4.16882325e-02 9.99130651e-01 -1.80955481e-04 7.90581110e+00] [ 1.13857013e-02 -2.93961576e-04 9.99935138e-01 4.79855196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2392541539999 meters 0.017483015130532378 Centerline is valid? [True, True] Translation: X:698.98, Y:7.91, Z:4.80 [[ 9.99084243e-01 -4.11928696e-02 -1.15682262e-02 6.98976961e+02] [ 4.11935103e-02 9.99151170e-01 -1.82990895e-04 7.90753845e+00] [ 1.15659446e-02 -2.93712524e-04 9.99933069e-01 4.79883444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2692541539999 meters 0.018196820074895346 Centerline is valid? [True, True] Translation: X:699.01, Y:7.91, Z:4.80 [[ 9.99089904e-01 -4.10733129e-02 -1.15042364e-02 6.99008206e+02] [ 4.10739470e-02 9.99156093e-01 -1.81245463e-04 7.90745025e+00] [ 1.15019722e-02 -2.91443882e-04 9.99933808e-01 4.79849784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2992541539999 meters 0.017389860265869334 Centerline is valid? [True, True] Translation: X:699.04, Y:7.91, Z:4.80 [[ 9.99011691e-01 -4.27248737e-02 -1.22567216e-02 6.99040453e+02] [ 4.27257273e-02 9.99086821e-01 -1.92321106e-04 7.90987510e+00] [ 1.22537459e-02 -3.31546312e-04 9.99924865e-01 4.79790360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.329254154 meters 0.017786061487862548 Centerline is valid? [True, True] Translation: X:699.07, Y:7.91, Z:4.80 [[ 9.98946582e-01 -4.39772035e-02 -1.31046585e-02 6.99072556e+02] [ 4.39782999e-02 9.99032466e-01 -2.04637317e-04 7.90949485e+00] [ 1.31009787e-02 -3.71898852e-04 9.99914109e-01 4.79706923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3592541539999 meters 0.018493459704280294 Centerline is valid? [True, True] Translation: X:699.10, Y:7.91, Z:4.80 [[ 9.98864389e-01 -4.55267233e-02 -1.40445692e-02 6.99104894e+02] [ 4.55281505e-02 9.98963032e-01 -2.18257704e-04 7.90860687e+00] [ 1.40399420e-02 -4.21413413e-04 9.99901346e-01 4.79622322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3892541539999 meters 0.019424964490299356 Centerline is valid? [True, True] Translation: X:699.14, Y:7.91, Z:4.80 [[ 9.98702286e-01 -4.86051015e-02 -1.52081613e-02 6.99137039e+02] [ 4.86071490e-02 9.98817946e-01 -2.35197681e-04 7.90790211e+00] [ 1.52016163e-02 -5.04332902e-04 9.99884322e-01 4.79542148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4192541539999 meters 0.020087655638042542 Centerline is valid? [True, True] Translation: X:699.17, Y:7.91, Z:4.80 [[ 9.98643135e-01 -4.97429588e-02 -1.54119089e-02 6.99167762e+02] [ 4.97452093e-02 9.98761912e-01 -2.37533900e-04 7.90708101e+00] [ 1.54046433e-02 -5.29457038e-04 9.99881201e-01 4.79510751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.449254154 meters 0.020406178751187578 Centerline is valid? [True, True] Translation: X:699.20, Y:7.91, Z:4.80 [[ 9.98606941e-01 -5.03725704e-02 -1.57092879e-02 6.99200240e+02] [ 5.03750004e-02 9.98730345e-01 -2.41229248e-04 7.90713349e+00] [ 1.57014938e-02 -5.50462182e-04 9.99876572e-01 4.79510937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4792541539999 meters 0.019746934896040232 Centerline is valid? [True, True] Translation: X:699.23, Y:7.91, Z:4.80 [[ 9.98599358e-01 -5.05438576e-02 -1.56409665e-02 6.99232148e+02] [ 5.05463052e-02 9.98721690e-01 -2.39043697e-04 7.90898597e+00] [ 1.56330547e-02 -5.51884184e-04 9.99877644e-01 4.79555769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5092541539999 meters 0.020864410342055228 Centerline is valid? [True, True] Translation: X:699.26, Y:7.91, Z:4.80 [[ 9.98664826e-01 -4.93479091e-02 -1.52757464e-02 6.99263460e+02] [ 4.93501185e-02 9.98781514e-01 -2.32508873e-04 7.90859233e+00] [ 1.52686069e-02 -5.21661462e-04 9.99883292e-01 4.79575749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5392541539999 meters 0.020550317489390027 Centerline is valid? [True, True] Translation: X:699.30, Y:7.91, Z:4.80 [[ 9.98738952e-01 -4.80760607e-02 -1.44636579e-02 6.99295865e+02] [ 4.80779211e-02 9.98843564e-01 -2.19259173e-04 7.90973013e+00] [ 1.44574728e-02 -4.76399928e-04 9.99895372e-01 4.79637194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5692541539999 meters 0.01988931582531651 Centerline is valid? [True, True] Translation: X:699.33, Y:7.91, Z:4.80 [[ 9.98842427e-01 -4.62225301e-02 -1.33147659e-02 6.99326843e+02] [ 4.62239510e-02 9.98931082e-01 -2.01169787e-04 7.91133740e+00] [ 1.33098321e-02 -4.14524169e-04 9.99911334e-01 4.79729184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5992541539999 meters 0.01988931582531651 Centerline is valid? [True, True] Translation: X:699.36, Y:7.91, Z:4.80 [[ 9.98845674e-01 -4.61523254e-02 -1.33147763e-02 6.99358545e+02] [ 4.61537493e-02 9.98934328e-01 -2.00478019e-04 7.91175209e+00] [ 1.33098397e-02 -4.14280248e-04 9.99911334e-01 4.79751146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6292541539999 meters 0.018823893463352354 Centerline is valid? [True, True] Translation: X:699.39, Y:7.92, Z:4.80 [[ 9.99049410e-01 -4.19132467e-02 -1.19815288e-02 6.99388831e+02] [ 4.19141063e-02 9.99121202e-01 -1.79458313e-04 7.91526455e+00] [ 1.19785211e-02 -3.22907350e-04 9.99928203e-01 4.79880747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6592541539999 meters 0.01774792188333548 Centerline is valid? [True, True] Translation: X:699.42, Y:7.92, Z:4.80 [[ 9.99149350e-01 -3.96714208e-02 -1.12585828e-02 6.99419887e+02] [ 3.96720467e-02 9.99212740e-01 -1.67825953e-04 7.91818263e+00] [ 1.12563773e-02 -2.78967831e-04 9.99936606e-01 4.79968603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6892541539999 meters 0.017794400850455357 Centerline is valid? [True, True] Translation: X:699.45, Y:7.92, Z:4.80 [[ 9.99232339e-01 -3.76653544e-02 -1.07727972e-02 6.99450639e+02] [ 3.76658156e-02 9.99290379e-01 -1.60152996e-04 7.91947464e+00] [ 1.07711848e-02 -2.45736140e-04 9.99941959e-01 4.80002531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7192541539999 meters 0.01629828277661653 Centerline is valid? [True, True] Translation: X:699.48, Y:7.93, Z:4.80 [[ 9.99391412e-01 -3.35296233e-02 -9.62136046e-03 6.99481632e+02] [ 3.35298036e-02 9.99437708e-01 -1.42613988e-04 7.92526706e+00] [ 9.62073223e-03 -1.80075131e-04 9.99953703e-01 4.80110734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7492541539999 meters 0.015372639121233699 Centerline is valid? [True, True] Translation: X:699.51, Y:7.93, Z:4.80 [[ 9.99447668e-01 -3.19321135e-02 -9.20323515e-03 6.99513276e+02] [ 3.19322145e-02 9.99490028e-01 -1.36009214e-04 7.92617633e+00] [ 9.20288482e-03 -1.57945588e-04 9.99957640e-01 4.80140221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7792541539999 meters 0.015510815167811325 Centerline is valid? [True, True] Translation: X:699.54, Y:7.93, Z:4.80 [[ 9.99507951e-01 -3.00074035e-02 -9.13302265e-03 6.99544646e+02] [ 3.00074297e-02 9.99549667e-01 -1.34193684e-04 7.92573354e+00] [ 9.13293655e-03 -1.39930881e-04 9.99958284e-01 4.80133582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8092541539999 meters 0.015473688767672645 Centerline is valid? [True, True] Translation: X:699.58, Y:7.93, Z:4.80 [[ 9.99574006e-01 -2.76995401e-02 -9.19463215e-03 6.99577142e+02] [ 2.76994787e-02 9.99616287e-01 -1.34044491e-04 7.92838851e+00] [ 9.19481702e-03 -1.20699129e-04 9.99957719e-01 4.80141546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.839254154 meters 0.014578790828235638 Centerline is valid? [True, True] Translation: X:699.61, Y:7.93, Z:4.80 [[ 9.99663995e-01 -2.43060107e-02 -9.00642341e-03 6.99607990e+02] [ 2.43058193e-02 9.99704561e-01 -1.30730160e-04 7.92871179e+00] [ 9.00694009e-03 -8.82222659e-05 9.99959433e-01 4.80149764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8692541539999 meters 0.014038594619743328 Centerline is valid? [True, True] Translation: X:699.64, Y:7.93, Z:4.80 [[ 9.99708309e-01 -2.24050639e-02 -9.01724184e-03 6.99639645e+02] [ 2.24047976e-02 9.99748972e-01 -1.30563731e-04 7.93010933e+00] [ 9.01790356e-03 -7.15038312e-05 9.99959335e-01 4.80180787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8992541539999 meters 0.014126524139826985 Centerline is valid? [True, True] Translation: X:699.67, Y:7.93, Z:4.80 [[ 9.99742542e-01 -2.09451239e-02 -8.72653124e-03 6.99670077e+02] [ 2.09448211e-02 9.99780625e-01 -1.26088299e-04 7.93027179e+00] [ 8.72725780e-03 -5.67197997e-05 9.99961915e-01 4.80182561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9292541539999 meters 0.013971467135885542 Centerline is valid? [True, True] Translation: X:699.70, Y:7.93, Z:4.80 [[ 9.99778402e-01 -1.94105757e-02 -8.14721915e-03 6.99701289e+02] [ 1.94102621e-02 9.99811596e-01 -1.17561660e-04 7.93002088e+00] [ 8.14796612e-03 -4.06040511e-05 9.99966804e-01 4.80217158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.959254154 meters 0.014008979758561945 Centerline is valid? [True, True] Translation: X:699.73, Y:7.93, Z:4.80 [[ 9.99785365e-01 -1.92576065e-02 -7.63994989e-03 6.99732343e+02] [ 1.92573283e-02 9.99814554e-01 -1.09981639e-04 7.92908208e+00] [ 7.64065108e-03 -3.71669905e-05 9.99970809e-01 4.80220810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9892541539999 meters 0.014843038891810559 Centerline is valid? [True, True] Translation: X:699.76, Y:7.93, Z:4.80 [[ 9.99783950e-01 -1.95197963e-02 -7.14361113e-03 6.99763368e+02] [ 1.95195615e-02 9.99809470e-01 -1.02592035e-04 7.92712456e+00] [ 7.14425263e-03 -3.68702865e-05 9.99974479e-01 4.80153759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0192541539999 meters 0.015301774994317908 Centerline is valid? [True, True] Translation: X:699.80, Y:7.92, Z:4.80 [[ 9.99757280e-01 -2.09271730e-02 -6.88722237e-03 6.99795122e+02] [ 2.09269898e-02 9.99781002e-01 -9.86649139e-05 7.92456132e+00] [ 6.88777886e-03 -4.54878664e-05 9.99976278e-01 4.80130466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0492541539999 meters 0.014898424387652534 Centerline is valid? [True, True] Translation: X:699.83, Y:7.92, Z:4.80 [[ 9.99614546e-01 -2.68678987e-02 -6.99104119e-03 6.99826055e+02] [ 2.68678571e-02 9.99638989e-01 -9.98900247e-05 7.91787717e+00] [ 6.99120119e-03 -8.79827738e-05 9.99975557e-01 4.80107162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.079254154 meters 0.015415687292472294 Centerline is valid? [True, True] Translation: X:699.86, Y:7.91, Z:4.80 [[ 9.99503408e-01 -3.06446402e-02 -7.33776716e-03 6.99857836e+02] [ 3.06446991e-02 9.99530335e-01 -1.04421962e-04 7.91413968e+00] [ 7.33752085e-03 -1.20493560e-04 9.99973073e-01 4.80076091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1092541539999 meters 0.016708734346147655 Centerline is valid? [True, True] Translation: X:699.89, Y:7.91, Z:4.80 [[ 9.99348416e-01 -3.52526558e-02 -7.74560335e-03 6.99890007e+02] [ 3.52528634e-02 9.99378419e-01 -1.09765190e-04 7.90951934e+00] [ 7.74465835e-03 -1.63361029e-04 9.99969996e-01 4.80011923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1392541539999 meters 0.019553800589597416 Centerline is valid? [True, True] Translation: X:699.92, Y:7.90, Z:4.80 [[ 9.98928081e-01 -4.54537611e-02 -8.75470163e-03 6.99920821e+02] [ 4.54544227e-02 9.98966406e-01 -1.23482874e-04 7.89919567e+00] [ 8.75126558e-03 -2.74589398e-04 9.99961669e-01 4.79957164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1692541539999 meters 0.021420413126874892 Centerline is valid? [True, True] Translation: X:699.95, Y:7.89, Z:4.80 [[ 9.98683981e-01 -5.05348436e-02 -8.74841825e-03 6.99951785e+02] [ 5.05356997e-02 9.98722248e-01 -1.23309596e-04 7.89392437e+00] [ 8.74347137e-03 -3.18960120e-04 9.99961724e-01 4.79968739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.199254154 meters 0.0239486428805988 Centerline is valid? [True, True] Translation: X:699.98, Y:7.89, Z:4.80 [[ 9.98441940e-01 -5.51844429e-02 -8.26863077e-03 6.99983326e+02] [ 5.51853683e-02 9.98476120e-01 -1.16380501e-04 7.88896096e+00] [ 8.26245276e-03 -3.40108261e-04 9.99965808e-01 4.79979413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2292541539999 meters 0.028192813670733084 Centerline is valid? [True, True] Translation: X:700.01, Y:7.88, Z:4.80 [[ 9.97936211e-01 -6.38212297e-02 -7.08305230e-03 7.00013260e+02] [ 6.38221273e-02 9.97961285e-01 -9.94674653e-05 7.87965403e+00] [ 7.07496011e-03 -3.52793280e-04 9.99974910e-01 4.80123741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2592541539999 meters 0.027890376931578083 Centerline is valid? [True, True] Translation: X:700.04, Y:7.88, Z:4.80 [[ 9.97682047e-01 -6.77406794e-02 -6.46012049e-03 7.00043985e+02] [ 6.77415112e-02 9.97702901e-01 -9.02191340e-05 7.87824209e+00] [ 6.45139246e-03 -3.47608314e-04 9.99979129e-01 4.80271575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2892541539999 meters 0.029019932722477625 Centerline is valid? [True, True] Translation: X:700.07, Y:7.88, Z:4.80 [[ 9.97469162e-01 -7.08626961e-02 -5.80939189e-03 7.00074915e+02] [ 7.08634221e-02 9.97486024e-01 -8.10385392e-05 7.87581355e+00] [ 5.80052983e-03 -3.30839946e-04 9.99983122e-01 4.80342464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3192541539999 meters 0.028826190044604724 Centerline is valid? [True, True] Translation: X:700.11, Y:7.88, Z:4.80 [[ 9.97282823e-01 -7.34691910e-02 -5.40823171e-03 7.00106224e+02] [ 7.34698587e-02 9.97297435e-01 -7.53811889e-05 7.87560108e+00] [ 5.39915381e-03 -3.22165654e-04 9.99985373e-01 4.80371663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3492541539999 meters 0.03346090084031541 Centerline is valid? [True, True] Translation: X:700.14, Y:7.87, Z:4.80 [[ 9.97021808e-01 -7.69027126e-02 -5.78675506e-03 7.00136733e+02] [ 7.69035361e-02 9.97038535e-01 -8.04023614e-05 7.86854265e+00] [ 5.77580094e-03 -3.64859018e-04 9.99983253e-01 4.80371481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3792541539999 meters 0.03514263851809596 Centerline is valid? [True, True] Translation: X:700.17, Y:7.87, Z:4.80 [[ 9.96945264e-01 -7.78755816e-02 -5.96109076e-03 7.00168729e+02] [ 7.78764731e-02 9.96963012e-01 -8.27620985e-05 7.86730662e+00] [ 5.94943215e-03 -3.81719442e-04 9.99982229e-01 4.80294147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4092541539999 meters 0.03265572979783399 Centerline is valid? [True, True] Translation: X:700.20, Y:7.87, Z:4.80 [[ 9.96846335e-01 -7.90957833e-02 -6.42199372e-03 7.00201047e+02] [ 7.90968465e-02 9.96866932e-01 -8.86649795e-05 7.87028844e+00] [ 6.40888621e-03 -4.19574092e-04 9.99979375e-01 4.80341589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4392541539999 meters 0.032041560074988436 Centerline is valid? [True, True] Translation: X:700.23, Y:7.87, Z:4.80 [[ 9.96713063e-01 -8.07377888e-02 -6.66924680e-03 7.00232929e+02] [ 8.07389754e-02 9.96735276e-01 -9.15659842e-05 7.87324568e+00] [ 6.65486638e-03 -4.47203140e-04 9.99977756e-01 4.80255898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4692541539999 meters 0.03543006122766059 Centerline is valid? [True, True] Translation: X:700.26, Y:7.87, Z:4.80 [[ 9.96626824e-01 -8.17483540e-02 -7.22354586e-03 7.00263720e+02] [ 8.17497756e-02 9.96652881e-01 -9.87423401e-05 7.86933424e+00] [ 7.20743981e-03 -4.92113988e-04 9.99973905e-01 4.80324997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4992541539999 meters 0.03289075434179514 Centerline is valid? [True, True] Translation: X:700.30, Y:7.87, Z:4.80 [[ 9.96614127e-01 -8.18529724e-02 -7.77002776e-03 7.00295972e+02] [ 8.18546230e-02 9.96644274e-01 -1.05871115e-04 7.87432840e+00] [ 7.75261954e-03 -5.30500044e-04 9.99969807e-01 4.80249352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5292541539999 meters 0.03348410821354855 Centerline is valid? [True, True] Translation: X:700.33, Y:7.87, Z:4.80 [[ 9.96561107e-01 -8.24545916e-02 -8.19764127e-03 7.00326705e+02] [ 8.24564541e-02 9.96594662e-01 -1.11104501e-04 7.87425323e+00] [ 8.17888661e-03 -5.65226006e-04 9.99966393e-01 4.80293899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5592541539999 meters 0.0358257403359921 Centerline is valid? [True, True] Translation: X:700.36, Y:7.87, Z:4.80 [[ 9.96583066e-01 -8.20649319e-02 -9.35628488e-03 7.00358415e+02] [ 8.20673454e-02 9.96626778e-01 -1.26336124e-04 7.87433102e+00] [ 9.33509182e-03 -6.41941022e-04 9.99956221e-01 4.80093885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.589254154 meters 0.03628756649041875 Centerline is valid? [True, True] Translation: X:700.39, Y:7.87, Z:4.80 [[ 9.96551275e-01 -8.23791457e-02 -9.96152813e-03 7.00389420e+02] [ 8.23819042e-02 9.96600825e-01 -1.33803475e-04 7.87432252e+00] [ 9.93868977e-03 -6.87307633e-04 9.99950374e-01 4.80168584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6192541539999 meters 0.036814497193452596 Centerline is valid? [True, True] Translation: X:700.42, Y:7.88, Z:4.80 [[ 9.96662342e-01 -8.07881797e-02 -1.17237691e-02 7.00420771e+02] [ 8.07918982e-02 9.96730979e-01 -1.56857179e-04 7.87694541e+00] [ 1.16981161e-02 -7.90851918e-04 9.99931262e-01 4.79987153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6492541539999 meters 0.03379725010723122 Centerline is valid? [True, True] Translation: X:700.45, Y:7.88, Z:4.80 [[ 9.96702832e-01 -8.02224855e-02 -1.21580384e-02 7.00452904e+02] [ 8.02264506e-02 9.96776650e-01 -1.62027243e-04 7.88209935e+00] [ 1.21318470e-02 -8.13903254e-04 9.99926075e-01 4.80103533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6792541539999 meters 0.035310825271820376 Centerline is valid? [True, True] Translation: X:700.48, Y:7.89, Z:4.80 [[ 9.97028715e-01 -7.56354656e-02 -1.45951256e-02 7.00482260e+02] [ 7.56406974e-02 9.97135120e-01 -1.94020361e-04 7.88542036e+00] [ 1.45679872e-02 -9.10541610e-04 9.99893467e-01 4.79851837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.709254154 meters 0.033672851415079835 Centerline is valid? [True, True] Translation: X:700.51, Y:7.89, Z:4.80 [[ 9.97204669e-01 -7.31519666e-02 -1.52196649e-02 7.00513943e+02] [ 7.31573724e-02 9.97320389e-01 -2.01999704e-04 7.89010693e+00] [ 1.51936588e-02 -9.11995646e-04 9.99884154e-01 4.79905226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7392541539999 meters 0.031241194055416133 Centerline is valid? [True, True] Translation: X:700.54, Y:7.90, Z:4.80 [[ 9.97638894e-01 -6.67079512e-02 -1.63305264e-02 7.00543555e+02] [ 6.67133179e-02 9.97772162e-01 -2.16523730e-04 7.90017065e+00] [ 1.63085885e-02 -8.73451107e-04 9.99866625e-01 4.79915613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7692541539999 meters 0.025287757552869272 Centerline is valid? [True, True] Translation: X:700.57, Y:7.91, Z:4.80 [[ 9.97862469e-01 -6.31050612e-02 -1.69777847e-02 7.00573683e+02] [ 6.31103394e-02 9.98006530e-01 -2.25237021e-04 7.91197147e+00] [ 1.69581536e-02 -8.46718184e-04 9.99855842e-01 4.80048199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7992541539999 meters 0.02554003775868939 Centerline is valid? [True, True] Translation: X:700.60, Y:7.92, Z:4.80 [[ 9.98075587e-01 -5.96406887e-02 -1.69738151e-02 7.00602920e+02] [ 5.96454615e-02 9.98219599e-01 -2.25368111e-04 7.91511053e+00] [ 1.69570360e-02 -7.87476625e-04 9.99855909e-01 4.80027380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.829254154 meters 0.023628414467882268 Centerline is valid? [True, True] Translation: X:700.63, Y:7.92, Z:4.80 [[ 9.98272047e-01 -5.60947365e-02 -1.75014325e-02 7.00633927e+02] [ 5.60992712e-02 9.98425169e-01 -2.32117659e-04 7.92213718e+00] [ 1.74868913e-02 -7.50101038e-04 9.99846811e-01 4.80133998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8592541539999 meters 0.0205063047162087 Centerline is valid? [True, True] Translation: X:700.66, Y:7.93, Z:4.80 [[ 9.98627722e-01 -4.95001976e-02 -1.70998175e-02 7.00664845e+02] [ 4.95035665e-02 9.98773921e-01 -2.26469071e-04 7.93466993e+00] [ 1.70900620e-02 -6.20343659e-04 9.99853762e-01 4.80337211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8892541539999 meters 0.01947118510215975 Centerline is valid? [True, True] Translation: X:700.70, Y:7.94, Z:4.80 [[ 9.98769845e-01 -4.64133485e-02 -1.74527396e-02 7.00696660e+02] [ 4.64163984e-02 9.98922152e-01 -2.30503704e-04 7.93992957e+00] [ 1.74446266e-02 -5.79873164e-04 9.99847663e-01 4.80414617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9192541539999 meters 0.018644602843062894 Centerline is valid? [True, True] Translation: X:700.73, Y:7.94, Z:4.80 [[ 9.98911190e-01 -4.32429314e-02 -1.75066923e-02 7.00728547e+02] [ 4.32455306e-02 9.99064448e-01 -2.30253473e-04 7.94456628e+00] [ 1.75002708e-02 -5.27083428e-04 9.99846720e-01 4.80463650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.949254154 meters 0.01793842045828332 Centerline is valid? [True, True] Translation: X:700.76, Y:7.95, Z:4.81 [[ 9.99033052e-01 -4.03819612e-02 -1.73855922e-02 7.00760273e+02] [ 4.03841076e-02 9.99184203e-01 -2.27741312e-04 7.94916002e+00] [ 1.73806058e-02 -4.74580530e-04 9.99848833e-01 4.80540739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9792541539999 meters 0.01698745290960781 Centerline is valid? [True, True] Translation: X:700.79, Y:7.96, Z:4.81 [[ 9.99237947e-01 -3.50253158e-02 -1.72265326e-02 7.00790351e+02] [ 3.50266337e-02 9.99386354e-01 -2.25299589e-04 7.95665565e+00] [ 1.72238528e-02 -3.78259547e-04 9.99851587e-01 4.80612063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0092541539999 meters 0.016378140587789927 Centerline is valid? [True, True] Translation: X:700.82, Y:7.96, Z:4.81 [[ 9.99310179e-01 -3.26777762e-02 -1.76444966e-02 7.00821339e+02] [ 3.26787966e-02 9.99465879e-01 -2.30567757e-04 7.96134218e+00] [ 1.76426068e-02 -3.46192211e-04 9.99844297e-01 4.80692817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0392541539999 meters 0.016376728528648715 Centerline is valid? [True, True] Translation: X:700.85, Y:7.96, Z:4.81 [[ 9.99378242e-01 -3.06028399e-02 -1.75098617e-02 7.00851248e+02] [ 3.06035286e-02 9.99531576e-01 -2.28681248e-04 7.96414307e+00] [ 1.75086580e-02 -3.07324491e-04 9.99846664e-01 4.80695827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0692541539999 meters 0.01576239002462653 Centerline is valid? [True, True] Translation: X:700.88, Y:7.97, Z:4.81 [[ 9.99485142e-01 -2.69337503e-02 -1.74363006e-02 7.00881413e+02] [ 2.69338750e-02 9.99637191e-01 -2.27720529e-04 7.97042233e+00] [ 1.74361079e-02 -2.42023855e-04 9.99847950e-01 4.80794385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0992541539999 meters 0.01537913457774661 Centerline is valid? [True, True] Translation: X:700.91, Y:7.97, Z:4.81 [[ 9.99511626e-01 -2.56050374e-02 -1.79134533e-02 7.00911080e+02] [ 2.56049485e-02 9.99672112e-01 -2.34358773e-04 7.97339420e+00] [ 1.79135804e-02 -2.24428730e-04 9.99839514e-01 4.80866580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1292541539999 meters 0.015436820006990737 Centerline is valid? [True, True] Translation: X:700.94, Y:7.98, Z:4.81 [[ 9.99530267e-01 -2.46798010e-02 -1.81700898e-02 7.00940008e+02] [ 2.46795407e-02 9.99695385e-01 -2.38595556e-04 7.97510132e+00] [ 1.81704434e-02 -2.09945990e-04 9.99834882e-01 4.80845069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1592541539999 meters 0.01547182005641485 Centerline is valid? [True, True] Translation: X:700.97, Y:7.98, Z:4.81 [[ 9.99532543e-01 -2.43522182e-02 -1.84841924e-02 7.00968512e+02] [ 2.43518314e-02 9.99703420e-01 -2.46042385e-04 7.97666077e+00] [ 1.84847020e-02 -2.04196566e-04 9.99829122e-01 4.80876784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1892541539999 meters 0.015451234448845556 Centerline is valid? [True, True] Translation: X:701.00, Y:7.98, Z:4.81 [[ 9.99505072e-01 -2.50171969e-02 -1.90722718e-02 7.00997104e+02] [ 2.50168128e-02 9.99686997e-01 -2.58762346e-04 7.97760524e+00] [ 1.90727756e-02 -2.18493177e-04 9.99818074e-01 4.80892818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2192541539999 meters 0.015610930896540243 Centerline is valid? [True, True] Translation: X:701.03, Y:7.98, Z:4.81 [[ 9.99468131e-01 -2.63486672e-02 -1.92146678e-02 7.01025406e+02] [ 2.63484677e-02 9.99652784e-01 -2.63587533e-04 7.97745191e+00] [ 1.92149414e-02 -2.42829716e-04 9.99815346e-01 4.80921899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2492541539999 meters 0.015812632830710893 Centerline is valid? [True, True] Translation: X:701.05, Y:7.98, Z:4.81 [[ 9.99424266e-01 -2.78486015e-02 -1.93802186e-02 7.01052814e+02] [ 2.78486462e-02 9.99612115e-01 -2.67628166e-04 7.97626448e+00] [ 1.93801544e-02 -2.72238767e-04 9.99812150e-01 4.80916440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2792541539999 meters 0.016906371443840676 Centerline is valid? [True, True] Translation: X:701.08, Y:7.97, Z:4.81 [[ 9.99308923e-01 -3.17841313e-02 -1.92729005e-02 7.01081180e+02] [ 3.17848822e-02 9.99494697e-01 -2.67436420e-04 7.97201020e+00] [ 1.92716621e-02 -3.45335270e-04 9.99814225e-01 4.80866891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3092541539999 meters 0.016881429743765417 Centerline is valid? [True, True] Translation: X:701.11, Y:7.97, Z:4.81 [[ 9.99234677e-01 -3.40169712e-02 -1.93107588e-02 7.01111256e+02] [ 3.40181260e-02 9.99421180e-01 -2.68781465e-04 7.97152590e+00] [ 1.93087245e-02 -3.88340066e-04 9.99813494e-01 4.80936090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.339254154 meters 0.017987636424840615 Centerline is valid? [True, True] Translation: X:701.14, Y:7.97, Z:4.81 [[ 9.99160878e-01 -3.57909186e-02 -1.99135469e-02 7.01141356e+02] [ 3.57924918e-02 9.99359205e-01 -2.77521057e-04 7.96941118e+00] [ 1.99107191e-02 -4.35467282e-04 9.99801667e-01 4.80942891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3692541539999 meters 0.0185950176420194 Centerline is valid? [True, True] Translation: X:701.17, Y:7.96, Z:4.81 [[ 9.98972614e-01 -4.08638661e-02 -1.95923909e-02 7.01171709e+02] [ 4.08663628e-02 9.99164584e-01 -2.73093818e-04 7.96434046e+00] [ 1.95871827e-02 -5.27856507e-04 9.99808013e-01 4.81010742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3992541539999 meters 0.01939194694770237 Centerline is valid? [True, True] Translation: X:701.20, Y:7.96, Z:4.81 [[ 9.98871614e-01 -4.33444091e-02 -1.94103314e-02 7.01202913e+02] [ 4.33473361e-02 9.99060026e-01 -2.70109425e-04 7.96187856e+00] [ 1.94037939e-02 -5.71581521e-04 9.99811565e-01 4.81066231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4292541539999 meters 0.02210027316041503 Centerline is valid? [True, True] Translation: X:701.23, Y:7.96, Z:4.81 [[ 9.98780760e-01 -4.49420835e-02 -2.04255438e-02 7.01234012e+02] [ 4.49456739e-02 9.98989392e-01 -2.83486030e-04 7.95938926e+00] [ 2.04176420e-02 -6.34899438e-04 9.99791337e-01 4.81022260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.459254154 meters 0.022185522974842532 Centerline is valid? [True, True] Translation: X:701.26, Y:7.95, Z:4.81 [[ 9.98652140e-01 -4.82912742e-02 -1.90225005e-02 7.01264513e+02] [ 4.82950035e-02 9.98833081e-01 -2.63561064e-04 7.95495989e+00] [ 1.90130305e-02 -6.55485908e-04 9.99819021e-01 4.81121389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4892541539999 meters 0.022185522974842532 Centerline is valid? [True, True] Translation: X:701.30, Y:7.96, Z:4.81 [[ 9.98655510e-01 -4.82215379e-02 -1.90225139e-02 7.01296222e+02] [ 4.82252729e-02 9.98836450e-01 -2.62591805e-04 7.95533441e+00] [ 1.90130428e-02 -6.55127172e-04 9.99819021e-01 4.81143358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5192541539999 meters 0.022587039107058504 Centerline is valid? [True, True] Translation: X:701.33, Y:7.95, Z:4.81 [[ 9.98429141e-01 -5.26450762e-02 -1.91767230e-02 7.01327127e+02] [ 5.26497002e-02 9.98613008e-01 -2.64013912e-04 7.95180950e+00] [ 1.91640241e-02 -7.46049533e-04 9.99816075e-01 4.81276555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5492541539999 meters 0.02317193032938725 Centerline is valid? [True, True] Translation: X:701.36, Y:7.95, Z:4.81 [[ 9.98319764e-01 -5.46730954e-02 -1.91964071e-02 7.01358544e+02] [ 5.46781140e-02 9.98503998e-01 -2.63721549e-04 7.94965710e+00] [ 1.91821077e-02 -7.86344902e-04 9.99815697e-01 4.81293208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.579254154 meters 0.024816322966103303 Centerline is valid? [True, True] Translation: X:701.39, Y:7.95, Z:4.81 [[ 9.98252876e-01 -5.56854717e-02 -1.97566364e-02 7.01390741e+02] [ 5.56910086e-02 9.98448015e-01 -2.70247616e-04 7.94638152e+00] [ 1.97410233e-02 -8.30491550e-04 9.99804782e-01 4.81234119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6092541539999 meters 0.02588656915829639 Centerline is valid? [True, True] Translation: X:701.42, Y:7.94, Z:4.81 [[ 9.98168440e-01 -5.72815268e-02 -1.94574326e-02 7.01421527e+02] [ 5.72872179e-02 9.98357704e-01 -2.65222469e-04 7.94074657e+00] [ 1.94406701e-02 -8.49925487e-04 9.99810651e-01 4.81258360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6392541539999 meters 0.02390360654415568 Centerline is valid? [True, True] Translation: X:701.45, Y:7.94, Z:4.81 [[ 9.98215339e-01 -5.62937196e-02 -1.99287219e-02 7.01453802e+02] [ 5.62995173e-02 9.98413888e-01 -2.70448418e-04 7.94333008e+00] [ 1.99123372e-02 -8.52011663e-04 9.99801367e-01 4.81334261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6692541539999 meters 0.023334896524184846 Centerline is valid? [True, True] Translation: X:701.49, Y:7.94, Z:4.81 [[ 9.98281254e-01 -5.51058045e-02 -1.99471197e-02 7.01485280e+02] [ 5.51114003e-02 9.98480176e-01 -2.69489194e-04 7.94259264e+00] [ 1.99316540e-02 -8.30287689e-04 9.99801000e-01 4.81397703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.699254154 meters 0.02426199322772652 Centerline is valid? [True, True] Translation: X:701.52, Y:7.94, Z:4.81 [[ 9.98370884e-01 -5.33730601e-02 -2.01716420e-02 7.01515872e+02] [ 5.33784420e-02 9.98574318e-01 -2.71908672e-04 7.94116115e+00] [ 2.01573963e-02 -8.05265121e-04 9.99796495e-01 4.81346668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7292541539999 meters 0.02103112589556849 Centerline is valid? [True, True] Translation: X:701.55, Y:7.95, Z:4.81 [[ 9.98632136e-01 -4.82430547e-02 -2.01609659e-02 7.01547047e+02] [ 4.82473939e-02 9.98835379e-01 -2.71406566e-04 7.94519873e+00] [ 2.01505795e-02 -7.01678741e-04 9.99796710e-01 4.81430605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7592541539999 meters 0.018840089560054275 Centerline is valid? [True, True] Translation: X:701.58, Y:7.95, Z:4.82 [[ 9.98777031e-01 -4.50122667e-02 -2.04533411e-02 7.01578393e+02] [ 4.50160687e-02 9.98986225e-01 -2.74717610e-04 7.94887258e+00] [ 2.04449717e-02 -6.46347370e-04 9.99790771e-01 4.81527495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7892541539999 meters 0.017874604264694324 Centerline is valid? [True, True] Translation: X:701.61, Y:7.95, Z:4.82 [[ 9.98929881e-01 -4.17362301e-02 -1.99293788e-02 7.01609141e+02] [ 4.17391933e-02 9.99128504e-01 -2.67430576e-04 7.95070473e+00] [ 1.99231720e-02 -5.64691801e-04 9.99801354e-01 4.81568672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8192541539999 meters 0.019311154794751616 Centerline is valid? [True, True] Translation: X:701.64, Y:7.95, Z:4.81 [[ 9.99177670e-01 -3.50537699e-02 -2.03768583e-02 7.01638444e+02] [ 3.50554738e-02 9.99385331e-01 -2.73681828e-04 7.95200397e+00] [ 2.03739269e-02 -4.40863650e-04 9.99792333e-01 4.81477847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8492541539999 meters 0.01882410207495085 Centerline is valid? [True, True] Translation: X:701.67, Y:7.95, Z:4.82 [[ 9.99301547e-01 -3.19398242e-02 -1.93975756e-02 7.01667964e+02] [ 3.19407706e-02 9.99489729e-01 -2.61102569e-04 7.95316960e+00] [ 1.93960172e-02 -3.58653312e-04 9.99811815e-01 4.81522473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8792541539999 meters 0.015592270739705597 Centerline is valid? [True, True] Translation: X:701.70, Y:7.96, Z:4.82 [[ 9.99405751e-01 -2.94185628e-02 -1.79636627e-02 7.01697544e+02] [ 2.94189559e-02 9.99567139e-01 -2.42432644e-04 7.95504012e+00] [ 1.79630189e-02 -2.86183621e-04 9.99838611e-01 4.81727557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9092541539999 meters 0.016725964447250597 Centerline is valid? [True, True] Translation: X:701.73, Y:7.96, Z:4.82 [[ 9.99550484e-01 -2.39837331e-02 -1.79891983e-02 7.01726522e+02] [ 2.39832320e-02 9.99712331e-01 -2.43622014e-04 7.95584992e+00] [ 1.79898663e-02 -1.87926613e-04 9.99838152e-01 4.81649543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9392541539999 meters 0.015848705339214626 Centerline is valid? [True, True] Translation: X:701.76, Y:7.96, Z:4.82 [[ 9.99597752e-01 -2.18614454e-02 -1.80668377e-02 7.01755303e+02] [ 2.18605365e-02 9.99760999e-01 -2.47817228e-04 7.95662295e+00] [ 1.80679374e-02 -1.47233222e-04 9.99836751e-01 4.81681164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9692541539999 meters 0.015602839313818067 Centerline is valid? [True, True] Translation: X:701.78, Y:7.96, Z:4.82 [[ 9.99635156e-01 -1.99362033e-02 -1.82236606e-02 7.01784026e+02] [ 1.99348739e-02 9.99801248e-01 -2.54619216e-04 7.95672556e+00] [ 1.82251148e-02 -1.08760058e-04 9.99833903e-01 4.81689784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9992541539999 meters 0.014441791383188672 Centerline is valid? [True, True] Translation: X:701.81, Y:7.96, Z:4.82 [[ 9.99662978e-01 -1.85874705e-02 -1.81228120e-02 7.01811808e+02] [ 1.85858422e-02 9.99827235e-01 -2.58290072e-04 7.95644615e+00] [ 1.81244820e-02 -7.86247012e-05 9.99835735e-01 4.81774443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0292541539999 meters 0.014395228659314654 Centerline is valid? [True, True] Translation: X:701.84, Y:7.95, Z:4.82 [[ 9.99703586e-01 -1.58201013e-02 -1.85057867e-02 7.01839121e+02] [ 1.58178472e-02 9.99874854e-01 -2.68183320e-04 7.95442230e+00] [ 1.85077134e-02 -2.46178785e-05 9.99828717e-01 4.81781306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0592541539999 meters 0.016579911008508332 Centerline is valid? [True, True] Translation: X:701.87, Y:7.95, Z:4.82 [[ 9.99716058e-01 -1.46331357e-02 -1.88062500e-02 7.01866161e+02] [ 1.46305427e-02 9.99892930e-01 -2.75461216e-04 7.95323823e+00] [ 1.88082673e-02 2.37355876e-07 9.99823109e-01 4.81656356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.089254154 meters 0.01663795830020522 Centerline is valid? [True, True] Translation: X:701.89, Y:7.95, Z:4.82 [[ 9.99716341e-01 -1.39724390e-02 -1.92875273e-02 7.01894015e+02] [ 1.39695029e-02 9.99902381e-01 -2.86956414e-04 7.95220671e+00] [ 1.92896540e-02 1.74378479e-05 9.99813937e-01 4.81687348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1192541539999 meters 0.014687722427304888 Centerline is valid? [True, True] Translation: X:701.92, Y:7.95, Z:4.82 [[ 9.99745313e-01 -1.28560278e-02 -1.85480791e-02 7.01921406e+02] [ 1.28530411e-02 9.99917357e-01 -2.80228213e-04 7.94907623e+00] [ 1.85501488e-02 4.17576197e-05 9.99827930e-01 4.81787578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1492541539999 meters 0.01464947437661172 Centerline is valid? [True, True] Translation: X:701.95, Y:7.95, Z:4.82 [[ 9.99759788e-01 -1.22512976e-02 -1.81733770e-02 7.01949188e+02] [ 1.22482476e-02 9.99924948e-01 -2.79123760e-04 7.94742615e+00] [ 1.81754326e-02 5.64646896e-05 9.99834812e-01 4.81804702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1792541539999 meters 0.014519383749891953 Centerline is valid? [True, True] Translation: X:701.98, Y:7.95, Z:4.82 [[ 9.99770902e-01 -1.18432475e-02 -1.78291927e-02 7.01977551e+02] [ 1.18401554e-02 9.99929864e-01 -2.78984258e-04 7.94508552e+00] [ 1.78312463e-02 6.78199321e-05 9.99841008e-01 4.81912680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.209254154 meters 0.01452766278985207 Centerline is valid? [True, True] Translation: X:702.01, Y:7.94, Z:4.82 [[ 9.99787067e-01 -1.13863657e-02 -1.72096558e-02 7.02005156e+02] [ 1.13833304e-02 9.99935170e-01 -2.74324094e-04 7.94283127e+00] [ 1.72116637e-02 7.83624828e-05 9.99851865e-01 4.81967376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2392541539999 meters 0.01634285807225599 Centerline is valid? [True, True] Translation: X:702.03, Y:7.94, Z:4.82 [[ 9.99821294e-01 -9.02557777e-03 -1.66108056e-02 7.02032721e+02] [ 9.02237646e-03 9.99959262e-01 -2.67655618e-04 7.93949455e+00] [ 1.66125446e-02 1.17738846e-04 9.99861995e-01 4.81837899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2692541539999 meters 0.01557897865060861 Centerline is valid? [True, True] Translation: X:702.06, Y:7.94, Z:4.82 [[ 9.99841486e-01 -7.74818475e-03 -1.60302185e-02 7.02060818e+02] [ 7.74498687e-03 9.99969973e-01 -2.61562941e-04 7.93795719e+00] [ 1.60317638e-02 1.37367648e-04 9.99871474e-01 4.81990482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2992541539999 meters 0.014995989516026804 Centerline is valid? [True, True] Translation: X:702.09, Y:7.94, Z:4.82 [[ 9.99857689e-01 -6.88516735e-03 -1.54011937e-02 7.02088576e+02] [ 6.88204547e-03 9.99976286e-01 -2.55694202e-04 7.93688311e+00] [ 1.54025889e-02 1.49666098e-04 9.99881362e-01 4.82053042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.329254154 meters 0.014876549661494385 Centerline is valid? [True, True] Translation: X:702.12, Y:7.93, Z:4.82 [[ 9.99864794e-01 -5.79565365e-03 -1.53884237e-02 7.02116988e+02] [ 5.79234335e-03 9.99983191e-01 -2.59678074e-04 7.93497208e+00] [ 1.53896700e-02 1.70507931e-04 9.99881557e-01 4.82111057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3592541539999 meters 0.015200849200969408 Centerline is valid? [True, True] Translation: X:702.15, Y:7.93, Z:4.82 [[ 9.99877912e-01 -4.62629460e-03 -1.49250924e-02 7.02145959e+02] [ 4.62299370e-03 9.99989281e-01 -2.55658184e-04 7.92978509e+00] [ 1.49261152e-02 1.86628363e-04 9.99888582e-01 4.82079545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3892541539999 meters 0.01773851920778464 Centerline is valid? [True, True] Translation: X:702.17, Y:7.93, Z:4.82 [[ 9.99880711e-01 -4.97228588e-03 -1.46232675e-02 7.02174114e+02] [ 4.96909537e-03 9.99987622e-01 -2.54506177e-04 7.92665769e+00] [ 1.46243520e-02 1.81811406e-04 9.99893042e-01 4.81942525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4192541539999 meters 0.015055969007220036 Centerline is valid? [True, True] Translation: X:702.20, Y:7.92, Z:4.82 [[ 9.99883961e-01 -6.81817901e-03 -1.36226651e-02 7.02202512e+02] [ 6.81554895e-03 9.99976745e-01 -2.39481792e-04 7.91997670e+00] [ 1.36239811e-02 1.46608062e-04 9.99907179e-01 4.82104030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.449254154 meters 0.014700257030477807 Centerline is valid? [True, True] Translation: X:702.23, Y:7.92, Z:4.82 [[ 9.99872585e-01 -8.63526489e-03 -1.34255862e-02 7.02231476e+02] [ 8.63286117e-03 9.99962708e-01 -2.36984253e-04 7.91597055e+00] [ 1.34271320e-02 1.21052836e-04 9.99909845e-01 4.82126155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4792541539999 meters 0.014667738653042143 Centerline is valid? [True, True] Translation: X:702.26, Y:7.91, Z:4.82 [[ 9.99852669e-01 -1.09013316e-02 -1.32590350e-02 7.02259135e+02] [ 1.08991723e-02 9.99940575e-01 -2.35105525e-04 7.91200940e+00] [ 1.32608101e-02 9.05583793e-05 9.99912067e-01 4.82104808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5092541539999 meters 0.014339101337263663 Centerline is valid? [True, True] Translation: X:702.29, Y:7.91, Z:4.82 [[ 9.99828918e-01 -1.30832838e-02 -1.30752801e-02 7.02288388e+02] [ 1.30813419e-02 9.99914408e-01 -2.34033221e-04 7.90748454e+00] [ 1.30772229e-02 6.29509723e-05 9.99914487e-01 4.82127105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5392541539999 meters 0.013987754321033647 Centerline is valid? [True, True] Translation: X:702.32, Y:7.90, Z:4.82 [[ 9.99758588e-01 -1.71567590e-02 -1.37263067e-02 7.02317351e+02] [ 1.71549703e-02 9.99852812e-01 -2.48051091e-04 7.89816586e+00] [ 1.37285421e-02 1.25168248e-05 9.99905759e-01 4.82098459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5692541539999 meters 0.01406801474863094 Centerline is valid? [True, True] Translation: X:702.35, Y:7.89, Z:4.82 [[ 9.99721204e-01 -1.88296211e-02 -1.42464023e-02 7.02345140e+02] [ 1.88278470e-02 9.99822707e-01 -2.58653361e-04 7.89391379e+00] [ 1.42487468e-02 -9.64783365e-06 9.99898481e-01 4.82006606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5992541539999 meters 0.01673357672374159 Centerline is valid? [True, True] Translation: X:702.37, Y:7.89, Z:4.82 [[ 9.99679131e-01 -2.04572409e-02 -1.49377599e-02 7.02373129e+02] [ 2.04554273e-02 9.99790728e-01 -2.74204413e-04 7.88950485e+00] [ 1.49402433e-02 -3.14418320e-05 9.99888388e-01 4.81818083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6292541539999 meters 0.0162320057295174 Centerline is valid? [True, True] Translation: X:702.40, Y:7.89, Z:4.82 [[ 9.99644389e-01 -2.18052952e-02 -1.53500695e-02 7.02401077e+02] [ 2.18034695e-02 9.99762235e-01 -2.86294894e-04 7.88619840e+00] [ 1.53526626e-02 -4.84916895e-05 9.99882140e-01 4.81790304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6592541539999 meters 0.014284705287418426 Centerline is valid? [True, True] Translation: X:702.43, Y:7.88, Z:4.82 [[ 9.99594802e-01 -2.37200021e-02 -1.57350786e-02 7.02428990e+02] [ 2.37182759e-02 9.99718638e-01 -2.96332730e-04 7.87971626e+00] [ 1.57376804e-02 -7.69962794e-05 9.99876152e-01 4.81875943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6892541539999 meters 0.014325207519626109 Centerline is valid? [True, True] Translation: X:702.46, Y:7.88, Z:4.82 [[ 9.99560916e-01 -2.48902694e-02 -1.60763556e-02 7.02457000e+02] [ 2.48885660e-02 9.99690185e-01 -3.06050668e-04 7.87710340e+00] [ 1.60789926e-02 -9.42011505e-05 9.99870720e-01 4.81874738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7192541539999 meters 0.014395726990719797 Centerline is valid? [True, True] Translation: X:702.49, Y:7.87, Z:4.82 [[ 9.99539171e-01 -2.58360502e-02 -1.59356102e-02 7.02485448e+02] [ 2.58344236e-02 9.99666188e-01 -3.07956771e-04 7.87436310e+00] [ 1.59382471e-02 -1.03872448e-04 9.99872973e-01 4.81873626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7492541539999 meters 0.014455250103376206 Centerline is valid? [True, True] Translation: X:702.51, Y:7.87, Z:4.82 [[ 9.99493945e-01 -2.79032226e-02 -1.52729838e-02 7.02513680e+02] [ 2.79019035e-02 9.99610621e-01 -2.99489612e-04 7.86815486e+00] [ 1.52753935e-02 -1.26807265e-04 9.99883316e-01 4.81954573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7792541539999 meters 0.015252209052814339 Centerline is valid? [True, True] Translation: X:702.54, Y:7.86, Z:4.82 [[ 9.99460901e-01 -2.92746893e-02 -1.48626824e-02 7.02541253e+02] [ 2.92735462e-02 9.99571395e-01 -2.94510049e-04 7.86448158e+00] [ 1.48649339e-02 -1.40732140e-04 9.99889501e-01 4.81902827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8092541539999 meters 0.014675687792858888 Centerline is valid? [True, True] Translation: X:702.57, Y:7.86, Z:4.82 [[ 9.99408480e-01 -3.11898675e-02 -1.44872889e-02 7.02569932e+02] [ 3.11889410e-02 9.99513465e-01 -2.89935827e-04 7.86201463e+00] [ 1.44892834e-02 -1.62078874e-04 9.99895012e-01 4.82048065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.839254154 meters 0.016332140842083714 Centerline is valid? [True, True] Translation: X:702.60, Y:7.85, Z:4.82 [[ 9.99327653e-01 -3.41550192e-02 -1.33295704e-02 7.02597550e+02] [ 3.41544692e-02 9.99416530e-01 -2.68963747e-04 7.85444585e+00] [ 1.33309795e-02 -1.86481493e-04 9.99911121e-01 4.82002109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8692541539999 meters 0.01551175070358792 Centerline is valid? [True, True] Translation: X:702.63, Y:7.85, Z:4.82 [[ 9.99280016e-01 -3.57981497e-02 -1.25675028e-02 7.02626452e+02] [ 3.57977657e-02 9.99359022e-01 -2.55583080e-04 7.85284877e+00] [ 1.25685967e-02 -1.94489457e-04 9.99920993e-01 4.82165276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8992541539999 meters 0.015990931093150303 Centerline is valid? [True, True] Translation: X:702.66, Y:7.85, Z:4.82 [[ 9.99239394e-01 -3.69479773e-02 -1.24691935e-02 7.02655029e+02] [ 3.69476637e-02 9.99317169e-01 -2.55594968e-04 7.84996013e+00] [ 1.24701229e-02 -2.05307009e-04 9.99922224e-01 4.82198850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9292541539999 meters 0.016536565168543144 Centerline is valid? [True, True] Translation: X:702.68, Y:7.85, Z:4.82 [[ 9.99197905e-01 -3.81165517e-02 -1.22749475e-02 7.02683929e+02] [ 3.81163281e-02 9.99273277e-01 -2.52252042e-04 7.84777736e+00] [ 1.22756420e-02 -2.15826213e-04 9.99924628e-01 4.82228276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.959254154 meters 0.016386128201793852 Centerline is valid? [True, True] Translation: X:702.71, Y:7.85, Z:4.82 [[ 9.99142669e-01 -3.94051191e-02 -1.26950371e-02 7.02713957e+02] [ 3.94049765e-02 9.99223288e-01 -2.61460333e-04 7.84595054e+00] [ 1.26954796e-02 -2.39011465e-04 9.99919381e-01 4.82297073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9892541539999 meters 0.0164043308969851 Centerline is valid? [True, True] Translation: X:702.74, Y:7.84, Z:4.82 [[ 9.99132247e-01 -3.96847598e-02 -1.26440597e-02 7.02744047e+02] [ 3.96846351e-02 9.99212221e-01 -2.60857803e-04 7.84483563e+00] [ 1.26444510e-02 -2.41143450e-04 9.99920027e-01 4.82341464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0192541539999 meters 0.01643262432761847 Centerline is valid? [True, True] Translation: X:702.77, Y:7.84, Z:4.82 [[ 9.99133777e-01 -3.96908373e-02 -1.25033464e-02 7.02772439e+02] [ 3.96907091e-02 9.99211980e-01 -2.58491357e-04 7.84337844e+00] [ 1.25037533e-02 -2.37999240e-04 9.99921797e-01 4.82358463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0492541539999 meters 0.016480795952738346 Centerline is valid? [True, True] Translation: X:702.80, Y:7.84, Z:4.82 [[ 9.99139254e-01 -3.95190608e-02 -1.26093267e-02 7.02801048e+02] [ 3.95189084e-02 9.99218789e-01 -2.61346828e-04 7.84144374e+00] [ 1.26098043e-02 -2.37184951e-04 9.99920465e-01 4.82445075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.079254154 meters 0.01646017513799969 Centerline is valid? [True, True] Translation: X:702.83, Y:7.84, Z:4.83 [[ 9.99159754e-01 -3.91770029e-02 -1.20394556e-02 7.02829706e+02] [ 3.91768310e-02 9.99232262e-01 -2.50208872e-04 7.84110471e+00] [ 1.20400149e-02 -2.21669082e-04 9.99927492e-01 4.82519366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1092541539999 meters 0.016210045609908262 Centerline is valid? [True, True] Translation: X:702.86, Y:7.84, Z:4.83 [[ 9.99197817e-01 -3.82718683e-02 -1.17892963e-02 7.02859105e+02] [ 3.82716332e-02 9.99267342e-01 -2.45625988e-04 7.84263341e+00] [ 1.17900594e-02 -2.05766674e-04 9.99930474e-01 4.82547515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1392541539999 meters 0.015508751005722453 Centerline is valid? [True, True] Translation: X:702.89, Y:7.84, Z:4.83 [[ 9.99196860e-01 -3.82196026e-02 -1.20373119e-02 7.02887544e+02] [ 3.82193461e-02 9.99269342e-01 -2.51426277e-04 7.84184290e+00] [ 1.20381261e-02 -2.08833841e-04 9.99927517e-01 4.82638115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1692541539999 meters 0.018819690903828543 Centerline is valid? [True, True] Translation: X:702.92, Y:7.84, Z:4.82 [[ 9.99180444e-01 -3.84490376e-02 -1.26535471e-02 7.02916544e+02] [ 3.84487473e-02 9.99260538e-01 -2.66297283e-04 7.84173080e+00] [ 1.26544292e-02 -2.20433998e-04 9.99919905e-01 4.82393338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.199254154 meters 0.015461491949637264 Centerline is valid? [True, True] Translation: X:702.95, Y:7.84, Z:4.83 [[ 9.99159871e-01 -3.90940130e-02 -1.22967851e-02 7.02945760e+02] [ 3.90937495e-02 9.99235513e-01 -2.61890419e-04 7.84185596e+00] [ 1.22976227e-02 -2.19057038e-04 9.99924357e-01 4.82675523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2292541539999 meters 0.018808781282750826 Centerline is valid? [True, True] Translation: X:702.97, Y:7.84, Z:4.82 [[ 9.99083598e-01 -4.05452494e-02 -1.37129900e-02 7.02974052e+02] [ 4.05450246e-02 9.99177669e-01 -2.94516079e-04 7.83570047e+00] [ 1.37136546e-02 -2.61747332e-04 9.99905929e-01 4.82351922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2592541539999 meters 0.01762186629224032 Centerline is valid? [True, True] Translation: X:703.00, Y:7.84, Z:4.82 [[ 9.99013458e-01 -4.22372936e-02 -1.37157249e-02 7.03003028e+02] [ 4.22371977e-02 9.99107567e-01 -2.96790818e-04 7.83800405e+00] [ 1.37160202e-02 -2.82815765e-04 9.99905891e-01 4.82492299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2892541539999 meters 0.018940952589167583 Centerline is valid? [True, True] Translation: X:703.03, Y:7.84, Z:4.82 [[ 9.98918133e-01 -4.43983312e-02 -1.38330041e-02 7.03031647e+02] [ 4.43983923e-02 9.99013859e-01 -3.02824732e-04 7.83648964e+00] [ 1.38328077e-02 -3.11666026e-04 9.99904274e-01 4.82433107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3192541539999 meters 0.01854876536749609 Centerline is valid? [True, True] Translation: X:703.06, Y:7.83, Z:4.83 [[ 9.98700744e-01 -4.93371928e-02 -1.27540526e-02 7.03060490e+02] [ 4.93376227e-02 9.98782118e-01 -2.81116155e-04 7.83311239e+00] [ 1.27523892e-02 -3.48503723e-04 9.99918624e-01 4.82762220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3492541539999 meters 0.01974450948715568 Centerline is valid? [True, True] Translation: X:703.09, Y:7.83, Z:4.83 [[ 9.98531734e-01 -5.27629625e-02 -1.22656353e-02 7.03089820e+02] [ 5.27636105e-02 9.98606994e-01 -2.70988046e-04 7.83107781e+00] [ 1.22628473e-02 -3.76589039e-04 9.99924738e-01 4.82807294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3792541539999 meters 0.02148548122041242 Centerline is valid? [True, True] Translation: X:703.12, Y:7.83, Z:4.83 [[ 9.98344911e-01 -5.62691093e-02 -1.18838483e-02 7.03118695e+02] [ 5.62699583e-02 9.98415556e-01 -2.63168768e-04 7.82833809e+00] [ 1.18798273e-02 -4.05970447e-04 9.99929350e-01 4.82866770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4092541539999 meters 0.02148548122041242 Centerline is valid? [True, True] Translation: X:703.15, Y:7.83, Z:4.83 [[ 9.98342945e-01 -5.63039844e-02 -1.18838364e-02 7.03147864e+02] [ 5.63048296e-02 9.98413590e-01 -2.63705554e-04 7.82901736e+00] [ 1.18798314e-02 -4.05848803e-04 9.99929350e-01 4.82886992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4392541539999 meters 0.023181366535308206 Centerline is valid? [True, True] Translation: X:703.18, Y:7.83, Z:4.83 [[ 9.98125499e-01 -6.01592830e-02 -1.12405079e-02 7.03177707e+02] [ 6.01602790e-02 9.98188699e-01 -2.49809049e-04 7.82637393e+00] [ 1.12351763e-02 -4.26891309e-04 9.99936792e-01 4.82917707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4692541539999 meters 0.027987973974573595 Centerline is valid? [True, True] Translation: X:703.21, Y:7.82, Z:4.83 [[ 9.97587239e-01 -6.86310673e-02 -1.04630866e-02 7.03207527e+02] [ 6.86323921e-02 9.97641990e-01 -2.32813824e-04 7.81941495e+00] [ 1.04543928e-02 -4.85854559e-04 9.99945233e-01 4.82931880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4992541539999 meters 0.0315543715629698 Centerline is valid? [True, True] Translation: X:703.24, Y:7.82, Z:4.83 [[ 9.97300007e-01 -7.26887535e-02 -1.04422393e-02 7.03237416e+02] [ 7.26902928e-02 9.97354534e-01 -2.32550910e-04 7.81658627e+00] [ 1.04315186e-02 -5.27126410e-04 9.99945451e-01 4.82724061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5292541539999 meters 0.032641060765128335 Centerline is valid? [True, True] Translation: X:703.27, Y:7.81, Z:4.83 [[ 9.97028273e-01 -7.63297172e-02 -1.04114372e-02 7.03267206e+02] [ 7.63314429e-02 9.97082472e-01 -2.32097624e-04 7.81485351e+00] [ 1.03987775e-02 -5.63312131e-04 9.99945773e-01 4.82775533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5592541539999 meters 0.026674147518300082 Centerline is valid? [True, True] Translation: X:703.30, Y:7.82, Z:4.83 [[ 9.96738058e-01 -8.00198119e-02 -1.04916360e-02 7.03297506e+02] [ 8.00217668e-02 9.96793089e-01 -2.34004804e-04 7.82328700e+00] [ 1.04767153e-02 -6.06317758e-04 9.99944934e-01 4.82955959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.589254154 meters 0.030473126981341147 Centerline is valid? [True, True] Translation: X:703.33, Y:7.82, Z:4.83 [[ 9.96318980e-01 -8.50819795e-02 -1.04664636e-02 7.03327202e+02] [ 8.50842031e-02 9.96373737e-01 -2.33453088e-04 7.82012970e+00] [ 1.04483721e-02 -6.57936971e-04 9.99945198e-01 4.82942665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6192541539999 meters 0.030780413849162223 Centerline is valid? [True, True] Translation: X:703.36, Y:7.82, Z:4.83 [[ 9.96157987e-01 -8.69620745e-02 -1.03373972e-02 7.03357505e+02] [ 8.69643442e-02 9.96211398e-01 -2.30593090e-04 7.82206999e+00] [ 1.03182858e-02 -6.69277824e-04 9.99946541e-01 4.83001518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6492541539999 meters 0.031181132019483977 Centerline is valid? [True, True] Translation: X:703.39, Y:7.82, Z:4.83 [[ 9.96054346e-01 -8.81004861e-02 -1.06791125e-02 7.03387963e+02] [ 8.81029735e-02 9.96111344e-01 -2.38215625e-04 7.82367919e+00] [ 1.06585720e-02 -7.03585854e-04 9.99942948e-01 4.83036488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6792541539999 meters 0.033369568916017264 Centerline is valid? [True, True] Translation: X:703.42, Y:7.83, Z:4.83 [[ 9.95997400e-01 -8.86321924e-02 -1.15547957e-02 7.03418298e+02] [ 8.86351411e-02 9.96064127e-01 -2.57664121e-04 7.82605973e+00] [ 1.15321548e-02 -7.67528150e-04 9.99933208e-01 4.82860048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.709254154 meters 0.03330477263565448 Centerline is valid? [True, True] Translation: X:703.45, Y:7.83, Z:4.83 [[ 9.96014105e-01 -8.84976656e-02 -1.11385105e-02 7.03448207e+02] [ 8.85003995e-02 9.96076110e-01 -2.48181726e-04 7.82765192e+00] [ 1.11167677e-02 -7.38570128e-04 9.99937934e-01 4.83093827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7392541539999 meters 0.03450815848961446 Centerline is valid? [True, True] Translation: X:703.48, Y:7.83, Z:4.83 [[ 9.96063115e-01 -8.79492515e-02 -1.10995720e-02 7.03477994e+02] [ 8.79519329e-02 9.96124689e-01 -2.47263411e-04 7.82863471e+00] [ 1.10783043e-02 -7.29938846e-04 9.99938367e-01 4.83080449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7692541539999 meters 0.03549550270158318 Centerline is valid? [True, True] Translation: X:703.51, Y:7.83, Z:4.83 [[ 9.96109367e-01 -8.72953818e-02 -1.20683951e-02 7.03508566e+02] [ 8.72985024e-02 9.96182162e-01 -2.68981218e-04 7.83186241e+00] [ 1.20458007e-02 -7.85618105e-04 9.99927138e-01 4.82819743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7992541539999 meters 0.03436839674386048 Centerline is valid? [True, True] Translation: X:703.54, Y:7.84, Z:4.83 [[ 9.96250214e-01 -8.56575019e-02 -1.21780226e-02 7.03539456e+02] [ 8.56605588e-02 9.96324342e-01 -2.71330590e-04 7.83846011e+00] [ 1.21565018e-02 -7.72863060e-04 9.99925808e-01 4.82848928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.829254154 meters 0.03306041908712835 Centerline is valid? [True, True] Translation: X:703.57, Y:7.85, Z:4.83 [[ 9.96307448e-01 -8.48271171e-02 -1.32600421e-02 7.03569540e+02] [ 8.48306700e-02 9.96395338e-01 -2.95303310e-04 7.84549530e+00] [ 1.32372939e-02 -8.30645370e-04 9.99912038e-01 4.82701883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8592541539999 meters 0.03438845599222862 Centerline is valid? [True, True] Translation: X:703.60, Y:7.84, Z:4.83 [[ 9.96344163e-01 -8.44722438e-02 -1.27572730e-02 7.03599130e+02] [ 8.44755020e-02 9.96425516e-01 -2.84212836e-04 7.84446775e+00] [ 1.27356805e-02 -7.94503244e-04 9.99918582e-01 4.82944680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8892541539999 meters 0.03397905336068626 Centerline is valid? [True, True] Translation: X:703.63, Y:7.85, Z:4.83 [[ 9.96386995e-01 -8.38519196e-02 -1.34837254e-02 7.03629965e+02] [ 8.38555011e-02 9.96477880e-01 -3.00530570e-04 7.84837019e+00] [ 1.34614342e-02 -8.31239798e-04 9.99909045e-01 4.82891260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9192541539999 meters 0.03495096157131465 Centerline is valid? [True, True] Translation: X:703.66, Y:7.85, Z:4.83 [[ 9.96433639e-01 -8.31216198e-02 -1.45189020e-02 7.03659774e+02] [ 8.31256961e-02 9.96539018e-01 -3.23538822e-04 7.85355100e+00] [ 1.44955454e-02 -8.84508866e-04 9.99894543e-01 4.82816928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.949254154 meters 0.02914926418505493 Centerline is valid? [True, True] Translation: X:703.69, Y:7.86, Z:4.83 [[ 9.96472886e-01 -8.26130198e-02 -1.47267437e-02 7.03690896e+02] [ 8.26171635e-02 9.96581305e-01 -3.27822702e-04 7.86486656e+00] [ 1.47034798e-02 -8.90015356e-04 9.99891502e-01 4.82953836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9792541539999 meters 0.028678838252195974 Centerline is valid? [True, True] Translation: X:703.72, Y:7.87, Z:4.83 [[ 9.96621305e-01 -8.08744223e-02 -1.43283520e-02 7.03721348e+02] [ 8.08781693e-02 9.96723944e-01 -3.18705256e-04 7.87229048e+00] [ 1.43071866e-02 -8.41222429e-04 9.99897293e-01 4.83078592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0092541539999 meters 0.029047609336392558 Centerline is valid? [True, True] Translation: X:703.75, Y:7.88, Z:4.83 [[ 9.96750968e-01 -7.93798055e-02 -1.36511922e-02 7.03751504e+02] [ 7.93830686e-02 9.96844138e-01 -3.03519970e-04 7.87549709e+00] [ 1.36322043e-02 -7.81139704e-04 9.99906772e-01 4.83180172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0392541539999 meters 0.027928268022103703 Centerline is valid? [True, True] Translation: X:703.78, Y:7.88, Z:4.83 [[ 9.96921675e-01 -7.72865785e-02 -1.31893048e-02 7.03782751e+02] [ 7.72894464e-02 9.97008654e-01 -2.92897330e-04 7.88103481e+00] [ 1.31724881e-02 -7.27398374e-04 9.99912974e-01 4.83317653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0692541539999 meters 0.026234451081890344 Centerline is valid? [True, True] Translation: X:703.81, Y:7.89, Z:4.83 [[ 9.97164127e-01 -7.42563135e-02 -1.22353247e-02 7.03813836e+02] [ 7.42585581e-02 9.97238985e-01 -2.71378013e-04 7.88724118e+00] [ 1.22216943e-02 -6.37969147e-04 9.99925109e-01 4.83448970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0992541539999 meters 0.023952352083551533 Centerline is valid? [True, True] Translation: X:703.84, Y:7.90, Z:4.84 [[ 9.97777282e-01 -6.57119074e-02 -1.10653296e-02 7.03843238e+02] [ 6.57132191e-02 9.97838520e-01 -2.45393683e-04 7.89826351e+00] [ 1.10575374e-02 -4.82290186e-04 9.99938747e-01 4.83586875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1292541539999 meters 0.021281161125291093 Centerline is valid? [True, True] Translation: X:703.87, Y:7.91, Z:4.84 [[ 9.98119044e-01 -6.03815190e-02 -1.06041103e-02 7.03873621e+02] [ 6.03824225e-02 9.98175289e-01 -2.35228117e-04 7.90632715e+00] [ 1.05989643e-02 -4.05516205e-04 9.99943747e-01 4.83664301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1592541539999 meters 0.020409847143316024 Centerline is valid? [True, True] Translation: X:703.90, Y:7.91, Z:4.84 [[ 9.98410092e-01 -5.53804096e-02 -1.05022959e-02 7.03903447e+02] [ 5.53810208e-02 9.98465266e-01 -2.32843423e-04 7.91175946e+00] [ 1.04990727e-02 -3.49154645e-04 9.99944822e-01 4.83675368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1892541539999 meters 0.01848924617290077 Centerline is valid? [True, True] Translation: X:703.93, Y:7.92, Z:4.84 [[ 9.98887609e-01 -4.60210674e-02 -1.02764675e-02 7.03933648e+02] [ 4.60211576e-02 9.98940439e-01 -2.27823200e-04 7.92342859e+00] [ 1.02760636e-02 -2.45365158e-04 9.99947170e-01 4.83594893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2192541539999 meters 0.0167633659972441 Centerline is valid? [True, True] Translation: X:703.96, Y:7.93, Z:4.84 [[ 9.99041745e-01 -4.24453041e-02 -1.06765211e-02 7.03964524e+02] [ 4.24451991e-02 9.99098768e-01 -2.36528781e-04 7.92908845e+00] [ 1.06769386e-02 -2.16864937e-04 9.99942976e-01 4.83674232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2492541539999 meters 0.016240337964406784 Centerline is valid? [True, True] Translation: X:704.00, Y:7.93, Z:4.84 [[ 9.99157309e-01 -3.95222653e-02 -1.10753466e-02 7.03995837e+02] [ 3.95219772e-02 9.99218671e-01 -2.44959910e-04 7.93348349e+00] [ 1.10763745e-02 -1.92966113e-04 9.99938636e-01 4.83634383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2792541539999 meters 0.018828887086363946 Centerline is valid? [True, True] Translation: X:704.03, Y:7.94, Z:4.83 [[ 9.99262090e-01 -3.63163409e-02 -1.25059178e-02 7.04026350e+02] [ 3.63157273e-02 9.99340328e-01 -2.76226169e-04 7.93799717e+00] [ 1.25076995e-02 -1.78139161e-04 9.99921760e-01 4.83317284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3092541539999 meters 0.015881399322791888 Centerline is valid? [True, True] Translation: X:704.06, Y:7.94, Z:4.84 [[ 9.99257500e-01 -3.65957886e-02 -1.20497920e-02 7.04056731e+02] [ 3.65952417e-02 9.99330134e-01 -2.65945684e-04 7.93960489e+00] [ 1.20514528e-02 -1.75216833e-04 9.99927363e-01 4.83560345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.339254154 meters 0.01720134123073088 Centerline is valid? [True, True] Translation: X:704.09, Y:7.94, Z:4.83 [[ 9.99221652e-01 -3.73188033e-02 -1.27827214e-02 7.04087328e+02] [ 3.73182499e-02 9.99303392e-01 -2.81894160e-04 7.93934899e+00] [ 1.27843368e-02 -1.95354045e-04 9.99918258e-01 4.83415927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3692541539999 meters 0.01664235912573613 Centerline is valid? [True, True] Translation: X:704.12, Y:7.94, Z:4.84 [[ 9.99153109e-01 -3.89948813e-02 -1.31325357e-02 7.04118955e+02] [ 3.89944464e-02 9.99239385e-01 -2.89273573e-04 7.94015766e+00] [ 1.31338271e-02 -2.23067370e-04 9.99913723e-01 4.83529638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3992541539999 meters 0.01838626986957489 Centerline is valid? [True, True] Translation: X:704.15, Y:7.94, Z:4.83 [[ 9.98964094e-01 -4.33018186e-02 -1.39889578e-02 7.04148938e+02] [ 4.33017507e-02 9.99061992e-01 -3.07885031e-04 7.93761558e+00] [ 1.39891680e-02 -2.98180272e-04 9.99902102e-01 4.83457172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4292541539999 meters 0.019166817741889372 Centerline is valid? [True, True] Translation: X:704.18, Y:7.94, Z:4.83 [[ 9.98858196e-01 -4.55604423e-02 -1.43718336e-02 7.04180106e+02] [ 4.55606081e-02 9.98961526e-01 -3.16045920e-04 7.93929605e+00] [ 1.43713081e-02 -3.39104423e-04 9.99896670e-01 4.83406524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.459254154 meters 0.018380364423001623 Centerline is valid? [True, True] Translation: X:704.21, Y:7.94, Z:4.84 [[ 9.98700163e-01 -4.89364426e-02 -1.42551249e-02 7.04211180e+02] [ 4.89369566e-02 9.98801820e-01 -3.12969788e-04 7.93928877e+00] [ 1.42533603e-02 -3.85039450e-04 9.99898342e-01 4.83608372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4892541539999 meters 0.021450343159337002 Centerline is valid? [True, True] Translation: X:704.24, Y:7.94, Z:4.83 [[ 9.98572710e-01 -5.14002014e-02 -1.45107877e-02 7.04242328e+02] [ 5.14010015e-02 9.98678044e-01 -3.18055634e-04 7.93752720e+00] [ 1.45079532e-02 -4.28267343e-04 9.99894662e-01 4.83407770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5192541539999 meters 0.021836607454893065 Centerline is valid? [True, True] Translation: X:704.27, Y:7.93, Z:4.84 [[ 9.98218271e-01 -5.79027829e-02 -1.44066677e-02 7.04272712e+02] [ 5.79042538e-02 9.98322091e-01 -3.15356029e-04 7.93467868e+00] [ 1.44007546e-02 -5.19413193e-04 9.99896169e-01 4.83639017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5492541539999 meters 0.021431679646540625 Centerline is valid? [True, True] Translation: X:704.30, Y:7.94, Z:4.84 [[ 9.98073099e-01 -6.04363754e-02 -1.40546782e-02 7.04304413e+02] [ 6.04380338e-02 9.98171904e-01 -3.07102222e-04 7.93661413e+00] [ 1.40475451e-02 -5.42926653e-04 9.99901181e-01 4.83714544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.579254154 meters 0.029690209457974685 Centerline is valid? [True, True] Translation: X:704.34, Y:7.93, Z:4.83 [[ 9.97961655e-01 -6.21514798e-02 -1.44820351e-02 7.04335270e+02] [ 6.21534306e-02 9.98066557e-01 -3.15765950e-04 7.92767328e+00] [ 1.44736602e-02 -5.84985850e-04 9.99895080e-01 4.83412526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6092541539999 meters 0.029960244045154072 Centerline is valid? [True, True] Translation: X:704.37, Y:7.93, Z:4.84 [[ 9.97834693e-01 -6.43554647e-02 -1.35757039e-02 7.04366579e+02] [ 6.43573888e-02 9.97926871e-01 -2.95548119e-04 7.92772429e+00] [ 1.35665799e-02 -5.78788688e-04 9.99907802e-01 4.83661164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6392541539999 meters 0.023999501941364923 Centerline is valid? [True, True] Translation: X:704.40, Y:7.94, Z:4.84 [[ 9.97598288e-01 -6.80015052e-02 -1.31700959e-02 7.04397591e+02] [ 6.80036389e-02 9.97685032e-01 -2.86268052e-04 7.93837503e+00] [ 1.31590742e-02 -6.10033924e-04 9.99913230e-01 4.84007595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6692541539999 meters 0.033391382709201264 Centerline is valid? [True, True] Translation: X:704.43, Y:7.93, Z:4.84 [[ 9.97495869e-01 -6.95367082e-02 -1.29087851e-02 7.04429206e+02] [ 6.95388973e-02 9.97579202e-01 -2.79727801e-04 7.92637081e+00] [ 1.28969869e-02 -6.18635357e-04 9.99916639e-01 4.83893400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.699254154 meters 0.0260027021459918 Centerline is valid? [True, True] Translation: X:704.46, Y:7.94, Z:4.84 [[ 9.97410929e-01 -7.07458686e-02 -1.29019602e-02 7.04460683e+02] [ 7.07481698e-02 9.97494170e-01 -2.78537841e-04 7.94006744e+00] [ 1.28893354e-02 -6.34973381e-04 9.99916727e-01 4.83901869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7292541539999 meters 0.025051963870691054 Centerline is valid? [True, True] Translation: X:704.49, Y:7.94, Z:4.84 [[ 9.97219838e-01 -7.34880113e-02 -1.23331412e-02 7.04491901e+02] [ 7.34903302e-02 9.97295894e-01 -2.65681986e-04 7.94236832e+00] [ 1.23193155e-02 -6.41423274e-04 9.99923909e-01 4.84133760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7592541539999 meters 0.02691461767428966 Centerline is valid? [True, True] Translation: X:704.52, Y:7.94, Z:4.84 [[ 9.97186124e-01 -7.39162588e-02 -1.24988625e-02 7.04523433e+02] [ 7.39186813e-02 9.97264236e-01 -2.68675070e-04 7.94119767e+00] [ 1.24845280e-02 -6.55980380e-04 9.99921850e-01 4.84131841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7892541539999 meters 0.025314855831093226 Centerline is valid? [True, True] Translation: X:704.56, Y:7.95, Z:4.84 [[ 9.97173885e-01 -7.41135306e-02 -1.23055777e-02 7.04555164e+02] [ 7.41159033e-02 9.97249599e-01 -2.63730878e-04 7.94580239e+00] [ 1.22912784e-02 -6.49053462e-04 9.99924249e-01 4.84188923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8192541539999 meters 0.02543633064436387 Centerline is valid? [True, True] Translation: X:704.59, Y:7.95, Z:4.84 [[ 9.97236132e-01 -7.32781691e-02 -1.22640266e-02 7.04586975e+02] [ 7.32804742e-02 9.97311337e-01 -2.61919099e-04 7.95021724e+00] [ 1.22502457e-02 -6.37518493e-04 9.99924760e-01 4.84247537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8492541539999 meters 0.025409481277474964 Centerline is valid? [True, True] Translation: X:704.62, Y:7.95, Z:4.84 [[ 9.97312681e-01 -7.21900599e-02 -1.24904220e-02 7.04619284e+02] [ 7.21923776e-02 9.97390691e-01 -2.65809503e-04 7.95295674e+00] [ 1.24770194e-02 -6.36618075e-04 9.99921956e-01 4.84259354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8792541539999 meters 0.02478581168609655 Centerline is valid? [True, True] Translation: X:704.65, Y:7.96, Z:4.84 [[ 9.97404150e-01 -7.08780082e-02 -1.26991665e-02 7.04651764e+02] [ 7.08803100e-02 9.97484791e-01 -2.69293797e-04 7.95647673e+00] [ 1.26863125e-02 -6.31526108e-04 9.99919326e-01 4.84298053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9092541539999 meters 0.024218545916022745 Centerline is valid? [True, True] Translation: X:704.68, Y:7.96, Z:4.84 [[ 9.97499564e-01 -6.94076557e-02 -1.33115119e-02 7.04683933e+02] [ 6.94100679e-02 9.97588173e-01 -2.81257053e-04 7.95980513e+00] [ 1.32989283e-02 -6.43399160e-04 9.99911358e-01 4.84299668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9392541539999 meters 0.024023715462403655 Centerline is valid? [True, True] Translation: X:704.71, Y:7.96, Z:4.84 [[ 9.97759675e-01 -6.53459087e-02 -1.43367658e-02 7.04713213e+02] [ 6.53482944e-02 9.97862470e-01 -3.02497715e-04 7.96490907e+00] [ 1.43258876e-02 -6.35063172e-04 9.99897178e-01 4.84147985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9692541539999 meters 0.02517513008352459 Centerline is valid? [True, True] Translation: X:704.74, Y:7.97, Z:4.84 [[ 9.97917656e-01 -6.27507623e-02 -1.49229476e-02 7.04744044e+02] [ 6.27530599e-02 9.98029035e-01 -3.14704923e-04 7.96655696e+00] [ 1.49132829e-02 -6.22411024e-04 9.99888597e-01 4.84014794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9992541539999 meters 0.02123911045399647 Centerline is valid? [True, True] Translation: X:704.77, Y:7.98, Z:4.84 [[ 9.98199339e-01 -5.78888212e-02 -1.57150757e-02 7.04774248e+02] [ 5.78907718e-02 9.98322868e-01 -3.31141306e-04 7.97639367e+00] [ 1.57078888e-02 -5.79212826e-04 9.99876456e-01 4.84176688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0292541539999 meters 0.0205443947701371 Centerline is valid? [True, True] Translation: X:704.81, Y:7.98, Z:4.84 [[ 9.98328920e-01 -5.54575853e-02 -1.62426498e-02 7.04805642e+02] [ 5.54593532e-02 9.98460887e-01 -3.41916222e-04 7.98050751e+00] [ 1.62366124e-02 -5.59462002e-04 9.99868021e-01 4.84165891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0592541539999 meters 0.02017395337646007 Centerline is valid? [True, True] Translation: X:704.84, Y:7.98, Z:4.84 [[ 9.98447861e-01 -5.31023093e-02 -1.67932593e-02 7.04836049e+02] [ 5.31038738e-02 9.98588931e-01 -3.53065575e-04 7.98386528e+00] [ 1.67883115e-02 -5.39269556e-04 9.99858921e-01 4.84134029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.089254154 meters 0.020052273155327722 Centerline is valid? [True, True] Translation: X:704.87, Y:7.99, Z:4.84 [[ 9.98551694e-01 -5.10015400e-02 -1.71276565e-02 7.04866207e+02] [ 5.10028640e-02 9.98698442e-01 -3.59786003e-04 7.98690569e+00] [ 1.71237135e-02 -5.14294614e-04 9.99853246e-01 4.84073130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1192541539999 meters 0.018783974122629395 Centerline is valid? [True, True] Translation: X:704.90, Y:7.99, Z:4.84 [[ 9.98719849e-01 -4.73938080e-02 -1.76773937e-02 7.04897165e+02] [ 4.73946627e-02 9.98876173e-01 -3.70821732e-04 7.99296311e+00] [ 1.76751020e-02 -4.67467088e-04 9.99843674e-01 4.84062048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1492541539999 meters 0.018123662083947563 Centerline is valid? [True, True] Translation: X:704.93, Y:8.00, Z:4.84 [[ 9.98780028e-01 -4.60517666e-02 -1.78238936e-02 7.04928157e+02] [ 4.60524334e-02 9.98938954e-01 -3.73256199e-04 7.99588045e+00] [ 1.78221708e-02 -4.48032837e-04 9.99841072e-01 4.84118890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1792541539999 meters 0.018194842864263396 Centerline is valid? [True, True] Translation: X:704.96, Y:8.00, Z:4.84 [[ 9.98823508e-01 -4.52907402e-02 -1.73305799e-02 7.04958525e+02] [ 4.52912634e-02 9.98973758e-01 -3.62501164e-04 7.99780411e+00] [ 1.73292125e-02 -4.22849175e-04 9.99849749e-01 4.84140394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.209254154 meters 0.017252563081823522 Centerline is valid? [True, True] Translation: X:704.99, Y:8.00, Z:4.84 [[ 9.98864231e-01 -4.47182337e-02 -1.64477426e-02 7.04989294e+02] [ 4.47186350e-02 9.98999562e-01 -3.43571775e-04 8.00351642e+00] [ 1.64466516e-02 -3.92339041e-04 9.99864668e-01 4.84337646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2392541539999 meters 0.019166743611123336 Centerline is valid? [True, True] Translation: X:705.02, Y:8.00, Z:4.84 [[ 9.98852649e-01 -4.50785252e-02 -1.61651217e-02 7.05020636e+02] [ 4.50789720e-02 9.98983370e-01 -3.36916896e-04 8.00436823e+00] [ 1.61638754e-02 -3.92176734e-04 9.99869279e-01 4.84222237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2692541539999 meters 0.01858875535392856 Centerline is valid? [True, True] Translation: X:705.05, Y:8.01, Z:4.84 [[ 9.98814730e-01 -4.61317941e-02 -1.55239576e-02 7.05051363e+02] [ 4.61323461e-02 9.98935284e-01 -3.22731478e-04 8.00538652e+00] [ 1.55223171e-02 -3.93807629e-04 9.99879444e-01 4.84429746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2992541539999 meters 0.01858875535392856 Centerline is valid? [True, True] Translation: X:705.08, Y:8.01, Z:4.84 [[ 9.98817977e-01 -4.60614208e-02 -1.55239778e-02 7.05083056e+02] [ 4.60619795e-02 9.98938532e-01 -3.21755518e-04 8.00598146e+00] [ 1.55223201e-02 -3.93689952e-04 9.99879444e-01 4.84451703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.329254154 meters 0.019739515739584913 Centerline is valid? [True, True] Translation: X:705.11, Y:8.01, Z:4.85 [[ 9.98759425e-01 -4.76614971e-02 -1.44219556e-02 7.05113240e+02] [ 4.76621543e-02 9.98863469e-01 -2.98330381e-04 8.00662199e+00] [ 1.44197835e-02 -3.89421193e-04 9.99895954e-01 4.84529878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3592541539999 meters 0.019114328266734457 Centerline is valid? [True, True] Translation: X:705.15, Y:8.01, Z:4.85 [[ 9.98718357e-01 -4.85642653e-02 -1.42532928e-02 7.05145249e+02] [ 4.85650082e-02 9.98819980e-01 -2.94202549e-04 8.00898070e+00] [ 1.42507613e-02 -3.98385792e-04 9.99898373e-01 4.84625031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3892541539999 meters 0.0198910792880419 Centerline is valid? [True, True] Translation: X:705.18, Y:8.01, Z:4.85 [[ 9.98657036e-01 -4.99394483e-02 -1.37904464e-02 7.05176720e+02] [ 4.99402862e-02 9.98752165e-01 -2.83810982e-04 8.00880849e+00] [ 1.37874115e-02 -4.05269005e-04 9.99904867e-01 4.84648407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4192541539999 meters 0.021915876040067242 Centerline is valid? [True, True] Translation: X:705.21, Y:8.01, Z:4.85 [[ 9.98591714e-01 -5.13188587e-02 -1.34522988e-02 7.05208418e+02] [ 5.13197953e-02 9.98682233e-01 -2.75792876e-04 8.00872786e+00] [ 1.34487252e-02 -4.14964741e-04 9.99909476e-01 4.84531220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.449254154 meters 0.02055185488464472 Centerline is valid? [True, True] Translation: X:705.24, Y:8.01, Z:4.85 [[ 9.98385982e-01 -5.55110044e-02 -1.19982831e-02 7.05239051e+02] [ 5.55120608e-02 9.98457987e-01 -2.45226571e-04 8.01103863e+00] [ 1.19933943e-02 -4.21218648e-04 9.99927988e-01 4.84892145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4792541539999 meters 0.02146129098614252 Centerline is valid? [True, True] Translation: X:705.27, Y:8.01, Z:4.85 [[ 9.98272109e-01 -5.76184624e-02 -1.15286299e-02 7.05270809e+02] [ 5.76195849e-02 9.98338584e-01 -2.35035746e-04 8.01079604e+00] [ 1.15230185e-02 -4.29645242e-04 9.99933516e-01 4.84968124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5092541539999 meters 0.02415166839289904 Centerline is valid? [True, True] Translation: X:705.30, Y:8.01, Z:4.85 [[ 9.98152051e-01 -5.96602119e-02 -1.15386972e-02 7.05301602e+02] [ 5.96614874e-02 9.98218639e-01 -2.33952273e-04 8.00997211e+00] [ 1.15321003e-02 -4.54895899e-04 9.99933400e-01 4.84796668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5392541539999 meters 0.025120532927371125 Centerline is valid? [True, True] Translation: X:705.33, Y:8.01, Z:4.85 [[ 9.97877483e-01 -6.40799720e-02 -1.15881901e-02 7.05331295e+02] [ 6.40815660e-02 9.97944637e-01 -2.34082205e-04 8.00819334e+00] [ 1.15793722e-02 -5.09004009e-04 9.99932827e-01 4.84959200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5692541539999 meters 0.02404564480336272 Centerline is valid? [True, True] Translation: X:705.36, Y:8.01, Z:4.85 [[ 9.97742193e-01 -6.60907266e-02 -1.19387008e-02 7.05363047e+02] [ 6.60925655e-02 9.97813467e-01 -2.40886031e-04 8.01037725e+00] [ 1.19285168e-02 -5.48717209e-04 9.99928702e-01 4.84960357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5992541539999 meters 0.025394769620064428 Centerline is valid? [True, True] Translation: X:705.39, Y:8.01, Z:4.85 [[ 9.97625110e-01 -6.77697263e-02 -1.23046633e-02 7.05393644e+02] [ 6.77718143e-02 9.97700817e-01 -2.47679083e-04 8.00899150e+00] [ 1.22931577e-02 -5.86818481e-04 9.99924264e-01 4.84873691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6292541539999 meters 0.027381628848620224 Centerline is valid? [True, True] Translation: X:705.42, Y:8.01, Z:4.85 [[ 9.97442866e-01 -7.02281844e-02 -1.32563473e-02 7.05424292e+02] [ 7.02308296e-02 9.97530731e-01 -2.66448560e-04 8.00835088e+00] [ 1.32423260e-02 -6.65237052e-04 9.99912095e-01 4.84807091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6592541539999 meters 0.028082053487564547 Centerline is valid? [True, True] Translation: X:705.46, Y:8.01, Z:4.85 [[ 9.97394122e-01 -7.08081862e-02 -1.38262696e-02 7.05456143e+02] [ 7.08111280e-02 9.97489703e-01 -2.77283485e-04 8.00913633e+00] [ 1.38111955e-02 -7.02492830e-04 9.99904374e-01 4.84792799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6892541539999 meters 0.02828758338280111 Centerline is valid? [True, True] Translation: X:705.49, Y:8.01, Z:4.85 [[ 9.97358754e-01 -7.11907492e-02 -1.44011200e-02 7.05487779e+02] [ 7.11939936e-02 9.97462447e-01 -2.87900084e-04 8.01053069e+00] [ 1.43850722e-02 -7.38133579e-04 9.99896257e-01 4.84737435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7192541539999 meters 0.02656531167556469 Centerline is valid? [True, True] Translation: X:705.52, Y:8.01, Z:4.85 [[ 9.97353736e-01 -7.10965211e-02 -1.51924492e-02 7.05519704e+02] [ 7.11001362e-02 9.97469137e-01 -3.02727714e-04 8.01466354e+00] [ 1.51755221e-02 -7.78258591e-04 9.99884542e-01 4.84732210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7492541539999 meters 0.02910553388513371 Centerline is valid? [True, True] Translation: X:705.55, Y:8.01, Z:4.85 [[ 9.97399101e-01 -7.02702440e-02 -1.60351773e-02 7.05550905e+02] [ 7.02741929e-02 9.97527662e-01 -3.17766669e-04 8.01407611e+00] [ 1.60178625e-02 -8.09918956e-04 9.99871378e-01 4.84571745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7792541539999 meters 0.028517007149506543 Centerline is valid? [True, True] Translation: X:705.58, Y:8.02, Z:4.85 [[ 9.97453242e-01 -6.93937195e-02 -1.64784950e-02 7.05582699e+02] [ 6.93977972e-02 9.97589014e-01 -3.24928353e-04 8.01640193e+00] [ 1.64613136e-02 -8.19470417e-04 9.99864168e-01 4.84567226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8092541539999 meters 0.024621991692154895 Centerline is valid? [True, True] Translation: X:705.61, Y:8.02, Z:4.85 [[ 9.97538290e-01 -6.82396271e-02 -1.61466167e-02 7.05614931e+02] [ 6.82434101e-02 9.97668651e-01 -3.17225341e-04 8.02355382e+00] [ 1.61306207e-02 -7.85455764e-04 9.99869585e-01 4.84695624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.839254154 meters 0.025328638495117777 Centerline is valid? [True, True] Translation: X:705.65, Y:8.03, Z:4.85 [[ 9.97751294e-01 -6.52210351e-02 -1.54457874e-02 7.05645454e+02] [ 6.52241482e-02 9.97870592e-01 -3.02651324e-04 8.02646336e+00] [ 1.54326362e-02 -7.05467573e-04 9.99880661e-01 4.84794055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8692541539999 meters 0.023536434703362162 Centerline is valid? [True, True] Translation: X:705.68, Y:8.03, Z:4.85 [[ 9.97903543e-01 -6.29448725e-02 -1.50486640e-02 7.05677288e+02] [ 6.29475796e-02 9.98016791e-01 -2.94176389e-04 8.03154731e+00] [ 1.50373363e-02 -6.53717315e-04 9.99886719e-01 4.84880149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8992541539999 meters 0.021405467197689317 Centerline is valid? [True, True] Translation: X:705.71, Y:8.04, Z:4.85 [[ 9.98063534e-01 -6.03383542e-02 -1.51150625e-02 7.05709072e+02] [ 6.03407996e-02 9.98177790e-01 -2.94628891e-04 8.03794445e+00] [ 1.51052972e-02 -6.17996609e-04 9.99885718e-01 4.84951791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9292541539999 meters 0.019841220407599395 Centerline is valid? [True, True] Translation: X:705.74, Y:8.04, Z:4.85 [[ 9.98427045e-01 -5.43041073e-02 -1.39463202e-02 7.05738586e+02] [ 5.43056061e-02 9.98524325e-01 -2.71484652e-04 8.04452674e+00] [ 1.39404827e-02 -4.86305752e-04 9.99902708e-01 4.85074779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.959254154 meters 0.018860579126426077 Centerline is valid? [True, True] Translation: X:705.77, Y:8.05, Z:4.85 [[ 9.98587470e-01 -5.13477530e-02 -1.36554971e-02 7.05769676e+02] [ 5.13489173e-02 9.98680739e-01 -2.65570181e-04 8.04880593e+00] [ 1.36511184e-02 -4.35999938e-04 9.99906724e-01 4.85156628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9892541539999 meters 0.018776908208535434 Centerline is valid? [True, True] Translation: X:705.80, Y:8.05, Z:4.85 [[ 9.98721140e-01 -4.86785695e-02 -1.36558201e-02 7.05801179e+02] [ 4.86795018e-02 9.98814415e-01 -2.64312930e-04 8.05141892e+00] [ 1.36524963e-02 -4.00783607e-04 9.99906720e-01 4.85160589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0192541539999 meters 0.018834831769996792 Centerline is valid? [True, True] Translation: X:705.83, Y:8.06, Z:4.85 [[ 9.98915189e-01 -4.44434696e-02 -1.39004504e-02 7.05831308e+02] [ 4.44440508e-02 9.99011839e-01 -2.67250560e-04 8.05591967e+00] [ 1.38985921e-02 -3.50831681e-04 9.99903348e-01 4.85125966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0492541539999 meters 0.01729628440624257 Centerline is valid? [True, True] Translation: X:705.86, Y:8.06, Z:4.85 [[ 9.98976972e-01 -4.27211366e-02 -1.48295042e-02 7.05863937e+02] [ 4.27216310e-02 9.99086974e-01 -2.83595014e-04 8.06164830e+00] [ 1.48280800e-02 -3.50235718e-04 9.99889997e-01 4.85188582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.079254154 meters 0.01708998476285144 Centerline is valid? [True, True] Translation: X:705.90, Y:8.06, Z:4.85 [[ 9.99031569e-01 -4.12278509e-02 -1.53684289e-02 7.05895267e+02] [ 4.12282225e-02 9.99149712e-01 -2.92777220e-04 8.06449921e+00] [ 1.53674319e-02 -3.41119320e-04 9.99881856e-01 4.85147689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1092541539999 meters 0.01732325452635705 Centerline is valid? [True, True] Translation: X:705.93, Y:8.07, Z:4.85 [[ 9.99068902e-01 -4.00364439e-02 -1.60751861e-02 7.05926000e+02] [ 4.00367108e-02 9.99198163e-01 -3.05345810e-04 8.06654172e+00] [ 1.60745214e-02 -3.38536074e-04 9.99870739e-01 4.85065204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1392541539999 meters 0.01695728818552435 Centerline is valid? [True, True] Translation: X:705.96, Y:8.07, Z:4.85 [[ 9.99124524e-01 -3.82417698e-02 -1.69632526e-02 7.05956905e+02] [ 3.82418213e-02 9.99268462e-01 -3.21459656e-04 8.07148391e+00] [ 1.69631366e-02 -3.27527450e-04 9.99856062e-01 4.85028821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1692541539999 meters 0.016687413241785683 Centerline is valid? [True, True] Translation: X:705.99, Y:8.07, Z:4.85 [[ 9.99146481e-01 -3.75631713e-02 -1.71847943e-02 7.05988909e+02] [ 3.75631408e-02 9.99294203e-01 -3.24666178e-04 8.07409404e+00] [ 1.71848609e-02 -3.21125781e-04 9.99852278e-01 4.85059908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.199254154 meters 0.016756807542822074 Centerline is valid? [True, True] Translation: X:706.02, Y:8.08, Z:4.85 [[ 9.99173394e-01 -3.68799949e-02 -1.70995751e-02 7.06019760e+02] [ 3.68798827e-02 9.99319654e-01 -3.22009446e-04 8.07750851e+00] [ 1.70998172e-02 -3.08887052e-04 9.99853740e-01 4.85082096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2292541539999 meters 0.01656189512129862 Centerline is valid? [True, True] Translation: X:706.05, Y:8.08, Z:4.85 [[ 9.99190904e-01 -3.64279910e-02 -1.70451859e-02 7.06050707e+02] [ 3.64278262e-02 9.99336235e-01 -3.20250442e-04 8.07997476e+00] [ 1.70455379e-02 -3.00927740e-04 9.99854669e-01 4.85146291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2592541539999 meters 0.016637233243227165 Centerline is valid? [True, True] Translation: X:706.08, Y:8.08, Z:4.85 [[ 9.99204606e-01 -3.60843463e-02 -1.69727900e-02 7.06081837e+02] [ 3.60841436e-02 9.99348705e-01 -3.18285300e-04 8.08207172e+00] [ 1.69732208e-02 -2.94416455e-04 9.99855901e-01 4.85199717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2892541539999 meters 0.016336459335089742 Centerline is valid? [True, True] Translation: X:706.11, Y:8.09, Z:4.85 [[ 9.99217807e-01 -3.59447339e-02 -1.64848469e-02 7.06113451e+02] [ 3.59445335e-02 9.99353739e-01 -3.08542320e-04 8.08540859e+00] [ 1.64852839e-02 -2.84239152e-04 9.99864068e-01 4.85305294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3192541539999 meters 0.016834261749231822 Centerline is valid? [True, True] Translation: X:706.15, Y:8.09, Z:4.85 [[ 9.99233710e-01 -3.56844821e-02 -1.60813611e-02 7.06145063e+02] [ 3.56842801e-02 9.99363068e-01 -2.99596984e-04 8.08566375e+00] [ 1.60818094e-02 -2.74484389e-04 9.99870642e-01 4.85292513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3492541539999 meters 0.017002307130722677 Centerline is valid? [True, True] Translation: X:706.18, Y:8.09, Z:4.85 [[ 9.99202298e-01 -3.67769969e-02 -1.55634370e-02 7.06176882e+02] [ 3.67769626e-02 9.99323457e-01 -2.88507984e-04 8.08761650e+00] [ 1.55635181e-02 -2.84098099e-04 9.99878841e-01 4.85376026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3792541539999 meters 0.017452481026945233 Centerline is valid? [True, True] Translation: X:706.21, Y:8.09, Z:4.85 [[ 9.99162430e-01 -3.80674491e-02 -1.50102289e-02 7.06208549e+02] [ 3.80675760e-02 9.99275129e-01 -2.77364016e-04 8.08815528e+00] [ 1.50099069e-02 -2.94271324e-04 9.99887302e-01 4.85414668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4092541539999 meters 0.018855468233828235 Centerline is valid? [True, True] Translation: X:706.24, Y:8.09, Z:4.85 [[ 9.99014222e-01 -4.20486648e-02 -1.42300324e-02 7.06239694e+02] [ 4.20491927e-02 9.99115507e-01 -2.62224720e-04 8.08685083e+00] [ 1.42284722e-02 -3.36395150e-04 9.99898714e-01 4.85432167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4392541539999 meters 0.018642856042856256 Centerline is valid? [True, True] Translation: X:706.27, Y:8.09, Z:4.86 [[ 9.98932367e-01 -4.40118045e-02 -1.40387415e-02 7.06272119e+02] [ 4.40125242e-02 9.99030946e-01 -2.57837746e-04 8.08794829e+00] [ 1.40364851e-02 -3.60317978e-04 9.99901419e-01 4.85516217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4692541539999 meters 0.020829278564491783 Centerline is valid? [True, True] Translation: X:706.30, Y:8.08, Z:4.85 [[ 9.98838002e-01 -4.62107019e-02 -1.36827236e-02 7.06303286e+02] [ 4.62116031e-02 9.98931642e-01 -2.50458351e-04 8.08486958e+00] [ 1.36796794e-02 -3.82133273e-04 9.99906356e-01 4.85495668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4992541539999 meters 0.02013441352350623 Centerline is valid? [True, True] Translation: X:706.33, Y:8.09, Z:4.86 [[ 9.98708182e-01 -4.90883357e-02 -1.31264416e-02 7.06334873e+02] [ 4.90894225e-02 9.98794359e-01 -2.39589151e-04 8.08706804e+00] [ 1.31223768e-02 -4.05089792e-04 9.99913816e-01 4.85649162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5292541539999 meters 0.019308174627032305 Centerline is valid? [True, True] Translation: X:706.37, Y:8.09, Z:4.86 [[ 9.98679117e-01 -4.96809035e-02 -1.31083719e-02 7.06366678e+02] [ 4.96820491e-02 9.98765056e-01 -2.38429657e-04 8.08959555e+00] [ 1.31040292e-02 -4.13136058e-04 9.99914053e-01 4.85743470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5592541539999 meters 0.021327342679637974 Centerline is valid? [True, True] Translation: X:706.40, Y:8.09, Z:4.86 [[ 9.98701612e-01 -4.93837683e-02 -1.25033371e-02 7.06397647e+02] [ 4.93847973e-02 9.98779801e-01 -2.26627472e-04 8.08819579e+00] [ 1.24992722e-02 -3.91141545e-04 9.99921805e-01 4.85629414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.589254154 meters 0.018891444385997654 Centerline is valid? [True, True] Translation: X:706.43, Y:8.09, Z:4.86 [[ 9.98795775e-01 -4.75653512e-02 -1.20223801e-02 7.06429575e+02] [ 4.75661798e-02 9.98868065e-01 -2.17165649e-04 8.09314847e+00] [ 1.20191011e-02 -3.54954562e-04 9.99927705e-01 4.85907611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6192541539999 meters 0.018889460101164206 Centerline is valid? [True, True] Translation: X:706.46, Y:8.09, Z:4.86 [[ 9.98871992e-01 -4.59211906e-02 -1.20825337e-02 7.06461166e+02] [ 4.59219182e-02 9.98945009e-01 -2.17359633e-04 8.09421492e+00] [ 1.20797682e-02 -3.37738675e-04 9.99926980e-01 4.85929025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6492541539999 meters 0.019608332907953194 Centerline is valid? [True, True] Translation: X:706.49, Y:8.10, Z:4.86 [[ 9.98987876e-01 -4.33537357e-02 -1.19865803e-02 7.06493379e+02] [ 4.33542775e-02 9.99059738e-01 -2.14758749e-04 8.09649885e+00] [ 1.19846203e-02 -3.05128141e-04 9.99928135e-01 4.85717123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6792541539999 meters 0.01703234307182047 Centerline is valid? [True, True] Translation: X:706.52, Y:8.10, Z:4.86 [[ 9.99148192e-01 -3.93121171e-02 -1.25478046e-02 7.06524800e+02] [ 3.93124016e-02 9.99226944e-01 -2.24075236e-04 8.09982383e+00] [ 1.25469133e-02 -2.69399968e-04 9.99921248e-01 4.85889326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.709254154 meters 0.0179555600480567 Centerline is valid? [True, True] Translation: X:706.56, Y:8.10, Z:4.86 [[ 9.99224117e-01 -3.72186351e-02 -1.28816796e-02 7.06556061e+02] [ 3.72187686e-02 9.99307115e-01 -2.29449643e-04 8.09834731e+00] [ 1.28812939e-02 -2.50168637e-04 9.99917001e-01 4.85765546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7392541539999 meters 0.016948568588211404 Centerline is valid? [True, True] Translation: X:706.59, Y:8.10, Z:4.86 [[ 9.99295454e-01 -3.50945679e-02 -1.33029235e-02 7.06588516e+02] [ 3.50945333e-02 9.99383969e-01 -2.36115798e-04 8.10124142e+00] [ 1.33030149e-02 -2.30910449e-04 9.99911484e-01 4.85764816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7692541539999 meters 0.01653663982674837 Centerline is valid? [True, True] Translation: X:706.62, Y:8.10, Z:4.86 [[ 9.99345560e-01 -3.33478536e-02 -1.40132999e-02 7.06620513e+02] [ 3.33476576e-02 9.99443781e-01 -2.47721827e-04 8.10289446e+00] [ 1.40137664e-02 -2.19751020e-04 9.99901778e-01 4.85748523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7992541539999 meters 0.01572516405295855 Centerline is valid? [True, True] Translation: X:706.65, Y:8.11, Z:4.86 [[ 9.99379109e-01 -3.20897787e-02 -1.45479549e-02 7.06652851e+02] [ 3.20894496e-02 9.99484968e-01 -2.56114804e-04 8.10571525e+00] [ 1.45486809e-02 -2.10880079e-04 9.99894140e-01 4.85817307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.829254154 meters 0.015872682553477093 Centerline is valid? [True, True] Translation: X:706.68, Y:8.11, Z:4.86 [[ 9.99381083e-01 -3.13487644e-02 -1.59594929e-02 7.06684473e+02] [ 3.13483003e-02 9.99508482e-01 -2.79309787e-04 8.10606995e+00] [ 1.59604045e-02 -2.21166059e-04 9.99872600e-01 4.85723890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8592541539999 meters 0.01592034146196274 Centerline is valid? [True, True] Translation: X:706.72, Y:8.11, Z:4.86 [[ 9.99354756e-01 -3.19034999e-02 -1.64996225e-02 7.06715387e+02] [ 3.19030995e-02 9.99490925e-01 -2.87546214e-04 8.10602826e+00] [ 1.65003967e-02 -2.39028423e-04 9.99863831e-01 4.85732778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8892541539999 meters 0.016338917656241143 Centerline is valid? [True, True] Translation: X:706.75, Y:8.11, Z:4.86 [[ 9.99311604e-01 -3.30130052e-02 -1.69251276e-02 7.06746382e+02] [ 3.30127534e-02 9.99454887e-01 -2.94341994e-04 8.10544542e+00] [ 1.69256186e-02 -2.64605695e-04 9.99856716e-01 4.85697716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9192541539999 meters 0.016858694062770217 Centerline is valid? [True, True] Translation: X:706.78, Y:8.10, Z:4.86 [[ 9.99149767e-01 -3.73338171e-02 -1.74908062e-02 7.06778014e+02] [ 3.73342212e-02 9.99302789e-01 -3.03537460e-04 8.10191914e+00] [ 1.74899436e-02 -3.49726247e-04 9.99846978e-01 4.85726489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.949254154 meters 0.017697497111109257 Centerline is valid? [True, True] Translation: X:706.81, Y:8.10, Z:4.86 [[ 9.99041077e-01 -4.01863969e-02 -1.73775594e-02 7.06808867e+02] [ 4.01872543e-02 9.99192121e-01 -3.00007183e-04 8.09968605e+00] [ 1.73755766e-02 -3.98636898e-04 9.99848954e-01 4.85756396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9792541539999 meters 0.018674504319072364 Centerline is valid? [True, True] Translation: X:706.84, Y:8.10, Z:4.86 [[ 9.98932838e-01 -4.29260343e-02 -1.70452556e-02 7.06839918e+02] [ 4.29272890e-02 9.99078156e-01 -2.92435693e-04 8.09731186e+00] [ 1.70420957e-02 -4.39582997e-04 9.99854676e-01 4.85783731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0092541539999 meters 0.020870313575522766 Centerline is valid? [True, True] Translation: X:706.87, Y:8.09, Z:4.86 [[ 9.98595955e-01 -5.01923688e-02 -1.69364824e-02 7.06871294e+02] [ 5.01946655e-02 9.98739411e-01 -2.89725269e-04 8.09129407e+00] [ 1.69296745e-02 -5.60802590e-04 9.99856526e-01 4.85824679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0392541539999 meters 0.02292717216788565 Centerline is valid? [True, True] Translation: X:706.90, Y:8.09, Z:4.86 [[ 9.98387959e-01 -5.43175685e-02 -1.64646350e-02 7.06901574e+02] [ 5.43203038e-02 9.98523523e-01 -2.81365020e-04 8.08737172e+00] [ 1.64556084e-02 -6.13452525e-04 9.99864409e-01 4.85839774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0692541539999 meters 0.024073664079680833 Centerline is valid? [True, True] Translation: X:706.93, Y:8.08, Z:4.86 [[ 9.98152893e-01 -5.84969352e-02 -1.63985071e-02 7.06933066e+02] [ 5.85002191e-02 9.98287356e-01 -2.79777212e-04 8.08481299e+00] [ 1.63867885e-02 -6.80055826e-04 9.99865496e-01 4.85941790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0992541539999 meters 0.031845133747528606 Centerline is valid? [True, True] Translation: X:706.96, Y:8.07, Z:4.86 [[ 9.97628913e-01 -6.72697212e-02 -1.45374314e-02 7.06963469e+02] [ 6.72732350e-02 9.97734559e-01 -2.47724555e-04 8.07208471e+00] [ 1.45211621e-02 -7.30842864e-04 9.99894295e-01 4.85963288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1292541539999 meters 0.02904363543682983 Centerline is valid? [True, True] Translation: X:706.99, Y:8.08, Z:4.86 [[ 9.97338146e-01 -7.15175572e-02 -1.42077785e-02 7.06994806e+02] [ 7.15213478e-02 9.97439040e-01 -2.41773758e-04 8.07524129e+00] [ 1.41886840e-02 -7.75029274e-04 9.99899035e-01 4.86136225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1592541539999 meters 0.03013295064761887 Centerline is valid? [True, True] Translation: X:707.03, Y:8.07, Z:4.86 [[ 9.96797718e-01 -7.88238565e-02 -1.34577042e-02 7.07026305e+02] [ 7.88279265e-02 9.96888211e-01 -2.28575294e-04 8.07217966e+00] [ 1.34338438e-02 -8.32999584e-04 9.99909415e-01 4.86238065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1892541539999 meters 0.031218231063945417 Centerline is valid? [True, True] Translation: X:707.06, Y:8.07, Z:4.86 [[ 9.96559431e-01 -8.17881232e-02 -1.34165211e-02 7.07057237e+02] [ 8.17924402e-02 9.96649359e-01 -2.27544025e-04 8.07045743e+00] [ 1.33901775e-02 -8.70608852e-04 9.99909969e-01 4.86263406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2192541539999 meters 0.031218231063945417 Centerline is valid? [True, True] Translation: X:707.09, Y:8.07, Z:4.86 [[ 9.96568552e-01 -8.16769057e-02 -1.34165355e-02 7.07089840e+02] [ 8.16812241e-02 9.96658480e-01 -2.26692059e-04 8.07091930e+00] [ 1.33902193e-02 -8.69964863e-04 9.99909969e-01 4.86285996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2492541539999 meters 0.03261786808152857 Centerline is valid? [True, True] Translation: X:707.12, Y:8.07, Z:4.86 [[ 9.96386226e-01 -8.38683271e-02 -1.34384885e-02 7.07120778e+02] [ 8.38728728e-02 9.96476437e-01 -2.25966577e-04 8.06899872e+00] [ 1.34100886e-02 -9.01974656e-04 9.99909674e-01 4.86315019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2792541539999 meters 0.036716914789821885 Centerline is valid? [True, True] Translation: X:707.15, Y:8.06, Z:4.86 [[ 9.96209861e-01 -8.59432718e-02 -1.34039593e-02 7.07150527e+02] [ 8.59479856e-02 9.96299600e-01 -2.25044420e-04 8.06328126e+00] [ 1.33737003e-02 -9.27851828e-04 9.99910138e-01 4.86345619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3092541539999 meters 0.03362809067511437 Centerline is valid? [True, True] Translation: X:707.18, Y:8.07, Z:4.86 [[ 9.96190573e-01 -8.61415569e-02 -1.35636877e-02 7.07182391e+02] [ 8.61464087e-02 9.96282462e-01 -2.27234595e-04 8.06779430e+00] [ 1.35328386e-02 -9.42094026e-04 9.99907983e-01 4.86417528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.339254154 meters 0.03399752065644226 Centerline is valid? [True, True] Translation: X:707.21, Y:8.07, Z:4.86 [[ 9.96256625e-01 -8.53153013e-02 -1.39296957e-02 7.07214215e+02] [ 8.53203527e-02 9.96353543e-01 -2.32322256e-04 8.06749111e+00] [ 1.38987223e-02 -9.57033962e-04 9.99902950e-01 4.86364229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3692541539999 meters 0.033913199949684225 Centerline is valid? [True, True] Translation: X:707.25, Y:8.07, Z:4.86 [[ 9.96351525e-01 -8.42086729e-02 -1.38757982e-02 7.07245400e+02] [ 8.42135908e-02 9.96447700e-01 -2.30530543e-04 8.06811927e+00] [ 1.38459198e-02 -9.38841331e-04 9.99903700e-01 4.86321403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3992541539999 meters 0.03236734779100275 Centerline is valid? [True, True] Translation: X:707.28, Y:8.07, Z:4.86 [[ 9.96715099e-01 -7.94477459e-02 -1.57183568e-02 7.07275650e+02] [ 7.94534741e-02 9.96838541e-01 -2.60698135e-04 8.07115989e+00] [ 1.56893758e-02 -9.89036289e-04 9.99876425e-01 4.86191138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4292541539999 meters 0.031578086910022764 Centerline is valid? [True, True] Translation: X:707.31, Y:8.07, Z:4.86 [[ 9.96955473e-01 -7.62585522e-02 -1.62609131e-02 7.07306291e+02] [ 7.62642630e-02 9.97087604e-01 -2.69520218e-04 8.07408435e+00] [ 1.62341081e-02 -9.71426895e-04 9.99867746e-01 4.86138833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.459254154 meters 0.03071600805928006 Centerline is valid? [True, True] Translation: X:707.34, Y:8.08, Z:4.86 [[ 9.97243290e-01 -7.22019113e-02 -1.71085900e-02 7.07336495e+02] [ 7.22076403e-02 9.97389581e-01 -2.83439753e-04 8.07692865e+00] [ 1.70843943e-02 -9.52712522e-04 9.99853597e-01 4.86111757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4892541539999 meters 0.02796378069377499 Centerline is valid? [True, True] Translation: X:707.37, Y:8.08, Z:4.86 [[ 9.97553721e-01 -6.77118049e-02 -1.73690648e-02 7.07367073e+02] [ 6.77170340e-02 9.97704526e-01 -2.87571886e-04 8.08293224e+00] [ 1.73486666e-02 -8.89313150e-04 9.99849105e-01 4.86127510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5192541539999 meters 0.024383566139244573 Centerline is valid? [True, True] Translation: X:707.40, Y:8.09, Z:4.86 [[ 9.98199467e-01 -5.72841996e-02 -1.77861035e-02 7.07396937e+02] [ 5.72880321e-02 9.98357649e-01 -2.94374430e-04 8.09229179e+00] [ 1.77737555e-02 -7.25086470e-04 9.99841771e-01 4.86126100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5492541539999 meters 0.020353383062050166 Centerline is valid? [True, True] Translation: X:707.43, Y:8.10, Z:4.86 [[ 9.98501745e-01 -5.18330719e-02 -1.75384649e-02 7.07427441e+02] [ 5.18359617e-02 9.98655571e-01 -2.90093270e-04 8.10123465e+00] [ 1.75299221e-02 -6.19464558e-04 9.99846147e-01 4.86296724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.579254154 meters 0.020506280149858454 Centerline is valid? [True, True] Translation: X:707.46, Y:8.10, Z:4.86 [[ 9.98758429e-01 -4.65410044e-02 -1.77633269e-02 7.07457218e+02] [ 4.65431348e-02 9.98916238e-01 -2.93682600e-04 8.10329555e+00] [ 1.77577439e-02 -5.33442946e-04 9.99842177e-01 4.86257288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6092541539999 meters 0.01684204020435207 Centerline is valid? [True, True] Translation: X:707.49, Y:8.11, Z:4.86 [[ 9.99179575e-01 -3.66337157e-02 -1.72669682e-02 7.07487833e+02] [ 3.66342520e-02 9.99328700e-01 -2.85352524e-04 8.11425551e+00] [ 1.72658304e-02 -3.47444051e-04 9.99850874e-01 4.86429838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6392541539999 meters 0.016126464514023466 Centerline is valid? [True, True] Translation: X:707.52, Y:8.12, Z:4.86 [[ 9.99341515e-01 -3.21053158e-02 -1.69051711e-02 7.07518650e+02] [ 3.21051896e-02 9.99484457e-01 -2.78928383e-04 8.11741563e+00] [ 1.69054108e-02 -2.63999009e-04 9.99857058e-01 4.86430487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6692541539999 meters 0.015449112866001518 Centerline is valid? [True, True] Translation: X:707.55, Y:8.12, Z:4.86 [[ 9.99475204e-01 -2.77266180e-02 -1.67496620e-02 7.07549850e+02] [ 2.77258894e-02 9.99615526e-01 -2.75760649e-04 8.12076774e+00] [ 1.67508681e-02 -1.88783345e-04 9.99859677e-01 4.86474429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.699254154 meters 0.01479367276485044 Centerline is valid? [True, True] Translation: X:707.58, Y:8.13, Z:4.86 [[ 9.99657994e-01 -1.99629088e-02 -1.68931240e-02 7.07579655e+02] [ 1.99610632e-02 9.99800720e-01 -2.77872488e-04 8.12636315e+00] [ 1.68953047e-02 -5.94272630e-05 9.99857262e-01 4.86429141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7292541539999 meters 0.014890884609254165 Centerline is valid? [True, True] Translation: X:707.61, Y:8.13, Z:4.86 [[ 9.99714325e-01 -1.67583928e-02 -1.70418290e-02 7.07608041e+02] [ 1.67560054e-02 9.99859568e-01 -2.82881379e-04 8.12915545e+00] [ 1.70441764e-02 -2.75241080e-06 9.99854737e-01 4.86434904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7592541539999 meters 0.01501681592262826 Centerline is valid? [True, True] Translation: X:707.64, Y:8.13, Z:4.86 [[ 9.99757109e-01 -1.35539081e-02 -1.73785633e-02 7.07635591e+02] [ 1.35508938e-02 9.99908140e-01 -2.91198309e-04 8.13146906e+00] [ 1.73809138e-02 5.56325135e-05 9.99848939e-01 4.86369623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7892541539999 meters 0.015421548496082599 Centerline is valid? [True, True] Translation: X:707.66, Y:8.14, Z:4.86 [[ 9.99800936e-01 -7.93679095e-03 -1.83056153e-02 7.07663451e+02] [ 7.93247468e-03 9.99968490e-01 -3.08389076e-04 8.13530349e+00] [ 1.83074861e-02 1.63118857e-04 9.99832391e-01 4.86321329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8192541539999 meters 0.015366747702286371 Centerline is valid? [True, True] Translation: X:707.69, Y:8.14, Z:4.86 [[ 9.99815518e-01 -6.27082260e-03 -1.81550725e-02 7.07691767e+02] [ 6.26623909e-03 9.99980319e-01 -3.09340544e-04 8.13556149e+00] [ 1.81566551e-02 1.95519451e-04 9.99835135e-01 4.86418178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8492541539999 meters 0.015998117842486566 Centerline is valid? [True, True] Translation: X:707.72, Y:8.14, Z:4.86 [[ 9.99829761e-01 -5.04705354e-03 -1.77475533e-02 7.07719192e+02] [ 5.04243247e-03 9.99987240e-01 -3.05117348e-04 8.13731005e+00] [ 1.77488668e-02 2.15574566e-04 9.99842453e-01 4.86360376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8792541539999 meters 0.015616444272146295 Centerline is valid? [True, True] Translation: X:707.75, Y:8.14, Z:4.87 [[ 9.99837907e-01 -4.62610743e-03 -1.73999799e-02 7.07747473e+02] [ 4.62153811e-03 9.99989275e-01 -3.02806287e-04 8.13643140e+00] [ 1.74011941e-02 2.22342533e-04 9.99848563e-01 4.86542709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9092541539999 meters 0.015413150074772761 Centerline is valid? [True, True] Translation: X:707.78, Y:8.13, Z:4.87 [[ 9.99847446e-01 -5.65646257e-03 -1.65254053e-02 7.07776097e+02] [ 5.65243841e-03 9.99983983e-01 -2.90211230e-04 8.13404355e+00] [ 1.65267822e-02 1.96758121e-04 9.99863404e-01 4.86657866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9392541539999 meters 0.01533707433332211 Centerline is valid? [True, True] Translation: X:707.80, Y:8.13, Z:4.87 [[ 9.99840864e-01 -7.34081651e-03 -1.62591521e-02 7.07804234e+02] [ 7.33712155e-03 9.99973042e-01 -2.86895147e-04 8.13318012e+00] [ 1.62608198e-02 1.67554116e-04 9.99867770e-01 4.86606985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9692541539999 meters 0.015043033814765272 Centerline is valid? [True, True] Translation: X:707.83, Y:8.13, Z:4.87 [[ 9.99818627e-01 -9.77244981e-03 -1.63466166e-02 7.07832968e+02] [ 9.76901826e-03 9.99952240e-01 -2.89763437e-04 8.13047027e+00] [ 1.63486676e-02 1.30020486e-04 9.99866343e-01 4.86651388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9992541539999 meters 0.014624291899375247 Centerline is valid? [True, True] Translation: X:707.86, Y:8.12, Z:4.87 [[ 9.99739200e-01 -1.64455879e-02 -1.58453340e-02 7.07861467e+02] [ 1.64431836e-02 9.99864762e-01 -2.82014042e-04 8.12371188e+00] [ 1.58478289e-02 2.13927572e-05 9.99874415e-01 4.86654019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0292541539999 meters 0.014654098517281023 Centerline is valid? [True, True] Translation: X:707.89, Y:8.12, Z:4.87 [[ 9.99665522e-01 -2.06128006e-02 -1.56191094e-02 7.07888951e+02] [ 2.06109260e-02 9.99787533e-01 -2.80994296e-04 8.12001578e+00] [ 1.56215829e-02 -4.10239991e-05 9.99877975e-01 4.86642786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0592541539999 meters 0.01514814245735358 Centerline is valid? [True, True] Translation: X:707.92, Y:8.11, Z:4.87 [[ 9.99469132e-01 -2.88955333e-02 -1.50499682e-02 7.07917711e+02] [ 2.88946938e-02 9.99582424e-01 -2.73268645e-04 8.11160151e+00] [ 1.50515800e-02 -1.61740649e-04 9.99886705e-01 4.86673114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.089254154 meters 0.015972058232848464 Centerline is valid? [True, True] Translation: X:707.95, Y:8.11, Z:4.87 [[ 9.99345848e-01 -3.28980555e-02 -1.50197714e-02 7.07948220e+02] [ 3.28976699e-02 9.99458688e-01 -2.72810145e-04 8.10706974e+00] [ 1.50206159e-02 -2.21483795e-04 9.99887160e-01 4.86641426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1192541539999 meters 0.01618827052153639 Centerline is valid? [True, True] Translation: X:707.98, Y:8.10, Z:4.87 [[ 9.99238184e-01 -3.63425652e-02 -1.42221759e-02 7.07979610e+02] [ 3.63425766e-02 9.99339357e-01 -2.57726908e-04 8.10433601e+00] [ 1.42221466e-02 -2.59339949e-04 9.99898827e-01 4.86756900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1492541539999 meters 0.017332115953153454 Centerline is valid? [True, True] Translation: X:708.01, Y:8.10, Z:4.87 [[ 9.99127468e-01 -3.93121722e-02 -1.41016183e-02 7.08010970e+02] [ 3.93124932e-02 9.99226933e-01 -2.54545545e-04 8.10020965e+00] [ 1.41007235e-02 -3.00046326e-04 9.99900535e-01 4.86757161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1792541539999 meters 0.018049940265230897 Centerline is valid? [True, True] Translation: X:708.04, Y:8.10, Z:4.87 [[ 9.99032406e-01 -4.14955019e-02 -1.45731102e-02 7.08042896e+02] [ 4.14960957e-02 9.99138632e-01 -2.61760002e-04 8.09758254e+00] [ 1.45714193e-02 -3.43220452e-04 9.99893772e-01 4.86778593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.209254154 meters 0.019022820796196965 Centerline is valid? [True, True] Translation: X:708.07, Y:8.09, Z:4.87 [[ 9.98885140e-01 -4.49972998e-02 -1.42730808e-02 7.08073608e+02] [ 4.49982467e-02 9.98987033e-01 -2.54964461e-04 8.09145456e+00] [ 1.42700953e-02 -3.87583399e-04 9.99898102e-01 4.86886653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2392541539999 meters 0.0194659756956932 Centerline is valid? [True, True] Translation: X:708.11, Y:8.09, Z:4.87 [[ 9.98839828e-01 -4.61125591e-02 -1.38791064e-02 7.08106117e+02] [ 4.61135805e-02 9.98936173e-01 -2.46592043e-04 8.08901303e+00] [ 1.38757125e-02 -3.93709338e-04 9.99903650e-01 4.86921743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2692541539999 meters 0.019743339854305802 Centerline is valid? [True, True] Translation: X:708.14, Y:8.09, Z:4.87 [[ 9.98814840e-01 -4.66616387e-02 -1.38422131e-02 7.08137918e+02] [ 4.66627209e-02 9.98910672e-01 -2.44956900e-04 8.08685439e+00] [ 1.38385645e-02 -4.01248741e-04 9.99904162e-01 4.86969215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2992541539999 meters 0.018842436148809316 Centerline is valid? [True, True] Translation: X:708.17, Y:8.09, Z:4.87 [[ 9.98795037e-01 -4.72045751e-02 -1.34239095e-02 7.08170142e+02] [ 4.72056547e-02 9.98885164e-01 -2.36601619e-04 8.08554484e+00] [ 1.34201127e-02 -3.97367913e-04 9.99909867e-01 4.87086299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.329254154 meters 0.021002242871867704 Centerline is valid? [True, True] Translation: X:708.20, Y:8.08, Z:4.87 [[ 9.98796457e-01 -4.71294444e-02 -1.35813106e-02 7.08201425e+02] [ 4.71305544e-02 9.98888709e-01 -2.38496639e-04 8.08165323e+00] [ 1.35774580e-02 -4.01885100e-04 9.99907741e-01 4.86953376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3592541539999 meters 0.021190937238217168 Centerline is valid? [True, True] Translation: X:708.23, Y:8.08, Z:4.87 [[ 9.98813073e-01 -4.67264769e-02 -1.37506830e-02 7.08232315e+02] [ 4.67275869e-02 9.98907641e-01 -2.40730972e-04 8.08030642e+00] [ 1.37469108e-02 -4.02090991e-04 9.99905426e-01 4.86944770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3892541539999 meters 0.019152510760252383 Centerline is valid? [True, True] Translation: X:708.26, Y:8.08, Z:4.87 [[ 9.98816917e-01 -4.64788384e-02 -1.42997899e-02 7.08264832e+02] [ 4.64800264e-02 9.98919188e-01 -2.49431946e-04 8.08125705e+00] [ 1.42959278e-02 -4.15517764e-04 9.99897722e-01 4.87024705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4192541539999 meters 0.019327802971298078 Centerline is valid? [True, True] Translation: X:708.30, Y:8.08, Z:4.87 [[ 9.98804383e-01 -4.65868946e-02 -1.48144019e-02 7.08296970e+02] [ 4.65881977e-02 9.98914147e-01 -2.57315101e-04 8.08021214e+00] [ 1.48103031e-02 -4.33168834e-04 9.99890228e-01 4.86995008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.449254154 meters 0.022222923257240415 Centerline is valid? [True, True] Translation: X:708.33, Y:8.07, Z:4.87 [[ 9.98696244e-01 -4.80872484e-02 -1.71297366e-02 7.08327791e+02] [ 4.80892433e-02 9.98842999e-01 -2.95669619e-04 8.07438425e+00] [ 1.71241354e-02 -5.28471933e-04 9.99853232e-01 4.86653003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4792541539999 meters 0.021960209471488447 Centerline is valid? [True, True] Translation: X:708.36, Y:8.07, Z:4.87 [[ 9.98595154e-01 -4.99524681e-02 -1.76768023e-02 7.08359005e+02] [ 4.99549068e-02 9.98751428e-01 -3.03842968e-04 8.07304760e+00] [ 1.76699092e-02 -5.79626896e-04 9.99843707e-01 4.86708880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5092541539999 meters 0.02013322678224119 Centerline is valid? [True, True] Translation: X:708.39, Y:8.08, Z:4.87 [[ 9.98482225e-01 -5.19235231e-02 -1.83628477e-02 7.08391155e+02] [ 5.19265079e-02 9.98650859e-01 -3.14535592e-04 8.07559675e+00] [ 1.83544055e-02 -6.39460361e-04 9.99831339e-01 4.86841640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5392541539999 meters 0.022498459575015034 Centerline is valid? [True, True] Translation: X:708.42, Y:8.07, Z:4.87 [[ 9.98207031e-01 -5.67741048e-02 -1.89584628e-02 7.08421292e+02] [ 5.67781699e-02 9.98386766e-01 -3.24205720e-04 8.06982028e+00] [ 1.89462849e-02 -7.52802394e-04 9.99820220e-01 4.86811839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5692541539999 meters 0.022547545777185964 Centerline is valid? [True, True] Translation: X:708.45, Y:8.07, Z:4.87 [[ 9.98047227e-01 -5.95395341e-02 -1.88885373e-02 7.08452149e+02] [ 5.95440764e-02 9.98225625e-01 -3.22328950e-04 8.06916102e+00] [ 1.88742133e-02 -8.03000994e-04 9.99821544e-01 4.86868537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5992541539999 meters 0.024098568293993143 Centerline is valid? [True, True] Translation: X:708.48, Y:8.07, Z:4.87 [[ 9.97896695e-01 -6.21778789e-02 -1.83329796e-02 7.08482722e+02] [ 6.21826168e-02 9.98064740e-01 -3.12048980e-04 8.06592397e+00] [ 1.83169031e-02 -8.28600001e-04 9.99831888e-01 4.86876819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6292541539999 meters 0.02594662855217262 Centerline is valid? [True, True] Translation: X:708.51, Y:8.06, Z:4.87 [[ 9.97609258e-01 -6.67438465e-02 -1.79172313e-02 7.08513850e+02] [ 6.67491144e-02 9.97769744e-01 -3.04521158e-04 8.06267972e+00] [ 1.78975962e-02 -8.92166197e-04 9.99839427e-01 4.86870983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6592541539999 meters 0.02736273765826458 Centerline is valid? [True, True] Translation: X:708.54, Y:8.06, Z:4.87 [[ 9.97460796e-01 -6.90769022e-02 -1.73303928e-02 7.08544709e+02] [ 6.90822069e-02 9.97610928e-01 -2.93091045e-04 8.05933019e+00] [ 1.73092351e-02 -9.04874955e-04 9.99849775e-01 4.86958546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6892541539999 meters 0.02757477925406529 Centerline is valid? [True, True] Translation: X:708.58, Y:8.06, Z:4.87 [[ 9.97367302e-01 -7.03924714e-02 -1.74173754e-02 7.08576293e+02] [ 7.03980552e-02 9.97518936e-01 -2.93082841e-04 8.06001991e+00] [ 1.73947926e-02 -9.33838112e-04 9.99848263e-01 4.86919375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7192541539999 meters 0.03151667149747414 Centerline is valid? [True, True] Translation: X:708.61, Y:8.05, Z:4.87 [[ 9.97279232e-01 -7.15324761e-02 -1.78111580e-02 7.08607113e+02] [ 7.15385109e-02 9.97437794e-01 -2.98907793e-04 8.05456431e+00] [ 1.77869038e-02 -9.76089188e-04 9.99841324e-01 4.86793962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7492541539999 meters 0.027870387076199085 Centerline is valid? [True, True] Translation: X:708.64, Y:8.06, Z:4.87 [[ 9.97189598e-01 -7.29733402e-02 -1.69645751e-02 7.08639140e+02] [ 7.29790394e-02 9.97333434e-01 -2.83710736e-04 8.05829817e+00] [ 1.69400412e-02 -9.55144997e-04 9.99856051e-01 4.87051363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7792541539999 meters 0.029106539276681144 Centerline is valid? [True, True] Translation: X:708.67, Y:8.06, Z:4.87 [[ 9.97082951e-01 -7.43100573e-02 -1.74242524e-02 7.08670686e+02] [ 7.43162923e-02 9.97234679e-01 -2.90291193e-04 8.05607316e+00] [ 1.73976403e-02 -1.00546143e-03 9.99848144e-01 4.87041391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8092541539999 meters 0.030956446036107043 Centerline is valid? [True, True] Translation: X:708.70, Y:8.06, Z:4.87 [[ 9.97066810e-01 -7.43584297e-02 -1.81273147e-02 7.08702836e+02] [ 7.43652082e-02 9.97231029e-01 -3.00782809e-04 8.05534538e+00] [ 1.80994865e-02 -1.04814098e-03 9.99835641e-01 4.86843433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.839254154 meters 0.029165876262132302 Centerline is valid? [True, True] Translation: X:708.74, Y:8.06, Z:4.87 [[ 9.97044206e-01 -7.48732730e-02 -1.72291439e-02 7.08735164e+02] [ 7.48794943e-02 9.97192549e-01 -2.84634664e-04 8.05595023e+00] [ 1.72020855e-02 -1.00631624e-03 9.99851527e-01 4.87109818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8692541539999 meters 0.03145902735419189 Centerline is valid? [True, True] Translation: X:708.77, Y:8.05, Z:4.87 [[ 9.97093408e-01 -7.43183094e-02 -1.67786915e-02 7.08766544e+02] [ 7.43241487e-02 9.97234097e-01 -2.76154260e-04 8.05384508e+00] [ 1.67528066e-02 -9.71710369e-04 9.99859190e-01 4.87149837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8992541539999 meters 0.03044553658200974 Centerline is valid? [True, True] Translation: X:708.80, Y:8.06, Z:4.87 [[ 9.97157429e-01 -7.35178657e-02 -1.64980064e-02 7.08798842e+02] [ 7.35234196e-02 9.97293454e-01 -2.70463897e-04 8.05693043e+00] [ 1.64732377e-02 -9.43294765e-04 9.99863862e-01 4.87146112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9292541539999 meters 0.029474243028025756 Centerline is valid? [True, True] Translation: X:708.83, Y:8.06, Z:4.87 [[ 9.97244177e-01 -7.25444036e-02 -1.55358169e-02 7.08831243e+02] [ 7.25492278e-02 9.97364800e-01 -2.53590477e-04 8.05811099e+00] [ 1.55132735e-02 -8.74219891e-04 9.99879280e-01 4.87312999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.959254154 meters 0.030364811068035225 Centerline is valid? [True, True] Translation: X:708.86, Y:8.06, Z:4.87 [[ 9.97459165e-01 -6.96429798e-02 -1.50023409e-02 7.08862200e+02] [ 6.96471626e-02 9.97571658e-01 -2.44110767e-04 8.05883831e+00] [ 1.49829107e-02 -8.01379955e-04 9.99887429e-01 4.87334088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9892541539999 meters 0.02797392881578478 Centerline is valid? [True, True] Translation: X:708.89, Y:8.06, Z:4.87 [[ 9.97615223e-01 -6.74239947e-02 -1.47604615e-02 7.08893209e+02] [ 6.74278092e-02 9.97724127e-01 -2.39651038e-04 8.06374330e+00] [ 1.47430268e-02 -7.56186059e-04 9.99891030e-01 4.87388153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0192541539999 meters 0.026297824313444823 Centerline is valid? [True, True] Translation: X:708.93, Y:8.07, Z:4.87 [[ 9.97774869e-01 -6.49634033e-02 -1.50022018e-02 7.08925060e+02] [ 6.49670767e-02 9.97887378e-01 -2.42882278e-04 8.06788450e+00] [ 1.49862863e-02 -7.32307363e-04 9.99887431e-01 4.87428843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0492541539999 meters 0.025491374548967723 Centerline is valid? [True, True] Translation: X:708.95, Y:8.07, Z:4.87 [[ 9.98081447e-01 -5.97636314e-02 -1.61781642e-02 7.08954938e+02] [ 5.97672281e-02 9.98212307e-01 -2.61513720e-04 8.07219549e+00] [ 1.61648716e-02 -7.05912036e-04 9.99869091e-01 4.87334189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.079254154 meters 0.02569574198090768 Centerline is valid? [True, True] Translation: X:708.99, Y:8.07, Z:4.87 [[ 9.98251067e-01 -5.67433580e-02 -1.65830821e-02 7.08985649e+02] [ 5.67467267e-02 9.98388570e-01 -2.67718589e-04 8.07462757e+00] [ 1.65715509e-02 -6.73785261e-04 9.99862455e-01 4.87252417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1092541539999 meters 0.02569574198090768 Centerline is valid? [True, True] Translation: X:709.02, Y:8.08, Z:4.87 [[ 9.98255030e-01 -5.66735874e-02 -1.65830969e-02 7.09017361e+02] [ 5.66769617e-02 9.98392533e-01 -2.66799602e-04 8.07507416e+00] [ 1.65715606e-02 -6.73545503e-04 9.99862455e-01 4.87274387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1392541539999 meters 0.024303244640937364 Centerline is valid? [True, True] Translation: X:709.05, Y:8.08, Z:4.87 [[ 9.98411285e-01 -5.38220157e-02 -1.66762576e-02 7.09048514e+02] [ 5.38250447e-02 9.98550346e-01 -2.67464691e-04 8.07974937e+00] [ 1.66664782e-02 -6.30560543e-04 9.99860906e-01 4.87313771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1692541539999 meters 0.021855826394674305 Centerline is valid? [True, True] Translation: X:709.08, Y:8.09, Z:4.88 [[ 9.98661403e-01 -4.90904288e-02 -1.62951322e-02 7.09078577e+02] [ 4.90926957e-02 9.98794193e-01 -2.61111167e-04 8.08546911e+00] [ 1.62883014e-02 -5.39210321e-04 9.99867191e-01 4.87524745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.199254154 meters 0.020452012092147587 Centerline is valid? [True, True] Translation: X:709.11, Y:8.09, Z:4.88 [[ 9.98760419e-01 -4.70873947e-02 -1.61369942e-02 7.09110429e+02] [ 4.70893646e-02 9.98890647e-01 -2.58082634e-04 8.08949378e+00] [ 1.61312451e-02 -5.02118085e-04 9.99869757e-01 4.87612978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2292541539999 meters 0.01984123408030769 Centerline is valid? [True, True] Translation: X:709.14, Y:8.09, Z:4.88 [[ 9.98857109e-01 -4.49267971e-02 -1.63113118e-02 7.09141537e+02] [ 4.49285336e-02 9.98990170e-01 -2.60154317e-04 8.09291150e+00] [ 1.63065281e-02 -4.72986334e-04 9.99866928e-01 4.87614451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2592541539999 meters 0.018746664389845995 Centerline is valid? [True, True] Translation: X:709.17, Y:8.10, Z:4.88 [[ 9.98975232e-01 -4.19014271e-02 -1.71101067e-02 7.09171915e+02] [ 4.19029131e-02 9.99121650e-01 -2.71805026e-04 8.09619359e+00] [ 1.71064671e-02 -4.45436826e-04 9.99853574e-01 4.87613228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2892541539999 meters 0.017937046861162466 Centerline is valid? [True, True] Translation: X:709.20, Y:8.10, Z:4.88 [[ 9.99033696e-01 -4.04567991e-02 -1.71733043e-02 7.09203187e+02] [ 4.04580990e-02 9.99181199e-01 -2.71872234e-04 8.09888869e+00] [ 1.71702419e-02 -4.23189724e-04 9.99852491e-01 4.87632930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3192541539999 meters 0.020426218413049792 Centerline is valid? [True, True] Translation: X:709.23, Y:8.10, Z:4.87 [[ 9.99077369e-01 -3.86774819e-02 -1.86671795e-02 7.09233371e+02] [ 3.86787165e-02 9.99251655e-01 -2.95036122e-04 8.09914014e+00] [ 1.86646212e-02 -4.27258630e-04 9.99825709e-01 4.87321996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3492541539999 meters 0.01815940940616826 Centerline is valid? [True, True] Translation: X:709.26, Y:8.10, Z:4.88 [[ 9.99102992e-01 -3.82710750e-02 -1.81255405e-02 7.09263765e+02] [ 3.82721743e-02 9.99267311e-01 -2.86354039e-04 8.10097021e+00] [ 1.81232192e-02 -4.07606667e-04 9.99835678e-01 4.87529539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3792541539999 meters 0.017443994478414607 Centerline is valid? [True, True] Translation: X:709.29, Y:8.10, Z:4.88 [[ 9.99166471e-01 -3.68908524e-02 -1.74764887e-02 7.09294104e+02] [ 3.68916633e-02 9.99319233e-01 -2.76100078e-04 8.10438208e+00] [ 1.74747769e-02 -3.68866797e-04 9.99847236e-01 4.87686092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4092541539999 meters 0.017188979786965427 Centerline is valid? [True, True] Translation: X:709.33, Y:8.11, Z:4.88 [[ 9.99191109e-01 -3.65448306e-02 -1.67810251e-02 7.09325720e+02] [ 3.65455354e-02 9.99331954e-01 -2.64758163e-04 8.10545012e+00] [ 1.67794901e-02 -3.48727544e-04 9.99859154e-01 4.87811549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4392541539999 meters 0.017313683177123423 Centerline is valid? [True, True] Translation: X:709.36, Y:8.11, Z:4.88 [[ 9.99232222e-01 -3.63656892e-02 -1.45774838e-02 7.09356062e+02] [ 3.63662070e-02 9.99338504e-01 -2.29639183e-04 8.10553529e+00] [ 1.45761919e-02 -3.00664924e-04 9.99893716e-01 4.87980202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4692541539999 meters 0.019430042806099817 Centerline is valid? [True, True] Translation: X:709.39, Y:8.11, Z:4.88 [[ 9.99238731e-01 -3.61425883e-02 -1.46857541e-02 7.09387741e+02] [ 3.61430956e-02 9.99346598e-01 -2.30945951e-04 8.10538324e+00] [ 1.46845054e-02 -3.00018475e-04 9.99892132e-01 4.87873780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4992541539999 meters 0.017014302357374975 Centerline is valid? [True, True] Translation: X:709.42, Y:8.11, Z:4.88 [[ 9.99231901e-01 -3.67015247e-02 -1.37333900e-02 7.09418651e+02] [ 3.67020277e-02 9.99326230e-01 -2.15491324e-04 8.10681726e+00] [ 1.37320457e-02 -2.88717454e-04 9.99905669e-01 4.88132019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5292541539999 meters 0.01916018924735787 Centerline is valid? [True, True] Translation: X:709.45, Y:8.10, Z:4.88 [[ 9.99225041e-01 -3.68620215e-02 -1.38025201e-02 7.09449784e+02] [ 3.68625598e-02 9.99320322e-01 -2.15491199e-04 8.10483967e+00] [ 1.38010823e-02 -2.93472020e-04 9.99904717e-01 4.87960659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5592541539999 meters 0.018601992244049192 Centerline is valid? [True, True] Translation: X:709.48, Y:8.10, Z:4.88 [[ 9.99152734e-01 -3.87818348e-02 -1.37761906e-02 7.09480490e+02] [ 3.87825683e-02 9.99247650e-01 -2.14005079e-04 8.10213784e+00] [ 1.37741256e-02 -3.20452292e-04 9.99905081e-01 4.88023127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.589254154 meters 0.018106290406908965 Centerline is valid? [True, True] Translation: X:709.51, Y:8.10, Z:4.88 [[ 9.99112139e-01 -3.99183518e-02 -1.34706724e-02 7.09512394e+02] [ 3.99191659e-02 9.99202891e-01 -2.08545511e-04 8.10300931e+00] [ 1.34682596e-02 -3.29377655e-04 9.99909245e-01 4.87994591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6192541539999 meters 0.020163142048007263 Centerline is valid? [True, True] Translation: X:709.54, Y:8.10, Z:4.88 [[ 9.99047208e-01 -4.12536641e-02 -1.42411902e-02 7.09543474e+02] [ 4.12547229e-02 9.99148637e-01 -2.19543850e-04 8.09865812e+00] [ 1.42381228e-02 -3.68181686e-04 9.99898565e-01 4.87836976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6492541539999 meters 0.02061171566920385 Centerline is valid? [True, True] Translation: X:709.57, Y:8.10, Z:4.88 [[ 9.98986659e-01 -4.26394489e-02 -1.44060230e-02 7.09574846e+02] [ 4.26406930e-02 9.99090448e-01 -2.20926250e-04 8.09678871e+00] [ 1.44023401e-02 -3.93580428e-04 9.99896203e-01 4.87804039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6792541539999 meters 0.020001982456329573 Centerline is valid? [True, True] Translation: X:709.61, Y:8.10, Z:4.88 [[ 9.98851089e-01 -4.56555650e-02 -1.45626413e-02 7.09606828e+02] [ 4.56571751e-02 9.98957143e-01 -2.22052292e-04 8.09704423e+00] [ 1.45575924e-02 -4.43091888e-04 9.99893934e-01 4.87840295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.709254154 meters 0.019234790777035916 Centerline is valid? [True, True] Translation: X:709.64, Y:8.10, Z:4.88 [[ 9.98807441e-01 -4.66100132e-02 -1.45327852e-02 7.09638833e+02] [ 4.66117330e-02 9.98913058e-01 -2.20535718e-04 8.09833860e+00] [ 1.45272681e-02 -4.57125588e-04 9.99894369e-01 4.87906987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7392541539999 meters 0.019584754852593485 Centerline is valid? [True, True] Translation: X:709.67, Y:8.10, Z:4.88 [[ 9.98778102e-01 -4.72113245e-02 -1.46079924e-02 7.09670813e+02] [ 4.72131423e-02 9.98884813e-01 -2.20590529e-04 8.09762500e+00] [ 1.46021161e-02 -4.69368234e-04 9.99893273e-01 4.87930895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7692541539999 meters 0.020321722664914832 Centerline is valid? [True, True] Translation: X:709.70, Y:8.10, Z:4.88 [[ 9.98780520e-01 -4.71878402e-02 -1.45182980e-02 7.09701591e+02] [ 4.71896542e-02 9.98885924e-01 -2.17795953e-04 8.09519047e+00] [ 1.45124008e-02 -4.67583108e-04 9.99894580e-01 4.87904410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7992541539999 meters 0.01953965453637728 Centerline is valid? [True, True] Translation: X:709.73, Y:8.10, Z:4.88 [[ 9.98789304e-01 -4.69379227e-02 -1.47226877e-02 7.09733566e+02] [ 4.69397822e-02 9.98897697e-01 -2.19425279e-04 8.09629382e+00] [ 1.47167582e-02 -4.71920131e-04 9.99891591e-01 4.87965999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.829254154 meters 0.02208609434424551 Centerline is valid? [True, True] Translation: X:709.77, Y:8.10, Z:4.88 [[ 9.98823067e-01 -4.59984964e-02 -1.53824032e-02 7.09765743e+02] [ 4.60004327e-02 9.98941394e-01 -2.28103565e-04 8.09573753e+00] [ 1.53766117e-02 -4.79762099e-04 9.99881658e-01 4.87753998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8592541539999 meters 0.021222303701031536 Centerline is valid? [True, True] Translation: X:709.80, Y:8.09, Z:4.88 [[ 9.98849048e-01 -4.57097774e-02 -1.45325892e-02 7.09796765e+02] [ 4.57114958e-02 9.98954660e-01 -2.14075378e-04 8.09470275e+00] [ 1.45271830e-02 -4.50477401e-04 9.99894373e-01 4.87886789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8892541539999 meters 0.02021129622546902 Centerline is valid? [True, True] Translation: X:709.83, Y:8.09, Z:4.88 [[ 9.98864958e-01 -4.58009081e-02 -1.30794321e-02 7.09828584e+02] [ 4.58023237e-02 9.98950505e-01 -1.91451156e-04 8.09401946e+00] [ 1.30744739e-02 -4.07834530e-04 9.99914442e-01 4.88071308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9192541539999 meters 0.020274494217110233 Centerline is valid? [True, True] Translation: X:709.86, Y:8.09, Z:4.88 [[ 9.98875210e-01 -4.55902344e-02 -1.30324972e-02 7.09861269e+02] [ 4.55916341e-02 9.98960143e-01 -1.89832626e-04 8.09301833e+00] [ 1.30275998e-02 -4.04553741e-04 9.99915055e-01 4.88070190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.949254154 meters 0.01931873224175079 Centerline is valid? [True, True] Translation: X:709.89, Y:8.09, Z:4.88 [[ 9.98843928e-01 -4.62396369e-02 -1.31416369e-02 7.09893738e+02] [ 4.62411290e-02 9.98930289e-01 -1.90461627e-04 8.09318185e+00] [ 1.31363860e-02 -4.17442686e-04 9.99913627e-01 4.88076211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9792541539999 meters 0.01947620950034586 Centerline is valid? [True, True] Translation: X:709.93, Y:8.09, Z:4.88 [[ 9.98811328e-01 -4.69211659e-02 -1.32035839e-02 7.09925686e+02] [ 4.69227445e-02 9.98898503e-01 -1.90377566e-04 8.09224737e+00] [ 1.31979730e-02 -4.29397125e-04 9.99912811e-01 4.88088371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0092541539999 meters 0.020123934715702854 Centerline is valid? [True, True] Translation: X:709.96, Y:8.09, Z:4.88 [[ 9.98769448e-01 -4.77230761e-02 -1.34943644e-02 7.09957626e+02] [ 4.77248118e-02 9.98860503e-01 -1.93554404e-04 8.09223352e+00] [ 1.34882246e-02 -4.50699777e-04 9.99908928e-01 4.87997553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0392541539999 meters 0.023407443732601705 Centerline is valid? [True, True] Translation: X:709.99, Y:8.09, Z:4.88 [[ 9.98657783e-01 -4.98549784e-02 -1.40396807e-02 7.09988650e+02] [ 4.98570808e-02 9.98756342e-01 -2.00438356e-04 8.08659477e+00] [ 1.40322130e-02 -4.99808171e-04 9.99901419e-01 4.87848975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0692541539999 meters 0.02142483652086539 Centerline is valid? [True, True] Translation: X:710.02, Y:8.09, Z:4.88 [[ 9.98551530e-01 -5.19210039e-02 -1.41085631e-02 7.10020338e+02] [ 5.19233440e-02 9.98651053e-01 -2.00635661e-04 8.08815373e+00] [ 1.40999486e-02 -5.32218727e-04 9.99900449e-01 4.88044449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0992541539999 meters 0.022592252735796656 Centerline is valid? [True, True] Translation: X:710.05, Y:8.09, Z:4.88 [[ 9.98440193e-01 -5.38796165e-02 -1.46344553e-02 7.10051731e+02] [ 5.38823563e-02 9.98547269e-01 -2.07294282e-04 8.08581956e+00] [ 1.46243643e-02 -5.81567992e-04 9.99892889e-01 4.88015859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1292541539999 meters 0.023398776919057906 Centerline is valid? [True, True] Translation: X:710.08, Y:8.08, Z:4.88 [[ 9.98313822e-01 -5.60478488e-02 -1.51047033e-02 7.10083469e+02] [ 5.60510280e-02 9.98427883e-01 -2.13115368e-04 8.08447473e+00] [ 1.50929016e-02 -6.33878131e-04 9.99885895e-01 4.87996163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1592541539999 meters 0.02477019720177831 Centerline is valid? [True, True] Translation: X:710.11, Y:8.08, Z:4.88 [[ 9.98095076e-01 -5.97853991e-02 -1.52290886e-02 7.10114244e+02] [ 5.97890764e-02 9.98211010e-01 -2.14126535e-04 8.08179252e+00] [ 1.52146456e-02 -6.96814504e-04 9.99884008e-01 4.88038808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1892541539999 meters 0.02543953903490086 Centerline is valid? [True, True] Translation: X:710.15, Y:8.08, Z:4.88 [[ 9.98025871e-01 -6.10056256e-02 -1.49223027e-02 7.10146839e+02] [ 6.10093052e-02 9.98137175e-01 -2.08936268e-04 8.08129600e+00] [ 1.49072514e-02 -7.01875522e-04 9.99888634e-01 4.88081386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2192541539999 meters 0.025114292488351043 Centerline is valid? [True, True] Translation: X:710.18, Y:8.08, Z:4.88 [[ 9.97982188e-01 -6.18984885e-02 -1.41466823e-02 7.10179251e+02] [ 6.19018993e-02 9.98082219e-01 -1.97068494e-04 8.08229303e+00] [ 1.41317503e-02 -6.79035657e-04 9.99899911e-01 4.88173817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2492541539999 meters 0.0265323586706283 Centerline is valid? [True, True] Translation: X:710.21, Y:8.08, Z:4.88 [[ 9.97971754e-01 -6.23312507e-02 -1.29303242e-02 7.10210483e+02] [ 6.23341465e-02 9.98055320e-01 -1.79330186e-04 8.08162543e+00] [ 1.29163567e-02 -6.27034264e-04 9.99916384e-01 4.88241123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2792541539999 meters 0.02670427378537607 Centerline is valid? [True, True] Translation: X:710.24, Y:8.08, Z:4.88 [[ 9.98004289e-01 -6.17764559e-02 -1.30808445e-02 7.10242200e+02] [ 6.17793828e-02 9.98089813e-01 -1.80591922e-04 8.08264446e+00] [ 1.30670140e-02 -6.27894987e-04 9.99914426e-01 4.88275420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3092541539999 meters 0.025171474774693035 Centerline is valid? [True, True] Translation: X:710.27, Y:8.09, Z:4.88 [[ 9.98086310e-01 -6.04561689e-02 -1.29911045e-02 7.10274593e+02] [ 6.04589565e-02 9.98170668e-01 -1.78406307e-04 8.08781621e+00] [ 1.29781252e-02 -6.07363731e-04 9.99915596e-01 4.88178972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.339254154 meters 0.024757650974035515 Centerline is valid? [True, True] Translation: X:710.30, Y:8.09, Z:4.88 [[ 9.98218346e-01 -5.81928269e-02 -1.31805891e-02 7.10304913e+02] [ 5.81955079e-02 9.98305189e-01 -1.80368544e-04 8.09001180e+00] [ 1.31687467e-02 -5.87003889e-04 9.99913116e-01 4.88283808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3692541539999 meters 0.02435257196836329 Centerline is valid? [True, True] Translation: X:710.34, Y:8.09, Z:4.88 [[ 9.98299576e-01 -5.67573070e-02 -1.32877625e-02 7.10336684e+02] [ 5.67599127e-02 9.98387840e-01 -1.81246969e-04 8.09212075e+00] [ 1.32766276e-02 -5.73273469e-04 9.99911697e-01 4.88318437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3992541539999 meters 0.025387362175893803 Centerline is valid? [True, True] Translation: X:710.37, Y:8.09, Z:4.88 [[ 9.98398291e-01 -5.50172097e-02 -1.31893907e-02 7.10369434e+02] [ 5.50196394e-02 9.98485256e-01 -1.78843286e-04 8.09410119e+00] [ 1.31792516e-02 -5.47118687e-04 9.99913000e-01 4.88180058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4292541539999 meters 0.025074072222395955 Centerline is valid? [True, True] Translation: X:710.40, Y:8.10, Z:4.88 [[ 9.98550573e-01 -5.24343590e-02 -1.21404867e-02 7.10401116e+02] [ 5.24362373e-02 9.98624261e-01 -1.63763546e-04 8.09731943e+00] [ 1.21323714e-02 -4.73075257e-04 9.99926288e-01 4.88265686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.459254154 meters 0.023454734094049787 Centerline is valid? [True, True] Translation: X:710.43, Y:8.10, Z:4.89 [[ 9.98567217e-01 -5.23178360e-02 -1.12408277e-02 7.10433321e+02] [ 5.23194462e-02 9.98630388e-01 -1.50973506e-04 8.09900829e+00] [ 1.12333307e-02 -4.37356687e-04 9.99936809e-01 4.88549933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4892541539999 meters 0.02354976803978024 Centerline is valid? [True, True] Translation: X:710.47, Y:8.10, Z:4.89 [[ 9.98601869e-01 -5.16063610e-02 -1.14495018e-02 7.10465167e+02] [ 5.16079943e-02 9.98667408e-01 -1.52950201e-04 8.10066248e+00] [ 1.14421375e-02 -4.38149469e-04 9.99934441e-01 4.88564016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5192541539999 meters 0.022581808098368256 Centerline is valid? [True, True] Translation: X:710.50, Y:8.10, Z:4.89 [[ 9.98644823e-01 -5.06824859e-02 -1.18238773e-02 7.10497846e+02] [ 5.06841743e-02 9.98714719e-01 -1.57002393e-04 8.10478056e+00] [ 1.18166376e-02 -4.42493832e-04 9.99930083e-01 4.88566132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5492541539999 meters 0.02162711153723021 Centerline is valid? [True, True] Translation: X:710.53, Y:8.11, Z:4.89 [[ 9.98640153e-01 -5.06060451e-02 -1.25248873e-02 7.10529737e+02] [ 5.06079471e-02 9.98718583e-01 -1.65237558e-04 8.10808298e+00] [ 1.25171997e-02 -4.68845972e-04 9.99921547e-01 4.88535893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.579254154 meters 0.022272927001461405 Centerline is valid? [True, True] Translation: X:710.56, Y:8.11, Z:4.88 [[ 9.98646323e-01 -5.02283625e-02 -1.35141773e-02 7.10561770e+02] [ 5.02305564e-02 9.98737633e-01 -1.77251893e-04 8.10886615e+00] [ 1.35060205e-02 -5.01812694e-04 9.99908664e-01 4.88390115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6092541539999 meters 0.02214997179474635 Centerline is valid? [True, True] Translation: X:710.59, Y:8.11, Z:4.88 [[ 9.98597492e-01 -5.07775798e-02 -1.49895462e-02 7.10593540e+02] [ 5.07803581e-02 9.98709826e-01 -1.95450457e-04 8.11022752e+00] [ 1.49801316e-02 -5.65998189e-04 9.99887631e-01 4.88352782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6392541539999 meters 0.021602965138297063 Centerline is valid? [True, True] Translation: X:710.63, Y:8.11, Z:4.88 [[ 9.98580214e-01 -5.08790586e-02 -1.57758332e-02 7.10625316e+02] [ 5.08821673e-02 9.98704643e-01 -2.04519475e-04 8.11248097e+00] [ 1.57658036e-02 -5.98479482e-04 9.99875533e-01 4.88381594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6692541539999 meters 0.022003152829265155 Centerline is valid? [True, True] Translation: X:710.66, Y:8.11, Z:4.88 [[ 9.98578788e-01 -5.08995663e-02 -1.57999393e-02 7.10657853e+02] [ 5.09027055e-02 9.98703596e-01 -2.03670778e-04 8.11364856e+00] [ 1.57898230e-02 -6.00878339e-04 9.99875152e-01 4.88390095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.699254154 meters 0.02222538624626668 Centerline is valid? [True, True] Translation: X:710.69, Y:8.12, Z:4.88 [[ 9.98579869e-01 -5.07740284e-02 -1.61320494e-02 7.10688837e+02] [ 5.07773010e-02 9.98709979e-01 -2.06931556e-04 8.11503204e+00] [ 1.61217455e-02 -6.12504241e-04 9.99869849e-01 4.88439549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7292541539999 meters 0.022664384242145504 Centerline is valid? [True, True] Translation: X:710.72, Y:8.12, Z:4.89 [[ 9.98607639e-01 -5.04364239e-02 -1.54580128e-02 7.10720356e+02] [ 5.04394010e-02 9.98727104e-01 -1.97461595e-04 8.11689110e+00] [ 1.54482956e-02 -5.82506248e-04 9.99880498e-01 4.88505642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7592541539999 meters 0.02310468231811326 Centerline is valid? [True, True] Translation: X:710.75, Y:8.12, Z:4.89 [[ 9.98587974e-01 -5.07957013e-02 -1.55516878e-02 7.10752660e+02] [ 5.07987736e-02 9.98708889e-01 -1.97665263e-04 8.11763892e+00] [ 1.55416494e-02 -5.92620513e-04 9.99879046e-01 4.88529656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7892541539999 meters 0.023506574271353546 Centerline is valid? [True, True] Translation: X:710.78, Y:8.12, Z:4.89 [[ 9.98590583e-01 -5.07373023e-02 -1.55748023e-02 7.10784156e+02] [ 5.07404001e-02 9.98711857e-01 -1.96456430e-04 8.11815364e+00] [ 1.55647074e-02 -5.94092158e-04 9.99878686e-01 4.88566005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8192541539999 meters 0.025434060980400786 Centerline is valid? [True, True] Translation: X:710.82, Y:8.12, Z:4.89 [[ 9.98589316e-01 -5.10903402e-02 -1.44622280e-02 7.10815111e+02] [ 5.10930646e-02 9.98693880e-01 -1.81275962e-04 8.11857463e+00] [ 1.44526001e-02 -5.57899313e-04 9.99895400e-01 4.88520706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8492541539999 meters 0.025404491794932614 Centerline is valid? [True, True] Translation: X:710.85, Y:8.12, Z:4.89 [[ 9.98564946e-01 -5.18022826e-02 -1.35857289e-02 7.10847017e+02] [ 5.18047635e-02 9.98657217e-01 -1.69481372e-04 8.11927823e+00] [ 1.35762658e-02 -5.34567317e-04 9.99907695e-01 4.88637324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8792541539999 meters 0.02527872615606283 Centerline is valid? [True, True] Translation: X:710.88, Y:8.12, Z:4.89 [[ 9.98533380e-01 -5.25808347e-02 -1.28975096e-02 7.10878677e+02] [ 5.25831496e-02 9.98616536e-01 -1.59794410e-04 8.11953413e+00] [ 1.28880685e-02 -5.18631627e-04 9.99916811e-01 4.88779334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9092541539999 meters 0.024749058709883514 Centerline is valid? [True, True] Translation: X:710.91, Y:8.12, Z:4.89 [[ 9.98527471e-01 -5.27015807e-02 -1.28621082e-02 7.10910655e+02] [ 5.27039080e-02 9.98610171e-01 -1.58186323e-04 8.12283128e+00] [ 1.28525688e-02 -5.19929979e-04 9.99917267e-01 4.88692037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9392541539999 meters 0.023971334458630505 Centerline is valid? [True, True] Translation: X:710.94, Y:8.12, Z:4.89 [[ 9.98450479e-01 -5.39594993e-02 -1.36019845e-02 7.10942267e+02] [ 5.39622306e-02 9.98542964e-01 -1.66398522e-04 8.12421935e+00] [ 1.35911447e-02 -5.67852740e-04 9.99907475e-01 4.88765528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9692541539999 meters 0.025320542481053726 Centerline is valid? [True, True] Translation: X:710.97, Y:8.12, Z:4.89 [[ 9.98444547e-01 -5.39631697e-02 -1.40165304e-02 7.10973027e+02] [ 5.39660812e-02 9.98542755e-01 -1.70703133e-04 8.12316160e+00] [ 1.40053166e-02 -5.85979606e-04 9.99901749e-01 4.88714871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9992541539999 meters 0.0248561476464803 Centerline is valid? [True, True] Translation: X:711.01, Y:8.13, Z:4.89 [[ 9.98451047e-01 -5.38314989e-02 -1.40597541e-02 7.11005033e+02] [ 5.38344277e-02 9.98549861e-01 -1.70350078e-04 8.12519229e+00] [ 1.40485357e-02 -5.86812601e-04 9.99901142e-01 4.88700640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0292541539999 meters 0.0248561476464803 Centerline is valid? [True, True] Translation: X:711.04, Y:8.13, Z:4.89 [[ 9.98454866e-01 -5.37606166e-02 -1.40597661e-02 7.11036750e+02] [ 5.37635524e-02 9.98553680e-01 -1.69351838e-04 8.12551195e+00] [ 1.40485357e-02 -5.86812805e-04 9.99901142e-01 4.88722605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0592541539999 meters 0.024406718207011947 Centerline is valid? [True, True] Translation: X:711.07, Y:8.13, Z:4.89 [[ 9.98472445e-01 -5.33131895e-02 -1.45079363e-02 7.11068459e+02] [ 5.33162835e-02 9.98577660e-01 -1.73705161e-04 8.12736483e+00] [ 1.44965618e-02 -6.00069426e-04 9.99894739e-01 4.88759009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.089254154 meters 0.024015079281465714 Centerline is valid? [True, True] Translation: X:711.10, Y:8.13, Z:4.89 [[ 9.98505654e-01 -5.26733598e-02 -1.45593970e-02 7.11100609e+02] [ 5.26764229e-02 9.98611618e-01 -1.73284882e-04 8.12897943e+00] [ 1.45483105e-02 -5.93911021e-04 9.99893991e-01 4.88779446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1192541539999 meters 0.02353336195711792 Centerline is valid? [True, True] Translation: X:711.13, Y:8.13, Z:4.89 [[ 9.98566250e-01 -5.15417383e-02 -1.44531316e-02 7.11132423e+02] [ 5.15446534e-02 9.98670676e-01 -1.70992713e-04 8.13070734e+00] [ 1.44427320e-02 -5.74234109e-04 9.99895533e-01 4.88796463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1492541539999 meters 0.023012529491128017 Centerline is valid? [True, True] Translation: X:711.16, Y:8.13, Z:4.89 [[ 9.98731022e-01 -4.83828965e-02 -1.39800118e-02 7.11162851e+02] [ 4.83853232e-02 9.98828731e-01 -1.64790229e-04 8.13412402e+00] [ 1.39716105e-02 -5.11846277e-04 9.99902261e-01 4.88857676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1792541539999 meters 0.022390633270744895 Centerline is valid? [True, True] Translation: X:711.20, Y:8.14, Z:4.89 [[ 9.98840508e-01 -4.61701238e-02 -1.36367079e-02 7.11195293e+02] [ 4.61722348e-02 9.98933481e-01 -1.60155694e-04 8.13680313e+00] [ 1.36295585e-02 -4.69667283e-04 9.99907003e-01 4.88886998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.209254154 meters 0.022172406779369467 Centerline is valid? [True, True] Translation: X:711.23, Y:8.14, Z:4.89 [[ 9.98953505e-01 -4.36263386e-02 -1.37345085e-02 7.11226191e+02] [ 4.36282497e-02 9.99047822e-01 -1.60582598e-04 8.13889965e+00] [ 1.37284364e-02 -4.38798017e-04 9.99905664e-01 4.88899832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2392541539999 meters 0.019973008188799133 Centerline is valid? [True, True] Translation: X:711.26, Y:8.15, Z:4.89 [[ 9.99176136e-01 -3.80732570e-02 -1.40525926e-02 7.11256559e+02] [ 3.80747124e-02 9.99274882e-01 -1.64055636e-04 8.14533896e+00] [ 1.40486490e-02 -3.71127946e-04 9.99901244e-01 4.88870503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2692541539999 meters 0.019145769360441607 Centerline is valid? [True, True] Translation: X:711.29, Y:8.15, Z:4.89 [[ 9.99281084e-01 -3.52337612e-02 -1.39963314e-02 7.11288292e+02] [ 3.52349316e-02 9.99379044e-01 -1.63038514e-04 8.14828682e+00] [ 1.39933847e-02 -3.30238475e-04 9.99902033e-01 4.88880949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2992541539999 meters 0.018452924070637602 Centerline is valid? [True, True] Translation: X:711.32, Y:8.15, Z:4.89 [[ 9.99361283e-01 -3.27318006e-02 -1.43406785e-02 7.11319910e+02] [ 3.27327806e-02 9.99464125e-01 -1.66437856e-04 8.15159840e+00] [ 1.43384415e-02 -3.03078733e-04 9.99897153e-01 4.88899790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.329254154 meters 0.01750228785545221 Centerline is valid? [True, True] Translation: X:711.35, Y:8.16, Z:4.89 [[ 9.99475583e-01 -2.89381940e-02 -1.45306442e-02 7.11350502e+02] [ 2.89388110e-02 9.99581171e-01 -1.67839788e-04 8.15666909e+00] [ 1.45294153e-02 -2.52747795e-04 9.99894411e-01 4.88941386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3592541539999 meters 0.01709979997746223 Centerline is valid? [True, True] Translation: X:711.38, Y:8.16, Z:4.89 [[ 9.99510097e-01 -2.77145817e-02 -1.45419192e-02 7.11381480e+02] [ 2.77150814e-02 9.99615849e-01 -1.67201502e-04 8.15832897e+00] [ 1.45409668e-02 -2.35910885e-04 9.99894247e-01 4.88960839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3892541539999 meters 0.017185761478999955 Centerline is valid? [True, True] Translation: X:711.41, Y:8.16, Z:4.89 [[ 9.99518846e-01 -2.75357957e-02 -1.42778268e-02 7.11413112e+02] [ 2.75362658e-02 9.99620792e-01 -1.63697707e-04 8.15872917e+00] [ 1.42769201e-02 -2.29539092e-04 9.99898053e-01 4.88979207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4192541539999 meters 0.016115522194209843 Centerline is valid? [True, True] Translation: X:711.44, Y:8.16, Z:4.89 [[ 9.99482716e-01 -2.88465825e-02 -1.42188527e-02 7.11444800e+02] [ 2.88471884e-02 9.99583820e-01 -1.62524952e-04 8.16152952e+00] [ 1.42176234e-02 -2.47733041e-04 9.99898894e-01 4.89108635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.449254154 meters 0.017775459407279058 Centerline is valid? [True, True] Translation: X:711.48, Y:8.16, Z:4.89 [[ 9.99443039e-01 -3.00197043e-02 -1.45749818e-02 7.11475218e+02] [ 3.00204715e-02 9.99549270e-01 -1.66193057e-04 8.16008319e+00] [ 1.45734015e-02 -2.71447334e-04 9.99893765e-01 4.88932244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4792541539999 meters 0.02040424368380315 Centerline is valid? [True, True] Translation: X:711.51, Y:8.16, Z:4.89 [[ 9.99387199e-01 -3.14420839e-02 -1.53824917e-02 7.11505594e+02] [ 3.14431113e-02 9.99505528e-01 -1.75113622e-04 8.15691155e+00] [ 1.53803914e-02 -3.08667085e-04 9.99881667e-01 4.88704249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5092541539999 meters 0.017730648152135906 Centerline is valid? [True, True] Translation: X:711.54, Y:8.16, Z:4.89 [[ 9.99304143e-01 -3.43034894e-02 -1.46458578e-02 7.11536908e+02] [ 3.43047337e-02 9.99411406e-01 -1.66331309e-04 8.15790365e+00] [ 1.46429430e-02 -3.36206684e-04 9.99892730e-01 4.89021607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5392541539999 meters 0.01882101759581015 Centerline is valid? [True, True] Translation: X:711.57, Y:8.16, Z:4.89 [[ 9.99165140e-01 -3.82527561e-02 -1.43439917e-02 7.11568036e+02] [ 3.82543635e-02 9.99268021e-01 -1.62394229e-04 8.15528082e+00] [ 1.43397042e-02 -3.86461621e-04 9.99897106e-01 4.89032324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5692541539999 meters 0.019561575778462244 Centerline is valid? [True, True] Translation: X:711.60, Y:8.15, Z:4.89 [[ 9.99091052e-01 -4.03059754e-02 -1.38743529e-02 7.11599705e+02] [ 4.03076856e-02 9.99187303e-01 -1.56463900e-04 8.15383386e+00] [ 1.38693837e-02 -4.02921373e-04 9.99903734e-01 4.89070122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5992541539999 meters 0.020087914846311148 Centerline is valid? [True, True] Translation: X:711.63, Y:8.15, Z:4.89 [[ 9.99021581e-01 -4.20362933e-02 -1.37415975e-02 7.11631995e+02] [ 4.20381462e-02 9.99115995e-01 -1.54109812e-04 8.15268298e+00] [ 1.37359281e-02 -4.23712256e-04 9.99905568e-01 4.89123238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6292541539999 meters 0.02112123635792816 Centerline is valid? [True, True] Translation: X:711.66, Y:8.15, Z:4.89 [[ 9.98875704e-01 -4.56013219e-02 -1.29556142e-02 7.11664406e+02] [ 4.56032800e-02 9.98959619e-01 -1.44393507e-04 8.15010332e+00] [ 1.29487200e-02 -4.46587337e-04 9.99916062e-01 4.89200248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6592541539999 meters 0.020318994056780382 Centerline is valid? [True, True] Translation: X:711.70, Y:8.15, Z:4.89 [[ 9.98793871e-01 -4.74219742e-02 -1.27263233e-02 7.11696851e+02] [ 4.74240230e-02 9.98874838e-01 -1.40913527e-04 8.15109115e+00] [ 1.27186865e-02 -4.62789882e-04 9.99919007e-01 4.89320197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6892541539999 meters 0.02158329575499713 Centerline is valid? [True, True] Translation: X:711.73, Y:8.15, Z:4.89 [[ 9.98693081e-01 -4.95929270e-02 -1.23560275e-02 7.11727924e+02] [ 4.95950341e-02 9.98769400e-01 -1.36006049e-04 8.14862193e+00] [ 1.23475671e-02 -4.76969307e-04 9.99923652e-01 4.89374750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7192541539999 meters 0.02212788563792156 Centerline is valid? [True, True] Translation: X:711.76, Y:8.15, Z:4.89 [[ 9.98575700e-01 -5.19852916e-02 -1.20042048e-02 7.11759714e+02] [ 5.19874609e-02 9.98647729e-01 -1.31475115e-04 8.14757974e+00] [ 1.19948066e-02 -4.92780272e-04 9.99927938e-01 4.89449024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7492541539999 meters 0.023294061049154772 Centerline is valid? [True, True] Translation: X:711.79, Y:8.14, Z:4.89 [[ 9.98350904e-01 -5.61899856e-02 -1.17540413e-02 7.11790761e+02] [ 5.61923632e-02 9.98419953e-01 -1.28139010e-04 8.14443491e+00] [ 1.17426695e-02 -5.32559660e-04 9.99930911e-01 4.89453893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7792541539999 meters 0.023594382034632513 Centerline is valid? [True, True] Translation: X:711.82, Y:8.14, Z:4.89 [[ 9.98233668e-01 -5.83208475e-02 -1.13235195e-02 7.11822590e+02] [ 5.83231972e-02 9.98297746e-01 -1.22894652e-04 8.14283958e+00] [ 1.13114113e-02 -5.37746283e-04 9.99935879e-01 4.89465777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8092541539999 meters 0.02574599420024026 Centerline is valid? [True, True] Translation: X:711.85, Y:8.14, Z:4.89 [[ 9.98132125e-01 -6.00448311e-02 -1.12640447e-02 7.11853683e+02] [ 6.00472727e-02 9.98195527e-01 -1.21616746e-04 8.13812277e+00] [ 1.12510215e-02 -5.54985580e-04 9.99936551e-01 4.89414570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.839254154 meters 0.026255400997581682 Centerline is valid? [True, True] Translation: X:711.89, Y:8.13, Z:4.89 [[ 9.97981117e-01 -6.25103970e-02 -1.12311894e-02 7.11885035e+02] [ 6.25129862e-02 9.98044143e-01 -1.20716656e-04 8.13450247e+00] [ 1.12167689e-02 -5.81622246e-04 9.99936921e-01 4.89412520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8692541539999 meters 0.02550655848069509 Centerline is valid? [True, True] Translation: X:711.92, Y:8.14, Z:4.89 [[ 9.97951528e-01 -6.29801260e-02 -1.12361335e-02 7.11916970e+02] [ 6.29827537e-02 9.98014608e-01 -1.20191329e-04 8.13513840e+00] [ 1.12213951e-02 -5.87737511e-04 9.99936865e-01 4.89418939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8992541539999 meters 0.02925961562943387 Centerline is valid? [True, True] Translation: X:711.95, Y:8.13, Z:4.89 [[ 9.97942048e-01 -6.30067294e-02 -1.19088914e-02 7.11948542e+02] [ 6.30096930e-02 9.98012907e-01 -1.26557327e-04 8.12932850e+00] [ 1.18932013e-02 -6.24078716e-04 9.99929079e-01 4.89365262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9292541539999 meters 0.02849487112102072 Centerline is valid? [True, True] Translation: X:711.98, Y:8.13, Z:4.89 [[ 9.98008951e-01 -6.17262640e-02 -1.29615462e-02 7.11981327e+02] [ 6.17296794e-02 9.98092895e-01 -1.36786101e-04 8.12909820e+00] [ 1.29452705e-02 -6.63598338e-04 9.99915986e-01 4.89285236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.959254154 meters 0.026621204172224962 Centerline is valid? [True, True] Translation: X:712.01, Y:8.13, Z:4.89 [[ 9.98112688e-01 -5.97680835e-02 -1.41010191e-02 7.12013144e+02] [ 5.97719461e-02 9.98212048e-01 -1.47743337e-04 8.13300830e+00] [ 1.40846375e-02 -6.95380854e-04 9.99900565e-01 4.89118947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9892541539999 meters 0.023323189485888136 Centerline is valid? [True, True] Translation: X:712.05, Y:8.14, Z:4.89 [[ 9.98273151e-01 -5.70669347e-02 -1.39312890e-02 7.12045035e+02] [ 5.70704531e-02 9.98370143e-01 -1.45189225e-04 8.13539073e+00] [ 1.39168685e-02 -6.50126472e-04 9.99902944e-01 4.89360536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0192541539999 meters 0.023234603043306077 Centerline is valid? [True, True] Translation: X:712.08, Y:8.14, Z:4.89 [[ 9.98381298e-01 -5.51184167e-02 -1.40265148e-02 7.12076145e+02] [ 5.51218119e-02 9.98479627e-01 -1.44728756e-04 8.13512708e+00] [ 1.40131665e-02 -6.28672427e-04 9.99901613e-01 4.89350847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0492541539999 meters 0.022745838162207547 Centerline is valid? [True, True] Translation: X:712.11, Y:8.14, Z:4.89 [[ 9.98522737e-01 -5.24948489e-02 -1.40226102e-02 7.12107782e+02] [ 5.24980040e-02 9.98621019e-01 -1.43256759e-04 8.13649282e+00] [ 1.40107935e-02 -5.93113915e-04 9.99901668e-01 4.89292189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.079254154 meters 0.020673687306905813 Centerline is valid? [True, True] Translation: X:712.14, Y:8.14, Z:4.89 [[ 9.98786887e-01 -4.73260193e-02 -1.36015562e-02 7.12138079e+02] [ 4.73285142e-02 9.98879368e-01 -1.38578061e-04 8.13889960e+00] [ 1.35928722e-02 -5.05331495e-04 9.99907485e-01 4.89428587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1092541539999 meters 0.0200625733383142 Centerline is valid? [True, True] Translation: X:712.17, Y:8.14, Z:4.89 [[ 9.98948647e-01 -4.38840204e-02 -1.32586966e-02 7.12168101e+02] [ 4.38860898e-02 9.99036532e-01 -1.34966881e-04 8.14039282e+00] [ 1.32518452e-02 -4.47047366e-04 9.99912091e-01 4.89478805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1392541539999 meters 0.018503505276127367 Centerline is valid? [True, True] Translation: X:712.20, Y:8.14, Z:4.90 [[ 9.99107428e-01 -4.01933057e-02 -1.29940608e-02 7.12199730e+02] [ 4.01949876e-02 9.99191846e-01 -1.31806399e-04 8.14350913e+00] [ 1.29888574e-02 -3.90607361e-04 9.99915565e-01 4.89555354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1692541539999 meters 0.0178303055051627 Centerline is valid? [True, True] Translation: X:712.23, Y:8.15, Z:4.90 [[ 9.99269218e-01 -3.60726078e-02 -1.26410726e-02 7.12230609e+02] [ 3.60738774e-02 9.99349118e-01 -1.27635759e-04 8.14530844e+00] [ 1.26374489e-02 -3.28470019e-04 9.99920090e-01 4.89564713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.199254154 meters 0.016235016040025925 Centerline is valid? [True, True] Translation: X:712.26, Y:8.15, Z:4.90 [[ 9.99518267e-01 -2.82316518e-02 -1.28921247e-02 7.12260887e+02] [ 2.82323237e-02 9.99601380e-01 -1.29908149e-04 8.15042693e+00] [ 1.28906532e-02 -2.34129071e-04 9.99916885e-01 4.89557014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2292541539999 meters 0.015549017049087888 Centerline is valid? [True, True] Translation: X:712.29, Y:8.15, Z:4.90 [[ 9.99603674e-01 -2.47310020e-02 -1.34488611e-02 7.12291926e+02] [ 2.47314180e-02 9.99694123e-01 -1.35399041e-04 8.15289203e+00] [ 1.34480959e-02 -1.97264027e-04 9.99909551e-01 4.89562566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2592541539999 meters 0.015289066939256456 Centerline is valid? [True, True] Translation: X:712.32, Y:8.15, Z:4.90 [[ 9.99660943e-01 -2.18797143e-02 -1.41165573e-02 7.12322833e+02] [ 2.18798904e-02 9.99760596e-01 -1.41988371e-04 8.15473471e+00] [ 1.41162844e-02 -1.66928497e-04 9.99900346e-01 4.89516388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2892541539999 meters 0.014922686339465302 Centerline is valid? [True, True] Translation: X:712.35, Y:8.16, Z:4.89 [[ 9.99707939e-01 -1.86540544e-02 -1.53643172e-02 7.12352596e+02] [ 1.86538774e-02 9.99825989e-01 -1.54847391e-04 8.15650833e+00] [ 1.53645322e-02 -1.31801923e-04 9.99881950e-01 4.89447865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3192541539999 meters 0.014919950375019532 Centerline is valid? [True, True] Translation: X:712.38, Y:8.16, Z:4.89 [[ 9.99703935e-01 -1.82981341e-02 -1.60380763e-02 7.12381780e+02] [ 1.82978538e-02 9.99832567e-01 -1.64227561e-04 8.15640231e+00] [ 1.60383961e-02 -1.29283437e-04 9.99871368e-01 4.89420056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3492541539999 meters 0.014822302265311272 Centerline is valid? [True, True] Translation: X:712.41, Y:8.16, Z:4.89 [[ 9.99685185e-01 -1.88780412e-02 -1.65272477e-02 7.12409475e+02] [ 1.88777464e-02 9.99821784e-01 -1.73855431e-04 8.15576748e+00] [ 1.65275843e-02 -1.38196493e-04 9.99863401e-01 4.89390692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3792541539999 meters 0.01544671331806706 Centerline is valid? [True, True] Translation: X:712.44, Y:8.15, Z:4.89 [[ 9.99613654e-01 -2.20558728e-02 -1.69139562e-02 7.12437070e+02] [ 2.20559687e-02 9.99756721e-01 -1.80888488e-04 8.15221276e+00] [ 1.69138310e-02 -1.92235086e-04 9.99856932e-01 4.89322540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4092541539999 meters 0.016033574558737246 Centerline is valid? [True, True] Translation: X:712.47, Y:8.15, Z:4.89 [[ 9.99561800e-01 -2.45481068e-02 -1.65408091e-02 7.12465740e+02] [ 2.45484912e-02 9.99698624e-01 -1.79832630e-04 8.15046236e+00] [ 1.65402386e-02 -2.26298077e-04 9.99863175e-01 4.89361064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4392541539999 meters 0.016428188200320253 Centerline is valid? [True, True] Translation: X:712.49, Y:8.15, Z:4.89 [[ 9.99502698e-01 -2.70939158e-02 -1.61330689e-02 7.12494922e+02] [ 2.70945767e-02 9.99632859e-01 -1.77651938e-04 8.14824854e+00] [ 1.61319590e-02 -2.59555079e-04 9.99869838e-01 4.89433603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4692541539999 meters 0.0166602349120802 Centerline is valid? [True, True] Translation: X:712.53, Y:8.15, Z:4.90 [[ 9.99347228e-01 -3.26178912e-02 -1.55303156e-02 7.12525115e+02] [ 3.26191607e-02 9.99467839e-01 -1.71621908e-04 8.14653952e+00] [ 1.55276489e-02 -3.35075981e-04 9.99879383e-01 4.89637987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4992541539999 meters 0.01831397204594796 Centerline is valid? [True, True] Translation: X:712.56, Y:8.14, Z:4.90 [[ 9.99269001e-01 -3.51493230e-02 -1.50329290e-02 7.12555774e+02] [ 3.51507992e-02 9.99382006e-01 -1.66100583e-04 8.14263067e+00] [ 1.50294771e-02 -3.62440306e-04 9.99886985e-01 4.89602530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5292541539999 meters 0.01876967935363358 Centerline is valid? [True, True] Translation: X:712.59, Y:8.14, Z:4.90 [[ 9.99191146e-01 -3.73001255e-02 -1.50251352e-02 7.12586611e+02] [ 3.73018471e-02 9.99304030e-01 -1.65743798e-04 8.14108245e+00] [ 1.50208604e-02 -3.94855560e-04 9.99887103e-01 4.89642035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5592541539999 meters 0.02215858079429312 Centerline is valid? [True, True] Translation: X:712.62, Y:8.14, Z:4.89 [[ 9.99033765e-01 -4.08917962e-02 -1.61058108e-02 7.12616733e+02] [ 4.08942429e-02 9.99163465e-01 -1.77533429e-04 8.13662353e+00] [ 1.60995974e-02 -4.81273049e-04 9.99870277e-01 4.89429681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.589254154 meters 0.02160188628101202 Centerline is valid? [True, True] Translation: X:712.65, Y:8.13, Z:4.90 [[ 9.98930291e-01 -4.34592773e-02 -1.57976102e-02 7.12648096e+02] [ 4.34619568e-02 9.99055068e-01 -1.73828351e-04 8.13485967e+00] [ 1.57902370e-02 -5.12952649e-04 9.99875195e-01 4.89611946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6192541539999 meters 0.019719341970026255 Centerline is valid? [True, True] Translation: X:712.68, Y:8.14, Z:4.90 [[ 9.98859243e-01 -4.50925204e-02 -1.57123386e-02 7.12680113e+02] [ 4.50953869e-02 9.98982671e-01 -1.71995318e-04 8.13774498e+00] [ 1.57041097e-02 -5.36754875e-04 9.99876539e-01 4.89735779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6492541539999 meters 0.02022725151267648 Centerline is valid? [True, True] Translation: X:712.71, Y:8.14, Z:4.90 [[ 9.98789134e-01 -4.65992614e-02 -1.57726164e-02 7.12712344e+02] [ 4.66023561e-02 9.98913505e-01 -1.71478117e-04 8.13626067e+00] [ 1.57634703e-02 -5.63770604e-04 9.99875590e-01 4.89811947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6792541539999 meters 0.021254883254090966 Centerline is valid? [True, True] Translation: X:712.74, Y:8.13, Z:4.90 [[ 9.98719528e-01 -4.82696857e-02 -1.51440466e-02 7.12743488e+02] [ 4.82727503e-02 9.98834178e-01 -1.63323999e-04 8.13349320e+00] [ 1.51342749e-02 -5.67929914e-04 9.99885309e-01 4.89838331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.709254154 meters 0.021500234144624847 Centerline is valid? [True, True] Translation: X:712.78, Y:8.13, Z:4.90 [[ 9.98711039e-01 -4.83593235e-02 -1.54154603e-02 7.12775538e+02] [ 4.83625302e-02 9.98829835e-01 -1.64918537e-04 8.13305093e+00] [ 1.54053970e-02 -5.80824700e-04 9.99881161e-01 4.89846707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7392541539999 meters 0.02146172550844516 Centerline is valid? [True, True] Translation: X:712.81, Y:8.13, Z:4.90 [[ 9.98742812e-01 -4.75153473e-02 -1.59714509e-02 7.12807218e+02] [ 4.75187007e-02 9.98870334e-01 -1.69678496e-04 8.13286520e+00] [ 1.59614709e-02 -5.89477420e-04 9.99872434e-01 4.89841609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7692541539999 meters 0.019897224910483388 Centerline is valid? [True, True] Translation: X:712.84, Y:8.14, Z:4.90 [[ 9.98846260e-01 -4.48116847e-02 -1.72644429e-02 7.12839038e+02] [ 4.48152194e-02 9.98995277e-01 -1.82289673e-04 8.13662125e+00] [ 1.72552656e-02 -5.91630438e-04 9.99850942e-01 4.89801041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7992541539999 meters 0.02006399633366855 Centerline is valid? [True, True] Translation: X:712.87, Y:8.14, Z:4.90 [[ 9.98940335e-01 -4.24634054e-02 -1.77500935e-02 7.12869556e+02] [ 4.24667820e-02 9.99097862e-01 -1.86819501e-04 8.13690078e+00] [ 1.77420135e-02 -5.67167818e-04 9.99842437e-01 4.89759882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.829254154 meters 0.019292302300398276 Centerline is valid? [True, True] Translation: X:712.90, Y:8.14, Z:4.90 [[ 9.99055597e-01 -3.96207356e-02 -1.78356790e-02 7.12901488e+02] [ 3.96237052e-02 9.99214655e-01 -1.86999946e-04 8.13911402e+00] [ 1.78290810e-02 -5.19892345e-04 9.99840914e-01 4.89774076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8592541539999 meters 0.019057283879410348 Centerline is valid? [True, True] Translation: X:712.93, Y:8.14, Z:4.90 [[ 9.99165977e-01 -3.67273356e-02 -1.78452355e-02 7.12931822e+02] [ 3.67298574e-02 9.99325214e-01 -1.86528661e-04 8.14065711e+00] [ 1.78400445e-02 -4.69079865e-04 9.99840744e-01 4.89761223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8892541539999 meters 0.016793505353619516 Centerline is valid? [True, True] Translation: X:712.96, Y:8.15, Z:4.90 [[ 9.99378241e-01 -3.03494596e-02 -1.79455055e-02 7.12962132e+02] [ 3.03509842e-02 9.99539285e-01 -1.87452166e-04 8.14682923e+00] [ 1.79429268e-02 -3.57328137e-04 9.99838949e-01 4.89927220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9192541539999 meters 0.016793505353619516 Centerline is valid? [True, True] Translation: X:712.99, Y:8.15, Z:4.90 [[ 9.99377137e-01 -3.03857960e-02 -1.79455013e-02 7.12991291e+02] [ 3.03873193e-02 9.99538181e-01 -1.87852695e-04 8.14716357e+00] [ 1.79429218e-02 -3.57579989e-04 9.99838949e-01 4.89947426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.949254154 meters 0.017585464446312194 Centerline is valid? [True, True] Translation: X:713.02, Y:8.15, Z:4.90 [[ 9.99460240e-01 -2.72734625e-02 -1.83135919e-02 7.13020768e+02] [ 2.72745181e-02 9.99627963e-01 -1.92168300e-04 8.14785326e+00] [ 1.83120197e-02 -3.07429820e-04 9.99832274e-01 4.89804694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9792541539999 meters 0.015675415643398513 Centerline is valid? [True, True] Translation: X:713.05, Y:8.15, Z:4.90 [[ 9.99525264e-01 -2.51323914e-02 -1.78216096e-02 7.13049191e+02] [ 2.51329998e-02 9.99684098e-01 -1.89866520e-04 8.15030430e+00] [ 1.78207515e-02 -2.58134126e-04 9.99841164e-01 4.89966586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0092541539999 meters 0.01548166351440108 Centerline is valid? [True, True] Translation: X:713.08, Y:8.15, Z:4.90 [[ 9.99591286e-01 -2.20291009e-02 -1.82202966e-02 7.13077525e+02] [ 2.20291779e-02 9.99757309e-01 -1.96498942e-04 8.15220459e+00] [ 1.82202034e-02 -2.04959527e-04 9.99833977e-01 4.89907323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0392541539999 meters 0.015165571303080268 Centerline is valid? [True, True] Translation: X:713.11, Y:8.15, Z:4.90 [[ 9.99596025e-01 -2.15466426e-02 -1.85345391e-02 7.13105424e+02] [ 2.15465718e-02 9.99767825e-01 -2.03535322e-04 8.15310577e+00] [ 1.85346214e-02 -1.95902680e-04 9.99828200e-01 4.89918454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0692541539999 meters 0.015063730817479963 Centerline is valid? [True, True] Translation: X:713.13, Y:8.15, Z:4.90 [[ 9.99580402e-01 -2.16661752e-02 -1.92249184e-02 7.13133760e+02] [ 2.16660140e-02 9.99765241e-01 -2.16693663e-04 8.15375219e+00] [ 1.92251001e-02 -1.99924612e-04 9.99815161e-01 4.89946007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0992541539999 meters 0.01568658729556669 Centerline is valid? [True, True] Translation: X:713.16, Y:8.15, Z:4.90 [[ 9.99537597e-01 -2.28454017e-02 -2.00668736e-02 7.13161493e+02] [ 2.28453982e-02 9.99738983e-01 -2.29445799e-04 8.15148153e+00] [ 2.00668776e-02 -2.29096016e-04 9.99798614e-01 4.89710886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1292541539999 meters 0.01561642790168536 Centerline is valid? [True, True] Translation: X:713.19, Y:8.15, Z:4.90 [[ 9.99496629e-01 -2.43221083e-02 -2.03696759e-02 7.13190550e+02] [ 2.43223304e-02 9.99704140e-01 -2.36876188e-04 8.15107178e+00] [ 2.03694107e-02 -2.58681036e-04 9.99792489e-01 4.89773199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1592541539999 meters 0.016809435381251563 Centerline is valid? [True, True] Translation: X:713.22, Y:8.15, Z:4.90 [[ 9.99452015e-01 -2.55760372e-02 -2.10127651e-02 7.13218974e+02] [ 2.55764366e-02 9.99672838e-01 -2.49784136e-04 8.15094496e+00] [ 2.10122790e-02 -2.87784395e-04 9.99779176e-01 4.89777246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1892541539999 meters 0.015888578073116617 Centerline is valid? [True, True] Translation: X:713.25, Y:8.15, Z:4.90 [[ 9.99382963e-01 -2.88802693e-02 -1.99905665e-02 7.13247473e+02] [ 2.88811898e-02 9.99582822e-01 -2.42715242e-04 8.14913666e+00] [ 1.99892366e-02 -3.34785868e-04 9.99800139e-01 4.89948278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2192541539999 meters 0.01702553835730438 Centerline is valid? [True, True] Translation: X:713.28, Y:8.15, Z:4.90 [[ 9.99348693e-01 -3.00000505e-02 -2.00545733e-02 7.13276315e+02] [ 3.00010982e-02 9.99549835e-01 -2.48685501e-04 8.14862536e+00] [ 2.00530061e-02 -3.53135694e-04 9.99798856e-01 4.89961555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2492541539999 meters 0.016198872476381982 Centerline is valid? [True, True] Translation: X:713.31, Y:8.15, Z:4.90 [[ 9.99312327e-01 -3.20035300e-02 -1.87255804e-02 7.13305324e+02] [ 3.20047062e-02 9.99487690e-01 -2.36939205e-04 8.14799221e+00] [ 1.87235700e-02 -3.62530433e-04 9.99824633e-01 4.90104494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2792541539999 meters 0.016829100646831685 Centerline is valid? [True, True] Translation: X:713.33, Y:8.15, Z:4.90 [[ 9.99247174e-01 -3.43764698e-02 -1.79817370e-02 7.13334453e+02] [ 3.43779037e-02 9.99408879e-01 -2.29454833e-04 8.14539315e+00] [ 1.79789955e-02 -3.88892330e-04 9.99838289e-01 4.90181846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3092541539999 meters 0.01727983075091546 Centerline is valid? [True, True] Translation: X:713.37, Y:8.14, Z:4.90 [[ 9.99213317e-01 -3.57721282e-02 -1.71202033e-02 7.13365280e+02] [ 3.57736306e-02 9.99359895e-01 -2.18582226e-04 8.14463209e+00] [ 1.71170637e-02 -3.94041557e-04 9.99853415e-01 4.90195443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.339254154 meters 0.017331922661780803 Centerline is valid? [True, True] Translation: X:713.40, Y:8.14, Z:4.90 [[ 9.99174507e-01 -3.69022125e-02 -1.69861977e-02 7.13396835e+02] [ 3.69038610e-02 9.99318797e-01 -2.16500217e-04 8.14395268e+00] [ 1.69826160e-02 -4.10534782e-04 9.99855701e-01 4.90262956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3692541539999 meters 0.017597687554846596 Centerline is valid? [True, True] Translation: X:713.43, Y:8.14, Z:4.90 [[ 9.99146531e-01 -3.78041165e-02 -1.66450576e-02 7.13428058e+02] [ 3.78058346e-02 9.99285082e-01 -2.11544528e-04 8.14309988e+00] [ 1.66411550e-02 -4.17916313e-04 9.99861439e-01 4.90313352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3992541539999 meters 0.01782602241018847 Centerline is valid? [True, True] Translation: X:713.46, Y:8.14, Z:4.90 [[ 9.99131423e-01 -3.84880057e-02 -1.59709831e-02 7.13459064e+02] [ 3.84896839e-02 9.99258977e-01 -2.02401367e-04 8.14223372e+00] [ 1.59669382e-02 -4.12492523e-04 9.99872435e-01 4.90374520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4292541539999 meters 0.017972117673794034 Centerline is valid? [True, True] Translation: X:713.49, Y:8.14, Z:4.90 [[ 9.99153125e-01 -3.80715066e-02 -1.56074552e-02 7.13489250e+02] [ 3.80730648e-02 9.99274939e-01 -1.97387714e-04 8.14235810e+00] [ 1.56036537e-02 -3.97003103e-04 9.99878177e-01 4.90404504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.459254154 meters 0.017141868583877277 Centerline is valid? [True, True] Translation: X:713.52, Y:8.14, Z:4.90 [[ 9.99198850e-01 -3.63756751e-02 -1.66873765e-02 7.13520611e+02] [ 3.63772284e-02 9.99338107e-01 -2.10549326e-04 8.14425474e+00] [ 1.66839901e-02 -3.96659863e-04 9.99860734e-01 4.90428683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4892541539999 meters 0.018981995306592225 Centerline is valid? [True, True] Translation: X:713.55, Y:8.14, Z:4.90 [[ 9.99245998e-01 -3.44943851e-02 -1.78205955e-02 7.13551561e+02] [ 3.44958606e-02 9.99404815e-01 -2.24677792e-04 8.14497207e+00] [ 1.78177391e-02 -3.90228394e-04 9.99841175e-01 4.90276783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5192541539999 meters 0.0168563752684844 Centerline is valid? [True, True] Translation: X:713.58, Y:8.15, Z:4.90 [[ 9.99280619e-01 -3.35502166e-02 -1.76812997e-02 7.13581908e+02] [ 3.35515237e-02 9.99436964e-01 -2.22790665e-04 8.14592400e+00] [ 1.76788192e-02 -3.70604154e-04 9.99843649e-01 4.90440101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5492541539999 meters 0.017738589041478434 Centerline is valid? [True, True] Translation: X:713.61, Y:8.15, Z:4.90 [[ 9.99359387e-01 -3.04728226e-02 -1.87675807e-02 7.13612039e+02] [ 3.04737555e-02 9.99535539e-01 -2.36343704e-04 8.14716302e+00] [ 1.87660659e-02 -3.35726365e-04 9.99823846e-01 4.90317579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.579254154 meters 0.015988875552515557 Centerline is valid? [True, True] Translation: X:713.64, Y:8.15, Z:4.90 [[ 9.99395121e-01 -2.97568231e-02 -1.79978770e-02 7.13641354e+02] [ 2.97575576e-02 9.99557120e-01 -2.27057663e-04 8.14825780e+00] [ 1.79966626e-02 -3.08652540e-04 9.99837999e-01 4.90460889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6092541539999 meters 0.015611386496340451 Centerline is valid? [True, True] Translation: X:713.67, Y:8.15, Z:4.90 [[ 9.99415238e-01 -2.85709549e-02 -1.87851438e-02 7.13670867e+02] [ 2.85715324e-02 9.99591722e-01 -2.37697663e-04 8.14908192e+00] [ 1.87842655e-02 -2.99161679e-04 9.99823515e-01 4.90463767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6392541539999 meters 0.015531331572768793 Centerline is valid? [True, True] Translation: X:713.70, Y:8.15, Z:4.90 [[ 9.99411043e-01 -2.85687507e-02 -1.90103648e-02 7.13699456e+02] [ 2.85692769e-02 9.99591785e-01 -2.43954309e-04 8.14908998e+00] [ 1.90095740e-02 -2.99301747e-04 9.99819257e-01 4.90419980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6692541539999 meters 0.016661150440568415 Centerline is valid? [True, True] Translation: X:713.73, Y:8.15, Z:4.90 [[ 9.99385760e-01 -2.86791500e-02 -2.01397322e-02 7.13728557e+02] [ 2.86796555e-02 9.99588619e-01 -2.63792422e-04 8.14858323e+00] [ 2.01390125e-02 -3.13970191e-04 9.99797140e-01 4.90274028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6992541539998 meters 0.015634758860823623 Centerline is valid? [True, True] Translation: X:713.76, Y:8.15, Z:4.90 [[ 9.99350424e-01 -2.96168222e-02 -2.05322560e-02 7.13757097e+02] [ 2.96174352e-02 9.99561270e-01 -2.74297303e-04 8.14862886e+00] [ 2.05313717e-02 -3.33993637e-04 9.99789153e-01 4.90338055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7292541539999 meters 0.01631456637858589 Centerline is valid? [True, True] Translation: X:713.79, Y:8.15, Z:4.90 [[ 9.99281245e-01 -3.11999026e-02 -2.15304348e-02 7.13785020e+02] [ 3.12008747e-02 9.99513092e-01 -2.90855296e-04 8.14710156e+00] [ 2.15290261e-02 -3.81122157e-04 9.99768151e-01 4.90214072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7592541539999 meters 0.01653486909004338 Centerline is valid? [True, True] Translation: X:713.81, Y:8.15, Z:4.90 [[ 9.99235009e-01 -3.25460380e-02 -2.16830115e-02 7.13813687e+02] [ 3.25472438e-02 9.99470154e-01 -2.97383176e-04 8.14753187e+00] [ 2.16812014e-02 -4.08566579e-04 9.99764852e-01 4.90274672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7892541539999 meters 0.016393953074112167 Centerline is valid? [True, True] Translation: X:713.84, Y:8.15, Z:4.90 [[ 9.99166902e-01 -3.43459598e-02 -2.20421654e-02 7.13842479e+02] [ 3.43475176e-02 9.99409902e-01 -3.08024273e-04 8.14653377e+00] [ 2.20397377e-02 -4.49326006e-04 9.99756995e-01 4.90326499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8192541539999 meters 0.016932184881063655 Centerline is valid? [True, True] Translation: X:713.87, Y:8.14, Z:4.90 [[ 9.99058668e-01 -3.78486675e-02 -2.11956714e-02 7.13871540e+02] [ 3.78507813e-02 9.99283357e-01 -3.01587850e-04 8.14465169e+00] [ 2.11918963e-02 -5.00968766e-04 9.99775301e-01 4.90439222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8492541539999 meters 0.017610354539180105 Centerline is valid? [True, True] Translation: X:713.90, Y:8.14, Z:4.90 [[ 9.98995058e-01 -3.97231730e-02 -2.07592031e-02 7.13900483e+02] [ 3.97255529e-02 9.99210584e-01 -2.97883396e-04 8.14274744e+00] [ 2.07546483e-02 -5.27086781e-04 9.99784460e-01 4.90484525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8792541539999 meters 0.01805002896316385 Centerline is valid? [True, True] Translation: X:713.93, Y:8.14, Z:4.91 [[ 9.98911396e-01 -4.22619826e-02 -1.97471065e-02 7.13930697e+02] [ 4.22646245e-02 9.99106411e-01 -2.83720792e-04 8.14182311e+00] [ 1.97414513e-02 -5.51192109e-04 9.99804967e-01 4.90579968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9092541539999 meters 0.018823665554293975 Centerline is valid? [True, True] Translation: X:713.96, Y:8.14, Z:4.91 [[ 9.98826595e-01 -4.45863373e-02 -1.89074239e-02 7.13960980e+02] [ 4.45891753e-02 9.99005371e-01 -2.71656472e-04 8.13979376e+00] [ 1.89007302e-02 -5.71728729e-04 9.99821202e-01 4.90665873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9392541539999 meters 0.021038574864048996 Centerline is valid? [True, True] Translation: X:713.99, Y:8.14, Z:4.91 [[ 9.98609138e-01 -4.97528017e-02 -1.74484583e-02 7.13992615e+02] [ 4.97560126e-02 9.98761371e-01 -2.50314535e-04 8.13533855e+00] [ 1.74393000e-02 -6.18199329e-04 9.99847733e-01 4.90726008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9692541539999 meters 0.0233626770973885 Centerline is valid? [True, True] Translation: X:714.02, Y:8.13, Z:4.91 [[ 9.98481634e-01 -5.24597356e-02 -1.68048670e-02 7.14023313e+02] [ 5.24631067e-02 9.98622834e-01 -2.40483748e-04 8.13129279e+00] [ 1.67943396e-02 -6.41516925e-04 9.99858759e-01 4.90733817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9992541539999 meters 0.023499358750215693 Centerline is valid? [True, True] Translation: X:714.06, Y:8.13, Z:4.91 [[ 9.98357104e-01 -5.49906449e-02 -1.60972498e-02 7.14055665e+02] [ 5.49940808e-02 9.98486654e-01 -2.29464570e-04 8.13010868e+00] [ 1.60855075e-02 -6.56165871e-04 9.99870405e-01 4.90839733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0292541539999 meters 0.025809885760067937 Centerline is valid? [True, True] Translation: X:714.09, Y:8.13, Z:4.91 [[ 9.98119105e-01 -5.91617760e-02 -1.60666310e-02 7.14086229e+02] [ 5.91657485e-02 9.98248147e-01 -2.28374358e-04 8.12573916e+00] [ 1.60519956e-02 -7.22649438e-04 9.99870897e-01 4.90828349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0592541539999 meters 0.028007998512476512 Centerline is valid? [True, True] Translation: X:714.12, Y:8.12, Z:4.91 [[ 9.98028528e-01 -6.04418840e-02 -1.69066560e-02 7.14117883e+02] [ 6.04464849e-02 9.98171411e-01 -2.39206373e-04 8.12441876e+00] [ 1.68901988e-02 -7.83213146e-04 9.99857044e-01 4.90678719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.089254154 meters 0.027782841147208633 Centerline is valid? [True, True] Translation: X:714.15, Y:8.12, Z:4.91 [[ 9.97859156e-01 -6.32591754e-02 -1.65946099e-02 7.14149242e+02] [ 6.32640133e-02 9.97996799e-01 -2.33785176e-04 8.12328095e+00] [ 1.65761567e-02 -8.16556947e-04 9.99862273e-01 4.90886096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1192541539999 meters 0.029999561368796644 Centerline is valid? [True, True] Translation: X:714.18, Y:8.12, Z:4.91 [[ 9.97631473e-01 -6.68093973e-02 -1.63691386e-02 7.14180302e+02] [ 6.68145877e-02 9.97765382e-01 -2.30205083e-04 8.12024436e+00] [ 1.63479397e-02 -8.64037414e-04 9.99865990e-01 4.90937964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1492541539999 meters 0.026964720648632135 Centerline is valid? [True, True] Translation: X:714.21, Y:8.12, Z:4.91 [[ 9.97536054e-01 -6.82229944e-02 -1.63536914e-02 7.14212351e+02] [ 6.82283778e-02 9.97669703e-01 -2.29173120e-04 8.12463923e+00] [ 1.63312173e-02 -8.87177383e-04 9.99866243e-01 4.91068556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1792541539999 meters 0.029560833090509366 Centerline is valid? [True, True] Translation: X:714.24, Y:8.12, Z:4.91 [[ 9.97479589e-01 -6.89364114e-02 -1.67999922e-02 7.14243031e+02] [ 6.89422084e-02 9.97620628e-01 -2.34540934e-04 8.12161516e+00] [ 1.67761872e-02 -9.24278770e-04 9.99858843e-01 4.90918946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.209254154 meters 0.030917359751375634 Centerline is valid? [True, True] Translation: X:714.28, Y:8.12, Z:4.91 [[ 9.97387482e-01 -6.99304239e-02 -1.81092870e-02 7.14275367e+02] [ 6.99373430e-02 9.97551354e-01 -2.51731193e-04 8.12170434e+00] [ 1.80825474e-02 -1.01544187e-03 9.99835982e-01 4.90680772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2392541539999 meters 0.030954493249223027 Centerline is valid? [True, True] Translation: X:714.31, Y:8.12, Z:4.91 [[ 9.97389756e-01 -6.99493153e-02 -1.79100188e-02 7.14307157e+02] [ 6.99561091e-02 9.97550040e-01 -2.47667996e-04 8.12152348e+00] [ 1.78834642e-02 -1.00589371e-03 9.99839572e-01 4.90712893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2692541539999 meters 0.02827184924454895 Centerline is valid? [True, True] Translation: X:714.34, Y:8.13, Z:4.91 [[ 9.97398585e-01 -6.98572859e-02 -1.77770371e-02 7.14339522e+02] [ 6.98639875e-02 9.97556496e-01 -2.44536412e-04 8.12583328e+00] [ 1.77506815e-02 -9.98074424e-04 9.99841946e-01 4.91022412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2992541539999 meters 0.02821089649002083 Centerline is valid? [True, True] Translation: X:714.37, Y:8.13, Z:4.91 [[ 9.97559857e-01 -6.76753247e-02 -1.71575425e-02 7.14371267e+02] [ 6.76812635e-02 9.97706967e-01 -2.34959022e-04 8.12802790e+00] [ 1.71341006e-02 -9.26858465e-04 9.99852771e-01 4.90929662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.329254154 meters 0.027879869541458893 Centerline is valid? [True, True] Translation: X:714.40, Y:8.13, Z:4.91 [[ 9.97644262e-01 -6.64521605e-02 -1.70304847e-02 7.14402058e+02] [ 6.64578498e-02 9.97789206e-01 -2.32284892e-04 8.12877148e+00] [ 1.70082696e-02 -9.00071704e-04 9.99854944e-01 4.91088025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3592541539999 meters 0.025709167085245323 Centerline is valid? [True, True] Translation: X:714.43, Y:8.13, Z:4.91 [[ 9.97796999e-01 -6.41846856e-02 -1.67771859e-02 7.14433538e+02] [ 6.41898996e-02 9.97937676e-01 -2.28091180e-04 8.13329691e+00] [ 1.67572259e-02 -8.49337187e-04 9.99859227e-01 4.91199768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3892541539999 meters 0.023956296293604264 Centerline is valid? [True, True] Translation: X:714.46, Y:8.14, Z:4.91 [[ 9.97974395e-01 -6.14015146e-02 -1.66421159e-02 7.14464833e+02] [ 6.14062692e-02 9.98112829e-01 -2.25633565e-04 8.13781430e+00] [ 1.66245636e-02 -7.96753727e-04 9.99861485e-01 4.91237530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4192541539999 meters 0.022906811096682914 Centerline is valid? [True, True] Translation: X:714.50, Y:8.14, Z:4.91 [[ 9.98307551e-01 -5.58631898e-02 -1.61659428e-02 7.14495433e+02] [ 5.58669582e-02 9.98438198e-01 -2.18757279e-04 8.14389945e+00] [ 1.61529153e-02 -6.84755009e-04 9.99869299e-01 4.91293201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4492541539998 meters 0.022266741015504785 Centerline is valid? [True, True] Translation: X:714.53, Y:8.15, Z:4.92 [[ 9.98453813e-01 -5.33651423e-02 -1.55609825e-02 7.14525613e+02] [ 5.33683473e-02 9.98574872e-01 -2.09516140e-04 8.14569097e+00] [ 1.55499869e-02 -6.21271728e-04 9.99878899e-01 4.91516575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4792541539999 meters 0.02054579720835809 Centerline is valid? [True, True] Translation: X:714.56, Y:8.15, Z:4.92 [[ 9.98616692e-01 -5.04664250e-02 -1.47595131e-02 7.14556802e+02] [ 5.04690069e-02 9.98725608e-01 -1.97720259e-04 8.15039105e+00] [ 1.47506819e-02 -5.47451215e-04 9.99891053e-01 4.91659404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5092541539999 meters 0.021504825006098325 Centerline is valid? [True, True] Translation: X:714.59, Y:8.15, Z:4.92 [[ 9.98938910e-01 -4.37111210e-02 -1.45048967e-02 7.14587648e+02] [ 4.37129088e-02 9.99044115e-01 -1.93914930e-04 8.15492528e+00] [ 1.44995080e-02 -4.40342059e-04 9.99894780e-01 4.91559362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5392541539999 meters 0.018450777902061496 Centerline is valid? [True, True] Translation: X:714.62, Y:8.16, Z:4.92 [[ 9.99014926e-01 -4.20188297e-02 -1.42687107e-02 7.14619964e+02] [ 4.20203969e-02 9.99116735e-01 -1.90085742e-04 8.15816287e+00] [ 1.42640949e-02 -4.09678394e-04 9.99898179e-01 4.91851681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5692541539999 meters 0.018807935441514174 Centerline is valid? [True, True] Translation: X:714.65, Y:8.16, Z:4.92 [[ 9.99136535e-01 -3.89252055e-02 -1.45263130e-02 7.14649960e+02] [ 3.89265127e-02 9.99242057e-01 -1.92853060e-04 8.15950033e+00] [ 1.45228097e-02 -3.72772169e-04 9.99894469e-01 4.91790543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5992541539999 meters 0.018505518322950745 Centerline is valid? [True, True] Translation: X:714.68, Y:8.16, Z:4.92 [[ 9.99311310e-01 -3.39290844e-02 -1.50240828e-02 7.14681016e+02] [ 3.39299248e-02 9.99424195e-01 -1.99032086e-04 8.16361013e+00] [ 1.50221848e-02 -3.10870985e-04 9.99887112e-01 4.91787019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6292541539999 meters 0.01672869939151119 Centerline is valid? [True, True] Translation: X:714.71, Y:8.17, Z:4.92 [[ 9.99367166e-01 -3.22916111e-02 -1.49170668e-02 7.14712524e+02] [ 3.22922653e-02 9.99478449e-01 -1.97070861e-04 8.16594080e+00] [ 1.49156506e-02 -2.84759732e-04 9.99888715e-01 4.91995916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6592541539999 meters 0.018200363422683975 Centerline is valid? [True, True] Translation: X:714.74, Y:8.17, Z:4.92 [[ 9.99455005e-01 -2.91269732e-02 -1.55342368e-02 7.14743431e+02] [ 2.91273070e-02 9.99575689e-01 -2.04804835e-04 8.16733550e+00] [ 1.55336108e-02 -2.47777267e-04 9.99879315e-01 4.91811701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6892541539999 meters 0.015522316455603825 Centerline is valid? [True, True] Translation: X:714.77, Y:8.17, Z:4.92 [[ 9.99542971e-01 -2.56764749e-02 -1.59551515e-02 7.14773821e+02] [ 2.56763897e-02 9.99670285e-01 -2.10224359e-04 8.17069069e+00] [ 1.59552886e-02 -1.99542407e-04 9.99872686e-01 4.92027103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7192541539999 meters 0.015486568519747744 Centerline is valid? [True, True] Translation: X:714.80, Y:8.17, Z:4.92 [[ 9.99594295e-01 -2.35441341e-02 -1.60287100e-02 7.14803445e+02] [ 2.35437713e-02 9.99722785e-01 -2.11360655e-04 8.17173144e+00] [ 1.60292429e-02 -1.66101378e-04 9.99871510e-01 4.92019096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7492541539999 meters 0.015180697104727447 Centerline is valid? [True, True] Translation: X:714.83, Y:8.17, Z:4.92 [[ 9.99631145e-01 -2.15999994e-02 -1.64625226e-02 7.14833462e+02] [ 2.15993452e-02 9.99766683e-01 -2.17561468e-04 8.17247520e+00] [ 1.64633809e-02 -1.38098490e-04 9.99864460e-01 4.92031447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7792541539999 meters 0.015158178667695199 Centerline is valid? [True, True] Translation: X:714.86, Y:8.17, Z:4.92 [[ 9.99673800e-01 -1.92750231e-02 -1.67560790e-02 7.14862773e+02] [ 1.92739911e-02 9.99814214e-01 -2.23087820e-04 8.17246510e+00] [ 1.67572659e-02 -9.99414677e-05 9.99859582e-01 4.91991617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8092541539999 meters 0.014995948023972952 Centerline is valid? [True, True] Translation: X:714.89, Y:8.17, Z:4.92 [[ 9.99687293e-01 -1.88558229e-02 -1.64247788e-02 7.14890586e+02] [ 1.88547133e-02 9.99822209e-01 -2.22423168e-04 8.17224319e+00] [ 1.64260526e-02 -8.73308807e-05 9.99865079e-01 4.92048288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.839254154 meters 0.014995948023972952 Centerline is valid? [True, True] Translation: X:714.92, Y:8.17, Z:4.92 [[ 9.99681721e-01 -1.91490383e-02 -1.64247126e-02 7.14917986e+02] [ 1.91478890e-02 9.99816637e-01 -2.27241065e-04 8.17268428e+00] [ 1.64260523e-02 -8.73298356e-05 9.99865079e-01 4.92067333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8692541539999 meters 0.015028377084363677 Centerline is valid? [True, True] Translation: X:714.95, Y:8.17, Z:4.92 [[ 9.99686202e-01 -1.94793899e-02 -1.57496341e-02 7.14946190e+02] [ 1.94783020e-02 9.99810255e-01 -2.22484670e-04 8.17257607e+00] [ 1.57509796e-02 -8.43612735e-05 9.99875942e-01 4.92136970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8992541539999 meters 0.01676977413922544 Centerline is valid? [True, True] Translation: X:714.97, Y:8.17, Z:4.92 [[ 9.99673477e-01 -2.04636816e-02 -1.53028584e-02 7.14974509e+02] [ 2.04627272e-02 9.99790592e-01 -2.18957237e-04 8.16950555e+00] [ 1.53041346e-02 -9.42524760e-05 9.99882880e-01 4.92058389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9292541539999 meters 0.01523747228631031 Centerline is valid? [True, True] Translation: X:715.00, Y:8.17, Z:4.92 [[ 9.99638236e-01 -2.26886665e-02 -1.44437024e-02 7.15003661e+02] [ 2.26880337e-02 9.99742572e-01 -2.07684460e-04 8.16782206e+00] [ 1.44446962e-02 -1.20089879e-04 9.99895663e-01 4.92244921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.959254154 meters 0.01758352222397202 Centerline is valid? [True, True] Translation: X:715.03, Y:8.16, Z:4.92 [[ 9.99594176e-01 -2.40648550e-02 -1.52435271e-02 7.15032994e+02] [ 2.40642994e-02 9.99710389e-01 -2.19895442e-04 8.16452424e+00] [ 1.52444041e-02 -1.47018597e-04 9.99883787e-01 4.92005554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9892541539999 meters 0.015766272603897808 Centerline is valid? [True, True] Translation: X:715.06, Y:8.16, Z:4.92 [[ 9.99505414e-01 -2.74945143e-02 -1.52636829e-02 7.15062063e+02] [ 2.74943462e-02 9.99621935e-01 -2.20896319e-04 8.16203112e+00] [ 1.52639857e-02 -1.98877916e-04 9.99883479e-01 4.92150069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0192541539999 meters 0.017546614653708666 Centerline is valid? [True, True] Translation: X:715.09, Y:8.16, Z:4.92 [[ 9.99307707e-01 -3.33922877e-02 -1.64031205e-02 7.15092011e+02] [ 3.33928754e-02 9.99442274e-01 -2.38144180e-04 8.15604696e+00] [ 1.64019243e-02 -3.09768045e-04 9.99865431e-01 4.92033766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0492541539999 meters 0.017074943128456917 Centerline is valid? [True, True] Translation: X:715.12, Y:8.15, Z:4.92 [[ 9.99165857e-01 -3.73317551e-02 -1.65508571e-02 7.15122242e+02] [ 3.73328892e-02 9.99302856e-01 -2.40548031e-04 8.15339239e+00] [ 1.65482988e-02 -3.77543934e-04 9.99862996e-01 4.92147942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.079254154 meters 0.018696891249696347 Centerline is valid? [True, True] Translation: X:715.15, Y:8.15, Z:4.92 [[ 9.99028935e-01 -4.07787167e-02 -1.66818091e-02 7.15152256e+02] [ 4.07803641e-02 9.99168106e-01 -2.41547331e-04 8.14798278e+00] [ 1.66777816e-02 -4.38977475e-04 9.99860820e-01 4.92105791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1092541539999 meters 0.021060979494608764 Centerline is valid? [True, True] Translation: X:715.18, Y:8.14, Z:4.92 [[ 9.98723204e-01 -4.73313724e-02 -1.76550877e-02 7.15183250e+02] [ 4.73342557e-02 9.98879073e-01 -2.54759700e-04 8.14283844e+00] [ 1.76473558e-02 -5.81256012e-04 9.99844104e-01 4.92069280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1392541539999 meters 0.02154896046838253 Centerline is valid? [True, True] Translation: X:715.21, Y:8.14, Z:4.92 [[ 9.98578227e-01 -5.05818306e-02 -1.68226967e-02 7.15213674e+02] [ 5.05849142e-02 9.98719734e-01 -2.42440867e-04 8.13757541e+00] [ 1.68134223e-02 -6.08878500e-04 9.99858459e-01 4.92163065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1692541539999 meters 0.022930883774837003 Centerline is valid? [True, True] Translation: X:715.24, Y:8.13, Z:4.92 [[ 9.98472118e-01 -5.26216701e-02 -1.68638703e-02 7.15244778e+02] [ 5.26250675e-02 9.98614312e-01 -2.42547279e-04 8.13429575e+00] [ 1.68532655e-02 -6.45285618e-04 9.99857765e-01 4.92117648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1992541539998 meters 0.02244399791512877 Centerline is valid? [True, True] Translation: X:715.28, Y:8.13, Z:4.92 [[ 9.98335012e-01 -5.52864069e-02 -1.64504679e-02 7.15275872e+02] [ 5.52900106e-02 9.98470310e-01 -2.36009207e-04 8.13176842e+00] [ 1.64383519e-02 -6.73930293e-04 9.99864654e-01 4.92231210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2292541539999 meters 0.022083247762076336 Centerline is valid? [True, True] Translation: X:715.31, Y:8.13, Z:4.92 [[ 9.98302251e-01 -5.58234888e-02 -1.66239106e-02 7.15307720e+02] [ 5.58272595e-02 9.98440414e-01 -2.37517635e-04 8.13220170e+00] [ 1.66112432e-02 -6.90952981e-04 9.99861785e-01 4.92273537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2592541539999 meters 0.02371226783511724 Centerline is valid? [True, True] Translation: X:715.34, Y:8.13, Z:4.92 [[ 9.98328075e-01 -5.51570603e-02 -1.72844897e-02 7.15339415e+02] [ 5.51610595e-02 9.98477439e-01 -2.45651210e-04 8.13064321e+00] [ 1.72717224e-02 -7.08190265e-04 9.99850582e-01 4.92124321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2892541539999 meters 0.02398995040210316 Centerline is valid? [True, True] Translation: X:715.37, Y:8.13, Z:4.92 [[ 9.98385689e-01 -5.39741621e-02 -1.76863224e-02 7.15370874e+02] [ 5.39781805e-02 9.98542084e-01 -2.50441970e-04 8.13130871e+00] [ 1.76740546e-02 -7.04637824e-04 9.99843553e-01 4.92036196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3192541539999 meters 0.021766252810727953 Centerline is valid? [True, True] Translation: X:715.40, Y:8.13, Z:4.92 [[ 9.98614954e-01 -4.97769669e-02 -1.70419502e-02 7.15400839e+02] [ 4.97800915e-02 9.98760174e-01 -2.41072387e-04 8.13144913e+00] [ 1.70328210e-02 -6.07611349e-04 9.99854746e-01 4.92165311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3492541539999 meters 0.01983194519066222 Centerline is valid? [True, True] Translation: X:715.43, Y:8.13, Z:4.92 [[ 9.98771754e-01 -4.67512502e-02 -1.64104634e-02 7.15432247e+02] [ 4.67537452e-02 9.98906419e-01 -2.31790033e-04 8.13450442e+00] [ 1.64033537e-02 -5.35745286e-04 9.99865312e-01 4.92271019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3792541539999 meters 0.020637715998658 Centerline is valid? [True, True] Translation: X:715.46, Y:8.13, Z:4.92 [[ 9.98935373e-01 -4.30806941e-02 -1.64977152e-02 7.15462598e+02] [ 4.30827339e-02 9.99071481e-01 -2.31914822e-04 8.13450682e+00] [ 1.64923878e-02 -4.79098756e-04 9.99863877e-01 4.92217573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4092541539999 meters 0.01728817951689579 Centerline is valid? [True, True] Translation: X:715.49, Y:8.14, Z:4.92 [[ 9.99219829e-01 -3.62503121e-02 -1.56731496e-02 7.15493064e+02] [ 3.62513223e-02 9.99342681e-01 -2.19738329e-04 8.14135529e+00] [ 1.56708130e-02 -3.48605503e-04 9.99877144e-01 4.92469208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4392541539999 meters 0.01752986380917431 Centerline is valid? [True, True] Translation: X:715.52, Y:8.14, Z:4.92 [[ 9.99329577e-01 -3.29325498e-02 -1.59951162e-02 7.15523083e+02] [ 3.29331771e-02 9.99457531e-01 -2.24252317e-04 8.14236534e+00] [ 1.59938246e-02 -3.02668024e-04 9.99872045e-01 4.92391184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4692541539999 meters 0.016380732588605625 Centerline is valid? [True, True] Translation: X:715.55, Y:8.14, Z:4.92 [[ 9.99408239e-01 -3.04324497e-02 -1.60323794e-02 7.15553349e+02] [ 3.04327583e-02 9.99536791e-01 -2.24774748e-04 8.14352689e+00] [ 1.60317935e-02 -2.63267792e-04 9.99871448e-01 4.92433808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4992541539999 meters 0.018034760331584482 Centerline is valid? [True, True] Translation: X:715.58, Y:8.14, Z:4.92 [[ 9.99477885e-01 -2.69244700e-02 -1.78614191e-02 7.15582863e+02] [ 2.69242860e-02 9.99637444e-01 -2.50814816e-04 8.14375515e+00] [ 1.78616964e-02 -2.30222096e-04 9.99840441e-01 4.92206840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5292541539999 meters 0.015247523659020934 Centerline is valid? [True, True] Translation: X:715.61, Y:8.14, Z:4.92 [[ 9.99502274e-01 -2.66698946e-02 -1.68499308e-02 7.15611407e+02] [ 2.66696475e-02 9.99644273e-01 -2.39413871e-04 8.14375417e+00] [ 1.68503220e-02 -2.10087006e-04 9.99858001e-01 4.92370102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5592541539999 meters 0.015634330808264617 Centerline is valid? [True, True] Translation: X:715.64, Y:8.14, Z:4.92 [[ 9.99486947e-01 -2.67171289e-02 -1.76646028e-02 7.15639191e+02] [ 2.67168050e-02 9.99643010e-01 -2.54365554e-04 8.14185879e+00] [ 1.76650926e-02 -2.17706698e-04 9.99843936e-01 4.92258162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.589254154 meters 0.015537614954696233 Centerline is valid? [True, True] Translation: X:715.67, Y:8.14, Z:4.92 [[ 9.99414386e-01 -2.86111990e-02 -1.87692651e-02 7.15668299e+02] [ 2.86110912e-02 9.99590581e-01 -2.74327324e-04 8.14100757e+00] [ 1.87694294e-02 -2.62842480e-04 9.99823804e-01 4.92327962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6192541539999 meters 0.017134610118458002 Centerline is valid? [True, True] Translation: X:715.70, Y:8.14, Z:4.92 [[ 9.99345118e-01 -3.01839362e-02 -1.99565704e-02 7.15695710e+02] [ 3.01840543e-02 9.99544314e-01 -2.95362132e-04 8.13939050e+00] [ 1.99563917e-02 -3.07201502e-04 9.99800804e-01 4.92204719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6492541539999 meters 0.016228402255419064 Centerline is valid? [True, True] Translation: X:715.72, Y:8.14, Z:4.92 [[ 9.99269896e-01 -3.26268420e-02 -1.98787329e-02 7.15724719e+02] [ 3.26273578e-02 9.99467541e-01 -2.98468431e-04 8.13805324e+00] [ 1.98778864e-02 -3.50340012e-04 9.99802354e-01 4.92291570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6792541539999 meters 0.01710297434794494 Centerline is valid? [True, True] Translation: X:715.75, Y:8.13, Z:4.92 [[ 9.99093254e-01 -3.74380357e-02 -2.02747022e-02 7.15754522e+02] [ 3.74395158e-02 9.99298848e-01 -3.06703173e-04 8.13342264e+00] [ 2.02719689e-02 -4.52649963e-04 9.99794400e-01 4.92290071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.709254154 meters 0.019312240249227033 Centerline is valid? [True, True] Translation: X:715.78, Y:8.13, Z:4.92 [[ 9.98964008e-01 -4.03107835e-02 -2.11175846e-02 7.15783582e+02] [ 4.03129480e-02 9.99187050e-01 -3.23370924e-04 8.13135953e+00] [ 2.11134524e-02 -5.28276176e-04 9.99776947e-01 4.92250320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7392541539999 meters 0.02191665452817467 Centerline is valid? [True, True] Translation: X:715.81, Y:8.13, Z:4.92 [[ 9.98848062e-01 -4.31029334e-02 -2.10875850e-02 7.15811676e+02] [ 4.31056541e-02 9.99070466e-01 -3.25726869e-04 8.12865820e+00] [ 2.10820231e-02 -5.83642491e-04 9.99777579e-01 4.92200536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7692541539999 meters 0.01995377168233188 Centerline is valid? [True, True] Translation: X:715.84, Y:8.13, Z:4.92 [[ 9.98742487e-01 -4.61201521e-02 -1.96564446e-02 7.15840900e+02] [ 4.61230762e-02 9.98935718e-01 -3.04804108e-04 8.12818398e+00] [ 1.96495822e-02 -6.02194879e-04 9.99806747e-01 4.92493898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7992541539999 meters 0.022911195327741576 Centerline is valid? [True, True] Translation: X:715.87, Y:8.12, Z:4.93 [[ 9.98474879e-01 -5.18407396e-02 -1.89855962e-02 7.15870291e+02] [ 5.18444845e-02 9.98655127e-01 -2.95222041e-04 8.12285259e+00] [ 1.89753675e-02 -6.89526654e-04 9.99819714e-01 4.92566593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.829254154 meters 0.02379603876895286 Centerline is valid? [True, True] Translation: X:715.90, Y:8.12, Z:4.93 [[ 9.98357693e-01 -5.42887938e-02 -1.82932923e-02 7.15901089e+02] [ 5.42926762e-02 9.98525024e-01 -2.84703946e-04 8.12134721e+00] [ 1.82817664e-02 -7.08955422e-04 9.99832623e-01 4.92638549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8592541539999 meters 0.023332624408600115 Centerline is valid? [True, True] Translation: X:715.93, Y:8.12, Z:4.93 [[ 9.98259397e-01 -5.67658860e-02 -1.59940823e-02 7.15931267e+02] [ 5.67691736e-02 9.98387299e-01 -2.48757868e-04 8.11930146e+00] [ 1.59824096e-02 -6.59645955e-04 9.99872056e-01 4.92816993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8892541539999 meters 0.024845066127282326 Centerline is valid? [True, True] Translation: X:715.96, Y:8.12, Z:4.93 [[ 9.97984664e-01 -6.13121732e-02 -1.63531960e-02 7.15962390e+02] [ 6.13162239e-02 9.98118358e-01 -2.54046078e-04 8.11657871e+00] [ 1.63380013e-02 -7.49182139e-04 9.99866245e-01 4.92824426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9192541539999 meters 0.024860330401035077 Centerline is valid? [True, True] Translation: X:715.99, Y:8.12, Z:4.93 [[ 9.97835576e-01 -6.35856881e-02 -1.67637485e-02 7.15993981e+02] [ 6.35902731e-02 9.97976057e-01 -2.59936256e-04 8.11695810e+00] [ 1.67463479e-02 -8.06637704e-04 9.99859445e-01 4.92852660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9492541539998 meters 0.029170302159517266 Centerline is valid? [True, True] Translation: X:716.02, Y:8.11, Z:4.93 [[ 9.97678351e-01 -6.58031415e-02 -1.75457794e-02 7.16024536e+02] [ 6.58085144e-02 9.97832233e-01 -2.71604377e-04 8.11200929e+00] [ 1.75256167e-02 -8.83687870e-04 9.99846024e-01 4.92687066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9792541539999 meters 0.03014730997726306 Centerline is valid? [True, True] Translation: X:716.05, Y:8.11, Z:4.93 [[ 9.97335320e-01 -7.06054037e-02 -1.83612640e-02 7.16054946e+02] [ 7.06121021e-02 9.97503810e-01 -2.84057872e-04 8.11219484e+00] [ 1.83354868e-02 -1.01322650e-03 9.99831377e-01 4.92649488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0092541539999 meters 0.031102773953647005 Centerline is valid? [True, True] Translation: X:716.09, Y:8.11, Z:4.93 [[ 9.97164583e-01 -7.29553783e-02 -1.84474163e-02 7.16086428e+02] [ 7.29625485e-02 9.97334641e-01 -2.84959723e-04 8.11146111e+00] [ 1.84190367e-02 -1.06181876e-03 9.99829791e-01 4.92686312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0392541539999 meters 0.03281239868896935 Centerline is valid? [True, True] Translation: X:716.12, Y:8.11, Z:4.93 [[ 9.97017137e-01 -7.49026313e-02 -1.86124916e-02 7.16116650e+02] [ 7.49102816e-02 9.97190236e-01 -2.86801358e-04 8.11027951e+00] [ 1.85816771e-02 -1.10832112e-03 9.99826731e-01 4.92631355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0692541539999 meters 0.03284869890770241 Centerline is valid? [True, True] Translation: X:716.15, Y:8.11, Z:4.93 [[ 9.96836168e-01 -7.72620913e-02 -1.86607473e-02 7.16147272e+02] [ 7.72702021e-02 9.97010147e-01 -2.87062261e-04 8.11243730e+00] [ 1.86271335e-02 -1.15576567e-03 9.99825832e-01 4.92633656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0992541539999 meters 0.03591522999120316 Centerline is valid? [True, True] Translation: X:716.18, Y:8.11, Z:4.93 [[ 9.96827830e-01 -7.72677620e-02 -1.90779934e-02 7.16178343e+02] [ 7.72762555e-02 9.97009676e-01 -2.92709847e-04 8.11098023e+00] [ 1.90435610e-02 -1.18249457e-03 9.99817956e-01 4.92522237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1292541539999 meters 0.03594097293634073 Centerline is valid? [True, True] Translation: X:716.21, Y:8.11, Z:4.93 [[ 9.96858016e-01 -7.70866761e-02 -1.82137662e-02 7.16209239e+02] [ 7.70944042e-02 9.97023759e-01 -2.78512576e-04 8.11229017e+00] [ 1.81810272e-02 -1.12654196e-03 9.99834077e-01 4.92641571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1592541539999 meters 0.03126816011586437 Centerline is valid? [True, True] Translation: X:716.24, Y:8.12, Z:4.93 [[ 9.97114150e-01 -7.34171841e-02 -1.93206921e-02 7.16240358e+02] [ 7.34252056e-02 9.97300683e-01 -2.94833189e-04 8.12471175e+00] [ 1.92901853e-02 -1.12464345e-03 9.99813295e-01 4.92660518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1892541539999 meters 0.027900794255737615 Centerline is valid? [True, True] Translation: X:716.27, Y:8.13, Z:4.93 [[ 9.97279796e-01 -7.13347206e-02 -1.85571239e-02 7.16272148e+02] [ 7.13417753e-02 9.97451889e-01 -2.82411317e-04 8.13206329e+00] [ 1.85299841e-02 -1.04225507e-03 9.99827762e-01 4.92797634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2192541539999 meters 0.027314744897048354 Centerline is valid? [True, True] Translation: X:716.30, Y:8.14, Z:4.93 [[ 9.97466643e-01 -6.87530356e-02 -1.82569420e-02 7.16302278e+02] [ 6.87594434e-02 9.97633230e-01 -2.77250663e-04 8.13548964e+00] [ 1.82327939e-02 -9.78788883e-04 9.99833290e-01 4.92844927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2492541539999 meters 0.026302662685319854 Centerline is valid? [True, True] Translation: X:716.33, Y:8.14, Z:4.93 [[ 9.97845403e-01 -6.26467416e-02 -1.94919978e-02 7.16332309e+02] [ 6.26528868e-02 9.98035334e-01 -2.95847089e-04 8.14444993e+00] [ 1.94722364e-02 -9.26020272e-04 9.99809969e-01 4.92811601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2792541539999 meters 0.024674584609788063 Centerline is valid? [True, True] Translation: X:716.36, Y:8.15, Z:4.93 [[ 9.98000928e-01 -6.03487686e-02 -1.87662852e-02 7.16363877e+02] [ 6.03540713e-02 9.98176991e-01 -2.84184635e-04 8.14816030e+00] [ 1.87492243e-02 -8.49005185e-04 9.99823857e-01 4.92894169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3092541539999 meters 0.022698267979608788 Centerline is valid? [True, True] Translation: X:716.40, Y:8.15, Z:4.93 [[ 9.98149754e-01 -5.79218985e-02 -1.84965729e-02 7.16395032e+02] [ 5.79266486e-02 9.98320803e-01 -2.79303405e-04 8.15392451e+00] [ 1.84816913e-02 -7.92657856e-04 9.99828885e-01 4.93002508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.339254154 meters 0.023717334218215588 Centerline is valid? [True, True] Translation: X:716.43, Y:8.15, Z:4.93 [[ 9.98286643e-01 -5.56244995e-02 -1.81574879e-02 7.16425729e+02] [ 5.56287097e-02 9.98451487e-01 -2.73517442e-04 8.15499731e+00] [ 1.81445851e-02 -7.37028816e-04 9.99835102e-01 4.92999833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3692541539999 meters 0.021110555262172353 Centerline is valid? [True, True] Translation: X:716.46, Y:8.17, Z:4.93 [[ 9.98499103e-01 -5.20963045e-02 -1.68972211e-02 7.16457347e+02] [ 5.20994592e-02 9.98641869e-01 -2.53746257e-04 8.16515298e+00] [ 1.68874917e-02 -6.26970671e-04 9.99857200e-01 4.93222399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3992541539999 meters 0.02060656145924994 Centerline is valid? [True, True] Translation: X:716.49, Y:8.17, Z:4.93 [[ 9.98596033e-01 -5.03839152e-02 -1.63530735e-02 7.16489032e+02] [ 5.03866551e-02 9.98729756e-01 -2.44685095e-04 8.16877756e+00] [ 1.63446293e-02 -5.79635111e-04 9.99866250e-01 4.93258400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4292541539999 meters 0.020382493084955853 Centerline is valid? [True, True] Translation: X:716.52, Y:8.17, Z:4.93 [[ 9.98659142e-01 -4.88856090e-02 -1.70327893e-02 7.16521653e+02] [ 4.88883863e-02 9.98804216e-01 -2.53537316e-04 8.17191281e+00] [ 1.70248161e-02 -5.79508225e-04 9.99854899e-01 4.93257703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.459254154 meters 0.01961921988009836 Centerline is valid? [True, True] Translation: X:716.55, Y:8.18, Z:4.93 [[ 9.98812847e-01 -4.56573568e-02 -1.69794749e-02 7.16553072e+02] [ 4.56596677e-02 9.98957022e-01 -2.51749445e-04 8.17767753e+00] [ 1.69732598e-02 -5.23826598e-04 9.99855807e-01 4.93191660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4892541539999 meters 0.021217170485557737 Centerline is valid? [True, True] Translation: X:716.58, Y:8.18, Z:4.93 [[ 9.98900268e-01 -4.34052558e-02 -1.77267546e-02 7.16584427e+02] [ 4.34074318e-02 9.99057419e-01 -2.62179925e-04 8.17995559e+00] [ 1.77214257e-02 -5.07581292e-04 9.99842834e-01 4.93056665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5192541539999 meters 0.019220392920864998 Centerline is valid? [True, True] Translation: X:716.62, Y:8.18, Z:4.93 [[ 9.98932034e-01 -4.28901619e-02 -1.71821206e-02 7.16615960e+02] [ 4.28921405e-02 9.99079677e-01 -2.53518431e-04 8.18270157e+00] [ 1.71771810e-02 -4.83730249e-04 9.99852344e-01 4.93199135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5492541539999 meters 0.01908052279672372 Centerline is valid? [True, True] Translation: X:716.65, Y:8.19, Z:4.93 [[ 9.99009592e-01 -4.12572469e-02 -1.66635573e-02 7.16646713e+02] [ 4.12588905e-02 9.99148459e-01 -2.45282919e-04 8.18629100e+00] [ 1.66594873e-02 -4.42479898e-04 9.99861123e-01 4.93256261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.579254154 meters 0.01835857772895504 Centerline is valid? [True, True] Translation: X:716.68, Y:8.19, Z:4.93 [[ 9.99032105e-01 -4.09712200e-02 -1.60066482e-02 7.16678460e+02] [ 4.09727141e-02 9.99160238e-01 -2.34722510e-04 8.18987308e+00] [ 1.60028233e-02 -4.21340495e-04 9.99871858e-01 4.93371631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6092541539999 meters 0.01895525588103452 Centerline is valid? [True, True] Translation: X:716.71, Y:8.19, Z:4.93 [[ 9.99047250e-01 -4.08238414e-02 -1.54274301e-02 7.16709432e+02] [ 4.08252351e-02 9.99166277e-01 -2.24716278e-04 8.19035821e+00] [ 1.54237417e-02 -4.05326282e-04 9.99880965e-01 4.93402456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6392541539999 meters 0.019341336066633758 Centerline is valid? [True, True] Translation: X:716.74, Y:8.19, Z:4.93 [[ 9.99060245e-01 -4.08379810e-02 -1.45219403e-02 7.16740264e+02] [ 4.08392418e-02 9.99165708e-01 -2.09840911e-04 8.19081507e+00] [ 1.45183942e-02 -3.83421320e-04 9.99894529e-01 4.93442828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6692541539999 meters 0.02035464834901197 Centerline is valid? [True, True] Translation: X:716.77, Y:8.19, Z:4.93 [[ 9.99050954e-01 -4.15379708e-02 -1.31068039e-02 7.16771629e+02] [ 4.15390719e-02 9.99136863e-01 -1.88335681e-04 8.19136218e+00] [ 1.31033140e-02 -3.56287527e-04 9.99914084e-01 4.93484176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6992541539998 meters 0.019258251393153993 Centerline is valid? [True, True] Translation: X:716.80, Y:8.19, Z:4.94 [[ 9.99057248e-01 -4.15353171e-02 -1.26266955e-02 7.16803613e+02] [ 4.15363481e-02 9.99136977e-01 -1.80690026e-04 8.19461050e+00] [ 1.26233034e-02 -3.43947139e-04 9.99920264e-01 4.93547085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7292541539999 meters 0.019258251393153993 Centerline is valid? [True, True] Translation: X:716.84, Y:8.19, Z:4.94 [[ 9.99060175e-01 -4.14648339e-02 -1.26267082e-02 7.16835312e+02] [ 4.14658706e-02 9.99139905e-01 -1.79799543e-04 8.19499965e+00] [ 1.26233033e-02 -3.43946884e-04 9.99920264e-01 4.93569039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7592541539999 meters 0.020150034388497676 Centerline is valid? [True, True] Translation: X:716.87, Y:8.20, Z:4.94 [[ 9.99087342e-01 -4.08110615e-02 -1.26071842e-02 7.16866663e+02] [ 4.08120529e-02 9.99166825e-01 -1.78734785e-04 8.19557196e+00] [ 1.26039745e-02 -3.35953405e-04 9.99920510e-01 4.93537311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7892541539999 meters 0.019684901348979548 Centerline is valid? [True, True] Translation: X:716.90, Y:8.20, Z:4.94 [[ 9.99097457e-01 -4.09371204e-02 -1.13324229e-02 7.16897976e+02] [ 4.09379358e-02 9.99161678e-01 -1.60105243e-04 8.19663268e+00] [ 1.13294769e-02 -3.03965260e-04 9.99935773e-01 4.93614051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8192541539999 meters 0.019289997518698452 Centerline is valid? [True, True] Translation: X:716.93, Y:8.20, Z:4.94 [[ 9.99128409e-01 -4.02231142e-02 -1.11590071e-02 7.16929744e+02] [ 4.02238676e-02 9.99190680e-01 -1.57004348e-04 8.19819887e+00] [ 1.11562911e-02 -2.91990919e-04 9.99937724e-01 4.93648785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8492541539999 meters 0.0181246577124572 Centerline is valid? [True, True] Translation: X:716.96, Y:8.20, Z:4.94 [[ 9.99146334e-01 -3.98905504e-02 -1.07399374e-02 7.16962114e+02] [ 3.98912371e-02 9.99204016e-01 -1.50364251e-04 8.20105557e+00] [ 1.07373867e-02 -2.78193498e-04 9.99942314e-01 4.93708085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8792541539999 meters 0.019826111360633267 Centerline is valid? [True, True] Translation: X:716.99, Y:8.20, Z:4.94 [[ 9.99193872e-01 -3.84774371e-02 -1.14495523e-02 7.16993063e+02] [ 3.84781337e-02 9.99259430e-01 -1.59513940e-04 8.20072586e+00] [ 1.14472107e-02 -2.81172052e-04 9.99934439e-01 4.93551805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9092541539999 meters 0.01831498655114642 Centerline is valid? [True, True] Translation: X:717.02, Y:8.20, Z:4.94 [[ 9.99173641e-01 -3.89883098e-02 -1.14867768e-02 7.17024794e+02] [ 3.89890529e-02 9.99239625e-01 -1.59318696e-04 8.20167374e+00] [ 1.14842541e-02 -2.88671507e-04 9.99934012e-01 4.93649553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9392541539999 meters 0.01768485026697437 Centerline is valid? [True, True] Translation: X:717.06, Y:8.20, Z:4.94 [[ 9.99148253e-01 -3.96173560e-02 -1.15426656e-02 7.17056926e+02] [ 3.96181582e-02 9.99214880e-01 -1.59240020e-04 8.20180005e+00] [ 1.15399119e-02 -2.98194764e-04 9.99933369e-01 4.93689236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9692541539999 meters 0.017876082122111028 Centerline is valid? [True, True] Translation: X:717.09, Y:8.20, Z:4.94 [[ 9.99102305e-01 -4.05552852e-02 -1.22414219e-02 7.17088745e+02] [ 4.05562692e-02 9.99177242e-01 -1.67943915e-04 8.20035341e+00] [ 1.22381611e-02 -3.28673248e-04 9.99925057e-01 4.93636356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9992541539999 meters 0.018932178661354875 Centerline is valid? [True, True] Translation: X:717.12, Y:8.20, Z:4.94 [[ 9.99087127e-01 -4.08360768e-02 -1.25430048e-02 7.17120127e+02] [ 4.08371426e-02 9.99165801e-01 -1.71247460e-04 8.19905465e+00] [ 1.25395345e-02 -3.41129343e-04 9.99921319e-01 4.93584573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0292541539999 meters 0.021288449864417743 Centerline is valid? [True, True] Translation: X:717.15, Y:8.19, Z:4.94 [[ 9.99051634e-01 -4.17362656e-02 -1.24062909e-02 7.17151627e+02] [ 4.17373859e-02 9.99128601e-01 -1.68704260e-04 8.19330902e+00] [ 1.24025211e-02 -3.49261883e-04 9.99923025e-01 4.93545503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0592541539999 meters 0.021821050902057933 Centerline is valid? [True, True] Translation: X:717.18, Y:8.19, Z:4.93 [[ 9.99028323e-01 -4.21374646e-02 -1.29168158e-02 7.17183841e+02] [ 4.21387229e-02 9.99111754e-01 -1.74856751e-04 8.19191955e+00] [ 1.29127105e-02 -3.69611275e-04 9.99916559e-01 4.93496804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.089254154 meters 0.018499221612848483 Centerline is valid? [True, True] Translation: X:717.22, Y:8.20, Z:4.94 [[ 9.99034169e-01 -4.18644292e-02 -1.33453663e-02 7.17216151e+02] [ 4.18657606e-02 9.99123229e-01 -1.79711137e-04 8.19776077e+00] [ 1.33411890e-02 -3.79176345e-04 9.99910930e-01 4.93630680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1192541539999 meters 0.019387127456453292 Centerline is valid? [True, True] Translation: X:717.25, Y:8.20, Z:4.94 [[ 9.99061008e-01 -4.12052910e-02 -1.33875258e-02 7.17247290e+02] [ 4.12065833e-02 9.99150632e-01 -1.79410529e-04 8.19580982e+00] [ 1.33835475e-02 -3.72412134e-04 9.99910367e-01 4.93537268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1492541539999 meters 0.018640226222308157 Centerline is valid? [True, True] Translation: X:717.28, Y:8.20, Z:4.94 [[ 9.99078131e-01 -4.07103077e-02 -1.36219715e-02 7.17279982e+02] [ 4.07116146e-02 9.99170922e-01 -1.81465585e-04 8.19667834e+00] [ 1.36180654e-02 -3.73274157e-04 9.99907200e-01 4.93559321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1792541539999 meters 0.019040496093296697 Centerline is valid? [True, True] Translation: X:717.31, Y:8.20, Z:4.94 [[ 9.99108777e-01 -3.98858358e-02 -1.38120288e-02 7.17310757e+02] [ 3.98871159e-02 9.99204176e-01 -1.82892915e-04 8.19548598e+00] [ 1.38083317e-02 -3.68192075e-04 9.99904593e-01 4.93543453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.209254154 meters 0.017934652569626598 Centerline is valid? [True, True] Translation: X:717.34, Y:8.20, Z:4.94 [[ 9.99120094e-01 -3.95905592e-02 -1.38428647e-02 7.17342611e+02] [ 3.95918290e-02 9.99215920e-01 -1.82414070e-04 8.19801724e+00] [ 1.38392327e-02 -3.65810770e-04 9.99904166e-01 4.93638796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2392541539999 meters 0.01826591639832812 Centerline is valid? [True, True] Translation: X:717.37, Y:8.20, Z:4.94 [[ 9.99132046e-01 -3.93918548e-02 -1.35438474e-02 7.17373678e+02] [ 3.93930638e-02 9.99223776e-01 -1.77605521e-04 8.19690089e+00] [ 1.35403306e-02 -3.56082280e-04 9.99908262e-01 4.93640930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2692541539999 meters 0.017908493704453795 Centerline is valid? [True, True] Translation: X:717.41, Y:8.20, Z:4.94 [[ 9.99167788e-01 -3.86940261e-02 -1.29035986e-02 7.17405510e+02] [ 3.86950757e-02 9.99251051e-01 -1.68407658e-04 8.19642353e+00] [ 1.29004508e-02 -3.31038216e-04 9.99916731e-01 4.93701759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2992541539999 meters 0.017764214632726486 Centerline is valid? [True, True] Translation: X:717.44, Y:8.20, Z:4.94 [[ 9.99204161e-01 -3.78218618e-02 -1.26708692e-02 7.17436493e+02] [ 3.78228140e-02 9.99284448e-01 -1.64558186e-04 8.19626114e+00] [ 1.26680264e-02 -3.14820703e-04 9.99919708e-01 4.93739775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.329254154 meters 0.017104074845744097 Centerline is valid? [True, True] Translation: X:717.47, Y:8.20, Z:4.94 [[ 9.99307119e-01 -3.50667740e-02 -1.24741139e-02 7.17467532e+02] [ 3.50674895e-02 9.99384933e-01 -1.61430367e-04 8.19776100e+00] [ 1.24721023e-02 -2.76117341e-04 9.99922182e-01 4.93778650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3592541539999 meters 0.017277752634765945 Centerline is valid? [True, True] Translation: X:717.50, Y:8.20, Z:4.94 [[ 9.99385450e-01 -3.27397764e-02 -1.25231213e-02 7.17498895e+02] [ 3.27403206e-02 9.99463879e-01 -1.61610777e-04 8.19956140e+00] [ 1.25216985e-02 -2.48499548e-04 9.99921570e-01 4.93784365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3892541539999 meters 0.01583045043418596 Centerline is valid? [True, True] Translation: X:717.53, Y:8.20, Z:4.94 [[ 9.99453978e-01 -3.06637517e-02 -1.23077572e-02 7.17530741e+02] [ 3.06641266e-02 9.99529733e-01 -1.58287008e-04 8.20201558e+00] [ 1.23068229e-02 -2.19206045e-04 9.99924244e-01 4.93899087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4192541539999 meters 0.01661186718652436 Centerline is valid? [True, True] Translation: X:717.56, Y:8.20, Z:4.94 [[ 9.99531228e-01 -2.79475218e-02 -1.25003723e-02 7.17561256e+02] [ 2.79477023e-02 9.99609374e-01 -1.60273371e-04 8.20302385e+00] [ 1.24999686e-02 -1.89158446e-04 9.99921854e-01 4.93838907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4492541539998 meters 0.015151524920162873 Centerline is valid? [True, True] Translation: X:717.59, Y:8.20, Z:4.94 [[ 9.99631916e-01 -2.42334940e-02 -1.21971131e-02 7.17591869e+02] [ 2.42333921e-02 9.99706316e-01 -1.56166174e-04 8.20487900e+00] [ 1.21973154e-02 -1.39468732e-04 9.99925600e-01 4.93887900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4792541539999 meters 0.014703243381605915 Centerline is valid? [True, True] Translation: X:717.62, Y:8.21, Z:4.94 [[ 9.99676798e-01 -2.21563303e-02 -1.24658144e-02 7.17622877e+02] [ 2.21560666e-02 9.99754512e-01 -1.59275151e-04 8.20590558e+00] [ 1.24662831e-02 -1.16969741e-04 9.99922286e-01 4.93940231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5092541539999 meters 0.014698580525026565 Centerline is valid? [True, True] Translation: X:717.65, Y:8.21, Z:4.94 [[ 9.99718176e-01 -1.95865919e-02 -1.34139559e-02 7.17653260e+02] [ 1.95860589e-02 9.99808160e-01 -1.71115984e-04 8.20617240e+00] [ 1.34147341e-02 -9.16587709e-05 9.99910014e-01 4.93844079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5392541539999 meters 0.015267818787978385 Centerline is valid? [True, True] Translation: X:717.68, Y:8.21, Z:4.94 [[ 9.99727926e-01 -1.87369621e-02 -1.38924750e-02 7.17681491e+02] [ 1.87363031e-02 9.99824444e-01 -1.77598532e-04 8.20574599e+00] [ 1.38933638e-02 -8.27434113e-05 9.99903479e-01 4.93785998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5692541539999 meters 0.014676737003427124 Centerline is valid? [True, True] Translation: X:717.71, Y:8.21, Z:4.94 [[ 9.99720522e-01 -1.90065523e-02 -1.40580323e-02 7.17710440e+02] [ 1.90058732e-02 9.99819356e-01 -1.81918229e-04 8.20631521e+00] [ 1.40589504e-02 -8.53177913e-05 9.99901164e-01 4.93859184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5992541539999 meters 0.014496066400262717 Centerline is valid? [True, True] Translation: X:717.74, Y:8.21, Z:4.94 [[ 9.99713604e-01 -1.91911718e-02 -1.42971456e-02 7.17739332e+02] [ 1.91904357e-02 9.99815829e-01 -1.88688392e-04 8.20606434e+00] [ 1.42981336e-02 -8.57341005e-05 9.99897773e-01 4.93879239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6292541539999 meters 0.014645319056080509 Centerline is valid? [True, True] Translation: X:717.77, Y:8.20, Z:4.94 [[ 9.99678408e-01 -2.07201600e-02 -1.46204055e-02 7.17768487e+02] [ 2.07195213e-02 9.99785309e-01 -1.95172990e-04 8.20362516e+00] [ 1.46213106e-02 -1.07817578e-04 9.99893097e-01 4.93856091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6592541539999 meters 0.014555420131225197 Centerline is valid? [True, True] Translation: X:717.80, Y:8.20, Z:4.94 [[ 9.99651761e-01 -2.21033351e-02 -1.44152612e-02 7.17796790e+02] [ 2.21028250e-02 9.99755684e-01 -1.94724534e-04 8.20231132e+00] [ 1.44160434e-02 -1.23961272e-04 9.99896076e-01 4.93913151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6892541539999 meters 0.015438822335732969 Centerline is valid? [True, True] Translation: X:717.83, Y:8.20, Z:4.94 [[ 9.99609130e-01 -2.38391386e-02 -1.46042207e-02 7.17825769e+02] [ 2.38387678e-02 9.99715796e-01 -1.99496215e-04 8.19982204e+00] [ 1.46048259e-02 -1.48728388e-04 9.99893333e-01 4.93844421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7192541539999 meters 0.015576337604061923 Centerline is valid? [True, True] Translation: X:717.85, Y:8.20, Z:4.94 [[ 9.99550735e-01 -2.63983040e-02 -1.41935681e-02 7.17854839e+02] [ 2.63982010e-02 9.99651488e-01 -1.94640368e-04 8.19705273e+00] [ 1.41937597e-02 -1.80131742e-04 9.99899247e-01 4.93841936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7492541539999 meters 0.01568272162245362 Centerline is valid? [True, True] Translation: X:717.89, Y:8.19, Z:4.94 [[ 9.99394147e-01 -3.19156302e-02 -1.38828068e-02 7.17885029e+02] [ 3.19160570e-02 9.99490535e-01 -1.90868243e-04 8.19415401e+00] [ 1.38818257e-02 -2.52331848e-04 9.99903611e-01 4.94002966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7792541539999 meters 0.018139000062064183 Centerline is valid? [True, True] Translation: X:717.92, Y:8.19, Z:4.94 [[ 9.99306992e-01 -3.44254819e-02 -1.41570429e-02 7.17915723e+02] [ 3.44261805e-02 9.99407224e-01 -1.94421195e-04 8.19003958e+00] [ 1.41553440e-02 -2.93086456e-04 9.99899765e-01 4.93894567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8092541539999 meters 0.01719983655412883 Centerline is valid? [True, True] Translation: X:717.95, Y:8.19, Z:4.94 [[ 9.99174962e-01 -3.82081261e-02 -1.37671485e-02 7.17947106e+02] [ 3.82091534e-02 9.99269746e-01 -1.88492997e-04 8.18849056e+00] [ 1.37642969e-02 -3.37693605e-04 9.99905211e-01 4.94035886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.839254154 meters 0.020082773058314143 Centerline is valid? [True, True] Translation: X:717.98, Y:8.18, Z:4.94 [[ 9.98883433e-01 -4.54744660e-02 -1.28046868e-02 7.17977294e+02] [ 4.54759584e-02 9.98965418e-01 -1.74741279e-04 8.18097641e+00] [ 1.27993855e-02 -4.07759235e-04 9.99918001e-01 4.94033894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8692541539999 meters 0.022550100103686802 Centerline is valid? [True, True] Translation: X:718.01, Y:8.18, Z:4.94 [[ 9.98713800e-01 -4.89120971e-02 -1.33548703e-02 7.18008763e+02] [ 4.89140361e-02 9.98802976e-01 -1.81601106e-04 8.17816331e+00] [ 1.33477667e-02 -4.71873079e-04 9.99910803e-01 4.94029259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8992541539999 meters 0.02544335782201511 Centerline is valid? [True, True] Translation: X:718.04, Y:8.17, Z:4.94 [[ 9.98512468e-01 -5.30005050e-02 -1.27983415e-02 7.18039104e+02] [ 5.30026254e-02 9.98594358e-01 -1.73689762e-04 8.17268623e+00] [ 1.27895572e-02 -5.04914307e-04 9.99918083e-01 4.94039102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9292541539999 meters 0.026925736367398853 Centerline is valid? [True, True] Translation: X:718.07, Y:8.17, Z:4.94 [[ 9.98005209e-01 -6.21273885e-02 -1.12156235e-02 7.18070247e+02] [ 6.21295943e-02 9.98068079e-01 -1.51976997e-04 8.16776188e+00] [ 1.12033977e-02 -5.45148304e-04 9.99937091e-01 4.94245080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.959254154 meters 0.028970774333481535 Centerline is valid? [True, True] Translation: X:718.10, Y:8.16, Z:4.94 [[ 9.97752458e-01 -6.61022610e-02 -1.09783523e-02 7.18101599e+02] [ 6.61046181e-02 9.97812687e-01 -1.48421438e-04 8.16457699e+00] [ 1.09641502e-02 -5.77631935e-04 9.99939725e-01 4.94266288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9892541539999 meters 0.0340638168533302 Centerline is valid? [True, True] Translation: X:718.13, Y:8.16, Z:4.94 [[ 9.97218653e-01 -7.36369620e-02 -1.15133208e-02 7.18131529e+02] [ 7.36400582e-02 9.97284873e-01 -1.55354179e-04 8.15719180e+00] [ 1.14935004e-02 -6.92919525e-04 9.99933707e-01 4.94256884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0192541539999 meters 0.03639705571947005 Centerline is valid? [True, True] Translation: X:718.16, Y:8.15, Z:4.94 [[ 9.96972858e-01 -7.68531767e-02 -1.17775173e-02 7.18162110e+02] [ 7.68566419e-02 9.97042141e-01 -1.58768562e-04 8.15425691e+00] [ 1.17548830e-02 -7.46892486e-04 9.99930630e-01 4.94229285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0492541539999 meters 0.03367240424208244 Centerline is valid? [True, True] Translation: X:718.19, Y:8.16, Z:4.94 [[ 9.96761297e-01 -7.94583104e-02 -1.23812222e-02 7.18193510e+02] [ 7.94623441e-02 9.96837854e-01 -1.66584909e-04 8.15795896e+00] [ 1.23553076e-02 -8.17795552e-04 9.99923336e-01 4.94257013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.079254154 meters 0.037917374000554206 Centerline is valid? [True, True] Translation: X:718.22, Y:8.15, Z:4.94 [[ 9.96465272e-01 -8.30778051e-02 -1.24515163e-02 7.18223429e+02] [ 8.30821681e-02 9.96542686e-01 -1.67354866e-04 8.15324000e+00] [ 1.24223710e-02 -8.67735659e-04 9.99922463e-01 4.94195715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1092541539999 meters 0.03244940786016653 Centerline is valid? [True, True] Translation: X:718.26, Y:8.16, Z:4.94 [[ 9.96415112e-01 -8.36810792e-02 -1.24258823e-02 7.18255590e+02] [ 8.36854748e-02 9.96492204e-01 -1.66692296e-04 8.16169868e+00] [ 1.23962439e-02 -8.73771140e-04 9.99922782e-01 4.94296005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1392541539999 meters 0.03898701193311442 Centerline is valid? [True, True] Translation: X:718.29, Y:8.15, Z:4.94 [[ 9.96416946e-01 -8.36463114e-02 -1.25125978e-02 7.18287803e+02] [ 8.36507789e-02 9.96495118e-01 -1.66810062e-04 8.15456900e+00] [ 1.24826957e-02 -8.80476183e-04 9.99921700e-01 4.94238871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1692541539999 meters 0.03654435107181447 Centerline is valid? [True, True] Translation: X:718.32, Y:8.16, Z:4.94 [[ 9.96470050e-01 -8.29474973e-02 -1.29287401e-02 7.18320325e+02] [ 8.29522227e-02 9.96553511e-01 -1.71258984e-04 8.15937609e+00] [ 1.28983868e-02 -9.01813278e-04 9.99916406e-01 4.94249323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1992541539998 meters 0.038047146463495364 Centerline is valid? [True, True] Translation: X:718.35, Y:8.16, Z:4.94 [[ 9.96731097e-01 -7.97081493e-02 -1.31806948e-02 7.18350506e+02] [ 7.97127854e-02 9.96817858e-01 -1.74091086e-04 8.16054272e+00] [ 1.31526284e-02 -8.77147893e-04 9.99913116e-01 4.94163066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2292541539999 meters 0.032151687444516484 Centerline is valid? [True, True] Translation: X:718.38, Y:8.17, Z:4.94 [[ 9.96945174e-01 -7.68862889e-02 -1.37410988e-02 7.18381220e+02] [ 7.68910623e-02 9.97039483e-01 -1.81369238e-04 8.17061908e+00] [ 1.37143629e-02 -8.75752501e-04 9.99905570e-01 4.94204946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2592541539999 meters 0.03064728955390799 Centerline is valid? [True, True] Translation: X:718.41, Y:8.17, Z:4.94 [[ 9.97212474e-01 -7.32930768e-02 -1.39787916e-02 7.18412427e+02] [ 7.32976687e-02 9.97310091e-01 -1.84250946e-04 8.17476433e+00] [ 1.39546942e-02 -8.40875493e-04 9.99902275e-01 4.94237553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2892541539999 meters 0.025952944916779144 Centerline is valid? [True, True] Translation: X:718.44, Y:8.19, Z:4.94 [[ 9.97775420e-01 -6.51989009e-02 -1.39037385e-02 7.18442761e+02] [ 6.52026614e-02 9.97872026e-01 -1.83148141e-04 8.18624189e+00] [ 1.38860928e-02 -7.23820043e-04 9.99903322e-01 4.94303191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3192541539999 meters 0.02683033390214202 Centerline is valid? [True, True] Translation: X:718.47, Y:8.19, Z:4.94 [[ 9.98059828e-01 -6.06477069e-02 -1.40866855e-02 7.18472976e+02] [ 6.06511145e-02 9.98159009e-01 -1.85569310e-04 8.18809633e+00] [ 1.40720064e-02 -6.69163903e-04 9.99900761e-01 4.94300944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3492541539999 meters 0.022825400604875364 Centerline is valid? [True, True] Translation: X:718.50, Y:8.20, Z:4.94 [[ 9.98329351e-01 -5.60284583e-02 -1.41180563e-02 7.18503355e+02] [ 5.60314201e-02 9.98428989e-01 -1.85982569e-04 8.19686124e+00] [ 1.41062970e-02 -6.05382887e-04 9.99900318e-01 4.94387618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3792541539999 meters 0.020559544585498763 Centerline is valid? [True, True] Translation: X:718.53, Y:8.20, Z:4.94 [[ 9.98800007e-01 -4.69968529e-02 -1.37783061e-02 7.18532357e+02] [ 4.69988136e-02 9.98894929e-01 -1.81637194e-04 8.20498813e+00] [ 1.37716165e-02 -4.66144810e-04 9.99905058e-01 4.94373378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4092541539999 meters 0.019181167217722648 Centerline is valid? [True, True] Translation: X:718.56, Y:8.21, Z:4.94 [[ 9.98974069e-01 -4.31033097e-02 -1.38893634e-02 7.18563666e+02] [ 4.31049278e-02 9.99070534e-01 -1.82981036e-04 8.20989780e+00] [ 1.38843408e-02 -4.15906697e-04 9.99903521e-01 4.94419208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4392541539999 meters 0.01754599974653856 Centerline is valid? [True, True] Translation: X:718.59, Y:8.21, Z:4.94 [[ 9.99145096e-01 -3.91031587e-02 -1.34171650e-02 7.18594971e+02] [ 3.91043147e-02 9.99235118e-01 -1.76277138e-04 8.21489665e+00] [ 1.34137954e-02 -3.48542603e-04 9.99909970e-01 4.94484655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4692541539999 meters 0.016504302281056933 Centerline is valid? [True, True] Translation: X:718.63, Y:8.22, Z:4.95 [[ 9.99373552e-01 -3.29168404e-02 -1.29994659e-02 7.18625430e+02] [ 3.29174085e-02 9.99458061e-01 -1.70319023e-04 8.22195736e+00] [ 1.29980273e-02 -2.57696401e-04 9.99915489e-01 4.94578931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4992541539999 meters 0.01585818684928083 Centerline is valid? [True, True] Translation: X:718.66, Y:8.23, Z:4.95 [[ 9.99451689e-01 -3.03955870e-02 -1.31312580e-02 7.18656540e+02] [ 3.03959555e-02 9.99537921e-01 -1.71563550e-04 8.22613111e+00] [ 1.31304051e-02 -2.27667654e-04 9.99913767e-01 4.94640831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5292541539999 meters 0.015640621552460147 Centerline is valid? [True, True] Translation: X:718.69, Y:8.23, Z:4.95 [[ 9.99505768e-01 -2.84786939e-02 -1.33110408e-02 7.18687316e+02] [ 2.84789106e-02 9.99594379e-01 -1.73308861e-04 8.22874212e+00] [ 1.33105771e-02 -2.05860734e-04 9.99911389e-01 4.94613256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5592541539999 meters 0.01495305023356933 Centerline is valid? [True, True] Translation: X:718.72, Y:8.23, Z:4.95 [[ 9.99557205e-01 -2.61514099e-02 -1.41950056e-02 7.18718572e+02] [ 2.61514313e-02 9.99657976e-01 -1.84148155e-04 8.23231593e+00] [ 1.41949663e-02 -1.87153099e-04 9.99899229e-01 4.94576200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.589254154 meters 0.014952933669233118 Centerline is valid? [True, True] Translation: X:718.75, Y:8.23, Z:4.95 [[ 9.99551769e-01 -2.61505722e-02 -1.45742771e-02 7.18748725e+02] [ 2.61505985e-02 9.99657997e-01 -1.88806629e-04 8.23327484e+00] [ 1.45742300e-02 -1.92404069e-04 9.99893772e-01 4.94528297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6192541539999 meters 0.015303356184121037 Centerline is valid? [True, True] Translation: X:718.78, Y:8.23, Z:4.94 [[ 9.99524319e-01 -2.65932343e-02 -1.56184605e-02 7.18779535e+02] [ 2.65933210e-02 9.99646315e-01 -2.02174718e-04 8.23357349e+00] [ 1.56183130e-02 -2.13268186e-04 9.99878004e-01 4.94450730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6492541539999 meters 0.015303356184121037 Centerline is valid? [True, True] Translation: X:718.81, Y:8.23, Z:4.94 [[ 9.99524319e-01 -2.65932334e-02 -1.56184622e-02 7.18809536e+02] [ 2.65933221e-02 9.99646315e-01 -2.02047911e-04 8.23396154e+00] [ 1.56183113e-02 -2.13394995e-04 9.99878004e-01 4.94471517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6792541539999 meters 0.015151167219851533 Centerline is valid? [True, True] Translation: X:718.84, Y:8.23, Z:4.95 [[ 9.99502460e-01 -2.73114915e-02 -1.57770242e-02 7.18840501e+02] [ 2.73116714e-02 9.99626946e-01 -2.04099145e-04 8.23483979e+00] [ 1.57767128e-02 -2.26899303e-04 9.99875514e-01 4.94509300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.709254154 meters 0.015548786841391334 Centerline is valid? [True, True] Translation: X:718.87, Y:8.24, Z:4.95 [[ 9.99434652e-01 -2.94669081e-02 -1.61887950e-02 7.18870477e+02] [ 2.94673774e-02 9.99565721e-01 -2.09597707e-04 8.23564183e+00] [ 1.61879407e-02 -2.67562119e-04 9.99868931e-01 4.94546548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7392541539999 meters 0.015602133568067852 Centerline is valid? [True, True] Translation: X:718.90, Y:8.24, Z:4.95 [[ 9.99410383e-01 -3.05403512e-02 -1.56899047e-02 7.18900835e+02] [ 3.05409223e-02 9.99533497e-01 -2.03263028e-04 8.23573000e+00] [ 1.56887930e-02 -2.76040979e-04 9.99876885e-01 4.94634498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7692541539999 meters 0.015847388471917558 Centerline is valid? [True, True] Translation: X:718.93, Y:8.23, Z:4.95 [[ 9.99392602e-01 -3.13257915e-02 -1.52683298e-02 7.18931636e+02] [ 3.13264263e-02 9.99509188e-01 -1.97647986e-04 8.23488037e+00] [ 1.52670274e-02 -2.80774273e-04 9.99883413e-01 4.94658053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7992541539999 meters 0.01603365629838253 Centerline is valid? [True, True] Translation: X:718.96, Y:8.23, Z:4.95 [[ 9.99376722e-01 -3.21168771e-02 -1.46517290e-02 7.18963250e+02] [ 3.21175525e-02 9.99484080e-01 -1.89261937e-04 8.23482135e+00] [ 1.46502484e-02 -2.81433701e-04 9.99892640e-01 4.94700934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.829254154 meters 0.016170820019210885 Centerline is valid? [True, True] Translation: X:718.99, Y:8.23, Z:4.95 [[ 9.99373069e-01 -3.26592514e-02 -1.36690061e-02 7.18994211e+02] [ 3.26598965e-02 9.99466508e-01 -1.76087350e-04 8.23393628e+00] [ 1.36674647e-02 -2.70451369e-04 9.99906559e-01 4.94768485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8592541539999 meters 0.017521748057826556 Centerline is valid? [True, True] Translation: X:719.03, Y:8.23, Z:4.95 [[ 9.99387668e-01 -3.22260088e-02 -1.36298983e-02 7.19025076e+02] [ 3.22266167e-02 9.99480572e-01 -1.75084971e-04 8.23422049e+00] [ 1.36284608e-02 -2.64267748e-04 9.99907093e-01 4.94721040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8892541539999 meters 0.016511104570651917 Centerline is valid? [True, True] Translation: X:719.06, Y:8.23, Z:4.95 [[ 9.99421854e-01 -3.14124046e-02 -1.30083731e-02 7.19055815e+02] [ 3.14128970e-02 9.99506479e-01 -1.66520698e-04 8.23420366e+00] [ 1.30071840e-02 -2.42206258e-04 9.99915374e-01 4.94832875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9192541539999 meters 0.01582367009280557 Centerline is valid? [True, True] Translation: X:719.09, Y:8.23, Z:4.95 [[ 9.99442453e-01 -3.09636687e-02 -1.24913944e-02 7.19086933e+02] [ 3.09641009e-02 9.99520485e-01 -1.58842111e-04 8.23438350e+00] [ 1.24903229e-02 -2.28031248e-04 9.99921967e-01 4.94895504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9492541539998 meters 0.015950531449014708 Centerline is valid? [True, True] Translation: X:719.12, Y:8.23, Z:4.95 [[ 9.99460886e-01 -3.03423437e-02 -1.25410791e-02 7.19117685e+02] [ 3.03427500e-02 9.99539540e-01 -1.57917982e-04 8.23389436e+00] [ 1.25400960e-02 -2.22697981e-04 9.99921345e-01 4.94882353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9792541539999 meters 0.015946651226132553 Centerline is valid? [True, True] Translation: X:719.15, Y:8.23, Z:4.95 [[ 9.99479170e-01 -2.95656087e-02 -1.29330200e-02 7.19148560e+02] [ 2.95659913e-02 9.99562817e-01 -1.61656502e-04 8.23259433e+00] [ 1.29321454e-02 -2.20805250e-04 9.99916352e-01 4.94817367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0092541539999 meters 0.017440507967375608 Centerline is valid? [True, True] Translation: X:719.18, Y:8.23, Z:4.95 [[ 9.99480395e-01 -2.94196631e-02 -1.31690534e-02 7.19178434e+02] [ 2.94200535e-02 9.99567123e-01 -1.64122606e-04 8.23140634e+00] [ 1.31681813e-02 -2.23396929e-04 9.99913271e-01 4.94688852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0392541539999 meters 0.015514491191944967 Centerline is valid? [True, True] Translation: X:719.21, Y:8.23, Z:4.95 [[ 9.99426599e-01 -3.11056321e-02 -1.33758492e-02 7.19210092e+02] [ 3.11061907e-02 9.99516072e-01 -1.66337256e-04 8.23151510e+00] [ 1.33745503e-02 -2.49829838e-04 9.99910525e-01 4.94762122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0692541539999 meters 0.016575619852568533 Centerline is valid? [True, True] Translation: X:719.24, Y:8.23, Z:4.95 [[ 9.99375817e-01 -3.24140548e-02 -1.40465257e-02 7.19240487e+02] [ 3.24148056e-02 9.99474487e-01 -1.74274941e-04 8.22830099e+00] [ 1.40447930e-02 -2.81149239e-04 9.99901328e-01 4.94632064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0992541539999 meters 0.017131974772945625 Centerline is valid? [True, True] Translation: X:719.27, Y:8.23, Z:4.95 [[ 9.99309240e-01 -3.41210812e-02 -1.47239523e-02 7.19271809e+02] [ 3.41220975e-02 9.99417655e-01 -1.82266893e-04 8.22728270e+00] [ 1.47215970e-02 -3.20271146e-04 9.99891580e-01 4.94572973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1292541539999 meters 0.018332385659583623 Centerline is valid? [True, True] Translation: X:719.30, Y:8.22, Z:4.94 [[ 9.99230167e-01 -3.62172735e-02 -1.50792276e-02 7.19302518e+02] [ 3.62185971e-02 9.99343874e-01 -1.85397736e-04 8.22384927e+00] [ 1.50760483e-02 -3.60893458e-04 9.99886285e-01 4.94468494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1592541539999 meters 0.018589612632864284 Centerline is valid? [True, True] Translation: X:719.33, Y:8.22, Z:4.94 [[ 9.99046691e-01 -4.06921295e-02 -1.58069717e-02 7.19333767e+02] [ 4.06941628e-02 9.99171631e-01 -1.93123711e-04 8.22143349e+00] [ 1.58017363e-02 -4.50311873e-04 9.99875043e-01 4.94433486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1892541539999 meters 0.01883150463664984 Centerline is valid? [True, True] Translation: X:719.36, Y:8.22, Z:4.94 [[ 9.98949539e-01 -4.30257300e-02 -1.57671982e-02 7.19364546e+02] [ 4.30280537e-02 9.99073846e-01 -1.91988479e-04 8.22013369e+00] [ 1.57608558e-02 -4.86645048e-04 9.99875672e-01 4.94437686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2192541539999 meters 0.02226721615276252 Centerline is valid? [True, True] Translation: X:719.39, Y:8.21, Z:4.94 [[ 9.98840042e-01 -4.54854949e-02 -1.58000252e-02 7.19394952e+02] [ 4.54881432e-02 9.98964860e-01 -1.91912060e-04 8.21330318e+00] [ 1.57923991e-02 -5.27024357e-04 9.99875153e-01 4.94328147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2492541539999 meters 0.022894173595812178 Centerline is valid? [True, True] Translation: X:719.43, Y:8.21, Z:4.94 [[ 9.98642683e-01 -4.95541420e-02 -1.60367875e-02 7.19425813e+02] [ 4.95573987e-02 9.98771258e-01 -1.94496417e-04 8.21237951e+00] [ 1.60267206e-02 -6.00509050e-04 9.99871384e-01 4.94388052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2792541539999 meters 0.02264390065201789 Centerline is valid? [True, True] Translation: X:719.46, Y:8.21, Z:4.95 [[ 9.98537736e-01 -5.19121386e-02 -1.50837377e-02 7.19458328e+02] [ 5.19152989e-02 9.98651475e-01 -1.82231865e-04 8.21137125e+00] [ 1.50728569e-02 -6.01111357e-04 9.99886217e-01 4.94522160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3092541539999 meters 0.023874522463723315 Centerline is valid? [True, True] Translation: X:719.49, Y:8.21, Z:4.95 [[ 9.98442223e-01 -5.35771076e-02 -1.55762939e-02 7.19489959e+02] [ 5.35806954e-02 9.98563505e-01 -1.87191596e-04 8.21130816e+00] [ 1.55639478e-02 -6.47688667e-04 9.99878665e-01 4.94527909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.339254154 meters 0.024301176985320784 Centerline is valid? [True, True] Translation: X:719.52, Y:8.21, Z:4.95 [[ 9.98253393e-01 -5.72469011e-02 -1.45930146e-02 7.19521097e+02] [ 5.72504486e-02 9.98359833e-01 -1.74879863e-04 8.20857661e+00] [ 1.45790910e-02 -6.60882218e-04 9.99893501e-01 4.94643227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3692541539999 meters 0.02494682162576859 Centerline is valid? [True, True] Translation: X:719.55, Y:8.21, Z:4.95 [[ 9.98176074e-01 -5.85956220e-02 -1.45285494e-02 7.19552857e+02] [ 5.85992886e-02 9.98281570e-01 -1.73569058e-04 8.20717539e+00] [ 1.45137535e-02 -6.78110180e-04 9.99894440e-01 4.94690453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3992541539999 meters 0.0254146085524776 Centerline is valid? [True, True] Translation: X:719.58, Y:8.21, Z:4.95 [[ 9.98110390e-01 -5.97876280e-02 -1.41806071e-02 7.19584774e+02] [ 5.97912537e-02 9.98210888e-01 -1.68517874e-04 8.20599121e+00] [ 1.41653117e-02 -6.79676837e-04 9.99899436e-01 4.94687287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4292541539999 meters 0.027855547104167336 Centerline is valid? [True, True] Translation: X:719.62, Y:8.20, Z:4.95 [[ 9.98024089e-01 -6.12519389e-02 -1.40041971e-02 7.19615490e+02] [ 6.12556293e-02 9.98122097e-01 -1.65668600e-04 8.20229585e+00] [ 1.39880461e-02 -6.92494651e-04 9.99901923e-01 4.94638599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.459254154 meters 0.028108283786578765 Centerline is valid? [True, True] Translation: X:719.65, Y:8.20, Z:4.95 [[ 9.97996566e-01 -6.18109047e-02 -1.35005873e-02 7.19647488e+02] [ 6.18143950e-02 9.98087649e-01 -1.59000914e-04 8.20113091e+00] [ 1.34845974e-02 -6.75848270e-04 9.99908850e-01 4.94693581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4892541539999 meters 0.024330240327373426 Centerline is valid? [True, True] Translation: X:719.68, Y:8.21, Z:4.95 [[ 9.98005083e-01 -6.17864608e-02 -1.29725926e-02 7.19679904e+02] [ 6.17896933e-02 9.98089180e-01 -1.51854960e-04 8.20605152e+00] [ 1.29571869e-02 -6.50020495e-04 9.99915841e-01 4.94833598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5192541539999 meters 0.028202953584943947 Centerline is valid? [True, True] Translation: X:719.71, Y:8.20, Z:4.95 [[ 9.98054653e-01 -6.10630903e-02 -1.25781136e-02 7.19711580e+02] [ 6.10660822e-02 9.98133715e-01 -1.46418684e-04 8.20042074e+00] [ 1.25635800e-02 -6.21962268e-04 9.99920882e-01 4.94802243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5492541539999 meters 0.024721783323375244 Centerline is valid? [True, True] Translation: X:719.74, Y:8.21, Z:4.95 [[ 9.98115472e-01 -6.01398267e-02 -1.21944669e-02 7.19744116e+02] [ 6.01425794e-02 9.98189787e-01 -1.41188596e-04 8.20565805e+00] [ 1.21808834e-02 -5.92484171e-04 9.99925635e-01 4.94858831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.579254154 meters 0.02558938256869627 Centerline is valid? [True, True] Translation: X:719.78, Y:8.21, Z:4.95 [[ 9.98190692e-01 -5.88020772e-02 -1.25562166e-02 7.19776842e+02] [ 5.88049033e-02 9.98269484e-01 -1.44325472e-04 8.20638405e+00] [ 1.25429745e-02 -5.94302763e-04 9.99921157e-01 4.94765594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6092541539999 meters 0.02329441299885962 Centerline is valid? [True, True] Translation: X:719.81, Y:8.21, Z:4.95 [[ 9.98257273e-01 -5.77549419e-02 -1.21154404e-02 7.19809090e+02] [ 5.77575083e-02 9.98330632e-01 -1.38245608e-04 8.20829708e+00] [ 1.21031997e-02 -5.61752969e-04 9.99926596e-01 4.94860566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6392541539999 meters 0.024141788516387427 Centerline is valid? [True, True] Translation: X:719.84, Y:8.21, Z:4.95 [[ 9.98377646e-01 -5.56280930e-02 -1.21487200e-02 7.19839740e+02] [ 5.56305239e-02 9.98451414e-01 -1.38003219e-04 8.20669008e+00] [ 1.21375835e-02 -5.38060329e-04 9.99926192e-01 4.94844713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6692541539999 meters 0.025076565518634086 Centerline is valid? [True, True] Translation: X:719.87, Y:8.21, Z:4.95 [[ 9.98464439e-01 -5.40224929e-02 -1.22610534e-02 7.19871205e+02] [ 5.40248533e-02 9.98539582e-01 -1.38861894e-04 8.20681685e+00] [ 1.22506488e-02 -5.23752947e-04 9.99924821e-01 4.94765561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6992541539998 meters 0.02163388324072195 Centerline is valid? [True, True] Translation: X:719.90, Y:8.21, Z:4.95 [[ 9.98526872e-01 -5.28209548e-02 -1.24109554e-02 7.19903023e+02] [ 5.28232904e-02 9.98603866e-01 -1.39773248e-04 8.21193641e+00] [ 1.24010110e-02 -5.16020159e-04 9.99922971e-01 4.94858233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7292541539999 meters 0.021313793204598152 Centerline is valid? [True, True] Translation: X:719.93, Y:8.21, Z:4.95 [[ 9.98665331e-01 -5.02240203e-02 -1.20459536e-02 7.19933623e+02] [ 5.02260390e-02 9.98737867e-01 -1.35066588e-04 8.21393423e+00] [ 1.20375336e-02 -4.70134215e-04 9.99927436e-01 4.94854543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7592541539999 meters 0.021522175650921224 Centerline is valid? [True, True] Translation: X:719.97, Y:8.22, Z:4.95 [[ 9.98734767e-01 -4.88365063e-02 -1.19941847e-02 7.19965386e+02] [ 4.88384139e-02 9.98806684e-01 -1.33978702e-04 8.21663400e+00] [ 1.19864149e-02 -4.51967767e-04 9.99928058e-01 4.94791986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7892541539999 meters 0.02003541526359163 Centerline is valid? [True, True] Translation: X:720.00, Y:8.22, Z:4.95 [[ 9.98827092e-01 -4.71079918e-02 -1.11926958e-02 7.19996337e+02] [ 4.71095526e-02 9.98889721e-01 -1.24302117e-04 8.21829870e+00] [ 1.11861244e-02 -4.03126569e-04 9.99937352e-01 4.94901810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8192541539999 meters 0.020679538094812062 Centerline is valid? [True, True] Translation: X:720.03, Y:8.22, Z:4.95 [[ 9.98865879e-01 -4.63481004e-02 -1.08999818e-02 7.20027965e+02] [ 4.63495420e-02 9.98925275e-01 -1.20454423e-04 8.21774398e+00] [ 1.08938501e-02 -3.84891350e-04 9.99940586e-01 4.94919186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8492541539999 meters 0.019808229628020663 Centerline is valid? [True, True] Translation: X:720.06, Y:8.22, Z:4.95 [[ 9.98891141e-01 -4.58735270e-02 -1.05881381e-02 7.20059667e+02] [ 4.58748675e-02 9.98947187e-01 -1.16364941e-04 8.22021942e+00] [ 1.05823288e-02 -3.69493523e-04 9.99943937e-01 4.94960578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8792541539999 meters 0.0191547966080086 Centerline is valid? [True, True] Translation: X:720.09, Y:8.22, Z:4.95 [[ 9.98938286e-01 -4.49433242e-02 -1.01191866e-02 7.20091532e+02] [ 4.49445082e-02 9.98989479e-01 -1.10482570e-04 8.22265548e+00] [ 1.01139264e-02 -3.44436597e-04 9.99948794e-01 4.95011856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9092541539999 meters 0.019364326035396704 Centerline is valid? [True, True] Translation: X:720.12, Y:8.22, Z:4.95 [[ 9.98962404e-01 -4.43631915e-02 -1.02967295e-02 7.20122347e+02] [ 4.43643940e-02 9.99015409e-01 -1.11707172e-04 8.22319536e+00] [ 1.02915471e-02 -3.45216898e-04 9.99946981e-01 4.95020322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9392541539999 meters 0.019003376482842248 Centerline is valid? [True, True] Translation: X:720.15, Y:8.22, Z:4.95 [[ 9.99010055e-01 -4.34499062e-02 -9.54022952e-03 7.20154502e+02] [ 4.34509022e-02 9.99055558e-01 -1.02948399e-04 8.22476304e+00] [ 9.53569243e-03 -3.11685093e-04 9.99954486e-01 4.95063839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9692541539999 meters 0.018585830898381842 Centerline is valid? [True, True] Translation: X:720.19, Y:8.23, Z:4.95 [[ 9.99055221e-01 -4.24616583e-02 -9.25596747e-03 7.20186588e+02] [ 4.24625597e-02 9.99098054e-01 -9.92055919e-05 8.22673305e+00] [ 9.25183152e-03 -2.93920207e-04 9.99957158e-01 4.95108555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9992541539999 meters 0.018539517522241374 Centerline is valid? [True, True] Translation: X:720.22, Y:8.23, Z:4.95 [[ 9.99203526e-01 -3.89832676e-02 -8.52164176e-03 7.20217078e+02] [ 3.89839095e-02 9.99239834e-01 -9.08265452e-05 8.22798088e+00] [ 8.51870462e-03 -2.41452707e-04 9.99963686e-01 4.95209610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0292541539999 meters 0.018354079254006565 Centerline is valid? [True, True] Translation: X:720.25, Y:8.23, Z:4.95 [[ 9.99292589e-01 -3.67345641e-02 -8.05558818e-03 7.20248241e+02] [ 3.67350662e-02 9.99325036e-01 -8.56771927e-05 8.22945811e+00] [ 8.05329827e-03 -2.10305981e-04 9.99967550e-01 4.95259176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0592541539999 meters 0.01739172133941129 Centerline is valid? [True, True] Translation: X:720.28, Y:8.23, Z:4.95 [[ 9.99383095e-01 -3.41378701e-02 -8.24832475e-03 7.20280460e+02] [ 3.41383120e-02 9.99417114e-01 -8.72504570e-05 8.23219330e+00] [ 8.24649547e-03 -1.94387252e-04 9.99965978e-01 4.95298079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.089254154 meters 0.016320940354393344 Centerline is valid? [True, True] Translation: X:720.31, Y:8.24, Z:4.95 [[ 9.99572220e-01 -2.79362926e-02 -8.65677640e-03 7.20310461e+02] [ 2.79365517e-02 9.99609694e-01 -9.10210576e-05 8.23656196e+00] [ 8.65594040e-03 -1.50858361e-04 9.99962525e-01 4.95251271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1192541539999 meters 0.01481236552902506 Centerline is valid? [True, True] Translation: X:720.34, Y:8.24, Z:4.95 [[ 9.99651688e-01 -2.48353958e-02 -8.92785585e-03 7.20341446e+02] [ 2.48355495e-02 9.99691546e-01 -9.36714895e-05 8.24036959e+00] [ 8.92742838e-03 -1.28089343e-04 9.99960142e-01 4.95305071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1492541539999 meters 0.015337273037399658 Centerline is valid? [True, True] Translation: X:720.37, Y:8.24, Z:4.95 [[ 9.99729360e-01 -2.16341924e-02 -8.55390660e-03 7.20373051e+02] [ 2.16342188e-02 9.99765949e-01 -8.94503438e-05 8.24251096e+00] [ 8.55383974e-03 -9.56309522e-05 9.99963411e-01 4.95212744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1792541539999 meters 0.013811077573585264 Centerline is valid? [True, True] Translation: X:720.40, Y:8.25, Z:4.95 [[ 9.99813840e-01 -1.72646949e-02 -8.61488680e-03 7.20404724e+02] [ 1.72645622e-02 9.99850952e-01 -8.97735891e-05 8.24649822e+00] [ 8.61515268e-03 -5.89753724e-05 9.99962887e-01 4.95308408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.209254154 meters 0.013730052029178754 Centerline is valid? [True, True] Translation: X:720.44, Y:8.25, Z:4.95 [[ 9.99841540e-01 -1.54962118e-02 -8.76137432e-03 7.20436285e+02] [ 1.54960096e-02 9.99879925e-01 -9.09720433e-05 8.24774053e+00] [ 8.76173202e-03 -4.48087123e-05 9.99961614e-01 4.95306487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2392541539999 meters 0.015128739929561087 Centerline is valid? [True, True] Translation: X:720.47, Y:8.25, Z:4.95 [[ 9.99859800e-01 -1.41059874e-02 -9.02225816e-03 7.20466650e+02] [ 1.41057191e-02 9.99900505e-01 -9.33793881e-05 8.24831550e+00] [ 9.02267770e-03 -3.38991425e-05 9.99959294e-01 4.95186239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2692541539999 meters 0.013583849508969395 Centerline is valid? [True, True] Translation: X:720.50, Y:8.25, Z:4.95 [[ 9.99858179e-01 -1.39957609e-02 -9.36695840e-03 7.20496729e+02] [ 1.39954680e-02 9.99902054e-01 -9.68154501e-05 8.24927035e+00] [ 9.36739595e-03 -3.42932472e-05 9.99956124e-01 4.95303621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2992541539999 meters 0.01445348032300042 Centerline is valid? [True, True] Translation: X:720.53, Y:8.25, Z:4.95 [[ 9.99839637e-01 -1.50463319e-02 -9.71128805e-03 7.20526429e+02] [ 1.50460657e-02 9.99886796e-01 -1.00475280e-04 8.24861365e+00] [ 9.71170048e-03 -4.56575106e-05 9.99952839e-01 4.95249653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.329254154 meters 0.013857827169680197 Centerline is valid? [True, True] Translation: X:720.56, Y:8.25, Z:4.95 [[ 9.99808393e-01 -1.69415879e-02 -9.80614800e-03 7.20555850e+02] [ 1.69414046e-02 9.99856479e-01 -1.01762206e-04 8.24747551e+00] [ 9.80646462e-03 -6.43872141e-05 9.99951913e-01 4.95314841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3592541539999 meters 0.015383748389145517 Centerline is valid? [True, True] Translation: X:720.59, Y:8.24, Z:4.95 [[ 9.99725649e-01 -2.12785914e-02 -9.79020053e-03 7.20585525e+02] [ 2.12786152e-02 9.99773579e-01 -1.01740145e-04 8.24234329e+00] [ 9.79014872e-03 -1.06609678e-04 9.99952070e-01 4.95208706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3892541539999 meters 0.014771334161160839 Centerline is valid? [True, True] Translation: X:720.62, Y:8.24, Z:4.95 [[ 9.99650197e-01 -2.44402356e-02 -1.01073701e-02 7.20617085e+02] [ 2.44404233e-02 9.99701283e-01 -1.04967711e-04 8.24130716e+00] [ 1.01069163e-02 -1.42097410e-04 9.99948914e-01 4.95323526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4192541539999 meters 0.015211416177987396 Centerline is valid? [True, True] Translation: X:720.65, Y:8.24, Z:4.95 [[ 9.99571283e-01 -2.73940476e-02 -1.03351518e-02 7.20648193e+02] [ 2.73944056e-02 9.99624697e-01 -1.06951613e-04 8.23882945e+00] [ 1.03342029e-02 -1.76219580e-04 9.99946585e-01 4.95362380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4492541539998 meters 0.01880011656847001 Centerline is valid? [True, True] Translation: X:720.68, Y:8.24, Z:4.95 [[ 9.99496880e-01 -3.00543109e-02 -1.01353100e-02 7.20680240e+02] [ 3.00547968e-02 9.99548247e-01 -1.04403285e-04 8.23606306e+00] [ 1.01338691e-02 -2.00263926e-04 9.99948631e-01 4.95192381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4792541539999 meters 0.017800681346796004 Centerline is valid? [True, True] Translation: X:720.71, Y:8.23, Z:4.96 [[ 9.99274353e-01 -3.67633870e-02 -9.96094676e-03 7.20710606e+02] [ 3.67641948e-02 9.99323963e-01 -1.02057025e-04 8.23209975e+00] [ 9.95796475e-03 -2.64223219e-04 9.99950383e-01 4.95550094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5092541539999 meters 0.01846325741636308 Centerline is valid? [True, True] Translation: X:720.74, Y:8.23, Z:4.96 [[ 9.99173800e-01 -3.94699692e-02 -9.68703275e-03 7.20742313e+02] [ 3.94708642e-02 9.99220717e-01 -9.88443664e-05 8.23056303e+00] [ 9.68338519e-03 -2.83592853e-04 9.99953075e-01 4.95562726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5392541539999 meters 0.01846325741636308 Centerline is valid? [True, True] Translation: X:720.77, Y:8.23, Z:4.96 [[ 9.99176694e-01 -3.93966522e-02 -9.68704204e-03 7.20774016e+02] [ 3.93975527e-02 9.99223610e-01 -9.79266409e-05 8.23082381e+00] [ 9.68337910e-03 -2.83799732e-04 9.99953075e-01 4.95584675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5692541539999 meters 0.020995953357035205 Centerline is valid? [True, True] Translation: X:720.80, Y:8.22, Z:4.96 [[ 9.98972959e-01 -4.43150864e-02 -9.44453947e-03 7.20803684e+02] [ 4.43161665e-02 9.99017552e-01 -9.49794711e-05 8.22407428e+00] [ 9.43946972e-03 -3.23663861e-04 9.99955395e-01 4.95619786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5992541539999 meters 0.02085263119454838 Centerline is valid? [True, True] Translation: X:720.84, Y:8.22, Z:4.96 [[ 9.98879716e-01 -4.63936730e-02 -9.32418937e-03 7.20836240e+02] [ 4.63948179e-02 9.98923176e-01 -9.35949268e-05 8.22352253e+00] [ 9.31849108e-03 -3.39103994e-04 9.99956524e-01 4.95686613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6292541539999 meters 0.021650250080898038 Centerline is valid? [True, True] Translation: X:720.87, Y:8.22, Z:4.96 [[ 9.98791550e-01 -4.82814987e-02 -9.18349179e-03 7.20867875e+02] [ 4.82826946e-02 9.98833706e-01 -9.15631882e-05 8.22184319e+00] [ 9.17720196e-03 -3.51951191e-04 9.99957827e-01 4.95729847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6592541539999 meters 0.022531946262343405 Centerline is valid? [True, True] Translation: X:720.90, Y:8.22, Z:4.96 [[ 9.98607571e-01 -5.18738262e-02 -9.59296630e-03 7.20899008e+02] [ 5.18753009e-02 9.98653566e-01 -9.52021523e-05 8.21945333e+00] [ 9.58498850e-03 -4.02568423e-04 9.99953982e-01 4.95774394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6892541539999 meters 0.022766109256139474 Centerline is valid? [True, True] Translation: X:720.93, Y:8.22, Z:4.96 [[ 9.98517265e-01 -5.35437016e-02 -9.81547916e-03 7.20930630e+02] [ 5.35453289e-02 9.98565415e-01 -9.71206980e-05 8.21886401e+00] [ 9.80659822e-03 -4.28596366e-04 9.99951822e-01 4.95809362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7192541539999 meters 0.024386600706410258 Centerline is valid? [True, True] Translation: X:720.96, Y:8.22, Z:4.96 [[ 9.98440314e-01 -5.48726498e-02 -1.02923051e-02 7.20961851e+02] [ 5.48745156e-02 9.98493253e-01 -1.01249973e-04 8.21620673e+00] [ 1.02823530e-02 -4.63693199e-04 9.99947028e-01 4.95795055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7492541539999 meters 0.0240604656736533 Centerline is valid? [True, True] Translation: X:720.99, Y:8.22, Z:4.96 [[ 9.98303214e-01 -5.72447531e-02 -1.06644833e-02 7.20994263e+02] [ 5.72468984e-02 9.98360046e-01 -1.04238496e-04 8.21597232e+00] [ 1.06529612e-02 -5.06446968e-04 9.99943127e-01 4.95785162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7792541539999 meters 0.023678970363223625 Centerline is valid? [True, True] Translation: X:721.03, Y:8.22, Z:4.96 [[ 9.98244342e-01 -5.82428732e-02 -1.07704202e-02 7.21026319e+02] [ 5.82451280e-02 9.98302306e-01 -1.04465305e-04 8.21634041e+00] [ 1.07582197e-02 -5.23042604e-04 9.99941992e-01 4.95768480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8092541539999 meters 0.02564305855451388 Centerline is valid? [True, True] Translation: X:721.06, Y:8.21, Z:4.96 [[ 9.98220127e-01 -5.85669347e-02 -1.12468341e-02 7.21058675e+02] [ 5.85694237e-02 9.98283332e-01 -1.08219080e-04 8.21450826e+00] [ 1.12338651e-02 -5.50694127e-04 9.99936747e-01 4.95589783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.839254154 meters 0.025784660881583887 Centerline is valid? [True, True] Translation: X:721.09, Y:8.21, Z:4.96 [[ 9.98127682e-01 -5.99237654e-02 -1.22585704e-02 7.21089776e+02] [ 5.99268350e-02 9.98202765e-01 -1.17094542e-04 8.21406822e+00] [ 1.22435556e-02 -6.17742023e-04 9.99924854e-01 4.95721494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8692541539999 meters 0.026886302880164633 Centerline is valid? [True, True] Translation: X:721.12, Y:8.21, Z:4.96 [[ 9.98187567e-01 -5.88713926e-02 -1.24796220e-02 7.21121197e+02] [ 5.88745061e-02 9.98265385e-01 -1.18070238e-04 8.21399659e+00] [ 1.24649256e-02 -6.16875335e-04 9.99922120e-01 4.95580563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8992541539999 meters 0.026148137529931694 Centerline is valid? [True, True] Translation: X:721.15, Y:8.22, Z:4.96 [[ 9.98197743e-01 -5.86510999e-02 -1.27009781e-02 7.21153604e+02] [ 5.86543243e-02 9.98278346e-01 -1.18801190e-04 8.21509725e+00] [ 1.26860792e-02 -6.26380208e-04 9.99919332e-01 4.95738017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9292541539999 meters 0.026880720057421648 Centerline is valid? [True, True] Translation: X:721.18, Y:8.22, Z:4.96 [[ 9.98358177e-01 -5.59082310e-02 -1.24587621e-02 7.21183668e+02] [ 5.59111278e-02 9.98435743e-01 -1.15942241e-04 8.21534186e+00] [ 1.24457555e-02 -5.80831557e-04 9.99922380e-01 4.95723767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.959254154 meters 0.022901722957938637 Centerline is valid? [True, True] Translation: X:721.22, Y:8.22, Z:4.96 [[ 9.98480561e-01 -5.35597898e-02 -1.29582903e-02 7.21215371e+02] [ 5.35627323e-02 9.98564479e-01 -1.20123544e-04 8.22216100e+00] [ 1.29461221e-02 -5.74140408e-04 9.99916031e-01 4.95845979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9892541539999 meters 0.02141965868435868 Centerline is valid? [True, True] Translation: X:721.24, Y:8.23, Z:4.96 [[ 9.98766685e-01 -4.77586000e-02 -1.35729363e-02 7.21244709e+02] [ 4.77612972e-02 9.98858770e-01 -1.25538574e-04 8.22685335e+00] [ 1.35634420e-02 -5.22877298e-04 9.99907876e-01 4.95862382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0192541539999 meters 0.02046761248861129 Centerline is valid? [True, True] Translation: X:721.28, Y:8.23, Z:4.96 [[ 9.98918655e-01 -4.44009156e-02 -1.37869193e-02 7.21275761e+02] [ 4.44033809e-02 9.99013675e-01 -1.27393963e-04 8.23013001e+00] [ 1.37789774e-02 -4.84929624e-04 9.99904948e-01 4.95882206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0492541539999 meters 0.01938870460416234 Centerline is valid? [True, True] Translation: X:721.31, Y:8.23, Z:4.96 [[ 9.99067339e-01 -4.08618142e-02 -1.39558078e-02 7.21307057e+02] [ 4.08640026e-02 9.99164710e-01 -1.28436809e-04 8.23370488e+00] [ 1.39493988e-02 -4.41973144e-04 9.99902605e-01 4.95947769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.079254154 meters 0.018203949927567666 Centerline is valid? [True, True] Translation: X:721.34, Y:8.24, Z:4.96 [[ 9.99224767e-01 -3.69899157e-02 -1.34762853e-02 7.21338698e+02] [ 3.69916126e-02 9.99315568e-01 -1.23416232e-04 8.23745102e+00] [ 1.34716269e-02 -3.75188970e-04 9.99909183e-01 4.96101410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1092541539999 meters 0.01666240943727342 Centerline is valid? [True, True] Translation: X:721.37, Y:8.24, Z:4.96 [[ 9.99478940e-01 -2.95473901e-02 -1.29923359e-02 7.21368457e+02] [ 2.95483435e-02 9.99563345e-01 -1.18615978e-04 8.24312049e+00] [ 1.29901675e-02 -2.65347831e-04 9.99915589e-01 4.96244388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1392541539999 meters 0.01588522975341549 Centerline is valid? [True, True] Translation: X:721.40, Y:8.25, Z:4.96 [[ 9.99572011e-01 -2.62718035e-02 -1.28680398e-02 7.21399597e+02] [ 2.62724702e-02 9.99654812e-01 -1.17263844e-04 8.24621490e+00] [ 1.28666787e-02 -2.20861537e-04 9.99917196e-01 4.96313592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1692541539999 meters 0.015559534989244835 Centerline is valid? [True, True] Translation: X:721.43, Y:8.25, Z:4.96 [[ 9.99725942e-01 -1.98258759e-02 -1.24489444e-02 7.21430347e+02] [ 1.98260032e-02 9.99803439e-01 -1.13199414e-04 8.25016214e+00] [ 1.24487417e-02 -1.33644421e-04 9.99922502e-01 4.96331977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1992541539998 meters 0.01746501485924497 Centerline is valid? [True, True] Translation: X:721.46, Y:8.25, Z:4.96 [[ 9.99774502e-01 -1.69255833e-02 -1.28246120e-02 7.21460426e+02] [ 1.69254770e-02 9.99856747e-01 -1.16832354e-04 8.25174189e+00] [ 1.28247523e-02 -1.00256666e-04 9.99917754e-01 4.96195241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2292541539999 meters 0.014519388581318005 Centerline is valid? [True, True] Translation: X:721.49, Y:8.25, Z:4.96 [[ 9.99797383e-01 -1.58610058e-02 -1.23944080e-02 7.21488946e+02] [ 1.58608043e-02 9.99874203e-01 -1.14559821e-04 8.25378572e+00] [ 1.23946659e-02 -8.20486711e-05 9.99923180e-01 4.96445313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2592541539999 meters 0.01440642792423634 Centerline is valid? [True, True] Translation: X:721.52, Y:8.25, Z:4.96 [[ 9.99815368e-01 -1.43167417e-02 -1.28164031e-02 7.21517288e+02] [ 1.43163565e-02 9.99897508e-01 -1.21804773e-04 8.25442296e+00] [ 1.28168333e-02 -6.17019110e-05 9.99917859e-01 4.96416220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2892541539999 meters 0.014374924003225716 Centerline is valid? [True, True] Translation: X:721.54, Y:8.25, Z:4.96 [[ 9.99836197e-01 -1.22760026e-02 -1.32995472e-02 7.21544918e+02] [ 1.22753751e-02 9.99924646e-01 -1.28817342e-04 8.25374997e+00] [ 1.33001264e-02 -3.44606888e-05 9.99911549e-01 4.96353269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3192541539999 meters 0.014342520594015617 Centerline is valid? [True, True] Translation: X:721.57, Y:8.25, Z:4.96 [[ 9.99824450e-01 -1.24948841e-02 -1.39623217e-02 7.21573181e+02] [ 1.24941758e-02 9.99921935e-01 -1.37957465e-04 8.25281027e+00] [ 1.39629555e-02 -3.65144556e-05 9.99902513e-01 4.96336989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3492541539999 meters 0.014380765834411053 Centerline is valid? [True, True] Translation: X:721.60, Y:8.25, Z:4.96 [[ 9.99812863e-01 -1.28746566e-02 -1.44389314e-02 7.21600550e+02] [ 1.28738986e-02 9.99917117e-01 -1.45446307e-04 8.25128363e+00] [ 1.44396072e-02 -4.04662498e-05 9.99895743e-01 4.96308708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3792541539999 meters 0.014390837171930486 Centerline is valid? [True, True] Translation: X:721.63, Y:8.25, Z:4.96 [[ 9.99795036e-01 -1.39523095e-02 -1.46703524e-02 7.21628868e+02] [ 1.39516008e-02 9.99902660e-01 -1.50652652e-04 8.24947762e+00] [ 1.46710263e-02 -5.40531263e-05 9.99892373e-01 4.96317177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4092541539999 meters 0.01471251935919414 Centerline is valid? [True, True] Translation: X:721.66, Y:8.24, Z:4.96 [[ 9.99749091e-01 -1.73283858e-02 -1.41944689e-02 7.21658119e+02] [ 1.73280092e-02 9.99849848e-01 -1.49528393e-04 8.24450013e+00] [ 1.41949286e-02 -9.64710127e-05 9.99899242e-01 4.96373493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4392541539999 meters 0.014850631826505686 Centerline is valid? [True, True] Translation: X:721.69, Y:8.24, Z:4.96 [[ 9.99712083e-01 -1.95348540e-02 -1.39334494e-02 7.21686900e+02] [ 1.95346564e-02 9.99809169e-01 -1.50298774e-04 8.24194506e+00] [ 1.39337265e-02 -1.21929645e-04 9.99902913e-01 4.96436527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4692541539999 meters 0.017245566642174488 Centerline is valid? [True, True] Translation: X:721.72, Y:8.23, Z:4.96 [[ 9.99599549e-01 -2.43475553e-02 -1.44200548e-02 7.21715981e+02] [ 2.43477892e-02 9.99703536e-01 -1.59362434e-04 8.23434037e+00] [ 1.44196599e-02 -1.91797838e-04 9.99896013e-01 4.96328020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4992541539999 meters 0.01634776594684878 Centerline is valid? [True, True] Translation: X:721.74, Y:8.23, Z:4.96 [[ 9.99526505e-01 -2.77076699e-02 -1.33809978e-02 7.21744623e+02] [ 2.77081450e-02 9.99616044e-01 -1.49920331e-04 8.22906965e+00] [ 1.33800140e-02 -2.20913283e-04 9.99910459e-01 4.96426864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5292541539999 meters 0.016334544521478266 Centerline is valid? [True, True] Translation: X:721.78, Y:8.23, Z:4.96 [[ 9.99441921e-01 -3.05005846e-02 -1.36220663e-02 7.21775332e+02] [ 3.05013309e-02 9.99534714e-01 -1.53013220e-04 8.22668212e+00] [ 1.36203952e-02 -2.62563327e-04 9.99907204e-01 4.96497120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5592541539999 meters 0.017511423491190566 Centerline is valid? [True, True] Translation: X:721.81, Y:8.22, Z:4.96 [[ 9.99292160e-01 -3.52639144e-02 -1.31009700e-02 7.21805256e+02] [ 3.52650138e-02 9.99377985e-01 -1.47159877e-04 8.21821475e+00] [ 1.30980104e-02 -3.14950176e-04 9.99914168e-01 4.96487994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.589254154 meters 0.017945393611116467 Centerline is valid? [True, True] Translation: X:721.84, Y:8.22, Z:4.97 [[ 9.99217609e-01 -3.72848693e-02 -1.31911913e-02 7.21836759e+02] [ 3.72861629e-02 9.99304618e-01 -1.47944316e-04 8.21505879e+00] [ 1.31875345e-02 -3.44020343e-04 9.99912982e-01 4.96522028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6192541539999 meters 0.01860525800172547 Centerline is valid? [True, True] Translation: X:721.87, Y:8.21, Z:4.97 [[ 9.99146980e-01 -3.90698899e-02 -1.33736883e-02 7.21867909e+02] [ 3.90713859e-02 9.99236411e-01 -1.49499759e-04 8.21161970e+00] [ 1.33693172e-02 -3.73156301e-04 9.99910557e-01 4.96555164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6492541539999 meters 0.01886095947707008 Centerline is valid? [True, True] Translation: X:721.90, Y:8.21, Z:4.97 [[ 9.99039203e-01 -4.18146784e-02 -1.31226572e-02 7.21898829e+02] [ 4.18163600e-02 9.99125303e-01 -1.46331354e-04 8.20635451e+00] [ 1.31172976e-02 -4.02550997e-04 9.99913884e-01 4.96624377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6792541539999 meters 0.020413822315581136 Centerline is valid? [True, True] Translation: X:721.93, Y:8.20, Z:4.97 [[ 9.99004066e-01 -4.26836076e-02 -1.29994456e-02 7.21929673e+02] [ 4.26853422e-02 9.99088555e-01 -1.44117069e-04 8.20100219e+00] [ 1.29937488e-02 -4.10912247e-04 9.99915493e-01 4.96556418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.709254154 meters 0.021448347510783533 Centerline is valid? [True, True] Translation: X:721.96, Y:8.20, Z:4.96 [[ 9.98980813e-01 -4.29594637e-02 -1.38498788e-02 7.21961579e+02] [ 4.29614783e-02 9.99076718e-01 -1.52165857e-04 8.19936465e+00] [ 1.38436284e-02 -4.43000496e-04 9.99904074e-01 4.96439576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7392541539999 meters 0.02035387697804686 Centerline is valid? [True, True] Translation: X:721.99, Y:8.19, Z:4.97 [[ 9.98925941e-01 -4.44436657e-02 -1.31043735e-02 7.21992359e+02] [ 4.44456061e-02 9.99011796e-01 -1.43262379e-04 8.19404720e+00] [ 1.30977908e-02 -4.39323317e-04 9.99914124e-01 4.96554588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7692541539999 meters 0.020260091092464304 Centerline is valid? [True, True] Translation: X:722.02, Y:8.19, Z:4.97 [[ 9.98917773e-01 -4.45596868e-02 -1.33310929e-02 7.22023909e+02] [ 4.45617118e-02 9.99006623e-01 -1.45248292e-04 8.19221410e+00] [ 1.33243223e-02 -4.48965219e-04 9.99911126e-01 4.96570085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7992541539999 meters 0.01995984781921291 Centerline is valid? [True, True] Translation: X:722.06, Y:8.19, Z:4.97 [[ 9.98908246e-01 -4.47648039e-02 -1.33577004e-02 7.22055155e+02] [ 4.47668619e-02 9.98997451e-01 -1.45049540e-04 8.18901405e+00] [ 1.33508018e-02 -4.53091147e-04 9.99910771e-01 4.96524396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.829254154 meters 0.02138687569322108 Centerline is valid? [True, True] Translation: X:722.09, Y:8.19, Z:4.96 [[ 9.98893427e-01 -4.47661558e-02 -1.44191677e-02 7.22086881e+02] [ 4.47685639e-02 9.98997373e-01 -1.55888449e-04 8.18664603e+00] [ 1.44116892e-02 -4.89809486e-04 9.99896026e-01 4.96403010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8592541539999 meters 0.02054129292438509 Centerline is valid? [True, True] Translation: X:722.12, Y:8.19, Z:4.97 [[ 9.98867592e-01 -4.54783254e-02 -1.39734024e-02 7.22118576e+02] [ 4.54806653e-02 9.98965208e-01 -1.50442304e-04 8.18533086e+00] [ 1.39657847e-02 -4.85247697e-04 9.99902356e-01 4.96510854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8892541539999 meters 0.020527412737101812 Centerline is valid? [True, True] Translation: X:722.15, Y:8.18, Z:4.96 [[ 9.98863962e-01 -4.55108377e-02 -1.41261664e-02 7.22149614e+02] [ 4.55132395e-02 9.98963724e-01 -1.51569979e-04 8.18348195e+00] [ 1.41184258e-02 -4.91529804e-04 9.99900209e-01 4.96487264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9192541539999 meters 0.02125502099301662 Centerline is valid? [True, True] Translation: X:722.18, Y:8.18, Z:4.96 [[ 9.98795588e-01 -4.64293503e-02 -1.58646751e-02 7.22180110e+02] [ 4.64325026e-02 9.98921415e-01 -1.69779302e-04 8.17933436e+00] [ 1.58554465e-02 -5.67061752e-04 9.99874134e-01 4.96376955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9492541539998 meters 0.021747166723011583 Centerline is valid? [True, True] Translation: X:722.21, Y:8.18, Z:4.96 [[ 9.98768408e-01 -4.67516614e-02 -1.66117447e-02 7.22209335e+02] [ 4.67551615e-02 9.98906364e-01 -1.77816653e-04 8.17726379e+00] [ 1.66018907e-02 -5.99087152e-04 9.99862000e-01 4.96305891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9792541539999 meters 0.022489071521089334 Centerline is valid? [True, True] Translation: X:722.24, Y:8.17, Z:4.96 [[ 9.98737792e-01 -4.69357214e-02 -1.78846677e-02 7.22238576e+02] [ 4.69398023e-02 9.98897702e-01 -1.91770356e-04 8.17450648e+00] [ 1.78739543e-02 -6.47974463e-04 9.99840038e-01 4.96208096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0092541539999 meters 0.022560960958108348 Centerline is valid? [True, True] Translation: X:722.27, Y:8.17, Z:4.96 [[ 9.98733964e-01 -4.69458324e-02 -1.80709086e-02 7.22268008e+02] [ 4.69499946e-02 9.98897222e-01 -1.94087602e-04 8.17336594e+00] [ 1.80600920e-02 -6.54587181e-04 9.99836689e-01 4.96237230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0392541539999 meters 0.023292548365837377 Centerline is valid? [True, True] Translation: X:722.30, Y:8.17, Z:4.96 [[ 9.98756030e-01 -4.63919057e-02 -1.82807135e-02 7.22297781e+02] [ 4.63960629e-02 9.98923103e-01 -1.96864977e-04 8.17213919e+00] [ 1.82701600e-02 -6.51533050e-04 9.99832874e-01 4.96206988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0692541539999 meters 0.02251168033574021 Centerline is valid? [True, True] Translation: X:722.33, Y:8.17, Z:4.96 [[ 9.98773798e-01 -4.59325362e-02 -1.84689638e-02 7.22327450e+02] [ 4.59366888e-02 9.98944333e-01 -1.99555800e-04 8.17324339e+00] [ 1.84586329e-02 -6.49091938e-04 9.99829414e-01 4.96291752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0992541539999 meters 0.02173171854275536 Centerline is valid? [True, True] Translation: X:722.36, Y:8.17, Z:4.96 [[ 9.98814585e-01 -4.51762472e-02 -1.81254122e-02 7.22357321e+02] [ 4.51801105e-02 9.98978838e-01 -1.96494955e-04 8.17357857e+00] [ 1.81157802e-02 -6.22646101e-04 9.99835702e-01 4.96326064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1292541539999 meters 0.019674201892794792 Centerline is valid? [True, True] Translation: X:722.39, Y:8.18, Z:4.96 [[ 9.98860470e-01 -4.43816026e-02 -1.75509333e-02 7.22387172e+02] [ 4.43850912e-02 9.99014478e-01 -1.90902861e-04 8.17532392e+00] [ 1.75421091e-02 -5.88314455e-04 9.99845952e-01 4.96463793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1592541539999 meters 0.018880117179425383 Centerline is valid? [True, True] Translation: X:722.42, Y:8.18, Z:4.97 [[ 9.99003584e-01 -4.10737145e-02 -1.74582175e-02 7.22417343e+02] [ 4.10766538e-02 9.99155980e-01 -1.90343717e-04 8.17654127e+00] [ 1.74513006e-02 -5.26971102e-04 9.99847576e-01 4.96501800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1892541539999 meters 0.01909454035547009 Centerline is valid? [True, True] Translation: X:722.45, Y:8.18, Z:4.96 [[ 9.99083420e-01 -3.91144903e-02 -1.73889666e-02 7.22446370e+02] [ 3.91170976e-02 9.99234615e-01 -1.90291282e-04 8.17629124e+00] [ 1.73831005e-02 -4.90089039e-04 9.99848782e-01 4.96474061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2192541539999 meters 0.01808520583507896 Centerline is valid? [True, True] Translation: X:722.48, Y:8.18, Z:4.97 [[ 9.99158118e-01 -3.70901207e-02 -1.75322010e-02 7.22475716e+02] [ 3.70924462e-02 9.99311820e-01 -1.92631900e-04 8.17832543e+00] [ 1.75272805e-02 -4.57842496e-04 9.99846281e-01 4.96557589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2492541539999 meters 0.017315244613130873 Centerline is valid? [True, True] Translation: X:722.50, Y:8.18, Z:4.97 [[ 9.99225335e-01 -3.53581155e-02 -1.72781202e-02 7.22504690e+02] [ 3.53600644e-02 9.99374619e-01 -1.92788897e-04 8.18006479e+00] [ 1.72741314e-02 -4.18315891e-04 9.99850704e-01 4.96637575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2792541539999 meters 0.01779123033277548 Centerline is valid? [True, True] Translation: X:722.53, Y:8.18, Z:4.97 [[ 9.99314985e-01 -3.25515846e-02 -1.76055544e-02 7.22533235e+02] [ 3.25531300e-02 9.99469987e-01 -1.98872204e-04 8.18046700e+00] [ 1.76026968e-02 -3.74379927e-04 9.99844990e-01 4.96622040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3092541539999 meters 0.017025327465909894 Centerline is valid? [True, True] Translation: X:722.56, Y:8.18, Z:4.97 [[ 9.99328502e-01 -3.23147094e-02 -1.72715149e-02 7.22562167e+02] [ 3.23161091e-02 9.99477679e-01 -1.98117850e-04 8.18060639e+00] [ 1.72688958e-02 -3.60163348e-04 9.99850817e-01 4.96672144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.339254154 meters 0.017155812069604905 Centerline is valid? [True, True] Translation: X:722.59, Y:8.18, Z:4.97 [[ 9.99331330e-01 -3.22192878e-02 -1.72861297e-02 7.22590169e+02] [ 3.22206215e-02 9.99480761e-01 -2.01421269e-04 8.17968160e+00] [ 1.72836437e-02 -3.55683256e-04 9.99850563e-01 4.96648561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3692541539999 meters 0.017359126491700176 Centerline is valid? [True, True] Translation: X:722.62, Y:8.18, Z:4.97 [[ 9.99296600e-01 -3.33828400e-02 -1.70848337e-02 7.22618520e+02] [ 3.33842535e-02 9.99442570e-01 -2.02546827e-04 8.17838806e+00] [ 1.70820717e-02 -3.67960062e-04 9.99854023e-01 4.96632874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3992541539999 meters 0.017336758456888195 Centerline is valid? [True, True] Translation: X:722.65, Y:8.18, Z:4.97 [[ 9.99255285e-01 -3.44235776e-02 -1.74325137e-02 7.22647494e+02] [ 3.44251298e-02 9.99407257e-01 -2.11119987e-04 8.17828282e+00] [ 1.74294482e-02 -3.89153785e-04 9.99848020e-01 4.96640932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4292541539999 meters 0.020528767058056306 Centerline is valid? [True, True] Translation: X:722.68, Y:8.18, Z:4.97 [[ 9.99156387e-01 -3.60300892e-02 -1.97065210e-02 7.22675928e+02] [ 3.60322816e-02 9.99350597e-01 -2.43918191e-04 8.17809237e+00] [ 1.97025119e-02 -4.66358496e-04 9.99805778e-01 4.96505003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.459254154 meters 0.020528767058056306 Centerline is valid? [True, True] Translation: X:722.70, Y:8.18, Z:4.97 [[ 9.99145782e-01 -3.63230133e-02 -1.97064516e-02 7.22703361e+02] [ 3.63251539e-02 9.99339993e-01 -2.49438064e-04 8.17850570e+00] [ 1.97025056e-02 -4.66614898e-04 9.99805778e-01 4.96524049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4892541539999 meters 0.019635070837487802 Centerline is valid? [True, True] Translation: X:722.73, Y:8.18, Z:4.97 [[ 9.99050457e-01 -3.90277592e-02 -1.93654160e-02 7.22731942e+02] [ 3.90302335e-02 9.99237999e-01 -2.50314940e-04 8.17761796e+00] [ 1.93604288e-02 -5.05759454e-04 9.99812441e-01 4.96538179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5192541539999 meters 0.018732092618992297 Centerline is valid? [True, True] Translation: X:722.76, Y:8.18, Z:4.97 [[ 9.99006285e-01 -4.05932868e-02 -1.84018604e-02 7.22760256e+02] [ 4.05957359e-02 9.99175624e-01 -2.40597757e-04 8.17686226e+00] [ 1.83964570e-02 -5.06678393e-04 9.99830642e-01 4.96565879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5492541539999 meters 0.01985349802066884 Centerline is valid? [True, True] Translation: X:722.79, Y:8.18, Z:4.97 [[ 9.98914668e-01 -4.25068915e-02 -1.90433683e-02 7.22788717e+02] [ 4.25097903e-02 9.99096018e-01 -2.52737228e-04 8.17610170e+00] [ 1.90368965e-02 -5.57066668e-04 9.99818627e-01 4.96547932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.579254154 meters 0.02276542910854644 Centerline is valid? [True, True] Translation: X:722.82, Y:8.17, Z:4.97 [[ 9.98748609e-01 -4.57338180e-02 -2.02394203e-02 7.22817601e+02] [ 4.57377016e-02 9.98953447e-01 -2.71217261e-04 8.17378738e+00] [ 2.02306425e-02 -6.54826706e-04 9.99795125e-01 4.96503054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6092541539999 meters 0.02268740736728892 Centerline is valid? [True, True] Translation: X:722.85, Y:8.17, Z:4.97 [[ 9.98701383e-01 -4.72953395e-02 -1.89393447e-02 7.22846212e+02] [ 4.72989568e-02 9.98880745e-01 -2.57159944e-04 8.17324314e+00] [ 1.89303092e-02 -6.38985256e-04 9.99820601e-01 4.96552586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6392541539999 meters 0.02152825140752312 Centerline is valid? [True, True] Translation: X:722.88, Y:8.17, Z:4.97 [[ 9.98696663e-01 -4.81320115e-02 -1.69789303e-02 7.22875652e+02] [ 4.81350067e-02 9.98840812e-01 -2.32460076e-04 8.17389805e+00] [ 1.69704373e-02 -5.85123822e-04 9.99855821e-01 4.96663043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6692541539999 meters 0.022782527471689108 Centerline is valid? [True, True] Translation: X:722.90, Y:8.17, Z:4.97 [[ 9.98648029e-01 -4.96324683e-02 -1.54509426e-02 7.22904886e+02] [ 4.96351219e-02 9.98767395e-01 -2.11918733e-04 8.17234127e+00] [ 1.54424157e-02 -5.55277194e-04 9.99880605e-01 4.96744760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6992541539998 meters 0.02353280062622231 Centerline is valid? [True, True] Translation: X:722.93, Y:8.17, Z:4.97 [[ 9.98641818e-01 -4.99745509e-02 -1.47330656e-02 7.22934104e+02] [ 4.99769971e-02 9.98750349e-01 -2.02325971e-04 8.17149997e+00] [ 1.47247655e-02 -5.34263201e-04 9.99891442e-01 4.96758327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7292541539999 meters 0.022868430464873832 Centerline is valid? [True, True] Translation: X:722.96, Y:8.18, Z:4.97 [[ 9.98604337e-01 -5.05338223e-02 -1.53528994e-02 7.22964800e+02] [ 5.05365428e-02 9.98722190e-01 -2.10963470e-04 8.17531772e+00] [ 1.53439421e-02 -5.65213423e-04 9.99882115e-01 4.96799298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7592541539999 meters 0.023348800513915708 Centerline is valid? [True, True] Translation: X:722.99, Y:8.17, Z:4.97 [[ 9.98672857e-01 -4.96958250e-02 -1.35222193e-02 7.22993933e+02] [ 4.96978569e-02 9.98764281e-01 -1.85927247e-04 8.17317534e+00] [ 1.35147494e-02 -4.86344823e-04 9.99908553e-01 4.96811242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7892541539999 meters 0.02116977608678657 Centerline is valid? [True, True] Translation: X:723.02, Y:8.18, Z:4.97 [[ 9.98708158e-01 -4.89513165e-02 -1.36302587e-02 7.23024856e+02] [ 4.89533134e-02 9.98801050e-01 -1.87295833e-04 8.17789651e+00] [ 1.36230851e-02 -4.80192452e-04 9.99907086e-01 4.96865961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8192541539999 meters 0.02237410024694926 Centerline is valid? [True, True] Translation: X:723.06, Y:8.18, Z:4.97 [[ 9.98777888e-01 -4.71387334e-02 -1.48549527e-02 7.23055111e+02] [ 4.71409113e-02 9.98888228e-01 -2.03708250e-04 8.18015217e+00] [ 1.48480400e-02 -4.96816713e-04 9.99889638e-01 4.96830366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8492541539999 meters 0.02042970125800858 Centerline is valid? [True, True] Translation: X:723.09, Y:8.18, Z:4.97 [[ 9.98844173e-01 -4.60481693e-02 -1.37798689e-02 7.23085971e+02] [ 4.60499412e-02 9.98939121e-01 -1.88849920e-04 8.18250002e+00] [ 1.37739463e-02 -4.45930509e-04 9.99905035e-01 4.96925386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8792541539999 meters 0.024195557882237713 Centerline is valid? [True, True] Translation: X:723.12, Y:8.18, Z:4.97 [[ 9.98843690e-01 -4.51610095e-02 -1.64853466e-02 7.23116357e+02] [ 4.51634250e-02 9.98979586e-01 -2.25927868e-04 8.18354994e+00] [ 1.64787279e-02 -5.18868092e-04 9.99864082e-01 4.96790876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9092541539999 meters 0.019773076298384727 Centerline is valid? [True, True] Translation: X:723.15, Y:8.19, Z:4.97 [[ 9.98956848e-01 -4.36984183e-02 -1.32538422e-02 7.23146557e+02] [ 4.36998509e-02 9.99044689e-01 -1.81640846e-04 8.18598859e+00] [ 1.32491181e-02 -3.97739561e-04 9.99912147e-01 4.96942300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9392541539999 meters 0.020427890833307122 Centerline is valid? [True, True] Translation: X:723.18, Y:8.19, Z:4.97 [[ 9.98968891e-01 -4.31586623e-02 -1.40884538e-02 7.23176919e+02] [ 4.31602273e-02 9.99068145e-01 -1.93079006e-04 8.18697506e+00] [ 1.40836585e-02 -4.15180950e-04 9.99900734e-01 4.96938416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9692541539999 meters 0.0206597552694285 Centerline is valid? [True, True] Translation: X:723.21, Y:8.19, Z:4.97 [[ 9.98996040e-01 -4.24374631e-02 -1.43517913e-02 7.23207468e+02] [ 4.24390129e-02 9.99099040e-01 -1.96687985e-04 8.18820632e+00] [ 1.43472078e-02 -4.12585338e-04 9.99896988e-01 4.96928884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9992541539999 meters 0.019397416632747157 Centerline is valid? [True, True] Translation: X:723.24, Y:8.19, Z:4.97 [[ 9.99085756e-01 -4.01514166e-02 -1.46804270e-02 7.23237045e+02] [ 4.01527933e-02 9.99193531e-01 -2.01072788e-04 8.19172940e+00] [ 1.46766611e-02 -3.88571194e-04 9.99892217e-01 4.96847441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0292541539999 meters 0.01809983123902585 Centerline is valid? [True, True] Translation: X:723.27, Y:8.20, Z:4.97 [[ 9.99121039e-01 -3.90442158e-02 -1.52544585e-02 7.23267712e+02] [ 3.90455750e-02 9.99237409e-01 -2.08824521e-04 8.19621035e+00] [ 1.52509789e-02 -3.86978130e-04 9.99883622e-01 4.96861479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0592541539999 meters 0.018820935389420403 Centerline is valid? [True, True] Translation: X:723.30, Y:8.20, Z:4.97 [[ 9.99193083e-01 -3.69702051e-02 -1.56967340e-02 7.23297518e+02] [ 3.69713900e-02 9.99316301e-01 -2.14790081e-04 8.19770607e+00] [ 1.56939429e-02 -3.65713309e-04 9.99876776e-01 4.96728225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.089254154 meters 0.017603038389847465 Centerline is valid? [True, True] Translation: X:723.33, Y:8.20, Z:4.97 [[ 9.99197550e-01 -3.65744514e-02 -1.63268515e-02 7.23327598e+02] [ 3.65756761e-02 9.99330861e-01 -2.23681556e-04 8.20232851e+00] [ 1.63241076e-02 -3.73663570e-04 9.99866683e-01 4.96829943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1192541539999 meters 0.01809759024471206 Centerline is valid? [True, True] Translation: X:723.36, Y:8.20, Z:4.97 [[ 9.99209873e-01 -3.62566904e-02 -1.62813540e-02 7.23357541e+02] [ 3.62578593e-02 9.99342443e-01 -2.23478504e-04 8.20354071e+00] [ 1.62787507e-02 -3.67025116e-04 9.99867425e-01 4.96808974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1492541539999 meters 0.019552883906243608 Centerline is valid? [True, True] Translation: X:723.39, Y:8.21, Z:4.97 [[ 9.99205968e-01 -3.63894738e-02 -1.62246377e-02 7.23387528e+02] [ 3.63906446e-02 9.99337616e-01 -2.23157935e-04 8.20555894e+00] [ 1.62220113e-02 -3.67444284e-04 9.99868347e-01 4.96820547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1792541539999 meters 0.017582136839806018 Centerline is valid? [True, True] Translation: X:723.42, Y:8.21, Z:4.97 [[ 9.99214256e-01 -3.66969186e-02 -1.49735594e-02 7.23417147e+02] [ 3.66979425e-02 9.99326382e-01 -2.06471950e-04 8.20740655e+00] [ 1.49710498e-02 -3.43189107e-04 9.99887869e-01 4.96955547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.209254154 meters 0.01922104466327644 Centerline is valid? [True, True] Translation: X:723.45, Y:8.21, Z:4.97 [[ 9.99191731e-01 -3.72823109e-02 -1.50304364e-02 7.23446731e+02] [ 3.72834028e-02 9.99304711e-01 -2.07655004e-04 8.20698322e+00] [ 1.50277278e-02 -3.52898652e-04 9.99887015e-01 4.96942460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2392541539999 meters 0.018896174483995158 Centerline is valid? [True, True] Translation: X:723.48, Y:8.21, Z:4.97 [[ 9.99173416e-01 -3.81790306e-02 -1.39587690e-02 7.23477680e+02] [ 3.81800581e-02 9.99270857e-01 -1.92965202e-04 8.20755567e+00] [ 1.39559582e-02 -3.40140910e-04 9.99902553e-01 4.97003639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2692541539999 meters 0.01820435409409951 Centerline is valid? [True, True] Translation: X:723.51, Y:8.21, Z:4.97 [[ 9.99084273e-01 -4.07501981e-02 -1.30397929e-02 7.23509316e+02] [ 4.07513165e-02 9.99169304e-01 -1.80033494e-04 8.21055445e+00] [ 1.30362972e-02 -3.51520095e-04 9.99914962e-01 4.97135992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2992541539999 meters 0.019524398590246187 Centerline is valid? [True, True] Translation: X:723.54, Y:8.21, Z:4.97 [[ 9.99017129e-01 -4.24479720e-02 -1.27650349e-02 7.23539483e+02] [ 4.24491869e-02 9.99098612e-01 -1.75879257e-04 8.20857792e+00] [ 1.27609944e-02 -3.66158964e-04 9.99918508e-01 4.97126422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.329254154 meters 0.02219244666847859 Centerline is valid? [True, True] Translation: X:723.57, Y:8.21, Z:4.97 [[ 9.98859483e-01 -4.59801204e-02 -1.28670617e-02 7.23569784e+02] [ 4.59816505e-02 9.98942269e-01 -1.77050222e-04 8.20712404e+00] [ 1.28615926e-02 -4.14800443e-04 9.99917200e-01 4.97104626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3592541539999 meters 0.02187459517045564 Centerline is valid? [True, True] Translation: X:723.60, Y:8.21, Z:4.97 [[ 9.98777039e-01 -4.76908044e-02 -1.30389608e-02 7.23601206e+02] [ 4.76925258e-02 9.98862048e-01 -1.79066076e-04 8.20899602e+00] [ 1.30326629e-02 -4.43013887e-04 9.99914973e-01 4.97112323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3892541539999 meters 0.02255643886745528 Centerline is valid? [True, True] Translation: X:723.63, Y:8.21, Z:4.97 [[ 9.98721607e-01 -4.89696464e-02 -1.25349579e-02 7.23632282e+02] [ 4.89713448e-02 9.98800169e-01 -1.71591230e-04 8.20578278e+00] [ 1.25283208e-02 -4.42481876e-04 9.99921420e-01 4.97095876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4192541539999 meters 0.02168126199179344 Centerline is valid? [True, True] Translation: X:723.66, Y:8.21, Z:4.97 [[ 9.98632305e-01 -5.06271878e-02 -1.30540081e-02 7.23663743e+02] [ 5.06291793e-02 9.98717505e-01 -1.78077512e-04 8.20928285e+00] [ 1.30462819e-02 -4.83079759e-04 9.99914777e-01 4.97163577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4492541539998 meters 0.02346754785383901 Centerline is valid? [True, True] Translation: X:723.70, Y:8.21, Z:4.97 [[ 9.98621850e-01 -5.05890499e-02 -1.39695491e-02 7.23696053e+02] [ 5.05913379e-02 9.98719420e-01 -1.89784876e-04 8.21057299e+00] [ 1.39612610e-02 -5.17214856e-04 9.99902403e-01 4.97136411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4792541539999 meters 0.021800606757459477 Centerline is valid? [True, True] Translation: X:723.73, Y:8.21, Z:4.97 [[ 9.98623962e-01 -5.07890989e-02 -1.30633185e-02 7.23728397e+02] [ 5.07911287e-02 9.98709282e-01 -1.76554789e-04 8.21224121e+00] [ 1.30554245e-02 -4.87188845e-04 9.99914656e-01 4.97259485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5092541539999 meters 0.02037963677726349 Centerline is valid? [True, True] Translation: X:723.76, Y:8.22, Z:4.97 [[ 9.98660183e-01 -5.01440346e-02 -1.27833824e-02 7.23760449e+02] [ 5.01459374e-02 9.98741886e-01 -1.71839299e-04 8.21653104e+00] [ 1.27759162e-02 -4.69425630e-04 9.99918274e-01 4.97309299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5392541539999 meters 0.020379120704703338 Centerline is valid? [True, True] Translation: X:723.79, Y:8.22, Z:4.97 [[ 9.98675171e-01 -4.97929340e-02 -1.29833248e-02 7.23792573e+02] [ 4.97948799e-02 9.98759450e-01 -1.73544235e-04 8.21754834e+00] [ 1.29758596e-02 -4.73188779e-04 9.99915698e-01 4.97313602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5692541539999 meters 0.02093109906784896 Centerline is valid? [True, True] Translation: X:723.82, Y:8.22, Z:4.97 [[ 9.98695249e-01 -4.93686958e-02 -1.30587327e-02 7.23823876e+02] [ 4.93706452e-02 9.98780511e-01 -1.73248221e-04 8.21727518e+00] [ 1.30513608e-02 -4.71695885e-04 9.99914716e-01 4.97314261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5992541539999 meters 0.02167101702935598 Centerline is valid? [True, True] Translation: X:723.86, Y:8.22, Z:4.97 [[ 9.98710914e-01 -4.90935999e-02 -1.28968617e-02 7.23855223e+02] [ 4.90954938e-02 9.98794075e-01 -1.69902585e-04 8.21701700e+00] [ 1.28896502e-02 -4.63494227e-04 9.99916818e-01 4.97322167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6292541539999 meters 0.02160799511603767 Centerline is valid? [True, True] Translation: X:723.89, Y:8.22, Z:4.97 [[ 9.98722245e-01 -4.88280380e-02 -1.30268663e-02 7.23887793e+02] [ 4.88299584e-02 9.98807091e-01 -1.70792371e-04 8.21891126e+00] [ 1.30196659e-02 -4.65527199e-04 9.99915132e-01 4.97322382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6592541539999 meters 0.020930154342074087 Centerline is valid? [True, True] Translation: X:723.92, Y:8.22, Z:4.97 [[ 9.98723466e-01 -4.86990648e-02 -1.34104592e-02 7.23919910e+02] [ 4.87011016e-02 9.98813382e-01 -1.74832980e-04 8.22104477e+00] [ 1.34030603e-02 -4.78494338e-04 9.99910060e-01 4.97343379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6892541539999 meters 0.02102317484693156 Centerline is valid? [True, True] Translation: X:723.95, Y:8.22, Z:4.97 [[ 9.98718007e-01 -4.86862323e-02 -1.38561450e-02 7.23951931e+02] [ 4.86884198e-02 9.98813999e-01 -1.79614394e-04 8.22169920e+00] [ 1.38484563e-02 -4.95249674e-04 9.99903983e-01 4.97292977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7192541539999 meters 0.021059415193509116 Centerline is valid? [True, True] Translation: X:723.98, Y:8.22, Z:4.97 [[ 9.98665892e-01 -4.92567936e-02 -1.54985287e-02 7.23983188e+02] [ 4.92596128e-02 9.98785988e-01 -2.00028132e-04 8.22230529e+00] [ 1.54895660e-02 -5.63690249e-04 9.99879871e-01 4.97186178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7492541539999 meters 0.02208186651028749 Centerline is valid? [True, True] Translation: X:724.01, Y:8.22, Z:4.97 [[ 9.98650045e-01 -4.94515281e-02 -1.58944949e-02 7.24014809e+02] [ 4.94545384e-02 9.98776355e-01 -2.03843395e-04 8.22110712e+00] [ 1.58851260e-02 -5.82486692e-04 9.99873654e-01 4.97110578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7792541539999 meters 0.020572151141787776 Centerline is valid? [True, True] Translation: X:724.05, Y:8.22, Z:4.97 [[ 9.98622619e-01 -4.98916775e-02 -1.62383914e-02 7.24046240e+02] [ 4.98948965e-02 9.98754453e-01 -2.07090387e-04 8.22436517e+00] [ 1.62284978e-02 -6.03407715e-04 9.99868127e-01 4.97221295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8092541539999 meters 0.021021998092530317 Centerline is valid? [True, True] Translation: X:724.08, Y:8.22, Z:4.97 [[ 9.98595841e-01 -5.05892152e-02 -1.57187067e-02 7.24077781e+02] [ 5.05923267e-02 9.98719368e-01 -1.99890480e-04 8.22474554e+00] [ 1.57086891e-02 -5.95636142e-04 9.99876434e-01 4.97281096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.839254154 meters 0.021410591399466234 Centerline is valid? [True, True] Translation: X:724.11, Y:8.23, Z:4.97 [[ 9.98605032e-01 -5.03391808e-02 -1.59359984e-02 7.24110365e+02] [ 5.03423620e-02 9.98731999e-01 -2.01721664e-04 8.22617178e+00] [ 1.59259461e-02 -6.00815533e-04 9.99872994e-01 4.97324721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8692541539999 meters 0.02276866015515938 Centerline is valid? [True, True] Translation: X:724.14, Y:8.22, Z:4.97 [[ 9.98582391e-01 -5.10339054e-02 -1.51244259e-02 7.24141879e+02] [ 5.10368647e-02 9.98696752e-01 -1.90500653e-04 8.22360889e+00] [ 1.51144370e-02 -5.81672679e-04 9.99885601e-01 4.97341879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8992541539999 meters 0.023927063117466812 Centerline is valid? [True, True] Translation: X:724.17, Y:8.22, Z:4.97 [[ 9.98578785e-01 -5.11213460e-02 -1.50671250e-02 7.24173115e+02] [ 5.11243051e-02 9.98692280e-01 -1.88962487e-04 8.22244090e+00] [ 1.50570814e-02 -5.81602364e-04 9.99886467e-01 4.97354981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9292541539999 meters 0.02172287161937322 Centerline is valid? [True, True] Translation: X:724.21, Y:8.23, Z:4.97 [[ 9.98556035e-01 -5.17838004e-02 -1.42927816e-02 7.24205097e+02] [ 5.17865435e-02 9.98658161e-01 -1.78362361e-04 8.22669130e+00] [ 1.42828392e-02 -5.62068943e-04 9.99897837e-01 4.97453433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.959254154 meters 0.02300270975108451 Centerline is valid? [True, True] Translation: X:724.24, Y:8.23, Z:4.97 [[ 9.98571432e-01 -5.13706505e-02 -1.47020938e-02 7.24237476e+02] [ 5.13735244e-02 9.98679492e-01 -1.82378644e-04 8.22694763e+00] [ 1.46920484e-02 -5.73180268e-04 9.99891902e-01 4.97357700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9892541539999 meters 0.022053861788176848 Centerline is valid? [True, True] Translation: X:724.27, Y:8.23, Z:4.97 [[ 9.98574634e-01 -5.13721512e-02 -1.44776508e-02 7.24269498e+02] [ 5.13749533e-02 9.98679419e-01 -1.78546641e-04 8.22745090e+00] [ 1.44677042e-02 -5.65496487e-04 9.99895177e-01 4.97402860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0192541539999 meters 0.022162666194750387 Centerline is valid? [True, True] Translation: X:724.30, Y:8.23, Z:4.97 [[ 9.98688372e-01 -4.91108550e-02 -1.44796187e-02 7.24300363e+02] [ 4.91134317e-02 9.98793191e-01 -1.77794723e-04 8.22967203e+00] [ 1.44708762e-02 -5.33582241e-04 9.99895149e-01 4.97416377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0492541539999 meters 0.022227335855215333 Centerline is valid? [True, True] Translation: X:724.33, Y:8.23, Z:4.97 [[ 9.98788428e-01 -4.70031195e-02 -1.45733576e-02 7.24331646e+02] [ 4.70055132e-02 9.98894614e-01 -1.78423478e-04 8.23171354e+00] [ 1.45656349e-02 -5.06820850e-04 9.99893787e-01 4.97404508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.079254154 meters 0.020296529804976496 Centerline is valid? [True, True] Translation: X:724.36, Y:8.24, Z:4.98 [[ 9.99006473e-01 -4.26363951e-02 -1.29693532e-02 7.24362563e+02] [ 4.26379270e-02 9.99090578e-01 -1.58495578e-04 8.23638490e+00] [ 1.29643162e-02 -3.94648224e-04 9.99915882e-01 4.97596569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1092541539999 meters 0.02164513724560313 Centerline is valid? [True, True] Translation: X:724.39, Y:8.24, Z:4.98 [[ 9.99149906e-01 -3.91884893e-02 -1.27956417e-02 7.24393284e+02] [ 3.91897015e-02 9.99231776e-01 -1.56086112e-04 8.23846436e+00] [ 1.27919286e-02 -3.45503955e-04 9.99918120e-01 4.97545137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1392541539999 meters 0.020341944891452 Centerline is valid? [True, True] Translation: X:724.43, Y:8.24, Z:4.98 [[ 9.99263938e-01 -3.64445340e-02 -1.19740829e-02 7.24425077e+02] [ 3.64454045e-02 9.99335635e-01 -1.45575701e-04 8.24122503e+00] [ 1.19714332e-02 -2.90931746e-04 9.99928298e-01 4.97656303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1692541539999 meters 0.018053437276269332 Centerline is valid? [True, True] Translation: X:724.46, Y:8.24, Z:4.98 [[ 9.99363728e-01 -3.38894933e-02 -1.11194483e-02 7.24455177e+02] [ 3.38900904e-02 9.99425557e-01 -1.34779784e-04 8.24357445e+00] [ 1.11176285e-02 -2.42145081e-04 9.99938168e-01 4.97784187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1992541539998 meters 0.018029619385735204 Centerline is valid? [True, True] Translation: X:724.49, Y:8.25, Z:4.98 [[ 9.99521369e-01 -2.87810425e-02 -1.13439337e-02 7.24485331e+02] [ 2.87813364e-02 9.99585722e-01 -1.37380012e-04 8.24758066e+00] [ 1.13431881e-02 -1.89179314e-04 9.99935646e-01 4.97738650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2292541539999 meters 0.015799186687571038 Centerline is valid? [True, True] Translation: X:724.52, Y:8.25, Z:4.98 [[ 9.99558563e-01 -2.75629971e-02 -1.10887163e-02 7.24516448e+02] [ 2.75632046e-02 9.99620054e-01 -1.34135378e-04 8.25183656e+00] [ 1.10882003e-02 -1.71564390e-04 9.99938509e-01 4.97846641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2592541539999 meters 0.01642551295326897 Centerline is valid? [True, True] Translation: X:724.55, Y:8.25, Z:4.98 [[ 9.99573909e-01 -2.69583820e-02 -1.11913389e-02 7.24546657e+02] [ 2.69585593e-02 9.99636543e-01 -1.35040044e-04 8.24966959e+00] [ 1.11909118e-02 -1.66719869e-04 9.99937366e-01 4.97738772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2892541539999 meters 0.01585562087871293 Centerline is valid? [True, True] Translation: X:724.58, Y:8.25, Z:4.98 [[ 9.99563635e-01 -2.69487992e-02 -1.20955156e-02 7.24578125e+02] [ 2.69490095e-02 9.99636799e-01 -1.45622855e-04 8.25155503e+00] [ 1.20950469e-02 -1.80402855e-04 9.99926836e-01 4.97677236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3192541539999 meters 0.017270526832848382 Centerline is valid? [True, True] Translation: X:724.61, Y:8.25, Z:4.98 [[ 9.99524585e-01 -2.81062944e-02 -1.26743933e-02 7.24608789e+02] [ 2.81066257e-02 9.99604919e-01 -1.52024508e-04 8.24714559e+00] [ 1.26736587e-02 -2.04282194e-04 9.99919665e-01 4.97522004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3492541539999 meters 0.017270526832848382 Centerline is valid? [True, True] Translation: X:724.64, Y:8.25, Z:4.98 [[ 9.99524585e-01 -2.81062919e-02 -1.26743976e-02 7.24638790e+02] [ 2.81066277e-02 9.99604919e-01 -1.51662216e-04 8.24750441e+00] [ 1.26736529e-02 -2.04644462e-04 9.99919665e-01 4.97542785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3792541539999 meters 0.016734915865461785 Centerline is valid? [True, True] Translation: X:724.67, Y:8.25, Z:4.98 [[ 9.99378539e-01 -3.26973238e-02 -1.31689127e-02 7.24669088e+02] [ 3.26980848e-02 9.99465262e-01 -1.57579598e-04 8.24702201e+00] [ 1.31670232e-02 -2.73116555e-04 9.99913274e-01 4.97606720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4092541539999 meters 0.017055572522090404 Centerline is valid? [True, True] Translation: X:724.70, Y:8.25, Z:4.98 [[ 9.99279583e-01 -3.55032398e-02 -1.34102428e-02 7.24700247e+02] [ 3.55042846e-02 9.99369511e-01 -1.60228452e-04 8.24548703e+00] [ 1.34074764e-02 -3.16008056e-04 9.99910066e-01 4.97638643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4392541539999 meters 0.017798620407526024 Centerline is valid? [True, True] Translation: X:724.73, Y:8.24, Z:4.98 [[ 9.99153791e-01 -3.89071323e-02 -1.33392731e-02 7.24731635e+02] [ 3.89084757e-02 9.99242766e-01 -1.58890302e-04 8.24295526e+00] [ 1.33353541e-02 -3.60254935e-04 9.99911015e-01 4.97661399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4692541539999 meters 0.01977285854832346 Centerline is valid? [True, True] Translation: X:724.76, Y:8.24, Z:4.98 [[ 9.98880626e-01 -4.56424681e-02 -1.24201760e-02 7.24762844e+02] [ 4.56441575e-02 9.98957751e-01 -1.47562212e-04 8.23769384e+00] [ 1.24139662e-02 -4.19511434e-04 9.99922856e-01 4.97740187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4992541539999 meters 0.02071872217016272 Centerline is valid? [True, True] Translation: X:724.79, Y:8.24, Z:4.98 [[ 9.98724596e-01 -4.89733889e-02 -1.22795650e-02 7.24793981e+02] [ 4.89752962e-02 9.98799980e-01 -1.45516494e-04 8.23520419e+00] [ 1.22719557e-02 -4.56064432e-04 9.99924593e-01 4.97794814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5292541539999 meters 0.021771412043830707 Centerline is valid? [True, True] Translation: X:724.83, Y:8.23, Z:4.98 [[ 9.98567501e-01 -5.21439599e-02 -1.19980529e-02 7.24825050e+02] [ 5.21460134e-02 9.98639461e-01 -1.41837554e-04 8.23254158e+00] [ 1.19891251e-02 -4.84016258e-04 9.99928011e-01 4.97814174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5592541539999 meters 0.02394743263622035 Centerline is valid? [True, True] Translation: X:724.86, Y:8.23, Z:4.98 [[ 9.98285442e-01 -5.74136942e-02 -1.13948761e-02 7.24855794e+02] [ 5.74158912e-02 9.98350338e-01 -1.34504035e-04 8.22690192e+00] [ 1.13838008e-02 -5.19973548e-04 9.99935067e-01 4.97845442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.589254154 meters 0.023942917011413545 Centerline is valid? [True, True] Translation: X:724.89, Y:8.23, Z:4.98 [[ 9.98164407e-01 -5.95290505e-02 -1.11403791e-02 7.24887690e+02] [ 5.95312859e-02 9.98226432e-01 -1.31139452e-04 8.22615745e+00] [ 1.11284275e-02 -5.32302359e-04 9.99937935e-01 4.97898817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6192541539999 meters 0.026096956389426457 Centerline is valid? [True, True] Translation: X:724.92, Y:8.22, Z:4.98 [[ 9.98035995e-01 -6.16766194e-02 -1.09611359e-02 7.24919080e+02] [ 6.16789210e-02 9.98096035e-01 -1.28265545e-04 8.22229675e+00] [ 1.09481773e-02 -5.48057407e-04 9.99939917e-01 4.97910705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6492541539999 meters 0.02808713260253176 Centerline is valid? [True, True] Translation: X:724.95, Y:8.22, Z:4.98 [[ 9.97937077e-01 -6.33380250e-02 -1.04825767e-02 7.24950104e+02] [ 6.33402317e-02 9.97991984e-01 -1.21679597e-04 8.21904625e+00] [ 1.04692344e-02 -5.42540253e-04 9.99945049e-01 4.97894126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6792541539999 meters 0.031067507198621617 Centerline is valid? [True, True] Translation: X:724.98, Y:8.21, Z:4.98 [[ 9.97686468e-01 -6.72848225e-02 -9.71927637e-03 7.24980386e+02] [ 6.72869126e-02 9.97733661e-01 -1.12168341e-04 8.21412670e+00] [ 9.70479643e-03 -5.42071264e-04 9.99952760e-01 4.97978034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.709254154 meters 0.027448312040324323 Centerline is valid? [True, True] Translation: X:725.01, Y:8.22, Z:4.98 [[ 9.97554894e-01 -6.92417120e-02 -9.47727848e-03 7.25012067e+02] [ 6.92437886e-02 9.97599762e-01 -1.09231722e-04 8.21957720e+00] [ 9.46209415e-03 -5.47278029e-04 9.99955084e-01 4.98029134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7392541539999 meters 0.029146824848098246 Centerline is valid? [True, True] Translation: X:725.04, Y:8.22, Z:4.98 [[ 9.97451395e-01 -7.07276228e-02 -9.39772504e-03 7.25042877e+02] [ 7.07297349e-02 9.97495510e-01 -1.07834821e-04 8.21729430e+00] [ 9.38181544e-03 -5.57138609e-04 9.99955835e-01 4.98069466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7692541539999 meters 0.030397261003033853 Centerline is valid? [True, True] Translation: X:725.07, Y:8.22, Z:4.98 [[ 9.97294320e-01 -7.28576172e-02 -9.78812514e-03 7.25073739e+02] [ 7.28600148e-02 9.97342171e-01 -1.11890474e-04 8.21641063e+00] [ 9.77026205e-03 -6.01575209e-04 9.99952089e-01 4.98038205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7992541539999 meters 0.0308297571977166 Centerline is valid? [True, True] Translation: X:725.11, Y:8.22, Z:4.98 [[ 9.97259867e-01 -7.33217150e-02 -9.83282911e-03 7.25105864e+02] [ 7.33241628e-02 9.97308154e-01 -1.11813739e-04 8.21632420e+00] [ 9.81455903e-03 -6.09476609e-04 9.99951650e-01 4.98073329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.829254154 meters 0.03217009911195053 Centerline is valid? [True, True] Translation: X:725.14, Y:8.22, Z:4.98 [[ 9.97308767e-01 -7.25390960e-02 -1.06444082e-02 7.25136841e+02] [ 7.25419282e-02 9.97365356e-01 -1.20288418e-04 8.21709213e+00] [ 1.06250896e-02 -6.52201198e-04 9.99943339e-01 4.97958058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8592541539999 meters 0.03273883478873557 Centerline is valid? [True, True] Translation: X:725.17, Y:8.22, Z:4.98 [[ 9.97380586e-01 -7.15019873e-02 -1.09284723e-02 7.25168919e+02] [ 7.15049181e-02 9.97440240e-01 -1.22820521e-04 8.21812995e+00] [ 1.09092800e-02 -6.58940717e-04 9.99940275e-01 4.97871705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8892541539999 meters 0.03167586775242575 Centerline is valid? [True, True] Translation: X:725.20, Y:8.22, Z:4.98 [[ 9.97414133e-01 -7.10754876e-02 -1.06453324e-02 7.25201270e+02] [ 7.10782522e-02 9.97470735e-01 -1.18884595e-04 8.21969059e+00] [ 1.06268573e-02 -6.38074447e-04 9.99943330e-01 4.98007587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9192541539999 meters 0.03200430946251015 Centerline is valid? [True, True] Translation: X:725.23, Y:8.22, Z:4.98 [[ 9.97513528e-01 -6.95113762e-02 -1.16159190e-02 7.25233099e+02] [ 6.95145716e-02 9.97580928e-01 -1.28930797e-04 8.22143609e+00] [ 1.15967814e-02 -6.78865418e-04 9.99932525e-01 4.97899482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9492541539998 meters 0.031965387394469635 Centerline is valid? [True, True] Translation: X:725.26, Y:8.22, Z:4.98 [[ 9.97612217e-01 -6.78608722e-02 -1.28361177e-02 7.25263999e+02] [ 6.78646460e-02 9.97694527e-01 -1.41854708e-04 8.22406350e+00] [ 1.28161507e-02 -7.29602592e-04 9.99917604e-01 4.97785737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9792541539999 meters 0.027355843902305277 Centerline is valid? [True, True] Translation: X:725.30, Y:8.23, Z:4.98 [[ 9.97684089e-01 -6.67087630e-02 -1.32815535e-02 7.25296667e+02] [ 6.67127127e-02 9.97772215e-01 -1.45934884e-04 8.23197343e+00] [ 1.32617002e-02 -7.40451550e-04 9.99911786e-01 4.97829461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0092541539999 meters 0.028596177747773385 Centerline is valid? [True, True] Translation: X:725.33, Y:8.24, Z:4.98 [[ 9.97891423e-01 -6.31479277e-02 -1.50015534e-02 7.25326391e+02] [ 6.31525764e-02 9.98003870e-01 -1.64109657e-04 8.23607509e+00] [ 1.49819715e-02 -7.83623129e-04 9.99887457e-01 4.97606452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0392541539999 meters 0.028722730777443927 Centerline is valid? [True, True] Translation: X:725.36, Y:8.24, Z:4.98 [[ 9.97985561e-01 -6.17107045e-02 -1.47176252e-02 7.25358073e+02] [ 6.17150313e-02 9.98093798e-01 -1.60438861e-04 8.23591365e+00] [ 1.46994712e-02 -7.48183030e-04 9.99891677e-01 4.97738021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0692541539999 meters 0.024068665154280917 Centerline is valid? [True, True] Translation: X:725.39, Y:8.24, Z:4.98 [[ 9.98161482e-01 -5.89383520e-02 -1.41395164e-02 7.25389891e+02] [ 5.89420805e-02 9.98261392e-01 -1.53249860e-04 8.24485227e+00] [ 1.41239656e-02 -6.80444405e-04 9.99900020e-01 4.97895031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0992541539999 meters 0.026955386444632554 Centerline is valid? [True, True] Translation: X:725.42, Y:8.24, Z:4.98 [[ 9.98357475e-01 -5.56752543e-02 -1.35136402e-02 7.25420483e+02] [ 5.56783700e-02 9.98448746e-01 -1.45850469e-04 8.24289332e+00] [ 1.35007974e-02 -6.06806555e-04 9.99908676e-01 4.97926233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1292541539999 meters 0.021006073486832737 Centerline is valid? [True, True] Translation: X:725.45, Y:8.26, Z:4.98 [[ 9.98772709e-01 -4.80415424e-02 -1.20451444e-02 7.25450689e+02] [ 4.80434660e-02 9.98845238e-01 -1.29771014e-04 8.25682200e+00] [ 1.20374695e-02 -4.49078739e-04 9.99927446e-01 4.98188403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1592541539999 meters 0.021558008293105398 Centerline is valid? [True, True] Translation: X:725.48, Y:8.26, Z:4.98 [[ 9.98992526e-01 -4.32944001e-02 -1.18122128e-02 7.25481735e+02] [ 4.32959197e-02 9.99062284e-01 -1.27167619e-04 8.26169354e+00] [ 1.18066419e-02 -3.84381114e-04 9.99930225e-01 4.98101761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1892541539999 meters 0.01837929416897869 Centerline is valid? [True, True] Translation: X:725.51, Y:8.27, Z:4.98 [[ 9.99156023e-01 -3.96218357e-02 -1.08329179e-02 7.25512793e+02] [ 3.96229009e-02 9.99214698e-01 -1.16360211e-04 8.26619235e+00] [ 1.08290212e-02 -3.12969625e-04 9.99941315e-01 4.98342015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2192541539999 meters 0.01649074810981308 Centerline is valid? [True, True] Translation: X:725.54, Y:8.27, Z:4.98 [[ 9.99458748e-01 -3.13144449e-02 -1.00805022e-02 7.25543340e+02] [ 3.13149479e-02 9.99509561e-01 -1.07983497e-04 8.27337760e+00] [ 1.00789398e-02 -2.07745351e-04 9.99949185e-01 4.98405154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2492541539999 meters 0.016592305557458942 Centerline is valid? [True, True] Translation: X:725.57, Y:8.28, Z:4.98 [[ 9.99565593e-01 -2.75929206e-02 -1.03564392e-02 7.25573981e+02] [ 2.75932537e-02 9.99619228e-01 -1.10748722e-04 8.27581206e+00] [ 1.03555516e-02 -1.75067241e-04 9.99946365e-01 4.98347922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2792541539999 meters 0.014956662931377162 Centerline is valid? [True, True] Translation: X:725.61, Y:8.28, Z:4.98 [[ 9.99634614e-01 -2.48580652e-02 -1.06167013e-02 7.25605375e+02] [ 2.48582638e-02 9.99690979e-01 -1.13267920e-04 8.28026268e+00] [ 1.06162362e-02 -1.50686228e-04 9.99943635e-01 4.98421585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3092541539999 meters 0.015982525735777874 Centerline is valid? [True, True] Translation: X:725.64, Y:8.28, Z:4.98 [[ 9.99697223e-01 -2.17380825e-02 -1.15290302e-02 7.25637229e+02] [ 2.17381155e-02 9.99763692e-01 -1.22468662e-04 8.28359851e+00] [ 1.15289680e-02 -1.28187809e-04 9.99933531e-01 4.98254454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.339254154 meters 0.014742911860520437 Centerline is valid? [True, True] Translation: X:725.67, Y:8.28, Z:4.98 [[ 9.99687282e-01 -2.19513350e-02 -1.19781557e-02 7.25666515e+02] [ 2.19513896e-02 9.99759031e-01 -1.26933831e-04 8.28428133e+00] [ 1.19780557e-02 -1.36043025e-04 9.99928251e-01 4.98339038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3692541539999 meters 0.014795298423254088 Centerline is valid? [True, True] Translation: X:725.70, Y:8.28, Z:4.98 [[ 9.99667284e-01 -2.25769951e-02 -1.24740226e-02 7.25696982e+02] [ 2.25771013e-02 9.99745096e-01 -1.32320505e-04 8.28479497e+00] [ 1.24738303e-02 -1.49350791e-04 9.99922188e-01 4.98322700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3992541539999 meters 0.015254379618426166 Centerline is valid? [True, True] Translation: X:725.73, Y:8.28, Z:4.98 [[ 9.99600130e-01 -2.49625902e-02 -1.32834422e-02 7.25725987e+02] [ 2.49629252e-02 9.99688368e-01 -1.40611921e-04 8.28335462e+00] [ 1.32828127e-02 -1.91037880e-04 9.99911761e-01 4.98253637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4292541539999 meters 0.015416832794078445 Centerline is valid? [True, True] Translation: X:725.76, Y:8.28, Z:4.98 [[ 9.99564663e-01 -2.63651094e-02 -1.32425519e-02 7.25755969e+02] [ 2.63655681e-02 9.99652358e-01 -1.39975489e-04 8.28365328e+00] [ 1.32416387e-02 -2.09232851e-04 9.99912304e-01 4.98279397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.459254154 meters 0.015602042305821453 Centerline is valid? [True, True] Translation: X:725.79, Y:8.28, Z:4.98 [[ 9.99530163e-01 -2.77308206e-02 -1.30558043e-02 7.25786747e+02] [ 2.77313827e-02 9.99615402e-01 -1.38015517e-04 8.28271575e+00] [ 1.30546103e-02 -2.24104833e-04 9.99914760e-01 4.98299226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4892541539999 meters 0.016055599495994142 Centerline is valid? [True, True] Translation: X:725.82, Y:8.28, Z:4.98 [[ 9.99467452e-01 -3.00384203e-02 -1.27477618e-02 7.25816892e+02] [ 3.00391454e-02 9.99548714e-01 -1.34635196e-04 8.28172289e+00] [ 1.27460531e-02 -2.48368373e-04 9.99918735e-01 4.98303724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5192541539999 meters 0.016318623881916027 Centerline is valid? [True, True] Translation: X:725.85, Y:8.28, Z:4.98 [[ 9.99428713e-01 -3.12021968e-02 -1.29872913e-02 7.25848538e+02] [ 3.12030504e-02 9.99513057e-01 -1.36943257e-04 8.28142059e+00] [ 1.29852402e-02 -2.68378082e-04 9.99915652e-01 4.98259286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5492541539999 meters 0.016857282963490157 Centerline is valid? [True, True] Translation: X:725.88, Y:8.28, Z:4.98 [[ 9.99389802e-01 -3.24569118e-02 -1.29062689e-02 7.25879285e+02] [ 3.24578641e-02 9.99473095e-01 -1.35728448e-04 8.28024715e+00] [ 1.29038739e-02 -2.83264296e-04 9.99916701e-01 4.98225723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.579254154 meters 0.016813859415200725 Centerline is valid? [True, True] Translation: X:725.91, Y:8.28, Z:4.98 [[ 9.99345680e-01 -3.37993589e-02 -1.28769613e-02 7.25910340e+02] [ 3.38004227e-02 9.99428593e-01 -1.35078285e-04 8.27974951e+00] [ 1.28741689e-02 -3.00256835e-04 9.99917079e-01 4.98267936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6092541539999 meters 0.017748898409754157 Centerline is valid? [True, True] Translation: X:725.94, Y:8.28, Z:4.98 [[ 9.99253316e-01 -3.67635828e-02 -1.18848720e-02 7.25941652e+02] [ 3.67647033e-02 9.99323942e-01 -1.24258659e-04 8.27749492e+00] [ 1.18814053e-02 -3.12777914e-04 9.99929365e-01 4.98292693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6392541539999 meters 0.01832137848894633 Centerline is valid? [True, True] Translation: X:725.97, Y:8.28, Z:4.98 [[ 9.99205128e-01 -3.83292128e-02 -1.09536992e-02 7.25973296e+02] [ 3.83302635e-02 9.99265119e-01 -1.14072232e-04 8.27609748e+00] [ 1.09500219e-02 -3.05876619e-04 9.99940000e-01 4.98356586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6692541539999 meters 0.019720153816615793 Centerline is valid? [True, True] Translation: X:726.01, Y:8.27, Z:4.98 [[ 9.99074976e-01 -4.17567372e-02 -1.02746295e-02 7.26005647e+02] [ 4.17578488e-02 9.99127755e-01 -1.06406147e-04 8.27326859e+00] [ 1.02701107e-02 -3.22738706e-04 9.99947209e-01 4.98430862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6992541539998 meters 0.02097147702135272 Centerline is valid? [True, True] Translation: X:726.04, Y:8.27, Z:4.98 [[ 9.99043308e-01 -4.27337097e-02 -9.28967936e-03 7.26037802e+02] [ 4.27346664e-02 9.99086452e-01 -9.55813868e-05 8.27326943e+00] [ 9.28527734e-03 -3.01501404e-04 9.99956845e-01 4.98322787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7292541539999 meters 0.020340971087278926 Centerline is valid? [True, True] Translation: X:726.07, Y:8.27, Z:4.98 [[ 9.98982949e-01 -4.41970300e-02 -8.92688137e-03 7.26070415e+02] [ 4.41979775e-02 9.99022788e-01 -9.12110155e-05 8.27275300e+00] [ 8.92218917e-03 -3.03431852e-04 9.99960150e-01 4.98456043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7592541539999 meters 0.021306429730781843 Centerline is valid? [True, True] Translation: X:726.10, Y:8.27, Z:4.99 [[ 9.98885223e-01 -4.63128051e-02 -9.13425871e-03 7.26101777e+02] [ 4.63138914e-02 9.98926932e-01 -9.26856856e-05 8.26931901e+00] [ 9.12874956e-03 -3.30460704e-04 9.99958277e-01 4.98527700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7892541539999 meters 0.021138479581464198 Centerline is valid? [True, True] Translation: X:726.13, Y:8.27, Z:4.98 [[ 9.98865637e-01 -4.66421753e-02 -9.58889575e-03 7.26133944e+02] [ 4.66433932e-02 9.98911600e-01 -9.67056552e-05 8.26902734e+00] [ 9.58296976e-03 -3.50662679e-04 9.99954021e-01 4.98496302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8192541539999 meters 0.021861376553692302 Centerline is valid? [True, True] Translation: X:726.17, Y:8.27, Z:4.98 [[ 9.98865210e-01 -4.65311389e-02 -1.01560241e-02 7.26165637e+02] [ 4.65325066e-02 9.98916771e-01 -1.01717208e-04 8.26787811e+00] [ 1.01497558e-02 -3.70983478e-04 9.99948421e-01 4.98446984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8492541539999 meters 0.020169597299310935 Centerline is valid? [True, True] Translation: X:726.20, Y:8.27, Z:4.98 [[ 9.98878000e-01 -4.61357078e-02 -1.06881689e-02 7.26197851e+02] [ 4.61372072e-02 9.98935106e-01 -1.06372077e-04 8.27140192e+00] [ 1.06816947e-02 -3.86869535e-04 9.99942874e-01 4.98451176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8792541539999 meters 0.020391254672598887 Centerline is valid? [True, True] Translation: X:726.23, Y:8.27, Z:4.98 [[ 9.98968397e-01 -4.39691789e-02 -1.13513050e-02 7.26228785e+02] [ 4.39707394e-02 9.99032813e-01 -1.12178286e-04 8.27180299e+00] [ 1.13452585e-02 -3.87062710e-04 9.99935566e-01 4.98406821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9092541539999 meters 0.019460847003873093 Centerline is valid? [True, True] Translation: X:726.26, Y:8.27, Z:4.98 [[ 9.99033916e-01 -4.23223244e-02 -1.18344766e-02 7.26261311e+02] [ 4.23239143e-02 9.99103935e-01 -1.16192078e-04 8.27347775e+00] [ 1.18287897e-02 -3.84801547e-04 9.99929963e-01 4.98399785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9392541539999 meters 0.019156681191447287 Centerline is valid? [True, True] Translation: X:726.29, Y:8.27, Z:4.98 [[ 9.99098214e-01 -4.04477342e-02 -1.29127486e-02 7.26293758e+02] [ 4.04494834e-02 9.99181577e-01 -1.25787484e-04 8.27463931e+00] [ 1.29072683e-02 -3.96639959e-04 9.99916619e-01 4.98383478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9692541539999 meters 0.01808725428228385 Centerline is valid? [True, True] Translation: X:726.33, Y:8.28, Z:4.98 [[ 9.99226003e-01 -3.70120218e-02 -1.33230819e-02 7.26325452e+02] [ 3.70135903e-02 9.99314754e-01 -1.28911985e-04 8.27819817e+00] [ 1.33187236e-02 -3.64322887e-04 9.99911235e-01 4.98372730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9992541539999 meters 0.01818219564551222 Centerline is valid? [True, True] Translation: X:726.36, Y:8.28, Z:4.98 [[ 9.99280161e-01 -3.53809902e-02 -1.36874329e-02 7.26355756e+02] [ 3.53825045e-02 9.99373834e-01 -1.31584835e-04 8.27897311e+00] [ 1.36835179e-02 -3.52805541e-04 9.99906314e-01 4.98358585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0292541539999 meters 0.01703759554625923 Centerline is valid? [True, True] Translation: X:726.39, Y:8.28, Z:4.98 [[ 9.99343312e-01 -3.33193049e-02 -1.42396946e-02 7.26386691e+02] [ 3.33207436e-02 9.99444701e-01 -1.36267539e-04 8.28287244e+00] [ 1.42363276e-02 -3.38299159e-04 9.99898601e-01 4.98419428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0592541539999 meters 0.01753766002240986 Centerline is valid? [True, True] Translation: X:726.42, Y:8.28, Z:4.98 [[ 9.99364538e-01 -3.25132160e-02 -1.46085842e-02 7.26418007e+02] [ 3.25146502e-02 9.99471249e-01 -1.39385713e-04 8.28405321e+00] [ 1.46053918e-02 -3.35695866e-04 9.99893279e-01 4.98381446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.089254154 meters 0.018176000367657038 Centerline is valid? [True, True] Translation: X:726.45, Y:8.28, Z:4.98 [[ 9.99376018e-01 -3.21374529e-02 -1.46546813e-02 7.26449542e+02] [ 3.21388636e-02 9.99483404e-01 -1.39290257e-04 8.28457115e+00] [ 1.46515872e-02 -3.31781461e-04 9.99892605e-01 4.98354316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1192541539999 meters 0.019427885982177876 Centerline is valid? [True, True] Translation: X:726.48, Y:8.28, Z:4.98 [[ 9.99324310e-01 -3.35676001e-02 -1.49712958e-02 7.26479480e+02] [ 3.35692388e-02 9.99436384e-01 -1.41897500e-04 8.28294043e+00] [ 1.49676209e-02 -3.60773383e-04 9.99887914e-01 4.98363689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1492541539999 meters 0.017572798563263166 Centerline is valid? [True, True] Translation: X:726.51, Y:8.28, Z:4.99 [[ 9.99269514e-01 -3.54368347e-02 -1.43062727e-02 7.26510322e+02] [ 3.54385262e-02 9.99371849e-01 -1.35338589e-04 8.28493809e+00] [ 1.43020822e-02 -3.71753493e-04 9.99897651e-01 4.98598224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1792541539999 meters 0.018466432111797774 Centerline is valid? [True, True] Translation: X:726.54, Y:8.28, Z:4.99 [[ 9.99204031e-01 -3.73875690e-02 -1.39094622e-02 7.26540959e+02] [ 3.73893603e-02 9.99300765e-01 -1.31331773e-04 8.28354026e+00] [ 1.39046464e-02 -3.88838656e-04 9.99903250e-01 4.98622197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.209254154 meters 0.021164979058565136 Centerline is valid? [True, True] Translation: X:726.57, Y:8.28, Z:4.99 [[ 9.99007698e-01 -4.24533045e-02 -1.34661072e-02 7.26570636e+02] [ 4.24554447e-02 9.99098353e-01 -1.27022358e-04 8.27779540e+00] [ 1.34593580e-02 -4.44813254e-04 9.99909320e-01 4.98636861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2392541539999 meters 0.02055587495936112 Centerline is valid? [True, True] Translation: X:726.60, Y:8.28, Z:4.99 [[ 9.98897847e-01 -4.50274632e-02 -1.32521176e-02 7.26602423e+02] [ 4.50297703e-02 9.98985638e-01 -1.24388143e-04 8.27881009e+00] [ 1.32442760e-02 -4.72488764e-04 9.99912179e-01 4.98723716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2692541539999 meters 0.02055587495936112 Centerline is valid? [True, True] Translation: X:726.63, Y:8.28, Z:4.99 [[ 9.98901173e-01 -4.49536145e-02 -1.32521283e-02 7.26634132e+02] [ 4.49559303e-02 9.98988963e-01 -1.23246122e-04 8.27904653e+00] [ 1.32442702e-02 -4.72651059e-04 9.99912179e-01 4.98745672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2992541539999 meters 0.023034187227190226 Centerline is valid? [True, True] Translation: X:726.67, Y:8.27, Z:4.99 [[ 9.98798430e-01 -4.72660633e-02 -1.29466253e-02 7.26665055e+02] [ 4.72684782e-02 9.98882214e-01 -1.19572994e-04 8.27494816e+00] [ 1.29378055e-02 -4.92537959e-04 9.99916182e-01 4.98772147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.329254154 meters 0.02259744388777041 Centerline is valid? [True, True] Translation: X:726.70, Y:8.28, Z:4.99 [[ 9.98693993e-01 -4.94094499e-02 -1.30005438e-02 7.26697302e+02] [ 4.94120770e-02 9.98778470e-01 -1.19243607e-04 8.27615433e+00] [ 1.29905550e-02 -5.23295996e-04 9.99915482e-01 4.98840708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3592541539999 meters 0.022427157031701884 Centerline is valid? [True, True] Translation: X:726.73, Y:8.28, Z:4.99 [[ 9.98530813e-01 -5.28047136e-02 -1.21604646e-02 7.26728630e+02] [ 5.28072715e-02 9.98604716e-01 -1.10868363e-04 8.27563150e+00] [ 1.21493517e-02 -5.31455478e-04 9.99926053e-01 4.98922999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3892541539999 meters 0.023075259330368983 Centerline is valid? [True, True] Translation: X:726.76, Y:8.27, Z:4.99 [[ 9.98487338e-01 -5.37159763e-02 -1.17316041e-02 7.26761032e+02] [ 5.37184270e-02 9.98556117e-01 -1.06349570e-04 8.27447773e+00] [ 1.17203778e-02 -5.24014621e-04 9.99931177e-01 4.98961776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4192541539999 meters 0.02448554637423494 Centerline is valid? [True, True] Translation: X:726.79, Y:8.27, Z:4.99 [[ 9.98457368e-01 -5.44514293e-02 -1.08594231e-02 7.26792127e+02] [ 5.44535800e-02 9.98516298e-01 -9.77456974e-05 8.27269543e+00] [ 1.08486334e-02 -4.93739556e-04 9.99941030e-01 4.99067281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4492541539998 meters 0.02425343871498807 Centerline is valid? [True, True] Translation: X:726.82, Y:8.27, Z:4.99 [[ 9.98465072e-01 -5.43578221e-02 -1.06173078e-02 7.26823938e+02] [ 5.43598796e-02 9.98521404e-01 -9.49193374e-05 8.27330667e+00] [ 1.06067687e-02 -4.82381929e-04 9.99943630e-01 4.99177457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4792541539999 meters 0.022952391780715967 Centerline is valid? [True, True] Translation: X:726.86, Y:8.28, Z:4.99 [[ 9.98495169e-01 -5.38425248e-02 -1.04105719e-02 7.26855715e+02] [ 5.38444828e-02 9.98549329e-01 -9.23118244e-05 8.27602207e+00] [ 1.04004399e-02 -4.68378947e-04 9.99945804e-01 4.99225275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5092541539999 meters 0.023401688545018104 Centerline is valid? [True, True] Translation: X:726.89, Y:8.28, Z:4.99 [[ 9.98572656e-01 -5.22981966e-02 -1.08419709e-02 7.26886784e+02] [ 5.23002377e-02 9.98631401e-01 -9.53777980e-05 8.27616098e+00] [ 1.08321207e-02 -4.71795994e-04 9.99941220e-01 4.99262238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5392541539999 meters 0.026065481243978943 Centerline is valid? [True, True] Translation: X:726.92, Y:8.27, Z:4.99 [[ 9.98629445e-01 -5.12832976e-02 -1.04525214e-02 7.26917871e+02] [ 5.12851450e-02 9.98684047e-01 -9.13859641e-05 8.27237954e+00] [ 1.04434529e-02 -4.44798360e-04 9.99945367e-01 4.99218951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5692541539999 meters 0.022992133607043875 Centerline is valid? [True, True] Translation: X:726.95, Y:8.28, Z:4.99 [[ 9.98679245e-01 -5.01948199e-02 -1.09656209e-02 7.26950206e+02] [ 5.01967954e-02 9.98739342e-01 -9.51740998e-05 8.27811086e+00] [ 1.09565743e-02 -4.55390632e-04 9.99939871e-01 4.99215241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5992541539999 meters 0.02256979497518949 Centerline is valid? [True, True] Translation: X:726.98, Y:8.28, Z:4.99 [[ 9.98704392e-01 -4.96788537e-02 -1.10249577e-02 7.26982331e+02] [ 4.96808282e-02 9.98765141e-01 -9.48693627e-05 8.27832967e+00] [ 1.10160564e-02 -4.52982579e-04 9.99939219e-01 4.99260243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6292541539999 meters 0.021526239123496483 Centerline is valid? [True, True] Translation: X:727.01, Y:8.28, Z:4.99 [[ 9.98754197e-01 -4.83535928e-02 -1.23281466e-02 7.27014861e+02] [ 4.83559731e-02 9.98830160e-01 -1.05106606e-04 8.28124758e+00] [ 1.23188069e-02 -4.91163859e-04 9.99924000e-01 4.99219805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6592541539999 meters 0.021421340076222425 Centerline is valid? [True, True] Translation: X:727.05, Y:8.28, Z:4.99 [[ 9.98776127e-01 -4.76531111e-02 -1.32449477e-02 7.27047081e+02] [ 4.76558107e-02 9.98863810e-01 -1.11893095e-04 8.28211214e+00] [ 1.32352310e-02 -5.19442568e-04 9.99912276e-01 4.99182797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6892541539999 meters 0.021696730612657894 Centerline is valid? [True, True] Translation: X:727.08, Y:8.28, Z:4.99 [[ 9.98827447e-01 -4.62298992e-02 -1.43710513e-02 7.27078833e+02] [ 4.62329464e-02 9.98930678e-01 -1.20294518e-04 8.28255433e+00] [ 1.43612452e-02 -5.44262579e-04 9.99896724e-01 4.99112927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7192541539999 meters 0.021411315024475016 Centerline is valid? [True, True] Translation: X:727.11, Y:8.28, Z:4.99 [[ 9.98855332e-01 -4.54796557e-02 -1.48197852e-02 7.27110751e+02] [ 4.54828302e-02 9.98965113e-01 -1.22944220e-04 8.28330492e+00] [ 1.48100399e-02 -5.51242284e-04 9.99890173e-01 4.99133188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7492541539999 meters 0.02294052112333717 Centerline is valid? [True, True] Translation: X:727.14, Y:8.28, Z:4.99 [[ 9.98877169e-01 -4.46775177e-02 -1.57581721e-02 7.27143133e+02] [ 4.46810259e-02 9.99001296e-01 -1.29544863e-04 8.28361928e+00] [ 1.57482221e-02 -5.74691888e-04 9.99875824e-01 4.98989496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7792541539999 meters 0.021693821734315555 Centerline is valid? [True, True] Translation: X:727.17, Y:8.28, Z:4.99 [[ 9.98891241e-01 -4.46087567e-02 -1.50448293e-02 7.27174151e+02] [ 4.46119688e-02 9.99004383e-01 -1.22205899e-04 8.28395523e+00] [ 1.50353019e-02 -5.49109055e-04 9.99886813e-01 4.99170383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8092541539999 meters 0.02134254468063269 Centerline is valid? [True, True] Translation: X:727.21, Y:8.29, Z:4.99 [[ 9.98891105e-01 -4.46800688e-02 -1.48409090e-02 7.27205898e+02] [ 4.46832233e-02 9.99001199e-01 -1.19135877e-04 8.28598085e+00] [ 1.48314089e-02 -5.44135883e-04 9.99889861e-01 4.99248701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.839254154 meters 0.020532792452914776 Centerline is valid? [True, True] Translation: X:727.24, Y:8.29, Z:4.99 [[ 9.98914589e-01 -4.42242480e-02 -1.46239759e-02 7.27238578e+02] [ 4.42272799e-02 9.99021488e-01 -1.16180213e-04 8.28825419e+00] [ 1.46148041e-02 -5.30724563e-04 9.99893057e-01 4.99329284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8692541539999 meters 0.02074760784422507 Centerline is valid? [True, True] Translation: X:727.27, Y:8.29, Z:4.99 [[ 9.98954445e-01 -4.33813549e-02 -1.44247780e-02 7.27270050e+02] [ 4.33842321e-02 9.99058454e-01 -1.13546912e-04 8.28907748e+00] [ 1.44161222e-02 -5.12379722e-04 9.99895951e-01 4.99366058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8992541539999 meters 0.020148897447153046 Centerline is valid? [True, True] Translation: X:727.30, Y:8.29, Z:4.99 [[ 9.99093897e-01 -4.01496024e-02 -1.41207052e-02 7.27300396e+02] [ 4.01520519e-02 9.99193575e-01 -1.10107475e-04 8.29195810e+00] [ 1.41137387e-02 -4.56967583e-04 9.99900292e-01 4.99428498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9292541539999 meters 0.02001473796775601 Centerline is valid? [True, True] Translation: X:727.33, Y:8.29, Z:4.99 [[ 9.99180131e-01 -3.82155601e-02 -1.33654831e-02 7.27330410e+02] [ 3.82175914e-02 9.99269436e-01 -1.03492100e-04 8.29307993e+00] [ 1.33596738e-02 -4.07389321e-04 9.99910673e-01 4.99464928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.959254154 meters 0.01905906871041989 Centerline is valid? [True, True] Translation: X:727.36, Y:8.30, Z:5.00 [[ 9.99338636e-01 -3.41681935e-02 -1.24428696e-02 7.27360612e+02] [ 3.41696432e-02 9.99416043e-01 -9.61331236e-05 8.29624404e+00] [ 1.24388882e-02 -3.29098871e-04 9.99922580e-01 4.99604318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9892541539999 meters 0.018569894336895487 Centerline is valid? [True, True] Translation: X:727.39, Y:8.30, Z:5.00 [[ 9.99406752e-01 -3.23378863e-02 -1.18492731e-02 7.27392265e+02] [ 3.23390758e-02 9.99476951e-01 -9.12546143e-05 8.29836876e+00] [ 1.18460263e-02 -2.91994062e-04 9.99929791e-01 4.99709516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0192541539999 meters 0.017055769322052532 Centerline is valid? [True, True] Translation: X:727.42, Y:8.30, Z:5.00 [[ 9.99460886e-01 -3.05283121e-02 -1.20814089e-02 7.27424131e+02] [ 3.05294230e-02 9.99533864e-01 -9.25055710e-05 8.30235476e+00] [ 1.20786014e-02 -2.76382743e-04 9.99927013e-01 4.99824793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0492541539999 meters 0.017699847465190544 Centerline is valid? [True, True] Translation: X:727.45, Y:8.30, Z:5.00 [[ 9.99503580e-01 -2.89370856e-02 -1.24595039e-02 7.27454127e+02] [ 2.89381498e-02 9.99581200e-01 -9.49006259e-05 8.30177308e+00] [ 1.24570320e-02 -2.65701475e-04 9.99922373e-01 4.99816584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.079254154 meters 0.016332316335485042 Centerline is valid? [True, True] Translation: X:727.49, Y:8.31, Z:5.00 [[ 9.99544061e-01 -2.66463267e-02 -1.42001110e-02 7.27485306e+02] [ 2.66474839e-02 9.99644887e-01 -1.07746445e-04 8.30578932e+00] [ 1.41979394e-02 -2.70699910e-04 9.99899168e-01 4.99800710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1092541539999 meters 0.017457537956305624 Centerline is valid? [True, True] Translation: X:727.51, Y:8.30, Z:5.00 [[ 9.99537328e-01 -2.63458986e-02 -1.51994295e-02 7.27514954e+02] [ 2.63471915e-02 9.99652846e-01 -1.15207539e-04 8.30347483e+00] [ 1.51971882e-02 -2.85308045e-04 9.99884475e-01 4.99649181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1392541539999 meters 0.016811119211394648 Centerline is valid? [True, True] Translation: X:727.54, Y:8.30, Z:5.00 [[ 9.99527898e-01 -2.64038102e-02 -1.57104831e-02 7.27544343e+02] [ 2.64051918e-02 9.99651315e-01 -1.19519941e-04 8.30422820e+00] [ 1.57081609e-02 -2.95374805e-04 9.99876576e-01 4.99626369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1692541539999 meters 0.018054724086430586 Centerline is valid? [True, True] Translation: X:727.57, Y:8.30, Z:4.99 [[ 9.99471150e-01 -2.71245326e-02 -1.79354239e-02 7.27574309e+02] [ 2.71264372e-02 9.99632001e-01 -1.37122425e-04 8.30247592e+00] [ 1.79325431e-02 -3.49474243e-04 9.99839138e-01 4.99395649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1992541539998 meters 0.016858451577998406 Centerline is valid? [True, True] Translation: X:727.60, Y:8.30, Z:5.00 [[ 9.99422722e-01 -2.86409670e-02 -1.82734404e-02 7.27602851e+02] [ 2.86431396e-02 9.99589691e-01 -1.42878432e-04 8.30240441e+00] [ 1.82700348e-02 -3.80612753e-04 9.99833017e-01 4.99518808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2292541539999 meters 0.01776876678362927 Centerline is valid? [True, True] Translation: X:727.63, Y:8.30, Z:5.00 [[ 9.99335011e-01 -3.07914953e-02 -1.95299614e-02 7.27631645e+02] [ 3.07942865e-02 9.99525731e-01 -1.57870680e-04 8.30083113e+00] [ 1.95255600e-02 -4.43645529e-04 9.99809260e-01 4.99508518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2592541539999 meters 0.01753139253660527 Centerline is valid? [True, True] Translation: X:727.66, Y:8.30, Z:5.00 [[ 9.99299340e-01 -3.21400661e-02 -1.91792840e-02 7.27660571e+02] [ 3.21429595e-02 9.99483269e-01 -1.57472015e-04 8.29928054e+00] [ 1.91744346e-02 -4.59117268e-04 9.99816048e-01 4.99554859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2892541539999 meters 0.01792226925589208 Centerline is valid? [True, True] Translation: X:727.69, Y:8.30, Z:5.00 [[ 9.99248619e-01 -3.37386889e-02 -1.90761158e-02 7.27689647e+02] [ 3.37417763e-02 9.99430571e-01 -1.60085053e-04 8.29831205e+00] [ 1.90706543e-02 -4.83697262e-04 9.99818022e-01 4.99611808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3192541539999 meters 0.019092142878904043 Centerline is valid? [True, True] Translation: X:727.72, Y:8.30, Z:5.00 [[ 9.99169972e-01 -3.61404474e-02 -1.87945665e-02 7.27718554e+02] [ 3.61438200e-02 9.99346586e-01 -1.60317239e-04 8.29522393e+00] [ 1.87880798e-02 -5.19123257e-04 9.99823354e-01 4.99655443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3492541539999 meters 0.01851880802203225 Centerline is valid? [True, True] Translation: X:727.75, Y:8.30, Z:5.00 [[ 9.99132359e-01 -3.69765146e-02 -1.91642119e-02 7.27748756e+02] [ 3.69801651e-02 9.99315986e-01 -1.63984433e-04 8.29578543e+00] [ 1.91571669e-02 -5.44853566e-04 9.99816336e-01 4.99757629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3792541539999 meters 0.019202236737527717 Centerline is valid? [True, True] Translation: X:727.78, Y:8.29, Z:5.00 [[ 9.99106492e-01 -3.76857354e-02 -1.91311906e-02 7.27777887e+02] [ 3.76894989e-02 9.99289485e-01 -1.63924016e-04 8.29413848e+00] [ 1.91237752e-02 -5.57267439e-04 9.99816969e-01 4.99756280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4092541539999 meters 0.01919516856714474 Centerline is valid? [True, True] Translation: X:727.81, Y:8.29, Z:5.00 [[ 9.99119708e-01 -3.74277778e-02 -1.89465297e-02 7.27808333e+02] [ 3.74314203e-02 9.99299186e-01 -1.62466670e-04 8.29348207e+00] [ 1.89393325e-02 -5.46871867e-04 9.99820485e-01 4.99809629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4392541539999 meters 0.019097872289988358 Centerline is valid? [True, True] Translation: X:727.84, Y:8.29, Z:5.00 [[ 9.99126515e-01 -3.71684488e-02 -1.90974551e-02 7.27839108e+02] [ 3.71721022e-02 9.99308865e-01 -1.63760856e-04 8.29414516e+00] [ 1.90903429e-02 -5.46274740e-04 9.99817614e-01 4.99884428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4692541539999 meters 0.019422994724811744 Centerline is valid? [True, True] Translation: X:727.87, Y:8.29, Z:5.00 [[ 9.99162396e-01 -3.63479185e-02 -1.87971909e-02 7.27868686e+02] [ 3.63513089e-02 9.99339060e-01 -1.61396870e-04 8.29399857e+00] [ 1.87906335e-02 -5.22040809e-04 9.99823304e-01 4.99902775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4992541539999 meters 0.019483462844707217 Centerline is valid? [True, True] Translation: X:727.90, Y:8.30, Z:5.00 [[ 9.99220294e-01 -3.41849646e-02 -1.97532865e-02 7.27899562e+02] [ 3.41882839e-02 9.99415395e-01 -1.69735422e-04 8.29663855e+00] [ 1.97475410e-02 -5.05727888e-04 9.99804870e-01 4.99984906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5292541539999 meters 0.01749527363049173 Centerline is valid? [True, True] Translation: X:727.93, Y:8.30, Z:5.00 [[ 9.99274912e-01 -3.32752673e-02 -1.85042354e-02 7.27928762e+02] [ 3.32780162e-02 9.99446121e-01 -1.59427205e-04 8.29747007e+00] [ 1.84992912e-02 -4.56472639e-04 9.99828769e-01 5.00164968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5592541539999 meters 0.017172010559990125 Centerline is valid? [True, True] Translation: X:727.96, Y:8.30, Z:5.00 [[ 9.99301374e-01 -3.24078914e-02 -1.86143355e-02 7.27958767e+02] [ 3.24105100e-02 9.99474628e-01 -1.61059465e-04 8.29759137e+00] [ 1.86097757e-02 -4.42353163e-04 9.99826725e-01 5.00240620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.589254154 meters 0.0172460898461568 Centerline is valid? [True, True] Translation: X:727.99, Y:8.30, Z:5.00 [[ 9.99320801e-01 -3.18786422e-02 -1.84848334e-02 7.27987962e+02] [ 3.18811216e-02 9.99491655e-01 -1.60611530e-04 8.29731058e+00] [ 1.84805568e-02 -4.28814778e-04 9.99829128e-01 5.00269301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6192541539999 meters 0.01672322069338978 Centerline is valid? [True, True] Translation: X:728.02, Y:8.30, Z:5.00 [[ 9.99334870e-01 -3.13498607e-02 -1.86280191e-02 7.28017862e+02] [ 3.13522740e-02 9.99508383e-01 -1.62543549e-04 8.29686855e+00] [ 1.86239570e-02 -4.21595324e-04 9.99826470e-01 5.00357957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6492541539999 meters 0.017496347279463514 Centerline is valid? [True, True] Translation: X:728.05, Y:8.30, Z:5.00 [[ 9.99314857e-01 -3.16294539e-02 -1.92196309e-02 7.28046508e+02] [ 3.16320566e-02 9.99499567e-01 -1.68648123e-04 8.29579994e+00] [ 1.92153470e-02 -4.39423878e-04 9.99815272e-01 5.00333378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6792541539999 meters 0.017354196994008385 Centerline is valid? [True, True] Translation: X:728.08, Y:8.29, Z:5.00 [[ 9.99291465e-01 -3.21455541e-02 -1.95762763e-02 7.28075119e+02] [ 3.21483322e-02 9.99483094e-01 -1.72854013e-04 8.29349243e+00] [ 1.95717137e-02 -4.56613093e-04 9.99808351e-01 5.00343994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.709254154 meters 0.017039476083421608 Centerline is valid? [True, True] Translation: X:728.10, Y:8.29, Z:5.00 [[ 9.99259658e-01 -3.26173354e-02 -2.04020867e-02 7.28104243e+02] [ 3.26204282e-02 9.99467796e-01 -1.81278198e-04 8.29332617e+00] [ 2.03971414e-02 -4.84380812e-04 9.99791839e-01 5.00400331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7392541539999 meters 0.018351909666841786 Centerline is valid? [True, True] Translation: X:728.13, Y:8.29, Z:5.00 [[ 9.99228804e-01 -3.29971477e-02 -2.12834623e-02 7.28132547e+02] [ 3.30005635e-02 9.99455315e-01 -1.90809553e-04 8.29019599e+00] [ 2.12781657e-02 -5.11703848e-04 9.99773463e-01 5.00243820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7692541539999 meters 0.01705948523621419 Centerline is valid? [True, True] Translation: X:728.16, Y:8.29, Z:5.00 [[ 9.99204106e-01 -3.32220074e-02 -2.20783201e-02 7.28161659e+02] [ 3.32256378e-02 9.99447856e-01 -2.02474672e-04 8.29141459e+00] [ 2.20728563e-02 -5.31252745e-04 9.99756224e-01 5.00376974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7992541539999 meters 0.017680847752812756 Centerline is valid? [True, True] Translation: X:728.19, Y:8.29, Z:5.00 [[ 9.99173180e-01 -3.31060506e-02 -2.35997048e-02 7.28189059e+02] [ 3.31100861e-02 9.99451687e-01 -2.19838730e-04 8.28948164e+00] [ 2.35940428e-02 -5.61731296e-04 9.99721464e-01 5.00261570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.829254154 meters 0.017360204765152525 Centerline is valid? [True, True] Translation: X:728.22, Y:8.29, Z:5.00 [[ 9.99149620e-01 -3.31915570e-02 -2.44613404e-02 7.28217369e+02] [ 3.31958634e-02 9.99448839e-01 -2.30111673e-04 8.29027331e+00] [ 2.44554960e-02 -5.82099322e-04 9.99700750e-01 5.00333823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8592541539999 meters 0.018004257549821122 Centerline is valid? [True, True] Translation: X:728.25, Y:8.29, Z:5.00 [[ 9.99075290e-01 -3.39589365e-02 -2.63696012e-02 7.28245527e+02] [ 3.39641444e-02 9.99423021e-01 -2.50497520e-04 8.28830267e+00] [ 2.63628931e-02 -6.45355059e-04 9.99652230e-01 5.00261800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8892541539999 meters 0.018366487352747665 Centerline is valid? [True, True] Translation: X:728.27, Y:8.29, Z:5.00 [[ 9.99039810e-01 -3.49463536e-02 -2.64236526e-02 7.28274385e+02] [ 3.49517833e-02 9.99388967e-01 -2.56483224e-04 8.28683133e+00] [ 2.64164700e-02 -6.67316829e-04 9.99650801e-01 5.00262479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9192541539999 meters 0.01747784179797275 Centerline is valid? [True, True] Translation: X:728.30, Y:8.29, Z:5.00 [[ 9.98999769e-01 -3.61727116e-02 -2.62868093e-02 7.28303210e+02] [ 3.61783327e-02 9.99345316e-01 -2.61876402e-04 8.28746031e+00] [ 2.62790725e-02 -6.89398468e-04 9.99654408e-01 5.00485179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9492541539998 meters 0.01807495934521057 Centerline is valid? [True, True] Translation: X:728.33, Y:8.28, Z:5.01 [[ 9.98960603e-01 -3.82399022e-02 -2.48077496e-02 7.28332148e+02] [ 3.82453883e-02 9.99268345e-01 -2.53452429e-04 8.28485727e+00] [ 2.47992909e-02 -6.95593027e-04 9.99692208e-01 5.00665528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9792541539999 meters 0.018178832604567735 Centerline is valid? [True, True] Translation: X:728.36, Y:8.28, Z:5.01 [[ 9.98957280e-01 -3.89526757e-02 -2.38126571e-02 7.28359608e+02] [ 3.89577730e-02 9.99240827e-01 -2.49992456e-04 8.28430736e+00] [ 2.38043170e-02 -6.77956304e-04 9.99716407e-01 5.00776240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0092541539999 meters 0.018163943935415365 Centerline is valid? [True, True] Translation: X:728.39, Y:8.28, Z:5.01 [[ 9.98966898e-01 -3.90422863e-02 -2.32558858e-02 7.28388884e+02] [ 3.90470354e-02 9.99237342e-01 -2.50026558e-04 8.28376983e+00] [ 2.32479112e-02 -6.58305142e-04 9.99729514e-01 5.00859670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0392541539999 meters 0.018309099847755445 Centerline is valid? [True, True] Translation: X:728.42, Y:8.28, Z:5.01 [[ 9.99057198e-01 -3.73258509e-02 -2.21697225e-02 7.28417020e+02] [ 3.73296788e-02 9.99302975e-01 -2.41300225e-04 8.28316201e+00] [ 2.21632764e-02 -5.86515894e-04 9.99754192e-01 5.00952616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0692541539999 meters 0.017785334139480916 Centerline is valid? [True, True] Translation: X:728.45, Y:8.28, Z:5.01 [[ 9.99099752e-01 -3.63755025e-02 -2.18290802e-02 7.28445926e+02] [ 3.63788919e-02 9.99338040e-01 -2.41946722e-04 8.28400256e+00] [ 2.18234312e-02 -5.52388839e-04 9.99761688e-01 5.01021803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0992541539999 meters 0.017767209949685465 Centerline is valid? [True, True] Translation: X:728.47, Y:8.28, Z:5.01 [[ 9.99146105e-01 -3.50541377e-02 -2.18693333e-02 7.28473373e+02] [ 3.50571563e-02 9.99385279e-01 -2.45458127e-04 8.28401215e+00] [ 2.18644941e-02 -5.21428102e-04 9.99760807e-01 5.01016341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1292541539999 meters 0.018530165030467415 Centerline is valid? [True, True] Translation: X:728.50, Y:8.28, Z:5.01 [[ 9.99190334e-01 -3.34313930e-02 -2.23834288e-02 7.28501378e+02] [ 3.34341039e-02 9.99440892e-01 -2.53214940e-04 8.28110066e+00] [ 2.23793794e-02 -4.95359964e-04 9.99749428e-01 5.00897999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1592541539999 meters 0.018530165030467415 Centerline is valid? [True, True] Translation: X:728.53, Y:8.28, Z:5.01 [[ 9.99181283e-01 -3.37008532e-02 -2.23833741e-02 7.28528805e+02] [ 3.37035247e-02 9.99431842e-01 -2.57990620e-04 8.28151191e+00] [ 2.23793513e-02 -4.96619203e-04 9.99749428e-01 5.00917021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1892541539999 meters 0.01677279172079886 Centerline is valid? [True, True] Translation: X:728.56, Y:8.28, Z:5.01 [[ 9.99168569e-01 -3.43123459e-02 -2.20189357e-02 7.28556734e+02] [ 3.43149418e-02 9.99411035e-01 -2.60041810e-04 8.28410307e+00] [ 2.20148900e-02 -4.95752895e-04 9.99757520e-01 5.01150330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2192541539999 meters 0.01740631414656857 Centerline is valid? [True, True] Translation: X:728.58, Y:8.28, Z:5.01 [[ 9.99144759e-01 -3.47982510e-02 -2.23345363e-02 7.28584873e+02] [ 3.48009662e-02 9.99394227e-01 -2.67218495e-04 8.28152112e+00] [ 2.23303054e-02 -5.10273484e-04 9.99750517e-01 5.01078668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2492541539999 meters 0.017149206486478413 Centerline is valid? [True, True] Translation: X:728.61, Y:8.28, Z:5.01 [[ 9.99082175e-01 -3.64250958e-02 -2.25392882e-02 7.28613986e+02] [ 3.64281705e-02 9.99336236e-01 -2.74288423e-04 8.28129313e+00] [ 2.25343184e-02 -5.47028358e-04 9.99745920e-01 5.01167716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2792541539999 meters 0.01938346825461654 Centerline is valid? [True, True] Translation: X:728.64, Y:8.28, Z:5.01 [[ 9.98887316e-01 -4.02832680e-02 -2.45232131e-02 7.28642651e+02] [ 4.02879992e-02 9.99188064e-01 -3.01310737e-04 8.27550111e+00] [ 2.45154396e-02 -6.87015717e-04 9.99699215e-01 5.00994679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3092541539999 meters 0.019099174330147073 Centerline is valid? [True, True] Translation: X:728.67, Y:8.27, Z:5.01 [[ 9.98790379e-01 -4.27812990e-02 -2.42391921e-02 7.28671625e+02] [ 4.27865412e-02 9.99084191e-01 -3.02557376e-04 8.27341364e+00] [ 2.42299375e-02 -7.34919797e-04 9.99706142e-01 5.00942673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.339254154 meters 0.019902472127368898 Centerline is valid? [True, True] Translation: X:728.70, Y:8.27, Z:5.01 [[ 9.98566653e-01 -4.73289649e-02 -2.49921513e-02 7.28701371e+02] [ 4.73358989e-02 9.98878979e-01 -3.14416272e-04 8.26868803e+00] [ 2.49790156e-02 -8.69060344e-04 9.99687598e-01 5.00860215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3692541539999 meters 0.02076966869271239 Centerline is valid? [True, True] Translation: X:728.73, Y:8.27, Z:5.01 [[ 9.98460087e-01 -4.94080622e-02 -2.52249676e-02 7.28729822e+02] [ 4.94156644e-02 9.98778248e-01 -3.22268738e-04 8.26657577e+00] [ 2.52100716e-02 -9.24736060e-04 9.99681748e-01 5.00807654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3992541539999 meters 0.021671490544553702 Centerline is valid? [True, True] Translation: X:728.76, Y:8.26, Z:5.01 [[ 9.98373281e-01 -5.09678793e-02 -2.55551907e-02 7.28757339e+02] [ 5.09761034e-02 9.98699819e-01 -3.29961420e-04 8.26443697e+00] [ 2.55387817e-02 -9.73279376e-04 9.99673358e-01 5.00767453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4292541539999 meters 0.02155855980525316 Centerline is valid? [True, True] Translation: X:728.79, Y:8.26, Z:5.01 [[ 9.98309197e-01 -5.23012463e-02 -2.53638823e-02 7.28785722e+02] [ 5.23096423e-02 9.98630858e-01 -3.32816399e-04 8.26333486e+00] [ 2.53465622e-02 -9.94521936e-04 9.99678230e-01 5.00861677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.459254154 meters 0.02109785281822558 Centerline is valid? [True, True] Translation: X:728.81, Y:8.26, Z:5.01 [[ 9.98323784e-01 -5.22404350e-02 -2.49110344e-02 7.28814932e+02] [ 5.22483567e-02 9.98634066e-01 -3.33221980e-04 8.26323361e+00] [ 2.48944153e-02 -9.68897184e-04 9.99689616e-01 5.00919427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4892541539999 meters 0.021979271805911853 Centerline is valid? [True, True] Translation: X:728.84, Y:8.26, Z:5.01 [[ 9.98359217e-01 -5.16901629e-02 -2.46373736e-02 7.28843126e+02] [ 5.16976613e-02 9.98662726e-01 -3.32925366e-04 8.26201593e+00] [ 2.46216357e-02 -9.41315489e-04 9.99696398e-01 5.00910540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5192541539999 meters 0.02073318137416895 Centerline is valid? [True, True] Translation: X:728.87, Y:8.26, Z:5.01 [[ 9.98556256e-01 -4.87181358e-02 -2.26262492e-02 7.28873303e+02] [ 4.87236779e-02 9.98812249e-01 -3.06607711e-04 8.26289759e+00] [ 2.26143122e-02 -7.96269028e-04 9.99743947e-01 5.01056367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5492541539999 meters 0.020372113919280597 Centerline is valid? [True, True] Translation: X:728.90, Y:8.26, Z:5.01 [[ 9.98652706e-01 -4.71192214e-02 -2.17382379e-02 7.28902306e+02] [ 4.71238770e-02 9.98889008e-01 -2.98326889e-04 8.26371235e+00] [ 2.17281439e-02 -7.26465094e-04 9.99763652e-01 5.01113848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.579254154 meters 0.020542464840150414 Centerline is valid? [True, True] Translation: X:728.93, Y:8.27, Z:5.01 [[ 9.98750011e-01 -4.49375419e-02 -2.18868077e-02 7.28932273e+02] [ 4.49416887e-02 9.98989566e-01 -3.02620091e-04 8.26545390e+00] [ 2.18782915e-02 -6.81388277e-04 9.99760409e-01 5.01248106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6092541539999 meters 0.017769370394516305 Centerline is valid? [True, True] Translation: X:728.96, Y:8.27, Z:5.01 [[ 9.99007862e-01 -4.08517611e-02 -1.77320236e-02 7.28962255e+02] [ 4.08538322e-02 9.99165104e-01 -2.45573906e-04 8.26780821e+00] [ 1.77272514e-02 -4.79090856e-04 9.99842745e-01 5.01361703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6392541539999 meters 0.017548856598095918 Centerline is valid? [True, True] Translation: X:728.99, Y:8.27, Z:5.01 [[ 9.99112253e-01 -3.83184794e-02 -1.75042791e-02 7.28991617e+02] [ 3.83201036e-02 9.99265486e-01 -2.42734778e-04 8.26833925e+00] [ 1.75007232e-02 -4.28246497e-04 9.99846759e-01 5.01348283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6692541539999 meters 0.016251973130773843 Centerline is valid? [True, True] Translation: X:729.02, Y:8.27, Z:5.01 [[ 9.99302243e-01 -3.30088737e-02 -1.74768585e-02 7.29021769e+02] [ 3.30096756e-02 9.99455003e-01 -2.42666364e-04 8.27097189e+00] [ 1.74753438e-02 -3.34408387e-04 9.99847239e-01 5.01273945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6992541539998 meters 0.015741319473611026 Centerline is valid? [True, True] Translation: X:729.05, Y:8.27, Z:5.01 [[ 9.99395676e-01 -3.02674176e-02 -1.70928478e-02 7.29050324e+02] [ 3.02677726e-02 9.99541798e-01 -2.37991208e-04 8.27221681e+00] [ 1.70922192e-02 -2.79515047e-04 9.99853878e-01 5.01233870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7292541539999 meters 0.015224493338585294 Centerline is valid? [True, True] Translation: X:729.08, Y:8.27, Z:5.01 [[ 9.99466817e-01 -2.80645192e-02 -1.66872555e-02 7.29079233e+02] [ 2.80645047e-02 9.99606087e-01 -2.35090638e-04 8.27332545e+00] [ 1.66872799e-02 -2.33354269e-04 9.99860730e-01 5.01243909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7592541539999 meters 0.014705224636112518 Centerline is valid? [True, True] Translation: X:729.11, Y:8.27, Z:5.01 [[ 9.99518072e-01 -2.60941466e-02 -1.68142279e-02 7.29108300e+02] [ 2.60937836e-02 9.99659470e-01 -2.41011122e-04 8.27435639e+00] [ 1.68147911e-02 -1.97851852e-04 9.99858602e-01 5.01246277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7892541539999 meters 0.014377072595214719 Centerline is valid? [True, True] Translation: X:729.14, Y:8.28, Z:5.01 [[ 9.99585834e-01 -2.31369498e-02 -1.71126040e-02 7.29135954e+02] [ 2.31360959e-02 9.99732294e-01 -2.47898242e-04 8.27538898e+00] [ 1.71137585e-02 -1.48123276e-04 9.99853538e-01 5.01143998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8192541539999 meters 0.014398715267587445 Centerline is valid? [True, True] Translation: X:729.16, Y:8.28, Z:5.01 [[ 9.99581088e-01 -2.26653104e-02 -1.79981119e-02 7.29163471e+02] [ 2.26642235e-02 9.99743099e-01 -2.64386742e-04 8.27560800e+00] [ 1.79994806e-02 -1.43637244e-04 9.99837986e-01 5.01069632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8492541539999 meters 0.015716570247430946 Centerline is valid? [True, True] Translation: X:729.19, Y:8.28, Z:5.01 [[ 9.99571473e-01 -2.22635560e-02 -1.90053614e-02 7.29191022e+02] [ 2.22622140e-02 9.99752126e-01 -2.82208034e-04 8.27506006e+00] [ 1.90069334e-02 -1.41014320e-04 9.99819342e-01 5.00986032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8792541539999 meters 0.014611677463170105 Centerline is valid? [True, True] Translation: X:729.22, Y:8.27, Z:5.01 [[ 9.99562640e-01 -2.32563246e-02 -1.82667156e-02 7.29217828e+02] [ 2.32552160e-02 9.99729524e-01 -2.73136921e-04 8.27363872e+00] [ 1.82681270e-02 -1.51778955e-04 9.99833112e-01 5.00915936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9092541539999 meters 0.014643470702368544 Centerline is valid? [True, True] Translation: X:729.25, Y:8.27, Z:5.01 [[ 9.99555889e-01 -2.40603209e-02 -1.75819765e-02 7.29245095e+02] [ 2.40593825e-02 9.99710496e-01 -2.64922143e-04 8.27280164e+00] [ 1.75832606e-02 -1.58207011e-04 9.99845390e-01 5.00911775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9392541539999 meters 0.014791358625078707 Centerline is valid? [True, True] Translation: X:729.27, Y:8.27, Z:5.01 [[ 9.99544052e-01 -2.47530978e-02 -1.72907961e-02 7.29273041e+02] [ 2.47522328e-02 9.99693582e-01 -2.64066938e-04 8.27216429e+00] [ 1.72920344e-02 -1.64039273e-04 9.99850468e-01 5.00912474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9692541539999 meters 0.016796471960701498 Centerline is valid? [True, True] Translation: X:729.30, Y:8.27, Z:5.01 [[ 9.99500171e-01 -2.61865703e-02 -1.77107745e-02 7.29301978e+02] [ 2.61858088e-02 9.99657055e-01 -2.74942347e-04 8.27148714e+00] [ 1.77119005e-02 -1.88966031e-04 9.99843114e-01 5.00991799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9992541539999 meters 0.01723499579625048 Centerline is valid? [True, True] Translation: X:729.33, Y:8.27, Z:5.01 [[ 9.99483949e-01 -2.72745270e-02 -1.69686664e-02 7.29329441e+02] [ 2.72739374e-02 9.99627962e-01 -2.66205600e-04 8.27029721e+00] [ 1.69696140e-02 -1.96734120e-04 9.99855986e-01 5.00950911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0292541539999 meters 0.015667694962886863 Centerline is valid? [True, True] Translation: X:729.36, Y:8.27, Z:5.01 [[ 9.99420691e-01 -3.02207940e-02 -1.56520397e-02 7.29357771e+02] [ 3.02206301e-02 9.99543222e-01 -2.47045865e-04 8.26900375e+00] [ 1.56523561e-02 -2.26111754e-04 9.99877469e-01 5.01041163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0592541539999 meters 0.016186467196760774 Centerline is valid? [True, True] Translation: X:729.39, Y:8.27, Z:5.01 [[ 9.99373142e-01 -3.21909211e-02 -1.47332108e-02 7.29386545e+02] [ 3.21909547e-02 9.99481709e-01 -2.34934261e-04 8.26741929e+00] [ 1.47331374e-02 -2.39489130e-04 9.99891433e-01 5.01092359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.089254154 meters 0.018872697767961393 Centerline is valid? [True, True] Translation: X:729.42, Y:8.26, Z:5.01 [[ 9.99320143e-01 -3.39065958e-02 -1.44773561e-02 7.29415583e+02] [ 3.39067899e-02 9.99424973e-01 -2.32119762e-04 8.26352051e+00] [ 1.44769016e-02 -2.58918717e-04 9.99895171e-01 5.01071332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1192541539999 meters 0.018628132898992213 Centerline is valid? [True, True] Translation: X:729.45, Y:8.26, Z:5.01 [[ 9.99196625e-01 -3.82340085e-02 -1.20110206e-02 7.29445513e+02] [ 3.82344566e-02 9.99268777e-01 -1.92402010e-04 8.26109868e+00] [ 1.20095941e-02 -2.66987406e-04 9.99927847e-01 5.01281301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1492541539999 meters 0.01955401952284729 Centerline is valid? [True, True] Translation: X:729.48, Y:8.26, Z:5.01 [[ 9.99123701e-01 -4.03242247e-02 -1.12155209e-02 7.29475822e+02] [ 4.03247458e-02 9.99186610e-01 -1.79766280e-04 8.25880567e+00] [ 1.12136472e-02 -2.72654277e-04 9.99937088e-01 5.01340560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1792541539999 meters 0.020549265902981045 Centerline is valid? [True, True] Translation: X:729.51, Y:8.26, Z:5.01 [[ 9.99054552e-01 -4.22069592e-02 -1.04199416e-02 7.29507465e+02] [ 4.22075125e-02 9.99108852e-01 -1.66899841e-04 8.25680193e+00] [ 1.04177002e-02 -2.73057770e-04 9.99945697e-01 5.01410127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.209254154 meters 0.02146685911818311 Centerline is valid? [True, True] Translation: X:729.54, Y:8.25, Z:5.01 [[ 9.98986330e-01 -4.39122436e-02 -9.90090942e-03 7.29538267e+02] [ 4.39128295e-02 9.99035354e-01 -1.58321693e-04 8.25480590e+00] [ 9.89831081e-03 -2.76615739e-04 9.99950972e-01 5.01456832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2392541539999 meters 0.023038627541544423 Centerline is valid? [True, True] Translation: X:729.57, Y:8.25, Z:5.01 [[ 9.98894852e-01 -4.61122955e-02 -9.09570375e-03 7.29568980e+02] [ 4.61128842e-02 9.98936225e-01 -1.45095579e-04 8.25058832e+00] [ 9.09271865e-03 -2.74493907e-04 9.99958623e-01 5.01499031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2692541539999 meters 0.02451440216187633 Centerline is valid? [True, True] Translation: X:729.60, Y:8.25, Z:5.01 [[ 9.98879899e-01 -4.63327435e-02 -9.60329791e-03 7.29600752e+02] [ 4.63334187e-02 9.98926019e-01 -1.52275249e-04 8.24889225e+00] [ 9.60003948e-03 -2.92848938e-04 9.99953876e-01 5.01448733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2992541539999 meters 0.024013135817204132 Centerline is valid? [True, True] Translation: X:729.63, Y:8.25, Z:5.01 [[ 9.98870321e-01 -4.63863994e-02 -1.03142547e-02 7.29630835e+02] [ 4.63871855e-02 9.98923522e-01 -1.63133837e-04 8.24792034e+00] [ 1.03107188e-02 -3.15499696e-04 9.99946793e-01 5.01312713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.329254154 meters 0.024502932691804695 Centerline is valid? [True, True] Translation: X:729.66, Y:8.25, Z:5.01 [[ 9.98907842e-01 -4.52433271e-02 -1.16689748e-02 7.29662319e+02] [ 4.52442618e-02 9.98975937e-01 -1.84003171e-04 8.24843272e+00] [ 1.16653500e-02 -3.44151942e-04 9.99931898e-01 5.01228282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3592541539999 meters 0.023422009752118687 Centerline is valid? [True, True] Translation: X:729.69, Y:8.25, Z:5.01 [[ 9.98935260e-01 -4.46024425e-02 -1.17885202e-02 7.29693316e+02] [ 4.46033554e-02 9.99004758e-01 -1.85590674e-04 8.24969125e+00] [ 1.17850656e-02 -3.40414491e-04 9.99930496e-01 5.01197105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3892541539999 meters 0.022458344451697008 Centerline is valid? [True, True] Translation: X:729.72, Y:8.25, Z:5.01 [[ 9.99037105e-01 -4.21495151e-02 -1.21770884e-02 7.29722953e+02] [ 4.21503075e-02 9.99111262e-01 -1.91677519e-04 8.25162394e+00] [ 1.21743452e-02 -3.21775065e-04 9.99925838e-01 5.01168550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4192541539999 meters 0.017440103637019488 Centerline is valid? [True, True] Translation: X:729.75, Y:8.26, Z:5.01 [[ 9.99096687e-01 -4.07084205e-02 -1.21915890e-02 7.29754197e+02] [ 4.07091086e-02 9.99171022e-01 -1.91819029e-04 8.26150826e+00] [ 1.21892910e-02 -3.04662962e-04 9.99925661e-01 5.01385772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4492541539998 meters 0.017027931743113022 Centerline is valid? [True, True] Translation: X:729.79, Y:8.26, Z:5.01 [[ 9.99149414e-01 -3.95327426e-02 -1.17307897e-02 7.29785089e+02] [ 3.95333036e-02 9.99218236e-01 -1.84145365e-04 8.26256037e+00] [ 1.17288987e-02 -2.79768137e-04 9.99931175e-01 5.01446195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4792541539999 meters 0.016529192329574335 Centerline is valid? [True, True] Translation: X:729.82, Y:8.26, Z:5.02 [[ 9.99248083e-01 -3.71785911e-02 -1.10009345e-02 7.29815996e+02] [ 3.71789461e-02 9.99308609e-01 -1.72299719e-04 8.26429767e+00] [ 1.09997344e-02 -2.36832987e-04 9.99939473e-01 5.01528197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5092541539999 meters 0.02030837320271192 Centerline is valid? [True, True] Translation: X:729.85, Y:8.26, Z:5.01 [[ 9.99281811e-01 -3.62190154e-02 -1.11375211e-02 7.29846685e+02] [ 3.62193235e-02 9.99343850e-01 -1.74104547e-04 8.25751649e+00] [ 1.11365191e-02 -2.29413971e-04 9.99937961e-01 5.01403807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5392541539999 meters 0.017435110861189505 Centerline is valid? [True, True] Translation: X:729.88, Y:8.27, Z:5.02 [[ 9.99305595e-01 -3.53537228e-02 -1.17661615e-02 7.29878200e+02] [ 3.53540104e-02 9.99374835e-01 -1.83621440e-04 8.26622999e+00] [ 1.17652974e-02 -2.32487064e-04 9.99930759e-01 5.01575332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5692541539999 meters 0.02007145755067536 Centerline is valid? [True, True] Translation: X:729.91, Y:8.26, Z:5.01 [[ 9.99316876e-01 -3.51386118e-02 -1.14481390e-02 7.29908268e+02] [ 3.51388759e-02 9.99382423e-01 -1.78136069e-04 8.25951050e+00] [ 1.14473284e-02 -2.24260356e-04 9.99934452e-01 5.01430775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5992541539999 meters 0.01650508558190361 Centerline is valid? [True, True] Translation: X:729.94, Y:8.27, Z:5.02 [[ 9.99279822e-01 -3.59413545e-02 -1.21678787e-02 7.29939446e+02] [ 3.59417202e-02 9.99353870e-01 -1.88695781e-04 8.26703422e+00] [ 1.21667986e-02 -2.48774603e-04 9.99925951e-01 5.01601847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6292541539999 meters 0.016715728570707966 Centerline is valid? [True, True] Translation: X:729.97, Y:8.27, Z:5.02 [[ 9.99251214e-01 -3.67438000e-02 -1.21204011e-02 7.29970315e+02] [ 3.67442259e-02 9.99324685e-01 -1.87615799e-04 8.26633136e+00] [ 1.21191097e-02 -2.57879440e-04 9.99926528e-01 5.01591659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6592541539999 meters 0.017824847933563093 Centerline is valid? [True, True] Translation: X:730.00, Y:8.26, Z:5.02 [[ 9.99114534e-01 -4.01444977e-02 -1.25923645e-02 7.30000652e+02] [ 4.01452303e-02 9.99193836e-01 -1.94690273e-04 8.26381583e+00] [ 1.25900288e-02 -3.11005492e-04 9.99920694e-01 5.01576526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6892541539999 meters 0.018757316598041147 Centerline is valid? [True, True] Translation: X:730.03, Y:8.26, Z:5.02 [[ 9.99019677e-01 -4.23851411e-02 -1.27744176e-02 7.30031025e+02] [ 4.23860810e-02 9.99101287e-01 -1.97275380e-04 8.26181591e+00] [ 1.27712986e-02 -3.44375513e-04 9.99918384e-01 5.01585423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7192541539999 meters 0.019844085350091946 Centerline is valid? [True, True] Translation: X:730.06, Y:8.26, Z:5.02 [[ 9.98906853e-01 -4.49455259e-02 -1.28451788e-02 7.30062383e+02] [ 4.49466920e-02 9.98989367e-01 -1.98037196e-04 8.26009731e+00] [ 1.28410980e-02 -3.79527585e-04 9.99917478e-01 5.01623344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7492541539999 meters 0.022157234490708333 Centerline is valid? [True, True] Translation: X:730.09, Y:8.26, Z:5.02 [[ 9.98663449e-01 -5.01884511e-02 -1.23464239e-02 7.30092435e+02] [ 5.01899314e-02 9.98739673e-01 -1.90114551e-04 8.25628898e+00] [ 1.23404050e-02 -4.29805717e-04 9.99923762e-01 5.01702361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7792541539999 meters 0.02351089393252534 Centerline is valid? [True, True] Translation: X:730.12, Y:8.25, Z:5.02 [[ 9.98529135e-01 -5.28379739e-02 -1.21538071e-02 7.30123521e+02] [ 5.28396065e-02 9.98602995e-01 -1.86967584e-04 8.25466407e+00] [ 1.21467072e-02 -4.55509806e-04 9.99926122e-01 5.01727246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8092541539999 meters 0.025341618241655595 Centerline is valid? [True, True] Translation: X:730.15, Y:8.25, Z:5.02 [[ 9.98386886e-01 -5.54531916e-02 -1.21889046e-02 7.30153453e+02] [ 5.54550358e-02 9.98461168e-01 -1.86886948e-04 8.25180387e+00] [ 1.21805114e-02 -4.89350661e-04 9.99925695e-01 5.01731784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.839254154 meters 0.02407157404608756 Centerline is valid? [True, True] Translation: X:730.18, Y:8.25, Z:5.02 [[ 9.98093972e-01 -6.04505881e-02 -1.24156825e-02 7.30184734e+02] [ 6.04528962e-02 9.98171033e-01 -1.89654366e-04 8.25366209e+00] [ 1.24044393e-02 -5.61271086e-04 9.99922904e-01 5.01754077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8692541539999 meters 0.023913775832057338 Centerline is valid? [True, True] Translation: X:730.22, Y:8.25, Z:5.02 [[ 9.97947312e-01 -6.26551536e-02 -1.32474046e-02 7.30215518e+02] [ 6.26579802e-02 9.98035038e-01 -2.01972570e-04 8.25472455e+00] [ 1.32340286e-02 -6.28497632e-04 9.99912229e-01 5.01777369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8992541539999 meters 0.02584620710910706 Centerline is valid? [True, True] Translation: X:730.25, Y:8.25, Z:5.02 [[ 9.97701089e-01 -6.62861586e-02 -1.40954846e-02 7.30245503e+02] [ 6.62897222e-02 9.97800394e-01 -2.14765832e-04 8.25356580e+00] [ 1.40787161e-02 -7.20113651e-04 9.99900631e-01 5.01703886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9292541539999 meters 0.02671206887642687 Centerline is valid? [True, True] Translation: X:730.28, Y:8.25, Z:5.02 [[ 9.97594224e-01 -6.77871764e-02 -1.45142588e-02 7.30276711e+02] [ 6.77911173e-02 9.97699512e-01 -2.20869215e-04 8.25326268e+00] [ 1.44958410e-02 -7.63599966e-04 9.99894638e-01 5.01704418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.959254154 meters 0.028589584536985024 Centerline is valid? [True, True] Translation: X:730.31, Y:8.25, Z:5.02 [[ 9.97499563e-01 -6.90441000e-02 -1.50842477e-02 7.30308421e+02] [ 6.90485106e-02 9.97613277e-01 -2.28830640e-04 8.25291890e+00] [ 1.50640451e-02 -8.13286371e-04 9.99886200e-01 5.01722871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9892541539999 meters 0.02941526762246718 Centerline is valid? [True, True] Translation: X:730.34, Y:8.25, Z:5.02 [[ 9.97273570e-01 -7.23680872e-02 -1.44321426e-02 7.30338754e+02] [ 7.23724787e-02 9.97377650e-01 -2.18437145e-04 8.25297571e+00] [ 1.44101044e-02 -8.26648344e-04 9.99895827e-01 5.01770894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0192541539999 meters 0.030617471999066413 Centerline is valid? [True, True] Translation: X:730.37, Y:8.25, Z:5.02 [[ 9.97221038e-01 -7.30925292e-02 -1.44112219e-02 7.30370219e+02] [ 7.30969959e-02 9.97324813e-01 -2.17245290e-04 8.25282301e+00] [ 1.43885482e-02 -8.36775455e-04 9.99896129e-01 5.01789363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0492541539999 meters 0.029362237815115315 Centerline is valid? [True, True] Translation: X:730.40, Y:8.26, Z:5.02 [[ 9.97148127e-01 -7.39608510e-02 -1.50135111e-02 7.30402449e+02] [ 7.39658169e-02 9.97260752e-01 -2.25008270e-04 8.25677283e+00] [ 1.49890272e-02 -8.86120039e-04 9.99887266e-01 5.01830950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.079254154 meters 0.029362237815115315 Centerline is valid? [True, True] Translation: X:730.43, Y:8.26, Z:5.02 [[ 9.97153547e-01 -7.38877421e-02 -1.50135276e-02 7.30434186e+02] [ 7.38927162e-02 9.97266171e-01 -2.23907474e-04 8.25718562e+00] [ 1.49890272e-02 -8.86120200e-04 9.99887266e-01 5.01852934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1092541539999 meters 0.029854154869604216 Centerline is valid? [True, True] Translation: X:730.47, Y:8.26, Z:5.02 [[ 9.97114200e-01 -7.42859092e-02 -1.56484914e-02 7.30465815e+02] [ 7.42913777e-02 9.97236550e-01 -2.32368764e-04 8.25886453e+00] [ 1.56225093e-02 -9.30849787e-04 9.99877528e-01 5.01848343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1392541539999 meters 0.030701611549322824 Centerline is valid? [True, True] Translation: X:730.50, Y:8.26, Z:5.02 [[ 9.97144225e-01 -7.38968983e-02 -1.55770043e-02 7.30496743e+02] [ 7.39022828e-02 9.97265461e-01 -2.30457508e-04 8.26189257e+00] [ 1.55514385e-02 -9.21376803e-04 9.99878645e-01 5.01824809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1692541539999 meters 0.029790181444500505 Centerline is valid? [True, True] Translation: X:730.53, Y:8.27, Z:5.02 [[ 9.97247434e-01 -7.24902735e-02 -1.55793213e-02 7.30527841e+02] [ 7.24954993e-02 9.97368713e-01 -2.29799024e-04 8.26796274e+00] [ 1.55549858e-02 -9.00264187e-04 9.99878609e-01 5.01851390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1992541539998 meters 0.03000624593515275 Centerline is valid? [True, True] Translation: X:730.56, Y:8.27, Z:5.02 [[ 9.97327367e-01 -7.13034327e-02 -1.59356294e-02 7.30558989e+02] [ 7.13087729e-02 9.97454262e-01 -2.33577928e-04 8.27020844e+00] [ 1.59117164e-02 -9.03396518e-04 9.99872993e-01 5.01837967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2292541539999 meters 0.02981138875835882 Centerline is valid? [True, True] Translation: X:730.59, Y:8.27, Z:5.02 [[ 9.97407858e-01 -6.99647563e-02 -1.68076718e-02 7.30590611e+02] [ 6.99705300e-02 9.97549029e-01 -2.45019983e-04 8.27339578e+00] [ 1.67836195e-02 -9.31656848e-04 9.99858711e-01 5.01812461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2592541539999 meters 0.029336002613846186 Centerline is valid? [True, True] Translation: X:730.62, Y:8.28, Z:5.02 [[ 9.97510639e-01 -6.83434773e-02 -1.73693507e-02 7.30622182e+02] [ 6.83494093e-02 9.97661413e-01 -2.52580918e-04 8.27697120e+00] [ 1.73459933e-02 -9.35232710e-04 9.99849110e-01 5.01814752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2892541539999 meters 0.027751499191498427 Centerline is valid? [True, True] Translation: X:730.65, Y:8.29, Z:5.02 [[ 9.97715878e-01 -6.49906989e-02 -1.84183377e-02 7.30652719e+02] [ 6.49968081e-02 9.97885436e-01 -2.67367696e-04 8.28573959e+00] [ 1.83967674e-02 -9.30376167e-04 9.99830332e-01 5.01846464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3192541539999 meters 0.027639716555776125 Centerline is valid? [True, True] Translation: X:730.68, Y:8.29, Z:5.02 [[ 9.97842680e-01 -6.28849858e-02 -1.88537498e-02 7.30682808e+02] [ 6.28910187e-02 9.98020363e-01 -2.73351567e-04 8.28913636e+00] [ 1.88336159e-02 -9.12969667e-04 9.99822215e-01 5.01873562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3492541539999 meters 0.026168830016811227 Centerline is valid? [True, True] Translation: X:730.71, Y:8.29, Z:5.02 [[ 9.97962406e-01 -6.08913338e-02 -1.90599273e-02 7.30714404e+02] [ 6.08971513e-02 9.98144008e-01 -2.75571327e-04 8.29464395e+00] [ 1.90413322e-02 -8.85685455e-04 9.99818305e-01 5.01946367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3792541539999 meters 0.022573499307202042 Centerline is valid? [True, True] Translation: X:730.75, Y:8.31, Z:5.02 [[ 9.98218324e-01 -5.66664139e-02 -1.86840918e-02 7.30745479e+02] [ 5.66712762e-02 9.98392855e-01 -2.69559881e-04 8.30623896e+00] [ 1.86693388e-02 -7.89771716e-04 9.99825401e-01 5.02144069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4092541539999 meters 0.025543927097198823 Centerline is valid? [True, True] Translation: X:730.78, Y:8.30, Z:5.02 [[ 9.98354398e-01 -5.43282748e-02 -1.83557622e-02 7.30776451e+02] [ 5.43325831e-02 9.98522859e-01 -2.64279286e-04 8.30483582e+00] [ 1.83430060e-02 -7.33471585e-04 9.99831484e-01 5.02051506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4392541539999 meters 0.02315630261922208 Centerline is valid? [True, True] Translation: X:730.81, Y:8.31, Z:5.02 [[ 9.98485312e-01 -5.19690044e-02 -1.80638897e-02 7.30807227e+02] [ 5.19727992e-02 9.98648467e-01 -2.59632912e-04 8.31142798e+00] [ 1.80529686e-02 -6.79591263e-04 9.99836801e-01 5.02166872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4692541539999 meters 0.01951222219526026 Centerline is valid? [True, True] Translation: X:730.84, Y:8.32, Z:5.02 [[ 9.98749256e-01 -4.68926513e-02 -1.73494143e-02 7.30837512e+02] [ 4.68953887e-02 9.98899775e-01 -2.49247645e-04 8.32293370e+00] [ 1.73420140e-02 -5.64671628e-04 9.99849457e-01 5.02312003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4992541539999 meters 0.01835840469927657 Centerline is valid? [True, True] Translation: X:730.87, Y:8.33, Z:5.02 [[ 9.98894689e-01 -4.38258222e-02 -1.69910874e-02 7.30868843e+02] [ 4.38280107e-02 9.99039061e-01 -2.43723690e-04 8.32807491e+00] [ 1.69854413e-02 -5.01231259e-04 9.99855611e-01 5.02354303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5292541539999 meters 0.017516210450947534 Centerline is valid? [True, True] Translation: X:730.90, Y:8.33, Z:5.02 [[ 9.99171958e-01 -3.73641121e-02 -1.61034510e-02 7.30898577e+02] [ 3.73652430e-02 9.99301649e-01 -2.30745842e-04 8.33458377e+00] [ 1.61008267e-02 -3.71154585e-04 9.99870304e-01 5.02314462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5592541539999 meters 0.0167254152491544 Centerline is valid? [True, True] Translation: X:730.93, Y:8.34, Z:5.02 [[ 9.99288955e-01 -3.42735998e-02 -1.57132064e-02 7.30929558e+02] [ 3.42742971e-02 9.99412438e-01 -2.24996075e-04 8.33918888e+00] [ 1.57116853e-02 -3.13723011e-04 9.99876515e-01 5.02372333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.589254154 meters 0.01598121959783607 Centerline is valid? [True, True] Translation: X:730.96, Y:8.34, Z:5.02 [[ 9.99392113e-01 -3.13522979e-02 -1.52459334e-02 7.30960571e+02] [ 3.13526158e-02 9.99508362e-01 -2.18221991e-04 8.34321481e+00] [ 1.52452797e-02 -2.59910554e-04 9.99883750e-01 5.02448897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6192541539999 meters 0.015296143423113548 Centerline is valid? [True, True] Translation: X:730.99, Y:8.35, Z:5.03 [[ 9.99518961e-01 -2.72497887e-02 -1.48086643e-02 7.30990925e+02] [ 2.72496380e-02 9.99628637e-01 -2.11993604e-04 8.34856346e+00] [ 1.48089417e-02 -1.91639115e-04 9.99890323e-01 5.02507003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6492541539999 meters 0.015128120385323626 Centerline is valid? [True, True] Translation: X:731.02, Y:8.35, Z:5.03 [[ 9.99549983e-01 -2.60615327e-02 -1.48535284e-02 7.31021602e+02] [ 2.60612498e-02 9.99660325e-01 -2.12635856e-04 8.35023682e+00] [ 1.48540246e-02 -1.74561348e-04 9.99889658e-01 5.02514156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6792541539999 meters 0.015055725433466276 Centerline is valid? [True, True] Translation: X:731.05, Y:8.35, Z:5.03 [[ 9.99574136e-01 -2.54028964e-02 -1.43610109e-02 7.31050771e+02] [ 2.54025602e-02 9.99677282e-01 -2.05853999e-04 8.35142494e+00] [ 1.43616056e-02 -1.59040111e-04 9.99896854e-01 5.02522618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.709254154 meters 0.015265974705890039 Centerline is valid? [True, True] Translation: X:731.08, Y:8.35, Z:5.03 [[ 9.99579331e-01 -2.52821044e-02 -1.42118211e-02 7.31080139e+02] [ 2.52817575e-02 9.99680344e-01 -2.04094019e-04 8.35225465e+00] [ 1.42124381e-02 -1.55291651e-04 9.99898986e-01 5.02533186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7392541539999 meters 0.015372040764721914 Centerline is valid? [True, True] Translation: X:731.11, Y:8.35, Z:5.03 [[ 9.99573568e-01 -2.59696127e-02 -1.33514504e-02 7.31109811e+02] [ 2.59693648e-02 9.99662721e-01 -1.91968906e-04 8.35205904e+00] [ 1.33519326e-02 -1.54841641e-04 9.99910847e-01 5.02531943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7692541539999 meters 0.01555233407832699 Centerline is valid? [True, True] Translation: X:731.14, Y:8.35, Z:5.02 [[ 9.99546729e-01 -2.68875741e-02 -1.35423288e-02 7.31140107e+02] [ 2.68874016e-02 9.99638449e-01 -1.94837924e-04 8.35135244e+00] [ 1.35426713e-02 -1.69368423e-04 9.99908279e-01 5.02480525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7992541539999 meters 0.015889998082311632 Centerline is valid? [True, True] Translation: X:731.17, Y:8.35, Z:5.02 [[ 9.99460277e-01 -2.98482434e-02 -1.37199211e-02 7.31170895e+02] [ 2.98483452e-02 9.99554419e-01 -1.97393004e-04 8.34890884e+00] [ 1.37196996e-02 -2.12230476e-04 9.99905858e-01 5.02419736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.829254154 meters 0.01636961676465811 Centerline is valid? [True, True] Translation: X:731.20, Y:8.35, Z:5.02 [[ 9.99403424e-01 -3.17357802e-02 -1.36248165e-02 7.31202167e+02] [ 3.17360592e-02 9.99496265e-01 -1.95786051e-04 8.34735906e+00] [ 1.36241666e-02 -2.36728733e-04 9.99907159e-01 5.02416982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8592541539999 meters 0.01702168216250121 Centerline is valid? [True, True] Translation: X:731.23, Y:8.35, Z:5.02 [[ 9.99342910e-01 -3.38105696e-02 -1.30611558e-02 7.31232260e+02] [ 3.38110105e-02 9.99428227e-01 -1.87119583e-04 8.34537542e+00] [ 1.30600144e-02 -2.54614247e-04 9.99914682e-01 5.02419436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8892541539999 meters 0.01782869866824208 Centerline is valid? [True, True] Translation: X:731.26, Y:8.34, Z:5.03 [[ 9.99183690e-01 -3.85056262e-02 -1.22176013e-02 7.31263954e+02] [ 3.85063693e-02 9.99258340e-01 -1.74495093e-04 8.34236076e+00] [ 1.22152590e-02 -2.96102815e-04 9.99925347e-01 5.02512914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9192541539999 meters 0.019021674771770837 Centerline is valid? [True, True] Translation: X:731.30, Y:8.34, Z:5.03 [[ 9.99096143e-01 -4.08836633e-02 -1.16371536e-02 7.31295532e+02] [ 4.08845044e-02 9.99163865e-01 -1.65713356e-04 8.33909309e+00] [ 1.16341984e-02 -3.10215683e-04 9.99932272e-01 5.02524819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9492541539998 meters 0.020657625418571805 Centerline is valid? [True, True] Translation: X:731.33, Y:8.34, Z:5.03 [[ 9.98999537e-01 -4.31983669e-02 -1.15683022e-02 7.31327108e+02] [ 4.31993602e-02 9.99066458e-01 -1.64117916e-04 8.33556850e+00] [ 1.15645923e-02 -3.35789532e-04 9.99933071e-01 5.02542658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9792541539999 meters 0.02113423141826155 Centerline is valid? [True, True] Translation: X:731.36, Y:8.33, Z:5.03 [[ 9.98791564e-01 -4.77942281e-02 -1.14509106e-02 7.31358571e+02] [ 4.77955090e-02 9.98857128e-01 -1.61928625e-04 8.33344482e+00] [ 1.14455630e-02 -3.85569158e-04 9.99934423e-01 5.02561429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0092541539999 meters 0.021798569461248554 Centerline is valid? [True, True] Translation: X:731.39, Y:8.33, Z:5.03 [[ 9.98654806e-01 -5.04527486e-02 -1.19623723e-02 7.31390028e+02] [ 5.04543434e-02 9.98726354e-01 -1.68626550e-04 8.33026757e+00] [ 1.19556442e-02 -4.35153926e-04 9.99928434e-01 5.02544457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0392541539999 meters 0.022499831603348917 Centerline is valid? [True, True] Translation: X:731.42, Y:8.33, Z:5.03 [[ 9.98529280e-01 -5.28973766e-02 -1.18803903e-02 7.31422172e+02] [ 5.28991310e-02 9.98599847e-01 -1.66741860e-04 8.32781932e+00] [ 1.18725762e-02 -4.61965694e-04 9.99929412e-01 5.02535922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0692541539999 meters 0.024304135774541855 Centerline is valid? [True, True] Translation: X:731.45, Y:8.32, Z:5.03 [[ 9.98254947e-01 -5.79182537e-02 -1.15124357e-02 7.31453448e+02] [ 5.79202408e-02 9.98321201e-01 -1.61012213e-04 8.32323704e+00] [ 1.15024342e-02 -5.06071808e-04 9.99933717e-01 5.02508523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0992541539999 meters 0.025641596467452957 Centerline is valid? [True, True] Translation: X:731.48, Y:8.32, Z:5.02 [[ 9.98099995e-01 -6.05532949e-02 -1.13884917e-02 7.31484261e+02] [ 6.05554129e-02 9.98164824e-01 -1.59075582e-04 8.32065453e+00] [ 1.13772244e-02 -5.30861480e-04 9.99935136e-01 5.02471369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1292541539999 meters 0.02762039442311888 Centerline is valid? [True, True] Translation: X:731.51, Y:8.32, Z:5.02 [[ 9.97782253e-01 -6.54457379e-02 -1.21421471e-02 7.31514609e+02] [ 6.54485088e-02 9.97855933e-01 -1.69444672e-04 8.31677583e+00] [ 1.21272030e-02 -6.25616537e-04 9.99926267e-01 5.02379482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1592541539999 meters 0.029771789410393327 Centerline is valid? [True, True] Translation: X:731.54, Y:8.31, Z:5.02 [[ 9.97617612e-01 -6.78620642e-02 -1.24032319e-02 7.31544878e+02] [ 6.78651433e-02 9.97694489e-01 -1.72955755e-04 8.31339220e+00] [ 1.23863732e-02 -6.69203401e-04 9.99923062e-01 5.02349951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1892541539999 meters 0.030729378718212918 Centerline is valid? [True, True] Translation: X:731.58, Y:8.31, Z:5.02 [[ 9.97477195e-01 -6.99078873e-02 -1.23341734e-02 7.31576657e+02] [ 6.99110931e-02 9.97553211e-01 -1.71586596e-04 8.31176956e+00] [ 1.23159896e-02 -6.91141831e-04 9.99923916e-01 5.02318650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2192541539999 meters 0.03295843058498122 Centerline is valid? [True, True] Translation: X:731.61, Y:8.31, Z:5.02 [[ 9.97333878e-01 -7.19620279e-02 -1.21079623e-02 7.31606811e+02] [ 7.19652734e-02 9.97407124e-01 -1.67992441e-04 8.30891554e+00] [ 1.20886569e-02 -7.03808265e-04 9.99926682e-01 5.02305270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2492541539999 meters 0.031298748050142426 Centerline is valid? [True, True] Translation: X:731.64, Y:8.31, Z:5.02 [[ 9.97130097e-01 -7.48073152e-02 -1.16376861e-02 7.31637408e+02] [ 7.48105089e-02 9.97197755e-01 -1.61265807e-04 8.31188865e+00] [ 1.16171383e-02 -7.09818231e-04 9.99932267e-01 5.02387456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2792541539999 meters 0.03654923847404003 Centerline is valid? [True, True] Translation: X:731.67, Y:8.31, Z:5.02 [[ 9.97038637e-01 -7.60439625e-02 -1.14574069e-02 7.31668950e+02] [ 7.60471435e-02 9.97104211e-01 -1.58399096e-04 8.30543087e+00] [ 1.14362739e-02 -7.13373046e-04 9.99934349e-01 5.02389956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3092541539999 meters 0.03133243567629916 Centerline is valid? [True, True] Translation: X:731.70, Y:8.31, Z:5.02 [[ 9.96947829e-01 -7.72881048e-02 -1.10260888e-02 7.31701303e+02] [ 7.72911339e-02 9.97008554e-01 -1.51773465e-04 8.31327603e+00] [ 1.10048351e-02 -7.00908678e-04 9.99939199e-01 5.02452190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.339254154 meters 0.03149993804007816 Centerline is valid? [True, True] Translation: X:731.73, Y:8.31, Z:5.02 [[ 9.96936119e-01 -7.73992649e-02 -1.13016866e-02 7.31733598e+02] [ 7.74024640e-02 9.96999917e-01 -1.54722391e-04 8.31399513e+00] [ 1.12797560e-02 -7.20530050e-04 9.99936122e-01 5.02470420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3692541539999 meters 0.03371623576878473 Centerline is valid? [True, True] Translation: X:731.77, Y:8.31, Z:5.02 [[ 9.96939231e-01 -7.73536211e-02 -1.13396474e-02 7.31765271e+02] [ 7.73568491e-02 9.97003457e-01 -1.54327269e-04 8.31213505e+00] [ 1.13176055e-02 -7.23344486e-04 9.99935692e-01 5.02461388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3992541539999 meters 0.031780373103970104 Centerline is valid? [True, True] Translation: X:731.80, Y:8.32, Z:5.02 [[ 9.97011808e-01 -7.62924670e-02 -1.21208307e-02 7.31797354e+02] [ 7.62960898e-02 9.97085192e-01 -1.63902954e-04 8.31687010e+00] [ 1.20980054e-02 -7.61358809e-04 9.99926527e-01 5.02423962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4292541539999 meters 0.03181574013982281 Centerline is valid? [True, True] Translation: X:731.83, Y:8.32, Z:5.02 [[ 9.97053531e-01 -7.56945192e-02 -1.24336679e-02 7.31829901e+02] [ 7.56982966e-02 9.97130754e-01 -1.67216026e-04 8.31850252e+00] [ 1.24106500e-02 -7.74484150e-04 9.99922685e-01 5.02419583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.459254154 meters 0.03219228289640711 Centerline is valid? [True, True] Translation: X:731.86, Y:8.32, Z:5.02 [[ 9.97090987e-01 -7.50802306e-02 -1.31347809e-02 7.31861277e+02] [ 7.50844043e-02 9.97177166e-01 -1.75777347e-04 8.31971395e+00] [ 1.31109010e-02 -8.10951191e-04 9.99913720e-01 5.02409050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4892541539999 meters 0.03207094223640153 Centerline is valid? [True, True] Translation: X:731.89, Y:8.32, Z:5.02 [[ 9.97186556e-01 -7.36869061e-02 -1.37554425e-02 7.31893539e+02] [ 7.36913636e-02 9.97281078e-01 -1.83201409e-04 8.32327498e+00] [ 1.37315421e-02 -8.30971337e-04 9.99905373e-01 5.02362940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5192541539999 meters 0.03393862890920611 Centerline is valid? [True, True] Translation: X:731.92, Y:8.32, Z:5.02 [[ 9.97235641e-01 -7.29156779e-02 -1.42961832e-02 7.31924544e+02] [ 7.29204269e-02 9.97337744e-01 -1.89494553e-04 8.32279959e+00] [ 1.42719402e-02 -8.53513062e-04 9.99897786e-01 5.02315209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5492541539999 meters 0.03187691061688933 Centerline is valid? [True, True] Translation: X:731.96, Y:8.33, Z:5.02 [[ 9.97390462e-01 -7.08372412e-02 -1.39410174e-02 7.31955510e+02] [ 7.08415633e-02 9.97487563e-01 -1.84177500e-04 8.32850175e+00] [ 1.39190381e-02 -8.03906581e-04 9.99902802e-01 5.02407675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.579254154 meters 0.03150833789595465 Centerline is valid? [True, True] Translation: X:731.99, Y:8.33, Z:5.02 [[ 9.97509920e-01 -6.91971652e-02 -1.36276270e-02 7.31986833e+02] [ 6.92011490e-02 9.97602711e-01 -1.79560796e-04 8.33090294e+00] [ 1.36073828e-02 -7.63933773e-04 9.99907123e-01 5.02490470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6092541539999 meters 0.030589426016147538 Centerline is valid? [True, True] Translation: X:732.02, Y:8.33, Z:5.03 [[ 9.97659346e-01 -6.70151362e-02 -1.35941599e-02 7.32018017e+02] [ 6.70189050e-02 9.97751690e-01 -1.78642022e-04 8.33448740e+00] [ 1.35755677e-02 -7.32841824e-04 9.99907579e-01 5.02566815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6392541539999 meters 0.028879885622936856 Centerline is valid? [True, True] Translation: X:732.05, Y:8.34, Z:5.03 [[ 9.98023266e-01 -6.14385695e-02 -1.32235995e-02 7.32047130e+02] [ 6.14416489e-02 9.98110662e-01 -1.73639472e-04 8.34162048e+00] [ 1.32092838e-02 -6.39183523e-04 9.99912549e-01 5.02645086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6692541539999 meters 0.02769232999097243 Centerline is valid? [True, True] Translation: X:732.08, Y:8.35, Z:5.03 [[ 9.98232423e-01 -5.79742388e-02 -1.30773521e-02 7.32077929e+02] [ 5.79769537e-02 9.98317907e-01 -1.71726980e-04 8.34593563e+00] [ 1.30653105e-02 -5.86761598e-04 9.99914473e-01 5.02674402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6992541539998 meters 0.025828503115207277 Centerline is valid? [True, True] Translation: X:732.11, Y:8.35, Z:5.03 [[ 9.98448589e-01 -5.41028718e-02 -1.31641374e-02 7.32108661e+02] [ 5.41052899e-02 9.98535221e-01 -1.72640716e-04 8.35087052e+00] [ 1.31541952e-02 -5.39876593e-04 9.99913334e-01 5.02711602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7292541539999 meters 0.02326407557537918 Centerline is valid? [True, True] Translation: X:732.14, Y:8.36, Z:5.03 [[ 9.98837182e-01 -4.64121211e-02 -1.30460026e-02 7.32138250e+02] [ 4.64138409e-02 9.98922282e-01 -1.71073173e-04 8.35906211e+00] [ 1.30398825e-02 -4.34640842e-04 9.99914883e-01 5.02691731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7592541539999 meters 0.019392457573118256 Centerline is valid? [True, True] Translation: X:732.17, Y:8.37, Z:5.03 [[ 9.99004414e-01 -4.26767263e-02 -1.29952662e-02 7.32169970e+02] [ 4.26781198e-02 9.99088859e-01 -1.70191776e-04 8.36733512e+00] [ 1.29906889e-02 -3.84591193e-04 9.99915543e-01 5.02797238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7892541539999 meters 0.02040521518476905 Centerline is valid? [True, True] Translation: X:732.20, Y:8.37, Z:5.03 [[ 9.99139882e-01 -3.94407871e-02 -1.28031076e-02 7.32200808e+02] [ 3.94418817e-02 9.99221852e-01 -1.67096346e-04 8.36752466e+00] [ 1.27997353e-02 -3.38026031e-04 9.99918023e-01 5.02754713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8192541539999 meters 0.017190859784530638 Centerline is valid? [True, True] Translation: X:732.23, Y:8.38, Z:5.03 [[ 9.99332269e-01 -3.41418735e-02 -1.30134221e-02 7.32232462e+02] [ 3.41425630e-02 9.99416958e-01 -1.69242236e-04 8.37753410e+00] [ 1.30116130e-02 -2.75182358e-04 9.99915308e-01 5.02847454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8492541539999 meters 0.01687054564378426 Centerline is valid? [True, True] Translation: X:732.26, Y:8.38, Z:5.03 [[ 9.99399766e-01 -3.18900808e-02 -1.35325742e-02 7.32262429e+02] [ 3.18906272e-02 9.99491349e-01 -1.75465931e-04 8.37954884e+00] [ 1.35312865e-02 -2.56201669e-04 9.99908415e-01 5.02811093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8792541539999 meters 0.01587736723207237 Centerline is valid? [True, True] Translation: X:732.29, Y:8.38, Z:5.03 [[ 9.99450632e-01 -3.00296309e-02 -1.40233831e-02 7.32294117e+02] [ 3.00300400e-02 9.99548980e-01 -1.81443070e-04 8.38335058e+00] [ 1.40225069e-02 -2.39779364e-04 9.99901651e-01 5.02869675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9092541539999 meters 0.015527902426456776 Centerline is valid? [True, True] Translation: X:732.32, Y:8.39, Z:5.03 [[ 9.99512736e-01 -2.73939736e-02 -1.49619952e-02 7.32324758e+02] [ 2.73941504e-02 9.99624691e-01 -1.93170680e-04 8.38677698e+00] [ 1.49616715e-02 -2.16794591e-04 9.99888044e-01 5.02846127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9392541539999 meters 0.015706939894040997 Centerline is valid? [True, True] Translation: X:732.35, Y:8.39, Z:5.03 [[ 9.99533282e-01 -2.63611052e-02 -1.54373232e-02 7.32354774e+02] [ 2.63611722e-02 9.99652464e-01 -1.99177575e-04 8.38667455e+00] [ 1.54372087e-02 -2.07861321e-04 9.99880818e-01 5.02767480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9692541539999 meters 0.015706939894040997 Centerline is valid? [True, True] Translation: X:732.38, Y:8.39, Z:5.03 [[ 9.99533282e-01 -2.63611052e-02 -1.54373232e-02 7.32384775e+02] [ 2.63611722e-02 9.99652464e-01 -1.99177575e-04 8.38706163e+00] [ 1.54372087e-02 -2.07861321e-04 9.99880818e-01 5.02788270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9992541539999 meters 0.01508758151668729 Centerline is valid? [True, True] Translation: X:732.42, Y:8.39, Z:5.03 [[ 9.99551414e-01 -2.58675417e-02 -1.50944288e-02 7.32415132e+02] [ 2.58675495e-02 9.99665360e-01 -1.94753435e-04 8.38978054e+00] [ 1.50944154e-02 -1.95789813e-04 9.99886054e-01 5.02919959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0292541539999 meters 0.015536970483512559 Centerline is valid? [True, True] Translation: X:732.44, Y:8.39, Z:5.03 [[ 9.99561281e-01 -2.57766288e-02 -1.45880146e-02 7.32444945e+02] [ 2.57766244e-02 9.99667710e-01 -1.88358451e-04 8.38997812e+00] [ 1.45880224e-02 -1.87753958e-04 9.99893572e-01 5.02956583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0592541539999 meters 0.015083548824977535 Centerline is valid? [True, True] Translation: X:732.48, Y:8.39, Z:5.03 [[ 9.99554005e-01 -2.63976271e-02 -1.39626499e-02 7.32475521e+02] [ 2.63976820e-02 9.99651504e-01 -1.80404116e-04 8.39133751e+00] [ 1.39625462e-02 -1.88257934e-04 9.99902501e-01 5.03085198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.089254154 meters 0.017171507455890318 Centerline is valid? [True, True] Translation: X:732.51, Y:8.39, Z:5.03 [[ 9.99504246e-01 -2.87238770e-02 -1.28919061e-02 7.32506340e+02] [ 2.87241185e-02 9.99587364e-01 -1.66462228e-04 8.38836721e+00] [ 1.28913679e-02 -2.03928935e-04 9.99916882e-01 5.03008102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1192541539999 meters 0.015827679164475555 Centerline is valid? [True, True] Translation: X:732.54, Y:8.39, Z:5.03 [[ 9.99442899e-01 -3.08911797e-02 -1.26343577e-02 7.32537366e+02] [ 3.08915890e-02 9.99522728e-01 -1.62807102e-04 8.38808049e+00] [ 1.26333570e-02 -2.27578985e-04 9.99920170e-01 5.03137533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1492541539999 meters 0.01657345877269027 Centerline is valid? [True, True] Translation: X:732.57, Y:8.39, Z:5.03 [[ 9.99278782e-01 -3.60974275e-02 -1.17852218e-02 7.32568471e+02] [ 3.60981503e-02 9.99348238e-01 -1.51449737e-04 8.38542786e+00] [ 1.17830076e-02 -2.74084199e-04 9.99930540e-01 5.03156217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1792541539999 meters 0.01753198569176667 Centerline is valid? [True, True] Translation: X:732.60, Y:8.38, Z:5.03 [[ 9.99181396e-01 -3.87390599e-02 -1.16542774e-02 7.32599610e+02] [ 3.87399552e-02 9.99249315e-01 -1.49009741e-04 8.38273291e+00] [ 1.16513012e-02 -3.02598423e-04 9.99932075e-01 5.03158129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.209254154 meters 0.01813098962278129 Centerline is valid? [True, True] Translation: X:732.63, Y:8.38, Z:5.03 [[ 9.99058909e-01 -4.19353463e-02 -1.10780052e-02 7.32632080e+02] [ 4.19363627e-02 9.99120274e-01 -1.40634571e-04 8.38099265e+00] [ 1.10741572e-02 -3.24069023e-04 9.99938627e-01 5.03199877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2392541539999 meters 0.01926854343925726 Centerline is valid? [True, True] Translation: X:732.66, Y:8.38, Z:5.03 [[ 9.98914563e-01 -4.52697608e-02 -1.09701659e-02 7.32663651e+02] [ 4.52709663e-02 9.98974735e-01 -1.38533844e-04 8.37893721e+00] [ 1.09651900e-02 -3.58246539e-04 9.99939816e-01 5.03197796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2692541539999 meters 0.022546103592203943 Centerline is valid? [True, True] Translation: X:732.69, Y:8.37, Z:5.03 [[ 9.98590726e-01 -5.19791893e-02 -1.07109926e-02 7.32693937e+02] [ 5.19807281e-02 9.98648079e-01 -1.34856554e-04 8.37131820e+00] [ 1.07035219e-02 -4.22098688e-04 9.99942627e-01 5.03142519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2992541539999 meters 0.023912732108852905 Centerline is valid? [True, True] Translation: X:732.73, Y:8.37, Z:5.03 [[ 9.98430630e-01 -5.49022933e-02 -1.10460367e-02 7.32725064e+02] [ 5.49041100e-02 9.98491622e-01 -1.38948552e-04 8.36838549e+00] [ 1.10370037e-02 -4.67742324e-04 9.99938981e-01 5.03142357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.329254154 meters 0.02496278214697712 Centerline is valid? [True, True] Translation: X:732.76, Y:8.37, Z:5.03 [[ 9.98127517e-01 -6.00665787e-02 -1.15527335e-02 7.32755717e+02] [ 6.00689139e-02 9.98194222e-01 -1.45064905e-04 8.36540662e+00] [ 1.15405854e-02 -5.49166882e-04 9.99933254e-01 5.03105418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3592541539999 meters 0.027303245919230133 Centerline is valid? [True, True] Translation: X:732.79, Y:8.36, Z:5.03 [[ 9.98011545e-01 -6.19451318e-02 -1.16514973e-02 7.32786835e+02] [ 6.19476400e-02 9.98079390e-01 -1.45854652e-04 8.36167718e+00] [ 1.16381543e-02 -5.76218133e-04 9.99932108e-01 5.03062614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3892541539999 meters 0.03089215795262093 Centerline is valid? [True, True] Translation: X:732.82, Y:8.36, Z:5.03 [[ 9.97911839e-01 -6.35106061e-02 -1.17628488e-02 7.32818458e+02] [ 6.35132784e-02 9.97980983e-01 -1.46611428e-04 8.35636435e+00] [ 1.17484108e-02 -6.00791810e-04 9.99930805e-01 5.03005492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4192541539999 meters 0.029244874419593128 Centerline is valid? [True, True] Translation: X:732.85, Y:8.36, Z:5.03 [[ 9.97763288e-01 -6.56954965e-02 -1.23500415e-02 7.32849235e+02] [ 6.56986152e-02 9.97839500e-01 -1.53448032e-04 8.35861351e+00] [ 1.23334401e-02 -6.58275810e-04 9.99923724e-01 5.03007740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4492541539998 meters 0.028973972669263028 Centerline is valid? [True, True] Translation: X:732.88, Y:8.36, Z:5.03 [[ 9.97745194e-01 -6.59858341e-02 -1.22636655e-02 7.32881155e+02] [ 6.59889374e-02 9.97820343e-01 -1.51871093e-04 8.35956581e+00] [ 1.22469563e-02 -6.57737603e-04 9.99924787e-01 5.03002472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4792541539999 meters 0.02713273798987892 Centerline is valid? [True, True] Translation: X:732.91, Y:8.36, Z:5.03 [[ 9.97774878e-01 -6.54367783e-02 -1.27797402e-02 7.32913281e+02] [ 6.54401155e-02 9.97856486e-01 -1.57316255e-04 8.36302601e+00] [ 1.27626410e-02 -6.79341471e-04 9.99918323e-01 5.03047840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5092541539999 meters 0.0281797563435904 Centerline is valid? [True, True] Translation: X:732.94, Y:8.36, Z:5.03 [[ 9.97835860e-01 -6.45316060e-02 -1.26201339e-02 7.32944405e+02] [ 6.45347983e-02 9.97915445e-01 -1.54539340e-04 8.36203445e+00] [ 1.26037992e-02 -6.60232897e-04 9.99920351e-01 5.03040834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5392541539999 meters 0.025055154185024988 Centerline is valid? [True, True] Translation: X:732.98, Y:8.37, Z:5.03 [[ 9.97900382e-01 -6.35579091e-02 -1.24586992e-02 7.32976368e+02] [ 6.35609544e-02 9.97977947e-01 -1.51774550e-04 8.36762611e+00] [ 1.24431535e-02 -6.40430929e-04 9.99922376e-01 5.03125305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5692541539999 meters 0.025282909951718793 Centerline is valid? [True, True] Translation: X:733.01, Y:8.37, Z:5.03 [[ 9.98051385e-01 -6.10103954e-02 -1.30830017e-02 7.33007300e+02] [ 6.10135454e-02 9.98136926e-01 -1.58604873e-04 8.36893418e+00] [ 1.30683036e-02 -6.39944504e-04 9.99914401e-01 5.03118905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5992541539999 meters 0.024728491433854072 Centerline is valid? [True, True] Translation: X:733.04, Y:8.37, Z:5.03 [[ 9.98115433e-01 -5.97840765e-02 -1.38363872e-02 7.33040008e+02] [ 5.97874949e-02 9.98211114e-01 -1.66818152e-04 8.37228786e+00] [ 1.38216085e-02 -6.60739155e-04 9.99904259e-01 5.03033636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6292541539999 meters 0.024165347607966785 Centerline is valid? [True, True] Translation: X:733.07, Y:8.37, Z:5.03 [[ 9.98146050e-01 -5.92340208e-02 -1.39926055e-02 7.33071336e+02] [ 5.92374777e-02 9.98243905e-01 -1.67650722e-04 8.37288799e+00] [ 1.39779637e-02 -6.61546748e-04 9.99902085e-01 5.03079009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6592541539999 meters 0.024566024444794984 Centerline is valid? [True, True] Translation: X:733.10, Y:8.37, Z:5.03 [[ 9.98175728e-01 -5.83512359e-02 -1.55032226e-02 7.33102592e+02] [ 5.83553873e-02 9.98295855e-01 -1.84846622e-04 8.37465203e+00] [ 1.54875889e-02 -7.20187146e-04 9.99879801e-01 5.03032521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6892541539999 meters 0.023976166898224963 Centerline is valid? [True, True] Translation: X:733.13, Y:8.38, Z:5.03 [[ 9.98197501e-01 -5.78203218e-02 -1.60797707e-02 7.33134547e+02] [ 5.78247363e-02 9.98326732e-01 -1.90649835e-04 8.37686191e+00] [ 1.60638883e-02 -7.39502310e-04 9.99870694e-01 5.03045540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7192541539999 meters 0.02407854916554945 Centerline is valid? [True, True] Translation: X:733.17, Y:8.38, Z:5.03 [[ 9.98229109e-01 -5.69377757e-02 -1.72260178e-02 7.33167092e+02] [ 5.69427333e-02 9.98377426e-01 -2.02944022e-04 8.37893166e+00] [ 1.72096225e-02 -7.78311910e-04 9.99851601e-01 5.03011058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7492541539999 meters 0.024487429926012074 Centerline is valid? [True, True] Translation: X:733.20, Y:8.38, Z:5.03 [[ 9.98274700e-01 -5.60232370e-02 -1.75789475e-02 7.33198338e+02] [ 5.60282908e-02 9.98429160e-01 -2.05264579e-04 8.37960900e+00] [ 1.75628334e-02 -7.80007947e-04 9.99845457e-01 5.02993496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7792541539999 meters 0.024285014258877104 Centerline is valid? [True, True] Translation: X:733.23, Y:8.38, Z:5.03 [[ 9.98315249e-01 -5.53538448e-02 -1.73958401e-02 7.33230885e+02] [ 5.53587202e-02 9.98466510e-01 -2.01523227e-04 8.38138710e+00] [ 1.73803188e-02 -7.61827732e-04 9.99848661e-01 5.03007826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8092541539999 meters 0.023843183960961894 Centerline is valid? [True, True] Translation: X:733.26, Y:8.38, Z:5.03 [[ 9.98471812e-01 -5.25104807e-02 -1.72247074e-02 7.33261108e+02] [ 5.25148500e-02 9.98620123e-01 -1.98862381e-04 8.38467318e+00] [ 1.72113818e-02 -7.05994442e-04 9.99851624e-01 5.03072558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.839254154 meters 0.021630737960921444 Centerline is valid? [True, True] Translation: X:733.29, Y:8.39, Z:5.03 [[ 9.98566091e-01 -5.07915396e-02 -1.69110034e-02 7.33293342e+02] [ 5.07955195e-02 9.98709055e-01 -1.94381777e-04 8.38991779e+00] [ 1.68990452e-02 -6.64900153e-04 9.99856980e-01 5.03203843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8692541539999 meters 0.022238358685646015 Centerline is valid? [True, True] Translation: X:733.32, Y:8.39, Z:5.03 [[ 9.98680224e-01 -4.85136486e-02 -1.68592990e-02 7.33324224e+02] [ 4.85172948e-02 9.98822324e-01 -1.92914155e-04 8.39053136e+00] [ 1.68488032e-02 -6.25308030e-04 9.99857853e-01 5.03219341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8992541539999 meters 0.02070717612459791 Centerline is valid? [True, True] Translation: X:733.36, Y:8.40, Z:5.03 [[ 9.98896900e-01 -4.43196711e-02 -1.55161481e-02 7.33355805e+02] [ 4.43222646e-02 9.99017270e-01 -1.76852655e-04 8.39620453e+00] [ 1.55087380e-02 -5.11053253e-04 9.99879602e-01 5.03436629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9292541539999 meters 0.02079010606237594 Centerline is valid? [True, True] Translation: X:733.39, Y:8.40, Z:5.04 [[ 9.99000668e-01 -4.22394853e-02 -1.46113378e-02 7.33387153e+02] [ 4.22415739e-02 9.99107413e-01 -1.65782747e-04 8.39731085e+00] [ 1.46052985e-02 -4.51588830e-04 9.99893235e-01 5.03527401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.959254154 meters 0.018639543983505348 Centerline is valid? [True, True] Translation: X:733.42, Y:8.40, Z:5.04 [[ 9.99190499e-01 -3.80727707e-02 -1.29927254e-02 7.33418931e+02] [ 3.80740789e-02 9.99274909e-01 -1.46737646e-04 8.40299472e+00] [ 1.29888912e-02 -3.48067191e-04 9.99915580e-01 5.03726405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9892541539999 meters 0.01768573964601181 Centerline is valid? [True, True] Translation: X:733.45, Y:8.41, Z:5.04 [[ 9.99281106e-01 -3.56981863e-02 -1.27636295e-02 7.33450650e+02] [ 3.56992644e-02 9.99362568e-01 -1.43435749e-04 8.40577891e+00] [ 1.27606139e-02 -3.12319550e-04 9.99918531e-01 5.03798678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0192541539999 meters 0.017372283889437064 Centerline is valid? [True, True] Translation: X:733.48, Y:8.41, Z:5.04 [[ 9.99369996e-01 -3.33364203e-02 -1.21776294e-02 7.33482390e+02] [ 3.33372353e-02 9.99444151e-01 -1.36110734e-04 8.40723212e+00] [ 1.21753979e-02 -2.69943512e-04 9.99925841e-01 5.03850995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0492541539999 meters 0.016379236504763243 Centerline is valid? [True, True] Translation: X:733.51, Y:8.41, Z:5.04 [[ 9.99499722e-01 -2.90816569e-02 -1.24323318e-02 7.33514058e+02] [ 2.90821874e-02 9.99577014e-01 -1.38151803e-04 8.41078931e+00] [ 1.24310908e-02 -2.23476713e-04 9.99922706e-01 5.03860293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.079254154 meters 0.015909172653187666 Centerline is valid? [True, True] Translation: X:733.55, Y:8.41, Z:5.04 [[ 9.99534471e-01 -2.77161219e-02 -1.27537737e-02 7.33545341e+02] [ 2.77165767e-02 9.99615812e-01 -1.41127388e-04 8.41325761e+00] [ 1.27527854e-02 -2.12429259e-04 9.99918657e-01 5.03903185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1092541539999 meters 0.016121911530093534 Centerline is valid? [True, True] Translation: X:733.58, Y:8.41, Z:5.04 [[ 9.99559885e-01 -2.63340975e-02 -1.36583722e-02 7.33575390e+02] [ 2.63344996e-02 9.99653176e-01 -1.50435483e-04 8.41262283e+00] [ 1.36575967e-02 -2.09317124e-04 9.99906709e-01 5.03772517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1392541539999 meters 0.016262175890038224 Centerline is valid? [True, True] Translation: X:733.61, Y:8.41, Z:5.04 [[ 9.99539885e-01 -2.66299639e-02 -1.45211508e-02 7.33606575e+02] [ 2.66304604e-02 9.99645334e-01 -1.59204587e-04 8.41191091e+00] [ 1.45202403e-02 -2.27573597e-04 9.99894550e-01 5.03738223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1692541539999 meters 0.01651359774481565 Centerline is valid? [True, True] Translation: X:733.64, Y:8.41, Z:5.04 [[ 9.99512554e-01 -2.72900507e-02 -1.51627071e-02 7.33636923e+02] [ 2.72906718e-02 9.99627526e-01 -1.65986378e-04 8.41088336e+00] [ 1.51615891e-02 -2.47894994e-04 9.99885026e-01 5.03681820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1992541539998 meters 0.017357290562736095 Centerline is valid? [True, True] Translation: X:733.67, Y:8.41, Z:5.04 [[ 9.99423801e-01 -2.98266293e-02 -1.61999696e-02 7.33667501e+02] [ 2.98276740e-02 9.99555040e-01 -1.77181442e-04 8.40754254e+00] [ 1.61980460e-02 -3.06128062e-04 9.99868756e-01 5.03548690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2292541539999 meters 0.017870550766823298 Centerline is valid? [True, True] Translation: X:733.70, Y:8.41, Z:5.04 [[ 9.99365534e-01 -3.14896326e-02 -1.66412888e-02 7.33697968e+02] [ 3.14909675e-02 9.99504020e-01 -1.81885497e-04 8.40583627e+00] [ 1.66387625e-02 -3.42280187e-04 9.99861508e-01 5.03547934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2592541539999 meters 0.01791830342225678 Centerline is valid? [True, True] Translation: X:733.73, Y:8.41, Z:5.04 [[ 9.99307101e-01 -3.32189027e-02 -1.67875954e-02 7.33728398e+02] [ 3.32205051e-02 9.99448030e-01 -1.83484596e-04 8.40512520e+00] [ 1.67844243e-02 -3.74334940e-04 9.99859062e-01 5.03626524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2892541539999 meters 0.01967268944706724 Centerline is valid? [True, True] Translation: X:733.76, Y:8.40, Z:5.04 [[ 9.99212233e-01 -3.59857360e-02 -1.67314323e-02 7.33758279e+02] [ 3.59877295e-02 9.99352215e-01 -1.82022372e-04 8.40007734e+00] [ 1.67271441e-02 -4.20247278e-04 9.99860003e-01 5.03585625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3192541539999 meters 0.018238602988035445 Centerline is valid? [True, True] Translation: X:733.79, Y:8.40, Z:5.04 [[ 9.99170995e-01 -3.72881738e-02 -1.63375448e-02 7.33789091e+02] [ 3.72902608e-02 9.99304461e-01 -1.76981057e-04 8.40209877e+00] [ 1.63327807e-02 -4.32396968e-04 9.99866518e-01 5.03740375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3492541539999 meters 0.01937160467380189 Centerline is valid? [True, True] Translation: X:733.82, Y:8.40, Z:5.04 [[ 9.99081074e-01 -3.95759901e-02 -1.64544427e-02 7.33819767e+02] [ 3.95784220e-02 9.99216451e-01 -1.77949450e-04 8.39867431e+00] [ 1.64485924e-02 -4.73454949e-04 9.99864601e-01 5.03770006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3792541539999 meters 0.018938385723524374 Centerline is valid? [True, True] Translation: X:733.85, Y:8.40, Z:5.04 [[ 9.99041341e-01 -4.06105221e-02 -1.63457614e-02 7.33851659e+02] [ 4.06130736e-02 9.99174933e-01 -1.75959249e-04 8.39923075e+00] [ 1.63394208e-02 -4.88061045e-04 9.99866384e-01 5.03858171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4092541539999 meters 0.018927758717505183 Centerline is valid? [True, True] Translation: X:733.88, Y:8.40, Z:5.04 [[ 9.98999623e-01 -4.16076459e-02 -1.63876856e-02 7.33884108e+02] [ 4.16103643e-02 9.99133898e-01 -1.75203398e-04 8.39865335e+00] [ 1.63807820e-02 -5.06869440e-04 9.99865698e-01 5.03906861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4392541539999 meters 0.020170193350934045 Centerline is valid? [True, True] Translation: X:733.91, Y:8.40, Z:5.04 [[ 9.98909813e-01 -4.37248053e-02 -1.63501120e-02 7.33914189e+02] [ 4.37278057e-02 9.99043467e-01 -1.74120448e-04 8.39601761e+00] [ 1.63420859e-02 -5.41023895e-04 9.99866313e-01 5.03975622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4692541539999 meters 0.02038160527869255 Centerline is valid? [True, True] Translation: X:733.95, Y:8.40, Z:5.04 [[ 9.98870270e-01 -4.46999803e-02 -1.61274848e-02 7.33946749e+02] [ 4.47030392e-02 9.99000305e-01 -1.70954215e-04 8.39556406e+00] [ 1.61190039e-02 -5.50186504e-04 9.99869929e-01 5.04035567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4992541539999 meters 0.021043474081206662 Centerline is valid? [True, True] Translation: X:733.98, Y:8.39, Z:5.04 [[ 9.98849486e-01 -4.52909513e-02 -1.57617668e-02 7.33978114e+02] [ 4.52939706e-02 9.98973688e-01 -1.65553551e-04 8.39365806e+00] [ 1.57530884e-02 -5.48549923e-04 9.99875762e-01 5.04057494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5292541539999 meters 0.02119743828336125 Centerline is valid? [True, True] Translation: X:734.01, Y:8.39, Z:5.04 [[ 9.98826557e-01 -4.58905217e-02 -1.54779938e-02 7.34010766e+02] [ 4.58935268e-02 9.98946324e-01 -1.61164201e-04 8.39269456e+00] [ 1.54690809e-02 -5.49364641e-04 9.99880196e-01 5.04115463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5592541539999 meters 0.019527570760821112 Centerline is valid? [True, True] Translation: X:734.04, Y:8.40, Z:5.04 [[ 9.98863120e-01 -4.50264504e-02 -1.56552035e-02 7.34043438e+02] [ 4.50294394e-02 9.98985647e-01 -1.61692875e-04 8.39569834e+00] [ 1.56466041e-02 -5.43435988e-04 9.99877437e-01 5.04229074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.589254154 meters 0.019592758405261576 Centerline is valid? [True, True] Translation: X:734.07, Y:8.40, Z:5.04 [[ 9.98993289e-01 -4.15123436e-02 -1.70039440e-02 7.34074145e+02] [ 4.15153797e-02 9.99137850e-01 -1.74549105e-04 8.39711184e+00] [ 1.69965300e-02 -5.31551807e-04 9.99855407e-01 5.04112089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6192541539999 meters 0.01799902691027597 Centerline is valid? [True, True] Translation: X:734.11, Y:8.40, Z:5.04 [[ 9.99075524e-01 -3.93429421e-02 -1.73271784e-02 7.34105471e+02] [ 3.93457800e-02 9.99225639e-01 -1.77220584e-04 8.39923061e+00] [ 1.73207333e-02 -5.04694601e-04 9.99849857e-01 5.04159521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6492541539999 meters 0.01726000582988529 Centerline is valid? [True, True] Translation: X:734.14, Y:8.40, Z:5.04 [[ 9.99176784e-01 -3.62756895e-02 -1.81612046e-02 7.34136956e+02] [ 3.62783134e-02 9.99341708e-01 -1.85066703e-04 8.40136813e+00] [ 1.81559627e-02 -4.73943520e-04 9.99835055e-01 5.04141890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6792541539999 meters 0.017377757576708945 Centerline is valid? [True, True] Translation: X:734.17, Y:8.41, Z:5.04 [[ 9.99368541e-01 -2.95848929e-02 -1.96787520e-02 7.34167728e+02] [ 2.95866872e-02 9.99562198e-01 -2.00018505e-04 8.40531875e+00] [ 1.96760541e-02 -3.82336878e-04 9.99806335e-01 5.04036557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.709254154 meters 0.015548578750669154 Centerline is valid? [True, True] Translation: X:734.20, Y:8.41, Z:5.04 [[ 9.99458591e-01 -2.68448702e-02 -1.90230986e-02 7.34196003e+02] [ 2.68460405e-02 9.99639561e-01 -1.93892611e-04 8.40709475e+00] [ 1.90214470e-02 -3.16907240e-04 9.99819026e-01 5.04123108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7392541539999 meters 0.014715080625236703 Centerline is valid? [True, True] Translation: X:734.23, Y:8.41, Z:5.04 [[ 9.99598339e-01 -2.13627189e-02 -1.86224099e-02 7.34225187e+02] [ 2.13628310e-02 9.99771770e-01 -1.92931723e-04 8.41035688e+00] [ 1.86222812e-02 -2.04973165e-04 9.99826569e-01 5.04246236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7692541539999 meters 0.014537716436598914 Centerline is valid? [True, True] Translation: X:734.25, Y:8.41, Z:5.04 [[ 9.99649070e-01 -1.91737240e-02 -1.82785652e-02 7.34253796e+02] [ 1.91733832e-02 9.99816155e-01 -1.93908511e-04 8.41251610e+00] [ 1.82789227e-02 -1.56621471e-04 9.99832914e-01 5.04369459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7992541539999 meters 0.014209378183159522 Centerline is valid? [True, True] Translation: X:734.28, Y:8.41, Z:5.04 [[ 9.99690379e-01 -1.70585142e-02 -1.81150243e-02 7.34281173e+02] [ 1.70577814e-02 9.99854486e-01 -1.94974845e-04 8.41382314e+00] [ 1.81157143e-02 -1.14087648e-04 9.99835890e-01 5.04405062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.829254154 meters 0.014230991398223343 Centerline is valid? [True, True] Translation: X:734.31, Y:8.41, Z:5.04 [[ 9.99727058e-01 -1.46002837e-02 -1.82384573e-02 7.34308886e+02] [ 1.45990935e-02 9.99893408e-01 -1.98407217e-04 8.41484855e+00] [ 1.82394100e-02 -6.79118799e-05 9.99833646e-01 5.04362359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8592541539999 meters 0.01400723014614627 Centerline is valid? [True, True] Translation: X:734.34, Y:8.42, Z:5.04 [[ 9.99714277e-01 -1.46940499e-02 -1.88533755e-02 7.34336542e+02] [ 1.46927125e-02 9.99892034e-01 -2.09458108e-04 8.41516957e+00] [ 1.88544178e-02 -6.76089658e-05 9.99822237e-01 5.04415090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8892541539999 meters 0.01400723014614627 Centerline is valid? [True, True] Translation: X:734.36, Y:8.42, Z:5.04 [[ 9.99710004e-01 -1.49819707e-02 -1.88533142e-02 7.34363940e+02] [ 1.49805821e-02 9.99887762e-01 -2.14886470e-04 8.41555087e+00] [ 1.88544175e-02 -6.76094673e-05 9.99822237e-01 5.04434135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9192541539999 meters 0.014294329100304233 Centerline is valid? [True, True] Translation: X:734.39, Y:8.41, Z:5.04 [[ 9.99658743e-01 -1.69403994e-02 -1.98851883e-02 7.34393125e+02] [ 1.69391352e-02 9.99856496e-01 -2.32019823e-04 8.41386203e+00] [ 1.98862652e-02 -1.04897250e-04 9.99802243e-01 5.04351866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9492541539998 meters 0.014452177028156491 Centerline is valid? [True, True] Translation: X:734.42, Y:8.41, Z:5.04 [[ 9.99609199e-01 -1.91398264e-02 -2.03743973e-02 7.34422123e+02] [ 1.91388511e-02 9.99816806e-01 -2.42880079e-04 8.41216766e+00] [ 2.03753135e-02 -1.47157395e-04 9.99792391e-01 5.04300882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9792541539999 meters 0.014812155005879653 Centerline is valid? [True, True] Translation: X:734.45, Y:8.41, Z:5.04 [[ 9.99546116e-01 -2.20469373e-02 -2.05303548e-02 7.34451340e+02] [ 2.20464546e-02 9.99756916e-01 -2.49877878e-04 8.41019075e+00] [ 2.05308733e-02 -2.02857073e-04 9.99789199e-01 5.04277468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0092541539999 meters 0.015162352217825765 Centerline is valid? [True, True] Translation: X:734.48, Y:8.41, Z:5.04 [[ 9.99458400e-01 -2.55690520e-02 -2.07154777e-02 7.34479825e+02] [ 2.55692094e-02 9.99673021e-01 -2.57315066e-04 8.40799276e+00] [ 2.07152834e-02 -2.72502682e-04 9.99785378e-01 5.04294017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0392541539999 meters 0.01681540776886706 Centerline is valid? [True, True] Translation: X:734.51, Y:8.40, Z:5.04 [[ 9.99233113e-01 -3.32930664e-02 -2.06096702e-02 7.34509344e+02] [ 3.32948186e-02 9.99445540e-01 -2.58205729e-04 8.40309353e+00] [ 2.06068394e-02 -4.28187515e-04 9.99787565e-01 5.04332984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0692541539999 meters 0.01809908041289486 Centerline is valid? [True, True] Translation: X:734.54, Y:8.40, Z:5.04 [[ 9.99076191e-01 -3.76102859e-02 -2.07901847e-02 7.34538613e+02] [ 3.76129824e-02 9.99292347e-01 -2.61453708e-04 8.40057845e+00] [ 2.07853058e-02 -5.20768678e-04 9.99783827e-01 5.04362193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0992541539999 meters 0.021242062464360965 Centerline is valid? [True, True] Translation: X:734.57, Y:8.39, Z:5.04 [[ 9.98734765e-01 -4.61274462e-02 -2.00281991e-02 7.34568013e+02] [ 4.61316429e-02 9.98935337e-01 -2.52672672e-04 8.39408264e+00] [ 2.00185310e-02 -6.71580747e-04 9.99799384e-01 5.04413226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1292541539999 meters 0.023777828820773134 Centerline is valid? [True, True] Translation: X:734.60, Y:8.39, Z:5.04 [[ 9.98542989e-01 -4.99600304e-02 -2.03934755e-02 7.34598908e+02] [ 4.99651796e-02 9.98750927e-01 -2.57285459e-04 8.39117364e+00] [ 2.03808566e-02 -7.62053075e-04 9.99791998e-01 5.04417506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1592541539999 meters 0.023915406173680428 Centerline is valid? [True, True] Translation: X:734.63, Y:8.39, Z:5.05 [[ 9.98345593e-01 -5.41536003e-02 -1.93252458e-02 7.34629616e+02] [ 5.41590145e-02 9.98532294e-01 -2.43474561e-04 8.38940263e+00] [ 1.93100671e-02 -8.03564515e-04 9.99813220e-01 5.04577727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1892541539999 meters 0.02828737285772671 Centerline is valid? [True, True] Translation: X:734.66, Y:8.38, Z:5.05 [[ 9.97937679e-01 -6.14972905e-02 -1.83976201e-02 7.34659536e+02] [ 6.15034455e-02 9.98106844e-01 -2.31598923e-04 8.38296869e+00] [ 1.83770332e-02 -9.00395734e-04 9.99830723e-01 5.04624198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2192541539999 meters 0.028847099918681826 Centerline is valid? [True, True] Translation: X:734.69, Y:8.38, Z:5.05 [[ 9.97762035e-01 -6.44702456e-02 -1.77344161e-02 7.34690389e+02] [ 6.44764371e-02 9.97919205e-01 -2.23017921e-04 8.38229258e+00] [ 1.77118924e-02 -9.20933147e-04 9.99842708e-01 5.04712307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2492541539999 meters 0.02820311330960206 Centerline is valid? [True, True] Translation: X:734.72, Y:8.38, Z:5.05 [[ 9.97409754e-01 -6.99542776e-02 -1.67386301e-02 7.34720510e+02] [ 6.99605653e-02 9.97549736e-01 -2.10349752e-04 8.38369560e+00] [ 1.67123309e-02 -9.61239128e-04 9.99859877e-01 5.04901728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2792541539999 meters 0.03138874867591865 Centerline is valid? [True, True] Translation: X:734.75, Y:8.38, Z:5.05 [[ 9.97259387e-01 -7.22027520e-02 -1.61393414e-02 7.34750695e+02] [ 7.22088938e-02 9.97389510e-01 -2.02629605e-04 8.37971049e+00] [ 1.61118402e-02 -9.63329715e-04 9.99869732e-01 5.04892559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3092541539999 meters 0.033825330471108396 Centerline is valid? [True, True] Translation: X:734.78, Y:8.38, Z:5.05 [[ 9.97115537e-01 -7.42513165e-02 -1.57272726e-02 7.34781300e+02] [ 7.42574113e-02 9.97239088e-01 -1.96890852e-04 8.37683067e+00] [ 1.56984704e-02 -9.71543623e-04 9.99876299e-01 5.04871265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.339254154 meters 0.034849112977887245 Centerline is valid? [True, True] Translation: X:734.81, Y:8.38, Z:5.05 [[ 9.96867899e-01 -7.74808027e-02 -1.58466452e-02 7.34812617e+02] [ 7.74874072e-02 9.96993311e-01 -1.97718845e-04 8.37661553e+00] [ 1.58143187e-02 -1.03081588e-03 9.99874414e-01 5.04859034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3692541539999 meters 0.03376984630188193 Centerline is valid? [True, True] Translation: X:734.85, Y:8.38, Z:5.05 [[ 9.96800764e-01 -7.83406444e-02 -1.58423728e-02 7.34845188e+02] [ 7.83473675e-02 9.96926101e-01 -1.96775484e-04 8.37864504e+00] [ 1.58090905e-02 -1.04506225e-03 9.99874482e-01 5.04864903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3992541539999 meters 0.03607570371980936 Centerline is valid? [True, True] Translation: X:734.88, Y:8.38, Z:5.05 [[ 9.96738880e-01 -7.90482155e-02 -1.62167929e-02 7.34876260e+02] [ 7.90553783e-02 9.96870206e-01 -1.99888432e-04 8.37657083e+00] [ 1.61818385e-02 -1.08278813e-03 9.99868479e-01 5.04824580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4292541539999 meters 0.03315330881957667 Centerline is valid? [True, True] Translation: X:734.91, Y:8.38, Z:5.05 [[ 9.96734823e-01 -7.90332203e-02 -1.65361158e-02 7.34908001e+02] [ 7.90406906e-02 9.96871370e-01 -2.02338395e-04 8.38232660e+00] [ 1.65003719e-02 -1.10534829e-03 9.99863249e-01 5.04816975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.459254154 meters 0.031964770991565236 Centerline is valid? [True, True] Translation: X:734.94, Y:8.38, Z:5.05 [[ 9.96750748e-01 -7.87946436e-02 -1.67138111e-02 7.34940331e+02] [ 7.88022626e-02 9.96890246e-01 -2.03273779e-04 8.38455395e+00] [ 1.66778521e-02 -1.11447284e-03 9.99860294e-01 5.04823275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4892541539999 meters 0.02964296808438203 Centerline is valid? [True, True] Translation: X:734.97, Y:8.39, Z:5.05 [[ 9.96851905e-01 -7.71408233e-02 -1.83186702e-02 7.34971357e+02] [ 7.71497162e-02 9.97019494e-01 -2.21800594e-04 8.38973430e+00] [ 1.82811812e-02 -1.19217786e-03 9.99832174e-01 5.04752742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5192541539999 meters 0.03666403420943849 Centerline is valid? [True, True] Translation: X:735.00, Y:8.38, Z:5.04 [[ 9.96957984e-01 -7.56214596e-02 -1.88725310e-02 7.35002151e+02] [ 7.56306410e-02 9.97135876e-01 -2.27790713e-04 8.38191995e+00] [ 1.88357036e-02 -1.20024384e-03 9.99821872e-01 5.04494636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5492541539999 meters 0.031922002575499556 Centerline is valid? [True, True] Translation: X:735.03, Y:8.39, Z:5.05 [[ 9.97114332e-01 -7.35208503e-02 -1.89127608e-02 7.35033112e+02] [ 7.35297075e-02 9.97293001e-01 -2.27583603e-04 8.39017587e+00] [ 1.88782961e-02 -1.16372290e-03 9.99821112e-01 5.04583114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.579254154 meters 0.030548098548983396 Centerline is valid? [True, True] Translation: X:735.06, Y:8.40, Z:5.05 [[ 9.97502097e-01 -6.77737178e-02 -1.99070109e-02 7.35062650e+02] [ 6.77823908e-02 9.97700100e-01 -2.39519603e-04 8.39643907e+00] [ 1.98774600e-02 -1.11042349e-03 9.99801807e-01 5.04526755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6092541539999 meters 0.027274345287528954 Centerline is valid? [True, True] Translation: X:735.09, Y:8.40, Z:5.05 [[ 9.97733276e-01 -6.43055491e-02 -1.98268978e-02 7.35093578e+02] [ 6.43134717e-02 9.97929717e-01 -2.38445437e-04 8.40393632e+00] [ 1.98011838e-02 -1.03723168e-03 9.99803399e-01 5.04639320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6392541539999 meters 0.025385246108036812 Centerline is valid? [True, True] Translation: X:735.12, Y:8.41, Z:5.05 [[ 9.98220323e-01 -5.64804405e-02 -1.91349762e-02 7.35123173e+02] [ 5.64863826e-02 9.98403343e-01 -2.30237414e-04 8.41167869e+00] [ 1.91174281e-02 -8.51037919e-04 9.99816883e-01 5.04717981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6692541539999 meters 0.024494601203671088 Centerline is valid? [True, True] Translation: X:735.15, Y:8.42, Z:5.05 [[ 9.98450140e-01 -5.22882623e-02 -1.90592741e-02 7.35153635e+02] [ 5.22933924e-02 9.98631738e-01 -2.29459555e-04 8.41616870e+00] [ 1.90451940e-02 -7.67570174e-04 9.99818329e-01 5.04739997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6992541539998 meters 0.022886285067273793 Centerline is valid? [True, True] Translation: X:735.18, Y:8.42, Z:5.05 [[ 9.98674822e-01 -4.82248115e-02 -1.79712992e-02 7.35182927e+02] [ 4.82287119e-02 9.98836295e-01 -2.16558179e-04 8.42031142e+00] [ 1.79608294e-02 -6.50461409e-04 9.99838480e-01 5.04850915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7292541539999 meters 0.020049687523471846 Centerline is valid? [True, True] Translation: X:735.21, Y:8.43, Z:5.05 [[ 9.99116146e-01 -3.93106678e-02 -1.48861431e-02 7.35213712e+02] [ 3.93123535e-02 9.99226955e-01 -1.79482635e-04 8.42955604e+00] [ 1.48816910e-02 -4.05885321e-04 9.99889179e-01 5.05134818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7592541539999 meters 0.01904867135904221 Centerline is valid? [True, True] Translation: X:735.24, Y:8.43, Z:5.05 [[ 9.99302133e-01 -3.48066404e-02 -1.35552527e-02 7.35244453e+02] [ 3.48076270e-02 9.99394018e-01 -1.63199928e-04 8.43336342e+00] [ 1.35527189e-02 -3.08740143e-04 9.99908110e-01 5.05245651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7892541539999 meters 0.01875447526945343 Centerline is valid? [True, True] Translation: X:735.28, Y:8.44, Z:5.05 [[ 9.99575967e-01 -2.59788415e-02 -1.31524100e-02 7.35275230e+02] [ 2.59790109e-02 9.99662476e-01 -1.57999270e-04 8.44092789e+00] [ 1.31520754e-02 -1.83754330e-04 9.99913491e-01 5.05266528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8192541539999 meters 0.01849825102373985 Centerline is valid? [True, True] Translation: X:735.31, Y:8.44, Z:5.05 [[ 9.99665364e-01 -2.23747441e-02 -1.29819805e-02 7.35306251e+02] [ 2.23746061e-02 9.99749645e-01 -1.55892791e-04 8.44388430e+00] [ 1.29822184e-02 -1.34626075e-04 9.99915718e-01 5.05269120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8492541539999 meters 0.016160568873816422 Centerline is valid? [True, True] Translation: X:735.34, Y:8.45, Z:5.05 [[ 9.99713431e-01 -2.01708805e-02 -1.28915230e-02 7.35337112e+02] [ 2.01705602e-02 9.99796542e-01 -1.54879161e-04 8.44653771e+00] [ 1.28920241e-02 -1.05194463e-04 9.99916889e-01 5.05342860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8792541539999 meters 0.015992725088351208 Centerline is valid? [True, True] Translation: X:735.37, Y:8.45, Z:5.05 [[ 9.99769671e-01 -1.61256171e-02 -1.41622356e-02 7.35367984e+02] [ 1.61248247e-02 9.99869972e-01 -1.70145543e-04 8.44937929e+00] [ 1.41631378e-02 -5.82572130e-05 9.99899696e-01 5.05261506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9092541539999 meters 0.01600363780747691 Centerline is valid? [True, True] Translation: X:735.40, Y:8.45, Z:5.05 [[ 9.99779231e-01 -1.50700465e-02 -1.46418516e-02 7.35397111e+02] [ 1.50690786e-02 9.99886439e-01 -1.76431804e-04 8.45043460e+00] [ 1.46428477e-02 -4.42463603e-05 9.99892787e-01 5.05229749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9392541539999 meters 0.01597542592890007 Centerline is valid? [True, True] Translation: X:735.42, Y:8.45, Z:5.05 [[ 9.99778950e-01 -1.46207610e-02 -1.51090721e-02 7.35424396e+02] [ 1.46196525e-02 9.99893110e-01 -1.83822613e-04 8.45060611e+00] [ 1.51101448e-02 -3.71074043e-05 9.99885835e-01 5.05164128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9692541539999 meters 0.01707246926735491 Centerline is valid? [True, True] Translation: X:735.45, Y:8.45, Z:5.05 [[ 9.99768075e-01 -1.48726666e-02 -1.55756521e-02 7.35452582e+02] [ 1.48714621e-02 9.99889395e-01 -1.93162425e-04 8.44923687e+00] [ 1.55768022e-02 -3.85150948e-05 9.99878674e-01 5.05066276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9992541539999 meters 0.018055597551322487 Centerline is valid? [True, True] Translation: X:735.48, Y:8.45, Z:5.05 [[ 9.99726112e-01 -1.70293376e-02 -1.60531119e-02 7.35480743e+02] [ 1.70282889e-02 9.99854988e-01 -2.02021981e-04 8.44656207e+00] [ 1.60542243e-02 -7.13903772e-05 9.99871120e-01 5.04957695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0292541539999 meters 0.01610361813335269 Centerline is valid? [True, True] Translation: X:735.51, Y:8.45, Z:5.05 [[ 9.99690563e-01 -1.95739529e-02 -1.53505146e-02 7.35508508e+02] [ 1.95732464e-02 9.99808406e-01 -1.96273006e-04 8.44564562e+00] [ 1.53514153e-02 -1.04247131e-04 9.99882155e-01 5.05085360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0592541539999 meters 0.01612532033478201 Centerline is valid? [True, True] Translation: X:735.54, Y:8.44, Z:5.05 [[ 9.99638454e-01 -2.19424269e-02 -1.55400086e-02 7.35536826e+02] [ 2.19419223e-02 9.99759226e-01 -2.02988552e-04 8.44403594e+00] [ 1.55407211e-02 -1.38062500e-04 9.99879226e-01 5.05110981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.089254154 meters 0.01683474531169488 Centerline is valid? [True, True] Translation: X:735.57, Y:8.44, Z:5.05 [[ 9.99534404e-01 -2.68644328e-02 -1.44664132e-02 7.35565598e+02] [ 2.68644809e-02 9.99639066e-01 -1.91040697e-04 8.43897197e+00] [ 1.44663240e-02 -1.97680931e-04 9.99895338e-01 5.05112184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1192541539999 meters 0.01829253948721597 Centerline is valid? [True, True] Translation: X:735.60, Y:8.44, Z:5.05 [[ 9.99480261e-01 -2.90293482e-02 -1.40180040e-02 7.35596880e+02] [ 2.90296046e-02 9.99578535e-01 -1.85231958e-04 8.43692031e+00] [ 1.40174730e-02 -2.21801427e-04 9.99901726e-01 5.05098120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1492541539999 meters 0.017458610514917774 Centerline is valid? [True, True] Translation: X:735.63, Y:8.44, Z:5.05 [[ 9.99417794e-01 -3.12677783e-02 -1.36528208e-02 7.35628622e+02] [ 3.12682368e-02 9.99511013e-01 -1.79922291e-04 8.43510522e+00] [ 1.36517705e-02 -2.47082095e-04 9.99906780e-01 5.05202574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1792541539999 meters 0.019050256376256257 Centerline is valid? [True, True] Translation: X:735.66, Y:8.43, Z:5.05 [[ 9.99342926e-01 -3.35520942e-02 -1.37103672e-02 7.35660317e+02] [ 3.35527849e-02 9.99436931e-01 -1.79701226e-04 8.43139477e+00] [ 1.37086767e-02 -2.80437853e-04 9.99905992e-01 5.05146083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.209254154 meters 0.020219613857714428 Centerline is valid? [True, True] Translation: X:735.69, Y:8.43, Z:5.05 [[ 9.99322633e-01 -3.41758059e-02 -1.36488063e-02 7.35691182e+02] [ 3.41765637e-02 9.99415795e-01 -1.77789561e-04 8.42992596e+00] [ 1.36469087e-02 -2.88800167e-04 9.99906835e-01 5.05086640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2392541539999 meters 0.018266621404869808 Centerline is valid? [True, True] Translation: X:735.72, Y:8.43, Z:5.05 [[ 9.99292232e-01 -3.49037494e-02 -1.40272602e-02 7.35723386e+02] [ 3.49046340e-02 9.99390631e-01 -1.81827793e-04 8.42957125e+00] [ 1.40250589e-02 -3.07917281e-04 9.99901597e-01 5.05222008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2692541539999 meters 0.018851395683922315 Centerline is valid? [True, True] Translation: X:735.76, Y:8.43, Z:5.05 [[ 9.99291114e-01 -3.49617007e-02 -1.39623780e-02 7.35755577e+02] [ 3.49625968e-02 9.99388605e-01 -1.79981393e-04 8.42828941e+00] [ 1.39601339e-02 -3.08307184e-04 9.99902505e-01 5.05163789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2992541539999 meters 0.01812918571771531 Centerline is valid? [True, True] Translation: X:735.79, Y:8.43, Z:5.05 [[ 9.99261522e-01 -3.55803497e-02 -1.45068498e-02 7.35788105e+02] [ 3.55813979e-02 9.99366764e-01 -1.85924269e-04 8.42733656e+00] [ 1.45042788e-02 -3.30387026e-04 9.99894753e-01 5.05207868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.329254154 meters 0.01851043827588644 Centerline is valid? [True, True] Translation: X:735.82, Y:8.42, Z:5.05 [[ 9.99236191e-01 -3.66748724e-02 -1.34903139e-02 7.35820308e+02] [ 3.66758911e-02 9.99327198e-01 -1.71953837e-04 8.42400028e+00] [ 1.34875440e-02 -3.22946787e-04 9.99908987e-01 5.05182495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3592541539999 meters 0.018720054657579175 Centerline is valid? [True, True] Translation: X:735.85, Y:8.42, Z:5.05 [[ 9.99209557e-01 -3.73792978e-02 -1.35295349e-02 7.35852608e+02] [ 3.73804003e-02 9.99301094e-01 -1.71477213e-04 8.42233287e+00] [ 1.35264887e-02 -3.34397760e-04 9.99908457e-01 5.05189611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3892541539999 meters 0.018932525708927853 Centerline is valid? [True, True] Translation: X:735.89, Y:8.42, Z:5.05 [[ 9.99213359e-01 -3.74996943e-02 -1.29009893e-02 7.35885066e+02] [ 3.75007183e-02 9.99296587e-01 -1.62608707e-04 8.42075411e+00] [ 1.28980123e-02 -3.21315573e-04 9.99916766e-01 5.05186192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4192541539999 meters 0.018996900120319717 Centerline is valid? [True, True] Translation: X:735.92, Y:8.42, Z:5.05 [[ 9.99218346e-01 -3.73976122e-02 -1.28107983e-02 7.35917066e+02] [ 3.73986252e-02 9.99300414e-01 -1.60561151e-04 8.41939358e+00] [ 1.28078407e-02 -3.18670597e-04 9.99917925e-01 5.05165027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4492541539998 meters 0.018770613651214556 Centerline is valid? [True, True] Translation: X:735.95, Y:8.42, Z:5.05 [[ 9.99272498e-01 -3.58436492e-02 -1.30271931e-02 7.35948475e+02] [ 3.58445755e-02 9.99357364e-01 -1.62448710e-04 8.41909482e+00] [ 1.30246441e-02 -3.04623680e-04 9.99915129e-01 5.05125003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4792541539999 meters 0.018776651462356794 Centerline is valid? [True, True] Translation: X:735.98, Y:8.42, Z:5.05 [[ 9.99304248e-01 -3.49404941e-02 -1.30453991e-02 7.35980311e+02] [ 3.49413565e-02 9.99389351e-01 -1.61881335e-04 8.41922800e+00] [ 1.30430891e-02 -2.94055234e-04 9.99914892e-01 5.05084500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5092541539999 meters 0.018742164378819842 Centerline is valid? [True, True] Translation: X:736.01, Y:8.42, Z:5.05 [[ 9.99339682e-01 -3.39321258e-02 -1.29926896e-02 7.36012397e+02] [ 3.39329078e-02 9.99424100e-01 -1.60325362e-04 8.41909091e+00] [ 1.29906473e-02 -2.80660240e-04 9.99915579e-01 5.05072916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5392541539999 meters 0.018407696757178044 Centerline is valid? [True, True] Translation: X:736.04, Y:8.42, Z:5.05 [[ 9.99367080e-01 -3.32006763e-02 -1.27732067e-02 7.36044511e+02] [ 3.32013835e-02 9.99448670e-01 -1.56741163e-04 8.41946696e+00] [ 1.27713683e-02 -2.67446176e-04 9.99918407e-01 5.05110366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5692541539999 meters 0.01865768534136205 Centerline is valid? [True, True] Translation: X:736.08, Y:8.42, Z:5.05 [[ 9.99378917e-01 -3.28573764e-02 -1.27347032e-02 7.36076152e+02] [ 3.28580614e-02 9.99460016e-01 -1.55492926e-04 8.41862736e+00] [ 1.27329358e-02 -2.63041307e-04 9.99918898e-01 5.05079583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5992541539999 meters 0.018797646439070753 Centerline is valid? [True, True] Translation: X:736.11, Y:8.42, Z:5.05 [[ 9.99356897e-01 -3.32914134e-02 -1.33219799e-02 7.36107720e+02] [ 3.32922094e-02 9.99445648e-01 -1.62075213e-04 8.41754550e+00] [ 1.33199906e-02 -2.81547164e-04 9.99911245e-01 5.05044133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6292541539999 meters 0.01989909945195104 Centerline is valid? [True, True] Translation: X:736.14, Y:8.41, Z:5.05 [[ 9.99261885e-01 -3.56306335e-02 -1.43577117e-02 7.36137805e+02] [ 3.56318048e-02 9.99364970e-01 -1.74299449e-04 8.41417003e+00] [ 1.43548045e-02 -3.37420385e-04 9.99896908e-01 5.04930192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6592541539999 meters 0.020516738089132083 Centerline is valid? [True, True] Translation: X:736.17, Y:8.41, Z:5.05 [[ 9.99207384e-01 -3.70148721e-02 -1.46459491e-02 7.36169385e+02] [ 3.70162451e-02 9.99314648e-01 -1.77423785e-04 8.41233150e+00] [ 1.46424787e-02 -3.64854883e-04 9.99892727e-01 5.04895766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6892541539999 meters 0.021641353714260153 Centerline is valid? [True, True] Translation: X:736.20, Y:8.41, Z:5.05 [[ 9.99132564e-01 -3.89141890e-02 -1.48258379e-02 7.36200204e+02] [ 3.89158102e-02 9.99242477e-01 -1.79239404e-04 8.41015147e+00] [ 1.48215820e-02 -3.97875569e-04 9.99890075e-01 5.04857172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7192541539999 meters 0.024421122592611217 Centerline is valid? [True, True] Translation: X:736.23, Y:8.41, Z:5.05 [[ 9.99001958e-01 -4.20997193e-02 -1.49231661e-02 7.36230230e+02] [ 4.21017186e-02 9.99113313e-01 -1.80300773e-04 8.40536063e+00] [ 1.49175246e-02 -4.48170116e-04 9.99888627e-01 5.04746696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7492541539999 meters 0.024246333439340784 Centerline is valid? [True, True] Translation: X:736.26, Y:8.40, Z:5.05 [[ 9.98924633e-01 -4.38589163e-02 -1.50323723e-02 7.36261200e+02] [ 4.38611459e-02 9.99037620e-01 -1.81487936e-04 8.40420183e+00] [ 1.50258653e-02 -4.78044304e-04 9.99886991e-01 5.04919349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7792541539999 meters 0.024246333439340784 Centerline is valid? [True, True] Translation: X:736.29, Y:8.40, Z:5.05 [[ 9.98926065e-01 -4.38262927e-02 -1.50323768e-02 7.36292058e+02] [ 4.38285243e-02 9.99039052e-01 -1.81110238e-04 8.40453920e+00] [ 1.50258689e-02 -4.77931157e-04 9.99886991e-01 5.04940730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8092541539999 meters 0.025202869746781605 Centerline is valid? [True, True] Translation: X:736.32, Y:8.40, Z:5.05 [[ 9.98888448e-01 -4.48579331e-02 -1.44787364e-02 7.36322125e+02] [ 4.48601166e-02 9.98993263e-01 -1.74099562e-04 8.40241724e+00] [ 1.44719698e-02 -4.75611760e-04 9.99895162e-01 5.05056090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.839254154 meters 0.026816262072199188 Centerline is valid? [True, True] Translation: X:736.35, Y:8.40, Z:5.05 [[ 9.98899194e-01 -4.46218378e-02 -1.44669367e-02 7.36353483e+02] [ 4.46239981e-02 9.99003838e-01 -1.73603524e-04 8.40209506e+00] [ 1.44602718e-02 -4.72160136e-04 9.99895333e-01 5.04981457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8692541539999 meters 0.026001410568962744 Centerline is valid? [True, True] Translation: X:736.38, Y:8.40, Z:5.05 [[ 9.98914883e-01 -4.46859066e-02 -1.31234936e-02 7.36384665e+02] [ 4.46877006e-02 9.99000993e-01 -1.56654179e-04 8.40180232e+00] [ 1.31173833e-02 -4.29974561e-04 9.99913871e-01 5.05327248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8992541539999 meters 0.020167292418663423 Centerline is valid? [True, True] Translation: X:736.42, Y:8.41, Z:5.06 [[ 9.98943499e-01 -4.41796241e-02 -1.26509185e-02 7.36416685e+02] [ 4.41812645e-02 9.99023520e-01 -1.49916289e-04 8.41193135e+00] [ 1.26451884e-02 -4.09175674e-04 9.99919963e-01 5.05603760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9292541539999 meters 0.02194278863568165 Centerline is valid? [True, True] Translation: X:736.45, Y:8.41, Z:5.06 [[ 9.99000704e-01 -4.30818858e-02 -1.18972253e-02 7.36448308e+02] [ 4.30832688e-02 9.99071475e-01 -1.40142119e-04 8.41211260e+00] [ 1.18922160e-02 -3.72569281e-04 9.99929216e-01 5.05523603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.959254154 meters 0.020154449620182008 Centerline is valid? [True, True] Translation: X:736.48, Y:8.41, Z:5.06 [[ 9.99072304e-01 -4.15848963e-02 -1.11905254e-02 7.36480106e+02] [ 4.15860348e-02 9.99134918e-01 -1.31032511e-04 8.41386270e+00] [ 1.11862937e-02 -3.34458627e-04 9.99937376e-01 5.05738502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9892541539999 meters 0.025586871085275013 Centerline is valid? [True, True] Translation: X:736.51, Y:8.41, Z:5.06 [[ 9.99140167e-01 -3.98649809e-02 -1.13890463e-02 7.36511051e+02] [ 3.98660571e-02 9.99205024e-01 -1.32603435e-04 8.40619811e+00] [ 1.13852785e-02 -3.21546952e-04 9.99935134e-01 5.05537619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0192541539999 meters 0.018693003969212925 Centerline is valid? [True, True] Translation: X:736.54, Y:8.42, Z:5.06 [[ 9.99254617e-01 -3.67203700e-02 -1.19090305e-02 7.36542552e+02] [ 3.67213304e-02 9.99325535e-01 -1.38085693e-04 8.41802577e+00] [ 1.19060688e-02 -2.99332676e-04 9.99929075e-01 5.05793090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0492541539999 meters 0.020147352807314903 Centerline is valid? [True, True] Translation: X:736.57, Y:8.42, Z:5.06 [[ 9.99346008e-01 -3.41005686e-02 -1.20294508e-02 7.36574205e+02] [ 3.41013640e-02 9.99418370e-01 -1.39048315e-04 8.42011799e+00] [ 1.20271957e-02 -2.71263300e-04 9.99927634e-01 5.05645076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.079254154 meters 0.01771330554633169 Centerline is valid? [True, True] Translation: X:736.61, Y:8.42, Z:5.06 [[ 9.99393197e-01 -3.26742440e-02 -1.20677769e-02 7.36606504e+02] [ 3.26749480e-02 9.99466022e-01 -1.38872568e-04 8.42289781e+00] [ 1.20658705e-02 -2.55525683e-04 9.99927172e-01 5.05853854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1092541539999 meters 0.017085141804536463 Centerline is valid? [True, True] Translation: X:736.64, Y:8.43, Z:5.06 [[ 9.99489505e-01 -2.93949387e-02 -1.25166711e-02 7.36638333e+02] [ 2.93954490e-02 9.99567850e-01 -1.43241112e-04 8.42580671e+00] [ 1.25154726e-02 -2.24765180e-04 9.99921653e-01 5.05839749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1392541539999 meters 0.016674229717841507 Centerline is valid? [True, True] Translation: X:736.67, Y:8.43, Z:5.06 [[ 9.99513296e-01 -2.84037488e-02 -1.28995613e-02 7.36670148e+02] [ 2.84042170e-02 9.99596508e-01 -1.46944044e-04 8.42720134e+00] [ 1.28985302e-02 -2.19529413e-04 9.99916786e-01 5.05847049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1692541539999 meters 0.01669662551684443 Centerline is valid? [True, True] Translation: X:736.70, Y:8.43, Z:5.06 [[ 9.99514240e-01 -2.78737775e-02 -1.39404689e-02 7.36701144e+02] [ 2.78742821e-02 9.99611424e-01 -1.58143441e-04 8.42753093e+00] [ 1.39394601e-02 -2.30513943e-04 9.99902814e-01 5.05827291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1992541539998 meters 0.016802967363208993 Centerline is valid? [True, True] Translation: X:736.73, Y:8.43, Z:5.06 [[ 9.99500584e-01 -2.82538829e-02 -1.41527512e-02 7.36732928e+02] [ 2.82544483e-02 9.99600751e-01 -1.60037230e-04 8.42698715e+00] [ 1.41516224e-02 -2.39920872e-04 9.99899832e-01 5.05827042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2292541539999 meters 0.01690790901821241 Centerline is valid? [True, True] Translation: X:736.76, Y:8.43, Z:5.06 [[ 9.99484146e-01 -2.86925882e-02 -1.44283253e-02 7.36764414e+02] [ 2.86932291e-02 9.99588251e-01 -1.62629188e-04 8.42628220e+00] [ 1.44270507e-02 -2.51449948e-04 9.99895893e-01 5.05816104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2592541539999 meters 0.017724304188902404 Centerline is valid? [True, True] Translation: X:736.80, Y:8.42, Z:5.06 [[ 9.99406670e-01 -3.10344951e-02 -1.49388053e-02 7.36795178e+02] [ 3.10354497e-02 9.99518270e-01 -1.67982088e-04 8.42365808e+00] [ 1.49368221e-02 -2.95750120e-04 9.99888396e-01 5.05762715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2892541539999 meters 0.018107939883007053 Centerline is valid? [True, True] Translation: X:736.83, Y:8.42, Z:5.06 [[ 9.99354049e-01 -3.26132966e-02 -1.50949252e-02 7.36826807e+02] [ 3.26144575e-02 9.99467993e-01 -1.69323943e-04 8.42227301e+00] [ 1.50924168e-02 -3.23098227e-04 9.99886051e-01 5.05794685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3192541539999 meters 0.01920343803605535 Centerline is valid? [True, True] Translation: X:736.86, Y:8.42, Z:5.06 [[ 9.99260485e-01 -3.53740423e-02 -1.50718238e-02 7.36857138e+02] [ 3.53755193e-02 9.99374076e-01 -1.68677315e-04 8.41807943e+00] [ 1.50683568e-02 -3.64621019e-04 9.99886399e-01 5.05791061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3492541539999 meters 0.019230135903169344 Centerline is valid? [True, True] Translation: X:736.89, Y:8.42, Z:5.06 [[ 9.99219291e-01 -3.65173170e-02 -1.50762847e-02 7.36888893e+02] [ 3.65189310e-02 9.99332947e-01 -1.68319818e-04 8.41685595e+00] [ 1.50723746e-02 -3.82381391e-04 9.99886332e-01 5.05852421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3792541539999 meters 0.02024866734392651 Centerline is valid? [True, True] Translation: X:736.92, Y:8.41, Z:5.06 [[ 9.99167457e-01 -3.78676168e-02 -1.51801405e-02 7.36919667e+02] [ 3.78694170e-02 9.99282682e-01 -1.68944996e-04 8.41430013e+00] [ 1.51756491e-02 -4.06058729e-04 9.99884761e-01 5.05816110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4092541539999 meters 0.022503518336159822 Centerline is valid? [True, True] Translation: X:736.95, Y:8.41, Z:5.06 [[ 9.99078360e-01 -3.95263879e-02 -1.67360668e-02 7.36951276e+02] [ 3.95288188e-02 9.99218414e-01 -1.85653256e-04 8.41129544e+00] [ 1.67303243e-02 -4.76074802e-04 9.99859925e-01 5.05699423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4392541539999 meters 0.019345584343275508 Centerline is valid? [True, True] Translation: X:736.98, Y:8.41, Z:5.06 [[ 9.99036395e-01 -4.08663895e-02 -1.60068913e-02 7.36982605e+02] [ 4.08687941e-02 9.99164506e-01 -1.77001699e-04 8.41337203e+00] [ 1.60007510e-02 -4.77351204e-04 9.99871866e-01 5.05964901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4692541539999 meters 0.019415249330171032 Centerline is valid? [True, True] Translation: X:737.01, Y:8.41, Z:5.06 [[ 9.99000032e-01 -4.17674110e-02 -1.59505188e-02 7.37014227e+02] [ 4.17699227e-02 9.99127240e-01 -1.75792075e-04 8.41106638e+00] [ 1.59439402e-02 -4.90635647e-04 9.99872767e-01 5.05961936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4992541539999 meters 0.020931923760671996 Centerline is valid? [True, True] Translation: X:737.04, Y:8.41, Z:5.06 [[ 9.98992298e-01 -4.18056391e-02 -1.63302674e-02 7.37044963e+02] [ 4.18082869e-02 9.99125635e-01 -1.79368470e-04 8.40744196e+00] [ 1.63234874e-02 -5.03552785e-04 9.99866636e-01 5.05913388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5292541539999 meters 0.020115452214876765 Centerline is valid? [True, True] Translation: X:737.08, Y:8.41, Z:5.06 [[ 9.99009925e-01 -4.14361635e-02 -1.61930229e-02 7.37076365e+02] [ 4.14387280e-02 9.99141031e-01 -1.77272721e-04 8.40845437e+00] [ 1.61864591e-02 -4.93921064e-04 9.99868869e-01 5.05979122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5592541539999 meters 0.01879076719288526 Centerline is valid? [True, True] Translation: X:737.11, Y:8.41, Z:5.06 [[ 9.99109130e-01 -3.90867652e-02 -1.59113748e-02 7.37107732e+02] [ 3.90889528e-02 9.99235720e-01 -1.73611125e-04 8.40977875e+00] [ 1.59060000e-02 -4.48502520e-04 9.99873391e-01 5.06054235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.589254154 meters 0.01827573172785492 Centerline is valid? [True, True] Translation: X:737.14, Y:8.41, Z:5.06 [[ 9.99174217e-01 -3.72103569e-02 -1.63179074e-02 7.37138763e+02] [ 3.72124147e-02 9.99307362e-01 -1.77609995e-04 8.41092877e+00] [ 1.63132139e-02 -4.29765411e-04 9.99866838e-01 5.06099800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6192541539999 meters 0.017855200670475798 Centerline is valid? [True, True] Translation: X:737.17, Y:8.41, Z:5.06 [[ 9.99285375e-01 -3.41613232e-02 -1.61785075e-02 7.37169213e+02] [ 3.41629515e-02 9.99416261e-01 -1.75795399e-04 8.41198209e+00] [ 1.61750688e-02 -3.77035794e-04 9.99869104e-01 5.06094316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6492541539999 meters 0.016420961459969487 Centerline is valid? [True, True] Translation: X:737.20, Y:8.42, Z:5.06 [[ 9.99489082e-01 -2.70754651e-02 -1.69851146e-02 7.37199475e+02] [ 2.70762392e-02 9.99633354e-01 -1.84426284e-04 8.41517826e+00] [ 1.69838805e-02 -2.75560968e-04 9.99855726e-01 5.06056672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6792541539999 meters 0.016094680267340695 Centerline is valid? [True, True] Translation: X:737.23, Y:8.42, Z:5.06 [[ 9.99572221e-01 -2.35442844e-02 -1.73505737e-02 7.37228488e+02] [ 2.35445506e-02 9.99722771e-01 -1.88959510e-04 8.41651097e+00] [ 1.73502125e-02 -2.19632784e-04 9.99849450e-01 5.06015620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.709254154 meters 0.015173064420138807 Centerline is valid? [True, True] Translation: X:737.26, Y:8.42, Z:5.06 [[ 9.99695939e-01 -1.70019270e-02 -1.78595719e-02 7.37257682e+02] [ 1.70011116e-02 9.99855451e-01 -1.97495702e-04 8.41935010e+00] [ 1.78603482e-02 -1.06196924e-04 9.99840486e-01 5.06101837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7392541539999 meters 0.015272916433647914 Centerline is valid? [True, True] Translation: X:737.29, Y:8.42, Z:5.06 [[ 9.99742787e-01 -1.43507138e-02 -1.75617741e-02 7.37285093e+02] [ 1.43494615e-02 9.99897022e-01 -1.97322260e-04 8.42008715e+00] [ 1.75627974e-02 -5.47304954e-05 9.99845761e-01 5.06078150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7692541539999 meters 0.015173216395312127 Centerline is valid? [True, True] Translation: X:737.31, Y:8.42, Z:5.06 [[ 9.99771138e-01 -1.20609813e-02 -1.76692810e-02 7.37313248e+02] [ 1.20592835e-02 9.99927264e-01 -2.02638997e-04 8.42068294e+00] [ 1.76704399e-02 -1.04862482e-05 9.99843866e-01 5.06148187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7992541539999 meters 0.015180451249340345 Centerline is valid? [True, True] Translation: X:737.34, Y:8.42, Z:5.06 [[ 9.99800951e-01 -9.49531832e-03 -1.75469793e-02 7.37341004e+02] [ 9.49315959e-03 9.99954918e-01 -2.06317758e-04 8.41930947e+00] [ 1.75481473e-02 3.97004156e-05 9.99846019e-01 5.06211114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.829254154 meters 0.015155420749268508 Centerline is valid? [True, True] Translation: X:737.37, Y:8.42, Z:5.06 [[ 9.99797145e-01 -9.50263306e-03 -1.77586180e-02 7.37368872e+02] [ 9.50033123e-03 9.99954848e-01 -2.13978157e-04 8.41812283e+00] [ 1.77598496e-02 4.52219967e-05 9.99842280e-01 5.06207511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8592541539999 meters 0.01522799603200016 Centerline is valid? [True, True] Translation: X:737.40, Y:8.41, Z:5.06 [[ 9.99763492e-01 -1.10709225e-02 -1.87188409e-02 7.37396333e+02] [ 1.10685804e-02 9.99938715e-01 -2.28723001e-04 8.41423493e+00] [ 1.87202259e-02 2.14779121e-05 9.99824761e-01 5.06090421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8892541539999 meters 0.01495263741132071 Centerline is valid? [True, True] Translation: X:737.42, Y:8.41, Z:5.06 [[ 9.99724423e-01 -1.28344770e-02 -1.96558926e-02 7.37424979e+02] [ 1.28321583e-02 9.99917635e-01 -2.44093060e-04 8.41164785e+00] [ 1.96574065e-02 -8.20173146e-06 9.99806774e-01 5.06145099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9192541539999 meters 0.015045181683786272 Centerline is valid? [True, True] Translation: X:737.45, Y:8.41, Z:5.06 [[ 9.99684609e-01 -1.50919875e-02 -2.00727279e-02 7.37452477e+02] [ 1.50899639e-02 9.99886108e-01 -2.52280775e-04 8.40915987e+00] [ 2.00742492e-02 -5.06955308e-05 9.99798491e-01 5.06083101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9492541539998 meters 0.015329864353962034 Centerline is valid? [True, True] Translation: X:737.48, Y:8.40, Z:5.06 [[ 9.99565197e-01 -2.03361161e-02 -2.13508810e-02 7.37481713e+02] [ 2.03349861e-02 9.99793186e-01 -2.70054606e-04 8.40268321e+00] [ 2.13519572e-02 -1.64232684e-04 9.99772007e-01 5.06058732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9792541539999 meters 0.016212723922129482 Centerline is valid? [True, True] Translation: X:737.51, Y:8.40, Z:5.06 [[ 9.99479523e-01 -2.37480122e-02 -2.18338037e-02 7.37509247e+02] [ 2.37475878e-02 9.99717947e-01 -2.78755019e-04 8.39754604e+00] [ 2.18342653e-02 -2.39890237e-04 9.99761575e-01 5.05832011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0092541539999 meters 0.01649054693410977 Centerline is valid? [True, True] Translation: X:737.54, Y:8.39, Z:5.06 [[ 9.99279476e-01 -3.07596531e-02 -2.22344772e-02 7.37538895e+02] [ 3.07609135e-02 9.99526730e-01 -2.85411136e-04 8.39142009e+00] [ 2.22327334e-02 -3.98747338e-04 9.99752743e-01 5.06128015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0392541539999 meters 0.018392802728285043 Centerline is valid? [True, True] Translation: X:737.57, Y:8.39, Z:5.06 [[ 9.99164827e-01 -3.43780958e-02 -2.20861001e-02 7.37566429e+02] [ 3.43801872e-02 9.99408786e-01 -2.85121656e-04 8.38666565e+00] [ 2.20828445e-02 -4.74440727e-04 9.99756032e-01 5.06067153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0692541539999 meters 0.01989631788911765 Centerline is valid? [True, True] Translation: X:737.60, Y:8.38, Z:5.06 [[ 9.98901626e-01 -4.21024040e-02 -2.05652409e-02 7.37596932e+02] [ 4.21058404e-02 9.99113120e-01 -2.66069099e-04 8.37811301e+00] [ 2.05582041e-02 -6.00139894e-04 9.99788478e-01 5.06207264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0992541539999 meters 0.02039722626562699 Centerline is valid? [True, True] Translation: X:737.63, Y:8.38, Z:5.06 [[ 9.98737483e-01 -4.58985667e-02 -2.04147418e-02 7.37626245e+02] [ 4.59027303e-02 9.98945879e-01 -2.64849165e-04 8.37559180e+00] [ 2.04053784e-02 -6.72577597e-04 9.99791562e-01 5.06338226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1292541539999 meters 0.02195480390358586 Centerline is valid? [True, True] Translation: X:737.66, Y:8.37, Z:5.06 [[ 9.98586054e-01 -4.95318238e-02 -1.93000126e-02 7.37655267e+02] [ 4.95362071e-02 9.98772297e-01 -2.51182745e-04 8.37139086e+00] [ 1.92887594e-02 -7.05221834e-04 9.99813706e-01 5.06394154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1592541539999 meters 0.02495474348437966 Centerline is valid? [True, True] Translation: X:737.69, Y:8.36, Z:5.07 [[ 9.98236733e-01 -5.65636534e-02 -1.79993729e-02 7.37685335e+02] [ 5.65686014e-02 9.98398687e-01 -2.34528733e-04 8.36335270e+00] [ 1.79838160e-02 -7.84084153e-04 9.99837971e-01 5.06500197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1892541539999 meters 0.0242403847053484 Centerline is valid? [True, True] Translation: X:737.72, Y:8.36, Z:5.07 [[ 9.98061652e-01 -5.96203315e-02 -1.78424849e-02 7.37716925e+02] [ 5.96256876e-02 9.98220779e-01 -2.32110009e-04 8.36301853e+00] [ 1.78245776e-02 -8.32210332e-04 9.99840783e-01 5.06623470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2192541539999 meters 0.03017100775960495 Centerline is valid? [True, True] Translation: X:737.75, Y:8.35, Z:5.07 [[ 9.97725082e-01 -6.51986734e-02 -1.71403983e-02 7.37746734e+02] [ 6.52044447e-02 9.97871901e-01 -2.22526661e-04 8.35166102e+00] [ 1.71184303e-02 -8.95609720e-04 9.99853068e-01 5.06567812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2492541539999 meters 0.03165763274135942 Centerline is valid? [True, True] Translation: X:737.78, Y:8.35, Z:5.07 [[ 9.97564845e-01 -6.76711784e-02 -1.68816752e-02 7.37777557e+02] [ 6.76771349e-02 9.97707250e-01 -2.18858062e-04 8.34869215e+00] [ 1.68577801e-02 -9.24178302e-04 9.99857470e-01 5.06590381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2792541539999 meters 0.03027548116254628 Centerline is valid? [True, True] Translation: X:737.81, Y:8.35, Z:5.07 [[ 9.97388706e-01 -7.02004369e-02 -1.69607733e-02 7.37808751e+02] [ 7.02068220e-02 9.97532433e-01 -2.19403677e-04 8.34999248e+00] [ 1.69343237e-02 -9.71931243e-04 9.99856132e-01 5.06676950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3092541539999 meters 0.03265715634068578 Centerline is valid? [True, True] Translation: X:737.84, Y:8.35, Z:5.07 [[ 9.97112200e-01 -7.39170004e-02 -1.74223439e-02 7.37838695e+02] [ 7.39243073e-02 9.97263830e-01 -2.25125417e-04 8.34570625e+00] [ 1.73913140e-02 -1.06345941e-03 9.99848194e-01 5.06712114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.339254154 meters 0.03391871180136556 Centerline is valid? [True, True] Translation: X:737.87, Y:8.34, Z:5.07 [[ 9.97028425e-01 -7.50211616e-02 -1.74969835e-02 7.37869067e+02] [ 7.50287091e-02 9.97181349e-01 -2.25602881e-04 8.34400447e+00] [ 1.74645906e-02 -1.08784360e-03 9.99846891e-01 5.06683680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3692541539999 meters 0.03170003644871856 Centerline is valid? [True, True] Translation: X:737.90, Y:8.35, Z:5.07 [[ 9.96964423e-01 -7.55732100e-02 -1.87250923e-02 7.37900181e+02] [ 7.55819660e-02 9.97139563e-01 -2.40664799e-04 8.34666220e+00] [ 1.86897181e-02 -1.17534504e-03 9.99824641e-01 5.06691226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3992541539999 meters 0.035217017817956664 Centerline is valid? [True, True] Translation: X:737.93, Y:8.34, Z:5.07 [[ 9.96962471e-01 -7.53660755e-02 -1.96414334e-02 7.37931013e+02] [ 7.53756898e-02 9.97155175e-01 -2.51421153e-04 8.34240345e+00] [ 1.96045056e-02 -1.22982914e-03 9.99807057e-01 5.06542991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4292541539999 meters 0.030271329683782433 Centerline is valid? [True, True] Translation: X:737.96, Y:8.35, Z:5.07 [[ 9.97012216e-01 -7.46290817e-02 -1.99284137e-02 7.37962360e+02] [ 7.46388503e-02 9.97210598e-01 -2.54198366e-04 8.34969358e+00] [ 1.98917959e-02 -1.23399501e-03 9.99801377e-01 5.06629092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.459254154 meters 0.02863212829844687 Centerline is valid? [True, True] Translation: X:737.99, Y:8.35, Z:5.07 [[ 9.97130469e-01 -7.27936058e-02 -2.07826629e-02 7.37993141e+02] [ 7.28038437e-02 9.97346244e-01 -2.64571644e-04 8.35372663e+00] [ 2.07467699e-02 -1.24924529e-03 9.99783982e-01 5.06631003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4892541539999 meters 0.028818896156981504 Centerline is valid? [True, True] Translation: X:738.02, Y:8.35, Z:5.07 [[ 9.97218714e-01 -7.14623488e-02 -2.11652729e-02 7.38023582e+02] [ 7.14726769e-02 9.97442522e-01 -2.69048778e-04 8.35464978e+00] [ 2.11303701e-02 -1.24443824e-03 9.99775954e-01 5.06615885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5192541539999 meters 0.02678293867873148 Centerline is valid? [True, True] Translation: X:738.05, Y:8.36, Z:5.07 [[ 9.97453007e-01 -6.76481584e-02 -2.26102764e-02 7.38054305e+02] [ 6.76589782e-02 9.97708465e-01 -2.86990025e-04 8.36082871e+00] [ 2.25778785e-02 -1.24352913e-03 9.99744314e-01 5.06646814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5492541539999 meters 0.028362390883728848 Centerline is valid? [True, True] Translation: X:738.08, Y:8.36, Z:5.07 [[ 9.97595199e-01 -6.52213042e-02 -2.34520986e-02 7.38084242e+02] [ 6.52322796e-02 9.97870062e-01 -2.97541895e-04 8.36149276e+00] [ 2.34215531e-02 -1.23300748e-03 9.99724917e-01 5.06582010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.579254154 meters 0.02533697860925309 Centerline is valid? [True, True] Translation: X:738.11, Y:8.37, Z:5.07 [[ 9.97782333e-01 -6.27182882e-02 -2.22897139e-02 7.38113549e+02] [ 6.27275665e-02 9.98030647e-01 -2.83361707e-04 8.36673612e+00] [ 2.22635896e-02 -1.11544621e-03 9.99751513e-01 5.06769723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6092541539999 meters 0.023232102014506508 Centerline is valid? [True, True] Translation: X:738.14, Y:8.37, Z:5.07 [[ 9.98160962e-01 -5.68388389e-02 -2.10722639e-02 7.38143660e+02] [ 5.68458166e-02 9.98382933e-01 -2.68208093e-04 8.37351978e+00] [ 2.10534333e-02 -9.30155203e-04 9.99777919e-01 5.06974159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6392541539999 meters 0.020848304573225656 Centerline is valid? [True, True] Translation: X:738.17, Y:8.38, Z:5.07 [[ 9.98546247e-01 -5.02210059e-02 -1.95766112e-02 7.38174103e+02] [ 5.02257563e-02 9.98737859e-01 -2.49250964e-04 8.38160236e+00] [ 1.95644204e-02 -7.34361488e-04 9.99808329e-01 5.07197337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6692541539999 meters 0.020887939361732614 Centerline is valid? [True, True] Translation: X:738.20, Y:8.38, Z:5.07 [[ 9.98723887e-01 -4.68789627e-02 -1.87872462e-02 7.38203896e+02] [ 4.68827466e-02 9.98900371e-01 -2.39223013e-04 8.38370620e+00] [ 1.87778017e-02 -6.41879965e-04 9.99823475e-01 5.07191617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6992541539998 meters 0.020887939361732614 Centerline is valid? [True, True] Translation: X:738.23, Y:8.38, Z:5.07 [[ 9.98723887e-01 -4.68789627e-02 -1.87872462e-02 7.38233912e+02] [ 4.68827466e-02 9.98900371e-01 -2.39223013e-04 8.38408841e+00] [ 1.87778017e-02 -6.41879965e-04 9.99823475e-01 5.07212417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7292541539999 meters 0.018720088540020725 Centerline is valid? [True, True] Translation: X:738.26, Y:8.39, Z:5.07 [[ 9.98858203e-01 -4.40686836e-02 -1.84456527e-02 7.38264875e+02] [ 4.40718563e-02 9.99028336e-01 -2.34659358e-04 8.38931258e+00] [ 1.84380709e-02 -5.78542731e-04 9.99829837e-01 5.07362547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7592541539999 meters 0.018751870672805166 Centerline is valid? [True, True] Translation: X:738.29, Y:8.39, Z:5.07 [[ 9.98977059e-01 -4.14128818e-02 -1.81606629e-02 7.38294562e+02] [ 4.14155173e-02 9.99141983e-01 -2.31114042e-04 8.39092724e+00] [ 1.81546519e-02 -5.21255623e-04 9.99835055e-01 5.07332945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7892541539999 meters 0.01719278879023883 Centerline is valid? [True, True] Translation: X:738.33, Y:8.40, Z:5.07 [[ 9.99139459e-01 -3.74004871e-02 -1.79316602e-02 7.38325257e+02] [ 3.74024085e-02 9.99300259e-01 -2.28325798e-04 8.39650674e+00] [ 1.79276522e-02 -4.42557966e-04 9.99839189e-01 5.07380240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8192541539999 meters 0.017315042913379604 Centerline is valid? [True, True] Translation: X:738.35, Y:8.40, Z:5.07 [[ 9.99227789e-01 -3.46486052e-02 -1.85283715e-02 7.38354341e+02] [ 3.46501759e-02 9.99399474e-01 -2.36347168e-04 8.39768690e+00] [ 1.85254339e-02 -4.05846674e-04 9.99828307e-01 5.07287837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8492541539999 meters 0.016314777584444613 Centerline is valid? [True, True] Translation: X:738.38, Y:8.40, Z:5.07 [[ 9.99269407e-01 -3.36060448e-02 -1.82012587e-02 7.38383890e+02] [ 3.36073757e-02 9.99435085e-01 -2.32835648e-04 8.40050436e+00] [ 1.81988012e-02 -3.79031000e-04 9.99834316e-01 5.07385851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8792541539999 meters 0.016826216604605836 Centerline is valid? [True, True] Translation: X:738.41, Y:8.40, Z:5.07 [[ 9.99265865e-01 -3.34081464e-02 -1.87516943e-02 7.38412802e+02] [ 3.34094626e-02 9.99441718e-01 -2.43163333e-04 8.40160103e+00] [ 1.87493492e-02 -3.83499210e-04 9.99824142e-01 5.07360847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9092541539999 meters 0.016525442722827778 Centerline is valid? [True, True] Translation: X:738.44, Y:8.40, Z:5.07 [[ 9.99283653e-01 -3.30921016e-02 -1.83601007e-02 7.38441489e+02] [ 3.30932668e-02 9.99452239e-01 -2.40442085e-04 8.40206929e+00] [ 1.83580005e-02 -3.67325864e-04 9.99831410e-01 5.07376336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9392541539999 meters 0.01642961888499978 Centerline is valid? [True, True] Translation: X:738.47, Y:8.40, Z:5.07 [[ 9.99280320e-01 -3.31463105e-02 -1.84435588e-02 7.38470527e+02] [ 3.31474351e-02 9.99450443e-01 -2.44810940e-04 8.40241889e+00] [ 1.84415376e-02 -3.66721913e-04 9.99829873e-01 5.07389592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9692541539999 meters 0.01617740430989824 Centerline is valid? [True, True] Translation: X:738.50, Y:8.40, Z:5.07 [[ 9.99254701e-01 -3.38940224e-02 -1.84726054e-02 7.38499051e+02] [ 3.38951911e-02 9.99425362e-01 -2.49912145e-04 8.40339646e+00] [ 1.84704608e-02 -3.76406603e-04 9.99829336e-01 5.07464193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9992541539999 meters 0.016020419854963535 Centerline is valid? [True, True] Translation: X:738.53, Y:8.40, Z:5.07 [[ 9.99231489e-01 -3.46689011e-02 -1.82893239e-02 7.38527379e+02] [ 3.46700898e-02 9.99398780e-01 -2.52168777e-04 8.40367061e+00] [ 1.82870704e-02 -3.82117519e-04 9.99832705e-01 5.07487949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0292541539999 meters 0.01667774351713953 Centerline is valid? [True, True] Translation: X:738.56, Y:8.40, Z:5.07 [[ 9.99200684e-01 -3.56205222e-02 -1.81430805e-02 7.38556462e+02] [ 3.56218049e-02 9.99365310e-01 -2.52572770e-04 8.40199579e+00] [ 1.81405621e-02 -3.93918390e-04 9.99835369e-01 5.07452210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0592541539999 meters 0.017646530732302105 Centerline is valid? [True, True] Translation: X:738.59, Y:8.40, Z:5.07 [[ 9.99110169e-01 -3.79148904e-02 -1.84751607e-02 7.38585293e+02] [ 3.79165937e-02 9.99280874e-01 -2.58211146e-04 8.39870083e+00] [ 1.84716648e-02 -4.42533780e-04 9.99829286e-01 5.07401003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.089254154 meters 0.01791351607661878 Centerline is valid? [True, True] Translation: X:738.62, Y:8.40, Z:5.07 [[ 9.99054263e-01 -3.94130322e-02 -1.83628042e-02 7.38615230e+02] [ 3.94149533e-02 9.99222896e-01 -2.57424408e-04 8.39814603e+00] [ 1.83586803e-02 -4.66588118e-04 9.99831356e-01 5.07432595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1192541539999 meters 0.019356847457422673 Centerline is valid? [True, True] Translation: X:738.64, Y:8.39, Z:5.07 [[ 9.98907255e-01 -4.29542551e-02 -1.84181376e-02 7.38644968e+02] [ 4.29567808e-02 9.99076898e-01 -2.58655448e-04 8.39439624e+00] [ 1.84122461e-02 -5.32811096e-04 9.99830338e-01 5.07442032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1492541539999 meters 0.01967548666154057 Centerline is valid? [True, True] Translation: X:738.67, Y:8.39, Z:5.07 [[ 9.98807564e-01 -4.52547276e-02 -1.83155757e-02 7.38674937e+02] [ 4.52576056e-02 9.98975316e-01 -2.57542180e-04 8.39281081e+00] [ 1.83084630e-02 -5.71684023e-04 9.99832223e-01 5.07480738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1792541539999 meters 0.020793212589427425 Centerline is valid? [True, True] Translation: X:738.70, Y:8.39, Z:5.07 [[ 9.98698604e-01 -4.75434318e-02 -1.84586273e-02 7.38704424e+02] [ 4.75467403e-02 9.98868980e-01 -2.59833592e-04 8.38971689e+00] [ 1.84501036e-02 -6.18152111e-04 9.99829591e-01 5.07472585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.209254154 meters 0.02307414146631978 Centerline is valid? [True, True] Translation: X:738.73, Y:8.38, Z:5.07 [[ 9.98465955e-01 -5.23706772e-02 -1.79735365e-02 7.38734049e+02] [ 5.23745897e-02 9.98627477e-01 -2.53290205e-04 8.38337140e+00] [ 1.79621323e-02 -6.88454950e-04 9.99838431e-01 5.07463710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2392541539999 meters 0.021220072378544112 Centerline is valid? [True, True] Translation: X:738.76, Y:8.39, Z:5.08 [[ 9.98345187e-01 -5.46323406e-02 -1.79497868e-02 7.38764599e+02] [ 5.46366054e-02 9.98506273e-01 -2.53077312e-04 8.38530525e+00] [ 1.79368009e-02 -7.28056903e-04 9.99838858e-01 5.07630448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2692541539999 meters 0.02393683224702027 Centerline is valid? [True, True] Translation: X:738.80, Y:8.38, Z:5.08 [[ 9.98125639e-01 -5.82175846e-02 -1.88658812e-02 7.38795592e+02] [ 5.82229394e-02 9.98303570e-01 -2.65772188e-04 8.38128470e+00] [ 1.88493491e-02 -8.33153020e-04 9.99821988e-01 5.07598936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2992541539999 meters 0.023607662392656856 Centerline is valid? [True, True] Translation: X:738.83, Y:8.38, Z:5.08 [[ 9.98011604e-01 -6.04846491e-02 -1.77326056e-02 7.38826993e+02] [ 6.04897459e-02 9.98168788e-01 -2.49287724e-04 8.37938047e+00] [ 1.77152115e-02 -8.23848764e-04 9.99842734e-01 5.07699768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.329254154 meters 0.026894662032201228 Centerline is valid? [True, True] Translation: X:738.86, Y:8.37, Z:5.08 [[ 9.97839484e-01 -6.29644637e-02 -1.87574189e-02 7.38857129e+02] [ 6.29706089e-02 9.98015347e-01 -2.63424226e-04 8.37486927e+00] [ 1.87367783e-02 -9.18310994e-04 9.99824029e-01 5.07563618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3592541539999 meters 0.024023138417864673 Centerline is valid? [True, True] Translation: X:738.89, Y:8.38, Z:5.08 [[ 9.97756421e-01 -6.44776137e-02 -1.80211436e-02 7.38888133e+02] [ 6.44835395e-02 9.97918739e-01 -2.52668244e-04 8.37730453e+00] [ 1.79999284e-02 -9.09965764e-04 9.99837574e-01 5.07706319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3892541539999 meters 0.025693988291756918 Centerline is valid? [True, True] Translation: X:738.92, Y:8.38, Z:5.08 [[ 9.97672244e-01 -6.57946974e-02 -1.79206962e-02 7.38918882e+02] [ 6.58007812e-02 9.97832749e-01 -2.50590010e-04 8.37508658e+00] [ 1.78983451e-02 -9.29189115e-04 9.99839380e-01 5.07665366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4192541539999 meters 0.026051311450607337 Centerline is valid? [True, True] Translation: X:738.95, Y:8.38, Z:5.08 [[ 9.97487721e-01 -6.85150145e-02 -1.79983214e-02 7.38950354e+02] [ 6.85216046e-02 9.97649601e-01 -2.51003591e-04 8.37541820e+00] [ 1.79732157e-02 -9.82900866e-04 9.99837986e-01 5.07713466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4492541539998 meters 0.027277135944058287 Centerline is valid? [True, True] Translation: X:738.98, Y:8.38, Z:5.08 [[ 9.97425940e-01 -6.92894045e-02 -1.84518898e-02 7.38981320e+02] [ 6.92964759e-02 9.97596077e-01 -2.56636714e-04 8.37550623e+00] [ 1.84253151e-02 -1.02267482e-03 9.99829716e-01 5.07680621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4792541539999 meters 0.030151509990305518 Centerline is valid? [True, True] Translation: X:739.01, Y:8.37, Z:5.08 [[ 9.97268444e-01 -7.19398563e-02 -1.67423741e-02 7.39011242e+02] [ 7.19460539e-02 9.97408498e-01 -2.32626361e-04 8.37180191e+00] [ 1.67157213e-02 -9.72556820e-04 9.99859810e-01 5.07745959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5092541539999 meters 0.030478710557744478 Centerline is valid? [True, True] Translation: X:739.04, Y:8.37, Z:5.08 [[ 9.97222736e-01 -7.27224918e-02 -1.60702690e-02 7.39043032e+02] [ 7.27283135e-02 9.97351765e-01 -2.22628634e-04 8.37260102e+00] [ 1.60439013e-02 -9.46753230e-04 9.99870840e-01 5.07813586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5392541539999 meters 0.02894371373924059 Centerline is valid? [True, True] Translation: X:739.08, Y:8.38, Z:5.08 [[ 9.97187416e-01 -7.33719734e-02 -1.52908875e-02 7.39075316e+02] [ 7.33773368e-02 9.97304227e-01 -2.10737548e-04 8.37624936e+00] [ 1.52651290e-02 -9.11859775e-04 9.99883065e-01 5.07925537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5692541539999 meters 0.03334916181305727 Centerline is valid? [True, True] Translation: X:739.11, Y:8.37, Z:5.08 [[ 9.97169800e-01 -7.35532756e-02 -1.55661846e-02 7.39106669e+02] [ 7.35588715e-02 9.97290854e-01 -2.13533981e-04 8.37352699e+00] [ 1.55397196e-02 -9.32101334e-04 9.99878817e-01 5.07875188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5992541539999 meters 0.029570226689792953 Centerline is valid? [True, True] Translation: X:739.14, Y:8.38, Z:5.08 [[ 9.97187084e-01 -7.32424716e-02 -1.59204010e-02 7.39138971e+02] [ 7.32483023e-02 9.97313711e-01 -2.17343944e-04 8.38137732e+00] [ 1.58935530e-02 -9.49409771e-04 9.99873239e-01 5.07908572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6292541539999 meters 0.029365487466980696 Centerline is valid? [True, True] Translation: X:739.17, Y:8.38, Z:5.08 [[ 9.97220248e-01 -7.26899894e-02 -1.63689403e-02 7.39171287e+02] [ 7.26960990e-02 9.97354114e-01 -2.22252738e-04 8.38387535e+00] [ 1.63417855e-02 -9.68323170e-04 9.99865995e-01 5.07856708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6592541539999 meters 0.030181435764514042 Centerline is valid? [True, True] Translation: X:739.20, Y:8.38, Z:5.08 [[ 9.97269932e-01 -7.18845310e-02 -1.68907594e-02 7.39202466e+02] [ 7.18909394e-02 9.97412473e-01 -2.28268646e-04 8.38466429e+00] [ 1.68634630e-02 -9.86647100e-04 9.99857315e-01 5.07815622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6892541539999 meters 0.027198357656369913 Centerline is valid? [True, True] Translation: X:739.23, Y:8.39, Z:5.08 [[ 9.97317673e-01 -7.10947030e-02 -1.74069862e-02 7.39234861e+02] [ 7.11014098e-02 9.97469065e-01 -2.34069797e-04 8.39078207e+00] [ 1.73795713e-02 -1.00421931e-03 9.99848460e-01 5.07840025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7192541539999 meters 0.02914219190682516 Centerline is valid? [True, True] Translation: X:739.27, Y:8.39, Z:5.08 [[ 9.97500599e-01 -6.80764708e-02 -1.89248257e-02 7.39265336e+02] [ 6.80838719e-02 9.97679569e-01 -2.53690692e-04 8.39362403e+00] [ 1.88981823e-02 -1.03541879e-03 9.99820877e-01 5.07705569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7492541539999 meters 0.026105126700703047 Centerline is valid? [True, True] Translation: X:739.30, Y:8.40, Z:5.08 [[ 9.97576310e-01 -6.72603736e-02 -1.78198798e-02 7.39296676e+02] [ 6.72668150e-02 9.97734994e-01 -2.38352198e-04 8.39826201e+00] [ 1.77955493e-02 -9.60912050e-04 9.99841185e-01 5.07895203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7792541539999 meters 0.025998641630546233 Centerline is valid? [True, True] Translation: X:739.33, Y:8.40, Z:5.08 [[ 9.97846142e-01 -6.33177827e-02 -1.71445453e-02 7.39325990e+02] [ 6.33231655e-02 9.97993048e-01 -2.29259694e-04 8.40278498e+00] [ 1.71246533e-02 -8.56880980e-04 9.99852995e-01 5.08017541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8092541539999 meters 0.023541670746025412 Centerline is valid? [True, True] Translation: X:739.36, Y:8.41, Z:5.08 [[ 9.98016337e-01 -6.07587827e-02 -1.64851570e-02 7.39357835e+02] [ 6.07634182e-02 9.98152172e-01 -2.20007172e-04 8.40876455e+00] [ 1.64680626e-02 -7.82123735e-04 9.99864086e-01 5.08151475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.839254154 meters 0.024928733340549743 Centerline is valid? [True, True] Translation: X:739.39, Y:8.41, Z:5.08 [[ 9.98203587e-01 -5.77208279e-02 -1.60594198e-02 7.39388328e+02] [ 5.77248567e-02 9.98332508e-01 -2.12948204e-04 8.40926754e+00] [ 1.60449324e-02 -7.14462045e-04 9.99871017e-01 5.08171178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8692541539999 meters 0.020507480024341152 Centerline is valid? [True, True] Translation: X:739.42, Y:8.42, Z:5.08 [[ 9.98592038e-01 -5.08553146e-02 -1.50890281e-02 7.39418836e+02] [ 5.08580993e-02 9.98705870e-01 -1.99357786e-04 8.42144294e+00] [ 1.50796393e-02 -5.68322192e-04 9.99886134e-01 5.08352905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8992541539999 meters 0.017983789989644047 Centerline is valid? [True, True] Translation: X:739.45, Y:8.43, Z:5.08 [[ 9.98968244e-01 -4.31230754e-02 -1.42424944e-02 7.39449160e+02] [ 4.31247725e-02 9.99069677e-01 -1.88082336e-04 8.43121149e+00] [ 1.42373550e-02 -4.26316052e-04 9.99898553e-01 5.08443133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9292541539999 meters 0.01735487987674416 Centerline is valid? [True, True] Translation: X:739.48, Y:8.44, Z:5.08 [[ 9.99135542e-01 -3.91547762e-02 -1.39667929e-02 7.39479736e+02] [ 3.91560253e-02 9.99233092e-01 -1.84111886e-04 8.43513982e+00] [ 1.39632905e-02 -3.62931368e-04 9.99902443e-01 5.08482915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.959254154 meters 0.016646635175675172 Centerline is valid? [True, True] Translation: X:739.51, Y:8.44, Z:5.09 [[ 9.99281045e-01 -3.54920385e-02 -1.33307244e-02 7.39511525e+02] [ 3.54928587e-02 9.99369915e-01 -1.75127563e-04 8.43914729e+00] [ 1.33285405e-02 -2.98143863e-04 9.99911127e-01 5.08502871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9892541539999 meters 0.016067661508866765 Centerline is valid? [True, True] Translation: X:739.54, Y:8.44, Z:5.09 [[ 9.99395755e-01 -3.23203676e-02 -1.27874743e-02 7.39542541e+02] [ 3.23208701e-02 9.99477530e-01 -1.67409137e-04 8.44264675e+00] [ 1.27862040e-02 -2.45994317e-04 9.99918223e-01 5.08578069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0192541539999 meters 0.015426684444523333 Centerline is valid? [True, True] Translation: X:739.57, Y:8.45, Z:5.09 [[ 9.99561495e-01 -2.74694904e-02 -1.10564102e-02 7.39574158e+02] [ 2.74695743e-02 9.99622630e-01 -1.44300049e-04 8.44832255e+00] [ 1.10562016e-02 -1.59478107e-04 9.99938866e-01 5.08662230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0492541539999 meters 0.016961607591282787 Centerline is valid? [True, True] Translation: X:739.61, Y:8.45, Z:5.09 [[ 9.99623073e-01 -2.49864713e-02 -1.13748747e-02 7.39605563e+02] [ 2.49864057e-02 9.99687780e-01 -1.47901264e-04 8.45065981e+00] [ 1.13750188e-02 -1.36371718e-04 9.99935293e-01 5.08552546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.079254154 meters 0.015084754871396117 Centerline is valid? [True, True] Translation: X:739.64, Y:8.45, Z:5.09 [[ 9.99595790e-01 -2.60596169e-02 -1.13645578e-02 7.39637297e+02] [ 2.60596255e-02 9.99660379e-01 -1.47351586e-04 8.45166602e+00] [ 1.13645381e-02 -1.48864096e-04 9.99935410e-01 5.08630073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1092541539999 meters 0.015317639999923728 Centerline is valid? [True, True] Translation: X:739.67, Y:8.45, Z:5.09 [[ 9.99563774e-01 -2.70202630e-02 -1.19233941e-02 7.39668448e+02] [ 2.70203473e-02 9.99634872e-01 -1.54055538e-04 8.45151200e+00] [ 1.19232031e-02 -1.68185914e-04 9.99928902e-01 5.08567195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1392541539999 meters 0.015946678453373372 Centerline is valid? [True, True] Translation: X:739.70, Y:8.45, Z:5.08 [[ 9.99431580e-01 -3.10122812e-02 -1.32195370e-02 7.39698458e+02] [ 3.10127469e-02 9.99518975e-01 -1.69811167e-04 8.44813748e+00] [ 1.32184443e-02 -2.40259511e-04 9.99912604e-01 5.08405683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1692541539999 meters 0.016635615789065892 Centerline is valid? [True, True] Translation: X:739.73, Y:8.45, Z:5.08 [[ 9.99342549e-01 -3.35131795e-02 -1.38324587e-02 7.39729735e+02] [ 3.35139414e-02 9.99438234e-01 -1.76778720e-04 8.44636208e+00] [ 1.38306125e-02 -2.86917714e-04 9.99904311e-01 5.08373770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1992541539998 meters 0.017826017701865694 Centerline is valid? [True, True] Translation: X:739.76, Y:8.44, Z:5.08 [[ 9.99157447e-01 -3.86299425e-02 -1.38608423e-02 7.39760624e+02] [ 3.86312047e-02 9.99253521e-01 -1.76763359e-04 8.44269058e+00] [ 1.38573238e-02 -3.58846611e-04 9.99903918e-01 5.08401515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2292541539999 meters 0.01918236012414992 Centerline is valid? [True, True] Translation: X:739.79, Y:8.44, Z:5.08 [[ 9.99061716e-01 -4.12026330e-02 -1.33428328e-02 7.39791468e+02] [ 4.12040367e-02 9.99150739e-01 -1.69802601e-04 8.43952921e+00] [ 1.33384975e-02 -3.80135292e-04 9.99910966e-01 5.08410980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2592541539999 meters 0.019674666566849953 Centerline is valid? [True, True] Translation: X:739.82, Y:8.44, Z:5.09 [[ 9.98897793e-01 -4.52589674e-02 -1.24428958e-02 7.39822171e+02] [ 4.52605066e-02 9.98975206e-01 -1.58013719e-04 8.43758220e+00] [ 1.24372959e-02 -4.05332212e-04 9.99922572e-01 5.08541125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2892541539999 meters 0.01970238469845267 Centerline is valid? [True, True] Translation: X:739.85, Y:8.44, Z:5.09 [[ 9.98841653e-01 -4.66713138e-02 -1.17106660e-02 7.39854311e+02] [ 4.66727796e-02 9.98910221e-01 -1.48240753e-04 8.43708833e+00] [ 1.17048226e-02 -3.98500294e-04 9.99931417e-01 5.08615373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3192541539999 meters 0.02075671854143538 Centerline is valid? [True, True] Translation: X:739.89, Y:8.43, Z:5.09 [[ 9.98766053e-01 -4.83070084e-02 -1.15240920e-02 7.39886806e+02] [ 4.83085464e-02 9.98832450e-01 -1.45033086e-04 8.43480039e+00] [ 1.15176431e-02 -4.11858008e-04 9.99933585e-01 5.08601945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3492541539999 meters 0.0216393969713914 Centerline is valid? [True, True] Translation: X:739.92, Y:8.43, Z:5.09 [[ 9.98774326e-01 -4.82318629e-02 -1.11145350e-02 7.39917964e+02] [ 4.82332969e-02 9.98836088e-01 -1.39153142e-04 8.43298285e+00] [ 1.11083102e-02 -3.97108080e-04 9.99938222e-01 5.08558011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3792541539999 meters 0.022460576787560207 Centerline is valid? [True, True] Translation: X:739.95, Y:8.43, Z:5.09 [[ 9.98795722e-01 -4.78512993e-02 -1.08331917e-02 7.39949631e+02] [ 4.78526456e-02 9.98854397e-01 -1.35046157e-04 8.43058434e+00] [ 1.08272433e-02 -3.83513361e-04 9.99941310e-01 5.08599545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4092541539999 meters 0.019733982976738604 Centerline is valid? [True, True] Translation: X:739.98, Y:8.44, Z:5.09 [[ 9.98903818e-01 -4.56092108e-02 -1.05339098e-02 7.39981575e+02] [ 4.56103658e-02 9.98959297e-01 -1.30683372e-04 8.43540057e+00] [ 1.05289075e-02 -3.49915359e-04 9.99944508e-01 5.08679546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4392541539999 meters 0.019609262618174597 Centerline is valid? [True, True] Translation: X:740.01, Y:8.44, Z:5.09 [[ 9.98985579e-01 -4.38542843e-02 -1.02281198e-02 7.40013015e+02] [ 4.38552883e-02 9.99037886e-01 -1.26210892e-04 8.43619562e+00] [ 1.02238141e-02 -3.22474281e-04 9.99947683e-01 5.08711016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4692541539999 meters 0.018991295719699236 Centerline is valid? [True, True] Translation: X:740.04, Y:8.44, Z:5.09 [[ 9.99155179e-01 -3.98649337e-02 -9.98579420e-03 7.40043780e+02] [ 3.98656964e-02 9.99205040e-01 -1.22737120e-04 8.43817117e+00] [ 9.98274879e-03 -2.75457211e-04 9.99950133e-01 5.08703446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4992541539999 meters 0.018154129919379654 Centerline is valid? [True, True] Translation: X:740.08, Y:8.44, Z:5.09 [[ 9.99245004e-01 -3.74942615e-02 -1.01784969e-02 7.40076172e+02] [ 3.74949361e-02 9.99296810e-01 -1.24613427e-04 8.44027579e+00] [ 1.01760117e-02 -2.57122745e-04 9.99948190e-01 5.08712876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5292541539999 meters 0.017328976948780394 Centerline is valid? [True, True] Translation: X:740.11, Y:8.44, Z:5.09 [[ 9.99393521e-01 -3.31108039e-02 -1.07826158e-02 7.40108046e+02] [ 3.31113139e-02 9.99451661e-01 -1.31268077e-04 8.44284606e+00] [ 1.07810497e-02 -2.25838110e-04 9.99941857e-01 5.08586915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5592541539999 meters 0.01660979097306813 Centerline is valid? [True, True] Translation: X:740.14, Y:8.44, Z:5.09 [[ 9.99451620e-01 -3.12138565e-02 -1.10523100e-02 7.40138719e+02] [ 3.12142814e-02 9.99512707e-01 -1.34091924e-04 8.44379730e+00] [ 1.10511098e-02 -2.10971524e-04 9.99938912e-01 5.08559677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.589254154 meters 0.01660979097306813 Centerline is valid? [True, True] Translation: X:740.17, Y:8.44, Z:5.09 [[ 9.99452732e-01 -3.11782443e-02 -1.10523133e-02 7.40169566e+02] [ 3.11786701e-02 9.99513818e-01 -1.33821189e-04 8.44414051e+00] [ 1.10511121e-02 -2.10848476e-04 9.99938912e-01 5.08581051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6192541539999 meters 0.016296049057569265 Centerline is valid? [True, True] Translation: X:740.20, Y:8.45, Z:5.09 [[ 9.99517142e-01 -2.90130709e-02 -1.11231795e-02 7.40199593e+02] [ 2.90133717e-02 9.99579014e-01 -1.34356566e-04 8.44537914e+00] [ 1.11223949e-02 -1.88429250e-04 9.99938126e-01 5.08557714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6492541539999 meters 0.01534574966433562 Centerline is valid? [True, True] Translation: X:740.23, Y:8.45, Z:5.09 [[ 9.99630456e-01 -2.46521327e-02 -1.14552712e-02 7.40230830e+02] [ 2.46521688e-02 9.99696080e-01 -1.38079946e-04 8.44939259e+00] [ 1.14551937e-02 -1.44368360e-04 9.99934377e-01 5.08597167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6792541539999 meters 0.014549258358775114 Centerline is valid? [True, True] Translation: X:740.26, Y:8.45, Z:5.09 [[ 9.99717518e-01 -2.09654719e-02 -1.11952456e-02 7.40261733e+02] [ 2.09652788e-02 9.99780195e-01 -1.34625135e-04 8.45174455e+00] [ 1.11956073e-02 -1.00124338e-04 9.99937322e-01 5.08623113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.709254154 meters 0.016512004448136833 Centerline is valid? [True, True] Translation: X:740.29, Y:8.45, Z:5.09 [[ 9.99759101e-01 -1.89531349e-02 -1.10688210e-02 7.40291891e+02] [ 1.89528233e-02 9.99820370e-01 -1.33055300e-04 8.45211225e+00] [ 1.10693545e-02 -7.67621611e-05 9.99938730e-01 5.08512575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7392541539999 meters 0.016810240361974513 Centerline is valid? [True, True] Translation: X:740.32, Y:8.45, Z:5.08 [[ 9.99771418e-01 -1.81884896e-02 -1.12378655e-02 7.40321500e+02] [ 1.81881169e-02 9.99834573e-01 -1.35375485e-04 8.45234378e+00] [ 1.12384688e-02 -6.90510713e-05 9.99936844e-01 5.08491770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7692541539999 meters 0.014275636630456702 Centerline is valid? [True, True] Translation: X:740.35, Y:8.45, Z:5.09 [[ 9.99760453e-01 -1.83982750e-02 -1.18549964e-02 7.40351183e+02] [ 1.83978697e-02 9.99830735e-01 -1.43258822e-04 8.45159672e+00] [ 1.18556255e-02 -7.48821736e-05 9.99929717e-01 5.08609497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7992541539999 meters 0.014384432940435038 Centerline is valid? [True, True] Translation: X:740.38, Y:8.45, Z:5.09 [[ 9.99737742e-01 -1.92536619e-02 -1.23993807e-02 7.40379541e+02] [ 1.92532772e-02 9.99814627e-01 -1.50402822e-04 8.45029464e+00] [ 1.23999780e-02 -8.83653371e-05 9.99923113e-01 5.08550863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.829254154 meters 0.014785775202742685 Centerline is valid? [True, True] Translation: X:740.41, Y:8.45, Z:5.09 [[ 9.99645313e-01 -2.27983513e-02 -1.37652907e-02 7.40409626e+02] [ 2.27982041e-02 9.99740073e-01 -1.67637972e-04 8.44657067e+00] [ 1.37655346e-02 -1.46245395e-04 9.99905240e-01 5.08500609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8592541539999 meters 0.014953026176757532 Centerline is valid? [True, True] Translation: X:740.44, Y:8.44, Z:5.08 [[ 9.99580903e-01 -2.51726609e-02 -1.42953017e-02 7.40439241e+02] [ 2.51727373e-02 9.99683101e-01 -1.74618323e-04 8.44417844e+00] [ 1.42951672e-02 -1.85306735e-04 9.99897802e-01 5.08483742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8892541539999 meters 0.015592465645269424 Centerline is valid? [True, True] Translation: X:740.47, Y:8.44, Z:5.08 [[ 9.99505859e-01 -2.78758467e-02 -1.45249707e-02 7.40468024e+02] [ 2.78762013e-02 9.99611367e-01 -1.78088310e-04 8.44087274e+00] [ 1.45242902e-02 -2.26900699e-04 9.99894491e-01 5.08457379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9192541539999 meters 0.017022612895087306 Centerline is valid? [True, True] Translation: X:740.50, Y:8.43, Z:5.08 [[ 9.99331983e-01 -3.37534549e-02 -1.40104124e-02 7.40497206e+02] [ 3.37543581e-02 9.99430144e-01 -1.72060874e-04 8.43330481e+00] [ 1.40082361e-02 -3.00966544e-04 9.99901835e-01 5.08489023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9492541539998 meters 0.01755065883806274 Centerline is valid? [True, True] Translation: X:740.53, Y:8.43, Z:5.09 [[ 9.99241277e-01 -3.66088001e-02 -1.32915441e-02 7.40528525e+02] [ 3.66098695e-02 9.99329621e-01 -1.62928957e-04 8.43089281e+00] [ 1.32885983e-02 -3.23796354e-04 9.99911650e-01 5.08572306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9792541539999 meters 0.020660628661115107 Centerline is valid? [True, True] Translation: X:740.56, Y:8.42, Z:5.09 [[ 9.99046405e-01 -4.17182461e-02 -1.28790161e-02 7.40558643e+02] [ 4.17196826e-02 9.99129343e-01 -1.57219244e-04 8.42487631e+00] [ 1.28743618e-02 -3.80239144e-04 9.99917050e-01 5.08589173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0092541539999 meters 0.01997764940383107 Centerline is valid? [True, True] Translation: X:740.59, Y:8.42, Z:5.09 [[ 9.98965314e-01 -4.37248099e-02 -1.25077101e-02 7.40590246e+02] [ 4.37263315e-02 9.99043535e-01 -1.51922297e-04 8.42331354e+00] [ 1.25023896e-02 -3.95151170e-04 9.99921764e-01 5.08755330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0392541539999 meters 0.021298534690818965 Centerline is valid? [True, True] Translation: X:740.62, Y:8.42, Z:5.09 [[ 9.98864126e-01 -4.60888390e-02 -1.20945049e-02 7.40620541e+02] [ 4.60904403e-02 9.98937260e-01 -1.46450678e-04 8.41957769e+00] [ 1.20884014e-02 -4.11156729e-04 9.99926848e-01 5.08827642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0692541539999 meters 0.022341392150405898 Centerline is valid? [True, True] Translation: X:740.65, Y:8.42, Z:5.09 [[ 9.98855321e-01 -4.63147314e-02 -1.19579820e-02 7.40652845e+02] [ 4.63163186e-02 9.98926813e-01 -1.44322234e-04 8.41796312e+00] [ 1.19518331e-02 -4.09692671e-04 9.99928490e-01 5.08801780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0992541539999 meters 0.021676277419125655 Centerline is valid? [True, True] Translation: X:740.69, Y:8.42, Z:5.09 [[ 9.98826412e-01 -4.68983918e-02 -1.20970665e-02 7.40685077e+02] [ 4.69000692e-02 9.98899576e-01 -1.45142809e-04 8.41712105e+00] [ 1.20905615e-02 -4.22380784e-04 9.99926817e-01 5.08919651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1292541539999 meters 0.022339833571913922 Centerline is valid? [True, True] Translation: X:740.72, Y:8.41, Z:5.09 [[ 9.98836946e-01 -4.69070707e-02 -1.11571559e-02 7.40715980e+02] [ 4.69085084e-02 9.98899181e-01 -1.32934174e-04 8.41479659e+00] [ 1.11511095e-02 -3.90585979e-04 9.99937748e-01 5.08995937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1592541539999 meters 0.022755469677764727 Centerline is valid? [True, True] Translation: X:740.75, Y:8.41, Z:5.09 [[ 9.98842450e-01 -4.68589820e-02 -1.08625455e-02 7.40747720e+02] [ 4.68603533e-02 9.98901442e-01 -1.28386566e-04 8.41419034e+00] [ 1.08566284e-02 -3.80784767e-04 9.99940993e-01 5.09057851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1892541539999 meters 0.023412751963897104 Centerline is valid? [True, True] Translation: X:740.78, Y:8.41, Z:5.09 [[ 9.98852380e-01 -4.66220377e-02 -1.09684841e-02 7.40778762e+02] [ 4.66234292e-02 9.98912528e-01 -1.28947499e-04 8.41307264e+00] [ 1.09625680e-02 -3.82588827e-04 9.99939836e-01 5.09081969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2192541539999 meters 0.023125578245152136 Centerline is valid? [True, True] Translation: X:740.81, Y:8.41, Z:5.09 [[ 9.98856644e-01 -4.64248066e-02 -1.14080153e-02 7.40811128e+02] [ 4.64263067e-02 9.98921709e-01 -1.33437073e-04 8.41386183e+00] [ 1.14019090e-02 -3.96347512e-04 9.99934918e-01 5.09088979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2492541539999 meters 0.0220982483087966 Centerline is valid? [True, True] Translation: X:740.84, Y:8.42, Z:5.09 [[ 9.98846797e-01 -4.65557441e-02 -1.17319175e-02 7.40843254e+02] [ 4.65573493e-02 9.98915609e-01 -1.36401311e-04 8.41551627e+00] [ 1.17255457e-02 -4.09962966e-04 9.99931169e-01 5.09060884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2792541539999 meters 0.020956379158011768 Centerline is valid? [True, True] Translation: X:740.88, Y:8.42, Z:5.09 [[ 9.98801207e-01 -4.72580374e-02 -1.27603906e-02 7.40875679e+02] [ 4.72600058e-02 9.98882611e-01 -1.47406942e-04 8.41709885e+00] [ 1.27530985e-02 -4.55825904e-04 9.99918572e-01 5.08995768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3092541539999 meters 0.021774728704611522 Centerline is valid? [True, True] Translation: X:740.91, Y:8.42, Z:5.09 [[ 9.98738176e-01 -4.83757033e-02 -1.34850852e-02 7.40906813e+02] [ 4.83780154e-02 9.98829086e-01 -1.54891704e-04 8.41669029e+00] [ 1.34767883e-02 -4.97685402e-04 9.99909060e-01 5.08962257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.339254154 meters 0.021266363805727072 Centerline is valid? [True, True] Translation: X:740.94, Y:8.42, Z:5.09 [[ 9.98692082e-01 -4.91761672e-02 -1.39938936e-02 7.40937954e+02] [ 4.91787445e-02 9.98789981e-01 -1.60089405e-04 8.41815641e+00] [ 1.39848333e-02 -5.28322096e-04 9.99902068e-01 5.08986231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3692541539999 meters 0.021856210640339945 Centerline is valid? [True, True] Translation: X:740.97, Y:8.42, Z:5.09 [[ 9.98644015e-01 -5.00079224e-02 -1.44685260e-02 7.40969631e+02] [ 5.00107725e-02 9.98748665e-01 -1.64984786e-04 8.41803632e+00] [ 1.44586716e-02 -5.58821093e-04 9.99895312e-01 5.08959802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3992541539999 meters 0.021867654460467286 Centerline is valid? [True, True] Translation: X:741.00, Y:8.42, Z:5.09 [[ 9.98518878e-01 -5.21318296e-02 -1.55667056e-02 7.41000972e+02] [ 5.21353957e-02 9.98640010e-01 -1.76918795e-04 8.41964467e+00] [ 1.55547582e-02 -6.34919601e-04 9.99878816e-01 5.08992653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4292541539999 meters 0.02276457357671729 Centerline is valid? [True, True] Translation: X:741.03, Y:8.42, Z:5.09 [[ 9.98473660e-01 -5.29941402e-02 -1.55554301e-02 7.41030895e+02] [ 5.29978119e-02 9.98594613e-01 -1.76377723e-04 8.41910793e+00] [ 1.55429157e-02 -6.48295250e-04 9.99878991e-01 5.09003432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.459254154 meters 0.02247855859145034 Centerline is valid? [True, True] Translation: X:741.06, Y:8.42, Z:5.09 [[ 9.98397278e-01 -5.43275094e-02 -1.58555091e-02 7.41062590e+02] [ 5.43315019e-02 9.98522937e-01 -1.79154143e-04 8.42089937e+00] [ 1.58418225e-02 -6.82586616e-04 9.99874277e-01 5.09020340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4892541539999 meters 0.022741482392375556 Centerline is valid? [True, True] Translation: X:741.09, Y:8.42, Z:5.09 [[ 9.98410530e-01 -5.40539392e-02 -1.59557326e-02 7.41093937e+02] [ 5.40579590e-02 9.98537783e-01 -1.79567757e-04 8.42126788e+00] [ 1.59421082e-02 -6.83252000e-04 9.99872683e-01 5.09045609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5192541539999 meters 0.02281745961185979 Centerline is valid? [True, True] Translation: X:741.12, Y:8.42, Z:5.09 [[ 9.98479275e-01 -5.27574341e-02 -1.59934552e-02 7.41124303e+02] [ 5.27613137e-02 9.98607136e-01 -1.79572937e-04 8.42444046e+00] [ 1.59806522e-02 -6.64535848e-04 9.99872080e-01 5.09116802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5492541539999 meters 0.021116197993645537 Centerline is valid? [True, True] Translation: X:741.16, Y:8.43, Z:5.09 [[ 9.98557763e-01 -5.12457585e-02 -1.60083022e-02 7.41155511e+02] [ 5.12494587e-02 9.98685867e-01 -1.79275470e-04 8.42885165e+00] [ 1.59964523e-02 -6.41399912e-04 9.99871843e-01 5.09211804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.579254154 meters 0.02163378072009878 Centerline is valid? [True, True] Translation: X:741.19, Y:8.43, Z:5.09 [[ 9.98748972e-01 -4.74465344e-02 -1.57898094e-02 7.41185824e+02] [ 4.74496667e-02 9.98873615e-01 -1.76408151e-04 8.43148362e+00] [ 1.57803940e-02 -5.73033735e-04 9.99875318e-01 5.09240582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6092541539999 meters 0.01985858675744446 Centerline is valid? [True, True] Translation: X:741.22, Y:8.44, Z:5.09 [[ 9.98871860e-01 -4.49002983e-02 -1.54586524e-02 7.41216949e+02] [ 4.49030028e-02 9.98991337e-01 -1.72267269e-04 8.43609993e+00] [ 1.54507947e-02 -5.22066986e-04 9.99880493e-01 5.09364480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6392541539999 meters 0.017984242827451948 Centerline is valid? [True, True] Translation: X:741.25, Y:8.44, Z:5.09 [[ 9.99114195e-01 -3.94682139e-02 -1.45974433e-02 7.41248105e+02] [ 3.94700517e-02 9.99220741e-01 -1.62288289e-04 8.44266923e+00] [ 1.45924733e-02 -4.14017309e-04 9.99893438e-01 5.09467441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6692541539999 meters 0.017513672050680617 Centerline is valid? [True, True] Translation: X:741.28, Y:8.45, Z:5.10 [[ 9.99219314e-01 -3.67699990e-02 -1.44474853e-02 7.41279162e+02] [ 3.67715232e-02 9.99323686e-01 -1.60219555e-04 8.44582265e+00] [ 1.44436056e-02 -3.71161569e-04 9.99895617e-01 5.09535954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6992541539998 meters 0.016995800669137518 Centerline is valid? [True, True] Translation: X:741.31, Y:8.45, Z:5.10 [[ 9.99314643e-01 -3.43579583e-02 -1.37758954e-02 7.41310336e+02] [ 3.43591218e-02 9.99409539e-01 -1.52279841e-04 8.44892651e+00] [ 1.37729933e-02 -3.21152191e-04 9.99905096e-01 5.09611396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7292541539999 meters 0.01634544633310754 Centerline is valid? [True, True] Translation: X:741.34, Y:8.45, Z:5.10 [[ 9.99439480e-01 -3.04863860e-02 -1.38313219e-02 7.41340450e+02] [ 3.04871935e-02 9.99535146e-01 -1.52513849e-04 8.45341162e+00] [ 1.38295420e-02 -2.69249826e-04 9.99904331e-01 5.09663367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7592541539999 meters 0.015804787899998708 Centerline is valid? [True, True] Translation: X:741.37, Y:8.46, Z:5.10 [[ 9.99518787e-01 -2.79976415e-02 -1.33538939e-02 7.41371119e+02] [ 2.79981737e-02 9.99607963e-01 -1.47128464e-04 8.45636378e+00] [ 1.33527779e-02 -2.26826976e-04 9.99910822e-01 5.09690461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7892541539999 meters 0.01569296279653118 Centerline is valid? [True, True] Translation: X:741.40, Y:8.46, Z:5.10 [[ 9.99544535e-01 -2.71014828e-02 -1.32752753e-02 7.41401203e+02] [ 2.71019313e-02 9.99632665e-01 -1.46150472e-04 8.45727652e+00] [ 1.32743597e-02 -2.13701693e-04 9.99911869e-01 5.09682474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8192541539999 meters 0.015391272885919493 Centerline is valid? [True, True] Translation: X:741.43, Y:8.46, Z:5.10 [[ 9.99561037e-01 -2.66324351e-02 -1.29787144e-02 7.41432026e+02] [ 2.66328257e-02 9.99645273e-01 -1.42766245e-04 8.45943832e+00] [ 1.29779128e-02 -2.02956264e-04 9.99915763e-01 5.09727324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8492541539999 meters 0.01665122319464143 Centerline is valid? [True, True] Translation: X:741.46, Y:8.46, Z:5.10 [[ 9.99559577e-01 -2.55943018e-02 -1.50194227e-02 7.41462456e+02] [ 2.55947101e-02 9.99672388e-01 -1.65066815e-04 8.46018030e+00] [ 1.50187270e-02 -2.19423655e-04 9.99887188e-01 5.09595083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8792541539999 meters 0.016661478356716296 Centerline is valid? [True, True] Translation: X:741.49, Y:8.46, Z:5.10 [[ 9.99546773e-01 -2.58182919e-02 -1.54810763e-02 7.41491734e+02] [ 2.58187498e-02 9.99666626e-01 -1.70318437e-04 8.46109564e+00] [ 1.54803127e-02 -2.29460792e-04 9.99880146e-01 5.09584211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9092541539999 meters 0.015616228728782785 Centerline is valid? [True, True] Translation: X:741.52, Y:8.46, Z:5.10 [[ 9.99507077e-01 -2.73707210e-02 -1.53768163e-02 7.41521030e+02] [ 2.73713479e-02 9.99625320e-01 -1.69724531e-04 8.46115929e+00] [ 1.53757004e-02 -2.51243317e-04 9.99881755e-01 5.09645427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9392541539999 meters 0.01585577525952508 Centerline is valid? [True, True] Translation: X:741.55, Y:8.46, Z:5.10 [[ 9.99474278e-01 -2.84692029e-02 -1.55135922e-02 7.41550794e+02] [ 2.84699645e-02 9.99594634e-01 -1.71796011e-04 8.46030838e+00] [ 1.55121944e-02 -2.69965726e-04 9.99879642e-01 5.09633501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9692541539999 meters 0.01650168562160338 Centerline is valid? [True, True] Translation: X:741.58, Y:8.46, Z:5.10 [[ 9.99418088e-01 -3.04597209e-02 -1.53522088e-02 7.41580406e+02] [ 3.04606954e-02 9.99535951e-01 -1.70406326e-04 8.45771566e+00] [ 1.53502751e-02 -2.97331792e-04 9.99882133e-01 5.09656095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9992541539999 meters 0.016188102002927352 Centerline is valid? [True, True] Translation: X:741.61, Y:8.46, Z:5.10 [[ 9.99394874e-01 -3.13918822e-02 -1.49811489e-02 7.41611364e+02] [ 3.13929130e-02 9.99507107e-01 -1.66408483e-04 8.45852642e+00] [ 1.49789886e-02 -3.03994118e-04 9.99887762e-01 5.09767951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0292541539999 meters 0.016991247231328607 Centerline is valid? [True, True] Translation: X:741.64, Y:8.46, Z:5.10 [[ 9.99363536e-01 -3.26686342e-02 -1.43277089e-02 7.41641999e+02] [ 3.26697101e-02 9.99466190e-01 -1.59014165e-04 8.45591434e+00] [ 1.43252554e-02 -3.09169140e-04 9.99897340e-01 5.09827340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0592541539999 meters 0.016592513860779395 Centerline is valid? [True, True] Translation: X:741.67, Y:8.46, Z:5.10 [[ 9.99351297e-01 -3.29172233e-02 -1.46096540e-02 7.41673526e+02] [ 3.29183746e-02 9.99458030e-01 -1.61731274e-04 8.45686206e+00] [ 1.46070598e-02 -3.19299705e-04 9.99893260e-01 5.09905051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.089254154 meters 0.016876366693210656 Centerline is valid? [True, True] Translation: X:741.70, Y:8.46, Z:5.10 [[ 9.99319275e-01 -3.37578410e-02 -1.48793562e-02 7.41704005e+02] [ 3.37591344e-02 9.99429984e-01 -1.64312851e-04 8.45509869e+00] [ 1.48764216e-02 -3.38113187e-04 9.99889283e-01 5.09911837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1192541539999 meters 0.016864827497586964 Centerline is valid? [True, True] Translation: X:741.74, Y:8.45, Z:5.10 [[ 9.99289744e-01 -3.46333963e-02 -1.48504464e-02 7.41735594e+02] [ 3.46347874e-02 9.99400022e-01 -1.63575344e-04 8.45435027e+00] [ 1.48472016e-02 -3.50882891e-04 9.99889713e-01 5.09907862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1492541539999 meters 0.017618996774683537 Centerline is valid? [True, True] Translation: X:741.77, Y:8.45, Z:5.10 [[ 9.99197379e-01 -3.69392263e-02 -1.54948733e-02 7.41766172e+02] [ 3.69410244e-02 9.99317433e-01 -1.70250102e-04 8.45036215e+00] [ 1.54905859e-02 -4.02283037e-04 9.99879933e-01 5.09839493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1792541539999 meters 0.017992743638568273 Centerline is valid? [True, True] Translation: X:741.80, Y:8.45, Z:5.10 [[ 9.99147841e-01 -3.82691036e-02 -1.54618155e-02 7.41797544e+02] [ 3.82710600e-02 9.99267380e-01 -1.69451072e-04 8.44851582e+00] [ 1.54569727e-02 -4.22433397e-04 9.99880445e-01 5.09870086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.209254154 meters 0.018944648169307514 Centerline is valid? [True, True] Translation: X:741.83, Y:8.45, Z:5.10 [[ 9.99041399e-01 -4.11297562e-02 -1.49875505e-02 7.41828622e+02] [ 4.11319239e-02 9.99153711e-01 -1.63718473e-04 8.44512020e+00] [ 1.49816004e-02 -4.52905255e-04 9.99887667e-01 5.09913958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2392541539999 meters 0.01987232726470763 Centerline is valid? [True, True] Translation: X:741.86, Y:8.44, Z:5.10 [[ 9.99018330e-01 -4.17377859e-02 -1.48436549e-02 7.41858734e+02] [ 4.17399850e-02 9.99128494e-01 -1.61756240e-04 8.44314307e+00] [ 1.48374699e-02 -4.57976482e-04 9.99889814e-01 5.09911141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2692541539999 meters 0.01867684430091482 Centerline is valid? [True, True] Translation: X:741.89, Y:8.44, Z:5.10 [[ 9.99016845e-01 -4.19478841e-02 -1.43428683e-02 7.41890078e+02] [ 4.19499646e-02 9.99119701e-01 -1.55904012e-04 8.44442726e+00] [ 1.43367822e-02 -4.45932084e-04 9.99897124e-01 5.10018402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2992541539999 meters 0.018525166038134498 Centerline is valid? [True, True] Translation: X:741.92, Y:8.44, Z:5.10 [[ 9.99036113e-01 -4.15230082e-02 -1.42367622e-02 7.41921095e+02] [ 4.15250224e-02 9.99137452e-01 -1.54225646e-04 8.44292741e+00] [ 1.42308862e-02 -4.37104879e-04 9.99898640e-01 5.10056380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.329254154 meters 0.01871200022842909 Centerline is valid? [True, True] Translation: X:741.95, Y:8.44, Z:5.10 [[ 9.99054012e-01 -4.11109594e-02 -1.41764093e-02 7.41952078e+02] [ 4.11129224e-02 9.99154495e-01 -1.53051199e-04 8.44219782e+00] [ 1.41707151e-02 -4.29927202e-04 9.99899498e-01 5.10062823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3592541539999 meters 0.01837769355346012 Centerline is valid? [True, True] Translation: X:741.98, Y:8.44, Z:5.10 [[ 9.99082673e-01 -4.05076055e-02 -1.38905180e-02 7.41983044e+02] [ 4.05094389e-02 9.99179145e-01 -1.49459851e-04 8.44182090e+00] [ 1.38851702e-02 -4.13374344e-04 9.99903511e-01 5.10109583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3892541539999 meters 0.018517446300129494 Centerline is valid? [True, True] Translation: X:742.01, Y:8.44, Z:5.10 [[ 9.99081372e-01 -4.04896476e-02 -1.40356706e-02 7.42014116e+02] [ 4.04915251e-02 9.99179871e-01 -1.50504600e-04 8.44141035e+00] [ 1.40302534e-02 -4.17959368e-04 9.99901484e-01 5.10110694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4192541539999 meters 0.018325028367550858 Centerline is valid? [True, True] Translation: X:742.05, Y:8.44, Z:5.10 [[ 9.99065442e-01 -4.07248735e-02 -1.44819532e-02 7.42045002e+02] [ 4.07269048e-02 9.99170303e-01 -1.54749885e-04 8.44122540e+00] [ 1.44762398e-02 -4.35199868e-04 9.99895119e-01 5.10114777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4492541539998 meters 0.019959880421490855 Centerline is valid? [True, True] Translation: X:742.08, Y:8.44, Z:5.10 [[ 9.99011317e-01 -4.19147385e-02 -1.48169825e-02 7.42075432e+02] [ 4.19170017e-02 9.99121084e-01 -1.57923108e-04 8.43717586e+00] [ 1.48105789e-02 -4.63316509e-04 9.99890210e-01 5.10035830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4792541539999 meters 0.019829272225335377 Centerline is valid? [True, True] Translation: X:742.11, Y:8.44, Z:5.10 [[ 9.98929203e-01 -4.36747430e-02 -1.52631590e-02 7.42106626e+02] [ 4.36773563e-02 9.99045676e-01 -1.62245061e-04 8.43537353e+00] [ 1.52556790e-02 -5.04583104e-04 9.99883498e-01 5.10049805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5092541539999 meters 0.019829272225335377 Centerline is valid? [True, True] Translation: X:742.14, Y:8.44, Z:5.10 [[ 9.98930787e-01 -4.36385054e-02 -1.52631649e-02 7.42137485e+02] [ 4.36411230e-02 9.99047259e-01 -1.61691407e-04 8.43567066e+00] [ 1.52556790e-02 -5.04583130e-04 9.99883498e-01 5.10071184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5392541539999 meters 0.020413140937493312 Centerline is valid? [True, True] Translation: X:742.17, Y:8.43, Z:5.10 [[ 9.98870396e-01 -4.49056449e-02 -1.55375618e-02 7.42168799e+02] [ 4.49085193e-02 9.98991090e-01 -1.64030951e-04 8.43407656e+00] [ 1.55292518e-02 -5.33923236e-04 9.99879271e-01 5.10058588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5692541539999 meters 0.020046440113437702 Centerline is valid? [True, True] Translation: X:742.20, Y:8.43, Z:5.10 [[ 9.98800270e-01 -4.62519118e-02 -1.60866980e-02 7.42199714e+02] [ 4.62551792e-02 9.98929642e-01 -1.69092865e-04 8.43419385e+00] [ 1.60773004e-02 -5.75203100e-04 9.99870586e-01 5.10091635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5992541539999 meters 0.02219033162931923 Centerline is valid? [True, True] Translation: X:742.23, Y:8.43, Z:5.10 [[ 9.98638976e-01 -4.91459791e-02 -1.74604679e-02 7.42230394e+02] [ 4.91502805e-02 9.98791378e-01 -1.82949248e-04 8.42979394e+00] [ 1.74483560e-02 -6.75486645e-04 9.99847538e-01 5.09988347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6292541539999 meters 0.021700395172850814 Centerline is valid? [True, True] Translation: X:742.26, Y:8.43, Z:5.10 [[ 9.98575799e-01 -5.04654798e-02 -1.73092193e-02 7.42260660e+02] [ 5.04699070e-02 9.98725566e-01 -1.81238579e-04 8.43059889e+00] [ 1.72963062e-02 -6.92614232e-04 9.99850168e-01 5.10000513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6592541539999 meters 0.022313876403819623 Centerline is valid? [True, True] Translation: X:742.29, Y:8.43, Z:5.10 [[ 9.98503616e-01 -5.16640678e-02 -1.79262978e-02 7.42291969e+02] [ 5.16690165e-02 9.98664247e-01 -1.87296913e-04 8.42901960e+00] [ 1.79120292e-02 -7.39217534e-04 9.99839293e-01 5.10013343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6892541539999 meters 0.023664156510500956 Centerline is valid? [True, True] Translation: X:742.32, Y:8.43, Z:5.10 [[ 9.98413488e-01 -5.35128719e-02 -1.75179575e-02 7.42322101e+02] [ 5.35178894e-02 9.98566874e-01 -1.82589997e-04 8.42532178e+00] [ 1.75026230e-02 -7.55223795e-04 9.99846532e-01 5.10001189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7192541539999 meters 0.024447504674570516 Centerline is valid? [True, True] Translation: X:742.35, Y:8.42, Z:5.10 [[ 9.98360262e-01 -5.46147403e-02 -1.71469399e-02 7.42353412e+02] [ 5.46197180e-02 9.98507213e-01 -1.78232781e-04 8.42408138e+00] [ 1.71310773e-02 -7.58620497e-04 9.99852965e-01 5.10035356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7492541539999 meters 0.026302361952613314 Centerline is valid? [True, True] Translation: X:742.38, Y:8.42, Z:5.10 [[ 9.98270967e-01 -5.66723843e-02 -1.55986398e-02 7.42383838e+02] [ 5.66767600e-02 9.98392567e-01 -1.61758303e-04 8.42105209e+00] [ 1.55827333e-02 -7.22601748e-04 9.99878321e-01 5.10119489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7792541539999 meters 0.024114682660510346 Centerline is valid? [True, True] Translation: X:742.42, Y:8.43, Z:5.10 [[ 9.98186314e-01 -5.83089929e-02 -1.49714289e-02 7.42415514e+02] [ 5.83132136e-02 9.98298325e-01 -1.54837216e-04 8.42504528e+00] [ 1.49549808e-02 -7.18475742e-04 9.99887910e-01 5.10282852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8092541539999 meters 0.0255509769878106 Centerline is valid? [True, True] Translation: X:742.45, Y:8.42, Z:5.10 [[ 9.98159003e-01 -5.88843594e-02 -1.45339720e-02 7.42446699e+02] [ 5.88884077e-02 9.98264561e-01 -1.49641879e-04 8.42348454e+00] [ 1.45175607e-02 -7.06516079e-04 9.99894365e-01 5.10281358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.839254154 meters 0.02465648789834015 Centerline is valid? [True, True] Translation: X:742.48, Y:8.42, Z:5.10 [[ 9.98121728e-01 -5.95339633e-02 -1.44472864e-02 7.42478560e+02] [ 5.95380448e-02 9.98226026e-01 -1.47808052e-04 8.42498328e+00] [ 1.44304569e-02 -7.12632758e-04 9.99895622e-01 5.10343458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8692541539999 meters 0.025012257431075404 Centerline is valid? [True, True] Translation: X:742.51, Y:8.42, Z:5.10 [[ 9.98078011e-01 -6.02498968e-02 -1.44994466e-02 7.42511059e+02] [ 6.02540989e-02 9.98183060e-01 -1.47260494e-04 8.42486101e+00] [ 1.44819744e-02 -7.26673630e-04 9.99894867e-01 5.10357229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8992541539999 meters 0.025942101431088195 Centerline is valid? [True, True] Translation: X:742.54, Y:8.42, Z:5.10 [[ 9.98021058e-01 -6.11828636e-02 -1.45129376e-02 7.42542129e+02] [ 6.11871913e-02 9.98126298e-01 -1.46058933e-04 8.42454160e+00] [ 1.44946810e-02 -7.42235998e-04 9.99894671e-01 5.10382533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9292541539999 meters 0.0264775546334858 Centerline is valid? [True, True] Translation: X:742.57, Y:8.43, Z:5.10 [[ 9.97999167e-01 -6.14691620e-02 -1.48055880e-02 7.42573866e+02] [ 6.14737217e-02 9.98108691e-01 -1.47363387e-04 8.42505709e+00] [ 1.47866443e-02 -7.63086056e-04 9.99890380e-01 5.10422481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.959254154 meters 0.02701801957911642 Centerline is valid? [True, True] Translation: X:742.61, Y:8.43, Z:5.10 [[ 9.97995933e-01 -6.14569248e-02 -1.50719773e-02 7.42606083e+02] [ 6.14616695e-02 9.98109433e-01 -1.48639185e-04 8.42582317e+00] [ 1.50526176e-02 -7.78007584e-04 9.99886400e-01 5.10429963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9892541539999 meters 0.027181174932782676 Centerline is valid? [True, True] Translation: X:742.64, Y:8.43, Z:5.10 [[ 9.98010365e-01 -6.11360769e-02 -1.54172593e-02 7.42638391e+02] [ 6.11410207e-02 9.98129126e-01 -1.50914064e-04 8.42647419e+00] [ 1.53976419e-02 -7.92013171e-04 9.99881136e-01 5.10432355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0192541539999 meters 0.02736083143251834 Centerline is valid? [True, True] Translation: X:742.67, Y:8.43, Z:5.10 [[ 9.98035309e-01 -6.05349223e-02 -1.61569111e-02 7.42670996e+02] [ 6.05402925e-02 9.98165742e-01 -1.56965632e-04 8.42672690e+00] [ 1.61367771e-02 -8.21486883e-04 9.99869456e-01 5.10395599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0492541539999 meters 0.027182296951792393 Centerline is valid? [True, True] Translation: X:742.70, Y:8.43, Z:5.10 [[ 9.98076923e-01 -5.98236386e-02 -1.62353986e-02 7.42702920e+02] [ 5.98289863e-02 9.98208629e-01 -1.56559472e-04 8.42727917e+00] [ 1.62156809e-02 -8.15089044e-04 9.99868185e-01 5.10385838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.079254154 meters 0.026639139838337874 Centerline is valid? [True, True] Translation: X:742.73, Y:8.43, Z:5.10 [[ 9.98215198e-01 -5.73928135e-02 -1.65070462e-02 7.42734734e+02] [ 5.73980268e-02 9.98351362e-01 -1.58160838e-04 8.42939532e+00] [ 1.64889093e-02 -7.89593327e-04 9.99863737e-01 5.10380965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1092541539999 meters 0.027006616326178342 Centerline is valid? [True, True] Translation: X:742.77, Y:8.43, Z:5.10 [[ 9.98326137e-01 -5.53188519e-02 -1.68744835e-02 7.42766327e+02] [ 5.53240167e-02 9.98468441e-01 -1.60949327e-04 8.43121446e+00] [ 1.68575428e-02 -7.72884288e-04 9.99857603e-01 5.10316222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1392541539999 meters 0.025762263577899916 Centerline is valid? [True, True] Translation: X:742.80, Y:8.43, Z:5.10 [[ 9.98410037e-01 -5.38067887e-02 -1.67996043e-02 7.42797602e+02] [ 5.38117041e-02 9.98551088e-01 -1.59642890e-04 8.43377307e+00] [ 1.67838531e-02 -7.44626274e-04 9.99858864e-01 5.10441220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1692541539999 meters 0.022064771097804418 Centerline is valid? [True, True] Translation: X:742.83, Y:8.44, Z:5.11 [[ 9.98651783e-01 -4.91498297e-02 -1.67006331e-02 7.42828684e+02] [ 4.91540441e-02 9.98791197e-01 -1.58281265e-04 8.44237456e+00] [ 1.66882248e-02 -6.62835788e-04 9.99860522e-01 5.10577119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1992541539998 meters 0.019924666179931716 Centerline is valid? [True, True] Translation: X:742.86, Y:8.45, Z:5.11 [[ 9.98871125e-01 -4.45681598e-02 -1.64363553e-02 7.42859199e+02] [ 4.45716245e-02 9.99006179e-01 -1.55651733e-04 8.44843013e+00] [ 1.64269576e-02 -5.77119035e-04 9.99864902e-01 5.10701437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2292541539999 meters 0.019451854394928577 Centerline is valid? [True, True] Translation: X:742.89, Y:8.45, Z:5.11 [[ 9.98960872e-01 -4.23582000e-02 -1.68213822e-02 7.42889463e+02] [ 4.23615191e-02 9.99102335e-01 -1.59115147e-04 8.45008703e+00] [ 1.68130221e-02 -5.53629497e-04 9.99858498e-01 5.10729541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2592541539999 meters 0.01961132120489438 Centerline is valid? [True, True] Translation: X:742.92, Y:8.45, Z:5.11 [[ 9.99053917e-01 -4.02824829e-02 -1.63887945e-02 7.42919934e+02] [ 4.02853691e-02 9.99188203e-01 -1.54124272e-04 8.45119946e+00] [ 1.63816986e-02 -5.06250177e-04 9.99865683e-01 5.10730023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2892541539999 meters 0.018452438931631666 Centerline is valid? [True, True] Translation: X:742.95, Y:8.45, Z:5.11 [[ 9.99130185e-01 -3.84391287e-02 -1.61650144e-02 7.42950735e+02] [ 3.84417046e-02 9.99260833e-01 -1.51460478e-04 8.45486745e+00] [ 1.61588877e-02 -4.70081972e-04 9.99869326e-01 5.10833153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3192541539999 meters 0.018380196632881932 Centerline is valid? [True, True] Translation: X:742.98, Y:8.46, Z:5.11 [[ 9.99245194e-01 -3.55122190e-02 -1.57456241e-02 7.42980012e+02] [ 3.55142973e-02 9.99369157e-01 -1.47691981e-04 8.45803327e+00] [ 1.57409360e-02 -4.11614274e-04 9.99876019e-01 5.10850553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3492541539999 meters 0.017002583751459726 Centerline is valid? [True, True] Translation: X:743.01, Y:8.46, Z:5.11 [[ 9.99334587e-01 -3.28128004e-02 -1.59280566e-02 7.43010414e+02] [ 3.28145825e-02 9.99461445e-01 -1.49531188e-04 8.46307829e+00] [ 1.59243850e-02 -3.73240838e-04 9.99873129e-01 5.10866028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3792541539999 meters 0.016945025022567402 Centerline is valid? [True, True] Translation: X:743.04, Y:8.46, Z:5.11 [[ 9.99369574e-01 -3.18100573e-02 -1.57662263e-02 7.43040960e+02] [ 3.18116786e-02 9.99493870e-01 -1.48011939e-04 8.46431708e+00] [ 1.57629548e-02 -3.53631494e-04 9.99875694e-01 5.10851971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4092541539999 meters 0.01634055705735739 Centerline is valid? [True, True] Translation: X:743.07, Y:8.47, Z:5.11 [[ 9.99446286e-01 -2.93714461e-02 -1.56345364e-02 7.43071481e+02] [ 2.93727422e-02 9.99568517e-01 -1.46775647e-04 8.46657833e+00] [ 1.56321014e-02 -3.12534833e-04 9.99877762e-01 5.10884942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4392541539999 meters 0.016237482565501858 Centerline is valid? [True, True] Translation: X:743.10, Y:8.47, Z:5.11 [[ 9.99470923e-01 -2.85635646e-02 -1.55562556e-02 7.43100794e+02] [ 2.85647450e-02 9.99591934e-01 -1.46357488e-04 8.46781138e+00] [ 1.55540881e-02 -2.98080421e-04 9.99878983e-01 5.10919029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4692541539999 meters 0.016061721100402514 Centerline is valid? [True, True] Translation: X:743.13, Y:8.47, Z:5.11 [[ 9.99511670e-01 -2.72286208e-02 -1.53304589e-02 7.43130343e+02] [ 2.72296074e-02 9.99629195e-01 -1.44409531e-04 8.46941918e+00] [ 1.53287063e-02 -2.73103366e-04 9.99882471e-01 5.10970219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4992541539999 meters 0.0160662397574197 Centerline is valid? [True, True] Translation: X:743.16, Y:8.47, Z:5.11 [[ 9.99502121e-01 -2.73828125e-02 -1.56745724e-02 7.43159524e+02] [ 2.73838589e-02 9.99624981e-01 -1.47907128e-04 8.47024719e+00] [ 1.56727442e-02 -2.81396791e-04 9.99877135e-01 5.10964557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5292541539999 meters 0.016235106257851385 Centerline is valid? [True, True] Translation: X:743.19, Y:8.47, Z:5.11 [[ 9.99497223e-01 -2.74073780e-02 -1.59416797e-02 7.43188396e+02] [ 2.74084517e-02 9.99624306e-01 -1.51173271e-04 8.46934457e+00] [ 1.59398338e-02 -2.85839492e-04 9.99872912e-01 5.10922749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5592541539999 meters 0.016316531659412273 Centerline is valid? [True, True] Translation: X:743.22, Y:8.47, Z:5.11 [[ 9.99471470e-01 -2.80932109e-02 -1.63570472e-02 7.43217731e+02] [ 2.80944212e-02 9.99605262e-01 -1.55836619e-04 8.46884731e+00] [ 1.63549684e-02 -3.03787519e-04 9.99866202e-01 5.10900362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.589254154 meters 0.01694900711539453 Centerline is valid? [True, True] Translation: X:743.25, Y:8.46, Z:5.11 [[ 9.99414090e-01 -3.00500845e-02 -1.63849995e-02 7.43245914e+02] [ 3.00515484e-02 9.99548338e-01 -1.56917729e-04 8.46492256e+00] [ 1.63823144e-02 -3.35568815e-04 9.99865745e-01 5.10799446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6192541539999 meters 0.01729158808509449 Centerline is valid? [True, True] Translation: X:743.28, Y:8.46, Z:5.11 [[ 9.99383489e-01 -3.11950075e-02 -1.61094048e-02 7.43275564e+02] [ 3.11965594e-02 9.99513257e-01 -1.55009819e-04 8.46321690e+00] [ 1.61063992e-02 -3.47643750e-04 9.99870223e-01 5.10802311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6492541539999 meters 0.018479259593863918 Centerline is valid? [True, True] Translation: X:743.30, Y:8.46, Z:5.11 [[ 9.99318411e-01 -3.33602881e-02 -1.58052124e-02 7.43304544e+02] [ 3.33620543e-02 9.99443320e-01 -1.51981060e-04 8.45956013e+00] [ 1.58014841e-02 -3.75416882e-04 9.99875078e-01 5.10776770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6792541539999 meters 0.018706865497107705 Centerline is valid? [True, True] Translation: X:743.34, Y:8.46, Z:5.11 [[ 9.99275847e-01 -3.44449268e-02 -1.61656550e-02 7.43335441e+02] [ 3.44469206e-02 9.99406517e-01 -1.55174209e-04 8.45872111e+00] [ 1.61614059e-02 -4.01795197e-04 9.99869315e-01 5.10765347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.709254154 meters 0.01927781528714616 Centerline is valid? [True, True] Translation: X:743.36, Y:8.46, Z:5.11 [[ 9.99237055e-01 -3.50952031e-02 -1.71357521e-02 7.43364671e+02] [ 3.50975361e-02 9.99383878e-01 -1.64660979e-04 8.45763806e+00] [ 1.71309732e-02 -4.36887327e-04 9.99853159e-01 5.10699626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7392541539999 meters 0.0172102348105303 Centerline is valid? [True, True] Translation: X:743.39, Y:8.46, Z:5.11 [[ 9.99175909e-01 -3.56508309e-02 -1.94041429e-02 7.43394710e+02] [ 3.56539203e-02 9.99364179e-01 -1.86825409e-04 8.46073035e+00] [ 1.93984658e-02 -5.05162315e-04 9.99811704e-01 5.10814744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7692541539999 meters 0.018209905811466743 Centerline is valid? [True, True] Translation: X:743.42, Y:8.46, Z:5.11 [[ 9.99172264e-01 -3.52264801e-02 -2.03440676e-02 7.43423626e+02] [ 3.52297703e-02 9.99379220e-01 -1.96754625e-04 8.45945800e+00] [ 2.03383694e-02 -5.20125065e-04 9.99793019e-01 5.10711429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7992541539999 meters 0.01714597092668802 Centerline is valid? [True, True] Translation: X:743.45, Y:8.46, Z:5.11 [[ 9.99192105e-01 -3.45046416e-02 -2.06050173e-02 7.43452155e+02] [ 3.45077827e-02 9.99404408e-01 -2.03199347e-04 8.45886927e+00] [ 2.05997564e-02 -5.07998274e-04 9.99787673e-01 5.10747649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.829254154 meters 0.017098118056380212 Centerline is valid? [True, True] Translation: X:743.48, Y:8.46, Z:5.11 [[ 9.99222458e-01 -3.36818951e-02 -2.04941270e-02 7.43481181e+02] [ 3.36847218e-02 9.99432487e-01 -2.07362304e-04 8.45931499e+00] [ 2.04894807e-02 -4.83137897e-04 9.99789952e-01 5.10792494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8592541539999 meters 0.016908716944404715 Centerline is valid? [True, True] Translation: X:743.51, Y:8.46, Z:5.11 [[ 9.99266048e-01 -3.26164858e-02 -2.00880756e-02 7.43509827e+02] [ 3.26188842e-02 9.99467841e-01 -2.08340860e-04 8.46039470e+00] [ 2.00841809e-02 -4.47062663e-04 9.99798193e-01 5.10861161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8892541539999 meters 0.015732671369556594 Centerline is valid? [True, True] Translation: X:743.54, Y:8.46, Z:5.11 [[ 9.99377211e-01 -2.94482103e-02 -1.94420660e-02 7.43538601e+02] [ 2.94497624e-02 9.99566240e-01 -2.06539396e-04 8.46338320e+00] [ 1.94397151e-02 -3.66153459e-04 9.99810964e-01 5.11056209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9192541539999 meters 0.015422149172087524 Centerline is valid? [True, True] Translation: X:743.57, Y:8.46, Z:5.11 [[ 9.99441022e-01 -2.75618844e-02 -1.89204994e-02 7.43567708e+02] [ 2.75629252e-02 9.99620049e-01 -2.05816059e-04 8.46409284e+00] [ 1.89189833e-02 -3.15803299e-04 9.99820970e-01 5.11082861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9492541539998 meters 0.01617550776018683 Centerline is valid? [True, True] Translation: X:743.60, Y:8.46, Z:5.11 [[ 9.99575463e-01 -2.23493883e-02 -1.86921877e-02 7.43596193e+02] [ 2.23494044e-02 9.99750199e-01 -2.08066879e-04 8.46483276e+00] [ 1.86921685e-02 -2.09780714e-04 9.99825264e-01 5.11066548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9792541539999 meters 0.01442464396217995 Centerline is valid? [True, True] Translation: X:743.62, Y:8.47, Z:5.11 [[ 9.99634230e-01 -2.04545192e-02 -1.76923385e-02 7.43623702e+02] [ 2.04541819e-02 9.99790771e-01 -2.00035928e-04 8.46584553e+00] [ 1.76927284e-02 -1.61919549e-04 9.99843458e-01 5.11159955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0092541539999 meters 0.014293999554177065 Centerline is valid? [True, True] Translation: X:743.65, Y:8.47, Z:5.11 [[ 9.99666608e-01 -1.84524964e-02 -1.80603866e-02 7.43652681e+02] [ 1.84517498e-02 9.99829730e-01 -2.07989228e-04 8.46724813e+00] [ 1.80611494e-02 -1.25325849e-04 9.99836876e-01 5.11214805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0392541539999 meters 0.013954219729665112 Centerline is valid? [True, True] Translation: X:743.68, Y:8.47, Z:5.11 [[ 9.99720729e-01 -1.55176414e-02 -1.78231915e-02 7.43680784e+02] [ 1.55163993e-02 9.99879592e-01 -2.07987645e-04 8.46803350e+00] [ 1.78242729e-02 -6.86221943e-05 9.99841133e-01 5.11278823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0692541539999 meters 0.013945173650782962 Centerline is valid? [True, True] Translation: X:743.71, Y:8.47, Z:5.11 [[ 9.99725505e-01 -1.55115968e-02 -1.75585973e-02 7.43708747e+02] [ 1.55103243e-02 9.99879686e-01 -2.08662483e-04 8.46784891e+00] [ 1.75597214e-02 -6.37343310e-05 9.99845814e-01 5.11338026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0992541539999 meters 0.013952751327516971 Centerline is valid? [True, True] Translation: X:743.74, Y:8.46, Z:5.11 [[ 9.99709067e-01 -1.71085260e-02 -1.70023151e-02 7.43736036e+02] [ 1.71075080e-02 9.99853635e-01 -2.05327702e-04 8.46443934e+00] [ 1.70033394e-02 -8.55992766e-05 9.99855429e-01 5.11334103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1292541539999 meters 0.014141064292470733 Centerline is valid? [True, True] Translation: X:743.76, Y:8.46, Z:5.11 [[ 9.99674734e-01 -1.90456137e-02 -1.69614559e-02 7.43764206e+02] [ 1.90448490e-02 9.99818609e-01 -2.06624650e-04 8.46179432e+00] [ 1.69623146e-02 -1.16470925e-04 9.99856123e-01 5.11303673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1592541539999 meters 0.01426875628438474 Centerline is valid? [True, True] Translation: X:743.79, Y:8.46, Z:5.11 [[ 9.99619262e-01 -2.18288858e-02 -1.68769156e-02 7.43792607e+02] [ 2.18284724e-02 9.99761709e-01 -2.08726840e-04 8.45889134e+00] [ 1.68774502e-02 -1.59749915e-04 9.99857553e-01 5.11296796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1892541539999 meters 0.015632684574581366 Centerline is valid? [True, True] Translation: X:743.82, Y:8.45, Z:5.11 [[ 9.99442232e-01 -2.82660625e-02 -1.77835645e-02 7.43821196e+02] [ 2.82665790e-02 9.99600396e-01 -2.22363815e-04 8.45148123e+00] [ 1.77827434e-02 -2.80440743e-04 9.99841835e-01 5.11160299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2192541539999 meters 0.01619173976450559 Centerline is valid? [True, True] Translation: X:743.85, Y:8.45, Z:5.11 [[ 9.99320986e-01 -3.23030184e-02 -1.77223582e-02 7.43849989e+02] [ 3.23041116e-02 9.99478061e-01 -2.24660706e-04 8.44873500e+00] [ 1.77203654e-02 -3.47996880e-04 9.99842921e-01 5.11195905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2492541539999 meters 0.018339957567436657 Centerline is valid? [True, True] Translation: X:743.88, Y:8.44, Z:5.11 [[ 9.99018395e-01 -4.02778310e-02 -1.84375328e-02 7.43880759e+02] [ 4.02803380e-02 9.99188390e-01 -2.35524389e-04 8.44178580e+00] [ 1.84320551e-02 -5.07376854e-04 9.99829987e-01 5.11152456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2792541539999 meters 0.019431281605126263 Centerline is valid? [True, True] Translation: X:743.91, Y:8.44, Z:5.11 [[ 9.98841301e-01 -4.43239817e-02 -1.87467218e-02 7.43910681e+02] [ 4.43272774e-02 9.99017034e-01 -2.39899807e-04 8.43836870e+00] [ 1.87389277e-02 -5.91369299e-04 9.99824236e-01 5.11140348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3092541539999 meters 0.02085929335221805 Centerline is valid? [True, True] Translation: X:743.94, Y:8.43, Z:5.11 [[ 9.98665720e-01 -4.81703349e-02 -1.86118109e-02 7.43940701e+02] [ 4.81742418e-02 9.98838919e-01 -2.38630954e-04 8.43489098e+00] [ 1.86016960e-02 -6.58297326e-04 9.99826757e-01 5.11153142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.339254154 meters 0.024069328279520706 Centerline is valid? [True, True] Translation: X:743.97, Y:8.43, Z:5.11 [[ 9.98337643e-01 -5.47341887e-02 -1.80587753e-02 7.43969998e+02] [ 5.47389303e-02 9.98500674e-01 -2.31996777e-04 8.42780864e+00] [ 1.80443974e-02 -7.56906927e-04 9.99836900e-01 5.11212099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3692541539999 meters 0.02494161154648006 Centerline is valid? [True, True] Translation: X:744.00, Y:8.43, Z:5.11 [[ 9.98102664e-01 -5.93139880e-02 -1.65204027e-02 7.44000695e+02] [ 5.93185788e-02 9.98239080e-01 -2.12424911e-04 8.42542039e+00] [ 1.65039114e-02 -7.67944940e-04 9.99863506e-01 5.11379990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3992541539999 meters 0.02494161154648006 Centerline is valid? [True, True] Translation: X:744.03, Y:8.43, Z:5.11 [[ 9.98104801e-01 -5.92780116e-02 -1.65204071e-02 7.44031570e+02] [ 5.92826032e-02 9.98241217e-01 -2.12079192e-04 8.42578642e+00] [ 1.65039230e-02 -7.67695480e-04 9.99863506e-01 5.11401385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4292541539999 meters 0.02594649080793135 Centerline is valid? [True, True] Translation: X:744.06, Y:8.42, Z:5.11 [[ 9.98036611e-01 -6.06005105e-02 -1.58272022e-02 7.44061655e+02] [ 6.06048969e-02 9.98161813e-01 -2.02781785e-04 8.42361987e+00] [ 1.58103975e-02 -7.56822313e-04 9.99874721e-01 5.11478903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.459254154 meters 0.027755336722918997 Centerline is valid? [True, True] Translation: X:744.09, Y:8.42, Z:5.12 [[ 9.97951107e-01 -6.21864338e-02 -1.50477724e-02 7.44091777e+02] [ 6.21905825e-02 9.98064274e-01 -1.92533729e-04 8.42084761e+00] [ 1.50306170e-02 -7.43690483e-04 9.99886757e-01 5.11535679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4892541539999 meters 0.02879626220166413 Centerline is valid? [True, True] Translation: X:744.12, Y:8.42, Z:5.12 [[ 9.97855641e-01 -6.40927980e-02 -1.32753084e-02 7.44122955e+02] [ 6.40961995e-02 9.97943710e-01 -1.69524411e-04 8.41842533e+00] [ 1.32588758e-02 -6.81735927e-04 9.99911865e-01 5.11654567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5192541539999 meters 0.02914008514908551 Centerline is valid? [True, True] Translation: X:744.16, Y:8.42, Z:5.12 [[ 9.97848837e-01 -6.41965706e-02 -1.32853012e-02 7.44155289e+02] [ 6.41999957e-02 9.97937038e-01 -1.68946292e-04 8.42082511e+00] [ 1.32687399e-02 -6.84333416e-04 9.99911732e-01 5.11605932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5492541539999 meters 0.025884816330252712 Centerline is valid? [True, True] Translation: X:744.19, Y:8.42, Z:5.12 [[ 9.97815965e-01 -6.50759103e-02 -1.13325259e-02 7.44187421e+02] [ 6.50784676e-02 9.97880139e-01 -1.43355870e-04 8.42344232e+00] [ 1.13178315e-02 -5.94460642e-04 9.99935775e-01 5.11854091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5792541539998 meters 0.028580527612091164 Centerline is valid? [True, True] Translation: X:744.22, Y:8.42, Z:5.12 [[ 9.97844091e-01 -6.45032013e-02 -1.21039887e-02 7.44218552e+02] [ 6.45060907e-02 9.97917302e-01 -1.51939595e-04 8.42247873e+00] [ 1.20885804e-02 -6.29168967e-04 9.99926732e-01 5.11690356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6092541539999 meters 0.026987208249292117 Centerline is valid? [True, True] Translation: X:744.25, Y:8.42, Z:5.12 [[ 9.97838928e-01 -6.45826194e-02 -1.21061262e-02 7.44250825e+02] [ 6.45855304e-02 9.97912164e-01 -1.50751261e-04 8.42334820e+00] [ 1.20905865e-02 -6.31455108e-04 9.99926707e-01 5.11849238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6392541539999 meters 0.027977899605401205 Centerline is valid? [True, True] Translation: X:744.28, Y:8.42, Z:5.12 [[ 9.97833940e-01 -6.43840495e-02 -1.34952506e-02 7.44281887e+02] [ 6.43876665e-02 9.97924947e-01 -1.66745619e-04 8.42447485e+00] [ 1.34779830e-02 -7.02543256e-04 9.99908921e-01 5.11730585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6692541539999 meters 0.025450102565185848 Centerline is valid? [True, True] Translation: X:744.31, Y:8.43, Z:5.12 [[ 9.97860895e-01 -6.39549480e-02 -1.35424566e-02 7.44313764e+02] [ 6.39585682e-02 9.97952541e-01 -1.66052914e-04 8.42910209e+00] [ 1.35253489e-02 -7.00458425e-04 9.99908283e-01 5.11746097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6992541539998 meters 0.025221887844564184 Centerline is valid? [True, True] Translation: X:744.35, Y:8.43, Z:5.12 [[ 9.97939627e-01 -6.26935179e-02 -1.36390192e-02 7.44346300e+02] [ 6.26970863e-02 9.98032589e-01 -1.66219112e-04 8.43172336e+00] [ 1.36226065e-02 -6.89250126e-04 9.99906970e-01 5.11727591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7292541539999 meters 0.02540498409132298 Centerline is valid? [True, True] Translation: X:744.38, Y:8.43, Z:5.12 [[ 9.97998432e-01 -6.17382614e-02 -1.36936577e-02 7.44378176e+02] [ 6.17417825e-02 9.98092142e-01 -1.65870615e-04 8.43319869e+00] [ 1.36777727e-02 -6.79932221e-04 9.99906224e-01 5.11764402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7592541539999 meters 0.02535224390620642 Centerline is valid? [True, True] Translation: X:744.41, Y:8.44, Z:5.12 [[ 9.98085809e-01 -6.03426561e-02 -1.35455779e-02 7.44409952e+02] [ 6.03459851e-02 9.98177507e-01 -1.63200780e-04 8.43700580e+00] [ 1.35307391e-02 -6.54532860e-04 9.99908241e-01 5.11687928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7892541539999 meters 0.024031340936679645 Centerline is valid? [True, True] Translation: X:744.44, Y:8.44, Z:5.12 [[ 9.98228486e-01 -5.80514459e-02 -1.30353141e-02 7.44440880e+02] [ 5.80543417e-02 9.98313412e-01 -1.56451470e-04 8.44196940e+00] [ 1.30224111e-02 -6.00582264e-04 9.99915024e-01 5.11837724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8192541539999 meters 0.025343224629348217 Centerline is valid? [True, True] Translation: X:744.47, Y:8.44, Z:5.12 [[ 9.98352633e-01 -5.59625087e-02 -1.26577464e-02 7.44470987e+02] [ 5.59650816e-02 9.98432715e-01 -1.51128953e-04 8.44226956e+00] [ 1.26463656e-02 -5.57511820e-04 9.99919876e-01 5.11833301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8492541539999 meters 0.023711008560174798 Centerline is valid? [True, True] Translation: X:744.50, Y:8.45, Z:5.12 [[ 9.98599783e-01 -5.13810789e-02 -1.25880441e-02 7.44501560e+02] [ 5.13832695e-02 9.98678996e-01 -1.49546142e-04 8.44848170e+00] [ 1.25790991e-02 -4.97478119e-04 9.99920756e-01 5.11874824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8792541539999 meters 0.02194599342391458 Centerline is valid? [True, True] Translation: X:744.53, Y:8.45, Z:5.12 [[ 9.98749938e-01 -4.83706505e-02 -1.26032195e-02 7.44533290e+02] [ 4.83726126e-02 9.98829349e-01 -1.49288206e-04 8.45444949e+00] [ 1.25956867e-02 -4.60549070e-04 9.99920565e-01 5.11861095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9092541539999 meters 0.019624222678542344 Centerline is valid? [True, True] Translation: X:744.56, Y:8.46, Z:5.12 [[ 9.98861867e-01 -4.59225884e-02 -1.28874771e-02 7.44564945e+02] [ 4.59244459e-02 9.98944904e-01 -1.51928142e-04 8.45862199e+00] [ 1.28808565e-02 -4.40095019e-04 9.99916941e-01 5.12001455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9392541539999 meters 0.019159370989597926 Centerline is valid? [True, True] Translation: X:744.60, Y:8.46, Z:5.12 [[ 9.99098975e-01 -4.07243239e-02 -1.19485320e-02 7.44595938e+02] [ 4.07255556e-02 9.99170361e-01 -1.40317314e-04 8.46350135e+00] [ 1.19443334e-02 -3.46419720e-04 9.99928604e-01 5.12112819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9692541539999 meters 0.018042063070639654 Centerline is valid? [True, True] Translation: X:744.63, Y:8.47, Z:5.12 [[ 9.99187914e-01 -3.87004003e-02 -1.12156496e-02 7.44627349e+02] [ 3.87013625e-02 9.99250813e-01 -1.31316892e-04 8.46744317e+00] [ 1.12123290e-02 -3.02850671e-04 9.99937094e-01 5.12235465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9992541539999 meters 0.018400635551072422 Centerline is valid? [True, True] Translation: X:744.66, Y:8.47, Z:5.12 [[ 9.99319555e-01 -3.58778316e-02 -8.55620213e-03 7.44657742e+02] [ 3.58782900e-02 9.99356162e-01 -9.99546764e-05 8.46984636e+00] [ 8.55427947e-03 -2.07095239e-04 9.99963390e-01 5.12309117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0292541539999 meters 0.017281577336721848 Centerline is valid? [True, True] Translation: X:744.69, Y:8.47, Z:5.12 [[ 9.99335003e-01 -3.55506966e-02 -8.10553339e-03 7.44690149e+02] [ 3.55510990e-02 9.99367855e-01 -9.44821186e-05 8.47158157e+00] [ 8.10376843e-03 -1.93741331e-04 9.99967145e-01 5.12411047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0592541539999 meters 0.017426504135095746 Centerline is valid? [True, True] Translation: X:744.72, Y:8.47, Z:5.12 [[ 9.99340322e-01 -3.55520215e-02 -7.41442722e-03 7.44722107e+02] [ 3.55523620e-02 9.99367811e-01 -8.59167006e-05 8.47154954e+00] [ 7.41279442e-03 -1.77740377e-04 9.99972509e-01 5.12417106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.089254154 meters 0.017768616125188354 Centerline is valid? [True, True] Translation: X:744.75, Y:8.47, Z:5.12 [[ 9.99301452e-01 -3.66952931e-02 -7.07561665e-03 7.44754184e+02] [ 3.66956354e-02 9.99326485e-01 -8.14886540e-05 8.47077371e+00] [ 7.07384137e-03 -1.78212519e-04 9.99974964e-01 5.12360849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1192541539999 meters 0.01848579197172353 Centerline is valid? [True, True] Translation: X:744.79, Y:8.47, Z:5.12 [[ 9.99266292e-01 -3.76513997e-02 -7.01786045e-03 7.44785593e+02] [ 3.76517636e-02 9.99290918e-01 -8.03111677e-05 8.47015083e+00] [ 7.01590804e-03 -1.83982580e-04 9.99975371e-01 5.12325660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1492541539999 meters 0.019470127150512374 Centerline is valid? [True, True] Translation: X:744.82, Y:8.47, Z:5.12 [[ 9.99185211e-01 -3.96574415e-02 -7.49674154e-03 7.44816619e+02] [ 3.96579164e-02 9.99213312e-01 -8.53531960e-05 8.46897807e+00] [ 7.49422883e-03 -2.12021498e-04 9.99971895e-01 5.12261395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1792541539999 meters 0.019437985877744358 Centerline is valid? [True, True] Translation: X:744.85, Y:8.47, Z:5.12 [[ 9.99132508e-01 -4.08675623e-02 -8.00464249e-03 7.44849000e+02] [ 4.08681463e-02 9.99164544e-01 -9.06562832e-05 8.46872525e+00] [ 8.00165987e-03 -2.36557261e-04 9.99967958e-01 5.12234885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.209254154 meters 0.021526997656054567 Centerline is valid? [True, True] Translation: X:744.88, Y:8.46, Z:5.12 [[ 9.99040491e-01 -4.29961928e-02 -8.33216260e-03 7.44880060e+02] [ 4.29969046e-02 9.99075201e-01 -9.37657510e-05 8.46456478e+00] [ 8.32848859e-03 -2.64581419e-04 9.99965283e-01 5.12176449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2392541539999 meters 0.02140249116935456 Centerline is valid? [True, True] Translation: X:744.91, Y:8.47, Z:5.12 [[ 9.99008268e-01 -4.37816920e-02 -8.10204847e-03 7.44911823e+02] [ 4.37823945e-02 9.99041087e-01 -9.07277985e-05 8.46524781e+00] [ 8.09825153e-03 -2.64089262e-04 9.99967174e-01 5.12179110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2692541539999 meters 0.01983587258116201 Centerline is valid? [True, True] Translation: X:744.94, Y:8.47, Z:5.12 [[ 9.98965062e-01 -4.47652030e-02 -8.05495704e-03 7.44944327e+02] [ 4.47659339e-02 9.98997499e-01 -8.96252824e-05 8.46763560e+00] [ 8.05089403e-03 -2.71055149e-04 9.99967554e-01 5.12275115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2992541539999 meters 0.022076717374711074 Centerline is valid? [True, True] Translation: X:744.98, Y:8.46, Z:5.12 [[ 9.98898896e-01 -4.62945673e-02 -7.60315633e-03 7.44975253e+02] [ 4.62952667e-02 9.98927796e-01 -8.40733500e-05 8.46424386e+00] [ 7.59889634e-03 -2.68009374e-04 9.99971092e-01 5.12319365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3292541539998 meters 0.022532378812725466 Centerline is valid? [True, True] Translation: X:745.01, Y:8.46, Z:5.12 [[ 9.98873126e-01 -4.68750309e-02 -7.43026021e-03 7.45007701e+02] [ 4.68757180e-02 9.98900726e-01 -8.17500353e-05 8.46355307e+00] [ 7.42592435e-03 -2.66640869e-04 9.99972392e-01 5.12351054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3592541539999 meters 0.024182440486871827 Centerline is valid? [True, True] Translation: X:745.04, Y:8.46, Z:5.12 [[ 9.98817874e-01 -4.80870391e-02 -7.10565650e-03 7.45039225e+02] [ 4.80877015e-02 9.98843114e-01 -7.76903637e-05 8.46087319e+00] [ 7.10117197e-03 -2.64096165e-04 9.99974751e-01 5.12308550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3892541539999 meters 0.024101866643812548 Centerline is valid? [True, True] Translation: X:745.07, Y:8.46, Z:5.12 [[ 9.98762091e-01 -4.91818519e-02 -7.44522241e-03 7.45071281e+02] [ 4.91826152e-02 9.98789800e-01 -8.06496315e-05 8.46013888e+00] [ 7.44017869e-03 -2.85625714e-04 9.99972281e-01 5.12365344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4192541539999 meters 0.022915236819185263 Centerline is valid? [True, True] Translation: X:745.10, Y:8.46, Z:5.12 [[ 9.98727779e-01 -4.98151335e-02 -7.82793628e-03 7.45103613e+02] [ 4.98160012e-02 9.98758409e-01 -8.42197767e-05 8.46290031e+00] [ 7.82241260e-03 -3.05843853e-04 9.99969358e-01 5.12308115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4492541539998 meters 0.026518246498391494 Centerline is valid? [True, True] Translation: X:745.14, Y:8.46, Z:5.12 [[ 9.98576355e-01 -5.26276776e-02 -8.69428279e-03 7.45135120e+02] [ 5.26288601e-02 9.98614137e-01 -9.28804031e-05 8.45723405e+00] [ 8.68712179e-03 -3.64822018e-04 9.99962200e-01 5.12306724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4792541539999 meters 0.022892011461718806 Centerline is valid? [True, True] Translation: X:745.17, Y:8.46, Z:5.12 [[ 9.98505383e-01 -5.38874714e-02 -9.11809815e-03 7.45166962e+02] [ 5.38888295e-02 9.98546937e-01 -9.68515148e-05 8.46284045e+00] [ 9.11006806e-03 -3.94656878e-04 9.99958425e-01 5.12318189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5092541539999 meters 0.024168200339266872 Centerline is valid? [True, True] Translation: X:745.20, Y:8.46, Z:5.12 [[ 9.98341814e-01 -5.66775082e-02 -1.00639574e-02 7.45197664e+02] [ 5.66793105e-02 9.98392430e-01 -1.06270829e-04 8.46098220e+00] [ 1.00538020e-02 -4.64323553e-04 9.99949351e-01 5.12235921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5392541539999 meters 0.02916697430331474 Centerline is valid? [True, True] Translation: X:745.23, Y:8.45, Z:5.12 [[ 9.98265424e-01 -5.79886303e-02 -1.01716251e-02 7.45228516e+02] [ 5.79905448e-02 9.98317127e-01 -1.06862481e-04 8.45367872e+00] [ 1.01607043e-02 -4.83180959e-04 9.99948262e-01 5.12204142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5692541539999 meters 0.026363061240117933 Centerline is valid? [True, True] Translation: X:745.26, Y:8.46, Z:5.12 [[ 9.98164416e-01 -5.95151966e-02 -1.12133964e-02 7.45260868e+02] [ 5.95176341e-02 9.98227247e-01 -1.16509758e-04 8.45978478e+00] [ 1.12004520e-02 -5.51098932e-04 9.99937121e-01 5.12159510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5992541539999 meters 0.027750044933363752 Centerline is valid? [True, True] Translation: X:745.29, Y:8.46, Z:5.12 [[ 9.98115874e-01 -6.02756174e-02 -1.14696050e-02 7.45291781e+02] [ 6.02782265e-02 9.98181607e-01 -1.18396586e-04 8.45795032e+00] [ 1.14558852e-02 -5.73193938e-04 9.99934215e-01 5.12185331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6292541539999 meters 0.02911119109584319 Centerline is valid? [True, True] Translation: X:745.32, Y:8.46, Z:5.12 [[ 9.98102910e-01 -6.04208586e-02 -1.18279804e-02 7.45323041e+02] [ 6.04236513e-02 9.98172815e-01 -1.21438679e-04 8.45624442e+00] [ 1.18137059e-02 -5.93481463e-04 9.99930040e-01 5.12253855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6592541539999 meters 0.024790293042837804 Centerline is valid? [True, True] Translation: X:745.36, Y:8.46, Z:5.12 [[ 9.98151485e-01 -5.94856676e-02 -1.24526793e-02 7.45355469e+02] [ 5.94887004e-02 9.98228971e-01 -1.27048441e-04 8.46448319e+00] [ 1.24381828e-02 -6.13980116e-04 9.99922454e-01 5.12301875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6892541539999 meters 0.024103011018593704 Centerline is valid? [True, True] Translation: X:745.39, Y:8.47, Z:5.12 [[ 9.98224999e-01 -5.81749303e-02 -1.27486436e-02 7.45387279e+02] [ 5.81780147e-02 9.98306217e-01 -1.29102170e-04 8.46692378e+00] [ 1.27345607e-02 -6.12817761e-04 9.99918724e-01 5.12330501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7192541539999 meters 0.023378403041318552 Centerline is valid? [True, True] Translation: X:745.42, Y:8.47, Z:5.12 [[ 9.98390047e-01 -5.51800109e-02 -1.31331829e-02 7.45418867e+02] [ 5.51830372e-02 9.98476247e-01 -1.32113204e-04 8.47043828e+00] [ 1.31204612e-02 -5.92828412e-04 9.99913747e-01 5.12358775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7492541539999 meters 0.022298965364730028 Centerline is valid? [True, True] Translation: X:745.45, Y:8.47, Z:5.12 [[ 9.98487517e-01 -5.33431416e-02 -1.33111876e-02 7.45450797e+02] [ 5.33460992e-02 9.98576074e-01 -1.33029868e-04 8.47375138e+00] [ 1.32993297e-02 -5.77271272e-04 9.99911393e-01 5.12445561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7792541539999 meters 0.022266792291501896 Centerline is valid? [True, True] Translation: X:745.48, Y:8.48, Z:5.12 [[ 9.98606664e-01 -5.11111763e-02 -1.31292653e-02 7.45481367e+02] [ 5.11138693e-02 9.98692823e-01 -1.30582333e-04 8.47610505e+00] [ 1.31187773e-02 -5.40687163e-04 9.99913799e-01 5.12493729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8092541539999 meters 0.02102194910146877 Centerline is valid? [True, True] Translation: X:745.51, Y:8.48, Z:5.13 [[ 9.98881901e-01 -4.54084254e-02 -1.31538144e-02 7.45511411e+02] [ 4.54106364e-02 9.98968396e-01 -1.30697517e-04 8.48123543e+00] [ 1.31461796e-02 -4.66771697e-04 9.99913476e-01 5.12589765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.839254154 meters 0.01950365302472209 Centerline is valid? [True, True] Translation: X:745.54, Y:8.49, Z:5.13 [[ 9.99014528e-01 -4.23681583e-02 -1.32254109e-02 7.45542854e+02] [ 4.23701303e-02 9.99101974e-01 -1.31174361e-04 8.48609739e+00] [ 1.32190918e-02 -4.29317291e-04 9.99912532e-01 5.12654395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8692541539999 meters 0.019850535551054597 Centerline is valid? [True, True] Translation: X:745.57, Y:8.49, Z:5.13 [[ 9.99277322e-01 -3.54309020e-02 -1.37653650e-02 7.45573326e+02] [ 3.54323843e-02 9.99372067e-01 -1.36261203e-04 8.49195770e+00] [ 1.37615491e-02 -3.51576973e-04 9.99905244e-01 5.12598408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8992541539999 meters 0.018418531763125467 Centerline is valid? [True, True] Translation: X:745.60, Y:8.49, Z:5.13 [[ 9.99352408e-01 -3.33284043e-02 -1.35639649e-02 7.45604909e+02] [ 3.33296533e-02 9.99444404e-01 -1.34023147e-04 8.49499093e+00] [ 1.35608956e-02 -3.18145893e-04 9.99907996e-01 5.12764969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9292541539999 meters 0.016887269792029265 Centerline is valid? [True, True] Translation: X:745.64, Y:8.50, Z:5.13 [[ 9.99407010e-01 -3.16988712e-02 -1.34465301e-02 7.45636573e+02] [ 3.16999579e-02 9.99497421e-01 -1.32368760e-04 8.49774949e+00] [ 1.34439681e-02 -2.93964171e-04 9.99909583e-01 5.12902967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.959254154 meters 0.016965319513083867 Centerline is valid? [True, True] Translation: X:745.67, Y:8.50, Z:5.13 [[ 9.99446896e-01 -3.01287239e-02 -1.40770128e-02 7.45667189e+02] [ 3.01297648e-02 9.99545986e-01 -1.38176165e-04 8.49946471e+00] [ 1.40747847e-02 -2.86037345e-04 9.99900904e-01 5.12884644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9892541539999 meters 0.017254513332987432 Centerline is valid? [True, True] Translation: X:745.70, Y:8.50, Z:5.13 [[ 9.99429133e-01 -3.03688986e-02 -1.48033403e-02 7.45697967e+02] [ 3.03700847e-02 9.99538712e-01 -1.44721588e-04 8.49975581e+00] [ 1.48009067e-02 -3.04939727e-04 9.99890414e-01 5.12847492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0192541539999 meters 0.017233857952173193 Centerline is valid? [True, True] Translation: X:745.73, Y:8.50, Z:5.13 [[ 9.99331804e-01 -3.24906453e-02 -1.67422862e-02 7.45728385e+02] [ 3.24924677e-02 9.99471967e-01 -1.63228897e-04 8.50090740e+00] [ 1.67387491e-02 -3.80878366e-04 9.99859825e-01 5.12771552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0492541539999 meters 0.017649504197002643 Centerline is valid? [True, True] Translation: X:745.76, Y:8.50, Z:5.13 [[ 9.99260689e-01 -3.42809117e-02 -1.74038832e-02 7.45758632e+02] [ 3.42831524e-02 9.99412146e-01 -1.69679136e-04 8.50090278e+00] [ 1.73994690e-02 -4.27106290e-04 9.99848527e-01 5.12763402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0792541539998 meters 0.018846827497404704 Centerline is valid? [True, True] Translation: X:745.79, Y:8.50, Z:5.13 [[ 9.99074773e-01 -3.90436013e-02 -1.80331628e-02 7.45789300e+02] [ 3.90467820e-02 9.99237368e-01 -1.75814297e-04 8.49971788e+00] [ 1.80262746e-02 -5.28485350e-04 9.99837374e-01 5.12780283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1092541539999 meters 0.019883127299681412 Centerline is valid? [True, True] Translation: X:745.82, Y:8.50, Z:5.13 [[ 9.98967112e-01 -4.16325176e-02 -1.82055498e-02 7.45819592e+02] [ 4.16361927e-02 9.99132822e-01 -1.77289441e-04 8.49824189e+00] [ 1.81971434e-02 -5.80903459e-04 9.99834250e-01 5.12806844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1392541539999 meters 0.021820494476389573 Centerline is valid? [True, True] Translation: X:745.85, Y:8.50, Z:5.13 [[ 9.98719241e-01 -4.70673309e-02 -1.85618747e-02 7.45850303e+02] [ 4.70720948e-02 9.98891478e-01 -1.80415323e-04 8.49707060e+00] [ 1.85497901e-02 -6.93562070e-04 9.99827697e-01 5.12844760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1692541539999 meters 0.021764879196727694 Centerline is valid? [True, True] Translation: X:745.88, Y:8.50, Z:5.13 [[ 9.98550957e-01 -5.06066739e-02 -1.83016587e-02 7.45881229e+02] [ 5.06119048e-02 9.98718381e-01 -1.77547834e-04 8.49665661e+00] [ 1.82871880e-02 -7.48991246e-04 9.99832495e-01 5.13001432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1992541539998 meters 0.024525824262414748 Centerline is valid? [True, True] Translation: X:745.91, Y:8.49, Z:5.13 [[ 9.98435457e-01 -5.26621165e-02 -1.87973302e-02 7.45911593e+02] [ 5.26680048e-02 9.98612061e-01 -1.82004399e-04 8.49431458e+00] [ 1.87808253e-02 -8.08298230e-04 9.99823298e-01 5.12850529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2292541539999 meters 0.026687560591745423 Centerline is valid? [True, True] Translation: X:745.94, Y:8.49, Z:5.13 [[ 9.98136925e-01 -5.80513925e-02 -1.87807040e-02 7.45941151e+02] [ 5.80582312e-02 9.98313182e-01 -1.81353041e-04 8.49201295e+00] [ 1.87595521e-02 -9.09359288e-04 9.99823611e-01 5.12941312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2592541539999 meters 0.027074246263602244 Centerline is valid? [True, True] Translation: X:745.97, Y:8.49, Z:5.13 [[ 9.97972606e-01 -6.10607162e-02 -1.79517880e-02 7.45972178e+02] [ 6.10674571e-02 9.98133626e-01 -1.72947020e-04 8.49143397e+00] [ 1.79288435e-02 -9.23673655e-04 9.99838839e-01 5.13118273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2892541539999 meters 0.02787571533154661 Centerline is valid? [True, True] Translation: X:746.00, Y:8.49, Z:5.13 [[ 9.97707467e-01 -6.51453273e-02 -1.83274922e-02 7.46002735e+02] [ 6.51530502e-02 9.97875267e-01 -1.76032828e-04 8.49155085e+00] [ 1.83000189e-02 -1.01846275e-03 9.99832022e-01 5.13146028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3192541539999 meters 0.02787571533154661 Centerline is valid? [True, True] Translation: X:746.03, Y:8.49, Z:5.13 [[ 9.97712258e-01 -6.50719065e-02 -1.83275025e-02 7.46034474e+02] [ 6.50796369e-02 9.97880058e-01 -1.74947434e-04 8.49179424e+00] [ 1.83000335e-02 -1.01820001e-03 9.99832022e-01 5.13168015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3492541539999 meters 0.02841623658833503 Centerline is valid? [True, True] Translation: X:746.07, Y:8.49, Z:5.13 [[ 9.97617271e-01 -6.63396589e-02 -1.89427998e-02 7.46066325e+02] [ 6.63481677e-02 9.97796517e-01 -1.79624473e-04 8.49216973e+00] [ 1.89129759e-02 -1.07762358e-03 9.99820553e-01 5.13102685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3792541539999 meters 0.03201531974604376 Centerline is valid? [True, True] Translation: X:746.10, Y:8.49, Z:5.13 [[ 9.97508757e-01 -6.79820509e-02 -1.88340326e-02 7.46097408e+02] [ 6.79907735e-02 9.97685934e-01 -1.77551601e-04 8.48787635e+00] [ 1.88025197e-02 -1.10343116e-03 9.99822608e-01 5.13087084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4092541539999 meters 0.030731502428838695 Centerline is valid? [True, True] Translation: X:746.13, Y:8.49, Z:5.13 [[ 9.97430403e-01 -6.90384496e-02 -1.91385136e-02 7.46129632e+02] [ 6.90476747e-02 9.97613345e-01 -1.79148741e-04 8.49248321e+00] [ 1.91052047e-02 -1.14278146e-03 9.99816826e-01 5.13160314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4392541539999 meters 0.029145497106805487 Centerline is valid? [True, True] Translation: X:746.16, Y:8.50, Z:5.13 [[ 9.97498259e-01 -6.79483298e-02 -1.94999355e-02 7.46161524e+02] [ 6.79577271e-02 9.97688185e-01 -1.81098911e-04 8.49802479e+00] [ 1.94671606e-02 -1.14452544e-03 9.99809842e-01 5.13252253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4692541539999 meters 0.03136600839482583 Centerline is valid? [True, True] Translation: X:746.19, Y:8.50, Z:5.13 [[ 9.97586200e-01 -6.67712296e-02 -1.90624441e-02 7.46192899e+02] [ 6.67800177e-02 9.97767708e-01 -1.75876752e-04 8.49704695e+00] [ 1.90316347e-02 -1.09753814e-03 9.99818280e-01 5.13180961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4992541539999 meters 0.03134842223350532 Centerline is valid? [True, True] Translation: X:746.23, Y:8.50, Z:5.13 [[ 9.97672565e-01 -6.52788952e-02 -1.97007134e-02 7.46225233e+02] [ 6.52880172e-02 9.97866445e-01 -1.80476100e-04 8.49944463e+00] [ 1.96704622e-02 -1.10616446e-03 9.99805906e-01 5.13211672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5292541539999 meters 0.026389880557049543 Centerline is valid? [True, True] Translation: X:746.26, Y:8.51, Z:5.13 [[ 9.97934985e-01 -6.10913130e-02 -1.98397768e-02 7.46255973e+02] [ 6.10997533e-02 9.98131648e-01 -1.81022498e-04 8.51110056e+00] [ 1.98137680e-02 -1.03155678e-03 9.99803156e-01 5.13350407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5592541539999 meters 0.025127787607745318 Centerline is valid? [True, True] Translation: X:746.29, Y:8.52, Z:5.13 [[ 9.98104213e-01 -5.81034750e-02 -2.02969720e-02 7.46287380e+02] [ 5.81117055e-02 9.98310070e-01 -1.84562811e-04 8.51645215e+00] [ 2.02733953e-02 -9.95278740e-04 9.99793978e-01 5.13334788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.589254154 meters 0.02409079100155038 Centerline is valid? [True, True] Translation: X:746.32, Y:8.52, Z:5.13 [[ 9.98415136e-01 -5.24972870e-02 -2.02793419e-02 7.46317415e+02] [ 5.25043517e-02 9.98620678e-01 -1.84272837e-04 8.52325195e+00] [ 2.02610439e-02 -8.80772908e-04 9.99794336e-01 5.13362596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6192541539999 meters 0.02379577406033922 Centerline is valid? [True, True] Translation: X:746.35, Y:8.53, Z:5.13 [[ 9.98580736e-01 -4.93218767e-02 -2.00964376e-02 7.46348202e+02] [ 4.93281807e-02 9.98782608e-01 -1.82204196e-04 8.52667278e+00] [ 2.00809590e-02 -8.09375102e-04 9.99798030e-01 5.13361052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6492541539999 meters 0.021600688091559805 Centerline is valid? [True, True] Translation: X:746.38, Y:8.53, Z:5.13 [[ 9.98716288e-01 -4.63229352e-02 -2.04929603e-02 7.46379719e+02] [ 4.63288755e-02 9.98926224e-01 -1.85048752e-04 8.53321458e+00] [ 2.04795275e-02 -7.64604605e-04 9.99789980e-01 5.13463195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6792541539999 meters 0.01999885463990404 Centerline is valid? [True, True] Translation: X:746.41, Y:8.54, Z:5.14 [[ 9.98968792e-01 -4.06119427e-02 -2.02983525e-02 7.46410568e+02] [ 4.06166029e-02 9.99174789e-01 -1.82799144e-04 8.54080202e+00] [ 2.02890259e-02 -6.41839482e-04 9.99793951e-01 5.13506930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.709254154 meters 0.019383739715511487 Centerline is valid? [True, True] Translation: X:746.44, Y:8.54, Z:5.14 [[ 9.99072263e-01 -3.79694615e-02 -2.03207812e-02 7.46441638e+02] [ 3.79735933e-02 9.99278726e-01 -1.82636769e-04 8.54458192e+00] [ 2.03130590e-02 -5.89185751e-04 9.99793495e-01 5.13571718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7392541539999 meters 0.018500043204308692 Centerline is valid? [True, True] Translation: X:746.47, Y:8.55, Z:5.14 [[ 9.99223423e-01 -3.39098494e-02 -2.00667071e-02 7.46472304e+02] [ 3.39130629e-02 9.99424770e-01 -1.80231003e-04 8.55153214e+00] [ 2.00612757e-02 -5.00432459e-04 9.99798627e-01 5.13600348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7692541539999 meters 0.018260732859356983 Centerline is valid? [True, True] Translation: X:746.50, Y:8.55, Z:5.14 [[ 9.99285179e-01 -3.23806548e-02 -1.95095966e-02 7.46502684e+02] [ 3.23834010e-02 9.99475505e-01 -1.75227264e-04 8.55426577e+00] [ 1.95050379e-02 -4.56685083e-04 9.99809654e-01 5.13607951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7992541539999 meters 0.01786127678897299 Centerline is valid? [True, True] Translation: X:746.53, Y:8.56, Z:5.14 [[ 9.99379917e-01 -3.00401892e-02 -1.83675997e-02 7.46532495e+02] [ 3.00422282e-02 9.99548617e-01 -1.64970312e-04 8.55881333e+00] [ 1.83642646e-02 -3.86935605e-04 9.99831288e-01 5.13694891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8292541539998 meters 0.01765492029058655 Centerline is valid? [True, True] Translation: X:746.56, Y:8.56, Z:5.14 [[ 9.99411443e-01 -2.91846727e-02 -1.80283819e-02 7.46563016e+02] [ 2.91864979e-02 9.99573970e-01 -1.61923596e-04 8.56104236e+00] [ 1.80254270e-02 -3.64357037e-04 9.99837462e-01 5.13754193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8592541539999 meters 0.017477705715560683 Centerline is valid? [True, True] Translation: X:746.59, Y:8.56, Z:5.14 [[ 9.99437869e-01 -2.85902213e-02 -1.75084127e-02 7.46593508e+02] [ 2.85918515e-02 9.99591157e-01 -1.57253444e-04 8.56281567e+00] [ 1.75057505e-02 -3.43432890e-04 9.99846704e-01 5.13806451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8892541539999 meters 0.017542920706439417 Centerline is valid? [True, True] Translation: X:746.62, Y:8.57, Z:5.14 [[ 9.99470058e-01 -2.81238187e-02 -1.63906918e-02 7.46623393e+02] [ 2.81251820e-02 9.99604398e-01 -1.47376016e-04 8.56517297e+00] [ 1.63883524e-02 -3.13693275e-04 9.99865653e-01 5.13838583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9192541539999 meters 0.0165881339959669 Centerline is valid? [True, True] Translation: X:746.65, Y:8.57, Z:5.14 [[ 9.99474321e-01 -2.83207127e-02 -1.57803519e-02 7.46654473e+02] [ 2.83220042e-02 9.99598842e-01 -1.41676832e-04 8.56916203e+00] [ 1.57780339e-02 -3.05328839e-04 9.99875472e-01 5.14002849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9492541539998 meters 0.018027070296125193 Centerline is valid? [True, True] Translation: X:746.68, Y:8.57, Z:5.14 [[ 9.99477836e-01 -2.89796003e-02 -1.42911724e-02 7.46684940e+02] [ 2.89807320e-02 9.99579962e-01 -1.27942067e-04 8.56750707e+00] [ 1.42888773e-02 -2.86293377e-04 9.99897868e-01 5.13956496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9792541539999 meters 0.018114752222970834 Centerline is valid? [True, True] Translation: X:746.72, Y:8.57, Z:5.14 [[ 9.99480046e-01 -2.90403203e-02 -1.40106438e-02 7.46716101e+02] [ 2.90414190e-02 9.99578201e-01 -1.25070731e-04 8.56768596e+00] [ 1.40083662e-02 -2.81883277e-04 9.99901838e-01 5.13960119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0092541539999 meters 0.016718643233164434 Centerline is valid? [True, True] Translation: X:746.75, Y:8.57, Z:5.14 [[ 9.99478368e-01 -2.92655441e-02 -1.36572287e-02 7.46747296e+02] [ 2.92666156e-02 9.99571633e-01 -1.21443624e-04 8.57150562e+00] [ 1.36549325e-02 -2.78320586e-04 9.99906728e-01 5.14049914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0392541539999 meters 0.017076891441856572 Centerline is valid? [True, True] Translation: X:746.78, Y:8.57, Z:5.14 [[ 9.99480864e-01 -2.92900307e-02 -1.34200251e-02 7.46778495e+02] [ 2.92910756e-02 9.99570917e-01 -1.18727615e-04 8.57053169e+00] [ 1.34177444e-02 -2.74420991e-04 9.99909940e-01 5.14039792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0692541539999 meters 0.016704977610641887 Centerline is valid? [True, True] Translation: X:746.81, Y:8.57, Z:5.14 [[ 9.99492702e-01 -2.91021568e-02 -1.29384076e-02 7.46809513e+02] [ 2.91031199e-02 9.99576408e-01 -1.13879507e-04 8.57173047e+00] [ 1.29362411e-02 -2.62726291e-04 9.99916289e-01 5.14070982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0992541539999 meters 0.019003295706539216 Centerline is valid? [True, True] Translation: X:746.84, Y:8.57, Z:5.14 [[ 9.99507615e-01 -2.81904115e-02 -1.37778370e-02 7.46840410e+02] [ 2.81914260e-02 9.99602535e-01 -1.20622115e-04 8.57050513e+00] [ 1.37757612e-02 -2.67854150e-04 9.99905074e-01 5.13861084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1292541539999 meters 0.016788129439257657 Centerline is valid? [True, True] Translation: X:746.87, Y:8.57, Z:5.14 [[ 9.99515388e-01 -2.83669307e-02 -1.28182171e-02 7.46871989e+02] [ 2.83678304e-02 9.99597546e-01 -1.11655377e-04 8.57054161e+00] [ 1.28162257e-02 -2.52023743e-04 9.99917837e-01 5.13984499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1592541539999 meters 0.01693991468412217 Centerline is valid? [True, True] Translation: X:746.90, Y:8.57, Z:5.14 [[ 9.99512107e-01 -2.82722468e-02 -1.32750705e-02 7.46902823e+02] [ 2.82732115e-02 9.99600226e-01 -1.15034927e-04 8.56931501e+00] [ 1.32730158e-02 -2.60350075e-04 9.99911876e-01 5.13923358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1892541539999 meters 0.017222706181620327 Centerline is valid? [True, True] Translation: X:746.93, Y:8.57, Z:5.14 [[ 9.99478249e-01 -2.90680220e-02 -1.40812073e-02 7.46934080e+02] [ 2.90691956e-02 9.99577394e-01 -1.21371934e-04 8.56649500e+00] [ 1.40787845e-02 -2.88020759e-04 9.99900848e-01 5.13794468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2192541539999 meters 0.0177100632630858 Centerline is valid? [True, True] Translation: X:746.97, Y:8.56, Z:5.14 [[ 9.99414004e-01 -3.04135029e-02 -1.57056202e-02 7.46965619e+02] [ 3.04151381e-02 9.99537344e-01 -1.34790837e-04 8.56340548e+00] [ 1.57024533e-02 -3.42976756e-04 9.99876650e-01 5.13619454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2492541539999 meters 0.018035746796549776 Centerline is valid? [True, True] Translation: X:747.00, Y:8.56, Z:5.14 [[ 9.99387167e-01 -3.10289514e-02 -1.62016933e-02 7.46996556e+02] [ 3.10307817e-02 9.99518420e-01 -1.38471744e-04 8.56200196e+00] [ 1.61981875e-02 -3.64364325e-04 9.99868734e-01 5.13559808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2792541539999 meters 0.017940321561024968 Centerline is valid? [True, True] Translation: X:747.03, Y:8.56, Z:5.14 [[ 9.99358762e-01 -3.18058326e-02 -1.64455031e-02 7.47027689e+02] [ 3.18078331e-02 9.99493993e-01 -1.39970179e-04 8.56150416e+00] [ 1.64416334e-02 -3.83215393e-04 9.99864754e-01 5.13561978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3092541539999 meters 0.017838807063728535 Centerline is valid? [True, True] Translation: X:747.06, Y:8.56, Z:5.14 [[ 9.99320701e-01 -3.27810721e-02 -1.68385921e-02 7.47058645e+02] [ 3.27833181e-02 9.99462472e-01 -1.42704801e-04 8.55991563e+00] [ 1.68342189e-02 -4.09417060e-04 9.99858211e-01 5.13584574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.339254154 meters 0.017719494315783752 Centerline is valid? [True, True] Translation: X:747.09, Y:8.56, Z:5.14 [[ 9.99319754e-01 -3.28701498e-02 -1.67207190e-02 7.47089601e+02] [ 3.28723870e-02 9.99459547e-01 -1.41099342e-04 8.55948961e+00] [ 1.67163202e-02 -4.08646586e-04 9.99860189e-01 5.13614129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3692541539999 meters 0.018763282266629374 Centerline is valid? [True, True] Translation: X:747.12, Y:8.56, Z:5.14 [[ 9.99341823e-01 -3.26055109e-02 -1.58997489e-02 7.47119702e+02] [ 3.26075067e-02 9.99468225e-01 -1.33767914e-04 8.55525920e+00] [ 1.58956554e-02 -3.84771297e-04 9.99873582e-01 5.13604280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3992541539999 meters 0.01731628351091775 Centerline is valid? [True, True] Translation: X:747.15, Y:8.56, Z:5.14 [[ 9.99362274e-01 -3.22061431e-02 -1.54211001e-02 7.47151206e+02] [ 3.22079797e-02 9.99481180e-01 -1.29305604e-04 8.55815571e+00] [ 1.54172638e-02 -3.67459337e-04 9.99881079e-01 5.13755822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4292541539999 meters 0.016994314559990762 Centerline is valid? [True, True] Translation: X:747.18, Y:8.56, Z:5.14 [[ 9.99453913e-01 -2.96102057e-02 -1.46666740e-02 7.47182609e+02] [ 2.96115953e-02 9.99561473e-01 -1.22453970e-04 8.55889109e+00] [ 1.46638681e-02 -3.11916515e-04 9.99892431e-01 5.13860307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.459254154 meters 0.017380019265785397 Centerline is valid? [True, True] Translation: X:747.21, Y:8.56, Z:5.14 [[ 9.99511544e-01 -2.75728133e-02 -1.47110217e-02 7.47214420e+02] [ 2.75740008e-02 9.99619757e-01 -1.22138599e-04 8.56023353e+00] [ 1.47087956e-02 -2.83562785e-04 9.99891780e-01 5.13870338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4892541539999 meters 0.015732251423170446 Centerline is valid? [True, True] Translation: X:747.25, Y:8.56, Z:5.14 [[ 9.99625348e-01 -2.35223630e-02 -1.39950753e-02 7.47245438e+02] [ 2.35230478e-02 9.99723288e-01 -1.15697679e-04 8.56212417e+00] [ 1.39939241e-02 -2.13552492e-04 9.99902057e-01 5.13984352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5192541539999 meters 0.015540711085574978 Centerline is valid? [True, True] Translation: X:747.28, Y:8.56, Z:5.14 [[ 9.99683982e-01 -2.10735305e-02 -1.37055716e-02 7.47275967e+02] [ 2.10739607e-02 9.99777913e-01 -1.13053755e-04 8.56156465e+00] [ 1.37049102e-02 -1.75812649e-04 9.99906068e-01 5.13966572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5492541539999 meters 0.015300210012380052 Centerline is valid? [True, True] Translation: X:747.31, Y:8.56, Z:5.14 [[ 9.99719426e-01 -1.92811926e-02 -1.37588064e-02 7.47306837e+02] [ 1.92814582e-02 9.99814089e-01 -1.13364856e-04 8.56259068e+00] [ 1.37584343e-02 -1.51956802e-04 9.99905337e-01 5.14020632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5792541539998 meters 0.014883493760240972 Centerline is valid? [True, True] Translation: X:747.34, Y:8.56, Z:5.14 [[ 9.99785197e-01 -1.61370080e-02 -1.30060577e-02 7.47336300e+02] [ 1.61369763e-02 9.99869785e-01 -1.07386067e-04 8.56330158e+00] [ 1.30060970e-02 -1.02515445e-04 9.99915412e-01 5.14115354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6092541539999 meters 0.014906658199965159 Centerline is valid? [True, True] Translation: X:747.36, Y:8.56, Z:5.14 [[ 9.99793251e-01 -1.54148076e-02 -1.32604634e-02 7.47364783e+02] [ 1.54146863e-02 9.99881180e-01 -1.11363864e-04 8.56279524e+00] [ 1.32606045e-02 -9.30650450e-05 9.99912070e-01 5.14110401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6392541539999 meters 0.01480683257380522 Centerline is valid? [True, True] Translation: X:747.39, Y:8.56, Z:5.14 [[ 9.99801729e-01 -1.44676747e-02 -1.36816885e-02 7.47393663e+02] [ 1.44674258e-02 9.99895334e-01 -1.17173738e-04 8.56089828e+00] [ 1.36819518e-02 -8.07883078e-05 9.99906394e-01 5.14088661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6692541539999 meters 0.014791401654434 Centerline is valid? [True, True] Translation: X:747.42, Y:8.56, Z:5.14 [[ 9.99785097e-01 -1.48235390e-02 -1.44921329e-02 7.47422146e+02] [ 1.48232625e-02 9.99890121e-01 -1.26498103e-04 8.55937800e+00] [ 1.44924157e-02 -8.83497728e-05 9.99894976e-01 5.14077161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6992541539998 meters 0.014809134889257827 Centerline is valid? [True, True] Translation: X:747.45, Y:8.55, Z:5.14 [[ 9.99745572e-01 -1.67315381e-02 -1.51276654e-02 7.47449955e+02] [ 1.67314168e-02 9.99860011e-01 -1.34589567e-04 8.55429570e+00] [ 1.51277995e-02 -1.18551950e-04 9.99885561e-01 5.13967422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7292541539999 meters 0.014998034170936297 Centerline is valid? [True, True] Translation: X:747.48, Y:8.55, Z:5.14 [[ 9.99721281e-01 -1.83248326e-02 -1.48849424e-02 7.47478256e+02] [ 1.83248535e-02 9.99832077e-01 -1.34997284e-04 8.55140931e+00] [ 1.48849166e-02 -1.37804731e-04 9.99889204e-01 5.13935900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7592541539999 meters 0.015314434056235617 Centerline is valid? [True, True] Translation: X:747.51, Y:8.55, Z:5.14 [[ 9.99683658e-01 -2.02468842e-02 -1.49214075e-02 7.47507109e+02] [ 2.02470644e-02 9.99794998e-01 -1.39005530e-04 8.54857753e+00] [ 1.49211630e-02 -1.63153141e-04 9.99888660e-01 5.13949516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7892541539999 meters 0.016067042532480244 Centerline is valid? [True, True] Translation: X:747.54, Y:8.54, Z:5.14 [[ 9.99584868e-01 -2.44809816e-02 -1.51912515e-02 7.47535941e+02] [ 2.44816242e-02 9.99700270e-01 -1.43684979e-04 8.54208217e+00] [ 1.51902158e-02 -2.28281180e-04 9.99884596e-01 5.13969589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8192541539999 meters 0.01753435877983864 Centerline is valid? [True, True] Translation: X:747.56, Y:8.53, Z:5.14 [[ 9.99446052e-01 -2.97203352e-02 -1.49763583e-02 7.47564987e+02] [ 2.97215337e-02 9.99558207e-01 -1.42591277e-04 8.53375788e+00] [ 1.49739797e-02 -3.02608049e-04 9.99887838e-01 5.13891031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8492541539999 meters 0.01806606306235938 Centerline is valid? [True, True] Translation: X:747.60, Y:8.53, Z:5.14 [[ 9.99350735e-01 -3.25338682e-02 -1.54808426e-02 7.47595802e+02] [ 3.25354805e-02 9.99470570e-01 -1.47764036e-04 8.53016943e+00] [ 1.54774539e-02 -3.56008555e-04 9.99880154e-01 5.13928852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8792541539999 meters 0.01915067888015255 Centerline is valid? [True, True] Translation: X:747.63, Y:8.53, Z:5.14 [[ 9.99239302e-01 -3.58385440e-02 -1.53758193e-02 7.47626083e+02] [ 3.58405272e-02 9.99357511e-01 -1.46641936e-04 8.52606724e+00] [ 1.53711959e-02 -4.04547084e-04 9.99881774e-01 5.13938939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9092541539999 meters 0.02054636455670129 Centerline is valid? [True, True] Translation: X:747.66, Y:8.52, Z:5.14 [[ 9.99116340e-01 -3.92334932e-02 -1.50755724e-02 7.47657819e+02] [ 3.92357900e-02 9.99229970e-01 -1.43497558e-04 8.52172367e+00] [ 1.50695937e-02 -4.48131238e-04 9.99886347e-01 5.13968617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9392541539999 meters 0.02437847350306082 Centerline is valid? [True, True] Translation: X:747.69, Y:8.51, Z:5.14 [[ 9.98797351e-01 -4.69741674e-02 -1.40456392e-02 7.47687759e+02] [ 4.69769270e-02 9.98895966e-01 -1.33571727e-04 8.51186447e+00] [ 1.40364068e-02 -5.26409880e-04 9.99901346e-01 5.14059658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9692541539999 meters 0.026217557055330163 Centerline is valid? [True, True] Translation: X:747.72, Y:8.51, Z:5.14 [[ 9.98613852e-01 -5.08708456e-02 -1.35104284e-02 7.47719041e+02] [ 5.08737565e-02 9.98705084e-01 -1.28351791e-04 8.50723382e+00] [ 1.34994629e-02 -5.59152371e-04 9.99908722e-01 5.14115142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9992541539999 meters 0.030315460291451008 Centerline is valid? [True, True] Translation: X:747.75, Y:8.50, Z:5.14 [[ 9.98261421e-01 -5.77107825e-02 -1.19833943e-02 7.47748188e+02] [ 5.77135699e-02 9.98333176e-01 -1.13364179e-04 8.49783962e+00] [ 1.19699625e-02 -5.78437380e-04 9.99928190e-01 5.14238478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0292541539999 meters 0.03275310609960735 Centerline is valid? [True, True] Translation: X:747.78, Y:8.49, Z:5.14 [[ 9.98078325e-01 -6.09353916e-02 -1.12487495e-02 7.47778274e+02] [ 6.09380594e-02 9.98141544e-01 -1.05752517e-04 8.49338259e+00] [ 1.12342882e-02 -5.79927667e-04 9.99936725e-01 5.14313636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0592541539999 meters 0.0347445260372638 Centerline is valid? [True, True] Translation: X:747.81, Y:8.49, Z:5.14 [[ 9.97896807e-01 -6.38536221e-02 -1.11658959e-02 7.47809218e+02] [ 6.38564392e-02 9.97959089e-01 -1.04405444e-04 8.48976873e+00] [ 1.11497739e-02 -6.08828492e-04 9.99937654e-01 5.14362422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.089254154 meters 0.03825344809120114 Centerline is valid? [True, True] Translation: X:747.84, Y:8.48, Z:5.14 [[ 9.97590942e-01 -6.84713399e-02 -1.11350102e-02 7.47838755e+02] [ 6.84744287e-02 9.97652866e-01 -1.04060133e-04 8.48348777e+00] [ 1.11160000e-02 -6.58654019e-04 9.99937998e-01 5.14383809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1192541539999 meters 0.0404605869671837 Centerline is valid? [True, True] Translation: X:747.87, Y:8.48, Z:5.14 [[ 9.97410521e-01 -7.09329436e-02 -1.18646598e-02 7.47868461e+02] [ 7.09366270e-02 9.97480818e-01 -1.10631479e-04 8.47981872e+00] [ 1.18426180e-02 -7.31293948e-04 9.99929606e-01 5.14320332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1492541539999 meters 0.04169928072465206 Centerline is valid? [True, True] Translation: X:747.90, Y:8.48, Z:5.14 [[ 9.97340795e-01 -7.18126547e-02 -1.24210035e-02 7.47900531e+02] [ 7.18167703e-02 9.97417835e-01 -1.14947890e-04 8.47803372e+00] [ 1.23971851e-02 -7.77394133e-04 9.99922850e-01 5.14298769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1792541539999 meters 0.04214775009888281 Centerline is valid? [True, True] Translation: X:747.93, Y:8.48, Z:5.14 [[ 9.97315322e-01 -7.21376164e-02 -1.25822256e-02 7.47932853e+02] [ 7.21418757e-02 9.97394374e-01 -1.15615788e-04 8.47704497e+00] [ 1.25577812e-02 -7.92399956e-04 9.99920834e-01 5.14292344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.209254154 meters 0.04214775009888281 Centerline is valid? [True, True] Translation: X:747.96, Y:8.48, Z:5.14 [[ 9.97320007e-01 -7.20728233e-02 -1.25822330e-02 7.47964599e+02] [ 7.20770878e-02 9.97399058e-01 -1.14798590e-04 8.47726320e+00] [ 1.25577812e-02 -7.92399784e-04 9.99920834e-01 5.14314333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2392541539999 meters 0.043027719456081574 Centerline is valid? [True, True] Translation: X:748.00, Y:8.48, Z:5.14 [[ 9.97316815e-01 -7.20997724e-02 -1.26804154e-02 7.47996974e+02] [ 7.21041163e-02 9.97397104e-01 -1.14869332e-04 8.47613075e+00] [ 1.26556917e-02 -7.99749030e-04 9.99919594e-01 5.14304437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2692541539999 meters 0.030290838818299175 Centerline is valid? [True, True] Translation: X:748.03, Y:8.49, Z:5.14 [[ 9.97413337e-01 -7.05555562e-02 -1.37312898e-02 7.48029290e+02] [ 7.05605177e-02 9.97507493e-01 -1.23407284e-04 8.49321683e+00] [ 1.37057715e-02 -8.45798845e-04 9.99905714e-01 5.14425595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2992541539999 meters 0.031090045811728993 Centerline is valid? [True, True] Translation: X:748.06, Y:8.49, Z:5.14 [[ 9.97516249e-01 -6.89979911e-02 -1.41637181e-02 7.48059670e+02] [ 6.90031228e-02 9.97616436e-01 -1.26639698e-04 8.49291253e+00] [ 1.41386958e-02 -8.51015623e-04 9.99899681e-01 5.14405227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3292541539998 meters 0.04049044571876559 Centerline is valid? [True, True] Translation: X:748.09, Y:8.48, Z:5.14 [[ 9.97804292e-01 -6.43561733e-02 -1.56485505e-02 7.48089434e+02] [ 6.43618693e-02 9.97926616e-01 -1.39874658e-04 8.48350335e+00] [ 1.56251068e-02 -8.67602428e-04 9.99877544e-01 5.14022972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3592541539999 meters 0.03859818021209983 Centerline is valid? [True, True] Translation: X:748.12, Y:8.49, Z:5.14 [[ 9.97979940e-01 -6.15858530e-02 -1.55955625e-02 7.48118974e+02] [ 6.15911698e-02 9.98101452e-01 -1.39614450e-04 8.48666817e+00] [ 1.55745518e-02 -8.21216516e-04 9.99878372e-01 5.14107196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3892541539999 meters 0.02441502133100193 Centerline is valid? [True, True] Translation: X:748.15, Y:8.51, Z:5.14 [[ 9.98183532e-01 -5.81285794e-02 -1.58336756e-02 7.48149707e+02] [ 5.81336268e-02 9.98308801e-01 -1.41690164e-04 8.50803807e+00] [ 1.58151340e-02 -7.79036203e-04 9.99874629e-01 5.14411621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4192541539999 meters 0.03206841400648655 Centerline is valid? [True, True] Translation: X:748.18, Y:8.50, Z:5.14 [[ 9.98616674e-01 -4.99962215e-02 -1.62824183e-02 7.48179768e+02] [ 5.00004831e-02 9.98749183e-01 -1.45507112e-04 8.50050747e+00] [ 1.62693268e-02 -6.68822952e-04 9.99867422e-01 5.14113773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4492541539998 meters 0.028999997129149326 Centerline is valid? [True, True] Translation: X:748.21, Y:8.51, Z:5.14 [[ 9.98844434e-01 -4.51649941e-02 -1.64292205e-02 7.48210300e+02] [ 4.51686835e-02 9.98979363e-01 -1.46623873e-04 8.50682946e+00] [ 1.64190745e-02 -5.95631823e-04 9.99865020e-01 5.14184314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4792541539999 meters 0.023516145036271672 Centerline is valid? [True, True] Translation: X:748.24, Y:8.52, Z:5.14 [[ 9.99245969e-01 -3.53124587e-02 -1.61407223e-02 7.48239420e+02] [ 3.53147345e-02 9.99376230e-01 -1.44092733e-04 8.51889845e+00] [ 1.61357424e-02 -4.26021239e-04 9.99869720e-01 5.14228800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5092541539999 meters 0.01668518623575474 Centerline is valid? [True, True] Translation: X:748.27, Y:8.53, Z:5.15 [[ 9.99408751e-01 -3.04649937e-02 -1.59384206e-02 7.48270008e+02] [ 3.04665949e-02 9.99535775e-01 -1.42396760e-04 8.53361576e+00] [ 1.59353597e-02 -3.43276835e-04 9.99872965e-01 5.14643724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5392541539999 meters 0.01872492056662296 Centerline is valid? [True, True] Translation: X:748.30, Y:8.53, Z:5.14 [[ 9.99547584e-01 -2.56427944e-02 -1.57185801e-02 7.48299509e+02] [ 2.56437530e-02 9.99671135e-01 -1.40593660e-04 8.53106417e+00] [ 1.57170160e-02 -2.62553332e-04 9.99876446e-01 5.14350676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5692541539999 meters 0.015548748792253915 Centerline is valid? [True, True] Translation: X:748.33, Y:8.54, Z:5.15 [[ 9.99737791e-01 -1.74777214e-02 -1.47945506e-02 7.48328991e+02] [ 1.74776706e-02 9.99847245e-01 -1.32738741e-04 8.54400996e+00] [ 1.47946106e-02 -1.25870347e-04 9.99890546e-01 5.14757938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5992541539999 meters 0.016405661049105166 Centerline is valid? [True, True] Translation: X:748.36, Y:8.55, Z:5.15 [[ 9.99791303e-01 -1.41213005e-02 -1.47627602e-02 7.48357695e+02] [ 1.41208499e-02 9.99900287e-01 -1.34763748e-04 8.54642361e+00] [ 1.47631912e-02 -7.37270979e-05 9.99891015e-01 5.14741129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6292541539999 meters 0.014513194953628999 Centerline is valid? [True, True] Translation: X:748.39, Y:8.55, Z:5.15 [[ 9.99844515e-01 -9.99786633e-03 -1.45254553e-02 7.48385908e+02] [ 9.99694033e-03 9.99950020e-01 -1.36358919e-04 8.54927734e+00] [ 1.45260926e-02 -8.87239277e-06 9.99894491e-01 5.14831666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6592541539999 meters 0.014479604450360022 Centerline is valid? [True, True] Translation: X:748.41, Y:8.55, Z:5.15 [[ 9.99844578e-01 -9.08648390e-03 -1.51081582e-02 7.48413900e+02] [ 9.08531343e-03 9.99958717e-01 -1.46108045e-04 8.54988533e+00] [ 1.51088621e-02 8.82298456e-06 9.99885855e-01 5.14825140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6892541539999 meters 0.014574291286577577 Centerline is valid? [True, True] Translation: X:748.44, Y:8.55, Z:5.15 [[ 9.99836149e-01 -8.55249755e-03 -1.59540107e-02 7.48442040e+02] [ 8.55107691e-03 9.99963427e-01 -1.57261625e-04 8.54963028e+00] [ 1.59547722e-02 2.08118845e-05 9.99872714e-01 5.14747368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7192541539999 meters 0.015144957758493817 Centerline is valid? [True, True] Translation: X:748.47, Y:8.55, Z:5.15 [[ 9.99818009e-01 -9.22314043e-03 -1.66997477e-02 7.48470026e+02] [ 9.22161914e-03 9.99957466e-01 -1.68100588e-04 8.54893348e+00] [ 1.67005878e-02 1.40712826e-05 9.99860535e-01 5.14702797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7492541539999 meters 0.01451485619234095 Centerline is valid? [True, True] Translation: X:748.50, Y:8.55, Z:5.15 [[ 9.99813837e-01 -1.04810982e-02 -1.61999557e-02 7.48497668e+02] [ 1.04797570e-02 9.99945072e-01 -1.67681114e-04 8.54796878e+00] [ 1.62008234e-02 -2.12170081e-06 9.99868758e-01 5.14771270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7792541539999 meters 0.014452226390336137 Centerline is valid? [True, True] Translation: X:748.53, Y:8.54, Z:5.15 [[ 9.99790525e-01 -1.33829700e-02 -1.54855721e-02 7.48525716e+02] [ 1.33820486e-02 9.99910443e-01 -1.63125684e-04 8.54399765e+00] [ 1.54863684e-02 -4.41371646e-05 9.99880078e-01 5.14827411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8092541539999 meters 0.014451656365520782 Centerline is valid? [True, True] Translation: X:748.55, Y:8.54, Z:5.15 [[ 9.99772263e-01 -1.49079672e-02 -1.52700865e-02 7.48553456e+02] [ 1.49072262e-02 9.99888868e-01 -1.62356130e-04 8.54154798e+00] [ 1.52708099e-02 -6.53154787e-05 9.99883392e-01 5.14783493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.839254154 meters 0.014678806581552305 Centerline is valid? [True, True] Translation: X:748.58, Y:8.54, Z:5.15 [[ 9.99702681e-01 -1.92924421e-02 -1.49114615e-02 7.48582643e+02] [ 1.92921843e-02 9.99813876e-01 -1.61149250e-04 8.53655715e+00] [ 1.49117951e-02 -1.26573326e-04 9.99888805e-01 5.14839001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8692541539999 meters 0.016772638400691625 Centerline is valid? [True, True] Translation: X:748.61, Y:8.53, Z:5.15 [[ 9.99650057e-01 -2.16553399e-02 -1.51923947e-02 7.48611569e+02] [ 2.16552869e-02 9.99765483e-01 -1.68016071e-04 8.53344517e+00] [ 1.51924703e-02 -1.61038391e-04 9.99884575e-01 5.14697435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8992541539999 meters 0.016055647959650216 Centerline is valid? [True, True] Translation: X:748.64, Y:8.53, Z:5.15 [[ 9.99517030e-01 -2.74740983e-02 -1.45217531e-02 7.48639836e+02] [ 2.74746299e-02 9.99622488e-01 -1.62928314e-04 8.52631607e+00] [ 1.45207473e-02 -2.36130168e-04 9.99894541e-01 5.14805616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9292541539999 meters 0.01696355021080675 Centerline is valid? [True, True] Translation: X:748.67, Y:8.52, Z:5.15 [[ 9.99441004e-01 -3.01440700e-02 -1.44573552e-02 7.48669507e+02] [ 3.01448633e-02 9.99545527e-01 -1.63091843e-04 8.52408362e+00] [ 1.44557010e-02 -2.72814322e-04 9.99895474e-01 5.14787006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.959254154 meters 0.01854360545049524 Centerline is valid? [True, True] Translation: X:748.70, Y:8.51, Z:5.15 [[ 9.99256784e-01 -3.55432322e-02 -1.49183570e-02 7.48699584e+02] [ 3.55446834e-02 9.99368074e-01 -1.67941188e-04 8.51469533e+00] [ 1.49148989e-02 -3.62451905e-04 9.99888701e-01 5.14759996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9892541539999 meters 0.022317722759022798 Centerline is valid? [True, True] Translation: X:748.73, Y:8.51, Z:5.15 [[ 9.99110877e-01 -3.88917952e-02 -1.62752599e-02 7.48730476e+02] [ 3.88939785e-02 9.99243326e-01 -1.82475750e-04 8.50803320e+00] [ 1.62700416e-02 -4.50696102e-04 9.99867533e-01 5.14545754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0192541539999 meters 0.019090341083647596 Centerline is valid? [True, True] Translation: X:748.76, Y:8.51, Z:5.15 [[ 9.99068139e-01 -4.04680609e-02 -1.50063500e-02 7.48762117e+02] [ 4.04701006e-02 9.99180736e-01 -1.67848510e-04 8.50831911e+00] [ 1.50008483e-02 -4.39616396e-04 9.99887384e-01 5.14842116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0492541539999 meters 0.018336067984789407 Centerline is valid? [True, True] Translation: X:748.79, Y:8.51, Z:5.15 [[ 9.99044211e-01 -4.08750046e-02 -1.54886802e-02 7.48793293e+02] [ 4.08772353e-02 9.99164162e-01 -1.72667392e-04 8.50692592e+00] [ 1.54827919e-02 -4.60632067e-04 9.99880028e-01 5.14894083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0792541539998 meters 0.018336067984789407 Centerline is valid? [True, True] Translation: X:748.82, Y:8.51, Z:5.15 [[ 9.99045734e-01 -4.08377461e-02 -1.54886866e-02 7.48824149e+02] [ 4.08399814e-02 9.99165685e-01 -1.72089939e-04 8.50724033e+00] [ 1.54827919e-02 -4.60631954e-04 9.99880028e-01 5.14915459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1092541539999 meters 0.019050015494624217 Centerline is valid? [True, True] Translation: X:748.85, Y:8.50, Z:5.15 [[ 9.99157474e-01 -3.81268985e-02 -1.51881798e-02 7.48854485e+02] [ 3.81287387e-02 9.99272821e-01 -1.68497726e-04 8.50488675e+00] [ 1.51835596e-02 -4.10750376e-04 9.99884639e-01 5.14816488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1392541539999 meters 0.018433026266040122 Centerline is valid? [True, True] Translation: X:748.88, Y:8.50, Z:5.15 [[ 9.99222093e-01 -3.66512179e-02 -1.45566581e-02 7.48884384e+02] [ 3.66527529e-02 9.99328049e-01 -1.61405656e-04 8.50280103e+00] [ 1.45527924e-02 -3.72261494e-04 9.99894033e-01 5.14903630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1692541539999 meters 0.019216156962612724 Centerline is valid? [True, True] Translation: X:748.91, Y:8.50, Z:5.15 [[ 9.99317652e-01 -3.36873883e-02 -1.51456377e-02 7.48914838e+02] [ 3.36887111e-02 9.99432360e-01 -1.67855081e-04 8.50440133e+00] [ 1.51426950e-02 -3.42496468e-04 9.99885284e-01 5.14809565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1992541539998 meters 0.016218867016379805 Centerline is valid? [True, True] Translation: X:748.94, Y:8.51, Z:5.15 [[ 9.99413410e-01 -3.12176403e-02 -1.40817311e-02 7.48944899e+02] [ 3.12185369e-02 9.99512570e-01 -1.56196112e-04 8.50554955e+00] [ 1.40797433e-02 -2.83506554e-04 9.99900835e-01 5.14983384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2292541539999 meters 0.015227472979048683 Centerline is valid? [True, True] Translation: X:748.97, Y:8.51, Z:5.15 [[ 9.99576661e-01 -2.50761913e-02 -1.47541287e-02 7.48974938e+02] [ 2.50765025e-02 9.99685522e-01 -1.63933657e-04 8.50729904e+00] [ 1.47535997e-02 -2.06117688e-04 9.99891138e-01 5.14959904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2592541539999 meters 0.014891013219138256 Centerline is valid? [True, True] Translation: X:749.00, Y:8.51, Z:5.15 [[ 9.99642679e-01 -2.21080166e-02 -1.50250055e-02 7.49003479e+02] [ 2.21079954e-02 9.99755574e-01 -1.67521116e-04 8.50796590e+00] [ 1.50250365e-02 -1.64711495e-04 9.99887104e-01 5.14928728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2892541539999 meters 0.014356025290266517 Centerline is valid? [True, True] Translation: X:749.03, Y:8.51, Z:5.15 [[ 9.99730732e-01 -1.75297343e-02 -1.52043432e-02 7.49031962e+02] [ 1.75291454e-02 9.99846338e-01 -1.72012078e-04 8.50797237e+00] [ 1.52050222e-02 -9.45533817e-05 9.99884392e-01 5.14906820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3192541539999 meters 0.014394177985565595 Centerline is valid? [True, True] Translation: X:749.06, Y:8.51, Z:5.15 [[ 9.99739354e-01 -1.67052846e-02 -1.55613915e-02 7.49060018e+02] [ 1.67045009e-02 9.99860454e-01 -1.80343781e-04 8.50740446e+00] [ 1.55622327e-02 -7.96485039e-05 9.99878898e-01 5.14895027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3492541539999 meters 0.01447160646296399 Centerline is valid? [True, True] Translation: X:749.09, Y:8.51, Z:5.15 [[ 9.99744551e-01 -1.62101436e-02 -1.57500634e-02 7.49087299e+02] [ 1.62092201e-02 9.99868605e-01 -1.86300473e-04 8.50622726e+00] [ 1.57510139e-02 -6.90433608e-05 9.99875943e-01 5.14824530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3792541539999 meters 0.01443068761003792 Centerline is valid? [True, True] Translation: X:749.12, Y:8.50, Z:5.15 [[ 9.99707381e-01 -1.78573545e-02 -1.63177185e-02 7.49116211e+02] [ 1.78565209e-02 9.99840540e-01 -1.96794863e-04 8.50262605e+00] [ 1.63186307e-02 -9.46404041e-05 9.99866838e-01 5.14799318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4092541539999 meters 0.014649989895491366 Centerline is valid? [True, True] Translation: X:749.14, Y:8.50, Z:5.15 [[ 9.99613893e-01 -2.23703411e-02 -1.64813072e-02 7.49144681e+02] [ 2.23700346e-02 9.99749739e-01 -2.02978933e-04 8.49736557e+00] [ 1.64817233e-02 -1.65786852e-04 9.99864153e-01 5.14814354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4392541539999 meters 0.01652914558910878 Centerline is valid? [True, True] Translation: X:749.17, Y:8.49, Z:5.15 [[ 9.99535534e-01 -2.54553596e-02 -1.67553042e-02 7.49173571e+02] [ 2.54554033e-02 9.99675937e-01 -2.10694271e-04 8.49432788e+00] [ 1.67552377e-02 -2.15916616e-04 9.99859598e-01 5.14722919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4692541539999 meters 0.017399991984198074 Centerline is valid? [True, True] Translation: X:749.20, Y:8.49, Z:5.15 [[ 9.99425755e-01 -2.95094610e-02 -1.66538602e-02 7.49200919e+02] [ 2.95100116e-02 9.99564462e-01 -2.12741103e-04 8.49014666e+00] [ 1.66528847e-02 -2.78836670e-04 9.99861292e-01 5.14706287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4992541539999 meters 0.016666957671607762 Centerline is valid? [True, True] Translation: X:749.23, Y:8.49, Z:5.15 [[ 9.99295080e-01 -3.40777096e-02 -1.57496874e-02 7.49229449e+02] [ 3.40787173e-02 9.99419131e-01 -2.04473514e-04 8.48674992e+00] [ 1.57475069e-02 -3.32399770e-04 9.99875945e-01 5.14859356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5292541539999 meters 0.018858218694355305 Centerline is valid? [True, True] Translation: X:749.26, Y:8.48, Z:5.15 [[ 9.98945754e-01 -4.34021539e-02 -1.49543848e-02 7.49259397e+02] [ 4.34040789e-02 9.99057580e-01 -1.95964662e-04 8.47844859e+00] [ 1.49487968e-02 -4.53323229e-04 9.99888158e-01 5.14924818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5592541539999 meters 0.02268189575908157 Centerline is valid? [True, True] Translation: X:749.29, Y:8.47, Z:5.15 [[ 9.98726689e-01 -4.81167854e-02 -1.51583675e-02 7.49289485e+02] [ 4.81193036e-02 9.98841576e-01 -1.98765840e-04 8.47379115e+00] [ 1.51503716e-02 -5.30897337e-04 9.99885086e-01 5.14787162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.589254154 meters 0.024188847712083128 Centerline is valid? [True, True] Translation: X:749.32, Y:8.47, Z:5.15 [[ 9.98256086e-01 -5.76468351e-02 -1.27133773e-02 7.49319696e+02] [ 5.76493776e-02 9.98336878e-01 -1.66701587e-04 8.46603178e+00] [ 1.27018432e-02 -5.66507415e-04 9.99919168e-01 5.15106594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6192541539999 meters 0.02725058624638358 Centerline is valid? [True, True] Translation: X:749.35, Y:8.46, Z:5.15 [[ 9.98010723e-01 -6.19795146e-02 -1.15384922e-02 7.49350102e+02] [ 6.19818987e-02 9.98077262e-01 -1.51208412e-04 8.46014161e+00] [ 1.15256785e-02 -5.64270039e-04 9.99933418e-01 5.15216219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6492541539999 meters 0.026513755350758988 Centerline is valid? [True, True] Translation: X:749.38, Y:8.46, Z:5.15 [[ 9.97771058e-01 -6.59151328e-02 -1.03976761e-02 7.49381339e+02] [ 6.59172837e-02 9.97825081e-01 -1.36081663e-04 8.46031281e+00] [ 1.03840318e-02 -5.49608219e-04 9.99945933e-01 5.15320889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6792541539999 meters 0.029276153038623395 Centerline is valid? [True, True] Translation: X:749.41, Y:8.46, Z:5.15 [[ 9.97302939e-01 -7.28397089e-02 -9.01252074e-03 7.49412062e+02] [ 7.28416077e-02 9.97343515e-01 -1.17820624e-04 8.45507211e+00] [ 8.99716114e-03 -5.38983646e-04 9.99959379e-01 5.15411810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.709254154 meters 0.029612688268779993 Centerline is valid? [True, True] Translation: X:749.44, Y:8.45, Z:5.15 [[ 9.96888718e-01 -7.83795518e-02 -8.33842215e-03 7.49442737e+02] [ 7.83813707e-02 9.96923442e-01 -1.08935577e-04 8.45365566e+00] [ 8.32130683e-03 -5.44980310e-04 9.99965229e-01 5.15477820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7392541539999 meters 0.03165799009500222 Centerline is valid? [True, True] Translation: X:749.47, Y:8.45, Z:5.15 [[ 9.96727248e-01 -8.04055045e-02 -8.35154884e-03 7.49474072e+02] [ 8.04074006e-02 9.96762077e-01 -1.09029916e-04 8.45205980e+00] [ 8.33327377e-03 -5.62853245e-04 9.99965119e-01 5.15311292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7692541539999 meters 0.03336096466524372 Centerline is valid? [True, True] Translation: X:749.50, Y:8.45, Z:5.15 [[ 9.96549672e-01 -8.25679094e-02 -8.44346116e-03 7.49504200e+02] [ 8.25699269e-02 9.96585267e-01 -1.09965077e-04 8.44911690e+00] [ 8.42370858e-03 -5.87590309e-04 9.99964347e-01 5.15438425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7992541539999 meters 0.03449168263422496 Centerline is valid? [True, True] Translation: X:749.53, Y:8.45, Z:5.15 [[ 9.96390818e-01 -8.43523799e-02 -9.48758418e-03 7.49534993e+02] [ 8.43550082e-02 9.96435757e-01 -1.23516247e-04 8.44880879e+00] [ 9.46418701e-03 -6.77254787e-04 9.99954984e-01 5.15305815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8292541539998 meters 0.03534096624332547 Centerline is valid? [True, True] Translation: X:749.57, Y:8.45, Z:5.15 [[ 9.96356149e-01 -8.47049177e-02 -9.97506966e-03 7.49567630e+02] [ 8.47078442e-02 9.96405823e-01 -1.29504620e-04 8.44906869e+00] [ 9.95018718e-03 -7.15933923e-04 9.99950239e-01 5.15289262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8592541539999 meters 0.03293228666963434 Centerline is valid? [True, True] Translation: X:749.60, Y:8.45, Z:5.15 [[ 9.96427231e-01 -8.37655322e-02 -1.07753872e-02 7.49599758e+02] [ 8.37689016e-02 9.96485199e-01 -1.39056324e-04 8.45475412e+00] [ 1.07491620e-02 -7.64082843e-04 9.99941934e-01 5.15213359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8892541539999 meters 0.032592095051383115 Centerline is valid? [True, True] Translation: X:749.63, Y:8.46, Z:5.15 [[ 9.96543063e-01 -8.22752847e-02 -1.15196355e-02 7.49631647e+02] [ 8.22790459e-02 9.96609320e-01 -1.47846644e-04 8.45669857e+00] [ 1.14927403e-02 -8.00489075e-04 9.99933636e-01 5.15194583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9192541539999 meters 0.03190916189122372 Centerline is valid? [True, True] Translation: X:749.66, Y:8.46, Z:5.15 [[ 9.96665340e-01 -8.07451070e-02 -1.17655567e-02 7.49663238e+02] [ 8.07489312e-02 9.96734462e-01 -1.50423751e-04 8.45984145e+00] [ 1.17392818e-02 -8.00133987e-04 9.99930772e-01 5.15188478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9492541539998 meters 0.029827202747883957 Centerline is valid? [True, True] Translation: X:749.69, Y:8.47, Z:5.15 [[ 9.97037922e-01 -7.59326400e-02 -1.22317542e-02 7.49693869e+02] [ 7.59364163e-02 9.97112650e-01 -1.56084684e-04 8.46727124e+00] [ 1.22082887e-02 -7.73213226e-04 9.99925177e-01 5.15184601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9792541539999 meters 0.02858467083121473 Centerline is valid? [True, True] Translation: X:749.73, Y:8.47, Z:5.15 [[ 9.97245138e-01 -7.31336175e-02 -1.23939368e-02 7.49725362e+02] [ 7.31372841e-02 9.97321870e-01 -1.57758511e-04 8.47220778e+00] [ 1.23722817e-02 -7.49134968e-04 9.99923180e-01 5.15247124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0092541539999 meters 0.027156751001041486 Centerline is valid? [True, True] Translation: X:749.75, Y:8.48, Z:5.15 [[ 9.97727819e-01 -6.62995795e-02 -1.19818938e-02 7.49754745e+02] [ 6.63025190e-02 9.97799555e-01 -1.52176688e-04 8.48036167e+00] [ 1.19656176e-02 -6.42598827e-04 9.99928203e-01 5.15330862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0392541539999 meters 0.02633381299604744 Centerline is valid? [True, True] Translation: X:749.78, Y:8.48, Z:5.15 [[ 9.97975825e-01 -6.25380111e-02 -1.15433807e-02 7.49784648e+02] [ 6.25404868e-02 9.98042417e-01 -1.46740431e-04 8.48426840e+00] [ 1.15299604e-02 -5.75485243e-04 9.99933362e-01 5.15396650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0692541539999 meters 0.024615452313038282 Centerline is valid? [True, True] Translation: X:749.82, Y:8.49, Z:5.15 [[ 9.98218883e-01 -5.87020049e-02 -1.06365325e-02 7.49815145e+02] [ 5.87038895e-02 9.98275430e-01 -1.35212500e-04 8.48964149e+00] [ 1.06261263e-02 -4.89434156e-04 9.99943421e-01 5.15443500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0992541539999 meters 0.020790338874083932 Centerline is valid? [True, True] Translation: X:749.85, Y:8.50, Z:5.16 [[ 9.98669605e-01 -5.07366182e-02 -9.20955019e-03 7.49845632e+02] [ 5.07376927e-02 9.98712007e-01 -1.17073452e-04 8.50126043e+00] [ 9.20362827e-03 -3.50353630e-04 9.99957584e-01 5.15596942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1292541539999 meters 0.020790338874083932 Centerline is valid? [True, True] Translation: X:749.88, Y:8.50, Z:5.16 [[ 9.98673399e-01 -5.06618771e-02 -9.20955232e-03 7.49877339e+02] [ 5.06629501e-02 9.98715801e-01 -1.16905384e-04 8.50160486e+00] [ 9.20364808e-03 -3.49832793e-04 9.99957584e-01 5.15618914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1592541539999 meters 0.02008476173736472 Centerline is valid? [True, True] Translation: X:749.91, Y:8.51, Z:5.16 [[ 9.99032870e-01 -4.30308159e-02 -9.03732331e-03 7.49907188e+02] [ 4.30315415e-02 9.99073708e-01 -1.14231661e-04 8.50892264e+00] [ 9.03386758e-03 -2.74768769e-04 9.99959156e-01 5.15689017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1892541539999 meters 0.018850738970058338 Centerline is valid? [True, True] Translation: X:749.94, Y:8.51, Z:5.16 [[ 9.99182189e-01 -3.94254296e-02 -8.97715498e-03 7.49938714e+02] [ 3.94260002e-02 9.99222487e-01 -1.13468051e-04 8.51435820e+00] [ 8.97464865e-03 -2.40558058e-04 9.99959698e-01 5.15726531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2192541539999 meters 0.01702472001702751 Centerline is valid? [True, True] Translation: X:749.97, Y:8.52, Z:5.16 [[ 9.99293813e-01 -3.63405776e-02 -9.55180135e-03 7.49969688e+02] [ 3.63410862e-02 9.99339437e-01 -1.20371468e-04 8.52121821e+00] [ 9.54986615e-03 -2.26836373e-04 9.99954373e-01 5.15765125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2492541539999 meters 0.016036124026767653 Centerline is valid? [True, True] Translation: X:750.00, Y:8.53, Z:5.16 [[ 9.99454116e-01 -3.12943923e-02 -1.05892018e-02 7.50000699e+02] [ 3.12947387e-02 9.99510191e-01 -1.33025960e-04 8.52705902e+00] [ 1.05881781e-02 -1.98432961e-04 9.99943924e-01 5.15700303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2792541539999 meters 0.016111793974949346 Centerline is valid? [True, True] Translation: X:750.03, Y:8.53, Z:5.16 [[ 9.99506258e-01 -2.96000098e-02 -1.05394448e-02 7.50030991e+02] [ 2.96002622e-02 9.99561808e-01 -1.32080067e-04 8.52779367e+00] [ 1.05387361e-02 -1.79955477e-04 9.99944450e-01 5.15664312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3092541539999 meters 0.01544062975861483 Centerline is valid? [True, True] Translation: X:750.06, Y:8.53, Z:5.16 [[ 9.99570443e-01 -2.69447418e-02 -1.15286933e-02 7.50062503e+02] [ 2.69448706e-02 9.99636911e-01 -1.44174589e-04 8.53256195e+00] [ 1.15283921e-02 -1.66526491e-04 9.99933532e-01 5.15733867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.339254154 meters 0.015281359171788765 Centerline is valid? [True, True] Translation: X:750.09, Y:8.54, Z:5.16 [[ 9.99605557e-01 -2.55056172e-02 -1.17556176e-02 7.50093469e+02] [ 2.55056567e-02 9.99674667e-01 -1.46584152e-04 8.53524328e+00] [ 1.17555318e-02 -1.53308414e-04 9.99930890e-01 5.15762013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3692541539999 meters 0.014957665196739103 Centerline is valid? [True, True] Translation: X:750.12, Y:8.54, Z:5.16 [[ 9.99636788e-01 -2.40543115e-02 -1.21524782e-02 7.50123712e+02] [ 2.40542497e-02 9.99710643e-01 -1.51272525e-04 8.53759275e+00] [ 1.21526005e-02 -1.41101163e-04 9.99926144e-01 5.15764010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3992541539999 meters 0.014824208550461402 Centerline is valid? [True, True] Translation: X:750.15, Y:8.54, Z:5.16 [[ 9.99685036e-01 -2.12506991e-02 -1.33505284e-02 7.50154201e+02] [ 2.12503745e-02 9.99774171e-01 -1.66185704e-04 8.54226149e+00] [ 1.33510450e-02 -1.17570367e-04 9.99910864e-01 5.15795339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4292541539999 meters 0.014585735866296067 Centerline is valid? [True, True] Translation: X:750.18, Y:8.54, Z:5.16 [[ 9.99717222e-01 -1.97914205e-02 -1.31823716e-02 7.50183547e+02] [ 1.97909741e-02 9.99804126e-01 -1.64321793e-04 8.54486365e+00] [ 1.31830416e-02 -9.66166480e-05 9.99913095e-01 5.15814303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.459254154 meters 0.014238111099373786 Centerline is valid? [True, True] Translation: X:750.21, Y:8.55, Z:5.16 [[ 9.99757739e-01 -1.72350218e-02 -1.36900550e-02 7.50212643e+02] [ 1.72342730e-02 9.99851464e-01 -1.72675076e-04 8.54763375e+00] [ 1.36909975e-02 -6.33049014e-05 9.99906272e-01 5.15897604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4892541539999 meters 0.014335433892829338 Centerline is valid? [True, True] Translation: X:750.24, Y:8.55, Z:5.16 [[ 9.99771470e-01 -1.63197801e-02 -1.38083951e-02 7.50240406e+02] [ 1.63188972e-02 9.99866822e-01 -1.76621160e-04 8.54855879e+00] [ 1.38094386e-02 -4.87569832e-05 9.99904644e-01 5.15879823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5192541539999 meters 0.014453425605492239 Centerline is valid? [True, True] Translation: X:750.27, Y:8.55, Z:5.16 [[ 9.99770428e-01 -1.62147681e-02 -1.40061405e-02 7.50267977e+02] [ 1.62138119e-02 9.99868531e-01 -1.81826202e-04 8.54962167e+00] [ 1.40072474e-02 -4.53084684e-05 9.99901893e-01 5.15929145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5492541539999 meters 0.014482888296655274 Centerline is valid? [True, True] Translation: X:750.30, Y:8.55, Z:5.16 [[ 9.99750416e-01 -1.71186235e-02 -1.43547445e-02 7.50295922e+02] [ 1.71176518e-02 9.99853464e-01 -1.90561840e-04 8.55019665e+00] [ 1.43559032e-02 -5.52052391e-05 9.99896947e-01 5.16039304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5792541539998 meters 0.014485779499430697 Centerline is valid? [True, True] Translation: X:750.32, Y:8.55, Z:5.16 [[ 9.99717701e-01 -1.86867112e-02 -1.46739637e-02 7.50324413e+02] [ 1.86858053e-02 9.99825385e-01 -1.98848813e-04 8.54984307e+00] [ 1.46751172e-02 -7.54021502e-05 9.99892312e-01 5.16094541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6092541539999 meters 0.015024951961928226 Centerline is valid? [True, True] Translation: X:750.35, Y:8.55, Z:5.16 [[ 9.99628741e-01 -2.28541988e-02 -1.48346415e-02 7.50352191e+02] [ 2.28536947e-02 9.99738799e-01 -2.03526161e-04 8.54660122e+00] [ 1.48354181e-02 -1.35575767e-04 9.99889940e-01 5.16076486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6392541539999 meters 0.015094301569222228 Centerline is valid? [True, True] Translation: X:750.38, Y:8.55, Z:5.16 [[ 9.99556114e-01 -2.55642070e-02 -1.52985396e-02 7.50380778e+02] [ 2.55639453e-02 9.99673166e-01 -2.12690846e-04 8.54527465e+00] [ 1.52989768e-02 -1.78494595e-04 9.99882948e-01 5.16130795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6692541539999 meters 0.015442953729888156 Centerline is valid? [True, True] Translation: X:750.41, Y:8.54, Z:5.16 [[ 9.99464979e-01 -2.84603305e-02 -1.61172594e-02 7.50410342e+02] [ 2.84603807e-02 9.99594896e-01 -2.26294593e-04 8.54319537e+00] [ 1.61171707e-02 -2.32529820e-04 9.99870083e-01 5.16145924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6992541539998 meters 0.018080350408634593 Centerline is valid? [True, True] Translation: X:750.44, Y:8.54, Z:5.16 [[ 9.99276627e-01 -3.36390724e-02 -1.77379457e-02 7.50439437e+02] [ 3.36399367e-02 9.99433986e-01 -2.49733419e-04 8.53639616e+00] [ 1.77363065e-02 -3.47150600e-04 9.99842639e-01 5.15903664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7292541539999 meters 0.018055594119701146 Centerline is valid? [True, True] Translation: X:750.47, Y:8.53, Z:5.16 [[ 9.99170896e-01 -3.64089663e-02 -1.82183265e-02 7.50469485e+02] [ 3.64103261e-02 9.99336891e-01 -2.57156612e-04 8.53474758e+00] [ 1.82156086e-02 -4.06391807e-04 9.99833999e-01 5.15940860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7592541539999 meters 0.020035642855716983 Centerline is valid? [True, True] Translation: X:750.50, Y:8.53, Z:5.16 [[ 9.98993235e-01 -4.05009230e-02 -1.92922555e-02 7.50498267e+02] [ 4.05031929e-02 9.99179372e-01 -2.73220373e-04 8.53078875e+00] [ 1.92874894e-02 -5.08452642e-04 9.99813850e-01 5.15822700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7892541539999 meters 0.01965554589185063 Centerline is valid? [True, True] Translation: X:750.53, Y:8.53, Z:5.16 [[ 9.98905334e-01 -4.24511454e-02 -1.96477299e-02 7.50527832e+02] [ 4.24538607e-02 9.99098389e-01 -2.79069117e-04 8.53020523e+00] [ 1.96418621e-02 -5.55358358e-04 9.99806926e-01 5.15891189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8192541539999 meters 0.021093716567449215 Centerline is valid? [True, True] Translation: X:750.56, Y:8.53, Z:5.16 [[ 9.98786380e-01 -4.51018955e-02 -1.97885368e-02 7.50557116e+02] [ 4.51051603e-02 9.98982205e-01 -2.81536766e-04 8.52723003e+00] [ 1.97810940e-02 -6.11370039e-04 9.99804148e-01 5.15847657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8492541539999 meters 0.01924476074825041 Centerline is valid? [True, True] Translation: X:750.59, Y:8.53, Z:5.16 [[ 9.98736945e-01 -4.61405346e-02 -1.98888541e-02 7.50587500e+02] [ 4.61440359e-02 9.98934757e-01 -2.83085002e-04 8.53047839e+00] [ 1.98807293e-02 -6.35024546e-04 9.99802157e-01 5.16029660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8792541539999 meters 0.019618335290899517 Centerline is valid? [True, True] Translation: X:750.62, Y:8.53, Z:5.16 [[ 9.98687237e-01 -4.71829540e-02 -1.99392118e-02 7.50617761e+02] [ 4.71866806e-02 9.98886048e-01 -2.83801761e-04 8.52991989e+00] [ 1.99303911e-02 -6.57436022e-04 9.99801154e-01 5.16056347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9092541539999 meters 0.020472266396043663 Centerline is valid? [True, True] Translation: X:750.65, Y:8.53, Z:5.16 [[ 9.98584860e-01 -4.94447189e-02 -1.95830600e-02 7.50648559e+02] [ 4.94487524e-02 9.98776623e-01 -2.78501400e-04 8.52901629e+00] [ 1.95728730e-02 -6.90250603e-04 9.99808195e-01 5.16138963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9392541539999 meters 0.02092586001552802 Centerline is valid? [True, True] Translation: X:750.68, Y:8.53, Z:5.16 [[ 9.98519879e-01 -5.08179951e-02 -1.93799654e-02 7.50678849e+02] [ 5.08222060e-02 9.98707679e-01 -2.75487867e-04 8.52863473e+00] [ 1.93689200e-02 -7.09852483e-04 9.99812153e-01 5.16184382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9692541539999 meters 0.02155610516721242 Centerline is valid? [True, True] Translation: X:750.71, Y:8.53, Z:5.16 [[ 9.98338215e-01 -5.44782545e-02 -1.87863715e-02 7.50709904e+02] [ 5.44828623e-02 9.98514670e-01 -2.66830859e-04 8.52784845e+00] [ 1.87730040e-02 -7.57147849e-04 9.99823485e-01 5.16221789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9992541539999 meters 0.024033979025429808 Centerline is valid? [True, True] Translation: X:750.74, Y:8.52, Z:5.16 [[ 9.98179173e-01 -5.71403663e-02 -1.93214353e-02 7.50740405e+02] [ 5.71457451e-02 9.98365809e-01 -2.74071821e-04 8.52440365e+00] [ 1.93055210e-02 -8.30565034e-04 9.99813286e-01 5.16138192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0292541539999 meters 0.02461605500166987 Centerline is valid? [True, True] Translation: X:750.77, Y:8.52, Z:5.16 [[ 9.97978857e-01 -6.03866193e-02 -1.97903218e-02 7.50771167e+02] [ 6.03929065e-02 9.98174643e-01 -2.80359028e-04 8.52414126e+00] [ 1.97711274e-02 -9.15402673e-04 9.99804113e-01 5.16170721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0592541539999 meters 0.027550818220205407 Centerline is valid? [True, True] Translation: X:750.80, Y:8.52, Z:5.16 [[ 9.97527918e-01 -6.70991601e-02 -2.08747807e-02 7.50801456e+02] [ 6.71076232e-02 9.97745699e-01 -2.95609353e-04 8.52042574e+00] [ 2.08475578e-02 -1.10597834e-03 9.99782054e-01 5.16067132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.089254154 meters 0.02818206771121606 Centerline is valid? [True, True] Translation: X:750.83, Y:8.52, Z:5.16 [[ 9.97281480e-01 -7.05245733e-02 -2.13526234e-02 7.50832034e+02] [ 7.05342197e-02 9.97509315e-01 -3.01966597e-04 8.52010864e+00] [ 2.13207368e-02 -1.20494494e-03 9.99771961e-01 5.16092287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1192541539999 meters 0.029867785178666575 Centerline is valid? [True, True] Translation: X:750.86, Y:8.52, Z:5.16 [[ 9.96820915e-01 -7.64771490e-02 -2.23452115e-02 7.50863227e+02] [ 7.64892171e-02 9.97070359e-01 -3.15370482e-04 8.51915342e+00] [ 2.23038667e-02 -1.39479984e-03 9.99750265e-01 5.16104633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1492541539999 meters 0.03383594220696867 Centerline is valid? [True, True] Translation: X:750.89, Y:8.51, Z:5.16 [[ 9.96652434e-01 -7.86453150e-02 -2.23347292e-02 7.50893093e+02] [ 7.86579180e-02 9.96901616e-01 -3.15032915e-04 8.51497964e+00] [ 2.22903035e-02 -1.44282498e-03 9.99750499e-01 5.16041881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1792541539999 meters 0.03325099043946651 Centerline is valid? [True, True] Translation: X:750.92, Y:8.52, Z:5.16 [[ 9.96452445e-01 -8.07237575e-02 -2.37949733e-02 7.50924318e+02] [ 8.07386679e-02 9.96735248e-01 -3.35008883e-04 8.51963858e+00] [ 2.37443318e-02 -1.58735402e-03 9.99716803e-01 5.16086053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.209254154 meters 0.034659432654769486 Centerline is valid? [True, True] Translation: X:750.96, Y:8.52, Z:5.16 [[ 9.96454508e-01 -8.13329547e-02 -2.15259129e-02 7.50955727e+02] [ 8.13453196e-02 9.96685932e-01 -3.02027919e-04 8.51801329e+00] [ 2.14791394e-02 -1.45007519e-03 9.99768245e-01 5.16223773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2392541539999 meters 0.032694300359647606 Centerline is valid? [True, True] Translation: X:750.99, Y:8.52, Z:5.16 [[ 9.96510805e-01 -8.07953108e-02 -2.09363955e-02 7.50986954e+02] [ 8.08069078e-02 9.96729732e-01 -2.92872496e-04 8.52239018e+00] [ 2.08915906e-02 -1.39995477e-03 9.99780767e-01 5.16357168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2692541539999 meters 0.03209481275304071 Centerline is valid? [True, True] Translation: X:751.02, Y:8.53, Z:5.17 [[ 9.96740916e-01 -7.82530477e-02 -1.95961094e-02 7.51017196e+02] [ 7.82627223e-02 9.96932732e-01 -2.73886323e-04 8.52721671e+00] [ 1.95574353e-02 -1.26065117e-03 9.99807940e-01 5.16502889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2992541539999 meters 0.02966956759080464 Centerline is valid? [True, True] Translation: X:751.05, Y:8.53, Z:5.17 [[ 9.96915626e-01 -7.63247507e-02 -1.82692990e-02 7.51049092e+02] [ 7.63328496e-02 9.97082359e-01 -2.54629444e-04 8.53262485e+00] [ 1.82354303e-02 -1.14070358e-03 9.99833070e-01 5.16657777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3292541539998 meters 0.030222686009523853 Centerline is valid? [True, True] Translation: X:751.08, Y:8.54, Z:5.17 [[ 9.97256903e-01 -7.18122478e-02 -1.79351872e-02 7.51079093e+02] [ 7.18193307e-02 9.97417626e-01 -2.49703330e-04 8.53592802e+00] [ 1.79068036e-02 -1.03907477e-03 9.99839120e-01 5.16656572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3592541539999 meters 0.02922783249865762 Centerline is valid? [True, True] Translation: X:751.11, Y:8.54, Z:5.17 [[ 9.97435799e-01 -6.92337320e-02 -1.81250550e-02 7.51110766e+02] [ 6.92405504e-02 9.97599961e-01 -2.51841309e-04 8.53958066e+00] [ 1.80989901e-02 -1.00379325e-03 9.99835696e-01 5.16658478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3892541539999 meters 0.028332262662845886 Centerline is valid? [True, True] Translation: X:751.14, Y:8.54, Z:5.17 [[ 9.97625478e-01 -6.65071371e-02 -1.78943155e-02 7.51141981e+02] [ 6.65133593e-02 9.97785504e-01 -2.47869393e-04 8.54316162e+00] [ 1.78711737e-02 -9.42930216e-04 9.99839853e-01 5.16656734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4192541539999 meters 0.026012122810321756 Centerline is valid? [True, True] Translation: X:751.17, Y:8.55, Z:5.17 [[ 9.97961732e-01 -6.10823021e-02 -1.84752046e-02 7.51172726e+02] [ 6.10880132e-02 9.98132351e-01 -2.55601346e-04 8.55171535e+00] [ 1.84563121e-02 -8.73533181e-04 9.99829286e-01 5.16676027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4492541539998 meters 0.023383576731613145 Centerline is valid? [True, True] Translation: X:751.20, Y:8.56, Z:5.17 [[ 9.98119258e-01 -5.83526995e-02 -1.87858634e-02 7.51204416e+02] [ 5.83581363e-02 9.98295678e-01 -2.59132982e-04 8.55818956e+00] [ 1.87689673e-02 -8.37662355e-04 9.99823497e-01 5.16773548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4792541539999 meters 0.02146765033019689 Centerline is valid? [True, True] Translation: X:751.23, Y:8.57, Z:5.17 [[ 9.98461708e-01 -5.21923104e-02 -1.87130940e-02 7.51234832e+02] [ 5.21966353e-02 9.98636793e-01 -2.57567000e-04 8.56582599e+00] [ 1.87010272e-02 -7.19589756e-04 9.99824862e-01 5.16804770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5092541539999 meters 0.020188916374875656 Centerline is valid? [True, True] Translation: X:751.27, Y:8.57, Z:5.17 [[ 9.98621154e-01 -4.89198878e-02 -1.90429779e-02 7.51266483e+02] [ 4.89237868e-02 9.98802480e-01 -2.61348972e-04 8.57046592e+00] [ 1.90329587e-02 -6.70665978e-04 9.99818632e-01 5.16854045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5392541539999 meters 0.020876036097605213 Centerline is valid? [True, True] Translation: X:751.30, Y:8.57, Z:5.17 [[ 9.98772817e-01 -4.57665977e-02 -1.89282577e-02 7.51297260e+02] [ 4.57698999e-02 9.98951975e-01 -2.58945386e-04 8.57150390e+00] [ 1.89202715e-02 -6.07716848e-04 9.99820811e-01 5.16775946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5692541539999 meters 0.02078476477644761 Centerline is valid? [True, True] Translation: X:751.33, Y:8.58, Z:5.17 [[ 9.99058412e-01 -3.80777946e-02 -2.07935458e-02 7.51327207e+02] [ 3.80801214e-02 9.99274649e-01 -2.84181416e-04 8.57871232e+00] [ 2.07892842e-02 -5.07906915e-04 9.99783750e-01 5.16653717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5992541539999 meters 0.016949944074167774 Centerline is valid? [True, True] Translation: X:751.36, Y:8.59, Z:5.17 [[ 9.99213100e-01 -3.43669419e-02 -1.98013596e-02 7.51357338e+02] [ 3.43683190e-02 9.99409198e-01 -2.70853993e-04 8.58563531e+00] [ 1.97989694e-02 -4.09898585e-04 9.99803897e-01 5.16890940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6292541539999 meters 0.015623521571294338 Centerline is valid? [True, True] Translation: X:751.39, Y:8.59, Z:5.17 [[ 9.99454398e-01 -2.57434971e-02 -2.06924545e-02 7.51386790e+02] [ 2.57431400e-02 9.99668550e-01 -2.83675591e-04 8.59491262e+00] [ 2.06928988e-02 -2.49167936e-04 9.99785848e-01 5.16912885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6592541539999 meters 0.015414996252654177 Centerline is valid? [True, True] Translation: X:751.42, Y:8.60, Z:5.17 [[ 9.99548738e-01 -2.12269459e-02 -2.12541072e-02 7.51415963e+02] [ 2.12254701e-02 9.99774671e-01 -2.95050006e-04 8.59925919e+00] [ 2.12555811e-02 -1.56211556e-04 9.99774062e-01 5.16953625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6892541539999 meters 0.01565045764942972 Centerline is valid? [True, True] Translation: X:751.44, Y:8.61, Z:5.17 [[ 9.99710036e-01 -1.28980584e-02 -2.03342875e-02 7.51443517e+02] [ 1.28949277e-02 9.99916816e-01 -2.85077568e-04 8.60624801e+00] [ 2.03362730e-02 2.27857386e-05 9.99793196e-01 5.17045427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7192541539999 meters 0.015189779299472517 Centerline is valid? [True, True] Translation: X:751.47, Y:8.61, Z:5.17 [[ 9.99765992e-01 -9.73871091e-03 -1.93162630e-02 7.51471821e+02] [ 9.73521408e-03 9.99952574e-01 -2.75056815e-04 8.60898576e+00] [ 1.93180256e-02 8.69444939e-05 9.99813386e-01 5.17207752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7492541539999 meters 0.015258745642401697 Centerline is valid? [True, True] Translation: X:751.50, Y:8.61, Z:5.17 [[ 9.99835447e-01 -5.09838885e-03 -1.74093642e-02 7.51500027e+02] [ 5.09479634e-03 9.99986990e-01 -2.50700675e-04 8.61261136e+00] [ 1.74104158e-02 1.61962256e-04 9.99848414e-01 5.17373564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7792541539999 meters 0.01554566949626474 Centerline is valid? [True, True] Translation: X:751.53, Y:8.61, Z:5.17 [[ 9.99841040e-01 -4.34757726e-03 -1.72914097e-02 7.51527401e+02] [ 4.34389409e-03 9.99990534e-01 -2.50558656e-04 8.61362395e+00] [ 1.72923354e-02 1.75406775e-04 9.99850461e-01 5.17405137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8092541539999 meters 0.015359076717412688 Centerline is valid? [True, True] Translation: X:751.56, Y:8.61, Z:5.18 [[ 9.99842432e-01 -5.00030777e-03 -1.70325547e-02 7.51555314e+02] [ 4.99676799e-03 9.99987485e-01 -2.50375346e-04 8.61208584e+00] [ 1.70335935e-02 1.65228171e-04 9.99854904e-01 5.17538375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.839254154 meters 0.014965572402650394 Centerline is valid? [True, True] Translation: X:751.58, Y:8.61, Z:5.18 [[ 9.99815745e-01 -8.26282140e-03 -1.73263186e-02 7.51583116e+02] [ 8.25959621e-03 9.99965856e-01 -2.57696079e-04 8.60779741e+00] [ 1.73278563e-02 1.14540202e-04 9.99849855e-01 5.17525922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8692541539999 meters 0.014906864181437664 Centerline is valid? [True, True] Translation: X:751.61, Y:8.60, Z:5.17 [[ 9.99773080e-01 -1.13165411e-02 -1.80478313e-02 7.51612474e+02] [ 1.13135165e-02 9.99935964e-01 -2.69680892e-04 8.60451873e+00] [ 1.80497274e-02 6.54352582e-05 9.99837088e-01 5.17472620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8992541539999 meters 0.014930104704963703 Centerline is valid? [True, True] Translation: X:751.64, Y:8.60, Z:5.17 [[ 9.99624934e-01 -1.96720559e-02 -1.90525776e-02 7.51640048e+02] [ 1.96701742e-02 9.99806482e-01 -2.86174177e-04 8.59526329e+00] [ 1.90545202e-02 -8.87006779e-05 9.99818442e-01 5.17318937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9292541539999 meters 0.015166786558425304 Centerline is valid? [True, True] Translation: X:751.67, Y:8.59, Z:5.17 [[ 9.99507145e-01 -2.45512943e-02 -1.95627482e-02 7.51668612e+02] [ 2.45501709e-02 9.99698555e-01 -2.97614216e-04 8.59042236e+00] [ 1.95641579e-02 -1.82801277e-04 9.99808587e-01 5.17278239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.959254154 meters 0.01725396788124471 Centerline is valid? [True, True] Translation: X:751.70, Y:8.58, Z:5.17 [[ 9.99212473e-01 -3.42775798e-02 -1.99870117e-02 7.51696753e+02] [ 3.42783051e-02 9.99412279e-01 -3.06404961e-04 8.57984909e+00] [ 1.99857678e-02 -3.78957228e-04 9.99800193e-01 5.17234466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9892541539999 meters 0.01847537406936945 Centerline is valid? [True, True] Translation: X:751.73, Y:8.57, Z:5.17 [[ 9.99049472e-01 -3.87287506e-02 -2.00058889e-02 7.51725212e+02] [ 3.87303494e-02 9.99249651e-01 -3.07677971e-04 8.57451067e+00] [ 2.00027935e-02 -4.67449551e-04 9.99799815e-01 5.17215965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0192541539999 meters 0.01847537406936945 Centerline is valid? [True, True] Translation: X:751.76, Y:8.57, Z:5.17 [[ 9.99049472e-01 -3.87287531e-02 -2.00058833e-02 7.51755218e+02] [ 3.87303447e-02 9.99249651e-01 -3.08036666e-04 8.57497287e+00] [ 2.00028018e-02 -4.67090889e-04 9.99799815e-01 5.17236769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0492541539999 meters 0.021131644457396646 Centerline is valid? [True, True] Translation: X:751.79, Y:8.57, Z:5.17 [[ 9.98751298e-01 -4.59820183e-02 -1.95319911e-02 7.51785397e+02] [ 4.59849166e-02 9.98942089e-01 -3.00957219e-04 8.56531576e+00] [ 1.95251666e-02 -5.97595570e-04 9.99809187e-01 5.17252398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0792541539998 meters 0.019791488561695075 Centerline is valid? [True, True] Translation: X:751.82, Y:8.57, Z:5.17 [[ 9.98636722e-01 -4.84843910e-02 -1.93380706e-02 7.51816559e+02] [ 4.84877071e-02 9.98823735e-01 -2.97631423e-04 8.56545186e+00] [ 1.93297544e-02 -6.40433036e-04 9.99812958e-01 5.17454562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1092541539999 meters 0.020838544253369392 Centerline is valid? [True, True] Translation: X:751.85, Y:8.56, Z:5.17 [[ 9.98481663e-01 -5.17594725e-02 -1.88500662e-02 7.51848190e+02] [ 5.17632190e-02 9.98659344e-01 -2.89435049e-04 8.56019674e+00] [ 1.88397757e-02 -6.86744514e-04 9.99822280e-01 5.17495641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1392541539999 meters 0.021814317946165993 Centerline is valid? [True, True] Translation: X:751.88, Y:8.56, Z:5.17 [[ 9.98458006e-01 -5.19297856e-02 -1.96190866e-02 7.51880186e+02] [ 5.19339007e-02 9.98650479e-01 -3.00033858e-04 8.55967313e+00] [ 1.96081910e-02 -7.19324490e-04 9.99807482e-01 5.17497371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1692541539999 meters 0.02082790946382802 Centerline is valid? [True, True] Translation: X:751.91, Y:8.56, Z:5.18 [[ 9.98452083e-01 -5.25475552e-02 -1.82261565e-02 7.51911370e+02] [ 5.25512256e-02 9.98618191e-01 -2.77835776e-04 8.55777707e+00] [ 1.82155710e-02 -6.80401154e-04 9.99833851e-01 5.17578282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1992541539998 meters 0.021334866029665722 Centerline is valid? [True, True] Translation: X:751.94, Y:8.56, Z:5.18 [[ 9.98474322e-01 -5.22678723e-02 -1.78072605e-02 7.51943082e+02] [ 5.22713430e-02 9.98632882e-01 -2.70801033e-04 8.55697705e+00] [ 1.77970701e-02 -6.60421544e-04 9.99841401e-01 5.17589772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2292541539999 meters 0.02126574623833108 Centerline is valid? [True, True] Translation: X:751.98, Y:8.56, Z:5.18 [[ 9.98477452e-01 -5.23371564e-02 -1.74240919e-02 7.51975213e+02] [ 5.23405075e-02 9.98629261e-01 -2.63956658e-04 8.55588907e+00] [ 1.74140228e-02 -6.48431041e-04 9.99848154e-01 5.17608726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2592541539999 meters 0.02204125045686609 Centerline is valid? [True, True] Translation: X:752.01, Y:8.55, Z:5.18 [[ 9.98442775e-01 -5.29979730e-02 -1.74137830e-02 7.52005588e+02] [ 5.30014326e-02 9.98594402e-01 -2.63103579e-04 8.55223757e+00] [ 1.74032502e-02 -6.60261580e-04 9.99848334e-01 5.17539031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2892541539999 meters 0.022572120466040874 Centerline is valid? [True, True] Translation: X:752.04, Y:8.55, Z:5.17 [[ 9.98396912e-01 -5.36073297e-02 -1.81620726e-02 7.52036882e+02] [ 5.36112035e-02 9.98561848e-01 -2.73877603e-04 8.55061749e+00] [ 1.81506346e-02 -7.00252019e-04 9.99835018e-01 5.17486523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3192541539999 meters 0.021990353895308512 Centerline is valid? [True, True] Translation: X:752.07, Y:8.55, Z:5.17 [[ 9.98261424e-01 -5.58330718e-02 -1.88890658e-02 7.52068371e+02] [ 5.58376729e-02 9.98439820e-01 -2.84142760e-04 8.55079162e+00] [ 1.88754600e-02 -7.71072721e-04 9.99821545e-01 5.17461344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3492541539999 meters 0.022405714341631477 Centerline is valid? [True, True] Translation: X:752.10, Y:8.55, Z:5.17 [[ 9.98206050e-01 -5.67668973e-02 -1.90315762e-02 7.52099205e+02] [ 5.67717467e-02 9.98387143e-01 -2.85806311e-04 8.55008444e+00] [ 1.90171053e-02 -7.95162235e-04 9.99818842e-01 5.17444228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3792541539999 meters 0.02417033295794238 Centerline is valid? [True, True] Translation: X:752.13, Y:8.55, Z:5.17 [[ 9.98130719e-01 -5.75757108e-02 -2.04964700e-02 7.52129900e+02] [ 5.75815445e-02 9.98340760e-01 -3.05925831e-04 8.54664102e+00] [ 2.04800753e-02 -8.74864431e-04 9.99789878e-01 5.17314081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4092541539999 meters 0.02328612504780704 Centerline is valid? [True, True] Translation: X:752.16, Y:8.55, Z:5.17 [[ 9.98135772e-01 -5.73350753e-02 -2.09205794e-02 7.52161391e+02] [ 5.73411299e-02 9.98354595e-01 -3.10839859e-04 8.54834785e+00] [ 2.09039786e-02 -8.89349278e-04 9.99781092e-01 5.17313493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4392541539999 meters 0.022844690651468234 Centerline is valid? [True, True] Translation: X:752.19, Y:8.55, Z:5.17 [[ 9.98189699e-01 -5.62683453e-02 -2.12414162e-02 7.52192780e+02] [ 5.62743626e-02 9.98415293e-01 -3.14829361e-04 8.54922592e+00] [ 2.12254697e-02 -8.81087733e-04 9.99774326e-01 5.17278389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4692541539999 meters 0.02086365551742557 Centerline is valid? [True, True] Translation: X:752.22, Y:8.55, Z:5.17 [[ 9.98427086e-01 -5.16549392e-02 -2.17972557e-02 7.52223671e+02] [ 5.16601894e-02 9.98664669e-01 -3.22535108e-04 8.55378606e+00] [ 2.17848097e-02 -8.04022573e-04 9.99762360e-01 5.17304601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4992541539999 meters 0.020063501271017237 Centerline is valid? [True, True] Translation: X:752.25, Y:8.56, Z:5.17 [[ 9.98571537e-01 -4.85266483e-02 -2.23617811e-02 7.52254239e+02] [ 4.85313935e-02 9.98821603e-01 -3.30757755e-04 8.55698050e+00] [ 2.23514806e-02 -7.54963120e-04 9.99749889e-01 5.17335738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5292541539999 meters 0.018680006266246135 Centerline is valid? [True, True] Translation: X:752.28, Y:8.56, Z:5.17 [[ 9.98939084e-01 -4.06088848e-02 -2.17169097e-02 7.52283943e+02] [ 4.06114827e-02 9.99174962e-01 -3.21572237e-04 8.56281401e+00] [ 2.17120511e-02 -5.60724829e-04 9.99764108e-01 5.17368055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5592541539999 meters 0.01729416630798218 Centerline is valid? [True, True] Translation: X:752.31, Y:8.57, Z:5.17 [[ 9.99107877e-01 -3.64228114e-02 -2.13735627e-02 7.52313317e+02] [ 3.64243281e-02 9.99336363e-01 -3.18470226e-04 8.56752660e+00] [ 2.13709780e-02 -4.60331548e-04 9.99771509e-01 5.17462015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.589254154 meters 0.01671685255907776 Centerline is valid? [True, True] Translation: X:752.34, Y:8.57, Z:5.18 [[ 9.99397269e-01 -2.80993474e-02 -2.03844292e-02 7.52343281e+02] [ 2.80989738e-02 9.99605099e-01 -3.04805538e-04 8.57451650e+00] [ 2.03849442e-02 -2.68159718e-04 9.99792169e-01 5.17539554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6192541539999 meters 0.0154609870055747 Centerline is valid? [True, True] Translation: X:752.37, Y:8.58, Z:5.18 [[ 9.99474765e-01 -2.57293099e-02 -1.97027214e-02 7.52371994e+02] [ 2.57284350e-02 9.99668925e-01 -2.97931634e-04 8.57759684e+00] [ 1.97038639e-02 -2.09145037e-04 9.99805838e-01 5.17649406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6492541539999 meters 0.014900179241188137 Centerline is valid? [True, True] Translation: X:752.40, Y:8.58, Z:5.18 [[ 9.99545540e-01 -2.33746833e-02 -1.90351685e-02 7.52400423e+02] [ 2.33733479e-02 9.99726763e-01 -2.92658982e-04 8.58046968e+00] [ 1.90368082e-02 -1.52389636e-04 9.99818772e-01 5.17824070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6792541539999 meters 0.015019246638424508 Centerline is valid? [True, True] Translation: X:752.43, Y:8.58, Z:5.18 [[ 9.99612186e-01 -2.11971029e-02 -1.80599349e-02 7.52428224e+02] [ 2.11954961e-02 9.99775311e-01 -2.80396090e-04 8.58186191e+00] [ 1.80618206e-02 -1.02501931e-04 9.99836867e-01 5.17837432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.709254154 meters 0.015737836074278883 Centerline is valid? [True, True] Translation: X:752.46, Y:8.58, Z:5.18 [[ 9.99623848e-01 -2.11374804e-02 -1.74748241e-02 7.52455650e+02] [ 2.11359045e-02 9.99776574e-01 -2.74885197e-04 8.58205643e+00] [ 1.74767302e-02 -9.45644152e-05 9.99847266e-01 5.17849443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7392541539999 meters 0.015317773047830326 Centerline is valid? [True, True] Translation: X:752.48, Y:8.58, Z:5.18 [[ 9.99599723e-01 -2.23204406e-02 -1.73836837e-02 7.52482683e+02] [ 2.23189912e-02 9.99750862e-01 -2.77405549e-04 8.58177527e+00] [ 1.73855446e-02 -1.10691774e-04 9.99848854e-01 5.17869005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7692541539999 meters 0.015319907445614596 Centerline is valid? [True, True] Translation: X:752.51, Y:8.58, Z:5.18 [[ 9.99563849e-01 -2.34990247e-02 -1.78859345e-02 7.52511042e+02] [ 2.34976070e-02 9.99723851e-01 -2.89444883e-04 8.58097013e+00] [ 1.78877970e-02 -1.30958019e-04 9.99839992e-01 5.17859935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7992541539999 meters 0.017008043208341837 Centerline is valid? [True, True] Translation: X:752.54, Y:8.58, Z:5.18 [[ 9.99502431e-01 -2.59261200e-02 -1.79646231e-02 7.52539793e+02] [ 2.59250015e-02 9.99663847e-01 -2.95186988e-04 8.57817940e+00] [ 1.79662373e-02 -1.70692770e-04 9.99838580e-01 5.17846798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8292541539998 meters 0.016053124478063282 Centerline is valid? [True, True] Translation: X:752.57, Y:8.57, Z:5.18 [[ 9.99370318e-01 -3.06609163e-02 -1.78570696e-02 7.52567567e+02] [ 3.06605181e-02 9.99529812e-01 -2.96136394e-04 8.57398031e+00] [ 1.78577532e-02 -2.51557083e-04 9.99840506e-01 5.17843943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8592541539999 meters 0.016968655141774786 Centerline is valid? [True, True] Translation: X:752.60, Y:8.57, Z:5.18 [[ 9.99316754e-01 -3.23657818e-02 -1.78460621e-02 7.52595951e+02] [ 3.23656346e-02 9.99476051e-01 -2.97145507e-04 8.57098551e+00] [ 1.78463291e-02 -2.80656642e-04 9.99840702e-01 5.17756512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8892541539999 meters 0.01701445910057689 Centerline is valid? [True, True] Translation: X:752.63, Y:8.57, Z:5.18 [[ 9.99232374e-01 -3.48886571e-02 -1.78169840e-02 7.52625994e+02] [ 3.48888980e-02 9.99391153e-01 -2.97407212e-04 8.57001558e+00] [ 1.78165124e-02 -3.24436024e-04 9.99841221e-01 5.17896054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9192541539999 meters 0.01632036736366811 Centerline is valid? [True, True] Translation: X:752.66, Y:8.57, Z:5.18 [[ 9.99217589e-01 -3.53055290e-02 -1.78249447e-02 7.52656091e+02] [ 3.53058249e-02 9.99376511e-01 -2.98187974e-04 8.57109387e+00] [ 1.78243587e-02 -3.31369708e-04 9.99841079e-01 5.18036558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9492541539998 meters 0.016607926314030512 Centerline is valid? [True, True] Translation: X:752.69, Y:8.57, Z:5.18 [[ 9.99213239e-01 -3.54089668e-02 -1.78635948e-02 7.52685110e+02] [ 3.54092723e-02 9.99372850e-01 -2.99293369e-04 8.57035048e+00] [ 1.78629893e-02 -3.33478995e-04 9.99840388e-01 5.18040258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9792541539999 meters 0.017029860589917227 Centerline is valid? [True, True] Translation: X:752.72, Y:8.57, Z:5.18 [[ 9.99286504e-01 -3.34195153e-02 -1.75959797e-02 7.52715023e+02] [ 3.34194977e-02 9.99441369e-01 -2.95128843e-04 8.56914839e+00] [ 1.75960131e-02 -2.93130532e-04 9.99845135e-01 5.18019095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0092541539999 meters 0.015903569563993695 Centerline is valid? [True, True] Translation: X:752.74, Y:8.57, Z:5.18 [[ 9.99325689e-01 -3.25239661e-02 -1.70399180e-02 7.52744512e+02] [ 3.25238110e-02 9.99470920e-01 -2.86296184e-04 8.57024590e+00] [ 1.70402140e-02 -2.68099942e-04 9.99854769e-01 5.18150379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0392541539999 meters 0.0164260396376709 Centerline is valid? [True, True] Translation: X:752.77, Y:8.57, Z:5.18 [[ 9.99383820e-01 -3.09639442e-02 -1.65291932e-02 7.52774070e+02] [ 3.09635779e-02 9.99520475e-01 -2.78137660e-04 8.56894255e+00] [ 1.65298793e-02 -2.33836684e-04 9.99863345e-01 5.18067544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0692541539999 meters 0.018085847135150407 Centerline is valid? [True, True] Translation: X:752.80, Y:8.57, Z:5.18 [[ 9.99518992e-01 -2.67882435e-02 -1.56260593e-02 7.52804174e+02] [ 2.67874016e-02 9.99641119e-01 -2.63216807e-04 8.57085194e+00] [ 1.56275025e-02 -1.55491326e-04 9.99877871e-01 5.18171312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0992541539999 meters 0.015203302835699888 Centerline is valid? [True, True] Translation: X:752.83, Y:8.57, Z:5.18 [[ 9.99538354e-01 -2.62843686e-02 -1.52384985e-02 7.52834031e+02] [ 2.62835030e-02 9.99654496e-01 -2.57108605e-04 8.57092728e+00] [ 1.52399914e-02 -1.43531208e-04 9.99883854e-01 5.18249041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1292541539999 meters 0.015044173970769159 Centerline is valid? [True, True] Translation: X:752.86, Y:8.57, Z:5.18 [[ 9.99570996e-01 -2.46870354e-02 -1.57598732e-02 7.52862400e+02] [ 2.46858974e-02 9.99695221e-01 -2.66769007e-04 8.56940901e+00] [ 1.57616557e-02 -1.22392052e-04 9.99875770e-01 5.18185743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1592541539999 meters 0.015948245520611696 Centerline is valid? [True, True] Translation: X:752.89, Y:8.57, Z:5.18 [[ 9.99582391e-01 -2.41430903e-02 -1.58793990e-02 7.52891304e+02] [ 2.41418229e-02 9.99708507e-01 -2.71530465e-04 8.56849705e+00] [ 1.58813258e-02 -1.11940567e-04 9.99873878e-01 5.18167100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1892541539999 meters 0.016600143988961875 Centerline is valid? [True, True] Translation: X:752.92, Y:8.57, Z:5.18 [[ 9.99581304e-01 -2.43694950e-02 -1.55994953e-02 7.52920274e+02] [ 2.43682385e-02 9.99703014e-01 -2.70653084e-04 8.56700042e+00] [ 1.56014581e-02 -1.09592458e-04 9.99878284e-01 5.18151686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2192541539999 meters 0.017304673940162586 Centerline is valid? [True, True] Translation: X:752.95, Y:8.56, Z:5.18 [[ 9.99550444e-01 -2.58276793e-02 -1.52263144e-02 7.52949013e+02] [ 2.58265933e-02 9.99666402e-01 -2.67989586e-04 8.56325229e+00] [ 1.52281565e-02 -1.25374719e-04 9.99884037e-01 5.18176344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2492541539999 meters 0.015006790054318864 Centerline is valid? [True, True] Translation: X:752.98, Y:8.56, Z:5.18 [[ 9.99500280e-01 -2.79897388e-02 -1.46889175e-02 7.52977956e+02] [ 2.79889076e-02 9.99608199e-01 -2.62196114e-04 8.56161544e+00] [ 1.46905012e-02 -1.49061666e-04 9.99892078e-01 5.18299103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2792541539999 meters 0.01534041933356864 Centerline is valid? [True, True] Translation: X:753.01, Y:8.56, Z:5.18 [[ 9.99427078e-01 -3.06426220e-02 -1.43717016e-02 7.53006491e+02] [ 3.06420700e-02 9.99530388e-01 -2.58657492e-04 8.55650982e+00] [ 1.43728785e-02 -1.81869387e-04 9.99896688e-01 5.18248075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3092541539999 meters 0.01574119465433443 Centerline is valid? [True, True] Translation: X:753.04, Y:8.55, Z:5.18 [[ 9.99380120e-01 -3.21996188e-02 -1.42323358e-02 7.53035997e+02] [ 3.21992263e-02 9.99481437e-01 -2.56779373e-04 8.55423352e+00] [ 1.42332237e-02 -2.01650002e-04 9.99898682e-01 5.18221761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.339254154 meters 0.015463172375673313 Centerline is valid? [True, True] Translation: X:753.07, Y:8.55, Z:5.18 [[ 9.99341236e-01 -3.32227078e-02 -1.46063354e-02 7.53066507e+02] [ 3.32224000e-02 9.99447949e-01 -2.63780108e-04 8.55356454e+00] [ 1.46070354e-02 -2.21651176e-04 9.99893287e-01 5.18278032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3692541539999 meters 0.015950484922348206 Centerline is valid? [True, True] Translation: X:753.10, Y:8.55, Z:5.18 [[ 9.99277735e-01 -3.50502522e-02 -1.46794890e-02 7.53096443e+02] [ 3.50501384e-02 9.99385520e-01 -2.65101211e-04 8.54927591e+00] [ 1.46797606e-02 -2.49608383e-04 9.99892215e-01 5.18205710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3992541539999 meters 0.01830464580820819 Centerline is valid? [True, True] Translation: X:753.13, Y:8.55, Z:5.18 [[ 9.99269633e-01 -3.50978224e-02 -1.51110621e-02 7.53126065e+02] [ 3.50977051e-02 9.99383848e-01 -2.73044619e-04 8.54727752e+00] [ 1.51113347e-02 -2.57518405e-04 9.99885784e-01 5.18093489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4292541539999 meters 0.016127222477643803 Centerline is valid? [True, True] Translation: X:753.16, Y:8.54, Z:5.18 [[ 9.99245535e-01 -3.60811927e-02 -1.43704145e-02 7.53155814e+02] [ 3.60811825e-02 9.99348828e-01 -2.60053848e-04 8.54466548e+00] [ 1.43704399e-02 -2.58643901e-04 9.99896706e-01 5.18216302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.459254154 meters 0.016162346973881067 Centerline is valid? [True, True] Translation: X:753.19, Y:8.54, Z:5.18 [[ 9.99236346e-01 -3.64664058e-02 -1.40330102e-02 7.53186043e+02] [ 3.64664306e-02 9.99334846e-01 -2.54195049e-04 8.54406803e+00] [ 1.40329457e-02 -2.57732861e-04 9.99901500e-01 5.18267289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4892541539999 meters 0.0168646818519061 Centerline is valid? [True, True] Translation: X:753.22, Y:8.54, Z:5.18 [[ 9.99239892e-01 -3.65301988e-02 -1.36082235e-02 7.53216327e+02] [ 3.65302298e-02 9.99332518e-01 -2.46378235e-04 8.54258700e+00] [ 1.36081405e-02 -2.50920568e-04 9.99907373e-01 5.18259682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5192541539999 meters 0.016624581852639066 Centerline is valid? [True, True] Translation: X:753.25, Y:8.54, Z:5.18 [[ 9.99242127e-01 -3.68178067e-02 -1.26340825e-02 7.53246315e+02] [ 3.68178621e-02 9.99321967e-01 -2.28282690e-04 8.53979290e+00] [ 1.26339211e-02 -2.37050228e-04 9.99920161e-01 5.18324860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5492541539999 meters 0.016461433643446585 Centerline is valid? [True, True] Translation: X:753.28, Y:8.54, Z:5.18 [[ 9.99234975e-01 -3.72257549e-02 -1.19878527e-02 7.53278017e+02] [ 3.72258411e-02 9.99306855e-01 -2.16027976e-04 8.53926816e+00] [ 1.19875852e-02 -2.30395190e-04 9.99928120e-01 5.18396271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5792541539998 meters 0.017053813823164798 Centerline is valid? [True, True] Translation: X:753.31, Y:8.54, Z:5.18 [[ 9.99192269e-01 -3.85597094e-02 -1.13118356e-02 7.53308126e+02] [ 3.85598752e-02 9.99256271e-01 -2.03526716e-04 8.53612776e+00] [ 1.13112706e-02 -2.32820649e-04 9.99935998e-01 5.18411478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6092541539999 meters 0.01673415947132553 Centerline is valid? [True, True] Translation: X:753.34, Y:8.54, Z:5.18 [[ 9.99182445e-01 -3.88969512e-02 -1.10212639e-02 7.53339785e+02] [ 3.88971320e-02 9.99243201e-01 -1.98025571e-04 8.53602266e+00] [ 1.10206256e-02 -2.30831884e-04 9.99939244e-01 5.18455048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6392541539999 meters 0.018295994386278044 Centerline is valid? [True, True] Translation: X:753.37, Y:8.53, Z:5.18 [[ 9.99152230e-01 -3.95314538e-02 -1.14928303e-02 7.53370066e+02] [ 3.95316965e-02 9.99218296e-01 -2.06149783e-04 8.53476866e+00] [ 1.14919957e-02 -2.48356064e-04 9.99933934e-01 5.18367582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6692541539999 meters 0.018525811114506633 Centerline is valid? [True, True] Translation: X:753.40, Y:8.53, Z:5.18 [[ 9.99092612e-01 -4.10588790e-02 -1.13191027e-02 7.53401280e+02] [ 4.10592155e-02 9.99156694e-01 -2.02749976e-04 8.53225941e+00] [ 1.13178820e-02 -2.62187477e-04 9.99935916e-01 5.18341616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6992541539998 meters 0.018689303047356016 Centerline is valid? [True, True] Translation: X:753.43, Y:8.53, Z:5.18 [[ 9.99064024e-01 -4.15945763e-02 -1.18729292e-02 7.53432198e+02] [ 4.15949896e-02 9.99134531e-01 -2.12227033e-04 8.53151112e+00] [ 1.18714810e-02 -2.81825972e-04 9.99929492e-01 5.18349206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7292541539999 meters 0.017473253333780116 Centerline is valid? [True, True] Translation: X:753.46, Y:8.53, Z:5.18 [[ 9.99076967e-01 -4.12885594e-02 -1.18519872e-02 7.53463685e+02] [ 4.12889549e-02 9.99147225e-01 -2.11420894e-04 8.53099852e+00] [ 1.18506094e-02 -2.78130420e-04 9.99929740e-01 5.18419601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7592541539999 meters 0.018991086991063725 Centerline is valid? [True, True] Translation: X:753.49, Y:8.53, Z:5.18 [[ 9.99114585e-01 -4.03374259e-02 -1.19556778e-02 7.53493877e+02] [ 4.03377644e-02 9.99186078e-01 -2.12922558e-04 8.53063169e+00] [ 1.19545356e-02 -2.69531282e-04 9.99928506e-01 5.18361633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7892541539999 meters 0.016882440250460345 Centerline is valid? [True, True] Translation: X:753.52, Y:8.53, Z:5.19 [[ 9.99253603e-01 -3.70873246e-02 -1.08059044e-02 7.53524252e+02] [ 3.70874124e-02 9.99312007e-01 -1.92331926e-04 8.53229623e+00] [ 1.08056031e-02 -2.08574664e-04 9.99941596e-01 5.18507192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8192541539999 meters 0.01635001412345218 Centerline is valid? [True, True] Translation: X:753.56, Y:8.53, Z:5.19 [[ 9.99335277e-01 -3.47441397e-02 -1.10385378e-02 7.53555225e+02] [ 3.47440892e-02 9.99396223e-01 -1.96398564e-04 8.53396938e+00] [ 1.10386967e-02 -1.87255930e-04 9.99939054e-01 5.18546733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8492541539999 meters 0.015829133041973777 Centerline is valid? [True, True] Translation: X:753.59, Y:8.54, Z:5.19 [[ 9.99417999e-01 -3.22542068e-02 -1.11053399e-02 7.53585880e+02] [ 3.22540034e-02 9.99479685e-01 -1.97461719e-04 8.53588091e+00] [ 1.11059306e-02 -1.60844874e-04 9.99938314e-01 5.18578344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8792541539999 meters 0.017153509148274546 Centerline is valid? [True, True] Translation: X:753.62, Y:8.54, Z:5.18 [[ 9.99584118e-01 -2.66356790e-02 -1.10513068e-02 7.53616549e+02] [ 2.66351342e-02 9.99645203e-01 -1.96500968e-04 8.53851496e+00] [ 1.10526197e-02 -9.79337925e-05 9.99938913e-01 5.18487171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9092541539999 meters 0.014881219250792785 Centerline is valid? [True, True] Translation: X:753.65, Y:8.54, Z:5.19 [[ 9.99649838e-01 -2.41556500e-02 -1.08030417e-02 7.53646492e+02] [ 2.41549846e-02 9.99708207e-01 -1.92086619e-04 8.53981157e+00] [ 1.08045294e-02 -6.89279488e-05 9.99941627e-01 5.18633658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9392541539999 meters 0.014881219250792785 Centerline is valid? [True, True] Translation: X:753.68, Y:8.54, Z:5.19 [[ 9.99648976e-01 -2.41912846e-02 -1.08030392e-02 7.53675644e+02] [ 2.41906197e-02 9.99707346e-01 -1.92224753e-04 8.54036019e+00] [ 1.08045278e-02 -6.91749363e-05 9.99941627e-01 5.18653862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9692541539999 meters 0.01464911258532532 Centerline is valid? [True, True] Translation: X:753.70, Y:8.54, Z:5.19 [[ 9.99737754e-01 -2.00067408e-02 -1.11424517e-02 7.53704801e+02] [ 2.00057691e-02 9.99799845e-01 -1.98668631e-04 8.54284973e+00] [ 1.11441962e-02 -2.42967846e-05 9.99937901e-01 5.18692893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9992541539999 meters 0.016468199028720355 Centerline is valid? [True, True] Translation: X:753.73, Y:8.54, Z:5.19 [[ 9.99763868e-01 -1.84027792e-02 -1.15562468e-02 7.53733306e+02] [ 1.84016211e-02 9.99830654e-01 -2.06546254e-04 8.54403866e+00] [ 1.15580908e-02 -6.15619301e-06 9.99933203e-01 5.18571406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0292541539999 meters 0.014694947903445109 Centerline is valid? [True, True] Translation: X:753.76, Y:8.54, Z:5.19 [[ 9.99768025e-01 -1.79963068e-02 -1.18333534e-02 7.53762480e+02] [ 1.79950450e-02 9.99838053e-01 -2.13102365e-04 8.54430549e+00] [ 1.18352721e-02 1.11202945e-07 9.99929961e-01 5.18709973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0592541539999 meters 0.014992756759381262 Centerline is valid? [True, True] Translation: X:753.79, Y:8.54, Z:5.19 [[ 9.99761739e-01 -1.82721133e-02 -1.19413319e-02 7.53791114e+02] [ 1.82708119e-02 9.99833051e-01 -2.18070794e-04 8.54331717e+00] [ 1.19433229e-02 -1.58992526e-07 9.99928676e-01 5.18753298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.089254154 meters 0.016272001547169686 Centerline is valid? [True, True] Translation: X:753.82, Y:8.54, Z:5.19 [[ 9.99743377e-01 -1.93665948e-02 -1.17522806e-02 7.53819624e+02] [ 1.93653751e-02 9.99812450e-01 -2.17583065e-04 8.54248306e+00] [ 1.17542903e-02 -1.00600946e-05 9.99930916e-01 5.18716021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1192541539999 meters 0.018738848664273968 Centerline is valid? [True, True] Translation: X:753.85, Y:8.54, Z:5.19 [[ 9.99657343e-01 -2.32400202e-02 -1.20456705e-02 7.53848303e+02] [ 2.32389823e-02 9.99729913e-01 -2.26141853e-04 8.53919603e+00] [ 1.20476727e-02 -5.38647603e-05 9.99927423e-01 5.18681769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1492541539999 meters 0.016491060252095985 Centerline is valid? [True, True] Translation: X:753.88, Y:8.54, Z:5.19 [[ 9.99588380e-01 -2.63881508e-02 -1.12577131e-02 7.53877210e+02] [ 2.63874129e-02 9.99651769e-01 -2.14109331e-04 8.53704212e+00] [ 1.12594428e-02 -8.30407256e-05 9.99936607e-01 5.18844030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1792541539999 meters 0.017599841967868835 Centerline is valid? [True, True] Translation: X:753.91, Y:8.53, Z:5.19 [[ 9.99394773e-01 -3.27970580e-02 -1.15948438e-02 7.53907313e+02] [ 3.27966833e-02 9.99462019e-01 -2.22505309e-04 8.53206243e+00] [ 1.15959035e-02 -1.57901776e-04 9.99932753e-01 5.18870708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.209254154 meters 0.017823708867410745 Centerline is valid? [True, True] Translation: X:753.94, Y:8.53, Z:5.19 [[ 9.99287826e-01 -3.59111191e-02 -1.15859075e-02 7.53937421e+02] [ 3.59109503e-02 9.99354969e-01 -2.22668505e-04 8.53017511e+00] [ 1.15864306e-02 -1.93551024e-04 9.99932856e-01 5.18947894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2392541539999 meters 0.017011308116288447 Centerline is valid? [True, True] Translation: X:753.97, Y:8.53, Z:5.19 [[ 9.99177798e-01 -3.89728850e-02 -1.11733013e-02 7.53968173e+02] [ 3.89729181e-02 9.99240244e-01 -2.14859595e-04 8.52836780e+00] [ 1.11731860e-02 -2.20773219e-04 9.99937554e-01 5.19100086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2692541539999 meters 0.017631968095356297 Centerline is valid? [True, True] Translation: X:754.00, Y:8.53, Z:5.19 [[ 9.99006706e-01 -4.29903038e-02 -1.17232542e-02 7.53999684e+02] [ 4.29906187e-02 9.99075451e-01 -2.25258913e-04 8.52607186e+00] [ 1.17220994e-02 -2.78954788e-04 9.99931255e-01 5.19154903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2992541539999 meters 0.019574804509438524 Centerline is valid? [True, True] Translation: X:754.03, Y:8.52, Z:5.19 [[ 9.98957603e-01 -4.39634022e-02 -1.22852429e-02 7.54029894e+02] [ 4.39638260e-02 9.99033096e-01 -2.35692998e-04 8.52480922e+00] [ 1.22837261e-02 -3.04658971e-04 9.99924506e-01 5.19073321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3292541539998 meters 0.018110823014749367 Centerline is valid? [True, True] Translation: X:754.06, Y:8.52, Z:5.19 [[ 9.98910386e-01 -4.51615090e-02 -1.17677042e-02 7.54060782e+02] [ 4.51619834e-02 9.98979652e-01 -2.25554214e-04 8.52386809e+00] [ 1.17658834e-02 -3.06144416e-04 9.99930733e-01 5.19263488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3592541539999 meters 0.018268378400165035 Centerline is valid? [True, True] Translation: X:754.09, Y:8.52, Z:5.19 [[ 9.98918142e-01 -4.48809398e-02 -1.21756330e-02 7.54091375e+02] [ 4.48814285e-02 9.98992294e-01 -2.33241665e-04 8.52380375e+00] [ 1.21738317e-02 -3.13470472e-04 9.99925847e-01 5.19290630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3892541539999 meters 0.018971801446948728 Centerline is valid? [True, True] Translation: X:754.12, Y:8.52, Z:5.19 [[ 9.98947698e-01 -4.42319125e-02 -1.21257488e-02 7.54121532e+02] [ 4.42323494e-02 9.99021244e-01 -2.32286061e-04 8.52419553e+00] [ 1.21241551e-02 -3.04308731e-04 9.99926453e-01 5.19239254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4192541539999 meters 0.019199696858991862 Centerline is valid? [True, True] Translation: X:754.15, Y:8.53, Z:5.19 [[ 9.99026875e-01 -4.22956217e-02 -1.25053043e-02 7.54152480e+02] [ 4.22959360e-02 9.99105098e-01 -2.39455935e-04 8.52550245e+00] [ 1.25042412e-02 -2.89700634e-04 9.99921777e-01 5.19153429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4492541539998 meters 0.02061580815981228 Centerline is valid? [True, True] Translation: X:754.18, Y:8.53, Z:5.19 [[ 9.99056858e-01 -4.13296929e-02 -1.33135435e-02 7.54183141e+02] [ 4.13299653e-02 9.99145519e-01 -2.54798756e-04 8.52633616e+00] [ 1.33126981e-02 -2.95689848e-04 9.99911338e-01 5.19040837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4792541539999 meters 0.017096602590941007 Centerline is valid? [True, True] Translation: X:754.21, Y:8.53, Z:5.19 [[ 9.99068943e-01 -4.11124299e-02 -1.30772947e-02 7.54214055e+02] [ 4.11126740e-02 9.99154485e-01 -2.50277352e-04 8.52791839e+00] [ 1.30765272e-02 -2.87598225e-04 9.99914457e-01 5.19317653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5092541539999 meters 0.016639894147595088 Centerline is valid? [True, True] Translation: X:754.24, Y:8.53, Z:5.19 [[ 9.99124212e-01 -3.95517472e-02 -1.36553080e-02 7.54244776e+02] [ 3.95518677e-02 9.99217485e-01 -2.61339550e-04 8.52966940e+00] [ 1.36549589e-02 -2.78982261e-04 9.99906728e-01 5.19303689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5392541539999 meters 0.017421041404063635 Centerline is valid? [True, True] Translation: X:754.27, Y:8.53, Z:5.19 [[ 9.99160894e-01 -3.86117212e-02 -1.36617036e-02 7.54273910e+02] [ 3.86117546e-02 9.99254254e-01 -2.61419984e-04 8.52839639e+00] [ 1.36616093e-02 -2.66301723e-04 9.99906640e-01 5.19236021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5692541539999 meters 0.01645801309351776 Centerline is valid? [True, True] Translation: X:754.30, Y:8.53, Z:5.19 [[ 9.99214851e-01 -3.70111941e-02 -1.41369088e-02 7.54304211e+02] [ 3.70110703e-02 9.99314819e-01 -2.70468473e-04 8.53085697e+00] [ 1.41372328e-02 -2.52966010e-04 9.99900032e-01 5.19276380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5992541539999 meters 0.01879783202497435 Centerline is valid? [True, True] Translation: X:754.33, Y:8.53, Z:5.19 [[ 9.99225976e-01 -3.62965091e-02 -1.51661793e-02 7.54333713e+02] [ 3.62962821e-02 9.99341031e-01 -2.90309273e-04 8.53113271e+00] [ 1.51667225e-02 -2.60391356e-04 9.99884945e-01 5.19071890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6292541539999 meters 0.01655619657952316 Centerline is valid? [True, True] Translation: X:754.36, Y:8.53, Z:5.19 [[ 9.99202692e-01 -3.71761518e-02 -1.45572388e-02 7.54362083e+02] [ 3.71760063e-02 9.99308694e-01 -2.80693279e-04 8.53164129e+00] [ 1.45576104e-02 -2.60710522e-04 9.99893998e-01 5.19241415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6592541539999 meters 0.018455361692088782 Centerline is valid? [True, True] Translation: X:754.39, Y:8.53, Z:5.19 [[ 9.99159429e-01 -3.77553461e-02 -1.59677662e-02 7.54391315e+02] [ 3.77552092e-02 9.99286970e-01 -3.10133646e-04 8.53259965e+00] [ 1.59680899e-02 -2.92993399e-04 9.99872459e-01 5.19127685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6892541539999 meters 0.01662826300046415 Centerline is valid? [True, True] Translation: X:754.42, Y:8.53, Z:5.19 [[ 9.99103506e-01 -3.94721489e-02 -1.53014356e-02 7.54420227e+02] [ 3.94721874e-02 9.99220625e-01 -2.99604349e-04 8.53270590e+00] [ 1.53013361e-02 -3.04645379e-04 9.99882881e-01 5.19284277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7192541539999 meters 0.01964064821230764 Centerline is valid? [True, True] Translation: X:754.45, Y:8.53, Z:5.19 [[ 9.99000443e-01 -4.17870965e-02 -1.58730540e-02 7.54449002e+02] [ 4.17873927e-02 9.99126476e-01 -3.13151907e-04 8.52980384e+00] [ 1.58722742e-02 -3.50454645e-04 9.99873966e-01 5.19086531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7492541539999 meters 0.017711376437495787 Centerline is valid? [True, True] Translation: X:754.48, Y:8.53, Z:5.19 [[ 9.98908284e-01 -4.41585818e-02 -1.52400691e-02 7.54478934e+02] [ 4.41591204e-02 9.99024465e-01 -3.01333911e-04 8.53059807e+00] [ 1.52385084e-02 -3.71983107e-04 9.99883818e-01 5.19323002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7792541539999 meters 0.019442261502686412 Centerline is valid? [True, True] Translation: X:754.51, Y:8.53, Z:5.19 [[ 9.98839730e-01 -4.54267844e-02 -1.59875536e-02 7.54508427e+02] [ 4.54275300e-02 9.98967587e-01 -3.16710784e-04 8.53046465e+00] [ 1.59854350e-02 -4.09931758e-04 9.99872141e-01 5.19242674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8092541539999 meters 0.018898653394798248 Centerline is valid? [True, True] Translation: X:754.54, Y:8.53, Z:5.19 [[ 9.98658502e-01 -4.94335526e-02 -1.54116862e-02 7.54538395e+02] [ 4.94347158e-02 9.98777310e-01 -3.05703786e-04 8.52949817e+00] [ 1.54079545e-02 -4.56578644e-04 9.99881186e-01 5.19429007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.839254154 meters 0.021029520672873944 Centerline is valid? [True, True] Translation: X:754.57, Y:8.53, Z:5.19 [[ 9.98602623e-01 -5.04776177e-02 -1.56464393e-02 7.54567926e+02] [ 5.04789402e-02 9.98725077e-01 -3.10648977e-04 8.52769068e+00] [ 1.56421721e-02 -4.79600788e-04 9.99877539e-01 5.19338005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8692541539999 meters 0.020806166907741987 Centerline is valid? [True, True] Translation: X:754.60, Y:8.53, Z:5.20 [[ 9.98520741e-01 -5.24049111e-02 -1.44932725e-02 7.54598769e+02] [ 5.24062468e-02 9.98625807e-01 -2.87870842e-04 8.52718986e+00] [ 1.44884418e-02 -4.72093008e-04 9.99894926e-01 5.19520667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8992541539999 meters 0.020730911013300598 Centerline is valid? [True, True] Translation: X:754.63, Y:8.53, Z:5.20 [[ 9.98501380e-01 -5.28844404e-02 -1.40794419e-02 7.54628779e+02] [ 5.28857468e-02 9.98600530e-01 -2.79779401e-04 8.52730343e+00] [ 1.40745341e-02 -4.65241681e-04 9.99900841e-01 5.19589012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9292541539999 meters 0.023018495624546394 Centerline is valid? [True, True] Translation: X:754.66, Y:8.53, Z:5.19 [[ 9.98512683e-01 -5.23838175e-02 -1.51115024e-02 7.54659693e+02] [ 5.23852632e-02 9.98626904e-01 -3.00421275e-04 8.52857643e+00] [ 1.51064901e-02 -4.91645580e-04 9.99885770e-01 5.19425708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.959254154 meters 0.01949292658335063 Centerline is valid? [True, True] Translation: X:754.69, Y:8.53, Z:5.20 [[ 9.98542747e-01 -5.22823163e-02 -1.33769120e-02 7.54689821e+02] [ 5.22834399e-02 9.98632250e-01 -2.65937089e-04 8.53103001e+00] [ 1.33725196e-02 -4.33841425e-04 9.99910490e-01 5.19696622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9892541539999 meters 0.020706347282171484 Centerline is valid? [True, True] Translation: X:754.72, Y:8.53, Z:5.20 [[ 9.98589912e-01 -5.13642926e-02 -1.34125513e-02 7.54720062e+02] [ 5.13653455e-02 9.98679894e-01 -2.66198532e-04 8.52980618e+00] [ 1.34085184e-02 -4.23117162e-04 9.99910012e-01 5.19650796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0192541539999 meters 0.019076628166167772 Centerline is valid? [True, True] Translation: X:754.75, Y:8.53, Z:5.20 [[ 9.98626114e-01 -5.06710497e-02 -1.33540153e-02 7.54750769e+02] [ 5.06720378e-02 9.98715312e-01 -2.64561266e-04 8.53352723e+00] [ 1.33502652e-02 -4.12477379e-04 9.99910796e-01 5.19707517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0492541539999 meters 0.0190994967307016 Centerline is valid? [True, True] Translation: X:754.78, Y:8.53, Z:5.20 [[ 9.98693235e-01 -4.92459435e-02 -1.36623383e-02 7.54781043e+02] [ 4.92468463e-02 9.98786601e-01 -2.70546607e-04 8.53457795e+00] [ 1.36590837e-02 -4.02634006e-04 9.99906629e-01 5.19656877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0792541539998 meters 0.01937198072674046 Centerline is valid? [True, True] Translation: X:754.81, Y:8.53, Z:5.20 [[ 9.98707020e-01 -4.89004277e-02 -1.38937478e-02 7.54810971e+02] [ 4.89013302e-02 9.98803576e-01 -2.74961102e-04 8.53490436e+00] [ 1.38905707e-02 -4.04817167e-04 9.99903439e-01 5.19645965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1092541539999 meters 0.019293259233804746 Centerline is valid? [True, True] Translation: X:754.84, Y:8.54, Z:5.20 [[ 9.98708223e-01 -4.87217161e-02 -1.44249482e-02 7.54841485e+02] [ 4.87226710e-02 9.98812305e-01 -2.85433086e-04 8.53586317e+00] [ 1.44217226e-02 -4.17757637e-04 9.99895914e-01 5.19627114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1392541539999 meters 0.018929155533670798 Centerline is valid? [True, True] Translation: X:754.87, Y:8.54, Z:5.20 [[ 9.98709003e-01 -4.87552464e-02 -1.42566848e-02 7.54872383e+02] [ 4.87561825e-02 9.98810670e-01 -2.82103580e-04 8.53811490e+00] [ 1.42534829e-02 -4.13362141e-04 9.99898329e-01 5.19663377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1692541539999 meters 0.019101531027760764 Centerline is valid? [True, True] Translation: X:754.90, Y:8.54, Z:5.20 [[ 9.98705575e-01 -4.87409269e-02 -1.45429033e-02 7.54901842e+02] [ 4.87418995e-02 9.98811366e-01 -2.87767905e-04 8.53912056e+00] [ 1.45396432e-02 -4.21453318e-04 9.99894205e-01 5.19666307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1992541539998 meters 0.019283152899332218 Centerline is valid? [True, True] Translation: X:754.93, Y:8.54, Z:5.20 [[ 9.98735020e-01 -4.80995367e-02 -1.46558977e-02 7.54930883e+02] [ 4.81004563e-02 9.98842461e-01 -2.89949583e-04 8.54134355e+00] [ 1.46528793e-02 -4.15372561e-04 9.99892555e-01 5.19638739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2292541539999 meters 0.02079797223774618 Centerline is valid? [True, True] Translation: X:754.96, Y:8.54, Z:5.19 [[ 9.98758589e-01 -4.72205898e-02 -1.58586788e-02 7.54960111e+02] [ 4.72215576e-02 9.98884391e-01 -3.13635720e-04 8.54238956e+00] [ 1.58557968e-02 -4.35625146e-04 9.99874194e-01 5.19491370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2592541539999 meters 0.01887873568031533 Centerline is valid? [True, True] Translation: X:754.99, Y:8.54, Z:5.20 [[ 9.98759931e-01 -4.73690645e-02 -1.53222916e-02 7.54990263e+02] [ 4.73699861e-02 9.98877366e-01 -3.02985525e-04 8.54485856e+00] [ 1.53194424e-02 -4.23206939e-04 9.99882561e-01 5.19623117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2892541539999 meters 0.019077061227172964 Centerline is valid? [True, True] Translation: X:755.02, Y:8.55, Z:5.20 [[ 9.98784299e-01 -4.68503483e-02 -1.53286695e-02 7.55019568e+02] [ 4.68512073e-02 9.98901833e-01 -3.03260098e-04 8.54582101e+00] [ 1.53260439e-02 -4.15275246e-04 9.99882463e-01 5.19611211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3192541539999 meters 0.019436259082429092 Centerline is valid? [True, True] Translation: X:755.05, Y:8.55, Z:5.20 [[ 9.98788989e-01 -4.67183785e-02 -1.54255914e-02 7.55048668e+02] [ 4.67192313e-02 9.98908014e-01 -3.05264488e-04 8.54768735e+00] [ 1.54230083e-02 -4.15776962e-04 9.99880972e-01 5.19634935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3492541539999 meters 0.019914092463928335 Centerline is valid? [True, True] Translation: X:755.08, Y:8.55, Z:5.20 [[ 9.98775707e-01 -4.70182180e-02 -1.53744657e-02 7.55078495e+02] [ 4.70190989e-02 9.98893944e-01 -3.04368524e-04 8.54954161e+00] [ 1.53717715e-02 -4.18897634e-04 9.99881760e-01 5.19641197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3792541539999 meters 0.019882492095521266 Centerline is valid? [True, True] Translation: X:755.11, Y:8.55, Z:5.20 [[ 9.98749089e-01 -4.74020037e-02 -1.59156215e-02 7.55109173e+02] [ 4.74029945e-02 9.98875796e-01 -3.15205125e-04 8.55086548e+00] [ 1.59126704e-02 -4.39637285e-04 9.99873289e-01 5.19663480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4092541539999 meters 0.020401136353491223 Centerline is valid? [True, True] Translation: X:755.14, Y:8.55, Z:5.20 [[ 9.98726775e-01 -4.79114271e-02 -1.57899976e-02 7.55138688e+02] [ 4.79124635e-02 9.98851489e-01 -3.12868081e-04 8.55115303e+00] [ 1.57868526e-02 -4.44067955e-04 9.99875281e-01 5.19661443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4392541539999 meters 0.021235317682467975 Centerline is valid? [True, True] Translation: X:755.17, Y:8.55, Z:5.20 [[ 9.98698774e-01 -4.87168498e-02 -1.50807009e-02 7.55167712e+02] [ 4.87178810e-02 9.98812534e-01 -2.99201414e-04 8.55113739e+00] [ 1.50773693e-02 -4.35887709e-04 9.99886235e-01 5.19671850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4692541539999 meters 0.02118118719692453 Centerline is valid? [True, True] Translation: X:755.20, Y:8.55, Z:5.20 [[ 9.98703397e-01 -4.86577685e-02 -1.49648076e-02 7.55197598e+02] [ 4.86587698e-02 9.98815416e-01 -2.97403249e-04 8.55212232e+00] [ 1.49615515e-02 -4.31151494e-04 9.99887977e-01 5.19707693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4992541539999 meters 0.018181480248674452 Centerline is valid? [True, True] Translation: X:755.23, Y:8.56, Z:5.20 [[ 9.98742144e-01 -4.80424638e-02 -1.43544926e-02 7.55227916e+02] [ 4.80433184e-02 9.98845212e-01 -2.85496857e-04 8.55836112e+00] [ 1.43516321e-02 -4.04499712e-04 9.99896928e-01 5.19892124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5292541539999 meters 0.017053523290563376 Centerline is valid? [True, True] Translation: X:755.26, Y:8.56, Z:5.20 [[ 9.98870186e-01 -4.53332264e-02 -1.42565889e-02 7.55258915e+02] [ 4.53337955e-02 9.98971855e-01 -2.83413154e-04 8.56258601e+00] [ 1.42547791e-02 -3.63212336e-04 9.99898330e-01 5.20012838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5592541539999 meters 0.016790188403702663 Centerline is valid? [True, True] Translation: X:755.29, Y:8.56, Z:5.20 [[ 9.98967126e-01 -4.32001384e-02 -1.40865162e-02 7.55288932e+02] [ 4.32004917e-02 9.99066384e-01 -2.79350174e-04 8.56438657e+00] [ 1.40854327e-02 -3.29482784e-04 9.99900741e-01 5.20010843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.589254154 meters 0.01636810867884086 Centerline is valid? [True, True] Translation: X:755.32, Y:8.57, Z:5.20 [[ 9.99056465e-01 -4.09419544e-02 -1.44891993e-02 7.55319844e+02] [ 4.09421008e-02 9.99161480e-01 -2.86645104e-04 8.56671681e+00] [ 1.44887857e-02 -3.06843615e-04 9.99894985e-01 5.20015417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6192541539999 meters 0.01730684228729135 Centerline is valid? [True, True] Translation: X:755.35, Y:8.57, Z:5.20 [[ 9.99222413e-01 -3.64470481e-02 -1.50393487e-02 7.55349455e+02] [ 3.64466967e-02 9.99335554e-01 -2.97544637e-04 8.56651501e+00] [ 1.50402005e-02 -2.50821310e-04 9.99886858e-01 5.19808627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6492541539999 meters 0.014828389756099198 Centerline is valid? [True, True] Translation: X:755.38, Y:8.57, Z:5.20 [[ 9.99354631e-01 -3.24268726e-02 -1.54537779e-02 7.55378959e+02] [ 3.24260141e-02 9.99474092e-01 -3.06183505e-04 8.57421707e+00] [ 1.54555792e-02 -1.95118516e-04 9.99880536e-01 5.19999815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6792541539999 meters 0.015563541026184773 Centerline is valid? [True, True] Translation: X:755.41, Y:8.57, Z:5.20 [[ 9.99392156e-01 -3.11192200e-02 -1.57134527e-02 7.55407272e+02] [ 3.11181319e-02 9.99515664e-01 -3.13803024e-04 8.57325365e+00] [ 1.57156074e-02 -1.75361013e-04 9.99876487e-01 5.19821067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.709254154 meters 0.014205109954496494 Centerline is valid? [True, True] Translation: X:755.44, Y:8.58, Z:5.20 [[ 9.99461286e-01 -2.92633349e-02 -1.48591849e-02 7.55435647e+02] [ 2.92621020e-02 9.99571728e-01 -3.00426412e-04 8.57931423e+00] [ 1.48616126e-02 -1.34546416e-04 9.99889551e-01 5.20173649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7392541539999 meters 0.014399495777059039 Centerline is valid? [True, True] Translation: X:755.46, Y:8.58, Z:5.20 [[ 9.99478856e-01 -2.89036126e-02 -1.43735114e-02 7.55463836e+02] [ 2.89023914e-02 9.99582196e-01 -2.92725592e-04 8.57945534e+00] [ 1.43759669e-02 -1.22855812e-04 9.99896653e-01 5.20131229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7692541539999 meters 0.01547245330101292 Centerline is valid? [True, True] Translation: X:755.49, Y:8.58, Z:5.20 [[ 9.99489095e-01 -2.85271288e-02 -1.44135714e-02 7.55492577e+02] [ 2.85258295e-02 9.99593012e-01 -2.95771376e-04 8.58018371e+00] [ 1.44161428e-02 -1.15538816e-04 9.99896075e-01 5.20094166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7992541539999 meters 0.014148158699351095 Centerline is valid? [True, True] Translation: X:755.52, Y:8.58, Z:5.20 [[ 9.99457190e-01 -2.96641388e-02 -1.43305656e-02 7.55520993e+02] [ 2.96629200e-02 9.99559914e-01 -2.97638689e-04 8.58064840e+00] [ 1.43330881e-02 -1.27609292e-04 9.99897268e-01 5.20208610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8292541539998 meters 0.014148158699351095 Centerline is valid? [True, True] Translation: X:755.55, Y:8.58, Z:5.20 [[ 9.99456123e-01 -2.97000851e-02 -1.43305235e-02 7.55550145e+02] [ 2.96988413e-02 9.99558847e-01 -2.99650097e-04 8.58128828e+00] [ 1.43331012e-02 -1.26112820e-04 9.99897268e-01 5.20228849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8592541539999 meters 0.0141195961547799 Centerline is valid? [True, True] Translation: X:755.58, Y:8.58, Z:5.20 [[ 9.99418541e-01 -3.11077328e-02 -1.39602669e-02 7.55580296e+02] [ 3.11066827e-02 9.99516027e-01 -2.92407894e-04 8.58083112e+00] [ 1.39626067e-02 -1.42019722e-04 9.99902508e-01 5.20241524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8892541539999 meters 0.01436738429453665 Centerline is valid? [True, True] Translation: X:755.61, Y:8.58, Z:5.20 [[ 9.99382630e-01 -3.24007597e-02 -1.35849031e-02 7.55609509e+02] [ 3.23998780e-02 9.99474945e-01 -2.85039229e-04 8.58082312e+00] [ 1.35870058e-02 -1.55285949e-04 9.99907680e-01 5.20272820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9192541539999 meters 0.014679413157305057 Centerline is valid? [True, True] Translation: X:755.64, Y:8.58, Z:5.20 [[ 9.99342184e-01 -3.38174759e-02 -1.30987368e-02 7.55639165e+02] [ 3.38167731e-02 9.99428011e-01 -2.75199933e-04 8.57936510e+00] [ 1.31005511e-02 -1.67938109e-04 9.99914170e-01 5.20253344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9492541539998 meters 0.015161830131299656 Centerline is valid? [True, True] Translation: X:755.67, Y:8.58, Z:5.20 [[ 9.99205136e-01 -3.80882011e-02 -1.17637146e-02 7.55669616e+02] [ 3.80879288e-02 9.99274361e-01 -2.47265998e-04 8.57669020e+00] [ 1.17645963e-02 -2.00986069e-04 9.99930775e-01 5.20357780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9792541539999 meters 0.015952696291199504 Centerline is valid? [True, True] Translation: X:755.70, Y:8.57, Z:5.20 [[ 9.99080970e-01 -4.12758012e-02 -1.15552542e-02 7.55700090e+02] [ 4.12757525e-02 9.99147763e-01 -2.42800602e-04 8.57443755e+00] [ 1.15554281e-02 -2.34374350e-04 9.99933206e-01 5.20372409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0092541539999 meters 0.017361101312218883 Centerline is valid? [True, True] Translation: X:755.73, Y:8.57, Z:5.20 [[ 9.98754232e-01 -4.85343377e-02 -1.15932207e-02 7.55731371e+02] [ 4.85347797e-02 9.98821463e-01 -2.43386285e-04 8.57010871e+00] [ 1.15913702e-02 -3.19591330e-04 9.99932767e-01 5.20384495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0392541539999 meters 0.01842926295475287 Centerline is valid? [True, True] Translation: X:755.76, Y:8.57, Z:5.20 [[ 9.98562305e-01 -5.23485153e-02 -1.15306345e-02 7.55762267e+02] [ 5.23492090e-02 9.98628811e-01 -2.41859670e-04 8.56786164e+00] [ 1.15274848e-02 -3.62107647e-04 9.99933491e-01 5.20400721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0692541539999 meters 0.020005555564058922 Centerline is valid? [True, True] Translation: X:755.79, Y:8.57, Z:5.20 [[ 9.98363674e-01 -5.60681454e-02 -1.12399526e-02 7.55792210e+02] [ 5.60690413e-02 9.98426866e-01 -2.35637640e-04 8.56533045e+00] [ 1.12354824e-02 -3.94961307e-04 9.99936802e-01 5.20365957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0992541539999 meters 0.020861342483630713 Centerline is valid? [True, True] Translation: X:755.82, Y:8.56, Z:5.20 [[ 9.98155943e-01 -5.95551024e-02 -1.17432251e-02 7.55823156e+02] [ 5.95563224e-02 9.98224916e-01 -2.46099598e-04 8.56397361e+00] [ 1.17370363e-02 -4.53737522e-04 9.99931016e-01 5.20401265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1292541539999 meters 0.0232014187567597 Centerline is valid? [True, True] Translation: X:755.85, Y:8.56, Z:5.20 [[ 9.97725660e-01 -6.63899978e-02 -1.16565815e-02 7.55853848e+02] [ 6.63916670e-02 9.97793609e-01 -2.44139697e-04 8.56015858e+00] [ 1.16470710e-02 -5.30315436e-04 9.99932030e-01 5.20373261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1592541539999 meters 0.029117332198553104 Centerline is valid? [True, True] Translation: X:755.88, Y:8.55, Z:5.20 [[ 9.97323223e-01 -7.22794998e-02 -1.10482112e-02 7.55883159e+02] [ 7.22813606e-02 9.97384255e-01 -2.31300234e-04 8.55212270e+00] [ 1.10360302e-02 -5.67898644e-04 9.99938940e-01 5.20326975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1892541539999 meters 0.027369612856173123 Centerline is valid? [True, True] Translation: X:755.91, Y:8.56, Z:5.20 [[ 9.97157309e-01 -7.45270444e-02 -1.10915104e-02 7.55913810e+02] [ 7.45290607e-02 9.97218815e-01 -2.32005876e-04 8.55627021e+00] [ 1.10779536e-02 -5.95293499e-04 9.99938460e-01 5.20292570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2192541539999 meters 0.027856000435933236 Centerline is valid? [True, True] Translation: X:755.94, Y:8.56, Z:5.20 [[ 9.96978415e-01 -7.68630492e-02 -1.12299658e-02 7.55944718e+02] [ 7.68652663e-02 9.97041461e-01 -2.34693484e-04 8.55575925e+00] [ 1.12147807e-02 -6.29209972e-04 9.99936914e-01 5.20424701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2492541539999 meters 0.03070373664097826 Centerline is valid? [True, True] Translation: X:755.98, Y:8.55, Z:5.20 [[ 9.96867495e-01 -7.82306898e-02 -1.16257031e-02 7.55975660e+02] [ 7.82331631e-02 9.96935060e-01 -2.42574087e-04 8.55492163e+00] [ 1.16090478e-02 -6.67701307e-04 9.99932390e-01 5.20266084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2792541539999 meters 0.029282287602020604 Centerline is valid? [True, True] Translation: X:756.01, Y:8.56, Z:5.20 [[ 9.96661281e-01 -8.08631012e-02 -1.12893578e-02 7.56006756e+02] [ 8.08656076e-02 9.96724986e-01 -2.35025883e-04 8.55878626e+00] [ 1.12713899e-02 -6.78679582e-04 9.99936246e-01 5.20461992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3092541539999 meters 0.03165797520793706 Centerline is valid? [True, True] Translation: X:756.04, Y:8.56, Z:5.20 [[ 9.96628110e-01 -8.12537554e-02 -1.14121430e-02 7.56037775e+02] [ 8.12563511e-02 9.96693207e-01 -2.36803521e-04 8.55773388e+00] [ 1.13936466e-02 -6.91304052e-04 9.99934851e-01 5.20441768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.339254154 meters 0.0302171671337231 Centerline is valid? [True, True] Translation: X:756.07, Y:8.56, Z:5.20 [[ 9.96618816e-01 -8.13526196e-02 -1.15189687e-02 7.56070069e+02] [ 8.13552839e-02 9.96685136e-01 -2.37871242e-04 8.56211143e+00] [ 1.15001363e-02 -7.00062012e-04 9.99933626e-01 5.20490361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3692541539999 meters 0.028127657505465073 Centerline is valid? [True, True] Translation: X:756.10, Y:8.57, Z:5.21 [[ 9.96710288e-01 -8.03187280e-02 -1.08398959e-02 7.56102682e+02] [ 8.03210356e-02 9.96769021e-01 -2.23002917e-04 8.56924146e+00] [ 1.08227837e-02 -6.48402358e-04 9.99941222e-01 5.20588047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3992541539999 meters 0.03278224536203669 Centerline is valid? [True, True] Translation: X:756.13, Y:8.57, Z:5.21 [[ 9.96787443e-01 -7.93397163e-02 -1.09546115e-02 7.56133931e+02] [ 7.93420237e-02 9.96847427e-01 -2.24481696e-04 8.56535583e+00] [ 1.09378866e-02 -6.45400509e-04 9.99939971e-01 5.20577767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4292541539999 meters 0.03356748982496736 Centerline is valid? [True, True] Translation: X:756.16, Y:8.57, Z:5.21 [[ 9.96941781e-01 -7.74429529e-02 -1.04725520e-02 7.56164797e+02] [ 7.74449625e-02 9.96996606e-01 -2.14109290e-04 8.56980668e+00] [ 1.04576800e-02 -5.97591899e-04 9.99945138e-01 5.20650067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.459254154 meters 0.03290333480921476 Centerline is valid? [True, True] Translation: X:756.20, Y:8.57, Z:5.21 [[ 9.96996289e-01 -7.67196120e-02 -1.06066605e-02 7.56197030e+02] [ 7.67216379e-02 9.97052528e-01 -2.16351675e-04 8.57365914e+00] [ 1.05919960e-02 -5.98058546e-04 9.99943724e-01 5.20696358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4892541539999 meters 0.02899363733711894 Centerline is valid? [True, True] Translation: X:756.23, Y:8.58, Z:5.21 [[ 9.97151873e-01 -7.46621517e-02 -1.06632393e-02 7.56227839e+02] [ 7.46640886e-02 9.97208718e-01 -2.16887686e-04 8.58479128e+00] [ 1.06496684e-02 -5.79891077e-04 9.99943123e-01 5.20620562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5192541539999 meters 0.02675329769893278 Centerline is valid? [True, True] Translation: X:756.26, Y:8.59, Z:5.21 [[ 9.97166866e-01 -7.43912860e-02 -1.11435400e-02 7.56259741e+02] [ 7.43933910e-02 9.97228947e-01 -2.26077932e-04 8.58963582e+00] [ 1.11294789e-02 -6.03568303e-04 9.99937883e-01 5.20727868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5492541539999 meters 0.029149454483499017 Centerline is valid? [True, True] Translation: X:756.29, Y:8.59, Z:5.21 [[ 9.97224866e-01 -7.35929931e-02 -1.12533775e-02 7.56290818e+02] [ 7.35950976e-02 9.97288178e-01 -2.27546092e-04 8.58902897e+00] [ 1.12396061e-02 -6.01278793e-04 9.99936653e-01 5.20646568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5792541539998 meters 0.028669429063577646 Centerline is valid? [True, True] Translation: X:756.32, Y:8.59, Z:5.21 [[ 9.97292513e-01 -7.25864850e-02 -1.17832418e-02 7.56322152e+02] [ 7.25887347e-02 9.97361930e-01 -2.37209069e-04 8.59358358e+00] [ 1.17693749e-02 -6.18763782e-04 9.99930547e-01 5.20746328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6092541539999 meters 0.025159065394912427 Centerline is valid? [True, True] Translation: X:756.35, Y:8.60, Z:5.21 [[ 9.97377440e-01 -7.13995069e-02 -1.18470563e-02 7.56354640e+02] [ 7.14017140e-02 9.97447612e-01 -2.37103490e-04 8.60130912e+00] [ 1.18337471e-02 -6.09418455e-04 9.99929793e-01 5.20851530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6392541539999 meters 0.024935446042370555 Centerline is valid? [True, True] Translation: X:756.39, Y:8.60, Z:5.21 [[ 9.97467706e-01 -7.01662528e-02 -1.16134772e-02 7.56386939e+02] [ 7.01683018e-02 9.97535140e-01 -2.31443206e-04 8.60459848e+00] [ 1.16010911e-02 -5.84040850e-04 9.99932535e-01 5.20900845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6692541539999 meters 0.028210898792491966 Centerline is valid? [True, True] Translation: X:756.42, Y:8.61, Z:5.21 [[ 9.97763217e-01 -6.58060392e-02 -1.17527666e-02 7.56416263e+02] [ 6.58078461e-02 9.97832287e-01 -2.33337043e-04 8.60518909e+00] [ 1.17426449e-02 -5.40609136e-04 9.99930907e-01 5.20820013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6992541539998 meters 0.02693032856510065 Centerline is valid? [True, True] Translation: X:756.45, Y:8.61, Z:5.21 [[ 9.97882543e-01 -6.39941142e-02 -1.16268131e-02 7.56446789e+02] [ 6.39957667e-02 9.97950143e-01 -2.30248686e-04 8.60832933e+00] [ 1.16177144e-02 -5.14305675e-04 9.99932380e-01 5.20957179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7292541539999 meters 0.021835074541119975 Centerline is valid? [True, True] Translation: X:756.48, Y:8.62, Z:5.21 [[ 9.98210399e-01 -5.85918416e-02 -1.19580313e-02 7.56477524e+02] [ 5.85932050e-02 9.98281914e-01 -2.36593117e-04 8.62067156e+00] [ 1.19513488e-02 -4.64489667e-04 9.99928472e-01 5.21011822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7592541539999 meters 0.019589798859401732 Centerline is valid? [True, True] Translation: X:756.51, Y:8.63, Z:5.21 [[ 9.98558466e-01 -5.24606452e-02 -1.13520992e-02 7.56508092e+02] [ 5.24614804e-02 9.98622923e-01 -2.24402949e-04 8.62920710e+00] [ 1.13482388e-02 -3.71468463e-04 9.99935538e-01 5.21101779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7892541539999 meters 0.018825124494070068 Centerline is valid? [True, True] Translation: X:756.54, Y:8.63, Z:5.21 [[ 9.98721838e-01 -4.93446688e-02 -1.09450188e-02 7.56539281e+02] [ 4.93452612e-02 9.98781757e-01 -2.16084456e-04 8.63342710e+00] [ 1.09423477e-02 -3.24276545e-04 9.99940078e-01 5.21147711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8192541539999 meters 0.018756640349730427 Centerline is valid? [True, True] Translation: X:756.57, Y:8.64, Z:5.21 [[ 9.99024566e-01 -4.29014264e-02 -1.04586514e-02 7.56570291e+02] [ 4.29016176e-02 9.99079280e-01 -2.06172702e-04 8.64031733e+00] [ 1.04578671e-02 -2.42721471e-04 9.99945286e-01 5.21152240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8492541539999 meters 0.016599885105856412 Centerline is valid? [True, True] Translation: X:756.60, Y:8.64, Z:5.21 [[ 9.99117768e-01 -4.08860420e-02 -9.59255133e-03 7.56602887e+02] [ 4.08861135e-02 9.99163795e-01 -1.88736755e-04 8.64349698e+00] [ 9.59224669e-03 -2.03631897e-04 9.99953973e-01 5.21307917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8792541539999 meters 0.016273209958970164 Centerline is valid? [True, True] Translation: X:756.64, Y:8.65, Z:5.21 [[ 9.99203168e-01 -3.87435627e-02 -9.58981540e-03 7.56635578e+02] [ 3.87435439e-02 9.99249169e-01 -1.87801979e-04 8.64568050e+00] [ 9.58989119e-03 -1.83891102e-04 9.99953999e-01 5.21283864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9092541539999 meters 0.0168105634256215 Centerline is valid? [True, True] Translation: X:756.67, Y:8.65, Z:5.21 [[ 9.99244150e-01 -3.75293462e-02 -1.01329783e-02 7.56666958e+02] [ 3.75292714e-02 9.99295509e-01 -1.97594731e-04 8.64523735e+00] [ 1.01332553e-02 -1.82837912e-04 9.99948641e-01 5.21252253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9392541539999 meters 0.015908353692818848 Centerline is valid? [True, True] Translation: X:756.70, Y:8.65, Z:5.21 [[ 9.99261448e-01 -3.67203433e-02 -1.13214616e-02 7.56699452e+02] [ 3.67202064e-02 9.99325562e-01 -2.20027780e-04 8.64859842e+00] [ 1.13219055e-02 -1.95861131e-04 9.99935886e-01 5.21169314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9692541539999 meters 0.016970410924659455 Centerline is valid? [True, True] Translation: X:756.73, Y:8.65, Z:5.21 [[ 9.99232759e-01 -3.73873202e-02 -1.16654200e-02 7.56730658e+02] [ 3.73872294e-02 9.99300828e-01 -2.25934827e-04 8.64706913e+00] [ 1.16657110e-02 -2.10376254e-04 9.99931931e-01 5.21061011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9992541539999 meters 0.016752591297034353 Centerline is valid? [True, True] Translation: X:756.76, Y:8.65, Z:5.21 [[ 9.99148916e-01 -3.93336322e-02 -1.24221532e-02 7.56762864e+02] [ 3.93336895e-02 9.99226102e-01 -2.39796527e-04 8.64829574e+00] [ 1.24219718e-02 -2.49016677e-04 9.99922813e-01 5.21047479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0292541539999 meters 0.01970159298352966 Centerline is valid? [True, True] Translation: X:756.79, Y:8.65, Z:5.21 [[ 9.99122212e-01 -3.96173903e-02 -1.36113235e-02 7.56794676e+02] [ 3.96174993e-02 9.99214884e-01 -2.61729423e-04 8.64727436e+00] [ 1.36110060e-02 -2.77746919e-04 9.99907327e-01 5.20860634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0592541539999 meters 0.01797777056997313 Centerline is valid? [True, True] Translation: X:756.82, Y:8.65, Z:5.21 [[ 9.98994641e-01 -4.29118806e-02 -1.29722044e-02 7.56824737e+02] [ 4.29122669e-02 9.99078813e-01 -2.48692790e-04 8.64504767e+00] [ 1.29709264e-02 -3.08223932e-04 9.99915826e-01 5.20966204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.089254154 meters 0.018523791153430585 Centerline is valid? [True, True] Translation: X:756.86, Y:8.64, Z:5.21 [[ 9.98952017e-01 -4.39128713e-02 -1.29045883e-02 7.56856202e+02] [ 4.39133452e-02 9.99035313e-01 -2.46767608e-04 8.64385907e+00] [ 1.29029757e-02 -3.20174641e-04 9.99916702e-01 5.20964836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1192541539999 meters 0.018930069091286163 Centerline is valid? [True, True] Translation: X:756.89, Y:8.64, Z:5.21 [[ 9.98897096e-01 -4.52357835e-02 -1.25823863e-02 7.56888594e+02] [ 4.52363483e-02 9.98976284e-01 -2.39853397e-04 8.64354253e+00] [ 1.25803555e-02 -3.29592348e-04 9.99920810e-01 5.20974699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1492541539999 meters 0.01961139411359598 Centerline is valid? [True, True] Translation: X:756.92, Y:8.64, Z:5.21 [[ 9.98850711e-01 -4.62882453e-02 -1.24360341e-02 7.56919340e+02] [ 4.62888869e-02 9.98928067e-01 -2.36391062e-04 8.64270856e+00] [ 1.24336457e-02 -3.39530797e-04 9.99922642e-01 5.20987909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1792541539999 meters 0.01837397690830888 Centerline is valid? [True, True] Translation: X:756.95, Y:8.65, Z:5.21 [[ 9.98801796e-01 -4.73720481e-02 -1.22825738e-02 7.56951255e+02] [ 4.73727637e-02 9.98877253e-01 -2.32839832e-04 8.64559048e+00] [ 1.22798137e-02 -3.49298625e-04 9.99924539e-01 5.21069384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.209254154 meters 0.018573094286786888 Centerline is valid? [True, True] Translation: X:756.98, Y:8.65, Z:5.21 [[ 9.98701437e-01 -4.92450549e-02 -1.30523489e-02 7.56983030e+02] [ 4.92460344e-02 9.98786648e-01 -2.46547024e-04 8.64520750e+00] [ 1.30486531e-02 -3.96549557e-04 9.99914784e-01 5.21095610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2392541539999 meters 0.01903600333808899 Centerline is valid? [True, True] Translation: X:757.01, Y:8.64, Z:5.21 [[ 9.98684397e-01 -4.95933153e-02 -1.30375426e-02 7.57014391e+02] [ 4.95943316e-02 9.98769414e-01 -2.45541750e-04 8.64425456e+00] [ 1.30336760e-02 -4.01369496e-04 9.99914977e-01 5.21091530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2692541539999 meters 0.019932874798754226 Centerline is valid? [True, True] Translation: X:757.05, Y:8.64, Z:5.21 [[ 9.98687347e-01 -4.94868629e-02 -1.32148861e-02 7.57045387e+02] [ 4.94879075e-02 9.98774692e-01 -2.48148729e-04 8.64316257e+00] [ 1.32109739e-02 -4.06154064e-04 9.99912649e-01 5.21068967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2992541539999 meters 0.01932808734746502 Centerline is valid? [True, True] Translation: X:757.08, Y:8.65, Z:5.21 [[ 9.98726296e-01 -4.85862159e-02 -1.36075299e-02 7.57077399e+02] [ 4.85872519e-02 9.98818910e-01 -2.54642822e-04 8.64519909e+00] [ 1.36038303e-02 -4.06834002e-04 9.99907381e-01 5.21100862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3292541539998 meters 0.019293794349300942 Centerline is valid? [True, True] Translation: X:757.11, Y:8.65, Z:5.21 [[ 9.98767129e-01 -4.76979592e-02 -1.37523574e-02 7.57108435e+02] [ 4.76989454e-02 9.98861725e-01 -2.56467874e-04 8.64546608e+00] [ 1.37489364e-02 -3.99821260e-04 9.99905399e-01 5.21114335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3592541539999 meters 0.01830072608845165 Centerline is valid? [True, True] Translation: X:757.14, Y:8.65, Z:5.21 [[ 9.98873086e-01 -4.52758253e-02 -1.42357978e-02 7.57140024e+02] [ 4.52766456e-02 9.98974452e-01 -2.64827670e-04 8.64811820e+00] [ 1.42331886e-02 -3.80019938e-04 9.99898631e-01 5.21156780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3892541539999 meters 0.017973979229058704 Centerline is valid? [True, True] Translation: X:757.17, Y:8.65, Z:5.21 [[ 9.98949875e-01 -4.34453008e-02 -1.45482793e-02 7.57171669e+02] [ 4.34459714e-02 9.99055741e-01 -2.70101153e-04 8.65029075e+00] [ 1.45462766e-02 -3.62246612e-04 9.99894132e-01 5.21157877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4192541539999 meters 0.016736517912425166 Centerline is valid? [True, True] Translation: X:757.20, Y:8.65, Z:5.21 [[ 9.99054717e-01 -4.08581981e-02 -1.48418523e-02 7.57202842e+02] [ 4.08586189e-02 9.99164900e-01 -2.74994593e-04 8.65216318e+00] [ 1.48406936e-02 -3.31682941e-04 9.99889816e-01 5.21189606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4492541539998 meters 0.016606388176377038 Centerline is valid? [True, True] Translation: X:757.23, Y:8.65, Z:5.21 [[ 9.99107343e-01 -3.95328865e-02 -1.48885376e-02 7.57234131e+02] [ 3.95331712e-02 9.99218221e-01 -2.75306097e-04 8.65294287e+00] [ 1.48877817e-02 -3.13530764e-04 9.99889122e-01 5.21191455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4792541539999 meters 0.01625987932116029 Centerline is valid? [True, True] Translation: X:757.26, Y:8.65, Z:5.21 [[ 9.99158228e-01 -3.81445788e-02 -1.50939333e-02 7.57264799e+02] [ 3.81447251e-02 9.99272186e-01 -2.78303296e-04 8.65357809e+00] [ 1.50935635e-02 -2.97684909e-04 9.99886041e-01 5.21197759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5092541539999 meters 0.01563714841439679 Centerline is valid? [True, True] Translation: X:757.30, Y:8.66, Z:5.21 [[ 9.99261341e-01 -3.53422583e-02 -1.50896099e-02 7.57295673e+02] [ 3.53420943e-02 9.99375234e-01 -2.77615015e-04 8.65581810e+00] [ 1.50899939e-02 -2.55888462e-04 9.99886107e-01 5.21257786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5392541539999 meters 0.015477354571587054 Centerline is valid? [True, True] Translation: X:757.33, Y:8.66, Z:5.21 [[ 9.99303348e-01 -3.41502384e-02 -1.50525503e-02 7.57326529e+02] [ 3.41499465e-02 9.99416682e-01 -2.76507480e-04 8.65719209e+00] [ 1.50532126e-02 -2.37728935e-04 9.99886666e-01 5.21293259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5692541539999 meters 0.01606431174661617 Centerline is valid? [True, True] Translation: X:757.36, Y:8.66, Z:5.21 [[ 9.99384558e-01 -3.12650477e-02 -1.59060163e-02 7.57355881e+02] [ 3.12643580e-02 9.99511108e-01 -2.92080102e-04 8.65846090e+00] [ 1.59073719e-02 -2.05391045e-04 9.99873449e-01 5.21204887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5992541539999 meters 0.01496834665187217 Centerline is valid? [True, True] Translation: X:757.39, Y:8.66, Z:5.21 [[ 9.99411608e-01 -3.04285633e-02 -1.58284632e-02 7.57385070e+02] [ 3.04277683e-02 9.99536926e-01 -2.91107195e-04 8.65957254e+00] [ 1.58299914e-02 -1.90688900e-04 9.99874680e-01 5.21301591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6292541539999 meters 0.014896715024353835 Centerline is valid? [True, True] Translation: X:757.41, Y:8.66, Z:5.21 [[ 9.99445625e-01 -2.90287356e-02 -1.63026249e-02 7.57414403e+02] [ 2.90276962e-02 9.99578562e-01 -3.00430728e-04 8.65975974e+00] [ 1.63044755e-02 -1.72963467e-04 9.99867058e-01 5.21260033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6592541539999 meters 0.0147884189211221 Centerline is valid? [True, True] Translation: X:757.44, Y:8.66, Z:5.21 [[ 9.99453275e-01 -2.86651139e-02 -1.64761088e-02 7.57444029e+02] [ 2.86639930e-02 9.99589057e-01 -3.04230879e-04 8.65983545e+00] [ 1.64780589e-02 -1.68206518e-04 9.99864213e-01 5.21267465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6892541539999 meters 0.014878466147352993 Centerline is valid? [True, True] Translation: X:757.47, Y:8.66, Z:5.21 [[ 9.99454499e-01 -2.86867698e-02 -1.63637740e-02 7.57472936e+02] [ 2.86856545e-02 9.99588436e-01 -3.02918036e-04 8.65945383e+00] [ 1.63657290e-02 -1.66652775e-04 9.99866059e-01 5.21260887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7192541539999 meters 0.014878465863261565 Centerline is valid? [True, True] Translation: X:757.50, Y:8.66, Z:5.21 [[ 9.99425905e-01 -2.96712963e-02 -1.63546607e-02 7.57502536e+02] [ 2.96703024e-02 9.99559694e-01 -3.03465173e-04 8.65874220e+00] [ 1.63564639e-02 -1.81956774e-04 9.99866208e-01 5.21341166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7492541539999 meters 0.014878465863261565 Centerline is valid? [True, True] Translation: X:757.53, Y:8.66, Z:5.21 [[ 9.99424833e-01 -2.97073693e-02 -1.63546498e-02 7.57531689e+02] [ 2.97063705e-02 9.99558622e-01 -3.04055821e-04 8.65931359e+00] [ 1.63564639e-02 -1.81956347e-04 9.99866208e-01 5.21361377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7792541539999 meters 0.015204903043230815 Centerline is valid? [True, True] Translation: X:757.56, Y:8.66, Z:5.21 [[ 9.99391872e-01 -3.05917013e-02 -1.67342141e-02 7.57561738e+02] [ 3.05907694e-02 9.99531944e-01 -3.11721043e-04 8.65867594e+00] [ 1.67359176e-02 -2.00381007e-04 9.99859925e-01 5.21365615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8092541539999 meters 0.015618270498400779 Centerline is valid? [True, True] Translation: X:757.59, Y:8.66, Z:5.21 [[ 9.99299106e-01 -3.33403118e-02 -1.70211687e-02 7.57591081e+02] [ 3.33397357e-02 9.99444026e-01 -3.17681648e-04 8.65539344e+00] [ 1.70222970e-02 -2.50022280e-04 9.99855079e-01 5.21389719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.839254154 meters 0.0160454306139763 Centerline is valid? [True, True] Translation: X:757.62, Y:8.65, Z:5.21 [[ 9.99244589e-01 -3.49439439e-02 -1.70050790e-02 7.57619537e+02] [ 3.49435847e-02 9.99389236e-01 -3.18343358e-04 8.65309747e+00] [ 1.70058171e-02 -2.76115541e-04 9.99855353e-01 5.21377122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8692541539999 meters 0.0162923235270573 Centerline is valid? [True, True] Translation: X:757.65, Y:8.65, Z:5.22 [[ 9.99117630e-01 -3.85575656e-02 -1.66515863e-02 7.57649495e+02] [ 3.85577089e-02 9.99256326e-01 -3.12560815e-04 8.65023838e+00] [ 1.66512545e-02 -3.29761997e-04 9.99861304e-01 5.21514352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8992541539999 meters 0.01876868188940479 Centerline is valid? [True, True] Translation: X:757.68, Y:8.65, Z:5.21 [[ 9.99045739e-01 -4.02417516e-02 -1.69768189e-02 7.57679225e+02] [ 4.02421361e-02 9.99189906e-01 -3.19105077e-04 8.64562894e+00] [ 1.69759075e-02 -3.64382890e-04 9.99855833e-01 5.21425554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9292541539999 meters 0.017044445574058306 Centerline is valid? [True, True] Translation: X:757.71, Y:8.65, Z:5.22 [[ 9.98960220e-01 -4.26866127e-02 -1.60103937e-02 7.57710073e+02] [ 4.26872692e-02 9.99088438e-01 -3.00891041e-04 8.64752136e+00] [ 1.60086433e-02 -3.82861808e-04 9.99871780e-01 5.21664770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.959254154 meters 0.018146277614142323 Centerline is valid? [True, True] Translation: X:757.74, Y:8.64, Z:5.22 [[ 9.98751119e-01 -4.77147646e-02 -1.48156295e-02 7.57741163e+02] [ 4.77158833e-02 9.98860910e-01 -2.78174094e-04 8.64312587e+00] [ 1.48120262e-02 -4.29114163e-04 9.99890204e-01 5.21748274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9892541539999 meters 0.019985300515341708 Centerline is valid? [True, True] Translation: X:757.77, Y:8.64, Z:5.22 [[ 9.98601949e-01 -5.05319064e-02 -1.55136865e-02 7.57772546e+02] [ 5.05334796e-02 9.98722325e-01 -2.90832474e-04 8.64018593e+00] [ 1.55085614e-02 -4.93534685e-04 9.99879613e-01 5.21726269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0192541539999 meters 0.02113436405271812 Centerline is valid? [True, True] Translation: X:757.80, Y:8.63, Z:5.22 [[ 9.98265982e-01 -5.70211060e-02 -1.46158527e-02 7.57803624e+02] [ 5.70232031e-02 9.98372816e-01 -2.73565482e-04 8.63445788e+00] [ 1.46076690e-02 -5.60351622e-04 9.99893145e-01 5.21745170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0492541539999 meters 0.02372237404722382 Centerline is valid? [True, True] Translation: X:757.83, Y:8.63, Z:5.22 [[ 9.98100865e-01 -5.98722904e-02 -1.44904386e-02 7.57834007e+02] [ 5.98746597e-02 9.98205866e-01 -2.70652787e-04 8.62925945e+00] [ 1.44806454e-02 -5.97471298e-04 9.99894971e-01 5.21703677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0792541539998 meters 0.025220301044210747 Centerline is valid? [True, True] Translation: X:757.86, Y:8.63, Z:5.22 [[ 9.97691847e-01 -6.63228189e-02 -1.45692386e-02 7.57864878e+02] [ 6.63259058e-02 9.97797976e-01 -2.71741977e-04 8.62560097e+00] [ 1.45551794e-02 -6.95203189e-04 9.99893826e-01 5.21688391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1092541539999 meters 0.02688228309204106 Centerline is valid? [True, True] Translation: X:757.90, Y:8.62, Z:5.22 [[ 9.97480609e-01 -6.94493866e-02 -1.44643741e-02 7.57896471e+02] [ 6.94527612e-02 9.97585205e-01 -2.69493973e-04 8.62322841e+00] [ 1.44481618e-02 -7.35775710e-04 9.99895349e-01 5.21659495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1392541539999 meters 0.02728562336679322 Centerline is valid? [True, True] Translation: X:757.93, Y:8.62, Z:5.22 [[ 9.97276110e-01 -7.23563065e-02 -1.43152164e-02 7.57927184e+02] [ 7.23599159e-02 9.97378550e-01 -2.66334011e-04 8.62271192e+00] [ 1.42969607e-02 -7.70239309e-04 9.99897497e-01 5.21683790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1692541539999 meters 0.03083818713827777 Centerline is valid? [True, True] Translation: X:757.96, Y:8.62, Z:5.22 [[ 9.96920999e-01 -7.71025504e-02 -1.42730040e-02 7.57956450e+02] [ 7.71066270e-02 9.97022817e-01 -2.65280296e-04 8.61786323e+00] [ 1.42509644e-02 -8.36079698e-04 9.99898100e-01 5.21636032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1992541539998 meters 0.02969815508919017 Centerline is valid? [True, True] Translation: X:757.99, Y:8.62, Z:5.22 [[ 9.96797694e-01 -7.87787388e-02 -1.37210708e-02 7.57988218e+02] [ 7.87826752e-02 9.96891782e-01 -2.54234622e-04 8.62020693e+00] [ 1.36984510e-02 -8.27562183e-04 9.99905829e-01 5.21704807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2292541539999 meters 0.031969669493385276 Centerline is valid? [True, True] Translation: X:758.02, Y:8.62, Z:5.22 [[ 9.96666395e-01 -8.05201532e-02 -1.31378036e-02 7.58019082e+02] [ 8.05239315e-02 9.96752646e-01 -2.41993230e-04 8.61902805e+00] [ 1.31146258e-02 -8.16721073e-04 9.99913666e-01 5.21725180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2592541539999 meters 0.031826744278481374 Centerline is valid? [True, True] Translation: X:758.05, Y:8.62, Z:5.22 [[ 9.96656214e-01 -8.06785389e-02 -1.29369193e-02 7.58051317e+02] [ 8.06822326e-02 9.96739846e-01 -2.36987086e-04 8.62102920e+00] [ 1.29138627e-02 -8.07584881e-04 9.99916286e-01 5.21750575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2892541539999 meters 0.030258518955688624 Centerline is valid? [True, True] Translation: X:758.08, Y:8.63, Z:5.22 [[ 9.96717040e-01 -7.98042817e-02 -1.36535087e-02 7.58083584e+02] [ 7.98083285e-02 9.96810197e-01 -2.49081308e-04 8.62628587e+00] [ 1.36298344e-02 -8.41400123e-04 9.99906755e-01 5.21738961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3192541539999 meters 0.027447049751418835 Centerline is valid? [True, True] Translation: X:758.11, Y:8.63, Z:5.22 [[ 9.96861680e-01 -7.82462889e-02 -1.20128942e-02 7.58114638e+02] [ 7.82493165e-02 9.96933798e-01 -2.18503000e-04 8.63336026e+00] [ 1.19931573e-02 -7.22183494e-04 9.99927819e-01 5.21852448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3492541539999 meters 0.027531353158643607 Centerline is valid? [True, True] Translation: X:758.15, Y:8.64, Z:5.22 [[ 9.96986226e-01 -7.65968389e-02 -1.23040506e-02 7.58146200e+02] [ 7.65998957e-02 9.97061887e-01 -2.23325292e-04 8.63589580e+00] [ 1.22850059e-02 -7.19836752e-04 9.99924277e-01 5.21834865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3792541539999 meters 0.02615811908144189 Centerline is valid? [True, True] Translation: X:758.18, Y:8.64, Z:5.22 [[ 9.97273434e-01 -7.27250664e-02 -1.25204785e-02 7.58177063e+02] [ 7.27279321e-02 9.97351792e-01 -2.26882483e-04 8.64257077e+00] [ 1.25038217e-02 -6.84324635e-04 9.99921590e-01 5.21836393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4092541539999 meters 0.025520393961512372 Centerline is valid? [True, True] Translation: X:758.21, Y:8.65, Z:5.22 [[ 9.97405371e-01 -7.08616034e-02 -1.26948753e-02 7.58208774e+02] [ 7.08644060e-02 9.97485931e-01 -2.29487931e-04 8.64647810e+00] [ 1.26792214e-02 -6.70722303e-04 9.99919390e-01 5.21841276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4392541539999 meters 0.024916540908003437 Centerline is valid? [True, True] Translation: X:758.24, Y:8.65, Z:5.22 [[ 9.97528136e-01 -6.90362674e-02 -1.31000967e-02 7.58240487e+02] [ 6.90391062e-02 9.97613926e-01 -2.35941465e-04 8.65033277e+00] [ 1.30851274e-02 -6.69060717e-04 9.99914162e-01 5.21837344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4692541539999 meters 0.02503265800840472 Centerline is valid? [True, True] Translation: X:758.27, Y:8.65, Z:5.22 [[ 9.97700215e-01 -6.64161827e-02 -1.35340957e-02 7.58270676e+02] [ 6.64189794e-02 9.97791792e-01 -2.43231802e-04 8.65490778e+00] [ 1.35203642e-02 -6.56248406e-04 9.99908380e-01 5.21817649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4992541539999 meters 0.023765175493463856 Centerline is valid? [True, True] Translation: X:758.30, Y:8.66, Z:5.22 [[ 9.97768522e-01 -6.53853087e-02 -1.35180387e-02 7.58302514e+02] [ 6.53880128e-02 9.97859884e-01 -2.42322353e-04 8.65897692e+00] [ 1.35049528e-02 -6.42136068e-04 9.99908598e-01 5.21862103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5292541539999 meters 0.023296462537420272 Centerline is valid? [True, True] Translation: X:758.33, Y:8.66, Z:5.22 [[ 9.97859137e-01 -6.38410312e-02 -1.41938285e-02 7.58334312e+02] [ 6.38438719e-02 9.97959867e-01 -2.53352561e-04 8.66404105e+00] [ 1.41810455e-02 -6.53378803e-04 9.99899230e-01 5.21849035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5592541539999 meters 0.023507224295243247 Centerline is valid? [True, True] Translation: X:758.37, Y:8.67, Z:5.22 [[ 9.97900060e-01 -6.32242950e-02 -1.40768624e-02 7.58365817e+02] [ 6.32270406e-02 9.97999138e-01 -2.50354914e-04 8.66625272e+00] [ 1.40645251e-02 -6.40209169e-04 9.99900885e-01 5.21863738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.589254154 meters 0.023202031206395773 Centerline is valid? [True, True] Translation: X:758.40, Y:8.67, Z:5.22 [[ 9.97956066e-01 -6.23132372e-02 -1.41686591e-02 7.58398104e+02] [ 6.23159402e-02 9.98056442e-01 -2.51064867e-04 8.66911751e+00] [ 1.41567661e-02 -6.32381606e-04 9.99899588e-01 5.21877528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6192541539999 meters 0.023219567325202223 Centerline is valid? [True, True] Translation: X:758.43, Y:8.67, Z:5.22 [[ 9.98025426e-01 -6.12384454e-02 -1.39678873e-02 7.58430235e+02] [ 6.12409815e-02 9.98122979e-01 -2.46483546e-04 8.67178283e+00] [ 1.39567636e-02 -6.09410282e-04 9.99902414e-01 5.21897003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6492541539999 meters 0.022967144643440015 Centerline is valid? [True, True] Translation: X:758.46, Y:8.68, Z:5.22 [[ 9.98200872e-01 -5.85105904e-02 -1.30969567e-02 7.58461006e+02] [ 5.85125949e-02 9.98286644e-01 -2.30409022e-04 8.67614554e+00] [ 1.30879983e-02 -5.36342437e-04 9.99914205e-01 5.21952477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6792541539999 meters 0.022184250185506692 Centerline is valid? [True, True] Translation: X:758.49, Y:8.68, Z:5.22 [[ 9.98292656e-01 -5.69505532e-02 -1.29771797e-02 7.58493624e+02] [ 5.69523999e-02 9.98376869e-01 -2.27502267e-04 8.67972036e+00] [ 1.29690724e-02 -5.11967683e-04 9.99915767e-01 5.21970551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.709254154 meters 0.022555447449629205 Centerline is valid? [True, True] Translation: X:758.53, Y:8.69, Z:5.22 [[ 9.98486657e-01 -5.32925068e-02 -1.35759039e-02 7.58525409e+02] [ 5.32942041e-02 9.98578826e-01 -2.36980624e-04 8.68616806e+00] [ 1.35692395e-02 -4.86895003e-04 9.99907815e-01 5.21913320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7392541539999 meters 0.021425534554803383 Centerline is valid? [True, True] Translation: X:758.56, Y:8.69, Z:5.22 [[ 9.98575300e-01 -5.18561476e-02 -1.25821503e-02 7.58557044e+02] [ 5.18575010e-02 9.98654471e-01 -2.18877654e-04 8.68764347e+00] [ 1.25765708e-02 -4.33913051e-04 9.99920818e-01 5.22052928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7692541539999 meters 0.019890647944419467 Centerline is valid? [True, True] Translation: X:758.59, Y:8.69, Z:5.22 [[ 9.98671209e-01 -5.00921733e-02 -1.21074286e-02 7.58589377e+02] [ 5.00933073e-02 9.98744520e-01 -2.09766261e-04 8.69232142e+00] [ 1.21027356e-02 -3.97013618e-04 9.99926680e-01 5.22158253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7992541539999 meters 0.019177720669651482 Centerline is valid? [True, True] Translation: X:758.62, Y:8.70, Z:5.22 [[ 9.98863824e-01 -4.63435978e-02 -1.11055074e-02 7.58619898e+02] [ 4.63443272e-02 9.98925506e-01 -1.91798481e-04 8.69751597e+00] [ 1.11024633e-02 -3.23096706e-04 9.99938314e-01 5.22225396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8292541539998 meters 0.01954316406615861 Centerline is valid? [True, True] Translation: X:758.65, Y:8.70, Z:5.22 [[ 9.99076165e-01 -4.15509447e-02 -1.09697516e-02 7.58650041e+02] [ 4.15513711e-02 9.99136351e-01 -1.89136005e-04 8.70256812e+00] [ 1.09681363e-02 -2.66846944e-04 9.99939813e-01 5.22196914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8592541539999 meters 0.017838622194701188 Centerline is valid? [True, True] Translation: X:758.68, Y:8.71, Z:5.22 [[ 9.99152785e-01 -3.99006927e-02 -1.00820302e-02 7.58682680e+02] [ 3.99009727e-02 9.99203624e-01 -1.73444894e-04 8.70515563e+00] [ 1.00809217e-02 -2.28984866e-04 9.99949160e-01 5.22292778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8892541539999 meters 0.016965890169487702 Centerline is valid? [True, True] Translation: X:758.71, Y:8.71, Z:5.22 [[ 9.99219260e-01 -3.81052820e-02 -1.04335289e-02 7.58714941e+02] [ 3.81054932e-02 9.99273706e-01 -1.78626793e-04 8.70879074e+00] [ 1.04327577e-02 -2.19087431e-04 9.99945553e-01 5.22295722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9192541539999 meters 0.015637847641783754 Centerline is valid? [True, True] Translation: X:758.75, Y:8.71, Z:5.22 [[ 9.99310740e-01 -3.55995043e-02 -1.05223947e-02 7.58747111e+02] [ 3.55995882e-02 9.99366118e-01 -1.79387189e-04 8.71455628e+00] [ 1.05221109e-02 -1.95329374e-04 9.99944622e-01 5.22298940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9492541539998 meters 0.015404222330855304 Centerline is valid? [True, True] Translation: X:758.78, Y:8.72, Z:5.22 [[ 9.99343318e-01 -3.45541013e-02 -1.09062676e-02 7.58778854e+02] [ 3.45541382e-02 9.99402810e-01 -1.85100816e-04 8.71632166e+00] [ 1.09061505e-02 -1.91877415e-04 9.99940508e-01 5.22294993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9792541539999 meters 0.018108434612592813 Centerline is valid? [True, True] Translation: X:758.81, Y:8.72, Z:5.22 [[ 9.99365938e-01 -3.35342900e-02 -1.19654986e-02 7.58809620e+02] [ 3.35342715e-02 9.99437548e-01 -2.02234194e-04 8.71695799e+00] [ 1.19655504e-02 -1.99148314e-04 9.99928390e-01 5.22160931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0092541539999 meters 0.016979155807501485 Centerline is valid? [True, True] Translation: X:758.84, Y:8.72, Z:5.22 [[ 9.99372705e-01 -3.34534493e-02 -1.16216599e-02 7.58841724e+02] [ 3.34534348e-02 9.99440258e-01 -1.95704564e-04 8.71831800e+00] [ 1.16217017e-02 -1.93202641e-04 9.99932447e-01 5.22227641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0392541539999 meters 0.017822003395389505 Centerline is valid? [True, True] Translation: X:758.87, Y:8.72, Z:5.22 [[ 9.99348029e-01 -3.41093165e-02 -1.18351930e-02 7.58874214e+02] [ 3.41093578e-02 9.99418087e-01 -1.98421173e-04 8.71890256e+00] [ 1.18350739e-02 -2.05399023e-04 9.99929942e-01 5.22161267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0692541539999 meters 0.015927337145432093 Centerline is valid? [True, True] Translation: X:758.91, Y:8.72, Z:5.22 [[ 9.99267336e-01 -3.63638228e-02 -1.19358209e-02 7.58906227e+02] [ 3.63640361e-02 9.99338590e-01 -1.99229358e-04 8.71884935e+00] [ 1.19351712e-02 -2.34951233e-04 9.99928746e-01 5.22184456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0992541539999 meters 0.016157741850119124 Centerline is valid? [True, True] Translation: X:758.94, Y:8.72, Z:5.22 [[ 9.99215873e-01 -3.76213781e-02 -1.23397786e-02 7.58938136e+02] [ 3.76217133e-02 9.99292032e-01 -2.05050919e-04 8.71868725e+00] [ 1.23387567e-02 -2.59353478e-04 9.99923841e-01 5.22165889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1292541539999 meters 0.017497333945715482 Centerline is valid? [True, True] Translation: X:758.97, Y:8.72, Z:5.22 [[ 9.99075593e-01 -4.11129700e-02 -1.25571582e-02 7.58969353e+02] [ 4.11136062e-02 9.99154457e-01 -2.07581108e-04 8.71649321e+00] [ 1.25550748e-02 -3.08880837e-04 9.99921134e-01 5.22104492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1592541539999 meters 0.017482383665554317 Centerline is valid? [True, True] Translation: X:759.00, Y:8.72, Z:5.22 [[ 9.98991525e-01 -4.31296954e-02 -1.24804941e-02 7.59001150e+02] [ 4.31304972e-02 9.99069426e-01 -2.05029544e-04 8.71704912e+00] [ 1.24777229e-02 -3.33467139e-04 9.99922095e-01 5.22122877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1892541539999 meters 0.019119949698472995 Centerline is valid? [True, True] Translation: X:759.03, Y:8.71, Z:5.22 [[ 9.98907308e-01 -4.51335063e-02 -1.21308052e-02 7.59031920e+02] [ 4.51344283e-02 9.98980903e-01 -1.97897087e-04 8.71378394e+00] [ 1.21273745e-02 -3.49836111e-04 9.99926399e-01 5.22117444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2192541539999 meters 0.020215135376166177 Centerline is valid? [True, True] Translation: X:759.06, Y:8.71, Z:5.22 [[ 9.98695697e-01 -4.97335018e-02 -1.15535359e-02 7.59062740e+02] [ 4.97346563e-02 9.98762449e-01 -1.87547201e-04 8.71203662e+00] [ 1.15485652e-02 -3.87308556e-04 9.99933238e-01 5.22189024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2492541539999 meters 0.02044424996954498 Centerline is valid? [True, True] Translation: X:759.10, Y:8.71, Z:5.22 [[ 9.98620123e-01 -5.12250786e-02 -1.15689745e-02 7.59095039e+02] [ 5.12263416e-02 9.98687051e-01 -1.87330149e-04 8.71300914e+00] [ 1.15633811e-02 -4.05564584e-04 9.99933060e-01 5.22238074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2792541539999 meters 0.021282692977992363 Centerline is valid? [True, True] Translation: X:759.13, Y:8.71, Z:5.22 [[ 9.98547245e-01 -5.27027606e-02 -1.12168594e-02 7.59126088e+02] [ 5.27040491e-02 9.98610159e-01 -1.80896154e-04 8.71162220e+00] [ 1.12108035e-02 -4.10540552e-04 9.99937073e-01 5.22310388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3092541539999 meters 0.020543002780897365 Centerline is valid? [True, True] Translation: X:759.16, Y:8.71, Z:5.22 [[ 9.98481660e-01 -5.39236124e-02 -1.12525359e-02 7.59157894e+02] [ 5.39249945e-02 9.98544973e-01 -1.80766556e-04 8.71423320e+00] [ 1.12459107e-02 -4.26300844e-04 9.99936672e-01 5.22372466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.339254154 meters 0.021014521562965377 Centerline is valid? [True, True] Translation: X:759.19, Y:8.71, Z:5.22 [[ 9.98477470e-01 -5.38905689e-02 -1.17706655e-02 7.59190022e+02] [ 5.38920906e-02 9.98546748e-01 -1.88099943e-04 8.71451836e+00] [ 1.17636966e-02 -4.46532219e-04 9.99930706e-01 5.22377490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3692541539999 meters 0.020818680582791276 Centerline is valid? [True, True] Translation: X:759.22, Y:8.72, Z:5.22 [[ 9.98514090e-01 -5.31023920e-02 -1.22371424e-02 7.59222523e+02] [ 5.31039906e-02 9.98588969e-01 -1.94493274e-04 8.71655385e+00] [ 1.22302035e-02 -4.55636821e-04 9.99925104e-01 5.22373971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3992541539999 meters 0.022986461810633338 Centerline is valid? [True, True] Translation: X:759.25, Y:8.72, Z:5.22 [[ 9.98564194e-01 -5.19790155e-02 -1.29511546e-02 7.59253754e+02] [ 5.19807230e-02 9.98648067e-01 -2.04970205e-04 8.71622071e+00] [ 1.29442997e-02 -4.68534472e-04 9.99916109e-01 5.22242437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4292541539999 meters 0.019964293092357675 Centerline is valid? [True, True] Translation: X:759.29, Y:8.72, Z:5.22 [[ 9.98618454e-01 -5.10800818e-02 -1.23291687e-02 7.59285537e+02] [ 5.10815702e-02 9.98694465e-01 -1.94364203e-04 8.71995859e+00] [ 1.23230007e-02 -4.35697616e-04 9.99923974e-01 5.22400351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.459254154 meters 0.0205411962294628 Centerline is valid? [True, True] Translation: X:759.32, Y:8.72, Z:5.22 [[ 9.98682998e-01 -4.97356126e-02 -1.25952104e-02 7.59317321e+02] [ 4.97370710e-02 9.98762326e-01 -1.97614223e-04 8.72148728e+00] [ 1.25894501e-02 -4.29094907e-04 9.99920658e-01 5.22356890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4892541539999 meters 0.02001076751585568 Centerline is valid? [True, True] Translation: X:759.35, Y:8.72, Z:5.22 [[ 9.98782276e-01 -4.76568377e-02 -1.27589223e-02 7.59348362e+02] [ 4.76581755e-02 9.98863684e-01 -1.99341950e-04 8.72291204e+00] [ 1.27539242e-02 -4.08967753e-04 9.99918582e-01 5.22389985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5192541539999 meters 0.01960664783163655 Centerline is valid? [True, True] Translation: X:759.38, Y:8.72, Z:5.22 [[ 9.98851455e-01 -4.62381141e-02 -1.25621349e-02 7.59380965e+02] [ 4.62393111e-02 9.98930372e-01 -1.95291853e-04 8.72485739e+00] [ 1.25577280e-02 -3.85796911e-04 9.99921074e-01 5.22410620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5492541539999 meters 0.01850553818972394 Centerline is valid? [True, True] Translation: X:759.41, Y:8.73, Z:5.22 [[ 9.98922380e-01 -4.45375714e-02 -1.30569543e-02 7.59413224e+02] [ 4.45387353e-02 9.99007638e-01 -2.01769537e-04 8.72839497e+00] [ 1.30529834e-02 -3.79988125e-04 9.99914734e-01 5.22454098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5792541539998 meters 0.017558031726131122 Centerline is valid? [True, True] Translation: X:759.44, Y:8.73, Z:5.22 [[ 9.99105224e-01 -4.02816524e-02 -1.28895025e-02 7.59444009e+02] [ 4.02824420e-02 9.99188313e-01 -1.98464320e-04 8.73214967e+00] [ 1.28870348e-02 -3.20933899e-04 9.99916907e-01 5.22491870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6092541539999 meters 0.017178728060131824 Centerline is valid? [True, True] Translation: X:759.48, Y:8.73, Z:5.23 [[ 9.99199073e-01 -3.78442614e-02 -1.30009716e-02 7.59476361e+02] [ 3.78448674e-02 9.99283606e-01 -1.99489943e-04 8.73411972e+00] [ 1.29992073e-02 -2.92689879e-04 9.99915464e-01 5.22522596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6392541539999 meters 0.017178728060131824 Centerline is valid? [True, True] Translation: X:759.51, Y:8.73, Z:5.23 [[ 9.99201787e-01 -3.77725190e-02 -1.30009858e-02 7.59508057e+02] [ 3.77731311e-02 9.99286321e-01 -1.98556345e-04 8.73454350e+00] [ 1.29992073e-02 -2.92690088e-04 9.99915464e-01 5.22544547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6692541539999 meters 0.016398510835991628 Centerline is valid? [True, True] Translation: X:759.54, Y:8.74, Z:5.23 [[ 9.99300298e-01 -3.51283231e-02 -1.28419423e-02 7.59540124e+02] [ 3.51287139e-02 9.99382777e-01 -1.95200710e-04 8.73772230e+00] [ 1.28408730e-02 -2.56056789e-04 9.99917520e-01 5.22582657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6992541539998 meters 0.016971970344708653 Centerline is valid? [True, True] Translation: X:759.57, Y:8.74, Z:5.23 [[ 9.99444412e-01 -3.08950053e-02 -1.25046690e-02 7.59570457e+02] [ 3.08950522e-02 9.99522616e-01 -1.89476069e-04 8.73975657e+00] [ 1.25045533e-02 -1.96961601e-04 9.99921796e-01 5.22530467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7292541539999 meters 0.015090075442313057 Centerline is valid? [True, True] Translation: X:759.60, Y:8.74, Z:5.23 [[ 9.99471912e-01 -2.99024628e-02 -1.27176866e-02 7.59602245e+02] [ 2.99024365e-02 9.99552804e-01 -1.92256991e-04 8.74217426e+00] [ 1.27177482e-02 -1.88134353e-04 9.99919108e-01 5.22672261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7592541539999 meters 0.016390689986783898 Centerline is valid? [True, True] Translation: X:759.63, Y:8.74, Z:5.23 [[ 9.99514393e-01 -2.82579395e-02 -1.31326829e-02 7.59633484e+02] [ 2.82577778e-02 9.99600650e-01 -1.97909130e-04 8.74310478e+00] [ 1.31330309e-02 -1.73287412e-04 9.99913743e-01 5.22582164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7892541539999 meters 0.015142408526180824 Centerline is valid? [True, True] Translation: X:759.66, Y:8.74, Z:5.23 [[ 9.99523799e-01 -2.79310513e-02 -1.31160905e-02 7.59664098e+02] [ 2.79308702e-02 9.99609838e-01 -1.97021764e-04 8.74279125e+00] [ 1.31164762e-02 -1.69415880e-04 9.99913961e-01 5.22596551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8192541539999 meters 0.01480180558496038 Centerline is valid? [True, True] Translation: X:759.70, Y:8.74, Z:5.23 [[ 9.99528189e-01 -2.75615038e-02 -1.35558826e-02 7.59695192e+02] [ 2.75612857e-02 9.99620095e-01 -2.02943472e-04 8.74228876e+00] [ 1.35563261e-02 -1.70769833e-04 9.99908094e-01 5.22564639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8492541539999 meters 0.015631516330502238 Centerline is valid? [True, True] Translation: X:759.73, Y:8.74, Z:5.22 [[ 9.99524696e-01 -2.74059999e-02 -1.41171035e-02 7.59725083e+02] [ 2.74057534e-02 9.99624370e-01 -2.10953173e-04 8.74129682e+00] [ 1.41175821e-02 -1.76036952e-04 9.99900326e-01 5.22482942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8792541539999 meters 0.015517391553538089 Centerline is valid? [True, True] Translation: X:759.76, Y:8.74, Z:5.23 [[ 9.99507514e-01 -2.84677813e-02 -1.32028686e-02 7.59756147e+02] [ 2.84676628e-02 9.99594695e-01 -1.96948216e-04 8.73933281e+00] [ 1.32031241e-02 -1.79003590e-04 9.99912819e-01 5.22567545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9092541539999 meters 0.016052046638013434 Centerline is valid? [True, True] Translation: X:759.79, Y:8.74, Z:5.23 [[ 9.99491453e-01 -2.91387708e-02 -1.29525092e-02 7.59786635e+02] [ 2.91387177e-02 9.99575359e-01 -1.92860434e-04 8.73816069e+00] [ 1.29526287e-02 -1.84657154e-04 9.99916094e-01 5.22600232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9392541539999 meters 0.016200335480616883 Centerline is valid? [True, True] Translation: X:759.82, Y:8.73, Z:5.23 [[ 9.99416366e-01 -3.19927554e-02 -1.19746370e-02 7.59817231e+02] [ 3.19929172e-02 9.99488080e-01 -1.78096249e-04 8.73437278e+00] [ 1.19742047e-02 -2.05111263e-04 9.99928286e-01 5.22692419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9692541539999 meters 0.016059028500253456 Centerline is valid? [True, True] Translation: X:759.85, Y:8.73, Z:5.23 [[ 9.99357730e-01 -3.38366130e-02 -1.17988069e-02 7.59849835e+02] [ 3.38369042e-02 9.99427353e-01 -1.75004375e-04 8.73391997e+00] [ 1.17979719e-02 -2.24343122e-04 9.99930376e-01 5.22745635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9992541539999 meters 0.018987176126265257 Centerline is valid? [True, True] Translation: X:759.88, Y:8.73, Z:5.23 [[ 9.99161215e-01 -3.92253773e-02 -1.17573569e-02 7.59879736e+02] [ 3.92260503e-02 9.99230347e-01 -1.73448384e-04 8.72589569e+00] [ 1.17551113e-02 -2.87891773e-04 9.99930865e-01 5.22669498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0292541539999 meters 0.01749302720201275 Centerline is valid? [True, True] Translation: X:759.91, Y:8.73, Z:5.23 [[ 9.99036236e-01 -4.24105971e-02 -1.13110673e-02 7.59912203e+02] [ 4.24114344e-02 9.99100217e-01 -1.65932531e-04 8.72731665e+00] [ 1.13079271e-02 -3.13945978e-04 9.99936014e-01 5.22760506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0592541539999 meters 0.02341573426959369 Centerline is valid? [True, True] Translation: X:759.94, Y:8.72, Z:5.23 [[ 9.98649678e-01 -5.05585232e-02 -1.19439092e-02 7.59941724e+02] [ 5.05600468e-02 9.98721008e-01 -1.74542597e-04 8.71511313e+00] [ 1.19374577e-02 -4.29577702e-04 9.99928654e-01 5.22625456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.089254154 meters 0.02172005336372735 Centerline is valid? [True, True] Translation: X:759.97, Y:8.72, Z:5.23 [[ 9.98418863e-01 -5.48749654e-02 -1.21865408e-02 7.59972898e+02] [ 5.48768771e-02 9.98493113e-01 -1.77720596e-04 8.71693705e+00] [ 1.21779295e-02 -4.91319707e-04 9.99925726e-01 5.22671260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1192541539999 meters 0.02677788781792912 Centerline is valid? [True, True] Translation: X:760.00, Y:8.71, Z:5.23 [[ 9.97919107e-01 -6.31382009e-02 -1.30775596e-02 7.60003405e+02] [ 6.31411145e-02 9.98004591e-01 -1.90382850e-04 8.70862342e+00] [ 1.30634849e-02 -6.35745003e-04 9.99914467e-01 5.22545763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1492541539999 meters 0.02837362430888469 Centerline is valid? [True, True] Translation: X:760.03, Y:8.71, Z:5.23 [[ 9.97435486e-01 -7.03491331e-02 -1.31700765e-02 7.60033966e+02] [ 7.03527163e-02 9.97522159e-01 -1.91600913e-04 8.70526703e+00] [ 1.31509221e-02 -7.35441106e-04 9.99913252e-01 5.22638265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1792541539999 meters 0.030889076140054407 Centerline is valid? [True, True] Translation: X:760.07, Y:8.70, Z:5.23 [[ 9.97308729e-01 -7.18963122e-02 -1.43603142e-02 7.60066270e+02] [ 7.19007412e-02 9.97411771e-01 -2.08298780e-04 8.70360162e+00] [ 1.43381223e-02 -8.24779041e-04 9.99896864e-01 5.22515568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.209254154 meters 0.02919201161333519 Centerline is valid? [True, True] Translation: X:760.10, Y:8.71, Z:5.23 [[ 9.97194529e-01 -7.35837624e-02 -1.37295869e-02 7.60098194e+02] [ 7.35879838e-02 9.97288709e-01 -1.98160828e-04 8.70563808e+00] [ 1.37069434e-02 -8.12727723e-04 9.99905725e-01 5.22675031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2392541539999 meters 0.030925488498676507 Centerline is valid? [True, True] Translation: X:760.13, Y:8.70, Z:5.23 [[ 9.97119562e-01 -7.46517535e-02 -1.34050499e-02 7.60128956e+02] [ 7.46558916e-02 9.97209337e-01 -1.92138038e-04 8.70354919e+00] [ 1.33819843e-02 -8.09181353e-04 9.99910130e-01 5.22774026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2692541539999 meters 0.03253922831424403 Centerline is valid? [True, True] Translation: X:760.16, Y:8.70, Z:5.23 [[ 9.97166795e-01 -7.39466493e-02 -1.37940794e-02 7.60159884e+02] [ 7.39509891e-02 9.97261858e-01 -1.95887293e-04 8.70373204e+00] [ 1.37707945e-02 -8.24753511e-04 9.99904838e-01 5.22754651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2992541539999 meters 0.03060364713256155 Centerline is valid? [True, True] Translation: X:760.19, Y:8.71, Z:5.23 [[ 9.97233451e-01 -7.31360874e-02 -1.32874960e-02 7.60191658e+02] [ 7.31400603e-02 9.97321661e-01 -1.87351019e-04 8.70731777e+00] [ 1.32656097e-02 -7.85015557e-04 9.99911700e-01 5.22837620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3292541539998 meters 0.03131482480414244 Centerline is valid? [True, True] Translation: X:760.22, Y:8.71, Z:5.23 [[ 9.97340922e-01 -7.16116763e-02 -1.35222912e-02 7.60222150e+02] [ 7.16156597e-02 9.97432284e-01 -1.90033827e-04 8.70781766e+00] [ 1.35011784e-02 -7.78879292e-04 9.99908552e-01 5.22827601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3592541539999 meters 0.030497817100314854 Centerline is valid? [True, True] Translation: X:760.25, Y:8.71, Z:5.23 [[ 9.97653267e-01 -6.67448958e-02 -1.52668667e-02 7.60252243e+02] [ 6.67494061e-02 9.97769748e-01 -2.14507284e-04 8.71372746e+00] [ 1.52471350e-02 -8.05050395e-04 9.99883432e-01 5.22617532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3892541539999 meters 0.02941112772663237 Centerline is valid? [True, True] Translation: X:760.28, Y:8.72, Z:5.23 [[ 9.97803217e-01 -6.45369507e-02 -1.49573405e-02 7.60282773e+02] [ 6.45410334e-02 9.97915032e-01 -2.10093593e-04 8.71593677e+00] [ 1.49397137e-02 -7.55730150e-04 9.99888111e-01 5.22695288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4192541539999 meters 0.02400736519350237 Centerline is valid? [True, True] Translation: X:760.31, Y:8.73, Z:5.23 [[ 9.98158659e-01 -5.85692843e-02 -1.57775576e-02 7.60312695e+02] [ 5.85730857e-02 9.98283098e-01 -2.21452095e-04 8.72802026e+00] [ 1.57634394e-02 -7.03095907e-04 9.99875502e-01 5.22767615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4492541539998 meters 0.024981305374189904 Centerline is valid? [True, True] Translation: X:760.34, Y:8.73, Z:5.23 [[ 9.98320309e-01 -5.57359870e-02 -1.58133237e-02 7.60343246e+02] [ 5.57394538e-02 9.98445324e-01 -2.21766047e-04 8.72887193e+00] [ 1.58010995e-02 -6.60032478e-04 9.99874937e-01 5.22772208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4792541539999 meters 0.023875507800105618 Centerline is valid? [True, True] Translation: X:760.37, Y:8.73, Z:5.23 [[ 9.98502729e-01 -5.22935551e-02 -1.60525198e-02 7.60374859e+02] [ 5.22966931e-02 9.98631566e-01 -2.24513339e-04 8.73381285e+00] [ 1.60422936e-02 -6.15316520e-04 9.99871125e-01 5.22769075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5092541539999 meters 0.01893411675846273 Centerline is valid? [True, True] Translation: X:760.41, Y:8.75, Z:5.23 [[ 9.98836800e-01 -4.56157375e-02 -1.56285760e-02 7.60405950e+02] [ 4.56179034e-02 9.98958938e-01 -2.18069613e-04 8.74651004e+00] [ 1.56222531e-02 -4.95126915e-04 9.99877843e-01 5.22988344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5392541539999 meters 0.01918799406947534 Centerline is valid? [True, True] Translation: X:760.44, Y:8.75, Z:5.23 [[ 9.99003421e-01 -4.15820411e-02 -1.62203296e-02 7.60437227e+02] [ 4.15838506e-02 9.99134992e-01 -2.25849484e-04 8.75064357e+00] [ 1.62156901e-02 -4.48879353e-04 9.99868416e-01 5.22946878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5692541539999 meters 0.018020103170629485 Centerline is valid? [True, True] Translation: X:760.47, Y:8.76, Z:5.23 [[ 9.99302172e-01 -3.38211793e-02 -1.58523464e-02 7.60466778e+02] [ 3.38219354e-02 9.99427850e-01 -2.20474938e-04 8.75889423e+00] [ 1.58507332e-02 -3.15835951e-04 9.99874319e-01 5.22998891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5992541539999 meters 0.015740085804164375 Centerline is valid? [True, True] Translation: X:760.50, Y:8.76, Z:5.23 [[ 9.99425845e-01 -3.03607791e-02 -1.50400824e-02 7.60497657e+02] [ 3.03610723e-02 9.99538975e-01 -2.08885924e-04 8.76307116e+00] [ 1.50394905e-02 -2.47867038e-04 9.99886870e-01 5.23160616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6292541539999 meters 0.017612810396968916 Centerline is valid? [True, True] Translation: X:760.53, Y:8.77, Z:5.23 [[ 9.99530425e-01 -2.63887674e-02 -1.55744173e-02 7.60529311e+02] [ 2.63886086e-02 9.99651737e-01 -2.15733975e-04 8.76766666e+00] [ 1.55746862e-02 -1.95354531e-04 9.99878688e-01 5.23080833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6592541539999 meters 0.015269239274084455 Centerline is valid? [True, True] Translation: X:760.56, Y:8.77, Z:5.23 [[ 9.99670924e-01 -2.10409634e-02 -1.46738404e-02 7.60558825e+02] [ 2.10402478e-02 9.99778609e-01 -2.03161514e-04 8.77310580e+00] [ 1.46748665e-02 -1.05646580e-04 9.99892313e-01 5.23152459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6892541539999 meters 0.015406517245457491 Centerline is valid? [True, True] Translation: X:760.59, Y:8.78, Z:5.23 [[ 9.99715062e-01 -1.89053862e-02 -1.45732926e-02 7.60588929e+02] [ 1.89044427e-02 9.99821275e-01 -2.02504109e-04 8.77577314e+00] [ 1.45745164e-02 -7.30535670e-05 9.99893783e-01 5.23192041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7192541539999 meters 0.016017475479993788 Centerline is valid? [True, True] Translation: X:760.62, Y:8.78, Z:5.23 [[ 9.99743601e-01 -1.74857956e-02 -1.43867415e-02 7.60618163e+02] [ 1.74847174e-02 9.99847110e-01 -2.00729094e-04 8.77787209e+00] [ 1.43880518e-02 -5.08704826e-05 9.99896485e-01 5.23207194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7492541539999 meters 0.01397243505278993 Centerline is valid? [True, True] Translation: X:760.65, Y:8.78, Z:5.23 [[ 9.99763520e-01 -1.71974965e-02 -1.33097417e-02 7.60646647e+02] [ 1.71965404e-02 9.99852111e-01 -1.86281353e-04 8.77973996e+00] [ 1.33109769e-02 -4.26442101e-05 9.99911404e-01 5.23337411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7792541539999 meters 0.01521710345077625 Centerline is valid? [True, True] Translation: X:760.68, Y:8.78, Z:5.23 [[ 9.99751689e-01 -1.75630684e-02 -1.37148854e-02 7.60676194e+02] [ 1.75620789e-02 9.99845756e-01 -1.92588634e-04 8.78014911e+00] [ 1.37161524e-02 -4.83210880e-05 9.99905928e-01 5.23299388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8092541539999 meters 0.014658999076200855 Centerline is valid? [True, True] Translation: X:760.70, Y:8.78, Z:5.23 [[ 9.99695613e-01 -2.07137381e-02 -1.34022978e-02 7.60704922e+02] [ 2.07130682e-02 9.99785444e-01 -1.88803044e-04 8.77836002e+00] [ 1.34033330e-02 -8.88571331e-05 9.99910167e-01 5.23320031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.839254154 meters 0.0141333691632982 Centerline is valid? [True, True] Translation: X:760.73, Y:8.78, Z:5.23 [[ 9.99647362e-01 -2.30548031e-02 -1.31768062e-02 7.60734795e+02] [ 2.30543525e-02 9.99734196e-01 -1.86111803e-04 8.77687138e+00] [ 1.31775945e-02 -1.17736563e-04 9.99913165e-01 5.23377079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8692541539999 meters 0.0163329567306903 Centerline is valid? [True, True] Translation: X:760.77, Y:8.78, Z:5.23 [[ 9.99598682e-01 -2.49730118e-02 -1.33724690e-02 7.60765155e+02] [ 2.49727176e-02 9.99688115e-01 -1.89001703e-04 8.77539997e+00] [ 1.33730182e-02 -1.45021039e-04 9.99910567e-01 5.23274869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8992541539999 meters 0.017041405322717435 Centerline is valid? [True, True] Translation: X:760.80, Y:8.77, Z:5.23 [[ 9.99531437e-01 -2.75336052e-02 -1.33718946e-02 7.60796419e+02] [ 2.75335433e-02 9.99620862e-01 -1.88758080e-04 8.77352881e+00] [ 1.33720220e-02 -1.79506003e-04 9.99910574e-01 5.23267871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9292541539999 meters 0.017607117388947487 Centerline is valid? [True, True] Translation: X:760.83, Y:8.77, Z:5.23 [[ 9.99338420e-01 -3.40136202e-02 -1.28762083e-02 7.60827208e+02] [ 3.40141050e-02 9.99421336e-01 -1.81409056e-04 8.76867548e+00] [ 1.28749276e-02 -2.56683661e-04 9.99917082e-01 5.23321733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.959254154 meters 0.01934119670801664 Centerline is valid? [True, True] Translation: X:760.86, Y:8.76, Z:5.23 [[ 9.99110935e-01 -4.02522650e-02 -1.25337328e-02 7.60857521e+02] [ 4.02532176e-02 9.99189495e-01 -1.76360422e-04 8.76328167e+00] [ 1.25306731e-02 -3.28319447e-04 9.99921434e-01 5.23372762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9892541539999 meters 0.018280713774362176 Centerline is valid? [True, True] Translation: X:760.89, Y:8.76, Z:5.24 [[ 9.98984902e-01 -4.34651072e-02 -1.18300433e-02 7.60889824e+02] [ 4.34661865e-02 9.99054885e-01 -1.65981939e-04 8.76271238e+00] [ 1.18260769e-02 -3.48393415e-04 9.99930009e-01 5.23552363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0192541539999 meters 0.019059597531193375 Centerline is valid? [True, True] Translation: X:760.92, Y:8.76, Z:5.24 [[ 9.98885783e-01 -4.56481484e-02 -1.19765859e-02 7.60922419e+02] [ 4.56494220e-02 9.98957508e-01 -1.67146107e-04 8.76207968e+00] [ 1.19717303e-02 -3.79764352e-04 9.99928264e-01 5.23503759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0492541539999 meters 0.020509018645814395 Centerline is valid? [True, True] Translation: X:760.95, Y:8.76, Z:5.23 [[ 9.98783580e-01 -4.77513139e-02 -1.22951803e-02 7.60954812e+02] [ 4.77528269e-02 9.98859168e-01 -1.70658732e-04 8.76021322e+00] [ 1.22893027e-02 -4.16678476e-04 9.99924397e-01 5.23454092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0792541539998 meters 0.021138095524133867 Centerline is valid? [True, True] Translation: X:760.98, Y:8.76, Z:5.24 [[ 9.98575973e-01 -5.19620417e-02 -1.20819237e-02 7.60984614e+02] [ 5.19638220e-02 9.98648954e-01 -1.66735265e-04 8.75616703e+00] [ 1.20742643e-02 -4.61325101e-04 9.99926997e-01 5.23549846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1092541539999 meters 0.022156745330889533 Centerline is valid? [True, True] Translation: X:761.02, Y:8.75, Z:5.24 [[ 9.98444086e-01 -5.43855262e-02 -1.23134708e-02 7.61016432e+02] [ 5.43875742e-02 9.98519886e-01 -1.68724181e-04 8.75415781e+00] [ 1.23044216e-02 -5.01238144e-04 9.99924172e-01 5.23540048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1392541539999 meters 0.02252230164618098 Centerline is valid? [True, True] Translation: X:761.05, Y:8.75, Z:5.24 [[ 9.98401895e-01 -5.51224240e-02 -1.24568998e-02 7.61048587e+02] [ 5.51245917e-02 9.98479469e-01 -1.69527229e-04 8.75358898e+00] [ 1.24473035e-02 -5.17425211e-04 9.99922395e-01 5.23575123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1692541539999 meters 0.023755324962903796 Centerline is valid? [True, True] Translation: X:761.08, Y:8.75, Z:5.24 [[ 9.98369216e-01 -5.57724552e-02 -1.21796013e-02 7.61079393e+02] [ 5.57745853e-02 9.98443373e-01 -1.64974726e-04 8.75208775e+00] [ 1.21698433e-02 -5.14606525e-04 9.99925812e-01 5.23581261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1992541539998 meters 0.0236398332701509 Centerline is valid? [True, True] Translation: X:761.11, Y:8.75, Z:5.24 [[ 9.98349692e-01 -5.61938357e-02 -1.18383380e-02 7.61112044e+02] [ 5.61958861e-02 9.98419750e-01 -1.59632530e-04 8.75254463e+00] [ 1.18286008e-02 -5.05896808e-04 9.99929912e-01 5.23556999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2292541539999 meters 0.023712430513846777 Centerline is valid? [True, True] Translation: X:761.14, Y:8.75, Z:5.24 [[ 9.98370194e-01 -5.58410059e-02 -1.17787097e-02 7.61144702e+02] [ 5.58430212e-02 9.98439549e-01 -1.57981983e-04 8.75286728e+00] [ 1.17691515e-02 -5.00034233e-04 9.99930616e-01 5.23558242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2592541539999 meters 0.022840482006425068 Centerline is valid? [True, True] Translation: X:761.18, Y:8.76, Z:5.24 [[ 9.98442284e-01 -5.46144190e-02 -1.14136632e-02 7.61177187e+02] [ 5.46162405e-02 9.98507408e-01 -1.52276289e-04 8.75514945e+00] [ 1.14049437e-02 -4.71332289e-04 9.99934850e-01 5.23550170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2892541539999 meters 0.021776009751368765 Centerline is valid? [True, True] Translation: X:761.21, Y:8.76, Z:5.24 [[ 9.98487293e-01 -5.37849654e-02 -1.14150088e-02 7.61209426e+02] [ 5.37867428e-02 9.98552434e-01 -1.51458743e-04 8.75757868e+00] [ 1.14066310e-02 -4.62746512e-04 9.99934835e-01 5.23577135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3192541539999 meters 0.02155282447928496 Centerline is valid? [True, True] Translation: X:761.24, Y:8.76, Z:5.24 [[ 9.98518066e-01 -5.31929334e-02 -1.14971454e-02 7.61241750e+02] [ 5.31947071e-02 9.98584148e-01 -1.51692580e-04 8.75926529e+00] [ 1.14889361e-02 -4.60119499e-04 9.99933894e-01 5.23551278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3492541539999 meters 0.021339232731754844 Centerline is valid? [True, True] Translation: X:761.27, Y:8.76, Z:5.24 [[ 9.98566745e-01 -5.23410470e-02 -1.11745072e-02 7.61274105e+02] [ 5.23426784e-02 9.98629172e-01 -1.46618761e-04 8.76133441e+00] [ 1.11668630e-02 -4.38495017e-04 9.99937552e-01 5.23586690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3792541539999 meters 0.02132961004635441 Centerline is valid? [True, True] Translation: X:761.31, Y:8.76, Z:5.24 [[ 9.98554666e-01 -5.25814616e-02 -1.11251502e-02 7.61306394e+02] [ 5.25831026e-02 9.98616541e-01 -1.45147758e-04 8.76208351e+00] [ 1.11173911e-02 -4.40056944e-04 9.99938103e-01 5.23635946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4092541539999 meters 0.021082109473986553 Centerline is valid? [True, True] Translation: X:761.34, Y:8.76, Z:5.24 [[ 9.98521796e-01 -5.30695854e-02 -1.17406340e-02 7.61338824e+02] [ 5.30714573e-02 9.98590706e-01 -1.52277077e-04 8.76427059e+00] [ 1.17321693e-02 -4.71040575e-04 9.99931065e-01 5.23641960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4392541539999 meters 0.02394368830739226 Centerline is valid? [True, True] Translation: X:761.37, Y:8.76, Z:5.24 [[ 9.98495198e-01 -5.33982471e-02 -1.24886582e-02 7.61370042e+02] [ 5.34004017e-02 9.98573168e-01 -1.61117748e-04 8.76064079e+00] [ 1.24794424e-02 -5.06024067e-04 9.99922001e-01 5.23559937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4692541539999 meters 0.02257000179030451 Centerline is valid? [True, True] Translation: X:761.40, Y:8.76, Z:5.24 [[ 9.98492301e-01 -5.32828705e-02 -1.31931766e-02 7.61402320e+02] [ 5.32852765e-02 9.98579316e-01 -1.69336953e-04 8.76449125e+00] [ 1.31834560e-02 -5.33920420e-04 9.99912952e-01 5.23512797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4992541539999 meters 0.022023565844119176 Centerline is valid? [True, True] Translation: X:761.43, Y:8.77, Z:5.24 [[ 9.98455741e-01 -5.36638742e-02 -1.43639348e-02 7.61434374e+02] [ 5.36667814e-02 9.98558883e-01 -1.83260004e-04 8.76658272e+00] [ 1.43530692e-02 -5.87889146e-04 9.99896817e-01 5.23545715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5292541539999 meters 0.024017673979339817 Centerline is valid? [True, True] Translation: X:761.47, Y:8.77, Z:5.23 [[ 9.98492913e-01 -5.27993230e-02 -1.49710863e-02 7.61465482e+02] [ 5.28024068e-02 9.98604962e-01 -1.89492571e-04 8.76567458e+00] [ 1.49602062e-02 -6.01302400e-04 9.99887909e-01 5.23497574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5592541539999 meters 0.024017673979339817 Centerline is valid? [True, True] Translation: X:761.50, Y:8.77, Z:5.24 [[ 9.98496611e-01 -5.27293463e-02 -1.49711040e-02 7.61497197e+02] [ 5.27324433e-02 9.98608659e-01 -1.88083623e-04 8.76600979e+00] [ 1.49601917e-02 -6.01662036e-04 9.99887909e-01 5.23519527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.589254154 meters 0.021907059402206868 Centerline is valid? [True, True] Translation: X:761.53, Y:8.77, Z:5.24 [[ 9.98544031e-01 -5.19837519e-02 -1.44051520e-02 7.61529246e+02] [ 5.19865563e-02 9.98647769e-01 -1.79960918e-04 8.77047290e+00] [ 1.43950279e-02 -5.69175345e-04 9.99896224e-01 5.23669145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6192541539999 meters 0.020797962334469865 Centerline is valid? [True, True] Translation: X:761.56, Y:8.77, Z:5.24 [[ 9.98610090e-01 -5.08663886e-02 -1.38021183e-02 7.61561015e+02] [ 5.08688703e-02 9.98705326e-01 -1.71432463e-04 8.77366844e+00] [ 1.37929692e-02 -5.30903979e-04 9.99904732e-01 5.23798559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6492541539999 meters 0.022300729003660768 Centerline is valid? [True, True] Translation: X:761.59, Y:8.77, Z:5.24 [[ 9.98684233e-01 -4.95244011e-02 -1.33092855e-02 7.61592640e+02] [ 4.95266025e-02 9.98772791e-01 -1.64345224e-04 8.77241665e+00] [ 1.33010913e-02 -4.95034708e-04 9.99911414e-01 5.23845480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6792541539999 meters 0.019451413979631654 Centerline is valid? [True, True] Translation: X:761.62, Y:8.78, Z:5.24 [[ 9.98875767e-01 -4.60496077e-02 -1.12532671e-02 7.61623958e+02] [ 4.60509678e-02 9.98939082e-01 -1.38365117e-04 8.77922749e+00] [ 1.12477000e-02 -3.80014279e-04 9.99936670e-01 5.24083341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.709254154 meters 0.021412611260854492 Centerline is valid? [True, True] Translation: X:761.66, Y:8.78, Z:5.24 [[ 9.98964368e-01 -4.42032842e-02 -1.07824808e-02 7.61655232e+02] [ 4.42044336e-02 9.99022498e-01 -1.31823907e-04 8.77705715e+00] [ 1.07777680e-02 -3.44946072e-04 9.99941859e-01 5.24162415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7392541539999 meters 0.018713471534184928 Centerline is valid? [True, True] Translation: X:761.69, Y:8.78, Z:5.24 [[ 9.99102346e-01 -4.11920460e-02 -9.88522290e-03 7.61686707e+02] [ 4.11928740e-02 9.99151206e-01 -1.19912488e-04 8.78347937e+00] [ 9.88177182e-03 -2.87395893e-04 9.99951133e-01 5.24303139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7692541539999 meters 0.018301349345533506 Centerline is valid? [True, True] Translation: X:761.72, Y:8.78, Z:5.24 [[ 9.99125154e-01 -4.06062708e-02 -1.00028944e-02 7.61718613e+02] [ 4.06070941e-02 9.99175184e-01 -1.20858722e-04 8.78394219e+00] [ 9.99955149e-03 -2.85435486e-04 9.99949962e-01 5.24407185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7992541539999 meters 0.0190481241348264 Centerline is valid? [True, True] Translation: X:761.75, Y:8.78, Z:5.24 [[ 9.99144439e-01 -4.01547767e-02 -9.89864138e-03 7.61749985e+02] [ 4.01555674e-02 9.99193433e-01 -1.18938944e-04 8.78350417e+00] [ 9.89543342e-03 -2.78648377e-04 9.99951000e-01 5.24338074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8292541539998 meters 0.020170140698565552 Centerline is valid? [True, True] Translation: X:761.78, Y:8.78, Z:5.24 [[ 9.99123420e-01 -4.05993297e-02 -1.02022645e-02 7.61781872e+02] [ 4.06001991e-02 9.99175465e-01 -1.21965895e-04 8.78183081e+00] [ 1.01988041e-02 -2.92354989e-04 9.99947948e-01 5.24197437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8592541539999 meters 0.01942979648931586 Centerline is valid? [True, True] Translation: X:761.81, Y:8.78, Z:5.24 [[ 9.99084817e-01 -4.15201507e-02 -1.02764119e-02 7.61814304e+02] [ 4.15210891e-02 9.99137620e-01 -1.22113964e-04 8.78089949e+00] [ 1.02726199e-02 -3.04685607e-04 9.99947189e-01 5.24320540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8892541539999 meters 0.02043608622887273 Centerline is valid? [True, True] Translation: X:761.85, Y:8.78, Z:5.24 [[ 9.99050725e-01 -4.22229964e-02 -1.07176153e-02 7.61846687e+02] [ 4.22240659e-02 9.99108158e-01 -1.26572565e-04 8.77959909e+00] [ 1.07134012e-02 -3.26088884e-04 9.99942557e-01 5.24191108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9192541539999 meters 0.020541914706671438 Centerline is valid? [True, True] Translation: X:761.88, Y:8.78, Z:5.24 [[ 9.98934672e-01 -4.46695433e-02 -1.15824677e-02 7.61878349e+02] [ 4.46709656e-02 9.99001745e-01 -1.36007509e-04 8.77758205e+00] [ 1.15769808e-02 -3.81537399e-04 9.99932912e-01 5.24166591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9492541539998 meters 0.022010427190595806 Centerline is valid? [True, True] Translation: X:761.91, Y:8.77, Z:5.24 [[ 9.98852419e-01 -4.61303019e-02 -1.28778923e-02 7.61909407e+02] [ 4.61321908e-02 9.98935332e-01 -1.50491242e-04 8.77451437e+00] [ 1.28711239e-02 -4.43766845e-04 9.99917065e-01 5.23988302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9792541539999 meters 0.02207459878407605 Centerline is valid? [True, True] Translation: X:761.94, Y:8.77, Z:5.24 [[ 9.98816491e-01 -4.67082258e-02 -1.35631612e-02 7.61941910e+02] [ 4.67103860e-02 9.98908462e-01 -1.57646621e-04 8.77391960e+00] [ 1.35557199e-02 -4.76080448e-04 9.99908004e-01 5.23997915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0092541539999 meters 0.022142489432872184 Centerline is valid? [True, True] Translation: X:761.97, Y:8.77, Z:5.24 [[ 9.98827498e-01 -4.64756996e-02 -1.35513296e-02 7.61974412e+02] [ 4.64778475e-02 9.98919309e-01 -1.56561726e-04 8.77368516e+00] [ 1.35439611e-02 -4.73458474e-04 9.99908164e-01 5.23997180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0392541539999 meters 0.02147741635667671 Centerline is valid? [True, True] Translation: X:762.01, Y:8.77, Z:5.24 [[ 9.98853706e-01 -4.58957983e-02 -1.35959457e-02 7.62006450e+02] [ 4.58979197e-02 9.98946123e-01 -1.56120988e-04 8.77494289e+00] [ 1.35887825e-02 -4.68083595e-04 9.99907559e-01 5.24056392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0692541539999 meters 0.02118445478404891 Centerline is valid? [True, True] Translation: X:762.04, Y:8.78, Z:5.24 [[ 9.98889446e-01 -4.50852895e-02 -1.36818174e-02 7.62039147e+02] [ 4.50873781e-02 9.98983035e-01 -1.55916248e-04 8.77586680e+00] [ 1.36749330e-02 -4.61134179e-04 9.99906387e-01 5.24105108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0992541539999 meters 0.022632867220772384 Centerline is valid? [True, True] Translation: X:762.07, Y:8.77, Z:5.24 [[ 9.98927941e-01 -4.42773059e-02 -1.35088589e-02 7.62070492e+02] [ 4.42792888e-02 9.99019180e-01 -1.52421147e-04 8.77398732e+00] [ 1.35023579e-02 -4.45904921e-04 9.99908740e-01 5.24133771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1292541539999 meters 0.0225740682452816 Centerline is valid? [True, True] Translation: X:762.10, Y:8.77, Z:5.24 [[ 9.98957621e-01 -4.37467433e-02 -1.30343524e-02 7.62102674e+02] [ 4.37485604e-02 9.99042563e-01 -1.45824998e-04 8.77476904e+00] [ 1.30282522e-02 -4.24561161e-04 9.99915039e-01 5.24240378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1592541539999 meters 0.022299640136381502 Centerline is valid? [True, True] Translation: X:762.13, Y:8.78, Z:5.24 [[ 9.99035901e-01 -4.20619821e-02 -1.25721114e-02 7.62133733e+02] [ 4.20635535e-02 9.99114927e-01 -1.39521075e-04 8.77515990e+00] [ 1.25668527e-02 -3.89441116e-04 9.99920958e-01 5.24320215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1892541539999 meters 0.019333702506803694 Centerline is valid? [True, True] Translation: X:762.17, Y:8.78, Z:5.24 [[ 9.99061426e-01 -4.14992808e-02 -1.24127848e-02 7.62165592e+02] [ 4.15007845e-02 9.99138462e-01 -1.36528236e-04 8.78051337e+00] [ 1.24077565e-02 -3.78740211e-04 9.99922949e-01 5.24455534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2192541539999 meters 0.0224324525413583 Centerline is valid? [True, True] Translation: X:762.20, Y:8.78, Z:5.24 [[ 9.99117829e-01 -4.03133288e-02 -1.17643316e-02 7.62197400e+02] [ 4.03146070e-02 9.99187027e-01 -1.28569174e-04 8.77584535e+00] [ 1.17599506e-02 -3.45818652e-04 9.99930790e-01 5.24358075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2492541539999 meters 0.018210239924635465 Centerline is valid? [True, True] Translation: X:762.23, Y:8.78, Z:5.25 [[ 9.99117570e-01 -4.02300285e-02 -1.20675360e-02 7.62229375e+02] [ 4.02313783e-02 9.99190382e-01 -1.30983722e-04 8.78324680e+00] [ 1.20630354e-02 -3.54625469e-04 9.99927176e-01 5.24510532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2792541539999 meters 0.019404263570470485 Centerline is valid? [True, True] Translation: X:762.26, Y:8.78, Z:5.24 [[ 9.99106201e-01 -4.01957323e-02 -1.30805732e-02 7.62260731e+02] [ 4.01973272e-02 9.99191751e-01 -1.41071183e-04 8.78099691e+00] [ 1.30756713e-02 -3.84858987e-04 9.99914436e-01 5.24435006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3092541539999 meters 0.018807876804894298 Centerline is valid? [True, True] Translation: X:762.29, Y:8.78, Z:5.24 [[ 9.99111899e-01 -3.99409424e-02 -1.34214376e-02 7.62293236e+02] [ 3.99426103e-02 9.99201965e-01 -1.43869550e-04 8.78253140e+00] [ 1.34164731e-02 -3.92345472e-04 9.99909918e-01 5.24456450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.339254154 meters 0.018783402702096497 Centerline is valid? [True, True] Translation: X:762.32, Y:8.78, Z:5.24 [[ 9.99103137e-01 -4.01291949e-02 -1.35118101e-02 7.62324055e+02] [ 4.01309144e-02 9.99194420e-01 -1.43959912e-04 8.78165438e+00] [ 1.35067023e-02 -3.98410496e-04 9.99908701e-01 5.24460900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3692541539999 meters 0.019259684070372183 Centerline is valid? [True, True] Translation: X:762.35, Y:8.78, Z:5.24 [[ 9.99100521e-01 -4.01739007e-02 -1.35722638e-02 7.62354968e+02] [ 4.01756559e-02 9.99192622e-01 -1.43418445e-04 8.78085139e+00] [ 1.35670675e-02 -4.01985157e-04 9.99907882e-01 5.24481445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3992541539999 meters 0.01921348391803777 Centerline is valid? [True, True] Translation: X:762.39, Y:8.78, Z:5.24 [[ 9.99105467e-01 -4.00232751e-02 -1.36529624e-02 7.62386994e+02] [ 4.00250553e-02 9.99198666e-01 -1.42941457e-04 8.78111077e+00] [ 1.36477428e-02 -4.03646985e-04 9.99906784e-01 5.24471612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4292541539999 meters 0.018790154100950578 Centerline is valid? [True, True] Translation: X:762.42, Y:8.78, Z:5.24 [[ 9.99117646e-01 -3.94705455e-02 -1.43529231e-02 7.62419507e+02] [ 3.94724713e-02 9.99220647e-01 -1.49196897e-04 8.78221330e+00] [ 1.43476260e-02 -4.17480092e-04 9.99896980e-01 5.24483228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.459254154 meters 0.01824986161198203 Centerline is valid? [True, True] Translation: X:762.45, Y:8.78, Z:5.25 [[ 9.99133873e-01 -3.88568297e-02 -1.48879220e-02 7.62451650e+02] [ 3.88588504e-02 9.99244698e-01 -1.53641340e-04 8.78351696e+00] [ 1.48826471e-02 -4.25019266e-04 9.99889157e-01 5.24523329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4892541539999 meters 0.01815725819000688 Centerline is valid? [True, True] Translation: X:762.48, Y:8.78, Z:5.24 [[ 9.99187789e-01 -3.74833588e-02 -1.47905450e-02 7.62484073e+02] [ 3.74852189e-02 9.99297171e-01 -1.51548007e-04 8.78477780e+00] [ 1.47858303e-02 -4.03001897e-04 9.99890602e-01 5.24471280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5192541539999 meters 0.018181543248115793 Centerline is valid? [True, True] Translation: X:762.51, Y:8.79, Z:5.24 [[ 9.99245329e-01 -3.60995326e-02 -1.43386386e-02 7.62514950e+02] [ 3.61011512e-02 9.99348130e-01 -1.46017890e-04 8.78541153e+00] [ 1.43345629e-02 -3.71733667e-04 9.99897186e-01 5.24488199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5492541539999 meters 0.018362474595089568 Centerline is valid? [True, True] Translation: X:762.55, Y:8.79, Z:5.24 [[ 9.99315088e-01 -3.41339343e-02 -1.42908880e-02 7.62545905e+02] [ 3.41353505e-02 9.99417209e-01 -1.44888444e-04 8.78661708e+00] [ 1.42875050e-02 -3.43035261e-04 9.99897870e-01 5.24404766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5792541539998 meters 0.01715451762756216 Centerline is valid? [True, True] Translation: X:762.58, Y:8.79, Z:5.25 [[ 9.99438102e-01 -3.06497770e-02 -1.35672911e-02 7.62576602e+02] [ 3.06507389e-02 9.99530146e-01 -1.37077012e-04 8.78881559e+00] [ 1.35651178e-02 -2.78847509e-04 9.99907951e-01 5.24581642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6092541539999 meters 0.016800885030090928 Centerline is valid? [True, True] Translation: X:762.61, Y:8.79, Z:5.25 [[ 9.99501053e-01 -2.86676249e-02 -1.32594358e-02 7.62608049e+02] [ 2.86683755e-02 9.99588969e-01 -1.33499411e-04 8.78971193e+00] [ 1.32578128e-02 -2.46693682e-04 9.99912081e-01 5.24667178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6392541539999 meters 0.01643557898261789 Centerline is valid? [True, True] Translation: X:762.64, Y:8.79, Z:5.25 [[ 9.99579295e-01 -2.61718250e-02 -1.25007819e-02 7.62639740e+02] [ 2.61723023e-02 9.99657439e-01 -1.25433773e-04 8.79165091e+00] [ 1.24997824e-02 -2.01793241e-04 9.99921854e-01 5.24828934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6692541539999 meters 0.016187709490154068 Centerline is valid? [True, True] Translation: X:762.67, Y:8.79, Z:5.25 [[ 9.99615328e-01 -2.48669858e-02 -1.22812809e-02 7.62671618e+02] [ 2.48673545e-02 9.99690752e-01 -1.22710756e-04 8.79189543e+00] [ 1.22805344e-02 -1.82739413e-04 9.99924575e-01 5.24886254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6992541539998 meters 0.01564290598185079 Centerline is valid? [True, True] Translation: X:762.70, Y:8.79, Z:5.25 [[ 9.99635196e-01 -2.41197963e-02 -1.21536530e-02 7.62703351e+02] [ 2.41201088e-02 9.99709061e-01 -1.20886631e-04 8.79287311e+00] [ 1.21530328e-02 -1.72304901e-04 9.99926134e-01 5.24973079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7292541539999 meters 0.01589193036240778 Centerline is valid? [True, True] Translation: X:762.73, Y:8.79, Z:5.25 [[ 9.99641889e-01 -2.37686547e-02 -1.22940597e-02 7.62733703e+02] [ 2.37689552e-02 9.99717471e-01 -1.21695424e-04 8.79215208e+00] [ 1.22934788e-02 -1.70565110e-04 9.99924418e-01 5.24928926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7592541539999 meters 0.01572167324421978 Centerline is valid? [True, True] Translation: X:762.77, Y:8.79, Z:5.25 [[ 9.99646641e-01 -2.35788751e-02 -1.22731000e-02 7.62765483e+02] [ 2.35791679e-02 9.99721965e-01 -1.20863805e-04 8.79043146e+00] [ 1.22725375e-02 -1.68568388e-04 9.99924675e-01 5.24962757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7892541539999 meters 0.016145531547832624 Centerline is valid? [True, True] Translation: X:762.80, Y:8.79, Z:5.25 [[ 9.99614405e-01 -2.46695144e-02 -1.27458470e-02 7.62795476e+02] [ 2.46699261e-02 9.99695643e-01 -1.24943772e-04 8.78724641e+00] [ 1.27450500e-02 -1.89543510e-04 9.99918761e-01 5.24933931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8192541539999 meters 0.01599225062218961 Centerline is valid? [True, True] Translation: X:762.83, Y:8.79, Z:5.25 [[ 9.99588232e-01 -2.55206053e-02 -1.31173585e-02 7.62826867e+02] [ 2.55211227e-02 9.99674275e-01 -1.27975177e-04 8.78705151e+00] [ 1.31163518e-02 -2.06847233e-04 9.99913956e-01 5.24973996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8492541539999 meters 0.016458704606876665 Centerline is valid? [True, True] Translation: X:762.86, Y:8.79, Z:5.25 [[ 9.99554879e-01 -2.66629325e-02 -1.33840379e-02 7.62857097e+02] [ 2.66635785e-02 9.99644455e-01 -1.30203592e-04 8.78560344e+00] [ 1.33827509e-02 -2.26720709e-04 9.99910421e-01 5.24951437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8792541539999 meters 0.01651866022958218 Centerline is valid? [True, True] Translation: X:762.89, Y:8.78, Z:5.25 [[ 9.99463838e-01 -2.95716714e-02 -1.40553457e-02 7.62888797e+02] [ 2.95726769e-02 9.99562623e-01 -1.36338417e-04 8.78367986e+00] [ 1.40532300e-02 -2.79388880e-04 9.99901209e-01 5.24996524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9092541539999 meters 0.0174479870618415 Centerline is valid? [True, True] Translation: X:762.92, Y:8.78, Z:5.25 [[ 9.99412517e-01 -3.12374359e-02 -1.41011992e-02 7.62919162e+02] [ 3.12386192e-02 9.99511946e-01 -1.36392997e-04 8.78063604e+00] [ 1.40985776e-02 -3.04189124e-04 9.99900564e-01 5.24956036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9392541539999 meters 0.018734563660720054 Centerline is valid? [True, True] Translation: X:762.95, Y:8.78, Z:5.25 [[ 9.99330151e-01 -3.38589005e-02 -1.38861036e-02 7.62949881e+02] [ 3.38603147e-02 9.99426566e-01 -1.33321525e-04 8.77666118e+00] [ 1.38826550e-02 -3.36955618e-04 9.99903575e-01 5.24965960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9692541539999 meters 0.01978741215278184 Centerline is valid? [True, True] Translation: X:762.98, Y:8.78, Z:5.25 [[ 9.99298641e-01 -3.47587580e-02 -1.39303583e-02 7.62980603e+02] [ 3.47602840e-02 9.99395670e-01 -1.32637427e-04 8.77527045e+00] [ 1.39265500e-02 -3.51678809e-04 9.99902959e-01 5.24891725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9992541539999 meters 0.02033117364948618 Centerline is valid? [True, True] Translation: X:763.01, Y:8.77, Z:5.25 [[ 9.99283022e-01 -3.51720383e-02 -1.40132283e-02 7.63012930e+02] [ 3.51736334e-02 9.99381207e-01 -1.32692178e-04 8.77451713e+00] [ 1.40092241e-02 -3.60299114e-04 9.99901801e-01 5.24885504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0292541539999 meters 0.019555629737404785 Centerline is valid? [True, True] Translation: X:763.04, Y:8.77, Z:5.25 [[ 9.99273544e-01 -3.56532588e-02 -1.34621264e-02 7.63044735e+02] [ 3.56547868e-02 9.99364158e-01 -1.26559070e-04 8.77396299e+00] [ 1.34580789e-02 -3.53522118e-04 9.99909373e-01 5.25115883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0592541539999 meters 0.021042636048171658 Centerline is valid? [True, True] Translation: X:763.08, Y:8.77, Z:5.25 [[ 9.99287199e-01 -3.50273533e-02 -1.40776058e-02 7.63076500e+02] [ 3.50289762e-02 9.99386288e-01 -1.31347714e-04 8.77367844e+00] [ 1.40735670e-02 -3.61870030e-04 9.99900897e-01 5.24894259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.089254154 meters 0.018055016635434823 Centerline is valid? [True, True] Translation: X:763.11, Y:8.78, Z:5.25 [[ 9.99348042e-01 -3.38326377e-02 -1.26032939e-02 7.63107819e+02] [ 3.38338516e-02 9.99427465e-01 -1.16956103e-04 8.77604895e+00] [ 1.26000350e-02 -3.09538122e-04 9.99920568e-01 5.25213398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1192541539999 meters 0.01927006540984618 Centerline is valid? [True, True] Translation: X:763.14, Y:8.77, Z:5.25 [[ 9.99396170e-01 -3.24019529e-02 -1.25462671e-02 7.63137751e+02] [ 3.24030475e-02 9.99474877e-01 -1.16073987e-04 8.77282920e+00] [ 1.25434398e-02 -2.90533392e-04 9.99921286e-01 5.25194862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1492541539999 meters 0.018005225886441607 Centerline is valid? [True, True] Translation: X:763.17, Y:8.78, Z:5.25 [[ 9.99449926e-01 -3.07303804e-02 -1.24695181e-02 7.63169226e+02] [ 3.07313356e-02 9.99527674e-01 -1.15045353e-04 8.77564390e+00] [ 1.24671638e-02 -2.68222875e-04 9.99922246e-01 5.25241017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1792541539999 meters 0.016580716513010022 Centerline is valid? [True, True] Translation: X:763.20, Y:8.78, Z:5.25 [[ 9.99559652e-01 -2.67485568e-02 -1.28459127e-02 7.63200359e+02] [ 2.67492477e-02 9.99642168e-01 -1.18056229e-04 8.77871374e+00] [ 1.28444738e-02 -2.25614257e-04 9.99917481e-01 5.25371412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.209254154 meters 0.01605621552579445 Centerline is valid? [True, True] Translation: X:763.23, Y:8.78, Z:5.25 [[ 9.99615517e-01 -2.44916024e-02 -1.29992059e-02 7.63232111e+02] [ 2.44921253e-02 9.99700016e-01 -1.18991143e-04 8.78060160e+00] [ 1.29982207e-02 -1.99432788e-04 9.99915500e-01 5.25379994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2392541539999 meters 0.015456514244724162 Centerline is valid? [True, True] Translation: X:763.26, Y:8.78, Z:5.25 [[ 9.99702765e-01 -2.03396491e-02 -1.34417693e-02 7.63261425e+02] [ 2.03398350e-02 9.99793117e-01 -1.22897634e-04 8.78122879e+00] [ 1.34414882e-02 -1.50542265e-04 9.99909648e-01 5.25388073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2692541539999 meters 0.016645023481607655 Centerline is valid? [True, True] Translation: X:763.29, Y:8.78, Z:5.25 [[ 9.99739172e-01 -1.77940120e-02 -1.43164349e-02 7.63290970e+02] [ 1.77939561e-02 9.99841666e-01 -1.31297731e-04 8.78163701e+00] [ 1.43165044e-02 -1.23482529e-04 9.99897506e-01 5.25186557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2992541539999 meters 0.015119462758981978 Centerline is valid? [True, True] Translation: X:763.32, Y:8.78, Z:5.25 [[ 9.99793836e-01 -1.49920613e-02 -1.36939346e-02 7.63320020e+02] [ 1.49917203e-02 9.99887610e-01 -1.27560508e-04 8.78167193e+00] [ 1.36943079e-02 -7.77614272e-05 9.99906226e-01 5.25324047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3292541539998 meters 0.015140512385761029 Centerline is valid? [True, True] Translation: X:763.35, Y:8.78, Z:5.25 [[ 9.99804020e-01 -1.39282682e-02 -1.40685576e-02 7.63348008e+02] [ 1.39277637e-02 9.99902995e-01 -1.33843003e-04 8.78150396e+00] [ 1.40690571e-02 -6.21267732e-05 9.99901024e-01 5.25289378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3592541539999 meters 0.017595386700675834 Centerline is valid? [True, True] Translation: X:763.38, Y:8.78, Z:5.25 [[ 9.99791464e-01 -1.23739937e-02 -1.62453623e-02 7.63376604e+02] [ 1.23730603e-02 9.99923438e-01 -1.57969031e-04 8.78074526e+00] [ 1.62460732e-02 -4.30687573e-05 9.99868023e-01 5.24991266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3892541539999 meters 0.015256885306690749 Centerline is valid? [True, True] Translation: X:763.40, Y:8.78, Z:5.25 [[ 9.99789153e-01 -1.33603077e-02 -1.55933125e-02 7.63404766e+02] [ 1.33595032e-02 9.99910746e-01 -1.55762207e-04 8.78001585e+00] [ 1.55940017e-02 -5.25895433e-05 9.99878405e-01 5.25165850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4192541539999 meters 0.014808869667954314 Centerline is valid? [True, True] Translation: X:763.43, Y:8.78, Z:5.25 [[ 9.99769125e-01 -1.45522691e-02 -1.58091355e-02 7.63433067e+02] [ 1.45515194e-02 9.99894108e-01 -1.62457179e-04 8.77852019e+00] [ 1.58098255e-02 -6.76272700e-05 9.99875015e-01 5.25186837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4492541539998 meters 0.014808869667954314 Centerline is valid? [True, True] Translation: X:763.46, Y:8.78, Z:5.25 [[ 9.99764929e-01 -1.48377633e-02 -1.58090882e-02 7.63460469e+02] [ 1.48369780e-02 9.99889912e-01 -1.66970355e-04 8.77888211e+00] [ 1.58098253e-02 -6.76279883e-05 9.99875015e-01 5.25205882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4792541539999 meters 0.01630404250223084 Centerline is valid? [True, True] Translation: X:763.49, Y:8.78, Z:5.25 [[ 9.99723739e-01 -1.64066476e-02 -1.68305662e-02 7.63489425e+02] [ 1.64059028e-02 9.99865397e-01 -1.82335277e-04 8.77693347e+00] [ 1.68312922e-02 -9.38357274e-05 9.99858339e-01 5.25039495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5092541539999 meters 0.01528615447427082 Centerline is valid? [True, True] Translation: X:763.52, Y:8.77, Z:5.25 [[ 9.99629313e-01 -2.18614589e-02 -1.62269410e-02 7.63517518e+02] [ 2.18614446e-02 9.99760994e-01 -1.78282414e-04 8.77122311e+00] [ 1.62269602e-02 -1.76528047e-04 9.99868319e-01 5.25186264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5392541539999 meters 0.015694097775752473 Centerline is valid? [True, True] Translation: X:763.55, Y:8.77, Z:5.25 [[ 9.99557425e-01 -2.50385817e-02 -1.60631392e-02 7.63545873e+02] [ 2.50389315e-02 9.99686461e-01 -1.79370074e-04 8.76890595e+00] [ 1.60625939e-02 -2.22913153e-04 9.99870963e-01 5.25251728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5692541539999 meters 0.016330167450385378 Centerline is valid? [True, True] Translation: X:763.58, Y:8.77, Z:5.25 [[ 9.99474614e-01 -2.83760806e-02 -1.56618407e-02 7.63575018e+02] [ 2.83767861e-02 9.99597282e-01 -1.77224844e-04 8.76622606e+00] [ 1.56605624e-02 -2.67300971e-04 9.99877330e-01 5.25326387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5992541539999 meters 0.018120900861850274 Centerline is valid? [True, True] Translation: X:763.60, Y:8.76, Z:5.25 [[ 9.99278149e-01 -3.52810397e-02 -1.40864936e-02 7.63604999e+02] [ 3.52822876e-02 9.99377373e-01 -1.59989626e-04 8.76034160e+00] [ 1.40833676e-02 -3.37129581e-04 9.99900768e-01 5.25470514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6292541539999 meters 0.019532524719300354 Centerline is valid? [True, True] Translation: X:763.64, Y:8.76, Z:5.26 [[ 9.99160891e-01 -3.88721524e-02 -1.29022845e-02 7.63635661e+02] [ 3.88734984e-02 9.99244129e-01 -1.46547302e-04 8.75569841e+00] [ 1.28982286e-02 -3.55132601e-04 9.99916751e-01 5.25558722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6592541539999 meters 0.023368345934361302 Centerline is valid? [True, True] Translation: X:763.67, Y:8.75, Z:5.25 [[ 9.98873745e-01 -4.57311681e-02 -1.26452226e-02 7.63666932e+02] [ 4.57330127e-02 9.98953688e-01 -1.43405857e-04 8.74871603e+00] [ 1.26385499e-02 -4.35059782e-04 9.99920036e-01 5.25455275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6892541539999 meters 0.022666452732842592 Centerline is valid? [True, True] Translation: X:763.70, Y:8.75, Z:5.26 [[ 9.98694025e-01 -4.99409501e-02 -1.07770945e-02 7.63697633e+02] [ 4.99425376e-02 9.98752085e-01 -1.21937933e-04 8.74636024e+00] [ 1.07697353e-02 -4.16456762e-04 9.99941918e-01 5.25740300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7192541539999 meters 0.024156170502048845 Centerline is valid? [True, True] Translation: X:763.73, Y:8.74, Z:5.26 [[ 9.98501650e-01 -5.37725980e-02 -1.01470882e-02 7.63728897e+02] [ 5.37742070e-02 9.98553114e-01 -1.14392707e-04 8.74310330e+00] [ 1.01385577e-02 -4.31430316e-04 9.99948510e-01 5.25777262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7492541539999 meters 0.02939269457873505 Centerline is valid? [True, True] Translation: X:763.76, Y:8.73, Z:5.26 [[ 9.98068278e-01 -6.12520109e-02 -1.03876940e-02 7.63759384e+02] [ 6.12541053e-02 9.98122197e-01 -1.16710783e-04 8.73417709e+00] [ 1.03753368e-02 -5.19803573e-04 9.99946040e-01 5.25752436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7792541539999 meters 0.029129803626912792 Centerline is valid? [True, True] Translation: X:763.79, Y:8.73, Z:5.26 [[ 9.97620765e-01 -6.80278636e-02 -1.11811941e-02 7.63790728e+02] [ 6.80307191e-02 9.97683219e-01 -1.25206861e-04 8.73354614e+00] [ 1.11638073e-02 -6.35755711e-04 9.99937481e-01 5.25688599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8092541539999 meters 0.029538284315156982 Centerline is valid? [True, True] Translation: X:763.82, Y:8.73, Z:5.26 [[ 9.97409663e-01 -7.09198510e-02 -1.20141066e-02 7.63821783e+02] [ 7.09233604e-02 9.97481759e-01 -1.34236142e-04 8.73272922e+00] [ 1.19933722e-02 -7.18192386e-04 9.99927819e-01 5.25671582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.839254154 meters 0.0319093213621686 Centerline is valid? [True, True] Translation: X:763.85, Y:8.73, Z:5.26 [[ 9.97216980e-01 -7.34274243e-02 -1.29115201e-02 7.63851974e+02] [ 7.34316952e-02 9.97300238e-01 -1.43619130e-04 8.72945155e+00] [ 1.28872076e-02 -8.04895371e-04 9.99916633e-01 5.25579839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8692541539999 meters 0.038138090520724637 Centerline is valid? [True, True] Translation: X:763.88, Y:8.72, Z:5.26 [[ 9.96886732e-01 -7.76254149e-02 -1.38252869e-02 7.63881540e+02] [ 7.76307210e-02 9.96982170e-01 -1.53256441e-04 8.72100571e+00] [ 1.37954611e-02 -9.20487676e-04 9.99904414e-01 5.25518985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8992541539999 meters 0.03334256696031914 Centerline is valid? [True, True] Translation: X:763.91, Y:8.73, Z:5.26 [[ 9.96762066e-01 -7.90918892e-02 -1.44864485e-02 7.63913249e+02] [ 7.90978737e-02 9.96866842e-01 -1.60275550e-04 8.72812225e+00] [ 1.44537367e-02 -9.86090688e-04 9.99895053e-01 5.25600648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9292541539999 meters 0.032962903999563906 Centerline is valid? [True, True] Translation: X:763.95, Y:8.73, Z:5.26 [[ 9.96657437e-01 -8.01554350e-02 -1.57816092e-02 7.63945646e+02] [ 8.01626872e-02 9.96781778e-01 -1.73531227e-04 8.73012550e+00] [ 1.57447300e-02 -1.09214502e-03 9.99875448e-01 5.25589885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.959254154 meters 0.03416714975764843 Centerline is valid? [True, True] Translation: X:763.98, Y:8.73, Z:5.26 [[ 9.96675128e-01 -7.98074304e-02 -1.64153532e-02 7.63976862e+02] [ 7.98152473e-02 9.96809658e-01 -1.79441288e-04 8.72951548e+00] [ 1.63773034e-02 -1.13135081e-03 9.99865243e-01 5.25535734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9892541539999 meters 0.03617360156634791 Centerline is valid? [True, True] Translation: X:764.01, Y:8.73, Z:5.25 [[ 9.96741600e-01 -7.88098619e-02 -1.71810618e-02 7.64007761e+02] [ 7.88182942e-02 9.96888982e-01 -1.86852474e-04 8.72821782e+00] [ 1.71423370e-02 -1.16793835e-03 9.99852377e-01 5.25494392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0192541539999 meters 0.033975012996760215 Centerline is valid? [True, True] Translation: X:764.04, Y:8.73, Z:5.26 [[ 9.96884498e-01 -7.68470192e-02 -1.77717029e-02 7.64038823e+02] [ 7.68557447e-02 9.97042204e-01 -1.92492806e-04 8.73280213e+00] [ 1.77339303e-02 -1.17396437e-03 9.99842052e-01 5.25548292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0492541539999 meters 0.033244852301698574 Centerline is valid? [True, True] Translation: X:764.07, Y:8.74, Z:5.26 [[ 9.97075146e-01 -7.41504536e-02 -1.85165715e-02 7.64069416e+02] [ 7.41594678e-02 9.97246375e-01 -2.00299343e-04 8.73614549e+00] [ 1.84804361e-02 -1.17346559e-03 9.99828534e-01 5.25575510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0792541539998 meters 0.03111552211652919 Centerline is valid? [True, True] Translation: X:764.10, Y:8.74, Z:5.26 [[ 9.97556246e-01 -6.71024213e-02 -1.94628274e-02 7.64098787e+02] [ 6.71110388e-02 9.97745491e-01 -2.10778718e-04 8.74420626e+00] [ 1.94330921e-02 -1.09590694e-03 9.99810559e-01 5.25672521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1092541539999 meters 0.029497000837689604 Centerline is valid? [True, True] Translation: X:764.13, Y:8.75, Z:5.26 [[ 9.97827117e-01 -6.28492837e-02 -1.97740231e-02 7.64130047e+02] [ 6.28573480e-02 9.98022499e-01 -2.14059826e-04 8.74962458e+00] [ 1.97483735e-02 -1.02934796e-03 9.99804452e-01 5.25720130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1392541539999 meters 0.02263078479708379 Centerline is valid? [True, True] Translation: X:764.16, Y:8.77, Z:5.26 [[ 9.98400688e-01 -5.29569240e-02 -1.97896581e-02 7.64160319e+02] [ 5.29630668e-02 9.98596449e-01 -2.13947818e-04 8.76547862e+00] [ 1.97732124e-02 -8.34515336e-04 9.99804143e-01 5.26056084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1692541539999 meters 0.021333434382791606 Centerline is valid? [True, True] Translation: X:764.19, Y:8.77, Z:5.26 [[ 9.98670072e-01 -4.77928722e-02 -1.93372482e-02 7.64189849e+02] [ 4.77977721e-02 9.98857011e-01 -2.08972875e-04 8.77039772e+00] [ 1.93251334e-02 -7.15582428e-04 9.99812996e-01 5.26179069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1992541539998 meters 0.020045444062223115 Centerline is valid? [True, True] Translation: X:764.22, Y:8.78, Z:5.26 [[ 9.98915360e-01 -4.26924670e-02 -1.85864913e-02 7.64220424e+02] [ 4.26961157e-02 9.99088085e-01 -2.00648481e-04 8.77568204e+00] [ 1.85781081e-02 -5.93140132e-04 9.99827236e-01 5.26317645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2292541539999 meters 0.0172708703991837 Centerline is valid? [True, True] Translation: X:764.25, Y:8.79, Z:5.27 [[ 9.99308088e-01 -3.27537311e-02 -1.76221116e-02 7.64251140e+02] [ 3.27554689e-02 9.99463378e-01 -1.90084955e-04 8.78627680e+00] [ 1.76188812e-02 -3.87267094e-04 9.99844700e-01 5.26594704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2592541539999 meters 0.01585078874584696 Centerline is valid? [True, True] Translation: X:764.28, Y:8.79, Z:5.27 [[ 9.99554481e-01 -2.37868063e-02 -1.80285337e-02 7.64280791e+02] [ 2.37871673e-02 9.99717026e-01 -1.94446585e-04 8.79436450e+00] [ 1.80280574e-02 -2.34487793e-04 9.99837454e-01 5.26663821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2892541539999 meters 0.017540088125912873 Centerline is valid? [True, True] Translation: X:764.31, Y:8.80, Z:5.26 [[ 9.99624661e-01 -1.94295144e-02 -1.93140209e-02 7.64309250e+02] [ 1.94291029e-02 9.99811215e-01 -2.08969331e-04 8.79773252e+00] [ 1.93144349e-02 -1.66363203e-04 9.99813445e-01 5.26480302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3192541539999 meters 0.015176758665466984 Centerline is valid? [True, True] Translation: X:764.34, Y:8.80, Z:5.27 [[ 9.99668360e-01 -1.69157536e-02 -1.94172057e-02 7.64338465e+02] [ 1.69147999e-02 9.99856912e-01 -2.13360233e-04 8.80165924e+00] [ 1.94180365e-02 -1.15148675e-04 9.99811446e-01 5.26711535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3492541539999 meters 0.014708386241159069 Centerline is valid? [True, True] Translation: X:764.37, Y:8.81, Z:5.27 [[ 9.99708022e-01 -1.22599123e-02 -2.08222088e-02 7.64366351e+02] [ 1.22576849e-02 9.99924844e-01 -2.34601689e-04 8.80627864e+00] [ 2.08235201e-02 -2.06988840e-05 9.99783167e-01 5.26833539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3792541539999 meters 0.014623816850132847 Centerline is valid? [True, True] Translation: X:764.39, Y:8.81, Z:5.27 [[ 9.99703693e-01 -1.09150689e-02 -2.17574482e-02 7.64394255e+02] [ 1.09122430e-02 9.99940429e-01 -2.48606507e-04 8.80760815e+00] [ 2.17588657e-02 1.11102816e-05 9.99763248e-01 5.26782543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4092541539999 meters 0.014781419812158811 Centerline is valid? [True, True] Translation: X:764.42, Y:8.81, Z:5.27 [[ 9.99697151e-01 -1.01068807e-02 -2.24378309e-02 7.64422834e+02] [ 1.01035687e-02 9.99948924e-01 -2.60972601e-04 8.80860867e+00] [ 2.24393225e-02 3.41913998e-05 9.99748206e-01 5.26806484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4392541539999 meters 0.015044500439272074 Centerline is valid? [True, True] Translation: X:764.45, Y:8.81, Z:5.27 [[ 9.99707925e-01 -9.30098966e-03 -2.23059720e-02 7.64449671e+02] [ 9.29743360e-03 9.99956743e-01 -2.63126182e-04 8.80947991e+00] [ 2.23074544e-02 5.56610357e-05 9.99751156e-01 5.26719003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4692541539999 meters 0.014874681368308367 Centerline is valid? [True, True] Translation: X:764.48, Y:8.81, Z:5.27 [[ 9.99711427e-01 -9.35596003e-03 -2.21252965e-02 7.64477900e+02] [ 9.35235935e-03 9.99956230e-01 -2.66211669e-04 8.80937601e+00] [ 2.21268187e-02 5.92111244e-05 9.99755170e-01 5.26818960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4992541539999 meters 0.016492276506767083 Centerline is valid? [True, True] Translation: X:764.51, Y:8.81, Z:5.27 [[ 9.99728336e-01 -9.29191813e-03 -2.13755524e-02 7.64505629e+02] [ 9.28847439e-03 9.99956827e-01 -2.60387507e-04 8.80802765e+00] [ 2.13770490e-02 6.17704983e-05 9.99771483e-01 5.26720335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5292541539999 meters 0.014713267238983982 Centerline is valid? [True, True] Translation: X:764.53, Y:8.81, Z:5.27 [[ 9.99742916e-01 -1.01139893e-02 -2.02930713e-02 7.64533952e+02] [ 1.01109740e-02 9.99948851e-01 -2.51188330e-04 8.80749530e+00] [ 2.02945739e-02 4.59410366e-05 9.99794043e-01 5.26989665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5592541539999 meters 0.01478702373848909 Centerline is valid? [True, True] Translation: X:764.56, Y:8.81, Z:5.27 [[ 9.99752685e-01 -1.06039528e-02 -1.95480072e-02 7.64562046e+02] [ 1.06011930e-02 9.99943776e-01 -2.44803014e-04 8.80664950e+00] [ 1.95495040e-02 3.75102734e-05 9.99808889e-01 5.26941140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.589254154 meters 0.01480998915893295 Centerline is valid? [True, True] Translation: X:764.59, Y:8.80, Z:5.27 [[ 9.99756799e-01 -1.25599315e-02 -1.81270986e-02 7.64589830e+02] [ 1.25578517e-02 9.99921121e-01 -2.28561975e-04 8.80316427e+00] [ 1.81285395e-02 8.68972269e-07 9.99835665e-01 5.26958484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6192541539999 meters 0.014599332119979892 Centerline is valid? [True, True] Translation: X:764.62, Y:8.80, Z:5.27 [[ 9.99744365e-01 -1.42430077e-02 -1.75596527e-02 7.64617957e+02] [ 1.42412509e-02 9.99898563e-01 -2.25097154e-04 8.80113628e+00] [ 1.75610775e-02 -2.50318076e-05 9.99845792e-01 5.27099921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6492541539999 meters 0.014839986597587812 Centerline is valid? [True, True] Translation: X:764.65, Y:8.80, Z:5.27 [[ 9.99719016e-01 -1.63773399e-02 -1.71368766e-02 7.64645158e+02] [ 1.63759242e-02 9.99865881e-01 -2.22944555e-04 8.79864022e+00] [ 1.71382295e-02 -5.77502807e-05 9.99853128e-01 5.26987546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6792541539999 meters 0.015604673185258537 Centerline is valid? [True, True] Translation: X:764.67, Y:8.79, Z:5.27 [[ 9.99619810e-01 -2.16249280e-02 -1.71055203e-02 7.64673548e+02] [ 2.16242554e-02 9.99766143e-01 -2.24300880e-04 8.79156654e+00] [ 1.71063705e-02 -1.45678537e-04 9.99853665e-01 5.26929545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.709254154 meters 0.016083143899030584 Centerline is valid? [True, True] Translation: X:764.70, Y:8.79, Z:5.27 [[ 9.99541848e-01 -2.51249181e-02 -1.68769923e-02 7.64701082e+02] [ 2.51247375e-02 9.99684299e-01 -2.22765194e-04 8.78653073e+00] [ 1.68772611e-02 -2.01366867e-04 9.99857549e-01 5.26840309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7392541539999 meters 0.01790270484250247 Centerline is valid? [True, True] Translation: X:764.73, Y:8.78, Z:5.27 [[ 9.99327529e-01 -3.23617889e-02 -1.72396198e-02 7.64730179e+02] [ 3.23626572e-02 9.99476166e-01 -2.28683124e-04 8.77579118e+00] [ 1.72379897e-02 -3.29390566e-04 9.99851361e-01 5.26801631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7692541539999 meters 0.019140151149191084 Centerline is valid? [True, True] Translation: X:764.76, Y:8.77, Z:5.27 [[ 9.99199439e-01 -3.59719313e-02 -1.75071624e-02 7.64759971e+02] [ 3.59733683e-02 9.99352722e-01 -2.32936683e-04 8.77096094e+00] [ 1.75042095e-02 -3.97041396e-04 9.99846711e-01 5.26766060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7992541539999 meters 0.017877526209966393 Centerline is valid? [True, True] Translation: X:764.79, Y:8.77, Z:5.27 [[ 9.99092494e-01 -3.88567781e-02 -1.74453475e-02 7.64790818e+02] [ 3.88586404e-02 9.99244691e-01 -2.32343768e-04 8.77084473e+00] [ 1.74411990e-02 -4.45769571e-04 9.99847791e-01 5.26912072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8292541539998 meters 0.02272918281807936 Centerline is valid? [True, True] Translation: X:764.82, Y:8.76, Z:5.27 [[ 9.98893688e-01 -4.37120069e-02 -1.73395419e-02 7.64821232e+02] [ 4.37145806e-02 9.99044034e-01 -2.30745782e-04 8.75706393e+00] [ 1.73330522e-02 -5.27500296e-04 9.99849632e-01 5.26636519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8592541539999 meters 0.021370610676340027 Centerline is valid? [True, True] Translation: X:764.85, Y:8.76, Z:5.27 [[ 9.98768548e-01 -4.66293536e-02 -1.69437430e-02 7.64852405e+02] [ 4.66322385e-02 9.98912100e-01 -2.25004070e-04 8.75554595e+00] [ 1.69358017e-02 -5.65397677e-04 9.99856419e-01 5.26724855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8892541539999 meters 0.02192006212993152 Centerline is valid? [True, True] Translation: X:764.88, Y:8.75, Z:5.27 [[ 9.98736132e-01 -4.73758209e-02 -1.67830246e-02 7.64883795e+02] [ 4.73787664e-02 9.98876971e-01 -2.22283654e-04 8.75340534e+00] [ 1.67747076e-02 -5.73156285e-04 9.99859130e-01 5.26710786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9192541539999 meters 0.0221650383979407 Centerline is valid? [True, True] Translation: X:764.92, Y:8.75, Z:5.27 [[ 9.98700835e-01 -4.80518889e-02 -1.69605084e-02 7.64915178e+02] [ 4.80550045e-02 9.98844666e-01 -2.24038634e-04 8.75206411e+00] [ 1.69516788e-02 -5.91289738e-04 9.99856135e-01 5.26703989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9492541539998 meters 0.02235383080787797 Centerline is valid? [True, True] Translation: X:764.95, Y:8.75, Z:5.27 [[ 9.98683122e-01 -4.85041600e-02 -1.67143371e-02 7.64946509e+02] [ 4.85072588e-02 9.98822806e-01 -2.20206659e-04 8.75060831e+00] [ 1.67053421e-02 -5.90850003e-04 9.99860281e-01 5.26704325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9792541539999 meters 0.02359358419757898 Centerline is valid? [True, True] Translation: X:764.98, Y:8.75, Z:5.27 [[ 9.98620648e-01 -4.98107903e-02 -1.66037880e-02 7.64976775e+02] [ 4.98140353e-02 9.98758486e-01 -2.18342293e-04 8.74627144e+00] [ 1.65940499e-02 -6.09060557e-04 9.99862124e-01 5.26635720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0092541539999 meters 0.02437822848909071 Centerline is valid? [True, True] Translation: X:765.01, Y:8.74, Z:5.27 [[ 9.98560417e-01 -5.10148809e-02 -1.65703369e-02 7.65008574e+02] [ 5.10182858e-02 9.98697696e-01 -2.17453295e-04 8.74424727e+00] [ 1.65598506e-02 -6.28249932e-04 9.99862679e-01 5.26585461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0392541539999 meters 0.021895231221274805 Centerline is valid? [True, True] Translation: X:765.04, Y:8.75, Z:5.27 [[ 9.98473434e-01 -5.26924276e-02 -1.65622667e-02 7.65039663e+02] [ 5.26960694e-02 9.98610573e-01 -2.16758414e-04 8.74744155e+00] [ 1.65506761e-02 -6.56338835e-04 9.99862813e-01 5.26667557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0692541539999 meters 0.023725231169260643 Centerline is valid? [True, True] Translation: X:765.07, Y:8.74, Z:5.27 [[ 9.98233104e-01 -5.71079866e-02 -1.64118088e-02 7.65071084e+02] [ 5.71121678e-02 9.98367745e-01 -2.14193084e-04 8.74308224e+00] [ 1.63972527e-02 -7.23499351e-04 9.99865294e-01 5.26601403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0992541539999 meters 0.024994981698360914 Centerline is valid? [True, True] Translation: X:765.10, Y:8.74, Z:5.27 [[ 9.98076995e-01 -5.96964997e-02 -1.66925099e-02 7.65101956e+02] [ 5.97011935e-02 9.98216269e-01 -2.17423429e-04 8.74070926e+00] [ 1.66757144e-02 -7.79557443e-04 9.99860647e-01 5.26560111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1292541539999 meters 0.027209350598711463 Centerline is valid? [True, True] Translation: X:765.13, Y:8.74, Z:5.26 [[ 9.97740411e-01 -6.50079883e-02 -1.69715529e-02 7.65132470e+02] [ 6.50136095e-02 9.97884353e-01 -2.20891048e-04 8.73614206e+00] [ 1.69500068e-02 -8.82989989e-04 9.99855948e-01 5.26482571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1592541539999 meters 0.028174410496072635 Centerline is valid? [True, True] Translation: X:765.16, Y:8.73, Z:5.26 [[ 9.97569119e-01 -6.75019454e-02 -1.73014244e-02 7.65164072e+02] [ 6.75081683e-02 9.97718696e-01 -2.24780529e-04 8.73425683e+00] [ 1.72771277e-02 -9.43753357e-04 9.99850294e-01 5.26475542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1892541539999 meters 0.029477618868006893 Centerline is valid? [True, True] Translation: X:765.19, Y:8.73, Z:5.26 [[ 9.97423746e-01 -6.94843684e-02 -1.78267695e-02 7.65194824e+02] [ 6.94912986e-02 9.97582531e-01 -2.31150308e-04 8.73228868e+00] [ 1.77997352e-02 -1.00825056e-03 9.99841064e-01 5.26431896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2192541539999 meters 0.030862941056719956 Centerline is valid? [True, True] Translation: X:765.23, Y:8.73, Z:5.26 [[ 9.97231513e-01 -7.21535659e-02 -1.79769800e-02 7.65225860e+02] [ 7.21610515e-02 9.97392966e-01 -2.32773587e-04 8.73011997e+00] [ 1.79469089e-02 -1.06510862e-03 9.99838374e-01 5.26440147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2492541539999 meters 0.03310935779362283 Centerline is valid? [True, True] Translation: X:765.26, Y:8.73, Z:5.26 [[ 9.97207997e-01 -7.23900870e-02 -1.83272097e-02 7.65257338e+02] [ 7.23979205e-02 9.97375799e-01 -2.36570286e-04 8.72844635e+00] [ 1.82962407e-02 -1.09094209e-03 9.99832015e-01 5.26357357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2792541539999 meters 0.03239914800907899 Centerline is valid? [True, True] Translation: X:765.29, Y:8.73, Z:5.26 [[ 9.97179452e-01 -7.28779130e-02 -1.79429938e-02 7.65289307e+02] [ 7.28855205e-02 9.97340287e-01 -2.30463546e-04 8.72939891e+00] [ 1.79120662e-02 -1.07797093e-03 9.99838985e-01 5.26492308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3092541539999 meters 0.03240659946373619 Centerline is valid? [True, True] Translation: X:765.32, Y:8.73, Z:5.27 [[ 9.97258989e-01 -7.18526317e-02 -1.76552715e-02 7.65321060e+02] [ 7.18598557e-02 9.97414713e-01 -2.25715179e-04 8.73037810e+00] [ 1.76258458e-02 -1.04360877e-03 9.99844108e-01 5.26511745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.339254154 meters 0.03050647581101504 Centerline is valid? [True, True] Translation: X:765.35, Y:8.73, Z:5.27 [[ 9.97343170e-01 -7.07297797e-02 -1.74327397e-02 7.65353515e+02] [ 7.07366712e-02 9.97495000e-01 -2.21753645e-04 8.73412935e+00] [ 1.74047553e-02 -1.01196949e-03 9.99848014e-01 5.26580496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3692541539999 meters 0.03050647581101504 Centerline is valid? [True, True] Translation: X:765.39, Y:8.73, Z:5.27 [[ 9.97348248e-01 -7.06581355e-02 -1.74327556e-02 7.65385254e+02] [ 7.06650379e-02 9.97500077e-01 -2.20501711e-04 8.73446856e+00] [ 1.74047552e-02 -1.01196934e-03 9.99848014e-01 5.26602479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3992541539999 meters 0.03032867735706777 Centerline is valid? [True, True] Translation: X:765.42, Y:8.74, Z:5.26 [[ 9.97599181e-01 -6.69532712e-02 -1.76956042e-02 7.65416400e+02] [ 6.69598153e-02 9.97755648e-01 -2.23085247e-04 8.73936564e+00] [ 1.76708254e-02 -9.62344732e-04 9.99843396e-01 5.26482681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4292541539999 meters 0.029387410858373784 Centerline is valid? [True, True] Translation: X:765.45, Y:8.74, Z:5.27 [[ 9.97704053e-01 -6.57118285e-02 -1.63883659e-02 7.65446827e+02] [ 6.57172924e-02 9.97838261e-01 -2.05495445e-04 8.74013234e+00] [ 1.63664420e-02 -8.71975396e-04 9.99865681e-01 5.26679828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.459254154 meters 0.028606738307478202 Centerline is valid? [True, True] Translation: X:765.48, Y:8.74, Z:5.27 [[ 9.97853144e-01 -6.37601276e-02 -1.49582208e-02 7.65478577e+02] [ 6.37644767e-02 9.97964958e-01 -1.86488811e-04 8.74313106e+00] [ 1.49396707e-02 -7.67714673e-04 9.99888102e-01 5.26751622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4892541539999 meters 0.027207143397114917 Centerline is valid? [True, True] Translation: X:765.51, Y:8.75, Z:5.27 [[ 9.98128376e-01 -5.95515155e-02 -1.39054639e-02 7.65509779e+02] [ 5.95548727e-02 9.98225018e-01 -1.72900146e-04 8.74952127e+00] [ 1.38910784e-02 -6.55561593e-04 9.99903299e-01 5.26813177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5192541539999 meters 0.026239774265664838 Centerline is valid? [True, True] Translation: X:765.54, Y:8.75, Z:5.27 [[ 9.98279539e-01 -5.70126465e-02 -1.36938217e-02 7.65541098e+02] [ 5.70156688e-02 9.98373269e-01 -1.69912697e-04 8.75333667e+00] [ 1.36812327e-02 -6.11142035e-04 9.99906221e-01 5.26855123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5492541539999 meters 0.021019851368229432 Centerline is valid? [True, True] Translation: X:765.57, Y:8.77, Z:5.27 [[ 9.98599925e-01 -5.12420016e-02 -1.31319200e-02 7.65571968e+02] [ 5.12442872e-02 9.98686135e-01 -1.62594581e-04 8.76637854e+00] [ 1.31229981e-02 -5.10568941e-04 9.99913759e-01 5.26899359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5792541539998 meters 0.02319531844941631 Centerline is valid? [True, True] Translation: X:765.60, Y:8.77, Z:5.27 [[ 9.98759591e-01 -4.82043882e-02 -1.24746085e-02 7.65602691e+02] [ 4.82062181e-02 9.98837393e-01 -1.54130972e-04 8.76591760e+00] [ 1.24675352e-02 -4.47413909e-04 9.99922177e-01 5.26838789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6092541539999 meters 0.02187080033249118 Centerline is valid? [True, True] Translation: X:765.63, Y:8.77, Z:5.27 [[ 9.98919259e-01 -4.48556876e-02 -1.21770953e-02 7.65634027e+02] [ 4.48571879e-02 9.98993398e-01 -1.50024875e-04 8.77073031e+00] [ 1.21715673e-02 -3.96367517e-04 9.99925845e-01 5.26879557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6392541539999 meters 0.017958099074412013 Centerline is valid? [True, True] Translation: X:765.66, Y:8.78, Z:5.27 [[ 9.99196469e-01 -3.86295439e-02 -1.06852453e-02 7.65664687e+02] [ 3.86303463e-02 9.99253561e-01 -1.31367890e-04 8.78192668e+00] [ 1.06823441e-02 -2.81512394e-04 9.99942903e-01 5.27004488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6692541539999 meters 0.01709512259285863 Centerline is valid? [True, True] Translation: X:765.70, Y:8.79, Z:5.27 [[ 9.99321940e-01 -3.54875802e-02 -9.81280246e-03 7.65695786e+02] [ 3.54881076e-02 9.99370091e-01 -1.20422845e-04 8.78567902e+00] [ 9.81089481e-03 -2.27896599e-04 9.99951846e-01 5.27081838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6992541539998 meters 0.01579434346179756 Centerline is valid? [True, True] Translation: X:765.73, Y:8.79, Z:5.27 [[ 9.99521460e-01 -2.98085706e-02 -8.26435342e-03 7.65727154e+02] [ 2.98087528e-02 9.99555615e-01 -1.01160998e-04 8.79309107e+00] [ 8.26369633e-03 -1.45237479e-04 9.99965845e-01 5.27164806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7292541539999 meters 0.015396144360501742 Centerline is valid? [True, True] Translation: X:765.76, Y:8.80, Z:5.27 [[ 9.99591250e-01 -2.74073067e-02 -8.13459896e-03 7.65757981e+02] [ 2.74074062e-02 9.99624342e-01 -9.92614956e-05 8.79620290e+00] [ 8.13426362e-03 -1.23727336e-04 9.99966909e-01 5.27176838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7592541539999 meters 0.014893924386603648 Centerline is valid? [True, True] Translation: X:765.79, Y:8.80, Z:5.27 [[ 9.99646699e-01 -2.51820821e-02 -8.50524965e-03 7.65790303e+02] [ 2.51821147e-02 9.99682875e-01 -1.03284067e-04 8.79944577e+00] [ 8.50515333e-03 -1.10932595e-04 9.99963824e-01 5.27175219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7892541539999 meters 0.014561515372081477 Centerline is valid? [True, True] Translation: X:765.82, Y:8.80, Z:5.27 [[ 9.99691601e-01 -2.34723357e-02 -8.10874363e-03 7.65822859e+02] [ 2.34723135e-02 9.99724482e-01 -9.79170431e-05 8.80244414e+00] [ 8.10880787e-03 -9.24441268e-05 9.99967119e-01 5.27165266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8192541539999 meters 0.014331402701006798 Centerline is valid? [True, True] Translation: X:765.86, Y:8.81, Z:5.27 [[ 9.99738243e-01 -2.15240593e-02 -7.75629720e-03 7.65855387e+02] [ 2.15239845e-02 9.99768328e-01 -9.31290142e-05 8.80634702e+00] [ 7.75650480e-03 -7.38417836e-05 9.99969915e-01 5.27089783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8492541539999 meters 0.014438055072437107 Centerline is valid? [True, True] Translation: X:765.89, Y:8.81, Z:5.27 [[ 9.99730279e-01 -2.20644653e-02 -7.24762868e-03 7.65887638e+02] [ 2.20644177e-02 9.99756547e-01 -8.65302438e-05 8.80769910e+00] [ 7.24777347e-03 -7.34078021e-05 9.99973732e-01 5.27081475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8792541539999 meters 0.01455578241020296 Centerline is valid? [True, True] Translation: X:765.92, Y:8.81, Z:5.27 [[ 9.99704372e-01 -2.32433639e-02 -7.13538644e-03 7.65919297e+02] [ 2.32433514e-02 9.99729833e-01 -8.46890468e-05 8.80868159e+00] [ 7.13542715e-03 -8.11862841e-05 9.99974539e-01 5.27120802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9092541539999 meters 0.014794966541822153 Centerline is valid? [True, True] Translation: X:765.95, Y:8.81, Z:5.27 [[ 9.99682839e-01 -2.43449661e-02 -6.44546159e-03 7.65950941e+02] [ 2.43449808e-02 9.99703614e-01 -7.61852809e-05 8.80911107e+00] [ 6.44540597e-03 -8.07535208e-05 9.99979225e-01 5.27164994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9392541539999 meters 0.016431850814844072 Centerline is valid? [True, True] Translation: X:765.98, Y:8.81, Z:5.27 [[ 9.99629607e-01 -2.64309570e-02 -6.48481072e-03 7.65983235e+02] [ 2.64310181e-02 9.99650637e-01 -7.63053417e-05 8.80883755e+00] [ 6.48456198e-03 -9.51230704e-05 9.99978970e-01 5.27043024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9692541539999 meters 0.015220223987994507 Centerline is valid? [True, True] Translation: X:766.02, Y:8.81, Z:5.27 [[ 9.99596644e-01 -2.76560618e-02 -6.45694007e-03 7.66015771e+02] [ 2.76561509e-02 9.99617493e-01 -7.55096552e-05 8.80867114e+00] [ 6.45655854e-03 -1.03094911e-04 9.99979151e-01 5.27142829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9992541539999 meters 0.015403430715716853 Centerline is valid? [True, True] Translation: X:766.05, Y:8.81, Z:5.27 [[ 9.99595774e-01 -2.76888884e-02 -6.45084346e-03 7.66047267e+02] [ 2.76889811e-02 9.99616584e-01 -7.49609522e-05 8.80867658e+00] [ 6.45044569e-03 -1.03686631e-04 9.99979190e-01 5.27118198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0292541539999 meters 0.015255009345992962 Centerline is valid? [True, True] Translation: X:766.08, Y:8.81, Z:5.27 [[ 9.99611943e-01 -2.70752065e-02 -6.54958571e-03 7.66078991e+02] [ 2.70752911e-02 9.99633394e-01 -7.57543078e-05 8.80937432e+00] [ 6.54923565e-03 -1.01607029e-04 9.99978548e-01 5.27124937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0592541539999 meters 0.01542934234566584 Centerline is valid? [True, True] Translation: X:766.11, Y:8.81, Z:5.27 [[ 9.99642978e-01 -2.59818628e-02 -6.23373771e-03 7.66110133e+02] [ 2.59819207e-02 9.99662410e-01 -7.17162443e-05 8.80998402e+00] [ 6.23349659e-03 -9.02738388e-05 9.99980567e-01 5.27152578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.089254154 meters 0.014381718903667455 Centerline is valid? [True, True] Translation: X:766.14, Y:8.81, Z:5.27 [[ 9.99722341e-01 -2.26554997e-02 -6.47842986e-03 7.66142410e+02] [ 2.26554979e-02 9.99743329e-01 -7.36671376e-05 8.81315497e+00] [ 6.47843599e-03 -7.31253709e-05 9.99979012e-01 5.27201514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1192541539999 meters 0.014267870101281853 Centerline is valid? [True, True] Translation: X:766.17, Y:8.81, Z:5.27 [[ 9.99766661e-01 -2.06272247e-02 -6.41409199e-03 7.66173256e+02] [ 2.06271842e-02 9.99787234e-01 -7.24743061e-05 8.81422496e+00] [ 6.41422223e-03 -5.98472617e-05 9.99979427e-01 5.27206736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1492541539999 meters 0.014128043744168432 Centerline is valid? [True, True] Translation: X:766.21, Y:8.82, Z:5.27 [[ 9.99827345e-01 -1.75750974e-02 -6.03285643e-03 7.66205360e+02] [ 1.75750077e-02 9.99845545e-01 -6.78842732e-05 8.81645079e+00] [ 6.03311770e-03 -3.81549453e-05 9.99981800e-01 5.27213279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1792541539999 meters 0.014117333374643503 Centerline is valid? [True, True] Translation: X:766.24, Y:8.82, Z:5.27 [[ 9.99852501e-01 -1.62368768e-02 -5.59823571e-03 7.66236491e+02] [ 1.62367808e-02 9.99868173e-01 -6.26088928e-05 8.81705401e+00] [ 5.59851428e-03 -2.82976678e-05 9.99984328e-01 5.27236637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.209254154 meters 0.013822320436939201 Centerline is valid? [True, True] Translation: X:766.27, Y:8.82, Z:5.27 [[ 9.99891783e-01 -1.37353243e-02 -5.26913956e-03 7.66267512e+02] [ 1.37352060e-02 9.99905666e-01 -5.86419429e-05 8.81768526e+00] [ 5.26944797e-03 -1.37371205e-05 9.99986116e-01 5.27285050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2392541539999 meters 0.013845746424651546 Centerline is valid? [True, True] Translation: X:766.30, Y:8.82, Z:5.27 [[ 9.99901103e-01 -1.30797070e-02 -5.16770010e-03 7.66298667e+02] [ 1.30795854e-02 9.99914457e-01 -5.73387606e-05 8.81813259e+00] [ 5.16800802e-03 -1.02582847e-05 9.99986646e-01 5.27333554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2692541539999 meters 0.01399061597284278 Centerline is valid? [True, True] Translation: X:766.33, Y:8.82, Z:5.27 [[ 9.99912073e-01 -1.21308711e-02 -5.35611077e-03 7.66329630e+02] [ 1.21307278e-02 9.99926418e-01 -5.92371914e-05 8.81845520e+00] [ 5.35643526e-03 -5.74153907e-06 9.99985654e-01 5.27343990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2992541539999 meters 0.013955866948233569 Centerline is valid? [True, True] Translation: X:766.36, Y:8.82, Z:5.27 [[ 9.99921146e-01 -1.14642061e-02 -5.12587016e-03 7.66359534e+02] [ 1.14640672e-02 9.99934284e-01 -5.64887812e-05 8.81815841e+00] [ 5.12618091e-03 -2.27899310e-06 9.99986861e-01 5.27379063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3292541539998 meters 0.014208506539632994 Centerline is valid? [True, True] Translation: X:766.39, Y:8.82, Z:5.27 [[ 9.99910742e-01 -1.19394790e-02 -5.99634551e-03 7.66391317e+02] [ 1.19392980e-02 9.99928722e-01 -6.59721434e-05 8.81565807e+00] [ 5.99670578e-03 -5.62590121e-06 9.99982020e-01 5.27259744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3592541539999 meters 0.014081727677157914 Centerline is valid? [True, True] Translation: X:766.42, Y:8.81, Z:5.27 [[ 9.99895644e-01 -1.28037692e-02 -6.69065614e-03 7.66421374e+02] [ 1.28035651e-02 9.99918028e-01 -7.33445663e-05 8.81381233e+00] [ 6.69104678e-03 -1.23273391e-05 9.99977615e-01 5.27214728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3892541539999 meters 0.014367226587912505 Centerline is valid? [True, True] Translation: X:766.45, Y:8.81, Z:5.27 [[ 9.99843155e-01 -1.58434270e-02 -7.91525805e-03 7.66451543e+02] [ 1.58432370e-02 9.99874484e-01 -8.67125007e-05 8.80857850e+00] [ 7.91563838e-03 -3.87044090e-05 9.99968670e-01 5.27054473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4192541539999 meters 0.014694191570470867 Centerline is valid? [True, True] Translation: X:766.48, Y:8.81, Z:5.27 [[ 9.99798669e-01 -1.81253222e-02 -8.60776853e-03 7.66481999e+02] [ 1.81251858e-02 9.99835721e-01 -9.38679614e-05 8.80687326e+00] [ 8.60805584e-03 -6.21683409e-05 9.99962948e-01 5.27005265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4492541539998 meters 0.01488254189043788 Centerline is valid? [True, True] Translation: X:766.51, Y:8.80, Z:5.27 [[ 9.99749719e-01 -2.02434647e-02 -9.52371431e-03 7.66512858e+02] [ 2.02433951e-02 9.99795076e-01 -1.03721359e-04 8.80430543e+00] [ 9.52386235e-03 -8.90969113e-05 9.99954643e-01 5.26992196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4792541539999 meters 0.015397621204760315 Centerline is valid? [True, True] Translation: X:766.54, Y:8.80, Z:5.27 [[ 9.99648620e-01 -2.45280779e-02 -1.00503594e-02 7.66543743e+02] [ 2.45282206e-02 9.99699132e-01 -1.09076555e-04 8.79854652e+00] [ 1.00500110e-02 -1.37479204e-04 9.99949488e-01 5.26991172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5092541539999 meters 0.015878429099433423 Centerline is valid? [True, True] Translation: X:766.57, Y:8.79, Z:5.27 [[ 9.99559147e-01 -2.78951325e-02 -1.01672945e-02 7.66574962e+02] [ 2.78954539e-02 9.99610840e-01 -1.10228265e-04 8.79300874e+00] [ 1.01664126e-02 -1.73441623e-04 9.99948306e-01 5.27052265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5392541539999 meters 0.016438949910490077 Centerline is valid? [True, True] Translation: X:766.61, Y:8.79, Z:5.27 [[ 9.99527140e-01 -2.92066512e-02 -9.61604530e-03 7.66605058e+02] [ 2.92070031e-02 9.99573379e-01 -1.03858459e-04 8.79050116e+00] [ 9.61497625e-03 -1.77046517e-04 9.99953759e-01 5.27106845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5692541539999 meters 0.016277650000464616 Centerline is valid? [True, True] Translation: X:766.64, Y:8.79, Z:5.27 [[ 9.99511083e-01 -2.98310440e-02 -9.36504873e-03 7.66637508e+02] [ 2.98314106e-02 9.99554939e-01 -1.00577629e-04 8.78969473e+00] [ 9.36388106e-03 -1.78844159e-04 9.99956142e-01 5.27241718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5992541539999 meters 0.01862402759148229 Centerline is valid? [True, True] Translation: X:766.67, Y:8.79, Z:5.27 [[ 9.99507629e-01 -3.00123231e-02 -9.15200758e-03 7.66669240e+02] [ 3.00126876e-02 9.99549513e-01 -9.75432815e-05 8.78616868e+00] [ 9.15081222e-03 -1.77181091e-04 9.99958115e-01 5.27216183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6292541539999 meters 0.016731485813900087 Centerline is valid? [True, True] Translation: X:766.70, Y:8.79, Z:5.27 [[ 9.99514433e-01 -3.00299823e-02 -8.31250538e-03 7.66701074e+02] [ 3.00302903e-02 9.99548985e-01 -8.77858949e-05 8.78551381e+00] [ 8.31139252e-03 -1.61883681e-04 9.99965447e-01 5.27410982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6592541539999 meters 0.016190085041187272 Centerline is valid? [True, True] Translation: X:766.73, Y:8.78, Z:5.27 [[ 9.99543213e-01 -2.91402392e-02 -8.01328297e-03 7.66733236e+02] [ 2.91405014e-02 9.99575322e-01 -8.40621617e-05 8.78428306e+00] [ 8.01232950e-03 -1.49487321e-04 9.99967890e-01 5.27471357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6892541539999 meters 0.016053773445441767 Centerline is valid? [True, True] Translation: X:766.77, Y:8.78, Z:5.27 [[ 9.99558631e-01 -2.85922906e-02 -8.06378661e-03 7.66765777e+02] [ 2.85925430e-02 9.99591146e-01 -8.39998938e-05 8.78329171e+00] [ 8.06289145e-03 -1.46601347e-04 9.99967484e-01 5.27474347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7192541539999 meters 0.01609852652581381 Centerline is valid? [True, True] Translation: X:766.80, Y:8.78, Z:5.27 [[ 9.99568571e-01 -2.81758451e-02 -8.29420090e-03 7.66797627e+02] [ 2.81761027e-02 9.99602971e-01 -8.58095009e-05 8.78274752e+00] [ 8.29332562e-03 -1.47925776e-04 9.99965599e-01 5.27479433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7492541539999 meters 0.016297073078829806 Centerline is valid? [True, True] Translation: X:766.83, Y:8.78, Z:5.27 [[ 9.99599270e-01 -2.69425788e-02 -8.68314758e-03 7.66828584e+02] [ 2.69428200e-02 9.99636972e-01 -8.92215819e-05 8.78109567e+00] [ 8.68239921e-03 -1.44762654e-04 9.99962297e-01 5.27443218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7792541539999 meters 0.01844317865466063 Centerline is valid? [True, True] Translation: X:766.86, Y:8.78, Z:5.27 [[ 9.99616474e-01 -2.60912154e-02 -9.28183690e-03 7.66860006e+02] [ 2.60914637e-02 9.99659555e-01 -9.43636897e-05 8.78108485e+00] [ 9.28113901e-03 -1.47849211e-04 9.99956918e-01 5.27260789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8092541539999 meters 0.016014017139467464 Centerline is valid? [True, True] Translation: X:766.89, Y:8.78, Z:5.27 [[ 9.99618652e-01 -2.60636815e-02 -9.12334343e-03 7.66889957e+02] [ 2.60639228e-02 9.99660274e-01 -9.24724648e-05 8.77971602e+00] [ 9.12265416e-03 -1.45352918e-04 9.99958377e-01 5.27440335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.839254154 meters 0.016059160357331518 Centerline is valid? [True, True] Translation: X:766.92, Y:8.78, Z:5.27 [[ 9.99621405e-01 -2.59417668e-02 -9.16906618e-03 7.66920852e+02] [ 2.59420072e-02 9.99663445e-01 -9.27349768e-05 8.77936627e+00] [ 9.16838600e-03 -1.45164114e-04 9.99957959e-01 5.27487029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8692541539999 meters 0.017248582689440822 Centerline is valid? [True, True] Translation: X:766.95, Y:8.78, Z:5.27 [[ 9.99621634e-01 -2.58906827e-02 -9.28764847e-03 7.66952009e+02] [ 2.58909303e-02 9.99664769e-01 -9.36026405e-05 8.77974512e+00] [ 9.28695840e-03 -1.46898634e-04 9.99956864e-01 5.27414740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8992541539999 meters 0.017038666151816744 Centerline is valid? [True, True] Translation: X:766.98, Y:8.78, Z:5.27 [[ 9.99623188e-01 -2.58157832e-02 -9.32885097e-03 7.66982872e+02] [ 2.58160328e-02 9.99666706e-01 -9.36794299e-05 8.77944534e+00] [ 9.32816013e-03 -1.47189793e-04 9.99956481e-01 5.27448791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9292541539999 meters 0.01691570554963969 Centerline is valid? [True, True] Translation: X:767.01, Y:8.78, Z:5.27 [[ 9.99603084e-01 -2.62757122e-02 -1.01617149e-02 7.67013966e+02] [ 2.62760361e-02 9.99654720e-01 -1.01653257e-04 8.77829957e+00] [ 1.01608773e-02 -1.65396678e-04 9.99948363e-01 5.27434595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.959254154 meters 0.016032191472198032 Centerline is valid? [True, True] Translation: X:767.05, Y:8.78, Z:5.27 [[ 9.99573981e-01 -2.70946765e-02 -1.08506084e-02 7.67045420e+02] [ 2.70950985e-02 9.99632855e-01 -1.08137817e-04 8.77720073e+00] [ 1.08495547e-02 -1.85906556e-04 9.99941125e-01 5.27475626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9892541539999 meters 0.016552607523883302 Centerline is valid? [True, True] Translation: X:767.08, Y:8.78, Z:5.27 [[ 9.99562257e-01 -2.73045107e-02 -1.13911736e-02 7.67075877e+02] [ 2.73049933e-02 9.99627143e-01 -1.13185381e-04 8.77566793e+00] [ 1.13900168e-02 -1.97900085e-04 9.99935112e-01 5.27397063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0192541539999 meters 0.016424015165307757 Centerline is valid? [True, True] Translation: X:767.11, Y:8.78, Z:5.27 [[ 9.99538150e-01 -2.79122214e-02 -1.20164656e-02 7.67106840e+02] [ 2.79128061e-02 9.99610355e-01 -1.19088227e-04 8.77618030e+00] [ 1.20151074e-02 -2.16380047e-04 9.99927793e-01 5.27369043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0492541539999 meters 0.016743975901532277 Centerline is valid? [True, True] Translation: X:767.14, Y:8.78, Z:5.27 [[ 9.99518047e-01 -2.83567003e-02 -1.26321415e-02 7.67137486e+02] [ 2.83573864e-02 9.99597841e-01 -1.24831523e-04 8.77539329e+00] [ 1.26306012e-02 -2.33443158e-04 9.99920204e-01 5.27328078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0792541539998 meters 0.01618882278390785 Centerline is valid? [True, True] Translation: X:767.17, Y:8.78, Z:5.27 [[ 9.99469594e-01 -2.95957812e-02 -1.35875256e-02 7.67168280e+02] [ 2.95966913e-02 9.99561913e-01 -1.34141647e-04 8.77564902e+00] [ 1.35855431e-02 -2.68075304e-04 9.99907676e-01 5.27381437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1092541539999 meters 0.019339062469129507 Centerline is valid? [True, True] Translation: X:767.20, Y:8.77, Z:5.27 [[ 9.99455952e-01 -2.97747334e-02 -1.41868166e-02 7.67197368e+02] [ 2.97757417e-02 9.99556594e-01 -1.40190608e-04 8.77374695e+00] [ 1.41847002e-02 -2.82308650e-04 9.99899352e-01 5.27197477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1392541539999 meters 0.018017692934390754 Centerline is valid? [True, True] Translation: X:767.23, Y:8.77, Z:5.27 [[ 9.99423046e-01 -3.12827143e-02 -1.32275356e-02 7.67227133e+02] [ 3.12837209e-02 9.99510536e-01 -1.30855960e-04 8.77199458e+00] [ 1.32251547e-02 -2.83026069e-04 9.99912504e-01 5.27409629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1692541539999 meters 0.019499648714926838 Centerline is valid? [True, True] Translation: X:767.26, Y:8.77, Z:5.27 [[ 9.99373413e-01 -3.30541410e-02 -1.26572381e-02 7.67257323e+02] [ 3.30552043e-02 9.99453520e-01 -1.25242378e-04 8.77096328e+00] [ 1.26544610e-02 -2.93223691e-04 9.99919886e-01 5.27454466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1992541539998 meters 0.017547426961106585 Centerline is valid? [True, True] Translation: X:767.29, Y:8.77, Z:5.28 [[ 9.99320314e-01 -3.49198919e-02 -1.18115070e-02 7.67288736e+02] [ 3.49209502e-02 9.99390071e-01 -1.16695723e-04 8.77056193e+00] [ 1.18083778e-02 -2.95852640e-04 9.99930235e-01 5.27747731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2292541539999 meters 0.01869886157966643 Centerline is valid? [True, True] Translation: X:767.32, Y:8.77, Z:5.28 [[ 9.99218262e-01 -3.78596327e-02 -1.13803943e-02 7.67319003e+02] [ 3.78608093e-02 9.99283016e-01 -1.12112168e-04 8.76686634e+00] [ 1.13764792e-02 -3.18846412e-04 9.99935235e-01 5.27851630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2592541539999 meters 0.01869886157966643 Centerline is valid? [True, True] Translation: X:767.35, Y:8.77, Z:5.28 [[ 9.99220994e-01 -3.77874668e-02 -1.13803987e-02 7.67350701e+02] [ 3.77886438e-02 9.99285748e-01 -1.11665251e-04 8.76711698e+00] [ 1.13764897e-02 -3.18471568e-04 9.99935235e-01 5.27873592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2892541539999 meters 0.020033981648124463 Centerline is valid? [True, True] Translation: X:767.38, Y:8.76, Z:5.28 [[ 9.99161451e-01 -3.93987537e-02 -1.11414713e-02 7.67381668e+02] [ 3.93999925e-02 9.99223513e-01 -1.08368854e-04 8.76451486e+00] [ 1.11370897e-02 -3.30695906e-04 9.99937926e-01 5.27855649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3192541539999 meters 0.021139075505464136 Centerline is valid? [True, True] Translation: X:767.41, Y:8.76, Z:5.28 [[ 9.99112067e-01 -4.05435218e-02 -1.14586647e-02 7.67413683e+02] [ 4.05449201e-02 9.99177711e-01 -1.10341745e-04 8.76443864e+00] [ 1.14537160e-02 -3.54346877e-04 9.99934341e-01 5.27723770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3492541539999 meters 0.02161097801268407 Centerline is valid? [True, True] Translation: X:767.44, Y:8.76, Z:5.28 [[ 9.98891548e-01 -4.58229307e-02 -1.07673203e-02 7.67443857e+02] [ 4.58244767e-02 9.98949502e-01 -1.03209125e-04 8.75936330e+00] [ 1.07607386e-02 -3.90312098e-04 9.99942025e-01 5.27910332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3792541539999 meters 0.02395212743810686 Centerline is valid? [True, True] Translation: X:767.47, Y:8.75, Z:5.28 [[ 9.98635984e-01 -5.09100984e-02 -1.15901932e-02 7.67473734e+02] [ 5.09122318e-02 9.98703125e-01 -1.11096695e-04 8.75401166e+00] [ 1.15808182e-02 -4.79137448e-04 9.99932825e-01 5.27832876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4092541539999 meters 0.025501397060991207 Centerline is valid? [True, True] Translation: X:767.50, Y:8.75, Z:5.28 [[ 9.98500138e-01 -5.32620687e-02 -1.26738676e-02 7.67504850e+02] [ 5.32648115e-02 9.98580415e-01 -1.21277438e-04 8.75284132e+00] [ 1.26623354e-02 -5.53975629e-04 9.99919676e-01 5.27671057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4392541539999 meters 0.02754212217693584 Centerline is valid? [True, True] Translation: X:767.53, Y:8.75, Z:5.28 [[ 9.98138036e-01 -5.95153871e-02 -1.33558975e-02 7.67533948e+02] [ 5.95189921e-02 9.98227165e-01 -1.27753313e-04 8.74856255e+00] [ 1.33398230e-02 -6.67414119e-04 9.99910798e-01 5.27795831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4692541539999 meters 0.029897991798984103 Centerline is valid? [True, True] Translation: X:767.56, Y:8.75, Z:5.28 [[ 9.98010209e-01 -6.16675394e-02 -1.31429364e-02 7.67563891e+02] [ 6.16712207e-02 9.98096511e-01 -1.25393426e-04 8.74585374e+00] [ 1.31256517e-02 -6.85397014e-04 9.99913620e-01 5.27712528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4992541539999 meters 0.031059402948801863 Centerline is valid? [True, True] Translation: X:767.60, Y:8.75, Z:5.28 [[ 9.97881989e-01 -6.36718363e-02 -1.33204340e-02 7.67595221e+02] [ 6.36758069e-02 9.97970629e-01 -1.26242210e-04 8.74516838e+00] [ 1.33014400e-02 -7.22214556e-04 9.99911271e-01 5.27662369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5292541539999 meters 0.030935666025425447 Centerline is valid? [True, True] Translation: X:767.63, Y:8.75, Z:5.28 [[ 9.97659221e-01 -6.71172241e-02 -1.30903628e-02 7.67626617e+02] [ 6.71213604e-02 9.97744811e-01 -1.23601947e-04 8.74511115e+00] [ 1.30691374e-02 -7.55330339e-04 9.99914310e-01 5.27887509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5592541539999 meters 0.034137362980973834 Centerline is valid? [True, True] Translation: X:767.66, Y:8.74, Z:5.28 [[ 9.97654167e-01 -6.69753336e-02 -1.41586349e-02 7.67657606e+02] [ 6.69801677e-02 9.97754298e-01 -1.33035888e-04 8.74284053e+00] [ 1.41357490e-02 -8.15623934e-04 9.99899753e-01 5.27664489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.589254154 meters 0.02889712637660053 Centerline is valid? [True, True] Translation: X:767.69, Y:8.75, Z:5.28 [[ 9.97625830e-01 -6.75442798e-02 -1.34340486e-02 7.67689474e+02] [ 6.75486941e-02 9.97715971e-01 -1.25397113e-04 8.75033446e+00] [ 1.34118347e-02 -7.82353040e-04 9.99909751e-01 5.27991772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6192541539999 meters 0.028994705052277768 Centerline is valid? [True, True] Translation: X:767.72, Y:8.75, Z:5.28 [[ 9.97689603e-01 -6.65964768e-02 -1.34300324e-02 7.67721588e+02] [ 6.66008162e-02 9.97779693e-01 -1.24372798e-04 8.75073023e+00] [ 1.34084964e-02 -7.70365671e-04 9.99909805e-01 5.28034477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6492541539999 meters 0.027533578959494678 Centerline is valid? [True, True] Translation: X:767.75, Y:8.76, Z:5.28 [[ 9.97814819e-01 -6.46380534e-02 -1.36933739e-02 7.67752921e+02] [ 6.46423914e-02 9.97908485e-01 -1.26041339e-04 8.75551392e+00] [ 1.36728811e-02 -7.59406520e-04 9.99906233e-01 5.27991611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6792541539999 meters 0.026925243824716914 Centerline is valid? [True, True] Translation: X:767.79, Y:8.76, Z:5.28 [[ 9.97871246e-01 -6.36766355e-02 -1.40805750e-02 7.67785265e+02] [ 6.36811381e-02 9.97970288e-01 -1.28807274e-04 8.75719677e+00] [ 1.40601975e-02 -7.68133968e-04 9.99900855e-01 5.28048613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.709254154 meters 0.028461083168311432 Centerline is valid? [True, True] Translation: X:767.82, Y:8.76, Z:5.28 [[ 9.97932662e-01 -6.24612038e-02 -1.51327800e-02 7.67816813e+02] [ 6.24662805e-02 9.98047065e-01 -1.37425178e-04 8.75759631e+00] [ 1.51118104e-02 -8.08147404e-04 9.99885483e-01 5.27867006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7392541539999 meters 0.028749034839760733 Centerline is valid? [True, True] Translation: X:767.85, Y:8.76, Z:5.28 [[ 9.97967227e-01 -6.20213891e-02 -1.46547374e-02 7.67847704e+02] [ 6.20261143e-02 9.98074518e-01 -1.32290087e-04 8.75663425e+00] [ 1.46347248e-02 -7.76955245e-04 9.99892605e-01 5.28056981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7692541539999 meters 0.029430964863406586 Centerline is valid? [True, True] Translation: X:767.88, Y:8.76, Z:5.28 [[ 9.98018301e-01 -6.10659406e-02 -1.51796200e-02 7.67879094e+02] [ 6.10709128e-02 9.98133420e-01 -1.36196115e-04 8.75880191e+00] [ 1.51596030e-02 -7.91107036e-04 9.99884774e-01 5.28072139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7992541539999 meters 0.02796189762240022 Centerline is valid? [True, True] Translation: X:767.91, Y:8.76, Z:5.28 [[ 9.98018416e-01 -6.09804086e-02 -1.55122652e-02 7.67911432e+02] [ 6.09856064e-02 9.98138636e-01 -1.38186061e-04 8.76285714e+00] [ 1.54918179e-02 -8.08112666e-04 9.99879668e-01 5.28150375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8292541539998 meters 0.027531621815252465 Centerline is valid? [True, True] Translation: X:767.94, Y:8.77, Z:5.28 [[ 9.98083533e-01 -6.00803827e-02 -1.48192123e-02 7.67943737e+02] [ 6.00850428e-02 9.98193253e-01 -1.30967132e-04 8.76638429e+00] [ 1.48003063e-02 -7.59696869e-04 9.99890181e-01 5.28281475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8592541539999 meters 0.02789052297712758 Centerline is valid? [True, True] Translation: X:767.98, Y:8.77, Z:5.28 [[ 9.98124260e-01 -5.94273002e-02 -1.47091170e-02 7.67975233e+02] [ 5.94318340e-02 9.98232358e-01 -1.29079849e-04 8.76781899e+00] [ 1.46907874e-02 -7.45352072e-04 9.99891807e-01 5.28339973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8892541539999 meters 0.02774112829833818 Centerline is valid? [True, True] Translation: X:768.01, Y:8.77, Z:5.28 [[ 9.98213641e-01 -5.77725999e-02 -1.52267581e-02 7.68007547e+02] [ 5.77772815e-02 9.98329489e-01 -1.32631751e-04 8.77193437e+00] [ 1.52089841e-02 -7.47365866e-04 9.99884057e-01 5.28183438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9192541539999 meters 0.025809968595165978 Centerline is valid? [True, True] Translation: X:768.04, Y:8.78, Z:5.28 [[ 9.98407542e-01 -5.45628979e-02 -1.43272622e-02 7.68038399e+02] [ 5.45667236e-02 9.98510119e-01 -1.24053245e-04 8.77675887e+00] [ 1.43126850e-02 -6.57936060e-04 9.99897352e-01 5.28411175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9492541539998 meters 0.024686117745557738 Centerline is valid? [True, True] Translation: X:768.07, Y:8.78, Z:5.28 [[ 9.98544660e-01 -5.19931521e-02 -1.43273640e-02 7.68070075e+02] [ 5.19967230e-02 9.98647248e-01 -1.23404227e-04 8.78055568e+00] [ 1.43143988e-02 -6.21751344e-04 9.99897350e-01 5.28476310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9792541539999 meters 0.02394009720247701 Centerline is valid? [True, True] Translation: X:768.10, Y:8.78, Z:5.29 [[ 9.98689881e-01 -4.90884639e-02 -1.44514381e-02 7.68101835e+02] [ 4.90918047e-02 9.98794263e-01 -1.23694257e-04 8.78427872e+00] [ 1.44400854e-02 -5.85914973e-04 9.99895565e-01 5.28510429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0092541539999 meters 0.02141317377715696 Centerline is valid? [True, True] Translation: X:768.13, Y:8.79, Z:5.29 [[ 9.98840850e-01 -4.59183644e-02 -1.44381405e-02 7.68133478e+02] [ 4.59213799e-02 9.98945049e-01 -1.22777831e-04 8.79076809e+00] [ 1.44285468e-02 -5.40383824e-04 9.99895757e-01 5.28619115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0392541539999 meters 0.021431514003667464 Centerline is valid? [True, True] Translation: X:768.16, Y:8.79, Z:5.29 [[ 9.99070241e-01 -4.04370202e-02 -1.49499510e-02 7.68163174e+02] [ 4.04396464e-02 9.99181975e-01 -1.26716791e-04 8.79497895e+00] [ 1.49428456e-02 -4.77971758e-04 9.99888235e-01 5.28555758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0692541539999 meters 0.019090316565717136 Centerline is valid? [True, True] Translation: X:768.19, Y:8.80, Z:5.29 [[ 9.99163134e-01 -3.77591769e-02 -1.57250048e-02 7.68194272e+02] [ 3.77617563e-02 9.99286762e-01 -1.32962453e-04 8.80107078e+00] [ 1.57188096e-02 -4.60952616e-04 9.99876346e-01 5.28599258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0992541539999 meters 0.018143685663847737 Centerline is valid? [True, True] Translation: X:768.23, Y:8.81, Z:5.29 [[ 9.99290350e-01 -3.41853401e-02 -1.58163819e-02 7.68225827e+02] [ 3.41875115e-02 9.99415427e-01 -1.33151886e-04 8.80510055e+00] [ 1.58116880e-02 -4.07665345e-04 9.99874904e-01 5.28598506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1292541539999 meters 0.018069507588931985 Centerline is valid? [True, True] Translation: X:768.26, Y:8.81, Z:5.29 [[ 9.99323814e-01 -3.28994846e-02 -1.64176546e-02 7.68256073e+02] [ 3.29016580e-02 9.99458584e-01 -1.37777630e-04 8.80657597e+00] [ 1.64132987e-02 -4.02483591e-04 9.99865212e-01 5.28568453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1592541539999 meters 0.017899986462016897 Centerline is valid? [True, True] Translation: X:768.29, Y:8.81, Z:5.29 [[ 9.99350309e-01 -3.19602927e-02 -1.66583429e-02 7.68286229e+02] [ 3.19624020e-02 9.99489062e-01 -1.39670253e-04 8.80807155e+00] [ 1.66542955e-02 -3.92861143e-04 9.99861230e-01 5.28584842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1892541539999 meters 0.01785564191240551 Centerline is valid? [True, True] Translation: X:768.32, Y:8.81, Z:5.29 [[ 9.99366415e-01 -3.14842681e-02 -1.65984727e-02 7.68316133e+02] [ 3.14862937e-02 9.99504174e-01 -1.39340638e-04 8.80988636e+00] [ 1.65946298e-02 -3.83372033e-04 9.99862226e-01 5.28604538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2192541539999 meters 0.018088057021003273 Centerline is valid? [True, True] Translation: X:768.35, Y:8.81, Z:5.29 [[ 9.99353278e-01 -3.17426179e-02 -1.68947169e-02 7.68346792e+02] [ 3.17447513e-02 9.99495998e-01 -1.41953245e-04 8.81016186e+00] [ 1.68907079e-02 -3.94457146e-04 9.99857264e-01 5.28558391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2492541539999 meters 0.01872671350087461 Centerline is valid? [True, True] Translation: X:768.38, Y:8.81, Z:5.29 [[ 9.99307245e-01 -3.26842883e-02 -1.77979688e-02 7.68376287e+02] [ 3.26868018e-02 9.99465633e-01 -1.49733890e-04 8.80979843e+00] [ 1.77933521e-02 -4.32128519e-04 9.99841592e-01 5.28531121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2792541539999 meters 0.01898472732196308 Centerline is valid? [True, True] Translation: X:768.41, Y:8.81, Z:5.29 [[ 9.99278791e-01 -3.34415923e-02 -1.79877229e-02 7.68405783e+02] [ 3.34442732e-02 9.99440572e-01 -1.51837811e-04 8.80963462e+00] [ 1.79827378e-02 -4.49858015e-04 9.99838196e-01 5.28531780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3092541539999 meters 0.019804106081526978 Centerline is valid? [True, True] Translation: X:768.44, Y:8.81, Z:5.29 [[ 9.99237834e-01 -3.43182284e-02 -1.86013546e-02 7.68435531e+02] [ 3.43212351e-02 9.99410840e-01 -1.57670536e-04 8.80951200e+00] [ 1.85958064e-02 -4.80871100e-04 9.99826967e-01 5.28505013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.339254154 meters 0.02062204385210106 Centerline is valid? [True, True] Translation: X:768.46, Y:8.81, Z:5.29 [[ 9.99142724e-01 -3.69782878e-02 -1.86124605e-02 7.68464576e+02] [ 3.69817596e-02 9.99315928e-01 -1.57747053e-04 8.80825748e+00] [ 1.86055615e-02 -5.30709718e-04 9.99826761e-01 5.28615765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3692541539999 meters 0.02289753612058643 Centerline is valid? [True, True] Translation: X:768.49, Y:8.81, Z:5.29 [[ 9.99033544e-01 -3.95744903e-02 -1.91268951e-02 7.68494300e+02] [ 3.95786310e-02 9.99216446e-01 -1.62156780e-04 8.80657035e+00] [ 1.91183255e-02 -5.95016262e-04 9.99817051e-01 5.28500448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3992541539999 meters 0.023881743071815984 Centerline is valid? [True, True] Translation: X:768.53, Y:8.81, Z:5.28 [[ 9.98964810e-01 -4.12143828e-02 -1.92531354e-02 7.68525040e+02] [ 4.12188803e-02 9.99150127e-01 -1.63345183e-04 8.80590770e+00] [ 1.92435049e-02 -6.30416595e-04 9.99814628e-01 5.28493426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4292541539999 meters 0.025232775833005424 Centerline is valid? [True, True] Translation: X:768.55, Y:8.80, Z:5.28 [[ 9.98918260e-01 -4.23921656e-02 -1.91105822e-02 7.68554481e+02] [ 4.23968080e-02 9.99100838e-01 -1.62339930e-04 8.80451987e+00] [ 1.91002806e-02 -6.48063362e-04 9.99817363e-01 5.28461794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.459254154 meters 0.02585199907341214 Centerline is valid? [True, True] Translation: X:768.58, Y:8.80, Z:5.28 [[ 9.98861791e-01 -4.37139385e-02 -1.90844102e-02 7.68584826e+02] [ 4.37188070e-02 9.99043863e-01 -1.62233569e-04 8.80370040e+00] [ 1.90732547e-02 -6.72298734e-04 9.99817863e-01 5.28499080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4892541539999 meters 0.02609634883572537 Centerline is valid? [True, True] Translation: X:768.61, Y:8.80, Z:5.29 [[ 9.98776222e-01 -4.62326097e-02 -1.75671139e-02 7.68614333e+02] [ 4.62371205e-02 9.98930481e-01 -1.49511773e-04 8.80198501e+00] [ 1.75552379e-02 -6.62923957e-04 9.99845675e-01 5.28763198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5192541539999 meters 0.026579223287200644 Centerline is valid? [True, True] Translation: X:768.65, Y:8.80, Z:5.29 [[ 9.98755809e-01 -4.68103323e-02 -1.71937729e-02 7.68645660e+02] [ 4.68147427e-02 9.98903578e-01 -1.46109786e-04 8.80163122e+00] [ 1.71817607e-02 -6.58994055e-04 9.99852165e-01 5.28786824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5492541539999 meters 0.028827591651964735 Centerline is valid? [True, True] Translation: X:768.68, Y:8.80, Z:5.29 [[ 9.98728646e-01 -4.68433406e-02 -1.86223841e-02 7.68676099e+02] [ 4.68485285e-02 9.98901992e-01 -1.57813242e-04 8.80142665e+00] [ 1.86093291e-02 -7.14818687e-04 9.99826576e-01 5.28515912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5792541539998 meters 0.0277015104753173 Centerline is valid? [True, True] Translation: X:768.71, Y:8.80, Z:5.29 [[ 9.98721481e-01 -4.75632291e-02 -1.71214248e-02 7.68707124e+02] [ 4.75677272e-02 9.98868004e-01 -1.44660329e-04 8.80137289e+00] [ 1.71089240e-02 -6.69951887e-04 9.99853407e-01 5.28847669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6092541539999 meters 0.02796051152573472 Centerline is valid? [True, True] Translation: X:768.74, Y:8.80, Z:5.29 [[ 9.98733193e-01 -4.73432701e-02 -1.70476927e-02 7.68737327e+02] [ 4.73477042e-02 9.98878458e-01 -1.43651824e-04 8.80112926e+00] [ 1.70353739e-02 -6.63699264e-04 9.99854667e-01 5.28858623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6392541539999 meters 0.02980178843586093 Centerline is valid? [True, True] Translation: X:768.77, Y:8.80, Z:5.29 [[ 9.98782718e-01 -4.58573371e-02 -1.81710559e-02 7.68767779e+02] [ 4.58621347e-02 9.98947767e-01 -1.52820151e-04 8.80148830e+00] [ 1.81589436e-02 -6.80729286e-04 9.99834881e-01 5.28539547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6692541539999 meters 0.027819949876032746 Centerline is valid? [True, True] Translation: X:768.80, Y:8.80, Z:5.29 [[ 9.98816710e-01 -4.56700437e-02 -1.67160764e-02 7.68798732e+02] [ 4.56740843e-02 9.98956385e-01 -1.40172900e-04 8.80246695e+00] [ 1.67050329e-02 -6.23484445e-04 9.99860267e-01 5.28929882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6992541539998 meters 0.022790516662350636 Centerline is valid? [True, True] Translation: X:768.83, Y:8.81, Z:5.29 [[ 9.98888930e-01 -4.40242587e-02 -1.68157425e-02 7.68829998e+02] [ 4.40281242e-02 9.99030282e-01 -1.40446692e-04 8.81107449e+00] [ 1.68056190e-02 -6.00074952e-04 9.99858596e-01 5.29125108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7292541539999 meters 0.020804930233557763 Centerline is valid? [True, True] Translation: X:768.86, Y:8.82, Z:5.29 [[ 9.98928541e-01 -4.28006758e-02 -1.76031884e-02 7.68861661e+02] [ 4.28047334e-02 9.99083447e-01 -1.46383768e-04 8.81561645e+00] [ 1.75933195e-02 -6.07272862e-04 9.99845041e-01 5.29179358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7592541539999 meters 0.02028136957972355 Centerline is valid? [True, True] Translation: X:768.89, Y:8.82, Z:5.29 [[ 9.98995149e-01 -4.11736388e-02 -1.77037654e-02 7.68892221e+02] [ 4.11775052e-02 9.99151836e-01 -1.46230396e-04 8.81646442e+00] [ 1.76947705e-02 -5.82913434e-04 9.99843265e-01 5.29222781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7892541539999 meters 0.020954095343959343 Centerline is valid? [True, True] Translation: X:768.92, Y:8.82, Z:5.29 [[ 9.99012580e-01 -4.04120855e-02 -1.84588390e-02 7.68922382e+02] [ 4.04161720e-02 9.99182921e-01 -1.51768590e-04 8.81599727e+00] [ 1.84498899e-02 -5.94416880e-04 9.99829610e-01 5.29182416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8192541539999 meters 0.01996402478748816 Centerline is valid? [True, True] Translation: X:768.95, Y:8.82, Z:5.29 [[ 9.99036723e-01 -3.97903752e-02 -1.85027586e-02 7.68952941e+02] [ 3.97943769e-02 9.99207878e-01 -1.52006036e-04 8.81886442e+00] [ 1.84941506e-02 -5.84446138e-04 9.99828798e-01 5.29283551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8492541539999 meters 0.021205921991886756 Centerline is valid? [True, True] Translation: X:768.98, Y:8.82, Z:5.29 [[ 9.99090827e-01 -3.81448875e-02 -1.90391116e-02 7.68982947e+02] [ 3.81488302e-02 9.99272056e-01 -1.56196427e-04 8.81898800e+00] [ 1.90312102e-02 -5.70265417e-04 9.99818727e-01 5.29165053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8792541539999 meters 0.019801087087401532 Centerline is valid? [True, True] Translation: X:769.01, Y:8.82, Z:5.29 [[ 9.99092786e-01 -3.81697255e-02 -1.88858683e-02 7.69013161e+02] [ 3.81736117e-02 9.99271110e-01 -1.54816695e-04 8.82105998e+00] [ 1.88780119e-02 -5.66265561e-04 9.99821634e-01 5.29359345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9092541539999 meters 0.019651287127753853 Centerline is valid? [True, True] Translation: X:769.04, Y:8.82, Z:5.29 [[ 9.99096189e-01 -3.76707923e-02 -1.96905214e-02 7.69042293e+02] [ 3.76749157e-02 9.99290035e-01 -1.61636743e-04 8.82212059e+00] [ 1.96826308e-02 -5.80348078e-04 9.99806110e-01 5.29349768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9392541539999 meters 0.019333852961991197 Centerline is valid? [True, True] Translation: X:769.07, Y:8.82, Z:5.29 [[ 9.99086050e-01 -3.78841525e-02 -1.97953370e-02 7.69072839e+02] [ 3.78883593e-02 9.99281965e-01 -1.62619363e-04 8.82326511e+00] [ 1.97872839e-02 -5.87542102e-04 9.99804040e-01 5.29413884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9692541539999 meters 0.019672492607370758 Centerline is valid? [True, True] Translation: X:769.10, Y:8.82, Z:5.29 [[ 9.99078172e-01 -3.85479050e-02 -1.88909036e-02 7.69103104e+02] [ 3.85518546e-02 9.99256589e-01 -1.55189413e-04 8.82331644e+00] [ 1.88828422e-02 -5.73233016e-04 9.99821539e-01 5.29473884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9992541539999 meters 0.02092551221242118 Centerline is valid? [True, True] Translation: X:769.13, Y:8.82, Z:5.30 [[ 9.99021507e-01 -4.05743382e-02 -1.75997788e-02 7.69133194e+02] [ 4.05780836e-02 9.99176360e-01 -1.44394652e-04 8.82158774e+00] [ 1.75911416e-02 -5.69911933e-04 9.99845101e-01 5.29589024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0292541539999 meters 0.021042235299697877 Centerline is valid? [True, True] Translation: X:769.16, Y:8.82, Z:5.30 [[ 9.98986256e-01 -4.17349243e-02 -1.68717798e-02 7.69164960e+02] [ 4.17385394e-02 9.99128558e-01 -1.37953335e-04 8.82142963e+00] [ 1.68628344e-02 -5.66389958e-04 9.99857652e-01 5.29677193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0592541539999 meters 0.022664055086397503 Centerline is valid? [True, True] Translation: X:769.20, Y:8.82, Z:5.30 [[ 9.98850060e-01 -4.51890065e-02 -1.60159855e-02 7.69195980e+02] [ 4.51927138e-02 9.98978279e-01 -1.30563960e-04 8.81901905e+00] [ 1.60055217e-02 -5.93392029e-04 9.99871727e-01 5.29743736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.089254154 meters 0.02399498612417037 Centerline is valid? [True, True] Translation: X:769.23, Y:8.82, Z:5.30 [[ 9.98778736e-01 -4.66874861e-02 -1.61652249e-02 7.69227485e+02] [ 4.66914660e-02 9.98909350e-01 -1.31332713e-04 8.81822515e+00] [ 1.61537259e-02 -6.23605727e-04 9.99869326e-01 5.29634671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1192541539999 meters 0.023779136404338628 Centerline is valid? [True, True] Translation: X:769.26, Y:8.82, Z:5.30 [[ 9.98676535e-01 -4.90158268e-02 -1.55765025e-02 7.69259744e+02] [ 4.90198179e-02 9.98797798e-01 -1.25701003e-04 8.81781459e+00] [ 1.55639377e-02 -6.38022672e-04 9.99878671e-01 5.29821132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1492541539999 meters 0.024440585294151707 Centerline is valid? [True, True] Translation: X:769.29, Y:8.82, Z:5.30 [[ 9.98494635e-01 -5.25683079e-02 -1.56536573e-02 7.69290994e+02] [ 5.25727869e-02 9.98617087e-01 -1.25516386e-04 8.81705940e+00] [ 1.56386078e-02 -6.97628951e-04 9.99877466e-01 5.29806965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1792541539999 meters 0.024440585294151707 Centerline is valid? [True, True] Translation: X:769.32, Y:8.82, Z:5.30 [[ 9.98498422e-01 -5.24963189e-02 -1.56536643e-02 7.69322715e+02] [ 5.25008028e-02 9.98620874e-01 -1.24638727e-04 8.81725110e+00] [ 1.56386190e-02 -6.97378369e-04 9.99877466e-01 5.29828940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.209254154 meters 0.02389025510659183 Centerline is valid? [True, True] Translation: X:769.35, Y:8.82, Z:5.30 [[ 9.98406085e-01 -5.41685614e-02 -1.58447506e-02 7.69354287e+02] [ 5.41733815e-02 9.98531536e-01 -1.25161110e-04 8.81791076e+00] [ 1.58282629e-02 -7.33402103e-04 9.99874456e-01 5.29878670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2392541539999 meters 0.024858089262629682 Centerline is valid? [True, True] Translation: X:769.39, Y:8.82, Z:5.30 [[ 9.98245526e-01 -5.71652735e-02 -1.54273088e-02 7.69385894e+02] [ 5.71702104e-02 9.98364439e-01 -1.21177048e-04 8.81705583e+00] [ 1.54090036e-02 -7.61018044e-04 9.99880985e-01 5.29955651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2692541539999 meters 0.026456954271645385 Centerline is valid? [True, True] Translation: X:769.42, Y:8.82, Z:5.30 [[ 9.98220156e-01 -5.76487613e-02 -1.52689114e-02 7.69417015e+02] [ 5.76536646e-02 9.98336637e-01 -1.19220478e-04 8.81612573e+00] [ 1.52503866e-02 -7.61300413e-04 9.99883416e-01 5.29861352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2992541539999 meters 0.024415173596402266 Centerline is valid? [True, True] Translation: X:769.45, Y:8.82, Z:5.30 [[ 9.98175101e-01 -5.85973359e-02 -1.45883834e-02 7.69449066e+02] [ 5.86019266e-02 9.98281424e-01 -1.12965761e-04 8.81876842e+00] [ 1.45699316e-02 -7.42147760e-04 9.99893577e-01 5.30117264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3292541539998 meters 0.025636110385128027 Centerline is valid? [True, True] Translation: X:769.48, Y:8.82, Z:5.30 [[ 9.98157587e-01 -5.87920138e-02 -1.49976744e-02 7.69479845e+02] [ 5.87969097e-02 9.98269959e-01 -1.14660381e-04 8.81858677e+00] [ 1.49784689e-02 -7.67367779e-04 9.99887522e-01 5.30090913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3592541539999 meters 0.025319291089752765 Centerline is valid? [True, True] Translation: X:769.51, Y:8.82, Z:5.30 [[ 9.98192126e-01 -5.82197980e-02 -1.49309759e-02 7.69512056e+02] [ 5.82246074e-02 9.98303502e-01 -1.12754556e-04 8.81974603e+00] [ 1.49122101e-02 -7.56799503e-04 9.99888520e-01 5.30079752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3892541539999 meters 0.025446104959319732 Centerline is valid? [True, True] Translation: X:769.54, Y:8.82, Z:5.30 [[ 9.98260946e-01 -5.66545277e-02 -1.62895292e-02 7.69543078e+02] [ 5.66600620e-02 9.98393521e-01 -1.21936643e-04 8.82082236e+00] [ 1.62702687e-02 -8.01241150e-04 9.99867309e-01 5.29979140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4192541539999 meters 0.025832778195425243 Centerline is valid? [True, True] Translation: X:769.57, Y:8.82, Z:5.30 [[ 9.98335761e-01 -5.52161425e-02 -1.66399042e-02 7.69574132e+02] [ 5.52217459e-02 9.98474108e-01 -1.22887826e-04 8.82127711e+00] [ 1.66212989e-02 -7.96201250e-04 9.99861540e-01 5.29917943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4492541539998 meters 0.02434117858163108 Centerline is valid? [True, True] Translation: X:769.61, Y:8.82, Z:5.30 [[ 9.98453132e-01 -5.29598815e-02 -1.69290840e-02 7.69606086e+02] [ 5.29653839e-02 9.98596341e-01 -1.23483531e-04 8.82434776e+00] [ 1.69118610e-02 -7.73362913e-04 9.99856685e-01 5.29953314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4792541539999 meters 0.022348344456257916 Centerline is valid? [True, True] Translation: X:769.64, Y:8.83, Z:5.30 [[ 9.98689281e-01 -4.81126010e-02 -1.74613261e-02 7.69636524e+02] [ 4.81177228e-02 9.98841663e-01 -1.26929696e-04 8.83078416e+00] [ 1.74472070e-02 -7.13435924e-04 9.99847531e-01 5.29991090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5092541539999 meters 0.0208070396630233 Centerline is valid? [True, True] Translation: X:769.67, Y:8.83, Z:5.30 [[ 9.98836627e-01 -4.49986432e-02 -1.73353687e-02 7.69668033e+02] [ 4.50032299e-02 9.98986834e-01 -1.25623690e-04 8.83490359e+00] [ 1.73234580e-02 -6.54670040e-04 9.99849723e-01 5.30078676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5392541539999 meters 0.021451150842034118 Centerline is valid? [True, True] Translation: X:769.70, Y:8.84, Z:5.30 [[ 9.98983802e-01 -4.16446671e-02 -1.72361415e-02 7.69698429e+02] [ 4.16487246e-02 9.99132308e-01 -1.23640590e-04 8.83534012e+00] [ 1.72263348e-02 -5.94348363e-04 9.99851439e-01 5.30082856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5692541539999 meters 0.019249227881907853 Centerline is valid? [True, True] Translation: X:769.73, Y:8.84, Z:5.30 [[ 9.99255202e-01 -3.48032280e-02 -1.66666171e-02 7.69728982e+02] [ 3.48060847e-02 9.99394078e-01 -1.18724575e-04 8.84244821e+00] [ 1.66606504e-02 -4.61463537e-04 9.99861095e-01 5.30151166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5992541539999 meters 0.01797493340893949 Centerline is valid? [True, True] Translation: X:769.76, Y:8.84, Z:5.30 [[ 9.99359098e-01 -3.20485146e-02 -1.59463241e-02 7.69760476e+02] [ 3.20507864e-02 9.99486235e-01 -1.13143606e-04 8.84493353e+00] [ 1.59417575e-02 -3.98021133e-04 9.99872843e-01 5.30278385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6292541539999 meters 0.01681086530346906 Centerline is valid? [True, True] Translation: X:769.79, Y:8.85, Z:5.30 [[ 9.99514128e-01 -2.73270540e-02 -1.49913142e-02 7.69790889e+02] [ 2.73285345e-02 9.99626500e-01 -1.06129570e-04 8.84901218e+00] [ 1.49886152e-02 -3.03612643e-04 9.99887618e-01 5.30391773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6592541539999 meters 0.01665447383315103 Centerline is valid? [True, True] Translation: X:769.82, Y:8.85, Z:5.30 [[ 9.99578197e-01 -2.50704463e-02 -1.46595209e-02 7.69821937e+02] [ 2.50716215e-02 9.99685652e-01 -1.03641875e-04 8.85065854e+00] [ 1.46575110e-02 -2.63939799e-04 9.99892538e-01 5.30407028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6892541539999 meters 0.016340416577556142 Centerline is valid? [True, True] Translation: X:769.85, Y:8.85, Z:5.30 [[ 9.99619485e-01 -2.34584260e-02 -1.45116569e-02 7.69852652e+02] [ 2.34594114e-02 9.99724785e-01 -1.02338339e-04 8.85184067e+00] [ 1.45100638e-02 -2.38135532e-04 9.99894695e-01 5.30442431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7192541539999 meters 0.015745204987114483 Centerline is valid? [True, True] Translation: X:769.88, Y:8.85, Z:5.30 [[ 9.99683031e-01 -2.05820022e-02 -1.44989397e-02 7.69883424e+02] [ 2.05826853e-02 9.99788149e-01 -1.02125405e-04 8.85423856e+00] [ 1.44979700e-02 -1.96334078e-04 9.99894880e-01 5.30419830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7492541539999 meters 0.016635143422760672 Centerline is valid? [True, True] Translation: X:769.91, Y:8.86, Z:5.30 [[ 9.99707753e-01 -1.90038358e-02 -1.49419596e-02 7.69913450e+02] [ 1.90043807e-02 9.99819395e-01 -1.05526921e-04 8.85519349e+00] [ 1.49412664e-02 -1.78466609e-04 9.99888357e-01 5.30268872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7792541539999 meters 0.015522586117381125 Centerline is valid? [True, True] Translation: X:769.94, Y:8.86, Z:5.30 [[ 9.99720697e-01 -1.78980435e-02 -1.54333127e-02 7.69941713e+02] [ 1.78984808e-02 9.99839803e-01 -1.09801151e-04 8.85608801e+00] [ 1.54328056e-02 -1.66462369e-04 9.99880893e-01 5.30302516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8092541539999 meters 0.016551445830855924 Centerline is valid? [True, True] Translation: X:769.97, Y:8.86, Z:5.30 [[ 9.99724623e-01 -1.72462919e-02 -1.59136486e-02 7.69970711e+02] [ 1.72466310e-02 9.99851259e-01 -1.15937605e-04 8.85718396e+00] [ 1.59132811e-02 -1.58551147e-04 9.99873363e-01 5.30235507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.839254154 meters 0.015176039518535116 Centerline is valid? [True, True] Translation: X:770.00, Y:8.86, Z:5.30 [[ 9.99732581e-01 -1.72127236e-02 -1.54430555e-02 7.69998535e+02] [ 1.72129751e-02 9.99851839e-01 -1.16642606e-04 8.85755680e+00] [ 1.54427752e-02 -1.49209517e-04 9.99880742e-01 5.30431911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8692541539999 meters 0.016857922866443435 Centerline is valid? [True, True] Translation: X:770.03, Y:8.86, Z:5.30 [[ 9.99733573e-01 -1.69182631e-02 -1.57020684e-02 7.70027180e+02] [ 1.69184205e-02 9.99856866e-01 -1.22824001e-04 8.85725281e+00] [ 1.57018988e-02 -1.42862918e-04 9.99876707e-01 5.30284099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8992541539999 meters 0.015100286593198826 Centerline is valid? [True, True] Translation: X:770.05, Y:8.86, Z:5.30 [[ 9.99739290e-01 -1.73868203e-02 -1.48003243e-02 7.70054627e+02] [ 1.73869538e-02 9.99848828e-01 -1.19667345e-04 8.85671395e+00] [ 1.48001676e-02 -1.37696408e-04 9.99890462e-01 5.30491413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9292541539999 meters 0.016093243267714098 Centerline is valid? [True, True] Translation: X:770.08, Y:8.86, Z:5.30 [[ 9.99740316e-01 -1.76720879e-02 -1.43874529e-02 7.70083503e+02] [ 1.76721890e-02 9.99843827e-01 -1.20119670e-04 8.85523516e+00] [ 1.43873287e-02 -1.34169309e-04 9.99896488e-01 5.30467581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.959254154 meters 0.015001624734362534 Centerline is valid? [True, True] Translation: X:770.11, Y:8.85, Z:5.31 [[ 9.99730160e-01 -1.86119543e-02 -1.38996949e-02 7.70112219e+02] [ 1.86120916e-02 9.99826773e-01 -1.19493215e-04 8.85477998e+00] [ 1.38995111e-02 -1.39241423e-04 9.99903387e-01 5.30637547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9892541539999 meters 0.018368692633160013 Centerline is valid? [True, True] Translation: X:770.14, Y:8.85, Z:5.30 [[ 9.99689628e-01 -1.96649584e-02 -1.52949976e-02 7.70140930e+02] [ 1.96652111e-02 9.99806612e-01 -1.33886948e-04 8.85166984e+00] [ 1.52946726e-02 -1.66933964e-04 9.99883016e-01 5.30275121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0192541539999 meters 0.015678291332997148 Centerline is valid? [True, True] Translation: X:770.17, Y:8.85, Z:5.31 [[ 9.99651986e-01 -2.17470874e-02 -1.49322065e-02 7.70169305e+02] [ 2.17475260e-02 9.99763486e-01 -1.33026593e-04 8.85028855e+00] [ 1.49315677e-02 -1.91758250e-04 9.99888500e-01 5.30506785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0492541539999 meters 0.015748767660983903 Centerline is valid? [True, True] Translation: X:770.20, Y:8.85, Z:5.31 [[ 9.99619956e-01 -2.30736040e-02 -1.50848504e-02 7.70199198e+02] [ 2.30741726e-02 9.99733747e-01 -1.36378635e-04 8.84894479e+00] [ 1.50839808e-02 -2.11743637e-04 9.99886208e-01 5.30511218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0792541539998 meters 0.01609971337684307 Centerline is valid? [True, True] Translation: X:770.23, Y:8.85, Z:5.31 [[ 9.99514369e-01 -2.68313478e-02 -1.58463109e-02 7.70229181e+02] [ 2.68324406e-02 9.99639935e-01 -1.43682625e-04 8.84528098e+00] [ 1.58444604e-02 -2.81582348e-04 9.99874429e-01 5.30505587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1092541539999 meters 0.016416757675821982 Centerline is valid? [True, True] Translation: X:770.26, Y:8.84, Z:5.31 [[ 9.99450513e-01 -2.90385543e-02 -1.59823101e-02 7.70259316e+02] [ 2.90399460e-02 9.99578241e-01 -1.45043342e-04 8.84346741e+00] [ 1.59797813e-02 -3.19161780e-04 9.99872264e-01 5.30539904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1392541539999 meters 0.018778331880020815 Centerline is valid? [True, True] Translation: X:770.29, Y:8.84, Z:5.30 [[ 9.99301787e-01 -3.36080180e-02 -1.63229747e-02 7.70289458e+02] [ 3.36100760e-02 9.99435011e-01 -1.48309618e-04 8.83935885e+00] [ 1.63187368e-02 -4.00410355e-04 9.99866760e-01 5.30400918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1692541539999 meters 0.01829392376520827 Centerline is valid? [True, True] Translation: X:770.32, Y:8.84, Z:5.31 [[ 9.99201338e-01 -3.66260984e-02 -1.59754578e-02 7.70319770e+02] [ 3.66284557e-02 9.99328942e-01 -1.45111187e-04 8.83619512e+00] [ 1.59700522e-02 -4.40161058e-04 9.99872374e-01 5.30540712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1992541539998 meters 0.019411705293474874 Centerline is valid? [True, True] Translation: X:770.35, Y:8.83, Z:5.31 [[ 9.99004811e-01 -4.16637957e-02 -1.59221955e-02 7.70351018e+02] [ 4.16667837e-02 9.99131552e-01 -1.44167987e-04 8.83156555e+00] [ 1.59143745e-02 -5.19402164e-04 9.99873223e-01 5.30504884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2292541539999 meters 0.019979708998656472 Centerline is valid? [True, True] Translation: X:770.38, Y:8.83, Z:5.31 [[ 9.98917366e-01 -4.37552515e-02 -1.57979113e-02 7.70383372e+02] [ 4.37584681e-02 9.99042129e-01 -1.42166636e-04 8.82990918e+00] [ 1.57889995e-02 -5.49279679e-04 9.99875195e-01 5.30502967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2592541539999 meters 0.0204496225166756 Centerline is valid? [True, True] Translation: X:770.42, Y:8.83, Z:5.30 [[ 9.98857383e-01 -4.50475846e-02 -1.59575686e-02 7.70415009e+02] [ 4.50510471e-02 9.98984676e-01 -1.42608648e-04 8.82800407e+00] [ 1.59477906e-02 -5.76459472e-04 9.99872660e-01 5.30486788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2892541539999 meters 0.021221578210828082 Centerline is valid? [True, True] Translation: X:770.45, Y:8.83, Z:5.30 [[ 9.98780263e-01 -4.67161083e-02 -1.59871990e-02 7.70445776e+02] [ 4.67198087e-02 9.98908023e-01 -1.42151223e-04 8.82538181e+00] [ 1.59763821e-02 -6.04941042e-04 9.99872186e-01 5.30492522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3192541539999 meters 0.022009161781240343 Centerline is valid? [True, True] Translation: X:770.48, Y:8.82, Z:5.30 [[ 9.98755438e-01 -4.71018535e-02 -1.64009400e-02 7.70476665e+02] [ 4.71058127e-02 9.98889895e-01 -1.45047593e-04 8.82415117e+00] [ 1.63895652e-02 -6.27712534e-04 9.99865485e-01 5.30457437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3492541539999 meters 0.021237282330429118 Centerline is valid? [True, True] Translation: X:770.51, Y:8.83, Z:5.31 [[ 9.98751135e-01 -4.72481552e-02 -1.62413536e-02 7.70509072e+02] [ 4.72520743e-02 9.98882987e-01 -1.42570720e-04 8.82541827e+00] [ 1.62299480e-02 -6.25044981e-04 9.99868090e-01 5.30515707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3792541539999 meters 0.021561585516965177 Centerline is valid? [True, True] Translation: X:770.54, Y:8.83, Z:5.31 [[ 9.98760163e-01 -4.70941669e-02 -1.61331081e-02 7.70540587e+02] [ 4.70980403e-02 9.98890262e-01 -1.39977182e-04 8.82501960e+00] [ 1.61217966e-02 -6.20034141e-04 9.99869843e-01 5.30544329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4092541539999 meters 0.022224512369299707 Centerline is valid? [True, True] Translation: X:770.57, Y:8.82, Z:5.31 [[ 9.98766069e-01 -4.71597605e-02 -1.55658933e-02 7.70571871e+02] [ 4.71633944e-02 9.98887179e-01 -1.33760386e-04 8.82442069e+00] [ 1.55548793e-02 -6.00545030e-04 9.99878835e-01 5.30536163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4392541539999 meters 0.02392567968025322 Centerline is valid? [True, True] Translation: X:770.60, Y:8.82, Z:5.30 [[ 9.98753192e-01 -4.73338293e-02 -1.58609541e-02 7.70604255e+02] [ 4.73376406e-02 9.98878936e-01 -1.35262071e-04 8.82437052e+00] [ 1.58495755e-02 -6.15726721e-04 9.99874198e-01 5.30402807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4692541539999 meters 0.02235362299314217 Centerline is valid? [True, True] Translation: X:770.64, Y:8.82, Z:5.31 [[ 9.98737176e-01 -4.80997032e-02 -1.45076188e-02 7.70636329e+02] [ 4.81029871e-02 9.98842374e-01 -1.22710713e-04 8.82463757e+00] [ 1.44967267e-02 -5.75304046e-04 9.99894751e-01 5.30654062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4992541539999 meters 0.02410169918261986 Centerline is valid? [True, True] Translation: X:770.67, Y:8.82, Z:5.31 [[ 9.98698642e-01 -4.89016139e-02 -1.44794577e-02 7.70667506e+02] [ 4.89049887e-02 9.98803428e-01 -1.21118660e-04 8.82266462e+00] [ 1.44680549e-02 -5.87156674e-04 9.99895160e-01 5.30646186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5292541539999 meters 0.02606383549638296 Centerline is valid? [True, True] Translation: X:770.70, Y:8.82, Z:5.30 [[ 9.98716059e-01 -4.83365299e-02 -1.51595689e-02 7.70699245e+02] [ 4.83401855e-02 9.98830922e-01 -1.25407189e-04 8.82257398e+00] [ 1.51479079e-02 -6.07570200e-04 9.99885079e-01 5.30420057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5592541539999 meters 0.024389582853713666 Centerline is valid? [True, True] Translation: X:770.73, Y:8.82, Z:5.31 [[ 9.98687590e-01 -4.90814036e-02 -1.46326066e-02 7.70730934e+02] [ 4.90849022e-02 9.98794602e-01 -1.20166322e-04 8.82292537e+00] [ 1.46208664e-02 -5.98231448e-04 9.99892930e-01 5.30671410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.589254154 meters 0.023051101461418685 Centerline is valid? [True, True] Translation: X:770.76, Y:8.83, Z:5.31 [[ 9.98718876e-01 -4.81575436e-02 -1.55388906e-02 7.70763132e+02] [ 4.81613931e-02 9.98839559e-01 -1.26597724e-04 8.82586118e+00] [ 1.55269552e-02 -6.21939080e-04 9.99879256e-01 5.30670870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6192541539999 meters 0.024089107906391405 Centerline is valid? [True, True] Translation: X:770.79, Y:8.82, Z:5.31 [[ 9.98762010e-01 -4.70294525e-02 -1.62073612e-02 7.70794820e+02] [ 4.70335113e-02 9.98893303e-01 -1.30859712e-04 8.82499429e+00] [ 1.61955789e-02 -6.31591398e-04 9.99868644e-01 5.30622001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6492541539999 meters 0.023882095288368682 Centerline is valid? [True, True] Translation: X:770.83, Y:8.83, Z:5.31 [[ 9.98886376e-01 -4.41181798e-02 -1.67210629e-02 7.70825593e+02] [ 4.41221069e-02 9.99026137e-01 -1.34156344e-04 8.82750554e+00] [ 1.67106976e-02 -6.03761579e-04 9.99860184e-01 5.30642509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6792541539999 meters 0.0230233343879394 Centerline is valid? [True, True] Translation: X:770.86, Y:8.83, Z:5.31 [[ 9.98971392e-01 -4.21944948e-02 -1.66066936e-02 7.70856999e+02] [ 4.21981123e-02 9.99109254e-01 -1.32669513e-04 8.82994945e+00] [ 1.65974992e-02 -5.68238075e-04 9.99862091e-01 5.30738458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.709254154 meters 0.021558121167358366 Centerline is valid? [True, True] Translation: X:770.89, Y:8.83, Z:5.31 [[ 9.99153199e-01 -3.79263985e-02 -1.59522008e-02 7.70888438e+02] [ 3.79292013e-02 9.99280421e-01 -1.26919578e-04 8.83400212e+00] [ 1.59455356e-02 -4.78242135e-04 9.99872747e-01 5.30889744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7392541539999 meters 0.01852868561103228 Centerline is valid? [True, True] Translation: X:770.92, Y:8.84, Z:5.31 [[ 9.99233973e-01 -3.57788893e-02 -1.58536587e-02 7.70919519e+02] [ 3.57813962e-02 9.99359633e-01 -1.25584222e-04 8.84033810e+00] [ 1.58479998e-02 -4.41778023e-04 9.99874315e-01 5.31080578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7692541539999 meters 0.01988050786681107 Centerline is valid? [True, True] Translation: X:770.95, Y:8.84, Z:5.31 [[ 9.99364828e-01 -3.18001511e-02 -1.60838921e-02 7.70949563e+02] [ 3.18022232e-02 9.99494173e-01 -1.26984473e-04 8.83943654e+00] [ 1.60797945e-02 -3.84599710e-04 9.99870638e-01 5.30931727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7992541539999 meters 0.019887198594966623 Centerline is valid? [True, True] Translation: X:770.98, Y:8.84, Z:5.31 [[ 9.99420482e-01 -2.97229540e-02 -1.65905355e-02 7.70980024e+02] [ 2.97248748e-02 9.99558110e-01 -1.30854777e-04 8.84135998e+00] [ 1.65870937e-02 -3.62372648e-04 9.99862359e-01 5.30853047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8292541539998 meters 0.017169804678235666 Centerline is valid? [True, True] Translation: X:771.01, Y:8.85, Z:5.31 [[ 9.99469358e-01 -2.82416374e-02 -1.62299963e-02 7.71010807e+02] [ 2.82432805e-02 9.99601071e-01 -1.28011090e-04 8.84683023e+00] [ 1.62271369e-02 -3.30445176e-04 9.99868277e-01 5.31108429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8592541539999 meters 0.016679072815805083 Centerline is valid? [True, True] Translation: X:771.04, Y:8.85, Z:5.31 [[ 9.99515923e-01 -2.66384244e-02 -1.60721491e-02 7.71040847e+02] [ 2.66398284e-02 9.99645089e-01 -1.26766100e-04 8.84892730e+00] [ 1.60698218e-02 -3.01454559e-04 9.99870827e-01 5.31188783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8892541539999 meters 0.01752537599498428 Centerline is valid? [True, True] Translation: X:771.07, Y:8.85, Z:5.31 [[ 9.99589709e-01 -2.37654355e-02 -1.59880606e-02 7.71070199e+02] [ 2.37664549e-02 9.99717530e-01 -1.26264855e-04 8.84888942e+00] [ 1.59865452e-02 -2.53766471e-04 9.99872175e-01 5.31077843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9192541539999 meters 0.016251986479581676 Centerline is valid? [True, True] Translation: X:771.10, Y:8.85, Z:5.31 [[ 9.99606265e-01 -2.28268464e-02 -1.63171941e-02 7.71100227e+02] [ 2.28277757e-02 9.99739404e-01 -1.29321078e-04 8.85356486e+00] [ 1.63158939e-02 -2.43215088e-04 9.99866857e-01 5.31322683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9492541539998 meters 0.0161289002716002 Centerline is valid? [True, True] Translation: X:771.13, Y:8.85, Z:5.31 [[ 9.99601604e-01 -2.33580673e-02 -1.58440284e-02 7.71128540e+02] [ 2.33589707e-02 9.99727134e-01 -1.28064453e-04 8.85431913e+00] [ 1.58426965e-02 -2.42086764e-04 9.99874467e-01 5.31388328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9792541539999 meters 0.018463865636896476 Centerline is valid? [True, True] Translation: X:771.16, Y:8.85, Z:5.31 [[ 9.99587359e-01 -2.37618073e-02 -1.61396653e-02 7.71157364e+02] [ 2.37627605e-02 9.99717617e-01 -1.32736389e-04 8.85313435e+00] [ 1.61382618e-02 -2.50841386e-04 9.99869738e-01 5.31188359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0092541539999 meters 0.0165982993970831 Centerline is valid? [True, True] Translation: X:771.19, Y:8.85, Z:5.32 [[ 9.99512091e-01 -2.74851345e-02 -1.48373419e-02 7.71187407e+02] [ 2.74863407e-02 9.99622172e-01 -1.22660675e-04 8.85329677e+00] [ 1.48351073e-02 -2.85223406e-04 9.99889913e-01 5.31542240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0392541539999 meters 0.0173891713350351 Centerline is valid? [True, True] Translation: X:771.22, Y:8.85, Z:5.32 [[ 9.99463366e-01 -2.93815262e-02 -1.44812464e-02 7.71218008e+02] [ 2.93828762e-02 9.99568223e-01 -1.19573605e-04 8.85116262e+00] [ 1.44785070e-02 -3.05991233e-04 9.99895134e-01 5.31512019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0692541539999 meters 0.0173891713350351 Centerline is valid? [True, True] Translation: X:771.25, Y:8.85, Z:5.32 [[ 9.99464419e-01 -2.93456815e-02 -1.44812516e-02 7.71248860e+02] [ 2.93470369e-02 9.99569276e-01 -1.18942387e-04 8.85138602e+00] [ 1.44785046e-02 -3.06103142e-04 9.99895134e-01 5.31533387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0992541539999 meters 0.019436297680821522 Centerline is valid? [True, True] Translation: X:771.28, Y:8.85, Z:5.31 [[ 9.99320061e-01 -3.38977482e-02 -1.45037058e-02 7.71279116e+02] [ 3.38995924e-02 9.99425237e-01 -1.18743144e-04 8.84677316e+00] [ 1.44993947e-02 -3.73007309e-04 9.99894809e-01 5.31445748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1292541539999 meters 0.020018303284562774 Centerline is valid? [True, True] Translation: X:771.31, Y:8.85, Z:5.31 [[ 9.99235278e-01 -3.61058781e-02 -1.50075053e-02 7.71310833e+02] [ 3.61081079e-02 9.99347882e-01 -1.22448607e-04 8.84638338e+00] [ 1.50021397e-02 -4.19537652e-04 9.99887374e-01 5.31390309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1592541539999 meters 0.021911614049820966 Centerline is valid? [True, True] Translation: X:771.34, Y:8.84, Z:5.31 [[ 9.99149781e-01 -3.81939448e-02 -1.55221538e-02 7.71341533e+02] [ 3.81966026e-02 9.99270236e-01 -1.25308697e-04 8.84262329e+00] [ 1.55156123e-02 -4.67691384e-04 9.99879516e-01 5.31283204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1892541539999 meters 0.0219818162836952 Centerline is valid? [True, True] Translation: X:771.37, Y:8.84, Z:5.31 [[ 9.98964853e-01 -4.28300141e-02 -1.53235704e-02 7.71372818e+02] [ 4.28331667e-02 9.99082231e-01 -1.22549224e-04 8.83999824e+00] [ 1.53147557e-02 -5.33934677e-04 9.99882580e-01 5.31423325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2192541539999 meters 0.023830064737430295 Centerline is valid? [True, True] Translation: X:771.40, Y:8.84, Z:5.31 [[ 9.98888202e-01 -4.46664037e-02 -1.50755236e-02 7.71404066e+02] [ 4.46696791e-02 9.99001805e-01 -1.19561200e-04 8.83681293e+00] [ 1.50658157e-02 -5.53990532e-04 9.99886351e-01 5.31431535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2492541539999 meters 0.024978131365853872 Centerline is valid? [True, True] Translation: X:771.43, Y:8.83, Z:5.31 [[ 9.98717367e-01 -4.84846929e-02 -1.45895829e-02 7.71434769e+02] [ 4.84881783e-02 9.98823750e-01 -1.14945616e-04 8.83487342e+00] [ 1.45779950e-02 -5.92624115e-04 9.99893560e-01 5.31462178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2792541539999 meters 0.025667943793567932 Centerline is valid? [True, True] Translation: X:771.47, Y:8.83, Z:5.31 [[ 9.98514404e-01 -5.25578612e-02 -1.43755207e-02 7.71465711e+02] [ 5.25616699e-02 9.98617674e-01 -1.13008530e-04 8.83365111e+00] [ 1.43615885e-02 -6.42760729e-04 9.99896660e-01 5.31498465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3092541539999 meters 0.02473810450234588 Centerline is valid? [True, True] Translation: X:771.50, Y:8.84, Z:5.31 [[ 9.98430923e-01 -5.38803847e-02 -1.52510794e-02 7.71498049e+02] [ 5.38848369e-02 9.98547150e-01 -1.19144560e-04 8.83607816e+00] [ 1.52353414e-02 -7.02844312e-04 9.99883688e-01 5.31441301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.339254154 meters 0.02473810450234588 Centerline is valid? [True, True] Translation: X:771.53, Y:8.84, Z:5.31 [[ 9.98434917e-01 -5.38063284e-02 -1.52510881e-02 7.71529773e+02] [ 5.38107893e-02 9.98551143e-01 -1.18013926e-04 8.83626513e+00] [ 1.52353414e-02 -7.02843865e-04 9.99883688e-01 5.31463270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3692541539999 meters 0.025766211396407255 Centerline is valid? [True, True] Translation: X:771.56, Y:8.83, Z:5.31 [[ 9.98251689e-01 -5.69848917e-02 -1.56935647e-02 7.71559973e+02] [ 5.69900270e-02 9.98374740e-01 -1.20162123e-04 8.83418694e+00] [ 1.56749060e-02 -7.74424634e-04 9.99876841e-01 5.31455620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3992541539999 meters 0.02732049775417674 Centerline is valid? [True, True] Translation: X:771.59, Y:8.83, Z:5.31 [[ 9.98127695e-01 -5.90313339e-02 -1.60126959e-02 7.71590975e+02] [ 5.90369604e-02 9.98255790e-01 -1.21505547e-04 8.83260946e+00] [ 1.59919391e-02 -8.24062845e-04 9.99871781e-01 5.31391048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4292541539999 meters 0.027296258757410926 Centerline is valid? [True, True] Translation: X:771.62, Y:8.83, Z:5.31 [[ 9.98095563e-01 -5.95129676e-02 -1.62312589e-02 7.71623588e+02] [ 5.95188295e-02 9.98227176e-01 -1.22101129e-04 8.83328956e+00] [ 1.62097503e-02 -8.44196934e-04 9.99868257e-01 5.31389630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.459254154 meters 0.026359774095314335 Centerline is valid? [True, True] Translation: X:771.66, Y:8.84, Z:5.31 [[ 9.98088634e-01 -5.95941270e-02 -1.63590792e-02 7.71655571e+02] [ 5.96001123e-02 9.98222326e-01 -1.21854480e-04 8.83570806e+00] [ 1.63372599e-02 -8.53381387e-04 9.99866174e-01 5.31403335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4892541539999 meters 0.02721814014658019 Centerline is valid? [True, True] Translation: X:771.69, Y:8.84, Z:5.31 [[ 9.98078893e-01 -5.94137715e-02 -1.75649468e-02 7.71686804e+02] [ 5.94206641e-02 9.98233023e-01 -1.29697608e-04 8.83678670e+00] [ 1.75416158e-02 -9.14272359e-04 9.99845716e-01 5.31402922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5192541539999 meters 0.02819909655948172 Centerline is valid? [True, True] Translation: X:771.72, Y:8.84, Z:5.31 [[ 9.98161619e-01 -5.80583177e-02 -1.73957845e-02 7.71718166e+02] [ 5.80648893e-02 9.98312803e-01 -1.27501136e-04 8.83838018e+00] [ 1.73738369e-02 -8.82817559e-04 9.99848674e-01 5.31412530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5492541539999 meters 0.02717958293089019 Centerline is valid? [True, True] Translation: X:771.75, Y:8.84, Z:5.31 [[ 9.98193156e-01 -5.75240833e-02 -1.73609435e-02 7.71749968e+02] [ 5.75305675e-02 9.98343737e-01 -1.26118834e-04 8.84169585e+00] [ 1.73394440e-02 -8.72893973e-04 9.99849280e-01 5.31489286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5792541539998 meters 0.027181530778069535 Centerline is valid? [True, True] Translation: X:771.78, Y:8.84, Z:5.32 [[ 9.98294616e-01 -5.60079192e-02 -1.64612360e-02 7.71780209e+02] [ 5.60135536e-02 9.98430001e-01 -1.18939957e-04 8.84488587e+00] [ 1.64420535e-02 -8.03315207e-04 9.99864498e-01 5.31617834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6092541539999 meters 0.02712232317347336 Centerline is valid? [True, True] Translation: X:771.81, Y:8.85, Z:5.32 [[ 9.98333278e-01 -5.54424452e-02 -1.60250275e-02 7.71812135e+02] [ 5.54477245e-02 9.98461585e-01 -1.15021102e-04 8.84690930e+00] [ 1.60067514e-02 -7.73721917e-04 9.99871584e-01 5.31672082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6392541539999 meters 0.026243097850673695 Centerline is valid? [True, True] Translation: X:771.84, Y:8.85, Z:5.32 [[ 9.98362894e-01 -5.50282106e-02 -1.56022049e-02 7.71844525e+02] [ 5.50331816e-02 9.98484520e-01 -1.10881761e-04 8.84978550e+00] [ 1.55846617e-02 -7.47938742e-04 9.99878272e-01 5.31768777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6692541539999 meters 0.026158553231065532 Centerline is valid? [True, True] Translation: X:771.88, Y:8.85, Z:5.32 [[ 9.98383516e-01 -5.48699715e-02 -1.48202715e-02 7.71876426e+02] [ 5.48744547e-02 9.98493257e-01 -1.04282475e-04 8.85273035e+00] [ 1.48036631e-02 -7.09140412e-04 9.99890168e-01 5.31846084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6992541539998 meters 0.025269631160774454 Centerline is valid? [True, True] Translation: X:771.91, Y:8.86, Z:5.32 [[ 9.98383374e-01 -5.48593022e-02 -1.48692642e-02 7.71908705e+02] [ 5.48638300e-02 9.98493840e-01 -1.03545159e-04 8.85564266e+00] [ 1.48525491e-02 -7.12407017e-04 9.99889441e-01 5.31887471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7292541539999 meters 0.02742919035113536 Centerline is valid? [True, True] Translation: X:771.94, Y:8.85, Z:5.32 [[ 9.98385292e-01 -5.47601973e-02 -1.51039660e-02 7.71940161e+02] [ 5.47648724e-02 9.98499273e-01 -1.04218375e-04 8.85404412e+00] [ 1.50870061e-02 -7.23116677e-04 9.99885923e-01 5.31845508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7592541539999 meters 0.026132939658348096 Centerline is valid? [True, True] Translation: X:771.97, Y:8.86, Z:5.32 [[ 9.98399974e-01 -5.43813162e-02 -1.54972168e-02 7.71971998e+02] [ 5.43862080e-02 9.98519969e-01 -1.05922456e-04 8.85805331e+00] [ 1.54800407e-02 -7.37081880e-04 9.99879905e-01 5.31823996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7892541539999 meters 0.024587138163709065 Centerline is valid? [True, True] Translation: X:772.00, Y:8.86, Z:5.32 [[ 9.98377919e-01 -5.46161633e-02 -1.60812384e-02 7.72003749e+02] [ 5.46214805e-02 9.98507127e-01 -1.08715883e-04 8.86271653e+00] [ 1.60631687e-02 -7.69841510e-04 9.99870683e-01 5.31902714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8192541539999 meters 0.026853722477348383 Centerline is valid? [True, True] Translation: X:772.04, Y:8.86, Z:5.32 [[ 9.98389100e-01 -5.43136987e-02 -1.64081423e-02 7.72035125e+02] [ 5.43192107e-02 9.98523616e-01 -1.09881559e-04 8.86125058e+00] [ 1.63898857e-02 -7.81572788e-04 9.99865371e-01 5.31803906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8492541539999 meters 0.02378048735641795 Centerline is valid? [True, True] Translation: X:772.07, Y:8.87, Z:5.32 [[ 9.98386170e-01 -5.42030456e-02 -1.69435742e-02 7.72067724e+02] [ 5.42089267e-02 9.98529609e-01 -1.12326030e-04 8.86900188e+00] [ 1.69247490e-02 -8.06348218e-04 9.99856441e-01 5.31983233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8792541539999 meters 0.026327661723844934 Centerline is valid? [True, True] Translation: X:772.10, Y:8.87, Z:5.32 [[ 9.98406217e-01 -5.35932571e-02 -1.76858231e-02 7.72098619e+02] [ 5.35996032e-02 9.98562501e-01 -1.15333578e-04 8.86820056e+00] [ 1.76665808e-02 -8.32803337e-04 9.99843587e-01 5.31801962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9092541539999 meters 0.027158473454288193 Centerline is valid? [True, True] Translation: X:772.13, Y:8.87, Z:5.32 [[ 9.98423332e-01 -5.32097737e-02 -1.78765253e-02 7.72129626e+02] [ 5.32162227e-02 9.98583006e-01 -1.15092960e-04 8.86975772e+00] [ 1.78573185e-02 -8.36409655e-04 9.99840196e-01 5.31755148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9392541539999 meters 0.024343920095012413 Centerline is valid? [True, True] Translation: X:772.16, Y:8.87, Z:5.32 [[ 9.98430430e-01 -5.32028582e-02 -1.74966574e-02 7.72161576e+02] [ 5.32090548e-02 9.98583389e-01 -1.11505897e-04 8.87466239e+00] [ 1.74778038e-02 -8.19649720e-04 9.99846916e-01 5.31964522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9692541539999 meters 0.02353272856285283 Centerline is valid? [True, True] Translation: X:772.19, Y:8.88, Z:5.32 [[ 9.98520532e-01 -5.17082585e-02 -1.68227206e-02 7.72194268e+02] [ 5.17138021e-02 9.98661941e-01 -1.05606756e-04 8.87888428e+00] [ 1.68056715e-02 -7.64516327e-04 9.99858482e-01 5.31997479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9992541539999 meters 0.023751242417341813 Centerline is valid? [True, True] Translation: X:772.23, Y:8.88, Z:5.32 [[ 9.98582120e-01 -5.05118047e-02 -1.68019844e-02 7.72226028e+02] [ 5.05171909e-02 9.98723186e-01 -1.03974862e-04 8.88004211e+00] [ 1.67857834e-02 -7.44961616e-04 9.99858831e-01 5.32028569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0292541539999 meters 0.022128859938411762 Centerline is valid? [True, True] Translation: X:772.26, Y:8.88, Z:5.32 [[ 9.98669313e-01 -4.88907747e-02 -1.64102188e-02 7.72257841e+02] [ 4.88957138e-02 9.98803884e-01 -1.00349188e-04 8.88404476e+00] [ 1.63954964e-02 -7.02173707e-04 9.99865338e-01 5.32110556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0592541539999 meters 0.02147137094327864 Centerline is valid? [True, True] Translation: X:772.29, Y:8.89, Z:5.32 [[ 9.98827203e-01 -4.56211855e-02 -1.62149982e-02 7.72289376e+02] [ 4.56255915e-02 9.98958606e-01 -9.83019096e-05 8.88819731e+00] [ 1.62025967e-02 -6.41632264e-04 9.99868523e-01 5.32147862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.089254154 meters 0.02107948353932574 Centerline is valid? [True, True] Translation: X:772.32, Y:8.89, Z:5.32 [[ 9.98912258e-01 -4.36382395e-02 -1.64318163e-02 7.72321021e+02] [ 4.36425118e-02 9.99047207e-01 -9.86630070e-05 8.89013119e+00] [ 1.64204656e-02 -6.18570050e-04 9.99864984e-01 5.32156499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1192541539999 meters 0.020257899467952197 Centerline is valid? [True, True] Translation: X:772.35, Y:8.89, Z:5.32 [[ 9.99062496e-01 -4.00605525e-02 -1.64097937e-02 7.72351702e+02] [ 4.00643453e-02 9.99197097e-01 -9.76819284e-05 8.89345944e+00] [ 1.64005315e-02 -5.59857291e-04 9.99865345e-01 5.32146679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1492541539999 meters 0.019738041889680532 Centerline is valid? [True, True] Translation: X:772.38, Y:8.90, Z:5.32 [[ 9.99118524e-01 -3.86543823e-02 -1.63711456e-02 7.72384177e+02] [ 3.86579840e-02 9.99252496e-01 -9.65204835e-05 8.89517834e+00] [ 1.63626390e-02 -5.36440080e-04 9.99865979e-01 5.32149566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1792541539999 meters 0.020600854575332655 Centerline is valid? [True, True] Translation: X:772.42, Y:8.90, Z:5.32 [[ 9.99159787e-01 -3.73106679e-02 -1.69597858e-02 7.72416155e+02] [ 3.73143609e-02 9.99303572e-01 -9.87521804e-05 8.89633244e+00] [ 1.69516590e-02 -5.34174359e-04 9.99856168e-01 5.31996054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.209254154 meters 0.017976305624488532 Centerline is valid? [True, True] Translation: X:772.45, Y:8.90, Z:5.32 [[ 9.99250378e-01 -3.54173515e-02 -1.56298695e-02 7.72447788e+02] [ 3.54202687e-02 9.99372501e-01 -9.02292687e-05 8.90054340e+00] [ 1.56232575e-02 -4.63452548e-04 9.99877842e-01 5.32242749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2392541539999 meters 0.01746086336847424 Centerline is valid? [True, True] Translation: X:772.48, Y:8.90, Z:5.32 [[ 9.99365913e-01 -3.21719165e-02 -1.52558056e-02 7.72477881e+02] [ 3.21743239e-02 9.99482269e-01 -8.76692422e-05 8.90379290e+00] [ 1.52507277e-02 -4.03231579e-04 9.99883620e-01 5.32242734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2692541539999 meters 0.01746019585599992 Centerline is valid? [True, True] Translation: X:772.51, Y:8.91, Z:5.32 [[ 9.99445252e-01 -2.98066361e-02 -1.48577368e-02 7.72508999e+02] [ 2.98086665e-02 9.99555619e-01 -8.48283026e-05 8.90506483e+00] [ 1.48536628e-02 -3.58108078e-04 9.99889614e-01 5.32257791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2992541539999 meters 0.017350618521075716 Centerline is valid? [True, True] Translation: X:772.54, Y:8.91, Z:5.32 [[ 9.99539678e-01 -2.66123693e-02 -1.45675376e-02 7.72540856e+02] [ 2.66139934e-02 9.99645782e-01 -8.23996037e-05 8.90780436e+00] [ 1.45645703e-02 -3.05338675e-04 9.99893884e-01 5.32201297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3292541539998 meters 0.01606829201948218 Centerline is valid? [True, True] Translation: X:772.57, Y:8.91, Z:5.32 [[ 9.99618895e-01 -2.35699343e-02 -1.43709008e-02 7.72572215e+02] [ 2.35712095e-02 9.99722157e-01 -8.06617831e-05 8.91153938e+00] [ 1.43688092e-02 -2.58108472e-04 9.99896730e-01 5.32316219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3592541539999 meters 0.014483897653135779 Centerline is valid? [True, True] Translation: X:772.60, Y:8.92, Z:5.32 [[ 9.99749392e-01 -1.74817280e-02 -1.39836758e-02 7.72603306e+02] [ 1.74823451e-02 9.99847169e-01 -7.81219865e-05 8.91759235e+00] [ 1.39829044e-02 -1.66365037e-04 9.99902221e-01 5.32449484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3892541539999 meters 0.013881675405995206 Centerline is valid? [True, True] Translation: X:772.63, Y:8.92, Z:5.33 [[ 9.99823160e-01 -1.29392776e-02 -1.36463772e-02 7.72632507e+02] [ 1.29394404e-02 9.99916279e-01 -7.63648029e-05 8.92155654e+00] [ 1.36462228e-02 -1.00225186e-04 9.99906881e-01 5.32516274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4192541539999 meters 0.014062869861284303 Centerline is valid? [True, True] Translation: X:772.66, Y:8.92, Z:5.32 [[ 9.99840955e-01 -1.16399195e-02 -1.35121022e-02 7.72660549e+02] [ 1.16399490e-02 9.99932251e-01 -7.64693496e-05 8.92163809e+00] [ 1.35120769e-02 -8.08229928e-05 9.99908704e-01 5.32445821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4492541539998 meters 0.01368304598393718 Centerline is valid? [True, True] Translation: X:772.69, Y:8.92, Z:5.33 [[ 9.99842763e-01 -1.11443509e-02 -1.37932455e-02 7.72688070e+02] [ 1.11442980e-02 9.99937897e-01 -8.07039450e-05 8.92227482e+00] [ 1.37932883e-02 -7.30247822e-05 9.99904865e-01 5.32526221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4792541539999 meters 0.0139101688840318 Centerline is valid? [True, True] Translation: X:772.72, Y:8.92, Z:5.33 [[ 9.99841801e-01 -1.16350110e-02 -1.34535751e-02 7.72716169e+02] [ 1.16349530e-02 9.99932308e-01 -8.25780227e-05 8.92108011e+00] [ 1.34536252e-02 -7.39667556e-05 9.99909493e-01 5.32504826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5092541539999 meters 0.013900574095133887 Centerline is valid? [True, True] Translation: X:772.74, Y:8.92, Z:5.33 [[ 9.99827476e-01 -1.26384976e-02 -1.36119873e-02 7.72744062e+02] [ 1.26384772e-02 9.99920127e-01 -8.75187314e-05 8.91996403e+00] [ 1.36120061e-02 -8.45311590e-05 9.99907349e-01 5.32514287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5392541539999 meters 0.014250886968512259 Centerline is valid? [True, True] Translation: X:772.77, Y:8.92, Z:5.33 [[ 9.99806696e-01 -1.45337426e-02 -1.32416131e-02 7.72772224e+02] [ 1.45338578e-02 9.99894374e-01 -8.75366910e-05 8.91719550e+00] [ 1.32414866e-02 -1.04931952e-04 9.99912322e-01 5.32527139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5692541539999 meters 0.015279452772133334 Centerline is valid? [True, True] Translation: X:772.80, Y:8.92, Z:5.32 [[ 9.99786409e-01 -1.57166365e-02 -1.34210309e-02 7.72800951e+02] [ 1.57168329e-02 9.99876479e-01 -9.08466457e-05 8.91566970e+00] [ 1.34208009e-02 -1.20108858e-04 9.99909930e-01 5.32452093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5992541539999 meters 0.014552247044674428 Centerline is valid? [True, True] Translation: X:772.83, Y:8.91, Z:5.33 [[ 9.99728741e-01 -1.91832388e-02 -1.32078951e-02 7.72831003e+02] [ 1.91837059e-02 9.99815972e-01 -9.13388739e-05 8.91242954e+00] [ 1.32072166e-02 -1.62062278e-04 9.99912768e-01 5.32590000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6292541539999 meters 0.014970294152655142 Centerline is valid? [True, True] Translation: X:772.86, Y:8.91, Z:5.33 [[ 9.99681731e-01 -2.13300975e-02 -1.34708739e-02 7.72860344e+02] [ 2.13307731e-02 9.99772469e-01 -9.35381338e-05 8.90972050e+00] [ 1.34698041e-02 -1.93835792e-04 9.99909259e-01 5.32559020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6592541539999 meters 0.015579328804334899 Centerline is valid? [True, True] Translation: X:772.89, Y:8.91, Z:5.33 [[ 9.99620712e-01 -2.38451985e-02 -1.37782178e-02 7.72891284e+02] [ 2.38461441e-02 9.99715636e-01 -9.56787882e-05 8.90684162e+00] [ 1.37765813e-02 -2.32914869e-04 9.99905071e-01 5.32535495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6892541539999 meters 0.01697792489448934 Centerline is valid? [True, True] Translation: X:772.92, Y:8.90, Z:5.32 [[ 9.99439756e-01 -2.98877293e-02 -1.50631545e-02 7.72922848e+02] [ 2.98895518e-02 9.99553202e-01 -1.04174630e-04 8.90041632e+00] [ 1.50595378e-02 -3.46114669e-04 9.99886539e-01 5.32462769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7192541539999 meters 0.017673643833336947 Centerline is valid? [True, True] Translation: X:772.95, Y:8.90, Z:5.32 [[ 9.99329638e-01 -3.31516197e-02 -1.55320445e-02 7.72954578e+02] [ 3.31539601e-02 9.99450251e-01 -1.06852898e-04 8.89711919e+00] [ 1.55270481e-02 -4.08167515e-04 9.99879365e-01 5.32453383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7492541539999 meters 0.01889911786995129 Centerline is valid? [True, True] Translation: X:772.99, Y:8.89, Z:5.32 [[ 9.99220442e-01 -3.62269934e-02 -1.56880178e-02 7.72985823e+02] [ 3.62297686e-02 9.99343481e-01 -1.07360788e-04 8.89341992e+00] [ 1.56816077e-02 -4.61096162e-04 9.99876930e-01 5.32356675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7792541539999 meters 0.021666533049410408 Centerline is valid? [True, True] Translation: X:773.02, Y:8.89, Z:5.32 [[ 9.98990691e-01 -4.20903178e-02 -1.56845008e-02 7.73016188e+02] [ 4.20938198e-02 9.99113657e-01 -1.06932888e-04 8.88587598e+00] [ 1.56750997e-02 -5.53395589e-04 9.99876985e-01 5.32320995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8092541539999 meters 0.021506459183725204 Centerline is valid? [True, True] Translation: X:773.05, Y:8.88, Z:5.32 [[ 9.98895908e-01 -4.44160959e-02 -1.53028227e-02 7.73047778e+02] [ 4.44197161e-02 9.99012952e-01 -1.03409188e-04 8.88459162e+00] [ 1.52923111e-02 -5.76452027e-04 9.99882900e-01 5.32391974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.839254154 meters 0.023537024302304973 Centerline is valid? [True, True] Translation: X:773.08, Y:8.88, Z:5.32 [[ 9.98729984e-01 -4.79726337e-02 -1.53962516e-02 7.73079253e+02] [ 4.79767352e-02 9.98848448e-01 -1.03062773e-04 8.88104270e+00] [ 1.53834662e-02 -6.35730002e-04 9.99881465e-01 5.32233871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8692541539999 meters 0.025102648208401607 Centerline is valid? [True, True] Translation: X:773.11, Y:8.88, Z:5.32 [[ 9.98615014e-01 -5.04538110e-02 -1.49153181e-02 7.73110107e+02] [ 5.04579444e-02 9.98726182e-01 -9.93040626e-05 8.87586223e+00] [ 1.49013290e-02 -6.53429764e-04 9.99888756e-01 5.32382255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8992541539999 meters 0.025163151823514838 Centerline is valid? [True, True] Translation: X:773.14, Y:8.87, Z:5.32 [[ 9.98397060e-01 -5.46380864e-02 -1.47645065e-02 7.73141500e+02] [ 5.46426010e-02 9.98505972e-01 -9.77625190e-05 8.87429145e+00] [ 1.47477894e-02 -7.09165224e-04 9.99890994e-01 5.32400903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9292541539999 meters 0.026297145482726755 Centerline is valid? [True, True] Translation: X:773.17, Y:8.87, Z:5.32 [[ 9.98270540e-01 -5.69583427e-02 -1.45491246e-02 7.73173602e+02] [ 5.69629839e-02 9.98376286e-01 -9.55362512e-05 8.87133714e+00] [ 1.45309426e-02 -7.33390526e-04 9.99894151e-01 5.32449045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.959254154 meters 0.02901078389071221 Centerline is valid? [True, True] Translation: X:773.20, Y:8.87, Z:5.32 [[ 9.97971809e-01 -6.20226195e-02 -1.43339992e-02 7.73202994e+02] [ 6.20276543e-02 9.98074427e-01 -9.34887979e-05 8.86553776e+00] [ 1.43121965e-02 -7.95805166e-04 9.99897259e-01 5.32442990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9892541539999 meters 0.02901078389071221 Centerline is valid? [True, True] Translation: X:773.24, Y:8.87, Z:5.32 [[ 9.97978542e-01 -6.19141835e-02 -1.43340053e-02 7.73235582e+02] [ 6.19192205e-02 9.98081160e-01 -9.25521023e-05 8.86565647e+00] [ 1.43122309e-02 -7.95185423e-04 9.99897259e-01 5.32465567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0192541539999 meters 0.03852826238617813 Centerline is valid? [True, True] Translation: X:773.27, Y:8.85, Z:5.32 [[ 9.97829659e-01 -6.42882087e-02 -1.42477499e-02 7.73265588e+02] [ 6.42934462e-02 9.97931032e-01 -9.06079859e-05 8.85223344e+00] [ 1.42240968e-02 -8.25625607e-04 9.99898492e-01 5.32306307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0492541539999 meters 0.03321780250693018 Centerline is valid? [True, True] Translation: X:773.30, Y:8.86, Z:5.32 [[ 9.97690694e-01 -6.62871287e-02 -1.48086130e-02 7.73296690e+02] [ 6.62930196e-02 9.97800194e-01 -9.32656128e-05 8.85990662e+00] [ 1.47822193e-02 -8.88657440e-04 9.99890342e-01 5.32285499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0792541539998 meters 0.033906653400539985 Centerline is valid? [True, True] Translation: X:773.33, Y:8.86, Z:5.33 [[ 9.97351864e-01 -7.13716554e-02 -1.39766596e-02 7.73327115e+02] [ 7.13774035e-02 9.97449376e-01 -8.77726551e-05 8.85632702e+00] [ 1.39472749e-02 -9.10077454e-04 9.99902318e-01 5.32561042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1092541539999 meters 0.036886562162347286 Centerline is valid? [True, True] Translation: X:773.36, Y:8.85, Z:5.33 [[ 9.97232498e-01 -7.29999998e-02 -1.40835137e-02 7.73358415e+02] [ 7.30060035e-02 9.97331497e-01 -8.80413540e-05 8.85180367e+00] [ 1.40523589e-02 -9.40383354e-04 9.99900819e-01 5.32540510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1392541539999 meters 0.03345784559134013 Centerline is valid? [True, True] Translation: X:773.39, Y:8.86, Z:5.33 [[ 9.97049556e-01 -7.53983052e-02 -1.43971373e-02 7.73389081e+02] [ 7.54048355e-02 9.97152999e-01 -8.94865938e-05 8.85630584e+00] [ 1.43628958e-02 -9.96391203e-04 9.99896352e-01 5.32640470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1692541539999 meters 0.03927355565984091 Centerline is valid? [True, True] Translation: X:773.42, Y:8.85, Z:5.33 [[ 9.97001126e-01 -7.58784813e-02 -1.52056174e-02 7.73420343e+02] [ 7.58858398e-02 9.97116508e-01 -9.32971612e-05 8.84876041e+00] [ 1.51688514e-02 -1.06087367e-03 9.99884384e-01 5.32550024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1992541539998 meters 0.039631374035848696 Centerline is valid? [True, True] Translation: X:773.45, Y:8.85, Z:5.33 [[ 9.96991167e-01 -7.58915315e-02 -1.57825156e-02 7.73452646e+02] [ 7.58994851e-02 9.97115469e-01 -9.52833518e-05 8.84859069e+00] [ 1.57442217e-02 -1.10288815e-03 9.99875444e-01 5.32521121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2292541539999 meters 0.04022239524438904 Centerline is valid? [True, True] Translation: X:773.48, Y:8.85, Z:5.32 [[ 9.97014966e-01 -7.52854487e-02 -1.71248216e-02 7.73483775e+02] [ 7.52947420e-02 9.97161317e-01 -1.02337752e-04 8.84842992e+00] [ 1.70839142e-02 -1.18737675e-03 9.99853354e-01 5.32435691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2592541539999 meters 0.04056772869881451 Centerline is valid? [True, True] Translation: X:773.52, Y:8.85, Z:5.32 [[ 9.97079751e-01 -7.44137377e-02 -1.71629035e-02 7.73515654e+02] [ 7.44229620e-02 9.97226761e-01 -1.01507768e-04 8.84841070e+00] [ 1.71228602e-02 -1.17610277e-03 9.99852701e-01 5.32438045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2892541539999 meters 0.03615084960389383 Centerline is valid? [True, True] Translation: X:773.55, Y:8.86, Z:5.33 [[ 9.97226025e-01 -7.22935952e-02 -1.77169459e-02 7.73547024e+02] [ 7.23031071e-02 9.97382700e-01 -1.03913539e-04 8.85599097e+00] [ 1.76780876e-02 -1.17736495e-03 9.99843037e-01 5.32544719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3192541539999 meters 0.03489987732873882 Centerline is valid? [True, True] Translation: X:773.58, Y:8.86, Z:5.32 [[ 9.97366278e-01 -7.03337949e-02 -1.77105799e-02 7.73578733e+02] [ 7.03430068e-02 9.97522857e-01 -1.03053022e-04 8.85923652e+00] [ 1.76739563e-02 -1.14303383e-03 9.99843150e-01 5.32469836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3492541539999 meters 0.03004171803396625 Centerline is valid? [True, True] Translation: X:773.61, Y:8.87, Z:5.33 [[ 9.97630801e-01 -6.67646507e-02 -1.65911636e-02 7.73609702e+02] [ 6.67722528e-02 9.97768238e-01 -9.59455617e-05 8.86767213e+00] [ 1.65605419e-02 -1.01211112e-03 9.99862353e-01 5.32859308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3792541539999 meters 0.03146886831773301 Centerline is valid? [True, True] Translation: X:773.64, Y:8.87, Z:5.33 [[ 9.97825937e-01 -6.39361344e-02 -1.59865556e-02 7.73639508e+02] [ 6.39428333e-02 9.97953559e-01 -9.22789459e-05 8.86776329e+00] [ 1.59597401e-02 -9.30147337e-04 9.99872203e-01 5.32726013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4092541539999 meters 0.028655508390984144 Centerline is valid? [True, True] Translation: X:773.67, Y:8.87, Z:5.33 [[ 9.97993824e-01 -6.14688067e-02 -1.51629050e-02 7.73670646e+02] [ 6.14745538e-02 9.98108647e-01 -8.72202071e-05 8.87293533e+00] [ 1.51395879e-02 -8.45087590e-04 9.99885033e-01 5.32904925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4392541539999 meters 0.02546316328657518 Centerline is valid? [True, True] Translation: X:773.70, Y:8.88, Z:5.33 [[ 9.98329826e-01 -5.60194048e-02 -1.41203394e-02 7.73701340e+02] [ 5.60238485e-02 9.98429428e-01 -8.09699544e-05 8.87926080e+00] [ 1.41026982e-02 -7.10241033e-04 9.99900300e-01 5.33159458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4692541539999 meters 0.023672591034157676 Centerline is valid? [True, True] Translation: X:773.73, Y:8.88, Z:5.33 [[ 9.98652117e-01 -4.98555299e-02 -1.44351951e-02 7.73730606e+02] [ 4.98595298e-02 9.98756237e-01 -8.28813215e-05 8.88394608e+00] [ 1.44213732e-02 -6.36962431e-04 9.99895804e-01 5.33180736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4992541539999 meters 0.02392370510734204 Centerline is valid? [True, True] Translation: X:773.76, Y:8.89, Z:5.33 [[ 9.98819040e-01 -4.61139955e-02 -1.52978611e-02 7.73760832e+02] [ 4.61180504e-02 9.98935993e-01 -8.77988426e-05 8.88528990e+00] [ 1.52856329e-02 -6.17812375e-04 9.99882977e-01 5.32997217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5292541539999 meters 0.022955506855281006 Centerline is valid? [True, True] Translation: X:773.79, Y:8.89, Z:5.33 [[ 9.98963292e-01 -4.27630415e-02 -1.56097502e-02 7.73792033e+02] [ 4.27668618e-02 9.99085075e-01 -8.91446687e-05 8.88850842e+00] [ 1.55992806e-02 -5.78527779e-04 9.99878156e-01 5.32928971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5592541539999 meters 0.01920904932763609 Centerline is valid? [True, True] Translation: X:773.82, Y:8.89, Z:5.33 [[ 9.99193955e-01 -3.64741614e-02 -1.67653335e-02 7.73822553e+02] [ 3.64776885e-02 9.99334463e-01 -9.54742500e-05 8.89454258e+00] [ 1.67576579e-02 -5.16163321e-04 9.99859447e-01 5.33109805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.589254154 meters 0.018741747652303953 Centerline is valid? [True, True] Translation: X:773.85, Y:8.90, Z:5.33 [[ 9.99311229e-01 -3.27127245e-02 -1.75198782e-02 7.73853459e+02] [ 3.27160054e-02 9.99464683e-01 -9.93867162e-05 8.89623788e+00] [ 1.75137507e-02 -4.73862168e-04 9.99846510e-01 5.33079968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6192541539999 meters 0.01620130504246933 Centerline is valid? [True, True] Translation: X:773.88, Y:8.90, Z:5.33 [[ 9.99548689e-01 -2.44348648e-02 -1.74744059e-02 7.73883711e+02] [ 2.44368686e-02 9.99701370e-01 -9.88779026e-05 8.90345501e+00] [ 1.74716036e-02 -3.28186481e-04 9.99847306e-01 5.33221050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6492541539999 meters 0.01576076098046561 Centerline is valid? [True, True] Translation: X:773.91, Y:8.91, Z:5.33 [[ 9.99656094e-01 -1.99327808e-02 -1.70405002e-02 7.73912793e+02] [ 1.99340261e-02 9.99801293e-01 -9.67894409e-05 8.90581849e+00] [ 1.70390434e-02 -2.42929620e-04 9.99854795e-01 5.33246031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6792541539999 meters 0.014702887380208723 Centerline is valid? [True, True] Translation: X:773.94, Y:8.91, Z:5.34 [[ 9.99818671e-01 -1.04112791e-02 -1.59445991e-02 7.73941459e+02] [ 1.04111444e-02 9.99945798e-01 -9.14572624e-05 8.91282457e+00] [ 1.59446871e-02 -7.45608453e-05 9.99872873e-01 5.33506092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7092541539998 meters 0.014566729011253002 Centerline is valid? [True, True] Translation: X:773.97, Y:8.92, Z:5.34 [[ 9.99857476e-01 -6.16220295e-03 -1.57179865e-02 7.73970596e+02] [ 6.16150417e-03 9.99981013e-01 -9.28836259e-05 8.91587869e+00] [ 1.57182604e-02 -3.97605132e-06 9.99876461e-01 5.33581211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7392541539999 meters 0.014965201288836976 Centerline is valid? [True, True] Translation: X:774.00, Y:8.92, Z:5.34 [[ 9.99886210e-01 1.85205238e-03 -1.49711932e-02 7.73999170e+02] [-1.85364107e-03 9.99998278e-01 -9.22409891e-05 8.91980216e+00] [ 1.49709966e-02 1.19981712e-04 9.99887921e-01 5.33699782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7692541539999 meters 0.015202109145266906 Centerline is valid? [True, True] Translation: X:774.03, Y:8.92, Z:5.34 [[ 9.99875901e-01 4.95018442e-03 -1.49558461e-02 7.74026839e+02] [-4.95215444e-03 9.99987734e-01 -9.46913995e-05 8.92133860e+00] [ 1.49551939e-02 1.68743308e-04 9.99888151e-01 5.33742854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7992541539999 meters 0.016667158897720757 Centerline is valid? [True, True] Translation: X:774.05, Y:8.92, Z:5.34 [[ 9.99856970e-01 7.59642362e-03 -1.51107443e-02 7.74054809e+02] [-7.59875778e-03 9.99971124e-01 -9.70611410e-05 8.92222948e+00] [ 1.51095707e-02 2.11870144e-04 9.99885821e-01 5.33622111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8292541539998 meters 0.01559823792649645 Centerline is valid? [True, True] Translation: X:774.08, Y:8.92, Z:5.34 [[ 9.99856581e-01 8.01837334e-03 -1.49172275e-02 7.74083200e+02] [-8.02071305e-03 9.99967829e-01 -9.70254116e-05 8.92220404e+00] [ 1.49159696e-02 2.16658298e-04 9.99888727e-01 5.33802809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8592541539999 meters 0.015436202921991228 Centerline is valid? [True, True] Translation: X:774.11, Y:8.92, Z:5.34 [[ 9.99853213e-01 7.02660837e-03 -1.56262145e-02 7.74111988e+02] [-7.02907308e-03 9.99975290e-01 -1.02811994e-04 8.91894262e+00] [ 1.56251060e-02 2.12634706e-04 9.99877898e-01 5.33791350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8892541539999 meters 0.014971227072423727 Centerline is valid? [True, True] Translation: X:774.14, Y:8.91, Z:5.34 [[ 9.99862533e-01 1.59668579e-03 -1.65035069e-02 7.74140084e+02] [-1.59871894e-03 9.99998716e-01 -1.10002928e-04 8.91269861e+00] [ 1.65033100e-02 1.36372275e-04 9.99863802e-01 5.33706191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9192541539999 meters 0.015132552377938643 Centerline is valid? [True, True] Translation: X:774.17, Y:8.91, Z:5.34 [[ 9.99858447e-01 -2.31698691e-03 -1.66648371e-02 7.74169019e+02] [ 2.31543486e-03 9.99997313e-01 -1.12427201e-04 8.90848395e+00] [ 1.66650528e-02 7.38249416e-05 9.99861126e-01 5.33614687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9492541539998 meters 0.014856285675812115 Centerline is valid? [True, True] Translation: X:774.20, Y:8.90, Z:5.34 [[ 9.99790379e-01 -1.21997950e-02 -1.64427189e-02 7.74197373e+02] [ 1.21995944e-02 9.99925576e-01 -1.12504646e-04 8.89839573e+00] [ 1.64428677e-02 -8.81134397e-05 9.99864803e-01 5.33622973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9792541539999 meters 0.015286608004501337 Centerline is valid? [True, True] Translation: X:774.22, Y:8.89, Z:5.34 [[ 9.99720163e-01 -1.73245068e-02 -1.61076543e-02 7.74224903e+02] [ 1.73249538e-02 9.99849905e-01 -1.11801066e-04 8.89304029e+00] [ 1.61071736e-02 -1.67294588e-04 9.99870257e-01 5.33631294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0092541539999 meters 0.016205123277137894 Centerline is valid? [True, True] Translation: X:774.25, Y:8.89, Z:5.34 [[ 9.99627393e-01 -2.24090870e-02 -1.55854907e-02 7.74253310e+02] [ 2.24101019e-02 9.99748856e-01 -1.09546289e-04 8.88766328e+00] [ 1.55840314e-02 -2.39766965e-04 9.99878533e-01 5.33645800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0392541539999 meters 0.019811400690404404 Centerline is valid? [True, True] Translation: X:774.28, Y:8.88, Z:5.33 [[ 9.99417893e-01 -3.03353133e-02 -1.56091103e-02 7.74283059e+02] [ 3.03372829e-02 9.99539713e-01 -1.10638377e-04 8.87702860e+00] [ 1.56052819e-02 -3.62964021e-04 9.99878164e-01 5.33466802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0692541539999 meters 0.01842643967205543 Centerline is valid? [True, True] Translation: X:774.31, Y:8.87, Z:5.34 [[ 9.99295070e-01 -3.46650427e-02 -1.44117184e-02 7.74313807e+02] [ 3.46671703e-02 9.99398908e-01 -1.02240874e-04 8.87406051e+00] [ 1.44065998e-02 -3.97444695e-04 9.99896141e-01 5.33736170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0992541539999 meters 0.020254794974476454 Centerline is valid? [True, True] Translation: X:774.35, Y:8.87, Z:5.34 [[ 9.99184212e-01 -3.77984426e-02 -1.42192596e-02 7.74345024e+02] [ 3.78008381e-02 9.99285288e-01 -1.00350765e-04 8.86909056e+00] [ 1.42128901e-02 -4.37231031e-04 9.99898896e-01 5.33666095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1292541539999 meters 0.023287663697601536 Centerline is valid? [True, True] Translation: X:774.38, Y:8.86, Z:5.34 [[ 9.98932360e-01 -4.42435175e-02 -1.32910399e-02 7.74375041e+02] [ 4.42461900e-02 9.99020653e-01 -9.30566807e-05 8.85830027e+00] [ 1.32821405e-02 -4.95120545e-04 9.99911666e-01 5.33777294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1592541539999 meters 0.025231768982770336 Centerline is valid? [True, True] Translation: X:774.41, Y:8.85, Z:5.34 [[ 9.98809307e-01 -4.70012008e-02 -1.30711754e-02 7.74406338e+02] [ 4.70040308e-02 9.98894696e-01 -9.07911222e-05 8.85285933e+00] [ 1.30609951e-02 -5.23714913e-04 9.99914564e-01 5.33810970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1892541539999 meters 0.029971531317575406 Centerline is valid? [True, True] Translation: X:774.44, Y:8.84, Z:5.34 [[ 9.98554400e-01 -5.20858980e-02 -1.32729145e-02 7.74436663e+02] [ 5.20892689e-02 9.98642428e-01 -9.18414010e-05 8.84385674e+00] [ 1.32596792e-02 -5.99667778e-04 9.99911907e-01 5.33567302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2192541539999 meters 0.03030228185004264 Centerline is valid? [True, True] Translation: X:774.47, Y:8.84, Z:5.34 [[ 9.98369236e-01 -5.56239424e-02 -1.28392213e-02 7.74467287e+02] [ 5.56273913e-02 9.98451594e-01 -8.86131282e-05 8.83960911e+00] [ 1.28242700e-02 -6.25743768e-04 9.99917570e-01 5.33820692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2492541539999 meters 0.029501824057549943 Centerline is valid? [True, True] Translation: X:774.50, Y:8.84, Z:5.34 [[ 9.98067735e-01 -6.04436994e-02 -1.43998135e-02 7.74498287e+02] [ 6.04485429e-02 9.98171310e-01 -9.90468579e-05 8.83964191e+00] [ 1.43794675e-02 -7.71592273e-04 9.99896312e-01 5.33530618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2792541539999 meters 0.030673868552313747 Centerline is valid? [True, True] Translation: X:774.53, Y:8.83, Z:5.34 [[ 9.97897520e-01 -6.32496948e-02 -1.41426779e-02 7.74528145e+02] [ 6.32546482e-02 9.97997415e-01 -9.72487647e-05 8.83485290e+00] [ 1.41205069e-02 -7.97545811e-04 9.99899983e-01 5.33621826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3092541539999 meters 0.031196139609154846 Centerline is valid? [True, True] Translation: X:774.56, Y:8.83, Z:5.34 [[ 9.97660232e-01 -6.67060161e-02 -1.49789686e-02 7.74558817e+02] [ 6.67119630e-02 9.97772270e-01 -1.02854277e-04 8.83107722e+00] [ 1.49524605e-02 -8.96662778e-04 9.99887804e-01 5.33681571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.339254154 meters 0.03341488707719589 Centerline is valid? [True, True] Translation: X:774.59, Y:8.83, Z:5.33 [[ 9.97644691e-01 -6.68803485e-02 -1.52344635e-02 7.74589567e+02] [ 6.68865381e-02 9.97760583e-01 -1.03440626e-04 8.82818662e+00] [ 1.52072653e-02 -9.15783530e-04 9.99883943e-01 5.33494272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3692541539999 meters 0.029424087138088986 Centerline is valid? [True, True] Translation: X:774.62, Y:8.83, Z:5.34 [[ 9.97601742e-01 -6.75166562e-02 -1.52402863e-02 7.74621893e+02] [ 6.75229471e-02 9.97717716e-01 -1.01994255e-04 8.83224980e+00] [ 1.52123899e-02 -9.27319400e-04 9.99883855e-01 5.33774237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3992541539999 meters 0.028786531668881645 Centerline is valid? [True, True] Translation: X:774.65, Y:8.83, Z:5.34 [[ 9.97647260e-01 -6.67718354e-02 -1.55391678e-02 7.74653933e+02] [ 6.67783036e-02 9.97767833e-01 -1.02827632e-04 8.83349933e+00] [ 1.55113477e-02 -9.35093558e-04 9.99879255e-01 5.33808228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4292541539999 meters 0.032149757514588505 Centerline is valid? [True, True] Translation: X:774.69, Y:8.83, Z:5.34 [[ 9.97724706e-01 -6.55420755e-02 -1.58002444e-02 7.74685400e+02] [ 6.55486253e-02 9.97849371e-01 -1.03536830e-04 8.82898656e+00] [ 1.57730500e-02 -9.32383047e-04 9.99875163e-01 5.33752778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4592541539998 meters 0.02859147653455402 Centerline is valid? [True, True] Translation: X:774.72, Y:8.83, Z:5.34 [[ 9.97926456e-01 -6.24793374e-02 -1.54635366e-02 7.74716318e+02] [ 6.24852527e-02 9.98045882e-01 -1.00798121e-04 8.83487527e+00] [ 1.54396168e-02 -8.65653881e-04 9.99880427e-01 5.33867068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4892541539999 meters 0.028449957740782815 Centerline is valid? [True, True] Translation: X:774.75, Y:8.84, Z:5.34 [[ 9.98062801e-01 -6.02563052e-02 -1.54862036e-02 7.74748298e+02] [ 6.02619820e-02 9.98182590e-01 -1.00227915e-04 8.83632385e+00] [ 1.54640981e-02 -8.33195567e-04 9.99880077e-01 5.33806474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5192541539999 meters 0.02611598691389293 Centerline is valid? [True, True] Translation: X:774.78, Y:8.84, Z:5.34 [[ 9.98288147e-01 -5.66213951e-02 -1.46557989e-02 7.74778843e+02] [ 5.66260953e-02 9.98395451e-01 -9.44002590e-05 8.84028342e+00] [ 1.46376280e-02 -7.35662004e-04 9.99892594e-01 5.34033082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5492541539999 meters 0.025603395710053177 Centerline is valid? [True, True] Translation: X:774.81, Y:8.84, Z:5.34 [[ 9.98422447e-01 -5.43073725e-02 -1.42592603e-02 7.74810402e+02] [ 5.43115901e-02 9.98524032e-01 -9.15785041e-05 8.84171306e+00] [ 1.42431875e-02 -6.83009066e-04 9.99898327e-01 5.34071527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5792541539998 meters 0.024330627173254828 Centerline is valid? [True, True] Translation: X:774.84, Y:8.85, Z:5.34 [[ 9.98653190e-01 -4.99393880e-02 -1.40663874e-02 7.74839784e+02] [ 4.99430615e-02 9.98752063e-01 -9.02188102e-05 8.84539804e+00] [ 1.40533389e-02 -6.12421147e-04 9.99901059e-01 5.34127459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6092541539999 meters 0.023626738444863942 Centerline is valid? [True, True] Translation: X:774.87, Y:8.85, Z:5.34 [[ 9.98777957e-01 -4.74291935e-02 -1.38947835e-02 7.74871475e+02] [ 4.74325389e-02 9.98874440e-01 -8.88665682e-05 8.84699590e+00] [ 1.38833589e-02 -5.70306887e-04 9.99903459e-01 5.34140126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6392541539999 meters 0.02239019335024439 Centerline is valid? [True, True] Translation: X:774.90, Y:8.85, Z:5.34 [[ 9.98886788e-01 -4.49353570e-02 -1.43526362e-02 7.74902923e+02] [ 4.49386789e-02 9.98989743e-01 -9.11352866e-05 8.85105474e+00] [ 1.43422316e-02 -5.53954678e-04 9.99896991e-01 5.34030228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6692541539999 meters 0.022158938687683243 Centerline is valid? [True, True] Translation: X:774.93, Y:8.85, Z:5.34 [[ 9.99055878e-01 -4.08641607e-02 -1.47469577e-02 7.74933583e+02] [ 4.08672329e-02 9.99164581e-01 -9.30902777e-05 8.85248081e+00] [ 1.47384419e-02 -5.09664966e-04 9.99891253e-01 5.34049512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6992541539998 meters 0.02109218531221059 Centerline is valid? [True, True] Translation: X:774.97, Y:8.85, Z:5.34 [[ 9.99139275e-01 -3.87399662e-02 -1.48298383e-02 7.74965231e+02] [ 3.87428472e-02 9.99249210e-01 -9.30830876e-05 8.85432012e+00] [ 1.48223102e-02 -4.81547190e-04 9.99890028e-01 5.34136247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7292541539999 meters 0.021299394418732326 Centerline is valid? [True, True] Translation: X:775.00, Y:8.86, Z:5.34 [[ 9.99213915e-01 -3.67011564e-02 -1.49858694e-02 7.74996661e+02] [ 3.67038771e-02 9.99326181e-01 -9.35395768e-05 8.85596036e+00] [ 1.49792046e-02 -4.56573461e-04 9.99887701e-01 5.34029058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7592541539999 meters 0.01853741141191938 Centerline is valid? [True, True] Translation: X:775.03, Y:8.86, Z:5.34 [[ 9.99340130e-01 -3.31860585e-02 -1.47644817e-02 7.75028451e+02] [ 3.31883257e-02 9.99449112e-01 -9.14999437e-05 8.86220763e+00] [ 1.47593846e-02 -3.98568862e-04 9.99890995e-01 5.34294926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7892541539999 meters 0.017517209950088743 Centerline is valid? [True, True] Translation: X:775.06, Y:8.87, Z:5.34 [[ 9.99411866e-01 -3.11518848e-02 -1.43346685e-02 7.75060063e+02] [ 3.11538219e-02 9.99514598e-01 -8.82053500e-05 8.86518593e+00] [ 1.43304581e-02 -3.58426234e-04 9.99897249e-01 5.34367375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8192541539999 meters 0.01758114160268069 Centerline is valid? [True, True] Translation: X:775.09, Y:8.87, Z:5.34 [[ 9.99535431e-01 -2.71679004e-02 -1.38140254e-02 7.75091366e+02] [ 2.71693258e-02 9.99630842e-01 -8.45072087e-05 8.86944389e+00] [ 1.38112218e-02 -2.90849808e-04 9.99904578e-01 5.34295214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8492541539999 meters 0.01610525170372038 Centerline is valid? [True, True] Translation: X:775.12, Y:8.87, Z:5.35 [[ 9.99586796e-01 -2.54926056e-02 -1.32802434e-02 7.75123090e+02] [ 2.54937815e-02 9.99674977e-01 -8.07674780e-05 8.87175416e+00] [ 1.32779860e-02 -2.57829519e-04 9.99911810e-01 5.34513125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8792541539999 meters 0.01610525170372038 Centerline is valid? [True, True] Translation: X:775.15, Y:8.87, Z:5.35 [[ 9.99587719e-01 -2.54563607e-02 -1.32802463e-02 7.75153941e+02] [ 2.54575398e-02 9.99675901e-01 -8.02858733e-05 8.87191123e+00] [ 1.32779860e-02 -2.57829627e-04 9.99911810e-01 5.34534495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9092541539999 meters 0.016440401203802947 Centerline is valid? [True, True] Translation: X:775.18, Y:8.87, Z:5.35 [[ 9.99634280e-01 -2.37325113e-02 -1.29643271e-02 7.75184373e+02] [ 2.37334946e-02 9.99718318e-01 -7.80221407e-05 8.87369363e+00] [ 1.29625269e-02 -2.29695180e-04 9.99915957e-01 5.34520321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9392541539999 meters 0.015754596180122492 Centerline is valid? [True, True] Translation: X:775.21, Y:8.88, Z:5.35 [[ 9.99699372e-01 -2.08117562e-02 -1.29628556e-02 7.75214424e+02] [ 2.08124954e-02 9.99783394e-01 -7.78886360e-05 8.87739048e+00] [ 1.29616688e-02 -1.91924153e-04 9.99915976e-01 5.34556808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9692541539999 meters 0.015406013878180176 Centerline is valid? [True, True] Translation: X:775.24, Y:8.88, Z:5.35 [[ 9.99709367e-01 -2.04213103e-02 -1.28122001e-02 7.75243432e+02] [ 2.04219989e-02 9.99791446e-01 -7.70916141e-05 8.87721056e+00] [ 1.28111024e-02 -1.84581528e-04 9.99917917e-01 5.34634705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9992541539999 meters 0.015780924565930523 Centerline is valid? [True, True] Translation: X:775.27, Y:8.88, Z:5.35 [[ 9.99728417e-01 -1.95531965e-02 -1.26792813e-02 7.75274185e+02] [ 1.95537996e-02 9.99808803e-01 -7.64179482e-05 8.87856013e+00] [ 1.26783512e-02 -1.71530930e-04 9.99919612e-01 5.34630774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0292541539999 meters 0.014998376797473121 Centerline is valid? [True, True] Translation: X:775.30, Y:8.88, Z:5.35 [[ 9.99728857e-01 -1.96062820e-02 -1.25620784e-02 7.75303188e+02] [ 1.96068769e-02 9.99807764e-01 -7.58141105e-05 8.87838767e+00] [ 1.25611499e-02 -1.70509570e-04 9.99921091e-01 5.34777909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0592541539999 meters 0.01529748775876547 Centerline is valid? [True, True] Translation: X:775.33, Y:8.88, Z:5.35 [[ 9.99716674e-01 -2.05662441e-02 -1.19833511e-02 7.75332484e+02] [ 2.05668507e-02 9.99788477e-01 -7.26238838e-05 8.87747125e+00] [ 1.19823099e-02 -1.73856485e-04 9.99928194e-01 5.34807632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.089254154 meters 0.01550734581051401 Centerline is valid? [True, True] Translation: X:775.36, Y:8.88, Z:5.35 [[ 9.99698460e-01 -2.14748345e-02 -1.19088133e-02 7.75363343e+02] [ 2.14754950e-02 9.99769372e-01 -7.24203218e-05 8.87665135e+00] [ 1.19076221e-02 -1.83349178e-04 9.99929085e-01 5.34849733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1192541539999 meters 0.0166127178948446 Centerline is valid? [True, True] Translation: X:775.39, Y:8.87, Z:5.35 [[ 9.99666657e-01 -2.28767724e-02 -1.19678361e-02 7.75393478e+02] [ 2.28775400e-02 9.99738272e-01 -7.27792530e-05 8.87467735e+00] [ 1.19663687e-02 -2.01039655e-04 9.99928380e-01 5.34712428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1492541539999 meters 0.016190697627647504 Centerline is valid? [True, True] Translation: X:775.42, Y:8.87, Z:5.35 [[ 9.99630259e-01 -2.43743306e-02 -1.20514706e-02 7.75423363e+02] [ 2.43752177e-02 9.99702878e-01 -7.32878543e-05 8.87335043e+00] [ 1.20496762e-02 -2.20496463e-04 9.99927376e-01 5.34834191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1792541539999 meters 0.01770840903143429 Centerline is valid? [True, True] Translation: X:775.45, Y:8.87, Z:5.35 [[ 9.99598797e-01 -2.54939503e-02 -1.23411129e-02 7.75453327e+02] [ 2.54949671e-02 9.99674948e-01 -7.49531304e-05 8.86946119e+00] [ 1.23390122e-02 -2.39713208e-04 9.99923843e-01 5.34746475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2092541539998 meters 0.019884300404106565 Centerline is valid? [True, True] Translation: X:775.48, Y:8.87, Z:5.34 [[ 9.99539904e-01 -2.71944350e-02 -1.34328987e-02 7.75484315e+02] [ 2.71957980e-02 9.99630123e-01 -8.12214515e-05 8.86892710e+00] [ 1.34301390e-02 -2.84134319e-04 9.99909771e-01 5.34394921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2392541539999 meters 0.017585934542105906 Centerline is valid? [True, True] Translation: X:775.52, Y:8.87, Z:5.35 [[ 9.99493222e-01 -2.89269778e-02 -1.32863989e-02 7.75515186e+02] [ 2.89284689e-02 9.99581481e-01 -7.99819217e-05 8.86842025e+00] [ 1.32831520e-02 -3.04413790e-04 9.99911729e-01 5.34727288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2692541539999 meters 0.018915609749420585 Centerline is valid? [True, True] Translation: X:775.55, Y:8.86, Z:5.35 [[ 9.99428135e-01 -3.09401309e-02 -1.36422300e-02 7.75545587e+02] [ 3.09418937e-02 9.99521182e-01 -8.18795137e-05 8.86490553e+00] [ 1.36382312e-02 -3.40283741e-04 9.99906937e-01 5.34707150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2992541539999 meters 0.018168309199873063 Centerline is valid? [True, True] Translation: X:775.58, Y:8.87, Z:5.35 [[ 9.99377474e-01 -3.24244306e-02 -1.39039903e-02 7.75576682e+02] [ 3.24264105e-02 9.99474122e-01 -8.30745838e-05 8.86667465e+00] [ 1.38993722e-02 -3.67833630e-04 9.99903331e-01 5.34768331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3292541539998 meters 0.019598552458964857 Centerline is valid? [True, True] Translation: X:775.61, Y:8.86, Z:5.35 [[ 9.99307544e-01 -3.45656109e-02 -1.37713491e-02 7.75607536e+02] [ 3.45677716e-02 9.99402353e-01 -8.11754888e-05 8.86331224e+00] [ 1.37659246e-02 -3.94925571e-04 9.99905167e-01 5.34753952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3592541539999 meters 0.018888725774493215 Centerline is valid? [True, True] Translation: X:775.64, Y:8.86, Z:5.35 [[ 9.99261756e-01 -3.57446552e-02 -1.40805919e-02 7.75638661e+02] [ 3.57470472e-02 9.99360867e-01 -8.18484211e-05 8.86457128e+00] [ 1.40745182e-02 -4.21551586e-04 9.99900860e-01 5.34820023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3892541539999 meters 0.022018893321017988 Centerline is valid? [True, True] Translation: X:775.67, Y:8.86, Z:5.34 [[ 9.99220680e-01 -3.65928545e-02 -1.47984832e-02 7.75669401e+02] [ 3.65956082e-02 9.99330153e-01 -8.47574542e-05 8.86206804e+00] [ 1.47916720e-02 -4.56868093e-04 9.99890493e-01 5.34491994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4192541539999 meters 0.02066079041340703 Centerline is valid? [True, True] Translation: X:775.70, Y:8.86, Z:5.35 [[ 9.99125526e-01 -3.94288825e-02 -1.39120959e-02 7.75700915e+02] [ 3.94316058e-02 9.99222269e-01 -7.86039016e-05 8.86120287e+00] [ 1.39043753e-02 -4.70041116e-04 9.99903219e-01 5.34839412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4492541539998 meters 0.02211066670634084 Centerline is valid? [True, True] Translation: X:775.73, Y:8.86, Z:5.35 [[ 9.99090123e-01 -4.03259227e-02 -1.38832886e-02 7.75732597e+02] [ 4.03287299e-02 9.99186463e-01 -7.78168223e-05 8.86039750e+00] [ 1.38751320e-02 -4.82149376e-04 9.99903619e-01 5.34682352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4792541539999 meters 0.023916216137611475 Centerline is valid? [True, True] Translation: X:775.76, Y:8.86, Z:5.35 [[ 9.99036309e-01 -4.18494854e-02 -1.32315691e-02 7.75763947e+02] [ 4.18521778e-02 9.99123811e-01 -7.34676993e-05 8.85844584e+00] [ 1.32230503e-02 -4.80373082e-04 9.99912456e-01 5.34703076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5092541539999 meters 0.02219095121398292 Centerline is valid? [True, True] Translation: X:775.80, Y:8.86, Z:5.35 [[ 9.99004768e-01 -4.28810497e-02 -1.22755543e-02 7.75796007e+02] [ 4.28834538e-02 9.99080079e-01 -6.74302375e-05 8.85941658e+00] [ 1.22671532e-02 -4.59055036e-04 9.99924650e-01 5.35028611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5392541539999 meters 0.025645369854214884 Centerline is valid? [True, True] Translation: X:775.83, Y:8.85, Z:5.35 [[ 9.98991619e-01 -4.31104823e-02 -1.25391660e-02 7.75827667e+02] [ 4.31130233e-02 9.99070199e-01 -6.77179993e-05 8.85430013e+00] [ 1.25304264e-02 -4.72951643e-04 9.99921379e-01 5.34987062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5692541539999 meters 0.021790475173707264 Centerline is valid? [True, True] Translation: X:775.86, Y:8.86, Z:5.35 [[ 9.98992705e-01 -4.29391574e-02 -1.30308665e-02 7.75859647e+02] [ 4.29419038e-02 9.99077569e-01 -6.90895527e-05 8.86176482e+00] [ 1.30218131e-02 -4.90550258e-04 9.99915092e-01 5.34970754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5992541539999 meters 0.024886827434710858 Centerline is valid? [True, True] Translation: X:775.89, Y:8.86, Z:5.35 [[ 9.99019139e-01 -4.21304969e-02 -1.36301421e-02 7.75890514e+02] [ 4.21334388e-02 9.99111990e-01 -7.13703649e-05 8.85954722e+00] [ 1.36210453e-02 -5.02984397e-04 9.99907103e-01 5.34720332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6292541539999 meters 0.020263584133204886 Centerline is valid? [True, True] Translation: X:775.92, Y:8.87, Z:5.35 [[ 9.99073007e-01 -4.12266592e-02 -1.23890788e-02 7.75922626e+02] [ 4.12290296e-02 9.99149720e-01 -6.41204559e-05 8.86592355e+00] [ 1.23811881e-02 -4.46728679e-04 9.99923250e-01 5.35139543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6592541539999 meters 0.021608732149451446 Centerline is valid? [True, True] Translation: X:775.95, Y:8.86, Z:5.35 [[ 9.99127421e-01 -3.98679256e-02 -1.24476780e-02 7.75953563e+02] [ 3.98702235e-02 9.99204864e-01 -6.35971731e-05 8.86481623e+00] [ 1.24403159e-02 -4.32750023e-04 9.99922523e-01 5.35133019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6892541539999 meters 0.02288701140817987 Centerline is valid? [True, True] Translation: X:775.98, Y:8.87, Z:5.35 [[ 9.99203974e-01 -3.76043885e-02 -1.33164962e-02 7.75984775e+02] [ 3.76068261e-02 9.99292611e-01 -6.73968023e-05 8.86765891e+00] [ 1.33096106e-02 -4.33448003e-04 9.99911329e-01 5.34871716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7192541539999 meters 0.018912069126944712 Centerline is valid? [True, True] Translation: X:776.02, Y:8.87, Z:5.35 [[ 9.99325074e-01 -3.44586144e-02 -1.27279534e-02 7.76015723e+02] [ 3.44605920e-02 9.99406055e-01 -6.39693707e-05 8.87462707e+00] [ 1.27225980e-02 -3.74686612e-04 9.99918994e-01 5.35270941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7492541539999 meters 0.018358732210348873 Centerline is valid? [True, True] Translation: X:776.05, Y:8.88, Z:5.35 [[ 9.99394923e-01 -3.23845849e-02 -1.26896097e-02 7.76047338e+02] [ 3.23863895e-02 9.99475421e-01 -6.33117694e-05 8.87777972e+00] [ 1.26850033e-02 -3.47697180e-04 9.99919482e-01 5.35265384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7792541539999 meters 0.018604474888168222 Centerline is valid? [True, True] Translation: X:776.08, Y:8.88, Z:5.35 [[ 9.99518946e-01 -2.84004957e-02 -1.24614835e-02 7.76077999e+02] [ 2.84019322e-02 9.99596582e-01 -6.17219269e-05 8.88197237e+00] [ 1.24582092e-02 -2.92237973e-04 9.99922351e-01 5.35194382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8092541539999 meters 0.01828246699181723 Centerline is valid? [True, True] Translation: X:776.11, Y:8.88, Z:5.35 [[ 9.99565581e-01 -2.67895657e-02 -1.22868849e-02 7.76109600e+02] [ 2.67908460e-02 9.99641059e-01 -6.04162110e-05 8.88458244e+00] [ 1.22840931e-02 -2.68786075e-04 9.99924512e-01 5.35248058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.839254154 meters 0.017015453066719834 Centerline is valid? [True, True] Translation: X:776.14, Y:8.89, Z:5.35 [[ 9.99605474e-01 -2.54938797e-02 -1.17880536e-02 7.76141038e+02] [ 2.54949729e-02 9.99674949e-01 -5.75490513e-05 8.88774994e+00] [ 1.17856890e-02 -2.43009759e-04 9.99930517e-01 5.35416396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8692541539999 meters 0.017051128545818573 Centerline is valid? [True, True] Translation: X:776.17, Y:8.89, Z:5.36 [[ 9.99641313e-01 -2.40768052e-02 -1.17283045e-02 7.76171727e+02] [ 2.40777939e-02 9.99710086e-01 -5.69190065e-05 8.89090376e+00] [ 1.17262747e-02 -2.25493108e-04 9.99931219e-01 5.35534550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8992541539999 meters 0.017019789454035535 Centerline is valid? [True, True] Translation: X:776.20, Y:8.89, Z:5.36 [[ 9.99652383e-01 -2.40095489e-02 -1.08928509e-02 7.76203278e+02] [ 2.40104005e-02 9.99711707e-01 -5.26063899e-05 8.89235495e+00] [ 1.08909736e-02 -2.08953609e-04 9.99940670e-01 5.35599908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9292541539999 meters 0.01895514821794527 Centerline is valid? [True, True] Translation: X:776.24, Y:8.89, Z:5.36 [[ 9.99635751e-01 -2.49944774e-02 -1.01804542e-02 7.76235763e+02] [ 2.49952771e-02 9.99687568e-01 -4.87018094e-05 8.89295385e+00] [ 1.01784907e-02 -2.05779203e-04 9.99948177e-01 5.35529587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9592541539998 meters 0.01848230860560141 Centerline is valid? [True, True] Translation: X:776.27, Y:8.89, Z:5.36 [[ 9.99596945e-01 -2.68380216e-02 -9.25575079e-03 7.76268170e+02] [ 2.68387673e-02 9.99639774e-01 -4.36581656e-05 8.89309494e+00] [ 9.25358833e-03 -2.04772373e-04 9.99957164e-01 5.35712750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9892541539999 meters 0.019902891695591077 Centerline is valid? [True, True] Translation: X:776.30, Y:8.89, Z:5.36 [[ 9.99460313e-01 -3.16332570e-02 -8.85551062e-03 7.76298016e+02] [ 3.16341334e-02 9.99499515e-01 -4.11161955e-05 8.88855506e+00] [ 8.85237921e-03 -2.39042399e-04 9.99960788e-01 5.35902731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0192541539999 meters 0.019596923616360347 Centerline is valid? [True, True] Translation: X:776.33, Y:8.89, Z:5.36 [[ 9.99379659e-01 -3.41193373e-02 -8.72737108e-03 7.76330385e+02] [ 3.41202897e-02 9.99417733e-01 -3.97784171e-05 8.88885195e+00] [ 8.72364663e-03 -2.58026689e-04 9.99961915e-01 5.35915809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0492541539999 meters 0.02228031304056534 Centerline is valid? [True, True] Translation: X:776.36, Y:8.89, Z:5.36 [[ 9.99287197e-01 -3.65569932e-02 -9.41723718e-03 7.76361289e+02] [ 3.65582167e-02 9.99331524e-01 -4.22473764e-05 8.88535853e+00] [ 9.41248642e-03 -3.02060135e-04 9.99955656e-01 5.35756976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0792541539998 meters 0.022400054971980683 Centerline is valid? [True, True] Translation: X:776.39, Y:8.89, Z:5.36 [[ 9.99052223e-01 -4.22721763e-02 -1.03787483e-02 7.76392599e+02] [ 4.22739760e-02 9.99106055e-01 -4.60194044e-05 8.88607246e+00] [ 1.03714157e-02 -3.92775170e-04 9.99946138e-01 5.35678055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1092541539999 meters 0.025988894304801995 Centerline is valid? [True, True] Translation: X:776.42, Y:8.88, Z:5.36 [[ 9.98939316e-01 -4.48686249e-02 -1.03464952e-02 7.76423217e+02] [ 4.48705564e-02 9.98992808e-01 -4.54899701e-05 8.87906194e+00] [ 1.03381154e-02 -4.18811277e-04 9.99946473e-01 5.35647579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1392541539999 meters 0.02334044505655884 Centerline is valid? [True, True] Translation: X:776.45, Y:8.88, Z:5.36 [[ 9.98673249e-01 -5.04708142e-02 -1.02194957e-02 7.76454096e+02] [ 5.04729942e-02 9.98725425e-01 -4.46419473e-05 8.88073597e+00] [ 1.02087233e-02 -4.71225828e-04 9.99947779e-01 5.35893534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1692541539999 meters 0.02468816607673372 Centerline is valid? [True, True] Translation: X:776.49, Y:8.88, Z:5.36 [[ 9.98555770e-01 -5.28126713e-02 -9.85884035e-03 7.76485033e+02] [ 5.28148163e-02 9.98604323e-01 -4.28347839e-05 8.87842324e+00] [ 9.84734281e-03 -4.77919922e-04 9.99951400e-01 5.35916584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1992541539998 meters 0.02589101446427781 Centerline is valid? [True, True] Translation: X:776.52, Y:8.88, Z:5.36 [[ 9.98333054e-01 -5.68482830e-02 -9.96925219e-03 7.76516207e+02] [ 5.68506821e-02 9.98382691e-01 -4.28033816e-05 8.87630296e+00] [ 9.95556213e-03 -5.24026757e-04 9.99950305e-01 5.35867205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2292541539999 meters 0.028000813137604108 Centerline is valid? [True, True] Translation: X:776.55, Y:8.87, Z:5.36 [[ 9.98271185e-01 -5.78429654e-02 -1.04322450e-02 7.76547193e+02] [ 5.78456517e-02 9.98325537e-01 -4.43099967e-05 8.87417190e+00] [ 1.04173396e-02 -5.59226616e-04 9.99945582e-01 5.35702764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2592541539999 meters 0.027808404520696283 Centerline is valid? [True, True] Translation: X:776.58, Y:8.87, Z:5.36 [[ 9.98155059e-01 -5.98195571e-02 -1.03970155e-02 7.76578984e+02] [ 5.98223382e-02 9.98209039e-01 -4.35836121e-05 8.87458936e+00] [ 1.03810021e-02 -5.78470577e-04 9.99945949e-01 5.35898045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2892541539999 meters 0.02948127287017647 Centerline is valid? [True, True] Translation: X:776.61, Y:8.87, Z:5.36 [[ 9.98166575e-01 -5.95713299e-02 -1.07119352e-02 7.76610866e+02] [ 5.95742793e-02 9.98223874e-01 -4.38158182e-05 8.87299820e+00] [ 1.06955196e-02 -5.94420334e-04 9.99942625e-01 5.35908971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3192541539999 meters 0.028103332420812907 Centerline is valid? [True, True] Translation: X:776.64, Y:8.88, Z:5.36 [[ 9.98254742e-01 -5.81083077e-02 -1.05306490e-02 7.76643496e+02] [ 5.81110947e-02 9.98310122e-01 -4.13909551e-05 8.87630975e+00] [ 1.05152587e-02 -5.70628826e-04 9.99944550e-01 5.35911885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3492541539999 meters 0.027347905636406235 Centerline is valid? [True, True] Translation: X:776.68, Y:8.88, Z:5.36 [[ 9.98310507e-01 -5.71258356e-02 -1.06193590e-02 7.76675456e+02] [ 5.71286262e-02 9.98366826e-01 -4.06205222e-05 8.87857574e+00] [ 1.06043362e-02 -5.66117498e-04 9.99943612e-01 5.35919964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3792541539999 meters 0.02978536362178325 Centerline is valid? [True, True] Translation: X:776.71, Y:8.88, Z:5.36 [[ 9.98376868e-01 -5.59125339e-02 -1.08359901e-02 7.76706732e+02] [ 5.59153762e-02 9.98435511e-01 -4.07183177e-05 8.87637114e+00] [ 1.08213140e-02 -5.65246237e-04 9.99941288e-01 5.35915682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4092541539999 meters 0.027508897950055764 Centerline is valid? [True, True] Translation: X:776.74, Y:8.88, Z:5.36 [[ 9.98578540e-01 -5.22375794e-02 -1.05893582e-02 7.76737971e+02] [ 5.22400922e-02 9.98634553e-01 -3.93570067e-05 8.88281655e+00] [ 1.05769549e-02 -5.13887984e-04 9.99943930e-01 5.35829080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4392541539999 meters 0.028208649729158715 Centerline is valid? [True, True] Translation: X:776.77, Y:8.88, Z:5.36 [[ 9.98656060e-01 -5.08466931e-02 -1.00342889e-02 7.76769541e+02] [ 5.08488827e-02 9.98706358e-01 -3.69561325e-05 8.88241046e+00] [ 1.00231872e-02 -4.73325912e-04 9.99949655e-01 5.35983943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4692541539999 meters 0.026153826909497933 Centerline is valid? [True, True] Translation: X:776.80, Y:8.89, Z:5.36 [[ 9.98826892e-01 -4.74311350e-02 -9.75329123e-03 7.76800824e+02] [ 4.74330467e-02 9.98874419e-01 -3.53444073e-05 8.88796959e+00] [ 9.74398954e-03 -4.27325374e-04 9.99952435e-01 5.36057599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4992541539999 meters 0.02493101383528345 Centerline is valid? [True, True] Translation: X:776.83, Y:8.89, Z:5.36 [[ 9.98907117e-01 -4.56638808e-02 -9.96904963e-03 7.76833312e+02] [ 4.56657948e-02 9.98956773e-01 -3.56653782e-05 8.89087885e+00] [ 9.96027826e-03 -4.19618174e-04 9.99950307e-01 5.36089457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5292541539999 meters 0.026681131696020485 Centerline is valid? [True, True] Translation: X:776.86, Y:8.89, Z:5.36 [[ 9.98987630e-01 -4.38508581e-02 -1.00407815e-02 7.76864122e+02] [ 4.38527149e-02 9.99038006e-01 -3.52658664e-05 8.88899994e+00] [ 1.00326688e-02 -4.05085365e-04 9.99949589e-01 5.36056045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5592541539999 meters 0.025416578927451475 Centerline is valid? [True, True] Translation: X:776.90, Y:8.89, Z:5.36 [[ 9.99116018e-01 -4.05615475e-02 -1.10427713e-02 7.76896080e+02] [ 4.05636002e-02 9.99176958e-01 -3.81185244e-05 8.89330708e+00] [ 1.10352288e-02 -4.09849733e-04 9.99939026e-01 5.35970286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.589254154 meters 0.02192760890794191 Centerline is valid? [True, True] Translation: X:776.93, Y:8.90, Z:5.36 [[ 9.99190561e-01 -3.83405317e-02 -1.21748673e-02 7.76928638e+02] [ 3.83428740e-02 9.99264641e-01 -4.10605541e-05 8.90104505e+00] [ 1.21674887e-02 -4.25792086e-04 9.99925883e-01 5.35854231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6192541539999 meters 0.019427366089485074 Centerline is valid? [True, True] Translation: X:776.96, Y:8.91, Z:5.36 [[ 9.99310875e-01 -3.49729309e-02 -1.24366375e-02 7.76960517e+02] [ 3.49751262e-02 9.99388182e-01 -4.10011005e-05 8.90697965e+00] [ 1.24304625e-02 -3.94000121e-04 9.99922661e-01 5.35998506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6492541539999 meters 0.021545534037178782 Centerline is valid? [True, True] Translation: X:776.99, Y:8.91, Z:5.36 [[ 9.99401284e-01 -3.22472718e-02 -1.25374379e-02 7.76992013e+02] [ 3.22492971e-02 9.99479855e-01 -4.06470577e-05 8.90620502e+00] [ 1.25322274e-02 -3.63700838e-04 9.99921402e-01 5.35803727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6792541539999 meters 0.01841916761311442 Centerline is valid? [True, True] Translation: X:777.02, Y:8.91, Z:5.36 [[ 9.99473855e-01 -3.01032961e-02 -1.20749253e-02 7.77023789e+02] [ 3.01050272e-02 9.99546740e-01 -3.84157951e-05 8.91166266e+00] [ 1.20706087e-02 -3.25120373e-04 9.99927095e-01 5.36053831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7092541539998 meters 0.016933771070471625 Centerline is valid? [True, True] Translation: X:777.06, Y:8.92, Z:5.36 [[ 9.99610152e-01 -2.52511099e-02 -1.19132817e-02 7.77055521e+02] [ 2.52524598e-02 9.99681105e-01 -3.71291160e-05 8.91724493e+00] [ 1.19104201e-02 -2.63725025e-04 9.99929034e-01 5.36096594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7392541539999 meters 0.0165212109952706 Centerline is valid? [True, True] Translation: X:777.09, Y:8.92, Z:5.36 [[ 9.99676968e-01 -2.24816039e-02 -1.18548233e-02 7.77085856e+02] [ 2.24827515e-02 9.99747230e-01 -3.64762681e-05 8.91928619e+00] [ 1.18526468e-02 -2.30064561e-04 9.99929728e-01 5.36104363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7692541539999 meters 0.015352114853935747 Centerline is valid? [True, True] Translation: X:777.12, Y:8.92, Z:5.36 [[ 9.99781866e-01 -1.76726365e-02 -1.11309267e-02 7.77116929e+02] [ 1.76733514e-02 9.99843814e-01 -3.41445474e-05 8.92403723e+00] [ 1.11297916e-02 -1.62583679e-04 9.99938049e-01 5.36163069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7992541539999 meters 0.015352114853935747 Centerline is valid? [True, True] Translation: X:777.15, Y:8.92, Z:5.36 [[ 9.99781866e-01 -1.76726367e-02 -1.11309266e-02 7.77146931e+02] [ 1.76733513e-02 9.99843814e-01 -3.41675467e-05 8.92412933e+00] [ 1.11297919e-02 -1.62560683e-04 9.99938049e-01 5.36183859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8292541539998 meters 0.01483603944727827 Centerline is valid? [True, True] Translation: X:777.18, Y:8.93, Z:5.36 [[ 9.99818983e-01 -1.54405258e-02 -1.11171374e-02 7.77177473e+02] [ 1.54411006e-02 9.99880779e-01 -3.41252192e-05 8.92615781e+00] [ 1.11163389e-02 -1.37541795e-04 9.99938202e-01 5.36223628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8592541539999 meters 0.015657721450202677 Centerline is valid? [True, True] Translation: X:777.21, Y:8.93, Z:5.36 [[ 9.99855145e-01 -1.29887670e-02 -1.09991717e-02 7.77207661e+02] [ 1.29891814e-02 9.99915636e-01 -3.37631112e-05 8.92782770e+00] [ 1.09986823e-02 -1.09112017e-04 9.99939507e-01 5.36102004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8892541539999 meters 0.01434562854308561 Centerline is valid? [True, True] Translation: X:777.24, Y:8.93, Z:5.36 [[ 9.99896171e-01 -1.00457013e-02 -1.03310307e-02 7.77237535e+02] [ 1.00459092e-02 9.99949538e-01 -3.17747239e-05 8.92931098e+00] [ 1.03308286e-02 -7.20131713e-05 9.99946633e-01 5.36234877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9192541539999 meters 0.014433970990003025 Centerline is valid? [True, True] Translation: X:777.27, Y:8.93, Z:5.36 [[ 9.99914296e-01 -8.61194605e-03 -9.86078010e-03 7.77266187e+02] [ 8.61206294e-03 9.99962915e-01 -3.06089844e-05 8.92942906e+00] [ 9.86067801e-03 -5.43152977e-05 9.99951381e-01 5.36194324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9492541539998 meters 0.0162276314148078 Centerline is valid? [True, True] Translation: X:777.30, Y:8.93, Z:5.36 [[ 9.99925069e-01 -6.59142551e-03 -1.03154613e-02 7.77295301e+02] [ 6.59143306e-03 9.99978276e-01 -3.32662918e-05 8.92964464e+00] [ 1.03154565e-02 -3.47298737e-05 9.99946794e-01 5.36018716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9792541539999 meters 0.014257907310530425 Centerline is valid? [True, True] Translation: X:777.32, Y:8.93, Z:5.36 [[ 9.99924263e-01 -7.02925503e-03 -1.01023455e-02 7.77323468e+02] [ 7.02925804e-03 9.99975294e-01 -3.52099386e-05 8.92959743e+00] [ 1.01023435e-02 -3.58047216e-05 9.99948969e-01 5.36227791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0092541539999 meters 0.014926144228443542 Centerline is valid? [True, True] Translation: X:777.35, Y:8.93, Z:5.36 [[ 9.99916996e-01 -7.72600097e-03 -1.03106710e-02 7.77351216e+02] [ 7.72600986e-03 9.99970153e-01 -3.89703297e-05 8.92692674e+00] [ 1.03106643e-02 -4.06932504e-05 9.99946843e-01 5.36077195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0392541539999 meters 0.014341735907487477 Centerline is valid? [True, True] Translation: X:777.38, Y:8.92, Z:5.36 [[ 9.99904342e-01 -9.27091985e-03 -1.02643267e-02 7.77378945e+02] [ 9.27098647e-03 9.99957023e-01 -4.10923748e-05 8.92467081e+00] [ 1.02642665e-02 -5.40719898e-05 9.99947320e-01 5.36100304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0692541539999 meters 0.014350364919353788 Centerline is valid? [True, True] Translation: X:777.41, Y:8.92, Z:5.36 [[ 9.99879265e-01 -1.11745753e-02 -1.07974572e-02 7.77407499e+02] [ 1.11747422e-02 9.99937560e-01 -4.48746216e-05 8.92241976e+00] [ 1.07972845e-02 -7.57895968e-05 9.99941705e-01 5.36107423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0992541539999 meters 0.015016623755811307 Centerline is valid? [True, True] Translation: X:777.44, Y:8.92, Z:5.36 [[ 9.99818239e-01 -1.52312085e-02 -1.14673222e-02 7.77435950e+02] [ 1.52316390e-02 9.99883991e-01 -4.97959139e-05 8.91589615e+00] [ 1.14667503e-02 -1.24879249e-04 9.99934247e-01 5.35985168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1292541539999 meters 0.015102096028431013 Centerline is valid? [True, True] Translation: X:777.47, Y:8.91, Z:5.36 [[ 9.99777714e-01 -1.74543379e-02 -1.18266466e-02 7.77465546e+02] [ 1.74549446e-02 9.99847649e-01 -5.19235718e-05 8.91354247e+00] [ 1.18257511e-02 -1.54521432e-04 9.99930061e-01 5.35998223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1592541539999 meters 0.01645631371543831 Centerline is valid? [True, True] Translation: X:777.49, Y:8.91, Z:5.36 [[ 9.99683949e-01 -2.21317942e-02 -1.19241984e-02 7.77494665e+02] [ 2.21327384e-02 9.99755040e-01 -5.27852465e-05 8.90582937e+00] [ 1.19224457e-02 -2.11146601e-04 9.99928903e-01 5.35914404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1892541539999 meters 0.017360319023376584 Centerline is valid? [True, True] Translation: X:777.53, Y:8.90, Z:5.36 [[ 9.99631579e-01 -2.44234415e-02 -1.18406626e-02 7.77525328e+02] [ 2.44245323e-02 9.99701675e-01 -5.24925435e-05 8.90185238e+00] [ 1.18384123e-02 -2.36729442e-04 9.99929896e-01 5.35892326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2192541539999 meters 0.01748074151819585 Centerline is valid? [True, True] Translation: X:777.56, Y:8.90, Z:5.36 [[ 9.99577364e-01 -2.65647355e-02 -1.18071657e-02 7.77556240e+02] [ 2.65659733e-02 9.99647061e-01 -5.20181585e-05 8.89967040e+00] [ 1.18043804e-02 -2.61672677e-04 9.99930292e-01 5.35895154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2492541539999 meters 0.01798113396246686 Centerline is valid? [True, True] Translation: X:777.59, Y:8.90, Z:5.36 [[ 9.99523794e-01 -2.85193386e-02 -1.17827423e-02 7.77588011e+02] [ 2.85207105e-02 9.99593200e-01 -5.16175809e-05 8.89665526e+00] [ 1.17794211e-02 -2.84459181e-04 9.99930580e-01 5.35909792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2792541539999 meters 0.019440395552492544 Centerline is valid? [True, True] Translation: X:777.62, Y:8.89, Z:5.36 [[ 9.99408334e-01 -3.24967834e-02 -1.12668399e-02 7.77619118e+02] [ 3.24982947e-02 9.99471790e-01 -4.89716958e-05 8.89103626e+00] [ 1.12624801e-02 -3.17210363e-04 9.99936526e-01 5.35914409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3092541539999 meters 0.01969999975921998 Centerline is valid? [True, True] Translation: X:777.65, Y:8.89, Z:5.36 [[ 9.99293341e-01 -3.58892791e-02 -1.11704406e-02 7.77650672e+02] [ 3.58909816e-02 9.99355710e-01 -4.80804436e-05 8.88770777e+00] [ 1.11649692e-02 -3.52871612e-04 9.99937608e-01 5.35986076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.339254154 meters 0.020757461348532562 Centerline is valid? [True, True] Translation: X:777.68, Y:8.88, Z:5.36 [[ 9.99233597e-01 -3.75605397e-02 -1.10193058e-02 7.77682213e+02] [ 3.75623045e-02 9.99294287e-01 -4.68363856e-05 8.88478550e+00] [ 1.10132886e-02 -3.67110031e-04 9.99939285e-01 5.35997729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3692541539999 meters 0.020883455979429345 Centerline is valid? [True, True] Translation: X:777.71, Y:8.88, Z:5.36 [[ 9.99173789e-01 -3.92393131e-02 -1.05837194e-02 7.77713988e+02] [ 3.92410410e-02 9.99229773e-01 -4.44254857e-05 8.88359219e+00] [ 1.05773107e-02 -3.70927385e-04 9.99943990e-01 5.36038523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3992541539999 meters 0.02093134224271712 Centerline is valid? [True, True] Translation: X:777.75, Y:8.88, Z:5.36 [[ 9.99110298e-01 -4.07564076e-02 -1.08410552e-02 7.77746094e+02] [ 4.07583172e-02 9.99169034e-01 -4.48306595e-05 8.88217305e+00] [ 1.08338738e-02 -3.97072395e-04 9.99941233e-01 5.36074549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4292541539999 meters 0.02160214295222629 Centerline is valid? [True, True] Translation: X:777.78, Y:8.88, Z:5.36 [[ 9.98954128e-01 -4.44711487e-02 -1.06285778e-02 7.77777568e+02] [ 4.44732008e-02 9.99010577e-01 -4.33160410e-05 8.87897722e+00] [ 1.06199880e-02 -4.29416137e-04 9.99943514e-01 5.36073668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4592541539998 meters 0.023238383771325588 Centerline is valid? [True, True] Translation: X:777.81, Y:8.88, Z:5.36 [[ 9.98862281e-01 -4.64557090e-02 -1.07708086e-02 7.77808168e+02] [ 4.64579359e-02 9.98920246e-01 -4.34931966e-05 8.87540038e+00] [ 1.07611993e-02 -4.56945820e-04 9.99941992e-01 5.36046710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4892541539999 meters 0.024897730953585447 Centerline is valid? [True, True] Translation: X:777.84, Y:8.87, Z:5.36 [[ 9.98650300e-01 -5.08140810e-02 -1.07474396e-02 7.77838858e+02] [ 5.08165535e-02 9.98708003e-01 -4.30732643e-05 8.87149782e+00] [ 1.07357426e-02 -5.03132709e-04 9.99942244e-01 5.36002079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5192541539999 meters 0.026247144385244142 Centerline is valid? [True, True] Translation: X:777.87, Y:8.87, Z:5.36 [[ 9.98536205e-01 -5.29958395e-02 -1.08114445e-02 7.77870513e+02] [ 5.29984728e-02 9.98594592e-01 -4.29921669e-05 8.86936799e+00] [ 1.07985284e-02 -5.30060810e-04 9.99941554e-01 5.35993194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5492541539999 meters 0.028057168945114206 Centerline is valid? [True, True] Translation: X:777.90, Y:8.87, Z:5.36 [[ 9.98412395e-01 -5.52059899e-02 -1.11798020e-02 7.77901992e+02] [ 5.52089508e-02 9.98474822e-01 -4.38397598e-05 8.86661907e+00] [ 1.11651710e-02 -5.73454977e-04 9.99937503e-01 5.35983785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5792541539998 meters 0.03239210261856387 Centerline is valid? [True, True] Translation: X:777.93, Y:8.86, Z:5.36 [[ 9.98173749e-01 -5.91844571e-02 -1.20982356e-02 7.77932397e+02] [ 5.91882218e-02 9.98246839e-01 -4.69491342e-05 8.86307832e+00] [ 1.20798041e-02 -6.69209657e-04 9.99926813e-01 5.35725778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6092541539999 meters 0.03071194737950889 Centerline is valid? [True, True] Translation: X:777.96, Y:8.86, Z:5.36 [[ 9.98040422e-01 -6.15836722e-02 -1.10800665e-02 7.77963325e+02] [ 6.15869793e-02 9.98101719e-01 -4.28126228e-05 8.86369225e+00] [ 1.10616700e-02 -6.39659099e-04 9.99938613e-01 5.35992424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6392541539999 meters 0.03254124826044639 Centerline is valid? [True, True] Translation: X:777.99, Y:8.86, Z:5.36 [[ 9.97810179e-01 -6.51591672e-02 -1.13634868e-02 7.77994046e+02] [ 6.51628789e-02 9.97874640e-01 -4.37018757e-05 8.86186004e+00] [ 1.13421829e-02 -6.96871341e-04 9.99935433e-01 5.35981131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6692541539999 meters 0.03328974697512518 Centerline is valid? [True, True] Translation: X:778.03, Y:8.86, Z:5.36 [[ 9.97724723e-01 -6.64455260e-02 -1.14179439e-02 7.78025944e+02] [ 6.64493624e-02 9.97789798e-01 -4.34665950e-05 8.86165713e+00] [ 1.13955961e-02 -7.15347394e-04 9.99934812e-01 5.35994443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6992541539998 meters 0.034438755509373455 Centerline is valid? [True, True] Translation: X:778.06, Y:8.86, Z:5.36 [[ 9.97706416e-01 -6.66890976e-02 -1.15962108e-02 7.78058106e+02] [ 6.66930808e-02 9.97773537e-01 -4.33102836e-05 8.86126095e+00] [ 1.15732806e-02 -7.30176078e-04 9.99932761e-01 5.35892017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7292541539999 meters 0.03290822280919482 Centerline is valid? [True, True] Translation: X:778.09, Y:8.87, Z:5.36 [[ 9.97686708e-01 -6.71275752e-02 -1.07294639e-02 7.78089795e+02] [ 6.71310175e-02 9.97744168e-01 -3.94106114e-05 8.86523940e+00] [ 1.07079055e-02 -6.80960383e-04 9.99942437e-01 5.36066670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7592541539999 meters 0.03204164255424248 Centerline is valid? [True, True] Translation: X:778.12, Y:8.87, Z:5.36 [[ 9.97842294e-01 -6.48990860e-02 -9.94308252e-03 7.78121406e+02] [ 6.49019370e-02 9.97891646e-01 -3.60107498e-05 8.86944622e+00] [ 9.92445605e-03 -6.09392266e-04 9.99950566e-01 5.36137865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7892541539999 meters 0.0320650057286631 Centerline is valid? [True, True] Translation: X:778.15, Y:8.87, Z:5.36 [[ 9.97958806e-01 -6.30367702e-02 -1.02268258e-02 7.78151768e+02] [ 6.30396934e-02 9.98011020e-01 -3.65932743e-05 8.87108147e+00] [ 1.02087916e-02 -6.08177384e-04 9.99947704e-01 5.36122077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8192541539999 meters 0.03148782966876406 Centerline is valid? [True, True] Translation: X:778.18, Y:8.87, Z:5.36 [[ 9.98133878e-01 -6.02107727e-02 -1.01697765e-02 7.78181702e+02] [ 6.02135183e-02 9.98185519e-01 -3.62647928e-05 8.87367660e+00] [ 1.01535072e-02 -5.76160908e-04 9.99948286e-01 5.36105762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8492541539999 meters 0.028322272286499278 Centerline is valid? [True, True] Translation: X:778.21, Y:8.88, Z:5.36 [[ 9.98321007e-01 -5.70086665e-02 -1.02556400e-02 7.78212297e+02] [ 5.70112903e-02 9.98373533e-01 -3.65709765e-05 8.88008853e+00] [ 1.02410444e-02 -5.48177693e-04 9.99947409e-01 5.36150281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8792541539999 meters 0.024292534704181204 Centerline is valid? [True, True] Translation: X:778.24, Y:8.89, Z:5.36 [[ 9.98747542e-01 -4.90164976e-02 -1.00364604e-02 7.78243372e+02] [ 4.90186082e-02 9.98797865e-01 -3.57364158e-05 8.89094228e+00] [ 1.00261469e-02 -4.56281662e-04 9.99949633e-01 5.36208020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9092541539999 meters 0.021418489230552153 Centerline is valid? [True, True] Translation: X:778.27, Y:8.90, Z:5.36 [[ 9.99174713e-01 -3.95878289e-02 -9.09372863e-03 7.78272838e+02] [ 3.95891722e-02 9.99216041e-01 -3.23145462e-05 8.90061089e+00] [ 9.08787878e-03 -3.27725311e-04 9.99958651e-01 5.36366545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9392541539999 meters 0.02129544743229935 Centerline is valid? [True, True] Translation: X:778.30, Y:8.91, Z:5.36 [[ 9.99378924e-01 -3.39822068e-02 -9.32613162e-03 7.78303661e+02] [ 3.39833750e-02 9.99422398e-01 -3.32290816e-05 8.90543033e+00] [ 9.32187402e-03 -2.83724984e-04 9.99956510e-01 5.36261465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9692541539999 meters 0.019293148864831605 Centerline is valid? [True, True] Translation: X:778.33, Y:8.91, Z:5.36 [[ 9.99544317e-01 -2.88042917e-02 -9.02614803e-03 7.78334666e+02] [ 2.88051768e-02 9.99585044e-01 -3.19487661e-05 8.90999546e+00] [ 9.02332284e-03 -2.28065582e-04 9.99959263e-01 5.36387266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9992541539999 meters 0.016859485059107747 Centerline is valid? [True, True] Translation: X:778.37, Y:8.92, Z:5.36 [[ 9.99807338e-01 -1.73821563e-02 -9.11849402e-03 7.78365038e+02] [ 1.73825869e-02 9.99848911e-01 -3.20263751e-05 8.92152532e+00] [ 9.11767300e-03 -1.26482810e-04 9.99958425e-01 5.36316074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0292541539999 meters 0.015428961379206699 Centerline is valid? [True, True] Translation: X:778.40, Y:8.93, Z:5.36 [[ 9.99891727e-01 -1.18188619e-02 -8.76633027e-03 7.78395565e+02] [ 1.18190461e-02 9.99930152e-01 -3.07894901e-05 8.92604719e+00] [ 8.76608185e-03 -7.28235053e-05 9.99961575e-01 5.36393267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0592541539999 meters 0.014032781487624239 Centerline is valid? [True, True] Translation: X:778.42, Y:8.93, Z:5.36 [[ 9.99960043e-01 -2.39719896e-03 -8.61190368e-03 7.78424795e+02] [ 2.39702710e-03 9.99997127e-01 -3.02777133e-05 8.93447039e+00] [ 8.61195152e-03 9.63353706e-06 9.99962916e-01 5.36499846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.089254154 meters 0.014064862775888845 Centerline is valid? [True, True] Translation: X:778.45, Y:8.94, Z:5.36 [[ 9.99962343e-01 1.27458679e-03 -8.58418265e-03 7.78453461e+02] [-1.27489757e-03 9.99999187e-01 -3.07319485e-05 8.93765058e+00] [ 8.58413650e-03 4.16747449e-05 9.99963155e-01 5.36482056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1192541539999 meters 0.014283878346173545 Centerline is valid? [True, True] Translation: X:778.48, Y:8.94, Z:5.36 [[ 9.99947064e-01 4.30693231e-03 -9.34452810e-03 7.78480843e+02] [-4.30745318e-03 9.99990722e-01 -3.56155850e-05 8.94067866e+00] [ 9.34428801e-03 7.58648169e-05 9.99956338e-01 5.36441536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1492541539999 meters 0.014613493952818664 Centerline is valid? [True, True] Translation: X:778.51, Y:8.94, Z:5.36 [[ 9.99919691e-01 7.25610536e-03 -1.03904084e-02 7.78509717e+02] [-7.25692500e-03 9.99973667e-01 -4.11836239e-05 8.94194061e+00] [ 1.03898359e-02 1.16582731e-04 9.99946017e-01 5.36333511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1792541539999 meters 0.014655103458742642 Centerline is valid? [True, True] Translation: X:778.54, Y:8.94, Z:5.36 [[ 9.99912019e-01 7.33265939e-03 -1.10537899e-02 7.78537821e+02] [-7.33361655e-03 9.99973108e-01 -4.60594960e-05 8.94201175e+00] [ 1.10531549e-02 1.27119700e-04 9.99938904e-01 5.36284808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2092541539998 meters 0.014443731543163345 Centerline is valid? [True, True] Translation: X:778.57, Y:8.94, Z:5.36 [[ 9.99926345e-01 4.80962122e-03 -1.11432392e-02 7.78565387e+02] [-4.81044848e-03 9.99988429e-01 -4.74367146e-05 8.93988931e+00] [ 1.11428821e-02 1.01037199e-04 9.99937911e-01 5.36253981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2392541539999 meters 0.01602522744719864 Centerline is valid? [True, True] Translation: X:778.59, Y:8.94, Z:5.36 [[ 9.99929275e-01 3.08546690e-03 -1.14858477e-02 7.78594280e+02] [-3.08624317e-03 9.99995236e-01 -4.98611660e-05 8.93810250e+00] [ 1.14856391e-02 8.53057586e-05 9.99934034e-01 5.36142659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2692541539999 meters 0.013876823153531736 Centerline is valid? [True, True] Translation: X:778.62, Y:8.94, Z:5.36 [[ 9.99943444e-01 5.81419215e-04 -1.06193615e-02 7.78622132e+02] [-5.81950001e-04 9.99999830e-01 -4.68928534e-05 8.93664952e+00] [ 1.06193324e-02 5.30701387e-05 9.99943612e-01 5.36363462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2992541539999 meters 0.015049428889167075 Centerline is valid? [True, True] Translation: X:778.65, Y:8.93, Z:5.36 [[ 9.99941999e-01 -3.11210192e-03 -1.03108647e-02 7.78650932e+02] [ 3.11178919e-03 9.99995157e-01 -4.63724716e-05 8.93220358e+00] [ 1.03109591e-02 1.42845446e-05 9.99946841e-01 5.36298716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3292541539998 meters 0.013680123850918859 Centerline is valid? [True, True] Translation: X:778.68, Y:8.93, Z:5.36 [[ 9.99942573e-01 -5.15009757e-03 -9.39820905e-03 7.78679468e+02] [ 5.14992186e-03 9.99986738e-01 -4.28967624e-05 8.93017263e+00] [ 9.39830534e-03 -5.50574329e-06 9.99955835e-01 5.36474211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3592541539999 meters 0.013672457563744791 Centerline is valid? [True, True] Translation: X:778.71, Y:8.93, Z:5.36 [[ 9.99935279e-01 -6.73299448e-03 -9.17089271e-03 7.78707633e+02] [ 6.73288693e-03 9.99977333e-01 -4.26011046e-05 8.92772925e+00] [ 9.17097167e-03 -1.91482363e-05 9.99957946e-01 5.36479925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3892541539999 meters 0.014480714960380128 Centerline is valid? [True, True] Translation: X:778.74, Y:8.92, Z:5.36 [[ 9.99919267e-01 -9.49174506e-03 -8.44789951e-03 7.78735035e+02] [ 9.49174520e-03 9.99954952e-01 -4.00773877e-05 8.92215931e+00] [ 8.44789935e-03 -4.01111574e-05 9.99964315e-01 5.36392964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4192541539999 meters 0.017451131138073048 Centerline is valid? [True, True] Translation: X:778.76, Y:8.92, Z:5.36 [[ 9.99904758e-01 -1.04523150e-02 -9.01244642e-03 7.78764555e+02] [ 1.04523475e-02 9.99945372e-01 -4.34988029e-05 8.91956353e+00] [ 9.01240875e-03 -5.07065620e-05 9.99959386e-01 5.36206867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4492541539998 meters 0.013911053527562691 Centerline is valid? [True, True] Translation: X:778.79, Y:8.91, Z:5.37 [[ 9.99885688e-01 -1.34473136e-02 -6.91235925e-03 7.78794435e+02] [ 1.34474029e-02 9.99909579e-01 -3.35534042e-05 8.91485890e+00] [ 6.91218543e-03 -5.94037114e-05 9.99976109e-01 5.36509804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4792541539999 meters 0.014193533563317012 Centerline is valid? [True, True] Translation: X:778.82, Y:8.91, Z:5.37 [[ 9.99868513e-01 -1.47685482e-02 -6.69678235e-03 7.78824348e+02] [ 1.47686600e-02 9.99890937e-01 -3.27547333e-05 8.91224531e+00] [ 6.69653572e-03 -6.61520754e-05 9.99977576e-01 5.36522411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5092541539999 meters 0.014550810838940087 Centerline is valid? [True, True] Translation: X:778.86, Y:8.91, Z:5.37 [[ 9.99854276e-01 -1.58139232e-02 -6.43010124e-03 7.78855503e+02] [ 1.58140485e-02 9.99874950e-01 -3.13484822e-05 8.90971795e+00] [ 6.42979290e-03 -7.03420191e-05 9.99979326e-01 5.36512026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5392541539999 meters 0.016518724048530855 Centerline is valid? [True, True] Translation: X:778.89, Y:8.90, Z:5.36 [[ 9.99825758e-01 -1.70219702e-02 -7.66196785e-03 7.78886757e+02] [ 1.70221862e-02 9.99855111e-01 -3.70311944e-05 8.90485783e+00] [ 7.66148806e-03 -9.33987013e-05 9.99970646e-01 5.36232712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5692541539999 meters 0.015616724818189999 Centerline is valid? [True, True] Translation: X:778.92, Y:8.90, Z:5.36 [[ 9.99815703e-01 -1.75223198e-02 -7.84397271e-03 7.78918131e+02] [ 1.75225640e-02 9.99846467e-01 -3.75985562e-05 8.90200219e+00] [ 7.84342722e-03 -9.98548867e-05 9.99969235e-01 5.36289157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5992541539999 meters 0.014834665423269978 Centerline is valid? [True, True] Translation: X:778.95, Y:8.90, Z:5.36 [[ 9.99816635e-01 -1.73648344e-02 -8.07210768e-03 7.78949916e+02] [ 1.73650913e-02 9.99849215e-01 -3.82564494e-05 8.89864006e+00] [ 8.07155484e-03 -1.01923453e-04 9.99967419e-01 5.36260465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6292541539999 meters 0.014691818517094286 Centerline is valid? [True, True] Translation: X:778.98, Y:8.90, Z:5.36 [[ 9.99822591e-01 -1.68391819e-02 -8.43966765e-03 7.78980690e+02] [ 1.68394470e-02 9.99858206e-01 -3.96499590e-05 8.89700586e+00] [ 8.43913863e-03 -1.02476412e-04 9.99964385e-01 5.36262179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6592541539999 meters 0.014348950598782757 Centerline is valid? [True, True] Translation: X:779.01, Y:8.90, Z:5.36 [[ 9.99845904e-01 -1.50363845e-02 -9.05953508e-03 7.79012091e+02] [ 1.50366205e-02 9.99886943e-01 -4.20758609e-05 8.89594123e+00] [ 9.05914350e-03 -9.41554133e-05 9.99958961e-01 5.36210347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6892541539999 meters 0.014348950598782757 Centerline is valid? [True, True] Translation: X:779.04, Y:8.90, Z:5.36 [[ 9.99845904e-01 -1.50363828e-02 -9.05953626e-03 7.79042092e+02] [ 1.50366210e-02 9.99886943e-01 -4.18195604e-05 8.89607959e+00] [ 9.05914083e-03 -9.44116971e-05 9.99958961e-01 5.36231128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7192541539999 meters 0.01689206792352539 Centerline is valid? [True, True] Translation: X:779.07, Y:8.90, Z:5.36 [[ 9.99854692e-01 -1.33665175e-02 -1.05797507e-02 7.79072205e+02] [ 1.33667489e-02 9.99910660e-01 -4.88369945e-05 8.89516459e+00] [ 1.05794582e-02 -9.25869727e-05 9.99944032e-01 5.36026669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7492541539999 meters 0.013892911938456874 Centerline is valid? [True, True] Translation: X:779.10, Y:8.89, Z:5.36 [[ 9.99869388e-01 -1.22705268e-02 -1.05186548e-02 7.79100662e+02] [ 1.22706929e-02 9.99924711e-01 -4.87548923e-05 8.89261383e+00] [ 1.05184611e-02 -8.03226579e-05 9.99944676e-01 5.36161175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7792541539999 meters 0.01529870779726864 Centerline is valid? [True, True] Translation: X:779.13, Y:8.89, Z:5.36 [[ 9.99870107e-01 -1.15176741e-02 -1.12743897e-02 7.79129391e+02] [ 1.15177999e-02 9.99933666e-01 -5.37737883e-05 8.89120514e+00] [ 1.12742611e-02 -7.60893602e-05 9.99936441e-01 5.36007144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8092541539999 meters 0.01451696254445387 Centerline is valid? [True, True] Translation: X:779.16, Y:8.89, Z:5.36 [[ 9.99866704e-01 -1.16095345e-02 -1.14800740e-02 7.79158102e+02] [ 1.16096369e-02 9.99932604e-01 -5.77261995e-05 8.89023402e+00] [ 1.14799704e-02 -7.55609854e-05 9.99934100e-01 5.36084371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.839254154 meters 0.014067282892149285 Centerline is valid? [True, True] Translation: X:779.19, Y:8.89, Z:5.36 [[ 9.99860019e-01 -1.21874626e-02 -1.14633731e-02 7.79185873e+02] [ 1.21875773e-02 9.99925727e-01 -5.98548786e-05 8.88729666e+00] [ 1.14632511e-02 -7.98642453e-05 9.99934292e-01 5.36119745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8692541539999 meters 0.016103388192747536 Centerline is valid? [True, True] Translation: X:779.21, Y:8.89, Z:5.36 [[ 9.99846263e-01 -1.21964863e-02 -1.25974614e-02 7.79214689e+02] [ 1.21965984e-02 9.99925616e-01 -6.79274471e-05 8.88566442e+00] [ 1.25973529e-02 -8.57291741e-05 9.99920647e-01 5.35972230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8992541539999 meters 0.014175972732070306 Centerline is valid? [True, True] Translation: X:779.24, Y:8.88, Z:5.36 [[ 9.99827988e-01 -1.46344919e-02 -1.13940808e-02 7.79243625e+02] [ 1.46347106e-02 9.99892905e-01 -6.41872463e-05 8.88200154e+00] [ 1.13937998e-02 -1.02572869e-04 9.99935083e-01 5.36116980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9292541539999 meters 0.014357115503133573 Centerline is valid? [True, True] Translation: X:779.27, Y:8.88, Z:5.36 [[ 9.99807217e-01 -1.59711094e-02 -1.14215579e-02 7.79272756e+02] [ 1.59713828e-02 9.99872447e-01 -6.72782367e-05 8.87984849e+00] [ 1.14211755e-02 -1.15152807e-04 9.99934770e-01 5.36122756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9592541539998 meters 0.014272125476354888 Centerline is valid? [True, True] Translation: X:779.30, Y:8.88, Z:5.36 [[ 9.99783299e-01 -1.74545054e-02 -1.13443964e-02 7.79301299e+02] [ 1.74548470e-02 9.99847650e-01 -6.89068158e-05 8.87698065e+00] [ 1.13438708e-02 -1.29122820e-04 9.99935648e-01 5.36148854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9892541539999 meters 0.016481726071700776 Centerline is valid? [True, True] Translation: X:779.33, Y:8.87, Z:5.36 [[ 9.99717258e-01 -2.06546269e-02 -1.17809046e-02 7.79330644e+02] [ 2.06552094e-02 9.99786656e-01 -7.22407498e-05 8.87173388e+00] [ 1.17798833e-02 -1.71116726e-04 9.99930600e-01 5.36064067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0192541539999 meters 0.01553830127993885 Centerline is valid? [True, True] Translation: X:779.36, Y:8.87, Z:5.36 [[ 9.99683265e-01 -2.29009868e-02 -1.04362396e-02 7.79360669e+02] [ 2.29015633e-02 9.99737723e-01 -6.42827583e-05 8.86907250e+00] [ 1.04349745e-02 -1.74743804e-04 9.99945539e-01 5.36236029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0492541539999 meters 0.01640369490826353 Centerline is valid? [True, True] Translation: X:779.39, Y:8.86, Z:5.36 [[ 9.99610188e-01 -2.65308403e-02 -8.69404019e-03 7.79390678e+02] [ 2.65313773e-02 9.99647980e-01 -5.35802817e-05 8.86357883e+00] [ 8.69240124e-03 -1.77105465e-04 9.99962205e-01 5.36374898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0792541539998 meters 0.01807202426251837 Centerline is valid? [True, True] Translation: X:779.42, Y:8.86, Z:5.36 [[ 9.99581351e-01 -2.76575043e-02 -8.49614930e-03 7.79421696e+02] [ 2.76580607e-02 9.99617441e-01 -5.20137216e-05 8.86140847e+00] [ 8.49433760e-03 -1.82995067e-04 9.99963906e-01 5.36308041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1092541539999 meters 0.018004568374044436 Centerline is valid? [True, True] Translation: X:779.45, Y:8.86, Z:5.37 [[ 9.99490000e-01 -3.10883412e-02 -7.29758380e-03 7.79452645e+02] [ 3.10888448e-02 9.99516624e-01 -4.44439197e-05 8.85699324e+00] [ 7.29543801e-03 -1.82452197e-04 9.99973371e-01 5.36508883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1392541539999 meters 0.01844539850055808 Centerline is valid? [True, True] Translation: X:779.48, Y:8.86, Z:5.37 [[ 9.99451961e-01 -3.22788426e-02 -7.33848383e-03 7.79484712e+02] [ 3.22793868e-02 9.99478884e-01 -4.42921276e-05 8.85533625e+00] [ 7.33608933e-03 -1.92613905e-04 9.99973072e-01 5.36532456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1692541539999 meters 0.019071798653564544 Centerline is valid? [True, True] Translation: X:779.52, Y:8.85, Z:5.37 [[ 9.99401269e-01 -3.37552248e-02 -7.59531118e-03 7.79516858e+02] [ 3.37558547e-02 9.99430108e-01 -4.52898873e-05 8.85338772e+00] [ 7.59251144e-03 -2.11123450e-04 9.99971154e-01 5.36518423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1992541539998 meters 0.021440700972325533 Centerline is valid? [True, True] Translation: X:779.55, Y:8.85, Z:5.36 [[ 9.99340636e-01 -3.54468294e-02 -7.86222165e-03 7.79547598e+02] [ 3.54475608e-02 9.99371537e-01 -4.63462842e-05 8.84946801e+00] [ 7.85892336e-03 -2.32380855e-04 9.99969091e-01 5.36389797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2292541539999 meters 0.020951664843002264 Centerline is valid? [True, True] Translation: X:779.58, Y:8.85, Z:5.37 [[ 9.99307929e-01 -3.66017567e-02 -6.63131440e-03 7.79579468e+02] [ 3.66023037e-02 9.99329910e-01 -3.89066379e-05 8.84857229e+00] [ 6.62829487e-03 -2.03841671e-04 9.99978012e-01 5.36581451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2592541539999 meters 0.02174989633267329 Centerline is valid? [True, True] Translation: X:779.61, Y:8.85, Z:5.37 [[ 9.99292530e-01 -3.70239770e-02 -6.60792255e-03 7.79610782e+02] [ 3.70245323e-02 9.99314356e-01 -3.83103868e-05 8.84711682e+00] [ 6.60481028e-03 -2.06371959e-04 9.99978167e-01 5.36583699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2892541539999 meters 0.021962639763240144 Centerline is valid? [True, True] Translation: X:779.64, Y:8.85, Z:5.37 [[ 9.99281199e-01 -3.72951450e-02 -6.79386326e-03 7.79642932e+02] [ 3.72957407e-02 9.99304271e-01 -3.90314790e-05 8.84649298e+00] [ 6.79059226e-03 -2.14378739e-04 9.99976921e-01 5.36582085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3192541539999 meters 0.022605795189082286 Centerline is valid? [True, True] Translation: X:779.68, Y:8.85, Z:5.36 [[ 9.99259572e-01 -3.77210177e-02 -7.57843249e-03 7.79675414e+02] [ 3.77217755e-02 9.99288280e-01 -4.29724766e-05 8.84571489e+00] [ 7.57465973e-03 -2.42931270e-04 9.99971282e-01 5.36475908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3492541539999 meters 0.023357610379564544 Centerline is valid? [True, True] Translation: X:779.71, Y:8.84, Z:5.36 [[ 9.99200852e-01 -3.90895615e-02 -8.34648797e-03 7.79706833e+02] [ 3.90905332e-02 9.99235672e-01 -4.67422656e-05 8.84445449e+00] [ 8.34193565e-03 -2.79563753e-04 9.99965166e-01 5.36390705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3792541539999 meters 0.024014753463020018 Centerline is valid? [True, True] Translation: X:779.74, Y:8.84, Z:5.36 [[ 9.99175936e-01 -3.96004615e-02 -8.90238503e-03 7.79737912e+02] [ 3.96015914e-02 9.99215548e-01 -4.93866619e-05 8.84362496e+00] [ 8.89735727e-03 -3.03202650e-04 9.99960372e-01 5.36362437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4092541539999 meters 0.024790347838037942 Centerline is valid? [True, True] Translation: X:779.77, Y:8.84, Z:5.36 [[ 9.99141750e-01 -4.03136208e-02 -9.51712705e-03 7.79769008e+02] [ 4.03149492e-02 9.99187021e-01 -5.23015900e-05 8.84300835e+00] [ 9.51149829e-03 -3.31425792e-04 9.99954710e-01 5.36283850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4392541539999 meters 0.025051329909270958 Centerline is valid? [True, True] Translation: X:779.80, Y:8.84, Z:5.36 [[ 9.99136691e-01 -4.03218949e-02 -1.00008966e-02 7.79801571e+02] [ 4.03233678e-02 9.99186681e-01 -5.44010794e-05 8.84334105e+00] [ 9.99495624e-03 -3.48915718e-04 9.99949988e-01 5.36278096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4692541539999 meters 0.021878091844025414 Centerline is valid? [True, True] Translation: X:779.83, Y:8.85, Z:5.36 [[ 9.99147603e-01 -3.99670722e-02 -1.03296073e-02 7.79833719e+02] [ 3.99686319e-02 9.99200933e-01 -5.54805904e-05 8.84980858e+00] [ 1.03235707e-02 -3.57426973e-04 9.99946647e-01 5.36278138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4992541539999 meters 0.02142298296094881 Centerline is valid? [True, True] Translation: X:779.86, Y:8.85, Z:5.36 [[ 9.99167899e-01 -3.94419618e-02 -1.03846767e-02 7.79864595e+02] [ 3.94435169e-02 9.99221800e-01 -5.50996493e-05 8.85138327e+00] [ 1.03787686e-02 -3.54554370e-04 9.99946076e-01 5.36367543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5292541539999 meters 0.020779337429631034 Centerline is valid? [True, True] Translation: X:779.90, Y:8.85, Z:5.36 [[ 9.99186584e-01 -3.89797534e-02 -1.03319704e-02 7.79896686e+02] [ 3.89812743e-02 9.99239940e-01 -5.42146850e-05 8.85368074e+00] [ 1.03262308e-02 -3.48582786e-04 9.99946622e-01 5.36414266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5592541539999 meters 0.02153810821445602 Centerline is valid? [True, True] Translation: X:779.93, Y:8.86, Z:5.36 [[ 9.99213295e-01 -3.79056646e-02 -1.16598033e-02 7.79928961e+02] [ 3.79075391e-02 9.99281249e-01 -6.02811176e-05 8.85786005e+00] [ 1.16537078e-02 -3.81760756e-04 9.99932020e-01 5.36282398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.589254154 meters 0.020549214260620476 Centerline is valid? [True, True] Translation: X:779.96, Y:8.86, Z:5.36 [[ 9.99230606e-01 -3.79009456e-02 -1.00853490e-02 7.79960640e+02] [ 3.79023545e-02 9.99281446e-01 -5.14731673e-05 8.85700684e+00] [ 1.00800530e-02 -3.30824909e-04 9.99949140e-01 5.36461594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6192541539999 meters 0.019608704765561275 Centerline is valid? [True, True] Translation: X:779.99, Y:8.86, Z:5.37 [[ 9.99247714e-01 -3.74909527e-02 -9.92146259e-03 7.79992786e+02] [ 3.74923030e-02 9.99296915e-01 -4.99250800e-05 8.86011641e+00] [ 9.91635870e-03 -3.22090960e-04 9.99950780e-01 5.36503547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6492541539999 meters 0.020346231564893767 Centerline is valid? [True, True] Translation: X:780.02, Y:8.86, Z:5.36 [[ 9.99336653e-01 -3.49360629e-02 -1.02822691e-02 7.80024558e+02] [ 3.49373854e-02 9.99389502e-01 -5.10361098e-05 8.86465185e+00] [ 1.02777748e-02 -3.08233344e-04 9.99947135e-01 5.36388575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6792541539999 meters 0.01761483347980939 Centerline is valid? [True, True] Translation: X:780.06, Y:8.87, Z:5.37 [[ 9.99459229e-01 -3.16228323e-02 -9.01370146e-03 7.80055525e+02] [ 3.16237176e-02 9.99499844e-01 -4.43297692e-05 8.87028163e+00] [ 9.01059503e-03 -2.40740953e-04 9.99959375e-01 5.36624425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7092541539998 meters 0.017085404710518667 Centerline is valid? [True, True] Translation: X:780.09, Y:8.87, Z:5.37 [[ 9.99536060e-01 -2.92017733e-02 -8.65574097e-03 7.80086683e+02] [ 2.92025018e-02 9.99573515e-01 -4.22329616e-05 8.87326351e+00] [ 8.65328271e-03 -2.10555924e-04 9.99962537e-01 5.36727931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7392541539999 meters 0.015675094015665948 Centerline is valid? [True, True] Translation: X:780.12, Y:8.88, Z:5.37 [[ 9.99673146e-01 -2.42986259e-02 -7.94849242e-03 7.80118312e+02] [ 2.42990885e-02 9.99704733e-01 -3.83817945e-05 8.88051223e+00] [ 7.94707811e-03 -1.54771871e-04 9.99968409e-01 5.36831951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7692541539999 meters 0.015549829590223668 Centerline is valid? [True, True] Translation: X:780.15, Y:8.88, Z:5.37 [[ 9.99731032e-01 -2.19496038e-02 -7.48855583e-03 7.80149178e+02] [ 2.19499517e-02 9.99759070e-01 -3.57281456e-05 8.88214166e+00] [ 7.48753583e-03 -1.28654903e-04 9.99971960e-01 5.36863674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7992541539999 meters 0.014938006053657842 Centerline is valid? [True, True] Translation: X:780.18, Y:8.89, Z:5.37 [[ 9.99794990e-01 -1.86037859e-02 -7.99231867e-03 7.80179757e+02] [ 1.86040833e-02 9.99826928e-01 -3.71321942e-05 8.88648113e+00] [ 7.99162623e-03 -1.11565181e-04 9.99968060e-01 5.36811368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8292541539998 meters 0.014285284358598122 Centerline is valid? [True, True] Translation: X:780.21, Y:8.89, Z:5.37 [[ 9.99813723e-01 -1.72507547e-02 -8.65620068e-03 7.80210859e+02] [ 1.72510547e-02 9.99851189e-01 -4.00226097e-05 8.88960448e+00] [ 8.65560296e-03 -1.09313437e-04 9.99962534e-01 5.36772232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8592541539999 meters 0.014243911877960844 Centerline is valid? [True, True] Translation: X:780.24, Y:8.89, Z:5.37 [[ 9.99816978e-01 -1.66646313e-02 -9.39685820e-03 7.80241356e+02] [ 1.66649614e-02 9.99861129e-01 -4.31738787e-05 8.89138983e+00] [ 9.39627273e-03 -1.13432303e-04 9.99955848e-01 5.36703447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8892541539999 meters 0.014290624049763709 Centerline is valid? [True, True] Translation: X:780.27, Y:8.89, Z:5.37 [[ 9.99790636e-01 -1.71675743e-02 -1.11336363e-02 7.80271378e+02] [ 1.71680680e-02 9.99852617e-01 -5.12309490e-05 8.89305628e+00] [ 1.11328749e-02 -1.39922802e-04 9.99938018e-01 5.36546716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9192541539999 meters 0.014729923176252354 Centerline is valid? [True, True] Translation: X:780.30, Y:8.89, Z:5.36 [[ 9.99760354e-01 -1.81986017e-02 -1.21673573e-02 7.80300762e+02] [ 1.81992649e-02 9.99834378e-01 -5.62227485e-05 8.89254381e+00] [ 1.21663653e-02 -1.65227684e-04 9.99925973e-01 5.36466624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9492541539998 meters 0.015342253395165964 Centerline is valid? [True, True] Translation: X:780.33, Y:8.89, Z:5.36 [[ 9.99703554e-01 -2.11386423e-02 -1.20814825e-02 7.80330425e+02] [ 2.11395070e-02 9.99776534e-01 -5.61388726e-05 8.89200512e+00] [ 1.20799694e-02 -1.99274353e-04 9.99927015e-01 5.36414531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9792541539999 meters 0.016194570627625002 Centerline is valid? [True, True] Translation: X:780.36, Y:8.89, Z:5.36 [[ 9.99664293e-01 -2.27561214e-02 -1.23878979e-02 7.80360889e+02] [ 2.27571515e-02 9.99741021e-01 -5.78208464e-05 8.89176388e+00] [ 1.23860055e-02 -2.24111834e-04 9.99923265e-01 5.36389207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0092541539999 meters 0.016681711123562662 Centerline is valid? [True, True] Translation: X:780.39, Y:8.89, Z:5.36 [[ 9.99622331e-01 -2.47304739e-02 -1.19832970e-02 7.80390523e+02] [ 2.47315792e-02 9.99694126e-01 -5.59636338e-05 8.88939915e+00] [ 1.19810157e-02 -2.40423362e-04 9.99928196e-01 5.36442439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0392541539999 meters 0.01681259103492452 Centerline is valid? [True, True] Translation: X:780.42, Y:8.89, Z:5.37 [[ 9.99552375e-01 -2.77509337e-02 -1.11774030e-02 7.80421990e+02] [ 2.77520853e-02 9.99614835e-01 -5.20853872e-05 8.89093847e+00] [ 1.11745433e-02 -2.58134170e-04 9.99937530e-01 5.36587068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0692541539999 meters 0.016737202834181116 Centerline is valid? [True, True] Translation: X:780.45, Y:8.89, Z:5.37 [[ 9.99529433e-01 -2.86941139e-02 -1.08425583e-02 7.80454339e+02] [ 2.86952588e-02 9.99588205e-01 -4.99892243e-05 8.89196750e+00] [ 1.08395278e-02 -2.61164316e-04 9.99941216e-01 5.36663975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0992541539999 meters 0.017293568431809417 Centerline is valid? [True, True] Translation: X:780.49, Y:8.89, Z:5.37 [[ 9.99496729e-01 -3.00460073e-02 -1.01748055e-02 7.80485799e+02] [ 3.00470923e-02 9.99548483e-01 -4.62467267e-05 8.89167676e+00] [ 1.01716009e-02 -2.59499868e-04 9.99948234e-01 5.36691417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1292541539999 meters 0.017696761877745507 Centerline is valid? [True, True] Translation: X:780.52, Y:8.89, Z:5.37 [[ 9.99487391e-01 -3.04861005e-02 -9.77516521e-03 7.80517940e+02] [ 3.04871286e-02 9.99535158e-01 -4.38521572e-05 8.89161033e+00] [ 9.77195819e-03 -2.54187041e-04 9.99952221e-01 5.36671102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1592541539999 meters 0.01830985583221697 Centerline is valid? [True, True] Translation: X:780.55, Y:8.89, Z:5.37 [[ 9.99491341e-01 -3.04777356e-02 -9.38970751e-03 7.80550491e+02] [ 3.04786902e-02 9.99535416e-01 -4.14523569e-05 8.89192627e+00] [ 9.38660857e-03 -2.44754714e-04 9.99955915e-01 5.36627869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1892541539999 meters 0.01764693382266531 Centerline is valid? [True, True] Translation: X:780.58, Y:8.89, Z:5.37 [[ 9.99487533e-01 -3.07990870e-02 -8.72282265e-03 7.80581296e+02] [ 3.07999280e-02 9.99525569e-01 -3.79338915e-05 8.89207484e+00] [ 8.71985260e-03 -2.30747857e-04 9.99961955e-01 5.36760321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2192541539999 meters 0.017958453015916944 Centerline is valid? [True, True] Translation: X:780.61, Y:8.89, Z:5.37 [[ 9.99499723e-01 -3.05162558e-02 -8.31034565e-03 7.80612210e+02] [ 3.05170130e-02 9.99534247e-01 -3.57016155e-05 8.89221839e+00] [ 8.30756456e-03 -2.17923172e-04 9.99965468e-01 5.36784692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2492541539999 meters 0.016982617742785328 Centerline is valid? [True, True] Translation: X:780.64, Y:8.89, Z:5.37 [[ 9.99550301e-01 -2.90386523e-02 -7.48020132e-03 7.80644910e+02] [ 2.90392274e-02 9.99578272e-01 -3.17388979e-05 8.89426432e+00] [ 7.47796836e-03 -1.85494642e-04 9.99972022e-01 5.36851398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2792541539999 meters 0.017156013755914475 Centerline is valid? [True, True] Translation: X:780.68, Y:8.89, Z:5.37 [[ 9.99579578e-01 -2.80621595e-02 -7.29268361e-03 7.80675919e+02] [ 2.80626857e-02 9.99606165e-01 -3.01936383e-05 8.89386483e+00] [ 7.29065879e-03 -1.74471344e-04 9.99973408e-01 5.36878489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3092541539999 meters 0.017899886449655646 Centerline is valid? [True, True] Translation: X:780.71, Y:8.89, Z:5.37 [[ 9.99630074e-01 -2.61597360e-02 -7.44205252e-03 7.80708669e+02] [ 2.61602379e-02 9.99657762e-01 -2.99157224e-05 8.89389729e+00] [ 7.44028815e-03 -1.64781209e-04 9.99972307e-01 5.36775048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.339254154 meters 0.016036511814687324 Centerline is valid? [True, True] Translation: X:780.74, Y:8.90, Z:5.37 [[ 9.99688198e-01 -2.37485196e-02 -7.71451605e-03 7.80740483e+02] [ 2.37489924e-02 9.99717952e-01 -3.03245812e-05 8.89521979e+00] [ 7.71306036e-03 -1.52896857e-04 9.99970242e-01 5.36847664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3692541539999 meters 0.015567316029343687 Centerline is valid? [True, True] Translation: X:780.77, Y:8.90, Z:5.37 [[ 9.99719612e-01 -2.23959064e-02 -7.68899578e-03 7.80773101e+02] [ 2.23963394e-02 9.99749170e-01 -2.97936807e-05 8.89591294e+00] [ 7.68773441e-03 -1.42420032e-04 9.99970439e-01 5.36887359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3992541539999 meters 0.015034108898271538 Centerline is valid? [True, True] Translation: X:780.80, Y:8.90, Z:5.37 [[ 9.99780802e-01 -1.93448130e-02 -8.00791431e-03 7.80804516e+02] [ 1.93451893e-02 9.99812864e-01 -3.04661139e-05 8.89687021e+00] [ 8.00700510e-03 -1.24455183e-04 9.99967936e-01 5.36848244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4292541539999 meters 0.014921246168852782 Centerline is valid? [True, True] Translation: X:780.84, Y:8.90, Z:5.37 [[ 9.99802166e-01 -1.82137425e-02 -7.99298280e-03 7.80835134e+02] [ 1.82140834e-02 9.99834109e-01 -3.01403908e-05 8.89692848e+00] [ 7.99220581e-03 -1.15450427e-04 9.99968055e-01 5.36863268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4592541539998 meters 0.014502118450329029 Centerline is valid? [True, True] Translation: X:780.87, Y:8.90, Z:5.37 [[ 9.99841774e-01 -1.61257905e-02 -7.50901445e-03 7.80865968e+02] [ 1.61260335e-02 9.99869967e-01 -2.81782158e-05 8.89646006e+00] [ 7.50849243e-03 -9.29168615e-05 9.99971807e-01 5.36912501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4892541539999 meters 0.014315364955095625 Centerline is valid? [True, True] Translation: X:780.90, Y:8.90, Z:5.37 [[ 9.99852021e-01 -1.54128016e-02 -7.64084247e-03 7.80897648e+02] [ 1.54130346e-02 9.99881212e-01 -2.83974061e-05 8.89607037e+00] [ 7.64037252e-03 -8.93753654e-05 9.99970808e-01 5.36937212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5192541539999 meters 0.01452606982660452 Centerline is valid? [True, True] Translation: X:780.93, Y:8.89, Z:5.37 [[ 9.99847181e-01 -1.54342539e-02 -8.20970105e-03 7.80927673e+02] [ 1.54345259e-02 9.99880880e-01 -3.02219561e-05 8.89466254e+00] [ 8.20918957e-03 -9.64955061e-05 9.99966299e-01 5.36893135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5492541539999 meters 0.015294705045079265 Centerline is valid? [True, True] Translation: X:780.96, Y:8.89, Z:5.37 [[ 9.99817960e-01 -1.66233954e-02 -9.36533371e-03 7.80958316e+02] [ 1.66238030e-02 9.99861814e-01 -3.43355944e-05 8.89190575e+00] [ 9.36461034e-03 -1.21358118e-04 9.99956144e-01 5.36776784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5792541539998 meters 0.014855257890246639 Centerline is valid? [True, True] Translation: X:780.99, Y:8.89, Z:5.37 [[ 9.99779512e-01 -1.84786802e-02 -9.97329169e-03 7.80988237e+02] [ 1.84792373e-02 9.99829244e-01 -3.62909576e-05 8.88962967e+00] [ 9.97225930e-03 -1.48015868e-04 9.99950265e-01 5.36869282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6092541539999 meters 0.014855257890246639 Centerline is valid? [True, True] Translation: X:781.02, Y:8.89, Z:5.37 [[ 9.99779512e-01 -1.84786759e-02 -9.97329392e-03 7.81018239e+02] [ 1.84792392e-02 9.99829244e-01 -3.56683338e-05 8.88973666e+00] [ 9.97225002e-03 -1.48638415e-04 9.99950265e-01 5.36890054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6392541539999 meters 0.01711626515163073 Centerline is valid? [True, True] Translation: X:781.05, Y:8.88, Z:5.37 [[ 9.99683499e-01 -2.26441437e-02 -1.09610341e-02 7.81048964e+02] [ 2.26450745e-02 9.99743567e-01 -3.92008725e-05 8.88394515e+00] [ 1.09591110e-02 -2.09024968e-04 9.99939925e-01 5.36703534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6692541539999 meters 0.017111685350320326 Centerline is valid? [True, True] Translation: X:781.08, Y:8.88, Z:5.37 [[ 9.99613527e-01 -2.56927967e-02 -1.06149330e-02 7.81079039e+02] [ 2.56938421e-02 9.99669858e-01 -3.78980175e-05 8.88016242e+00] [ 1.06124023e-02 -2.34855042e-04 9.99943659e-01 5.36836006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6992541539998 meters 0.019353538863619353 Centerline is valid? [True, True] Translation: X:781.11, Y:8.88, Z:5.37 [[ 9.99549491e-01 -2.79622002e-02 -1.09055469e-02 7.81110617e+02] [ 2.79634415e-02 9.99608946e-01 -3.86718641e-05 8.87659138e+00] [ 1.09023636e-02 -2.66302182e-04 9.99940532e-01 5.36736284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7292541539999 meters 0.017976210624838274 Centerline is valid? [True, True] Translation: X:781.14, Y:8.87, Z:5.37 [[ 9.99401554e-01 -3.31202808e-02 -9.97900246e-03 7.81141947e+02] [ 3.31215804e-02 9.99451329e-01 -3.50528944e-05 8.87437846e+00] [ 9.97468824e-03 -2.95488415e-04 9.99950208e-01 5.36988367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7592541539999 meters 0.02130647493501291 Centerline is valid? [True, True] Translation: X:781.17, Y:8.87, Z:5.37 [[ 9.99329901e-01 -3.52237831e-02 -9.95159604e-03 7.81173179e+02] [ 3.52251839e-02 9.99379400e-01 -3.45319084e-05 8.86736262e+00] [ 9.94663643e-03 -3.16038032e-04 9.99950481e-01 5.36997950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7892541539999 meters 0.020773103668318183 Centerline is valid? [True, True] Translation: X:781.20, Y:8.87, Z:5.37 [[ 9.99187735e-01 -3.92976399e-02 -8.91999197e-03 7.81204627e+02] [ 3.92989312e-02 9.99227498e-01 -3.05348493e-05 8.86613593e+00] [ 8.91430121e-03 -3.20036104e-04 9.99960216e-01 5.37119180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8192541539999 meters 0.020424946146144724 Centerline is valid? [True, True] Translation: X:781.24, Y:8.87, Z:5.37 [[ 9.99123361e-01 -4.09521053e-02 -8.68526049e-03 7.81237194e+02] [ 4.09533952e-02 9.99161057e-01 -2.93568045e-05 8.86585408e+00] [ 8.67917628e-03 -3.26359836e-04 9.99962282e-01 5.37161214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8492541539999 meters 0.020624558082608917 Centerline is valid? [True, True] Translation: X:781.27, Y:8.86, Z:5.37 [[ 9.99070175e-01 -4.22457418e-02 -8.60710843e-03 7.81269395e+02] [ 4.22470620e-02 9.99107194e-01 -2.84556855e-05 8.86436851e+00] [ 8.60062608e-03 -3.35195817e-04 9.99962958e-01 5.37186358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8792541539999 meters 0.02425557386185507 Centerline is valid? [True, True] Translation: X:781.30, Y:8.86, Z:5.37 [[ 9.98981132e-01 -4.42404089e-02 -8.91544106e-03 7.81300462e+02] [ 4.42419104e-02 9.99020847e-01 -2.88275856e-05 8.85968684e+00] [ 8.90798682e-03 -3.65637931e-04 9.99960256e-01 5.36974101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9092541539999 meters 0.022069980301783063 Centerline is valid? [True, True] Translation: X:781.33, Y:8.86, Z:5.37 [[ 9.98930659e-01 -4.54671147e-02 -8.38328684e-03 7.81333001e+02] [ 4.54684894e-02 9.98965773e-01 -2.66359391e-05 8.86010868e+00] [ 8.37582768e-03 -3.54567932e-04 9.99964859e-01 5.37206769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9392541539999 meters 0.023025701251499792 Centerline is valid? [True, True] Translation: X:781.36, Y:8.86, Z:5.37 [[ 9.98902385e-01 -4.60086359e-02 -8.78814590e-03 7.81363927e+02] [ 4.60101741e-02 9.98940971e-01 -2.71668123e-05 8.85803315e+00] [ 8.78008891e-03 -3.77207130e-04 9.99961383e-01 5.37242022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9692541539999 meters 0.023111982758675074 Centerline is valid? [True, True] Translation: X:781.40, Y:8.86, Z:5.37 [[ 9.98926912e-01 -4.54079680e-02 -9.11811204e-03 7.81395679e+02] [ 4.54096080e-02 9.98968451e-01 -2.71922456e-05 8.85932544e+00] [ 9.10994101e-03 -3.86886828e-04 9.99958429e-01 5.37181456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9992541539999 meters 0.022037558404919475 Centerline is valid? [True, True] Translation: X:781.43, Y:8.86, Z:5.37 [[ 9.99002447e-01 -4.36613613e-02 -9.37001022e-03 7.81428203e+02] [ 4.36630232e-02 9.99046315e-01 -2.72337997e-05 8.86164866e+00] [ 9.36226324e-03 -3.81916341e-04 9.99956100e-01 5.37261707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0292541539999 meters 0.023269023973242917 Centerline is valid? [True, True] Translation: X:781.46, Y:8.86, Z:5.37 [[ 9.99065168e-01 -4.21391221e-02 -9.64802625e-03 7.81459109e+02] [ 4.21408197e-02 9.99111681e-01 -2.73596325e-05 8.85905432e+00] [ 9.64060863e-03 -3.79241678e-04 9.99953456e-01 5.37328110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0592541539999 meters 0.02146589506466881 Centerline is valid? [True, True] Translation: X:781.49, Y:8.86, Z:5.37 [[ 9.99186698e-01 -3.88356733e-02 -1.08505297e-02 7.81490692e+02] [ 3.88376322e-02 9.99245534e-01 -3.01956420e-05 8.86350189e+00] [ 1.08435160e-02 -3.91237798e-04 9.99941131e-01 5.37204109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.089254154 meters 0.020216446600057583 Centerline is valid? [True, True] Translation: X:781.52, Y:8.87, Z:5.37 [[ 9.99242615e-01 -3.71872711e-02 -1.14587829e-02 7.81522572e+02] [ 3.71893544e-02 9.99308236e-01 -3.12916266e-05 8.86618008e+00] [ 1.14520198e-02 -3.94876812e-04 9.99934346e-01 5.37175366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1192541539999 meters 0.019669014769006506 Centerline is valid? [True, True] Translation: X:781.55, Y:8.87, Z:5.37 [[ 9.99352035e-01 -3.37325056e-02 -1.25550442e-02 7.81553538e+02] [ 3.37347439e-02 9.99430821e-01 -3.35235661e-05 8.86857522e+00] [ 1.25490290e-02 -3.90039357e-04 9.99921182e-01 5.37145041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1492541539999 meters 0.019567379631893294 Centerline is valid? [True, True] Translation: X:781.58, Y:8.87, Z:5.37 [[ 9.99409353e-01 -3.18149489e-02 -1.29905389e-02 7.81584636e+02] [ 3.18171895e-02 9.99493704e-01 -3.42079205e-05 8.87034175e+00] [ 1.29850502e-02 -3.79134723e-04 9.99915619e-01 5.37114729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1792541539999 meters 0.018541509921257786 Centerline is valid? [True, True] Translation: X:781.62, Y:8.87, Z:5.37 [[ 9.99452563e-01 -3.01406648e-02 -1.36423822e-02 7.81615934e+02] [ 3.01429869e-02 9.99545596e-01 -3.54210857e-05 8.87280523e+00] [ 1.36372507e-02 -3.75820454e-04 9.99906938e-01 5.37177352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2092541539998 meters 0.017884803240199174 Centerline is valid? [True, True] Translation: X:781.65, Y:8.88, Z:5.37 [[ 9.99547413e-01 -2.66508443e-02 -1.39535379e-02 7.81646013e+02] [ 2.66529373e-02 9.99644747e-01 -3.59729491e-05 8.87591340e+00] [ 1.39495396e-02 -3.35946104e-04 9.99902644e-01 5.37181068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2392541539999 meters 0.017496779550018663 Centerline is valid? [True, True] Translation: X:781.68, Y:8.88, Z:5.37 [[ 9.99623960e-01 -2.33282211e-02 -1.44129336e-02 7.81675399e+02] [ 2.33301109e-02 9.99727815e-01 -3.70291279e-05 8.87900223e+00] [ 1.44098744e-02 -2.99240136e-04 9.99896128e-01 5.37251934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2692541539999 meters 0.017416646503828313 Centerline is valid? [True, True] Translation: X:781.70, Y:8.88, Z:5.37 [[ 9.99660554e-01 -2.16584193e-02 -1.44806809e-02 7.81704621e+02] [ 2.16601497e-02 9.99765391e-01 -3.73456557e-05 8.88066132e+00] [ 1.44780925e-02 -2.76320738e-04 9.99895149e-01 5.37280620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2992541539999 meters 0.01671609241577531 Centerline is valid? [True, True] Translation: X:781.73, Y:8.88, Z:5.37 [[ 9.99680396e-01 -2.02949729e-02 -1.50738463e-02 7.81733355e+02] [ 2.02966593e-02 9.99794001e-01 -4.11105450e-05 8.88283675e+00] [ 1.50715754e-02 -2.64851317e-04 9.99886382e-01 5.37339474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3292541539998 meters 0.016365507964196155 Centerline is valid? [True, True] Translation: X:781.76, Y:8.89, Z:5.37 [[ 9.99730260e-01 -1.74079951e-02 -1.53742626e-02 7.81762050e+02] [ 1.74093483e-02 9.99848445e-01 -4.58232884e-05 8.88776000e+00] [ 1.53727302e-02 -2.21844964e-04 9.99881808e-01 5.37387875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3592541539999 meters 0.015595418777781122 Centerline is valid? [True, True] Translation: X:781.79, Y:8.89, Z:5.38 [[ 9.99744266e-01 -1.66588772e-02 -1.52932690e-02 7.81790960e+02] [ 1.66600685e-02 9.99861210e-01 -4.95073618e-05 8.88912057e+00] [ 1.52919712e-02 -2.05292209e-04 9.99883050e-01 5.37538295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3892541539999 meters 0.015490571026506098 Centerline is valid? [True, True] Translation: X:781.82, Y:8.89, Z:5.38 [[ 9.99772440e-01 -1.48395655e-02 -1.53250287e-02 7.81819399e+02] [ 1.48404873e-02 9.99889872e-01 -5.35746270e-05 8.89146910e+00] [ 1.53241360e-02 -1.73868458e-04 9.99882563e-01 5.37607478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4192541539999 meters 0.015431728902890934 Centerline is valid? [True, True] Translation: X:781.85, Y:8.89, Z:5.38 [[ 9.99793135e-01 -1.40779101e-02 -1.46799244e-02 7.81848588e+02] [ 1.40786192e-02 9.99900890e-01 -5.50386645e-05 8.89242250e+00] [ 1.46792443e-02 -1.51645787e-04 9.99892243e-01 5.37643472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4492541539998 meters 0.016695530444454234 Centerline is valid? [True, True] Translation: X:781.88, Y:8.89, Z:5.38 [[ 9.99815622e-01 -1.25369213e-02 -1.45447077e-02 7.81876826e+02] [ 1.25374186e-02 9.99921402e-01 -5.69960368e-05 8.89303377e+00] [ 1.45442790e-02 -1.25367560e-04 9.99894219e-01 5.37545226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4792541539999 meters 0.015275783563816545 Centerline is valid? [True, True] Translation: X:781.91, Y:8.89, Z:5.38 [[ 9.99838824e-01 -1.12686677e-02 -1.39765072e-02 7.81905575e+02] [ 1.12689691e-02 9.99936502e-01 -5.71876408e-05 8.89441101e+00] [ 1.39762642e-02 -1.00322405e-04 9.99902322e-01 5.37770725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5092541539999 meters 0.01622383560364173 Centerline is valid? [True, True] Translation: X:781.93, Y:8.89, Z:5.38 [[ 9.99860716e-01 -9.37770869e-03 -1.38060600e-02 7.81933672e+02] [ 9.37778967e-03 9.99956026e-01 -5.88740613e-05 8.89470434e+00] [ 1.38060050e-02 -7.06044654e-05 9.99904690e-01 5.37678249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5392541539999 meters 0.015067189025817008 Centerline is valid? [True, True] Translation: X:781.96, Y:8.89, Z:5.38 [[ 9.99860385e-01 -9.49514432e-03 -1.37496312e-02 7.81961992e+02] [ 9.49519948e-03 9.99954918e-01 -6.12709462e-05 8.89480096e+00] [ 1.37495931e-02 -6.92930988e-05 9.99905467e-01 5.37848210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5692541539999 meters 0.017477768899748673 Centerline is valid? [True, True] Translation: X:781.99, Y:8.89, Z:5.38 [[ 9.99859061e-01 -8.96083553e-03 -1.41972240e-02 7.81989576e+02] [ 8.96078028e-03 9.99959849e-01 -6.75055297e-05 8.89414208e+00] [ 1.41972588e-02 -5.97221889e-05 9.99899212e-01 5.37592827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5992541539999 meters 0.014967264990407151 Centerline is valid? [True, True] Translation: X:782.02, Y:8.89, Z:5.38 [[ 9.99853337e-01 -1.00822335e-02 -1.38439102e-02 7.82017521e+02] [ 1.00822330e-02 9.99949171e-01 -6.98299480e-05 8.89332914e+00] [ 1.38439106e-02 -6.97578219e-05 9.99904166e-01 5.37842692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6292541539999 meters 0.017029980913783504 Centerline is valid? [True, True] Translation: X:782.05, Y:8.89, Z:5.38 [[ 9.99830403e-01 -1.14886300e-02 -1.43936262e-02 7.82045325e+02] [ 1.14887351e-02 9.99933999e-01 -7.53867205e-05 8.88958091e+00] [ 1.43935423e-02 -8.99906231e-05 9.99896404e-01 5.37545501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6592541539999 meters 0.015834002118202208 Centerline is valid? [True, True] Translation: X:782.07, Y:8.89, Z:5.38 [[ 9.99802240e-01 -1.35486295e-02 -1.45572884e-02 7.82073818e+02] [ 1.35489181e-02 9.99908206e-01 -7.88022440e-05 8.88748844e+00] [ 1.45570198e-02 -1.18448848e-04 9.99894034e-01 5.37627131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6892541539999 meters 0.016938925991554905 Centerline is valid? [True, True] Translation: X:782.10, Y:8.88, Z:5.37 [[ 9.99736166e-01 -1.73322320e-02 -1.50729064e-02 7.82101892e+02] [ 1.73329331e-02 9.99849770e-01 -8.41293651e-05 8.88211408e+00] [ 1.50721002e-02 -1.77150511e-04 9.99886394e-01 5.37427876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7192541539999 meters 0.016544832508383997 Centerline is valid? [True, True] Translation: X:782.13, Y:8.88, Z:5.38 [[ 9.99681055e-01 -2.03099313e-02 -1.50098374e-02 7.82131084e+02] [ 2.03109234e-02 9.99793708e-01 -8.63536112e-05 8.87977626e+00] [ 1.50084949e-02 -2.18537589e-04 9.99887342e-01 5.37550307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7492541539999 meters 0.01634375670924999 Centerline is valid? [True, True] Translation: X:782.16, Y:8.88, Z:5.38 [[ 9.99632871e-01 -2.26209774e-02 -1.49135482e-02 7.82159439e+02] [ 2.26221781e-02 9.99744082e-01 -8.81985990e-05 8.87899652e+00] [ 1.49117267e-02 -2.49210726e-04 9.99888783e-01 5.37634598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7792541539999 meters 0.017347798950252572 Centerline is valid? [True, True] Translation: X:782.19, Y:8.87, Z:5.38 [[ 9.99506552e-01 -2.78319001e-02 -1.45615442e-02 7.82189276e+02] [ 2.78335845e-02 9.99612567e-01 -8.70125988e-05 8.87465342e+00] [ 1.45583243e-02 -3.18330307e-04 9.99893971e-01 5.37615869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8092541539999 meters 0.018785401859694156 Centerline is valid? [True, True] Translation: X:782.22, Y:8.87, Z:5.38 [[ 9.99341111e-01 -3.34479291e-02 -1.40918367e-02 7.82219803e+02] [ 3.34500610e-02 9.99440387e-01 -8.44503151e-05 8.86968255e+00] [ 1.40867754e-02 -3.86978125e-04 9.99900702e-01 5.37642867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.839254154 meters 0.019752613349329887 Centerline is valid? [True, True] Translation: X:782.25, Y:8.87, Z:5.38 [[ 9.99241426e-01 -3.63911414e-02 -1.38656867e-02 7.82250952e+02] [ 3.63934920e-02 9.99337534e-01 -8.28447922e-05 8.86715213e+00] [ 1.38595160e-02 -4.21838810e-04 9.99903863e-01 5.37653900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8692541539999 meters 0.02069800460036384 Centerline is valid? [True, True] Translation: X:782.28, Y:8.86, Z:5.38 [[ 9.99137480e-01 -3.91777559e-02 -1.37622183e-02 7.82282451e+02] [ 3.91803424e-02 9.99232152e-01 -8.17331207e-05 8.86484520e+00] [ 1.37548531e-02 -4.57545799e-04 9.99905293e-01 5.37687138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8992541539999 meters 0.02318420927171655 Centerline is valid? [True, True] Translation: X:782.31, Y:8.86, Z:5.38 [[ 9.98913700e-01 -4.46910731e-02 -1.31957838e-02 7.82312558e+02] [ 4.46939344e-02 9.99000724e-01 -7.81305250e-05 8.86025481e+00] [ 1.31860893e-02 -5.11725845e-04 9.99912929e-01 5.37682391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9292541539999 meters 0.02331300860817146 Centerline is valid? [True, True] Translation: X:782.34, Y:8.86, Z:5.38 [[ 9.98773955e-01 -4.77402557e-02 -1.30940946e-02 7.82343603e+02] [ 4.77433361e-02 9.98859634e-01 -7.74162290e-05 8.86049935e+00] [ 1.30828584e-02 -5.47834447e-04 9.99914266e-01 5.37704660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9592541539998 meters 0.02526142334157402 Centerline is valid? [True, True] Translation: X:782.37, Y:8.86, Z:5.38 [[ 9.98501886e-01 -5.31292220e-02 -1.30870309e-02 7.82373944e+02] [ 5.31327631e-02 9.98587454e-01 -7.72050392e-05 8.85701830e+00] [ 1.30726468e-02 -6.18260737e-04 9.99914358e-01 5.37725741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9892541539999 meters 0.028855899737496502 Centerline is valid? [True, True] Translation: X:782.40, Y:8.85, Z:5.38 [[ 9.98350181e-01 -5.59513535e-02 -1.28981245e-02 7.82404044e+02] [ 5.59550286e-02 9.98433287e-01 -7.60424964e-05 8.85175988e+00] [ 1.28821715e-02 -6.45797885e-04 9.99916813e-01 5.37710997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0192541539999 meters 0.029916096115781825 Centerline is valid? [True, True] Translation: X:782.44, Y:8.85, Z:5.38 [[ 9.98193550e-01 -5.87599930e-02 -1.25259495e-02 7.82435521e+02] [ 5.87636821e-02 9.98271919e-01 -7.36517804e-05 8.85039648e+00] [ 1.25086314e-02 -6.62552183e-04 9.99921545e-01 5.37733778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0492541539999 meters 0.03165910411103396 Centerline is valid? [True, True] Translation: X:782.47, Y:8.85, Z:5.38 [[ 9.97860723e-01 -6.41335594e-02 -1.26832192e-02 7.82466264e+02] [ 6.41377776e-02 9.97941050e-01 -7.43137000e-05 8.84892293e+00] [ 1.26618710e-02 -7.39318767e-04 9.99919562e-01 5.37736157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0792541539998 meters 0.033979317402857104 Centerline is valid? [True, True] Translation: X:782.50, Y:8.85, Z:5.38 [[ 9.97718311e-01 -6.62832044e-02 -1.28339061e-02 7.82496217e+02] [ 6.62877009e-02 9.97800549e-01 -7.51765108e-05 8.84660677e+00] [ 1.28106615e-02 -7.75725145e-04 9.99917639e-01 5.37758362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1092541539999 meters 0.036352124207363744 Centerline is valid? [True, True] Translation: X:782.53, Y:8.85, Z:5.38 [[ 9.97553893e-01 -6.88109556e-02 -1.22996788e-02 7.82526095e+02] [ 6.88152820e-02 9.97629416e-01 -7.16224469e-05 8.84520568e+00] [ 1.22754498e-02 -7.74958615e-04 9.99924354e-01 5.37863752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1392541539999 meters 0.03558552869965803 Centerline is valid? [True, True] Translation: X:782.56, Y:8.85, Z:5.38 [[ 9.97504420e-01 -6.95417744e-02 -1.22014087e-02 7.82558527e+02] [ 6.95460975e-02 9.97578736e-01 -7.01347056e-05 8.84759457e+00] [ 1.21767432e-02 -7.78600680e-04 9.99925558e-01 5.37892994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1692541539999 meters 0.03549680305313243 Centerline is valid? [True, True] Translation: X:782.59, Y:8.85, Z:5.38 [[ 9.97510653e-01 -6.95019792e-02 -1.19152264e-02 7.82591125e+02] [ 6.95061089e-02 9.97581524e-01 -6.76606488e-05 8.84891871e+00] [ 1.18911122e-02 -7.60688805e-04 9.99929009e-01 5.37966390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1992541539998 meters 0.03051774308923736 Centerline is valid? [True, True] Translation: X:782.62, Y:8.86, Z:5.38 [[ 9.97582544e-01 -6.83318614e-02 -1.26421424e-02 7.82623782e+02] [ 6.83364301e-02 9.97662331e-01 -7.07373786e-05 8.85946555e+00] [ 1.26174229e-02 -7.93352509e-04 9.99920082e-01 5.37996868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2292541539999 meters 0.03200363208827299 Centerline is valid? [True, True] Translation: X:782.66, Y:8.86, Z:5.38 [[ 9.97670324e-01 -6.69212090e-02 -1.32467252e-02 7.82655487e+02] [ 6.69261165e-02 9.97757931e-01 -7.29763884e-05 8.85976747e+00] [ 1.32219088e-02 -8.13745495e-04 9.99912256e-01 5.37863397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2592541539999 meters 0.038055309606699665 Centerline is valid? [True, True] Translation: X:782.69, Y:8.85, Z:5.38 [[ 9.97751817e-01 -6.57185596e-02 -1.31294744e-02 7.82686943e+02] [ 6.57232879e-02 9.97837885e-01 -7.14838603e-05 8.85207723e+00] [ 1.31057848e-02 -7.91589078e-04 9.99913802e-01 5.37929017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2892541539999 meters 0.03011900543808998 Centerline is valid? [True, True] Translation: X:782.72, Y:8.87, Z:5.38 [[ 9.97977254e-01 -6.20241216e-02 -1.39430865e-02 7.82717662e+02] [ 6.20291021e-02 9.98074338e-01 -7.53856914e-05 8.86721971e+00] [ 1.39209125e-02 -7.89643929e-04 9.99902788e-01 5.38025266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3192541539999 meters 0.03533255622744253 Centerline is valid? [True, True] Translation: X:782.75, Y:8.86, Z:5.38 [[ 9.98126675e-01 -5.94940232e-02 -1.42688967e-02 7.82748097e+02] [ 5.94989852e-02 9.98228363e-01 -7.68873617e-05 8.86226451e+00] [ 1.42481917e-02 -7.72241548e-04 9.99898191e-01 5.37919247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3492541539999 meters 0.02824471538401036 Centerline is valid? [True, True] Translation: X:782.78, Y:8.88, Z:5.38 [[ 9.98418149e-01 -5.41039960e-02 -1.52956852e-02 7.82778738e+02] [ 5.41090698e-02 9.98535028e-01 -8.22340069e-05 8.87680269e+00] [ 1.52777266e-02 -7.45531373e-04 9.99883011e-01 5.37990117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3792541539999 meters 0.024077641341784382 Centerline is valid? [True, True] Translation: X:782.81, Y:8.89, Z:5.38 [[ 9.98594461e-01 -5.03212114e-02 -1.66396501e-02 7.82810518e+02] [ 5.03267020e-02 9.98732805e-01 -8.88674041e-05 8.88665661e+00] [ 1.66230363e-02 -7.48676212e-04 9.99861547e-01 5.37984588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4092541539999 meters 0.02302710804896402 Centerline is valid? [True, True] Translation: X:782.84, Y:8.89, Z:5.38 [[ 9.98766723e-01 -4.68999828e-02 -1.62918275e-02 7.82840607e+02] [ 4.69048009e-02 9.98899360e-01 -8.64533108e-05 8.89023604e+00] [ 1.62779507e-02 -6.77818234e-04 9.99867276e-01 5.38145823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4392541539999 meters 0.01975716971553783 Centerline is valid? [True, True] Translation: X:782.87, Y:8.90, Z:5.38 [[ 9.99136030e-01 -3.84034269e-02 -1.58861385e-02 7.82870679e+02] [ 3.84069379e-02 9.99262178e-01 -8.41313008e-05 8.90107345e+00] [ 1.58776483e-02 -5.26079320e-04 9.99873804e-01 5.38319967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4692541539999 meters 0.017949341404742962 Centerline is valid? [True, True] Translation: X:782.90, Y:8.91, Z:5.38 [[ 9.99459619e-01 -2.96639862e-02 -1.41604545e-02 7.82900529e+02] [ 2.96658982e-02 9.99559868e-01 -7.50497391e-05 8.91019193e+00] [ 1.41564483e-02 -3.45073418e-04 9.99899733e-01 5.38447178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4992541539999 meters 0.017949341404742962 Centerline is valid? [True, True] Translation: X:782.93, Y:8.91, Z:5.38 [[ 9.99460696e-01 -2.96276820e-02 -1.41604554e-02 7.82931384e+02] [ 2.96295929e-02 9.99560944e-01 -7.48702138e-05 8.91032577e+00] [ 1.41564564e-02 -3.44738695e-04 9.99899733e-01 5.38468560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5292541539999 meters 0.01676112289139647 Centerline is valid? [True, True] Translation: X:782.96, Y:8.92, Z:5.39 [[ 9.99587136e-01 -2.52138983e-02 -1.37774101e-02 7.82962890e+02] [ 2.52152951e-02 9.99682041e-01 -7.23458306e-05 8.91557561e+00] [ 1.37748536e-02 -2.75085500e-04 9.99905084e-01 5.38550224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5592541539999 meters 0.01853273471929861 Centerline is valid? [True, True] Translation: X:782.99, Y:8.92, Z:5.38 [[ 9.99676156e-01 -2.07573828e-02 -1.47212250e-02 7.82992426e+02] [ 2.07584964e-02 9.99784516e-01 -7.71693194e-05 8.91958222e+00] [ 1.47196546e-02 -2.28446167e-04 9.99891634e-01 5.38326670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.589254154 meters 0.015991811610809648 Centerline is valid? [True, True] Translation: X:783.02, Y:8.92, Z:5.39 [[ 9.99760315e-01 -1.72240435e-02 -1.35146262e-02 7.83022119e+02] [ 1.72246543e-02 9.99851642e-01 -7.12046278e-05 8.92421698e+00] [ 1.35138477e-02 -1.61597204e-04 9.99908671e-01 5.38534513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6192541539999 meters 0.017054597322952496 Centerline is valid? [True, True] Translation: X:783.05, Y:8.93, Z:5.38 [[ 9.99828136e-01 -1.09704385e-02 -1.49448296e-02 7.83052042e+02] [ 1.09704783e-02 9.99939819e-01 -7.93191595e-05 8.93056155e+00] [ 1.49448004e-02 -8.46464023e-05 9.99888317e-01 5.38372873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6492541539999 meters 0.015059289180877365 Centerline is valid? [True, True] Translation: X:783.08, Y:8.93, Z:5.39 [[ 9.99852016e-01 -9.88679552e-03 -1.40782421e-02 7.83080489e+02] [ 9.88669423e-03 9.99951122e-01 -7.67932580e-05 8.93288069e+00] [ 1.40783133e-02 -6.24053816e-05 9.99900894e-01 5.38516298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6792541539999 meters 0.015301274566903838 Centerline is valid? [True, True] Translation: X:783.11, Y:8.94, Z:5.38 [[ 9.99847566e-01 -8.43255112e-03 -1.52884660e-02 7.83108188e+02] [ 8.43222060e-03 9.99964444e-01 -8.60817774e-05 8.93559708e+00] [ 1.52886483e-02 -4.28470619e-05 9.99883121e-01 5.38393806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7092541539998 meters 0.015097762034451795 Centerline is valid? [True, True] Translation: X:783.14, Y:8.94, Z:5.38 [[ 9.99841406e-01 -9.21934879e-03 -1.52370203e-02 7.83136201e+02] [ 9.21906563e-03 9.99957500e-01 -8.88249498e-05 8.93641243e+00] [ 1.52371916e-02 -5.16602273e-05 9.99883906e-01 5.38399428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7392541539999 meters 0.014836510790477129 Centerline is valid? [True, True] Translation: X:783.16, Y:8.94, Z:5.38 [[ 9.99829253e-01 -1.02648661e-02 -1.53654355e-02 7.83164278e+02] [ 1.02646325e-02 9.99947313e-01 -9.40679562e-05 8.93680715e+00] [ 1.53655916e-02 -6.36686545e-05 9.99881940e-01 5.38423084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7692541539999 meters 0.015011595273621904 Centerline is valid? [True, True] Translation: X:783.19, Y:8.94, Z:5.38 [[ 9.99801681e-01 -1.28485286e-02 -1.52155962e-02 7.83192863e+02] [ 1.28485356e-02 9.99917449e-01 -9.72943379e-05 8.93658239e+00] [ 1.52155903e-02 -9.82230877e-05 9.99884231e-01 5.38426175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7992541539999 meters 0.014890818460134651 Centerline is valid? [True, True] Translation: X:783.22, Y:8.94, Z:5.38 [[ 9.99787502e-01 -1.41178960e-02 -1.50211526e-02 7.83220985e+02] [ 1.41180086e-02 9.99900331e-01 -9.85517208e-05 8.93600539e+00] [ 1.50210468e-02 -1.13537982e-04 9.99887171e-01 5.38448969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8292541539998 meters 0.014989985015440988 Centerline is valid? [True, True] Translation: X:783.25, Y:8.93, Z:5.39 [[ 9.99755337e-01 -1.67023653e-02 -1.45016125e-02 7.83249588e+02] [ 1.67027047e-02 9.99860495e-01 -9.77178508e-05 8.93469519e+00] [ 1.45012216e-02 -1.44522210e-04 9.99894841e-01 5.38506931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8592541539999 meters 0.015068340171797449 Centerline is valid? [True, True] Translation: X:783.28, Y:8.93, Z:5.39 [[ 9.99737859e-01 -1.78776795e-02 -1.43039162e-02 7.83278773e+02] [ 1.78780774e-02 9.99840169e-01 -1.00066338e-04 8.93392470e+00] [ 1.43034190e-02 -1.55686414e-04 9.99897689e-01 5.38515135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8892541539999 meters 0.017425989135065167 Centerline is valid? [True, True] Translation: X:783.31, Y:8.93, Z:5.38 [[ 9.99720804e-01 -1.80758458e-02 -1.52176983e-02 7.83307693e+02] [ 1.80762808e-02 9.99836605e-01 -1.08973476e-04 8.93312014e+00] [ 1.52171815e-02 -1.66136335e-04 9.99884198e-01 5.38282740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9192541539999 meters 0.017290758875327477 Centerline is valid? [True, True] Translation: X:783.34, Y:8.93, Z:5.38 [[ 9.99714436e-01 -1.91294350e-02 -1.43217360e-02 7.83336527e+02] [ 1.91298946e-02 9.99817001e-01 -1.04916235e-04 8.93305391e+00] [ 1.43211221e-02 -1.69087025e-04 9.99897433e-01 5.38332861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9492541539998 meters 0.015234350010894779 Centerline is valid? [True, True] Translation: X:783.37, Y:8.93, Z:5.39 [[ 9.99717638e-01 -2.01076940e-02 -1.26619681e-02 7.83365169e+02] [ 2.01081080e-02 9.99797807e-01 -9.46252126e-05 8.93194473e+00] [ 1.26613107e-02 -1.60009728e-04 9.99919830e-01 5.38542251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9792541539999 meters 0.015362456441386492 Centerline is valid? [True, True] Translation: X:783.40, Y:8.93, Z:5.39 [[ 9.99713324e-01 -2.05064625e-02 -1.23594397e-02 7.83395748e+02] [ 2.05068829e-02 9.99789707e-01 -9.27294852e-05 8.93142032e+00] [ 1.23587421e-02 -1.60750680e-04 9.99923615e-01 5.38547390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0092541539999 meters 0.015465515312195454 Centerline is valid? [True, True] Translation: X:783.43, Y:8.93, Z:5.39 [[ 9.99711292e-01 -2.07187057e-02 -1.21682781e-02 7.83425647e+02] [ 2.07191278e-02 9.99785332e-01 -9.13879719e-05 8.93042166e+00] [ 1.21675594e-02 -1.60754521e-04 9.99925960e-01 5.38539455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0392541539999 meters 0.015342902564294245 Centerline is valid? [True, True] Translation: X:783.46, Y:8.93, Z:5.39 [[ 9.99706824e-01 -2.08460703e-02 -1.23169604e-02 7.83455698e+02] [ 2.08465109e-02 9.99782684e-01 -9.26287379e-05 8.92988615e+00] [ 1.23162146e-02 -1.64164067e-04 9.99924139e-01 5.38581960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0692541539999 meters 0.01604203032340197 Centerline is valid? [True, True] Translation: X:783.49, Y:8.93, Z:5.39 [[ 9.99730818e-01 -1.97529403e-02 -1.21701930e-02 7.83485784e+02] [ 1.97532895e-02 9.99804881e-01 -9.15249857e-05 8.92972259e+00] [ 1.21696263e-02 -1.48900997e-04 9.99925936e-01 5.38563946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0992541539999 meters 0.01534480407573557 Centerline is valid? [True, True] Translation: X:783.51, Y:8.93, Z:5.39 [[ 9.99769610e-01 -1.78885287e-02 -1.18628778e-02 7.83514994e+02] [ 1.78887281e-02 9.99839980e-01 -8.93019116e-05 8.92937994e+00] [ 1.18625770e-02 -1.22930459e-04 9.99929630e-01 5.38597466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1292541539999 meters 0.014870943270031557 Centerline is valid? [True, True] Translation: X:783.54, Y:8.93, Z:5.39 [[ 9.99791074e-01 -1.65742470e-02 -1.19625936e-02 7.83544700e+02] [ 1.65743522e-02 9.99862632e-01 -9.03542114e-05 8.92955728e+00] [ 1.19624479e-02 -1.07936906e-04 9.99928442e-01 5.38625594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1592541539999 meters 0.014660980645274648 Centerline is valid? [True, True] Translation: X:783.57, Y:8.93, Z:5.39 [[ 9.99815111e-01 -1.50322809e-02 -1.19905663e-02 7.83574873e+02] [ 1.50322717e-02 9.99887005e-01 -9.08978865e-05 8.92981750e+00] [ 1.19905778e-02 -8.93643702e-05 9.99928106e-01 5.38622979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1892541539999 meters 0.014508404143833701 Centerline is valid? [True, True] Translation: X:783.60, Y:8.93, Z:5.39 [[ 9.99856546e-01 -1.17154827e-02 -1.22325005e-02 7.83604264e+02] [ 1.17152211e-02 9.99931370e-01 -9.30451267e-05 8.93031784e+00] [ 1.22327511e-02 -5.02746691e-05 9.99925176e-01 5.38591188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2192541539999 meters 0.01422665840475558 Centerline is valid? [True, True] Translation: X:783.63, Y:8.93, Z:5.39 [[ 9.99866099e-01 -1.04820200e-02 -1.25663005e-02 7.83631721e+02] [ 1.04816222e-02 9.99945062e-01 -9.75139831e-05 8.93080795e+00] [ 1.25666322e-02 -3.42142883e-05 9.99921036e-01 5.38617561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2492541539999 meters 0.014285342026026316 Centerline is valid? [True, True] Translation: X:783.66, Y:8.93, Z:5.39 [[ 9.99875391e-01 -8.53530096e-03 -1.32797438e-02 7.83659426e+02] [ 8.53463129e-03 9.99963574e-01 -1.07099382e-04 8.93095677e+00] [ 1.32801742e-02 -6.25168083e-06 9.99911815e-01 5.38557213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2792541539999 meters 0.014301735578024652 Centerline is valid? [True, True] Translation: X:783.69, Y:8.93, Z:5.38 [[ 9.99879075e-01 -7.83226417e-03 -1.34346904e-02 7.83686437e+02] [ 7.83147008e-03 9.99969327e-01 -1.11716152e-04 8.93080602e+00] [ 1.34351533e-02 6.48926733e-06 9.99909744e-01 5.38467123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3092541539999 meters 0.014791227279889334 Centerline is valid? [True, True] Translation: X:783.71, Y:8.93, Z:5.38 [[ 9.99876280e-01 -7.86744888e-03 -1.36208970e-02 7.83713980e+02] [ 7.86659116e-03 9.99969051e-01 -1.16548003e-04 8.93029563e+00] [ 1.36213924e-02 9.38355524e-06 9.99907224e-01 5.38400435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.339254154 meters 0.014994542009483202 Centerline is valid? [True, True] Translation: X:783.74, Y:8.93, Z:5.38 [[ 9.99866854e-01 -8.25125519e-03 -1.40780515e-02 7.83741503e+02] [ 8.25031932e-03 9.99965958e-01 -1.24553860e-04 8.92823982e+00] [ 1.40786000e-02 8.38885560e-06 9.99900892e-01 5.38393469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3692541539999 meters 0.01541029064372798 Centerline is valid? [True, True] Translation: X:783.77, Y:8.93, Z:5.38 [[ 9.99858401e-01 -8.90553198e-03 -1.42782996e-02 7.83768791e+02] [ 8.90459354e-03 9.99960345e-01 -1.29299283e-04 8.92740071e+00] [ 1.42788848e-02 2.13851983e-06 9.99898052e-01 5.38308311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3992541539999 meters 0.014394393642255851 Centerline is valid? [True, True] Translation: X:783.80, Y:8.92, Z:5.39 [[ 9.99840175e-01 -1.15918605e-02 -1.36107588e-02 7.83796832e+02] [ 1.15912353e-02 9.99932812e-01 -1.24821765e-04 8.92483105e+00] [ 1.36112912e-02 -3.29636915e-05 9.99907362e-01 5.38552083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4292541539999 meters 0.014296704949137781 Centerline is valid? [True, True] Translation: X:783.82, Y:8.92, Z:5.39 [[ 9.99816022e-01 -1.35771038e-02 -1.35493414e-02 7.83824699e+02] [ 1.35766301e-02 9.99907825e-01 -1.26950776e-04 8.92300935e+00] [ 1.35498161e-02 -5.70269765e-05 9.99908195e-01 5.38564570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4592541539998 meters 0.014393674027369296 Centerline is valid? [True, True] Translation: X:783.85, Y:8.92, Z:5.39 [[ 9.99784214e-01 -1.56656642e-02 -1.36423271e-02 7.83852970e+02] [ 1.56653422e-02 9.99877282e-01 -1.30467186e-04 8.92073642e+00] [ 1.36426968e-02 -8.32726889e-05 9.99906931e-01 5.38589849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4892541539999 meters 0.014862403008706384 Centerline is valid? [True, True] Translation: X:783.88, Y:8.92, Z:5.39 [[ 9.99694704e-01 -2.07748262e-02 -1.33755159e-02 7.83881705e+02] [ 2.07749596e-02 9.99784169e-01 -1.28991517e-04 8.91541412e+00] [ 1.33753088e-02 -1.48923664e-04 9.99910535e-01 5.38604091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5192541539999 meters 0.016828786052541216 Centerline is valid? [True, True] Translation: X:783.91, Y:8.91, Z:5.38 [[ 9.99640627e-01 -2.30915441e-02 -1.36160954e-02 7.83911261e+02] [ 2.30918886e-02 9.99733338e-01 -1.31936352e-04 8.91236746e+00] [ 1.36155111e-02 -1.82532419e-04 9.99907288e-01 5.38451609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5492541539999 meters 0.0171281155889282 Centerline is valid? [True, True] Translation: X:783.94, Y:8.91, Z:5.39 [[ 9.99507502e-01 -2.85043370e-02 -1.31246149e-02 7.83941473e+02] [ 2.85051206e-02 9.99593638e-01 -1.27402288e-04 8.90704215e+00] [ 1.31229131e-02 -2.46779187e-04 9.99913860e-01 5.38589006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5792541539998 meters 0.017136031788784346 Centerline is valid? [True, True] Translation: X:783.97, Y:8.90, Z:5.39 [[ 9.99434975e-01 -3.11454441e-02 -1.26369126e-02 7.83972754e+02] [ 3.11463825e-02 9.99514826e-01 -1.22584200e-04 8.90469814e+00] [ 1.26345995e-02 -2.71079178e-04 9.99920144e-01 5.38738019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6092541539999 meters 0.017880887662988138 Centerline is valid? [True, True] Translation: X:784.00, Y:8.90, Z:5.39 [[ 9.99301167e-01 -3.55140490e-02 -1.16589278e-02 7.84003750e+02] [ 3.55151499e-02 9.99369132e-01 -1.12665237e-04 8.90132378e+00] [ 1.16555737e-02 -3.01482065e-04 9.99932026e-01 5.38843406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6392541539999 meters 0.019175660398064565 Centerline is valid? [True, True] Translation: X:784.04, Y:8.90, Z:5.39 [[ 9.99234586e-01 -3.73010408e-02 -1.17845059e-02 7.84036156e+02] [ 3.73022975e-02 9.99304021e-01 -1.13221278e-04 8.89893956e+00] [ 1.17805274e-02 -3.26454530e-04 9.99930554e-01 5.38779146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6692541539999 meters 0.018903735091295632 Centerline is valid? [True, True] Translation: X:784.07, Y:8.90, Z:5.39 [[ 9.99151261e-01 -3.95757095e-02 -1.14245960e-02 7.84068347e+02] [ 3.95770485e-02 9.99216516e-01 -1.08947216e-04 8.89731853e+00] [ 1.14199566e-02 -3.43297040e-04 9.99934731e-01 5.38927746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6992541539998 meters 0.01982489279043036 Centerline is valid? [True, True] Translation: X:784.10, Y:8.89, Z:5.39 [[ 9.99019716e-01 -4.29316288e-02 -1.07927408e-02 7.84100125e+02] [ 4.29330269e-02 9.99077947e-01 -1.02229624e-04 8.89375608e+00] [ 1.07871782e-02 -3.61235621e-04 9.99941751e-01 5.38976691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7292541539999 meters 0.021410926447988282 Centerline is valid? [True, True] Translation: X:784.13, Y:8.89, Z:5.39 [[ 9.98962185e-01 -4.43565710e-02 -1.03463448e-02 7.84131751e+02] [ 4.43579378e-02 9.99015697e-01 -9.74488684e-05 8.89062150e+00] [ 1.03404834e-02 -3.61594786e-04 9.99946470e-01 5.38994585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7592541539999 meters 0.021698901519123955 Centerline is valid? [True, True] Translation: X:784.16, Y:8.89, Z:5.39 [[ 9.98883386e-01 -4.61769055e-02 -9.98374070e-03 7.84163614e+02] [ 4.61782748e-02 9.98933210e-01 -9.34487523e-05 8.88907354e+00] [ 9.97740532e-03 -3.67687515e-04 9.99950157e-01 5.39006881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7892541539999 meters 0.021809031736905935 Centerline is valid? [True, True] Translation: X:784.20, Y:8.89, Z:5.39 [[ 9.98849235e-01 -4.68114190e-02 -1.04353627e-02 7.84196234e+02] [ 4.68129577e-02 9.98903668e-01 -9.69009380e-05 8.88877800e+00] [ 1.04284581e-02 -3.91720764e-04 9.99945545e-01 5.39015155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8192541539999 meters 0.02325171292987133 Centerline is valid? [True, True] Translation: X:784.23, Y:8.89, Z:5.39 [[ 9.98848199e-01 -4.67093377e-02 -1.09778890e-02 7.84228638e+02] [ 4.67110433e-02 9.98908438e-01 -1.01118791e-04 8.88864161e+00] [ 1.09706292e-02 -4.11786328e-04 9.99939736e-01 5.38854532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8492541539999 meters 0.02172659744852839 Centerline is valid? [True, True] Translation: X:784.26, Y:8.89, Z:5.39 [[ 9.98831635e-01 -4.72276995e-02 -1.02425076e-02 7.84260976e+02] [ 4.72292188e-02 9.98884073e-01 -9.36367574e-05 8.88888553e+00] [ 1.02354999e-02 -3.90218275e-04 9.99947540e-01 5.39070265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8792541539999 meters 0.023013179368074465 Centerline is valid? [True, True] Translation: X:784.29, Y:8.89, Z:5.39 [[ 9.98857072e-01 -4.66152346e-02 -1.05626833e-02 7.84292978e+02] [ 4.66168244e-02 9.98912840e-01 -9.57812159e-05 8.88842861e+00] [ 1.05556649e-02 -3.96727009e-04 9.99944209e-01 5.38895372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9092541539999 meters 0.02373334448653784 Centerline is valid? [True, True] Translation: X:784.32, Y:8.89, Z:5.39 [[ 9.98877600e-01 -4.61893784e-02 -1.04919513e-02 7.84324701e+02] [ 4.61909314e-02 9.98932625e-01 -9.43856334e-05 8.88595547e+00] [ 1.04851121e-02 -3.90353310e-04 9.99944954e-01 5.38992212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9392541539999 meters 0.022821681806063 Centerline is valid? [True, True] Translation: X:784.36, Y:8.89, Z:5.39 [[ 9.98910056e-01 -4.53079861e-02 -1.12199370e-02 7.84356685e+02] [ 4.53097160e-02 9.98972982e-01 -1.00102491e-04 8.88745933e+00] [ 1.12129494e-02 -4.08378774e-04 9.99937050e-01 5.38997458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9692541539999 meters 0.020440239067620224 Centerline is valid? [True, True] Translation: X:784.39, Y:8.89, Z:5.39 [[ 9.98980196e-01 -4.35440189e-02 -1.19367915e-02 7.84388778e+02] [ 4.35458616e-02 9.99051423e-01 -1.05616756e-04 8.89200769e+00] [ 1.19300675e-02 -4.14288823e-04 9.99928748e-01 5.38976076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9992541539999 meters 0.02184803790721086 Centerline is valid? [True, True] Translation: X:784.42, Y:8.89, Z:5.39 [[ 9.99028306e-01 -4.22828451e-02 -1.24340469e-02 7.84420066e+02] [ 4.22847573e-02 9.99105594e-01 -1.09188872e-04 8.89024677e+00] [ 1.24275426e-02 -4.16687881e-04 9.99922688e-01 5.38971503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0292541539999 meters 0.01989676523532218 Centerline is valid? [True, True] Translation: X:784.45, Y:8.90, Z:5.39 [[ 9.99103995e-01 -4.07375432e-02 -1.14743508e-02 7.84452129e+02] [ 4.07390775e-02 9.99169814e-01 -1.00083175e-04 8.89510645e+00] [ 1.14689021e-02 -3.67460968e-04 9.99934162e-01 5.39141157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0592541539999 meters 0.020417357309512725 Centerline is valid? [True, True] Translation: X:784.48, Y:8.89, Z:5.39 [[ 9.99152238e-01 -3.96443380e-02 -1.10965087e-02 7.84483392e+02] [ 3.96457134e-02 9.99213795e-01 -9.60756489e-05 8.89448554e+00] [ 1.10915935e-02 -3.43934806e-04 9.99938427e-01 5.39217915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.089254154 meters 0.0195001887209714 Centerline is valid? [True, True] Translation: X:784.52, Y:8.90, Z:5.39 [[ 9.99208016e-01 -3.84412004e-02 -1.02769364e-02 7.84515245e+02] [ 3.84423226e-02 9.99260817e-01 -8.83912468e-05 8.89696867e+00] [ 1.02727378e-02 -3.06748063e-04 9.99947187e-01 5.39321525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1192541539999 meters 0.01826635523905671 Centerline is valid? [True, True] Translation: X:784.55, Y:8.90, Z:5.39 [[ 9.99304702e-01 -3.60837683e-02 -9.38473473e-03 7.84547211e+02] [ 3.60846062e-02 9.99348735e-01 -8.00797507e-05 8.90093196e+00] [ 9.38151237e-03 -2.58620385e-04 9.99955959e-01 5.39468961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1492541539999 meters 0.01909145265728568 Centerline is valid? [True, True] Translation: X:784.58, Y:8.90, Z:5.40 [[ 9.99386347e-01 -3.39314642e-02 -8.69393150e-03 7.84578897e+02] [ 3.39321072e-02 9.99424138e-01 -7.35813317e-05 8.90087860e+00] [ 8.69142171e-03 -2.21467237e-04 9.99962204e-01 5.39532374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1792541539999 meters 0.017408621284177958 Centerline is valid? [True, True] Translation: X:784.61, Y:8.90, Z:5.40 [[ 9.99409937e-01 -3.32086460e-02 -8.77284288e-03 7.84611138e+02] [ 3.32092786e-02 9.99448417e-01 -7.36007779e-05 8.90418155e+00] [ 8.77044811e-03 -2.17782434e-04 9.99961515e-01 5.39601319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2092541539998 meters 0.017938729798579352 Centerline is valid? [True, True] Translation: X:784.64, Y:8.90, Z:5.40 [[ 9.99408415e-01 -3.31909773e-02 -9.00989336e-03 7.84641970e+02] [ 3.31916495e-02 9.99449003e-01 -7.49488344e-05 8.90378184e+00] [ 9.00741655e-03 -2.24148727e-04 9.99959407e-01 5.39593440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2392541539999 meters 0.017994659933439506 Centerline is valid? [True, True] Translation: X:784.67, Y:8.90, Z:5.40 [[ 9.99368959e-01 -3.41113185e-02 -9.90458591e-03 7.84674586e+02] [ 3.41121824e-02 9.99418007e-01 -8.17552315e-05 8.90364673e+00] [ 9.90161029e-03 -2.56163400e-04 9.99950945e-01 5.39541321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2692541539999 meters 0.01798394932160998 Centerline is valid? [True, True] Translation: X:784.71, Y:8.90, Z:5.40 [[ 9.99323010e-01 -3.51981938e-02 -1.07055170e-02 7.84706959e+02] [ 3.51992742e-02 9.99380310e-01 -8.75433349e-05 8.90374479e+00] [ 1.07019642e-02 -2.89342358e-04 9.99942690e-01 5.39520684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2992541539999 meters 0.020121686553791568 Centerline is valid? [True, True] Translation: X:784.74, Y:8.90, Z:5.39 [[ 9.99210934e-01 -3.77076841e-02 -1.24755474e-02 7.84738772e+02] [ 3.77093579e-02 9.99288744e-01 -1.01118565e-04 8.90240519e+00] [ 1.24704870e-02 -3.69406104e-04 9.99922172e-01 5.39357919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3292541539998 meters 0.020406061430247847 Centerline is valid? [True, True] Translation: X:784.77, Y:8.90, Z:5.39 [[ 9.99081853e-01 -4.09576809e-02 -1.25666353e-02 7.84770002e+02] [ 4.09596448e-02 9.99160796e-01 -1.01166243e-04 8.90016962e+00] [ 1.25602329e-02 -4.13651563e-04 9.99921032e-01 5.39492562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3592541539999 meters 0.01981716158914294 Centerline is valid? [True, True] Translation: X:784.80, Y:8.90, Z:5.40 [[ 9.99017862e-01 -4.23515482e-02 -1.30252925e-02 7.84801766e+02] [ 4.23537858e-02 9.99102670e-01 -1.04127872e-04 8.90185881e+00] [ 1.30180145e-02 -4.47644847e-04 9.99915162e-01 5.39530419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3892541539999 meters 0.020315266020160802 Centerline is valid? [True, True] Translation: X:784.83, Y:8.90, Z:5.40 [[ 9.98974167e-01 -4.32890944e-02 -1.32916401e-02 7.84834004e+02] [ 4.32915189e-02 9.99062477e-01 -1.05396503e-04 8.90137136e+00] [ 1.32837414e-02 -4.70126902e-04 9.99911657e-01 5.39532043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4192541539999 meters 0.020315266020160802 Centerline is valid? [True, True] Translation: X:784.87, Y:8.90, Z:5.40 [[ 9.98977345e-01 -4.32156876e-02 -1.32916477e-02 7.84865714e+02] [ 4.32181186e-02 9.99065655e-01 -1.04420168e-04 8.90156160e+00] [ 1.32837413e-02 -4.70126626e-04 9.99911657e-01 5.39554003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4492541539998 meters 0.020487599639625532 Centerline is valid? [True, True] Translation: X:784.90, Y:8.90, Z:5.40 [[ 9.98929393e-01 -4.41473676e-02 -1.38231127e-02 7.84898012e+02] [ 4.41501003e-02 9.99024903e-01 -1.07556952e-04 8.90203527e+00] [ 1.38143822e-02 -5.02850011e-04 9.99904450e-01 5.39551004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4792541539999 meters 0.02122259497558253 Centerline is valid? [True, True] Translation: X:784.93, Y:8.90, Z:5.39 [[ 9.98842503e-01 -4.57660913e-02 -1.48026398e-02 7.84929629e+02] [ 4.57694171e-02 9.98952025e-01 -1.14195676e-04 8.90221365e+00] [ 1.47923533e-02 -5.63444702e-04 9.99890428e-01 5.39497101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5092541539999 meters 0.022037099811963 Centerline is valid? [True, True] Translation: X:784.96, Y:8.90, Z:5.39 [[ 9.98764968e-01 -4.73855036e-02 -1.49382753e-02 7.84961009e+02] [ 4.73890838e-02 9.98876500e-01 -1.14416240e-04 8.90196513e+00] [ 1.49269138e-02 -5.93636249e-04 9.99888411e-01 5.39494455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5392541539999 meters 0.02212945751138272 Centerline is valid? [True, True] Translation: X:784.99, Y:8.90, Z:5.40 [[ 9.98708763e-01 -4.85190523e-02 -1.50568667e-02 7.84993465e+02] [ 4.85228330e-02 9.98822067e-01 -1.14341960e-04 8.90274222e+00] [ 1.50446785e-02 -6.16407509e-04 9.99886632e-01 5.39512414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5692541539999 meters 0.023634363610114558 Centerline is valid? [True, True] Translation: X:785.02, Y:8.90, Z:5.40 [[ 9.98661802e-01 -4.96008570e-02 -1.46410448e-02 7.85024575e+02] [ 4.96045613e-02 9.98768930e-01 -1.10262397e-04 8.90062959e+00] [ 1.46284898e-02 -6.16147760e-04 9.99892808e-01 5.39519346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5992541539999 meters 0.025233215331001035 Centerline is valid? [True, True] Translation: X:785.06, Y:8.90, Z:5.40 [[ 9.98558872e-01 -5.17853352e-02 -1.40875144e-02 7.85056802e+02] [ 5.17889939e-02 9.98658044e-01 -1.05213882e-04 8.89978418e+00] [ 1.40740581e-02 -6.24515944e-04 9.99900761e-01 5.39587018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6292541539999 meters 0.02573269315906796 Centerline is valid? [True, True] Translation: X:785.09, Y:8.90, Z:5.40 [[ 9.98516653e-01 -5.28588379e-02 -1.30551841e-02 7.85087916e+02] [ 5.28620862e-02 9.98601818e-01 -9.63773937e-05 8.89934350e+00] [ 1.30420250e-02 -5.93889834e-04 9.99914773e-01 5.39745076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6592541539999 meters 0.02815415273122452 Centerline is valid? [True, True] Translation: X:785.12, Y:8.90, Z:5.40 [[ 9.98399853e-01 -5.50197055e-02 -1.30600583e-02 7.85119020e+02] [ 5.50231548e-02 9.98485074e-01 -9.53345691e-05 8.89834724e+00] [ 1.30455185e-02 -6.23423588e-04 9.99914709e-01 5.39712812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6892541539999 meters 0.02584292780031188 Centerline is valid? [True, True] Translation: X:785.15, Y:8.90, Z:5.40 [[ 9.98357028e-01 -5.58561221e-02 -1.27804141e-02 7.85151417e+02] [ 5.58595036e-02 9.98438635e-01 -9.25082021e-05 8.90240070e+00] [ 1.27656264e-02 -6.21551376e-04 9.99918323e-01 5.39803726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7192541539999 meters 0.030053615904672086 Centerline is valid? [True, True] Translation: X:785.18, Y:8.90, Z:5.40 [[ 9.98332442e-01 -5.60268689e-02 -1.39041772e-02 7.85182282e+02] [ 5.60309062e-02 9.98429030e-01 -9.93238579e-05 8.89852196e+00] [ 1.38878990e-02 -6.79905421e-04 9.99903327e-01 5.39553561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7492541539999 meters 0.031137050622997507 Centerline is valid? [True, True] Translation: X:785.21, Y:8.90, Z:5.39 [[ 9.98296194e-01 -5.64736795e-02 -1.46776410e-02 7.85214695e+02] [ 5.64782463e-02 9.98403825e-01 -1.03509460e-04 8.89953688e+00] [ 1.46600585e-02 -7.25634325e-04 9.99892272e-01 5.39488331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7792541539999 meters 0.027118851792894846 Centerline is valid? [True, True] Translation: X:785.25, Y:8.91, Z:5.40 [[ 9.98324264e-01 -5.59447792e-02 -1.47934378e-02 7.85246408e+02] [ 5.59493759e-02 9.98433602e-01 -1.03278662e-04 8.90719718e+00] [ 1.47760433e-02 -7.24578019e-04 9.99890566e-01 5.39613590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8092541539999 meters 0.025468620211409682 Centerline is valid? [True, True] Translation: X:785.28, Y:8.91, Z:5.40 [[ 9.98377266e-01 -5.49508414e-02 -1.49411785e-02 7.85278435e+02] [ 5.49554357e-02 9.98488803e-01 -1.03216320e-04 8.91096198e+00] [ 1.49242713e-02 -7.18050148e-04 9.99888369e-01 5.39656471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.839254154 meters 0.026337755510331327 Centerline is valid? [True, True] Translation: X:785.31, Y:8.91, Z:5.40 [[ 9.98444460e-01 -5.36871529e-02 -1.50449502e-02 7.85309961e+02] [ 5.36916922e-02 9.98557556e-01 -1.02332924e-04 8.91043259e+00] [ 1.50287427e-02 -7.05615095e-04 9.99886813e-01 5.39701249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8692541539999 meters 0.02565559128219224 Centerline is valid? [True, True] Translation: X:785.34, Y:8.92, Z:5.40 [[ 9.98594828e-01 -5.05512556e-02 -1.59041138e-02 7.85340120e+02] [ 5.05559494e-02 9.98721225e-01 -1.07035930e-04 8.91520456e+00] [ 1.58891868e-02 -6.97162047e-04 9.99873516e-01 5.39626812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8992541539999 meters 0.02330266977736796 Centerline is valid? [True, True] Translation: X:785.37, Y:8.92, Z:5.40 [[ 9.98693465e-01 -4.83354466e-02 -1.65845624e-02 7.85371551e+02] [ 4.83402538e-02 9.98830920e-01 -1.11131003e-04 8.92220708e+00] [ 1.65705453e-02 -6.90716147e-04 9.99862461e-01 5.39599050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9292541539999 meters 0.022373512167379307 Centerline is valid? [True, True] Translation: X:785.40, Y:8.93, Z:5.40 [[ 9.98905900e-01 -4.39385533e-02 -1.60127187e-02 7.85401562e+02] [ 4.39424744e-02 9.99034057e-01 -1.07052550e-04 8.92541829e+00] [ 1.60019551e-02 -5.96703059e-04 9.99871782e-01 5.39641758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9592541539998 meters 0.021171823172425382 Centerline is valid? [True, True] Translation: X:785.43, Y:8.93, Z:5.40 [[ 9.99019007e-01 -4.12333000e-02 -1.61505081e-02 7.85433079e+02] [ 4.12369412e-02 9.99149390e-01 -1.07645483e-04 8.92907372e+00] [ 1.61412089e-02 -5.58457670e-04 9.99869566e-01 5.39641654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9892541539999 meters 0.019264987562033917 Centerline is valid? [True, True] Translation: X:785.46, Y:8.94, Z:5.40 [[ 9.99237103e-01 -3.53281670e-02 -1.66472962e-02 7.85463697e+02] [ 3.53312240e-02 9.99375651e-01 -1.10524677e-04 8.93689783e+00] [ 1.66408072e-02 -4.77728995e-04 9.99861418e-01 5.39655794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0192541539999 meters 0.018688481976890308 Centerline is valid? [True, True] Translation: X:785.49, Y:8.94, Z:5.40 [[ 9.99353626e-01 -3.18134308e-02 -1.67402265e-02 7.85493869e+02] [ 3.18160453e-02 9.99493735e-01 -1.10191097e-04 8.94117208e+00] [ 1.67352571e-02 -4.22487932e-04 9.99859867e-01 5.39644019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0492541539999 meters 0.017333827064222332 Centerline is valid? [True, True] Translation: X:785.52, Y:8.95, Z:5.40 [[ 9.99453596e-01 -2.84320502e-02 -1.68560924e-02 7.85524626e+02] [ 2.84342301e-02 9.99595659e-01 -1.10368495e-04 8.94565012e+00] [ 1.68524148e-02 -3.68981823e-04 9.99857920e-01 5.39715308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0792541539998 meters 0.015871639337283725 Centerline is valid? [True, True] Translation: X:785.56, Y:8.95, Z:5.40 [[ 9.99623363e-01 -2.20141617e-02 -1.63862491e-02 7.85555374e+02] [ 2.20153626e-02 9.99757627e-01 -1.07121372e-04 8.95440933e+00] [ 1.63846357e-02 -2.53668189e-04 9.99865731e-01 5.39782401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1092541539999 meters 0.014766050324971563 Centerline is valid? [True, True] Translation: X:785.59, Y:8.96, Z:5.40 [[ 9.99688947e-01 -1.94310301e-02 -1.56347228e-02 7.85585217e+02] [ 1.94318044e-02 9.99811179e-01 -1.02404141e-04 8.95766084e+00] [ 1.56337605e-02 -2.01438587e-04 9.99877765e-01 5.39896880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1392541539999 meters 0.015165814065558949 Centerline is valid? [True, True] Translation: X:785.61, Y:8.96, Z:5.40 [[ 9.99773065e-01 -1.48709876e-02 -1.52535907e-02 7.85613431e+02] [ 1.48711581e-02 9.99889413e-01 -1.02248899e-04 8.96184810e+00] [ 1.52534244e-02 -1.24612864e-04 9.99883652e-01 5.39794117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1692541539999 meters 0.016260844901197356 Centerline is valid? [True, True] Translation: X:785.64, Y:8.97, Z:5.40 [[ 9.99801248e-01 -1.29669437e-02 -1.51434069e-02 7.85642692e+02] [ 1.29668502e-02 9.99915921e-01 -1.04360058e-04 8.96505880e+00] [ 1.51434869e-02 -9.20229734e-05 9.99885327e-01 5.39809419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1992541539998 meters 0.016389975142731546 Centerline is valid? [True, True] Translation: X:785.67, Y:8.97, Z:5.40 [[ 9.99819450e-01 -1.18219046e-02 -1.48764708e-02 7.85670352e+02] [ 1.18216404e-02 9.99930116e-01 -1.05698524e-04 8.96755480e+00] [ 1.48766808e-02 -7.01848485e-05 9.99889334e-01 5.39845429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2292541539999 meters 0.013794885542739482 Centerline is valid? [True, True] Translation: X:785.70, Y:8.97, Z:5.40 [[ 9.99850728e-01 -1.02350410e-02 -1.39199875e-02 7.85699498e+02] [ 1.02346062e-02 9.99947620e-01 -1.02470247e-04 8.97115423e+00] [ 1.39203071e-02 -4.00106394e-05 9.99903107e-01 5.40044716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2592541539999 meters 0.013694550864640706 Centerline is valid? [True, True] Translation: X:785.73, Y:8.97, Z:5.40 [[ 9.99865869e-01 -9.61674134e-03 -1.32575300e-02 7.85727255e+02] [ 9.61624687e-03 9.99953758e-01 -1.01044562e-04 8.97215070e+00] [ 1.32578886e-02 -2.64566724e-05 9.99912110e-01 5.40047733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2892541539999 meters 0.013718574505478944 Centerline is valid? [True, True] Translation: X:785.75, Y:8.97, Z:5.40 [[ 9.99871756e-01 -9.53275039e-03 -1.28684810e-02 7.85754078e+02] [ 9.53224320e-03 9.99954562e-01 -1.00749272e-04 8.97227604e+00] [ 1.28688567e-02 -2.19291385e-05 9.99917193e-01 5.40036291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3192541539999 meters 0.013625467973951588 Centerline is valid? [True, True] Translation: X:785.78, Y:8.97, Z:5.40 [[ 9.99875463e-01 -9.93133309e-03 -1.22648886e-02 7.85781825e+02] [ 9.93087338e-03 9.99950683e-01 -9.83856259e-05 8.97239360e+00] [ 1.22652608e-02 -2.34276826e-05 9.99924779e-01 5.40099877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3492541539999 meters 0.013535219912988972 Centerline is valid? [True, True] Translation: X:785.81, Y:8.97, Z:5.40 [[ 9.99872098e-01 -1.09787652e-02 -1.16298871e-02 7.85810026e+02] [ 1.09783935e-02 9.99939731e-01 -9.58012125e-05 8.97152805e+00] [ 1.16302380e-02 -3.18885178e-05 9.99932366e-01 5.40161922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3792541539999 meters 0.013698525648464728 Centerline is valid? [True, True] Translation: X:785.84, Y:8.97, Z:5.40 [[ 9.99868370e-01 -1.19816782e-02 -1.09399594e-02 7.85838300e+02] [ 1.19813889e-02 9.99928216e-01 -9.19866882e-05 8.97074143e+00] [ 1.09402762e-02 -3.91013282e-05 9.99940153e-01 5.40159376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4092541539999 meters 0.013816836359140827 Centerline is valid? [True, True] Translation: X:785.87, Y:8.97, Z:5.40 [[ 9.99841351e-01 -1.43020739e-02 -1.06171154e-02 7.85867186e+02] [ 1.43019119e-02 9.99897718e-01 -9.11812047e-05 8.96772224e+00] [ 1.06173335e-02 -6.06783099e-05 9.99943633e-01 5.40126888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4392541539999 meters 0.015852140678196878 Centerline is valid? [True, True] Translation: X:785.90, Y:8.97, Z:5.40 [[ 9.99822577e-01 -1.52789240e-02 -1.10167175e-02 7.85896612e+02] [ 1.52788031e-02 9.99883268e-01 -9.51474839e-05 8.96582070e+00] [ 1.10168853e-02 -7.31916549e-05 9.99939310e-01 5.39962543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4692541539999 meters 0.014575351117784656 Centerline is valid? [True, True] Translation: X:785.93, Y:8.96, Z:5.40 [[ 9.99785515e-01 -1.77574749e-02 -1.06581921e-02 7.85926193e+02] [ 1.77574985e-02 9.99842319e-01 -9.24235979e-05 8.96339972e+00] [ 1.06581527e-02 -9.68590559e-05 9.99943196e-01 5.40029474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4992541539999 meters 0.014670486889364025 Centerline is valid? [True, True] Translation: X:785.96, Y:8.96, Z:5.40 [[ 9.99690237e-01 -2.23528419e-02 -1.09443853e-02 7.85956856e+02] [ 2.23531394e-02 9.99750133e-01 -9.51589890e-05 8.95785587e+00] [ 1.09437777e-02 -1.49511857e-04 9.99940104e-01 5.40001008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5292541539999 meters 0.017855135495189373 Centerline is valid? [True, True] Translation: X:785.99, Y:8.95, Z:5.40 [[ 9.99647793e-01 -2.37935948e-02 -1.17539491e-02 7.85988328e+02] [ 2.37940406e-02 9.99716877e-01 -1.01936678e-04 8.95427749e+00] [ 1.17530467e-02 -1.77773167e-04 9.99930915e-01 5.39730115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5592541539999 meters 0.016850092545493026 Centerline is valid? [True, True] Translation: X:786.02, Y:8.95, Z:5.40 [[ 9.99504290e-01 -2.88576317e-02 -1.25861355e-02 7.86018509e+02] [ 2.88585521e-02 9.99583499e-01 -1.08520596e-04 8.94801378e+00] [ 1.25840251e-02 -2.54750847e-04 9.99920786e-01 5.39754700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.589254154 meters 0.01672785558905286 Centerline is valid? [True, True] Translation: X:786.05, Y:8.95, Z:5.40 [[ 9.99450126e-01 -3.04684735e-02 -1.30812043e-02 7.86049551e+02] [ 3.04696124e-02 9.99535687e-01 -1.12274179e-04 8.94736931e+00] [ 1.30785513e-02 -2.86366782e-04 9.99914431e-01 5.39754042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6192541539999 meters 0.01738552774215638 Centerline is valid? [True, True] Translation: X:786.08, Y:8.94, Z:5.40 [[ 9.99361169e-01 -3.30002570e-02 -1.37199403e-02 7.86081176e+02] [ 3.30017568e-02 9.99455287e-01 -1.17129022e-04 8.94430751e+00] [ 1.37163321e-02 -3.35727936e-04 9.99905870e-01 5.39702410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6492541539999 meters 0.018575206835218044 Centerline is valid? [True, True] Translation: X:786.11, Y:8.94, Z:5.40 [[ 9.99347198e-01 -3.35376670e-02 -1.34314324e-02 7.86112569e+02] [ 3.35391625e-02 9.99437398e-01 -1.13950740e-04 8.94130436e+00] [ 1.34276974e-02 -3.36602641e-04 9.99909788e-01 5.39625751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6792541539999 meters 0.0186985770243191 Centerline is valid? [True, True] Translation: X:786.14, Y:8.94, Z:5.40 [[ 9.99358092e-01 -3.32622648e-02 -1.33050655e-02 7.86144743e+02] [ 3.32637189e-02 9.99446603e-01 -1.12052261e-04 8.94192537e+00] [ 1.33014296e-02 -3.30595626e-04 9.99911477e-01 5.39579146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7092541539998 meters 0.01736684851555047 Centerline is valid? [True, True] Translation: X:786.18, Y:8.94, Z:5.40 [[ 9.99404139e-01 -3.21930244e-02 -1.24489105e-02 7.86177061e+02] [ 3.21942252e-02 9.99481626e-01 -1.03980393e-04 8.94109351e+00] [ 1.24458048e-02 -2.96864594e-04 9.99922504e-01 5.39745805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7392541539999 meters 0.017833297224689598 Centerline is valid? [True, True] Translation: X:786.21, Y:8.94, Z:5.40 [[ 9.99457838e-01 -3.04942259e-02 -1.24149952e-02 7.86207672e+02] [ 3.04952965e-02 9.99534905e-01 -1.03105034e-04 8.94020776e+00] [ 1.24123652e-02 -2.75549825e-04 9.99922926e-01 5.39778501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7692541539999 meters 0.01597319110487796 Centerline is valid? [True, True] Translation: X:786.24, Y:8.94, Z:5.40 [[ 9.99607477e-01 -2.54617087e-02 -1.16873335e-02 7.86239545e+02] [ 2.54623179e-02 9.99675778e-01 -9.66950877e-05 8.94455361e+00] [ 1.16860063e-02 -2.00929470e-04 9.99931696e-01 5.39942141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7992541539999 meters 0.014976881822235524 Centerline is valid? [True, True] Translation: X:786.27, Y:8.95, Z:5.40 [[ 9.99689180e-01 -2.23262917e-02 -1.10941276e-02 7.86271317e+02] [ 2.23266539e-02 9.99750725e-01 -9.12112940e-05 8.94779952e+00] [ 1.10933985e-02 -1.56511804e-04 9.99938454e-01 5.40033046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8292541539998 meters 0.01523118395201964 Centerline is valid? [True, True] Translation: X:786.30, Y:8.95, Z:5.40 [[ 9.99754125e-01 -1.94277576e-02 -1.06888324e-02 7.86301320e+02] [ 1.94279329e-02 9.99811256e-01 -8.74446636e-05 8.94809341e+00] [ 1.06885138e-02 -1.20238754e-04 9.99942869e-01 5.40022017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8592541539999 meters 0.014443856213477423 Centerline is valid? [True, True] Translation: X:786.33, Y:8.95, Z:5.40 [[ 9.99859330e-01 -1.36568517e-02 -9.73708451e-03 7.86331727e+02] [ 1.36567246e-02 9.99906739e-01 -7.95439151e-05 8.95198743e+00] [ 9.73726274e-03 -5.34439558e-05 9.99952590e-01 5.40137958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8892541539999 meters 0.014206948501500335 Centerline is valid? [True, True] Translation: X:786.36, Y:8.95, Z:5.40 [[ 9.99888556e-01 -1.13973908e-02 -9.64236754e-03 7.86361242e+02] [ 1.13971612e-02 9.99935047e-01 -7.87641649e-05 8.95313845e+00] [ 9.64263894e-03 -3.11402301e-05 9.99953508e-01 5.40148954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9192541539999 meters 0.014199444425087377 Centerline is valid? [True, True] Translation: X:786.39, Y:8.95, Z:5.40 [[ 9.99904479e-01 -9.81689323e-03 -9.72944030e-03 7.86390676e+02] [ 9.81658381e-03 9.99951813e-01 -7.95587014e-05 8.95387688e+00] [ 9.72975248e-03 -1.59587642e-05 9.99952665e-01 5.40166197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9492541539998 meters 0.015078249949166829 Centerline is valid? [True, True] Translation: X:786.42, Y:8.95, Z:5.40 [[ 9.99902822e-01 -8.99416195e-03 -1.06514119e-02 7.86419399e+02] [ 8.99373173e-03 9.99959552e-01 -8.82911737e-05 8.95342575e+00] [ 1.06517752e-02 -7.51334744e-06 9.99943268e-01 5.39978312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9792541539999 meters 0.01442193216481623 Centerline is valid? [True, True] Translation: X:786.45, Y:8.95, Z:5.40 [[ 9.99883448e-01 -1.00787919e-02 -1.14677106e-02 7.86447022e+02] [ 1.00783282e-02 9.99949208e-01 -9.82258224e-05 8.95272073e+00] [ 1.14681181e-02 -1.73609770e-05 9.99934239e-01 5.40001180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0092541539999 meters 0.015376461822721177 Centerline is valid? [True, True] Translation: X:786.48, Y:8.95, Z:5.40 [[ 9.99817441e-01 -1.39778291e-02 -1.30270844e-02 7.86475931e+02] [ 1.39775262e-02 9.99902303e-01 -1.14297909e-04 8.94844690e+00] [ 1.30274093e-02 -6.78093707e-05 9.99915137e-01 5.39780866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0392541539999 meters 0.016740279541823756 Centerline is valid? [True, True] Translation: X:786.50, Y:8.95, Z:5.40 [[ 9.99763191e-01 -1.71653837e-02 -1.33757975e-02 7.86503628e+02] [ 1.71653351e-02 9.99852658e-01 -1.18447244e-04 8.94500352e+00] [ 1.33758599e-02 -1.11180851e-04 9.99910533e-01 5.39632754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0692541539999 meters 0.015378329092686563 Centerline is valid? [True, True] Translation: X:786.53, Y:8.94, Z:5.40 [[ 9.99673921e-01 -2.14695486e-02 -1.38242823e-02 7.86532862e+02] [ 2.14698941e-02 9.99769488e-01 -1.23432636e-04 8.94254475e+00] [ 1.38237457e-02 -1.73413490e-04 9.99904432e-01 5.39797702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0992541539999 meters 0.016810740794417404 Centerline is valid? [True, True] Translation: X:786.56, Y:8.93, Z:5.40 [[ 9.99442745e-01 -3.01095515e-02 -1.44088184e-02 7.86562610e+02] [ 3.01108152e-02 9.99546558e-01 -1.29278747e-04 8.93490997e+00] [ 1.44061774e-02 -3.04654564e-04 9.99896179e-01 5.39815086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1292541539999 meters 0.017903858018678005 Centerline is valid? [True, True] Translation: X:786.59, Y:8.93, Z:5.40 [[ 9.99297165e-01 -3.45960964e-02 -1.44321129e-02 7.86594229e+02] [ 3.45978326e-02 9.99401307e-01 -1.29435024e-04 8.93131876e+00] [ 1.44279504e-02 -3.69975771e-04 9.99895843e-01 5.39826932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1592541539999 meters 0.020995650014028394 Centerline is valid? [True, True] Translation: X:786.62, Y:8.92, Z:5.40 [[ 9.98926622e-01 -4.39454021e-02 -1.46425634e-02 7.86624133e+02] [ 4.39481943e-02 9.99033803e-01 -1.31182664e-04 8.92379070e+00] [ 1.46341806e-02 -5.12472365e-04 9.99892783e-01 5.39862661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1892541539999 meters 0.02394514342690674 Centerline is valid? [True, True] Translation: X:786.65, Y:8.92, Z:5.40 [[ 9.98726203e-01 -4.82476149e-02 -1.47695316e-02 7.86653842e+02] [ 4.82509330e-02 9.98835237e-01 -1.31809440e-04 8.91873150e+00] [ 1.47586881e-02 -5.81002139e-04 9.99890916e-01 5.39852891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2192541539999 meters 0.025511840340759467 Centerline is valid? [True, True] Translation: X:786.69, Y:8.92, Z:5.40 [[ 9.98533207e-01 -5.22901891e-02 -1.40417149e-02 7.86685185e+02] [ 5.22935978e-02 9.98631746e-01 -1.24548277e-04 8.91581904e+00] [ 1.40290149e-02 -6.09926201e-04 9.99901403e-01 5.39910979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2492541539999 meters 0.02655835192043027 Centerline is valid? [True, True] Translation: X:786.72, Y:8.91, Z:5.40 [[ 9.98137443e-01 -5.96919720e-02 -1.25902081e-02 7.86715505e+02] [ 5.96953026e-02 9.98216639e-01 -1.11438694e-04 8.91362405e+00] [ 1.25744072e-02 -6.40345147e-04 9.99920734e-01 5.40084607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2792541539999 meters 0.029157444386969756 Centerline is valid? [True, True] Translation: X:786.75, Y:8.91, Z:5.40 [[ 9.97976888e-01 -6.22500907e-02 -1.29250586e-02 7.86746486e+02] [ 6.22538164e-02 9.98060344e-01 -1.14271678e-04 8.91207828e+00] [ 1.29071018e-02 -6.90593731e-04 9.99916461e-01 5.39961038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3092541539999 meters 0.029157444386969756 Centerline is valid? [True, True] Translation: X:786.78, Y:8.91, Z:5.40 [[ 9.97983721e-01 -6.21404428e-02 -1.29250655e-02 7.86779067e+02] [ 6.21441695e-02 9.98067177e-01 -1.13486895e-04 8.91227372e+00] [ 1.29071357e-02 -6.89959387e-04 9.99916461e-01 5.39983611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.339254154 meters 0.030524740319023524 Centerline is valid? [True, True] Translation: X:786.81, Y:8.91, Z:5.40 [[ 9.97688446e-01 -6.69140478e-02 -1.18437918e-02 7.86808686e+02] [ 6.69175216e-02 9.97758505e-01 -1.03188442e-04 8.90936194e+00] [ 1.18241488e-02 -6.89607279e-04 9.99929855e-01 5.40248823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3692541539999 meters 0.030573110041276417 Centerline is valid? [True, True] Translation: X:786.84, Y:8.91, Z:5.40 [[ 9.97616810e-01 -6.80402919e-02 -1.14550770e-02 7.86840989e+02] [ 6.80436209e-02 9.97682342e-01 -9.93282435e-05 8.91008761e+00] [ 1.14352864e-02 -6.80353394e-04 9.99934384e-01 5.40319387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3992541539999 meters 0.0316514092332962 Centerline is valid? [True, True] Translation: X:786.87, Y:8.91, Z:5.40 [[ 9.97583960e-01 -6.85687082e-02 -1.11612821e-02 7.86872028e+02] [ 6.85719095e-02 9.97646172e-01 -9.60634244e-05 8.90937347e+00] [ 1.11415973e-02 -6.69519092e-04 9.99937706e-01 5.40372572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4292541539999 meters 0.03222285227903023 Centerline is valid? [True, True] Translation: X:786.90, Y:8.91, Z:5.40 [[ 9.97606445e-01 -6.82858962e-02 -1.08819534e-02 7.86903688e+02] [ 6.82889295e-02 9.97665582e-01 -9.30135521e-05 8.91001739e+00] [ 1.08629019e-02 -6.50326032e-04 9.99940785e-01 5.40454835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4592541539998 meters 0.03195433523659688 Centerline is valid? [True, True] Translation: X:786.94, Y:8.91, Z:5.40 [[ 9.97670734e-01 -6.73361871e-02 -1.09061465e-02 7.86935679e+02] [ 6.73391859e-02 9.97730137e-01 -9.24418380e-05 8.91214266e+00] [ 1.08876157e-02 -6.42184510e-04 9.99940522e-01 5.40381703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4892541539999 meters 0.03177178164845545 Centerline is valid? [True, True] Translation: X:786.97, Y:8.91, Z:5.40 [[ 9.97737612e-01 -6.63152416e-02 -1.10429626e-02 7.86966654e+02] [ 6.63182616e-02 9.97798517e-01 -9.28806963e-05 8.91335466e+00] [ 1.10248111e-02 -6.39679520e-04 9.99939020e-01 5.40476944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5192541539999 meters 0.03021767560991253 Centerline is valid? [True, True] Translation: X:787.00, Y:8.92, Z:5.40 [[ 9.97928731e-01 -6.31374678e-02 -1.23250691e-02 7.86997067e+02] [ 6.31409933e-02 9.98004611e-01 -1.03252365e-04 8.91844725e+00] [ 1.23069949e-02 -6.75178603e-04 9.99924038e-01 5.40412955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5492541539999 meters 0.02948749266142104 Centerline is valid? [True, True] Translation: X:787.03, Y:8.92, Z:5.40 [[ 9.98060387e-01 -6.08526698e-02 -1.31307436e-02 7.87028539e+02] [ 6.08564771e-02 9.98146521e-01 -1.09781193e-04 8.92182122e+00] [ 1.31130865e-02 -6.89522537e-04 9.99913782e-01 5.40301897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5792541539998 meters 0.028201002671413285 Centerline is valid? [True, True] Translation: X:787.06, Y:8.93, Z:5.40 [[ 9.98365849e-01 -5.51912624e-02 -1.48174397e-02 7.87059493e+02] [ 5.51954933e-02 9.98475559e-01 -1.23579067e-04 8.92914390e+00] [ 1.48016719e-02 -6.94478773e-04 9.99890208e-01 5.40103958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6092541539999 meters 0.02701135544792934 Centerline is valid? [True, True] Translation: X:787.09, Y:8.93, Z:5.40 [[ 9.98503247e-01 -5.25740681e-02 -1.50742281e-02 7.87089854e+02] [ 5.25781517e-02 9.98616804e-01 -1.25553633e-04 8.93187284e+00] [ 1.50599784e-02 -6.67209343e-04 9.99886369e-01 5.40244041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6392541539999 meters 0.026013863722571764 Centerline is valid? [True, True] Translation: X:787.12, Y:8.94, Z:5.40 [[ 9.98672429e-01 -4.88125773e-02 -1.64533233e-02 7.87121468e+02] [ 4.88169432e-02 9.98807733e-01 -1.36409951e-04 8.93744504e+00] [ 1.64403651e-02 -6.66972094e-04 9.99864626e-01 5.40069808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6692541539999 meters 0.02377143230144303 Centerline is valid? [True, True] Translation: X:787.15, Y:8.95, Z:5.40 [[ 9.98928521e-01 -4.27945775e-02 -1.76191184e-02 7.87152141e+02] [ 4.27986593e-02 9.99083707e-01 -1.45503585e-04 8.94628490e+00] [ 1.76092009e-02 -6.08726965e-04 9.99844761e-01 5.40013999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6992541539998 meters 0.021744882533928107 Centerline is valid? [True, True] Translation: X:787.18, Y:8.95, Z:5.40 [[ 9.99031933e-01 -4.03725105e-02 -1.74715922e-02 7.87182809e+02] [ 4.03761627e-02 9.99184540e-01 -1.43802562e-04 8.94988604e+00] [ 1.74631505e-02 -5.61772497e-04 9.99847350e-01 5.40180123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7292541539999 meters 0.020534226265312622 Centerline is valid? [True, True] Translation: X:787.21, Y:8.96, Z:5.40 [[ 9.99272186e-01 -3.37970615e-02 -1.76877367e-02 7.87212240e+02] [ 3.37997763e-02 9.99428614e-01 -1.45521602e-04 8.95754593e+00] [ 1.76825484e-02 -4.52425854e-04 9.99843549e-01 5.40147094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7592541539999 meters 0.018172594859028432 Centerline is valid? [True, True] Translation: X:787.24, Y:8.96, Z:5.40 [[ 9.99383022e-01 -3.05137102e-02 -1.73922097e-02 7.87243264e+02] [ 3.05158391e-02 9.99534273e-01 -1.43028518e-04 8.96349932e+00] [ 1.73884741e-02 -3.87797603e-04 9.99848734e-01 5.40323999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7892541539999 meters 0.016040698771680212 Centerline is valid? [True, True] Translation: X:787.27, Y:8.97, Z:5.41 [[ 9.99491486e-01 -2.69534722e-02 -1.70375831e-02 7.87273586e+02] [ 2.69550001e-02 9.99636638e-01 -1.39997352e-04 8.97086689e+00] [ 1.70351657e-02 -3.19321893e-04 9.99854840e-01 5.40537054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8192541539999 meters 0.014844234491528826 Centerline is valid? [True, True] Translation: X:787.30, Y:8.98, Z:5.41 [[ 9.99676320e-01 -1.95461807e-02 -1.62850235e-02 7.87302947e+02] [ 1.95465983e-02 9.99808938e-01 -1.33540125e-04 8.97898391e+00] [ 1.62845222e-02 -1.84819912e-04 9.99867381e-01 5.40679581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8492541539999 meters 0.014912748669599464 Centerline is valid? [True, True] Translation: X:787.33, Y:8.98, Z:5.41 [[ 9.99740897e-01 -1.62930993e-02 -1.58956871e-02 7.87331722e+02] [ 1.62930816e-02 9.99867250e-01 -1.30627632e-04 8.98133281e+00] [ 1.58957053e-02 -1.28395940e-04 9.99873647e-01 5.40621491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8792541539999 meters 0.015990875670727895 Centerline is valid? [True, True] Translation: X:787.36, Y:8.99, Z:5.41 [[ 9.99837597e-01 -9.98558798e-03 -1.50022418e-02 7.87360516e+02] [ 9.98482707e-03 9.99950142e-01 -1.25622522e-04 8.98882671e+00] [ 1.50027482e-02 -2.41926695e-05 9.99887452e-01 5.40741739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9092541539999 meters 0.014056791545064364 Centerline is valid? [True, True] Translation: X:787.39, Y:8.99, Z:5.41 [[ 9.99852397e-01 -8.94368970e-03 -1.46695056e-02 7.87388902e+02] [ 8.94280478e-03 9.99960004e-01 -1.25920989e-04 8.99125133e+00] [ 1.46700451e-02 -5.28412256e-06 9.99892389e-01 5.41017361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9392541539999 meters 0.014063378603922467 Centerline is valid? [True, True] Translation: X:787.42, Y:8.99, Z:5.41 [[ 9.99865240e-01 -8.10624041e-03 -1.42755474e-02 7.87417073e+02] [ 8.10526873e-03 9.99967144e-01 -1.25922489e-04 8.99287845e+00] [ 1.42760991e-02 1.01983719e-05 9.99898091e-01 5.41084848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9692541539999 meters 0.015872157924586357 Centerline is valid? [True, True] Translation: X:787.45, Y:8.99, Z:5.41 [[ 9.99856952e-01 -7.93032130e-03 -1.49394200e-02 7.87445390e+02] [ 7.92917098e-03 9.99968554e-01 -1.36230109e-04 8.99305200e+00] [ 1.49400305e-02 1.77534062e-05 9.99888391e-01 5.40948885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9992541539999 meters 0.014093718742508138 Centerline is valid? [True, True] Translation: X:787.47, Y:8.99, Z:5.41 [[ 9.99821140e-01 -1.21998000e-02 -1.44517536e-02 7.87473155e+02] [ 1.21991316e-02 9.99925579e-01 -1.34409218e-04 8.99067823e+00] [ 1.44523179e-02 -4.19136669e-05 9.99895559e-01 5.41060504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0292541539999 meters 0.014053322649399565 Centerline is valid? [True, True] Translation: X:787.50, Y:8.99, Z:5.41 [[ 9.99784700e-01 -1.48755166e-02 -1.44662909e-02 7.87502195e+02] [ 1.48750903e-02 9.99889350e-01 -1.37071802e-04 8.98894653e+00] [ 1.44667292e-02 -7.81450935e-05 9.99895348e-01 5.41097773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0592541539999 meters 0.016302195153044968 Centerline is valid? [True, True] Translation: X:787.53, Y:8.99, Z:5.41 [[ 9.99727702e-01 -1.77324942e-02 -1.51684147e-02 7.87531071e+02] [ 1.77322951e-02 9.99842760e-01 -1.47632516e-04 8.98669912e+00] [ 1.51686475e-02 -1.21378489e-04 9.99884942e-01 5.40935229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.089254154 meters 0.014869656389459451 Centerline is valid? [True, True] Translation: X:787.56, Y:8.98, Z:5.41 [[ 9.99647348e-01 -2.18580315e-02 -1.50800118e-02 7.87559273e+02] [ 2.18582704e-02 9.99761068e-01 -1.48994801e-04 8.98410779e+00] [ 1.50796654e-02 -1.80680718e-04 9.99886279e-01 5.41086093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1192541539999 meters 0.016678342038275982 Centerline is valid? [True, True] Translation: X:787.59, Y:8.98, Z:5.41 [[ 9.99460851e-01 -2.89963393e-02 -1.54019535e-02 7.87589152e+02] [ 2.89974245e-02 9.99579475e-01 -1.52901615e-04 8.97812765e+00] [ 1.53999101e-02 -2.93797805e-04 9.99881371e-01 5.41007308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1492541539999 meters 0.01688051194784749 Centerline is valid? [True, True] Translation: X:787.62, Y:8.98, Z:5.41 [[ 9.99346324e-01 -3.23833686e-02 -1.60699152e-02 7.87619933e+02] [ 3.23849862e-02 9.99475456e-01 -1.59623714e-04 8.97624762e+00] [ 1.60666550e-02 -3.60904611e-04 9.99870858e-01 5.41063562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1792541539999 meters 0.018398001630112903 Centerline is valid? [True, True] Translation: X:787.65, Y:8.97, Z:5.41 [[ 9.99224254e-01 -3.58577753e-02 -1.62821959e-02 7.87650071e+02] [ 3.58599017e-02 9.99356814e-01 -1.61436704e-04 8.97223826e+00] [ 1.62775122e-02 -4.22566474e-04 9.99867423e-01 5.40995039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2092541539998 meters 0.02004033250678781 Centerline is valid? [True, True] Translation: X:787.68, Y:8.97, Z:5.41 [[ 9.98998299e-01 -4.16163671e-02 -1.64461434e-02 7.87681594e+02] [ 4.16193236e-02 9.99133527e-01 -1.62598678e-04 8.96714428e+00] [ 1.64386601e-02 -5.22041564e-04 9.99864740e-01 5.40998971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2392541539999 meters 0.021878374107817657 Centerline is valid? [True, True] Translation: X:787.71, Y:8.96, Z:5.41 [[ 9.98889764e-01 -4.41679700e-02 -1.63838454e-02 7.87713093e+02] [ 4.41712592e-02 9.99023961e-01 -1.61234688e-04 8.96378462e+00] [ 1.63749755e-02 -5.62639402e-04 9.99865763e-01 5.40984055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2692541539999 meters 0.023571505221925755 Centerline is valid? [True, True] Translation: X:787.74, Y:8.96, Z:5.41 [[ 9.98735872e-01 -4.77248105e-02 -1.57797246e-02 7.87744595e+02] [ 4.77283152e-02 9.98860343e-01 -1.54628495e-04 8.96005572e+00] [ 1.57691207e-02 -5.98706645e-04 9.99875480e-01 5.41005490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2992541539999 meters 0.022702572004483303 Centerline is valid? [True, True] Translation: X:787.78, Y:8.96, Z:5.41 [[ 9.98706903e-01 -4.83575298e-02 -1.56866763e-02 7.87777070e+02] [ 4.83610850e-02 9.98829906e-01 -1.52839600e-04 8.96248914e+00] [ 1.56757123e-02 -6.05982721e-04 9.99876945e-01 5.40951342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3292541539998 meters 0.02253947206783914 Centerline is valid? [True, True] Translation: X:787.81, Y:8.96, Z:5.41 [[ 9.98681987e-01 -4.90469745e-02 -1.51222657e-02 7.87807887e+02] [ 4.90503714e-02 9.98796295e-01 -1.46407275e-04 8.96119116e+00] [ 1.51112438e-02 -5.95538440e-04 9.99885641e-01 5.41071226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3592541539999 meters 0.022114229315760996 Centerline is valid? [True, True] Translation: X:787.84, Y:8.96, Z:5.41 [[ 9.98737247e-01 -4.78700267e-02 -1.52437499e-02 7.87839904e+02] [ 4.78733568e-02 9.98853403e-01 -1.46581394e-04 8.96403204e+00] [ 1.52332883e-02 -5.83373181e-04 9.99883797e-01 5.41026994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3892541539999 meters 0.02177431654427868 Centerline is valid? [True, True] Translation: X:787.87, Y:8.96, Z:5.41 [[ 9.98783429e-01 -4.69683728e-02 -1.50211286e-02 7.87871184e+02] [ 4.69715284e-02 9.98896218e-01 -1.42856266e-04 8.96292916e+00] [ 1.50112583e-02 -5.62882897e-04 9.99887166e-01 5.41172077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4192541539999 meters 0.02198788715916308 Centerline is valid? [True, True] Translation: X:787.90, Y:8.97, Z:5.41 [[ 9.98976362e-01 -4.24894145e-02 -1.55202106e-02 7.87902560e+02] [ 4.24922628e-02 9.99096785e-01 -1.46345034e-04 8.96552809e+00] [ 1.55124107e-02 -5.13293639e-04 9.99879544e-01 5.41016895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4492541539998 meters 0.01918635194949937 Centerline is valid? [True, True] Translation: X:787.93, Y:8.97, Z:5.41 [[ 9.99048104e-01 -4.07182443e-02 -1.56495868e-02 7.87934909e+02] [ 4.07209371e-02 9.99170548e-01 -1.46678538e-04 8.96905388e+00] [ 1.56425787e-02 -4.90726925e-04 9.99877527e-01 5.41244949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4792541539999 meters 0.01974596534956653 Centerline is valid? [True, True] Translation: X:787.97, Y:8.97, Z:5.41 [[ 9.99234855e-01 -3.55042227e-02 -1.64059279e-02 7.87966136e+02] [ 3.55064943e-02 9.99369434e-01 -1.52889504e-04 8.97287969e+00] [ 1.64010111e-02 -4.29744465e-04 9.99865402e-01 5.41036554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5092541539999 meters 0.0173183445759002 Centerline is valid? [True, True] Translation: X:788.00, Y:8.98, Z:5.41 [[ 9.99283244e-01 -3.41663736e-02 -1.62989810e-02 7.87997528e+02] [ 3.41684475e-02 9.99416077e-01 -1.51298545e-04 8.97506021e+00] [ 1.62946329e-02 -4.05720774e-04 9.99867151e-01 5.41210064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5392541539999 meters 0.017043006581105018 Centerline is valid? [True, True] Translation: X:788.03, Y:8.98, Z:5.41 [[ 9.99350900e-01 -3.21916149e-02 -1.61703064e-02 7.88028066e+02] [ 3.21934045e-02 9.99481647e-01 -1.49686619e-04 8.97635562e+00] [ 1.61667431e-02 -3.70987756e-04 9.99869241e-01 5.41171790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5692541539999 meters 0.01915839087918912 Centerline is valid? [True, True] Translation: X:788.06, Y:8.98, Z:5.41 [[ 9.99403128e-01 -2.98118782e-02 -1.74539498e-02 7.88058216e+02] [ 2.98136063e-02 9.99555463e-01 -1.61245617e-04 8.97730978e+00] [ 1.74509979e-02 -3.59215814e-04 9.99847655e-01 5.40943722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5992541539999 meters 0.01838802600851456 Centerline is valid? [True, True] Translation: X:788.09, Y:8.98, Z:5.41 [[ 9.99466826e-01 -2.71087846e-02 -1.81982895e-02 7.88088485e+02] [ 2.71102177e-02 9.99632436e-01 -1.67992816e-04 8.98057009e+00] [ 1.81961545e-02 -3.25456342e-04 9.99834383e-01 5.40867000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6292541539999 meters 0.016212784950126947 Centerline is valid? [True, True] Translation: X:788.12, Y:8.98, Z:5.41 [[ 9.99470483e-01 -2.70914703e-02 -1.80223814e-02 7.88118173e+02] [ 2.70928694e-02 9.99632907e-01 -1.66565744e-04 8.98141333e+00] [ 1.80202780e-02 -3.21800481e-04 9.99837570e-01 5.40996216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6592541539999 meters 0.016182483228468606 Centerline is valid? [True, True] Translation: X:788.15, Y:8.98, Z:5.41 [[ 9.99461748e-01 -2.66534934e-02 -1.91260639e-02 7.88147614e+02] [ 2.66549784e-02 9.99644677e-01 -1.77324209e-04 8.98202043e+00] [ 1.91239943e-02 -3.32576055e-04 9.99817064e-01 5.40921755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6892541539999 meters 0.01584255212206434 Centerline is valid? [True, True] Translation: X:788.18, Y:8.98, Z:5.41 [[ 9.99452774e-01 -2.67833022e-02 -1.94115157e-02 7.88177529e+02] [ 2.67848428e-02 9.99641205e-01 -1.80669668e-04 8.98378388e+00] [ 1.94093899e-02 -3.39363596e-04 9.99811562e-01 5.40966511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7192541539999 meters 0.017361574627635993 Centerline is valid? [True, True] Translation: X:788.21, Y:8.98, Z:5.41 [[ 9.99400783e-01 -2.77609819e-02 -2.06737416e-02 7.88206629e+02] [ 2.77628610e-02 9.99614518e-01 -1.96166734e-04 8.98384728e+00] [ 2.06712180e-02 -3.77913026e-04 9.99786256e-01 5.40801127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7492541539999 meters 0.016273401977434293 Centerline is valid? [True, True] Translation: X:788.24, Y:8.98, Z:5.41 [[ 9.99372058e-01 -2.90944043e-02 -2.02238960e-02 7.88235799e+02] [ 2.90964261e-02 9.99576590e-01 -1.94335049e-04 8.98390697e+00] [ 2.02209870e-02 -3.94230077e-04 9.99795457e-01 5.40942763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7792541539999 meters 0.016813104400821045 Centerline is valid? [True, True] Translation: X:788.27, Y:8.98, Z:5.41 [[ 9.99304188e-01 -3.15226039e-02 -1.99365077e-02 7.88265489e+02] [ 3.15250348e-02 9.99502944e-01 -1.92411792e-04 8.98337745e+00] [ 1.99326635e-02 -4.36221191e-04 9.99801230e-01 5.41017681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8092541539999 meters 0.017389981964143927 Centerline is valid? [True, True] Translation: X:788.29, Y:8.98, Z:5.41 [[ 9.99269154e-01 -3.29632404e-02 -1.93541339e-02 7.88294831e+02] [ 3.29657924e-02 9.99456463e-01 -1.87255866e-04 8.98298624e+00] [ 1.93497867e-02 -4.50905348e-04 9.99812674e-01 5.41078401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.839254154 meters 0.018197192848549103 Centerline is valid? [True, True] Translation: X:788.32, Y:8.98, Z:5.41 [[ 9.99231338e-01 -3.45137060e-02 -1.85886084e-02 7.88324841e+02] [ 3.45163297e-02 9.99404118e-01 -1.79761895e-04 8.98161518e+00] [ 1.85837360e-02 -4.61986817e-04 9.99827201e-01 5.41193178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8692541539999 meters 0.01863221664709241 Centerline is valid? [True, True] Translation: X:788.36, Y:8.98, Z:5.41 [[ 9.99118791e-01 -3.86121689e-02 -1.64542548e-02 7.88356237e+02] [ 3.86147873e-02 9.99254158e-01 -1.58668486e-04 8.98062488e+00] [ 1.64481090e-02 -4.76848882e-04 9.99864607e-01 5.41422105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8992541539999 meters 0.02028976542447342 Centerline is valid? [True, True] Translation: X:788.39, Y:8.98, Z:5.41 [[ 9.99026414e-01 -4.11445589e-02 -1.59169784e-02 7.88387063e+02] [ 4.11473391e-02 9.99153078e-01 -1.52919693e-04 8.97782961e+00] [ 1.59097898e-02 -5.02170496e-04 9.99873305e-01 5.41467172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9292541539999 meters 0.021734069987941522 Centerline is valid? [True, True] Translation: X:788.42, Y:8.98, Z:5.42 [[ 9.98925028e-01 -4.38338331e-02 -1.50792471e-02 7.88418585e+02] [ 4.38366444e-02 9.99038702e-01 -1.44202741e-04 8.97570685e+00] [ 1.50710724e-02 -5.16975864e-04 9.99886291e-01 5.41520037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9592541539998 meters 0.025213561065829927 Centerline is valid? [True, True] Translation: X:788.45, Y:8.97, Z:5.41 [[ 9.98669083e-01 -4.91191659e-02 -1.57280286e-02 7.88449774e+02] [ 4.91228872e-02 9.98792731e-01 -1.49870334e-04 8.97350187e+00] [ 1.57164022e-02 -6.22935308e-04 9.99876296e-01 5.41376978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9892541539999 meters 0.026659289327819344 Centerline is valid? [True, True] Translation: X:788.48, Y:8.97, Z:5.41 [[ 9.98528414e-01 -5.18773267e-02 -1.58034772e-02 7.88481305e+02] [ 5.18814378e-02 9.98653240e-01 -1.50004906e-04 8.97137520e+00] [ 1.57899755e-02 -6.70122958e-04 9.99875106e-01 5.41329170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0192541539999 meters 0.027791859500925737 Centerline is valid? [True, True] Translation: X:788.51, Y:8.97, Z:5.41 [[ 9.98366786e-01 -5.50153180e-02 -1.53972672e-02 7.88512886e+02] [ 5.50196028e-02 9.98485264e-01 -1.45501785e-04 8.96927283e+00] [ 1.53819492e-02 -7.01887377e-04 9.99881444e-01 5.41388958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0492541539999 meters 0.028195404549705386 Centerline is valid? [True, True] Translation: X:788.54, Y:8.97, Z:5.42 [[ 9.97993823e-01 -6.14627624e-02 -1.51874489e-02 7.88543120e+02] [ 6.14676796e-02 9.98109064e-01 -1.43256129e-04 8.96830129e+00] [ 1.51675353e-02 -7.90568513e-04 9.99884654e-01 5.41515054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0792541539998 meters 0.029240505900851758 Centerline is valid? [True, True] Translation: X:788.57, Y:8.97, Z:5.42 [[ 9.97794355e-01 -6.46722881e-02 -1.49639853e-02 7.88573519e+02] [ 6.46774239e-02 9.97906214e-01 -1.40984900e-04 8.96597777e+00] [ 1.49417717e-02 -8.27158083e-04 9.99888023e-01 5.41648458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1092541539999 meters 0.029393471617807258 Centerline is valid? [True, True] Translation: X:788.60, Y:8.97, Z:5.42 [[ 9.97463488e-01 -6.94309712e-02 -1.56821352e-02 7.88604159e+02] [ 6.94372003e-02 9.97586314e-01 -1.47592789e-04 8.96632905e+00] [ 1.56545310e-02 -9.41705147e-04 9.99877017e-01 5.41673833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1392541539999 meters 0.02930514175244038 Centerline is valid? [True, True] Translation: X:788.64, Y:8.97, Z:5.42 [[ 9.97353143e-01 -7.09053020e-02 -1.60980055e-02 7.88635963e+02] [ 7.09120659e-02 9.97482559e-01 -1.50968570e-04 8.96769144e+00] [ 1.60681842e-02 -9.90973850e-04 9.99870407e-01 5.41601772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1692541539999 meters 0.03727153773819596 Centerline is valid? [True, True] Translation: X:788.67, Y:8.96, Z:5.42 [[ 9.97250470e-01 -7.23377003e-02 -1.60859110e-02 7.88667384e+02] [ 7.23446541e-02 9.97379681e-01 -1.49956079e-04 8.95723632e+00] [ 1.60546082e-02 -1.01418590e-03 9.99870602e-01 5.41536691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1992541539998 meters 0.033712741565563226 Centerline is valid? [True, True] Translation: X:788.70, Y:8.96, Z:5.41 [[ 9.97212723e-01 -7.26073017e-02 -1.71745249e-02 7.88699727e+02] [ 7.26152883e-02 9.97360013e-01 -1.58955515e-04 8.96383171e+00] [ 1.71407257e-02 -1.08862061e-03 9.99852494e-01 5.41464175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2292541539999 meters 0.033712741565563226 Centerline is valid? [True, True] Translation: X:788.73, Y:8.96, Z:5.41 [[ 9.97220578e-01 -7.24993432e-02 -1.71745396e-02 7.88732332e+02] [ 7.25073413e-02 9.97367866e-01 -1.57348317e-04 8.96403721e+00] [ 1.71407416e-02 -1.08836923e-03 9.99852494e-01 5.41486753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2592541539999 meters 0.033267566818615986 Centerline is valid? [True, True] Translation: X:788.76, Y:8.96, Z:5.42 [[ 9.97215573e-01 -7.26486062e-02 -1.68309440e-02 7.88764804e+02] [ 7.26563329e-02 9.97357024e-01 -1.52755339e-04 8.96474527e+00] [ 1.67975577e-02 -1.07054466e-03 9.99858338e-01 5.41652773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2892541539999 meters 0.030757772588291373 Centerline is valid? [True, True] Translation: X:788.80, Y:8.97, Z:5.42 [[ 9.97280777e-01 -7.17705705e-02 -1.67343067e-02 7.88797089e+02] [ 7.17781059e-02 9.97420614e-01 -1.50663177e-04 8.96914264e+00] [ 1.67019557e-02 -1.05090335e-03 9.99859960e-01 5.41717503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3192541539999 meters 0.030471896932039475 Centerline is valid? [True, True] Translation: X:788.83, Y:8.97, Z:5.42 [[ 9.97433238e-01 -6.94646542e-02 -1.73665582e-02 7.88828540e+02] [ 6.94724375e-02 9.97583859e-01 -1.55444630e-04 8.97132135e+00] [ 1.73353960e-02 -1.05145149e-03 9.99849178e-01 5.41704020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3492541539999 meters 0.028809238805668554 Centerline is valid? [True, True] Translation: X:788.86, Y:8.97, Z:5.42 [[ 9.97542881e-01 -6.78636097e-02 -1.73991483e-02 7.88859505e+02] [ 6.78711907e-02 9.97694080e-01 -1.55094461e-04 8.97485439e+00] [ 1.73695526e-02 -1.02618754e-03 9.99848611e-01 5.41719764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3792541539999 meters 0.028469174263923296 Centerline is valid? [True, True] Translation: X:788.89, Y:8.98, Z:5.42 [[ 9.97658241e-01 -6.60818286e-02 -1.76416021e-02 7.88891447e+02] [ 6.60893597e-02 9.97813696e-01 -1.56405817e-04 8.97666462e+00] [ 1.76133677e-02 -1.00988263e-03 9.99844363e-01 5.41732706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4092541539999 meters 0.02820970814825618 Centerline is valid? [True, True] Translation: X:788.92, Y:8.98, Z:5.42 [[ 9.97876740e-01 -6.25805432e-02 -1.80467995e-02 7.88920825e+02] [ 6.25878569e-02 9.98039445e-01 -1.59809642e-04 8.98045990e+00] [ 1.80214187e-02 -9.70040180e-04 9.99837130e-01 5.41767841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4392541539999 meters 0.02733369019667675 Centerline is valid? [True, True] Translation: X:788.95, Y:8.98, Z:5.42 [[ 9.97987064e-01 -6.07054478e-02 -1.83485542e-02 7.88952305e+02] [ 6.07126974e-02 9.98155270e-01 -1.62195062e-04 8.98346188e+00] [ 1.83245522e-02 -9.52121645e-04 9.99831638e-01 5.41815194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4692541539999 meters 0.026294053896459845 Centerline is valid? [True, True] Translation: X:788.98, Y:8.99, Z:5.42 [[ 9.98119618e-01 -5.85599122e-02 -1.81097775e-02 7.88983346e+02] [ 5.85666339e-02 9.98283489e-01 -1.59430309e-04 8.98646611e+00] [ 1.80880281e-02 -9.01498188e-04 9.99835992e-01 5.41882404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4992541539999 meters 0.026054022888698618 Centerline is valid? [True, True] Translation: X:789.01, Y:8.99, Z:5.42 [[ 9.98379025e-01 -5.39171856e-02 -1.82279881e-02 7.89013028e+02] [ 5.39232277e-02 9.98545072e-01 -1.60217826e-04 8.99000736e+00] [ 1.82101062e-02 -8.22953834e-04 9.99833844e-01 5.41802802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5292541539999 meters 0.025950036241578472 Centerline is valid? [True, True] Translation: X:789.04, Y:8.99, Z:5.42 [[ 9.98516777e-01 -5.11646566e-02 -1.86124858e-02 7.89044404e+02] [ 5.11704868e-02 9.98689919e-01 -1.63183207e-04 8.99264604e+00] [ 1.85964511e-02 -7.89468788e-04 9.99826759e-01 5.41726353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5592541539999 meters 0.0232956194835409 Centerline is valid? [True, True] Translation: X:789.08, Y:9.00, Z:5.42 [[ 9.98629620e-01 -4.91175581e-02 -1.80650693e-02 7.89075533e+02] [ 4.91227274e-02 9.98792738e-01 -1.57746677e-04 8.99694141e+00] [ 1.80510082e-02 -7.29874970e-04 9.99836801e-01 5.41969200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.589254154 meters 0.022998438122298227 Centerline is valid? [True, True] Translation: X:789.11, Y:9.00, Z:5.42 [[ 9.98797741e-01 -4.53806804e-02 -1.85382538e-02 7.89107097e+02] [ 4.53854976e-02 9.98969534e-01 -1.61002375e-04 9.00026724e+00] [ 1.85264571e-02 -6.80559064e-04 9.99828139e-01 5.41893328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6192541539999 meters 0.01929266808769705 Centerline is valid? [True, True] Translation: X:789.14, Y:9.01, Z:5.42 [[ 9.99087761e-01 -3.85354539e-02 -1.84028237e-02 7.89137475e+02] [ 3.85390476e-02 9.99257082e-01 -1.59457904e-04 9.00905071e+00] [ 1.83952967e-02 -5.49914856e-04 9.99830641e-01 5.42123595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6492541539999 meters 0.018285713041593345 Centerline is valid? [True, True] Translation: X:789.17, Y:9.01, Z:5.42 [[ 9.99248497e-01 -3.39828774e-02 -1.86441708e-02 7.89167807e+02] [ 3.39857948e-02 9.99422303e-01 -1.60435589e-04 9.01279272e+00] [ 1.86388522e-02 -4.73321942e-04 9.99826169e-01 5.42152702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6792541539999 meters 0.01766993417247583 Centerline is valid? [True, True] Translation: X:789.20, Y:9.02, Z:5.42 [[ 9.99407952e-01 -2.88612061e-02 -1.87289954e-02 7.89198452e+02] [ 2.88632636e-02 9.99583356e-01 -1.60504007e-04 9.01788911e+00] [ 1.87258244e-02 -3.80170950e-04 9.99824584e-01 5.42145240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7092541539998 meters 0.015772528478703512 Centerline is valid? [True, True] Translation: X:789.23, Y:9.03, Z:5.42 [[ 9.99641378e-01 -1.90897704e-02 -1.87801831e-02 7.89228591e+02] [ 1.90901150e-02 9.99817754e-01 -1.60942676e-04 9.02660279e+00] [ 1.87798328e-02 -1.97630896e-04 9.99823624e-01 5.42263433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7392541539999 meters 0.014666986829298326 Centerline is valid? [True, True] Translation: X:789.26, Y:9.03, Z:5.42 [[ 9.99727315e-01 -1.46758926e-02 -1.81635511e-02 7.89257639e+02] [ 1.46754359e-02 9.99892297e-01 -1.58441820e-04 9.03129001e+00] [ 1.81639201e-02 -1.08159415e-04 9.99835017e-01 5.42390337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7692541539999 meters 0.0143299373516911 Centerline is valid? [True, True] Translation: X:789.29, Y:9.04, Z:5.42 [[ 9.99790884e-01 -1.03302073e-02 -1.76486399e-02 7.89285942e+02] [ 1.03290229e-02 9.99946642e-01 -1.58263355e-04 9.03536350e+00] [ 1.76493331e-02 -2.40629463e-05 9.99844238e-01 5.42451892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7992541539999 meters 0.016051876304781214 Centerline is valid? [True, True] Translation: X:789.31, Y:9.04, Z:5.42 [[ 9.99828764e-01 -2.13882896e-03 -1.83811762e-02 7.89314864e+02] [ 2.13607361e-03 9.99997704e-01 -1.69532666e-04 9.04109227e+00] [ 1.83814966e-02 1.30240091e-04 9.99831038e-01 5.42408600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8292541539998 meters 0.014923124508470309 Centerline is valid? [True, True] Translation: X:789.34, Y:9.04, Z:5.43 [[ 9.99836556e-01 -6.43252424e-06 -1.80793201e-02 7.89343147e+02] [ 3.33596542e-06 9.99999985e-01 -1.71306444e-04 9.04363636e+00] [ 1.80793209e-02 1.71218133e-04 9.99836541e-01 5.42555514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8592541539999 meters 0.015445368102667344 Centerline is valid? [True, True] Translation: X:789.37, Y:9.05, Z:5.43 [[ 9.99828185e-01 3.63782905e-03 -1.81760016e-02 7.89370821e+02] [-3.64161119e-03 9.99993354e-01 -1.74990527e-04 9.04571576e+00] [ 1.81752442e-02 2.41150391e-04 9.99834788e-01 5.42537017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8892541539999 meters 0.015563079614428753 Centerline is valid? [True, True] Translation: X:789.40, Y:9.05, Z:5.43 [[ 9.99829627e-01 3.95872105e-03 -1.80289942e-02 7.89399551e+02] [-3.96251962e-03 9.99992134e-01 -1.74973919e-04 9.04602180e+00] [ 1.80281597e-02 2.46384351e-04 9.99837449e-01 5.42520913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9192541539999 meters 0.015615554221882821 Centerline is valid? [True, True] Translation: X:789.43, Y:9.05, Z:5.43 [[ 9.99828679e-01 3.44623622e-03 -1.81861262e-02 7.89426363e+02] [-3.45005068e-03 9.99994033e-01 -1.78375233e-04 9.04539246e+00] [ 1.81854030e-02 2.41087731e-04 9.99834603e-01 5.42532297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9492541539998 meters 0.015134335503811417 Centerline is valid? [True, True] Translation: X:789.45, Y:9.04, Z:5.42 [[ 9.99836480e-01 4.25601668e-04 -1.80785090e-02 7.89454686e+02] [-4.28906741e-04 9.99999892e-01 -1.78940871e-04 9.04204735e+00] [ 1.80784309e-02 1.86665605e-04 9.99836554e-01 5.42496640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9792541539999 meters 0.014812699632322783 Centerline is valid? [True, True] Translation: X:789.48, Y:9.04, Z:5.43 [[ 9.99831162e-01 -1.85290700e-03 -1.82815322e-02 7.89483596e+02] [ 1.84988492e-03 9.99998272e-01 -1.82217297e-04 9.03981896e+00] [ 1.82818382e-02 1.48367801e-04 9.99832862e-01 5.42543528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0092541539999 meters 0.014454471405435853 Centerline is valid? [True, True] Translation: X:789.51, Y:9.04, Z:5.43 [[ 9.99826283e-01 -4.64413617e-03 -1.80508957e-02 7.89511960e+02] [ 4.64162252e-03 9.99989211e-01 -1.81147546e-04 9.03699378e+00] [ 1.80515423e-02 9.73306336e-05 9.99837053e-01 5.42589712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0392541539999 meters 0.014722478819463156 Centerline is valid? [True, True] Translation: X:789.54, Y:9.03, Z:5.43 [[ 9.99814098e-01 -7.87232187e-03 -1.76010088e-02 7.89540910e+02] [ 7.87041024e-03 9.99969012e-01 -1.77876869e-04 9.03306557e+00] [ 1.76018637e-02 3.93166418e-05 9.99845074e-01 5.42686293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0692541539999 meters 0.015138248039609588 Centerline is valid? [True, True] Translation: X:789.57, Y:9.02, Z:5.43 [[ 9.99740567e-01 -1.50064699e-02 -1.71348815e-02 7.89568829e+02] [ 1.50056814e-02 9.99887393e-01 -1.74591822e-04 9.02476946e+00] [ 1.71355720e-02 -8.25740459e-05 9.99853172e-01 5.42639433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0992541539999 meters 0.014456226509394807 Centerline is valid? [True, True] Translation: X:789.60, Y:9.02, Z:5.43 [[ 9.99678400e-01 -1.92447273e-02 -1.65147277e-02 7.89597392e+02] [ 1.92445516e-02 9.99814792e-01 -1.69569127e-04 9.02055442e+00] [ 1.65149323e-02 -1.48303937e-04 9.99863608e-01 5.42727202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1292541539999 meters 0.015471766157921375 Centerline is valid? [True, True] Translation: X:789.63, Y:9.01, Z:5.43 [[ 9.99508654e-01 -2.70335322e-02 -1.58631542e-02 7.89626633e+02] [ 2.70343354e-02 9.99634492e-01 -1.63840853e-04 9.01136246e+00] [ 1.58617853e-02 -2.65089480e-04 9.99874159e-01 5.42742856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1592541539999 meters 0.016841365464901756 Centerline is valid? [True, True] Translation: X:789.66, Y:9.01, Z:5.43 [[ 9.99397240e-01 -3.07202059e-02 -1.61686682e-02 7.89657810e+02] [ 3.07215219e-02 9.99527969e-01 -1.67042786e-04 9.00683263e+00] [ 1.61661676e-02 -3.29783994e-04 9.99869265e-01 5.42671732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1892541539999 meters 0.017184805588246855 Centerline is valid? [True, True] Translation: X:789.69, Y:9.00, Z:5.43 [[ 9.99280698e-01 -3.45103432e-02 -1.57201151e-02 7.89689008e+02] [ 3.45120647e-02 9.99404268e-01 -1.61844692e-04 9.00221867e+00] [ 1.57163355e-02 -3.80805354e-04 9.99876418e-01 5.42701915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2192541539999 meters 0.020396516362655603 Centerline is valid? [True, True] Translation: X:789.72, Y:8.99, Z:5.43 [[ 9.99060081e-01 -4.04352013e-02 -1.56188927e-02 7.89719090e+02] [ 4.04376279e-02 9.99182052e-01 -1.60553197e-04 8.99233981e+00] [ 1.56126093e-02 -4.71188683e-04 9.99878005e-01 5.42584637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2492541539999 meters 0.0195799195623225 Centerline is valid? [True, True] Translation: X:789.75, Y:8.99, Z:5.43 [[ 9.98949199e-01 -4.31391335e-02 -1.54761826e-02 7.89751300e+02] [ 4.31418498e-02 9.99068944e-01 -1.58459521e-04 8.99096110e+00] [ 1.54686092e-02 -5.09378132e-04 9.99880224e-01 5.42704498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2792541539999 meters 0.021792895080142875 Centerline is valid? [True, True] Translation: X:789.78, Y:8.99, Z:5.43 [[ 9.98876267e-01 -4.46278672e-02 -1.59548353e-02 7.89783847e+02] [ 4.46309627e-02 9.99003529e-01 -1.62174009e-04 8.98766784e+00] [ 1.59461743e-02 -5.50087892e-04 9.99872700e-01 5.42521059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3092541539999 meters 0.023461564055117682 Centerline is valid? [True, True] Translation: X:789.82, Y:8.98, Z:5.42 [[ 9.98722698e-01 -4.75803866e-02 -1.70023526e-02 7.89816281e+02] [ 4.75843508e-02 9.98867208e-01 -1.71551304e-04 8.98173937e+00] [ 1.69912549e-02 -6.37713727e-04 9.99855435e-01 5.42418001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.339254154 meters 0.022447380255353575 Centerline is valid? [True, True] Translation: X:789.85, Y:8.98, Z:5.43 [[ 9.98654122e-01 -4.91934178e-02 -1.64302423e-02 7.89847012e+02] [ 4.91973512e-02 9.98789064e-01 -1.64948999e-04 8.97896494e+00] [ 1.64184608e-02 -6.43597406e-04 9.99865001e-01 5.42574776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3692541539999 meters 0.021932938321288054 Centerline is valid? [True, True] Translation: X:789.88, Y:8.98, Z:5.43 [[ 9.98616317e-01 -4.97127849e-02 -1.71490893e-02 7.89878714e+02] [ 4.97171607e-02 9.98763323e-01 -1.71340556e-04 8.97824227e+00] [ 1.71363993e-02 -6.81500556e-04 9.99852929e-01 5.42582305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3992541539999 meters 0.023222256405515587 Centerline is valid? [True, True] Translation: X:789.91, Y:8.98, Z:5.43 [[ 9.98606334e-01 -4.97959370e-02 -1.74858581e-02 7.89910014e+02] [ 4.98005160e-02 9.98759169e-01 -1.73740866e-04 8.97509910e+00] [ 1.74728127e-02 -6.97306026e-04 9.99847096e-01 5.42504790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4292541539999 meters 0.02291789632892337 Centerline is valid? [True, True] Translation: X:789.94, Y:8.97, Z:5.42 [[ 9.98659293e-01 -4.83339376e-02 -1.85323263e-02 7.89942042e+02] [ 4.83388525e-02 9.98830978e-01 -1.82915796e-04 8.97379059e+00] [ 1.85195026e-02 -7.13160827e-04 9.99828245e-01 5.42431846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4592541539998 meters 0.02221604672099877 Centerline is valid? [True, True] Translation: X:789.97, Y:8.97, Z:5.42 [[ 9.98726242e-01 -4.67752121e-02 -1.89201551e-02 7.89972990e+02] [ 4.67800731e-02 9.98905196e-01 -1.85818247e-04 8.97456978e+00] [ 1.89081329e-02 -6.99504677e-04 9.99820981e-01 5.42458264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4892541539999 meters 0.022382862309739234 Centerline is valid? [True, True] Translation: X:790.00, Y:8.98, Z:5.42 [[ 9.98833034e-01 -4.41730005e-02 -1.95273139e-02 7.90003597e+02] [ 4.41777068e-02 9.99023670e-01 -1.90512299e-04 8.97512249e+00] [ 1.95166643e-02 -6.72381971e-04 9.99809306e-01 5.42379491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5192541539999 meters 0.019638370122088872 Centerline is valid? [True, True] Translation: X:790.03, Y:8.98, Z:5.42 [[ 9.99098939e-01 -3.75234348e-02 -1.98318480e-02 7.90034340e+02] [ 3.75269958e-02 9.99295596e-01 -1.92691288e-04 8.97921903e+00] [ 1.98251088e-02 -5.51712017e-04 9.99803311e-01 5.42473860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5492541539999 meters 0.0184416329638156 Centerline is valid? [True, True] Translation: X:790.06, Y:8.98, Z:5.43 [[ 9.99238223e-01 -3.32347598e-02 -2.04554074e-02 7.90063525e+02] [ 3.32376481e-02 9.99447457e-01 -1.98859213e-04 8.98214918e+00] [ 2.04507140e-02 -4.81181906e-04 9.99790746e-01 5.42504483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5792541539998 meters 0.015407703711373033 Centerline is valid? [True, True] Translation: X:790.09, Y:8.99, Z:5.43 [[ 9.99508693e-01 -2.33112194e-02 -2.09513609e-02 7.90093387e+02] [ 2.33120619e-02 9.99728216e-01 -2.04060521e-04 8.99126981e+00] [ 2.09504235e-02 -2.84459156e-04 9.99780475e-01 5.42736501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6092541539999 meters 0.015153314965911739 Centerline is valid? [True, True] Translation: X:790.12, Y:8.99, Z:5.43 [[ 9.99613859e-01 -1.82690699e-02 -2.09373675e-02 7.90121537e+02] [ 1.82687279e-02 9.99833091e-01 -2.07620279e-04 8.99335446e+00] [ 2.09376659e-02 -1.74958961e-04 9.99780768e-01 5.42599972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6392541539999 meters 0.014625656537556184 Centerline is valid? [True, True] Translation: X:790.15, Y:9.00, Z:5.43 [[ 9.99695819e-01 -1.33486011e-02 -2.07384835e-02 7.90150114e+02] [ 1.33470969e-02 9.99910901e-01 -2.10947641e-04 8.99790445e+00] [ 2.07394516e-02 -6.59150749e-05 9.99784912e-01 5.42855837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6692541539999 meters 0.0159557667616376 Centerline is valid? [True, True] Translation: X:790.18, Y:9.00, Z:5.43 [[ 9.99787798e-01 -4.09672303e-03 -2.01885087e-02 7.90178794e+02] [ 4.09330818e-03 9.99991600e-01 -2.10468339e-04 9.00301615e+00] [ 2.01892014e-02 1.27785890e-04 9.99796169e-01 5.42882545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6992541539998 meters 0.01512611892831162 Centerline is valid? [True, True] Translation: X:790.21, Y:9.01, Z:5.43 [[ 9.99807002e-01 -1.26727222e-03 -1.96049198e-02 7.90207155e+02] [ 1.26341171e-03 9.99999180e-01 -2.09300250e-04 9.00509459e+00] [ 1.96051689e-02 1.84490770e-04 9.99807783e-01 5.43051832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7292541539999 meters 0.015400830709011841 Centerline is valid? [True, True] Translation: X:790.24, Y:9.01, Z:5.43 [[ 9.99817846e-01 1.39844941e-03 -1.90347062e-02 7.90235557e+02] [-1.40266285e-03 9.99998995e-01 -2.08006915e-04 9.00581528e+00] [ 1.90343961e-02 2.34668301e-04 9.99818802e-01 5.43151681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7592541539999 meters 0.015599627968404646 Centerline is valid? [True, True] Translation: X:790.26, Y:9.01, Z:5.43 [[ 9.99817419e-01 3.12637725e-03 -1.88508227e-02 7.90263936e+02] [-3.13090745e-03 9.99995076e-01 -2.10810786e-04 9.00609554e+00] [ 1.88500708e-02 2.69792477e-04 9.99822285e-01 5.43201153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7892541539999 meters 0.017064910277609948 Centerline is valid? [True, True] Translation: X:790.29, Y:9.00, Z:5.43 [[ 9.99809052e-01 4.29864923e-03 -1.90625603e-02 7.90292703e+02] [-4.30358875e-03 9.99990716e-01 -2.18106726e-04 9.00411903e+00] [ 1.90614458e-02 3.00102499e-04 9.99818269e-01 5.43084637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8192541539999 meters 0.01602005908724834 Centerline is valid? [True, True] Translation: X:790.32, Y:9.00, Z:5.43 [[ 9.99808725e-01 2.72211507e-03 -1.93675698e-02 7.90320525e+02] [-2.72697540e-03 9.99996257e-01 -2.24546483e-04 9.00420475e+00] [ 1.93668861e-02 2.77318419e-04 9.99812406e-01 5.43085502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8492541539999 meters 0.015189560485307813 Centerline is valid? [True, True] Translation: X:790.35, Y:9.00, Z:5.43 [[ 9.99806090e-01 7.14357945e-04 -1.96792059e-02 7.90348990e+02] [-7.19018162e-04 9.99999715e-01 -2.29734644e-04 9.00038517e+00] [ 1.96790361e-02 2.43839803e-04 9.99806319e-01 5.43209303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8792541539999 meters 0.014572458799768736 Centerline is valid? [True, True] Translation: X:790.38, Y:8.99, Z:5.43 [[ 9.99787912e-01 -6.31127955e-03 -1.96035493e-02 7.90378174e+02] [ 6.30797727e-03 9.99980078e-01 -2.30284365e-04 8.99323416e+00] [ 1.96046122e-02 1.06576781e-04 9.99807805e-01 5.43179777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9092541539999 meters 0.016327404305084843 Centerline is valid? [True, True] Translation: X:790.41, Y:8.99, Z:5.43 [[ 9.99742597e-01 -1.07098082e-02 -2.00009904e-02 7.90407444e+02] [ 1.07072213e-02 9.99942648e-01 -2.36422938e-04 8.98849260e+00] [ 2.00023754e-02 2.22070510e-05 9.99799932e-01 5.42994357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9392541539999 meters 0.015037917146388118 Centerline is valid? [True, True] Translation: X:790.44, Y:8.98, Z:5.43 [[ 9.99545829e-01 -2.29764547e-02 -1.94991789e-02 7.90436624e+02] [ 2.29763019e-02 9.99735983e-01 -2.31900481e-04 8.97769901e+00] [ 1.94993590e-02 -2.16223863e-04 9.99809846e-01 5.43123203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9692541539999 meters 0.017827319222465565 Centerline is valid? [True, True] Translation: X:790.47, Y:8.97, Z:5.43 [[ 9.99389968e-01 -2.90501302e-02 -1.93850696e-02 7.90465064e+02] [ 2.90510895e-02 9.99577901e-01 -2.32177687e-04 8.97137384e+00] [ 1.93836320e-02 -3.31121341e-04 9.99812065e-01 5.42944989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9992541539999 meters 0.018907167449565596 Centerline is valid? [True, True] Translation: X:790.49, Y:8.97, Z:5.43 [[ 9.99190539e-01 -3.55941058e-02 -1.87437016e-02 7.90494598e+02] [ 3.55961335e-02 9.99366231e-01 -2.25540798e-04 8.96617528e+00] [ 1.87398503e-02 -4.41845074e-04 9.99824296e-01 5.43004085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0292541539999 meters 0.022331294341457388 Centerline is valid? [True, True] Translation: X:790.52, Y:8.96, Z:5.43 [[ 9.98697711e-01 -4.79649342e-02 -1.73852473e-02 7.90524924e+02] [ 4.79685461e-02 9.98848825e-01 -2.09428044e-04 8.95541372e+00] [ 1.73752791e-02 -6.24789729e-04 9.99848843e-01 5.43053930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0592541539999 meters 0.024050523616940735 Centerline is valid? [True, True] Translation: X:790.55, Y:8.95, Z:5.43 [[ 9.98397106e-01 -5.41867411e-02 -1.63406368e-02 7.90554699e+02] [ 5.41907723e-02 9.98530581e-01 -1.96312235e-04 8.94797324e+00] [ 1.63272631e-02 -6.89514159e-04 9.99866464e-01 5.43266368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.089254154 meters 0.023981659417058744 Centerline is valid? [True, True] Translation: X:790.59, Y:8.95, Z:5.43 [[ 9.98121431e-01 -5.92727031e-02 -1.55033815e-02 7.90585554e+02] [ 5.92769519e-02 9.98241558e-01 -1.85725309e-04 8.94660820e+00] [ 1.54871281e-02 -7.33616786e-04 9.99879798e-01 5.43381680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1192541539999 meters 0.023981659417058744 Centerline is valid? [True, True] Translation: X:790.62, Y:8.95, Z:5.43 [[ 9.98125825e-01 -5.91986638e-02 -1.55033906e-02 7.90617279e+02] [ 5.92029155e-02 9.98245952e-01 -1.84961283e-04 8.94692838e+00] [ 1.54871464e-02 -7.33231290e-04 9.99879798e-01 5.43403661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1492541539999 meters 0.02814373231279016 Centerline is valid? [True, True] Translation: X:790.65, Y:8.94, Z:5.43 [[ 9.97618795e-01 -6.73963302e-02 -1.46449193e-02 7.90647284e+02] [ 6.74010109e-02 9.97725951e-01 -1.74281253e-04 8.93807563e+00] [ 1.46233619e-02 -8.13216111e-04 9.99892742e-01 5.43390573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1792541539999 meters 0.028668359291295454 Centerline is valid? [True, True] Translation: X:790.68, Y:8.94, Z:5.43 [[ 9.97410506e-01 -7.04585994e-02 -1.44176661e-02 7.90678191e+02] [ 7.04634561e-02 9.97514347e-01 -1.71479076e-04 8.93652501e+00] [ 1.43939110e-02 -8.44883551e-04 9.99896045e-01 5.43363255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2092541539998 meters 0.032501841642838765 Centerline is valid? [True, True] Translation: X:790.71, Y:8.93, Z:5.43 [[ 9.97049283e-01 -7.55378971e-02 -1.36657852e-02 7.90708017e+02] [ 7.55427384e-02 9.97142552e-01 -1.62331266e-04 8.92837842e+00] [ 1.36389981e-02 -8.70498565e-04 9.99906606e-01 5.43421120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2392541539999 meters 0.0313162169716135 Centerline is valid? [True, True] Translation: X:790.74, Y:8.93, Z:5.44 [[ 9.96940028e-01 -7.70262437e-02 -1.33243831e-02 7.90740214e+02] [ 7.70309859e-02 9.97028687e-01 -1.57717747e-04 8.92927977e+00] [ 1.32969406e-02 -8.69155233e-04 9.99911214e-01 5.43529263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2692541539999 meters 0.034980872424459776 Centerline is valid? [True, True] Translation: X:790.77, Y:8.92, Z:5.44 [[ 9.96861547e-01 -7.80471630e-02 -1.32550643e-02 7.90771294e+02] [ 7.80519571e-02 9.96949280e-01 -1.56035219e-04 8.92380749e+00] [ 1.32268049e-02 -8.79038199e-04 9.99912136e-01 5.43517241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2992541539999 meters 0.0348426023819844 Centerline is valid? [True, True] Translation: X:790.80, Y:8.92, Z:5.43 [[ 9.96837887e-01 -7.82668520e-02 -1.37305409e-02 7.90803545e+02] [ 7.82720293e-02 9.96932026e-01 -1.60737875e-04 8.92446970e+00] [ 1.37009964e-02 -9.14487697e-04 9.99905719e-01 5.43298234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3292541539998 meters 0.034203763744533704 Centerline is valid? [True, True] Translation: X:790.84, Y:8.92, Z:5.43 [[ 9.96797877e-01 -7.87494486e-02 -1.38750514e-02 7.90835997e+02] [ 7.87547961e-02 9.96894004e-01 -1.61411754e-04 8.92424498e+00] [ 1.38446667e-02 -9.31831952e-04 9.99903724e-01 5.43408195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3592541539999 meters 0.033942685313690865 Centerline is valid? [True, True] Translation: X:790.87, Y:8.92, Z:5.43 [[ 9.96799683e-01 -7.85691707e-02 -1.47403515e-02 7.90869469e+02] [ 7.85752069e-02 9.96908174e-01 -1.70086461e-04 8.92466122e+00] [ 1.47081405e-02 -9.88684040e-04 9.99891341e-01 5.43393242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3892541539999 meters 0.03446301506959669 Centerline is valid? [True, True] Translation: X:790.90, Y:8.92, Z:5.43 [[ 9.96886359e-01 -7.72143182e-02 -1.59854894e-02 7.90901879e+02] [ 7.72212677e-02 9.97013963e-01 -1.82977315e-04 8.92440523e+00] [ 1.59518846e-02 -1.05201217e-03 9.99872207e-01 5.43189638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4192541539999 meters 0.03400477179517069 Centerline is valid? [True, True] Translation: X:790.93, Y:8.93, Z:5.43 [[ 9.96917925e-01 -7.65774555e-02 -1.70453671e-02 7.90934503e+02] [ 7.65852861e-02 9.97063015e-01 -1.93847570e-04 8.92531603e+00] [ 1.70101495e-02 -1.11217420e-03 9.99854698e-01 5.43223743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4492541539998 meters 0.034581655197880555 Centerline is valid? [True, True] Translation: X:790.97, Y:8.93, Z:5.43 [[ 9.97018500e-01 -7.51568164e-02 -1.74803705e-02 7.90965786e+02] [ 7.51648500e-02 9.97171102e-01 -1.97903493e-04 8.92594268e+00] [ 1.74457941e-02 -1.11659598e-03 9.99847187e-01 5.43081894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4792541539999 meters 0.03383467947293754 Centerline is valid? [True, True] Translation: X:791.00, Y:8.93, Z:5.43 [[ 9.97175652e-01 -7.26063556e-02 -1.92102953e-02 7.90996964e+02] [ 7.26156007e-02 9.97359979e-01 -2.16777096e-04 8.92889698e+00] [ 1.91753191e-02 -1.17880229e-03 9.99815442e-01 5.43069530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5092541539999 meters 0.033455772803263284 Centerline is valid? [True, True] Translation: X:791.03, Y:8.93, Z:5.43 [[ 9.97264255e-01 -7.12096325e-02 -1.98291313e-02 7.91027889e+02] [ 7.12192265e-02 9.97460662e-01 -2.22822115e-04 8.93081131e+00] [ 1.97946455e-02 -1.19000286e-03 9.99803359e-01 5.43165949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5392541539999 meters 0.03261670039049202 Centerline is valid? [True, True] Translation: X:791.06, Y:8.93, Z:5.43 [[ 9.97392128e-01 -6.93596887e-02 -1.99543502e-02 7.91059658e+02] [ 6.93690564e-02 9.97591041e-01 -2.23171808e-04 8.93395196e+00] [ 1.99217601e-02 -1.16162464e-03 9.99800867e-01 5.43234653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5692541539999 meters 0.03138550819653605 Centerline is valid? [True, True] Translation: X:791.09, Y:8.94, Z:5.43 [[ 9.97659619e-01 -6.53437218e-02 -2.01365767e-02 7.91089940e+02] [ 6.53524533e-02 9.97862218e-01 -2.24840509e-04 8.93925701e+00] [ 2.01082210e-02 -1.09166039e-03 9.99797213e-01 5.43295585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5992541539999 meters 0.032242915574877094 Centerline is valid? [True, True] Translation: X:791.12, Y:8.94, Z:5.43 [[ 9.97820792e-01 -6.27329638e-02 -2.04509752e-02 7.91121560e+02] [ 6.27414377e-02 9.98029789e-01 -2.27647386e-04 8.94148252e+00] [ 2.04249635e-02 -1.05597229e-03 9.99790831e-01 5.43114355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6292541539999 meters 0.030370221060330646 Centerline is valid? [True, True] Translation: X:791.15, Y:8.94, Z:5.43 [[ 9.97905459e-01 -6.15551744e-02 -1.98910919e-02 7.91153469e+02] [ 6.15629774e-02 9.98103177e-01 -2.20394999e-04 8.94411864e+00] [ 1.98669285e-02 -1.00462147e-03 9.99802128e-01 5.43333654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6592541539999 meters 0.027846238687428023 Centerline is valid? [True, True] Translation: X:791.18, Y:8.95, Z:5.43 [[ 9.98132232e-01 -5.79180644e-02 -1.94305057e-02 7.91184433e+02] [ 5.79248336e-02 9.98320924e-01 -2.14722769e-04 8.95160938e+00] [ 1.94103167e-02 -9.11187092e-04 9.99811187e-01 5.43462890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6892541539999 meters 0.02595418757996689 Centerline is valid? [True, True] Translation: X:791.22, Y:8.96, Z:5.44 [[ 9.98217461e-01 -5.63588936e-02 -1.96360702e-02 7.91215394e+02] [ 5.63655170e-02 9.98410177e-01 -2.16422169e-04 8.95548930e+00] [ 1.96170497e-02 -8.90760863e-04 9.99807170e-01 5.43623558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7192541539999 meters 0.027111288936917704 Centerline is valid? [True, True] Translation: X:791.25, Y:8.96, Z:5.43 [[ 9.98351891e-01 -5.39900299e-02 -1.94571080e-02 7.91246652e+02] [ 5.39960974e-02 9.98541124e-01 -2.13761164e-04 8.95781061e+00] [ 1.94402635e-02 -8.37199036e-04 9.99810670e-01 5.43448649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7492541539999 meters 0.024785285235556245 Centerline is valid? [True, True] Translation: X:791.28, Y:8.96, Z:5.44 [[ 9.98436022e-01 -5.25726699e-02 -1.90164202e-02 7.91277749e+02] [ 5.25782216e-02 9.98616787e-01 -2.08253715e-04 8.96061419e+00] [ 1.90010648e-02 -7.91921543e-04 9.99819150e-01 5.43697771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7792541539999 meters 0.024065792032887893 Centerline is valid? [True, True] Translation: X:791.31, Y:8.96, Z:5.44 [[ 9.98619776e-01 -4.90841748e-02 -1.86892033e-02 7.91308371e+02] [ 4.90889393e-02 9.98794390e-01 -2.04017876e-04 8.96457857e+00] [ 1.86766855e-02 -7.13696881e-04 9.99825321e-01 5.43773303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8092541539999 meters 0.024598193360920752 Centerline is valid? [True, True] Translation: X:791.34, Y:8.97, Z:5.44 [[ 9.98734120e-01 -4.68018209e-02 -1.84322373e-02 7.91339391e+02] [ 4.68060788e-02 9.98903975e-01 -2.00573800e-04 8.96640482e+00] [ 1.84214224e-02 -6.62420855e-04 9.99830092e-01 5.43693573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.839254154 meters 0.023145019511925647 Centerline is valid? [True, True] Translation: X:791.37, Y:8.97, Z:5.44 [[ 9.98784565e-01 -4.57718704e-02 -1.82846360e-02 7.91370720e+02] [ 4.57758995e-02 9.98951714e-01 -1.98340317e-04 8.96838012e+00] [ 1.82745469e-02 -6.38896412e-04 9.99832802e-01 5.43861484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8692541539999 meters 0.022507462405602304 Centerline is valid? [True, True] Translation: X:791.40, Y:8.97, Z:5.44 [[ 9.98909110e-01 -4.27423866e-02 -1.88063624e-02 7.91400902e+02] [ 4.27461210e-02 9.99085946e-01 -2.03553711e-04 8.97149008e+00] [ 1.87978727e-02 -6.00567384e-04 9.99823124e-01 5.43875598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8992541539999 meters 0.021700316935846623 Centerline is valid? [True, True] Translation: X:791.43, Y:8.97, Z:5.44 [[ 9.98988481e-01 -4.05480183e-02 -1.94389568e-02 7.91432168e+02] [ 4.05516037e-02 9.99177423e-01 -2.09858139e-04 8.97374781e+00] [ 1.94314761e-02 -5.78635008e-04 9.99811024e-01 5.43877764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9292541539999 meters 0.02201332257358214 Centerline is valid? [True, True] Translation: X:791.46, Y:8.98, Z:5.44 [[ 9.99186278e-01 -3.47561987e-02 -2.04643364e-02 7.91461729e+02] [ 3.47589734e-02 9.99395700e-01 -2.20199204e-04 8.97800598e+00] [ 2.04596231e-02 -4.91299301e-04 9.99790559e-01 5.43624770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9592541539998 meters 0.01936733013760038 Centerline is valid? [True, True] Translation: X:791.49, Y:8.98, Z:5.44 [[ 9.99269890e-01 -3.23324176e-02 -2.03544100e-02 7.91490937e+02] [ 3.23346560e-02 9.99477074e-01 -2.19212971e-04 8.98097465e+00] [ 2.03508538e-02 -4.39099925e-04 9.99792804e-01 5.43752848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9892541539999 meters 0.016478040246481293 Centerline is valid? [True, True] Translation: X:791.52, Y:8.99, Z:5.44 [[ 9.99358524e-01 -2.89941032e-02 -2.10210025e-02 7.91520418e+02] [ 2.89957367e-02 9.99579509e-01 -2.27144863e-04 8.98827632e+00] [ 2.10187493e-02 -3.82520299e-04 9.99779009e-01 5.44078568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0192541539999 meters 0.015680730636122134 Centerline is valid? [True, True] Translation: X:791.55, Y:8.99, Z:5.44 [[ 9.99539446e-01 -2.10783066e-02 -2.18311763e-02 7.91547864e+02] [ 2.10781454e-02 9.99777803e-01 -2.37518053e-04 8.99399891e+00] [ 2.18313320e-02 -2.22752045e-04 9.99761643e-01 5.44028966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0492541539999 meters 0.015291374674094558 Centerline is valid? [True, True] Translation: X:791.58, Y:9.00, Z:5.44 [[ 9.99611678e-01 -1.72195038e-02 -2.19085056e-02 7.91576213e+02] [ 1.72183182e-02 9.99851724e-01 -2.42765169e-04 8.99733589e+00] [ 2.19094374e-02 -1.34556723e-04 9.99759950e-01 5.44064373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0792541539998 meters 0.01492489424298877 Centerline is valid? [True, True] Translation: X:791.61, Y:9.00, Z:5.44 [[ 9.99662252e-01 -1.36673237e-02 -2.21039913e-02 7.91605270e+02] [ 1.36651231e-02 9.99906596e-01 -2.50606576e-04 9.00092321e+00] [ 2.21053518e-02 -5.15318278e-05 9.99755646e-01 5.44204100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1092541539999 meters 0.015205568881721594 Centerline is valid? [True, True] Translation: X:791.63, Y:9.00, Z:5.44 [[ 9.99705846e-01 -1.00957748e-02 -2.20521394e-02 7.91632657e+02] [ 1.00926338e-02 9.99949036e-01 -2.53731633e-04 9.00388134e+00] [ 2.20535772e-02 3.10928298e-05 9.99756790e-01 5.44167834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1392541539999 meters 0.015437086419930662 Centerline is valid? [True, True] Translation: X:791.66, Y:9.01, Z:5.44 [[ 9.99743063e-01 -5.40521826e-03 -2.20134297e-02 7.91659896e+02] [ 5.40089679e-03 9.99985382e-01 -2.55760066e-04 9.00715606e+00] [ 2.20144903e-02 1.36802090e-04 9.99757642e-01 5.44202619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1692541539999 meters 0.017521884229694692 Centerline is valid? [True, True] Translation: X:791.69, Y:9.01, Z:5.44 [[ 9.99745575e-01 -3.92930147e-03 -2.22114040e-02 7.91689080e+02] [ 3.92443835e-03 9.99992265e-01 -2.62532187e-04 9.00741302e+00] [ 2.22122638e-02 1.75298107e-04 9.99753262e-01 5.44041231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1992541539998 meters 0.015615594525163302 Centerline is valid? [True, True] Translation: X:791.72, Y:9.01, Z:5.44 [[ 9.99753533e-01 -4.43895061e-03 -2.17524635e-02 7.91717276e+02] [ 4.43427816e-03 9.99990134e-01 -2.63030146e-04 9.00555128e+00] [ 2.17534165e-02 1.66508844e-04 9.99763353e-01 5.44285716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2292541539999 meters 0.015159987628388497 Centerline is valid? [True, True] Translation: X:791.75, Y:9.00, Z:5.44 [[ 9.99756516e-01 -5.52924199e-03 -2.13620207e-02 7.91746475e+02] [ 5.52486568e-03 9.99984703e-01 -2.63876652e-04 9.00441527e+00] [ 2.13631529e-02 1.45790107e-04 9.99771771e-01 5.44353796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2592541539999 meters 0.014963647240424831 Centerline is valid? [True, True] Translation: X:791.77, Y:9.00, Z:5.44 [[ 9.99750563e-01 -6.98676244e-03 -2.12131132e-02 7.91774689e+02] [ 6.98265085e-03 9.99975585e-01 -2.67888235e-04 9.00285418e+00] [ 2.12144669e-02 1.19697652e-04 9.99774941e-01 5.44397706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2892541539999 meters 0.01471883986333957 Centerline is valid? [True, True] Translation: X:791.80, Y:9.00, Z:5.44 [[ 9.99735289e-01 -9.91577708e-03 -2.07612472e-02 7.91803992e+02] [ 9.91240873e-03 9.99950836e-01 -2.65146701e-04 8.99905169e+00] [ 2.07628556e-02 5.92825458e-05 9.99784427e-01 5.44482515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3192541539999 meters 0.014728510067876944 Centerline is valid? [True, True] Translation: X:791.83, Y:9.00, Z:5.44 [[ 9.99697697e-01 -1.19678565e-02 -2.14775442e-02 7.91832283e+02] [ 1.19646227e-02 9.99928382e-01 -2.79066071e-04 8.99703357e+00] [ 2.14793459e-02 2.20109948e-05 9.99769292e-01 5.44490786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3492541539999 meters 0.014612065984576407 Centerline is valid? [True, True] Translation: X:791.86, Y:8.99, Z:5.45 [[ 9.99663801e-01 -1.42192800e-02 -2.16817292e-02 7.91860087e+02] [ 1.42163748e-02 9.99898901e-01 -2.88127858e-04 8.99451071e+00] [ 2.16836341e-02 -2.02045997e-05 9.99764882e-01 5.44526573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3792541539999 meters 0.01480574604296351 Centerline is valid? [True, True] Translation: X:791.89, Y:8.99, Z:5.45 [[ 9.99583977e-01 -1.85203999e-02 -2.21103730e-02 7.91887628e+02] [ 1.85183538e-02 9.99828476e-01 -2.97304384e-04 8.98826794e+00] [ 2.21120867e-02 -1.12267011e-04 9.99755492e-01 5.44531630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4092541539999 meters 0.015016252830947482 Centerline is valid? [True, True] Translation: X:791.92, Y:8.99, Z:5.45 [[ 9.99527969e-01 -2.11022805e-02 -2.23278370e-02 7.91916155e+02] [ 2.11007365e-02 9.99777308e-01 -3.04773710e-04 8.98530192e+00] [ 2.23292962e-02 -1.66503957e-04 9.99750656e-01 5.44505133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4392541539999 meters 0.016666651432675247 Centerline is valid? [True, True] Translation: X:791.94, Y:8.98, Z:5.44 [[ 9.99473871e-01 -2.33535722e-02 -2.25075782e-02 7.91944983e+02] [ 2.33524457e-02 9.99727245e-01 -3.12920148e-04 8.98227801e+00] [ 2.25087470e-02 -2.12851486e-04 9.99746623e-01 5.44381401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4692541539999 meters 0.015779060213651715 Centerline is valid? [True, True] Translation: X:791.97, Y:8.98, Z:5.45 [[ 9.99378781e-01 -2.72641811e-02 -2.23319783e-02 7.91973223e+02] [ 2.72639788e-02 9.99628219e-01 -3.13582324e-04 8.97616955e+00] [ 2.23322253e-02 -2.95471064e-04 9.99750561e-01 5.44506631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4992541539999 meters 0.01601595912800999 Centerline is valid? [True, True] Translation: X:792.00, Y:8.97, Z:5.45 [[ 9.99332934e-01 -2.88461950e-02 -2.23960517e-02 7.92001702e+02] [ 2.88462886e-02 9.99583808e-01 -3.18950643e-04 8.97389069e+00] [ 2.23959312e-02 -3.27305089e-04 9.99749126e-01 5.44530700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5292541539999 meters 0.016323392271093914 Centerline is valid? [True, True] Translation: X:792.03, Y:8.97, Z:5.45 [[ 9.99310124e-01 -2.98332997e-02 -2.21189805e-02 7.92030063e+02] [ 2.98335653e-02 9.99554830e-01 -3.18051057e-04 8.97166440e+00] [ 2.21186223e-02 -3.42056407e-04 9.99755295e-01 5.44520049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5592541539999 meters 0.016260278066680685 Centerline is valid? [True, True] Translation: X:792.06, Y:8.97, Z:5.45 [[ 9.99293113e-01 -3.02820253e-02 -2.22772099e-02 7.92058446e+02] [ 3.02822954e-02 9.99541333e-01 -3.25297359e-04 8.97019136e+00] [ 2.22768428e-02 -3.49537641e-04 9.99751779e-01 5.44558091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.589254154 meters 0.016356878512296807 Centerline is valid? [True, True] Translation: X:792.09, Y:8.97, Z:5.45 [[ 9.99297616e-01 -3.00065926e-02 -2.24472316e-02 7.92085552e+02] [ 3.00067102e-02 9.99549642e-01 -3.31665745e-04 8.96664914e+00] [ 2.24470745e-02 -3.42134786e-04 9.99747974e-01 5.44585112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6192541539999 meters 0.015770781716769437 Centerline is valid? [True, True] Translation: X:792.11, Y:8.97, Z:5.45 [[ 9.99298092e-01 -2.97994998e-02 -2.27005199e-02 7.92113418e+02] [ 2.97994427e-02 9.99555840e-01 -3.40863012e-04 8.96679775e+00] [ 2.27005947e-02 -3.35839085e-04 9.99742252e-01 5.44735713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6492541539999 meters 0.01576150649392832 Centerline is valid? [True, True] Translation: X:792.14, Y:8.97, Z:5.45 [[ 9.99324345e-01 -2.83909155e-02 -2.33411368e-02 7.92142041e+02] [ 2.83903250e-02 9.99596850e-01 -3.56741295e-04 8.96500603e+00] [ 2.33418551e-02 -3.06162201e-04 9.99727495e-01 5.44792267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6792541539999 meters 0.017952017378284696 Centerline is valid? [True, True] Translation: X:792.17, Y:8.96, Z:5.45 [[ 9.99343321e-01 -2.72867277e-02 -2.38403143e-02 7.92169545e+02] [ 2.72856368e-02 9.99627609e-01 -3.71112256e-04 8.96446231e+00] [ 2.38415629e-02 -2.79629605e-04 9.99715710e-01 5.44658891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7092541539998 meters 0.015181394785377675 Centerline is valid? [True, True] Translation: X:792.20, Y:8.96, Z:5.45 [[ 9.99366163e-01 -2.67346584e-02 -2.35059752e-02 7.92198057e+02] [ 2.67332959e-02 9.99642532e-01 -3.72258362e-04 8.96464101e+00] [ 2.35075248e-02 -2.56369780e-04 9.99723627e-01 5.45004156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7392541539999 meters 0.015607712049553957 Centerline is valid? [True, True] Translation: X:792.23, Y:8.96, Z:5.45 [[ 9.99420025e-01 -2.52677691e-02 -2.28287798e-02 7.92225611e+02] [ 2.52660104e-02 9.99680697e-01 -3.65515532e-04 8.96060682e+00] [ 2.28307262e-02 -2.11488645e-04 9.99739323e-01 5.44788337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7692541539999 meters 0.015302414821917762 Centerline is valid? [True, True] Translation: X:792.25, Y:8.96, Z:5.45 [[ 9.99437739e-01 -2.49937756e-02 -2.23498870e-02 7.92254573e+02] [ 2.49919142e-02 9.99687588e-01 -3.62640703e-04 8.96080799e+00] [ 2.23519683e-02 -1.96129654e-04 9.99750144e-01 5.45019963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7992541539999 meters 0.01777252019889855 Centerline is valid? [True, True] Translation: X:792.28, Y:8.96, Z:5.45 [[ 9.99438760e-01 -2.46963641e-02 -2.26330316e-02 7.92282470e+02] [ 2.46942382e-02 9.99694981e-01 -3.73456134e-04 8.95978319e+00] [ 2.26353512e-02 -1.85658938e-04 9.99743770e-01 5.44871858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8292541539998 meters 0.01535464995353711 Centerline is valid? [True, True] Translation: X:792.31, Y:8.96, Z:5.45 [[ 9.99440602e-01 -2.50413144e-02 -2.21678983e-02 7.92310093e+02] [ 2.50392181e-02 9.99686400e-01 -3.72169752e-04 8.95937059e+00] [ 2.21702661e-02 -1.83105281e-04 9.99754193e-01 5.45210681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8592541539999 meters 0.018915618494877523 Centerline is valid? [True, True] Translation: X:792.34, Y:8.96, Z:5.45 [[ 9.99445803e-01 -2.50314374e-02 -2.19434055e-02 7.92336660e+02] [ 2.50292952e-02 9.99686649e-01 -3.72309643e-04 8.95589948e+00] [ 2.19458490e-02 -1.77124663e-04 9.99759145e-01 5.44994384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8892541539999 meters 0.01595186715153199 Centerline is valid? [True, True] Translation: X:792.36, Y:8.95, Z:5.45 [[ 9.99436220e-01 -2.61944895e-02 -2.10021740e-02 7.92364216e+02] [ 2.61926813e-02 9.99656848e-01 -3.61222308e-04 8.95454917e+00] [ 2.10044291e-02 -1.89084591e-04 9.99779365e-01 5.45239804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9192541539999 meters 0.015091054633104407 Centerline is valid? [True, True] Translation: X:792.39, Y:8.95, Z:5.45 [[ 9.99414366e-01 -2.70002831e-02 -2.10216583e-02 7.92391864e+02] [ 2.69985226e-02 9.99635406e-01 -3.67602794e-04 8.95331007e+00] [ 2.10239193e-02 -2.00166204e-04 9.99778953e-01 5.45366784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9492541539998 meters 0.015227282557045772 Centerline is valid? [True, True] Translation: X:792.42, Y:8.95, Z:5.45 [[ 9.99352426e-01 -2.84237275e-02 -2.20640149e-02 7.92419744e+02] [ 2.84220420e-02 9.99595936e-01 -3.90043730e-04 8.94970469e+00] [ 2.20661861e-02 -2.37313208e-04 9.99756484e-01 5.45332492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9792541539999 meters 0.017371556712332717 Centerline is valid? [True, True] Translation: X:792.45, Y:8.95, Z:5.45 [[ 9.99301448e-01 -2.95090671e-02 -2.29310055e-02 7.92448166e+02] [ 2.95074173e-02 9.99564477e-01 -4.10379737e-04 8.94793460e+00] [ 2.29331284e-02 -2.66541681e-04 9.99736966e-01 5.45148436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0092541539999 meters 0.01834922584017399 Centerline is valid? [True, True] Translation: X:792.48, Y:8.95, Z:5.45 [[ 9.99232366e-01 -3.11765723e-02 -2.37213172e-02 7.92476878e+02] [ 3.11751344e-02 9.99513845e-01 -4.30515234e-04 8.94593235e+00] [ 2.37232070e-02 -3.09330497e-04 9.99718517e-01 5.45061575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0392541539999 meters 0.01834922584017399 Centerline is valid? [True, True] Translation: X:792.50, Y:8.95, Z:5.45 [[ 9.99223409e-01 -3.14624167e-02 -2.37211975e-02 7.92504295e+02] [ 3.14609041e-02 9.99504888e-01 -4.37050228e-04 8.94650975e+00] [ 2.37232035e-02 -3.09579501e-04 9.99718517e-01 5.45080617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0692541539999 meters 0.019041166909066903 Centerline is valid? [True, True] Translation: X:792.53, Y:8.94, Z:5.45 [[ 9.99082458e-01 -3.55587685e-02 -2.38708114e-02 7.92532731e+02] [ 3.55583218e-02 9.99367505e-01 -4.43310854e-04 8.94177116e+00] [ 2.38714768e-02 -4.05901896e-04 9.99714953e-01 5.45108219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0992541539999 meters 0.01726436659650028 Centerline is valid? [True, True] Translation: X:792.56, Y:8.94, Z:5.45 [[ 9.98988726e-01 -3.84697969e-02 -2.32722995e-02 7.92560177e+02] [ 3.84701140e-02 9.99259657e-01 -4.34244848e-04 8.93917131e+00] [ 2.32717753e-02 -4.61482306e-04 9.99729069e-01 5.45355440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1292541539999 meters 0.016896216900377996 Centerline is valid? [True, True] Translation: X:792.59, Y:8.94, Z:5.46 [[ 9.98889131e-01 -4.11549804e-02 -2.29514990e-02 7.92589047e+02] [ 4.11558892e-02 9.99152644e-01 -4.32957765e-04 8.93843165e+00] [ 2.29498692e-02 -5.12112543e-04 9.99736486e-01 5.45572068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1592541539999 meters 0.018047382101456243 Centerline is valid? [True, True] Translation: X:792.62, Y:8.94, Z:5.46 [[ 9.98780740e-01 -4.39216542e-02 -2.25371183e-02 7.92617836e+02] [ 4.39231048e-02 9.99034822e-01 -4.30883456e-04 8.93609984e+00] [ 2.25342911e-02 -5.59542112e-04 9.99745914e-01 5.45546040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1892541539999 meters 0.019274485418199778 Centerline is valid? [True, True] Translation: X:792.65, Y:8.93, Z:5.46 [[ 9.98552002e-01 -4.92494523e-02 -2.16423574e-02 7.92646140e+02] [ 4.92519797e-02 9.98786298e-01 -4.16553624e-04 8.93068255e+00] [ 2.16366050e-02 -6.49978492e-04 9.99765690e-01 5.45658141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2192541539999 meters 0.020147496686530365 Centerline is valid? [True, True] Translation: X:792.67, Y:8.93, Z:5.46 [[ 9.98413799e-01 -5.18854886e-02 -2.18582091e-02 7.92674996e+02] [ 5.18886689e-02 9.98652786e-01 -4.22023042e-04 8.92827426e+00] [ 2.18506583e-02 -7.12839745e-04 9.99760992e-01 5.45711596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2492541539999 meters 0.02087030716548635 Centerline is valid? [True, True] Translation: X:792.71, Y:8.93, Z:5.46 [[ 9.98170172e-01 -5.63145740e-02 -2.20221887e-02 7.92705328e+02] [ 5.63188641e-02 9.98412742e-01 -4.25842992e-04 8.92581742e+00] [ 2.20112150e-02 -8.15200879e-04 9.99757392e-01 5.45790042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2792541539999 meters 0.0230233794451136 Centerline is valid? [True, True] Translation: X:792.74, Y:8.92, Z:5.46 [[ 9.98083734e-01 -5.77804366e-02 -2.21423111e-02 7.92735810e+02] [ 5.77851309e-02 9.98328951e-01 -4.28293701e-04 8.92356973e+00] [ 2.21300572e-02 -8.52023368e-04 9.99754737e-01 5.45627908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3092541539999 meters 0.02454740831391018 Centerline is valid? [True, True] Translation: X:792.77, Y:8.92, Z:5.46 [[ 9.97972053e-01 -5.96369112e-02 -2.22535508e-02 7.92766032e+02] [ 5.96421136e-02 9.98219732e-01 -4.30445387e-04 8.92201431e+00] [ 2.22396040e-02 -8.97676340e-04 9.99752266e-01 5.45587394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.339254154 meters 0.024519778048982362 Centerline is valid? [True, True] Translation: X:792.80, Y:8.92, Z:5.46 [[ 9.97742453e-01 -6.37415161e-02 -2.11427791e-02 7.92795520e+02] [ 6.37471260e-02 9.97966000e-01 -4.09217544e-04 8.91817478e+00] [ 2.11258588e-02 -9.39497684e-04 9.99776383e-01 5.45862465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3692541539999 meters 0.027167096180409505 Centerline is valid? [True, True] Translation: X:792.82, Y:8.92, Z:5.46 [[ 9.97629180e-01 -6.53324757e-02 -2.16260743e-02 7.92824826e+02] [ 6.53387096e-02 9.97863055e-01 -4.18964430e-04 8.91572216e+00] [ 2.16072326e-02 -9.95048649e-04 9.99766041e-01 5.45685570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3992541539999 meters 0.02770938688646855 Centerline is valid? [True, True] Translation: X:792.86, Y:8.91, Z:5.46 [[ 9.97508761e-01 -6.72765320e-02 -2.12165021e-02 7.92855027e+02] [ 6.72829626e-02 9.97733849e-01 -4.11406629e-04 8.91382337e+00] [ 2.11961003e-02 -1.01712740e-03 9.99774820e-01 5.45795042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4292541539999 meters 0.030114703884603765 Centerline is valid? [True, True] Translation: X:792.89, Y:8.91, Z:5.46 [[ 9.97261087e-01 -7.08671853e-02 -2.11699425e-02 7.92885555e+02] [ 7.08743918e-02 9.97485164e-01 -4.10626983e-04 8.91132361e+00] [ 2.11458036e-02 -1.09090449e-03 9.99775807e-01 5.45797990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4592541539998 meters 0.025923197413591094 Centerline is valid? [True, True] Translation: X:792.92, Y:8.92, Z:5.46 [[ 9.97105094e-01 -7.33850508e-02 -1.99013896e-02 7.92916479e+02] [ 7.33919286e-02 9.97303101e-01 -3.85541772e-04 8.91502856e+00] [ 1.98760106e-02 -1.07617570e-03 9.99801873e-01 5.46213119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4892541539999 meters 0.0327800692779783 Centerline is valid? [True, True] Translation: X:792.95, Y:8.91, Z:5.46 [[ 9.96885584e-01 -7.58115402e-02 -2.17196352e-02 7.92946343e+02] [ 7.58203129e-02 9.97121409e-01 -4.20486540e-04 8.90628412e+00] [ 2.16889910e-02 -1.22761257e-03 9.99764012e-01 5.45841682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5192541539999 meters 0.034951340612230694 Centerline is valid? [True, True] Translation: X:792.98, Y:8.90, Z:5.46 [[ 9.96812954e-01 -7.64382566e-02 -2.28282025e-02 7.92977133e+02] [ 7.64481182e-02 9.97073463e-01 -4.41672277e-04 8.90447730e+00] [ 2.27951556e-02 -1.30490848e-03 9.99739305e-01 5.45649525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5492541539999 meters 0.03432103144928219 Centerline is valid? [True, True] Translation: X:793.01, Y:8.90, Z:5.46 [[ 9.96740243e-01 -7.74596705e-02 -2.25585166e-02 7.93007915e+02] [ 7.74695637e-02 9.96994622e-01 -4.36335745e-04 8.90476022e+00] [ 2.25245181e-02 -1.31268504e-03 9.99745429e-01 5.45816319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5792541539998 meters 0.034544414784201824 Centerline is valid? [True, True] Translation: X:793.04, Y:8.90, Z:5.46 [[ 9.96696211e-01 -7.80090674e-02 -2.26107863e-02 7.93037263e+02] [ 7.80191413e-02 9.96951765e-01 -4.37615675e-04 8.90453834e+00] [ 2.25760013e-02 -1.32790425e-03 9.99744248e-01 5.45916260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6092541539999 meters 0.034555945731730965 Centerline is valid? [True, True] Translation: X:793.07, Y:8.91, Z:5.46 [[ 9.96757051e-01 -7.72649381e-02 -2.24835765e-02 7.93067747e+02] [ 7.72747076e-02 9.97009744e-01 -4.35271718e-04 8.90552719e+00] [ 2.24499761e-02 -1.30355165e-03 9.99747118e-01 5.45949250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6392541539999 meters 0.030429863425918583 Centerline is valid? [True, True] Translation: X:793.10, Y:8.91, Z:5.46 [[ 9.96839925e-01 -7.59268868e-02 -2.33510723e-02 7.93098377e+02] [ 7.59370593e-02 9.97112511e-01 -4.52066037e-04 8.91393995e+00] [ 2.33179703e-02 -1.32257429e-03 9.99727224e-01 5.45996876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6692541539999 meters 0.029254505845788027 Centerline is valid? [True, True] Translation: X:793.13, Y:8.92, Z:5.46 [[ 9.96936891e-01 -7.46600718e-02 -2.32961103e-02 7.93129377e+02] [ 7.46698587e-02 9.97208207e-01 -4.50699166e-04 8.91765986e+00] [ 2.32647216e-02 -1.29019864e-03 9.99728507e-01 5.46077649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6992541539998 meters 0.03503113555367356 Centerline is valid? [True, True] Translation: X:793.16, Y:8.91, Z:5.46 [[ 9.97193967e-01 -7.12862912e-02 -2.28572993e-02 7.93159010e+02] [ 7.12948251e-02 9.97455188e-01 -4.42376229e-04 8.91157695e+00] [ 2.28306672e-02 -1.18847225e-03 9.99738640e-01 5.45906138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7292541539999 meters 0.02581732338530686 Centerline is valid? [True, True] Translation: X:793.19, Y:8.92, Z:5.46 [[ 9.97359504e-01 -6.92739083e-02 -2.17978341e-02 7.93188967e+02] [ 6.92811870e-02 9.97597083e-01 -4.21992716e-04 8.92474660e+00] [ 2.17746887e-02 -1.08930137e-03 9.99762310e-01 5.46481263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7592541539999 meters 0.023427229597431078 Centerline is valid? [True, True] Translation: X:793.22, Y:8.93, Z:5.47 [[ 9.97541947e-01 -6.67012529e-02 -2.14710544e-02 7.93219501e+02] [ 6.67077203e-02 9.97772473e-01 -4.15666462e-04 8.92983177e+00] [ 2.14509525e-02 -1.01764036e-03 9.99769384e-01 5.46644017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7892541539999 meters 0.023299666772177527 Centerline is valid? [True, True] Translation: X:793.25, Y:8.93, Z:5.47 [[ 9.97862752e-01 -6.16278191e-02 -2.17241659e-02 7.93249388e+02] [ 6.16332398e-02 9.98098776e-01 -4.20566545e-04 8.93348555e+00] [ 2.17087820e-02 -9.19263036e-04 9.99763914e-01 5.46662498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8192541539999 meters 0.025937087984196146 Centerline is valid? [True, True] Translation: X:793.28, Y:8.94, Z:5.46 [[ 9.98000064e-01 -5.86328171e-02 -2.36233869e-02 7.93280133e+02] [ 5.86383901e-02 9.98279184e-01 -4.57334300e-04 8.93570544e+00] [ 2.36095502e-02 -9.28817713e-04 9.99720824e-01 5.46368773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8492541539999 meters 0.021417064475279673 Centerline is valid? [True, True] Translation: X:793.31, Y:8.94, Z:5.47 [[ 9.98114712e-01 -5.74763938e-02 -2.15287197e-02 7.93309414e+02] [ 5.74807416e-02 9.98346528e-01 -4.17318565e-04 8.93985874e+00] [ 2.15171086e-02 -8.20954977e-04 9.99768143e-01 5.46766916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8792541539999 meters 0.021606161856756234 Centerline is valid? [True, True] Translation: X:793.34, Y:8.94, Z:5.47 [[ 9.98190752e-01 -5.58617086e-02 -2.22416898e-02 7.93339489e+02] [ 5.58659371e-02 9.98438186e-01 -4.31679687e-04 8.94170020e+00] [ 2.22310668e-02 -8.11654174e-04 9.99752530e-01 5.46735256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9092541539999 meters 0.022312204987360286 Centerline is valid? [True, True] Translation: X:793.37, Y:8.94, Z:5.47 [[ 9.98312494e-01 -5.35810658e-02 -2.23882614e-02 7.93368891e+02] [ 5.35847683e-02 9.98563210e-01 -4.34929395e-04 8.94432314e+00] [ 2.23793981e-02 -7.65474351e-04 9.99749257e-01 5.46678239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9392541539999 meters 0.020015958785547083 Centerline is valid? [True, True] Translation: X:793.40, Y:8.95, Z:5.47 [[ 9.98344096e-01 -5.31965573e-02 -2.18904735e-02 7.93399705e+02] [ 5.32000020e-02 9.98583787e-01 -4.25380955e-04 8.94756216e+00] [ 2.18821007e-02 -7.39896669e-04 9.99760284e-01 5.46923346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9692541539999 meters 0.023635759545074783 Centerline is valid? [True, True] Translation: X:793.43, Y:8.95, Z:5.47 [[ 9.98351637e-01 -5.22378916e-02 -2.37741702e-02 7.93428873e+02] [ 5.22416763e-02 9.98634364e-01 -4.62291760e-04 8.94684679e+00] [ 2.37658525e-02 -7.80472770e-04 9.99717248e-01 5.46579984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9992541539999 meters 0.02201088725766666 Centerline is valid? [True, True] Translation: X:793.46, Y:8.95, Z:5.47 [[ 9.98416530e-01 -5.09743929e-02 -2.37916728e-02 7.93458089e+02] [ 5.09778074e-02 9.98699679e-01 -4.63365280e-04 8.95071439e+00] [ 2.37843557e-02 -7.50215756e-04 9.99716831e-01 5.46684361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0292541539999 meters 0.021569139274441335 Centerline is valid? [True, True] Translation: X:793.49, Y:8.95, Z:5.47 [[ 9.98448620e-01 -5.01829783e-02 -2.41251356e-02 7.93488161e+02] [ 5.01862376e-02 9.98739766e-01 -4.70729297e-04 8.95234024e+00] [ 2.41183549e-02 -7.40750769e-04 9.99708836e-01 5.46712838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0592541539999 meters 0.022149850184728405 Centerline is valid? [True, True] Translation: X:793.52, Y:8.95, Z:5.47 [[ 9.98495109e-01 -4.88654711e-02 -2.48934479e-02 7.93517345e+02] [ 4.88684210e-02 9.98805105e-01 -4.90196605e-04 8.95479309e+00] [ 2.48876566e-02 -7.27044581e-04 9.99689990e-01 5.46691100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.089254154 meters 0.01896040344914638 Centerline is valid? [True, True] Translation: X:793.55, Y:8.96, Z:5.47 [[ 9.98580643e-01 -4.78698275e-02 -2.33490506e-02 7.93545683e+02] [ 4.78720942e-02 9.98853367e-01 -4.62191814e-04 8.95707039e+00] [ 2.33444029e-02 -6.56232152e-04 9.99727267e-01 5.46981166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1192541539999 meters 0.0180412003188162 Centerline is valid? [True, True] Translation: X:793.57, Y:8.96, Z:5.47 [[ 9.98749616e-01 -4.40830691e-02 -2.35772516e-02 7.93574594e+02] [ 4.40843032e-02 9.99027705e-01 -4.67674133e-04 8.96107506e+00] [ 2.35749441e-02 -5.72297348e-04 9.99721909e-01 5.47055637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1492541539999 meters 0.01797511978610966 Centerline is valid? [True, True] Translation: X:793.60, Y:8.96, Z:5.47 [[ 9.98851126e-01 -4.19244753e-02 -2.32113326e-02 7.93603467e+02] [ 4.19250633e-02 9.99120651e-01 -4.61514864e-04 8.96264308e+00] [ 2.32102705e-02 -5.12151947e-04 9.99730474e-01 5.47052056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1792541539999 meters 0.01745493240382782 Centerline is valid? [True, True] Translation: X:793.63, Y:8.97, Z:5.47 [[ 9.98934272e-01 -4.00491001e-02 -2.29431754e-02 7.93632417e+02] [ 4.00490832e-02 9.99197608e-01 -4.60406814e-04 8.96503629e+00] [ 2.29432048e-02 -4.58936994e-04 9.99736665e-01 5.47102710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2092541539998 meters 0.01708065060202382 Centerline is valid? [True, True] Translation: X:793.66, Y:8.97, Z:5.47 [[ 9.99008884e-01 -3.80696330e-02 -2.30641153e-02 7.93660891e+02] [ 3.80689588e-02 9.99275005e-01 -4.68461167e-04 8.96764850e+00] [ 2.30652280e-02 -4.10029986e-04 9.99733878e-01 5.47186860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2392541539999 meters 0.018459527187994026 Centerline is valid? [True, True] Translation: X:793.69, Y:8.97, Z:5.47 [[ 9.99139986e-01 -3.43305842e-02 -2.32529512e-02 7.93688958e+02] [ 3.43287981e-02 9.99410480e-01 -4.76101889e-04 8.96888407e+00] [ 2.32555880e-02 -3.22553432e-04 9.99729500e-01 5.47041617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2692541539999 meters 0.018678150741231074 Centerline is valid? [True, True] Translation: X:793.72, Y:8.97, Z:5.47 [[ 9.99167627e-01 -3.34138613e-02 -2.34001443e-02 7.93717321e+02] [ 3.34116865e-02 9.99441557e-01 -4.84016974e-04 8.97062504e+00] [ 2.34032495e-02 -2.98224192e-04 9.99726062e-01 5.47145817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2992541539999 meters 0.017426656163955726 Centerline is valid? [True, True] Translation: X:793.75, Y:8.97, Z:5.47 [[ 9.99220361e-01 -3.25799680e-02 -2.22983574e-02 7.93745837e+02] [ 3.25776632e-02 9.99469098e-01 -4.66710264e-04 8.97175638e+00] [ 2.23017245e-02 -2.60081979e-04 9.99751252e-01 5.47416093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3292541539998 meters 0.018047653939651874 Centerline is valid? [True, True] Translation: X:793.77, Y:8.97, Z:5.47 [[ 9.99218783e-01 -3.26907210e-02 -2.22067692e-02 7.93772436e+02] [ 3.26883565e-02 9.99465483e-01 -4.69562842e-04 8.97050472e+00] [ 2.22102496e-02 -2.56706778e-04 9.99753289e-01 5.47316374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3592541539999 meters 0.015466763377421928 Centerline is valid? [True, True] Translation: X:793.80, Y:8.97, Z:5.48 [[ 9.99191392e-01 -3.40123344e-02 -2.14411610e-02 7.93800199e+02] [ 3.40103194e-02 9.99421376e-01 -4.58728216e-04 8.97047809e+00] [ 2.14443570e-02 -2.70863449e-04 9.99770007e-01 5.47573338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3892541539999 meters 0.018250864438285025 Centerline is valid? [True, True] Translation: X:793.83, Y:8.97, Z:5.47 [[ 9.99086014e-01 -3.63418736e-02 -2.25034498e-02 7.93829376e+02] [ 3.63401104e-02 9.99339361e-01 -4.87423049e-04 8.96802415e+00] [ 2.25062970e-02 -3.30800300e-04 9.99746646e-01 5.47479820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4192541539999 meters 0.015507043454538638 Centerline is valid? [True, True] Translation: X:793.86, Y:8.97, Z:5.48 [[ 9.99017282e-01 -3.87287091e-02 -2.15536067e-02 7.93857986e+02] [ 3.87275286e-02 9.99249696e-01 -4.72333522e-04 8.96750571e+00] [ 2.15557278e-02 -3.62848570e-04 9.99767582e-01 5.47763323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4492541539998 meters 0.018144469187845083 Centerline is valid? [True, True] Translation: X:793.89, Y:8.96, Z:5.47 [[ 9.98916616e-01 -4.09934420e-02 -2.20257068e-02 7.93886342e+02] [ 4.09926944e-02 9.99159328e-01 -4.85630442e-04 8.96145900e+00] [ 2.20270981e-02 -4.17788751e-04 9.99757287e-01 5.47393300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4792541539999 meters 0.018207318086468895 Centerline is valid? [True, True] Translation: X:793.92, Y:8.96, Z:5.48 [[ 9.98705233e-01 -4.54835503e-02 -2.27838677e-02 7.93916175e+02] [ 4.54838928e-02 9.98964945e-01 -5.03450539e-04 8.95988045e+00] [ 2.27831839e-02 -5.33500311e-04 9.99740287e-01 5.47612735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5092541539999 meters 0.01751495136476274 Centerline is valid? [True, True] Translation: X:793.95, Y:8.96, Z:5.48 [[ 9.98594043e-01 -4.79409733e-02 -2.26185672e-02 7.93945296e+02] [ 4.79418427e-02 9.98850002e-01 -5.04132422e-04 8.95909837e+00] [ 2.26167244e-02 -5.80952155e-04 9.99744040e-01 5.47760694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5392541539999 meters 0.025208617749285227 Centerline is valid? [True, True] Translation: X:793.97, Y:8.95, Z:5.47 [[ 9.98502550e-01 -4.92637267e-02 -2.37853705e-02 7.93974182e+02] [ 4.92649960e-02 9.98785601e-01 -5.32966499e-04 8.94984531e+00] [ 2.37827415e-02 -6.39617775e-04 9.99716946e-01 5.47079002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5692541539999 meters 0.02065069938085286 Centerline is valid? [True, True] Translation: X:794.00, Y:8.95, Z:5.48 [[ 9.98362381e-01 -5.24859898e-02 -2.27547151e-02 7.94003223e+02] [ 5.24879593e-02 9.98621426e-01 -5.11103429e-04 8.95320775e+00] [ 2.27501719e-02 -6.84082126e-04 9.99740947e-01 5.47667711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5992541539999 meters 0.019654913658835933 Centerline is valid? [True, True] Translation: X:794.03, Y:8.95, Z:5.48 [[ 9.98300595e-01 -5.38793926e-02 -2.22021160e-02 7.94032871e+02] [ 5.38815911e-02 9.98547207e-01 -4.99614859e-04 8.95239495e+00] [ 2.21967798e-02 -6.97519523e-04 9.99753378e-01 5.47833900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6292541539999 meters 0.021644741519366503 Centerline is valid? [True, True] Translation: X:794.06, Y:8.95, Z:5.48 [[ 9.98251002e-01 -5.45785706e-02 -2.27181911e-02 7.94063626e+02] [ 5.45810477e-02 9.98509213e-01 -5.11485305e-04 8.95113644e+00] [ 2.27122393e-02 -7.29391956e-04 9.99741778e-01 5.47732229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6592541539999 meters 0.023746135396123955 Centerline is valid? [True, True] Translation: X:794.09, Y:8.95, Z:5.48 [[ 9.98195100e-01 -5.54644246e-02 -2.30269406e-02 7.94093164e+02] [ 5.54671916e-02 9.98460375e-01 -5.19016043e-04 8.95005041e+00] [ 2.30202747e-02 -7.59160457e-04 9.99734710e-01 5.47658028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6892541539999 meters 0.023001876411334034 Centerline is valid? [True, True] Translation: X:794.12, Y:8.95, Z:5.48 [[ 9.98084616e-01 -5.80166259e-02 -2.14748867e-02 7.94122628e+02] [ 5.80196057e-02 9.98315326e-01 -4.84795095e-04 8.94779344e+00] [ 2.14668347e-02 -7.62097935e-04 9.99769270e-01 5.47826098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7192541539999 meters 0.022639710323570213 Centerline is valid? [True, True] Translation: X:794.15, Y:8.95, Z:5.48 [[ 9.98003686e-01 -5.94856372e-02 -2.12156141e-02 7.94153364e+02] [ 5.94888716e-02 9.98228854e-01 -4.79190896e-04 8.94780180e+00] [ 2.12065431e-02 -7.83858662e-04 9.99774809e-01 5.47913150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7492541539999 meters 0.026645337774348687 Centerline is valid? [True, True] Translation: X:794.18, Y:8.94, Z:5.48 [[ 9.97891017e-01 -6.11646269e-02 -2.17349081e-02 7.94183299e+02] [ 6.11684134e-02 9.98127339e-01 -4.91192789e-04 8.94284872e+00] [ 2.17242496e-02 -8.39332971e-04 9.99763648e-01 5.47704546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7792541539999 meters 0.025677713846143153 Centerline is valid? [True, True] Translation: X:794.21, Y:8.94, Z:5.48 [[ 9.97610555e-01 -6.55585808e-02 -2.18002834e-02 7.94213772e+02] [ 6.55634342e-02 9.97848282e-01 -4.92798182e-04 8.94074061e+00] [ 2.17856825e-02 -9.37680777e-04 9.99762224e-01 5.47799927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8092541539999 meters 0.02716788374784194 Centerline is valid? [True, True] Translation: X:794.24, Y:8.94, Z:5.48 [[ 9.97435776e-01 -6.80564299e-02 -2.21403707e-02 7.94243715e+02] [ 6.80620500e-02 9.97680964e-01 -5.00485900e-04 8.93804712e+00] [ 2.21230877e-02 -1.00771648e-03 9.99754747e-01 5.47747140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.839254154 meters 0.026845572083670062 Centerline is valid? [True, True] Translation: X:794.27, Y:8.93, Z:5.48 [[ 9.97036143e-01 -7.35997196e-02 -2.24055759e-02 7.94274618e+02] [ 7.36068696e-02 9.97287206e-01 -5.06542993e-04 8.93415913e+00] [ 2.23820756e-02 -1.14416263e-03 9.99748835e-01 5.47985213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8692541539999 meters 0.028411767429651933 Centerline is valid? [True, True] Translation: X:794.30, Y:8.93, Z:5.48 [[ 9.96866895e-01 -7.59203475e-02 -2.21922246e-02 7.94304576e+02] [ 7.59279346e-02 9.97113182e-01 -5.01747089e-04 8.93148371e+00] [ 2.21662525e-02 -1.18483471e-03 9.99753596e-01 5.47993249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8992541539999 meters 0.029851159014867252 Centerline is valid? [True, True] Translation: X:794.34, Y:8.93, Z:5.48 [[ 9.96696083e-01 -7.82028484e-02 -2.19370348e-02 7.94335611e+02] [ 7.82108188e-02 9.96936719e-01 -4.95710070e-04 8.92927806e+00] [ 2.19086015e-02 -1.22164117e-03 9.99759231e-01 5.48045585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9292541539999 meters 0.029851159014867252 Centerline is valid? [True, True] Translation: X:794.37, Y:8.93, Z:5.48 [[ 9.96698869e-01 -7.81673280e-02 -2.19370497e-02 7.94366496e+02] [ 7.81753042e-02 9.96939505e-01 -4.95051912e-04 8.92994386e+00] [ 2.19086083e-02 -1.22151785e-03 9.99759231e-01 5.48066988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9592541539998 meters 0.03427431187657394 Centerline is valid? [True, True] Translation: X:794.40, Y:8.93, Z:5.48 [[ 9.96444169e-01 -8.13147609e-02 -2.20664377e-02 7.94396192e+02] [ 8.13236001e-02 9.96687626e-01 -4.97991328e-04 8.92587008e+00] [ 2.20338394e-02 -1.29830160e-03 9.99756382e-01 5.47915193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9892541539999 meters 0.03080651242730617 Centerline is valid? [True, True] Translation: X:794.43, Y:8.93, Z:5.48 [[ 9.96346232e-01 -8.27495747e-02 -2.11351199e-02 7.94427572e+02] [ 8.27580132e-02 9.96569558e-01 -4.76571623e-04 8.92981861e+00] [ 2.11020532e-02 -1.27427019e-03 9.99776515e-01 5.48223205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0192541539999 meters 0.030944175087080392 Centerline is valid? [True, True] Translation: X:794.46, Y:8.93, Z:5.48 [[ 9.96280746e-01 -8.34966643e-02 -2.12833811e-02 7.94458638e+02] [ 8.35054082e-02 9.96507209e-01 -4.79129698e-04 8.93113423e+00] [ 2.12490484e-02 -1.29992973e-03 9.99773368e-01 5.48216426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0492541539999 meters 0.030230582900319363 Centerline is valid? [True, True] Translation: X:794.49, Y:8.93, Z:5.48 [[ 9.96248348e-01 -8.37719594e-02 -2.17137771e-02 7.94490287e+02] [ 8.37811434e-02 9.96484060e-01 -4.88008170e-04 8.93279754e+00] [ 2.16783142e-02 -1.33302774e-03 9.99764109e-01 5.48301866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0792541539998 meters 0.03327888220426055 Centerline is valid? [True, True] Translation: X:794.52, Y:8.93, Z:5.48 [[ 9.96306995e-01 -8.29779115e-02 -2.20689360e-02 7.94520452e+02] [ 8.29872334e-02 9.96550488e-01 -4.94678826e-04 8.93098011e+00] [ 2.20338564e-02 -1.33858797e-03 9.99756329e-01 5.48181714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1092541539999 meters 0.032860778192777065 Centerline is valid? [True, True] Translation: X:794.55, Y:8.93, Z:5.48 [[ 9.96394657e-01 -8.19465790e-02 -2.19646451e-02 7.94551403e+02] [ 8.19555797e-02 9.96635862e-01 -4.91593004e-04 8.93260241e+00] [ 2.19310373e-02 -1.31030458e-03 9.99758627e-01 5.48230068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1392541539999 meters 0.029611239742592655 Centerline is valid? [True, True] Translation: X:794.58, Y:8.94, Z:5.49 [[ 9.96493407e-01 -8.10280026e-02 -2.08651230e-02 7.94582134e+02] [ 8.10359262e-02 9.96711072e-01 -4.66866252e-04 8.93591977e+00] [ 2.08343283e-02 -1.22559542e-03 9.99782191e-01 5.48585142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1692541539999 meters 0.03310770982570507 Centerline is valid? [True, True] Translation: X:794.61, Y:8.94, Z:5.48 [[ 9.96708346e-01 -7.84626464e-02 -2.03981828e-02 7.94612067e+02] [ 7.84696836e-02 9.96916396e-01 -4.56418261e-04 8.93507181e+00] [ 2.03710947e-02 -1.14572306e-03 9.99791831e-01 5.48430613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1992541539998 meters 0.030187831828206755 Centerline is valid? [True, True] Translation: X:794.64, Y:8.94, Z:5.49 [[ 9.96833850e-01 -7.70317403e-02 -1.97075058e-02 7.94643525e+02] [ 7.70380392e-02 9.97028057e-01 -4.40498802e-04 8.94126307e+00] [ 1.96828686e-02 -1.07912349e-03 9.99805691e-01 5.48584017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2292541539999 meters 0.03129936936910992 Centerline is valid? [True, True] Translation: X:794.67, Y:8.94, Z:5.49 [[ 9.96926027e-01 -7.57171388e-02 -2.01348501e-02 7.94674361e+02] [ 7.57234613e-02 9.97128756e-01 -4.49320083e-04 8.94152310e+00] [ 2.01110593e-02 -1.07674166e-03 9.99797172e-01 5.48582955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2592541539999 meters 0.030448715862361843 Centerline is valid? [True, True] Translation: X:794.70, Y:8.94, Z:5.49 [[ 9.97120550e-01 -7.32581936e-02 -1.95919843e-02 7.94703600e+02] [ 7.32637066e-02 9.97312508e-01 -4.37186966e-04 8.94360323e+00] [ 1.95713585e-02 -9.99453282e-04 9.99807963e-01 5.48648984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2892541539999 meters 0.02860835196845301 Centerline is valid? [True, True] Translation: X:794.73, Y:8.95, Z:5.49 [[ 9.97203353e-01 -7.21678432e-02 -1.94235849e-02 7.94734925e+02] [ 7.21730616e-02 9.97392030e-01 -4.33114490e-04 8.94567577e+00] [ 1.94041858e-02 -9.69956371e-04 9.99811251e-01 5.48888180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3192541539999 meters 0.030510920674885887 Centerline is valid? [True, True] Translation: X:794.77, Y:8.95, Z:5.49 [[ 9.97362284e-01 -6.94584891e-02 -2.10711282e-02 7.94765242e+02] [ 6.94640382e-02 9.97584346e-01 -4.69342250e-04 8.94858780e+00] [ 2.10528274e-02 -9.95581394e-04 9.99777869e-01 5.48592626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3492541539999 meters 0.026508045080026924 Centerline is valid? [True, True] Translation: X:794.80, Y:8.96, Z:5.49 [[ 9.97479404e-01 -6.78622038e-02 -2.07258455e-02 7.94795289e+02] [ 6.78672311e-02 9.97694255e-01 -4.61531916e-04 8.95661440e+00] [ 2.07093776e-02 -9.46237167e-04 9.99785090e-01 5.48804971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3792541539999 meters 0.029647819215615163 Centerline is valid? [True, True] Translation: X:794.83, Y:8.95, Z:5.49 [[ 9.97596964e-01 -6.61111639e-02 -2.07270678e-02 7.94825287e+02] [ 6.61158147e-02 9.97811849e-01 -4.61559135e-04 8.95277355e+00] [ 2.07122281e-02 -9.09936983e-04 9.99785065e-01 5.48682880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4092541539999 meters 0.023950072822872096 Centerline is valid? [True, True] Translation: X:794.86, Y:8.96, Z:5.49 [[ 9.97713211e-01 -6.44994481e-02 -2.02032335e-02 7.94856214e+02] [ 6.45035466e-02 9.97917377e-01 -4.49407595e-04 8.96175920e+00] [ 2.01901443e-02 -8.54800320e-04 9.99795793e-01 5.49039412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4392541539999 meters 0.021625060633130744 Centerline is valid? [True, True] Translation: X:794.89, Y:8.97, Z:5.49 [[ 9.97959028e-01 -6.07025217e-02 -1.98238016e-02 7.94886629e+02] [ 6.07057245e-02 9.98155609e-01 -4.40718290e-04 8.96740631e+00] [ 1.98139915e-02 -7.63599442e-04 9.99803392e-01 5.49204509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4692541539999 meters 0.022080099595889656 Centerline is valid? [True, True] Translation: X:794.92, Y:8.97, Z:5.49 [[ 9.98091038e-01 -5.84365751e-02 -1.99861354e-02 7.94918338e+02] [ 5.84393915e-02 9.98290860e-01 -4.43602993e-04 8.96948023e+00] [ 1.99778989e-02 -7.25221416e-04 9.99800159e-01 5.49161240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4992541539999 meters 0.022135314330828958 Centerline is valid? [True, True] Translation: X:794.95, Y:8.97, Z:5.49 [[ 9.98225166e-01 -5.60058679e-02 -2.02450397e-02 7.94949534e+02] [ 5.60082763e-02 9.98430204e-01 -4.48467881e-04 8.97193756e+00] [ 2.02383759e-02 -6.86217852e-04 9.99794948e-01 5.49131199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5292541539999 meters 0.022818601274544537 Centerline is valid? [True, True] Translation: X:794.98, Y:8.98, Z:5.49 [[ 9.98435950e-01 -5.15116235e-02 -2.17303297e-02 7.94979752e+02] [ 5.15133410e-02 9.98672191e-01 -4.81095069e-04 8.97723124e+00] [ 2.17262580e-02 -6.39059272e-04 9.99763753e-01 5.49044855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5592541539999 meters 0.02161423886566856 Centerline is valid? [True, True] Translation: X:795.01, Y:8.98, Z:5.49 [[ 9.98535523e-01 -4.96514094e-02 -2.14836435e-02 7.95009245e+02] [ 4.96526522e-02 9.98766433e-01 -4.75897267e-04 8.97918926e+00] [ 2.14807710e-02 -5.91519554e-04 9.99769087e-01 5.49084794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.589254154 meters 0.017509497683941017 Centerline is valid? [True, True] Translation: X:795.04, Y:8.98, Z:5.49 [[ 9.98719280e-01 -4.64243775e-02 -2.01140864e-02 7.95038550e+02] [ 4.64248007e-02 9.98921688e-01 -4.46155627e-04 8.98406908e+00] [ 2.01131097e-02 -4.88208229e-04 9.99797592e-01 5.49429558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6192541539999 meters 0.017191666994307808 Centerline is valid? [True, True] Translation: X:795.07, Y:8.99, Z:5.49 [[ 9.98808948e-01 -4.45649287e-02 -1.98658785e-02 7.95069401e+02] [ 4.45649689e-02 9.99006391e-01 -4.40898448e-04 8.98592701e+00] [ 1.98657882e-02 -4.44948943e-04 9.99802557e-01 5.49459854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6492541539999 meters 0.019413844949283606 Centerline is valid? [True, True] Translation: X:795.10, Y:8.99, Z:5.49 [[ 9.98894229e-01 -4.21646344e-02 -2.07957415e-02 7.95099569e+02] [ 4.21641535e-02 9.99110590e-01 -4.61784073e-04 8.98733771e+00] [ 2.07967165e-02 -4.15561393e-04 9.99783639e-01 5.49311390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6792541539999 meters 0.017832461273690207 Centerline is valid? [True, True] Translation: X:795.13, Y:8.99, Z:5.49 [[ 9.99026665e-01 -3.91570766e-02 -2.03087559e-02 7.95127977e+02] [ 3.91559798e-02 9.99233008e-01 -4.51805041e-04 8.98961146e+00] [ 2.03108706e-02 -3.43843951e-04 9.99793654e-01 5.49399080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7092541539998 meters 0.01826727367374272 Centerline is valid? [True, True] Translation: X:795.16, Y:8.99, Z:5.49 [[ 9.99073969e-01 -3.76058111e-02 -2.09047047e-02 7.95157714e+02] [ 3.76042912e-02 9.99292600e-01 -4.65935254e-04 8.99088737e+00] [ 2.09074386e-02 -3.20602821e-04 9.99781364e-01 5.49383195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7392541539999 meters 0.01951690761145851 Centerline is valid? [True, True] Translation: X:795.19, Y:8.99, Z:5.49 [[ 9.99108530e-01 -3.64804862e-02 -2.12442962e-02 7.95186248e+02] [ 3.64785791e-02 9.99334321e-01 -4.77418118e-04 8.99303867e+00] [ 2.12475708e-02 -2.97969227e-04 9.99774200e-01 5.49411093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7692541539999 meters 0.018699142480946077 Centerline is valid? [True, True] Translation: X:795.22, Y:8.99, Z:5.50 [[ 9.99138932e-01 -3.57344538e-02 -2.10818377e-02 7.95215490e+02] [ 3.57323013e-02 9.99361283e-01 -4.78904177e-04 8.99409199e+00] [ 2.10854858e-02 -2.74810770e-04 9.99777639e-01 5.49507821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7992541539999 meters 0.0164580589139084 Centerline is valid? [True, True] Translation: X:795.24, Y:9.00, Z:5.50 [[ 9.99208158e-01 -3.42943536e-02 -2.01731218e-02 7.95243816e+02] [ 3.42919879e-02 9.99411749e-01 -4.63279265e-04 8.99531561e+00] [ 2.01771428e-02 -2.28864028e-04 9.99796395e-01 5.49675308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8292541539998 meters 0.018141067163691054 Centerline is valid? [True, True] Translation: X:795.27, Y:9.00, Z:5.50 [[ 9.99222393e-01 -3.33780886e-02 -2.09883749e-02 7.95272152e+02] [ 3.33752100e-02 9.99442774e-01 -4.87521324e-04 8.99543948e+00] [ 2.09929522e-02 -2.13349196e-04 9.99779601e-01 5.49606209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8592541539999 meters 0.017939430912443814 Centerline is valid? [True, True] Translation: X:795.30, Y:8.99, Z:5.50 [[ 9.99276107e-01 -3.18146070e-02 -2.08588645e-02 7.95300241e+02] [ 3.18113593e-02 9.99493772e-01 -4.87578141e-04 8.99457577e+00] [ 2.08638172e-02 -1.76323645e-04 9.99782311e-01 5.49540039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8892541539999 meters 0.018008690253491173 Centerline is valid? [True, True] Translation: X:795.33, Y:9.00, Z:5.50 [[ 9.99291195e-01 -3.12152869e-02 -2.10407519e-02 7.95328341e+02] [ 3.12117489e-02 9.99512671e-01 -4.96600845e-04 8.99510047e+00] [ 2.10459996e-02 -1.60469812e-04 9.99778496e-01 5.49601803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9192541539999 meters 0.016114560688618756 Centerline is valid? [True, True] Translation: X:795.36, Y:9.00, Z:5.50 [[ 9.99324124e-01 -3.05281698e-02 -2.04774312e-02 7.95356797e+02] [ 3.05245634e-02 9.99533897e-01 -4.88728643e-04 8.99559261e+00] [ 2.04828066e-02 -1.36666324e-04 9.99790196e-01 5.49725168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9492541539998 meters 0.014663024974661374 Centerline is valid? [True, True] Translation: X:795.39, Y:9.00, Z:5.50 [[ 9.99386586e-01 -2.88109265e-02 -1.99093498e-02 7.95385748e+02] [ 2.88070767e-02 9.99584875e-01 -4.80194424e-04 8.99540564e+00] [ 1.99149197e-02 -9.36302988e-05 9.99801674e-01 5.49943486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9792541539999 meters 0.017754706750322057 Centerline is valid? [True, True] Translation: X:795.41, Y:9.00, Z:5.50 [[ 9.99415297e-01 -2.74388141e-02 -2.04003816e-02 7.95413551e+02] [ 2.74343690e-02 9.99623483e-01 -4.97777447e-04 8.99526311e+00] [ 2.04063589e-02 -6.21852006e-05 9.99791767e-01 5.49812786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0092541539999 meters 0.015866432289259328 Centerline is valid? [True, True] Translation: X:795.44, Y:9.00, Z:5.50 [[ 9.99448173e-01 -2.68929751e-02 -1.94966022e-02 7.95442370e+02] [ 2.68887106e-02 9.99638318e-01 -4.80890774e-04 8.99501260e+00] [ 1.95024832e-02 -4.36130901e-05 9.99809808e-01 5.50006540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0392541539999 meters 0.016312730278339856 Centerline is valid? [True, True] Translation: X:795.47, Y:8.99, Z:5.50 [[ 9.99472337e-01 -2.61358600e-02 -1.92863585e-02 7.95469824e+02] [ 2.61314423e-02 9.99658400e-01 -4.81081018e-04 8.99443530e+00] [ 1.92923438e-02 -2.31531945e-05 9.99813885e-01 5.50009167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0692541539999 meters 0.01625915276077421 Centerline is valid? [True, True] Translation: X:795.50, Y:8.99, Z:5.50 [[ 9.99511947e-01 -2.48276999e-02 -1.89592251e-02 7.95496931e+02] [ 2.48231118e-02 9.99691745e-01 -4.77330436e-04 8.99181973e+00] [ 1.89652319e-02 6.47050836e-06 9.99820144e-01 5.50010174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0992541539999 meters 0.01581483358145824 Centerline is valid? [True, True] Translation: X:795.52, Y:8.99, Z:5.50 [[ 9.99511031e-01 -2.49049653e-02 -1.89061510e-02 7.95524685e+02] [ 2.49003233e-02 9.99689823e-01 -4.80928228e-04 8.99056505e+00] [ 1.89122642e-02 9.92379705e-06 9.99821147e-01 5.50121622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1292541539999 meters 0.014012318105378235 Centerline is valid? [True, True] Translation: X:795.55, Y:8.99, Z:5.50 [[ 9.99514707e-01 -2.53308330e-02 -1.81300878e-02 7.95552354e+02] [ 2.53265802e-02 9.99679123e-01 -4.64176437e-04 8.98691434e+00] [ 1.81360282e-02 4.77805231e-06 9.99835529e-01 5.50265440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1592541539999 meters 0.01405981869433385 Centerline is valid? [True, True] Translation: X:795.58, Y:8.99, Z:5.50 [[ 9.99497378e-01 -2.60351208e-02 -1.80876972e-02 7.95580310e+02] [ 2.60309348e-02 9.99661029e-01 -4.66869418e-04 8.98519567e+00] [ 1.80937210e-02 -4.20490776e-06 9.99836295e-01 5.50229521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1892541539999 meters 0.015402920016076078 Centerline is valid? [True, True] Translation: X:795.61, Y:8.98, Z:5.50 [[ 9.99466480e-01 -2.70319836e-02 -1.83310318e-02 7.95607917e+02] [ 2.70277539e-02 9.99634569e-01 -4.78485655e-04 8.98296377e+00] [ 1.83372675e-02 -1.72162443e-05 9.99831858e-01 5.50238437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2192541539999 meters 0.017153239967897204 Centerline is valid? [True, True] Translation: X:795.64, Y:8.98, Z:5.50 [[ 9.99400841e-01 -2.88452685e-02 -1.91287692e-02 7.95636375e+02] [ 2.88409328e-02 9.99583887e-01 -5.02547029e-04 8.97727301e+00] [ 1.91353055e-02 -4.94456227e-05 9.99816902e-01 5.50012866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2492541539999 meters 0.014589445838519 Centerline is valid? [True, True] Translation: X:795.66, Y:8.97, Z:5.50 [[ 9.99368500e-01 -3.04496763e-02 -1.83144298e-02 7.95664622e+02] [ 3.04459026e-02 9.99536298e-01 -4.84900110e-04 8.97492080e+00] [ 1.83207024e-02 -7.30054501e-05 9.99832159e-01 5.50224342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2792541539999 meters 0.015854974697175263 Centerline is valid? [True, True] Translation: X:795.69, Y:8.97, Z:5.50 [[ 9.99322668e-01 -3.16361442e-02 -1.87978856e-02 7.95693690e+02] [ 3.16322849e-02 9.99499448e-01 -5.02679696e-04 8.97288271e+00] [ 1.88043791e-02 -9.22808578e-05 9.99823178e-01 5.50264530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3092541539999 meters 0.018771098532933458 Centerline is valid? [True, True] Translation: X:795.72, Y:8.97, Z:5.50 [[ 9.99243054e-01 -3.38309923e-02 -1.92037183e-02 7.95722575e+02] [ 3.38272754e-02 9.99427559e-01 -5.18444486e-04 8.96745108e+00] [ 1.92102648e-02 -1.31557418e-04 9.99815457e-01 5.50176001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.339254154 meters 0.017057305929190587 Centerline is valid? [True, True] Translation: X:795.75, Y:8.96, Z:5.50 [[ 9.99210572e-01 -3.54274048e-02 -1.79758514e-02 7.95749385e+02] [ 3.54243371e-02 9.99372241e-01 -4.89142286e-04 8.96483609e+00] [ 1.79818959e-02 -1.48026476e-04 9.99838302e-01 5.50276136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3692541539999 meters 0.016736265377496482 Centerline is valid? [True, True] Translation: X:795.78, Y:8.96, Z:5.50 [[ 9.99156644e-01 -3.72350562e-02 -1.73075754e-02 7.95778314e+02] [ 3.72324145e-02 9.99306520e-01 -4.74946361e-04 8.96274509e+00] [ 1.73132576e-02 -1.69857009e-04 9.99850100e-01 5.50382810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3992541539999 meters 0.017067201077852825 Centerline is valid? [True, True] Translation: X:795.81, Y:8.96, Z:5.50 [[ 9.99065830e-01 -3.98476144e-02 -1.67223146e-02 7.95806747e+02] [ 3.98454706e-02 9.99205747e-01 -4.61488028e-04 8.95588827e+00] [ 1.67274221e-02 -2.05251575e-04 9.99860066e-01 5.50316875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4292541539999 meters 0.018238301829987803 Centerline is valid? [True, True] Translation: X:795.84, Y:8.95, Z:5.50 [[ 9.99017520e-01 -4.09794720e-02 -1.68724089e-02 7.95835236e+02] [ 4.09773981e-02 9.99159964e-01 -4.68762162e-04 8.95430237e+00] [ 1.68774451e-02 -2.23085803e-04 9.99857541e-01 5.50308912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4592541539998 meters 0.018640464423927035 Centerline is valid? [True, True] Translation: X:795.86, Y:8.95, Z:5.50 [[ 9.98948047e-01 -4.24407614e-02 -1.73661037e-02 7.95863937e+02] [ 4.24387070e-02 9.99098954e-01 -4.86970812e-04 8.95295844e+00] [ 1.73711234e-02 -2.50536443e-04 9.99849079e-01 5.50310154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4892541539999 meters 0.01703063141388756 Centerline is valid? [True, True] Translation: X:795.89, Y:8.95, Z:5.50 [[ 9.98910761e-01 -4.33326911e-02 -1.73080837e-02 7.95892708e+02] [ 4.33307414e-02 9.99060663e-01 -4.87817528e-04 8.95051829e+00] [ 1.73129640e-02 -2.62685920e-04 9.99850085e-01 5.50390315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5192541539999 meters 0.016184527019738305 Centerline is valid? [True, True] Translation: X:795.92, Y:8.95, Z:5.51 [[ 9.98841314e-01 -4.49462719e-02 -1.72006282e-02 7.95921722e+02] [ 4.49445682e-02 9.98989364e-01 -4.85797046e-04 8.94565987e+00] [ 1.72050794e-02 -2.87840649e-04 9.99851940e-01 5.50508779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5492541539999 meters 0.019490083871293442 Centerline is valid? [True, True] Translation: X:795.95, Y:8.95, Z:5.50 [[ 9.98807630e-01 -4.52509496e-02 -1.83212999e-02 7.95950884e+02] [ 4.52490064e-02 9.98975603e-01 -5.20804822e-04 8.94513086e+00] [ 1.83260986e-02 -3.08836789e-04 9.99832015e-01 5.50369709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5792541539998 meters 0.01888185387008181 Centerline is valid? [True, True] Translation: X:795.98, Y:8.94, Z:5.50 [[ 9.98796147e-01 -4.57117035e-02 -1.77959910e-02 7.95978875e+02] [ 4.57098943e-02 9.98954627e-01 -5.08618342e-04 8.94279528e+00] [ 1.78006373e-02 -3.05446827e-04 9.99841509e-01 5.50404594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6092541539999 meters 0.01587119679848008 Centerline is valid? [True, True] Translation: X:796.01, Y:8.94, Z:5.51 [[ 9.98794069e-01 -4.63225614e-02 -1.62673755e-02 7.96007516e+02] [ 4.63210829e-02 9.98926493e-01 -4.67865661e-04 8.94015069e+00] [ 1.62715851e-02 -2.86221002e-04 9.99867568e-01 5.50817281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6392541539999 meters 0.018364925139810456 Centerline is valid? [True, True] Translation: X:796.04, Y:8.94, Z:5.51 [[ 9.98799014e-01 -4.60197921e-02 -1.68139068e-02 7.96036791e+02] [ 4.60181334e-02 9.98940486e-01 -4.85745752e-04 8.93911040e+00] [ 1.68184462e-02 -2.88582228e-04 9.99858518e-01 5.50662044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6692541539999 meters 0.02029008934700891 Centerline is valid? [True, True] Translation: X:796.07, Y:8.94, Z:5.51 [[ 9.98792899e-01 -4.60503949e-02 -1.70910930e-02 7.96065413e+02] [ 4.60486369e-02 9.98939075e-01 -4.96598278e-04 8.93848706e+00] [ 1.70958292e-02 -2.91022704e-04 9.99853813e-01 5.50623253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6992541539998 meters 0.01706992375692733 Centerline is valid? [True, True] Translation: X:796.09, Y:8.94, Z:5.51 [[ 9.98797310e-01 -4.62757368e-02 -1.62015644e-02 7.96094043e+02] [ 4.62741212e-02 9.98928666e-01 -4.74783040e-04 8.93624830e+00] [ 1.62061780e-02 -2.75501131e-04 9.99868633e-01 5.50825697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7292541539999 meters 0.019496287984226122 Centerline is valid? [True, True] Translation: X:796.12, Y:8.93, Z:5.51 [[ 9.98782444e-01 -4.62946993e-02 -1.70420462e-02 7.96122589e+02] [ 4.62928711e-02 9.98927784e-01 -5.01961852e-04 8.93440116e+00] [ 1.70470117e-02 -2.87574565e-04 9.99854648e-01 5.50593540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7592541539999 meters 0.015661116275375944 Centerline is valid? [True, True] Translation: X:796.15, Y:8.93, Z:5.51 [[ 9.98777656e-01 -4.67367029e-02 -1.60895692e-02 7.96151120e+02] [ 4.67350864e-02 9.98907205e-01 -4.76661580e-04 8.93498059e+00] [ 1.60942642e-02 -2.75868472e-04 9.99870441e-01 5.50946716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7892541539999 meters 0.0183784171564757 Centerline is valid? [True, True] Translation: X:796.18, Y:8.93, Z:5.51 [[ 9.98752720e-01 -4.69351929e-02 -1.70321093e-02 7.96180323e+02] [ 4.69333697e-02 9.98897894e-01 -5.06967886e-04 8.93402669e+00] [ 1.70371327e-02 -2.93038727e-04 9.99854815e-01 5.50727755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8192541539999 meters 0.018775559556343975 Centerline is valid? [True, True] Translation: X:796.21, Y:8.93, Z:5.51 [[ 9.98697167e-01 -4.80849191e-02 -1.70824224e-02 7.96207848e+02] [ 4.80832315e-02 9.98843202e-01 -5.09733954e-04 8.93144664e+00] [ 1.70871720e-02 -3.12308213e-04 9.99853955e-01 5.50801980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8492541539999 meters 0.018775559556343975 Centerline is valid? [True, True] Translation: X:796.24, Y:8.93, Z:5.51 [[ 9.98685267e-01 -4.83314693e-02 -1.70823289e-02 7.96236126e+02] [ 4.83297644e-02 9.98831302e-01 -5.12852472e-04 8.93234518e+00] [ 1.70871517e-02 -3.13406723e-04 9.99853955e-01 5.50821592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8792541539999 meters 0.020814889857459166 Centerline is valid? [True, True] Translation: X:796.26, Y:8.93, Z:5.51 [[ 9.98648344e-01 -4.91171016e-02 -1.69998363e-02 7.96264632e+02] [ 4.91154558e-02 9.98792975e-01 -5.14557161e-04 8.93143433e+00] [ 1.70045906e-02 -3.21093051e-04 9.99855360e-01 5.50788977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9092541539999 meters 0.018894491939411576 Centerline is valid? [True, True] Translation: X:796.29, Y:8.93, Z:5.51 [[ 9.98553590e-01 -5.14016139e-02 -1.57671073e-02 7.96292188e+02] [ 5.14004394e-02 9.98678008e-01 -4.79993349e-04 8.92794533e+00] [ 1.57709358e-02 -3.31137164e-04 9.99875576e-01 5.51038637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9392541539999 meters 0.01812893654154825 Centerline is valid? [True, True] Translation: X:796.32, Y:8.93, Z:5.51 [[ 9.98483108e-01 -5.28772329e-02 -1.53453666e-02 7.96320933e+02] [ 5.28762492e-02 9.98600962e-01 -4.70106194e-04 8.92719685e+00] [ 1.53487557e-02 -3.42012333e-04 9.99882142e-01 5.51177848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9692541539999 meters 0.021007550171751568 Centerline is valid? [True, True] Translation: X:796.35, Y:8.93, Z:5.51 [[ 9.98383989e-01 -5.44867937e-02 -1.61430835e-02 7.96350217e+02] [ 5.44858788e-02 9.98514418e-01 -4.96808464e-04 8.92559911e+00] [ 1.61461711e-02 -3.83564477e-04 9.99869569e-01 5.50982489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9992541539999 meters 0.022110901544880067 Centerline is valid? [True, True] Translation: X:796.38, Y:8.92, Z:5.51 [[ 9.98193569e-01 -5.78358370e-02 -1.62670021e-02 7.96379105e+02] [ 5.78353096e-02 9.98326011e-01 -5.03247095e-04 8.92203454e+00] [ 1.62688770e-02 -4.38469088e-04 9.99867557e-01 5.50967490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0292541539999 meters 0.02013107267571631 Centerline is valid? [True, True] Translation: X:796.41, Y:8.92, Z:5.51 [[ 9.98097410e-01 -5.96712482e-02 -1.55210349e-02 7.96406962e+02] [ 5.96709535e-02 9.98217984e-01 -4.82505971e-04 8.92042066e+00] [ 1.55221679e-02 -4.44566989e-04 9.99879425e-01 5.51232397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0592541539999 meters 0.019028753063964617 Centerline is valid? [True, True] Translation: X:796.44, Y:8.92, Z:5.51 [[ 9.97975050e-01 -6.16052957e-02 -1.58299698e-02 7.96436333e+02] [ 6.16052176e-02 9.98100473e-01 -4.93036580e-04 8.92183344e+00] [ 1.58302740e-02 -4.83170527e-04 9.99874577e-01 5.51319800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.089254154 meters 0.01989399113464283 Centerline is valid? [True, True] Translation: X:796.47, Y:8.92, Z:5.51 [[ 9.97820111e-01 -6.39880857e-02 -1.61415872e-02 7.96465129e+02] [ 6.39882743e-02 9.97950523e-01 -5.05310106e-04 8.92009815e+00] [ 1.61408392e-02 -5.28663723e-04 9.99869588e-01 5.51298635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1192541539999 meters 0.022140974558784728 Centerline is valid? [True, True] Translation: X:796.49, Y:8.92, Z:5.51 [[ 9.97502808e-01 -6.86213101e-02 -1.67111728e-02 7.96494167e+02] [ 6.86221256e-02 9.97642585e-01 -5.25288494e-04 8.91560140e+00] [ 1.67078237e-02 -6.22779454e-04 9.99860221e-01 5.51256540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1492541539999 meters 0.023184320754779532 Centerline is valid? [True, True] Translation: X:796.52, Y:8.92, Z:5.51 [[ 9.97325662e-01 -7.09819294e-02 -1.74094460e-02 7.96524115e+02] [ 7.09831626e-02 9.97477363e-01 -5.47871810e-04 8.91606917e+00] [ 1.74044173e-02 -6.89370917e-04 9.99848294e-01 5.51174049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1792541539999 meters 0.026648777360285026 Centerline is valid? [True, True] Translation: X:796.55, Y:8.91, Z:5.51 [[ 9.97162830e-01 -7.29592628e-02 -1.85266230e-02 7.96552472e+02] [ 7.29609798e-02 9.97334625e-01 -5.84125317e-04 8.91456281e+00] [ 1.85198599e-02 -7.69252510e-04 9.99828197e-01 5.51002619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2092541539998 meters 0.026863935850094642 Centerline is valid? [True, True] Translation: X:796.58, Y:8.91, Z:5.51 [[ 9.96982287e-01 -7.57714634e-02 -1.68820854e-02 7.96581794e+02] [ 7.57732747e-02 9.97124930e-01 -5.33256098e-04 8.91266468e+00] [ 1.68739538e-02 -7.47564011e-04 9.99857345e-01 5.51225408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2392541539999 meters 0.025465330247165515 Centerline is valid? [True, True] Translation: X:796.61, Y:8.91, Z:5.51 [[ 9.96947070e-01 -7.63472885e-02 -1.63594451e-02 7.96610287e+02] [ 7.63490219e-02 9.97081018e-01 -5.19489558e-04 8.91490402e+00] [ 1.63513538e-02 -7.31124042e-04 9.99866040e-01 5.51404509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2692541539999 meters 0.02715080259805454 Centerline is valid? [True, True] Translation: X:796.64, Y:8.91, Z:5.52 [[ 9.96986714e-01 -7.60238913e-02 -1.54227395e-02 7.96638333e+02] [ 7.60253559e-02 9.97105763e-01 -4.92155495e-04 8.91164370e+00] [ 1.54155180e-02 -6.81846772e-04 9.99880941e-01 5.51570012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2992541539999 meters 0.024043067140358955 Centerline is valid? [True, True] Translation: X:796.67, Y:8.92, Z:5.52 [[ 9.97178170e-01 -7.34902920e-02 -1.53256141e-02 7.96667159e+02] [ 7.34914211e-02 9.97295729e-01 -4.90261680e-04 8.91788925e+00] [ 1.53201990e-02 -6.37422916e-04 9.99882436e-01 5.51702117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3292541539998 meters 0.025744402263814803 Centerline is valid? [True, True] Translation: X:796.70, Y:8.92, Z:5.51 [[ 9.97313536e-01 -7.13814390e-02 -1.64438719e-02 7.96695686e+02] [ 7.13824360e-02 9.97448881e-01 -5.27055802e-04 8.91950095e+00] [ 1.64395436e-02 -6.48163746e-04 9.99864651e-01 5.51460653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3592541539999 meters 0.024819181646927747 Centerline is valid? [True, True] Translation: X:796.72, Y:8.92, Z:5.51 [[ 9.97474656e-01 -6.90351318e-02 -1.66871641e-02 7.96724558e+02] [ 6.90358131e-02 9.97614038e-01 -5.35902889e-04 8.92316234e+00] [ 1.66843453e-02 -6.17462391e-04 9.99860616e-01 5.51484259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3892541539999 meters 0.025135212569223214 Centerline is valid? [True, True] Translation: X:796.75, Y:8.93, Z:5.51 [[ 9.97623106e-01 -6.66617897e-02 -1.74454910e-02 7.96753862e+02] [ 6.66621218e-02 9.97775448e-01 -5.63128306e-04 8.92602663e+00] [ 1.74442218e-02 -6.01163639e-04 9.99847657e-01 5.51394997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4192541539999 meters 0.01997994960096523 Centerline is valid? [True, True] Translation: X:796.78, Y:8.94, Z:5.52 [[ 9.97943907e-01 -6.17421412e-02 -1.72007572e-02 7.96783346e+02] [ 6.17417009e-02 9.98092006e-01 -5.57144371e-04 8.93531844e+00] [ 1.72023375e-02 -5.06005175e-04 9.99851901e-01 5.51671422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4492541539998 meters 0.01955354685155235 Centerline is valid? [True, True] Translation: X:796.81, Y:8.94, Z:5.52 [[ 9.98062459e-01 -5.96943086e-02 -1.75475505e-02 7.96812120e+02] [ 5.96934816e-02 9.98216591e-01 -5.71370980e-04 8.93790162e+00] [ 1.75503636e-02 -4.77210457e-04 9.99845867e-01 5.51724082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4792541539999 meters 0.016721798366904787 Centerline is valid? [True, True] Translation: X:796.84, Y:8.94, Z:5.52 [[ 9.98283798e-01 -5.63079217e-02 -1.60896477e-02 7.96841384e+02] [ 5.63067416e-02 9.98413378e-01 -5.26706512e-04 8.94135749e+00] [ 1.60937772e-02 -3.80153056e-04 9.99870415e-01 5.52036887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5092541539999 meters 0.017619326831038964 Centerline is valid? [True, True] Translation: X:796.87, Y:8.94, Z:5.52 [[ 9.98345094e-01 -5.50257968e-02 -1.67103333e-02 7.96870636e+02] [ 5.50243230e-02 9.98484864e-01 -5.48303046e-04 8.94369396e+00] [ 1.67151856e-02 -3.72079118e-04 9.99860222e-01 5.51939923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5392541539999 meters 0.01956011274576431 Centerline is valid? [True, True] Translation: X:796.90, Y:8.94, Z:5.52 [[ 9.98399426e-01 -5.39926537e-02 -1.68338805e-02 7.96899451e+02] [ 5.39909978e-02 9.98541269e-01 -5.53149558e-04 8.94182852e+00] [ 1.68391904e-02 -3.56613805e-04 9.99858147e-01 5.51776066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5692541539999 meters 0.018820879717779376 Centerline is valid? [True, True] Translation: X:796.93, Y:8.94, Z:5.52 [[ 9.98413335e-01 -5.38190754e-02 -1.65625892e-02 7.96928236e+02] [ 5.38174055e-02 9.98550644e-01 -5.46834914e-04 8.94316562e+00] [ 1.65680143e-02 -3.45388311e-04 9.99862681e-01 5.51875024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5992541539999 meters 0.02102263575914611 Centerline is valid? [True, True] Translation: X:796.96, Y:8.95, Z:5.52 [[ 9.98385510e-01 -5.40774095e-02 -1.73783651e-02 7.96955684e+02] [ 5.40755661e-02 9.98536680e-01 -5.76308910e-04 8.94505689e+00] [ 1.73841003e-02 -3.64366465e-04 9.99848819e-01 5.51746889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6292541539999 meters 0.019579830682940478 Centerline is valid? [True, True] Translation: X:796.98, Y:8.95, Z:5.52 [[ 9.98357160e-01 -5.49027107e-02 -1.63912306e-02 7.96983768e+02] [ 5.49011605e-02 9.98491645e-01 -5.44878949e-04 8.94548021e+00] [ 1.63964221e-02 -3.55913782e-04 9.99865506e-01 5.51922424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6592541539999 meters 0.023047799832059138 Centerline is valid? [True, True] Translation: X:797.01, Y:8.95, Z:5.52 [[ 9.98252322e-01 -5.62884482e-02 -1.79975463e-02 7.97012550e+02] [ 5.62867482e-02 9.98414463e-01 -6.01398701e-04 8.94600494e+00] [ 1.80028624e-02 -4.12675709e-04 9.99837850e-01 5.51659960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6892541539999 meters 0.023703981445879065 Centerline is valid? [True, True] Translation: X:797.04, Y:8.94, Z:5.52 [[ 9.98033486e-01 -5.99811416e-02 -1.82050640e-02 7.97041434e+02] [ 5.99799727e-02 9.98199394e-01 -6.10711873e-04 8.94424873e+00] [ 1.82089151e-02 -4.82428342e-04 9.99834088e-01 5.51712980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7192541539999 meters 0.01937991864407977 Centerline is valid? [True, True] Translation: X:797.07, Y:8.95, Z:5.52 [[ 9.97901499e-01 -6.24195137e-02 -1.72163263e-02 7.97070203e+02] [ 6.24187790e-02 9.98049878e-01 -5.80544483e-04 8.94865026e+00] [ 1.72189897e-02 -4.95295858e-04 9.99851620e-01 5.52179608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7492541539999 meters 0.0225601346684148 Centerline is valid? [True, True] Translation: X:797.10, Y:8.95, Z:5.52 [[ 9.97748293e-01 -6.46246765e-02 -1.79442330e-02 7.97099119e+02] [ 6.46241538e-02 9.97909488e-01 -6.09593808e-04 8.94831770e+00] [ 1.79461152e-02 -5.51409695e-04 9.99838803e-01 5.51983182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7792541539999 meters 0.022663260080406224 Centerline is valid? [True, True] Translation: X:797.13, Y:8.95, Z:5.52 [[ 9.97496221e-01 -6.85446203e-02 -1.74046873e-02 7.97128716e+02] [ 6.85446888e-02 9.97647871e-01 -5.93311916e-04 8.95003627e+00] [ 1.74044175e-02 -6.01172479e-04 9.99848351e-01 5.52184499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8092541539999 meters 0.020422154443720458 Centerline is valid? [True, True] Translation: X:797.16, Y:8.95, Z:5.53 [[ 9.97407538e-01 -7.03429777e-02 -1.51680117e-02 7.97157267e+02] [ 7.03432269e-02 9.97522713e-01 -5.17743038e-04 8.94937058e+00] [ 1.51668558e-02 -5.50566080e-04 9.99884825e-01 5.52570799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.839254154 meters 0.024314760075930343 Centerline is valid? [True, True] Translation: X:797.19, Y:8.95, Z:5.52 [[ 9.97313032e-01 -7.13562048e-02 -1.65834017e-02 7.97186909e+02] [ 7.13566299e-02 9.97450706e-01 -5.66827659e-04 8.95099360e+00] [ 1.65815724e-02 -6.18031046e-04 9.99862325e-01 5.52274326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8692541539999 meters 0.02341640558008926 Centerline is valid? [True, True] Translation: X:797.22, Y:8.95, Z:5.52 [[ 9.97288797e-01 -7.18513465e-02 -1.58883466e-02 7.97216352e+02] [ 7.18517903e-02 9.97415172e-01 -5.43642991e-04 8.95237529e+00] [ 1.58863394e-02 -5.99437086e-04 9.99873624e-01 5.52400196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8992541539999 meters 0.023856195892847803 Centerline is valid? [True, True] Translation: X:797.25, Y:8.96, Z:5.52 [[ 9.97279412e-01 -7.18883572e-02 -1.63045798e-02 7.97246364e+02] [ 7.18888195e-02 9.97412495e-01 -5.58495497e-04 8.95565649e+00] [ 1.63025410e-02 -6.15140935e-04 9.99866916e-01 5.52414203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9292541539999 meters 0.02205508801642899 Centerline is valid? [True, True] Translation: X:797.28, Y:8.96, Z:5.53 [[ 9.97331045e-01 -7.12266950e-02 -1.60482241e-02 7.97275876e+02] [ 7.12270506e-02 9.97459976e-01 -5.50137018e-04 8.95685625e+00] [ 1.60466456e-02 -5.94398940e-04 9.99871068e-01 5.52533490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9592541539998 meters 0.023317153996887736 Centerline is valid? [True, True] Translation: X:797.31, Y:8.96, Z:5.52 [[ 9.97379608e-01 -7.03175705e-02 -1.70105027e-02 7.97305506e+02] [ 7.03178326e-02 9.97524467e-01 -5.83444401e-04 8.95783933e+00] [ 1.70094190e-02 -6.14226133e-04 9.99855141e-01 5.52460708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9892541539999 meters 0.022311587831073978 Centerline is valid? [True, True] Translation: X:797.34, Y:8.96, Z:5.53 [[ 9.97618790e-01 -6.66467863e-02 -1.77469661e-02 7.97335080e+02] [ 6.66464821e-02 9.97776466e-01 -6.09230867e-04 8.96300152e+00] [ 1.77481083e-02 -5.74992695e-04 9.99842325e-01 5.52517020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0192541539999 meters 0.01972225981590325 Centerline is valid? [True, True] Translation: X:797.36, Y:8.97, Z:5.53 [[ 9.97760765e-01 -6.48921549e-02 -1.62007512e-02 7.97363647e+02] [ 6.48916585e-02 9.97892160e-01 -5.56875580e-04 8.96517873e+00] [ 1.62027395e-02 -4.95665011e-04 9.99868604e-01 5.52806428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0492541539999 meters 0.02081490700535142 Centerline is valid? [True, True] Translation: X:797.39, Y:8.97, Z:5.53 [[ 9.97894885e-01 -6.26072578e-02 -1.69153893e-02 7.97393595e+02] [ 6.26063791e-02 9.98038127e-01 -5.82005240e-04 8.96936132e+00] [ 1.69186412e-02 -4.78231224e-04 9.99856755e-01 5.52706049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0792541539998 meters 0.022663926938607828 Centerline is valid? [True, True] Translation: X:797.42, Y:8.97, Z:5.53 [[ 9.98039651e-01 -6.01366712e-02 -1.73330799e-02 7.97422428e+02] [ 6.01353643e-02 9.98190053e-01 -5.97062758e-04 8.97193087e+00] [ 1.73376133e-02 -4.46438767e-04 9.99849593e-01 5.52667076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1092541539999 meters 0.015991149709433133 Centerline is valid? [True, True] Translation: X:797.45, Y:8.98, Z:5.53 [[ 9.98290759e-01 -5.66195433e-02 -1.44840768e-02 7.97451848e+02] [ 5.66182520e-02 9.98395775e-01 -4.99517284e-04 8.97925393e+00] [ 1.44891236e-02 -3.21399624e-04 9.99894975e-01 5.53286997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1392541539999 meters 0.019811886350435372 Centerline is valid? [True, True] Translation: X:797.48, Y:8.98, Z:5.53 [[ 9.98404428e-01 -5.41872247e-02 -1.58852907e-02 7.97481241e+02] [ 5.41853566e-02 9.98530744e-01 -5.48290533e-04 8.98148707e+00] [ 1.58916615e-02 -3.13334446e-04 9.99873670e-01 5.52986834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1692541539999 meters 0.018004216598473476 Centerline is valid? [True, True] Translation: X:797.51, Y:8.98, Z:5.53 [[ 9.98505283e-01 -5.23247125e-02 -1.57899750e-02 7.97510192e+02] [ 5.23226244e-02 9.98630084e-01 -5.45606623e-04 8.98365806e+00] [ 1.57968928e-02 -2.81381835e-04 9.99875182e-01 5.53078394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1992541539998 meters 0.018385377303011586 Centerline is valid? [True, True] Translation: X:797.54, Y:8.99, Z:5.53 [[ 9.98668409e-01 -4.90401137e-02 -1.60148831e-02 7.97540055e+02] [ 4.90375319e-02 9.98796783e-01 -5.54094652e-04 8.98921763e+00] [ 1.60227865e-02 -2.31973515e-04 9.99871600e-01 5.53067096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2292541539999 meters 0.01722672438001772 Centerline is valid? [True, True] Translation: X:797.57, Y:8.99, Z:5.53 [[ 9.98736923e-01 -4.77286584e-02 -1.57014072e-02 7.97569551e+02] [ 4.77260057e-02 9.98860317e-01 -5.43825103e-04 8.99128608e+00] [ 1.57094686e-02 -2.06227237e-04 9.99876577e-01 5.53114415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2592541539999 meters 0.01685026976026884 Centerline is valid? [True, True] Translation: X:797.60, Y:8.99, Z:5.53 [[ 9.98784476e-01 -4.67520550e-02 -1.56146331e-02 7.97599065e+02] [ 4.67493057e-02 9.98906507e-01 -5.41233373e-04 8.99272721e+00] [ 1.56228623e-02 -1.89397763e-04 9.99877938e-01 5.53124508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2892541539999 meters 0.01572989984684026 Centerline is valid? [True, True] Translation: X:797.63, Y:8.99, Z:5.53 [[ 9.98816910e-01 -4.61942811e-02 -1.51943582e-02 7.97628664e+02] [ 4.61916091e-02 9.98932459e-01 -5.26938874e-04 8.99384605e+00] [ 1.52024792e-02 -1.75536396e-04 9.99884420e-01 5.53247157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3192541539999 meters 0.015191138862984102 Centerline is valid? [True, True] Translation: X:797.66, Y:8.99, Z:5.53 [[ 9.98816200e-01 -4.64513044e-02 -1.44386885e-02 7.97658067e+02] [ 4.64489127e-02 9.98920541e-01 -5.01127402e-04 8.99488607e+00] [ 1.44463805e-02 -1.70127214e-04 9.99895631e-01 5.53364100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3492541539999 meters 0.017448282571946985 Centerline is valid? [True, True] Translation: X:797.69, Y:8.99, Z:5.53 [[ 9.98791289e-01 -4.67676979e-02 -1.51242780e-02 7.97687128e+02] [ 4.67651061e-02 9.98905776e-01 -5.25184700e-04 8.99492354e+00] [ 1.51322904e-02 -1.82738563e-04 9.99885484e-01 5.53219909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3792541539999 meters 0.018143794596426115 Centerline is valid? [True, True] Translation: X:797.72, Y:9.00, Z:5.53 [[ 9.98730283e-01 -4.78740229e-02 -1.56812220e-02 7.97716956e+02] [ 4.78713679e-02 9.98853360e-01 -5.44842595e-04 8.99566012e+00] [ 1.56893251e-02 -2.06530749e-04 9.99876894e-01 5.53271727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4092541539999 meters 0.015018999374062527 Centerline is valid? [True, True] Translation: X:797.75, Y:8.99, Z:5.54 [[ 9.98606663e-01 -5.09506070e-02 -1.37392800e-02 7.97746386e+02] [ 5.09488552e-02 9.98701149e-01 -4.77717067e-04 8.99340517e+00] [ 1.37457747e-02 -2.22949142e-04 9.99905498e-01 5.53590590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4392541539999 meters 0.017358871778113624 Centerline is valid? [True, True] Translation: X:797.78, Y:8.99, Z:5.53 [[ 9.98542193e-01 -5.18541626e-02 -1.49878079e-02 7.97777062e+02] [ 5.18521776e-02 9.98654635e-01 -5.21266141e-04 8.99368092e+00] [ 1.49946737e-02 -2.56644244e-04 9.99887541e-01 5.53425260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4692541539999 meters 0.01752892614497935 Centerline is valid? [True, True] Translation: X:797.81, Y:8.99, Z:5.53 [[ 9.98469038e-01 -5.31014179e-02 -1.54860922e-02 7.97806639e+02] [ 5.30994463e-02 9.98589084e-01 -5.38753060e-04 8.99144903e+00] [ 1.54928512e-02 -2.84374671e-04 9.99879938e-01 5.53384299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4992541539999 meters 0.015801696295071516 Centerline is valid? [True, True] Translation: X:797.84, Y:8.99, Z:5.54 [[ 9.98327109e-01 -5.55976538e-02 -1.58708530e-02 7.97836379e+02] [ 5.55958910e-02 9.98453199e-01 -5.52596178e-04 8.99037987e+00] [ 1.58770270e-02 -3.30682467e-04 9.99873897e-01 5.53579031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5292541539999 meters 0.019743933866210376 Centerline is valid? [True, True] Translation: X:797.87, Y:8.99, Z:5.53 [[ 9.98284446e-01 -5.56886319e-02 -1.80815411e-02 7.97866397e+02] [ 5.56863499e-02 9.98448113e-01 -6.30060001e-04 8.98919329e+00] [ 1.80885677e-02 -3.77915923e-04 9.99836317e-01 5.53227221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5592541539999 meters 0.0205684338731175 Centerline is valid? [True, True] Translation: X:797.90, Y:8.99, Z:5.53 [[ 9.98244711e-01 -5.60892728e-02 -1.90128924e-02 7.97895519e+02] [ 5.60868077e-02 9.98425676e-01 -6.63286431e-04 8.98822282e+00] [ 1.90201632e-02 -4.04250265e-04 9.99819019e-01 5.53148707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.589254154 meters 0.020252031214082658 Centerline is valid? [True, True] Translation: X:797.92, Y:8.99, Z:5.53 [[ 9.98195668e-01 -5.66538023e-02 -1.98936044e-02 7.97923892e+02] [ 5.66511417e-02 9.98393791e-01 -6.97723785e-04 8.98977613e+00] [ 1.99011799e-02 -4.30530544e-04 9.99801859e-01 5.53266750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6192541539999 meters 0.018289332722177608 Centerline is valid? [True, True] Translation: X:797.95, Y:8.99, Z:5.53 [[ 9.98176991e-01 -5.70034743e-02 -1.98317609e-02 7.97953046e+02] [ 5.70007986e-02 9.98373887e-01 -7.00622341e-04 8.99008535e+00] [ 1.98394501e-02 -4.31081110e-04 9.99803086e-01 5.53379873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6492541539999 meters 0.019964480821542934 Centerline is valid? [True, True] Translation: X:797.98, Y:8.99, Z:5.53 [[ 9.98147959e-01 -5.71549141e-02 -2.08319027e-02 7.97981885e+02] [ 5.71518823e-02 9.98365220e-01 -7.41354494e-04 8.99058856e+00] [ 2.08402192e-02 -4.50600975e-04 9.99782718e-01 5.53326765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6792541539999 meters 0.019263326444727995 Centerline is valid? [True, True] Translation: X:798.01, Y:8.99, Z:5.53 [[ 9.98154764e-01 -5.70840175e-02 -2.06997920e-02 7.98010085e+02] [ 5.70809325e-02 9.98369280e-01 -7.40328202e-04 8.99060541e+00] [ 2.07082974e-02 -4.42601311e-04 9.99785462e-01 5.53411422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7092541539998 meters 0.01631511518882697 Centerline is valid? [True, True] Translation: X:798.04, Y:8.99, Z:5.54 [[ 9.98201576e-01 -5.69515051e-02 -1.87120390e-02 7.98039054e+02] [ 5.69488879e-02 9.98376868e-01 -6.73130726e-04 8.99091455e+00] [ 1.87200027e-02 -3.93709661e-04 9.99824688e-01 5.53720999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7392541539999 meters 0.01631511518882697 Centerline is valid? [True, True] Translation: X:798.07, Y:8.99, Z:5.54 [[ 9.98186975e-01 -5.72068918e-02 -1.87118659e-02 7.98067327e+02] [ 5.72042298e-02 9.98362267e-01 -6.77918140e-04 8.99197684e+00] [ 1.87200025e-02 -3.93708821e-04 9.99824688e-01 5.53740626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7692541539999 meters 0.01924794503599627 Centerline is valid? [True, True] Translation: X:798.10, Y:8.99, Z:5.54 [[ 9.98178249e-01 -5.67002706e-02 -2.06218756e-02 7.98095781e+02] [ 5.66968172e-02 9.98391158e-01 -7.52553788e-04 8.99257716e+00] [ 2.06313682e-02 -4.18011888e-04 9.99787063e-01 5.53602246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7992541539999 meters 0.02012802192852956 Centerline is valid? [True, True] Translation: X:798.12, Y:8.99, Z:5.53 [[ 9.98222660e-01 -5.58164431e-02 -2.08816931e-02 7.98123877e+02] [ 5.58126454e-02 9.98440966e-01 -7.65073181e-04 8.99182418e+00] [ 2.08918415e-02 -4.01749149e-04 9.99781661e-01 5.53463775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8292541539998 meters 0.019220286352683254 Centerline is valid? [True, True] Translation: X:798.15, Y:8.99, Z:5.53 [[ 9.98340133e-01 -5.33603853e-02 -2.16713523e-02 7.98151640e+02] [ 5.33556613e-02 9.98575254e-01 -7.96550571e-04 8.99274631e+00] [ 2.16829804e-02 -3.61060931e-04 9.99764831e-01 5.53438250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8592541539999 meters 0.017441734966902073 Centerline is valid? [True, True] Translation: X:798.18, Y:9.00, Z:5.54 [[ 9.98412588e-01 -5.19622539e-02 -2.17308164e-02 7.98180356e+02] [ 5.19570732e-02 9.98648996e-01 -8.03318557e-04 8.99514989e+00] [ 2.17432002e-02 -3.27026261e-04 9.99763535e-01 5.53581957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8892541539999 meters 0.019279442596601592 Centerline is valid? [True, True] Translation: X:798.21, Y:9.00, Z:5.53 [[ 9.98457531e-01 -5.04415573e-02 -2.31993133e-02 7.98207761e+02] [ 5.04351530e-02 9.98726966e-01 -8.61452527e-04 8.99628120e+00] [ 2.32132328e-02 -3.09937152e-04 9.99730489e-01 5.53470082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9192541539999 meters 0.019903349023163725 Centerline is valid? [True, True] Translation: X:798.24, Y:9.00, Z:5.54 [[ 9.98523252e-01 -4.89814527e-02 -2.34975035e-02 7.98236535e+02] [ 4.89743594e-02 9.98799651e-01 -8.77591612e-04 8.99834448e+00] [ 2.35122840e-02 -2.74479553e-04 9.99723510e-01 5.53542507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9492541539998 meters 0.016520053504395487 Centerline is valid? [True, True] Translation: X:798.26, Y:9.00, Z:5.54 [[ 9.98653998e-01 -4.67621811e-02 -2.24385934e-02 7.98264893e+02] [ 4.67550274e-02 9.98906029e-01 -8.43621865e-04 8.99892746e+00] [ 2.24534958e-02 -2.06630700e-04 9.99747867e-01 5.53717955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9792541539999 meters 0.014028824088067183 Centerline is valid? [True, True] Translation: X:798.29, Y:9.00, Z:5.54 [[ 9.98724161e-01 -4.60542554e-02 -2.07136656e-02 7.98292607e+02] [ 4.60479483e-02 9.98938925e-01 -7.81604388e-04 8.99886712e+00] [ 2.07276831e-02 -1.73214617e-04 9.99785143e-01 5.53856484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0092541539999 meters 0.016837220453295755 Centerline is valid? [True, True] Translation: X:798.32, Y:9.00, Z:5.54 [[ 9.98805084e-01 -4.37722206e-02 -2.17346912e-02 7.98320961e+02] [ 4.37646310e-02 9.99041529e-01 -8.24960080e-04 8.99906556e+00] [ 2.17499695e-02 -1.27236419e-04 9.99763433e-01 5.53772413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0392541539999 meters 0.018240673468530536 Centerline is valid? [True, True] Translation: X:798.35, Y:9.00, Z:5.54 [[ 9.98834941e-01 -4.30737846e-02 -2.17579745e-02 7.98348531e+02] [ 4.30658796e-02 9.99071888e-01 -8.31970876e-04 8.99932921e+00] [ 2.17736168e-02 -1.06024727e-04 9.99762921e-01 5.53720093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0692541539999 meters 0.016385056688045883 Centerline is valid? [True, True] Translation: X:798.38, Y:9.00, Z:5.54 [[ 9.98869136e-01 -4.25682698e-02 -2.11752667e-02 7.98376335e+02] [ 4.25606026e-02 9.99093556e-01 -8.12820833e-04 8.99878776e+00] [ 2.11906728e-02 -8.93304652e-05 9.99775448e-01 5.53721317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0992541539999 meters 0.013590802365444436 Centerline is valid? [True, True] Translation: X:798.41, Y:9.00, Z:5.54 [[ 9.98871624e-01 -4.29682799e-02 -2.02288494e-02 7.98405378e+02] [ 4.29612880e-02 9.99076433e-01 -7.80289126e-04 8.99876896e+00] [ 2.02436944e-02 -8.96487576e-05 9.99795071e-01 5.53980050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1292541539999 meters 0.01899093328755551 Centerline is valid? [True, True] Translation: X:798.43, Y:9.00, Z:5.54 [[ 9.98818007e-01 -4.30330528e-02 -2.25996674e-02 7.98433259e+02] [ 4.30242522e-02 9.99073644e-01 -8.75720673e-04 8.99620739e+00] [ 2.26164170e-02 -9.76482113e-05 9.99744211e-01 5.53663159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1592541539999 meters 0.019121933770730376 Centerline is valid? [True, True] Translation: X:798.46, Y:8.99, Z:5.54 [[ 9.98757043e-01 -4.42352683e-02 -2.29697610e-02 7.98461910e+02] [ 4.42263849e-02 9.99021134e-01 -8.94848209e-04 8.99480456e+00] [ 2.29868605e-02 -1.22133540e-04 9.99735760e-01 5.53673644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1892541539999 meters 0.016297101629599315 Centerline is valid? [True, True] Translation: X:798.49, Y:8.99, Z:5.54 [[ 9.98715722e-01 -4.58529257e-02 -2.15503158e-02 7.98490299e+02] [ 4.58453745e-02 9.98948191e-01 -8.44578620e-04 8.99277155e+00] [ 2.15663754e-02 -1.44488351e-04 9.99767408e-01 5.53806572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2192541539999 meters 0.01944147771965657 Centerline is valid? [True, True] Translation: X:798.52, Y:8.99, Z:5.54 [[ 9.98493945e-01 -4.99230616e-02 -2.27492853e-02 7.98518232e+02] [ 4.99156160e-02 9.98753037e-01 -8.95372841e-04 8.98627772e+00] [ 2.27656175e-02 -2.41520228e-04 9.99740801e-01 5.53676221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2492541539999 meters 0.02118713223858856 Centerline is valid? [True, True] Translation: X:798.55, Y:8.98, Z:5.54 [[ 9.98340174e-01 -5.27016107e-02 -2.32257765e-02 7.98546903e+02] [ 5.26944917e-02 9.98610257e-01 -9.18850398e-04 8.98332271e+00] [ 2.32419235e-02 -3.06545219e-04 9.99729823e-01 5.53649777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2792541539999 meters 0.01812422853005649 Centerline is valid? [True, True] Translation: X:798.58, Y:8.98, Z:5.54 [[ 9.98062905e-01 -5.85647000e-02 -2.09908103e-02 7.98575501e+02] [ 5.85600743e-02 9.98283537e-01 -8.35507306e-04 8.97957663e+00] [ 2.10037116e-02 -3.95334562e-04 9.99779320e-01 5.54148076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3092541539999 meters 0.020456600349208185 Centerline is valid? [True, True] Translation: X:798.60, Y:8.98, Z:5.54 [[ 9.97894016e-01 -6.12430886e-02 -2.13732764e-02 7.98603953e+02] [ 6.12388396e-02 9.98122776e-01 -8.53871390e-04 8.97691712e+00] [ 2.13854477e-02 -4.56801496e-04 9.99771201e-01 5.54148200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.339254154 meters 0.023696262366022028 Centerline is valid? [True, True] Translation: X:798.63, Y:8.97, Z:5.54 [[ 9.97716047e-01 -6.42323556e-02 -2.09020226e-02 7.98631969e+02] [ 6.42288918e-02 9.97934841e-01 -8.37701501e-04 8.96881244e+00] [ 2.09126642e-02 -5.06725519e-04 9.99781178e-01 5.53894104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3692541539999 meters 0.020017748563590544 Centerline is valid? [True, True] Translation: X:798.66, Y:8.97, Z:5.54 [[ 9.97403656e-01 -6.92800535e-02 -1.96525054e-02 7.98661815e+02] [ 6.92779422e-02 9.97597085e-01 -7.89035996e-04 8.96749921e+00] [ 1.96599466e-02 -5.74497747e-04 9.99806560e-01 5.54368060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3992541539999 meters 0.021321374096895246 Centerline is valid? [True, True] Translation: X:798.69, Y:8.96, Z:5.54 [[ 9.97262057e-01 -7.12429986e-02 -1.98198263e-02 7.98690128e+02] [ 7.12412102e-02 9.97458798e-01 -7.97178995e-04 8.96449207e+00] [ 1.98262535e-02 -6.16992047e-04 9.99803250e-01 5.54329571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4292541539999 meters 0.022332087678824716 Centerline is valid? [True, True] Translation: X:798.72, Y:8.96, Z:5.54 [[ 9.97139059e-01 -7.28736954e-02 -2.00778793e-02 7.98719125e+02] [ 7.28721108e-02 9.97340963e-01 -8.11514243e-04 8.96230879e+00] [ 2.00836295e-02 -6.53924895e-04 9.99798090e-01 5.54321568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4592541539998 meters 0.02212488219525676 Centerline is valid? [True, True] Translation: X:798.75, Y:8.96, Z:5.54 [[ 9.96964674e-01 -7.49744722e-02 -2.09825356e-02 7.98748317e+02] [ 7.49730891e-02 9.97185192e-01 -8.53666410e-04 8.96227758e+00] [ 2.09874770e-02 -7.22050257e-04 9.99779478e-01 5.54433034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4892541539999 meters 0.023949839887404175 Centerline is valid? [True, True] Translation: X:798.78, Y:8.96, Z:5.54 [[ 9.96910516e-01 -7.57145439e-02 -2.08981210e-02 7.98776237e+02] [ 7.57132681e-02 9.97129266e-01 -8.53398105e-04 8.95700955e+00] [ 2.09027427e-02 -7.31503491e-04 9.99781246e-01 5.54305907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5192541539999 meters 0.02370443592250748 Centerline is valid? [True, True] Translation: X:798.80, Y:8.96, Z:5.54 [[ 9.96841252e-01 -7.63573356e-02 -2.18420486e-02 7.98804923e+02] [ 7.63559976e-02 9.97080216e-01 -8.96454974e-04 8.95804542e+00] [ 2.18467255e-02 -7.74148113e-04 9.99761032e-01 5.54381676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5492541539999 meters 0.024084113083198026 Centerline is valid? [True, True] Translation: X:798.83, Y:8.95, Z:5.54 [[ 9.96836363e-01 -7.65761035e-02 -2.12923880e-02 7.98832085e+02] [ 7.65748060e-02 9.97063453e-01 -8.77452996e-04 8.95486867e+00] [ 2.12970538e-02 -7.55783426e-04 9.99772906e-01 5.54438673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5792541539998 meters 0.02457239331505445 Centerline is valid? [True, True] Translation: X:798.86, Y:8.95, Z:5.54 [[ 9.96853136e-01 -7.65419778e-02 -2.06191675e-02 7.98860447e+02] [ 7.65407109e-02 9.97066093e-01 -8.51781362e-04 8.95280956e+00] [ 2.06238698e-02 -7.29104817e-04 9.99787040e-01 5.54456932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6092541539999 meters 0.024785897421643308 Centerline is valid? [True, True] Translation: X:798.89, Y:8.95, Z:5.55 [[ 9.96892626e-01 -7.60367294e-02 -2.05793266e-02 7.98889373e+02] [ 7.60352769e-02 9.97104762e-01 -8.54162799e-04 8.95486838e+00] [ 2.05846923e-02 -7.13246200e-04 9.99787858e-01 5.54516635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6392541539999 meters 0.02405863520420682 Centerline is valid? [True, True] Translation: X:798.92, Y:8.96, Z:5.55 [[ 9.97109925e-01 -7.33666980e-02 -1.97262666e-02 7.98918544e+02] [ 7.33647504e-02 9.97304836e-01 -8.23366592e-04 8.95558617e+00] [ 1.97335088e-02 -6.26225628e-04 9.99805079e-01 5.54657485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6692541539999 meters 0.02260331310592485 Centerline is valid? [True, True] Translation: X:798.95, Y:8.96, Z:5.55 [[ 9.97227449e-01 -7.17402255e-02 -1.97675128e-02 7.98947438e+02] [ 7.17378526e-02 9.97423176e-01 -8.30038905e-04 8.96013347e+00] [ 1.97761225e-02 -5.90341336e-04 9.99804259e-01 5.54791080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6992541539998 meters 0.025611574900931737 Centerline is valid? [True, True] Translation: X:798.98, Y:8.96, Z:5.55 [[ 9.97368614e-01 -6.97403182e-02 -1.98024169e-02 7.98975737e+02] [ 6.97374837e-02 9.97565029e-01 -8.34501252e-04 8.95683897e+00] [ 1.98123970e-02 -5.48665367e-04 9.99803565e-01 5.54536149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7292541539999 meters 0.021939062535192646 Centerline is valid? [True, True] Translation: X:799.01, Y:8.96, Z:5.55 [[ 9.97688585e-01 -6.51514353e-02 -1.93074698e-02 7.99005145e+02] [ 6.51478609e-02 9.97875289e-01 -8.14719645e-04 8.96433861e+00] [ 1.93195272e-02 -4.45003869e-04 9.99813261e-01 5.54807697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7592541539999 meters 0.022184450363982193 Centerline is valid? [True, True] Translation: X:799.03, Y:8.97, Z:5.55 [[ 9.97823220e-01 -6.28689470e-02 -1.99077045e-02 7.99032906e+02] [ 6.28646642e-02 9.98021706e-01 -8.41486888e-04 8.96539809e+00] [ 1.99212246e-02 -4.11835999e-04 9.99801468e-01 5.54805731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7892541539999 meters 0.020340921335941963 Centerline is valid? [True, True] Translation: X:799.06, Y:8.97, Z:5.55 [[ 9.97927616e-01 -6.12923670e-02 -1.95887356e-02 7.99061758e+02] [ 6.12878403e-02 9.98119787e-01 -8.31899163e-04 8.96853369e+00] [ 1.96028936e-02 -3.70376149e-04 9.99807776e-01 5.54923169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8192541539999 meters 0.016767454975713032 Centerline is valid? [True, True] Translation: X:799.09, Y:8.97, Z:5.55 [[ 9.98040381e-01 -5.98071773e-02 -1.83983350e-02 7.99089855e+02] [ 5.98028815e-02 9.98209898e-01 -7.84077900e-04 8.96906047e+00] [ 1.84122936e-02 -3.17732041e-04 9.99830429e-01 5.55034744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8492541539999 meters 0.019026741087274857 Centerline is valid? [True, True] Translation: X:799.12, Y:8.97, Z:5.55 [[ 9.98145419e-01 -5.75393517e-02 -1.98732119e-02 7.99118380e+02] [ 5.75338108e-02 9.98343196e-01 -8.50920679e-04 8.97136340e+00] [ 1.98892473e-02 -2.94039036e-04 9.99802146e-01 5.55064234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8792541539999 meters 0.018023751810668686 Centerline is valid? [True, True] Translation: X:799.15, Y:8.97, Z:5.55 [[ 9.98163683e-01 -5.74452175e-02 -1.92174321e-02 7.99147126e+02] [ 5.74399260e-02 9.98348621e-01 -8.27666983e-04 8.97239487e+00] [ 1.92332424e-02 -2.77700756e-04 9.99814986e-01 5.55173268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9092541539999 meters 0.01947629897393098 Centerline is valid? [True, True] Translation: X:799.18, Y:8.97, Z:5.55 [[ 9.98144097e-01 -5.76656019e-02 -1.95714301e-02 7.99175039e+02] [ 5.76600495e-02 9.98335915e-01 -8.48350885e-04 8.97240163e+00] [ 1.95877822e-02 -2.81713200e-04 9.99808101e-01 5.55235700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9392541539999 meters 0.01729306598917597 Centerline is valid? [True, True] Translation: X:799.20, Y:8.97, Z:5.55 [[ 9.98114112e-01 -5.84032946e-02 -1.89017162e-02 7.99202647e+02] [ 5.83981440e-02 9.98293031e-01 -8.24814260e-04 8.97364670e+00] [ 1.89176235e-02 -2.80566392e-04 9.99821006e-01 5.55385729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9692541539999 meters 0.01947286154978353 Centerline is valid? [True, True] Translation: X:799.23, Y:8.97, Z:5.55 [[ 9.98073867e-01 -5.89800304e-02 -1.92331073e-02 7.99230632e+02] [ 5.89747300e-02 9.98259120e-01 -8.43150843e-04 8.97302972e+00] [ 1.92493539e-02 -2.92740491e-04 9.99814671e-01 5.55283490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9992541539999 meters 0.01979038232240285 Centerline is valid? [True, True] Translation: X:799.26, Y:8.97, Z:5.55 [[ 9.97930812e-01 -6.13092139e-02 -1.93719992e-02 7.99258602e+02] [ 6.13042343e-02 9.98118763e-01 -8.51357066e-04 8.97097800e+00] [ 1.93877519e-02 -3.37990129e-04 9.99811983e-01 5.55258946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0292541539999 meters 0.020321934911054166 Centerline is valid? [True, True] Translation: X:799.29, Y:8.97, Z:5.55 [[ 9.97818133e-01 -6.29289765e-02 -1.99728968e-02 7.99287013e+02] [ 6.29239278e-02 9.98017937e-01 -8.81749959e-04 8.97227871e+00] [ 1.99887969e-02 -3.76947021e-04 9.99800133e-01 5.55320862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0592541539999 meters 0.018655886511280542 Centerline is valid? [True, True] Translation: X:799.31, Y:8.97, Z:5.55 [[ 9.97707952e-01 -6.47984395e-02 -1.94936956e-02 7.99314873e+02] [ 6.47939306e-02 9.97898292e-01 -8.63469857e-04 8.97155269e+00] [ 1.95086771e-02 -4.01582418e-04 9.99809607e-01 5.55389083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.089254154 meters 0.021978823191718115 Centerline is valid? [True, True] Translation: X:799.34, Y:8.97, Z:5.55 [[ 9.97417804e-01 -6.86224198e-02 -2.11822530e-02 7.99344113e+02] [ 6.86179267e-02 9.97642570e-01 -9.39723365e-04 8.96986501e+00] [ 2.11968034e-02 -5.16185469e-04 9.99775189e-01 5.55337781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1192541539999 meters 0.017775114278071717 Centerline is valid? [True, True] Translation: X:799.37, Y:8.97, Z:5.56 [[ 9.97316854e-01 -7.06571948e-02 -1.91481839e-02 7.99372244e+02] [ 7.06538702e-02 9.97500530e-01 -8.50926211e-04 8.96922827e+00] [ 1.91604477e-02 -5.04250250e-04 9.99816295e-01 5.55539410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1492541539999 meters 0.02224697168975426 Centerline is valid? [True, True] Translation: X:799.40, Y:8.97, Z:5.55 [[ 9.97176042e-01 -7.20874872e-02 -2.10555440e-02 7.99401371e+02] [ 7.20836968e-02 9.97398144e-01 -9.39918942e-04 8.96870522e+00] [ 2.10685169e-02 -5.80496803e-04 9.99777866e-01 5.55347319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1792541539999 meters 0.021692499121224958 Centerline is valid? [True, True] Translation: X:799.43, Y:8.97, Z:5.55 [[ 9.96968975e-01 -7.50190103e-02 -2.06158122e-02 7.99430107e+02] [ 7.50158962e-02 9.97181909e-01 -9.25441841e-04 8.96776164e+00] [ 2.06271407e-02 -6.23876823e-04 9.99787043e-01 5.55490518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2092541539998 meters 0.01922957913170833 Centerline is valid? [True, True] Translation: X:799.46, Y:8.97, Z:5.56 [[ 9.96905565e-01 -7.63344030e-02 -1.87710909e-02 7.99458830e+02] [ 7.63319679e-02 9.97082099e-01 -8.47219483e-04 8.96876649e+00] [ 1.87809907e-02 -5.88236489e-04 9.99823449e-01 5.55703638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2392541539999 meters 0.021520569043512155 Centerline is valid? [True, True] Translation: X:799.49, Y:8.97, Z:5.56 [[ 9.96846619e-01 -7.68013032e-02 -1.99593962e-02 7.99488036e+02] [ 7.67985395e-02 9.97046219e-01 -9.06064832e-04 8.97041166e+00] [ 1.99700274e-02 -6.29644811e-04 9.99800381e-01 5.55657145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2692541539999 meters 0.02137871126167213 Centerline is valid? [True, True] Translation: X:799.52, Y:8.97, Z:5.56 [[ 9.96827476e-01 -7.71300756e-02 -1.96452277e-02 7.99515894e+02] [ 7.71273546e-02 9.97020845e-01 -8.97264733e-04 8.97122636e+00] [ 1.96559076e-02 -6.20766305e-04 9.99806611e-01 5.55685065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2992541539999 meters 0.02480758486545247 Centerline is valid? [True, True] Translation: X:799.54, Y:8.97, Z:5.56 [[ 9.96905731e-01 -7.60086113e-02 -2.00413138e-02 7.99543375e+02] [ 7.60054881e-02 9.97106976e-01 -9.18598494e-04 8.97167555e+00] [ 2.00531552e-02 -6.07493735e-04 9.99798731e-01 5.55546261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3292541539998 meters 0.02375965030202854 Centerline is valid? [True, True] Translation: X:799.57, Y:8.97, Z:5.56 [[ 9.96955543e-01 -7.55641169e-02 -1.92278086e-02 7.99571507e+02] [ 7.55611179e-02 9.97140781e-01 -8.83468772e-04 8.97287204e+00] [ 1.92395906e-02 -5.72095626e-04 9.99814738e-01 5.55579317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3592541539999 meters 0.02173694339757483 Centerline is valid? [True, True] Translation: X:799.60, Y:8.98, Z:5.56 [[ 9.97076267e-01 -7.38206078e-02 -1.97341254e-02 7.99600031e+02] [ 7.38170268e-02 9.97271386e-01 -9.10822612e-04 8.97722396e+00] [ 1.97475160e-02 -5.48554853e-04 9.99804848e-01 5.55576160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3892541539999 meters 0.021823498577000618 Centerline is valid? [True, True] Translation: X:799.63, Y:8.98, Z:5.56 [[ 9.97101789e-01 -7.31686322e-02 -2.08416549e-02 7.99628127e+02] [ 7.31643733e-02 9.97319426e-01 -9.67810864e-04 8.98052586e+00] [ 2.08566007e-02 -5.59860678e-04 9.99782321e-01 5.55568750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4192541539999 meters 0.024056419020030674 Centerline is valid? [True, True] Translation: X:799.66, Y:8.98, Z:5.55 [[ 9.97152261e-01 -7.22252834e-02 -2.16996929e-02 7.99655746e+02] [ 7.22203690e-02 9.97388187e-01 -1.01108199e-03 8.97980988e+00] [ 2.17160431e-02 -5.58957140e-04 9.99764023e-01 5.55325861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4492541539998 meters 0.021015552085371144 Centerline is valid? [True, True] Translation: X:799.68, Y:8.99, Z:5.56 [[ 9.97237155e-01 -7.11208455e-02 -2.14448748e-02 7.99684657e+02] [ 7.11157343e-02 9.97467568e-01 -1.00183357e-03 8.98734851e+00] [ 2.14618183e-02 -5.26002353e-04 9.99769530e-01 5.55634628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4792541539999 meters 0.01809241642637672 Centerline is valid? [True, True] Translation: X:799.71, Y:8.99, Z:5.56 [[ 9.97286698e-01 -7.08953189e-02 -1.98266526e-02 7.99712096e+02] [ 7.08908529e-02 9.97483646e-01 -9.28881010e-04 8.98830476e+00] [ 1.98426150e-02 -4.79167637e-04 9.99803001e-01 5.55774128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5092541539999 meters 0.021297868918106592 Centerline is valid? [True, True] Translation: X:799.74, Y:8.99, Z:5.56 [[ 9.97297442e-01 -7.06497303e-02 -2.01600638e-02 7.99739549e+02] [ 7.06449669e-02 9.97501071e-01 -9.49246485e-04 8.99109433e+00] [ 2.01767493e-02 -4.77525952e-04 9.99796315e-01 5.55710374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5392541539999 meters 0.021315101651638083 Centerline is valid? [True, True] Translation: X:799.77, Y:8.99, Z:5.56 [[ 9.97315367e-01 -7.05145085e-02 -1.97424357e-02 7.99768182e+02] [ 7.05098113e-02 9.97510648e-01 -9.34775363e-04 8.99418292e+00] [ 1.97592050e-02 -4.59769581e-04 9.99804662e-01 5.55827223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5692541539999 meters 0.021617292469966652 Centerline is valid? [True, True] Translation: X:799.80, Y:9.00, Z:5.56 [[ 9.97391898e-01 -6.98168299e-02 -1.83033299e-02 7.99797128e+02] [ 6.98125926e-02 9.97559744e-01 -8.71137719e-04 8.99692880e+00] [ 1.83194852e-02 -4.08937209e-04 9.99832101e-01 5.55857936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5992541539999 meters 0.018427568323424244 Centerline is valid? [True, True] Translation: X:799.83, Y:9.00, Z:5.56 [[ 9.97436145e-01 -6.94923520e-02 -1.70865288e-02 7.99825352e+02] [ 6.94885403e-02 9.97582415e-01 -8.17400689e-04 8.99830137e+00] [ 1.71020237e-02 -3.72012953e-04 9.99853680e-01 5.55988949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6292541539999 meters 0.020989875697906252 Centerline is valid? [True, True] Translation: X:799.85, Y:9.00, Z:5.56 [[ 9.97454231e-01 -6.89662788e-02 -1.81303273e-02 7.99853275e+02] [ 6.89618071e-02 9.97618919e-01 -8.72474126e-04 9.00252039e+00] [ 1.81473288e-02 -3.80047126e-04 9.99835251e-01 5.55945047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6592541539999 meters 0.020989875697906252 Centerline is valid? [True, True] Translation: X:799.88, Y:9.00, Z:5.56 [[ 9.97433954e-01 -6.92589961e-02 -1.81300701e-02 7.99880713e+02] [ 6.92544760e-02 9.97598640e-01 -8.77796181e-04 9.00391497e+00] [ 1.81473286e-02 -3.80044791e-04 9.99835251e-01 5.55964096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6892541539999 meters 0.01587800893586254 Centerline is valid? [True, True] Translation: X:799.91, Y:9.01, Z:5.56 [[ 9.97541838e-01 -6.79606609e-02 -1.70771514e-02 7.99908751e+02] [ 6.79564040e-02 9.97687946e-01 -8.30113812e-04 9.00752774e+00] [ 1.70940832e-02 -3.32428544e-04 9.99853830e-01 5.56132294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7192541539999 meters 0.015570323036957235 Centerline is valid? [True, True] Translation: X:799.94, Y:9.01, Z:5.56 [[ 9.97593846e-01 -6.71884786e-02 -1.70946524e-02 7.99937073e+02] [ 6.71840395e-02 9.97740251e-01 -8.34479322e-04 9.01068098e+00] [ 1.71120902e-02 -3.16016369e-04 9.99853528e-01 5.56140908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7492541539999 meters 0.01642074640571439 Centerline is valid? [True, True] Translation: X:799.97, Y:9.01, Z:5.56 [[ 9.97638663e-01 -6.64426682e-02 -1.73916591e-02 7.99965691e+02] [ 6.64378828e-02 9.97790198e-01 -8.53428584e-04 9.01363289e+00] [ 1.74099310e-02 -3.04051654e-04 9.99848389e-01 5.56120691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7792541539999 meters 0.020967386562410484 Centerline is valid? [True, True] Translation: X:799.99, Y:9.02, Z:5.56 [[ 9.97696269e-01 -6.53460783e-02 -1.82221239e-02 7.99994160e+02] [ 6.53405549e-02 9.97862618e-01 -8.98957714e-04 9.01646785e+00] [ 1.82419196e-02 -2.93756930e-04 9.99833559e-01 5.56007738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8092541539999 meters 0.021502690502935337 Centerline is valid? [True, True] Translation: X:800.02, Y:9.02, Z:5.56 [[ 9.97851923e-01 -6.34755116e-02 -1.61987398e-02 8.00022272e+02] [ 6.34708358e-02 9.97983371e-01 -8.03116503e-04 9.01920408e+00] [ 1.62170512e-02 -2.26756208e-04 9.99868469e-01 5.56108463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.839254154 meters 0.019916756151081676 Centerline is valid? [True, True] Translation: X:800.05, Y:9.02, Z:5.56 [[ 9.97896510e-01 -6.30697304e-02 -1.49921775e-02 8.00050741e+02] [ 6.30656240e-02 9.98009103e-01 -7.46991628e-04 9.02163618e+00] [ 1.50094422e-02 -2.00070690e-04 9.99887332e-01 5.56263383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8692541539999 meters 0.021294549214653295 Centerline is valid? [True, True] Translation: X:800.08, Y:9.02, Z:5.56 [[ 9.97952782e-01 -6.23329873e-02 -1.43123290e-02 8.00079300e+02] [ 6.23291179e-02 9.98055393e-01 -7.16690548e-04 9.02402719e+00] [ 1.43291706e-02 -1.76851518e-04 9.99897317e-01 5.56352803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8992541539999 meters 0.019020813456870157 Centerline is valid? [True, True] Translation: X:800.11, Y:9.03, Z:5.56 [[ 9.98014989e-01 -6.16474666e-02 -1.28713573e-02 8.00106911e+02] [ 6.16442495e-02 9.98097975e-01 -6.46909737e-04 9.02587791e+00] [ 1.28867560e-02 -1.47819545e-04 9.99916951e-01 5.56453852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9292541539999 meters 0.019451211591211232 Centerline is valid? [True, True] Translation: X:800.13, Y:9.03, Z:5.56 [[ 9.98017226e-01 -6.15604272e-02 -1.31122298e-02 8.00134800e+02] [ 6.15570616e-02 9.98103347e-01 -6.60495543e-04 9.02706736e+00] [ 1.31280209e-02 -1.47964411e-04 9.99913813e-01 5.56402634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9592541539998 meters 0.01958965573522645 Centerline is valid? [True, True] Translation: X:800.16, Y:9.03, Z:5.56 [[ 9.97949655e-01 -6.24117256e-02 -1.41867194e-02 8.00163227e+02] [ 6.24078360e-02 9.98050474e-01 -7.17141617e-04 9.02823573e+00] [ 1.42038201e-02 -1.69691230e-04 9.99899106e-01 5.56298276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9892541539999 meters 0.019165186732734114 Centerline is valid? [True, True] Translation: X:800.19, Y:9.03, Z:5.56 [[ 9.97892118e-01 -6.32422700e-02 -1.45511442e-02 8.00192090e+02] [ 6.32382115e-02 9.97998187e-01 -7.39325112e-04 9.02930920e+00] [ 1.45687722e-02 -1.82421636e-04 9.99893853e-01 5.56274037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0192541539999 meters 0.020582971160743573 Centerline is valid? [True, True] Translation: X:800.22, Y:9.03, Z:5.56 [[ 9.97808901e-01 -6.44712959e-02 -1.48610068e-02 8.00220954e+02] [ 6.44671419e-02 9.97919542e-01 -7.58903173e-04 9.03009818e+00] [ 1.48790165e-02 -2.00806292e-04 9.99889281e-01 5.56236848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0492541539999 meters 0.021373811000374488 Centerline is valid? [True, True] Translation: X:800.25, Y:9.03, Z:5.56 [[ 9.97681543e-01 -6.65666776e-02 -1.41568262e-02 8.00248785e+02] [ 6.65630858e-02 9.97781955e-01 -7.25274985e-04 9.02972259e+00] [ 1.41737048e-02 -2.18728568e-04 9.99899524e-01 5.56318583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0792541539998 meters 0.02088095830066337 Centerline is valid? [True, True] Translation: X:800.28, Y:9.03, Z:5.56 [[ 9.97584077e-01 -6.82596472e-02 -1.29085342e-02 8.00277207e+02] [ 6.82567757e-02 9.97667566e-01 -6.63398082e-04 9.03012794e+00] [ 1.29237093e-02 -2.19299563e-04 9.99916461e-01 5.56450729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1092541539999 meters 0.021542154079487414 Centerline is valid? [True, True] Translation: X:800.31, Y:9.03, Z:5.57 [[ 9.97489006e-01 -6.97999756e-02 -1.19852876e-02 8.00306397e+02] [ 6.97975767e-02 9.97560983e-01 -6.18838604e-04 9.03043923e+00] [ 1.19992502e-02 -2.19259327e-04 9.99927982e-01 5.56577290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1392541539999 meters 0.01988313877090988 Centerline is valid? [True, True] Translation: X:800.34, Y:9.03, Z:5.57 [[ 9.97408076e-01 -7.12165805e-02 -1.02629692e-02 8.00335287e+02] [ 7.12148726e-02 9.97460856e-01 -5.32233072e-04 9.03041727e+00] [ 1.02748139e-02 -2.00022480e-04 9.99947193e-01 5.56773017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1692541539999 meters 0.021721170223327684 Centerline is valid? [True, True] Translation: X:800.36, Y:9.03, Z:5.57 [[ 9.97244847e-01 -7.37438821e-02 -8.03467090e-03 8.00364195e+02] [ 7.37429041e-02 9.97277198e-01 -4.18305347e-04 9.02960505e+00] [ 8.04364154e-03 -1.75347115e-04 9.99967634e-01 5.56847920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1992541539998 meters 0.02303358809328233 Centerline is valid? [True, True] Translation: X:800.39, Y:9.03, Z:5.57 [[ 9.97154818e-01 -7.49029978e-02 -8.47404736e-03 8.00392821e+02] [ 7.49019356e-02 9.97190806e-01 -4.43081336e-04 9.02947045e+00] [ 8.48343024e-03 -1.92901861e-04 9.99963996e-01 5.56746078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2292541539999 meters 0.023149978628976567 Centerline is valid? [True, True] Translation: X:800.42, Y:9.03, Z:5.57 [[ 9.97029615e-01 -7.65083549e-02 -8.85545381e-03 8.00421384e+02] [ 7.65072507e-02 9.97068917e-01 -4.63883024e-04 9.03041763e+00] [ 8.86498866e-03 -2.15001312e-04 9.99960682e-01 5.56689240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2592541539999 meters 0.02174137149004594 Centerline is valid? [True, True] Translation: X:800.45, Y:9.03, Z:5.57 [[ 9.96906972e-01 -7.80181454e-02 -9.46880113e-03 8.00450420e+02] [ 7.80169279e-02 9.96951910e-01 -4.98455272e-04 9.03107178e+00] [ 9.47882792e-03 -2.41813238e-04 9.99955046e-01 5.56671886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2892541539999 meters 0.021718868726321294 Centerline is valid? [True, True] Translation: X:800.48, Y:9.03, Z:5.57 [[ 9.96688326e-01 -8.06254985e-02 -1.05787265e-02 8.00479948e+02] [ 8.06241041e-02 9.96744421e-01 -5.58907251e-04 9.03422638e+00] [ 1.05893488e-02 -2.95844012e-04 9.99943888e-01 5.56545984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3192541539999 meters 0.023449452325792368 Centerline is valid? [True, True] Translation: X:800.51, Y:9.03, Z:5.57 [[ 9.96595229e-01 -8.17195857e-02 -1.09480034e-02 8.00508222e+02] [ 8.17181492e-02 9.96655311e-01 -5.79234049e-04 9.03030635e+00] [ 1.09587205e-02 -3.17388690e-04 9.99939901e-01 5.56524823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3492541539999 meters 0.02137809570859408 Centerline is valid? [True, True] Translation: X:800.54, Y:9.04, Z:5.57 [[ 9.96544657e-01 -8.23842698e-02 -1.05631023e-02 8.00537076e+02] [ 8.23829502e-02 9.96600590e-01 -5.60726958e-04 9.03599905e+00] [ 1.05733890e-02 -3.11430076e-04 9.99944052e-01 5.56583129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3792541539999 meters 0.02243017886573095 Centerline is valid? [True, True] Translation: X:800.57, Y:9.04, Z:5.57 [[ 9.96598210e-01 -8.18932987e-02 -9.24642099e-03 8.00565816e+02] [ 8.18922463e-02 9.96641067e-01 -4.93006161e-04 9.03834770e+00] [ 9.25573679e-03 -2.65881128e-04 9.99957129e-01 5.56678495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4092541539999 meters 0.022808138458975134 Centerline is valid? [True, True] Translation: X:800.59, Y:9.04, Z:5.57 [[ 9.96654948e-01 -8.13106572e-02 -8.21534534e-03 8.00594088e+02] [ 8.13097909e-02 9.96688780e-01 -4.39953351e-04 9.04079405e+00] [ 8.22391542e-03 -2.29506327e-04 9.99966157e-01 5.56731255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4392541539999 meters 0.020072379447893 Centerline is valid? [True, True] Translation: X:800.62, Y:9.04, Z:5.57 [[ 9.96757944e-01 -8.01664860e-02 -6.85099853e-03 8.00623479e+02] [ 8.01658464e-02 9.96781471e-01 -3.68365683e-04 9.04447411e+00] [ 6.85847898e-03 -1.82044675e-04 9.99976464e-01 5.56905497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4692541539999 meters 0.023345159409185474 Centerline is valid? [True, True] Translation: X:800.65, Y:9.05, Z:5.57 [[ 9.96880421e-01 -7.86685915e-02 -6.37799701e-03 8.00652907e+02] [ 7.86680051e-02 9.96900811e-01 -3.43152226e-04 9.04733773e+00] [ 6.38522569e-03 -1.59662566e-04 9.99979601e-01 5.56770542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4992541539999 meters 0.02258519695214285 Centerline is valid? [True, True] Translation: X:800.68, Y:9.05, Z:5.57 [[ 9.97079370e-01 -7.61018091e-02 -6.42214088e-03 8.00682888e+02] [ 7.61011597e-02 9.97100042e-01 -3.45785710e-04 9.04992073e+00] [ 6.42983186e-03 -1.43956571e-04 9.99979318e-01 5.56678937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5292541539999 meters 0.01993541766311431 Centerline is valid? [True, True] Translation: X:800.71, Y:9.05, Z:5.57 [[ 9.97163837e-01 -7.49384727e-02 -6.96468414e-03 8.00713053e+02] [ 7.49376805e-02 9.97188148e-01 -3.74997729e-04 9.05364079e+00] [ 6.97320223e-03 -1.47983100e-04 9.99975676e-01 5.56703759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5592541539999 meters 0.020885371492333337 Centerline is valid? [True, True] Translation: X:800.74, Y:9.06, Z:5.56 [[ 9.97213155e-01 -7.41016129e-02 -8.65300139e-03 8.00742153e+02] [ 7.41003588e-02 9.97250681e-01 -4.65889230e-04 9.05573382e+00] [ 8.66373467e-03 -1.76599639e-04 9.99962454e-01 5.56478304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.589254154 meters 0.020819346388551926 Centerline is valid? [True, True] Translation: X:800.77, Y:9.06, Z:5.56 [[ 9.97163819e-01 -7.47616678e-02 -8.66094999e-03 8.00771403e+02] [ 7.47604362e-02 9.97201414e-01 -4.66331963e-04 9.05817225e+00] [ 8.67157533e-03 -1.82487038e-04 9.99962385e-01 5.56439367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6192541539999 meters 0.019734964553718395 Centerline is valid? [True, True] Translation: X:800.80, Y:9.06, Z:5.57 [[ 9.97095520e-01 -7.57244736e-02 -8.14415500e-03 8.00800774e+02] [ 7.57234143e-02 9.97128764e-01 -4.38786843e-04 9.05957871e+00] [ 8.15399811e-03 -1.79190828e-04 9.99966740e-01 5.56539948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6492541539999 meters 0.018733244166479847 Centerline is valid? [True, True] Translation: X:800.83, Y:9.06, Z:5.57 [[ 9.97029286e-01 -7.66468745e-02 -7.60655351e-03 8.00830126e+02] [ 7.66459753e-02 9.97058286e-01 -4.10081510e-04 9.06056742e+00] [ 7.61560867e-03 -1.74148438e-04 9.99970986e-01 5.56702578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6792541539999 meters 0.022906090339533256 Centerline is valid? [True, True] Translation: X:800.86, Y:9.06, Z:5.57 [[ 9.96841333e-01 -7.91829011e-02 -6.11753092e-03 8.00860043e+02] [ 7.91823661e-02 9.96860092e-01 -3.29977211e-04 9.06187069e+00] [ 6.12445099e-03 -1.55465650e-04 9.99981233e-01 5.56684057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7092541539998 meters 0.01989797179215581 Centerline is valid? [True, True] Translation: X:800.89, Y:9.06, Z:5.57 [[ 9.96743718e-01 -8.05010021e-02 -4.64212014e-03 8.00889557e+02] [ 8.05007077e-02 9.96754520e-01 -2.50543708e-04 9.06278428e+00] [ 4.64722325e-03 -1.23966089e-04 9.99989194e-01 5.56976117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7392541539999 meters 0.02206751064025005 Centerline is valid? [True, True] Translation: X:800.92, Y:9.06, Z:5.57 [[ 9.96680825e-01 -8.12744341e-02 -4.66897227e-03 8.00920341e+02] [ 8.12741442e-02 9.96691753e-01 -2.52118158e-04 9.06395003e+00] [ 4.67401691e-03 -1.28185392e-04 9.99989069e-01 5.56879489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7692541539999 meters 0.019916837498599134 Centerline is valid? [True, True] Translation: X:800.95, Y:9.07, Z:5.57 [[ 9.96602477e-01 -8.22760874e-02 -3.76134731e-03 8.00951256e+02] [ 8.22759059e-02 9.96609569e-01 -2.03222778e-04 9.06700327e+00] [ 3.76531510e-03 -1.06935934e-04 9.99992905e-01 5.56990336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7992541539999 meters 0.025006441540908912 Centerline is valid? [True, True] Translation: X:800.98, Y:9.07, Z:5.57 [[ 9.96458799e-01 -8.39691421e-02 -4.36413753e-03 8.00981158e+02] [ 8.39689153e-02 9.96468347e-01 -2.35498365e-04 9.06560830e+00] [ 4.36849950e-03 -1.31787476e-04 9.99990449e-01 5.56748568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8292541539998 meters 0.023215693294552413 Centerline is valid? [True, True] Translation: X:801.01, Y:9.07, Z:5.57 [[ 9.96389265e-01 -8.47593925e-02 -4.92719702e-03 8.01012093e+02] [ 8.47591127e-02 9.96401436e-01 -2.65955619e-04 9.07075542e+00] [ 4.93200842e-03 -1.52629523e-04 9.99987826e-01 5.56651657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8592541539999 meters 0.025366870863814762 Centerline is valid? [True, True] Translation: X:801.04, Y:9.07, Z:5.57 [[ 9.96277530e-01 -8.60664475e-02 -4.86304127e-03 8.01042047e+02] [ 8.60661917e-02 9.96289387e-01 -2.62241235e-04 9.06819020e+00] [ 4.86756657e-03 -1.57278392e-04 9.99988141e-01 5.56642759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8892541539999 meters 0.02453408971438922 Centerline is valid? [True, True] Translation: X:801.07, Y:9.07, Z:5.57 [[ 9.96010700e-01 -8.90348373e-02 -5.95686095e-03 8.01072214e+02] [ 8.90345065e-02 9.96028490e-01 -3.21225851e-04 9.07298574e+00] [ 5.96180351e-03 -2.10421790e-04 9.99982206e-01 5.56549857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9192541539999 meters 0.024395645669546516 Centerline is valid? [True, True] Translation: X:801.10, Y:9.07, Z:5.57 [[ 9.95850447e-01 -9.08525101e-02 -5.26386215e-03 8.01102789e+02] [ 9.08522771e-02 9.95864340e-01 -2.83855644e-04 9.07385022e+00] [ 5.26788160e-03 -1.95556093e-04 9.99986105e-01 5.56642528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9492541539998 meters 0.023999902611989376 Centerline is valid? [True, True] Translation: X:801.13, Y:9.08, Z:5.57 [[ 9.95707630e-01 -9.24246121e-02 -4.89965774e-03 8.01133215e+02] [ 9.24244292e-02 9.95719667e-01 -2.64215791e-04 9.07526360e+00] [ 4.90310561e-03 -1.89766391e-04 9.99987962e-01 5.56798149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9792541539999 meters 0.024790951285558516 Centerline is valid? [True, True] Translation: X:801.16, Y:9.08, Z:5.57 [[ 9.95577712e-01 -9.38291756e-02 -4.59403417e-03 8.01163844e+02] [ 9.38290298e-02 9.95588294e-01 -2.47734931e-04 9.07782788e+00] [ 4.59701141e-03 -1.84414393e-04 9.99989417e-01 5.56798484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0092541539999 meters 0.02666163642675598 Centerline is valid? [True, True] Translation: X:801.19, Y:9.08, Z:5.57 [[ 9.95420622e-01 -9.55043598e-02 -4.08684281e-03 8.01194096e+02] [ 9.55042585e-02 9.95428997e-01 -2.20384456e-04 9.08032412e+00] [ 4.08920952e-03 -1.70935660e-04 9.99991625e-01 5.56839311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0392541539999 meters 0.024844291517585507 Centerline is valid? [True, True] Translation: X:801.22, Y:9.08, Z:5.57 [[ 9.95373064e-01 -9.60329070e-02 -3.18515223e-03 8.01224277e+02] [ 9.60328482e-02 9.95378151e-01 -1.71760470e-04 9.08326972e+00] [ 3.18692559e-03 -1.34913495e-04 9.99994913e-01 5.57037587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0692541539999 meters 0.023133329899550862 Centerline is valid? [True, True] Translation: X:801.26, Y:9.09, Z:5.57 [[ 9.95385013e-01 -9.59194716e-02 -2.85129178e-03 8.01255179e+02] [ 9.59194235e-02 9.95389090e-01 -1.53905800e-04 9.08820224e+00] [ 2.85290729e-03 -1.20298737e-04 9.99995923e-01 5.57168627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0992541539999 meters 0.024789493675481104 Centerline is valid? [True, True] Translation: X:801.29, Y:9.09, Z:5.57 [[ 9.95595932e-01 -9.36677253e-02 -3.88552044e-03 8.01285991e+02] [ 9.36676199e-02 9.95603502e-01 -2.09497475e-04 9.09397376e+00] [ 3.88806091e-03 -1.55372618e-04 9.99992429e-01 5.56819702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1292541539999 meters 0.02632670388352506 Centerline is valid? [True, True] Translation: X:801.32, Y:9.10, Z:5.57 [[ 9.95748006e-01 -9.19921760e-02 -4.83189595e-03 8.01316475e+02] [ 9.19919946e-02 9.95759713e-01 -2.60244884e-04 9.09748348e+00] [ 4.83534782e-03 -1.85357422e-04 9.99988292e-01 5.56682049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1592541539999 meters 0.0227030972240184 Centerline is valid? [True, True] Translation: X:801.35, Y:9.10, Z:5.57 [[ 9.95906324e-01 -9.02656711e-02 -4.76469400e-03 8.01347656e+02] [ 9.02654753e-02 9.95917707e-01 -2.56579280e-04 9.10180489e+00] [ 4.76840342e-03 -1.74558441e-04 9.99988616e-01 5.56864683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1892541539999 meters 0.023821394680913287 Centerline is valid? [True, True] Translation: X:801.38, Y:9.11, Z:5.57 [[ 9.96315576e-01 -8.55838207e-02 -5.53910566e-03 8.01376813e+02] [ 8.55834854e-02 9.96330958e-01 -2.97967683e-04 9.10935234e+00] [ 5.54428366e-03 -1.77186124e-04 9.99984615e-01 5.56709457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2192541539999 meters 0.022633793560179097 Centerline is valid? [True, True] Translation: X:801.41, Y:9.11, Z:5.57 [[ 9.96545704e-01 -8.28765859e-02 -5.30381223e-03 8.01408484e+02] [ 8.28762391e-02 9.96559806e-01 -2.85514678e-04 9.11469252e+00] [ 5.30922857e-03 -1.55031584e-04 9.99985894e-01 5.56777628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2492541539999 meters 0.02168153024635363 Centerline is valid? [True, True] Translation: X:801.44, Y:9.12, Z:5.57 [[ 9.96760514e-01 -8.02569968e-02 -5.22416092e-03 8.01440144e+02] [ 8.02566258e-02 9.96774195e-01 -2.80953080e-04 9.11963642e+00] [ 5.22985724e-03 -1.39230591e-04 9.99986315e-01 5.56834428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2792541539999 meters 0.02199263311657453 Centerline is valid? [True, True] Translation: X:801.47, Y:9.13, Z:5.57 [[ 9.97185950e-01 -7.48330976e-02 -4.49320680e-03 8.01470578e+02] [ 7.48327692e-02 9.97196068e-01 -2.41412977e-04 9.12718081e+00] [ 4.49867384e-03 -9.55054784e-05 9.99989876e-01 5.56883875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3092541539999 meters 0.02139737276609738 Centerline is valid? [True, True] Translation: X:801.50, Y:9.13, Z:5.57 [[ 9.97359342e-01 -7.25013733e-02 -4.23001195e-03 8.01501990e+02] [ 7.25010618e-02 9.97368309e-01 -2.27135907e-04 9.13170952e+00] [ 4.23534754e-03 -8.01442391e-05 9.99991028e-01 5.56931334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.339254154 meters 0.019838029985433 Centerline is valid? [True, True] Translation: X:801.53, Y:9.14, Z:5.57 [[ 9.97654733e-01 -6.83293851e-02 -4.01611831e-03 8.01531686e+02] [ 6.83290712e-02 9.97662815e-01 -2.15474171e-04 9.13823380e+00] [ 4.02145511e-03 -5.94488076e-05 9.99991912e-01 5.56947990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3692541539999 meters 0.018472747563106028 Centerline is valid? [True, True] Translation: X:801.56, Y:9.14, Z:5.57 [[ 9.97786613e-01 -6.63852949e-02 -3.85583255e-03 8.01563754e+02] [ 6.63849906e-02 9.97794062e-01 -2.06986206e-04 9.14425318e+00] [ 3.86106766e-03 -4.94413417e-05 9.99992545e-01 5.56867569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3992541539999 meters 0.01814658347852295 Centerline is valid? [True, True] Translation: X:801.60, Y:9.15, Z:5.57 [[ 9.97912182e-01 -6.44360443e-02 -4.39006491e-03 8.01595354e+02] [ 6.44356327e-02 9.97921838e-01 -2.35269624e-04 9.14640892e+00] [ 4.39610148e-03 -4.80981859e-05 9.99990336e-01 5.56884705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4292541539999 meters 0.01664838295724253 Centerline is valid? [True, True] Translation: X:801.63, Y:9.15, Z:5.57 [[ 9.98046095e-01 -6.22820109e-02 -4.99442933e-03 8.01627538e+02] [ 6.22814534e-02 9.98058590e-01 -2.67223730e-04 9.15142206e+00] [ 5.00137632e-03 -4.43587177e-05 9.99987492e-01 5.56841705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4592541539998 meters 0.017961538803169884 Centerline is valid? [True, True] Translation: X:801.66, Y:9.16, Z:5.57 [[ 9.98322428e-01 -5.75384166e-02 -6.45455908e-03 8.01659646e+02] [ 5.75373903e-02 9.98343293e-01 -3.44735633e-04 9.15751389e+00] [ 6.46370130e-03 -2.72211712e-05 9.99979110e-01 5.56584109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4892541539999 meters 0.015710540965827198 Centerline is valid? [True, True] Translation: X:801.69, Y:9.16, Z:5.57 [[ 9.98467658e-01 -5.49381082e-02 -6.64384497e-03 8.01690393e+02] [ 5.49369666e-02 9.98489762e-01 -3.54335412e-04 9.16094630e+00] [ 6.65327770e-03 -1.12002407e-05 9.99977867e-01 5.56724411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5192541539999 meters 0.016889746589656997 Centerline is valid? [True, True] Translation: X:801.72, Y:9.16, Z:5.57 [[ 9.98617863e-01 -5.21108894e-02 -6.84243410e-03 8.01721687e+02] [ 5.21096148e-02 9.98641305e-01 -3.64539922e-04 9.16447394e+00] [ 6.85213381e-03 7.47947233e-06 9.99976524e-01 5.56653693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5492541539999 meters 0.016889746589656997 Centerline is valid? [True, True] Translation: X:801.75, Y:9.17, Z:5.57 [[ 9.98619554e-01 -5.20784667e-02 -6.84245338e-03 8.01752484e+02] [ 5.20771939e-02 9.98642996e-01 -3.64177630e-04 9.16607862e+00] [ 6.85213396e-03 7.33913110e-06 9.99976524e-01 5.56675057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5792541539998 meters 0.01797449828853293 Centerline is valid? [True, True] Translation: X:801.78, Y:9.17, Z:5.57 [[ 9.98764068e-01 -4.92668726e-02 -6.56589731e-03 8.01783313e+02] [ 4.92656411e-02 9.98785650e-01 -3.49255071e-04 9.16914024e+00] [ 6.57513072e-03 2.53502749e-05 9.99978383e-01 5.56704388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6092541539999 meters 0.016723983965908667 Centerline is valid? [True, True] Translation: X:801.81, Y:9.17, Z:5.57 [[ 9.99029186e-01 -4.37566422e-02 -5.10304005e-03 8.01813649e+02] [ 4.37558273e-02 9.99042218e-01 -2.71279858e-04 9.17428662e+00] [ 5.11002275e-03 4.77287569e-05 9.99986943e-01 5.56960671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6392541539999 meters 0.017991189290129495 Centerline is valid? [True, True] Translation: X:801.85, Y:9.18, Z:5.57 [[ 9.99145964e-01 -4.10964033e-02 -4.29282787e-03 8.01845019e+02] [ 4.10958021e-02 9.99155185e-01 -2.28199212e-04 9.17596518e+00] [ 4.29857939e-03 5.15871172e-05 9.99990760e-01 5.56943800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6692541539999 meters 0.01779690352498674 Centerline is valid? [True, True] Translation: X:801.88, Y:9.18, Z:5.57 [[ 9.99240809e-01 -3.88131078e-02 -3.36876106e-03 8.01877123e+02] [ 3.88127244e-02 9.99246486e-01 -1.79139546e-04 9.17782872e+00] [ 3.37317562e-03 4.82527502e-05 9.99994310e-01 5.57059013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6992541539998 meters 0.019093323093265765 Centerline is valid? [True, True] Translation: X:801.91, Y:9.18, Z:5.57 [[ 9.99348021e-01 -3.59519890e-02 -3.31478169e-03 8.01908632e+02] [ 3.59516030e-02 9.99353517e-01 -1.75968100e-04 9.17804219e+00] [ 3.31896514e-03 5.66816574e-05 9.99994491e-01 5.56998457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7292541539999 meters 0.018388027867862984 Centerline is valid? [True, True] Translation: X:801.94, Y:9.18, Z:5.57 [[ 9.99366154e-01 -3.54185602e-02 -3.57989261e-03 8.01940492e+02] [ 3.54181072e-02 9.99372564e-01 -1.89875525e-04 9.17787653e+00] [ 3.58437157e-03 6.29621525e-05 9.99993574e-01 5.56956912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7592541539999 meters 0.02055750438571526 Centerline is valid? [True, True] Translation: X:801.97, Y:9.18, Z:5.57 [[ 9.99364959e-01 -3.53693444e-02 -4.32299186e-03 8.01971994e+02] [ 3.53686856e-02 9.99374306e-01 -2.28780764e-04 9.17710977e+00] [ 4.32837882e-03 7.57369384e-05 9.99990630e-01 5.56808198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7892541539999 meters 0.015993550576033598 Centerline is valid? [True, True] Translation: X:802.00, Y:9.17, Z:5.57 [[ 9.99312345e-01 -3.68195499e-02 -4.37696624e-03 8.02003348e+02] [ 3.68188891e-02 9.99321928e-01 -2.31479001e-04 9.17196178e+00] [ 4.38252130e-03 7.01647885e-05 9.99990394e-01 5.56984026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8192541539999 meters 0.020359574674204805 Centerline is valid? [True, True] Translation: X:802.03, Y:9.17, Z:5.57 [[ 9.99274351e-01 -3.77051671e-02 -5.39363703e-03 8.02034700e+02] [ 3.77041779e-02 9.99288904e-01 -2.84995093e-04 9.16980809e+00] [ 5.40054743e-03 8.14256365e-05 9.99985414e-01 5.56745726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8492541539999 meters 0.020231449876711403 Centerline is valid? [True, True] Translation: X:802.07, Y:9.17, Z:5.57 [[ 9.99234004e-01 -3.87787923e-02 -5.25448508e-03 8.02066294e+02] [ 3.87778693e-02 9.99247817e-01 -2.77462628e-04 9.16712872e+00] [ 5.26129242e-03 7.34923571e-05 9.99986157e-01 5.56795591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8792541539999 meters 0.018263106643393184 Centerline is valid? [True, True] Translation: X:802.10, Y:9.16, Z:5.57 [[ 9.99157787e-01 -4.05469324e-02 -6.29783979e-03 8.02097402e+02] [ 4.05456433e-02 9.99177632e-01 -3.32278388e-04 9.16231490e+00] [ 6.30613351e-03 7.66485731e-05 9.99980113e-01 5.56820832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9092541539999 meters 0.017513150653869467 Centerline is valid? [True, True] Translation: X:802.13, Y:9.16, Z:5.57 [[ 9.99132023e-01 -4.10372089e-02 -7.15184916e-03 8.02129263e+02] [ 4.10355612e-02 9.99157615e-01 -3.77043981e-04 9.16001641e+00] [ 7.16129739e-03 8.32365715e-05 9.99974354e-01 5.56829073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9392541539999 meters 0.017556311725146687 Centerline is valid? [True, True] Translation: X:802.16, Y:9.15, Z:5.57 [[ 9.99108371e-01 -4.15799281e-02 -7.31930909e-03 8.02160261e+02] [ 4.15782189e-02 9.99135178e-01 -3.85596406e-04 9.15469412e+00] [ 7.32901225e-03 8.09287615e-05 9.99973139e-01 5.56794037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9692541539999 meters 0.01914177543415459 Centerline is valid? [True, True] Translation: X:802.19, Y:9.15, Z:5.57 [[ 9.99119730e-01 -4.12490247e-02 -7.63427031e-03 8.02190424e+02] [ 4.12471587e-02 9.99148893e-01 -4.01767821e-04 9.15247985e+00] [ 7.64434526e-03 8.65221976e-05 9.99970778e-01 5.56724272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9992541539999 meters 0.016599185050600655 Centerline is valid? [True, True] Translation: X:802.22, Y:9.15, Z:5.57 [[ 9.99143630e-01 -4.07878026e-02 -6.95419367e-03 8.02220958e+02] [ 4.07862424e-02 9.99167828e-01 -3.66087714e-04 9.15065770e+00] [ 6.96333850e-03 8.21387787e-05 9.99975752e-01 5.56893785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0292541539999 meters 0.019131765766663714 Centerline is valid? [True, True] Translation: X:802.25, Y:9.15, Z:5.57 [[ 9.99173267e-01 -3.99379164e-02 -7.59908718e-03 8.02251602e+02] [ 3.99360288e-02 9.99202159e-01 -4.00036666e-04 9.14898421e+00] [ 7.60900095e-03 9.62285779e-05 9.99971047e-01 5.56744015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0592541539999 meters 0.019552656398359063 Centerline is valid? [True, True] Translation: X:802.28, Y:9.15, Z:5.57 [[ 9.99241550e-01 -3.80381132e-02 -8.33229771e-03 8.02281631e+02] [ 3.80357775e-02 9.99276282e-01 -4.38659580e-04 9.14553587e+00] [ 8.34295325e-03 1.21401457e-04 9.99965190e-01 5.56675692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.089254154 meters 0.019293522978767307 Centerline is valid? [True, True] Translation: X:802.31, Y:9.14, Z:5.57 [[ 9.99278170e-01 -3.70122610e-02 -8.55755288e-03 8.02311177e+02] [ 3.70097581e-02 9.99314803e-01 -4.50699244e-04 9.14405155e+00] [ 8.56837067e-03 1.33660953e-04 9.99963282e-01 5.56653297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1192541539999 meters 0.017384277205465128 Centerline is valid? [True, True] Translation: X:802.34, Y:9.14, Z:5.57 [[ 9.99294978e-01 -3.66801301e-02 -8.00721355e-03 8.02340403e+02] [ 3.66779243e-02 9.99327049e-01 -4.22200470e-04 9.14275788e+00] [ 8.01731146e-03 1.28214838e-04 9.99967853e-01 5.56807457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1492541539999 meters 0.019047283308804747 Centerline is valid? [True, True] Translation: X:802.37, Y:9.14, Z:5.57 [[ 9.99339628e-01 -3.53285074e-02 -8.49730453e-03 8.02369340e+02] [ 3.53259561e-02 9.99375742e-01 -4.50202702e-04 9.13625143e+00] [ 8.50790501e-03 1.49729995e-04 9.99963796e-01 5.56826012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1792541539999 meters 0.019918108221282597 Centerline is valid? [True, True] Translation: X:802.40, Y:9.13, Z:5.57 [[ 9.99353635e-01 -3.48107247e-02 -8.97355620e-03 8.02398733e+02] [ 3.48078375e-02 9.99393909e-01 -4.77770780e-04 9.13394343e+00] [ 8.98474896e-03 1.65111880e-04 9.99959623e-01 5.56817649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2092541539998 meters 0.017335423418966538 Centerline is valid? [True, True] Translation: X:802.43, Y:9.14, Z:5.57 [[ 9.99389426e-01 -3.39861383e-02 -8.10659441e-03 8.02426926e+02] [ 3.39837413e-02 9.99422292e-01 -4.33292940e-04 9.13505566e+00] [ 8.11663712e-03 1.57535975e-04 9.99967047e-01 5.57160542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2392541539999 meters 0.019451707204051528 Centerline is valid? [True, True] Translation: X:802.46, Y:9.13, Z:5.57 [[ 9.99459994e-01 -3.14252211e-02 -9.60083027e-03 8.02456163e+02] [ 3.14217273e-02 9.99506083e-01 -5.14563561e-04 9.12759735e+00] [ 9.61225853e-03 2.12611023e-04 9.99953779e-01 5.56963819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2692541539999 meters 0.019877492960489355 Centerline is valid? [True, True] Translation: X:802.49, Y:9.13, Z:5.57 [[ 9.99512852e-01 -2.98214827e-02 -9.20534584e-03 8.02485337e+02] [ 2.98181822e-02 9.99555216e-01 -4.95606455e-04 9.12573455e+00] [ 9.21603117e-03 2.20878341e-04 9.99957507e-01 5.57043907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2992541539999 meters 0.021725832222596074 Centerline is valid? [True, True] Translation: X:802.51, Y:9.12, Z:5.57 [[ 9.99556549e-01 -2.83643632e-02 -9.06462527e-03 8.02514520e+02] [ 2.83610824e-02 9.99597623e-01 -4.90296926e-04 9.12308881e+00] [ 9.07488484e-03 2.32996920e-04 9.99958795e-01 5.57041768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3292541539998 meters 0.02219355524191838 Centerline is valid? [True, True] Translation: X:802.54, Y:9.12, Z:5.57 [[ 9.99630044e-01 -2.59715458e-02 -8.07804177e-03 8.02542725e+02] [ 2.59688470e-02 9.99662656e-01 -4.38815953e-04 9.11945455e+00] [ 8.08671342e-03 2.28876179e-04 9.99967276e-01 5.57185927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3592541539999 meters 0.022734448716570467 Centerline is valid? [True, True] Translation: X:802.57, Y:9.12, Z:5.57 [[ 9.99647627e-01 -2.52805827e-02 -8.09406549e-03 8.02570816e+02] [ 2.52778349e-02 9.99680367e-01 -4.41621508e-04 9.11873384e+00] [ 8.10264280e-03 2.36865442e-04 9.99967145e-01 5.57257244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3892541539999 meters 0.02300006938912974 Centerline is valid? [True, True] Translation: X:802.60, Y:9.11, Z:5.57 [[ 9.99669817e-01 -2.40497082e-02 -9.04807491e-03 8.02600072e+02] [ 2.40462099e-02 9.99710725e-01 -4.95238438e-04 9.11093622e+00] [ 9.05736787e-03 2.77503010e-04 9.99958943e-01 5.57164498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4192541539999 meters 0.02068017674481954 Centerline is valid? [True, True] Translation: X:802.63, Y:9.11, Z:5.57 [[ 9.99676999e-01 -2.38493041e-02 -8.78110382e-03 8.02627953e+02] [ 2.38459842e-02 9.99715528e-01 -4.82594696e-04 9.10929290e+00] [ 8.79011538e-03 2.73044754e-04 9.99961329e-01 5.57445806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4492541539998 meters 0.022084970809156557 Centerline is valid? [True, True] Translation: X:802.66, Y:9.10, Z:5.57 [[ 9.99644600e-01 -2.44785825e-02 -1.05580907e-02 8.02656309e+02] [ 2.44737942e-02 9.99700302e-01 -5.82501605e-04 9.09971944e+00] [ 1.05691853e-02 3.23898044e-04 9.99944092e-01 5.57286124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4792541539999 meters 0.02313925448028613 Centerline is valid? [True, True] Translation: X:802.68, Y:9.09, Z:5.57 [[ 9.99599990e-01 -2.66443175e-02 -9.48363972e-03 8.02684188e+02] [ 2.66405310e-02 9.99644940e-01 -5.25397177e-04 9.09222820e+00] [ 9.49427131e-03 2.72537816e-04 9.99954891e-01 5.57359022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5092541539999 meters 0.022060741760025412 Centerline is valid? [True, True] Translation: X:802.71, Y:9.08, Z:5.58 [[ 9.99468678e-01 -3.15198086e-02 -8.29842932e-03 8.02714357e+02] [ 3.15170678e-02 9.99503108e-01 -4.60875269e-04 9.07779903e+00] [ 8.30883259e-03 1.99088236e-04 9.99965461e-01 5.57514288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5392541539999 meters 0.022022037102621163 Centerline is valid? [True, True] Translation: X:802.74, Y:9.07, Z:5.58 [[ 9.99401946e-01 -3.34914237e-02 -8.60671214e-03 8.02742360e+02] [ 3.34885329e-02 9.99438987e-01 -4.79816108e-04 9.07475500e+00] [ 8.61795339e-03 1.91302989e-04 9.99962846e-01 5.57502075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5692541539999 meters 0.02014887237010979 Centerline is valid? [True, True] Translation: X:802.77, Y:9.05, Z:5.57 [[ 9.98915814e-01 -4.51114795e-02 -1.14957093e-02 8.02772855e+02] [ 4.51070798e-02 9.98981951e-01 -6.41855927e-04 9.04927836e+00] [ 1.15129612e-02 1.22622160e-04 9.99933716e-01 5.57288410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5992541539999 meters 0.019400377915609522 Centerline is valid? [True, True] Translation: X:802.80, Y:9.05, Z:5.57 [[ 9.98747268e-01 -4.84867625e-02 -1.23664292e-02 8.02802234e+02] [ 4.84819101e-02 9.98823821e-01 -6.92042928e-04 9.04511004e+00] [ 1.23854390e-02 9.16278734e-05 9.99923293e-01 5.57264324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6292541539999 meters 0.019400377915609522 Centerline is valid? [True, True] Translation: X:802.83, Y:9.05, Z:5.57 [[ 9.98733954e-01 -4.87602885e-02 -1.23662523e-02 8.02829685e+02] [ 4.87554181e-02 9.98810506e-01 -6.95193114e-04 9.04674253e+00] [ 1.23854405e-02 9.13911662e-05 9.99923293e-01 5.57283369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6592541539999 meters 0.020410640260483955 Centerline is valid? [True, True] Translation: X:802.86, Y:9.04, Z:5.57 [[ 9.98540773e-01 -5.24699632e-02 -1.27760944e-02 8.02858621e+02] [ 5.24650251e-02 9.98622501e-01 -7.21602853e-04 9.04266130e+00] [ 1.27963578e-02 5.02517561e-05 9.99918122e-01 5.57224936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6892541539999 meters 0.020410640260483955 Centerline is valid? [True, True] Translation: X:802.89, Y:9.04, Z:5.57 [[ 9.98526386e-01 -5.27430768e-02 -1.27759098e-02 8.02886072e+02] [ 5.27381193e-02 9.98608114e-01 -7.24860256e-04 9.04430794e+00] [ 1.27963585e-02 5.00146361e-05 9.99918122e-01 5.57243981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7192541539999 meters 0.020410640260483955 Centerline is valid? [True, True] Translation: X:802.91, Y:9.05, Z:5.57 [[ 9.98511925e-01 -5.30161881e-02 -1.27757108e-02 8.02913523e+02] [ 5.30112083e-02 9.98593652e-01 -7.28354347e-04 9.04596219e+00] [ 1.27963583e-02 5.00146351e-05 9.99918122e-01 5.57263025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7492541539999 meters 0.017504078314440855 Centerline is valid? [True, True] Translation: X:802.94, Y:9.04, Z:5.57 [[ 9.98305233e-01 -5.68345700e-02 -1.25097607e-02 8.02941851e+02] [ 5.68300628e-02 9.98383609e-01 -7.15771111e-04 9.04197510e+00] [ 1.25302206e-02 3.62755955e-06 9.99921494e-01 5.57425708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7792541539999 meters 0.01590900660887126 Centerline is valid? [True, True] Translation: X:802.97, Y:9.04, Z:5.58 [[ 9.98079097e-01 -6.07473747e-02 -1.21602980e-02 8.02970301e+02] [ 6.07433781e-02 9.98153172e-01 -6.98077274e-04 9.03809400e+00] [ 1.21802464e-02 -4.19212443e-05 9.99925817e-01 5.57645292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8092541539999 meters 0.019383752707730614 Centerline is valid? [True, True] Translation: X:803.00, Y:9.03, Z:5.58 [[ 9.97322617e-01 -7.22556922e-02 -1.12566705e-02 8.03000336e+02] [ 7.22529775e-02 9.97386127e-01 -6.48187545e-04 9.02550597e+00] [ 1.12740823e-02 -1.66875864e-04 9.99936432e-01 5.57653625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.839254154 meters 0.0253130362107468 Centerline is valid? [True, True] Translation: X:803.03, Y:9.00, Z:5.58 [[ 9.95414049e-01 -9.50222490e-02 -1.10291810e-02 8.03031233e+02] [ 9.50210324e-02 9.95475062e-01 -6.35461616e-04 9.00031762e+00] [ 1.10396577e-02 -4.15456747e-04 9.99938975e-01 5.57971074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8692541539999 meters 0.022296194944178865 Centerline is valid? [True, True] Translation: X:803.06, Y:9.01, Z:5.58 [[ 9.95175615e-01 -9.75275286e-02 -1.06712747e-02 8.03060394e+02] [ 9.75265318e-02 9.95232735e-01 -6.14992728e-04 9.00627276e+00] [ 1.06803807e-02 -4.28706649e-04 9.99942871e-01 5.58097941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8992541539999 meters 0.022296194944178865 Centerline is valid? [True, True] Translation: X:803.09, Y:9.01, Z:5.58 [[ 9.95148047e-01 -9.78084404e-02 -1.06711996e-02 8.03087880e+02] [ 9.78074458e-02 9.95205167e-01 -6.16294362e-04 9.00793409e+00] [ 1.06803117e-02 -4.30418641e-04 9.99942871e-01 5.58117019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9292541539999 meters 0.022296194944178865 Centerline is valid? [True, True] Translation: X:803.12, Y:9.01, Z:5.58 [[ 9.95120398e-01 -9.80893562e-02 -1.06710249e-02 8.03115366e+02] [ 9.80883455e-02 9.95177518e-01 -6.19306514e-04 9.00960391e+00] [ 1.06803114e-02 -4.30418630e-04 9.99942871e-01 5.58136078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9592541539998 meters 0.022296194944178865 Centerline is valid? [True, True] Translation: X:803.14, Y:9.01, Z:5.58 [[ 9.95092671e-01 -9.83702642e-02 -1.06708494e-02 8.03142851e+02] [ 9.83692373e-02 9.95149791e-01 -6.22318618e-04 9.01128148e+00] [ 1.06803112e-02 -4.30418619e-04 9.99942871e-01 5.58155137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9892541539999 meters 0.022296194944178865 Centerline is valid? [True, True] Translation: X:803.17, Y:9.01, Z:5.58 [[ 9.95064864e-01 -9.86511643e-02 -1.06706730e-02 8.03170336e+02] [ 9.86501214e-02 9.95121984e-01 -6.25330671e-04 9.01296682e+00] [ 1.06803109e-02 -4.30418608e-04 9.99942871e-01 5.58174196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0192541539999 meters 0.022296194944178865 Centerline is valid? [True, True] Translation: X:803.20, Y:9.01, Z:5.58 [[ 9.95036979e-01 -9.89320566e-02 -1.06704958e-02 8.03197820e+02] [ 9.89309975e-02 9.95094098e-01 -6.28342675e-04 9.01465991e+00] [ 1.06803106e-02 -4.30418597e-04 9.99942871e-01 5.58193254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0492541539999 meters 0.02487657598119329 Centerline is valid? [True, True] Translation: X:803.23, Y:9.02, Z:5.58 [[ 9.94756266e-01 -1.01722912e-01 -1.06028056e-02 8.03227311e+02] [ 1.01722002e-01 9.94812667e-01 -6.26434274e-04 9.01517852e+00] [ 1.06115280e-02 -4.55389191e-04 9.99943592e-01 5.57983454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0792541539998 meters 0.02487657598119329 Centerline is valid? [True, True] Translation: X:803.25, Y:9.02, Z:5.58 [[ 9.94727182e-01 -1.02006940e-01 -1.06027287e-02 8.03254798e+02] [ 1.02006032e-01 9.94783582e-01 -6.27731225e-04 9.01688330e+00] [ 1.06114534e-02 -4.57120980e-04 9.99943592e-01 5.58002534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1092541539999 meters 0.024973393763476567 Centerline is valid? [True, True] Translation: X:803.28, Y:9.02, Z:5.58 [[ 9.94485740e-01 -1.04344536e-01 -1.05038314e-02 8.03283875e+02] [ 1.04343753e-01 9.94541096e-01 -6.24038969e-04 9.02151793e+00] [ 1.05116071e-02 -4.75411337e-04 9.99944639e-01 5.57978667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1392541539999 meters 0.03612116810045633 Centerline is valid? [True, True] Translation: X:803.31, Y:9.01, Z:5.58 [[ 9.94244366e-01 -1.06665961e-01 -1.00256642e-02 8.03313790e+02] [ 1.06665352e-01 9.94294799e-01 -5.96904294e-04 9.00714770e+00] [ 1.00321352e-02 -4.75922277e-04 9.99949564e-01 5.57969810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1692541539999 meters 0.027419364801382854 Centerline is valid? [True, True] Translation: X:803.34, Y:9.03, Z:5.58 [[ 9.93945815e-01 -1.09462525e-01 -9.46958757e-03 8.03341253e+02] [ 1.09462089e-01 9.93990810e-01 -5.65872847e-04 9.02557394e+00] [ 9.47462490e-03 -4.74113893e-04 9.99955002e-01 5.58091339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1992541539998 meters 0.02785093877219268 Centerline is valid? [True, True] Translation: X:803.37, Y:9.03, Z:5.58 [[ 9.93869059e-01 -1.10179671e-01 -9.20506836e-03 8.03369221e+02] [ 1.10179284e-01 9.93911577e-01 -5.50720041e-04 9.03047500e+00] [ 9.20970216e-03 -4.66864228e-04 9.99957481e-01 5.58118034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2292541539999 meters 0.02785093877219268 Centerline is valid? [True, True] Translation: X:803.40, Y:9.03, Z:5.58 [[ 9.93838192e-01 -1.10457757e-01 -9.20499345e-03 8.03396714e+02] [ 1.10457370e-01 9.93880710e-01 -5.51969280e-04 9.03219409e+00] [ 9.20963471e-03 -4.68191215e-04 9.99957481e-01 5.58137115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2592541539999 meters 0.02463775266891911 Centerline is valid? [True, True] Translation: X:803.43, Y:9.04, Z:5.58 [[ 9.94037726e-01 -1.08636033e-01 -9.33872099e-03 8.03425339e+02] [ 1.08635531e-01 9.94081488e-01 -5.62533316e-04 9.04452475e+00] [ 9.34456104e-03 -4.55337574e-04 9.99956235e-01 5.58148148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2892541539999 meters 0.024578336213925477 Centerline is valid? [True, True] Translation: X:803.45, Y:9.05, Z:5.58 [[ 9.94246821e-01 -1.06725657e-01 -9.10455257e-03 8.03453091e+02] [ 1.06725084e-01 9.94288416e-01 -5.50225349e-04 9.04896346e+00] [ 9.11127431e-03 -4.24624332e-04 9.99958401e-01 5.58163420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3192541539999 meters 0.025965826538109374 Centerline is valid? [True, True] Translation: X:803.48, Y:9.06, Z:5.58 [[ 9.94711274e-01 -1.02256910e-01 -9.64393536e-03 8.03482847e+02] [ 1.02256050e-01 9.94757940e-01 -5.83532904e-04 9.06093306e+00] [ 9.65305155e-03 -4.05703977e-04 9.99953326e-01 5.57918320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3492541539999 meters 0.02127546793514807 Centerline is valid? [True, True] Translation: X:803.51, Y:9.07, Z:5.58 [[ 9.94967467e-01 -9.98634997e-02 -8.18663988e-03 8.03511622e+02] [ 9.98627956e-02 9.95001094e-01 -4.95755109e-04 9.06790680e+00] [ 8.19522347e-03 -3.24280540e-04 9.99966366e-01 5.58493976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3792541539999 meters 0.02268303866238211 Centerline is valid? [True, True] Translation: X:803.54, Y:9.08, Z:5.58 [[ 9.95131882e-01 -9.81702788e-02 -8.66794736e-03 8.03539909e+02] [ 9.81694067e-02 9.95169578e-01 -5.27049693e-04 9.07575164e+00] [ 8.67781813e-03 -3.26443297e-04 9.99962294e-01 5.58143737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4092541539999 meters 0.023786344125324814 Centerline is valid? [True, True] Translation: X:803.57, Y:9.08, Z:5.58 [[ 9.95571609e-01 -9.37172757e-02 -7.36504779e-03 8.03568465e+02] [ 9.37165132e-02 9.95598821e-01 -4.49331377e-04 9.08410004e+00] [ 7.37474301e-03 -2.42885037e-04 9.99972777e-01 5.58199290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4392541539999 meters 0.02247245277038012 Centerline is valid? [True, True] Translation: X:803.60, Y:9.09, Z:5.58 [[ 9.95732992e-01 -9.19691892e-02 -7.58129427e-03 8.03596650e+02] [ 9.19683285e-02 9.95761825e-01 -4.62822782e-04 9.09351646e+00] [ 7.59172886e-03 -2.36391048e-04 9.99971154e-01 5.58249759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4692541539999 meters 0.02247245277038012 Centerline is valid? [True, True] Translation: X:803.62, Y:9.10, Z:5.58 [[ 9.95706621e-01 -9.22542762e-02 -7.58117506e-03 8.03624106e+02] [ 9.22534089e-02 9.95735453e-01 -4.64767671e-04 9.09527135e+00] [ 7.59172159e-03 -2.36616996e-04 9.99971154e-01 5.58268812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4992541539999 meters 0.019804085935793362 Centerline is valid? [True, True] Translation: X:803.65, Y:9.10, Z:5.59 [[ 9.95896176e-01 -9.02802947e-02 -6.34629525e-03 8.03651657e+02] [ 9.02796367e-02 9.95916379e-01 -3.90675937e-04 9.10154691e+00] [ 6.35564972e-03 -1.83868557e-04 9.99979786e-01 5.58568495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5292541539999 meters 0.01726396215743387 Centerline is valid? [True, True] Translation: X:803.68, Y:9.11, Z:5.59 [[ 9.96276731e-01 -8.60374250e-02 -5.49878203e-03 8.03679872e+02] [ 8.60368640e-02 9.96291897e-01 -3.38934476e-04 9.11486571e+00] [ 5.50755303e-03 -1.35425429e-04 9.99984824e-01 5.58740313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5592541539999 meters 0.01692158236668415 Centerline is valid? [True, True] Translation: X:803.71, Y:9.12, Z:5.59 [[ 9.96460132e-01 -8.38887939e-02 -5.46588845e-03 8.03707307e+02] [ 8.38882052e-02 9.96475115e-01 -3.37270558e-04 9.12128053e+00] [ 5.47491504e-03 -1.22446907e-04 9.99985005e-01 5.58715165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5892541539998 meters 0.018167876277016635 Centerline is valid? [True, True] Translation: X:803.74, Y:9.13, Z:5.58 [[ 9.96605782e-01 -8.20676937e-02 -6.46595835e-03 8.03736176e+02] [ 8.20668277e-02 9.96626749e-01 -3.99600313e-04 9.12882996e+00] [ 6.47694132e-03 -1.32396707e-04 9.99979016e-01 5.58384136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6192541539999 meters 0.020146849533833527 Centerline is valid? [True, True] Translation: X:803.76, Y:9.14, Z:5.58 [[ 9.96930834e-01 -7.78469670e-02 -8.29232609e-03 8.03763438e+02] [ 7.78453781e-02 9.96965311e-01 -5.14694418e-04 9.13824217e+00] [ 8.30722886e-03 -1.32404524e-04 9.99965486e-01 5.58163797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6492541539999 meters 0.0192530858025445 Centerline is valid? [True, True] Translation: X:803.79, Y:9.15, Z:5.58 [[ 9.97064864e-01 -7.60732410e-02 -8.63244086e-03 8.03791692e+02] [ 7.60714433e-02 9.97102225e-01 -5.36889474e-04 9.14625308e+00] [ 8.64826891e-03 -1.21368605e-04 9.99962596e-01 5.58171642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6792541539999 meters 0.018039777354755877 Centerline is valid? [True, True] Translation: X:803.82, Y:9.15, Z:5.58 [[ 9.97200969e-01 -7.42872637e-02 -8.46344506e-03 8.03820171e+02] [ 7.42854534e-02 9.97236879e-01 -5.28497794e-04 9.15242571e+00] [ 8.47932019e-03 -1.01692341e-04 9.99964045e-01 5.58217826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7092541539998 meters 0.018810493732137865 Centerline is valid? [True, True] Translation: X:803.85, Y:9.16, Z:5.58 [[ 9.97360891e-01 -7.21331634e-02 -8.24982297e-03 8.03847652e+02] [ 7.21313542e-02 9.97395007e-01 -5.17011976e-04 9.15782539e+00] [ 8.26562595e-03 -7.94233779e-05 9.99965836e-01 5.58200584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7392541539999 meters 0.016377650765743636 Centerline is valid? [True, True] Translation: X:803.88, Y:9.17, Z:5.58 [[ 9.97649417e-01 -6.82035896e-02 -6.62656662e-03 8.03876415e+02] [ 6.82023328e-02 9.97671423e-01 -4.15720603e-04 9.16779592e+00] [ 6.63948979e-03 -3.72038844e-05 9.99977958e-01 5.58354220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7692541539999 meters 0.019213340067097552 Centerline is valid? [True, True] Translation: X:803.90, Y:9.17, Z:5.58 [[ 9.97776438e-01 -6.62607391e-02 -7.18992437e-03 8.03904219e+02] [ 6.62591956e-02 9.97802342e-01 -4.52917138e-04 9.17308160e+00] [ 7.20413400e-03 -2.44885570e-05 9.99974050e-01 5.58218933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7992541539999 meters 0.013841986018682997 Centerline is valid? [True, True] Translation: X:803.93, Y:9.18, Z:5.59 [[ 9.97912855e-01 -6.42912728e-02 -6.04704931e-03 8.03930732e+02] [ 6.42901356e-02 9.97931176e-01 -3.82455998e-04 9.17828502e+00] [ 6.05912762e-03 -7.10786414e-06 9.99981643e-01 5.58668235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8292541539998 meters 0.016306841857402353 Centerline is valid? [True, True] Translation: X:803.96, Y:9.19, Z:5.58 [[ 9.98189968e-01 -5.96945658e-02 -7.30381983e-03 8.03957790e+02] [ 5.96927711e-02 9.98216689e-01 -4.63660308e-04 9.18621544e+00] [ 7.31847284e-03 2.68358238e-05 9.99973219e-01 5.58310876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8592541539999 meters 0.015872009102421605 Centerline is valid? [True, True] Translation: X:803.99, Y:9.19, Z:5.58 [[ 9.98324689e-01 -5.73959143e-02 -7.31597806e-03 8.03986517e+02] [ 5.73940467e-02 9.98351495e-01 -4.65153749e-04 9.19071994e+00] [ 7.33061556e-03 4.44808858e-05 9.99973130e-01 5.58313595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8892541539999 meters 0.017143422967035186 Centerline is valid? [True, True] Translation: X:804.01, Y:9.20, Z:5.58 [[ 9.98584893e-01 -5.24918533e-02 -8.53326710e-03 8.04014731e+02] [ 5.24891126e-02 9.98621348e-01 -5.44970384e-04 9.19615767e+00] [ 8.55010920e-03 9.62955753e-05 9.99963443e-01 5.58181947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9192541539999 meters 0.016599382302020377 Centerline is valid? [True, True] Translation: X:804.04, Y:9.20, Z:5.58 [[ 9.98708917e-01 -5.00757048e-02 -8.53951906e-03 8.04042035e+02] [ 5.00728554e-02 9.98745418e-01 -5.47280593e-04 9.20060765e+00] [ 8.55621099e-03 1.18975905e-04 9.99963388e-01 5.58263865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9492541539998 meters 0.018653462467274513 Centerline is valid? [True, True] Translation: X:804.07, Y:9.20, Z:5.58 [[ 9.98811360e-01 -4.77968954e-02 -9.55631642e-03 8.04070932e+02] [ 4.77932095e-02 9.98857063e-01 -6.13823858e-04 9.20310419e+00] [ 9.57473303e-03 1.56367209e-04 9.99954149e-01 5.58165058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9792541539999 meters 0.019412237250094812 Centerline is valid? [True, True] Translation: X:804.10, Y:9.21, Z:5.58 [[ 9.98926738e-01 -4.54235465e-02 -9.05943120e-03 8.04098289e+02] [ 4.54201193e-02 9.98967803e-01 -5.83797772e-04 9.20773930e+00] [ 9.07659825e-03 1.71690759e-04 9.99958792e-01 5.58173569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0092541539999 meters 0.02138967047054752 Centerline is valid? [True, True] Translation: X:804.13, Y:9.21, Z:5.58 [[ 9.99144877e-01 -4.04086741e-02 -8.75518951e-03 8.04126700e+02] [ 4.04052745e-02 9.99183214e-01 -5.64904578e-04 9.21375379e+00] [ 8.77086543e-03 2.10665680e-04 9.99961513e-01 5.58206026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0392541539999 meters 0.02110310895259559 Centerline is valid? [True, True] Translation: X:804.15, Y:9.21, Z:5.58 [[ 9.99247472e-01 -3.77911123e-02 -8.73626208e-03 8.04154993e+02] [ 3.77876227e-02 9.99285633e-01 -5.64218095e-04 9.21371221e+00] [ 8.75134362e-03 2.33670930e-04 9.99961679e-01 5.58263868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0692541539999 meters 0.021978006955830895 Centerline is valid? [True, True] Translation: X:804.18, Y:9.22, Z:5.58 [[ 9.99335819e-01 -3.53764669e-02 -8.74217275e-03 8.04183755e+02] [ 3.53728706e-02 9.99374024e-01 -5.65698724e-04 9.21637325e+00] [ 8.75671278e-03 2.56087253e-04 9.99961626e-01 5.58259672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0992541539999 meters 0.019989261273080455 Centerline is valid? [True, True] Translation: X:804.21, Y:9.22, Z:5.59 [[ 9.99489389e-01 -3.11067928e-02 -7.30270903e-03 8.04213558e+02] [ 3.11041586e-02 9.99516036e-01 -4.74038830e-04 9.21758758e+00] [ 7.31392061e-03 2.46652160e-04 9.99973223e-01 5.58556716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1292541539999 meters 0.024424480255931812 Centerline is valid? [True, True] Translation: X:804.24, Y:9.22, Z:5.58 [[ 9.99539319e-01 -2.90119280e-02 -8.91387236e-03 8.04242409e+02] [ 2.90079127e-02 9.99579014e-01 -5.79443710e-04 9.21881057e+00] [ 8.92693052e-03 3.20603941e-04 9.99960103e-01 5.58132505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1592541539999 meters 0.02499889070857141 Centerline is valid? [True, True] Translation: X:804.27, Y:9.22, Z:5.58 [[ 9.99596847e-01 -2.70823144e-02 -8.52598700e-03 8.04270465e+02] [ 2.70785551e-02 9.99633154e-01 -5.56068488e-04 9.22195579e+00] [ 8.53791889e-03 3.24972898e-04 9.99963498e-01 5.58218122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1892541539999 meters 0.02535990481699035 Centerline is valid? [True, True] Translation: X:804.30, Y:9.22, Z:5.58 [[ 9.99679004e-01 -2.35484772e-02 -9.34654546e-03 8.04300584e+02] [ 2.35437981e-02 9.99722620e-01 -6.10361937e-04 9.21936782e+00] [ 9.35832601e-03 3.90112835e-04 9.99956134e-01 5.58158061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2192541539999 meters 0.026446737193327685 Centerline is valid? [True, True] Translation: X:804.33, Y:9.22, Z:5.58 [[ 9.99711686e-01 -2.20089472e-02 -9.59951991e-03 8.04329291e+02] [ 2.20039315e-02 9.99757687e-01 -6.27811044e-04 9.21920761e+00] [ 9.61101129e-03 4.16402859e-04 9.99953726e-01 5.58118477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2492541539999 meters 0.027149195728599577 Centerline is valid? [True, True] Translation: X:804.36, Y:9.21, Z:5.58 [[ 9.99764635e-01 -1.96825581e-02 -9.12534699e-03 8.04359628e+02] [ 1.96779131e-02 9.99806192e-01 -5.98530744e-04 9.21481000e+00] [ 9.13535904e-03 4.18822085e-04 9.99958184e-01 5.58126465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2792541539999 meters 0.027609457416488462 Centerline is valid? [True, True] Translation: X:804.39, Y:9.21, Z:5.58 [[ 9.99784246e-01 -1.89954989e-02 -8.40434680e-03 8.04388699e+02] [ 1.89915297e-02 9.99819492e-01 -5.51848372e-04 9.21419212e+00] [ 8.41331239e-03 3.92117907e-04 9.99964531e-01 5.58191188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3092541539999 meters 0.0262351329093738 Centerline is valid? [True, True] Translation: X:804.42, Y:9.21, Z:5.59 [[ 9.99799933e-01 -1.87574677e-02 -6.94634384e-03 8.04418047e+02] [ 1.87547404e-02 9.99824010e-01 -4.57566340e-04 9.21317375e+00] [ 6.95370414e-03 3.27197921e-04 9.99975769e-01 5.58532040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3392541539998 meters 0.028497581870455417 Centerline is valid? [True, True] Translation: X:804.45, Y:9.21, Z:5.58 [[ 9.99803497e-01 -1.85364641e-02 -7.02621649e-03 8.04447797e+02] [ 1.85336557e-02 9.99828129e-01 -4.64611961e-04 9.20671812e+00] [ 7.03362116e-03 3.34299186e-04 9.99975208e-01 5.58267680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3692541539999 meters 0.024685587684750356 Centerline is valid? [True, True] Translation: X:804.48, Y:9.20, Z:5.59 [[ 9.99801971e-01 -1.90249482e-02 -5.83700536e-03 8.04475947e+02] [ 1.90230117e-02 9.99818971e-01 -3.87107381e-04 9.20208744e+00] [ 5.84331339e-03 2.75993301e-04 9.99982890e-01 5.58592348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3992541539999 meters 0.02656579628051725 Centerline is valid? [True, True] Translation: X:804.50, Y:9.20, Z:5.58 [[ 9.99788528e-01 -1.94140857e-02 -6.78174831e-03 8.04504170e+02] [ 1.94114645e-02 9.99811478e-01 -4.52123678e-04 9.20025200e+00] [ 6.78924736e-03 3.20384400e-04 9.99976901e-01 5.58369934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4292541539999 meters 0.027942742375525496 Centerline is valid? [True, True] Translation: X:804.53, Y:9.20, Z:5.58 [[ 9.99762577e-01 -2.02766049e-02 -7.97798373e-03 8.04533623e+02] [ 2.02729967e-02 9.99794340e-01 -5.32889087e-04 9.19682334e+00] [ 7.98714815e-03 3.71024929e-04 9.99968033e-01 5.58164361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4592541539998 meters 0.028221389654434062 Centerline is valid? [True, True] Translation: X:804.56, Y:9.19, Z:5.58 [[ 9.99713563e-01 -2.24585992e-02 -8.27056948e-03 8.04562619e+02] [ 2.24547800e-02 9.99747706e-01 -5.54363571e-04 9.18897087e+00] [ 8.28093309e-03 3.68490963e-04 9.99965645e-01 5.58095097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4892541539999 meters 0.02713933113410486 Centerline is valid? [True, True] Translation: X:804.59, Y:9.19, Z:5.58 [[ 9.99679635e-01 -2.39151680e-02 -8.28812753e-03 8.04591612e+02] [ 2.39113755e-02 9.99713927e-01 -5.56386984e-04 9.18573750e+00] [ 8.29906261e-03 3.58028207e-04 9.99965498e-01 5.58159122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5192541539999 meters 0.025665063115097208 Centerline is valid? [True, True] Translation: X:804.62, Y:9.17, Z:5.58 [[ 9.99647446e-01 -2.54199530e-02 -7.66875056e-03 8.04621370e+02] [ 2.54167366e-02 9.99676809e-01 -5.16610859e-04 9.17460553e+00] [ 7.67940432e-03 3.21514113e-04 9.99970461e-01 5.58147714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5492541539999 meters 0.025287178124375687 Centerline is valid? [True, True] Translation: X:804.65, Y:9.17, Z:5.58 [[ 9.99642209e-01 -2.58191718e-02 -6.98741426e-03 8.04649521e+02] [ 2.58164997e-02 9.99666587e-01 -4.72352835e-04 9.17268976e+00] [ 6.99728032e-03 2.91793253e-04 9.99975476e-01 5.58240463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5792541539998 meters 0.022342502440401934 Centerline is valid? [True, True] Translation: X:804.68, Y:9.17, Z:5.59 [[ 9.99651469e-01 -2.58134335e-02 -5.53235593e-03 8.04678679e+02] [ 2.58117575e-02 9.99666751e-01 -3.74136687e-04 9.16871957e+00] [ 5.54017003e-03 2.31206459e-04 9.99984626e-01 5.58685111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6092541539999 meters 0.026222819745313097 Centerline is valid? [True, True] Translation: X:804.71, Y:9.16, Z:5.58 [[ 9.99634915e-01 -2.61253685e-02 -6.89221255e-03 8.04707776e+02] [ 2.61227595e-02 9.99658633e-01 -4.68308360e-04 9.16073846e+00] [ 6.90209451e-03 2.88093777e-04 9.99976139e-01 5.58177277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6392541539999 meters 0.02410669923216727 Centerline is valid? [True, True] Translation: X:804.74, Y:9.16, Z:5.59 [[ 9.99671018e-01 -2.51048765e-02 -5.25359178e-03 8.04735535e+02] [ 2.51033392e-02 9.99684797e-01 -3.58370457e-04 9.15989192e+00] [ 5.26093268e-03 2.26369863e-04 9.99986136e-01 5.58653988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6692541539999 meters 0.024898367809657988 Centerline is valid? [True, True] Translation: X:804.76, Y:9.16, Z:5.58 [[ 9.99672287e-01 -2.47053228e-02 -6.70557030e-03 8.04764521e+02] [ 2.47028043e-02 9.99694734e-01 -4.58166936e-04 9.15624352e+00] [ 6.71484248e-03 2.92370398e-04 9.99977412e-01 5.58331767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6992541539998 meters 0.028638874927103704 Centerline is valid? [True, True] Translation: X:804.79, Y:9.15, Z:5.58 [[ 9.99712414e-01 -2.25523183e-02 -8.15363299e-03 8.04793136e+02] [ 2.25485048e-02 9.99745594e-01 -5.59341223e-04 9.15113740e+00] [ 8.16417309e-03 3.75328132e-04 9.99966602e-01 5.58042623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7292541539999 meters 0.027689220233729484 Centerline is valid? [True, True] Translation: X:804.82, Y:9.15, Z:5.58 [[ 9.99737101e-01 -2.14742120e-02 -8.03659279e-03 8.04822251e+02] [ 2.14704662e-02 9.99769331e-01 -5.52087065e-04 9.14915220e+00] [ 8.04659463e-03 3.79392529e-04 9.99967554e-01 5.58112228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7592541539999 meters 0.02841305480831365 Centerline is valid? [True, True] Translation: X:804.85, Y:9.15, Z:5.58 [[ 9.99756046e-01 -2.05151998e-02 -8.18384350e-03 8.04850239e+02] [ 2.05112680e-02 9.99789463e-01 -5.64085510e-04 9.14782820e+00] [ 8.19369283e-03 3.96086891e-04 9.99966353e-01 5.58096054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7892541539999 meters 0.028039973392623267 Centerline is valid? [True, True] Translation: X:804.88, Y:9.15, Z:5.58 [[ 9.99786786e-01 -1.90706321e-02 -7.91794121e-03 8.04879387e+02] [ 1.90668997e-02 9.99818061e-01 -5.46601376e-04 9.14627496e+00] [ 7.92692466e-03 3.95514241e-04 9.99968503e-01 5.58421331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8192541539999 meters 0.03022608771105218 Centerline is valid? [True, True] Translation: X:804.91, Y:9.14, Z:5.58 [[ 9.99843817e-01 -1.58587074e-02 -7.80018107e-03 8.04908967e+02] [ 1.58549744e-02 9.99874156e-01 -5.40186435e-04 9.14137956e+00] [ 7.80776612e-03 4.16430396e-04 9.99969432e-01 5.58456415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8492541539999 meters 0.031817278067620774 Centerline is valid? [True, True] Translation: X:804.94, Y:9.14, Z:5.58 [[ 9.99867090e-01 -1.43786431e-02 -7.68482722e-03 8.04937199e+02] [ 1.43749739e-02 9.99896533e-01 -5.32490054e-04 9.14038615e+00] [ 7.69168858e-03 4.21950091e-04 9.99970330e-01 5.58486909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8792541539999 meters 0.03379784994131889 Centerline is valid? [True, True] Translation: X:804.97, Y:9.14, Z:5.58 [[ 9.99874684e-01 -1.37766944e-02 -7.79869019e-03 8.04966349e+02] [ 1.37728919e-02 9.99905003e-01 -5.41081149e-04 9.13882992e+00] [ 7.80540364e-03 4.33602826e-04 9.99969443e-01 5.58170698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9092541539999 meters 0.033217862849304995 Centerline is valid? [True, True] Translation: X:805.00, Y:9.14, Z:5.59 [[ 9.99899099e-01 -1.26053926e-02 -6.54944315e-03 8.04995403e+02] [ 1.26026771e-02 9.99920479e-01 -4.55724839e-04 9.13668619e+00] [ 6.55466693e-03 3.73138339e-04 9.99978448e-01 5.58584202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9392541539999 meters 0.03587902786641375 Centerline is valid? [True, True] Translation: X:805.02, Y:9.13, Z:5.58 [[ 9.99909732e-01 -1.18647102e-02 -6.30521577e-03 8.05023684e+02] [ 1.18621690e-02 9.99929545e-01 -4.40288411e-04 9.13179875e+00] [ 6.30999543e-03 3.65455132e-04 9.99980025e-01 5.58427225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9692541539999 meters 0.03400185253835192 Centerline is valid? [True, True] Translation: X:805.05, Y:9.13, Z:5.58 [[ 9.99902088e-01 -1.22582029e-02 -6.74912632e-03 8.05052298e+02] [ 1.22552961e-02 9.99924790e-01 -4.71874090e-04 9.12542229e+00] [ 6.75440305e-03 3.89115346e-04 9.99977113e-01 5.58308968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9992541539999 meters 0.033504806570149155 Centerline is valid? [True, True] Translation: X:805.08, Y:9.12, Z:5.58 [[ 9.99891487e-01 -1.30254292e-02 -6.88130424e-03 8.05082017e+02] [ 1.30224120e-02 9.99915088e-01 -4.83087880e-04 9.12178797e+00] [ 6.88701237e-03 3.93424280e-04 9.99976207e-01 5.58283231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0292541539999 meters 0.03314209588668271 Centerline is valid? [True, True] Translation: X:805.11, Y:9.11, Z:5.58 [[ 9.99858922e-01 -1.53687280e-02 -6.77773599e-03 8.05111575e+02] [ 1.53658441e-02 9.99881824e-01 -4.77373066e-04 9.11462769e+00] [ 6.78427165e-03 3.73160085e-04 9.99976917e-01 5.58418799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0592541539999 meters 0.03350395929385043 Centerline is valid? [True, True] Translation: X:805.14, Y:9.11, Z:5.58 [[ 9.99817114e-01 -1.74840997e-02 -7.74879467e-03 8.05141163e+02] [ 1.74803900e-02 9.99847057e-01 -5.46229331e-04 9.11112590e+00] [ 7.75715987e-03 4.10677481e-04 9.99969828e-01 5.58252138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0892541539998 meters 0.028080320778030687 Centerline is valid? [True, True] Translation: X:805.17, Y:9.10, Z:5.59 [[ 9.99786613e-01 -1.95963869e-02 -6.53529888e-03 8.05170519e+02] [ 1.95937848e-02 9.99807917e-01 -4.61956819e-04 9.10258290e+00] [ 6.54309624e-03 3.33807004e-04 9.99978538e-01 5.58681168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1192541539999 meters 0.026537544479733843 Centerline is valid? [True, True] Translation: X:805.20, Y:9.09, Z:5.59 [[ 9.99651897e-01 -2.54604327e-02 -6.91742073e-03 8.05201068e+02] [ 2.54576538e-02 9.99675782e-01 -4.89487179e-04 9.09203845e+00] [ 6.92764053e-03 3.13215485e-04 9.99975955e-01 5.58579096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1492541539999 meters 0.028159317049741648 Centerline is valid? [True, True] Translation: X:805.23, Y:9.09, Z:5.58 [[ 9.99557191e-01 -2.85972298e-02 -8.22312814e-03 8.05231260e+02] [ 2.85934070e-02 9.99590955e-01 -5.82097546e-04 9.08760394e+00] [ 8.23641089e-03 3.46712539e-04 9.99966020e-01 5.58194696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1792541539999 meters 0.027050800057925838 Centerline is valid? [True, True] Translation: X:805.26, Y:9.09, Z:5.58 [[ 9.99484484e-01 -3.12602338e-02 -7.31880604e-03 8.05259750e+02] [ 3.12572751e-02 9.99511238e-01 -5.18325518e-04 9.08504774e+00] [ 7.33143186e-03 2.89292378e-04 9.99973083e-01 5.58344343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2092541539998 meters 0.02355378771980048 Centerline is valid? [True, True] Translation: X:805.29, Y:9.07, Z:5.58 [[ 9.99292824e-01 -3.69796556e-02 -6.80863060e-03 8.05290391e+02] [ 3.69772246e-02 9.99315992e-01 -4.82635936e-04 9.07199862e+00] [ 6.82182115e-03 2.30530365e-04 9.99976705e-01 5.58374877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2392541539999 meters 0.021619676516457218 Centerline is valid? [True, True] Translation: X:805.32, Y:9.07, Z:5.59 [[ 9.99214817e-01 -3.91916079e-02 -5.81103309e-03 8.05318871e+02] [ 3.91898738e-02 9.99231697e-01 -4.12029141e-04 9.06778539e+00] [ 5.82271654e-03 1.83971969e-04 9.99983031e-01 5.58636721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2692541539999 meters 0.021766503612531813 Centerline is valid? [True, True] Translation: X:805.35, Y:9.06, Z:5.58 [[ 9.98987080e-01 -4.44323436e-02 -7.11195272e-03 8.05349071e+02] [ 4.44298736e-02 9.99012378e-01 -5.04995900e-04 9.05778478e+00] [ 7.12736695e-03 1.88501219e-04 9.99974582e-01 5.58276493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2992541539999 meters 0.020965439596257667 Centerline is valid? [True, True] Translation: X:805.38, Y:9.05, Z:5.58 [[ 9.98913129e-01 -4.60850889e-02 -6.98037867e-03 8.05378024e+02] [ 4.60827480e-02 9.98937503e-01 -4.95897634e-04 9.05430637e+00] [ 6.99581552e-03 1.73683626e-04 9.99975514e-01 5.58335944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3292541539998 meters 0.021213526750167317 Centerline is valid? [True, True] Translation: X:805.41, Y:9.05, Z:5.58 [[ 9.98829923e-01 -4.76812865e-02 -8.07960221e-03 8.05407897e+02] [ 4.76781851e-02 9.98862582e-01 -5.76152618e-04 9.04718487e+00] [ 8.09788402e-03 1.90257706e-04 9.99967193e-01 5.58135146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3592541539999 meters 0.021213526750167317 Centerline is valid? [True, True] Translation: X:805.44, Y:9.05, Z:5.58 [[ 9.98816092e-01 -4.79701722e-02 -8.07945296e-03 8.05435377e+02] [ 4.79670633e-02 9.98848751e-01 -5.78238483e-04 9.04922697e+00] [ 8.09788970e-03 1.90006271e-04 9.99967194e-01 5.58154200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3892541539999 meters 0.018244125421100276 Centerline is valid? [True, True] Translation: X:805.46, Y:9.04, Z:5.58 [[ 9.98807385e-01 -4.83772063e-02 -6.59197304e-03 8.05463922e+02] [ 4.83751351e-02 9.98829126e-01 -4.73391554e-04 9.04296463e+00] [ 6.60715603e-03 1.53939393e-04 9.99978161e-01 5.58433314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4192541539999 meters 0.016678309772526902 Centerline is valid? [True, True] Translation: X:805.49, Y:9.04, Z:5.59 [[ 9.98839407e-01 -4.78184881e-02 -5.76472908e-03 8.05492662e+02] [ 4.78168933e-02 9.98856032e-01 -4.14232700e-04 9.04014146e+00] [ 5.77794239e-03 1.38100509e-04 9.99983298e-01 5.58655096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4492541539998 meters 0.019776476320620566 Centerline is valid? [True, True] Translation: X:805.52, Y:9.04, Z:5.58 [[ 9.98863326e-01 -4.72464843e-02 -6.31074769e-03 8.05520315e+02] [ 4.72445498e-02 9.98883249e-01 -4.55361943e-04 9.04094705e+00] [ 6.32521441e-03 1.56695912e-04 9.99979983e-01 5.58445309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4792541539999 meters 0.01745030944496216 Centerline is valid? [True, True] Translation: X:805.55, Y:9.04, Z:5.59 [[ 9.98923275e-01 -4.61322171e-02 -4.91005427e-03 8.05549701e+02] [ 4.61310326e-02 9.98935334e-01 -3.54271322e-04 9.03867994e+00] [ 4.92117002e-03 1.27383995e-04 9.99987883e-01 5.58742159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5092541539999 meters 0.019813152144254213 Centerline is valid? [True, True] Translation: X:805.58, Y:9.04, Z:5.59 [[ 9.98960465e-01 -4.52848401e-02 -5.22226619e-03 8.05577319e+02] [ 4.52834796e-02 9.98974105e-01 -3.78524495e-04 9.03896013e+00] [ 5.23405011e-03 1.41648622e-04 9.99986292e-01 5.58555351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5392541539999 meters 0.020058163498467327 Centerline is valid? [True, True] Translation: X:805.61, Y:9.03, Z:5.58 [[ 9.99053584e-01 -4.31946727e-02 -5.11438423e-03 8.05606559e+02] [ 4.31933397e-02 9.99066663e-01 -3.70853216e-04 9.03445772e+00] [ 5.12562967e-03 1.49594900e-04 9.99986853e-01 5.58497045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5692541539999 meters 0.022517381749246012 Centerline is valid? [True, True] Translation: X:805.63, Y:9.03, Z:5.58 [[ 9.99099228e-01 -4.19705006e-02 -6.26181512e-03 8.05634459e+02] [ 4.19684650e-02 9.99118832e-01 -4.56182259e-04 9.03428283e+00] [ 6.27544361e-03 1.92972574e-04 9.99980291e-01 5.58356263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5992541539999 meters 0.022984628830593948 Centerline is valid? [True, True] Translation: X:805.66, Y:9.04, Z:5.58 [[ 9.99141021e-01 -4.10929763e-02 -5.34673285e-03 8.05661827e+02] [ 4.10914779e-02 9.99155312e-01 -3.89844590e-04 9.03685790e+00] [ 5.35823640e-03 1.69804567e-04 9.99985630e-01 5.58469546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6292541539999 meters 0.020736749814062785 Centerline is valid? [True, True] Translation: X:805.69, Y:9.03, Z:5.58 [[ 9.99194456e-01 -3.96999556e-02 -5.86115468e-03 8.05691153e+02] [ 3.96981266e-02 9.99211627e-01 -4.28110615e-04 9.02948993e+00] [ 5.87352988e-03 1.95088892e-04 9.99982732e-01 5.58472481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6592541539999 meters 0.02222190609816813 Centerline is valid? [True, True] Translation: X:805.72, Y:9.03, Z:5.58 [[ 9.99200048e-01 -3.93762566e-02 -6.98383578e-03 8.05718930e+02] [ 3.93736371e-02 9.99224426e-01 -5.12225933e-04 9.02921711e+00] [ 6.99858884e-03 2.36837162e-04 9.99975482e-01 5.58325115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6892541539999 meters 0.0219422808545316 Centerline is valid? [True, True] Translation: X:805.75, Y:9.03, Z:5.58 [[ 9.99210173e-01 -3.89554791e-02 -7.84222727e-03 8.05747699e+02] [ 3.89521530e-02 9.99240911e-01 -5.76478661e-04 9.02595025e+00] [ 7.85873132e-03 2.70551707e-04 9.99969083e-01 5.58274898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7192541539999 meters 0.021988128417189938 Centerline is valid? [True, True] Translation: X:805.78, Y:9.02, Z:5.58 [[ 9.99254022e-01 -3.79606918e-02 -7.09822290e-03 8.05775362e+02] [ 3.79579300e-02 9.99279201e-01 -5.23444241e-04 9.02477324e+00] [ 7.11297681e-03 2.53619915e-04 9.99974670e-01 5.58398013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7492541539999 meters 0.02197787170250937 Centerline is valid? [True, True] Translation: X:805.80, Y:9.02, Z:5.58 [[ 9.99242542e-01 -3.81024729e-02 -7.90847687e-03 8.05803626e+02] [ 3.80990411e-02 9.99273797e-01 -5.84204478e-04 9.02191816e+00] [ 7.92499335e-03 2.82456583e-04 9.99968557e-01 5.58294309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7792541539999 meters 0.027210558844385804 Centerline is valid? [True, True] Translation: X:805.83, Y:9.03, Z:5.58 [[ 9.99245673e-01 -3.78574279e-02 -8.65449536e-03 8.05830928e+02] [ 3.78532881e-02 9.99283101e-01 -6.41709131e-04 9.02821288e+00] [ 8.67258443e-03 3.13623967e-04 9.99962343e-01 5.58225018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8092541539999 meters 0.022444210314716814 Centerline is valid? [True, True] Translation: X:805.86, Y:9.02, Z:5.58 [[ 9.99234537e-01 -3.81723456e-02 -8.55645263e-03 8.05859705e+02] [ 3.81683011e-02 9.99271123e-01 -6.35541757e-04 9.01671141e+00] [ 8.57447615e-03 3.08470013e-04 9.99963191e-01 5.58321238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8392541539998 meters 0.021835358770583776 Centerline is valid? [True, True] Translation: X:805.89, Y:9.02, Z:5.59 [[ 9.99226729e-01 -3.85581759e-02 -7.69481122e-03 8.05887030e+02] [ 3.85549013e-02 9.99256319e-01 -5.73496708e-04 9.01665136e+00] [ 7.71120172e-03 2.76380553e-04 9.99970230e-01 5.58568683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8692541539999 meters 0.022945726473469485 Centerline is valid? [True, True] Translation: X:805.92, Y:9.01, Z:5.58 [[ 9.99128269e-01 -4.07523944e-02 -9.05229288e-03 8.05916611e+02] [ 4.07479330e-02 9.99169229e-01 -6.76810005e-04 9.00897917e+00] [ 9.07235413e-03 3.07357784e-04 9.99958798e-01 5.58307106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8992541539999 meters 0.021553550174166554 Centerline is valid? [True, True] Translation: X:805.94, Y:9.01, Z:5.59 [[ 9.99101102e-01 -4.17602407e-02 -7.28486768e-03 8.05944190e+02] [ 4.17573676e-02 9.99127631e-01 -5.46121128e-04 9.00980556e+00] [ 7.30131874e-03 2.41433323e-04 9.99973316e-01 5.58648875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9292541539999 meters 0.019974271590146087 Centerline is valid? [True, True] Translation: X:805.97, Y:9.01, Z:5.59 [[ 9.99055918e-01 -4.28440105e-02 -7.18767103e-03 8.05973590e+02] [ 4.28412345e-02 9.99081747e-01 -5.39808869e-04 9.00592136e+00] [ 7.20419850e-03 2.31370545e-04 9.99974023e-01 5.58709014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9592541539998 meters 0.020371495734314033 Centerline is valid? [True, True] Translation: X:806.00, Y:9.00, Z:5.59 [[ 9.98995033e-01 -4.41159412e-02 -7.91876836e-03 8.06003053e+02] [ 4.41125945e-02 9.99026387e-01 -5.96874372e-04 9.00440451e+00] [ 7.93739022e-03 2.46957116e-04 9.99968468e-01 5.58616466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9892541539999 meters 0.020795527475697916 Centerline is valid? [True, True] Translation: X:806.03, Y:9.00, Z:5.59 [[ 9.98940400e-01 -4.52814952e-02 -8.22575680e-03 8.06031884e+02] [ 4.52779060e-02 9.98974236e-01 -6.22130043e-04 9.00305189e+00] [ 8.24549009e-03 2.49025791e-04 9.99965974e-01 5.58583923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0192541539999 meters 0.020457401102145216 Centerline is valid? [True, True] Translation: X:806.06, Y:9.00, Z:5.59 [[ 9.98885190e-01 -4.64217812e-02 -8.56705801e-03 8.06060506e+02] [ 4.64179133e-02 9.98921896e-01 -6.49872225e-04 8.99954190e+00] [ 8.58799006e-03 2.51482786e-04 9.99963091e-01 5.58658910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0492541539999 meters 0.021979222996417525 Centerline is valid? [True, True] Translation: X:806.09, Y:9.00, Z:5.59 [[ 9.98841531e-01 -4.72106495e-02 -9.31395752e-03 8.06088376e+02] [ 4.72061040e-02 9.98884920e-01 -7.07394366e-04 8.99894730e+00] [ 9.33696826e-03 2.66899225e-04 9.99956374e-01 5.58506678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0792541539998 meters 0.02187643782703508 Centerline is valid? [True, True] Translation: X:806.12, Y:9.00, Z:5.58 [[ 9.98797645e-01 -4.80783155e-02 -9.57810401e-03 8.06117661e+02] [ 4.80735364e-02 9.98843533e-01 -7.28705549e-04 8.99564536e+00] [ 9.60206219e-03 2.67376055e-04 9.99953863e-01 5.58497533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1092541539999 meters 0.020119524853633882 Centerline is valid? [True, True] Translation: X:806.15, Y:8.99, Z:5.59 [[ 9.98779865e-01 -4.83990277e-02 -9.81399917e-03 8.06145667e+02] [ 4.83940007e-02 9.98828043e-01 -7.49198104e-04 8.99172427e+00] [ 9.83875805e-03 2.73345299e-04 9.99951561e-01 5.58516619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1392541539999 meters 0.019547906187200214 Centerline is valid? [True, True] Translation: X:806.17, Y:8.99, Z:5.59 [[ 9.98762986e-01 -4.87790569e-02 -9.64888646e-03 8.06173963e+02] [ 4.87741884e-02 9.98809557e-01 -7.39382746e-04 8.99151585e+00] [ 9.67346641e-03 2.67851513e-04 9.99953175e-01 5.58543058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1692541539999 meters 0.018680208405293885 Centerline is valid? [True, True] Translation: X:806.20, Y:8.99, Z:5.59 [[ 9.98782100e-01 -4.85178629e-02 -8.96292700e-03 8.06202020e+02] [ 4.85136330e-02 9.98822283e-01 -6.88882188e-04 8.99259778e+00] [ 8.98579430e-03 2.53219048e-04 9.99959595e-01 5.58725339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1992541539998 meters 0.01848435207737154 Centerline is valid? [True, True] Translation: X:806.23, Y:8.99, Z:5.59 [[ 9.98741684e-01 -4.92437375e-02 -9.49227098e-03 8.06230934e+02] [ 4.92390125e-02 9.98786757e-01 -7.30977701e-04 8.98880963e+00] [ 9.51675062e-03 2.62667851e-04 9.99954680e-01 5.58639611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2292541539999 meters 0.022592362398870216 Centerline is valid? [True, True] Translation: X:806.26, Y:8.99, Z:5.58 [[ 9.98701304e-01 -4.97796653e-02 -1.08485099e-02 8.06258205e+02] [ 4.97734918e-02 9.98760180e-01 -8.38484228e-04 8.99321466e+00] [ 1.08767992e-02 2.97427072e-04 9.99940802e-01 5.58374957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2592541539999 meters 0.021441148942867166 Centerline is valid? [True, True] Translation: X:806.29, Y:8.99, Z:5.59 [[ 9.98752257e-01 -4.89294872e-02 -9.99173091e-03 8.06287293e+02] [ 4.89241882e-02 9.98802195e-01 -7.74229149e-04 8.99198553e+00] [ 1.00176454e-02 2.84425786e-04 9.99949782e-01 5.58608064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2892541539999 meters 0.024251484524378045 Centerline is valid? [True, True] Translation: X:806.32, Y:8.99, Z:5.58 [[ 9.98719498e-01 -4.92943810e-02 -1.13766139e-02 8.06315676e+02] [ 4.92875007e-02 9.98784241e-01 -8.84523575e-04 8.99237803e+00] [ 1.14063848e-02 3.22666073e-04 9.99934893e-01 5.58225287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3192541539999 meters 0.022242735357648792 Centerline is valid? [True, True] Translation: X:806.34, Y:8.99, Z:5.59 [[ 9.98789904e-01 -4.81084892e-02 -1.02128245e-02 8.06344709e+02] [ 4.81028583e-02 9.98842070e-01 -7.96425119e-04 8.99348618e+00] [ 1.02393135e-02 3.04195320e-04 9.99947531e-01 5.58612187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3492541539999 meters 0.022190051632137272 Centerline is valid? [True, True] Translation: X:806.37, Y:8.99, Z:5.58 [[ 9.98842698e-01 -4.67444727e-02 -1.13233487e-02 8.06373675e+02] [ 4.67374363e-02 9.98906817e-01 -8.85379583e-04 8.98666813e+00] [ 1.13523568e-02 3.55130645e-04 9.99935497e-01 5.58354165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3792541539999 meters 0.020283613487847595 Centerline is valid? [True, True] Translation: X:806.40, Y:8.99, Z:5.59 [[ 9.98919897e-01 -4.54068094e-02 -9.86207587e-03 8.06401764e+02] [ 4.54013961e-02 9.98968526e-01 -7.72204574e-04 8.98822392e+00] [ 9.88696675e-03 3.23618501e-04 9.99951070e-01 5.58651200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4092541539999 meters 0.02068029569004999 Centerline is valid? [True, True] Translation: X:806.43, Y:8.99, Z:5.59 [[ 9.98967748e-01 -4.44890929e-02 -9.17378645e-03 8.06429675e+02] [ 4.44843630e-02 9.99009822e-01 -7.19090889e-04 8.98971726e+00] [ 9.19669447e-03 3.10258559e-04 9.99957661e-01 5.58739484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4392541539999 meters 0.02132887925955717 Centerline is valid? [True, True] Translation: X:806.46, Y:8.99, Z:5.59 [[ 9.98960295e-01 -4.47128087e-02 -8.89341727e-03 8.06458010e+02] [ 4.47083621e-02 9.98999837e-01 -6.98275234e-04 8.98846679e+00] [ 8.91574426e-03 2.99939114e-04 9.99960209e-01 5.58650015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4692541539999 meters 0.022443172229668257 Centerline is valid? [True, True] Translation: X:806.49, Y:8.99, Z:5.58 [[ 9.98926608e-01 -4.53729072e-02 -9.32365750e-03 8.06487267e+02] [ 4.53680237e-02 9.98970071e-01 -7.34727663e-04 8.98786583e+00] [ 9.34739153e-03 3.10943098e-04 9.99956264e-01 5.58467284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4992541539999 meters 0.020529526040886485 Centerline is valid? [True, True] Translation: X:806.52, Y:8.99, Z:5.59 [[ 9.98919503e-01 -4.56689070e-02 -8.61259241e-03 8.06515879e+02] [ 4.56647327e-02 9.98956590e-01 -6.80796397e-04 8.98802618e+00] [ 8.63469718e-03 2.86769068e-04 9.99962679e-01 5.58732282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5292541539999 meters 0.022799419164492307 Centerline is valid? [True, True] Translation: X:806.55, Y:8.99, Z:5.58 [[ 9.98829303e-01 -4.73156501e-02 -1.00624159e-02 8.06545116e+02] [ 4.73100042e-02 9.98879936e-01 -7.98519112e-04 8.98782508e+00] [ 1.00889278e-02 3.21531348e-04 9.99949054e-01 5.58425660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5592541539999 meters 0.019074553054908277 Centerline is valid? [True, True] Translation: X:806.57, Y:8.98, Z:5.59 [[ 9.98775866e-01 -4.86327186e-02 -9.03482642e-03 8.06574028e+02] [ 4.86282018e-02 9.98816690e-01 -7.19071547e-04 8.98421502e+00] [ 9.05910583e-03 2.78843944e-04 9.99958927e-01 5.58841013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5892541539998 meters 0.019636163550919333 Centerline is valid? [True, True] Translation: X:806.60, Y:8.98, Z:5.59 [[ 9.98692949e-01 -5.02799071e-02 -9.18280626e-03 8.06603357e+02] [ 5.02752888e-02 9.98735129e-01 -7.33222916e-04 8.98413128e+00] [ 9.20805757e-03 2.70596321e-04 9.99957568e-01 5.58671046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6192541539999 meters 0.019626624644631014 Centerline is valid? [True, True] Translation: X:806.63, Y:8.99, Z:5.59 [[ 9.98646748e-01 -5.12286894e-02 -8.96067188e-03 8.06630848e+02] [ 5.12243129e-02 9.98686915e-01 -7.17386273e-04 8.98594884e+00] [ 8.98565652e-03 2.57411209e-04 9.99959595e-01 5.58806654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6492541539999 meters 0.01741617294898244 Centerline is valid? [True, True] Translation: X:806.66, Y:8.98, Z:5.59 [[ 9.98489162e-01 -5.41039982e-02 -9.59950184e-03 8.06660883e+02] [ 5.40990956e-02 9.98535275e-01 -7.69838826e-04 8.98018623e+00] [ 9.62709257e-03 2.49351356e-04 9.99953627e-01 5.58846288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6792541539999 meters 0.019105157555106392 Centerline is valid? [True, True] Translation: X:806.69, Y:8.98, Z:5.59 [[ 9.98358291e-01 -5.64875419e-02 -9.48057040e-03 8.06688888e+02] [ 5.64828498e-02 9.98403279e-01 -7.62159967e-04 8.97992303e+00] [ 9.50848511e-03 2.25419089e-04 9.99954768e-01 5.58578439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7092541539998 meters 0.016929530809092454 Centerline is valid? [True, True] Translation: X:806.72, Y:8.98, Z:5.59 [[ 9.98308041e-01 -5.74646766e-02 -8.88061228e-03 8.06718046e+02] [ 5.74605885e-02 9.98347519e-01 -7.15019756e-04 8.97935413e+00] [ 8.90702562e-03 2.03524765e-04 9.99960311e-01 5.58896933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7392541539999 meters 0.017400994283607783 Centerline is valid? [True, True] Translation: X:806.75, Y:8.98, Z:5.59 [[ 9.98087371e-01 -6.11826139e-02 -8.84807409e-03 8.06746703e+02] [ 6.11786816e-02 9.98126574e-01 -7.14650308e-04 8.97838829e+00] [ 8.87522205e-03 1.71969939e-04 9.99960600e-01 5.58914804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7692541539999 meters 0.016071235261835043 Centerline is valid? [True, True] Translation: X:806.78, Y:8.98, Z:5.59 [[ 9.97977760e-01 -6.29493773e-02 -8.81856837e-03 8.06776296e+02] [ 6.29455205e-02 9.98016709e-01 -7.14494533e-04 8.97603640e+00] [ 8.84605556e-03 1.57960278e-04 9.99960860e-01 5.58960505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7992541539999 meters 0.01548230436565816 Centerline is valid? [True, True] Translation: X:806.81, Y:8.97, Z:5.59 [[ 9.97760081e-01 -6.62794554e-02 -9.04732354e-03 8.06805607e+02] [ 6.62755119e-02 9.97801090e-01 -7.35333804e-04 8.97391643e+00] [ 9.07616682e-03 1.34070717e-04 9.99958802e-01 5.58950120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8292541539998 meters 0.014996739823427674 Centerline is valid? [True, True] Translation: X:806.83, Y:8.97, Z:5.59 [[ 9.97615713e-01 -6.83997705e-02 -9.18475524e-03 8.06834601e+02] [ 6.83957747e-02 9.97657986e-01 -7.48823098e-04 8.97437285e+00] [ 9.21446375e-03 1.18839239e-04 9.99957539e-01 5.58924755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8592541539999 meters 0.014875888520326687 Centerline is valid? [True, True] Translation: X:806.86, Y:8.98, Z:5.59 [[ 9.97514439e-01 -6.98267339e-02 -9.44306144e-03 8.06863550e+02] [ 6.98225511e-02 9.97559129e-01 -7.72306910e-04 8.97566353e+00] [ 9.47393981e-03 1.11048654e-04 9.99955115e-01 5.58919518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8892541539999 meters 0.015321626249166853 Centerline is valid? [True, True] Translation: X:806.89, Y:8.98, Z:5.59 [[ 9.97398475e-01 -7.14758586e-02 -9.35330041e-03 8.06891531e+02] [ 7.14718093e-02 9.97442325e-01 -7.66899532e-04 8.97905268e+00] [ 9.38419252e-03 9.64071198e-05 9.99955963e-01 5.58856489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9192541539999 meters 0.015441535900944495 Centerline is valid? [True, True] Translation: X:806.92, Y:8.98, Z:5.59 [[ 9.97409125e-01 -7.12833378e-02 -9.68110818e-03 8.06919719e+02] [ 7.12789774e-02 9.97456102e-01 -7.95131280e-04 8.98241188e+00] [ 9.71316003e-03 1.03011703e-04 9.99952821e-01 5.58858865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9492541539998 meters 0.015070503757053485 Centerline is valid? [True, True] Translation: X:806.95, Y:8.98, Z:5.59 [[ 9.97454581e-01 -7.06757017e-02 -9.45007108e-03 8.06948208e+02] [ 7.06714972e-02 9.97499340e-01 -7.78536350e-04 8.98453976e+00] [ 9.48146327e-03 1.08703977e-04 9.99955044e-01 5.58917952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9792541539999 meters 0.015614540393495661 Centerline is valid? [True, True] Translation: X:806.98, Y:8.99, Z:5.59 [[ 9.97532700e-01 -6.95584252e-02 -9.49412307e-03 8.06977283e+02] [ 6.95541082e-02 9.97577872e-01 -7.84534179e-04 8.98880407e+00] [ 9.52569805e-03 1.22243235e-04 9.99954622e-01 5.58864772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0092541539999 meters 0.016399405494557765 Centerline is valid? [True, True] Translation: X:807.01, Y:8.99, Z:5.59 [[ 9.97627211e-01 -6.81601307e-02 -9.70280697e-03 8.07005263e+02] [ 6.81555349e-02 9.97674384e-01 -8.03912778e-04 8.99417456e+00] [ 9.73503677e-03 1.40705264e-04 9.99952604e-01 5.58772446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0392541539999 meters 0.01659007192607101 Centerline is valid? [True, True] Translation: X:807.03, Y:9.00, Z:5.59 [[ 9.97917131e-01 -6.36641890e-02 -1.04053184e-02 8.07033809e+02] [ 6.36586398e-02 9.97971358e-01 -8.63979500e-04 9.00098229e+00] [ 1.04392142e-02 1.99791530e-04 9.99945490e-01 5.58792094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0692541539999 meters 0.017156371728888793 Centerline is valid? [True, True] Translation: X:807.06, Y:9.01, Z:5.59 [[ 9.98045502e-01 -6.15130129e-02 -1.10147259e-02 8.07062560e+02] [ 6.15066318e-02 9.98106253e-01 -9.17458647e-04 9.00579122e+00] [ 1.10503024e-02 2.38186788e-04 9.99938915e-01 5.58758956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0992541539999 meters 0.018481081117559566 Centerline is valid? [True, True] Translation: X:807.09, Y:9.01, Z:5.59 [[ 9.98269638e-01 -5.73808163e-02 -1.28518844e-02 8.07090718e+02] [ 5.73717563e-02 9.98352308e-01 -1.07283402e-03 9.01290876e+00] [ 1.28922686e-02 3.33642445e-04 9.99916836e-01 5.58604733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1292541539999 meters 0.018830503853853858 Centerline is valid? [True, True] Translation: X:807.12, Y:9.02, Z:5.58 [[ 9.98279284e-01 -5.69905157e-02 -1.38040791e-02 8.07119357e+02] [ 5.69799969e-02 9.98374653e-01 -1.15442681e-03 9.01709379e+00] [ 1.38474341e-02 3.65883985e-04 9.99904053e-01 5.58484491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1592541539999 meters 0.017781998621419475 Centerline is valid? [True, True] Translation: X:807.15, Y:9.02, Z:5.58 [[ 9.98279399e-01 -5.68153219e-02 -1.45003557e-02 8.07148595e+02] [ 5.68036417e-02 9.98384629e-01 -1.21643006e-03 9.01827367e+00] [ 1.45460441e-02 3.90664060e-04 9.99894124e-01 5.58466451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1892541539999 meters 0.018081338172301502 Centerline is valid? [True, True] Translation: X:807.18, Y:9.02, Z:5.58 [[ 9.98268926e-01 -5.70104884e-02 -1.44553105e-02 8.07175557e+02] [ 5.69988611e-02 9.98373504e-01 -1.21541542e-03 9.02252345e+00] [ 1.45010904e-02 3.89375211e-04 9.99894778e-01 5.58496539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2192541539999 meters 0.01982853810077328 Centerline is valid? [True, True] Translation: X:807.20, Y:9.03, Z:5.58 [[ 9.98226219e-01 -5.77666788e-02 -1.44023339e-02 8.07203390e+02] [ 5.77551877e-02 9.98330039e-01 -1.21286729e-03 9.02529092e+00] [ 1.44483459e-02 3.78906434e-04 9.99895545e-01 5.58341569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2492541539999 meters 0.018217839080556186 Centerline is valid? [True, True] Translation: X:807.23, Y:9.03, Z:5.59 [[ 9.98223074e-01 -5.81022132e-02 -1.32222439e-02 8.07231335e+02] [ 5.80925217e-02 9.98310579e-01 -1.11618793e-03 9.02787636e+00] [ 1.32647590e-02 3.46091053e-04 9.99911959e-01 5.58696473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2792541539999 meters 0.018217839080556186 Centerline is valid? [True, True] Translation: X:807.26, Y:9.03, Z:5.59 [[ 9.98206160e-01 -5.83921415e-02 -1.32219198e-02 8.07258837e+02] [ 5.83824248e-02 9.98293663e-01 -1.12001733e-03 9.03028168e+00] [ 1.32647590e-02 3.46080455e-04 9.99911959e-01 5.58715523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3092541539999 meters 0.019268896093728765 Centerline is valid? [True, True] Translation: X:807.29, Y:9.03, Z:5.59 [[ 9.98139068e-01 -5.97417062e-02 -1.22200376e-02 8.07286413e+02] [ 5.97334786e-02 9.98213822e-01 -1.03749634e-03 9.03232334e+00] [ 1.22601922e-02 3.05620276e-04 9.99924794e-01 5.58711260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3392541539998 meters 0.018291711965685496 Centerline is valid? [True, True] Translation: X:807.31, Y:9.04, Z:5.59 [[ 9.98144811e-01 -5.98974562e-02 -1.09192729e-02 8.07314104e+02] [ 5.98908776e-02 9.98204498e-01 -9.28771868e-04 9.03511879e+00] [ 1.09552984e-02 2.73083982e-04 9.99939952e-01 5.58963058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3692541539999 meters 0.018195827787546158 Centerline is valid? [True, True] Translation: X:807.34, Y:9.04, Z:5.59 [[ 9.98113894e-01 -6.04565619e-02 -1.06610726e-02 8.07342163e+02] [ 6.04502904e-02 9.98170794e-01 -9.09825248e-04 9.03772846e+00] [ 1.06965762e-02 2.63644284e-04 9.99942755e-01 5.58991896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3992541539999 meters 0.018413942903242112 Centerline is valid? [True, True] Translation: X:807.37, Y:9.04, Z:5.59 [[ 9.98092102e-01 -6.07910722e-02 -1.07982136e-02 8.07370214e+02] [ 6.07846241e-02 9.98150477e-01 -9.24644205e-04 9.04089282e+00] [ 1.08344521e-02 2.66514726e-04 9.99941270e-01 5.58988249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4292541539999 meters 0.02019408954280157 Centerline is valid? [True, True] Translation: X:807.40, Y:9.04, Z:5.59 [[ 9.98060229e-01 -6.11573037e-02 -1.16431889e-02 8.07397875e+02] [ 6.11497911e-02 9.98128099e-01 -1.00047308e-03 9.04325346e+00] [ 1.16825803e-02 2.86553818e-04 9.99931715e-01 5.58697558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4592541539998 meters 0.020487773091940744 Centerline is valid? [True, True] Translation: X:807.43, Y:9.05, Z:5.59 [[ 9.98069703e-01 -6.08555515e-02 -1.23882776e-02 8.07426846e+02] [ 6.08469800e-02 9.98146535e-01 -1.06798479e-03 9.04593614e+00] [ 1.24303092e-02 3.12133987e-04 9.99922692e-01 5.58660319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4892541539999 meters 0.020160926919314134 Centerline is valid? [True, True] Translation: X:807.46, Y:9.05, Z:5.59 [[ 9.98101992e-01 -6.03210613e-02 -1.24009295e-02 8.07455387e+02] [ 6.03123922e-02 9.98178975e-01 -1.07220176e-03 9.04969885e+00] [ 1.24430234e-02 3.22236989e-04 9.99922531e-01 5.58695641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5192541539999 meters 0.019461762328971767 Centerline is valid? [True, True] Translation: X:807.48, Y:9.06, Z:5.59 [[ 9.98246220e-01 -5.78115550e-02 -1.27400136e-02 8.07483611e+02] [ 5.78021597e-02 9.98327446e-01 -1.10475874e-03 9.05552195e+00] [ 1.27825731e-02 3.66420936e-04 9.99918232e-01 5.58932132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5492541539999 meters 0.019127950748905765 Centerline is valid? [True, True] Translation: X:807.51, Y:9.06, Z:5.59 [[ 9.98301147e-01 -5.68464409e-02 -1.27789836e-02 8.07512241e+02] [ 5.68368674e-02 9.98382860e-01 -1.11137932e-03 9.05826014e+00] [ 1.28214962e-02 3.83173853e-04 9.99917728e-01 5.58977863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5792541539998 meters 0.020417665507548033 Centerline is valid? [True, True] Translation: X:807.54, Y:9.06, Z:5.59 [[ 9.98372337e-01 -5.54590333e-02 -1.33030836e-02 8.07539981e+02] [ 5.54485029e-02 9.98460875e-01 -1.15938929e-03 9.06403027e+00] [ 1.33469071e-02 4.19866127e-04 9.99910838e-01 5.58935367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6092541539999 meters 0.02123626446522881 Centerline is valid? [True, True] Translation: X:807.57, Y:9.07, Z:5.59 [[ 9.98417832e-01 -5.44505540e-02 -1.40346081e-02 8.07568683e+02] [ 5.44386995e-02 9.98516362e-01 -1.22559329e-03 9.06904247e+00] [ 1.40805201e-02 4.59628380e-04 9.99900759e-01 5.58714508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6392541539999 meters 0.021480702648403436 Centerline is valid? [True, True] Translation: X:807.60, Y:9.07, Z:5.59 [[ 9.98396501e-01 -5.45052967e-02 -1.52839531e-02 8.07597926e+02] [ 5.44911819e-02 9.98513354e-01 -1.33874130e-03 9.07093100e+00] [ 1.53341998e-02 5.03753966e-04 9.99882297e-01 5.58549374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6692541539999 meters 0.021220423702444743 Centerline is valid? [True, True] Translation: X:807.63, Y:9.08, Z:5.59 [[ 9.98440799e-01 -5.39242733e-02 -1.44271887e-02 8.07625595e+02] [ 5.39116019e-02 9.98544909e-01 -1.26606432e-03 9.07621653e+00] [ 1.44744674e-02 4.86297422e-04 9.99895121e-01 5.58772716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6992541539998 meters 0.02155017578599263 Centerline is valid? [True, True] Translation: X:807.65, Y:9.08, Z:5.59 [[ 9.98434727e-01 -5.39540336e-02 -1.47329078e-02 8.07653890e+02] [ 5.39407840e-02 9.98543296e-01 -1.29550432e-03 9.07946839e+00] [ 1.47813440e-02 4.98771898e-04 9.99890626e-01 5.58701736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7292541539999 meters 0.02134840130354623 Centerline is valid? [True, True] Translation: X:807.68, Y:9.08, Z:5.59 [[ 9.98473300e-01 -5.33671732e-02 -1.42483157e-02 8.07682650e+02] [ 5.33546707e-02 9.98574835e-01 -1.25642813e-03 9.08269525e+00] [ 1.42950615e-02 4.94295749e-04 9.99897698e-01 5.58797595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7592541539999 meters 0.02285338549928756 Centerline is valid? [True, True] Translation: X:807.71, Y:9.09, Z:5.59 [[ 9.98539131e-01 -5.20548456e-02 -1.44878409e-02 8.07711450e+02] [ 5.20417297e-02 9.98644089e-01 -1.28109632e-03 9.08884841e+00] [ 1.45348840e-02 5.25252508e-04 9.99894225e-01 5.58777335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7892541539999 meters 0.0237625046066509 Centerline is valid? [True, True] Translation: X:807.74, Y:9.09, Z:5.59 [[ 9.98526399e-01 -5.20179223e-02 -1.54649773e-02 8.07740128e+02] [ 5.20029124e-02 9.98645992e-01 -1.37139764e-03 9.09181254e+00] [ 1.55153749e-02 5.65152888e-04 9.99879470e-01 5.58644116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8192541539999 meters 0.02419678000627384 Centerline is valid? [True, True] Translation: X:807.77, Y:9.10, Z:5.59 [[ 9.98546044e-01 -5.16014881e-02 -1.55911467e-02 8.07768747e+02] [ 5.15861197e-02 9.98667587e-01 -1.38654091e-03 9.09579626e+00] [ 1.56419204e-02 5.80238186e-04 9.99877489e-01 5.58642794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8492541539999 meters 0.022942026816485453 Centerline is valid? [True, True] Translation: X:807.80, Y:9.10, Z:5.59 [[ 9.98596404e-01 -5.10153099e-02 -1.42359009e-02 8.07797390e+02] [ 5.10023890e-02 9.98697724e-01 -1.26944002e-03 9.10022961e+00] [ 1.42821228e-02 5.41593281e-04 9.99897859e-01 5.58888242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8792541539999 meters 0.0253568575088776 Centerline is valid? [True, True] Translation: X:807.82, Y:9.11, Z:5.59 [[ 9.98652668e-01 -4.97442236e-02 -1.47770263e-02 8.07824326e+02] [ 4.97301237e-02 9.98761819e-01 -1.32032599e-03 9.10594245e+00] [ 1.48244082e-02 5.83683726e-04 9.99889942e-01 5.58757913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9092541539999 meters 0.02473624750773158 Centerline is valid? [True, True] Translation: X:807.85, Y:9.11, Z:5.59 [[ 9.98746833e-01 -4.84615892e-02 -1.24994798e-02 8.07853277e+02] [ 4.84513756e-02 9.98824916e-01 -1.11883124e-03 9.11115986e+00] [ 1.25390122e-02 5.11812163e-04 9.99921253e-01 5.59074877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9392541539999 meters 0.025711288613353506 Centerline is valid? [True, True] Translation: X:807.88, Y:9.12, Z:5.59 [[ 9.98802419e-01 -4.72868755e-02 -1.25570525e-02 8.07881275e+02] [ 4.72764471e-02 9.98881209e-01 -1.12619152e-03 9.11631783e+00] [ 1.25962578e-02 5.31189987e-04 9.99920523e-01 5.59075666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9692541539999 meters 0.027465428904376078 Centerline is valid? [True, True] Translation: X:807.91, Y:9.13, Z:5.59 [[ 9.98954787e-01 -4.41839482e-02 -1.17094601e-02 8.07909157e+02] [ 4.41746566e-02 9.99023270e-01 -1.05109796e-03 9.12505129e+00] [ 1.17444647e-02 5.32737965e-04 9.99930889e-01 5.59142740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9992541539999 meters 0.03140899981513486 Centerline is valid? [True, True] Translation: X:807.94, Y:9.13, Z:5.59 [[ 9.98976469e-01 -4.32871069e-02 -1.31240330e-02 8.07936085e+02] [ 4.32753426e-02 9.99062488e-01 -1.17919277e-03 9.13359171e+00] [ 1.31627729e-02 6.10038804e-04 9.99913181e-01 5.58895677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0292541539999 meters 0.029513039903212565 Centerline is valid? [True, True] Translation: X:807.97, Y:9.14, Z:5.59 [[ 9.99076796e-01 -4.13190745e-02 -1.17596956e-02 8.07965115e+02] [ 4.13094839e-02 9.99145839e-01 -1.05739018e-03 9.13809733e+00] [ 1.17933413e-02 5.70627043e-04 9.99930293e-01 5.59087495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0592541539999 meters 0.030625212095530426 Centerline is valid? [True, True] Translation: X:807.99, Y:9.14, Z:5.59 [[ 9.99107732e-01 -4.05403372e-02 -1.18414492e-02 8.07992610e+02] [ 4.05305490e-02 9.99177732e-01 -1.06552044e-03 9.14354418e+00] [ 1.18749090e-02 5.84629275e-04 9.99929320e-01 5.59084251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0892541539998 meters 0.027791701179781355 Centerline is valid? [True, True] Translation: X:808.02, Y:9.14, Z:5.59 [[ 9.99088880e-01 -4.01180224e-02 -1.45586497e-02 8.08021804e+02] [ 4.01031418e-02 9.99194683e-01 -1.31273450e-03 9.14176003e+00] [ 1.45995897e-02 7.27690845e-04 9.99893156e-01 5.58866665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1192541539999 meters 0.03228702610634015 Centerline is valid? [True, True] Translation: X:808.05, Y:9.16, Z:5.59 [[ 9.99181406e-01 -3.87552915e-02 -1.15993730e-02 8.08048257e+02] [ 3.87457326e-02 9.99248553e-01 -1.04776144e-03 9.15557516e+00] [ 1.16312630e-02 5.97477544e-04 9.99932176e-01 5.59056965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1492541539999 meters 0.02939547614505253 Centerline is valid? [True, True] Translation: X:808.08, Y:9.16, Z:5.59 [[ 9.99213823e-01 -3.78660918e-02 -1.17429056e-02 8.08076704e+02] [ 3.78562211e-02 9.99282632e-01 -1.06179748e-03 9.15572208e+00] [ 1.17746877e-02 6.16420689e-04 9.99930486e-01 5.59118101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1792541539999 meters 0.03572286158128039 Centerline is valid? [True, True] Translation: X:808.10, Y:9.17, Z:5.59 [[ 9.99284550e-01 -3.58973407e-02 -1.19066395e-02 8.08104237e+02] [ 3.58870428e-02 9.99355272e-01 -1.07748716e-03 9.17068504e+00] [ 1.19376419e-02 6.49422192e-04 9.99928533e-01 5.58998490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2092541539998 meters 0.02972600092558859 Centerline is valid? [True, True] Translation: X:808.13, Y:9.17, Z:5.59 [[ 9.99259888e-01 -3.58702315e-02 -1.38925632e-02 8.08134095e+02] [ 3.58561783e-02 9.99356167e-01 -1.25940096e-03 9.16604624e+00] [ 1.39287937e-02 7.60334633e-04 9.99902701e-01 5.58907941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2392541539999 meters 0.02999332232892921 Centerline is valid? [True, True] Translation: X:808.16, Y:9.17, Z:5.59 [[ 9.99310624e-01 -3.50004344e-02 -1.23792897e-02 8.08162267e+02] [ 3.49891731e-02 9.99387058e-01 -1.12516303e-03 9.17201537e+00] [ 1.24110831e-02 6.91246257e-04 9.99922741e-01 5.58988841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2692541539999 meters 0.03087321096343603 Centerline is valid? [True, True] Translation: X:808.19, Y:9.18, Z:5.59 [[ 9.99275355e-01 -3.53774503e-02 -1.40428269e-02 8.08188623e+02] [ 3.53629554e-02 9.99373716e-01 -1.27924438e-03 9.17681922e+00] [ 1.40792886e-02 7.81721517e-04 9.99900576e-01 5.58828529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2992541539999 meters 0.032011867783916556 Centerline is valid? [True, True] Translation: X:808.22, Y:9.18, Z:5.59 [[ 9.99256869e-01 -3.56356336e-02 -1.46904878e-02 8.08216075e+02] [ 3.56197522e-02 9.99364515e-01 -1.34138838e-03 9.18183760e+00] [ 1.47289535e-02 8.17120020e-04 9.99891189e-01 5.58700433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3292541539998 meters 0.03104969899675506 Centerline is valid? [True, True] Translation: X:808.24, Y:9.19, Z:5.59 [[ 9.99291192e-01 -3.54747138e-02 -1.25959259e-02 8.08242494e+02] [ 3.54629954e-02 9.99370326e-01 -1.15254051e-03 9.18833395e+00] [ 1.26288807e-02 7.05034312e-04 9.99920004e-01 5.58892178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3592541539999 meters 0.031457071938188995 Centerline is valid? [True, True] Translation: X:808.27, Y:9.19, Z:5.59 [[ 9.99264489e-01 -3.62184779e-02 -1.25977619e-02 8.08270389e+02] [ 3.62067948e-02 9.99343652e-01 -1.15430908e-03 9.19316229e+00] [ 1.26313007e-02 6.97335490e-04 9.99919979e-01 5.58881246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3892541539999 meters 0.03148723828408613 Centerline is valid? [True, True] Translation: X:808.30, Y:9.20, Z:5.59 [[ 9.99177857e-01 -3.86313238e-02 -1.22975926e-02 8.08299196e+02] [ 3.86203600e-02 9.99253319e-01 -1.12786749e-03 9.19889981e+00] [ 1.23319813e-02 6.52002767e-04 9.99923746e-01 5.58831159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4192541539999 meters 0.028914251128972952 Centerline is valid? [True, True] Translation: X:808.33, Y:9.20, Z:5.59 [[ 9.99122339e-01 -4.02402594e-02 -1.16307220e-02 8.08328455e+02] [ 4.02305459e-02 9.99189853e-01 -1.06802082e-03 9.19988969e+00] [ 1.16642769e-02 5.99173158e-04 9.99931790e-01 5.58899272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4492541539998 meters 0.0308783269537995 Centerline is valid? [True, True] Translation: X:808.36, Y:9.21, Z:5.59 [[ 9.99065523e-01 -4.16885244e-02 -1.14082221e-02 8.08356098e+02] [ 4.16792508e-02 9.99130491e-01 -1.04954205e-03 9.20666797e+00] [ 1.14420564e-02 5.73075128e-04 9.99934373e-01 5.58855996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4792541539999 meters 0.027017101985320143 Centerline is valid? [True, True] Translation: X:808.39, Y:9.20, Z:5.59 [[ 9.98896555e-01 -4.51972406e-02 -1.27625539e-02 8.08385937e+02] [ 4.51859085e-02 9.98977904e-01 -1.17502904e-03 9.20431660e+00] [ 1.28026174e-02 5.97044863e-04 9.99917865e-01 5.58728251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5092541539999 meters 0.02499044847358483 Centerline is valid? [True, True] Translation: X:808.41, Y:9.21, Z:5.59 [[ 9.98871662e-01 -4.63603947e-02 -1.03012738e-02 8.08414300e+02] [ 4.63530628e-02 9.98924668e-01 -9.49485311e-04 9.20828267e+00] [ 1.03342150e-02 4.70918380e-04 9.99946490e-01 5.58956119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5392541539999 meters 0.024469208916985823 Centerline is valid? [True, True] Translation: X:808.44, Y:9.21, Z:5.59 [[ 9.98808329e-01 -4.76969141e-02 -1.03405020e-02 8.08443315e+02] [ 4.76895706e-02 9.98861748e-01 -9.55724867e-04 9.21177477e+00] [ 1.03743170e-02 4.61451858e-04 9.99946079e-01 5.58987741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5692541539999 meters 0.025235603064368065 Centerline is valid? [True, True] Translation: X:808.47, Y:9.22, Z:5.59 [[ 9.98653719e-01 -5.06220421e-02 -1.13207287e-02 8.08470939e+02] [ 5.06134016e-02 9.98717770e-01 -1.04862887e-03 9.21730576e+00] [ 1.13592966e-02 4.74236538e-04 9.99935369e-01 5.58818809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5992541539999 meters 0.02460945543503847 Centerline is valid? [True, True] Translation: X:808.50, Y:9.22, Z:5.59 [[ 9.98590918e-01 -5.19105241e-02 -1.10216099e-02 8.08499191e+02] [ 5.19023947e-02 9.98651639e-01 -1.02254246e-03 9.22090480e+00] [ 1.10598295e-02 4.49053664e-04 9.99938737e-01 5.58821806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6292541539999 meters 0.022900764813883347 Centerline is valid? [True, True] Translation: X:808.53, Y:9.22, Z:5.59 [[ 9.98521277e-01 -5.31527135e-02 -1.14039077e-02 8.08527810e+02] [ 5.31440577e-02 9.98586292e-01 -1.06093591e-03 9.22216920e+00] [ 1.14441775e-02 4.53317151e-04 9.99934410e-01 5.58859814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6592541539999 meters 0.021443793262179437 Centerline is valid? [True, True] Translation: X:808.56, Y:9.23, Z:5.59 [[ 9.98467124e-01 -5.44231847e-02 -1.00756877e-02 8.08556205e+02] [ 5.44164683e-02 9.98517884e-01 -9.39745270e-04 9.22513151e+00] [ 1.01118982e-02 3.90021419e-04 9.99948797e-01 5.58948248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6892541539999 meters 0.020854996364571773 Centerline is valid? [True, True] Translation: X:808.59, Y:9.23, Z:5.59 [[ 9.98356737e-01 -5.63189171e-02 -1.05832935e-02 8.08585423e+02] [ 5.63115884e-02 9.98412753e-01 -9.89439827e-04 9.22908971e+00] [ 1.06222194e-02 3.91851850e-04 9.99943506e-01 5.58907736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7192541539999 meters 0.020911762245464413 Centerline is valid? [True, True] Translation: X:808.61, Y:9.23, Z:5.59 [[ 9.98317158e-01 -5.69540653e-02 -1.09127201e-02 8.08613688e+02] [ 5.69462896e-02 9.98376720e-01 -1.02219575e-03 9.23311534e+00] [ 1.09532239e-02 3.99036634e-04 9.99939932e-01 5.58889624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7492541539999 meters 0.021613225348045488 Centerline is valid? [True, True] Translation: X:808.64, Y:9.24, Z:5.59 [[ 9.98317785e-01 -5.67858672e-02 -1.17032134e-02 8.08641534e+02] [ 5.67768853e-02 9.98386287e-01 -1.09856558e-03 9.23792301e+00] [ 1.17467108e-02 4.32245547e-04 9.99930912e-01 5.58823767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7792541539999 meters 0.023403078510071344 Centerline is valid? [True, True] Translation: X:808.67, Y:9.24, Z:5.59 [[ 9.98300512e-01 -5.67674532e-02 -1.31735757e-02 8.08669769e+02] [ 5.67560406e-02 9.98387308e-01 -1.23886873e-03 9.24234703e+00] [ 1.32226582e-02 4.89083293e-04 9.99912457e-01 5.58668571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8092541539999 meters 0.023802305914683998 Centerline is valid? [True, True] Translation: X:808.70, Y:9.25, Z:5.59 [[ 9.98291575e-01 -5.69930040e-02 -1.28735408e-02 8.08697426e+02] [ 5.69820953e-02 9.98374464e-01 -1.21288354e-03 9.24907494e+00] [ 1.29217403e-02 4.77250088e-04 9.99916397e-01 5.58600050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8392541539998 meters 0.023845233295946046 Centerline is valid? [True, True] Translation: X:808.73, Y:9.25, Z:5.59 [[ 9.98266766e-01 -5.73616113e-02 -1.31570716e-02 8.08725485e+02] [ 5.73502170e-02 9.98353349e-01 -1.24199994e-03 9.25286036e+00] [ 1.32066496e-02 4.85286353e-04 9.99912671e-01 5.58596761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8692541539999 meters 0.021169000362262727 Centerline is valid? [True, True] Translation: X:808.75, Y:9.26, Z:5.59 [[ 9.98336138e-01 -5.65105666e-02 -1.14678234e-02 8.08753638e+02] [ 5.65018300e-02 9.98401906e-01 -1.08466257e-03 9.25582910e+00] [ 1.15107917e-02 4.34904835e-04 9.99933654e-01 5.58811426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8992541539999 meters 0.021589333295142572 Centerline is valid? [True, True] Translation: X:808.78, Y:9.26, Z:5.59 [[ 9.98339232e-01 -5.63875130e-02 -1.17994326e-02 8.08781876e+02] [ 5.63782326e-02 9.98408857e-01 -1.11792601e-03 9.26023304e+00] [ 1.18436951e-02 4.50838238e-04 9.99929759e-01 5.58845401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9292541539999 meters 0.022070149172578823 Centerline is valid? [True, True] Translation: X:808.81, Y:9.26, Z:5.59 [[ 9.98339622e-01 -5.64515381e-02 -1.14552478e-02 8.08809961e+02] [ 5.64427607e-02 9.98405244e-01 -1.08834030e-03 9.26459432e+00] [ 1.14984180e-02 4.39967431e-04 9.99933794e-01 5.58864794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9592541539998 meters 0.022748855405450245 Centerline is valid? [True, True] Translation: X:808.84, Y:9.27, Z:5.59 [[ 9.98349680e-01 -5.61829594e-02 -1.18908314e-02 8.08838651e+02] [ 5.61734430e-02 9.98420383e-01 -1.13306130e-03 9.26902743e+00] [ 1.19357071e-02 4.63242446e-04 9.99928660e-01 5.58788495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9892541539999 meters 0.02198820811866623 Centerline is valid? [True, True] Translation: X:808.87, Y:9.27, Z:5.59 [[ 9.98394325e-01 -5.55657160e-02 -1.10101717e-02 8.08867557e+02] [ 5.55574900e-02 9.98454936e-01 -1.05181698e-03 9.27267575e+00] [ 1.10516053e-02 4.38430599e-04 9.99938833e-01 5.58921819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0192541539999 meters 0.025059099195866335 Centerline is valid? [True, True] Translation: X:808.89, Y:9.28, Z:5.59 [[ 9.98369919e-01 -5.56569823e-02 -1.26413891e-02 8.08894692e+02] [ 5.56461131e-02 9.98449821e-01 -1.21019696e-03 9.27707855e+00] [ 1.26891486e-02 5.04780070e-04 9.99919362e-01 5.58701253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0492541539999 meters 0.02507048060339491 Centerline is valid? [True, True] Translation: X:808.92, Y:9.28, Z:5.59 [[ 9.98471443e-01 -5.41433282e-02 -1.11030847e-02 8.08922003e+02] [ 5.41348398e-02 9.98533068e-01 -1.06385351e-03 9.28299050e+00] [ 1.11443978e-02 4.61163638e-04 9.99937793e-01 5.58838769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0792541539998 meters 0.02556937574191048 Centerline is valid? [True, True] Translation: X:808.95, Y:9.29, Z:5.59 [[ 9.98480186e-01 -5.38671070e-02 -1.16470301e-02 8.08950698e+02] [ 5.38577262e-02 9.98547994e-01 -1.11780875e-03 9.28566848e+00] [ 1.16903316e-02 4.88827328e-04 9.99931546e-01 5.58757069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1092541539999 meters 0.02624104601616083 Centerline is valid? [True, True] Translation: X:808.98, Y:9.29, Z:5.59 [[ 9.98508123e-01 -5.33584530e-02 -1.15932371e-02 8.08979526e+02] [ 5.33490907e-02 9.98575300e-01 -1.11554498e-03 9.28976521e+00] [ 1.16362439e-02 4.95392067e-04 9.99932174e-01 5.58730865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1392541539999 meters 0.02600235854564356 Centerline is valid? [True, True] Translation: X:809.01, Y:9.30, Z:5.59 [[ 9.98606700e-01 -5.17821650e-02 -1.01620231e-02 8.09007061e+02] [ 5.17748719e-02 9.98658301e-01 -9.79627732e-04 9.29614171e+00] [ 1.01991159e-02 4.52125374e-04 9.99947885e-01 5.58927463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1692541539999 meters 0.02600235854564356 Centerline is valid? [True, True] Translation: X:809.03, Y:9.30, Z:5.59 [[ 9.98592205e-01 -5.20609731e-02 -1.01618768e-02 8.09034515e+02] [ 5.20536790e-02 9.98643806e-01 -9.81142691e-04 9.29888302e+00] [ 1.01991746e-02 4.50798370e-04 9.99947885e-01 5.58946564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1992541539998 meters 0.027960821037504753 Centerline is valid? [True, True] Translation: X:809.06, Y:9.30, Z:5.59 [[ 9.98574508e-01 -5.23062900e-02 -1.06303640e-02 8.09062628e+02] [ 5.22982965e-02 9.98630978e-01 -1.02873456e-03 9.30201450e+00] [ 1.06696201e-02 4.71318174e-04 9.99942967e-01 5.58723807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2292541539999 meters 0.027359213843505592 Centerline is valid? [True, True] Translation: X:809.09, Y:9.31, Z:5.59 [[ 9.98620878e-01 -5.15218586e-02 -1.00915553e-02 8.09091627e+02] [ 5.15146014e-02 9.98671763e-01 -9.77937847e-04 9.30615058e+00] [ 1.01285365e-02 4.56726704e-04 9.99948601e-01 5.58970020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2592541539999 meters 0.026687739746505054 Centerline is valid? [True, True] Translation: X:809.12, Y:9.31, Z:5.59 [[ 9.98614886e-01 -5.17115604e-02 -9.70689179e-03 8.09119991e+02] [ 5.17048315e-02 9.98661965e-01 -9.43058095e-04 9.30791363e+00] [ 9.74267064e-03 4.39858648e-04 9.99952442e-01 5.58979839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2892541539999 meters 0.027453001086463955 Centerline is valid? [True, True] Translation: X:809.15, Y:9.31, Z:5.59 [[ 9.98607791e-01 -5.19003518e-02 -9.42513869e-03 8.09146431e+02] [ 5.18939956e-02 9.98652177e-01 -9.17870840e-04 9.31130238e+00] [ 9.46007309e-03 4.27484867e-04 9.99955161e-01 5.59007319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3192541539999 meters 0.02789902986151866 Centerline is valid? [True, True] Translation: X:809.17, Y:9.31, Z:5.59 [[ 9.98568840e-01 -5.26126778e-02 -9.60094043e-03 8.09174899e+02] [ 5.26061005e-02 9.98614901e-01 -9.36495152e-04 9.31392477e+00] [ 9.63691370e-03 4.30086840e-04 9.99953471e-01 5.58956398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3492541539999 meters 0.025514104933902982 Centerline is valid? [True, True] Translation: X:809.20, Y:9.31, Z:5.59 [[ 9.98524645e-01 -5.34494834e-02 -9.57532603e-03 8.09204503e+02] [ 5.34429572e-02 9.98570465e-01 -9.36325264e-04 9.31236476e+00] [ 9.61168387e-03 4.23210112e-04 9.99953717e-01 5.58949586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3792541539999 meters 0.02400630331214515 Centerline is valid? [True, True] Translation: X:809.23, Y:9.31, Z:5.59 [[ 9.98503785e-01 -5.39526703e-02 -8.90505109e-03 8.09233225e+02] [ 5.39470268e-02 9.98543417e-01 -8.72908869e-04 9.31409564e+00] [ 8.93917591e-03 3.91201781e-04 9.99959968e-01 5.59067575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4092541539999 meters 0.02345650127089571 Centerline is valid? [True, True] Translation: X:809.26, Y:9.31, Z:5.59 [[ 9.98433405e-01 -5.51294068e-02 -9.56470762e-03 8.09262611e+02] [ 5.51229253e-02 9.98479133e-01 -9.40152861e-04 9.31379927e+00] [ 9.60199104e-03 4.11445359e-04 9.99953815e-01 5.58927174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4392541539999 meters 0.023247288865406567 Centerline is valid? [True, True] Translation: X:809.29, Y:9.32, Z:5.59 [[ 9.98394009e-01 -5.58729564e-02 -9.36035094e-03 8.09290601e+02] [ 5.58667628e-02 9.98437807e-01 -9.22055442e-04 9.31707221e+00] [ 9.39724623e-03 3.97642123e-04 9.99955766e-01 5.59005736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4692541539999 meters 0.023460002758823668 Centerline is valid? [True, True] Translation: X:809.32, Y:9.32, Z:5.59 [[ 9.98329105e-01 -5.69290633e-02 -9.90351195e-03 8.09319925e+02] [ 5.69221681e-02 9.98378141e-01 -9.76950197e-04 9.31878005e+00] [ 9.94306671e-03 4.11588443e-04 9.99950482e-01 5.58880423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4992541539999 meters 0.024375144212458538 Centerline is valid? [True, True] Translation: X:809.35, Y:9.32, Z:5.59 [[ 9.98270433e-01 -5.78297281e-02 -1.05766622e-02 8.09348561e+02] [ 5.78218855e-02 9.98326367e-01 -1.04605504e-03 9.32060362e+00] [ 1.06194539e-02 4.32683268e-04 9.99943518e-01 5.58753353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5292541539999 meters 0.022514955131239328 Centerline is valid? [True, True] Translation: X:809.38, Y:9.32, Z:5.59 [[ 9.98274473e-01 -5.78328362e-02 -1.01705538e-02 8.09377327e+02] [ 5.78255585e-02 9.98326193e-01 -1.00843175e-03 9.32327879e+00] [ 1.02118507e-02 4.18573717e-04 9.99947770e-01 5.58980044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5592541539999 meters 0.025496454651495193 Centerline is valid? [True, True] Translation: X:809.40, Y:9.33, Z:5.59 [[ 9.98166994e-01 -5.95198026e-02 -1.09564796e-02 8.09404946e+02] [ 5.95114312e-02 9.98227030e-01 -1.08879807e-03 9.32668136e+00] [ 1.10018592e-02 4.34766514e-04 9.99939383e-01 5.58709227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5892541539998 meters 0.024027787483485528 Centerline is valid? [True, True] Translation: X:809.43, Y:9.33, Z:5.59 [[ 9.98096921e-01 -6.06131417e-02 -1.13394673e-02 8.09434356e+02] [ 6.06042220e-02 9.98161236e-01 -1.12890082e-03 9.32674042e+00] [ 1.13870429e-02 4.39532840e-04 9.99935069e-01 5.58729046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6192541539999 meters 0.022333232253132912 Centerline is valid? [True, True] Translation: X:809.46, Y:9.32, Z:5.59 [[ 9.97976785e-01 -6.26042865e-02 -1.10923635e-02 8.09464019e+02] [ 6.25958445e-02 9.98038343e-01 -1.10695113e-03 9.32402894e+00] [ 1.11399040e-02 4.10375669e-04 9.99937865e-01 5.58752001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6492541539999 meters 0.02139606596786524 Centerline is valid? [True, True] Translation: X:809.49, Y:9.33, Z:5.59 [[ 9.97929635e-01 -6.33907701e-02 -1.08652197e-02 8.09493177e+02] [ 6.33826887e-02 9.97988704e-01 -1.08686736e-03 9.32582361e+00] [ 1.09122639e-02 3.95950308e-04 9.99940381e-01 5.58910827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6792541539999 meters 0.02315838054616347 Centerline is valid? [True, True] Translation: X:809.52, Y:9.33, Z:5.59 [[ 9.97870672e-01 -6.43149966e-02 -1.08491291e-02 8.09520809e+02] [ 6.43069710e-02 9.97929572e-01 -1.08733929e-03 9.32948846e+00] [ 1.08965990e-02 3.87349361e-04 9.99940555e-01 5.58906181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7092541539998 meters 0.02300469591783618 Centerline is valid? [True, True] Translation: X:809.55, Y:9.33, Z:5.59 [[ 9.97810994e-01 -6.53241727e-02 -1.02943046e-02 8.09549774e+02] [ 6.53169862e-02 9.97864031e-01 -1.03312624e-03 9.33026700e+00] [ 1.03398044e-02 3.58471765e-04 9.99946479e-01 5.58939362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7392541539999 meters 0.02125031432103708 Centerline is valid? [True, True] Translation: X:809.58, Y:9.33, Z:5.59 [[ 9.97664815e-01 -6.76247515e-02 -9.58170839e-03 8.09578950e+02] [ 6.76186105e-02 9.97710777e-01 -9.63800900e-04 9.32570633e+00] [ 9.62495052e-03 3.13648440e-04 9.99953630e-01 5.58994215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7692541539999 meters 0.022173675051036307 Centerline is valid? [True, True] Translation: X:809.61, Y:9.33, Z:5.59 [[ 9.97581983e-01 -6.88184438e-02 -9.70612537e-03 8.09606889e+02] [ 6.88121796e-02 9.97629153e-01 -9.78268681e-04 9.32647057e+00] [ 9.75043656e-03 3.08003569e-04 9.99952416e-01 5.58902250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7992541539999 meters 0.02093388949194869 Centerline is valid? [True, True] Translation: X:809.64, Y:9.33, Z:5.59 [[ 9.97541242e-01 -6.95224157e-02 -8.83765044e-03 8.09635428e+02] [ 6.95172410e-02 9.97580352e-01 -8.91751734e-04 9.32772405e+00] [ 8.87826317e-03 2.75190057e-04 9.99960550e-01 5.59075805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8292541539998 meters 0.02076308751347491 Centerline is valid? [True, True] Translation: X:809.66, Y:9.33, Z:5.59 [[ 9.97438253e-01 -7.10375250e-02 -8.40241419e-03 8.09663454e+02] [ 7.10328862e-02 9.97473612e-01 -8.49611598e-04 9.32637025e+00] [ 8.44154074e-03 2.50587377e-04 9.99964338e-01 5.59083416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8592541539999 meters 0.02174695475428597 Centerline is valid? [True, True] Translation: X:809.69, Y:9.33, Z:5.59 [[ 9.97375007e-01 -7.18479678e-02 -8.99801070e-03 8.09691068e+02] [ 7.18426701e-02 9.97415561e-01 -9.11035355e-04 9.32718246e+00] [ 9.04021193e-03 2.62202780e-04 9.99959102e-01 5.58973242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8892541539999 meters 0.018540904941923658 Centerline is valid? [True, True] Translation: X:809.72, Y:9.32, Z:5.59 [[ 9.97364753e-01 -7.20881312e-02 -8.17618743e-03 8.09720119e+02] [ 7.20837555e-02 9.97398238e-01 -8.28992600e-04 9.32267272e+00] [ 8.21467546e-03 2.37437705e-04 9.99966231e-01 5.59183018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9192541539999 meters 0.021541861582752744 Centerline is valid? [True, True] Translation: X:809.75, Y:9.33, Z:5.59 [[ 9.97362539e-01 -7.21642178e-02 -7.76477904e-03 8.09746908e+02] [ 7.21602580e-02 9.97392738e-01 -7.89294249e-04 9.32816103e+00] [ 7.80149303e-03 2.26904058e-04 9.99969542e-01 5.59197112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9492541539998 meters 0.021806811970050997 Centerline is valid? [True, True] Translation: X:809.78, Y:9.33, Z:5.59 [[ 9.97352802e-01 -7.23286850e-02 -7.47993698e-03 8.09775186e+02] [ 7.23250075e-02 9.97380827e-01 -7.61331965e-04 9.32942407e+00] [ 7.51541186e-03 2.18330070e-04 9.99971735e-01 5.59214605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9792541539999 meters 0.019545083919198247 Centerline is valid? [True, True] Translation: X:809.80, Y:9.32, Z:5.59 [[ 9.97303649e-01 -7.29281717e-02 -8.18001701e-03 8.09804248e+02] [ 7.29237742e-02 9.97337168e-01 -8.34971960e-04 9.32407606e+00] [ 8.21912798e-03 2.36202869e-04 9.99966194e-01 5.59063826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0092541539999 meters 0.019681603313232394 Centerline is valid? [True, True] Translation: X:809.83, Y:9.33, Z:5.59 [[ 9.97376593e-01 -7.19385568e-02 -8.04833787e-03 8.09831907e+02] [ 7.19342504e-02 9.97409036e-01 -8.23650095e-04 9.32667258e+00] [ 8.08673711e-03 2.42538174e-04 9.99967272e-01 5.59116773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0392541539999 meters 0.020359266951295668 Centerline is valid? [True, True] Translation: X:809.86, Y:9.33, Z:5.59 [[ 9.97364571e-01 -7.20747081e-02 -8.31562092e-03 8.09859177e+02] [ 7.20701079e-02 9.97399205e-01 -8.51932383e-04 9.32882026e+00] [ 8.35539647e-03 2.50379479e-04 9.99965062e-01 5.59061751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0692541539999 meters 0.0191486038552148 Centerline is valid? [True, True] Translation: X:809.89, Y:9.33, Z:5.59 [[ 9.97364579e-01 -7.20403538e-02 -8.60721019e-03 8.09888241e+02] [ 7.20354083e-02 9.97401684e-01 -8.83619087e-04 9.32816365e+00] [ 8.64850217e-03 2.61266478e-04 9.99962567e-01 5.59060034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0992541539999 meters 0.019908033847580796 Centerline is valid? [True, True] Translation: X:809.91, Y:9.33, Z:5.59 [[ 9.97348302e-01 -7.22383903e-02 -8.83055271e-03 8.09914933e+02] [ 7.22331745e-02 9.97387359e-01 -9.08583773e-04 9.32817689e+00] [ 8.87311627e-03 2.68315629e-04 9.99960597e-01 5.58962976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1292541539999 meters 0.01981146145997246 Centerline is valid? [True, True] Translation: X:809.94, Y:9.33, Z:5.59 [[ 9.97288077e-01 -7.29859012e-02 -9.46308539e-03 8.09943537e+02] [ 7.29799302e-02 9.97332933e-01 -9.75228119e-04 9.32884713e+00] [ 9.50902460e-03 2.81968065e-04 9.99954748e-01 5.58945528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1592541539999 meters 0.02033965050677564 Centerline is valid? [True, True] Translation: X:809.97, Y:9.33, Z:5.59 [[ 9.97180676e-01 -7.43769523e-02 -9.93822263e-03 8.09972816e+02] [ 7.43704100e-02 9.97230158e-01 -1.02675414e-03 9.32767949e+00] [ 9.98706216e-03 2.84749699e-04 9.99950088e-01 5.58758762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1892541539999 meters 0.01945404147347066 Centerline is valid? [True, True] Translation: X:810.00, Y:9.32, Z:5.59 [[ 9.97012081e-01 -7.65556119e-02 -1.03028362e-02 8.10002216e+02] [ 7.65486693e-02 9.97065275e-01 -1.06709904e-03 9.32475927e+00] [ 1.03542927e-02 2.75242229e-04 9.99946355e-01 5.58790980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2192541539999 meters 0.01807050005302976 Centerline is valid? [True, True] Translation: X:810.03, Y:9.33, Z:5.59 [[ 9.96946723e-01 -7.74567023e-02 -9.88387279e-03 8.10030104e+02] [ 7.74503378e-02 9.96995684e-01 -1.02565146e-03 9.32580826e+00] [ 9.93362209e-03 2.57010573e-04 9.99950627e-01 5.58997817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2492541539999 meters 0.019129706375922234 Centerline is valid? [True, True] Translation: X:810.06, Y:9.32, Z:5.59 [[ 9.96628347e-01 -8.13943608e-02 -1.03390403e-02 8.10058295e+02] [ 8.13875984e-02 9.96681948e-01 -1.07383259e-03 9.32234637e+00] [ 1.03921388e-02 2.28742333e-04 9.99945974e-01 5.58781495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2792541539999 meters 0.01616002716340719 Centerline is valid? [True, True] Translation: X:810.09, Y:9.32, Z:5.59 [[ 9.96519740e-01 -8.27952586e-02 -9.66196420e-03 8.10087902e+02] [ 8.27894069e-02 9.96566558e-01 -1.00473183e-03 9.32165318e+00] [ 9.71197743e-03 2.01326816e-04 9.99952817e-01 5.59078691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3092541539999 meters 0.015685812141750567 Centerline is valid? [True, True] Translation: X:810.12, Y:9.32, Z:5.59 [[ 9.96339399e-01 -8.49304823e-02 -9.72701457e-03 8.10116948e+02] [ 8.49246302e-02 9.96386862e-01 -1.01385020e-03 9.32163805e+00] [ 9.77797631e-03 1.84075786e-04 9.99952178e-01 5.59103129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3392541539998 meters 0.014820963551296586 Centerline is valid? [True, True] Translation: X:810.15, Y:9.32, Z:5.59 [[ 9.96179284e-01 -8.67681907e-02 -9.90530014e-03 8.10146407e+02] [ 8.67621872e-02 9.96228514e-01 -1.03500626e-03 9.32036551e+00] [ 9.95774806e-03 1.71646285e-04 9.99950406e-01 5.59133729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3692541539999 meters 0.014548497798959274 Centerline is valid? [True, True] Translation: X:810.17, Y:9.32, Z:5.59 [[ 9.95888752e-01 -9.00236097e-02 -1.00669689e-02 8.10174318e+02] [ 9.00175532e-02 9.95939621e-01 -1.05404157e-03 9.31854202e+00] [ 1.01209818e-02 1.43504232e-04 9.99948771e-01 5.59106289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3992541539999 meters 0.014418389998186537 Centerline is valid? [True, True] Translation: X:810.20, Y:9.32, Z:5.59 [[ 9.95762184e-01 -9.14015691e-02 -1.01698955e-02 8.10201750e+02] [ 9.13954503e-02 9.95814107e-01 -1.06576652e-03 9.31967508e+00] [ 1.02247381e-02 1.31767823e-04 9.99947717e-01 5.59087358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4292541539999 meters 0.014167110753240687 Centerline is valid? [True, True] Translation: X:810.23, Y:9.32, Z:5.59 [[ 9.95644522e-01 -9.26766300e-02 -1.01502392e-02 8.10230700e+02] [ 9.26705862e-02 9.95696253e-01 -1.06516268e-03 9.32023403e+00] [ 1.02052708e-02 1.19894769e-04 9.99947918e-01 5.59081193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4592541539998 meters 0.015626319777261897 Centerline is valid? [True, True] Translation: X:810.26, Y:9.32, Z:5.59 [[ 9.95492553e-01 -9.42635748e-02 -1.04381925e-02 8.10259793e+02] [ 9.42572419e-02 9.95547270e-01 -1.09809728e-03 9.32076533e+00] [ 1.04952246e-02 1.09272428e-04 9.99944918e-01 5.58902712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4892541539999 meters 0.014023003782580161 Centerline is valid? [True, True] Translation: X:810.29, Y:9.32, Z:5.59 [[ 9.95434098e-01 -9.48822731e-02 -1.04072875e-02 8.10286968e+02] [ 9.48759855e-02 9.95488495e-01 -1.09732402e-03 9.32119133e+00] [ 1.04644515e-02 1.04912089e-04 9.99945241e-01 5.59093220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5192541539999 meters 0.014742928917622343 Centerline is valid? [True, True] Translation: X:810.32, Y:9.32, Z:5.59 [[ 9.95366362e-01 -9.55271712e-02 -1.09711297e-02 8.10315402e+02] [ 9.55201940e-02 9.95426817e-01 -1.15940938e-03 9.32306636e+00] [ 1.10317119e-02 1.06072655e-04 9.99939143e-01 5.59016172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5492541539999 meters 0.014296726043145842 Centerline is valid? [True, True] Translation: X:810.34, Y:9.33, Z:5.59 [[ 9.95550877e-01 -9.36291812e-02 -1.05842822e-02 8.10344491e+02] [ 9.36225497e-02 9.95607132e-01 -1.12138303e-03 9.32729490e+00] [ 1.06427810e-02 1.25466368e-04 9.99943356e-01 5.59132373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5792541539998 meters 0.014555857318533545 Centerline is valid? [True, True] Translation: X:810.37, Y:9.33, Z:5.59 [[ 9.95642851e-01 -9.26400134e-02 -1.06367740e-02 8.10373292e+02] [ 9.26332307e-02 9.95699658e-01 -1.12964167e-03 9.33123341e+00] [ 1.06956822e-02 1.39400914e-04 9.99942790e-01 5.59167758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6092541539999 meters 0.015096117054971792 Centerline is valid? [True, True] Translation: X:810.40, Y:9.34, Z:5.59 [[ 9.95736156e-01 -9.16235008e-02 -1.07070969e-02 8.10400542e+02] [ 9.16165449e-02 9.95793709e-01 -1.13937484e-03 9.33549535e+00] [ 1.07664533e-02 1.53569501e-04 9.99942028e-01 5.59122908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6392541539999 meters 0.015616188941002432 Centerline is valid? [True, True] Translation: X:810.43, Y:9.34, Z:5.59 [[ 9.95923018e-01 -8.94522395e-02 -1.16464560e-02 8.10429440e+02] [ 8.94438355e-02 9.95991094e-01 -1.24151475e-03 9.34069904e+00] [ 1.17108227e-02 1.94749419e-04 9.99931407e-01 5.59064668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6692541539999 meters 0.0157093651453757 Centerline is valid? [True, True] Translation: X:810.46, Y:9.34, Z:5.59 [[ 9.95987785e-01 -8.87108745e-02 -1.17776841e-02 8.10457742e+02] [ 8.87021934e-02 9.96057397e-01 -1.25844998e-03 9.34402075e+00] [ 1.18428876e-02 2.08694391e-04 9.99929849e-01 5.59055301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6992541539998 meters 0.01551009971970075 Centerline is valid? [True, True] Translation: X:810.49, Y:9.35, Z:5.59 [[ 9.96036815e-01 -8.80373498e-02 -1.26526131e-02 8.10486491e+02] [ 8.80272340e-02 9.96117146e-01 -1.35528012e-03 9.34678087e+00] [ 1.27228002e-02 2.36134359e-04 9.99919034e-01 5.59066348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7292541539999 meters 0.016690558005757646 Centerline is valid? [True, True] Translation: X:810.51, Y:9.35, Z:5.59 [[ 9.96190863e-01 -8.62280952e-02 -1.29800175e-02 8.10513842e+02] [ 8.62172645e-02 9.96275385e-01 -1.39272917e-03 9.35372281e+00] [ 1.30517643e-02 2.68322470e-04 9.99914786e-01 5.58949859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7592541539999 meters 0.01649014976152284 Centerline is valid? [True, True] Translation: X:810.54, Y:9.36, Z:5.59 [[ 9.96265169e-01 -8.52819156e-02 -1.35169387e-02 8.10542159e+02] [ 8.52700514e-02 9.96356818e-01 -1.45268322e-03 9.35696018e+00] [ 1.35915817e-02 2.94667633e-04 9.99907587e-01 5.58975457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7892541539999 meters 0.01724545357080897 Centerline is valid? [True, True] Translation: X:810.57, Y:9.36, Z:5.59 [[ 9.96350021e-01 -8.42535762e-02 -1.37102299e-02 8.10569592e+02] [ 8.42412357e-02 9.96444296e-01 -1.47615936e-03 9.36244201e+00] [ 1.37858521e-02 3.15804698e-04 9.99904921e-01 5.58964164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8192541539999 meters 0.017166299275872147 Centerline is valid? [True, True] Translation: X:810.60, Y:9.37, Z:5.59 [[ 9.96473455e-01 -8.25322090e-02 -1.51356276e-02 8.10598224e+02] [ 8.25169227e-02 9.96588326e-01 -1.63276689e-03 9.36719721e+00] [ 1.52187456e-02 3.78063452e-04 9.99884117e-01 5.58984684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8492541539999 meters 0.017315977905984537 Centerline is valid? [True, True] Translation: X:810.63, Y:9.37, Z:5.59 [[ 9.96556269e-01 -8.14356419e-02 -1.56153282e-02 8.10626727e+02] [ 8.14191728e-02 9.96678517e-01 -1.68858157e-03 9.37153359e+00] [ 1.57009728e-02 4.11379453e-04 9.99876647e-01 5.59010022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8792541539999 meters 0.018836295068471627 Centerline is valid? [True, True] Translation: X:810.65, Y:9.38, Z:5.59 [[ 9.96607501e-01 -8.07001725e-02 -1.61545815e-02 8.10654478e+02] [ 8.06824060e-02 9.96738325e-01 -1.74957609e-03 9.37718723e+00] [ 1.62430816e-02 4.40250150e-04 9.99867976e-01 5.58876985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9092541539999 meters 0.018465217382632907 Centerline is valid? [True, True] Translation: X:810.68, Y:9.38, Z:5.59 [[ 9.96664412e-01 -7.98662536e-02 -1.67759099e-02 8.10682659e+02] [ 7.98469230e-02 9.96805476e-01 -1.82001096e-03 9.38155585e+00] [ 1.68676763e-02 4.74435364e-04 9.99857618e-01 5.58989687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9392541539999 meters 0.01867977292388742 Centerline is valid? [True, True] Translation: X:810.71, Y:9.39, Z:5.59 [[ 9.96767158e-01 -7.86089913e-02 -1.66090116e-02 8.10711227e+02] [ 7.85897990e-02 9.96905402e-01 -1.80609824e-03 9.38640932e+00] [ 1.66995890e-02 4.94960528e-04 9.99860430e-01 5.58958762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9692541539999 meters 0.018376508906431326 Centerline is valid? [True, True] Translation: X:810.74, Y:9.39, Z:5.59 [[ 9.96766662e-01 -7.85398507e-02 -1.69621376e-02 8.10740372e+02] [ 7.85197486e-02 9.96910844e-01 -1.84889226e-03 9.38964669e+00] [ 1.70549506e-02 5.11051384e-04 9.99854423e-01 5.58994901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9992541539999 meters 0.02113423661645117 Centerline is valid? [True, True] Translation: X:810.77, Y:9.40, Z:5.59 [[ 9.96744735e-01 -7.87346294e-02 -1.73433290e-02 8.10766383e+02] [ 7.87135880e-02 9.96895474e-01 -1.89359804e-03 9.39624532e+00] [ 1.74385780e-02 5.22278219e-04 9.99847800e-01 5.58786254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0292541539999 meters 0.018964508188089386 Centerline is valid? [True, True] Translation: X:810.79, Y:9.40, Z:5.59 [[ 9.96753694e-01 -7.86777468e-02 -1.70846667e-02 8.10794464e+02] [ 7.86572541e-02 9.96899966e-01 -1.86918888e-03 9.39721743e+00] [ 1.71787672e-02 5.19287950e-04 9.99852299e-01 5.58983676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0592541539999 meters 0.018612865193534604 Centerline is valid? [True, True] Translation: X:810.82, Y:9.40, Z:5.59 [[ 9.96675246e-01 -7.94402841e-02 -1.81023753e-02 8.10822341e+02] [ 7.94173032e-02 9.96839479e-01 -1.98599698e-03 9.39917907e+00] [ 1.82029305e-02 5.41752205e-04 9.99834166e-01 5.58982065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0892541539998 meters 0.018612865193534604 Centerline is valid? [True, True] Translation: X:810.85, Y:9.40, Z:5.59 [[ 9.96651808e-01 -7.97339310e-02 -1.81017893e-02 8.10849775e+02] [ 7.97109017e-02 9.96816035e-01 -1.99132792e-03 9.40226268e+00] [ 1.82029303e-02 5.41750620e-04 9.99834166e-01 5.59001118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1192541539999 meters 0.018076782976834793 Centerline is valid? [True, True] Translation: X:810.88, Y:9.41, Z:5.59 [[ 9.96626236e-01 -8.00846254e-02 -1.79610294e-02 8.10877517e+02] [ 8.00619135e-02 9.96787924e-01 -1.98117796e-03 9.40574790e+00] [ 1.80619991e-02 5.36499545e-04 9.99836725e-01 5.59085639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1492541539999 meters 0.0180711248246078 Centerline is valid? [True, True] Translation: X:810.91, Y:9.41, Z:5.59 [[ 9.96535917e-01 -8.12099597e-02 -1.79194871e-02 8.10905333e+02] [ 8.11874793e-02 9.96696882e-01 -1.97965786e-03 9.40896998e+00] [ 1.80210648e-02 5.17962178e-04 9.99837473e-01 5.59142626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1792541539999 meters 0.018036844748205737 Centerline is valid? [True, True] Translation: X:810.93, Y:9.41, Z:5.59 [[ 9.96457273e-01 -8.21773723e-02 -1.78824923e-02 8.10932634e+02] [ 8.21551108e-02 9.96617594e-01 -1.97720875e-03 9.41180328e+00] [ 1.79844883e-02 5.01065895e-04 9.99838140e-01 5.59190664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2092541539998 meters 0.017732854467188985 Centerline is valid? [True, True] Translation: X:810.96, Y:9.41, Z:5.59 [[ 9.96344166e-01 -8.36235021e-02 -1.74760597e-02 8.10961311e+02] [ 8.36024052e-02 9.96497311e-01 -1.93558020e-03 9.41410520e+00] [ 1.75767065e-02 4.67463412e-04 9.99845408e-01 5.59261077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2392541539999 meters 0.016943656792816866 Centerline is valid? [True, True] Translation: X:810.99, Y:9.42, Z:5.59 [[ 9.96098251e-01 -8.65059286e-02 -1.74641942e-02 8.10989984e+02] [ 8.64852248e-02 9.96251247e-01 -1.93871297e-03 9.41550565e+00] [ 1.75664354e-02 4.20753841e-04 9.99845610e-01 5.59300343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2692541539999 meters 0.01693547565786977 Centerline is valid? [True, True] Translation: X:811.02, Y:9.42, Z:5.59 [[ 9.96019759e-01 -8.74906250e-02 -1.70302993e-02 8.11018007e+02] [ 8.74710362e-02 9.96165264e-01 -1.89317142e-03 9.41871152e+00] [ 1.71306274e-02 3.95978215e-04 9.99853182e-01 5.59301916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2992541539999 meters 0.016764851451052935 Centerline is valid? [True, True] Translation: X:811.05, Y:9.42, Z:5.59 [[ 9.95931262e-01 -8.85450233e-02 -1.67541304e-02 8.11046456e+02] [ 8.85261617e-02 9.96072105e-01 -1.86555868e-03 9.42186693e+00] [ 1.68535079e-02 3.74789350e-04 9.99857899e-01 5.59326497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3292541539998 meters 0.016383318628881524 Centerline is valid? [True, True] Translation: X:811.07, Y:9.42, Z:5.59 [[ 9.95896025e-01 -8.89149272e-02 -1.68891267e-02 8.11074347e+02] [ 8.88957343e-02 9.96039153e-01 -1.88525659e-03 9.42433576e+00] [ 1.69898589e-02 3.76148231e-04 9.99855591e-01 5.59354764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3592541539999 meters 0.01698156739820422 Centerline is valid? [True, True] Translation: X:811.10, Y:9.43, Z:5.59 [[ 9.95905507e-01 -8.88723372e-02 -1.65507650e-02 8.11101240e+02] [ 8.88538466e-02 9.96042955e-01 -1.85068118e-03 9.42873431e+00] [ 1.66497472e-02 3.72504445e-04 9.99861314e-01 5.59290106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3892541539999 meters 0.01714194139014627 Centerline is valid? [True, True] Translation: X:811.13, Y:9.43, Z:5.59 [[ 9.95881035e-01 -8.90113856e-02 -1.72608647e-02 8.11130374e+02] [ 8.89912347e-02 9.96030532e-01 -1.93356047e-03 9.43239561e+00] [ 1.73644571e-02 3.89530541e-04 9.99849151e-01 5.59298526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4192541539999 meters 0.016677442152661336 Centerline is valid? [True, True] Translation: X:811.16, Y:9.44, Z:5.59 [[ 9.95906094e-01 -8.86792965e-02 -1.75224149e-02 8.11159447e+02] [ 8.86584004e-02 9.96060148e-01 -1.96730866e-03 9.43502783e+00] [ 1.76278388e-02 4.05745403e-04 9.99844535e-01 5.59330361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4492541539998 meters 0.017423045020665898 Centerline is valid? [True, True] Translation: X:811.19, Y:9.44, Z:5.59 [[ 9.95961079e-01 -8.80528602e-02 -1.75562963e-02 8.11187389e+02] [ 8.80317377e-02 9.96115715e-01 -1.97384055e-03 9.43985680e+00] [ 1.76619049e-02 4.20357092e-04 9.99843928e-01 5.59288655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4792541539999 meters 0.01888510449770129 Centerline is valid? [True, True] Translation: X:811.22, Y:9.44, Z:5.59 [[ 9.96086829e-01 -8.65393160e-02 -1.79436692e-02 8.11215818e+02] [ 8.65169446e-02 9.96248330e-01 -2.02077035e-03 9.44469419e+00] [ 1.80512265e-02 4.60431301e-04 9.99836957e-01 5.59226735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5092541539999 meters 0.018271116649600266 Centerline is valid? [True, True] Translation: X:811.24, Y:9.45, Z:5.59 [[ 9.96258467e-01 -8.47448082e-02 -1.69523911e-02 8.11243948e+02] [ 8.47245380e-02 9.96402578e-01 -1.91164984e-03 9.44891791e+00] [ 1.70534086e-02 4.68213834e-04 9.99854470e-01 5.59374439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5392541539999 meters 0.018198531983161455 Centerline is valid? [True, True] Translation: X:811.27, Y:9.45, Z:5.59 [[ 9.96367083e-01 -8.35443708e-02 -1.65219334e-02 8.11272597e+02] [ 8.35249009e-02 9.96503943e-01 -1.86618892e-03 9.45273399e+00] [ 1.66200813e-02 4.79416367e-04 9.99861762e-01 5.59442903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5692541539999 meters 0.01960015494210032 Centerline is valid? [True, True] Translation: X:811.30, Y:9.46, Z:5.59 [[ 9.96593518e-01 -8.08536385e-02 -1.62496149e-02 8.11300057e+02] [ 8.08344054e-02 9.96725850e-01 -1.83802433e-03 9.46013223e+00] [ 1.63450222e-02 5.18235176e-04 9.99866277e-01 5.59418875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5992541539999 meters 0.019979572813713112 Centerline is valid? [True, True] Translation: X:811.33, Y:9.46, Z:5.59 [[ 9.96679170e-01 -7.97190664e-02 -1.65982404e-02 8.11328143e+02] [ 7.96988092e-02 9.96817219e-01 -1.87941420e-03 9.46466768e+00] [ 1.66952370e-02 5.50312988e-04 9.99860473e-01 5.59402856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6292541539999 meters 0.01994385574957104 Centerline is valid? [True, True] Translation: X:811.36, Y:9.47, Z:5.59 [[ 9.96727713e-01 -7.90831602e-02 -1.67247997e-02 8.11356530e+02] [ 7.90624454e-02 9.96867860e-01 -1.89720099e-03 9.46875344e+00] [ 1.68224520e-02 5.68689244e-04 9.99858331e-01 5.59378495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6592541539999 meters 0.020298051483517248 Centerline is valid? [True, True] Translation: X:811.39, Y:9.47, Z:5.59 [[ 9.96737282e-01 -7.88681942e-02 -1.71638602e-02 8.11385298e+02] [ 7.88462690e-02 9.96884877e-01 -1.95143491e-03 9.47349258e+00] [ 1.72642988e-02 5.91761596e-04 9.99850786e-01 5.59324394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6892541539999 meters 0.025292847728261292 Centerline is valid? [True, True] Translation: X:811.41, Y:9.49, Z:5.59 [[ 9.96828700e-01 -7.76092122e-02 -1.75884570e-02 8.11411802e+02] [ 7.75859441e-02 9.96983657e-01 -2.00247245e-03 9.48577566e+00] [ 1.76908145e-02 6.31504960e-04 9.99843306e-01 5.59092790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7192541539999 meters 0.02057527884410118 Centerline is valid? [True, True] Translation: X:811.44, Y:9.48, Z:5.59 [[ 9.96849556e-01 -7.74243689e-02 -1.72171081e-02 8.11441013e+02] [ 7.74019889e-02 9.96998033e-01 -1.96346107e-03 9.48232781e+00] [ 1.73174426e-02 6.24636889e-04 9.99849847e-01 5.59337720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7492541539999 meters 0.021001431352321045 Centerline is valid? [True, True] Translation: X:811.47, Y:9.49, Z:5.59 [[ 9.96911002e-01 -7.67619850e-02 -1.66148200e-02 8.11468907e+02] [ 7.67410083e-02 9.97049255e-01 -1.89737426e-03 9.48776161e+00] [ 1.67114401e-02 6.16475234e-04 9.99860164e-01 5.59391204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7792541539999 meters 0.02204196448427612 Centerline is valid? [True, True] Translation: X:811.50, Y:9.49, Z:5.59 [[ 9.96971594e-01 -7.60242296e-02 -1.63694049e-02 8.11496407e+02] [ 7.60037445e-02 9.97105777e-01 -1.87082527e-03 9.49343662e+00] [ 1.64642562e-02 6.21023586e-04 9.99864262e-01 5.59369294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8092541539999 meters 0.021821250125548447 Centerline is valid? [True, True] Translation: X:811.53, Y:9.50, Z:5.59 [[ 9.97007855e-01 -7.55635305e-02 -1.62938712e-02 8.11525193e+02] [ 7.55431231e-02 9.97140791e-01 -1.86520900e-03 9.49715263e+00] [ 1.63882254e-02 6.28738104e-04 9.99865506e-01 5.59401122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8392541539998 meters 0.022233264992148474 Centerline is valid? [True, True] Translation: X:811.55, Y:9.50, Z:5.59 [[ 9.97092462e-01 -7.43156786e-02 -1.68464519e-02 8.11553402e+02] [ 7.42936117e-02 9.97234538e-01 -1.93282516e-03 9.50208892e+00] [ 1.69435029e-02 6.75621633e-04 9.99856220e-01 5.59395836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8692541539999 meters 0.023221978273069155 Centerline is valid? [True, True] Translation: X:811.58, Y:9.51, Z:5.59 [[ 9.97093000e-01 -7.42358162e-02 -1.71636910e-02 8.11582039e+02] [ 7.42128223e-02 9.97240473e-01 -1.97363243e-03 9.50652120e+00] [ 1.72628416e-02 6.94129130e-04 9.99850745e-01 5.59290725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8992541539999 meters 0.02346582291458706 Centerline is valid? [True, True] Translation: X:811.61, Y:9.51, Z:5.59 [[ 9.97161888e-01 -7.34558613e-02 -1.65047019e-02 8.11609624e+02] [ 7.34344503e-02 9.97298235e-01 -1.90040757e-03 9.51237044e+00] [ 1.65997062e-02 6.83000286e-04 9.99861982e-01 5.59385234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9292541539999 meters 0.02603052900942008 Centerline is valid? [True, True] Translation: X:811.64, Y:9.52, Z:5.59 [[ 9.97091478e-01 -7.41544410e-02 -1.75983753e-02 8.11637278e+02] [ 7.41301697e-02 9.97246511e-01 -2.02843212e-03 9.51806460e+00] [ 1.77003356e-02 7.17961830e-04 9.99843079e-01 5.59158656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9592541539998 meters 0.023771170739315242 Centerline is valid? [True, True] Translation: X:811.67, Y:9.52, Z:5.59 [[ 9.97136222e-01 -7.39397754e-02 -1.58828278e-02 8.11665589e+02] [ 7.39199244e-02 9.97262493e-01 -1.83410011e-03 9.52073402e+00] [ 1.59749614e-02 6.54790227e-04 9.99872178e-01 5.59450708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9892541539999 meters 0.024629120547145042 Centerline is valid? [True, True] Translation: X:811.69, Y:9.53, Z:5.59 [[ 9.97115568e-01 -7.42452463e-02 -1.57539612e-02 8.11692723e+02] [ 7.42256959e-02 9.97239802e-01 -1.82289365e-03 9.52576182e+00] [ 1.58458184e-02 6.48286901e-04 9.99874237e-01 5.59471091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0192541539999 meters 0.02414494779659029 Centerline is valid? [True, True] Translation: X:811.72, Y:9.53, Z:5.60 [[ 9.97103892e-01 -7.45729962e-02 -1.49230180e-02 8.11720644e+02] [ 7.45554372e-02 9.97215369e-01 -1.73030291e-03 9.52954543e+00] [ 1.50104968e-02 6.12699628e-04 9.99887148e-01 5.59544163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0492541539999 meters 0.023084022367650437 Centerline is valid? [True, True] Translation: X:811.75, Y:9.53, Z:5.60 [[ 9.97080984e-01 -7.49885343e-02 -1.43607498e-02 8.11748977e+02] [ 7.49722579e-02 9.97184223e-01 -1.66917633e-03 9.53193773e+00] [ 1.44454823e-02 5.87646137e-04 9.99895486e-01 5.59593551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0792541539998 meters 0.021963964130140158 Centerline is valid? [True, True] Translation: X:811.78, Y:9.53, Z:5.60 [[ 9.97056654e-01 -7.52829110e-02 -1.45090049e-02 8.11777290e+02] [ 7.52662650e-02 9.97162038e-01 -1.69071737e-03 9.53460330e+00] [ 1.45951110e-02 5.93702394e-04 9.99893309e-01 5.59629328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1092541539999 meters 0.022004302147423615 Centerline is valid? [True, True] Translation: X:811.81, Y:9.54, Z:5.60 [[ 9.97044786e-01 -7.55017345e-02 -1.41839130e-02 8.11805113e+02] [ 7.54857885e-02 9.97145501e-01 -1.65702192e-03 9.53986481e+00] [ 1.42685331e-02 5.81441208e-04 9.99898030e-01 5.59641155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1392541539999 meters 0.02558286009684246 Centerline is valid? [True, True] Translation: X:811.83, Y:9.55, Z:5.59 [[ 9.96959237e-01 -7.64057086e-02 -1.53116917e-02 8.11832616e+02] [ 7.63871862e-02 9.97076621e-01 -1.79175667e-03 9.54738207e+00] [ 1.54038303e-02 6.16691319e-04 9.99881164e-01 5.59354460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1692541539999 meters 0.025796303019133094 Centerline is valid? [True, True] Translation: X:811.86, Y:9.55, Z:5.60 [[ 9.97000767e-01 -7.60733214e-02 -1.42239445e-02 8.11860308e+02] [ 7.60572861e-02 9.97102058e-01 -1.66569307e-03 9.55376441e+00] [ 1.43094391e-02 5.78862655e-04 9.99897447e-01 5.59513083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1992541539998 meters 0.022847570277436276 Centerline is valid? [True, True] Translation: X:811.89, Y:9.55, Z:5.60 [[ 9.96970682e-01 -7.63895889e-02 -1.46318400e-02 8.11888459e+02] [ 7.63726123e-02 9.97077870e-01 -1.71633755e-03 9.55435115e+00] [ 1.47201941e-02 5.93666376e-04 9.99891476e-01 5.59635999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2292541539999 meters 0.026590194490663563 Centerline is valid? [True, True] Translation: X:811.92, Y:9.56, Z:5.59 [[ 9.96943471e-01 -7.67781179e-02 -1.44511518e-02 8.11915097e+02] [ 7.67615600e-02 9.97048033e-01 -1.69781599e-03 9.56297160e+00] [ 1.45388476e-02 5.83333612e-04 9.99894135e-01 5.59437468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2592541539999 meters 0.026479204145556604 Centerline is valid? [True, True] Translation: X:811.94, Y:9.57, Z:5.60 [[ 9.96951635e-01 -7.67736808e-02 -1.39010403e-02 8.11942940e+02] [ 7.67583240e-02 9.97048386e-01 -1.63569736e-03 9.56804930e+00] [ 1.39855883e-02 5.63690606e-04 9.99902038e-01 5.59567905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2892541539999 meters 0.022328598989082207 Centerline is valid? [True, True] Translation: X:811.97, Y:9.57, Z:5.60 [[ 9.96839759e-01 -7.81983602e-02 -1.39825157e-02 8.11972160e+02] [ 7.81829105e-02 9.96937668e-01 -1.64899771e-03 9.56667641e+00] [ 1.40686455e-02 5.50592706e-04 9.99900880e-01 5.59562307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3192541539999 meters 0.022425756157659443 Centerline is valid? [True, True] Translation: X:812.00, Y:9.57, Z:5.60 [[ 9.96823284e-01 -7.83941815e-02 -1.40603221e-02 8.11998475e+02] [ 7.83785407e-02 9.96922287e-01 -1.66086707e-03 9.57183568e+00] [ 1.41472507e-02 5.53563439e-04 9.99899769e-01 5.59590431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3492541539999 meters 0.022048070847207828 Centerline is valid? [True, True] Translation: X:812.03, Y:9.58, Z:5.60 [[ 9.96790987e-01 -7.87181694e-02 -1.45319683e-02 8.12026338e+02] [ 7.87014502e-02 9.96896747e-01 -1.71971180e-03 9.57553530e+00] [ 1.46222445e-02 5.70506237e-04 9.99892927e-01 5.59584646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3792541539999 meters 0.021307199740708486 Centerline is valid? [True, True] Translation: X:812.05, Y:9.58, Z:5.60 [[ 9.96728469e-01 -7.93990935e-02 -1.51044182e-02 8.12054627e+02] [ 7.93810452e-02 9.96842736e-01 -1.79166275e-03 9.57935260e+00] [ 1.51989860e-02 5.86796762e-04 9.99884317e-01 5.59579391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4092541539999 meters 0.021594840252623555 Centerline is valid? [True, True] Translation: X:812.08, Y:9.58, Z:5.60 [[ 9.96718858e-01 -7.95247116e-02 -1.50777274e-02 8.12082702e+02] [ 7.95066779e-02 9.96832721e-01 -1.79267700e-03 9.58413519e+00] [ 1.51725341e-02 5.88014958e-04 9.99884718e-01 5.59601291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4392541539999 meters 0.022318210735960426 Centerline is valid? [True, True] Translation: X:812.11, Y:9.59, Z:5.60 [[ 9.96731721e-01 -7.92703692e-02 -1.55590920e-02 8.12109591e+02] [ 7.92510871e-02 9.96852964e-01 -1.85294106e-03 9.58993311e+00] [ 1.56570103e-02 6.13810174e-04 9.99877233e-01 5.59585613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4692541539999 meters 0.02329571419461794 Centerline is valid? [True, True] Translation: X:812.14, Y:9.60, Z:5.60 [[ 9.96765322e-01 -7.87732559e-02 -1.59269214e-02 8.12136902e+02] [ 7.87529625e-02 9.96892355e-01 -1.89832707e-03 9.59751794e+00] [ 1.60269636e-02 6.37894349e-04 9.99871356e-01 5.59501276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4992541539999 meters 0.024024246873067548 Centerline is valid? [True, True] Translation: X:812.16, Y:9.60, Z:5.59 [[ 9.96740227e-01 -7.90043820e-02 -1.63471022e-02 8.12164707e+02] [ 7.89829797e-02 9.96874054e-01 -1.95174830e-03 9.60292511e+00] [ 1.64501987e-02 6.54243205e-04 9.99864472e-01 5.59432680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5292541539999 meters 0.022307662852426448 Centerline is valid? [True, True] Translation: X:812.19, Y:9.61, Z:5.60 [[ 9.96721577e-01 -7.92037893e-02 -1.65183768e-02 8.12193031e+02] [ 7.91818832e-02 9.96858225e-01 -1.97702819e-03 9.60637089e+00] [ 1.66230679e-02 6.62590476e-04 9.99861608e-01 5.59554309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5592541539999 meters 0.0240968328210218 Centerline is valid? [True, True] Translation: X:812.22, Y:9.61, Z:5.59 [[ 9.96628506e-01 -8.03006799e-02 -1.68351309e-02 8.12220140e+02] [ 8.02780239e-02 9.96770468e-01 -2.01835273e-03 9.61104245e+00] [ 1.69428364e-02 6.60056820e-04 9.99856242e-01 5.59394021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5892541539998 meters 0.022694172522791826 Centerline is valid? [True, True] Translation: X:812.25, Y:9.62, Z:5.60 [[ 9.96664692e-01 -8.00794361e-02 -1.57091116e-02 8.12246587e+02] [ 8.00596509e-02 9.96788291e-01 -1.88533443e-03 9.61591956e+00] [ 1.58096350e-02 6.21380270e-04 9.99874827e-01 5.59710223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6192541539999 meters 0.023402815506036637 Centerline is valid? [True, True] Translation: X:812.28, Y:9.62, Z:5.60 [[ 9.96532428e-01 -8.16676724e-02 -1.59220427e-02 8.12275781e+02] [ 8.16475017e-02 9.96659432e-01 -1.91387753e-03 9.61991576e+00] [ 1.60251560e-02 6.07246013e-04 9.99871405e-01 5.59563610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6492541539999 meters 0.02259159390613536 Centerline is valid? [True, True] Translation: X:812.30, Y:9.63, Z:5.60 [[ 9.96429205e-01 -8.29528827e-02 -1.57371863e-02 8.12304016e+02] [ 8.29332775e-02 9.96553299e-01 -1.89545825e-03 9.62512800e+00] [ 1.58401787e-02 5.83553514e-04 9.99874366e-01 5.59689034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6792541539999 meters 0.022192450156710036 Centerline is valid? [True, True] Translation: X:812.33, Y:9.63, Z:5.60 [[ 9.96395163e-01 -8.34294557e-02 -1.53689917e-02 8.12331881e+02] [ 8.34107505e-02 9.96513525e-01 -1.85520817e-03 9.62991616e+00] [ 1.54701871e-02 5.66581319e-04 9.99880169e-01 5.59785257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7092541539998 meters 0.0228901040754397 Centerline is valid? [True, True] Translation: X:812.36, Y:9.64, Z:5.60 [[ 9.96351127e-01 -8.39161332e-02 -1.55728713e-02 8.12358806e+02] [ 8.38969446e-02 9.96472658e-01 -1.88256777e-03 9.63640780e+00] [ 1.56759183e-02 5.69182199e-04 9.99876963e-01 5.59759364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7392541539999 meters 0.02238232522249391 Centerline is valid? [True, True] Translation: X:812.39, Y:9.64, Z:5.60 [[ 9.96306256e-01 -8.44277685e-02 -1.56779021e-02 8.12386978e+02] [ 8.44083347e-02 9.96429440e-01 -1.89835590e-03 9.64006184e+00] [ 1.57821972e-02 5.67998250e-04 9.99875292e-01 5.59807548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7692541539999 meters 0.02295316536163459 Centerline is valid? [True, True] Translation: X:812.41, Y:9.65, Z:5.60 [[ 9.96264405e-01 -8.49360495e-02 -1.55917483e-02 8.12414529e+02] [ 8.49168427e-02 9.96386247e-01 -1.89099083e-03 9.64634563e+00] [ 1.56960169e-02 5.59924809e-04 9.99876653e-01 5.59793176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7992541539999 meters 0.023618650200624862 Centerline is valid? [True, True] Translation: X:812.44, Y:9.65, Z:5.60 [[ 9.96133715e-01 -8.63551131e-02 -1.61374338e-02 8.12443041e+02] [ 8.63346730e-02 9.96264263e-01 -1.96032349e-03 9.65066612e+00] [ 1.62464325e-02 5.59524255e-04 9.99867861e-01 5.59632465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8292541539998 meters 0.02208873268079151 Centerline is valid? [True, True] Translation: X:812.47, Y:9.65, Z:5.60 [[ 9.96104702e-01 -8.67900205e-02 -1.55857168e-02 8.12471345e+02] [ 8.67709444e-02 9.96226482e-01 -1.89731806e-03 9.65404410e+00] [ 1.56915721e-02 5.37540073e-04 9.99876735e-01 5.59808398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8592541539999 meters 0.02284542435563535 Centerline is valid? [True, True] Translation: X:812.50, Y:9.66, Z:5.60 [[ 9.95923914e-01 -8.86244762e-02 -1.67707903e-02 8.12500408e+02] [ 8.86025731e-02 9.96064957e-01 -2.04604038e-03 9.65748455e+00] [ 1.68861258e-02 5.51765372e-04 9.99857267e-01 5.59588178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8892541539999 meters 0.020466579146447436 Centerline is valid? [True, True] Translation: X:812.53, Y:9.66, Z:5.60 [[ 9.95744763e-01 -9.06502045e-02 -1.65803127e-02 8.12530074e+02] [ 9.06290277e-02 9.95882662e-01 -2.02572955e-03 9.65732857e+00] [ 1.66956787e-02 5.14451973e-04 9.99860485e-01 5.59678315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9192541539999 meters 0.018449713127682985 Centerline is valid? [True, True] Translation: X:812.56, Y:9.66, Z:5.60 [[ 9.95724222e-01 -9.09840326e-02 -1.59743298e-02 8.12557837e+02] [ 9.09643612e-02 9.95852229e-01 -1.95525642e-03 9.66049047e+00] [ 1.60859691e-02 4.93801472e-04 9.99870490e-01 5.59949601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9492541539998 meters 0.01893403296212401 Centerline is valid? [True, True] Translation: X:812.59, Y:9.67, Z:5.60 [[ 9.95497245e-01 -9.35186698e-02 -1.54755716e-02 8.12585420e+02] [ 9.35004706e-02 9.95617428e-01 -1.89696640e-03 9.66524161e+00] [ 1.55851506e-02 4.41451604e-04 9.99878447e-01 5.59927881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9792541539999 meters 0.01893403296212401 Centerline is valid? [True, True] Translation: X:812.61, Y:9.67, Z:5.60 [[ 9.95470924e-01 -9.37984925e-02 -1.54751989e-02 8.12612788e+02] [ 9.37802799e-02 9.95591105e-01 -1.90000303e-03 9.66868761e+00] [ 1.55851878e-02 4.40129283e-04 9.99878447e-01 5.59946975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0092541539999 meters 0.017449021675291172 Centerline is valid? [True, True] Translation: X:812.64, Y:9.67, Z:5.60 [[ 9.95347617e-01 -9.51724348e-02 -1.50109479e-02 8.12641512e+02] [ 9.51553941e-02 9.95460717e-01 -1.84701308e-03 9.66969441e+00] [ 1.51185937e-02 4.10047407e-04 9.99885623e-01 5.60033640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0392541539999 meters 0.017390019968365845 Centerline is valid? [True, True] Translation: X:812.67, Y:9.67, Z:5.60 [[ 9.95231115e-01 -9.63392108e-02 -1.52899836e-02 8.12668909e+02] [ 9.63216284e-02 9.95348479e-01 -1.88392998e-03 9.67304567e+00] [ 1.54003582e-02 4.02189625e-04 9.99881327e-01 5.60021608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0692541539999 meters 0.017458839175715016 Centerline is valid? [True, True] Translation: X:812.70, Y:9.67, Z:5.60 [[ 9.94983114e-01 -9.88629300e-02 -1.53206799e-02 8.12698010e+02] [ 9.88455330e-02 9.95100993e-01 -1.89048570e-03 9.67490822e+00] [ 1.54325227e-02 3.66620585e-04 9.99880844e-01 5.59913415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0992541539999 meters 0.01715439911131899 Centerline is valid? [True, True] Translation: X:812.73, Y:9.68, Z:5.60 [[ 9.94887382e-01 -9.98313094e-02 -1.52580088e-02 8.12727037e+02] [ 9.98141087e-02 9.95004314e-01 -1.88662897e-03 9.67739422e+00] [ 1.53701292e-02 3.54018807e-04 9.99881810e-01 5.59927720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1292541539999 meters 0.017908829546007716 Centerline is valid? [True, True] Translation: X:812.75, Y:9.68, Z:5.60 [[ 9.94847078e-01 -1.00274752e-01 -1.49755140e-02 8.12754260e+02] [ 1.00258196e-01 9.94959726e-01 -1.85415072e-03 9.68316930e+00] [ 1.50859578e-02 3.43178402e-04 9.99886142e-01 5.59970755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1592541539999 meters 0.018496937645507347 Centerline is valid? [True, True] Translation: X:812.78, Y:9.68, Z:5.60 [[ 9.94675391e-01 -1.01944395e-01 -1.51065252e-02 8.12783690e+02] [ 1.01927699e-01 9.94790046e-01 -1.87305969e-03 9.68342177e+00] [ 1.52187689e-02 3.23313012e-04 9.99884136e-01 5.59835297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1892541539999 meters 0.015618324377485731 Centerline is valid? [True, True] Translation: X:812.81, Y:9.69, Z:5.60 [[ 9.94713430e-01 -1.01699724e-01 -1.42252573e-02 8.12811624e+02] [ 1.01684839e-01 9.94815093e-01 -1.76761132e-03 9.68522876e+00] [ 1.43312662e-02 3.11773716e-04 9.99897254e-01 5.60137820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2192541539999 meters 0.017740452811593064 Centerline is valid? [True, True] Translation: X:812.84, Y:9.69, Z:5.60 [[ 9.94642296e-01 -1.02289931e-01 -1.49489986e-02 8.12839989e+02] [ 1.02273492e-01 9.94754575e-01 -1.86210045e-03 9.68880757e+00] [ 1.50610589e-02 3.23237571e-04 9.99886524e-01 5.59899968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2492541539999 meters 0.0166899912997264 Centerline is valid? [True, True] Translation: X:812.87, Y:9.69, Z:5.60 [[ 9.94856834e-01 -1.00234991e-01 -1.45885450e-02 8.12867085e+02] [ 1.00219074e-01 9.94963731e-01 -1.81990250e-03 9.69377786e+00] [ 1.46974911e-02 3.48491973e-04 9.99891925e-01 5.60077191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2792541539999 meters 0.019231601260182963 Centerline is valid? [True, True] Translation: X:812.90, Y:9.70, Z:5.60 [[ 9.94874344e-01 -9.99579554e-02 -1.52789827e-02 8.12895619e+02] [ 9.99404206e-02 9.94991592e-01 -1.90882169e-03 9.69745985e+00] [ 1.53932612e-02 3.72049766e-04 9.99881448e-01 5.59828252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3092541539999 meters 0.018609028268951992 Centerline is valid? [True, True] Translation: X:812.92, Y:9.70, Z:5.60 [[ 9.95033076e-01 -9.84094199e-02 -1.49920994e-02 8.12923747e+02] [ 9.83923247e-02 9.95145936e-01 -1.87543007e-03 9.70126599e+00] [ 1.51038868e-02 3.91007437e-04 9.99885853e-01 5.59922862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3392541539998 meters 0.019882020596705498 Centerline is valid? [True, True] Translation: X:812.95, Y:9.71, Z:5.60 [[ 9.95382224e-01 -9.47401187e-02 -1.54446699e-02 8.12951229e+02] [ 9.47215144e-02 9.95501932e-01 -1.93331949e-03 9.70755575e+00] [ 1.55583616e-02 4.61449336e-04 9.99878855e-01 5.59887804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3692541539999 meters 0.0205897202303485 Centerline is valid? [True, True] Translation: X:812.98, Y:9.71, Z:5.60 [[ 9.95504308e-01 -9.33949604e-02 -1.57655771e-02 8.12979561e+02] [ 9.33753623e-02 9.95629015e-01 -1.97626751e-03 9.71186470e+00] [ 1.58812395e-02 4.95266343e-04 9.99873763e-01 5.59828906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3992541539999 meters 0.021809300052067594 Centerline is valid? [True, True] Translation: X:813.01, Y:9.72, Z:5.60 [[ 9.95759979e-01 -9.05369966e-02 -1.62824209e-02 8.13007792e+02] [ 9.05156726e-02 9.95892935e-01 -2.04337160e-03 9.71810374e+00] [ 1.64005486e-02 5.60893383e-04 9.99865345e-01 5.59828596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4292541539999 meters 0.02148442811624971 Centerline is valid? [True, True] Translation: X:813.04, Y:9.72, Z:5.60 [[ 9.95861960e-01 -8.93880911e-02 -1.63928572e-02 8.13036737e+02] [ 8.93662761e-02 9.95996699e-01 -2.05997011e-03 9.72193602e+00] [ 1.65113684e-02 5.86477269e-04 9.99863506e-01 5.59975947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4592541539998 meters 0.02053884079713772 Centerline is valid? [True, True] Translation: X:813.07, Y:9.72, Z:5.60 [[ 9.95796100e-01 -9.00779303e-02 -1.66160534e-02 8.13065848e+02] [ 9.00555419e-02 9.95934547e-01 -2.09227246e-03 9.72197023e+00] [ 1.67369692e-02 5.87109061e-04 9.99859755e-01 5.59913622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4892541539999 meters 0.02031301880587908 Centerline is valid? [True, True] Translation: X:813.09, Y:9.73, Z:5.60 [[ 9.95822076e-01 -8.98471549e-02 -1.63058684e-02 8.13093415e+02] [ 8.98255208e-02 9.95955395e-01 -2.05582545e-03 9.72544745e+00] [ 1.64246276e-02 5.82553249e-04 9.99864937e-01 5.60056993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5192541539999 meters 0.021779680955836666 Centerline is valid? [True, True] Translation: X:813.12, Y:9.73, Z:5.60 [[ 9.95696493e-01 -9.11182557e-02 -1.69102497e-02 8.13121319e+02] [ 9.10951445e-02 9.95839908e-01 -2.13358459e-03 9.72873846e+00] [ 1.70343100e-02 5.83961057e-04 9.99854735e-01 5.59914369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5492541539999 meters 0.020100443384534223 Centerline is valid? [True, True] Translation: X:813.15, Y:9.73, Z:5.60 [[ 9.95381065e-01 -9.45465140e-02 -1.66581145e-02 8.13150686e+02] [ 9.45245441e-02 9.95520310e-01 -2.10309348e-03 9.72631227e+00] [ 1.67823314e-02 5.18778748e-04 9.99859032e-01 5.60008033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5792541539998 meters 0.01765351358678659 Centerline is valid? [True, True] Translation: X:813.18, Y:9.72, Z:5.60 [[ 9.95018641e-01 -9.85787879e-02 -1.48366436e-02 8.13181043e+02] [ 9.85617992e-02 9.95129168e-01 -1.87371991e-03 9.72472231e+00] [ 1.49490859e-02 4.02059946e-04 9.99888175e-01 5.60304359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6092541539999 meters 0.018413569111736194 Centerline is valid? [True, True] Translation: X:813.21, Y:9.72, Z:5.60 [[ 9.94679803e-01 -1.01866600e-01 -1.53389900e-02 8.13210370e+02] [ 1.01848796e-01 9.94798000e-01 -1.93946990e-03 9.72423343e+00] [ 1.54567638e-02 3.66893864e-04 9.99880470e-01 5.60133387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6392541539999 meters 0.016319527835010207 Centerline is valid? [True, True] Translation: X:813.24, Y:9.73, Z:5.60 [[ 9.94491065e-01 -1.03867544e-01 -1.41087095e-02 8.13238799e+02] [ 1.03852633e-01 9.94591090e-01 -1.78738749e-03 9.72577641e+00] [ 1.42180483e-02 3.12314262e-04 9.99898870e-01 5.60388553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6692541539999 meters 0.015020056374598146 Centerline is valid? [True, True] Translation: X:813.27, Y:9.72, Z:5.61 [[ 9.93998603e-01 -1.08609237e-01 -1.30694860e-02 8.13268945e+02] [ 1.08596811e-01 9.94084494e-01 -1.65882631e-03 9.72285401e+00] [ 1.31723373e-02 2.29566531e-04 9.99913215e-01 5.60507418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6992541539998 meters 0.015432184602467465 Centerline is valid? [True, True] Translation: X:813.30, Y:9.72, Z:5.60 [[ 9.93764352e-01 -1.10737907e-01 -1.30203171e-02 8.13296562e+02] [ 1.10725728e-01 9.93849624e-01 -1.65476607e-03 9.72380097e+00] [ 1.31234826e-02 2.02763442e-04 9.99913863e-01 5.60418465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7292541539999 meters 0.014121298054456612 Centerline is valid? [True, True] Translation: X:813.33, Y:9.72, Z:5.61 [[ 9.93597353e-01 -1.12231031e-01 -1.29805673e-02 8.13325922e+02] [ 1.12219025e-01 9.93682123e-01 -1.65192067e-03 9.72410653e+00] [ 1.30839544e-02 1.84677408e-04 9.99914384e-01 5.60593272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7592541539999 meters 0.014039332567436055 Centerline is valid? [True, True] Translation: X:813.35, Y:9.72, Z:5.61 [[ 9.93429348e-01 -1.13683196e-01 -1.32007857e-02 8.13354444e+02] [ 1.13670875e-01 9.93517037e-01 -1.68234267e-03 9.72374094e+00] [ 1.33064596e-02 1.70743715e-04 9.99911451e-01 5.60576248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7892541539999 meters 0.01389119896816797 Centerline is valid? [True, True] Translation: X:813.38, Y:9.73, Z:5.61 [[ 9.93373515e-01 -1.14095219e-01 -1.38325703e-02 8.13382402e+02] [ 1.14081693e-01 9.93469803e-01 -1.76558055e-03 9.72543451e+00] [ 1.39436852e-02 1.75837921e-04 9.99902767e-01 5.60587915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8192541539999 meters 0.014432710631357005 Centerline is valid? [True, True] Translation: X:813.41, Y:9.73, Z:5.61 [[ 9.93532071e-01 -1.12615865e-01 -1.45495971e-02 8.13410337e+02] [ 1.12600700e-01 9.93638578e-01 -1.85994368e-03 9.72796488e+00] [ 1.46665001e-02 2.09618877e-04 9.99892419e-01 5.60503618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8492541539999 meters 0.014552742423525685 Centerline is valid? [True, True] Translation: X:813.44, Y:9.73, Z:5.60 [[ 9.93631625e-01 -1.11628911e-01 -1.53355928e-02 8.13439278e+02] [ 1.11611902e-01 9.93749933e-01 -1.96324032e-03 9.73097454e+00] [ 1.54588987e-02 2.39102996e-04 9.99880475e-01 5.60466888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8792541539999 meters 0.015234257265626532 Centerline is valid? [True, True] Translation: X:813.47, Y:9.74, Z:5.60 [[ 9.93769978e-01 -1.10357986e-01 -1.55674570e-02 8.13466466e+02] [ 1.10340262e-01 9.93891868e-01 -1.99548597e-03 9.73501112e+00] [ 1.56925867e-02 2.65336771e-04 9.99876829e-01 5.60396614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9092541539999 meters 0.01584728034007381 Centerline is valid? [True, True] Translation: X:813.50, Y:9.74, Z:5.60 [[ 9.94036410e-01 -1.07805592e-01 -1.64185596e-02 8.13495018e+02] [ 1.07785479e-01 9.94171941e-01 -2.10763035e-03 9.73776425e+00] [ 1.65500856e-02 3.25378999e-04 9.99862985e-01 5.60340687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9392541539999 meters 0.015862432893617537 Centerline is valid? [True, True] Translation: X:813.52, Y:9.74, Z:5.60 [[ 9.94132817e-01 -1.06880953e-01 -1.66254096e-02 8.13523933e+02] [ 1.06860130e-01 9.94271764e-01 -2.13840704e-03 9.74046587e+00] [ 1.67587303e-02 3.49267192e-04 9.99859502e-01 5.60393308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9692541539999 meters 0.016309553706169766 Centerline is valid? [True, True] Translation: X:813.55, Y:9.74, Z:5.60 [[ 9.94229890e-01 -1.06082443e-01 -1.59198040e-02 8.13551621e+02] [ 1.06063208e-01 9.94357276e-01 -2.05013651e-03 9.74375674e+00] [ 1.60474564e-02 3.49801515e-04 9.99871170e-01 5.60419445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9992541539999 meters 0.01738040931572652 Centerline is valid? [True, True] Translation: X:813.58, Y:9.75, Z:5.61 [[ 9.94474925e-01 -1.03911059e-01 -1.49035098e-02 8.13579686e+02] [ 1.03893938e-01 9.94586528e-01 -1.92055471e-03 9.74698128e+00] [ 1.50223970e-02 3.61559179e-04 9.99887092e-01 5.60545329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0292541539999 meters 0.01714762488911352 Centerline is valid? [True, True] Translation: X:813.61, Y:9.75, Z:5.61 [[ 9.94559416e-01 -1.03220498e-01 -1.40390917e-02 8.13608865e+02] [ 1.03205203e-01 9.94658436e-01 -1.81155671e-03 9.74920852e+00] [ 1.41510908e-02 3.52793476e-04 9.99899806e-01 5.60651983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0592541539999 meters 0.017556820564596676 Centerline is valid? [True, True] Translation: X:813.64, Y:9.75, Z:5.61 [[ 9.94692468e-01 -1.01985189e-01 -1.36350903e-02 8.13637059e+02] [ 1.01970614e-01 9.94785851e-01 -1.76172896e-03 9.75217674e+00] [ 1.37436652e-02 3.61999986e-04 9.99905486e-01 5.60728206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0892541539998 meters 0.02146469718464351 Centerline is valid? [True, True] Translation: X:813.66, Y:9.76, Z:5.61 [[ 9.94873436e-01 -1.00080831e-01 -1.45146307e-02 8.13664685e+02] [ 1.00064093e-01 9.94979224e-01 -1.87671381e-03 9.75653124e+00] [ 1.46295791e-02 4.14699358e-04 9.99892896e-01 5.60529997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1192541539999 meters 0.018545441714800454 Centerline is valid? [True, True] Translation: X:813.69, Y:9.76, Z:5.61 [[ 9.94911545e-01 -9.97216201e-02 -1.43741756e-02 8.13694025e+02] [ 9.97051306e-02 9.95015288e-01 -1.86105510e-03 9.75759134e+00] [ 1.44881119e-02 4.18406146e-04 9.99894954e-01 5.60781691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1492541539999 meters 0.018518818084536037 Centerline is valid? [True, True] Translation: X:813.72, Y:9.76, Z:5.61 [[ 9.94843999e-01 -1.00192374e-01 -1.57132323e-02 8.13722147e+02] [ 1.00172657e-01 9.94967980e-01 -2.03887968e-03 9.76063452e+00] [ 1.58384432e-02 4.54330984e-04 9.99874461e-01 5.60671452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1792541539999 meters 0.01762707834511175 Centerline is valid? [True, True] Translation: X:813.75, Y:9.76, Z:5.60 [[ 9.94594903e-01 -1.02250893e-01 -1.80481236e-02 8.13751390e+02] [ 1.02225125e-01 9.94758521e-01 -2.34697586e-03 9.76155379e+00] [ 1.81935051e-02 4.89318528e-04 9.99834365e-01 5.60477476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2092541539998 meters 0.01771907173754513 Centerline is valid? [True, True] Translation: X:813.78, Y:9.76, Z:5.60 [[ 9.94462976e-01 -1.03386075e-01 -1.88337104e-02 8.13778780e+02] [ 1.03358163e-01 9.94641180e-01 -2.45203487e-03 9.76435667e+00] [ 1.89862903e-02 4.91840177e-04 9.99819623e-01 5.60410707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2392541539999 meters 0.016877653380047743 Centerline is valid? [True, True] Translation: X:813.81, Y:9.76, Z:5.60 [[ 9.94195572e-01 -1.05874138e-01 -1.91267050e-02 8.13807969e+02] [ 1.05845740e-01 9.94379435e-01 -2.49387925e-03 9.76479365e+00] [ 1.92832395e-02 4.54923466e-04 9.99813958e-01 5.60422036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2692541539999 meters 0.015891046832922303 Centerline is valid? [True, True] Translation: X:813.84, Y:9.77, Z:5.61 [[ 9.94048951e-01 -1.07261602e-01 -1.90166106e-02 8.13837151e+02] [ 1.07233690e-01 9.94230740e-01 -2.48437575e-03 9.76537224e+00] [ 1.91733770e-02 4.30369780e-04 9.99816081e-01 5.60554217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2992541539999 meters 0.015702098230118474 Centerline is valid? [True, True] Translation: X:813.87, Y:9.77, Z:5.61 [[ 9.93917191e-01 -1.08523640e-01 -1.87413064e-02 8.13866146e+02] [ 1.08496665e-01 9.94093786e-01 -2.45320429e-03 9.76794986e+00] [ 1.88968469e-02 4.04912689e-04 9.99821357e-01 5.60630901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3292541539998 meters 0.015934880172996945 Centerline is valid? [True, True] Translation: X:813.90, Y:9.77, Z:5.61 [[ 9.93686733e-01 -1.10836122e-01 -1.73790526e-02 8.13895457e+02] [ 1.10813226e-01 9.93838639e-01 -2.27790117e-03 9.76964048e+00] [ 1.75244477e-02 3.37691288e-04 9.99846378e-01 5.60730439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3592541539999 meters 0.015026689698042587 Centerline is valid? [True, True] Translation: X:813.92, Y:9.77, Z:5.61 [[ 9.93589619e-01 -1.11950432e-01 -1.57089170e-02 8.13923249e+02] [ 1.11931833e-01 9.93713750e-01 -2.06099302e-03 9.77315618e+00] [ 1.58408959e-02 2.89453397e-04 9.99874483e-01 5.60891516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3892541539999 meters 0.014782285148969747 Centerline is valid? [True, True] Translation: X:813.95, Y:9.78, Z:5.61 [[ 9.93467789e-01 -1.13124352e-01 -1.49877413e-02 8.13952393e+02] [ 1.13107511e-01 9.93580803e-01 -1.96930546e-03 9.77648703e+00] [ 1.51143084e-02 2.61215426e-04 9.99885738e-01 5.60977830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4192541539999 meters 0.015714986943933636 Centerline is valid? [True, True] Translation: X:813.98, Y:9.78, Z:5.61 [[ 9.93333314e-01 -1.14451288e-01 -1.37778610e-02 8.13980075e+02] [ 1.14437154e-01 9.93428836e-01 -1.81254776e-03 9.77984416e+00] [ 1.38947728e-02 2.23764884e-04 9.99903438e-01 5.60934434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4492541539998 meters 0.01548835157078334 Centerline is valid? [True, True] Translation: X:814.01, Y:9.78, Z:5.61 [[ 9.93337815e-01 -1.14398422e-01 -1.38919334e-02 8.14007338e+02] [ 1.14384030e-01 9.93434925e-01 -1.82879719e-03 9.78405328e+00] [ 1.40099433e-02 2.27598084e-04 9.99901830e-01 5.60979293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4792541539999 meters 0.014941757947761218 Centerline is valid? [True, True] Translation: X:814.04, Y:9.79, Z:5.61 [[ 9.93400772e-01 -1.13904652e-01 -1.34400715e-02 8.14036269e+02] [ 1.13891106e-01 9.93491660e-01 -1.77152727e-03 9.78871014e+00] [ 1.35543841e-02 2.29131951e-04 9.99908109e-01 5.61108692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5092541539999 meters 0.015237804148741972 Centerline is valid? [True, True] Translation: X:814.06, Y:9.79, Z:5.61 [[ 9.93648885e-01 -1.11675007e-01 -1.38052973e-02 8.14064535e+02] [ 1.11660450e-01 9.93744746e-01 -1.82317302e-03 9.79449807e+00] [ 1.39225445e-02 2.70088127e-04 9.99903040e-01 5.61081328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5392541539999 meters 0.01620718204492996 Centerline is valid? [True, True] Translation: X:814.09, Y:9.80, Z:5.61 [[ 9.93848118e-01 -1.09791722e-01 -1.45498072e-02 8.14091361e+02] [ 1.09775314e-01 9.93954566e-01 -1.92402322e-03 9.80147708e+00] [ 1.46730891e-02 3.14977197e-04 9.99892295e-01 5.61023116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5692541539999 meters 0.016073343635156532 Centerline is valid? [True, True] Translation: X:814.12, Y:9.81, Z:5.61 [[ 9.94065155e-01 -1.07746149e-01 -1.50078011e-02 8.14119865e+02] [ 1.07728417e-01 9.94178374e-01 -1.98732049e-03 9.80639162e+00] [ 1.51345574e-02 3.58759385e-04 9.99885402e-01 5.61033589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5992541539999 meters 0.016540566401670106 Centerline is valid? [True, True] Translation: X:814.15, Y:9.81, Z:5.61 [[ 9.94311395e-01 -1.05358098e-01 -1.56371422e-02 8.14147582e+02] [ 1.05338511e-01 9.94434261e-01 -2.07331116e-03 9.81266428e+00] [ 1.57685501e-02 4.14323643e-04 9.99875583e-01 5.61015823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6292541539999 meters 0.021445266263415714 Centerline is valid? [True, True] Translation: X:814.18, Y:9.82, Z:5.61 [[ 9.94774811e-01 -1.00560991e-01 -1.76228090e-02 8.14175241e+02] [ 1.00535338e-01 9.94930741e-01 -2.33789283e-03 9.82419368e+00] [ 1.77685752e-02 5.53961848e-04 9.99841973e-01 5.60678512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6592541539999 meters 0.022028853326720797 Centerline is valid? [True, True] Translation: X:814.20, Y:9.83, Z:5.61 [[ 9.95273381e-01 -9.52438295e-02 -1.89607677e-02 8.14204501e+02] [ 9.52131548e-02 9.95453728e-01 -2.51607790e-03 9.83065326e+00] [ 1.91142077e-02 6.98870855e-04 9.99817063e-01 5.60738950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6892541539999 meters 0.023643735522158593 Centerline is valid? [True, True] Translation: X:814.23, Y:9.84, Z:5.61 [[ 9.95490189e-01 -9.29586223e-02 -1.89202955e-02 8.14231775e+02] [ 9.29276470e-02 9.95669696e-01 -2.51171505e-03 9.83911696e+00] [ 1.90718505e-02 7.42169148e-04 9.99817840e-01 5.60737445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7192541539999 meters 0.02279432737874645 Centerline is valid? [True, True] Translation: X:814.26, Y:9.84, Z:5.61 [[ 9.95711168e-01 -9.06435485e-02 -1.85206957e-02 8.14260802e+02] [ 9.06134512e-02 9.95883102e-01 -2.45956514e-03 9.84454455e+00] [ 1.86673916e-02 7.70792325e-04 9.99825452e-01 5.60933353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7492541539999 meters 0.02678583567566283 Centerline is valid? [True, True] Translation: X:814.29, Y:9.85, Z:5.61 [[ 9.95798907e-01 -8.95610640e-02 -1.90618171e-02 8.14288072e+02] [ 8.95289580e-02 9.95980999e-01 -2.53278782e-03 9.85275277e+00] [ 1.92120468e-02 8.15562717e-04 9.99815099e-01 5.60739055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7792541539999 meters 0.028936681093531227 Centerline is valid? [True, True] Translation: X:814.31, Y:9.86, Z:5.61 [[ 9.95904785e-01 -8.86206932e-02 -1.78894636e-02 8.14314375e+02] [ 8.85922230e-02 9.96065137e-01 -2.37928479e-03 9.86232742e+00] [ 1.80299249e-02 7.84673760e-04 9.99837140e-01 5.60792776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8092541539999 meters 0.025681376813475966 Centerline is valid? [True, True] Translation: X:814.34, Y:9.86, Z:5.61 [[ 9.95929475e-01 -8.84530851e-02 -1.73358510e-02 8.14343217e+02] [ 8.84262612e-02 9.96080049e-01 -2.30928747e-03 9.86228276e+00] [ 1.74721589e-02 7.66942967e-04 9.99847056e-01 5.61029358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8392541539998 meters 0.02430548230449464 Centerline is valid? [True, True] Translation: X:814.37, Y:9.86, Z:5.61 [[ 9.95834632e-01 -8.94735162e-02 -1.75463766e-02 8.14371948e+02] [ 8.94461155e-02 9.95988910e-01 -2.34181231e-03 9.86331418e+00] [ 1.76855267e-02 7.62602571e-04 9.99843308e-01 5.61080402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8692541539999 meters 0.023614216906216477 Centerline is valid? [True, True] Translation: X:814.40, Y:9.87, Z:5.61 [[ 9.95631452e-01 -9.17446690e-02 -1.73472478e-02 8.14400831e+02] [ 9.17181869e-02 9.95782307e-01 -2.31774483e-03 9.86553557e+00] [ 1.74867232e-02 7.16561536e-04 9.99846839e-01 5.61159704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8992541539999 meters 0.023614216906216477 Centerline is valid? [True, True] Translation: X:814.43, Y:9.87, Z:5.61 [[ 9.95604918e-01 -9.20322562e-02 -1.73467772e-02 8.14428185e+02] [ 9.20057565e-02 9.95755770e-01 -2.32126314e-03 9.86927978e+00] [ 1.74867845e-02 7.15057644e-04 9.99846839e-01 5.61178817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9292541539999 meters 0.022482058818381435 Centerline is valid? [True, True] Translation: X:814.46, Y:9.87, Z:5.61 [[ 9.95418844e-01 -9.39943033e-02 -1.75041940e-02 8.14457717e+02] [ 9.39675423e-02 9.95572495e-01 -2.34690680e-03 9.87094110e+00] [ 1.76472900e-02 6.91329160e-04 9.99844035e-01 5.61227700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9592541539998 meters 0.021397729156984544 Centerline is valid? [True, True] Translation: X:814.49, Y:9.87, Z:5.61 [[ 9.95284249e-01 -9.54820697e-02 -1.71008493e-02 8.14486782e+02] [ 9.54566747e-02 9.95430935e-01 -2.29702806e-03 9.87340898e+00] [ 1.72420394e-02 6.53805635e-04 9.99851131e-01 5.61362992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9892541539999 meters 0.020843776240680928 Centerline is valid? [True, True] Translation: X:814.52, Y:9.87, Z:5.61 [[ 9.94939908e-01 -9.89973987e-02 -1.71491980e-02 8.14515369e+02] [ 9.89723414e-02 9.95087513e-01 -2.30582413e-03 9.87426618e+00] [ 1.72932234e-02 5.96860163e-04 9.99850283e-01 5.61357362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0192541539999 meters 0.02081029841346299 Centerline is valid? [True, True] Translation: X:814.54, Y:9.87, Z:5.61 [[ 9.94618981e-01 -1.01933423e-01 -1.85110899e-02 8.14544438e+02] [ 1.01904712e-01 9.94791048e-01 -2.49018481e-03 9.87479820e+00] [ 1.86684995e-02 5.90417798e-04 9.99825554e-01 5.61243449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0492541539999 meters 0.020239407469897736 Centerline is valid? [True, True] Translation: X:814.57, Y:9.88, Z:5.61 [[ 9.94361657e-01 -1.04392095e-01 -1.86329230e-02 8.14573723e+02] [ 1.04363370e-01 9.94536066e-01 -2.51006917e-03 9.87624771e+00] [ 1.87931453e-02 5.51321911e-04 9.99823241e-01 5.61259769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0792541539998 meters 0.019344854663915743 Centerline is valid? [True, True] Translation: X:814.60, Y:9.87, Z:5.61 [[ 9.93884472e-01 -1.08723922e-01 -1.93071229e-02 8.14603072e+02] [ 1.08693844e-01 9.94071863e-01 -2.60361694e-03 9.87461901e+00] [ 1.94757431e-02 4.89129044e-04 9.99810210e-01 5.61239740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1092541539999 meters 0.018114781591479247 Centerline is valid? [True, True] Translation: X:814.63, Y:9.88, Z:5.61 [[ 9.93635402e-01 -1.10968260e-01 -1.93580121e-02 8.14632423e+02] [ 1.10938406e-01 9.93823850e-01 -2.61265983e-03 9.87650010e+00] [ 1.95283764e-02 4.48484299e-04 9.99809202e-01 5.61224512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1392541539999 meters 0.016186826080105535 Centerline is valid? [True, True] Translation: X:814.66, Y:9.88, Z:5.61 [[ 9.93486905e-01 -1.12393457e-01 -1.87478236e-02 8.14661797e+02] [ 1.12365639e-01 9.93663697e-01 -2.53400858e-03 9.87842106e+00] [ 1.89138376e-02 4.10893167e-04 9.99821033e-01 5.61317096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1692541539999 meters 0.015149529522733945 Centerline is valid? [True, True] Translation: X:814.69, Y:9.88, Z:5.61 [[ 9.93027201e-01 -1.16383933e-01 -1.87552348e-02 8.14691313e+02] [ 1.16356757e-01 9.93204242e-01 -2.53750142e-03 9.87754262e+00] [ 1.89231032e-02 3.37509636e-04 9.99820885e-01 5.61366258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1992541539998 meters 0.017552861787571213 Centerline is valid? [True, True] Translation: X:814.72, Y:9.88, Z:5.61 [[ 9.92751478e-01 -1.18577553e-01 -1.95925188e-02 8.14720813e+02] [ 1.18548253e-01 9.92944745e-01 -2.65434644e-03 9.87904401e+00] [ 1.97690345e-02 3.12447473e-04 9.99804525e-01 5.61252008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2292541539999 meters 0.014950342428151532 Centerline is valid? [True, True] Translation: X:814.75, Y:9.88, Z:5.61 [[ 9.92761454e-01 -1.18718996e-01 -1.81795289e-02 8.14749728e+02] [ 1.18693712e-01 9.92927850e-01 -2.46733103e-03 9.88196928e+00] [ 1.83438796e-02 2.91675380e-04 9.99831694e-01 5.61483368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2592541539999 meters 0.016912555641346475 Centerline is valid? [True, True] Translation: X:814.78, Y:9.89, Z:5.61 [[ 9.92746596e-01 -1.18830722e-01 -1.82607841e-02 8.14777325e+02] [ 1.18805136e-01 9.92914484e-01 -2.48346191e-03 9.88626577e+00] [ 1.84265086e-02 2.95973410e-04 9.99830174e-01 5.61439873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2892541539999 meters 0.016204771895436596 Centerline is valid? [True, True] Translation: X:814.81, Y:9.89, Z:5.62 [[ 9.93119543e-01 -1.15764406e-01 -1.76685115e-02 8.14805429e+02] [ 1.15739884e-01 9.93276639e-01 -2.40763801e-03 9.89184855e+00] [ 1.78284385e-02 3.46120896e-04 9.99841001e-01 5.61580148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3192541539999 meters 0.016539288915155017 Centerline is valid? [True, True] Translation: X:814.83, Y:9.90, Z:5.62 [[ 9.93302421e-01 -1.14160166e-01 -1.78257372e-02 8.14834300e+02] [ 1.14134864e-01 9.93462284e-01 -2.43366982e-03 9.89736162e+00] [ 1.79870257e-02 3.82832033e-04 9.99838147e-01 5.61595298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3492541539999 meters 0.01705146126406316 Centerline is valid? [True, True] Translation: X:814.86, Y:9.91, Z:5.62 [[ 9.93595693e-01 -1.11597353e-01 -1.77095955e-02 8.14861746e+02] [ 1.11571924e-01 9.93753413e-01 -2.42056175e-03 9.90511902e+00] [ 1.78690992e-02 4.29166084e-04 9.99840243e-01 5.61592864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3792541539999 meters 0.018299906358761258 Centerline is valid? [True, True] Translation: X:814.89, Y:9.91, Z:5.62 [[ 9.93973615e-01 -1.07920139e-01 -1.92274775e-02 8.14890790e+02] [ 1.07889454e-01 9.94159420e-01 -2.62915606e-03 9.91256360e+00] [ 1.93989168e-02 5.38869697e-04 9.99811678e-01 5.61508698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4092541539999 meters 0.02212770070993017 Centerline is valid? [True, True] Translation: X:814.92, Y:9.92, Z:5.61 [[ 9.94042099e-01 -1.06971595e-01 -2.09137185e-02 8.14919149e+02] [ 1.06935000e-01 9.94261890e-01 -2.86357931e-03 9.91890099e+00] [ 2.11000349e-02 6.10109900e-04 9.99777183e-01 5.61275075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4392541539999 meters 0.022099243950839204 Centerline is valid? [True, True] Translation: X:814.95, Y:9.92, Z:5.61 [[ 9.94180274e-01 -1.05625988e-01 -2.11833124e-02 8.14946917e+02] [ 1.05588073e-01 9.94405716e-01 -2.90356781e-03 9.92497702e+00] [ 2.13714992e-02 6.49964702e-04 9.99771392e-01 5.61280918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4692541539999 meters 0.02239703380553141 Centerline is valid? [True, True] Translation: X:814.97, Y:9.93, Z:5.61 [[ 9.94425829e-01 -1.03201732e-01 -2.16025963e-02 8.14974516e+02] [ 1.03161698e-01 9.94660187e-01 -2.96247522e-03 9.93469119e+00] [ 2.17929751e-02 7.17401364e-04 9.99762248e-01 5.61259436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4992541539999 meters 0.022256700080693456 Centerline is valid? [True, True] Translation: X:815.00, Y:9.94, Z:5.61 [[ 9.94474623e-01 -1.02719350e-01 -2.16554838e-02 8.15002754e+02] [ 1.02678918e-01 9.94710107e-01 -2.97375128e-03 9.94057624e+00] [ 2.18463904e-02 7.33758543e-04 9.99761070e-01 5.61316951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5292541539999 meters 0.020215241640549483 Centerline is valid? [True, True] Translation: X:815.03, Y:9.94, Z:5.61 [[ 9.94476256e-01 -1.02736676e-01 -2.14977204e-02 8.15030654e+02] [ 1.02696703e-01 9.94708317e-01 -2.95813930e-03 9.94217749e+00] [ 2.16878707e-02 7.34054286e-04 9.99764521e-01 5.61473221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5592541539999 meters 0.02212468163897572 Centerline is valid? [True, True] Translation: X:815.06, Y:9.95, Z:5.61 [[ 9.94508836e-01 -1.02438626e-01 -2.14126888e-02 8.15057316e+02] [ 1.02398826e-01 9.94739051e-01 -2.94982501e-03 9.95152901e+00] [ 2.16022137e-02 7.40992836e-04 9.99766370e-01 5.61395658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5892541539998 meters 0.021234553401202352 Centerline is valid? [True, True] Translation: X:815.09, Y:9.96, Z:5.62 [[ 9.94553913e-01 -1.02144860e-01 -2.07108924e-02 8.15085926e+02] [ 1.02107479e-01 9.94769269e-01 -2.85720231e-03 9.95579772e+00] [ 2.08944078e-02 7.26904741e-04 9.99781424e-01 5.61602016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6192541539999 meters 0.020222901120915893 Centerline is valid? [True, True] Translation: X:815.11, Y:9.96, Z:5.62 [[ 9.94504132e-01 -1.02786595e-01 -1.99110053e-02 8.15114929e+02] [ 1.02752075e-01 9.94703191e-01 -2.75180265e-03 9.95880639e+00] [ 2.00883889e-02 6.90782003e-04 9.99797969e-01 5.61730114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6492541539999 meters 0.021767951324898394 Centerline is valid? [True, True] Translation: X:815.14, Y:9.96, Z:5.62 [[ 9.94220669e-01 -1.05474661e-01 -2.00089177e-02 8.15144093e+02] [ 1.05440246e-01 9.94421782e-01 -2.77016061e-03 9.96282514e+00] [ 2.01894854e-02 6.44405728e-04 9.99795964e-01 5.61601577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6792541539999 meters 0.020168103078260644 Centerline is valid? [True, True] Translation: X:815.17, Y:9.97, Z:5.62 [[ 9.94104682e-01 -1.06679130e-01 -1.93764066e-02 8.15172515e+02] [ 1.06646993e-01 9.94293315e-01 -2.68733644e-03 9.96567677e+00] [ 1.95525143e-02 6.05058227e-04 9.99808648e-01 5.61779896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7092541539998 meters 0.021072547416941655 Centerline is valid? [True, True] Translation: X:815.20, Y:9.97, Z:5.62 [[ 9.93868323e-01 -1.08854097e-01 -1.94047064e-02 8.15201381e+02] [ 1.08822183e-01 9.94057575e-01 -2.69621974e-03 9.96838259e+00] [ 1.95828900e-02 5.68024892e-04 9.99808075e-01 5.61738869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7392541539999 meters 0.018249291287401832 Centerline is valid? [True, True] Translation: X:815.23, Y:9.97, Z:5.62 [[ 9.93499913e-01 -1.12380271e-01 -1.81272517e-02 8.15230626e+02] [ 1.12352962e-01 9.93665163e-01 -2.52119537e-03 9.96918222e+00] [ 1.82957511e-02 4.68156960e-04 9.99832509e-01 5.62051475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7692541539999 meters 0.019784195448812016 Centerline is valid? [True, True] Translation: X:815.26, Y:9.97, Z:5.62 [[ 9.93245818e-01 -1.14612924e-01 -1.80727143e-02 8.15258342e+02] [ 1.14586120e-01 9.93410134e-01 -2.51514717e-03 9.97237969e+00] [ 1.82418859e-02 4.27277203e-04 9.99833512e-01 5.61993582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7992541539999 meters 0.018306747684568525 Centerline is valid? [True, True] Translation: X:815.29, Y:9.97, Z:5.62 [[ 9.92974622e-01 -1.16990652e-01 -1.77366070e-02 8.15287133e+02] [ 1.16965155e-01 9.93132943e-01 -2.47175429e-03 9.97475273e+00] [ 1.79039809e-02 3.79824294e-04 9.99839639e-01 5.62107644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8292541539998 meters 0.01725136015432332 Centerline is valid? [True, True] Translation: X:815.31, Y:9.98, Z:5.62 [[ 9.92711546e-01 -1.19286485e-01 -1.71616011e-02 8.15314858e+02] [ 1.19262911e-01 9.92859822e-01 -2.39423525e-03 9.97777008e+00] [ 1.73246641e-02 3.30042472e-04 9.99849862e-01 5.62211794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8592541539999 meters 0.018624311625305544 Centerline is valid? [True, True] Translation: X:815.34, Y:9.98, Z:5.62 [[ 9.92122170e-01 -1.23998507e-01 -1.78316877e-02 8.15343989e+02] [ 1.23973756e-01 9.92282370e-01 -2.49109487e-03 9.97832895e+00] [ 1.80029614e-02 2.60809143e-04 9.99837900e-01 5.62142304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8892541539999 meters 0.015746561549991142 Centerline is valid? [True, True] Translation: X:815.37, Y:9.98, Z:5.62 [[ 9.91898164e-01 -1.25811340e-01 -1.75937231e-02 8.15372519e+02] [ 1.25787454e-01 9.92054159e-01 -2.46219201e-03 9.98079545e+00] [ 1.77636979e-02 2.29174100e-04 9.99842187e-01 5.62320143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9192541539999 meters 0.013306068186589975 Centerline is valid? [True, True] Translation: X:815.40, Y:9.98, Z:5.63 [[ 9.91501755e-01 -1.28773119e-01 -1.84865722e-02 8.15401656e+02] [ 1.28747172e-01 9.91674063e-01 -2.59190853e-03 9.98126516e+00] [ 1.86664223e-02 1.89787966e-04 9.99825749e-01 5.62529666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9492541539998 meters 0.014510572533254293 Centerline is valid? [True, True] Translation: X:815.43, Y:9.98, Z:5.62 [[ 9.91210862e-01 -1.30934517e-01 -1.88992118e-02 8.15429538e+02] [ 1.30907735e-01 9.91391007e-01 -2.65265503e-03 9.98423432e+00] [ 1.90838328e-02 1.55287457e-04 9.99817875e-01 5.62327786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9792541539999 meters 0.015999726751687954 Centerline is valid? [True, True] Translation: X:815.46, Y:9.99, Z:5.62 [[ 9.90924549e-01 -1.32969233e-01 -1.96906439e-02 8.15457418e+02] [ 1.32940475e-01 9.91120158e-01 -2.76812335e-03 9.98668038e+00] [ 1.98838694e-02 1.25317817e-04 9.99802288e-01 5.62236534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0092541539999 meters 0.015707850155668463 Centerline is valid? [True, True] Translation: X:815.49, Y:9.99, Z:5.62 [[ 9.90531147e-01 -1.35815942e-01 -2.00518473e-02 8.15486076e+02] [ 1.35786584e-01 9.90734084e-01 -2.82477175e-03 9.98801473e+00] [ 2.02496976e-02 7.52525549e-05 9.99794951e-01 5.62214100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0392541539999 meters 0.014273172967402676 Centerline is valid? [True, True] Translation: X:815.51, Y:9.99, Z:5.62 [[ 9.90377793e-01 -1.36945558e-01 -1.99434267e-02 8.15513006e+02] [ 1.36916673e-01 9.90578574e-01 -2.81312795e-03 9.99065368e+00] [ 2.01407765e-02 5.54718246e-05 9.99797152e-01 5.62273513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0692541539999 meters 0.01588198348606363 Centerline is valid? [True, True] Translation: X:815.54, Y:9.99, Z:5.62 [[ 9.90155685e-01 -1.38591351e-01 -1.95999317e-02 8.15541432e+02] [ 1.38563684e-01 9.90349654e-01 -2.76925640e-03 9.99321014e+00] [ 1.97945806e-02 2.61562241e-05 9.99804068e-01 5.62260909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0992541539999 meters 0.01576269079897633 Centerline is valid? [True, True] Translation: X:815.57, Y:9.99, Z:5.62 [[ 9.89834408e-01 -1.40930471e-01 -1.91428195e-02 8.15568297e+02] [ 1.40904431e-01 9.90019496e-01 -2.70908367e-03 9.99457006e+00] [ 1.93335569e-02 -1.57638537e-05 9.99813089e-01 5.62338627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1292541539999 meters 0.014138606617077066 Centerline is valid? [True, True] Translation: X:815.60, Y:10.00, Z:5.62 [[ 9.89760422e-01 -1.41524573e-01 -1.85769294e-02 8.15596132e+02] [ 1.41500066e-01 9.89934743e-01 -2.63368525e-03 9.99764192e+00] [ 1.87626790e-02 -2.19193236e-05 9.99823965e-01 5.62496747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1592541539999 meters 0.013279384793987197 Centerline is valid? [True, True] Translation: X:815.62, Y:10.00, Z:5.63 [[ 9.89697867e-01 -1.42034407e-01 -1.80099692e-02 8.15623684e+02] [ 1.42011366e-01 9.89861721e-01 -2.55840394e-03 1.00008126e+01] [ 1.81907605e-02 -2.55734038e-05 9.99834534e-01 5.62612638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1892541539999 meters 0.012851945840620278 Centerline is valid? [True, True] Translation: X:815.65, Y:10.00, Z:5.63 [[ 9.89679185e-01 -1.42247282e-01 -1.73441921e-02 8.15650991e+02] [ 1.42225896e-01 9.89831152e-01 -2.46664790e-03 1.00037560e+01] [ 1.75186956e-02 -2.56031672e-05 9.99846536e-01 5.62699428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2192541539999 meters 0.01685008320193312 Centerline is valid? [True, True] Translation: X:815.68, Y:10.01, Z:5.62 [[ 9.89542303e-01 -1.43163730e-01 -1.76118163e-02 8.15678984e+02] [ 1.43141760e-01 9.89699017e-01 -2.50834128e-03 1.00073739e+01] [ 1.77895008e-02 -3.88765750e-05 9.99841754e-01 5.62471335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2492541539999 meters 0.016355815891337347 Centerline is valid? [True, True] Translation: X:815.71, Y:10.01, Z:5.63 [[ 9.89554373e-01 -1.43170628e-01 -1.68616419e-02 8.15706749e+02] [ 1.43150409e-01 9.89698020e-01 -2.40627691e-03 1.00114934e+01] [ 1.70324418e-02 -3.26091058e-05 9.99854937e-01 5.62636575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2792541539999 meters 0.014934358098757696 Centerline is valid? [True, True] Translation: X:815.73, Y:10.02, Z:5.63 [[ 9.89610433e-01 -1.42901996e-01 -1.58180571e-02 8.15734355e+02] [ 1.42884124e-01 9.89736843e-01 -2.26005627e-03 1.00156468e+01] [ 1.59786804e-02 -2.35739716e-05 9.99872332e-01 5.62692845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3092541539999 meters 0.016809686530813314 Centerline is valid? [True, True] Translation: X:815.76, Y:10.02, Z:5.63 [[ 9.89606934e-01 -1.42897465e-01 -1.60758056e-02 8.15762510e+02] [ 1.42878953e-01 9.89737498e-01 -2.30012587e-03 1.00202305e+01] [ 1.62395098e-02 -2.06737696e-05 9.99868130e-01 5.62599436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3392541539998 meters 0.012991564029333432 Centerline is valid? [True, True] Translation: X:815.79, Y:10.03, Z:5.63 [[ 9.89780443e-01 -1.41814296e-01 -1.49459178e-02 8.15790633e+02] [ 1.41798110e-01 9.89893280e-01 -2.14258380e-03 1.00252093e+01] [ 1.50987126e-02 1.38466123e-06 9.99886008e-01 5.62875963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3692541539999 meters 0.012945415318897745 Centerline is valid? [True, True] Translation: X:815.82, Y:10.03, Z:5.63 [[ 9.89839807e-01 -1.41395431e-01 -1.49829689e-02 8.15817708e+02] [ 1.41379071e-01 9.89953197e-01 -2.15087620e-03 1.00296927e+01] [ 1.51365621e-02 1.07446536e-05 9.99885436e-01 5.62867188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3992541539999 meters 0.015254134665941346 Centerline is valid? [True, True] Translation: X:815.84, Y:10.03, Z:5.63 [[ 9.89892002e-01 -1.41011305e-01 -1.51537531e-02 8.15844879e+02] [ 1.40994497e-01 9.90007986e-01 -2.17727470e-03 1.00342076e+01] [ 1.53093569e-02 1.86710251e-05 9.99882805e-01 5.62686671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4292541539999 meters 0.013232135835546424 Centerline is valid? [True, True] Translation: X:815.87, Y:10.04, Z:5.63 [[ 9.90061818e-01 -1.39822390e-01 -1.50763628e-02 8.15872296e+02] [ 1.39805565e-01 9.90176599e-01 -2.16938747e-03 1.00394881e+01] [ 1.52315906e-02 4.00682785e-05 9.99883992e-01 5.62854323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4592541539998 meters 0.014242072866775906 Centerline is valid? [True, True] Translation: X:815.90, Y:10.04, Z:5.63 [[ 9.90092070e-01 -1.39537087e-01 -1.57192063e-02 8.15899296e+02] [ 1.39518715e-01 9.90216844e-01 -2.26476950e-03 1.00445341e+01] [ 1.58814422e-02 4.92068510e-05 9.99873881e-01 5.62714771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4892541539999 meters 0.015607817557233552 Centerline is valid? [True, True] Translation: X:815.93, Y:10.05, Z:5.63 [[ 9.90092823e-01 -1.39454616e-01 -1.63893641e-02 8.15926775e+02] [ 1.39434577e-01 9.90228462e-01 -2.36471368e-03 1.00497765e+01] [ 1.65589851e-02 5.60419887e-05 9.99862889e-01 5.62611058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5192541539999 meters 0.016014171111694633 Centerline is valid? [True, True] Translation: X:815.95, Y:10.06, Z:5.63 [[ 9.90220800e-01 -1.38515626e-01 -1.66189065e-02 8.15954422e+02] [ 1.38494809e-01 9.90360245e-01 -2.40263020e-03 1.00560585e+01] [ 1.67915062e-02 7.75021248e-05 9.99859010e-01 5.62552010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5492541539999 meters 0.01540537036616648 Centerline is valid? [True, True] Translation: X:815.98, Y:10.06, Z:5.63 [[ 9.90252698e-01 -1.38299224e-01 -1.65202427e-02 8.15982439e+02] [ 1.38278544e-01 9.90390487e-01 -2.39308528e-03 1.00610369e+01] [ 1.66924531e-02 8.53640379e-05 9.99860668e-01 5.62604472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5792541539998 meters 0.01552344944126059 Centerline is valid? [True, True] Translation: X:816.01, Y:10.07, Z:5.63 [[ 9.90239328e-01 -1.38459692e-01 -1.59683094e-02 8.16009819e+02] [ 1.38440319e-01 9.90368066e-01 -2.31762248e-03 1.00657859e+01] [ 1.61354010e-02 8.43430858e-05 9.99869812e-01 5.62663403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6092541539999 meters 0.015139737680504672 Centerline is valid? [True, True] Translation: X:816.04, Y:10.07, Z:5.63 [[ 9.90250689e-01 -1.38534806e-01 -1.45492419e-02 8.16038084e+02] [ 1.38518678e-01 9.90357562e-01 -2.11537026e-03 1.00706871e+01] [ 1.47020042e-02 7.94051060e-05 9.99891917e-01 5.62827764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6392541539999 meters 0.01394188147861818 Centerline is valid? [True, True] Translation: X:816.07, Y:10.07, Z:5.63 [[ 9.90222631e-01 -1.38828513e-01 -1.36303198e-02 8.16066301e+02] [ 1.38814336e-01 9.90316433e-01 -1.98534349e-03 1.00749491e+01] [ 1.37739519e-02 7.38482652e-05 9.99905132e-01 5.62987410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6692541539999 meters 0.016384398141637283 Centerline is valid? [True, True] Translation: X:816.09, Y:10.08, Z:5.63 [[ 9.90202840e-01 -1.38889063e-01 -1.44278971e-02 8.16093930e+02] [ 1.38873122e-01 9.90307943e-01 -2.10584780e-03 1.00795879e+01] [ 1.45805404e-02 8.15693545e-05 9.99893695e-01 5.62931152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6992541539998 meters 0.01752933784268874 Centerline is valid? [True, True] Translation: X:816.12, Y:10.09, Z:5.63 [[ 9.90409460e-01 -1.37417012e-01 -1.43410661e-02 8.16121742e+02] [ 1.37401050e-01 9.90513278e-01 -2.09709666e-03 1.00864477e+01] [ 1.44931931e-02 1.06506831e-04 9.99894962e-01 5.62919938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7292541539999 meters 0.016461264123265425 Centerline is valid? [True, True] Translation: X:816.15, Y:10.09, Z:5.63 [[ 9.90545853e-01 -1.36422269e-01 -1.44179594e-02 8.16150359e+02] [ 1.36405976e-01 9.90650770e-01 -2.11207721e-03 1.00925133e+01] [ 1.45712969e-02 1.25413495e-04 9.99893825e-01 5.62983866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7592541539999 meters 0.017859388164627923 Centerline is valid? [True, True] Translation: X:816.18, Y:10.10, Z:5.63 [[ 9.90750504e-01 -1.34799166e-01 -1.55763914e-02 8.16177853e+02] [ 1.34779906e-01 9.90872927e-01 -2.28451033e-03 1.00991189e+01] [ 1.57421747e-02 1.63995193e-04 9.99876071e-01 5.62878324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7892541539999 meters 0.017859388164627923 Centerline is valid? [True, True] Translation: X:816.21, Y:10.10, Z:5.63 [[ 9.90711864e-01 -1.35082915e-01 -1.55759338e-02 8.16205142e+02] [ 1.35063641e-01 9.90834285e-01 -2.28762747e-03 1.01031993e+01] [ 1.57421886e-02 1.62637356e-04 9.99876071e-01 5.62897419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8192541539999 meters 0.018966106467046263 Centerline is valid? [True, True] Translation: X:816.23, Y:10.11, Z:5.63 [[ 9.91093223e-01 -1.32029500e-01 -1.73906304e-02 8.16233021e+02] [ 1.32004916e-01 9.91245758e-01 -2.55906987e-03 1.01125121e+01] [ 1.75762613e-02 2.40628105e-04 9.99845497e-01 5.62671472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8492541539999 meters 0.018021922514513747 Centerline is valid? [True, True] Translation: X:816.26, Y:10.12, Z:5.63 [[ 9.91286979e-01 -1.30462221e-01 -1.81585891e-02 8.16261604e+02] [ 1.30435068e-01 9.91453240e-01 -2.67677735e-03 1.01191274e+01] [ 1.83526103e-02 2.84937727e-04 9.99831536e-01 5.62684437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8792541539999 meters 0.016762369651304527 Centerline is valid? [True, True] Translation: X:816.29, Y:10.13, Z:5.63 [[ 9.91378737e-01 -1.29718790e-01 -1.84725628e-02 8.16290216e+02] [ 1.29690474e-01 9.91550775e-01 -2.72779481e-03 1.01257348e+01] [ 1.86703302e-02 3.08562367e-04 9.99825647e-01 5.62706976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9092541539999 meters 0.018158375547731198 Centerline is valid? [True, True] Translation: X:816.32, Y:10.13, Z:5.63 [[ 9.91589227e-01 -1.27904272e-01 -1.97813454e-02 8.16318653e+02] [ 1.27871336e-01 9.91786448e-01 -2.92620044e-03 1.01330222e+01] [ 1.99931438e-02 3.72121764e-04 9.99800048e-01 5.62622758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9392541539999 meters 0.017941723028547615 Centerline is valid? [True, True] Translation: X:816.35, Y:10.14, Z:5.63 [[ 9.91613470e-01 -1.27749162e-01 -1.95672719e-02 8.16346781e+02] [ 1.27716796e-01 9.91806438e-01 -2.90005544e-03 1.01368623e+01] [ 1.97774259e-02 3.76664760e-04 9.99804337e-01 5.62769100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9692541539999 meters 0.01757776313193248 Centerline is valid? [True, True] Translation: X:816.37, Y:10.14, Z:5.63 [[ 9.91624456e-01 -1.27818037e-01 -1.85334139e-02 8.16374338e+02] [ 1.27788956e-01 9.91797571e-01 -2.74985166e-03 1.01434050e+01] [ 1.87328756e-02 3.58454534e-04 9.99824460e-01 5.62804360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9992541539999 meters 0.018922400471832215 Centerline is valid? [True, True] Translation: X:816.40, Y:10.15, Z:5.63 [[ 9.91628289e-01 -1.27728111e-01 -1.89437369e-02 8.16403059e+02] [ 1.27697641e-01 9.91809151e-01 -2.81444583e-03 1.01480693e+01] [ 1.91480555e-02 3.71813576e-04 9.99816590e-01 5.62817869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0292541539999 meters 0.01808088382889059 Centerline is valid? [True, True] Translation: X:816.43, Y:10.15, Z:5.63 [[ 9.91579845e-01 -1.28219924e-01 -1.81400676e-02 8.16431490e+02] [ 1.28191982e-01 9.91745697e-01 -2.69968783e-03 1.01522140e+01] [ 1.83364877e-02 3.51544827e-04 9.99831811e-01 5.63032929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0592541539999 meters 0.020472825751948767 Centerline is valid? [True, True] Translation: X:816.46, Y:10.16, Z:5.63 [[ 9.91596061e-01 -1.27968173e-01 -1.90104605e-02 8.16458743e+02] [ 1.27937380e-01 9.91778204e-01 -2.83225311e-03 1.01593594e+01] [ 1.92165987e-02 3.76302517e-04 9.99815273e-01 5.62890212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0892541539998 meters 0.01970103062991636 Centerline is valid? [True, True] Translation: X:816.49, Y:10.16, Z:5.63 [[ 9.91561477e-01 -1.28222345e-01 -1.91014852e-02 8.16486672e+02] [ 1.28191221e-01 9.91745374e-01 -2.85012375e-03 1.01624489e+01] [ 1.93092591e-02 3.77430215e-04 9.99813488e-01 5.63061996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1192541539999 meters 0.019953867262326216 Centerline is valid? [True, True] Translation: X:816.51, Y:10.17, Z:5.63 [[ 9.91660252e-01 -1.27358557e-01 -1.97419168e-02 8.16514041e+02] [ 1.27325073e-01 9.91856658e-01 -2.94899639e-03 1.01699751e+01] [ 1.99567315e-02 4.10761505e-04 9.99800760e-01 5.63008909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1492541539999 meters 0.021362122241147547 Centerline is valid? [True, True] Translation: X:816.54, Y:10.18, Z:5.63 [[ 9.91690152e-01 -1.26994962e-01 -2.05650930e-02 8.16542705e+02] [ 1.26958462e-01 9.91903265e-01 -3.07613177e-03 1.01753336e+01] [ 2.07892361e-02 4.39657009e-04 9.99783784e-01 5.62985038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1792541539999 meters 0.020934881824054716 Centerline is valid? [True, True] Translation: X:816.57, Y:10.18, Z:5.63 [[ 9.91773485e-01 -1.26341922e-01 -2.05687216e-02 8.16569893e+02] [ 1.26305206e-01 9.91986648e-01 -3.07967080e-03 1.01814472e+01] [ 2.07929888e-02 4.56399210e-04 9.99783698e-01 5.62994811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2092541539998 meters 0.020106345939489435 Centerline is valid? [True, True] Translation: X:816.60, Y:10.19, Z:5.63 [[ 9.91807874e-01 -1.26078561e-01 -2.05265174e-02 8.16598264e+02] [ 1.26041855e-01 9.92020151e-01 -3.07745188e-03 1.01870692e+01] [ 2.07507196e-02 4.65040677e-04 9.99784572e-01 5.63039712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2392541539999 meters 0.01837890910729464 Centerline is valid? [True, True] Translation: X:816.62, Y:10.19, Z:5.63 [[ 9.91872468e-01 -1.25733135e-01 -1.94983694e-02 8.16624157e+02] [ 1.25699866e-01 9.92063997e-01 -2.92746324e-03 1.01947276e+01] [ 1.97117094e-02 4.52727780e-04 9.99805603e-01 5.63073958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2692541539999 meters 0.01818800386663177 Centerline is valid? [True, True] Translation: X:816.65, Y:10.20, Z:5.63 [[ 9.91877722e-01 -1.25805325e-01 -1.87511395e-02 8.16651794e+02] [ 1.25774480e-01 9.92054851e-01 -2.81999618e-03 1.02004603e+01] [ 1.89569295e-02 4.38676566e-04 9.99820205e-01 5.63080616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2992541539999 meters 0.018204796199289115 Centerline is valid? [True, True] Translation: X:816.68, Y:10.21, Z:5.63 [[ 9.91882448e-01 -1.25704905e-01 -1.91699268e-02 8.16680301e+02] [ 1.25672549e-01 9.92067573e-01 -2.88809925e-03 1.02056368e+01] [ 1.93809110e-02 4.55521385e-04 9.99812069e-01 5.63110515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3292541539998 meters 0.020711355674770074 Centerline is valid? [True, True] Translation: X:816.71, Y:10.21, Z:5.63 [[ 9.91838881e-01 -1.25790390e-01 -2.07945372e-02 8.16707838e+02] [ 1.25752269e-01 9.92056718e-01 -3.13598067e-03 1.02130726e+01] [ 2.10238366e-02 4.95427317e-04 9.99778852e-01 5.62894475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3592541539999 meters 0.01998377835975738 Centerline is valid? [True, True] Translation: X:816.74, Y:10.22, Z:5.63 [[ 9.91796970e-01 -1.26144889e-01 -2.06455111e-02 8.16735947e+02] [ 1.26107294e-01 9.92011708e-01 -3.11808149e-03 1.02165446e+01] [ 2.08739188e-02 4.88954231e-04 9.99781996e-01 5.63009794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3892541539999 meters 0.019472997611702455 Centerline is valid? [True, True] Translation: X:816.76, Y:10.22, Z:5.63 [[ 9.91802346e-01 -1.26264291e-01 -1.96325034e-02 8.16762755e+02] [ 1.26230248e-01 9.91996528e-01 -2.96867099e-03 1.02226057e+01] [ 1.98502124e-02 4.66119083e-04 9.99802856e-01 5.63054646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4192541539999 meters 0.02045218771738518 Centerline is valid? [True, True] Translation: X:816.79, Y:10.23, Z:5.63 [[ 9.91858418e-01 -1.25890895e-01 -1.91927456e-02 8.16791586e+02] [ 1.25858212e-01 9.92043983e-01 -2.90620213e-03 1.02275662e+01] [ 1.94059122e-02 4.66976393e-04 9.99811578e-01 5.63147188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4492541539998 meters 0.020325799041304576 Centerline is valid? [True, True] Translation: X:816.82, Y:10.23, Z:5.63 [[ 9.91951813e-01 -1.25191993e-01 -1.89358474e-02 8.16818782e+02] [ 1.25159998e-01 9.92132419e-01 -2.87010271e-03 1.02344715e+01] [ 1.91461819e-02 4.76992969e-04 9.99816581e-01 5.63180824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4792541539999 meters 0.019969455636411663 Centerline is valid? [True, True] Translation: X:816.85, Y:10.24, Z:5.63 [[ 9.92048602e-01 -1.24529823e-01 -1.82179520e-02 8.16847462e+02] [ 1.24500034e-01 9.92215752e-01 -2.76469598e-03 1.02406620e+01] [ 1.84204260e-02 4.74577140e-04 9.99830217e-01 5.63232244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5092541539999 meters 0.021114258691190928 Centerline is valid? [True, True] Translation: X:816.87, Y:10.25, Z:5.63 [[ 9.92209143e-01 -1.23236395e-01 -1.82703773e-02 8.16874047e+02] [ 1.23206165e-01 9.92377216e-01 -2.77535291e-03 1.02503364e+01] [ 1.84731306e-02 5.02707407e-04 9.99829231e-01 5.63154961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5392541539999 meters 0.022016804031772017 Centerline is valid? [True, True] Translation: X:816.90, Y:10.26, Z:5.63 [[ 9.92185116e-01 -1.23285412e-01 -1.92198481e-02 8.16902057e+02] [ 1.23251899e-01 9.92371112e-01 -2.92313932e-03 1.02556273e+01] [ 1.94336024e-02 5.31412564e-04 9.99811008e-01 5.63077042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5692541539999 meters 0.02043402042741804 Centerline is valid? [True, True] Translation: X:816.93, Y:10.26, Z:5.63 [[ 9.92169018e-01 -1.23342058e-01 -1.96818970e-02 8.16931235e+02] [ 1.23306826e-01 9.92364064e-01 -2.99837159e-03 1.02562216e+01] [ 1.99014327e-02 5.47979140e-04 9.99801797e-01 5.63247923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5992541539999 meters 0.021073630665972416 Centerline is valid? [True, True] Translation: X:816.96, Y:10.26, Z:5.63 [[ 9.91970878e-01 -1.24806939e-01 -2.04207215e-02 8.16959358e+02] [ 1.24769211e-01 9.92180897e-01 -3.11628825e-03 1.02605288e+01] [ 2.06499842e-02 5.43389878e-04 9.99786619e-01 5.63190531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6292541539999 meters 0.019358370914866137 Centerline is valid? [True, True] Translation: X:816.99, Y:10.26, Z:5.63 [[ 9.91827267e-01 -1.26006531e-01 -2.00256680e-02 8.16987606e+02] [ 1.25970388e-01 9.92029279e-01 -3.06118601e-03 1.02648042e+01] [ 2.02517784e-02 5.13526573e-04 9.99794780e-01 5.63247808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6592541539999 meters 0.017994358843891813 Centerline is valid? [True, True] Translation: X:817.02, Y:10.27, Z:5.63 [[ 9.91670952e-01 -1.27339721e-01 -1.93214475e-02 8.17015325e+02] [ 1.27306272e-01 9.91859049e-01 -2.95640842e-03 1.02699750e+01] [ 1.95406207e-02 4.72042899e-04 9.99808952e-01 5.63307310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6892541539999 meters 0.01877103465027552 Centerline is valid? [True, True] Translation: X:817.04, Y:10.27, Z:5.63 [[ 9.91203339e-01 -1.30956721e-01 -1.91383656e-02 8.17044380e+02] [ 1.30924548e-01 9.91388006e-01 -2.92991555e-03 1.02723181e+01] [ 1.93572383e-02 3.98460214e-04 9.99812552e-01 5.63347756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7192541539999 meters 0.019100318460216353 Centerline is valid? [True, True] Translation: X:817.07, Y:10.28, Z:5.63 [[ 9.90915693e-01 -1.33153427e-01 -1.88746806e-02 8.17073443e+02] [ 1.33122464e-01 9.91095374e-01 -2.89309891e-03 1.02759097e+01] [ 1.90918347e-02 3.54173117e-04 9.99817672e-01 5.63388756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7492541539999 meters 0.016218497132053932 Centerline is valid? [True, True] Translation: X:817.10, Y:10.28, Z:5.64 [[ 9.90649976e-01 -1.35274253e-01 -1.77060032e-02 8.17102653e+02] [ 1.35247269e-01 9.90808149e-01 -2.71820441e-03 1.02791536e+01] [ 1.79109553e-02 2.98100571e-04 9.99839542e-01 5.63565196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7792541539999 meters 0.018256974229327077 Centerline is valid? [True, True] Translation: X:817.13, Y:10.28, Z:5.63 [[ 9.90342426e-01 -1.37448029e-01 -1.81636580e-02 8.17130408e+02] [ 1.37419938e-01 9.90508943e-01 -2.79168553e-03 1.02829321e+01] [ 1.83749774e-02 2.68675863e-04 9.99831130e-01 5.63449919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8092541539999 meters 0.01771436726909667 Centerline is valid? [True, True] Translation: X:817.16, Y:10.28, Z:5.63 [[ 9.89842169e-01 -1.40931462e-01 -1.87297630e-02 8.17159833e+02] [ 1.40902144e-01 9.90019332e-01 -2.88249314e-03 1.02845517e+01] [ 1.89490614e-02 2.14149500e-04 9.99820427e-01 5.63492546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8392541539998 meters 0.015120625671596149 Centerline is valid? [True, True] Translation: X:817.19, Y:10.29, Z:5.64 [[ 9.89702653e-01 -1.42016085e-01 -1.78910634e-02 8.17187735e+02] [ 1.41989465e-01 9.89864332e-01 -2.75598702e-03 1.02889165e+01] [ 1.81011200e-02 1.87265144e-04 9.99836144e-01 5.63509146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8692541539999 meters 0.014926720545213358 Centerline is valid? [True, True] Translation: X:817.22, Y:10.29, Z:5.64 [[ 9.89533722e-01 -1.43107493e-01 -1.85272462e-02 8.17215664e+02] [ 1.43079061e-01 9.89707135e-01 -2.85802364e-03 1.02919204e+01] [ 1.87455523e-02 1.77249785e-04 9.99824271e-01 5.63536077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8992541539999 meters 0.014970359239205167 Centerline is valid? [True, True] Translation: X:817.24, Y:10.30, Z:5.63 [[ 9.89328795e-01 -1.44360150e-01 -1.97150400e-02 8.17243144e+02] [ 1.44328138e-01 9.89525199e-01 -3.04452531e-03 1.02950969e+01] [ 1.99480370e-02 1.66601547e-04 9.99801004e-01 5.63457884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9292541539999 meters 0.015127991312919215 Centerline is valid? [True, True] Translation: X:817.27, Y:10.30, Z:5.63 [[ 9.89277863e-01 -1.44648562e-01 -2.01520113e-02 8.17270952e+02] [ 1.44615139e-01 9.89483080e-01 -3.11379634e-03 1.02991389e+01] [ 2.03904804e-02 1.66123869e-04 9.99792079e-01 5.63407646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9592541539998 meters 0.014999953506084327 Centerline is valid? [True, True] Translation: X:817.30, Y:10.30, Z:5.63 [[ 9.89258978e-01 -1.44743252e-01 -2.03976621e-02 8.17298902e+02] [ 1.44708938e-01 9.89469232e-01 -3.15618056e-03 1.03029750e+01] [ 2.06396949e-02 1.70555947e-04 9.99786964e-01 5.63414937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9892541539999 meters 0.016877462438059848 Centerline is valid? [True, True] Translation: X:817.33, Y:10.31, Z:5.63 [[ 9.89202763e-01 -1.44959175e-01 -2.15576444e-02 8.17327853e+02] [ 1.44920773e-01 9.89437620e-01 -3.34139720e-03 1.03069090e+01] [ 2.18143106e-02 1.81168854e-04 9.99762023e-01 5.63366925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0192541539999 meters 0.015708852727782285 Centerline is valid? [True, True] Translation: X:817.36, Y:10.31, Z:5.63 [[ 9.89480337e-01 -1.43015123e-01 -2.18022120e-02 8.17355317e+02] [ 1.42975290e-01 9.89720476e-01 -3.38302462e-03 1.03130586e+01] [ 2.20619193e-02 2.30258769e-04 9.99756580e-01 5.63184180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0492541539999 meters 0.01594243570166692 Centerline is valid? [True, True] Translation: X:817.38, Y:10.32, Z:5.63 [[ 9.89581618e-01 -1.42235158e-01 -2.23020385e-02 8.17383273e+02] [ 1.42193229e-01 9.89832862e-01 -3.46281785e-03 1.03180919e+01] [ 2.25678250e-02 2.55542029e-04 9.99745282e-01 5.63126733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0792541539998 meters 0.016324480175485608 Centerline is valid? [True, True] Translation: X:817.41, Y:10.32, Z:5.63 [[ 9.89963372e-01 -1.39484599e-01 -2.27281412e-02 8.17411569e+02] [ 1.39440225e-01 9.90224186e-01 -3.53340765e-03 1.03232271e+01] [ 2.29988111e-02 3.28727033e-04 9.99735438e-01 5.63198696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1092541539999 meters 0.017319267178462158 Centerline is valid? [True, True] Translation: X:817.44, Y:10.33, Z:5.63 [[ 9.90180910e-01 -1.37956256e-01 -2.25795514e-02 8.17439687e+02] [ 1.37911977e-01 9.90438255e-01 -3.51406265e-03 1.03272720e+01] [ 2.28484384e-02 3.65567176e-04 9.99738874e-01 5.63311664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1392541539999 meters 0.01729191032365387 Centerline is valid? [True, True] Translation: X:817.47, Y:10.33, Z:5.63 [[ 9.90518270e-01 -1.35697796e-01 -2.14398188e-02 8.17466904e+02] [ 1.35657299e-01 9.90750195e-01 -3.33885874e-03 1.03345871e+01] [ 2.16945804e-02 3.98732677e-04 9.99764565e-01 5.63301830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1692541539999 meters 0.020030330349895833 Centerline is valid? [True, True] Translation: X:817.50, Y:10.34, Z:5.63 [[ 9.91150047e-01 -1.31085426e-01 -2.09331379e-02 8.17495876e+02] [ 1.31045769e-01 9.91370956e-01 -3.26103491e-03 1.03421488e+01] [ 2.11799790e-02 4.88975747e-04 9.99775560e-01 5.63338755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1992541539998 meters 0.02016363119393719 Centerline is valid? [True, True] Translation: X:817.52, Y:10.35, Z:5.63 [[ 9.91499613e-01 -1.28572526e-01 -1.99404729e-02 8.17523077e+02] [ 1.28536007e-01 9.91699973e-01 -3.10774202e-03 1.03497350e+01] [ 2.01745367e-02 5.18256253e-04 9.99796339e-01 5.63424289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2292541539999 meters 0.02027860540281007 Centerline is valid? [True, True] Translation: X:817.55, Y:10.35, Z:5.64 [[ 9.91803786e-01 -1.26223849e-01 -1.98189493e-02 8.17551327e+02] [ 1.26187269e-01 9.92001624e-01 -3.09054891e-03 1.03530728e+01] [ 2.00505309e-02 5.64319019e-04 9.99798809e-01 5.63508015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2592541539999 meters 0.02287997051334659 Centerline is valid? [True, True] Translation: X:817.58, Y:10.36, Z:5.63 [[ 9.92282053e-01 -1.22281935e-01 -2.05780162e-02 8.17580065e+02] [ 1.22241624e-01 9.92495178e-01 -3.21029476e-03 1.03600675e+01] [ 2.08161430e-02 6.70027746e-04 9.99783096e-01 5.63391067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2892541539999 meters 0.02158787979695839 Centerline is valid? [True, True] Translation: X:817.61, Y:10.37, Z:5.64 [[ 9.92521167e-01 -1.20386084e-01 -2.02218785e-02 8.17608361e+02] [ 1.20346687e-01 9.92726901e-01 -3.15845233e-03 1.03660738e+01] [ 2.04550364e-02 7.01194719e-04 9.99790528e-01 5.63500673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3192541539999 meters 0.0243527944711984 Centerline is valid? [True, True] Translation: X:817.64, Y:10.37, Z:5.63 [[ 9.92624720e-01 -1.19342535e-01 -2.12961085e-02 8.17635941e+02] [ 1.19298534e-01 9.92852847e-01 -3.32932620e-03 1.03718339e+01] [ 2.15412322e-02 7.64176949e-04 9.99767669e-01 5.63304411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3492541539999 meters 0.02360406390176227 Centerline is valid? [True, True] Translation: X:817.66, Y:10.38, Z:5.63 [[ 9.92815566e-01 -1.17872436e-01 -2.05752556e-02 8.17663725e+02] [ 1.17831011e-01 9.93028446e-01 -3.21842168e-03 1.03776437e+01] [ 2.08111773e-02 7.70895979e-04 9.99783127e-01 5.63406883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3792541539999 meters 0.025769148392177234 Centerline is valid? [True, True] Translation: X:817.69, Y:10.38, Z:5.63 [[ 9.92929234e-01 -1.16848873e-01 -2.09255152e-02 8.17692535e+02] [ 1.16805713e-01 9.93149377e-01 -3.27728152e-03 1.03823506e+01] [ 2.11651090e-02 8.09888914e-04 9.99775666e-01 5.63283229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4092541539999 meters 0.024722818985853674 Centerline is valid? [True, True] Translation: X:817.72, Y:10.38, Z:5.63 [[ 9.92958867e-01 -1.16644647e-01 -2.06570934e-02 8.17721250e+02] [ 1.16602435e-01 9.93173385e-01 -3.24039910e-03 1.03846834e+01] [ 2.08940506e-02 8.08915616e-04 9.99781368e-01 5.63391304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4392541539999 meters 0.022743164594577984 Centerline is valid? [True, True] Translation: X:817.75, Y:10.39, Z:5.64 [[ 9.92980533e-01 -1.16673896e-01 -1.94129670e-02 8.17749502e+02] [ 1.16636516e-01 9.93169984e-01 -3.05062062e-03 1.03866705e+01] [ 1.96363040e-02 7.64946051e-04 9.99806897e-01 5.63560395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4692541539999 meters 0.024921345022661526 Centerline is valid? [True, True] Translation: X:817.78, Y:10.39, Z:5.64 [[ 9.92935942e-01 -1.17451337e-01 -1.68344153e-02 8.17776405e+02] [ 1.17423287e-01 9.93078424e-01 -2.64854904e-03 1.03946304e+01] [ 1.70289702e-02 6.53087165e-04 9.99854783e-01 5.63619704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4992541539999 meters 0.024259853186237607 Centerline is valid? [True, True] Translation: X:817.81, Y:10.39, Z:5.64 [[ 9.92727163e-01 -1.19221631e-01 -1.67027766e-02 8.17806123e+02] [ 1.19194210e-01 9.92867472e-01 -2.63128411e-03 1.03932471e+01] [ 1.68973496e-02 6.21272951e-04 9.99857037e-01 5.63654834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5292541539999 meters 0.02308717995418647 Centerline is valid? [True, True] Translation: X:817.84, Y:10.39, Z:5.64 [[ 9.92418145e-01 -1.22052261e-01 -1.44731305e-02 8.17835419e+02] [ 1.22031947e-01 9.92523550e-01 -2.28182915e-03 1.03945015e+01] [ 1.46434252e-02 4.98344359e-04 9.99892655e-01 5.63803287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5592541539999 meters 0.0210206794235323 Centerline is valid? [True, True] Translation: X:817.86, Y:10.40, Z:5.64 [[ 9.92231378e-01 -1.23676656e-01 -1.34527601e-02 8.17864355e+02] [ 1.23659229e-01 9.92322472e-01 -2.12285683e-03 1.03971668e+01] [ 1.36120240e-02 4.42807216e-04 9.99907254e-01 5.63923807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5892541539998 meters 0.01997463379379369 Centerline is valid? [True, True] Translation: X:817.89, Y:10.40, Z:5.64 [[ 9.92021389e-01 -1.25415163e-01 -1.28296523e-02 8.17893715e+02] [ 1.25399419e-01 9.92104266e-01 -2.02758877e-03 1.03991946e+01] [ 1.29826432e-02 4.02580490e-04 9.99915641e-01 5.63960939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6192541539999 meters 0.020053399953241506 Centerline is valid? [True, True] Translation: X:817.92, Y:10.40, Z:5.64 [[ 9.91511076e-01 -1.29315436e-01 -1.35389636e-02 8.17921926e+02] [ 1.29298233e-01 9.91603438e-01 -2.14199089e-03 1.04003585e+01] [ 1.37022753e-02 3.73243621e-04 9.99906050e-01 5.63815253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6492541539999 meters 0.018799417271334815 Centerline is valid? [True, True] Translation: X:817.95, Y:10.40, Z:5.64 [[ 9.91200025e-01 -1.31628232e-01 -1.40185215e-02 8.17951635e+02] [ 1.31609988e-01 9.91299088e-01 -2.22017533e-03 1.04007387e+01] [ 1.41887853e-02 3.55660405e-04 9.99899271e-01 5.63735548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6792541539999 meters 0.01816486037150903 Centerline is valid? [True, True] Translation: X:817.98, Y:10.40, Z:5.64 [[ 9.90880810e-01 -1.33919318e-01 -1.48606062e-02 8.17979909e+02] [ 1.33899017e-01 9.90992178e-01 -2.35724085e-03 1.04039376e+01] [ 1.50424246e-02 3.45924151e-04 9.99886796e-01 5.63661087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7092541539998 meters 0.01816486037150903 Centerline is valid? [True, True] Translation: X:818.01, Y:10.41, Z:5.64 [[ 9.90844247e-01 -1.34189636e-01 -1.48599939e-02 8.18007139e+02] [ 1.34169308e-01 9.90955611e-01 -2.36109634e-03 1.04083573e+01] [ 1.50424290e-02 3.45723631e-04 9.99886796e-01 5.63680143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7392541539999 meters 0.01797508180418875 Centerline is valid? [True, True] Translation: X:818.04, Y:10.41, Z:5.64 [[ 9.90462231e-01 -1.36915352e-01 -1.54517112e-02 8.18035568e+02] [ 1.36893640e-01 9.90582699e-01 -2.45919282e-03 1.04105470e+01] [ 1.56428990e-02 3.20496618e-04 9.99877591e-01 5.63526571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7692541539999 meters 0.01598134741041823 Centerline is valid? [True, True] Translation: X:818.07, Y:10.41, Z:5.64 [[ 9.89717037e-01 -1.42156473e-01 -1.58657807e-02 8.18065879e+02] [ 1.42134194e-01 9.89844167e-01 -2.52885724e-03 1.04077736e+01] [ 1.60641439e-02 2.47783147e-04 9.99870933e-01 5.63514958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7992541539999 meters 0.015437594261783235 Centerline is valid? [True, True] Translation: X:818.09, Y:10.41, Z:5.64 [[ 9.89303383e-01 -1.45011102e-01 -1.58302424e-02 8.18093551e+02] [ 1.44989251e-01 9.89430007e-01 -2.52553232e-03 1.04086715e+01] [ 1.60291471e-02 2.03302683e-04 9.99871504e-01 5.63521413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8292541539998 meters 0.016942600897370225 Centerline is valid? [True, True] Translation: X:818.12, Y:10.41, Z:5.64 [[ 9.88786948e-01 -1.48394892e-01 -1.67130921e-02 8.18122566e+02] [ 1.48370965e-01 9.88928173e-01 -2.66953847e-03 1.04080277e+01] [ 1.69241935e-02 1.59867189e-04 9.99856763e-01 5.63614668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8592541539999 meters 0.014052267964423028 Centerline is valid? [True, True] Translation: X:818.15, Y:10.41, Z:5.64 [[ 9.87959086e-01 -1.54063834e-01 -1.41837976e-02 8.18151783e+02] [ 1.54047136e-01 9.88060895e-01 -2.26892408e-03 1.04067312e+01] [ 1.43640149e-02 5.66307506e-05 9.99896831e-01 5.63815889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8892541539999 meters 0.014394607829357102 Centerline is valid? [True, True] Translation: X:818.18, Y:10.41, Z:5.64 [[ 9.87536514e-01 -1.56837640e-01 -1.31752557e-02 8.18179351e+02] [ 1.56823449e-01 9.87624399e-01 -2.10981025e-03 1.04080245e+01] [ 1.33431016e-02 1.73256262e-05 9.99910977e-01 5.63848582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9192541539999 meters 0.01403250148524296 Centerline is valid? [True, True] Translation: X:818.21, Y:10.41, Z:5.64 [[ 9.87060831e-01 -1.59864444e-01 -1.24207950e-02 8.18207927e+02] [ 1.59852043e-01 9.87138977e-01 -1.99122479e-03 1.04099073e+01] [ 1.25793769e-02 -2.00294635e-05 9.99920876e-01 5.63921636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9492541539998 meters 0.014889737150715565 Centerline is valid? [True, True] Translation: X:818.24, Y:10.41, Z:5.64 [[ 9.86413961e-01 -1.63798051e-01 -1.25577082e-02 8.18236653e+02] [ 1.63785662e-01 9.86493889e-01 -2.01572867e-03 1.04095959e+01] [ 1.27182748e-02 -6.84296530e-05 9.99919117e-01 5.63907011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9792541539999 meters 0.014252028989034183 Centerline is valid? [True, True] Translation: X:818.26, Y:10.41, Z:5.64 [[ 9.86201685e-01 -1.65058182e-01 -1.27291999e-02 8.18264908e+02] [ 1.65045527e-01 9.86283828e-01 -2.04559124e-03 1.04127930e+01] [ 1.28922455e-02 -8.35319677e-05 9.99916888e-01 5.63970277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0092541539999 meters 0.01647482829061388 Centerline is valid? [True, True] Translation: X:818.29, Y:10.42, Z:5.64 [[ 9.85936368e-01 -1.66552077e-01 -1.37798150e-02 8.18294020e+02] [ 1.66537338e-01 9.86032654e-01 -2.21833798e-03 1.04157581e+01] [ 1.39568163e-02 -1.07713616e-04 9.99902593e-01 5.63948672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0392541539999 meters 0.016845807422989006 Centerline is valid? [True, True] Translation: X:818.32, Y:10.42, Z:5.64 [[ 9.86081469e-01 -1.65613011e-01 -1.46855899e-02 8.18321091e+02] [ 1.65596124e-01 9.86190814e-01 -2.36700292e-03 1.04188358e+01] [ 1.48748003e-02 -9.78190523e-05 9.99889359e-01 5.63853875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0692541539999 meters 0.01619208105784075 Centerline is valid? [True, True] Translation: X:818.35, Y:10.43, Z:5.64 [[ 9.86245467e-01 -1.64598693e-01 -1.50714561e-02 8.18348728e+02] [ 1.64580739e-01 9.86360615e-01 -2.43243826e-03 1.04250690e+01] [ 1.52662669e-02 -8.14901706e-05 9.99883460e-01 5.63870698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0992541539999 meters 0.014006981439757031 Centerline is valid? [True, True] Translation: X:818.38, Y:10.43, Z:5.64 [[ 9.86808710e-01 -1.61122740e-01 -1.57490764e-02 8.18375796e+02] [ 1.61102617e-01 9.86934376e-01 -2.54648041e-03 1.04327097e+01] [ 1.59536007e-02 -2.43283732e-05 9.99872733e-01 5.63870220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1292541539999 meters 0.014068397114955668 Centerline is valid? [True, True] Translation: X:818.40, Y:10.44, Z:5.64 [[ 9.87063163e-01 -1.59506930e-01 -1.62434900e-02 8.18402848e+02] [ 1.59485257e-01 9.87196809e-01 -2.62936679e-03 1.04382719e+01] [ 1.64549238e-02 4.75392543e-06 9.99864609e-01 5.63851580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1592541539999 meters 0.013990934351966173 Centerline is valid? [True, True] Translation: X:818.43, Y:10.44, Z:5.64 [[ 9.87335351e-01 -1.57790324e-01 -1.64656444e-02 8.18430530e+02] [ 1.57767790e-01 9.87472639e-01 -2.66683172e-03 1.04437851e+01] [ 1.66801736e-02 3.53088975e-05 9.99860876e-01 5.63849551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1892541539999 meters 0.017384973507901767 Centerline is valid? [True, True] Translation: X:818.46, Y:10.45, Z:5.64 [[ 9.87397268e-01 -1.57255608e-01 -1.78131811e-02 8.18459176e+02] [ 1.57229084e-01 9.87557933e-01 -2.88859600e-03 1.04487723e+01] [ 1.80457962e-02 5.14416420e-05 9.99837160e-01 5.63875222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2192541539999 meters 0.014074535146635847 Centerline is valid? [True, True] Translation: X:818.49, Y:10.46, Z:5.64 [[ 9.87823698e-01 -1.54740355e-01 -1.61172067e-02 8.18486519e+02] [ 1.54718267e-01 9.87955168e-01 -2.61603004e-03 1.04554049e+01] [ 1.63278831e-02 9.05501737e-05 9.99866687e-01 5.63951237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2492541539999 meters 0.015250250207320197 Centerline is valid? [True, True] Translation: X:818.51, Y:10.46, Z:5.64 [[ 9.87810669e-01 -1.54839129e-01 -1.59664024e-02 8.18513348e+02] [ 1.54817437e-01 9.87939692e-01 -2.59332461e-03 1.04601649e+01] [ 1.61753908e-02 8.98362196e-05 9.99869166e-01 5.63960447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2792541539999 meters 0.016815567910229427 Centerline is valid? [True, True] Translation: X:818.54, Y:10.46, Z:5.64 [[ 9.87801770e-01 -1.54897714e-01 -1.59486897e-02 8.18539518e+02] [ 1.54876045e-01 9.87930509e-01 -2.59243665e-03 1.04647930e+01] [ 1.61577596e-02 9.07435413e-05 9.99869451e-01 5.63964468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3092541539999 meters 0.01561098507629821 Centerline is valid? [True, True] Translation: X:818.57, Y:10.47, Z:5.64 [[ 9.87829542e-01 -1.54928247e-01 -1.37852643e-02 8.18567673e+02] [ 1.54912026e-01 9.87925722e-01 -2.24325585e-03 1.04695787e+01] [ 1.39663609e-02 8.04511785e-05 9.99902462e-01 5.64186238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3392541539998 meters 0.014010416823161898 Centerline is valid? [True, True] Translation: X:818.59, Y:10.47, Z:5.64 [[ 9.87845591e-01 -1.54932083e-01 -1.25354702e-02 8.18593872e+02] [ 1.54918637e-01 9.87925121e-01 -2.04255764e-03 1.04742817e+01] [ 1.27005636e-02 7.57536027e-05 9.99919342e-01 5.64291296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3692541539999 meters 0.014068700956384135 Centerline is valid? [True, True] Translation: X:818.62, Y:10.48, Z:5.64 [[ 9.87767050e-01 -1.55448128e-01 -1.23342721e-02 8.18621728e+02] [ 1.55435114e-01 9.87844054e-01 -2.01269565e-03 1.04786911e+01] [ 1.24972071e-02 7.08954656e-05 9.99921904e-01 5.64357061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3992541539999 meters 0.014021287859994385 Centerline is valid? [True, True] Translation: X:818.65, Y:10.48, Z:5.64 [[ 9.87765946e-01 -1.55432005e-01 -1.26224932e-02 8.18648441e+02] [ 1.55418339e-01 9.87846590e-01 -2.06250605e-03 1.04835920e+01] [ 1.27896663e-02 7.55063177e-05 9.99918206e-01 5.64332478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4292541539999 meters 0.014020836970824683 Centerline is valid? [True, True] Translation: X:818.68, Y:10.49, Z:5.64 [[ 9.87765188e-01 -1.55380775e-01 -1.32946803e-02 8.18675728e+02] [ 1.55365572e-01 9.87854649e-01 -2.17512075e-03 1.04886615e+01] [ 1.34711837e-02 8.29729478e-05 9.99909256e-01 5.64279984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4592541539998 meters 0.014019220786162254 Centerline is valid? [True, True] Translation: X:818.70, Y:10.49, Z:5.64 [[ 9.87769181e-01 -1.55316382e-01 -1.37428619e-02 8.18702909e+02] [ 1.55300074e-01 9.87864775e-01 -2.25252252e-03 1.04936327e+01] [ 1.39259429e-02 9.07048517e-05 9.99903025e-01 5.64209722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4892541539999 meters 0.01601180583162533 Centerline is valid? [True, True] Translation: X:818.73, Y:10.50, Z:5.64 [[ 9.87750631e-01 -1.55172989e-01 -1.64327423e-02 8.18731249e+02] [ 1.55149570e-01 9.87887306e-01 -2.69827153e-03 1.04990972e+01] [ 1.66523964e-02 1.15686495e-04 9.99861333e-01 5.63987450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5192541539999 meters 0.017403124119573097 Centerline is valid? [True, True] Translation: X:818.76, Y:10.50, Z:5.64 [[ 9.87745235e-01 -1.55060731e-01 -1.77628971e-02 8.18758530e+02] [ 1.55033288e-01 9.87904931e-01 -2.92006500e-03 1.05044844e+01] [ 1.80008410e-02 1.30439946e-04 9.99837963e-01 5.63826051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5492541539999 meters 0.014236086785131843 Centerline is valid? [True, True] Translation: X:818.79, Y:10.51, Z:5.64 [[ 9.87794586e-01 -1.54795047e-01 -1.73306123e-02 8.18786178e+02] [ 1.54768813e-01 9.87946595e-01 -2.85295153e-03 1.05096525e+01] [ 1.75633422e-02 1.35891780e-04 9.99845743e-01 5.63860263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5792541539998 meters 0.016502092264090173 Centerline is valid? [True, True] Translation: X:818.81, Y:10.51, Z:5.64 [[ 9.87657200e-01 -1.55615558e-01 -1.78060122e-02 8.18813774e+02] [ 1.55587904e-01 9.87817686e-01 -2.93647613e-03 1.05136788e+01] [ 1.80460551e-02 1.29831672e-04 9.99837148e-01 5.63854761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6092541539999 meters 0.014130495149664387 Centerline is valid? [True, True] Translation: X:818.84, Y:10.52, Z:5.64 [[ 9.87630513e-01 -1.55918454e-01 -1.65953422e-02 8.18841969e+02] [ 1.55894402e-01 9.87769923e-01 -2.74119736e-03 1.05188131e+01] [ 1.68197832e-02 1.20169201e-04 9.99858530e-01 5.63953232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6392541539999 meters 0.014111789074440965 Centerline is valid? [True, True] Translation: X:818.87, Y:10.52, Z:5.64 [[ 9.87537286e-01 -1.56576640e-01 -1.59331225e-02 8.18869317e+02] [ 1.56554485e-01 9.87665806e-01 -2.63616434e-03 1.05232158e+01] [ 1.61493621e-02 1.08908785e-04 9.99869585e-01 5.64001315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6692541539999 meters 0.014022935100618198 Centerline is valid? [True, True] Translation: X:818.90, Y:10.53, Z:5.64 [[ 9.87327006e-01 -1.58064132e-01 -1.41814360e-02 8.18896760e+02] [ 1.58046699e-01 9.87428845e-01 -2.34879470e-03 1.05268848e+01] [ 1.43744192e-02 7.76992799e-05 9.99896680e-01 5.64065555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6992541539998 meters 0.01662039384514214 Centerline is valid? [True, True] Translation: X:818.93, Y:10.53, Z:5.64 [[ 9.87083192e-01 -1.59579198e-01 -1.41862859e-02 8.18925068e+02] [ 1.59561870e-01 9.87185128e-01 -2.35237255e-03 1.05299600e+01] [ 1.43798801e-02 5.83971097e-05 9.99896602e-01 5.64121567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7292541539999 meters 0.015024900135446833 Centerline is valid? [True, True] Translation: X:818.95, Y:10.53, Z:5.64 [[ 9.87015020e-01 -1.60076263e-01 -1.33018890e-02 8.18952685e+02] [ 1.60061040e-01 9.87104649e-01 -2.20818702e-03 1.05342627e+01] [ 1.34838348e-02 5.03995723e-05 9.99909088e-01 5.64174814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7592541539999 meters 0.013930185622313239 Centerline is valid? [True, True] Translation: X:818.98, Y:10.54, Z:5.64 [[ 9.86904530e-01 -1.60817450e-01 -1.25377785e-02 8.18980682e+02] [ 1.60803958e-01 9.86984167e-01 -2.08354799e-03 1.05382791e+01] [ 1.27096598e-02 4.01385426e-05 9.99919228e-01 5.64194425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7892541539999 meters 0.015964448550898826 Centerline is valid? [True, True] Translation: X:819.01, Y:10.54, Z:5.64 [[ 9.86778466e-01 -1.61519374e-01 -1.34071382e-02 8.19007333e+02] [ 1.61503964e-01 9.86869541e-01 -2.23137022e-03 1.05421998e+01] [ 1.35915059e-02 3.65621075e-05 9.99907631e-01 5.64072275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8192541539999 meters 0.017579421027733 Centerline is valid? [True, True] Translation: X:819.04, Y:10.55, Z:5.64 [[ 9.86919295e-01 -1.60639912e-01 -1.36060137e-02 8.19035031e+02] [ 1.60623913e-01 9.87013078e-01 -2.26772837e-03 1.05472720e+01] [ 1.37936011e-02 5.26137225e-05 9.99904862e-01 5.64060957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8492541539999 meters 0.014184229066528489 Centerline is valid? [True, True] Translation: X:819.06, Y:10.55, Z:5.64 [[ 9.87168980e-01 -1.59160211e-01 -1.28620527e-02 8.19062294e+02] [ 1.59145743e-01 9.87252765e-01 -2.14725576e-03 1.05543214e+01] [ 1.30398548e-02 7.27633442e-05 9.99914975e-01 5.64130890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8792541539999 meters 0.016655427964098073 Centerline is valid? [True, True] Translation: X:819.09, Y:10.56, Z:5.64 [[ 9.87295174e-01 -1.58318771e-01 -1.35427438e-02 8.19091178e+02] [ 1.58302599e-01 9.87388049e-01 -2.26467819e-03 1.05598023e+01] [ 1.37304844e-02 9.20543130e-05 9.99905728e-01 5.64106698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9092541539999 meters 0.014720281695728645 Centerline is valid? [True, True] Translation: X:819.12, Y:10.57, Z:5.64 [[ 9.87663524e-01 -1.56019578e-01 -1.33661626e-02 8.19117976e+02] [ 1.56003579e-01 9.87753955e-01 -2.23783126e-03 1.05677202e+01] [ 1.35516254e-02 1.25055117e-04 9.99908165e-01 5.64076746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9392541539999 meters 0.015749050075318825 Centerline is valid? [True, True] Translation: X:819.14, Y:10.58, Z:5.64 [[ 9.88206702e-01 -1.52440628e-01 -1.44695690e-02 8.19144168e+02] [ 1.52421461e-01 9.88312612e-01 -2.42477498e-03 1.05769643e+01] [ 1.46700917e-02 1.90706038e-04 9.99892370e-01 5.63973972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9692541539999 meters 0.01755131655718079 Centerline is valid? [True, True] Translation: X:819.17, Y:10.58, Z:5.64 [[ 9.88400286e-01 -1.51060980e-01 -1.56669841e-02 8.19172694e+02] [ 1.51038285e-01 9.88524419e-01 -2.62869936e-03 1.05833943e+01] [ 1.58842903e-02 2.31892790e-04 9.99873810e-01 5.63864011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9992541539999 meters 0.01891440058125274 Centerline is valid? [True, True] Translation: X:819.20, Y:10.59, Z:5.64 [[ 9.88586752e-01 -1.49728498e-01 -1.66616582e-02 8.19200908e+02] [ 1.49702569e-01 9.88727112e-01 -2.79978334e-03 1.05888041e+01] [ 1.68930405e-02 2.73535679e-04 9.99857265e-01 5.63866032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0292541539999 meters 0.01884665613558613 Centerline is valid? [True, True] Translation: X:819.23, Y:10.60, Z:5.64 [[ 9.88964255e-01 -1.47253161e-01 -1.63159285e-02 8.19227453e+02] [ 1.47227918e-01 9.89098787e-01 -2.74418484e-03 1.05977891e+01] [ 1.65421550e-02 3.11740521e-04 9.99863121e-01 5.63811452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0592541539999 meters 0.01689987842660858 Centerline is valid? [True, True] Translation: X:819.26, Y:10.60, Z:5.64 [[ 9.89034243e-01 -1.46884435e-01 -1.53697093e-02 8.19255405e+02] [ 1.46861944e-01 9.89153614e-01 -2.58808102e-03 1.06018760e+01] [ 1.55831523e-02 3.02475377e-04 9.99878530e-01 5.63994013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0892541539998 meters 0.01836096568008641 Centerline is valid? [True, True] Translation: X:819.28, Y:10.61, Z:5.64 [[ 9.89047238e-01 -1.46844906e-01 -1.49041998e-02 8.19281840e+02] [ 1.46823708e-01 9.89159484e-01 -2.51262987e-03 1.06096884e+01] [ 1.51115975e-02 2.96819747e-04 9.99885769e-01 5.63889918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1192541539999 meters 0.018908510356372588 Centerline is valid? [True, True] Translation: X:819.31, Y:10.61, Z:5.64 [[ 9.88912323e-01 -1.47714812e-01 -1.52562212e-02 8.19310438e+02] [ 1.47692652e-01 9.89029953e-01 -2.57534061e-03 1.06098885e+01] [ 1.54692757e-02 2.93554296e-04 9.99880301e-01 5.64039885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1492541539999 meters 0.017197988720849454 Centerline is valid? [True, True] Translation: X:819.34, Y:10.61, Z:5.64 [[ 9.88770916e-01 -1.48683640e-01 -1.50083243e-02 8.19339485e+02] [ 1.48662244e-01 9.88884775e-01 -2.53761295e-03 1.06136547e+01] [ 1.52188050e-02 2.77946717e-04 9.99884149e-01 5.64113479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1792541539999 meters 0.01903695067130156 Centerline is valid? [True, True] Translation: X:819.37, Y:10.62, Z:5.64 [[ 9.88680481e-01 -1.49271872e-01 -1.51265914e-02 8.19366950e+02] [ 1.49250166e-01 9.88796154e-01 -2.56017284e-03 1.06212768e+01] [ 1.53392772e-02 2.73546632e-04 9.99882309e-01 5.63929760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2092541539998 meters 0.01625196673378695 Centerline is valid? [True, True] Translation: X:819.40, Y:10.62, Z:5.64 [[ 9.88615233e-01 -1.49718244e-01 -1.49789026e-02 8.19395000e+02] [ 1.49696966e-01 9.88728667e-01 -2.53820539e-03 1.06218708e+01] [ 1.51900861e-02 2.67012238e-04 9.99884588e-01 5.64142441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2392541539999 meters 0.01720049356124131 Centerline is valid? [True, True] Translation: X:819.42, Y:10.63, Z:5.64 [[ 9.88407481e-01 -1.50922998e-01 -1.65196655e-02 8.19423045e+02] [ 1.50897199e-01 9.88545482e-01 -2.80435280e-03 1.06253830e+01] [ 1.67536820e-02 2.79072024e-04 9.99859608e-01 5.64036869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2692541539999 meters 0.01801126834380979 Centerline is valid? [True, True] Translation: X:819.45, Y:10.63, Z:5.64 [[ 9.88286988e-01 -1.51607366e-01 -1.74366368e-02 8.19450926e+02] [ 1.51578637e-01 9.88440754e-01 -2.96526394e-03 1.06292055e+01] [ 1.76846383e-02 2.87510120e-04 9.99843573e-01 5.63986452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2992541539999 meters 0.01605791984508325 Centerline is valid? [True, True] Translation: X:819.48, Y:10.63, Z:5.64 [[ 9.88316926e-01 -1.51397442e-01 -1.75632487e-02 8.19479397e+02] [ 1.51368176e-01 9.88472926e-01 -2.99161437e-03 1.06341538e+01] [ 1.78137186e-02 2.98146205e-04 9.99841279e-01 5.64023564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3292541539998 meters 0.016417472902322396 Centerline is valid? [True, True] Translation: X:819.51, Y:10.64, Z:5.64 [[ 9.88324934e-01 -1.51236495e-01 -1.84756047e-02 8.19507060e+02] [ 1.51204026e-01 9.88497557e-01 -3.14995181e-03 1.06398072e+01] [ 1.87394778e-02 3.19590107e-04 9.99824349e-01 5.63941624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3592541539999 meters 0.0161795614053126 Centerline is valid? [True, True] Translation: X:819.54, Y:10.64, Z:5.64 [[ 9.88296882e-01 -1.51420467e-01 -1.84693120e-02 8.19535020e+02] [ 1.51387976e-01 9.88469392e-01 -3.15295049e-03 1.06444581e+01] [ 1.87337709e-02 3.20019372e-04 9.99824456e-01 5.63976492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3892541539999 meters 0.016213130034998587 Centerline is valid? [True, True] Translation: X:819.56, Y:10.65, Z:5.64 [[ 9.88330614e-01 -1.51180359e-01 -1.86305443e-02 8.19563843e+02] [ 1.51147158e-01 9.88506140e-01 -3.18559331e-03 1.06493804e+01] [ 1.88980066e-02 3.32465563e-04 9.99821361e-01 5.64062552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4192541539999 meters 0.0164662224008733 Centerline is valid? [True, True] Translation: X:819.59, Y:10.66, Z:5.64 [[ 9.88558776e-01 -1.49802654e-01 -1.76269886e-02 8.19592508e+02] [ 1.49772635e-01 9.88715857e-01 -3.01849720e-03 1.06555493e+01] [ 1.78802621e-02 3.43921374e-04 9.99840076e-01 5.64230157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4492541539998 meters 0.017093003732595563 Centerline is valid? [True, True] Translation: X:819.62, Y:10.66, Z:5.64 [[ 9.88716745e-01 -1.48846618e-01 -1.68488086e-02 8.19619249e+02] [ 1.48819007e-01 9.88860234e-01 -2.88786456e-03 1.06622309e+01] [ 1.70909657e-02 3.47857078e-04 9.99853878e-01 5.64240460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4792541539999 meters 0.019406093627912086 Centerline is valid? [True, True] Translation: X:819.65, Y:10.67, Z:5.64 [[ 9.88807247e-01 -1.48202231e-01 -1.72141298e-02 8.19647347e+02] [ 1.48173255e-01 9.88957007e-01 -2.95374332e-03 1.06682192e+01] [ 1.74617857e-02 3.70009143e-04 9.99847463e-01 5.64230164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5092541539999 meters 0.0180963284334817 Centerline is valid? [True, True] Translation: X:819.68, Y:10.68, Z:5.64 [[ 9.89297284e-01 -1.44948510e-01 -1.67574970e-02 8.19675404e+02] [ 1.44920513e-01 9.89439110e-01 -2.87961573e-03 1.06764095e+01] [ 1.69979189e-02 4.20290964e-04 9.99855437e-01 5.64349464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5392541539999 meters 0.02084498194398856 Centerline is valid? [True, True] Translation: X:819.70, Y:10.68, Z:5.64 [[ 9.89423258e-01 -1.43933803e-01 -1.80188198e-02 8.19703384e+02] [ 1.43901210e-01 9.89587205e-01 -3.09929538e-03 1.06813978e+01] [ 1.82772869e-02 4.73584964e-04 9.99832844e-01 5.64258568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5692541539999 meters 0.018866635138952672 Centerline is valid? [True, True] Translation: X:819.73, Y:10.69, Z:5.64 [[ 9.89660649e-01 -1.42247350e-01 -1.83709131e-02 8.19729846e+02] [ 1.42213144e-01 9.89831008e-01 -3.16180060e-03 1.06889584e+01] [ 1.86338572e-02 5.16524324e-04 9.99826241e-01 5.64280340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5992541539999 meters 0.018866635138952672 Centerline is valid? [True, True] Translation: X:819.76, Y:10.69, Z:5.64 [[ 9.89619890e-01 -1.42530730e-01 -1.83702160e-02 8.19757029e+02] [ 1.42496498e-01 9.89790243e-01 -3.16584733e-03 1.06937193e+01] [ 1.86338911e-02 5.15294047e-04 9.99826241e-01 5.64299435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6292541539999 meters 0.021103166582634662 Centerline is valid? [True, True] Translation: X:819.78, Y:10.70, Z:5.64 [[ 9.89803618e-01 -1.41083437e-01 -1.96025966e-02 8.19784923e+02] [ 1.41044066e-01 9.89997537e-01 -3.38364736e-03 1.07013596e+01] [ 1.98838990e-02 5.84316468e-04 9.99802125e-01 5.64106153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6592541539999 meters 0.021313378731667255 Centerline is valid? [True, True] Translation: X:819.81, Y:10.71, Z:5.64 [[ 9.89922721e-01 -1.40164181e-01 -2.01744423e-02 8.19813150e+02] [ 1.40122181e-01 9.90128078e-01 -3.48758675e-03 1.07075437e+01] [ 2.04641165e-02 6.25554504e-04 9.99790392e-01 5.64091079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6892541539999 meters 0.020854862439929664 Centerline is valid? [True, True] Translation: X:819.84, Y:10.71, Z:5.64 [[ 9.90097852e-01 -1.38904494e-01 -2.02924862e-02 8.19839880e+02] [ 1.38861676e-01 9.90305563e-01 -3.51098704e-03 1.07147791e+01] [ 2.05834539e-02 6.58372086e-04 9.99787921e-01 5.64098839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7192541539999 meters 0.020976161709893196 Centerline is valid? [True, True] Translation: X:819.87, Y:10.72, Z:5.64 [[ 9.90074160e-01 -1.38974042e-01 -2.09612543e-02 8.19868793e+02] [ 1.38928277e-01 9.90295789e-01 -3.63102906e-03 1.07187189e+01] [ 2.12624606e-02 6.82877101e-04 9.99773695e-01 5.64099788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7492541539999 meters 0.02197617690301049 Centerline is valid? [True, True] Translation: X:819.90, Y:10.73, Z:5.64 [[ 9.90258525e-01 -1.37695068e-01 -2.06910971e-02 8.19895091e+02] [ 1.37650128e-01 9.90474418e-01 -3.58752363e-03 1.07276440e+01] [ 2.09879866e-02 7.04443701e-04 9.99779480e-01 5.64095266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7792541539999 meters 0.019675783412958912 Centerline is valid? [True, True] Translation: X:819.92, Y:10.73, Z:5.64 [[ 9.90248071e-01 -1.37835657e-01 -2.02506710e-02 8.19922918e+02] [ 1.37792540e-01 9.90454872e-01 -3.51597781e-03 1.07289359e+01] [ 2.05420029e-02 6.91298844e-04 9.99788752e-01 5.64315927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8092541539999 meters 0.019859386843031738 Centerline is valid? [True, True] Translation: X:819.95, Y:10.73, Z:5.64 [[ 9.90147798e-01 -1.38618224e-01 -1.98072094e-02 8.19950089e+02] [ 1.38577067e-01 9.90345671e-01 -3.44223127e-03 1.07345590e+01] [ 2.00931401e-02 6.63492740e-04 9.99797892e-01 5.64363095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8392541539998 meters 0.020554395769029322 Centerline is valid? [True, True] Translation: X:819.98, Y:10.74, Z:5.64 [[ 9.90086936e-01 -1.39121213e-01 -1.93170234e-02 8.19977532e+02] [ 1.39082117e-01 9.90275153e-01 -3.35939973e-03 1.07409408e+01] [ 1.95965320e-02 6.39445276e-04 9.99807765e-01 5.64349392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8692541539999 meters 0.02055231763422203 Centerline is valid? [True, True] Translation: X:820.01, Y:10.75, Z:5.64 [[ 9.89945273e-01 -1.40097812e-01 -1.95181969e-02 8.20005771e+02] [ 1.40058003e-01 9.90137468e-01 -3.39861324e-03 1.07453627e+01] [ 1.98018364e-02 6.30761436e-04 9.99803725e-01 5.64376968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8992541539999 meters 0.02002205342939956 Centerline is valid? [True, True] Translation: X:820.03, Y:10.75, Z:5.64 [[ 9.89807084e-01 -1.41129913e-01 -1.90862170e-02 8.20033262e+02] [ 1.41091984e-01 9.89990903e-01 -3.32623400e-03 1.07512833e+01] [ 1.93646123e-02 5.99417756e-04 9.99812309e-01 5.64380473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9292541539999 meters 0.02020055557782831 Centerline is valid? [True, True] Translation: X:820.06, Y:10.76, Z:5.64 [[ 9.89626541e-01 -1.42421787e-01 -1.88505890e-02 8.20061622e+02] [ 1.42384951e-01 9.89805895e-01 -3.28888283e-03 1.07552654e+01] [ 1.91268326e-02 5.70725551e-04 9.99816903e-01 5.64394719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9592541539998 meters 0.020385027258436102 Centerline is valid? [True, True] Translation: X:820.09, Y:10.76, Z:5.64 [[ 9.89599802e-01 -1.42686290e-01 -1.82442809e-02 8.20088770e+02] [ 1.42651780e-01 9.89767811e-01 -3.18584198e-03 1.07622923e+01] [ 1.85121779e-02 5.50129442e-04 9.99828484e-01 5.64363950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9892541539999 meters 0.01927314821481961 Centerline is valid? [True, True] Translation: X:820.12, Y:10.77, Z:5.64 [[ 9.89471670e-01 -1.43542595e-01 -1.84753131e-02 8.20117480e+02] [ 1.43507287e-01 9.89643990e-01 -3.22979680e-03 1.07658723e+01] [ 1.87475960e-02 5.44450367e-04 9.99824100e-01 5.64451510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0192541539999 meters 0.019074695338036463 Centerline is valid? [True, True] Translation: X:820.15, Y:10.77, Z:5.64 [[ 9.89318349e-01 -1.44630607e-01 -1.81986827e-02 8.20145867e+02] [ 1.44596447e-01 9.89485582e-01 -3.18605269e-03 1.07713736e+01] [ 1.84681349e-02 5.20555522e-04 9.99829314e-01 5.64489473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0492541539999 meters 0.01914219101023806 Centerline is valid? [True, True] Translation: X:820.17, Y:10.78, Z:5.65 [[ 9.89322278e-01 -1.44601934e-01 -1.82129493e-02 8.20174604e+02] [ 1.44567630e-01 9.89489769e-01 -3.19320338e-03 1.07766328e+01] [ 1.84832704e-02 5.26104325e-04 9.99829031e-01 5.64516033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0792541539998 meters 0.018956970695847408 Centerline is valid? [True, True] Translation: X:820.20, Y:10.78, Z:5.65 [[ 9.89344721e-01 -1.44430550e-01 -1.83531543e-02 8.20202988e+02] [ 1.44395598e-01 9.89514794e-01 -3.22253081e-03 1.07821056e+01] [ 1.86261496e-02 5.38079163e-04 9.99826373e-01 5.64607794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1092541539999 meters 0.0197379871375875 Centerline is valid? [True, True] Translation: X:820.23, Y:10.79, Z:5.65 [[ 9.89431370e-01 -1.43800776e-01 -1.86252643e-02 8.20230333e+02] [ 1.43764613e-01 9.89606499e-01 -3.27318161e-03 1.07889566e+01] [ 1.89023687e-02 5.60934647e-04 9.99821177e-01 5.64611986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1392541539999 meters 0.019392795639957976 Centerline is valid? [True, True] Translation: X:820.26, Y:10.79, Z:5.65 [[ 9.89508762e-01 -1.43244326e-01 -1.88008657e-02 8.20259111e+02] [ 1.43207307e-01 9.89687186e-01 -3.30776512e-03 1.07943827e+01] [ 1.90807945e-02 5.80641222e-04 9.99817776e-01 5.64672620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1692541539999 meters 0.01974104543958879 Centerline is valid? [True, True] Translation: X:820.29, Y:10.80, Z:5.65 [[ 9.89784139e-01 -1.41244062e-01 -1.94286463e-02 8.20286550e+02] [ 1.41204085e-01 9.89974597e-01 -3.42121104e-03 1.08016717e+01] [ 1.97170921e-02 6.42856202e-04 9.99805393e-01 5.64687697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1992541539998 meters 0.022056936487225565 Centerline is valid? [True, True] Translation: X:820.31, Y:10.81, Z:5.65 [[ 9.89875104e-01 -1.40560765e-01 -1.97471266e-02 8.20312703e+02] [ 1.40519289e-01 9.90071827e-01 -3.47937507e-03 1.08111017e+01] [ 2.00401374e-02 6.69294561e-04 9.99798952e-01 5.64577570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2292541539999 meters 0.020594854192271847 Centerline is valid? [True, True] Translation: X:820.34, Y:10.82, Z:5.65 [[ 9.90062598e-01 -1.39219566e-01 -1.98485267e-02 8.20340740e+02] [ 1.39177342e-01 9.90261288e-01 -3.49981303e-03 1.08155325e+01] [ 2.01424700e-02 7.02568797e-04 9.99796873e-01 5.64701212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2592541539999 meters 0.02105791631863623 Centerline is valid? [True, True] Translation: X:820.37, Y:10.82, Z:5.65 [[ 9.90089416e-01 -1.39058228e-01 -1.96407211e-02 8.20368961e+02] [ 1.39016768e-01 9.90283957e-01 -3.46741354e-03 1.08216848e+01] [ 1.99320634e-02 7.02659887e-04 9.99801090e-01 5.64704260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2892541539999 meters 0.020754617371960594 Centerline is valid? [True, True] Translation: X:820.40, Y:10.83, Z:5.65 [[ 9.90003717e-01 -1.39630745e-01 -1.98971405e-02 8.20397013e+02] [ 1.39588196e-01 9.90203392e-01 -3.51833357e-03 1.08267824e+01] [ 2.01934835e-02 7.05757375e-04 9.99795842e-01 5.64764362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3192541539999 meters 0.021315163287417026 Centerline is valid? [True, True] Translation: X:820.42, Y:10.83, Z:5.65 [[ 9.89990653e-01 -1.39712445e-01 -1.99734727e-02 8.20423205e+02] [ 1.39669510e-01 9.90191864e-01 -3.53554573e-03 1.08327556e+01] [ 2.02715299e-02 7.10472078e-04 9.99794259e-01 5.64763139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3492541539999 meters 0.021353008001595584 Centerline is valid? [True, True] Translation: X:820.45, Y:10.84, Z:5.65 [[ 9.89804537e-01 -1.40928149e-01 -2.06454654e-02 8.20451194e+02] [ 1.40882446e-01 9.90019570e-01 -3.65896809e-03 1.08379024e+01] [ 2.09550663e-02 7.13079560e-04 9.99780164e-01 5.64790731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3792541539999 meters 0.020969385748501795 Centerline is valid? [True, True] Translation: X:820.48, Y:10.84, Z:5.65 [[ 9.89841631e-01 -1.40757637e-01 -2.00208104e-02 8.20478918e+02] [ 1.40714509e-01 9.90043836e-01 -3.55386621e-03 1.08438833e+01] [ 2.03217138e-02 7.00546214e-04 9.99793247e-01 5.64877372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4092541539999 meters 0.02194468801038828 Centerline is valid? [True, True] Translation: X:820.50, Y:10.85, Z:5.65 [[ 9.89821749e-01 -1.40926788e-01 -1.98127386e-02 8.20504686e+02] [ 1.40884513e-01 9.90019777e-01 -3.52058928e-03 1.08513088e+01] [ 2.01111484e-02 6.93447812e-04 9.99797510e-01 5.64857691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4392541539999 meters 0.0207770859155638 Centerline is valid? [True, True] Translation: X:820.53, Y:10.86, Z:5.65 [[ 9.89626172e-01 -1.42273720e-01 -1.99556518e-02 8.20533583e+02] [ 1.42231019e-01 9.89827123e-01 -3.55025203e-03 1.08555466e+01] [ 2.02577529e-02 6.75109640e-04 9.99794563e-01 5.64972355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4692541539999 meters 0.02087548071945656 Centerline is valid? [True, True] Translation: X:820.56, Y:10.86, Z:5.65 [[ 9.89606222e-01 -1.42526649e-01 -1.91227590e-02 8.20560564e+02] [ 1.42487421e-01 9.89790755e-01 -3.40544143e-03 1.08624533e+01] [ 1.94128962e-02 6.45293420e-04 9.99811344e-01 5.64986261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4992541539999 meters 0.019843543554923383 Centerline is valid? [True, True] Translation: X:820.59, Y:10.87, Z:5.65 [[ 9.89490021e-01 -1.43288728e-01 -1.94380968e-02 8.20588863e+02] [ 1.43248259e-01 9.89680718e-01 -3.46580022e-03 1.08664504e+01] [ 1.97341197e-02 6.44901207e-04 9.99805055e-01 5.65096384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5292541539999 meters 0.019092756928081475 Centerline is valid? [True, True] Translation: X:820.62, Y:10.87, Z:5.65 [[ 9.89245801e-01 -1.44855286e-01 -2.02408327e-02 8.20617318e+02] [ 1.44811623e-01 9.89452642e-01 -3.61424633e-03 1.08717117e+01] [ 2.05508880e-02 6.44270176e-04 9.99788601e-01 5.65097792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5592541539999 meters 0.01862533622130547 Centerline is valid? [True, True] Translation: X:820.65, Y:10.88, Z:5.65 [[ 9.89044597e-01 -1.46156874e-01 -2.07111785e-02 8.20645324e+02] [ 1.46111329e-01 9.89261221e-01 -3.70366432e-03 1.08768306e+01] [ 2.10300817e-02 6.36951373e-04 9.99778640e-01 5.65118341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5892541539998 meters 0.019732478232126188 Centerline is valid? [True, True] Translation: X:820.67, Y:10.88, Z:5.65 [[ 9.88873350e-01 -1.47320139e-01 -2.06464061e-02 8.20672358e+02] [ 1.47275067e-01 9.89088672e-01 -3.69512786e-03 1.08846212e+01] [ 2.09654932e-02 6.13312609e-04 9.99780012e-01 5.64981300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6192541539999 meters 0.018339658077958867 Centerline is valid? [True, True] Translation: X:820.70, Y:10.89, Z:5.65 [[ 9.88403569e-01 -1.50403482e-01 -2.09088091e-02 8.20701531e+02] [ 1.50357862e-01 9.88624540e-01 -3.74606699e-03 1.08883417e+01] [ 2.12343833e-02 5.58822146e-04 9.99774369e-01 5.65022654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6492541539999 meters 0.019413245080158553 Centerline is valid? [True, True] Translation: X:820.73, Y:10.90, Z:5.65 [[ 9.88252636e-01 -1.51408564e-01 -2.07887767e-02 8.20728818e+02] [ 1.51363628e-01 9.88471122e-01 -3.72743094e-03 1.08959007e+01] [ 2.11134704e-02 5.36978785e-04 9.99776942e-01 5.64927759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6792541539999 meters 0.01905215392809311 Centerline is valid? [True, True] Translation: X:820.76, Y:10.90, Z:5.65 [[ 9.87856244e-01 -1.53834531e-01 -2.17939744e-02 8.20757941e+02] [ 1.53785635e-01 9.88096490e-01 -3.91212441e-03 1.08973551e+01] [ 2.21363695e-02 5.13016332e-04 9.99754829e-01 5.65046003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7092541539998 meters 0.016821953611071038 Centerline is valid? [True, True] Translation: X:820.79, Y:10.90, Z:5.65 [[ 9.87629259e-01 -1.55386992e-01 -2.10553928e-02 8.20785072e+02] [ 1.55341643e-01 9.87853565e-01 -3.78250921e-03 1.09028135e+01] [ 2.13873976e-02 4.64937460e-04 9.99771155e-01 5.65114334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7392541539999 meters 0.016237230199984947 Centerline is valid? [True, True] Translation: X:820.81, Y:10.91, Z:5.65 [[ 9.87478531e-01 -1.56295452e-01 -2.13981988e-02 8.20812655e+02] [ 1.56248721e-01 9.87710242e-01 -3.84898511e-03 1.09069802e+01] [ 2.17367990e-02 4.57348971e-04 9.99763623e-01 5.65177432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7692541539999 meters 0.01571843348633914 Centerline is valid? [True, True] Translation: X:820.84, Y:10.91, Z:5.65 [[ 9.87319584e-01 -1.57263587e-01 -2.16380098e-02 8.20841286e+02] [ 1.57215905e-01 9.87556563e-01 -3.89801398e-03 1.09114559e+01] [ 2.19817742e-02 4.46746240e-04 9.99758272e-01 5.65227250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7992541539999 meters 0.015849070528437013 Centerline is valid? [True, True] Translation: X:820.87, Y:10.92, Z:5.65 [[ 9.87203066e-01 -1.57916353e-01 -2.21930451e-02 8.20867780e+02] [ 1.57866272e-01 9.87452392e-01 -4.00181920e-03 1.09187778e+01] [ 2.25465282e-02 4.47074895e-04 9.99745695e-01 5.65106848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8292541539998 meters 0.01562851003108264 Centerline is valid? [True, True] Translation: X:820.90, Y:10.92, Z:5.65 [[ 9.87162442e-01 -1.58238967e-01 -2.16965803e-02 8.20895397e+02] [ 1.58191064e-01 9.87400749e-01 -3.91756259e-03 1.09243439e+01] [ 2.20431307e-02 4.35065542e-04 9.99756926e-01 5.65136149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8592541539999 meters 0.015701452995583717 Centerline is valid? [True, True] Translation: X:820.92, Y:10.93, Z:5.65 [[ 9.87210123e-01 -1.57893874e-01 -2.20385367e-02 8.20923044e+02] [ 1.57844229e-01 9.87455982e-01 -3.98529990e-03 1.09313341e+01] [ 2.23913394e-02 4.55672576e-04 9.99749179e-01 5.65130324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8892541539999 meters 0.015603456944496878 Centerline is valid? [True, True] Translation: X:820.95, Y:10.94, Z:5.65 [[ 9.87259677e-01 -1.57529029e-01 -2.24262123e-02 8.20951482e+02] [ 1.57477393e-01 9.87514241e-01 -4.06129341e-03 1.09371818e+01] [ 2.27859756e-02 4.77929765e-04 9.99740252e-01 5.65145242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9192541539999 meters 0.016863998246036505 Centerline is valid? [True, True] Translation: X:820.98, Y:10.94, Z:5.65 [[ 9.87257353e-01 -1.57455759e-01 -2.30348355e-02 8.20978127e+02] [ 1.57401183e-01 9.87525918e-01 -4.17485367e-03 1.09437960e+01] [ 2.34048518e-02 4.95944624e-04 9.99725946e-01 5.65062066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9492541539998 meters 0.016380622186804743 Centerline is valid? [True, True] Translation: X:821.01, Y:10.95, Z:5.65 [[ 9.87495741e-01 -1.55984530e-01 -2.28251578e-02 8.21005948e+02] [ 1.55930440e-01 9.87759356e-01 -4.14161315e-03 1.09512243e+01] [ 2.31917907e-02 5.30688444e-04 9.99730893e-01 5.65076380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9792541539999 meters 0.016708849136263478 Centerline is valid? [True, True] Translation: X:821.03, Y:10.96, Z:5.65 [[ 9.87517143e-01 -1.55833342e-01 -2.29316608e-02 8.21033801e+02] [ 1.55778567e-01 9.87783213e-01 -4.16687983e-03 1.09574675e+01] [ 2.33008484e-02 5.42604008e-04 9.99728351e-01 5.65084919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0092541539999 meters 0.016130445968221774 Centerline is valid? [True, True] Translation: X:821.06, Y:10.96, Z:5.65 [[ 9.87603152e-01 -1.55383100e-01 -2.22734360e-02 8.21061405e+02] [ 1.55331167e-01 9.87854137e-01 -4.05364503e-03 1.09631309e+01] [ 2.26327738e-02 5.43633813e-04 9.99743698e-01 5.65152600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0392541539999 meters 0.01842101489289833 Centerline is valid? [True, True] Translation: X:821.09, Y:10.97, Z:5.65 [[ 9.87591212e-01 -1.55451520e-01 -2.23253905e-02 8.21087516e+02] [ 1.55399269e-01 9.87843371e-01 -4.06718083e-03 1.09716731e+01] [ 2.26862384e-02 5.47362673e-04 9.99742484e-01 5.65051248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0692541539999 meters 0.01656174764241957 Centerline is valid? [True, True] Translation: X:821.12, Y:10.98, Z:5.65 [[ 9.87600632e-01 -1.55530914e-01 -2.13336745e-02 8.21115946e+02] [ 1.55483122e-01 9.87830885e-01 -3.89111444e-03 1.09757225e+01] [ 2.16792512e-02 5.25840767e-04 9.99764839e-01 5.65227893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0992541539999 meters 0.018763767723980414 Centerline is valid? [True, True] Translation: X:821.14, Y:10.98, Z:5.65 [[ 9.87483854e-01 -1.56162276e-01 -2.21129391e-02 8.21142240e+02] [ 1.56111001e-01 9.87731268e-01 -4.03703275e-03 1.09826994e+01] [ 2.24720736e-02 5.34431604e-04 9.99747328e-01 5.65129666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1292541539999 meters 0.01757056783090113 Centerline is valid? [True, True] Translation: X:821.17, Y:10.99, Z:5.65 [[ 9.87333827e-01 -1.57261398e-01 -2.09944638e-02 8.21169587e+02] [ 1.57215383e-01 9.87556893e-01 -3.83491832e-03 1.09881263e+01] [ 2.13363121e-02 4.85691907e-04 9.99772237e-01 5.65173428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1592541539999 meters 0.01721267714623581 Centerline is valid? [True, True] Translation: X:821.20, Y:10.99, Z:5.65 [[ 9.86982417e-01 -1.59333121e-01 -2.18784137e-02 8.21198423e+02] [ 1.59283556e-01 9.87224767e-01 -4.00094057e-03 1.09891880e+01] [ 2.22363942e-02 4.63986476e-04 9.99752633e-01 5.65394353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1892541539999 meters 0.015831321635972666 Centerline is valid? [True, True] Translation: X:821.23, Y:10.99, Z:5.65 [[ 9.86801148e-01 -1.60564142e-01 -2.10392556e-02 8.21226122e+02] [ 1.60518522e-01 9.87025318e-01 -3.85050522e-03 1.09948216e+01] [ 2.13845310e-02 4.22492755e-04 9.99771235e-01 5.65309028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2192541539999 meters 0.01444074186611527 Centerline is valid? [True, True] Translation: X:821.26, Y:11.00, Z:5.65 [[ 9.86162630e-01 -1.64366500e-01 -2.16083313e-02 8.21255157e+02] [ 1.64319191e-01 9.86399274e-01 -3.95912466e-03 1.09959377e+01] [ 2.19651898e-02 3.53677256e-04 9.99758674e-01 5.65389289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2492541539999 meters 0.013933486888462113 Centerline is valid? [True, True] Translation: X:821.28, Y:11.00, Z:5.65 [[ 9.85735002e-01 -1.66879270e-01 -2.18589785e-02 8.21284199e+02] [ 1.66831348e-01 9.85977289e-01 -4.01075937e-03 1.09989568e+01] [ 2.22217690e-02 3.06783034e-04 9.99753019e-01 5.65442243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2792541539999 meters 0.013732506663189115 Centerline is valid? [True, True] Translation: X:821.31, Y:11.00, Z:5.65 [[ 9.85298009e-01 -1.69404736e-01 -2.21329935e-02 8.21312348e+02] [ 1.69356169e-01 9.85546534e-01 -4.06425343e-03 1.10019452e+01] [ 2.25015988e-02 2.56141821e-04 9.99746774e-01 5.65432134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3092541539999 meters 0.013883616309368133 Centerline is valid? [True, True] Translation: X:821.34, Y:11.00, Z:5.65 [[ 9.84820443e-01 -1.72150307e-01 -2.22028626e-02 8.21340465e+02] [ 1.72102085e-01 9.85070674e-01 -4.07910918e-03 1.10045628e+01] [ 2.25736088e-02 1.96031165e-04 9.99745164e-01 5.65471897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3392541539998 meters 0.012873770261901079 Centerline is valid? [True, True] Translation: X:821.37, Y:11.00, Z:5.66 [[ 9.83928699e-01 -1.77338996e-01 -2.08613350e-02 8.21370277e+02] [ 1.77297507e-01 9.84149823e-01 -3.83658757e-03 1.10047513e+01] [ 2.12110558e-02 7.62659252e-05 9.99775017e-01 5.65681807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3692541539999 meters 0.01462159490619609 Centerline is valid? [True, True] Translation: X:821.40, Y:11.01, Z:5.66 [[ 9.83362903e-01 -1.80399578e-01 -2.12930200e-02 8.21398755e+02] [ 1.80356940e-01 9.83593408e-01 -3.92200574e-03 1.10077641e+01] [ 2.16512023e-02 1.64110223e-05 9.99765585e-01 5.65807799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3992541539999 meters 0.012859349292397298 Centerline is valid? [True, True] Translation: X:821.43, Y:11.01, Z:5.66 [[ 9.82635992e-01 -1.84509747e-01 -1.95617039e-02 8.21428080e+02] [ 1.84474472e-01 9.82830682e-01 -3.60834771e-03 1.10090174e+01] [ 1.98916181e-02 -6.29426523e-05 9.99802140e-01 5.65930168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4292541539999 meters 0.013048342059742412 Centerline is valid? [True, True] Translation: X:821.46, Y:11.01, Z:5.66 [[ 9.82267415e-01 -1.86529196e-01 -1.89099036e-02 8.21455376e+02] [ 1.86496543e-01 9.82449413e-01 -3.49142168e-03 1.10121006e+01] [ 1.92292758e-02 -9.71219056e-05 9.99815096e-01 5.65939228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4592541539998 meters 0.01320670036416507 Centerline is valid? [True, True] Translation: X:821.48, Y:11.02, Z:5.66 [[ 9.81978485e-01 -1.88041606e-01 -1.89369785e-02 8.21483478e+02] [ 1.88009101e-01 9.82161055e-01 -3.49841007e-03 1.10152581e+01] [ 1.92570094e-02 -1.24960884e-04 9.99814559e-01 5.65925764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4892541539999 meters 0.013408843730135046 Centerline is valid? [True, True] Translation: X:821.51, Y:11.02, Z:5.66 [[ 9.81493981e-01 -1.90524016e-01 -1.92396338e-02 8.21512067e+02] [ 1.90490866e-01 9.81682520e-01 -3.55819083e-03 1.10177888e+01] [ 1.95651330e-02 -1.72631608e-04 9.99808570e-01 5.65986369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5192541539999 meters 0.013408843730135046 Centerline is valid? [True, True] Translation: X:821.54, Y:11.02, Z:5.66 [[ 9.81439088e-01 -1.90806685e-01 -1.92386535e-02 8.21539180e+02] [ 1.90773485e-01 9.81627617e-01 -3.56348617e-03 1.10228774e+01] [ 1.95651305e-02 -1.72880339e-04 9.99808570e-01 5.66005423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5492541539999 meters 0.013530142057235864 Centerline is valid? [True, True] Translation: X:821.57, Y:11.03, Z:5.66 [[ 9.81303301e-01 -1.91504268e-01 -1.92339917e-02 8.21566736e+02] [ 1.91471156e-01 9.81491763e-01 -3.56579577e-03 1.10264022e+01] [ 1.95608696e-02 -1.83627457e-04 9.99808651e-01 5.66011028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5792541539998 meters 0.01386458091934112 Centerline is valid? [True, True] Translation: X:821.59, Y:11.03, Z:5.66 [[ 9.81212090e-01 -1.91933086e-01 -1.96093131e-02 8.21594504e+02] [ 1.91898707e-01 9.81407995e-01 -3.63777912e-03 1.10299313e+01] [ 1.99429468e-02 -1.93568974e-04 9.99801101e-01 5.65942680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6092541539999 meters 0.015777517197571353 Centerline is valid? [True, True] Translation: X:821.62, Y:11.04, Z:5.66 [[ 9.81071198e-01 -1.92577116e-01 -2.03312229e-02 8.21622643e+02] [ 1.92540203e-01 9.81281820e-01 -3.77620690e-03 1.10353427e+01] [ 2.06778704e-02 -2.09849960e-04 9.99786168e-01 5.66060706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6392541539999 meters 0.013420694802258624 Centerline is valid? [True, True] Translation: X:821.65, Y:11.04, Z:5.66 [[ 9.81198950e-01 -1.92018144e-01 -1.94332946e-02 8.21650903e+02] [ 1.91984213e-01 9.81391358e-01 -3.61440337e-03 1.10402644e+01] [ 1.97656984e-02 -1.84436967e-04 9.99804622e-01 5.66112991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6692541539999 meters 0.013325250778934138 Centerline is valid? [True, True] Translation: X:821.68, Y:11.05, Z:5.66 [[ 9.81248868e-01 -1.91791221e-01 -1.91516951e-02 8.21678909e+02] [ 1.91758117e-01 9.81435733e-01 -3.56743717e-03 1.10455330e+01] [ 1.94803610e-02 -1.71949299e-04 9.99810225e-01 5.66148612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6992541539998 meters 0.013176815828004031 Centerline is valid? [True, True] Translation: X:821.71, Y:11.05, Z:5.66 [[ 9.81312696e-01 -1.91490369e-01 -1.88899968e-02 8.21706239e+02] [ 1.91458000e-01 9.81494480e-01 -3.52428315e-03 1.10504308e+01] [ 1.92152939e-02 -1.58217217e-04 9.99815357e-01 5.66185759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7292541539999 meters 0.012974469316728153 Centerline is valid? [True, True] Translation: X:821.73, Y:11.06, Z:5.66 [[ 9.81448325e-01 -1.90806206e-01 -1.87663983e-02 8.21733948e+02] [ 1.90774026e-01 9.81627716e-01 -3.50689125e-03 1.10551719e+01] [ 1.90907533e-02 -1.38308830e-04 9.99817745e-01 5.66258265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7592541539999 meters 0.012919515620194388 Centerline is valid? [True, True] Translation: X:821.76, Y:11.06, Z:5.66 [[ 9.81447418e-01 -1.90848186e-01 -1.83830089e-02 8.21761279e+02] [ 1.90817211e-01 9.81619556e-01 -3.44082217e-03 1.10596664e+01] [ 1.87017957e-02 -1.30808457e-04 9.99825098e-01 5.66273524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7892541539999 meters 0.012857390769674883 Centerline is valid? [True, True] Translation: X:821.79, Y:11.06, Z:5.66 [[ 9.81559433e-01 -1.90319623e-01 -1.78751456e-02 8.21789235e+02] [ 1.90290192e-01 9.81722175e-01 -3.34883109e-03 1.10630504e+01] [ 1.81857751e-02 -1.14388139e-04 9.99834619e-01 5.66266178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8192541539999 meters 0.012875739336031195 Centerline is valid? [True, True] Translation: X:821.82, Y:11.07, Z:5.66 [[ 9.81536701e-01 -1.90484040e-01 -1.73647606e-02 8.21816687e+02] [ 1.90456225e-01 9.81690286e-01 -3.25699962e-03 1.10674821e+01] [ 1.76672232e-02 -1.10362082e-04 9.99843916e-01 5.66329615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8492541539999 meters 0.015279885166405618 Centerline is valid? [True, True] Translation: X:821.84, Y:11.07, Z:5.66 [[ 9.81389732e-01 -1.91205739e-01 -1.77358064e-02 8.21844249e+02] [ 1.91176743e-01 9.81549974e-01 -3.33199216e-03 1.10720604e+01] [ 1.80456763e-02 -1.20690805e-04 9.99837156e-01 5.66360678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8792541539999 meters 0.013599445283092638 Centerline is valid? [True, True] Translation: X:821.87, Y:11.08, Z:5.66 [[ 9.81495193e-01 -1.90796744e-01 -1.62415944e-02 8.21871890e+02] [ 1.90772326e-01 9.81629560e-01 -3.05405293e-03 1.10753843e+01] [ 1.65259325e-02 -1.00908473e-04 9.99863432e-01 5.66404875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9092541539999 meters 0.012728266605253516 Centerline is valid? [True, True] Translation: X:821.90, Y:11.08, Z:5.66 [[ 9.81594409e-01 -1.90342864e-01 -1.55566839e-02 8.21899291e+02] [ 1.90320355e-01 9.81717672e-01 -2.92846151e-03 1.10800754e+01] [ 1.58296833e-02 -8.61921692e-05 9.99874699e-01 5.66456346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9392541539999 meters 0.015539022878665605 Centerline is valid? [True, True] Translation: X:821.93, Y:11.09, Z:5.66 [[ 9.81595095e-01 -1.90338022e-01 -1.55726238e-02 8.21927090e+02] [ 1.90315393e-01 9.81718611e-01 -2.93606685e-03 1.10850359e+01] [ 1.58467798e-02 -8.16812066e-05 9.99874429e-01 5.66470025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9692541539999 meters 0.015644808713461283 Centerline is valid? [True, True] Translation: X:821.95, Y:11.09, Z:5.66 [[ 9.82093731e-01 -1.87811928e-01 -1.47845489e-02 8.21954538e+02] [ 1.87791205e-01 9.82205008e-01 -2.79012122e-03 1.10904260e+01] [ 1.50454760e-02 -3.62477025e-05 9.99886810e-01 5.66398175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9992541539999 meters 0.012475245117788534 Centerline is valid? [True, True] Translation: X:821.98, Y:11.10, Z:5.66 [[ 9.82397749e-01 -1.86225538e-01 -1.46530722e-02 8.21981895e+02] [ 1.86204963e-01 9.82507022e-01 -2.76818233e-03 1.10960503e+01] [ 1.49122525e-02 -9.01866394e-06 9.99888806e-01 5.66399505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0292541539999 meters 0.01282377372887035 Centerline is valid? [True, True] Translation: X:822.01, Y:11.10, Z:5.66 [[ 9.82580876e-01 -1.85220244e-01 -1.51090189e-02 8.22009463e+02] [ 1.85198180e-01 9.82697034e-01 -2.85885642e-03 1.11016159e+01] [ 1.53771061e-02 1.08948553e-05 9.99881765e-01 5.66433630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0592541539999 meters 0.01255864658276729 Centerline is valid? [True, True] Translation: X:822.04, Y:11.11, Z:5.66 [[ 9.82968284e-01 -1.83119158e-01 -1.55153564e-02 8.22036385e+02] [ 1.83095580e-01 9.83090724e-01 -2.93884375e-03 1.11066271e+01] [ 1.57911616e-02 4.79970125e-05 9.99875311e-01 5.66325124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0892541539998 meters 0.012554682624229313 Centerline is valid? [True, True] Translation: X:822.06, Y:11.11, Z:5.66 [[ 9.83007327e-01 -1.82909354e-01 -1.55165192e-02 8.22064485e+02] [ 1.82885694e-01 9.83129780e-01 -2.94241706e-03 1.11115142e+01] [ 1.57929477e-02 5.46681526e-05 9.99875282e-01 5.66286680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1192541539999 meters 0.014858856582974098 Centerline is valid? [True, True] Translation: X:822.09, Y:11.12, Z:5.66 [[ 9.82922374e-01 -1.83359166e-01 -1.55891772e-02 8.22092647e+02] [ 1.83335266e-01 9.83045988e-01 -2.96082939e-03 1.11162714e+01] [ 1.58677733e-02 5.22195099e-05 9.99874098e-01 5.66268189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1492541539999 meters 0.01496275401293713 Centerline is valid? [True, True] Translation: X:822.12, Y:11.12, Z:5.66 [[ 9.82649221e-01 -1.84862214e-01 -1.50489483e-02 8.22120572e+02] [ 1.84840052e-01 9.82764448e-01 -2.86259974e-03 1.11189653e+01] [ 1.53187579e-02 3.12830222e-05 9.99882660e-01 5.66287436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1792541539999 meters 0.01270812735800959 Centerline is valid? [True, True] Translation: X:822.15, Y:11.12, Z:5.66 [[ 9.82513238e-01 -1.85605025e-01 -1.47821567e-02 8.22147713e+02] [ 1.85583681e-01 9.82624432e-01 -2.81484167e-03 1.11223396e+01] [ 1.50477571e-02 2.22921513e-05 9.99886776e-01 5.66353577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2092541539998 meters 0.012810870915246263 Centerline is valid? [True, True] Translation: X:822.18, Y:11.12, Z:5.66 [[ 9.81724856e-01 -1.89754055e-01 -1.44811886e-02 8.22175144e+02] [ 1.89733996e-01 9.81831654e-01 -2.75935001e-03 1.11224208e+01] [ 1.47416873e-02 -3.86512947e-05 9.99891335e-01 5.66362635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2392541539999 meters 0.013024147533985769 Centerline is valid? [True, True] Translation: X:822.20, Y:11.12, Z:5.66 [[ 9.81142899e-01 -1.92745686e-01 -1.44122189e-02 8.22204063e+02] [ 1.92726098e-01 9.81248742e-01 -2.74898409e-03 1.11247984e+01] [ 1.46718265e-02 -8.04644883e-05 9.99892360e-01 5.66399068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2692541539999 meters 0.01347533448007477 Centerline is valid? [True, True] Translation: X:822.23, Y:11.13, Z:5.66 [[ 9.80511133e-01 -1.95894409e-01 -1.49431506e-02 8.22233138e+02] [ 1.95873658e-01 9.80624986e-01 -2.85410860e-03 1.11273373e+01] [ 1.52127307e-02 -1.28484310e-04 9.99884271e-01 5.66398454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2992541539999 meters 0.014132656988141448 Centerline is valid? [True, True] Translation: X:822.26, Y:11.13, Z:5.66 [[ 9.79851554e-01 -1.99162191e-01 -1.50117952e-02 8.22261233e+02] [ 1.99141594e-01 9.79966525e-01 -2.86969656e-03 1.11290870e+01] [ 1.52825919e-02 -1.77596200e-04 9.99883199e-01 5.66367472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3292541539998 meters 0.014881078277885961 Centerline is valid? [True, True] Translation: X:822.29, Y:11.13, Z:5.66 [[ 9.78652823e-01 -2.05028179e-01 -1.42161343e-02 8.22290041e+02] [ 2.05010308e-01 9.78756038e-01 -2.71886017e-03 1.11295996e+01] [ 1.44715702e-02 -2.53633878e-04 9.99895249e-01 5.66436031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3592541539999 meters 0.016393454734404934 Centerline is valid? [True, True] Translation: X:822.32, Y:11.13, Z:5.66 [[ 9.78135012e-01 -2.07509058e-01 -1.38524383e-02 8.22318176e+02] [ 2.07492320e-01 9.78233056e-01 -2.65056043e-03 1.11304266e+01] [ 1.41009284e-02 -2.81668615e-04 9.99900537e-01 5.66424664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3892541539999 meters 0.0165451293641511 Centerline is valid? [True, True] Translation: X:822.35, Y:11.13, Z:5.67 [[ 9.77684961e-01 -2.09654508e-01 -1.33080856e-02 8.22346521e+02] [ 2.09639229e-01 9.77775485e-01 -2.54862509e-03 1.11342282e+01] [ 1.35466505e-02 -2.98144373e-04 9.99908195e-01 5.66518201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4192541539999 meters 0.01776847659958978 Centerline is valid? [True, True] Translation: X:822.38, Y:11.14, Z:5.67 [[ 9.77173499e-01 -2.12090078e-01 -1.22373188e-02 8.22375401e+02] [ 2.12077312e-01 9.77250074e-01 -2.34652930e-03 1.11386018e+01] [ 1.24565963e-02 -3.02291439e-04 9.99922368e-01 5.66596706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4492541539998 meters 0.017434528732725208 Centerline is valid? [True, True] Translation: X:822.40, Y:11.14, Z:5.67 [[ 9.77139244e-01 -2.12259685e-01 -1.20300888e-02 8.22403471e+02] [ 2.12247321e-01 9.77213251e-01 -2.31007718e-03 1.11438999e+01] [ 1.22462984e-02 -2.96087044e-04 9.99924967e-01 5.66634964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4792541539999 meters 0.017479888847426628 Centerline is valid? [True, True] Translation: X:822.43, Y:11.15, Z:5.67 [[ 9.77665384e-01 -2.09828699e-01 -1.19295217e-02 8.22430975e+02] [ 2.09816329e-01 9.77738129e-01 -2.29324762e-03 1.11463261e+01] [ 1.21451374e-02 -2.60979642e-04 9.99926211e-01 5.66616291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5092541539999 meters 0.015516796548598603 Centerline is valid? [True, True] Translation: X:822.46, Y:11.16, Z:5.67 [[ 9.77905264e-01 -2.08701967e-01 -1.20325909e-02 8.22458229e+02] [ 2.08689273e-01 9.77979257e-01 -2.31504521e-03 1.11555049e+01] [ 1.22507788e-02 -2.47177741e-04 9.99924926e-01 5.66670894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5392541539999 meters 0.015388070050237054 Centerline is valid? [True, True] Translation: X:822.49, Y:11.16, Z:5.67 [[ 9.78276407e-01 -2.06921269e-01 -1.26039592e-02 8.22485769e+02] [ 2.06907163e-01 9.78357570e-01 -2.42734894e-03 1.11612794e+01] [ 1.28334491e-02 -2.33231244e-04 9.99917621e-01 5.66642190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5692541539999 meters 0.01584549416057489 Centerline is valid? [True, True] Translation: X:822.51, Y:11.17, Z:5.66 [[ 9.79086679e-01 -2.03017397e-01 -1.31609918e-02 8.22512736e+02] [ 2.03001647e-01 9.79175112e-01 -2.53584969e-03 1.11685666e+01] [ 1.34017373e-02 -1.88886371e-04 9.99910175e-01 5.66496960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5992541539999 meters 0.014283971691865953 Centerline is valid? [True, True] Translation: X:822.54, Y:11.18, Z:5.67 [[ 9.79521644e-01 -2.00893317e-01 -1.33874556e-02 8.22541147e+02] [ 2.00876790e-01 9.79613112e-01 -2.58177421e-03 1.11756413e+01] [ 1.36331882e-02 -1.60325397e-04 9.99907051e-01 5.66527467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6292541539999 meters 0.013991731886835364 Centerline is valid? [True, True] Translation: X:822.57, Y:11.18, Z:5.67 [[ 9.79898655e-01 -1.99022553e-01 -1.37349470e-02 8.22568898e+02] [ 1.99004924e-01 9.79994901e-01 -2.65229456e-03 1.11822895e+01] [ 1.39880445e-02 -1.34342221e-04 9.99902153e-01 5.66529818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6592541539999 meters 0.014558218903183618 Centerline is valid? [True, True] Translation: X:822.60, Y:11.19, Z:5.66 [[ 9.80138511e-01 -1.97849792e-01 -1.35631702e-02 8.22596334e+02] [ 1.97832454e-01 9.80232343e-01 -2.62171498e-03 1.11886920e+01] [ 1.38137639e-02 -1.13591426e-04 9.99904579e-01 5.66470743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6892541539999 meters 0.013925087637357511 Centerline is valid? [True, True] Translation: X:822.62, Y:11.20, Z:5.67 [[ 9.80685483e-01 -1.95137563e-01 -1.33159601e-02 8.22623017e+02] [ 1.95120577e-01 9.80775880e-01 -2.57567903e-03 1.11953520e+01] [ 1.35625842e-02 -7.22867877e-05 9.99908021e-01 5.66503283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7192541539999 meters 0.01548149955671589 Centerline is valid? [True, True] Translation: X:822.65, Y:11.20, Z:5.66 [[ 9.80739934e-01 -1.94865547e-01 -1.32890868e-02 8.22650622e+02] [ 1.94848567e-01 9.80829962e-01 -2.57326296e-03 1.12014211e+01] [ 1.35357747e-02 -6.56577660e-05 9.99908385e-01 5.66460257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7492541539999 meters 0.013250863544323595 Centerline is valid? [True, True] Translation: X:822.68, Y:11.21, Z:5.67 [[ 9.80952649e-01 -1.93810311e-01 -1.30178472e-02 8.22677902e+02] [ 1.93793874e-01 9.81039021e-01 -2.52455449e-03 1.12069522e+01] [ 1.32603008e-02 -4.63106201e-05 9.99912077e-01 5.66639098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7792541539999 meters 0.015959891663109488 Centerline is valid? [True, True] Translation: X:822.70, Y:11.21, Z:5.67 [[ 9.81082520e-01 -1.93184953e-01 -1.25165222e-02 8.22704320e+02] [ 1.93169672e-01 9.81162358e-01 -2.43004844e-03 1.12122219e+01] [ 1.27501892e-02 -3.37344259e-05 9.99918712e-01 5.66507011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8092541539999 meters 0.015937049041011623 Centerline is valid? [True, True] Translation: X:822.73, Y:11.22, Z:5.66 [[ 9.81123854e-01 -1.92975391e-01 -1.25092323e-02 8.22731467e+02] [ 1.92960078e-01 9.81203596e-01 -2.43120077e-03 1.12177159e+01] [ 1.27432657e-02 -2.84733780e-05 9.99918801e-01 5.66492702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8392541539998 meters 0.013153489912024982 Centerline is valid? [True, True] Translation: X:822.76, Y:11.22, Z:5.67 [[ 9.81229810e-01 -1.92401975e-01 -1.30207423e-02 8.22759166e+02] [ 1.92385282e-01 9.81316198e-01 -2.53451832e-03 1.12225901e+01] [ 1.32651116e-02 -1.80542344e-05 9.99912014e-01 5.66612195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8692541539999 meters 0.017029302258362893 Centerline is valid? [True, True] Translation: X:822.79, Y:11.23, Z:5.66 [[ 9.80978377e-01 -1.93679553e-01 -1.30251610e-02 8.22786144e+02] [ 1.93662924e-01 9.81064845e-01 -2.53815757e-03 1.12276327e+01] [ 1.32701167e-02 -3.26130635e-05 9.99911948e-01 5.66383829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8992541539999 meters 0.01572268888117327 Centerline is valid? [True, True] Translation: X:822.81, Y:11.23, Z:5.66 [[ 9.80812130e-01 -1.94470788e-01 -1.37359935e-02 8.22814286e+02] [ 1.94452330e-01 9.80908309e-01 -2.67965956e-03 1.12325888e+01] [ 1.39948657e-02 -4.27533558e-05 9.99902066e-01 5.66445826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9292541539999 meters 0.013390987084200593 Centerline is valid? [True, True] Translation: X:822.84, Y:11.24, Z:5.67 [[ 9.80464213e-01 -1.96168734e-01 -1.44136719e-02 8.22842521e+02] [ 1.96148546e-01 9.80570152e-01 -2.81505781e-03 1.12353493e+01] [ 1.46858428e-02 -6.71573490e-05 9.99892155e-01 5.66568946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9592541539998 meters 0.015408091480956718 Centerline is valid? [True, True] Translation: X:822.87, Y:11.24, Z:5.66 [[ 9.80013442e-01 -1.98447578e-01 -1.38640539e-02 8.22869794e+02] [ 1.98429106e-01 9.80111499e-01 -2.70926869e-03 1.12391512e+01] [ 1.41259665e-02 -9.59120957e-05 9.99900219e-01 5.66453423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9892541539999 meters 0.015480790765917421 Centerline is valid? [True, True] Translation: X:822.90, Y:11.24, Z:5.67 [[ 9.79594104e-01 -2.00515516e-01 -1.37447824e-02 8.22897223e+02] [ 2.00497547e-01 9.79690519e-01 -2.68720359e-03 1.12425764e+01] [ 1.40044590e-02 -1.23426370e-04 9.99901925e-01 5.66526187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0192541539999 meters 0.016116363168238192 Centerline is valid? [True, True] Translation: X:822.93, Y:11.25, Z:5.67 [[ 9.78685301e-01 -2.04959843e-01 -1.29052299e-02 8.22926005e+02] [ 2.04944360e-01 9.78770368e-01 -2.52522454e-03 1.12452137e+01] [ 1.31488262e-02 -1.73453939e-04 9.99913535e-01 5.66620289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0492541539999 meters 0.017548552074363254 Centerline is valid? [True, True] Translation: X:822.95, Y:11.25, Z:5.67 [[ 9.78188831e-01 -2.07345051e-01 -1.24354783e-02 8.22954571e+02] [ 2.07330826e-01 9.78267853e-01 -2.43648102e-03 1.12495587e+01] [ 1.26704209e-02 -1.94919466e-04 9.99919708e-01 5.66601900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0792541539998 meters 0.015208727589808551 Centerline is valid? [True, True] Translation: X:822.98, Y:11.25, Z:5.67 [[ 9.77589397e-01 -2.10141989e-01 -1.26219944e-02 8.22983149e+02] [ 2.10127525e-01 9.77670850e-01 -2.47634951e-03 1.12524878e+01] [ 1.28605410e-02 -2.31375425e-04 9.99917273e-01 5.66853055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1092541539999 meters 0.016370756701061664 Centerline is valid? [True, True] Translation: X:823.01, Y:11.26, Z:5.67 [[ 9.77237957e-01 -2.11818961e-01 -1.17772702e-02 8.23010404e+02] [ 2.11806465e-01 9.77308893e-01 -2.31273215e-03 1.12574022e+01] [ 1.19999114e-02 -2.34412310e-04 9.99927971e-01 5.66807511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1392541539999 meters 0.01649294535581714 Centerline is valid? [True, True] Translation: X:823.04, Y:11.26, Z:5.67 [[ 9.76979567e-01 -2.13023011e-01 -1.14944215e-02 8.23038609e+02] [ 2.13011170e-01 9.77047153e-01 -2.25901355e-03 1.12629403e+01] [ 1.17118137e-02 -2.41430096e-04 9.99931385e-01 5.66856742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1692541539999 meters 0.016195630489317225 Centerline is valid? [True, True] Translation: X:823.07, Y:11.27, Z:5.67 [[ 9.76661857e-01 -2.14482717e-01 -1.13481996e-02 8.23066883e+02] [ 2.14471240e-01 9.76727751e-01 -2.23318474e-03 1.12678956e+01] [ 1.15630810e-02 -2.52796074e-04 9.99933113e-01 5.67018102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1992541539998 meters 0.016212429388780817 Centerline is valid? [True, True] Translation: X:823.09, Y:11.27, Z:5.67 [[ 9.76365301e-01 -2.15819409e-01 -1.15230739e-02 8.23094818e+02] [ 2.15807633e-01 9.76433259e-01 -2.27061269e-03 1.12741917e+01] [ 1.17415549e-02 -2.69819854e-04 9.99931029e-01 5.67033289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2292541539999 meters 0.01736193633885942 Centerline is valid? [True, True] Translation: X:823.12, Y:11.28, Z:5.67 [[ 9.76167081e-01 -2.16713813e-01 -1.15305655e-02 8.23122604e+02] [ 2.16702058e-01 9.76235138e-01 -2.27430158e-03 1.12781503e+01] [ 1.17494158e-02 -2.78598938e-04 9.99930934e-01 5.66984240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2592541539999 meters 0.016835070160733906 Centerline is valid? [True, True] Translation: X:823.15, Y:11.29, Z:5.67 [[ 9.75960772e-01 -2.17613350e-01 -1.20416456e-02 8.23150249e+02] [ 2.17600573e-01 9.76035010e-01 -2.37711860e-03 1.12853767e+01] [ 1.22703605e-02 -3.00294489e-04 9.99924671e-01 5.66994156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2892541539999 meters 0.01683346147371958 Centerline is valid? [True, True] Translation: X:823.18, Y:11.29, Z:5.67 [[ 9.75744550e-01 -2.18508083e-01 -1.32962466e-02 8.23178175e+02] [ 2.18492539e-01 9.75835079e-01 -2.62841537e-03 1.12927936e+01] [ 1.35492738e-02 -3.40468693e-04 9.99908146e-01 5.66929993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3192541539999 meters 0.01744231335151843 Centerline is valid? [True, True] Translation: X:823.21, Y:11.30, Z:5.67 [[ 9.75709824e-01 -2.18634575e-01 -1.37572500e-02 8.23205166e+02] [ 2.18617913e-01 9.75806743e-01 -2.72201424e-03 1.12986079e+01] [ 1.40195437e-02 -3.51685242e-04 9.99901660e-01 5.66850229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3492541539999 meters 0.017276667129049787 Centerline is valid? [True, True] Translation: X:823.23, Y:11.31, Z:5.67 [[ 9.75670667e-01 -2.18774928e-01 -1.42926531e-02 8.23232174e+02] [ 2.18756917e-01 9.75775280e-01 -2.83079334e-03 1.13059825e+01] [ 1.45657242e-02 -3.64694686e-04 9.99893848e-01 5.66809630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3792541539999 meters 0.016928540426903987 Centerline is valid? [True, True] Translation: X:823.26, Y:11.32, Z:5.67 [[ 9.75903082e-01 -2.17716083e-01 -1.45904880e-02 8.23259917e+02] [ 2.17697135e-01 9.76012082e-01 -2.89380731e-03 1.13155787e+01] [ 1.48705210e-02 -3.52231978e-04 9.99889366e-01 5.66775395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4092541539999 meters 0.016928540426903987 Centerline is valid? [True, True] Translation: X:823.29, Y:11.32, Z:5.67 [[ 9.75841743e-01 -2.17990901e-01 -1.45897203e-02 8.23286976e+02] [ 2.17971927e-01 9.75950738e-01 -2.89767425e-03 1.13210270e+01] [ 1.48705149e-02 -3.52477954e-04 9.99889366e-01 5.66794453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4392541539999 meters 0.016606404209377344 Centerline is valid? [True, True] Translation: X:823.31, Y:11.33, Z:5.67 [[ 9.76058854e-01 -2.17035476e-01 -1.43079259e-02 8.23314929e+02] [ 2.17017067e-01 9.76163662e-01 -2.84560895e-03 1.13294311e+01] [ 1.45844754e-02 -3.27582308e-04 9.99893587e-01 5.66793158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4692541539999 meters 0.017182243674716834 Centerline is valid? [True, True] Translation: X:823.34, Y:11.34, Z:5.67 [[ 9.76312455e-01 -2.15915939e-01 -1.39390593e-02 8.23341475e+02] [ 2.15898320e-01 9.76411909e-01 -2.77462401e-03 1.13369569e+01] [ 1.42093491e-02 -3.00519507e-04 9.99898997e-01 5.66733290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4992541539999 meters 0.015185569115833136 Centerline is valid? [True, True] Translation: X:823.37, Y:11.35, Z:5.67 [[ 9.77327289e-01 -2.11308391e-01 -1.34213745e-02 8.23368863e+02] [ 2.11291607e-01 9.77419416e-01 -2.67266114e-03 1.13476826e+01] [ 1.36830678e-02 -2.23759118e-04 9.99906357e-01 5.66955806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5292541539999 meters 0.0161644429704579 Centerline is valid? [True, True] Translation: X:823.40, Y:11.36, Z:5.67 [[ 9.77662872e-01 -2.09796618e-01 -1.26762541e-02 8.23396428e+02] [ 2.09781493e-01 9.77745030e-01 -2.52625776e-03 1.13567621e+01] [ 1.29241447e-02 -1.89415091e-04 9.99916462e-01 5.66857613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5592541539999 meters 0.013929232694483498 Centerline is valid? [True, True] Translation: X:823.42, Y:11.37, Z:5.67 [[ 9.78737365e-01 -2.04774329e-01 -1.18593813e-02 8.23423155e+02] [ 2.04760687e-01 9.78809206e-01 -2.36638217e-03 1.13679047e+01] [ 1.20926459e-02 -1.12268416e-04 9.99926875e-01 5.67063462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5892541539998 meters 0.01355985554627365 Centerline is valid? [True, True] Translation: X:823.45, Y:11.38, Z:5.67 [[ 9.79172828e-01 -2.02714171e-01 -1.12932882e-02 8.23451070e+02] [ 2.02701631e-01 9.79237948e-01 -2.25621713e-03 1.13765606e+01] [ 1.15161836e-02 -7.99414319e-05 9.99933683e-01 5.67135242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6192541539999 meters 0.013291040610376602 Centerline is valid? [True, True] Translation: X:823.48, Y:11.39, Z:5.67 [[ 9.79651500e-01 -2.00414976e-01 -1.08063199e-02 8.23479262e+02] [ 2.00403324e-01 9.79711098e-01 -2.16157061e-03 1.13854044e+01] [ 1.10202827e-02 -4.80365423e-05 9.99939274e-01 5.67221234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6492541539999 meters 0.01315192706843771 Centerline is valid? [True, True] Translation: X:823.51, Y:11.39, Z:5.67 [[ 9.80132613e-01 -1.98055387e-01 -1.06828764e-02 8.23505823e+02] [ 1.98043838e-01 9.80190830e-01 -2.13889721e-03 1.13934293e+01] [ 1.08948776e-02 -1.92749377e-05 9.99940649e-01 5.67219790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6792541539999 meters 0.013097279265483631 Centerline is valid? [True, True] Translation: X:823.53, Y:11.40, Z:5.67 [[ 9.81048694e-01 -1.93446795e-01 -1.10361557e-02 8.23532350e+02] [ 1.93434156e-01 9.81110767e-01 -2.21156675e-03 1.14049748e+01] [ 1.12555116e-02 3.48852169e-05 9.99936654e-01 5.67197843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7092541539998 meters 0.013214667072363177 Centerline is valid? [True, True] Translation: X:823.56, Y:11.41, Z:5.67 [[ 9.81492556e-01 -1.91159414e-01 -1.14210260e-02 8.23558943e+02] [ 1.91145694e-01 9.81559002e-01 -2.29124160e-03 1.14134555e+01] [ 1.16484033e-02 6.57566409e-05 9.99932153e-01 5.67152436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7392541539999 meters 0.013315914753547386 Centerline is valid? [True, True] Translation: X:823.59, Y:11.42, Z:5.67 [[ 9.81868080e-01 -1.89204945e-01 -1.16859416e-02 8.23586824e+02] [ 1.89190419e-01 9.81937615e-01 -2.34635471e-03 1.14211194e+01] [ 1.19188075e-02 9.29426094e-05 9.99928964e-01 5.67177229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7692541539999 meters 0.013823589147064164 Centerline is valid? [True, True] Translation: X:823.61, Y:11.43, Z:5.67 [[ 9.82544454e-01 -1.85640708e-01 -1.19968037e-02 8.23613425e+02] [ 1.85625103e-01 9.82617681e-01 -2.41114741e-03 1.14310099e+01] [ 1.22358785e-02 1.42151603e-04 9.99925129e-01 5.67132322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7992541539999 meters 0.01403020583385326 Centerline is valid? [True, True] Translation: X:823.64, Y:11.44, Z:5.67 [[ 9.82787191e-01 -1.84357399e-01 -1.19032418e-02 8.23641232e+02] [ 1.84341919e-01 9.82859260e-01 -2.39433061e-03 1.14383879e+01] [ 1.21406240e-02 1.58851026e-04 9.99926287e-01 5.67128046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8292541539998 meters 0.014505888282197385 Centerline is valid? [True, True] Translation: X:823.67, Y:11.45, Z:5.67 [[ 9.83083790e-01 -1.82721632e-01 -1.26122050e-02 8.23668660e+02] [ 1.82704074e-01 9.83164670e-01 -2.54035836e-03 1.14465966e+01] [ 1.28640528e-02 1.93083898e-04 9.99917236e-01 5.67102206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8592541539999 meters 0.01553667393825803 Centerline is valid? [True, True] Translation: X:823.70, Y:11.45, Z:5.67 [[ 9.83073868e-01 -1.82739891e-01 -1.31111119e-02 8.23695983e+02] [ 1.82720867e-01 9.83161274e-01 -2.64467634e-03 1.14522336e+01] [ 1.33736254e-02 2.04238458e-04 9.99910548e-01 5.67006003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8892541539999 meters 0.014565635567780635 Centerline is valid? [True, True] Translation: X:823.72, Y:11.46, Z:5.67 [[ 9.83251122e-01 -1.81818491e-01 -1.26201299e-02 8.23723449e+02] [ 1.81800755e-01 9.83332086e-01 -2.54824514e-03 1.14588210e+01] [ 1.28730968e-02 2.11215744e-04 9.99917116e-01 5.67121816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9192541539999 meters 0.01468589524146753 Centerline is valid? [True, True] Translation: X:823.75, Y:11.46, Z:5.67 [[ 9.83289553e-01 -1.81587382e-01 -1.29490121e-02 8.23750609e+02] [ 1.81568673e-01 9.83374788e-01 -2.61590772e-03 1.14647196e+01] [ 1.32087479e-02 2.21059774e-04 9.99912736e-01 5.67095349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9492541539998 meters 0.014800009454840658 Centerline is valid? [True, True] Translation: X:823.78, Y:11.47, Z:5.67 [[ 9.83208847e-01 -1.82034357e-01 -1.28006293e-02 8.23778597e+02] [ 1.82016081e-01 9.83292147e-01 -2.58836826e-03 1.14703550e+01] [ 1.30579303e-02 2.14986183e-04 9.99914718e-01 5.67106142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9792541539999 meters 0.014674123831111507 Centerline is valid? [True, True] Translation: X:823.81, Y:11.47, Z:5.67 [[ 9.83115228e-01 -1.82534996e-01 -1.28617309e-02 8.23806399e+02] [ 1.82516537e-01 9.83199334e-01 -2.60461837e-03 1.14748947e+01] [ 1.31210793e-02 2.13161389e-04 9.99913892e-01 5.67120929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0092541539999 meters 0.014601053665922797 Centerline is valid? [True, True] Translation: X:823.83, Y:11.48, Z:5.67 [[ 9.83000795e-01 -1.83092001e-01 -1.36658902e-02 8.23833730e+02] [ 1.83071156e-01 9.83095758e-01 -2.77174312e-03 1.14798552e+01] [ 1.39423627e-02 2.22795379e-04 9.99902776e-01 5.67139981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0392541539999 meters 0.014424158763475336 Centerline is valid? [True, True] Translation: X:823.86, Y:11.48, Z:5.67 [[ 9.82753833e-01 -1.84381209e-01 -1.40880616e-02 8.23862317e+02] [ 1.84359130e-01 9.82854783e-01 -2.86141075e-03 1.14838135e+01] [ 1.43741091e-02 2.14799609e-04 9.99896664e-01 5.67087457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0692541539999 meters 0.014327627678421141 Centerline is valid? [True, True] Translation: X:823.89, Y:11.49, Z:5.67 [[ 9.82533120e-01 -1.85476892e-01 -1.50662036e-02 8.23890299e+02] [ 1.85451701e-01 9.82648602e-01 -3.06448337e-03 1.14885762e+01] [ 1.53731748e-02 2.16903316e-04 9.99881802e-01 5.67045203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0992541539999 meters 0.014332341517919907 Centerline is valid? [True, True] Translation: X:823.92, Y:11.49, Z:5.67 [[ 9.82207246e-01 -1.87051541e-01 -1.67525066e-02 8.23917397e+02] [ 1.87020563e-01 9.82350077e-01 -3.41104285e-03 1.14915789e+01] [ 1.70948670e-02 2.17287788e-04 9.99853848e-01 5.66940358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1292541539999 meters 0.014089878923755478 Centerline is valid? [True, True] Translation: X:823.95, Y:11.50, Z:5.67 [[ 9.82016745e-01 -1.87976088e-01 -1.75528902e-02 8.23945363e+02] [ 1.87942152e-01 9.82173582e-01 -3.57814549e-03 1.14951497e+01] [ 1.79125908e-02 2.14870831e-04 9.99839534e-01 5.66979746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1592541539999 meters 0.01735250958010452 Centerline is valid? [True, True] Translation: X:823.97, Y:11.50, Z:5.67 [[ 9.81752828e-01 -1.89221677e-01 -1.88823162e-02 8.23972053e+02] [ 1.89182564e-01 9.81934373e-01 -3.85288695e-03 1.14998694e+01] [ 1.92702450e-02 2.10377671e-04 9.99814289e-01 5.66702818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1892541539999 meters 0.014129583772128475 Centerline is valid? [True, True] Translation: X:824.00, Y:11.50, Z:5.67 [[ 9.81666969e-01 -1.89757484e-01 -1.79460194e-02 8.23999876e+02] [ 1.89722210e-01 9.81830973e-01 -3.66368673e-03 1.15029050e+01] [ 1.83151697e-02 1.91761784e-04 9.99832245e-01 5.66978235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2192541539999 meters 0.013884111624735067 Centerline is valid? [True, True] Translation: X:824.03, Y:11.51, Z:5.67 [[ 9.81506317e-01 -1.90606629e-01 -1.77331031e-02 8.24028242e+02] [ 1.90572261e-01 9.81666482e-01 -3.62382898e-03 1.15067723e+01] [ 1.80987187e-02 1.77373495e-04 9.99836189e-01 5.67064262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2492541539999 meters 0.013612661122337265 Centerline is valid? [True, True] Translation: X:824.06, Y:11.51, Z:5.67 [[ 9.81267149e-01 -1.91857985e-01 -1.74727333e-02 8.24056816e+02] [ 1.91824734e-01 9.81422686e-01 -3.57525663e-03 1.15104448e+01] [ 1.78340784e-02 1.56579466e-04 9.99840948e-01 5.67174129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2792541539999 meters 0.01340976779018354 Centerline is valid? [True, True] Translation: X:824.09, Y:11.51, Z:5.67 [[ 9.80824682e-01 -1.94163679e-01 -1.68347714e-02 8.24085846e+02] [ 1.94133077e-01 9.80969139e-01 -3.44906549e-03 1.15129914e+01] [ 1.71840745e-02 1.14742590e-04 9.99852336e-01 5.67239797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3092541539999 meters 0.013282258820562576 Centerline is valid? [True, True] Translation: X:824.11, Y:11.52, Z:5.67 [[ 9.80625477e-01 -1.95199390e-01 -1.64581644e-02 8.24113551e+02] [ 1.95170210e-01 9.80763574e-01 -3.37652951e-03 1.15167889e+01] [ 1.68006647e-02 9.89674622e-05 9.99858854e-01 5.67292732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3392541539998 meters 0.014612797851345082 Centerline is valid? [True, True] Translation: X:824.14, Y:11.52, Z:5.67 [[ 9.80315312e-01 -1.96696511e-01 -1.70988780e-02 8.24141749e+02] [ 1.96665151e-01 9.80464418e-01 -3.51317257e-03 1.15207312e+01] [ 1.74558703e-02 8.12634285e-05 9.99847631e-01 5.67256121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3692541539999 meters 0.013226572034546292 Centerline is valid? [True, True] Translation: X:824.17, Y:11.52, Z:5.67 [[ 9.80076922e-01 -1.97895235e-01 -1.69322823e-02 8.24170290e+02] [ 1.97864575e-01 9.80223175e-01 -3.48397938e-03 1.15230667e+01] [ 1.72868785e-02 6.42689419e-05 9.99850569e-01 5.67426236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3992541539999 meters 0.013273994929209533 Centerline is valid? [True, True] Translation: X:824.20, Y:11.53, Z:5.67 [[ 9.79860474e-01 -1.98926944e-01 -1.73644308e-02 8.24197609e+02] [ 1.98894768e-01 9.80014320e-01 -3.57811068e-03 1.15278092e+01] [ 1.77291735e-02 5.23547908e-05 9.99842824e-01 5.67433706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4292541539999 meters 0.013244725020871385 Centerline is valid? [True, True] Translation: X:824.23, Y:11.53, Z:5.67 [[ 9.79601060e-01 -2.00149729e-01 -1.79401338e-02 8.24225740e+02] [ 2.00115491e-01 9.79765321e-01 -3.70212649e-03 1.15311416e+01] [ 1.83181006e-02 3.65083525e-05 9.99832209e-01 5.67454037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4592541539998 meters 0.014199673199119715 Centerline is valid? [True, True] Translation: X:824.25, Y:11.54, Z:5.67 [[ 9.79380412e-01 -2.01152668e-01 -1.87513339e-02 8.24253921e+02] [ 2.01115347e-01 9.79559903e-01 -3.87476409e-03 1.15356044e+01] [ 1.91474739e-02 2.36870258e-05 9.99816670e-01 5.67463278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4892541539999 meters 0.013337918793061994 Centerline is valid? [True, True] Translation: X:824.28, Y:11.54, Z:5.67 [[ 9.79224158e-01 -2.01974872e-01 -1.80609872e-02 8.24281620e+02] [ 2.01940337e-01 9.79390704e-01 -3.73487010e-03 1.15398837e+01] [ 1.84431129e-02 1.00331886e-05 9.99829911e-01 5.67494667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5192541539999 meters 0.014686011027740318 Centerline is valid? [True, True] Translation: X:824.31, Y:11.54, Z:5.68 [[ 9.78722257e-01 -2.04292844e-01 -1.91618928e-02 8.24310730e+02] [ 2.04254338e-01 9.78909819e-01 -3.96639307e-03 1.15426881e+01] [ 1.95680707e-02 -3.19025563e-05 9.99808526e-01 5.67544560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5492541539999 meters 0.013476893028493258 Centerline is valid? [True, True] Translation: X:824.34, Y:11.55, Z:5.68 [[ 9.78512114e-01 -2.05367653e-01 -1.83893951e-02 8.24338509e+02] [ 2.05332329e-01 9.78684895e-01 -3.80923287e-03 1.15461390e+01] [ 1.87797165e-02 -4.85568140e-05 9.99823644e-01 5.67678414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5792541539998 meters 0.014865166469700616 Centerline is valid? [True, True] Translation: X:824.37, Y:11.55, Z:5.68 [[ 9.78153099e-01 -2.07037050e-01 -1.87663088e-02 8.24367026e+02] [ 2.07000498e-01 9.78333100e-01 -3.89100048e-03 1.15506137e+01] [ 1.91652823e-02 -7.86410805e-05 9.99816326e-01 5.67652343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6092541539999 meters 0.013627617125649192 Centerline is valid? [True, True] Translation: X:824.39, Y:11.55, Z:5.68 [[ 9.77981894e-01 -2.07910211e-01 -1.80210564e-02 8.24394979e+02] [ 2.07876562e-01 9.78147911e-01 -3.74143397e-03 1.15548345e+01] [ 1.84051411e-02 -8.71005730e-05 9.99830607e-01 5.67803760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6392541539999 meters 0.015702586957850883 Centerline is valid? [True, True] Translation: X:824.42, Y:11.56, Z:5.68 [[ 9.77622750e-01 -2.09563460e-01 -1.83552150e-02 8.24423080e+02] [ 2.09528775e-01 9.77795041e-01 -3.81443473e-03 1.15590277e+01] [ 1.87470044e-02 -1.16867554e-04 9.99824253e-01 5.67781043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6692541539999 meters 0.013774893831741767 Centerline is valid? [True, True] Translation: X:824.45, Y:11.56, Z:5.68 [[ 9.77660211e-01 -2.09471081e-01 -1.73890170e-02 8.24451766e+02] [ 2.09439872e-01 9.77814837e-01 -3.61730630e-03 1.15640494e+01] [ 1.77609599e-02 -1.05457064e-04 9.99842256e-01 5.67918585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6992541539998 meters 0.015606177502351257 Centerline is valid? [True, True] Translation: X:824.48, Y:11.57, Z:5.68 [[ 9.77646895e-01 -2.09445590e-01 -1.84144835e-02 8.24479118e+02] [ 2.09410521e-01 9.77820297e-01 -3.83411678e-03 1.15697406e+01] [ 1.88090946e-02 -1.07774223e-04 9.99823088e-01 5.67832084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7292541539999 meters 0.013540240571875636 Centerline is valid? [True, True] Translation: X:824.51, Y:11.57, Z:5.68 [[ 9.78087992e-01 -2.07508714e-01 -1.68527158e-02 8.24507732e+02] [ 2.07478995e-01 9.78233167e-01 -3.51239144e-03 1.15748803e+01] [ 1.72147374e-02 -6.11566406e-05 9.99851814e-01 5.67918061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7592541539999 meters 0.013995588770614393 Centerline is valid? [True, True] Translation: X:824.53, Y:11.58, Z:5.68 [[ 9.78247174e-01 -2.06722547e-01 -1.72700938e-02 8.24534873e+02] [ 2.06691128e-01 9.78399605e-01 -3.60425276e-03 1.15805167e+01] [ 1.76421332e-02 -4.37250923e-05 9.99844364e-01 5.67912523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7892541539999 meters 0.01346288118806332 Centerline is valid? [True, True] Translation: X:824.56, Y:11.59, Z:5.68 [[ 9.78664877e-01 -2.04750012e-01 -1.71023461e-02 8.24562673e+02] [ 2.04718812e-01 9.78814299e-01 -3.57429074e-03 1.15865373e+01] [ 1.74718570e-02 -3.13915418e-06 9.99847355e-01 5.67941044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8192541539999 meters 0.013569829864387465 Centerline is valid? [True, True] Translation: X:824.59, Y:11.59, Z:5.68 [[ 9.78953641e-01 -2.03329884e-01 -1.75136262e-02 8.24590488e+02] [ 2.03296844e-01 9.79110289e-01 -3.66549078e-03 1.15930256e+01] [ 1.78930755e-02 2.78806007e-05 9.99839906e-01 5.67921688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8492541539999 meters 0.01358731378409938 Centerline is valid? [True, True] Translation: X:824.62, Y:11.60, Z:5.68 [[ 9.79223308e-01 -2.02021584e-01 -1.75781838e-02 8.24617414e+02] [ 2.01988034e-01 9.79381068e-01 -3.68200764e-03 1.15996350e+01] [ 1.79595855e-02 5.49249026e-05 9.99838712e-01 5.67875541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8792541539999 meters 0.01430459538416205 Centerline is valid? [True, True] Translation: X:824.65, Y:11.61, Z:5.68 [[ 9.79993118e-01 -1.98292916e-01 -1.71291440e-02 8.24645736e+02] [ 1.98260432e-01 9.80142798e-01 -3.59125367e-03 1.16077539e+01] [ 1.75011273e-02 1.23372399e-04 9.99846836e-01 5.67905035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9092541539999 meters 0.01387350523316707 Centerline is valid? [True, True] Translation: X:824.67, Y:11.61, Z:5.68 [[ 9.80365396e-01 -1.96439403e-01 -1.71829043e-02 8.24673516e+02] [ 1.96406350e-01 9.80515953e-01 -3.60706063e-03 1.16142698e+01] [ 1.75566806e-02 1.61405913e-04 9.99845857e-01 5.67961116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9392541539999 meters 0.014155796285480065 Centerline is valid? [True, True] Translation: X:824.70, Y:11.62, Z:5.68 [[ 9.80638217e-01 -1.95069353e-01 -1.72231033e-02 8.24700507e+02] [ 1.95035884e-01 9.80789433e-01 -3.61828505e-03 1.16211049e+01] [ 1.75980542e-02 1.89105422e-04 9.99845124e-01 5.67913893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9692541539999 meters 0.01443735453274585 Centerline is valid? [True, True] Translation: X:824.73, Y:11.63, Z:5.68 [[ 9.80896792e-01 -1.93789073e-01 -1.69493277e-02 8.24727793e+02] [ 1.93756441e-01 9.81043195e-01 -3.56233919e-03 1.16278688e+01] [ 1.73183650e-02 2.10245652e-04 9.99850004e-01 5.67901583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9992541539999 meters 0.01718021912924212 Centerline is valid? [True, True] Translation: X:824.76, Y:11.63, Z:5.68 [[ 9.81197449e-01 -1.92138395e-01 -1.82866754e-02 8.24755852e+02] [ 1.92100054e-01 9.81367805e-01 -3.84714942e-03 1.16343220e+01] [ 1.86851396e-02 2.61941866e-04 9.99825383e-01 5.67889100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0292541539999 meters 0.016972486802731855 Centerline is valid? [True, True] Translation: X:824.78, Y:11.64, Z:5.68 [[ 9.81335173e-01 -1.91522103e-01 -1.73367499e-02 8.24783374e+02] [ 1.91487460e-01 9.81488265e-01 -3.65219880e-03 1.16408141e+01] [ 1.77152933e-02 2.64260952e-04 9.99843037e-01 5.67925378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0592541539999 meters 0.015092738955083552 Centerline is valid? [True, True] Translation: X:824.81, Y:11.65, Z:5.68 [[ 9.81543825e-01 -1.90578737e-01 -1.58576459e-02 8.24810626e+02] [ 1.90549556e-01 9.81671878e-01 -3.34521400e-03 1.16470236e+01] [ 1.62045317e-02 2.61806756e-04 9.99868664e-01 5.68084201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0892541539998 meters 0.016112614014692314 Centerline is valid? [True, True] Translation: X:824.84, Y:11.66, Z:5.68 [[ 9.81963277e-01 -1.88445613e-01 -1.53744506e-02 8.24837530e+02] [ 1.88417878e-01 9.82083584e-01 -3.24606190e-03 1.16550657e+01] [ 1.57107016e-02 2.90692234e-04 9.99876537e-01 5.68080550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1192541539999 meters 0.016659872117797528 Centerline is valid? [True, True] Translation: X:824.87, Y:11.66, Z:5.68 [[ 9.82144981e-01 -1.87505558e-01 -1.52610995e-02 8.24865964e+02] [ 1.87478073e-01 9.82263494e-01 -3.22496666e-03 1.16622410e+01] [ 1.55951201e-02 3.06263306e-04 9.99878342e-01 5.68072630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1492541539999 meters 0.016736777648532222 Centerline is valid? [True, True] Translation: X:824.89, Y:11.67, Z:5.68 [[ 9.82356872e-01 -1.86365854e-01 -1.55802506e-02 8.24893969e+02] [ 1.86336998e-01 9.82480359e-01 -3.29650673e-03 1.16693551e+01] [ 1.59216465e-02 3.35168916e-04 9.99873186e-01 5.68088071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1792541539999 meters 0.02040481919760911 Centerline is valid? [True, True] Translation: X:824.92, Y:11.68, Z:5.68 [[ 9.82802849e-01 -1.83791663e-01 -1.78657357e-02 8.24921123e+02] [ 1.83753246e-01 9.82965124e-01 -3.78271427e-03 1.16786924e+01] [ 1.82566264e-02 4.34775436e-04 9.99833239e-01 5.67779408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2092541539998 meters 0.019574830735689157 Centerline is valid? [True, True] Translation: X:824.95, Y:11.69, Z:5.68 [[ 9.82988552e-01 -1.82738801e-01 -1.84400861e-02 8.24949347e+02] [ 1.82697625e-01 9.83161384e-01 -3.90772681e-03 1.16856920e+01] [ 1.88436738e-02 4.72290797e-04 9.99822331e-01 5.67775885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2392541539999 meters 0.01955144719382991 Centerline is valid? [True, True] Translation: X:824.98, Y:11.69, Z:5.68 [[ 9.83319160e-01 -1.80757072e-01 -2.02561326e-02 8.24977089e+02] [ 1.80706898e-01 9.83527612e-01 -4.29577867e-03 1.16921366e+01] [ 2.06989581e-02 5.63698577e-04 9.99785595e-01 5.67639848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2692541539999 meters 0.018350027366047936 Centerline is valid? [True, True] Translation: X:825.01, Y:11.70, Z:5.68 [[ 9.83413271e-01 -1.80262404e-01 -2.00948590e-02 8.25005532e+02] [ 1.80212837e-01 9.83618390e-01 -4.26575793e-03 1.16984687e+01] [ 2.05346287e-02 5.73651405e-04 9.99788978e-01 5.67691375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2992541539999 meters 0.019911900074535388 Centerline is valid? [True, True] Translation: X:825.03, Y:11.71, Z:5.68 [[ 9.83341090e-01 -1.80514931e-01 -2.13227702e-02 8.25032699e+02] [ 1.80459109e-01 9.83572057e-01 -4.52970542e-03 1.17052073e+01] [ 2.17901604e-02 6.06357362e-04 9.99762382e-01 5.67569083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3292541539998 meters 0.019911900074535388 Centerline is valid? [True, True] Translation: X:825.06, Y:11.71, Z:5.68 [[ 9.83288983e-01 -1.80798670e-01 -2.13217481e-02 8.25059683e+02] [ 1.80742809e-01 9.83519941e-01 -4.53451311e-03 1.17110210e+01] [ 2.17901984e-02 6.04984125e-04 9.99762382e-01 5.67588186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3592541539999 meters 0.01821535312045483 Centerline is valid? [True, True] Translation: X:825.09, Y:11.72, Z:5.68 [[ 9.83264868e-01 -1.81021142e-01 -2.05315865e-02 8.25086984e+02] [ 1.80969265e-01 9.83479031e-01 -4.37263356e-03 1.17154538e+01] [ 2.09839239e-02 5.83870855e-04 9.99779643e-01 5.67720338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3892541539999 meters 0.01774512792184039 Centerline is valid? [True, True] Translation: X:825.11, Y:11.72, Z:5.68 [[ 9.82907287e-01 -1.83049604e-01 -1.96496103e-02 8.25114948e+02] [ 1.83002430e-01 9.83103541e-01 -4.18798857e-03 1.17196027e+01] [ 2.00842111e-02 5.20478063e-04 9.99798156e-01 5.67833980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4192541539999 meters 0.019459193805997473 Centerline is valid? [True, True] Translation: X:825.14, Y:11.72, Z:5.68 [[ 9.82541191e-01 -1.84951857e-01 -2.01399667e-02 8.25144175e+02] [ 1.84902616e-01 9.82747456e-01 -4.29646113e-03 1.17232184e+01] [ 2.05871395e-02 4.97517508e-04 9.99787939e-01 5.67838378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4492541539998 meters 0.016845975786486774 Centerline is valid? [True, True] Translation: X:825.17, Y:11.73, Z:5.68 [[ 9.82282511e-01 -1.86479569e-01 -1.86128513e-02 8.25172072e+02] [ 1.86437726e-01 9.82458743e-01 -3.97387278e-03 1.17277484e+01] [ 1.90274046e-02 4.33328058e-04 9.99818869e-01 5.68048691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4792541539999 meters 0.018655658667834047 Centerline is valid? [True, True] Translation: X:825.20, Y:11.73, Z:5.68 [[ 9.81598946e-01 -1.90160592e-01 -1.73913467e-02 8.25201123e+02] [ 1.90124609e-01 9.81752939e-01 -3.71476469e-03 1.17302326e+01] [ 1.77804076e-02 3.39886102e-04 9.99841858e-01 5.68095462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5092541539999 meters 0.01560282332408658 Centerline is valid? [True, True] Translation: X:825.23, Y:11.73, Z:5.68 [[ 9.81328752e-01 -1.91648907e-01 -1.62658086e-02 8.25228486e+02] [ 1.91617605e-01 9.81463504e-01 -3.47615558e-03 1.17348493e+01] [ 1.66304989e-02 2.94436134e-04 9.99861660e-01 5.68308627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5392541539999 meters 0.015098403773388553 Centerline is valid? [True, True] Translation: X:825.26, Y:11.74, Z:5.68 [[ 9.80894087e-01 -1.93974867e-01 -1.48505894e-02 8.25257274e+02] [ 1.93948997e-01 9.81006471e-01 -3.17669599e-03 1.17385442e+01] [ 1.51847235e-02 2.35745402e-04 9.99884678e-01 5.68491386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5692541539999 meters 0.017284900017942566 Centerline is valid? [True, True] Translation: X:825.29, Y:11.74, Z:5.68 [[ 9.80724749e-01 -1.94845491e-01 -1.46356257e-02 8.25285883e+02] [ 1.94820403e-01 9.80833923e-01 -3.13454298e-03 1.17443905e+01] [ 1.49658697e-02 2.22805378e-04 9.99887980e-01 5.68417262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5992541539999 meters 0.015484347707019442 Centerline is valid? [True, True] Translation: X:825.31, Y:11.75, Z:5.68 [[ 9.80660016e-01 -1.95194016e-01 -1.43258408e-02 8.25311661e+02] [ 1.95169968e-01 9.80764625e-01 -3.07149488e-03 1.17509323e+01] [ 1.46498153e-02 2.16118327e-04 9.99892662e-01 5.68499919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6292541539999 meters 0.018675775781350802 Centerline is valid? [True, True] Translation: X:825.34, Y:11.76, Z:5.68 [[ 9.80707177e-01 -1.94873724e-01 -1.54163693e-02 8.25338495e+02] [ 1.94845801e-01 9.80828310e-01 -3.30756291e-03 1.17573723e+01] [ 1.57653686e-02 2.39935857e-04 9.99875690e-01 5.68373098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6592541539999 meters 0.016062231652823417 Centerline is valid? [True, True] Translation: X:825.37, Y:11.76, Z:5.69 [[ 9.81008023e-01 -1.93316212e-01 -1.58776682e-02 8.25367117e+02] [ 1.93286339e-01 9.81136467e-01 -3.40958685e-03 1.17615266e+01] [ 1.62372877e-02 2.75895695e-04 9.99868128e-01 5.68648194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6892541539999 meters 0.017706399976060966 Centerline is valid? [True, True] Translation: X:825.39, Y:11.77, Z:5.69 [[ 9.81214446e-01 -1.92190160e-01 -1.67676341e-02 8.25394181e+02] [ 1.92156630e-01 9.81357653e-01 -3.60356386e-03 1.17696697e+01] [ 1.71476156e-02 3.13856858e-04 9.99852920e-01 5.68520922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7192541539999 meters 0.018105981415777156 Centerline is valid? [True, True] Translation: X:825.42, Y:11.78, Z:5.68 [[ 9.81824716e-01 -1.88882773e-01 -1.85344547e-02 8.25422069e+02] [ 1.88841184e-01 9.81999556e-01 -3.98488896e-03 1.17788057e+01] [ 1.89535032e-02 4.12394099e-04 9.99820281e-01 5.68467401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7492541539999 meters 0.017365959458235783 Centerline is valid? [True, True] Translation: X:825.45, Y:11.79, Z:5.69 [[ 9.82154439e-01 -1.87080655e-01 -1.93257775e-02 8.25448811e+02] [ 1.87035055e-01 9.82344446e-01 -4.15673123e-03 1.17868871e+01] [ 1.97622142e-02 4.67954163e-04 9.99804599e-01 5.68514582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7792541539999 meters 0.017328090611316037 Centerline is valid? [True, True] Translation: X:825.48, Y:11.79, Z:5.69 [[ 9.82495035e-01 -1.85254005e-01 -1.96076566e-02 8.25476901e+02] [ 1.85206620e-01 9.82690535e-01 -4.22141889e-03 1.17940251e+01] [ 2.00502933e-02 5.16055292e-04 9.99798839e-01 5.68544867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8092541539999 meters 0.018959425277318715 Centerline is valid? [True, True] Translation: X:825.50, Y:11.80, Z:5.69 [[ 9.83251999e-01 -1.81093332e-01 -2.05112717e-02 8.25504456e+02] [ 1.81040518e-01 9.83465712e-01 -4.41863076e-03 1.18046483e+01] [ 2.09723170e-02 6.31256273e-04 9.99779857e-01 5.68535599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8392541539998 meters 0.0191451883108103 Centerline is valid? [True, True] Translation: X:825.53, Y:11.81, Z:5.69 [[ 9.83531088e-01 -1.79536021e-01 -2.08186632e-02 8.25532436e+02] [ 1.79481176e-01 9.83751166e-01 -4.48897207e-03 1.18127477e+01] [ 2.12863164e-02 6.78485441e-04 9.99773190e-01 5.68609781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8692541539999 meters 0.02063059575723749 Centerline is valid? [True, True] Translation: X:825.56, Y:11.82, Z:5.69 [[ 9.84002447e-01 -1.76916958e-01 -2.09660398e-02 8.25560809e+02] [ 1.76860689e-01 9.84225502e-01 -4.52310002e-03 1.18229032e+01] [ 2.14355241e-02 7.42673258e-04 9.99769957e-01 5.68586471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8992541539999 meters 0.021072415938172984 Centerline is valid? [True, True] Translation: X:825.59, Y:11.83, Z:5.69 [[ 9.83959139e-01 -1.77058013e-01 -2.17915563e-02 8.25588687e+02] [ 1.76997163e-01 9.84200113e-01 -4.70549175e-03 1.18296452e+01] [ 2.22803972e-02 7.72967975e-04 9.99751462e-01 5.68548710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9292541539999 meters 0.02038482195295742 Centerline is valid? [True, True] Translation: X:825.62, Y:11.84, Z:5.69 [[ 9.83911876e-01 -1.77371472e-01 -2.13724604e-02 8.25615119e+02] [ 1.77312945e-01 9.84143685e-01 -4.61816467e-03 1.18375457e+01] [ 2.18527026e-02 7.54253170e-04 9.99760917e-01 5.68599901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9592541539998 meters 0.01983320677561684 Centerline is valid? [True, True] Translation: X:825.64, Y:11.84, Z:5.69 [[ 9.83780188e-01 -1.78080542e-01 -2.15374509e-02 8.25643796e+02] [ 1.78021177e-01 9.84015630e-01 -4.65838091e-03 1.18436894e+01] [ 2.20227554e-02 7.48700473e-04 9.99757189e-01 5.68689928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9892541539999 meters 0.01964566473695239 Centerline is valid? [True, True] Translation: X:825.67, Y:11.85, Z:5.69 [[ 9.83703048e-01 -1.78562580e-01 -2.10646147e-02 8.25671460e+02] [ 1.78505784e-01 9.83928288e-01 -4.56166310e-03 1.18504522e+01] [ 2.15406127e-02 7.27166336e-04 9.99767710e-01 5.68781000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0192541539999 meters 0.021423524603052958 Centerline is valid? [True, True] Translation: X:825.70, Y:11.86, Z:5.69 [[ 9.83616324e-01 -1.78982051e-01 -2.15488512e-02 8.25699039e+02] [ 1.78922575e-01 9.83852060e-01 -4.67286438e-03 1.18572012e+01] [ 2.20372405e-02 7.40729749e-04 9.99756876e-01 5.68721641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0492541539999 meters 0.021567787151674483 Centerline is valid? [True, True] Translation: X:825.73, Y:11.87, Z:5.69 [[ 9.83571626e-01 -1.79245483e-01 -2.13989198e-02 8.25725512e+02] [ 1.79186819e-01 9.83804106e-01 -4.64377382e-03 1.18651380e+01] [ 2.18847206e-02 7.33079800e-04 9.99760232e-01 5.68668848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0792541539998 meters 0.019650058239856757 Centerline is valid? [True, True] Translation: X:825.75, Y:11.87, Z:5.69 [[ 9.83284347e-01 -1.80751640e-01 -2.19257432e-02 8.25753582e+02] [ 1.80690321e-01 9.83528507e-01 -4.76271037e-03 1.18708496e+01] [ 2.24254612e-02 7.21328979e-04 9.99748257e-01 5.68701989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1092541539999 meters 0.021613721749530787 Centerline is valid? [True, True] Translation: X:825.78, Y:11.88, Z:5.69 [[ 9.83077719e-01 -1.81825455e-01 -2.23092609e-02 8.25780272e+02] [ 1.81762175e-01 9.83330563e-01 -4.84925451e-03 1.18789242e+01] [ 2.28190960e-02 7.12214284e-04 9.99739357e-01 5.68543365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1392541539999 meters 0.018392519017411412 Centerline is valid? [True, True] Translation: X:825.81, Y:11.88, Z:5.69 [[ 9.82602940e-01 -1.84473679e-01 -2.14691293e-02 8.25809578e+02] [ 1.84415669e-01 9.82837254e-01 -4.66836690e-03 1.18800143e+01] [ 2.19618509e-02 6.27907207e-04 9.99758612e-01 5.68835060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1692541539999 meters 0.01740424031573355 Centerline is valid? [True, True] Translation: X:825.84, Y:11.89, Z:5.69 [[ 9.82241493e-01 -1.86483342e-01 -2.06303923e-02 8.25838415e+02] [ 1.86430136e-01 9.82457961e-01 -4.48990821e-03 1.18853119e+01] [ 2.11057862e-02 5.64047303e-04 9.99777089e-01 5.68951549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1992541539998 meters 0.016930694942892843 Centerline is valid? [True, True] Translation: X:825.87, Y:11.89, Z:5.69 [[ 9.81908030e-01 -1.88297082e-01 -2.00207443e-02 8.25866997e+02] [ 1.88247246e-01 9.82111981e-01 -4.36237475e-03 1.18899336e+01] [ 2.04840353e-02 5.14600803e-04 9.99790048e-01 5.69062820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2292541539999 meters 0.018347711766957358 Centerline is valid? [True, True] Translation: X:825.89, Y:11.90, Z:5.69 [[ 9.81555967e-01 -1.90213359e-01 -1.91510292e-02 8.25893649e+02] [ 1.90168067e-01 9.81742670e-01 -4.17575724e-03 1.18978516e+01] [ 1.95956674e-02 4.56825221e-04 9.99807882e-01 5.68951800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2592541539999 meters 0.01678404410720272 Centerline is valid? [True, True] Translation: X:825.92, Y:11.90, Z:5.69 [[ 9.80944034e-01 -1.93444606e-01 -1.81103703e-02 8.25923468e+02] [ 1.93404626e-01 9.81111128e-01 -3.95031784e-03 1.18978209e+01] [ 1.85324535e-02 3.72411329e-04 9.99828190e-01 5.69253945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2892541539999 meters 0.015733238627848086 Centerline is valid? [True, True] Translation: X:825.95, Y:11.90, Z:5.69 [[ 9.80585996e-01 -1.95310437e-01 -1.74624588e-02 8.25950291e+02] [ 1.95273535e-01 9.80741417e-01 -3.81050473e-03 1.19037577e+01] [ 1.78703879e-02 3.26571514e-04 9.99840259e-01 5.69277233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3192541539999 meters 0.014964001068776338 Centerline is valid? [True, True] Translation: X:825.98, Y:11.91, Z:5.69 [[ 9.80042602e-01 -1.98065336e-01 -1.69298816e-02 8.25979244e+02] [ 1.98031005e-01 9.80188782e-01 -3.69758187e-03 1.19073866e+01] [ 1.73268429e-02 2.71146290e-04 9.99849842e-01 5.69373272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3492541539999 meters 0.014763774552666638 Centerline is valid? [True, True] Translation: X:826.01, Y:11.91, Z:5.69 [[ 9.79760285e-01 -1.99478406e-01 -1.66778200e-02 8.26007486e+02] [ 1.99445219e-01 9.79902191e-01 -3.64687312e-03 1.19129364e+01] [ 1.70701048e-02 2.46749975e-04 9.99854265e-01 5.69394067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3792541539999 meters 0.015992905657119093 Centerline is valid? [True, True] Translation: X:826.04, Y:11.92, Z:5.69 [[ 9.79512176e-01 -2.00680594e-01 -1.68284129e-02 8.26035517e+02] [ 2.00646907e-01 9.79656698e-01 -3.68424253e-03 1.19181044e+01] [ 1.72254233e-02 2.32191439e-04 9.99851604e-01 5.69355237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4092541539999 meters 0.014316565980477546 Centerline is valid? [True, True] Translation: X:826.06, Y:11.92, Z:5.69 [[ 9.79146160e-01 -2.02506316e-01 -1.62477566e-02 8.26063438e+02] [ 2.02475094e-01 9.79280937e-01 -3.56132160e-03 1.19233211e+01] [ 1.66323084e-02 1.97288330e-04 9.99861654e-01 5.69383654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4392541539999 meters 0.016269594276893593 Centerline is valid? [True, True] Translation: X:826.09, Y:11.93, Z:5.69 [[ 9.79014742e-01 -2.03072059e-01 -1.70843385e-02 8.26090715e+02] [ 2.03037539e-01 9.79163775e-01 -3.74966910e-03 1.19287817e+01] [ 1.74898184e-02 2.02219287e-04 9.99847021e-01 5.69292520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4692541539999 meters 0.01418545843237425 Centerline is valid? [True, True] Translation: X:826.12, Y:11.93, Z:5.69 [[ 9.78902073e-01 -2.03689095e-01 -1.61704426e-02 8.26118658e+02] [ 2.03658181e-01 9.79035606e-01 -3.55349535e-03 1.19349688e+01] [ 1.65552473e-02 1.85281055e-04 9.99862935e-01 5.69314602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4992541539999 meters 0.014122477852305693 Centerline is valid? [True, True] Translation: X:826.15, Y:11.94, Z:5.69 [[ 9.78838720e-01 -2.03962262e-01 -1.65576632e-02 8.26146174e+02] [ 2.03929806e-01 9.78978733e-01 -3.64340670e-03 1.19402855e+01] [ 1.69527176e-02 1.89706507e-04 9.99856274e-01 5.69327469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5292541539999 meters 0.01634319401238584 Centerline is valid? [True, True] Translation: X:826.17, Y:11.95, Z:5.69 [[ 9.78811555e-01 -2.04003757e-01 -1.76183457e-02 8.26173644e+02] [ 2.03966948e-01 9.78970084e-01 -3.88054997e-03 1.19471859e+01] [ 1.80394801e-02 2.04766947e-04 9.99837254e-01 5.69207061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5592541539999 meters 0.014481064975248146 Centerline is valid? [True, True] Translation: X:826.20, Y:11.95, Z:5.69 [[ 9.78878661e-01 -2.03755418e-01 -1.67420748e-02 8.26201121e+02] [ 2.03722113e-01 9.79021802e-01 -3.68937887e-03 1.19541580e+01] [ 1.71425872e-02 2.00723396e-04 9.99853035e-01 5.69234444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5892541539998 meters 0.01574952403962598 Centerline is valid? [True, True] Translation: X:826.23, Y:11.96, Z:5.69 [[ 9.78975832e-01 -2.03232082e-01 -1.74080739e-02 8.26229669e+02] [ 2.03195930e-01 9.79130569e-01 -3.83955795e-03 1.19611043e+01] [ 1.78250986e-02 2.21584682e-04 9.99841096e-01 5.69152235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6192541539999 meters 0.017415947433936284 Centerline is valid? [True, True] Translation: X:826.26, Y:11.97, Z:5.69 [[ 9.79009565e-01 -2.02978727e-01 -1.84365779e-02 8.26257522e+02] [ 2.02938038e-01 9.79183117e-01 -4.07138696e-03 1.19671352e+01] [ 1.88791908e-02 2.44443827e-04 9.99821742e-01 5.69117814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6492541539999 meters 0.014565562665998805 Centerline is valid? [True, True] Translation: X:826.28, Y:11.97, Z:5.69 [[ 9.78971195e-01 -2.03154301e-01 -1.85399154e-02 8.26283970e+02] [ 2.03113122e-01 9.79146705e-01 -4.09758329e-03 1.19740995e+01] [ 1.89857388e-02 2.45715921e-04 9.99819724e-01 5.69050261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6792541539999 meters 0.014693291582168836 Centerline is valid? [True, True] Translation: X:826.31, Y:11.98, Z:5.69 [[ 9.78896279e-01 -2.03457847e-01 -1.91566948e-02 8.26311644e+02] [ 2.03413851e-01 9.79083674e-01 -4.23844532e-03 1.19801274e+01] [ 1.96183521e-02 2.52261298e-04 9.99807510e-01 5.68978319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7092541539998 meters 0.014165643174283102 Centerline is valid? [True, True] Translation: X:826.34, Y:11.98, Z:5.69 [[ 9.78661375e-01 -2.04508777e-01 -1.99517898e-02 8.26339821e+02] [ 2.04461147e-01 9.78864699e-01 -4.42042929e-03 1.19849248e+01] [ 2.04341193e-02 2.46737572e-04 9.99791171e-01 5.69040338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7392541539999 meters 0.013899844430347 Centerline is valid? [True, True] Translation: X:826.37, Y:11.99, Z:5.69 [[ 9.78146342e-01 -2.06920913e-01 -2.03339558e-02 8.26368677e+02] [ 2.06871842e-01 9.78357651e-01 -4.51078365e-03 1.19896761e+01] [ 2.08272568e-02 2.05683618e-04 9.99783068e-01 5.69001284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7692541539999 meters 0.013985642501180543 Centerline is valid? [True, True] Translation: X:826.40, Y:12.00, Z:5.69 [[ 9.77898602e-01 -2.08115274e-01 -2.00588317e-02 8.26396402e+02] [ 2.08067712e-01 9.78104289e-01 -4.45275844e-03 1.19952198e+01] [ 2.05463164e-02 1.80751030e-04 9.99788886e-01 5.68963893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7992541539999 meters 0.015315263036132955 Centerline is valid? [True, True] Translation: X:826.43, Y:12.00, Z:5.69 [[ 9.77476219e-01 -2.10079153e-01 -2.01740320e-02 8.26425200e+02] [ 2.10031376e-01 9.77684371e-01 -4.48247561e-03 1.19999517e+01] [ 2.06655104e-02 1.44333618e-04 9.99786435e-01 5.69016534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8292541539998 meters 0.01331815634839217 Centerline is valid? [True, True] Translation: X:826.45, Y:12.00, Z:5.69 [[ 9.76868239e-01 -2.13097877e-01 -1.78252395e-02 8.26452802e+02] [ 2.13061033e-01 9.77030854e-01 -3.96318387e-03 1.20030920e+01] [ 1.82603550e-02 7.36445183e-05 9.99833263e-01 5.69246021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8592541539999 meters 0.015355024690210876 Centerline is valid? [True, True] Translation: X:826.48, Y:12.01, Z:5.69 [[ 9.76435507e-01 -2.15075857e-01 -1.77785353e-02 8.26480099e+02] [ 2.15039462e-01 9.76597345e-01 -3.95669998e-03 1.20078147e+01] [ 1.82134610e-02 4.03756844e-05 9.99834120e-01 5.69288815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8892541539999 meters 0.013115229924928841 Centerline is valid? [True, True] Translation: X:826.51, Y:12.01, Z:5.70 [[ 9.75873767e-01 -2.17822572e-01 -1.49571938e-02 8.26508409e+02] [ 2.17797077e-01 9.75988385e-01 -3.33260186e-03 1.20115372e+01] [ 1.53239634e-02 -5.43436300e-06 9.99882581e-01 5.69502516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9192541539999 meters 0.01309454337491741 Centerline is valid? [True, True] Translation: X:826.54, Y:12.02, Z:5.70 [[ 9.75571186e-01 -2.19205179e-01 -1.44896638e-02 8.26535392e+02] [ 2.19181366e-01 9.75678784e-01 -3.23110188e-03 1.20166115e+01] [ 1.48455318e-02 -2.36944112e-05 9.99889799e-01 5.69560195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9492541539998 meters 0.01311541447450194 Centerline is valid? [True, True] Translation: X:826.56, Y:12.02, Z:5.70 [[ 9.75295755e-01 -2.20465659e-01 -1.38954587e-02 8.26562829e+02] [ 2.20443846e-01 9.75394736e-01 -3.10150049e-03 1.20217985e+01] [ 1.42373316e-02 -3.82880792e-05 9.99898643e-01 5.69607737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9792541539999 meters 0.0132120693740412 Centerline is valid? [True, True] Translation: X:826.59, Y:12.03, Z:5.70 [[ 9.75131421e-01 -2.21230884e-01 -1.32516651e-02 8.26589071e+02] [ 2.21211079e-01 9.75221459e-01 -2.96050407e-03 1.20269402e+01] [ 1.35782631e-02 -4.45345936e-05 9.99907810e-01 5.69646854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0092541539999 meters 0.013140166365788528 Centerline is valid? [True, True] Translation: X:826.62, Y:12.03, Z:5.70 [[ 9.74995873e-01 -2.21825968e-01 -1.32772929e-02 8.26616356e+02] [ 2.21806104e-01 9.75086272e-01 -2.96901935e-03 1.20331066e+01] [ 1.36051116e-02 -5.02029842e-05 9.99907445e-01 5.69726442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0392541539999 meters 0.016064307857291158 Centerline is valid? [True, True] Translation: X:826.64, Y:12.04, Z:5.70 [[ 9.74863325e-01 -2.22351521e-01 -1.41879420e-02 8.26644966e+02] [ 2.22328834e-01 9.74966562e-01 -3.17672808e-03 1.20398962e+01] [ 1.45391194e-02 -5.75129096e-05 9.99894300e-01 5.69599883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0692541539999 meters 0.0132696462465445 Centerline is valid? [True, True] Translation: X:826.67, Y:12.05, Z:5.70 [[ 9.74918184e-01 -2.22131120e-01 -1.38672325e-02 8.26671236e+02] [ 2.22109388e-01 9.75016801e-01 -3.10754928e-03 1.20454921e+01] [ 1.42110681e-02 -5.04362363e-05 9.99899016e-01 5.69650020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0992541539999 meters 0.013371438817543418 Centerline is valid? [True, True] Translation: X:826.70, Y:12.05, Z:5.70 [[ 9.74732084e-01 -2.22903544e-01 -1.45387376e-02 8.26698392e+02] [ 2.22879695e-01 9.74840503e-01 -3.26120955e-03 1.20510194e+01] [ 1.48998855e-02 -6.15838243e-05 9.99888989e-01 5.69647599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1292541539999 meters 0.014854107500683838 Centerline is valid? [True, True] Translation: X:826.73, Y:12.06, Z:5.70 [[ 9.74321145e-01 -2.24598876e-01 -1.59264178e-02 8.26726884e+02] [ 2.24570409e-01 9.74451300e-01 -3.57699311e-03 1.20562458e+01] [ 1.63229071e-02 -9.14621323e-05 9.99866768e-01 5.69529529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1592541539999 meters 0.013550608220413606 Centerline is valid? [True, True] Translation: X:826.75, Y:12.06, Z:5.70 [[ 9.74229062e-01 -2.25024608e-01 -1.55454055e-02 8.26754844e+02] [ 2.24997474e-01 9.74353076e-01 -3.49567571e-03 1.20619684e+01] [ 1.59333267e-02 -9.20880907e-05 9.99873052e-01 5.69586309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1892541539999 meters 0.014596257596822157 Centerline is valid? [True, True] Translation: X:826.78, Y:12.07, Z:5.70 [[ 9.74131348e-01 -2.25412758e-01 -1.60376361e-02 8.26781811e+02] [ 2.25383882e-01 9.74263352e-01 -3.60923694e-03 1.20676444e+01] [ 1.64384491e-02 -9.87538431e-05 9.99864875e-01 5.69511535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2192541539999 meters 0.014596257596822157 Centerline is valid? [True, True] Translation: X:826.81, Y:12.07, Z:5.70 [[ 9.74070663e-01 -2.25674899e-01 -1.60369430e-02 8.26808706e+02] [ 2.25646009e-01 9.74202664e-01 -3.61231470e-03 1.20737963e+01] [ 1.64384413e-02 -1.00022404e-04 9.99864875e-01 5.69530629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2492541539999 meters 0.01495463452465509 Centerline is valid? [True, True] Translation: X:826.84, Y:12.08, Z:5.70 [[ 9.74086829e-01 -2.25570073e-01 -1.65224326e-02 8.26835927e+02] [ 2.25539312e-01 9.74226941e-01 -3.72640791e-03 1.20804777e+01] [ 1.69371651e-02 -9.66132085e-05 9.99856551e-01 5.69540373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2792541539999 meters 0.016457089196883923 Centerline is valid? [True, True] Translation: X:826.86, Y:12.09, Z:5.70 [[ 9.74135274e-01 -2.25303576e-01 -1.72848474e-02 8.26863166e+02] [ 2.25269778e-01 9.74288607e-01 -3.90348594e-03 1.20895547e+01] [ 1.77198993e-02 -9.12303882e-05 9.99842986e-01 5.69581199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3092541539999 meters 0.014620275962848216 Centerline is valid? [True, True] Translation: X:826.89, Y:12.10, Z:5.70 [[ 9.74166892e-01 -2.25202724e-01 -1.68107129e-02 8.26889904e+02] [ 2.25170653e-01 9.74311925e-01 -3.80136123e-03 1.20966547e+01] [ 1.72349549e-02 -8.21189481e-05 9.99851464e-01 5.69678312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3392541539998 meters 0.013351250406454917 Centerline is valid? [True, True] Translation: X:826.92, Y:12.10, Z:5.70 [[ 9.74119249e-01 -2.25450376e-01 -1.62424549e-02 8.26917615e+02] [ 2.25420392e-01 9.74254649e-01 -3.67766295e-03 1.21032500e+01] [ 1.66534177e-02 -7.88982815e-05 9.99861319e-01 5.69762621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3692541539999 meters 0.016272148818191664 Centerline is valid? [True, True] Translation: X:826.95, Y:12.11, Z:5.70 [[ 9.73674246e-01 -2.27246812e-01 -1.78142769e-02 8.26945167e+02] [ 2.27210984e-01 9.73837190e-01 -4.03681651e-03 1.21089032e+01] [ 1.82655590e-02 -1.17055109e-04 9.99833164e-01 5.69756607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3992541539999 meters 0.014543550869963721 Centerline is valid? [True, True] Translation: X:826.97, Y:12.11, Z:5.70 [[ 9.73480182e-01 -2.28123564e-01 -1.72038956e-02 8.26972025e+02] [ 2.28090253e-01 9.73632181e-01 -3.90044528e-03 1.21142966e+01] [ 1.76400499e-02 -1.27034713e-04 9.99844394e-01 5.69862675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4292541539999 meters 0.016612663678417454 Centerline is valid? [True, True] Translation: X:827.00, Y:12.12, Z:5.70 [[ 9.72976699e-01 -2.30240562e-01 -1.74821783e-02 8.26999330e+02] [ 2.30206471e-01 9.73133730e-01 -3.96538832e-03 1.21198408e+01] [ 1.79254906e-02 -1.66280140e-04 9.99839312e-01 5.69848801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4592541539998 meters 0.017132193097781332 Centerline is valid? [True, True] Translation: X:827.03, Y:12.13, Z:5.70 [[ 9.72802333e-01 -2.30978936e-01 -1.74457119e-02 8.27026690e+02] [ 2.30945041e-01 9.72958735e-01 -3.96079191e-03 1.21263392e+01] [ 1.78888173e-02 -1.75933038e-04 9.99839967e-01 5.69902431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4892541539999 meters 0.01641285105848668 Centerline is valid? [True, True] Translation: X:827.05, Y:12.13, Z:5.70 [[ 9.72775831e-01 -2.31107887e-01 -1.72141649e-02 8.27054304e+02] [ 2.31074820e-01 9.72928114e-01 -3.91311211e-03 1.21336634e+01] [ 1.76524960e-02 -1.71179158e-04 9.99844168e-01 5.69914836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5192541539999 meters 0.014616506738778394 Centerline is valid? [True, True] Translation: X:827.08, Y:12.14, Z:5.70 [[ 9.72950278e-01 -2.30352962e-01 -1.74719678e-02 8.27080423e+02] [ 2.30318682e-01 9.73107131e-01 -3.97691680e-03 1.21447407e+01] [ 1.79181910e-02 -1.54778284e-04 9.99839444e-01 5.70014685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5492541539999 meters 0.013811905704298676 Centerline is valid? [True, True] Translation: X:827.11, Y:12.15, Z:5.70 [[ 9.73178513e-01 -2.29437196e-01 -1.67974936e-02 8.27107033e+02] [ 2.29405325e-01 9.73323459e-01 -3.82630375e-03 1.21524426e+01] [ 1.72272910e-02 -1.29757890e-04 9.99851591e-01 5.69995838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5792541539998 meters 0.01368210921422883 Centerline is valid? [True, True] Translation: X:827.13, Y:12.16, Z:5.70 [[ 9.73319881e-01 -2.28805595e-01 -1.72165468e-02 8.27134205e+02] [ 2.28771948e-01 9.73472129e-01 -3.92558138e-03 1.21606259e+01] [ 1.76580235e-02 -1.17816552e-04 9.99844078e-01 5.70040932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6092541539999 meters 0.014009711228818335 Centerline is valid? [True, True] Translation: X:827.16, Y:12.17, Z:5.70 [[ 9.73433116e-01 -2.28312473e-01 -1.73603894e-02 8.27160903e+02] [ 2.28278121e-01 9.73587902e-01 -3.96183825e-03 1.21667444e+01] [ 1.78064022e-02 -1.06412525e-04 9.99841448e-01 5.69890785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6392541539999 meters 0.013646520182595373 Centerline is valid? [True, True] Translation: X:827.19, Y:12.18, Z:5.70 [[ 9.73507788e-01 -2.28052035e-01 -1.65788007e-02 8.27188802e+02] [ 2.28020611e-01 9.73648941e-01 -3.78686433e-03 1.21753000e+01] [ 1.70055339e-02 -9.37663587e-05 9.99855391e-01 5.70178293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6692541539999 meters 0.01685659214581484 Centerline is valid? [True, True] Translation: X:827.22, Y:12.18, Z:5.70 [[ 9.73182550e-01 -2.29353198e-01 -1.76871172e-02 8.27216756e+02] [ 2.29317561e-01 9.73343257e-01 -4.04476153e-03 1.21821383e+01] [ 1.81433153e-02 -1.19675230e-04 9.99835389e-01 5.70145729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6992541539998 meters 0.015310171856129515 Centerline is valid? [True, True] Translation: X:827.24, Y:12.19, Z:5.70 [[ 9.72902015e-01 -2.30655430e-01 -1.61164976e-02 8.27243921e+02] [ 2.30625946e-01 9.73035486e-01 -3.69001499e-03 1.21893207e+01] [ 1.65330461e-02 -1.26859496e-04 9.99863312e-01 5.70314457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7292541539999 meters 0.014527653631167488 Centerline is valid? [True, True] Translation: X:827.27, Y:12.20, Z:5.70 [[ 9.72914809e-01 -2.30687862e-01 -1.48285205e-02 8.27272080e+02] [ 2.30662846e-01 9.73027799e-01 -3.39910102e-03 1.21968803e+01] [ 1.52126941e-02 -1.13353038e-04 9.99884274e-01 5.70391587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7592541539999 meters 0.015315337715949251 Centerline is valid? [True, True] Translation: X:827.30, Y:12.21, Z:5.70 [[ 9.72945978e-01 -2.30592988e-01 -1.42476917e-02 8.27298850e+02] [ 2.30569849e-01 9.73050288e-01 -3.26835314e-03 1.22057546e+01] [ 1.46173798e-02 -1.05157075e-04 9.99893155e-01 5.70414026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7892541539999 meters 0.013665163586749808 Centerline is valid? [True, True] Translation: X:827.33, Y:12.21, Z:5.70 [[ 9.73109321e-01 -2.29946852e-01 -1.35164953e-02 8.27326732e+02] [ 2.29925932e-01 9.73203184e-01 -3.10295947e-03 1.22135411e+01] [ 1.38678121e-02 -8.82740015e-05 9.99903833e-01 5.70466249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8192541539999 meters 0.015914875990301534 Centerline is valid? [True, True] Translation: X:827.35, Y:12.22, Z:5.70 [[ 9.73061721e-01 -2.30046855e-01 -1.51436981e-02 8.27354455e+02] [ 2.30020542e-01 9.73179549e-01 -3.48066382e-03 1.22220141e+01] [ 1.55382531e-02 -9.64609340e-05 9.99879269e-01 5.70361515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8492541539999 meters 0.01355234325690799 Centerline is valid? [True, True] Translation: X:827.38, Y:12.23, Z:5.70 [[ 9.73350156e-01 -2.28855903e-01 -1.46441184e-02 8.27381581e+02] [ 2.28831126e-01 9.73460308e-01 -3.36828201e-03 1.22296372e+01] [ 1.50263193e-02 -7.25122994e-05 9.99887096e-01 5.70341364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8792541539999 meters 0.013657056095580688 Centerline is valid? [True, True] Translation: X:827.41, Y:12.24, Z:5.70 [[ 9.73634476e-01 -2.27536633e-01 -1.62169075e-02 8.27408163e+02] [ 2.27506039e-01 9.73769520e-01 -3.73158552e-03 1.22396272e+01] [ 1.66406026e-02 -5.62440730e-05 9.99861534e-01 5.70141174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9092541539999 meters 0.013385371392316813 Centerline is valid? [True, True] Translation: X:827.44, Y:12.25, Z:5.70 [[ 9.73721061e-01 -2.27136237e-01 -1.66260571e-02 8.27435108e+02] [ 2.27103961e-01 9.73862992e-01 -3.82930611e-03 1.22481280e+01] [ 1.70612759e-02 -4.71674164e-05 9.99854445e-01 5.70165411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9392541539999 meters 0.01636968800738107 Centerline is valid? [True, True] Translation: X:827.46, Y:12.26, Z:5.70 [[ 9.73634997e-01 -2.27430094e-01 -1.76194311e-02 8.27461361e+02] [ 2.27393836e-01 9.73794408e-01 -4.06124051e-03 1.22582871e+01] [ 1.80813518e-02 -5.23841476e-05 9.99836518e-01 5.69983478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9692541539999 meters 0.016012255354717893 Centerline is valid? [True, True] Translation: X:827.49, Y:12.27, Z:5.70 [[ 9.73600360e-01 -2.27592318e-01 -1.74377827e-02 8.27488385e+02] [ 2.27556762e-01 9.73756507e-01 -4.02315753e-03 1.22659475e+01] [ 1.78957941e-02 -5.11377464e-05 9.99839856e-01 5.70048915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9992541539999 meters 0.013548749166086657 Centerline is valid? [True, True] Translation: X:827.52, Y:12.27, Z:5.70 [[ 9.73693654e-01 -2.27289928e-01 -1.61231605e-02 8.27516690e+02] [ 2.27259420e-01 9.73827134e-01 -3.72411295e-03 1.22733011e+01] [ 1.65476245e-02 -3.79949517e-05 9.99863078e-01 5.70180596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0292541539999 meters 0.013520558736142638 Centerline is valid? [True, True] Translation: X:827.54, Y:12.28, Z:5.70 [[ 9.73685164e-01 -2.27391982e-01 -1.51686578e-02 8.27543042e+02] [ 2.27364955e-01 9.73803309e-01 -3.50603964e-03 1.22812636e+01] [ 1.55685345e-02 -3.50424041e-05 9.99878802e-01 5.70257231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0592541539999 meters 0.013493372193442385 Centerline is valid? [True, True] Translation: X:827.57, Y:12.29, Z:5.70 [[ 9.73700158e-01 -2.27368348e-01 -1.45477331e-02 8.27569939e+02] [ 2.27343442e-01 9.73808828e-01 -3.36538739e-03 1.22889802e+01] [ 1.49318935e-02 -3.04534967e-05 9.99888513e-01 5.70315974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0892541539998 meters 0.014753478120668177 Centerline is valid? [True, True] Translation: X:827.60, Y:12.30, Z:5.70 [[ 9.73682910e-01 -2.27427706e-01 -1.47725897e-02 8.27596731e+02] [ 2.27401964e-01 9.73794967e-01 -3.42178262e-03 1.22969510e+01] [ 1.51636816e-02 -2.75846473e-05 9.99885024e-01 5.70275625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1192541539999 meters 0.013603926491400728 Centerline is valid? [True, True] Translation: X:827.62, Y:12.31, Z:5.70 [[ 9.74047644e-01 -2.25853239e-01 -1.48829432e-02 8.27622416e+02] [ 2.25826881e-01 9.74161339e-01 -3.45040201e-03 1.23052245e+01] [ 1.52776724e-02 -1.12703743e-07 9.99883290e-01 5.70226938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1492541539999 meters 0.015344911846410611 Centerline is valid? [True, True] Translation: X:827.65, Y:12.31, Z:5.70 [[ 9.73927788e-01 -2.26332617e-01 -1.54340667e-02 8.27649547e+02] [ 2.26304275e-01 9.74050074e-01 -3.58165940e-03 1.23129155e+01] [ 1.58442002e-02 -4.51767514e-06 9.99874473e-01 5.70140265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1792541539999 meters 0.016103052055252524 Centerline is valid? [True, True] Translation: X:827.68, Y:12.32, Z:5.70 [[ 9.73887209e-01 -2.26487536e-01 -1.57194373e-02 8.27676681e+02] [ 2.26458081e-01 9.74014064e-01 -3.65262318e-03 1.23201754e+01] [ 1.61382266e-02 -2.55061100e-06 9.99869770e-01 5.70127730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2092541539998 meters 0.01673614216864589 Centerline is valid? [True, True] Translation: X:827.70, Y:12.33, Z:5.70 [[ 9.73861887e-01 -2.26639297e-01 -1.50882236e-02 8.27703688e+02] [ 2.26612109e-01 9.73978762e-01 -3.51043529e-03 1.23276922e+01] [ 1.54912119e-02 -4.95035314e-07 9.99880004e-01 5.70163978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2392541539999 meters 0.016719442984464393 Centerline is valid? [True, True] Translation: X:827.73, Y:12.33, Z:5.70 [[ 9.73814707e-01 -2.26873528e-01 -1.46054258e-02 8.27730143e+02] [ 2.26848033e-01 9.73924228e-01 -3.40113253e-03 1.23344563e+01] [ 1.49962050e-02 -1.13921969e-06 9.99887551e-01 5.70124078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2692541539999 meters 0.013606248143119238 Centerline is valid? [True, True] Translation: X:827.76, Y:12.34, Z:5.70 [[ 9.73965419e-01 -2.26294587e-01 -1.34952500e-02 8.27757712e+02] [ 2.26272726e-01 9.74058910e-01 -3.14540082e-03 1.23412536e+01] [ 1.38569557e-02 9.90461730e-06 9.99903988e-01 5.70287374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2992541539999 meters 0.014852624049052821 Centerline is valid? [True, True] Translation: X:827.78, Y:12.35, Z:5.70 [[ 9.73697475e-01 -2.27455676e-01 -1.33095108e-02 8.27784687e+02] [ 2.27434468e-01 9.73788435e-01 -3.10600009e-03 1.23484319e+01] [ 1.36671250e-02 -2.73705951e-06 9.99906600e-01 5.70210772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3292541539998 meters 0.016445104969196586 Centerline is valid? [True, True] Translation: X:827.81, Y:12.36, Z:5.70 [[ 9.73486087e-01 -2.28357936e-01 -1.33225778e-02 8.27812058e+02] [ 2.28336717e-01 9.73577245e-01 -3.11302149e-03 1.23555596e+01] [ 1.36814417e-02 -1.15505607e-05 9.99906405e-01 5.70121560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3592541539999 meters 0.013463819946168715 Centerline is valid? [True, True] Translation: X:827.84, Y:12.36, Z:5.70 [[ 9.73584134e-01 -2.27955531e-01 -1.30464566e-02 8.27838925e+02] [ 2.27935095e-01 9.73671544e-01 -3.05235131e-03 1.23623206e+01] [ 1.33987639e-02 -2.02451736e-06 9.99910233e-01 5.70263614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3892541539999 meters 0.01613424151595232 Centerline is valid? [True, True] Translation: X:827.87, Y:12.37, Z:5.70 [[ 9.73280725e-01 -2.29296272e-01 -1.21593729e-02 8.27866138e+02] [ 2.29278582e-01 9.73356676e-01 -2.84827618e-03 1.23699742e+01] [ 1.24885059e-02 -1.57114613e-05 9.99922015e-01 5.70110795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4192541539999 meters 0.014806851475879082 Centerline is valid? [True, True] Translation: X:827.89, Y:12.38, Z:5.70 [[ 9.73328834e-01 -2.29132589e-01 -1.13682390e-02 8.27892007e+02] [ 2.29117086e-01 9.73395221e-01 -2.66541064e-03 1.23765204e+01] [ 1.16765219e-02 -1.03367570e-05 9.99931827e-01 5.70218691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4492541539998 meters 0.013503733600602663 Centerline is valid? [True, True] Translation: X:827.92, Y:12.38, Z:5.70 [[ 9.73442225e-01 -2.28707762e-01 -1.01486205e-02 8.27919284e+02] [ 2.28695365e-01 9.73495126e-01 -2.38124952e-03 1.23836637e+01] [ 1.04242429e-02 -2.93365015e-06 9.99945666e-01 5.70392477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4792541539999 meters 0.013861271453951537 Centerline is valid? [True, True] Translation: X:827.95, Y:12.39, Z:5.70 [[ 9.73447349e-01 -2.28736072e-01 -8.94803123e-03 8.27945857e+02] [ 2.28726414e-01 9.73488474e-01 -2.10198872e-03 1.23912070e+01] [ 9.19160592e-03 -4.75745802e-07 9.99957756e-01 5.70376714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5092541539999 meters 0.013409492851484964 Centerline is valid? [True, True] Translation: X:827.97, Y:12.40, Z:5.70 [[ 9.73923442e-01 -2.26750472e-01 -7.57313974e-03 8.27972217e+02] [ 2.26743478e-01 9.73952886e-01 -1.78096831e-03 1.24003232e+01] [ 7.77971671e-03 1.73667365e-05 9.99969737e-01 5.70453109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5392541539999 meters 0.017045063907518244 Centerline is valid? [True, True] Translation: X:828.00, Y:12.41, Z:5.70 [[ 9.74038437e-01 -2.26254433e-01 -7.61936460e-03 8.27997826e+02] [ 2.26247321e-01 9.74068237e-01 -1.79403314e-03 1.24085223e+01] [ 7.82768899e-03 2.35964036e-05 9.99969363e-01 5.70226902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5692541539999 meters 0.013585450975403646 Centerline is valid? [True, True] Translation: X:828.03, Y:12.42, Z:5.70 [[ 9.74553952e-01 -2.24020531e-01 -7.70697257e-03 8.28025991e+02] [ 2.24013175e-01 9.74584424e-01 -1.81582210e-03 1.24165814e+01] [ 7.91787685e-03 4.31532023e-05 9.99968652e-01 5.70409241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5992541539999 meters 0.016484380048822536 Centerline is valid? [True, True] Translation: X:828.05, Y:12.43, Z:5.70 [[ 9.74986619e-01 -2.22073849e-01 -9.18142348e-03 8.28052860e+02] [ 2.22063302e-01 9.75029846e-01 -2.16558005e-03 1.24254819e+01] [ 9.43308062e-03 7.25543569e-05 9.99955505e-01 5.70067251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6292541539999 meters 0.01524584252263324 Centerline is valid? [True, True] Translation: X:828.08, Y:12.43, Z:5.70 [[ 9.75135634e-01 -2.21369603e-01 -1.02953509e-02 8.28081094e+02] [ 2.21356284e-01 9.75189977e-01 -2.42996341e-03 1.24327485e+01] [ 1.05778430e-02 9.06032929e-05 9.99944049e-01 5.70053583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6592541539999 meters 0.01564778587843472 Centerline is valid? [True, True] Translation: X:828.11, Y:12.44, Z:5.70 [[ 9.75190064e-01 -2.21108761e-01 -1.07357154e-02 8.28107558e+02] [ 2.21094238e-01 9.75249151e-01 -2.53619823e-03 1.24397774e+01] [ 1.10307729e-02 9.96705050e-05 9.99939154e-01 5.69972054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6892541539999 meters 0.015614481809496436 Centerline is valid? [True, True] Translation: X:828.13, Y:12.45, Z:5.70 [[ 9.75016644e-01 -2.21864106e-01 -1.09023787e-02 8.28134886e+02] [ 2.21849153e-01 9.75077591e-01 -2.57758271e-03 1.24462018e+01] [ 1.12025382e-02 9.45025659e-05 9.99937245e-01 5.69884237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7192541539999 meters 0.01517484050318162 Centerline is valid? [True, True] Translation: X:828.16, Y:12.45, Z:5.70 [[ 9.74763958e-01 -2.22999560e-01 -1.03161526e-02 8.28162548e+02] [ 2.22986203e-01 9.74818542e-01 -2.44196333e-03 1.24520787e+01] [ 1.06009336e-02 7.99781461e-05 9.99943805e-01 5.69939814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7492541539999 meters 0.016116939095959685 Centerline is valid? [True, True] Translation: X:828.19, Y:12.46, Z:5.70 [[ 9.73994021e-01 -2.26376948e-01 -9.44052227e-03 8.28190332e+02] [ 2.26365901e-01 9.74039771e-01 -2.23678097e-03 1.24559076e+01] [ 9.70179980e-03 4.15989599e-05 9.99952936e-01 5.69909773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7792541539999 meters 0.013405770752372757 Centerline is valid? [True, True] Translation: X:828.22, Y:12.46, Z:5.70 [[ 9.73682387e-01 -2.27731199e-01 -9.00612135e-03 8.28218331e+02] [ 2.27721191e-01 9.73724037e-01 -2.13513123e-03 1.24605998e+01] [ 9.25571284e-03 2.80549950e-05 9.99957165e-01 5.70122259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8092541539999 meters 0.015560679815387085 Centerline is valid? [True, True] Translation: X:828.25, Y:12.47, Z:5.70 [[ 9.73009987e-01 -2.30596942e-01 -8.75303406e-03 8.28246193e+02] [ 2.30587582e-01 9.73049356e-01 -2.07770443e-03 1.24655918e+01] [ 8.99624645e-03 3.28619920e-06 9.99959533e-01 5.69962393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8392541539998 meters 0.01722811994143523 Centerline is valid? [True, True] Translation: X:828.27, Y:12.47, Z:5.70 [[ 9.72279502e-01 -2.33682591e-01 -8.06331278e-03 8.28272863e+02] [ 2.33674737e-01 9.72312936e-01 -1.91601817e-03 1.24688746e+01] [ 8.28780342e-03 -2.12873017e-05 9.99965655e-01 5.69967161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8692541539999 meters 0.017012315202850216 Centerline is valid? [True, True] Translation: X:828.30, Y:12.47, Z:5.70 [[ 9.72037123e-01 -2.34711286e-01 -7.37863613e-03 8.28300226e+02] [ 2.34704732e-01 9.72065127e-01 -1.75431310e-03 1.24743654e+01] [ 7.58427195e-03 -2.65433536e-05 9.99971239e-01 5.70051453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8992541539999 meters 0.013466876416587312 Centerline is valid? [True, True] Translation: X:828.33, Y:12.48, Z:5.70 [[ 9.72089066e-01 -2.34526992e-01 -6.31955948e-03 8.28327909e+02] [ 2.34522170e-01 9.72109608e-01 -1.50409115e-03 1.24800690e+01] [ 6.49605446e-03 -1.99662420e-05 9.99978900e-01 5.70397566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9292541539999 meters 0.013444253733971782 Centerline is valid? [True, True] Translation: X:828.36, Y:12.49, Z:5.70 [[ 9.72069479e-01 -2.34630573e-01 -5.42431143e-03 8.28355683e+02] [ 2.34627014e-01 9.72084613e-01 -1.29233295e-03 1.24865820e+01] [ 5.57611049e-03 -1.64525827e-05 9.99984453e-01 5.70474112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9592541539998 meters 0.013567220210915892 Centerline is valid? [True, True] Translation: X:828.38, Y:12.49, Z:5.70 [[ 9.72513471e-01 -2.32799484e-01 -4.68504676e-03 8.28382831e+02] [ 2.32796803e-01 9.72524756e-01 -1.11728216e-03 1.24946831e+01] [ 4.81642666e-03 -4.09195747e-06 9.99988401e-01 5.70443479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9892541539999 meters 0.014660359011791198 Centerline is valid? [True, True] Translation: X:828.41, Y:12.50, Z:5.70 [[ 9.72789080e-01 -2.31633697e-01 -5.21874117e-03 8.28409479e+02] [ 2.31630344e-01 9.72803079e-01 -1.24641053e-03 1.25023056e+01] [ 5.36551816e-03 3.67574249e-06 9.99985605e-01 5.70229985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0192541539999 meters 0.015325577887689004 Centerline is valid? [True, True] Translation: X:828.44, Y:12.51, Z:5.70 [[ 9.73922313e-01 -2.26757895e-01 -7.49574409e-03 8.28435752e+02] [ 2.26750809e-01 9.73951156e-01 -1.79329677e-03 1.25118260e+01] [ 7.70713283e-03 4.68657019e-05 9.99970299e-01 5.69941660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0492541539999 meters 0.013972123281915619 Centerline is valid? [True, True] Translation: X:828.46, Y:12.52, Z:5.70 [[ 9.74622249e-01 -2.23669854e-01 -9.12517196e-03 8.28462377e+02] [ 2.23659207e-01 9.74664962e-01 -2.18413377e-03 1.25200538e+01] [ 9.38251027e-03 8.77766419e-05 9.99955979e-01 5.69962698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0792541539998 meters 0.01435899416096639 Centerline is valid? [True, True] Translation: X:828.49, Y:12.53, Z:5.70 [[ 9.75198528e-01 -2.21080469e-01 -1.05478081e-02 8.28488564e+02] [ 2.21066077e-01 9.75255561e-01 -2.52600522e-03 1.25281249e+01] [ 1.08452589e-02 1.31594012e-04 9.99941180e-01 5.69860140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1092541539999 meters 0.017525370302410904 Centerline is valid? [True, True] Translation: X:828.52, Y:12.54, Z:5.70 [[ 9.75878709e-01 -2.17980368e-01 -1.20542590e-02 8.28516204e+02] [ 2.17961302e-01 9.75953135e-01 -2.88943213e-03 1.25369035e+01] [ 1.23942314e-02 1.92373302e-04 9.99923170e-01 5.69546672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1392541539999 meters 0.017525370302410904 Centerline is valid? [True, True] Translation: X:828.54, Y:12.54, Z:5.70 [[ 9.75816604e-01 -2.18258259e-01 -1.20534938e-02 8.28543006e+02] [ 2.18239175e-01 9.75891026e-01 -2.89262143e-03 1.25434138e+01] [ 1.23942350e-02 1.92123477e-04 9.99923170e-01 5.69565726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1692541539999 meters 0.015344293984765901 Centerline is valid? [True, True] Translation: X:828.57, Y:12.55, Z:5.70 [[ 9.76255843e-01 -2.16296991e-01 -1.18381187e-02 8.28570770e+02] [ 2.16278398e-01 9.76327591e-01 -2.84427076e-03 1.25504863e+01] [ 1.21730891e-02 2.16406596e-04 9.99925882e-01 5.69792482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1992541539998 meters 0.018069976159247814 Centerline is valid? [True, True] Translation: X:828.60, Y:12.56, Z:5.70 [[ 9.76244741e-01 -2.16369698e-01 -1.14175452e-02 8.28597377e+02] [ 2.16352376e-01 9.76311482e-01 -2.74588993e-03 1.25574737e+01] [ 1.17412078e-02 2.10447569e-04 9.99931047e-01 5.69626039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2292541539999 meters 0.01841268004202237 Centerline is valid? [True, True] Translation: X:828.63, Y:12.56, Z:5.70 [[ 9.76251993e-01 -2.16347042e-01 -1.12251197e-02 8.28625079e+02] [ 2.16330266e-01 9.76316503e-01 -2.70234089e-03 1.25628174e+01] [ 1.15439130e-02 2.09832562e-04 9.99933345e-01 5.69662447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2592541539999 meters 0.016513185498643987 Centerline is valid? [True, True] Translation: X:828.65, Y:12.57, Z:5.70 [[ 9.76156462e-01 -2.16830119e-01 -1.01617755e-02 8.28653381e+02] [ 2.16816366e-01 9.76209334e-01 -2.44929502e-03 1.25663469e+01] [ 1.04511011e-02 1.87655908e-04 9.99945368e-01 5.69849647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2892541539999 meters 0.015170037453986466 Centerline is valid? [True, True] Translation: X:828.68, Y:12.57, Z:5.70 [[ 9.76100556e-01 -2.17084064e-01 -1.01101226e-02 8.28679913e+02] [ 2.17070438e-01 9.76152895e-01 -2.43941198e-03 1.25720285e+01] [ 1.03985830e-02 1.86502640e-04 9.99945916e-01 5.70015156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3192541539999 meters 0.016142830058977434 Centerline is valid? [True, True] Translation: X:828.71, Y:12.58, Z:5.70 [[ 9.75766239e-01 -2.18586505e-01 -1.00093044e-02 8.28708287e+02] [ 2.18573210e-01 9.75817560e-01 -2.41687368e-03 1.25759044e+01] [ 1.02955510e-02 1.70537936e-04 9.99946985e-01 5.69921928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3492541539999 meters 0.01481237376646553 Centerline is valid? [True, True] Translation: X:828.74, Y:12.58, Z:5.70 [[ 9.75782735e-01 -2.18501650e-01 -1.02510192e-02 8.28735812e+02] [ 2.18487669e-01 9.75836563e-01 -2.47818860e-03 1.25807316e+01] [ 1.05448076e-02 1.78452370e-04 9.99944386e-01 5.70097464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3792541539999 meters 0.01637093495350745 Centerline is valid? [True, True] Translation: X:828.76, Y:12.59, Z:5.70 [[ 9.75647896e-01 -2.19110366e-01 -1.00910818e-02 8.28763405e+02] [ 2.19096818e-01 9.75700065e-01 -2.44263258e-03 1.25864928e+01] [ 1.03810753e-02 1.72225412e-04 9.99946100e-01 5.69931296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4092541539999 meters 0.015202044312369193 Centerline is valid? [True, True] Translation: X:828.79, Y:12.59, Z:5.70 [[ 9.75927548e-01 -2.17809503e-01 -1.11553251e-02 8.28790949e+02] [ 2.17792828e-01 9.75991279e-01 -2.70318337e-03 1.25913403e+01] [ 1.14762790e-02 2.08561316e-04 9.99934124e-01 5.70065495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4392541539999 meters 0.01703437421181621 Centerline is valid? [True, True] Translation: X:828.82, Y:12.60, Z:5.70 [[ 9.75925765e-01 -2.17822249e-01 -1.10620728e-02 8.28817356e+02] [ 2.17805831e-01 9.75988435e-01 -2.68244331e-03 1.25973496e+01] [ 1.13807510e-02 2.08481581e-04 9.99935215e-01 5.69872935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4692541539999 meters 0.016979290922042305 Centerline is valid? [True, True] Translation: X:828.85, Y:12.60, Z:5.70 [[ 9.76149115e-01 -2.16782319e-01 -1.17614210e-02 8.28845779e+02] [ 2.16763650e-01 9.76219939e-01 -2.85484498e-03 1.26029915e+01] [ 1.21006136e-02 2.37305859e-04 9.99926757e-01 5.69930330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4992541539999 meters 0.018681127376920535 Centerline is valid? [True, True] Translation: X:828.87, Y:12.61, Z:5.70 [[ 9.76551044e-01 -2.14876092e-01 -1.32786586e-02 8.28873140e+02] [ 2.14852084e-01 9.76641273e-01 -3.22574565e-03 1.26084975e+01] [ 1.36616217e-02 2.97157805e-04 9.99906632e-01 5.69776183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5292541539999 meters 0.01689813422881873 Centerline is valid? [True, True] Translation: X:828.90, Y:12.61, Z:5.70 [[ 9.76899443e-01 -2.13246899e-01 -1.39010229e-02 8.28901343e+02] [ 2.13220386e-01 9.76998284e-01 -3.37948065e-03 1.26140056e+01] [ 1.43019393e-02 3.37431284e-04 9.99897665e-01 5.69964870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5592541539999 meters 0.017654075440276435 Centerline is valid? [True, True] Translation: X:828.93, Y:12.62, Z:5.70 [[ 9.77136467e-01 -2.12110155e-01 -1.46153017e-02 8.28928427e+02] [ 2.12080680e-01 9.77245692e-01 -3.55572632e-03 1.26206332e+01] [ 1.50369462e-02 3.74806734e-04 9.99886868e-01 5.69864640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5892541539998 meters 0.018294932389647946 Centerline is valid? [True, True] Translation: X:828.96, Y:12.62, Z:5.70 [[ 9.77465987e-01 -2.10520993e-01 -1.55291740e-02 8.28956640e+02] [ 2.10487494e-01 9.77589244e-01 -3.77954255e-03 1.26249709e+01] [ 1.59768265e-02 4.25677374e-04 9.99872272e-01 5.69794054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6192541539999 meters 0.017596429962334795 Centerline is valid? [True, True] Translation: X:828.99, Y:12.63, Z:5.70 [[ 9.77547487e-01 -2.10144686e-01 -1.54958324e-02 8.28985130e+02] [ 2.10111236e-01 9.77670201e-01 -3.77440081e-03 1.26283373e+01] [ 1.59429839e-02 4.33807536e-04 9.99872808e-01 5.69892613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6492541539999 meters 0.018859330917297308 Centerline is valid? [True, True] Translation: X:829.01, Y:12.63, Z:5.70 [[ 9.77601649e-01 -2.09905494e-01 -1.53199297e-02 8.29011902e+02] [ 2.09872728e-01 9.77721583e-01 -3.73415462e-03 1.26349031e+01] [ 1.57624455e-02 4.35280272e-04 9.99875670e-01 5.69874622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6792541539999 meters 0.01987919927719145 Centerline is valid? [True, True] Translation: X:829.04, Y:12.64, Z:5.70 [[ 9.77471986e-01 -2.10520285e-01 -1.51567049e-02 8.29040302e+02] [ 2.10488237e-01 9.77589397e-01 -3.69757483e-03 1.26378524e+01] [ 1.55954485e-02 4.23967712e-04 9.99878294e-01 5.69772424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7092541539998 meters 0.01769714902145606 Centerline is valid? [True, True] Translation: X:829.07, Y:12.64, Z:5.70 [[ 9.77740319e-01 -2.09350857e-01 -1.40031253e-02 8.29068905e+02] [ 2.09323345e-01 9.77840503e-01 -3.41875491e-03 1.26403008e+01] [ 1.44085423e-02 4.11473494e-04 9.99896107e-01 5.70180540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7392541539999 meters 0.017894075960072593 Centerline is valid? [True, True] Translation: X:829.10, Y:12.65, Z:5.70 [[ 9.77826492e-01 -2.08989780e-01 -1.33649671e-02 8.29097493e+02] [ 2.08964652e-01 9.77917743e-01 -3.26537530e-03 1.26460996e+01] [ 1.37522686e-02 4.00164772e-04 9.99905353e-01 5.70271906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7692541539999 meters 0.018755896148780107 Centerline is valid? [True, True] Translation: X:829.13, Y:12.65, Z:5.70 [[ 9.78286996e-01 -2.06901780e-01 -1.20916320e-02 8.29125431e+02] [ 2.06881022e-01 9.78361641e-01 -2.95669843e-03 1.26512289e+01] [ 1.24417351e-02 3.90970447e-04 9.99922522e-01 5.70420196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7992541539999 meters 0.021034972957131647 Centerline is valid? [True, True] Translation: X:829.15, Y:12.66, Z:5.70 [[ 9.78532896e-01 -2.05718089e-01 -1.23870368e-02 8.29151897e+02] [ 2.05696188e-01 9.78611207e-01 -3.03057917e-03 1.26586011e+01] [ 1.27455379e-02 4.17555167e-04 9.99918685e-01 5.70266887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8292541539998 meters 0.025050438976435357 Centerline is valid? [True, True] Translation: X:829.18, Y:12.67, Z:5.70 [[ 9.78756501e-01 -2.04626562e-01 -1.27938224e-02 8.29177375e+02] [ 2.04603089e-01 9.78840012e-01 -3.13147136e-03 1.26702868e+01] [ 1.31638875e-02 4.47292370e-04 9.99913252e-01 5.70120041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8592541539999 meters 0.019990382766605065 Centerline is valid? [True, True] Translation: X:829.21, Y:12.67, Z:5.70 [[ 9.78846242e-01 -2.04070483e-01 -1.46721838e-02 8.29206882e+02] [ 2.04039505e-01 9.78956058e-01 -3.59408870e-03 1.26713711e+01] [ 1.50968706e-02 5.24355105e-04 9.99885898e-01 5.70347863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8892541539999 meters 0.025376622101531007 Centerline is valid? [True, True] Translation: X:829.23, Y:12.68, Z:5.70 [[ 9.78798778e-01 -2.04216394e-01 -1.57676023e-02 8.29232649e+02] [ 2.04180591e-01 9.78925608e-01 -3.86522371e-03 1.26848735e+01] [ 1.62246517e-02 5.63837879e-04 9.99868213e-01 5.69899586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9192541539999 meters 0.019536253276994056 Centerline is valid? [True, True] Translation: X:829.26, Y:12.69, Z:5.70 [[ 9.78934509e-01 -2.03539056e-01 -1.60959497e-02 8.29262296e+02] [ 2.03501601e-01 9.79066650e-01 -3.94893021e-03 1.26854983e+01] [ 1.65627691e-02 5.90192524e-04 9.99862654e-01 5.70266380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9492541539998 meters 0.021628119068079394 Centerline is valid? [True, True] Translation: X:829.29, Y:12.70, Z:5.70 [[ 9.79098327e-01 -2.02703662e-01 -1.66640872e-02 8.29288376e+02] [ 2.02663337e-01 9.79239925e-01 -4.09166236e-03 1.26952999e+01] [ 1.71475345e-02 6.28940234e-04 9.99852772e-01 5.70015350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9792541539999 meters 0.0236008975593214 Centerline is valid? [True, True] Translation: X:829.32, Y:12.70, Z:5.70 [[ 9.79114595e-01 -2.02617643e-01 -1.67541084e-02 8.29315197e+02] [ 2.02576835e-01 9.79257722e-01 -4.11570984e-03 1.27045049e+01] [ 1.72405055e-02 6.35757316e-04 9.99851169e-01 5.69896110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0092541539999 meters 0.019787843597284454 Centerline is valid? [True, True] Translation: X:829.34, Y:12.71, Z:5.70 [[ 9.79218784e-01 -2.02149647e-01 -1.63123517e-02 8.29344091e+02] [ 2.02110843e-01 9.79354442e-01 -4.01046655e-03 1.27087363e+01] [ 1.67862885e-02 6.30221016e-04 9.99858902e-01 5.70309972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0392541539999 meters 0.022629103528592577 Centerline is valid? [True, True] Translation: X:829.37, Y:12.72, Z:5.70 [[ 9.78973362e-01 -2.03296858e-01 -1.67792558e-02 8.29371070e+02] [ 2.03255911e-01 9.79116943e-01 -4.12862705e-03 1.27159760e+01] [ 1.72681906e-02 6.31332975e-04 9.99850694e-01 5.70007706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0692541539999 meters 0.02205244295226338 Centerline is valid? [True, True] Translation: X:829.40, Y:12.72, Z:5.70 [[ 9.78872960e-01 -2.03795644e-01 -1.65850180e-02 8.29398244e+02] [ 2.03755643e-01 9.79013254e-01 -4.08486001e-03 1.27227598e+01] [ 1.70694291e-02 6.19267995e-04 9.99854115e-01 5.70128977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0992541539999 meters 0.022160701185189747 Centerline is valid? [True, True] Translation: X:829.43, Y:12.73, Z:5.70 [[ 9.78758819e-01 -2.04339735e-01 -1.66267133e-02 8.29425532e+02] [ 2.04299522e-01 9.78899838e-01 -4.10030720e-03 1.27292532e+01] [ 1.71137426e-02 6.16382260e-04 9.99853359e-01 5.70134312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1292541539999 meters 0.019989678641480567 Centerline is valid? [True, True] Translation: X:829.45, Y:12.74, Z:5.70 [[ 9.78850259e-01 -2.03972605e-01 -1.57272625e-02 8.29453868e+02] [ 2.03936506e-01 9.78976417e-01 -3.88292999e-03 1.27363488e+01] [ 1.61886304e-02 5.93444063e-04 9.99868779e-01 5.70471989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1592541539999 meters 0.020306585573668184 Centerline is valid? [True, True] Translation: X:829.48, Y:12.74, Z:5.70 [[ 9.78664972e-01 -2.04877117e-01 -1.54996674e-02 8.29481077e+02] [ 2.04842102e-01 9.78787534e-01 -3.83092096e-03 1.27445839e+01] [ 1.59557493e-02 5.74203696e-04 9.99872534e-01 5.70489848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1892541539999 meters 0.021062535484928334 Centerline is valid? [True, True] Translation: X:829.51, Y:12.75, Z:5.70 [[ 9.78482580e-01 -2.05739201e-01 -1.55955871e-02 8.29507943e+02] [ 2.05703818e-01 9.78606693e-01 -3.85730589e-03 1.27527452e+01] [ 1.60555450e-02 5.66234804e-04 9.99870941e-01 5.70428563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2192541539999 meters 0.020534327556157986 Centerline is valid? [True, True] Translation: X:829.54, Y:12.76, Z:5.71 [[ 9.78356343e-01 -2.06416731e-01 -1.45258469e-02 8.29535578e+02] [ 2.06386070e-01 9.78464033e-01 -3.59538539e-03 1.27597632e+01] [ 1.49551665e-02 5.19635640e-04 9.99888030e-01 5.70531721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2492541539999 meters 0.020055721619613404 Centerline is valid? [True, True] Translation: X:829.56, Y:12.77, Z:5.71 [[ 9.78036156e-01 -2.08006341e-01 -1.33656419e-02 8.29563527e+02] [ 2.07980484e-01 9.78127370e-01 -3.31163178e-03 1.27664078e+01] [ 1.37621406e-02 4.59102951e-04 9.99905192e-01 5.70578054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2792541539999 meters 0.020032533203044958 Centerline is valid? [True, True] Translation: X:829.59, Y:12.77, Z:5.71 [[ 9.77899531e-01 -2.08664213e-01 -1.31055009e-02 8.29591703e+02] [ 2.08639366e-01 9.77987243e-01 -3.25064363e-03 1.27736766e+01] [ 1.34953057e-02 4.44479488e-04 9.99908835e-01 5.70634995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3092541539999 meters 0.020764625360462283 Centerline is valid? [True, True] Translation: X:829.62, Y:12.78, Z:5.71 [[ 9.77762361e-01 -2.09312442e-01 -1.30025439e-02 8.29619507e+02] [ 2.09287994e-01 9.77848716e-01 -3.22856710e-03 1.27812266e+01] [ 1.33903001e-02 4.35495062e-04 9.99910251e-01 5.70536765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3392541539998 meters 0.021032640403121194 Centerline is valid? [True, True] Translation: X:829.65, Y:12.79, Z:5.71 [[ 9.77889349e-01 -2.08746744e-01 -1.25386812e-02 8.29646415e+02] [ 2.08723930e-01 9.77969638e-01 -3.11595092e-03 1.27900252e+01] [ 1.29128942e-02 4.29932392e-04 9.99916533e-01 5.70618141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3692541539999 meters 0.02084332243854718 Centerline is valid? [True, True] Translation: X:829.67, Y:12.80, Z:5.71 [[ 9.78037757e-01 -2.08062856e-01 -1.23286037e-02 8.29674303e+02] [ 2.08040715e-01 9.78115361e-01 -3.06615774e-03 1.27983677e+01] [ 1.26967502e-02 4.33966518e-04 9.99919299e-01 5.70729504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3992541539999 meters 0.023056006646424612 Centerline is valid? [True, True] Translation: X:829.70, Y:12.81, Z:5.70 [[ 9.77988948e-01 -2.08198800e-01 -1.38158105e-02 8.29702513e+02] [ 2.08170953e-01 9.78086408e-01 -3.43989184e-03 1.28065759e+01] [ 1.42292379e-02 4.88125762e-04 9.99898640e-01 5.70351355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4292541539999 meters 0.025369917241050265 Centerline is valid? [True, True] Translation: X:829.73, Y:12.82, Z:5.70 [[ 9.78482511e-01 -2.05766434e-01 -1.52364607e-02 8.29728968e+02] [ 2.05732233e-01 9.78600960e-01 -3.79605293e-03 1.28197586e+01] [ 1.56915154e-02 5.79740329e-04 9.99876713e-01 5.70122797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4592541539998 meters 0.022788105853239808 Centerline is valid? [True, True] Translation: X:829.76, Y:12.83, Z:5.71 [[ 9.78961823e-01 -2.03493927e-01 -1.49656441e-02 8.29757148e+02] [ 2.03460655e-01 9.79076021e-01 -3.72925942e-03 1.28280796e+01] [ 1.54113850e-02 6.05882840e-04 9.99881054e-01 5.70509685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4892541539999 meters 0.025387921062881305 Centerline is valid? [True, True] Translation: X:829.78, Y:12.84, Z:5.70 [[ 9.79030773e-01 -2.03062807e-01 -1.62555472e-02 8.29784449e+02] [ 2.03023446e-01 9.79165486e-01 -4.05345554e-03 1.28371535e+01] [ 1.67399769e-02 6.68200494e-04 9.99859653e-01 5.70120546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5192541539999 meters 0.024974380751920402 Centerline is valid? [True, True] Translation: X:829.81, Y:12.85, Z:5.70 [[ 9.79710718e-01 -1.99787257e-01 -1.58732760e-02 8.29810986e+02] [ 1.99749259e-01 9.79839042e-01 -3.96036112e-03 1.28484693e+01] [ 1.63444852e-02 7.09333113e-04 9.99866168e-01 5.70438744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5492541539999 meters 0.025954669915049217 Centerline is valid? [True, True] Translation: X:829.84, Y:12.86, Z:5.70 [[ 9.79858270e-01 -1.99035680e-01 -1.62039984e-02 8.29836856e+02] [ 1.98995956e-01 9.79991966e-01 -4.04430435e-03 1.28578866e+01] [ 1.66847491e-02 7.38314897e-04 9.99860527e-01 5.70403892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5792541539998 meters 0.028613609960975922 Centerline is valid? [True, True] Translation: X:829.86, Y:12.87, Z:5.70 [[ 9.79999289e-01 -1.98211903e-01 -1.77040801e-02 8.29863775e+02] [ 1.98164282e-01 9.80158844e-01 -4.42234082e-03 1.28688232e+01] [ 1.82293712e-02 8.25574542e-04 9.99833490e-01 5.69957830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6092541539999 meters 0.025420749652594277 Centerline is valid? [True, True] Translation: X:829.89, Y:12.88, Z:5.70 [[ 9.80234727e-01 -1.97095721e-01 -1.71217944e-02 8.29891954e+02] [ 1.97050935e-01 9.80383904e-01 -4.28130481e-03 1.28750528e+01] [ 1.76297585e-02 8.22818065e-04 9.99844245e-01 5.70358400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6392541539999 meters 0.026102354688282876 Centerline is valid? [True, True] Translation: X:829.92, Y:12.88, Z:5.70 [[ 9.80268291e-01 -1.96886863e-01 -1.75966160e-02 8.29919100e+02] [ 1.96839473e-01 9.80425845e-01 -4.40287534e-03 1.28835669e+01] [ 1.81190454e-02 8.52290467e-04 9.99835473e-01 5.70257983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6692541539999 meters 0.027300595239584457 Centerline is valid? [True, True] Translation: X:829.95, Y:12.89, Z:5.70 [[ 9.80410378e-01 -1.96053315e-01 -1.89364508e-02 8.29945058e+02] [ 1.95998242e-01 9.80592791e-01 -4.73993363e-03 1.28932070e+01] [ 1.94982269e-02 9.35569051e-04 9.99809454e-01 5.70198014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6992541539998 meters 0.025005072718394382 Centerline is valid? [True, True] Translation: X:829.97, Y:12.90, Z:5.70 [[ 9.80437706e-01 -1.95909471e-01 -1.90100896e-02 8.29973981e+02] [ 1.95853864e-01 9.80621530e-01 -4.76231517e-03 1.28981548e+01] [ 1.95746858e-02 9.45953850e-04 9.99807950e-01 5.70371108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7292541539999 meters 0.027562397278521986 Centerline is valid? [True, True] Translation: X:830.00, Y:12.91, Z:5.70 [[ 9.80331782e-01 -1.96389016e-01 -1.95180066e-02 8.30000032e+02] [ 1.96330400e-01 9.80525584e-01 -4.89410968e-03 1.29068551e+01] [ 2.00990543e-02 9.65873204e-04 9.99797527e-01 5.70049844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7592541539999 meters 0.024729469435906457 Centerline is valid? [True, True] Translation: X:830.03, Y:12.91, Z:5.70 [[ 9.80439579e-01 -1.95957989e-01 -1.84037645e-02 8.30028531e+02] [ 1.95905715e-01 9.80611857e-01 -4.61921402e-03 1.29133336e+01] [ 1.89521216e-02 9.23457613e-04 9.99819966e-01 5.70469868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7892541539999 meters 0.027941147293290912 Centerline is valid? [True, True] Translation: X:830.05, Y:12.92, Z:5.70 [[ 9.80386172e-01 -1.96145988e-01 -1.92277068e-02 8.30054884e+02] [ 1.96088903e-01 9.80574231e-01 -4.82912139e-03 1.29236857e+01] [ 1.98014066e-02 9.64063900e-04 9.99803468e-01 5.70174111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8192541539999 meters 0.02587707454377226 Centerline is valid? [True, True] Translation: X:830.08, Y:12.93, Z:5.71 [[ 9.80424905e-01 -1.96027136e-01 -1.84490593e-02 8.30082563e+02] [ 1.95974488e-01 9.80598029e-01 -4.63732117e-03 1.29310560e+01] [ 1.90001520e-02 9.31000209e-04 9.99819047e-01 5.70561833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8492541539999 meters 0.025442014815747198 Centerline is valid? [True, True] Translation: X:830.11, Y:12.94, Z:5.71 [[ 9.80164182e-01 -1.97300537e-01 -1.87262853e-02 8.30110954e+02] [ 1.97246429e-01 9.80342615e-01 -4.71204536e-03 1.29376685e+01] [ 1.92878646e-02 9.24885173e-04 9.99813544e-01 5.70563750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8792541539999 meters 0.02490147226641562 Centerline is valid? [True, True] Translation: X:830.14, Y:12.94, Z:5.71 [[ 9.79391940e-01 -2.01040278e-01 -1.93451654e-02 8.30139714e+02] [ 2.00983215e-01 9.79582579e-01 -4.87010878e-03 1.29436934e+01] [ 1.99292751e-02 8.81691746e-04 9.99801004e-01 5.70503862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9092541539999 meters 0.023910421053367582 Centerline is valid? [True, True] Translation: X:830.17, Y:12.95, Z:5.71 [[ 9.78856982e-01 -2.03621329e-01 -1.94258619e-02 8.30168118e+02] [ 2.03564272e-01 9.79049365e-01 -4.89162729e-03 1.29490274e+01] [ 2.00149174e-02 8.33792086e-04 9.99799334e-01 5.70551756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9392541539999 meters 0.02392739325071035 Centerline is valid? [True, True] Translation: X:830.20, Y:12.95, Z:5.70 [[ 9.78205161e-01 -2.06718155e-01 -1.95516624e-02 8.30197221e+02] [ 2.06660954e-01 9.78400226e-01 -4.92428391e-03 1.29546198e+01] [ 2.01472898e-02 7.76394730e-04 9.99796721e-01 5.70394527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9692541539999 meters 0.02281159480263337 Centerline is valid? [True, True] Translation: X:830.23, Y:12.96, Z:5.70 [[ 9.76986486e-01 -2.12412341e-01 -1.94525778e-02 8.30226119e+02] [ 2.12356835e-01 9.77179905e-01 -4.89977523e-03 1.29569400e+01] [ 2.00494408e-02 6.56126352e-04 9.99798774e-01 5.70425956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9992541539999 meters 0.020220841225095456 Centerline is valid? [True, True] Translation: X:830.25, Y:12.96, Z:5.71 [[ 9.76440459e-01 -2.15033276e-01 -1.80199856e-02 8.30254514e+02] [ 2.14986074e-01 9.76606562e-01 -4.53984888e-03 1.29614440e+01] [ 1.85746548e-02 5.58846168e-04 9.99827320e-01 5.70778531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0292541539999 meters 0.020220841225095456 Centerline is valid? [True, True] Translation: X:830.28, Y:12.97, Z:5.71 [[ 9.76381523e-01 -2.15300797e-01 -1.80190894e-02 8.30281244e+02] [ 2.15253575e-01 9.76547621e-01 -4.54340414e-03 1.29682779e+01] [ 1.85746974e-02 5.57422456e-04 9.99827320e-01 5.70797632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0592541539999 meters 0.018293915003386237 Centerline is valid? [True, True] Translation: X:830.31, Y:12.97, Z:5.71 [[ 9.75090950e-01 -2.21080772e-01 -1.79145767e-02 8.30312418e+02] [ 2.21035029e-01 9.75255399e-01 -4.51921235e-03 1.29684231e+01] [ 1.84703986e-02 4.46894079e-04 9.99829308e-01 5.70812016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0892541539998 meters 0.018249372565044247 Centerline is valid? [True, True] Translation: X:830.34, Y:12.98, Z:5.71 [[ 9.74531742e-01 -2.23580309e-01 -1.73127017e-02 8.30339126e+02] [ 2.23537962e-01 9.74685434e-01 -4.36851058e-03 1.29754397e+01] [ 1.78511511e-02 3.87206168e-04 9.99840581e-01 5.70823156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1192541539999 meters 0.018137804963165412 Centerline is valid? [True, True] Translation: X:830.37, Y:12.98, Z:5.71 [[ 9.73927237e-01 -2.26144370e-01 -1.80127793e-02 8.30368105e+02] [ 2.26098899e-01 9.74093731e-01 -4.54881996e-03 1.29781344e+01] [ 1.85748254e-02 3.57550088e-04 9.99827409e-01 5.70817059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1492541539999 meters 0.017265212483552828 Centerline is valid? [True, True] Translation: X:830.40, Y:12.98, Z:5.71 [[ 9.73365865e-01 -2.28540998e-01 -1.81081547e-02 8.30396925e+02] [ 2.28495369e-01 9.73534237e-01 -4.57774254e-03 1.29817707e+01] [ 1.86751104e-02 3.18188847e-04 9.99825554e-01 5.70879371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1792541539999 meters 0.01756756924672383 Centerline is valid? [True, True] Translation: X:830.42, Y:12.99, Z:5.71 [[ 9.73268282e-01 -2.28921976e-01 -1.85359300e-02 8.30422165e+02] [ 2.28874165e-01 9.73444721e-01 -4.68951211e-03 1.29902643e+01] [ 1.91172356e-02 3.21757906e-04 9.99817197e-01 5.70749265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2092541539998 meters 0.01792577998578675 Centerline is valid? [True, True] Translation: X:830.45, Y:12.99, Z:5.71 [[ 9.73104121e-01 -2.29582874e-01 -1.89755910e-02 8.30450392e+02] [ 2.29532799e-01 9.73289063e-01 -4.80553332e-03 1.29939725e+01] [ 1.95720034e-02 3.20763763e-04 9.99808399e-01 5.70753377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2392541539999 meters 0.01785951346059593 Centerline is valid? [True, True] Translation: X:830.48, Y:13.00, Z:5.71 [[ 9.73196946e-01 -2.29122620e-01 -1.97617987e-02 8.30477783e+02] [ 2.29068132e-01 9.73397506e-01 -5.00862438e-03 1.30010315e+01] [ 2.03836747e-02 3.47579631e-04 9.99792171e-01 5.70716949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2692541539999 meters 0.01898621899140942 Centerline is valid? [True, True] Translation: X:830.51, Y:13.01, Z:5.71 [[ 9.73561775e-01 -2.27440579e-01 -2.11719837e-02 8.30505985e+02] [ 2.27377534e-01 9.73791872e-01 -5.37085645e-03 1.30084105e+01] [ 2.18386564e-02 4.14827082e-04 9.99761422e-01 5.70624149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2992541539999 meters 0.02067798014424421 Centerline is valid? [True, True] Translation: X:830.53, Y:13.02, Z:5.70 [[ 9.73803900e-01 -2.26344093e-01 -2.17787916e-02 8.30532454e+02] [ 2.26277020e-01 9.74047300e-01 -5.52870767e-03 1.30172468e+01] [ 2.24649635e-02 4.55837029e-04 9.99747527e-01 5.70423975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3292541539998 meters 0.019147555074338456 Centerline is valid? [True, True] Translation: X:830.56, Y:13.02, Z:5.71 [[ 9.74108833e-01 -2.24962366e-01 -2.24480774e-02 8.30560466e+02] [ 2.24890621e-01 9.74367321e-01 -5.70368820e-03 1.30231432e+01] [ 2.31557882e-02 5.07650990e-04 9.99731740e-01 5.70623480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3592541539999 meters 0.018277835140336294 Centerline is valid? [True, True] Translation: X:830.59, Y:13.03, Z:5.71 [[ 9.74712794e-01 -2.22320723e-01 -2.25491789e-02 8.30587299e+02] [ 2.22247532e-01 9.74973417e-01 -5.73334605e-03 1.30309558e+01] [ 2.32594916e-02 5.76866394e-04 9.99729295e-01 5.70765973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3892541539999 meters 0.021666726764522994 Centerline is valid? [True, True] Translation: X:830.61, Y:13.04, Z:5.70 [[ 9.74631921e-01 -2.22469865e-01 -2.44903785e-02 8.30614482e+02] [ 2.22383508e-01 9.74939366e-01 -6.22954516e-03 1.30378595e+01] [ 2.52625201e-02 6.25257294e-04 9.99680656e-01 5.70357210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4192541539999 meters 0.018859776865771512 Centerline is valid? [True, True] Translation: X:830.64, Y:13.04, Z:5.71 [[ 9.74634862e-01 -2.22572202e-01 -2.34200837e-02 8.30642111e+02] [ 2.22493208e-01 9.74916026e-01 -5.95938453e-03 1.30422920e+01] [ 2.41590083e-02 5.97414354e-04 9.99707950e-01 5.70698106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4492541539998 meters 0.01868963431520334 Centerline is valid? [True, True] Translation: X:830.67, Y:13.05, Z:5.71 [[ 9.74191069e-01 -2.24440074e-01 -2.40502278e-02 8.30671182e+02] [ 2.24357214e-01 9.74487725e-01 -6.12483167e-03 1.30462150e+01] [ 2.48113094e-02 5.70914225e-04 9.99691989e-01 5.70690365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4792541539999 meters 0.019250516907535962 Centerline is valid? [True, True] Translation: X:830.70, Y:13.05, Z:5.71 [[ 9.73728649e-01 -2.26444328e-01 -2.39892625e-02 8.30699118e+02] [ 2.26362342e-01 9.74023969e-01 -6.11546733e-03 1.30512664e+01] [ 2.47509296e-02 5.24540093e-04 9.99693511e-01 5.70661605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5092541539999 meters 0.017384616446954854 Centerline is valid? [True, True] Translation: X:830.73, Y:13.05, Z:5.71 [[ 9.72682805e-01 -2.31087990e-01 -2.20567781e-02 8.30728971e+02] [ 2.31019826e-01 9.72932783e-01 -5.62496594e-03 1.30524122e+01] [ 2.27596245e-02 3.75754622e-04 9.99740896e-01 5.70941022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5392541539999 meters 0.015557957235058975 Centerline is valid? [True, True] Translation: X:830.76, Y:13.06, Z:5.71 [[ 9.72140429e-01 -2.33468661e-01 -2.08655314e-02 8.30757861e+02] [ 2.33408128e-01 9.72364279e-01 -5.32495466e-03 1.30560622e+01] [ 2.15321074e-02 3.06419077e-04 9.99768110e-01 5.71222400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5692541539999 meters 0.01589223676682179 Centerline is valid? [True, True] Translation: X:830.79, Y:13.06, Z:5.71 [[ 9.71369945e-01 -2.36693307e-01 -2.04134241e-02 8.30785797e+02] [ 2.36636021e-01 9.71584389e-01 -5.21244203e-03 1.30599111e+01] [ 2.10671144e-02 2.32658077e-04 9.99778037e-01 5.71196072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5992541539999 meters 0.01493880498172511 Centerline is valid? [True, True] Translation: X:830.81, Y:13.06, Z:5.71 [[ 9.70737196e-01 -2.39357695e-01 -1.94213666e-02 8.30814895e+02] [ 2.39306301e-01 9.70931442e-01 -4.96281628e-03 1.30638419e+01] [ 2.00447037e-02 1.69934976e-04 9.99799070e-01 5.71333976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6292541539999 meters 0.016205140296114622 Centerline is valid? [True, True] Translation: X:830.84, Y:13.06, Z:5.72 [[ 9.69468805e-01 -2.44478705e-01 -1.89841626e-02 8.30844921e+02] [ 2.44430483e-01 9.69654659e-01 -4.85601333e-03 1.30646789e+01] [ 1.95952736e-02 6.74454007e-05 9.99807992e-01 5.71548817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6592541539999 meters 0.015729434907012087 Centerline is valid? [True, True] Translation: X:830.87, Y:13.07, Z:5.72 [[ 9.69031373e-01 -2.46254233e-01 -1.83589473e-02 8.30873255e+02] [ 2.46209361e-01 9.69205268e-01 -4.70095270e-03 1.30698430e+01] [ 1.89512179e-02 3.52259675e-05 9.99820409e-01 5.71620151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6892541539999 meters 0.015798402570205237 Centerline is valid? [True, True] Translation: X:830.90, Y:13.07, Z:5.72 [[ 9.68591585e-01 -2.48008846e-01 -1.79430491e-02 8.30901165e+02] [ 2.47966233e-01 9.68757768e-01 -4.59727883e-03 1.30748197e+01] [ 1.85226340e-02 3.61530171e-06 9.99828441e-01 5.71650770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7192541539999 meters 0.014516203318887996 Centerline is valid? [True, True] Translation: X:830.93, Y:13.08, Z:5.72 [[ 9.68635485e-01 -2.47860769e-01 -1.76163819e-02 8.30928900e+02] [ 2.47819598e-01 9.68795664e-01 -4.51749784e-03 1.30814919e+01] [ 1.81863849e-02 1.01240200e-05 9.99834614e-01 5.71804827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7492541539999 meters 0.01656425817560463 Centerline is valid? [True, True] Translation: X:830.96, Y:13.09, Z:5.72 [[ 9.68496148e-01 -2.48351175e-01 -1.83549688e-02 8.30956571e+02] [ 2.48306468e-01 9.68670065e-01 -4.71210044e-03 1.30890676e+01] [ 1.89501645e-02 5.99365686e-06 9.99820429e-01 5.71637553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7792541539999 meters 0.016590830226717507 Centerline is valid? [True, True] Translation: X:830.98, Y:13.10, Z:5.72 [[ 9.68714719e-01 -2.47465709e-01 -1.87754265e-02 8.30983797e+02] [ 2.47418658e-01 9.68896652e-01 -4.82554788e-03 1.30971908e+01] [ 1.93856055e-02 2.91884387e-05 9.99812081e-01 5.71670265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8092541539999 meters 0.01663391454937539 Centerline is valid? [True, True] Translation: X:831.01, Y:13.11, Z:5.72 [[ 9.68856201e-01 -2.46883522e-01 -1.91360603e-02 8.31010305e+02] [ 2.46834467e-01 9.69045161e-01 -4.92150118e-03 1.31051430e+01] [ 1.97587441e-02 4.47877038e-05 9.99804776e-01 5.71598520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8392541539998 meters 0.01379789192883316 Centerline is valid? [True, True] Translation: X:831.04, Y:13.11, Z:5.72 [[ 9.69103614e-01 -2.45993598e-01 -1.80370552e-02 8.31037381e+02] [ 2.45949787e-01 9.69271451e-01 -4.64287648e-03 1.31127542e+01] [ 1.86249206e-02 6.32184869e-05 9.99826539e-01 5.71860679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8692541539999 meters 0.013810144017131598 Centerline is valid? [True, True] Translation: X:831.06, Y:13.12, Z:5.72 [[ 9.69045075e-01 -2.46205240e-01 -1.82926645e-02 8.31064170e+02] [ 2.46160111e-01 9.69217713e-01 -4.71425001e-03 1.31207550e+01] [ 1.88902475e-02 6.53964462e-05 9.99821561e-01 5.71860837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8992541539999 meters 0.013736424266909419 Centerline is valid? [True, True] Translation: X:831.09, Y:13.13, Z:5.72 [[ 9.68951714e-01 -2.46621990e-01 -1.76116251e-02 8.31091412e+02] [ 2.46580132e-01 9.69111753e-01 -4.54399872e-03 1.31279044e+01] [ 1.81882829e-02 6.02385038e-05 9.99834578e-01 5.71936478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9292541539999 meters 0.013695994450499393 Centerline is valid? [True, True] Translation: X:831.12, Y:13.13, Z:5.72 [[ 9.68783735e-01 -2.47320636e-01 -1.70463373e-02 8.31118303e+02] [ 2.47281441e-01 9.68933693e-01 -4.40323599e-03 1.31348271e+01] [ 1.76057817e-02 5.05405656e-05 9.99845005e-01 5.72011147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9592541539998 meters 0.015471547018757333 Centerline is valid? [True, True] Translation: X:831.15, Y:13.14, Z:5.72 [[ 9.68373182e-01 -2.48974503e-01 -1.62811806e-02 8.31145149e+02] [ 2.48938934e-01 9.68510039e-01 -4.20842019e-03 1.31423518e+01] [ 1.68162762e-02 2.23015029e-05 9.99858596e-01 5.71987857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9892541539999 meters 0.01407952915734403 Centerline is valid? [True, True] Translation: X:831.17, Y:13.15, Z:5.72 [[ 9.68403536e-01 -2.48916526e-01 -1.53347173e-02 8.31172426e+02] [ 2.48884915e-01 9.68524941e-01 -3.96698505e-03 1.31496507e+01] [ 1.58395043e-02 2.50625440e-05 9.99874547e-01 5.72204303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0192541539999 meters 0.015630899195092002 Centerline is valid? [True, True] Translation: X:831.20, Y:13.16, Z:5.72 [[ 9.68208582e-01 -2.49628824e-01 -1.60496470e-02 8.31199324e+02] [ 2.49594211e-01 9.68341598e-01 -4.15688103e-03 1.31587881e+01] [ 1.65792181e-02 1.88289056e-05 9.99862555e-01 5.71995496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0492541539999 meters 0.01590774073858027 Centerline is valid? [True, True] Translation: X:831.23, Y:13.17, Z:5.72 [[ 9.68266767e-01 -2.49332883e-01 -1.71050368e-02 8.31225956e+02] [ 2.49293467e-01 9.68417840e-01 -4.43335235e-03 1.31673446e+01] [ 1.76702034e-02 2.84938104e-05 9.99843869e-01 5.71861311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0792541539998 meters 0.013683727599024358 Centerline is valid? [True, True] Translation: X:831.25, Y:13.18, Z:5.72 [[ 9.68525296e-01 -2.48362605e-01 -1.65761334e-02 8.31252235e+02] [ 2.48325415e-01 9.68667133e-01 -4.29812220e-03 1.31754840e+01] [ 1.71242485e-02 4.65648610e-05 9.99853368e-01 5.71998922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1092541539999 meters 0.01664927615871675 Centerline is valid? [True, True] Translation: X:831.28, Y:13.19, Z:5.72 [[ 9.68708127e-01 -2.47446777e-01 -1.93560678e-02 8.31279161e+02] [ 2.47395796e-01 9.68901484e-01 -5.02329016e-03 1.31860509e+01] [ 1.99971198e-02 7.74922005e-05 9.99800035e-01 5.71693005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1392541539999 meters 0.01656141319202885 Centerline is valid? [True, True] Translation: X:831.31, Y:13.20, Z:5.72 [[ 9.68985242e-01 -2.46316416e-01 -1.98953468e-02 8.31306704e+02] [ 2.46262207e-01 9.69189461e-01 -5.16853681e-03 1.31953924e+01] [ 2.05554559e-02 1.08763867e-04 9.99788708e-01 5.71674301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1692541539999 meters 0.014039357639671552 Centerline is valid? [True, True] Translation: X:831.33, Y:13.20, Z:5.72 [[ 9.69392173e-01 -2.44756042e-01 -1.93208267e-02 8.31332943e+02] [ 2.44704499e-01 9.69584684e-01 -5.02477205e-03 1.32044264e+01] [ 1.99630210e-02 1.43081465e-04 9.99800709e-01 5.71877265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1992541539998 meters 0.016057495750380436 Centerline is valid? [True, True] Translation: X:831.36, Y:13.21, Z:5.72 [[ 9.69475738e-01 -2.44328664e-01 -2.05011826e-02 8.31359076e+02] [ 2.44270449e-01 9.69692465e-01 -5.33579027e-03 1.32134017e+01] [ 2.11835288e-02 1.65086123e-04 9.99775590e-01 5.71638263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2292541539999 meters 0.015838526375615038 Centerline is valid? [True, True] Translation: X:831.39, Y:13.22, Z:5.72 [[ 9.69731253e-01 -2.43322313e-01 -2.03850056e-02 8.31385488e+02] [ 2.43264489e-01 9.69945471e-01 -5.30773106e-03 1.32225504e+01] [ 2.10638332e-02 1.88124734e-04 9.99778115e-01 5.71632339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2592541539999 meters 0.01421205105791768 Centerline is valid? [True, True] Translation: X:831.41, Y:13.23, Z:5.72 [[ 9.70129448e-01 -2.41771691e-01 -1.98822587e-02 8.31412914e+02] [ 2.41716273e-01 9.70333139e-01 -5.18098461e-03 1.32311814e+01] [ 2.05450299e-02 2.20360262e-04 9.99788904e-01 5.72005824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2892541539999 meters 0.016893837761078744 Centerline is valid? [True, True] Translation: X:831.44, Y:13.24, Z:5.72 [[ 9.70093087e-01 -2.41897049e-01 -2.01300725e-02 8.31437820e+02] [ 2.41840162e-01 9.70301895e-01 -5.25061013e-03 1.32410814e+01] [ 2.08023546e-02 2.25320583e-04 9.99783582e-01 5.71615614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3192541539999 meters 0.016179162943043775 Centerline is valid? [True, True] Translation: X:831.47, Y:13.25, Z:5.72 [[ 9.70253088e-01 -2.41370052e-01 -1.86934027e-02 8.31465049e+02] [ 2.41320799e-01 9.70433124e-01 -4.88102292e-03 1.32488650e+01] [ 1.93188300e-02 2.24720669e-04 9.99813349e-01 5.71916782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3492541539999 meters 0.01520646020722921 Centerline is valid? [True, True] Translation: X:831.49, Y:13.26, Z:5.72 [[ 9.70394407e-01 -2.40892486e-01 -1.74787228e-02 8.31491682e+02] [ 2.40849296e-01 9.70551782e-01 -4.56678385e-03 1.32583779e+01] [ 1.80641095e-02 2.21843431e-04 9.99836806e-01 5.72015584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3792541539999 meters 0.014735105318545555 Centerline is valid? [True, True] Translation: X:831.52, Y:13.27, Z:5.72 [[ 9.70511046e-01 -2.40487435e-01 -1.65560582e-02 8.31518438e+02] [ 2.40448566e-01 9.70652226e-01 -4.32926841e-03 1.32653085e+01] [ 1.71113095e-02 2.20722352e-04 9.99853566e-01 5.72254975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4092541539999 meters 0.01790406190744398 Centerline is valid? [True, True] Translation: X:831.55, Y:13.27, Z:5.72 [[ 9.70366880e-01 -2.41007087e-01 -1.74270599e-02 8.31545343e+02] [ 2.40964008e-01 9.70523329e-01 -4.56236920e-03 1.32737943e+01] [ 1.80129315e-02 2.27877772e-04 9.99837728e-01 5.72008175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4392541539999 meters 0.014885936232820066 Centerline is valid? [True, True] Translation: X:831.57, Y:13.28, Z:5.72 [[ 9.70653643e-01 -2.39952741e-01 -1.59432661e-02 8.31572128e+02] [ 2.39916467e-01 9.70784543e-01 -4.17853689e-03 1.32817299e+01] [ 1.64801277e-02 2.30859979e-04 9.99864167e-01 5.72328897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4692541539998 meters 0.015773347803512108 Centerline is valid? [True, True] Translation: X:831.60, Y:13.29, Z:5.72 [[ 9.70979170e-01 -2.38596356e-01 -1.64690884e-02 8.31599636e+02] [ 2.38557375e-01 9.71118792e-01 -4.32098270e-03 1.32912786e+01] [ 1.70244119e-02 2.66761709e-04 9.99855039e-01 5.72245002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4992541539999 meters 0.015595809866393182 Centerline is valid? [True, True] Translation: X:831.63, Y:13.30, Z:5.72 [[ 9.71127795e-01 -2.37952290e-01 -1.70150707e-02 8.31627103e+02] [ 2.37910504e-01 9.71276800e-01 -4.46872512e-03 1.32992880e+01] [ 1.75896868e-02 2.91639130e-04 9.99845247e-01 5.72264053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5292541539999 meters 0.01727057939993112 Centerline is valid? [True, True] Translation: X:831.66, Y:13.31, Z:5.72 [[ 9.71064703e-01 -2.38123865e-01 -1.81759872e-02 8.31655248e+02] [ 2.38076119e-01 9.71234743e-01 -4.77855040e-03 1.33065332e+01] [ 1.87910372e-02 3.13013127e-04 9.99823384e-01 5.72098509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5592541539999 meters 0.01804366799654527 Centerline is valid? [True, True] Translation: X:831.68, Y:13.31, Z:5.72 [[ 9.71262307e-01 -2.37234675e-01 -1.92156446e-02 8.31682988e+02] [ 2.37181032e-01 9.71452306e-01 -5.05710762e-03 1.33145886e+01] [ 1.98668036e-02 3.54191593e-04 9.99802573e-01 5.71989986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5892541539998 meters 0.016542814155362937 Centerline is valid? [True, True] Translation: X:831.71, Y:13.32, Z:5.72 [[ 9.71441785e-01 -2.36545401e-01 -1.86314465e-02 8.31709111e+02] [ 2.36494789e-01 9.71620370e-01 -4.90621436e-03 1.33233715e+01] [ 1.92632354e-02 3.59861620e-04 9.99814382e-01 5.72089758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6192541539999 meters 0.016009480096563243 Centerline is valid? [True, True] Translation: X:831.74, Y:13.33, Z:5.72 [[ 9.71403930e-01 -2.36585069e-01 -2.00476709e-02 8.31737702e+02] [ 2.36526389e-01 9.71610700e-01 -5.28345779e-03 1.33286319e+01] [ 2.07285188e-02 3.90568466e-04 9.99785065e-01 5.72104599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6492541539999 meters 0.01794678033831999 Centerline is valid? [True, True] Translation: X:831.76, Y:13.34, Z:5.72 [[ 9.71144513e-01 -2.37527639e-01 -2.14232560e-02 8.31764875e+02] [ 2.37460711e-01 9.71380697e-01 -5.65258199e-03 1.33350911e+01] [ 2.21527818e-02 4.02292379e-04 9.99754516e-01 5.71941184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6792541539999 meters 0.015334414907047355 Centerline is valid? [True, True] Translation: X:831.79, Y:13.34, Z:5.72 [[ 9.71165267e-01 -2.37520194e-01 -2.05470337e-02 8.31792665e+02] [ 2.37458499e-01 9.71382522e-01 -5.42750220e-03 1.33417087e+01] [ 2.12481708e-02 3.91933847e-04 9.99774155e-01 5.72233394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7092541539998 meters 0.018816952747552483 Centerline is valid? [True, True] Translation: X:831.82, Y:13.35, Z:5.72 [[ 9.70890247e-01 -2.38572432e-01 -2.13383001e-02 8.31818809e+02] [ 2.38506056e-01 9.71124629e-01 -5.64056723e-03 1.33493578e+01] [ 2.20678326e-02 3.87057917e-04 9.99756401e-01 5.71878777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7392541539999 meters 0.015170918783057532 Centerline is valid? [True, True] Translation: X:831.85, Y:13.35, Z:5.72 [[ 9.70832636e-01 -2.39035626e-01 -1.86000330e-02 8.31846889e+02] [ 2.38985203e-01 9.71010741e-01 -4.92075268e-03 1.33544824e+01] [ 1.92370670e-02 3.32094643e-04 9.99814895e-01 5.72383989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7692541539999 meters 0.01784638773906701 Centerline is valid? [True, True] Translation: X:831.87, Y:13.36, Z:5.72 [[ 9.70519537e-01 -2.40272561e-01 -1.89979930e-02 8.31874642e+02] [ 2.40220081e-01 9.70705411e-01 -5.03174630e-03 1.33607912e+01] [ 1.96504452e-02 3.19708658e-04 9.99806860e-01 5.72204138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7992541539999 meters 0.014983934730765005 Centerline is valid? [True, True] Translation: X:831.90, Y:13.37, Z:5.73 [[ 9.70498499e-01 -2.40478327e-01 -1.74022252e-02 8.31902274e+02] [ 2.40434240e-01 9.70654464e-01 -4.61393575e-03 1.33672494e+01] [ 1.80010991e-02 2.93726940e-04 9.99837924e-01 5.72526745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8292541539998 meters 0.015180471905722047 Centerline is valid? [True, True] Translation: X:831.93, Y:13.37, Z:5.73 [[ 9.70295401e-01 -2.41326483e-01 -1.69812484e-02 8.31931008e+02] [ 2.41284552e-01 9.70443946e-01 -4.50691094e-03 1.33734105e+01] [ 1.75669867e-02 2.75722041e-04 9.99845651e-01 5.72559604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8592541539999 meters 0.016872574752345278 Centerline is valid? [True, True] Translation: X:831.96, Y:13.38, Z:5.72 [[ 9.70191870e-01 -2.41678694e-01 -1.78646133e-02 8.31959402e+02] [ 2.41632255e-01 9.70356288e-01 -4.74633155e-03 1.33807954e+01] [ 1.84821270e-02 2.88185500e-04 9.99829149e-01 5.72405386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8892541539999 meters 0.015069012204260837 Centerline is valid? [True, True] Translation: X:831.99, Y:13.39, Z:5.73 [[ 9.70502134e-01 -2.40458764e-01 -1.74697117e-02 8.31985922e+02] [ 2.40414106e-01 9.70659306e-01 -4.64423748e-03 1.33878191e+01] [ 1.80738858e-02 3.07277256e-04 9.99836607e-01 5.72584928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9192541539999 meters 0.016198700052510864 Centerline is valid? [True, True] Translation: X:832.01, Y:13.40, Z:5.72 [[ 9.70638186e-01 -2.39868892e-01 -1.80118465e-02 8.32012437e+02] [ 2.39821286e-01 9.70805236e-01 -4.79010963e-03 1.33957529e+01] [ 1.86349932e-02 3.29839132e-04 9.99826299e-01 5.72448627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9492541539998 meters 0.016198700052510864 Centerline is valid? [True, True] Translation: X:832.04, Y:13.40, Z:5.72 [[ 9.70569480e-01 -2.40146821e-01 -1.80108252e-02 8.32039082e+02] [ 2.40099191e-01 9.70736523e-01 -4.79394745e-03 1.34029205e+01] [ 1.86350171e-02 3.28474519e-04 9.99826299e-01 5.72467723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9792541539999 meters 0.01577573450639911 Centerline is valid? [True, True] Translation: X:832.07, Y:13.41, Z:5.73 [[ 9.70864579e-01 -2.38961178e-01 -1.78752733e-02 8.32065979e+02] [ 2.38914004e-01 9.71029058e-01 -4.76096521e-03 1.34109433e+01] [ 1.84950956e-02 3.51599371e-04 9.99828889e-01 5.72530223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0092541539999 meters 0.01797470635029272 Centerline is valid? [True, True] Translation: X:832.09, Y:13.42, Z:5.72 [[ 9.71230283e-01 -2.37355304e-01 -1.93441428e-02 8.32094175e+02] [ 2.37299657e-01 9.71422815e-01 -5.15633477e-03 1.34189795e+01] [ 2.00152250e-02 4.17630037e-04 9.99799588e-01 5.72338304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0392541539999 meters 0.01763865399687403 Centerline is valid? [True, True] Translation: X:832.12, Y:13.43, Z:5.72 [[ 9.71554770e-01 -2.36060143e-01 -1.88927809e-02 8.32120522e+02] [ 2.36006760e-01 9.71738348e-01 -5.03898834e-03 1.34282083e+01] [ 1.95483440e-02 4.36829154e-04 9.99808817e-01 5.72355001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0692541539999 meters 0.016869900504273082 Centerline is valid? [True, True] Translation: X:832.15, Y:13.43, Z:5.72 [[ 9.71763580e-01 -2.35206318e-01 -1.88024769e-02 8.32148166e+02] [ 2.35153237e-01 9.71945359e-01 -5.01729810e-03 1.34347543e+01] [ 1.94550804e-02 4.54164241e-04 9.99810629e-01 5.72498451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0992541539999 meters 0.019308168807286023 Centerline is valid? [True, True] Translation: X:832.17, Y:13.44, Z:5.72 [[ 9.71862174e-01 -2.34721891e-01 -1.97369800e-02 8.32174626e+02] [ 2.34663244e-01 9.72062443e-01 -5.26955144e-03 1.34432338e+01] [ 2.04224561e-02 4.89733964e-04 9.99791320e-01 5.72260330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1292541539999 meters 0.02001843384558785 Centerline is valid? [True, True] Translation: X:832.20, Y:13.45, Z:5.72 [[ 9.72152324e-01 -2.33501901e-01 -1.99178750e-02 8.32202355e+02] [ 2.33441824e-01 9.72356204e-01 -5.32238508e-03 1.34502437e+01] [ 2.06100564e-02 5.24503959e-04 9.99787453e-01 5.72274041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1592541539999 meters 0.01700482176625309 Centerline is valid? [True, True] Translation: X:832.23, Y:13.46, Z:5.73 [[ 9.72404426e-01 -2.32576000e-01 -1.83857859e-02 8.32231041e+02] [ 2.32524553e-01 9.72578093e-01 -4.91787210e-03 1.34566346e+01] [ 1.90253916e-02 5.07013959e-04 9.99818872e-01 5.72680875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1892541539999 meters 0.018158620423314512 Centerline is valid? [True, True] Translation: X:832.26, Y:13.47, Z:5.73 [[ 9.72683666e-01 -2.31508664e-01 -1.70359707e-02 8.32257873e+02] [ 2.31464283e-01 9.72832718e-01 -4.55953629e-03 1.34659092e+01] [ 1.76287218e-02 4.91767737e-04 9.99844481e-01 5.72767158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2192541539998 meters 0.019846333931191326 Centerline is valid? [True, True] Translation: X:832.29, Y:13.47, Z:5.73 [[ 9.72765822e-01 -2.31130904e-01 -1.74688513e-02 8.32285911e+02] [ 2.31084112e-01 9.72922525e-01 -4.67899107e-03 1.34733878e+01] [ 1.80772984e-02 5.14788597e-04 9.99836460e-01 5.72638513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2492541539999 meters 0.018565415082593628 Centerline is valid? [True, True] Translation: X:832.31, Y:13.48, Z:5.73 [[ 9.73084761e-01 -2.29865787e-01 -1.63636069e-02 8.32312839e+02] [ 2.29824506e-01 9.73222206e-01 -4.38558812e-03 1.34820512e+01] [ 1.69335222e-02 5.06791104e-04 9.99856489e-01 5.72869173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2792541539999 meters 0.020946155490554348 Centerline is valid? [True, True] Translation: X:832.34, Y:13.49, Z:5.73 [[ 9.73501785e-01 -2.28062370e-01 -1.67877846e-02 8.32338433e+02] [ 2.28018625e-01 9.73646367e-01 -4.50089008e-03 1.34930430e+01] [ 1.73718491e-02 5.53696971e-04 9.99848945e-01 5.72657906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3092541539999 meters 0.022244991560364698 Centerline is valid? [True, True] Translation: X:832.37, Y:13.50, Z:5.73 [[ 9.73701292e-01 -2.27120934e-01 -1.79409131e-02 8.32366163e+02] [ 2.27070744e-01 9.73866369e-01 -4.81372536e-03 1.35021208e+01] [ 1.85653497e-02 6.13274117e-04 9.99827461e-01 5.72509042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3392541539998 meters 0.021716478304081986 Centerline is valid? [True, True] Translation: X:832.39, Y:13.51, Z:5.73 [[ 9.74122326e-01 -2.25356419e-01 -1.73256573e-02 8.32392133e+02] [ 2.25309285e-01 9.74276188e-01 -4.65137320e-03 1.35121384e+01] [ 1.79281922e-02 6.27375018e-04 9.99839080e-01 5.72634526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3692541539999 meters 0.0213815933361227 Centerline is valid? [True, True] Translation: X:832.42, Y:13.52, Z:5.73 [[ 9.74478883e-01 -2.23723239e-01 -1.84070282e-02 8.32420089e+02] [ 2.23669674e-01 9.74652461e-01 -4.94547421e-03 1.35202098e+01] [ 1.90468728e-02 7.02166204e-04 9.99818345e-01 5.72607286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3992541539999 meters 0.023130697379441116 Centerline is valid? [True, True] Translation: X:832.45, Y:13.53, Z:5.72 [[ 9.74654941e-01 -2.22891824e-01 -1.91567558e-02 8.32446224e+02] [ 2.22833585e-01 9.74842896e-01 -5.14993077e-03 1.35298443e+01] [ 1.98227048e-02 7.50636885e-04 9.99803229e-01 5.72476203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4292541539999 meters 0.02245541672110051 Centerline is valid? [True, True] Translation: X:832.47, Y:13.54, Z:5.73 [[ 9.74917836e-01 -2.21782656e-01 -1.86458308e-02 8.32473850e+02] [ 2.21727208e-01 9.75095832e-01 -5.01636120e-03 1.35379531e+01] [ 1.92940139e-02 7.56251993e-04 9.99813567e-01 5.72624446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4592541539998 meters 0.023222053617564103 Centerline is valid? [True, True] Translation: X:832.50, Y:13.55, Z:5.73 [[ 9.75432473e-01 -2.19493282e-01 -1.88199107e-02 8.32501404e+02] [ 2.19436315e-01 9.75613674e-01 -5.06590661e-03 1.35481586e+01] [ 1.94728946e-02 8.11677966e-04 9.99810056e-01 5.72633110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4892541539999 meters 0.02475465160707257 Centerline is valid? [True, True] Translation: X:832.53, Y:13.56, Z:5.73 [[ 9.75641315e-01 -2.18571974e-01 -1.87167338e-02 8.32527033e+02] [ 2.18515412e-01 9.75820479e-01 -5.04062394e-03 1.35582458e+01] [ 1.93659112e-02 8.27946183e-04 9.99812120e-01 5.72603907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5192541539999 meters 0.025406101486473674 Centerline is valid? [True, True] Translation: X:832.55, Y:13.57, Z:5.73 [[ 9.75796409e-01 -2.17959118e-01 -1.77535991e-02 8.32554445e+02] [ 2.17908055e-01 9.75957572e-01 -4.78517508e-03 1.35687317e+01] [ 1.83697320e-02 8.00704408e-04 9.99830942e-01 5.72611691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5492541539999 meters 0.025871020747821882 Centerline is valid? [True, True] Translation: X:832.58, Y:13.58, Z:5.72 [[ 9.75717407e-01 -2.18305889e-01 -1.78347981e-02 8.32581530e+02] [ 2.18254320e-01 9.75880061e-01 -4.81219469e-03 1.35752660e+01] [ 1.84551543e-02 8.02820379e-04 9.99829367e-01 5.72498942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5792541539998 meters 0.02630740990948539 Centerline is valid? [True, True] Translation: X:832.61, Y:13.58, Z:5.73 [[ 9.75730162e-01 -2.18301946e-01 -1.71729757e-02 8.32607165e+02] [ 2.18254075e-01 9.75880965e-01 -4.63695040e-03 1.35837732e+01] [ 1.77710354e-02 7.76340444e-04 9.99841781e-01 5.72589260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6092541539999 meters 0.02467256640160887 Centerline is valid? [True, True] Translation: X:832.63, Y:13.59, Z:5.73 [[ 9.75733733e-01 -2.18423641e-01 -1.53229961e-02 8.32634681e+02] [ 2.18385495e-01 9.75853796e-01 -4.14050072e-03 1.35911248e+01] [ 1.58573872e-02 6.93706123e-04 9.99874023e-01 5.72942795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6392541539999 meters 0.023249428163922788 Centerline is valid? [True, True] Translation: X:832.66, Y:13.60, Z:5.73 [[ 9.75675985e-01 -2.18728443e-01 -1.46369574e-02 8.32662185e+02] [ 2.18693608e-01 9.75785545e-01 -3.95928807e-03 1.35970616e+01] [ 1.51485404e-02 6.61973266e-04 9.99885035e-01 5.73007040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6692541539999 meters 0.023486936148699872 Centerline is valid? [True, True] Translation: X:832.69, Y:13.60, Z:5.73 [[ 9.75510528e-01 -2.19441510e-01 -1.49877752e-02 8.32690590e+02] [ 2.19405000e-01 9.75625427e-01 -4.05860703e-03 1.36041827e+01] [ 1.55130815e-02 6.70821056e-04 9.99879440e-01 5.72885697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6992541539998 meters 0.02377678578174156 Centerline is valid? [True, True] Translation: X:832.72, Y:13.61, Z:5.73 [[ 9.75519268e-01 -2.19471309e-01 -1.39464332e-02 8.32716838e+02] [ 2.19439665e-01 9.75618754e-01 -3.77904637e-03 1.36143704e+01] [ 1.44357940e-02 6.26131921e-04 9.99895602e-01 5.73039533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7292541539999 meters 0.025892496685245573 Centerline is valid? [True, True] Translation: X:832.74, Y:13.62, Z:5.73 [[ 9.75390032e-01 -2.20017073e-01 -1.43795831e-02 8.32742807e+02] [ 2.19983470e-01 9.75495812e-01 -3.89782164e-03 1.36236632e+01] [ 1.48848104e-02 6.38625791e-04 9.99889011e-01 5.72747544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7592541539999 meters 0.021918657725097636 Centerline is valid? [True, True] Translation: X:832.77, Y:13.63, Z:5.73 [[ 9.75331142e-01 -2.20350631e-01 -1.32198157e-02 8.32771005e+02] [ 2.20322228e-01 9.75420554e-01 -3.58584042e-03 1.36290877e+01] [ 1.36850222e-02 5.84762583e-04 9.99906185e-01 5.73065056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7892541539999 meters 0.022850651543893978 Centerline is valid? [True, True] Translation: X:832.80, Y:13.64, Z:5.73 [[ 9.75142493e-01 -2.21173807e-01 -1.33889705e-02 8.32797710e+02] [ 2.21144699e-01 9.75234231e-01 -3.63543718e-03 1.36390826e+01] [ 1.38614459e-02 5.84169426e-04 9.99903755e-01 5.73007373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8192541539999 meters 0.024241725732476224 Centerline is valid? [True, True] Translation: X:832.83, Y:13.65, Z:5.73 [[ 9.74953383e-01 -2.21936448e-01 -1.44952939e-02 8.32825471e+02] [ 2.21902353e-01 9.75060933e-01 -3.93994330e-03 1.36464088e+01] [ 1.50082118e-02 6.24721230e-04 9.99887175e-01 5.72802353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8492541539999 meters 0.022694141535369625 Centerline is valid? [True, True] Translation: X:832.85, Y:13.65, Z:5.73 [[ 9.74900451e-01 -2.22242088e-01 -1.33253674e-02 8.32853243e+02] [ 2.22213255e-01 9.74991347e-01 -3.62541440e-03 1.36548111e+01] [ 1.37978376e-02 5.73344870e-04 9.99904641e-01 5.73066342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8792541539999 meters 0.024907971068101258 Centerline is valid? [True, True] Translation: X:832.88, Y:13.66, Z:5.73 [[ 9.74769122e-01 -2.22724492e-01 -1.47972482e-02 8.32878410e+02] [ 2.22688946e-01 9.74881224e-01 -4.02895940e-03 1.36648236e+01] [ 1.53229074e-02 6.32121609e-04 9.99882398e-01 5.72776776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9092541539999 meters 0.02151856956667665 Centerline is valid? [True, True] Translation: X:832.91, Y:13.67, Z:5.73 [[ 9.74737173e-01 -2.22929783e-01 -1.37751835e-02 8.32906222e+02] [ 2.22898955e-01 9.74834327e-01 -3.75375253e-03 1.36704898e+01] [ 1.42653450e-02 5.88448126e-04 9.99898072e-01 5.73016642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9392541539999 meters 0.02462851961606652 Centerline is valid? [True, True] Translation: X:832.93, Y:13.68, Z:5.73 [[ 9.74464387e-01 -2.24043419e-01 -1.49567793e-02 8.32931924e+02] [ 2.24007151e-01 9.74578964e-01 -4.07923663e-03 1.36820718e+01] [ 1.54904886e-02 6.24645313e-04 9.99879820e-01 5.72700403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9692541539998 meters 0.02149539530123982 Centerline is valid? [True, True] Translation: X:832.96, Y:13.69, Z:5.73 [[ 9.74159368e-01 -2.25299205e-01 -1.59308880e-02 8.32960710e+02] [ 2.25258167e-01 9.74289407e-01 -4.34845601e-03 1.36878887e+01] [ 1.65009991e-02 6.47526519e-04 9.99863640e-01 5.72787055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9992541539999 meters 0.022027815366408413 Centerline is valid? [True, True] Translation: X:832.99, Y:13.70, Z:5.73 [[ 9.73981159e-01 -2.26001865e-01 -1.68480986e-02 8.32986825e+02] [ 2.25956020e-01 9.74126635e-01 -4.60171500e-03 1.36964014e+01] [ 1.74521778e-02 6.75054404e-04 9.99847471e-01 5.72716649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0292541539999 meters 0.021924005769833305 Centerline is valid? [True, True] Translation: X:833.01, Y:13.70, Z:5.73 [[ 9.73705507e-01 -2.27110071e-01 -1.78494135e-02 8.33014097e+02] [ 2.27058733e-01 9.73868846e-01 -4.87886121e-03 1.37043991e+01] [ 1.84910263e-02 6.97708807e-04 9.99828783e-01 5.72704681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0592541539999 meters 0.021967117903939206 Centerline is valid? [True, True] Translation: X:833.04, Y:13.71, Z:5.73 [[ 9.73501124e-01 -2.27997554e-01 -1.76826661e-02 8.33041533e+02] [ 2.27947230e-01 9.73661468e-01 -4.83795221e-03 1.37126943e+01] [ 1.83199719e-02 6.79037161e-04 9.99831945e-01 5.72703771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0892541539998 meters 0.022456878400711436 Centerline is valid? [True, True] Translation: X:833.07, Y:13.72, Z:5.73 [[ 9.73297263e-01 -2.28840472e-01 -1.80132421e-02 8.33069737e+02] [ 2.28788303e-01 9.73463700e-01 -4.93320750e-03 1.37204757e+01] [ 1.86641548e-02 6.80258260e-04 9.99825578e-01 5.72664119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1192541539999 meters 0.021082589683728965 Centerline is valid? [True, True] Translation: X:833.10, Y:13.73, Z:5.73 [[ 9.72985296e-01 -2.30275332e-01 -1.65192250e-02 8.33096985e+02] [ 2.30231592e-01 9.73125330e-01 -4.52828714e-03 1.37288661e+01] [ 1.71180291e-02 6.02709317e-04 9.99853294e-01 5.72868225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1492541539999 meters 0.01994094009754946 Centerline is valid? [True, True] Translation: X:833.12, Y:13.74, Z:5.73 [[ 9.72770064e-01 -2.31196177e-01 -1.63318592e-02 8.33124734e+02] [ 2.31153480e-01 9.72906977e-01 -4.48129250e-03 1.37351952e+01] [ 1.69254375e-02 5.84101097e-04 9.99856584e-01 5.72944250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1792541539999 meters 0.019299884706885095 Centerline is valid? [True, True] Translation: X:833.15, Y:13.74, Z:5.73 [[ 9.72471154e-01 -2.32482537e-01 -1.58658594e-02 8.33152676e+02] [ 2.32442343e-01 9.72600415e-01 -4.35769187e-03 1.37421990e+01] [ 1.64442287e-02 5.49832096e-04 9.99864633e-01 5.73028219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2092541539998 meters 0.019916377206397017 Centerline is valid? [True, True] Translation: X:833.18, Y:13.75, Z:5.73 [[ 9.72073552e-01 -2.34191121e-01 -1.50840095e-02 8.33179177e+02] [ 2.34154951e-01 9.72190450e-01 -4.14587496e-03 1.37507215e+01] [ 1.56354571e-02 4.98099896e-04 9.99877635e-01 5.73067322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2392541539999 meters 0.018410449696534683 Centerline is valid? [True, True] Translation: X:833.21, Y:13.76, Z:5.73 [[ 9.71888294e-01 -2.34940827e-01 -1.53607297e-02 8.33207701e+02] [ 2.34903358e-01 9.72009547e-01 -4.22528651e-03 1.37564333e+01] [ 1.59234682e-02 4.98219505e-04 9.99873089e-01 5.73164499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2692541539999 meters 0.020088785776489558 Centerline is valid? [True, True] Translation: X:833.23, Y:13.77, Z:5.73 [[ 9.71678507e-01 -2.35771079e-01 -1.59020955e-02 8.33234159e+02] [ 2.35730987e-01 9.71808491e-01 -4.37700188e-03 1.37660843e+01] [ 1.64857619e-02 5.04421995e-04 9.99863973e-01 5.73021862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2992541539999 meters 0.018720582930971005 Centerline is valid? [True, True] Translation: X:833.26, Y:13.77, Z:5.73 [[ 9.71771094e-01 -2.35415987e-01 -1.55001260e-02 8.33262257e+02] [ 2.35377802e-01 9.71894574e-01 -4.26939174e-03 1.37745170e+01] [ 1.60695714e-02 5.00485893e-04 9.99870751e-01 5.73200671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3292541539998 meters 0.020575210153722726 Centerline is valid? [True, True] Translation: X:833.29, Y:13.78, Z:5.73 [[ 9.71754664e-01 -2.35438964e-01 -1.61668402e-02 8.33288331e+02] [ 2.35397371e-01 9.71888995e-01 -4.45630085e-03 1.37848591e+01] [ 1.67615609e-02 5.24799457e-04 9.99859377e-01 5.73049004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3592541539999 meters 0.02016037980878911 Centerline is valid? [True, True] Translation: X:833.32, Y:13.79, Z:5.73 [[ 9.71770806e-01 -2.35393657e-01 -1.58532732e-02 8.33315488e+02] [ 2.35353596e-01 9.71899973e-01 -4.37356603e-03 1.37937626e+01] [ 1.64373055e-02 5.18978939e-04 9.99864764e-01 5.73153532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3892541539999 meters 0.020086723138367443 Centerline is valid? [True, True] Translation: X:833.34, Y:13.80, Z:5.73 [[ 9.71979622e-01 -2.34477621e-01 -1.66090194e-02 8.33342844e+02] [ 2.34433434e-01 9.72121354e-01 -4.58679628e-03 1.38028566e+01] [ 1.72214835e-02 5.64563076e-04 9.99851540e-01 5.73178768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4192541539999 meters 0.02174238994189063 Centerline is valid? [True, True] Translation: X:833.37, Y:13.81, Z:5.73 [[ 9.71935398e-01 -2.34613937e-01 -1.72592673e-02 8.33370591e+02] [ 2.34566160e-01 9.72088450e-01 -4.77101294e-03 1.38121898e+01] [ 1.78968806e-02 5.88676287e-04 9.99839665e-01 5.73016645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4492541539998 meters 0.02171482428858956 Centerline is valid? [True, True] Translation: X:833.40, Y:13.82, Z:5.73 [[ 9.72108992e-01 -2.33933760e-01 -1.67064142e-02 8.33396371e+02] [ 2.33888846e-01 9.72252361e-01 -4.62102475e-03 1.38216577e+01] [ 1.73238644e-02 5.84695772e-04 9.99849760e-01 5.73077364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4792541539999 meters 0.01977270038648211 Centerline is valid? [True, True] Translation: X:833.42, Y:13.83, Z:5.73 [[ 9.72140656e-01 -2.33788784e-01 -1.68922948e-02 8.33424359e+02] [ 2.33742780e-01 9.72287225e-01 -4.67599727e-03 1.38275002e+01] [ 1.75173582e-02 5.97275089e-04 9.99846381e-01 5.73227331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5092541539999 meters 0.020010859128847227 Centerline is valid? [True, True] Translation: X:833.45, Y:13.84, Z:5.73 [[ 9.72246366e-01 -2.33349200e-01 -1.68865425e-02 8.33450824e+02] [ 2.33303112e-01 9.72392812e-01 -4.67722271e-03 1.38364893e+01] [ 1.75117787e-02 6.07729875e-04 9.99846472e-01 5.73252802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5392541539999 meters 0.021546866477337744 Centerline is valid? [True, True] Translation: X:833.48, Y:13.84, Z:5.73 [[ 9.72103043e-01 -2.33879490e-01 -1.77779969e-02 8.33477443e+02] [ 2.33828419e-01 9.72265387e-01 -4.92829985e-03 1.38449144e+01] [ 1.84375593e-02 6.33814372e-04 9.99829813e-01 5.73060692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5692541539999 meters 0.02084929580263847 Centerline is valid? [True, True] Translation: X:833.50, Y:13.85, Z:5.73 [[ 9.72232734e-01 -2.33417537e-01 -1.67261384e-02 8.33503873e+02] [ 2.33372212e-01 9.72376411e-01 -4.63965610e-03 1.38547474e+01] [ 1.73470796e-02 6.07409620e-04 9.99849344e-01 5.73289056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5992541539999 meters 0.02057502416700058 Centerline is valid? [True, True] Translation: X:833.53, Y:13.86, Z:5.73 [[ 9.72378667e-01 -2.32813408e-01 -1.66626687e-02 8.33531428e+02] [ 2.32768279e-01 9.72521225e-01 -4.62541500e-03 1.38626587e+01] [ 1.72816576e-02 6.19114168e-04 9.99850469e-01 5.73345529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6292541539999 meters 0.022646936734878654 Centerline is valid? [True, True] Translation: X:833.56, Y:13.87, Z:5.73 [[ 9.72626142e-01 -2.31779156e-01 -1.66376458e-02 8.33557155e+02] [ 2.31733964e-01 9.72768222e-01 -4.62124458e-03 1.38744685e+01] [ 1.72556813e-02 6.39235668e-04 9.99850905e-01 5.73361251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6592541539999 meters 0.024415728254130485 Centerline is valid? [True, True] Translation: X:833.58, Y:13.88, Z:5.73 [[ 9.72778933e-01 -2.31113338e-01 -1.69638438e-02 8.33584750e+02] [ 2.31066196e-01 9.72926606e-01 -4.71518141e-03 1.38844009e+01] [ 1.75943162e-02 6.67058289e-04 9.99844986e-01 5.73165214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6892541539999 meters 0.022697877853764894 Centerline is valid? [True, True] Translation: X:833.61, Y:13.89, Z:5.73 [[ 9.73121712e-01 -2.29688878e-01 -1.66478913e-02 8.33612098e+02] [ 2.29643192e-01 9.73263865e-01 -4.63172329e-03 1.38926227e+01] [ 1.72666463e-02 6.84155602e-04 9.99850686e-01 5.73390561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7192541539998 meters 0.02395545401841549 Centerline is valid? [True, True] Translation: X:833.64, Y:13.90, Z:5.73 [[ 9.73594958e-01 -2.27602434e-01 -1.76065097e-02 8.33640043e+02] [ 2.27550944e-01 9.73753843e-01 -4.90118125e-03 1.39006934e+01] [ 1.82599273e-02 7.65387434e-04 9.99832981e-01 5.73153807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7492541539999 meters 0.023403390671905902 Centerline is valid? [True, True] Translation: X:833.67, Y:13.91, Z:5.73 [[ 9.73988622e-01 -2.25963049e-01 -1.69370970e-02 8.33665796e+02] [ 2.25915126e-01 9.74135572e-01 -4.71635876e-03 1.39116146e+01] [ 1.75647515e-02 7.67333364e-04 9.99845433e-01 5.73456718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7792541539999 meters 0.025116996435395136 Centerline is valid? [True, True] Translation: X:833.69, Y:13.92, Z:5.73 [[ 9.74548157e-01 -2.23515159e-01 -1.72297373e-02 8.33693231e+02] [ 2.23465160e-01 9.74700103e-01 -4.79913311e-03 1.39224839e+01] [ 1.78665057e-02 8.26740324e-04 9.99840039e-01 5.73341747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8092541539999 meters 0.027733805969740774 Centerline is valid? [True, True] Translation: X:833.72, Y:13.93, Z:5.73 [[ 9.74709022e-01 -2.22836544e-01 -1.69173675e-02 8.33718820e+02] [ 2.22788208e-01 9.74855473e-01 -4.71398752e-03 1.39349118e+01] [ 1.75424370e-02 8.25776176e-04 9.99845779e-01 5.73312674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8392541539998 meters 0.027733805969740774 Centerline is valid? [True, True] Translation: X:833.75, Y:13.94, Z:5.73 [[ 9.74647110e-01 -2.23107259e-01 -1.69163251e-02 8.33745377e+02] [ 2.23058899e-01 9.74793553e-01 -4.71772634e-03 1.39424132e+01] [ 1.75424836e-02 8.24781500e-04 9.99845779e-01 5.73331768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8692541539999 meters 0.02691269468920379 Centerline is valid? [True, True] Translation: X:833.77, Y:13.95, Z:5.73 [[ 9.74626584e-01 -2.23157457e-01 -1.74290063e-02 8.33773815e+02] [ 2.23106039e-01 9.74782037e-01 -4.86567558e-03 1.39482859e+01] [ 1.80752940e-02 8.53700212e-04 9.99836264e-01 5.73235718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8992541539999 meters 0.026631493451543854 Centerline is valid? [True, True] Translation: X:833.80, Y:13.96, Z:5.74 [[ 9.74891971e-01 -2.22032433e-01 -1.69482586e-02 8.33799501e+02] [ 2.21983595e-01 9.75038907e-01 -4.73420492e-03 1.39588754e+01] [ 1.75763586e-02 8.53102998e-04 9.99845160e-01 5.73517973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9292541539999 meters 0.025904626805948447 Centerline is valid? [True, True] Translation: X:833.83, Y:13.96, Z:5.73 [[ 9.74817929e-01 -2.22326439e-01 -1.73481784e-02 8.33827051e+02] [ 2.22275242e-01 9.74971894e-01 -4.84994568e-03 1.39641542e+01] [ 1.79922575e-02 8.71743462e-04 9.99837746e-01 5.73351978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9592541539998 meters 0.02538383624885614 Centerline is valid? [True, True] Translation: X:833.86, Y:13.97, Z:5.73 [[ 9.74807263e-01 -2.22381119e-01 -1.72463801e-02 8.33855018e+02] [ 2.22330440e-01 9.74959425e-01 -4.82650793e-03 1.39722856e+01] [ 1.78878451e-02 8.70519713e-04 9.99839621e-01 5.73483053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9892541539999 meters 0.026469828728086012 Centerline is valid? [True, True] Translation: X:833.88, Y:13.98, Z:5.73 [[ 9.74559596e-01 -2.23470038e-01 -1.71678784e-02 8.33881218e+02] [ 2.23419937e-01 9.74710429e-01 -4.80740254e-03 1.39814346e+01] [ 1.78080205e-02 8.49453977e-04 9.99841064e-01 5.73413582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0192541539999 meters 0.02949575418724845 Centerline is valid? [True, True] Translation: X:833.91, Y:13.99, Z:5.73 [[ 9.74384874e-01 -2.24205735e-01 -1.74901440e-02 8.33907629e+02] [ 2.24153823e-01 9.74541461e-01 -4.89935377e-03 1.39916845e+01] [ 1.81433337e-02 8.53373566e-04 9.99835032e-01 5.73242969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0492541539999 meters 0.026266665234541367 Centerline is valid? [True, True] Translation: X:833.94, Y:14.00, Z:5.73 [[ 9.73900788e-01 -2.26356020e-01 -1.67393757e-02 8.33936542e+02] [ 2.26308731e-01 9.74044322e-01 -4.69218272e-03 1.39967120e+01] [ 1.73669977e-02 7.81453571e-04 9.99848877e-01 5.73474921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0792541539998 meters 0.02601479634487595 Centerline is valid? [True, True] Translation: X:833.96, Y:14.00, Z:5.74 [[ 9.73564300e-01 -2.27830688e-01 -1.63012611e-02 8.33963475e+02] [ 2.27785999e-01 9.73700484e-01 -4.57234321e-03 1.40040633e+01] [ 1.69142660e-02 7.38271066e-04 9.99856671e-01 5.73517246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1092541539999 meters 0.024011447165391872 Centerline is valid? [True, True] Translation: X:833.99, Y:14.01, Z:5.74 [[ 9.73137414e-01 -2.29666389e-01 -1.60287986e-02 8.33991943e+02] [ 2.29623373e-01 9.73269162e-01 -4.49933592e-03 1.40105309e+01] [ 1.66336816e-02 6.97885324e-04 9.99861407e-01 5.73765590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1392541539999 meters 0.024077954228874775 Centerline is valid? [True, True] Translation: X:834.02, Y:14.02, Z:5.74 [[ 9.72673223e-01 -2.31627079e-01 -1.59905205e-02 8.34018684e+02] [ 2.31584488e-01 9.72804427e-01 -4.49125178e-03 1.40180445e+01] [ 1.65959446e-02 6.65363851e-04 9.99862056e-01 5.73761280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1692541539999 meters 0.02063737043785606 Centerline is valid? [True, True] Translation: X:834.05, Y:14.02, Z:5.74 [[ 9.71681501e-01 -2.35741267e-01 -1.61590462e-02 8.34049257e+02] [ 2.35698328e-01 9.71815668e-01 -4.53940691e-03 1.40207936e+01] [ 1.67737398e-02 6.02197559e-04 9.99859130e-01 5.73871507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1992541539998 meters 0.021570868130493907 Centerline is valid? [True, True] Translation: X:834.08, Y:14.03, Z:5.74 [[ 9.71098392e-01 -2.38092336e-01 -1.67317892e-02 8.34075793e+02] [ 2.38046627e-01 9.71242349e-01 -4.70140238e-03 1.40292388e+01] [ 1.73699901e-02 5.82578304e-04 9.99848961e-01 5.73797353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2292541539999 meters 0.02109011717828287 Centerline is valid? [True, True] Translation: X:834.11, Y:14.03, Z:5.74 [[ 9.70028779e-01 -2.42379003e-01 -1.72217157e-02 8.34106467e+02] [ 2.42331236e-01 9.70181502e-01 -4.83992628e-03 1.40317410e+01] [ 1.78812865e-02 5.21508123e-04 9.99839981e-01 5.73577898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2592541539999 meters 0.01796073557855627 Centerline is valid? [True, True] Translation: X:834.13, Y:14.04, Z:5.74 [[ 9.69680009e-01 -2.43787529e-01 -1.69799984e-02 8.34134943e+02] [ 2.43741259e-01 9.69828541e-01 -4.77491011e-03 1.40376981e+01] [ 1.76317506e-02 4.91408692e-04 9.99844428e-01 5.73960952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2892541539999 meters 0.0219301628668579 Centerline is valid? [True, True] Translation: X:834.16, Y:14.05, Z:5.74 [[ 9.69178552e-01 -2.45723690e-01 -1.76862449e-02 8.34160984e+02] [ 2.45673758e-01 9.69339796e-01 -4.97644708e-03 1.40474051e+01] [ 1.83668120e-02 4.78019516e-04 9.99831202e-01 5.73504718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3192541539999 meters 0.01758078747151147 Centerline is valid? [True, True] Translation: X:834.19, Y:14.05, Z:5.74 [[ 9.68761803e-01 -2.47382921e-01 -1.73856115e-02 8.34189907e+02] [ 2.47334877e-01 9.68917692e-01 -4.89531797e-03 1.40516762e+01] [ 1.80562446e-02 4.42328986e-04 9.99836875e-01 5.73963848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3492541539999 meters 0.01683139723186384 Centerline is valid? [True, True] Translation: X:834.22, Y:14.06, Z:5.74 [[ 9.68533453e-01 -2.48260872e-01 -1.75923044e-02 8.34217926e+02] [ 2.48211737e-01 9.68693114e-01 -4.95825775e-03 1.40582164e+01] [ 1.82724856e-02 4.35622071e-04 9.99832949e-01 5.74014993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3792541539999 meters 0.017712627930959568 Centerline is valid? [True, True] Translation: X:834.25, Y:14.07, Z:5.74 [[ 9.68373479e-01 -2.48833775e-01 -1.82909043e-02 8.34245539e+02] [ 2.48780656e-01 9.68546103e-01 -5.16067344e-03 1.40652446e+01] [ 1.89997339e-02 4.47036135e-04 9.99819389e-01 5.73902638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4092541539999 meters 0.016546743970070756 Centerline is valid? [True, True] Translation: X:834.27, Y:14.07, Z:5.74 [[ 9.68603645e-01 -2.47922881e-01 -1.84722532e-02 8.34273744e+02] [ 2.47868434e-01 9.68779655e-01 -5.21721116e-03 1.40731683e+01] [ 1.91890091e-02 4.74721268e-04 9.99815761e-01 5.74064767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4392541539999 meters 0.017869215717402437 Centerline is valid? [True, True] Translation: X:834.30, Y:14.08, Z:5.74 [[ 9.68738165e-01 -2.47361866e-01 -1.89334407e-02 8.34299705e+02] [ 2.47304499e-01 9.68923039e-01 -5.35055288e-03 1.40829672e+01] [ 1.96685696e-02 5.00959716e-04 9.99806429e-01 5.73956962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4692541539998 meters 0.020022343999797878 Centerline is valid? [True, True] Translation: X:834.33, Y:14.09, Z:5.74 [[ 9.68844449e-01 -2.46796642e-01 -2.07810457e-02 8.34327830e+02] [ 2.46727302e-01 9.69067127e-01 -5.87726359e-03 1.40903763e+01] [ 2.15887172e-02 5.66902868e-04 9.99766776e-01 5.73677449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4992541539999 meters 0.019624699750410524 Centerline is valid? [True, True] Translation: X:834.35, Y:14.10, Z:5.74 [[ 9.68983491e-01 -2.46225531e-01 -2.10708924e-02 8.34353831e+02] [ 2.46154015e-01 9.69212380e-01 -5.96353749e-03 1.40990754e+01] [ 2.18905450e-02 5.91884614e-04 9.99760198e-01 5.73702459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5292541539999 meters 0.019703500122878383 Centerline is valid? [True, True] Translation: X:834.38, Y:14.11, Z:5.74 [[ 9.69106690e-01 -2.45716544e-01 -2.13448634e-02 8.34381705e+02] [ 2.45642917e-01 9.69341529e-01 -6.04621272e-03 1.41073732e+01] [ 2.21761170e-02 6.16210675e-04 9.99753890e-01 5.73738514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5592541539999 meters 0.018336061680440694 Centerline is valid? [True, True] Translation: X:834.41, Y:14.12, Z:5.74 [[ 9.69344100e-01 -2.44828513e-01 -2.07609068e-02 8.34409257e+02] [ 2.44758537e-01 9.69566196e-01 -5.88636829e-03 1.41153092e+01] [ 2.15702242e-02 6.24507210e-04 9.99767141e-01 5.74000115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5892541539998 meters 0.017598166794818883 Centerline is valid? [True, True] Translation: X:834.44, Y:14.12, Z:5.74 [[ 9.69182846e-01 -2.45483355e-01 -2.05556354e-02 8.34437092e+02] [ 2.45414783e-01 9.69400614e-01 -5.83378248e-03 1.41216648e+01] [ 2.13587421e-02 6.09345096e-04 9.99771690e-01 5.74118120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6192541539999 meters 0.01703990251577991 Centerline is valid? [True, True] Translation: X:834.47, Y:14.13, Z:5.74 [[ 9.68942930e-01 -2.46470285e-01 -2.00498508e-02 8.34465733e+02] [ 2.46405142e-01 9.69150176e-01 -5.69577321e-03 1.41281004e+01] [ 2.08351553e-02 5.78492841e-04 9.99782757e-01 5.74217207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6492541539999 meters 0.019347937265974828 Centerline is valid? [True, True] Translation: X:834.49, Y:14.14, Z:5.74 [[ 9.68056751e-01 -2.49858881e-01 -2.08965870e-02 8.34492562e+02] [ 2.49788835e-01 9.68282117e-01 -5.93966459e-03 1.41353502e+01] [ 2.17178695e-02 5.30198274e-04 9.99763999e-01 5.73897795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6792541539999 meters 0.02047590853740349 Centerline is valid? [True, True] Translation: X:834.52, Y:14.14, Z:5.74 [[ 9.67445516e-01 -2.52158069e-01 -2.15750379e-02 8.34520095e+02] [ 2.52083867e-01 9.67685930e-01 -6.13712419e-03 1.41420967e+01] [ 2.24253860e-02 4.98614292e-04 9.99748395e-01 5.73775768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7092541539998 meters 0.018652883532208 Centerline is valid? [True, True] Translation: X:834.55, Y:14.15, Z:5.74 [[ 9.66506486e-01 -2.55779349e-01 -2.10270499e-02 8.34549780e+02] [ 2.55709644e-01 9.66735102e-01 -5.98494509e-03 1.41451677e+01] [ 2.18584126e-02 4.07668786e-04 9.99760993e-01 5.74031410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7392541539999 meters 0.01517649029446309 Centerline is valid? [True, True] Translation: X:834.58, Y:14.15, Z:5.74 [[ 9.66128034e-01 -2.57323804e-01 -1.95213272e-02 8.34577420e+02] [ 2.57263952e-01 9.66325171e-01 -5.56074638e-03 1.41517345e+01] [ 2.02948622e-02 3.50259189e-04 9.99793977e-01 5.74357691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7692541539999 meters 0.014791246858490674 Centerline is valid? [True, True] Translation: X:834.61, Y:14.16, Z:5.74 [[ 9.65513416e-01 -2.59665496e-01 -1.89122923e-02 8.34605670e+02] [ 2.59609669e-01 9.65698577e-01 -5.39232313e-03 1.41577505e+01] [ 1.96637740e-02 2.96546376e-04 9.99806605e-01 5.74437517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7992541539999 meters 0.014061023642063936 Centerline is valid? [True, True] Translation: X:834.63, Y:14.16, Z:5.75 [[ 9.64645288e-01 -2.62948027e-01 -1.78270160e-02 8.34634408e+02] [ 2.62898896e-01 9.64809974e-01 -5.08766723e-03 1.41613289e+01] [ 1.85374749e-02 2.21091384e-04 9.99828142e-01 5.74673776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8292541539998 meters 0.01657713556704436 Centerline is valid? [True, True] Translation: X:834.66, Y:14.17, Z:5.74 [[ 9.64111424e-01 -2.64847279e-01 -1.85763414e-02 8.34661467e+02] [ 2.64794223e-01 9.64290351e-01 -5.30460602e-03 1.41680392e+01] [ 1.93178972e-02 1.95323376e-04 9.99813373e-01 5.74459920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8592541539999 meters 0.014250663734293349 Centerline is valid? [True, True] Translation: X:834.69, Y:14.17, Z:5.75 [[ 9.63860758e-01 -2.65822669e-01 -1.76280583e-02 8.34689412e+02] [ 2.65774989e-01 9.64021929e-01 -5.03744394e-03 1.41745084e+01] [ 1.83329016e-02 1.70297546e-04 9.99831924e-01 5.74708432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8892541539999 meters 0.01379971908700323 Centerline is valid? [True, True] Translation: X:834.72, Y:14.18, Z:5.75 [[ 9.63568551e-01 -2.66881579e-01 -1.76031237e-02 8.34717036e+02] [ 2.66834157e-01 9.63729319e-01 -5.03320604e-03 1.41805542e+01] [ 1.83079164e-02 1.52724380e-04 9.99832384e-01 5.74780917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9192541539999 meters 0.016597203205991434 Centerline is valid? [True, True] Translation: X:834.75, Y:14.19, Z:5.75 [[ 9.63360969e-01 -2.67511109e-01 -1.93248384e-02 8.34745067e+02] [ 2.67453999e-01 9.63554763e-01 -5.52965859e-03 1.41879532e+01] [ 2.00997852e-02 1.58551944e-04 9.99797966e-01 5.74523079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9492541539998 meters 0.015606956957037302 Centerline is valid? [True, True] Translation: X:834.77, Y:14.20, Z:5.75 [[ 9.63444798e-01 -2.67128029e-01 -2.04141270e-02 8.34773012e+02] [ 2.67064091e-01 9.63661031e-01 -5.84705743e-03 1.41951065e+01] [ 2.12342116e-02 1.81436787e-04 9.99774512e-01 5.74544804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9792541539999 meters 0.016545477573433397 Centerline is valid? [True, True] Translation: X:834.80, Y:14.20, Z:5.74 [[ 9.63448617e-01 -2.67043899e-01 -2.13147614e-02 8.34800902e+02] [ 2.66974043e-01 9.63684345e-01 -6.11093412e-03 1.42030455e+01] [ 2.21725895e-02 1.97083009e-04 9.99754138e-01 5.74466104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0092541539999 meters 0.01534601357547594 Centerline is valid? [True, True] Translation: X:834.83, Y:14.21, Z:5.75 [[ 9.63629809e-01 -2.66423036e-01 -2.08891631e-02 8.34828305e+02] [ 2.66355661e-01 9.63856172e-01 -5.99512318e-03 1.42110124e+01] [ 2.17313877e-02 2.13132571e-04 9.99763823e-01 5.74588582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0392541539999 meters 0.014179072734479324 Centerline is valid? [True, True] Translation: X:834.86, Y:14.22, Z:5.75 [[ 9.64066482e-01 -2.64880306e-01 -2.03529462e-02 8.34856175e+02] [ 2.64815880e-01 9.64281267e-01 -5.84699377e-03 1.42196075e+01] [ 2.11747182e-02 2.47107354e-04 9.99775760e-01 5.74713753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0692541539999 meters 0.016078140012223525 Centerline is valid? [True, True] Translation: X:834.88, Y:14.23, Z:5.75 [[ 9.64159128e-01 -2.64463161e-01 -2.13638066e-02 8.34883672e+02] [ 2.64391941e-01 9.64395749e-01 -6.14332089e-03 1.42280871e+01] [ 2.22278464e-02 2.74720603e-04 9.99752893e-01 5.74545744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0992541539999 meters 0.015041485804205806 Centerline is valid? [True, True] Translation: X:834.91, Y:14.24, Z:5.75 [[ 9.64315842e-01 -2.63992369e-01 -2.00745056e-02 8.34909814e+02] [ 2.63929263e-01 9.64524730e-01 -5.77844067e-03 1.42369811e+01] [ 2.08878213e-02 2.73992426e-04 9.99781788e-01 5.74597198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1292541539999 meters 0.014691464322094044 Centerline is valid? [True, True] Translation: X:834.94, Y:14.24, Z:5.75 [[ 9.64349690e-01 -2.63868026e-01 -2.00833225e-02 8.34936910e+02] [ 2.63804708e-01 9.64558751e-01 -5.78713941e-03 1.42431863e+01] [ 2.08985855e-02 2.82751066e-04 9.99781561e-01 5.74763416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1592541539999 meters 0.014688031310093864 Centerline is valid? [True, True] Translation: X:834.96, Y:14.25, Z:5.75 [[ 9.64353748e-01 -2.63881706e-01 -1.97051676e-02 8.34963699e+02] [ 2.63820631e-01 9.64555009e-01 -5.68415926e-03 1.42504149e+01] [ 2.05066637e-02 2.82910539e-04 9.99789676e-01 5.74808123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1892541539999 meters 0.014359022436267936 Centerline is valid? [True, True] Translation: X:834.99, Y:14.26, Z:5.75 [[ 9.64239868e-01 -2.64305560e-01 -1.95971387e-02 8.34991106e+02] [ 2.64245116e-01 9.64438953e-01 -5.65911063e-03 1.42568388e+01] [ 2.03959783e-02 2.78291915e-04 9.99791942e-01 5.74942831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2192541539998 meters 0.016858038145940793 Centerline is valid? [True, True] Translation: X:835.02, Y:14.26, Z:5.75 [[ 9.63964981e-01 -2.65245078e-01 -2.04098800e-02 8.35017096e+02] [ 2.65179639e-01 9.64180986e-01 -5.89787767e-03 1.42644050e+01] [ 2.12432013e-02 2.73062923e-04 9.99774300e-01 5.74724448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2492541539999 meters 0.014190256010249166 Centerline is valid? [True, True] Translation: X:835.05, Y:14.27, Z:5.75 [[ 9.63724258e-01 -2.66232023e-01 -1.88696987e-02 8.35045227e+02] [ 2.66176196e-01 9.63908945e-01 -5.45698314e-03 1.42705051e+01] [ 1.96414950e-02 2.36362416e-04 9.99807059e-01 5.75060884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2792541539999 meters 0.0172281745407289 Centerline is valid? [True, True] Translation: X:835.07, Y:14.28, Z:5.75 [[ 9.63314578e-01 -2.67595283e-01 -2.04398699e-02 8.35072398e+02] [ 2.67530014e-01 9.63531376e-01 -5.91436305e-03 1.42778494e+01] [ 2.12771116e-02 2.29113482e-04 9.99773590e-01 5.74822068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3092541539999 meters 0.014137249789811688 Centerline is valid? [True, True] Translation: X:835.10, Y:14.28, Z:5.75 [[ 9.63190894e-01 -2.68166619e-01 -1.87073596e-02 8.35100597e+02] [ 2.68111980e-01 9.63372526e-01 -5.41689379e-03 1.42847785e+01] [ 1.94747864e-02 2.01835550e-04 9.99810328e-01 5.75093058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3392541539998 meters 0.015361235007039429 Centerline is valid? [True, True] Translation: X:835.13, Y:14.29, Z:5.75 [[ 9.62852330e-01 -2.69251079e-01 -2.04755037e-02 8.35128998e+02] [ 2.69185745e-01 9.63069995e-01 -5.93458835e-03 1.42910071e+01] [ 2.13172375e-02 2.02418531e-04 9.99772741e-01 5.74967193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3692541539999 meters 0.016301138931721963 Centerline is valid? [True, True] Translation: X:835.16, Y:14.30, Z:5.75 [[ 9.62734934e-01 -2.69585469e-01 -2.15666890e-02 8.35156157e+02] [ 2.69512993e-01 9.62976444e-01 -6.25418545e-03 1.42988132e+01] [ 2.24542510e-02 2.08619895e-04 9.99747850e-01 5.74824591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3992541539999 meters 0.014190121759886522 Centerline is valid? [True, True] Translation: X:835.18, Y:14.31, Z:5.75 [[ 9.62867189e-01 -2.69197149e-01 -2.04858820e-02 8.35182594e+02] [ 2.69131628e-01 9.63085070e-01 -5.94266268e-03 1.43062693e+01] [ 2.13293950e-02 2.08596131e-04 9.99772481e-01 5.74941697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4292541539999 meters 0.014946277140296043 Centerline is valid? [True, True] Translation: X:835.21, Y:14.31, Z:5.75 [[ 9.62686509e-01 -2.69713964e-01 -2.21147848e-02 8.35211124e+02] [ 2.69637632e-01 9.62940460e-01 -6.42006790e-03 1.43130841e+01] [ 2.30268031e-02 2.17534529e-04 9.99734824e-01 5.74953159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4592541539998 meters 0.0156023195510728 Centerline is valid? [True, True] Translation: X:835.24, Y:14.32, Z:5.75 [[ 9.62620339e-01 -2.69935714e-01 -2.22888504e-02 8.35236881e+02] [ 2.69858143e-01 9.62878322e-01 -6.47453682e-03 1.43207556e+01] [ 2.32091596e-02 2.17693060e-04 9.99730607e-01 5.74903039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4892541539999 meters 0.017028148909943332 Centerline is valid? [True, True] Translation: X:835.26, Y:14.33, Z:5.75 [[ 9.62534346e-01 -2.70242137e-01 -2.22894630e-02 8.35264222e+02] [ 2.70164511e-01 9.62792366e-01 -6.48046501e-03 1.43273359e+01] [ 2.32114195e-02 2.15848279e-04 9.99730555e-01 5.74980577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5192541539999 meters 0.013933100802400369 Centerline is valid? [True, True] Translation: X:835.29, Y:14.33, Z:5.75 [[ 9.62626270e-01 -2.70073786e-01 -2.02685507e-02 8.35292032e+02] [ 2.70009444e-01 9.62839606e-01 -5.89850744e-03 1.43344332e+01] [ 2.11083956e-02 2.05358120e-04 9.99777172e-01 5.75297914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5492541539999 meters 0.01389435275251717 Centerline is valid? [True, True] Translation: X:835.32, Y:14.34, Z:5.75 [[ 9.62612272e-01 -2.70173291e-01 -1.95960746e-02 8.35318948e+02] [ 2.70113050e-01 9.62811691e-01 -5.70862144e-03 1.43416268e+01] [ 2.04096468e-02 2.02033579e-04 9.99791681e-01 5.75384190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5792541539998 meters 0.015252427791447441 Centerline is valid? [True, True] Translation: X:835.35, Y:14.35, Z:5.75 [[ 9.62523235e-01 -2.70489208e-01 -1.96115155e-02 8.35346263e+02] [ 2.70428811e-01 9.62722986e-01 -5.71926223e-03 1.43493552e+01] [ 2.04274554e-02 2.01403963e-04 9.99791317e-01 5.75331058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6092541539999 meters 0.016301231477185766 Centerline is valid? [True, True] Translation: X:835.37, Y:14.36, Z:5.75 [[ 9.62705667e-01 -2.69839359e-01 -1.96091769e-02 8.35373220e+02] [ 2.69778774e-01 9.62905329e-01 -5.72191742e-03 1.43572271e+01] [ 2.04257795e-02 2.18382621e-04 9.99791348e-01 5.75301955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6392541539999 meters 0.014561062038107059 Centerline is valid? [True, True] Translation: X:835.40, Y:14.37, Z:5.75 [[ 9.62974315e-01 -2.68951543e-01 -1.85886238e-02 8.35400623e+02] [ 2.68896851e-01 9.63153682e-01 -5.42847802e-03 1.43652092e+01] [ 1.93636990e-02 2.29062481e-04 9.99812480e-01 5.75464878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6692541539999 meters 0.016032872428747524 Centerline is valid? [True, True] Translation: X:835.43, Y:14.37, Z:5.75 [[ 9.63670763e-01 -2.66427257e-01 -1.88461512e-02 8.35426721e+02] [ 2.66370491e-01 9.63854986e-01 -5.50698747e-03 1.43746543e+01] [ 1.96321684e-02 2.86864271e-04 9.99807229e-01 5.75375861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6992541539998 meters 0.014971468946758128 Centerline is valid? [True, True] Translation: X:835.45, Y:14.38, Z:5.75 [[ 9.64163742e-01 -2.64670235e-01 -1.83832925e-02 8.35454503e+02] [ 2.64615831e-01 9.64338927e-01 -5.37556393e-03 1.43833357e+01] [ 1.91504763e-02 3.18413635e-04 9.99816562e-01 5.75485918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7292541539999 meters 0.01724489267766715 Centerline is valid? [True, True] Translation: X:835.48, Y:14.39, Z:5.75 [[ 9.64432461e-01 -2.63566374e-01 -2.00697275e-02 8.35481620e+02] [ 2.63501173e-01 9.64641189e-01 -5.87432029e-03 1.43927112e+01] [ 2.09083591e-02 3.76988453e-04 9.99781325e-01 5.75329235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7592541539999 meters 0.01724489267766715 Centerline is valid? [True, True] Translation: X:835.51, Y:14.40, Z:5.75 [[ 9.64357147e-01 -2.63841928e-01 -2.00681183e-02 8.35508074e+02] [ 2.63776672e-01 9.64565858e-01 -5.87981452e-03 1.44005384e+01] [ 2.09083633e-02 3.76739704e-04 9.99781325e-01 5.75348291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7892541539999 meters 0.0176807630746124 Centerline is valid? [True, True] Translation: X:835.53, Y:14.41, Z:5.75 [[ 9.65447997e-01 -2.59826397e-01 -2.00101970e-02 8.35534799e+02] [ 2.59760595e-01 9.65655232e-01 -5.86567000e-03 1.44117028e+01] [ 2.08470073e-02 4.65138680e-04 9.99782569e-01 5.75271700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8192541539999 meters 0.01685330233016936 Centerline is valid? [True, True] Translation: X:835.56, Y:14.42, Z:5.75 [[ 9.66047225e-01 -2.57604508e-01 -1.98160435e-02 8.35561765e+02] [ 2.57539476e-01 9.66250308e-01 -5.81041470e-03 1.44206814e+01] [ 2.06440472e-02 5.09721550e-04 9.99786759e-01 5.75350865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8492541539999 meters 0.01749454266110624 Centerline is valid? [True, True] Translation: X:835.59, Y:14.43, Z:5.75 [[ 9.66882215e-01 -2.54371325e-01 -2.08329443e-02 8.35589881e+02] [ 2.54298668e-01 9.67106435e-01 -6.10982413e-03 1.44305873e+01] [ 2.17018385e-02 6.09690304e-04 9.99764301e-01 5.75281662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8792541539999 meters 0.017585240373256355 Centerline is valid? [True, True] Translation: X:835.62, Y:14.44, Z:5.75 [[ 9.67088910e-01 -2.53556437e-01 -2.11701140e-02 8.35617903e+02] [ 2.53481120e-01 9.67320381e-01 -6.21301785e-03 1.44389061e+01] [ 2.20536334e-02 6.42316468e-04 9.99756583e-01 5.75288151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9092541539999 meters 0.022020691818822255 Centerline is valid? [True, True] Translation: X:835.64, Y:14.45, Z:5.75 [[ 9.67129347e-01 -2.53330471e-01 -2.20113419e-02 8.35642439e+02] [ 2.53248903e-01 9.67379561e-01 -6.46364805e-03 1.44524349e+01] [ 2.29307613e-02 6.76835530e-04 9.99736826e-01 5.74919714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9392541539999 meters 0.021498351971667645 Centerline is valid? [True, True] Translation: X:835.67, Y:14.46, Z:5.75 [[ 9.67191112e-01 -2.53200498e-01 -2.07571760e-02 8.35669350e+02] [ 2.53127828e-01 9.67413609e-01 -6.10014670e-03 1.44602228e+01] [ 2.16253348e-02 6.45788781e-04 9.99765937e-01 5.75040294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9692541539998 meters 0.01957332449398868 Centerline is valid? [True, True] Translation: X:835.70, Y:14.46, Z:5.75 [[ 9.66709746e-01 -2.54963749e-01 -2.15813095e-02 8.35698974e+02] [ 2.54885496e-01 9.66950403e-01 -6.34839913e-03 1.44618309e+01] [ 2.24866676e-02 6.36296532e-04 9.99746940e-01 5.75253326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9992541539999 meters 0.01740187343160689 Centerline is valid? [True, True] Translation: X:835.73, Y:14.47, Z:5.75 [[ 9.66524353e-01 -2.55832290e-01 -1.95067566e-02 8.35726992e+02] [ 2.55768432e-01 9.66721016e-01 -5.74332091e-03 1.44684338e+01] [ 2.03269185e-02 5.61846991e-04 9.99793229e-01 5.75451070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0292541539999 meters 0.01730683509637318 Centerline is valid? [True, True] Translation: X:835.75, Y:14.48, Z:5.75 [[ 9.65819416e-01 -2.58582617e-01 -1.81076259e-02 8.35753795e+02] [ 2.58528021e-01 9.65989031e-01 -5.33419066e-03 1.44751846e+01] [ 1.88710970e-02 4.70536209e-04 9.99821814e-01 5.75467699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0592541539999 meters 0.01671422594618406 Centerline is valid? [True, True] Translation: X:835.78, Y:14.48, Z:5.76 [[ 9.65349104e-01 -2.60362197e-01 -1.76814706e-02 8.35781842e+02] [ 2.60310373e-01 9.65510923e-01 -5.21224221e-03 1.44815463e+01] [ 1.84287239e-02 4.28963125e-04 9.99830085e-01 5.75520940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0892541539998 meters 0.016330880012936654 Centerline is valid? [True, True] Translation: X:835.81, Y:14.49, Z:5.76 [[ 9.64900525e-01 -2.62068982e-01 -1.69359421e-02 8.35809971e+02] [ 2.62021621e-01 9.65049067e-01 -4.99692392e-03 1.44878848e+01] [ 1.76535539e-02 3.83951517e-04 9.99844090e-01 5.75576735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1192541539999 meters 0.015621173957732963 Centerline is valid? [True, True] Translation: X:835.84, Y:14.49, Z:5.76 [[ 9.64002573e-01 -2.65343729e-01 -1.70805342e-02 8.35838775e+02] [ 2.65295986e-01 9.64153824e-01 -5.04420159e-03 1.44919026e+01] [ 1.78067096e-02 3.31226158e-04 9.99841393e-01 5.75620881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1492541539999 meters 0.014633185833991747 Centerline is valid? [True, True] Translation: X:835.87, Y:14.50, Z:5.76 [[ 9.63684753e-01 -2.66510144e-01 -1.68534846e-02 8.35867402e+02] [ 2.66463760e-01 9.63832064e-01 -4.98175114e-03 1.44980924e+01] [ 1.75716161e-02 3.09994738e-04 9.99845559e-01 5.75721408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1792541539999 meters 0.015170913715953574 Centerline is valid? [True, True] Translation: X:835.90, Y:14.50, Z:5.76 [[ 9.62988875e-01 -2.68942722e-01 -1.79509998e-02 8.35895655e+02] [ 2.68890427e-01 9.63156129e-01 -5.31122975e-03 1.45039317e+01] [ 1.87180320e-02 2.87803178e-04 9.99824761e-01 5.75634985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2092541539998 meters 0.016935721316091994 Centerline is valid? [True, True] Translation: X:835.92, Y:14.51, Z:5.76 [[ 9.62541180e-01 -2.70484410e-01 -1.87792661e-02 8.35922951e+02] [ 2.70427358e-01 9.62724316e-01 -5.56199043e-03 1.45108247e+01] [ 1.95836878e-02 2.75217523e-04 9.99808183e-01 5.75507740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2392541539999 meters 0.013919126651526515 Centerline is valid? [True, True] Translation: X:835.95, Y:14.52, Z:5.76 [[ 9.62366618e-01 -2.71188192e-01 -1.75344868e-02 8.35951432e+02] [ 2.71138483e-01 9.62526313e-01 -5.19804654e-03 1.45180005e+01] [ 1.82870538e-02 2.48152315e-04 9.99832747e-01 5.75754095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2692541539999 meters 0.016963540909407434 Centerline is valid? [True, True] Translation: X:835.98, Y:14.52, Z:5.76 [[ 9.61474969e-01 -2.74251934e-01 -1.87553037e-02 8.35980426e+02] [ 2.74195544e-01 9.61657857e-01 -5.56512235e-03 1.45234030e+01] [ 1.95624307e-02 2.08105140e-04 9.99808616e-01 5.75520190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2992541539999 meters 0.013903007503091187 Centerline is valid? [True, True] Translation: X:836.01, Y:14.53, Z:5.76 [[ 9.61208678e-01 -2.75246632e-01 -1.78092371e-02 8.36009086e+02] [ 2.75195872e-01 9.61373631e-01 -5.28902124e-03 1.45301924e+01] [ 1.85771162e-02 1.82824583e-04 9.99827414e-01 5.75754242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3292541539998 meters 0.014405799495114252 Centerline is valid? [True, True] Translation: X:836.04, Y:14.54, Z:5.76 [[ 9.60839458e-01 -2.76534962e-01 -1.77750006e-02 8.36035920e+02] [ 2.76484565e-01 9.61003845e-01 -5.28165323e-03 1.45365536e+01] [ 1.85424057e-02 1.60307512e-04 9.99828062e-01 5.75735392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3592541539999 meters 0.013227864125408259 Centerline is valid? [True, True] Translation: X:836.06, Y:14.54, Z:5.76 [[ 9.60201082e-01 -2.78816711e-01 -1.65868365e-02 8.36064789e+02] [ 2.78773110e-01 9.60344328e-01 -4.93193984e-03 1.45418191e+01] [ 1.73041816e-02 1.11689984e-04 9.99850265e-01 5.75953687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3892541539999 meters 0.013196590438310646 Centerline is valid? [True, True] Translation: X:836.09, Y:14.55, Z:5.76 [[ 9.59867001e-01 -2.79968745e-01 -1.65179505e-02 8.36092548e+02] [ 2.79925591e-01 9.60009111e-01 -4.91634692e-03 1.45486539e+01] [ 1.72338064e-02 9.52421115e-05 9.99851482e-01 5.76053862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4192541539999 meters 0.013177806184246302 Centerline is valid? [True, True] Translation: X:836.12, Y:14.55, Z:5.76 [[ 9.59550099e-01 -2.81127078e-01 -1.52043915e-02 8.36119694e+02] [ 2.81090617e-01 9.59670548e-01 -4.52811048e-03 1.45547662e+01] [ 1.58641812e-02 7.11370748e-05 9.99874153e-01 5.76139327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4492541539998 meters 0.013138485625935035 Centerline is valid? [True, True] Translation: X:836.15, Y:14.56, Z:5.76 [[ 9.59470438e-01 -2.81433168e-01 -1.45550643e-02 8.36146479e+02] [ 2.81399744e-01 9.59580829e-01 -4.33779831e-03 1.45619746e+01] [ 1.51875610e-02 6.61978771e-05 9.99884660e-01 5.76232397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4792541539999 meters 0.013140295324295405 Centerline is valid? [True, True] Translation: X:836.17, Y:14.57, Z:5.76 [[ 9.59419771e-01 -2.81618845e-01 -1.43013536e-02 8.36173602e+02] [ 2.81586532e-01 9.59526353e-01 -4.26657036e-03 1.45695815e+01] [ 1.49240723e-02 6.63634030e-05 9.99888628e-01 5.76295260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5092541539999 meters 0.013954637515286465 Centerline is valid? [True, True] Translation: X:836.20, Y:14.58, Z:5.76 [[ 9.59386950e-01 -2.81720268e-01 -1.45041628e-02 8.36200507e+02] [ 2.81686975e-01 9.59496579e-01 -4.33159567e-03 1.45767830e+01] [ 1.51369929e-02 7.00426084e-05 9.99885427e-01 5.76271046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5392541539999 meters 0.016751813442235888 Centerline is valid? [True, True] Translation: X:836.23, Y:14.59, Z:5.76 [[ 9.59399640e-01 -2.81635940e-01 -1.52816228e-02 8.36227781e+02] [ 2.81598899e-01 9.59521334e-01 -4.56829707e-03 1.45851288e+01] [ 1.59496397e-02 7.95344289e-05 9.99872793e-01 5.76052408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5692541539999 meters 0.013406725028625463 Centerline is valid? [True, True] Translation: X:836.25, Y:14.59, Z:5.76 [[ 9.59798584e-01 -2.80282162e-01 -1.51190948e-02 8.36254932e+02] [ 2.80245672e-01 9.59917652e-01 -4.52379555e-03 1.45939348e+01] [ 1.57810252e-02 1.04871672e-04 9.99875466e-01 5.76290501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5992541539999 meters 0.01569904274696434 Centerline is valid? [True, True] Translation: X:836.28, Y:14.60, Z:5.76 [[ 9.60055702e-01 -2.79283288e-01 -1.71433129e-02 8.36281535e+02] [ 2.79236149e-01 9.60208740e-01 -5.13302157e-03 1.46031130e+01] [ 1.78947260e-02 1.40953954e-04 9.99839867e-01 5.75933937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6292541539999 meters 0.013617335457816751 Centerline is valid? [True, True] Translation: X:836.31, Y:14.61, Z:5.76 [[ 9.60429465e-01 -2.77962625e-01 -1.76641353e-02 8.36308789e+02] [ 2.77912280e-01 9.60591874e-01 -5.29300364e-03 1.46117128e+01] [ 1.84392820e-02 1.74476540e-04 9.99829967e-01 5.76146720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6592541539999 meters 0.01709220589779398 Centerline is valid? [True, True] Translation: X:836.33, Y:14.62, Z:5.76 [[ 9.60492333e-01 -2.77680379e-01 -1.86570273e-02 8.36334694e+02] [ 2.77624083e-01 9.60673498e-01 -5.59453790e-03 1.46206606e+01] [ 1.94768051e-02 1.93870669e-04 9.99810290e-01 5.75807479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6892541539999 meters 0.013798348342777055 Centerline is valid? [True, True] Translation: X:836.36, Y:14.63, Z:5.76 [[ 9.60561523e-01 -2.77500390e-01 -1.77509071e-02 8.36361956e+02] [ 2.77449315e-01 9.60725505e-01 -5.32740656e-03 1.46287877e+01] [ 1.85321066e-02 1.92324734e-04 9.99828247e-01 5.76153874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7192541539998 meters 0.016359481049314124 Centerline is valid? [True, True] Translation: X:836.39, Y:14.64, Z:5.76 [[ 9.60368483e-01 -2.78125727e-01 -1.83971825e-02 8.36388211e+02] [ 2.78070907e-01 9.60544660e-01 -5.52512478e-03 1.46366473e+01] [ 1.92079948e-02 1.90434460e-04 9.99815491e-01 5.75970172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7492541539999 meters 0.01362794383488511 Centerline is valid? [True, True] Translation: X:836.41, Y:14.64, Z:5.76 [[ 9.60273858e-01 -2.78506342e-01 -1.75594855e-02 8.36414958e+02] [ 2.78456385e-01 9.60434373e-01 -5.27790690e-03 1.46436444e+01] [ 1.83346640e-02 1.78685167e-04 9.99831890e-01 5.76332589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7792541539999 meters 0.014909156909474907 Centerline is valid? [True, True] Translation: X:836.44, Y:14.65, Z:5.76 [[ 9.59447814e-01 -2.81347098e-01 -1.74270644e-02 8.36441526e+02] [ 2.81298301e-01 9.59606062e-01 -5.24128711e-03 1.46505294e+01] [ 1.81977375e-02 1.26537867e-04 9.99834399e-01 5.76158709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8092541539999 meters 0.013344050793017734 Centerline is valid? [True, True] Translation: X:836.47, Y:14.66, Z:5.76 [[ 9.59098772e-01 -2.82549758e-01 -1.71808011e-02 8.36469155e+02] [ 2.82502452e-01 9.59252638e-01 -5.17125069e-03 1.46569745e+01] [ 1.79418645e-02 1.06121730e-04 9.99839026e-01 5.76429721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8392541539998 meters 0.016128083801617493 Centerline is valid? [True, True] Translation: X:836.50, Y:14.66, Z:5.76 [[ 9.58114291e-01 -2.85870697e-01 -1.71741054e-02 8.36496887e+02] [ 2.85823895e-01 9.58268199e-01 -5.17292666e-03 1.46630564e+01] [ 1.79361873e-02 4.74852503e-05 9.99839133e-01 5.76182089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8692541539999 meters 0.016046826707176432 Centerline is valid? [True, True] Translation: X:836.52, Y:14.67, Z:5.76 [[ 9.57693380e-01 -2.87275540e-01 -1.72091156e-02 8.36524383e+02] [ 2.87228697e-01 9.57847986e-01 -5.18770800e-03 1.46703356e+01] [ 1.79740184e-02 2.52817521e-05 9.99838454e-01 5.76229709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8992541539999 meters 0.013142832761478004 Centerline is valid? [True, True] Translation: X:836.55, Y:14.68, Z:5.77 [[ 9.57528724e-01 -2.87861408e-01 -1.65696216e-02 8.36551115e+02] [ 2.87817982e-01 9.57672078e-01 -4.99998067e-03 1.46780391e+01] [ 1.73075654e-02 1.85900665e-05 9.99850213e-01 5.76514132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9292541539999 meters 0.013118373833535736 Centerline is valid? [True, True] Translation: X:836.58, Y:14.69, Z:5.77 [[ 9.57233536e-01 -2.88834253e-01 -1.66952506e-02 8.36578282e+02] [ 2.88790223e-01 9.57379117e-01 -5.04308189e-03 1.46854312e+01] [ 1.74402991e-02 5.98196011e-06 9.99847906e-01 5.76544649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9592541539998 meters 0.013153585182191764 Centerline is valid? [True, True] Translation: X:836.61, Y:14.69, Z:5.77 [[ 9.57228956e-01 -2.88840801e-01 -1.68439062e-02 8.36605415e+02] [ 2.88795892e-01 9.57377142e-01 -5.09320988e-03 1.46933935e+01] [ 1.75970976e-02 1.09170372e-05 9.99845159e-01 5.76597711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9892541539999 meters 0.01325093163780781 Centerline is valid? [True, True] Translation: X:836.63, Y:14.70, Z:5.77 [[ 9.57433896e-01 -2.88159608e-01 -1.68634106e-02 8.36631345e+02] [ 2.88114429e-01 9.57582393e-01 -5.10252456e-03 1.47015272e+01] [ 1.76184465e-02 2.67380551e-05 9.99844783e-01 5.76622665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0192541539999 meters 0.01665901810547504 Centerline is valid? [True, True] Translation: X:836.66, Y:14.71, Z:5.76 [[ 9.58010151e-01 -2.86179457e-01 -1.78288687e-02 8.36658362e+02] [ 2.86128541e-01 9.58176035e-01 -5.39855505e-03 1.47110737e+01] [ 1.86281503e-02 7.05223390e-05 9.99826478e-01 5.76365978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0492541539999 meters 0.01587516099247453 Centerline is valid? [True, True] Translation: X:836.68, Y:14.72, Z:5.76 [[ 9.58458644e-01 -2.84681718e-01 -1.77016195e-02 8.36684640e+02] [ 2.84631175e-01 9.58622089e-01 -5.36522558e-03 1.47198969e+01] [ 1.84965451e-02 1.03914080e-04 9.99828919e-01 5.76472020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0792541539998 meters 0.015642472146066354 Centerline is valid? [True, True] Translation: X:836.71, Y:14.73, Z:5.76 [[ 9.59605133e-01 -2.80808856e-01 -1.74463809e-02 8.36709890e+02] [ 2.80759063e-01 9.59763697e-01 -5.29095185e-03 1.47316115e+01] [ 1.82301492e-02 1.78994995e-04 9.99833801e-01 5.76385833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1092541539999 meters 0.014115941636842625 Centerline is valid? [True, True] Translation: X:836.74, Y:14.74, Z:5.77 [[ 9.60258605e-01 -2.78595100e-01 -1.69759191e-02 8.36738045e+02] [ 2.78547549e-01 9.60408623e-01 -5.15174037e-03 1.47399033e+01] [ 1.77390687e-02 2.18402371e-04 9.99842626e-01 5.76721763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1392541539999 meters 0.01750645119462124 Centerline is valid? [True, True] Translation: X:836.77, Y:14.75, Z:5.76 [[ 9.60674039e-01 -2.77081895e-01 -1.81937823e-02 8.36765107e+02] [ 2.77026906e-01 9.60846268e-01 -5.52647930e-03 1.47491756e+01] [ 1.90127152e-02 2.68977960e-04 9.99819206e-01 5.76469456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1692541539999 meters 0.018112661387885465 Centerline is valid? [True, True] Translation: X:836.79, Y:14.76, Z:5.76 [[ 9.61891323e-01 -2.72816355e-01 -1.83390272e-02 8.36790926e+02] [ 2.72759651e-01 9.62066062e-01 -5.57359431e-03 1.47601901e+01] [ 1.91639234e-02 3.59045338e-04 9.99816291e-01 5.76411391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1992541539998 meters 0.0165203395340601 Centerline is valid? [True, True] Translation: X:836.82, Y:14.77, Z:5.77 [[ 9.62473913e-01 -2.70775976e-01 -1.80093831e-02 8.36817669e+02] [ 2.70720903e-01 9.62642309e-01 -5.47515102e-03 1.47699150e+01] [ 1.88191335e-02 3.94173566e-04 9.99822827e-01 5.76539222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2292541539999 meters 0.019176661882548 Centerline is valid? [True, True] Translation: X:836.84, Y:14.78, Z:5.76 [[ 9.62868917e-01 -2.69282058e-01 -1.92515603e-02 8.36844104e+02] [ 2.69218788e-01 9.63061248e-01 -5.85469561e-03 1.47791123e+01] [ 2.01169962e-02 4.54422675e-04 9.99797529e-01 5.76327698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2592541539999 meters 0.019631783319052985 Centerline is valid? [True, True] Translation: X:836.87, Y:14.79, Z:5.76 [[ 9.63823783e-01 -2.65884701e-01 -1.86826507e-02 8.36869200e+02] [ 2.65824443e-01 9.64004701e-01 -5.68344282e-03 1.47913554e+01] [ 1.95213036e-02 5.11532157e-04 9.99809310e-01 5.76375463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2892541539999 meters 0.02022789981332923 Centerline is valid? [True, True] Translation: X:836.90, Y:14.80, Z:5.76 [[ 9.64126908e-01 -2.64765233e-01 -1.89387803e-02 8.36896247e+02] [ 2.64703061e-01 9.64312748e-01 -5.76311329e-03 1.47999910e+01] [ 1.97887793e-02 5.43219479e-04 9.99804035e-01 5.76365997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3192541539999 meters 0.021467748947857187 Centerline is valid? [True, True] Translation: X:836.92, Y:14.81, Z:5.76 [[ 9.64540542e-01 -2.63238197e-01 -1.91623017e-02 8.36922826e+02] [ 2.63174212e-01 9.64730694e-01 -5.83286939e-03 1.48085650e+01] [ 2.00218947e-02 5.83015346e-04 9.99799372e-01 5.76377439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3492541539999 meters 0.018492216846203925 Centerline is valid? [True, True] Translation: X:836.95, Y:14.81, Z:5.77 [[ 9.64662595e-01 -2.62788910e-01 -1.91850648e-02 8.36951859e+02] [ 2.62724603e-01 9.64853166e-01 -5.84387739e-03 1.48114750e+01] [ 2.00464766e-02 5.96981408e-04 9.99798871e-01 5.76626939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3792541539999 meters 0.018871926225423365 Centerline is valid? [True, True] Translation: X:836.98, Y:14.82, Z:5.77 [[ 9.64734038e-01 -2.62518196e-01 -1.92985161e-02 8.36979751e+02] [ 2.62452963e-01 9.64926849e-01 -5.88378047e-03 1.48197593e+01] [ 2.01662558e-02 6.11330553e-04 9.99796453e-01 5.76621918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4092541539999 meters 0.01985450177996774 Centerline is valid? [True, True] Translation: X:837.01, Y:14.83, Z:5.77 [[ 9.64791009e-01 -2.62317044e-01 -1.91853507e-02 8.37006244e+02] [ 2.62252461e-01 9.64981549e-01 -5.85293595e-03 1.48278501e+01] [ 2.00488343e-02 6.15454552e-04 9.99798812e-01 5.76602724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4392541539999 meters 0.018699732923004128 Centerline is valid? [True, True] Translation: X:837.03, Y:14.83, Z:5.77 [[ 9.64745964e-01 -2.62524221e-01 -1.86079907e-02 8.37033659e+02] [ 2.62463414e-01 9.64925218e-01 -5.68153370e-03 1.48335092e+01] [ 1.94468597e-02 5.97319938e-04 9.99810714e-01 5.76745673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4692541539998 meters 0.02332673621939718 Centerline is valid? [True, True] Translation: X:837.06, Y:14.85, Z:5.77 [[ 9.64724894e-01 -2.62638257e-01 -1.80838192e-02 8.37058725e+02] [ 2.62580788e-01 9.64894195e-01 -5.52464863e-03 1.48482064e+01] [ 1.88999562e-02 5.81302572e-04 9.99821211e-01 5.76534584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4992541539999 meters 0.020200329447469856 Centerline is valid? [True, True] Translation: X:837.09, Y:14.85, Z:5.77 [[ 9.64557908e-01 -2.63301713e-01 -1.73277093e-02 8.37088775e+02] [ 2.63248993e-01 9.64713381e-01 -5.29718010e-03 1.48498614e+01] [ 1.81110297e-02 5.47934927e-04 9.99835832e-01 5.76728970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5292541539999 meters 0.01966898321896311 Centerline is valid? [True, True] Translation: X:837.12, Y:14.86, Z:5.77 [[ 9.64388610e-01 -2.63891331e-01 -1.77756589e-02 8.37116775e+02] [ 2.63835848e-01 9.64552257e-01 -5.43953749e-03 1.48556358e+01] [ 1.85809987e-02 5.55971942e-04 9.99827204e-01 5.76783753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5592541539999 meters 0.02119430651306374 Centerline is valid? [True, True] Translation: X:837.14, Y:14.87, Z:5.77 [[ 9.64243253e-01 -2.64395711e-01 -1.81619694e-02 8.37143398e+02] [ 2.64337818e-01 9.64414119e-01 -5.56106489e-03 1.48651644e+01] [ 1.89859814e-02 5.61323951e-04 9.99819592e-01 5.76663701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5892541539998 meters 0.020154939418715788 Centerline is valid? [True, True] Translation: X:837.17, Y:14.87, Z:5.77 [[ 9.64115818e-01 -2.64829398e-01 -1.86032029e-02 8.37170663e+02] [ 2.64768650e-01 9.64295113e-01 -5.70066774e-03 1.48705896e+01] [ 1.94486820e-02 5.70559031e-04 9.99810694e-01 5.76720097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6192541539999 meters 0.02090501287337562 Centerline is valid? [True, True] Translation: X:837.20, Y:14.88, Z:5.77 [[ 9.63986561e-01 -2.65288835e-01 -1.87548721e-02 8.37197388e+02] [ 2.65227113e-01 9.64168818e-01 -5.75047654e-03 1.48794145e+01] [ 1.96084001e-02 5.69081524e-04 9.99807575e-01 5.76681103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6492541539999 meters 0.02090501287337562 Centerline is valid? [True, True] Translation: X:837.22, Y:14.89, Z:5.77 [[ 9.63910787e-01 -2.65564109e-01 -1.87536261e-02 8.37223754e+02] [ 2.65502361e-01 9.64093036e-01 -5.75453800e-03 1.48875837e+01] [ 1.96084391e-02 5.67729244e-04 9.99807575e-01 5.76700205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6792541539999 meters 0.018538226510870472 Centerline is valid? [True, True] Translation: X:837.25, Y:14.90, Z:5.77 [[ 9.63903135e-01 -2.65656271e-01 -1.78183204e-02 8.37250349e+02] [ 2.65600443e-01 9.64067659e-01 -5.47300020e-03 1.48958459e+01] [ 1.86320033e-02 5.42888250e-04 9.99826262e-01 5.76936519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7092541539998 meters 0.018017189455614417 Centerline is valid? [True, True] Translation: X:837.28, Y:14.90, Z:5.77 [[ 9.63728323e-01 -2.66308434e-01 -1.75367595e-02 8.37277781e+02] [ 2.66254372e-01 9.63887722e-01 -5.39157637e-03 1.49034176e+01] [ 1.83392894e-02 5.26775983e-04 9.99831682e-01 5.76973526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7392541539999 meters 0.020720919338077303 Centerline is valid? [True, True] Translation: X:837.30, Y:14.91, Z:5.77 [[ 9.63531726e-01 -2.66952862e-01 -1.85144013e-02 8.37303493e+02] [ 2.66892653e-01 9.63709433e-01 -5.69571988e-03 1.49124348e+01] [ 1.93629919e-02 5.46649121e-04 9.99812370e-01 5.76714505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7692541539999 meters 0.02018647153219408 Centerline is valid? [True, True] Translation: X:837.33, Y:14.92, Z:5.77 [[ 9.63606460e-01 -2.66748207e-01 -1.75494857e-02 8.37329266e+02] [ 2.66694035e-01 9.63766112e-01 -5.40120038e-03 1.49207787e+01] [ 1.83543601e-02 5.24288431e-04 9.99831407e-01 5.76787345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7992541539999 meters 0.018488409265201913 Centerline is valid? [True, True] Translation: X:837.36, Y:14.93, Z:5.77 [[ 9.63674442e-01 -2.66515207e-01 -1.73555404e-02 8.37357191e+02] [ 2.66462118e-01 9.63830570e-01 -5.34532347e-03 1.49285243e+01] [ 1.81524104e-02 5.26557560e-04 9.99835093e-01 5.77001798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8292541539998 meters 0.017577625368521733 Centerline is valid? [True, True] Translation: X:837.38, Y:14.94, Z:5.77 [[ 9.63624893e-01 -2.66681514e-01 -1.75509416e-02 8.37384368e+02] [ 2.66627152e-01 9.63784563e-01 -5.41086652e-03 1.49352235e+01] [ 1.83583047e-02 5.34488101e-04 9.99831329e-01 5.77067614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8592541539999 meters 0.01774257825538835 Centerline is valid? [True, True] Translation: X:837.41, Y:14.94, Z:5.77 [[ 9.63464565e-01 -2.67205972e-01 -1.83575496e-02 8.37409781e+02] [ 2.67146500e-01 9.63639280e-01 -5.66434893e-03 1.49430502e+01] [ 1.92036037e-02 5.53244352e-04 9.99815441e-01 5.76992078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8892541539999 meters 0.019995250558506497 Centerline is valid? [True, True] Translation: X:837.44, Y:14.95, Z:5.77 [[ 9.63150667e-01 -2.68256064e-01 -1.94801611e-02 8.37436256e+02] [ 2.68189252e-01 9.63347477e-01 -6.01354842e-03 1.49523054e+01] [ 2.03793349e-02 5.67583322e-04 9.99792159e-01 5.76702198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9192541539999 meters 0.017472394158636776 Centerline is valid? [True, True] Translation: X:837.46, Y:14.96, Z:5.77 [[ 9.62973815e-01 -2.68897506e-01 -1.93794314e-02 8.37464840e+02] [ 2.68831434e-01 9.63168637e-01 -5.98638387e-03 1.49593965e+01] [ 2.02753842e-02 5.54930595e-04 9.99794279e-01 5.76947106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9492541539998 meters 0.017653536946610645 Centerline is valid? [True, True] Translation: X:837.49, Y:14.97, Z:5.77 [[ 9.62084073e-01 -2.72039727e-01 -1.97135461e-02 8.37493382e+02] [ 2.71971910e-01 9.62285890e-01 -6.09467263e-03 1.49661873e+01] [ 2.06280603e-02 5.02056681e-04 9.99787093e-01 5.76825461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9792541539999 meters 0.01840663653201332 Centerline is valid? [True, True] Translation: X:837.52, Y:14.97, Z:5.77 [[ 9.61549616e-01 -2.73894637e-01 -2.01013576e-02 8.37521497e+02] [ 2.73824416e-01 9.61759586e-01 -6.22001930e-03 1.49732643e+01] [ 2.10363033e-02 4.76614656e-04 9.99778599e-01 5.76779263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0092541539999 meters 0.015673770439833683 Centerline is valid? [True, True] Translation: X:837.55, Y:14.98, Z:5.77 [[ 9.60820500e-01 -2.76540556e-01 -1.86892443e-02 8.37548405e+02] [ 2.76480299e-01 9.61002168e-01 -5.78594279e-03 1.49795301e+01] [ 1.95604521e-02 3.92044591e-04 9.99808599e-01 5.77079443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0392541539999 meters 0.01565236334952602 Centerline is valid? [True, True] Translation: X:837.58, Y:14.99, Z:5.77 [[ 9.60285481e-01 -2.78428585e-01 -1.81471201e-02 8.37576360e+02] [ 2.78372039e-01 9.60456872e-01 -5.62186686e-03 1.49867877e+01] [ 1.89948147e-02 3.46946290e-04 9.99819522e-01 5.77090684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0692541539999 meters 0.016164792270050406 Centerline is valid? [True, True] Translation: X:837.60, Y:14.99, Z:5.77 [[ 9.59766885e-01 -2.80202856e-01 -1.82725693e-02 8.37604365e+02] [ 2.80145751e-01 9.59940758e-01 -5.66570236e-03 1.49938635e+01] [ 1.91281300e-02 3.18770848e-04 9.99816990e-01 5.77071500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0992541539999 meters 0.014495945501878578 Centerline is valid? [True, True] Translation: X:837.63, Y:15.00, Z:5.77 [[ 9.58950440e-01 -2.83013893e-01 -1.78098233e-02 8.37631540e+02] [ 2.82960076e-01 9.59115775e-01 -5.52504449e-03 1.50005938e+01] [ 1.86453468e-02 2.58774887e-04 9.99826127e-01 5.77176829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1292541539999 meters 0.01650806029513532 Centerline is valid? [True, True] Translation: X:837.66, Y:15.01, Z:5.77 [[ 9.58320207e-01 -2.85099276e-01 -1.84603447e-02 8.37659531e+02] [ 2.85041766e-01 9.58497965e-01 -5.73077859e-03 1.50073076e+01] [ 1.93280437e-02 2.29951658e-04 9.99813169e-01 5.77038644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1592541539999 meters 0.015713228552503497 Centerline is valid? [True, True] Translation: X:837.69, Y:15.02, Z:5.77 [[ 9.57916638e-01 -2.86467241e-01 -1.82273154e-02 8.37687423e+02] [ 2.86411326e-01 9.58090016e-01 -5.66342401e-03 1.50153883e+01] [ 1.90857943e-02 2.04578525e-04 9.99817829e-01 5.77083710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1892541539999 meters 0.014744486741283716 Centerline is valid? [True, True] Translation: X:837.71, Y:15.02, Z:5.77 [[ 9.57279318e-01 -2.88670474e-01 -1.69015955e-02 8.37714964e+02] [ 2.88622662e-01 9.57428501e-01 -5.25598953e-03 1.50226047e+01] [ 1.76993182e-02 1.53266590e-04 9.99843343e-01 5.77206769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2192541539998 meters 0.013386777928855028 Centerline is valid? [True, True] Translation: X:837.74, Y:15.03, Z:5.77 [[ 9.57214941e-01 -2.88926441e-01 -1.61576237e-02 8.37741359e+02] [ 2.88882703e-01 9.57351289e-01 -5.02928180e-03 1.50309240e+01] [ 1.69216143e-02 1.46445676e-04 9.99856809e-01 5.77404592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2492541539999 meters 0.01586676242080242 Centerline is valid? [True, True] Translation: X:837.77, Y:15.04, Z:5.77 [[ 9.57062266e-01 -2.89475138e-01 -1.53611193e-02 8.37768253e+02] [ 2.89435602e-01 9.57185524e-01 -4.78596325e-03 1.50402051e+01] [ 1.60888584e-02 1.34410018e-04 9.99870557e-01 5.77249978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2792541539999 meters 0.013526481374767647 Centerline is valid? [True, True] Translation: X:837.79, Y:15.05, Z:5.77 [[ 9.57289078e-01 -2.88741203e-01 -1.50379245e-02 8.37794460e+02] [ 2.88703152e-01 9.57407173e-01 -4.68982117e-03 1.50495738e+01] [ 1.57515614e-02 1.48018370e-04 9.99875926e-01 5.77491912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3092541539999 meters 0.016113080061910957 Centerline is valid? [True, True] Translation: X:837.82, Y:15.06, Z:5.77 [[ 9.57175887e-01 -2.89078634e-01 -1.57437209e-02 8.37821470e+02] [ 2.89036891e-01 9.57305343e-01 -4.91482319e-03 1.50589266e+01] [ 1.64923185e-02 1.53834109e-04 9.99863981e-01 5.77209794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3392541539998 meters 0.014068030768955665 Centerline is valid? [True, True] Translation: X:837.85, Y:15.07, Z:5.77 [[ 9.57741011e-01 -2.87134577e-01 -1.69082905e-02 8.37848177e+02] [ 2.87086041e-01 9.57890230e-01 -5.28325068e-03 1.50701077e+01] [ 1.77132903e-02 2.05851665e-04 9.99843086e-01 5.77292127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3692541539999 meters 0.015024785482343893 Centerline is valid? [True, True] Translation: X:837.88, Y:15.08, Z:5.77 [[ 9.57827812e-01 -2.86792716e-01 -1.77713205e-02 8.37875222e+02] [ 2.86738951e-01 9.57992634e-01 -5.55768493e-03 1.50798076e+01] [ 1.86186977e-02 2.27575413e-04 9.99826631e-01 5.77114411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3992541539999 meters 0.014934980109629938 Centerline is valid? [True, True] Translation: X:837.90, Y:15.09, Z:5.77 [[ 9.58437339e-01 -2.84703511e-01 -1.84872265e-02 8.37902360e+02] [ 2.84644842e-01 9.58615580e-01 -5.78648339e-03 1.50910820e+01] [ 1.93695755e-02 2.83688078e-04 9.99812352e-01 5.77177865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4292541539999 meters 0.016626325105218432 Centerline is valid? [True, True] Translation: X:837.93, Y:15.10, Z:5.77 [[ 9.58556272e-01 -2.84304725e-01 -1.84579845e-02 8.37929455e+02] [ 2.84246075e-01 9.58733923e-01 -5.78214837e-03 1.51006889e+01] [ 1.93401880e-02 2.95904944e-04 9.99812917e-01 5.77055707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4592541539998 meters 0.016671228047972546 Centerline is valid? [True, True] Translation: X:837.96, Y:15.11, Z:5.77 [[ 9.58866911e-01 -2.83296112e-01 -1.78202050e-02 8.37955858e+02] [ 2.83241210e-01 9.59032438e-01 -5.58558393e-03 1.51109269e+01] [ 1.86725289e-02 3.08415164e-04 9.99825606e-01 5.77135306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4892541539999 meters 0.017635851807952747 Centerline is valid? [True, True] Translation: X:837.98, Y:15.12, Z:5.77 [[ 9.59137414e-01 -2.82481660e-01 -1.61100225e-02 8.37982226e+02] [ 2.82436613e-01 9.59272653e-01 -5.05333938e-03 1.51204447e+01] [ 1.68813798e-02 2.96786666e-04 9.99857455e-01 5.77274674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5192541539999 meters 0.015335039527310525 Centerline is valid? [True, True] Translation: X:838.01, Y:15.13, Z:5.78 [[ 9.59482651e-01 -2.81360794e-01 -1.51375370e-02 8.38009198e+02] [ 2.81320814e-01 9.59602007e-01 -4.75255874e-03 1.51305241e+01] [ 1.58631946e-02 3.01493426e-04 9.99874126e-01 5.77619767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5492541539999 meters 0.015766417471916292 Centerline is valid? [True, True] Translation: X:838.04, Y:15.14, Z:5.78 [[ 9.59453599e-01 -2.81482756e-01 -1.47054444e-02 8.38035431e+02] [ 2.81444975e-01 9.59566241e-01 -4.62117537e-03 1.51401882e+01] [ 1.54116292e-02 2.95029914e-04 9.99881190e-01 5.77590843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5792541539998 meters 0.01583507617301987 Centerline is valid? [True, True] Translation: X:838.06, Y:15.15, Z:5.78 [[ 9.59762350e-01 -2.80434038e-01 -1.45939120e-02 8.38062868e+02] [ 2.80396642e-01 9.59873248e-01 -4.59034028e-03 1.51504514e+01] [ 1.52955934e-02 3.13551844e-04 9.99882966e-01 5.77648901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6092541539999 meters 0.01656611709018488 Centerline is valid? [True, True] Translation: X:838.09, Y:15.16, Z:5.78 [[ 9.60467560e-01 -2.77968712e-01 -1.53447340e-02 8.38089671e+02] [ 2.77926985e-01 9.60590055e-01 -4.83081679e-03 1.51617159e+01] [ 1.60828148e-02 3.75127176e-04 9.99870593e-01 5.77576569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6392541539999 meters 0.017334553892861867 Centerline is valid? [True, True] Translation: X:838.12, Y:15.17, Z:5.78 [[ 9.60886187e-01 -2.76473552e-01 -1.61279556e-02 8.38115697e+02] [ 2.76427197e-01 9.61021434e-01 -5.08025691e-03 1.51726134e+01] [ 1.69038677e-02 4.23343133e-04 9.99857030e-01 5.77517865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6692541539999 meters 0.020695710765124872 Centerline is valid? [True, True] Translation: X:838.14, Y:15.18, Z:5.77 [[ 9.61093594e-01 -2.75675807e-01 -1.73767975e-02 8.38141808e+02] [ 2.75621832e-01 9.61250553e-01 -5.47538203e-03 1.51838649e+01] [ 1.82128865e-02 4.72929843e-04 9.99834020e-01 5.77169810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6992541539998 meters 0.01802993460054371 Centerline is valid? [True, True] Translation: X:838.17, Y:15.20, Z:5.77 [[ 9.61846679e-01 -2.72928287e-01 -1.90030548e-02 8.38169193e+02] [ 2.72863175e-01 9.62034209e-01 -5.98899968e-03 1.51953204e+01] [ 1.99161562e-02 5.75265583e-04 9.99801488e-01 5.77456071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7292541539999 meters 0.019758951877299886 Centerline is valid? [True, True] Translation: X:838.19, Y:15.21, Z:5.77 [[ 9.61983217e-01 -2.72444987e-01 -1.90267901e-02 8.38194413e+02] [ 2.72379589e-01 9.62171182e-01 -5.99795596e-03 1.52079599e+01] [ 1.99411421e-02 5.87423712e-04 9.99800983e-01 5.77292951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7592541539999 meters 0.019771233699976354 Centerline is valid? [True, True] Translation: X:838.22, Y:15.22, Z:5.77 [[ 9.61711568e-01 -2.73482251e-01 -1.78414974e-02 8.38221930e+02] [ 2.73424857e-01 9.61876901e-01 -5.62797763e-03 1.52163318e+01] [ 1.87004763e-02 5.34182295e-04 9.99824988e-01 5.77248092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7892541539999 meters 0.017155007966885624 Centerline is valid? [True, True] Translation: X:838.25, Y:15.22, Z:5.78 [[ 9.61538176e-01 -2.74118273e-01 -1.74215152e-02 8.38250266e+02] [ 2.74063566e-01 9.61695850e-01 -5.50031892e-03 1.52232650e+01] [ 1.82619368e-02 5.14164032e-04 9.99833105e-01 5.77660920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8192541539999 meters 0.018342404564318186 Centerline is valid? [True, True] Translation: X:838.28, Y:15.23, Z:5.78 [[ 9.60243387e-01 -2.78720309e-01 -1.57361572e-02 8.38278978e+02] [ 2.78676259e-01 9.60372240e-01 -4.97027368e-03 1.52300932e+01] [ 1.64978848e-02 3.87378996e-04 9.99863826e-01 5.77584854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8492541539999 meters 0.018342404564318186 Centerline is valid? [True, True] Translation: X:838.31, Y:15.24, Z:5.78 [[ 9.60162028e-01 -2.79000507e-01 -1.57352394e-02 8.38305272e+02] [ 2.78956447e-01 9.60290877e-01 -4.97317818e-03 1.52384739e+01] [ 1.64979261e-02 3.85610379e-04 9.99863826e-01 5.77603967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8792541539999 meters 0.015049425877756312 Centerline is valid? [True, True] Translation: X:838.33, Y:15.24, Z:5.78 [[ 9.58703757e-01 -2.84067351e-01 -1.38868752e-02 8.38334033e+02] [ 2.84033534e-01 9.58804291e-01 -4.39115646e-03 1.52445073e+01] [ 1.45621798e-02 2.65479952e-04 9.99893931e-01 5.78046915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9092541539999 meters 0.013950748752675986 Centerline is valid? [True, True] Translation: X:838.36, Y:15.25, Z:5.78 [[ 9.56875314e-01 -2.90201056e-01 -1.31521911e-02 8.38361655e+02] [ 2.90171284e-01 9.56965684e-01 -4.16000069e-03 1.52498935e+01] [ 1.37934322e-02 1.64213778e-04 9.99904853e-01 5.78150278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9392541539999 meters 0.015903546193960384 Centerline is valid? [True, True] Translation: X:838.39, Y:15.26, Z:5.78 [[ 9.55702547e-01 -2.94044742e-01 -1.30511215e-02 8.38389914e+02] [ 2.94015747e-01 9.55791650e-01 -4.13069704e-03 1.52567255e+01] [ 1.36887627e-02 1.10482434e-04 9.99906298e-01 5.77915674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9692541539998 meters 0.013318557367363091 Centerline is valid? [True, True] Translation: X:838.42, Y:15.26, Z:5.78 [[ 9.54997430e-01 -2.96343859e-01 -1.26580087e-02 8.38416654e+02] [ 2.96316756e-01 9.55081311e-01 -4.00860205e-03 1.52638014e+01] [ 1.32773522e-02 7.74245645e-05 9.99911849e-01 5.78233115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9992541539999 meters 0.013144990073318716 Centerline is valid? [True, True] Translation: X:838.44, Y:15.27, Z:5.78 [[ 9.53289173e-01 -3.01802850e-01 -1.24415985e-02 8.38444664e+02] [ 3.01777114e-01 9.53370358e-01 -3.94124931e-03 1.52691233e+01] [ 1.30509315e-02 2.56061541e-06 9.99914833e-01 5.78279331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0292541539999 meters 0.015084339070906214 Centerline is valid? [True, True] Translation: X:838.47, Y:15.28, Z:5.78 [[ 9.52240546e-01 -3.05066478e-01 -1.31295996e-02 8.38472677e+02] [ 3.05038094e-01 9.52331057e-01 -4.16161202e-03 1.52762163e+01] [ 1.37732938e-02 -4.21723347e-05 9.99905143e-01 5.78093577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0592541539999 meters 0.016272794473575297 Centerline is valid? [True, True] Translation: X:838.50, Y:15.28, Z:5.78 [[ 9.51408943e-01 -3.07626873e-01 -1.36649318e-02 8.38500418e+02] [ 3.07596337e-01 9.51507068e-01 -4.33507620e-03 1.52842663e+01] [ 1.43358651e-02 -7.88526928e-05 9.99897233e-01 5.78022481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0892541539998 meters 0.016495539401834142 Centerline is valid? [True, True] Translation: X:838.53, Y:15.29, Z:5.78 [[ 9.50359567e-01 -3.10744392e-01 -1.59566906e-02 8.38527009e+02] [ 3.10703141e-01 9.50493505e-01 -5.06513957e-03 1.52915441e+01] [ 1.67406945e-02 -1.44090039e-04 9.99859854e-01 5.77944719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1192541539999 meters 0.01672879468435995 Centerline is valid? [True, True] Translation: X:838.55, Y:15.30, Z:5.78 [[ 9.49863188e-01 -3.12211911e-01 -1.68418014e-02 8.38554130e+02] [ 3.12166125e-01 9.50012469e-01 -5.34963230e-03 1.53011007e+01] [ 1.76701403e-02 -1.76021089e-04 9.99843855e-01 5.77953625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1492541539999 meters 0.016962366786503518 Centerline is valid? [True, True] Translation: X:838.58, Y:15.31, Z:5.78 [[ 9.49481944e-01 -3.13337023e-01 -1.74341149e-02 8.38581105e+02] [ 3.13288059e-01 9.49641970e-01 -5.54270357e-03 1.53120939e+01] [ 1.82929014e-02 -1.99203057e-04 9.99832651e-01 5.77960482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1792541539999 meters 0.014289463116996857 Centerline is valid? [True, True] Translation: X:838.61, Y:15.32, Z:5.78 [[ 9.49579058e-01 -3.13092042e-01 -1.65222597e-02 8.38607485e+02] [ 3.13047982e-01 9.49722770e-01 -5.25552902e-03 1.53214742e+01] [ 1.73370306e-02 -1.81719773e-04 9.99849686e-01 5.78264533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2092541539998 meters 0.017876402518023995 Centerline is valid? [True, True] Translation: X:838.63, Y:15.33, Z:5.78 [[ 9.49301297e-01 -3.13953363e-01 -1.61348683e-02 8.38633799e+02] [ 3.13911444e-01 9.49438386e-01 -5.13386057e-03 1.53313336e+01] [ 1.69308561e-02 -1.91339297e-04 9.99856644e-01 5.78003331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2392541539999 meters 0.016134010440775923 Centerline is valid? [True, True] Translation: X:838.66, Y:15.34, Z:5.78 [[ 9.49515157e-01 -3.13407842e-01 -1.40175225e-02 8.38659734e+02] [ 3.13376105e-01 9.49618608e-01 -4.46277613e-03 1.53436782e+01] [ 1.47099693e-02 -1.55283039e-04 9.99891790e-01 5.78428716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2692541539999 meters 0.016329639211981044 Centerline is valid? [True, True] Translation: X:838.69, Y:15.35, Z:5.79 [[ 9.49625478e-01 -3.13117748e-01 -1.29895097e-02 8.38685384e+02] [ 3.13090432e-01 9.49714303e-01 -4.13814141e-03 1.53536580e+01] [ 1.36320486e-02 -1.37206674e-04 9.99907070e-01 5.78520649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2992541539999 meters 0.015562345969046392 Centerline is valid? [True, True] Translation: X:838.71, Y:15.36, Z:5.79 [[ 9.49951042e-01 -3.12137513e-01 -1.27746448e-02 8.38712065e+02] [ 3.12110969e-01 9.50036925e-01 -4.07234438e-03 1.53642352e+01] [ 1.34075157e-02 -1.18578975e-04 9.99910108e-01 5.78671460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3292541539998 meters 0.017136493486571536 Centerline is valid? [True, True] Translation: X:838.74, Y:15.38, Z:5.79 [[ 9.50710790e-01 -3.09819696e-01 -1.26786977e-02 8.38737646e+02] [ 3.09793297e-01 9.50795325e-01 -4.04520843e-03 1.53783141e+01] [ 1.33081317e-02 -8.19522655e-05 9.99911440e-01 5.78578883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3592541539999 meters 0.015433660068834499 Centerline is valid? [True, True] Translation: X:838.76, Y:15.39, Z:5.79 [[ 9.51334322e-01 -3.07902934e-01 -1.26012117e-02 8.38763700e+02] [ 3.07876643e-01 9.51417774e-01 -4.02395003e-03 1.53906817e+01] [ 1.32280028e-02 -5.14969806e-05 9.99912505e-01 5.78723342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3892541539999 meters 0.01680554816797966 Centerline is valid? [True, True] Translation: X:838.79, Y:15.41, Z:5.79 [[ 9.52769073e-01 -3.03355240e-01 -1.43767843e-02 8.38788130e+02] [ 3.03320456e-01 9.52877536e-01 -4.59381590e-03 1.54069812e+01] [ 1.50928729e-02 1.60729605e-05 9.99886096e-01 5.78508247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4192541539999 meters 0.01622359945030141 Centerline is valid? [True, True] Translation: X:838.81, Y:15.42, Z:5.78 [[ 9.53518171e-01 -3.00937347e-01 -1.54858054e-02 8.38814709e+02] [ 3.00896618e-01 9.53643911e-01 -4.95132931e-03 1.54198346e+01] [ 1.62579839e-02 6.15559914e-05 9.99867828e-01 5.78481734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4492541539998 meters 0.01676301770534711 Centerline is valid? [True, True] Translation: X:838.84, Y:15.43, Z:5.78 [[ 9.54191725e-01 -2.98736097e-01 -1.65800202e-02 8.38840570e+02] [ 2.98689025e-01 9.54335755e-01 -5.30412107e-03 1.54321156e+01] [ 1.74074385e-02 1.08878368e-04 9.99848473e-01 5.78388701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4792541539999 meters 0.01734853451523844 Centerline is valid? [True, True] Translation: X:838.87, Y:15.45, Z:5.78 [[ 9.55395175e-01 -2.94740019e-01 -1.86649753e-02 8.38865957e+02] [ 2.94679519e-01 9.55577458e-01 -5.97523860e-03 1.54481231e+01] [ 1.95969716e-02 2.08528181e-04 9.99807939e-01 5.78249414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5092541539999 meters 0.01688564635591257 Centerline is valid? [True, True] Translation: X:838.89, Y:15.46, Z:5.78 [[ 9.55873617e-01 -2.93156234e-01 -1.91062850e-02 8.38891273e+02] [ 2.93092448e-01 9.56064516e-01 -6.12026118e-03 1.54605084e+01] [ 2.00610338e-02 2.50288365e-04 9.99798726e-01 5.78214890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5392541539999 meters 0.015015412287563173 Centerline is valid? [True, True] Translation: X:838.92, Y:15.48, Z:5.78 [[ 9.56637381e-01 -2.90666049e-01 -1.89253736e-02 8.38916756e+02] [ 2.90602890e-01 9.56824516e-01 -6.06669557e-03 1.54750098e+01] [ 1.98716439e-02 3.03859495e-04 9.99802493e-01 5.78447092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5692541539999 meters 0.015015412287563173 Centerline is valid? [True, True] Translation: X:838.94, Y:15.48, Z:5.78 [[ 9.56553848e-01 -2.90940938e-01 -1.89237056e-02 8.38942996e+02] [ 2.90877730e-01 9.56740967e-01 -6.07189550e-03 1.54835039e+01] [ 1.98716474e-02 3.03610460e-04 9.99802493e-01 5.78466147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5992541539999 meters 0.018411740544622697 Centerline is valid? [True, True] Translation: X:838.97, Y:15.49, Z:5.78 [[ 9.56563643e-01 -2.90834792e-01 -2.00280066e-02 8.38969716e+02] [ 2.90763842e-01 9.56773231e-01 -6.43216035e-03 1.54941184e+01] [ 2.10329566e-02 3.29350580e-04 9.99778729e-01 5.78143605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6292541539999 meters 0.018233452991247394 Centerline is valid? [True, True] Translation: X:838.99, Y:15.51, Z:5.78 [[ 9.56748438e-01 -2.90260204e-01 -1.95304909e-02 8.38994971e+02] [ 2.90192554e-01 9.56947700e-01 -6.27543268e-03 1.55058470e+01] [ 2.05111667e-02 3.36407380e-04 9.99789567e-01 5.78219069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6592541539999 meters 0.015643878698747952 Centerline is valid? [True, True] Translation: X:839.02, Y:15.52, Z:5.79 [[ 9.56808208e-01 -2.90152633e-01 -1.81522227e-02 8.39020732e+02] [ 2.90094142e-01 9.56980329e-01 -5.83429138e-03 1.55162169e+01] [ 1.90641550e-02 3.16444412e-04 9.99818212e-01 5.78587663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6892541539999 meters 0.015581406149664162 Centerline is valid? [True, True] Translation: X:839.05, Y:15.53, Z:5.79 [[ 9.56738057e-01 -2.90407390e-01 -1.77718306e-02 8.39047288e+02] [ 2.90351294e-01 9.56903053e-01 -5.71610109e-03 1.55259447e+01] [ 1.86659170e-02 3.08737449e-04 9.99825729e-01 5.78649540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7192541539998 meters 0.015654442680391407 Centerline is valid? [True, True] Translation: X:839.07, Y:15.54, Z:5.79 [[ 9.56708848e-01 -2.90547642e-01 -1.70366375e-02 8.39073579e+02] [ 2.90496021e-01 9.56860480e-01 -5.48480037e-03 1.55371194e+01] [ 1.78952810e-02 2.98281629e-04 9.99839822e-01 5.78726479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7492541539999 meters 0.01917423186914351 Centerline is valid? [True, True] Translation: X:839.10, Y:15.55, Z:5.78 [[ 9.56675520e-01 -2.90585536e-01 -1.82207465e-02 8.39100975e+02] [ 2.90526394e-01 9.56848965e-01 -5.87137500e-03 1.55463618e+01] [ 1.91406390e-02 3.23392971e-04 9.99816749e-01 5.78414371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7792541539999 meters 0.018399886077365795 Centerline is valid? [True, True] Translation: X:839.13, Y:15.56, Z:5.79 [[ 9.56755976e-01 -2.90343236e-01 -1.78551855e-02 8.39126241e+02] [ 2.90286322e-01 9.56922515e-01 -5.75774873e-03 1.55566760e+01] [ 1.87577524e-02 3.25644375e-04 9.99824005e-01 5.78511076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8092541539999 meters 0.018618067937164393 Centerline is valid? [True, True] Translation: X:839.15, Y:15.57, Z:5.79 [[ 9.57185167e-01 -2.88912763e-01 -1.80546781e-02 8.39151560e+02] [ 2.88854268e-01 9.57355360e-01 -5.82459899e-03 1.55687437e+01] [ 1.89675438e-02 3.60048925e-04 9.99820035e-01 5.78513172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8392541539998 meters 0.016939456769142186 Centerline is valid? [True, True] Translation: X:839.18, Y:15.58, Z:5.79 [[ 9.57544716e-01 -2.87768371e-01 -1.72476243e-02 8.39176998e+02] [ 2.87714775e-01 9.57699969e-01 -5.56585001e-03 1.55793718e+01] [ 1.81197249e-02 3.67153923e-04 9.99835757e-01 5.78766009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8692541539999 meters 0.018848040043895536 Centerline is valid? [True, True] Translation: X:839.20, Y:15.59, Z:5.79 [[ 9.57970753e-01 -2.86264645e-01 -1.85631339e-02 8.39203943e+02] [ 2.86202203e-01 9.58150494e-01 -5.99421662e-03 1.55908449e+01] [ 1.95022082e-02 4.29474405e-04 9.99809722e-01 5.78581274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8992541539999 meters 0.020704126946499195 Centerline is valid? [True, True] Translation: X:839.23, Y:15.60, Z:5.78 [[ 9.58035506e-01 -2.86046690e-01 -1.85811792e-02 8.39231314e+02] [ 2.85983989e-01 9.58215580e-01 -6.00498033e-03 1.56008691e+01] [ 1.95224802e-02 4.39064613e-04 9.99809322e-01 5.78477944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9292541539999 meters 0.018910789754174984 Centerline is valid? [True, True] Translation: X:839.26, Y:15.61, Z:5.79 [[ 9.58036808e-01 -2.86074349e-01 -1.80815195e-02 8.39258566e+02] [ 2.86014878e-01 9.58207326e-01 -5.84887262e-03 1.56088856e+01] [ 1.89990569e-02 4.31851647e-04 9.99819408e-01 5.78699628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9592541539998 meters 0.02013666983167194 Centerline is valid? [True, True] Translation: X:839.28, Y:15.62, Z:5.79 [[ 9.58020275e-01 -2.86170396e-01 -1.74257820e-02 8.39284374e+02] [ 2.86115120e-01 9.58178653e-01 -5.63985608e-03 1.56205842e+01] [ 1.83109722e-02 4.17316759e-04 9.99832253e-01 5.78621548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9892541539999 meters 0.019650581612309984 Centerline is valid? [True, True] Translation: X:839.31, Y:15.63, Z:5.79 [[ 9.57849390e-01 -2.86752852e-01 -1.72437553e-02 8.39311236e+02] [ 2.86698745e-01 9.58004508e-01 -5.58503953e-03 1.56276475e+01] [ 1.81211214e-02 4.05863700e-04 9.99835717e-01 5.78726710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0192541539999 meters 0.017837643583323015 Centerline is valid? [True, True] Translation: X:839.34, Y:15.64, Z:5.79 [[ 9.57848796e-01 -2.86800256e-01 -1.64710712e-02 8.39337413e+02] [ 2.86750844e-01 9.57990324e-01 -5.33780838e-03 1.56373813e+01] [ 1.73100117e-02 3.89719743e-04 9.99850095e-01 5.78909588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0492541539999 meters 0.019417211499241065 Centerline is valid? [True, True] Translation: X:839.36, Y:15.65, Z:5.79 [[ 9.57446595e-01 -2.88091127e-01 -1.73066598e-02 8.39363017e+02] [ 2.88036743e-01 9.57602920e-01 -5.61087469e-03 1.56478235e+01] [ 1.81893512e-02 3.87158928e-04 9.99834485e-01 5.78648974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0792541539998 meters 0.01853548595542339 Centerline is valid? [True, True] Translation: X:839.39, Y:15.65, Z:5.79 [[ 9.57261338e-01 -2.88695746e-01 -1.74784618e-02 8.39390560e+02] [ 2.88640295e-01 9.57420816e-01 -5.67108375e-03 1.56542989e+01] [ 1.83714609e-02 3.83720857e-04 9.99831157e-01 5.78770975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1092541539999 meters 0.020315653713850523 Centerline is valid? [True, True] Translation: X:839.42, Y:15.66, Z:5.79 [[ 9.56960776e-01 -2.89673324e-01 -1.77605834e-02 8.39417212e+02] [ 2.89616175e-01 9.57125501e-01 -5.76591169e-03 1.56632279e+01] [ 1.86693381e-02 3.73999100e-04 9.99825643e-01 5.78646062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1392541539999 meters 0.020059970664707008 Centerline is valid? [True, True] Translation: X:839.44, Y:15.67, Z:5.79 [[ 9.56846029e-01 -2.90079218e-01 -1.73125249e-02 8.39443866e+02] [ 2.90024910e-01 9.57002569e-01 -5.62447618e-03 1.56719028e+01] [ 1.81996745e-02 3.60694232e-04 9.99834307e-01 5.78680848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1692541539999 meters 0.019264337889784752 Centerline is valid? [True, True] Translation: X:839.47, Y:15.68, Z:5.79 [[ 9.56930511e-01 -2.89830701e-01 -1.67976930e-02 8.39469319e+02] [ 2.89779477e-01 9.57077863e-01 -5.46062911e-03 1.56810585e+01] [ 1.76593581e-02 3.57815901e-04 9.99843997e-01 5.78764546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1992541539998 meters 0.020000788178491144 Centerline is valid? [True, True] Translation: X:839.50, Y:15.69, Z:5.79 [[ 9.57341493e-01 -2.88451352e-01 -1.71196874e-02 8.39495225e+02] [ 2.88397889e-01 9.57494472e-01 -5.56723929e-03 1.56912160e+01] [ 1.79978838e-02 3.92467454e-04 9.99837948e-01 5.78726037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2292541539999 meters 0.01804742168670599 Centerline is valid? [True, True] Translation: X:839.52, Y:15.70, Z:5.79 [[ 9.57694745e-01 -2.87306468e-01 -1.66062702e-02 8.39522508e+02] [ 2.87255933e-01 9.57838624e-01 -5.40365313e-03 1.57000166e+01] [ 1.74586315e-02 4.04800550e-04 9.99847505e-01 5.78972597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2592541539999 meters 0.01993982973672041 Centerline is valid? [True, True] Translation: X:839.55, Y:15.71, Z:5.79 [[ 9.57907713e-01 -2.86556194e-01 -1.72731261e-02 8.39550202e+02] [ 2.86501309e-01 9.58063335e-01 -5.62548064e-03 1.57096356e+01] [ 1.81607651e-02 4.39918072e-04 9.99834983e-01 5.78764165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2892541539999 meters 0.021166186345248483 Centerline is valid? [True, True] Translation: X:839.58, Y:15.72, Z:5.79 [[ 9.58140998e-01 -2.85715495e-01 -1.82341621e-02 8.39578262e+02] [ 2.85654079e-01 9.58314364e-01 -5.94370585e-03 1.57181209e+01] [ 1.91722683e-02 4.86245467e-04 9.99816077e-01 5.78711364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3192541539999 meters 0.02277735908192455 Centerline is valid? [True, True] Translation: X:839.60, Y:15.73, Z:5.79 [[ 9.58694790e-01 -2.83812840e-01 -1.88300898e-02 8.39603329e+02] [ 2.83746895e-01 9.58879541e-01 -6.14206194e-03 1.57293568e+01] [ 1.97989839e-02 5.45383276e-04 9.99803832e-01 5.78557748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3492541539999 meters 0.021005141506985778 Centerline is valid? [True, True] Translation: X:839.63, Y:15.74, Z:5.79 [[ 9.59180293e-01 -2.82185930e-01 -1.85544343e-02 8.39630620e+02] [ 2.82121540e-01 9.59359564e-01 -6.05510169e-03 1.57372254e+01] [ 1.95090385e-02 5.73328634e-04 9.99809516e-01 5.78718268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3792541539999 meters 0.01915707286197701 Centerline is valid? [True, True] Translation: X:839.66, Y:15.75, Z:5.79 [[ 9.59544853e-01 -2.81026708e-01 -1.72529839e-02 8.39656979e+02] [ 2.80970812e-01 9.59699786e-01 -5.63237053e-03 1.57472324e+01] [ 1.81405315e-02 5.56927271e-04 9.99835292e-01 5.79064133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4092541539999 meters 0.02224147518619284 Centerline is valid? [True, True] Translation: X:839.68, Y:15.76, Z:5.79 [[ 9.59662845e-01 -2.80603641e-01 -1.75733100e-02 8.39683067e+02] [ 2.80545547e-01 9.59823559e-01 -5.73869693e-03 1.57583785e+01] [ 1.84775762e-02 5.77100363e-04 9.99829108e-01 5.78755158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4392541539999 meters 0.021970872367935428 Centerline is valid? [True, True] Translation: X:839.71, Y:15.77, Z:5.79 [[ 9.59877305e-01 -2.79857122e-01 -1.77637451e-02 8.39711624e+02] [ 2.79797563e-01 9.60041473e-01 -5.80466601e-03 1.57654065e+01] [ 1.86784091e-02 6.01514583e-04 9.99825362e-01 5.78869377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4692541539998 meters 0.023369732421956023 Centerline is valid? [True, True] Translation: X:839.74, Y:15.78, Z:5.79 [[ 9.60556155e-01 -2.77576365e-01 -1.68295496e-02 8.39737075e+02] [ 2.77522499e-01 9.60703379e-01 -5.50266869e-03 1.57768668e+01] [ 1.76956160e-02 6.15043616e-04 9.99843231e-01 5.78959837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4992541539999 meters 0.021517208129568987 Centerline is valid? [True, True] Translation: X:839.76, Y:15.79, Z:5.79 [[ 9.61609559e-01 -2.74016464e-01 -1.49007772e-02 8.39764210e+02] [ 2.73973789e-01 9.61724811e-01 -4.87339683e-03 1.57877112e+01] [ 1.56658381e-02 6.03882580e-04 9.99877101e-01 5.79402036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5292541539999 meters 0.02400135684390987 Centerline is valid? [True, True] Translation: X:839.79, Y:15.80, Z:5.79 [[ 9.61782406e-01 -2.73354322e-01 -1.58750796e-02 8.39790885e+02] [ 2.73305743e-01 9.61913188e-01 -5.19507235e-03 1.57981097e+01] [ 1.66905439e-02 6.57778762e-04 9.99860487e-01 5.79104757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5592541539999 meters 0.025960239869085692 Centerline is valid? [True, True] Translation: X:839.82, Y:15.81, Z:5.79 [[ 9.62215390e-01 -2.71830833e-01 -1.57968976e-02 8.39816844e+02] [ 2.71782473e-01 9.62344809e-01 -5.17269945e-03 1.58090719e+01] [ 1.66081616e-02 6.83931128e-04 9.99861841e-01 5.79029895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5892541539998 meters 0.0262411580361499 Centerline is valid? [True, True] Translation: X:839.84, Y:15.82, Z:5.79 [[ 9.63135744e-01 -2.68606067e-01 -1.48431550e-02 8.39844058e+02] [ 2.68562969e-01 9.63249862e-01 -4.86164684e-03 1.58216166e+01] [ 1.56035349e-02 6.96104068e-04 9.99878015e-01 5.79167837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6192541539999 meters 0.02822036192483795 Centerline is valid? [True, True] Translation: X:839.87, Y:15.83, Z:5.79 [[ 9.63586895e-01 -2.66961120e-01 -1.52333803e-02 8.39870211e+02] [ 2.66915508e-01 9.63707014e-01 -4.99023414e-03 1.58331612e+01] [ 1.60127140e-02 7.42498769e-04 9.99871513e-01 5.79097681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6492541539999 meters 0.030084040293710184 Centerline is valid? [True, True] Translation: X:839.90, Y:15.85, Z:5.79 [[ 9.64466154e-01 -2.63735420e-01 -1.57691755e-02 8.39896782e+02] [ 2.63686099e-01 9.64594707e-01 -5.16653418e-03 1.58466297e+01] [ 1.65734613e-02 8.24834969e-04 9.99862311e-01 5.79039135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6792541539999 meters 0.029869266968880735 Centerline is valid? [True, True] Translation: X:839.92, Y:15.86, Z:5.79 [[ 9.64840644e-01 -2.62423202e-01 -1.47171482e-02 8.39923821e+02] [ 2.62380053e-01 9.64952555e-01 -4.82431640e-03 1.58578474e+01] [ 1.54673623e-02 7.93210420e-04 9.99880059e-01 5.79164479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7092541539998 meters 0.030708806225214387 Centerline is valid? [True, True] Translation: X:839.95, Y:15.87, Z:5.79 [[ 9.65086918e-01 -2.61474880e-01 -1.54314154e-02 8.39950470e+02] [ 2.61427251e-01 9.65209905e-01 -5.06272761e-03 1.58684871e+01] [ 1.62183311e-02 8.51779688e-04 9.99868111e-01 5.79081537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7392541539999 meters 0.03171213447508357 Centerline is valid? [True, True] Translation: X:839.98, Y:15.88, Z:5.79 [[ 9.65541938e-01 -2.59765143e-01 -1.58378129e-02 8.39977420e+02] [ 2.59714702e-01 9.65671398e-01 -5.19842350e-03 1.58803752e+01] [ 1.66444921e-02 9.05983045e-04 9.99861060e-01 5.79098706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7692541539999 meters 0.03268299901745853 Centerline is valid? [True, True] Translation: X:840.00, Y:15.89, Z:5.79 [[ 9.65598524e-01 -2.59516066e-01 -1.64590955e-02 8.40004937e+02] [ 2.59461501e-01 9.65738324e-01 -5.40540701e-03 1.58899941e+01] [ 1.72979693e-02 9.48951392e-04 9.99849929e-01 5.78993817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7992541539999 meters 0.03289433445895611 Centerline is valid? [True, True] Translation: X:840.03, Y:15.90, Z:5.79 [[ 9.65587629e-01 -2.59544510e-01 -1.66486978e-02 8.40031751e+02] [ 2.59488605e-01 9.65730666e-01 -5.47218754e-03 1.58994451e+01] [ 1.74984343e-02 9.63729201e-04 9.99846426e-01 5.79034669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8292541539998 meters 0.03537144734416211 Centerline is valid? [True, True] Translation: X:840.06, Y:15.91, Z:5.79 [[ 9.65336334e-01 -2.60485501e-01 -1.65247036e-02 8.40057886e+02] [ 2.60430487e-01 9.65477298e-01 -5.43585809e-03 1.59109934e+01] [ 1.73701884e-02 9.43894718e-04 9.99848681e-01 5.78911781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8592541539999 meters 0.033080868907118165 Centerline is valid? [True, True] Translation: X:840.09, Y:15.92, Z:5.79 [[ 9.65220394e-01 -2.61022063e-01 -1.47334308e-02 8.40085018e+02] [ 2.60978335e-01 9.65332473e-01 -4.85032306e-03 1.59198289e+01] [ 1.54887005e-02 8.36524499e-04 9.99879693e-01 5.79292573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8892541539999 meters 0.03251068111241394 Centerline is valid? [True, True] Translation: X:840.11, Y:15.93, Z:5.79 [[ 9.64572168e-01 -2.63406291e-01 -1.47532833e-02 8.40112824e+02] [ 2.63362692e-01 9.64684655e-01 -4.85889062e-03 1.59281586e+01] [ 1.55121284e-02 8.01286263e-04 9.99879359e-01 5.79410213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9192541539999 meters 0.03465791733290841 Centerline is valid? [True, True] Translation: X:840.14, Y:15.94, Z:5.79 [[ 9.63867193e-01 -2.65902699e-01 -1.59933776e-02 8.40140913e+02] [ 2.65851794e-01 9.63999519e-01 -5.26791689e-03 1.59361320e+01] [ 1.68183616e-02 8.25704146e-04 9.99858220e-01 5.78884033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9492541539998 meters 0.025397598690640694 Centerline is valid? [True, True] Translation: X:840.17, Y:15.93, Z:5.79 [[ 9.62700541e-01 -2.70120329e-01 -1.55780656e-02 8.40173928e+02] [ 2.70072573e-01 9.62826293e-01 -5.13175033e-03 1.59322856e+01] [ 1.63851612e-02 7.33130566e-04 9.99865485e-01 5.79210632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9792541539999 meters 0.03073448233145091 Centerline is valid? [True, True] Translation: X:840.20, Y:15.95, Z:5.79 [[ 9.62164677e-01 -2.71992966e-01 -1.60922667e-02 8.40198532e+02] [ 2.71942246e-01 9.62298966e-01 -5.30239791e-03 1.59476721e+01] [ 1.69277865e-02 7.25612833e-04 9.99856451e-01 5.78991249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0092541539999 meters 0.02654368553666831 Centerline is valid? [True, True] Translation: X:840.23, Y:15.95, Z:5.79 [[ 9.60982627e-01 -2.76105452e-01 -1.66784096e-02 8.40230510e+02] [ 2.76051571e-01 9.61127109e-01 -5.49641796e-03 1.59466156e+01] [ 1.75476626e-02 6.77861007e-04 9.99845798e-01 5.79087130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0392541539999 meters 0.02667273618562519 Centerline is valid? [True, True] Translation: X:840.26, Y:15.96, Z:5.79 [[ 9.60539830e-01 -2.77650097e-01 -1.65426458e-02 8.40256716e+02] [ 2.77597299e-01 9.60682053e-01 -5.45276962e-03 1.59572535e+01] [ 1.74061850e-02 6.45408608e-04 9.99848293e-01 5.79118546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0692541539999 meters 0.023384530277217052 Centerline is valid? [True, True] Translation: X:840.29, Y:15.96, Z:5.79 [[ 9.60141256e-01 -2.79018868e-01 -1.66505187e-02 8.40285973e+02] [ 2.78965525e-01 9.60285414e-01 -5.49171478e-03 1.59614523e+01] [ 1.75215423e-02 6.27901242e-04 9.99846289e-01 5.79294295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0992541539999 meters 0.024452978279445745 Centerline is valid? [True, True] Translation: X:840.31, Y:15.97, Z:5.79 [[ 9.59638044e-01 -2.80688525e-01 -1.75720505e-02 8.40313574e+02] [ 2.80629302e-01 9.59798702e-01 -5.80053276e-03 1.59692026e+01] [ 1.84937742e-02 6.35179646e-04 9.99828774e-01 5.79199232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1292541539999 meters 0.021695519142911682 Centerline is valid? [True, True] Translation: X:840.34, Y:15.97, Z:5.79 [[ 9.58973297e-01 -2.82969311e-01 -1.72796108e-02 8.40342138e+02] [ 2.82912327e-01 9.59128785e-01 -5.70873758e-03 1.59736389e+01] [ 1.81887697e-02 5.85911998e-04 9.99834399e-01 5.79414797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1592541539999 meters 0.020111425335510493 Centerline is valid? [True, True] Translation: X:840.37, Y:15.98, Z:5.80 [[ 9.58294327e-01 -2.85332681e-01 -1.60387966e-02 8.40368826e+02] [ 2.85283873e-01 9.58428404e-01 -5.30144255e-03 1.59806239e+01] [ 1.68847131e-02 5.04732300e-04 9.99857316e-01 5.79588369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1892541539999 meters 0.018781559699791363 Centerline is valid? [True, True] Translation: X:840.40, Y:15.99, Z:5.80 [[ 9.57906822e-01 -2.86643893e-01 -1.58050407e-02 8.40396791e+02] [ 2.86596623e-01 9.58037082e-01 -5.22736644e-03 1.59885924e+01] [ 1.66402077e-02 4.77658686e-04 9.99861428e-01 5.79811752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2192541539998 meters 0.021380955139854333 Centerline is valid? [True, True] Translation: X:840.42, Y:16.00, Z:5.79 [[ 9.57382343e-01 -2.88326122e-01 -1.69439502e-02 8.40423689e+02] [ 2.88272004e-01 9.57532147e-01 -5.60700990e-03 1.59965273e+01] [ 1.78410244e-02 4.83585813e-04 9.99840719e-01 5.79445411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2492541539999 meters 0.021535290297277816 Centerline is valid? [True, True] Translation: X:840.45, Y:16.01, Z:5.79 [[ 9.57181412e-01 -2.88973398e-01 -1.72661497e-02 8.40449695e+02] [ 2.88917276e-01 9.57337006e-01 -5.71531584e-03 1.60059705e+01] [ 1.81810983e-02 4.82105160e-04 9.99834594e-01 5.79462978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2792541539999 meters 0.02055002753974232 Centerline is valid? [True, True] Translation: X:840.48, Y:16.01, Z:5.80 [[ 9.56819424e-01 -2.90083429e-01 -1.86599355e-02 8.40477504e+02] [ 2.90018002e-01 9.57001229e-01 -6.18116050e-03 1.60101800e+01] [ 1.96506334e-02 5.02537225e-04 9.99806781e-01 5.79543795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3092541539999 meters 0.018939210485133532 Centerline is valid? [True, True] Translation: X:840.50, Y:16.02, Z:5.80 [[ 9.56862418e-01 -2.89992694e-01 -1.78479723e-02 8.40503487e+02] [ 2.89932764e-01 9.57028736e-01 -5.91526925e-03 1.60190081e+01] [ 1.87964072e-02 4.85386897e-04 9.99823214e-01 5.79760977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3392541539998 meters 0.02070403199798087 Centerline is valid? [True, True] Translation: X:840.53, Y:16.03, Z:5.80 [[ 9.56959279e-01 -2.89628863e-01 -1.85488265e-02 8.40530965e+02] [ 2.89563989e-01 9.57138890e-01 -6.15145522e-03 1.60285169e+01] [ 1.95354422e-02 5.15619947e-04 9.99809032e-01 5.79610846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3692541539999 meters 0.02085977205844784 Centerline is valid? [True, True] Translation: X:840.56, Y:16.04, Z:5.80 [[ 9.57098652e-01 -2.89136440e-01 -1.90339179e-02 8.40558294e+02] [ 2.89067924e-01 9.57287743e-01 -6.31762374e-03 1.60365476e+01] [ 2.00475915e-02 5.44494029e-04 9.99798879e-01 5.79670287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3992541539999 meters 0.019012066799837808 Centerline is valid? [True, True] Translation: X:840.58, Y:16.05, Z:5.80 [[ 9.57588289e-01 -2.87585033e-01 -1.78750599e-02 8.40583943e+02] [ 2.87524284e-01 9.57754954e-01 -5.93581431e-03 1.60466167e+01] [ 1.88269786e-02 5.44552474e-04 9.99822608e-01 5.80050064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4292541539999 meters 0.019495135124631496 Centerline is valid? [True, True] Translation: X:840.61, Y:16.06, Z:5.80 [[ 9.57678681e-01 -2.87279414e-01 -1.79466273e-02 8.40610795e+02] [ 2.87218091e-01 9.57846663e-01 -5.96134185e-03 1.60557520e+01] [ 1.89026879e-02 5.54453970e-04 9.99821174e-01 5.79973753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4592541539998 meters 0.019495135124631496 Centerline is valid? [True, True] Translation: X:840.64, Y:16.06, Z:5.80 [[ 9.57597405e-01 -2.87550298e-01 -1.79453660e-02 8.40636943e+02] [ 2.87488951e-01 9.57765378e-01 -5.96513694e-03 1.60645289e+01] [ 1.89027272e-02 5.53105193e-04 9.99821174e-01 5.79992846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4892541539999 meters 0.02111087573223601 Centerline is valid? [True, True] Translation: X:840.66, Y:16.07, Z:5.80 [[ 9.57890314e-01 -2.86524197e-01 -1.87091405e-02 8.40663928e+02] [ 2.86457254e-01 9.58072818e-01 -6.22236453e-03 1.60734378e+01] [ 1.97075770e-02 6.00973684e-04 9.99805606e-01 5.79806901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5192541539999 meters 0.022230968765292663 Centerline is valid? [True, True] Translation: X:840.69, Y:16.08, Z:5.80 [[ 9.57967687e-01 -2.86193929e-01 -1.97723336e-02 8.40691964e+02] [ 2.86118999e-01 9.58171496e-01 -6.58038519e-03 1.60809563e+01] [ 2.08285528e-02 6.46556078e-04 9.99782853e-01 5.79726295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5492541539999 meters 0.02371509860119577 Centerline is valid? [True, True] Translation: X:840.72, Y:16.09, Z:5.80 [[ 9.58008018e-01 -2.86013427e-01 -2.04195335e-02 8.40717940e+02] [ 2.85933398e-01 9.58225372e-01 -6.79908835e-03 1.60898637e+01] [ 2.15111456e-02 6.74954562e-04 9.99768381e-01 5.79591556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5792541539998 meters 0.02208675631423888 Centerline is valid? [True, True] Translation: X:840.75, Y:16.10, Z:5.80 [[ 9.57896867e-01 -2.86439488e-01 -1.96471882e-02 8.40745262e+02] [ 2.86365402e-01 9.58098119e-01 -6.54611997e-03 1.60979286e+01] [ 2.06990013e-02 6.44232873e-04 9.99785545e-01 5.79744865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6092541539999 meters 0.022615943376213758 Centerline is valid? [True, True] Translation: X:840.77, Y:16.10, Z:5.80 [[ 9.57414517e-01 -2.88082060e-01 -1.91355464e-02 8.40773989e+02] [ 2.88012005e-01 9.57605540e-01 -6.38090085e-03 1.61024023e+01] [ 2.01625283e-02 5.97900042e-04 9.99796537e-01 5.79847055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6392541539999 meters 0.020658666329288693 Centerline is valid? [True, True] Translation: X:840.80, Y:16.11, Z:5.80 [[ 9.57342227e-01 -2.88428449e-01 -1.74611233e-02 8.40800462e+02] [ 2.88370125e-01 9.57501298e-01 -5.82530018e-03 1.61112218e+01] [ 1.83992306e-02 5.41539526e-04 9.99830573e-01 5.80154255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6692541539999 meters 0.02107758691387431 Centerline is valid? [True, True] Translation: X:840.83, Y:16.12, Z:5.80 [[ 9.57055707e-01 -2.89403579e-01 -1.70277058e-02 8.40828826e+02] [ 2.89348206e-01 9.57207033e-01 -5.68424936e-03 1.61172439e+01] [ 1.79440819e-02 5.13207153e-04 9.99838860e-01 5.80135134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6992541539998 meters 0.018516147365695276 Centerline is valid? [True, True] Translation: X:840.86, Y:16.12, Z:5.81 [[ 9.57121616e-01 -2.89296186e-01 -1.50309198e-02 8.40856443e+02] [ 2.89252957e-01 9.57239524e-01 -5.02198324e-03 1.61236657e+01] [ 1.58410311e-02 4.58910713e-04 9.99874418e-01 5.80601161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7292541539999 meters 0.021664463326324948 Centerline is valid? [True, True] Translation: X:840.88, Y:16.13, Z:5.80 [[ 9.56822516e-01 -2.90188386e-01 -1.67742074e-02 8.40883866e+02] [ 2.90134586e-01 9.56969409e-01 -5.61001156e-03 1.61314722e+01] [ 1.76803636e-02 5.01007643e-04 9.99843565e-01 5.80153358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7592541539999 meters 0.021269434649494098 Centerline is valid? [True, True] Translation: X:840.91, Y:16.14, Z:5.80 [[ 9.57022875e-01 -2.89481375e-01 -1.75427899e-02 8.40910097e+02] [ 2.89422338e-01 9.57183493e-01 -5.87113356e-03 1.61393853e+01] [ 1.84912528e-02 5.41533845e-04 9.99828876e-01 5.80067438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7892541539999 meters 0.02185234477947324 Centerline is valid? [True, True] Translation: X:840.94, Y:16.15, Z:5.80 [[ 9.57126318e-01 -2.89055719e-01 -1.88680515e-02 8.40937562e+02] [ 2.88987293e-01 9.57312091e-01 -6.31708884e-03 1.61467199e+01] [ 1.98886045e-02 5.93624843e-04 9.99802026e-01 5.79971528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8192541539999 meters 0.023150382913811326 Centerline is valid? [True, True] Translation: X:840.96, Y:16.15, Z:5.80 [[ 9.57374955e-01 -2.88144143e-01 -2.01531172e-02 8.40964160e+02] [ 2.88065828e-01 9.57586822e-01 -6.74960733e-03 1.61536321e+01] [ 2.12432193e-02 6.56480623e-04 9.99774122e-01 5.79802266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8492541539999 meters 0.022713281023991425 Centerline is valid? [True, True] Translation: X:840.99, Y:16.16, Z:5.80 [[ 9.57467766e-01 -2.87830272e-01 -2.02289980e-02 8.40991621e+02] [ 2.87751200e-01 9.57681202e-01 -6.77949325e-03 1.61613754e+01] [ 2.13242745e-02 6.70227818e-04 9.99772387e-01 5.79851795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8792541539999 meters 0.02190973188303008 Centerline is valid? [True, True] Translation: X:841.02, Y:16.17, Z:5.80 [[ 9.57939214e-01 -2.86230399e-01 -2.06063391e-02 8.41020001e+02] [ 2.86147857e-01 9.58160547e-01 -6.91158862e-03 1.61677500e+01] [ 2.17224879e-02 7.24421987e-04 9.99763776e-01 5.79966079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9092541539999 meters 0.02352927955510367 Centerline is valid? [True, True] Translation: X:841.05, Y:16.18, Z:5.80 [[ 9.58312753e-01 -2.85017986e-01 -2.00353514e-02 8.41046168e+02] [ 2.84939627e-01 9.58521888e-01 -6.72310853e-03 1.61786365e+01] [ 2.11205297e-02 7.33975093e-04 9.99776667e-01 5.80005972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9392541539999 meters 0.021249735546753013 Centerline is valid? [True, True] Translation: X:841.08, Y:16.18, Z:5.80 [[ 9.58317043e-01 -2.84952187e-01 -2.07532180e-02 8.41075478e+02] [ 2.84867994e-01 9.58541425e-01 -6.96864401e-03 1.61813055e+01] [ 2.18785495e-02 7.66242751e-04 9.99760342e-01 5.80091905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9692541539998 meters 0.022228761597285505 Centerline is valid? [True, True] Translation: X:841.10, Y:16.19, Z:5.80 [[ 9.58747936e-01 -2.83492715e-01 -2.08392673e-02 8.41103343e+02] [ 2.83407350e-01 9.58974049e-01 -7.00338080e-03 1.61884000e+01] [ 2.19697240e-02 8.08475370e-04 9.99758310e-01 5.80120000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9992541539999 meters 0.025604007279750752 Centerline is valid? [True, True] Translation: X:841.13, Y:16.20, Z:5.80 [[ 9.58864546e-01 -2.83059526e-01 -2.13561809e-02 8.41128919e+02] [ 2.82969690e-01 9.59101974e-01 -7.18044196e-03 1.61994092e+01] [ 2.25152478e-02 8.41919329e-04 9.99746145e-01 5.79871258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0292541539999 meters 0.02651822309805817 Centerline is valid? [True, True] Translation: X:841.16, Y:16.21, Z:5.80 [[ 9.59178677e-01 -2.82003855e-01 -2.12153525e-02 8.41156860e+02] [ 2.81914896e-01 9.59412883e-01 -7.13514378e-03 1.62052299e+01] [ 2.23664206e-02 8.62953864e-04 9.99749468e-01 5.79850180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0592541539999 meters 0.02478046349804089 Centerline is valid? [True, True] Translation: X:841.18, Y:16.21, Z:5.80 [[ 9.59371210e-01 -2.81430192e-01 -2.00979564e-02 8.41184515e+02] [ 2.81350143e-01 9.59581342e-01 -6.76356788e-03 1.62130189e+01] [ 2.11890962e-02 8.34209406e-04 9.99775138e-01 5.80174942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0892541539998 meters 0.022736280369040067 Centerline is valid? [True, True] Translation: X:841.21, Y:16.22, Z:5.80 [[ 9.59525139e-01 -2.80971891e-01 -1.91390917e-02 8.41213216e+02] [ 2.80899103e-01 9.59715657e-01 -6.44605627e-03 1.62182792e+01] [ 2.01792466e-02 8.08999348e-04 9.99796051e-01 5.80453442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1192541539999 meters 0.024110051051458734 Centerline is valid? [True, True] Translation: X:841.24, Y:16.23, Z:5.81 [[ 9.59786919e-01 -2.80138648e-01 -1.82045974e-02 8.41240023e+02] [ 2.80072590e-01 9.59959226e-01 -6.13420393e-03 1.62254798e+01] [ 1.91940988e-02 7.88919953e-04 9.99815465e-01 5.80557229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1492541539999 meters 0.026481462458199764 Centerline is valid? [True, True] Translation: X:841.27, Y:16.23, Z:5.80 [[ 9.59611295e-01 -2.80667767e-01 -1.92812481e-02 8.41267872e+02] [ 2.80593675e-01 9.59804625e-01 -6.50169078e-03 1.62320938e+01] [ 2.03310461e-02 8.28899651e-04 9.99792959e-01 5.80264492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1792541539999 meters 0.02303387425890052 Centerline is valid? [True, True] Translation: X:841.30, Y:16.24, Z:5.81 [[ 9.60271216e-01 -2.78521866e-01 -1.74574317e-02 8.41296155e+02] [ 2.78460720e-01 9.60429560e-01 -5.88966822e-03 1.62370138e+01] [ 1.84070348e-02 7.94469866e-04 9.99830261e-01 5.80808092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2092541539998 meters 0.024247885236010906 Centerline is valid? [True, True] Translation: X:841.32, Y:16.25, Z:5.81 [[ 9.60502607e-01 -2.77726125e-01 -1.74052253e-02 8.41321998e+02] [ 2.77665167e-01 9.60659952e-01 -5.87461049e-03 1.62460710e+01] [ 1.83520357e-02 8.09753905e-04 9.99831259e-01 5.80804774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2392541539999 meters 0.025955081665718208 Centerline is valid? [True, True] Translation: X:841.35, Y:16.25, Z:5.81 [[ 9.61247546e-01 -2.75100089e-01 -1.79748936e-02 8.41348617e+02] [ 2.75034577e-01 9.61415180e-01 -6.06896958e-03 1.62549912e+01] [ 1.89509097e-02 8.90064841e-04 9.99820019e-01 5.80762637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2692541539999 meters 0.02855371309116833 Centerline is valid? [True, True] Translation: X:841.37, Y:16.27, Z:5.80 [[ 9.61502514e-01 -2.74109663e-01 -1.94115281e-02 8.41374147e+02] [ 2.74033002e-01 9.61697937e-01 -6.55679236e-03 1.62650645e+01] [ 2.04653067e-02 9.84973031e-04 9.99790078e-01 5.80479381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2992541539999 meters 0.026256415559561423 Centerline is valid? [True, True] Translation: X:841.40, Y:16.27, Z:5.81 [[ 9.61891169e-01 -2.72789172e-01 -1.87468914e-02 8.41402457e+02] [ 2.72717332e-01 9.62073335e-01 -6.33679268e-03 1.62715802e+01] [ 1.97644928e-02 9.82702717e-04 9.99804180e-01 5.80729613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3292541539998 meters 0.02897396818235565 Centerline is valid? [True, True] Translation: X:841.43, Y:16.28, Z:5.81 [[ 9.62332037e-01 -2.71186115e-01 -1.93685656e-02 8.41428856e+02] [ 2.71109047e-01 9.62526355e-01 -6.54984385e-03 1.62821745e+01] [ 2.04189816e-02 1.05213120e-03 9.99790957e-01 5.80615610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3592541539999 meters 0.02951814086799799 Centerline is valid? [True, True] Translation: X:841.46, Y:16.29, Z:5.80 [[ 9.62004268e-01 -2.72247159e-01 -2.07188700e-02 8.41457053e+02] [ 2.72159117e-01 9.62226720e-01 -7.01094013e-03 1.62891923e+01] [ 2.18449589e-02 1.10572495e-03 9.99760759e-01 5.80365111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3892541539999 meters 0.028105338053811053 Centerline is valid? [True, True] Translation: X:841.49, Y:16.30, Z:5.80 [[ 9.61611200e-01 -2.73624693e-01 -2.08189300e-02 8.41485457e+02] [ 2.73535992e-01 9.61835927e-01 -7.05059622e-03 1.62956233e+01] [ 2.19536121e-02 1.08520561e-03 9.99758401e-01 5.80438209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4192541539999 meters 0.027078730691880812 Centerline is valid? [True, True] Translation: X:841.51, Y:16.30, Z:5.81 [[ 9.60890032e-01 -2.76302083e-01 -1.86414626e-02 8.41513058e+02] [ 2.76231425e-01 9.61070400e-01 -6.31552344e-03 1.63030163e+01] [ 1.96607502e-02 9.19165740e-04 9.99806286e-01 5.80714090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4492541539998 meters 0.024787183670710203 Centerline is valid? [True, True] Translation: X:841.54, Y:16.31, Z:5.81 [[ 9.60215875e-01 -2.78722262e-01 -1.73024437e-02 8.41543009e+02] [ 2.78661761e-01 9.60371411e-01 -5.86307986e-03 1.63082177e+01] [ 1.82509431e-02 8.08292928e-04 9.99833111e-01 5.81000385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4792541539999 meters 0.026761201375616803 Centerline is valid? [True, True] Translation: X:841.57, Y:16.32, Z:5.81 [[ 9.59836157e-01 -2.79954651e-01 -1.84376136e-02 8.41569312e+02] [ 2.79886133e-01 9.60012859e-01 -6.25001282e-03 1.63173630e+01] [ 1.94500663e-02 8.38555920e-04 9.99810478e-01 5.80788325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5092541539999 meters 0.025090041256698416 Centerline is valid? [True, True] Translation: X:841.60, Y:16.32, Z:5.81 [[ 9.59639277e-01 -2.80658046e-01 -1.79866570e-02 8.41597608e+02] [ 2.80592884e-01 9.59807485e-01 -6.10125053e-03 1.63247963e+01] [ 1.89760930e-02 8.08071695e-04 9.99819611e-01 5.80905369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5392541539999 meters 0.024894943103678676 Centerline is valid? [True, True] Translation: X:841.62, Y:16.33, Z:5.81 [[ 9.59614000e-01 -2.80719189e-01 -1.83768195e-02 8.41624968e+02] [ 2.80651080e-01 9.59789586e-01 -6.23877478e-03 1.63330550e+01] [ 1.93892238e-02 8.29341378e-04 9.99811667e-01 5.80912093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5692541539999 meters 0.025887029216923 Centerline is valid? [True, True] Translation: X:841.65, Y:16.34, Z:5.81 [[ 9.59854822e-01 -2.79803367e-01 -1.97179292e-02 8.41650208e+02] [ 2.79724686e-01 9.60056895e-01 -6.69761015e-03 1.63438891e+01] [ 2.08043477e-02 9.13141849e-04 9.99783149e-01 5.80764480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5992541539999 meters 0.023607795360949986 Centerline is valid? [True, True] Translation: X:841.68, Y:16.35, Z:5.81 [[ 9.59988840e-01 -2.79403649e-01 -1.88421798e-02 8.41677724e+02] [ 2.79331642e-01 9.60173327e-01 -6.40436640e-03 1.63522009e+01] [ 1.98811618e-02 8.84903236e-04 9.99801959e-01 5.80951159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6292541539999 meters 0.027339678172929403 Centerline is valid? [True, True] Translation: X:841.70, Y:16.37, Z:5.81 [[ 9.59959615e-01 -2.79405200e-01 -2.02551502e-02 8.41702530e+02] [ 2.79321915e-01 9.60172809e-01 -6.88799574e-03 1.63652567e+01] [ 2.13729863e-02 9.54490402e-04 9.99771116e-01 5.80694877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6592541539999 meters 0.025044024837786196 Centerline is valid? [True, True] Translation: X:841.73, Y:16.37, Z:5.81 [[ 9.59917932e-01 -2.79542709e-01 -2.03331810e-02 8.41729899e+02] [ 2.79458702e-01 9.60132778e-01 -6.91965245e-03 1.63708128e+01] [ 2.14568920e-02 9.60014086e-04 9.99769313e-01 5.80863804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6892541539999 meters 0.024755924103749053 Centerline is valid? [True, True] Translation: X:841.76, Y:16.38, Z:5.81 [[ 9.60015002e-01 -2.79276701e-01 -1.93834852e-02 8.41757170e+02] [ 2.79200190e-01 9.60210220e-01 -6.60207741e-03 1.63811081e+01] [ 2.04560270e-02 9.26220615e-04 9.99790325e-01 5.81020336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7192541539998 meters 0.026876925549630285 Centerline is valid? [True, True] Translation: X:841.78, Y:16.39, Z:5.81 [[ 9.59993986e-01 -2.79283873e-01 -2.02993666e-02 8.41783539e+02] [ 2.79199891e-01 9.60208088e-01 -6.91731773e-03 1.63916976e+01] [ 2.14235113e-02 9.73002459e-04 9.99770017e-01 5.80895309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7492541539999 meters 0.027847467531339164 Centerline is valid? [True, True] Translation: X:841.81, Y:16.40, Z:5.81 [[ 9.60053162e-01 -2.79084300e-01 -2.02454639e-02 8.41809095e+02] [ 2.79000662e-01 9.60266108e-01 -6.90161825e-03 1.64024230e+01] [ 2.13671661e-02 9.77422597e-04 9.99771218e-01 5.80913529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7792541539999 meters 0.026328831585441408 Centerline is valid? [True, True] Translation: X:841.83, Y:16.41, Z:5.81 [[ 9.60194006e-01 -2.78716001e-01 -1.85704748e-02 8.41834740e+02] [ 2.78645472e-01 9.60373139e-01 -6.33527125e-03 1.64127858e+01] [ 1.96003266e-02 9.08510766e-04 9.99807482e-01 5.81142961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8092541539999 meters 0.028354836973771613 Centerline is valid? [True, True] Translation: X:841.86, Y:16.42, Z:5.81 [[ 9.59937375e-01 -2.79504940e-01 -1.99304759e-02 8.41860780e+02] [ 2.79423736e-01 9.60143770e-01 -6.80561776e-03 1.64225528e+01] [ 2.10383261e-02 9.63918811e-04 9.99778205e-01 5.80858780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8392541539998 meters 0.027159370328667956 Centerline is valid? [True, True] Translation: X:841.89, Y:16.43, Z:5.81 [[ 9.60073013e-01 -2.79136599e-01 -1.85086438e-02 8.41887373e+02] [ 2.79066400e-01 9.60250975e-01 -6.32526496e-03 1.64333023e+01] [ 1.95385562e-02 9.07575593e-04 9.99808692e-01 5.81085125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8692541539999 meters 0.02788286901285499 Centerline is valid? [True, True] Translation: X:841.91, Y:16.45, Z:5.81 [[ 9.60226963e-01 -2.78630064e-01 -1.81512404e-02 8.41914154e+02] [ 2.78562367e-01 9.60398078e-01 -6.20800499e-03 1.64450851e+01] [ 1.91621532e-02 9.04841291e-04 9.99815980e-01 5.81121939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8992541539999 meters 0.028657285700461322 Centerline is valid? [True, True] Translation: X:841.94, Y:16.46, Z:5.81 [[ 9.60295427e-01 -2.78429067e-01 -1.76053427e-02 8.41941167e+02] [ 2.78365260e-01 9.60456386e-01 -6.02597723e-03 1.64563422e+01] [ 1.85869711e-02 8.86002573e-04 9.99826855e-01 5.81156432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9292541539999 meters 0.03007652495180577 Centerline is valid? [True, True] Translation: X:841.97, Y:16.47, Z:5.81 [[ 9.60787381e-01 -2.76808198e-01 -1.62735935e-02 8.41965859e+02] [ 2.76753404e-01 9.60924814e-01 -5.57268864e-03 1.64694212e+01] [ 1.71802657e-02 8.50396524e-04 9.99852047e-01 5.81320292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9592541539998 meters 0.03267999770069818 Centerline is valid? [True, True] Translation: X:841.99, Y:16.48, Z:5.81 [[ 9.60824571e-01 -2.76581169e-01 -1.78605917e-02 8.41992330e+02] [ 2.76515058e-01 9.60990099e-01 -6.11980151e-03 1.64805933e+01] [ 1.88564736e-02 9.41333122e-04 9.99821758e-01 5.81034513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9892541539999 meters 0.03183476404907707 Centerline is valid? [True, True] Translation: X:842.02, Y:16.49, Z:5.81 [[ 9.61188871e-01 -2.75406736e-01 -1.63427335e-02 8.42018715e+02] [ 2.75351144e-01 9.61327387e-01 -5.60387616e-03 1.64926507e+01] [ 1.72540625e-02 8.86393046e-04 9.99850745e-01 5.81288433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0192541539999 meters 0.034492967104558486 Centerline is valid? [True, True] Translation: X:842.05, Y:16.51, Z:5.81 [[ 9.61732991e-01 -2.73448491e-01 -1.71923334e-02 8.42045121e+02] [ 2.73386616e-01 9.61886157e-01 -5.89741205e-03 1.65071139e+01] [ 1.81497059e-02 9.71581889e-04 9.99834808e-01 5.81089521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0492541539999 meters 0.030417212572672027 Centerline is valid? [True, True] Translation: X:842.07, Y:16.51, Z:5.81 [[ 9.62397420e-01 -2.71022556e-01 -1.83842331e-02 8.42073776e+02] [ 2.70951342e-01 9.62572381e-01 -6.30723786e-03 1.65141840e+01] [ 1.94055587e-02 1.08883681e-03 9.99811102e-01 5.81160457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0792541539998 meters 0.03757093590960007 Centerline is valid? [True, True] Translation: X:842.10, Y:16.53, Z:5.81 [[ 9.62665808e-01 -2.70045692e-01 -1.87047345e-02 8.42096588e+02] [ 2.69971758e-01 9.62846846e-01 -6.41880904e-03 1.65347294e+01] [ 1.97431664e-02 1.12941792e-03 9.99804447e-01 5.80876435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1092541539999 meters 0.038942072102770585 Centerline is valid? [True, True] Translation: X:842.12, Y:16.55, Z:5.81 [[ 9.62813168e-01 -2.69471911e-01 -1.93827847e-02 8.42121282e+02] [ 2.69392361e-01 9.63007521e-01 -6.65358234e-03 1.65468928e+01] [ 2.04587210e-02 1.18458255e-03 9.99789997e-01 5.80727807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1392541539999 meters 0.030896890770549284 Centerline is valid? [True, True] Translation: X:842.15, Y:16.55, Z:5.81 [[ 9.62768032e-01 -2.69604416e-01 -1.97781642e-02 8.42150768e+02] [ 2.69521521e-01 9.62970402e-01 -6.79377598e-03 1.65486983e+01] [ 2.08774188e-02 1.21018942e-03 9.99781310e-01 5.80905253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1692541539999 meters 0.030194166168695132 Centerline is valid? [True, True] Translation: X:842.18, Y:16.56, Z:5.81 [[ 9.62843903e-01 -2.69419845e-01 -1.85624919e-02 8.42177455e+02] [ 2.69346694e-01 9.63022137e-01 -6.38129533e-03 1.65599414e+01] [ 1.95953383e-02 1.14444545e-03 9.99807338e-01 5.81154009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1992541539998 meters 0.031450343501984016 Centerline is valid? [True, True] Translation: X:842.20, Y:16.57, Z:5.81 [[ 9.62470338e-01 -2.70768343e-01 -1.83126526e-02 8.42203209e+02] [ 2.70697293e-01 9.62643901e-01 -6.30048685e-03 1.65719852e+01] [ 1.93345357e-02 1.10684621e-03 9.99812458e-01 5.81125424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2292541539999 meters 0.032754694361938876 Centerline is valid? [True, True] Translation: X:842.23, Y:16.58, Z:5.81 [[ 9.62123962e-01 -2.71969823e-01 -1.87055662e-02 8.42229857e+02] [ 2.71895814e-01 9.62305139e-01 -6.44086856e-03 1.65824777e+01] [ 1.97521844e-02 1.11094882e-03 9.99804289e-01 5.81043132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2592541539999 meters 0.03692576280371339 Centerline is valid? [True, True] Translation: X:842.25, Y:16.60, Z:5.81 [[ 9.61947426e-01 -2.72647875e-01 -1.78965342e-02 8.42253966e+02] [ 2.72580184e-01 9.62113313e-01 -6.16565384e-03 1.65991847e+01] [ 1.88995463e-02 1.05279424e-03 9.99820833e-01 5.81070948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2892541539999 meters 0.030167691695408953 Centerline is valid? [True, True] Translation: X:842.28, Y:16.60, Z:5.81 [[ 9.61611351e-01 -2.73780622e-01 -1.86488545e-02 8.42283974e+02] [ 2.73707247e-01 9.61791562e-01 -6.42920213e-03 1.66019688e+01] [ 1.96965018e-02 1.07806714e-03 9.99805424e-01 5.81241484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3192541539999 meters 0.029549825037097015 Centerline is valid? [True, True] Translation: X:842.31, Y:16.61, Z:5.81 [[ 9.61558214e-01 -2.74022424e-01 -1.78188571e-02 8.42309474e+02] [ 2.73955376e-01 9.61722751e-01 -6.14837234e-03 1.66134505e+01] [ 1.88215922e-02 1.03044623e-03 9.99822327e-01 5.81397960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3492541539999 meters 0.028359410154996385 Centerline is valid? [True, True] Translation: X:842.34, Y:16.62, Z:5.81 [[ 9.61012854e-01 -2.75872891e-01 -1.86666300e-02 8.42336874e+02] [ 2.75799596e-01 9.61193558e-01 -6.44405169e-03 1.66225232e+01] [ 1.97199837e-02 1.04456748e-03 9.99804997e-01 5.81207866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3792541539999 meters 0.028359410154996385 Centerline is valid? [True, True] Translation: X:842.36, Y:16.63, Z:5.81 [[ 9.60932414e-01 -2.76153044e-01 -1.86652457e-02 8.42362953e+02] [ 2.76079725e-01 9.61113109e-01 -6.44805960e-03 1.66316100e+01] [ 1.97200636e-02 1.04305358e-03 9.99804997e-01 5.81226985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4092541539999 meters 0.029795063420631852 Centerline is valid? [True, True] Translation: X:842.39, Y:16.64, Z:5.81 [[ 9.60839962e-01 -2.76484243e-01 -1.85211152e-02 8.42388450e+02] [ 2.76412047e-01 9.61017898e-01 -6.40159697e-03 1.66443424e+01] [ 1.95690639e-02 1.03145081e-03 9.99807975e-01 5.81190338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4392541539999 meters 0.027524847744972245 Centerline is valid? [True, True] Translation: X:842.42, Y:16.65, Z:5.81 [[ 9.60648593e-01 -2.77153270e-01 -1.84484636e-02 8.42416412e+02] [ 2.77081684e-01 9.60825181e-01 -6.38053729e-03 1.66528738e+01] [ 1.94941352e-02 1.01772280e-03 9.99809453e-01 5.81315415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4692541539998 meters 0.02590032988549104 Centerline is valid? [True, True] Translation: X:842.44, Y:16.67, Z:5.82 [[ 9.60427194e-01 -2.78005727e-01 -1.71003253e-02 8.42442575e+02] [ 2.77944271e-01 9.60578965e-01 -5.91902011e-03 1.66650565e+01] [ 1.80717342e-02 9.31850434e-04 9.99836259e-01 5.81568600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4992541539999 meters 0.029026781037447325 Centerline is valid? [True, True] Translation: X:842.47, Y:16.68, Z:5.82 [[ 9.60210030e-01 -2.78762996e-01 -1.69673586e-02 8.42467387e+02] [ 2.78702523e-01 9.60359492e-01 -5.87780614e-03 1.66801582e+01] [ 1.79332788e-02 9.15082740e-04 9.99838767e-01 5.81507506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5292541539999 meters 0.028171303186202836 Centerline is valid? [True, True] Translation: X:842.49, Y:16.69, Z:5.81 [[ 9.59595379e-01 -2.80790368e-01 -1.82614031e-02 8.42494434e+02] [ 2.80720584e-01 9.59768654e-01 -6.33125886e-03 1.66893183e+01] [ 1.93044788e-02 9.49094987e-04 9.99813201e-01 5.81322735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5592541539999 meters 0.02777315338963147 Centerline is valid? [True, True] Translation: X:842.52, Y:16.70, Z:5.81 [[ 9.59349112e-01 -2.81586477e-01 -1.89298082e-02 8.42522054e+02] [ 2.81511539e-01 9.59535362e-01 -6.56832874e-03 1.66991241e+01] [ 2.00133729e-02 9.72360910e-04 9.99799240e-01 5.81348855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5892541539998 meters 0.02604551897171448 Centerline is valid? [True, True] Translation: X:842.55, Y:16.71, Z:5.82 [[ 9.59106165e-01 -2.82455745e-01 -1.82788782e-02 8.42546849e+02] [ 2.82385973e-01 9.59279885e-01 -6.34542083e-03 1.67112952e+01] [ 1.93268608e-02 9.24233426e-04 9.99812792e-01 5.81624581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6192541539999 meters 0.024626878443195544 Centerline is valid? [True, True] Translation: X:842.58, Y:16.72, Z:5.82 [[ 9.58719741e-01 -2.83726767e-01 -1.88568082e-02 8.42575002e+02] [ 2.83652674e-01 9.58904716e-01 -6.55025675e-03 1.67192662e+01] [ 1.99403655e-02 9.31076408e-04 9.99800738e-01 5.81588284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6492541539999 meters 0.024865715157816472 Centerline is valid? [True, True] Translation: X:842.60, Y:16.73, Z:5.82 [[ 9.58426750e-01 -2.84700044e-01 -1.90800736e-02 8.42602332e+02] [ 2.84624267e-01 9.58616203e-01 -6.63332293e-03 1.67299566e+01] [ 2.01789751e-02 9.26902162e-04 9.99795954e-01 5.81549523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6792541539999 meters 0.024216121723213115 Centerline is valid? [True, True] Translation: X:842.63, Y:16.74, Z:5.82 [[ 9.58111562e-01 -2.85820863e-01 -1.81292419e-02 8.42627659e+02] [ 2.85752554e-01 9.58282677e-01 -6.30785713e-03 1.67436014e+01] [ 1.91758556e-02 8.63153675e-04 9.99815754e-01 5.81726863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7092541539998 meters 0.02482190832150606 Centerline is valid? [True, True] Translation: X:842.65, Y:16.76, Z:5.82 [[ 9.57425921e-01 -2.88042193e-01 -1.91650927e-02 8.42654160e+02] [ 2.87966237e-01 9.57617325e-01 -6.67125545e-03 1.67551408e+01] [ 2.02744278e-02 8.68333281e-04 9.99794076e-01 5.81513317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7392541539999 meters 0.0244862076350323 Centerline is valid? [True, True] Translation: X:842.68, Y:16.76, Z:5.81 [[ 9.56865353e-01 -2.89829199e-01 -2.01923782e-02 8.42681407e+02] [ 2.89745182e-01 9.57077981e-01 -7.03329219e-03 1.67646436e+01] [ 2.13641340e-02 8.79269316e-04 9.99771374e-01 5.81452281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7692541539999 meters 0.0244862076350323 Centerline is valid? [True, True] Translation: X:842.71, Y:16.77, Z:5.81 [[ 9.56780929e-01 -2.90107914e-01 -2.01904130e-02 8.42707441e+02] [ 2.90023840e-01 9.56993535e-01 -7.03893099e-03 1.67737972e+01] [ 2.13641443e-02 8.79013825e-04 9.99771374e-01 5.81471349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7992541539999 meters 0.023089394446296024 Centerline is valid? [True, True] Translation: X:842.73, Y:16.78, Z:5.82 [[ 9.56132074e-01 -2.92249171e-01 -2.00469318e-02 8.42734418e+02] [ 2.92166690e-01 9.56341851e-01 -6.99212342e-03 1.67837833e+01] [ 2.12151622e-02 8.28347747e-04 9.99774590e-01 5.81595823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8292541539998 meters 0.023719940457792868 Centerline is valid? [True, True] Translation: X:842.76, Y:16.80, Z:5.82 [[ 9.55790375e-01 -2.93422130e-01 -1.91888770e-02 8.42759285e+02] [ 2.93346758e-01 9.55982668e-01 -6.69461632e-03 1.67961732e+01] [ 2.03085824e-02 7.69654979e-04 9.99793463e-01 5.81674289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8592541539999 meters 0.021626709497609913 Centerline is valid? [True, True] Translation: X:842.79, Y:16.80, Z:5.82 [[ 9.55088635e-01 -2.95738687e-01 -1.85560735e-02 8.42786549e+02] [ 2.95668610e-01 9.55268623e-01 -6.47541756e-03 1.68045478e+01] [ 1.96410662e-02 6.98149263e-04 9.99806852e-01 5.81837565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8892541539999 meters 0.02296358187457864 Centerline is valid? [True, True] Translation: X:842.81, Y:16.81, Z:5.82 [[ 9.54518264e-01 -2.97541382e-01 -1.90790363e-02 8.42814221e+02] [ 2.97467579e-01 9.54708677e-01 -6.66186814e-03 1.68141622e+01] [ 2.01971030e-02 6.83480069e-04 9.99795784e-01 5.81627297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9192541539999 meters 0.022892987715543225 Centerline is valid? [True, True] Translation: X:842.84, Y:16.82, Z:5.82 [[ 9.54124014e-01 -2.98786088e-01 -1.93452487e-02 8.42841718e+02] [ 2.98710357e-01 9.54319874e-01 -6.76018070e-03 1.68226278e+01] [ 2.04814033e-02 6.71424607e-04 9.99790009e-01 5.81649142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9492541539998 meters 0.023217141000446043 Centerline is valid? [True, True] Translation: X:842.87, Y:16.83, Z:5.82 [[ 9.53632867e-01 -3.00398813e-01 -1.85717164e-02 8.42868016e+02] [ 3.00329224e-01 9.53813490e-01 -6.49491382e-03 1.68334289e+01] [ 1.96650181e-02 6.16134103e-04 9.99806435e-01 5.81666925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9792541539999 meters 0.019688900730657894 Centerline is valid? [True, True] Translation: X:842.89, Y:16.84, Z:5.82 [[ 9.53616216e-01 -3.00518428e-01 -1.74581257e-02 8.42894806e+02] [ 3.00456860e-01 9.53775831e-01 -6.11062395e-03 1.68406214e+01] [ 1.84874935e-02 5.81776465e-04 9.99828922e-01 5.82056490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0092541539999 meters 0.01970262098157895 Centerline is valid? [True, True] Translation: X:842.92, Y:16.85, Z:5.82 [[ 9.53339852e-01 -3.01356412e-01 -1.80952751e-02 8.42922660e+02] [ 3.01290314e-01 9.53511386e-01 -6.33902419e-03 1.68495996e+01] [ 1.91643564e-02 5.91313270e-04 9.99816172e-01 5.81966286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0392541539999 meters 0.02383472090118758 Centerline is valid? [True, True] Translation: X:842.95, Y:16.86, Z:5.82 [[ 9.53170345e-01 -3.01797550e-01 -1.96095194e-02 8.42947537e+02] [ 3.01719950e-01 9.53371825e-01 -6.87276310e-03 1.68621522e+01] [ 2.07693463e-02 6.34330753e-04 9.99784093e-01 5.81565629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0692541539999 meters 0.02387241001906677 Centerline is valid? [True, True] Translation: X:842.97, Y:16.87, Z:5.82 [[ 9.53030888e-01 -3.02238282e-01 -1.95996836e-02 8.42974157e+02] [ 3.02160815e-01 9.53232201e-01 -6.87117545e-03 1.68716595e+01] [ 2.07597818e-02 6.26186067e-04 9.99784296e-01 5.81541966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0992541539999 meters 0.022251130780938072 Centerline is valid? [True, True] Translation: X:843.00, Y:16.88, Z:5.82 [[ 9.52963052e-01 -3.02467258e-01 -1.93643762e-02 8.43001348e+02] [ 3.02391594e-01 9.53159575e-01 -6.79320845e-03 1.68786147e+01] [ 2.05120637e-02 6.18052067e-04 9.99789414e-01 5.81710073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1292541539999 meters 0.022613900341072406 Centerline is valid? [True, True] Translation: X:843.03, Y:16.89, Z:5.82 [[ 9.52872509e-01 -3.02788599e-01 -1.87895142e-02 8.43029440e+02] [ 3.02717320e-01 9.53057557e-01 -6.59676548e-03 1.68870778e+01] [ 1.99049138e-02 5.97965104e-04 9.99801699e-01 5.81807717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1592541539999 meters 0.022782986179795035 Centerline is valid? [True, True] Translation: X:843.06, Y:16.89, Z:5.82 [[ 9.52739669e-01 -3.03222587e-01 -1.85252849e-02 8.43056668e+02] [ 3.03153274e-01 9.52919577e-01 -6.50947292e-03 1.68944013e+01] [ 1.96269259e-02 5.85832301e-04 9.99807202e-01 5.81876978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1892541539999 meters 0.023035245199524858 Centerline is valid? [True, True] Translation: X:843.08, Y:16.91, Z:5.82 [[ 9.52652460e-01 -3.03540410e-01 -1.77907000e-02 8.43082887e+02] [ 3.03476483e-01 9.52818402e-01 -6.25440527e-03 1.69050230e+01] [ 1.88497711e-02 5.59215492e-04 9.99822171e-01 5.81917446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2192541539998 meters 0.022335198459978247 Centerline is valid? [True, True] Translation: X:843.11, Y:16.91, Z:5.82 [[ 9.52387973e-01 -3.04400527e-01 -1.72472702e-02 8.43109669e+02] [ 3.04340557e-01 9.52543984e-01 -6.06496961e-03 1.69135425e+01] [ 1.82749634e-02 5.27160276e-04 9.99832860e-01 5.81996412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2492541539999 meters 0.01808191970955116 Centerline is valid? [True, True] Translation: X:843.14, Y:16.92, Z:5.82 [[ 9.52222011e-01 -3.04930754e-01 -1.70434041e-02 8.43138602e+02] [ 3.04872206e-01 9.52374386e-01 -5.99730170e-03 1.69171185e+01] [ 1.80604632e-02 5.14702483e-04 9.99836764e-01 5.82329992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2792541539999 meters 0.020334220103528724 Centerline is valid? [True, True] Translation: X:843.16, Y:16.92, Z:5.82 [[ 9.51482076e-01 -3.07178206e-01 -1.79835815e-02 8.43164992e+02] [ 3.07113356e-01 9.51651879e-01 -6.33153219e-03 1.69249741e+01] [ 1.90590178e-02 5.01341336e-04 9.99818235e-01 5.81999936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3092541539999 meters 0.019221780546325576 Centerline is valid? [True, True] Translation: X:843.19, Y:16.93, Z:5.82 [[ 9.51115655e-01 -3.08288653e-01 -1.83607248e-02 8.43193693e+02] [ 3.08221181e-01 9.51292733e-01 -6.46838513e-03 1.69306370e+01] [ 1.94605538e-02 4.93018082e-04 9.99810504e-01 5.82094410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3392541539998 meters 0.017590510833769474 Centerline is valid? [True, True] Translation: X:843.22, Y:16.94, Z:5.82 [[ 9.50217272e-01 -3.11089037e-01 -1.76280019e-02 8.43222606e+02] [ 3.11027235e-01 9.50380678e-01 -6.21500639e-03 1.69367540e+01] [ 1.86867327e-02 4.22817741e-04 9.99825298e-01 5.82228022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3692541539999 meters 0.015965411564927832 Centerline is valid? [True, True] Translation: X:843.25, Y:16.95, Z:5.82 [[ 9.49840077e-01 -3.12312520e-01 -1.62701606e-02 8.43249727e+02] [ 3.12259978e-01 9.49979343e-01 -5.74065050e-03 1.69450814e+01] [ 1.72491935e-02 3.72179939e-04 9.99851152e-01 5.82437767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3992541539999 meters 0.01793010377619441 Centerline is valid? [True, True] Translation: X:843.28, Y:16.95, Z:5.82 [[ 9.49152658e-01 -3.14376573e-01 -1.66313441e-02 8.43278047e+02] [ 3.14321905e-01 9.49298294e-01 -5.87282959e-03 1.69529155e+01] [ 1.76343866e-02 3.46616079e-04 9.99844442e-01 5.82286497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4292541539999 meters 0.01656654298500141 Centerline is valid? [True, True] Translation: X:843.31, Y:16.96, Z:5.82 [[ 9.48113211e-01 -3.17569468e-01 -1.51977460e-02 8.43307081e+02] [ 3.17524164e-01 9.48234972e-01 -5.37057677e-03 1.69587216e+01] [ 1.61165654e-02 2.66263209e-04 9.99870084e-01 5.82439081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4592541539998 meters 0.014424411422787617 Centerline is valid? [True, True] Translation: X:843.33, Y:16.97, Z:5.83 [[ 9.47767999e-01 -3.18623137e-01 -1.46668503e-02 8.43333846e+02] [ 3.18581030e-01 9.47881447e-01 -5.18545969e-03 1.69666642e+01] [ 1.55546427e-02 2.42032477e-04 9.99878990e-01 5.82618025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4892541539999 meters 0.016283925812799676 Centerline is valid? [True, True] Translation: X:843.36, Y:16.97, Z:5.82 [[ 9.46686899e-01 -3.21769284e-01 -1.57620973e-02 8.43361651e+02] [ 3.21721034e-01 9.46818084e-01 -5.57598010e-03 1.69733054e+01] [ 1.67180179e-02 2.07709066e-04 9.99860223e-01 5.82340422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5192541539999 meters 0.016792974333500153 Centerline is valid? [True, True] Translation: X:843.39, Y:16.98, Z:5.82 [[ 9.46183070e-01 -3.23234985e-01 -1.60232076e-02 8.43389227e+02] [ 3.23185256e-01 9.46318714e-01 -5.67284621e-03 1.69809427e+01] [ 1.69967236e-02 1.89086572e-04 9.99855527e-01 5.82289950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5492541539999 meters 0.013824097226052389 Centerline is valid? [True, True] Translation: X:843.42, Y:16.99, Z:5.83 [[ 9.45908587e-01 -3.24085998e-01 -1.50070549e-02 8.43417095e+02] [ 3.24042420e-01 9.46027610e-01 -5.31712140e-03 1.69895181e+01] [ 1.59202929e-02 1.66588391e-04 9.99873250e-01 5.82502261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5792541539998 meters 0.01473561314263143 Centerline is valid? [True, True] Translation: X:843.44, Y:17.00, Z:5.82 [[ 9.44906373e-01 -3.27011789e-01 -1.46709290e-02 8.43444185e+02] [ 3.26970454e-01 9.45020252e-01 -5.20058316e-03 1.69953517e+01] [ 1.55649770e-02 1.17103857e-04 9.99878852e-01 5.82427048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6092541539999 meters 0.01376112565034812 Centerline is valid? [True, True] Translation: X:843.47, Y:17.00, Z:5.83 [[ 9.44399363e-01 -3.28496249e-01 -1.41441330e-02 8.43472320e+02] [ 3.28457956e-01 9.44505270e-01 -5.01651155e-03 1.70033665e+01] [ 1.50071134e-02 9.18372995e-05 9.99887383e-01 5.82561776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6392541539999 meters 0.016946288572804884 Centerline is valid? [True, True] Translation: X:843.50, Y:17.01, Z:5.82 [[ 9.43430046e-01 -3.31276647e-01 -1.39832489e-02 8.43500282e+02] [ 3.31239484e-01 9.43533667e-01 -4.96225734e-03 1.70092028e+01] [ 1.48375461e-02 4.97385305e-05 9.99889916e-01 5.82430894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6692541539999 meters 0.01574806783862991 Centerline is valid? [True, True] Translation: X:843.53, Y:17.02, Z:5.83 [[ 9.43063939e-01 -3.32339093e-01 -1.34586143e-02 8.43527091e+02] [ 3.32304730e-01 9.43159968e-01 -4.77913795e-03 1.70169454e+01] [ 1.42819206e-02 3.46714479e-05 9.99898008e-01 5.82561524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6992541539998 meters 0.01437276705748191 Centerline is valid? [True, True] Translation: X:843.55, Y:17.02, Z:5.83 [[ 9.42864855e-01 -3.32900268e-01 -1.35379855e-02 8.43553000e+02] [ 3.32865506e-01 9.42962041e-01 -4.81085300e-03 1.70246528e+01] [ 1.43673406e-02 2.96558352e-05 9.99896784e-01 5.82573761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7292541539999 meters 0.01607690777166065 Centerline is valid? [True, True] Translation: X:843.58, Y:17.03, Z:5.82 [[ 9.42808814e-01 -3.33040190e-01 -1.39918541e-02 8.43579808e+02] [ 3.33003019e-01 9.42912632e-01 -4.97579558e-03 1.70341231e+01] [ 1.48502359e-02 3.18942720e-05 9.99889729e-01 5.82418120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7592541539999 meters 0.015708403144009772 Centerline is valid? [True, True] Translation: X:843.61, Y:17.04, Z:5.82 [[ 9.43373089e-01 -3.31440316e-01 -1.39474747e-02 8.43606194e+02] [ 3.31403141e-01 9.43476186e-01 -4.96433034e-03 1.70439086e+01] [ 1.48044895e-02 6.09787029e-05 9.99890406e-01 5.82498878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7892541539999 meters 0.01309683166297373 Centerline is valid? [True, True] Translation: X:843.63, Y:17.05, Z:5.83 [[ 9.43750334e-01 -3.30379202e-01 -1.35974011e-02 8.43632025e+02] [ 3.30343698e-01 9.43848281e-01 -4.84402640e-03 1.70537728e+01] [ 1.44342492e-02 7.97357758e-05 9.99895818e-01 5.82716609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8192541539999 meters 0.016635499611560745 Centerline is valid? [True, True] Translation: X:843.66, Y:17.06, Z:5.82 [[ 9.43762948e-01 -3.30320948e-01 -1.41268975e-02 8.43658551e+02] [ 3.30282548e-01 9.43868669e-01 -5.03733102e-03 1.70626537e+01] [ 1.49978718e-02 8.81786779e-05 9.99887522e-01 5.82488727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8492541539999 meters 0.014037253684343347 Centerline is valid? [True, True] Translation: X:843.68, Y:17.07, Z:5.83 [[ 9.44166719e-01 -3.29192427e-01 -1.34741274e-02 8.43683375e+02] [ 3.29157328e-01 9.44262853e-01 -4.80817325e-03 1.70726879e+01] [ 1.43059322e-02 1.04609384e-04 9.99897659e-01 5.82583033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8792541539999 meters 0.01666952597948537 Centerline is valid? [True, True] Translation: X:843.71, Y:17.08, Z:5.83 [[ 9.44001844e-01 -3.29626054e-01 -1.43938707e-02 8.43710521e+02] [ 3.29585988e-01 9.44111568e-01 -5.14040941e-03 1.70801817e+01] [ 1.52838327e-02 1.08537882e-04 9.99883190e-01 5.82545102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9092541539999 meters 0.014477392019287324 Centerline is valid? [True, True] Translation: X:843.74, Y:17.09, Z:5.83 [[ 9.43783879e-01 -3.30267320e-01 -1.39816593e-02 8.43737181e+02] [ 3.30229521e-01 9.43887434e-01 -4.99757390e-03 1.70878827e+01] [ 1.48476479e-02 9.94730175e-05 9.99889763e-01 5.82777125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9392541539999 meters 0.01563669163176326 Centerline is valid? [True, True] Translation: X:843.76, Y:17.10, Z:5.83 [[ 9.43523831e-01 -3.30986619e-01 -1.45133962e-02 8.43763610e+02] [ 3.30945903e-01 9.43635443e-01 -5.19236047e-03 1.70966814e+01] [ 1.54139569e-02 9.59668393e-05 9.99881193e-01 5.82704621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9692541539998 meters 0.01709457059094914 Centerline is valid? [True, True] Translation: X:843.79, Y:17.11, Z:5.83 [[ 9.43343108e-01 -3.31494412e-01 -1.46708908e-02 8.43789323e+02] [ 3.31452818e-01 9.43457178e-01 -5.25194686e-03 1.71056157e+01] [ 1.55823482e-02 9.16797935e-05 9.99878584e-01 5.82579034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9992541539999 meters 0.016765821745323817 Centerline is valid? [True, True] Translation: X:843.81, Y:17.11, Z:5.83 [[ 9.43294837e-01 -3.31626415e-01 -1.47909247e-02 8.43814880e+02] [ 3.31584121e-01 9.43410787e-01 -5.29696682e-03 1.71147178e+01] [ 1.57105320e-02 9.21656826e-05 9.99876578e-01 5.82513437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0292541539999 meters 0.016656898731286573 Centerline is valid? [True, True] Translation: X:843.84, Y:17.12, Z:5.83 [[ 9.43080114e-01 -3.32247195e-01 -1.45498921e-02 8.43841708e+02] [ 3.32206289e-01 9.43192342e-01 -5.21411002e-03 1.71233752e+01] [ 1.54557203e-02 8.37578035e-05 9.99880550e-01 5.82535888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0592541539999 meters 0.017893560047013493 Centerline is valid? [True, True] Translation: X:843.87, Y:17.13, Z:5.83 [[ 9.42789446e-01 -3.33078458e-01 -1.43806100e-02 8.43868652e+02] [ 3.33038524e-01 9.42899112e-01 -5.15807844e-03 1.71322485e+01] [ 1.52775092e-02 7.36847791e-05 9.99883289e-01 5.82550954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0892541539998 meters 0.014794970294849667 Centerline is valid? [True, True] Translation: X:843.90, Y:17.14, Z:5.83 [[ 9.42518801e-01 -3.33893820e-01 -1.31615464e-02 8.43896598e+02] [ 3.33860396e-01 9.42610690e-01 -4.72468576e-03 1.71410133e+01] [ 1.39837577e-02 5.89860564e-05 9.99902221e-01 5.82836689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1192541539999 meters 0.01633990650965602 Centerline is valid? [True, True] Translation: X:843.92, Y:17.15, Z:5.83 [[ 9.42200698e-01 -3.34789106e-01 -1.31946470e-02 8.43921895e+02] [ 3.34755553e-01 9.42293082e-01 -4.73995483e-03 1.71498280e+01] [ 1.40201098e-02 4.90074060e-05 9.99901712e-01 5.82761864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1492541539999 meters 0.01296299215541339 Centerline is valid? [True, True] Translation: X:843.95, Y:17.16, Z:5.83 [[ 9.42258470e-01 -3.34643409e-01 -1.27579273e-02 8.43948642e+02] [ 3.34611981e-01 9.42344834e-01 -4.58652393e-03 1.71592357e+01] [ 1.35572169e-02 5.27357072e-05 9.99908095e-01 5.83064162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1792541539999 meters 0.012934520384470483 Centerline is valid? [True, True] Translation: X:843.98, Y:17.17, Z:5.83 [[ 9.42187101e-01 -3.34837834e-01 -1.29263850e-02 8.43975119e+02] [ 3.34805530e-01 9.42275767e-01 -4.65136874e-03 1.71682943e+01] [ 1.37376736e-02 5.46344456e-05 9.99905632e-01 5.83082850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2092541539998 meters 0.017346232952919118 Centerline is valid? [True, True] Translation: X:844.00, Y:17.18, Z:5.83 [[ 9.42047175e-01 -3.35201905e-01 -1.36675808e-02 8.44001539e+02] [ 3.35165785e-01 9.42146315e-01 -4.92109559e-03 1.71778334e+01] [ 1.45264215e-02 5.49987418e-05 9.99894484e-01 5.82762981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2392541539999 meters 0.01307541369965285 Centerline is valid? [True, True] Translation: X:844.03, Y:17.19, Z:5.83 [[ 9.42683545e-01 -3.33427518e-01 -1.31842550e-02 8.44027230e+02] [ 3.33393715e-01 9.42775734e-01 -4.74839381e-03 1.71883501e+01] [ 1.40130408e-02 8.06849593e-05 9.99901809e-01 5.83046207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2692541539999 meters 0.01307541369965285 Centerline is valid? [True, True] Translation: X:844.05, Y:17.20, Z:5.83 [[ 9.42589339e-01 -3.33693778e-01 -1.31833652e-02 8.44053154e+02] [ 3.33659966e-01 9.42681524e-01 -4.75086310e-03 1.71977735e+01] [ 1.40130483e-02 7.93517050e-05 9.99901809e-01 5.83065297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2992541539999 meters 0.013048439226777158 Centerline is valid? [True, True] Translation: X:844.08, Y:17.21, Z:5.83 [[ 9.42825979e-01 -3.33019378e-01 -1.33141949e-02 8.44079493e+02] [ 3.32984764e-01 9.42919978e-01 -4.80232600e-03 1.72077297e+01] [ 1.41534880e-02 9.43336710e-05 9.99899830e-01 5.83105217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3292541539998 meters 0.015514030962962737 Centerline is valid? [True, True] Translation: X:844.11, Y:17.22, Z:5.83 [[ 9.43061819e-01 -3.32302331e-01 -1.44764066e-02 8.44105833e+02] [ 3.32261277e-01 9.43172915e-01 -5.22463873e-03 1.72179194e+01] [ 1.53899142e-02 1.17207961e-04 9.99881561e-01 5.82843740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3592541539999 meters 0.013786154765003823 Centerline is valid? [True, True] Translation: X:844.13, Y:17.23, Z:5.83 [[ 9.43353230e-01 -3.31501618e-01 -1.38333055e-02 8.44130830e+02] [ 3.31464020e-01 9.43454642e-01 -4.99418095e-03 1.72273704e+01] [ 1.47066753e-02 1.26033691e-04 9.99891843e-01 5.83000082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3892541539999 meters 0.016475061207409998 Centerline is valid? [True, True] Translation: X:844.16, Y:17.24, Z:5.83 [[ 9.43323197e-01 -3.31566091e-01 -1.43273884e-02 8.44157112e+02] [ 3.31525715e-01 9.43431985e-01 -5.17598540e-03 1.72363598e+01] [ 1.52330978e-02 1.32729397e-04 9.99883961e-01 5.82827105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4192541539999 meters 0.016963266756516698 Centerline is valid? [True, True] Translation: X:844.18, Y:17.25, Z:5.83 [[ 9.43352710e-01 -3.31472729e-01 -1.45428733e-02 8.44183528e+02] [ 3.31431046e-01 9.43464790e-01 -5.25851239e-03 1.72456819e+01] [ 1.54637423e-02 1.40672207e-04 9.99880419e-01 5.82807700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4492541539998 meters 0.013611796385486276 Centerline is valid? [True, True] Translation: X:844.21, Y:17.26, Z:5.83 [[ 9.43575241e-01 -3.30867139e-01 -1.38816649e-02 8.44210285e+02] [ 3.30829031e-01 9.43677336e-01 -5.02375956e-03 1.72553911e+01] [ 1.47620095e-02 1.47837406e-04 9.99891025e-01 5.83118590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4792541539999 meters 0.01633497131013248 Centerline is valid? [True, True] Translation: X:844.24, Y:17.26, Z:5.83 [[ 9.43445581e-01 -3.31178206e-01 -1.52128596e-02 8.44238294e+02] [ 3.31132401e-01 9.43568212e-01 -5.51027295e-03 1.72642237e+01] [ 1.61792531e-02 1.61171932e-04 9.99869094e-01 5.82901864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5092541539999 meters 0.016152785123267132 Centerline is valid? [True, True] Translation: X:844.26, Y:17.27, Z:5.83 [[ 9.43456603e-01 -3.31127601e-01 -1.56253116e-02 8.44264513e+02] [ 3.31079190e-01 9.43585970e-01 -5.66455149e-03 1.72733661e+01] [ 1.66195142e-02 1.71042986e-04 9.99861872e-01 5.82910144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5392541539999 meters 0.013675607610116268 Centerline is valid? [True, True] Translation: X:844.29, Y:17.28, Z:5.83 [[ 9.43602109e-01 -3.30742273e-01 -1.49869823e-02 8.44289762e+02] [ 3.30697637e-01 9.43721102e-01 -5.43637565e-03 1.72818358e+01] [ 1.59415707e-02 1.73615905e-04 9.99872910e-01 5.83130051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5692541539999 meters 0.015114049250750706 Centerline is valid? [True, True] Translation: X:844.32, Y:17.29, Z:5.83 [[ 9.43252698e-01 -3.31734964e-01 -1.50419879e-02 8.44316734e+02] [ 3.31690067e-01 9.43372613e-01 -5.46001361e-03 1.72906591e+01] [ 1.60014768e-02 1.60894600e-04 9.99871955e-01 5.83009635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5992541539999 meters 0.018006849510210716 Centerline is valid? [True, True] Translation: X:844.34, Y:17.30, Z:5.83 [[ 9.42683909e-01 -3.33323162e-01 -1.55793847e-02 8.44344483e+02] [ 3.33275131e-01 9.42812627e-01 -5.66023676e-03 1.72978700e+01] [ 1.65751286e-02 1.43592633e-04 9.99862613e-01 5.82874846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6292541539999 meters 0.01734758752577576 Centerline is valid? [True, True] Translation: X:844.37, Y:17.30, Z:5.83 [[ 9.42238074e-01 -3.34584931e-01 -1.55027682e-02 8.44371945e+02] [ 3.34537492e-01 9.42365592e-01 -5.63543487e-03 1.73048913e+01] [ 1.64948070e-02 1.23664093e-04 9.99863944e-01 5.82883334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6592541539999 meters 0.014686943940015436 Centerline is valid? [True, True] Translation: X:844.40, Y:17.31, Z:5.83 [[ 9.42156863e-01 -3.34843148e-01 -1.48496568e-02 8.44399068e+02] [ 3.34799630e-01 9.42273874e-01 -5.39948980e-03 1.73119804e+01] [ 1.58004258e-02 1.15506778e-04 9.99875159e-01 5.83091073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6892541539999 meters 0.013218355310453839 Centerline is valid? [True, True] Translation: X:844.43, Y:17.32, Z:5.83 [[ 9.42102569e-01 -3.35025081e-01 -1.41754669e-02 8.44426238e+02] [ 3.34985399e-01 9.42209203e-01 -5.15750300e-03 1.73185116e+01] [ 1.50841482e-02 1.10322410e-04 9.99886222e-01 5.83358486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7192541539998 meters 0.014683334601297922 Centerline is valid? [True, True] Translation: X:844.45, Y:17.33, Z:5.83 [[ 9.42011359e-01 -3.35283839e-01 -1.41189867e-02 8.44451754e+02] [ 3.35244453e-01 9.42117156e-01 -5.14018541e-03 1.73269479e+01] [ 1.50251607e-02 1.08801069e-04 9.99887110e-01 5.83260415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7492541539999 meters 0.014683334601297922 Centerline is valid? [True, True] Translation: X:844.48, Y:17.34, Z:5.83 [[ 9.41916409e-01 -3.35550538e-01 -1.41179023e-02 8.44477650e+02] [ 3.35511137e-01 9.42022200e-01 -5.14316242e-03 1.73364623e+01] [ 1.50251683e-02 1.07715610e-04 9.99887110e-01 5.83279499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7792541539999 meters 0.014676190933440037 Centerline is valid? [True, True] Translation: X:844.50, Y:17.35, Z:5.83 [[ 9.42203551e-01 -3.34787113e-01 -1.30406450e-02 8.44504927e+02] [ 3.34753367e-01 9.42293784e-01 -4.75472938e-03 1.73450013e+01] [ 1.38799408e-02 1.14523101e-04 9.99903662e-01 5.83387980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8092541539999 meters 0.013498450946987662 Centerline is valid? [True, True] Translation: X:844.53, Y:17.35, Z:5.84 [[ 9.42480630e-01 -3.34022886e-01 -1.26084671e-02 8.44532033e+02] [ 3.33991218e-01 9.42564956e-01 -4.60115852e-03 1.73540485e+01] [ 1.34211915e-02 1.25385500e-04 9.99909924e-01 5.83607722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8392541539998 meters 0.013806640837413526 Centerline is valid? [True, True] Translation: X:844.56, Y:17.36, Z:5.84 [[ 9.42711772e-01 -3.33391631e-01 -1.20222394e-02 8.44556788e+02] [ 3.33362746e-01 9.42788419e-01 -4.39048319e-03 1.73637239e+01] [ 1.27981784e-02 1.31193456e-04 9.99918091e-01 5.83624974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8692541539999 meters 0.016714414370802136 Centerline is valid? [True, True] Translation: X:844.58, Y:17.37, Z:5.83 [[ 9.42949315e-01 -3.32745973e-01 -1.12564378e-02 8.44583821e+02] [ 3.32720570e-01 9.43016490e-01 -4.11372355e-03 1.73728257e+01] [ 1.19838314e-02 1.33784421e-04 9.99928182e-01 5.83435603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8992541539999 meters 0.013944111587838209 Centerline is valid? [True, True] Translation: X:844.61, Y:17.38, Z:5.84 [[ 9.43258207e-01 -3.31892673e-01 -1.05455882e-02 8.44610871e+02] [ 3.31870288e-01 9.43317144e-01 -3.85710406e-03 1.73828906e+01] [ 1.12279787e-02 1.38477669e-04 9.99936955e-01 5.83665689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9292541539999 meters 0.01692249609925179 Centerline is valid? [True, True] Translation: X:844.64, Y:17.39, Z:5.83 [[ 9.43254168e-01 -3.31868985e-01 -1.15996431e-02 8.44637092e+02] [ 3.31841864e-01 9.43325476e-01 -4.24548081e-03 1.73921776e+01] [ 1.23511822e-02 1.55320282e-04 9.99923709e-01 5.83306014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9592541539998 meters 0.016039600305676215 Centerline is valid? [True, True] Translation: X:844.66, Y:17.40, Z:5.83 [[ 9.43162749e-01 -3.32124078e-01 -1.17314027e-02 8.44663850e+02] [ 3.32096325e-01 9.43235693e-01 -4.29638738e-03 1.74015777e+01] [ 1.24924114e-02 1.56236819e-04 9.99921955e-01 5.83353794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9892541539999 meters 0.01448243074059437 Centerline is valid? [True, True] Translation: X:844.69, Y:17.41, Z:5.83 [[ 9.42943235e-01 -3.32726428e-01 -1.22955358e-02 8.44690874e+02] [ 3.32695940e-01 9.43023382e-01 -4.50700157e-03 1.74097008e+01] [ 1.30945762e-02 1.59171811e-04 9.99914250e-01 5.83455669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0192541539999 meters 0.015265711233182745 Centerline is valid? [True, True] Translation: X:844.72, Y:17.42, Z:5.83 [[ 9.42592723e-01 -3.33710141e-01 -1.25100130e-02 8.44718009e+02] [ 3.33678613e-01 9.42675723e-01 -4.58960518e-03 1.74186608e+01] [ 1.33244833e-02 1.51804664e-04 9.99911214e-01 5.83343810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0492541539999 meters 0.014345739558493125 Centerline is valid? [True, True] Translation: X:844.74, Y:17.43, Z:5.83 [[ 9.42344676e-01 -3.34402180e-01 -1.27158838e-02 8.44744497e+02] [ 3.34369614e-01 9.42430454e-01 -4.66916009e-03 1.74277669e+01] [ 1.35452134e-02 1.48153013e-04 9.99908248e-01 5.83429580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0792541539998 meters 0.0148907573149408 Centerline is valid? [True, True] Translation: X:844.77, Y:17.44, Z:5.83 [[ 9.41587381e-01 -3.36520253e-01 -1.29353153e-02 8.44772277e+02] [ 3.36486700e-01 9.41676220e-01 -4.75361836e-03 1.74352254e+01] [ 1.37805677e-02 1.23385496e-04 9.99905036e-01 5.83339332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1092541539999 meters 0.015785038137209526 Centerline is valid? [True, True] Translation: X:844.80, Y:17.44, Z:5.83 [[ 9.40616988e-01 -3.39210685e-01 -1.32587422e-02 8.44799979e+02] [ 3.39175646e-01 9.40710425e-01 -4.87626586e-03 1.74426997e+01] [ 1.41267185e-02 8.96560448e-05 9.99900209e-01 5.83227178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1392541539999 meters 0.01608251315229333 Centerline is valid? [True, True] Translation: X:844.83, Y:17.45, Z:5.83 [[ 9.40176262e-01 -3.40415572e-01 -1.36321020e-02 8.44825977e+02] [ 3.40378616e-01 9.40275084e-01 -5.01647501e-03 1.74507812e+01] [ 1.45256120e-02 7.62947258e-05 9.99894495e-01 5.83188899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1692541539999 meters 0.01368692143653585 Centerline is valid? [True, True] Translation: X:844.85, Y:17.46, Z:5.83 [[ 9.39785381e-01 -3.41513353e-01 -1.31174215e-02 8.44853168e+02] [ 3.41479200e-01 9.39876921e-01 -4.83005636e-03 1.74593090e+01] [ 1.39782904e-02 5.98897684e-05 9.99902297e-01 5.83451206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1992541539998 meters 0.013487891214983904 Centerline is valid? [True, True] Translation: X:844.88, Y:17.46, Z:5.84 [[ 9.38418164e-01 -3.45247150e-01 -1.32572900e-02 8.44881446e+02] [ 3.45212576e-01 9.38511804e-01 -4.88585525e-03 1.74649538e+01] [ 1.41289507e-02 8.39208485e-06 9.99900181e-01 5.83577030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2292541539999 meters 0.013607467201208302 Centerline is valid? [True, True] Translation: X:844.91, Y:17.47, Z:5.84 [[ 9.37046306e-01 -3.48982927e-01 -1.24554485e-02 8.44909595e+02] [ 3.48952687e-01 9.37129081e-01 -4.59427337e-03 1.74707492e+01] [ 1.32756859e-02 -4.13153226e-05 9.99911873e-01 5.83729426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2592541539999 meters 0.013670791420541721 Centerline is valid? [True, True] Translation: X:844.94, Y:17.48, Z:5.84 [[ 9.36283161e-01 -3.51034677e-01 -1.21859884e-02 8.44936743e+02] [ 3.51005854e-01 9.36362457e-01 -4.49879937e-03 1.74789543e+01] [ 1.29897366e-02 -6.52031775e-05 9.99915628e-01 5.83827599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2892541539999 meters 0.01601901712843438 Centerline is valid? [True, True] Translation: X:844.96, Y:17.49, Z:5.84 [[ 9.35469249e-01 -3.53206924e-01 -1.19227980e-02 8.44964282e+02] [ 3.53179463e-01 9.35545221e-01 -4.40525890e-03 1.74870251e+01] [ 1.27102847e-02 -8.99031718e-05 9.99919217e-01 5.83697466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3192541539999 meters 0.016529026087386847 Centerline is valid? [True, True] Translation: X:844.99, Y:17.49, Z:5.84 [[ 9.34686893e-01 -3.55296614e-01 -1.11681787e-02 8.44991174e+02] [ 3.55272642e-01 9.34753606e-01 -4.12865025e-03 1.74937245e+01] [ 1.19063907e-02 -1.08753069e-04 9.99929111e-01 5.83774741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3492541539999 meters 0.013998238592692353 Centerline is valid? [True, True] Translation: X:845.02, Y:17.50, Z:5.84 [[ 9.34593377e-01 -3.55553202e-01 -1.08231207e-02 8.45017108e+02] [ 3.55530681e-01 9.34656038e-01 -4.00313722e-03 1.75039114e+01] [ 1.15392233e-02 -1.06645933e-04 9.99933415e-01 5.84110029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3792541539999 meters 0.01486161957833792 Centerline is valid? [True, True] Translation: X:845.04, Y:17.51, Z:5.84 [[ 9.34426769e-01 -3.55990653e-01 -1.08290531e-02 8.45043749e+02] [ 3.55968108e-01 9.34489509e-01 -4.00789893e-03 1.75136887e+01] [ 1.15464111e-02 -1.09709491e-04 9.99933332e-01 5.84004817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4092541539999 meters 0.016899880637162384 Centerline is valid? [True, True] Translation: X:845.07, Y:17.52, Z:5.84 [[ 9.34419499e-01 -3.55984749e-01 -1.16214529e-02 8.45069554e+02] [ 3.55958768e-01 9.34491757e-01 -4.30241030e-03 1.75230093e+01] [ 1.23917444e-02 -1.16501967e-04 9.99923213e-01 5.83805105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4392541539999 meters 0.015276399933939925 Centerline is valid? [True, True] Translation: X:845.10, Y:17.53, Z:5.84 [[ 9.34925196e-01 -3.54666287e-01 -1.12562542e-02 8.45096389e+02] [ 3.54641794e-01 9.34992950e-01 -4.16920412e-03 1.75341916e+01] [ 1.20031945e-02 -9.40442066e-05 9.99927955e-01 5.83952914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4692541539998 meters 0.01589189733233952 Centerline is valid? [True, True] Translation: X:845.12, Y:17.54, Z:5.84 [[ 9.35096931e-01 -3.54198450e-01 -1.17127650e-02 8.45121752e+02] [ 3.54171859e-01 9.35170279e-01 -4.34094868e-03 1.75443348e+01] [ 1.24909870e-02 -8.91239687e-05 9.99921981e-01 5.83877400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4992541539999 meters 0.013753054601260912 Centerline is valid? [True, True] Translation: X:845.15, Y:17.55, Z:5.84 [[ 9.35450294e-01 -3.53261155e-01 -1.18026872e-02 8.45147578e+02] [ 3.53234047e-01 9.35524746e-01 -4.37690803e-03 1.75549616e+01] [ 1.25878975e-02 -7.47310574e-05 9.99920766e-01 5.84142020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5292541539999 meters 0.016594328660383476 Centerline is valid? [True, True] Translation: X:845.17, Y:17.57, Z:5.84 [[ 9.35753977e-01 -3.52393216e-01 -1.35468098e-02 8.45172835e+02] [ 3.52357368e-01 9.35852027e-01 -5.02680618e-03 1.75659573e+01] [ 1.44492218e-02 -6.94643865e-05 9.99895602e-01 5.83739336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5592541539999 meters 0.017165768419157092 Centerline is valid? [True, True] Translation: X:845.20, Y:17.58, Z:5.84 [[ 9.35718250e-01 -3.52452782e-01 -1.44358233e-02 8.45198846e+02] [ 3.52412032e-01 9.35829595e-01 -5.35990457e-03 1.75763457e+01] [ 1.53985840e-02 -7.19973040e-05 9.99881432e-01 5.83697747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5892541539998 meters 0.014968532653630424 Centerline is valid? [True, True] Translation: X:845.22, Y:17.59, Z:5.84 [[ 9.35746987e-01 -3.52396255e-01 -1.39447191e-02 8.45223982e+02] [ 3.52358179e-01 9.35850883e-01 -5.18058004e-03 1.75867223e+01] [ 1.48757947e-02 -6.58236523e-05 9.99889347e-01 5.83835670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6192541539999 meters 0.013777438713154148 Centerline is valid? [True, True] Translation: X:845.25, Y:17.60, Z:5.84 [[ 9.35459913e-01 -3.53157938e-01 -1.39363986e-02 8.45250326e+02] [ 3.53119944e-01 9.35563715e-01 -5.18072551e-03 1.75970100e+01] [ 1.48680032e-02 -7.48592450e-05 9.99889462e-01 5.83987236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6492541539999 meters 0.014055858660972908 Centerline is valid? [True, True] Translation: X:845.28, Y:17.61, Z:5.84 [[ 9.34533982e-01 -3.55589876e-01 -1.42153861e-02 8.45276460e+02] [ 3.55550584e-01 9.34642085e-01 -5.28727477e-03 1.76062953e+01] [ 1.51663995e-02 -1.13150884e-04 9.99884977e-01 5.83939144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6792541539999 meters 0.017766670464260167 Centerline is valid? [True, True] Translation: X:845.30, Y:17.62, Z:5.84 [[ 9.33697382e-01 -3.57736889e-01 -1.52812904e-02 8.45303501e+02] [ 3.57691718e-01 9.33822410e-01 -5.68689702e-03 1.76161711e+01] [ 1.63044243e-02 -1.56150162e-04 9.99867062e-01 5.83660988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7092541539998 meters 0.01777399772557001 Centerline is valid? [True, True] Translation: X:845.33, Y:17.62, Z:5.84 [[ 9.32278643e-01 -3.61418211e-01 -1.52777390e-02 8.45330592e+02] [ 3.61373503e-01 9.32403791e-01 -5.68873657e-03 1.76248638e+01] [ 1.63010348e-02 -2.17482457e-04 9.99867106e-01 5.83742064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7392541539999 meters 0.01634445832357323 Centerline is valid? [True, True] Translation: X:845.36, Y:17.63, Z:5.84 [[ 9.31558709e-01 -3.63313662e-01 -1.41970215e-02 8.45357992e+02] [ 3.63275229e-01 9.31666856e-01 -5.28938825e-03 1.76344358e+01] [ 1.51486014e-02 -2.30050573e-04 9.99885227e-01 5.83987740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7692541539999 meters 0.017810426568699005 Centerline is valid? [True, True] Translation: X:845.39, Y:17.64, Z:5.84 [[ 9.30037019e-01 -3.67234103e-01 -1.30482740e-02 8.45385391e+02] [ 3.67201975e-01 9.30128508e-01 -4.86489446e-03 1.76440593e+01] [ 1.39231268e-02 -2.66820042e-04 9.99903033e-01 5.84109586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7992541539999 meters 0.016796853895344726 Centerline is valid? [True, True] Translation: X:845.41, Y:17.65, Z:5.84 [[ 9.29517434e-01 -3.68579376e-01 -1.21071450e-02 8.45411809e+02] [ 3.68551787e-01 9.29596243e-01 -4.51726096e-03 1.76549060e+01] [ 1.29197258e-02 -2.63237125e-04 9.99916502e-01 5.84351235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8292541539998 meters 0.01952008486343691 Centerline is valid? [True, True] Translation: X:845.44, Y:17.66, Z:5.84 [[ 9.28895845e-01 -3.70154723e-01 -1.17469168e-02 8.45438204e+02] [ 3.70128848e-01 9.28970078e-01 -4.38514719e-03 1.76648757e+01] [ 1.25357172e-02 -2.74527789e-04 9.99921387e-01 5.84188757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8592541539999 meters 0.017639970362287417 Centerline is valid? [True, True] Translation: X:845.46, Y:17.68, Z:5.84 [[ 9.28291491e-01 -3.71686474e-01 -1.11387553e-02 8.45464247e+02] [ 3.71663297e-01 9.28358275e-01 -4.16004843e-03 1.76786206e+01] [ 1.18869894e-02 -2.78128979e-04 9.99929309e-01 5.84417807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8892541539999 meters 0.017299420937684787 Centerline is valid? [True, True] Translation: X:845.49, Y:17.69, Z:5.84 [[ 9.28451154e-01 -3.71260194e-01 -1.20134637e-02 8.45489560e+02] [ 3.71233152e-01 9.28528828e-01 -4.49028268e-03 1.76930891e+01] [ 1.28219106e-02 -2.90787858e-04 9.99917754e-01 5.84316878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9192541539999 meters 0.01771744852044555 Centerline is valid? [True, True] Translation: X:845.51, Y:17.71, Z:5.84 [[ 9.28550632e-01 -3.70975567e-01 -1.30710297e-02 8.45514311e+02] [ 3.70943468e-01 9.28642576e-01 -4.88976791e-03 1.77066965e+01] [ 1.39522991e-02 -3.08216027e-04 9.99902614e-01 5.84187435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9492541539998 meters 0.019370506095617062 Centerline is valid? [True, True] Translation: X:845.54, Y:17.72, Z:5.84 [[ 9.29173087e-01 -3.69341825e-01 -1.49663333e-02 8.45538984e+02] [ 3.69299469e-01 9.29293556e-01 -5.60256406e-03 1.77209951e+01] [ 1.59773783e-02 -3.21307211e-04 9.99872302e-01 5.83925323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9792541539999 meters 0.01594931717047286 Centerline is valid? [True, True] Translation: X:845.57, Y:17.73, Z:5.84 [[ 9.29450600e-01 -3.68673232e-01 -1.41996453e-02 8.45565101e+02] [ 3.68634980e-01 9.29559016e-01 -5.31867342e-03 1.77345028e+01] [ 1.51602608e-02 -2.91041762e-04 9.99885034e-01 5.84164091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0092541539999 meters 0.015721188988895757 Centerline is valid? [True, True] Translation: X:845.59, Y:17.75, Z:5.84 [[ 9.29582677e-01 -3.68309105e-01 -1.49816549e-02 8.45589843e+02] [ 3.68266401e-01 9.29703348e-01 -5.61626611e-03 1.77498315e+01] [ 1.59970166e-02 -2.96456442e-04 9.99871996e-01 5.84099705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0392541539999 meters 0.015784662233400134 Centerline is valid? [True, True] Translation: X:845.62, Y:17.76, Z:5.84 [[ 9.29431377e-01 -3.68645936e-01 -1.60464548e-02 8.45615997e+02] [ 3.68596911e-01 9.29569832e-01 -6.02039659e-03 1.77618404e+01] [ 1.71356950e-02 -3.19128172e-04 9.99853122e-01 5.84103171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0692541539999 meters 0.017335023625929858 Centerline is valid? [True, True] Translation: X:845.64, Y:17.78, Z:5.84 [[ 9.29180978e-01 -3.69258332e-01 -1.64619137e-02 8.45641893e+02] [ 3.69206747e-01 9.29326731e-01 -6.18107796e-03 1.77764721e+01] [ 1.75809109e-02 -3.34509521e-04 9.99845388e-01 5.84014161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0992541539999 meters 0.019165768649301484 Centerline is valid? [True, True] Translation: X:845.67, Y:17.79, Z:5.84 [[ 9.29325435e-01 -3.68911915e-01 -1.60697136e-02 8.45666662e+02] [ 3.68862658e-01 9.29464307e-01 -6.03666251e-03 1.77885032e+01] [ 1.71632220e-02 -3.17493271e-04 9.99852651e-01 5.83930480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1292541539999 meters 0.016023665360141156 Centerline is valid? [True, True] Translation: X:845.69, Y:17.80, Z:5.84 [[ 9.29600462e-01 -3.68298934e-01 -1.41023784e-02 8.45692375e+02] [ 3.68260888e-01 9.29707387e-01 -5.30036057e-03 1.78016702e+01] [ 1.50632025e-02 -2.66136740e-04 9.99886508e-01 5.84239120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1592541539999 meters 0.01649092551716748 Centerline is valid? [True, True] Translation: X:845.72, Y:17.82, Z:5.84 [[ 9.30437828e-01 -3.66172136e-01 -1.42623275e-02 8.45717550e+02] [ 3.66132910e-01 9.30547104e-01 -5.36459988e-03 1.78178386e+01] [ 1.52361346e-02 -2.30480818e-04 9.99883897e-01 5.84187951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1892541539999 meters 0.01649092551716748 Centerline is valid? [True, True] Translation: X:845.74, Y:17.83, Z:5.84 [[ 9.30330563e-01 -3.66444637e-01 -1.42608453e-02 8.45743350e+02] [ 3.66405382e-01 9.30439829e-01 -5.36853806e-03 1.78276138e+01] [ 1.52361305e-02 -2.30735453e-04 9.99883897e-01 5.84207005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2192541539998 meters 0.017613719483760542 Centerline is valid? [True, True] Translation: X:845.77, Y:17.84, Z:5.84 [[ 9.32656276e-01 -3.60450923e-01 -1.50798960e-02 8.45767075e+02] [ 3.60406193e-01 9.32778169e-01 -5.68005414e-03 1.78446304e+01] [ 1.61135785e-02 -1.37349768e-04 9.99870158e-01 5.84040160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2492541539999 meters 0.017304365316222474 Centerline is valid? [True, True] Translation: X:845.79, Y:17.86, Z:5.84 [[ 9.33567644e-01 -3.58079866e-01 -1.51744626e-02 8.45793374e+02] [ 3.58034208e-01 9.33690956e-01 -5.71885228e-03 1.78574917e+01] [ 1.62160643e-02 -9.40412435e-05 9.99868507e-01 5.84052117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2792541539999 meters 0.016608032135024407 Centerline is valid? [True, True] Translation: X:845.82, Y:17.87, Z:5.84 [[ 9.34567578e-01 -3.55478511e-01 -1.47807749e-02 8.45819676e+02] [ 3.55434799e-01 9.34684453e-01 -5.57469100e-03 1.78706463e+01] [ 1.57970433e-02 -4.36762908e-05 9.99875218e-01 5.84103616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3092541539999 meters 0.016608032135024407 Centerline is valid? [True, True] Translation: X:845.85, Y:17.88, Z:5.84 [[ 9.34465112e-01 -3.55747843e-01 -1.47792557e-02 8.45845456e+02] [ 3.55704101e-01 9.34581976e-01 -5.57871668e-03 1.78804496e+01] [ 1.57970424e-02 -4.39257410e-05 9.99875218e-01 5.84122668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3392541539998 meters 0.016502977129006235 Centerline is valid? [True, True] Translation: X:845.87, Y:17.89, Z:5.84 [[ 9.35374313e-01 -3.53343031e-01 -1.49531737e-02 8.45871040e+02] [ 3.53297868e-01 9.35493828e-01 -5.64930668e-03 1.78934413e+01] [ 1.59847449e-02 1.29196992e-06 9.99872236e-01 5.84122223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3692541539999 meters 0.013777941665212071 Centerline is valid? [True, True] Translation: X:845.90, Y:17.91, Z:5.84 [[ 9.37339275e-01 -3.48150160e-01 -1.36583052e-02 8.45895203e+02] [ 3.48111864e-01 9.37438776e-01 -5.16439962e-03 1.79086948e+01] [ 1.46018115e-02 8.61765134e-05 9.99893384e-01 5.84367842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3992541539999 meters 0.01790569923422854 Centerline is valid? [True, True] Translation: X:845.92, Y:17.92, Z:5.84 [[ 9.37804933e-01 -3.46809409e-01 -1.56570335e-02 8.45922147e+02] [ 3.46758812e-01 9.37935615e-01 -5.92523854e-03 1.79201540e+01] [ 1.67402178e-02 1.27503604e-04 9.99859865e-01 5.84064835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4292541539999 meters 0.01852007712468699 Centerline is valid? [True, True] Translation: X:845.95, Y:17.93, Z:5.84 [[ 9.38457970e-01 -3.45008249e-01 -1.63078853e-02 8.45948908e+02] [ 3.44953002e-01 9.38599637e-01 -6.17635298e-03 1.79316468e+01] [ 1.74374680e-02 1.70793680e-04 9.99847941e-01 5.84006007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4592541539998 meters 0.01425968644814025 Centerline is valid? [True, True] Translation: X:845.98, Y:17.94, Z:5.84 [[ 9.38644170e-01 -3.44559094e-01 -1.50383943e-02 8.45975027e+02] [ 3.44511983e-01 9.38764615e-01 -5.70011449e-03 1.79417876e+01] [ 1.60815387e-02 1.69472184e-04 9.99870669e-01 5.84329117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4892541539999 meters 0.0163204218262386 Centerline is valid? [True, True] Translation: X:846.00, Y:17.95, Z:5.84 [[ 9.37755726e-01 -3.46908559e-01 -1.63905617e-02 8.46002121e+02] [ 3.46852855e-01 9.37898945e-01 -6.21827099e-03 1.79490639e+01] [ 1.75298620e-02 1.46106108e-04 9.99846329e-01 5.84100011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5192541539999 meters 0.013964324726296854 Centerline is valid? [True, True] Translation: X:846.03, Y:17.96, Z:5.84 [[ 9.37111199e-01 -3.48660035e-01 -1.60866723e-02 8.46030079e+02] [ 3.48606550e-01 9.37249255e-01 -6.10790320e-03 1.79581246e+01] [ 1.72068034e-02 1.15865144e-04 9.99851945e-01 5.84302960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5492541539999 meters 0.015192509183834697 Centerline is valid? [True, True] Translation: X:846.06, Y:17.97, Z:5.84 [[ 9.36047597e-01 -3.51454920e-01 -1.71562286e-02 8.46057465e+02] [ 3.51394452e-01 9.36204803e-01 -6.51958040e-03 1.79656982e+01] [ 1.83530823e-02 7.40339939e-05 9.99831565e-01 5.84151846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5792541539998 meters 0.015245716399816044 Centerline is valid? [True, True] Translation: X:846.08, Y:17.97, Z:5.84 [[ 9.34070784e-01 -3.56637308e-01 -1.79332303e-02 8.46084877e+02] [ 3.56572116e-01 9.34242918e-01 -6.81876525e-03 1.79704365e+01] [ 1.91858195e-02 -2.52804804e-05 9.99815935e-01 5.84030557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6092541539999 meters 0.01397927607138867 Centerline is valid? [True, True] Translation: X:846.11, Y:17.98, Z:5.84 [[ 9.32405188e-01 -3.61019129e-01 -1.69042365e-02 8.46113103e+02] [ 3.60961846e-01 9.32558404e-01 -6.43182742e-03 1.79757358e+01] [ 1.80862006e-02 -1.04715175e-04 9.99836426e-01 5.84346984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6392541539999 meters 0.014237892572185495 Centerline is valid? [True, True] Translation: X:846.14, Y:17.98, Z:5.84 [[ 9.31583871e-01 -3.63142571e-01 -1.67022438e-02 8.46141152e+02] [ 3.63086899e-01 9.31733575e-01 -6.35999980e-03 1.79835361e+01] [ 1.78716280e-02 -1.39492668e-04 9.99840280e-01 5.84392005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6692541539999 meters 0.016116215853875106 Centerline is valid? [True, True] Translation: X:846.17, Y:17.99, Z:5.84 [[ 9.30628013e-01 -3.65554674e-01 -1.73574628e-02 8.46167937e+02] [ 3.65494911e-01 9.30789850e-01 -6.61251921e-03 1.79908347e+01] [ 1.85733875e-02 -1.90268727e-04 9.99827482e-01 5.84271631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6992541539998 meters 0.01467126436787005 Centerline is valid? [True, True] Translation: X:846.20, Y:18.00, Z:5.85 [[ 9.29463106e-01 -3.68539253e-01 -1.66479447e-02 8.46195540e+02] [ 3.68484691e-01 9.29612157e-01 -6.34583984e-03 1.79997202e+01] [ 1.78148228e-02 -2.36288738e-04 9.99841276e-01 5.84567520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7292541539999 meters 0.017419713717087976 Centerline is valid? [True, True] Translation: X:846.22, Y:18.01, Z:5.84 [[ 9.28684859e-01 -3.70462993e-01 -1.73667013e-02 8.46222757e+02] [ 3.70403895e-01 9.28847184e-01 -6.62293659e-03 1.80080172e+01] [ 1.85845645e-02 -2.82072868e-04 9.99827252e-01 5.84319701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7592541539999 meters 0.015512315318945978 Centerline is valid? [True, True] Translation: X:846.25, Y:18.02, Z:5.85 [[ 9.27645337e-01 -3.73059880e-01 -1.73336184e-02 8.46250567e+02] [ 3.73001389e-01 9.27807209e-01 -6.61415202e-03 1.80151150e+01] [ 1.85497309e-02 -3.29876464e-04 9.99827885e-01 5.84530016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7892541539999 meters 0.020118093831308224 Centerline is valid? [True, True] Translation: X:846.28, Y:18.02, Z:5.84 [[ 9.26134799e-01 -3.76760975e-01 -1.80416495e-02 8.46278631e+02] [ 3.76698256e-01 9.26310419e-01 -6.88699543e-03 1.80214112e+01] [ 1.93069190e-02 -4.17971777e-04 9.99813517e-01 5.84248477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8192541539999 meters 0.016229470368856976 Centerline is valid? [True, True] Translation: X:846.30, Y:18.03, Z:5.85 [[ 9.25595115e-01 -3.78166855e-01 -1.62330824e-02 8.46304829e+02] [ 3.78116234e-01 9.25737366e-01 -6.20025098e-03 1.80321369e+01] [ 1.73723003e-02 -3.99069952e-04 9.99849011e-01 5.84686508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8492541539999 meters 0.01848912959808637 Centerline is valid? [True, True] Translation: X:846.33, Y:18.04, Z:5.85 [[ 9.25041507e-01 -3.79507646e-01 -1.64971495e-02 8.46331916e+02] [ 3.79455520e-01 9.25188501e-01 -6.30435973e-03 1.80391867e+01] [ 1.76555258e-02 -4.28140023e-04 9.99844037e-01 5.84554874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8792541539999 meters 0.019332407177962113 Centerline is valid? [True, True] Translation: X:846.36, Y:18.05, Z:5.85 [[ 9.24573978e-01 -3.80639905e-01 -1.66199209e-02 8.46358744e+02] [ 3.80587120e-01 9.24723235e-01 -6.35481835e-03 1.80500031e+01] [ 1.77877244e-02 -4.49828130e-04 9.99841685e-01 5.84585781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9092541539999 meters 0.01738396823358073 Centerline is valid? [True, True] Translation: X:846.39, Y:18.06, Z:5.85 [[ 9.24899806e-01 -3.79877460e-01 -1.59205594e-02 8.46385227e+02] [ 3.79828836e-01 9.25036726e-01 -6.09181838e-03 1.80610645e+01] [ 1.70412467e-02 -4.12765925e-04 9.99854702e-01 5.84835036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9392541539999 meters 0.01664701794091514 Centerline is valid? [True, True] Translation: X:846.41, Y:18.07, Z:5.85 [[ 9.25800706e-01 -3.77684639e-01 -1.57278960e-02 8.46411719e+02] [ 3.77636794e-01 9.25934221e-01 -6.02251783e-03 1.80734391e+01] [ 1.68376096e-02 -3.63780958e-04 9.99858171e-01 5.84912213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9692541539998 meters 0.016783950637669135 Centerline is valid? [True, True] Translation: X:846.44, Y:18.08, Z:5.85 [[ 9.26261389e-01 -3.76551913e-01 -1.57637443e-02 8.46437486e+02] [ 3.76503639e-01 9.26395455e-01 -6.03901254e-03 1.80836021e+01] [ 1.68774629e-02 -3.41402970e-04 9.99857507e-01 5.84872636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9992541539999 meters 0.01687703962789751 Centerline is valid? [True, True] Translation: X:846.46, Y:18.10, Z:5.85 [[ 9.26671770e-01 -3.75523502e-01 -1.61719090e-02 8.46463733e+02] [ 3.75472479e-01 9.26812814e-01 -6.19879892e-03 1.80971592e+01] [ 1.73161272e-02 -3.27854806e-04 9.99850011e-01 5.84752843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0292541539999 meters 0.016123485130774218 Centerline is valid? [True, True] Translation: X:846.49, Y:18.11, Z:5.85 [[ 9.26910930e-01 -3.74932970e-01 -1.61677268e-02 8.46489693e+02] [ 3.74881835e-01 9.27051870e-01 -6.20000659e-03 1.81079601e+01] [ 1.73129083e-02 -3.14133234e-04 9.99850071e-01 5.84814628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0592541539999 meters 0.017838909536300525 Centerline is valid? [True, True] Translation: X:846.52, Y:18.12, Z:5.85 [[ 9.26666913e-01 -3.75515326e-01 -1.66334880e-02 8.46515961e+02] [ 3.75461233e-01 9.26816125e-01 -6.38218434e-03 1.81195255e+01] [ 1.78127929e-02 -3.31070842e-04 9.99841285e-01 5.84708341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0892541539998 meters 0.01923862110890674 Centerline is valid? [True, True] Translation: X:846.54, Y:18.13, Z:5.85 [[ 9.26328138e-01 -3.76342633e-01 -1.68048546e-02 8.46543197e+02] [ 3.76287469e-01 9.26480492e-01 -6.45274051e-03 1.81301489e+01] [ 1.79978113e-02 -3.46101083e-04 9.99837966e-01 5.84634523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1192541539999 meters 0.017851025615152744 Centerline is valid? [True, True] Translation: X:846.57, Y:18.14, Z:5.85 [[ 9.25740424e-01 -3.77812293e-01 -1.62030274e-02 8.46569432e+02] [ 3.77761187e-01 9.25882143e-01 -6.22440407e-03 1.81398685e+01] [ 1.73537501e-02 -3.58692382e-04 9.99849348e-01 5.84830133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1492541539999 meters 0.018311426760088883 Centerline is valid? [True, True] Translation: X:846.60, Y:18.15, Z:5.85 [[ 9.25143640e-01 -3.79254588e-01 -1.65892331e-02 8.46596031e+02] [ 3.79201218e-01 9.25292280e-01 -6.37444323e-03 1.81497016e+01] [ 1.77674261e-02 -3.93381777e-04 9.99842069e-01 5.84846143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1792541539999 meters 0.017354131423107207 Centerline is valid? [True, True] Translation: X:846.62, Y:18.16, Z:5.85 [[ 9.24782486e-01 -3.80144531e-01 -1.63550925e-02 8.46622891e+02] [ 3.80092736e-01 9.24927010e-01 -6.28787015e-03 1.81600927e+01] [ 1.75175663e-02 -4.01539677e-04 9.99846475e-01 5.84982746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2092541539998 meters 0.021582705023819534 Centerline is valid? [True, True] Translation: X:846.65, Y:18.17, Z:5.85 [[ 9.23405457e-01 -3.83395898e-01 -1.81644430e-02 8.46649494e+02] [ 3.83332580e-01 9.23583956e-01 -6.98642073e-03 1.81700903e+01] [ 1.94549532e-02 -5.11723769e-04 9.99810604e-01 5.84586109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2392541539999 meters 0.022740987601652985 Centerline is valid? [True, True] Translation: X:846.68, Y:18.18, Z:5.85 [[ 9.22480729e-01 -3.85551413e-01 -1.94785195e-02 8.46675778e+02] [ 3.85479048e-01 9.22686161e-01 -7.49340641e-03 1.81802466e+01] [ 2.08616538e-02 -5.96038154e-04 9.99782194e-01 5.84525884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2692541539999 meters 0.020584524185345753 Centerline is valid? [True, True] Translation: X:846.70, Y:18.19, Z:5.85 [[ 9.22214078e-01 -3.86200639e-01 -1.92421774e-02 8.46701287e+02] [ 3.86130124e-01 9.22414605e-01 -7.40427117e-03 1.81928834e+01] [ 2.06087997e-02 -6.01661220e-04 9.99787435e-01 5.84769984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2992541539999 meters 0.023765985760800287 Centerline is valid? [True, True] Translation: X:846.73, Y:18.20, Z:5.85 [[ 9.21834608e-01 -3.87082198e-01 -1.97060180e-02 8.46727881e+02] [ 3.87008401e-01 9.22044993e-01 -7.58474224e-03 1.82011464e+01] [ 2.11057539e-02 -6.34516620e-04 9.99777047e-01 5.84583717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3292541539998 meters 0.020561456013257092 Centerline is valid? [True, True] Translation: X:846.75, Y:18.22, Z:5.85 [[ 9.21861556e-01 -3.87083014e-01 -1.83850873e-02 8.46752880e+02] [ 3.87018702e-01 9.22044681e-01 -7.08027557e-03 1.82154759e+01] [ 1.96925263e-02 -5.88338745e-04 9.99805910e-01 5.85030131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3592541539999 meters 0.02102977403956775 Centerline is valid? [True, True] Translation: X:846.78, Y:18.23, Z:5.85 [[ 9.21767196e-01 -3.87314006e-01 -1.82509465e-02 8.46778875e+02] [ 3.87250564e-01 9.21947678e-01 -7.03424282e-03 1.82272250e+01] [ 1.95508785e-02 -5.83755037e-04 9.99808693e-01 5.85056075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3892541539999 meters 0.02057342419700414 Centerline is valid? [True, True] Translation: X:846.80, Y:18.24, Z:5.85 [[ 9.22016671e-01 -3.86778129e-01 -1.69687445e-02 8.46804497e+02] [ 3.86723107e-01 9.22172652e-01 -6.54505464e-03 1.82419920e+01] [ 1.81795961e-02 -5.27556117e-04 9.99834598e-01 5.85178944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4192541539999 meters 0.018064865869311157 Centerline is valid? [True, True] Translation: X:846.83, Y:18.25, Z:5.85 [[ 9.22581152e-01 -3.85481281e-01 -1.57543867e-02 8.46830525e+02] [ 3.85433589e-01 9.22715541e-01 -6.08108246e-03 1.82540558e+01] [ 1.68809609e-02 -4.61977741e-04 9.99857400e-01 5.85446570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4492541539998 meters 0.0170696372321597 Centerline is valid? [True, True] Translation: X:846.86, Y:18.27, Z:5.85 [[ 9.23694381e-01 -3.82791980e-01 -1.60931764e-02 8.46855306e+02] [ 3.82741728e-01 9.23834469e-01 -6.21643033e-03 1.82683779e+01] [ 1.72470307e-02 -4.17448365e-04 9.99851172e-01 5.85476229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4792541539999 meters 0.02057555828270503 Centerline is valid? [True, True] Translation: X:846.88, Y:18.28, Z:5.85 [[ 9.23889351e-01 -3.82254078e-01 -1.76149642e-02 8.46880406e+02] [ 3.82193667e-01 9.24057155e-01 -6.80991907e-03 1.82808240e+01] [ 1.88803530e-02 -4.40716048e-04 9.99821653e-01 5.85084135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5092541539999 meters 0.018876075149917997 Centerline is valid? [True, True] Translation: X:846.91, Y:18.29, Z:5.85 [[ 9.24697599e-01 -3.80289247e-01 -1.77324310e-02 8.46905353e+02] [ 3.80227604e-01 9.24867519e-01 -6.85863959e-03 1.82923848e+01] [ 1.90084163e-02 -4.00192174e-04 9.99819244e-01 5.85136890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5392541539999 meters 0.015650956694754515 Centerline is valid? [True, True] Translation: X:846.93, Y:18.31, Z:5.85 [[ 9.26335350e-01 -3.76277799e-01 -1.78279773e-02 8.46930828e+02] [ 3.76214675e-01 9.26506837e-01 -6.89928335e-03 1.83076305e+01] [ 1.91137900e-02 -3.16096632e-04 9.99817265e-01 5.85302828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5692541539999 meters 0.01764052502729811 Centerline is valid? [True, True] Translation: X:846.96, Y:18.32, Z:5.85 [[ 9.26622230e-01 -3.75527496e-01 -1.87174402e-02 8.46956249e+02] [ 3.75457646e-01 9.26811202e-01 -7.24932233e-03 1.83194650e+01] [ 2.00698531e-02 -3.10222801e-04 9.99798532e-01 5.85058072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5992541539999 meters 0.014798760910378649 Centerline is valid? [True, True] Translation: X:846.98, Y:18.33, Z:5.85 [[ 9.28390522e-01 -3.71167841e-01 -1.80408585e-02 8.46980495e+02] [ 3.71102063e-01 9.28565771e-01 -6.99049839e-03 1.83330497e+01] [ 1.93467719e-02 -2.05087356e-04 9.99812813e-01 5.85275148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6292541539999 meters 0.01889904650311564 Centerline is valid? [True, True] Translation: X:847.01, Y:18.34, Z:5.85 [[ 9.28420195e-01 -3.71016215e-01 -1.95680666e-02 8.47005662e+02] [ 3.70938746e-01 9.28626362e-01 -7.58455844e-03 1.83438862e+01] [ 2.09854167e-02 -2.16896867e-04 9.99779758e-01 5.84872795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6592541539999 meters 0.014327973274052736 Centerline is valid? [True, True] Translation: X:847.03, Y:18.36, Z:5.85 [[ 9.30036262e-01 -3.66986358e-01 -1.88033111e-02 8.47031118e+02] [ 3.66913916e-01 9.30226316e-01 -7.29236177e-03 1.83573464e+01] [ 2.01675321e-02 -1.17035647e-04 9.99796608e-01 5.85185286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6892541539999 meters 0.017965657942415583 Centerline is valid? [True, True] Translation: X:847.06, Y:18.37, Z:5.85 [[ 9.30209940e-01 -3.66470921e-01 -2.02121725e-02 8.47057596e+02] [ 3.66386969e-01 9.30429499e-01 -7.84455219e-03 1.83684966e+01] [ 2.16808018e-02 -1.08396197e-04 9.99764938e-01 5.84851945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7192541539998 meters 0.013987207274401533 Centerline is valid? [True, True] Translation: X:847.08, Y:18.38, Z:5.85 [[ 9.32106369e-01 -3.61749260e-01 -1.77536172e-02 8.47083612e+02] [ 3.61683540e-01 9.32275428e-01 -6.89521257e-03 1.83822395e+01] [ 1.90455991e-02 5.88044377e-06 9.99818616e-01 5.85325555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7492541539999 meters 0.013988858134168558 Centerline is valid? [True, True] Translation: X:847.11, Y:18.39, Z:5.85 [[ 9.32925735e-01 -3.59663911e-01 -1.70717084e-02 8.47109086e+02] [ 3.59602697e-01 9.33081919e-01 -6.63569156e-03 1.83934382e+01] [ 1.83159212e-02 5.15750704e-05 9.99832248e-01 5.85420018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7792541539999 meters 0.01766188566253955 Centerline is valid? [True, True] Translation: X:847.14, Y:18.41, Z:5.85 [[ 9.34137154e-01 -3.56485404e-01 -1.74909784e-02 8.47135611e+02] [ 3.56420486e-01 9.34300884e-01 -6.80405800e-03 1.84057488e+01] [ 1.87673839e-02 1.21780373e-04 9.99823870e-01 5.85213328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8092541539999 meters 0.014497522241961838 Centerline is valid? [True, True] Translation: X:847.16, Y:18.42, Z:5.86 [[ 9.35174111e-01 -3.53831828e-01 -1.58877045e-02 8.47161280e+02] [ 3.53777837e-01 9.35309046e-01 -6.18304784e-03 1.84177135e+01] [ 1.70476729e-02 1.61508528e-04 9.99854665e-01 5.85523278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8392541539998 meters 0.014699467727018712 Centerline is valid? [True, True] Translation: X:847.19, Y:18.43, Z:5.86 [[ 9.35677119e-01 -3.52496490e-01 -1.59547402e-02 8.47188160e+02] [ 3.52441790e-01 9.35813116e-01 -6.21257698e-03 1.84286500e+01] [ 1.71205667e-02 1.89848947e-04 9.99853414e-01 5.85556061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8692541539999 meters 0.014917077593817033 Centerline is valid? [True, True] Translation: X:847.21, Y:18.44, Z:5.86 [[ 9.36597146e-01 -3.50044267e-01 -1.59623850e-02 8.47214924e+02] [ 3.49989078e-01 9.36733129e-01 -6.22023409e-03 1.84389001e+01] [ 1.71298521e-02 2.39193097e-04 9.99853245e-01 5.85597566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8992541539999 meters 0.018958272323709176 Centerline is valid? [True, True] Translation: X:847.24, Y:18.45, Z:5.85 [[ 9.36491096e-01 -3.50267629e-01 -1.72341331e-02 8.47240811e+02] [ 3.50203274e-01 9.36649626e-01 -6.71897976e-03 1.84487921e+01] [ 1.84957855e-02 2.56814874e-04 9.99828905e-01 5.85286979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9292541539999 meters 0.017106296520628388 Centerline is valid? [True, True] Translation: X:847.27, Y:18.46, Z:5.85 [[ 9.37107933e-01 -3.48642997e-01 -1.66367669e-02 8.47267940e+02] [ 3.48582707e-01 9.37255558e-01 -6.48967090e-03 1.84594107e+01] [ 1.78554806e-02 2.82232841e-04 9.99840538e-01 5.85493946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9592541539998 meters 0.01702032804311842 Centerline is valid? [True, True] Translation: X:847.29, Y:18.47, Z:5.85 [[ 9.37129647e-01 -3.48592379e-01 -1.64735255e-02 8.47294211e+02] [ 3.48533166e-01 9.37274384e-01 -6.43121630e-03 1.84691098e+01] [ 1.76820865e-02 2.85313465e-04 9.99843619e-01 5.85494157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9892541539999 meters 0.019641522482548232 Centerline is valid? [True, True] Translation: X:847.32, Y:18.48, Z:5.85 [[ 9.37255998e-01 -3.48210925e-01 -1.73304714e-02 8.47319268e+02] [ 3.48145261e-01 9.37416159e-01 -6.76919126e-03 1.84821969e+01] [ 1.86029703e-02 3.10943620e-04 9.99826901e-01 5.85120918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0192541539999 meters 0.015484689376340349 Centerline is valid? [True, True] Translation: X:847.35, Y:18.49, Z:5.86 [[ 9.37443851e-01 -3.47767812e-01 -1.60179446e-02 8.47346758e+02] [ 3.47711588e-01 9.37580641e-01 -6.26037099e-03 1.84885011e+01] [ 1.71952703e-02 2.99121320e-04 9.99852106e-01 5.85654239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0492541539999 meters 0.018100868920661563 Centerline is valid? [True, True] Translation: X:847.37, Y:18.50, Z:5.85 [[ 9.37079062e-01 -3.48664203e-01 -1.77793240e-02 8.47373638e+02] [ 3.48595025e-01 9.37247658e-01 -6.95237393e-03 1.84964204e+01] [ 1.90876737e-02 3.17140148e-04 9.99817763e-01 5.85323770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0792541539998 meters 0.018100868920661563 Centerline is valid? [True, True] Translation: X:847.40, Y:18.51, Z:5.85 [[ 9.36977943e-01 -3.48935930e-01 -1.77778111e-02 8.47399296e+02] [ 3.48866728e-01 9.37146529e-01 -6.95624109e-03 1.85065344e+01] [ 1.90876964e-02 3.15757675e-04 9.99817763e-01 5.85342860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1092541539999 meters 0.01685088528184349 Centerline is valid? [True, True] Translation: X:847.43, Y:18.52, Z:5.85 [[ 9.36877416e-01 -3.49224784e-01 -1.73999609e-02 8.47425571e+02] [ 3.49158481e-01 9.37038930e-01 -6.81163669e-03 1.85160302e+01] [ 1.86832331e-02 3.06324670e-04 9.99825406e-01 5.85370348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1392541539999 meters 0.01940640434372494 Centerline is valid? [True, True] Translation: X:847.45, Y:18.52, Z:5.85 [[ 9.36269599e-01 -3.50717380e-01 -1.99137577e-02 8.47454141e+02] [ 3.50630772e-01 9.36481295e-01 -7.80035043e-03 1.85224672e+01] [ 2.13845800e-02 3.20854747e-04 9.99771272e-01 5.85085286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1692541539999 meters 0.016698215189974153 Centerline is valid? [True, True] Translation: X:847.48, Y:18.53, Z:5.85 [[ 9.36156156e-01 -3.51053189e-01 -1.93212304e-02 8.47481118e+02] [ 3.50971606e-01 9.36355468e-01 -7.57424198e-03 1.85314343e+01] [ 2.07505015e-02 3.09469998e-04 9.99784637e-01 5.85213732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1992541539998 meters 0.018669743497718605 Centerline is valid? [True, True] Translation: X:847.51, Y:18.54, Z:5.85 [[ 9.35843666e-01 -3.51762431e-01 -2.14435310e-02 8.47508492e+02] [ 3.51662036e-01 9.36089250e-01 -8.41006250e-03 1.85374710e+01] [ 2.30314029e-02 3.29627934e-04 9.99734688e-01 5.84999719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2292541539999 meters 0.01868654689285537 Centerline is valid? [True, True] Translation: X:847.54, Y:18.55, Z:5.85 [[ 9.35704656e-01 -3.52127274e-01 -2.15215823e-02 8.47535537e+02] [ 3.52026116e-01 9.35952069e-01 -8.44616075e-03 1.85458466e+01] [ 2.31172931e-02 3.26952890e-04 9.99732706e-01 5.84991849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2592541539999 meters 0.01586180411418832 Centerline is valid? [True, True] Translation: X:847.56, Y:18.55, Z:5.85 [[ 9.36310870e-01 -3.50597312e-01 -2.00868015e-02 8.47563137e+02] [ 3.50508705e-01 9.36526244e-01 -7.88940546e-03 1.85532691e+01] [ 2.15778211e-02 3.46337326e-04 9.99767112e-01 5.85333789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2892541539999 meters 0.018082911419401146 Centerline is valid? [True, True] Translation: X:847.59, Y:18.56, Z:5.85 [[ 9.36398014e-01 -3.50294276e-01 -2.12762484e-02 8.47590512e+02] [ 3.50194638e-01 9.36639619e-01 -8.36302623e-03 1.85615380e+01] [ 2.28576974e-02 3.80293054e-04 9.99738656e-01 5.85165353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3192541539999 meters 0.016244678177345782 Centerline is valid? [True, True] Translation: X:847.62, Y:18.57, Z:5.86 [[ 9.37478418e-01 -3.47483029e-01 -1.97423280e-02 8.47618266e+02] [ 3.47396499e-01 9.37686177e-01 -7.76566734e-03 1.85695905e+01] [ 2.12105457e-02 4.21729895e-04 9.99774942e-01 5.85502326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3492541539999 meters 0.01737968189436573 Centerline is valid? [True, True] Translation: X:847.64, Y:18.58, Z:5.85 [[ 9.38031946e-01 -3.45976910e-01 -1.99008872e-02 8.47643763e+02] [ 3.45888576e-01 9.38242913e-01 -7.83131043e-03 1.85800303e+01] [ 2.13813190e-02 4.62529824e-04 9.99771286e-01 5.85412014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3792541539999 meters 0.01905571366300955 Centerline is valid? [True, True] Translation: X:847.67, Y:18.59, Z:5.85 [[ 9.38781964e-01 -3.43950177e-01 -1.96646777e-02 8.47671747e+02] [ 3.43863427e-01 9.38987764e-01 -7.74103013e-03 1.85863452e+01] [ 2.11274204e-02 5.05176004e-04 9.99776664e-01 5.85396023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4092541539999 meters 0.020710894789469025 Centerline is valid? [True, True] Translation: X:847.70, Y:18.60, Z:5.85 [[ 9.39197662e-01 -3.42831378e-01 -1.93493799e-02 8.47697819e+02] [ 3.42747102e-01 9.39396813e-01 -7.61918480e-03 1.85964790e+01] [ 2.07888415e-02 5.23976648e-04 9.99783751e-01 5.85342726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4392541539999 meters 0.021488621856546323 Centerline is valid? [True, True] Translation: X:847.72, Y:18.60, Z:5.86 [[ 9.39990292e-01 -3.40750690e-01 -1.75276524e-02 8.47724016e+02] [ 3.40681130e-01 9.40153550e-01 -6.90431892e-03 1.86044797e+01] [ 1.88313361e-02 5.18652325e-04 9.99822540e-01 5.85548698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4692541539998 meters 0.02274613376049278 Centerline is valid? [True, True] Translation: X:847.75, Y:18.61, Z:5.86 [[ 9.40183116e-01 -3.40240777e-01 -1.70857278e-02 8.47751397e+02] [ 3.40174524e-01 9.40338207e-01 -6.73416022e-03 1.86136722e+01] [ 1.83575986e-02 5.19214408e-04 9.99831350e-01 5.85509754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4992541539999 meters 0.024826379054213234 Centerline is valid? [True, True] Translation: X:847.78, Y:18.62, Z:5.85 [[ 9.40820780e-01 -3.38484503e-01 -1.68671551e-02 8.47777717e+02] [ 3.38419604e-01 9.40971806e-01 -6.65070651e-03 1.86220286e+01] [ 1.81226785e-02 5.48946932e-04 9.99835620e-01 5.85485363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5292541539999 meters 0.022935278888537122 Centerline is valid? [True, True] Translation: X:847.81, Y:18.63, Z:5.86 [[ 9.41201944e-01 -3.37431822e-01 -1.66933103e-02 8.47806084e+02] [ 3.37368026e-01 9.41349799e-01 -6.58563024e-03 1.86284611e+01] [ 1.79364455e-02 5.66618835e-04 9.99838968e-01 5.85641889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5592541539999 meters 0.02141532253250464 Centerline is valid? [True, True] Translation: X:847.83, Y:18.64, Z:5.86 [[ 9.41632861e-01 -3.36235864e-01 -1.65226968e-02 8.47834236e+02] [ 3.36173098e-01 9.41777627e-01 -6.52302571e-03 1.86359682e+01] [ 1.77539814e-02 5.87809171e-04 9.99842213e-01 5.85789999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5892541539998 meters 0.026330343224171163 Centerline is valid? [True, True] Translation: X:847.86, Y:18.65, Z:5.85 [[ 9.42204808e-01 -3.34561115e-01 -1.78594801e-02 8.47858809e+02] [ 3.34487419e-01 9.42373816e-01 -7.05396429e-03 1.86492994e+01] [ 1.91902886e-02 6.72507661e-04 9.99815623e-01 5.85424986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6192541539999 meters 0.025845069030118194 Centerline is valid? [True, True] Translation: X:847.89, Y:18.65, Z:5.85 [[ 9.42538552e-01 -3.33530131e-01 -1.94609476e-02 8.47887750e+02] [ 3.33442363e-01 9.42739135e-01 -7.68849182e-03 1.86534632e+01] [ 2.09109406e-02 7.57595587e-04 9.99781055e-01 5.85290387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6492541539999 meters 0.023242193662142027 Centerline is valid? [True, True] Translation: X:847.92, Y:18.66, Z:5.85 [[ 9.42422902e-01 -3.33845796e-01 -1.96483657e-02 8.47915730e+02] [ 3.33756291e-01 9.42627394e-01 -7.76758930e-03 1.86577187e+01] [ 2.11142648e-02 7.62588399e-04 9.99776778e-01 5.85441279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6792541539999 meters 0.023492942420596866 Centerline is valid? [True, True] Translation: X:847.94, Y:18.67, Z:5.86 [[ 9.42103732e-01 -3.34821929e-01 -1.82984620e-02 8.47941946e+02] [ 3.34744422e-01 9.42281166e-01 -7.23716581e-03 1.86667930e+01] [ 1.96654579e-02 6.92852852e-04 9.99806376e-01 5.85581860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7092541539998 meters 0.02113388189834457 Centerline is valid? [True, True] Translation: X:847.97, Y:18.67, Z:5.86 [[ 9.41142043e-01 -3.37490743e-01 -1.87524022e-02 8.47971533e+02] [ 3.37409836e-01 9.41328619e-01 -7.41840077e-03 1.86707912e+01] [ 2.01558145e-02 6.54523900e-04 9.99796637e-01 5.85622262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7392541539999 meters 0.019127977059649765 Centerline is valid? [True, True] Translation: X:848.00, Y:18.67, Z:5.86 [[ 9.39262898e-01 -3.42712765e-01 -1.82529030e-02 8.48001686e+02] [ 3.42637071e-01 9.39440089e-01 -7.22198576e-03 1.86738077e+01] [ 1.96225755e-02 5.29222060e-04 9.99807319e-01 5.85718865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7692541539999 meters 0.018468166016421306 Centerline is valid? [True, True] Translation: X:848.03, Y:18.68, Z:5.86 [[ 9.38164956e-01 -3.45704374e-01 -1.83030029e-02 8.48030014e+02] [ 3.45628806e-01 9.38343362e-01 -7.24315294e-03 1.86811370e+01] [ 1.96784910e-02 4.69227224e-04 9.99806250e-01 5.85735094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7992541539999 meters 0.01918518961150362 Centerline is valid? [True, True] Translation: X:848.06, Y:18.69, Z:5.86 [[ 9.36919700e-01 -3.49038195e-01 -1.88099397e-02 8.48057936e+02] [ 3.48958969e-01 9.37108407e-01 -7.44787022e-03 1.86887527e+01] [ 2.02265438e-02 4.14159185e-04 9.99795337e-01 5.85614455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8292541539998 meters 0.017522624693501822 Centerline is valid? [True, True] Translation: X:848.09, Y:18.70, Z:5.86 [[ 9.36057865e-01 -3.51402257e-01 -1.76671100e-02 8.48085417e+02] [ 3.51332693e-01 9.36224511e-01 -7.00033643e-03 1.86971913e+01] [ 1.90003155e-02 3.45686639e-04 9.99819418e-01 5.85860421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8592541539999 meters 0.017467323845523235 Centerline is valid? [True, True] Translation: X:848.11, Y:18.71, Z:5.86 [[ 9.36014005e-01 -3.51543611e-01 -1.71718073e-02 8.48111093e+02] [ 3.51477819e-01 9.36171445e-01 -6.80939725e-03 1.87090328e+01] [ 1.84695558e-02 3.38181799e-04 9.99829366e-01 5.85916253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8892541539999 meters 0.01796082098308645 Centerline is valid? [True, True] Translation: X:848.14, Y:18.72, Z:5.86 [[ 9.36744267e-01 -3.49621181e-01 -1.65893912e-02 8.48136215e+02] [ 3.49559386e-01 9.36891079e-01 -6.58337442e-03 1.87241385e+01] [ 1.78441398e-02 3.67960823e-04 9.99840713e-01 5.85935777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9192541539999 meters 0.018620042563037037 Centerline is valid? [True, True] Translation: X:848.16, Y:18.74, Z:5.86 [[ 9.37796240e-01 -3.46795900e-01 -1.64565080e-02 8.48161135e+02] [ 3.46734573e-01 9.37940523e-01 -6.53532743e-03 1.87401010e+01] [ 1.77016504e-02 4.22765231e-04 9.99843224e-01 5.85924821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9492541539998 meters 0.018620042563037037 Centerline is valid? [True, True] Translation: X:848.19, Y:18.75, Z:5.86 [[ 9.37698195e-01 -3.47060997e-01 -1.64547509e-02 8.48186753e+02] [ 3.46999634e-01 9.37842463e-01 -6.53974946e-03 1.87503676e+01] [ 1.77016561e-02 4.22518729e-04 9.99843224e-01 5.85943879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9792541539999 meters 0.019815449852088655 Centerline is valid? [True, True] Translation: X:848.21, Y:18.76, Z:5.86 [[ 9.39017465e-01 -3.43472999e-01 -1.65075522e-02 8.48212544e+02] [ 3.43410634e-01 9.39162422e-01 -6.56372711e-03 1.87646900e+01] [ 1.77577358e-02 4.94585420e-04 9.99842197e-01 5.85950955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0092541539999 meters 0.020426798420914154 Centerline is valid? [True, True] Translation: X:848.24, Y:18.78, Z:5.86 [[ 9.40147380e-01 -3.40362950e-01 -1.66122192e-02 8.48239012e+02] [ 3.40299284e-01 9.40293971e-01 -6.60654365e-03 1.87772560e+01] [ 1.78689922e-02 5.57998408e-04 9.99840181e-01 5.86000380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0392541539999 meters 0.02363923685125778 Centerline is valid? [True, True] Translation: X:848.26, Y:18.79, Z:5.86 [[ 9.40028797e-01 -3.40649551e-01 -1.74282513e-02 8.48263388e+02] [ 3.40579496e-01 9.40190164e-01 -6.93263121e-03 1.87909207e+01] [ 1.87474681e-02 5.81167940e-04 9.99824082e-01 5.85661123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0692541539999 meters 0.02272087352425147 Centerline is valid? [True, True] Translation: X:848.29, Y:18.80, Z:5.86 [[ 9.40554404e-01 -3.39217810e-01 -1.69908706e-02 8.48289500e+02] [ 3.39150928e-01 9.40707670e-01 -6.76225614e-03 1.88037086e+01] [ 1.82773200e-02 5.97800282e-04 9.99832777e-01 5.85817387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0992541539999 meters 0.02487681009327306 Centerline is valid? [True, True] Translation: X:848.31, Y:18.82, Z:5.86 [[ 9.40691428e-01 -3.38791455e-01 -1.78881762e-02 8.48314676e+02] [ 3.38717185e-01 9.40861275e-01 -7.12241702e-03 1.88168283e+01] [ 1.92433063e-02 6.40963955e-04 9.99814625e-01 5.85507364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1292541539999 meters 0.023713693350246003 Centerline is valid? [True, True] Translation: X:848.34, Y:18.83, Z:5.86 [[ 9.40973714e-01 -3.38025543e-01 -1.75271861e-02 8.48341054e+02] [ 3.37954040e-01 9.41136714e-01 -6.98235996e-03 1.88287773e+01] [ 1.88556943e-02 6.46833833e-04 9.99822006e-01 5.85675718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1592541539999 meters 0.023661166095469782 Centerline is valid? [True, True] Translation: X:848.37, Y:18.84, Z:5.86 [[ 9.40825976e-01 -3.38413797e-01 -1.79606169e-02 8.48366439e+02] [ 3.38338727e-01 9.40997168e-01 -7.15796055e-03 1.88391748e+01] [ 1.93232422e-02 6.57622958e-04 9.99813072e-01 5.85713408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1892541539999 meters 0.02010108578929349 Centerline is valid? [True, True] Translation: X:848.40, Y:18.84, Z:5.86 [[ 9.40028772e-01 -3.40660506e-01 -1.72141472e-02 8.48396072e+02] [ 3.40591895e-01 9.40186191e-01 -6.86197904e-03 1.88429950e+01] [ 1.85221087e-02 5.87458728e-04 9.99828278e-01 5.86000573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2192541539998 meters 0.01969075621435038 Centerline is valid? [True, True] Translation: X:848.42, Y:18.85, Z:5.86 [[ 9.39545689e-01 -3.42059248e-01 -1.57914116e-02 8.48421687e+02] [ 3.42001683e-01 9.39678246e-01 -6.29632636e-03 1.88534127e+01] [ 1.69925626e-02 5.14996950e-04 9.99855483e-01 5.86139923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2492541539999 meters 0.01780934922738037 Centerline is valid? [True, True] Translation: X:848.45, Y:18.86, Z:5.86 [[ 9.37887409e-01 -3.46642786e-01 -1.43522565e-02 8.48450983e+02] [ 3.46595732e-01 9.37997134e-01 -5.72497444e-03 1.88607085e+01] [ 1.54468965e-02 3.94950601e-04 9.99880612e-01 5.86349929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2792541539999 meters 0.018446472490618985 Centerline is valid? [True, True] Translation: X:848.48, Y:18.87, Z:5.86 [[ 9.36643296e-01 -3.50008436e-01 -1.39079572e-02 8.48477692e+02] [ 3.49964583e-01 9.36746489e-01 -5.55029356e-03 1.88698221e+01] [ 1.49708797e-02 3.31352805e-04 9.99887875e-01 5.86257378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3092541539999 meters 0.018667120076251428 Centerline is valid? [True, True] Translation: X:848.50, Y:18.88, Z:5.86 [[ 9.35630163e-01 -3.52720967e-01 -1.35689807e-02 8.48504238e+02] [ 3.52679482e-01 9.35728507e-01 -5.41701133e-03 1.88790121e+01] [ 1.46075756e-02 2.82818101e-04 9.99893264e-01 5.86246835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3392541539998 meters 0.015553318459460744 Centerline is valid? [True, True] Translation: X:848.53, Y:18.89, Z:5.87 [[ 9.34168036e-01 -3.56612232e-01 -1.25616832e-02 8.48532544e+02] [ 3.56577009e-01 9.34252468e-01 -5.01629257e-03 1.88857801e+01] [ 1.35246548e-02 2.06852765e-04 9.99908516e-01 5.86610745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3692541539999 meters 0.017725747637293343 Centerline is valid? [True, True] Translation: X:848.56, Y:18.89, Z:5.86 [[ 9.32154872e-01 -3.61822968e-01 -1.30932683e-02 8.48559368e+02] [ 3.61785196e-01 9.32246813e-01 -5.22982443e-03 1.88933372e+01] [ 1.40984282e-02 1.38055692e-04 9.99900603e-01 5.86401399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3992541539999 meters 0.016423490763666233 Centerline is valid? [True, True] Translation: X:848.59, Y:18.90, Z:5.86 [[ 9.31413674e-01 -3.63737378e-01 -1.27940507e-02 8.48586836e+02] [ 3.63701459e-01 9.31501534e-01 -5.11279403e-03 1.89035518e+01] [ 1.37773922e-02 1.08911346e-04 9.99905081e-01 5.86457944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4292541539999 meters 0.014438584926684478 Centerline is valid? [True, True] Translation: X:848.61, Y:18.91, Z:5.87 [[ 9.30815547e-01 -3.65252459e-01 -1.31551481e-02 8.48612979e+02] [ 3.65214577e-01 9.30908498e-01 -5.26121267e-03 1.89132996e+01] [ 1.41679100e-02 9.27666937e-05 9.99899626e-01 5.86619287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4592541539998 meters 0.016772367989750216 Centerline is valid? [True, True] Translation: X:848.64, Y:18.92, Z:5.86 [[ 9.29105735e-01 -3.69561890e-01 -1.36580595e-02 8.48639939e+02] [ 3.69521477e-01 9.29206117e-01 -5.46527587e-03 1.89213818e+01] [ 1.47109101e-02 3.08728370e-05 9.99891788e-01 5.86333972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4892541539999 meters 0.014111809483155657 Centerline is valid? [True, True] Translation: X:848.67, Y:18.93, Z:5.87 [[ 9.28681526e-01 -3.70639465e-01 -1.33045340e-02 8.48666202e+02] [ 3.70601187e-01 9.28776823e-01 -5.32666601e-03 1.89308103e+01] [ 1.43312155e-02 1.61002138e-05 9.99897303e-01 5.86570664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5192541539999 meters 0.01645110541398506 Centerline is valid? [True, True] Translation: X:848.69, Y:18.94, Z:5.86 [[ 9.27290678e-01 -3.74063424e-01 -1.44414001e-02 8.48693028e+02] [ 3.74018692e-01 9.27403124e-01 -5.78488048e-03 1.89384962e+01] [ 1.55569118e-02 -3.70878295e-05 9.99878983e-01 5.86305388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5492541539999 meters 0.015800296776593923 Centerline is valid? [True, True] Translation: X:848.72, Y:18.95, Z:5.86 [[ 9.26786234e-01 -3.75295826e-01 -1.48431639e-02 8.48719599e+02] [ 3.75248674e-01 9.26905087e-01 -5.94914854e-03 1.89481539e+01] [ 1.59908947e-02 -5.62885970e-05 9.99872136e-01 5.86337832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5792541539998 meters 0.014607380738626276 Centerline is valid? [True, True] Translation: X:848.75, Y:18.96, Z:5.86 [[ 9.26418838e-01 -3.76184109e-01 -1.52856891e-02 8.48745978e+02] [ 3.76134169e-01 9.26544932e-01 -6.12992819e-03 1.89579865e+01] [ 1.64688594e-02 -7.05890155e-05 9.99864377e-01 5.86441237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6092541539999 meters 0.01771021803913784 Centerline is valid? [True, True] Translation: X:848.77, Y:18.97, Z:5.86 [[ 9.25425012e-01 -3.78602022e-01 -1.57815101e-02 8.48771984e+02] [ 3.78549108e-01 9.25559558e-01 -6.33066036e-03 1.89668583e+01] [ 1.70035284e-02 -1.15525139e-04 9.99855423e-01 5.86132137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6392541539999 meters 0.018207107328966514 Centerline is valid? [True, True] Translation: X:848.80, Y:18.98, Z:5.86 [[ 9.24986185e-01 -3.79679445e-01 -1.56229505e-02 8.48797624e+02] [ 3.79627680e-01 9.25118102e-01 -6.27073411e-03 1.89777335e+01] [ 1.68339431e-02 -1.30562028e-04 9.99858291e-01 5.86236872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6692541539999 meters 0.015386809160946365 Centerline is valid? [True, True] Translation: X:848.82, Y:18.99, Z:5.87 [[ 9.25055468e-01 -3.79572291e-01 -1.40448413e-02 8.48823746e+02] [ 3.79530404e-01 9.25162074e-01 -5.64002097e-03 1.89876282e+01] [ 1.51345502e-02 -1.13112063e-04 9.99885460e-01 5.86551197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6992541539998 meters 0.016847607285171838 Centerline is valid? [True, True] Translation: X:848.85, Y:19.00, Z:5.87 [[ 9.25033081e-01 -3.79642324e-01 -1.36200211e-02 8.48849952e+02] [ 3.79602896e-01 9.25133339e-01 -5.47243007e-03 1.89981605e+01] [ 1.46779016e-02 -1.08020585e-04 9.99892268e-01 5.86510314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7292541539999 meters 0.016776853652448732 Centerline is valid? [True, True] Translation: X:848.88, Y:19.01, Z:5.87 [[ 9.25292920e-01 -3.79007343e-01 -1.36545270e-02 8.48875755e+02] [ 3.78967579e-01 9.25393659e-01 -5.49081927e-03 1.90093484e+01] [ 1.47168735e-02 -9.40068398e-05 9.99891697e-01 5.86543363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7592541539999 meters 0.01633056324431298 Centerline is valid? [True, True] Translation: X:848.90, Y:19.02, Z:5.87 [[ 9.25717593e-01 -3.77953672e-01 -1.40697978e-02 8.48900078e+02] [ 3.77911280e-01 9.25824506e-01 -5.66111639e-03 1.90203530e+01] [ 1.51658033e-02 -7.65402586e-05 9.99884990e-01 5.86553349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7892541539999 meters 0.01727340074374198 Centerline is valid? [True, True] Translation: X:848.92, Y:19.03, Z:5.86 [[ 9.26659627e-01 -3.75591491e-01 -1.52632943e-02 8.48923924e+02] [ 3.75541244e-01 9.26785321e-01 -6.14359216e-03 1.90333535e+01] [ 1.64532781e-02 -3.89777163e-05 9.99864635e-01 5.86297789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8192541539999 meters 0.014646102957395112 Centerline is valid? [True, True] Translation: X:848.95, Y:19.05, Z:5.86 [[ 9.28067023e-01 -3.72049448e-01 -1.64562598e-02 8.48949770e+02] [ 3.71990413e-01 9.28212910e-01 -6.62763289e-03 1.90475315e+01] [ 1.77407199e-02 2.93166556e-05 9.99842621e-01 5.86432920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8492541539999 meters 0.014347189595821062 Centerline is valid? [True, True] Translation: X:848.98, Y:19.06, Z:5.86 [[ 9.28825934e-01 -3.70107092e-01 -1.74104791e-02 8.48975515e+02] [ 3.70040611e-01 9.28989093e-01 -7.01502342e-03 1.90595381e+01] [ 1.87704551e-02 7.31513510e-05 9.99823817e-01 5.86453458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8792541539999 meters 0.016396174756552792 Centerline is valid? [True, True] Translation: X:849.00, Y:19.07, Z:5.86 [[ 9.29322689e-01 -3.68826409e-01 -1.80670767e-02 8.49001707e+02] [ 3.68754498e-01 9.29498289e-01 -7.28364327e-03 1.90713794e+01] [ 1.94797168e-02 1.06539160e-04 9.99810247e-01 5.86218749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9092541539999 meters 0.014747258285676757 Centerline is valid? [True, True] Translation: X:849.03, Y:19.08, Z:5.86 [[ 9.30013103e-01 -3.67072363e-01 -1.82622375e-02 8.49026506e+02] [ 3.66998490e-01 9.30192377e-01 -7.36541962e-03 1.90831994e+01] [ 1.96910361e-02 1.47723152e-04 9.99806102e-01 5.86371979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9392541539999 meters 0.017385482692499725 Centerline is valid? [True, True] Translation: X:849.05, Y:19.10, Z:5.86 [[ 9.30936009e-01 -3.64721957e-01 -1.83314457e-02 8.49052576e+02] [ 3.64646986e-01 9.31116455e-01 -7.39744221e-03 1.90955771e+01] [ 1.97667204e-02 2.02038892e-04 9.99804599e-01 5.86203718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9692541539998 meters 0.0185981453878746 Centerline is valid? [True, True] Translation: X:849.08, Y:19.11, Z:5.86 [[ 9.31505399e-01 -3.63338326e-01 -1.68211796e-02 8.49078372e+02] [ 3.63274881e-01 9.31657240e-01 -6.79317054e-03 1.91066559e+01] [ 1.81397930e-02 2.17163007e-04 9.99835437e-01 5.86330442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9992541539999 meters 0.0185981453878746 Centerline is valid? [True, True] Translation: X:849.10, Y:19.12, Z:5.86 [[ 9.31401158e-01 -3.63605549e-01 -1.68192294e-02 8.49103931e+02] [ 3.63542061e-01 9.31552981e-01 -6.79799676e-03 1.91170628e+01] [ 1.81397927e-02 2.17164730e-04 9.99835437e-01 5.86349487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0292541539999 meters 0.016038619839422265 Centerline is valid? [True, True] Translation: X:849.13, Y:19.13, Z:5.87 [[ 9.31763999e-01 -3.62741678e-01 -1.53076730e-02 8.49128369e+02] [ 3.62688919e-01 9.31889708e-01 -6.19029132e-03 1.91275329e+01] [ 1.65105396e-02 2.15967226e-04 9.99863668e-01 5.86692574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0592541539999 meters 0.017977731252858432 Centerline is valid? [True, True] Translation: X:849.15, Y:19.14, Z:5.87 [[ 9.31761747e-01 -3.62796968e-01 -1.40857015e-02 8.49154778e+02] [ 3.62752251e-01 9.31868188e-01 -5.69953217e-03 1.91378361e+01] [ 1.51937901e-02 2.00986117e-04 9.99884548e-01 5.86658062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0892541539998 meters 0.015231929680602973 Centerline is valid? [True, True] Translation: X:849.18, Y:19.15, Z:5.87 [[ 9.32537690e-01 -3.60869141e-01 -1.21210316e-02 8.49180306e+02] [ 3.60835834e-01 9.32616439e-01 -4.90698107e-03 1.91482620e+01] [ 1.30750514e-02 2.02242247e-04 9.99914497e-01 5.87256739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1192541539999 meters 0.01747645261305083 Centerline is valid? [True, True] Translation: X:849.21, Y:19.16, Z:5.87 [[ 9.32426418e-01 -3.61167351e-01 -1.17949010e-02 8.49206391e+02] [ 3.61135806e-01 9.32500995e-01 -4.77735118e-03 1.91591137e+01] [ 1.27241802e-02 1.94967368e-04 9.99919025e-01 5.87033030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1492541539999 meters 0.0194313802090344 Centerline is valid? [True, True] Translation: X:849.23, Y:19.17, Z:5.87 [[ 9.32979774e-01 -3.59718365e-01 -1.23060782e-02 8.49231280e+02] [ 3.59683863e-01 9.33060902e-01 -4.98718079e-03 1.91713996e+01] [ 1.32763010e-02 2.26641052e-04 9.99911840e-01 5.86867066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1792541539999 meters 0.01647355831314476 Centerline is valid? [True, True] Translation: X:849.26, Y:19.18, Z:5.87 [[ 9.33712170e-01 -3.57817213e-01 -1.21830022e-02 8.49256870e+02] [ 3.57783217e-01 9.33791614e-01 -4.93880621e-03 1.91836582e+01] [ 1.31435751e-02 2.52549760e-04 9.99913588e-01 5.87252519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2092541539998 meters 0.01959645483462276 Centerline is valid? [True, True] Translation: X:849.28, Y:19.20, Z:5.87 [[ 9.34283601e-01 -3.56272770e-01 -1.35596876e-02 8.49281488e+02] [ 3.56230462e-01 9.34381945e-01 -5.49902391e-03 1.91966449e+01] [ 1.46290797e-02 3.07274085e-04 9.99892942e-01 5.86762756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2392541539999 meters 0.018913886611376603 Centerline is valid? [True, True] Translation: X:849.31, Y:19.21, Z:5.87 [[ 9.34652605e-01 -3.55283530e-01 -1.40755475e-02 8.49308074e+02] [ 3.55237781e-01 9.34758525e-01 -5.71133699e-03 1.92087579e+01] [ 1.51863820e-02 3.37949719e-04 9.99884623e-01 5.86834470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2692541539999 meters 0.017501092876807203 Centerline is valid? [True, True] Translation: X:849.33, Y:19.22, Z:5.87 [[ 9.35484826e-01 -3.53032295e-01 -1.53733035e-02 8.49334750e+02] [ 3.52977342e-01 9.35611045e-01 -6.24248341e-03 1.92192656e+01] [ 1.65872308e-02 4.13320703e-04 9.99862337e-01 5.86995994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2992541539999 meters 0.020107085093612007 Centerline is valid? [True, True] Translation: X:849.36, Y:19.23, Z:5.87 [[ 9.35549304e-01 -3.52806823e-01 -1.65784669e-02 8.49360725e+02] [ 3.52742824e-01 9.35696073e-01 -6.73494111e-03 1.92308197e+01] [ 1.78885396e-02 4.52934213e-04 9.99839885e-01 5.86675087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3292541539998 meters 0.020439953172708476 Centerline is valid? [True, True] Translation: X:849.38, Y:19.25, Z:5.87 [[ 9.35974383e-01 -3.51681162e-01 -1.65019865e-02 8.49384555e+02] [ 3.51617547e-01 9.36119723e-01 -6.70558249e-03 1.92454843e+01] [ 1.78060620e-02 4.73865427e-04 9.99841347e-01 5.86754260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3592541539999 meters 0.018126249078029056 Centerline is valid? [True, True] Translation: X:849.41, Y:19.25, Z:5.87 [[ 9.36038052e-01 -3.51511042e-01 -1.65152119e-02 8.49412100e+02] [ 3.51447235e-01 9.36183612e-01 -6.71454140e-03 1.92534765e+01] [ 1.78215062e-02 4.80840713e-04 9.99841069e-01 5.87021669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3892541539999 meters 0.018051539591349378 Centerline is valid? [True, True] Translation: X:849.44, Y:19.26, Z:5.87 [[ 9.35200989e-01 -3.53745628e-01 -1.62216317e-02 8.49440117e+02] [ 3.53684322e-01 9.35341564e-01 -6.59990616e-03 1.92621576e+01] [ 1.75074543e-02 4.34901969e-04 9.99846638e-01 5.86955680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4192541539999 meters 0.01837510145816676 Centerline is valid? [True, True] Translation: X:849.47, Y:19.27, Z:5.87 [[ 9.34652141e-01 -3.55225815e-01 -1.54918166e-02 8.49467402e+02] [ 3.55170030e-01 9.34780437e-01 -6.30746402e-03 1.92720936e+01] [ 1.67220211e-02 3.93055788e-04 9.99860100e-01 5.86957960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4492541539998 meters 0.017618288944009783 Centerline is valid? [True, True] Translation: X:849.49, Y:19.28, Z:5.87 [[ 9.34138765e-01 -3.56602562e-01 -1.48115187e-02 8.49494598e+02] [ 3.56551674e-01 9.34256114e-01 -6.03474594e-03 1.92820911e+01] [ 1.59897578e-02 3.56218328e-04 9.99872092e-01 5.87097285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4792541539999 meters 0.01641947387290518 Centerline is valid? [True, True] Translation: X:849.52, Y:19.29, Z:5.87 [[ 9.33151117e-01 -3.59219818e-01 -1.37882229e-02 8.49521424e+02] [ 3.59175961e-01 9.33252933e-01 -5.62068224e-03 1.92902250e+01] [ 1.48869599e-02 2.92547709e-04 9.99889140e-01 5.87347957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5092541539999 meters 0.017847393278328485 Centerline is valid? [True, True] Translation: X:849.55, Y:19.30, Z:5.87 [[ 9.32304094e-01 -3.61405806e-01 -1.39613645e-02 8.49548702e+02] [ 3.61361037e-01 9.32408587e-01 -5.69447756e-03 1.92989009e+01] [ 1.50757134e-02 2.63891572e-04 9.99886320e-01 5.87154802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5392541539999 meters 0.01569549342703352 Centerline is valid? [True, True] Translation: X:849.58, Y:19.31, Z:5.87 [[ 9.31582851e-01 -3.63287704e-01 -1.32452545e-02 8.49576533e+02] [ 3.63247546e-01 9.31676979e-01 -5.40621869e-03 1.93075767e+01] [ 1.43043115e-02 2.25034428e-04 9.99897663e-01 5.87469876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5692541539999 meters 0.018166044415623923 Centerline is valid? [True, True] Translation: X:849.60, Y:19.32, Z:5.87 [[ 9.31099785e-01 -3.64506614e-01 -1.37155983e-02 8.49602372e+02] [ 3.64463645e-01 9.31200774e-01 -5.60092987e-03 1.93182833e+01] [ 1.48135518e-02 2.16187647e-04 9.99890250e-01 5.87212771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5992541539999 meters 0.014569220847755986 Centerline is valid? [True, True] Translation: X:849.63, Y:19.33, Z:5.88 [[ 9.31075021e-01 -3.64553323e-01 -1.41485039e-02 8.49629254e+02] [ 3.64507551e-01 9.31182487e-01 -5.78107229e-03 1.93276569e+01] [ 1.52823481e-02 2.25375506e-04 9.99883193e-01 5.87645195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6292541539999 meters 0.017331709372784748 Centerline is valid? [True, True] Translation: X:849.65, Y:19.34, Z:5.87 [[ 9.30616037e-01 -3.65705401e-01 -1.46065841e-02 8.49654337e+02] [ 3.65656679e-01 9.30730634e-01 -5.97333032e-03 1.93392975e+01] [ 1.57792745e-02 2.17881936e-04 9.99875476e-01 5.87224613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6592541539999 meters 0.015084777128903814 Centerline is valid? [True, True] Translation: X:849.68, Y:19.35, Z:5.87 [[ 9.31214146e-01 -3.64133110e-01 -1.57255385e-02 8.49679277e+02] [ 3.64076348e-01 9.31346878e-01 -6.43473740e-03 1.93509880e+01] [ 1.69890321e-02 2.66821852e-04 9.99855640e-01 5.87443922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6892541539999 meters 0.015088032929803307 Centerline is valid? [True, True] Translation: X:849.71, Y:19.36, Z:5.87 [[ 9.31209993e-01 -3.64124704e-01 -1.61601222e-02 8.49706047e+02] [ 3.64064692e-01 9.31350161e-01 -6.61646504e-03 1.93619810e+01] [ 1.74599507e-02 2.77988464e-04 9.99847525e-01 5.87414093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7192541539998 meters 0.01840080206882657 Centerline is valid? [True, True] Translation: X:849.73, Y:19.38, Z:5.87 [[ 9.30899631e-01 -3.64878581e-01 -1.70146411e-02 8.49730143e+02] [ 3.64812115e-01 9.31055069e-01 -6.96987115e-03 1.93750484e+01] [ 1.83847246e-02 2.81103280e-04 9.99830947e-01 5.86881808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7492541539999 meters 0.016972351926759315 Centerline is valid? [True, True] Translation: X:849.76, Y:19.38, Z:5.87 [[ 9.30704026e-01 -3.65381296e-01 -1.69270466e-02 8.49756685e+02] [ 3.65315513e-01 9.30857902e-01 -6.93845815e-03 1.93834571e+01] [ 1.82918579e-02 2.73938216e-04 9.99832652e-01 5.87097260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7792541539999 meters 0.016179865903627622 Centerline is valid? [True, True] Translation: X:849.78, Y:19.39, Z:5.87 [[ 9.30476968e-01 -3.65990113e-01 -1.62434358e-02 8.49784094e+02] [ 3.65929542e-01 9.30618704e-01 -6.66321930e-03 1.93940346e+01] [ 1.75551175e-02 2.56019085e-04 9.99845864e-01 5.87221778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8092541539999 meters 0.014676564236925328 Centerline is valid? [True, True] Translation: X:849.81, Y:19.40, Z:5.88 [[ 9.30049684e-01 -3.67120594e-01 -1.51675289e-02 8.49809991e+02] [ 3.67067881e-01 9.30173328e-01 -6.22500057e-03 1.94031785e+01] [ 1.63937568e-02 2.22047109e-04 9.99865589e-01 5.87517920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8392541539998 meters 0.014493228707405886 Centerline is valid? [True, True] Translation: X:849.84, Y:19.41, Z:5.88 [[ 9.29392599e-01 -3.68800659e-01 -1.46789305e-02 8.49837419e+02] [ 3.68751443e-01 9.29508493e-01 -6.02783022e-03 1.94134645e+01] [ 1.58672583e-02 1.89343998e-04 9.99874089e-01 5.87600365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8692541539999 meters 0.014254893584329806 Centerline is valid? [True, True] Translation: X:849.86, Y:19.42, Z:5.88 [[ 9.28852748e-01 -3.70179495e-01 -1.41320430e-02 8.49864656e+02] [ 3.70133976e-01 9.28960233e-01 -5.80728227e-03 1.94236129e+01] [ 1.52778428e-02 1.63360822e-04 9.99883274e-01 5.87654456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8992541539999 meters 0.016452700819571255 Centerline is valid? [True, True] Translation: X:849.89, Y:19.43, Z:5.87 [[ 9.27765763e-01 -3.72902696e-01 -1.39379757e-02 8.49891506e+02] [ 3.72858682e-01 9.27870446e-01 -5.73051666e-03 1.94327862e+01] [ 1.50695608e-02 1.19681932e-04 9.99886441e-01 5.87422815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9292541539999 meters 0.013983148937013922 Centerline is valid? [True, True] Translation: X:849.92, Y:19.44, Z:5.88 [[ 9.27713798e-01 -3.73055651e-01 -1.32886901e-02 8.49917813e+02] [ 3.73015612e-01 9.27808961e-01 -5.46675157e-03 1.94426367e+01] [ 1.43687684e-02 1.14691977e-04 9.99896757e-01 5.87777485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9592541539998 meters 0.015365488844540375 Centerline is valid? [True, True] Translation: X:849.94, Y:19.45, Z:5.88 [[ 9.27507898e-01 -3.73547983e-01 -1.38204092e-02 8.49943435e+02] [ 3.73504660e-01 9.27610851e-01 -5.69012332e-03 1.94531147e+01] [ 1.49454957e-02 1.15647065e-04 9.99888303e-01 5.87599805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9892541539999 meters 0.015823817472412707 Centerline is valid? [True, True] Translation: X:849.97, Y:19.46, Z:5.88 [[ 9.27640682e-01 -3.73204952e-01 -1.41713774e-02 8.49969601e+02] [ 3.73159293e-01 9.27748914e-01 -5.83905822e-03 1.94643944e+01] [ 1.53266455e-02 1.28366767e-04 9.99882532e-01 5.87522121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0192541539999 meters 0.016730363849363203 Centerline is valid? [True, True] Translation: X:850.00, Y:19.48, Z:5.87 [[ 9.28514519e-01 -3.70992288e-01 -1.50169856e-02 8.49995019e+02] [ 3.70940681e-01 9.28635930e-01 -6.19034686e-03 1.94772430e+01] [ 1.62418834e-02 1.77416067e-04 9.99868076e-01 5.87384554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0492541539999 meters 0.0172422482352731 Centerline is valid? [True, True] Translation: X:850.02, Y:19.49, Z:5.87 [[ 9.28960332e-01 -3.69859891e-01 -1.53740963e-02 8.50021125e+02] [ 3.69805590e-01 9.29087520e-01 -6.34086733e-03 1.94890445e+01] [ 1.66291135e-02 2.04987455e-04 9.99861706e-01 5.87357372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0792541539998 meters 0.01502811662789337 Centerline is valid? [True, True] Translation: X:850.05, Y:19.50, Z:5.88 [[ 9.29805212e-01 -3.67749888e-01 -1.49093113e-02 8.50045874e+02] [ 3.67698503e-01 9.29924708e-01 -6.15205641e-03 1.95006923e+01] [ 1.61269550e-02 2.38082669e-04 9.99869924e-01 5.87642894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1092541539999 meters 0.016676913151069183 Centerline is valid? [True, True] Translation: X:850.07, Y:19.51, Z:5.87 [[ 9.30884791e-01 -3.65000047e-01 -1.51152382e-02 8.50070333e+02] [ 3.64946842e-01 9.31007455e-01 -6.23873402e-03 1.95139866e+01] [ 1.63495377e-02 2.91284161e-04 9.99866295e-01 5.87498649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1392541539999 meters 0.01783483068900978 Centerline is valid? [True, True] Translation: X:850.10, Y:19.53, Z:5.87 [[ 9.31336689e-01 -3.63835496e-01 -1.53526656e-02 8.50096227e+02] [ 3.63780394e-01 9.31463166e-01 -6.33998692e-03 1.95260089e+01] [ 1.66071548e-02 3.19663681e-04 9.99862041e-01 5.87429869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1692541539999 meters 0.017016049786130732 Centerline is valid? [True, True] Translation: X:850.12, Y:19.54, Z:5.88 [[ 9.32348085e-01 -3.61270602e-01 -1.45121092e-02 8.50122365e+02] [ 3.61220994e-01 9.32460954e-01 -5.99696075e-03 1.95391356e+01] [ 1.56985008e-02 3.49176374e-04 9.99876710e-01 5.87665755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1992541539998 meters 0.020494577907526283 Centerline is valid? [True, True] Translation: X:850.15, Y:19.55, Z:5.87 [[ 9.32890455e-01 -3.59838031e-01 -1.52312462e-02 8.50146992e+02] [ 3.59783146e-01 9.33014703e-01 -6.29697484e-03 1.95523779e+01] [ 1.64768677e-02 3.94442054e-04 9.99864169e-01 5.87307162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2292541539999 meters 0.02040171889160387 Centerline is valid? [True, True] Translation: X:850.17, Y:19.56, Z:5.87 [[ 9.33151668e-01 -3.59167446e-01 -1.50569006e-02 8.50173941e+02] [ 3.59113672e-01 9.33273048e-01 -6.22806597e-03 1.95636352e+01] [ 1.62891180e-02 4.04591283e-04 9.99867242e-01 5.87355148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2592541539999 meters 0.020775676907467608 Centerline is valid? [True, True] Translation: X:850.20, Y:19.58, Z:5.87 [[ 9.33408917e-01 -3.58512788e-01 -1.47096882e-02 8.50199244e+02] [ 3.58461342e-01 9.33524726e-01 -6.08712822e-03 1.95754753e+01] [ 1.59141710e-02 4.08925174e-04 9.99873278e-01 5.87374920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2892541539999 meters 0.02205975606720002 Centerline is valid? [True, True] Translation: X:850.23, Y:19.59, Z:5.87 [[ 9.33509048e-01 -3.58249425e-01 -1.47718327e-02 8.50225340e+02] [ 3.58197460e-01 9.33625822e-01 -6.11592712e-03 1.95871050e+01] [ 1.59823918e-02 4.18040353e-04 9.99872186e-01 5.87330356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3192541539999 meters 0.02164354274653835 Centerline is valid? [True, True] Translation: X:850.25, Y:19.60, Z:5.87 [[ 9.33909698e-01 -3.57205368e-01 -1.47309311e-02 8.50251971e+02] [ 3.57153493e-01 9.34025767e-01 -6.10324607e-03 1.95987338e+01] [ 1.59391814e-02 4.38677211e-04 9.99872867e-01 5.87380965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3492541539999 meters 0.019634235568083518 Centerline is valid? [True, True] Translation: X:850.28, Y:19.61, Z:5.88 [[ 9.34096425e-01 -3.56723275e-01 -1.45730670e-02 8.50279027e+02] [ 3.56672381e-01 9.34209990e-01 -6.04205290e-03 1.96096745e+01] [ 1.57696457e-02 4.46049497e-04 9.99875552e-01 5.87595208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3792541539999 meters 0.021091642602782793 Centerline is valid? [True, True] Translation: X:850.31, Y:19.62, Z:5.87 [[ 9.34126809e-01 -3.56567433e-01 -1.63331154e-02 8.50306252e+02] [ 3.56503388e-01 9.34269452e-01 -6.77689683e-03 1.96188456e+01] [ 1.76759515e-02 5.07670032e-04 9.99843639e-01 5.87393099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4092541539999 meters 0.01907925598964501 Centerline is valid? [True, True] Translation: X:850.33, Y:19.63, Z:5.88 [[ 9.34396385e-01 -3.55897752e-01 -1.54979217e-02 8.50330866e+02] [ 3.55839950e-01 9.34524769e-01 -6.43319564e-03 1.96318616e+01] [ 1.67727516e-02 4.96375046e-04 9.99859204e-01 5.87618710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4392541539999 meters 0.02047399852682128 Centerline is valid? [True, True] Translation: X:850.36, Y:19.64, Z:5.87 [[ 9.34386495e-01 -3.55894531e-01 -1.61542835e-02 8.50355864e+02] [ 3.55831698e-01 9.34525983e-01 -6.70738179e-03 1.96440723e+01] [ 1.74837182e-02 5.19080827e-04 9.99847013e-01 5.87453333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4692541539998 meters 0.020437124716279308 Centerline is valid? [True, True] Translation: X:850.38, Y:19.66, Z:5.88 [[ 9.34356341e-01 -3.56009453e-01 -1.53458930e-02 8.50379793e+02] [ 3.55952724e-01 9.34482223e-01 -6.37436246e-03 1.96562868e+01] [ 1.66097975e-02 4.93513584e-04 9.99861926e-01 5.87543876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4992541539999 meters 0.02360412562573616 Centerline is valid? [True, True] Translation: X:850.41, Y:19.67, Z:5.87 [[ 9.33724262e-01 -3.57632353e-01 -1.60656005e-02 8.50406899e+02] [ 3.57570345e-01 9.33862335e-01 -6.67749187e-03 1.96665848e+01] [ 1.73911463e-02 4.90353855e-04 9.99848642e-01 5.87193229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5292541539999 meters 0.022233799567352764 Centerline is valid? [True, True] Translation: X:850.43, Y:19.68, Z:5.87 [[ 9.33357316e-01 -3.58633715e-01 -1.50325995e-02 8.50433874e+02] [ 3.58579489e-01 9.33478259e-01 -6.25218831e-03 1.96771950e+01] [ 1.62748503e-02 4.45143845e-04 9.99867457e-01 5.87364175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5592541539999 meters 0.020906538944233905 Centerline is valid? [True, True] Translation: X:850.46, Y:19.69, Z:5.88 [[ 9.33053796e-01 -3.59471805e-01 -1.38070467e-02 8.50460579e+02] [ 3.59426098e-01 9.33155862e-01 -5.74613950e-03 1.96882517e+01] [ 1.49497017e-02 3.98844363e-04 9.99888167e-01 5.87566641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5892541539998 meters 0.016994204696300422 Centerline is valid? [True, True] Translation: X:850.49, Y:19.70, Z:5.88 [[ 9.32541558e-01 -3.60842398e-01 -1.26097856e-02 8.50489038e+02] [ 3.60804352e-01 9.32626744e-01 -5.25133052e-03 1.96958451e+01] [ 1.36551260e-02 3.47418419e-04 9.99906704e-01 5.87973790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6192541539999 meters 0.017211709257139853 Centerline is valid? [True, True] Translation: X:850.51, Y:19.71, Z:5.88 [[ 9.32079125e-01 -3.62030486e-01 -1.27448683e-02 8.50514275e+02] [ 3.61991696e-01 9.32166194e-01 -5.31018445e-03 1.97074183e+01] [ 1.38027841e-02 3.35975576e-04 9.99904681e-01 5.87966891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6492541539999 meters 0.0166245589459636 Centerline is valid? [True, True] Translation: X:850.54, Y:19.72, Z:5.88 [[ 9.31804022e-01 -3.62736934e-01 -1.27742146e-02 8.50540015e+02] [ 3.62697992e-01 9.31891522e-01 -5.32524071e-03 1.97175757e+01] [ 1.38358438e-02 3.28898731e-04 9.99904226e-01 5.87985943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6792541539999 meters 0.019100244345921287 Centerline is valid? [True, True] Translation: X:850.57, Y:19.73, Z:5.88 [[ 9.31526876e-01 -3.63413366e-01 -1.37260187e-02 8.50565312e+02] [ 3.63368407e-01 9.31627933e-01 -5.72679438e-03 1.97291560e+01] [ 1.48687360e-02 3.47061341e-04 9.99889394e-01 5.87646437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7092541539998 meters 0.01898349048482501 Centerline is valid? [True, True] Translation: X:850.59, Y:19.74, Z:5.88 [[ 9.31564421e-01 -3.63312835e-01 -1.38388345e-02 8.50591605e+02] [ 3.63267057e-01 9.31667139e-01 -5.77818933e-03 1.97423235e+01] [ 1.49924777e-02 3.55562916e-04 9.99887543e-01 5.87696034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7392541539999 meters 0.016364831257515578 Centerline is valid? [True, True] Translation: X:850.62, Y:19.75, Z:5.88 [[ 9.31568107e-01 -3.63334048e-01 -1.30089376e-02 8.50617077e+02] [ 3.63293542e-01 9.31658873e-01 -5.43567561e-03 1.97533525e+01] [ 1.40948581e-02 3.37639027e-04 9.99900606e-01 5.88041865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7692541539999 meters 0.020210210160653646 Centerline is valid? [True, True] Translation: X:850.64, Y:19.77, Z:5.88 [[ 9.31115097e-01 -3.64458201e-01 -1.39604799e-02 8.50641873e+02] [ 3.64411631e-01 9.31219684e-01 -5.83639633e-03 1.97674377e+01] [ 1.51273961e-02 3.46995493e-04 9.99885514e-01 5.87569911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7992541539999 meters 0.016225682805828413 Centerline is valid? [True, True] Translation: X:850.67, Y:19.78, Z:5.88 [[ 9.31032251e-01 -3.64694301e-01 -1.33046681e-02 8.50667719e+02] [ 3.64651985e-01 9.31127251e-01 -5.56519240e-03 1.97773659e+01] [ 1.44179330e-02 3.29799977e-04 9.99896002e-01 5.88040882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8292541539998 meters 0.01666445294862089 Centerline is valid? [True, True] Translation: X:850.69, Y:19.79, Z:5.88 [[ 9.30821989e-01 -3.65232151e-01 -1.32627581e-02 8.50692701e+02] [ 3.65190115e-01 9.30916415e-01 -5.55052365e-03 1.97894815e+01] [ 1.43737489e-02 3.23121309e-04 9.99896640e-01 5.88047374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8592541539999 meters 0.015856592763337177 Centerline is valid? [True, True] Translation: X:850.72, Y:19.80, Z:5.88 [[ 9.30083821e-01 -3.67108949e-01 -1.32327343e-02 8.50719293e+02] [ 3.67067255e-01 9.30177903e-01 -5.54061325e-03 1.98012253e+01] [ 1.43428057e-02 2.95931294e-04 9.99897093e-01 5.88049153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8892541539999 meters 0.015856592763337177 Centerline is valid? [True, True] Translation: X:850.74, Y:19.81, Z:5.88 [[ 9.29980030e-01 -3.67371852e-01 -1.32312615e-02 8.50744711e+02] [ 3.67330134e-01 9.30074102e-01 -5.54412866e-03 1.98119630e+01] [ 1.43428105e-02 2.95687854e-04 9.99897093e-01 5.88068209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9192541539999 meters 0.01784040728595482 Centerline is valid? [True, True] Translation: X:850.77, Y:19.82, Z:5.88 [[ 9.29271763e-01 -3.69137274e-01 -1.38442461e-02 8.50771894e+02] [ 3.69091730e-01 9.29374839e-01 -5.80543866e-03 1.98228912e+01] [ 1.50094978e-02 2.85033483e-04 9.99887311e-01 5.87785756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9492541539998 meters 0.015565903961335477 Centerline is valid? [True, True] Translation: X:850.80, Y:19.83, Z:5.88 [[ 9.28404403e-01 -3.71337786e-01 -1.31724552e-02 8.50798120e+02] [ 3.71296722e-01 9.28497814e-01 -5.52757243e-03 1.98345508e+01] [ 1.42831924e-02 2.40933140e-04 9.99897961e-01 5.88011004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9792541539999 meters 0.01853177257651919 Centerline is valid? [True, True] Translation: X:850.82, Y:19.85, Z:5.88 [[ 9.27655669e-01 -3.73179461e-01 -1.38582051e-02 8.50822715e+02] [ 3.73134167e-01 9.27759149e-01 -5.81850375e-03 1.98477383e+01] [ 1.50284227e-02 2.26598168e-04 9.99887041e-01 5.87700620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0092541539999 meters 0.015546194138078099 Centerline is valid? [True, True] Translation: X:850.85, Y:19.86, Z:5.88 [[ 9.26480750e-01 -3.76129320e-01 -1.26552408e-02 8.50848495e+02] [ 3.76091802e-01 9.26567163e-01 -5.31495202e-03 1.98579401e+01] [ 1.37250399e-02 1.64668402e-04 9.99905794e-01 5.88010047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0392541539999 meters 0.013690102672250022 Centerline is valid? [True, True] Translation: X:850.88, Y:19.87, Z:5.88 [[ 9.25725320e-01 -3.77996085e-01 -1.23122132e-02 8.50875985e+02] [ 3.77960707e-01 9.25807184e-01 -5.17324673e-03 1.98665142e+01] [ 1.33542025e-02 1.35472669e-04 9.99910819e-01 5.88289484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0692541539999 meters 0.013484705004774592 Centerline is valid? [True, True] Translation: X:850.90, Y:19.88, Z:5.88 [[ 9.24912104e-01 -3.79978839e-01 -1.23968778e-02 8.50903151e+02] [ 3.79943103e-01 9.24995173e-01 -5.21237133e-03 1.98776872e+01] [ 1.34476429e-02 1.10877113e-04 9.99909570e-01 5.88331486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0992541539999 meters 0.013141824437959476 Centerline is valid? [True, True] Translation: X:850.93, Y:19.89, Z:5.88 [[ 9.23555165e-01 -3.83248227e-01 -1.29094330e-02 8.50928683e+02] [ 3.83209758e-01 9.23645382e-01 -5.43038321e-03 1.98885778e+01] [ 1.40049230e-02 6.82377493e-05 9.99901924e-01 5.88309542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1292541539999 meters 0.014175870485377993 Centerline is valid? [True, True] Translation: X:850.95, Y:19.90, Z:5.88 [[ 9.22803991e-01 -3.85033690e-01 -1.34852452e-02 8.50954027e+02] [ 3.84991859e-01 9.22902517e-01 -5.67569323e-03 1.98995674e+01] [ 1.46308999e-02 4.58427323e-05 9.99892962e-01 5.88215091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1592541539999 meters 0.014657212130354712 Centerline is valid? [True, True] Translation: X:850.98, Y:19.91, Z:5.88 [[ 9.21808431e-01 -3.87397213e-01 -1.38785862e-02 8.50978974e+02] [ 3.87353123e-01 9.21912902e-01 -5.84455826e-03 1.99102837e+01] [ 1.50590132e-02 1.16493894e-05 9.99886607e-01 5.88156178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1892541539999 meters 0.013141724069592013 Centerline is valid? [True, True] Translation: X:851.00, Y:19.92, Z:5.88 [[ 9.21454330e-01 -3.88258906e-01 -1.33018679e-02 8.51004557e+02] [ 3.88218448e-01 9.21550336e-01 -5.60491258e-03 1.99212270e+01] [ 1.44344981e-02 6.40438339e-07 9.99895817e-01 5.88411089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2192541539998 meters 0.015156185892501596 Centerline is valid? [True, True] Translation: X:851.03, Y:19.93, Z:5.88 [[ 9.20981973e-01 -3.89368075e-01 -1.35907440e-02 8.51028665e+02] [ 3.89325913e-01 9.21082245e-01 -5.72987828e-03 1.99330048e+01] [ 1.47492247e-02 -1.41142288e-05 9.99891224e-01 5.88284545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2492541539999 meters 0.01568480386264533 Centerline is valid? [True, True] Translation: X:851.05, Y:19.95, Z:5.88 [[ 9.20863018e-01 -3.89652612e-01 -1.34960607e-02 8.51054088e+02] [ 3.89611018e-01 9.20961911e-01 -5.69326532e-03 1.99450399e+01] [ 1.46477536e-02 -1.54964653e-05 9.99892716e-01 5.88315279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2792541539999 meters 0.014949805429497521 Centerline is valid? [True, True] Translation: X:851.08, Y:19.96, Z:5.88 [[ 9.21388340e-01 -3.88424037e-01 -1.30496724e-02 8.51077808e+02] [ 3.88384982e-01 9.21480747e-01 -5.50799431e-03 1.99586132e+01] [ 1.41644593e-02 6.70494466e-06 9.99899679e-01 5.88355034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3092541539999 meters 0.013264944383437187 Centerline is valid? [True, True] Translation: X:851.10, Y:19.97, Z:5.89 [[ 9.21778999e-01 -3.87506098e-01 -1.27475598e-02 8.51102974e+02] [ 3.87468702e-01 9.21867140e-01 -5.38343618e-03 1.99714493e+01] [ 1.38376708e-02 2.30579846e-05 9.99904255e-01 5.88562772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3392541539998 meters 0.017357264828359028 Centerline is valid? [True, True] Translation: X:851.13, Y:19.99, Z:5.88 [[ 9.22081778e-01 -3.86707976e-01 -1.49041927e-02 8.51128970e+02] [ 3.86656674e-01 9.22202222e-01 -6.29899675e-03 1.99853628e+01] [ 1.61805519e-02 4.53845429e-05 9.99869085e-01 5.88101979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3692541539999 meters 0.014274160138931749 Centerline is valid? [True, True] Translation: X:851.15, Y:20.00, Z:5.88 [[ 9.23601794e-01 -3.83043421e-01 -1.54098277e-02 8.51153372e+02] [ 3.82988014e-01 9.23730331e-01 -6.51595416e-03 2.00004274e+01] [ 1.67304186e-02 1.16367640e-04 9.99860030e-01 5.88352308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3992541539999 meters 0.01565634703313371 Centerline is valid? [True, True] Translation: X:851.18, Y:20.02, Z:5.88 [[ 9.24951748e-01 -3.79679830e-01 -1.75354325e-02 8.51178486e+02] [ 3.79607390e-01 9.25117930e-01 -7.41922398e-03 2.00162157e+01] [ 1.90392727e-02 2.05844416e-04 9.99818715e-01 5.88176287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4292541539999 meters 0.01620545550201711 Centerline is valid? [True, True] Translation: X:851.20, Y:20.03, Z:5.88 [[ 9.25614573e-01 -3.78047431e-01 -1.78270196e-02 8.51203010e+02] [ 3.77972198e-01 9.25786195e-01 -7.54574414e-03 2.00302602e+01] [ 1.93566578e-02 2.46332954e-04 9.99812612e-01 5.88084516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4592541539998 meters 0.014701878871969776 Centerline is valid? [True, True] Translation: X:851.23, Y:20.04, Z:5.88 [[ 9.26859401e-01 -3.74996623e-01 -1.75836279e-02 8.51227609e+02] [ 3.74922846e-01 9.27026126e-01 -7.44457432e-03 2.00446920e+01] [ 1.90921727e-02 3.07569858e-04 9.99817681e-01 5.88338557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4892541539999 meters 0.014795966956531174 Centerline is valid? [True, True] Translation: X:851.25, Y:20.06, Z:5.88 [[ 9.27186636e-01 -3.74179234e-01 -1.77438207e-02 8.51254022e+02] [ 3.74103878e-01 9.27356345e-01 -7.51648954e-03 2.00572654e+01] [ 1.92673590e-02 3.31156507e-04 9.99814312e-01 5.88406451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5192541539999 meters 0.015144668949363322 Centerline is valid? [True, True] Translation: X:851.28, Y:20.07, Z:5.88 [[ 9.27576396e-01 -3.73212732e-01 -1.77280987e-02 8.51279213e+02] [ 3.73137273e-01 9.27745726e-01 -7.51294896e-03 2.00698897e+01] [ 1.92510960e-02 3.53819738e-04 9.99814618e-01 5.88438257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5492541539999 meters 0.016603726081923408 Centerline is valid? [True, True] Translation: X:851.30, Y:20.08, Z:5.88 [[ 9.27859733e-01 -3.72502010e-01 -1.78485027e-02 8.51304597e+02] [ 3.72425310e-01 9.28031310e-01 -7.56810342e-03 2.00830298e+01] [ 1.93831031e-02 3.74904259e-04 9.99812060e-01 5.88357880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5792541539998 meters 0.017680775043054653 Centerline is valid? [True, True] Translation: X:851.33, Y:20.10, Z:5.88 [[ 9.27856836e-01 -3.72519613e-01 -1.76303555e-02 8.51330261e+02] [ 3.72444670e-01 9.28024244e-01 -7.48137474e-03 2.00952375e+01] [ 1.91483562e-02 3.75312754e-04 9.99816583e-01 5.88311674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6092541539999 meters 0.01932782844131703 Centerline is valid? [True, True] Translation: X:851.35, Y:20.11, Z:5.88 [[ 9.27856177e-01 -3.72511834e-01 -1.78283172e-02 8.51354488e+02] [ 3.72435129e-01 9.28027363e-01 -7.56882286e-03 2.01086689e+01] [ 1.93646423e-02 3.82887418e-04 9.99812414e-01 5.88176700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6392541539999 meters 0.015153465964393197 Centerline is valid? [True, True] Translation: X:851.38, Y:20.12, Z:5.89 [[ 9.27842902e-01 -3.72636508e-01 -1.57981616e-02 8.51381071e+02] [ 3.72576238e-01 9.27977326e-01 -6.71038080e-03 2.01195170e+01] [ 1.71608686e-02 3.40159569e-04 9.99852684e-01 5.88635156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6692541539999 meters 0.016159839161177032 Centerline is valid? [True, True] Translation: X:851.40, Y:20.13, Z:5.89 [[ 9.27677089e-01 -3.73057957e-01 -1.55878020e-02 8.51404940e+02] [ 3.72999273e-01 9.27807981e-01 -6.62507588e-03 2.01325028e+01] [ 1.69340244e-02 3.31692278e-04 9.99856554e-01 5.88528087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6992541539998 meters 0.015618272933085584 Centerline is valid? [True, True] Translation: X:851.43, Y:20.14, Z:5.89 [[ 9.27192106e-01 -3.74260376e-01 -1.56195457e-02 8.51432513e+02] [ 3.74201551e-01 9.27323607e-01 -6.64282004e-03 2.01423322e+01] [ 1.69705178e-02 3.14312081e-04 9.99855941e-01 5.88573732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7292541539999 meters 0.01769294050532887 Centerline is valid? [True, True] Translation: X:851.46, Y:20.15, Z:5.88 [[ 9.26885073e-01 -3.74995800e-01 -1.61929766e-02 8.51457603e+02] [ 3.74932635e-01 9.27026457e-01 -6.88970331e-03 2.01538793e+01] [ 1.75949275e-02 3.14687759e-04 9.99845148e-01 5.88350729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7592541539999 meters 0.017959081411379994 Centerline is valid? [True, True] Translation: X:851.48, Y:20.17, Z:5.88 [[ 9.26752896e-01 -3.75327131e-01 -1.60814910e-02 8.51483634e+02] [ 3.75264814e-01 9.26892361e-01 -6.84621773e-03 2.01650503e+01] [ 1.74753824e-02 3.09934373e-04 9.99847246e-01 5.88327580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7892541539999 meters 0.017703721128131258 Centerline is valid? [True, True] Translation: X:851.51, Y:20.18, Z:5.88 [[ 9.26637908e-01 -3.75609795e-01 -1.61080511e-02 8.51509604e+02] [ 3.75547218e-01 9.26777851e-01 -6.86304170e-03 2.01758093e+01] [ 1.75064107e-02 3.10220824e-04 9.99846703e-01 5.88385195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8192541539999 meters 0.017338114736049067 Centerline is valid? [True, True] Translation: X:851.53, Y:20.19, Z:5.88 [[ 9.26838212e-01 -3.75118791e-01 -1.60256301e-02 8.51534525e+02] [ 3.75056724e-01 9.26976693e-01 -6.83114390e-03 2.01884712e+01] [ 1.74178761e-02 3.20844859e-04 9.99848246e-01 5.88371365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8492541539999 meters 0.015378028870954064 Centerline is valid? [True, True] Translation: X:851.56, Y:20.20, Z:5.89 [[ 9.27017316e-01 -3.74699821e-01 -1.54577027e-02 8.51560104e+02] [ 3.74641955e-01 9.27146127e-01 -6.59275299e-03 2.01999173e+01] [ 1.68018525e-02 3.20492232e-04 9.99858788e-01 5.88626110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8792541539999 meters 0.01664865878884576 Centerline is valid? [True, True] Translation: X:851.59, Y:20.21, Z:5.88 [[ 9.27185980e-01 -3.74261998e-01 -1.59410012e-02 8.51585250e+02] [ 3.74200336e-01 9.27322943e-01 -6.80207128e-03 2.02117221e+01] [ 1.73282129e-02 3.41657135e-04 9.99849797e-01 5.88465206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9092541539999 meters 0.015383295955659133 Centerline is valid? [True, True] Translation: X:851.61, Y:20.22, Z:5.89 [[ 9.27296295e-01 -3.74008223e-01 -1.54735450e-02 8.51610994e+02] [ 3.73950027e-01 9.27425325e-01 -6.60634341e-03 2.02217230e+01] [ 1.68213842e-02 3.39705206e-04 9.99858453e-01 5.88694158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9392541539999 meters 0.01824133005611552 Centerline is valid? [True, True] Translation: X:851.64, Y:20.23, Z:5.88 [[ 9.27333019e-01 -3.73870369e-01 -1.65656149e-02 8.51636572e+02] [ 3.73803575e-01 9.27480895e-01 -7.07652551e-03 2.02339967e+01] [ 1.80099946e-02 3.70009675e-04 9.99837738e-01 5.88327248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9692541539998 meters 0.01777511458119916 Centerline is valid? [True, True] Translation: X:851.66, Y:20.25, Z:5.88 [[ 9.27399649e-01 -3.73708477e-01 -1.64883067e-02 8.51661635e+02] [ 3.73642243e-01 9.27546136e-01 -7.04554939e-03 2.02455508e+01] [ 1.79266467e-02 3.73312121e-04 9.99839235e-01 5.88353356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9992541539999 meters 0.01584460764573972 Centerline is valid? [True, True] Translation: X:851.69, Y:20.26, Z:5.89 [[ 9.27619014e-01 -3.73177756e-01 -1.61656088e-02 8.51688375e+02] [ 3.73113947e-01 9.27759785e-01 -6.91120190e-03 2.02559229e+01] [ 1.75769085e-02 3.79348196e-04 9.99845442e-01 5.88613981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0292541539999 meters 0.015602011356370765 Centerline is valid? [True, True] Translation: X:851.72, Y:20.27, Z:5.89 [[ 9.27805903e-01 -3.72734113e-01 -1.56680363e-02 8.51715757e+02] [ 3.72674029e-01 9.27938110e-01 -6.70312190e-03 2.02666110e+01] [ 1.70374502e-02 3.80125848e-04 9.99854780e-01 5.88694173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0592541539999 meters 0.016459545999464142 Centerline is valid? [True, True] Translation: X:851.74, Y:20.28, Z:5.89 [[ 9.28388610e-01 -3.71287373e-01 -1.55008401e-02 8.51740680e+02] [ 3.71228306e-01 9.28517917e-01 -6.63496624e-03 2.02785715e+01] [ 1.68562870e-02 4.05476463e-04 9.99857840e-01 5.88699562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0892541539998 meters 0.01839177211637281 Centerline is valid? [True, True] Translation: X:851.77, Y:20.29, Z:5.89 [[ 9.28551418e-01 -3.70851842e-01 -1.61609325e-02 8.51767283e+02] [ 3.70787501e-01 9.28691941e-01 -6.92148476e-03 2.02904262e+01] [ 1.75753731e-02 4.34682713e-04 9.99845447e-01 5.88523966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1192541539999 meters 0.018066310868927328 Centerline is valid? [True, True] Translation: X:851.79, Y:20.30, Z:5.89 [[ 9.29353605e-01 -3.68863197e-01 -1.55505357e-02 8.51793379e+02] [ 3.68803269e-01 9.29483583e-01 -6.66462153e-03 2.03020532e+01] [ 1.69123013e-02 4.58701624e-04 9.99856872e-01 5.88664936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1492541539999 meters 0.01881011548177321 Centerline is valid? [True, True] Translation: X:851.82, Y:20.31, Z:5.89 [[ 9.29656722e-01 -3.68095085e-01 -1.56328968e-02 8.51820120e+02] [ 3.68034331e-01 9.29788029e-01 -6.70465849e-03 2.03129649e+01] [ 1.70032321e-02 4.79588119e-04 9.99855320e-01 5.88618256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1792541539999 meters 0.02023125096284472 Centerline is valid? [True, True] Translation: X:851.84, Y:20.33, Z:5.89 [[ 9.29998847e-01 -3.67230901e-01 -1.56080022e-02 8.51844845e+02] [ 3.67170169e-01 9.30129678e-01 -6.69692349e-03 2.03252925e+01] [ 1.69767833e-02 4.97338327e-04 9.99855760e-01 5.88571780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2092541539998 meters 0.022638657525932422 Centerline is valid? [True, True] Translation: X:851.87, Y:20.34, Z:5.89 [[ 9.30601258e-01 -3.65678506e-01 -1.61409346e-02 8.51872004e+02] [ 3.65613258e-01 9.30741066e-01 -6.92924653e-03 2.03362598e+01] [ 1.75569072e-02 5.47025853e-04 9.99845716e-01 5.88509059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2392541539999 meters 0.022015256570589045 Centerline is valid? [True, True] Translation: X:851.90, Y:20.35, Z:5.89 [[ 9.31072146e-01 -3.64522479e-01 -1.51003677e-02 8.51896859e+02] [ 3.64465177e-01 9.31194435e-01 -6.48525839e-03 2.03490603e+01] [ 1.64254009e-02 5.34685240e-04 9.99864951e-01 5.88604320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2692541539999 meters 0.021777060785703208 Centerline is valid? [True, True] Translation: X:851.92, Y:20.36, Z:5.89 [[ 9.31697585e-01 -3.62933827e-01 -1.47867273e-02 8.51923729e+02] [ 3.62878630e-01 9.31814751e-01 -6.35368592e-03 2.03601142e+01] [ 1.60844582e-02 5.53926483e-04 9.99870483e-01 5.88745960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2992541539999 meters 0.020860381267751606 Centerline is valid? [True, True] Translation: X:851.95, Y:20.37, Z:5.89 [[ 9.32016137e-01 -3.62130837e-01 -1.43936433e-02 8.51950559e+02] [ 3.62078375e-01 9.32127109e-01 -6.18896186e-03 2.03703109e+01] [ 1.56579191e-02 5.56585336e-04 9.99877252e-01 5.88936843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3292541539998 meters 0.02473757426521735 Centerline is valid? [True, True] Translation: X:851.98, Y:20.38, Z:5.89 [[ 9.31821322e-01 -3.62575056e-01 -1.57592420e-02 8.51975037e+02] [ 3.62512157e-01 9.31954378e-01 -6.78034614e-03 2.03813915e+01] [ 1.71452790e-02 6.05154275e-04 9.99852826e-01 5.88559255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3592541539999 meters 0.02353833316381578 Centerline is valid? [True, True] Translation: X:852.00, Y:20.39, Z:5.89 [[ 9.32249038e-01 -3.61506915e-01 -1.49827346e-02 8.52001139e+02] [ 3.61449887e-01 9.32369238e-01 -6.44853267e-03 2.03921599e+01] [ 1.63006300e-02 5.96130634e-04 9.99866958e-01 5.88744755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3892541539999 meters 0.02223320402030631 Centerline is valid? [True, True] Translation: X:852.03, Y:20.40, Z:5.89 [[ 9.32266911e-01 -3.61479972e-01 -1.45132909e-02 8.52028471e+02] [ 3.61426405e-01 9.32379693e-01 -6.24995967e-03 2.03998317e+01] [ 1.57911329e-02 5.81144050e-04 9.99875143e-01 5.88789260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4192541539999 meters 0.021503760548447146 Centerline is valid? [True, True] Translation: X:852.05, Y:20.41, Z:5.89 [[ 9.32610602e-01 -3.60637478e-01 -1.33444561e-02 8.52054684e+02] [ 3.60592065e-01 9.32705906e-01 -5.74940767e-03 2.04102587e+01] [ 1.45199049e-02 5.50053583e-04 9.99894429e-01 5.89012197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4492541539998 meters 0.021223054693493733 Centerline is valid? [True, True] Translation: X:852.08, Y:20.42, Z:5.89 [[ 9.32942717e-01 -3.59781541e-01 -1.32336550e-02 8.52081284e+02] [ 3.59736754e-01 9.33036402e-01 -5.70442151e-03 2.04205550e+01] [ 1.43998274e-02 5.61266416e-04 9.99896160e-01 5.89155494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4792541539999 meters 0.02285693012344512 Centerline is valid? [True, True] Translation: X:852.11, Y:20.43, Z:5.89 [[ 9.33124988e-01 -3.59335653e-01 -1.24757990e-02 8.52106141e+02] [ 3.59295776e-01 9.33208229e-01 -5.38020424e-03 2.04332988e+01] [ 1.35758175e-02 5.37901146e-04 9.99907700e-01 5.89176226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5092541539999 meters 0.028201473888293825 Centerline is valid? [True, True] Translation: X:852.13, Y:20.45, Z:5.89 [[ 9.33061536e-01 -3.59452887e-01 -1.37764720e-02 8.52130537e+02] [ 3.59404251e-01 9.33163046e-01 -5.94263649e-03 2.04470800e+01] [ 1.49917924e-02 5.93522946e-04 9.99887441e-01 5.88773062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5392541539999 meters 0.024261602034830344 Centerline is valid? [True, True] Translation: X:852.16, Y:20.46, Z:5.89 [[ 9.33651373e-01 -3.57961660e-01 -1.25922456e-02 8.52157935e+02] [ 3.57920858e-01 9.33736113e-01 -5.43420694e-03 2.04564788e+01] [ 1.37030722e-02 5.66627425e-04 9.99905948e-01 5.89253406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5692541539999 meters 0.025153131083194155 Centerline is valid? [True, True] Translation: X:852.18, Y:20.47, Z:5.89 [[ 9.34269097e-01 -3.56339759e-01 -1.27761538e-02 8.52184258e+02] [ 3.56297553e-01 9.34356256e-01 -5.51732371e-03 2.04679374e+01] [ 1.39035210e-02 6.02552723e-04 9.99903160e-01 5.89137383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5992541539999 meters 0.025968663262295633 Centerline is valid? [True, True] Translation: X:852.21, Y:20.48, Z:5.89 [[ 9.35292457e-01 -3.53668363e-01 -1.21123407e-02 8.52209166e+02] [ 3.53630176e-01 9.35370683e-01 -5.23291361e-03 2.04811721e+01] [ 1.31802444e-02 6.11015459e-04 9.99912950e-01 5.89266521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6292541539999 meters 0.02905007123034715 Centerline is valid? [True, True] Translation: X:852.23, Y:20.49, Z:5.89 [[ 9.35644109e-01 -3.52711381e-01 -1.28368162e-02 8.52234630e+02] [ 3.52668381e-01 9.35731929e-01 -5.54714532e-03 2.04938700e+01] [ 1.39683601e-02 6.63014642e-04 9.99902218e-01 5.88963148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6592541539999 meters 0.02996158704300634 Centerline is valid? [True, True] Translation: X:852.26, Y:20.51, Z:5.89 [[ 9.36129901e-01 -3.51428901e-01 -1.25911121e-02 8.52260509e+02] [ 3.51387382e-01 9.36214333e-01 -5.44341910e-03 2.05069179e+01] [ 1.37009544e-02 6.71389463e-04 9.99905912e-01 5.89022216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6892541539999 meters 0.03239108413600164 Centerline is valid? [True, True] Translation: X:852.28, Y:20.52, Z:5.89 [[ 9.37262713e-01 -3.48371794e-01 -1.32551482e-02 8.52284897e+02] [ 3.48325440e-01 9.37356134e-01 -5.73291858e-03 2.05219209e+01] [ 1.44219816e-02 7.56145492e-04 9.99895712e-01 5.88947292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7192541539998 meters 0.03141126642117656 Centerline is valid? [True, True] Translation: X:852.31, Y:20.53, Z:5.89 [[ 9.37971606e-01 -3.46467725e-01 -1.30146994e-02 8.52311903e+02] [ 3.46422845e-01 9.38061576e-01 -5.62963438e-03 2.05343406e+01] [ 1.41590761e-02 7.71848002e-04 9.99899457e-01 5.89233511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7492541539999 meters 0.03389374817478864 Centerline is valid? [True, True] Translation: X:852.34, Y:20.55, Z:5.89 [[ 9.38450445e-01 -3.45116592e-01 -1.43282780e-02 8.52338359e+02] [ 3.45062028e-01 9.38559415e-01 -6.19844243e-03 2.05486834e+01] [ 1.55871256e-02 8.72786384e-04 9.99878132e-01 5.88918643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7792541539999 meters 0.035022122550028935 Centerline is valid? [True, True] Translation: X:852.36, Y:20.56, Z:5.89 [[ 9.38482498e-01 -3.45007552e-01 -1.48455518e-02 8.52362944e+02] [ 3.44948935e-01 9.38599470e-01 -6.42397858e-03 2.05609082e+01] [ 1.61503482e-02 9.07834175e-04 9.99869162e-01 5.88821823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8092541539999 meters 0.035022122550028935 Centerline is valid? [True, True] Translation: X:852.39, Y:20.57, Z:5.89 [[ 9.38389116e-01 -3.45261521e-01 -1.48441489e-02 8.52388244e+02] [ 3.45202885e-01 9.38506078e-01 -6.42721918e-03 2.05719719e+01] [ 1.61503955e-02 9.06989491e-04 9.99869162e-01 5.88840923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8392541539998 meters 0.03409518719190875 Centerline is valid? [True, True] Translation: X:852.41, Y:20.58, Z:5.89 [[ 9.38511763e-01 -3.44950816e-01 -1.43040344e-02 8.52414782e+02] [ 3.44896268e-01 9.38620347e-01 -6.19755593e-03 2.05831801e+01] [ 1.55639097e-02 8.83071067e-04 9.99878485e-01 5.89131406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8692541539999 meters 0.03469271271673209 Centerline is valid? [True, True] Translation: X:852.44, Y:20.59, Z:5.89 [[ 9.37996862e-01 -3.46314758e-01 -1.50988427e-02 8.52441988e+02] [ 3.46254083e-01 9.38117933e-01 -6.54625795e-03 2.05933134e+01] [ 1.64315608e-02 9.12333484e-04 9.99864577e-01 5.88912559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8992541539999 meters 0.0328356948914012 Centerline is valid? [True, True] Translation: X:852.47, Y:20.60, Z:5.89 [[ 9.37770380e-01 -3.46969697e-01 -1.40976731e-02 8.52469677e+02] [ 3.46916817e-01 9.37875960e-01 -6.11604081e-03 2.06025977e+01] [ 1.53439495e-02 8.44722021e-04 9.99881918e-01 5.89274947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9292541539999 meters 0.03286784624540057 Centerline is valid? [True, True] Translation: X:852.50, Y:20.61, Z:5.89 [[ 9.37421861e-01 -3.47927989e-01 -1.36517261e-02 8.52496391e+02] [ 3.47878447e-01 9.37520914e-01 -5.92636441e-03 2.06140697e+01] [ 1.48607268e-02 8.06362273e-04 9.99889248e-01 5.89279244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9592541539998 meters 0.033729375955198634 Centerline is valid? [True, True] Translation: X:852.52, Y:20.63, Z:5.89 [[ 9.37086191e-01 -3.48833687e-01 -1.35841346e-02 8.52522632e+02] [ 3.48784673e-01 9.37184311e-01 -5.90083072e-03 2.06255482e+01] [ 1.47892463e-02 7.91649062e-04 9.99890320e-01 5.89139706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9892541539999 meters 0.033049453446934184 Centerline is valid? [True, True] Translation: X:852.55, Y:20.64, Z:5.89 [[ 9.36766299e-01 -3.49703800e-01 -1.32722445e-02 8.52549253e+02] [ 3.49657044e-01 9.36860005e-01 -5.76905877e-03 2.06356930e+01] [ 1.44516968e-02 7.63526064e-04 9.99895277e-01 5.89134079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0192541539999 meters 0.033262400351862315 Centerline is valid? [True, True] Translation: X:852.57, Y:20.65, Z:5.89 [[ 9.36929475e-01 -3.49299051e-01 -1.23827499e-02 8.52573803e+02] [ 3.49258287e-01 9.37011021e-01 -5.38471500e-03 2.06490201e+01] [ 1.34836490e-02 7.20320179e-04 9.99908832e-01 5.89485367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0492541539999 meters 0.02980277857739761 Centerline is valid? [True, True] Translation: X:852.60, Y:20.65, Z:5.89 [[ 9.36790563e-01 -3.49623298e-01 -1.36744200e-02 8.52601779e+02] [ 3.49573572e-01 9.36890025e-01 -5.94960541e-03 2.06547858e+01] [ 1.48915483e-02 7.93318363e-04 9.99888800e-01 5.89202326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0792541539998 meters 0.029401873294747867 Centerline is valid? [True, True] Translation: X:852.63, Y:20.67, Z:5.89 [[ 9.36776343e-01 -3.49652609e-01 -1.38973094e-02 8.52628080e+02] [ 3.49601184e-01 9.36879073e-01 -6.05105570e-03 2.06657143e+01] [ 1.51358658e-02 8.09970001e-04 9.99885118e-01 5.89187286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1092541539999 meters 0.03593347692871297 Centerline is valid? [True, True] Translation: X:852.65, Y:20.68, Z:5.89 [[ 9.36878178e-01 -3.49352143e-01 -1.45725503e-02 8.52649898e+02] [ 3.49295517e-01 9.36991113e-01 -6.34794848e-03 2.06846504e+01] [ 1.58720195e-02 8.57127915e-04 9.99873664e-01 5.88919717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1392541539999 meters 0.029633115972594177 Centerline is valid? [True, True] Translation: X:852.68, Y:20.69, Z:5.89 [[ 9.37702753e-01 -3.47155230e-01 -1.40282709e-02 8.52678434e+02] [ 3.47102495e-01 9.37807285e-01 -6.11183165e-03 2.06932958e+01] [ 1.52775690e-02 8.61833512e-04 9.99882920e-01 5.89458187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1692541539999 meters 0.040908576489805365 Centerline is valid? [True, True] Translation: X:852.70, Y:20.72, Z:5.89 [[ 9.38009072e-01 -3.46282600e-01 -1.50778331e-02 8.52697875e+02] [ 3.46221546e-01 9.38129774e-01 -6.57031076e-03 2.07180006e+01] [ 1.64201484e-02 9.42740429e-04 9.99864736e-01 5.88876647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1992541539998 meters 0.03298663771397888 Centerline is valid? [True, True] Translation: X:852.73, Y:20.72, Z:5.89 [[ 9.38339185e-01 -3.45406118e-01 -1.46351243e-02 8.52727677e+02] [ 3.45348442e-01 9.38452846e-01 -6.38044064e-03 2.07217886e+01] [ 1.59382173e-02 9.32800082e-04 9.99872543e-01 5.89413485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2292541539999 meters 0.03194363986812816 Centerline is valid? [True, True] Translation: X:852.76, Y:20.73, Z:5.89 [[ 9.38104064e-01 -3.46007892e-01 -1.54694775e-02 8.52756003e+02] [ 3.45943453e-01 9.38231090e-01 -6.74891801e-03 2.07297488e+01] [ 1.68491236e-02 9.79622941e-04 9.99857564e-01 5.89052513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2592541539999 meters 0.03189661456661026 Centerline is valid? [True, True] Translation: X:852.78, Y:20.74, Z:5.89 [[ 9.38210858e-01 -3.45742579e-01 -1.49149472e-02 8.52781010e+02] [ 3.45682599e-01 9.38328921e-01 -6.50979037e-03 2.07427643e+01] [ 1.62458380e-02 9.51718283e-04 9.99867575e-01 5.89178361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2892541539999 meters 0.03237185376405938 Centerline is valid? [True, True] Translation: X:852.81, Y:20.76, Z:5.89 [[ 9.38224436e-01 -3.45709044e-01 -1.48379284e-02 8.52805902e+02] [ 3.45649652e-01 9.38341279e-01 -6.47776609e-03 2.07559077e+01] [ 1.61624630e-02 9.48873672e-04 9.99868929e-01 5.89254384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3192541539999 meters 0.031083646594360744 Centerline is valid? [True, True] Translation: X:852.83, Y:20.77, Z:5.89 [[ 9.37968229e-01 -3.46430005e-01 -1.42075136e-02 8.52832066e+02] [ 3.46375588e-01 9.38075393e-01 -6.20556096e-03 2.07672307e+01] [ 1.54775114e-02 8.99483149e-04 9.99879812e-01 5.89377163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3492541539999 meters 0.03097777119042892 Centerline is valid? [True, True] Translation: X:852.86, Y:20.78, Z:5.89 [[ 9.37735970e-01 -3.47048985e-01 -1.44309164e-02 8.52858974e+02] [ 3.46992848e-01 9.37846564e-01 -6.30752974e-03 2.07788642e+01] [ 1.57230071e-02 9.07372752e-04 9.99875974e-01 5.89323225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3792541539999 meters 0.030394996800699164 Centerline is valid? [True, True] Translation: X:852.89, Y:20.79, Z:5.89 [[ 9.37429023e-01 -3.47878593e-01 -1.43983292e-02 8.52885127e+02] [ 3.47822739e-01 9.37539163e-01 -6.29763375e-03 2.07909519e+01] [ 1.56898095e-02 8.95518344e-04 9.99876506e-01 5.89422415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4092541539999 meters 0.02700691522898372 Centerline is valid? [True, True] Translation: X:852.91, Y:20.80, Z:5.90 [[ 9.36715203e-01 -3.49829720e-01 -1.35571492e-02 8.52912490e+02] [ 3.49780369e-01 9.36812950e-01 -5.93213759e-03 2.08003959e+01] [ 1.47757509e-02 8.14698827e-04 9.99890501e-01 5.89709603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4392541539999 meters 0.03104061781212855 Centerline is valid? [True, True] Translation: X:852.94, Y:20.81, Z:5.89 [[ 9.35990048e-01 -3.51698907e-01 -1.51825487e-02 8.52936675e+02] [ 3.51637230e-01 9.36112762e-01 -6.64493004e-03 2.08146898e+01] [ 1.65495922e-02 8.80839009e-04 9.99862658e-01 5.89286311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4692541539998 meters 0.026753957112589603 Centerline is valid? [True, True] Translation: X:852.97, Y:20.82, Z:5.90 [[ 9.35006506e-01 -3.54365688e-01 -1.37037222e-02 8.52965144e+02] [ 3.54315712e-01 9.35106620e-01 -5.99874140e-03 2.08231536e+01] [ 1.49401895e-02 7.53418141e-04 9.99888105e-01 5.89706754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4992541539999 meters 0.02707844246275272 Centerline is valid? [True, True] Translation: X:852.99, Y:20.83, Z:5.89 [[ 9.33935694e-01 -3.57117363e-01 -1.52088102e-02 8.52993218e+02] [ 3.57056153e-01 9.34059189e-01 -6.65849440e-03 2.08324944e+01] [ 1.65837928e-02 7.88206328e-04 9.99862169e-01 5.89365431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5292541539999 meters 0.023797773074867756 Centerline is valid? [True, True] Translation: X:853.02, Y:20.84, Z:5.90 [[ 9.32261520e-01 -3.61500733e-01 -1.43414809e-02 8.53020159e+02] [ 3.61446810e-01 9.32371584e-01 -6.27957440e-03 2.08418826e+01] [ 1.56416600e-02 6.70523040e-04 9.99877437e-01 5.89625941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5592541539999 meters 0.023844070454388532 Centerline is valid? [True, True] Translation: X:853.05, Y:20.85, Z:5.89 [[ 9.30921376e-01 -3.64905683e-01 -1.51404626e-02 8.53048837e+02] [ 3.64846003e-01 9.31044264e-01 -6.63123063e-03 2.08516344e+01] [ 1.65162146e-02 6.49217077e-04 9.99863387e-01 5.89368779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5892541539998 meters 0.020629412860458142 Centerline is valid? [True, True] Translation: X:853.08, Y:20.86, Z:5.90 [[ 9.28707298e-01 -3.70529712e-01 -1.45081597e-02 8.53077289e+02] [ 3.70475573e-01 9.28820464e-01 -6.35574878e-03 2.08589534e+01] [ 1.58304694e-02 5.27711502e-04 9.99874551e-01 5.89543289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6192541539999 meters 0.019385868453998832 Centerline is valid? [True, True] Translation: X:853.11, Y:20.87, Z:5.90 [[ 9.27420576e-01 -3.73738820e-01 -1.45040915e-02 8.53105549e+02] [ 3.73685062e-01 9.27533864e-01 -6.35655494e-03 2.08675053e+01] [ 1.58287273e-02 4.75237522e-04 9.99874605e-01 5.89583966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6492541539999 meters 0.018445754287393035 Centerline is valid? [True, True] Translation: X:853.13, Y:20.87, Z:5.90 [[ 9.26042609e-01 -3.77090481e-01 -1.57434299e-02 8.53134267e+02] [ 3.77027580e-01 9.26176312e-01 -6.90240109e-03 2.08745073e+01] [ 1.71840216e-02 4.56210243e-04 9.99852240e-01 5.89556336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6792541539999 meters 0.016960527644718563 Centerline is valid? [True, True] Translation: X:853.16, Y:20.88, Z:5.90 [[ 9.23660487e-01 -3.82893283e-01 -1.56217592e-02 8.53162408e+02] [ 3.82832156e-01 9.23792517e-01 -6.85026605e-03 2.08808269e+01] [ 1.70541851e-02 3.46808300e-04 9.99854507e-01 5.89589379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7092541539998 meters 0.015349276888488654 Centerline is valid? [True, True] Translation: X:853.19, Y:20.89, Z:5.90 [[ 9.22494060e-01 -3.85698446e-01 -1.55376441e-02 8.53190762e+02] [ 3.85638342e-01 9.22624854e-01 -6.81525658e-03 2.08894850e+01] [ 1.69640505e-02 2.95122398e-04 9.99856057e-01 5.89699727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7392541539999 meters 0.014901962956655017 Centerline is valid? [True, True] Translation: X:853.22, Y:20.90, Z:5.90 [[ 9.21296090e-01 -3.88547559e-01 -1.56303951e-02 8.53217855e+02] [ 3.88487081e-01 9.21428637e-01 -6.85968843e-03 2.08986149e+01] [ 1.70676088e-02 2.47597578e-04 9.99854307e-01 5.89688020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7692541539999 meters 0.014317892099914574 Centerline is valid? [True, True] Translation: X:853.25, Y:20.91, Z:5.90 [[ 9.19476253e-01 -3.92823428e-01 -1.59114717e-02 8.53245134e+02] [ 3.92761334e-01 9.19613900e-01 -6.98644333e-03 2.09061795e+01] [ 1.73768491e-02 1.74457886e-04 9.99848996e-01 5.89629606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7992541539999 meters 0.014037903727860275 Centerline is valid? [True, True] Translation: X:853.27, Y:20.92, Z:5.90 [[ 9.18758813e-01 -3.94496129e-01 -1.59701871e-02 8.53272744e+02] [ 3.94433761e-01 9.18897591e-01 -7.01609667e-03 2.09157724e+01] [ 1.74427894e-02 1.46919699e-04 9.99847852e-01 5.89705220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8292541539998 meters 0.01480553438149404 Centerline is valid? [True, True] Translation: X:853.30, Y:20.92, Z:5.90 [[ 9.17762722e-01 -3.96778587e-01 -1.66834868e-02 8.53299482e+02] [ 3.96710799e-01 9.17914342e-01 -7.33498724e-03 2.09244804e+01] [ 1.82243777e-02 1.13258452e-04 9.99833916e-01 5.89690715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8592541539999 meters 0.016404222396248107 Centerline is valid? [True, True] Translation: X:853.33, Y:20.94, Z:5.90 [[ 9.17392734e-01 -3.97623146e-01 -1.69235147e-02 8.53325884e+02] [ 3.97553428e-01 9.17548812e-01 -7.44640848e-03 2.09350509e+01] [ 1.84890152e-02 1.03279763e-04 9.99829058e-01 5.89651939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8892541539999 meters 0.01587738422313939 Centerline is valid? [True, True] Translation: X:853.35, Y:20.95, Z:5.90 [[ 9.17258956e-01 -3.97934098e-01 -1.68659724e-02 8.53351978e+02] [ 3.97864798e-01 9.17413998e-01 -7.42695014e-03 2.09461128e+01] [ 1.84285159e-02 1.02059831e-04 9.99830175e-01 5.89692384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9192541539999 meters 0.015184493674883445 Centerline is valid? [True, True] Translation: X:853.38, Y:20.96, Z:5.90 [[ 9.17394658e-01 -3.97645505e-01 -1.62816646e-02 8.53377163e+02] [ 3.97580799e-01 9.17539122e-01 -7.17411886e-03 2.09568188e+01] [ 1.77918204e-02 1.08221086e-04 9.99841707e-01 5.89751046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9492541539998 meters 0.016561719509248896 Centerline is valid? [True, True] Translation: X:853.40, Y:20.97, Z:5.90 [[ 9.17542631e-01 -3.97286067e-01 -1.67122906e-02 8.53403128e+02] [ 3.97217774e-01 9.17694811e-01 -7.36706564e-03 2.09682493e+01] [ 1.82636149e-02 1.21177892e-04 9.99833199e-01 5.89699018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9792541539999 meters 0.015301871201456967 Centerline is valid? [True, True] Translation: X:853.43, Y:20.98, Z:5.90 [[ 9.18209384e-01 -3.95763928e-01 -1.61999938e-02 8.53429780e+02] [ 3.95699451e-01 9.18352269e-01 -7.14521846e-03 2.09799745e+01] [ 1.77051208e-02 1.50478004e-04 9.99843241e-01 5.89862422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0092541539999 meters 0.01414495132431086 Centerline is valid? [True, True] Translation: X:853.46, Y:20.99, Z:5.90 [[ 9.18692534e-01 -3.94663774e-01 -1.56375624e-02 8.53455661e+02] [ 3.94603480e-01 9.18825597e-01 -6.90043983e-03 2.09915762e+01] [ 1.70915463e-02 1.68745996e-04 9.99853915e-01 5.90010214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0392541539999 meters 0.014557145834825818 Centerline is valid? [True, True] Translation: X:853.48, Y:21.00, Z:5.90 [[ 9.19717090e-01 -3.92270071e-01 -1.56417779e-02 8.53480551e+02] [ 3.92209365e-01 9.19850067e-01 -6.90426816e-03 2.10035898e+01] [ 1.70964282e-02 2.15121648e-04 9.99853822e-01 5.89993886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0692541539999 meters 0.014982921678190013 Centerline is valid? [True, True] Translation: X:853.51, Y:21.02, Z:5.90 [[ 9.20241758e-01 -3.91036394e-01 -1.56730743e-02 8.53505334e+02] [ 3.90975237e-01 9.20375185e-01 -6.91974726e-03 2.10155179e+01] [ 1.71309817e-02 2.40056428e-04 9.99853225e-01 5.89929034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0992541539999 meters 0.016335086914821183 Centerline is valid? [True, True] Translation: X:853.53, Y:21.03, Z:5.90 [[ 9.20816728e-01 -3.89612977e-01 -1.72708363e-02 8.53532134e+02] [ 3.89538386e-01 9.20978632e-01 -7.62929783e-03 2.10263253e+01] [ 1.88785446e-02 2.97531375e-04 9.99821740e-01 5.89833483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1292541539999 meters 0.01549629371999744 Centerline is valid? [True, True] Translation: X:853.56, Y:21.04, Z:5.90 [[ 9.21115190e-01 -3.88930723e-01 -1.67242276e-02 8.53556952e+02] [ 3.88860600e-01 9.21266954e-01 -7.39146487e-03 2.10383123e+01] [ 1.82822460e-02 3.04997394e-04 9.99832819e-01 5.89888094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1592541539999 meters 0.01606688698414724 Centerline is valid? [True, True] Translation: X:853.58, Y:21.05, Z:5.90 [[ 9.21016636e-01 -3.89157302e-01 -1.68805027e-02 8.53583726e+02] [ 3.89085814e-01 9.21171265e-01 -7.46526149e-03 2.10476856e+01] [ 1.84549951e-02 3.07665882e-04 9.99829645e-01 5.89936293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1892541539999 meters 0.01582507420096065 Centerline is valid? [True, True] Translation: X:853.61, Y:21.06, Z:5.90 [[ 9.20580201e-01 -3.90217545e-01 -1.61975311e-02 8.53610589e+02] [ 3.90151798e-01 9.20722645e-01 -7.16834097e-03 2.10579982e+01] [ 1.77106461e-02 2.79536886e-04 9.99843115e-01 5.90023843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2192541539998 meters 0.016922220241254792 Centerline is valid? [True, True] Translation: X:853.64, Y:21.07, Z:5.90 [[ 9.19348988e-01 -3.93133812e-01 -1.55963092e-02 8.53636931e+02] [ 3.93073217e-01 9.19481244e-01 -6.90559540e-03 2.10663444e+01] [ 1.70553369e-02 2.18160695e-04 9.99854523e-01 5.89967367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2492541539999 meters 0.014298863091844985 Centerline is valid? [True, True] Translation: X:853.66, Y:21.08, Z:5.90 [[ 9.18659700e-01 -3.94780560e-01 -1.45830312e-02 8.53664478e+02] [ 3.94727736e-01 9.18775423e-01 -6.46038892e-03 2.10758019e+01] [ 1.59489666e-02 1.78572039e-04 9.99872791e-01 5.90222399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2792541539999 meters 0.015180748942088653 Centerline is valid? [True, True] Translation: X:853.69, Y:21.08, Z:5.90 [[ 9.16648274e-01 -3.99407774e-01 -1.51450302e-02 8.53691856e+02] [ 3.99351381e-01 9.16773374e-01 -6.71229969e-03 2.10830480e+01] [ 1.65655051e-02 1.04629188e-04 9.99862777e-01 5.90118194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3092541539999 meters 0.013803860172001872 Centerline is valid? [True, True] Translation: X:853.72, Y:21.09, Z:5.90 [[ 9.15732901e-01 -4.01531001e-01 -1.43564776e-02 8.53719316e+02] [ 4.01480541e-01 9.15845429e-01 -6.36589241e-03 2.10924702e+01] [ 1.57044175e-02 6.56107441e-05 9.99876676e-01 5.90315282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3392541539998 meters 0.016909841562363578 Centerline is valid? [True, True] Translation: X:853.75, Y:21.10, Z:5.90 [[ 9.14689571e-01 -4.03851326e-01 -1.57192505e-02 8.53745376e+02] [ 4.03791119e-01 9.14824631e-01 -6.97328239e-03 2.11019388e+01] [ 1.71965269e-02 3.10949143e-05 9.99852128e-01 5.90051362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3692541539999 meters 0.013725184261806562 Centerline is valid? [True, True] Translation: X:853.77, Y:21.11, Z:5.90 [[ 9.13305196e-01 -4.07042486e-01 -1.37852768e-02 8.53773343e+02] [ 4.06996503e-01 9.13409226e-01 -6.11818457e-03 2.11096685e+01] [ 1.50819601e-02 -2.27897157e-05 9.99886261e-01 5.90339905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3992541539999 meters 0.01650458495765391 Centerline is valid? [True, True] Translation: X:853.80, Y:21.12, Z:5.90 [[ 9.12379615e-01 -4.09056525e-01 -1.53686955e-02 8.53800706e+02] [ 4.08999576e-01 9.12509044e-01 -6.82576991e-03 2.11198844e+01] [ 1.68161993e-02 -5.80966044e-05 9.99858596e-01 5.90156296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4292541539999 meters 0.01672805978911205 Centerline is valid? [True, True] Translation: X:853.83, Y:21.13, Z:5.90 [[ 9.11381699e-01 -4.11271916e-01 -1.54534632e-02 8.53827334e+02] [ 4.11214606e-01 9.11512700e-01 -6.86629160e-03 2.11282310e+01] [ 1.69099409e-02 -9.68772804e-05 9.99857012e-01 5.90098408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4592541539998 meters 0.014515094452664929 Centerline is valid? [True, True] Translation: X:853.85, Y:21.14, Z:5.90 [[ 9.11095897e-01 -4.11945037e-01 -1.43371367e-02 8.53853824e+02] [ 4.11895740e-01 9.11208690e-01 -6.37360849e-03 2.11386904e+01] [ 1.56897000e-02 -9.84369963e-05 9.99876904e-01 5.90280761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4892541539999 meters 0.016674628251672124 Centerline is valid? [True, True] Translation: X:853.88, Y:21.15, Z:5.90 [[ 9.10355234e-01 -4.13543520e-01 -1.53331643e-02 8.53879993e+02] [ 4.13487307e-01 9.10484344e-01 -6.81962030e-03 2.11477031e+01] [ 1.67808158e-02 -1.31791774e-04 9.99859184e-01 5.90047459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5192541539999 meters 0.015741401531089067 Centerline is valid? [True, True] Translation: X:853.91, Y:21.16, Z:5.90 [[ 9.09982379e-01 -4.14379807e-01 -1.48810604e-02 8.53905459e+02] [ 4.14326913e-01 9.10104036e-01 -6.62214438e-03 2.11583561e+01] [ 1.62873961e-02 -1.39589141e-04 9.99867342e-01 5.90210987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5492541539999 meters 0.017537884756360242 Centerline is valid? [True, True] Translation: X:853.93, Y:21.17, Z:5.90 [[ 9.09493980e-01 -4.15432136e-01 -1.53896319e-02 8.53931475e+02] [ 4.15375661e-01 9.09624161e-01 -6.85169764e-03 2.11682439e+01] [ 1.68451964e-02 -1.60900761e-04 9.99858097e-01 5.90075797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5792541539998 meters 0.014678083181960518 Centerline is valid? [True, True] Translation: X:853.96, Y:21.18, Z:5.90 [[ 9.09017773e-01 -4.16512696e-01 -1.42780488e-02 8.53957482e+02] [ 4.16464190e-01 9.09129884e-01 -6.35859581e-03 2.11767116e+01] [ 1.56290367e-02 -1.66219420e-04 9.99877845e-01 5.90329047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6092541539999 meters 0.014806867221783666 Centerline is valid? [True, True] Translation: X:853.98, Y:21.19, Z:5.90 [[ 9.08761429e-01 -4.17079055e-01 -1.40615577e-02 8.53983519e+02] [ 4.17032023e-01 9.08870196e-01 -6.26565741e-03 2.11872478e+01] [ 1.53934051e-02 -1.70132058e-04 9.99881500e-01 5.90343706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6392541539999 meters 0.014558088845805854 Centerline is valid? [True, True] Translation: X:854.01, Y:21.20, Z:5.90 [[ 9.08726950e-01 -4.17174932e-01 -1.34315489e-02 8.54008869e+02] [ 4.17131966e-01 9.08826194e-01 -5.98936125e-03 2.11989182e+01] [ 1.47055549e-02 -1.60034435e-04 9.99891855e-01 5.90400027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6692541539999 meters 0.015350015521244296 Centerline is valid? [True, True] Translation: X:854.03, Y:21.21, Z:5.90 [[ 9.08772456e-01 -4.17086450e-01 -1.30964484e-02 8.54033633e+02] [ 4.17045547e-01 9.08866806e-01 -5.84304234e-03 2.12102897e+01] [ 1.43399810e-02 -1.51819558e-04 9.99897166e-01 5.90323024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6992541539998 meters 0.015350015521244296 Centerline is valid? [True, True] Translation: X:854.06, Y:21.22, Z:5.90 [[ 9.08655797e-01 -4.17340578e-01 -1.30952552e-02 8.54058801e+02] [ 4.17299663e-01 9.08750141e-01 -5.84571566e-03 2.12216085e+01] [ 1.43399693e-02 -1.52902153e-04 9.99897166e-01 5.90342111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7292541539999 meters 0.01608515397592566 Centerline is valid? [True, True] Translation: X:854.08, Y:21.24, Z:5.90 [[ 9.09342045e-01 -4.15858310e-01 -1.26060202e-02 8.54084310e+02] [ 4.15820199e-01 9.09429410e-01 -5.63122509e-03 2.12352857e+01] [ 1.38060773e-02 -1.21128103e-04 9.99904684e-01 5.90278286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7592541539999 meters 0.014009381721226117 Centerline is valid? [True, True] Translation: X:854.11, Y:21.25, Z:5.90 [[ 9.09999649e-01 -4.14447892e-01 -1.15577987e-02 8.54110604e+02] [ 4.14415702e-01 9.10073039e-01 -5.16616303e-03 2.12484543e+01] [ 1.26595464e-02 -8.85267104e-05 9.99919861e-01 5.90457527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7892541539999 meters 0.013663377580433433 Centerline is valid? [True, True] Translation: X:854.13, Y:21.26, Z:5.90 [[ 9.11553211e-01 -4.11018430e-01 -1.16015021e-02 8.54134992e+02] [ 4.10985684e-01 9.11627034e-01 -5.18832606e-03 2.12619257e+01] [ 1.27087406e-02 -3.86160104e-05 9.99919240e-01 5.90462340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8192541539999 meters 0.014492492670977887 Centerline is valid? [True, True] Translation: X:854.16, Y:21.27, Z:5.90 [[ 9.12127702e-01 -4.09741427e-01 -1.16197296e-02 8.54159867e+02] [ 4.09708438e-01 9.12201712e-01 -5.19933105e-03 2.12744381e+01] [ 1.27299185e-02 -1.82473699e-05 9.99918971e-01 5.90406203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8492541539999 meters 0.01358461824787506 Centerline is valid? [True, True] Translation: X:854.18, Y:21.29, Z:5.91 [[ 9.12982153e-01 -4.07834468e-01 -1.16032112e-02 8.54183647e+02] [ 4.07801380e-01 9.13055884e-01 -5.19492702e-03 2.12863371e+01] [ 1.27130505e-02 1.10701233e-05 9.99919186e-01 5.90521782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8792541539999 meters 0.013781413163237527 Centerline is valid? [True, True] Translation: X:854.21, Y:21.30, Z:5.91 [[ 9.14601881e-01 -4.04187496e-01 -1.16562358e-02 8.54209013e+02] [ 4.04153777e-01 9.14676152e-01 -5.22121539e-03 2.13016156e+01] [ 1.27720309e-02 6.44217021e-05 9.99918432e-01 5.90504533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9092541539999 meters 0.014751342908190499 Centerline is valid? [True, True] Translation: X:854.23, Y:21.32, Z:5.90 [[ 9.15420956e-01 -4.02320689e-01 -1.19388839e-02 8.54234666e+02] [ 4.02285108e-01 9.15498801e-01 -5.35143073e-03 2.13154204e+01] [ 1.30830252e-02 9.59766159e-05 9.99914409e-01 5.90394787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9392541539999 meters 0.016185922712939973 Centerline is valid? [True, True] Translation: X:854.26, Y:21.33, Z:5.90 [[ 9.17153376e-01 -3.98326361e-01 -1.28761755e-02 8.54258263e+02] [ 3.98284536e-01 9.17243742e-01 -5.77462784e-03 2.13302561e+01] [ 1.41107779e-02 1.67837851e-04 9.99900424e-01 5.90195985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9692541539998 meters 0.015592848213051753 Centerline is valid? [True, True] Translation: X:854.28, Y:21.34, Z:5.90 [[ 9.17887514e-01 -3.96647246e-01 -1.23884348e-02 8.54283769e+02] [ 3.96608339e-01 9.17971092e-01 -5.55866091e-03 2.13433217e+01] [ 1.35770526e-02 1.88868881e-04 9.99907810e-01 5.90239810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9992541539999 meters 0.016288717014888633 Centerline is valid? [True, True] Translation: X:854.31, Y:21.36, Z:5.90 [[ 9.19418631e-01 -3.93085591e-01 -1.23733115e-02 8.54307553e+02] [ 3.93046420e-01 9.19501854e-01 -5.55452455e-03 2.13573195e+01] [ 1.35606864e-02 2.43647592e-04 9.99908020e-01 5.90240907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0292541539999 meters 0.016400133375442865 Centerline is valid? [True, True] Translation: X:854.33, Y:21.37, Z:5.90 [[ 9.19900642e-01 -3.91961196e-01 -1.22159686e-02 8.54333904e+02] [ 3.91922882e-01 9.19981714e-01 -5.48640323e-03 2.13702864e+01] [ 1.33889249e-02 2.59228240e-04 9.99910331e-01 5.90292822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0592541539999 meters 0.016032263236776575 Centerline is valid? [True, True] Translation: X:854.36, Y:21.38, Z:5.90 [[ 9.20309878e-01 -3.90998126e-01 -1.22553139e-02 8.54360174e+02] [ 3.90959447e-01 9.20391432e-01 -5.50656541e-03 2.13811068e+01] [ 1.34327427e-02 2.76415787e-04 9.99909738e-01 5.90358152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0892541539998 meters 0.017997870165981956 Centerline is valid? [True, True] Translation: X:854.39, Y:21.39, Z:5.90 [[ 9.20594930e-01 -3.90317209e-01 -1.25479731e-02 8.54385310e+02] [ 3.90276577e-01 9.20680395e-01 -5.63942889e-03 2.13930316e+01] [ 1.37538390e-02 2.94449638e-04 9.99905368e-01 5.90161046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1192541539999 meters 0.017154594114892337 Centerline is valid? [True, True] Translation: X:854.41, Y:21.40, Z:5.90 [[ 9.20193367e-01 -3.91272241e-01 -1.22556589e-02 8.54411735e+02] [ 3.91233533e-01 9.20274936e-01 -5.51045387e-03 2.14035070e+01] [ 1.34346634e-02 2.75858362e-04 9.99909713e-01 5.90308636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1492541539999 meters 0.016883774812154254 Centerline is valid? [True, True] Translation: X:854.44, Y:21.41, Z:5.90 [[ 9.19611575e-01 -3.92646083e-01 -1.19834783e-02 8.54438876e+02] [ 3.92609148e-01 9.19689616e-01 -5.39148882e-03 2.14140296e+01] [ 1.31380275e-02 2.53252335e-04 9.99913660e-01 5.90335024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1792541539999 meters 0.016105413261480513 Centerline is valid? [True, True] Translation: X:854.47, Y:21.42, Z:5.90 [[ 9.18238239e-01 -3.95863257e-01 -1.14375896e-02 8.54465970e+02] [ 3.95829831e-01 9.18309448e-01 -5.14811064e-03 2.14216120e+01] [ 1.25411944e-02 1.99852887e-04 9.99921336e-01 5.90370049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2092541539998 meters 0.01472559448384943 Centerline is valid? [True, True] Translation: X:854.49, Y:21.43, Z:5.90 [[ 9.17214440e-01 -3.98238336e-01 -1.11309802e-02 8.54494354e+02] [ 3.98206827e-01 9.17281964e-01 -5.01217149e-03 2.14291534e+01] [ 1.22062862e-02 1.64803742e-04 9.99925487e-01 5.90484212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2392541539999 meters 0.0167112158854201 Centerline is valid? [True, True] Translation: X:854.52, Y:21.44, Z:5.90 [[ 9.15088259e-01 -4.03111945e-01 -1.06882367e-02 8.54521654e+02] [ 4.03083188e-01 9.15150671e-01 -4.81594006e-03 2.14377938e+01] [ 1.17227100e-02 9.87616681e-05 9.99931282e-01 5.90196246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2692541539999 meters 0.014002099756185797 Centerline is valid? [True, True] Translation: X:854.55, Y:21.45, Z:5.90 [[ 9.14255294e-01 -4.04999270e-01 -1.06230466e-02 8.54549819e+02] [ 4.04970954e-01 9.14317005e-01 -4.78969786e-03 2.14465456e+01] [ 1.16526562e-02 7.69813260e-05 9.99932103e-01 5.90486637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2992541539999 meters 0.01375822598739685 Centerline is valid? [True, True] Translation: X:854.58, Y:21.46, Z:5.90 [[ 9.13225085e-01 -4.07321837e-01 -1.04338189e-02 8.54577111e+02] [ 4.07294637e-01 9.13284687e-01 -4.70739500e-03 2.14557283e+01] [ 1.14464718e-02 4.92727261e-05 9.99934486e-01 5.90487149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3292541539998 meters 0.01592070536348607 Centerline is valid? [True, True] Translation: X:854.60, Y:21.46, Z:5.90 [[ 9.11271351e-01 -4.11675444e-01 -1.03852208e-02 8.54604340e+02] [ 4.11648742e-01 9.11330527e-01 -4.68873563e-03 2.14627600e+01] [ 1.13946060e-02 -2.35262063e-06 9.99935079e-01 5.90325151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3592541539999 meters 0.013631292347683082 Centerline is valid? [True, True] Translation: X:854.63, Y:21.47, Z:5.91 [[ 9.10679382e-01 -4.12985825e-01 -1.02844983e-02 8.54630098e+02] [ 4.12959691e-01 9.10737453e-01 -4.64606256e-03 2.14721626e+01] [ 1.12852358e-02 -1.60098561e-05 9.99936320e-01 5.90509348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3892541539999 meters 0.013648974712435034 Centerline is valid? [True, True] Translation: X:854.66, Y:21.48, Z:5.91 [[ 9.09280463e-01 -4.16066272e-01 -9.89430071e-03 8.54656902e+02] [ 4.16042242e-01 9.09334292e-01 -4.47195723e-03 2.14809105e+01] [ 1.08578575e-02 -5.01837113e-05 9.99941050e-01 5.90576121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4192541539999 meters 0.015183777300949126 Centerline is valid? [True, True] Translation: X:854.68, Y:21.49, Z:5.90 [[ 9.08567406e-01 -4.17621932e-01 -9.85851722e-03 8.54683074e+02] [ 4.17598129e-01 9.08620888e-01 -4.45918584e-03 2.14915575e+01] [ 1.08199085e-02 -6.54274340e-05 9.99941461e-01 5.90446546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4492541539998 meters 0.015141315640531361 Centerline is valid? [True, True] Translation: X:854.71, Y:21.50, Z:5.90 [[ 9.08016005e-01 -4.18825537e-01 -9.59711112e-03 8.54708616e+02] [ 4.18803013e-01 9.08066718e-01 -4.34420652e-03 2.15023656e+01] [ 1.05342818e-02 -7.46900056e-05 9.99944510e-01 5.90444717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4792541539999 meters 0.015589160993361648 Centerline is valid? [True, True] Translation: X:854.73, Y:21.51, Z:5.90 [[ 9.07812651e-01 -4.19259369e-01 -9.88795523e-03 8.54734034e+02] [ 4.19235447e-01 9.07866496e-01 -4.47938926e-03 2.15139869e+01] [ 1.08549692e-02 -7.89350854e-05 9.99941080e-01 5.90395671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5092541539999 meters 0.013663727612991033 Centerline is valid? [True, True] Translation: X:854.76, Y:21.53, Z:5.91 [[ 9.07845757e-01 -4.19181970e-01 -1.01271015e-02 8.54759731e+02] [ 4.19156831e-01 9.07902236e-01 -4.59134019e-03 2.15256632e+01] [ 1.11190251e-02 -7.66150761e-05 9.99938179e-01 5.90516903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5392541539999 meters 0.016451790148758215 Centerline is valid? [True, True] Translation: X:854.78, Y:21.54, Z:5.90 [[ 9.07359754e-01 -4.20204885e-01 -1.12308025e-02 8.54784857e+02] [ 4.20174010e-01 9.07429251e-01 -5.09471061e-03 2.15372398e+01] [ 1.23319810e-02 -9.61559534e-05 9.99923954e-01 5.90162291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5692541539999 meters 0.014123671493952817 Centerline is valid? [True, True] Translation: X:854.81, Y:21.55, Z:5.90 [[ 9.07391036e-01 -4.20122040e-01 -1.17889215e-02 8.54809519e+02] [ 4.20087993e-01 9.07467609e-01 -5.34942403e-03 2.15484069e+01] [ 1.29454754e-02 -9.83649588e-05 9.99916199e-01 5.90343694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5992541539999 meters 0.014872599509620095 Centerline is valid? [True, True] Translation: X:854.84, Y:21.56, Z:5.90 [[ 9.06788655e-01 -4.21421564e-01 -1.17558546e-02 8.54835765e+02] [ 4.21387783e-01 9.06864848e-01 -5.33699506e-03 2.15610348e+01] [ 1.29100961e-02 -1.14246949e-04 9.99916655e-01 5.90320174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6292541539999 meters 0.013800703715850644 Centerline is valid? [True, True] Translation: X:854.86, Y:21.57, Z:5.90 [[ 9.06613860e-01 -4.21805404e-01 -1.14678007e-02 8.54860300e+02] [ 4.21773257e-01 9.06686378e-01 -5.20885010e-03 2.15720171e+01] [ 1.25948198e-02 -1.14395951e-04 9.99920676e-01 5.90490259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6592541539999 meters 0.016082001561689593 Centerline is valid? [True, True] Translation: X:854.89, Y:21.58, Z:5.90 [[ 9.05889127e-01 -4.23382708e-01 -1.05816864e-02 8.54886456e+02] [ 4.23355420e-01 9.05950919e-01 -4.80851919e-03 2.15846136e+01] [ 1.16223324e-02 -1.23829030e-04 9.99932451e-01 5.90444580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6892541539999 meters 0.013846378194055998 Centerline is valid? [True, True] Translation: X:854.91, Y:21.60, Z:5.91 [[ 9.05893812e-01 -4.23387216e-01 -9.98327014e-03 8.54911606e+02] [ 4.23362894e-01 9.05948813e-01 -4.53963442e-03 2.15965364e+01] [ 1.09663549e-02 -1.14119405e-04 9.99939861e-01 5.90765422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7192541539998 meters 0.013691708779282904 Centerline is valid? [True, True] Translation: X:854.94, Y:21.61, Z:5.91 [[ 9.06446791e-01 -4.22211310e-01 -9.58250734e-03 8.54935737e+02] [ 4.22188810e-01 9.06497436e-01 -4.35981196e-03 2.16107303e+01] [ 1.05272803e-02 -9.36898146e-05 9.99944582e-01 5.90814160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7492541539999 meters 0.01357992519422717 Centerline is valid? [True, True] Translation: X:854.96, Y:21.62, Z:5.91 [[ 9.06709081e-01 -4.21641063e-01 -9.87206515e-03 8.54960816e+02] [ 4.21617128e-01 9.06762817e-01 -4.49344238e-03 2.16244218e+01] [ 1.08462414e-02 -8.79867442e-05 9.99941174e-01 5.90777137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7792541539999 meters 0.015097633842550095 Centerline is valid? [True, True] Translation: X:854.99, Y:21.64, Z:5.91 [[ 9.07331091e-01 -4.20265962e-01 -1.12610733e-02 8.54985197e+02] [ 4.20234663e-01 9.07400967e-01 -5.12965497e-03 2.16399114e+01] [ 1.23741281e-02 -7.79978837e-05 9.99923435e-01 5.90504310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8092541539999 meters 0.01486886597463003 Centerline is valid? [True, True] Translation: X:855.01, Y:21.65, Z:5.90 [[ 9.07831755e-01 -4.19155083e-01 -1.22686583e-02 8.55009866e+02] [ 4.19117774e-01 9.07914650e-01 -5.59277772e-03 2.16535504e+01] [ 1.34831358e-02 -6.47115450e-05 9.99909096e-01 5.90458431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8392541539998 meters 0.014994346094953283 Centerline is valid? [True, True] Translation: X:855.03, Y:21.67, Z:5.90 [[ 9.09085992e-01 -4.16384154e-01 -1.36709794e-02 8.55033740e+02] [ 4.16337443e-01 9.09188779e-01 -6.23682384e-03 2.16693475e+01] [ 1.50264157e-02 -2.19314200e-05 9.99887097e-01 5.90314717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8692541539999 meters 0.013035022741518453 Centerline is valid? [True, True] Translation: X:855.06, Y:21.69, Z:5.91 [[ 9.10641634e-01 -4.12952437e-01 -1.42161365e-02 8.55057781e+02] [ 4.12901437e-01 9.10752592e-01 -6.48999273e-03 2.16853921e+01] [ 1.56274415e-02 4.01944132e-05 9.99877883e-01 5.90500659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8992541539999 meters 0.013015285266174289 Centerline is valid? [True, True] Translation: X:855.08, Y:21.70, Z:5.91 [[ 9.11336451e-01 -4.11408047e-01 -1.44669012e-02 8.55082805e+02] [ 4.11354968e-01 9.11451268e-01 -6.60880400e-03 2.16991702e+01] [ 1.59047906e-02 7.18123168e-05 9.99873508e-01 5.90600777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9292541539999 meters 0.013238234602822568 Centerline is valid? [True, True] Translation: X:855.11, Y:21.71, Z:5.91 [[ 9.12030816e-01 -4.09871227e-01 -1.43306900e-02 8.55107334e+02] [ 4.09818910e-01 9.12143392e-01 -6.54933281e-03 2.17133003e+01] [ 1.57560272e-02 1.00205600e-04 9.99875861e-01 5.90578334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9592541539998 meters 0.013360306723051305 Centerline is valid? [True, True] Translation: X:855.13, Y:21.73, Z:5.91 [[ 9.12729232e-01 -4.08327938e-01 -1.39155970e-02 8.55133180e+02] [ 4.08278384e-01 9.12835297e-01 -6.36258247e-03 2.17274339e+01] [ 1.53006683e-02 1.25877549e-04 9.99882930e-01 5.90639719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9892541539999 meters 0.01388296905765416 Centerline is valid? [True, True] Translation: X:855.16, Y:21.74, Z:5.91 [[ 9.13326173e-01 -4.06995707e-01 -1.37766659e-02 8.55157279e+02] [ 4.06946945e-01 9.13430059e-01 -6.30174037e-03 2.17417410e+01] [ 1.51488020e-02 1.49172330e-04 9.99885239e-01 5.90588598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0192541539999 meters 0.017452037568471305 Centerline is valid? [True, True] Translation: X:855.18, Y:21.76, Z:5.90 [[ 9.14119725e-01 -4.05190348e-01 -1.43495686e-02 8.55183199e+02] [ 4.05137174e-01 9.14232326e-01 -6.56687579e-03 2.17555061e+01] [ 1.57796742e-02 1.89367012e-04 9.99875475e-01 5.90387555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0492541539999 meters 0.01521565320521253 Centerline is valid? [True, True] Translation: X:855.21, Y:21.77, Z:5.91 [[ 9.15390620e-01 -4.02350509e-01 -1.31939637e-02 8.55206615e+02] [ 4.02305225e-01 9.15485674e-01 -6.04046019e-03 2.17703659e+01] [ 1.45092669e-02 2.21380090e-04 9.99894711e-01 5.90731349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0792541539998 meters 0.015514417137317025 Centerline is valid? [True, True] Translation: X:855.23, Y:21.78, Z:5.91 [[ 9.15647744e-01 -4.01766757e-01 -1.31408061e-02 8.55232021e+02] [ 4.01721740e-01 9.15742004e-01 -6.01870377e-03 2.17832216e+01] [ 1.44517032e-02 2.32065023e-04 9.99895542e-01 5.90748076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1092541539999 meters 0.014538750277681044 Centerline is valid? [True, True] Translation: X:855.26, Y:21.79, Z:5.91 [[ 9.15732733e-01 -4.01577297e-01 -1.30090715e-02 8.55258686e+02] [ 4.01533100e-01 9.15825103e-01 -5.96247710e-03 2.17932738e+01] [ 1.43084297e-02 2.36462625e-04 9.99897601e-01 5.90913447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1392541539999 meters 0.01603254048856607 Centerline is valid? [True, True] Translation: X:855.28, Y:21.81, Z:5.91 [[ 9.15691027e-01 -4.01702328e-01 -1.20491713e-02 8.55284577e+02] [ 4.01664370e-01 9.15770272e-01 -5.52660188e-03 2.18051884e+01] [ 1.32543217e-02 2.20936953e-04 9.99912133e-01 5.90884286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1692541539999 meters 0.014922580105453252 Centerline is valid? [True, True] Translation: X:855.31, Y:21.82, Z:5.91 [[ 9.16027051e-01 -4.00970061e-01 -1.08375288e-02 8.55309654e+02] [ 4.00939272e-01 9.16091134e-01 -4.97335208e-03 2.18175680e+01] [ 1.19223294e-02 2.10534120e-04 9.99928904e-01 5.91136308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1992541539998 meters 0.014654182147958479 Centerline is valid? [True, True] Translation: X:855.34, Y:21.83, Z:5.91 [[ 9.15973049e-01 -4.01096413e-01 -1.07257052e-02 8.55335564e+02] [ 4.01066238e-01 9.16035820e-01 -4.92427613e-03 2.18288527e+01] [ 1.18002397e-02 2.08785981e-04 9.99930353e-01 5.91145436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2292541539999 meters 0.01687337049876072 Centerline is valid? [True, True] Translation: X:855.36, Y:21.84, Z:5.91 [[ 9.16066016e-01 -4.00839307e-01 -1.22843307e-02 8.55361384e+02] [ 4.00799643e-01 9.16148344e-01 -5.64424021e-03 2.18412532e+01] [ 1.35167026e-02 2.46941290e-04 9.99908615e-01 5.90811471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2592541539999 meters 0.015221800122719177 Centerline is valid? [True, True] Translation: X:855.39, Y:21.85, Z:5.91 [[ 9.16342447e-01 -4.00182826e-01 -1.30470480e-02 8.55386439e+02] [ 4.00137976e-01 9.16435284e-01 -5.99747570e-03 2.18538206e+01] [ 1.43568620e-02 2.75122164e-04 9.99896897e-01 5.90914292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2892541539999 meters 0.015307051878713692 Centerline is valid? [True, True] Translation: X:855.41, Y:21.87, Z:5.91 [[ 9.16334282e-01 -4.00171908e-01 -1.39257589e-02 8.55412379e+02] [ 4.00120766e-01 9.16440045e-01 -6.40443580e-03 2.18660512e+01] [ 1.53249984e-02 2.96618763e-04 9.99882521e-01 5.90807564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3192541539999 meters 0.018235202956704687 Centerline is valid? [True, True] Translation: X:855.44, Y:21.88, Z:5.90 [[ 9.15864796e-01 -4.01172249e-01 -1.58903349e-02 8.55438634e+02] [ 4.01105712e-01 9.16002577e-01 -7.31342812e-03 2.18772864e+01] [ 1.74895321e-02 3.24407271e-04 9.99846994e-01 5.90427222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3492541539999 meters 0.01685818423230488 Centerline is valid? [True, True] Translation: X:855.46, Y:21.89, Z:5.91 [[ 9.15617086e-01 -4.01751564e-01 -1.55252296e-02 8.55464504e+02] [ 4.01688042e-01 9.15748647e-01 -7.15077310e-03 2.18875277e+01] [ 1.70900423e-02 3.11070959e-04 9.99853906e-01 5.90534013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3792541539999 meters 0.014899958359018852 Centerline is valid? [True, True] Translation: X:855.49, Y:21.90, Z:5.91 [[ 9.15275397e-01 -4.02571473e-01 -1.43929555e-02 8.55490729e+02] [ 4.02516933e-01 9.15388515e-01 -6.63219974e-03 2.18977350e+01] [ 1.58450805e-02 2.76880970e-04 9.99874420e-01 5.90820522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4092541539999 meters 0.01456573018810281 Centerline is valid? [True, True] Translation: X:855.52, Y:21.91, Z:5.91 [[ 9.14794614e-01 -4.03678710e-01 -1.39396270e-02 8.55518086e+02] [ 4.03627637e-01 9.14900779e-01 -6.42613804e-03 2.19085618e+01] [ 1.53474707e-02 2.52177757e-04 9.99882189e-01 5.90870968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4392541539999 meters 0.017706920592836656 Centerline is valid? [True, True] Translation: X:855.55, Y:21.92, Z:5.91 [[ 9.13919634e-01 -4.05621199e-01 -1.49112544e-02 8.55545564e+02] [ 4.05562941e-01 9.14041238e-01 -6.87861299e-03 2.19182411e+01] [ 1.64196127e-02 2.39047272e-04 9.99865160e-01 5.90641463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4692541539998 meters 0.014201363163146677 Centerline is valid? [True, True] Translation: X:855.57, Y:21.93, Z:5.91 [[ 9.13840250e-01 -4.05860462e-01 -1.31637268e-02 8.55571547e+02] [ 4.05815043e-01 9.13935031e-01 -6.07530003e-03 2.19291498e+01] [ 1.44965152e-02 2.09815321e-04 9.99894898e-01 5.90961921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4992541539999 meters 0.015953204032742595 Centerline is valid? [True, True] Translation: X:855.60, Y:21.94, Z:5.91 [[ 9.13478851e-01 -4.06657356e-01 -1.36449087e-02 8.55596888e+02] [ 4.06608617e-01 9.13580731e-01 -6.29922867e-03 2.19405622e+01] [ 1.50273534e-02 2.06074697e-04 9.99887062e-01 5.90770187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5292541539999 meters 0.014742064826611832 Centerline is valid? [True, True] Translation: X:855.62, Y:21.95, Z:5.91 [[ 9.13504869e-01 -4.06607020e-01 -1.34009380e-02 8.55623266e+02] [ 4.06559958e-01 9.13603135e-01 -6.18970630e-03 2.19508922e+01] [ 1.47599170e-02 2.06042044e-04 9.99891045e-01 5.90891783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5592541539999 meters 0.015528057653155285 Centerline is valid? [True, True] Translation: X:855.65, Y:21.96, Z:5.91 [[ 9.13606341e-01 -4.06359652e-01 -1.39744902e-02 8.55649777e+02] [ 4.06308374e-01 9.13713184e-01 -6.45922285e-03 2.19625958e+01] [ 1.53934435e-02 2.23234545e-04 9.99881489e-01 5.90848220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5892541539998 meters 0.01487505129743569 Centerline is valid? [True, True] Translation: X:855.68, Y:21.98, Z:5.91 [[ 9.14575012e-01 -4.04159206e-01 -1.44181534e-02 8.55675025e+02] [ 4.04104276e-01 9.14688615e-01 -6.66873879e-03 2.19759638e+01] [ 1.58833529e-02 2.72624421e-04 9.99873814e-01 5.90918361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6192541539999 meters 0.01487505129743569 Centerline is valid? [True, True] Translation: X:855.70, Y:21.99, Z:5.91 [[ 9.14459535e-01 -4.04420485e-01 -1.44163519e-02 8.55700038e+02] [ 4.04365526e-01 9.14573123e-01 -6.67263180e-03 2.19876227e+01] [ 1.58833569e-02 2.72376065e-04 9.99873814e-01 5.90937417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6492541539999 meters 0.015364307384498477 Centerline is valid? [True, True] Translation: X:855.73, Y:22.00, Z:5.91 [[ 9.15112898e-01 -4.02938438e-01 -1.44568054e-02 8.55725206e+02] [ 4.02882929e-01 9.15227034e-01 -6.69485807e-03 2.20007916e+01] [ 1.59288748e-02 3.02150860e-04 9.99873082e-01 5.90908246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6792541539999 meters 0.015623264549841245 Centerline is valid? [True, True] Translation: X:855.75, Y:22.01, Z:5.91 [[ 9.15645236e-01 -4.01718574e-01 -1.46965680e-02 8.55751446e+02] [ 4.01660993e-01 9.15763112e-01 -6.80948777e-03 2.20136956e+01] [ 1.61940726e-02 3.32036921e-04 9.99868812e-01 5.90932604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7092541539998 meters 0.01979283114449375 Centerline is valid? [True, True] Translation: X:855.78, Y:22.03, Z:5.91 [[ 9.16889959e-01 -3.98829093e-01 -1.57530143e-02 8.55775091e+02] [ 3.98762453e-01 9.17025181e-01 -7.30225574e-03 2.20281297e+01] [ 1.73582628e-02 4.13654341e-04 9.99849248e-01 5.90670663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7392541539999 meters 0.017901035526617416 Centerline is valid? [True, True] Translation: X:855.80, Y:22.04, Z:5.91 [[ 9.17680053e-01 -3.97055054e-01 -1.45122060e-02 8.55800047e+02] [ 3.96998251e-01 9.17794701e-01 -6.72870570e-03 2.20417630e+01] [ 1.59908923e-02 4.13478626e-04 9.99872052e-01 5.90939236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7692541539999 meters 0.01890323271401316 Centerline is valid? [True, True] Translation: X:855.83, Y:22.05, Z:5.91 [[ 9.17937006e-01 -3.96410825e-01 -1.58148614e-02 8.55825471e+02] [ 3.96343208e-01 9.18073113e-01 -7.33631310e-03 2.20547701e+01] [ 1.74273930e-02 4.66160384e-04 9.99848023e-01 5.90778455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7992541539999 meters 0.01940152687604964 Centerline is valid? [True, True] Translation: X:855.85, Y:22.07, Z:5.91 [[ 9.17878414e-01 -3.96526370e-01 -1.63111927e-02 8.55851542e+02] [ 3.96454368e-01 9.18023205e-01 -7.57161854e-03 2.20666687e+01] [ 1.79763998e-02 4.83181619e-04 9.99838295e-01 5.90718995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8292541539998 meters 0.01729154724777977 Centerline is valid? [True, True] Translation: X:855.88, Y:22.08, Z:5.91 [[ 9.17685528e-01 -3.97004273e-01 -1.55202845e-02 8.55877010e+02] [ 3.96939104e-01 9.17816649e-01 -7.20734189e-03 2.20790064e+01] [ 1.71061211e-02 4.53465518e-04 9.99853577e-01 5.90902303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8592541539999 meters 0.01985991285194295 Centerline is valid? [True, True] Translation: X:855.90, Y:22.09, Z:5.91 [[ 9.17251042e-01 -3.97966348e-01 -1.65321347e-02 8.55902282e+02] [ 3.97892483e-01 9.17399895e-01 -7.68151798e-03 2.20907515e+01] [ 1.82235643e-02 4.67868256e-04 9.99833828e-01 5.90599509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8892541539999 meters 0.017172003530915893 Centerline is valid? [True, True] Translation: X:855.93, Y:22.10, Z:5.91 [[ 9.16695122e-01 -3.99269897e-01 -1.59249364e-02 8.55927701e+02] [ 3.99201499e-01 9.16833336e-01 -7.40252538e-03 2.21015658e+01] [ 1.75561181e-02 4.28600428e-04 9.99845788e-01 5.90871997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9192541539999 meters 0.017610251202133918 Centerline is valid? [True, True] Translation: X:855.95, Y:22.11, Z:5.91 [[ 9.16181262e-01 -4.00430163e-01 -1.63578742e-02 8.55954552e+02] [ 4.00358114e-01 9.16327183e-01 -7.60747400e-03 2.21131457e+01] [ 1.80354269e-02 4.20817451e-04 9.99837260e-01 5.90749509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9492541539998 meters 0.016841255935911483 Centerline is valid? [True, True] Translation: X:855.98, Y:22.12, Z:5.91 [[ 9.15771495e-01 -4.01374767e-01 -1.61513055e-02 8.55980826e+02] [ 4.01304587e-01 9.15913825e-01 -7.51618479e-03 2.21245410e+01] [ 1.78100109e-02 4.01514810e-04 9.99841309e-01 5.90885435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9792541539999 meters 0.01656363984319158 Centerline is valid? [True, True] Translation: X:856.01, Y:22.13, Z:5.91 [[ 9.15089880e-01 -4.02933862e-01 -1.59629370e-02 8.56006762e+02] [ 4.02865496e-01 9.15229024e-01 -7.43138201e-03 2.21347674e+01] [ 1.76040987e-02 3.69465931e-04 9.99844968e-01 5.90952195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0092541539999 meters 0.01641328079075344 Centerline is valid? [True, True] Translation: X:856.03, Y:22.14, Z:5.91 [[ 9.14668755e-01 -4.03902456e-01 -1.56164749e-02 8.56034316e+02] [ 4.03837107e-01 9.14801993e-01 -7.27357862e-03 2.21446248e+01] [ 1.72237986e-02 3.46403047e-04 9.99851599e-01 5.91047781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0392541539999 meters 0.01656809289982004 Centerline is valid? [True, True] Translation: X:856.06, Y:22.16, Z:5.91 [[ 9.14654860e-01 -4.03959009e-01 -1.49534406e-02 8.56058528e+02] [ 4.03899054e-01 9.14777026e-01 -6.96752820e-03 2.21579604e+01] [ 1.64936598e-02 3.33202998e-04 9.99863915e-01 5.91115349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0692541539999 meters 0.015922915537530426 Centerline is valid? [True, True] Translation: X:856.08, Y:22.17, Z:5.91 [[ 9.14496829e-01 -4.04335601e-01 -1.44316506e-02 8.56084703e+02] [ 4.04279749e-01 9.14610639e-01 -6.72786124e-03 2.21686775e+01] [ 1.59196550e-02 3.18183701e-04 9.99873224e-01 5.91248322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0992541539999 meters 0.017674580881402627 Centerline is valid? [True, True] Translation: X:856.11, Y:22.18, Z:5.91 [[ 9.14418364e-01 -4.04508100e-01 -1.45689232e-02 8.56108220e+02] [ 4.04451147e-01 9.14534359e-01 -6.79527572e-03 2.21824166e+01] [ 1.60725249e-02 3.21307203e-04 9.99870777e-01 5.91095186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1292541539999 meters 0.015624593718099048 Centerline is valid? [True, True] Translation: X:856.13, Y:22.19, Z:5.91 [[ 9.14508862e-01 -4.04324199e-01 -1.39815456e-02 8.56134805e+02] [ 4.04271669e-01 9.14615680e-01 -6.52492631e-03 2.21922522e+01] [ 1.54259265e-02 3.14760140e-04 9.99880964e-01 5.91333334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1592541539999 meters 0.01666288932199022 Centerline is valid? [True, True] Translation: X:856.16, Y:22.20, Z:5.91 [[ 9.14486578e-01 -4.04345322e-01 -1.48039998e-02 8.56160961e+02] [ 4.04286350e-01 9.14606334e-01 -6.91379947e-03 2.22037496e+01] [ 1.63353945e-02 3.37521762e-04 9.99866512e-01 5.91211745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1892541539999 meters 0.017750465975100327 Centerline is valid? [True, True] Translation: X:856.19, Y:22.22, Z:5.91 [[ 9.14468949e-01 -4.04377734e-01 -1.50063124e-02 8.56185540e+02] [ 4.04317094e-01 9.14592002e-01 -7.01128000e-03 2.22167734e+01] [ 1.65598588e-02 3.44289230e-04 9.99862817e-01 5.91115805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2192541539998 meters 0.018281460206073755 Centerline is valid? [True, True] Translation: X:856.21, Y:22.23, Z:5.91 [[ 9.14717304e-01 -4.03808598e-01 -1.51943974e-02 8.56211961e+02] [ 4.03746291e-01 9.14843421e-01 -7.10262243e-03 2.22295444e+01] [ 1.67685945e-02 3.62210065e-04 9.99859332e-01 5.91103244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2492541539999 meters 0.021353069128086873 Centerline is valid? [True, True] Translation: X:856.24, Y:22.25, Z:5.91 [[ 9.15030528e-01 -4.03078077e-01 -1.57224549e-02 8.56235686e+02] [ 4.03011204e-01 9.15165510e-01 -7.35249940e-03 2.22455175e+01] [ 1.73522798e-02 3.91435933e-04 9.99849361e-01 5.90868548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2792541539999 meters 0.01819257774392563 Centerline is valid? [True, True] Translation: X:856.26, Y:22.26, Z:5.91 [[ 9.15573493e-01 -4.01859668e-01 -1.52966281e-02 8.56262751e+02] [ 4.01796140e-01 9.15701175e-01 -7.15681145e-03 2.22556114e+01] [ 1.68831742e-02 4.06460734e-04 9.99857386e-01 5.91195004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3092541539999 meters 0.01954627858933742 Centerline is valid? [True, True] Translation: X:856.29, Y:22.27, Z:5.91 [[ 9.16366403e-01 -3.99986387e-01 -1.68375930e-02 8.56286354e+02] [ 3.99909036e-01 9.16520950e-01 -7.88106343e-03 2.22703185e+01] [ 1.85843248e-02 4.88436173e-04 9.99827177e-01 5.91078201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3392541539998 meters 0.017953175912092657 Centerline is valid? [True, True] Translation: X:856.31, Y:22.28, Z:5.91 [[ 9.16895940e-01 -3.98791111e-01 -1.63549746e-02 8.56312090e+02] [ 3.98717873e-01 9.17041656e-01 -7.65893525e-03 2.22843629e+01] [ 1.80525083e-02 5.01425963e-04 9.99836914e-01 5.91266186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3692541539999 meters 0.01876703644503598 Centerline is valid? [True, True] Translation: X:856.34, Y:22.30, Z:5.91 [[ 9.17781497e-01 -3.96716432e-01 -1.71229535e-02 8.56336213e+02] [ 3.96635732e-01 9.17941037e-01 -8.02178605e-03 2.22994909e+01] [ 1.89002360e-02 5.70671619e-04 9.99821212e-01 5.91190178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3992541539999 meters 0.019564031770901567 Centerline is valid? [True, True] Translation: X:856.36, Y:22.31, Z:5.91 [[ 9.17845707e-01 -3.96535044e-01 -1.78666615e-02 8.56362225e+02] [ 3.96447061e-01 9.18019387e-01 -8.37449900e-03 2.23124755e+01] [ 1.97227240e-02 6.03312509e-04 9.99805306e-01 5.91074554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4292541539999 meters 0.02137512009196923 Centerline is valid? [True, True] Translation: X:856.39, Y:22.33, Z:5.91 [[ 9.18201695e-01 -3.95670027e-01 -1.87316957e-02 8.56386793e+02] [ 3.95573068e-01 9.18392509e-01 -8.78335242e-03 2.23266147e+01] [ 2.06783583e-02 6.55134768e-04 9.99785965e-01 5.90904678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4592541539998 meters 0.019986995360803585 Centerline is valid? [True, True] Translation: X:856.41, Y:22.34, Z:5.91 [[ 9.18241009e-01 -3.95582412e-01 -1.86548735e-02 8.56413567e+02] [ 3.95486135e-01 9.18430248e-01 -8.75190227e-03 2.23377802e+01] [ 2.05952988e-02 6.58611739e-04 9.99787677e-01 5.91047647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4892541539999 meters 0.021429715566124104 Centerline is valid? [True, True] Translation: X:856.44, Y:22.35, Z:5.91 [[ 9.18103986e-01 -3.95880128e-01 -1.90786505e-02 8.56436684e+02] [ 3.95779405e-01 9.18301952e-01 -8.95472978e-03 2.23512355e+01] [ 2.10649616e-02 6.70436165e-04 9.99777884e-01 5.90948445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5192541539999 meters 0.021270540180508266 Centerline is valid? [True, True] Translation: X:856.46, Y:22.36, Z:5.91 [[ 9.17871698e-01 -3.96402365e-01 -1.94090532e-02 8.56463042e+02] [ 3.96298118e-01 9.18076636e-01 -9.11549431e-03 2.23621630e+01] [ 2.14324018e-02 6.75082986e-04 9.99770072e-01 5.90997239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5492541539999 meters 0.02003972673995084 Centerline is valid? [True, True] Translation: X:856.49, Y:22.38, Z:5.91 [[ 9.18035258e-01 -3.96091809e-01 -1.79595139e-02 8.56486998e+02] [ 3.96002427e-01 9.18210693e-01 -8.43808146e-03 2.23757820e+01] [ 1.98328727e-02 6.34445175e-04 9.99803108e-01 5.91240228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5792541539998 meters 0.020249062804600433 Centerline is valid? [True, True] Translation: X:856.51, Y:22.39, Z:5.91 [[ 9.17306517e-01 -3.97771970e-01 -1.80613878e-02 8.56514012e+02] [ 3.97681816e-01 9.17484111e-01 -8.48999409e-03 2.23872774e+01] [ 1.99481180e-02 6.05241415e-04 9.99800833e-01 5.91253695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6092541539999 meters 0.02024070673413691 Centerline is valid? [True, True] Translation: X:856.54, Y:22.40, Z:5.91 [[ 9.17011457e-01 -3.98476139e-01 -1.75144234e-02 8.56539247e+02] [ 3.98391434e-01 9.17178519e-01 -8.23583168e-03 2.23989145e+01] [ 1.93456354e-02 5.74755733e-04 9.99812690e-01 5.91343045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6392541539999 meters 0.01857858342145121 Centerline is valid? [True, True] Translation: X:856.57, Y:22.41, Z:5.92 [[ 9.16652171e-01 -3.99347687e-01 -1.64384370e-02 8.56566309e+02] [ 3.99273143e-01 9.16799405e-01 -7.73361942e-03 2.24100254e+01] [ 1.81591523e-02 5.25612626e-04 9.99834971e-01 5.91616757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6692541539999 meters 0.02026777404852998 Centerline is valid? [True, True] Translation: X:856.59, Y:22.42, Z:5.92 [[ 9.15620811e-01 -4.01742586e-01 -1.55378946e-02 8.56592748e+02] [ 4.01676252e-01 9.15752525e-01 -7.31450368e-03 2.24210013e+01] [ 1.71674138e-02 4.56108516e-04 9.99852525e-01 5.91613817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6992541539998 meters 0.019035628482304043 Centerline is valid? [True, True] Translation: X:856.62, Y:22.43, Z:5.92 [[ 9.14939557e-01 -4.03340074e-01 -1.42264577e-02 8.56619767e+02] [ 4.03284593e-01 9.15050069e-01 -6.70134814e-03 2.24312364e+01] [ 1.57208434e-02 3.94017280e-04 9.99876342e-01 5.91789057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7292541539999 meters 0.01834934143578232 Centerline is valid? [True, True] Translation: X:856.64, Y:22.45, Z:5.92 [[ 9.14773052e-01 -4.03756067e-01 -1.30882506e-02 8.56643575e+02] [ 4.03709114e-01 9.14866608e-01 -6.16777823e-03 2.24450208e+01] [ 1.44642814e-02 3.58271243e-04 9.99895323e-01 5.91928408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7592541539999 meters 0.019610643578998267 Centerline is valid? [True, True] Translation: X:856.67, Y:22.46, Z:5.92 [[ 9.14383240e-01 -4.04609006e-01 -1.39586128e-02 8.56669112e+02] [ 4.04555647e-01 9.14489702e-01 -6.58130436e-03 2.24567511e+01] [ 1.54278627e-02 3.70798764e-04 9.99880915e-01 5.91781997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7892541539999 meters 0.017300948066113576 Centerline is valid? [True, True] Translation: X:856.70, Y:22.47, Z:5.92 [[ 9.14085470e-01 -4.05300719e-01 -1.33820992e-02 8.56695624e+02] [ 4.05251688e-01 9.14183355e-01 -6.31371585e-03 2.24675196e+01] [ 1.47926460e-02 3.48157611e-04 9.99890522e-01 5.91941746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8192541539999 meters 0.016753568054698412 Centerline is valid? [True, True] Translation: X:856.72, Y:22.48, Z:5.92 [[ 9.14106999e-01 -4.05229891e-01 -1.40402736e-02 8.56722293e+02] [ 4.05175841e-01 9.14214744e-01 -6.62866557e-03 2.24795025e+01] [ 1.55219585e-02 3.70529938e-04 9.99879458e-01 5.91968883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8492541539999 meters 0.01890989042067611 Centerline is valid? [True, True] Translation: X:856.75, Y:22.49, Z:5.92 [[ 9.14030741e-01 -4.05350799e-01 -1.54445695e-02 8.56747176e+02] [ 4.05285360e-01 9.14161125e-01 -7.29479927e-03 2.24925037e+01] [ 1.70757778e-02 4.08212869e-04 9.99854115e-01 5.91736598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8792541539999 meters 0.018765046384145556 Centerline is valid? [True, True] Translation: X:856.77, Y:22.51, Z:5.92 [[ 9.14274150e-01 -4.04785327e-01 -1.58624822e-02 8.56773565e+02] [ 4.04716148e-01 9.14411642e-01 -7.49586342e-03 2.25051065e+01] [ 1.75390539e-02 4.33471455e-04 9.99846085e-01 5.91745138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9092541539999 meters 0.017785978823428764 Centerline is valid? [True, True] Translation: X:856.80, Y:22.52, Z:5.92 [[ 9.14827598e-01 -4.03548687e-01 -1.54571587e-02 8.56798052e+02] [ 4.03482764e-01 9.14958063e-01 -7.30772286e-03 2.25188969e+01] [ 1.70916739e-02 4.48609447e-04 9.99853826e-01 5.91868709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9392541539999 meters 0.019720483317089314 Centerline is valid? [True, True] Translation: X:856.82, Y:22.53, Z:5.92 [[ 9.15226900e-01 -4.02525119e-01 -1.82551419e-02 8.56823977e+02] [ 4.02432864e-01 9.15408771e-01 -8.63548576e-03 2.25319470e+01] [ 2.01869169e-02 5.56959824e-04 9.99796068e-01 5.91603480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9692541539998 meters 0.02048186523395001 Centerline is valid? [True, True] Translation: X:856.85, Y:22.55, Z:5.91 [[ 9.15897007e-01 -4.00996569e-01 -1.82872743e-02 8.56847557e+02] [ 4.00903618e-01 9.16079362e-01 -8.65396555e-03 2.25474954e+01] [ 2.02228051e-02 5.94706707e-04 9.99795321e-01 5.91475800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9992541539999 meters 0.019835613511831513 Centerline is valid? [True, True] Translation: X:856.87, Y:22.56, Z:5.92 [[ 9.16112554e-01 -4.00521475e-01 -1.78979325e-02 8.56873704e+02] [ 4.00432267e-01 9.16287178e-01 -8.47387887e-03 2.25608549e+01] [ 1.97936165e-02 5.96117138e-04 9.99803909e-01 5.91580784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0292541539999 meters 0.020566857286389385 Centerline is valid? [True, True] Translation: X:856.90, Y:22.57, Z:5.91 [[ 9.15846833e-01 -4.01086560e-01 -1.88188785e-02 8.56899467e+02] [ 4.00987922e-01 9.16039948e-01 -8.91623570e-03 2.25719731e+01] [ 2.08150268e-02 6.19763254e-04 9.99783152e-01 5.91471421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0592541539999 meters 0.01942611154199163 Centerline is valid? [True, True] Translation: X:856.93, Y:22.58, Z:5.92 [[ 9.15810494e-01 -4.01233304e-01 -1.74061653e-02 8.56925889e+02] [ 4.01148843e-01 9.15975712e-01 -8.25229551e-03 2.25847382e+01] [ 1.92547204e-02 5.75075768e-04 9.99814445e-01 5.91695827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0892541539998 meters 0.02094642779826367 Centerline is valid? [True, True] Translation: X:856.95, Y:22.60, Z:5.92 [[ 9.15658252e-01 -4.01587474e-01 -1.72471811e-02 8.56950129e+02] [ 4.01504554e-01 9.15820496e-01 -8.17998249e-03 2.25980420e+01] [ 1.90803005e-02 5.65246699e-04 9.99817795e-01 5.91645384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1192541539999 meters 0.020118483995745087 Centerline is valid? [True, True] Translation: X:856.98, Y:22.61, Z:5.92 [[ 9.15672467e-01 -4.01616017e-01 -1.57641461e-02 8.56976882e+02] [ 4.01546689e-01 9.15808007e-01 -7.48007602e-03 2.26099131e+01] [ 1.74410496e-02 5.19258983e-04 9.99847758e-01 5.91967008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1492541539999 meters 0.02194209394375044 Centerline is valid? [True, True] Translation: X:857.00, Y:22.62, Z:5.92 [[ 9.15437063e-01 -4.02148122e-01 -1.58704612e-02 8.57001627e+02] [ 4.02077884e-01 9.15574477e-01 -7.53343465e-03 2.26238128e+01] [ 1.75601458e-02 5.15223817e-04 9.99845676e-01 5.91862812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1792541539999 meters 0.020840126547402672 Centerline is valid? [True, True] Translation: X:857.02, Y:22.64, Z:5.92 [[ 9.15652062e-01 -4.01720872e-01 -1.42000615e-02 8.57024811e+02] [ 4.01664563e-01 9.15762043e-01 -6.74226850e-03 2.26369873e+01] [ 1.57123873e-02 4.69910561e-04 9.99876442e-01 5.92108095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2092541539998 meters 0.0222463797539892 Centerline is valid? [True, True] Translation: X:857.05, Y:22.65, Z:5.92 [[ 9.15670047e-01 -4.01645059e-01 -1.51529164e-02 8.57050349e+02] [ 4.01580869e-01 9.15795278e-01 -7.19824443e-03 2.26506927e+01] [ 1.67681086e-02 5.06095459e-04 9.99859277e-01 5.91923542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2392541539999 meters 0.020651206940554473 Centerline is valid? [True, True] Translation: X:857.08, Y:22.66, Z:5.92 [[ 9.15998840e-01 -4.00879182e-01 -1.55565661e-02 8.57077487e+02] [ 4.00811335e-01 9.16130772e-01 -7.39477019e-03 2.26616020e+01] [ 1.72162583e-02 5.38352899e-04 9.99851644e-01 5.91981434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2692541539999 meters 0.024426099144308322 Centerline is valid? [True, True] Translation: X:857.10, Y:22.68, Z:5.92 [[ 9.16084853e-01 -4.00668343e-01 -1.59192138e-02 8.57100460e+02] [ 4.00597209e-01 9.16222990e-01 -7.57022286e-03 2.26789923e+01] [ 1.76186983e-02 5.57773863e-04 9.99844623e-01 5.91731457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2992541539999 meters 0.024460181079641454 Centerline is valid? [True, True] Translation: X:857.13, Y:22.69, Z:5.92 [[ 9.16077048e-01 -4.00679875e-01 -1.60772913e-02 8.57126147e+02] [ 4.00607260e-01 9.16217942e-01 -7.64890644e-03 2.26918200e+01] [ 1.77950657e-02 5.66307994e-04 9.99841495e-01 5.91715695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3292541539998 meters 0.02050658917398711 Centerline is valid? [True, True] Translation: X:857.15, Y:22.70, Z:5.92 [[ 9.16309603e-01 -4.00166194e-01 -1.56118218e-02 8.57152834e+02] [ 4.00097570e-01 9.16442414e-01 -7.43205668e-03 2.27020788e+01] [ 1.72813935e-02 5.63812942e-04 9.99850507e-01 5.91986806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3592541539999 meters 0.023311942282665317 Centerline is valid? [True, True] Translation: X:857.18, Y:22.72, Z:5.92 [[ 9.16188492e-01 -4.00455661e-01 -1.52941718e-02 8.57175864e+02] [ 4.00389793e-01 9.16315973e-01 -7.28369066e-03 2.27196235e+01] [ 1.69310890e-02 5.49603294e-04 9.99856508e-01 5.91854336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3892541539999 meters 0.022786206491676772 Centerline is valid? [True, True] Translation: X:857.20, Y:22.73, Z:5.92 [[ 9.15021037e-01 -4.03062852e-01 -1.66385034e-02 8.57203045e+02] [ 4.02985257e-01 9.15172135e-01 -7.92758881e-03 2.27293276e+01] [ 1.84224112e-02 5.48838974e-04 9.99830142e-01 5.91644239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4192541539999 meters 0.02007930259634829 Centerline is valid? [True, True] Translation: X:857.23, Y:22.73, Z:5.92 [[ 9.13864404e-01 -4.05671240e-01 -1.68135622e-02 8.57232015e+02] [ 4.05592349e-01 9.14018922e-01 -8.01608232e-03 2.27349564e+01] [ 1.86198080e-02 5.06160112e-04 9.99826508e-01 5.91795181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4492541539998 meters 0.016779302052324366 Centerline is valid? [True, True] Translation: X:857.26, Y:22.74, Z:5.92 [[ 9.12026787e-01 -4.09876813e-01 -1.44269646e-02 8.57259506e+02] [ 4.09819221e-01 9.12140815e-01 -6.88037528e-03 2.27446605e+01] [ 1.59795296e-02 3.62639159e-04 9.99872253e-01 5.92103232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4792541539999 meters 0.015994072736608928 Centerline is valid? [True, True] Translation: X:857.29, Y:22.75, Z:5.92 [[ 9.10781644e-01 -4.12654235e-01 -1.39024605e-02 8.57286687e+02] [ 4.12601037e-01 9.10887693e-01 -6.63290851e-03 2.27546703e+01] [ 1.54006780e-02 3.04961714e-04 9.99881356e-01 5.92191938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5092541539999 meters 0.015994072736608928 Centerline is valid? [True, True] Translation: X:857.31, Y:22.77, Z:5.92 [[ 9.10664350e-01 -4.12913081e-01 -1.39006802e-02 8.57311555e+02] [ 4.12859855e-01 9.10770385e-01 -6.63663814e-03 2.27666284e+01] [ 1.54006825e-02 3.04716956e-04 9.99881356e-01 5.92210994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5392541539999 meters 0.015023013422857492 Centerline is valid? [True, True] Translation: X:857.34, Y:22.78, Z:5.92 [[ 9.09394742e-01 -4.15735488e-01 -1.28532951e-02 8.57338787e+02] [ 4.15690205e-01 9.09485539e-01 -6.14065867e-03 2.27761576e+01] [ 1.42427758e-02 2.41293823e-04 9.99898537e-01 5.92309280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5692541539999 meters 0.01409440172126657 Centerline is valid? [True, True] Translation: X:857.37, Y:22.79, Z:5.92 [[ 9.07102580e-01 -4.20741436e-01 -1.18976104e-02 8.57366858e+02] [ 4.20703021e-01 9.07180589e-01 -5.68752940e-03 2.27857871e+01] [ 1.31862605e-02 1.53811963e-04 9.99913046e-01 5.92383363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5992541539999 meters 0.017153425490762705 Centerline is valid? [True, True] Translation: X:857.39, Y:22.80, Z:5.92 [[ 9.05856694e-01 -4.23402437e-01 -1.24107022e-02 8.57392685e+02] [ 4.23360851e-01 9.05941699e-01 -5.93538867e-03 2.27968186e+01] [ 1.37564307e-02 1.22406129e-04 9.99905368e-01 5.92066939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6292541539999 meters 0.013573416143326073 Centerline is valid? [True, True] Translation: X:857.42, Y:22.81, Z:5.92 [[ 9.04570508e-01 -4.26158363e-01 -1.18847086e-02 8.57419891e+02] [ 4.26120433e-01 9.04648574e-01 -5.68623258e-03 2.28074391e+01] [ 1.31747202e-02 7.92811321e-05 9.99913206e-01 5.92315050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6592541539999 meters 0.015716576135502387 Centerline is valid? [True, True] Translation: X:857.45, Y:22.82, Z:5.92 [[ 9.03677570e-01 -4.28018106e-01 -1.29363740e-02 8.57445706e+02] [ 4.27973292e-01 9.03770157e-01 -6.19386964e-03 2.28182207e+01] [ 1.43425972e-02 6.08384861e-05 9.99897138e-01 5.92088676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6892541539999 meters 0.01662727565590308 Centerline is valid? [True, True] Translation: X:857.47, Y:22.83, Z:5.92 [[ 9.03095661e-01 -4.29226277e-01 -1.35288289e-02 8.57470318e+02] [ 4.29177348e-01 9.03196989e-01 -6.48097020e-03 2.28290758e+01] [ 1.50010002e-02 4.66691617e-05 9.99887478e-01 5.91983798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7192541539998 meters 0.013393325044247282 Centerline is valid? [True, True] Translation: X:857.49, Y:22.84, Z:5.92 [[ 9.02373168e-01 -4.30729282e-01 -1.39624634e-02 8.57494926e+02] [ 4.30677302e-01 9.02481183e-01 -6.69151107e-03 2.28400320e+01] [ 1.54830903e-02 2.49239671e-05 9.99880129e-01 5.92186040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7492541539999 meters 0.015835235809026262 Centerline is valid? [True, True] Translation: X:857.52, Y:22.85, Z:5.92 [[ 9.01731474e-01 -4.32027747e-01 -1.52438309e-02 8.57521615e+02] [ 4.31965900e-01 9.01860314e-01 -7.30993428e-03 2.28517128e+01] [ 1.69059006e-02 6.78266186e-06 9.99857085e-01 5.91979690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7792541539999 meters 0.017038544121018514 Centerline is valid? [True, True] Translation: X:857.55, Y:22.86, Z:5.92 [[ 9.00898838e-01 -4.33751624e-01 -1.55181416e-02 8.57546676e+02] [ 4.33687737e-01 9.01032479e-01 -7.44439166e-03 2.28632864e+01] [ 1.72113666e-02 -2.33839226e-05 9.99851873e-01 5.91913430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8092541539999 meters 0.013375038011996188 Centerline is valid? [True, True] Translation: X:857.57, Y:22.88, Z:5.92 [[ 9.00587007e-01 -4.34438033e-01 -1.43749541e-02 8.57572179e+02] [ 4.34383250e-01 9.00701724e-01 -6.89906323e-03 2.28759379e+01] [ 1.59447614e-02 -3.10325897e-05 9.99872874e-01 5.92282219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8392541539998 meters 0.018219281453391713 Centerline is valid? [True, True] Translation: X:857.60, Y:22.89, Z:5.92 [[ 8.99153406e-01 -4.37381731e-01 -1.48449994e-02 8.57598696e+02] [ 4.37323632e-01 8.99275939e-01 -7.12924252e-03 2.28866897e+01] [ 1.64679512e-02 -8.17863881e-05 9.99864391e-01 5.92034846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8692541539999 meters 0.013559001277428066 Centerline is valid? [True, True] Translation: X:857.62, Y:22.90, Z:5.92 [[ 8.98927619e-01 -4.37884340e-01 -1.36543402e-02 8.57623810e+02] [ 4.37835207e-01 8.99031311e-01 -6.55999568e-03 2.28987035e+01] [ 1.51481988e-02 -8.13895827e-05 9.99885256e-01 5.92428625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8992541539999 meters 0.013536278680602807 Centerline is valid? [True, True] Translation: X:857.65, Y:22.91, Z:5.92 [[ 8.98345618e-01 -4.39090623e-01 -1.32127077e-02 8.57649108e+02] [ 4.39044701e-01 8.98442773e-01 -6.35092836e-03 2.29104954e+01] [ 1.46594948e-02 -9.56406307e-05 9.99892539e-01 5.92489796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9292541539999 meters 0.017595084578846815 Centerline is valid? [True, True] Translation: X:857.67, Y:22.92, Z:5.92 [[ 8.97138443e-01 -4.41543183e-01 -1.34993331e-02 8.57674904e+02] [ 4.41495479e-01 8.97239990e-01 -6.49173516e-03 2.29208222e+01] [ 1.49785229e-02 -1.35909374e-04 9.99887806e-01 5.92270924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9592541539998 meters 0.015421783022603587 Centerline is valid? [True, True] Translation: X:857.70, Y:22.93, Z:5.92 [[ 8.96870699e-01 -4.42116993e-01 -1.24704925e-02 8.57700362e+02] [ 4.42076300e-01 8.96957383e-01 -5.99981505e-03 2.29334410e+01] [ 1.38381205e-02 -1.31850861e-04 9.99904240e-01 5.92494809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9892541539999 meters 0.013776122716101567 Centerline is valid? [True, True] Translation: X:857.72, Y:22.95, Z:5.93 [[ 8.96967529e-01 -4.41934802e-01 -1.19533301e-02 8.57723933e+02] [ 4.41897352e-01 8.97047165e-01 -5.75450452e-03 2.29459127e+01] [ 1.32658167e-02 -1.20541195e-04 9.99911998e-01 5.92691561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0192541539999 meters 0.014561856957592335 Centerline is valid? [True, True] Translation: X:857.75, Y:22.96, Z:5.93 [[ 8.96908765e-01 -4.42062149e-01 -1.16500463e-02 8.57748926e+02] [ 4.42026542e-01 8.96984416e-01 -5.61186063e-03 2.29589370e+01] [ 1.29307012e-02 -1.16302699e-04 9.99916388e-01 5.92635064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0492541539999 meters 0.014968089907845976 Centerline is valid? [True, True] Translation: X:857.77, Y:22.97, Z:5.93 [[ 8.97317606e-01 -4.41241342e-01 -1.12779318e-02 8.57773648e+02] [ 4.41207872e-01 8.97388471e-01 -5.43555094e-03 2.29719803e+01] [ 1.25190758e-02 -9.84967349e-05 9.99921628e-01 5.92638566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0792541539998 meters 0.014550123652773774 Centerline is valid? [True, True] Translation: X:857.80, Y:22.99, Z:5.93 [[ 8.98662230e-01 -4.38521333e-01 -1.02584967e-02 8.57797464e+02] [ 4.38493438e-01 8.98720778e-01 -4.94640293e-03 2.29885482e+01] [ 1.13886274e-02 -5.31380182e-05 9.99935146e-01 5.92758088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1092541539999 meters 0.014383637178768173 Centerline is valid? [True, True] Translation: X:857.82, Y:23.00, Z:5.93 [[ 8.99597385e-01 -4.36592507e-01 -1.05606372e-02 8.57821185e+02] [ 4.36562770e-01 8.99659370e-01 -5.09563166e-03 2.30029445e+01] [ 1.17256908e-02 -2.63641021e-05 9.99931251e-01 5.92755179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1392541539999 meters 0.016074677026874686 Centerline is valid? [True, True] Translation: X:857.84, Y:23.02, Z:5.92 [[ 9.01568773e-01 -4.32478090e-01 -1.16811242e-02 8.57843430e+02] [ 4.32441321e-01 9.01644442e-01 -5.63945914e-03 2.30198480e+01] [ 1.29711632e-02 3.29594887e-05 9.99915870e-01 5.92486232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1692541539999 meters 0.01608747645983741 Centerline is valid? [True, True] Translation: X:857.87, Y:23.04, Z:5.92 [[ 9.02423045e-01 -4.30679918e-01 -1.21431645e-02 8.57868423e+02] [ 4.30639983e-01 9.02504739e-01 -5.86522743e-03 2.30350188e+01] [ 1.34852991e-02 6.35842638e-05 9.99909067e-01 5.92432755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1992541539998 meters 0.01574230540837432 Centerline is valid? [True, True] Translation: X:857.89, Y:23.05, Z:5.92 [[ 9.03999603e-01 -4.27343122e-01 -1.27504463e-02 8.57892282e+02] [ 4.27298703e-01 9.04089509e-01 -6.16263180e-03 2.30523159e+01] [ 1.41611031e-02 1.22767519e-04 9.99899719e-01 5.92384921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2292541539999 meters 0.014007340397917945 Centerline is valid? [True, True] Translation: X:857.92, Y:23.07, Z:5.93 [[ 9.04752846e-01 -4.25753487e-01 -1.25002224e-02 8.57916404e+02] [ 4.25710606e-01 9.04839183e-01 -6.04429865e-03 2.30668048e+01] [ 1.38840723e-02 1.47119130e-04 9.99903601e-01 5.92521752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2592541539999 meters 0.013932475592968958 Centerline is valid? [True, True] Translation: X:857.94, Y:23.08, Z:5.93 [[ 9.04994947e-01 -4.25244146e-01 -1.23110222e-02 8.57941143e+02] [ 4.25202467e-01 9.05078666e-01 -5.95567885e-03 2.30796254e+01] [ 1.36750612e-02 1.55182237e-04 9.99906480e-01 5.92597859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2892541539999 meters 0.015311638326320131 Centerline is valid? [True, True] Translation: X:857.97, Y:23.09, Z:5.93 [[ 9.04746007e-01 -4.25772927e-01 -1.23319842e-02 8.57966468e+02] [ 4.25731094e-01 9.04830035e-01 -5.97025637e-03 2.30926570e+01] [ 1.37003233e-02 1.51456472e-04 9.99906135e-01 5.92524563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3192541539999 meters 0.014832295164136224 Centerline is valid? [True, True] Translation: X:857.99, Y:23.11, Z:5.93 [[ 9.04525825e-01 -4.26253992e-01 -1.18560614e-02 8.57991157e+02] [ 4.26215330e-01 9.04603512e-01 -5.74262651e-03 2.31054025e+01] [ 1.31728522e-02 1.41118870e-04 9.99913224e-01 5.92580137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3492541539998 meters 0.015616918471491105 Centerline is valid? [True, True] Translation: X:858.02, Y:23.12, Z:5.93 [[ 9.03506042e-01 -4.28405979e-01 -1.20477449e-02 8.58017473e+02] [ 4.28366215e-01 9.03586357e-01 -5.83796892e-03 2.31167645e+01] [ 1.33871987e-02 1.13793326e-04 9.99910381e-01 5.92537995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3792541539999 meters 0.013513554559260456 Centerline is valid? [True, True] Translation: X:858.04, Y:23.13, Z:5.93 [[ 9.03086162e-01 -4.29301098e-01 -1.16598496e-02 8.58042843e+02] [ 4.29263896e-01 9.03161424e-01 -5.65246281e-03 2.31289427e+01] [ 1.29573348e-02 9.95084825e-05 9.99916045e-01 5.92727982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4092541539999 meters 0.017126896623636614 Centerline is valid? [True, True] Translation: X:858.07, Y:23.14, Z:5.92 [[ 9.01321206e-01 -4.32979258e-01 -1.22084126e-02 8.58070251e+02] [ 4.32938776e-01 9.01403883e-01 -5.92082172e-03 2.31397995e+01] [ 1.35683036e-02 5.10669495e-05 9.99907945e-01 5.92416816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4392541539999 meters 0.014490783277198669 Centerline is valid? [True, True] Translation: X:858.10, Y:23.15, Z:5.93 [[ 9.00715550e-01 -4.34256740e-01 -1.15144017e-02 8.58096324e+02] [ 4.34220789e-01 9.00789144e-01 -5.58778695e-03 2.31514640e+01] [ 1.27985822e-02 3.32139952e-05 9.99918094e-01 5.92644585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4692541539998 meters 0.016814861183123104 Centerline is valid? [True, True] Translation: X:858.12, Y:23.16, Z:5.92 [[ 8.99722046e-01 -4.36307443e-01 -1.16642839e-02 8.58122516e+02] [ 4.36270668e-01 8.99797653e-01 -5.66466159e-03 2.31628299e+01] [ 1.29670293e-02 7.83597607e-06 9.99915925e-01 5.92491267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4992541539999 meters 0.013152652945531619 Centerline is valid? [True, True] Translation: X:858.15, Y:23.17, Z:5.93 [[ 8.98732744e-01 -4.38380761e-01 -1.00877716e-02 8.58148602e+02] [ 4.38353350e-01 8.98789357e-01 -4.90229783e-03 2.31733289e+01] [ 1.12158548e-02 -1.61528985e-05 9.99937100e-01 5.92847535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5292541539999 meters 0.013051545173788702 Centerline is valid? [True, True] Translation: X:858.17, Y:23.18, Z:5.93 [[ 8.97901517e-01 -4.40082050e-01 -1.00326885e-02 8.58174450e+02] [ 4.40055004e-01 8.97957565e-01 -4.87908221e-03 2.31840030e+01] [ 1.11561250e-02 -3.39994378e-05 9.99937768e-01 5.92953932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5592541539999 meters 0.01698504233336224 Centerline is valid? [True, True] Translation: X:858.20, Y:23.20, Z:5.93 [[ 8.97329651e-01 -4.41232742e-01 -1.06378792e-02 8.58199379e+02] [ 4.41202381e-01 8.97392704e-01 -5.17627758e-03 2.31953944e+01] [ 1.18302983e-02 -4.86302646e-05 9.99930018e-01 5.92621153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5892541539998 meters 0.014445497924940149 Centerline is valid? [True, True] Translation: X:858.22, Y:23.21, Z:5.93 [[ 8.97099631e-01 -4.41718069e-01 -9.86909940e-03 8.58224357e+02] [ 4.41691946e-01 8.97153914e-01 -4.80412826e-03 2.32076321e+01] [ 1.09761714e-02 -4.93200253e-05 9.99939759e-01 5.92781631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6192541539999 meters 0.013597024327980045 Centerline is valid? [True, True] Translation: X:858.25, Y:23.22, Z:5.93 [[ 8.96604246e-01 -4.42738690e-01 -9.12569749e-03 8.58249594e+02] [ 4.42716376e-01 8.96650684e-01 -4.44530784e-03 2.32192165e+01] [ 1.01506727e-02 -5.44138418e-05 9.99948479e-01 5.92888486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6492541539999 meters 0.015505514198941344 Centerline is valid? [True, True] Translation: X:858.27, Y:23.23, Z:5.93 [[ 8.96011868e-01 -4.43940616e-01 -8.91414367e-03 8.58274789e+02] [ 4.43919358e-01 8.96056207e-01 -4.34485006e-03 2.32304558e+01] [ 9.91642917e-03 -6.41237222e-05 9.99950829e-01 5.92775637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6792541539999 meters 0.016969973903389994 Centerline is valid? [True, True] Translation: X:858.30, Y:23.24, Z:5.93 [[ 8.95265987e-01 -4.45443445e-01 -8.88538910e-03 8.58300638e+02] [ 4.45422384e-01 8.95310075e-01 -4.33229741e-03 2.32421781e+01] [ 9.88497187e-03 -7.91926772e-05 9.99951139e-01 5.92756955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7092541539998 meters 0.013906910711502438 Centerline is valid? [True, True] Translation: X:858.33, Y:23.25, Z:5.93 [[ 8.95060318e-01 -4.45869657e-01 -8.20216469e-03 8.58325710e+02] [ 4.45851714e-01 8.95097896e-01 -4.00079363e-03 2.32544887e+01] [ 9.12557284e-03 -7.59975639e-05 9.99958358e-01 5.93019349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7392541539999 meters 0.014214889215130833 Centerline is valid? [True, True] Translation: X:858.35, Y:23.27, Z:5.93 [[ 8.94587662e-01 -4.46813251e-01 -8.41627768e-03 8.58350863e+02] [ 4.46794373e-01 8.94627247e-01 -4.10822324e-03 2.32674743e+01] [ 9.36503992e-03 -8.51796832e-05 9.99956143e-01 5.92971116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7692541539999 meters 0.016181593454661247 Centerline is valid? [True, True] Translation: X:858.38, Y:23.28, Z:5.93 [[ 8.93743786e-01 -4.48490460e-01 -8.85166641e-03 8.58377375e+02] [ 4.48469628e-01 8.93787613e-01 -4.32390505e-03 2.32801162e+01] [ 9.85073996e-03 -1.05240271e-04 9.99951475e-01 5.92794864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7992541539999 meters 0.016542866597464595 Centerline is valid? [True, True] Translation: X:858.40, Y:23.29, Z:5.93 [[ 8.93267980e-01 -4.49435253e-01 -8.95932921e-03 8.58403302e+02] [ 4.49413931e-01 8.93312902e-01 -4.37929290e-03 2.32926789e+01] [ 9.97169299e-03 -1.14565233e-04 9.99950275e-01 5.92765008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8292541539998 meters 0.01576448978199213 Centerline is valid? [True, True] Translation: X:858.43, Y:23.31, Z:5.93 [[ 8.92458326e-01 -4.51038033e-01 -9.10105245e-03 8.58429686e+02] [ 4.51016086e-01 8.92504720e-01 -4.45139537e-03 2.33051909e+01] [ 1.01304809e-02 -1.32036201e-04 9.99948677e-01 5.92819392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8592541539999 meters 0.015987808401118218 Centerline is valid? [True, True] Translation: X:858.45, Y:23.32, Z:5.93 [[ 8.92016372e-01 -4.51909493e-01 -9.19797556e-03 8.58454569e+02] [ 4.51887097e-01 8.92063781e-01 -4.50130393e-03 2.33166047e+01] [ 1.02393628e-02 -1.41209675e-04 9.99947566e-01 5.92810985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8892541539999 meters 0.015162705435743055 Centerline is valid? [True, True] Translation: X:858.48, Y:23.33, Z:5.93 [[ 8.91080948e-01 -4.53744974e-01 -9.49961293e-03 8.58480397e+02] [ 4.53721165e-01 8.91131568e-01 -4.65119066e-03 2.33299678e+01] [ 1.05758593e-02 -1.65588058e-04 9.99944060e-01 5.92875299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9192541539999 meters 0.016054852437380328 Centerline is valid? [True, True] Translation: X:858.51, Y:23.34, Z:5.93 [[ 8.90501098e-01 -4.54876938e-01 -9.73475185e-03 8.58505596e+02] [ 4.54851977e-01 8.90554287e-01 -4.76872518e-03 2.33412017e+01] [ 1.08385081e-02 -1.81316115e-04 9.99941245e-01 5.92822629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9492541539998 meters 0.017104435256639478 Centerline is valid? [True, True] Translation: X:858.53, Y:23.35, Z:5.93 [[ 8.89591489e-01 -4.56651344e-01 -9.82510098e-03 8.58531678e+02] [ 4.56626006e-01 8.89645721e-01 -4.81479337e-03 2.33536420e+01] [ 1.09395409e-02 -2.03197413e-04 9.99940141e-01 5.92775791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9792541539999 meters 0.015316108640136121 Centerline is valid? [True, True] Translation: X:858.56, Y:23.37, Z:5.93 [[ 8.89351000e-01 -4.57137889e-01 -8.93025298e-03 8.58557085e+02] [ 4.57116954e-01 8.89395814e-01 -4.37896246e-03 2.33663638e+01] [ 9.94431928e-03 -1.87735399e-04 9.99950536e-01 5.92976642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0092541539999 meters 0.017112669272748335 Centerline is valid? [True, True] Translation: X:858.58, Y:23.38, Z:5.93 [[ 8.88938362e-01 -4.57935868e-01 -9.12848924e-03 8.58583399e+02] [ 4.57914003e-01 8.88985209e-01 -4.47928880e-03 2.33792879e+01] [ 1.01663189e-02 -1.98251400e-04 9.99948302e-01 5.92805525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0392541539999 meters 0.017176909732389955 Centerline is valid? [True, True] Translation: X:858.61, Y:23.39, Z:5.93 [[ 8.88923152e-01 -4.57967759e-01 -9.00896500e-03 8.58606681e+02] [ 4.57946442e-01 8.88968781e-01 -4.42294297e-03 2.33921151e+01] [ 1.00342539e-02 -1.93967061e-04 9.99949637e-01 5.92800245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0692541539999 meters 0.017525767090846838 Centerline is valid? [True, True] Translation: X:858.63, Y:23.41, Z:5.93 [[ 8.89144384e-01 -4.57535078e-01 -9.16059444e-03 8.58631414e+02] [ 4.57513001e-01 8.89191552e-01 -4.49866203e-03 2.34051301e+01] [ 1.02038189e-02 -1.91130979e-04 9.99947921e-01 5.92761170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0992541539998 meters 0.017018857978411905 Centerline is valid? [True, True] Translation: X:858.66, Y:23.42, Z:5.93 [[ 8.90057883e-01 -4.55743444e-01 -9.74053276e-03 8.58656353e+02] [ 4.55718356e-01 8.90111162e-01 -4.78523395e-03 2.34206437e+01] [ 1.08509959e-02 -1.79804380e-04 9.99941110e-01 5.92800812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1292541539999 meters 0.014728507339734378 Centerline is valid? [True, True] Translation: X:858.68, Y:23.43, Z:5.93 [[ 8.90740886e-01 -4.54421815e-01 -9.02702814e-03 8.58681425e+02] [ 4.54400175e-01 8.90786614e-01 -4.43729406e-03 2.34347888e+01] [ 1.00575591e-02 -1.49403920e-04 9.99949410e-01 5.93032475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1592541539999 meters 0.018301811173521792 Centerline is valid? [True, True] Translation: X:858.71, Y:23.45, Z:5.93 [[ 8.91452667e-01 -4.52995610e-01 -1.03499004e-02 8.58705790e+02] [ 4.52967026e-01 8.91512734e-01 -5.09095362e-03 2.34506095e+01] [ 1.15332476e-02 -1.49819425e-04 9.99933479e-01 5.92752735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1892541539999 meters 0.013994226448755056 Centerline is valid? [True, True] Translation: X:858.73, Y:23.46, Z:5.93 [[ 8.92252099e-01 -4.51448802e-01 -8.95383681e-03 8.58730487e+02] [ 4.51427307e-01 8.92297017e-01 -4.40669517e-03 2.34648870e+01] [ 9.97887913e-03 -1.10123424e-04 9.99950204e-01 5.93102935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2192541539998 meters 0.016750054416989613 Centerline is valid? [True, True] Translation: X:858.75, Y:23.48, Z:5.93 [[ 8.92400795e-01 -4.51130339e-01 -1.01113206e-02 8.58754630e+02] [ 4.51102868e-01 8.92458068e-01 -4.97986303e-03 2.34795408e+01] [ 1.12704970e-02 -1.17212002e-04 9.99936479e-01 5.92901074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2492541539999 meters 0.01560784474887018 Centerline is valid? [True, True] Translation: X:858.78, Y:23.49, Z:5.93 [[ 8.93428931e-01 -4.49086543e-01 -1.02967163e-02 8.58778532e+02] [ 4.49057888e-01 8.93488259e-01 -5.07389653e-03 2.34943249e+01] [ 1.14786138e-02 -9.06557103e-05 9.99934114e-01 5.92936377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2792541539999 meters 0.016406256152480425 Centerline is valid? [True, True] Translation: X:858.80, Y:23.51, Z:5.93 [[ 8.93681807e-01 -4.48567322e-01 -1.09629268e-02 8.58803080e+02] [ 4.48534771e-01 8.93749042e-01 -5.40459698e-03 2.35077951e+01] [ 1.22224309e-02 -8.72638487e-05 9.99925299e-01 5.92847991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3092541539999 meters 0.014512817431746292 Centerline is valid? [True, True] Translation: X:858.83, Y:23.52, Z:5.93 [[ 8.94050007e-01 -4.47834788e-01 -1.08897608e-02 8.58827681e+02] [ 4.47802568e-01 8.94116322e-01 -5.37242093e-03 2.35217875e+01] [ 1.21426698e-02 -7.32498560e-05 9.99926272e-01 5.92998973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3392541539998 meters 0.013058428775141484 Centerline is valid? [True, True] Translation: X:858.85, Y:23.54, Z:5.93 [[ 8.94567228e-01 -4.46805984e-01 -1.06718191e-02 8.58852276e+02] [ 4.46774922e-01 8.94630879e-01 -5.26875109e-03 2.35361005e+01] [ 1.19014484e-02 -5.46490928e-05 9.99929174e-01 5.93090372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3692541539999 meters 0.01586341383635655 Centerline is valid? [True, True] Translation: X:858.88, Y:23.55, Z:5.93 [[ 8.94383071e-01 -4.47150007e-01 -1.16530420e-02 8.58876866e+02] [ 4.47112941e-01 8.94458980e-01 -5.75763265e-03 2.35488461e+01] [ 1.29976936e-02 -6.06967110e-05 9.99915525e-01 5.92859981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3992541539999 meters 0.016071925375744728 Centerline is valid? [True, True] Translation: X:858.90, Y:23.56, Z:5.93 [[ 8.94227121e-01 -4.47438212e-01 -1.25260702e-02 8.58901905e+02] [ 4.47395363e-01 8.94314845e-01 -6.19248561e-03 2.35621511e+01] [ 1.39730052e-02 -6.66171678e-05 9.99902371e-01 5.92817204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4292541539999 meters 0.016071925375744728 Centerline is valid? [True, True] Translation: X:858.93, Y:23.57, Z:5.93 [[ 8.94097831e-01 -4.47696548e-01 -1.25247488e-02 8.58926601e+02] [ 4.47653687e-01 8.94185549e-01 -6.19515738e-03 2.35744408e+01] [ 1.39730000e-02 -6.76732201e-05 9.99902371e-01 5.92836284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4592541539998 meters 0.0130750797831551 Centerline is valid? [True, True] Translation: X:858.95, Y:23.59, Z:5.93 [[ 8.94096157e-01 -4.47734051e-01 -1.12375383e-02 8.58951285e+02] [ 4.47699519e-01 8.94166772e-01 -5.56102347e-03 2.35866014e+01] [ 1.25380929e-02 -5.89507717e-05 9.99921393e-01 5.93112685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4892541539999 meters 0.013084451272446257 Centerline is valid? [True, True] Translation: X:858.98, Y:23.60, Z:5.93 [[ 8.93698298e-01 -4.48538663e-01 -1.07897736e-02 8.58976599e+02] [ 4.48506859e-01 8.93763427e-01 -5.34173554e-03 2.35989514e+01] [ 1.20394800e-02 -6.53875204e-05 9.99927521e-01 5.93179733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5192541539999 meters 0.018088928825008916 Centerline is valid? [True, True] Translation: X:859.00, Y:23.61, Z:5.93 [[ 8.92875675e-01 -4.50156179e-01 -1.15083960e-02 8.59002348e+02] [ 4.50120094e-01 8.92949834e-01 -5.70044719e-03 2.36106813e+01] [ 1.28425119e-02 -9.03696783e-05 9.99917527e-01 5.92904263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5492541539999 meters 0.015236389443691937 Centerline is valid? [True, True] Translation: X:859.03, Y:23.62, Z:5.93 [[ 8.92745524e-01 -4.50435941e-01 -1.06250909e-02 8.59027396e+02] [ 4.50405177e-01 8.92808745e-01 -5.26512350e-03 2.36233349e+01] [ 1.18577750e-02 -8.51805180e-05 9.99929690e-01 5.93112645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5792541539998 meters 0.016636098525278004 Centerline is valid? [True, True] Translation: X:859.05, Y:23.64, Z:5.93 [[ 8.92556393e-01 -4.50789241e-01 -1.14954210e-02 8.59051980e+02] [ 4.50753221e-01 8.92630411e-01 -5.69937851e-03 2.36356550e+01] [ 1.28303809e-02 -9.45813367e-05 9.99917683e-01 5.92954014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6092541539999 meters 0.01612519193075313 Centerline is valid? [True, True] Translation: X:859.08, Y:23.65, Z:5.93 [[ 8.92612088e-01 -4.50671795e-01 -1.17725753e-02 8.59076297e+02] [ 4.50633986e-01 8.92689714e-01 -5.83832737e-03 2.36480265e+01] [ 1.31404263e-02 -9.37609281e-05 9.99913656e-01 5.92936236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6392541539999 meters 0.017705722185810242 Centerline is valid? [True, True] Translation: X:859.10, Y:23.66, Z:5.93 [[ 8.92488340e-01 -4.50899963e-01 -1.24010411e-02 8.59100891e+02] [ 4.50857988e-01 8.92574486e-01 -6.15311793e-03 2.36607647e+01] [ 1.38432936e-02 -9.95224517e-05 9.99904172e-01 5.92840376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6692541539999 meters 0.015895732797747496 Centerline is valid? [True, True] Translation: X:859.13, Y:23.67, Z:5.93 [[ 8.92326592e-01 -4.51232235e-01 -1.19466898e-02 8.59125387e+02] [ 4.51193255e-01 8.92406556e-01 -5.93178596e-03 2.36736536e+01] [ 1.33379174e-02 -9.71755172e-05 9.99911041e-01 5.92997741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6992541539998 meters 0.013249140281402942 Centerline is valid? [True, True] Translation: X:859.15, Y:23.69, Z:5.93 [[ 8.91996224e-01 -4.51895712e-01 -1.15326106e-02 8.59150482e+02] [ 4.51859391e-01 8.92070768e-01 -5.73022306e-03 2.36861649e+01] [ 1.28773680e-02 -9.97810559e-05 9.99917078e-01 5.93251385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7292541539999 meters 0.01586680220548293 Centerline is valid? [True, True] Translation: X:859.18, Y:23.70, Z:5.93 [[ 8.91200721e-01 -4.53442004e-01 -1.23135418e-02 8.59176257e+02] [ 4.53400686e-01 8.91285775e-01 -6.12250594e-03 2.36982672e+01] [ 1.37510860e-02 -1.26586599e-04 9.99905441e-01 5.93020167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7592541539999 meters 0.019088645088001236 Centerline is valid? [True, True] Translation: X:859.20, Y:23.71, Z:5.93 [[ 8.90360429e-01 -4.55071054e-01 -1.29862563e-02 8.59202239e+02] [ 4.55025211e-01 8.90455115e-01 -6.46111465e-03 2.37102133e+01] [ 1.45039446e-02 -1.56353219e-04 9.99894800e-01 5.92868680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7892541539999 meters 0.013968188349054693 Centerline is valid? [True, True] Translation: X:859.23, Y:23.72, Z:5.93 [[ 8.89863609e-01 -4.56063180e-01 -1.22120165e-02 8.59228200e+02] [ 4.56022681e-01 8.89947386e-01 -6.07981719e-03 2.37221363e+01] [ 1.36408329e-02 -1.58748438e-04 9.99906947e-01 5.93215853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8192541539999 meters 0.017706162183102583 Centerline is valid? [True, True] Translation: X:859.26, Y:23.73, Z:5.93 [[ 8.87516163e-01 -4.60566009e-01 -1.39287984e-02 8.59255218e+02] [ 4.60513799e-01 8.87625420e-01 -6.93939390e-03 2.37324610e+01] [ 1.55596045e-02 -2.55579615e-04 9.99878909e-01 5.92897272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8492541539998 meters 0.015554399862164787 Centerline is valid? [True, True] Translation: X:859.28, Y:23.74, Z:5.93 [[ 8.86681240e-01 -4.62189030e-01 -1.33296079e-02 8.59280998e+02] [ 4.62141360e-01 8.86781387e-01 -6.64347905e-03 2.37428385e+01] [ 1.48909913e-02 -2.69514883e-04 9.99889087e-01 5.93144415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8792541539999 meters 0.016028588702007223 Centerline is valid? [True, True] Translation: X:859.31, Y:23.75, Z:5.93 [[ 8.84786824e-01 -4.65820552e-01 -1.27862871e-02 8.59307326e+02] [ 4.65777048e-01 8.84879152e-01 -6.37406294e-03 2.37533672e+01] [ 1.42834884e-02 -3.15872177e-04 9.99897936e-01 5.93276758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9092541539999 meters 0.020050825476961045 Centerline is valid? [True, True] Translation: X:859.33, Y:23.76, Z:5.93 [[ 8.83657715e-01 -4.67958129e-01 -1.28152916e-02 8.59333593e+02] [ 4.67914631e-01 8.83750568e-01 -6.38993071e-03 2.37633427e+01] [ 1.43157412e-02 -3.49950850e-04 9.99897463e-01 5.92998917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9392541539999 meters 0.018922764235227152 Centerline is valid? [True, True] Translation: X:859.36, Y:23.78, Z:5.93 [[ 8.83000087e-01 -4.69198008e-01 -1.28092390e-02 8.59358473e+02] [ 4.69154641e-01 8.83092914e-01 -6.38968098e-03 2.37776767e+01] [ 1.43097738e-02 -3.67425061e-04 9.99897542e-01 5.93140031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9692541539998 meters 0.02015958466799851 Centerline is valid? [True, True] Translation: X:859.38, Y:23.79, Z:5.93 [[ 8.82092533e-01 -4.70923073e-01 -1.20092578e-02 8.59384284e+02] [ 4.70885074e-01 8.82174203e-01 -5.99360362e-03 2.37872232e+01] [ 1.34167837e-02 -3.68067257e-04 9.99909923e-01 5.93201182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9992541539999 meters 0.017041433758304702 Centerline is valid? [True, True] Translation: X:859.41, Y:23.80, Z:5.94 [[ 8.81920467e-01 -4.71268003e-01 -1.10796302e-02 8.59409427e+02] [ 4.71235651e-01 8.81989996e-01 -5.53251105e-03 2.37999895e+01] [ 1.23794184e-02 -3.41882026e-04 9.99923314e-01 5.93563118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0292541539999 meters 0.01973266766363247 Centerline is valid? [True, True] Translation: X:859.43, Y:23.81, Z:5.93 [[ 8.81410851e-01 -4.72209890e-01 -1.15209255e-02 8.59434561e+02] [ 4.72174952e-01 8.81486067e-01 -5.75575979e-03 2.38118260e+01] [ 1.28734620e-02 -3.66703329e-04 9.99917066e-01 5.93371326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0592541539999 meters 0.017743470162363092 Centerline is valid? [True, True] Translation: X:859.46, Y:23.82, Z:5.94 [[ 8.81639691e-01 -4.71792238e-01 -1.11148038e-02 8.59460293e+02] [ 4.71759660e-01 8.81709683e-01 -5.55503164e-03 2.38246872e+01] [ 1.24208509e-02 -3.45979686e-04 9.99922798e-01 5.93650192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0892541539998 meters 0.01775835249753529 Centerline is valid? [True, True] Translation: X:859.48, Y:23.84, Z:5.94 [[ 8.81484331e-01 -4.72080718e-01 -1.11879248e-02 8.59484868e+02] [ 4.72047687e-01 8.81555259e-01 -5.59523919e-03 2.38378228e+01] [ 1.25041785e-02 -3.49118348e-04 9.99921759e-01 5.93651744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1192541539999 meters 0.01872044776828807 Centerline is valid? [True, True] Translation: X:859.51, Y:23.85, Z:5.94 [[ 8.81446550e-01 -4.72141343e-01 -1.15987757e-02 8.59508402e+02] [ 4.72105808e-01 8.81522786e-01 -5.80378811e-03 2.38513248e+01] [ 1.29647933e-02 -3.60120344e-04 9.99915889e-01 5.93572105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1492541539999 meters 0.01973378943586658 Centerline is valid? [True, True] Translation: X:859.53, Y:23.87, Z:5.93 [[ 8.81797414e-01 -4.71497328e-01 -1.11171431e-02 8.59531931e+02] [ 4.71464613e-01 8.81867426e-01 -5.56422061e-03 2.38656198e+01] [ 1.24273616e-02 -3.34824246e-04 9.99922721e-01 5.93491480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1792541539999 meters 0.01972618835629108 Centerline is valid? [True, True] Translation: X:859.56, Y:23.88, Z:5.93 [[ 8.82119910e-01 -4.70903650e-01 -1.06872830e-02 8.59557066e+02] [ 4.70873349e-01 8.82184593e-01 -5.35104583e-03 2.38804377e+01] [ 1.19479835e-02 -3.12092693e-04 9.99928572e-01 5.93466966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2092541539998 meters 0.01932082477301485 Centerline is valid? [True, True] Translation: X:859.58, Y:23.90, Z:5.94 [[ 8.82588151e-01 -4.70036405e-01 -1.01948110e-02 8.59581634e+02] [ 4.70008741e-01 8.82646984e-01 -5.10740970e-03 2.38952837e+01] [ 1.13990876e-02 -2.83910979e-04 9.99934988e-01 5.93508144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2392541539999 meters 0.017577517212158764 Centerline is valid? [True, True] Translation: X:859.61, Y:23.91, Z:5.94 [[ 8.84540887e-01 -4.66354864e-01 -1.00279713e-02 8.59605092e+02] [ 4.66327838e-01 8.84597698e-01 -5.02595625e-03 2.39132573e+01] [ 1.12145995e-02 -2.30658375e-04 9.99937088e-01 5.93574832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2692541539999 meters 0.01675159459814167 Centerline is valid? [True, True] Translation: X:859.63, Y:23.93, Z:5.94 [[ 8.85703515e-01 -4.64130254e-01 -1.06014833e-02 8.59628477e+02] [ 4.64099865e-01 8.85766935e-01 -5.31536446e-03 2.39315626e+01] [ 1.18574649e-02 -2.12309996e-04 9.99929675e-01 5.93557531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2992541539999 meters 0.018146295538295745 Centerline is valid? [True, True] Translation: X:859.65, Y:23.95, Z:5.93 [[ 8.88438102e-01 -4.58853018e-01 -1.14737156e-02 8.59651389e+02] [ 4.58816943e-01 8.88512175e-01 -5.75565682e-03 2.39482033e+01] [ 1.28355365e-02 -1.50790284e-04 9.99917610e-01 5.93282507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3292541539998 meters 0.013909177010092312 Centerline is valid? [True, True] Translation: X:859.68, Y:23.97, Z:5.94 [[ 8.90132225e-01 -4.55563371e-01 -1.12532994e-02 8.59675482e+02] [ 4.55528376e-01 8.90203350e-01 -5.64749675e-03 2.39658035e+01] [ 1.25905175e-02 -9.91783652e-05 9.99920731e-01 5.93649170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3592541539999 meters 0.01639930098172776 Centerline is valid? [True, True] Translation: X:859.70, Y:23.98, Z:5.93 [[ 8.91345853e-01 -4.53172008e-01 -1.17346667e-02 8.59699981e+02] [ 4.53133699e-01 8.91423091e-01 -5.89265735e-03 2.39818480e+01] [ 1.31309402e-02 -6.49772383e-05 9.99913783e-01 5.93377898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3892541539999 meters 0.015249769668981146 Centerline is valid? [True, True] Translation: X:859.72, Y:24.00, Z:5.93 [[ 8.93962872e-01 -4.47990336e-01 -1.16207826e-02 8.59722801e+02] [ 4.47952281e-01 8.94038399e-01 -5.83905519e-03 2.39998093e+01] [ 1.30052662e-02 1.43424512e-05 9.99915428e-01 5.93426379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4192541539999 meters 0.0146048692876065 Centerline is valid? [True, True] Translation: X:859.75, Y:24.01, Z:5.93 [[ 8.95019038e-01 -4.45882324e-01 -1.13962196e-02 8.59745998e+02] [ 4.45845516e-01 8.95091588e-01 -5.72935957e-03 2.40148732e+01] [ 1.27552804e-02 4.69324981e-05 9.99918647e-01 5.93431197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4492541539998 meters 0.015470400152057452 Centerline is valid? [True, True] Translation: X:859.77, Y:24.03, Z:5.93 [[ 8.96604498e-01 -4.42674491e-01 -1.18181582e-02 8.59770808e+02] [ 4.42634583e-01 8.96682377e-01 -5.94481151e-03 2.40304362e+01] [ 1.32287506e-02 9.90192190e-05 9.99912491e-01 5.93435802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4792541539999 meters 0.013583718719934067 Centerline is valid? [True, True] Translation: X:859.80, Y:24.04, Z:5.94 [[ 8.97317803e-01 -4.41221458e-01 -1.20160912e-02 8.59796186e+02] [ 4.41180020e-01 8.97398245e-01 -6.04819228e-03 2.40449148e+01] [ 1.34518113e-02 1.25891259e-04 9.99909512e-01 5.93671729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5092541539999 meters 0.014111976335866524 Centerline is valid? [True, True] Translation: X:859.82, Y:24.06, Z:5.94 [[ 8.97731954e-01 -4.40359572e-01 -1.26801897e-02 8.59821749e+02] [ 4.40313282e-01 8.97821488e-01 -6.38657271e-03 2.40589242e+01] [ 1.41969353e-02 1.50174422e-04 9.99899207e-01 5.93570567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5392541539999 meters 0.014024595621697878 Centerline is valid? [True, True] Translation: X:859.85, Y:24.07, Z:5.94 [[ 8.98644651e-01 -4.38487382e-01 -1.29076079e-02 8.59846778e+02] [ 4.38439164e-01 8.98737326e-01 -6.50524437e-03 2.40731710e+01] [ 1.44530166e-02 1.86702245e-04 9.99895532e-01 5.93605671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5692541539999 meters 0.014125101433636024 Centerline is valid? [True, True] Translation: X:859.87, Y:24.09, Z:5.94 [[ 8.98829874e-01 -4.38092799e-01 -1.33998638e-02 8.59872199e+02] [ 4.38040725e-01 8.98929729e-01 -6.75766960e-03 2.40863215e+01] [ 1.50060223e-02 2.04309269e-04 9.99887382e-01 5.93632935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5992541539998 meters 0.016264941926059092 Centerline is valid? [True, True] Translation: X:859.90, Y:24.10, Z:5.93 [[ 8.99298780e-01 -4.37151731e-01 -1.26518494e-02 8.59897256e+02] [ 4.37105178e-01 8.99387747e-01 -6.38303291e-03 2.40995821e+01] [ 1.41692722e-02 2.10064829e-04 9.99899589e-01 5.93454819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6292541539999 meters 0.018075852660853854 Centerline is valid? [True, True] Translation: X:859.92, Y:24.11, Z:5.93 [[ 8.99468173e-01 -4.36803283e-01 -1.26450576e-02 8.59921689e+02] [ 4.36756724e-01 8.99557027e-01 -6.38116737e-03 2.41119065e+01] [ 1.41622653e-02 2.16843040e-04 9.99899687e-01 5.93404620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6592541539999 meters 0.017150659429266277 Centerline is valid? [True, True] Translation: X:859.95, Y:24.12, Z:5.94 [[ 8.99672096e-01 -4.36399798e-01 -1.20555150e-02 8.59947056e+02] [ 4.36357404e-01 8.99752838e-01 -6.08655432e-03 2.41241002e+01] [ 1.35031549e-02 2.15389865e-04 9.99908805e-01 5.93545301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6892541539999 meters 0.01746070875813942 Centerline is valid? [True, True] Translation: X:859.97, Y:24.14, Z:5.94 [[ 9.00221658e-01 -4.35276509e-01 -1.16330543e-02 8.59973401e+02] [ 4.35236890e-01 9.00296789e-01 -5.87710912e-03 2.41366514e+01] [ 1.30313690e-02 2.27566520e-04 9.99915062e-01 5.93602022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7192541539998 meters 0.018661511006731406 Centerline is valid? [True, True] Translation: X:860.00, Y:24.15, Z:5.93 [[ 9.00777575e-01 -4.34110903e-01 -1.21443444e-02 8.59999308e+02] [ 4.34067566e-01 9.00859399e-01 -6.13931208e-03 2.41489384e+01] [ 1.36054891e-02 2.58688637e-04 9.99907408e-01 5.93484268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7492541539999 meters 0.018922551867740542 Centerline is valid? [True, True] Translation: X:860.03, Y:24.16, Z:5.93 [[ 9.01225133e-01 -4.33167930e-01 -1.26017851e-02 8.60025427e+02] [ 4.33121117e-01 9.01313188e-01 -6.37460263e-03 2.41615340e+01] [ 1.41194285e-02 2.86852849e-04 9.99900275e-01 5.93479319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7792541539999 meters 0.019117940352085683 Centerline is valid? [True, True] Translation: X:860.05, Y:24.17, Z:5.93 [[ 9.01743472e-01 -4.32067922e-01 -1.32672666e-02 8.60051236e+02] [ 4.32015852e-01 9.01841009e-01 -6.71550787e-03 2.41744918e+01] [ 1.48665206e-02 3.23995902e-04 9.99889435e-01 5.93428177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8092541539999 meters 0.021193748596503408 Centerline is valid? [True, True] Translation: X:860.08, Y:24.19, Z:5.93 [[ 9.03211498e-01 -4.28943213e-01 -1.47211016e-02 8.60076571e+02] [ 4.28878644e-01 9.03331359e-01 -7.45411380e-03 2.41886851e+01] [ 1.64954242e-02 4.19075188e-04 9.99863853e-01 5.93185983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8392541539998 meters 0.020917657744349345 Centerline is valid? [True, True] Translation: X:860.10, Y:24.20, Z:5.93 [[ 9.04036384e-01 -4.27167642e-01 -1.56851312e-02 8.60102419e+02] [ 4.27094045e-01 9.04172314e-01 -7.94375304e-03 2.42004794e+01] [ 1.75753756e-02 4.82415635e-04 9.99845425e-01 5.93191112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8692541539999 meters 0.02215439770219257 Centerline is valid? [True, True] Translation: X:860.13, Y:24.21, Z:5.93 [[ 9.05386447e-01 -4.24284068e-01 -1.60751604e-02 8.60129609e+02] [ 4.24206286e-01 9.05528975e-01 -8.14265595e-03 2.42117870e+01] [ 1.80113227e-02 5.53066272e-04 9.99837630e-01 5.93196485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8992541539999 meters 0.02260061274178622 Centerline is valid? [True, True] Translation: X:860.15, Y:24.23, Z:5.93 [[ 9.05859742e-01 -4.23292536e-01 -1.55420970e-02 8.60154416e+02] [ 4.23219657e-01 9.05992892e-01 -7.87408444e-03 2.42251811e+01] [ 1.74140706e-02 5.55095136e-04 9.99848209e-01 5.93278177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9292541539999 meters 0.023058354179677328 Centerline is valid? [True, True] Translation: X:860.18, Y:24.23, Z:5.93 [[ 9.06330372e-01 -4.22309101e-01 -1.48418505e-02 8.60181762e+02] [ 4.22242455e-01 9.06451719e-01 -7.52262409e-03 2.42346646e+01] [ 1.66302935e-02 5.51123294e-04 9.99861555e-01 5.93410307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9592541539998 meters 0.01878439398356554 Centerline is valid? [True, True] Translation: X:860.21, Y:24.24, Z:5.94 [[ 9.06329689e-01 -4.22355454e-01 -1.35042609e-02 8.60209855e+02] [ 4.22300218e-01 9.06430149e-01 -6.84909748e-03 2.42421895e+01] [ 1.51334229e-02 5.04688070e-04 9.99885356e-01 5.93916306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9892541539999 meters 0.023339391660272553 Centerline is valid? [True, True] Translation: X:860.24, Y:24.25, Z:5.94 [[ 9.05807836e-01 -4.23480816e-01 -1.32726403e-02 8.60235496e+02] [ 4.23427533e-01 9.05904944e-01 -6.73468719e-03 2.42533591e+01] [ 1.48757613e-02 4.80331069e-04 9.99889234e-01 5.93546646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0192541539999 meters 0.02322740711165875 Centerline is valid? [True, True] Translation: X:860.26, Y:24.26, Z:5.94 [[ 9.05581502e-01 -4.24003964e-01 -1.19491600e-02 8.60261539e+02] [ 4.23960803e-01 9.05660233e-01 -6.06470377e-03 2.42633919e+01] [ 1.33933374e-02 4.26108095e-04 9.99910214e-01 5.93694836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0492541539999 meters 0.022094571995708193 Centerline is valid? [True, True] Translation: X:860.29, Y:24.27, Z:5.94 [[ 9.05399892e-01 -4.24383774e-01 -1.22248821e-02 8.60289056e+02] [ 4.24338589e-01 9.05482316e-01 -6.20784560e-03 2.42706433e+01] [ 1.37039235e-02 4.33093509e-04 9.99906003e-01 5.93726454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0792541539998 meters 0.01959162140728861 Centerline is valid? [True, True] Translation: X:860.31, Y:24.28, Z:5.94 [[ 9.05528469e-01 -4.24151472e-01 -1.06639447e-02 8.60313628e+02] [ 4.24117042e-01 9.05591178e-01 -5.41784391e-03 2.42814084e+01] [ 1.19551607e-02 3.83251211e-04 9.99928461e-01 5.94135845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1092541539999 meters 0.022749629298253242 Centerline is valid? [True, True] Translation: X:860.34, Y:24.29, Z:5.94 [[ 9.05474100e-01 -4.24239178e-01 -1.17377207e-02 8.60338525e+02] [ 4.24197450e-01 9.05550077e-01 -5.96505933e-03 2.42946815e+01] [ 1.31597058e-02 4.22095536e-04 9.99913318e-01 5.93798890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1392541539999 meters 0.02420408519189166 Centerline is valid? [True, True] Translation: X:860.36, Y:24.31, Z:5.94 [[ 9.05700270e-01 -4.23756795e-01 -1.17132334e-02 8.60362551e+02] [ 4.23715184e-01 9.05775907e-01 -5.95389139e-03 2.43079467e+01] [ 1.31325666e-02 4.29366188e-04 9.99913672e-01 5.93779330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1692541539999 meters 0.025376558207643757 Centerline is valid? [True, True] Translation: X:860.39, Y:24.32, Z:5.94 [[ 9.06389903e-01 -4.22241161e-01 -1.30286221e-02 8.60389307e+02] [ 4.22189482e-01 9.06483396e-01 -6.62525224e-03 2.43189084e+01] [ 1.46076838e-02 5.04514500e-04 9.99893175e-01 5.93602896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1992541539998 meters 0.02258907716915151 Centerline is valid? [True, True] Translation: X:860.42, Y:24.33, Z:5.94 [[ 9.06881898e-01 -4.21192414e-01 -1.27347342e-02 8.60416885e+02] [ 4.21142883e-01 9.06971161e-01 -6.47960413e-03 2.43282081e+01] [ 1.42791967e-02 5.13093040e-04 9.99897915e-01 5.93803153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2292541539999 meters 0.024031633766817027 Centerline is valid? [True, True] Translation: X:860.44, Y:24.34, Z:5.94 [[ 9.07737824e-01 -4.19290959e-01 -1.43922096e-02 8.60444294e+02] [ 4.19227386e-01 9.07851701e-01 -7.32720602e-03 2.43405584e+01] [ 1.61382232e-02 6.17573611e-04 9.99869580e-01 5.93657734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2592541539999 meters 0.024222900818103858 Centerline is valid? [True, True] Translation: X:860.47, Y:24.35, Z:5.94 [[ 9.08035413e-01 -4.18642238e-01 -1.45039961e-02 8.60470440e+02] [ 4.18577524e-01 9.08151017e-01 -7.38827305e-03 2.43529395e+01] [ 1.62648619e-02 6.37766806e-04 9.99867515e-01 5.93650720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2892541539999 meters 0.023776460405480676 Centerline is valid? [True, True] Translation: X:860.50, Y:24.36, Z:5.94 [[ 9.08258210e-01 -4.18117008e-01 -1.56585607e-02 8.60498316e+02] [ 4.18041414e-01 9.08392907e-01 -7.98144432e-03 2.43624562e+01] [ 1.75613031e-02 7.03285489e-04 9.99845541e-01 5.93546369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3192541539999 meters 0.023776460405480676 Centerline is valid? [True, True] Translation: X:860.52, Y:24.38, Z:5.94 [[ 9.08138691e-01 -4.18376618e-01 -1.56563918e-02 8.60522874e+02] [ 4.18300989e-01 9.08273368e-01 -7.98569746e-03 2.43750709e+01] [ 1.75613128e-02 7.03036690e-04 9.99845541e-01 5.93565437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3492541539998 meters 0.02558398100323014 Centerline is valid? [True, True] Translation: X:860.55, Y:24.38, Z:5.93 [[ 9.07536708e-01 -4.19666514e-01 -1.60356274e-02 8.60549556e+02] [ 4.19587307e-01 9.07678098e-01 -8.18302995e-03 2.43841811e+01] [ 1.79893314e-02 6.98054339e-04 9.99837935e-01 5.93409316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3792541539999 meters 0.025024206620696564 Centerline is valid? [True, True] Translation: X:860.58, Y:24.39, Z:5.93 [[ 9.06838488e-01 -4.21191620e-01 -1.55426861e-02 8.60575361e+02] [ 4.21117397e-01 9.06971443e-01 -7.93349664e-03 2.43949700e+01] [ 1.74382947e-02 6.49104595e-04 9.99847731e-01 5.93488012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4092541539999 meters 0.024068663948605077 Centerline is valid? [True, True] Translation: X:860.60, Y:24.40, Z:5.94 [[ 9.05214848e-01 -4.24702206e-01 -1.46326544e-02 8.60603738e+02] [ 4.24636857e-01 9.05332942e-01 -7.47027058e-03 2.44022412e+01] [ 1.64200644e-02 5.48635488e-04 9.99865031e-01 5.93570112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4392541539999 meters 0.021750423580079083 Centerline is valid? [True, True] Translation: X:860.63, Y:24.41, Z:5.94 [[ 9.04049998e-01 -4.27175228e-01 -1.46603584e-02 8.60632963e+02] [ 4.27109906e-01 9.04168716e-01 -7.48739660e-03 2.44096798e+01] [ 1.64538678e-02 5.07396573e-04 9.99864497e-01 5.93714205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4692541539998 meters 0.021273828418280034 Centerline is valid? [True, True] Translation: X:860.66, Y:24.42, Z:5.94 [[ 9.02868973e-01 -4.29681666e-01 -1.41874238e-02 8.60660457e+02] [ 4.29620734e-01 9.02980322e-01 -7.24997596e-03 2.44201520e+01] [ 1.59261463e-02 4.50566924e-04 9.99873069e-01 5.93754466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4992541539999 meters 0.01984991805218389 Centerline is valid? [True, True] Translation: X:860.69, Y:24.43, Z:5.94 [[ 9.00451147e-01 -4.34752118e-01 -1.33539670e-02 8.60689051e+02] [ 4.34698657e-01 9.00550098e-01 -6.82633501e-03 2.44277516e+01] [ 1.49936799e-02 3.41829656e-04 9.99887530e-01 5.93849426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5292541539999 meters 0.018729686206892124 Centerline is valid? [True, True] Translation: X:860.72, Y:24.44, Z:5.94 [[ 8.99192108e-01 -4.37360920e-01 -1.29991858e-02 8.60715923e+02] [ 4.37310495e-01 8.99286017e-01 -6.64759311e-03 2.44378450e+01] [ 1.45973835e-02 2.92782861e-04 9.99893410e-01 5.93923170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5592541539999 meters 0.015219677376985203 Centerline is valid? [True, True] Translation: X:860.74, Y:24.45, Z:5.94 [[ 8.98128414e-01 -4.39565967e-01 -1.21290367e-02 8.60742855e+02] [ 4.39522217e-01 8.98210277e-01 -6.20632089e-03 2.44480584e+01] [ 1.36225128e-02 2.43092047e-04 9.99907180e-01 5.94365322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5892541539998 meters 0.017120620851010127 Centerline is valid? [True, True] Translation: X:860.77, Y:24.46, Z:5.94 [[ 8.96929807e-01 -4.41992628e-01 -1.26268936e-02 8.60768780e+02] [ 4.41945414e-01 8.97018656e-01 -6.46384684e-03 2.44592165e+01] [ 1.41835318e-02 2.17219154e-04 9.99899385e-01 5.94094033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6192541539999 meters 0.017044788613518023 Centerline is valid? [True, True] Translation: X:860.80, Y:24.47, Z:5.94 [[ 8.95082336e-01 -4.45718013e-01 -1.27696649e-02 8.60795741e+02] [ 4.45670064e-01 8.95173406e-01 -6.53972321e-03 2.44696648e+01] [ 1.43459369e-02 1.62533356e-04 9.99897079e-01 5.94155659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6492541539999 meters 0.013918086474500092 Centerline is valid? [True, True] Translation: X:860.82, Y:24.48, Z:5.95 [[ 8.94258361e-01 -4.47391205e-01 -1.19621839e-02 8.60821460e+02] [ 4.47349228e-01 8.94338355e-01 -6.12985484e-03 2.44823523e+01] [ 1.34406830e-02 1.30400214e-04 9.99909661e-01 5.94518385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6792541539999 meters 0.016879808297508972 Centerline is valid? [True, True] Translation: X:860.85, Y:24.50, Z:5.94 [[ 8.93521409e-01 -4.48840697e-01 -1.27090551e-02 8.60846340e+02] [ 4.48793398e-01 8.93611780e-01 -6.51703296e-03 2.44960171e+01] [ 1.42820710e-02 1.19368448e-04 9.99897999e-01 5.94187525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7092541539998 meters 0.015589642104465966 Centerline is valid? [True, True] Translation: X:860.87, Y:24.51, Z:5.94 [[ 8.93064067e-01 -4.49762352e-01 -1.22637178e-02 8.60870939e+02] [ 4.49718336e-01 8.93148261e-01 -6.29303645e-03 2.45092082e+01] [ 1.37836891e-02 1.04865948e-04 9.99904995e-01 5.94294566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7392541539999 meters 0.016174333561922143 Centerline is valid? [True, True] Translation: X:860.90, Y:24.52, Z:5.94 [[ 8.91978984e-01 -4.51902275e-01 -1.25629013e-02 8.60896772e+02] [ 4.51856236e-01 8.92067446e-01 -6.45085722e-03 2.45226739e+01] [ 1.41221124e-02 7.74037434e-05 9.99900275e-01 5.94227283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7692541539999 meters 0.01715506467811488 Centerline is valid? [True, True] Translation: X:860.92, Y:24.53, Z:5.94 [[ 8.91364025e-01 -4.53106819e-01 -1.28212698e-02 8.60920451e+02] [ 4.53058948e-01 8.91456228e-01 -6.58653820e-03 2.45349326e+01] [ 1.44140062e-02 6.22121896e-05 9.99896111e-01 5.94164101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7992541539999 meters 0.016541559271498987 Centerline is valid? [True, True] Translation: X:860.95, Y:24.55, Z:5.94 [[ 8.90052232e-01 -4.55697335e-01 -1.21228441e-02 8.60946620e+02] [ 4.55654741e-01 8.90134787e-01 -6.23047682e-03 2.45478089e+01] [ 1.36301769e-02 2.16184114e-05 9.99907105e-01 5.94191738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8292541539998 meters 0.013862027239675497 Centerline is valid? [True, True] Translation: X:860.97, Y:24.56, Z:5.95 [[ 8.89579777e-01 -4.56623964e-01 -1.19321276e-02 8.60971257e+02] [ 4.56582730e-01 8.89659797e-01 -6.13638082e-03 2.45603764e+01] [ 1.34175527e-02 1.07969065e-05 9.99909981e-01 5.94529239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8592541539999 meters 0.016733436179384678 Centerline is valid? [True, True] Translation: X:861.00, Y:24.57, Z:5.94 [[ 8.88579792e-01 -4.58557531e-01 -1.22858982e-02 8.60996134e+02] [ 4.58513939e-01 8.88664723e-01 -6.32277376e-03 2.45737666e+01] [ 1.38173999e-02 -1.49665949e-05 9.99904535e-01 5.94187178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8892541539999 meters 0.01720237017553571 Centerline is valid? [True, True] Translation: X:861.02, Y:24.59, Z:5.94 [[ 8.87306576e-01 -4.61009947e-01 -1.25247278e-02 8.61020623e+02] [ 4.60964845e-01 8.87394966e-01 -6.44863418e-03 2.45868864e+01] [ 1.40872649e-02 -5.15436864e-05 9.99900768e-01 5.94030878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9192541539999 meters 0.0160827802895184 Centerline is valid? [True, True] Translation: X:861.05, Y:24.60, Z:5.94 [[ 8.86614892e-01 -4.62337317e-01 -1.25792913e-02 8.61045488e+02] [ 4.62291912e-01 8.86704122e-01 -6.47974223e-03 2.46004035e+01] [ 1.41499361e-02 -7.02686920e-05 9.99899882e-01 5.94162062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9492541539998 meters 0.018016877994272505 Centerline is valid? [True, True] Translation: X:861.07, Y:24.61, Z:5.94 [[ 8.85537776e-01 -4.64386608e-01 -1.29585972e-02 8.61070670e+02] [ 4.64338599e-01 8.85632580e-01 -6.67819344e-03 2.46131485e+01] [ 1.45778194e-02 -1.03384281e-04 9.99893733e-01 5.93960830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9792541539999 meters 0.015030139955900995 Centerline is valid? [True, True] Translation: X:861.10, Y:24.63, Z:5.94 [[ 8.85195770e-01 -4.65053146e-01 -1.24104856e-02 8.61095237e+02] [ 4.65009137e-01 8.85282757e-01 -6.39863847e-03 2.46261747e+01] [ 1.39624959e-02 -1.06941495e-04 9.99902514e-01 5.94306760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0092541539999 meters 0.017508952227835512 Centerline is valid? [True, True] Translation: X:861.12, Y:24.64, Z:5.94 [[ 8.84469502e-01 -4.66417305e-01 -1.29844739e-02 8.61120725e+02] [ 4.66369212e-01 8.84564797e-01 -6.69905271e-03 2.46399661e+01] [ 1.46101626e-02 -1.30451049e-04 9.99893257e-01 5.94117431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0392541539999 meters 0.01628486617316753 Centerline is valid? [True, True] Translation: X:861.15, Y:24.65, Z:5.94 [[ 8.84374416e-01 -4.66615293e-01 -1.23312485e-02 8.61145292e+02] [ 4.66571881e-01 8.84460374e-01 -6.36611484e-03 2.46536297e+01] [ 1.38770272e-02 -1.23384722e-04 9.99903702e-01 5.94238526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0692541539999 meters 0.018007889403049655 Centerline is valid? [True, True] Translation: X:861.17, Y:24.67, Z:5.94 [[ 8.84363004e-01 -4.66626547e-01 -1.27178380e-02 8.61169520e+02] [ 4.66580304e-01 8.84454436e-01 -6.57038420e-03 2.46677382e+01] [ 1.43142639e-02 -1.23287995e-04 9.99897538e-01 5.94131980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0992541539998 meters 0.01613742513177944 Centerline is valid? [True, True] Translation: X:861.19, Y:24.68, Z:5.94 [[ 8.85245733e-01 -4.64966799e-01 -1.20775649e-02 8.61193064e+02] [ 4.64924902e-01 8.85328113e-01 -6.24240172e-03 2.46831304e+01] [ 1.35951173e-02 -8.91011772e-05 9.99907578e-01 5.94242992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1292541539999 meters 0.016374676934006707 Centerline is valid? [True, True] Translation: X:861.22, Y:24.70, Z:5.94 [[ 8.85680007e-01 -4.64146440e-01 -1.17901315e-02 8.61217223e+02] [ 4.64106405e-01 8.85758476e-01 -6.09651261e-03 2.46974746e+01] [ 1.32728835e-02 -7.23161954e-05 9.99911909e-01 5.94245546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1592541539999 meters 0.016574222331217196 Centerline is valid? [True, True] Translation: X:861.24, Y:24.71, Z:5.94 [[ 8.86820976e-01 -4.61973805e-01 -1.13472826e-02 8.61241446e+02] [ 4.61936495e-01 8.86893569e-01 -5.87126050e-03 2.47134165e+01] [ 1.27762006e-02 -3.49670118e-05 9.99918380e-01 5.94364249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1892541539999 meters 0.016514631963550446 Centerline is valid? [True, True] Translation: X:861.26, Y:24.73, Z:5.94 [[ 8.87451311e-01 -4.60760652e-01 -1.13926082e-02 8.61264522e+02] [ 4.60722908e-01 8.87524434e-01 -5.89748618e-03 2.47269492e+01] [ 1.28285477e-02 -1.51037358e-05 9.99917711e-01 5.94366387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2192541539998 meters 0.017532968127676966 Centerline is valid? [True, True] Translation: X:861.29, Y:24.74, Z:5.94 [[ 8.87857744e-01 -4.59986263e-01 -1.10120062e-02 8.61289060e+02] [ 4.59950907e-01 8.87926032e-01 -5.70316699e-03 2.47416908e+01] [ 1.24012254e-02 -1.38124952e-06 9.99923102e-01 5.94369015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2492541539999 meters 0.014023075975182583 Centerline is valid? [True, True] Translation: X:861.31, Y:24.76, Z:5.95 [[ 8.89283001e-01 -4.57238883e-01 -1.04090296e-02 8.61311697e+02] [ 4.57207071e-01 8.89343917e-01 -5.39367556e-03 2.47568384e+01] [ 1.17234054e-02 3.74220355e-05 9.99931278e-01 5.94803887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2792541539999 meters 0.013741768829752452 Centerline is valid? [True, True] Translation: X:861.34, Y:24.77, Z:5.95 [[ 8.89834970e-01 -4.56163028e-01 -1.04411436e-02 8.61336160e+02] [ 4.56130916e-01 8.89896224e-01 -5.41282997e-03 2.47716221e+01] [ 1.17606671e-02 5.39970225e-05 9.99930840e-01 5.94902412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3092541539999 meters 0.015660151838586423 Centerline is valid? [True, True] Translation: X:861.36, Y:24.79, Z:5.95 [[ 8.90685846e-01 -4.54487961e-01 -1.09277969e-02 8.61360160e+02] [ 4.54452612e-01 8.90752876e-01 -5.66892997e-03 2.47880351e+01] [ 1.23104269e-02 8.30698445e-05 9.99924220e-01 5.94618111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3392541539998 meters 0.01784093777924011 Centerline is valid? [True, True] Translation: X:861.38, Y:24.80, Z:5.94 [[ 8.91008618e-01 -4.53851777e-01 -1.10547165e-02 8.61384903e+02] [ 4.53815509e-01 8.91077188e-01 -5.73827865e-03 2.48025907e+01] [ 1.24549337e-02 9.60539212e-05 9.99922430e-01 5.94417698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3692541539999 meters 0.014364850209115489 Centerline is valid? [True, True] Translation: X:861.41, Y:24.82, Z:5.95 [[ 8.91997074e-01 -4.51900990e-01 -1.12567977e-02 8.61409316e+02] [ 4.51863184e-01 8.92068091e-01 -5.84676475e-03 2.48176132e+01] [ 1.26839888e-02 1.28764595e-04 9.99919547e-01 5.94913173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3992541539999 meters 0.014537003932226426 Centerline is valid? [True, True] Translation: X:861.43, Y:24.83, Z:5.95 [[ 8.92226111e-01 -4.51444754e-01 -1.14106004e-02 8.61434204e+02] [ 4.51405823e-01 8.92299061e-01 -5.93026225e-03 2.48315491e+01] [ 1.28588538e-02 1.40323358e-04 9.99917312e-01 5.94940047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4292541539999 meters 0.014490885188184154 Centerline is valid? [True, True] Translation: X:861.46, Y:24.85, Z:5.95 [[ 8.92086529e-01 -4.51706010e-01 -1.19710413e-02 8.61458713e+02] [ 4.51663129e-01 8.92166834e-01 -6.22566877e-03 2.48454793e+01] [ 1.34923380e-02 1.46957266e-04 9.99908963e-01 5.94926843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4592541539998 meters 0.015885697142515663 Centerline is valid? [True, True] Translation: X:861.48, Y:24.86, Z:5.95 [[ 8.91467641e-01 -4.52899314e-01 -1.29482221e-02 8.61483622e+02] [ 4.52849200e-01 8.91561658e-01 -6.73877243e-03 2.48585834e+01] [ 1.45961238e-02 1.43805535e-04 9.99893461e-01 5.94618498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4892541539999 meters 0.016623016305133125 Centerline is valid? [True, True] Translation: X:861.51, Y:24.87, Z:5.94 [[ 8.90365443e-01 -4.55022376e-01 -1.42833899e-02 8.61508188e+02] [ 4.54961612e-01 8.90479995e-01 -7.43705798e-03 2.48708128e+01] [ 1.61031008e-02 1.23305328e-04 9.99870329e-01 5.94443230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5192541539999 meters 0.017783439310828562 Centerline is valid? [True, True] Translation: X:861.53, Y:24.88, Z:5.94 [[ 8.89450532e-01 -4.56797137e-01 -1.46330782e-02 8.61533063e+02] [ 4.56733573e-01 8.89570889e-01 -7.62080265e-03 2.48828948e+01] [ 1.64983212e-02 9.49088973e-05 9.99863889e-01 5.94338220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5492541539999 meters 0.015237608533274974 Centerline is valid? [True, True] Translation: X:861.56, Y:24.89, Z:5.95 [[ 8.87252562e-01 -4.61032270e-01 -1.52360627e-02 8.61559299e+02] [ 4.60963915e-01 8.87383370e-01 -7.93875794e-03 2.48926588e+01] [ 1.71802523e-02 2.04082003e-05 9.99852408e-01 5.94593788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5792541539998 meters 0.013882019217470534 Centerline is valid? [True, True] Translation: X:861.59, Y:24.90, Z:5.95 [[ 8.85911867e-01 -4.63597322e-01 -1.54170986e-02 8.61585190e+02] [ 4.63527625e-01 8.86046005e-01 -8.03854014e-03 2.49036341e+01] [ 1.73869043e-02 -2.48129897e-05 9.99848836e-01 5.94851079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6092541539999 meters 0.016200938224531693 Centerline is valid? [True, True] Translation: X:861.61, Y:24.91, Z:5.95 [[ 8.82723013e-01 -4.69626606e-01 -1.58408566e-02 8.61613557e+02] [ 4.69553899e-01 8.82865126e-01 -8.26469355e-03 2.49126209e+01] [ 1.78666598e-02 -1.42700780e-04 9.99840368e-01 5.94678562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6392541539999 meters 0.017402952756484548 Centerline is valid? [True, True] Translation: X:861.64, Y:24.92, Z:5.95 [[ 8.81044917e-01 -4.72760330e-01 -1.60475504e-02 8.61640111e+02] [ 4.72686142e-01 8.81191028e-01 -8.37750744e-03 2.49237379e+01] [ 1.81015106e-02 -2.04494335e-04 9.99836133e-01 5.94676612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6692541539999 meters 0.016470748306193817 Centerline is valid? [True, True] Translation: X:861.67, Y:24.93, Z:5.95 [[ 8.79676974e-01 -4.75322608e-01 -1.53895911e-02 8.61666342e+02] [ 4.75254721e-01 8.79811547e-01 -8.03685456e-03 2.49343470e+01] [ 1.73600387e-02 -2.44139938e-04 9.99849273e-01 5.94902880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6992541539998 meters 0.018753674090812866 Centerline is valid? [True, True] Translation: X:861.69, Y:24.95, Z:5.95 [[ 8.78207279e-01 -4.78027571e-01 -1.55440372e-02 8.61692621e+02] [ 4.77958676e-01 8.78344780e-01 -8.12103835e-03 2.49457162e+01] [ 1.75351042e-02 -2.97452440e-04 9.99846204e-01 5.94758981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7292541539999 meters 0.01968383636531784 Centerline is valid? [True, True] Translation: X:861.72, Y:24.96, Z:5.95 [[ 8.76026683e-01 -4.82019655e-01 -1.53069480e-02 8.61719187e+02] [ 4.81953404e-01 8.76160326e-01 -8.00000020e-03 2.49551136e+01] [ 1.72674979e-02 -3.69022053e-04 9.99850838e-01 5.94836558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7592541539999 meters 0.02110633984142233 Centerline is valid? [True, True] Translation: X:861.75, Y:24.97, Z:5.95 [[ 8.75122786e-01 -4.83653734e-01 -1.54652546e-02 8.61745275e+02] [ 4.83586300e-01 8.75259335e-01 -8.08619915e-03 2.49670290e+01] [ 1.74470289e-02 -4.02368148e-04 9.99847708e-01 5.94816600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7892541539999 meters 0.02130744981508446 Centerline is valid? [True, True] Translation: X:861.77, Y:24.98, Z:5.95 [[ 8.74123293e-01 -4.85471103e-01 -1.50424813e-02 8.61770542e+02] [ 4.85407525e-01 8.74252611e-01 -7.86806249e-03 2.49776413e+01] [ 1.69706455e-02 -4.24076900e-04 9.99855898e-01 5.94968124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8192541539999 meters 0.021214351765304916 Centerline is valid? [True, True] Translation: X:861.80, Y:24.99, Z:5.95 [[ 8.73822899e-01 -4.86013825e-01 -1.49700811e-02 8.61796398e+02] [ 4.85950880e-01 8.73951016e-01 -7.83357547e-03 2.49905154e+01] [ 1.68903436e-02 -4.29566457e-04 9.99857256e-01 5.95004383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8492541539998 meters 0.01913522497515388 Centerline is valid? [True, True] Translation: X:861.82, Y:25.00, Z:5.95 [[ 8.74451078e-01 -4.84888668e-01 -1.47747079e-02 8.61820898e+02] [ 4.84827150e-01 8.74575794e-01 -7.73403119e-03 2.50037682e+01] [ 1.66717460e-02 -4.00147603e-04 9.99860937e-01 5.95292825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8792541539999 meters 0.021521615462536368 Centerline is valid? [True, True] Translation: X:861.85, Y:25.02, Z:5.95 [[ 8.74372493e-01 -4.84998880e-01 -1.57743515e-02 8.61845814e+02] [ 4.84928743e-01 8.74514667e-01 -8.25899330e-03 2.50174116e+01] [ 1.78005042e-02 -4.27999861e-04 9.99841467e-01 5.94889000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9092541539999 meters 0.020248571429714465 Centerline is valid? [True, True] Translation: X:861.87, Y:25.03, Z:5.95 [[ 8.74941374e-01 -4.83964242e-01 -1.60063817e-02 8.61871173e+02] [ 4.83891790e-01 8.75087678e-01 -8.38397619e-03 2.50319944e+01] [ 1.80645321e-02 -4.09869060e-04 9.99836739e-01 5.94967160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9392541539999 meters 0.01936548305307003 Centerline is valid? [True, True] Translation: X:861.89, Y:25.05, Z:5.95 [[ 8.76500794e-01 -4.81109251e-01 -1.67405452e-02 8.61894651e+02] [ 4.81029386e-01 8.76660571e-01 -8.77342393e-03 2.50482858e+01] [ 1.88967513e-02 -3.62781127e-04 9.99821375e-01 5.94885855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9692541539998 meters 0.0186438637036633 Centerline is valid? [True, True] Translation: X:861.92, Y:25.07, Z:5.95 [[ 8.78728533e-01 -4.77000244e-01 -1.75195201e-02 8.61916821e+02] [ 4.76911847e-01 8.78903116e-01 -9.18705404e-03 2.50684303e+01] [ 1.97801878e-02 -2.82340171e-04 9.99804313e-01 5.94857829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9992541539999 meters 0.017727696208709228 Centerline is valid? [True, True] Translation: X:861.94, Y:25.08, Z:5.95 [[ 8.80079541e-01 -4.74513519e-01 -1.72313853e-02 8.61941258e+02] [ 4.74427426e-01 8.80248188e-01 -9.04129797e-03 2.50844086e+01] [ 1.94581138e-02 -2.17980395e-04 9.99810649e-01 5.94940943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0292541539999 meters 0.01762356499345869 Centerline is valid? [True, True] Translation: X:861.97, Y:25.10, Z:5.95 [[ 8.81522430e-01 -4.71831366e-01 -1.71279887e-02 8.61965314e+02] [ 4.71745693e-01 8.81688799e-01 -8.99236750e-03 2.51001698e+01] [ 1.93444368e-02 -1.53081244e-04 9.99812867e-01 5.94911968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0592541539999 meters 0.017134308114932148 Centerline is valid? [True, True] Translation: X:861.99, Y:25.12, Z:5.95 [[ 8.84277704e-01 -4.66656010e-01 -1.68852294e-02 8.61988439e+02] [ 4.66571702e-01 8.84438900e-01 -8.87015007e-03 2.51182398e+01] [ 1.90732625e-02 -3.44942658e-05 9.99818088e-01 5.95012254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0892541539998 meters 0.017116107392443618 Centerline is valid? [True, True] Translation: X:862.01, Y:25.13, Z:5.95 [[ 8.85412253e-01 -4.64499839e-01 -1.68832098e-02 8.62011376e+02] [ 4.64415090e-01 8.85573204e-01 -8.87266468e-03 2.51333409e+01] [ 1.90726695e-02 1.51486215e-05 9.99818100e-01 5.95036078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1192541539999 meters 0.017277560235424153 Centerline is valid? [True, True] Translation: X:862.03, Y:25.15, Z:5.95 [[ 8.87455250e-01 -4.60607964e-01 -1.62321697e-02 8.62034484e+02] [ 4.60528890e-01 8.87603681e-01 -8.53505109e-03 2.51506874e+01] [ 1.83390461e-02 9.90927938e-05 9.99831821e-01 5.95092519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1492541539999 meters 0.015323941066839193 Centerline is valid? [True, True] Translation: X:862.06, Y:25.16, Z:5.95 [[ 8.88244123e-01 -4.59116416e-01 -1.53132492e-02 8.62058397e+02] [ 4.59045726e-01 8.88376103e-01 -8.05732567e-03 2.51648393e+01] [ 1.73031751e-02 1.27390581e-04 9.99850281e-01 5.95376144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1792541539999 meters 0.014197913780341421 Centerline is valid? [True, True] Translation: X:862.08, Y:25.18, Z:5.96 [[ 8.89703219e-01 -4.56313251e-01 -1.43665831e-02 8.62081218e+02] [ 4.56250616e-01 8.89819188e-01 -7.56227878e-03 2.51805494e+01] [ 1.62344293e-02 1.73421366e-04 9.99868198e-01 5.95570564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2092541539998 meters 0.017984569953083323 Centerline is valid? [True, True] Translation: X:862.11, Y:25.20, Z:5.95 [[ 8.90381275e-01 -4.54954790e-01 -1.54052967e-02 8.62105686e+02] [ 4.54882503e-01 8.90514510e-01 -8.11274021e-03 2.51962234e+01] [ 1.74095702e-02 2.15832084e-04 9.99848419e-01 5.95159768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2392541539999 meters 0.017984569953083323 Centerline is valid? [True, True] Translation: X:862.13, Y:25.21, Z:5.95 [[ 8.90251502e-01 -4.55208752e-01 -1.54030978e-02 8.62130058e+02] [ 4.55136430e-01 8.90384718e-01 -8.11691378e-03 2.52091501e+01] [ 1.74095730e-02 2.15583766e-04 9.99848419e-01 5.95178822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2692541539999 meters 0.017839426525912347 Centerline is valid? [True, True] Translation: X:862.16, Y:25.22, Z:5.95 [[ 8.90498779e-01 -4.54721120e-01 -1.55121513e-02 8.62155651e+02] [ 4.54647605e-01 8.90633847e-01 -8.17963960e-03 2.52233134e+01] [ 1.75351019e-02 2.31396657e-04 9.99846222e-01 5.95201749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2992541539999 meters 0.0178227014189841 Centerline is valid? [True, True] Translation: X:862.18, Y:25.24, Z:5.95 [[ 8.90617947e-01 -4.54474337e-01 -1.58981072e-02 8.62181275e+02] [ 4.54396985e-01 8.90759797e-01 -8.38830543e-03 2.52374205e+01] [ 1.79736642e-02 2.46723398e-04 9.99838430e-01 5.95219765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3292541539998 meters 0.016423932095405998 Centerline is valid? [True, True] Translation: X:862.21, Y:25.25, Z:5.95 [[ 8.90697792e-01 -4.54323231e-01 -1.57430824e-02 8.62206046e+02] [ 4.54247260e-01 8.90836875e-01 -8.31195919e-03 2.52509735e+01] [ 1.78008345e-02 2.52191668e-04 9.99841521e-01 5.95323659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3592541539999 meters 0.015096273686063741 Centerline is valid? [True, True] Translation: X:862.23, Y:25.26, Z:5.95 [[ 8.90292012e-01 -4.55105000e-01 -1.61112282e-02 8.62230966e+02] [ 4.55025454e-01 8.90437745e-01 -8.51224043e-03 2.52635980e+01] [ 1.82200089e-02 2.47360706e-04 9.99833971e-01 5.95475503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3892541539999 meters 0.016068290106932382 Centerline is valid? [True, True] Translation: X:862.26, Y:25.27, Z:5.95 [[ 8.89014519e-01 -4.57562182e-01 -1.70303929e-02 8.62256375e+02] [ 4.57473682e-01 8.89177600e-01 -9.00145134e-03 2.52746843e+01] [ 1.92617676e-02 2.11464397e-04 9.99814453e-01 5.95302836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4192541539999 meters 0.015937444518694308 Centerline is valid? [True, True] Translation: X:862.28, Y:25.29, Z:5.95 [[ 8.87927507e-01 -4.59655383e-01 -1.73686973e-02 8.62283253e+02] [ 4.59563651e-01 8.88097348e-01 -9.18430606e-03 2.52867270e+01] [ 1.96467098e-02 1.72976034e-04 9.99806970e-01 5.95342410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4492541539998 meters 0.01688471562500667 Centerline is valid? [True, True] Translation: X:862.31, Y:25.30, Z:5.95 [[ 8.85554473e-01 -4.64194267e-01 -1.78033001e-02 8.62310807e+02] [ 4.64098689e-01 8.85733411e-01 -9.41971550e-03 2.52968456e+01] [ 2.01415557e-02 7.91829652e-05 9.99797135e-01 5.95274362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4792541539999 meters 0.016495707633317733 Centerline is valid? [True, True] Translation: X:862.34, Y:25.31, Z:5.95 [[ 8.82656157e-01 -4.69678552e-01 -1.78932165e-02 8.62337012e+02] [ 4.69583051e-01 8.82837503e-01 -9.47111956e-03 2.53051284e+01] [ 2.02451843e-02 -4.26092013e-05 9.99795044e-01 5.95361145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5092541539999 meters 0.016306891796302098 Centerline is valid? [True, True] Translation: X:862.36, Y:25.32, Z:5.95 [[ 8.81124943e-01 -4.72562348e-01 -1.74258981e-02 8.62363373e+02] [ 4.72472236e-01 8.81297235e-01 -9.22875216e-03 2.53162334e+01] [ 1.97185566e-02 -1.01569318e-04 9.99805565e-01 5.95418104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5392541539999 meters 0.014682341861727321 Centerline is valid? [True, True] Translation: X:862.39, Y:25.33, Z:5.96 [[ 8.79669080e-01 -4.75285728e-01 -1.69052385e-02 8.62389368e+02] [ 4.75201347e-01 8.79831491e-01 -8.95692644e-03 2.53266709e+01] [ 1.91308605e-02 -1.54260892e-04 9.99816976e-01 5.95610552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5692541539999 meters 0.015215089390777207 Centerline is valid? [True, True] Translation: X:862.42, Y:25.34, Z:5.96 [[ 8.78196714e-01 -4.78001492e-01 -1.68850820e-02 8.62415677e+02] [ 4.77917772e-01 8.78358998e-01 -8.94840898e-03 2.53375801e+01] [ 1.91085166e-02 -2.11217426e-04 9.99817393e-01 5.95642877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5992541539998 meters 0.016842530803585113 Centerline is valid? [True, True] Translation: X:862.44, Y:25.35, Z:5.96 [[ 8.76483011e-01 -4.81121648e-01 -1.73058200e-02 8.62441546e+02] [ 4.81034227e-01 8.76653797e-01 -9.17560569e-03 2.53504184e+01] [ 1.95857954e-02 -2.82429267e-04 9.99808140e-01 5.95632948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6292541539999 meters 0.01645142124061785 Centerline is valid? [True, True] Translation: X:862.47, Y:25.36, Z:5.96 [[ 8.75387178e-01 -4.83133940e-01 -1.66998054e-02 8.62467299e+02] [ 4.83052844e-01 8.75546399e-01 -8.85736067e-03 2.53611146e+01] [ 1.89007461e-02 -3.13268545e-04 9.99821316e-01 5.95757293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6592541539999 meters 0.01784653654409019 Centerline is valid? [True, True] Translation: X:862.49, Y:25.37, Z:5.96 [[ 8.73405635e-01 -4.86715244e-01 -1.64580754e-02 8.62493220e+02] [ 4.86637068e-01 8.73560601e-01 -8.73156069e-03 2.53729083e+01] [ 1.86269100e-02 -3.82915252e-04 9.99826431e-01 5.95792078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6892541539999 meters 0.02066121067486861 Centerline is valid? [True, True] Translation: X:862.52, Y:25.38, Z:5.96 [[ 8.71991150e-01 -4.89229073e-01 -1.69218131e-02 8.62518811e+02] [ 4.89146846e-01 8.72155212e-01 -8.98043667e-03 2.53837955e+01] [ 1.91519382e-02 -4.46390217e-04 9.99816485e-01 5.95646112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7192541539998 meters 0.01814029269878133 Centerline is valid? [True, True] Translation: X:862.54, Y:25.40, Z:5.96 [[ 8.71628641e-01 -4.89894396e-01 -1.63398982e-02 8.62543994e+02] [ 4.89817760e-01 8.71781674e-01 -8.67615079e-03 2.53966325e+01] [ 1.84952215e-02 -4.41190813e-04 9.99828851e-01 5.95973672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7492541539999 meters 0.019292227432306457 Centerline is valid? [True, True] Translation: X:862.57, Y:25.41, Z:5.96 [[ 8.70754077e-01 -4.91408286e-01 -1.74709661e-02 8.62569002e+02] [ 4.91320861e-01 8.70929185e-01 -9.28255333e-03 2.54113199e+01] [ 1.97774979e-02 -5.01028961e-04 9.99804281e-01 5.95802725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7792541539999 meters 0.021040664446824994 Centerline is valid? [True, True] Translation: X:862.59, Y:25.42, Z:5.96 [[ 8.69882759e-01 -4.92933195e-01 -1.79123289e-02 8.62594697e+02] [ 4.92841554e-01 8.70066990e-01 -9.52032321e-03 2.54228575e+01] [ 2.02778095e-02 -5.46375008e-04 9.99794235e-01 5.95624124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8092541539999 meters 0.020676854363837233 Centerline is valid? [True, True] Translation: X:862.62, Y:25.44, Z:5.96 [[ 8.69252210e-01 -4.94038239e-01 -1.80780138e-02 8.62619117e+02] [ 4.93945042e-01 8.69439986e-01 -9.61280651e-03 2.54380733e+01] [ 2.04668421e-02 -5.73591990e-04 9.99790368e-01 5.95667007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8392541539998 meters 0.022455413894682166 Centerline is valid? [True, True] Translation: X:862.64, Y:25.45, Z:5.96 [[ 8.68819433e-01 -4.94789971e-01 -1.83215322e-02 8.62644998e+02] [ 4.94694344e-01 8.69012387e-01 -9.74558396e-03 2.54491296e+01] [ 2.07436556e-02 -5.96405626e-04 9.99784649e-01 5.95548876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8692541539999 meters 0.022007837114840396 Centerline is valid? [True, True] Translation: X:862.67, Y:25.46, Z:5.96 [[ 8.68033348e-01 -4.96171093e-01 -1.82305431e-02 8.62669266e+02] [ 4.96076663e-01 8.68224543e-01 -9.69984039e-03 2.54638476e+01] [ 2.06409854e-02 -6.23962068e-04 9.99786757e-01 5.95636733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8992541539999 meters 0.020155437126156677 Centerline is valid? [True, True] Translation: X:862.69, Y:25.48, Z:5.96 [[ 8.67685794e-01 -4.96784899e-01 -1.80589998e-02 8.62693767e+02] [ 4.96692274e-01 8.67873475e-01 -9.61332147e-03 2.54793566e+01] [ 2.04486798e-02 -6.28423179e-04 9.99790706e-01 5.95864909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9292541539999 meters 0.01990151470912872 Centerline is valid? [True, True] Translation: X:862.72, Y:25.49, Z:5.96 [[ 8.68021743e-01 -4.96232739e-01 -1.70681719e-02 8.62718183e+02] [ 4.96149823e-01 8.68189342e-01 -9.08950427e-03 2.54921694e+01] [ 1.93289146e-02 -5.78483141e-04 9.99813012e-01 5.96059737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9592541539998 meters 0.02184942014422495 Centerline is valid? [True, True] Translation: X:862.74, Y:25.51, Z:5.96 [[ 8.67886193e-01 -4.96455070e-01 -1.74905418e-02 8.62742274e+02] [ 4.96367944e-01 8.68062216e-01 -9.31947796e-03 2.55073164e+01] [ 1.98095805e-02 -5.93498012e-04 9.99803595e-01 5.95786460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9892541539999 meters 0.02026521160573501 Centerline is valid? [True, True] Translation: X:862.77, Y:25.52, Z:5.96 [[ 8.69364393e-01 -4.93896678e-01 -1.64810065e-02 8.62766401e+02] [ 4.93818794e-01 8.69520454e-01 -8.78509488e-03 2.55240609e+01] [ 1.86695014e-02 -5.01182076e-04 9.99825584e-01 5.95981823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0192541539999 meters 0.019085391258694805 Centerline is valid? [True, True] Translation: X:862.79, Y:25.54, Z:5.96 [[ 8.70414686e-01 -4.92071540e-01 -1.56164389e-02 8.62789806e+02] [ 4.92001287e-01 8.70554656e-01 -8.32611371e-03 2.55387903e+01] [ 1.76920072e-02 -4.36136396e-04 9.99843389e-01 5.96119427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0492541539999 meters 0.018895098988811667 Centerline is valid? [True, True] Translation: X:862.81, Y:25.56, Z:5.96 [[ 8.72780066e-01 -4.87852048e-01 -1.59792170e-02 8.62811050e+02] [ 4.87777755e-01 8.72926258e-01 -8.52112335e-03 2.55597597e+01] [ 1.81057256e-02 -3.57240007e-04 9.99836014e-01 5.96026124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0792541539998 meters 0.01708173133426595 Centerline is valid? [True, True] Translation: X:862.84, Y:25.57, Z:5.96 [[ 8.74448980e-01 -4.84861544e-01 -1.57564313e-02 8.62835617e+02] [ 4.84788758e-01 8.74590876e-01 -8.40596185e-03 2.55742058e+01] [ 1.78561587e-02 -2.87956008e-04 9.99840525e-01 5.96047275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1092541539999 meters 0.01650414818337651 Centerline is valid? [True, True] Translation: X:862.86, Y:25.60, Z:5.96 [[ 8.77685437e-01 -4.78936999e-01 -1.69595005e-02 8.62857628e+02] [ 4.78851490e-01 8.77849258e-01 -9.05157744e-03 2.55954340e+01] [ 1.92230203e-02 -1.76644395e-04 9.99815205e-01 5.95896865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1392541539999 meters 0.017150798542828243 Centerline is valid? [True, True] Translation: X:862.88, Y:25.61, Z:5.96 [[ 8.79225066e-01 -4.76078895e-01 -1.76682755e-02 8.62880035e+02] [ 4.75985466e-01 8.79402565e-01 -9.43211230e-03 2.56116941e+01] [ 2.00279564e-02 -1.16892771e-04 9.99799414e-01 5.95736615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1692541539999 meters 0.01711278185719293 Centerline is valid? [True, True] Translation: X:862.90, Y:25.63, Z:5.96 [[ 8.82073193e-01 -4.70738514e-01 -1.87652148e-02 8.62900951e+02] [ 4.70631796e-01 8.82272776e-01 -1.00230191e-02 2.56312885e+01] [ 2.12742593e-02 9.52970854e-06 9.99773677e-01 5.95657466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1992541539998 meters 0.016727355743656594 Centerline is valid? [True, True] Translation: X:862.93, Y:25.65, Z:5.96 [[ 8.83203015e-01 -4.68596757e-01 -1.92227181e-02 8.62925325e+02] [ 4.68484122e-01 8.83412177e-01 -1.02738924e-02 2.56475786e+01] [ 2.17958958e-02 6.83945061e-05 9.99762439e-01 5.95673882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2292541539999 meters 0.014672680005978945 Centerline is valid? [True, True] Translation: X:862.95, Y:25.66, Z:5.96 [[ 8.84034149e-01 -4.67046873e-01 -1.87307659e-02 8.62949077e+02] [ 4.66939442e-01 8.84232552e-01 -1.00175555e-02 2.56628604e+01] [ 2.12410209e-02 1.09727790e-04 9.99774378e-01 5.95831558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2592541539999 meters 0.015888864048953365 Centerline is valid? [True, True] Translation: X:862.97, Y:25.68, Z:5.96 [[ 8.84827738e-01 -4.65525781e-01 -1.91212313e-02 8.62972001e+02] [ 4.65413386e-01 8.85034306e-01 -1.02301814e-02 2.56782175e+01] [ 2.16853588e-02 1.52671261e-04 9.99764833e-01 5.95721898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2892541539999 meters 0.015197561552705147 Centerline is valid? [True, True] Translation: X:863.00, Y:25.69, Z:5.96 [[ 8.84506314e-01 -4.66139966e-01 -1.90292693e-02 8.62997238e+02] [ 4.66028673e-01 8.84710977e-01 -1.01864488e-02 2.56915127e+01] [ 2.15837143e-02 1.41793171e-04 9.99767034e-01 5.95867796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3192541539999 meters 0.013753549093967598 Centerline is valid? [True, True] Translation: X:863.02, Y:25.70, Z:5.96 [[ 8.84148612e-01 -4.66845969e-01 -1.83322777e-02 8.63021737e+02] [ 4.66742758e-01 8.84338638e-01 -9.81691697e-03 2.57044646e+01] [ 2.07949296e-02 1.23155648e-04 9.99783754e-01 5.96054243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3492541539998 meters 0.016269250592931005 Centerline is valid? [True, True] Translation: X:863.05, Y:25.72, Z:5.96 [[ 8.82083971e-01 -4.70743803e-01 -1.81146690e-02 8.63048323e+02] [ 4.70643755e-01 8.82269954e-01 -9.70488490e-03 2.57163020e+01] [ 2.05505426e-02 3.49675753e-05 9.99788815e-01 5.95909177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3792541539999 meters 0.018073400466198115 Centerline is valid? [True, True] Translation: X:863.08, Y:25.73, Z:5.96 [[ 8.79249141e-01 -4.76012997e-01 -1.82366277e-02 8.63075438e+02] [ 4.75912607e-01 8.79438241e-01 -9.77606849e-03 2.57267436e+01] [ 2.06915235e-02 -8.34412114e-05 9.99785904e-01 5.95909961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4092541539999 meters 0.015695683980536706 Centerline is valid? [True, True] Translation: X:863.10, Y:25.74, Z:5.96 [[ 8.77762986e-01 -4.78766419e-01 -1.77441791e-02 8.63100839e+02] [ 4.78671813e-01 8.77942308e-01 -9.51835497e-03 2.57382686e+01] [ 2.01354343e-02 -1.38778715e-04 9.99797252e-01 5.96144465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4392541539999 meters 0.016913666301420122 Centerline is valid? [True, True] Translation: X:863.13, Y:25.75, Z:5.96 [[ 8.76309518e-01 -4.81394854e-01 -1.84559915e-02 8.63126694e+02] [ 4.81293006e-01 8.76503824e-01 -9.90400114e-03 2.57493164e+01] [ 2.09444823e-02 -2.03769166e-04 9.99780620e-01 5.96046203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4692541539998 meters 0.017839814130393667 Centerline is valid? [True, True] Translation: X:863.15, Y:25.76, Z:5.96 [[ 8.73513984e-01 -4.86416062e-01 -1.93063360e-02 8.63153559e+02] [ 4.86305723e-01 8.73727247e-01 -1.03653572e-02 2.57603404e+01] [ 2.19103481e-02 -3.34497234e-04 9.99759884e-01 5.96057555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4992541539999 meters 0.01763324530940021 Centerline is valid? [True, True] Translation: X:863.18, Y:25.77, Z:5.96 [[ 8.72382357e-01 -4.88430736e-01 -1.96071161e-02 8.63179790e+02] [ 4.88317296e-01 8.72602583e-01 -1.05332947e-02 2.57731992e+01] [ 2.22540051e-02 -3.85433471e-04 9.99752275e-01 5.96134040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5292541539999 meters 0.020766916001218064 Centerline is valid? [True, True] Translation: X:863.21, Y:25.78, Z:5.96 [[ 8.70731077e-01 -4.91305265e-01 -2.11312085e-02 8.63206319e+02] [ 4.91174269e-01 8.70987311e-01 -1.13552819e-02 2.57847461e+01] [ 2.39839242e-02 -4.91709083e-04 9.99712223e-01 5.95987652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5592541539999 meters 0.017040329498638228 Centerline is valid? [True, True] Translation: X:863.23, Y:25.80, Z:5.96 [[ 8.70284026e-01 -4.92129762e-01 -2.03472793e-02 8.63230676e+02] [ 4.92008399e-01 8.70521716e-01 -1.09397676e-02 2.57985890e+01] [ 2.30965337e-02 -4.90327308e-04 9.99733119e-01 5.96333302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5892541539998 meters 0.02093552450170734 Centerline is valid? [True, True] Translation: X:863.26, Y:25.81, Z:5.96 [[ 8.69558718e-01 -4.93372404e-01 -2.12439884e-02 8.63255736e+02] [ 4.93240377e-01 8.69818014e-01 -1.14260248e-02 2.58106631e+01] [ 2.41156891e-02 -5.42793311e-04 9.99709027e-01 5.96042208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6192541539999 meters 0.01996193329653746 Centerline is valid? [True, True] Translation: X:863.28, Y:25.82, Z:5.96 [[ 8.69244334e-01 -4.93942462e-01 -2.08597909e-02 8.63280895e+02] [ 4.93815189e-01 8.69494421e-01 -1.12254225e-02 2.58241890e+01] [ 2.36821846e-02 -5.43246682e-04 9.99719390e-01 5.96138416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6492541539999 meters 0.01994600279530472 Centerline is valid? [True, True] Translation: X:863.31, Y:25.84, Z:5.96 [[ 8.68878390e-01 -4.94586145e-01 -2.08540125e-02 8.63305817e+02] [ 4.94458963e-01 8.69128436e-01 -1.12292304e-02 2.58380300e+01] [ 2.36786371e-02 -5.54617757e-04 9.99719468e-01 5.96196404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6792541539999 meters 0.019542560407880757 Centerline is valid? [True, True] Translation: X:863.33, Y:25.85, Z:5.96 [[ 8.68882892e-01 -4.94587434e-01 -2.06346883e-02 8.63330516e+02] [ 4.94462831e-01 8.69127708e-01 -1.11147000e-02 2.58502432e+01] [ 2.34313703e-02 -5.45713767e-04 9.99725299e-01 5.96201196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7092541539998 meters 0.01705611110875033 Centerline is valid? [True, True] Translation: X:863.35, Y:25.87, Z:5.97 [[ 8.68795687e-01 -4.94774406e-01 -1.98076019e-02 8.63354802e+02] [ 4.94659528e-01 8.69021296e-01 -1.06742276e-02 2.58652913e+01] [ 2.24945624e-02 -5.24296093e-04 9.99746828e-01 5.96542125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7392541539999 meters 0.019933971470158823 Centerline is valid? [True, True] Translation: X:863.38, Y:25.88, Z:5.96 [[ 8.68470618e-01 -4.95315312e-01 -2.05311084e-02 8.63378810e+02] [ 4.95191935e-01 8.68713091e-01 -1.10685709e-02 2.58787223e+01] [ 2.33180753e-02 -5.54110653e-04 9.99727943e-01 5.96323228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7692541539999 meters 0.01711044355208414 Centerline is valid? [True, True] Translation: X:863.40, Y:25.89, Z:5.97 [[ 8.68762627e-01 -4.94891848e-01 -1.82634999e-02 8.63402980e+02] [ 4.94794029e-01 8.68954446e-01 -9.85088250e-03 2.58942651e+01] [ 2.07452709e-02 -4.78592115e-04 9.99784679e-01 5.96734228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7992541539999 meters 0.01756301723743796 Centerline is valid? [True, True] Translation: X:863.43, Y:25.91, Z:5.97 [[ 8.68835171e-01 -4.94778021e-01 -1.78928965e-02 8.63428205e+02] [ 4.94683992e-01 8.69019273e-01 -9.65665666e-03 2.59087122e+01] [ 2.03271734e-02 -4.61286541e-04 9.99793275e-01 5.96779106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8292541539998 meters 0.015990225751749545 Centerline is valid? [True, True] Translation: X:863.45, Y:25.92, Z:5.97 [[ 8.69226741e-01 -4.94111154e-01 -1.72927543e-02 8.63452938e+02] [ 4.94023087e-01 8.69398635e-01 -9.33829975e-03 2.59243745e+01] [ 1.96484550e-02 -4.25919982e-04 9.99806860e-01 5.97024457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8592541539999 meters 0.016128421185499273 Centerline is valid? [True, True] Translation: X:863.48, Y:25.94, Z:5.97 [[ 8.70011369e-01 -4.92734406e-01 -1.71178925e-02 8.63475765e+02] [ 4.92647781e-01 8.70179668e-01 -9.24711871e-03 2.59398198e+01] [ 1.94520155e-02 -3.87993333e-04 9.99810716e-01 5.96992973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8892541539999 meters 0.015912451559348895 Centerline is valid? [True, True] Translation: X:863.50, Y:25.96, Z:5.97 [[ 8.70607082e-01 -4.91685894e-01 -1.69790805e-02 8.63500443e+02] [ 4.91600388e-01 8.70772561e-01 -9.17636848e-03 2.59554086e+01] [ 1.92968083e-02 -3.57911159e-04 9.99813735e-01 5.97000894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9192541539999 meters 0.017451421622332215 Centerline is valid? [True, True] Translation: X:863.52, Y:25.97, Z:5.97 [[ 8.71983812e-01 -4.89194244e-01 -1.82543743e-02 8.63523759e+02] [ 4.89094737e-01 8.72174804e-01 -9.87166303e-03 2.59720811e+01] [ 2.07501661e-02 -3.20188031e-04 9.99784641e-01 5.96699626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9492541539998 meters 0.018504972458594286 Centerline is valid? [True, True] Translation: X:863.55, Y:25.99, Z:5.97 [[ 8.73322038e-01 -4.86767649e-01 -1.91278305e-02 8.63547517e+02] [ 4.86657678e-01 8.73531444e-01 -1.03499466e-02 2.59899413e+01] [ 2.17467805e-02 -2.69869102e-04 9.99763474e-01 5.96558466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9792541539999 meters 0.016289827112620364 Centerline is valid? [True, True] Translation: X:863.57, Y:26.00, Z:5.97 [[ 8.74107841e-01 -4.85385619e-01 -1.83380261e-02 8.63571374e+02] [ 4.85284174e-01 8.74300149e-01 -9.92570832e-03 2.60046306e+01] [ 2.08507350e-02 -2.23014358e-04 9.99782575e-01 5.96718856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0092541539999 meters 0.016885135365860907 Centerline is valid? [True, True] Translation: X:863.59, Y:26.02, Z:5.97 [[ 8.74658091e-01 -4.84371790e-01 -1.88995543e-02 8.63594966e+02] [ 4.84263685e-01 8.74862234e-01 -1.02349756e-02 2.60205647e+01] [ 2.14920398e-02 -2.00263577e-04 9.99768999e-01 5.96670952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0392541539999 meters 0.017649347879655927 Centerline is valid? [True, True] Translation: X:863.62, Y:26.04, Z:5.97 [[ 8.74318192e-01 -4.85000273e-01 -1.85049597e-02 8.63618525e+02] [ 4.84896634e-01 8.74513975e-01 -1.00280434e-02 2.60352064e+01] [ 2.10464497e-02 -2.05291940e-04 9.99778478e-01 5.96710799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0692541539999 meters 0.016608111966342147 Centerline is valid? [True, True] Translation: X:863.64, Y:26.05, Z:5.97 [[ 8.73255373e-01 -4.86931975e-01 -1.79528566e-02 8.63643415e+02] [ 4.86834763e-01 8.73439863e-01 -9.73240583e-03 2.60472443e+01] [ 2.04197602e-02 -2.41198987e-04 9.99791466e-01 5.96825547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0992541539998 meters 0.015291220106010025 Centerline is valid? [True, True] Translation: X:863.67, Y:26.06, Z:5.97 [[ 8.71616211e-01 -4.89888640e-01 -1.71551993e-02 8.63669779e+02] [ 4.89800366e-01 8.71784970e-01 -9.30415678e-03 2.60591025e+01] [ 1.95136456e-02 -2.92969015e-04 9.99809548e-01 5.97034494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1292541539999 meters 0.015291220106010025 Centerline is valid? [True, True] Translation: X:863.69, Y:26.07, Z:5.97 [[ 8.71479244e-01 -4.90132341e-01 -1.71527132e-02 8.63693985e+02] [ 4.90044024e-01 8.71647980e-01 -9.30873870e-03 2.60723254e+01] [ 1.95136417e-02 -2.93212046e-04 9.99809548e-01 5.97053548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1592541539999 meters 0.018085802828586947 Centerline is valid? [True, True] Translation: X:863.72, Y:26.08, Z:5.97 [[ 8.70081148e-01 -4.92581832e-01 -1.79425358e-02 8.63718925e+02] [ 4.92485639e-01 8.70266056e-01 -9.74100689e-03 2.60845434e+01] [ 2.04130229e-02 -3.60974755e-04 9.99791567e-01 5.96797222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1892541539999 meters 0.018085802828586947 Centerline is valid? [True, True] Translation: X:863.74, Y:26.10, Z:5.97 [[ 8.69945238e-01 -4.92821897e-01 -1.79404738e-02 8.63743125e+02] [ 4.92725677e-01 8.70130132e-01 -9.74480372e-03 2.60977786e+01] [ 2.04129995e-02 -3.62286507e-04 9.99791567e-01 5.96816314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2192541539998 meters 0.016395652723767216 Centerline is valid? [True, True] Translation: X:863.77, Y:26.11, Z:5.97 [[ 8.69035010e-01 -4.94443671e-01 -1.74243135e-02 8.63769199e+02] [ 4.94353121e-01 8.69209588e-01 -9.47012570e-03 2.61106995e+01] [ 1.98278241e-02 -3.83892992e-04 9.99803336e-01 5.97087667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2492541539999 meters 0.018382428782865595 Centerline is valid? [True, True] Translation: X:863.80, Y:26.12, Z:5.97 [[ 8.66110593e-01 -4.99516457e-01 -1.83234813e-02 8.63796088e+02] [ 4.99417345e-01 8.66304241e-01 -9.96384730e-03 2.61234802e+01] [ 2.08508153e-02 -5.21270708e-04 9.99782462e-01 5.97001417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2792541539999 meters 0.021555725696642995 Centerline is valid? [True, True] Translation: X:863.82, Y:26.14, Z:5.97 [[ 8.64545132e-01 -5.02189660e-01 -1.91640361e-02 8.63822548e+02] [ 5.02081837e-01 8.64757291e-01 -1.04238310e-02 2.61360305e+01] [ 2.18069801e-02 -6.10042074e-04 9.99762013e-01 5.96818162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3092541539999 meters 0.021952768744707148 Centerline is valid? [True, True] Translation: X:863.85, Y:26.15, Z:5.97 [[ 8.63315270e-01 -5.04294470e-01 -1.93347349e-02 8.63847785e+02] [ 5.04185196e-01 8.63531495e-01 -1.05188287e-02 2.61474606e+01] [ 2.20007397e-02 -6.67221665e-04 9.99757732e-01 5.96822884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3392541539998 meters 0.022007705616460867 Centerline is valid? [True, True] Translation: X:863.87, Y:26.16, Z:5.97 [[ 8.61075356e-01 -5.08120734e-01 -1.90407889e-02 8.63874070e+02] [ 5.08015649e-01 8.61285525e-01 -1.03607719e-02 2.61581483e+01] [ 2.16640789e-02 -7.51613345e-04 9.99765024e-01 5.96944100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3692541539999 meters 0.02275928579117833 Centerline is valid? [True, True] Translation: X:863.90, Y:26.17, Z:5.97 [[ 8.60022430e-01 -5.09877479e-01 -1.96564687e-02 8.63898641e+02] [ 5.09765880e-01 8.60246642e-01 -1.06987163e-02 2.61726964e+01] [ 2.23644457e-02 -8.19061104e-04 9.99749549e-01 5.96898007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3992541539999 meters 0.02243111705873241 Centerline is valid? [True, True] Translation: X:863.92, Y:26.18, Z:5.97 [[ 8.58993098e-01 -5.11622459e-01 -1.93214063e-02 8.63923890e+02] [ 5.11515016e-01 8.59209952e-01 -1.05189032e-02 2.61847525e+01] [ 2.19828517e-02 -8.47524153e-04 9.99757989e-01 5.97009709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4292541539999 meters 0.022905807539783128 Centerline is valid? [True, True] Translation: X:863.95, Y:26.20, Z:5.97 [[ 8.58444818e-01 -5.12525777e-01 -1.97439239e-02 8.63947747e+02] [ 5.12413704e-01 8.58671383e-01 -1.07541370e-02 2.62005560e+01] [ 2.24653149e-02 -8.85223996e-04 9.99747231e-01 5.96951537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4592541539998 meters 0.022175144705631426 Centerline is valid? [True, True] Translation: X:863.97, Y:26.21, Z:5.97 [[ 8.58527187e-01 -5.12437939e-01 -1.83964426e-02 8.63972309e+02] [ 5.12340553e-01 8.58723871e-01 -1.00234899e-02 2.62132338e+01] [ 2.09338809e-02 -8.19804981e-04 9.99780526e-01 5.97145682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4892541539999 meters 0.021777255622750052 Centerline is valid? [True, True] Translation: X:864.00, Y:26.23, Z:5.97 [[ 8.58702511e-01 -5.12180535e-01 -1.73521487e-02 8.63997553e+02] [ 5.12093755e-01 8.58877475e-01 -9.45879493e-03 2.62277821e+01] [ 1.97479803e-02 -7.63636058e-04 9.99804698e-01 5.97281296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5192541539999 meters 0.021075199020651452 Centerline is valid? [True, True] Translation: X:864.02, Y:26.24, Z:5.97 [[ 8.59023343e-01 -5.11660834e-01 -1.67954711e-02 8.64022221e+02] [ 5.11579332e-01 8.59187214e-01 -9.16072054e-03 2.62432762e+01] [ 1.91176359e-02 -7.22943108e-04 9.99816980e-01 5.97384420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5492541539999 meters 0.02070880716012631 Centerline is valid? [True, True] Translation: X:864.05, Y:26.26, Z:5.97 [[ 8.60474306e-01 -5.09227160e-01 -1.64823714e-02 8.64045421e+02] [ 5.09148164e-01 8.60631903e-01 -8.99307972e-03 2.62593379e+01] [ 1.87647751e-02 -6.53655088e-04 9.99823712e-01 5.97413243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5792541539998 meters 0.020505828050308653 Centerline is valid? [True, True] Translation: X:864.07, Y:26.28, Z:5.97 [[ 8.61252276e-01 -5.07891569e-01 -1.70491136e-02 8.64068711e+02] [ 5.07806700e-01 8.61420769e-01 -9.30663743e-03 2.62762258e+01] [ 1.94132232e-02 -6.42291443e-04 9.99811339e-01 5.97393819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6092541539999 meters 0.021528974208342468 Centerline is valid? [True, True] Translation: X:864.09, Y:26.29, Z:5.97 [[ 8.62399416e-01 -5.05935121e-01 -1.72307920e-02 8.64092479e+02] [ 5.05847978e-01 8.62571325e-01 -9.40913215e-03 2.62908219e+01] [ 1.96231975e-02 -6.01731213e-04 9.99807265e-01 5.97308035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6392541539999 meters 0.019895102181854057 Centerline is valid? [True, True] Translation: X:864.11, Y:26.31, Z:5.97 [[ 8.65344361e-01 -5.00895630e-01 -1.68138190e-02 8.64114893e+02] [ 5.00811670e-01 8.65507564e-01 -9.18303817e-03 2.63098059e+01] [ 1.91522312e-02 -4.74066487e-04 9.99816467e-01 5.97352705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6692541539999 meters 0.019331042025746238 Centerline is valid? [True, True] Translation: X:864.14, Y:26.33, Z:5.97 [[ 8.66882515e-01 -4.98220755e-01 -1.70524130e-02 8.64138476e+02] [ 4.98133799e-01 8.67050117e-01 -9.31739217e-03 2.63257844e+01] [ 1.94274148e-02 -4.17298890e-04 9.99811183e-01 5.97388583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6992541539998 meters 0.01740347495389857 Centerline is valid? [True, True] Translation: X:864.16, Y:26.35, Z:5.97 [[ 8.70173500e-01 -4.92446473e-01 -1.71624789e-02 8.64160690e+02] [ 4.92357206e-01 8.70342685e-01 -9.38045900e-03 2.63455759e+01] [ 1.95566119e-02 -2.87443309e-04 9.99808710e-01 5.97446833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7292541539999 meters 0.017349138520927617 Centerline is valid? [True, True] Translation: X:864.18, Y:26.36, Z:5.97 [[ 8.71359515e-01 -4.90347913e-01 -1.70739287e-02 8.64184141e+02] [ 4.90259082e-01 8.71526746e-01 -9.33614328e-03 2.63621616e+01] [ 1.94583439e-02 -2.35511316e-04 9.99810641e-01 5.97435409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7592541539999 meters 0.01921537645848174 Centerline is valid? [True, True] Translation: X:864.21, Y:26.38, Z:5.97 [[ 8.73434513e-01 -4.86609956e-01 -1.79694691e-02 8.64206093e+02] [ 4.86510699e-01 8.73619325e-01 -9.82926191e-03 2.63792270e+01] [ 2.04814922e-02 -1.57122384e-04 9.99790220e-01 5.97270135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7892541539999 meters 0.016731246514241307 Centerline is valid? [True, True] Translation: X:864.23, Y:26.39, Z:5.97 [[ 8.74255607e-01 -4.85152836e-01 -1.74315480e-02 8.64230152e+02] [ 4.85059055e-01 8.74429364e-01 -9.53943494e-03 2.63945682e+01] [ 1.98707414e-02 -1.15425717e-04 9.99802551e-01 5.97476001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8192541539999 meters 0.018282271712736664 Centerline is valid? [True, True] Translation: X:864.25, Y:26.41, Z:5.97 [[ 8.74532843e-01 -4.84626146e-01 -1.81605122e-02 8.64254754e+02] [ 4.84524107e-01 8.74721377e-01 -9.94496262e-03 2.64091054e+01] [ 2.07049772e-02 -1.02009517e-04 9.99785624e-01 5.97367261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8492541539998 meters 0.01622472785024754 Centerline is valid? [True, True] Translation: X:864.28, Y:26.42, Z:5.98 [[ 8.74971423e-01 -4.83836969e-01 -1.80775248e-02 8.64278813e+02] [ 4.83735616e-01 8.75158146e-01 -9.90316660e-03 2.64235590e+01] [ 2.06122112e-02 -7.97548209e-05 9.99787543e-01 5.97506251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8792541539999 meters 0.01738176026280466 Centerline is valid? [True, True] Translation: X:864.30, Y:26.44, Z:5.98 [[ 8.74609654e-01 -4.84487430e-01 -1.81626778e-02 8.64303177e+02] [ 4.84385150e-01 8.74798218e-01 -9.95514108e-03 2.64374431e+01] [ 2.07118189e-02 -9.08689175e-05 9.99785483e-01 5.97560952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9092541539999 meters 0.017432931064699324 Centerline is valid? [True, True] Translation: X:864.33, Y:26.45, Z:5.98 [[ 8.73793384e-01 -4.85989139e-01 -1.73112397e-02 8.64326743e+02] [ 4.85896438e-01 8.73964841e-01 -9.49253290e-03 2.64497955e+01] [ 1.97426827e-02 -1.16957248e-04 9.99805087e-01 5.97596233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9392541539999 meters 0.01741073369669471 Centerline is valid? [True, True] Translation: X:864.35, Y:26.46, Z:5.98 [[ 8.73249833e-01 -4.86976342e-01 -1.69932534e-02 8.64350937e+02] [ 4.86887149e-01 8.73415150e-01 -9.32093415e-03 2.64621980e+01] [ 1.93812394e-02 -1.34292508e-04 9.99812157e-01 5.97635674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9692541539998 meters 0.014115017245021913 Centerline is valid? [True, True] Translation: X:864.38, Y:26.48, Z:5.98 [[ 8.72659788e-01 -4.88068370e-01 -1.59423840e-02 8.64375914e+02] [ 4.87989966e-01 8.72805388e-01 -8.74920390e-03 2.64756446e+01] [ 1.81848083e-02 -1.44644992e-04 9.99834632e-01 5.98059805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9992541539999 meters 0.018540129814251693 Centerline is valid? [True, True] Translation: X:864.40, Y:26.49, Z:5.98 [[ 8.71267788e-01 -4.90502506e-01 -1.73128239e-02 8.64401329e+02] [ 4.90410445e-01 8.71439756e-01 -9.50513153e-03 2.64877656e+01] [ 1.97493739e-02 -2.08874749e-04 9.99804940e-01 5.97687315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0292541539999 meters 0.018561152334681096 Centerline is valid? [True, True] Translation: X:864.43, Y:26.50, Z:5.98 [[ 8.70719690e-01 -4.91455936e-01 -1.78405243e-02 8.64426890e+02] [ 4.91358283e-01 8.70902411e-01 -9.79943406e-03 2.65011599e+01] [ 2.03533457e-02 -2.33529207e-04 9.99792822e-01 5.97685495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0592541539999 meters 0.018553243947480473 Centerline is valid? [True, True] Translation: X:864.45, Y:26.51, Z:5.98 [[ 8.69786397e-01 -4.93060218e-01 -1.90589800e-02 8.64452543e+02] [ 4.92949016e-01 8.69995138e-01 -1.04750696e-02 2.65145636e+01] [ 2.17460601e-02 -2.84032429e-04 9.99763486e-01 5.97645558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0892541539998 meters 0.01975447895096198 Centerline is valid? [True, True] Translation: X:864.48, Y:26.53, Z:5.98 [[ 8.69249796e-01 -4.93977239e-01 -1.97807849e-02 8.64477503e+02] [ 4.93857608e-01 8.69474777e-01 -1.08754245e-02 2.65276910e+01] [ 2.25711057e-02 -3.15430629e-04 9.99745190e-01 5.97504386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1192541539999 meters 0.017157562714084387 Centerline is valid? [True, True] Translation: X:864.50, Y:26.54, Z:5.98 [[ 8.68301325e-01 -4.95629848e-01 -2.00963500e-02 8.64503030e+02] [ 4.95506690e-01 8.68533779e-01 -1.10542046e-02 2.65408393e+01] [ 2.29331525e-02 -3.59495381e-04 9.99736936e-01 5.97739360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1492541539999 meters 0.018771541601365235 Centerline is valid? [True, True] Translation: X:864.53, Y:26.55, Z:5.98 [[ 8.67669909e-01 -4.96713748e-01 -2.06004976e-02 8.64528609e+02] [ 4.96584551e-01 8.67914337e-01 -1.13352198e-02 2.65531018e+01] [ 2.35098267e-02 -3.94659674e-04 9.99723528e-01 5.97585428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1792541539999 meters 0.020922926928431985 Centerline is valid? [True, True] Translation: X:864.55, Y:26.57, Z:5.98 [[ 8.66265594e-01 -4.99131672e-01 -2.12483936e-02 8.64554373e+02] [ 4.98994809e-01 8.66526026e-01 -1.16973156e-02 2.65664305e+01] [ 2.42507868e-02 -4.69856013e-04 9.99705796e-01 5.97606353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2092541539998 meters 0.021487896338789076 Centerline is valid? [True, True] Translation: X:864.58, Y:26.58, Z:5.98 [[ 8.65509632e-01 -5.00446575e-01 -2.11258525e-02 8.64579308e+02] [ 5.00311590e-01 8.65767275e-01 -1.16335060e-02 2.65780899e+01] [ 2.41120200e-02 -5.00597294e-04 9.99709138e-01 5.97650539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2392541539999 meters 0.021686637698695256 Centerline is valid? [True, True] Translation: X:864.61, Y:26.59, Z:5.98 [[ 8.64679034e-01 -5.01897860e-01 -2.07052221e-02 8.64605191e+02] [ 5.01768488e-01 8.64926738e-01 -1.14071458e-02 2.65915944e+01] [ 2.36337223e-02 -5.25708120e-04 9.99720546e-01 5.97748323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2692541539999 meters 0.020213586196578686 Centerline is valid? [True, True] Translation: X:864.63, Y:26.61, Z:5.98 [[ 8.62991152e-01 -5.04874130e-01 -1.86650561e-02 8.64630533e+02] [ 5.04769570e-01 8.63192805e-01 -1.02889509e-02 2.66055195e+01] [ 2.13061673e-02 -5.42278776e-04 9.99772851e-01 5.98039863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2992541539999 meters 0.020963245374852873 Centerline is valid? [True, True] Translation: X:864.66, Y:26.62, Z:5.98 [[ 8.62060223e-01 -5.06460507e-01 -1.87063095e-02 8.64655267e+02] [ 5.06355725e-01 8.62262965e-01 -1.03178787e-02 2.66200109e+01] [ 2.13553560e-02 -5.77414065e-04 9.99771782e-01 5.98134013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3292541539998 meters 0.02166520228868247 Centerline is valid? [True, True] Translation: X:864.68, Y:26.63, Z:5.98 [[ 8.60673139e-01 -5.08847529e-01 -1.77746818e-02 8.64681087e+02] [ 5.08753344e-01 8.60856452e-01 -9.80836978e-03 2.66298422e+01] [ 2.02924142e-02 -6.01128376e-04 9.99793907e-01 5.98148208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3592541539999 meters 0.02161062434028196 Centerline is valid? [True, True] Translation: X:864.71, Y:26.65, Z:5.98 [[ 8.59936480e-01 -5.10084805e-01 -1.79650142e-02 8.64705232e+02] [ 5.09988755e-01 8.60123881e-01 -9.91861242e-03 2.66467692e+01] [ 2.05114713e-02 -6.32578596e-04 9.99789418e-01 5.98204239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3892541539999 meters 0.021501450561848347 Centerline is valid? [True, True] Translation: X:864.73, Y:26.66, Z:5.98 [[ 8.59583828e-01 -5.10689524e-01 -1.76593764e-02 8.64730468e+02] [ 5.10596724e-01 8.59764975e-01 -9.75566807e-03 2.66611774e+01] [ 2.01650308e-02 -6.31005257e-04 9.99796466e-01 5.98233591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4192541539999 meters 0.017998122872064877 Centerline is valid? [True, True] Translation: X:864.75, Y:26.68, Z:5.99 [[ 8.60137818e-01 -5.09801539e-01 -1.62888119e-02 8.64754427e+02] [ 5.09722330e-01 8.60291857e-01 -9.00375096e-03 2.66771385e+01] [ 1.86032583e-02 -5.58304454e-04 9.99826789e-01 5.98593530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4492541539998 meters 0.021625377072000147 Centerline is valid? [True, True] Translation: X:864.78, Y:26.70, Z:5.98 [[ 8.61615096e-01 -5.07228446e-01 -1.84046122e-02 8.64777754e+02] [ 5.07126599e-01 8.61811457e-01 -1.01796656e-02 2.66950100e+01] [ 2.10247216e-02 -5.62514805e-04 9.99778798e-01 5.98247162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4792541539999 meters 0.02024945161515334 Centerline is valid? [True, True] Translation: X:864.80, Y:26.71, Z:5.98 [[ 8.62923564e-01 -5.05007362e-01 -1.81793185e-02 8.64801454e+02] [ 5.04907429e-01 8.63114891e-01 -1.00584885e-02 2.67103157e+01] [ 2.07704512e-02 -4.99166188e-04 9.99784146e-01 5.98292038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5092541539999 meters 0.016836233092111207 Centerline is valid? [True, True] Translation: X:864.82, Y:26.73, Z:5.99 [[ 8.64599815e-01 -5.02172759e-01 -1.70199713e-02 8.64824917e+02] [ 5.02084584e-01 8.64767228e-01 -9.41872485e-03 2.67261603e+01] [ 1.94481404e-02 -4.02037429e-04 9.99810786e-01 5.98520331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5392541539999 meters 0.019206644230952027 Centerline is valid? [True, True] Translation: X:864.85, Y:26.75, Z:5.98 [[ 8.67556350e-01 -4.97001310e-01 -1.83215135e-02 8.64846901e+02] [ 4.96897939e-01 8.67749736e-01 -1.01407504e-02 2.67457005e+01] [ 2.09384547e-02 -3.06249903e-04 9.99780720e-01 5.98248043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5692541539999 meters 0.01776602374281199 Centerline is valid? [True, True] Translation: X:864.87, Y:26.76, Z:5.98 [[ 8.69113659e-01 -4.94282950e-01 -1.80502903e-02 8.64870721e+02] [ 4.94181940e-01 8.69301047e-01 -9.99494628e-03 2.67632444e+01] [ 2.06314678e-02 -2.33383168e-04 9.99787121e-01 5.98331207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5992541539998 meters 0.014674013510835646 Centerline is valid? [True, True] Translation: X:864.89, Y:26.78, Z:5.98 [[ 8.71710466e-01 -4.89737479e-01 -1.66752538e-02 8.64892888e+02] [ 4.89650383e-01 8.71869938e-01 -9.23657154e-03 2.67810349e+01] [ 1.90621478e-02 -1.13428346e-04 9.99818294e-01 5.98420836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6292541539999 meters 0.0169353474431227 Centerline is valid? [True, True] Translation: X:864.92, Y:26.80, Z:5.98 [[ 8.72290138e-01 -4.88684606e-01 -1.72415722e-02 8.64916681e+02] [ 4.88591189e-01 8.72460514e-01 -9.55517913e-03 2.67963146e+01] [ 1.97120599e-02 -8.91917419e-05 9.99805694e-01 5.98315598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6592541539999 meters 0.01871715217685851 Centerline is valid? [True, True] Translation: X:864.94, Y:26.81, Z:5.98 [[ 8.72645745e-01 -4.88028945e-01 -1.78087818e-02 8.64940694e+02] [ 4.87929006e-01 8.72827442e-01 -9.87627783e-03 2.68111657e+01] [ 2.03639029e-02 -7.09293686e-05 9.99792632e-01 5.98324746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6892541539999 meters 0.017202912422113057 Centerline is valid? [True, True] Translation: X:864.97, Y:26.83, Z:5.99 [[ 8.73012283e-01 -4.87416364e-01 -1.65783585e-02 8.64965064e+02] [ 4.87329542e-01 8.73169678e-01 -9.19956157e-03 2.68260751e+01] [ 1.89597368e-02 -4.77935985e-05 9.99820247e-01 5.98502299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7192541539998 meters 0.017937820228068502 Centerline is valid? [True, True] Translation: X:864.99, Y:26.84, Z:5.98 [[ 8.73095703e-01 -4.87277246e-01 -1.62719915e-02 8.64987978e+02] [ 4.87193511e-01 8.73247321e-01 -9.03324071e-03 2.68398009e+01] [ 1.86111656e-02 -4.07249945e-05 9.99826796e-01 5.98466250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7492541539999 meters 0.017605661878390026 Centerline is valid? [True, True] Translation: X:865.01, Y:26.85, Z:5.99 [[ 8.73011933e-01 -4.87434135e-01 -1.60663893e-02 8.65011943e+02] [ 4.87352442e-01 8.73159758e-01 -8.92384510e-03 2.68536370e+01] [ 1.83783113e-02 -3.93707697e-05 9.99831104e-01 5.98525420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7792541539999 meters 0.01779717581796154 Centerline is valid? [True, True] Translation: X:865.04, Y:26.87, Z:5.99 [[ 8.72737240e-01 -4.87928649e-01 -1.59794647e-02 8.65036030e+02] [ 4.87847811e-01 8.72883515e-01 -8.88158684e-03 2.68682085e+01] [ 1.82817920e-02 -4.42552601e-05 9.99832873e-01 5.98524836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8092541539999 meters 0.017257036337501322 Centerline is valid? [True, True] Translation: X:865.06, Y:26.88, Z:5.99 [[ 8.72521959e-01 -4.88311890e-01 -1.60290294e-02 8.65059597e+02] [ 4.88230524e-01 8.72669179e-01 -8.91401282e-03 2.68816835e+01] [ 1.83408583e-02 -4.81894833e-05 9.99831791e-01 5.98549167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8392541539998 meters 0.016661774969752078 Centerline is valid? [True, True] Translation: X:865.08, Y:26.90, Z:5.99 [[ 8.72233205e-01 -4.88823275e-01 -1.61568155e-02 8.65083983e+02] [ 4.88740595e-01 8.72382830e-01 -8.99043419e-03 2.68957173e+01] [ 1.84896619e-02 -5.47364099e-05 9.99829050e-01 5.98529097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8692541539999 meters 0.014817029729867938 Centerline is valid? [True, True] Translation: X:865.11, Y:26.91, Z:5.99 [[ 8.72096400e-01 -4.89083072e-01 -1.56721933e-02 8.65108642e+02] [ 4.89005216e-01 8.72237207e-01 -8.72655617e-03 2.69095085e+01] [ 1.79378810e-02 -5.33860271e-05 9.99839102e-01 5.98695936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8992541539999 meters 0.017388842240162006 Centerline is valid? [True, True] Translation: X:865.13, Y:26.92, Z:5.99 [[ 8.71548041e-01 -4.90036640e-01 -1.63738701e-02 8.65133321e+02] [ 4.89951757e-01 8.71701833e-01 -9.12081395e-03 2.69224565e+01] [ 1.87426656e-02 -7.31788814e-05 9.99824338e-01 5.98502655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9292541539999 meters 0.01710535278936821 Centerline is valid? [True, True] Translation: X:865.16, Y:26.94, Z:5.99 [[ 8.71258209e-01 -4.90546683e-01 -1.65252751e-02 8.65157366e+02] [ 4.90460252e-01 8.71414910e-01 -9.20845646e-03 2.69352590e+01] [ 1.89175489e-02 -8.20473098e-05 9.99821044e-01 5.98539460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9592541539998 meters 0.017790198800105145 Centerline is valid? [True, True] Translation: X:865.18, Y:26.95, Z:5.99 [[ 8.70540350e-01 -4.91794757e-01 -1.72457579e-02 8.65182719e+02] [ 4.91700813e-01 8.70711149e-01 -9.61278828e-03 2.69479861e+01] [ 1.97435925e-02 -1.11433097e-04 9.99805070e-01 5.98520820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9892541539999 meters 0.016003096125641495 Centerline is valid? [True, True] Translation: X:865.21, Y:26.96, Z:5.99 [[ 8.70260473e-01 -4.92301369e-01 -1.69136530e-02 8.65207388e+02] [ 4.92211014e-01 8.70424809e-01 -9.43233673e-03 2.69608808e+01] [ 1.93656155e-02 -1.16496470e-04 9.99812462e-01 5.98645171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0192541539999 meters 0.016767279173255673 Centerline is valid? [True, True] Translation: X:865.23, Y:26.97, Z:5.99 [[ 8.69753760e-01 -4.93157108e-01 -1.80128710e-02 8.65232256e+02] [ 4.93054733e-01 8.69940255e-01 -1.00490621e-02 2.69727925e+01] [ 2.06258880e-02 -1.41121797e-04 9.99787254e-01 5.98536479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0492541539999 meters 0.016767279173255673 Centerline is valid? [True, True] Translation: X:865.26, Y:26.99, Z:5.99 [[ 8.69617399e-01 -4.93397601e-01 -1.80107336e-02 8.65256287e+02] [ 4.93295198e-01 8.69803878e-01 -1.00528920e-02 2.69862991e+01] [ 2.06258788e-02 -1.42438637e-04 9.99787254e-01 5.98555562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0792541539998 meters 0.018173557451662235 Centerline is valid? [True, True] Translation: X:865.28, Y:27.00, Z:5.98 [[ 8.69249159e-01 -4.94023364e-01 -1.86229938e-02 8.65281505e+02] [ 4.93913945e-01 8.69448613e-01 -1.03983112e-02 2.69980539e+01] [ 2.13287448e-02 -1.59433066e-04 9.99772504e-01 5.98432706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1092541539999 meters 0.018173557451662235 Centerline is valid? [True, True] Translation: X:865.31, Y:27.01, Z:5.98 [[ 8.69114865e-01 -4.94259666e-01 -1.86207959e-02 8.65305529e+02] [ 4.94150217e-01 8.69314303e-01 -1.04022462e-02 2.70115736e+01] [ 2.13287349e-02 -1.60723542e-04 9.99772504e-01 5.98451789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1392541539999 meters 0.019064055044234834 Centerline is valid? [True, True] Translation: X:865.33, Y:27.02, Z:5.98 [[ 8.68959531e-01 -4.94519049e-01 -1.89800943e-02 8.65330467e+02] [ 4.94405249e-01 8.69166775e-01 -1.06097536e-02 2.70237688e+01] [ 2.17435926e-02 -1.64411740e-04 9.99763567e-01 5.98451490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1692541539999 meters 0.01951376165009527 Centerline is valid? [True, True] Translation: X:865.35, Y:27.04, Z:5.98 [[ 8.68819652e-01 -4.94758965e-01 -1.91305868e-02 8.65354965e+02] [ 4.94643262e-01 8.69030229e-01 -1.07006545e-02 2.70368542e+01] [ 2.19193029e-02 -1.65876976e-04 9.99759729e-01 5.98423298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1992541539998 meters 0.02003104191499015 Centerline is valid? [True, True] Translation: X:865.38, Y:27.05, Z:5.98 [[ 8.68713676e-01 -4.94946785e-01 -1.90848113e-02 8.65379921e+02] [ 4.94831534e-01 8.68923272e-01 -1.06817508e-02 2.70499960e+01] [ 2.18701349e-02 -1.64383442e-04 9.99760806e-01 5.98477383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2292541539999 meters 0.016452755032941822 Centerline is valid? [True, True] Translation: X:865.41, Y:27.06, Z:5.99 [[ 8.69017421e-01 -4.94482900e-01 -1.71866989e-02 8.65405401e+02] [ 4.94389284e-01 8.69187346e-01 -9.62249987e-03 2.70622021e+01] [ 1.96966228e-02 -1.34799743e-04 9.99805994e-01 5.98762613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2592541539999 meters 0.017534964776139528 Centerline is valid? [True, True] Translation: X:865.43, Y:27.07, Z:5.99 [[ 8.69339576e-01 -4.93884346e-01 -1.80818613e-02 8.65430469e+02] [ 4.93780552e-01 8.69527594e-01 -1.01256686e-02 2.70748180e+01] [ 2.07235865e-02 -1.25827018e-04 9.99785235e-01 5.98719995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2892541539999 meters 0.017985950693238724 Centerline is valid? [True, True] Translation: X:865.46, Y:27.09, Z:5.99 [[ 8.69573891e-01 -4.93464926e-01 -1.82651303e-02 8.65455235e+02] [ 4.93358824e-01 8.69765689e-01 -1.02331164e-02 2.70886905e+01] [ 2.09360676e-02 -1.12812340e-04 9.99780810e-01 5.98679366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3192541539999 meters 0.017243989220380777 Centerline is valid? [True, True] Translation: X:865.48, Y:27.10, Z:5.99 [[ 8.69970201e-01 -4.92775502e-01 -1.80043005e-02 8.65479791e+02] [ 4.92672135e-01 8.70156478e-01 -1.00930754e-02 2.71027654e+01] [ 2.06401790e-02 -8.95423595e-05 9.99786965e-01 5.98723266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3492541539998 meters 0.016171683191475123 Centerline is valid? [True, True] Translation: X:865.50, Y:27.12, Z:5.99 [[ 8.71019107e-01 -4.90934038e-01 -1.75922261e-02 8.65503380e+02] [ 4.90834908e-01 8.71196745e-01 -9.86528986e-03 2.71166849e+01] [ 2.01694967e-02 -4.20227294e-05 9.99796574e-01 5.98771776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3792541539999 meters 0.016085288066372265 Centerline is valid? [True, True] Translation: X:865.53, Y:27.13, Z:5.99 [[ 8.71716588e-01 -4.89692186e-01 -1.76565419e-02 8.65526570e+02] [ 4.89592029e-01 8.71895385e-01 -9.90368446e-03 2.71303736e+01] [ 2.02444143e-02 -1.12961572e-05 9.99795061e-01 5.98738369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4092541539999 meters 0.018959490349363593 Centerline is valid? [True, True] Translation: X:865.55, Y:27.14, Z:5.99 [[ 8.71693890e-01 -4.89677902e-01 -1.91131779e-02 8.65552348e+02] [ 4.89560428e-01 8.71903408e-01 -1.07254553e-02 2.71443835e+01] [ 2.19168634e-02 -7.74170929e-06 9.99759797e-01 5.98537078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4392541539999 meters 0.01621840950748247 Centerline is valid? [True, True] Translation: X:865.58, Y:27.16, Z:5.99 [[ 8.71979391e-01 -4.89219577e-01 -1.77805027e-02 8.65577989e+02] [ 4.89117707e-01 8.72160653e-01 -9.98318692e-03 2.71583854e+01] [ 2.03914253e-02 8.37456295e-06 9.99792073e-01 5.99113108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4692541539998 meters 0.016805313680814386 Centerline is valid? [True, True] Translation: X:865.60, Y:27.17, Z:5.99 [[ 8.72213076e-01 -4.88793785e-01 -1.80273544e-02 8.65602930e+02] [ 4.88688836e-01 8.72399355e-01 -1.01284957e-02 2.71709306e+01] [ 2.06777982e-02 2.44395660e-05 9.99786191e-01 5.99140993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4992541539999 meters 0.01384511578319049 Centerline is valid? [True, True] Translation: X:865.63, Y:27.18, Z:5.99 [[ 8.72615331e-01 -4.88123595e-01 -1.66685601e-02 8.65627197e+02] [ 4.88033684e-01 8.72774515e-01 -9.36851437e-03 2.71843151e+01] [ 1.91208874e-02 4.02904695e-05 9.99817178e-01 5.99311988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5292541539999 meters 0.01617443483672678 Centerline is valid? [True, True] Translation: X:865.65, Y:27.20, Z:5.99 [[ 8.72983533e-01 -4.87449122e-01 -1.71202862e-02 8.65651587e+02] [ 4.87354100e-01 8.73151390e-01 -9.62446822e-03 2.71977697e+01] [ 1.96400403e-02 5.83605843e-05 9.99807114e-01 5.98782235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5592541539999 meters 0.01654646716478256 Centerline is valid? [True, True] Translation: X:865.68, Y:27.21, Z:5.99 [[ 8.73117956e-01 -4.87207548e-01 -1.71417673e-02 8.65676732e+02] [ 4.87112144e-01 8.73286208e-01 -9.64152039e-03 2.72097872e+01] [ 1.96670905e-02 6.82215563e-05 9.99806582e-01 5.99250240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5892541539998 meters 0.0176058188300462 Centerline is valid? [True, True] Translation: X:865.70, Y:27.22, Z:5.99 [[ 8.73149129e-01 -4.87166723e-01 -1.67087658e-02 8.65700972e+02] [ 4.87076004e-01 8.73308982e-01 -9.40149717e-03 2.72227062e+01] [ 1.91720118e-02 7.04702008e-05 9.99816198e-01 5.99182362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6192541539999 meters 0.015425945907473123 Centerline is valid? [True, True] Translation: X:865.73, Y:27.24, Z:5.99 [[ 8.73387066e-01 -4.86776246e-01 -1.56178774e-02 8.65727259e+02] [ 4.86696854e-01 8.73526691e-01 -8.79160647e-03 2.72354126e+01] [ 1.79221780e-02 7.73035751e-05 9.99839382e-01 5.99449468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6492541539999 meters 0.013886932338995864 Centerline is valid? [True, True] Translation: X:865.75, Y:27.25, Z:6.00 [[ 8.73597892e-01 -4.86416553e-01 -1.50219891e-02 8.65750517e+02] [ 4.86342990e-01 8.73727034e-01 -8.45964705e-03 2.72482924e+01] [ 1.72400303e-02 8.44907544e-05 9.99851376e-01 5.99544307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6792541539999 meters 0.013880665441979528 Centerline is valid? [True, True] Translation: X:865.78, Y:27.26, Z:6.00 [[ 8.73888350e-01 -4.85887544e-01 -1.52461679e-02 8.65775942e+02] [ 4.85811609e-01 8.74021330e-01 -8.59045369e-03 2.72611078e+01] [ 1.74994704e-02 1.00332059e-04 9.99846868e-01 5.99525688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7092541539998 meters 0.013923494164372299 Centerline is valid? [True, True] Translation: X:865.80, Y:27.27, Z:6.00 [[ 8.73869639e-01 -4.85933397e-01 -1.48521598e-02 8.65801147e+02] [ 4.85861247e-01 8.73995837e-01 -8.37409344e-03 2.72742728e+01] [ 1.70499776e-02 1.01777107e-04 9.99854633e-01 5.99536288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7392541539999 meters 0.01394991654537429 Centerline is valid? [True, True] Translation: X:865.83, Y:27.29, Z:6.00 [[ 8.74103360e-01 -4.85507498e-01 -1.50261489e-02 8.65825982e+02] [ 4.85433526e-01 8.74232496e-01 -8.47560905e-03 2.72865703e+01] [ 1.72513194e-02 1.14361890e-04 9.99851178e-01 5.99516376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7692541539999 meters 0.014073145343676067 Centerline is valid? [True, True] Translation: X:865.85, Y:27.30, Z:6.00 [[ 8.74056614e-01 -4.85595354e-01 -1.49059980e-02 8.65850772e+02] [ 4.85522503e-01 8.74183699e-01 -8.41188145e-03 2.72999478e+01] [ 1.71153510e-02 1.15263158e-04 9.99853515e-01 5.99500529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7992541539999 meters 0.015080238831604167 Centerline is valid? [True, True] Translation: X:865.88, Y:27.31, Z:5.99 [[ 8.74171865e-01 -4.85367449e-01 -1.55559980e-02 8.65877159e+02] [ 4.85287972e-01 8.74310255e-01 -8.78417651e-03 2.73126388e+01] [ 1.78643220e-02 1.29741232e-04 9.99840412e-01 5.99389395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8292541539998 meters 0.016747759082387174 Centerline is valid? [True, True] Translation: X:865.90, Y:27.33, Z:5.99 [[ 8.74031854e-01 -4.85597877e-01 -1.62178755e-02 8.65903554e+02] [ 4.85511429e-01 8.74182294e-01 -9.16345504e-03 2.73251423e+01] [ 1.86271339e-02 1.35187701e-04 9.99826491e-01 5.99371992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8592541539999 meters 0.017040717420372962 Centerline is valid? [True, True] Translation: X:865.93, Y:27.34, Z:5.99 [[ 8.73638620e-01 -4.86319444e-01 -1.57784871e-02 8.65929314e+02] [ 4.86237677e-01 8.73781085e-01 -8.91836710e-03 2.73364535e+01] [ 1.81241189e-02 1.19335022e-04 9.99835738e-01 5.99352894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8892541539999 meters 0.013937413918316408 Centerline is valid? [True, True] Translation: X:865.96, Y:27.35, Z:6.00 [[ 8.73198573e-01 -4.87163570e-01 -1.39967292e-02 8.65955284e+02] [ 4.87099284e-01 8.73310739e-01 -7.91456590e-03 2.73493516e+01] [ 1.60791821e-02 9.31908565e-05 9.99870717e-01 5.99693440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9192541539999 meters 0.013814602297078768 Centerline is valid? [True, True] Translation: X:865.98, Y:27.36, Z:6.00 [[ 8.72645208e-01 -4.88173434e-01 -1.33055988e-02 8.65981491e+02] [ 4.88115390e-01 8.72746637e-01 -7.52811875e-03 2.73617748e+01] [ 1.52874442e-02 7.47091835e-05 9.99883137e-01 5.99799675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9492541539998 meters 0.016801056334872465 Centerline is valid? [True, True] Translation: X:866.01, Y:27.37, Z:6.00 [[ 8.71416334e-01 -4.90351351e-01 -1.37522848e-02 8.66007061e+02] [ 4.90289562e-01 8.71524843e-01 -7.78424103e-03 2.73712029e+01] [ 1.58024709e-02 4.07131032e-05 9.99875132e-01 5.99625748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9792541539999 meters 0.013708361813083202 Centerline is valid? [True, True] Translation: X:866.03, Y:27.38, Z:6.00 [[ 8.71195861e-01 -4.90778128e-01 -1.24338973e-02 8.66031841e+02] [ 4.90727638e-01 8.71284585e-01 -7.03965437e-03 2.73838273e+01] [ 1.42883714e-02 3.12607088e-05 9.99897916e-01 5.99817696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0092541539999 meters 0.013690839633098504 Centerline is valid? [True, True] Translation: X:866.06, Y:27.39, Z:6.00 [[ 8.70351164e-01 -4.92254390e-01 -1.32085940e-02 8.66057923e+02] [ 4.92197530e-01 8.70451386e-01 -7.48170862e-03 2.73945766e+01] [ 1.51803429e-02 1.04764670e-05 9.99884772e-01 5.99759031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0392541539999 meters 0.014519165028349395 Centerline is valid? [True, True] Translation: X:866.08, Y:27.41, Z:6.00 [[ 8.69970218e-01 -4.92927807e-01 -1.31907960e-02 8.66083292e+02] [ 4.92871102e-01 8.70070214e-01 -7.47659636e-03 2.74066058e+01] [ 1.51623410e-02 3.05398498e-06 9.99885045e-01 5.99730041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0692541539999 meters 0.013740436224373914 Centerline is valid? [True, True] Translation: X:866.11, Y:27.42, Z:6.00 [[ 8.69797955e-01 -4.93231578e-01 -1.31957338e-02 8.66108500e+02] [ 4.93174790e-01 8.69898046e-01 -7.48440381e-03 2.74194460e+01] [ 1.51704874e-02 2.11588795e-06 9.99884922e-01 5.99826263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0992541539998 meters 0.01704036229265517 Centerline is valid? [True, True] Translation: X:866.13, Y:27.43, Z:6.00 [[ 8.69417800e-01 -4.93880534e-01 -1.39537593e-02 8.66134300e+02] [ 4.93817055e-01 8.69529768e-01 -7.91817649e-03 2.74302082e+01] [ 1.60438423e-02 -6.40076120e-06 9.99871289e-01 5.99643959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1292541539999 meters 0.013771502375598176 Centerline is valid? [True, True] Translation: X:866.16, Y:27.44, Z:6.00 [[ 8.69443694e-01 -4.93859467e-01 -1.30571768e-02 8.66159441e+02] [ 4.93803830e-01 8.69541734e-01 -7.41287004e-03 2.74437925e+01] [ 1.50146762e-02 -2.61081338e-06 9.99887273e-01 5.99877417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1592541539999 meters 0.014176487197976161 Centerline is valid? [True, True] Translation: X:866.18, Y:27.45, Z:6.00 [[ 8.68879507e-01 -4.94856819e-01 -1.28503011e-02 8.66184866e+02] [ 4.94802971e-01 8.68974527e-01 -7.30012582e-03 2.74549799e+01] [ 1.47791014e-02 -1.54374419e-05 9.99890783e-01 5.99909565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1892541539999 meters 0.013786088872211435 Centerline is valid? [True, True] Translation: X:866.21, Y:27.47, Z:6.00 [[ 8.68516561e-01 -4.95502028e-01 -1.25189190e-02 8.66209377e+02] [ 4.95450940e-01 8.68606781e-01 -7.11520984e-03 2.74671740e+01] [ 1.43996189e-02 -2.28326250e-05 9.99896320e-01 5.99909177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2192541539998 meters 0.013879169456436264 Centerline is valid? [True, True] Translation: X:866.24, Y:27.48, Z:6.00 [[ 8.66965421e-01 -4.98222244e-01 -1.20645932e-02 8.66236112e+02] [ 4.98175015e-01 8.67049359e-01 -6.86024437e-03 2.74770385e+01] [ 1.38785242e-02 -6.26842492e-05 9.99903687e-01 5.99990685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2492541539999 meters 0.015794645354828805 Centerline is valid? [True, True] Translation: X:866.26, Y:27.49, Z:6.00 [[ 8.66049421e-01 -4.99801692e-01 -1.25167496e-02 8.66261824e+02] [ 4.99750976e-01 8.66139862e-01 -7.12047578e-03 2.74881716e+01] [ 1.44000816e-02 -8.85739086e-05 9.99896310e-01 5.99908457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2792541539999 meters 0.018061488839115087 Centerline is valid? [True, True] Translation: X:866.29, Y:27.50, Z:6.00 [[ 8.63902555e-01 -5.03503241e-01 -1.25244334e-02 8.66289154e+02] [ 5.03452810e-01 8.63993324e-01 -7.12773082e-03 2.74986530e+01] [ 1.44098624e-02 -1.47796326e-04 9.99896162e-01 5.99872450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3092541539999 meters 0.01826360278961248 Centerline is valid? [True, True] Translation: X:866.32, Y:27.51, Z:6.00 [[ 8.62955708e-01 -5.05129616e-01 -1.23092478e-02 8.66315446e+02] [ 5.05081009e-01 8.63043477e-01 -7.00935117e-03 2.75109994e+01] [ 1.41640469e-02 -1.68407706e-04 9.99899671e-01 5.99917595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3392541539998 meters 0.017825125935902946 Centerline is valid? [True, True] Translation: X:866.34, Y:27.52, Z:6.00 [[ 8.61689797e-01 -5.07296232e-01 -1.18838714e-02 8.66341659e+02] [ 5.07251096e-01 8.61771719e-01 -6.76975849e-03 2.75210768e+01] [ 1.36754573e-02 -1.94674987e-04 9.99906468e-01 5.99926665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3692541539999 meters 0.015280673813859336 Centerline is valid? [True, True] Translation: X:866.37, Y:27.53, Z:6.00 [[ 8.61419240e-01 -5.07780633e-01 -1.07573708e-02 8.66365901e+02] [ 5.07743670e-01 8.61486387e-01 -6.12944604e-03 2.75336728e+01] [ 1.23797425e-02 -1.81964157e-04 9.99923351e-01 6.00119241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3992541539999 meters 0.01564592228685187 Centerline is valid? [True, True] Translation: X:866.39, Y:27.55, Z:6.00 [[ 8.60922527e-01 -5.08612905e-01 -1.11944594e-02 8.66392656e+02] [ 5.08572913e-01 8.60995280e-01 -6.38116934e-03 2.75459949e+01] [ 1.28839218e-02 -1.99506416e-04 9.99916979e-01 6.00047027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4292541539999 meters 0.015607484952422054 Centerline is valid? [True, True] Translation: X:866.42, Y:27.56, Z:6.00 [[ 8.60973036e-01 -5.08515863e-01 -1.17067738e-02 8.66417171e+02] [ 5.08472062e-01 8.61052598e-01 -6.67730765e-03 2.75590178e+01] [ 1.34756648e-02 -2.03585560e-04 9.99909178e-01 6.00001031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4592541539998 meters 0.015380279877677736 Centerline is valid? [True, True] Translation: X:866.44, Y:27.57, Z:6.00 [[ 8.60918177e-01 -5.08592129e-01 -1.24072252e-02 8.66441157e+02] [ 5.08542870e-01 8.61007550e-01 -7.08155816e-03 2.75728820e+01] [ 1.42843393e-02 -2.12963772e-04 9.99897951e-01 5.99963710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4892541539999 meters 0.019457536426100024 Centerline is valid? [True, True] Translation: X:866.47, Y:27.58, Z:6.00 [[ 8.60822818e-01 -5.08689936e-01 -1.47860025e-02 8.66466496e+02] [ 5.08619915e-01 8.60949758e-01 -8.44373678e-03 2.75838501e+01] [ 1.70252492e-02 -2.51894051e-04 9.99855028e-01 5.99576496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5192541539999 meters 0.01920317954969808 Centerline is valid? [True, True] Translation: X:866.49, Y:27.60, Z:6.00 [[ 8.60798913e-01 -5.08719607e-01 -1.51523044e-02 8.66490747e+02] [ 5.08645997e-01 8.60932225e-01 -8.65753886e-03 2.75974596e+01] [ 1.74493669e-02 -2.54758951e-04 9.99847716e-01 5.99595685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5492541539999 meters 0.01547163158136765 Centerline is valid? [True, True] Translation: X:866.52, Y:27.61, Z:6.00 [[ 8.60964761e-01 -5.08478297e-01 -1.37659529e-02 8.66515899e+02] [ 5.08417438e-01 8.61074777e-01 -7.86995709e-03 2.76123536e+01] [ 1.58552172e-02 -2.23094765e-04 9.99874273e-01 5.99863673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5792541539998 meters 0.018623815528525836 Centerline is valid? [True, True] Translation: X:866.54, Y:27.62, Z:6.00 [[ 8.60705800e-01 -5.08881670e-01 -1.49990425e-02 8.66542199e+02] [ 5.08809394e-01 8.60836445e-01 -8.57994361e-03 2.76249428e+01] [ 1.72778985e-02 -2.46846509e-04 9.99850695e-01 5.99678031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6092541539999 meters 0.016926005908008288 Centerline is valid? [True, True] Translation: X:866.57, Y:27.64, Z:6.00 [[ 8.60858298e-01 -5.08643242e-01 -1.43193092e-02 8.66567202e+02] [ 5.08577290e-01 8.60977352e-01 -8.19391767e-03 2.76381181e+01] [ 1.64963818e-02 -2.28673449e-04 9.99863899e-01 5.99777863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6392541539999 meters 0.018462044539368526 Centerline is valid? [True, True] Translation: X:866.59, Y:27.65, Z:6.00 [[ 8.60681404e-01 -5.08925791e-01 -1.49016720e-02 8.66592862e+02] [ 5.08854346e-01 8.60810363e-01 -8.53072353e-03 2.76507805e+01] [ 1.71690189e-02 -2.40545442e-04 9.99852573e-01 5.99717483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6692541539999 meters 0.016762290712318006 Centerline is valid? [True, True] Translation: X:866.62, Y:27.67, Z:6.00 [[ 8.60644601e-01 -5.09012650e-01 -1.40353919e-02 8.66617903e+02] [ 5.08949210e-01 8.60759009e-01 -8.03927009e-03 2.76655563e+01] [ 1.61731802e-02 -2.24347230e-04 9.99869180e-01 5.99882278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6992541539998 meters 0.01716792624708348 Centerline is valid? [True, True] Translation: X:866.64, Y:27.68, Z:6.00 [[ 8.60712944e-01 -5.08888487e-01 -1.43435213e-02 8.66641897e+02] [ 5.08822157e-01 8.60832422e-01 -8.21915741e-03 2.76779852e+01] [ 1.65300027e-02 -2.23966276e-04 9.99863345e-01 5.99841696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7292541539999 meters 0.015107307413309254 Centerline is valid? [True, True] Translation: X:866.67, Y:27.69, Z:6.00 [[ 8.61347790e-01 -5.07836290e-01 -1.35014046e-02 8.66666670e+02] [ 5.07777338e-01 8.61453578e-01 -7.74001137e-03 2.76927905e+01] [ 1.55614920e-02 -1.88865620e-04 9.99878895e-01 6.00033560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7592541539999 meters 0.01501097787702945 Centerline is valid? [True, True] Translation: X:866.69, Y:27.71, Z:6.00 [[ 8.61896294e-01 -5.06912000e-01 -1.32288925e-02 8.66691101e+02] [ 5.06855252e-01 8.61997794e-01 -7.58658113e-03 2.77067277e+01] [ 1.52490051e-02 -1.66287472e-04 9.99883713e-01 6.00027880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7892541539999 meters 0.015794771792282416 Centerline is valid? [True, True] Translation: X:866.72, Y:27.72, Z:6.00 [[ 8.63138810e-01 -5.04792188e-01 -1.32755880e-02 8.66715462e+02] [ 5.04734740e-01 8.63240888e-01 -7.61648406e-03 2.77215543e+01] [ 1.53047720e-02 -1.26567453e-04 9.99882867e-01 6.00008012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8192541539999 meters 0.018212876589985338 Centerline is valid? [True, True] Translation: X:866.74, Y:27.74, Z:6.00 [[ 8.63648587e-01 -5.03896817e-01 -1.41108688e-02 8.66739384e+02] [ 5.03831708e-01 8.63763848e-01 -8.10089305e-03 2.77354577e+01] [ 1.62704725e-02 -1.13178273e-04 9.99867621e-01 5.99898569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8492541539998 meters 0.0145836299515339 Centerline is valid? [True, True] Translation: X:866.76, Y:27.75, Z:6.00 [[ 8.64959288e-01 -5.01673390e-01 -1.30092055e-02 8.66764331e+02] [ 5.01617736e-01 8.65057111e-01 -7.47267811e-03 2.77510707e+01] [ 1.50025495e-02 -6.20858757e-05 9.99887453e-01 6.00081871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8792541539999 meters 0.014165822837153452 Centerline is valid? [True, True] Translation: X:866.79, Y:27.77, Z:6.00 [[ 8.67060002e-01 -4.98025126e-01 -1.33389647e-02 8.66787251e+02] [ 4.97966134e-01 8.67162600e-01 -7.66517838e-03 2.77664411e+01] [ 1.53845027e-02 3.81690264e-06 9.99881652e-01 6.00014634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9092541539999 meters 0.016305633195756543 Centerline is valid? [True, True] Translation: X:866.81, Y:27.78, Z:6.00 [[ 8.67401933e-01 -4.97399744e-01 -1.44007530e-02 8.66812533e+02] [ 4.97330839e-01 8.67521466e-01 -8.27904094e-03 2.77812681e+01] [ 1.66109552e-02 1.93175347e-05 9.99862028e-01 5.99790624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9392541539999 meters 0.016305633195756543 Centerline is valid? [True, True] Translation: X:866.84, Y:27.80, Z:6.00 [[ 8.67267068e-01 -4.97634919e-01 -1.43986242e-02 8.66836399e+02] [ 4.97565984e-01 8.67386585e-01 -8.28274233e-03 2.77951006e+01] [ 1.66109552e-02 1.90840563e-05 9.99862028e-01 5.99809675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9692541539998 meters 0.01585974649503384 Centerline is valid? [True, True] Translation: X:866.86, Y:27.81, Z:6.00 [[ 8.68433937e-01 -4.95560076e-01 -1.55790970e-02 8.66861119e+02] [ 4.95478941e-01 8.68573662e-01 -8.96732049e-03 2.78092282e+01] [ 1.79754394e-02 6.84109479e-05 9.99838426e-01 5.99875111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9992541539999 meters 0.014726039106221236 Centerline is valid? [True, True] Translation: X:866.88, Y:27.82, Z:6.00 [[ 8.68823204e-01 -4.94887166e-01 -1.52621580e-02 8.66884303e+02] [ 4.94809134e-01 8.68957241e-01 -8.78836182e-03 2.78228555e+01] [ 1.76114101e-02 8.36775057e-05 9.99844904e-01 5.99919273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0292541539999 meters 0.014553048719153168 Centerline is valid? [True, True] Translation: X:866.91, Y:27.84, Z:6.00 [[ 8.68763339e-01 -4.94995253e-01 -1.51644301e-02 8.66909784e+02] [ 4.94918156e-01 8.68895674e-01 -8.73654519e-03 2.78352368e+01] [ 1.75008561e-02 8.48383944e-05 9.99846845e-01 6.00044960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0592541539999 meters 0.014875035996100313 Centerline is valid? [True, True] Translation: X:866.93, Y:27.85, Z:6.00 [[ 8.68264842e-01 -4.95883237e-01 -1.46962378e-02 8.66934658e+02] [ 4.95810861e-01 8.68389204e-01 -8.47230602e-03 2.78480606e+01] [ 1.69633288e-02 6.96511122e-05 9.99856110e-01 6.00077184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0892541539998 meters 0.015916448717570145 Centerline is valid? [True, True] Translation: X:866.96, Y:27.86, Z:6.00 [[ 8.67131479e-01 -4.97882366e-01 -1.40052955e-02 8.66960312e+02] [ 4.97816838e-01 8.67244573e-01 -8.07755101e-03 2.78589200e+01] [ 1.61676868e-02 3.22268050e-05 9.99869294e-01 6.00107220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1192541539999 meters 0.016453171334167013 Centerline is valid? [True, True] Translation: X:866.98, Y:27.87, Z:6.00 [[ 8.66306422e-01 -4.99322005e-01 -1.38100756e-02 8.66984664e+02] [ 4.99258438e-01 8.66416490e-01 -7.96726416e-03 2.78709355e+01] [ 1.59435076e-02 7.29533597e-06 9.99872894e-01 6.00088234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1492541539999 meters 0.017757847859163182 Centerline is valid? [True, True] Translation: X:867.01, Y:27.88, Z:6.00 [[ 8.64569289e-01 -5.02309991e-01 -1.43044595e-02 8.67011947e+02] [ 5.02242138e-01 8.64687615e-01 -8.25617256e-03 2.78821408e+01] [ 1.65160469e-02 -4.62690961e-05 9.99863600e-01 6.00050764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1792541539999 meters 0.015403074571373548 Centerline is valid? [True, True] Translation: X:867.04, Y:27.89, Z:6.00 [[ 8.63871958e-01 -5.03517328e-01 -1.39836034e-02 8.67037220e+02] [ 5.03452564e-01 8.63985125e-01 -8.07581673e-03 2.78947973e+01] [ 1.61479390e-02 -6.36094018e-05 9.99869612e-01 6.00150604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2092541539998 meters 0.018317723432450413 Centerline is valid? [True, True] Translation: X:867.06, Y:27.91, Z:6.00 [[ 8.62865987e-01 -5.05194612e-01 -1.55142853e-02 8.67063736e+02] [ 5.05115065e-01 8.63005443e-01 -8.96531668e-03 2.79075456e+01] [ 1.79181423e-02 -1.00632384e-04 9.99839452e-01 5.99944372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2392541539999 meters 0.014584634519189192 Centerline is valid? [True, True] Translation: X:867.09, Y:27.92, Z:6.00 [[ 8.62198558e-01 -5.06336575e-01 -1.53922071e-02 8.67088312e+02] [ 5.06258382e-01 8.62335931e-01 -8.89901323e-03 2.79185574e+01] [ 1.77791491e-02 -1.19717466e-04 9.99841931e-01 6.00151373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2692541539999 meters 0.01789329151707622 Centerline is valid? [True, True] Translation: X:867.11, Y:27.93, Z:6.00 [[ 8.61334194e-01 -5.07762514e-01 -1.67521637e-02 8.67113316e+02] [ 5.07670106e-01 8.61497071e-01 -9.68810471e-03 2.79305761e+01] [ 1.93511964e-02 -1.59876860e-04 9.99812735e-01 5.99928190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2992541539999 meters 0.01522674341997577 Centerline is valid? [True, True] Translation: X:867.14, Y:27.94, Z:6.00 [[ 8.60833638e-01 -5.08645524e-01 -1.56581499e-02 8.67138440e+02] [ 5.08564908e-01 8.60976018e-01 -9.05711916e-03 2.79428557e+01] [ 1.80881547e-02 -1.66512742e-04 9.99836382e-01 6.00183767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3292541539998 meters 0.016754990593411873 Centerline is valid? [True, True] Translation: X:867.16, Y:27.96, Z:6.00 [[ 8.60004164e-01 -5.10038206e-01 -1.59332151e-02 8.67164176e+02] [ 5.09954901e-01 8.60151725e-01 -9.21998008e-03 2.79557641e+01] [ 1.84075245e-02 -1.95999864e-04 9.99830548e-01 6.00128918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3592541539999 meters 0.015939249386146215 Centerline is valid? [True, True] Translation: X:867.19, Y:27.97, Z:6.00 [[ 8.59529796e-01 -5.10845238e-01 -1.56739674e-02 8.67189168e+02] [ 5.10764661e-01 8.59672671e-01 -9.07522498e-03 2.79687803e+01] [ 1.81105169e-02 -2.05282385e-04 9.99835970e-01 6.00241718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3892541539999 meters 0.01956153481950318 Centerline is valid? [True, True] Translation: X:867.22, Y:27.98, Z:6.00 [[ 8.57856951e-01 -5.13626907e-01 -1.63967141e-02 8.67215262e+02] [ 5.13539171e-01 8.58013593e-01 -9.49706527e-03 2.79786038e+01] [ 1.89465518e-02 -2.73231512e-04 9.99820461e-01 6.00092051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4192541539999 meters 0.018715797113415967 Centerline is valid? [True, True] Translation: X:867.24, Y:27.99, Z:6.00 [[ 8.56994826e-01 -5.15077113e-01 -1.59823454e-02 8.67240618e+02] [ 5.14993935e-01 8.57143792e-01 -9.26097112e-03 2.79932838e+01] [ 1.84692824e-02 -2.94206629e-04 9.99829385e-01 6.00334774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4492541539998 meters 0.017336221962402906 Centerline is valid? [True, True] Translation: X:867.27, Y:28.00, Z:6.01 [[ 8.55301419e-01 -5.17918070e-01 -1.48443581e-02 8.67267709e+02] [ 5.17846662e-01 8.55430165e-01 -8.60628755e-03 2.80045926e+01] [ 1.71556635e-02 -3.26131327e-04 9.99852778e-01 6.00621734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4792541539999 meters 0.020287227801840033 Centerline is valid? [True, True] Translation: X:867.29, Y:28.02, Z:6.01 [[ 8.54068152e-01 -5.19933562e-01 -1.53844894e-02 8.67292941e+02] [ 5.19857124e-01 8.54206620e-01 -8.92310486e-03 2.80163471e+01] [ 1.77809544e-02 -3.76796727e-04 9.99841835e-01 6.00504961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5092541539999 meters 0.020037651838300276 Centerline is valid? [True, True] Translation: X:867.32, Y:28.03, Z:6.01 [[ 8.53223451e-01 -5.21329554e-01 -1.50079571e-02 8.67317962e+02] [ 5.21256957e-01 8.53355344e-01 -8.70872912e-03 2.80313716e+01] [ 1.73472383e-02 -3.92510144e-04 9.99849448e-01 6.00617520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5392541539999 meters 0.017776948673710682 Centerline is valid? [True, True] Translation: X:867.34, Y:28.04, Z:6.01 [[ 8.52442789e-01 -5.22652613e-01 -1.32490947e-02 8.67343260e+02] [ 5.22596149e-01 8.52545665e-01 -7.69114929e-03 2.80440867e+01] [ 1.53152576e-02 -3.67661138e-04 9.99882647e-01 6.00895003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5692541539999 meters 0.017884681536785886 Centerline is valid? [True, True] Translation: X:867.37, Y:28.06, Z:6.01 [[ 8.51715442e-01 -5.23834482e-01 -1.33507166e-02 8.67368390e+02] [ 5.23777240e-01 8.51819983e-01 -7.75362246e-03 2.80585545e+01] [ 1.54340220e-02 -3.88921515e-04 9.99880813e-01 6.00986853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5992541539998 meters 0.018790872851701154 Centerline is valid? [True, True] Translation: X:867.39, Y:28.07, Z:6.01 [[ 8.51599804e-01 -5.24015800e-01 -1.36093605e-02 8.67393074e+02] [ 5.23956297e-01 8.51708449e-01 -7.90672031e-03 2.80721981e+01] [ 1.57344537e-02 -3.97348683e-04 9.99876127e-01 6.00956096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6292541539999 meters 0.018350612640716583 Centerline is valid? [True, True] Translation: X:867.42, Y:28.09, Z:6.01 [[ 8.51710089e-01 -5.23837880e-01 -1.35572987e-02 8.67417224e+02] [ 5.23778759e-01 8.51817893e-01 -7.87962684e-03 2.80878912e+01] [ 1.56759966e-02 -3.89867392e-04 9.99877048e-01 6.00971892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6592541539999 meters 0.016946692047435038 Centerline is valid? [True, True] Translation: X:867.44, Y:28.11, Z:6.01 [[ 8.52719061e-01 -5.22175779e-01 -1.42358406e-02 8.67439544e+02] [ 5.22110281e-01 8.52837802e-01 -8.27880089e-03 2.81062844e+01] [ 1.64638523e-02 -3.73187434e-04 9.99864392e-01 6.01007404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6892541539999 meters 0.01827179889574927 Centerline is valid? [True, True] Translation: X:867.46, Y:28.12, Z:6.01 [[ 8.53194977e-01 -5.21382129e-01 -1.47988935e-02 8.67463497e+02] [ 5.21311141e-01 8.53323233e-01 -8.61124923e-03 2.81225050e+01] [ 1.71179911e-02 -3.67753500e-04 9.99853409e-01 6.00854236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7192541539998 meters 0.01651659190130074 Centerline is valid? [True, True] Translation: X:867.48, Y:28.14, Z:6.01 [[ 8.55545939e-01 -5.17516894e-01 -1.47448555e-02 8.67484660e+02] [ 5.17445797e-01 8.55672941e-01 -8.58281875e-03 2.81408479e+01] [ 1.70585276e-02 -2.86667795e-04 9.99854452e-01 6.00846333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7492541539999 meters 0.015350683267784593 Centerline is valid? [True, True] Translation: X:867.51, Y:28.16, Z:6.01 [[ 8.56759141e-01 -5.15507200e-01 -1.47003695e-02 8.67507839e+02] [ 5.15436173e-01 8.56885213e-01 -8.56055859e-03 2.81586214e+01] [ 1.70095588e-02 -2.42765344e-04 9.99855298e-01 6.00959560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7792541539999 meters 0.017502502033556962 Centerline is valid? [True, True] Translation: X:867.53, Y:28.17, Z:6.01 [[ 8.57635802e-01 -5.14024573e-01 -1.54780370e-02 8.67531235e+02] [ 5.13945533e-01 8.57775430e-01 -9.01667504e-03 2.81744157e+01] [ 1.79114724e-02 -2.21844659e-04 9.99839552e-01 6.00823020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8092541539999 meters 0.015104220699357703 Centerline is valid? [True, True] Translation: X:867.55, Y:28.19, Z:6.01 [[ 8.60455268e-01 -5.09323318e-01 -1.43697450e-02 8.67553434e+02] [ 5.09254478e-01 8.60575241e-01 -8.37447885e-03 2.81928631e+01] [ 1.66315641e-02 -1.11992554e-04 9.99861680e-01 6.00974745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8392541539998 meters 0.017376695485566283 Centerline is valid? [True, True] Translation: X:867.57, Y:28.21, Z:6.01 [[ 8.62542908e-01 -5.05746380e-01 -1.55026235e-02 8.67574772e+02] [ 5.05665574e-01 8.62682211e-01 -9.04045906e-03 2.82111379e+01] [ 1.79460169e-02 -4.13591566e-05 9.99838956e-01 6.00899922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8692541539999 meters 0.01419717562031372 Centerline is valid? [True, True] Translation: X:867.60, Y:28.23, Z:6.01 [[ 8.64012045e-01 -5.03275697e-01 -1.40270562e-02 8.67597905e+02] [ 5.03209140e-01 8.64125901e-01 -8.18469772e-03 2.82284392e+01] [ 1.62403021e-02 1.31345154e-05 9.99868118e-01 6.01078118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8992541539999 meters 0.01750645208131087 Centerline is valid? [True, True] Translation: X:867.62, Y:28.24, Z:6.01 [[ 8.64559841e-01 -5.02303220e-01 -1.50916159e-02 8.67621799e+02] [ 5.02225936e-01 8.64691548e-01 -8.81107436e-03 2.82446833e+01] [ 1.74754237e-02 3.83001417e-05 9.99847292e-01 6.00921786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9292541539999 meters 0.01441544060742032 Centerline is valid? [True, True] Translation: X:867.64, Y:28.26, Z:6.01 [[ 8.66576539e-01 -4.98859268e-01 -1.35843164e-02 8.67642496e+02] [ 4.98796168e-01 8.66682999e-01 -7.93486740e-03 2.82623273e+01] [ 1.57316782e-02 1.00364963e-04 9.99876244e-01 6.01088262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9592541539998 meters 0.01452474842369785 Centerline is valid? [True, True] Translation: X:867.67, Y:28.28, Z:6.01 [[ 8.66961499e-01 -4.98188806e-01 -1.36262092e-02 8.67666214e+02] [ 4.98125163e-01 8.67068567e-01 -7.96380295e-03 2.82783660e+01] [ 1.57823352e-02 1.16752862e-04 9.99875444e-01 6.01106210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9892541539999 meters 0.018003044006276114 Centerline is valid? [True, True] Translation: X:867.69, Y:28.29, Z:6.01 [[ 8.67449763e-01 -4.97305978e-01 -1.47537753e-02 8.67689264e+02] [ 4.97231178e-01 8.67575209e-01 -8.62628353e-03 2.82949769e+01] [ 1.70899121e-02 1.46830532e-04 9.99853946e-01 6.00868614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0192541539999 meters 0.01453736523470922 Centerline is valid? [True, True] Translation: X:867.71, Y:28.31, Z:6.01 [[ 8.67905012e-01 -4.96552061e-01 -1.33019167e-02 8.67713220e+02] [ 4.96491117e-01 8.68006929e-01 -7.78091381e-03 2.83097242e+01] [ 1.54097847e-02 1.48810618e-04 9.99881251e-01 6.01195971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0492541539999 meters 0.014507172046684171 Centerline is valid? [True, True] Translation: X:867.74, Y:28.33, Z:6.01 [[ 8.68155789e-01 -4.96115245e-01 -1.32359562e-02 8.67736622e+02] [ 4.96054773e-01 8.68256666e-01 -7.74753272e-03 2.83258702e+01] [ 1.53358763e-02 1.60306130e-04 9.99882386e-01 6.01211513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0792541539998 meters 0.018246240939858438 Centerline is valid? [True, True] Translation: X:867.76, Y:28.34, Z:6.01 [[ 8.68024466e-01 -4.96304010e-01 -1.46920361e-02 8.67759365e+02] [ 4.96229455e-01 8.68148777e-01 -8.60404566e-03 2.83423240e+01] [ 1.70250955e-02 1.77901063e-04 9.99855047e-01 6.00833212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1092541539999 meters 0.018275886864532326 Centerline is valid? [True, True] Translation: X:867.78, Y:28.36, Z:6.01 [[ 8.67924433e-01 -4.96463967e-01 -1.51890711e-02 8.67783632e+02] [ 4.96384228e-01 8.68057311e-01 -8.89963256e-03 2.83573895e+01] [ 1.76033311e-02 1.84593240e-04 9.99845032e-01 6.00802133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1392541539999 meters 0.016620381417504975 Centerline is valid? [True, True] Translation: X:867.81, Y:28.37, Z:6.01 [[ 8.67543160e-01 -4.97142110e-01 -1.47847453e-02 8.67807702e+02] [ 4.97066566e-01 8.67669115e-01 -8.66809079e-03 2.83716726e+01] [ 1.71375398e-02 1.70940300e-04 9.99853127e-01 6.00823946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1692541539999 meters 0.017289219207649323 Centerline is valid? [True, True] Translation: X:867.83, Y:28.38, Z:6.01 [[ 8.67159772e-01 -4.97778821e-01 -1.58169177e-02 8.67833041e+02] [ 4.97692362e-01 8.67303992e-01 -9.27889389e-03 2.83849662e+01] [ 1.83369127e-02 1.74324363e-04 9.99831849e-01 6.00834470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1992541539998 meters 0.014428817057689877 Centerline is valid? [True, True] Translation: X:867.86, Y:28.40, Z:6.01 [[ 8.66711426e-01 -4.98584003e-01 -1.50098589e-02 8.67858200e+02] [ 4.98506177e-01 8.66841374e-01 -8.81039818e-03 2.83995151e+01] [ 1.74038903e-02 1.53565400e-04 9.99848529e-01 6.01011160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2292541539999 meters 0.014243713725632835 Centerline is valid? [True, True] Translation: X:867.88, Y:28.41, Z:6.01 [[ 8.65520660e-01 -5.00639027e-01 -1.53150775e-02 8.67884413e+02] [ 5.00558232e-01 8.65656139e-01 -8.99478912e-03 2.84123864e+01] [ 1.77607333e-02 1.19087721e-04 9.99842259e-01 6.01026936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2592541539999 meters 0.015919861712329002 Centerline is valid? [True, True] Translation: X:867.91, Y:28.43, Z:6.01 [[ 8.64553932e-01 -5.02280450e-01 -1.61507881e-02 8.67909440e+02] [ 5.02190768e-01 8.64704771e-01 -9.49169407e-03 2.84251967e+01] [ 1.87331559e-02 9.53047626e-05 9.99824514e-01 6.00941124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2892541539999 meters 0.016806853977954096 Centerline is valid? [True, True] Translation: X:867.94, Y:28.44, Z:6.01 [[ 8.63114516e-01 -5.04745831e-01 -1.62781600e-02 8.67935027e+02] [ 5.04655099e-01 8.63268002e-01 -9.57011066e-03 2.84372359e+01] [ 1.88828882e-02 4.52449574e-05 9.99821701e-01 6.00923436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3192541539999 meters 0.016436355366390997 Centerline is valid? [True, True] Translation: X:867.96, Y:28.45, Z:6.01 [[ 8.62308445e-01 -5.06118232e-01 -1.63854015e-02 8.67960014e+02] [ 5.06026459e-01 8.62464107e-01 -9.63783224e-03 2.84507969e+01] [ 1.90097033e-02 1.93374379e-05 9.99819299e-01 6.00934658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3492541539998 meters 0.01840518697138497 Centerline is valid? [True, True] Translation: X:867.99, Y:28.46, Z:6.01 [[ 8.60611269e-01 -5.08976930e-01 -1.70507538e-02 8.67985899e+02] [ 5.08878040e-01 8.60780159e-01 -1.00328520e-02 2.84623881e+01] [ 1.97834408e-02 -4.23686614e-05 9.99804288e-01 6.00828312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3792541539999 meters 0.01751059213701437 Centerline is valid? [True, True] Translation: X:868.01, Y:28.48, Z:6.01 [[ 8.59780595e-01 -5.10379465e-01 -1.70332258e-02 8.68011253e+02] [ 5.10280956e-01 8.59949299e-01 -1.00274280e-02 2.84753854e+01] [ 1.97655039e-02 -7.03427108e-05 9.99804641e-01 6.00928289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4092541539999 meters 0.01725470485667597 Centerline is valid? [True, True] Translation: X:868.04, Y:28.49, Z:6.01 [[ 8.58755950e-01 -5.12110810e-01 -1.67551760e-02 8.68036151e+02] [ 5.12015698e-01 8.58919384e-01 -9.87002243e-03 2.84882428e+01] [ 1.94458906e-02 -1.02972643e-04 9.99810905e-01 6.00981026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4392541539999 meters 0.01570319333946705 Centerline is valid? [True, True] Translation: X:868.06, Y:28.50, Z:6.01 [[ 8.57300233e-01 -5.14596588e-01 -1.50553082e-02 8.68061879e+02] [ 5.14520084e-01 8.57432407e-01 -8.87412245e-03 2.85002237e+01] [ 1.74755023e-02 -1.38471200e-04 9.99847282e-01 6.01220592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4692541539998 meters 0.015131924794246226 Centerline is valid? [True, True] Translation: X:868.09, Y:28.51, Z:6.01 [[ 8.55515601e-01 -5.17585782e-01 -1.40717753e-02 8.68087592e+02] [ 5.17519272e-01 8.55631302e-01 -8.29926191e-03 2.85130981e+01] [ 1.63358314e-02 -1.82266878e-04 9.99866545e-01 6.01480415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4992541539999 meters 0.01788002275742914 Centerline is valid? [True, True] Translation: X:868.11, Y:28.53, Z:6.01 [[ 8.54339069e-01 -5.19502559e-01 -1.48945211e-02 8.68113424e+02] [ 5.19428245e-01 8.54468864e-01 -8.78968353e-03 2.85265436e+01] [ 1.72931676e-02 -2.27264882e-04 9.99850436e-01 6.01422152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5292541539999 meters 0.017580707646915772 Centerline is valid? [True, True] Translation: X:868.14, Y:28.54, Z:6.01 [[ 8.53324169e-01 -5.21174720e-01 -1.46551278e-02 8.68138272e+02] [ 5.21102971e-01 8.53449967e-01 -8.65144502e-03 2.85396933e+01] [ 1.70163328e-02 -2.54343515e-04 9.99855179e-01 6.01424738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5592541539999 meters 0.018286435583641663 Centerline is valid? [True, True] Translation: X:868.16, Y:28.55, Z:6.01 [[ 8.51181603e-01 -5.24656959e-01 -1.49984452e-02 8.68164042e+02] [ 5.24582316e-01 8.51313671e-01 -8.85593100e-03 2.85519935e+01] [ 1.74147072e-02 -3.29913538e-04 9.99848298e-01 6.01451658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5892541539998 meters 0.017692300135625876 Centerline is valid? [True, True] Translation: X:868.19, Y:28.56, Z:6.02 [[ 8.50191005e-01 -5.26268694e-01 -1.47144997e-02 8.68188710e+02] [ 5.26197062e-01 8.50318255e-01 -8.69001134e-03 2.85647155e+01] [ 1.70852887e-02 -3.54557059e-04 9.99853973e-01 6.01502190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6192541539999 meters 0.020630637402587276 Centerline is valid? [True, True] Translation: X:868.22, Y:28.58, Z:6.01 [[ 8.47879370e-01 -5.29957525e-01 -1.56714981e-02 8.68215509e+02] [ 5.29876835e-01 8.48024066e-01 -9.25872109e-03 2.85778329e+01] [ 1.81965364e-02 -4.53685173e-04 9.99834326e-01 6.01432617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6492541539999 meters 0.02146940696377511 Centerline is valid? [True, True] Translation: X:868.24, Y:28.59, Z:6.01 [[ 8.46888418e-01 -5.31537027e-01 -1.57606065e-02 8.68239566e+02] [ 5.31455637e-01 8.47034917e-01 -9.31423165e-03 2.85911260e+01] [ 1.83006430e-02 -4.87948250e-04 9.99832410e-01 6.01403973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6792541539999 meters 0.021183114604070317 Centerline is valid? [True, True] Translation: X:868.27, Y:28.61, Z:6.01 [[ 8.46068613e-01 -5.32852285e-01 -1.53734940e-02 8.68265054e+02] [ 5.32774994e-01 8.46208126e-01 -9.08921585e-03 2.86055579e+01] [ 1.78523850e-02 -5.00512948e-04 9.99840508e-01 6.01471396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7092541539998 meters 0.01969674301431127 Centerline is valid? [True, True] Translation: X:868.29, Y:28.62, Z:6.02 [[ 8.45466168e-01 -5.33854881e-01 -1.36353949e-02 8.68288941e+02] [ 5.33794168e-01 8.45575989e-01 -8.06422457e-03 2.86197018e+01] [ 1.58348882e-02 -4.60465218e-04 9.99874514e-01 6.01706867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7392541539999 meters 0.01939188022893978 Centerline is valid? [True, True] Translation: X:868.31, Y:28.64, Z:6.02 [[ 8.45543170e-01 -5.33750098e-01 -1.29452556e-02 8.68313663e+02] [ 5.33695320e-01 8.45642150e-01 -7.65896589e-03 2.86350546e+01] [ 1.50350276e-02 -4.32836039e-04 9.99886874e-01 6.01775601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7692541539999 meters 0.020493329834994224 Centerline is valid? [True, True] Translation: X:868.34, Y:28.65, Z:6.02 [[ 8.46331200e-01 -5.32499552e-01 -1.29509358e-02 8.68337025e+02] [ 5.32444518e-01 8.46430187e-01 -7.66647794e-03 2.86514674e+01] [ 1.50444591e-02 -4.07275305e-04 9.99886743e-01 6.01724071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7992541539999 meters 0.017199492263837237 Centerline is valid? [True, True] Translation: X:868.36, Y:28.67, Z:6.02 [[ 8.47393538e-01 -5.30825829e-01 -1.21708695e-02 8.68359548e+02] [ 5.30776997e-01 8.47480864e-01 -7.20857383e-03 2.86708465e+01] [ 1.41410762e-02 -3.51518689e-04 9.99899948e-01 6.01883567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8292541539998 meters 0.015796143419902407 Centerline is valid? [True, True] Translation: X:868.38, Y:28.69, Z:6.02 [[ 8.50438940e-01 -5.25910735e-01 -1.30961203e-02 8.68381698e+02] [ 5.25853564e-01 8.50539720e-01 -7.75975347e-03 2.86912754e+01] [ 1.52197082e-02 -2.87445034e-04 9.99884132e-01 6.01800053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8592541539999 meters 0.015796143419902407 Centerline is valid? [True, True] Translation: X:868.41, Y:28.71, Z:6.02 [[ 8.50288923e-01 -5.26153287e-01 -1.30945386e-02 8.68405403e+02] [ 5.26096103e-01 8.50389696e-01 -7.76242209e-03 2.87054063e+01] [ 1.52196846e-02 -2.88684185e-04 9.99884132e-01 6.01819146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8892541539999 meters 0.01757098412275743 Centerline is valid? [True, True] Translation: X:868.43, Y:28.72, Z:6.02 [[ 8.51742658e-01 -5.23767385e-01 -1.42186830e-02 8.68428188e+02] [ 5.23699540e-01 8.51861290e-01 -8.43413422e-03 2.87230646e+01] [ 1.65298701e-02 -2.62605867e-04 9.99863338e-01 6.01662191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9192541539999 meters 0.01714329904002844 Centerline is valid? [True, True] Translation: X:868.45, Y:28.74, Z:6.02 [[ 8.53785856e-01 -5.20429562e-01 -1.42402325e-02 8.68450085e+02] [ 5.20360995e-01 8.53904581e-01 -8.44996266e-03 2.87399734e+01] [ 1.65574101e-02 -1.95602947e-04 9.99862898e-01 6.01597151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9492541539998 meters 0.016969101692357116 Centerline is valid? [True, True] Translation: X:868.47, Y:28.76, Z:6.01 [[ 8.57477582e-01 -5.14307673e-01 -1.48261238e-02 8.68470958e+02] [ 5.14232397e-01 8.57605744e-01 -8.79943717e-03 2.87600763e+01] [ 1.72405869e-02 -7.87530563e-05 9.99851367e-01 6.01484110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9792541539999 meters 0.017880921806969794 Centerline is valid? [True, True] Translation: X:868.49, Y:28.78, Z:6.01 [[ 8.60291467e-01 -5.09581381e-01 -1.50135602e-02 8.68491650e+02] [ 5.09503395e-01 8.60422463e-01 -8.91486498e-03 2.87795811e+01] [ 1.74608537e-02 1.99223697e-05 9.99847547e-01 6.01459367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0092541539999 meters 0.013875444564894831 Centerline is valid? [True, True] Translation: X:868.51, Y:28.80, Z:6.02 [[ 8.61699534e-01 -5.07225528e-01 -1.40062713e-02 8.68513928e+02] [ 5.07157260e-01 8.61813355e-01 -8.32198222e-03 2.87963295e+01] [ 1.62919134e-02 6.76660578e-05 9.99867276e-01 6.01727218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0392541539999 meters 0.017823119346362028 Centerline is valid? [True, True] Translation: X:868.54, Y:28.81, Z:6.02 [[ 8.62157879e-01 -5.06420098e-01 -1.49156239e-02 8.68537201e+02] [ 5.06342494e-01 8.62286887e-01 -8.86580576e-03 2.88120454e+01] [ 1.73513691e-02 9.13101043e-05 9.99849449e-01 6.01518418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0692541539999 meters 0.016782792699375274 Centerline is valid? [True, True] Translation: X:868.56, Y:28.83, Z:6.02 [[ 8.62529733e-01 -5.05803563e-01 -1.43253293e-02 8.68560410e+02] [ 5.05731830e-01 8.62648680e-01 -8.51883613e-03 2.88277239e+01] [ 1.66665841e-02 1.02974420e-04 9.99861098e-01 6.01607799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0992541539998 meters 0.01747459407756199 Centerline is valid? [True, True] Translation: X:868.58, Y:28.84, Z:6.02 [[ 8.62259356e-01 -5.06290133e-01 -1.33829600e-02 8.68583428e+02] [ 5.06227540e-01 8.62363202e-01 -7.96145760e-03 2.88435163e+01] [ 1.55717797e-02 9.00183638e-05 9.99878748e-01 6.01610511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1292541539999 meters 0.01858002224463647 Centerline is valid? [True, True] Translation: X:868.61, Y:28.86, Z:6.02 [[ 8.61400793e-01 -5.07752860e-01 -1.32554330e-02 8.68607495e+02] [ 5.07691574e-01 8.61502773e-01 -7.88902975e-03 2.88576382e+01] [ 1.54252697e-02 6.59448369e-05 9.99881021e-01 6.01617679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1592541539999 meters 0.01734521615003596 Centerline is valid? [True, True] Translation: X:868.63, Y:28.87, Z:6.02 [[ 8.59198210e-01 -5.11502355e-01 -1.19906986e-02 8.68633320e+02] [ 5.11452515e-01 8.59281875e-01 -7.14031161e-03 2.88708332e+01] [ 1.39556762e-02 2.26998390e-06 9.99902615e-01 6.01730757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1892541539999 meters 0.016707845290987993 Centerline is valid? [True, True] Translation: X:868.66, Y:28.88, Z:6.02 [[ 8.57650333e-01 -5.14105795e-01 -1.14515909e-02 8.68658119e+02] [ 5.14060515e-01 8.57726781e-01 -6.82319569e-03 2.88839845e+01] [ 1.33301806e-02 -3.48946459e-05 9.99911149e-01 6.01773410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2192541539998 meters 0.017765030484528686 Centerline is valid? [True, True] Translation: X:868.68, Y:28.90, Z:6.02 [[ 8.54355191e-01 -5.19553641e-01 -1.18836900e-02 8.68684084e+02] [ 5.19505364e-01 8.54437826e-01 -7.08364827e-03 2.88952327e+01] [ 1.38342095e-02 -1.21689035e-04 9.99904295e-01 6.01690993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2492541539999 meters 0.01863429585651782 Centerline is valid? [True, True] Translation: X:868.71, Y:28.91, Z:6.02 [[ 8.52422163e-01 -5.22701192e-01 -1.26459397e-02 8.68709686e+02] [ 5.22646825e-01 8.52515942e-01 -7.54087409e-03 2.89084245e+01] [ 1.47224891e-02 -1.81352031e-04 9.99891602e-01 6.01643941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2792541539999 meters 0.01935668702791511 Centerline is valid? [True, True] Translation: X:868.74, Y:28.92, Z:6.02 [[ 8.49273435e-01 -5.27786993e-01 -1.32484879e-02 8.68735629e+02] [ 5.27727893e-01 8.49376719e-01 -7.90310244e-03 2.89199914e+01] [ 1.54241119e-02 -2.79701655e-04 9.99881002e-01 6.01586474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3092541539999 meters 0.02098802167407586 Centerline is valid? [True, True] Translation: X:868.76, Y:28.93, Z:6.02 [[ 8.47638861e-01 -5.30390547e-01 -1.39365886e-02 8.68760815e+02] [ 5.30325446e-01 8.47753355e-01 -8.31687949e-03 2.89337535e+01] [ 1.62259840e-02 -3.41217317e-04 9.99868292e-01 6.01501082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3392541539998 meters 0.01656379393359569 Centerline is valid? [True, True] Translation: X:868.78, Y:28.95, Z:6.02 [[ 8.46652400e-01 -5.31977246e-01 -1.34135132e-02 8.68783324e+02] [ 5.31917097e-01 8.46758574e-01 -8.00742711e-03 2.89513014e+01] [ 1.56177763e-02 -3.55369590e-04 9.99877972e-01 6.01832422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3692541539999 meters 0.018228372909019908 Centerline is valid? [True, True] Translation: X:868.81, Y:28.97, Z:6.02 [[ 8.44226531e-01 -5.35786121e-01 -1.46559885e-02 8.68808307e+02] [ 5.35714852e-01 8.44353610e-01 -8.75093768e-03 2.89654997e+01] [ 1.70634677e-02 -4.63656931e-04 9.99854301e-01 6.01689157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3992541539999 meters 0.021667353319345592 Centerline is valid? [True, True] Translation: X:868.83, Y:28.98, Z:6.02 [[ 8.42747352e-01 -5.38071551e-01 -1.59970950e-02 8.68833425e+02] [ 5.37986975e-01 8.42898986e-01 -9.55586375e-03 2.89804832e+01] [ 1.86256736e-02 -5.53049881e-04 9.99826374e-01 6.01505255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4292541539999 meters 0.021679669559937616 Centerline is valid? [True, True] Translation: X:868.86, Y:28.99, Z:6.02 [[ 8.40615217e-01 -5.41412097e-01 -1.54595512e-02 8.68858118e+02] [ 5.41333615e-01 8.40757145e-01 -9.23797974e-03 2.89939376e+01] [ 1.79992821e-02 -6.03188367e-04 9.99837818e-01 6.01573332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4592541539998 meters 0.0211625163891911 Centerline is valid? [True, True] Translation: X:868.88, Y:29.01, Z:6.02 [[ 8.39569965e-01 -5.43048651e-01 -1.48471182e-02 8.68882928e+02] [ 5.42976455e-01 8.39701013e-01 -8.87576625e-03 2.90088897e+01] [ 1.72871131e-02 -6.09808850e-04 9.99850381e-01 6.01699684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4892541539999 meters 0.020433893093324267 Centerline is valid? [True, True] Translation: X:868.91, Y:29.02, Z:6.02 [[ 8.37555516e-01 -5.46191129e-01 -1.32667614e-02 8.68907605e+02] [ 5.46133842e-01 8.37660366e-01 -7.93333347e-03 2.90246734e+01] [ 1.54461566e-02 -6.00820151e-04 9.99880520e-01 6.01960837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5192541539999 meters 0.024241250283671998 Centerline is valid? [True, True] Translation: X:868.93, Y:29.04, Z:6.02 [[ 8.36040514e-01 -5.48504937e-01 -1.33638580e-02 8.68933190e+02] [ 5.48447082e-01 8.36147066e-01 -7.99269175e-03 2.90376779e+01] [ 1.55581816e-02 -6.47154819e-04 9.99878755e-01 6.01840067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5492541539999 meters 0.023159478369507984 Centerline is valid? [True, True] Translation: X:868.96, Y:29.05, Z:6.02 [[ 8.34381199e-01 -5.51056945e-01 -1.20107194e-02 8.68957464e+02] [ 5.51010443e-01 8.34467409e-01 -7.18580995e-03 2.90548748e+01] [ 1.39823444e-02 -6.22327117e-04 9.99902049e-01 6.02093178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5792541539998 meters 0.02257791067528143 Centerline is valid? [True, True] Translation: X:868.98, Y:29.07, Z:6.02 [[ 8.34470666e-01 -5.50943534e-01 -1.09512390e-02 8.68981272e+02] [ 5.50904836e-01 8.34542332e-01 -6.55414541e-03 2.90689542e+01] [ 1.27502366e-02 -5.63848466e-04 9.99918553e-01 6.02267329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6092541539999 meters 0.02233919461890845 Centerline is valid? [True, True] Translation: X:869.00, Y:29.09, Z:6.02 [[ 8.34291565e-01 -5.51221126e-01 -1.06232967e-02 8.69004709e+02] [ 5.51184703e-01 8.34359017e-01 -6.36038373e-03 2.90851502e+01] [ 1.23696213e-02 -5.48984146e-04 9.99923343e-01 6.02349831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6392541539999 meters 0.02188122620011494 Centerline is valid? [True, True] Translation: X:869.03, Y:29.10, Z:6.02 [[ 8.35457827e-01 -5.49452997e-01 -1.05652515e-02 8.69027808e+02] [ 5.49416783e-01 8.35524469e-01 -6.32936042e-03 2.91037264e+01] [ 1.23052122e-02 -5.16812762e-04 9.99924154e-01 6.02366517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6692541539999 meters 0.02018233001191032 Centerline is valid? [True, True] Translation: X:869.05, Y:29.12, Z:6.02 [[ 8.36588879e-01 -5.47725762e-01 -1.07488111e-02 8.69050452e+02] [ 5.47688104e-01 8.36657780e-01 -6.44200690e-03 2.91228220e+01] [ 1.25215296e-02 -4.97684634e-04 9.99921479e-01 6.02373037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6992541539998 meters 0.02149393687679986 Centerline is valid? [True, True] Translation: X:869.07, Y:29.14, Z:6.02 [[ 8.39285834e-01 -5.43576255e-01 -1.11419448e-02 8.69072610e+02] [ 5.43535406e-01 8.39359668e-01 -6.67914053e-03 2.91406878e+01] [ 1.29827212e-02 -4.50333427e-04 9.99915620e-01 6.02258586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7292541539999 meters 0.023340094147041506 Centerline is valid? [True, True] Translation: X:869.10, Y:29.16, Z:6.02 [[ 8.40890458e-01 -5.41067768e-01 -1.22027493e-02 8.69095445e+02] [ 5.41018488e-01 8.40978875e-01 -7.31626759e-03 2.91583339e+01] [ 1.42208509e-02 -4.49733370e-04 9.99898777e-01 6.02071989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7592541539999 meters 0.019672273858458992 Centerline is valid? [True, True] Translation: X:869.12, Y:29.18, Z:6.02 [[ 8.44663134e-01 -5.35155555e-01 -1.23580688e-02 8.69115968e+02] [ 5.35104361e-01 8.44753459e-01 -7.41054718e-03 2.91798616e+01] [ 1.44053168e-02 -3.53440492e-04 9.99896176e-01 6.02093812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7892541539999 meters 0.018118590162019284 Centerline is valid? [True, True] Translation: X:869.14, Y:29.20, Z:6.02 [[ 8.46158306e-01 -5.32778411e-01 -1.27783510e-02 8.69137795e+02] [ 5.32723361e-01 8.46254726e-01 -7.66542835e-03 2.91993457e+01] [ 1.48977147e-02 -3.21160227e-04 9.99888971e-01 6.02102220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8192541539999 meters 0.01739557934406543 Centerline is valid? [True, True] Translation: X:869.16, Y:29.22, Z:6.02 [[ 8.47547367e-01 -5.30548951e-01 -1.34637408e-02 8.69159776e+02] [ 5.30487482e-01 8.47654248e-01 -8.08126760e-03 2.92180746e+01] [ 1.57001051e-02 -2.93088862e-04 9.99876703e-01 6.02086766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8492541539998 meters 0.015278784386800625 Centerline is valid? [True, True] Translation: X:869.18, Y:29.24, Z:6.02 [[ 8.49983821e-01 -5.26636686e-01 -1.34649172e-02 8.69180151e+02] [ 5.26574661e-01 8.50090438e-01 -8.08537372e-03 2.92375991e+01] [ 1.57044518e-02 -2.17847343e-04 9.99876654e-01 6.02095579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8792541539999 meters 0.0189988405629531 Centerline is valid? [True, True] Translation: X:869.20, Y:29.25, Z:6.02 [[ 8.50282561e-01 -5.26122843e-01 -1.46396698e-02 8.69202806e+02] [ 5.26049368e-01 8.50408551e-01 -8.79532061e-03 2.92538576e+01] [ 1.70771194e-02 -2.22681301e-04 9.99854151e-01 6.01913178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9092541539999 meters 0.014750726399614634 Centerline is valid? [True, True] Translation: X:869.23, Y:29.27, Z:6.02 [[ 8.50950462e-01 -5.25083130e-01 -1.30773403e-02 8.69226119e+02] [ 5.25024310e-01 8.51050924e-01 -7.86120575e-03 2.92717518e+01] [ 1.52572691e-02 -1.76424918e-04 9.99883586e-01 6.02168682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9392541539999 meters 0.014766538039976051 Centerline is valid? [True, True] Translation: X:869.25, Y:29.29, Z:6.02 [[ 8.50837092e-01 -5.25280570e-01 -1.25126182e-02 8.69247401e+02] [ 5.25226697e-01 8.50929077e-01 -7.52480664e-03 2.92880677e+01] [ 1.45999854e-02 -1.69576516e-04 9.99893400e-01 6.02215985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9692541539998 meters 0.017616059861119512 Centerline is valid? [True, True] Translation: X:869.27, Y:29.30, Z:6.02 [[ 8.49971018e-01 -5.26663935e-01 -1.32048613e-02 8.69272123e+02] [ 5.26604048e-01 8.50073561e-01 -7.94463459e-03 2.93029550e+01] [ 1.54092560e-02 -2.01024277e-04 9.99881250e-01 6.02074647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9992541539999 meters 0.018744980331957338 Centerline is valid? [True, True] Translation: X:869.30, Y:29.32, Z:6.02 [[ 8.48690989e-01 -5.28715386e-01 -1.35515661e-02 8.69296473e+02] [ 5.28652501e-01 8.48799141e-01 -8.15786230e-03 2.93192672e+01] [ 1.58157450e-02 -2.40565089e-04 9.99874894e-01 6.02018561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0292541539999 meters 0.018451449662175066 Centerline is valid? [True, True] Translation: X:869.32, Y:29.33, Z:6.02 [[ 8.48017063e-01 -5.29789660e-01 -1.37832397e-02 8.69320314e+02] [ 5.29724700e-01 8.48129027e-01 -8.30030310e-03 2.93344458e+01] [ 1.60873804e-02 -2.62523861e-04 9.99870555e-01 6.01996395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0592541539999 meters 0.01859469434585376 Centerline is valid? [True, True] Translation: X:869.34, Y:29.35, Z:6.02 [[ 8.46664118e-01 -5.31929522e-01 -1.45208635e-02 8.69343699e+02] [ 5.31857698e-01 8.46788570e-01 -8.74677542e-03 2.93491911e+01] [ 1.69487693e-02 -3.17452133e-04 9.99856309e-01 6.01969132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0892541539998 meters 0.020209102969625876 Centerline is valid? [True, True] Translation: X:869.37, Y:29.36, Z:6.02 [[ 8.45648610e-01 -5.33523520e-01 -1.52013935e-02 8.69368363e+02] [ 5.33444988e-01 8.45785152e-01 -9.16086921e-03 2.93639979e+01] [ 1.77446521e-02 -3.62230872e-04 9.99842486e-01 6.01916167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1192541539999 meters 0.01963120006349155 Centerline is valid? [True, True] Translation: X:869.39, Y:29.38, Z:6.02 [[ 8.44807024e-01 -5.34862010e-01 -1.49573667e-02 8.69392868e+02] [ 5.34786104e-01 8.44939338e-01 -9.01871086e-03 2.93785795e+01] [ 1.74618334e-02 -3.79921592e-04 9.99847458e-01 6.01996376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1492541539999 meters 0.02024662920502785 Centerline is valid? [True, True] Translation: X:869.42, Y:29.39, Z:6.02 [[ 8.42824502e-01 -5.37974256e-01 -1.51841591e-02 8.69417983e+02] [ 5.37896445e-01 8.42961150e-01 -9.16049093e-03 2.93932418e+01] [ 1.77277645e-02 -4.46819015e-04 9.99842751e-01 6.02094407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1792541539999 meters 0.0182287890165246 Centerline is valid? [True, True] Translation: X:869.44, Y:29.41, Z:6.02 [[ 8.42136936e-01 -5.39082444e-01 -1.39821119e-02 8.69442378e+02] [ 5.39016545e-01 8.42252892e-01 -8.43979060e-03 2.94085779e+01] [ 1.63262171e-02 -4.29130230e-04 9.99866626e-01 6.02288742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2092541539998 meters 0.019307588625861922 Centerline is valid? [True, True] Translation: X:869.47, Y:29.42, Z:6.02 [[ 8.40159684e-01 -5.42142414e-01 -1.46050916e-02 8.69467115e+02] [ 5.42070926e-01 8.40286466e-01 -8.81853473e-03 2.94242351e+01] [ 1.70533625e-02 -5.08018167e-04 9.99854452e-01 6.02279848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2392541539999 meters 0.02162383609830894 Centerline is valid? [True, True] Translation: X:869.49, Y:29.44, Z:6.02 [[ 8.39234488e-01 -5.43547678e-01 -1.55369444e-02 8.69491932e+02] [ 5.43466986e-01 8.39378102e-01 -9.38282059e-03 2.94374646e+01] [ 1.81413812e-02 -5.69429691e-04 9.99835269e-01 6.02169968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2692541539999 meters 0.018719371668479687 Centerline is valid? [True, True] Translation: X:869.52, Y:29.45, Z:6.02 [[ 8.38153689e-01 -5.45246385e-01 -1.43098690e-02 8.69515803e+02] [ 5.45178124e-01 8.38275653e-01 -8.64535685e-03 2.94531970e+01] [ 1.67094644e-02 -5.55289818e-04 9.99860233e-01 6.02410782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2992541539999 meters 0.020327189425435356 Centerline is valid? [True, True] Translation: X:869.54, Y:29.47, Z:6.02 [[ 8.37527354e-01 -5.46196977e-01 -1.47239043e-02 8.69541021e+02] [ 5.46124766e-01 8.37656564e-01 -8.90064799e-03 2.94672951e+01] [ 1.71950821e-02 -5.86552597e-04 9.99851982e-01 6.02339252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3292541539998 meters 0.020377856737303305 Centerline is valid? [True, True] Translation: X:869.57, Y:29.48, Z:6.02 [[ 8.37616909e-01 -5.46077904e-01 -1.40298749e-02 8.69566054e+02] [ 5.46012275e-01 8.37734216e-01 -8.48404312e-03 2.94802920e+01] [ 1.63862548e-02 -5.54105968e-04 9.99865583e-01 6.02385562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3592541539999 meters 0.019326926714941232 Centerline is valid? [True, True] Translation: X:869.59, Y:29.50, Z:6.02 [[ 8.38057361e-01 -5.45395770e-01 -1.42587929e-02 8.69589258e+02] [ 5.45327824e-01 8.38178475e-01 -8.62604204e-03 2.94968905e+01] [ 1.66560201e-02 -5.46598470e-04 9.99861129e-01 6.02458724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3892541539999 meters 0.022237899468520287 Centerline is valid? [True, True] Translation: X:869.61, Y:29.51, Z:6.02 [[ 8.38468189e-01 -5.44737919e-01 -1.52215190e-02 8.69613569e+02] [ 5.44660322e-01 8.38606152e-01 -9.21172682e-03 2.95112828e+01] [ 1.77828363e-02 -5.66817510e-04 9.99841712e-01 6.02274404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4192541539999 meters 0.020067219327174174 Centerline is valid? [True, True] Translation: X:869.64, Y:29.53, Z:6.02 [[ 8.41185094e-01 -5.40547380e-01 -1.47026575e-02 8.69635883e+02] [ 5.40474312e-01 8.41313448e-01 -8.89941415e-03 2.95279472e+01] [ 1.71800985e-02 -4.60354191e-04 9.99852305e-01 6.02359983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4492541539998 meters 0.01759251462318343 Centerline is valid? [True, True] Translation: X:869.66, Y:29.54, Z:6.02 [[ 8.43062671e-01 -5.37641960e-01 -1.36548873e-02 8.69659155e+02] [ 5.37578533e-01 8.43173164e-01 -8.26656758e-03 2.95448575e+01] [ 1.59578881e-02 -3.71339736e-04 9.99872596e-01 6.02479608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4792541539999 meters 0.016808840193193144 Centerline is valid? [True, True] Translation: X:869.68, Y:29.56, Z:6.03 [[ 8.44668865e-01 -5.35120356e-01 -1.34429517e-02 8.69682654e+02] [ 5.35058515e-01 8.44775772e-01 -8.14131114e-03 2.95619123e+01] [ 1.57128612e-02 -3.16053731e-04 9.99876495e-01 6.02510564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5092541539999 meters 0.015329165404656207 Centerline is valid? [True, True] Translation: X:869.70, Y:29.58, Z:6.03 [[ 8.48421378e-01 -5.29160509e-01 -1.30507037e-02 8.69703730e+02] [ 5.29101472e-01 8.48521724e-01 -7.90672046e-03 2.95806313e+01] [ 1.52577298e-02 -1.96915859e-04 9.99883575e-01 6.02533648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5392541539999 meters 0.015523107971141117 Centerline is valid? [True, True] Translation: X:869.73, Y:29.60, Z:6.03 [[ 8.49791490e-01 -5.26949358e-01 -1.33715487e-02 8.69726483e+02] [ 5.26887053e-01 8.49896670e-01 -8.10459753e-03 2.95983492e+01] [ 1.56351472e-02 -1.58077884e-04 9.99877751e-01 6.02600803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5692541539999 meters 0.017092824077133376 Centerline is valid? [True, True] Translation: X:869.75, Y:29.62, Z:6.02 [[ 8.52201316e-01 -5.23019502e-01 -1.42660007e-02 8.69748229e+02] [ 5.22947975e-01 8.52320710e-01 -8.64996698e-03 2.96154207e+01] [ 1.66833092e-02 -8.88629252e-05 9.99860820e-01 6.02452241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5992541539998 meters 0.014087842086876167 Centerline is valid? [True, True] Translation: X:869.77, Y:29.63, Z:6.02 [[ 8.53559866e-01 -5.20832958e-01 -1.29840274e-02 8.69771481e+02] [ 5.20773434e-01 8.53658613e-01 -7.87419289e-03 2.96315219e+01] [ 1.51850660e-02 -4.06414917e-05 9.99884699e-01 6.02453975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6292541539999 meters 0.014141536722405215 Centerline is valid? [True, True] Translation: X:869.80, Y:29.65, Z:6.02 [[ 8.53616808e-01 -5.20735614e-01 -1.31440472e-02 8.69795138e+02] [ 5.20674562e-01 8.53717997e-01 -7.97383360e-03 2.96454123e+01] [ 1.53735688e-02 -3.71726399e-05 9.99881819e-01 6.02391361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6592541539999 meters 0.014063417036727139 Centerline is valid? [True, True] Translation: X:869.82, Y:29.66, Z:6.03 [[ 8.53312136e-01 -5.21230653e-01 -1.33043113e-02 8.69819085e+02] [ 5.21168094e-01 8.53415845e-01 -8.07551000e-03 2.96596649e+01] [ 1.55633134e-02 -4.28518896e-05 9.99878883e-01 6.02548313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6892541539999 meters 0.014367819841120368 Centerline is valid? [True, True] Translation: X:869.84, Y:29.67, Z:6.02 [[ 8.52388344e-01 -5.22744177e-01 -1.31391035e-02 8.69843907e+02] [ 5.22683292e-01 8.52489602e-01 -7.97841348e-03 2.96722880e+01] [ 1.53716183e-02 -6.68832000e-05 9.99881847e-01 6.02444638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7192541539998 meters 0.01635544086136674 Centerline is valid? [True, True] Translation: X:869.87, Y:29.69, Z:6.02 [[ 8.51523490e-01 -5.24139274e-01 -1.36296205e-02 8.69868385e+02] [ 5.24073904e-01 8.51632557e-01 -8.27832141e-03 2.96850092e+01] [ 1.59464219e-02 -9.37432956e-05 9.99872843e-01 6.02302825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7492541539999 meters 0.01635544086136674 Centerline is valid? [True, True] Translation: X:869.89, Y:29.70, Z:6.02 [[ 8.51386732e-01 -5.24361432e-01 -1.36279540e-02 8.69891886e+02] [ 5.24296046e-01 8.51495790e-01 -8.28106427e-03 2.96994093e+01] [ 1.59464162e-02 -9.46941614e-05 9.99872843e-01 6.02321896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7792541539999 meters 0.017556857213424492 Centerline is valid? [True, True] Translation: X:869.92, Y:29.71, Z:6.02 [[ 8.49815180e-01 -5.26914645e-01 -1.32331360e-02 8.69917706e+02] [ 5.26853232e-01 8.49918195e-01 -8.04568325e-03 2.97132943e+01] [ 1.54864714e-02 -1.34576712e-04 9.99880068e-01 6.02463509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8092541539999 meters 0.01496123065552686 Centerline is valid? [True, True] Translation: X:869.94, Y:29.73, Z:6.03 [[ 8.48553016e-01 -5.28989070e-01 -1.13288427e-02 8.69942418e+02] [ 5.28944215e-01 8.48628624e-01 -6.89024717e-03 2.97254335e+01] [ 1.32588457e-02 -1.45585800e-04 9.99912087e-01 6.02627883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8392541539998 meters 0.01496123065552686 Centerline is valid? [True, True] Translation: X:869.97, Y:29.74, Z:6.03 [[ 8.48405301e-01 -5.29225974e-01 -1.13276090e-02 8.69965930e+02] [ 5.29181112e-01 8.48480906e-01 -6.89227489e-03 2.97398296e+01] [ 1.32588309e-02 -1.46914197e-04 9.99912087e-01 6.02646967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8692541539999 meters 0.01858229367852212 Centerline is valid? [True, True] Translation: X:869.99, Y:29.75, Z:6.02 [[ 8.46459876e-01 -5.32295075e-01 -1.29472396e-02 8.69992441e+02] [ 5.32236773e-01 8.46558861e-01 -7.88115858e-03 2.97505787e+01] [ 1.51557023e-02 -2.19912516e-04 9.99885122e-01 6.02459829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8992541539999 meters 0.01643155813172841 Centerline is valid? [True, True] Translation: X:870.02, Y:29.77, Z:6.03 [[ 8.45788692e-01 -5.33376712e-01 -1.22788688e-02 8.70017550e+02] [ 5.33324348e-01 8.45877788e-01 -7.47716026e-03 2.97655402e+01] [ 1.43745655e-02 -2.24522094e-04 9.99896655e-01 6.02588864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9292541539999 meters 0.01639484267414823 Centerline is valid? [True, True] Translation: X:870.04, Y:29.78, Z:6.03 [[ 8.44404551e-01 -5.35548266e-01 -1.30003710e-02 8.70043748e+02] [ 5.35489753e-01 8.44504577e-01 -7.92110880e-03 2.97786838e+01] [ 1.52210089e-02 -2.72945124e-04 9.99884116e-01 6.02542822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9592541539998 meters 0.01883583056308533 Centerline is valid? [True, True] Translation: X:870.07, Y:29.79, Z:6.02 [[ 8.43706566e-01 -5.36619253e-01 -1.41070148e-02 8.70068643e+02] [ 5.36550450e-01 8.43824436e-01 -8.59859841e-03 2.97910504e+01] [ 1.65180172e-02 -3.14431169e-04 9.99863519e-01 6.02384061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9892541539999 meters 0.017051940410777008 Centerline is valid? [True, True] Translation: X:870.09, Y:29.80, Z:6.02 [[ 8.42868109e-01 -5.37940415e-01 -1.39089872e-02 8.70093631e+02] [ 5.37873654e-01 8.42982799e-01 -8.48132809e-03 2.98049743e+01] [ 1.62874861e-02 -3.32636813e-04 9.99867295e-01 6.02487316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0192541539999 meters 0.019870821032062412 Centerline is valid? [True, True] Translation: X:870.12, Y:29.82, Z:6.02 [[ 8.42167586e-01 -5.39010944e-01 -1.48646848e-02 8.70119442e+02] [ 5.38934769e-01 8.42298678e-01 -9.06928937e-03 2.98189871e+01] [ 1.74089506e-02 -3.73233950e-04 9.99848383e-01 6.02363955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0492541539999 meters 0.017308921200801623 Centerline is valid? [True, True] Translation: X:870.15, Y:29.83, Z:6.03 [[ 8.41051920e-01 -5.40804028e-01 -1.27542441e-02 8.70145035e+02] [ 5.40748094e-01 8.41148549e-01 -7.78570555e-03 2.98319173e+01] [ 1.49387548e-02 -3.48650580e-04 9.99888350e-01 6.02609887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0792541539998 meters 0.018027874539773253 Centerline is valid? [True, True] Translation: X:870.17, Y:29.84, Z:6.03 [[ 8.40283140e-01 -5.42006613e-01 -1.23724175e-02 8.70169905e+02] [ 5.41954063e-01 8.40374146e-01 -7.55572301e-03 2.98443003e+01] [ 1.44927116e-02 -3.56335253e-04 9.99894912e-01 6.02657037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1092541539999 meters 0.019456267146620916 Centerline is valid? [True, True] Translation: X:870.20, Y:29.86, Z:6.03 [[ 8.38515109e-01 -5.44742039e-01 -1.21869993e-02 8.70196043e+02] [ 5.44691295e-01 8.38603575e-01 -7.44567413e-03 2.98574746e+01] [ 1.42760329e-02 -3.94842176e-04 9.99898014e-01 6.02687514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1392541539999 meters 0.02071583934249409 Centerline is valid? [True, True] Translation: X:870.22, Y:29.87, Z:6.03 [[ 8.37597377e-01 -5.46141054e-01 -1.26721397e-02 8.70221225e+02] [ 5.46086284e-01 8.37693120e-01 -7.74647219e-03 2.98712101e+01] [ 1.48460307e-02 -4.31656886e-04 9.99889698e-01 6.02685819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1692541539999 meters 0.018164136671314716 Centerline is valid? [True, True] Translation: X:870.25, Y:29.89, Z:6.03 [[ 8.37170314e-01 -5.46830165e-01 -1.10741102e-02 8.70245332e+02] [ 5.46788349e-01 8.37243467e-01 -6.77340068e-03 2.98863759e+01] [ 1.29756262e-02 -3.84704453e-04 9.99915739e-01 6.02835021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1992541539998 meters 0.021297984719608833 Centerline is valid? [True, True] Translation: X:870.27, Y:29.90, Z:6.03 [[ 8.36066443e-01 -5.48499229e-01 -1.18953520e-02 8.70270617e+02] [ 5.48451096e-01 8.36150946e-01 -7.27950651e-03 2.98975678e+01] [ 1.39391136e-02 -4.37867742e-04 9.99902750e-01 6.02719878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2292541539999 meters 0.01869589061690205 Centerline is valid? [True, True] Translation: X:870.29, Y:29.91, Z:6.03 [[ 8.36093938e-01 -5.48474833e-01 -1.10582175e-02 8.70294049e+02] [ 5.48433196e-01 8.36166966e-01 -6.77016532e-03 2.99137838e+01] [ 1.29597814e-02 -4.04199370e-04 9.99915937e-01 6.02887392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2592541539999 meters 0.02135870709001395 Centerline is valid? [True, True] Translation: X:870.32, Y:29.93, Z:6.03 [[ 8.35994321e-01 -5.48599699e-01 -1.23233389e-02 8.70318004e+02] [ 5.48547959e-01 8.36085024e-01 -7.54775834e-03 2.99274026e+01] [ 1.44440570e-02 -4.50059296e-04 9.99895578e-01 6.02765465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2892541539999 meters 0.021409717647613197 Centerline is valid? [True, True] Translation: X:870.34, Y:29.94, Z:6.03 [[ 8.37058822e-01 -5.46977464e-01 -1.21730455e-02 8.70341016e+02] [ 5.46926786e-01 8.37147228e-01 -7.45717309e-03 2.99426816e+01] [ 1.42695369e-02 -4.15672144e-04 9.99898099e-01 6.02731991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3192541539999 meters 0.018588909786836978 Centerline is valid? [True, True] Translation: X:870.36, Y:29.96, Z:6.03 [[ 8.38179279e-01 -5.45276381e-01 -1.13650323e-02 8.70363852e+02] [ 5.45232030e-01 8.38256249e-01 -6.96380262e-03 2.99580979e+01] [ 1.33240064e-02 -3.59664568e-04 9.99911167e-01 6.02889412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3492541539998 meters 0.020292319980032565 Centerline is valid? [True, True] Translation: X:870.39, Y:29.98, Z:6.03 [[ 8.39786531e-01 -5.42769958e-01 -1.26235724e-02 8.70387420e+02] [ 5.42714907e-01 8.39881330e-01 -7.73833925e-03 2.99753190e+01] [ 1.48024409e-02 -3.52447847e-04 9.99890376e-01 6.02688564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3792541539999 meters 0.017122054674228376 Centerline is valid? [True, True] Translation: X:870.41, Y:29.99, Z:6.03 [[ 8.41004848e-01 -5.40893047e-01 -1.20647249e-02 8.70410934e+02] [ 5.40842513e-01 8.41091327e-01 -7.39969055e-03 2.99916133e+01] [ 1.41499767e-02 -3.01940534e-04 9.99899838e-01 6.02851048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4092541539999 meters 0.019040737160084874 Centerline is valid? [True, True] Translation: X:870.43, Y:30.01, Z:6.03 [[ 8.41989021e-01 -5.39323318e-01 -1.35958647e-02 8.70434896e+02] [ 5.39258861e-01 8.42098726e-01 -8.34362957e-03 3.00084043e+01] [ 1.59489743e-02 -3.06446012e-04 9.99872760e-01 6.02733529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4392541539999 meters 0.019006970550937013 Centerline is valid? [True, True] Translation: X:870.46, Y:30.02, Z:6.03 [[ 8.42485214e-01 -5.38547810e-01 -1.35985520e-02 8.70458903e+02] [ 5.38483180e-01 8.42594904e-01 -8.34822478e-03 3.00221637e+01] [ 1.59539888e-02 -2.89335599e-04 9.99872685e-01 6.02691038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4692541539998 meters 0.015680324654719642 Centerline is valid? [True, True] Translation: X:870.48, Y:30.04, Z:6.03 [[ 8.43037014e-01 -5.37703268e-01 -1.27980022e-02 8.70482846e+02] [ 5.37645880e-01 8.43134112e-01 -7.85980851e-03 3.00389505e+01] [ 1.50166769e-02 -2.54683650e-04 9.99887211e-01 6.02928226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4992541539999 meters 0.019120514544603156 Centerline is valid? [True, True] Translation: X:870.51, Y:30.05, Z:6.03 [[ 8.42427755e-01 -5.38633395e-01 -1.37675007e-02 8.70508358e+02] [ 5.38567056e-01 8.42540196e-01 -8.45836577e-03 3.00506242e+01] [ 1.61556310e-02 -2.89160252e-04 9.99869447e-01 6.02691944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5292541539999 meters 0.017372354627181105 Centerline is valid? [True, True] Translation: X:870.53, Y:30.06, Z:6.03 [[ 8.42555907e-01 -5.38445512e-01 -1.32654993e-02 8.70532468e+02] [ 5.38383876e-01 8.42660285e-01 -8.15148356e-03 3.00647567e+01] [ 1.55674391e-02 -2.73850284e-04 9.99878783e-01 6.02817910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5592541539999 meters 0.016131907237663824 Centerline is valid? [True, True] Translation: X:870.56, Y:30.08, Z:6.03 [[ 8.42291376e-01 -5.38868620e-01 -1.28781663e-02 8.70556245e+02] [ 5.38810530e-01 8.42389777e-01 -7.91680966e-03 3.00797243e+01] [ 1.51145559e-02 -2.70631111e-04 9.99885732e-01 6.02992380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5892541539998 meters 0.019536179978336093 Centerline is valid? [True, True] Translation: X:870.58, Y:30.09, Z:6.03 [[ 8.41463965e-01 -5.40127937e-01 -1.41494752e-02 8.70580657e+02] [ 5.40057899e-01 8.41582860e-01 -8.70370684e-03 3.00947139e+01] [ 1.66090710e-02 -3.17680165e-04 9.99862009e-01 6.02860441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6192541539999 meters 0.020148740159646412 Centerline is valid? [True, True] Translation: X:870.60, Y:30.11, Z:6.03 [[ 8.41625169e-01 -5.39878478e-01 -1.40820527e-02 8.70604919e+02] [ 5.39809021e-01 8.41742914e-01 -8.66528440e-03 3.01083911e+01] [ 1.65316686e-02 -3.08697626e-04 9.99863295e-01 6.02876494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6492541539999 meters 0.01910026349939232 Centerline is valid? [True, True] Translation: X:870.63, Y:30.12, Z:6.03 [[ 8.41802217e-01 -5.39604118e-01 -1.40151222e-02 8.70629353e+02] [ 5.39535223e-01 8.41918824e-01 -8.62767880e-03 3.01245657e+01] [ 1.64551262e-02 -2.98852961e-04 9.99864561e-01 6.02962851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6792541539999 meters 0.01623641658577261 Centerline is valid? [True, True] Translation: X:870.65, Y:30.14, Z:6.03 [[ 8.42640101e-01 -5.38312734e-01 -1.33064384e-02 8.70653603e+02] [ 5.38250424e-01 8.42745118e-01 -8.19430870e-03 3.01390027e+01] [ 1.56250367e-02 -2.57342992e-04 9.99877889e-01 6.03090095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7092541539998 meters 0.018471533569689818 Centerline is valid? [True, True] Translation: X:870.68, Y:30.15, Z:6.03 [[ 8.43174093e-01 -5.37447777e-01 -1.43991971e-02 8.70677364e+02] [ 5.37374615e-01 8.43296995e-01 -8.87142146e-03 3.01541235e+01] [ 1.69107254e-02 -2.57610260e-04 9.99856970e-01 6.02920617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7392541539999 meters 0.014875541260740647 Centerline is valid? [True, True] Translation: X:870.70, Y:30.17, Z:6.03 [[ 8.45309730e-01 -5.34089316e-01 -1.41443437e-02 8.70701009e+02] [ 5.34018165e-01 8.45428039e-01 -8.71956985e-03 3.01701255e+01] [ 1.66150538e-02 -1.82599212e-04 9.99861944e-01 6.03133363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7692541539999 meters 0.017653634155231756 Centerline is valid? [True, True] Translation: X:870.72, Y:30.18, Z:6.03 [[ 8.45924670e-01 -5.33079563e-01 -1.54153470e-02 8.70723552e+02] [ 5.32994810e-01 8.46065098e-01 -9.50697336e-03 3.01842962e+01] [ 1.81103603e-02 -1.74116659e-04 9.99835979e-01 6.02918175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7992541539999 meters 0.016084508667996267 Centerline is valid? [True, True] Translation: X:870.75, Y:30.20, Z:6.03 [[ 8.48011876e-01 -5.29759475e-01 -1.51907180e-02 8.70746697e+02] [ 5.29676566e-01 8.48147917e-01 -9.37263445e-03 3.02011104e+01] [ 1.78492178e-02 -9.80620361e-05 9.99840685e-01 6.02996299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8292541539998 meters 0.01775982207010689 Centerline is valid? [True, True] Translation: X:870.77, Y:30.22, Z:6.03 [[ 8.48680785e-01 -5.28668220e-01 -1.58378637e-02 8.70770293e+02] [ 5.28577792e-01 8.48828551e-01 -9.77799329e-03 3.02166406e+01] [ 1.86129452e-02 -7.31480159e-05 9.99826761e-01 6.02910661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8592541539999 meters 0.014081201969248303 Centerline is valid? [True, True] Translation: X:870.79, Y:30.23, Z:6.03 [[ 8.50516236e-01 -5.25704688e-01 -1.60223014e-02 8.70792992e+02] [ 5.25611519e-01 8.50667139e-01 -9.89697487e-03 3.02313992e+01] [ 1.88325314e-02 -3.96837649e-06 9.99822652e-01 6.03068597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8892541539999 meters 0.01876265835564949 Centerline is valid? [True, True] Translation: X:870.82, Y:30.24, Z:6.03 [[ 8.50291604e-01 -5.26015795e-01 -1.76513625e-02 8.70817144e+02] [ 5.25902716e-01 8.50474799e-01 -1.09064367e-02 3.02449975e+01] [ 2.07489969e-02 -9.24786533e-06 9.99784716e-01 6.02768584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9192541539999 meters 0.01686234616227602 Centerline is valid? [True, True] Translation: X:870.84, Y:30.26, Z:6.03 [[ 8.50482947e-01 -5.25707579e-01 -1.76152659e-02 8.70841212e+02] [ 5.25594785e-01 8.50665352e-01 -1.08894455e-02 3.02590929e+01] [ 2.07093604e-02 2.79574477e-06 9.99785538e-01 6.02871427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9492541539998 meters 0.016813734389322908 Centerline is valid? [True, True] Translation: X:870.87, Y:30.27, Z:6.03 [[ 8.50321919e-01 -5.25962694e-01 -1.77729788e-02 8.70865703e+02] [ 5.25847779e-01 8.50507640e-01 -1.09940195e-02 3.02728520e+01] [ 2.08984984e-02 2.57434477e-06 9.99781603e-01 6.02939881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9792541539999 meters 0.014117939669308138 Centerline is valid? [True, True] Translation: X:870.89, Y:30.28, Z:6.03 [[ 8.50201124e-01 -5.26172486e-01 -1.73367618e-02 8.70890812e+02] [ 5.26063112e-01 8.50377866e-01 -1.07278990e-02 3.02849819e+01] [ 2.03875237e-02 6.40912622e-07 9.99792153e-01 6.03099133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0092541539999 meters 0.01695479682306957 Centerline is valid? [True, True] Translation: X:870.92, Y:30.30, Z:6.03 [[ 8.49061433e-01 -5.27989259e-01 -1.79450709e-02 8.70916524e+02] [ 5.27872373e-01 8.49251047e-01 -1.11093014e-02 3.02980900e+01] [ 2.11054621e-02 -4.02277779e-05 9.99777254e-01 6.03070085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0392541539999 meters 0.015880059767192634 Centerline is valid? [True, True] Translation: X:870.94, Y:30.31, Z:6.03 [[ 8.48356356e-01 -5.29137740e-01 -1.74569284e-02 8.70940647e+02] [ 5.29027288e-01 8.48535944e-01 -1.08111257e-02 3.03105335e+01] [ 2.05334059e-02 -6.35043173e-05 9.99789165e-01 6.03126201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0692541539999 meters 0.016206230990216928 Centerline is valid? [True, True] Translation: X:870.97, Y:30.32, Z:6.03 [[ 8.46234522e-01 -5.32504688e-01 -1.80524329e-02 8.70968075e+02] [ 5.32387224e-01 8.46427041e-01 -1.11851616e-02 3.03210719e+01] [ 2.12362184e-02 -1.45614820e-04 9.99774475e-01 6.03186904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0992541539998 meters 0.015073744174768781 Centerline is valid? [True, True] Translation: X:870.99, Y:30.33, Z:6.03 [[ 8.45210109e-01 -5.34131008e-01 -1.79982760e-02 8.70994417e+02] [ 5.34014485e-01 8.45401700e-01 -1.11577677e-02 3.03338751e+01] [ 2.11754828e-02 -1.80682058e-04 9.99775758e-01 6.03290766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1292541539999 meters 0.018264587566890464 Centerline is valid? [True, True] Translation: X:871.02, Y:30.34, Z:6.03 [[ 8.42346019e-01 -5.38587673e-01 -1.94036989e-02 8.71022228e+02] [ 5.38453332e-01 8.42569416e-01 -1.20327868e-02 3.03424317e+01] [ 2.28296739e-02 -3.12216261e-04 9.99739320e-01 6.03194403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1592541539999 meters 0.015962377703311294 Centerline is valid? [True, True] Translation: X:871.05, Y:30.35, Z:6.03 [[ 8.41144055e-01 -5.40510423e-01 -1.80322232e-02 8.71047403e+02] [ 5.40394732e-01 8.41337251e-01 -1.11876341e-02 3.03543707e+01] [ 2.12182139e-02 -3.34106453e-04 9.99774813e-01 6.03412395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1892541539999 meters 0.01889108247085764 Centerline is valid? [True, True] Translation: X:871.08, Y:30.36, Z:6.03 [[ 8.38595757e-01 -5.44438537e-01 -1.85428286e-02 8.71075410e+02] [ 5.44317081e-01 8.38800622e-01 -1.15079024e-02 3.03635254e+01] [ 2.18190817e-02 -4.42700209e-04 9.99761837e-01 6.03395779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2192541539998 meters 0.019245925124077325 Centerline is valid? [True, True] Translation: X:871.10, Y:30.38, Z:6.03 [[ 8.37551863e-01 -5.46043891e-01 -1.85187954e-02 8.71100262e+02] [ 5.45923091e-01 8.37756430e-01 -1.14953097e-02 3.03753355e+01] [ 2.17911836e-02 -4.81919966e-04 9.99762428e-01 6.03419456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2492541539999 meters 0.020074067085298214 Centerline is valid? [True, True] Translation: X:871.13, Y:30.39, Z:6.03 [[ 8.36480448e-01 -5.47678731e-01 -1.86672805e-02 8.71126503e+02] [ 5.47556281e-01 8.36688551e-01 -1.15925584e-02 3.03886832e+01] [ 2.19676975e-02 -5.24438251e-04 9.99758543e-01 6.03397280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2792541539999 meters 0.020739808523654844 Centerline is valid? [True, True] Translation: X:871.15, Y:30.40, Z:6.04 [[ 8.34847615e-01 -5.50128169e-01 -1.97093146e-02 8.71152053e+02] [ 5.49992184e-01 8.35080007e-01 -1.22465762e-02 3.04021611e+01] [ 2.31960412e-02 -6.15944047e-04 9.99730746e-01 6.03512299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3092541539999 meters 0.020094828033098575 Centerline is valid? [True, True] Translation: X:871.18, Y:30.41, Z:6.04 [[ 8.34483652e-01 -5.50721774e-01 -1.85084546e-02 8.71179765e+02] [ 5.50601922e-01 8.34688672e-01 -1.15041220e-02 3.04103156e+01] [ 2.17843679e-02 -5.90788941e-04 9.99762518e-01 6.03541225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3392541539998 meters 0.019418473881066156 Centerline is valid? [True, True] Translation: X:871.20, Y:30.43, Z:6.04 [[ 8.33893884e-01 -5.51588548e-01 -1.92630050e-02 8.71202564e+02] [ 5.51458897e-01 8.34116100e-01 -1.19756522e-02 3.04273590e+01] [ 2.26732152e-02 -6.36332337e-04 9.99742727e-01 6.03709559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3692541539999 meters 0.01953775777676933 Centerline is valid? [True, True] Translation: X:871.23, Y:30.44, Z:6.04 [[ 8.33769528e-01 -5.51779587e-01 -1.91745099e-02 8.71227212e+02] [ 5.51651038e-01 8.33989740e-01 -1.19266877e-02 3.04413609e+01] [ 2.25722474e-02 -6.33529502e-04 9.99745014e-01 6.03750956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3992541539999 meters 0.01793387039917468 Centerline is valid? [True, True] Translation: X:871.25, Y:30.46, Z:6.04 [[ 8.34605075e-01 -5.50564781e-01 -1.76859029e-02 8.71252746e+02] [ 5.50455022e-01 8.34792262e-01 -1.10067482e-02 3.04559862e+01] [ 2.08239828e-02 -5.49006159e-04 9.99783007e-01 6.03879379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4292541539999 meters 0.019960660233545594 Centerline is valid? [True, True] Translation: X:871.28, Y:30.47, Z:6.04 [[ 8.34692553e-01 -5.50397005e-01 -1.87477511e-02 8.71276412e+02] [ 5.50273470e-01 8.34902875e-01 -1.16746902e-02 3.04704949e+01] [ 2.20782658e-02 -5.71613111e-04 9.99756082e-01 6.03782637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4592541539998 meters 0.01957846374609884 Centerline is valid? [True, True] Translation: X:871.30, Y:30.49, Z:6.04 [[ 8.36859234e-01 -5.47097980e-01 -1.87195821e-02 8.71300165e+02] [ 5.46973910e-01 8.37068438e-01 -1.16607359e-02 3.04871273e+01] [ 2.20491364e-02 -4.80728517e-04 9.99756773e-01 6.03788621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4892541539999 meters 0.016393994945228214 Centerline is valid? [True, True] Translation: X:871.32, Y:30.50, Z:6.04 [[ 8.38638929e-01 -5.44412823e-01 -1.73038702e-02 8.71323732e+02] [ 5.44306206e-01 8.38817343e-01 -1.07805160e-02 3.05031202e+01] [ 2.03838376e-02 -3.77643579e-04 9.99792157e-01 6.03908087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5192541539999 meters 0.01813111772725046 Centerline is valid? [True, True] Translation: X:871.35, Y:30.52, Z:6.04 [[ 8.40976312e-01 -5.40739765e-01 -1.89565305e-02 8.71346828e+02] [ 5.40610757e-01 8.41189877e-01 -1.18152255e-02 3.05211771e+01] [ 2.23350039e-02 -3.11779557e-04 9.99750494e-01 6.03740324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5492541539999 meters 0.01666328920189778 Centerline is valid? [True, True] Translation: X:871.37, Y:30.54, Z:6.04 [[ 8.42515657e-01 -5.38342591e-01 -1.88314370e-02 8.71370138e+02] [ 5.38214539e-01 8.42726051e-01 -1.17436514e-02 3.05379753e+01] [ 2.21918503e-02 -2.41143038e-04 9.99753701e-01 6.03738095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5792541539998 meters 0.017171701974227307 Centerline is valid? [True, True] Translation: X:871.39, Y:30.56, Z:6.04 [[ 8.44900884e-01 -5.34576418e-01 -1.92496929e-02 8.71393269e+02] [ 5.34441484e-01 8.45120130e-01 -1.20110622e-02 3.05559677e+01] [ 2.26891336e-02 -1.39677353e-04 9.99742559e-01 6.03651195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6092541539999 meters 0.018114535525716458 Centerline is valid? [True, True] Translation: X:871.42, Y:30.57, Z:6.04 [[ 8.45783020e-01 -5.33147514e-01 -2.01199519e-02 8.71416460e+02] [ 5.32999518e-01 8.46022292e-01 -1.25616359e-02 3.05718181e+01] [ 2.37191327e-02 -9.95063076e-05 9.99718657e-01 6.03603427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6392541539999 meters 0.01770003968859959 Centerline is valid? [True, True] Translation: X:871.44, Y:30.59, Z:6.04 [[ 8.46695834e-01 -5.31703639e-01 -1.99350270e-02 8.71439609e+02] [ 5.31557772e-01 8.46930480e-01 -1.24538125e-02 3.05876461e+01] [ 2.35053194e-02 -5.20273839e-05 9.99723710e-01 6.03622797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6692541539999 meters 0.01770003968859959 Centerline is valid? [True, True] Translation: X:871.46, Y:30.60, Z:6.04 [[ 8.46549082e-01 -5.31937386e-01 -1.99315892e-02 8.71462957e+02] [ 5.31791454e-01 8.46783688e-01 -1.24593131e-02 3.06023381e+01] [ 2.35053191e-02 -5.20287682e-05 9.99723710e-01 6.03641842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6992541539998 meters 0.01622617113276078 Centerline is valid? [True, True] Translation: X:871.49, Y:30.62, Z:6.04 [[ 8.48121964e-01 -5.29443507e-01 -1.94603893e-02 8.71486051e+02] [ 5.29303563e-01 8.48345197e-01 -1.21723263e-02 3.06184545e+01] [ 2.29536869e-02 2.31639060e-05 9.99736529e-01 6.03796196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7292541539999 meters 0.01594491918785812 Centerline is valid? [True, True] Translation: X:871.51, Y:30.63, Z:6.04 [[ 8.48471733e-01 -5.28899668e-01 -1.89963006e-02 8.71509351e+02] [ 5.28766017e-01 8.48684358e-01 -1.18895062e-02 3.06332886e+01] [ 2.24102191e-02 4.33117320e-05 9.99748859e-01 6.03835813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7592541539999 meters 0.014211286713638102 Centerline is valid? [True, True] Translation: X:871.53, Y:30.65, Z:6.04 [[ 8.48884961e-01 -5.28279831e-01 -1.77410099e-02 8.71534118e+02] [ 5.28162995e-01 8.49070325e-01 -1.11101009e-02 3.06483935e+01] [ 2.09326073e-02 6.10525939e-05 9.99780887e-01 6.03949723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7892541539999 meters 0.014151884276589232 Centerline is valid? [True, True] Translation: X:871.56, Y:30.66, Z:6.04 [[ 8.48523001e-01 -5.28886512e-01 -1.69639045e-02 8.71558992e+02] [ 5.28779695e-01 8.48692556e-01 -1.06291983e-02 3.06630998e+01] [ 2.00187790e-02 4.89509871e-05 9.99799603e-01 6.03992809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8192541539999 meters 0.016159289289107856 Centerline is valid? [True, True] Translation: X:871.58, Y:30.68, Z:6.04 [[ 8.47700506e-01 -5.30181491e-01 -1.76476363e-02 8.71583898e+02] [ 5.30066038e-01 8.47884182e-01 -1.10638523e-02 3.06769285e+01] [ 2.08290014e-02 2.44204868e-05 9.99783053e-01 6.03985196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8492541539998 meters 0.014044008845869935 Centerline is valid? [True, True] Translation: X:871.61, Y:30.69, Z:6.04 [[ 8.46866295e-01 -5.31561845e-01 -1.61084682e-02 8.71609648e+02] [ 5.31465801e-01 8.47019483e-01 -1.01043737e-02 3.06896585e+01] [ 1.90152859e-02 -4.04647846e-06 9.99819193e-01 6.04100687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8792541539999 meters 0.016624400629326793 Centerline is valid? [True, True] Translation: X:871.64, Y:30.70, Z:6.04 [[ 8.45709316e-01 -5.33361153e-01 -1.73675924e-02 8.71635019e+02] [ 5.33249795e-01 8.45887627e-01 -1.08985419e-02 3.07023914e+01] [ 2.05038904e-02 -4.42666281e-05 9.99789772e-01 6.03925560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9092541539999 meters 0.014276591123784346 Centerline is valid? [True, True] Translation: X:871.66, Y:30.71, Z:6.04 [[ 8.44737056e-01 -5.34923521e-01 -1.66172667e-02 8.71659848e+02] [ 5.34821803e-01 8.44900480e-01 -1.04315853e-02 3.07134365e+01] [ 1.96200370e-02 -7.53299191e-05 9.99807506e-01 6.04002028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9392541539999 meters 0.015288024525528012 Centerline is valid? [True, True] Translation: X:871.69, Y:30.73, Z:6.04 [[ 8.43803402e-01 -5.36376712e-01 -1.72000418e-02 8.71685387e+02] [ 5.36267924e-01 8.43978680e-01 -1.08028703e-02 3.07270214e+01] [ 2.03108766e-02 -1.08331950e-04 9.99793707e-01 6.03931248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9692541539998 meters 0.015098380309720603 Centerline is valid? [True, True] Translation: X:871.71, Y:30.74, Z:6.04 [[ 8.43261844e-01 -5.37231529e-01 -1.70806141e-02 8.71709604e+02] [ 5.37124291e-01 8.43434804e-01 -1.07343591e-02 3.07408126e+01] [ 2.01732205e-02 -1.22537321e-04 9.99796492e-01 6.04008452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9992541539999 meters 0.0174745700977998 Centerline is valid? [True, True] Translation: X:871.74, Y:30.75, Z:6.04 [[ 8.42648558e-01 -5.38147812e-01 -1.84482774e-02 8.71736244e+02] [ 5.38022779e-01 8.42850467e-01 -1.16008674e-02 3.07535728e+01] [ 2.17921206e-02 -1.50139315e-04 9.99762512e-01 6.03894480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0292541539999 meters 0.014409152046405102 Centerline is valid? [True, True] Translation: X:871.76, Y:30.77, Z:6.04 [[ 8.43002311e-01 -5.37625448e-01 -1.74923002e-02 8.71761220e+02] [ 5.37512840e-01 8.43183765e-01 -1.10038452e-02 3.07666229e+01] [ 2.06651708e-02 -1.26069003e-04 9.99786445e-01 6.03956459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0592541539999 meters 0.014328485959969484 Centerline is valid? [True, True] Translation: X:871.79, Y:30.78, Z:6.04 [[ 8.43005162e-01 -5.37619541e-01 -1.75364524e-02 8.71785606e+02] [ 5.37506243e-01 8.43187532e-01 -1.10373800e-02 3.07807931e+01] [ 2.07204292e-02 -1.21384370e-04 9.99785301e-01 6.03978996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0892541539998 meters 0.014858673381325752 Centerline is valid? [True, True] Translation: X:871.81, Y:30.79, Z:6.04 [[ 8.42804245e-01 -5.37912818e-01 -1.81880559e-02 8.71810454e+02] [ 5.37790927e-01 8.43000464e-01 -1.14514499e-02 3.07943288e+01] [ 2.14924212e-02 -1.30040848e-04 9.99769003e-01 6.03916988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1192541539999 meters 0.018366756794334648 Centerline is valid? [True, True] Translation: X:871.84, Y:30.81, Z:6.04 [[ 8.42046244e-01 -5.39064163e-01 -1.91820244e-02 8.71835937e+02] [ 5.38928828e-01 8.42264685e-01 -1.20796408e-02 3.08058059e+01] [ 2.26680432e-02 -1.66129812e-04 9.99743033e-01 6.03792477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1492541539999 meters 0.016123981465753928 Centerline is valid? [True, True] Translation: X:871.86, Y:30.82, Z:6.04 [[ 8.41682566e-01 -5.39675391e-01 -1.79145501e-02 8.71861031e+02] [ 5.39557389e-01 8.41873176e-01 -1.12862372e-02 3.08198710e+01] [ 2.11726837e-02 -1.66498761e-04 9.99775820e-01 6.03930521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1792541539999 meters 0.01828303927319296 Centerline is valid? [True, True] Translation: X:871.89, Y:30.83, Z:6.04 [[ 8.40333850e-01 -5.41771383e-01 -1.79663565e-02 8.71887300e+02] [ 5.41653102e-01 8.40525860e-01 -1.13223425e-02 3.08303661e+01] [ 2.12353084e-02 -2.16985004e-04 9.99774482e-01 6.03901222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2092541539998 meters 0.018117687476496863 Centerline is valid? [True, True] Translation: X:871.91, Y:30.84, Z:6.04 [[ 8.39456973e-01 -5.43145047e-01 -1.74770725e-02 8.71911849e+02] [ 5.43033309e-01 8.39638851e-01 -1.10193156e-02 3.08436743e+01] [ 2.06595157e-02 -2.40391145e-04 9.99786541e-01 6.04055220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2392541539999 meters 0.016546403678594807 Centerline is valid? [True, True] Translation: X:871.94, Y:30.85, Z:6.04 [[ 8.38432732e-01 -5.44747457e-01 -1.67559657e-02 8.71937391e+02] [ 5.44644993e-01 8.38600106e-01 -1.05685093e-02 3.08544943e+01] [ 1.98087232e-02 -2.65068679e-04 9.99803753e-01 6.04164771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2692541539999 meters 0.018642801819586174 Centerline is valid? [True, True] Translation: X:871.96, Y:30.87, Z:6.04 [[ 8.37595800e-01 -5.46013588e-01 -1.73907283e-02 8.71963220e+02] [ 5.45903384e-01 8.37776265e-01 -1.09738274e-02 3.08685782e+01] [ 2.05613983e-02 -3.02025694e-04 9.99788546e-01 6.04140616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2992541539999 meters 0.017792156895095338 Centerline is valid? [True, True] Translation: X:871.99, Y:30.88, Z:6.04 [[ 8.37383155e-01 -5.46343965e-01 -1.72546635e-02 8.71987445e+02] [ 5.46235466e-01 8.37560851e-01 -1.08919933e-02 3.08815027e+01] [ 2.04026055e-02 -3.04337456e-04 9.99791799e-01 6.04145764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3292541539998 meters 0.015176437768701836 Centerline is valid? [True, True] Translation: X:872.01, Y:30.90, Z:6.04 [[ 8.37821633e-01 -5.45713315e-01 -1.58710383e-02 8.72012322e+02] [ 5.45621325e-01 8.37971903e-01 -1.00230008e-02 3.08969002e+01] [ 1.87691692e-02 -2.62090006e-04 9.99823809e-01 6.04351966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3592541539999 meters 0.01613529427838527 Centerline is valid? [True, True] Translation: X:872.04, Y:30.91, Z:6.04 [[ 8.38090428e-01 -5.45297366e-01 -1.59755352e-02 8.72035312e+02] [ 5.45203969e-01 8.38242638e-01 -1.00951236e-02 3.09124560e+01] [ 1.88962191e-02 -2.49298708e-04 9.99821419e-01 6.04378113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3892541539999 meters 0.016623697716248446 Centerline is valid? [True, True] Translation: X:872.06, Y:30.93, Z:6.04 [[ 8.39198632e-01 -5.43588778e-01 -1.60280127e-02 8.72059145e+02] [ 5.43494342e-01 8.39351653e-01 -1.01342202e-02 3.09288406e+01] [ 1.89619873e-02 -2.06510440e-04 9.99820184e-01 6.04307593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4192541539999 meters 0.014965695117831614 Centerline is valid? [True, True] Translation: X:872.08, Y:30.94, Z:6.04 [[ 8.39748530e-01 -5.42737325e-01 -1.60811212e-02 8.72083221e+02] [ 5.42641999e-01 8.39902472e-01 -1.01734263e-02 3.09448573e+01] [ 1.90280716e-02 -1.83171977e-04 9.99818933e-01 6.04362011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4492541539998 meters 0.015251994419902363 Centerline is valid? [True, True] Translation: X:872.11, Y:30.96, Z:6.04 [[ 8.40322899e-01 -5.41831843e-01 -1.66035889e-02 8.72105908e+02] [ 5.41729966e-01 8.40486899e-01 -1.05079232e-02 3.09602132e+01] [ 1.96486264e-02 -1.64613176e-04 9.99806934e-01 6.04313124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4792541539999 meters 0.014542177807385153 Centerline is valid? [True, True] Translation: X:872.13, Y:30.98, Z:6.04 [[ 8.40552791e-01 -5.41485459e-01 -1.62635292e-02 8.72129586e+02] [ 5.41387550e-01 8.40710102e-01 -1.02978215e-02 3.09760094e+01] [ 1.92490339e-02 -1.49009655e-04 9.99814709e-01 6.04356556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5092541539999 meters 0.014538314809690978 Centerline is valid? [True, True] Translation: X:872.15, Y:30.99, Z:6.04 [[ 8.40424610e-01 -5.41683569e-01 -1.62906650e-02 8.72152989e+02] [ 5.41585246e-01 8.40582470e-01 -1.03214543e-02 3.09911792e+01] [ 1.92846097e-02 -1.48379596e-04 9.99814024e-01 6.04370446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5392541539999 meters 0.014533228086690764 Centerline is valid? [True, True] Translation: X:872.18, Y:31.01, Z:6.04 [[ 8.40049223e-01 -5.42276548e-01 -1.59200802e-02 8.72176643e+02] [ 5.42182636e-01 8.40200049e-01 -1.00929222e-02 3.10067039e+01] [ 1.88492071e-02 -1.53039615e-04 9.99822326e-01 6.04419736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5692541539999 meters 0.015026511006612743 Centerline is valid? [True, True] Translation: X:872.20, Y:31.02, Z:6.04 [[ 8.39558185e-01 -5.43034988e-01 -1.59704724e-02 8.72199979e+02] [ 5.42940497e-01 8.39710054e-01 -1.01312156e-02 3.10215654e+01] [ 1.89121708e-02 -1.65271228e-04 9.99821135e-01 6.04436328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5992541539998 meters 0.01502357557699911 Centerline is valid? [True, True] Translation: X:872.22, Y:31.04, Z:6.04 [[ 8.38920655e-01 -5.44028328e-01 -1.56624784e-02 8.72223426e+02] [ 5.43937556e-01 8.39066830e-01 -9.93931520e-03 3.10362002e+01] [ 1.85491351e-02 -1.81113400e-04 9.99827934e-01 6.04465190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6292541539999 meters 0.017491279980106706 Centerline is valid? [True, True] Translation: X:872.25, Y:31.05, Z:6.04 [[ 8.38085380e-01 -5.45304156e-01 -1.60085481e-02 8.72247676e+02] [ 5.45209481e-01 8.38238232e-01 -1.01630900e-02 3.10511221e+01] [ 1.89609523e-02 -2.10475033e-04 9.99820203e-01 6.04401142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6592541539999 meters 0.015054929544957798 Centerline is valid? [True, True] Translation: X:872.27, Y:31.07, Z:6.05 [[ 8.38179911e-01 -5.45182777e-01 -1.51715401e-02 8.72271816e+02] [ 5.45097635e-01 8.38317185e-01 -9.63671980e-03 3.10677778e+01] [ 1.79723364e-02 -1.92665669e-04 9.99838466e-01 6.04581944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6892541539999 meters 0.01649958164687453 Centerline is valid? [True, True] Translation: X:872.30, Y:31.08, Z:6.05 [[ 8.37476770e-01 -5.46249308e-01 -1.56318158e-02 8.72295857e+02] [ 5.46159006e-01 8.37622615e-01 -9.93451143e-03 3.10841217e+01] [ 1.85202824e-02 -2.17534405e-04 9.99828461e-01 6.04617304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7192541539998 meters 0.016923059996923836 Centerline is valid? [True, True] Translation: X:872.32, Y:31.10, Z:6.05 [[ 8.37013955e-01 -5.46950176e-01 -1.59105310e-02 8.72320070e+02] [ 5.46856644e-01 8.37165128e-01 -1.01172690e-02 3.11001052e+01] [ 1.88533837e-02 -2.32484277e-04 9.99822232e-01 6.04642859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7492541539999 meters 0.01833794814496398 Centerline is valid? [True, True] Translation: X:872.34, Y:31.12, Z:6.05 [[ 8.35904385e-01 -5.48634961e-01 -1.62338833e-02 8.72343729e+02] [ 5.48537795e-01 8.36061963e-01 -1.03286557e-02 3.11160889e+01] [ 1.92391940e-02 -2.71129971e-04 9.99814873e-01 6.04535909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7792541539999 meters 0.01602008825055189 Centerline is valid? [True, True] Translation: X:872.37, Y:31.13, Z:6.05 [[ 8.35527235e-01 -5.49230537e-01 -1.54937391e-02 8.72367399e+02] [ 5.49142025e-01 8.35670836e-01 -9.86360867e-03 3.11319302e+01] [ 1.83650610e-02 -2.66949598e-04 9.99831312e-01 6.04662520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8092541539999 meters 0.01831034625856955 Centerline is valid? [True, True] Translation: X:872.39, Y:31.15, Z:6.05 [[ 8.33764086e-01 -5.51876751e-01 -1.64164716e-02 8.72392404e+02] [ 5.51777818e-01 8.33925617e-01 -1.04548581e-02 3.11451425e+01] [ 1.94599093e-02 -3.41359637e-04 9.99810580e-01 6.04524728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8392541539998 meters 0.01905266589837912 Centerline is valid? [True, True] Translation: X:872.42, Y:31.16, Z:6.05 [[ 8.32482941e-01 -5.53802340e-01 -1.65867828e-02 8.72416430e+02] [ 5.53701636e-01 8.32648076e-01 -1.05678822e-02 3.11616130e+01] [ 1.96634707e-02 -3.86547083e-04 9.99806581e-01 6.04620985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8692541539999 meters 0.017624953257207324 Centerline is valid? [True, True] Translation: X:872.44, Y:31.18, Z:6.05 [[ 8.31616941e-01 -5.55127354e-01 -1.57125238e-02 8.72440136e+02] [ 5.55037163e-01 8.31765271e-01 -1.00140822e-02 3.11758726e+01] [ 1.86282225e-02 -3.93154220e-04 9.99826402e-01 6.04751758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8992541539999 meters 0.02020038776714625 Centerline is valid? [True, True] Translation: X:872.47, Y:31.19, Z:6.05 [[ 8.29267203e-01 -5.58611235e-01 -1.64131895e-02 8.72465130e+02] [ 5.58513469e-01 8.29429470e-01 -1.04622426e-02 3.11906041e+01] [ 1.94579094e-02 -4.90992717e-04 9.99810556e-01 6.04763638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9292541539999 meters 0.01771169551413925 Centerline is valid? [True, True] Translation: X:872.49, Y:31.21, Z:6.05 [[ 8.28525763e-01 -5.59751408e-01 -1.49472764e-02 8.72488504e+02] [ 5.59670440e-01 8.28660450e-01 -9.53190616e-03 3.12055898e+01] [ 1.77217146e-02 -4.68118910e-04 9.99842848e-01 6.04945249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9592541539998 meters 0.02204831755103821 Centerline is valid? [True, True] Translation: X:872.52, Y:31.22, Z:6.05 [[ 8.26713341e-01 -5.62413668e-01 -1.53596293e-02 8.72515155e+02] [ 5.62328568e-01 8.26855838e-01 -9.79816777e-03 3.12172413e+01] [ 1.82108226e-02 -5.36882310e-04 9.99834025e-01 6.04716278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9892541539999 meters 0.019313424957405626 Centerline is valid? [True, True] Translation: X:872.54, Y:31.23, Z:6.05 [[ 8.25947633e-01 -5.63552806e-01 -1.47899555e-02 8.72538056e+02] [ 5.63474020e-01 8.26079866e-01 -9.43838451e-03 3.12347983e+01] [ 1.75367126e-02 -5.38144371e-04 9.99846075e-01 6.04980014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0192541539999 meters 0.019204609564667345 Centerline is valid? [True, True] Translation: X:872.56, Y:31.25, Z:6.05 [[ 8.25691158e-01 -5.63931696e-01 -1.46681559e-02 8.72561740e+02] [ 5.63854167e-01 8.25821260e-01 -9.36615916e-03 3.12502561e+01] [ 1.73951490e-02 -5.37146044e-04 9.99848549e-01 6.05035495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0492541539999 meters 0.02088754542638332 Centerline is valid? [True, True] Translation: X:872.59, Y:31.27, Z:6.05 [[ 8.25419041e-01 -5.64317951e-01 -1.51214392e-02 8.72586595e+02] [ 5.64235520e-01 8.25557351e-01 -9.66119439e-03 3.12659560e+01] [ 1.79356007e-02 -5.57519325e-04 9.99838989e-01 6.04954157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0792541539998 meters 0.019058687803965368 Centerline is valid? [True, True] Translation: X:872.61, Y:31.28, Z:6.05 [[ 8.26541233e-01 -5.62677121e-01 -1.49682311e-02 8.72609424e+02] [ 5.62595992e-01 8.26676597e-01 -9.56843814e-03 3.12827784e+01] [ 1.77578276e-02 -5.12358175e-04 9.99842186e-01 6.05035645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1092541539999 meters 0.018597244635841077 Centerline is valid? [True, True] Translation: X:872.63, Y:31.30, Z:6.05 [[ 8.27065943e-01 -5.61914513e-01 -1.46289446e-02 8.72633252e+02] [ 5.61836839e-01 8.27195169e-01 -9.35512742e-03 3.12999371e+01] [ 1.73577742e-02 -4.81772740e-04 9.99849226e-01 6.05078367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1392541539999 meters 0.01803444306787724 Centerline is valid? [True, True] Translation: X:872.66, Y:31.32, Z:6.05 [[ 8.28644160e-01 -5.59596660e-01 -1.41574747e-02 8.72655002e+02] [ 5.59523539e-01 8.28764987e-01 -9.05567941e-03 3.13169777e+01] [ 1.68007473e-02 -4.17504488e-04 9.99858770e-01 6.05140872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1692541539999 meters 0.01636275490346823 Centerline is valid? [True, True] Translation: X:872.68, Y:31.34, Z:6.05 [[ 8.29410414e-01 -5.58464598e-01 -1.39878067e-02 8.72677056e+02] [ 5.58392998e-01 8.29528266e-01 -8.95079151e-03 3.13357034e+01] [ 1.66019812e-02 -3.86813639e-04 9.99862103e-01 6.05293199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1992541539998 meters 0.017150181538550715 Centerline is valid? [True, True] Translation: X:872.70, Y:31.35, Z:6.05 [[ 8.30133217e-01 -5.57395636e-01 -1.37457937e-02 8.72701054e+02] [ 5.57326295e-01 8.30246938e-01 -8.79900276e-03 3.13499042e+01] [ 1.63169288e-02 -3.56547792e-04 9.99866806e-01 6.05245188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2292541539999 meters 0.01678478838409917 Centerline is valid? [True, True] Translation: X:872.72, Y:31.37, Z:6.05 [[ 8.31323020e-01 -5.55618904e-01 -1.37721063e-02 8.72722869e+02] [ 5.55548995e-01 8.31437028e-01 -8.81940493e-03 3.13693393e+01] [ 1.63508672e-02 -3.19305472e-04 9.99866265e-01 6.05320146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2592541539999 meters 0.017126232878865562 Centerline is valid? [True, True] Translation: X:872.75, Y:31.39, Z:6.05 [[ 8.32153466e-01 -5.54384442e-01 -1.33603876e-02 8.72745905e+02] [ 5.54318445e-01 8.32260662e-01 -8.55870049e-03 3.13851805e+01] [ 1.58641354e-02 -2.83757013e-04 9.99874116e-01 6.05277183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2892541539999 meters 0.015478088524322317 Centerline is valid? [True, True] Translation: X:872.77, Y:31.40, Z:6.05 [[ 8.33474581e-01 -5.52406889e-01 -1.29132056e-02 8.72768338e+02] [ 5.52344950e-01 8.33574576e-01 -8.27543890e-03 3.14044691e+01] [ 1.53355293e-02 -2.35175902e-04 9.99882376e-01 6.05413038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3192541539999 meters 0.016192269710837447 Centerline is valid? [True, True] Translation: X:872.79, Y:31.42, Z:6.05 [[ 8.33527157e-01 -5.52331671e-01 -1.27359514e-02 8.72790797e+02] [ 5.52271338e-01 8.33624420e-01 -8.16669411e-03 3.14206270e+01] [ 1.51277239e-02 -2.26539610e-04 9.99885544e-01 6.05395814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3492541539998 meters 0.015078224275247076 Centerline is valid? [True, True] Translation: X:872.81, Y:31.44, Z:6.05 [[ 8.33712881e-01 -5.52058517e-01 -1.24187444e-02 8.72813420e+02] [ 5.52001053e-01 8.33805342e-01 -7.96799509e-03 3.14382322e+01] [ 1.47536149e-02 -2.12139815e-04 9.99891137e-01 6.05463880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3792541539999 meters 0.015177697410059789 Centerline is valid? [True, True] Translation: X:872.84, Y:31.45, Z:6.05 [[ 8.33279170e-01 -5.52707927e-01 -1.26400997e-02 8.72837750e+02] [ 5.52648402e-01 8.33375004e-01 -8.11461106e-03 3.14545143e+01] [ 1.50189530e-02 -2.23794530e-04 9.99887184e-01 6.05469883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4092541539999 meters 0.01809194800191124 Centerline is valid? [True, True] Translation: X:872.86, Y:31.47, Z:6.05 [[ 8.31707404e-01 -5.55051851e-01 -1.34252033e-02 8.72861937e+02] [ 5.54984927e-01 8.31815704e-01 -8.62357051e-03 3.14705967e+01] [ 1.59538237e-02 -2.78498006e-04 9.99872691e-01 6.05286555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4392541539999 meters 0.015228259023109416 Centerline is valid? [True, True] Translation: X:872.89, Y:31.49, Z:6.05 [[ 8.31518820e-01 -5.55336908e-01 -1.33180247e-02 8.72885319e+02] [ 5.55271004e-01 8.31625421e-01 -8.55985202e-03 3.14866626e+01] [ 1.58292097e-02 -2.77434911e-04 9.99874672e-01 6.05476564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4692541539998 meters 0.015156024326490856 Centerline is valid? [True, True] Translation: X:872.91, Y:31.50, Z:6.06 [[ 8.30808219e-01 -5.56399016e-01 -1.33355645e-02 8.72908957e+02] [ 5.56332994e-01 8.30915187e-01 -8.57623666e-03 3.15030390e+01] [ 1.58525327e-02 -2.93806614e-04 9.99874298e-01 6.05528756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4992541539999 meters 0.015882196377738703 Centerline is valid? [True, True] Translation: X:872.93, Y:31.52, Z:6.05 [[ 8.29803223e-01 -5.57890565e-01 -1.35914673e-02 8.72932997e+02] [ 5.57822103e-01 8.29914461e-01 -8.74577183e-03 3.15188347e+01] [ 1.61589388e-02 -3.24351199e-04 9.99869383e-01 6.05474738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5292541539999 meters 0.016463920536120957 Centerline is valid? [True, True] Translation: X:872.96, Y:31.53, Z:6.05 [[ 8.28532955e-01 -5.59781215e-01 -1.33466726e-02 8.72956501e+02] [ 5.59715387e-01 8.28640373e-01 -8.59175634e-03 3.15340641e+01] [ 1.58690955e-02 -3.51784743e-04 9.99874016e-01 6.05473390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5592541539999 meters 0.016463920536120957 Centerline is valid? [True, True] Translation: X:872.98, Y:31.55, Z:6.05 [[ 8.28374828e-01 -5.60015232e-01 -1.33447975e-02 8.72979664e+02] [ 5.59949387e-01 8.28482236e-01 -8.59466809e-03 3.15490657e+01] [ 1.58690727e-02 -3.52804477e-04 9.99874016e-01 6.05492475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5892541539998 meters 0.019530831625962603 Centerline is valid? [True, True] Translation: X:873.00, Y:31.57, Z:6.05 [[ 8.26436428e-01 -5.62880723e-01 -1.29662002e-02 8.73002530e+02] [ 5.62818865e-01 8.26538043e-01 -8.35400285e-03 3.15659618e+01] [ 1.54193649e-02 -3.93569803e-04 9.99881037e-01 6.05405031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6192541539999 meters 0.017204044575147095 Centerline is valid? [True, True] Translation: X:873.03, Y:31.58, Z:6.06 [[ 8.26466485e-01 -5.62849359e-01 -1.23995345e-02 8.73025560e+02] [ 5.62792763e-01 8.26559411e-01 -7.99044041e-03 3.15808688e+01] [ 1.47463662e-02 -3.74537056e-04 9.99891196e-01 6.05658668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6492541539999 meters 0.0179076188358216 Centerline is valid? [True, True] Translation: X:873.05, Y:31.60, Z:6.06 [[ 8.25721211e-01 -5.63946102e-01 -1.22178259e-02 8.73048833e+02] [ 5.63891242e-01 8.25811506e-01 -7.87545750e-03 3.15953115e+01] [ 1.45309548e-02 -3.86592743e-04 9.99894345e-01 6.05701642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6792541539999 meters 0.017464770613462136 Centerline is valid? [True, True] Translation: X:873.07, Y:31.61, Z:6.06 [[ 8.24508326e-01 -5.65709906e-01 -1.25826447e-02 8.73071509e+02] [ 5.65651870e-01 8.24604220e-01 -8.11432614e-03 3.16136603e+01] [ 1.49660566e-02 -4.27067067e-04 9.99887911e-01 6.05754894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7092541539998 meters 0.018578293813483422 Centerline is valid? [True, True] Translation: X:873.10, Y:31.63, Z:6.06 [[ 8.24145560e-01 -5.66238781e-01 -1.25594132e-02 8.73095397e+02] [ 5.66180970e-01 8.24241139e-01 -8.10268678e-03 3.16281112e+01] [ 1.49400406e-02 -4.33107446e-04 9.99888298e-01 6.05717768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7392541539999 meters 0.01783853783503603 Centerline is valid? [True, True] Translation: X:873.12, Y:31.65, Z:6.06 [[ 8.23721643e-01 -5.66844022e-01 -1.30579338e-02 8.73116906e+02] [ 5.66781549e-01 8.23825009e-01 -8.42800566e-03 3.16474292e+01] [ 1.55348171e-02 -4.58665283e-04 9.99879222e-01 6.05733595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7692541539999 meters 0.019322252250511124 Centerline is valid? [True, True] Translation: X:873.14, Y:31.66, Z:6.06 [[ 8.23155671e-01 -5.67654561e-01 -1.35292518e-02 8.73140057e+02] [ 5.67587527e-01 8.23266702e-01 -8.73709136e-03 3.16649150e+01] [ 1.60978322e-02 -4.87048244e-04 9.99870303e-01 6.05561474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7992541539999 meters 0.01896200998500174 Centerline is valid? [True, True] Translation: X:873.16, Y:31.68, Z:6.06 [[ 8.23205798e-01 -5.67576368e-01 -1.37579241e-02 8.73161774e+02] [ 5.67506951e-01 8.23320610e-01 -8.89009663e-03 3.16830458e+01] [ 1.63729913e-02 -4.89338482e-04 9.99865834e-01 6.05565937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8292541539998 meters 0.01786244486929048 Centerline is valid? [True, True] Translation: X:873.18, Y:31.70, Z:6.06 [[ 8.23423924e-01 -5.67259522e-01 -1.37722716e-02 8.73184935e+02] [ 5.67189831e-01 8.23538951e-01 -8.90453547e-03 3.17000487e+01] [ 1.63931847e-02 -4.79284885e-04 9.99865508e-01 6.05710168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8592541539999 meters 0.0188929663116355 Centerline is valid? [True, True] Translation: X:873.21, Y:31.72, Z:6.06 [[ 8.23021719e-01 -5.67838736e-01 -1.39434681e-02 8.73208406e+02] [ 5.67767325e-01 8.23139676e-01 -9.01882171e-03 3.17153112e+01] [ 1.65986582e-02 -4.93959457e-04 9.99862111e-01 6.05678909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8892541539999 meters 0.019482993341163417 Centerline is valid? [True, True] Translation: X:873.23, Y:31.73, Z:6.06 [[ 8.21633121e-01 -5.69858180e-01 -1.34412988e-02 8.73230133e+02] [ 5.69792029e-01 8.21742899e-01 -8.69779875e-03 3.17349404e+01] [ 1.60018036e-02 -5.12345407e-04 9.99871832e-01 6.05646876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9192541539999 meters 0.020414491126835535 Centerline is valid? [True, True] Translation: X:873.25, Y:31.75, Z:6.06 [[ 8.20672775e-01 -5.71250532e-01 -1.30009782e-02 8.73253441e+02] [ 5.71188747e-01 8.20775585e-01 -8.41748037e-03 3.17516835e+01] [ 1.54793756e-02 -5.18015454e-04 9.99880053e-01 6.05648365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9492541539998 meters 0.02038752745550015 Centerline is valid? [True, True] Translation: X:873.28, Y:31.77, Z:6.06 [[ 8.19847020e-01 -5.72450297e-01 -1.23094426e-02 8.73275832e+02] [ 5.72394997e-01 8.19939265e-01 -7.97297204e-03 3.17680399e+01] [ 1.46571256e-02 -5.09246012e-04 9.99892449e-01 6.05797953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9792541539999 meters 0.019149112687023222 Centerline is valid? [True, True] Translation: X:873.30, Y:31.78, Z:6.06 [[ 8.19624395e-01 -5.72774136e-01 -1.20681510e-02 8.73298727e+02] [ 5.72720967e-01 8.19713082e-01 -7.82030638e-03 3.17845874e+01] [ 1.43716905e-02 -5.01969209e-04 9.99896596e-01 6.06000208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0092541539999 meters 0.020432384813929467 Centerline is valid? [True, True] Translation: X:873.32, Y:31.80, Z:6.06 [[ 8.18820318e-01 -5.73921038e-01 -1.21625927e-02 8.73321490e+02] [ 5.73867093e-01 8.18910477e-01 -7.88612214e-03 3.18027204e+01] [ 1.44860860e-02 -5.22394666e-04 9.99894935e-01 6.05964299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0392541539999 meters 0.02105916385232662 Centerline is valid? [True, True] Translation: X:873.34, Y:31.82, Z:6.06 [[ 8.18531823e-01 -5.74324399e-01 -1.25355068e-02 8.73344307e+02] [ 5.74267074e-01 8.18627627e-01 -8.13241015e-03 3.18199951e+01] [ 1.49325538e-02 -5.42092333e-04 9.99888356e-01 6.05910443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0692541539999 meters 0.01975921318379558 Centerline is valid? [True, True] Translation: X:873.37, Y:31.84, Z:6.06 [[ 8.18877105e-01 -5.73819455e-01 -1.30965432e-02 8.73365371e+02] [ 5.73756746e-01 8.18981640e-01 -8.50112712e-03 3.18402977e+01] [ 1.56039405e-02 -5.52851621e-04 9.99878098e-01 6.05995195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0992541539998 meters 0.02152002375026252 Centerline is valid? [True, True] Translation: X:873.39, Y:31.86, Z:6.06 [[ 8.18797230e-01 -5.73925767e-01 -1.34279571e-02 8.73388088e+02] [ 5.73859809e-01 8.18907133e-01 -8.71933863e-03 3.18573081e+01] [ 1.60005030e-02 -5.66394592e-04 9.99871823e-01 6.05849373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1292541539999 meters 0.018973977297487905 Centerline is valid? [True, True] Translation: X:873.41, Y:31.88, Z:6.06 [[ 8.19634948e-01 -5.72727188e-01 -1.34951771e-02 8.73409056e+02] [ 5.72660350e-01 8.19745859e-01 -8.76644701e-03 3.18782149e+01] [ 1.60833981e-02 -5.42866506e-04 9.99870506e-01 6.06130711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1592541539999 meters 0.023087600370660308 Centerline is valid? [True, True] Translation: X:873.43, Y:31.90, Z:6.06 [[ 8.18988741e-01 -5.73628874e-01 -1.43998876e-02 8.73432303e+02] [ 5.73552822e-01 8.19115109e-01 -9.35936913e-03 3.18962284e+01] [ 1.71639699e-02 -5.93878235e-04 9.99852512e-01 6.05742492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1892541539999 meters 0.018460060042953537 Centerline is valid? [True, True] Translation: X:873.45, Y:31.92, Z:6.06 [[ 8.19524104e-01 -5.72863311e-01 -1.44176947e-02 8.73454134e+02] [ 5.72786864e-01 8.19650716e-01 -9.37611105e-03 3.19153878e+01] [ 1.71887039e-02 -5.74317161e-04 9.99852098e-01 6.06135417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2192541539998 meters 0.019369175372422942 Centerline is valid? [True, True] Translation: X:873.48, Y:31.93, Z:6.06 [[ 8.19101179e-01 -5.73462914e-01 -1.46132036e-02 8.73475574e+02] [ 5.73384382e-01 8.19231309e-01 -9.50857948e-03 3.19349248e+01] [ 1.74244116e-02 -5.90494063e-04 9.99848009e-01 6.06075425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2492541539999 meters 0.021044255774918568 Centerline is valid? [True, True] Translation: X:873.50, Y:31.95, Z:6.06 [[ 8.18866692e-01 -5.73801400e-01 -1.44669941e-02 8.73498952e+02] [ 5.73724429e-01 8.18994265e-01 -9.41663929e-03 3.19507176e+01] [ 1.72516660e-02 -5.89095689e-04 9.99851005e-01 6.05990317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2792541539999 meters 0.021828446745592495 Centerline is valid? [True, True] Translation: X:873.52, Y:31.97, Z:6.06 [[ 8.18402785e-01 -5.74479337e-01 -1.37975916e-02 8.73519634e+02] [ 5.74409392e-01 8.18518883e-01 -8.98263472e-03 3.19692320e+01] [ 1.64539273e-02 -5.74052937e-04 9.99864460e-01 6.05996331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3092541539999 meters 0.022037936262264093 Centerline is valid? [True, True] Translation: X:873.54, Y:31.99, Z:6.06 [[ 8.18304377e-01 -5.74636033e-01 -1.30910388e-02 8.73541135e+02] [ 5.74573059e-01 8.18408902e-01 -8.52459538e-03 3.19854094e+01] [ 1.56123624e-02 -5.46044523e-04 9.99877971e-01 6.06038997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3392541539998 meters 0.018931348325261405 Centerline is valid? [True, True] Translation: X:873.56, Y:32.00, Z:6.06 [[ 8.18450914e-01 -5.74428613e-01 -1.30333888e-02 8.73562769e+02] [ 5.74366111e-01 8.18554507e-01 -8.49062417e-03 3.20049317e+01] [ 1.55457966e-02 -5.36777733e-04 9.99879013e-01 6.06363581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3692541539999 meters 0.019847672506108038 Centerline is valid? [True, True] Translation: X:873.58, Y:32.03, Z:6.06 [[ 8.17663004e-01 -5.75552076e-01 -1.29236076e-02 8.73583183e+02] [ 5.75490690e-01 8.17764945e-01 -8.42377129e-03 3.20260652e+01] [ 1.54167923e-02 -5.49609741e-04 9.99881003e-01 6.06196894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3992541539999 meters 0.021632987250758913 Centerline is valid? [True, True] Translation: X:873.60, Y:32.04, Z:6.06 [[ 8.17773911e-01 -5.75401841e-01 -1.25917458e-02 8.73604725e+02] [ 5.75343505e-01 8.17870675e-01 -8.21041917e-03 3.20439717e+01] [ 1.50227100e-02 -5.30312580e-04 9.99887012e-01 6.06072520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4292541539999 meters 0.02037586845288468 Centerline is valid? [True, True] Translation: X:873.63, Y:32.06, Z:6.06 [[ 8.17873641e-01 -5.75264267e-01 -1.23988345e-02 8.73627127e+02] [ 5.75207643e-01 8.17967454e-01 -8.08775696e-03 3.20632487e+01] [ 1.47944406e-02 -5.17141122e-04 9.99890423e-01 6.06148411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4592541539998 meters 0.020716074819193343 Centerline is valid? [True, True] Translation: X:873.65, Y:32.08, Z:6.06 [[ 8.18126762e-01 -5.74904323e-01 -1.23943692e-02 8.73649071e+02] [ 5.74847655e-01 8.18220485e-01 -8.08778238e-03 3.20803285e+01] [ 1.47910278e-02 -5.08042858e-04 9.99890478e-01 6.06115904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4892541539999 meters 0.019588163251758238 Centerline is valid? [True, True] Translation: X:873.67, Y:32.10, Z:6.06 [[ 8.19197224e-01 -5.73382650e-01 -1.21755814e-02 8.73670486e+02] [ 5.73327753e-01 8.19287567e-01 -7.94800086e-03 3.20995324e+01] [ 1.45325483e-02 -4.69618505e-04 9.99894287e-01 6.06227389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5192541539999 meters 0.018090805233545136 Centerline is valid? [True, True] Translation: X:873.69, Y:32.12, Z:6.06 [[ 8.19708714e-01 -5.72651043e-01 -1.21822366e-02 8.73692870e+02] [ 5.72595943e-01 8.19799108e-01 -7.95667181e-03 3.21183861e+01] [ 1.45433831e-02 -4.53346016e-04 9.99894137e-01 6.06368770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5492541539999 meters 0.01968520408283862 Centerline is valid? [True, True] Translation: X:873.71, Y:32.14, Z:6.06 [[ 8.20249965e-01 -5.71883327e-01 -1.18090741e-02 8.73713595e+02] [ 5.71831433e-01 8.20334858e-01 -7.71570366e-03 3.21376076e+01] [ 1.40998774e-02 -4.23994099e-04 9.99900502e-01 6.06187638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5792541539998 meters 0.020482425181995535 Centerline is valid? [True, True] Translation: X:873.74, Y:32.15, Z:6.06 [[ 8.20554447e-01 -5.71445179e-01 -1.18662516e-02 8.73735983e+02] [ 5.71392708e-01 8.20640137e-01 -7.75491948e-03 3.21544859e+01] [ 1.41694337e-02 -4.16956006e-04 9.99899522e-01 6.06132825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6092541539999 meters 0.016420124187186424 Centerline is valid? [True, True] Translation: X:873.75, Y:32.18, Z:6.06 [[ 8.22219495e-01 -5.69071069e-01 -1.06404776e-02 8.73754970e+02] [ 5.69028662e-01 8.22288274e-01 -6.95530618e-03 3.21777442e+01] [ 1.27076035e-02 -3.35948408e-04 9.99919199e-01 6.06476405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6392541539999 meters 0.021782104835028876 Centerline is valid? [True, True] Translation: X:873.78, Y:32.19, Z:6.06 [[ 8.22400698e-01 -5.68808400e-01 -1.06816353e-02 8.73778098e+02] [ 5.68765626e-01 8.22469996e-01 -6.98343740e-03 3.21932456e+01] [ 1.27575624e-02 -3.32163182e-04 9.99918564e-01 6.06031273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6692541539999 meters 0.016864560845980106 Centerline is valid? [True, True] Translation: X:873.80, Y:32.21, Z:6.06 [[ 8.23228370e-01 -5.67616677e-01 -1.03130274e-02 8.73799290e+02] [ 5.67576683e-01 8.23292911e-01 -6.74480331e-03 3.22143020e+01] [ 1.23191052e-02 -3.00920423e-04 9.99924072e-01 6.06395758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6992541539998 meters 0.01787850466946188 Centerline is valid? [True, True] Translation: X:873.82, Y:32.23, Z:6.06 [[ 8.24381536e-01 -5.65944922e-01 -1.00712120e-02 8.73819926e+02] [ 5.65906625e-01 8.24443008e-01 -6.58925497e-03 3.22335170e+01] [ 1.20322957e-02 -2.67305478e-04 9.99927574e-01 6.06263882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7292541539999 meters 0.01591376535987318 Centerline is valid? [True, True] Translation: X:873.84, Y:32.25, Z:6.06 [[ 8.25128850e-01 -5.64854869e-01 -1.00676584e-02 8.73842642e+02] [ 5.64816491e-01 8.25190229e-01 -6.58918982e-03 3.22513322e+01] [ 1.20296693e-02 -2.49448848e-04 9.99927610e-01 6.06479517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7592541539999 meters 0.017122186914832874 Centerline is valid? [True, True] Translation: X:873.86, Y:32.27, Z:6.06 [[ 8.25398179e-01 -5.64467657e-01 -9.70101917e-03 8.73864203e+02] [ 5.64431957e-01 8.25455153e-01 -6.35262556e-03 3.22718840e+01] [ 1.15936079e-02 -2.32119670e-04 9.99932765e-01 6.06350816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7892541539999 meters 0.01847119173458654 Centerline is valid? [True, True] Translation: X:873.89, Y:32.29, Z:6.06 [[ 8.25186380e-01 -5.64782999e-01 -9.35966334e-03 8.73886212e+02] [ 5.64749748e-01 8.25239428e-01 -6.13259281e-03 3.22887362e+01] [ 1.11875474e-02 -2.25335455e-04 9.99937392e-01 6.06288484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8192541539999 meters 0.015273729780156203 Centerline is valid? [True, True] Translation: X:873.91, Y:32.31, Z:6.07 [[ 8.25720667e-01 -5.64017478e-01 -8.34654603e-03 8.73907520e+02] [ 5.63990972e-01 8.25762828e-01 -5.47125128e-03 3.23063282e+01] [ 9.97814881e-03 -1.89651354e-04 9.99950199e-01 6.06646875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8492541539998 meters 0.01880935888853333 Centerline is valid? [True, True] Translation: X:873.93, Y:32.32, Z:6.06 [[ 8.25381561e-01 -5.64508832e-01 -8.66355259e-03 8.73929512e+02] [ 5.64480281e-01 8.25427004e-01 -5.68100032e-03 3.23238246e+01] [ 1.03581051e-02 -2.01411689e-04 9.99946333e-01 6.06331466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8792541539999 meters 0.018879658929088185 Centerline is valid? [True, True] Translation: X:873.95, Y:32.34, Z:6.06 [[ 8.25267819e-01 -5.64676987e-01 -8.53968163e-03 8.73950883e+02] [ 5.64649225e-01 8.25311978e-01 -5.60288396e-03 3.23400715e+01] [ 1.02117212e-02 -1.98044785e-04 9.99947839e-01 6.06331785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9092541539999 meters 0.020347501177896476 Centerline is valid? [True, True] Translation: X:873.97, Y:32.36, Z:6.06 [[ 8.25386894e-01 -5.64503446e-01 -8.50502298e-03 8.73973089e+02] [ 5.64475871e-01 8.25430689e-01 -5.58285440e-03 3.23578224e+01] [ 1.01718475e-02 -1.92865403e-04 9.99948247e-01 6.06255045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9392541539999 meters 0.017351037052943028 Centerline is valid? [True, True] Translation: X:873.99, Y:32.38, Z:6.06 [[ 8.26214985e-01 -5.63288776e-01 -8.63446677e-03 8.73994576e+02] [ 5.63260254e-01 8.26260082e-01 -5.67122140e-03 3.23775828e+01] [ 1.03288506e-02 -1.77803844e-04 9.99946640e-01 6.06398709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9692541539998 meters 0.016064895585907516 Centerline is valid? [True, True] Translation: X:874.02, Y:32.39, Z:6.06 [[ 8.26839439e-01 -5.62370526e-01 -8.71400579e-03 8.74016515e+02] [ 5.62341399e-01 8.26885339e-01 -5.72591295e-03 3.23945329e+01] [ 1.04255683e-02 -1.65835556e-04 9.99945639e-01 6.06479846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9992541539999 meters 0.017509135309591313 Centerline is valid? [True, True] Translation: X:874.04, Y:32.41, Z:6.06 [[ 8.27360087e-01 -5.61594148e-01 -9.34346180e-03 8.74039383e+02] [ 5.61560589e-01 8.27412827e-01 -6.14155988e-03 3.24124674e+01] [ 1.11799642e-02 -1.65638399e-04 9.99937489e-01 6.06320612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0292541539999 meters 0.017982222424563557 Centerline is valid? [True, True] Translation: X:874.06, Y:32.43, Z:6.06 [[ 8.28916692e-01 -5.59281893e-01 -1.00439898e-02 8.74061164e+02] [ 5.59242911e-01 8.28977529e-01 -6.60475013e-03 3.24306948e+01] [ 1.20201590e-02 -1.42242433e-04 9.99927745e-01 6.06256361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0592541539999 meters 0.016093216756685978 Centerline is valid? [True, True] Translation: X:874.08, Y:32.45, Z:6.06 [[ 8.29485093e-01 -5.58451740e-01 -9.28088322e-03 8.74083694e+02] [ 5.58418383e-01 8.29537004e-01 -6.10485731e-03 3.24489723e+01] [ 1.11081042e-02 -1.18727662e-04 9.99938296e-01 6.06406142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0892541539998 meters 0.01723592086425018 Centerline is valid? [True, True] Translation: X:874.11, Y:32.47, Z:6.06 [[ 8.30419290e-01 -5.57063607e-01 -9.16190375e-03 8.74105233e+02] [ 5.57030989e-01 8.30469824e-01 -6.02905658e-03 3.24662742e+01] [ 1.09672526e-02 -9.68194146e-05 9.99939853e-01 6.06319285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1192541539999 meters 0.015621716081030716 Centerline is valid? [True, True] Translation: X:874.13, Y:32.48, Z:6.06 [[ 8.30693143e-01 -5.56653778e-01 -9.24515288e-03 8.74127648e+02] [ 5.56620515e-01 8.30744583e-01 -6.08601051e-03 3.24839164e+01] [ 1.10681614e-02 -9.04345587e-05 9.99938742e-01 6.06468318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1492541539999 meters 0.013242644144067572 Centerline is valid? [True, True] Translation: X:874.15, Y:32.50, Z:6.07 [[ 8.31161748e-01 -5.55963502e-01 -8.64482864e-03 8.74150612e+02] [ 5.55934354e-01 8.31206701e-01 -5.69343428e-03 3.24999684e+01] [ 1.03509811e-02 -7.37924373e-05 9.99946424e-01 6.06702815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1792541539999 meters 0.017672438463216533 Centerline is valid? [True, True] Translation: X:874.17, Y:32.52, Z:6.06 [[ 8.30842024e-01 -5.56419255e-01 -9.95706434e-03 8.74173509e+02] [ 5.56380591e-01 8.30901682e-01 -6.55997823e-03 3.25174918e+01] [ 1.19234397e-02 -8.96117535e-05 9.99928909e-01 6.06323536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2092541539998 meters 0.012984151085543082 Centerline is valid? [True, True] Translation: X:874.20, Y:32.53, Z:6.07 [[ 8.30510914e-01 -5.56940745e-01 -8.28421472e-03 8.74196511e+02] [ 5.56913980e-01 8.30552226e-01 -5.46061114e-03 3.25342170e+01] [ 9.92170982e-03 -7.84978447e-05 9.99950776e-01 6.06828143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2392541539999 meters 0.016669326004702802 Centerline is valid? [True, True] Translation: X:874.22, Y:32.55, Z:6.07 [[ 8.29928686e-01 -5.57796205e-01 -9.04262611e-03 8.74219603e+02] [ 5.57764332e-01 8.29977942e-01 -5.96365531e-03 3.25496150e+01] [ 1.08316845e-02 -9.42457032e-05 9.99941331e-01 6.06527407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2692541539999 meters 0.01715088668281503 Centerline is valid? [True, True] Translation: X:874.24, Y:32.57, Z:6.07 [[ 8.28932355e-01 -5.59280177e-01 -8.76549674e-03 8.74243465e+02] [ 5.59250291e-01 8.28978692e-01 -5.78273750e-03 3.25662437e+01] [ 1.05005805e-02 -1.08608387e-04 9.99944861e-01 6.06526538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2992541539999 meters 0.014420130197004385 Centerline is valid? [True, True] Translation: X:874.27, Y:32.58, Z:6.07 [[ 8.28647817e-01 -5.59709168e-01 -8.27301321e-03 8.74266412e+02] [ 5.59682537e-01 8.28689107e-01 -5.46092373e-03 3.25814694e+01] [ 9.91228501e-03 -1.05078487e-04 9.99950867e-01 6.06727052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3292541539998 meters 0.015503567092742459 Centerline is valid? [True, True] Translation: X:874.29, Y:32.60, Z:6.07 [[ 8.27924141e-01 -5.60774501e-01 -8.57763797e-03 8.74290716e+02] [ 5.60745893e-01 8.27968565e-01 -5.66557758e-03 3.25974329e+01] [ 1.02791260e-02 -1.19206812e-04 9.99947161e-01 6.06610714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3592541539999 meters 0.020050866158773342 Centerline is valid? [True, True] Translation: X:874.31, Y:32.61, Z:6.06 [[ 8.27603218e-01 -5.61228721e-01 -9.75886002e-03 8.74314606e+02] [ 5.61191688e-01 8.27660741e-01 -6.44873084e-03 3.26116966e+01] [ 1.16962383e-02 -1.39600729e-04 9.99931587e-01 6.06328146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3892541539999 meters 0.013738451686069594 Centerline is valid? [True, True] Translation: X:874.34, Y:32.63, Z:6.07 [[ 8.27586836e-01 -5.61273593e-01 -8.48420494e-03 8.74337529e+02] [ 5.61245587e-01 8.27630315e-01 -5.60818946e-03 3.26285594e+01] [ 1.01695139e-02 -1.20458807e-04 9.99948282e-01 6.06773493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4192541539999 meters 0.014603326485899022 Centerline is valid? [True, True] Translation: X:874.36, Y:32.65, Z:6.07 [[ 8.27430366e-01 -5.61501574e-01 -8.65864196e-03 8.74359958e+02] [ 5.61472379e-01 8.27475660e-01 -5.72711943e-03 3.26452352e+01] [ 1.03806020e-02 -1.22795783e-04 9.99946113e-01 6.06694244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4492541539998 meters 0.018177719534448855 Centerline is valid? [True, True] Translation: X:874.38, Y:32.66, Z:6.06 [[ 8.27152056e-01 -5.61895343e-01 -9.64880318e-03 8.74382646e+02] [ 5.61859066e-01 8.27208320e-01 -6.38641175e-03 3.26612774e+01] [ 1.15700653e-02 -1.38733929e-04 9.99933055e-01 6.06451012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4792541539999 meters 0.018177719534448855 Centerline is valid? [True, True] Translation: X:874.41, Y:32.68, Z:6.06 [[ 8.26986083e-01 -5.62139623e-01 -9.64691637e-03 8.74405582e+02] [ 5.62103329e-01 8.27042336e-01 -6.38926094e-03 3.26765361e+01] [ 1.15700650e-02 -1.38733926e-04 9.99933055e-01 6.06470056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5092541539999 meters 0.01614371115708189 Centerline is valid? [True, True] Translation: X:874.43, Y:32.69, Z:6.07 [[ 8.26717638e-01 -5.62544982e-01 -9.00500646e-03 8.74427823e+02] [ 5.62513350e-01 8.26766670e-01 -5.96700251e-03 3.26913292e+01] [ 1.08017465e-02 -1.32410134e-04 9.99941651e-01 6.06563069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5392541539999 meters 0.019136084696491515 Centerline is valid? [True, True] Translation: X:874.45, Y:32.71, Z:6.06 [[ 8.26216260e-01 -5.63277549e-01 -9.22473894e-03 8.74452023e+02] [ 5.63244374e-01 8.26267743e-01 -6.11495555e-03 3.27069057e+01] [ 1.10665214e-02 -1.43506607e-04 9.99938754e-01 6.06452800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5692541539999 meters 0.01795479773194662 Centerline is valid? [True, True] Translation: X:874.48, Y:32.72, Z:6.07 [[ 8.25017240e-01 -5.65041833e-01 -8.61865959e-03 8.74475609e+02] [ 5.65012944e-01 8.25062242e-01 -5.71571996e-03 3.27213035e+01] [ 1.03405515e-02 -1.54086729e-04 9.99946523e-01 6.06550129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5992541539998 meters 0.01636074627865679 Centerline is valid? [True, True] Translation: X:874.50, Y:32.74, Z:6.07 [[ 8.24339058e-01 -5.66037697e-01 -8.15125008e-03 8.74500118e+02] [ 5.66011887e-01 8.24379343e-01 -5.40765594e-03 3.27369392e+01] [ 9.78065930e-03 -1.55962427e-04 9.99952156e-01 6.06682349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6292541539999 meters 0.018249549624575288 Centerline is valid? [True, True] Translation: X:874.52, Y:32.75, Z:6.07 [[ 8.23518482e-01 -5.67222699e-01 -8.70171093e-03 8.74523603e+02] [ 5.67193317e-01 8.23564434e-01 -5.77611133e-03 3.27531238e+01] [ 1.04427611e-02 -1.78817856e-04 9.99945457e-01 6.06556006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6592541539999 meters 0.014699599840965284 Centerline is valid? [True, True] Translation: X:874.55, Y:32.77, Z:6.07 [[ 8.23388235e-01 -5.67430206e-01 -7.40102189e-03 8.74546139e+02] [ 5.67408940e-01 8.23421483e-01 -4.91496220e-03 3.27677924e+01] [ 8.88305843e-03 -1.52483929e-04 9.99960533e-01 6.06955312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6892541539999 meters 0.015883576888697147 Centerline is valid? [True, True] Translation: X:874.57, Y:32.78, Z:6.07 [[ 8.22943530e-01 -5.68073529e-01 -7.51079402e-03 8.74569689e+02] [ 5.68051633e-01 8.22977788e-01 -4.99015119e-03 3.27847930e+01] [ 9.01598945e-03 -1.59906169e-04 9.99959342e-01 6.06823341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7192541539998 meters 0.016370931385550746 Centerline is valid? [True, True] Translation: X:874.59, Y:32.80, Z:6.07 [[ 8.22806156e-01 -5.68272068e-01 -7.54226362e-03 8.74593283e+02] [ 5.68249971e-01 8.22840708e-01 -5.01394543e-03 3.28007279e+01] [ 9.05536667e-03 -1.60385917e-04 9.99958986e-01 6.06806494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7492541539999 meters 0.01855255038694896 Centerline is valid? [True, True] Translation: X:874.62, Y:32.81, Z:6.07 [[ 8.23061852e-01 -5.67891985e-01 -8.23894544e-03 8.74617533e+02] [ 5.67865569e-01 8.23103071e-01 -5.48006581e-03 3.28148680e+01] [ 9.89358674e-03 -1.68180316e-04 9.99951043e-01 6.06717247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7792541539999 meters 0.016619079896854707 Centerline is valid? [True, True] Translation: X:874.64, Y:32.83, Z:6.07 [[ 8.23742709e-01 -5.66909470e-01 -7.84865954e-03 8.74639945e+02] [ 5.66885439e-01 8.23780086e-01 -5.22194141e-03 3.28326226e+01] [ 9.42593748e-03 -1.47754639e-04 9.99955564e-01 6.06844398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8092541539999 meters 0.017736694669726563 Centerline is valid? [True, True] Translation: X:874.66, Y:32.85, Z:6.07 [[ 8.24008314e-01 -5.66520604e-01 -8.04388734e-03 8.74662660e+02] [ 5.66495314e-01 8.24047562e-01 -5.35493190e-03 3.28493795e+01] [ 9.66222500e-03 -1.44316081e-04 9.99953309e-01 6.06787526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8392541539998 meters 0.017590334652483403 Centerline is valid? [True, True] Translation: X:874.69, Y:32.87, Z:6.07 [[ 8.24754420e-01 -5.65431019e-01 -8.24072249e-03 8.74685323e+02] [ 5.65404388e-01 8.24795578e-01 -5.48935788e-03 3.28666829e+01] [ 9.90076469e-03 -1.31968478e-04 9.99950978e-01 6.06812784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8692541539999 meters 0.015697191924262072 Centerline is valid? [True, True] Translation: X:874.71, Y:32.88, Z:6.07 [[ 8.24991853e-01 -5.65094348e-01 -7.53789716e-03 8.74707864e+02] [ 5.65072028e-01 8.25026281e-01 -5.02387783e-03 3.28826176e+01] [ 9.05792823e-03 -1.14796554e-04 9.99958970e-01 6.06951314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8992541539999 meters 0.01780740276347909 Centerline is valid? [True, True] Translation: X:874.73, Y:32.90, Z:6.07 [[ 8.25599431e-01 -5.64191659e-01 -8.56455941e-03 8.74731055e+02] [ 5.64162756e-01 8.25643845e-01 -5.71193640e-03 3.28997396e+01] [ 1.02939026e-02 -1.16033998e-04 9.99947010e-01 6.06779262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9292541539999 meters 0.01647208368633885 Centerline is valid? [True, True] Translation: X:874.75, Y:32.92, Z:6.07 [[ 8.26211473e-01 -5.63295585e-01 -8.52562461e-03 8.74754048e+02] [ 5.63266871e-01 8.26255453e-01 -5.68845741e-03 3.29156720e+01] [ 1.02486268e-02 -1.02333128e-04 9.99947476e-01 6.06833124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9592541539998 meters 0.013553696901688072 Centerline is valid? [True, True] Translation: X:874.78, Y:32.93, Z:6.07 [[ 8.27072631e-01 -5.62040228e-01 -7.85139307e-03 8.74777568e+02] [ 5.62015810e-01 8.27109893e-01 -5.23956421e-03 3.29311364e+01] [ 9.43881075e-03 -7.91068783e-05 9.99955450e-01 6.07121025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9892541539999 meters 0.015629576276991606 Centerline is valid? [True, True] Translation: X:874.80, Y:32.95, Z:6.07 [[ 8.28006142e-01 -5.60653005e-01 -8.60443383e-03 8.74800134e+02] [ 5.60623585e-01 8.28050846e-01 -5.74396044e-03 3.29490927e+01] [ 1.03452774e-02 -6.78140200e-05 9.99946484e-01 6.06866479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0192541539999 meters 0.01470553620484705 Centerline is valid? [True, True] Translation: X:874.82, Y:32.97, Z:6.07 [[ 8.28415213e-01 -5.60054498e-01 -8.19717112e-03 8.74823109e+02] [ 5.60027738e-01 8.28455766e-01 -5.47513498e-03 3.29656254e+01] [ 9.85736766e-03 -5.49580853e-05 9.99951413e-01 6.06952944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0492541539999 meters 0.016096073530964535 Centerline is valid? [True, True] Translation: X:874.85, Y:32.98, Z:6.07 [[ 8.29427881e-01 -5.58552250e-01 -8.29305134e-03 8.74845546e+02] [ 5.58524756e-01 8.29469338e-01 -5.54198051e-03 3.29829499e+01] [ 9.97431749e-03 -3.52013288e-05 9.99950255e-01 6.06808859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0792541539998 meters 0.015191949412292979 Centerline is valid? [True, True] Translation: X:874.87, Y:33.00, Z:6.07 [[ 8.29936008e-01 -5.57800686e-01 -8.03849401e-03 8.74868354e+02] [ 5.57774803e-01 8.29974936e-01 -5.37356469e-03 3.29992838e+01] [ 9.66912662e-03 -2.39545798e-05 9.99953253e-01 6.06901280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1092541539999 meters 0.01613366325731288 Centerline is valid? [True, True] Translation: X:874.89, Y:33.02, Z:6.07 [[ 8.30602945e-01 -5.56800542e-01 -8.47961538e-03 8.74890636e+02] [ 5.56771657e-01 8.30646228e-01 -5.67151343e-03 3.30152535e+01] [ 1.02014623e-02 -1.04337445e-05 9.99947964e-01 6.06812709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1392541539999 meters 0.012916089417559177 Centerline is valid? [True, True] Translation: X:874.91, Y:33.03, Z:6.07 [[ 8.30568301e-01 -5.56856270e-01 -8.20925622e-03 8.74914544e+02] [ 5.56829180e-01 8.30608869e-01 -5.49272142e-03 3.30307034e+01] [ 9.87733739e-03 -9.07312057e-06 9.99951218e-01 6.07146285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1692541539999 meters 0.01568656910035144 Centerline is valid? [True, True] Translation: X:874.94, Y:33.04, Z:6.07 [[ 8.29178449e-01 -5.58909146e-01 -9.14691745e-03 8.74938499e+02] [ 5.58875605e-01 8.29228898e-01 -6.12318886e-03 3.30445557e+01] [ 1.10071945e-02 -3.47727798e-05 9.99939418e-01 6.06819931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1992541539998 meters 0.016670482411457896 Centerline is valid? [True, True] Translation: X:874.96, Y:33.06, Z:6.07 [[ 8.27879066e-01 -5.60820812e-01 -9.81166916e-03 8.74962305e+02] [ 5.60782336e-01 8.27937204e-01 -6.56949233e-03 3.30582728e+01] [ 1.18077539e-02 -6.34655795e-05 9.99930284e-01 6.06763662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2292541539999 meters 0.013795850951487588 Centerline is valid? [True, True] Translation: X:874.99, Y:33.07, Z:6.07 [[ 8.25176320e-01 -5.64805321e-01 -8.88767258e-03 8.74988526e+02] [ 5.64773963e-01 8.25224174e-01 -5.95258956e-03 3.30706638e+01] [ 1.06963765e-02 -1.07590112e-04 9.99942786e-01 6.07164108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2592541539999 meters 0.01404252702872614 Centerline is valid? [True, True] Translation: X:875.01, Y:33.09, Z:6.07 [[ 8.23541469e-01 -5.67189694e-01 -8.67748095e-03 8.75013046e+02] [ 5.67159902e-01 8.23587174e-01 -5.81485895e-03 3.30852515e+01] [ 1.04447901e-02 -1.32741761e-04 9.99945443e-01 6.07210131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2892541539999 meters 0.01647010209785221 Centerline is valid? [True, True] Translation: X:875.04, Y:33.10, Z:6.07 [[ 8.20508127e-01 -5.71561864e-01 -9.13503626e-03 8.75038151e+02] [ 5.71529079e-01 8.20558954e-01 -6.12491378e-03 3.30995367e+01] [ 1.09966029e-02 -1.95397326e-04 9.99939516e-01 6.07014820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3192541539999 meters 0.01857260996825274 Centerline is valid? [True, True] Translation: X:875.06, Y:33.11, Z:6.07 [[ 8.19087755e-01 -5.73588410e-01 -9.57004561e-03 8.75063371e+02] [ 5.73552524e-01 8.19143628e-01 -6.42023880e-03 3.31144544e+01] [ 1.15218164e-02 -2.30184822e-04 9.99933595e-01 6.06908335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3492541539998 meters 0.017580144428335654 Centerline is valid? [True, True] Translation: X:875.09, Y:33.13, Z:6.07 [[ 8.16745701e-01 -5.76921463e-01 -9.38538547e-03 8.75088285e+02] [ 5.76887129e-01 8.16799579e-01 -6.29982063e-03 3.31294725e+01] [ 1.13004806e-02 -2.68956664e-04 9.99936111e-01 6.07005126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3792541539999 meters 0.01596182784159558 Centerline is valid? [True, True] Translation: X:875.11, Y:33.14, Z:6.07 [[ 8.16010685e-01 -5.77970405e-01 -8.76205719e-03 8.75112320e+02] [ 5.77940514e-01 8.16057683e-01 -5.88385707e-03 3.31434146e+01] [ 1.05510393e-02 -2.62657602e-04 9.99944302e-01 6.07266360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4092541539999 meters 0.016054320050589852 Centerline is valid? [True, True] Translation: X:875.14, Y:33.16, Z:6.07 [[ 8.15023334e-01 -5.79358730e-01 -8.96818143e-03 8.75136663e+02] [ 5.79327478e-01 8.15072623e-01 -6.02426613e-03 3.31591454e+01] [ 1.07999303e-02 -2.85596475e-04 9.99941638e-01 6.07253514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4392541539999 meters 0.02109191776668539 Centerline is valid? [True, True] Translation: X:875.16, Y:33.17, Z:6.07 [[ 8.14799970e-01 -5.79646493e-01 -1.05334334e-02 8.75160573e+02] [ 5.79603364e-01 8.14867983e-01 -7.07887085e-03 3.31732449e+01] [ 1.26866003e-02 -3.37349688e-04 9.99919465e-01 6.06799759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4692541539998 meters 0.019593845727208625 Centerline is valid? [True, True] Translation: X:875.18, Y:33.19, Z:6.07 [[ 8.14877540e-01 -5.79545552e-01 -1.00770734e-02 8.75183505e+02] [ 5.79506044e-01 8.14939784e-01 -6.77448383e-03 3.31903647e+01] [ 1.21383300e-02 -3.19350213e-04 9.99926277e-01 6.06906599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4992541539999 meters 0.017698007828777222 Centerline is valid? [True, True] Translation: X:875.21, Y:33.21, Z:6.07 [[ 8.14965090e-01 -5.79439402e-01 -9.04880321e-03 8.75206651e+02] [ 5.79407505e-01 8.15015276e-01 -6.08630599e-03 3.32084100e+01] [ 1.09015583e-02 -2.82817582e-04 9.99940536e-01 6.07085367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5292541539999 meters 0.01848949507063504 Centerline is valid? [True, True] Translation: X:875.23, Y:33.22, Z:6.07 [[ 8.14426144e-01 -5.80205660e-01 -8.45269579e-03 8.75229999e+02] [ 5.80177838e-01 8.14469962e-01 -5.68833631e-03 3.32247318e+01] [ 1.01848717e-02 -2.71336962e-04 9.99948096e-01 6.07115843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5592541539999 meters 0.019548255905231002 Centerline is valid? [True, True] Translation: X:875.25, Y:33.24, Z:6.07 [[ 8.14016733e-01 -5.80779243e-01 -8.49870620e-03 8.75253602e+02] [ 5.80751124e-01 8.14061050e-01 -5.72179704e-03 3.32391619e+01] [ 1.02415666e-02 -2.77994638e-04 9.99947515e-01 6.07111960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5892541539998 meters 0.021257751673007804 Centerline is valid? [True, True] Translation: X:875.28, Y:33.26, Z:6.07 [[ 8.13432932e-01 -5.81594521e-01 -8.64165596e-03 8.75277113e+02] [ 5.81565475e-01 8.13478781e-01 -5.81986253e-03 3.32564237e+01] [ 1.04146039e-02 -2.91620908e-04 9.99945724e-01 6.06982093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6192541539999 meters 0.018496413288578654 Centerline is valid? [True, True] Translation: X:875.30, Y:33.27, Z:6.07 [[ 8.13152417e-01 -5.81995311e-01 -8.03777252e-03 8.75299965e+02] [ 5.81970173e-01 8.13192095e-01 -5.41607464e-03 3.32723092e+01] [ 9.68838312e-03 -2.73649681e-04 9.99953029e-01 6.07216833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6492541539999 meters 0.02026254331154517 Centerline is valid? [True, True] Translation: X:875.32, Y:33.29, Z:6.07 [[ 8.13023026e-01 -5.82162399e-01 -8.97214155e-03 8.75322359e+02] [ 5.82131045e-01 8.13072474e-01 -6.04968771e-03 3.32887967e+01] [ 1.08169020e-02 -3.04426723e-04 9.99941449e-01 6.07006402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6792541539999 meters 0.019263706019625695 Centerline is valid? [True, True] Translation: X:875.34, Y:33.31, Z:6.07 [[ 8.13679526e-01 -5.81241567e-01 -9.15799407e-03 8.75344652e+02] [ 5.81208810e-01 8.13731008e-01 -6.17788561e-03 3.33059854e+01] [ 1.10429877e-02 -2.95887796e-04 9.99938981e-01 6.07037716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7092541539998 meters 0.0183227814837059 Centerline is valid? [True, True] Translation: X:875.37, Y:33.32, Z:6.07 [[ 8.14194770e-01 -5.80525896e-01 -8.74990025e-03 8.75367581e+02] [ 5.80495940e-01 8.14241739e-01 -5.90368081e-03 3.33222581e+01] [ 1.05517736e-02 -2.72535537e-04 9.99944291e-01 6.07173318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7392541539999 meters 0.01941758678052863 Centerline is valid? [True, True] Translation: X:875.39, Y:33.34, Z:6.07 [[ 8.14610647e-01 -5.79933583e-01 -9.30232029e-03 8.75391088e+02] [ 5.79899664e-01 8.14663710e-01 -6.27844889e-03 3.33393713e+01] [ 1.12193461e-02 -2.79921093e-04 9.99937022e-01 6.07079231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7692541539999 meters 0.019260512185829654 Centerline is valid? [True, True] Translation: X:875.41, Y:33.36, Z:6.07 [[ 8.15888107e-01 -5.78131666e-01 -9.50653607e-03 8.75413241e+02] [ 5.78096079e-01 8.15943448e-01 -6.41970940e-03 3.33579329e+01] [ 1.14682331e-02 -2.57926677e-04 9.99934204e-01 6.07125449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7992541539999 meters 0.017859280513721966 Centerline is valid? [True, True] Translation: X:875.44, Y:33.37, Z:6.07 [[ 8.16356470e-01 -5.77483299e-01 -8.66910174e-03 8.75436910e+02] [ 5.77453639e-01 8.16402467e-01 -5.85710685e-03 3.33748358e+01] [ 1.04598574e-02 -2.24517279e-04 9.99945269e-01 6.07252100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8292541539998 meters 0.016410210723429502 Centerline is valid? [True, True] Translation: X:875.46, Y:33.39, Z:6.07 [[ 8.17098373e-01 -5.76439423e-01 -8.23650535e-03 8.75459235e+02] [ 5.76412574e-01 8.17139861e-01 -5.56708379e-03 3.33915792e+01] [ 9.93946341e-03 -1.98770135e-04 9.99950583e-01 6.07462775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8592541539999 meters 0.01905759530344489 Centerline is valid? [True, True] Translation: X:875.48, Y:33.41, Z:6.07 [[ 8.16930032e-01 -5.76663021e-01 -9.22400268e-03 8.75481625e+02] [ 5.76629338e-01 8.16982074e-01 -6.23673861e-03 3.34084465e+01] [ 1.11323414e-02 -2.23851491e-04 9.99938009e-01 6.07178489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8892541539999 meters 0.01769925887390043 Centerline is valid? [True, True] Translation: X:875.50, Y:33.43, Z:6.07 [[ 8.16713073e-01 -5.76966863e-01 -9.43372731e-03 8.75503136e+02] [ 5.76931606e-01 8.16767523e-01 -6.38246590e-03 3.34267166e+01] [ 1.13876334e-02 -2.29972100e-04 9.99935132e-01 6.07259413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9192541539999 meters 0.019251204735059927 Centerline is valid? [True, True] Translation: X:875.53, Y:33.44, Z:6.07 [[ 8.16559289e-01 -5.77185598e-01 -9.36552288e-03 8.75527200e+02] [ 5.77150828e-01 8.16612964e-01 -6.33942630e-03 3.34401835e+01] [ 1.13070330e-02 -2.28801853e-04 9.99936047e-01 6.07178121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9492541539998 meters 0.01807623200411224 Centerline is valid? [True, True] Translation: X:875.55, Y:33.46, Z:6.07 [[ 8.15708062e-01 -5.78388743e-01 -9.31772281e-03 8.75548622e+02] [ 5.78354388e-01 8.15761242e-01 -6.30860307e-03 3.34590534e+01] [ 1.12498621e-02 -2.42967494e-04 9.99936689e-01 6.07309287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9792541539999 meters 0.018086702152387082 Centerline is valid? [True, True] Translation: X:875.57, Y:33.47, Z:6.07 [[ 8.14884060e-01 -5.79552563e-01 -9.09919935e-03 8.75572292e+02] [ 5.79519860e-01 8.14934822e-01 -6.16183702e-03 3.34744180e+01] [ 1.09863628e-02 -2.51983964e-04 9.99939616e-01 6.07377338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0092541539999 meters 0.020126888236188446 Centerline is valid? [True, True] Translation: X:875.60, Y:33.49, Z:6.07 [[ 8.12652563e-01 -5.82664454e-01 -9.89679612e-03 8.75597814e+02] [ 5.82625971e-01 8.12712762e-01 -6.70409427e-03 3.34903146e+01] [ 1.19494899e-02 -3.18031060e-04 9.99928552e-01 6.07335217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0392541539999 meters 0.017648100506951255 Centerline is valid? [True, True] Translation: X:875.62, Y:33.50, Z:6.08 [[ 8.11367848e-01 -5.84472829e-01 -8.58647206e-03 8.75622000e+02] [ 5.84443942e-01 8.11413227e-01 -5.81842685e-03 3.35037931e+01] [ 1.03678894e-02 -2.97427107e-04 9.99946208e-01 6.07754869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0692541539999 meters 0.019749010641453953 Centerline is valid? [True, True] Translation: X:875.65, Y:33.52, Z:6.08 [[ 8.07869561e-01 -5.89286476e-01 -9.39261723e-03 8.75647311e+02] [ 5.89252221e-01 8.07924065e-01 -6.36586730e-03 3.35170145e+01] [ 1.13398410e-02 -3.91830150e-04 9.99935625e-01 6.07767062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0992541539998 meters 0.02244789296048501 Centerline is valid? [True, True] Translation: X:875.67, Y:33.53, Z:6.07 [[ 8.05878384e-01 -5.91978310e-01 -1.10322433e-02 8.75671573e+02] [ 5.91931286e-01 8.05953737e-01 -7.47836937e-03 3.35335111e+01] [ 1.33185102e-02 -5.03673739e-04 9.99911178e-01 6.07460708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1292541539999 meters 0.023027580095386534 Centerline is valid? [True, True] Translation: X:875.70, Y:33.55, Z:6.07 [[ 8.02528517e-01 -5.96501626e-01 -1.15667753e-02 8.75695978e+02] [ 5.96450370e-01 8.02611640e-01 -7.84289786e-03 3.35505475e+01] [ 1.39619298e-02 -6.04858198e-04 9.99902345e-01 6.07497623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1592541539999 meters 0.022239883036086903 Centerline is valid? [True, True] Translation: X:875.72, Y:33.56, Z:6.08 [[ 8.01473138e-01 -5.97935512e-01 -1.06738865e-02 8.75719253e+02] [ 5.97891964e-01 8.01544002e-01 -7.23962141e-03 3.35649469e+01] [ 1.28844165e-02 -5.79468894e-04 9.99916825e-01 6.07777002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1892541539999 meters 0.026378192168832307 Centerline is valid? [True, True] Translation: X:875.74, Y:33.58, Z:6.08 [[ 7.99650345e-01 -6.00339311e-01 -1.23303408e-02 8.75744081e+02] [ 6.00281454e-01 7.99745087e-01 -8.36489067e-03 3.35793476e+01] [ 1.48829022e-02 -7.12687206e-04 9.99888989e-01 6.07535051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2192541539998 meters 0.024614374319660695 Centerline is valid? [True, True] Translation: X:875.76, Y:33.60, Z:6.08 [[ 7.99392561e-01 -6.00670608e-01 -1.28978317e-02 8.75764761e+02] [ 6.00607296e-01 7.99496253e-01 -8.75314753e-03 3.35996461e+01] [ 1.55695266e-02 -7.49330816e-04 9.99878507e-01 6.07646254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2492541539999 meters 0.025967665682890256 Centerline is valid? [True, True] Translation: X:875.79, Y:33.62, Z:6.08 [[ 7.99728116e-01 -6.00205113e-01 -1.37390953e-02 8.75787446e+02] [ 6.00133141e-01 7.99845738e-01 -9.32782353e-03 3.36164236e+01] [ 1.65877642e-02 -7.85563679e-04 9.99862105e-01 6.07587448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2792541539999 meters 0.023506266315628303 Centerline is valid? [True, True] Translation: X:875.81, Y:33.64, Z:6.08 [[ 8.00415256e-01 -5.99293954e-01 -1.34972045e-02 8.75809224e+02] [ 5.99224301e-01 8.00528696e-01 -9.16751028e-03 3.36360748e+01] [ 1.62989330e-02 -7.50037828e-04 9.99866882e-01 6.07811727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3092541539999 meters 0.02431800888131543 Centerline is valid? [True, True] Translation: X:875.83, Y:33.66, Z:6.08 [[ 8.02050559e-01 -5.97097013e-01 -1.37861225e-02 8.75829199e+02] [ 5.97023971e-01 8.02168711e-01 -9.36682887e-03 3.36562851e+01] [ 1.66517017e-02 -7.17975282e-04 9.99861093e-01 6.07779536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3392541539998 meters 0.024915589585446943 Centerline is valid? [True, True] Translation: X:875.85, Y:33.67, Z:6.08 [[ 8.02908637e-01 -5.95942044e-01 -1.38130531e-02 8.75851022e+02] [ 5.95868516e-01 8.03027147e-01 -9.38683252e-03 3.36742129e+01] [ 1.66862648e-02 -6.93994572e-04 9.99860534e-01 6.07821027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3692541539999 meters 0.024915589585446943 Centerline is valid? [True, True] Translation: X:875.87, Y:33.69, Z:6.08 [[ 8.02741486e-01 -5.96167224e-01 -1.38111717e-02 8.75873777e+02] [ 5.96093682e-01 8.02859987e-01 -9.38960018e-03 3.36897656e+01] [ 1.66862090e-02 -6.95330600e-04 9.99860534e-01 6.07840112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3992541539999 meters 0.020584692351517313 Centerline is valid? [True, True] Translation: X:875.89, Y:33.71, Z:6.08 [[ 8.05080496e-01 -5.93048790e-01 -1.17697401e-02 8.75893822e+02] [ 5.92995013e-01 8.05166347e-01 -8.00429476e-03 3.37115236e+01] [ 1.42235359e-02 -5.35295558e-04 9.99898697e-01 6.08400066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4292541539999 meters 0.022101703110521682 Centerline is valid? [True, True] Translation: X:875.92, Y:33.73, Z:6.08 [[ 8.05766795e-01 -5.92094646e-01 -1.27984905e-02 8.75915385e+02] [ 5.92030888e-01 8.05868237e-01 -8.70705730e-03 3.37304344e+01] [ 1.54692990e-02 -5.61244039e-04 9.99880186e-01 6.08227945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4592541539998 meters 0.022891256343769536 Centerline is valid? [True, True] Translation: X:875.93, Y:33.75, Z:6.08 [[ 8.08025104e-01 -5.88996603e-01 -1.33578681e-02 8.75934637e+02] [ 5.88926679e-01 8.08135341e-01 -9.09047506e-03 3.37537057e+01] [ 1.61492243e-02 -5.21472860e-04 9.99869457e-01 6.08247900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4892541539999 meters 0.021571876833163896 Centerline is valid? [True, True] Translation: X:875.96, Y:33.77, Z:6.08 [[ 8.08970563e-01 -5.87715448e-01 -1.25371394e-02 8.75956300e+02] [ 5.87653679e-01 8.09067572e-01 -8.53332325e-03 3.37711771e+01] [ 1.51585588e-02 -4.64288766e-04 9.99884995e-01 6.08366631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5192541539999 meters 0.023206180039060224 Centerline is valid? [True, True] Translation: X:875.98, Y:33.79, Z:6.08 [[ 8.10218453e-01 -5.85952096e-01 -1.43596524e-02 8.75976166e+02] [ 5.85870716e-01 8.10345544e-01 -9.77773280e-03 3.37939367e+01] [ 1.73655634e-02 -4.90800301e-04 9.99849087e-01 6.08256803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5492541539999 meters 0.020174283712886504 Centerline is valid? [True, True] Translation: X:876.00, Y:33.81, Z:6.09 [[ 8.10789720e-01 -5.85188662e-01 -1.32007454e-02 8.75998381e+02] [ 5.85119742e-01 8.10897059e-01 -8.99143397e-03 3.38103256e+01] [ 1.59661309e-02 -4.33854528e-04 9.99872439e-01 6.08534828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5792541539998 meters 0.01969559870697454 Centerline is valid? [True, True] Translation: X:876.02, Y:33.83, Z:6.09 [[ 8.10157771e-01 -5.86056695e-01 -1.34883836e-02 8.76019541e+02] [ 5.85984801e-01 8.10269918e-01 -9.19093741e-03 3.38300172e+01] [ 1.63156419e-02 -4.57878434e-04 9.99866786e-01 6.08617598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6092541539999 meters 0.021287077272211005 Centerline is valid? [True, True] Translation: X:876.04, Y:33.85, Z:6.09 [[ 8.08205930e-01 -5.88721708e-01 -1.44888066e-02 8.76042463e+02] [ 5.88639110e-01 8.08335606e-01 -9.87655826e-03 3.38490120e+01] [ 1.75263625e-02 -5.46385270e-04 9.99846252e-01 6.08675660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6392541539999 meters 0.022176560690789417 Centerline is valid? [True, True] Translation: X:876.07, Y:33.87, Z:6.09 [[ 8.06848658e-01 -5.90572062e-01 -1.48284532e-02 8.76065436e+02] [ 5.90485776e-01 8.06984686e-01 -1.01126088e-02 3.38665289e+01] [ 1.79385589e-02 -5.96645896e-04 9.99838913e-01 6.08673229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6692541539999 meters 0.02388480351980944 Centerline is valid? [True, True] Translation: X:876.09, Y:33.88, Z:6.09 [[ 8.05365285e-01 -5.92539864e-01 -1.68305069e-02 8.76088251e+02] [ 5.92429057e-01 8.05540803e-01 -1.14816312e-02 3.38839881e+01] [ 2.03609842e-02 -7.23974140e-04 9.99792432e-01 6.08509594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6992541539998 meters 0.024338025111731918 Centerline is valid? [True, True] Translation: X:876.11, Y:33.90, Z:6.08 [[ 8.04944244e-01 -5.93082426e-01 -1.78325328e-02 8.76110972e+02] [ 5.92958115e-01 8.05141371e-01 -1.21674563e-02 3.39001811e+01] [ 2.15740144e-02 -7.79821122e-04 9.99766950e-01 6.08419206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7292541539999 meters 0.022351644138673632 Centerline is valid? [True, True] Translation: X:876.13, Y:33.92, Z:6.09 [[ 8.04756550e-01 -5.93328810e-01 -1.81057399e-02 8.76132522e+02] [ 5.93200591e-01 8.04959808e-01 -1.23598402e-02 3.39180543e+01] [ 2.19078421e-02 -7.93673243e-04 9.99759679e-01 6.08523965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7592541539999 meters 0.020677210840126015 Centerline is valid? [True, True] Translation: X:876.15, Y:33.94, Z:6.09 [[ 8.05175186e-01 -5.92799082e-01 -1.67978588e-02 8.76154840e+02] [ 5.92688515e-01 8.05350068e-01 -1.14713821e-02 3.39352827e+01] [ 2.03283815e-02 -7.19425752e-04 9.99793098e-01 6.08666508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7892541539999 meters 0.02299401681212164 Centerline is valid? [True, True] Translation: X:876.18, Y:33.95, Z:6.09 [[ 8.05023893e-01 -5.92941861e-01 -1.88807030e-02 8.76176755e+02] [ 5.92802074e-01 8.05244867e-01 -1.28998038e-02 3.39548526e+01] [ 2.28524228e-02 -8.07869655e-04 9.99738523e-01 6.08534595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8192541539999 meters 0.022666973906363613 Centerline is valid? [True, True] Translation: X:876.20, Y:33.97, Z:6.09 [[ 8.05238735e-01 -5.92661695e-01 -1.85119897e-02 8.76200035e+02] [ 5.92527091e-01 8.05451121e-01 -1.26545789e-02 3.39724101e+01] [ 2.24103870e-02 -7.78898305e-04 9.99748552e-01 6.08607100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8492541539998 meters 0.02241336905843284 Centerline is valid? [True, True] Translation: X:876.22, Y:33.99, Z:6.09 [[ 8.05734521e-01 -5.92000666e-01 -1.80857269e-02 8.76221899e+02] [ 5.91871944e-01 8.05937134e-01 -1.23668113e-02 3.39902216e+01] [ 2.18971194e-02 -7.40067538e-04 9.99759955e-01 6.08619397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8792541539999 meters 0.02106078766501364 Centerline is valid? [True, True] Translation: X:876.25, Y:34.01, Z:6.09 [[ 8.06125738e-01 -5.91522431e-01 -1.62020941e-02 8.76245149e+02] [ 5.91418945e-01 8.06288282e-01 -1.10831941e-02 3.40069212e+01] [ 1.96195166e-02 -6.47777398e-04 9.99807309e-01 6.08793673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9092541539999 meters 0.021722969555732767 Centerline is valid? [True, True] Translation: X:876.27, Y:34.02, Z:6.09 [[ 8.06111023e-01 -5.91538990e-01 -1.63291515e-02 8.76267200e+02] [ 5.91433801e-01 8.06276131e-01 -1.11740320e-02 3.40230969e+01] [ 1.97756807e-02 -6.50101758e-04 9.99804231e-01 6.08760876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9392541539999 meters 0.02289186706032071 Centerline is valid? [True, True] Translation: X:876.29, Y:34.04, Z:6.09 [[ 8.06962720e-01 -5.90346052e-01 -1.73984774e-02 8.76289184e+02] [ 5.90226247e-01 8.07149990e-01 -1.19109368e-02 3.40419919e+01] [ 2.10747554e-02 -6.57356059e-04 9.99777687e-01 6.08644515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9692541539998 meters 0.019401966173672857 Centerline is valid? [True, True] Translation: X:876.31, Y:34.06, Z:6.09 [[ 8.08268781e-01 -5.88626155e-01 -1.48602455e-02 8.76310641e+02] [ 5.88538421e-01 8.08405206e-01 -1.01759301e-02 3.40612453e+01] [ 1.80029184e-02 -5.20938776e-04 9.99837799e-01 6.08899979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9992541539999 meters 0.02044193506423908 Centerline is valid? [True, True] Translation: X:876.33, Y:34.08, Z:6.09 [[ 8.08879178e-01 -5.87749499e-01 -1.62788716e-02 8.76332805e+02] [ 5.87643947e-01 8.09042785e-01 -1.11518496e-02 3.40801324e+01] [ 1.97247976e-02 -5.45681440e-04 9.99805298e-01 6.08779212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0292541539999 meters 0.019136384436501196 Centerline is valid? [True, True] Translation: X:876.35, Y:34.10, Z:6.09 [[ 8.11096993e-01 -5.84721739e-01 -1.49049057e-02 8.76354942e+02] [ 5.84632651e-01 8.11233816e-01 -1.02156098e-02 3.41000229e+01] [ 1.80646526e-02 -4.28044170e-04 9.99836729e-01 6.08833874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0592541539999 meters 0.020740905738226945 Centerline is valid? [True, True] Translation: X:876.38, Y:34.12, Z:6.09 [[ 8.11621640e-01 -5.83968626e-01 -1.58416538e-02 8.76377547e+02] [ 5.83867733e-01 8.11776113e-01 -1.08633995e-02 3.41180022e+01] [ 1.92037606e-02 -4.32460343e-04 9.99815497e-01 6.08799006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0892541539998 meters 0.01948389951382558 Centerline is valid? [True, True] Translation: X:876.40, Y:34.13, Z:6.09 [[ 8.12759423e-01 -5.82440474e-01 -1.36093403e-02 8.76400451e+02] [ 5.82365722e-01 8.12873287e-01 -9.33725761e-03 3.41348529e+01] [ 1.65010659e-02 -3.36669176e-04 9.99863791e-01 6.08918988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1192541539999 meters 0.016914374243058226 Centerline is valid? [True, True] Translation: X:876.42, Y:34.15, Z:6.09 [[ 8.13243294e-01 -5.81816075e-01 -1.11982117e-02 8.76424064e+02] [ 5.81765356e-01 8.13320346e-01 -7.68673100e-03 3.41517658e+01] [ 1.35799971e-02 -2.63549190e-04 9.99907753e-01 6.09148433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1492541539999 meters 0.01742259951794279 Centerline is valid? [True, True] Translation: X:876.45, Y:34.17, Z:6.09 [[ 8.14172601e-01 -5.80523081e-01 -1.07670068e-02 8.76447376e+02] [ 5.80476044e-01 8.14243759e-01 -7.39342362e-03 3.41673498e+01] [ 1.30590211e-02 -2.30466550e-04 9.99914701e-01 6.09097410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1792541539999 meters 0.018069047203794854 Centerline is valid? [True, True] Translation: X:876.47, Y:34.19, Z:6.09 [[ 8.14475484e-01 -5.80070329e-01 -1.21695782e-02 8.76468127e+02] [ 5.80010136e-01 8.14566358e-01 -8.36010772e-03 3.41858195e+01] [ 1.47623795e-02 -2.49375934e-04 9.99890999e-01 6.09000731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2092541539998 meters 0.016379315479963547 Centerline is valid? [True, True] Translation: X:876.49, Y:34.20, Z:6.09 [[ 8.15487741e-01 -5.78659083e-01 -1.15503233e-02 8.76492051e+02] [ 5.78604656e-01 8.15569508e-01 -7.93914178e-03 3.42011086e+01] [ 1.40141480e-02 -2.08798063e-04 9.99901775e-01 6.08922713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2392541539999 meters 0.01665103310270809 Centerline is valid? [True, True] Translation: X:876.52, Y:34.21, Z:6.09 [[ 8.15662745e-01 -5.78413103e-01 -1.15138300e-02 8.76515976e+02] [ 5.78358955e-01 8.15743980e-01 -7.91688997e-03 3.42148296e+01] [ 1.39715704e-02 -2.01614468e-04 9.99902373e-01 6.08850451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2692541539999 meters 0.019236725153136888 Centerline is valid? [True, True] Translation: X:876.54, Y:34.23, Z:6.09 [[ 8.14930048e-01 -5.79412213e-01 -1.30577358e-02 8.76539098e+02] [ 5.79342642e-01 8.15034617e-01 -8.98197317e-03 3.42318753e+01] [ 1.58467716e-02 -2.45223323e-04 9.99874402e-01 6.08788583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2992541539999 meters 0.016243055564014855 Centerline is valid? [True, True] Translation: X:876.56, Y:34.25, Z:6.09 [[ 8.14713010e-01 -5.79759484e-01 -1.10296226e-02 8.76564218e+02] [ 5.79709829e-01 8.14787639e-01 -7.59060634e-03 3.42468091e+01] [ 1.33875262e-02 -2.09814913e-04 9.99910361e-01 6.08995165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3292541539998 meters 0.02076960133510073 Centerline is valid? [True, True] Translation: X:876.59, Y:34.26, Z:6.09 [[ 8.13643361e-01 -5.81216177e-01 -1.31239191e-02 8.76588239e+02] [ 5.81146008e-01 8.13749151e-01 -9.03535646e-03 3.42611474e+01] [ 1.59310734e-02 -2.75355392e-04 9.99873054e-01 6.08737564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3592541539999 meters 0.020820651133069596 Centerline is valid? [True, True] Translation: X:876.61, Y:34.28, Z:6.09 [[ 8.12881523e-01 -5.82288529e-01 -1.27945130e-02 8.76612752e+02] [ 5.82221920e-01 8.12982157e-01 -8.81185735e-03 3.42771498e+01] [ 1.55327542e-02 -2.86249908e-04 9.99879319e-01 6.08724715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3892541539999 meters 0.018913867340071937 Centerline is valid? [True, True] Translation: X:876.64, Y:34.29, Z:6.09 [[ 8.11483668e-01 -5.84257306e-01 -1.17327287e-02 8.76637853e+02] [ 5.84201441e-01 8.11568429e-01 -8.08470737e-03 3.42918686e+01] [ 1.42454616e-02 -2.93669039e-04 9.99898485e-01 6.08819059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4192541539999 meters 0.020817295482050663 Centerline is valid? [True, True] Translation: X:876.66, Y:34.31, Z:6.09 [[ 8.10574858e-01 -5.85520663e-01 -1.15737937e-02 8.76662117e+02] [ 5.85466384e-01 8.10657423e-01 -7.97842389e-03 3.43062819e+01] [ 1.40539139e-02 -3.08957361e-04 9.99901191e-01 6.08751991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4492541539998 meters 0.021166561642775503 Centerline is valid? [True, True] Translation: X:876.69, Y:34.32, Z:6.09 [[ 8.08866455e-01 -5.87895171e-01 -1.06922937e-02 8.76687573e+02] [ 5.87849031e-01 8.08937058e-01 -7.37243911e-03 3.43178905e+01] [ 1.29836140e-02 -3.22135799e-04 9.99915657e-01 6.08751994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4792541539999 meters 0.022137966026477905 Centerline is valid? [True, True] Translation: X:876.71, Y:34.33, Z:6.09 [[ 8.08134115e-01 -5.88905253e-01 -1.04811311e-02 8.76711842e+02] [ 5.88860972e-01 8.08202013e-01 -7.22923071e-03 3.43335874e+01] [ 1.27282032e-02 -3.29741083e-04 9.99918939e-01 6.08739168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5092541539999 meters 0.01946276771254133 Centerline is valid? [True, True] Translation: X:876.73, Y:34.35, Z:6.09 [[ 8.07668926e-01 -5.89555801e-01 -9.73978062e-03 8.76734237e+02] [ 5.89517570e-01 8.07727590e-01 -6.72123687e-03 3.43516132e+01] [ 1.18296337e-02 -3.13237634e-04 9.99929978e-01 6.08887135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5392541539999 meters 0.022420471139191447 Centerline is valid? [True, True] Translation: X:876.76, Y:34.37, Z:6.09 [[ 8.07282632e-01 -5.90081732e-01 -9.91478039e-03 8.76757869e+02] [ 5.90042110e-01 8.07343449e-01 -6.84570679e-03 3.43679698e+01] [ 1.20441595e-02 -3.23717750e-04 9.99927414e-01 6.08740908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5692541539999 meters 0.020245312961879734 Centerline is valid? [True, True] Translation: X:876.78, Y:34.38, Z:6.09 [[ 8.07570810e-01 -5.89712284e-01 -8.29510631e-03 8.76781988e+02] [ 5.89684509e-01 8.07613368e-01 -5.72949439e-03 3.43812391e+01] [ 1.00779920e-02 -2.64523272e-04 9.99949181e-01 6.08896336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5992541539998 meters 0.017560208911204356 Centerline is valid? [True, True] Translation: X:876.80, Y:34.40, Z:6.09 [[ 8.07427150e-01 -5.89920468e-01 -7.43226531e-03 8.76803960e+02] [ 5.89898168e-01 8.07461321e-01 -5.13493010e-03 3.43992644e+01] [ 9.03046714e-03 -2.38197712e-04 9.99959196e-01 6.09079285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6292541539999 meters 0.01983061564136547 Centerline is valid? [True, True] Translation: X:876.83, Y:34.42, Z:6.09 [[ 8.07158137e-01 -5.90288160e-01 -7.45862704e-03 8.76827101e+02] [ 5.90265687e-01 8.07192561e-01 -5.15634613e-03 3.44156030e+01] [ 9.06427833e-03 -2.40584877e-04 9.99958890e-01 6.08977568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6592541539999 meters 0.02033238290477125 Centerline is valid? [True, True] Translation: X:876.85, Y:34.43, Z:6.09 [[ 8.06600974e-01 -5.91058662e-01 -6.67283696e-03 8.76851343e+02] [ 5.91040683e-01 8.06628545e-01 -4.61541709e-03 3.44297937e+01] [ 8.11048301e-03 -2.21118187e-04 9.99967085e-01 6.09027747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6892541539999 meters 0.021190771498319754 Centerline is valid? [True, True] Translation: X:876.87, Y:34.45, Z:6.09 [[ 8.06179713e-01 -5.91628900e-01 -7.03664716e-03 8.76873039e+02] [ 5.91608918e-01 8.06210387e-01 -4.86836016e-03 3.44483308e+01] [ 8.55328059e-03 -2.38170007e-04 9.99963392e-01 6.08957115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7192541539998 meters 0.018070150104094778 Centerline is valid? [True, True] Translation: X:876.90, Y:34.46, Z:6.09 [[ 8.06363323e-01 -5.91388087e-01 -6.19049553e-03 8.76896250e+02] [ 5.91372600e-01 8.06387058e-01 -4.28492865e-03 3.44630382e+01] [ 7.52599124e-03 -2.05680132e-04 9.99971658e-01 6.09087585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7492541539999 meters 0.020929824848311792 Centerline is valid? [True, True] Translation: X:876.92, Y:34.48, Z:6.09 [[ 8.06926534e-01 -5.90609171e-01 -7.09764365e-03 8.76918912e+02] [ 5.90588769e-01 8.06957716e-01 -4.91423869e-03 3.44801774e+01] [ 8.62989275e-03 -2.26359032e-04 9.99962736e-01 6.08864759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7792541539999 meters 0.018497475435850345 Centerline is valid? [True, True] Translation: X:876.94, Y:34.50, Z:6.09 [[ 8.09000863e-01 -5.87757306e-01 -7.67800927e-03 8.76941577e+02] [ 5.87733275e-01 8.09037270e-01 -5.31903688e-03 3.44988871e+01] [ 9.33809845e-03 -2.09516103e-04 9.99956377e-01 6.08857148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8092541539999 meters 0.020345151345773346 Centerline is valid? [True, True] Translation: X:876.96, Y:34.52, Z:6.09 [[ 8.10117832e-01 -5.86214817e-01 -7.82863128e-03 8.76963955e+02] [ 5.86189735e-01 8.10155634e-01 -5.42615794e-03 3.45170645e+01] [ 9.52330392e-03 -1.93235994e-04 9.99954634e-01 6.08731743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8392541539998 meters 0.020924802740264946 Centerline is valid? [True, True] Translation: X:876.99, Y:34.53, Z:6.09 [[ 8.12194956e-01 -5.83334216e-01 -7.78115325e-03 8.76985604e+02] [ 5.83309283e-01 8.12232213e-01 -5.39562055e-03 3.45341985e+01] [ 9.46755341e-03 -1.56523130e-04 9.99955169e-01 6.08679522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8692541539999 meters 0.01979106814771308 Centerline is valid? [True, True] Translation: X:877.01, Y:34.55, Z:6.09 [[ 8.12777237e-01 -5.82514703e-01 -8.35364858e-03 8.77008365e+02] [ 5.82485904e-01 8.12820150e-01 -5.79437528e-03 3.45519382e+01] [ 1.01653227e-02 -1.56346213e-04 9.99948320e-01 6.08675771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8992541539999 meters 0.01565079913047195 Centerline is valid? [True, True] Translation: X:877.03, Y:34.57, Z:6.09 [[ 8.13172802e-01 -5.81974029e-01 -7.49826951e-03 8.77032450e+02] [ 5.81950780e-01 8.13207361e-01 -5.20359060e-03 3.45682484e+01] [ 9.12600255e-03 -1.32205449e-04 9.99958348e-01 6.08847788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9292541539999 meters 0.017022446624185072 Centerline is valid? [True, True] Translation: X:877.06, Y:34.58, Z:6.09 [[ 8.12990337e-01 -5.82230454e-01 -7.37635488e-03 8.77055762e+02] [ 5.82207941e-01 8.13023789e-01 -5.12178091e-03 3.45841796e+01] [ 8.97920882e-03 -1.30614002e-04 9.99959678e-01 6.08778310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9592541539998 meters 0.019751877527417812 Centerline is valid? [True, True] Translation: X:877.08, Y:34.60, Z:6.09 [[ 8.12462939e-01 -5.82966354e-01 -7.36225525e-03 8.77079240e+02] [ 5.82943933e-01 8.12496284e-01 -5.11463946e-03 3.45991256e+01] [ 8.96346775e-03 -1.36327022e-04 9.99959818e-01 6.08693010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9892541539999 meters 0.01942479043354288 Centerline is valid? [True, True] Translation: X:877.10, Y:34.61, Z:6.09 [[ 8.10695186e-01 -5.85430585e-01 -6.65928090e-03 8.77103612e+02] [ 5.85412315e-01 8.10722523e-01 -4.62732187e-03 3.46141678e+01] [ 8.10780476e-03 -1.47077483e-04 9.99967120e-01 6.08690780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0192541539999 meters 0.02060893032182204 Centerline is valid? [True, True] Translation: X:877.13, Y:34.63, Z:6.09 [[ 8.09221138e-01 -5.87463329e-01 -6.92729850e-03 8.77128580e+02] [ 5.87443614e-01 8.09250769e-01 -4.81595340e-03 3.46276491e+01] [ 8.43511766e-03 -1.72225981e-04 9.99964409e-01 6.08635969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0492541539999 meters 0.020475290586210438 Centerline is valid? [True, True] Translation: X:877.15, Y:34.64, Z:6.09 [[ 8.08620237e-01 -5.88290191e-01 -6.92556920e-03 8.77152438e+02] [ 5.88270508e-01 8.08649874e-01 -4.81575374e-03 3.46417189e+01] [ 8.43342134e-03 -1.79992180e-04 9.99964422e-01 6.08669823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0792541539998 meters 0.018230023978295033 Centerline is valid? [True, True] Translation: X:877.18, Y:34.66, Z:6.09 [[ 8.08029275e-01 -5.89111778e-01 -6.00025811e-03 8.77176711e+02] [ 5.89097017e-01 8.08051537e-01 -4.17341666e-03 3.46567540e+01] [ 7.30712670e-03 -1.62491318e-04 9.99973289e-01 6.08851171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1092541539999 meters 0.01941967404075317 Centerline is valid? [True, True] Translation: X:877.20, Y:34.67, Z:6.09 [[ 8.07604723e-01 -5.89702846e-01 -5.01652448e-03 8.77202091e+02] [ 5.89692530e-01 8.07620291e-01 -3.49070737e-03 3.46715106e+01] [ 6.10992703e-03 -1.39095252e-04 9.99981325e-01 6.08916551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1392541539999 meters 0.017412592856451758 Centerline is valid? [True, True] Translation: X:877.23, Y:34.69, Z:6.09 [[ 8.07688015e-01 -5.89592134e-01 -4.60276911e-03 8.77225303e+02] [ 5.89583440e-01 8.07701120e-01 -3.20427002e-03 3.46867445e+01] [ 5.60687417e-03 -1.25665959e-04 9.99984273e-01 6.09046708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1692541539999 meters 0.017865641956537632 Centerline is valid? [True, True] Translation: X:877.25, Y:34.70, Z:6.09 [[ 8.08755015e-01 -5.88126704e-01 -4.72278164e-03 8.77249534e+02] [ 5.88117514e-01 8.08768796e-01 -3.28995695e-03 3.47033527e+01] [ 5.75454996e-03 -1.16781417e-04 9.99983436e-01 6.08979318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1992541539998 meters 0.019971272913416934 Centerline is valid? [True, True] Translation: X:877.27, Y:34.72, Z:6.09 [[ 8.09597875e-01 -5.86963541e-01 -5.00825796e-03 8.77273148e+02] [ 5.86953173e-01 8.09613358e-01 -3.49063253e-03 3.47203632e+01] [ 6.10362657e-03 -1.13604221e-04 9.99981366e-01 6.08868267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2292541539999 meters 0.019440728311932668 Centerline is valid? [True, True] Translation: X:877.30, Y:34.74, Z:6.09 [[ 8.11381015e-01 -5.84500410e-01 -4.48547366e-03 8.77296799e+02] [ 5.84492048e-01 8.11393409e-01 -3.12769397e-03 3.47372671e+01] [ 5.46762217e-03 -8.39721748e-05 9.99985049e-01 6.08843540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2592541539999 meters 0.01834000896886083 Centerline is valid? [True, True] Translation: X:877.32, Y:34.75, Z:6.09 [[ 8.12157237e-01 -5.83420480e-01 -4.60071504e-03 8.77320652e+02] [ 5.83411655e-01 8.12170264e-01 -3.20983078e-03 3.47543356e+01] [ 5.60924496e-03 -7.72234733e-05 9.99984265e-01 6.08858664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2892541539999 meters 0.01834000896886083 Centerline is valid? [True, True] Translation: X:877.34, Y:34.77, Z:6.09 [[ 8.11989251e-01 -5.83654261e-01 -4.60000551e-03 8.77343183e+02] [ 5.83645434e-01 8.12002277e-01 -3.21084723e-03 3.47701478e+01] [ 5.60923962e-03 -7.75987818e-05 9.99984265e-01 6.08877713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3192541539999 meters 0.018812867983571 Centerline is valid? [True, True] Translation: X:877.37, Y:34.79, Z:6.09 [[ 8.12840831e-01 -5.82465675e-01 -4.84970656e-03 8.77366919e+02] [ 5.82455829e-01 8.12855296e-01 -3.38759601e-03 3.47851616e+01] [ 5.91526806e-03 -7.11634955e-05 9.99982502e-01 6.08849733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3492541539998 meters 0.016937693920760697 Centerline is valid? [True, True] Translation: X:877.39, Y:34.80, Z:6.09 [[ 8.14386858e-01 -5.80295171e-01 -5.61778787e-03 8.77390316e+02] [ 5.80281901e-01 8.14406232e-01 -3.92496217e-03 3.48022009e+01] [ 6.85279805e-03 -6.34630112e-05 9.99976517e-01 6.08804882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3792541539999 meters 0.017279088428207537 Centerline is valid? [True, True] Translation: X:877.41, Y:34.82, Z:6.09 [[ 8.15072318e-01 -5.79326278e-01 -6.17898073e-03 8.77414236e+02] [ 5.79310178e-01 8.15095737e-01 -4.31950432e-03 3.48190862e+01] [ 7.53886321e-03 -5.88380261e-05 9.99971581e-01 6.08771095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4092541539999 meters 0.018343542804603038 Centerline is valid? [True, True] Translation: X:877.44, Y:34.83, Z:6.09 [[ 8.16409821e-01 -5.77442348e-01 -5.94463218e-03 8.77438962e+02] [ 5.77427380e-01 8.16431463e-01 -4.15781674e-03 3.48344180e+01] [ 7.25428421e-03 -3.81109655e-05 9.99973687e-01 6.08745812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4392541539999 meters 0.018800843538856592 Centerline is valid? [True, True] Translation: X:877.46, Y:34.85, Z:6.09 [[ 8.17054992e-01 -5.76522512e-01 -6.55237577e-03 8.77462551e+02] [ 5.76504276e-01 8.17081264e-01 -4.58558945e-03 3.48496585e+01] [ 7.99751903e-03 -3.07939020e-05 9.99968019e-01 6.08767628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4692541539998 meters 0.01845813947306034 Centerline is valid? [True, True] Translation: X:877.49, Y:34.86, Z:6.09 [[ 8.18177221e-01 -5.74932426e-01 -6.22421450e-03 8.77487026e+02] [ 5.74915905e-01 8.18200896e-01 -4.35845252e-03 3.48640371e+01] [ 7.59847356e-03 -1.24133441e-05 9.99971131e-01 6.08790900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4992541539999 meters 0.019163630313274074 Centerline is valid? [True, True] Translation: X:877.51, Y:34.88, Z:6.09 [[ 8.18873579e-01 -5.73938233e-01 -6.40050565e-03 8.77510886e+02] [ 5.73920711e-01 8.18898593e-01 -4.48472297e-03 3.48791417e+01] [ 7.81531904e-03 -9.61602538e-07 9.99969460e-01 6.08803072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5292541539999 meters 0.018410865067883916 Centerline is valid? [True, True] Translation: X:877.53, Y:34.89, Z:6.09 [[ 8.19708244e-01 -5.72748201e-01 -6.15574883e-03 8.77534331e+02] [ 5.72731940e-01 8.19731358e-01 -4.31576595e-03 3.48939425e+01] [ 7.51790753e-03 1.20749596e-05 9.99971740e-01 6.08858493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5592541539999 meters 0.016156759489556097 Centerline is valid? [True, True] Translation: X:877.56, Y:34.91, Z:6.09 [[ 8.21881457e-01 -5.69633796e-01 -5.31118634e-03 8.77559608e+02] [ 5.69621613e-01 8.21898617e-01 -3.72562007e-03 3.49085035e+01] [ 6.48749582e-03 3.66515218e-05 9.99978955e-01 6.09003162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5892541539998 meters 0.018748907419273108 Centerline is valid? [True, True] Translation: X:877.58, Y:34.92, Z:6.09 [[ 8.23078287e-01 -5.67897778e-01 -5.85211234e-03 8.77582410e+02] [ 5.67882926e-01 8.23099089e-01 -4.10748548e-03 3.49240017e+01] [ 7.14950022e-03 5.74674373e-05 9.99974440e-01 6.08930813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6192541539999 meters 0.019096712213464057 Centerline is valid? [True, True] Translation: X:877.61, Y:34.94, Z:6.09 [[ 8.25554569e-01 -5.64289645e-01 -6.07039241e-03 8.77608494e+02] [ 5.64273560e-01 8.25576882e-01 -4.26164124e-03 3.49377485e+01] [ 7.41637566e-03 9.28554640e-05 9.99972494e-01 6.08968346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6492541539999 meters 0.01981389203297579 Centerline is valid? [True, True] Translation: X:877.63, Y:34.95, Z:6.09 [[ 8.26442133e-01 -5.62989731e-01 -5.99687028e-03 8.77633093e+02] [ 5.62973983e-01 8.26463884e-01 -4.21225098e-03 3.49522796e+01] [ 7.32765075e-03 1.05099738e-04 9.99973147e-01 6.09000192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6792541539999 meters 0.02101034730702345 Centerline is valid? [True, True] Translation: X:877.66, Y:34.96, Z:6.09 [[ 8.27620460e-01 -5.61258347e-01 -5.78294778e-03 8.77658282e+02] [ 5.61243645e-01 8.27640655e-01 -4.06408570e-03 3.49647536e+01] [ 7.06720471e-03 1.17877783e-04 9.99975020e-01 6.09039800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7092541539998 meters 0.018246118654867815 Centerline is valid? [True, True] Translation: X:877.69, Y:34.98, Z:6.09 [[ 8.28361805e-01 -5.60170421e-01 -5.08133827e-03 8.77685060e+02] [ 5.60159046e-01 8.28377382e-01 -3.57146454e-03 3.49761349e+01] [ 6.20989449e-03 1.12107208e-04 9.99980712e-01 6.09241620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7392541539999 meters 0.017728475757043755 Centerline is valid? [True, True] Translation: X:877.71, Y:34.99, Z:6.09 [[ 8.28532676e-01 -5.59917181e-01 -5.13369490e-03 8.77709442e+02] [ 5.59905553e-01 8.28548573e-01 -3.61035307e-03 3.49903635e+01] [ 6.27501430e-03 1.16911210e-04 9.99980305e-01 6.09304954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7692541539999 meters 0.017043262881303874 Centerline is valid? [True, True] Translation: X:877.74, Y:35.00, Z:6.09 [[ 8.28652396e-01 -5.59736340e-01 -5.51689790e-03 8.77735693e+02] [ 5.59722902e-01 8.28670751e-01 -3.88060333e-03 3.50036823e+01] [ 6.74380663e-03 1.27737144e-04 9.99977252e-01 6.09306626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7992541539999 meters 0.015563878435662131 Centerline is valid? [True, True] Translation: X:877.76, Y:35.01, Z:6.09 [[ 8.28916125e-01 -5.59336698e-01 -6.36522386e-03 8.77764007e+02] [ 5.59318778e-01 8.28940549e-01 -4.48004582e-03 3.50141927e+01] [ 7.78224619e-03 1.53392990e-04 9.99969706e-01 6.09310847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8292541539998 meters 0.01797593682136045 Centerline is valid? [True, True] Translation: X:877.79, Y:35.03, Z:6.09 [[ 8.28742769e-01 -5.59581253e-01 -7.36506741e-03 8.77788828e+02] [ 5.59557240e-01 8.28775476e-01 -5.18698798e-03 3.50273172e+01] [ 9.00652848e-03 1.77501992e-04 9.99959425e-01 6.09067496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8592541539999 meters 0.015703820869915536 Centerline is valid? [True, True] Translation: X:877.82, Y:35.04, Z:6.09 [[ 8.28473027e-01 -5.59965808e-01 -8.41052256e-03 8.77815379e+02] [ 5.59934480e-01 8.28515693e-01 -5.92657856e-03 3.50360292e+01] [ 1.02869313e-02 2.00668904e-04 9.99947068e-01 6.09126506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8892541539999 meters 0.018604984798945706 Centerline is valid? [True, True] Translation: X:877.84, Y:35.05, Z:6.09 [[ 8.27725845e-01 -5.61055561e-01 -9.30496994e-03 8.77842200e+02] [ 5.61017255e-01 8.27778119e-01 -6.55943335e-03 3.50481733e+01] [ 1.13826571e-02 2.09163821e-04 9.99935194e-01 6.08873099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9192541539999 meters 0.015185909515786106 Centerline is valid? [True, True] Translation: X:877.87, Y:35.06, Z:6.09 [[ 8.27116800e-01 -5.61960954e-01 -8.81397762e-03 8.77867251e+02] [ 5.61926608e-01 8.27163739e-01 -6.21580117e-03 3.50606070e+01] [ 1.07836402e-02 1.88385020e-04 9.99941837e-01 6.09111776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9492541539998 meters 0.014605601938518127 Centerline is valid? [True, True] Translation: X:877.90, Y:35.07, Z:6.09 [[ 8.25309194e-01 -5.64601812e-01 -9.46196171e-03 8.77896752e+02] [ 5.64562388e-01 8.25363415e-01 -6.67409826e-03 3.50672019e+01] [ 1.15777650e-02 1.66326959e-04 9.99932962e-01 6.09140396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9792541539999 meters 0.019222207107319055 Centerline is valid? [True, True] Translation: X:877.92, Y:35.08, Z:6.09 [[ 8.23998757e-01 -5.66495091e-01 -1.04575754e-02 8.77924669e+02] [ 5.66447052e-01 8.24065099e-01 -7.37903688e-03 3.50776200e+01] [ 1.27979110e-02 1.56654480e-04 9.99918091e-01 6.08882445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0092541539999 meters 0.01352335010497055 Centerline is valid? [True, True] Translation: X:877.95, Y:35.08, Z:6.09 [[ 8.22059312e-01 -5.69314605e-01 -9.96838401e-03 8.77954646e+02] [ 5.69271116e-01 8.22119741e-01 -7.03758118e-03 3.50842800e+01] [ 1.22018030e-02 1.10596054e-04 9.99925549e-01 6.09204795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0392541539999 meters 0.015989627277614774 Centerline is valid? [True, True] Translation: X:877.99, Y:35.09, Z:6.09 [[ 8.19549116e-01 -5.72911806e-01 -1.05502775e-02 8.77985110e+02] [ 5.72863336e-01 8.19617019e-01 -7.45253300e-03 3.50912541e+01] [ 1.29168311e-02 6.38496718e-05 9.99916572e-01 6.09040665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0692541539999 meters 0.012994883516331523 Centerline is valid? [True, True] Translation: X:878.01, Y:35.10, Z:6.09 [[ 8.18425158e-01 -5.74524498e-01 -1.00927035e-02 8.78011202e+02] [ 5.74480230e-01 8.18487385e-01 -7.13195330e-03 3.51026069e+01] [ 1.23582324e-02 3.89113514e-05 9.99923633e-01 6.09301218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0992541539998 meters 0.014999284996675242 Centerline is valid? [True, True] Translation: X:878.04, Y:35.11, Z:6.09 [[ 8.15483884e-01 -5.78701266e-01 -9.53310399e-03 8.78040899e+02] [ 5.78662028e-01 8.15539603e-01 -6.73887053e-03 3.51095651e+01] [ 1.16744168e-02 -2.10049735e-05 9.99931851e-01 6.09295906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1292541539999 meters 0.01633729826043469 Centerline is valid? [True, True] Translation: X:878.07, Y:35.12, Z:6.09 [[ 8.14128652e-01 -5.80604251e-01 -9.65618875e-03 8.78066927e+02] [ 5.80564078e-01 8.14185914e-01 -6.83000347e-03 3.51213866e+01] [ 1.18274619e-02 -4.55348030e-05 9.99930052e-01 6.09315533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1592541539999 meters 0.013203376691331262 Centerline is valid? [True, True] Translation: X:878.10, Y:35.13, Z:6.10 [[ 8.12491276e-01 -5.82904947e-01 -8.93027359e-03 8.78095257e+02] [ 5.82870697e-01 8.12540349e-01 -6.31920434e-03 3.51303007e+01] [ 1.09397031e-02 -7.08963949e-05 9.99940157e-01 6.09654726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1892541539999 meters 0.013348687435733841 Centerline is valid? [True, True] Translation: X:878.12, Y:35.14, Z:6.10 [[ 8.11857832e-01 -5.83783247e-01 -9.16410527e-03 8.78120013e+02] [ 5.83747220e-01 8.11909547e-01 -6.48611832e-03 3.51427164e+01] [ 1.12269118e-02 -8.37150210e-05 9.99936973e-01 6.09668803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2192541539998 meters 0.016814718271469964 Centerline is valid? [True, True] Translation: X:878.15, Y:35.15, Z:6.09 [[ 8.10422296e-01 -5.85766195e-01 -9.67815776e-03 8.78147731e+02] [ 5.85726122e-01 8.10480075e-01 -6.85260187e-03 3.51540210e+01] [ 1.18579765e-02 -1.15248467e-04 9.99929685e-01 6.09398395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2492541539999 meters 0.015944042364934404 Centerline is valid? [True, True] Translation: X:878.17, Y:35.17, Z:6.09 [[ 8.09916827e-01 -5.86468327e-01 -9.46756934e-03 8.78172753e+02] [ 5.86429997e-01 8.09972152e-01 -6.70602621e-03 3.51675968e+01] [ 1.16013395e-02 -1.20743192e-04 9.99932695e-01 6.09450014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2792541539999 meters 0.01610496074397492 Centerline is valid? [True, True] Translation: X:878.20, Y:35.18, Z:6.09 [[ 8.09192629e-01 -5.87461106e-01 -9.83554318e-03 8.78198487e+02] [ 5.87419785e-01 8.09252390e-01 -6.96894957e-03 3.51817638e+01] [ 1.20534236e-02 -1.38370033e-04 9.99927345e-01 6.09452701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3092541539999 meters 0.017763061326101465 Centerline is valid? [True, True] Translation: X:878.23, Y:35.19, Z:6.09 [[ 8.07652154e-01 -5.89564470e-01 -1.05704358e-02 8.78225561e+02] [ 5.89516872e-01 8.07721303e-01 -7.49363433e-03 3.51930182e+01] [ 1.29559467e-02 -1.79200324e-04 9.99916052e-01 6.09329548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3392541539998 meters 0.020210795513140013 Centerline is valid? [True, True] Translation: X:878.25, Y:35.21, Z:6.09 [[ 8.06904719e-01 -5.90576012e-01 -1.11690797e-02 8.78250318e+02] [ 5.90522927e-01 8.06981990e-01 -7.92088495e-03 3.52066962e+01] [ 1.36911308e-02 -2.04198183e-04 9.99906251e-01 6.09187973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3692541539999 meters 0.015350632776804698 Centerline is valid? [True, True] Translation: X:878.28, Y:35.22, Z:6.09 [[ 8.06514863e-01 -5.91104824e-01 -1.13517683e-02 8.78276233e+02] [ 5.91050020e-01 8.06594719e-01 -8.05189661e-03 3.52185166e+01] [ 1.39157913e-02 -2.15488560e-04 9.99903147e-01 6.09475152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3992541539999 meters 0.020480336833973004 Centerline is valid? [True, True] Translation: X:878.30, Y:35.23, Z:6.09 [[ 8.05661774e-01 -5.92244736e-01 -1.24610553e-02 8.78300937e+02] [ 5.92178785e-01 8.05758095e-01 -8.84190825e-03 3.52330350e+01] [ 1.52771698e-02 -2.55585101e-04 9.99883265e-01 6.09101185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4292541539999 meters 0.01717579978791768 Centerline is valid? [True, True] Translation: X:878.32, Y:35.25, Z:6.09 [[ 8.05511024e-01 -5.92460648e-01 -1.19319194e-02 8.78324068e+02] [ 5.92400135e-01 8.05599355e-01 -8.47107807e-03 3.52496078e+01] [ 1.46311269e-02 -2.44923869e-04 9.99892929e-01 6.09312748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4592541539998 meters 0.015977275827876343 Centerline is valid? [True, True] Translation: X:878.35, Y:35.26, Z:6.09 [[ 8.05668487e-01 -5.92233993e-01 -1.25374563e-02 8.78348383e+02] [ 5.92167095e-01 8.05765993e-01 -8.90483664e-03 3.52627986e+01] [ 1.53760029e-02 -2.49922796e-04 9.99881751e-01 6.09361184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4892541539999 meters 0.018904635814159996 Centerline is valid? [True, True] Translation: X:878.37, Y:35.28, Z:6.09 [[ 8.05851312e-01 -5.91980359e-01 -1.27639171e-02 8.78371970e+02] [ 5.91910953e-01 8.05952352e-01 -9.06807561e-03 3.52757230e+01] [ 1.56552317e-02 -2.47581697e-04 9.99877419e-01 6.09080851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5192541539999 meters 0.016071744687560525 Centerline is valid? [True, True] Translation: X:878.39, Y:35.29, Z:6.09 [[ 8.07308604e-01 -5.90005237e-01 -1.21094374e-02 8.78394766e+02] [ 5.89942518e-01 8.07399394e-01 -8.60488192e-03 3.52914449e+01] [ 1.48540778e-02 -1.97076788e-04 9.99889653e-01 6.09282437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5492541539999 meters 0.018037454904233637 Centerline is valid? [True, True] Translation: X:878.42, Y:35.31, Z:6.09 [[ 8.07809872e-01 -5.89319413e-01 -1.20764190e-02 8.78418495e+02] [ 5.89256917e-01 8.07900115e-01 -8.58428790e-03 3.53086553e+01] [ 1.48154278e-02 -1.81640921e-04 9.99890229e-01 6.09145129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5792541539998 meters 0.01777851663688554 Centerline is valid? [True, True] Translation: X:878.44, Y:35.33, Z:6.09 [[ 8.09653426e-01 -5.86806598e-01 -1.09245863e-02 8.78441133e+02] [ 5.86755194e-01 8.09727116e-01 -7.76789814e-03 3.53253441e+01] [ 1.34041876e-02 -1.20752386e-04 9.99910153e-01 6.09269857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6092541539999 meters 0.014872743877339294 Centerline is valid? [True, True] Translation: X:878.46, Y:35.34, Z:6.10 [[ 8.10640832e-01 -5.85450950e-01 -1.04223989e-02 8.78463038e+02] [ 5.85404020e-01 8.10707825e-01 -7.41327971e-03 3.53435718e+01] [ 1.27896320e-02 -9.18069647e-05 9.99918205e-01 6.09630924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6392541539999 meters 0.013310563247583583 Centerline is valid? [True, True] Translation: X:878.49, Y:35.36, Z:6.10 [[ 8.12550686e-01 -5.82805282e-01 -9.96922899e-03 8.78485997e+02] [ 5.82762100e-01 8.12611839e-01 -7.09464244e-03 3.53606918e+01] [ 1.22359086e-02 -4.49322397e-05 9.99925137e-01 6.09839862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6692541539999 meters 0.014816347876875663 Centerline is valid? [True, True] Translation: X:878.51, Y:35.38, Z:6.10 [[ 8.13325033e-01 -5.81731089e-01 -9.55666388e-03 8.78508432e+02] [ 5.81691303e-01 8.13381177e-01 -6.80362549e-03 3.53774027e+01] [ 1.17310910e-02 -2.54693324e-05 9.99931188e-01 6.09710716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6992541539998 meters 0.013658022381882025 Centerline is valid? [True, True] Translation: X:878.53, Y:35.39, Z:6.10 [[ 8.14720033e-01 -5.79761519e-01 -1.03850331e-02 8.78529685e+02] [ 5.79714352e-01 8.14786218e-01 -7.39520495e-03 3.53933023e+01] [ 1.27490371e-02 4.66887557e-06 9.99918728e-01 6.09717886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7292541539999 meters 0.012788544277590788 Centerline is valid? [True, True] Translation: X:878.55, Y:35.41, Z:6.10 [[ 8.15101615e-01 -5.79216768e-01 -1.08301734e-02 8.78552705e+02] [ 5.79165377e-01 8.15173561e-01 -7.71564150e-03 3.54096671e+01] [ 1.32974999e-02 1.65703865e-05 9.99911584e-01 6.09783518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7592541539999 meters 0.014645923958020664 Centerline is valid? [True, True] Translation: X:878.58, Y:35.43, Z:6.10 [[ 8.15102867e-01 -5.79206977e-01 -1.12514058e-02 8.78575861e+02] [ 5.79151442e-01 8.15180518e-01 -8.02061737e-03 3.54253251e+01] [ 1.38175244e-02 2.13603064e-05 9.99904533e-01 6.09583733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7892541539999 meters 0.01627292728507724 Centerline is valid? [True, True] Translation: X:878.60, Y:35.44, Z:6.09 [[ 8.14760611e-01 -5.79673082e-01 -1.20110048e-02 8.78599964e+02] [ 5.79609794e-01 8.14849138e-01 -8.56552764e-03 3.54398328e+01] [ 1.47523627e-02 1.71584980e-05 9.99891178e-01 6.09352191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8192541539999 meters 0.01546120051918466 Centerline is valid? [True, True] Translation: X:878.62, Y:35.45, Z:6.09 [[ 8.14128723e-01 -5.80553253e-01 -1.23427098e-02 8.78623754e+02] [ 5.80486468e-01 8.14222279e-01 -8.80570326e-03 3.54546086e+01] [ 1.51618890e-02 4.19991436e-06 9.99885052e-01 6.09393614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8492541539998 meters 0.012948110058800078 Centerline is valid? [True, True] Translation: X:878.65, Y:35.47, Z:6.10 [[ 8.12290777e-01 -5.83107234e-01 -1.30248865e-02 8.78648926e+02] [ 5.83033125e-01 8.12395194e-01 -9.29638880e-03 3.54667586e+01] [ 1.60021467e-02 -4.25693826e-05 9.99871957e-01 6.09547754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8792541539999 meters 0.014675790355998261 Centerline is valid? [True, True] Translation: X:878.67, Y:35.48, Z:6.09 [[ 8.10713829e-01 -5.85293355e-01 -1.32202875e-02 8.78674339e+02] [ 5.85217233e-01 8.10821609e-01 -9.43975059e-03 3.54813149e+01] [ 1.62443180e-02 -8.38036939e-05 9.99868049e-01 6.09349985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9092541539999 meters 0.016048189087257685 Centerline is valid? [True, True] Translation: X:878.70, Y:35.49, Z:6.09 [[ 8.07646894e-01 -5.89507448e-01 -1.36917331e-02 8.78701353e+02] [ 5.89426316e-01 8.07762923e-01 -9.78150506e-03 3.54928635e+01] [ 1.68259444e-02 -1.70265625e-04 9.99858419e-01 6.09333693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9392541539999 meters 0.016944821088542235 Centerline is valid? [True, True] Translation: X:878.73, Y:35.51, Z:6.09 [[ 8.06067958e-01 -5.91664442e-01 -1.36979901e-02 8.78726671e+02] [ 5.91583493e-01 8.06184311e-01 -9.78913637e-03 3.55057603e+01] [ 1.68349886e-02 -2.12795640e-04 9.99858259e-01 6.09312246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9692541539998 meters 0.0168687706626006 Centerline is valid? [True, True] Translation: X:878.75, Y:35.52, Z:6.09 [[ 8.04683962e-01 -5.93545198e-01 -1.37046714e-02 8.78751716e+02] [ 5.93464381e-01 8.04800618e-01 -9.79761149e-03 3.55202503e+01] [ 1.68448533e-02 -2.49253520e-04 9.99858084e-01 6.09451301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9992541539999 meters 0.015484317836503461 Centerline is valid? [True, True] Translation: X:878.78, Y:35.53, Z:6.10 [[ 8.02750730e-01 -5.96180141e-01 -1.26690203e-02 8.78778550e+02] [ 5.96111335e-01 8.02850647e-01 -9.06168776e-03 3.55322029e+01] [ 1.55737295e-02 -2.77870159e-04 9.99878684e-01 6.09827872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0292541539999 meters 0.016588273137111507 Centerline is valid? [True, True] Translation: X:878.80, Y:35.55, Z:6.10 [[ 8.01834517e-01 -5.97409390e-01 -1.27838778e-02 8.78802825e+02] [ 5.97339411e-01 8.01936363e-01 -9.14862893e-03 3.55486768e+01] [ 1.57173333e-02 -3.00627585e-04 9.99876430e-01 6.09753622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0592541539999 meters 0.015157140357207865 Centerline is valid? [True, True] Translation: X:878.83, Y:35.56, Z:6.10 [[ 8.01945854e-01 -5.97264073e-01 -1.25886304e-02 8.78826981e+02] [ 5.97196151e-01 8.02044601e-01 -9.01194232e-03 3.55627092e+01] [ 1.54791524e-02 -2.90791820e-04 9.99880148e-01 6.09952658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0892541539998 meters 0.016348820505162863 Centerline is valid? [True, True] Translation: X:878.85, Y:35.58, Z:6.10 [[ 8.02308815e-01 -5.96775899e-01 -1.26131574e-02 8.78850317e+02] [ 5.96707625e-01 8.02407906e-01 -9.03118572e-03 3.55783905e+01] [ 1.55104912e-02 -2.80567278e-04 9.99879666e-01 6.09806085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1192541539999 meters 0.016002782193304206 Centerline is valid? [True, True] Translation: X:878.87, Y:35.59, Z:6.10 [[ 8.03854237e-01 -5.94671181e-01 -1.35849870e-02 8.78874757e+02] [ 5.94591620e-01 8.03968980e-01 -9.73057339e-03 3.55948183e+01] [ 1.67083997e-02 -2.55556788e-04 9.99860372e-01 6.09742196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1492541539999 meters 0.0164548347639715 Centerline is valid? [True, True] Translation: X:878.90, Y:35.61, Z:6.10 [[ 8.04496276e-01 -5.93791878e-01 -1.40338013e-02 8.78898177e+02] [ 5.93706750e-01 8.04618635e-01 -1.00572022e-02 3.56114493e+01] [ 1.72637430e-02 -2.40980829e-04 9.99850941e-01 6.09676308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1792541539999 meters 0.0164548347639715 Centerline is valid? [True, True] Translation: X:878.92, Y:35.63, Z:6.10 [[ 8.04327788e-01 -5.94020149e-01 -1.40310921e-02 8.78920556e+02] [ 5.93934990e-01 8.04450125e-01 -1.00609811e-02 3.56275834e+01] [ 1.72637393e-02 -2.41229821e-04 9.99850941e-01 6.09695361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2092541539998 meters 0.01577102679218495 Centerline is valid? [True, True] Translation: X:878.94, Y:35.64, Z:6.10 [[ 8.06029641e-01 -5.91688042e-01 -1.48821705e-02 8.78943364e+02] [ 5.91591770e-01 8.06166993e-01 -1.06750423e-02 3.56428464e+01] [ 1.83138096e-02 -1.99769082e-04 9.99832268e-01 6.09724734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2392541539999 meters 0.013708267924616336 Centerline is valid? [True, True] Translation: X:878.97, Y:35.66, Z:6.10 [[ 8.06777633e-01 -5.90671742e-01 -1.47222545e-02 8.78966767e+02] [ 5.90577283e-01 8.06911931e-01 -1.05645155e-02 3.56597203e+01] [ 1.81197236e-02 -1.71414196e-04 9.99835810e-01 6.09981224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2692541539999 meters 0.013877051334567871 Centerline is valid? [True, True] Translation: X:878.99, Y:35.68, Z:6.10 [[ 8.07739880e-01 -5.89366519e-01 -1.42615908e-02 8.78991343e+02] [ 5.89277586e-01 8.07865761e-01 -1.02390616e-02 3.56759345e+01] [ 1.75560110e-02 -1.33537423e-04 9.99845872e-01 6.10045517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2992541539999 meters 0.0132184975421587 Centerline is valid? [True, True] Translation: X:879.01, Y:35.69, Z:6.10 [[ 8.07896181e-01 -5.89160491e-01 -1.39168109e-02 8.79014819e+02] [ 5.89075679e-01 8.08016028e-01 -9.99716160e-03 3.56921259e+01] [ 1.71349389e-02 -1.21386177e-04 9.99853179e-01 6.10252008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3292541539998 meters 0.013259316124407833 Centerline is valid? [True, True] Translation: X:879.04, Y:35.71, Z:6.10 [[ 8.07985984e-01 -5.89051180e-01 -1.33175443e-02 8.79038468e+02] [ 5.88973443e-01 8.08095722e-01 -9.57013674e-03 3.57072243e+01] [ 1.63991509e-02 -1.11143542e-04 9.99865519e-01 6.10263767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3592541539999 meters 0.015064840184716473 Centerline is valid? [True, True] Translation: X:879.06, Y:35.72, Z:6.10 [[ 8.07169203e-01 -5.90183444e-01 -1.27035992e-02 8.79062327e+02] [ 5.90112806e-01 8.07269154e-01 -9.13177137e-03 3.57196119e+01] [ 1.56446440e-02 -1.25671925e-04 9.99877607e-01 6.10178561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3892541539999 meters 0.01461922233970797 Centerline is valid? [True, True] Translation: X:879.09, Y:35.73, Z:6.10 [[ 8.06433922e-01 -5.91198388e-01 -1.21982035e-02 8.79086431e+02] [ 5.91133309e-01 8.06526161e-01 -8.77286462e-03 3.57341383e+01] [ 1.50246737e-02 -1.36028798e-04 9.99887114e-01 6.10276057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4192541539999 meters 0.013661831757314653 Centerline is valid? [True, True] Translation: X:879.11, Y:35.75, Z:6.10 [[ 8.04754995e-01 -5.93486852e-01 -1.19479727e-02 8.79112054e+02] [ 5.93424621e-01 8.04843666e-01 -8.59609923e-03 3.57470796e+01] [ 1.47179221e-02 -1.72467404e-04 9.99891671e-01 6.10454563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4492541539998 meters 0.01403400802832532 Centerline is valid? [True, True] Translation: X:879.14, Y:35.76, Z:6.10 [[ 8.03861517e-01 -5.94691758e-01 -1.21809300e-02 8.79135937e+02] [ 5.94627189e-01 8.03953776e-01 -8.76535361e-03 3.57609947e+01] [ 1.50055882e-02 -1.96981691e-04 9.99887390e-01 6.10470244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4792541539999 meters 0.015985919835365486 Centerline is valid? [True, True] Translation: X:879.16, Y:35.77, Z:6.10 [[ 8.01631345e-01 -5.97692800e-01 -1.22679930e-02 8.79161598e+02] [ 5.97627631e-01 8.01725173e-01 -8.82964224e-03 3.57739836e+01] [ 1.51129724e-02 -2.53573577e-04 9.99885760e-01 6.10335885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5092541539999 meters 0.015042743254232459 Centerline is valid? [True, True] Translation: X:879.19, Y:35.79, Z:6.11 [[ 8.00857769e-01 -5.98730117e-01 -1.22098306e-02 8.79185654e+02] [ 5.98665661e-01 8.00950793e-01 -8.78940430e-03 3.57891445e+01] [ 1.50419546e-02 -2.70543571e-04 9.99886827e-01 6.10516865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5392541539999 meters 0.01560155867493865 Centerline is valid? [True, True] Translation: X:879.21, Y:35.80, Z:6.10 [[ 7.98788773e-01 -6.01473872e-01 -1.28715817e-02 8.79210746e+02] [ 6.01402565e-01 7.98892400e-01 -9.26754426e-03 3.58028579e+01] [ 1.58571945e-02 -3.38191938e-04 9.99874210e-01 6.10442032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5692541539999 meters 0.017576823194001803 Centerline is valid? [True, True] Translation: X:879.24, Y:35.82, Z:6.10 [[ 7.97557152e-01 -6.03086882e-01 -1.37405304e-02 8.79235148e+02] [ 6.03005820e-01 7.97675409e-01 -9.89562309e-03 3.58164440e+01] [ 1.69284037e-02 -3.93294831e-04 9.99856627e-01 6.10239804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5992541539998 meters 0.019098554908464786 Centerline is valid? [True, True] Translation: X:879.26, Y:35.83, Z:6.10 [[ 7.96095518e-01 -6.04995494e-01 -1.45732036e-02 8.79258548e+02] [ 6.04904584e-01 7.96228763e-01 -1.04976914e-02 3.58325388e+01] [ 1.79546599e-02 -4.58232604e-04 9.99838697e-01 6.10092050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6292541539999 meters 0.017600729498671194 Centerline is valid? [True, True] Translation: X:879.28, Y:35.85, Z:6.10 [[ 7.93370754e-01 -6.08562482e-01 -1.46476181e-02 8.79283771e+02] [ 6.08471215e-01 7.93505774e-01 -1.05530245e-02 3.58466915e+01] [ 1.80451443e-02 -5.40192939e-04 9.99837027e-01 6.10295873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6592541539999 meters 0.021559814046015566 Centerline is valid? [True, True] Translation: X:879.31, Y:35.86, Z:6.10 [[ 7.91261690e-01 -6.11277915e-01 -1.56284757e-02 8.79308703e+02] [ 6.11174509e-01 7.91415757e-01 -1.12614128e-02 3.58600944e+01] [ 1.92524748e-02 -6.41001460e-04 9.99814448e-01 6.09983298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6892541539999 meters 0.022679008872482535 Centerline is valid? [True, True] Translation: X:879.34, Y:35.87, Z:6.10 [[ 7.87144907e-01 -6.16574133e-01 -1.54671968e-02 8.79335128e+02] [ 6.16473831e-01 7.87296488e-01 -1.11470186e-02 3.58710176e+01] [ 1.90502331e-02 -7.60803097e-04 9.99818238e-01 6.10206754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7192541539998 meters 0.024503535101608243 Centerline is valid? [True, True] Translation: X:879.36, Y:35.89, Z:6.10 [[ 7.82217452e-01 -6.22822924e-01 -1.50818717e-02 8.79360646e+02] [ 6.22728669e-01 7.82362331e-01 -1.08714721e-02 3.58854695e+01] [ 1.85704903e-02 -8.88058725e-04 9.99827159e-01 6.10265975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7492541539999 meters 0.022473271195039148 Centerline is valid? [True, True] Translation: X:879.38, Y:35.90, Z:6.11 [[ 7.79652350e-01 -6.26042278e-01 -1.46041106e-02 8.79383227e+02] [ 6.25954384e-01 7.79788561e-01 -1.05313468e-02 3.59036570e+01] [ 1.79811867e-02 -9.30717747e-04 9.99837892e-01 6.10538831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7792541539999 meters 0.028376438117555882 Centerline is valid? [True, True] Translation: X:879.41, Y:35.91, Z:6.10 [[ 7.77293171e-01 -6.28987349e-01 -1.37927830e-02 8.79410406e+02] [ 6.28909358e-01 7.77414966e-01 -9.94934514e-03 3.59135826e+01] [ 1.69807281e-02 -9.40852244e-04 9.99855374e-01 6.10430828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8092541539999 meters 0.030680104186257783 Centerline is valid? [True, True] Translation: X:879.43, Y:35.93, Z:6.10 [[ 7.74900883e-01 -6.31930983e-01 -1.38511388e-02 8.79434747e+02] [ 6.31852735e-01 7.75024012e-01 -9.99509553e-03 3.59287576e+01] [ 1.70511757e-02 -1.00667161e-03 9.99854111e-01 6.10366133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8392541539998 meters 0.03377162395011338 Centerline is valid? [True, True] Translation: X:879.46, Y:35.94, Z:6.10 [[ 7.70962771e-01 -6.36741497e-01 -1.32918327e-02 8.79459009e+02] [ 6.36670098e-01 7.71076605e-01 -9.59453830e-03 3.59423793e+01] [ 1.63582619e-02 -1.06548058e-03 9.99865627e-01 6.10418105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8692541539999 meters 0.028254661236772984 Centerline is valid? [True, True] Translation: X:879.48, Y:35.97, Z:6.11 [[ 7.68202961e-01 -6.40073582e-01 -1.30392121e-02 8.79477593e+02] [ 6.40005289e-01 7.68312810e-01 -9.41575251e-03 3.59663094e+01] [ 1.60449681e-02 -1.11195575e-03 9.99870653e-01 6.10722808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8992541539999 meters 0.03104604377353951 Centerline is valid? [True, True] Translation: X:879.50, Y:35.98, Z:6.11 [[ 7.67293314e-01 -6.41163959e-01 -1.30286921e-02 8.79500997e+02] [ 6.41095882e-01 7.67403086e-01 -9.41133262e-03 3.59810067e+01] [ 1.60324659e-02 -1.13138828e-03 9.99870832e-01 6.10682720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9292541539999 meters 0.030844688715377832 Centerline is valid? [True, True] Translation: X:879.52, Y:36.00, Z:6.11 [[ 7.66637601e-01 -6.41943350e-01 -1.32485254e-02 8.79522636e+02] [ 6.41873011e-01 7.66751185e-01 -9.57382628e-03 3.59999983e+01] [ 1.63041766e-02 -1.16421565e-03 9.99866400e-01 6.10686893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9592541539998 meters 0.03200355636399913 Centerline is valid? [True, True] Translation: X:879.54, Y:36.02, Z:6.10 [[ 7.66469039e-01 -6.42136365e-01 -1.36418545e-02 8.79542431e+02] [ 6.42061724e-01 7.66589493e-01 -9.86364390e-03 3.60201552e+01] [ 1.67915068e-02 -1.19873497e-03 9.99858294e-01 6.10486981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9892541539999 meters 0.0324728151668205 Centerline is valid? [True, True] Translation: X:879.56, Y:36.04, Z:6.11 [[ 7.66547408e-01 -6.42049207e-01 -1.33374345e-02 8.79564596e+02] [ 6.41977762e-01 7.66662543e-01 -9.64872778e-03 3.60378984e+01] [ 1.64202695e-02 -1.16612911e-03 9.99864498e-01 6.10578146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0192541539999 meters 0.030129746024722057 Centerline is valid? [True, True] Translation: X:879.58, Y:36.06, Z:6.10 [[ 7.66557962e-01 -6.42016025e-01 -1.42938505e-02 8.79581246e+02] [ 6.41933854e-01 7.66690208e-01 -1.03466187e-02 3.60622016e+01] [ 1.76016502e-02 -1.24442355e-03 9.99844305e-01 6.10450620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0492541539999 meters 0.030030575642237045 Centerline is valid? [True, True] Translation: X:879.60, Y:36.08, Z:6.10 [[ 7.66683880e-01 -6.41862251e-01 -1.44457442e-02 8.79603051e+02] [ 6.41778193e-01 7.66818942e-01 -1.04623708e-02 3.60811074e+01] [ 1.77926712e-02 -1.24963261e-03 9.99840917e-01 6.10497727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0792541539998 meters 0.031658758503251866 Centerline is valid? [True, True] Translation: X:879.62, Y:36.10, Z:6.10 [[ 7.66776094e-01 -6.41735308e-01 -1.51728764e-02 8.79622724e+02] [ 6.41642472e-01 7.66925087e-01 -1.09931576e-02 3.61014336e+01] [ 1.86911569e-02 -1.30627149e-03 9.99824452e-01 6.10363332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1092541539999 meters 0.02892913621572867 Centerline is valid? [True, True] Translation: X:879.64, Y:36.12, Z:6.11 [[ 7.67119112e-01 -6.41346035e-01 -1.42664769e-02 8.79643577e+02] [ 6.41263821e-01 7.67250797e-01 -1.03405604e-02 3.61227142e+01] [ 1.75778432e-02 -1.21613397e-03 9.99844758e-01 6.10631647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1392541539999 meters 0.0346126835023009 Centerline is valid? [True, True] Translation: X:879.67, Y:36.14, Z:6.10 [[ 7.67044682e-01 -6.41433843e-01 -1.43206761e-02 8.79667507e+02] [ 6.41350954e-01 7.67177383e-01 -1.03834675e-02 3.61354708e+01] [ 1.76468062e-02 -1.21999574e-03 9.99843539e-01 6.10429345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1692541539999 meters 0.034251304711478685 Centerline is valid? [True, True] Translation: X:879.69, Y:36.16, Z:6.10 [[ 7.67496431e-01 -6.40900325e-01 -1.40000686e-02 8.79687281e+02] [ 6.40820948e-01 7.67623206e-01 -1.01550614e-02 3.61576874e+01] [ 1.72551597e-02 -1.17756379e-03 9.99850425e-01 6.10428049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1992541539998 meters 0.0317714995499677 Centerline is valid? [True, True] Translation: X:879.71, Y:36.18, Z:6.10 [[ 7.67745091e-01 -6.40584396e-01 -1.48022253e-02 8.79705808e+02] [ 6.40495503e-01 7.67886782e-01 -1.07424891e-02 3.61808614e+01] [ 1.82479040e-02 -1.23326546e-03 9.99832733e-01 6.10357842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2292541539999 meters 0.03272557417492345 Centerline is valid? [True, True] Translation: X:879.73, Y:36.20, Z:6.10 [[ 7.68546191e-01 -6.39625725e-01 -1.46862168e-02 8.79727603e+02] [ 6.39537977e-01 7.68685564e-01 -1.06620743e-02 3.61985993e+01] [ 1.81088199e-02 -1.19809684e-03 9.99835304e-01 6.10331825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2592541539999 meters 0.03272427314786388 Centerline is valid? [True, True] Translation: X:879.75, Y:36.22, Z:6.10 [[ 7.70436957e-01 -6.37342148e-01 -1.48956812e-02 8.79746921e+02] [ 6.37251375e-01 7.70580072e-01 -1.08184452e-02 3.62210406e+01] [ 1.83733662e-02 -1.15736335e-03 9.99830526e-01 6.10289927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2892541539999 meters 0.028715647768236506 Centerline is valid? [True, True] Translation: X:879.77, Y:36.24, Z:6.10 [[ 7.71634882e-01 -6.35893802e-01 -1.47878815e-02 8.79765692e+02] [ 6.35803999e-01 7.71775768e-01 -1.07442260e-02 3.62447230e+01] [ 1.82451153e-02 -1.11157463e-03 9.99832926e-01 6.10428790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3192541539999 meters 0.03012529706235055 Centerline is valid? [True, True] Translation: X:879.79, Y:36.26, Z:6.10 [[ 7.74768966e-01 -6.32067549e-01 -1.49553644e-02 8.79785751e+02] [ 6.31974942e-01 7.74912609e-01 -1.08683913e-02 3.62649016e+01] [ 1.84586579e-02 -1.03092327e-03 9.99829093e-01 6.10306341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3492541539998 meters 0.03677100881682851 Centerline is valid? [True, True] Translation: X:879.81, Y:36.28, Z:6.10 [[ 7.76550340e-01 -6.29869188e-01 -1.53093404e-02 8.79811527e+02] [ 6.29771681e-01 7.76700590e-01 -1.11276088e-02 3.62767536e+01] [ 1.88997116e-02 -1.00024063e-03 9.99820884e-01 6.10068722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3792541539999 meters 0.025012013733769718 Centerline is valid? [True, True] Translation: X:879.82, Y:36.31, Z:6.10 [[ 7.78366530e-01 -6.27616396e-01 -1.55950198e-02 8.79823478e+02] [ 6.27514720e-01 7.78522148e-01 -1.13376317e-02 3.63104916e+01] [ 1.92567519e-02 -9.61271420e-04 9.99814109e-01 6.10376097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4092541539999 meters 0.024634715470279123 Centerline is valid? [True, True] Translation: X:879.84, Y:36.33, Z:6.10 [[ 7.82248706e-01 -6.22762952e-01 -1.59143570e-02 8.79842823e+02] [ 6.22655969e-01 7.82410106e-01 -1.15745326e-02 3.63337223e+01] [ 1.96597439e-02 -8.55006218e-04 9.99806363e-01 6.10328342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4392541539999 meters 0.021322362741705028 Centerline is valid? [True, True] Translation: X:879.86, Y:36.36, Z:6.10 [[ 7.86404846e-01 -6.17522870e-01 -1.52618204e-02 8.79861500e+02] [ 6.17423388e-01 7.86552623e-01 -1.11054570e-02 3.63571212e+01] [ 1.88620985e-02 -6.89619701e-04 9.99821857e-01 6.10482634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4692541539998 meters 0.02194779911564223 Centerline is valid? [True, True] Translation: X:879.88, Y:36.38, Z:6.10 [[ 7.88422911e-01 -6.14927678e-01 -1.59142614e-02 8.79882166e+02] [ 6.14818914e-01 7.88583240e-01 -1.15834872e-02 3.63775431e+01] [ 1.96727267e-02 -6.51702156e-04 9.99806261e-01 6.10399973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4992541539999 meters 0.021147608800323892 Centerline is valid? [True, True] Translation: X:879.90, Y:36.40, Z:6.10 [[ 7.90388726e-01 -6.12405747e-01 -1.56481331e-02 8.79902345e+02] [ 6.12300057e-01 7.90543401e-01 -1.13917645e-02 3.63967580e+01] [ 1.93469103e-02 -5.77430576e-04 9.99812664e-01 6.10400148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5292541539999 meters 0.018826037865321096 Centerline is valid? [True, True] Translation: X:879.92, Y:36.42, Z:6.11 [[ 7.94095308e-01 -6.07607907e-01 -1.50090915e-02 8.79921536e+02] [ 6.07509782e-01 7.94237016e-01 -1.09282985e-02 3.64190394e+01] [ 1.85608967e-02 -4.40059370e-04 9.99827635e-01 6.10515125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5592541539999 meters 0.019133718374795355 Centerline is valid? [True, True] Translation: X:879.94, Y:36.44, Z:6.10 [[ 7.95580012e-01 -6.05654748e-01 -1.53222142e-02 8.79942343e+02] [ 6.05552086e-01 7.95727444e-01 -1.11582214e-02 3.64371248e+01] [ 1.89503361e-02 -4.01140855e-04 9.99820346e-01 6.10465599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5892541539998 meters 0.017855617841994832 Centerline is valid? [True, True] Translation: X:879.96, Y:36.46, Z:6.11 [[ 7.98467905e-01 -6.01855878e-01 -1.47820049e-02 8.79962851e+02] [ 6.01759643e-01 7.98604667e-01 -1.07665457e-02 3.64581851e+01] [ 1.82848869e-02 -2.98472796e-04 9.99832773e-01 6.10593765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6192541539999 meters 0.017527588105369418 Centerline is valid? [True, True] Translation: X:879.98, Y:36.48, Z:6.11 [[ 7.99771419e-01 -6.00136288e-01 -1.42166240e-02 8.79984512e+02] [ 6.00046935e-01 7.99897728e-01 -1.03586222e-02 3.64774711e+01] [ 1.75884303e-02 -2.46111666e-04 9.99845281e-01 6.10639726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6492541539999 meters 0.015746706355444777 Centerline is valid? [True, True] Translation: X:880.01, Y:36.50, Z:6.11 [[ 8.01018048e-01 -5.98489110e-01 -1.34488372e-02 8.80006593e+02] [ 5.98408832e-01 8.01130917e-01 -9.80420281e-03 3.64963892e+01] [ 1.66419879e-02 -1.94559563e-04 9.99861494e-01 6.10795499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6792541539999 meters 0.01374732916876814 Centerline is valid? [True, True] Translation: X:880.03, Y:36.52, Z:6.11 [[ 8.03425158e-01 -5.95272499e-01 -1.25963516e-02 8.80027899e+02] [ 5.95201609e-01 8.03523888e-01 -9.18725997e-03 3.65168478e+01] [ 1.55903926e-02 -1.16092946e-04 9.99878456e-01 6.11017311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7092541539998 meters 0.016978196273881814 Centerline is valid? [True, True] Translation: X:880.05, Y:36.53, Z:6.11 [[ 8.03980733e-01 -5.94499593e-01 -1.36093589e-02 8.80048727e+02] [ 5.94416654e-01 8.04095904e-01 -9.93070488e-03 3.65338069e+01] [ 1.68470298e-02 -1.05534216e-04 9.99858073e-01 6.10736602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7392541539999 meters 0.013471808032524533 Centerline is valid? [True, True] Translation: X:880.07, Y:36.55, Z:6.11 [[ 8.06080035e-01 -5.91679757e-01 -1.22491467e-02 8.80070716e+02] [ 5.91612180e-01 8.06173098e-01 -8.94231675e-03 3.65531048e+01] [ 1.51659203e-02 -3.85213810e-05 9.99884990e-01 6.11107107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7692541539999 meters 0.015469206841256905 Centerline is valid? [True, True] Translation: X:880.09, Y:36.57, Z:6.11 [[ 8.06474861e-01 -5.91130348e-01 -1.27753456e-02 8.80092443e+02] [ 5.91056700e-01 8.06576041e-01 -9.33098416e-03 3.65694451e+01] [ 1.58201156e-02 -2.57494563e-05 9.99874854e-01 6.10885674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7992541539999 meters 0.013437071558876799 Centerline is valid? [True, True] Translation: X:880.11, Y:36.59, Z:6.11 [[ 8.07339293e-01 -5.89966999e-01 -1.19249884e-02 8.80114664e+02] [ 5.89902637e-01 8.07427359e-01 -8.71431121e-03 3.65863393e+01] [ 1.47697180e-02 8.23723805e-07 9.99890922e-01 6.11145046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8292541539998 meters 0.015316326602381929 Centerline is valid? [True, True] Translation: X:880.14, Y:36.60, Z:6.11 [[ 8.07807755e-01 -5.89314079e-01 -1.24718723e-02 8.80137107e+02] [ 5.89243512e-01 8.07904026e-01 -9.11963667e-03 3.66033639e+01] [ 1.54504061e-02 1.79434066e-05 9.99880635e-01 6.10987167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8592541539999 meters 0.0156711534963711 Centerline is valid? [True, True] Translation: X:880.16, Y:36.62, Z:6.11 [[ 8.07470959e-01 -5.89756969e-01 -1.33179283e-02 8.80161096e+02] [ 5.89676469e-01 8.07580781e-01 -9.74398177e-03 3.66190605e+01] [ 1.65018841e-02 1.47133866e-05 9.99863835e-01 6.10866393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8892541539999 meters 0.016641009088454024 Centerline is valid? [True, True] Translation: X:880.19, Y:36.63, Z:6.11 [[ 8.06594064e-01 -5.90917915e-01 -1.49008130e-02 8.80185216e+02] [ 5.90817224e-01 8.06731689e-01 -1.09082222e-02 3.66346455e+01] [ 1.84668220e-02 -5.14971262e-06 9.99829474e-01 6.10808834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9192541539999 meters 0.01666248646841643 Centerline is valid? [True, True] Translation: X:880.21, Y:36.65, Z:6.11 [[ 8.05340131e-01 -5.92606354e-01 -1.56519259e-02 8.80209481e+02] [ 5.92495452e-01 8.05492214e-01 -1.14644109e-02 3.66498184e+01] [ 1.94013872e-02 -4.09447402e-05 9.99811775e-01 6.10813380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9492541539998 meters 0.013867095025207124 Centerline is valid? [True, True] Translation: X:880.23, Y:36.66, Z:6.11 [[ 8.02805724e-01 -5.96048637e-01 -1.51325055e-02 8.80234891e+02] [ 5.95945505e-01 8.02948323e-01 -1.10881272e-02 3.66614933e+01] [ 1.87596830e-02 -1.16536648e-04 9.99824015e-01 6.10935371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9792541539999 meters 0.017945922078045053 Centerline is valid? [True, True] Translation: X:880.26, Y:36.68, Z:6.11 [[ 8.00635429e-01 -5.98910374e-01 -1.70080551e-02 8.80259627e+02] [ 5.98780673e-01 8.00816035e-01 -1.24652945e-02 3.66750447e+01] [ 2.10859174e-02 -2.03938298e-04 9.99777647e-01 6.10611646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0092541539999 meters 0.015364769411154947 Centerline is valid? [True, True] Translation: X:880.29, Y:36.69, Z:6.11 [[ 7.97601345e-01 -6.02987827e-01 -1.54199181e-02 8.80286670e+02] [ 6.02881893e-01 7.97750338e-01 -1.13058102e-02 3.66876462e+01] [ 1.91185108e-02 -2.78859971e-04 9.99817186e-01 6.10951493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0392541539999 meters 0.01574771131115801 Centerline is valid? [True, True] Translation: X:880.31, Y:36.70, Z:6.11 [[ 7.96297394e-01 -6.04721651e-01 -1.49058771e-02 8.80311186e+02] [ 6.04622891e-01 7.96436834e-01 -1.09329009e-02 3.67022135e+01] [ 1.84829515e-02 -3.06593978e-04 9.99829129e-01 6.11005006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0692541539999 meters 0.015811404950526752 Centerline is valid? [True, True] Translation: X:880.34, Y:36.72, Z:6.11 [[ 7.94216734e-01 -6.07479319e-01 -1.37352360e-02 8.80337517e+02] [ 6.07395804e-01 7.94335422e-01 -1.00784638e-02 3.67154392e+01] [ 1.70328428e-02 -3.38240060e-04 9.99854873e-01 6.11176988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0992541539998 meters 0.015811404950526752 Centerline is valid? [True, True] Translation: X:880.36, Y:36.73, Z:6.11 [[ 7.94043379e-01 -6.07705957e-01 -1.37325052e-02 8.80359707e+02] [ 6.07622411e-01 7.94162046e-01 -1.00821839e-02 3.67318139e+01] [ 1.70328377e-02 -3.38486579e-04 9.99854873e-01 6.11196042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1292541539999 meters 0.018899274416699825 Centerline is valid? [True, True] Translation: X:880.38, Y:36.75, Z:6.11 [[ 7.92713434e-01 -6.09419717e-01 -1.45952004e-02 8.80384803e+02] [ 6.09325524e-01 7.92847686e-01 -1.07216037e-02 3.67469243e+01] [ 1.81057275e-02 -3.94068820e-04 9.99836000e-01 6.11010086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1592541539999 meters 0.01950798065280082 Centerline is valid? [True, True] Translation: X:880.41, Y:36.76, Z:6.11 [[ 7.91597670e-01 -6.10888186e-01 -1.37387396e-02 8.80410060e+02] [ 6.10804891e-01 7.91716783e-01 -1.00955546e-02 3.67600396e+01] [ 1.70444457e-02 -4.00071853e-04 9.99854653e-01 6.11090025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1892541539999 meters 0.01737295263430957 Centerline is valid? [True, True] Translation: X:880.43, Y:36.78, Z:6.11 [[ 7.91225725e-01 -6.11385802e-01 -1.30097644e-02 8.80432650e+02] [ 6.11311115e-01 7.91332580e-01 -9.56387849e-03 3.67769951e+01] [ 1.61422700e-02 -3.85826924e-04 9.99869631e-01 6.11335839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2192541539998 meters 0.01722551836378354 Centerline is valid? [True, True] Translation: X:880.46, Y:36.79, Z:6.11 [[ 7.90950635e-01 -6.11751541e-01 -1.25357465e-02 8.80455514e+02] [ 6.11682186e-01 7.91049879e-01 -9.21911667e-03 3.67920299e+01] [ 1.55562096e-02 -3.76026631e-04 9.99878924e-01 6.11422521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2492541539999 meters 0.019150848466677445 Centerline is valid? [True, True] Translation: X:880.48, Y:36.81, Z:6.11 [[ 7.89566813e-01 -6.13535636e-01 -1.25805319e-02 8.80480166e+02] [ 6.13465953e-01 7.89666927e-01 -9.25579936e-03 3.68074732e+01] [ 1.56131927e-02 -4.09655984e-04 9.99878023e-01 6.11363265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2792541539999 meters 0.01967535082484133 Centerline is valid? [True, True] Translation: X:880.50, Y:36.82, Z:6.11 [[ 7.88994973e-01 -6.14276337e-01 -1.23090743e-02 8.80504027e+02] [ 6.14209648e-01 7.89090877e-01 -9.06072175e-03 3.68238001e+01] [ 1.52787652e-02 -4.11488300e-04 9.99883188e-01 6.11409183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3092541539999 meters 0.01729242977914413 Centerline is valid? [True, True] Translation: X:880.53, Y:36.84, Z:6.12 [[ 7.88704361e-01 -6.14671324e-01 -1.11622093e-02 8.80526168e+02] [ 6.14616461e-01 7.88783254e-01 -8.22092955e-03 3.68413421e+01] [ 1.38577335e-02 -3.76594628e-04 9.99903906e-01 6.11652447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3392541539998 meters 0.020667851861302752 Centerline is valid? [True, True] Translation: X:880.55, Y:36.86, Z:6.11 [[ 7.88093178e-01 -6.15432802e-01 -1.23129331e-02 8.80550235e+02] [ 6.15366073e-01 7.88189244e-01 -9.07257973e-03 3.68563571e+01] [ 1.52884846e-02 -4.26923074e-04 9.99883033e-01 6.11393093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3692541539999 meters 0.020245099294002967 Centerline is valid? [True, True] Translation: X:880.57, Y:36.87, Z:6.11 [[ 7.87827199e-01 -6.15763681e-01 -1.27825590e-02 8.80573298e+02] [ 6.15691766e-01 7.87930764e-01 -9.42125928e-03 3.68725939e+01] [ 1.58730408e-02 -4.47792024e-04 9.99873915e-01 6.11393353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3992541539999 meters 0.018782961060065714 Centerline is valid? [True, True] Translation: X:880.60, Y:36.89, Z:6.11 [[ 7.87410953e-01 -6.16284277e-01 -1.33297075e-02 8.80596213e+02] [ 6.16206080e-01 7.87523628e-01 -9.82862219e-03 3.68898123e+01] [ 1.65546850e-02 -4.74682051e-04 9.99862849e-01 6.11402883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4292541539999 meters 0.019398887677909114 Centerline is valid? [True, True] Translation: X:880.62, Y:36.91, Z:6.11 [[ 7.86755398e-01 -6.17100605e-01 -1.42403002e-02 8.80619030e+02] [ 6.17011432e-01 7.86884089e-01 -1.05034662e-02 3.69065738e+01] [ 1.76871610e-02 -5.22769320e-04 9.99843433e-01 6.11303899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4592541539998 meters 0.01974570264240564 Centerline is valid? [True, True] Translation: X:880.64, Y:36.92, Z:6.11 [[ 7.85154465e-01 -6.19123225e-01 -1.47951966e-02 8.80642381e+02] [ 6.19027284e-01 7.85293630e-01 -1.09149555e-02 3.69209986e+01] [ 1.83762761e-02 -5.88704307e-04 9.99830969e-01 6.11342467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4892541539999 meters 0.024972277412102648 Centerline is valid? [True, True] Translation: X:880.67, Y:36.94, Z:6.11 [[ 7.83149895e-01 -6.21617828e-01 -1.63559618e-02 8.80666417e+02] [ 6.21501072e-01 7.83320347e-01 -1.20685780e-02 3.69361988e+01] [ 2.03140009e-02 -7.13742238e-04 9.99793395e-01 6.10945334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5192541539999 meters 0.023043091607018232 Centerline is valid? [True, True] Translation: X:880.69, Y:36.95, Z:6.11 [[ 7.81871259e-01 -6.23249295e-01 -1.54158948e-02 8.80690062e+02] [ 6.23145810e-01 7.82022898e-01 -1.13792072e-02 3.69526918e+01] [ 1.91476656e-02 -7.09275203e-04 9.99816415e-01 6.11218216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5492541539999 meters 0.023245094919535365 Centerline is valid? [True, True] Translation: X:880.71, Y:36.97, Z:6.11 [[ 7.79457631e-01 -6.26280567e-01 -1.47801139e-02 8.80714619e+02] [ 6.26185890e-01 7.79597391e-01 -1.09150771e-02 3.69690919e+01] [ 1.83584390e-02 -7.47258656e-04 9.99831190e-01 6.11428316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5792541539998 meters 0.025093030660855855 Centerline is valid? [True, True] Translation: X:880.74, Y:36.98, Z:6.11 [[ 7.78891707e-01 -6.26989076e-01 -1.45741984e-02 8.80738844e+02] [ 6.26897085e-01 7.79027686e-01 -1.07661027e-02 3.69835512e+01] [ 1.81039328e-02 -7.50894407e-04 9.99835828e-01 6.11437890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6092541539999 meters 0.022089303008650134 Centerline is valid? [True, True] Translation: X:880.76, Y:37.01, Z:6.12 [[ 7.78652342e-01 -6.27293500e-01 -1.42616474e-02 8.80756781e+02] [ 6.27205382e-01 7.78782588e-01 -1.05398859e-02 3.70064652e+01] [ 1.77183246e-02 -7.38075168e-04 9.99842746e-01 6.11573019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6392541539999 meters 0.021861892342106233 Centerline is valid? [True, True] Translation: X:880.78, Y:37.02, Z:6.12 [[ 7.79118952e-01 -6.26721821e-01 -1.39074758e-02 8.80779422e+02] [ 6.26637835e-01 7.79242751e-01 -1.02838981e-02 3.70243303e+01] [ 1.72824430e-02 -7.02570618e-04 9.99850401e-01 6.11625336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6692541539999 meters 0.019756119561216617 Centerline is valid? [True, True] Translation: X:880.80, Y:37.04, Z:6.12 [[ 7.81490204e-01 -6.23783757e-01 -1.29184579e-02 8.80800598e+02] [ 6.23710844e-01 7.81596748e-01 -9.55541999e-03 3.70431055e+01] [ 1.60575404e-02 -5.89915154e-04 9.99870895e-01 6.11899583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6992541539998 meters 0.020780705377047886 Centerline is valid? [True, True] Translation: X:880.82, Y:37.06, Z:6.12 [[ 7.82558772e-01 -6.22438023e-01 -1.31406033e-02 8.80822809e+02] [ 6.22362364e-01 7.82668884e-01 -9.72139368e-03 3.70599147e+01] [ 1.63357064e-02 -5.70655036e-04 9.99866401e-01 6.11843241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7292541539999 meters 0.02260751854960872 Centerline is valid? [True, True] Translation: X:880.85, Y:37.08, Z:6.12 [[ 7.83051661e-01 -6.21804255e-01 -1.37682435e-02 8.80845122e+02] [ 6.21721031e-01 7.83172479e-01 -1.01896078e-02 3.70786072e+01] [ 1.71188509e-02 -5.81017249e-04 9.99853293e-01 6.11599712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7592541539999 meters 0.0216429298114073 Centerline is valid? [True, True] Translation: X:880.86, Y:37.10, Z:6.12 [[ 7.84769408e-01 -6.19629450e-01 -1.40114665e-02 8.80864402e+02] [ 6.19542859e-01 7.84894294e-01 -1.03726943e-02 3.71005690e+01] [ 1.74247470e-02 -5.40530833e-04 9.99848031e-01 6.11693583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7892541539999 meters 0.02074133140080372 Centerline is valid? [True, True] Translation: X:880.89, Y:37.12, Z:6.12 [[ 7.85713018e-01 -6.18441804e-01 -1.35936995e-02 8.80886244e+02] [ 6.18360093e-01 7.85830445e-01 -1.00651426e-02 3.71181478e+01] [ 1.69070478e-02 -4.97487742e-04 9.99856942e-01 6.11765483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8192541539999 meters 0.020365269673765337 Centerline is valid? [True, True] Translation: X:880.91, Y:37.14, Z:6.12 [[ 7.87594068e-01 -6.16058410e-01 -1.29467959e-02 8.80907060e+02] [ 6.15983945e-01 7.87700359e-01 -9.58770972e-03 3.71384641e+01] [ 1.61047850e-02 -4.23795121e-04 9.99870220e-01 6.11806072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8492541539998 meters 0.01727761362347173 Centerline is valid? [True, True] Translation: X:880.93, Y:37.16, Z:6.12 [[ 7.88720130e-01 -6.14641122e-01 -1.16981516e-02 8.80928204e+02] [ 6.14580129e-01 7.88806798e-01 -8.66600937e-03 3.71577958e+01] [ 1.45540672e-02 -3.54395483e-04 9.99894021e-01 6.12074821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8792541539999 meters 0.0180860874256186 Centerline is valid? [True, True] Translation: X:880.95, Y:37.18, Z:6.12 [[ 7.89865718e-01 -6.13169733e-01 -1.16200925e-02 8.80949191e+02] [ 6.13109348e-01 7.89951121e-01 -8.61121650e-03 3.71764024e+01] [ 1.44594424e-02 -3.22682635e-04 9.99895405e-01 6.11965074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9092541539999 meters 0.01827033014775173 Centerline is valid? [True, True] Translation: X:880.97, Y:37.19, Z:6.12 [[ 7.89876098e-01 -6.13155481e-01 -1.16664814e-02 8.80971439e+02] [ 6.13094561e-01 7.89962185e-01 -8.64906854e-03 3.71940746e+01] [ 1.45193029e-02 -3.20963786e-04 9.99894538e-01 6.11930707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9392541539999 meters 0.017938866804715597 Centerline is valid? [True, True] Translation: X:880.99, Y:37.21, Z:6.12 [[ 7.89342679e-01 -6.13832185e-01 -1.21730900e-02 8.80993309e+02] [ 6.13765880e-01 7.89436463e-01 -9.02856258e-03 3.72109030e+01] [ 1.51519034e-02 -3.44797528e-04 9.99885144e-01 6.11930737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9692541539998 meters 0.0177351487497587 Centerline is valid? [True, True] Translation: X:881.02, Y:37.23, Z:6.12 [[ 7.88758023e-01 -6.14583422e-01 -1.21654978e-02 8.81016389e+02] [ 6.14517233e-01 7.88851755e-01 -9.02656986e-03 3.72281203e+01] [ 1.51443545e-02 -3.56128668e-04 9.99885254e-01 6.11955271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9992541539999 meters 0.016205189601443026 Centerline is valid? [True, True] Translation: X:881.04, Y:37.25, Z:6.12 [[ 7.88032281e-01 -6.15516643e-01 -1.20161206e-02 8.81038270e+02] [ 6.15452109e-01 7.88123803e-01 -8.92037446e-03 3.72467052e+01] [ 1.49608296e-02 -3.65803735e-04 9.99888014e-01 6.12103334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0292541539999 meters 0.021043909445791355 Centerline is valid? [True, True] Translation: X:881.06, Y:37.26, Z:6.12 [[ 7.85624479e-01 -6.18559774e-01 -1.33410978e-02 8.81063342e+02] [ 6.18480608e-01 7.85737607e-01 -9.90709700e-03 3.72612340e+01] [ 1.66107340e-02 -4.67952379e-04 9.99861923e-01 6.11758511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0592541539999 meters 0.021078032226243475 Centerline is valid? [True, True] Translation: X:881.09, Y:37.28, Z:6.12 [[ 7.84678698e-01 -6.19767648e-01 -1.29384654e-02 8.81087024e+02] [ 6.19693329e-01 7.84785216e-01 -9.60955359e-03 3.72764553e+01] [ 1.61096068e-02 -4.77468679e-04 9.99870118e-01 6.11817158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0892541539998 meters 0.02009787163230008 Centerline is valid? [True, True] Translation: X:881.11, Y:37.29, Z:6.12 [[ 7.82685938e-01 -6.22278655e-01 -1.31147918e-02 8.81110857e+02] [ 6.22202624e-01 7.82795624e-01 -9.74194587e-03 3.72928989e+01] [ 1.63284066e-02 -5.35173805e-04 9.99866539e-01 6.11985109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1192541539999 meters 0.021772076436459176 Centerline is valid? [True, True] Translation: X:881.13, Y:37.31, Z:6.12 [[ 7.81076442e-01 -6.24280422e-01 -1.39120751e-02 8.81133632e+02] [ 6.24195116e-01 7.81200092e-01 -1.03379637e-02 3.73108757e+01] [ 1.73219027e-02 -6.09109436e-04 9.99849779e-01 6.11824007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1492541539999 meters 0.021917186415280804 Centerline is valid? [True, True] Translation: X:881.16, Y:37.33, Z:6.12 [[ 7.78961650e-01 -6.26921651e-01 -1.37110293e-02 8.81157082e+02] [ 6.26839116e-01 7.79082034e-01 -1.01934824e-02 3.73289302e+01] [ 1.70725314e-02 -6.54277643e-04 9.99854040e-01 6.11864687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1792541539999 meters 0.02227061247556466 Centerline is valid? [True, True] Translation: X:881.18, Y:37.34, Z:6.12 [[ 7.78291486e-01 -6.27777094e-01 -1.25811029e-02 8.81181574e+02] [ 6.27707663e-01 7.78392923e-01 -9.35665340e-03 3.73420444e+01] [ 1.56669341e-02 -6.15051015e-04 9.99877077e-01 6.12070091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2092541539998 meters 0.02385449672650321 Centerline is valid? [True, True] Translation: X:881.20, Y:37.36, Z:6.12 [[ 7.76957865e-01 -6.29414947e-01 -1.31643467e-02 8.81203269e+02] [ 6.29339129e-01 7.77069087e-01 -9.79255229e-03 3.73610049e+01] [ 1.63931857e-02 -6.76437968e-04 9.99865394e-01 6.11891643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2392541539999 meters 0.021855174310188862 Centerline is valid? [True, True] Translation: X:881.23, Y:37.38, Z:6.12 [[ 7.75779784e-01 -6.30899756e-01 -1.14553350e-02 8.81225139e+02] [ 6.30842487e-01 7.75864112e-01 -8.52267949e-03 3.73790374e+01] [ 1.42647397e-02 -6.14789568e-04 9.99898064e-01 6.12228099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2692541539999 meters 0.023619314441574165 Centerline is valid? [True, True] Translation: X:881.25, Y:37.40, Z:6.12 [[ 7.75551184e-01 -6.31193099e-01 -1.07533103e-02 8.81247146e+02] [ 6.31142643e-01 7.75625512e-01 -8.00183505e-03 3.73958215e+01] [ 1.33912449e-02 -5.81040055e-04 9.99910164e-01 6.12280401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2992541539999 meters 0.022456618336901896 Centerline is valid? [True, True] Translation: X:881.27, Y:37.42, Z:6.12 [[ 7.76203653e-01 -6.30400364e-01 -1.01621765e-02 8.81268802e+02] [ 6.30355204e-01 7.76269989e-01 -7.56448302e-03 3.74151264e+01] [ 1.26572455e-02 -5.34201492e-04 9.99919751e-01 6.12405722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3292541539998 meters 0.022632921252915647 Centerline is valid? [True, True] Translation: X:881.29, Y:37.43, Z:6.12 [[ 7.77545038e-01 -6.28742644e-01 -1.03151667e-02 8.81290111e+02] [ 6.28695932e-01 7.77613288e-01 -7.68109536e-03 3.74345604e+01] [ 1.28506429e-02 -5.12705743e-04 9.99917296e-01 6.12369583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3592541539999 meters 0.02139596296676853 Centerline is valid? [True, True] Translation: X:881.31, Y:37.46, Z:6.12 [[ 7.81560144e-01 -6.23748095e-01 -1.01022705e-02 8.81309182e+02] [ 6.23702845e-01 7.81625318e-01 -7.52482003e-03 3.74574724e+01] [ 1.25897826e-02 -4.19715440e-04 9.99920657e-01 6.12361663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3892541539999 meters 0.02071594135812848 Centerline is valid? [True, True] Translation: X:881.33, Y:37.48, Z:6.12 [[ 7.83781960e-01 -6.20954070e-01 -1.00936533e-02 8.81329739e+02] [ 6.20908633e-01 7.83846863e-01 -7.52092570e-03 3.74779478e+01] [ 1.25820279e-02 -3.72470613e-04 9.99920774e-01 6.12354830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4192541539999 meters 0.016893257829938484 Centerline is valid? [True, True] Translation: X:881.35, Y:37.50, Z:6.13 [[ 7.88522292e-01 -6.14940842e-01 -8.96410613e-03 8.81347430e+02] [ 6.14904602e-01 7.88573206e-01 -6.68049526e-03 3.75005443e+01] [ 1.11769633e-02 -2.44350672e-04 9.99937506e-01 6.12515784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4492541539998 meters 0.015251207293897616 Centerline is valid? [True, True] Translation: X:881.37, Y:37.52, Z:6.13 [[ 7.90406133e-01 -6.12521077e-01 -8.72213660e-03 8.81368317e+02] [ 6.12486595e-01 7.90454230e-01 -6.50245118e-03 3.75211384e+01] [ 1.08773382e-02 -2.02614461e-04 9.99940819e-01 6.12607912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4792541539999 meters 0.014885087481218886 Centerline is valid? [True, True] Translation: X:881.39, Y:37.54, Z:6.13 [[ 7.91744591e-01 -6.10785669e-01 -9.02053007e-03 8.81389752e+02] [ 6.10748634e-01 7.91795955e-01 -6.72850773e-03 3.75402791e+01] [ 1.12520953e-02 -1.82016817e-04 9.99936677e-01 6.12574368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5092541539999 meters 0.014397678378135574 Centerline is valid? [True, True] Translation: X:881.41, Y:37.56, Z:6.13 [[ 7.93978755e-01 -6.07873817e-01 -9.33584306e-03 8.81409417e+02] [ 6.07833914e-01 7.94033627e-01 -6.96646216e-03 3.75602083e+01] [ 1.16477033e-02 -1.43419071e-04 9.99932153e-01 6.12517747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5392541539999 meters 0.016842505061902102 Centerline is valid? [True, True] Translation: X:881.43, Y:37.58, Z:6.12 [[ 7.95427121e-01 -6.05950751e-01 -1.09262808e-02 8.81430281e+02] [ 6.05895870e-01 7.95502150e-01 -8.15626261e-03 3.75799395e+01] [ 1.36341733e-02 -1.32475952e-04 9.99907042e-01 6.12159583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5692541539999 meters 0.015816470443056 Centerline is valid? [True, True] Translation: X:881.45, Y:37.60, Z:6.12 [[ 7.96151019e-01 -6.04998539e-01 -1.09691779e-02 8.81452542e+02] [ 6.04943077e-01 7.96226573e-01 -8.19258955e-03 3.75983098e+01] [ 1.36904557e-02 -1.13189732e-04 9.99906275e-01 6.12201150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5992541539998 meters 0.015581855406769977 Centerline is valid? [True, True] Translation: X:881.47, Y:37.62, Z:6.12 [[ 7.96782359e-01 -6.04157604e-01 -1.14656717e-02 8.81474384e+02] [ 6.04096851e-01 7.96864844e-01 -8.56831119e-03 3.76162530e+01] [ 1.43132010e-02 -9.92969448e-05 9.99897556e-01 6.12198838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6292541539999 meters 0.01805008897077573 Centerline is valid? [True, True] Translation: X:881.50, Y:37.63, Z:6.12 [[ 7.98332673e-01 -6.02094403e-01 -1.21356482e-02 8.81495307e+02] [ 6.02026049e-01 7.98424903e-01 -9.07251260e-03 3.76347954e+01] [ 1.51519128e-02 -6.30930898e-05 9.99885201e-01 6.12053012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6592541539999 meters 0.015386951469765016 Centerline is valid? [True, True] Translation: X:881.52, Y:37.65, Z:6.12 [[ 7.99179184e-01 -6.00989021e-01 -1.11726467e-02 8.81518076e+02] [ 6.00930936e-01 7.99257277e-01 -8.35550879e-03 3.76528225e+01] [ 1.39513882e-02 -3.64403124e-05 9.99902674e-01 6.12314386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6892541539999 meters 0.014321070219759207 Centerline is valid? [True, True] Translation: X:881.54, Y:37.67, Z:6.13 [[ 8.00679301e-01 -5.99005697e-01 -1.02387726e-02 8.81539861e+02] [ 5.98956716e-01 8.00744763e-01 -7.66010948e-03 3.76698899e+01] [ 1.27870928e-02 7.09487141e-07 9.99918242e-01 6.12529576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7192541539998 meters 0.017534705870931967 Centerline is valid? [True, True] Translation: X:881.56, Y:37.69, Z:6.12 [[ 8.01253157e-01 -5.98237579e-01 -1.02556577e-02 8.81562323e+02] [ 5.98188331e-01 8.01318788e-01 -7.67605016e-03 3.76867912e+01] [ 1.28101528e-02 1.56446902e-05 9.99917947e-01 6.12365443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7492541539999 meters 0.01344654579717417 Centerline is valid? [True, True] Translation: X:881.58, Y:37.70, Z:6.13 [[ 8.03276160e-01 -5.95537371e-01 -9.09123368e-03 8.81584481e+02] [ 5.95498454e-01 8.03327603e-01 -6.80837015e-03 3.77035883e+01] [ 1.13578778e-02 5.51858283e-05 9.99935496e-01 6.12758964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7792541539999 meters 0.01343525113011752 Centerline is valid? [True, True] Translation: X:881.61, Y:37.72, Z:6.13 [[ 8.04064807e-01 -5.94468352e-01 -9.33622149e-03 8.81607527e+02] [ 5.94427189e-01 8.04119004e-01 -6.99599453e-03 3.77205174e+01] [ 1.16663305e-02 7.55290931e-05 9.99931943e-01 6.12759006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8092541539999 meters 0.018017899559321624 Centerline is valid? [True, True] Translation: X:881.63, Y:37.74, Z:6.12 [[ 8.05580540e-01 -5.92382571e-01 -1.10853104e-02 8.81630084e+02] [ 5.92324288e-01 8.05656796e-01 -8.31052148e-03 3.77364670e+01] [ 1.38539637e-02 1.28695817e-04 9.99904021e-01 6.12325475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8392541539998 meters 0.018128458193135074 Centerline is valid? [True, True] Translation: X:881.65, Y:37.75, Z:6.12 [[ 8.06388965e-01 -5.91287434e-01 -1.07707028e-02 8.81652655e+02] [ 5.91232289e-01 8.06460879e-01 -8.07655995e-03 3.77535288e+01] [ 1.34617189e-02 1.44861541e-04 9.99909376e-01 6.12312214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8692541539999 meters 0.01424281094689017 Centerline is valid? [True, True] Translation: X:881.68, Y:37.77, Z:6.13 [[ 8.07552202e-01 -5.89718039e-01 -9.59557541e-03 8.81677097e+02] [ 5.89674132e-01 8.07609194e-01 -7.19768238e-03 3.77698095e+01] [ 1.19940781e-02 1.54241649e-04 9.99928057e-01 6.12765417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8992541539999 meters 0.017675187309477685 Centerline is valid? [True, True] Translation: X:881.70, Y:37.78, Z:6.13 [[ 8.08778104e-01 -5.88029029e-01 -9.99196550e-03 8.81700628e+02] [ 5.87981253e-01 8.08839802e-01 -7.49806365e-03 3.77841784e+01] [ 1.24909785e-02 1.89181307e-04 9.99921967e-01 6.12513675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9292541539999 meters 0.0150895693741319 Centerline is valid? [True, True] Translation: X:881.72, Y:37.80, Z:6.13 [[ 8.09683691e-01 -5.86802748e-01 -8.65194965e-03 8.81724426e+02] [ 5.86766835e-01 8.09729894e-01 -6.49453704e-03 3.78008389e+01] [ 1.08167545e-02 1.81843603e-04 9.99941481e-01 6.12878026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9592541539998 meters 0.0153320957599259 Centerline is valid? [True, True] Translation: X:881.75, Y:37.82, Z:6.13 [[ 8.10039350e-01 -5.86311580e-01 -8.65930195e-03 8.81747228e+02] [ 5.86275549e-01 8.10085610e-01 -6.50275817e-03 3.78160699e+01] [ 1.08274183e-02 1.90752999e-04 9.99941364e-01 6.12882248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9892541539999 meters 0.0153320957599259 Centerline is valid? [True, True] Translation: X:881.77, Y:37.83, Z:6.13 [[ 8.09872433e-01 -5.86542136e-01 -8.65819024e-03 8.81769220e+02] [ 5.86506103e-01 8.09918691e-01 -6.50423809e-03 3.78326876e+01] [ 1.08274398e-02 1.89521716e-04 9.99941364e-01 6.12901327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0192541539999 meters 0.01846882484101604 Centerline is valid? [True, True] Translation: X:881.80, Y:37.85, Z:6.13 [[ 8.09801398e-01 -5.86610624e-01 -1.04723723e-02 8.81795467e+02] [ 5.86557849e-01 8.09869077e-01 -7.87199627e-03 3.78458965e+01] [ 1.30990471e-02 2.32101418e-04 9.99914177e-01 6.12552583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0492541539999 meters 0.016293347069954462 Centerline is valid? [True, True] Translation: X:881.82, Y:37.86, Z:6.13 [[ 8.09782418e-01 -5.86649338e-01 -9.74624773e-03 8.81819255e+02] [ 5.86603584e-01 8.09841037e-01 -7.33004406e-03 3.78607977e+01] [ 1.21930769e-02 2.18556956e-04 9.99925638e-01 6.12727409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0792541539998 meters 0.017965398032204247 Centerline is valid? [True, True] Translation: X:881.85, Y:37.87, Z:6.12 [[ 8.08456295e-01 -5.88428654e-01 -1.22530937e-02 8.81847096e+02] [ 5.88356448e-01 8.08549107e-01 -9.22121528e-03 3.78718609e+01] [ 1.53332553e-02 2.45762844e-04 9.99882409e-01 6.12431853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1092541539999 meters 0.017258338017824833 Centerline is valid? [True, True] Translation: X:881.88, Y:37.88, Z:6.12 [[ 8.06025334e-01 -5.91734313e-01 -1.31781924e-02 8.81875009e+02] [ 5.91651142e-01 8.06133031e-01 -9.92288201e-03 3.78824123e+01] [ 1.64950860e-02 2.01201688e-04 9.99863927e-01 6.12389505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1392541539999 meters 0.014204241143144471 Centerline is valid? [True, True] Translation: X:881.90, Y:37.90, Z:6.13 [[ 8.04984431e-01 -5.93169046e-01 -1.22698095e-02 8.81899483e+02] [ 5.93097067e-01 8.05077920e-01 -9.24191298e-03 3.78966564e+01] [ 1.53601694e-02 1.62408051e-04 9.99882012e-01 6.12606167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1692541539999 meters 0.013589493968798685 Centerline is valid? [True, True] Translation: X:881.93, Y:37.91, Z:6.13 [[ 8.03031494e-01 -5.95814470e-01 -1.20638411e-02 8.81926220e+02] [ 5.95745134e-01 8.03122098e-01 -9.09011541e-03 3.79092172e+01] [ 1.51047597e-02 1.12674332e-04 9.99885910e-01 6.12742804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1992541539998 meters 0.01571445401590538 Centerline is valid? [True, True] Translation: X:881.96, Y:37.92, Z:6.13 [[ 7.98241427e-01 -6.02207794e-01 -1.25058520e-02 8.81956309e+02] [ 6.02133985e-01 7.98339384e-01 -9.42820628e-03 3.79170993e+01] [ 1.56616535e-02 -4.21365261e-06 9.99877349e-01 6.12610943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2292541539998 meters 0.013224606003173187 Centerline is valid? [True, True] Translation: X:881.98, Y:37.93, Z:6.13 [[ 7.96207513e-01 -6.04914859e-01 -1.14721601e-02 8.81981753e+02] [ 6.04852960e-01 7.96290155e-01 -8.65361556e-03 3.79293768e+01] [ 1.43698688e-02 -4.88962713e-05 9.99896747e-01 6.12935370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2592541539999 meters 0.016739845055797568 Centerline is valid? [True, True] Translation: X:882.01, Y:37.94, Z:6.13 [[ 7.91102409e-01 -6.11571843e-01 -1.16986767e-02 8.82011444e+02] [ 6.11508149e-01 7.91188885e-01 -8.82790185e-03 3.79366842e+01] [ 1.46547592e-02 -1.70061690e-04 9.99892599e-01 6.12747803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2892541539999 meters 0.015607848115292101 Centerline is valid? [True, True] Translation: X:882.04, Y:37.95, Z:6.13 [[ 7.88959223e-01 -6.14351019e-01 -1.07782061e-02 8.82037207e+02] [ 6.14297193e-01 7.89032816e-01 -8.13474934e-03 3.79484828e+01] [ 1.35019499e-02 -2.03036254e-04 9.99908824e-01 6.12923940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3192541539999 meters 0.018994843554155438 Centerline is valid? [True, True] Translation: X:882.07, Y:37.96, Z:6.13 [[ 7.84611926e-01 -6.19889907e-01 -1.09830835e-02 8.82067096e+02] [ 6.19834535e-01 7.84688736e-01 -8.29080962e-03 3.79567497e+01] [ 1.37576911e-02 -3.02626351e-04 9.99905313e-01 6.12859123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3492541539998 meters 0.019241106503964964 Centerline is valid? [True, True] Translation: X:882.09, Y:37.97, Z:6.13 [[ 7.82958099e-01 -6.21984983e-01 -1.05497490e-02 8.82092614e+02] [ 6.21934066e-01 7.83029103e-01 -7.96501486e-03 3.79701736e+01] [ 1.32148801e-02 -3.24975419e-04 9.99912627e-01 6.12922048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3792541539999 meters 0.01953605316487524 Centerline is valid? [True, True] Translation: X:882.12, Y:37.98, Z:6.13 [[ 7.80161034e-01 -6.25505868e-01 -9.54832278e-03 8.82120080e+02] [ 6.25464405e-01 7.80219385e-01 -7.21029481e-03 3.79806388e+01] [ 1.19598682e-02 -3.46944978e-04 9.99928418e-01 6.13168317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4092541539999 meters 0.019200499791233738 Centerline is valid? [True, True] Translation: X:882.14, Y:38.00, Z:6.13 [[ 7.78900948e-01 -6.27083901e-01 -8.89350148e-03 8.82144395e+02] [ 6.27048010e-01 7.78951643e-01 -6.71795895e-03 3.79958201e+01] [ 1.11403315e-02 -3.44027812e-04 9.99937885e-01 6.13317061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4392541539999 meters 0.024824286597284462 Centerline is valid? [True, True] Translation: X:882.17, Y:38.01, Z:6.13 [[ 7.75324921e-01 -6.31497869e-01 -9.03921271e-03 8.82172000e+02] [ 6.31461051e-01 7.75377503e-01 -6.83147878e-03 3.80063666e+01] [ 1.13228665e-02 -4.11295007e-04 9.99935810e-01 6.13081867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4692541539998 meters 0.02034369386044402 Centerline is valid? [True, True] Translation: X:882.19, Y:38.02, Z:6.14 [[ 7.74039832e-01 -6.33083276e-01 -8.24037119e-03 8.82194765e+02] [ 6.33052737e-01 7.74083594e-01 -6.23067668e-03 3.80242804e+01] [ 1.03232734e-02 -3.93797604e-04 9.99946636e-01 6.13542079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4992541539999 meters 0.023966237161834655 Centerline is valid? [True, True] Translation: X:882.22, Y:38.04, Z:6.14 [[ 7.72107859e-01 -6.35434508e-01 -8.51112403e-03 8.82221288e+02] [ 6.35402045e-01 7.72154644e-01 -6.43793681e-03 3.80357347e+01] [ 1.06627912e-02 -4.37204006e-04 9.99943055e-01 6.13533931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5292541539999 meters 0.029160478798880046 Centerline is valid? [True, True] Translation: X:882.25, Y:38.05, Z:6.13 [[ 7.67509202e-01 -6.40964129e-01 -9.72676821e-03 8.82247882e+02] [ 6.40922149e-01 7.67570610e-01 -7.35913399e-03 3.80467064e+01] [ 1.21829223e-02 -5.85898131e-04 9.99925614e-01 6.13221342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5592541539999 meters 0.030575410740210522 Centerline is valid? [True, True] Translation: X:882.27, Y:38.06, Z:6.13 [[ 7.65313324e-01 -6.43583656e-01 -9.77727513e-03 8.82272503e+02] [ 6.43541416e-01 7.65375518e-01 -7.40021838e-03 3.80615219e+01] [ 1.22459466e-02 -6.28595758e-04 9.99924818e-01 6.13237658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5892541539998 meters 0.02682726668942721 Centerline is valid? [True, True] Translation: X:882.29, Y:38.08, Z:6.13 [[ 7.61119178e-01 -6.48529129e-01 -1.03714061e-02 8.82291894e+02] [ 6.48482018e-01 7.61189469e-01 -7.85267410e-03 3.80833217e+01] [ 1.29872930e-02 -7.48849522e-04 9.99915381e-01 6.13216244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6192541539999 meters 0.027637914642021814 Centerline is valid? [True, True] Translation: X:882.32, Y:38.10, Z:6.13 [[ 7.59433671e-01 -6.50494801e-01 -1.08172313e-02 8.82316277e+02] [ 6.50443729e-01 7.59510269e-01 -8.19180405e-03 3.80994481e+01] [ 1.35445242e-02 -8.14868455e-04 9.99907937e-01 6.13280967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6492541539999 meters 0.027288965874559805 Centerline is valid? [True, True] Translation: X:882.34, Y:38.12, Z:6.13 [[ 7.58487131e-01 -6.51599894e-01 -1.07168082e-02 8.82340259e+02] [ 6.51549836e-01 7.58562389e-01 -8.11868671e-03 3.81162293e+01] [ 1.34195030e-02 -8.24615207e-04 9.99909614e-01 6.13445845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6792541539999 meters 0.02816019784969891 Centerline is valid? [True, True] Translation: X:882.36, Y:38.13, Z:6.13 [[ 7.57040637e-01 -6.53256240e-01 -1.20730445e-02 8.82363056e+02] [ 6.53192847e-01 7.57136293e-01 -9.15092372e-03 3.81345428e+01] [ 1.51188382e-02 -9.58405174e-04 9.99885245e-01 6.13262557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7092541539998 meters 0.025563400664834576 Centerline is valid? [True, True] Translation: X:882.38, Y:38.15, Z:6.13 [[ 7.57143695e-01 -6.53137564e-01 -1.20311599e-02 8.82384027e+02] [ 6.53074524e-01 7.57238682e-01 -9.12379524e-03 3.81548087e+01] [ 1.50695530e-02 -9.49219964e-04 9.99885997e-01 6.13399013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7392541539999 meters 0.028523993738378908 Centerline is valid? [True, True] Translation: X:882.41, Y:38.17, Z:6.13 [[ 7.57873998e-01 -6.52268709e-01 -1.31352453e-02 8.82407167e+02] [ 6.52193348e-01 7.57987140e-01 -9.96655984e-03 3.81713303e+01] [ 1.64572221e-02 -1.01332305e-03 9.99864057e-01 6.13195023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7692541539999 meters 0.02655347002200398 Centerline is valid? [True, True] Translation: X:882.43, Y:38.19, Z:6.13 [[ 7.58451227e-01 -6.51596394e-01 -1.31862100e-02 8.82427753e+02] [ 6.51520258e-01 7.58565187e-01 -1.00105199e-02 3.81917902e+01] [ 1.65254185e-02 -9.98591909e-04 9.99862947e-01 6.13236995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7992541539999 meters 0.027687885371015974 Centerline is valid? [True, True] Translation: X:882.45, Y:38.21, Z:6.13 [[ 7.59472527e-01 -6.50387145e-01 -1.40727580e-02 8.82449182e+02] [ 6.50300128e-01 7.59602194e-01 -1.06888141e-02 3.82105027e+01] [ 1.76415651e-02 -1.03365568e-03 9.99843841e-01 6.13141745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8292541539998 meters 0.02531539013258418 Centerline is valid? [True, True] Translation: X:882.47, Y:38.23, Z:6.14 [[ 7.60295885e-01 -6.49444441e-01 -1.31181206e-02 8.82471443e+02] [ 6.49368620e-01 7.60408466e-01 -9.96800228e-03 3.82287376e+01] [ 1.64487936e-02 -9.39864743e-04 9.99864268e-01 6.13548106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8592541539999 meters 0.025333868891886442 Centerline is valid? [True, True] Translation: X:882.49, Y:38.25, Z:6.14 [[ 7.60143745e-01 -6.49625913e-01 -1.29483357e-02 8.82493066e+02] [ 6.49551984e-01 7.60253453e-01 -9.84414405e-03 3.82466902e+01] [ 1.62390280e-02 -9.27652642e-04 9.99867708e-01 6.13559326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8892541539999 meters 0.025466498024160046 Centerline is valid? [True, True] Translation: X:882.51, Y:38.27, Z:6.14 [[ 7.59025584e-01 -6.50944103e-01 -1.23263337e-02 8.82514703e+02] [ 6.50877201e-01 7.59125124e-01 -9.37631220e-03 3.82662405e+01] [ 1.54606847e-02 -9.06068747e-04 9.99880066e-01 6.13653326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9192541539999 meters 0.02572386005018412 Centerline is valid? [True, True] Translation: X:882.54, Y:38.29, Z:6.14 [[ 7.57704788e-01 -6.52488085e-01 -1.19479306e-02 8.82537246e+02] [ 6.52425350e-01 7.57798443e-01 -9.09302501e-03 3.82851600e+01] [ 1.49872137e-02 -9.05304243e-04 9.99887276e-01 6.13638118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9492541539998 meters 0.02811153457258845 Centerline is valid? [True, True] Translation: X:882.56, Y:38.30, Z:6.13 [[ 7.55008676e-01 -6.55610224e-01 -1.17104131e-02 8.82560124e+02] [ 6.55550265e-01 7.55098896e-01 -8.91672877e-03 3.83034158e+01] [ 1.46884185e-02 -9.44556812e-04 9.99891673e-01 6.13472799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9792541539998 meters 0.029253709644704824 Centerline is valid? [True, True] Translation: X:882.58, Y:38.32, Z:6.14 [[ 7.54320124e-01 -6.56405650e-01 -1.15227339e-02 8.82582403e+02] [ 6.56347647e-01 7.54407539e-01 -8.77678305e-03 3.83195464e+01] [ 1.44539673e-02 -9.42415188e-04 9.99895092e-01 6.13570853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0092541539999 meters 0.030317907851914426 Centerline is valid? [True, True] Translation: X:882.60, Y:38.34, Z:6.13 [[ 7.53974452e-01 -6.56801166e-01 -1.16083720e-02 8.82603971e+02] [ 6.56742298e-01 7.54063205e-01 -8.84516829e-03 3.83383437e+01] [ 1.45629631e-02 -9.54678013e-04 9.99893499e-01 6.13453972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0392541539999 meters 0.029502895458919872 Centerline is valid? [True, True] Translation: X:882.62, Y:38.36, Z:6.14 [[ 7.56347138e-01 -6.54064989e-01 -1.17471931e-02 8.82624214e+02] [ 6.54004333e-01 7.56437810e-01 -8.95389828e-03 3.83586945e+01] [ 1.47424524e-02 -9.10459870e-04 9.99890910e-01 6.13694569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0692541539999 meters 0.02609175439926723 Centerline is valid? [True, True] Translation: X:882.64, Y:38.38, Z:6.14 [[ 7.60546928e-01 -6.49174630e-01 -1.18604265e-02 8.82640687e+02] [ 6.49112158e-01 7.60638959e-01 -9.04324432e-03 3.83844576e+01] [ 1.48921473e-02 -8.20935363e-04 9.99888769e-01 6.13751271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0992541539998 meters 0.026945259209016303 Centerline is valid? [True, True] Translation: X:882.66, Y:38.40, Z:6.14 [[ 7.62833265e-01 -6.46483555e-01 -1.20176157e-02 8.82660569e+02] [ 6.46419037e-01 7.62927527e-01 -9.16609456e-03 3.84041005e+01] [ 1.50942992e-02 -7.76213735e-04 9.99885773e-01 6.13580561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1292541539999 meters 0.02316310157975198 Centerline is valid? [True, True] Translation: X:882.68, Y:38.43, Z:6.14 [[ 7.65669366e-01 -6.43135174e-01 -1.12946370e-02 8.82679412e+02] [ 6.43077798e-01 7.65752378e-01 -8.61640492e-03 3.84277050e+01] [ 1.41904082e-02 -6.66013005e-04 9.99899089e-01 6.13836140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1592541539999 meters 0.023781702876825916 Centerline is valid? [True, True] Translation: X:882.70, Y:38.45, Z:6.13 [[ 7.70152032e-01 -6.37759158e-01 -1.13623611e-02 8.82696458e+02] [ 6.37700459e-01 7.70235635e-01 -8.67126087e-03 3.84533975e+01] [ 1.42818714e-02 -5.67593693e-04 9.99897848e-01 6.13459911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1892541539999 meters 0.020984480110848514 Centerline is valid? [True, True] Translation: X:882.72, Y:38.48, Z:6.14 [[ 7.72484561e-01 -6.34944968e-01 -1.06061209e-02 8.82715934e+02] [ 6.34893511e-01 7.72557220e-01 -8.09763102e-03 3.84755031e+01] [ 1.33353853e-02 -4.78462383e-04 9.99910965e-01 6.13625752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2192541539998 meters 0.019284756790624802 Centerline is valid? [True, True] Translation: X:882.73, Y:38.50, Z:6.14 [[ 7.75416019e-01 -6.31363752e-01 -1.04790447e-02 8.82734603e+02] [ 6.31313146e-01 7.75486715e-01 -8.00408165e-03 3.84993570e+01] [ 1.31798470e-02 -4.09065542e-04 9.99913058e-01 6.13683434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2492541539999 meters 0.021511961918742224 Centerline is valid? [True, True] Translation: X:882.76, Y:38.52, Z:6.13 [[ 7.75894207e-01 -6.30765187e-01 -1.11111810e-02 8.82755586e+02] [ 6.30708189e-01 7.75973648e-01 -8.48985242e-03 3.85176067e+01] [ 1.39770870e-02 -4.20685536e-04 9.99902227e-01 6.13434005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2792541539999 meters 0.018023617099373838 Centerline is valid? [True, True] Translation: X:882.78, Y:38.54, Z:6.14 [[ 7.76441687e-01 -6.30098739e-01 -1.06716836e-02 8.82776338e+02] [ 6.30046062e-01 7.76514923e-01 -8.15679344e-03 3.85384993e+01] [ 1.34263068e-02 -3.90377759e-04 9.99909787e-01 6.13819509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3092541539999 meters 0.01849858807186237 Centerline is valid? [True, True] Translation: X:882.80, Y:38.56, Z:6.14 [[ 7.76756462e-01 -6.29710222e-01 -1.06974931e-02 8.82795807e+02] [ 6.29657209e-01 7.76830027e-01 -8.17975019e-03 3.85592238e+01] [ 1.34610061e-02 -3.82079812e-04 9.99909324e-01 6.13779068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3392541539998 meters 0.02017355475713631 Centerline is valid? [True, True] Translation: X:882.81, Y:38.58, Z:6.13 [[ 7.76884626e-01 -6.29544138e-01 -1.11560124e-02 8.82813806e+02] [ 6.29486413e-01 7.76964622e-01 -8.53412737e-03 3.85821450e+01] [ 1.40404369e-02 -3.92525908e-04 9.99901351e-01 6.13435214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3692541539999 meters 0.01752364071739845 Centerline is valid? [True, True] Translation: X:882.84, Y:38.60, Z:6.14 [[ 7.77341458e-01 -6.29004664e-01 -9.66386446e-03 8.82835388e+02] [ 6.28961273e-01 7.77401456e-01 -7.39543486e-03 3.85992056e+01] [ 1.21644653e-02 -3.29418372e-04 9.99925956e-01 6.13913476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3992541539999 meters 0.019689886955390645 Centerline is valid? [True, True] Translation: X:882.86, Y:38.62, Z:6.14 [[ 7.76321177e-01 -6.30269238e-01 -9.27996310e-03 8.82856164e+02] [ 6.30229290e-01 7.76376569e-01 -7.10391214e-03 3.86199465e+01] [ 1.16821232e-02 -3.33587116e-04 9.99931706e-01 6.13645688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4292541539999 meters 0.02125165915372463 Centerline is valid? [True, True] Translation: X:882.88, Y:38.64, Z:6.14 [[ 7.75588644e-01 -6.31165048e-01 -9.64041402e-03 8.82878033e+02] [ 6.31121971e-01 7.75648473e-01 -7.38272200e-03 3.86368644e+01] [ 1.21372885e-02 -3.58321754e-04 9.99926276e-01 6.13536196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4592541539998 meters 0.021645303474592488 Centerline is valid? [True, True] Translation: X:882.90, Y:38.66, Z:6.13 [[ 7.74561939e-01 -6.32417119e-01 -1.01188287e-02 8.82900064e+02] [ 6.32369732e-01 7.74627932e-01 -7.75174592e-03 3.86553956e+01] [ 1.27406641e-02 -3.94633621e-04 9.99918757e-01 6.13458814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4892541539999 meters 0.018395170353982797 Centerline is valid? [True, True] Translation: X:882.92, Y:38.67, Z:6.14 [[ 7.72395637e-01 -6.35060783e-01 -1.01381116e-02 8.82922225e+02] [ 6.35013394e-01 7.72462045e-01 -7.77034981e-03 3.86747973e+01] [ 1.27659508e-02 -4.36052339e-04 9.99918417e-01 6.13787250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5192541539999 meters 0.023030174126769214 Centerline is valid? [True, True] Translation: X:882.94, Y:38.69, Z:6.13 [[ 7.70697727e-01 -6.37088783e-01 -1.19539085e-02 8.82944758e+02] [ 6.37023089e-01 7.70790230e-01 -9.16539383e-03 3.86915948e+01] [ 1.50531255e-02 -5.51167550e-04 9.99886543e-01 6.13290034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5492541539999 meters 0.02167266065699358 Centerline is valid? [True, True] Translation: X:882.97, Y:38.71, Z:6.14 [[ 7.68903217e-01 -6.39264398e-01 -1.13522217e-02 8.82967470e+02] [ 6.39205344e-01 7.68986810e-01 -8.70708735e-03 3.87095317e+01] [ 1.42958397e-02 -5.61493321e-04 9.99897652e-01 6.13555618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5792541539998 meters 0.022624019000586356 Centerline is valid? [True, True] Translation: X:882.99, Y:38.73, Z:6.14 [[ 7.68456112e-01 -6.39796844e-01 -1.16276234e-02 8.82990051e+02] [ 6.39734885e-01 7.68543857e-01 -8.92287088e-03 3.87278266e+01] [ 1.46451632e-02 -5.81761671e-04 9.99892585e-01 6.13527109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6092541539999 meters 0.019584303322083618 Centerline is valid? [True, True] Translation: X:883.01, Y:38.75, Z:6.14 [[ 7.68660266e-01 -6.39566441e-01 -1.07779193e-02 8.83011062e+02] [ 6.39513127e-01 7.68735641e-01 -8.27497493e-03 3.87473747e+01] [ 1.35777669e-02 -5.31976415e-04 9.99907676e-01 6.13942909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6392541539999 meters 0.02164850968663706 Centerline is valid? [True, True] Translation: X:883.03, Y:38.77, Z:6.14 [[ 7.69086975e-01 -6.39038656e-01 -1.16112524e-02 8.83030504e+02] [ 6.38976671e-01 7.69174416e-01 -8.91803992e-03 3.87673910e+01] [ 1.46300505e-02 -5.60571075e-04 9.99892818e-01 6.13633912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6692541539999 meters 0.02277650763428635 Centerline is valid? [True, True] Translation: X:883.05, Y:38.79, Z:6.14 [[ 7.69925451e-01 -6.38002904e-01 -1.29265302e-02 8.83051749e+02] [ 6.37925903e-01 7.70033723e-01 -9.93016375e-03 3.87860295e+01] [ 1.62893375e-02 -6.00682654e-04 9.99867140e-01 6.13511308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6992541539998 meters 0.019049020395059495 Centerline is valid? [True, True] Translation: X:883.07, Y:38.81, Z:6.14 [[ 7.72991569e-01 -6.34287967e-01 -1.27596500e-02 8.83071154e+02] [ 6.34212409e-01 7.73096702e-01 -9.80353843e-03 3.88071666e+01] [ 1.60827098e-02 -5.14275817e-04 9.99870533e-01 6.13820144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7292541539998 meters 0.01865609920318665 Centerline is valid? [True, True] Translation: X:883.09, Y:38.83, Z:6.14 [[ 7.74546445e-01 -6.32382317e-01 -1.30541381e-02 8.83092422e+02] [ 6.32302904e-01 7.74656293e-01 -1.00331770e-02 3.88261214e+01] [ 1.64572739e-02 -4.83007852e-04 9.99864453e-01 6.13821419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7592541539999 meters 0.02049274428902788 Centerline is valid? [True, True] Translation: X:883.11, Y:38.85, Z:6.14 [[ 7.77271481e-01 -6.28994784e-01 -1.46494785e-02 8.83111110e+02] [ 6.28894111e-01 7.77409385e-01 -1.12626111e-02 3.88491618e+01] [ 1.84727657e-02 -4.58864375e-04 9.99829259e-01 6.13533815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7892541539999 meters 0.02069919471826083 Centerline is valid? [True, True] Translation: X:883.13, Y:38.87, Z:6.14 [[ 7.78512653e-01 -6.27459964e-01 -1.45616739e-02 8.83131750e+02] [ 6.27360191e-01 7.78648713e-01 -1.11970013e-02 3.88676955e+01] [ 1.83640986e-02 -4.18407343e-04 9.99831278e-01 6.13530467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8192541539999 meters 0.020531153254046447 Centerline is valid? [True, True] Translation: X:883.15, Y:38.89, Z:6.14 [[ 7.79517826e-01 -6.26234188e-01 -1.35166777e-02 8.83150918e+02] [ 6.26147970e-01 7.79634923e-01 -1.03974289e-02 3.88895272e+01] [ 1.70492994e-02 -3.58459160e-04 9.99854586e-01 6.13704696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8492541539998 meters 0.01744103343747266 Centerline is valid? [True, True] Translation: X:883.17, Y:38.91, Z:6.14 [[ 7.79813675e-01 -6.25894549e-01 -1.21097561e-02 8.83172383e+02] [ 6.25825254e-01 7.79907633e-01 -9.31858156e-03 3.89068117e+01] [ 1.52769406e-02 -3.11833838e-04 9.99883252e-01 6.13992560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8792541539999 meters 0.01780913186892997 Centerline is valid? [True, True] Translation: X:883.19, Y:38.93, Z:6.14 [[ 7.79274619e-01 -6.26573360e-01 -1.17000885e-02 8.83194042e+02] [ 6.26508691e-01 7.79362385e-01 -9.00735832e-03 3.89250976e+01] [ 1.47623797e-02 -3.11001409e-04 9.99890982e-01 6.14081046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9092541539999 meters 0.01780913186892997 Centerline is valid? [True, True] Translation: X:883.22, Y:38.94, Z:6.14 [[ 7.79091458e-01 -6.26801141e-01 -1.16974546e-02 8.83215846e+02] [ 6.26736446e-01 7.79179205e-01 -9.01077810e-03 3.89419662e+01] [ 1.47623794e-02 -3.11000885e-04 9.99890982e-01 6.14100093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9392541539999 meters 0.015496772139054553 Centerline is valid? [True, True] Translation: X:883.24, Y:38.96, Z:6.14 [[ 7.77936673e-01 -6.28266314e-01 -9.79650509e-03 8.83238562e+02] [ 6.28221006e-01 7.77998303e-01 -7.55035474e-03 3.89604392e+01] [ 1.23652979e-02 -2.80672440e-04 9.99923507e-01 6.14488043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9692541539998 meters 0.019560590377416344 Centerline is valid? [True, True] Translation: X:883.26, Y:38.98, Z:6.14 [[ 7.76788903e-01 -6.29657101e-01 -1.14427325e-02 8.83261193e+02] [ 6.29595379e-01 7.76873099e-01 -8.82307573e-03 3.89766760e+01] [ 1.44450634e-02 -3.50624213e-04 9.99895603e-01 6.14131983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9992541539999 meters 0.02016884563228797 Centerline is valid? [True, True] Translation: X:883.28, Y:39.00, Z:6.14 [[ 7.75274213e-01 -6.31516811e-01 -1.16795661e-02 8.83283095e+02] [ 6.31452663e-01 7.75362086e-01 -9.00942801e-03 3.89959357e+01] [ 1.47454980e-02 -3.90315927e-04 9.99891203e-01 6.14107321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0292541539999 meters 0.02182517694064071 Centerline is valid? [True, True] Translation: X:883.31, Y:39.01, Z:6.14 [[ 7.74932348e-01 -6.31928537e-01 -1.20904799e-02 8.83305218e+02] [ 6.31859795e-01 7.75026552e-01 -9.32965386e-03 3.90127357e+01] [ 1.52661174e-02 -4.09637551e-04 9.99883382e-01 6.13998420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0592541539999 meters 0.01681621806874761 Centerline is valid? [True, True] Translation: X:883.33, Y:39.03, Z:6.14 [[ 7.75013285e-01 -6.31862113e-01 -1.02311964e-02 8.83325478e+02] [ 6.31812850e-01 7.75080739e-01 -7.89749909e-03 3.90332751e+01] [ 1.29201337e-02 -3.43534641e-04 9.99916473e-01 6.14421780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0892541539998 meters 0.020752060554921042 Centerline is valid? [True, True] Translation: X:883.35, Y:39.05, Z:6.14 [[ 7.74849665e-01 -6.32030638e-01 -1.20527681e-02 8.83347685e+02] [ 6.31962212e-01 7.74943294e-01 -9.30878482e-03 3.90512311e+01] [ 1.52236490e-02 -4.03985181e-04 9.99884032e-01 6.14046087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1192541539999 meters 0.020946432850631747 Centerline is valid? [True, True] Translation: X:883.37, Y:39.07, Z:6.14 [[ 7.75546240e-01 -6.31163158e-01 -1.26924344e-02 8.83369234e+02] [ 6.31087106e-01 7.75649988e-01 -9.80614398e-03 3.90693002e+01] [ 1.60341634e-02 -4.04913588e-04 9.99871363e-01 6.14009139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1492541539999 meters 0.019170295139522862 Centerline is valid? [True, True] Translation: X:883.39, Y:39.09, Z:6.14 [[ 7.77372210e-01 -6.28893358e-01 -1.36232094e-02 8.83389390e+02] [ 6.28805323e-01 7.77491479e-01 -1.05292866e-02 3.90901896e+01] [ 1.72137277e-02 -3.81171841e-04 9.99851760e-01 6.13937073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1792541539999 meters 0.019275640368295936 Centerline is valid? [True, True] Translation: X:883.41, Y:39.11, Z:6.14 [[ 7.78646555e-01 -6.27295967e-01 -1.44676520e-02 8.83409924e+02] [ 6.27196298e-01 7.78780867e-01 -1.11877421e-02 3.91109811e+01] [ 1.82851561e-02 -3.62760917e-04 9.99832747e-01 6.13782716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2092541539998 meters 0.015160412836145906 Centerline is valid? [True, True] Translation: X:883.43, Y:39.13, Z:6.14 [[ 7.79028749e-01 -6.26858731e-01 -1.27412527e-02 8.83431221e+02] [ 6.26781298e-01 7.79132875e-01 -9.85732519e-03 3.91313240e+01] [ 1.61062792e-02 -3.06839190e-04 9.99870238e-01 6.14209357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2392541539999 meters 0.016677623653937358 Centerline is valid? [True, True] Translation: X:883.45, Y:39.15, Z:6.14 [[ 7.78625614e-01 -6.27351361e-01 -1.31310366e-02 8.83453314e+02] [ 6.27269101e-01 7.78736262e-01 -1.01640937e-02 3.91500276e+01] [ 1.66020724e-02 -3.22669782e-04 9.99862124e-01 6.14076950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2692541539999 meters 0.015013882993901212 Centerline is valid? [True, True] Translation: X:883.47, Y:39.17, Z:6.14 [[ 7.77653012e-01 -6.28589507e-01 -1.14465538e-02 8.83474634e+02] [ 6.28527065e-01 7.77737193e-01 -8.86497812e-03 3.91681690e+01] [ 1.44748428e-02 -3.00591920e-04 9.99895189e-01 6.14388861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2992541539999 meters 0.017959681606290447 Centerline is valid? [True, True] Translation: X:883.50, Y:39.18, Z:6.14 [[ 7.76689284e-01 -6.29769984e-01 -1.19801215e-02 8.83497916e+02] [ 6.29701661e-01 7.76781601e-01 -9.28234592e-03 3.91835869e+01] [ 1.51516808e-02 -3.34403806e-04 9.99885151e-01 6.14186817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3292541539998 meters 0.01967238524596481 Centerline is valid? [True, True] Translation: X:883.52, Y:39.20, Z:6.14 [[ 7.75329616e-01 -6.31443511e-01 -1.19615387e-02 8.83520632e+02] [ 6.31375542e-01 7.75421795e-01 -9.27169829e-03 3.92015924e+01] [ 1.51297915e-02 -3.63600689e-04 9.99885472e-01 6.14168216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3592541539999 meters 0.019784647622004676 Centerline is valid? [True, True] Translation: X:883.54, Y:39.22, Z:6.14 [[ 7.74962907e-01 -6.31896715e-01 -1.17912983e-02 8.83541094e+02] [ 6.31830644e-01 7.75052521e-01 -9.14481156e-03 3.92204510e+01] [ 1.49174519e-02 -3.63213849e-04 9.99888663e-01 6.14174232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3892541539999 meters 0.019020399723268064 Centerline is valid? [True, True] Translation: X:883.56, Y:39.24, Z:6.14 [[ 7.75529797e-01 -6.31208593e-01 -1.13686366e-02 8.83562432e+02] [ 6.31147030e-01 7.75613048e-01 -8.82185885e-03 3.92392747e+01] [ 1.43860960e-02 -3.33666813e-04 9.99896459e-01 6.14239164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4192541539999 meters 0.018820559780723046 Centerline is valid? [True, True] Translation: X:883.58, Y:39.26, Z:6.14 [[ 7.76293180e-01 -6.30274390e-01 -1.10946706e-02 8.83583609e+02] [ 6.30215601e-01 7.76372398e-01 -8.61368656e-03 3.92589140e+01] [ 1.40425821e-02 -3.05288387e-04 9.99901351e-01 6.14224051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4492541539998 meters 0.014979570453662465 Centerline is valid? [True, True] Translation: X:883.60, Y:39.28, Z:6.15 [[ 7.78743918e-01 -6.27271340e-01 -9.41151882e-03 8.83604033e+02] [ 6.27228789e-01 7.78800759e-01 -7.30923829e-03 3.92797507e+01] [ 1.19145737e-02 -2.11150687e-04 9.99928997e-01 6.14569294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4792541539998 meters 0.018680343948474055 Centerline is valid? [True, True] Translation: X:883.63, Y:39.30, Z:6.14 [[ 7.79392849e-01 -6.26441213e-01 -1.08716540e-02 8.83625689e+02] [ 6.26384333e-01 7.79468636e-01 -8.44471067e-03 3.92970466e+01] [ 1.37642281e-02 -2.28086610e-04 9.99905243e-01 6.14246309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5092541539999 meters 0.017286292305328528 Centerline is valid? [True, True] Translation: X:883.65, Y:39.32, Z:6.14 [[ 7.80936631e-01 -6.24518911e-01 -1.06821192e-02 8.83646576e+02] [ 6.24463780e-01 7.81009663e-01 -8.30020437e-03 3.93180551e+01] [ 1.35264730e-02 -1.88662934e-04 9.99908495e-01 6.14299098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5392541539999 meters 0.014990542874997704 Centerline is valid? [True, True] Translation: X:883.67, Y:39.34, Z:6.14 [[ 7.81765658e-01 -6.23490907e-01 -1.00769487e-02 8.83668179e+02] [ 6.23441727e-01 7.81830585e-01 -7.83256873e-03 3.93358688e+01] [ 1.27620021e-02 -1.59157041e-04 9.99918550e-01 6.14456084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5692541539999 meters 0.018257491628262595 Centerline is valid? [True, True] Translation: X:883.69, Y:39.35, Z:6.14 [[ 7.81706042e-01 -6.23533798e-01 -1.18855707e-02 8.83690152e+02] [ 6.23465331e-01 7.81796373e-01 -9.24187929e-03 3.93549336e+01] [ 1.50547201e-02 -1.85808376e-04 9.99886654e-01 6.14148108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5992541539998 meters 0.01665092090841001 Centerline is valid? [True, True] Translation: X:883.71, Y:39.37, Z:6.14 [[ 7.81566284e-01 -6.23708454e-01 -1.19125329e-02 8.83712351e+02] [ 6.23639618e-01 7.81657041e-01 -9.26801722e-03 3.93726817e+01] [ 1.50920559e-02 -1.85557688e-04 9.99886091e-01 6.14152151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6292541539999 meters 0.018099971228831942 Centerline is valid? [True, True] Translation: X:883.73, Y:39.39, Z:6.14 [[ 7.80823535e-01 -6.24629395e-01 -1.23582193e-02 8.83734918e+02] [ 6.24555371e-01 7.80921299e-01 -9.61836339e-03 3.93899132e+01] [ 1.56587092e-02 -2.08147729e-04 9.99877373e-01 6.14001891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6592541539999 meters 0.01702913547385671 Centerline is valid? [True, True] Translation: X:883.76, Y:39.41, Z:6.14 [[ 7.79227765e-01 -6.26621426e-01 -1.22343740e-02 8.83758806e+02] [ 6.26549096e-01 7.79323764e-01 -9.52372333e-03 3.94052548e+01] [ 1.55023075e-02 -2.44286336e-04 9.99879802e-01 6.14024045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6892541539999 meters 0.020355870694667454 Centerline is valid? [True, True] Translation: X:883.78, Y:39.42, Z:6.14 [[ 7.77984208e-01 -6.28152461e-01 -1.28474650e-02 8.83782039e+02] [ 6.28072878e-01 7.78090228e-01 -1.00028277e-02 3.94215923e+01] [ 1.62797879e-02 -2.87102334e-04 9.99867434e-01 6.13840646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7192541539998 meters 0.017622573612148373 Centerline is valid? [True, True] Translation: X:883.80, Y:39.44, Z:6.14 [[ 7.77030896e-01 -6.29351315e-01 -1.18283037e-02 8.83804426e+02] [ 6.29283947e-01 7.77120867e-01 -9.21266112e-03 3.94403619e+01] [ 1.49900220e-02 -2.84839316e-04 9.99887603e-01 6.14117861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7492541539999 meters 0.015634891982204385 Centerline is valid? [True, True] Translation: X:883.83, Y:39.46, Z:6.14 [[ 7.75782624e-01 -6.30932514e-01 -9.24571320e-03 8.83827790e+02] [ 6.30891438e-01 7.75837678e-01 -7.20349196e-03 3.94558645e+01] [ 1.17180900e-02 -2.44697398e-04 9.99931311e-01 6.14429267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7792541539999 meters 0.018096736385882103 Centerline is valid? [True, True] Translation: X:883.85, Y:39.47, Z:6.14 [[ 7.73900716e-01 -6.33245523e-01 -8.81978248e-03 8.83851488e+02] [ 6.33208271e-01 7.73950927e-01 -6.87377242e-03 3.94728906e+01] [ 1.11788644e-02 -2.65141817e-04 9.99937479e-01 6.14351328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8092541539999 meters 0.01563158173328548 Centerline is valid? [True, True] Translation: X:883.87, Y:39.49, Z:6.15 [[ 7.73380554e-01 -6.33895702e-01 -7.66539935e-03 8.83873325e+02] [ 6.33867566e-01 7.73418504e-01 -5.97708052e-03 3.94909361e+01] [ 9.71740735e-03 -2.36290190e-04 9.99952757e-01 6.14635887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8392541539998 meters 0.019433393492571033 Centerline is valid? [True, True] Translation: X:883.90, Y:39.51, Z:6.14 [[ 7.72263705e-01 -6.35246906e-01 -8.37484965e-03 8.83896931e+02] [ 6.35213366e-01 7.72309065e-01 -6.53355004e-03 3.95062440e+01] [ 1.06183898e-02 -2.74192877e-04 9.99943586e-01 6.14399166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8692541539999 meters 0.019055831058811732 Centerline is valid? [True, True] Translation: X:883.92, Y:39.52, Z:6.15 [[ 7.70585436e-01 -6.37292885e-01 -7.47425360e-03 8.83919399e+02] [ 6.37266255e-01 7.70621637e-01 -5.83211251e-03 3.95234639e+01] [ 9.47658535e-03 -2.68948639e-04 9.99955060e-01 6.14504543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8992541539999 meters 0.019012283141393173 Centerline is valid? [True, True] Translation: X:883.94, Y:39.54, Z:6.15 [[ 7.69599695e-01 -6.38482597e-01 -7.50222217e-03 8.83941474e+02] [ 6.38455804e-01 7.69636209e-01 -5.85594820e-03 3.95416318e+01] [ 9.51290283e-03 -2.83101344e-04 9.99954711e-01 6.14510373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9292541539999 meters 0.017657372407602057 Centerline is valid? [True, True] Translation: X:883.96, Y:39.56, Z:6.15 [[ 7.68483070e-01 -6.39828241e-01 -7.32076396e-03 8.83963338e+02] [ 6.39802768e-01 7.68517884e-01 -5.71674817e-03 3.95598031e+01] [ 9.28387495e-03 -2.90620862e-04 9.99956862e-01 6.14620911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9592541539998 meters 0.017916127836369814 Centerline is valid? [True, True] Translation: X:883.99, Y:39.58, Z:6.15 [[ 7.67938195e-01 -6.40476252e-01 -7.81657207e-03 8.83986025e+02] [ 6.40447227e-01 7.67977910e-01 -6.10573247e-03 3.95780284e+01] [ 9.91353133e-03 -3.17276733e-04 9.99950809e-01 6.14585669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9892541539999 meters 0.02049758782898279 Centerline is valid? [True, True] Translation: X:884.01, Y:39.59, Z:6.14 [[ 7.67549671e-01 -6.40931936e-01 -8.58810851e-03 8.84008831e+02] [ 6.40896894e-01 7.67597635e-01 -6.71129424e-03 3.95947217e+01] [ 1.08936946e-02 -3.52840380e-04 9.99940600e-01 6.14343504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0192541539999 meters 0.019938646338382143 Centerline is valid? [True, True] Translation: X:884.03, Y:39.61, Z:6.14 [[ 7.67950116e-01 -6.40441200e-01 -9.36421918e-03 8.84030017e+02] [ 6.40399474e-01 7.68007115e-01 -7.32021308e-03 3.96146684e+01] [ 1.18799530e-02 -3.75282553e-04 9.99929360e-01 6.14327621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0492541539999 meters 0.02097778417467345 Centerline is valid? [True, True] Translation: X:884.05, Y:39.63, Z:6.14 [[ 7.69300160e-01 -6.38808368e-01 -1.00565140e-02 8.84050115e+02] [ 6.38760062e-01 7.69365797e-01 -7.86468802e-03 3.96341895e+01] [ 1.27611664e-02 -3.73393739e-04 9.99918503e-01 6.14179969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0792541539998 meters 0.019918343771991705 Centerline is valid? [True, True] Translation: X:884.07, Y:39.65, Z:6.14 [[ 7.69999180e-01 -6.37961038e-01 -1.03429683e-02 8.84071976e+02] [ 6.37909824e-01 7.70068555e-01 -8.09179711e-03 3.96537685e+01] [ 1.31270459e-02 -3.67203943e-04 9.99913769e-01 6.14244737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1092541539999 meters 0.017624313768078582 Centerline is valid? [True, True] Translation: X:884.09, Y:39.67, Z:6.14 [[ 7.71124101e-01 -6.36607375e-01 -9.93332222e-03 8.84093003e+02] [ 6.36559988e-01 7.71188007e-01 -7.77429871e-03 3.96724340e+01] [ 1.26096349e-02 -3.28206365e-04 9.99920442e-01 6.14472076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1392541539999 meters 0.016834248837032627 Centerline is valid? [True, True] Translation: X:884.11, Y:39.69, Z:6.15 [[ 7.72184041e-01 -6.35324753e-01 -9.70898135e-03 8.84113574e+02] [ 6.35279346e-01 7.72245019e-01 -7.60150144e-03 3.96931878e+01] [ 1.23271345e-02 -2.98157220e-04 9.99923974e-01 6.14508393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1692541539999 meters 0.017638699744658527 Centerline is valid? [True, True] Translation: X:884.13, Y:39.71, Z:6.14 [[ 7.72191443e-01 -6.35309992e-01 -1.00791746e-02 8.84134589e+02] [ 6.35260999e-01 7.72257160e-01 -7.89568502e-03 3.97114101e+01] [ 1.27999223e-02 -3.05926108e-04 9.99918031e-01 6.14418293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1992541539998 meters 0.019918220797761572 Centerline is valid? [True, True] Translation: X:884.16, Y:39.73, Z:6.14 [[ 7.72753290e-01 -6.34619288e-01 -1.05219979e-02 8.84155780e+02] [ 6.34565770e-01 7.72824862e-01 -8.24718112e-03 3.97312809e+01] [ 1.33654818e-02 -3.03863378e-04 9.99910632e-01 6.14236253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2292541539998 meters 0.017155092620144186 Centerline is valid? [True, True] Translation: X:884.18, Y:39.75, Z:6.14 [[ 7.73512637e-01 -6.33710038e-01 -9.47568186e-03 8.84177074e+02] [ 6.33666533e-01 7.73570631e-01 -7.42986825e-03 3.97494637e+01] [ 1.20384913e-02 -2.57325491e-04 9.99927502e-01 6.14492844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2592541539999 meters 0.01934031415574025 Centerline is valid? [True, True] Translation: X:884.20, Y:39.77, Z:6.14 [[ 7.73621001e-01 -6.33574495e-01 -9.69050746e-03 8.84197831e+02] [ 6.33528947e-01 7.73681648e-01 -7.60139847e-03 3.97677957e+01] [ 1.23134200e-02 -2.58615497e-04 9.99924154e-01 6.14361648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2892541539999 meters 0.02042838857713614 Centerline is valid? [True, True] Translation: X:884.22, Y:39.79, Z:6.14 [[ 7.74511435e-01 -6.32497916e-01 -8.85566752e-03 8.84218258e+02] [ 6.32459774e-01 7.74562030e-01 -6.94950475e-03 3.97865765e+01] [ 1.12548111e-02 -2.18382579e-04 9.99936639e-01 6.14391248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3192541539999 meters 0.018227137078495454 Centerline is valid? [True, True] Translation: X:884.24, Y:39.81, Z:6.15 [[ 7.74881906e-01 -6.32056954e-01 -7.87649127e-03 8.84240058e+02] [ 6.32026738e-01 7.74921913e-01 -6.18305774e-03 3.98057802e+01] [ 1.00117103e-02 -1.87013522e-04 9.99949864e-01 6.14544240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3492541539998 meters 0.014896412578640038 Centerline is valid? [True, True] Translation: X:884.26, Y:39.83, Z:6.15 [[ 7.75689194e-01 -6.31074074e-01 -7.19638583e-03 8.84261438e+02] [ 6.31048785e-01 7.75722559e-01 -5.65178535e-03 3.98260888e+01] [ 9.14909403e-03 -1.57241714e-04 9.99958134e-01 6.14817528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3792541539999 meters 0.017193890100564983 Centerline is valid? [True, True] Translation: X:884.28, Y:39.84, Z:6.15 [[ 7.75015395e-01 -6.31894019e-01 -7.81573321e-03 8.84282917e+02] [ 6.31864206e-01 7.75054783e-01 -6.14075782e-03 3.98446570e+01] [ 9.93792954e-03 -1.79300210e-04 9.99950601e-01 6.14570677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4092541539999 meters 0.014571609104660158 Centerline is valid? [True, True] Translation: X:884.30, Y:39.86, Z:6.15 [[ 7.74867144e-01 -6.32075900e-01 -7.80803705e-03 8.84304696e+02] [ 6.32046136e-01 7.74906461e-01 -6.13664099e-03 3.98623140e+01] [ 9.92932124e-03 -1.79958169e-04 9.99950687e-01 6.14819596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4392541539999 meters 0.018327002737097177 Centerline is valid? [True, True] Translation: X:884.33, Y:39.88, Z:6.15 [[ 7.73361583e-01 -6.33907875e-01 -8.52453948e-03 8.84327373e+02] [ 6.33872472e-01 7.73408533e-01 -6.70307075e-03 3.98793957e+01] [ 1.08420809e-02 -2.19573504e-04 9.99941199e-01 6.14509563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4692541539998 meters 0.015331387017524028 Centerline is valid? [True, True] Translation: X:884.35, Y:39.90, Z:6.15 [[ 7.73112931e-01 -6.34215880e-01 -8.16173100e-03 8.84349838e+02] [ 6.34183432e-01 7.73155981e-01 -6.41897677e-03 3.98957238e+01] [ 1.03813081e-02 -2.13440634e-04 9.99946090e-01 6.14843574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4992541539999 meters 0.015448371186075706 Centerline is valid? [True, True] Translation: X:884.37, Y:39.91, Z:6.15 [[ 7.72328368e-01 -6.35174071e-01 -7.92414491e-03 8.84372890e+02] [ 6.35143516e-01 7.72368987e-01 -6.23393366e-03 3.99132032e+01] [ 1.00799968e-02 -2.18325453e-04 9.99949172e-01 6.14911812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5292541539999 meters 0.017746482848719356 Centerline is valid? [True, True] Translation: X:884.40, Y:39.93, Z:6.15 [[ 7.71186477e-01 -6.36560066e-01 -7.91833680e-03 8.84395794e+02] [ 6.36529603e-01 7.71227092e-01 -6.23196796e-03 3.99286394e+01] [ 1.00738578e-02 -2.34246369e-04 9.99949230e-01 6.14743865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5592541539999 meters 0.016696122782983804 Centerline is valid? [True, True] Translation: X:884.42, Y:39.95, Z:6.15 [[ 7.70492353e-01 -6.37391948e-01 -8.54623924e-03 8.84417823e+02] [ 6.37356489e-01 7.70539704e-01 -6.72829384e-03 3.99470175e+01] [ 1.08737770e-02 -2.62902084e-04 9.99940844e-01 6.14788484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5892541539998 meters 0.021732321304980852 Centerline is valid? [True, True] Translation: X:884.44, Y:39.96, Z:6.14 [[ 7.70242737e-01 -6.37675710e-01 -9.78847851e-03 8.84440602e+02] [ 6.37629173e-01 7.70304873e-01 -7.70984037e-03 3.99628364e+01] [ 1.24564906e-02 -3.02970906e-04 9.99922369e-01 6.14387511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6192541539999 meters 0.020619726067787628 Centerline is valid? [True, True] Translation: X:884.46, Y:39.98, Z:6.14 [[ 7.71683166e-01 -6.35919634e-01 -1.05503527e-02 8.84462850e+02] [ 6.35865378e-01 7.71755228e-01 -8.31194494e-03 3.99791872e+01] [ 1.34280188e-02 -2.94416024e-04 9.99909797e-01 6.14392039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6492541539999 meters 0.01992403113814112 Centerline is valid? [True, True] Translation: X:884.48, Y:40.00, Z:6.14 [[ 7.72675187e-01 -6.34707484e-01 -1.09300336e-02 8.84483351e+02] [ 6.34649091e-01 7.72752438e-01 -8.61397800e-03 4.00005085e+01] [ 1.39135664e-02 -2.80928822e-04 9.99903162e-01 6.14461516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6792541539999 meters 0.015178211920745192 Centerline is valid? [True, True] Translation: X:884.51, Y:40.02, Z:6.15 [[ 7.75792883e-01 -6.30906841e-01 -1.00975586e-02 8.84505070e+02] [ 6.30856649e-01 7.75858570e-01 -7.96038130e-03 4.00184137e+01] [ 1.28565364e-02 -1.94504806e-04 9.99917332e-01 6.14819720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7092541539998 meters 0.01786527631694304 Centerline is valid? [True, True] Translation: X:884.53, Y:40.04, Z:6.15 [[ 7.76603451e-01 -6.29901042e-01 -1.05715439e-02 8.84525822e+02] [ 6.29845896e-01 7.76675379e-01 -8.33683574e-03 4.00383211e+01] [ 1.34620394e-02 -1.84028142e-04 9.99909366e-01 6.14592949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7392541539999 meters 0.01511385866258339 Centerline is valid? [True, True] Translation: X:884.55, Y:40.06, Z:6.15 [[ 7.79595138e-01 -6.26203457e-01 -1.00324916e-02 8.84547144e+02] [ 6.26153434e-01 7.79659681e-01 -7.91576592e-03 4.00575218e+01] [ 1.27788092e-02 -1.10786448e-04 9.99918342e-01 6.14857714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7692541539999 meters 0.015756358456452922 Centerline is valid? [True, True] Translation: X:884.57, Y:40.08, Z:6.15 [[ 7.81010293e-01 -6.24434658e-01 -1.02117608e-02 8.84569241e+02] [ 6.24382641e-01 7.81077045e-01 -8.06019747e-03 4.00750393e+01] [ 1.30092386e-02 -8.09489741e-05 9.99915373e-01 6.14741312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7992541539999 meters 0.015756358456452922 Centerline is valid? [True, True] Translation: X:884.59, Y:40.09, Z:6.15 [[ 7.80842288e-01 -6.24644755e-01 -1.02103600e-02 8.84590798e+02] [ 6.24592732e-01 7.80909037e-01 -8.06197165e-03 4.00921775e+01] [ 1.30092307e-02 -8.21882461e-05 9.99915373e-01 6.14760380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8292541539998 meters 0.01627932674090466 Centerline is valid? [True, True] Translation: X:884.61, Y:40.11, Z:6.15 [[ 7.81988659e-01 -6.23208700e-01 -1.02300694e-02 8.84611780e+02] [ 6.23156292e-01 7.82055570e-01 -8.08217821e-03 4.01113908e+01] [ 1.30373665e-02 -5.47603909e-05 9.99915008e-01 6.14795186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8592541539999 meters 0.013105655535894205 Centerline is valid? [True, True] Translation: X:884.63, Y:40.13, Z:6.15 [[ 7.85116612e-01 -6.19279455e-01 -9.21204165e-03 8.84633545e+02] [ 6.19236642e-01 7.85170654e-01 -7.28180375e-03 4.01305057e+01] [ 1.17424962e-02 1.26313536e-05 9.99931054e-01 6.15183367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8892541539999 meters 0.0169923312520637 Centerline is valid? [True, True] Translation: X:884.66, Y:40.15, Z:6.15 [[ 7.85791775e-01 -6.18416633e-01 -9.59974817e-03 8.84655281e+02] [ 6.18370039e-01 7.85850411e-01 -7.59129082e-03 4.01479638e+01] [ 1.22385465e-02 2.89772366e-05 9.99925106e-01 6.14819029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9192541539999 meters 0.01572704125967456 Centerline is valid? [True, True] Translation: X:884.68, Y:40.17, Z:6.15 [[ 7.87288365e-01 -6.16523279e-01 -8.72222921e-03 8.84676730e+02] [ 6.16484684e-01 7.87336677e-01 -6.89858023e-03 4.01653764e+01] [ 1.11204663e-02 5.40512222e-05 9.99938164e-01 6.14879163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9492541539998 meters 0.016891630794866455 Centerline is valid? [True, True] Translation: X:884.70, Y:40.18, Z:6.15 [[ 7.87484329e-01 -6.16263963e-01 -9.33597789e-03 8.84699234e+02] [ 6.16219707e-01 7.87539665e-01 -7.38568489e-03 4.01824246e+01] [ 1.19039843e-02 6.30975488e-05 9.99929143e-01 6.14774010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9792541539998 meters 0.015243651821786105 Centerline is valid? [True, True] Translation: X:884.72, Y:40.20, Z:6.15 [[ 7.87124614e-01 -6.16715167e-01 -9.86126230e-03 8.84724087e+02] [ 6.16665784e-01 7.87186381e-01 -7.80460744e-03 4.01966306e+01] [ 1.25758712e-02 6.20955596e-05 9.99920919e-01 6.14887614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0092541539999 meters 0.01528052794914 Centerline is valid? [True, True] Translation: X:884.75, Y:40.21, Z:6.15 [[ 7.86334927e-01 -6.17719499e-01 -1.00001257e-02 8.84746785e+02] [ 6.17668751e-01 7.86398511e-01 -7.91812163e-03 4.02114502e+01] [ 1.27552621e-02 4.95304717e-05 9.99918647e-01 6.14878285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0392541539999 meters 0.015583346233923543 Centerline is valid? [True, True] Translation: X:884.77, Y:40.22, Z:6.15 [[ 7.83518254e-01 -6.21286409e-01 -1.01164825e-02 8.84772251e+02] [ 6.21234734e-01 7.83583561e-01 -8.01291781e-03 4.02230236e+01] [ 1.29054263e-02 -6.44295033e-06 9.99916721e-01 6.14846081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0692541539999 meters 0.01310437629999895 Centerline is valid? [True, True] Translation: X:884.80, Y:40.24, Z:6.15 [[ 7.81842969e-01 -6.23405691e-01 -9.32293205e-03 8.84796744e+02] [ 6.23361915e-01 7.81898551e-01 -7.38781140e-03 4.02370727e+01] [ 1.18951907e-02 -3.54523793e-05 9.99929249e-01 6.15181234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0992541539998 meters 0.014872574895478578 Centerline is valid? [True, True] Translation: X:884.82, Y:40.25, Z:6.15 [[ 7.79153482e-01 -6.26760449e-01 -9.54942515e-03 8.84822420e+02] [ 6.26714719e-01 7.79211994e-01 -7.57161303e-03 4.02517537e+01] [ 1.21866142e-02 -8.53166419e-05 9.99925737e-01 6.15035373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1292541539999 meters 0.014238190559415163 Centerline is valid? [True, True] Translation: X:884.85, Y:40.26, Z:6.15 [[ 7.74552059e-01 -6.32446437e-01 -8.97845550e-03 8.84849651e+02] [ 6.32406361e-01 7.74604078e-01 -7.12155996e-03 4.02622842e+01] [ 1.14587535e-02 -1.62013445e-04 9.99934333e-01 6.15262448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1592541539999 meters 0.017633079924704323 Centerline is valid? [True, True] Translation: X:884.87, Y:40.28, Z:6.15 [[ 7.71405447e-01 -6.36272121e-01 -9.56158314e-03 8.84874778e+02] [ 6.36226931e-01 7.71464669e-01 -7.58664597e-03 4.02771759e+01] [ 1.22035949e-02 -2.30956670e-04 9.99925507e-01 6.14985734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1892541539999 meters 0.021429578695879217 Centerline is valid? [True, True] Translation: X:884.90, Y:40.29, Z:6.15 [[ 7.66745580e-01 -6.41868639e-01 -1.02891153e-02 8.84902830e+02] [ 6.41816774e-01 7.66814536e-01 -8.16673893e-03 4.02883180e+01] [ 1.31318168e-02 -3.41915809e-04 9.99913716e-01 6.14867799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2192541539998 meters 0.018128471912684314 Centerline is valid? [True, True] Translation: X:884.93, Y:40.31, Z:6.15 [[ 7.64912939e-01 -6.44062066e-01 -9.60472045e-03 8.84926593e+02] [ 6.44017017e-01 7.64973157e-01 -7.62570154e-03 4.03051237e+01] [ 1.22587784e-02 -3.52605631e-04 9.99924796e-01 6.15182792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2492541539999 meters 0.017483693132923472 Centerline is valid? [True, True] Translation: X:884.95, Y:40.32, Z:6.15 [[ 7.62990284e-01 -6.46343428e-01 -9.27363261e-03 8.84951588e+02] [ 6.46301562e-01 7.63046548e-01 -7.36588110e-03 4.03193597e+01] [ 1.18371022e-02 -3.73467532e-04 9.99929869e-01 6.15363487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2792541539999 meters 0.01882640510204017 Centerline is valid? [True, True] Translation: X:884.98, Y:40.33, Z:6.15 [[ 7.62869613e-01 -6.46480999e-01 -9.60583972e-03 8.84975269e+02] [ 6.46436066e-01 7.62929989e-01 -7.63183654e-03 4.03337712e+01] [ 1.22624205e-02 -3.87465054e-04 9.99924739e-01 6.15339874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3092541539999 meters 0.0225056680327143 Centerline is valid? [True, True] Translation: X:885.00, Y:40.35, Z:6.15 [[ 7.62857859e-01 -6.46472797e-01 -1.09913101e-02 8.84996847e+02] [ 6.46413912e-01 7.62936910e-01 -8.73641933e-03 4.03519943e+01] [ 1.40335336e-02 -4.40289585e-04 9.99901428e-01 6.14951685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3392541539998 meters 0.020234433998766097 Centerline is valid? [True, True] Translation: X:885.02, Y:40.37, Z:6.15 [[ 7.65471485e-01 -6.43392964e-01 -9.94477274e-03 8.85019265e+02] [ 6.43344462e-01 7.65536005e-01 -7.90748446e-03 4.03688592e+01] [ 1.27007015e-02 -3.44960594e-04 9.99919283e-01 6.15097239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3692541539999 meters 0.018196305855848284 Centerline is valid? [True, True] Translation: X:885.04, Y:40.39, Z:6.15 [[ 7.67260179e-01 -6.41265749e-01 -9.48977074e-03 8.85041344e+02] [ 6.41221395e-01 7.67318807e-01 -7.54787067e-03 4.03883090e+01] [ 1.21218705e-02 -2.93863428e-04 9.99926484e-01 6.15295423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3992541539999 meters 0.01846826313079638 Centerline is valid? [True, True] Translation: X:885.06, Y:40.41, Z:6.15 [[ 7.71193846e-01 -6.36527173e-01 -9.65452363e-03 8.85061520e+02] [ 6.36480859e-01 7.71254244e-01 -7.68158390e-03 4.04084528e+01] [ 1.23356292e-02 -2.20929262e-04 9.99923889e-01 6.15100274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4292541539999 meters 0.018259032421279534 Centerline is valid? [True, True] Translation: X:885.08, Y:40.43, Z:6.15 [[ 7.73248970e-01 -6.34021189e-01 -1.01569038e-02 8.85081510e+02] [ 6.33969676e-01 7.73315651e-01 -8.08416980e-03 4.04294260e+01] [ 1.29800277e-02 -1.88093058e-04 9.99915738e-01 6.15115818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4592541539998 meters 0.016718449812350697 Centerline is valid? [True, True] Translation: X:885.10, Y:40.45, Z:6.15 [[ 7.77833304e-01 -6.28396114e-01 -9.67859842e-03 8.85101605e+02] [ 6.28348864e-01 7.77893512e-01 -7.70640968e-03 4.04502998e+01] [ 1.23715968e-02 -8.72342265e-05 9.99923465e-01 6.15140524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4892541539999 meters 0.01411048124579882 Centerline is valid? [True, True] Translation: X:885.12, Y:40.47, Z:6.15 [[ 7.80265176e-01 -6.25383819e-01 -9.01848577e-03 8.85123052e+02] [ 6.25342565e-01 7.80317293e-01 -7.18322847e-03 4.04698935e+01] [ 1.15295553e-02 -3.48199972e-05 9.99933532e-01 6.15301593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5192541539999 meters 0.017184393058254883 Centerline is valid? [True, True] Translation: X:885.14, Y:40.49, Z:6.15 [[ 7.82194431e-01 -6.22954973e-01 -9.94859733e-03 8.85144298e+02] [ 6.22904515e-01 7.82257695e-01 -7.92865626e-03 4.04889760e+01] [ 1.27215627e-02 4.72457340e-06 9.99919078e-01 6.15091641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5492541539999 meters 0.017648682565934673 Centerline is valid? [True, True] Translation: X:885.16, Y:40.51, Z:6.15 [[ 7.86204982e-01 -6.17885585e-01 -9.95636659e-03 8.85164295e+02] [ 6.17834595e-01 7.86268018e-01 -7.93840067e-03 4.05082679e+01] [ 1.27333960e-02 8.98224381e-05 9.99918923e-01 6.15094522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5792541539998 meters 0.016692618723224414 Centerline is valid? [True, True] Translation: X:885.19, Y:40.53, Z:6.15 [[ 7.87979241e-01 -6.15630550e-01 -9.36711579e-03 8.85185829e+02] [ 6.15585224e-01 7.88034905e-01 -7.47128647e-03 4.05269883e+01] [ 1.19811664e-02 1.20960565e-04 9.99928216e-01 6.15199464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6092541539999 meters 0.015599594092972503 Centerline is valid? [True, True] Translation: X:885.21, Y:40.55, Z:6.15 [[ 7.91899935e-01 -6.10600124e-01 -7.87283166e-03 8.85206225e+02] [ 6.10567833e-01 7.91939051e-01 -6.28179871e-03 4.05460041e+01] [ 1.00704699e-02 1.67658221e-04 9.99949277e-01 6.15477013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6392541539999 meters 0.018062192125243393 Centerline is valid? [True, True] Translation: X:885.23, Y:40.56, Z:6.15 [[ 7.93605676e-01 -6.08369987e-01 -8.71719798e-03 8.85229249e+02] [ 6.08330234e-01 7.93653520e-01 -6.95817420e-03 4.05633836e+01] [ 1.11515792e-02 2.19111454e-04 9.99937795e-01 6.15312207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6692541539999 meters 0.01962624934599238 Centerline is valid? [True, True] Translation: X:885.25, Y:40.58, Z:6.15 [[ 7.96912950e-01 -6.04032658e-01 -8.61964682e-03 8.85251373e+02] [ 6.03993507e-01 7.96959516e-01 -6.88278594e-03 4.05817978e+01] [ 1.10269370e-02 2.78770531e-04 9.99939163e-01 6.15281168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6992541539998 meters 0.022325871826055353 Centerline is valid? [True, True] Translation: X:885.27, Y:40.60, Z:6.15 [[ 7.98187330e-01 -6.02343499e-01 -8.90479786e-03 8.85274296e+02] [ 6.02301589e-01 7.98236939e-01 -7.11237052e-03 4.05999193e+01] [ 1.13922287e-02 3.13630136e-04 9.99935057e-01 6.15163352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7292541539998 meters 0.023133711992841813 Centerline is valid? [True, True] Translation: X:885.30, Y:40.62, Z:6.15 [[ 8.00585591e-01 -5.99157762e-01 -8.52574787e-03 8.85297576e+02] [ 5.99119136e-01 8.00630912e-01 -6.81205763e-03 4.06162397e+01] [ 1.09074745e-02 3.45696488e-04 9.99940452e-01 6.15184243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7592541539999 meters 0.01945327948972315 Centerline is valid? [True, True] Translation: X:885.32, Y:40.63, Z:6.16 [[ 8.01733811e-01 -5.97626952e-01 -8.05740667e-03 8.85322861e+02] [ 5.97592359e-01 8.01774223e-01 -6.43953765e-03 4.06306426e+01] [ 1.03086622e-02 3.47750408e-04 9.99946804e-01 6.15546564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7892541539999 meters 0.021958746702132725 Centerline is valid? [True, True] Translation: X:885.34, Y:40.65, Z:6.15 [[ 8.02303141e-01 -5.96853093e-01 -8.72095845e-03 8.85344311e+02] [ 5.96812486e-01 8.02350443e-01 -6.97302107e-03 4.06490450e+01] [ 1.11591341e-02 3.89699810e-04 9.99937659e-01 6.15444631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8192541539999 meters 0.024085820711691273 Centerline is valid? [True, True] Translation: X:885.37, Y:40.66, Z:6.15 [[ 8.02473441e-01 -5.96604107e-01 -9.99582905e-03 8.85370080e+02] [ 5.96550714e-01 8.02535567e-01 -7.99437894e-03 4.06620228e+01] [ 1.27914876e-02 4.52257820e-04 9.99918083e-01 6.15032629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8492541539998 meters 0.025136228987785045 Centerline is valid? [True, True] Translation: X:885.39, Y:40.68, Z:6.15 [[ 8.02103719e-01 -5.97078148e-01 -1.12831092e-02 8.85394764e+02] [ 5.97010114e-01 8.02182915e-01 -9.02738676e-03 4.06763915e+01] [ 1.44411728e-02 5.04770155e-04 9.99895593e-01 6.14881674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8792541539999 meters 0.022433596363414247 Centerline is valid? [True, True] Translation: X:885.42, Y:40.69, Z:6.15 [[ 8.02076673e-01 -5.97121299e-01 -1.09162412e-02 8.85419330e+02] [ 5.97057555e-01 8.02150804e-01 -8.73867145e-03 4.06904840e+01] [ 1.39745185e-02 4.91460260e-04 9.99902231e-01 6.15249850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9092541539999 meters 0.0215004604977065 Centerline is valid? [True, True] Translation: X:885.45, Y:40.70, Z:6.15 [[ 8.00634161e-01 -5.99012390e-01 -1.30037144e-02 8.85451543e+02] [ 5.98922079e-01 8.00739566e-01 -1.04158747e-02 4.06969046e+01] [ 1.66518266e-02 5.51093406e-04 9.99861197e-01 6.14920689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9392541539999 meters 0.019583195792573355 Centerline is valid? [True, True] Translation: X:885.48, Y:40.71, Z:6.15 [[ 7.99542007e-01 -6.00472322e-01 -1.28673476e-02 8.85479506e+02] [ 6.00384028e-01 7.99645372e-01 -1.03100626e-02 4.07070056e+01] [ 1.64802221e-02 5.17978159e-04 9.99864058e-01 6.15064340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9692541539998 meters 0.02016828755626273 Centerline is valid? [True, True] Translation: X:885.50, Y:40.72, Z:6.15 [[ 7.98818412e-01 -6.01444089e-01 -1.24158384e-02 8.85502647e+02] [ 6.01361940e-01 7.98914748e-01 -9.95201906e-03 4.07235152e+01] [ 1.59047794e-02 4.83443423e-04 9.99873394e-01 6.15165374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9992541539999 meters 0.020528719568324534 Centerline is valid? [True, True] Translation: X:885.53, Y:40.73, Z:6.15 [[ 7.97467705e-01 -6.03229225e-01 -1.26396911e-02 8.85531349e+02] [ 6.03144228e-01 7.97567734e-01 -1.01365828e-02 4.07347314e+01] [ 1.61956928e-02 4.60040678e-04 9.99868735e-01 6.15003798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0292541539999 meters 0.016918756965765464 Centerline is valid? [True, True] Translation: X:885.56, Y:40.74, Z:6.15 [[ 7.95291191e-01 -6.06123033e-01 -1.12601753e-02 8.85560479e+02] [ 6.06055826e-01 7.95370819e-01 -9.03300962e-03 4.07432654e+01] [ 1.44311301e-02 3.59578096e-04 9.99895801e-01 6.15461946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0592541539999 meters 0.015895218978367046 Centerline is valid? [True, True] Translation: X:885.59, Y:40.76, Z:6.16 [[ 7.93543964e-01 -6.08413029e-01 -1.10255685e-02 8.85587506e+02] [ 6.08348770e-01 7.93620494e-01 -8.84793116e-03 4.07559300e+01] [ 1.41333137e-02 3.13831308e-04 9.99900070e-01 6.15535190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0892541539998 meters 0.01462368226605715 Centerline is valid? [True, True] Translation: X:885.62, Y:40.76, Z:6.16 [[ 7.90032446e-01 -6.12966405e-01 -1.09963862e-02 8.85618053e+02] [ 6.12902867e-01 7.90108936e-01 -8.82858961e-03 4.07641749e+01] [ 1.40999718e-02 2.35155633e-04 9.99900563e-01 6.15550117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1192541539999 meters 0.014024080256424655 Centerline is valid? [True, True] Translation: X:885.64, Y:40.78, Z:6.16 [[ 7.87935145e-01 -6.15654312e-01 -1.13126192e-02 8.85644991e+02] [ 6.15587282e-01 7.88016325e-01 -9.08674449e-03 4.07772927e+01] [ 1.45088220e-02 1.95860839e-04 9.99894722e-01 6.15552128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1492541539999 meters 0.01364700087653186 Centerline is valid? [True, True] Translation: X:885.67, Y:40.79, Z:6.16 [[ 7.85844205e-01 -6.18324221e-01 -1.11374583e-02 8.85670990e+02] [ 6.18259469e-01 7.85923110e-01 -8.94947974e-03 4.07894181e+01] [ 1.42868660e-02 1.47057731e-04 9.99897927e-01 6.15581178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1792541539999 meters 0.012989040996403592 Centerline is valid? [True, True] Translation: X:885.70, Y:40.80, Z:6.16 [[ 7.81762749e-01 -6.23473754e-01 -1.12908037e-02 8.85701879e+02] [ 6.23407689e-01 7.81844278e-01 -9.07627937e-03 4.07971148e+01] [ 1.44864723e-02 5.67232536e-05 9.99895064e-01 6.15673626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2092541539998 meters 0.012871500642574115 Centerline is valid? [True, True] Translation: X:885.73, Y:40.81, Z:6.16 [[ 7.79579967e-01 -6.26206445e-01 -1.09801392e-02 8.85727854e+02] [ 6.26144168e-01 7.79657289e-01 -8.83134487e-03 4.08102081e+01] [ 1.40909906e-02 9.58944020e-06 9.99900717e-01 6.15751970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2392541539999 meters 0.01319581224707236 Centerline is valid? [True, True] Translation: X:885.76, Y:40.82, Z:6.16 [[ 7.75620997e-01 -6.31110377e-01 -1.05717048e-02 8.85756904e+02] [ 6.31053056e-01 7.75693036e-01 -8.50607952e-03 4.08184105e+01] [ 1.35686728e-02 -7.38127296e-05 9.99907939e-01 6.15749190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2692541539999 meters 0.013573761777675 Centerline is valid? [True, True] Translation: X:885.78, Y:40.83, Z:6.16 [[ 7.73242023e-01 -6.34024832e-01 -1.04540487e-02 8.85782910e+02] [ 6.33969008e-01 7.73312678e-01 -8.41422527e-03 4.08320307e+01] [ 1.34190761e-02 -1.21310306e-04 9.99909953e-01 6.15774580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2992541539999 meters 0.014623730729734653 Centerline is valid? [True, True] Translation: X:885.81, Y:40.84, Z:6.16 [[ 7.69006526e-01 -6.39158922e-01 -1.02389401e-02 8.85811785e+02] [ 6.39105770e-01 7.69074659e-01 -8.24522115e-03 4.08427764e+01] [ 1.31445160e-02 -2.03136802e-04 9.99913586e-01 6.15772879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3292541539998 meters 0.016039624758483622 Centerline is valid? [True, True] Translation: X:885.84, Y:40.86, Z:6.16 [[ 7.67108428e-01 -6.41432269e-01 -1.04548564e-02 8.85837038e+02] [ 6.41377022e-01 7.67179630e-01 -8.42213356e-03 4.08567014e+01] [ 1.34229811e-02 -2.44815012e-04 9.99909878e-01 6.15671522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3592541539999 meters 0.01517776558973939 Centerline is valid? [True, True] Translation: X:885.86, Y:40.87, Z:6.16 [[ 7.65692334e-01 -6.43123533e-01 -1.03619819e-02 8.85862514e+02] [ 6.43069379e-01 7.65762397e-01 -8.35018097e-03 4.08716455e+01] [ 1.33050140e-02 -2.69803695e-04 9.99911448e-01 6.15845160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3892541539999 meters 0.01851572653529965 Centerline is valid? [True, True] Translation: X:885.89, Y:40.88, Z:6.16 [[ 7.63114282e-01 -6.46172056e-01 -1.08750198e-02 8.85889997e+02] [ 6.46112671e-01 7.63191693e-01 -8.76673414e-03 4.08822681e+01] [ 1.39645434e-02 -3.36468052e-04 9.99902434e-01 6.15547392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4192541539999 meters 0.01692444326746983 Centerline is valid? [True, True] Translation: X:885.91, Y:40.90, Z:6.16 [[ 7.62647883e-01 -6.46723871e-01 -1.07907460e-02 8.85913397e+02] [ 6.46665432e-01 7.62724142e-01 -8.70070852e-03 4.08969585e+01] [ 1.38573184e-02 -3.42425470e-04 9.99903924e-01 6.15804855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4492541539998 meters 0.016976592316073045 Centerline is valid? [True, True] Translation: X:885.94, Y:40.91, Z:6.16 [[ 7.62360355e-01 -6.47057055e-01 -1.11290652e-02 8.85938663e+02] [ 6.46994878e-01 7.62441500e-01 -8.97702675e-03 4.09119894e+01] [ 1.42939097e-02 -3.56718901e-04 9.99897773e-01 6.15763046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4792541539998 meters 0.01577951304256809 Centerline is valid? [True, True] Translation: X:885.96, Y:40.93, Z:6.16 [[ 7.63451838e-01 -6.45774389e-01 -1.08041417e-02 8.85960102e+02] [ 6.45715604e-01 7.63528215e-01 -8.71915407e-03 4.09322446e+01] [ 1.38798735e-02 -3.19748708e-04 9.99903619e-01 6.15869052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5092541539999 meters 0.015665933271781802 Centerline is valid? [True, True] Translation: X:885.98, Y:40.95, Z:6.16 [[ 7.65099674e-01 -6.43829343e-01 -1.03085172e-02 8.85981868e+02] [ 6.43775615e-01 7.65169069e-01 -8.32190141e-03 4.09499298e+01] [ 1.32456428e-02 -2.69287951e-04 9.99912236e-01 6.15857799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5392541539999 meters 0.015695076719211158 Centerline is valid? [True, True] Translation: X:886.00, Y:40.97, Z:6.16 [[ 7.68659710e-01 -6.39571751e-01 -1.04988877e-02 8.86002218e+02] [ 6.39515599e-01 7.68731381e-01 -8.47713166e-03 4.09690813e+01] [ 1.34925584e-02 -1.98172910e-04 9.99908952e-01 6.15683072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5692541539999 meters 0.01572454505626736 Centerline is valid? [True, True] Translation: X:886.02, Y:40.99, Z:6.16 [[ 7.71772606e-01 -6.35794607e-01 -1.15005074e-02 8.86022452e+02] [ 6.35726760e-01 7.71858275e-01 -9.28920033e-03 4.09897315e+01] [ 1.47827853e-02 -1.42029941e-04 9.99890719e-01 6.15536673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5992541539998 meters 0.01338467374483788 Centerline is valid? [True, True] Translation: X:886.04, Y:41.01, Z:6.16 [[ 7.73057810e-01 -6.34237182e-01 -1.11722757e-02 8.86043824e+02] [ 6.34172925e-01 7.73138530e-01 -9.02856998e-03 4.10086439e+01] [ 1.43639716e-02 -1.05548247e-04 9.99896827e-01 6.15784457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6292541539999 meters 0.013268265894434085 Centerline is valid? [True, True] Translation: X:886.06, Y:41.03, Z:6.16 [[ 7.73897609e-01 -6.33208482e-01 -1.13802010e-02 8.86064653e+02] [ 6.33141626e-01 7.73981273e-01 -9.20165086e-03 4.10271108e+01] [ 1.46346259e-02 -8.41433778e-05 9.99892905e-01 6.15807080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6592541539999 meters 0.014065674908150612 Centerline is valid? [True, True] Translation: X:886.08, Y:41.05, Z:6.16 [[ 7.75470832e-01 -6.31276188e-01 -1.16345669e-02 8.86082971e+02] [ 6.31206036e-01 7.75558103e-01 -9.41110801e-03 4.10471201e+01] [ 1.49642910e-02 -4.57690699e-05 9.99888028e-01 6.15589022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6892541539999 meters 0.01310473828980619 Centerline is valid? [True, True] Translation: X:886.10, Y:41.07, Z:6.16 [[ 7.76234443e-01 -6.30341800e-01 -1.13712701e-02 8.86103282e+02] [ 6.30274630e-01 7.76317728e-01 -9.20193728e-03 4.10664411e+01] [ 1.46280843e-02 -2.41624138e-05 9.99893004e-01 6.15736792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7192541539998 meters 0.01310473828980619 Centerline is valid? [True, True] Translation: X:886.12, Y:41.08, Z:6.16 [[ 7.76057068e-01 -6.30560212e-01 -1.13686769e-02 8.86124679e+02] [ 6.30493019e-01 7.76140334e-01 -9.20514042e-03 4.10838655e+01] [ 1.46280840e-02 -2.41571608e-05 9.99893004e-01 6.15755834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7492541539999 meters 0.012970075798386379 Centerline is valid? [True, True] Translation: X:886.14, Y:41.10, Z:6.16 [[ 7.77319689e-01 -6.29012237e-01 -1.08493099e-02 8.86144746e+02] [ 6.28950822e-01 7.77395399e-01 -8.78958067e-03 4.11045015e+01] [ 1.39629574e-02 8.63172090e-06 9.99902513e-01 6.15769987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7792541539999 meters 0.01300944575143644 Centerline is valid? [True, True] Translation: X:886.17, Y:41.12, Z:6.16 [[ 7.77689079e-01 -6.28551131e-01 -1.10982979e-02 8.86166043e+02] [ 6.28486743e-01 7.77768266e-01 -8.99659960e-03 4.11229050e+01] [ 1.42867267e-02 2.14241767e-05 9.99897939e-01 6.15799397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8092541539999 meters 0.015668939865782494 Centerline is valid? [True, True] Translation: X:886.19, Y:41.14, Z:6.16 [[ 7.77466507e-01 -6.28817264e-01 -1.16051558e-02 8.86187829e+02] [ 6.28746806e-01 7.77553116e-01 -9.41307530e-03 4.11413909e+01] [ 1.49427293e-02 2.16461276e-05 9.99888351e-01 6.15533321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8392541539998 meters 0.015566309256300186 Centerline is valid? [True, True] Translation: X:886.21, Y:41.16, Z:6.16 [[ 7.78023128e-01 -6.28125911e-01 -1.17410096e-02 8.86207835e+02] [ 6.28053656e-01 7.78111713e-01 -9.52713744e-03 4.11593419e+01] [ 1.51200590e-02 3.83492592e-05 9.99885685e-01 6.15520826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8692541539999 meters 0.013085200043059384 Centerline is valid? [True, True] Translation: X:886.23, Y:41.18, Z:6.16 [[ 7.78532648e-01 -6.27505918e-01 -1.11012560e-02 8.86229478e+02] [ 6.27441208e-01 7.78611790e-01 -9.01172922e-03 4.11779251e+01] [ 1.42984822e-02 5.05399378e-05 9.99897770e-01 6.15807823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8992541539999 meters 0.013994618065429785 Centerline is valid? [True, True] Translation: X:886.25, Y:41.20, Z:6.16 [[ 7.79328041e-01 -6.26505199e-01 -1.17915494e-02 8.86251025e+02] [ 6.26431994e-01 7.79417238e-01 -9.57741101e-03 4.11977429e+01] [ 1.51908346e-02 7.73411754e-05 9.99884610e-01 6.15681609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9292541539999 meters 0.014698373578522836 Centerline is valid? [True, True] Translation: X:886.27, Y:41.22, Z:6.16 [[ 7.79835081e-01 -6.25869523e-01 -1.20244558e-02 8.86272800e+02] [ 6.25793244e-01 7.79927773e-01 -9.77158277e-03 4.12173240e+01] [ 1.54939429e-02 9.53998173e-05 9.99879957e-01 6.15571481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9592541539998 meters 0.01699185272616286 Centerline is valid? [True, True] Translation: X:886.29, Y:41.24, Z:6.15 [[ 7.81163821e-01 -6.24195390e-01 -1.27749560e-02 8.86293200e+02] [ 6.24109003e-01 7.81268261e-01 -1.03854352e-02 4.12368120e+01] [ 1.64632084e-02 1.39761202e-04 9.99864462e-01 6.15281712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9892541539999 meters 0.014822677525049531 Centerline is valid? [True, True] Translation: X:886.32, Y:41.26, Z:6.16 [[ 7.82110781e-01 -6.23013174e-01 -1.25423883e-02 8.86315226e+02] [ 6.22929685e-01 7.82211326e-01 -1.02004450e-02 4.12553475e+01] [ 1.61658098e-02 1.64851973e-04 9.99869311e-01 6.15527919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0192541539999 meters 0.014290953220448281 Centerline is valid? [True, True] Translation: X:886.34, Y:41.27, Z:6.16 [[ 7.83078002e-01 -6.21800108e-01 -1.23882431e-02 8.86335964e+02] [ 6.21718456e-01 7.83175964e-01 -1.00782619e-02 4.12732876e+01] [ 1.59688385e-02 1.90065821e-04 9.99872472e-01 6.15676791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0492541539999 meters 0.016362851054061385 Centerline is valid? [True, True] Translation: X:886.36, Y:41.29, Z:6.16 [[ 7.84396503e-01 -6.20122789e-01 -1.30327457e-02 8.86358197e+02] [ 6.20032155e-01 7.84504729e-01 -1.06045541e-02 4.12909147e+01] [ 1.68003763e-02 2.37453798e-04 9.99858836e-01 6.15530969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0792541539998 meters 0.015518407661181764 Centerline is valid? [True, True] Translation: X:886.38, Y:41.31, Z:6.16 [[ 7.85184996e-01 -6.19134876e-01 -1.25110980e-02 8.86380867e+02] [ 6.19051166e-01 7.85284625e-01 -1.01838677e-02 4.13095731e+01] [ 1.61299606e-02 2.51210355e-04 9.99869872e-01 6.15690392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1092541539999 meters 0.01576537391944356 Centerline is valid? [True, True] Translation: X:886.40, Y:41.33, Z:6.16 [[ 7.85851936e-01 -6.18282317e-01 -1.27949234e-02 8.86402813e+02] [ 6.18194597e-01 7.85956041e-01 -1.04183146e-02 4.13275933e+01] [ 1.64977070e-02 2.77500196e-04 9.99863865e-01 6.15702227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1392541539999 meters 0.015596891223144402 Centerline is valid? [True, True] Translation: X:886.42, Y:41.35, Z:6.16 [[ 7.87152937e-01 -6.16625536e-01 -1.27750228e-02 8.86423961e+02] [ 6.16537839e-01 7.87256534e-01 -1.04040120e-02 4.13456728e+01] [ 1.64725997e-02 3.13263667e-04 9.99864268e-01 6.15777493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1692541539999 meters 0.01672763381467809 Centerline is valid? [True, True] Translation: X:886.45, Y:41.36, Z:6.16 [[ 7.86561838e-01 -6.17365821e-01 -1.34133323e-02 8.86446301e+02] [ 6.17269168e-01 7.86676136e-01 -1.09284744e-02 4.13620305e+01] [ 1.72988150e-02 3.16284472e-04 9.99850314e-01 6.15532052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1992541539998 meters 0.015422276887037437 Centerline is valid? [True, True] Translation: X:886.47, Y:41.38, Z:6.16 [[ 7.86013443e-01 -6.18067325e-01 -1.32532898e-02 8.86469466e+02] [ 6.17972966e-01 7.86125111e-01 -1.08038107e-02 4.13789187e+01] [ 1.70962263e-02 3.01765631e-04 9.99853803e-01 6.15713022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2292541539998 meters 0.016350836825860887 Centerline is valid? [True, True] Translation: X:886.49, Y:41.40, Z:6.16 [[ 7.84494942e-01 -6.19981111e-01 -1.38242063e-02 8.86493855e+02] [ 6.19878643e-01 7.84616688e-01 -1.12748030e-02 4.13955744e+01] [ 1.78368678e-02 2.75695666e-04 9.99840872e-01 6.15550974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2592541539999 meters 0.01610648500206722 Centerline is valid? [True, True] Translation: X:886.52, Y:41.41, Z:6.16 [[ 7.81498383e-01 -6.23762373e-01 -1.34454550e-02 8.86519503e+02] [ 6.23665907e-01 7.81614014e-01 -1.09713183e-02 4.14096660e+01] [ 1.73526516e-02 1.88595658e-04 9.99849414e-01 6.15572995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2892541539999 meters 0.013825994745228441 Centerline is valid? [True, True] Translation: X:886.54, Y:41.43, Z:6.16 [[ 7.80386886e-01 -6.25166627e-01 -1.27669759e-02 8.86542548e+02] [ 6.25079786e-01 7.80491297e-01 -1.04209163e-02 4.14256216e+01] [ 1.64793227e-02 1.51967876e-04 9.99864195e-01 6.15934252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3192541539999 meters 0.013562906864643945 Centerline is valid? [True, True] Translation: X:886.56, Y:41.44, Z:6.16 [[ 7.78409676e-01 -6.27659366e-01 -1.10497584e-02 8.86564982e+02] [ 6.27594539e-01 7.78488094e-01 -9.02116172e-03 4.14423887e+01] [ 1.42643220e-02 8.73915542e-05 9.99898256e-01 6.16093866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3492541539998 meters 0.014481807867595533 Centerline is valid? [True, True] Translation: X:886.59, Y:41.46, Z:6.16 [[ 7.75336215e-01 -6.31463498e-01 -1.03732693e-02 8.86588607e+02] [ 6.31406663e-01 7.75405604e-01 -8.47199332e-03 4.14587169e+01] [ 1.33932456e-02 1.88919059e-05 9.99910306e-01 6.16053128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3792541539999 meters 0.016111630772279235 Centerline is valid? [True, True] Translation: X:886.61, Y:41.48, Z:6.16 [[ 7.73219548e-01 -6.34045945e-01 -1.08291554e-02 8.86611123e+02] [ 6.33984190e-01 7.73295376e-01 -8.84915357e-03 4.14751545e+01] [ 1.39849058e-02 -2.31748185e-05 9.99902206e-01 6.15923070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4092541539999 meters 0.014984446495226438 Centerline is valid? [True, True] Translation: X:886.63, Y:41.49, Z:6.16 [[ 7.71163896e-01 -6.36556007e-01 -1.01338548e-02 8.86633856e+02] [ 6.36502084e-01 7.71230475e-01 -8.28557750e-03 4.14915051e+01] [ 1.30897718e-02 -6.06814545e-05 9.99914323e-01 6.16099353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4392541539999 meters 0.015238280178120327 Centerline is valid? [True, True] Translation: X:886.66, Y:41.51, Z:6.16 [[ 7.67168567e-01 -6.41366822e-01 -1.00493146e-02 8.86658652e+02] [ 6.41314148e-01 7.67234371e-01 -8.22091215e-03 4.15069554e+01] [ 1.29827998e-02 -1.37942215e-04 9.99915710e-01 6.16192201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4692541539998 meters 0.014370678306949127 Centerline is valid? [True, True] Translation: X:886.68, Y:41.52, Z:6.16 [[ 7.65657431e-01 -6.43173548e-01 -9.82264840e-03 8.86681581e+02] [ 6.43123321e-01 7.65720419e-01 -8.03948636e-03 4.15246250e+01] [ 1.26921874e-02 -1.61681779e-04 9.99919438e-01 6.16375163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4992541539999 meters 0.015510970722771605 Centerline is valid? [True, True] Translation: X:886.70, Y:41.54, Z:6.16 [[ 7.62222156e-01 -6.47226010e-01 -1.07645809e-02 8.86703872e+02] [ 6.47166046e-01 7.62298124e-01 -8.81357817e-03 4.15413084e+01] [ 1.39101968e-02 -2.48566688e-04 9.99903218e-01 6.16248856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5292541539999 meters 0.016242583757663662 Centerline is valid? [True, True] Translation: X:886.73, Y:41.56, Z:6.16 [[ 7.60471118e-01 -6.49265598e-01 -1.17415137e-02 8.86726521e+02] [ 6.49194446e-01 7.60561693e-01 -9.61683186e-03 4.15590345e+01] [ 1.51740236e-02 -3.09202600e-04 9.99884820e-01 6.16158426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5592541539999 meters 0.01639984699202786 Centerline is valid? [True, True] Translation: X:886.75, Y:41.58, Z:6.16 [[ 7.57634097e-01 -6.52550341e-01 -1.29857093e-02 8.86748021e+02] [ 6.52463733e-01 7.57745263e-01 -1.06392459e-02 4.15783461e+01] [ 1.67825032e-02 -4.12048929e-04 9.99859079e-01 6.16082038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5892541539998 meters 0.019966568885360886 Centerline is valid? [True, True] Translation: X:886.77, Y:41.60, Z:6.16 [[ 7.56161264e-01 -6.54234579e-01 -1.40449095e-02 8.86770102e+02] [ 6.54133518e-01 7.56291532e-01 -1.15090829e-02 4.15960984e+01] [ 1.81516861e-02 -4.84523420e-04 9.99835127e-01 6.15689385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6192541539999 meters 0.020941693228781116 Centerline is valid? [True, True] Translation: X:886.79, Y:41.61, Z:6.16 [[ 7.54863460e-01 -6.55739697e-01 -1.36603650e-02 8.86792408e+02] [ 6.55644306e-01 7.54986883e-01 -1.11959765e-02 4.16129166e+01] [ 1.76550426e-02 -5.04906978e-04 9.99844010e-01 6.15785445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6492541539999 meters 0.017212852842999223 Centerline is valid? [True, True] Translation: X:886.81, Y:41.63, Z:6.16 [[ 7.54942372e-01 -6.55675543e-01 -1.23124846e-02 8.86813187e+02] [ 6.55597986e-01 7.55042633e-01 -1.00946862e-02 4.16338243e+01] [ 1.59152896e-02 -4.51133771e-04 9.99873242e-01 6.16279463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6792541539999 meters 0.019221219593940124 Centerline is valid? [True, True] Translation: X:886.83, Y:41.65, Z:6.16 [[ 7.54690491e-01 -6.55969050e-01 -1.21188668e-02 8.86833272e+02] [ 6.55893897e-01 7.54787655e-01 -9.93935307e-03 4.16517651e+01] [ 1.56670790e-02 -4.47555516e-04 9.99877164e-01 6.16070104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7092541539998 meters 0.017577711620387213 Centerline is valid? [True, True] Translation: X:886.85, Y:41.67, Z:6.16 [[ 7.56099982e-01 -6.54366124e-01 -1.08532386e-02 8.86853024e+02] [ 6.54305640e-01 7.56177783e-01 -8.90450739e-03 4.16735324e+01] [ 1.40337859e-02 -3.68637343e-04 9.99901454e-01 6.16302373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7392541539999 meters 0.018226163306350587 Centerline is valid? [True, True] Translation: X:886.87, Y:41.69, Z:6.16 [[ 7.57035011e-01 -6.53282747e-01 -1.09381672e-02 8.86874397e+02] [ 6.53221138e-01 7.57113948e-01 -8.97849749e-03 4.16939517e+01] [ 1.41469364e-02 -3.48005058e-04 9.99899867e-01 6.16206131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7692541539999 meters 0.01867481786818659 Centerline is valid? [True, True] Translation: X:886.89, Y:41.72, Z:6.16 [[ 7.60063472e-01 -6.49759840e-01 -1.07549907e-02 8.86893061e+02] [ 6.49699864e-01 7.60139511e-01 -8.83238216e-03 4.17166056e+01] [ 1.39142206e-02 -2.74344975e-04 9.99903155e-01 6.16135753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7992541539999 meters 0.014635498619975184 Centerline is valid? [True, True] Translation: X:886.91, Y:41.74, Z:6.17 [[ 7.62292512e-01 -6.47160981e-01 -9.63279161e-03 8.86913197e+02] [ 6.47112615e-01 7.62353346e-01 -7.91451154e-03 4.17377849e+01] [ 1.24655540e-02 -2.00328086e-04 9.99922282e-01 6.16530506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8292541539998 meters 0.015709298584659925 Centerline is valid? [True, True] Translation: X:886.93, Y:41.76, Z:6.16 [[ 7.63882169e-01 -6.45281320e-01 -9.80052346e-03 8.86933659e+02] [ 6.45231048e-01 7.63945017e-01 -8.05638133e-03 4.17587248e+01] [ 1.26856934e-02 -1.69475981e-04 9.99919519e-01 6.16372724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8592541539999 meters 0.014538597034011013 Centerline is valid? [True, True] Translation: X:886.95, Y:41.78, Z:6.16 [[ 7.67531570e-01 -6.40932577e-01 -1.00359815e-02 8.86951274e+02] [ 6.40879449e-01 7.67597174e-01 -8.25288079e-03 4.17809616e+01] [ 1.29931312e-02 -9.75077249e-05 9.99915581e-01 6.16378930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8892541539999 meters 0.014797875408006988 Centerline is valid? [True, True] Translation: X:886.97, Y:41.80, Z:6.16 [[ 7.70033909e-01 -6.37915247e-01 -1.05790887e-02 8.86969932e+02] [ 6.37855887e-01 7.70106574e-01 -8.70243680e-03 4.18033424e+01] [ 1.36984429e-02 -4.67625646e-05 9.99906171e-01 6.16245256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9192541539999 meters 0.013855893795784627 Centerline is valid? [True, True] Translation: X:886.99, Y:41.82, Z:6.16 [[ 7.71145374e-01 -6.36569972e-01 -1.06528388e-02 8.86990434e+02] [ 6.36509589e-01 7.71218951e-01 -8.76773635e-03 4.18230746e+01] [ 1.37969488e-02 -1.94346937e-05 9.99904817e-01 6.16314622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9492541539998 meters 0.012940250291031125 Centerline is valid? [True, True] Translation: X:887.01, Y:41.84, Z:6.16 [[ 7.72897333e-01 -6.34443317e-01 -1.05541244e-02 8.87010008e+02] [ 6.34383783e-01 7.72969390e-01 -8.69132777e-03 4.18438100e+01] [ 1.36721699e-02 2.21386828e-05 9.99906531e-01 6.16425652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9792541539998 meters 0.016371955914826614 Centerline is valid? [True, True] Translation: X:887.03, Y:41.86, Z:6.16 [[ 7.73055099e-01 -6.34235492e-01 -1.14522850e-02 8.87031560e+02] [ 6.34165293e-01 7.73139922e-01 -9.43617725e-03 4.18631440e+01] [ 1.48389773e-02 3.20432300e-05 9.99889896e-01 6.16128664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0092541539999 meters 0.013387986852710554 Centerline is valid? [True, True] Translation: X:887.05, Y:41.88, Z:6.16 [[ 7.73558123e-01 -6.33633605e-01 -1.07835389e-02 8.87050931e+02] [ 6.33571262e-01 7.73633281e-01 -8.88838639e-03 4.18821446e+01] [ 1.39744849e-02 4.35431231e-05 9.99902351e-01 6.16374310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0392541539999 meters 0.012971643611946337 Centerline is valid? [True, True] Translation: X:887.07, Y:41.90, Z:6.16 [[ 7.73282844e-01 -6.33967544e-01 -1.08993686e-02 8.87071801e+02] [ 6.33903855e-01 7.73359652e-01 -8.98611526e-03 4.18999644e+01] [ 1.41260373e-02 3.96570147e-05 9.99900222e-01 6.16432231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0692541539999 meters 0.015210014457321433 Centerline is valid? [True, True] Translation: X:887.09, Y:41.92, Z:6.16 [[ 7.72351607e-01 -6.35090189e-01 -1.15519108e-02 8.87093380e+02] [ 6.35018711e-01 7.72437992e-01 -9.52818044e-03 4.19172510e+01] [ 1.49743887e-02 2.34259360e-05 9.99887877e-01 6.16200403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0992541539998 meters 0.012937311205291239 Centerline is valid? [True, True] Translation: X:887.12, Y:41.93, Z:6.17 [[ 7.72093275e-01 -6.35418650e-01 -1.07291441e-02 8.87115110e+02] [ 6.35356955e-01 7.72167818e-01 -8.85439945e-03 4.19349417e+01] [ 1.39109503e-02 1.95859424e-05 9.99903238e-01 6.16515399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1292541539999 meters 0.013054287899189653 Centerline is valid? [True, True] Translation: X:887.14, Y:41.95, Z:6.17 [[ 7.71229791e-01 -6.36460953e-01 -1.10483070e-02 8.87136824e+02] [ 6.36395564e-01 7.71308923e-01 -9.12311311e-03 4.19524419e+01] [ 1.43281630e-02 4.92304833e-06 9.99897347e-01 6.16526762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1592541539999 meters 0.015983503406942642 Centerline is valid? [True, True] Translation: X:887.16, Y:41.97, Z:6.16 [[ 7.71139376e-01 -6.36536812e-01 -1.28432897e-02 8.87159086e+02] [ 6.36448356e-01 7.71246320e-01 -1.06114945e-02 4.19710951e+01] [ 1.66599468e-02 8.85065328e-06 9.99861213e-01 6.16171841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1892541539999 meters 0.016794264538648913 Centerline is valid? [True, True] Translation: X:887.18, Y:41.99, Z:6.16 [[ 7.71435579e-01 -6.36160735e-01 -1.36626402e-02 8.87181290e+02] [ 6.36060466e-01 7.71556556e-01 -1.12944672e-02 4.19898142e+01] [ 1.77265961e-02 2.26885224e-05 9.99842871e-01 6.16134979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2192541539998 meters 0.015722701604151804 Centerline is valid? [True, True] Translation: X:887.20, Y:42.01, Z:6.16 [[ 7.72051774e-01 -6.35402460e-01 -1.41340563e-02 8.87202652e+02] [ 6.35294956e-01 7.72181139e-01 -1.16878882e-02 4.20083712e+01] [ 1.83405647e-02 4.43601455e-05 9.99831797e-01 6.16137763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2492541539999 meters 0.015924899464561264 Centerline is valid? [True, True] Translation: X:887.22, Y:42.03, Z:6.16 [[ 7.73467608e-01 -6.33669507e-01 -1.45194610e-02 8.87224166e+02] [ 6.33555665e-01 7.73603870e-01 -1.20113253e-02 4.20274412e+01] [ 1.88435218e-02 9.14842434e-05 9.99822441e-01 6.16101456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2792541539999 meters 0.01355557474359652 Centerline is valid? [True, True] Translation: X:887.24, Y:42.05, Z:6.16 [[ 7.75558844e-01 -6.31126249e-01 -1.37163269e-02 8.87244980e+02] [ 6.31024194e-01 7.75680112e-01 -1.13503293e-02 4.20466514e+01] [ 1.78029727e-02 1.47514102e-04 9.99841504e-01 6.16403613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3092541539999 meters 0.014553762997986056 Centerline is valid? [True, True] Translation: X:887.27, Y:42.06, Z:6.16 [[ 7.75852189e-01 -6.30767933e-01 -1.36086709e-02 8.87265984e+02] [ 6.30667336e-01 7.75971513e-01 -1.12659673e-02 4.20647157e+01] [ 1.76661519e-02 1.58181192e-04 9.99843929e-01 6.16320331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3392541539998 meters 0.013587199884349652 Centerline is valid? [True, True] Translation: X:887.29, Y:42.08, Z:6.17 [[ 7.76221423e-01 -6.30330768e-01 -1.27838397e-02 8.87287492e+02] [ 6.30241837e-01 7.76326669e-01 -1.05891498e-02 4.20822086e+01] [ 1.65991026e-02 1.62614264e-04 9.99862212e-01 6.16555924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3692541539999 meters 0.017962975249248742 Centerline is valid? [True, True] Translation: X:887.31, Y:42.10, Z:6.16 [[ 7.75922847e-01 -6.30682193e-01 -1.35538489e-02 8.87308725e+02] [ 6.30582202e-01 7.76041199e-01 -1.12313578e-02 4.20997071e+01] [ 1.76017625e-02 1.67851230e-04 9.99845063e-01 6.16165289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3992541539999 meters 0.014451788233797412 Centerline is valid? [True, True] Translation: X:887.33, Y:42.12, Z:6.17 [[ 7.75373200e-01 -6.31391669e-01 -1.18727039e-02 8.87332682e+02] [ 6.31314972e-01 7.75464082e-01 -9.84194738e-03 4.21162612e+01] [ 1.54209790e-02 1.35766534e-04 9.99881080e-01 6.16573077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4292541539999 meters 0.01325824463082974 Centerline is valid? [True, True] Translation: X:887.36, Y:42.13, Z:6.17 [[ 7.73809448e-01 -6.33332578e-01 -1.04299380e-02 8.87357391e+02] [ 6.33273509e-01 7.73879731e-01 -8.65009370e-03 4.21316181e+01] [ 1.35499037e-02 8.85208219e-05 9.99908192e-01 6.16892294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4592541539998 meters 0.014924643710956368 Centerline is valid? [True, True] Translation: X:887.38, Y:42.15, Z:6.17 [[ 7.72416018e-01 -6.35026002e-01 -1.07457533e-02 8.87379127e+02] [ 6.34963418e-01 7.72490759e-01 -8.91543972e-03 4.21472944e+01] [ 1.39625311e-02 6.32682174e-05 9.99902517e-01 6.16732525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4892541539999 meters 0.016238511823784902 Centerline is valid? [True, True] Translation: X:887.40, Y:42.16, Z:6.17 [[ 7.71273067e-01 -6.36414057e-01 -1.07240092e-02 8.87402054e+02] [ 6.36351809e-01 7.71347617e-01 -8.90103857e-03 4.21641390e+01] [ 1.39366850e-02 4.08886901e-05 9.99902879e-01 6.16699613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5192541539999 meters 0.014316742469994488 Centerline is valid? [True, True] Translation: X:887.42, Y:42.18, Z:6.17 [[ 7.70205126e-01 -6.37724367e-01 -9.57580207e-03 8.87424570e+02] [ 6.37674801e-01 7.70264650e-01 -7.95091561e-03 4.21803354e+01] [ 1.24463945e-02 1.75882756e-05 9.99922540e-01 6.16885998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5492541539999 meters 0.013442944602561497 Centerline is valid? [True, True] Translation: X:887.45, Y:42.20, Z:6.17 [[ 7.70020973e-01 -6.37950037e-01 -9.35150880e-03 8.87446974e+02] [ 6.37902749e-01 7.70077756e-01 -7.76741091e-03 4.21977253e+01] [ 1.21566090e-02 1.57161363e-05 9.99926106e-01 6.16996069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5792541539998 meters 0.016935762369606644 Centerline is valid? [True, True] Translation: X:887.47, Y:42.22, Z:6.17 [[ 7.69850861e-01 -6.38135581e-01 -1.06127868e-02 8.87468336e+02] [ 6.38074643e-01 7.69924009e-01 -8.81877901e-03 4.22153888e+01] [ 1.37986160e-02 1.73944983e-05 9.99904794e-01 6.16653323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6092541539999 meters 0.016935762369606644 Centerline is valid? [True, True] Translation: X:887.49, Y:42.23, Z:6.17 [[ 7.69670182e-01 -6.38353519e-01 -1.06111486e-02 8.87489505e+02] [ 6.38292574e-01 7.69743324e-01 -8.82074985e-03 4.22330828e+01] [ 1.37986175e-02 1.60508079e-05 9.99904794e-01 6.16672416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6392541539999 meters 0.01298681930180234 Centerline is valid? [True, True] Translation: X:887.51, Y:42.25, Z:6.17 [[ 7.70469210e-01 -6.37401331e-01 -9.83565685e-03 8.87511155e+02] [ 6.37348833e-01 7.70531986e-01 -8.18065662e-03 4.22513217e+01] [ 1.27930496e-02 3.41996252e-05 9.99918165e-01 6.16990891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6692541539999 meters 0.015695716938180258 Centerline is valid? [True, True] Translation: X:887.53, Y:42.27, Z:6.17 [[ 7.71091884e-01 -6.36618236e-01 -1.15986010e-02 8.87532347e+02] [ 6.36545082e-01 7.71179109e-01 -9.65094686e-03 4.22700558e+01] [ 1.50885676e-02 5.87343668e-05 9.99886159e-01 6.16548208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6992541539998 meters 0.016142976536646998 Centerline is valid? [True, True] Translation: X:887.55, Y:42.29, Z:6.16 [[ 7.71509244e-01 -6.36094928e-01 -1.25191578e-02 8.87554281e+02] [ 6.36009568e-01 7.71610806e-01 -1.04207972e-02 4.22886954e+01] [ 1.62885337e-02 7.74372372e-05 9.99867330e-01 6.16453974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7292541539998 meters 0.014191579713063267 Centerline is valid? [True, True] Translation: X:887.58, Y:42.31, Z:6.16 [[ 7.72387839e-01 -6.35025999e-01 -1.26098215e-02 8.87575420e+02] [ 6.34939191e-01 7.72490757e-01 -1.05001370e-02 4.23064477e+01] [ 1.64088306e-02 1.03708268e-04 9.99865361e-01 6.16487676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7592541539999 meters 0.015037676727981071 Centerline is valid? [True, True] Translation: X:887.60, Y:42.32, Z:6.16 [[ 7.72379422e-01 -6.35028424e-01 -1.29973089e-02 8.87597218e+02] [ 6.34936117e-01 7.72488763e-01 -1.08276549e-02 4.23242328e+01] [ 1.69161437e-02 1.10597032e-04 9.99856906e-01 6.16373265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7892541539999 meters 0.013312856984074865 Centerline is valid? [True, True] Translation: X:887.62, Y:42.34, Z:6.17 [[ 7.72628593e-01 -6.34736279e-01 -1.24464238e-02 8.87619544e+02] [ 6.34651500e-01 7.72728829e-01 -1.03744996e-02 4.23411731e+01] [ 1.62027817e-02 1.16493498e-04 9.99868720e-01 6.16561314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8192541539999 meters 0.014116469294708512 Centerline is valid? [True, True] Translation: X:887.64, Y:42.36, Z:6.17 [[ 7.72311501e-01 -6.35118659e-01 -1.26187958e-02 8.87641974e+02] [ 6.35031468e-01 7.72414575e-01 -1.05242354e-02 4.23583179e+01] [ 1.64310800e-02 1.14655630e-04 9.99864994e-01 6.16530240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8492541539998 meters 0.01321204577426675 Centerline is valid? [True, True] Translation: X:887.66, Y:42.37, Z:6.17 [[ 7.72112267e-01 -6.35383608e-01 -1.14157114e-02 8.87664367e+02] [ 6.35312225e-01 7.72196646e-01 -9.52452797e-03 4.23746286e+01] [ 1.48669030e-02 1.01463875e-04 9.99889476e-01 6.16685063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8792541539999 meters 0.013090208228442068 Centerline is valid? [True, True] Translation: X:887.69, Y:42.39, Z:6.17 [[ 7.71810221e-01 -6.35757404e-01 -1.10229613e-02 8.87686495e+02] [ 6.35690830e-01 7.71888926e-01 -9.20076003e-03 4.23912794e+01] [ 1.43579531e-02 9.40451979e-05 9.99896915e-01 6.16766846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9092541539999 meters 0.01324656628156322 Centerline is valid? [True, True] Translation: X:887.71, Y:42.41, Z:6.17 [[ 7.71549504e-01 -6.36078031e-01 -1.07750354e-02 8.87707423e+02] [ 6.36014398e-01 7.71624734e-01 -8.99749346e-03 4.24081197e+01] [ 1.40373918e-02 8.89339523e-05 9.99901467e-01 6.16745786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9392541539999 meters 0.014641975724185845 Centerline is valid? [True, True] Translation: X:887.73, Y:42.42, Z:6.17 [[ 7.70099721e-01 -6.37827479e-01 -1.10691912e-02 8.87731103e+02] [ 6.37760447e-01 7.70179267e-01 -9.24707723e-03 4.24233593e+01] [ 1.44233015e-02 6.16792638e-05 9.99895977e-01 6.16708153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9692541539998 meters 0.012863080718966505 Centerline is valid? [True, True] Translation: X:887.75, Y:42.44, Z:6.17 [[ 7.69297212e-01 -6.38801675e-01 -1.06873711e-02 8.87753440e+02] [ 6.38739232e-01 7.69371444e-01 -8.93169798e-03 4.24386182e+01] [ 1.39281418e-02 4.46871391e-05 9.99902998e-01 6.16867622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9992541539999 meters 0.013265265170976513 Centerline is valid? [True, True] Translation: X:887.78, Y:42.46, Z:6.17 [[ 7.68375516e-01 -6.39905331e-01 -1.09650885e-02 8.87775871e+02] [ 6.39839658e-01 7.68453750e-01 -9.16764275e-03 4.24554129e+01] [ 1.42925869e-02 2.82937326e-05 9.99897855e-01 6.16874822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0292541539999 meters 0.012751220347193521 Centerline is valid? [True, True] Translation: X:887.80, Y:42.47, Z:6.17 [[ 7.67548459e-01 -6.40898164e-01 -1.09044425e-02 8.87798296e+02] [ 6.40833262e-01 7.67625914e-01 -9.12068663e-03 4.24706934e+01] [ 1.42159639e-02 1.26395365e-05 9.99898948e-01 6.16903616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0592541539999 meters 0.012793402731009937 Centerline is valid? [True, True] Translation: X:887.82, Y:42.49, Z:6.17 [[ 7.67149618e-01 -6.41370707e-01 -1.11838770e-02 8.87820503e+02] [ 6.41302429e-01 7.67231136e-01 -9.35834905e-03 4.24878704e+01] [ 1.45827896e-02 7.00640246e-06 9.99893665e-01 6.16913598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0892541539998 meters 0.016125088820587982 Centerline is valid? [True, True] Translation: X:887.84, Y:42.51, Z:6.17 [[ 7.66283878e-01 -6.42384387e-01 -1.23011256e-02 8.87843351e+02] [ 6.42301824e-01 7.66382607e-01 -1.02989092e-02 4.25052005e+01] [ 1.60432271e-02 -9.14732369e-06 9.99871299e-01 6.16642238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1192541539999 meters 0.01455255141636037 Centerline is valid? [True, True] Translation: X:887.86, Y:42.52, Z:6.17 [[ 7.66424901e-01 -6.42224618e-01 -1.18494960e-02 8.87864217e+02] [ 6.42147922e-01 7.66516497e-01 -9.92502396e-03 4.25229042e+01] [ 1.54569289e-02 -2.34369524e-06 9.99880535e-01 6.16713573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1492541539999 meters 0.012779465462012269 Centerline is valid? [True, True] Translation: X:887.88, Y:42.54, Z:6.17 [[ 7.67555594e-01 -6.40885770e-01 -1.11283703e-02 8.87884748e+02] [ 6.40817921e-01 7.67636261e-01 -9.32535401e-03 4.25426523e+01] [ 1.45190272e-02 2.64685383e-05 9.99894593e-01 6.16885295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1792541539999 meters 0.012816995702147458 Centerline is valid? [True, True] Translation: X:887.90, Y:42.56, Z:6.17 [[ 7.68054489e-01 -6.40287877e-01 -1.11237209e-02 8.87904434e+02] [ 6.40219969e-01 7.68135036e-01 -9.32512771e-03 4.25606760e+01] [ 1.45152859e-02 4.05779731e-05 9.99894647e-01 6.16847964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2092541539998 meters 0.012802076105707652 Centerline is valid? [True, True] Translation: X:887.93, Y:42.58, Z:6.17 [[ 7.68424562e-01 -6.39839527e-01 -1.13609627e-02 8.87925671e+02] [ 6.39768583e-01 7.68508541e-01 -9.52801824e-03 4.25791024e+01] [ 1.48273996e-02 5.31762249e-05 9.99890067e-01 6.16865659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2392541539999 meters 0.01503317684201371 Centerline is valid? [True, True] Translation: X:887.95, Y:42.60, Z:6.17 [[ 7.68898585e-01 -6.39242785e-01 -1.27917143e-02 8.87947205e+02] [ 6.39152663e-01 7.69004978e-01 -1.07339349e-02 4.25987510e+01] [ 1.66984824e-02 7.74490613e-05 9.99860568e-01 6.16574601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2692541539999 meters 0.01429875557806396 Centerline is valid? [True, True] Translation: X:887.97, Y:42.62, Z:6.17 [[ 7.69779393e-01 -6.38181655e-01 -1.28008201e-02 8.87968422e+02] [ 6.38091168e-01 7.69885812e-01 -1.07469413e-02 4.26181362e+01] [ 1.67136705e-02 1.04683681e-04 9.99860311e-01 6.16646708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2992541539999 meters 0.014269080109292504 Centerline is valid? [True, True] Translation: X:887.99, Y:42.64, Z:6.17 [[ 7.70209107e-01 -6.37671112e-01 -1.23888923e-02 8.87989345e+02] [ 6.37586200e-01 7.70308730e-01 -1.04066424e-02 4.26370209e+01] [ 1.61792871e-02 1.16303962e-04 9.99869100e-01 6.16712405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3292541539998 meters 0.014578141624080379 Centerline is valid? [True, True] Translation: X:888.01, Y:42.66, Z:6.17 [[ 7.70649468e-01 -6.37148811e-01 -1.18654777e-02 8.88009091e+02] [ 6.37070802e-01 7.70740797e-01 -9.97075485e-03 4.26551995e+01] [ 1.54980623e-02 1.24807525e-04 9.99879890e-01 6.16725908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3592541539999 meters 0.013158883306411143 Centerline is valid? [True, True] Translation: X:888.03, Y:42.67, Z:6.17 [[ 7.71300375e-01 -6.36370662e-01 -1.13186025e-02 8.88029783e+02] [ 6.36299536e-01 7.71383407e-01 -9.51522656e-03 4.26742555e+01] [ 1.47861932e-02 1.37076300e-04 9.99890669e-01 6.16938332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3892541539999 meters 0.01359932117031543 Centerline is valid? [True, True] Translation: X:888.05, Y:42.69, Z:6.17 [[ 7.71488847e-01 -6.36144259e-01 -1.12000212e-02 8.88048934e+02] [ 6.36074534e-01 7.71570128e-01 -9.41939798e-03 4.26928043e+01] [ 1.46336977e-02 1.42912230e-04 9.99892911e-01 6.16894529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4192541539999 meters 0.01448884283808531 Centerline is valid? [True, True] Translation: X:888.07, Y:42.71, Z:6.17 [[ 7.71065174e-01 -6.36654732e-01 -1.13688120e-02 8.88070488e+02] [ 6.36582883e-01 7.71148970e-01 -9.56553745e-03 4.27104435e+01] [ 1.48569924e-02 1.38461649e-04 9.99889619e-01 6.16859088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4492541539998 meters 0.013289468905215911 Centerline is valid? [True, True] Translation: X:888.09, Y:42.73, Z:6.17 [[ 7.71037248e-01 -6.36692187e-01 -1.11633724e-02 8.88090946e+02] [ 6.36622849e-01 7.71118045e-01 -9.39727437e-03 4.27284411e+01] [ 1.45914491e-02 1.38790626e-04 9.99893530e-01 6.16982353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4792541539998 meters 0.013313103156712422 Centerline is valid? [True, True] Translation: X:888.11, Y:42.75, Z:6.17 [[ 7.70224955e-01 -6.37675275e-01 -1.11248795e-02 8.88112107e+02] [ 6.37606477e-01 7.70305283e-01 -9.36754850e-03 4.27462454e+01] [ 1.45430075e-02 1.21824385e-04 9.99894237e-01 6.16995629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5092541539999 meters 0.013141633125513568 Centerline is valid? [True, True] Translation: X:888.13, Y:42.76, Z:6.17 [[ 7.69466557e-01 -6.38593404e-01 -1.09399228e-02 8.88134039e+02] [ 6.38526918e-01 7.69544315e-01 -9.21529728e-03 4.27639405e+01] [ 1.43035835e-02 1.05427883e-04 9.99897693e-01 6.17063443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5392541539999 meters 0.015466323482751065 Centerline is valid? [True, True] Translation: X:888.16, Y:42.78, Z:6.17 [[ 7.68236678e-01 -6.40072283e-01 -1.09489044e-02 8.88156085e+02] [ 6.40005762e-01 7.68314691e-01 -9.22821920e-03 4.27814231e+01] [ 1.43189314e-02 8.20945877e-05 9.99897475e-01 6.16933357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5692541539999 meters 0.014626053275795359 Centerline is valid? [True, True] Translation: X:888.18, Y:42.80, Z:6.17 [[ 7.67031797e-01 -6.41526852e-01 -1.02723448e-02 8.88177743e+02] [ 6.41468384e-01 7.67100577e-01 -8.66123279e-03 4.27989676e+01] [ 1.34363351e-02 5.40565064e-05 9.99909727e-01 6.17053757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5992541539998 meters 0.012841123682998607 Centerline is valid? [True, True] Translation: X:888.20, Y:42.82, Z:6.17 [[ 7.66438601e-01 -6.42242855e-01 -9.79725190e-03 8.88198834e+02] [ 6.42189700e-01 7.66501216e-01 -8.26291117e-03 4.28164868e+01] [ 1.28164012e-02 4.13198236e-05 9.99917866e-01 6.17249575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6292541539999 meters 0.015789124263922403 Centerline is valid? [True, True] Translation: X:888.22, Y:42.83, Z:6.17 [[ 7.64445072e-01 -6.44604647e-01 -1.04202248e-02 8.88221180e+02] [ 6.44544676e-01 7.64516088e-01 -8.79266651e-03 4.28342447e+01] [ 1.36342232e-02 5.21018259e-06 9.99907050e-01 6.16972649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6592541539999 meters 0.016016798598337777 Centerline is valid? [True, True] Translation: X:888.24, Y:42.85, Z:6.17 [[ 7.63752135e-01 -6.45417450e-01 -1.09083344e-02 8.88242597e+02] [ 6.45351757e-01 7.63830030e-01 -9.20841293e-03 4.28516219e+01] [ 1.42753838e-02 -6.76771158e-06 9.99898101e-01 6.16953381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6892541539999 meters 0.015830830617491663 Centerline is valid? [True, True] Translation: X:888.26, Y:42.87, Z:6.17 [[ 7.62013146e-01 -6.47466668e-01 -1.10851064e-02 8.88264310e+02] [ 6.47399009e-01 7.62093768e-01 -9.36008521e-03 4.28684144e+01] [ 1.45082337e-02 -4.39789125e-05 9.99894749e-01 6.16953235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7192541539998 meters 0.014160572329484793 Centerline is valid? [True, True] Translation: X:888.29, Y:42.89, Z:6.17 [[ 7.61126341e-01 -6.48507532e-01 -1.11657084e-02 8.88286233e+02] [ 6.48438939e-01 7.61208235e-01 -9.43216368e-03 4.28861299e+01] [ 1.46162584e-02 -6.12119073e-05 9.99893175e-01 6.17102467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7492541539999 meters 0.01298179669746392 Centerline is valid? [True, True] Translation: X:888.31, Y:42.90, Z:6.17 [[ 7.60392430e-01 -6.49367077e-01 -1.12139247e-02 8.88307397e+02] [ 6.49297903e-01 7.60475111e-01 -9.47837962e-03 4.29039447e+01] [ 1.46828583e-02 -7.38896763e-05 9.99892198e-01 6.17273495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7792541539999 meters 0.01623119160083713 Centerline is valid? [True, True] Translation: X:888.33, Y:42.92, Z:6.17 [[ 7.58318858e-01 -6.51769342e-01 -1.22161298e-02 8.88329458e+02] [ 6.51687498e-01 7.58417239e-01 -1.03294114e-02 4.29214148e+01] [ 1.59973171e-02 -1.28111623e-04 9.99872027e-01 6.16911901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8092541539999 meters 0.01331718922833785 Centerline is valid? [True, True] Translation: X:888.35, Y:42.94, Z:6.17 [[ 7.57183513e-01 -6.53099395e-01 -1.15891209e-02 8.88351138e+02] [ 6.53025833e-01 7.57272183e-01 -9.80313952e-03 4.29399532e+01] [ 1.51785434e-02 -1.45219689e-04 9.99884789e-01 6.17252000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8392541539998 meters 0.013655791185227747 Centerline is valid? [True, True] Translation: X:888.37, Y:42.96, Z:6.17 [[ 7.56473964e-01 -6.53921944e-01 -1.15426406e-02 8.88373001e+02] [ 6.53849013e-01 7.56562004e-01 -9.76739817e-03 4.29576545e+01] [ 1.51198393e-02 -1.58361761e-04 9.99885676e-01 6.17231485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8692541539999 meters 0.015474265555388847 Centerline is valid? [True, True] Translation: X:888.40, Y:42.98, Z:6.17 [[ 7.55290025e-01 -6.55285990e-01 -1.17153104e-02 8.88395175e+02] [ 6.55210970e-01 7.55380855e-01 -9.91706453e-03 4.29761433e+01] [ 1.53480347e-02 -1.85739983e-04 9.99882195e-01 6.17085023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8992541539999 meters 0.01642989254996292 Centerline is valid? [True, True] Translation: X:888.42, Y:42.99, Z:6.17 [[ 7.53303203e-01 -6.57570004e-01 -1.16607809e-02 8.88417528e+02] [ 6.57495905e-01 7.53393415e-01 -9.87409745e-03 4.29929986e+01] [ 1.52780658e-02 -2.28726413e-04 9.99883257e-01 6.17106271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9292541539999 meters 0.017326735292757564 Centerline is valid? [True, True] Translation: X:888.44, Y:43.01, Z:6.17 [[ 7.51938355e-01 -6.59126887e-01 -1.18514495e-02 8.88439494e+02] [ 6.59050482e-01 7.52031700e-01 -1.00391257e-02 4.30112030e+01] [ 1.55297234e-02 -2.61899804e-04 9.99879372e-01 6.17103121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9592541539998 meters 0.01797989308540403 Centerline is valid? [True, True] Translation: X:888.46, Y:43.03, Z:6.17 [[ 7.49956861e-01 -6.61382699e-01 -1.17316644e-02 8.88461671e+02] [ 6.61308058e-01 7.50048554e-01 -9.94082535e-03 4.30281764e+01] [ 1.53740078e-02 -3.03054025e-04 9.99881767e-01 6.17128461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9892541539999 meters 0.01634707448163042 Centerline is valid? [True, True] Translation: X:888.48, Y:43.05, Z:6.17 [[ 7.49171662e-01 -6.62283328e-01 -1.10731357e-02 8.88483297e+02] [ 6.62216901e-01 7.49253430e-01 -9.38478313e-03 4.30454405e+01] [ 1.45119703e-02 -3.02004062e-04 9.99894650e-01 6.17369439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0192541539999 meters 0.016578091633649962 Centerline is valid? [True, True] Translation: X:888.51, Y:43.06, Z:6.17 [[ 7.48191707e-01 -6.63389321e-01 -1.11255385e-02 8.88505504e+02] [ 6.63322335e-01 7.48274351e-01 -9.43271398e-03 4.30645528e+01] [ 1.45825169e-02 -3.22339821e-04 9.99893617e-01 6.17413547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0492541539999 meters 0.020569520163731776 Centerline is valid? [True, True] Translation: X:888.53, Y:43.08, Z:6.17 [[ 7.46401678e-01 -6.65394281e-01 -1.16183611e-02 8.88525882e+02] [ 6.65321421e-01 7.46492003e-01 -9.85374114e-03 4.30830987e+01] [ 1.52296367e-02 -3.75095610e-04 9.99883952e-01 6.17108515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0792541539998 meters 0.02051803824838058 Centerline is valid? [True, True] Translation: X:888.55, Y:43.10, Z:6.17 [[ 7.45600787e-01 -6.66301796e-01 -1.10174141e-02 8.88546149e+02] [ 6.66236349e-01 7.45682090e-01 -9.34603356e-03 4.31019991e+01] [ 1.44427673e-02 -3.71791744e-04 9.99895629e-01 6.17207035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1092541539999 meters 0.021096163710668463 Centerline is valid? [True, True] Translation: X:888.57, Y:43.12, Z:6.17 [[ 7.45078193e-01 -6.66886037e-01 -1.10226735e-02 8.88567356e+02] [ 6.66820542e-01 7.45159626e-01 -9.35394977e-03 4.31216057e+01] [ 1.44516698e-02 -3.80721126e-04 9.99895497e-01 6.17194543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1392541539999 meters 0.02046035668164078 Centerline is valid? [True, True] Translation: X:888.59, Y:43.14, Z:6.17 [[ 7.44951726e-01 -6.67029236e-01 -1.09052148e-02 8.88588255e+02] [ 6.66965078e-01 7.45031447e-01 -9.25895817e-03 4.31409366e+01] [ 1.43007238e-02 -3.75920587e-04 9.99897669e-01 6.17306328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1692541539999 meters 0.020048512446954648 Centerline is valid? [True, True] Translation: X:888.61, Y:43.16, Z:6.17 [[ 7.45294771e-01 -6.66661479e-01 -9.90839340e-03 8.88607874e+02] [ 6.66608445e-01 7.45360558e-01 -8.41547368e-03 4.31610166e+01] [ 1.29955978e-02 -3.33010190e-04 9.99915498e-01 6.17382748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1992541539998 meters 0.017362987504284597 Centerline is valid? [True, True] Translation: X:888.63, Y:43.18, Z:6.18 [[ 7.45622822e-01 -6.66296854e-01 -9.75242934e-03 8.88626531e+02] [ 6.66245411e-01 7.45686530e-01 -8.28566187e-03 4.31842365e+01] [ 1.27929656e-02 -3.19532706e-04 9.99918116e-01 6.17529283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2292541539998 meters 0.01694343609118275 Centerline is valid? [True, True] Translation: X:888.65, Y:43.21, Z:6.17 [[ 7.46931376e-01 -6.64823636e-01 -1.01514784e-02 8.88645077e+02] [ 6.64767701e-01 7.47000295e-01 -8.62916145e-03 4.32066119e+01] [ 1.33200278e-02 -3.02983501e-04 9.99911239e-01 6.17482315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2592541539999 meters 0.01670042147790801 Centerline is valid? [True, True] Translation: X:888.67, Y:43.23, Z:6.17 [[ 7.47841819e-01 -6.63795494e-01 -1.03998360e-02 8.88665185e+02] [ 6.63736646e-01 7.47914072e-01 -8.84340725e-03 4.32265521e+01] [ 1.36483975e-02 -2.89282481e-04 9.99906814e-01 6.17446747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2892541539999 meters 0.017233998665712746 Centerline is valid? [True, True] Translation: X:888.69, Y:43.25, Z:6.17 [[ 7.50486848e-01 -6.60789670e-01 -1.12473784e-02 8.88685699e+02] [ 6.60720450e-01 7.50571082e-01 -9.56752299e-03 4.32461992e+01] [ 1.47640773e-02 -2.51072761e-04 9.99890974e-01 6.17204172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3192541539999 meters 0.015787648329185097 Centerline is valid? [True, True] Translation: X:888.71, Y:43.27, Z:6.17 [[ 7.52173594e-01 -6.58865592e-01 -1.14462421e-02 8.88705853e+02] [ 6.58793626e-01 7.52260650e-01 -9.74021021e-03 4.32678523e+01] [ 1.50280469e-02 -2.14382426e-04 9.99887050e-01 6.17240712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3492541539998 meters 0.01604135072489806 Centerline is valid? [True, True] Translation: X:888.72, Y:43.29, Z:6.17 [[ 7.53489992e-01 -6.57345548e-01 -1.22336998e-02 8.88724238e+02] [ 6.57263073e-01 7.53589274e-01 -1.04143787e-02 4.32911854e+01] [ 1.60650305e-02 -1.93628973e-04 9.99870930e-01 6.17178018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3792541539999 meters 0.017656564879643847 Centerline is valid? [True, True] Translation: X:888.74, Y:43.31, Z:6.17 [[ 7.56687834e-01 -6.53645071e-01 -1.31012619e-02 8.88742865e+02] [ 6.53549829e-01 7.56801233e-01 -1.11586066e-02 4.33143632e+01] [ 1.72088194e-02 -1.18745574e-04 9.99851910e-01 6.17008906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4092541539999 meters 0.01496758258050616 Centerline is valid? [True, True] Translation: X:888.76, Y:43.34, Z:6.17 [[ 7.58362198e-01 -6.51709952e-01 -1.26852785e-02 8.88763380e+02] [ 6.51620306e-01 7.58468282e-01 -1.08093439e-02 4.33356207e+01] [ 1.66659384e-02 -6.85872482e-05 9.99861111e-01 6.17162095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4392541539999 meters 0.015205001359400231 Centerline is valid? [True, True] Translation: X:888.78, Y:43.36, Z:6.17 [[ 7.61852548e-01 -6.47636964e-01 -1.21267773e-02 8.88780880e+02] [ 6.47554473e-01 7.61949055e-01 -1.03364221e-02 4.33578021e+01] [ 1.59342355e-02 2.20805852e-05 9.99873042e-01 6.17179301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4692541539998 meters 0.017030222763700028 Centerline is valid? [True, True] Translation: X:888.80, Y:43.38, Z:6.17 [[ 7.63336642e-01 -6.45886685e-01 -1.21474721e-02 8.88800522e+02] [ 6.45803624e-01 7.63433289e-01 -1.03582600e-02 4.33776677e+01] [ 1.59640468e-02 6.19579340e-05 9.99872565e-01 6.17203244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4992541539999 meters 0.013814884350432747 Centerline is valid? [True, True] Translation: X:888.82, Y:43.40, Z:6.18 [[ 7.66888066e-01 -6.41698503e-01 -1.02822625e-02 8.88817544e+02] [ 6.41638573e-01 7.66956984e-01 -8.77076398e-03 4.34000252e+01] [ 1.35142391e-02 1.28698012e-04 9.99908670e-01 6.17527591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5292541539999 meters 0.013814884350432747 Centerline is valid? [True, True] Translation: X:888.84, Y:43.42, Z:6.18 [[ 7.66714975e-01 -6.41905332e-01 -1.02807093e-02 8.88838461e+02] [ 6.41845396e-01 7.66783887e-01 -8.77258424e-03 4.34179965e+01] [ 1.35142509e-02 1.27445747e-04 9.99908670e-01 6.17546677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5592541539999 meters 0.0154855741692394 Centerline is valid? [True, True] Translation: X:888.86, Y:43.44, Z:6.18 [[ 7.67971850e-01 -6.40397954e-01 -1.04737018e-02 8.88859521e+02] [ 6.40335541e-01 7.68043251e-01 -8.94202196e-03 4.34372602e+01] [ 1.37707085e-02 1.60537636e-04 9.99905166e-01 6.17510289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5892541539998 meters 0.014341540931561593 Centerline is valid? [True, True] Translation: X:888.88, Y:43.46, Z:6.18 [[ 7.69438429e-01 -6.38649885e-01 -9.53043550e-03 8.88878980e+02] [ 6.38598040e-01 7.69497429e-01 -8.13942932e-03 4.34569530e+01] [ 1.25318912e-02 1.76672281e-04 9.99921457e-01 6.17691296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6192541539999 meters 0.015956898106738227 Centerline is valid? [True, True] Translation: X:888.90, Y:43.48, Z:6.18 [[ 7.71581560e-01 -6.36050155e-01 -1.01043324e-02 8.88899249e+02] [ 6.35991614e-01 7.71647682e-01 -8.63254750e-03 4.34774277e+01] [ 1.32877178e-02 2.34443799e-04 9.99911687e-01 6.17575650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6492541539999 meters 0.019219569118972886 Centerline is valid? [True, True] Translation: X:888.92, Y:43.50, Z:6.17 [[ 7.72229495e-01 -6.35245166e-01 -1.11886032e-02 8.88917775e+02] [ 6.35173252e-01 7.72310495e-01 -9.56237442e-03 4.34992758e+01] [ 1.47155278e-02 2.77646081e-04 9.99891682e-01 6.17283020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6792541539999 meters 0.01940222669933796 Centerline is valid? [True, True] Translation: X:888.94, Y:43.52, Z:6.17 [[ 7.73027218e-01 -6.34262273e-01 -1.18443709e-02 8.88937714e+02] [ 6.34181538e-01 7.73117888e-01 -1.01246321e-02 4.35188826e+01] [ 1.55787671e-02 3.15134815e-04 9.99878594e-01 6.17143233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7092541539998 meters 0.01660626884200718 Centerline is valid? [True, True] Translation: X:888.96, Y:43.53, Z:6.17 [[ 7.72927872e-01 -6.34370257e-01 -1.25252542e-02 8.88962313e+02] [ 6.34279920e-01 7.73029279e-01 -1.07106306e-02 4.35345882e+01] [ 1.64768938e-02 3.34027695e-04 9.99864191e-01 6.17346205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7392541539999 meters 0.015084571630769213 Centerline is valid? [True, True] Translation: X:888.99, Y:43.55, Z:6.17 [[ 7.71872171e-01 -6.35634384e-01 -1.35011774e-02 8.88986434e+02] [ 6.35529503e-01 7.71990166e-01 -1.15513291e-02 4.35511311e+01] [ 1.77651982e-02 3.35752927e-04 9.99842130e-01 6.17371127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7692541539999 meters 0.015033946979329567 Centerline is valid? [True, True] Translation: X:889.01, Y:43.57, Z:6.17 [[ 7.71012849e-01 -6.36666183e-01 -1.39770519e-02 8.89008429e+02] [ 6.36553877e-01 7.71139459e-01 -1.19622809e-02 4.35680370e+01] [ 1.83942359e-02 3.25925687e-04 9.99830759e-01 6.17284006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7992541539999 meters 0.01588516603343576 Centerline is valid? [True, True] Translation: X:889.03, Y:43.59, Z:6.17 [[ 7.69652157e-01 -6.38291837e-01 -1.48016625e-02 8.89030795e+02] [ 6.38166141e-01 7.69794413e-01 -1.26703887e-02 4.35853662e+01] [ 1.94816427e-02 3.05872164e-04 9.99810168e-01 6.17065044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8292541539998 meters 0.016339900039913032 Centerline is valid? [True, True] Translation: X:889.06, Y:43.60, Z:6.17 [[ 7.65903459e-01 -6.42748975e-01 -1.62986539e-02 8.89057983e+02] [ 6.42597450e-01 7.66076829e-01 -1.39574197e-02 4.35986177e+01] [ 2.14571383e-02 2.16562620e-04 9.99769746e-01 6.16947832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8592541539999 meters 0.014190761877587162 Centerline is valid? [True, True] Translation: X:889.08, Y:43.61, Z:6.17 [[ 7.63401678e-01 -6.45726198e-01 -1.59860650e-02 8.89082965e+02] [ 6.45580936e-01 7.63569027e-01 -1.36965749e-02 4.36135185e+01] [ 2.10507013e-02 1.35689409e-04 9.99778400e-01 6.17178115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8892541539999 meters 0.013605506836543876 Centerline is valid? [True, True] Translation: X:889.11, Y:43.62, Z:6.17 [[ 7.57478537e-01 -6.52680834e-01 -1.52968855e-02 8.89111516e+02] [ 6.52549104e-01 7.57632976e-01 -1.31126019e-02 4.36239723e+01] [ 2.01477688e-02 -4.94544195e-05 9.99797012e-01 6.17336010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9192541539999 meters 0.01748144543876931 Centerline is valid? [True, True] Translation: X:889.14, Y:43.64, Z:6.17 [[ 7.53774079e-01 -6.56937961e-01 -1.60359893e-02 8.89137155e+02] [ 6.56794002e-01 7.53944619e-01 -1.37531933e-02 4.36379209e+01] [ 2.11252426e-02 -1.65540982e-04 9.99776823e-01 6.17228470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9492541539998 meters 0.01534389962754292 Centerline is valid? [True, True] Translation: X:889.17, Y:43.65, Z:6.18 [[ 7.47618177e-01 -6.63986715e-01 -1.37369420e-02 8.89165723e+02] [ 6.63882187e-01 7.47744306e-01 -1.17853465e-02 4.36483905e+01] [ 1.80970336e-02 -3.08771852e-04 9.99836188e-01 6.17701712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9792541539998 meters 0.01959996383202618 Centerline is valid? [True, True] Translation: X:889.19, Y:43.66, Z:6.18 [[ 7.44054450e-01 -6.67962747e-01 -1.44479661e-02 8.89191229e+02] [ 6.67847767e-01 7.44194591e-01 -1.24004202e-02 4.36639715e+01] [ 1.90351169e-02 -4.22454108e-04 9.99818726e-01 6.17544572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0092541539999 meters 0.01895656425288617 Centerline is valid? [True, True] Translation: X:889.22, Y:43.68, Z:6.18 [[ 7.41416569e-01 -6.70904642e-01 -1.37270686e-02 8.89215745e+02] [ 6.70801279e-01 7.41543485e-01 -1.17857162e-02 4.36788920e+01] [ 1.80863100e-02 -4.70009874e-04 9.99836319e-01 6.17702893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0392541539999 meters 0.020670205819392117 Centerline is valid? [True, True] Translation: X:889.24, Y:43.69, Z:6.18 [[ 7.37053526e-01 -6.75697807e-01 -1.35857602e-02 8.89242744e+02] [ 6.75597285e-01 7.37178499e-01 -1.16691486e-02 4.36921899e+01] [ 1.78999485e-02 -5.77715624e-04 9.99839616e-01 6.17738476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0692541539999 meters 0.021846878246171614 Centerline is valid? [True, True] Translation: X:889.27, Y:43.71, Z:6.18 [[ 7.35333627e-01 -6.77568749e-01 -1.36032428e-02 8.89266326e+02] [ 6.77468206e-01 7.35459180e-01 -1.16886548e-02 4.37069128e+01] [ 1.79244969e-02 -6.20703558e-04 9.99839151e-01 6.17761683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0992541539998 meters 0.020572531473133312 Centerline is valid? [True, True] Translation: X:889.29, Y:43.73, Z:6.18 [[ 7.35851152e-01 -6.77021526e-01 -1.28426964e-02 8.89287496e+02] [ 6.76931787e-01 7.35962993e-01 -1.10376325e-02 4.37251784e+01] [ 1.69244640e-02 -5.71574826e-04 9.99856608e-01 6.17911619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1292541539999 meters 0.0206393295171668 Centerline is valid? [True, True] Translation: X:889.31, Y:43.75, Z:6.18 [[ 7.36401301e-01 -6.76419691e-01 -1.30201938e-02 8.89309168e+02] [ 6.76327294e-01 7.36516181e-01 -1.11940320e-02 4.37450551e+01] [ 1.71614471e-02 -5.62612679e-04 9.99852573e-01 6.17856906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1592541539999 meters 0.01913749732849769 Centerline is valid? [True, True] Translation: X:889.33, Y:43.77, Z:6.18 [[ 7.37568413e-01 -6.75146669e-01 -1.30311737e-02 8.89329941e+02] [ 6.75053825e-01 7.37683330e-01 -1.12088602e-02 4.37651537e+01] [ 1.71805043e-02 -5.29442391e-04 9.99852264e-01 6.17958172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1892541539999 meters 0.02154809603438877 Centerline is valid? [True, True] Translation: X:889.35, Y:43.78, Z:6.18 [[ 7.38980996e-01 -6.73573408e-01 -1.43510439e-02 8.89350629e+02] [ 6.73460432e-01 7.39120134e-01 -1.23480066e-02 4.37842761e+01] [ 1.89244344e-02 -5.39918014e-04 9.99820771e-01 6.17646589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2192541539998 meters 0.02080327975722796 Centerline is valid? [True, True] Translation: X:889.37, Y:43.80, Z:6.18 [[ 7.39787524e-01 -6.72685071e-01 -1.44642707e-02 8.89371221e+02] [ 6.72570094e-01 7.39928730e-01 -1.24476095e-02 4.38024189e+01] [ 1.90758505e-02 -5.19649677e-04 9.99817904e-01 6.17675380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2492541539999 meters 0.02095397577473253 Centerline is valid? [True, True] Translation: X:889.39, Y:43.82, Z:6.18 [[ 7.40524741e-01 -6.71867942e-01 -1.47165649e-02 8.89392323e+02] [ 6.71748715e-01 7.40670786e-01 -1.26669321e-02 4.38210327e+01] [ 1.94106353e-02 -5.05656944e-04 9.99811468e-01 6.17615658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2792541539999 meters 0.018873885993171455 Centerline is valid? [True, True] Translation: X:889.41, Y:43.84, Z:6.18 [[ 7.40653617e-01 -6.71744034e-01 -1.38625821e-02 8.89413470e+02] [ 6.71638145e-01 7.40783188e-01 -1.19361452e-02 4.38405600e+01] [ 1.82872021e-02 -4.70089754e-04 9.99832665e-01 6.17835709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3092541539999 meters 0.019831908623130032 Centerline is valid? [True, True] Translation: X:889.43, Y:43.86, Z:6.18 [[ 7.39975877e-01 -6.72485543e-01 -1.41030718e-02 8.89434527e+02] [ 6.72376016e-01 7.40110094e-01 -1.21467026e-02 4.38596445e+01] [ 1.86063077e-02 -4.94300299e-04 9.99826765e-01 6.17750645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3392541539998 meters 0.01716284564662909 Centerline is valid? [True, True] Translation: X:889.45, Y:43.88, Z:6.18 [[ 7.38143666e-01 -6.74504302e-01 -1.37067378e-02 8.89453863e+02] [ 6.74401110e-01 7.38270729e-01 -1.18098752e-02 4.38818270e+01] [ 1.80850949e-02 -5.26454611e-04 9.99836313e-01 6.18060586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3692541539999 meters 0.018878958458548114 Centerline is valid? [True, True] Translation: X:889.48, Y:43.90, Z:6.18 [[ 7.35129505e-01 -6.77794559e-01 -1.33845495e-02 8.89476855e+02] [ 6.77696631e-01 7.35251105e-01 -1.15363857e-02 4.38979563e+01] [ 1.76603043e-02 -5.89926645e-04 9.99843871e-01 6.18136789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3992541539999 meters 0.021027510185223686 Centerline is valid? [True, True] Translation: X:889.50, Y:43.91, Z:6.18 [[ 7.33507505e-01 -6.79547494e-01 -1.34886707e-02 8.89499856e+02] [ 6.79448284e-01 7.33631243e-01 -1.16287605e-02 4.39139670e+01] [ 1.77980053e-02 -6.35071119e-04 9.99841401e-01 6.18118132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4292541539999 meters 0.01975371862755793 Centerline is valid? [True, True] Translation: X:889.52, Y:43.93, Z:6.18 [[ 7.32195964e-01 -6.80963772e-01 -1.33195573e-02 8.89520086e+02] [ 6.80867219e-01 7.32316807e-01 -1.14857766e-02 4.39339761e+01] [ 1.75755334e-02 -6.59010711e-04 9.99845321e-01 6.18243006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4592541539998 meters 0.02293325613341684 Centerline is valid? [True, True] Translation: X:889.54, Y:43.95, Z:6.18 [[ 7.29699613e-01 -6.83625320e-01 -1.39605740e-02 8.89541794e+02] [ 6.83519673e-01 7.29832756e-01 -1.20417870e-02 4.39517527e+01] [ 1.84209547e-02 -7.55439667e-04 9.99830034e-01 6.18059673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4892541539999 meters 0.021662422088105503 Centerline is valid? [True, True] Translation: X:889.56, Y:43.97, Z:6.18 [[ 7.29647782e-01 -6.83686975e-01 -1.36467714e-02 8.89563414e+02] [ 6.83585950e-01 7.29775019e-01 -1.17758818e-02 4.39713297e+01] [ 1.80100899e-02 -7.36495137e-04 9.99837534e-01 6.18243002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5192541539999 meters 0.024058613268647777 Centerline is valid? [True, True] Translation: X:889.58, Y:43.99, Z:6.18 [[ 7.29657608e-01 -6.83655309e-01 -1.46694899e-02 8.89582660e+02] [ 6.83538468e-01 7.29804631e-01 -1.26634877e-02 4.39908527e+01] [ 1.93633223e-02 -7.87150533e-04 9.99812203e-01 6.17973253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5492541539999 meters 0.02421475438397912 Centerline is valid? [True, True] Translation: X:889.60, Y:44.01, Z:6.18 [[ 7.30524782e-01 -6.82733953e-01 -1.44184945e-02 8.89603233e+02] [ 6.82620843e-01 7.30666676e-01 -1.24496543e-02 4.40101537e+01] [ 1.90349151e-02 -7.47583867e-04 9.99818540e-01 6.17987077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5792541539998 meters 0.022043029707580698 Centerline is valid? [True, True] Translation: X:889.62, Y:44.03, Z:6.18 [[ 7.31760371e-01 -6.81411073e-01 -1.43425647e-02 8.89622533e+02] [ 6.81298809e-01 7.31900575e-01 -1.23887802e-02 4.40318642e+01] [ 1.89391834e-02 -7.05953878e-04 9.99820388e-01 6.18175220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6092541539999 meters 0.022181572668116087 Centerline is valid? [True, True] Translation: X:889.64, Y:44.05, Z:6.18 [[ 7.34940791e-01 -6.77977164e-01 -1.44568059e-02 8.89640651e+02] [ 6.77862319e-01 7.35082705e-01 -1.24937200e-02 4.40536482e+01] [ 1.90974048e-02 -6.17579534e-04 9.99817437e-01 6.18141019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6392541539999 meters 0.02118660943894449 Centerline is valid? [True, True] Translation: X:889.66, Y:44.07, Z:6.18 [[ 7.37039042e-01 -6.75697671e-01 -1.43564918e-02 8.89660142e+02] [ 6.75583912e-01 7.37178644e-01 -1.24106532e-02 4.40736533e+01] [ 1.89691486e-02 -5.51878974e-04 9.99819917e-01 6.18183741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6692541539999 meters 0.016180929609019686 Centerline is valid? [True, True] Translation: X:889.68, Y:44.10, Z:6.18 [[ 7.42186191e-01 -6.70044651e-01 -1.41359055e-02 8.89676284e+02] [ 6.69933247e-01 7.42320690e-01 -1.22244335e-02 4.40999239e+01] [ 1.86842914e-02 -3.97307341e-04 9.99825354e-01 6.18474257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6992541539998 meters 0.01739298907229822 Centerline is valid? [True, True] Translation: X:889.70, Y:44.12, Z:6.18 [[ 7.44339639e-01 -6.67620186e-01 -1.55495591e-02 8.89695343e+02] [ 6.67484711e-01 7.44501950e-01 -1.34538785e-02 4.41218303e+01] [ 2.05587579e-02 -3.64837895e-04 9.99788580e-01 6.18295279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7292541539998 meters 0.01477253135612795 Centerline is valid? [True, True] Translation: X:889.71, Y:44.14, Z:6.18 [[ 7.47572826e-01 -6.64009266e-01 -1.50520708e-02 8.89713656e+02] [ 6.63881500e-01 7.47724301e-01 -1.30277967e-02 4.41429783e+01] [ 1.99053768e-02 -2.53564588e-04 9.99801836e-01 6.18396160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7592541539999 meters 0.014464543759971917 Centerline is valid? [True, True] Translation: X:889.73, Y:44.17, Z:6.18 [[ 7.52917028e-01 -6.57909515e-01 -1.64626767e-02 8.89730513e+02] [ 6.57755075e-01 7.53096980e-01 -1.42548236e-02 4.41673285e+01] [ 2.17763761e-02 -9.57097270e-05 9.99762862e-01 6.18277088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7892541539999 meters 0.01614733549723832 Centerline is valid? [True, True] Translation: X:889.75, Y:44.19, Z:6.18 [[ 7.54929467e-01 -6.55555648e-01 -1.81188165e-02 8.89750113e+02] [ 6.55367693e-01 7.55146868e-01 -1.56969882e-02 4.41887314e+01] [ 2.39726168e-02 -2.43680313e-05 9.99712615e-01 6.18154276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8192541539999 meters 0.014315751863996353 Centerline is valid? [True, True] Translation: X:889.77, Y:44.21, Z:6.18 [[ 7.59772376e-01 -6.49936200e-01 -1.81348626e-02 8.89767368e+02] [ 6.49746198e-01 7.59988758e-01 -1.57151710e-02 4.42118257e+01] [ 2.39961502e-02 1.56894798e-04 9.99712039e-01 6.18270975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8492541539998 meters 0.01696515365231081 Centerline is valid? [True, True] Translation: X:889.79, Y:44.23, Z:6.18 [[ 7.60793485e-01 -6.48693286e-01 -1.97558617e-02 8.89788095e+02] [ 6.48467186e-01 7.61049915e-01 -1.71270490e-02 4.42322167e+01] [ 2.61453986e-02 2.19119274e-04 9.99658127e-01 6.18118013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8792541539999 meters 0.016499655594761638 Centerline is valid? [True, True] Translation: X:889.81, Y:44.25, Z:6.18 [[ 7.63470679e-01 -6.45550633e-01 -1.94139882e-02 8.89807843e+02] [ 6.45331057e-01 7.63717404e-01 -1.68390746e-02 4.42541196e+01] [ 2.56972760e-02 3.27690164e-04 9.99669717e-01 6.18339667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9092541539999 meters 0.015242526956315656 Centerline is valid? [True, True] Translation: X:889.83, Y:44.27, Z:6.19 [[ 7.64651308e-01 -6.44197960e-01 -1.78147811e-02 8.89827596e+02] [ 6.44012508e-01 7.64858723e-01 -1.54603365e-02 4.42737607e+01] [ 2.35853080e-02 3.48824625e-04 9.99721767e-01 6.18511977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9392541539999 meters 0.0158088212340908 Centerline is valid? [True, True] Translation: X:889.85, Y:44.29, Z:6.19 [[ 7.65063180e-01 -6.43711007e-01 -1.77332906e-02 8.89848643e+02] [ 6.43526928e-01 7.65268583e-01 -1.53977076e-02 4.42929586e+01] [ 2.34824040e-02 3.68369114e-04 9.99724182e-01 6.18586024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9692541539998 meters 0.01641192888701444 Centerline is valid? [True, True] Translation: X:889.87, Y:44.31, Z:6.19 [[ 7.65431989e-01 -6.43283622e-01 -1.73220116e-02 8.89869059e+02] [ 6.43107762e-01 7.65627873e-01 -1.50454780e-02 4.43113014e+01] [ 2.29407244e-02 3.76370057e-04 9.99736756e-01 6.18685226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9992541539999 meters 0.015199854859835117 Centerline is valid? [True, True] Translation: X:889.89, Y:44.33, Z:6.19 [[ 7.65381507e-01 -6.43370443e-01 -1.62979166e-02 8.89891342e+02] [ 6.43214655e-01 7.65554927e-01 -1.41619908e-02 4.43291368e+01] [ 2.15883566e-02 3.56267050e-04 9.99766881e-01 6.18906793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0292541539999 meters 0.015109904514744317 Centerline is valid? [True, True] Translation: X:889.91, Y:44.35, Z:6.19 [[ 7.64362258e-01 -6.44582553e-01 -1.62379374e-02 8.89913435e+02] [ 6.44428095e-01 7.64534648e-01 -1.41139398e-02 4.43465076e+01] [ 2.15120651e-02 3.23979853e-04 9.99768536e-01 6.18979717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0592541539999 meters 0.01479282059716759 Centerline is valid? [True, True] Translation: X:889.94, Y:44.36, Z:6.19 [[ 7.63488951e-01 -6.45615036e-01 -1.63048278e-02 8.89936424e+02] [ 6.45459412e-01 7.63662972e-01 -1.41778742e-02 4.43646960e+01] [ 2.16048420e-02 3.00545721e-04 9.99766543e-01 6.19026756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0892541539998 meters 0.014597104869927838 Centerline is valid? [True, True] Translation: X:889.96, Y:44.38, Z:6.19 [[ 7.62632075e-01 -6.46617021e-01 -1.66956977e-02 8.89958541e+02] [ 6.46453900e-01 7.62814753e-01 -1.45261234e-02 4.43823611e+01] [ 2.21285632e-02 2.85088784e-04 9.99755093e-01 6.19063701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1192541539999 meters 0.014493385678303872 Centerline is valid? [True, True] Translation: X:889.98, Y:44.40, Z:6.19 [[ 7.61612661e-01 -6.47806293e-01 -1.71219582e-02 8.89979891e+02] [ 6.47634832e-01 7.61805052e-01 -1.49059475e-02 4.43999707e+01] [ 2.26997608e-02 2.63781778e-04 9.99742292e-01 6.19035473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1492541539999 meters 0.01672885558712697 Centerline is valid? [True, True] Translation: X:890.00, Y:44.42, Z:6.19 [[ 7.58275075e-01 -6.51624703e-01 -2.01036421e-02 8.90003325e+02] [ 6.51389501e-01 7.58541504e-01 -1.75072892e-02 4.44161335e+01] [ 2.66576290e-02 1.80039614e-04 9.99644606e-01 6.18868400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1792541539999 meters 0.01741121924819451 Centerline is valid? [True, True] Translation: X:890.03, Y:44.43, Z:6.19 [[ 7.56469133e-01 -6.53690379e-01 -2.10556387e-02 8.90025945e+02] [ 6.53433072e-01 7.56762100e-01 -1.83397089e-02 4.44325947e+01] [ 2.79226006e-02 1.14973016e-04 9.99610082e-01 6.18831424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2092541539998 meters 0.015211938506673484 Centerline is valid? [True, True] Translation: X:890.05, Y:44.45, Z:6.19 [[ 7.52366930e-01 -6.58426282e-01 -2.04654241e-02 8.90051313e+02] [ 6.58184737e-01 7.52645221e-01 -1.78332069e-02 4.44468083e+01] [ 2.71450558e-02 -5.29146349e-05 9.99631504e-01 6.19001400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2392541539999 meters 0.01439337889605834 Centerline is valid? [True, True] Translation: X:890.07, Y:44.46, Z:6.19 [[ 7.50231328e-01 -6.60885394e-01 -1.95819003e-02 8.90074833e+02] [ 6.60664977e-01 7.50486828e-01 -1.70678006e-02 4.44628330e+01] [ 2.59758184e-02 -1.32276963e-04 9.99662563e-01 6.19065329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2692541539999 meters 0.014954228531479602 Centerline is valid? [True, True] Translation: X:890.10, Y:44.48, Z:6.19 [[ 7.47539206e-01 -6.63925204e-01 -1.97093764e-02 8.90098215e+02] [ 6.63702879e-01 7.47798948e-01 -1.71819881e-02 4.44786501e+01] [ 2.61462059e-02 -2.36960128e-04 9.99658101e-01 6.19078987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2992541539999 meters 0.015988954484401366 Centerline is valid? [True, True] Translation: X:890.12, Y:44.49, Z:6.19 [[ 7.41947530e-01 -6.70189801e-01 -1.89602816e-02 8.90123900e+02] [ 6.69985915e-01 7.42189626e-01 -1.65357852e-02 4.44931002e+01] [ 2.51542389e-02 -4.34436605e-04 9.99683488e-01 6.19213000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3292541539998 meters 0.019279579470582002 Centerline is valid? [True, True] Translation: X:890.15, Y:44.51, Z:6.19 [[ 7.38706253e-01 -6.73736258e-01 -1.98122876e-02 8.90147959e+02] [ 6.73514789e-01 7.38971665e-01 -1.72831211e-02 4.45087668e+01] [ 2.62849845e-02 -5.76719037e-04 9.99654324e-01 6.19071385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3592541539999 meters 0.01853318778329408 Centerline is valid? [True, True] Translation: X:890.17, Y:44.52, Z:6.19 [[ 7.36802544e-01 -6.75864047e-01 -1.81604401e-02 8.90170819e+02] [ 6.75678555e-01 7.37026075e-01 -1.58447173e-02 4.45242722e+01] [ 2.40935926e-02 -5.96191967e-04 9.99709529e-01 6.19187532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3892541539999 meters 0.021568967598528152 Centerline is valid? [True, True] Translation: X:890.20, Y:44.54, Z:6.19 [[ 7.32123250e-01 -6.80909694e-01 -1.89086169e-02 8.90195644e+02] [ 6.80710176e-01 7.32366960e-01 -1.65012743e-02 4.45392891e+01] [ 2.50839239e-02 -7.90321305e-04 9.99685036e-01 6.19310932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4192541539999 meters 0.021568967598528152 Centerline is valid? [True, True] Translation: X:890.22, Y:44.56, Z:6.19 [[ 7.31933205e-01 -6.81114084e-01 -1.89047224e-02 8.90216393e+02] [ 6.80914519e-01 7.32176877e-01 -1.65057356e-02 4.45575014e+01] [ 2.50838896e-02 -7.91403952e-04 9.99685036e-01 6.19330028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4492541539998 meters 0.020838616012813296 Centerline is valid? [True, True] Translation: X:890.24, Y:44.58, Z:6.20 [[ 7.30117541e-01 -6.83072572e-01 -1.84455677e-02 8.90237923e+02] [ 6.82883001e-01 7.30350033e-01 -1.61132498e-02 4.45762800e+01] [ 2.44782399e-02 -8.31598302e-04 9.99700017e-01 6.19514585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4792541539998 meters 0.02008736592076867 Centerline is valid? [True, True] Translation: X:890.26, Y:44.59, Z:6.20 [[ 7.28589243e-01 -6.84755717e-01 -1.63500257e-02 8.90260631e+02] [ 6.84607097e-01 7.28772251e-01 -1.42873680e-02 4.45924505e+01] [ 2.16988020e-02 -7.83720945e-04 9.99764246e-01 6.19682444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5092541539999 meters 0.02100861415609532 Centerline is valid? [True, True] Translation: X:890.28, Y:44.61, Z:6.20 [[ 7.27980712e-01 -6.85408266e-01 -1.61118743e-02 8.90282355e+02] [ 6.85264041e-01 7.28158559e-01 -1.40821778e-02 4.46094224e+01] [ 2.13840403e-02 -7.89334286e-04 9.99771024e-01 6.19682520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5392541539999 meters 0.020727945271441332 Centerline is valid? [True, True] Translation: X:890.30, Y:44.63, Z:6.20 [[ 7.27472801e-01 -6.85949509e-01 -1.60185926e-02 8.90304058e+02] [ 6.85806963e-01 7.27648704e-01 -1.40061845e-02 4.46291995e+01] [ 2.12634435e-02 -7.96544029e-04 9.99773590e-01 6.19719498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5692541539999 meters 0.021756382373714266 Centerline is valid? [True, True] Translation: X:890.32, Y:44.65, Z:6.20 [[ 7.27265503e-01 -6.86173641e-01 -1.58310535e-02 8.90324944e+02] [ 6.86034371e-01 7.27437358e-01 -1.38467631e-02 4.46464558e+01] [ 2.10173836e-02 -7.90373684e-04 9.99778798e-01 6.19641595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5992541539998 meters 0.01930347187666957 Centerline is valid? [True, True] Translation: X:890.34, Y:44.67, Z:6.20 [[ 7.27529260e-01 -6.85886786e-01 -1.61397820e-02 8.90343952e+02] [ 6.85741829e-01 7.27707831e-01 -1.41228785e-02 4.46684240e+01] [ 2.14317415e-02 -7.92916283e-04 9.99769999e-01 6.19791134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6292541539999 meters 0.020155114332305536 Centerline is valid? [True, True] Translation: X:890.37, Y:44.69, Z:6.20 [[ 7.27842741e-01 -6.85547231e-01 -1.64298027e-02 8.90365199e+02] [ 6.85396839e-01 7.28027722e-01 -1.43808455e-02 4.46863544e+01] [ 2.18201007e-02 -7.93940832e-04 9.99761598e-01 6.19710452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6592541539999 meters 0.020877578391150446 Centerline is valid? [True, True] Translation: X:890.39, Y:44.70, Z:6.20 [[ 7.28233360e-01 -6.85132054e-01 -1.64390435e-02 8.90386389e+02] [ 6.84981313e-01 7.28418466e-01 -1.43923726e-02 4.47046920e+01] [ 2.18351787e-02 -7.79431766e-04 9.99761280e-01 6.19642064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6892541539999 meters 0.019664270339362955 Centerline is valid? [True, True] Translation: X:890.41, Y:44.73, Z:6.20 [[ 7.29542759e-01 -6.83733263e-01 -1.66189254e-02 8.90405154e+02] [ 6.83578704e-01 7.29731647e-01 -1.45560797e-02 4.47266623e+01] [ 2.20798317e-02 -7.41060950e-04 9.99755936e-01 6.19642677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7192541539998 meters 0.01910401994017844 Centerline is valid? [True, True] Translation: X:890.43, Y:44.75, Z:6.20 [[ 7.30234521e-01 -6.82986333e-01 -1.69473860e-02 8.90425610e+02] [ 6.82825233e-01 7.30430791e-01 -1.48512816e-02 4.47473947e+01] [ 2.25221149e-02 -7.27184304e-04 9.99746081e-01 6.19696712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7492541539999 meters 0.01955377793780977 Centerline is valid? [True, True] Translation: X:890.45, Y:44.77, Z:6.20 [[ 7.32111877e-01 -6.80980256e-01 -1.66760107e-02 8.90445902e+02] [ 6.80823665e-01 7.32301485e-01 -1.46175282e-02 4.47668619e+01] [ 2.21661155e-02 -6.51756639e-04 9.99754089e-01 6.19624716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7792541539999 meters 0.018201892249597933 Centerline is valid? [True, True] Translation: X:890.47, Y:44.79, Z:6.20 [[ 7.32877730e-01 -6.80158964e-01 -1.65534248e-02 8.90465274e+02] [ 6.80004330e-01 7.33064391e-01 -1.45158630e-02 4.47883606e+01] [ 2.20078207e-02 -6.18047828e-04 9.99757608e-01 6.19769121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8092541539999 meters 0.01820793681305851 Centerline is valid? [True, True] Translation: X:890.48, Y:44.81, Z:6.20 [[ 7.34746555e-01 -6.78141881e-01 -1.64648043e-02 8.90484998e+02] [ 6.77988284e-01 7.34930803e-01 -1.44430160e-02 4.48080638e+01] [ 2.18949059e-02 -5.50988160e-04 9.99760126e-01 6.19729061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8392541539998 meters 0.017653448766744937 Centerline is valid? [True, True] Translation: X:890.51, Y:44.83, Z:6.20 [[ 7.35528727e-01 -6.77287639e-01 -1.67016784e-02 8.90505617e+02] [ 6.77129233e-01 7.35718135e-01 -1.46569655e-02 4.48288890e+01] [ 2.22147092e-02 -5.28575493e-04 9.99753083e-01 6.19780977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8692541539999 meters 0.017943286077960505 Centerline is valid? [True, True] Translation: X:890.52, Y:44.85, Z:6.20 [[ 7.35646836e-01 -6.77159532e-01 -1.66943390e-02 8.90524917e+02] [ 6.77001054e-01 7.35836055e-01 -1.46585397e-02 4.48498354e+01] [ 2.22104665e-02 -5.18576759e-04 9.99753183e-01 6.19806904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8992541539999 meters 0.01661982030678339 Centerline is valid? [True, True] Translation: X:890.55, Y:44.87, Z:6.20 [[ 7.36739605e-01 -6.75986421e-01 -1.60347125e-02 8.90545246e+02] [ 6.75839788e-01 7.36913935e-01 -1.40866132e-02 4.48699753e+01] [ 2.13385623e-02 -4.58730826e-04 9.99772202e-01 6.19917769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9292541539999 meters 0.01654906609874784 Centerline is valid? [True, True] Translation: X:890.56, Y:44.89, Z:6.20 [[ 7.37597499e-01 -6.75076012e-01 -1.49099796e-02 8.90564306e+02] [ 6.74948958e-01 7.37748073e-01 -1.31028684e-02 4.48909951e+01] [ 1.98452408e-02 -3.98832258e-04 9.99802984e-01 6.19977861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9592541539998 meters 0.01640210732868019 Centerline is valid? [True, True] Translation: X:890.58, Y:44.91, Z:6.20 [[ 7.37914856e-01 -6.74742647e-01 -1.42837478e-02 8.90584888e+02] [ 6.74625884e-01 7.38052995e-01 -1.25575905e-02 4.49115032e+01] [ 1.90153047e-02 -3.69753365e-04 9.99819124e-01 6.20015327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9892541539999 meters 0.01627611346151713 Centerline is valid? [True, True] Translation: X:890.61, Y:44.93, Z:6.20 [[ 7.38335755e-01 -6.74282459e-01 -1.42645530e-02 8.90605556e+02] [ 6.74165808e-01 7.38473453e-01 -1.25468441e-02 4.49322584e+01] [ 1.89941106e-02 -3.52890340e-04 9.99819533e-01 6.20024088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0192541539999 meters 0.0174369924460729 Centerline is valid? [True, True] Translation: X:890.62, Y:44.95, Z:6.20 [[ 7.38995634e-01 -6.73541694e-01 -1.50678081e-02 8.90623337e+02] [ 6.73411234e-01 7.39149149e-01 -1.32606582e-02 4.49546967e+01] [ 2.00689638e-02 -3.47262738e-04 9.99798538e-01 6.19914420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0492541539999 meters 0.017724076981851744 Centerline is valid? [True, True] Translation: X:890.64, Y:44.97, Z:6.20 [[ 7.39435014e-01 -6.73034656e-01 -1.61310744e-02 8.90643043e+02] [ 6.72884834e-01 7.39610863e-01 -1.42046566e-02 4.49749916e+01] [ 2.14909441e-02 -3.50934860e-04 9.99768981e-01 6.19856550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0792541539998 meters 0.015021846266835464 Centerline is valid? [True, True] Translation: X:890.66, Y:45.00, Z:6.20 [[ 7.40486646e-01 -6.71885660e-01 -1.57856959e-02 8.90663000e+02] [ 6.71741770e-01 7.40654823e-01 -1.39078204e-02 4.49959826e+01] [ 2.10362169e-02 -3.05356029e-04 9.99778668e-01 6.19998318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1092541539999 meters 0.015194575623042965 Centerline is valid? [True, True] Translation: X:890.68, Y:45.02, Z:6.20 [[ 7.41303227e-01 -6.70965119e-01 -1.65931939e-02 8.90680943e+02] [ 6.70805789e-01 7.41488857e-01 -1.46242430e-02 4.50160114e+01] [ 2.21160253e-02 -2.89811997e-04 9.99755369e-01 6.19859030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1392541539999 meters 0.015155296592934572 Centerline is valid? [True, True] Translation: X:890.70, Y:45.04, Z:6.20 [[ 7.41307785e-01 -6.70946771e-01 -1.71230721e-02 8.90701247e+02] [ 6.70776932e-01 7.41505459e-01 -1.50984415e-02 4.50351382e+01] [ 2.28271020e-02 -2.93169512e-04 9.99739385e-01 6.19866415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1692541539999 meters 0.0170984425819041 Centerline is valid? [True, True] Translation: X:890.72, Y:45.05, Z:6.20 [[ 7.39267131e-01 -6.73191438e-01 -1.72451863e-02 8.90722821e+02] [ 6.73019594e-01 7.39468160e-01 -1.52140286e-02 4.50545309e+01] [ 2.29942199e-02 -3.59117004e-04 9.99735533e-01 6.19891851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1992541539998 meters 0.01897930625654771 Centerline is valid? [True, True] Translation: X:890.74, Y:45.07, Z:6.20 [[ 7.37785591e-01 -6.74815010e-01 -1.72372821e-02 8.90743878e+02] [ 6.74643662e-01 7.37986814e-01 -1.52115678e-02 4.50719875e+01] [ 2.29858812e-02 -4.06147508e-04 9.99735707e-01 6.19872548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2292541539998 meters 0.016736070318301304 Centerline is valid? [True, True] Translation: X:890.77, Y:45.09, Z:6.20 [[ 7.36674839e-01 -6.76049867e-01 -1.63327152e-02 8.90765893e+02] [ 6.75896196e-01 7.36855755e-01 -1.44197298e-02 4.50896174e+01] [ 2.17833116e-02 -4.16567978e-04 9.99762629e-01 6.20158822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2592541539999 meters 0.01888219411948532 Centerline is valid? [True, True] Translation: X:890.79, Y:45.11, Z:6.20 [[ 7.34711541e-01 -6.78187138e-01 -1.61603686e-02 8.90787901e+02] [ 6.78037099e-01 7.34889097e-01 -1.42726312e-02 4.51071453e+01] [ 2.15555936e-02 -4.71062556e-04 9.99767540e-01 6.20152772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2892541539999 meters 0.0187858946351609 Centerline is valid? [True, True] Translation: X:890.81, Y:45.13, Z:6.20 [[ 7.32152860e-01 -6.80973424e-01 -1.50793377e-02 8.90810537e+02] [ 6.80843270e-01 7.32307950e-01 -1.33231938e-02 4.51250173e+01] [ 2.01154598e-02 -5.12051198e-04 9.99797533e-01 6.20370832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3192541539999 meters 0.01948737893636111 Centerline is valid? [True, True] Translation: X:890.83, Y:45.14, Z:6.20 [[ 7.30942890e-01 -6.82274663e-01 -1.49591165e-02 8.90832334e+02] [ 6.82146723e-01 7.31095748e-01 -1.32232784e-02 4.51435883e+01] [ 1.99584543e-02 -5.38850965e-04 9.99800665e-01 6.20394494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3492541539998 meters 0.020509583254703204 Centerline is valid? [True, True] Translation: X:890.85, Y:45.16, Z:6.20 [[ 7.29623115e-01 -6.83678755e-01 -1.52797229e-02 8.90852859e+02] [ 6.83545496e-01 7.29782855e-01 -1.35107232e-02 4.51617187e+01] [ 2.03878742e-02 -5.86649774e-04 9.99791974e-01 6.20403112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3792541539999 meters 0.020735506379326054 Centerline is valid? [True, True] Translation: X:890.87, Y:45.18, Z:6.20 [[ 7.29469064e-01 -6.83832404e-01 -1.57520581e-02 8.90874083e+02] [ 6.83690701e-01 7.29638867e-01 -1.39337226e-02 4.51815767e+01] [ 2.10216448e-02 -6.05316039e-04 9.99778838e-01 6.20388685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4092541539999 meters 0.020673814410067888 Centerline is valid? [True, True] Translation: X:890.89, Y:45.20, Z:6.20 [[ 7.29706602e-01 -6.83572257e-01 -1.60388439e-02 8.90894929e+02] [ 6.83425139e-01 7.29882597e-01 -1.41941783e-02 4.52021799e+01] [ 2.14092196e-02 -6.03763499e-04 9.99770614e-01 6.20372039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4392541539999 meters 0.022760187524966922 Centerline is valid? [True, True] Translation: X:890.91, Y:45.23, Z:6.20 [[ 7.30788810e-01 -6.82374807e-01 -1.76731132e-02 8.90913473e+02] [ 6.82195647e-01 7.31002214e-01 -1.56480359e-02 4.52250213e+01] [ 2.35969104e-02 -6.21111428e-04 9.99721361e-01 6.20184339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4692541539998 meters 0.02005761675096985 Centerline is valid? [True, True] Translation: X:890.93, Y:45.25, Z:6.20 [[ 7.32208143e-01 -6.80850011e-01 -1.77340613e-02 8.90930741e+02] [ 6.80668985e-01 7.32422651e-01 -1.57096766e-02 4.52487387e+01] [ 2.36847617e-02 -5.68272394e-04 9.99719315e-01 6.20403436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4992541539999 meters 0.019117980975388183 Centerline is valid? [True, True] Translation: X:890.95, Y:45.27, Z:6.20 [[ 7.34248071e-01 -6.78663026e-01 -1.72124168e-02 8.90952277e+02] [ 6.78491798e-01 7.34449635e-01 -1.52516795e-02 4.52666807e+01] [ 2.29924042e-02 -4.79967374e-04 9.99735525e-01 6.20246502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5292541539999 meters 0.017414482232800284 Centerline is valid? [True, True] Translation: X:890.97, Y:45.29, Z:6.21 [[ 7.36544976e-01 -6.76141788e-01 -1.82696575e-02 8.90967362e+02] [ 6.75947933e-01 7.36771406e-01 -1.61952690e-02 4.52934275e+01] [ 2.44108594e-02 -4.20793224e-04 9.99701922e-01 6.20501036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5592541539999 meters 0.016157674629421106 Centerline is valid? [True, True] Translation: X:890.99, Y:45.31, Z:6.21 [[ 7.37899710e-01 -6.74663939e-01 -1.82369792e-02 8.90987424e+02] [ 6.74470124e-01 7.38124946e-01 -1.61745431e-02 4.53139555e+01] [ 2.43735503e-02 -3.65107012e-04 9.99702854e-01 6.20536972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5892541539998 meters 0.01558358583746766 Centerline is valid? [True, True] Translation: X:891.01, Y:45.33, Z:6.21 [[ 7.39279327e-01 -6.73141063e-01 -1.86329208e-02 8.91007159e+02] [ 6.72938142e-01 7.39514035e-01 -1.65302545e-02 4.53342648e+01] [ 2.49064995e-02 -3.18327698e-04 9.99689734e-01 6.20539671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6192541539999 meters 0.018386956022280663 Centerline is valid? [True, True] Translation: X:891.03, Y:45.36, Z:6.20 [[ 7.40082671e-01 -6.72235171e-01 -1.94297401e-02 8.91025729e+02] [ 6.72013997e-01 7.40337618e-01 -1.72453026e-02 4.53557462e+01] [ 2.59774664e-02 -2.94107710e-04 9.99662485e-01 6.20384686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6492541539999 meters 0.015065813735164097 Centerline is valid? [True, True] Translation: X:891.05, Y:45.37, Z:6.21 [[ 7.41073681e-01 -6.71167103e-01 -1.85612267e-02 8.91047354e+02] [ 6.70964717e-01 7.41306052e-01 -1.64829030e-02 4.53748257e+01] [ 2.48223319e-02 -2.38882586e-04 9.99691850e-01 6.20516074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6792541539999 meters 0.01543064836356399 Centerline is valid? [True, True] Translation: X:891.07, Y:45.39, Z:6.21 [[ 7.41202393e-01 -6.71045507e-01 -1.78028032e-02 8.91067851e+02] [ 6.70859190e-01 7.41416130e-01 -1.58135903e-02 4.53934805e+01] [ 2.38109242e-02 -2.22103190e-04 9.99716455e-01 6.20560736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7092541539998 meters 0.017470105943411602 Centerline is valid? [True, True] Translation: X:891.09, Y:45.41, Z:6.21 [[ 7.40521595e-01 -6.71790561e-01 -1.80335480e-02 8.91088913e+02] [ 6.71599445e-01 7.40741104e-01 -1.60250692e-02 4.54132053e+01] [ 2.41236805e-02 -2.44410993e-04 9.99708952e-01 6.20627674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7392541539999 meters 0.014491680989971148 Centerline is valid? [True, True] Translation: X:891.11, Y:45.43, Z:6.21 [[ 7.40671592e-01 -6.71658507e-01 -1.67464549e-02 8.91110190e+02] [ 6.71493501e-01 7.40860853e-01 -1.48887655e-02 4.54321376e+01] [ 2.24069589e-02 -2.17449952e-04 9.99748909e-01 6.20944021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7692541539999 meters 0.014563341851799904 Centerline is valid? [True, True] Translation: X:891.13, Y:45.45, Z:6.21 [[ 7.40270592e-01 -6.72110208e-01 -1.63498921e-02 8.91131083e+02] [ 6.71952857e-01 7.40451092e-01 -1.45443535e-02 4.54505076e+01] [ 2.18817039e-02 -2.19599506e-04 9.99760543e-01 6.21007002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7992541539999 meters 0.016004037969377483 Centerline is valid? [True, True] Translation: X:891.15, Y:45.47, Z:6.21 [[ 7.39589630e-01 -6.72860185e-01 -1.63202671e-02 8.91152379e+02] [ 6.72703488e-01 7.39769636e-01 -1.45225034e-02 4.54687146e+01] [ 2.18448524e-02 -2.38007676e-04 9.99761344e-01 6.20931088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8292541539998 meters 0.017097034576709632 Centerline is valid? [True, True] Translation: X:891.17, Y:45.49, Z:6.21 [[ 7.39182192e-01 -6.73289722e-01 -1.70480979e-02 8.91173562e+02] [ 6.73118708e-01 7.39378715e-01 -1.51763565e-02 4.54884930e+01] [ 2.28230856e-02 -2.57301195e-04 9.99739486e-01 6.20964680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8592541539999 meters 0.017507190468207805 Centerline is valid? [True, True] Translation: X:891.19, Y:45.51, Z:6.21 [[ 7.39075993e-01 -6.73398328e-01 -1.73599654e-02 8.91194201e+02] [ 6.73220828e-01 7.39279802e-01 -1.54625657e-02 4.55068735e+01] [ 2.32463377e-02 -2.59079212e-04 9.99729734e-01 6.20950453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8892541539999 meters 0.01741389313438927 Centerline is valid? [True, True] Translation: X:891.22, Y:45.53, Z:6.21 [[ 7.38843808e-01 -6.73639716e-01 -1.78706397e-02 8.91215607e+02] [ 6.73451489e-01 7.39059849e-01 -1.59258084e-02 4.55261518e+01] [ 2.39357293e-02 -2.68323994e-04 9.99713463e-01 6.20966390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9192541539999 meters 0.017894158963058612 Centerline is valid? [True, True] Translation: X:891.24, Y:45.55, Z:6.21 [[ 7.38611579e-01 -6.73886296e-01 -1.81712950e-02 8.91235995e+02] [ 6.73691538e-01 7.38835019e-01 -1.62026913e-02 4.55451192e+01] [ 2.43443607e-02 -2.74352266e-04 9.99703594e-01 6.20916781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9492541539998 meters 0.015148635869458516 Centerline is valid? [True, True] Translation: X:891.26, Y:45.56, Z:6.21 [[ 7.38459289e-01 -6.74054896e-01 -1.81073691e-02 8.91256995e+02] [ 6.73861334e-01 7.38681206e-01 -1.61548390e-02 4.55637308e+01] [ 2.42648215e-02 -2.72165020e-04 9.99705529e-01 6.20902993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9792541539998 meters 0.016812486010685065 Centerline is valid? [True, True] Translation: X:891.28, Y:45.58, Z:6.21 [[ 7.37991304e-01 -6.74546866e-01 -1.88510247e-02 8.91278484e+02] [ 6.74337016e-01 7.38231969e-01 -1.68270329e-02 4.55830880e+01] [ 2.52670514e-02 -2.93739784e-04 9.99680694e-01 6.20849942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0092541539999 meters 0.015424530465055474 Centerline is valid? [True, True] Translation: X:891.30, Y:45.60, Z:6.21 [[ 7.37746463e-01 -6.74823945e-01 -1.85148274e-02 8.91299905e+02] [ 6.74621382e-01 7.37978698e-01 -1.65358192e-02 4.56007956e+01] [ 2.48223150e-02 -2.91256304e-04 9.99691836e-01 6.20892863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0392541539999 meters 0.016678819823105415 Centerline is valid? [True, True] Translation: X:891.32, Y:45.62, Z:6.21 [[ 7.37011210e-01 -6.75599652e-01 -1.94829646e-02 8.91322242e+02] [ 6.75375384e-01 7.37268610e-01 -1.74094187e-02 4.56194340e+01] [ 2.61259754e-02 -3.27377998e-04 9.99658605e-01 6.20907063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0692541539999 meters 0.017226171829256825 Centerline is valid? [True, True] Translation: X:891.34, Y:45.64, Z:6.21 [[ 7.36775613e-01 -6.75851302e-01 -1.96650290e-02 8.91342942e+02] [ 6.75622763e-01 7.37037927e-01 -1.75777511e-02 4.56373807e+01] [ 2.63738182e-02 -3.35282825e-04 9.99652094e-01 6.20894784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0992541539998 meters 0.01612282099315598 Centerline is valid? [True, True] Translation: X:891.36, Y:45.66, Z:6.21 [[ 7.36992237e-01 -6.75616387e-01 -1.96198934e-02 8.91363011e+02] [ 6.75388585e-01 7.37253278e-01 -1.75460452e-02 4.56563779e+01] [ 2.63192264e-02 -3.19752869e-04 9.99653538e-01 6.21121016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1292541539999 meters 0.01679006433718576 Centerline is valid? [True, True] Translation: X:891.38, Y:45.67, Z:6.21 [[ 7.37287440e-01 -6.75296911e-01 -1.95272295e-02 8.91383863e+02] [ 6.75070995e-01 7.37545924e-01 -1.74688570e-02 4.56732540e+01] [ 2.61988937e-02 -3.02697384e-04 9.99656704e-01 6.20956473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1592541539999 meters 0.014383562511707334 Centerline is valid? [True, True] Translation: X:891.40, Y:45.69, Z:6.21 [[ 7.38493033e-01 -6.73999461e-01 -1.87820815e-02 8.91404401e+02] [ 6.73789857e-01 7.38731797e-01 -1.68095380e-02 4.56940118e+01] [ 2.52045404e-02 -2.41449269e-04 9.99682286e-01 6.21339477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1892541539999 meters 0.016307526992023407 Centerline is valid? [True, True] Translation: X:891.43, Y:45.71, Z:6.21 [[ 7.39098996e-01 -6.73307491e-01 -1.97407321e-02 8.91425761e+02] [ 6.73075565e-01 7.39362545e-01 -1.76723486e-02 4.57125725e+01] [ 2.64944826e-02 -2.25389286e-04 9.99648934e-01 6.21139574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2192541539998 meters 0.01725754905439117 Centerline is valid? [True, True] Translation: X:891.45, Y:45.73, Z:6.21 [[ 7.39830307e-01 -6.72487926e-01 -2.02757620e-02 8.91446386e+02] [ 6.72242719e-01 7.40108068e-01 -1.81597065e-02 4.57321146e+01] [ 2.72184384e-02 -1.95132140e-04 9.99629491e-01 6.21215226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2492541539999 meters 0.014005315478448042 Centerline is valid? [True, True] Translation: X:891.47, Y:45.75, Z:6.21 [[ 7.41086341e-01 -6.71136625e-01 -1.91485211e-02 8.91467421e+02] [ 6.70917255e-01 7.41333672e-01 -1.71587677e-02 4.57514995e+01] [ 2.57113208e-02 -1.30944844e-04 9.99669401e-01 6.21370085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2792541539999 meters 0.013944108225383885 Centerline is valid? [True, True] Translation: X:891.49, Y:45.77, Z:6.21 [[ 7.41904955e-01 -6.70232633e-01 -1.91116630e-02 8.91487029e+02] [ 6.70013671e-01 7.42151068e-01 -1.71310294e-02 4.57696787e+01] [ 2.56655161e-02 -9.54799235e-05 9.99670582e-01 6.21381542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3092541539999 meters 0.013672048237635116 Centerline is valid? [True, True] Translation: X:891.51, Y:45.79, Z:6.22 [[ 7.43617559e-01 -6.68330363e-01 -1.91690576e-02 8.91507214e+02] [ 6.68109243e-01 7.43864588e-01 -1.71905050e-02 4.57899400e+01] [ 2.57481196e-02 -2.38632131e-05 9.99668462e-01 6.21598403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3392541539998 meters 0.013672048237635116 Centerline is valid? [True, True] Translation: X:891.53, Y:45.81, Z:6.22 [[ 7.43422137e-01 -6.68547876e-01 -1.91641160e-02 8.91527701e+02] [ 6.68326687e-01 7.43669104e-01 -1.71960134e-02 4.58084064e+01] [ 2.57481192e-02 -2.39930880e-05 9.99668462e-01 6.21617453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3692541539999 meters 0.01446872276380347 Centerline is valid? [True, True] Translation: X:891.55, Y:45.83, Z:6.22 [[ 7.44679815e-01 -6.67138827e-01 -1.94359928e-02 8.91547565e+02] [ 6.66910700e-01 7.44933409e-01 -1.74451813e-02 4.58274166e+01] [ 2.61168782e-02 2.90028462e-05 9.99658896e-01 6.21659232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3992541539999 meters 0.013523116129152156 Centerline is valid? [True, True] Translation: X:891.57, Y:45.85, Z:6.22 [[ 7.45737857e-01 -6.65968012e-01 -1.90172227e-02 8.91567850e+02] [ 6.65749018e-01 7.45980295e-01 -1.70775725e-02 4.58461920e+01] [ 2.55595904e-02 7.46950120e-05 9.99673298e-01 6.21819332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4292541539999 meters 0.015279844092063845 Centerline is valid? [True, True] Translation: X:891.59, Y:45.87, Z:6.22 [[ 7.47109172e-01 -6.64429818e-01 -1.89974487e-02 8.91587655e+02] [ 6.64210652e-01 7.47350654e-01 -1.70648522e-02 4.58659415e+01] [ 2.55361523e-02 1.30999817e-04 9.99673891e-01 6.21663437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4592541539998 meters 0.017955360547442158 Centerline is valid? [True, True] Translation: X:891.61, Y:45.89, Z:6.22 [[ 7.49039777e-01 -6.62252522e-01 -1.90002564e-02 8.91608578e+02] [ 6.62032404e-01 7.49280690e-01 -1.70746414e-02 4.58865319e+01] [ 2.55442495e-02 2.10800133e-04 9.99673670e-01 6.21846168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4892541539999 meters 0.01581538766028184 Centerline is valid? [True, True] Translation: X:891.63, Y:45.91, Z:6.22 [[ 7.50618004e-01 -6.60495802e-01 -1.78299620e-02 8.91627167e+02] [ 6.60301348e-01 7.50829694e-01 -1.60281045e-02 4.59059952e+01] [ 2.39737606e-02 2.57835868e-04 9.99712555e-01 6.21707121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5192541539999 meters 0.016304489073407268 Centerline is valid? [True, True] Translation: X:891.65, Y:45.93, Z:6.22 [[ 7.50784196e-01 -6.60300078e-01 -1.80802998e-02 8.91648529e+02] [ 6.60099901e-01 7.51001819e-01 -1.62600527e-02 4.59252204e+01] [ 2.43148522e-02 2.72986504e-04 9.99704313e-01 6.21677886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5492541539999 meters 0.014670882252768221 Centerline is valid? [True, True] Translation: X:891.67, Y:45.94, Z:6.22 [[ 7.50483753e-01 -6.60649176e-01 -1.77989428e-02 8.91670325e+02] [ 6.60455065e-01 7.50694743e-01 -1.60159323e-02 4.59425747e+01] [ 2.39424853e-02 2.64295062e-04 9.99713303e-01 6.21800724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5792541539998 meters 0.017296849028419933 Centerline is valid? [True, True] Translation: X:891.69, Y:45.96, Z:6.21 [[ 7.50196076e-01 -6.60942569e-01 -1.89938907e-02 8.91690827e+02] [ 6.60721478e-01 7.50436436e-01 -1.70963343e-02 4.59616713e+01] [ 2.55534028e-02 2.75931401e-04 9.99673420e-01 6.21499064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6092541539999 meters 0.01536303992280317 Centerline is valid? [True, True] Translation: X:891.71, Y:45.98, Z:6.22 [[ 7.49327553e-01 -6.61927152e-01 -1.89911426e-02 8.91713994e+02] [ 6.61706236e-01 7.49568132e-01 -1.71018381e-02 4.59779573e+01] [ 2.55553263e-02 2.48320972e-04 9.99673378e-01 6.21574531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6392541539999 meters 0.01769989335490971 Centerline is valid? [True, True] Translation: X:891.74, Y:46.00, Z:6.22 [[ 7.49011621e-01 -6.62259419e-01 -1.98507694e-02 8.91736521e+02] [ 6.62017911e-01 7.49274580e-01 -1.78854302e-02 4.59965537e+01] [ 2.67184715e-02 2.54830209e-04 9.99642965e-01 6.21563361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6692541539999 meters 0.015858117180944827 Centerline is valid? [True, True] Translation: X:891.76, Y:46.02, Z:6.22 [[ 7.48293295e-01 -6.63088048e-01 -1.92713469e-02 8.91758846e+02] [ 6.62860483e-01 7.48541375e-01 -1.73720860e-02 4.60151843e+01] [ 2.59446231e-02 2.25201183e-04 9.99663356e-01 6.21586377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6992541539998 meters 0.01617975196609368 Centerline is valid? [True, True] Translation: X:891.78, Y:46.03, Z:6.22 [[ 7.47457635e-01 -6.64036115e-01 -1.90557395e-02 8.91781290e+02] [ 6.63813806e-01 7.47700475e-01 -1.71822861e-02 4.60317104e+01] [ 2.56576440e-02 1.93567953e-04 9.99670770e-01 6.21547159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7292541539998 meters 0.0146160361883214 Centerline is valid? [True, True] Translation: X:891.80, Y:46.05, Z:6.22 [[ 7.46949983e-01 -6.64632733e-01 -1.81398024e-02 8.91803224e+02] [ 6.64431366e-01 7.47170196e-01 -1.63602723e-02 4.60492577e+01] [ 2.44270922e-02 1.67651424e-04 9.99701600e-01 6.21576034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7592541539999 meters 0.01530653639723419 Centerline is valid? [True, True] Translation: X:891.83, Y:46.07, Z:6.22 [[ 7.45813522e-01 -6.65928884e-01 -1.73468182e-02 8.91827711e+02] [ 6.65744931e-01 7.46015219e-01 -1.56518673e-02 4.60658738e+01] [ 2.33640209e-02 1.24818014e-04 9.99727016e-01 6.21728905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7892541539999 meters 0.01450560181127535 Centerline is valid? [True, True] Translation: X:891.85, Y:46.08, Z:6.22 [[ 7.45015265e-01 -6.66842327e-01 -1.65398044e-02 8.91849807e+02] [ 6.66675207e-01 7.45198834e-01 -1.49287311e-02 4.60830975e+01] [ 2.22805527e-02 9.54550397e-05 9.99751753e-01 6.21756036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8192541539999 meters 0.01455064907937157 Centerline is valid? [True, True] Translation: X:891.87, Y:46.10, Z:6.22 [[ 7.44243887e-01 -6.67711786e-01 -1.61866347e-02 8.91872384e+02] [ 6.67551780e-01 7.44419885e-01 -1.46169632e-02 4.61006876e+01] [ 2.18095714e-02 7.31687027e-05 9.99762140e-01 6.21793216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8492541539998 meters 0.016665673311329343 Centerline is valid? [True, True] Translation: X:891.90, Y:46.12, Z:6.22 [[ 7.42872861e-01 -6.69240822e-01 -1.60197952e-02 8.91895528e+02] [ 6.69084344e-01 7.43045571e-01 -1.44713209e-02 4.61159972e+01] [ 2.15882366e-02 3.17574053e-05 9.99766946e-01 6.21666931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8792541539999 meters 0.01502793208115663 Centerline is valid? [True, True] Translation: X:891.92, Y:46.13, Z:6.22 [[ 7.41875142e-01 -6.70363394e-01 -1.53033766e-02 8.91918917e+02] [ 6.70220720e-01 7.42032964e-01 -1.38299032e-02 4.61336006e+01] [ 2.06266707e-02 3.42127972e-06 9.99787248e-01 6.21842528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9092541539999 meters 0.014730515411618576 Centerline is valid? [True, True] Translation: X:891.94, Y:46.15, Z:6.22 [[ 7.40988735e-01 -6.71356472e-01 -1.47031065e-02 8.91941591e+02] [ 6.71224892e-01 7.41134594e-01 -1.32912690e-02 4.61506502e+01] [ 1.98201603e-02 -2.04104249e-05 9.99803561e-01 6.21844413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9392541539999 meters 0.01711776442850052 Centerline is valid? [True, True] Translation: X:891.97, Y:46.17, Z:6.22 [[ 7.39936969e-01 -6.72540324e-01 -1.35201556e-02 8.91966004e+02] [ 6.72429213e-01 7.40060478e-01 -1.22246901e-02 4.61658107e+01] [ 1.82273299e-02 -4.58475117e-05 9.99833867e-01 6.21841189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9692541539998 meters 0.01484267637267634 Centerline is valid? [True, True] Translation: X:891.99, Y:46.18, Z:6.22 [[ 7.39308514e-01 -6.73250672e-01 -1.25081660e-02 8.91988696e+02] [ 6.73155599e-01 7.39414315e-01 -1.13141526e-02 4.61838004e+01] [ 1.68659778e-02 -5.52926728e-05 9.99857758e-01 6.21999970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9992541539999 meters 0.01504040917519004 Centerline is valid? [True, True] Translation: X:892.01, Y:46.20, Z:6.22 [[ 7.39283757e-01 -6.73293378e-01 -1.16427665e-02 8.92011522e+02] [ 6.73210961e-01 7.39375429e-01 -1.05345798e-02 4.61997600e+01] [ 1.57012383e-02 -4.99942487e-05 9.99876727e-01 6.22035637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0292541539999 meters 0.016134280650812433 Centerline is valid? [True, True] Translation: X:892.03, Y:46.22, Z:6.22 [[ 7.39448132e-01 -6.73124270e-01 -1.09625739e-02 8.92033120e+02] [ 6.73051127e-01 7.39529388e-01 -9.92291553e-03 4.62178793e+01] [ 1.47865009e-02 -4.08914000e-05 9.99890673e-01 6.22068096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0592541539999 meters 0.01497990195507258 Centerline is valid? [True, True] Translation: X:892.05, Y:46.24, Z:6.22 [[ 7.39483254e-01 -6.73090274e-01 -1.06771280e-02 8.92054110e+02] [ 6.73020809e-01 7.39560330e-01 -9.66997225e-03 4.62360291e+01] [ 1.44051446e-02 -3.51467801e-05 9.99896240e-01 6.22097811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0892541539998 meters 0.015013940429789844 Centerline is valid? [True, True] Translation: X:892.08, Y:46.25, Z:6.22 [[ 7.40579581e-01 -6.71891608e-01 -1.01760073e-02 8.92076286e+02] [ 6.71828328e-01 7.40649490e-01 -9.22125759e-03 4.62536924e+01] [ 1.37325402e-02 -7.45492516e-06 9.99905704e-01 6.22136014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1192541539999 meters 0.015053466924644657 Centerline is valid? [True, True] Translation: X:892.10, Y:46.27, Z:6.22 [[ 7.41067003e-01 -6.71355956e-01 -1.00438163e-02 8.92097802e+02] [ 6.71294188e-01 7.41135062e-01 -9.10669187e-03 4.62720805e+01] [ 1.35576562e-02 6.31336342e-06 9.99908091e-01 6.22154511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1492541539999 meters 0.018186158756761387 Centerline is valid? [True, True] Translation: X:892.12, Y:46.29, Z:6.22 [[ 7.42355414e-01 -6.69933219e-01 -9.89550443e-03 8.92118601e+02] [ 6.69873086e-01 7.42421363e-01 -8.97597089e-03 4.62892393e+01] [ 1.33599350e-02 3.46284925e-05 9.99910751e-01 6.21921954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1792541539999 meters 0.01522191315794017 Centerline is valid? [True, True] Translation: X:892.14, Y:46.31, Z:6.22 [[ 7.42800035e-01 -6.69434222e-01 -1.02922401e-02 8.92139323e+02] [ 6.69369068e-01 7.42871334e-01 -9.33974504e-03 4.63079011e+01] [ 1.38981551e-02 4.82557817e-05 9.99903415e-01 6.22065737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2092541539998 meters 0.0175278583549696 Centerline is valid? [True, True] Translation: X:892.16, Y:46.33, Z:6.22 [[ 7.43222248e-01 -6.68979284e-01 -9.34923708e-03 8.92160230e+02] [ 6.68925443e-01 7.43281047e-01 -8.48738773e-03 4.63256735e+01] [ 1.26269973e-02 5.40728229e-05 9.99920275e-01 6.21915257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2392541539999 meters 0.015255624368077928 Centerline is valid? [True, True] Translation: X:892.18, Y:46.34, Z:6.22 [[ 7.43958135e-01 -6.68161844e-01 -9.27599554e-03 8.92181859e+02] [ 6.68108739e-01 7.44015958e-01 -8.42419850e-03 4.63440675e+01] [ 1.25302167e-02 6.98773193e-05 9.99921491e-01 6.22119616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2692541539999 meters 0.017077266224017795 Centerline is valid? [True, True] Translation: X:892.20, Y:46.36, Z:6.22 [[ 7.44249745e-01 -6.67849972e-01 -8.29047046e-03 8.92202153e+02] [ 6.67807493e-01 7.44295916e-01 -7.53267386e-03 4.63613197e+01] [ 1.12012593e-02 6.97523068e-05 9.99937261e-01 6.22037266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2992541539999 meters 0.015285857693931036 Centerline is valid? [True, True] Translation: X:892.22, Y:46.38, Z:6.22 [[ 7.45068337e-01 -6.66935079e-01 -8.41274494e-03 8.92224470e+02] [ 6.66891242e-01 7.45115825e-01 -7.64711598e-03 4.63795856e+01] [ 1.13685993e-02 8.72380720e-05 9.99935372e-01 6.22235769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3292541539998 meters 0.01529694511551425 Centerline is valid? [True, True] Translation: X:892.25, Y:46.40, Z:6.22 [[ 7.45506347e-01 -6.66446439e-01 -8.33254216e-03 8.92245508e+02] [ 6.66403358e-01 7.45552905e-01 -7.57822599e-03 4.63978753e+01] [ 1.12628327e-02 9.67814904e-05 9.99936568e-01 6.22248618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3592541539999 meters 0.017640415397761223 Centerline is valid? [True, True] Translation: X:892.27, Y:46.42, Z:6.22 [[ 7.45981529e-01 -6.65925946e-01 -7.36159686e-03 8.92266007e+02] [ 6.65892267e-01 7.46017845e-01 -6.69807004e-03 4.64162775e+01] [ 9.95230125e-03 9.46061073e-05 9.99950470e-01 6.22055447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3892541539999 meters 0.01641901710732261 Centerline is valid? [True, True] Translation: X:892.29, Y:46.44, Z:6.22 [[ 7.47371545e-01 -6.64357255e-01 -8.07532336e-03 8.92287562e+02] [ 6.64316608e-01 7.47415160e-01 -7.35009822e-03 4.64350909e+01] [ 1.09187102e-02 1.28682843e-04 9.99940381e-01 6.22098362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4192541539999 meters 0.01576703022478693 Centerline is valid? [True, True] Translation: X:892.31, Y:46.45, Z:6.22 [[ 7.47635328e-01 -6.64056549e-01 -8.38546833e-03 8.92309273e+02] [ 6.64012655e-01 7.47682339e-01 -7.63633179e-03 4.64544624e+01] [ 1.13406227e-02 1.41134335e-04 9.99935683e-01 6.22178636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4492541539998 meters 0.016143629214999445 Centerline is valid? [True, True] Translation: X:892.33, Y:46.47, Z:6.22 [[ 7.48247029e-01 -6.63380125e-01 -7.29332138e-03 8.92330233e+02] [ 6.63346865e-01 7.48282561e-01 -6.64416826e-03 4.64733703e+01] [ 9.86507437e-03 1.33477291e-04 9.99951330e-01 6.22215347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4792541539998 meters 0.01587413709769756 Centerline is valid? [True, True] Translation: X:892.35, Y:46.49, Z:6.22 [[ 7.48331825e-01 -6.63287089e-01 -7.05112213e-03 8.92352212e+02] [ 6.63255979e-01 7.48365032e-01 -6.42536021e-03 4.64903562e+01] [ 9.53867171e-03 1.31602617e-04 9.99954497e-01 6.22304780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5092541539999 meters 0.016131936146026194 Centerline is valid? [True, True] Translation: X:892.37, Y:46.51, Z:6.22 [[ 7.48154560e-01 -6.63497608e-01 -5.97311984e-03 8.92373509e+02] [ 6.63475268e-01 7.48178396e-01 -5.44578661e-03 4.65083851e+01] [ 8.08222561e-03 1.11272803e-04 9.99967332e-01 6.22315795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5392541539999 meters 0.01695167396712442 Centerline is valid? [True, True] Translation: X:892.39, Y:46.53, Z:6.22 [[ 7.48353419e-01 -6.63282934e-01 -4.78648731e-03 8.92394907e+02] [ 6.63268571e-01 7.48368720e-01 -4.36593380e-03 4.65260509e+01] [ 6.47790676e-03 9.25348891e-05 9.99979014e-01 6.22312921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5692541539999 meters 0.01606047980858683 Centerline is valid? [True, True] Translation: X:892.42, Y:46.54, Z:6.22 [[ 7.48807412e-01 -6.62761714e-01 -5.86267767e-03 8.92416015e+02] [ 6.62740122e-01 7.48830352e-01 -5.35109527e-03 4.65449850e+01] [ 7.93665206e-03 1.21508082e-04 9.99968497e-01 6.22396811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5992541539998 meters 0.016067155650207533 Centerline is valid? [True, True] Translation: X:892.44, Y:46.56, Z:6.22 [[ 7.48841411e-01 -6.62723463e-01 -5.84395319e-03 8.92437208e+02] [ 6.62701996e-01 7.48864204e-01 -5.33565508e-03 4.65641351e+01] [ 7.91239117e-03 1.22760045e-04 9.99968689e-01 6.22333645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6292541539999 meters 0.01708649434849358 Centerline is valid? [True, True] Translation: X:892.46, Y:46.58, Z:6.22 [[ 7.49580911e-01 -6.61891701e-01 -5.27573244e-03 8.92458256e+02] [ 6.61874167e-01 7.49599468e-01 -4.81932696e-03 4.65829884e+01] [ 7.14455875e-03 1.20604486e-04 9.99974470e-01 6.22147048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6592541539999 meters 0.016350889561638823 Centerline is valid? [True, True] Translation: X:892.48, Y:46.60, Z:6.22 [[ 7.49637041e-01 -6.61820310e-01 -6.17932625e-03 8.92479505e+02] [ 6.61796240e-01 7.49662495e-01 -5.64628971e-03 4.66018996e+01] [ 8.36923834e-03 1.43213031e-04 9.99964967e-01 6.22165834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6892541539999 meters 0.01615983461487283 Centerline is valid? [True, True] Translation: X:892.50, Y:46.62, Z:6.22 [[ 7.49611980e-01 -6.61846582e-01 -6.40176276e-03 8.92501230e+02] [ 6.61820718e-01 7.49639300e-01 -5.85300224e-03 4.66198629e+01] [ 8.67280248e-03 1.50661364e-04 9.99962379e-01 6.22105496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7192541539998 meters 0.016433360050838536 Centerline is valid? [True, True] Translation: X:892.52, Y:46.64, Z:6.22 [[ 7.49529089e-01 -6.61940071e-01 -6.44108663e-03 8.92521227e+02] [ 6.61913865e-01 7.49556749e-01 -5.89200658e-03 4.66387112e+01] [ 8.72811521e-03 1.52785782e-04 9.99961898e-01 6.22089005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7492541539999 meters 0.016535625862052213 Centerline is valid? [True, True] Translation: X:892.54, Y:46.66, Z:6.22 [[ 7.49457315e-01 -6.62020841e-01 -6.49140636e-03 8.92540542e+02] [ 6.61994214e-01 7.49485411e-01 -5.93954246e-03 4.66571217e+01] [ 8.79731526e-03 1.54160091e-04 9.99961291e-01 6.22071736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7792541539999 meters 0.018356996502735156 Centerline is valid? [True, True] Translation: X:892.56, Y:46.68, Z:6.22 [[ 7.49600015e-01 -6.61866563e-01 -5.69831983e-03 8.92561598e+02] [ 6.61846030e-01 7.49621661e-01 -5.21521064e-03 4.66757135e+01] [ 7.72335751e-03 1.37911618e-04 9.99970165e-01 6.21867797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8092541539999 meters 0.01635675060881626 Centerline is valid? [True, True] Translation: X:892.58, Y:46.70, Z:6.22 [[ 7.50125434e-01 -6.61259422e-01 -6.91447291e-03 8.92582918e+02] [ 6.61229125e-01 7.50157280e-01 -6.33240642e-03 4.66958987e+01] [ 9.37430561e-03 1.78048244e-04 9.99956044e-01 6.22055486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8392541539998 meters 0.01657604813073205 Centerline is valid? [True, True] Translation: X:892.60, Y:46.72, Z:6.22 [[ 7.50505920e-01 -6.60822582e-01 -7.37423138e-03 8.92603096e+02] [ 6.60788072e-01 7.50542121e-01 -6.75638884e-03 4.67155193e+01] [ 9.99944558e-03 1.97905681e-04 9.99949985e-01 6.22023930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8692541539999 meters 0.016818413362616122 Centerline is valid? [True, True] Translation: X:892.62, Y:46.73, Z:6.22 [[ 7.50470755e-01 -6.60860194e-01 -7.57952110e-03 8.92622591e+02] [ 6.60823722e-01 7.50509002e-01 -6.94591566e-03 4.67346699e+01] [ 1.02787780e-02 2.03979219e-04 9.99947151e-01 6.22039671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8992541539999 meters 0.018433554066567263 Centerline is valid? [True, True] Translation: X:892.64, Y:46.75, Z:6.22 [[ 7.49979731e-01 -6.61427861e-01 -6.60209740e-03 8.92644443e+02] [ 6.61400196e-01 7.50008770e-01 -6.05191808e-03 4.67531544e+01] [ 8.95453819e-03 1.72187378e-04 9.99959892e-01 6.21874285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9292541539999 meters 0.01660598192450181 Centerline is valid? [True, True] Translation: X:892.66, Y:46.77, Z:6.22 [[ 7.49577290e-01 -6.61874337e-01 -7.49990516e-03 8.92663862e+02] [ 6.61838625e-01 7.49614784e-01 -6.87816347e-03 4.67718818e+01] [ 1.01745197e-02 1.91988212e-04 9.99948220e-01 6.22102299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9592541539998 meters 0.018245774990320266 Centerline is valid? [True, True] Translation: X:892.69, Y:46.79, Z:6.22 [[ 7.48523725e-01 -6.63075882e-01 -6.52746431e-03 8.92685739e+02] [ 6.63048862e-01 7.48552170e-01 -5.98801501e-03 4.67902994e+01] [ 8.85665591e-03 1.54143525e-04 9.99960767e-01 6.21968583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9892541539999 meters 0.016259812121511282 Centerline is valid? [True, True] Translation: X:892.71, Y:46.81, Z:6.22 [[ 7.47998783e-01 -6.63661565e-01 -7.15174411e-03 8.92705740e+02] [ 6.63629127e-01 7.48032954e-01 -6.56363138e-03 4.68091499e+01] [ 9.70577014e-03 1.63482588e-04 9.99952885e-01 6.22222300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0192541539999 meters 0.015817896156808006 Centerline is valid? [True, True] Translation: X:892.73, Y:46.83, Z:6.22 [[ 7.45949682e-01 -6.65967356e-01 -6.82291261e-03 8.92729056e+02] [ 6.65937915e-01 7.45980874e-01 -6.26337611e-03 4.68270920e+01] [ 9.26096634e-03 1.28527218e-04 9.99957108e-01 6.22238734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0492541539999 meters 0.015841512160118598 Centerline is valid? [True, True] Translation: X:892.75, Y:46.85, Z:6.22 [[ 7.44443643e-01 -6.67649861e-01 -6.87941520e-03 8.92751121e+02] [ 6.67619973e-01 7.44475420e-01 -6.31822122e-03 4.68453255e+01] [ 9.33991504e-03 1.10724626e-04 9.99956376e-01 6.22228819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0792541539998 meters 0.014602279231750705 Centerline is valid? [True, True] Translation: X:892.77, Y:46.86, Z:6.22 [[ 7.41845763e-01 -6.70524521e-01 -7.85689027e-03 8.92774977e+02] [ 6.70485656e-01 7.41887363e-01 -7.21985618e-03 4.68625160e+01] [ 1.06700182e-02 8.80874896e-05 9.99943070e-01 6.22367432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1092541539999 meters 0.0142859869650207 Centerline is valid? [True, True] Translation: X:892.80, Y:46.88, Z:6.22 [[ 7.40392011e-01 -6.72127262e-01 -8.03820028e-03 8.92797832e+02] [ 6.72086636e-01 7.40435641e-01 -7.39017554e-03 4.68805103e+01] [ 1.09189084e-02 6.92599473e-05 9.99940385e-01 6.22423651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1392541539999 meters 0.01504023598484173 Centerline is valid? [True, True] Translation: X:892.82, Y:46.90, Z:6.22 [[ 7.38408449e-01 -6.74309357e-01 -7.73645841e-03 8.92820587e+02] [ 6.74271807e-01 7.38448975e-01 -7.11621511e-03 4.68988365e+01] [ 1.05115102e-02 3.81975647e-05 9.99944752e-01 6.22368254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1692541539999 meters 0.016490227244305617 Centerline is valid? [True, True] Translation: X:892.84, Y:46.92, Z:6.22 [[ 7.36432985e-01 -6.76468956e-01 -7.49730862e-03 8.92841730e+02] [ 6.76433775e-01 7.36471147e-01 -6.89903206e-03 4.69156693e+01] [ 1.01885325e-02 9.24199665e-06 9.99948096e-01 6.22251805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1992541539998 meters 0.015339595392154994 Centerline is valid? [True, True] Translation: X:892.86, Y:46.93, Z:6.22 [[ 7.33518330e-01 -6.79619171e-01 -8.28507137e-03 8.92864631e+02] [ 6.79576386e-01 7.33565117e-01 -7.62591931e-03 4.69323292e+01] [ 1.12603603e-02 -3.65872641e-05 9.99936599e-01 6.22390744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2292541539998 meters 0.015339595392154994 Centerline is valid? [True, True] Translation: X:892.88, Y:46.95, Z:6.22 [[ 7.33329228e-01 -6.79823230e-01 -8.28365155e-03 8.92884874e+02] [ 6.79780440e-01 7.33376012e-01 -7.62746136e-03 4.69510790e+01] [ 1.12603568e-02 -3.76239371e-05 9.99936599e-01 6.22409827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2592541539999 meters 0.014784622559395874 Centerline is valid? [True, True] Translation: X:892.91, Y:46.97, Z:6.22 [[ 7.32019741e-01 -6.81226195e-01 -8.83000472e-03 8.92906157e+02] [ 6.81177632e-01 7.32072993e-01 -8.13432032e-03 4.69692042e+01] [ 1.20055201e-02 -6.03186425e-05 9.99927929e-01 6.22474099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2892541539999 meters 0.017455798367682806 Centerline is valid? [True, True] Translation: X:892.93, Y:46.99, Z:6.22 [[ 7.29302350e-01 -6.84132120e-01 -9.01799494e-03 8.92929384e+02] [ 6.84081649e-01 7.29358095e-01 -8.31062841e-03 4.69873244e+01] [ 1.22629154e-02 -1.08084021e-04 9.99924802e-01 6.22198059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3192541539999 meters 0.014745073153882824 Centerline is valid? [True, True] Translation: X:892.95, Y:47.01, Z:6.22 [[ 7.29246954e-01 -6.84170662e-01 -1.04587221e-02 8.92950251e+02] [ 6.84102725e-01 7.29321939e-01 -9.64218442e-03 4.70056444e+01] [ 1.42246752e-02 -1.23306678e-04 9.99898817e-01 6.22445036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3492541539998 meters 0.01649335495731694 Centerline is valid? [True, True] Translation: X:892.97, Y:47.02, Z:6.22 [[ 7.28377164e-01 -6.85100128e-01 -1.02235442e-02 8.92971279e+02] [ 6.85035270e-01 7.28448897e-01 -9.42776575e-03 4.70240436e+01] [ 1.39062931e-02 -1.36519106e-04 9.99903294e-01 6.22279678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3792541539999 meters 0.01724175751762996 Centerline is valid? [True, True] Translation: X:892.99, Y:47.04, Z:6.22 [[ 7.27865160e-01 -6.85638845e-01 -1.05680458e-02 8.92991711e+02] [ 6.85569543e-01 7.27941861e-01 -9.74930218e-03 4.70447180e+01] [ 1.43774232e-02 -1.48952915e-04 9.99896628e-01 6.22294496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4092541539999 meters 0.014984858131904949 Centerline is valid? [True, True] Translation: X:893.01, Y:47.06, Z:6.22 [[ 7.28453714e-01 -6.85004348e-01 -1.11458208e-02 8.93011395e+02] [ 6.84927129e-01 7.28538964e-01 -1.02861980e-02 4.70636434e+01] [ 1.51662551e-02 -1.41055882e-04 9.99884976e-01 6.22498379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4392541539999 meters 0.014416173513762216 Centerline is valid? [True, True] Translation: X:893.03, Y:47.08, Z:6.23 [[ 7.29568060e-01 -6.83814048e-01 -1.13487288e-02 8.93030451e+02] [ 6.83733802e-01 7.29656312e-01 -1.04763544e-02 4.70845720e+01] [ 1.54445499e-02 -1.16295966e-04 9.99880719e-01 6.22546818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4692541539998 meters 0.01426630768780406 Centerline is valid? [True, True] Translation: X:893.05, Y:47.11, Z:6.23 [[ 7.30495847e-01 -6.82827096e-01 -1.10893484e-02 8.93050888e+02] [ 6.82750301e-01 7.30580008e-01 -1.02409840e-02 4.71055043e+01] [ 1.50944776e-02 -9.02596718e-05 9.99886068e-01 6.22564334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4992541539999 meters 0.014086310705596128 Centerline is valid? [True, True] Translation: X:893.07, Y:47.13, Z:6.23 [[ 7.31470739e-01 -6.81779746e-01 -1.12665963e-02 8.93070265e+02] [ 6.81700266e-01 7.31557499e-01 -1.04102154e-02 4.71258064e+01] [ 1.53396370e-02 -6.56736943e-05 9.99882339e-01 6.22580079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5292541539999 meters 0.015916240514575634 Centerline is valid? [True, True] Translation: X:893.09, Y:47.15, Z:6.22 [[ 7.32244121e-01 -6.80946401e-01 -1.14257014e-02 8.93089594e+02] [ 6.80864466e-01 7.32333256e-01 -1.05632177e-02 4.71457338e+01] [ 1.55604062e-02 -4.44999939e-05 9.99878929e-01 6.22394363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5592541539999 meters 0.014053642442636618 Centerline is valid? [True, True] Translation: X:893.11, Y:47.17, Z:6.23 [[ 7.35873321e-01 -6.77011943e-01 -1.20534222e-02 8.93107940e+02] [ 6.76920128e-01 7.35972029e-01 -1.11495705e-02 4.71685858e+01] [ 1.64193740e-02 4.54674006e-05 9.99865192e-01 6.22649879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5892541539998 meters 0.01416470077262938 Centerline is valid? [True, True] Translation: X:893.13, Y:47.19, Z:6.23 [[ 7.37531929e-01 -6.75205721e-01 -1.19952987e-02 8.93126774e+02] [ 6.75114494e-01 7.37629464e-01 -1.10992640e-02 4.71896637e+01] [ 1.63423723e-02 8.78615401e-05 9.99866451e-01 6.22629765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6192541539999 meters 0.014305892087478806 Centerline is valid? [True, True] Translation: X:893.15, Y:47.21, Z:6.23 [[ 7.38924500e-01 -6.73684299e-01 -1.18341818e-02 8.93146788e+02] [ 6.73595248e-01 7.39019248e-01 -1.09541087e-02 4.72112536e+01] [ 1.61252992e-02 1.22810673e-04 9.99869971e-01 6.22707332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6492541539999 meters 0.01601689613923964 Centerline is valid? [True, True] Translation: X:893.16, Y:47.23, Z:6.23 [[ 7.41105741e-01 -6.71300844e-01 -1.08377681e-02 8.93163903e+02] [ 6.71225854e-01 7.41184964e-01 -1.00350644e-02 4.72330572e+01] [ 1.47693380e-02 1.62453683e-04 9.99890914e-01 6.22634286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6792541539999 meters 0.016133812548561218 Centerline is valid? [True, True] Translation: X:893.18, Y:47.25, Z:6.23 [[ 7.41732445e-01 -6.70614198e-01 -1.04679279e-02 8.93183719e+02] [ 6.70544122e-01 7.41806287e-01 -9.69604687e-03 4.72535299e+01] [ 1.42674815e-02 1.72665014e-04 9.99898199e-01 6.22719287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7092541539998 meters 0.015547334278628687 Centerline is valid? [True, True] Translation: X:893.20, Y:47.27, Z:6.23 [[ 7.42705956e-01 -6.69535011e-01 -1.05229430e-02 8.93202688e+02] [ 6.69464042e-01 7.42780472e-01 -9.75023508e-03 4.72745562e+01] [ 1.43443603e-02 1.96825696e-04 9.99897095e-01 6.22922611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7392541539999 meters 0.015196206810831664 Centerline is valid? [True, True] Translation: X:893.22, Y:47.29, Z:6.23 [[ 7.42835257e-01 -6.69398019e-01 -1.01031052e-02 8.93223316e+02] [ 6.69332540e-01 7.42903933e-01 -9.36467893e-03 4.72933690e+01] [ 1.37743341e-02 1.94076635e-04 9.99905111e-01 6.23054634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7692541539999 meters 0.015069221191705751 Centerline is valid? [True, True] Translation: X:893.24, Y:47.31, Z:6.23 [[ 7.42501289e-01 -6.69764735e-01 -1.03458298e-02 8.93243879e+02] [ 6.69696028e-01 7.42573338e-01 -9.59520829e-03 4.73127914e+01] [ 1.41090695e-02 1.95893394e-04 9.99900443e-01 6.23080834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7992541539999 meters 0.017483811102472845 Centerline is valid? [True, True] Translation: X:893.26, Y:47.33, Z:6.23 [[ 7.41358130e-01 -6.71030361e-01 -1.03139750e-02 8.93264935e+02] [ 6.70962127e-01 7.41429851e-01 -9.57079573e-03 4.73323802e+01] [ 1.40693834e-02 1.75100646e-04 9.99901006e-01 6.22735668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8292541539998 meters 0.016140662478591358 Centerline is valid? [True, True] Translation: X:893.28, Y:47.35, Z:6.23 [[ 7.39945740e-01 -6.72580929e-01 -1.07328940e-02 8.93284810e+02] [ 6.72507152e-01 7.40023560e-01 -9.96293675e-03 4.73514152e+01] [ 1.46434757e-02 1.54084642e-04 9.99892767e-01 6.22775057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8592541539999 meters 0.015220203178276288 Centerline is valid? [True, True] Translation: X:893.31, Y:47.37, Z:6.23 [[ 7.38817802e-01 -6.73815217e-01 -1.10140033e-02 8.93305699e+02] [ 6.73737602e-01 7.38899881e-01 -1.02278743e-02 4.73703871e+01] [ 1.50299431e-02 1.35987412e-04 9.99887035e-01 6.22845793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8892541539999 meters 0.01400100159742873 Centerline is valid? [True, True] Translation: X:893.33, Y:47.39, Z:6.23 [[ 7.35176813e-01 -6.77777123e-01 -1.15422993e-02 8.93328262e+02] [ 6.77692277e-01 7.35267412e-01 -1.07242481e-02 4.73882970e+01] [ 1.57553265e-02 6.20914431e-05 9.99875875e-01 6.22936464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9192541539999 meters 0.01594975081724667 Centerline is valid? [True, True] Translation: X:893.35, Y:47.41, Z:6.23 [[ 7.32081759e-01 -6.81116339e-01 -1.16974318e-02 8.93350086e+02] [ 6.81029527e-01 7.32175206e-01 -1.08743088e-02 4.74063438e+01] [ 1.59712389e-02 -5.41326873e-06 9.99872452e-01 6.22744669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9492541539998 meters 0.015687756759923458 Centerline is valid? [True, True] Translation: X:893.37, Y:47.42, Z:6.23 [[ 7.29142270e-01 -6.84261488e-01 -1.17373614e-02 8.93372878e+02] [ 6.84174395e-01 7.29236732e-01 -1.09172777e-02 4.74247608e+01] [ 1.60295878e-02 -7.01534868e-05 9.99871515e-01 6.22793194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9792541539998 meters 0.018313819715513966 Centerline is valid? [True, True] Translation: X:893.40, Y:47.44, Z:6.23 [[ 7.22246517e-01 -6.91529760e-01 -1.21061907e-02 8.93397022e+02] [ 6.91438048e-01 7.22347932e-01 -1.12645415e-02 4.74397083e+01] [ 1.65346475e-02 -2.34905060e-04 9.99863266e-01 6.22616752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0092541539999 meters 0.018291633130792115 Centerline is valid? [True, True] Translation: X:893.42, Y:47.46, Z:6.23 [[ 7.18643817e-01 -6.95275795e-01 -1.19429357e-02 8.93419171e+02] [ 6.95187006e-01 7.18742979e-01 -1.11155801e-02 4.74577402e+01] [ 1.63122950e-02 -3.14430842e-04 9.99866896e-01 6.22736042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0392541539999 meters 0.017239434857559285 Centerline is valid? [True, True] Translation: X:893.44, Y:47.48, Z:6.23 [[ 7.15290064e-01 -6.98722701e-01 -1.21124602e-02 8.93441826e+02] [ 6.98631792e-01 7.15392501e-01 -1.12778277e-02 4.74758040e+01] [ 1.65452374e-02 -3.95231638e-04 9.99863040e-01 6.23060669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0692541539999 meters 0.023876692809538774 Centerline is valid? [True, True] Translation: X:893.47, Y:47.49, Z:6.23 [[ 7.08289739e-01 -7.05824271e-01 -1.17364663e-02 8.93468108e+02] [ 7.05739828e-01 7.08386763e-01 -1.09310922e-02 4.74880663e+01] [ 1.60293876e-02 -5.40511263e-04 9.99871375e-01 6.22793288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0992541539998 meters 0.02422609455429496 Centerline is valid? [True, True] Translation: X:893.49, Y:47.51, Z:6.23 [[ 7.06062534e-01 -7.08054140e-01 -1.16203619e-02 8.93489928e+02] [ 7.07971599e-01 7.06157911e-01 -1.08267767e-02 4.75063090e+01] [ 1.58717545e-02 -5.82504799e-04 9.99873866e-01 6.23002327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1292541539999 meters 0.022637219566427523 Centerline is valid? [True, True] Translation: X:893.51, Y:47.53, Z:6.23 [[ 7.03620384e-01 -7.10485839e-01 -1.13237584e-02 8.93508192e+02] [ 7.10407693e-01 7.03711227e-01 -1.05554600e-02 4.75290195e+01] [ 1.54681607e-02 -6.17448284e-04 9.99880170e-01 6.23005972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1592541539999 meters 0.021153986742942905 Centerline is valid? [True, True] Translation: X:893.53, Y:47.55, Z:6.23 [[ 7.01734648e-01 -7.12349562e-01 -1.12510226e-02 8.93527414e+02] [ 7.12272577e-01 7.01824535e-01 -1.04927748e-02 4.75511730e+01] [ 1.53707672e-02 -6.50651214e-04 9.99881651e-01 6.23290742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1892541539999 meters 0.021657208214049428 Centerline is valid? [True, True] Translation: X:893.55, Y:47.57, Z:6.23 [[ 7.01407882e-01 -7.12669405e-01 -1.13711307e-02 8.93547640e+02] [ 7.12590726e-01 7.01499738e-01 -1.06101154e-02 4.75714599e+01] [ 1.55383498e-02 -6.60943706e-04 9.99879054e-01 6.23299213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2192541539998 meters 0.022189505593004755 Centerline is valid? [True, True] Translation: X:893.57, Y:47.59, Z:6.23 [[ 7.01966575e-01 -7.12116524e-01 -1.15318640e-02 8.93567936e+02] [ 7.12035445e-01 7.02060987e-01 -1.07654898e-02 4.75913242e+01] [ 1.57623550e-02 -6.54081965e-04 9.99875552e-01 6.23315353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2492541539999 meters 0.02140942157712124 Centerline is valid? [True, True] Translation: X:893.59, Y:47.61, Z:6.23 [[ 7.02896334e-01 -7.11194797e-01 -1.17773228e-02 8.93587059e+02] [ 7.11110012e-01 7.02994700e-01 -1.10001379e-02 4.76132115e+01] [ 1.61026363e-02 -6.43015516e-04 9.99870137e-01 6.23327819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2792541539999 meters 0.023719400307982006 Centerline is valid? [True, True] Translation: X:893.61, Y:47.63, Z:6.23 [[ 7.03724186e-01 -7.10360517e-01 -1.26572590e-02 8.93606197e+02] [ 7.10262350e-01 7.03837689e-01 -1.18280203e-02 4.76347105e+01] [ 1.73108145e-02 -6.66310564e-04 9.99849935e-01 6.22945401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3092541539999 meters 0.020831758505228618 Centerline is valid? [True, True] Translation: X:893.62, Y:47.66, Z:6.23 [[ 7.08942033e-01 -7.05158529e-01 -1.23548545e-02 8.93622998e+02] [ 7.05064144e-01 7.09049487e-01 -1.15489432e-02 4.76570275e+01] [ 1.69040390e-02 -5.23433628e-04 9.99856980e-01 6.23320742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3392541539998 meters 0.020883526117457734 Centerline is valid? [True, True] Translation: X:893.64, Y:47.68, Z:6.23 [[ 7.11282347e-01 -7.02793564e-01 -1.25947672e-02 8.93639357e+02] [ 7.02695033e-01 7.11393690e-01 -1.17774854e-02 4.76815608e+01] [ 1.72369789e-02 -4.73162899e-04 9.99851320e-01 6.23074871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3692541539999 meters 0.018633367716333685 Centerline is valid? [True, True] Translation: X:893.65, Y:47.71, Z:6.23 [[ 7.17906332e-01 -6.96028060e-01 -1.24674953e-02 8.93652959e+02] [ 6.95930384e-01 7.18014518e-01 -1.16641252e-02 4.77097856e+01] [ 1.70704010e-02 -3.02759505e-04 9.99854244e-01 6.23085466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3992541539999 meters 0.015519706869942322 Centerline is valid? [True, True] Translation: X:893.67, Y:47.73, Z:6.23 [[ 7.21439402e-01 -6.92375257e-01 -1.19034558e-02 8.93669340e+02] [ 6.92285632e-01 7.21537568e-01 -1.11418326e-02 4.77342968e+01] [ 1.63031197e-02 -2.02434342e-04 9.99867075e-01 6.23379977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4292541539999 meters 0.014183663517491278 Centerline is valid? [True, True] Translation: X:893.69, Y:47.76, Z:6.23 [[ 7.24942885e-01 -6.88712615e-01 -1.15216286e-02 8.93685918e+02] [ 6.88628123e-01 7.25034428e-01 -1.07882877e-02 4.77568224e+01] [ 1.57836072e-02 -1.13225058e-04 9.99875425e-01 6.23443462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4592541539998 meters 0.01670376640894787 Centerline is valid? [True, True] Translation: X:893.70, Y:47.78, Z:6.23 [[ 7.31067050e-01 -6.82184651e-01 -1.28479650e-02 8.93698731e+02] [ 6.82078471e-01 7.31179937e-01 -1.20357327e-02 4.77843655e+01] [ 1.76047664e-02 3.56072547e-05 9.99845023e-01 6.23123713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4892541539999 meters 0.014812090170301584 Centerline is valid? [True, True] Translation: X:893.72, Y:47.81, Z:6.23 [[ 7.33995468e-01 -6.79037261e-01 -1.26115857e-02 8.93716910e+02] [ 6.78934377e-01 7.34103798e-01 -1.18205518e-02 4.78078166e+01] [ 1.72848081e-02 1.13792328e-04 9.99850600e-01 6.23351070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5192541539999 meters 0.014398690720524007 Centerline is valid? [True, True] Translation: X:893.73, Y:47.83, Z:6.23 [[ 7.36885656e-01 -6.75896651e-01 -1.27768455e-02 8.93734905e+02] [ 6.75790473e-01 7.36996390e-01 -1.19815558e-02 4.78312568e+01] [ 1.75147824e-02 1.94566133e-04 9.99846585e-01 6.23494592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5492541539999 meters 0.015606635743064439 Centerline is valid? [True, True] Translation: X:893.75, Y:47.86, Z:6.23 [[ 7.41478785e-01 -6.70849726e-01 -1.30328804e-02 8.93750388e+02] [ 6.70738358e-01 7.41593244e-01 -1.22276719e-02 4.78578283e+01] [ 1.78680264e-02 3.24906519e-04 9.99840301e-01 6.23486082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5792541539998 meters 0.01739963580246144 Centerline is valid? [True, True] Translation: X:893.77, Y:47.88, Z:6.23 [[ 7.43475320e-01 -6.68627105e-01 -1.34997460e-02 8.93766833e+02] [ 6.68507164e-01 7.43597766e-01 -1.26701698e-02 4.78813955e+01] [ 1.85099999e-02 3.95281690e-04 9.99828597e-01 6.23395791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6092541539999 meters 0.01728265468385676 Centerline is valid? [True, True] Translation: X:893.79, Y:47.90, Z:6.23 [[ 7.44808541e-01 -6.67135857e-01 -1.37835045e-02 8.93786877e+02] [ 6.67010463e-01 7.44935936e-01 -1.29418925e-02 4.79024787e+01] [ 1.89018284e-02 4.45490309e-04 9.99821245e-01 6.23495422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6392541539999 meters 0.019585098693087128 Centerline is valid? [True, True] Translation: X:893.80, Y:47.93, Z:6.23 [[ 7.46033135e-01 -6.65731574e-01 -1.53633770e-02 8.93804828e+02] [ 6.65575328e-01 7.46191114e-01 -1.44327582e-02 4.79257134e+01] [ 2.10723582e-02 5.41831134e-04 9.99777806e-01 6.23240174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6692541539999 meters 0.020772004936349325 Centerline is valid? [True, True] Translation: X:893.82, Y:47.95, Z:6.23 [[ 7.45980491e-01 -6.65785363e-01 -1.55870933e-02 8.93823545e+02] [ 6.65624444e-01 7.46143114e-01 -1.46476531e-02 4.79461142e+01] [ 2.13823953e-02 5.51713148e-04 9.99771218e-01 6.23143815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6992541539998 meters 0.01935766819474317 Centerline is valid? [True, True] Translation: X:893.84, Y:47.97, Z:6.23 [[ 7.45805207e-01 -6.65988557e-01 -1.52916729e-02 8.93843245e+02] [ 6.65833587e-01 7.45961761e-01 -1.43765438e-02 4.79655153e+01] [ 2.09816169e-02 5.40391771e-04 9.99779716e-01 6.23341246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7292541539998 meters 0.021093218059532137 Centerline is valid? [True, True] Translation: X:893.86, Y:47.99, Z:6.23 [[ 7.44121868e-01 -6.67856625e-01 -1.58169074e-02 8.93863118e+02] [ 6.67691078e-01 7.44289775e-01 -1.48780329e-02 4.79857670e+01] [ 2.17087553e-02 5.10261664e-04 9.99764207e-01 6.23143651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7592541539999 meters 0.01980314531920881 Centerline is valid? [True, True] Translation: X:893.88, Y:48.00, Z:6.23 [[ 7.42823029e-01 -6.69290231e-01 -1.62644881e-02 8.93884523e+02] [ 6.69115356e-01 7.43000908e-01 -1.53065726e-02 4.80045494e+01] [ 2.23290689e-02 4.87255888e-04 9.99750557e-01 6.23238138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7892541539999 meters 0.02016610922671803 Centerline is valid? [True, True] Translation: X:893.91, Y:48.02, Z:6.23 [[ 7.41222847e-01 -6.71047616e-01 -1.68460072e-02 8.93906066e+02] [ 6.70860283e-01 7.41414115e-01 -1.58616249e-02 4.80240081e+01] [ 2.31337731e-02 4.55681628e-04 9.99732275e-01 6.23185381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8192541539999 meters 0.018569993842285092 Centerline is valid? [True, True] Translation: X:893.93, Y:48.04, Z:6.23 [[ 7.37912772e-01 -6.74677375e-01 -1.71807976e-02 8.93928896e+02] [ 6.74483318e-01 7.38112670e-01 -1.61845603e-02 4.80420164e+01] [ 2.36007210e-02 3.54632327e-04 9.99721401e-01 6.23207958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8492541539998 meters 0.017147338015655066 Centerline is valid? [True, True] Translation: X:893.95, Y:48.06, Z:6.23 [[ 7.35652926e-01 -6.77126562e-01 -1.77310892e-02 8.93951526e+02] [ 6.76920381e-01 7.35866519e-01 -1.67111839e-02 4.80594799e+01] [ 2.43633014e-02 2.91095661e-04 9.99703128e-01 6.23383851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8792541539999 meters 0.014827621116392648 Centerline is valid? [True, True] Translation: X:893.97, Y:48.08, Z:6.24 [[ 7.33803034e-01 -6.79163109e-01 -1.64492863e-02 8.93972486e+02] [ 6.78986062e-01 7.33987348e-01 -1.55080791e-02 4.80777294e+01] [ 2.26060832e-02 2.11039342e-04 9.99744428e-01 6.23506883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9092541539999 meters 0.014100885277357427 Centerline is valid? [True, True] Translation: X:894.00, Y:48.09, Z:6.24 [[ 7.28947941e-01 -6.84364260e-01 -1.67469001e-02 8.93997688e+02] [ 6.84181957e-01 7.29140286e-01 -1.57953756e-02 4.80930137e+01] [ 2.30206301e-02 5.60796375e-05 9.99734989e-01 6.23753065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9392541539999 meters 0.01806964094927471 Centerline is valid? [True, True] Translation: X:894.02, Y:48.11, Z:6.23 [[ 7.25578635e-01 -6.87887201e-01 -1.86237367e-02 8.94020154e+02] [ 6.87662769e-01 7.25817605e-01 -1.75704329e-02 4.81095195e+01] [ 2.56039119e-02 -5.81196288e-05 9.99672164e-01 6.23302852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9692541539998 meters 0.01716762659946512 Centerline is valid? [True, True] Translation: X:894.04, Y:48.13, Z:6.24 [[ 7.22761808e-01 -6.90846954e-01 -1.85972008e-02 8.94043091e+02] [ 6.90623955e-01 7.23001011e-01 -1.75525183e-02 4.81275898e+01] [ 2.55718988e-02 -1.57382561e-04 9.99672973e-01 6.23634434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9992541539999 meters 0.014735113060225928 Centerline is valid? [True, True] Translation: X:894.07, Y:48.15, Z:6.24 [[ 7.20162718e-01 -6.93597434e-01 -1.69782169e-02 8.94065991e+02] [ 6.93412158e-01 7.20362789e-01 -1.60321871e-02 4.81458934e+01] [ 2.33503596e-02 -2.27118588e-04 9.99727317e-01 6.23932891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0292541539999 meters 0.02085553485542263 Centerline is valid? [True, True] Translation: X:894.09, Y:48.16, Z:6.24 [[ 7.13813637e-01 -7.00061186e-01 -1.96068424e-02 8.94090806e+02] [ 6.99816251e-01 7.14082690e-01 -1.85237007e-02 4.81609519e+01] [ 2.69686306e-02 -4.98716773e-04 9.99636156e-01 6.23626614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0592541539999 meters 0.022154077011740794 Centerline is valid? [True, True] Translation: X:894.11, Y:48.18, Z:6.23 [[ 7.11266708e-01 -7.02656917e-01 -1.93113023e-02 8.94114540e+02] [ 7.02420143e-01 7.11528576e-01 -1.82490665e-02 4.81759619e+01] [ 2.65633763e-02 -5.84694250e-04 9.99646960e-01 6.23473895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0892541539998 meters 0.01816614097366686 Centerline is valid? [True, True] Translation: X:894.13, Y:48.20, Z:6.24 [[ 7.07047230e-01 -7.06960991e-01 -1.70403001e-02 8.94134452e+02] [ 7.06777798e-01 7.07252237e-01 -1.61064191e-02 4.81963767e+01] [ 2.34384003e-02 -6.55706769e-04 9.99725068e-01 6.24111392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1192541539999 meters 0.021405179751520717 Centerline is valid? [True, True] Translation: X:894.16, Y:48.21, Z:6.24 [[ 7.04608799e-01 -7.09351751e-01 -1.86153860e-02 8.94156579e+02] [ 7.09133836e-01 7.04854207e-01 -1.75996968e-02 4.82139041e+01] [ 2.56055089e-02 -7.99898840e-04 9.99671805e-01 6.23950854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1492541539999 meters 0.021405179751520717 Centerline is valid? [True, True] Translation: X:894.18, Y:48.23, Z:6.24 [[ 7.04410411e-01 -7.09548868e-01 -1.86111887e-02 8.94176578e+02] [ 7.09330904e-01 7.04655776e-01 -1.76041349e-02 4.82329194e+01] [ 2.56054756e-02 -8.00955441e-04 9.99671805e-01 6.23969945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1792541539999 meters 0.02160296155690435 Centerline is valid? [True, True] Translation: X:894.20, Y:48.25, Z:6.24 [[ 7.02558167e-01 -7.11383950e-01 -1.85714137e-02 8.94197526e+02] [ 7.11167325e-01 7.02803056e-01 -1.75755555e-02 4.82526927e+01] [ 2.55550144e-02 -8.59532483e-04 9.99673048e-01 6.24057438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2092541539998 meters 0.020664282061403985 Centerline is valid? [True, True] Translation: X:894.22, Y:48.27, Z:6.24 [[ 7.00185303e-01 -7.13768404e-01 -1.65893967e-02 8.94219093e+02] [ 7.13596047e-01 7.00381296e-01 -1.57073535e-02 4.82718490e+01] [ 2.28303158e-02 -8.40069865e-04 9.99739001e-01 6.24334200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2392541539999 meters 0.021744476173346853 Centerline is valid? [True, True] Translation: X:894.24, Y:48.29, Z:6.24 [[ 6.98948650e-01 -7.14985507e-01 -1.63251117e-02 8.94239753e+02] [ 7.14818803e-01 6.99138743e-01 -1.54627248e-02 4.82898815e+01] [ 2.24691422e-02 -8.61846199e-04 9.99747165e-01 6.24366269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2692541539999 meters 0.022020333534427516 Centerline is valid? [True, True] Translation: X:894.26, Y:48.31, Z:6.24 [[ 6.96787540e-01 -7.17091625e-01 -1.63317279e-02 8.94259674e+02] [ 7.16925212e-01 6.96978296e-01 -1.54756311e-02 4.83107507e+01] [ 2.24803054e-02 -9.25400577e-04 9.99746858e-01 6.24454197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2992541539999 meters 0.02471202467633346 Centerline is valid? [True, True] Translation: X:894.28, Y:48.33, Z:6.24 [[ 6.95769944e-01 -7.18058663e-01 -1.72029372e-02 8.94281217e+02] [ 7.17874185e-01 6.95981859e-01 -1.63066345e-02 4.83288956e+01] [ 2.36820524e-02 -1.00387837e-03 9.99719037e-01 6.24315424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3292541539998 meters 0.022795874883840033 Centerline is valid? [True, True] Translation: X:894.30, Y:48.35, Z:6.24 [[ 6.95090061e-01 -7.18728170e-01 -1.67219894e-02 8.94299619e+02] [ 7.18553902e-01 6.95290465e-01 -1.58574793e-02 4.83508215e+01] [ 2.30238568e-02 -9.93274452e-04 9.99734422e-01 6.24486367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3592541539999 meters 0.026083610942049733 Centerline is valid? [True, True] Translation: X:894.32, Y:48.37, Z:6.24 [[ 6.94375200e-01 -7.19382698e-01 -1.82103091e-02 8.94320196e+02] [ 7.19176127e-01 6.94613072e-01 -1.72736408e-02 4.83692794e+01] [ 2.50754770e-02 -1.10203181e-03 9.99684953e-01 6.24328548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3892541539999 meters 0.02387609070287531 Centerline is valid? [True, True] Translation: X:894.34, Y:48.39, Z:6.25 [[ 6.95029379e-01 -7.18814182e-01 -1.55026976e-02 8.94338171e+02] [ 7.18664286e-01 6.95201645e-01 -1.47077270e-02 4.83908597e+01] [ 2.13496236e-02 -9.18932699e-04 9.99771648e-01 6.24597461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4192541539999 meters 0.023931339767653537 Centerline is valid? [True, True] Translation: X:894.36, Y:48.41, Z:6.25 [[ 6.95261350e-01 -7.18592562e-01 -1.53747925e-02 8.94357203e+02] [ 7.18444959e-01 6.95430743e-01 -1.45919013e-02 4.84122169e+01] [ 2.11777351e-02 -9.00757119e-04 9.99775321e-01 6.24585492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4492541539998 meters 0.022529521051325337 Centerline is valid? [True, True] Translation: X:894.37, Y:48.44, Z:6.25 [[ 6.96867028e-01 -7.17040942e-01 -1.51205901e-02 8.94374029e+02] [ 7.16897671e-01 6.97030552e-01 -1.43575260e-02 4.84366302e+01] [ 2.08344472e-02 -8.34629358e-04 9.99782591e-01 6.24631329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4792541539998 meters 0.023597365632065978 Centerline is valid? [True, True] Translation: X:894.39, Y:48.46, Z:6.25 [[ 6.97818625e-01 -7.16108786e-01 -1.54069027e-02 8.94393455e+02] [ 7.15959725e-01 6.97988206e-01 -1.46334293e-02 4.84567111e+01] [ 2.12329637e-02 -8.19242252e-04 9.99774220e-01 6.24559542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5092541539999 meters 0.02185531129911828 Centerline is valid? [True, True] Translation: X:894.41, Y:48.48, Z:6.25 [[ 6.99024016e-01 -7.14914570e-01 -1.62044037e-02 8.94409944e+02] [ 7.14749219e-01 6.99211332e-01 -1.53969855e-02 4.84813478e+01] [ 2.23378319e-02 -8.19222292e-04 9.99750144e-01 6.24568805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5392541539999 meters 0.02018906765110419 Centerline is valid? [True, True] Translation: X:894.43, Y:48.51, Z:6.25 [[ 7.02962229e-01 -7.11044648e-01 -1.61124849e-02 8.94425288e+02] [ 7.10880053e-01 7.03146523e-01 -1.53139358e-02 4.85069118e+01] [ 2.22183298e-02 -6.88925675e-04 9.99752905e-01 6.24586157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5692541539999 meters 0.017419749093046933 Centerline is valid? [True, True] Translation: X:894.44, Y:48.53, Z:6.25 [[ 7.05415235e-01 -7.08631488e-01 -1.51907948e-02 8.94442631e+02] [ 7.08484515e-01 7.05578546e-01 -1.44432510e-02 4.85312605e+01] [ 2.09532413e-02 -5.73953586e-04 9.99780292e-01 6.24742766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5992541539998 meters 0.017467795596986354 Centerline is valid? [True, True] Translation: X:894.46, Y:48.55, Z:6.25 [[ 7.07685611e-01 -7.06357396e-01 -1.55017738e-02 8.94460247e+02] [ 7.06203710e-01 7.07855187e-01 -1.47429629e-02 4.85532930e+01] [ 2.13868119e-02 -5.14027497e-04 9.99771144e-01 6.24728534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6292541539999 meters 0.01917184814324133 Centerline is valid? [True, True] Translation: X:894.47, Y:48.58, Z:6.25 [[ 7.12053980e-01 -7.01927245e-01 -1.66514932e-02 8.94474857e+02] [ 7.01748577e-01 7.12248537e-01 -1.58415844e-02 4.85801745e+01] [ 2.29796414e-02 -4.05098488e-04 9.99735851e-01 6.24569525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6592541539999 meters 0.01865407243835897 Centerline is valid? [True, True] Translation: X:894.49, Y:48.60, Z:6.25 [[ 7.14379221e-01 -6.99573445e-01 -1.61035370e-02 8.94492308e+02] [ 6.99405664e-01 7.14560631e-01 -1.53239073e-02 4.86020820e+01] [ 2.22271522e-02 -3.15824060e-04 9.99752896e-01 6.24511377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6892541539999 meters 0.01752223179370717 Centerline is valid? [True, True] Translation: X:894.51, Y:48.63, Z:6.25 [[ 7.18706475e-01 -6.95136688e-01 -1.56840226e-02 8.94506612e+02] [ 6.94976351e-01 7.18877567e-01 -1.49303284e-02 4.86297254e+01] [ 2.16535111e-02 -1.69501129e-04 9.99765521e-01 6.24741686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7192541539998 meters 0.017484269244166645 Centerline is valid? [True, True] Translation: X:894.52, Y:48.65, Z:6.25 [[ 7.20799706e-01 -6.92978963e-01 -1.50976978e-02 8.94524153e+02] [ 6.92829835e-01 7.20957799e-01 -1.43760936e-02 4.86520280e+01] [ 2.08471334e-02 -9.78514020e-05 9.99782670e-01 6.24722916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7492541539999 meters 0.01663424687374538 Centerline is valid? [True, True] Translation: X:894.54, Y:48.67, Z:6.25 [[ 7.22774498e-01 -6.90927562e-01 -1.47013025e-02 8.94542033e+02] [ 6.90785626e-01 7.22923995e-01 -1.40041344e-02 4.86749512e+01] [ 2.03037668e-02 -3.36172813e-05 9.99793857e-01 6.24762711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7792541539999 meters 0.015187831856069192 Centerline is valid? [True, True] Translation: X:894.56, Y:48.70, Z:6.25 [[ 7.24897432e-01 -6.88720478e-01 -1.37045904e-02 8.94559335e+02] [ 6.88596658e-01 7.25026966e-01 -1.30591391e-02 4.86972562e+01] [ 1.89302941e-02 2.96011875e-05 9.99820805e-01 6.24782763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8092541539999 meters 0.01766749196784173 Centerline is valid? [True, True] Translation: X:894.58, Y:48.72, Z:6.25 [[ 7.28226583e-01 -6.85170947e-01 -1.50604400e-02 8.94575418e+02] [ 6.85020521e-01 7.28382286e-01 -1.43572793e-02 4.87226306e+01] [ 2.08069484e-02 1.38642008e-04 9.99783502e-01 6.24575369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8392541539998 meters 0.019129291852685762 Centerline is valid? [True, True] Translation: X:894.59, Y:48.74, Z:6.24 [[ 7.29692000e-01 -6.83596969e-01 -1.56450944e-02 8.94593894e+02] [ 6.83434112e-01 7.29859675e-01 -1.49221130e-02 4.87446186e+01] [ 2.16194347e-02 1.96155249e-04 9.99766253e-01 6.24461535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8692541539999 meters 0.016882744509170093 Centerline is valid? [True, True] Translation: X:894.61, Y:48.77, Z:6.25 [[ 7.31060298e-01 -6.82145743e-01 -1.51005293e-02 8.94612997e+02] [ 6.81993568e-01 7.31216198e-01 -1.44098616e-02 4.87657430e+01] [ 2.08713774e-02 2.36013869e-04 9.99782141e-01 6.24591881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8992541539999 meters 0.015083269924045111 Centerline is valid? [True, True] Translation: X:894.63, Y:48.79, Z:6.25 [[ 7.33593340e-01 -6.79448487e-01 -1.38045499e-02 8.94629686e+02] [ 6.79320764e-01 7.33723156e-01 -1.31768708e-02 4.87889425e+01] [ 1.90817228e-02 2.88747292e-04 9.99817886e-01 6.24645096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9292541539999 meters 0.017857233393679124 Centerline is valid? [True, True] Translation: X:894.65, Y:48.81, Z:6.24 [[ 7.33705348e-01 -6.79309554e-01 -1.46626152e-02 8.94649444e+02] [ 6.79165320e-01 7.33851778e-01 -1.40012994e-02 4.88101900e+01] [ 2.02714027e-02 3.14488551e-04 9.99794465e-01 6.24429579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9592541539998 meters 0.018816903422994257 Centerline is valid? [True, True] Translation: X:894.67, Y:48.83, Z:6.24 [[ 7.34233819e-01 -6.78725137e-01 -1.52606327e-02 8.94669720e+02] [ 6.78568618e-01 7.34392311e-01 -1.45796029e-02 4.88307224e+01] [ 2.11028344e-02 3.49451091e-04 9.99777249e-01 6.24406372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9892541539999 meters 0.015278262864466065 Centerline is valid? [True, True] Translation: X:894.69, Y:48.85, Z:6.25 [[ 7.35438702e-01 -6.77444143e-01 -1.41190915e-02 8.94690135e+02] [ 6.77309801e-01 7.35574130e-01 -1.34956189e-02 4.88518033e+01] [ 1.95281665e-02 3.62201374e-04 9.99809242e-01 6.24677557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0192541539999 meters 0.016997813582881865 Centerline is valid? [True, True] Translation: X:894.71, Y:48.87, Z:6.24 [[ 7.35311820e-01 -6.77574391e-01 -1.44731300e-02 8.94708531e+02] [ 6.77433170e-01 7.35454150e-01 -1.38381438e-02 4.88723259e+01] [ 2.00206954e-02 3.70772378e-04 9.99799497e-01 6.24456894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0492541539999 meters 0.0189771540368849 Centerline is valid? [True, True] Translation: X:894.73, Y:48.89, Z:6.24 [[ 7.34626127e-01 -6.78307027e-01 -1.49676347e-02 8.94730522e+02] [ 6.78156008e-01 7.34778498e-01 -1.43173791e-02 4.88903091e+01] [ 2.07094750e-02 3.67529344e-04 9.99785468e-01 6.24436437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0792541539998 meters 0.017259979993712114 Centerline is valid? [True, True] Translation: X:894.75, Y:48.91, Z:6.24 [[ 7.34458908e-01 -6.78508848e-01 -1.39948698e-02 8.94749022e+02] [ 6.78376778e-01 7.34592150e-01 -1.33910230e-02 4.89108186e+01] [ 1.93664490e-02 3.41361416e-04 9.99812394e-01 6.24481328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1092541539999 meters 0.01839616317527516 Centerline is valid? [True, True] Translation: X:894.77, Y:48.93, Z:6.25 [[ 7.33586123e-01 -6.79443061e-01 -1.44404575e-02 8.94771037e+02] [ 6.79302509e-01 7.33728163e-01 -1.38233229e-02 4.89281537e+01] [ 1.99875312e-02 3.31158835e-04 9.99800174e-01 6.24510128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1392541539999 meters 0.018877684545316544 Centerline is valid? [True, True] Translation: X:894.79, Y:48.95, Z:6.25 [[ 7.32508708e-01 -6.80616899e-01 -1.38430249e-02 8.94791715e+02] [ 6.80487855e-01 7.32639443e-01 -1.32561564e-02 4.89473134e+01] [ 1.91643101e-02 2.90239646e-04 9.99816306e-01 6.24511317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1692541539999 meters 0.01658026521450612 Centerline is valid? [True, True] Translation: X:894.81, Y:48.96, Z:6.25 [[ 7.31875104e-01 -6.81308908e-01 -1.33043163e-02 8.94814593e+02] [ 6.81189733e-01 7.31995971e-01 -1.27454025e-02 4.89645686e+01] [ 1.84222621e-02 2.65279096e-04 9.99830261e-01 6.24855331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1992541539998 meters 0.014858423629527223 Centerline is valid? [True, True] Translation: X:894.83, Y:48.98, Z:6.25 [[ 7.31807301e-01 -6.81389241e-01 -1.29141761e-02 8.94834933e+02] [ 6.81276893e-01 7.31921195e-01 -1.23757949e-02 4.89829478e+01] [ 1.78848927e-02 2.58567345e-04 9.99840019e-01 6.25039247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2292541539998 meters 0.017770056173875094 Centerline is valid? [True, True] Translation: X:894.86, Y:49.00, Z:6.25 [[ 7.30454329e-01 -6.82826058e-01 -1.36032578e-02 8.94857440e+02] [ 6.82701549e-01 7.30580945e-01 -1.30413916e-02 4.90017632e+01] [ 1.88432830e-02 2.39175824e-04 9.99822421e-01 6.24876751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2592541539999 meters 0.01776795105569278 Centerline is valid? [True, True] Translation: X:894.88, Y:49.02, Z:6.25 [[ 7.29828259e-01 -6.83496643e-01 -1.35296544e-02 8.94878446e+02] [ 6.83373464e-01 7.29953621e-01 -1.29776767e-02 4.90206753e+01] [ 1.87462187e-02 2.25668396e-04 9.99824249e-01 6.24888780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2892541539999 meters 0.014587229428258021 Centerline is valid? [True, True] Translation: X:894.90, Y:49.04, Z:6.25 [[ 7.29515703e-01 -6.83847850e-01 -1.26078019e-02 8.94901248e+02] [ 6.83740839e-01 7.29624613e-01 -1.20991659e-02 4.90393527e+01] [ 1.74729512e-02 2.06062462e-04 9.99847315e-01 6.25151178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3192541539999 meters 0.01648847914978676 Centerline is valid? [True, True] Translation: X:894.92, Y:49.06, Z:6.25 [[ 7.28202411e-01 -6.85233413e-01 -1.32822471e-02 8.94923220e+02] [ 6.85114756e-01 7.28323510e-01 -1.27528741e-02 4.90577027e+01] [ 1.84124683e-02 1.86810143e-04 9.99830459e-01 6.25035330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3492541539998 meters 0.016637014551092913 Centerline is valid? [True, True] Translation: X:894.94, Y:49.08, Z:6.25 [[ 7.27546069e-01 -6.85933826e-01 -1.30959256e-02 8.94944207e+02] [ 6.85818518e-01 7.27663904e-01 -1.25778459e-02 4.90758035e+01] [ 1.81570023e-02 1.69534046e-04 9.99835134e-01 6.25050947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3792541539999 meters 0.013665987794281435 Centerline is valid? [True, True] Translation: X:894.97, Y:49.09, Z:6.25 [[ 7.26138093e-01 -6.87429401e-01 -1.28175282e-02 8.94967954e+02] [ 6.87319095e-01 7.26251197e-01 -1.23150157e-02 4.90925241e+01] [ 1.77744490e-02 1.32670171e-04 9.99842013e-01 6.25318890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4092541539999 meters 0.015210314759742726 Centerline is valid? [True, True] Translation: X:894.99, Y:49.11, Z:6.25 [[ 7.24634272e-01 -6.89015385e-01 -1.27660517e-02 8.94989352e+02] [ 6.88906144e-01 7.24746708e-01 -1.22692437e-02 4.91107525e+01] [ 1.77058516e-02 9.61030551e-05 9.99843235e-01 6.25086179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4392541539999 meters 0.017009346480857484 Centerline is valid? [True, True] Translation: X:895.01, Y:49.13, Z:6.25 [[ 7.23152433e-01 -6.90574663e-01 -1.25376970e-02 8.95012418e+02] [ 6.90469454e-01 7.23261109e-01 -1.20540955e-02 4.91288733e+01] [ 1.73922816e-02 6.00516461e-05 9.99848741e-01 6.25077623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4692541539998 meters 0.015950734752599418 Centerline is valid? [True, True] Translation: X:895.03, Y:49.15, Z:6.25 [[ 7.22116214e-01 -6.91659873e-01 -1.24416488e-02 8.95034174e+02] [ 6.91556322e-01 7.22223386e-01 -1.19680650e-02 4.91460558e+01] [ 1.72634800e-02 3.82329118e-05 9.99850974e-01 6.25213897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4992541539999 meters 0.01688358315779147 Centerline is valid? [True, True] Translation: X:895.06, Y:49.16, Z:6.25 [[ 7.20119587e-01 -6.93752443e-01 -1.16330155e-02 8.95057273e+02] [ 6.93662130e-01 7.20213543e-01 -1.11938410e-02 4.91622367e+01] [ 1.61440098e-02 -8.47812701e-06 9.99869677e-01 6.25125507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5292541539999 meters 0.017666682796094256 Centerline is valid? [True, True] Translation: X:895.08, Y:49.18, Z:6.25 [[ 7.19100256e-01 -6.94811500e-01 -1.14805018e-02 8.95078835e+02] [ 6.94723609e-01 7.19191893e-01 -1.10511416e-02 4.91799572e+01] [ 1.59351440e-02 -2.88968974e-05 9.99873027e-01 6.25154396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5592541539999 meters 0.01667788721985653 Centerline is valid? [True, True] Translation: X:895.10, Y:49.20, Z:6.25 [[ 7.17517042e-01 -6.96461585e-01 -1.05145191e-02 8.95101091e+02] [ 6.96387963e-01 7.17594075e-01 -1.01266020e-02 4.91972318e+01] [ 1.45979459e-02 -5.61750318e-05 9.99893443e-01 6.25414692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5892541539998 meters 0.01653213625367695 Centerline is valid? [True, True] Translation: X:895.12, Y:49.22, Z:6.25 [[ 7.16754634e-01 -6.97251194e-01 -1.01768217e-02 8.95122356e+02] [ 6.97182227e-01 7.16826875e-01 -9.80685745e-03 4.92156805e+01] [ 1.41328623e-02 -6.59886672e-05 9.99900124e-01 6.25450880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6192541539999 meters 0.013762814377284518 Centerline is valid? [True, True] Translation: X:895.14, Y:49.23, Z:6.26 [[ 7.16286668e-01 -6.97730799e-01 -1.02538381e-02 8.95143685e+02] [ 6.97660753e-01 7.16360054e-01 -9.88669431e-03 4.92340227e+01] [ 1.42436911e-02 -7.19931003e-05 9.99898551e-01 6.25687651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6492541539999 meters 0.016882215874880445 Centerline is valid? [True, True] Translation: X:895.16, Y:49.25, Z:6.25 [[ 7.15121132e-01 -6.98927951e-01 -1.00740436e-02 8.95164456e+02] [ 6.98860382e-01 7.15192080e-01 -9.71881490e-03 4.92525105e+01] [ 1.39976276e-02 -9.02200576e-05 9.99902024e-01 6.25485439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6792541539999 meters 0.017716074653192478 Centerline is valid? [True, True] Translation: X:895.19, Y:49.27, Z:6.25 [[ 7.13994330e-01 -7.00076150e-01 -1.02703803e-02 8.95186289e+02] [ 7.00005987e-01 7.14068184e-01 -9.91193390e-03 4.92705274e+01] [ 1.42728603e-02 -1.12263073e-04 9.99898131e-01 6.25413551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7092541539998 meters 0.013661144513092098 Centerline is valid? [True, True] Translation: X:895.21, Y:49.29, Z:6.26 [[ 7.14118338e-01 -6.99944194e-01 -1.06359994e-02 8.95207055e+02] [ 6.99868874e-01 7.14197530e-01 -1.02687386e-02 4.92893012e+01] [ 1.47837485e-02 -1.10710381e-04 9.99890708e-01 6.25733930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7392541539999 meters 0.01808783817319019 Centerline is valid? [True, True] Translation: X:895.23, Y:49.31, Z:6.25 [[ 7.13044408e-01 -7.01040861e-01 -1.04586309e-02 8.95228793e+02] [ 7.00968073e-01 7.13121094e-01 -1.01027332e-02 4.93083235e+01] [ 1.45406991e-02 -1.27468950e-04 9.99894270e-01 6.25427808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7692541539999 meters 0.013699040467509254 Centerline is valid? [True, True] Translation: X:895.25, Y:49.33, Z:6.26 [[ 7.13346015e-01 -7.00728307e-01 -1.08306683e-02 8.95248810e+02] [ 7.00650127e-01 7.13428220e-01 -1.04677962e-02 4.93272692e+01] [ 1.50619855e-02 -1.21348437e-04 9.99886554e-01 6.25829939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7992541539999 meters 0.01794996133534791 Centerline is valid? [True, True] Translation: X:895.27, Y:49.35, Z:6.26 [[ 7.12525193e-01 -7.01572998e-01 -1.01576810e-02 8.95269219e+02] [ 7.01504240e-01 7.12597581e-01 -9.82285667e-03 4.93463773e+01] [ 1.41297899e-02 -1.26623465e-04 9.99900162e-01 6.25534992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8292541539998 meters 0.015584420365224306 Centerline is valid? [True, True] Translation: X:895.29, Y:49.37, Z:6.26 [[ 7.12424167e-01 -7.01677100e-01 -1.00525249e-02 8.95289798e+02] [ 7.01609690e-01 7.12495075e-01 -9.72678722e-03 4.93656759e+01] [ 1.39874383e-02 -1.23350612e-04 9.99902163e-01 6.25673971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8592541539999 meters 0.01383018998437063 Centerline is valid? [True, True] Translation: X:895.31, Y:49.38, Z:6.26 [[ 7.12379959e-01 -7.01714384e-01 -1.05696609e-02 8.95310083e+02] [ 7.01639801e-01 7.12458355e-01 -1.02314554e-02 4.93836097e+01] [ 1.47100027e-02 -1.27410988e-04 9.99891794e-01 6.25862745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8892541539999 meters 0.01765546216445774 Centerline is valid? [True, True] Translation: X:895.33, Y:49.40, Z:6.26 [[ 7.09932856e-01 -7.04198813e-01 -9.96852678e-03 8.95331809e+02] [ 7.04132667e-01 7.10002820e-01 -9.65311085e-03 4.94029984e+01] [ 1.38753913e-02 -1.66104789e-04 9.99903718e-01 6.25624611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9192541539999 meters 0.014331853145065986 Centerline is valid? [True, True] Translation: X:895.35, Y:49.42, Z:6.26 [[ 7.09023006e-01 -7.05107576e-01 -1.04729399e-02 8.95353783e+02] [ 7.05034590e-01 7.09100324e-01 -1.01467930e-02 4.94221533e+01] [ 1.45809457e-02 -1.89475191e-04 9.99893674e-01 6.25981324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9492541539998 meters 0.019993923310050538 Centerline is valid? [True, True] Translation: X:895.37, Y:49.44, Z:6.26 [[ 7.06667907e-01 -7.07475763e-01 -9.92542593e-03 8.95374972e+02] [ 7.07410397e-01 7.06737572e-01 -9.61948591e-03 4.94407775e+01] [ 1.38202245e-02 -2.23567524e-04 9.99904471e-01 6.25622890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9792541539998 meters 0.018042406444446258 Centerline is valid? [True, True] Translation: X:895.40, Y:49.46, Z:6.26 [[ 7.04828008e-01 -7.09308469e-01 -9.94858938e-03 8.95396777e+02] [ 7.09242951e-01 7.04898169e-01 -9.64406842e-03 4.94579566e+01] [ 1.38533618e-02 -2.58557352e-04 9.99904004e-01 6.25780099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0092541539999 meters 0.01787339084536115 Centerline is valid? [True, True] Translation: X:895.42, Y:49.48, Z:6.26 [[ 7.00663226e-01 -7.13432267e-01 -9.24363458e-03 8.95420344e+02] [ 7.13376035e-01 7.00724127e-01 -8.96275892e-03 4.94751788e+01] [ 1.28715592e-02 -3.14311811e-04 9.99917109e-01 6.26096612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0392541539999 meters 0.01787339084536115 Centerline is valid? [True, True] Translation: X:895.44, Y:49.49, Z:6.26 [[ 7.00463855e-01 -7.13628036e-01 -9.24196226e-03 8.95440087e+02] [ 7.13571798e-01 7.00524751e-01 -8.96448311e-03 4.94944321e+01] [ 1.28715298e-02 -3.15507229e-04 9.99917109e-01 6.26115696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0692541539999 meters 0.020092429122508144 Centerline is valid? [True, True] Translation: X:895.46, Y:49.51, Z:6.26 [[ 6.98172274e-01 -7.15872250e-01 -9.07728251e-03 8.95461631e+02] [ 7.15818144e-01 6.98231194e-01 -8.80818363e-03 4.95131772e+01] [ 1.26435760e-02 -3.48053922e-04 9.99920006e-01 6.26054921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0992541539998 meters 0.02219560947413709 Centerline is valid? [True, True] Translation: X:895.48, Y:49.53, Z:6.26 [[ 6.96105563e-01 -7.17884678e-01 -8.86761421e-03 8.95483420e+02] [ 7.17833171e-01 6.96161942e-01 -8.60749249e-03 4.95322477e+01] [ 1.23524825e-02 -3.73744228e-04 9.99923635e-01 6.26003828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1292541539999 meters 0.02232495272352531 Centerline is valid? [True, True] Translation: X:895.50, Y:49.55, Z:6.26 [[ 6.93982623e-01 -7.19946289e-01 -8.09068304e-03 8.95504833e+02] [ 7.19903521e-01 6.94029684e-01 -7.85615538e-03 4.95497728e+01] [ 1.12711841e-02 -3.72475889e-04 9.99936409e-01 6.26187655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1592541539999 meters 0.02054161231426663 Centerline is valid? [True, True] Translation: X:895.52, Y:49.57, Z:6.26 [[ 6.93805544e-01 -7.20115472e-01 -8.22032229e-03 8.95524555e+02] [ 7.20071302e-01 6.93854136e-01 -7.98484744e-03 4.95691957e+01] [ 1.14537168e-02 -3.79286753e-04 9.99934332e-01 6.26479303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1892541539999 meters 0.020321842858868212 Centerline is valid? [True, True] Translation: X:895.54, Y:49.59, Z:6.26 [[ 6.93453595e-01 -7.20455562e-01 -8.11749825e-03 8.95543751e+02] [ 7.20412467e-01 6.93501002e-01 -7.88905052e-03 4.95903152e+01] [ 1.13132035e-02 -3.77256492e-04 9.99935932e-01 6.26468725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2192541539998 meters 0.02178458250459008 Centerline is valid? [True, True] Translation: X:895.56, Y:49.61, Z:6.26 [[ 6.94466348e-01 -7.19472098e-01 -8.74019801e-03 8.95560594e+02] [ 7.19422006e-01 6.94521239e-01 -8.49856300e-03 4.96141366e+01] [ 1.21847321e-02 -3.85924774e-04 9.99925689e-01 6.26149896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2492541539999 meters 0.01802343874823803 Centerline is valid? [True, True] Translation: X:895.58, Y:49.64, Z:6.26 [[ 6.96262250e-01 -7.17728221e-01 -9.22382066e-03 8.95580265e+02] [ 7.17672222e-01 6.96323245e-01 -8.97329913e-03 4.96357222e+01] [ 1.28631508e-02 -3.71910427e-04 9.99917197e-01 6.26477768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2792541539999 meters 0.019731403774620793 Centerline is valid? [True, True] Translation: X:895.60, Y:49.66, Z:6.26 [[ 6.97362892e-01 -7.16654977e-01 -9.52058558e-03 8.95597807e+02] [ 7.16595154e-01 6.97427785e-01 -9.26661920e-03 4.96592271e+01] [ 1.32808897e-02 -3.60209132e-04 9.99911740e-01 6.26158253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3092541539999 meters 0.01985771818580131 Centerline is valid? [True, True] Translation: X:895.62, Y:49.68, Z:6.26 [[ 7.01354892e-01 -7.12740966e-01 -1.00811789e-02 8.95615793e+02] [ 7.12673428e-01 7.01427277e-01 -9.81625878e-03 4.96816974e+01] [ 1.40676636e-02 -2.99907186e-04 9.99901001e-01 6.26045606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3392541539998 meters 0.01832581689490372 Centerline is valid? [True, True] Translation: X:895.63, Y:49.71, Z:6.26 [[ 7.03322218e-01 -7.10798852e-01 -1.01414231e-02 8.95633518e+02] [ 7.10730248e-01 7.03395283e-01 -9.87882842e-03 4.97051599e+01] [ 1.41552891e-02 -2.59816658e-04 9.99899775e-01 6.26130435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3692541539999 meters 0.01666974476206305 Centerline is valid? [True, True] Translation: X:895.65, Y:49.73, Z:6.26 [[ 7.05768082e-01 -7.08365229e-01 -1.04936811e-02 8.95651653e+02] [ 7.08291454e-01 7.05846057e-01 -1.02254703e-02 4.97265464e+01] [ 1.46502910e-02 -2.15774112e-04 9.99892655e-01 6.26216637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3992541539999 meters 0.01905633179543648 Centerline is valid? [True, True] Translation: X:895.67, Y:49.75, Z:6.26 [[ 7.09698518e-01 -7.04417105e-01 -1.11604264e-02 8.95667911e+02] [ 7.04333104e-01 7.09786251e-01 -1.08791511e-02 4.97509769e+01] [ 1.55849773e-02 -1.39740329e-04 9.99878537e-01 6.26034499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4292541539999 meters 0.015620823182028114 Centerline is valid? [True, True] Translation: X:895.69, Y:49.77, Z:6.26 [[ 7.11801055e-01 -7.02301834e-01 -1.05542497e-02 8.95687173e+02] [ 7.02226406e-01 7.11879292e-01 -1.02931089e-02 4.97732011e+01] [ 1.47422210e-02 -8.48270908e-05 9.99891324e-01 6.26293504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4592541539998 meters 0.017871397564631998 Centerline is valid? [True, True] Translation: X:895.70, Y:49.80, Z:6.26 [[ 7.14324580e-01 -6.99737353e-01 -1.03937932e-02 8.95704542e+02] [ 6.99663857e-01 7.14400193e-01 -1.01415545e-02 4.97966867e+01] [ 1.45217524e-02 -2.77997930e-05 9.99894553e-01 6.26173864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4892541539999 meters 0.016434138621472943 Centerline is valid? [True, True] Translation: X:895.72, Y:49.82, Z:6.26 [[ 7.15004038e-01 -6.99044623e-01 -1.02879016e-02 8.95723570e+02] [ 6.98972467e-01 7.15078048e-01 -1.00437080e-02 4.98173634e+01] [ 1.43776527e-02 -9.66822000e-06 9.99896636e-01 6.26297417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5192541539999 meters 0.015136957293233914 Centerline is valid? [True, True] Translation: X:895.74, Y:49.84, Z:6.26 [[ 7.15401891e-01 -6.98644656e-01 -9.78666572e-03 8.95742327e+02] [ 6.98579269e-01 7.15468829e-01 -9.55823905e-03 4.98369640e+01] [ 1.36798669e-02 1.22051030e-06 9.99906426e-01 6.26412859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5492541539999 meters 0.017368418426023064 Centerline is valid? [True, True] Translation: X:895.76, Y:49.86, Z:6.26 [[ 7.14473758e-01 -6.99581266e-01 -1.06443209e-02 8.95762629e+02] [ 6.99503959e-01 7.14553043e-01 -1.03999817e-02 4.98580016e+01] [ 1.48815643e-02 -1.52305878e-05 9.99889263e-01 6.26268660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5792541539998 meters 0.013784361864723125 Centerline is valid? [True, True] Translation: X:895.78, Y:49.88, Z:6.27 [[ 7.13953798e-01 -7.00120348e-01 -1.00734304e-02 8.95783178e+02] [ 7.00051092e-01 7.14024858e-01 -9.84733153e-03 4.98773701e+01] [ 1.40869969e-02 -2.13762112e-05 9.99900773e-01 6.26619398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6092541539999 meters 0.017268806113299295 Centerline is valid? [True, True] Translation: X:895.80, Y:49.90, Z:6.26 [[ 7.12270151e-01 -7.01818469e-01 -1.10485242e-02 8.95803480e+02] [ 7.01735267e-01 7.12355834e-01 -1.08065074e-02 4.98973388e+01] [ 1.54546872e-02 -5.59863944e-05 9.99880568e-01 6.26255658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6392541539999 meters 0.01947617761226999 Centerline is valid? [True, True] Translation: X:895.82, Y:49.92, Z:6.26 [[ 7.08987975e-01 -7.05126660e-01 -1.15084884e-02 8.95824964e+02] [ 7.05036762e-01 7.09081361e-01 -1.12600245e-02 4.99160186e+01] [ 1.61001981e-02 -1.30685470e-04 9.99870375e-01 6.26156826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6692541539999 meters 0.017922374796555212 Centerline is valid? [True, True] Translation: X:895.85, Y:49.94, Z:6.26 [[ 7.07269041e-01 -7.06849196e-01 -1.16067929e-02 8.95846074e+02] [ 7.06757920e-01 7.07364253e-01 -1.13603037e-02 4.99357227e+01] [ 1.62402519e-02 -1.68401679e-04 9.99868104e-01 6.26299482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6992541539998 meters 0.018706580390323677 Centerline is valid? [True, True] Translation: X:895.87, Y:49.96, Z:6.26 [[ 7.05371441e-01 -7.08741067e-01 -1.17145107e-02 8.95867225e+02] [ 7.08648255e-01 7.05468678e-01 -1.14714687e-02 4.99558231e+01] [ 1.63945213e-02 -2.09821175e-04 9.99865579e-01 6.26270577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7292541539998 meters 0.019600787797412464 Centerline is valid? [True, True] Translation: X:895.89, Y:49.98, Z:6.26 [[ 7.01996306e-01 -7.12079383e-01 -1.20057630e-02 8.95889285e+02] [ 7.11982285e-01 7.02098902e-01 -1.17625797e-02 4.99751038e+01] [ 1.68051235e-02 -2.90603046e-04 9.99858742e-01 6.26234914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7592541539999 meters 0.01810132393276041 Centerline is valid? [True, True] Translation: X:895.91, Y:49.99, Z:6.26 [[ 7.00603711e-01 -7.13461238e-01 -1.12916717e-02 8.95909908e+02] [ 7.13375460e-01 7.00694635e-01 -1.10671186e-02 4.99930965e+01] [ 1.58079740e-02 -3.01537138e-04 9.99875001e-01 6.26405706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7892541539999 meters 0.017927591852022765 Centerline is valid? [True, True] Translation: X:895.93, Y:50.01, Z:6.27 [[ 6.98285248e-01 -7.15730192e-01 -1.13139354e-02 8.95930663e+02] [ 7.15644332e-01 6.98376810e-01 -1.10915165e-02 5.00123276e+01] [ 1.58399233e-02 -3.51711401e-04 9.99874479e-01 6.26508246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8192541539999 meters 0.020434068420378912 Centerline is valid? [True, True] Translation: X:895.95, Y:50.03, Z:6.26 [[ 6.97314373e-01 -7.16663064e-01 -1.21127242e-02 8.95951129e+02] [ 7.16564752e-01 6.97419454e-01 -1.18769590e-02 5.00306037e+01] [ 1.69594274e-02 -3.97577010e-04 9.99856100e-01 6.26259959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8492541539998 meters 0.020631162827956923 Centerline is valid? [True, True] Translation: X:895.97, Y:50.05, Z:6.26 [[ 6.96688590e-01 -7.17264509e-01 -1.25153228e-02 8.95970466e+02] [ 7.17159566e-01 6.96800866e-01 -1.22764269e-02 5.00522856e+01] [ 1.75261331e-02 -4.22636912e-04 9.99846316e-01 6.26259168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8792541539999 meters 0.017219563739033283 Centerline is valid? [True, True] Translation: X:895.99, Y:50.07, Z:6.27 [[ 6.96728081e-01 -7.17234832e-01 -1.20073494e-02 8.95989197e+02] [ 7.17138134e-01 6.96831425e-01 -1.17840094e-02 5.00738905e+01] [ 1.68190004e-02 -4.00677876e-04 9.99858470e-01 6.26577487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9092541539999 meters 0.017938493824937677 Centerline is valid? [True, True] Translation: X:896.01, Y:50.09, Z:6.27 [[ 6.96892889e-01 -7.17070195e-01 -1.22733789e-02 8.96008974e+02] [ 7.16969022e-01 6.97000842e-01 -1.20518437e-02 5.00944596e+01] [ 1.71965734e-02 -4.00788275e-04 9.99852048e-01 6.26502254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9392541539999 meters 0.019153456048085243 Centerline is valid? [True, True] Translation: X:896.03, Y:50.11, Z:6.26 [[ 6.97448810e-01 -7.16525967e-01 -1.24778336e-02 8.96028425e+02] [ 7.16421234e-01 6.97560310e-01 -1.22568290e-02 5.01144543e+01] [ 1.74863777e-02 -3.90874121e-04 9.99847025e-01 6.26407759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9692541539998 meters 0.020179108731673816 Centerline is valid? [True, True] Translation: X:896.05, Y:50.14, Z:6.26 [[ 6.98319076e-01 -7.15675793e-01 -1.25947717e-02 8.96047623e+02] [ 7.15568866e-01 6.98432547e-01 -1.23764182e-02 5.01356097e+01] [ 1.76541014e-02 -3.69737639e-04 9.99844086e-01 6.26400578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9992541539999 meters 0.01578602579188551 Centerline is valid? [True, True] Translation: X:896.07, Y:50.16, Z:6.27 [[ 7.01970542e-01 -7.12120882e-01 -1.10094313e-02 8.96065831e+02] [ 7.12038692e-01 7.02056828e-01 -1.08218029e-02 5.01567442e+01] [ 1.54356783e-02 -2.42554203e-04 9.99880833e-01 6.26759920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0292541539999 meters 0.018912373426079897 Centerline is valid? [True, True] Translation: X:896.08, Y:50.18, Z:6.26 [[ 7.03304519e-01 -7.10783241e-01 -1.22449185e-02 8.96084558e+02] [ 7.10681286e-01 7.03411067e-01 -1.20408085e-02 5.01785348e+01] [ 1.71716161e-02 -2.33879371e-04 9.99852530e-01 6.26498341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0592541539999 meters 0.017320373733529057 Centerline is valid? [True, True] Translation: X:896.10, Y:50.20, Z:6.27 [[ 7.07041554e-01 -7.07083128e-01 -1.12112469e-02 8.96102176e+02] [ 7.06997109e-01 7.07130422e-01 -1.10297004e-02 5.02015869e+01] [ 1.57267288e-02 -1.27862668e-04 9.99876319e-01 6.26613299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0892541539998 meters 0.014827309397885102 Centerline is valid? [True, True] Translation: X:896.12, Y:50.22, Z:6.27 [[ 7.08971912e-01 -7.05162593e-01 -1.02247043e-02 8.96120981e+02] [ 7.05090777e-01 7.09045634e-01 -1.00640217e-02 5.02233566e+01] [ 1.43465536e-02 -7.42359707e-05 9.99897080e-01 6.26823560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1192541539999 meters 0.01722146689699378 Centerline is valid? [True, True] Translation: X:896.14, Y:50.24, Z:6.27 [[ 7.10793395e-01 -7.03316908e-01 -1.08663009e-02 8.96138300e+02] [ 7.03235517e-01 7.10876449e-01 -1.06996549e-02 5.02437255e+01] [ 1.52498456e-02 -3.63247547e-05 9.99883714e-01 6.26604889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1492541539999 meters 0.01512216821432769 Centerline is valid? [True, True] Translation: X:896.16, Y:50.27, Z:6.27 [[ 7.12811718e-01 -7.01281164e-01 -1.02070883e-02 8.96156798e+02] [ 7.01209080e-01 7.12884794e-01 -1.00547127e-02 5.02651173e+01] [ 1.43276587e-02 9.81403402e-06 9.99897354e-01 6.26794228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1792541539999 meters 0.01542280779055961 Centerline is valid? [True, True] Translation: X:896.18, Y:50.29, Z:6.27 [[ 7.16636901e-01 -6.97365333e-01 -1.06369529e-02 8.96175138e+02] [ 6.97286529e-01 7.16715832e-01 -1.04839632e-02 5.02880346e+01] [ 1.49348251e-02 9.61909147e-05 9.99888465e-01 6.26749688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2092541539998 meters 0.01693011377579961 Centerline is valid? [True, True] Translation: X:896.19, Y:50.31, Z:6.27 [[ 7.18460119e-01 -6.95473244e-01 -1.14901761e-02 8.96193549e+02] [ 6.95380985e-01 7.18551978e-01 -1.13287684e-02 5.03093791e+01] [ 1.61351441e-02 1.49218275e-04 9.99869809e-01 6.26564617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2392541539999 meters 0.0170041621044837 Centerline is valid? [True, True] Translation: X:896.21, Y:50.33, Z:6.27 [[ 7.21324386e-01 -6.92495986e-01 -1.18506673e-02 8.96212782e+02] [ 6.92397408e-01 7.21421693e-01 -1.16863476e-02 5.03301641e+01] [ 1.66420773e-02 2.24276240e-04 9.99861486e-01 6.26620603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2692541539999 meters 0.018136466749745447 Centerline is valid? [True, True] Translation: X:896.23, Y:50.35, Z:6.27 [[ 7.22262531e-01 -6.91518656e-01 -1.17806837e-02 8.96232384e+02] [ 6.91421074e-01 7.22358558e-01 -1.16194388e-02 5.03502715e+01] [ 1.65449364e-02 2.46872285e-04 9.99863093e-01 6.26559907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2992541539999 meters 0.015354052690272211 Centerline is valid? [True, True] Translation: X:896.25, Y:50.37, Z:6.27 [[ 7.22944451e-01 -6.90824676e-01 -1.06107240e-02 8.96252755e+02] [ 6.90745380e-01 7.23022274e-01 -1.04694992e-02 5.03694161e+01] [ 1.49043782e-02 2.39557757e-04 9.99888895e-01 6.26873453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3292541539998 meters 0.01808113227457778 Centerline is valid? [True, True] Translation: X:896.27, Y:50.39, Z:6.27 [[ 7.22736325e-01 -6.91044229e-01 -1.04918379e-02 8.96273185e+02] [ 6.90966651e-01 7.22812436e-01 -1.03570968e-02 5.03867020e+01] [ 1.47408428e-02 2.35939961e-04 9.99891320e-01 6.26758740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3592541539999 meters 0.01661961756099869 Centerline is valid? [True, True] Translation: X:896.30, Y:50.41, Z:6.27 [[ 7.22334319e-01 -6.91473858e-01 -9.85064054e-03 8.96295973e+02] [ 6.91405453e-01 7.22401452e-01 -9.72839429e-03 5.04051324e+01] [ 1.38430474e-02 2.16366484e-04 9.99904157e-01 6.26939294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3892541539999 meters 0.01901791054357758 Centerline is valid? [True, True] Translation: X:896.32, Y:50.42, Z:6.27 [[ 7.21674114e-01 -6.92157068e-01 -1.02501725e-02 8.96316392e+02] [ 6.92083012e-01 7.21746872e-01 -1.01270464e-02 5.04234879e+01] [ 1.44075367e-02 2.14457026e-04 9.99896183e-01 6.26770499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4192541539999 meters 0.017403624387678056 Centerline is valid? [True, True] Translation: X:896.34, Y:50.44, Z:6.27 [[ 7.20503214e-01 -6.93384807e-01 -9.62437674e-03 8.96340601e+02] [ 6.93319578e-01 7.20567468e-01 -9.51243199e-03 5.04401119e+01] [ 1.35307886e-02 1.80969004e-04 9.99908438e-01 6.26816487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4492541539998 meters 0.014718961245966151 Centerline is valid? [True, True] Translation: X:896.36, Y:50.46, Z:6.27 [[ 7.20026187e-01 -6.93884453e-01 -9.30897235e-03 8.96362299e+02] [ 6.93823429e-01 7.20086341e-01 -9.20387631e-03 5.04583288e+01] [ 1.30896905e-02 1.68248844e-04 9.99914312e-01 6.27013039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4792541539998 meters 0.01639460536496232 Centerline is valid? [True, True] Translation: X:896.38, Y:50.48, Z:6.27 [[ 7.19204738e-01 -6.94729220e-01 -9.79062091e-03 8.96383620e+02] [ 6.94661746e-01 7.19271357e-01 -9.68373769e-03 5.04763156e+01] [ 1.37696887e-02 1.63420220e-04 9.99905180e-01 6.26819056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5092541539999 meters 0.016349061408694625 Centerline is valid? [True, True] Translation: X:896.41, Y:50.49, Z:6.27 [[ 7.18063183e-01 -6.95911493e-01 -9.61552391e-03 8.96406760e+02] [ 6.95846469e-01 7.18127547e-01 -9.51407930e-03 5.04923335e+01] [ 1.35261297e-02 1.40781705e-04 9.99908508e-01 6.26833459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5392541539999 meters 0.018870938536321075 Centerline is valid? [True, True] Translation: X:896.43, Y:50.51, Z:6.27 [[ 7.17311846e-01 -6.96676116e-01 -1.03007212e-02 8.96429140e+02] [ 6.96601514e-01 7.17385789e-01 -1.01960998e-02 5.05098489e+01] [ 1.44929702e-02 1.38285155e-04 9.99894962e-01 6.26779344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5692541539999 meters 0.014172509002016664 Centerline is valid? [True, True] Translation: X:896.45, Y:50.53, Z:6.27 [[ 7.17186037e-01 -6.96824879e-01 -8.90376205e-03 8.96450818e+02] [ 6.96769111e-01 7.17241294e-01 -8.81653085e-03 5.05279482e+01] [ 1.25297239e-02 1.19226453e-04 9.99921493e-01 6.27167528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5992541539998 meters 0.017450071908148734 Centerline is valid? [True, True] Translation: X:896.47, Y:50.55, Z:6.27 [[ 7.16388185e-01 -6.97640203e-01 -9.27990029e-03 8.96472484e+02] [ 6.97579647e-01 7.16448278e-01 -9.19245749e-03 5.05461325e+01] [ 1.30615965e-02 1.11898366e-04 9.99914687e-01 6.26938255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6292541539999 meters 0.01653434746049466 Centerline is valid? [True, True] Translation: X:896.50, Y:50.56, Z:6.27 [[ 7.15531328e-01 -6.98524503e-01 -8.85648377e-03 8.96495324e+02] [ 6.98469372e-01 7.15586130e-01 -8.77648928e-03 5.05625029e+01] [ 1.24681698e-02 9.38703719e-05 9.99922265e-01 6.27017873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6592541539999 meters 0.016097958687199324 Centerline is valid? [True, True] Translation: X:896.52, Y:50.58, Z:6.27 [[ 7.14601461e-01 -6.99473658e-01 -9.01967258e-03 8.96516912e+02] [ 6.99416510e-01 7.14658377e-01 -8.94146124e-03 5.05801451e+01] [ 1.27003012e-02 8.10733359e-05 9.99919345e-01 6.27063415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6892541539999 meters 0.016630071643310745 Centerline is valid? [True, True] Translation: X:896.54, Y:50.60, Z:6.27 [[ 7.13374698e-01 -7.00720499e-01 -9.34468461e-03 8.96538614e+02] [ 7.00659193e-01 7.13435897e-01 -9.26911554e-03 5.05976704e+01] [ 1.31618927e-02 6.49133188e-05 9.99913376e-01 6.27003221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7192541539998 meters 0.016296845928949883 Centerline is valid? [True, True] Translation: X:896.56, Y:50.61, Z:6.27 [[ 7.10168079e-01 -7.03963456e-01 -9.83629569e-03 8.96563385e+02] [ 7.03895761e-01 7.10236195e-01 -9.76243728e-03 5.06132497e+01] [ 1.38584923e-02 9.24448321e-06 9.99903966e-01 6.27004714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7492541539999 meters 0.015562065503317422 Centerline is valid? [True, True] Translation: X:896.58, Y:50.63, Z:6.27 [[ 7.08462414e-01 -7.05677413e-01 -1.00198393e-02 8.96584404e+02] [ 7.05607281e-01 7.08533266e-01 -9.94867260e-03 5.06297461e+01] [ 1.41199430e-02 -2.18109691e-05 9.99900308e-01 6.26996833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7792541539999 meters 0.01708170855310088 Centerline is valid? [True, True] Translation: X:896.61, Y:50.65, Z:6.27 [[ 7.06488803e-01 -7.07643699e-01 -1.06755255e-02 8.96607229e+02] [ 7.07564247e-01 7.06569453e-01 -1.06040041e-02 5.06481003e+01] [ 1.50468569e-02 -6.20100199e-05 9.99886788e-01 6.26919046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8092541539999 meters 0.01798055677366339 Centerline is valid? [True, True] Translation: X:896.63, Y:50.67, Z:6.27 [[ 7.04806511e-01 -7.09314422e-01 -1.09924208e-02 8.96629426e+02] [ 7.09230328e-01 7.04892220e-01 -1.09224909e-02 5.06656721e+01] [ 1.54959522e-02 -9.79155054e-05 9.99879926e-01 6.26867556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8392541539998 meters 0.017963494693516158 Centerline is valid? [True, True] Translation: X:896.65, Y:50.68, Z:6.27 [[ 7.01506650e-01 -7.12586403e-01 -1.04421447e-02 8.96654218e+02] [ 7.12510851e-01 7.01584345e-01 -1.03775641e-02 5.06808301e+01] [ 1.47209563e-02 -1.60211201e-04 9.99891628e-01 6.26910661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8692541539999 meters 0.014858685619639057 Centerline is valid? [True, True] Translation: X:896.68, Y:50.70, Z:6.27 [[ 7.00111309e-01 -7.13966656e-01 -9.78615728e-03 8.96677366e+02] [ 7.13900389e-01 7.00179679e-01 -9.72890173e-03 5.06989906e+01] [ 1.37981799e-02 -1.75027365e-04 9.99904785e-01 6.27305480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8992541539999 meters 0.016590615803694298 Centerline is valid? [True, True] Translation: X:896.70, Y:50.71, Z:6.27 [[ 6.97328346e-01 -7.16684982e-01 -9.78844331e-03 8.96702407e+02] [ 7.16618905e-01 6.97397007e-01 -9.73449566e-03 5.07138610e+01] [ 1.38029979e-02 -2.26443763e-04 9.99904708e-01 6.27211200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9292541539999 meters 0.01872546708641195 Centerline is valid? [True, True] Translation: X:896.72, Y:50.73, Z:6.27 [[ 6.95783970e-01 -7.18182469e-01 -9.93014859e-03 8.96722697e+02] [ 7.18114592e-01 6.95854779e-01 -9.87719712e-03 5.07337277e+01] [ 1.40035712e-02 -2.58589176e-04 9.99901912e-01 6.27010115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9592541539998 meters 0.01872546708641195 Centerline is valid? [True, True] Translation: X:896.74, Y:50.75, Z:6.27 [[ 6.95577563e-01 -7.18382407e-01 -9.92827586e-03 8.96742202e+02] [ 7.18314523e-01 6.95648366e-01 -9.87907931e-03 5.07532288e+01] [ 1.40035457e-02 -2.59958837e-04 9.99901912e-01 6.27029205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9892541539999 meters 0.01879415286388862 Centerline is valid? [True, True] Translation: X:896.76, Y:50.77, Z:6.27 [[ 6.93838407e-01 -7.20058172e-01 -1.02222320e-02 8.96764738e+02] [ 7.19986328e-01 6.93913640e-01 -1.01758818e-02 5.07695721e+01] [ 1.44205731e-02 -2.99449633e-04 9.99895973e-01 6.27008365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0192541539999 meters 0.019412615469451035 Centerline is valid? [True, True] Translation: X:896.79, Y:50.79, Z:6.27 [[ 6.93115028e-01 -7.20749514e-01 -1.05686455e-02 8.96785226e+02] [ 7.20672735e-01 6.93195524e-01 -1.05249039e-02 5.07901130e+01] [ 1.49119571e-02 -3.21565564e-04 9.99888759e-01 6.26959791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0492541539999 meters 0.01661898716554832 Centerline is valid? [True, True] Translation: X:896.81, Y:50.81, Z:6.27 [[ 6.93497803e-01 -7.20387581e-01 -1.01257360e-02 8.96805883e+02] [ 7.20317018e-01 6.93571658e-01 -1.00871052e-02 5.08083084e+01] [ 1.42895488e-02 -2.98354693e-04 9.99897855e-01 6.27300579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0792541539998 meters 0.019892775980779993 Centerline is valid? [True, True] Translation: X:896.83, Y:50.83, Z:6.27 [[ 6.93319381e-01 -7.20559042e-01 -1.01441019e-02 8.96825707e+02] [ 7.20488186e-01 6.93393523e-01 -1.01092396e-02 5.08284955e+01] [ 1.43181586e-02 -2.99773764e-04 9.99897445e-01 6.26977826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1092541539999 meters 0.016618857139720312 Centerline is valid? [True, True] Translation: X:896.85, Y:50.85, Z:6.27 [[ 6.94731021e-01 -7.19213498e-01 -8.98630223e-03 8.96845728e+02] [ 7.19157723e-01 6.94789096e-01 -8.95994897e-03 5.08494473e+01] [ 1.26877010e-02 -2.37814156e-04 9.99919480e-01 6.27362043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1392541539999 meters 0.016836678044019834 Centerline is valid? [True, True] Translation: X:896.87, Y:50.87, Z:6.27 [[ 6.95299275e-01 -7.18666783e-01 -8.77341796e-03 8.96865691e+02] [ 7.18613538e-01 6.95354590e-01 -8.75080831e-03 5.08684915e+01] [ 1.23895517e-02 -2.20266252e-04 9.99923222e-01 6.27360508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1692541539999 meters 0.01763809620134042 Centerline is valid? [True, True] Translation: X:896.89, Y:50.89, Z:6.27 [[ 6.95686394e-01 -7.18289575e-01 -8.97375822e-03 8.96886099e+02] [ 7.18233802e-01 6.95744235e-01 -8.95355163e-03 5.08890526e+01] [ 1.26746833e-02 -2.16392438e-04 9.99919650e-01 6.27312966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1992541539998 meters 0.017717423884362312 Centerline is valid? [True, True] Translation: X:896.91, Y:50.91, Z:6.27 [[ 6.96858706e-01 -7.17154001e-01 -8.83651193e-03 8.96906140e+02] [ 7.17099775e-01 6.96914703e-01 -8.82095487e-03 5.09096928e+01] [ 1.24842782e-02 -1.89701522e-04 9.99922050e-01 6.27320150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2292541539998 meters 0.01856799601428109 Centerline is valid? [True, True] Translation: X:896.93, Y:50.93, Z:6.27 [[ 6.97310195e-01 -7.16713284e-01 -8.97557757e-03 8.96925998e+02] [ 7.16657245e-01 6.97367934e-01 -8.96423947e-03 5.09302361e+01] [ 1.26840695e-02 -1.81557128e-04 9.99919537e-01 6.27269725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2592541539999 meters 0.0153636855959341 Centerline is valid? [True, True] Translation: X:896.95, Y:50.95, Z:6.28 [[ 6.98266027e-01 -7.15786388e-01 -8.62571998e-03 8.96945094e+02] [ 7.15734510e-01 6.98319284e-01 -8.61904914e-03 5.09517058e+01] [ 1.21929046e-02 -1.55336268e-04 9.99925652e-01 6.27569302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2892541539999 meters 0.014524480318724766 Centerline is valid? [True, True] Translation: X:896.96, Y:50.97, Z:6.28 [[ 6.99281464e-01 -7.14796220e-01 -8.47339386e-03 8.96964173e+02] [ 7.14746048e-01 6.99332786e-01 -8.46995648e-03 5.09719447e+01] [ 1.19800150e-02 -1.33441215e-04 9.99928228e-01 6.27663100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3192541539999 meters 0.015338601337398386 Centerline is valid? [True, True] Translation: X:896.98, Y:50.99, Z:6.28 [[ 7.01688266e-01 -7.12433939e-01 -8.45339654e-03 8.96981733e+02] [ 7.12383814e-01 7.01739178e-01 -8.45148620e-03 5.09939794e+01] [ 1.19532051e-02 -9.17541700e-05 9.99928554e-01 6.27503231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3492541539998 meters 0.0161332530955838 Centerline is valid? [True, True] Translation: X:897.00, Y:51.01, Z:6.27 [[ 7.02696186e-01 -7.11436351e-01 -8.74000763e-03 8.97000484e+02] [ 7.11382654e-01 7.02750533e-01 -8.74111603e-03 5.10144675e+01] [ 1.23607927e-02 -7.51409333e-05 9.99923600e-01 6.27431146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3792541539999 meters 0.01607372360521819 Centerline is valid? [True, True] Translation: X:897.02, Y:51.03, Z:6.27 [[ 7.03623198e-01 -7.10515337e-01 -9.07474937e-03 8.97019137e+02] [ 7.10457321e-01 7.03681712e-01 -9.07982016e-03 5.10342144e+01] [ 1.28370867e-02 -5.84500309e-05 9.99917599e-01 6.27358689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4092541539999 meters 0.013632137593881698 Centerline is valid? [True, True] Translation: X:897.04, Y:51.05, Z:6.27 [[ 7.05072618e-01 -7.09066130e-01 -9.89073014e-03 8.97038007e+02] [ 7.08997011e-01 7.05141987e-01 -9.90032679e-03 5.10548906e+01] [ 1.39943555e-02 -3.20487887e-05 9.99902074e-01 6.27491550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4392541539999 meters 0.017484953284984023 Centerline is valid? [True, True] Translation: X:897.06, Y:51.08, Z:6.27 [[ 7.05124964e-01 -7.09001047e-01 -1.07842831e-02 8.97057901e+02] [ 7.08918777e-01 7.05207427e-01 -1.08005976e-02 5.10756119e+01] [ 1.52627916e-02 -2.94098226e-05 9.99883516e-01 6.27126807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4692541539998 meters 0.016019183746675793 Centerline is valid? [True, True] Translation: X:897.08, Y:51.10, Z:6.27 [[ 7.05118957e-01 -7.09003279e-01 -1.10275191e-02 8.97077816e+02] [ 7.08917164e-01 7.05205182e-01 -1.10501089e-02 5.10955505e+01] [ 1.56112271e-02 -2.59562794e-05 9.99878137e-01 6.27206296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4992541539999 meters 0.015146104155287176 Centerline is valid? [True, True] Translation: X:897.10, Y:51.12, Z:6.27 [[ 7.04887185e-01 -7.09231729e-01 -1.11539490e-02 8.97097497e+02] [ 7.09143558e-01 7.04975428e-01 -1.11830609e-02 5.11152075e+01] [ 1.57946416e-02 -2.69547414e-05 9.99875257e-01 6.27270951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5292541539999 meters 0.01763901319483198 Centerline is valid? [True, True] Translation: X:897.12, Y:51.13, Z:6.27 [[ 7.04017501e-01 -7.10087482e-01 -1.16243686e-02 8.97117888e+02] [ 7.09991758e-01 7.04113461e-01 -1.16592652e-02 5.11340489e+01] [ 1.64639727e-02 -4.48791723e-05 9.99864459e-01 6.27094223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5592541539999 meters 0.015311322780112813 Centerline is valid? [True, True] Translation: X:897.14, Y:51.15, Z:6.27 [[ 7.03262480e-01 -7.10846508e-01 -1.09145170e-02 8.97138307e+02] [ 7.10762140e-01 7.03347168e-01 -1.09517503e-02 5.11533530e+01] [ 1.54617081e-02 -5.56704316e-05 9.99880459e-01 6.27354444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5892541539998 meters 0.013822529547209727 Centerline is valid? [True, True] Translation: X:897.16, Y:51.17, Z:6.28 [[ 7.02603700e-01 -7.11501712e-01 -1.06468201e-02 8.97158989e+02] [ 7.11421420e-01 7.02684360e-01 -1.06889167e-02 5.11725616e+01] [ 1.50865366e-02 -6.43034427e-05 9.99886190e-01 6.27631830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6192541539999 meters 0.016095070202767518 Centerline is valid? [True, True] Translation: X:897.18, Y:51.19, Z:6.28 [[ 7.00812253e-01 -7.13279714e-01 -9.70750997e-03 8.97179890e+02] [ 7.13213077e-01 7.00879477e-01 -9.75014488e-03 5.11902711e+01] [ 1.37583751e-02 -9.05020600e-05 9.99905345e-01 6.27530421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6492541539999 meters 0.016188522495632813 Centerline is valid? [True, True] Translation: X:897.20, Y:51.21, Z:6.28 [[ 7.00037551e-01 -7.14041689e-01 -9.58607468e-03 8.97198867e+02] [ 7.13976718e-01 7.00103175e-01 -9.63277411e-03 5.12103709e+01] [ 1.35894436e-02 -1.00930532e-04 9.99907654e-01 6.27683426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6792541539999 meters 0.016978074053903544 Centerline is valid? [True, True] Translation: X:897.22, Y:51.23, Z:6.28 [[ 6.99500507e-01 -7.14567914e-01 -9.57795112e-03 8.97218904e+02] [ 7.14503046e-01 6.99566069e-01 -9.62870409e-03 5.12290363e+01] [ 1.35807726e-02 -1.08191851e-04 9.99907771e-01 6.27602051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7092541539998 meters 0.013932253841842443 Centerline is valid? [True, True] Translation: X:897.24, Y:51.25, Z:6.28 [[ 6.99250383e-01 -7.14817450e-01 -9.21492141e-03 8.97238757e+02] [ 7.14757380e-01 6.99311091e-01 -9.26747803e-03 5.12486191e+01] [ 1.30686518e-02 -1.06145519e-04 9.99914596e-01 6.27948679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7392541539999 meters 0.014004081124830101 Centerline is valid? [True, True] Translation: X:897.26, Y:51.27, Z:6.28 [[ 6.99160502e-01 -7.14902391e-01 -9.44266105e-03 8.97257934e+02] [ 7.14839268e-01 6.99224256e-01 -9.50060316e-03 5.12674704e+01] [ 1.33945416e-02 -1.07538439e-04 9.99910283e-01 6.27949835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7692541539999 meters 0.01865386133829485 Centerline is valid? [True, True] Translation: X:897.28, Y:51.29, Z:6.28 [[ 6.98858084e-01 -7.15189851e-01 -1.00426710e-02 8.97277896e+02] [ 7.15118419e-01 6.98930228e-01 -1.01085863e-02 5.12872420e+01] [ 1.42486846e-02 -1.17231702e-04 9.99898475e-01 6.27534709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7992541539999 meters 0.013967878743362002 Centerline is valid? [True, True] Translation: X:897.30, Y:51.31, Z:6.28 [[ 6.99572504e-01 -7.14500218e-01 -9.36752845e-03 8.97297176e+02] [ 7.14437961e-01 6.99635212e-01 -9.43244038e-03 5.13069889e+01] [ 1.32933335e-02 -9.38419901e-05 9.99911635e-01 6.27969186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8292541539998 meters 0.01376874005638752 Centerline is valid? [True, True] Translation: X:897.32, Y:51.33, Z:6.28 [[ 7.00394087e-01 -7.13689084e-01 -9.79865986e-03 8.97315845e+02] [ 7.13620832e-01 7.00462622e-01 -9.87031122e-03 5.13276986e+01] [ 1.39079284e-02 -7.94201843e-05 9.99903277e-01 6.27950846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8592541539999 meters 0.016265838582179906 Centerline is valid? [True, True] Translation: X:897.34, Y:51.35, Z:6.28 [[ 7.00813282e-01 -7.13274006e-01 -1.00467059e-02 8.97335060e+02] [ 7.13202153e-01 7.00885288e-01 -1.01243563e-02 5.13472698e+01] [ 1.42630286e-02 -7.00489083e-05 9.99898275e-01 6.27630849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8892541539999 meters 0.018434816430865815 Centerline is valid? [True, True] Translation: X:897.35, Y:51.37, Z:6.28 [[ 7.01557661e-01 -7.12535445e-01 -1.04922843e-02 8.97354259e+02] [ 7.12456926e-01 7.01636114e-01 -1.05778954e-02 5.13673429e+01] [ 1.48988911e-02 -5.42970680e-05 9.99889004e-01 6.27528716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9192541539999 meters 0.014375598867865307 Centerline is valid? [True, True] Translation: X:897.37, Y:51.39, Z:6.28 [[ 7.02239478e-01 -7.11874233e-01 -9.73608526e-03 8.97374583e+02] [ 7.11806492e-01 7.02306966e-01 -9.82057749e-03 5.13882078e+01] [ 1.38287366e-02 -3.38114776e-05 9.99904378e-01 6.27861276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9492541539998 meters 0.013465433497418685 Centerline is valid? [True, True] Translation: X:897.39, Y:51.41, Z:6.28 [[ 7.02676893e-01 -7.11443740e-01 -9.64309703e-03 8.97394322e+02] [ 7.11377173e-01 7.02743057e-01 -9.73204564e-03 5.14087006e+01] [ 1.37004224e-02 -2.13955165e-05 9.99906145e-01 6.28039601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9792541539998 meters 0.016479906066788216 Centerline is valid? [True, True] Translation: X:897.41, Y:51.43, Z:6.28 [[ 7.03001082e-01 -7.11119323e-01 -9.93913710e-03 8.97413273e+02] [ 7.11048513e-01 7.03071339e-01 -1.00351200e-02 5.14277625e+01] [ 1.41240902e-02 -1.25084037e-05 9.99900250e-01 6.27689208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0092541539999 meters 0.013471044376232472 Centerline is valid? [True, True] Translation: X:897.43, Y:51.45, Z:6.28 [[ 7.03996106e-01 -7.10142154e-01 -9.35965100e-03 8.97433070e+02] [ 7.10079223e-01 7.04058322e-01 -9.45389177e-03 5.14476803e+01] [ 1.33033472e-02 9.40928774e-06 9.99911507e-01 6.28094855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0392541539999 meters 0.013824717738980911 Centerline is valid? [True, True] Translation: X:897.45, Y:51.47, Z:6.28 [[ 7.04402356e-01 -7.09743662e-01 -9.01419665e-03 8.97452257e+02] [ 7.09685208e-01 7.04460030e-01 -9.10881840e-03 5.14672263e+01] [ 1.28150674e-02 1.90311109e-05 9.99917883e-01 6.28044390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0692541539999 meters 0.015137101819374757 Centerline is valid? [True, True] Translation: X:897.47, Y:51.49, Z:6.28 [[ 7.04663855e-01 -7.09486751e-01 -8.79785093e-03 8.97471778e+02] [ 7.09431005e-01 7.04718774e-01 -8.89378000e-03 5.14867536e+01] [ 1.25100298e-02 2.56570680e-05 9.99921746e-01 6.27963532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0992541539998 meters 0.016162939103554878 Centerline is valid? [True, True] Translation: X:897.49, Y:51.51, Z:6.28 [[ 7.06120999e-01 -7.08041383e-01 -8.39846492e-03 8.97490503e+02] [ 7.07990431e-01 7.06170940e-01 -8.49426562e-03 5.15064780e+01] [ 1.19450434e-02 5.19465208e-05 9.99928654e-01 6.27931874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1292541539999 meters 0.01711380008553841 Centerline is valid? [True, True] Translation: X:897.51, Y:51.53, Z:6.28 [[ 7.06960651e-01 -7.07202570e-01 -8.43578269e-03 8.97509394e+02] [ 7.07151069e-01 7.07010976e-01 -8.53498070e-03 5.15266581e+01] [ 1.20001512e-02 6.85227672e-05 9.99927993e-01 6.27872048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1592541539999 meters 0.016128391075536395 Centerline is valid? [True, True] Translation: X:897.53, Y:51.55, Z:6.28 [[ 7.09176445e-01 -7.04983334e-01 -8.20176157e-03 8.97528781e+02] [ 7.04934466e-01 7.09223863e-01 -8.30122492e-03 5.15480329e+01] [ 1.16691102e-02 1.05328758e-04 9.99931908e-01 6.27995654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1892541539999 meters 0.01574113616296892 Centerline is valid? [True, True] Translation: X:897.55, Y:51.57, Z:6.28 [[ 7.10160840e-01 -7.03992826e-01 -8.10446979e-03 8.97548311e+02] [ 7.03944998e-01 7.10207073e-01 -8.20690266e-03 5.15687582e+01] [ 1.15334524e-02 1.23119914e-04 9.99933480e-01 6.28022957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2192541539998 meters 0.01702891394652291 Centerline is valid? [True, True] Translation: X:897.57, Y:51.59, Z:6.28 [[ 7.11004911e-01 -7.03138352e-01 -8.27490678e-03 8.97568287e+02] [ 7.03088383e-01 7.11053048e-01 -8.38382259e-03 5.15894786e+01] [ 1.17788849e-02 1.42948200e-04 9.99930616e-01 6.27930138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2492541539999 meters 0.017041239966156498 Centerline is valid? [True, True] Translation: X:897.59, Y:51.61, Z:6.28 [[ 7.13038163e-01 -7.01074576e-01 -8.42714598e-03 8.97587857e+02] [ 7.01022554e-01 7.13087936e-01 -8.54251104e-03 5.16104110e+01] [ 1.19982334e-02 1.83516985e-04 9.99928002e-01 6.27919732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2792541539999 meters 0.017508674767699628 Centerline is valid? [True, True] Translation: X:897.61, Y:51.63, Z:6.28 [[ 7.14053962e-01 -7.00040948e-01 -8.34328924e-03 8.97606895e+02] [ 6.99989848e-01 7.14102675e-01 -8.46068791e-03 5.16314065e+01] [ 1.18807932e-02 2.01169950e-04 9.99929401e-01 6.27885376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3092541539999 meters 0.018137128063631363 Centerline is valid? [True, True] Translation: X:897.63, Y:51.65, Z:6.28 [[ 7.14688093e-01 -6.99390852e-01 -8.56538637e-03 8.97626960e+02] [ 6.99336913e-01 7.14739385e-01 -8.68874722e-03 5.16519131e+01] [ 1.21988493e-02 2.19653325e-04 9.99925567e-01 6.27831955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3392541539998 meters 0.01774719461933125 Centerline is valid? [True, True] Translation: X:897.65, Y:51.67, Z:6.28 [[ 7.15197053e-01 -6.98869029e-01 -8.67498553e-03 8.97647879e+02] [ 6.98813606e-01 7.15249625e-01 -8.80445660e-03 5.16720815e+01] [ 1.23579422e-02 2.34723495e-04 9.99923610e-01 6.27855553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3692541539999 meters 0.01642856325928042 Centerline is valid? [True, True] Translation: X:897.67, Y:51.69, Z:6.28 [[ 7.15488051e-01 -6.98572554e-01 -8.55776664e-03 8.97668339e+02] [ 6.98518559e-01 7.15539188e-01 -8.68868127e-03 5.16906519e+01] [ 1.21930917e-02 2.38888813e-04 9.99925633e-01 6.27995043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3992541539999 meters 0.01819946045784481 Centerline is valid? [True, True] Translation: X:897.69, Y:51.71, Z:6.28 [[ 7.14862865e-01 -6.99205953e-01 -9.06196010e-03 8.97688861e+02] [ 6.99145437e-01 7.14920258e-01 -9.20230880e-03 5.17094828e+01] [ 1.29128880e-02 2.42760781e-04 9.99916596e-01 6.27810808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4292541539999 meters 0.017775894272729454 Centerline is valid? [True, True] Translation: X:897.71, Y:51.73, Z:6.28 [[ 7.12847491e-01 -7.01260330e-01 -9.07768544e-03 8.97712451e+02] [ 7.01199730e-01 7.12905257e-01 -9.22132185e-03 5.17271149e+01] [ 1.29380769e-02 2.08125559e-04 9.99916278e-01 6.27884732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4592541539998 meters 0.017444735102570264 Centerline is valid? [True, True] Translation: X:897.73, Y:51.75, Z:6.28 [[ 7.11601735e-01 -7.02524563e-01 -9.06690899e-03 8.97734475e+02] [ 7.02464149e-01 7.11659471e-01 -9.21499477e-03 5.17457684e+01] [ 1.29263118e-02 1.88227756e-04 9.99916434e-01 6.27957886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4892541539999 meters 0.01548484483527532 Centerline is valid? [True, True] Translation: X:897.76, Y:51.76, Z:6.28 [[ 7.10256656e-01 -7.03890511e-01 -8.58084289e-03 8.97756997e+02] [ 7.03836451e-01 7.10308471e-01 -8.72508794e-03 5.17648734e+01] [ 1.22365520e-02 1.57541782e-04 9.99925118e-01 6.28186029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5192541539999 meters 0.014558336142778985 Centerline is valid? [True, True] Translation: X:897.78, Y:51.78, Z:6.28 [[ 7.07299352e-01 -7.06863414e-01 -8.46996247e-03 8.97780556e+02] [ 7.06810919e-01 7.07350056e-01 -8.61526037e-03 5.17808480e+01] [ 1.20810408e-02 1.06906120e-04 9.99927016e-01 6.28272591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5492541539999 meters 0.013863854574403167 Centerline is valid? [True, True] Translation: X:897.80, Y:51.80, Z:6.28 [[ 7.05683762e-01 -7.08474760e-01 -8.59896052e-03 8.97802654e+02] [ 7.08420739e-01 7.05736146e-01 -8.74923021e-03 5.17993088e+01] [ 1.22672060e-02 8.25077250e-05 9.99924752e-01 6.28356033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5792541539998 meters 0.016390555257671673 Centerline is valid? [True, True] Translation: X:897.82, Y:51.82, Z:6.28 [[ 7.03596582e-01 -7.10540247e-01 -9.18735972e-03 8.97824555e+02] [ 7.10478689e-01 7.03656560e-01 -9.35298225e-03 5.18176107e+01] [ 1.31104163e-02 5.33030474e-05 9.99914053e-01 6.28038142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6092541539999 meters 0.016363635806675072 Centerline is valid? [True, True] Translation: X:897.85, Y:51.83, Z:6.28 [[ 7.01361010e-01 -7.12735075e-01 -1.00720489e-02 8.97847325e+02] [ 7.12661248e-01 7.01433327e-01 -1.02583164e-02 5.18329915e+01] [ 1.43763327e-02 1.68242048e-05 9.99896655e-01 6.28013770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6392541539999 meters 0.014961863229055697 Centerline is valid? [True, True] Translation: X:897.87, Y:51.85, Z:6.28 [[ 7.00509796e-01 -7.13569407e-01 -1.02336394e-02 8.97868598e+02] [ 7.13493214e-01 7.00584543e-01 -1.04274664e-02 5.18513635e+01] [ 1.46102506e-02 2.91011216e-06 9.99893265e-01 6.28142928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6692541539999 meters 0.015816533173809162 Centerline is valid? [True, True] Translation: X:897.89, Y:51.87, Z:6.28 [[ 6.99663973e-01 -7.14397473e-01 -1.03235798e-02 8.97889419e+02] [ 7.14319939e-01 6.99740131e-01 -1.05248953e-02 5.18697546e+01] [ 1.47427817e-02 -1.04488423e-05 9.99891319e-01 6.28068131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6992541539998 meters 0.014670839903161417 Centerline is valid? [True, True] Translation: X:897.91, Y:51.89, Z:6.28 [[ 6.99771562e-01 -7.14292768e-01 -1.02763136e-02 8.97911422e+02] [ 7.14215848e-01 6.99847013e-01 -1.04824039e-02 5.18879979e+01] [ 1.46793527e-02 -4.21790908e-06 9.99892252e-01 6.28265977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7292541539998 meters 0.014997487991851185 Centerline is valid? [True, True] Translation: X:897.93, Y:51.91, Z:6.28 [[ 6.99972742e-01 -7.14089558e-01 -1.06894401e-02 8.97931268e+02] [ 7.14006211e-01 7.00054357e-01 -1.09099826e-02 5.19072171e+01] [ 1.52738938e-02 4.36383082e-06 9.99883347e-01 6.28339457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7592541539999 meters 0.013844807790113945 Centerline is valid? [True, True] Translation: X:897.95, Y:51.93, Z:6.28 [[ 7.00616312e-01 -7.13463251e-01 -1.03427718e-02 8.97951400e+02] [ 7.13385068e-01 7.00692649e-01 -1.05620176e-02 5.19272762e+01] [ 1.47827156e-02 2.15428863e-05 9.99890729e-01 6.28483373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7892541539999 meters 0.01375873922861583 Centerline is valid? [True, True] Translation: X:897.97, Y:51.95, Z:6.29 [[ 7.01047549e-01 -7.13035145e-01 -1.06402950e-02 8.97971301e+02] [ 7.12952254e-01 7.01128291e-01 -1.08720936e-02 5.19469887e+01] [ 1.52123967e-02 3.58322146e-05 9.99884284e-01 6.28547383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8192541539999 meters 0.01612971818719825 Centerline is valid? [True, True] Translation: X:897.99, Y:51.97, Z:6.28 [[ 7.02030309e-01 -7.12056901e-01 -1.13319913e-02 8.97991599e+02] [ 7.11962679e-01 7.02121759e-01 -1.15835492e-02 5.19665754e+01] [ 1.62045838e-02 6.40477307e-05 9.99868695e-01 6.28278450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8492541539998 meters 0.01612971818719825 Centerline is valid? [True, True] Translation: X:898.01, Y:51.99, Z:6.28 [[ 7.01828590e-01 -7.12255764e-01 -1.13294882e-02 8.98010833e+02] [ 7.12161528e-01 7.01920026e-01 -1.15859971e-02 5.19863509e+01] [ 1.62045879e-02 6.29583921e-05 9.99868695e-01 6.28297532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8792541539999 meters 0.015749859108490912 Centerline is valid? [True, True] Translation: X:898.03, Y:52.01, Z:6.28 [[ 7.02402595e-01 -7.11687349e-01 -1.14765297e-02 8.98030620e+02] [ 7.11590465e-01 7.02496342e-01 -1.17431044e-02 5.20059026e+01] [ 1.64196390e-02 8.17978927e-05 9.99865185e-01 6.28347719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9092541539999 meters 0.01717259428412784 Centerline is valid? [True, True] Translation: X:898.05, Y:52.03, Z:6.28 [[ 7.03556845e-01 -7.10536691e-01 -1.20572200e-02 8.98050419e+02] [ 7.10429495e-01 7.03660143e-01 -1.23424312e-02 5.20256088e+01] [ 1.72539354e-02 1.17797237e-04 9.99851133e-01 6.28153701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9392541539999 meters 0.014340601439042758 Centerline is valid? [True, True] Translation: X:898.07, Y:52.05, Z:6.29 [[ 7.04317474e-01 -7.09794307e-01 -1.13550877e-02 8.98070901e+02] [ 7.09699052e-01 7.04408990e-01 -1.16288440e-02 5.20454125e+01] [ 1.62527131e-02 1.31703078e-04 9.99867907e-01 6.28516258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9692541539998 meters 0.01747448039613301 Centerline is valid? [True, True] Translation: X:898.09, Y:52.07, Z:6.28 [[ 7.04503707e-01 -7.09595273e-01 -1.22096900e-02 8.98090144e+02] [ 7.09485024e-01 7.04609485e-01 -1.25089744e-02 5.20656163e+01] [ 1.74793724e-02 1.50026609e-04 9.99847213e-01 6.28104390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9992541539999 meters 0.015238037497171803 Centerline is valid? [True, True] Translation: X:898.11, Y:52.08, Z:6.29 [[ 7.06010245e-01 -7.08116372e-01 -1.09880475e-02 8.98111314e+02] [ 7.08026828e-01 7.06095726e-01 -1.12621602e-02 5.20838224e+01] [ 1.57335334e-02 1.71368046e-04 9.99876206e-01 6.28568297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0292541539999 meters 0.01720565159521418 Centerline is valid? [True, True] Translation: X:898.13, Y:52.10, Z:6.28 [[ 7.06228485e-01 -7.07894249e-01 -1.12720919e-02 8.98131811e+02] [ 7.07799885e-01 7.06318411e-01 -1.15596028e-02 5.21037569e+01] [ 1.61446624e-02 1.85335380e-04 9.99869649e-01 6.28478976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0592541539999 meters 0.015390521129331647 Centerline is valid? [True, True] Translation: X:898.15, Y:52.12, Z:6.29 [[ 7.06786906e-01 -7.07350980e-01 -1.03373602e-02 8.98152058e+02] [ 7.07271476e-01 7.06862474e-01 -1.06066823e-02 5.21230571e+01] [ 1.48097391e-02 1.85344133e-04 9.99890313e-01 6.28715356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0892541539998 meters 0.01483871277702123 Centerline is valid? [True, True] Translation: X:898.17, Y:52.14, Z:6.29 [[ 7.07656882e-01 -7.06487273e-01 -9.87273605e-03 8.98173276e+02] [ 7.06414594e-01 7.07725720e-01 -1.01354007e-02 5.21428717e+01] [ 1.41477208e-02 1.98141197e-04 9.99899896e-01 6.28901534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1192541539999 meters 0.016907152575193127 Centerline is valid? [True, True] Translation: X:898.19, Y:52.16, Z:6.29 [[ 7.07728804e-01 -7.06404879e-01 -1.05871219e-02 8.98193294e+02] [ 7.06321227e-01 7.07807954e-01 -1.08731277e-02 5.21626911e+01] [ 1.51744796e-02 2.17316753e-04 9.99884837e-01 6.28695577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1492541539999 meters 0.015045506757469058 Centerline is valid? [True, True] Translation: X:898.21, Y:52.18, Z:6.29 [[ 7.08221185e-01 -7.05920424e-01 -9.95534094e-03 8.98213260e+02] [ 7.05846349e-01 7.08291118e-01 -1.02285868e-02 5.21825205e+01] [ 1.42718479e-02 2.17160819e-04 9.99898128e-01 6.28927543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1792541539999 meters 0.015265111359240186 Centerline is valid? [True, True] Translation: X:898.23, Y:52.20, Z:6.29 [[ 7.08484668e-01 -7.05657119e-01 -9.87446706e-03 8.98233906e+02] [ 7.05584140e-01 7.08553441e-01 -1.01509489e-02 5.22028957e+01] [ 1.41596770e-02 2.24524323e-04 9.99899722e-01 6.28911757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2092541539998 meters 0.01845983904595439 Centerline is valid? [True, True] Translation: X:898.25, Y:52.22, Z:6.28 [[ 7.08405195e-01 -7.05714133e-01 -1.13860499e-02 8.98253915e+02] [ 7.05617039e-01 7.08496644e-01 -1.17089465e-02 5.22217488e+01] [ 1.63301471e-02 2.60487688e-04 9.99866620e-01 6.28435322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2392541539999 meters 0.01630648128802056 Centerline is valid? [True, True] Translation: X:898.27, Y:52.24, Z:6.29 [[ 7.08552181e-01 -7.05570125e-01 -1.11626566e-02 8.98273679e+02] [ 7.05476713e-01 7.08640056e-01 -1.14837832e-02 5.22415026e+01] [ 1.60129199e-02 2.61865396e-04 9.99871751e-01 6.28596863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2692541539999 meters 0.01826499459894135 Centerline is valid? [True, True] Translation: X:898.29, Y:52.26, Z:6.28 [[ 7.07948904e-01 -7.06163529e-01 -1.18920499e-02 8.98294106e+02] [ 7.06057472e-01 7.08048726e-01 -1.22412640e-02 5.22605311e+01] [ 1.70644850e-02 2.69718751e-04 9.99854355e-01 6.28348954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2992541539999 meters 0.015435088683611601 Centerline is valid? [True, True] Translation: X:898.32, Y:52.28, Z:6.29 [[ 7.07727977e-01 -7.06394018e-01 -1.13402840e-02 8.98316117e+02] [ 7.06297499e-01 7.07818780e-01 -1.16797561e-02 5.22786255e+01] [ 1.62773759e-02 2.56475899e-04 9.99867482e-01 6.28654329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3292541539998 meters 0.015526696783613052 Centerline is valid? [True, True] Translation: X:898.34, Y:52.30, Z:6.29 [[ 7.07293591e-01 -7.06833828e-01 -1.10324498e-02 8.98336447e+02] [ 7.06742459e-01 7.07379587e-01 -1.13673263e-02 5.22974051e+01] [ 1.58389406e-02 2.42936336e-04 9.99874527e-01 6.28662018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3592541539999 meters 0.015341638816363594 Centerline is valid? [True, True] Translation: X:898.36, Y:52.32, Z:6.29 [[ 7.06614891e-01 -7.07514568e-01 -1.08872221e-02 8.98359196e+02] [ 7.07425600e-01 7.06698722e-01 -1.12221729e-02 5.23156952e+01] [ 1.56338368e-02 2.27854888e-04 9.99877758e-01 6.28735777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3892541539999 meters 0.01511357918865862 Centerline is valid? [True, True] Translation: X:898.38, Y:52.33, Z:6.29 [[ 7.06138902e-01 -7.07992113e-01 -1.07246679e-02 8.98380347e+02] [ 7.07905747e-01 7.06220306e-01 -1.10604231e-02 5.23345699e+01] [ 1.54046706e-02 2.18140961e-04 9.99881317e-01 6.28788497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4192541539999 meters 0.015991608615012195 Centerline is valid? [True, True] Translation: X:898.40, Y:52.35, Z:6.29 [[ 7.05704759e-01 -7.08418127e-01 -1.11602228e-02 8.98401308e+02] [ 7.08324549e-01 7.05792964e-01 -1.15162502e-02 5.23535034e+01] [ 1.60351271e-02 2.22012827e-04 9.99871404e-01 6.28690186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4492541539998 meters 0.015962620490380334 Centerline is valid? [True, True] Translation: X:898.42, Y:52.37, Z:6.29 [[ 7.06042470e-01 -7.08088407e-01 -1.07162939e-02 8.98421615e+02] [ 7.08002010e-01 7.06123756e-01 -1.10632327e-02 5.23715794e+01] [ 1.54007765e-02 2.23954526e-04 9.99881376e-01 6.28698375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4792541539998 meters 0.015310767849669615 Centerline is valid? [True, True] Translation: X:898.44, Y:52.39, Z:6.29 [[ 7.06517192e-01 -7.07618583e-01 -1.04593622e-02 8.98442765e+02] [ 7.07536157e-01 7.06594570e-01 -1.08027522e-02 5.23917182e+01] [ 1.50347567e-02 2.31953188e-04 9.99886945e-01 6.28814802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5092541539999 meters 0.01808983456412973 Centerline is valid? [True, True] Translation: X:898.46, Y:52.41, Z:6.28 [[ 7.06445920e-01 -7.07677262e-01 -1.12718974e-02 8.98462444e+02] [ 7.07581468e-01 7.06535795e-01 -1.16463049e-02 5.24113430e+01] [ 1.62058242e-02 2.51698803e-04 9.99868645e-01 6.28485856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5392541539999 meters 0.015666234926045918 Centerline is valid? [True, True] Translation: X:898.48, Y:52.43, Z:6.29 [[ 7.08203890e-01 -7.05932010e-01 -1.03560294e-02 8.98483920e+02] [ 7.05850904e-01 7.08279552e-01 -1.07040718e-02 5.24304797e+01] [ 1.48913108e-02 2.70852546e-04 9.99889082e-01 6.28820103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5692541539999 meters 0.017546450811916657 Centerline is valid? [True, True] Translation: X:898.51, Y:52.45, Z:6.29 [[ 7.08272320e-01 -7.05849092e-01 -1.12862366e-02 8.98505162e+02] [ 7.05752650e-01 7.08362173e-01 -1.16716998e-02 5.24506912e+01] [ 1.62332018e-02 3.01450475e-04 9.99868187e-01 6.28613405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5992541539998 meters 0.0165303024659176 Centerline is valid? [True, True] Translation: X:898.53, Y:52.47, Z:6.29 [[ 7.09824917e-01 -7.04297776e-01 -1.06409563e-02 8.98525234e+02] [ 7.04211820e-01 7.09904599e-01 -1.10078565e-02 5.24702828e+01] [ 1.53068727e-02 3.20163663e-04 9.99882792e-01 6.28792489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6292541539999 meters 0.016832405097300263 Centerline is valid? [True, True] Translation: X:898.55, Y:52.49, Z:6.29 [[ 7.10144252e-01 -7.03971469e-01 -1.09230062e-02 8.98545512e+02] [ 7.03880792e-01 7.10228172e-01 -1.13037459e-02 5.24907920e+01] [ 1.57153413e-02 3.38795943e-04 9.99876449e-01 6.28813318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6592541539999 meters 0.01766244932180733 Centerline is valid? [True, True] Translation: X:898.56, Y:52.51, Z:6.29 [[ 7.10546237e-01 -7.03564552e-01 -1.09984778e-02 8.98564926e+02] [ 7.03472477e-01 7.10631266e-01 -1.13876442e-02 5.25124865e+01] [ 1.58278049e-02 3.54321334e-04 9.99874670e-01 6.28705912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6892541539999 meters 0.018116252336245704 Centerline is valid? [True, True] Translation: X:898.58, Y:52.54, Z:6.29 [[ 7.11263534e-01 -7.02842762e-01 -1.07813304e-02 8.98583622e+02] [ 7.02754117e-01 7.11345146e-01 -1.11684290e-02 5.25350663e+01] [ 1.55188965e-02 3.67071971e-04 9.99879507e-01 6.28677292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7192541539998 meters 0.017626273201727258 Centerline is valid? [True, True] Translation: X:898.60, Y:52.56, Z:6.29 [[ 7.11573850e-01 -7.02529882e-01 -1.06967824e-02 8.98602537e+02] [ 7.02442501e-01 7.11654146e-01 -1.10864205e-02 5.25567407e+01] [ 1.54009512e-02 3.74932322e-04 9.99881328e-01 6.28788408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7492541539999 meters 0.018937534895798955 Centerline is valid? [True, True] Translation: X:898.62, Y:52.58, Z:6.29 [[ 7.11180349e-01 -7.02923015e-01 -1.10338474e-02 8.98621342e+02] [ 7.02829987e-01 7.11265835e-01 -1.14420506e-02 5.25780266e+01] [ 1.58908794e-02 3.82442710e-04 9.99873659e-01 6.28613969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7792541539999 meters 0.020497281410983254 Centerline is valid? [True, True] Translation: X:898.64, Y:52.60, Z:6.28 [[ 7.10826571e-01 -7.03278489e-01 -1.11781820e-02 8.98639200e+02] [ 7.03182977e-01 7.10914355e-01 -1.15965941e-02 5.25988927e+01] [ 1.61023652e-02 3.82859976e-04 9.99870275e-01 6.28481591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8092541539999 meters 0.018296625814992022 Centerline is valid? [True, True] Translation: X:898.66, Y:52.62, Z:6.29 [[ 7.10495166e-01 -7.03627051e-01 -1.02758111e-02 8.98659112e+02] [ 7.03546313e-01 7.10569386e-01 -1.06645930e-02 5.26197954e+01] [ 1.48055729e-02 3.47632798e-04 9.99890331e-01 6.28737547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8392541539998 meters 0.019079356819522164 Centerline is valid? [True, True] Translation: X:898.68, Y:52.64, Z:6.29 [[ 7.09666948e-01 -7.04457319e-01 -1.06164503e-02 8.98680286e+02] [ 7.04371147e-01 7.09746269e-01 -1.10236475e-02 5.26399238e+01] [ 1.53006752e-02 3.45197003e-04 9.99882878e-01 6.28632648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8692541539999 meters 0.01696485633197069 Centerline is valid? [True, True] Translation: X:898.70, Y:52.66, Z:6.29 [[ 7.09254867e-01 -7.04889946e-01 -9.36470940e-03 8.98700697e+02] [ 7.04822874e-01 7.09316625e-01 -9.72844793e-03 5.26604821e+01] [ 1.35000292e-02 2.99487645e-04 9.99908826e-01 6.28908135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8992541539999 meters 0.01713416626684807 Centerline is valid? [True, True] Translation: X:898.72, Y:52.68, Z:6.29 [[ 7.08769766e-01 -7.05381431e-01 -9.08052749e-03 8.98720069e+02] [ 7.05318366e-01 7.08827875e-01 -9.43642189e-03 5.26807572e+01] [ 1.30928078e-02 2.83587729e-04 9.99914245e-01 6.28883075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9292541539999 meters 0.016518865173630833 Centerline is valid? [True, True] Translation: X:898.74, Y:52.70, Z:6.29 [[ 7.07392982e-01 -7.06757920e-01 -9.40277819e-03 8.98742399e+02] [ 7.06690390e-01 7.07455419e-01 -9.77358205e-03 5.27001172e+01] [ 1.35596029e-02 2.68910364e-04 9.99908028e-01 6.28774111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9592541539998 meters 0.01650653067585089 Centerline is valid? [True, True] Translation: X:898.76, Y:52.72, Z:6.29 [[ 7.06495845e-01 -7.07649969e-01 -9.75410148e-03 8.98761662e+02] [ 7.07577326e-01 7.06563126e-01 -1.01428113e-02 5.27209922e+01] [ 1.40694485e-02 2.64073000e-04 9.99900986e-01 6.28724932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9892541539999 meters 0.019031002220122283 Centerline is valid? [True, True] Translation: X:898.78, Y:52.74, Z:6.28 [[ 7.04990281e-01 -7.09132013e-01 -1.09768678e-02 8.98783148e+02] [ 7.09040098e-01 7.05075681e-01 -1.14202962e-02 5.27404528e+01] [ 1.58380202e-02 2.68158412e-04 9.99874535e-01 6.28388158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0192541539999 meters 0.016155516611498964 Centerline is valid? [True, True] Translation: X:898.80, Y:52.76, Z:6.29 [[ 7.04108556e-01 -7.10015280e-01 -1.04615114e-02 8.98803593e+02] [ 7.09931811e-01 7.04186228e-01 -1.08894084e-02 5.27607882e+01] [ 1.50984986e-02 2.40365896e-04 9.99885982e-01 6.28624021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0492541539999 meters 0.015073196976307638 Centerline is valid? [True, True] Translation: X:898.82, Y:52.78, Z:6.29 [[ 7.02301081e-01 -7.11816159e-01 -9.53666266e-03 8.98823926e+02] [ 7.11746919e-01 7.02365803e-01 -9.92986029e-03 5.27802878e+01] [ 1.37664607e-02 1.86061352e-04 9.99905220e-01 6.28795872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0792541539998 meters 0.014714199763492166 Centerline is valid? [True, True] Translation: X:898.84, Y:52.80, Z:6.29 [[ 7.00988652e-01 -7.13116884e-01 -8.90052641e-03 8.98844200e+02] [ 7.13056641e-01 7.01045139e-01 -9.27039270e-03 5.28003041e+01] [ 1.28505443e-02 1.51860613e-04 9.99917417e-01 6.28857815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1092541539999 meters 0.014469397931506643 Centerline is valid? [True, True] Translation: X:898.86, Y:52.82, Z:6.29 [[ 6.99644089e-01 -7.14442799e-01 -8.34478217e-03 8.98864656e+02] [ 7.14389889e-01 6.99693842e-01 -8.69561526e-03 5.28204573e+01] [ 1.20513124e-02 1.22407805e-04 9.99927373e-01 6.28906177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1392541539999 meters 0.01394503484333269 Centerline is valid? [True, True] Translation: X:898.89, Y:52.84, Z:6.29 [[ 6.96841008e-01 -7.17187422e-01 -7.40346217e-03 8.98886211e+02] [ 7.17145893e-01 6.96880332e-01 -7.71816729e-03 5.28395008e+01] [ 1.06946997e-02 6.89729797e-05 9.99942808e-01 6.28950431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1692541539999 meters 0.01610126238903071 Centerline is valid? [True, True] Translation: X:898.91, Y:52.86, Z:6.29 [[ 6.95215536e-01 -7.18762274e-01 -7.49351131e-03 8.98906852e+02] [ 7.18719778e-01 6.95255918e-01 -7.81595913e-03 5.28591947e+01] [ 1.08277246e-02 4.80414264e-05 9.99941377e-01 6.28706432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1992541539998 meters 0.016989177206909317 Centerline is valid? [True, True] Translation: X:898.93, Y:52.88, Z:6.29 [[ 6.93145159e-01 -7.20759986e-01 -7.40476819e-03 8.98926779e+02] [ 7.20718569e-01 6.93184710e-01 -7.72671006e-03 5.28779666e+01] [ 1.07019755e-02 1.89777331e-05 9.99942732e-01 6.28554638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2292541539998 meters 0.014937565092953653 Centerline is valid? [True, True] Translation: X:898.95, Y:52.90, Z:6.29 [[ 6.92402891e-01 -7.21478140e-01 -6.89414042e-03 8.98946868e+02] [ 7.21442250e-01 6.92437212e-01 -7.19629653e-03 5.28981751e+01] [ 9.96573001e-03 9.01235397e-06 9.99950341e-01 6.28763234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2592541539999 meters 0.01656368325886313 Centerline is valid? [True, True] Translation: X:898.97, Y:52.92, Z:6.29 [[ 6.91453460e-01 -7.22386820e-01 -7.02822338e-03 8.98966474e+02] [ 7.22349525e-01 6.91489178e-01 -7.34033542e-03 5.29186302e+01] [ 1.01625020e-02 -1.33349970e-06 9.99948360e-01 6.28640908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2892541539999 meters 0.013442049329813702 Centerline is valid? [True, True] Translation: X:898.98, Y:52.94, Z:6.29 [[ 6.91473548e-01 -7.22372523e-01 -6.50154050e-03 8.98984918e+02] [ 7.22340579e-01 6.91504113e-01 -6.79340408e-03 5.29388912e+01] [ 9.40321044e-03 1.13269605e-06 9.99955789e-01 6.28907853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3192541539999 meters 0.013416418513303087 Centerline is valid? [True, True] Translation: X:899.00, Y:52.96, Z:6.29 [[ 6.90369121e-01 -7.23422411e-01 -7.10582164e-03 8.99003861e+02] [ 7.23384277e-01 6.90405689e-01 -7.42781351e-03 5.29596290e+01] [ 1.02793464e-02 -1.23065636e-05 9.99947166e-01 6.28814616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3492541539998 meters 0.015464646121003546 Centerline is valid? [True, True] Translation: X:899.02, Y:52.98, Z:6.29 [[ 6.89705806e-01 -7.24049807e-01 -7.60115955e-03 8.99022392e+02] [ 7.24006167e-01 6.89747690e-01 -7.94947939e-03 5.29794804e+01] [ 1.09987013e-02 -2.04842937e-05 9.99939512e-01 6.28541872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3792541539999 meters 0.013792902687049802 Centerline is valid? [True, True] Translation: X:899.04, Y:53.00, Z:6.29 [[ 6.89543073e-01 -7.24209322e-01 -7.15602613e-03 8.99040982e+02] [ 7.24170622e-01 6.89580204e-01 -7.48684518e-03 5.30007596e+01] [ 1.03566970e-02 -1.96816562e-05 9.99946368e-01 6.28737722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4092541539999 meters 0.014550237291997456 Centerline is valid? [True, True] Translation: X:899.06, Y:53.02, Z:6.29 [[ 6.88663850e-01 -7.25044072e-01 -7.29349194e-03 8.99058993e+02] [ 7.25003878e-01 6.88702470e-01 -7.63443660e-03 5.30206096e+01] [ 1.05583489e-02 -3.02494408e-05 9.99944259e-01 6.28659321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4392541539999 meters 0.013310014930392158 Centerline is valid? [True, True] Translation: X:899.08, Y:53.04, Z:6.29 [[ 6.88460397e-01 -7.25241647e-01 -6.84367924e-03 8.99077958e+02] [ 7.25206240e-01 6.88494410e-01 -7.16633586e-03 5.30413706e+01] [ 9.90916012e-03 -2.93404620e-05 9.99950903e-01 6.28830191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4692541539998 meters 0.014261991221401366 Centerline is valid? [True, True] Translation: X:899.10, Y:53.06, Z:6.29 [[ 6.87298521e-01 -7.26345088e-01 -6.59970770e-03 8.99096702e+02] [ 7.26312175e-01 6.87330206e-01 -6.91468017e-03 5.30619342e+01] [ 9.55862242e-03 -4.09986026e-05 9.99954314e-01 6.28782458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4992541539999 meters 0.015396583874346807 Centerline is valid? [True, True] Translation: X:899.12, Y:53.08, Z:6.29 [[ 6.86422418e-01 -7.27171347e-01 -6.78949931e-03 8.99115516e+02] [ 7.27136513e-01 6.86455993e-01 -7.11768463e-03 5.30823135e+01] [ 9.83646881e-03 -5.11545625e-05 9.99951619e-01 6.28670852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5292541539999 meters 0.014171769857744307 Centerline is valid? [True, True] Translation: X:899.13, Y:53.10, Z:6.29 [[ 6.86293717e-01 -7.27296527e-01 -6.37930657e-03 8.99133820e+02] [ 7.27265750e-01 6.86323364e-01 -6.69099988e-03 5.31028474e+01] [ 9.24460811e-03 -4.74599967e-05 9.99957267e-01 6.28767990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5592541539999 meters 0.014667585414523147 Centerline is valid? [True, True] Translation: X:899.15, Y:53.12, Z:6.29 [[ 6.86009620e-01 -7.27565578e-01 -6.25550839e-03 8.99152401e+02] [ 7.27535970e-01 6.86038139e-01 -6.56393104e-03 5.31235137e+01] [ 9.06720761e-03 -4.81875270e-05 9.99958891e-01 6.28691282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5892541539998 meters 0.013281627961437335 Centerline is valid? [True, True] Translation: X:899.17, Y:53.14, Z:6.29 [[ 6.86454849e-01 -7.27145552e-01 -6.25197014e-03 8.99170920e+02] [ 7.27115926e-01 6.86483317e-01 -6.56395433e-03 5.31446530e+01] [ 9.06482339e-03 -4.00487855e-05 9.99958913e-01 6.28852578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6192541539999 meters 0.01622064215854646 Centerline is valid? [True, True] Translation: X:899.19, Y:53.16, Z:6.29 [[ 6.86130142e-01 -7.27447727e-01 -6.72558062e-03 8.99189244e+02] [ 7.27413419e-01 6.86163102e-01 -7.06510459e-03 5.31649763e+01] [ 9.75433954e-03 -4.46963785e-05 9.99952424e-01 6.28533213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6492541539999 meters 0.015726697206270325 Centerline is valid? [True, True] Translation: X:899.21, Y:53.19, Z:6.28 [[ 6.87107396e-01 -7.26520703e-01 -7.14798073e-03 8.99206206e+02] [ 7.26481870e-01 6.87144575e-01 -7.51167878e-03 5.31860314e+01] [ 1.03690863e-02 -3.15483605e-05 9.99946239e-01 6.28461811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6792541539999 meters 0.015506551014991479 Centerline is valid? [True, True] Translation: X:899.22, Y:53.21, Z:6.28 [[ 6.87383865e-01 -7.26260017e-01 -7.05764317e-03 8.99224718e+02] [ 7.26222116e-01 6.87420095e-01 -7.41961438e-03 5.32072295e+01] [ 1.02401350e-02 -2.52933585e-05 9.99947568e-01 6.28440169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7092541539998 meters 0.013184510462178249 Centerline is valid? [True, True] Translation: X:899.24, Y:53.23, Z:6.29 [[ 6.88150009e-01 -7.25536226e-01 -6.83729895e-03 8.99242632e+02] [ 7.25500586e-01 6.88183975e-01 -7.19136892e-03 5.32278922e+01] [ 9.92291824e-03 -1.17238058e-05 9.99950767e-01 6.28649533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7392541539999 meters 0.015687012417606873 Centerline is valid? [True, True] Translation: X:899.26, Y:53.25, Z:6.28 [[ 6.88567177e-01 -7.25136659e-01 -7.21584478e-03 8.99260192e+02] [ 7.25096914e-01 6.88604985e-01 -7.59211303e-03 5.32481583e+01] [ 1.04741862e-02 -4.50693544e-06 9.99945144e-01 6.28370443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7692541539999 meters 0.015687012417606873 Centerline is valid? [True, True] Translation: X:899.28, Y:53.27, Z:6.28 [[ 6.88369918e-01 -7.25323935e-01 -7.21419756e-03 8.99279127e+02] [ 7.25284184e-01 6.88407720e-01 -7.59367805e-03 5.32682233e+01] [ 1.04741857e-02 -5.08385250e-06 9.99945144e-01 6.28389508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7992541539999 meters 0.013172040478268442 Centerline is valid? [True, True] Translation: X:899.30, Y:53.29, Z:6.29 [[ 6.89117339e-01 -7.24619821e-01 -6.58850997e-03 8.99297565e+02] [ 7.24586600e-01 6.89148833e-01 -6.93861459e-03 5.32891315e+01] [ 9.56832162e-03 7.57357984e-06 9.99954223e-01 6.28680877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8292541539998 meters 0.013113277951272585 Centerline is valid? [True, True] Translation: X:899.32, Y:53.31, Z:6.29 [[ 6.89315361e-01 -7.24435298e-01 -6.15076328e-03 8.99316638e+02] [ 7.24406308e-01 6.89342802e-01 -6.48093456e-03 5.33102346e+01] [ 8.93500216e-03 1.17560365e-05 9.99960082e-01 6.28714345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8592541539999 meters 0.013129909583443056 Centerline is valid? [True, True] Translation: X:899.34, Y:53.33, Z:6.29 [[ 6.89837515e-01 -7.23937610e-01 -6.20797860e-03 8.99335147e+02] [ 7.23908025e-01 6.89865448e-01 -6.54482869e-03 5.33312279e+01] [ 9.02071758e-03 2.08628369e-05 9.99959312e-01 6.28740489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8892541539999 meters 0.013035966425143996 Centerline is valid? [True, True] Translation: X:899.35, Y:53.35, Z:6.29 [[ 6.89973786e-01 -7.23806744e-01 -6.32238827e-03 8.99353646e+02] [ 7.23776021e-01 6.90002752e-01 -6.66889726e-03 5.33515056e+01] [ 9.18945811e-03 2.53712636e-05 9.99957776e-01 6.28735850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9192541539999 meters 0.014282743518636717 Centerline is valid? [True, True] Translation: X:899.37, Y:53.37, Z:6.29 [[ 6.89733747e-01 -7.24035397e-01 -6.33259510e-03 8.99372828e+02] [ 7.24004561e-01 6.89762817e-01 -6.68220876e-03 5.33718795e+01] [ 9.20614430e-03 2.41171458e-05 9.99957622e-01 6.28616523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9492541539998 meters 0.013107558564293869 Centerline is valid? [True, True] Translation: X:899.39, Y:53.39, Z:6.29 [[ 6.90185200e-01 -7.23604213e-01 -6.42908405e-03 8.99392363e+02] [ 7.23572375e-01 6.90215142e-01 -6.78792521e-03 5.33922784e+01] [ 9.34922244e-03 3.30179027e-05 9.99956295e-01 6.28778900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9792541539998 meters 0.013119696720849106 Centerline is valid? [True, True] Translation: X:899.41, Y:53.41, Z:6.29 [[ 6.90010643e-01 -7.23769431e-01 -6.56684915e-03 8.99410995e+02] [ 7.23736186e-01 6.90041890e-01 -6.93713451e-03 5.34123299e+01] [ 9.55228689e-03 3.40302831e-05 9.99954375e-01 6.28762905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0092541539999 meters 0.014715505430565778 Centerline is valid? [True, True] Translation: X:899.43, Y:53.43, Z:6.29 [[ 6.89489856e-01 -7.24263892e-01 -6.74932013e-03 8.99430602e+02] [ 7.24228765e-01 6.89522888e-01 -7.13317140e-03 5.34329608e+01] [ 9.82010919e-03 3.01975413e-05 9.99951781e-01 6.28580327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0392541539999 meters 0.013407115691803105 Centerline is valid? [True, True] Translation: X:899.45, Y:53.45, Z:6.29 [[ 6.89177061e-01 -7.24552254e-01 -7.68170763e-03 8.99449875e+02] [ 7.24506712e-01 6.89219870e-01 -8.12374348e-03 5.34532241e+01] [ 1.11804622e-02 3.32489238e-05 9.99937496e-01 6.28630970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0692541539999 meters 0.01424230792517067 Centerline is valid? [True, True] Translation: X:899.47, Y:53.47, Z:6.28 [[ 6.88585052e-01 -7.25110754e-01 -8.06346057e-03 8.99468639e+02] [ 7.25060561e-01 6.88632263e-01 -8.53169938e-03 5.34727854e+01] [ 1.17391861e-02 2.83034176e-05 9.99931093e-01 6.28488477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0992541539998 meters 0.012933579949133554 Centerline is valid? [True, True] Translation: X:899.49, Y:53.49, Z:6.29 [[ 6.88306318e-01 -7.25372912e-01 -8.27949562e-03 8.99488051e+02] [ 7.25319966e-01 6.88356112e-01 -8.76411190e-03 5.34929160e+01] [ 1.20564908e-02 2.71101116e-05 9.99927318e-01 6.28605356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1292541539999 meters 0.015537252663771327 Centerline is valid? [True, True] Translation: X:899.51, Y:53.51, Z:6.28 [[ 6.86580547e-01 -7.26994655e-01 -9.26954432e-03 8.99507458e+02] [ 7.26928370e-01 6.86643118e-01 -9.81695706e-03 5.35115023e+01] [ 1.35017441e-02 1.83699265e-06 9.99908847e-01 6.28313195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1592541539999 meters 0.015478175169851855 Centerline is valid? [True, True] Translation: X:899.53, Y:53.53, Z:6.28 [[ 6.85775565e-01 -7.27758047e-01 -8.94986288e-03 8.99527448e+02] [ 7.27696267e-01 6.85833963e-01 -9.48253031e-03 5.35314048e+01] [ 1.30391077e-02 -9.89422491e-06 9.99914987e-01 6.28394824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1892541539999 meters 0.014464493531584036 Centerline is valid? [True, True] Translation: X:899.55, Y:53.55, Z:6.29 [[ 6.83928711e-01 -7.29500212e-01 -8.42370798e-03 8.99547764e+02] [ 7.29445554e-01 6.83980584e-01 -8.92995275e-03 5.35506770e+01] [ 1.22760551e-02 -3.71852589e-05 9.99924646e-01 6.28561052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2192541539998 meters 0.015125426610147093 Centerline is valid? [True, True] Translation: X:899.57, Y:53.57, Z:6.29 [[ 6.82263960e-01 -7.31058398e-01 -8.33717461e-03 8.99567526e+02] [ 7.31004913e-01 6.82314895e-01 -8.84320572e-03 5.35701562e+01] [ 1.21534782e-02 -6.11150449e-05 9.99926142e-01 6.28558502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2492541539999 meters 0.013716989463190108 Centerline is valid? [True, True] Translation: X:899.59, Y:53.59, Z:6.29 [[ 6.80951895e-01 -7.32286208e-01 -7.83746627e-03 8.99586901e+02] [ 7.32238981e-01 6.80996993e-01 -8.31692528e-03 5.35886995e+01] [ 1.14276606e-02 -7.54722822e-05 9.99934699e-01 6.28745846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2792541539999 meters 0.017128296187010183 Centerline is valid? [True, True] Translation: X:899.61, Y:53.61, Z:6.28 [[ 6.78871121e-01 -7.34208562e-01 -8.47280025e-03 8.99607775e+02] [ 7.34153470e-01 6.78923983e-01 -8.99486088e-03 5.36089605e+01] [ 1.23564912e-02 -1.13984412e-04 9.99923649e-01 6.28482373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3092541539999 meters 0.016838125161560354 Centerline is valid? [True, True] Translation: X:899.63, Y:53.63, Z:6.29 [[ 6.75480067e-01 -7.37329278e-01 -8.49795611e-03 8.99630032e+02] [ 7.37274049e-01 6.75533499e-01 -9.02604312e-03 5.36277049e+01] [ 1.23958199e-02 -1.68410294e-04 9.99923155e-01 6.28593224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3392541539998 meters 0.014464162174272509 Centerline is valid? [True, True] Translation: X:899.65, Y:53.65, Z:6.29 [[ 6.74298827e-01 -7.38418895e-01 -7.65691445e-03 8.99650465e+02] [ 7.38374085e-01 6.74342278e-01 -8.13651168e-03 5.36476270e+01] [ 1.11715351e-02 -1.67226915e-04 9.99937582e-01 6.28891570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3692541539999 meters 0.014841982549062561 Centerline is valid? [True, True] Translation: X:899.67, Y:53.67, Z:6.29 [[ 6.73138079e-01 -7.39475088e-01 -7.85632501e-03 8.99670569e+02] [ 7.39427949e-01 6.73183897e-01 -8.35154883e-03 5.36674189e+01] [ 1.14645138e-02 -1.87440763e-04 9.99934263e-01 6.28912329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3992541539999 meters 0.016001776962392907 Centerline is valid? [True, True] Translation: X:899.69, Y:53.69, Z:6.29 [[ 6.71693319e-01 -7.40784347e-01 -8.16311596e-03 8.99690952e+02] [ 7.40733520e-01 6.71742885e-01 -8.68037057e-03 5.36880573e+01] [ 1.19137977e-02 -2.16146704e-04 9.99929005e-01 6.28814495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4292541539999 meters 0.017037893958668077 Centerline is valid? [True, True] Translation: X:899.71, Y:53.71, Z:6.29 [[ 6.70237905e-01 -7.42098207e-01 -8.44995221e-03 8.99710657e+02] [ 7.42043809e-01 6.70291124e-01 -8.98861918e-03 5.37074065e+01] [ 1.23343661e-02 -2.45721426e-04 9.99923899e-01 6.28773212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4592541539998 meters 0.015884964142588994 Centerline is valid? [True, True] Translation: X:899.73, Y:53.73, Z:6.29 [[ 6.69630289e-01 -7.42652770e-01 -7.88286807e-03 8.99729631e+02] [ 7.42605436e-01 6.69676644e-01 -8.38806088e-03 5.37283253e+01] [ 1.15083893e-02 -2.36961055e-04 9.99933748e-01 6.28946748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4892541539999 meters 0.016873136347259253 Centerline is valid? [True, True] Translation: X:899.75, Y:53.75, Z:6.29 [[ 6.68585403e-01 -7.43590028e-01 -8.21149465e-03 8.99749467e+02] [ 7.43538692e-01 6.68635777e-01 -8.74131731e-03 5.37476157e+01] [ 1.19904555e-02 -2.61246834e-04 9.99928078e-01 6.28913014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5192541539999 meters 0.01718343224699958 Centerline is valid? [True, True] Translation: X:899.77, Y:53.77, Z:6.29 [[ 6.67868768e-01 -7.44232116e-01 -8.35859667e-03 8.99769435e+02] [ 7.44178940e-01 6.67921014e-01 -8.90078841e-03 5.37680484e+01] [ 1.22071350e-02 -2.75733024e-04 9.99925452e-01 6.28965508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5492541539999 meters 0.018531223934025023 Centerline is valid? [True, True] Translation: X:899.79, Y:53.79, Z:6.29 [[ 6.66728695e-01 -7.45243023e-01 -9.25657611e-03 8.99787911e+02] [ 7.45177832e-01 6.66792871e-01 -9.86230520e-03 5.37909322e+01] [ 1.35220331e-02 -3.22313448e-04 9.99908521e-01 6.28782872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5792541539998 meters 0.01817519250922303 Centerline is valid? [True, True] Translation: X:899.81, Y:53.81, Z:6.29 [[ 6.66443241e-01 -7.45501352e-01 -9.00780999e-03 8.99807264e+02] [ 7.45439591e-01 6.66504039e-01 -9.60116483e-03 5.38102745e+01] [ 1.31614231e-02 -3.16146789e-04 9.99913335e-01 6.28893668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6092541539999 meters 0.018179638015944695 Centerline is valid? [True, True] Translation: X:899.82, Y:53.83, Z:6.29 [[ 6.66107971e-01 -7.45793251e-01 -9.62281793e-03 8.99824273e+02] [ 7.45722737e-01 6.66177387e-01 -1.02610418e-02 5.38339426e+01] [ 1.40631194e-02 -3.40992403e-04 9.99901051e-01 6.28865982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6392541539999 meters 0.01727300248276312 Centerline is valid? [True, True] Translation: X:899.84, Y:53.85, Z:6.29 [[ 6.66372968e-01 -7.45557920e-01 -9.51086347e-03 8.99842261e+02] [ 7.45488963e-01 6.66440755e-01 -1.01453006e-02 5.38541638e+01] [ 1.39023362e-02 -3.29689709e-04 9.99903303e-01 6.28962576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6692541539999 meters 0.016300576081526946 Centerline is valid? [True, True] Translation: X:899.86, Y:53.88, Z:6.29 [[ 6.67123009e-01 -7.44886810e-01 -9.51475885e-03 8.99859602e+02] [ 7.44817677e-01 6.67190784e-01 -1.01531164e-02 5.38773888e+01] [ 1.39110819e-02 -3.13383011e-04 9.99903187e-01 6.29064191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6992541539998 meters 0.016120160688258348 Centerline is valid? [True, True] Translation: X:899.88, Y:53.90, Z:6.29 [[ 6.67717309e-01 -7.44353840e-01 -9.53707424e-03 8.99878094e+02] [ 7.44284280e-01 6.67785347e-01 -1.01803738e-02 5.38983266e+01] [ 1.39465188e-02 -3.00682623e-04 9.99902697e-01 6.29122630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7292541539998 meters 0.015756683331657764 Centerline is valid? [True, True] Translation: X:899.90, Y:53.92, Z:6.29 [[ 6.68120058e-01 -7.43989445e-01 -9.76184131e-03 8.99896454e+02] [ 7.43916477e-01 6.68191303e-01 -1.04238888e-02 5.39207907e+01] [ 1.42780407e-02 -2.97585427e-04 9.99898019e-01 6.29176951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7592541539999 meters 0.015344349869421625 Centerline is valid? [True, True] Translation: X:899.91, Y:53.94, Z:6.29 [[ 6.69847309e-01 -7.42439994e-01 -9.35081962e-03 8.99913170e+02] [ 7.42372846e-01 6.69912525e-01 -9.98826960e-03 5.39432838e+01] [ 1.36799220e-02 -2.51179064e-04 9.99906394e-01 6.29248860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7892541539999 meters 0.014555347027241183 Centerline is valid? [True, True] Translation: X:899.93, Y:53.97, Z:6.29 [[ 6.70751315e-01 -7.41622851e-01 -9.39253829e-03 8.99930444e+02] [ 7.41554975e-01 6.70817033e-01 -1.00362579e-02 5.39669646e+01] [ 1.37437929e-02 -2.33250326e-04 9.99905522e-01 6.29310505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8192541539999 meters 0.016299498173825484 Centerline is valid? [True, True] Translation: X:899.95, Y:53.99, Z:6.29 [[ 6.71366965e-01 -7.41059825e-01 -9.83537408e-03 8.99948138e+02] [ 7.40985274e-01 6.71438965e-01 -1.05137960e-02 5.39888697e+01] [ 1.43952052e-02 -2.29252022e-04 9.99896357e-01 6.29107255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8492541539998 meters 0.016255399720148913 Centerline is valid? [True, True] Translation: X:899.97, Y:54.01, Z:6.29 [[ 6.72302747e-01 -7.40205492e-01 -1.02394245e-02 8.99965861e+02] [ 7.40124522e-01 6.72380683e-01 -1.09502912e-02 5.40113486e+01] [ 1.49902569e-02 -2.16538310e-04 9.99887616e-01 6.29084492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8792541539999 meters 0.013703816711425636 Centerline is valid? [True, True] Translation: X:899.98, Y:54.03, Z:6.29 [[ 6.75044615e-01 -7.37708340e-01 -1.00585303e-02 8.99982355e+02] [ 7.37629848e-01 6.75119532e-01 -1.07622036e-02 5.40347973e+01] [ 1.47300777e-02 -1.54504585e-04 9.99891495e-01 6.29246059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9092541539999 meters 0.01694714856896542 Centerline is valid? [True, True] Translation: X:900.00, Y:54.06, Z:6.29 [[ 6.75544491e-01 -7.37233564e-01 -1.12389158e-02 8.99999076e+02] [ 7.37135418e-01 6.75637956e-01 -1.20303032e-02 5.40556900e+01] [ 1.64625814e-02 -1.57597810e-04 9.99864470e-01 6.28922629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9392541539999 meters 0.015063499555915192 Centerline is valid? [True, True] Translation: X:900.02, Y:54.08, Z:6.29 [[ 6.78002550e-01 -7.34972997e-01 -1.12798423e-02 9.00015771e+02] [ 7.34873736e-01 6.78096367e-01 -1.20792467e-02 5.40798676e+01] [ 1.65267402e-02 -9.94998137e-05 9.99863419e-01 6.28981263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9692541539998 meters 0.013077060618406636 Centerline is valid? [True, True] Translation: X:900.03, Y:54.10, Z:6.29 [[ 6.79380202e-01 -7.33706318e-01 -1.08434723e-02 9.00033634e+02] [ 7.33614338e-01 6.79466729e-01 -1.16175715e-02 5.41023821e+01] [ 1.58916643e-02 -6.21786606e-05 9.99873718e-01 6.29152913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9992541539999 meters 0.01300216211635028 Centerline is valid? [True, True] Translation: X:900.05, Y:54.12, Z:6.29 [[ 6.80338395e-01 -7.32814595e-01 -1.10650994e-02 9.00051434e+02] [ 7.32718595e-01 6.80428370e-01 -1.18613954e-02 5.41245462e+01] [ 1.62212112e-02 -3.78413586e-05 9.99868427e-01 6.29165270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0292541539999 meters 0.015570160938355124 Centerline is valid? [True, True] Translation: X:900.07, Y:54.15, Z:6.29 [[ 6.81808971e-01 -7.31441751e-01 -1.13794876e-02 9.00067859e+02] [ 7.31339909e-01 6.81903927e-01 -1.22054121e-02 5.41478905e+01] [ 1.66872653e-02 -5.13926734e-07 9.99860758e-01 6.28921162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0592541539999 meters 0.016602076770049514 Centerline is valid? [True, True] Translation: X:900.09, Y:54.17, Z:6.29 [[ 6.82688226e-01 -7.30618596e-01 -1.15434829e-02 9.00085580e+02] [ 7.30513558e-01 6.82785813e-01 -1.23885243e-02 5.41697219e+01] [ 1.69330126e-02 2.48289670e-05 9.99856626e-01 6.28924436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0892541539998 meters 0.013111501941324146 Centerline is valid? [True, True] Translation: X:900.10, Y:54.19, Z:6.29 [[ 6.84452450e-01 -7.28981030e-01 -1.05594102e-02 9.00102253e+02] [ 7.28892871e-01 6.84533895e-01 -1.13370764e-02 5.41907938e+01] [ 1.54927878e-02 6.30109367e-05 9.99879978e-01 6.29220097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1192541539999 meters 0.014087825700935665 Centerline is valid? [True, True] Translation: X:900.12, Y:54.21, Z:6.29 [[ 6.85553801e-01 -7.27946057e-01 -1.05130405e-02 9.00120824e+02] [ 7.27858475e-01 6.85634400e-01 -1.12919926e-02 5.42135777e+01] [ 1.54280637e-02 8.92628278e-05 9.99880976e-01 6.29181179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1492541539999 meters 0.014102161286123927 Centerline is valid? [True, True] Translation: X:900.14, Y:54.24, Z:6.29 [[ 6.88536052e-01 -7.25134484e-01 -9.90381620e-03 9.00137191e+02] [ 7.25056392e-01 6.88607260e-01 -1.06428146e-02 5.42374403e+01] [ 1.45373116e-02 1.47136317e-04 9.99894317e-01 6.29316047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1792541539999 meters 0.01596045543961231 Centerline is valid? [True, True] Translation: X:900.15, Y:54.26, Z:6.29 [[ 6.89615869e-01 -7.24106236e-01 -1.00056162e-02 9.00154684e+02] [ 7.24026343e-01 6.89688429e-01 -1.07575913e-02 5.42602236e+01] [ 1.46903967e-02 1.74275993e-04 9.99892075e-01 6.29162036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2092541539998 meters 0.014982282808114459 Centerline is valid? [True, True] Translation: X:900.17, Y:54.28, Z:6.29 [[ 6.92646275e-01 -7.21214279e-01 -9.54466173e-03 9.00170070e+02] [ 7.21141256e-01 6.92711998e-01 -1.02653078e-02 5.42836182e+01] [ 1.40151883e-02 2.27177863e-04 9.99901757e-01 6.29346169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2392541539999 meters 0.016745609687962924 Centerline is valid? [True, True] Translation: X:900.19, Y:54.31, Z:6.29 [[ 6.93204048e-01 -7.20669906e-01 -1.01506064e-02 9.00188737e+02] [ 7.20587201e-01 6.93278314e-01 -1.09208581e-02 5.43051497e+01] [ 1.49075291e-02 2.55986038e-04 9.99888844e-01 6.29193671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2692541539999 meters 0.01861846635782986 Centerline is valid? [True, True] Translation: X:900.21, Y:54.33, Z:6.29 [[ 6.93643219e-01 -7.20233871e-01 -1.10568901e-02 9.00207757e+02] [ 7.20135582e-01 6.93731277e-01 -1.19020400e-02 5.43273733e+01] [ 1.62427629e-02 2.93309380e-04 9.99868035e-01 6.29053512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2992541539999 meters 0.017551868289594267 Centerline is valid? [True, True] Translation: X:900.23, Y:54.35, Z:6.29 [[ 6.95045269e-01 -7.18878351e-01 -1.12245086e-02 9.00225010e+02] [ 7.18776820e-01 6.95135818e-01 -1.20862472e-02 5.43496984e+01] [ 1.64910995e-02 3.32572355e-04 9.99863957e-01 6.29177940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3292541539998 meters 0.019736802312529535 Centerline is valid? [True, True] Translation: X:900.25, Y:54.37, Z:6.29 [[ 6.94915121e-01 -7.18986041e-01 -1.23307244e-02 9.00245570e+02] [ 7.18863433e-01 6.95024415e-01 -1.32825855e-02 5.43695156e+01] [ 1.81201481e-02 3.66162603e-04 9.99835750e-01 6.29090152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3592541539999 meters 0.015865921139229 Centerline is valid? [True, True] Translation: X:900.26, Y:54.39, Z:6.29 [[ 6.95835199e-01 -7.18100837e-01 -1.20234682e-02 9.00263134e+02] [ 7.17984060e-01 6.95938964e-01 -1.29555896e-02 5.43911937e+01] [ 1.76710198e-02 3.82296728e-04 9.99843782e-01 6.29371976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3892541539999 meters 0.017136941902181357 Centerline is valid? [True, True] Translation: X:900.28, Y:54.41, Z:6.29 [[ 6.95322749e-01 -7.18581462e-01 -1.29211757e-02 9.00282433e+02] [ 7.18446560e-01 6.95442680e-01 -1.39291063e-02 5.44112130e+01] [ 1.89951346e-02 4.02050296e-04 9.99819495e-01 6.29250730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4192541539999 meters 0.020424030472658703 Centerline is valid? [True, True] Translation: X:900.30, Y:54.43, Z:6.29 [[ 6.94783844e-01 -7.19087371e-01 -1.37390780e-02 9.00298206e+02] [ 7.18934832e-01 6.94919548e-01 -1.48164836e-02 5.44333179e+01] [ 2.02019001e-02 4.16751734e-04 9.99795834e-01 6.28913121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4492541539998 meters 0.018796142548838848 Centerline is valid? [True, True] Translation: X:900.32, Y:54.45, Z:6.29 [[ 6.93927775e-01 -7.19907628e-01 -1.40445853e-02 9.00320761e+02] [ 7.19748262e-01 6.94069768e-01 -1.51524413e-02 5.44512410e+01] [ 2.06562801e-02 4.06134000e-04 9.99786554e-01 6.29169080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4792541539998 meters 0.015909215237721496 Centerline is valid? [True, True] Translation: X:900.34, Y:54.47, Z:6.29 [[ 6.92005811e-01 -7.21757826e-01 -1.39139315e-02 9.00341690e+02] [ 7.21601678e-01 6.92145589e-01 -1.50167238e-02 5.44701839e+01] [ 2.04689042e-02 3.51343852e-04 9.99790428e-01 6.29394280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5092541539999 meters 0.017282106531811354 Centerline is valid? [True, True] Translation: X:900.36, Y:54.49, Z:6.29 [[ 6.89978919e-01 -7.23688005e-01 -1.43095416e-02 9.00363122e+02] [ 7.23523123e-01 6.90127218e-01 -1.54503414e-02 5.44897193e+01] [ 2.10566309e-02 3.07125586e-04 9.99778237e-01 6.29358125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5392541539999 meters 0.014119899920337738 Centerline is valid? [True, True] Translation: X:900.38, Y:54.51, Z:6.30 [[ 6.88333892e-01 -7.25272634e-01 -1.32687549e-02 9.00384100e+02] [ 7.25131023e-01 6.88461725e-01 -1.43336380e-02 5.45091527e+01] [ 1.95308253e-02 2.44743002e-04 9.99809225e-01 6.29649272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5692541539999 meters 0.014648226805274809 Centerline is valid? [True, True] Translation: X:900.41, Y:54.53, Z:6.30 [[ 6.85936786e-01 -7.27533953e-01 -1.36041510e-02 9.00405510e+02] [ 7.27385385e-01 6.86071651e-01 -1.47034159e-02 5.45287006e+01] [ 2.00306567e-02 1.90153190e-04 9.99799348e-01 6.29614903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5992541539998 meters 0.01312169446673462 Centerline is valid? [True, True] Translation: X:900.43, Y:54.55, Z:6.30 [[ 6.81284220e-01 -7.31907902e-01 -1.27528384e-02 9.00429954e+02] [ 7.31777987e-01 6.81403565e-01 -1.37897810e-02 5.45460600e+01] [ 1.87826792e-02 6.25138055e-05 9.99823588e-01 6.29853355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6292541539999 meters 0.013037716779881263 Centerline is valid? [True, True] Translation: X:900.45, Y:54.56, Z:6.30 [[ 6.78707644e-01 -7.34297471e-01 -1.27733307e-02 9.00450468e+02] [ 7.34167464e-01 6.78827831e-01 -1.38170087e-02 5.45636096e+01] [ 1.88166869e-02 -5.43938317e-08 9.99822950e-01 6.29902286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6592541539999 meters 0.013037716779881263 Centerline is valid? [True, True] Translation: X:900.47, Y:54.58, Z:6.30 [[ 6.78499532e-01 -7.34489830e-01 -1.27700759e-02 9.00469137e+02] [ 7.34359801e-01 6.78619695e-01 -1.38200166e-02 5.45839212e+01] [ 1.88166866e-02 -9.55548260e-07 9.99822950e-01 6.29921362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6892541539999 meters 0.015748925204992055 Centerline is valid? [True, True] Translation: X:900.49, Y:54.60, Z:6.30 [[ 6.73355920e-01 -7.39187826e-01 -1.38983046e-02 9.00492608e+02] [ 7.39034696e-01 6.73499323e-01 -1.50459084e-02 5.45999825e+01] [ 2.04822511e-02 -1.40077771e-04 9.99790207e-01 6.29792722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7192541539998 meters 0.01657174755725177 Centerline is valid? [True, True] Translation: X:900.51, Y:54.62, Z:6.30 [[ 6.71032207e-01 -7.41287471e-01 -1.44451215e-02 9.00513941e+02] [ 7.41122405e-01 6.71187635e-01 -1.56441405e-02 5.46200614e+01] [ 2.12921922e-02 -2.07881040e-04 9.99773274e-01 6.29877091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7492541539999 meters 0.01671319501856722 Centerline is valid? [True, True] Translation: X:900.53, Y:54.64, Z:6.30 [[ 6.69049806e-01 -7.43072780e-01 -1.46697290e-02 9.00534653e+02] [ 7.42902869e-01 6.69210560e-01 -1.58919336e-02 5.46386258e+01] [ 2.16260008e-02 -2.65688646e-04 9.99766095e-01 6.29882066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7792541539999 meters 0.01500951804906987 Centerline is valid? [True, True] Translation: X:900.56, Y:54.66, Z:6.30 [[ 6.65498893e-01 -7.46255230e-01 -1.46408994e-02 9.00556968e+02] [ 7.46086616e-01 6.65659823e-01 -1.58670187e-02 5.46575285e+01] [ 2.15867042e-02 -3.63895706e-04 9.99766914e-01 6.30080076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8092541539999 meters 0.017059583725652288 Centerline is valid? [True, True] Translation: X:900.58, Y:54.68, Z:6.30 [[ 6.63269706e-01 -7.48214160e-01 -1.57755227e-02 9.00577929e+02] [ 7.48018744e-01 6.63457130e-01 -1.71054048e-02 5.46775675e+01] [ 2.32648891e-02 -4.54889866e-04 9.99729232e-01 6.29915139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8392541539998 meters 0.01940002091364096 Centerline is valid? [True, True] Translation: X:900.60, Y:54.70, Z:6.30 [[ 6.61271779e-01 -7.49961814e-01 -1.66406682e-02 9.00597981e+02] [ 7.49744791e-01 6.61480903e-01 -1.80489045e-02 5.46962407e+01] [ 2.45434734e-02 -5.41023070e-04 9.99698617e-01 6.29792529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8692541539999 meters 0.01848864425473994 Centerline is valid? [True, True] Translation: X:900.62, Y:54.71, Z:6.30 [[ 6.58307153e-01 -7.52581110e-01 -1.59174682e-02 9.00619969e+02] [ 7.52383228e-01 6.58499281e-01 -1.72677464e-02 5.47139202e+01] [ 2.34770211e-02 -6.08555159e-04 9.99724192e-01 6.29942906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8992541539999 meters 0.018068702700316172 Centerline is valid? [True, True] Translation: X:900.64, Y:54.73, Z:6.30 [[ 6.56631530e-01 -7.54045565e-01 -1.58214932e-02 9.00640610e+02] [ 7.53850326e-01 6.56821787e-01 -1.71705103e-02 5.47344750e+01] [ 2.33392486e-02 -6.52339389e-04 9.99727390e-01 6.30062493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9292541539999 meters 0.019426321516054737 Centerline is valid? [True, True] Translation: X:900.66, Y:54.76, Z:6.30 [[ 6.54777596e-01 -7.55640593e-01 -1.65406697e-02 9.00660039e+02] [ 7.55427571e-01 6.54986069e-01 -1.79564753e-02 5.47552300e+01] [ 2.44025499e-02 -7.37780193e-04 9.99701941e-01 6.30001067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9592541539998 meters 0.019360299982794628 Centerline is valid? [True, True] Translation: X:900.68, Y:54.77, Z:6.30 [[ 6.52974992e-01 -7.57222658e-01 -1.54112085e-02 9.00680643e+02] [ 7.57038083e-01 6.53156412e-01 -1.67344836e-02 5.47739288e+01] [ 2.27376598e-02 -7.39672471e-04 9.99741192e-01 6.30078851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9892541539999 meters 0.019256239516451796 Centerline is valid? [True, True] Translation: X:900.70, Y:54.79, Z:6.30 [[ 6.52376626e-01 -7.57731640e-01 -1.57321075e-02 9.00699633e+02] [ 7.57539338e-01 6.52565835e-01 -1.70874993e-02 5.47949961e+01] [ 2.32139747e-02 -7.70205170e-04 9.99730223e-01 6.30117686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0192541539999 meters 0.021035407229494586 Centerline is valid? [True, True] Translation: X:900.72, Y:54.81, Z:6.30 [[ 6.51712058e-01 -7.58291750e-01 -1.62792487e-02 9.00719010e+02] [ 7.58085926e-01 6.51914838e-01 -1.76853873e-02 5.48146429e+01] [ 2.40233671e-02 -8.15289167e-04 9.99711065e-01 6.29954164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0492541539999 meters 0.020828285733014498 Centerline is valid? [True, True] Translation: X:900.74, Y:54.84, Z:6.30 [[ 6.51956370e-01 -7.58072350e-01 -1.67094044e-02 9.00736196e+02] [ 7.57855223e-01 6.52169943e-01 -1.81611045e-02 5.48368797e+01] [ 2.46648025e-02 -8.23061597e-04 9.99695439e-01 6.29983900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0792541539998 meters 0.018679797051943274 Centerline is valid? [True, True] Translation: X:900.76, Y:54.86, Z:6.30 [[ 6.53052238e-01 -7.57156516e-01 -1.53878040e-02 9.00755674e+02] [ 7.56971944e-01 6.53233106e-01 -1.67327582e-02 5.48586549e+01] [ 2.27211399e-02 -7.20770709e-04 9.99741582e-01 6.30162759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1092541539999 meters 0.0197229694911041 Centerline is valid? [True, True] Translation: X:900.77, Y:54.88, Z:6.30 [[ 6.54611742e-01 -7.55792480e-01 -1.61615034e-02 9.00773154e+02] [ 7.55588254e-01 6.54810839e-01 -1.75827966e-02 5.48823598e+01] [ 2.38716731e-02 -7.01537024e-04 9.99714785e-01 6.30052835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1392541539999 meters 0.020434899967142477 Centerline is valid? [True, True] Translation: X:900.79, Y:54.90, Z:6.30 [[ 6.55449078e-01 -7.55062249e-01 -1.63555948e-02 9.00791248e+02] [ 7.54852646e-01 6.55652759e-01 -1.78028569e-02 5.49047981e+01] [ 2.41658560e-02 -6.77197935e-04 9.99707734e-01 6.30029591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1692541539999 meters 0.018020556117409905 Centerline is valid? [True, True] Translation: X:900.81, Y:54.93, Z:6.30 [[ 6.56524132e-01 -7.54158624e-01 -1.48605141e-02 9.00809053e+02] [ 7.53985191e-01 6.56692039e-01 -1.61832585e-02 5.49271111e+01] [ 2.19635253e-02 -5.79907893e-04 9.99758604e-01 6.30145399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1992541539998 meters 0.016718717857999357 Centerline is valid? [True, True] Translation: X:900.83, Y:54.95, Z:6.30 [[ 6.57604854e-01 -7.53227309e-01 -1.42995683e-02 9.00826369e+02] [ 7.53066342e-01 6.57760099e-01 -1.55800173e-02 5.49501632e+01] [ 2.11409799e-02 -5.23028600e-04 9.99776368e-01 6.30243232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2292541539998 meters 0.016384084086546284 Centerline is valid? [True, True] Translation: X:900.84, Y:54.97, Z:6.30 [[ 6.59343846e-01 -7.51716667e-01 -1.37020255e-02 9.00842599e+02] [ 7.51568462e-01 6.59486049e-01 -1.49331313e-02 5.49734220e+01] [ 2.02617783e-02 -4.51941940e-04 9.99794607e-01 6.30246388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2592541539999 meters 0.016226171641000136 Centerline is valid? [True, True] Translation: X:900.86, Y:55.00, Z:6.30 [[ 6.59624154e-01 -7.51462003e-01 -1.41715568e-02 9.00859590e+02] [ 7.51303262e-01 6.59776213e-01 -1.54517849e-02 5.49964254e+01] [ 2.09614853e-02 -4.54766294e-04 9.99780180e-01 6.30343070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2892541539999 meters 0.01815765775603254 Centerline is valid? [True, True] Translation: X:900.88, Y:55.02, Z:6.30 [[ 6.59693502e-01 -7.51388312e-01 -1.48353426e-02 9.00877771e+02] [ 7.51214200e-01 6.59860124e-01 -1.61815502e-02 5.50177002e+01] [ 2.19478787e-02 -4.69656540e-04 9.99759006e-01 6.30252807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3192541539999 meters 0.015376739808034133 Centerline is valid? [True, True] Translation: X:900.89, Y:55.04, Z:6.30 [[ 6.60200377e-01 -7.50977942e-01 -1.29457414e-02 9.00894903e+02] [ 7.50845175e-01 6.60327172e-01 -1.41261803e-02 5.50411439e+01] [ 1.91568746e-02 -3.94137907e-04 9.99816413e-01 6.30363418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3492541539998 meters 0.01923568464310057 Centerline is valid? [True, True] Translation: X:900.91, Y:55.06, Z:6.30 [[ 6.59517384e-01 -7.51545202e-01 -1.47183468e-02 9.00913286e+02] [ 7.51373617e-01 6.59681434e-01 -1.60652819e-02 5.50625969e+01] [ 2.17832057e-02 -4.63644786e-04 9.99762610e-01 6.30203853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3792541539999 meters 0.015757278372702004 Centerline is valid? [True, True] Translation: X:900.93, Y:55.09, Z:6.30 [[ 6.59412350e-01 -7.51668459e-01 -1.30338336e-02 9.00931213e+02] [ 7.51533825e-01 6.59541022e-01 -1.42320319e-02 5.50851214e+01] [ 1.92941175e-02 -4.10589214e-04 9.99813767e-01 6.30406153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4092541539999 meters 0.01568478790435116 Centerline is valid? [True, True] Translation: X:900.95, Y:55.11, Z:6.30 [[ 6.58440728e-01 -7.52536779e-01 -1.20085289e-02 9.00948531e+02] [ 7.52422515e-01 6.58550104e-01 -1.31194715e-02 5.51068927e+01] [ 1.77811027e-02 -3.97093135e-04 9.99841825e-01 6.30462170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4392541539999 meters 0.015834243601375964 Centerline is valid? [True, True] Translation: X:900.97, Y:55.13, Z:6.31 [[ 6.57576676e-01 -7.53295164e-01 -1.18029628e-02 9.00967419e+02] [ 7.53184782e-01 6.57682469e-01 -1.29017216e-02 5.51285243e+01] [ 1.74814062e-02 -4.05940744e-04 9.99847106e-01 6.30508381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4692541539998 meters 0.016511246229019422 Centerline is valid? [True, True] Translation: X:900.99, Y:55.15, Z:6.30 [[ 6.56672966e-01 -7.54083518e-01 -1.17755611e-02 9.00986175e+02] [ 7.53973704e-01 6.56778402e-01 -1.28757348e-02 5.51488872e+01] [ 1.74433136e-02 -4.23316467e-04 9.99847764e-01 6.30484217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4992541539999 meters 0.016573298990426484 Centerline is valid? [True, True] Translation: X:901.00, Y:55.17, Z:6.31 [[ 6.54277715e-01 -7.56161953e-01 -1.18225533e-02 9.01004000e+02] [ 7.56051513e-01 6.54384347e-01 -1.29320202e-02 5.51718264e+01] [ 1.75151954e-02 -4.77326719e-04 9.99846483e-01 6.30501527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5292541539999 meters 0.01955269206867885 Centerline is valid? [True, True] Translation: X:901.02, Y:55.19, Z:6.30 [[ 6.52587109e-01 -7.57605108e-01 -1.28282990e-02 9.01022932e+02] [ 7.57475264e-01 6.52712946e-01 -1.40369062e-02 5.51915257e+01] [ 1.90076286e-02 -5.56815163e-04 9.99819184e-01 6.30363467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5592541539999 meters 0.01991375227378793 Centerline is valid? [True, True] Translation: X:901.04, Y:55.21, Z:6.30 [[ 6.50974187e-01 -7.58993155e-01 -1.27278537e-02 9.01041310e+02] [ 7.58865550e-01 6.51098334e-01 -1.39296694e-02 5.52130725e+01] [ 1.88596081e-02 -5.90874504e-04 9.99821967e-01 6.30386778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5892541539998 meters 0.021472705913729913 Centerline is valid? [True, True] Translation: X:901.06, Y:55.23, Z:6.30 [[ 6.47666700e-01 -7.61826878e-01 -1.21512768e-02 9.01060306e+02] [ 7.61710985e-01 6.47780363e-01 -1.33032579e-02 5.52336465e+01] [ 1.80061379e-02 -6.39683883e-04 9.99837672e-01 6.30343966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6192541539999 meters 0.020331391055131865 Centerline is valid? [True, True] Translation: X:901.08, Y:55.26, Z:6.30 [[ 6.46325234e-01 -7.62979696e-01 -1.12105319e-02 9.01079641e+02] [ 7.62881132e-01 6.46422156e-01 -1.22790114e-02 5.52555320e+01] [ 1.66153726e-02 -6.16068363e-04 9.99861765e-01 6.30436200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6492541539999 meters 0.021307205568217146 Centerline is valid? [True, True] Translation: X:901.10, Y:55.28, Z:6.30 [[ 6.44881454e-01 -7.64200069e-01 -1.12323319e-02 9.01098768e+02] [ 7.64101243e-01 6.44978943e-01 -1.23066714e-02 5.52759248e+01] [ 1.66493767e-02 -6.46294645e-04 9.99861181e-01 6.30451486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6792541539999 meters 0.023057841403753564 Centerline is valid? [True, True] Translation: X:901.12, Y:55.30, Z:6.30 [[ 6.42231092e-01 -7.66430149e-01 -1.11378442e-02 9.01117350e+02] [ 7.66333274e-01 6.42327286e-01 -1.22053810e-02 5.52960563e+01] [ 1.65087132e-02 -6.96625456e-04 9.99863479e-01 6.30459200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7092541539998 meters 0.021547061190917493 Centerline is valid? [True, True] Translation: X:901.13, Y:55.32, Z:6.31 [[ 6.41175188e-01 -7.67315302e-01 -1.10274687e-02 9.01134285e+02] [ 7.67220396e-01 6.41269618e-01 -1.20888733e-02 5.53199401e+01] [ 1.63475581e-02 -7.09413233e-04 9.99866118e-01 6.30535552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7392541539999 meters 0.024579400949654353 Centerline is valid? [True, True] Translation: X:901.15, Y:55.34, Z:6.30 [[ 6.40025733e-01 -7.68263519e-01 -1.17570172e-02 9.01151833e+02] [ 7.68155726e-01 6.40133235e-01 -1.28927439e-02 5.53419719e+01] [ 1.74310823e-02 -7.79532186e-04 9.99847763e-01 6.30431124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7692541539999 meters 0.0238599836370393 Centerline is valid? [True, True] Translation: X:901.17, Y:55.37, Z:6.31 [[ 6.39970931e-01 -7.68314696e-01 -1.13901398e-02 9.01169474e+02] [ 7.68213458e-01 6.40071839e-01 -1.24949550e-02 5.53651902e+01] [ 1.68905653e-02 -7.53650700e-04 9.99857060e-01 6.30508557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7992541539999 meters 0.021807008089764855 Centerline is valid? [True, True] Translation: X:901.19, Y:55.39, Z:6.31 [[ 6.40699014e-01 -7.67723836e-01 -1.02413404e-02 9.01186789e+02] [ 7.67641834e-01 6.40780521e-01 -1.12400451e-02 5.53887650e+01] [ 1.51917020e-02 -6.60195490e-04 9.99884381e-01 6.30647736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8292541539998 meters 0.023256439295449245 Centerline is valid? [True, True] Translation: X:901.20, Y:55.41, Z:6.31 [[ 6.41507554e-01 -7.67041538e-01 -1.07395427e-02 9.01202948e+02] [ 7.66951173e-01 6.41597092e-01 -1.17927920e-02 5.54132619e+01] [ 1.59360206e-02 -6.71539730e-04 9.99872788e-01 6.30579433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8592541539999 meters 0.02109112590915411 Centerline is valid? [True, True] Translation: X:901.22, Y:55.44, Z:6.31 [[ 6.42626901e-01 -7.66117797e-01 -9.70503649e-03 9.01219917e+02] [ 7.66043826e-01 6.42699916e-01 -1.06618547e-02 5.54364719e+01] [ 1.44056628e-02 -5.82888656e-04 9.99896063e-01 6.30697429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8892541539999 meters 0.02024967195883385 Centerline is valid? [True, True] Translation: X:901.24, Y:55.46, Z:6.31 [[ 6.43282180e-01 -7.65568836e-01 -9.61220249e-03 9.01236792e+02] [ 7.65496138e-01 6.43353745e-01 -1.05651018e-02 5.54601407e+01] [ 1.42723591e-02 -5.61762183e-04 9.99897987e-01 6.30750802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9192541539999 meters 0.021333356036240664 Centerline is valid? [True, True] Translation: X:901.25, Y:55.49, Z:6.31 [[ 6.43900717e-01 -7.65045449e-01 -9.86544193e-03 9.01252280e+02] [ 7.64968728e-01 6.43976044e-01 -1.08489705e-02 5.54855831e+01] [ 1.46530638e-02 -5.61094689e-04 9.99892481e-01 6.30679577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9492541539998 meters 0.02260597027560101 Centerline is valid? [True, True] Translation: X:901.27, Y:55.51, Z:6.31 [[ 6.44179079e-01 -7.64811438e-01 -9.83762461e-03 9.01270315e+02] [ 7.64735069e-01 6.44253956e-01 -1.08219815e-02 5.55074073e+01] [ 1.46147038e-02 -5.51882442e-04 9.99893047e-01 6.30649415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9792541539998 meters 0.019863373025358788 Centerline is valid? [True, True] Translation: X:901.29, Y:55.53, Z:6.31 [[ 6.45227518e-01 -7.63936246e-01 -9.10285914e-03 9.01287527e+02] [ 7.63870728e-01 6.45291540e-01 -1.00169626e-02 5.55307511e+01] [ 1.35263188e-02 -4.90187714e-04 9.99908395e-01 6.30813168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0092541539999 meters 0.021147616880801016 Centerline is valid? [True, True] Translation: X:901.30, Y:55.55, Z:6.31 [[ 6.45907232e-01 -7.63366813e-01 -8.65768933e-03 9.01303115e+02] [ 7.63307455e-01 6.45965095e-01 -9.53027369e-03 5.55541858e+01] [ 1.28676598e-02 -4.52806102e-04 9.99917106e-01 6.30773776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0392541539999 meters 0.021390266374756408 Centerline is valid? [True, True] Translation: X:901.32, Y:55.58, Z:6.31 [[ 6.46082083e-01 -7.63216107e-01 -8.89472815e-03 9.01321058e+02] [ 7.63153397e-01 6.46143143e-01 -9.79438884e-03 5.55769081e+01] [ 1.32225029e-02 -4.60062863e-04 9.99912473e-01 6.30776494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0692541539999 meters 0.02042802712541291 Centerline is valid? [True, True] Translation: X:901.34, Y:55.60, Z:6.31 [[ 6.46718330e-01 -7.62682202e-01 -8.44162504e-03 9.01338522e+02] [ 7.62625634e-01 6.46773282e-01 -9.29853430e-03 5.55986886e+01] [ 1.25516442e-02 -4.24267087e-04 9.99921135e-01 6.30906690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0992541539998 meters 0.02270681154040482 Centerline is valid? [True, True] Translation: X:901.35, Y:55.62, Z:6.31 [[ 6.46656550e-01 -7.62728344e-01 -8.98775468e-03 9.01354033e+02] [ 7.62664177e-01 6.46718850e-01 -9.90365129e-03 5.56228051e+01] [ 1.33663459e-02 -4.50377549e-04 9.99910565e-01 6.30748823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1292541539999 meters 0.021899555159554676 Centerline is valid? [True, True] Translation: X:901.37, Y:55.65, Z:6.31 [[ 6.47040391e-01 -7.62405060e-01 -8.78962246e-03 9.01371071e+02] [ 7.62343615e-01 6.47099945e-01 -9.68884552e-03 5.56452071e+01] [ 1.30745891e-02 -4.31638168e-04 9.99914431e-01 6.30748176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1592541539999 meters 0.01866204216562489 Centerline is valid? [True, True] Translation: X:901.39, Y:55.67, Z:6.31 [[ 6.47250252e-01 -7.62225069e-01 -8.94737189e-03 9.01385858e+02] [ 7.62161339e-01 6.47311947e-01 -9.86596773e-03 5.56705251e+01] [ 1.33118286e-02 -4.33590834e-04 9.99911300e-01 6.30869396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1892541539999 meters 0.01980468043208799 Centerline is valid? [True, True] Translation: X:901.40, Y:55.70, Z:6.31 [[ 6.46314416e-01 -7.63015853e-01 -9.19150538e-03 9.01400393e+02] [ 7.62948607e-01 6.46379608e-01 -1.01403512e-02 5.56958542e+01] [ 1.36784504e-02 -4.58791033e-04 9.99906340e-01 6.30694798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2192541539998 meters 0.019727432165989836 Centerline is valid? [True, True] Translation: X:901.42, Y:55.72, Z:6.31 [[ 6.45954295e-01 -7.63319697e-01 -9.27840632e-03 9.01417462e+02] [ 7.63251125e-01 6.46020761e-01 -1.02418901e-02 5.57181334e+01] [ 1.38118796e-02 -4.65961152e-04 9.99904503e-01 6.30713709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2492541539999 meters 0.019774967721627047 Centerline is valid? [True, True] Translation: X:901.43, Y:55.74, Z:6.31 [[ 6.45719924e-01 -7.63517763e-01 -9.29545001e-03 9.01433438e+02] [ 7.63448876e-01 6.45786657e-01 -1.02667449e-02 5.57415050e+01] [ 1.38417197e-02 -4.67159164e-04 9.99904090e-01 6.30755907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2792541539999 meters 0.020524833270275312 Centerline is valid? [True, True] Translation: X:901.45, Y:55.76, Z:6.31 [[ 6.45864083e-01 -7.63397705e-01 -9.13947060e-03 9.01451135e+02] [ 7.63331046e-01 6.45928586e-01 -1.00983300e-02 5.57625269e+01] [ 1.36124873e-02 -4.54292988e-04 9.99907243e-01 6.30763387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3092541539999 meters 0.020543266295599716 Centerline is valid? [True, True] Translation: X:901.47, Y:55.79, Z:6.31 [[ 6.45928012e-01 -7.63342974e-01 -9.19278172e-03 9.01468328e+02] [ 7.63275481e-01 6.45993265e-01 -1.01608475e-02 5.57851912e+01] [ 1.36946867e-02 -4.53448835e-04 9.99906121e-01 6.30794893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3392541539998 meters 0.02112772895057598 Centerline is valid? [True, True] Translation: X:901.48, Y:55.81, Z:6.31 [[ 6.46497804e-01 -7.62861880e-01 -9.07422745e-03 9.01482914e+02] [ 7.62795998e-01 6.46561338e-01 -1.00349823e-02 5.58112466e+01] [ 1.35223501e-02 -4.34190389e-04 9.99908475e-01 6.30741256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3692541539999 meters 0.020086986420005525 Centerline is valid? [True, True] Translation: X:901.50, Y:55.83, Z:6.31 [[ 6.46965703e-01 -7.62467798e-01 -8.84506745e-03 9.01500130e+02] [ 7.62405102e-01 6.47026033e-01 -9.78642626e-03 5.58343373e+01] [ 1.31848238e-02 -4.12042399e-04 9.99912992e-01 6.30797378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3992541539999 meters 0.01915258371128234 Centerline is valid? [True, True] Translation: X:901.52, Y:55.86, Z:6.31 [[ 6.47768750e-01 -7.61788392e-01 -8.60769561e-03 9.01517281e+02] [ 7.61728895e-01 6.47825823e-01 -9.52851168e-03 5.58572506e+01] [ 1.28349971e-02 -3.84458375e-04 9.99917554e-01 6.30864385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4292541539999 meters 0.020172210808561124 Centerline is valid? [True, True] Translation: X:901.53, Y:55.88, Z:6.31 [[ 6.49226746e-01 -7.60542442e-01 -8.93453863e-03 9.01532774e+02] [ 7.60478158e-01 6.49288115e-01 -9.89520193e-03 5.58828430e+01] [ 1.33268108e-02 -3.70291727e-04 9.99911126e-01 6.30763658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4592541539998 meters 0.018356919068561656 Centerline is valid? [True, True] Translation: X:901.55, Y:55.91, Z:6.31 [[ 6.50292597e-01 -7.59634226e-01 -8.68223840e-03 9.01550171e+02] [ 7.59573381e-01 6.50350465e-01 -9.62032829e-03 5.59060556e+01] [ 1.29544284e-02 -3.38768916e-04 9.99916030e-01 6.30882833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4892541539999 meters 0.015732067269404636 Centerline is valid? [True, True] Translation: X:901.56, Y:55.93, Z:6.31 [[ 6.52486919e-01 -7.57750766e-01 -8.63703675e-03 9.01564902e+02] [ 7.57690325e-01 6.52544013e-01 -9.57506453e-03 5.59313865e+01] [ 1.28915591e-02 -2.96594830e-04 9.99916856e-01 6.31087111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5192541539999 meters 0.016454775055215084 Centerline is valid? [True, True] Translation: X:901.58, Y:55.95, Z:6.31 [[ 6.53150052e-01 -7.57177490e-01 -8.78967979e-03 9.01582810e+02] [ 7.57114796e-01 6.53209129e-01 -9.74779377e-03 5.59522010e+01] [ 1.31223091e-02 -2.88024611e-04 9.99913857e-01 6.31033774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5492541539999 meters 0.016543955198299595 Centerline is valid? [True, True] Translation: X:901.60, Y:55.98, Z:6.31 [[ 6.53474117e-01 -7.56898426e-01 -8.73790555e-03 9.01599499e+02] [ 7.56836402e-01 6.53532475e-01 -9.69359948e-03 5.59760091e+01] [ 1.30475752e-02 -2.78648626e-04 9.99914838e-01 6.31052865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5792541539998 meters 0.016543955198299595 Centerline is valid? [True, True] Translation: X:901.62, Y:56.00, Z:6.31 [[ 6.53256456e-01 -7.57086321e-01 -8.73530387e-03 9.01617901e+02] [ 7.57024282e-01 6.53314797e-01 -9.69594369e-03 5.59965314e+01] [ 1.30475696e-02 -2.78899339e-04 9.99914838e-01 6.31071918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6092541539999 meters 0.0198789485534344 Centerline is valid? [True, True] Translation: X:901.63, Y:56.02, Z:6.31 [[ 6.53113532e-01 -7.57210174e-01 -8.68715295e-03 9.01634852e+02] [ 7.57148775e-01 6.53171245e-01 -9.64658463e-03 5.60173201e+01] [ 1.29786905e-02 -2.77152255e-04 9.99915735e-01 6.30940193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6392541539999 meters 0.019527754584696824 Centerline is valid? [True, True] Translation: X:901.65, Y:56.04, Z:6.31 [[ 6.52590755e-01 -7.57663172e-01 -8.47487388e-03 9.01651626e+02] [ 7.57604729e-01 6.52645724e-01 -9.41453665e-03 5.60396156e+01] [ 1.26641379e-02 -2.76764949e-04 9.99919768e-01 6.31026489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6692541539999 meters 0.018737110306441124 Centerline is valid? [True, True] Translation: X:901.67, Y:56.06, Z:6.31 [[ 6.51987288e-01 -7.58184468e-01 -8.30000137e-03 9.01669947e+02] [ 7.58128393e-01 6.52040057e-01 -9.22518737e-03 5.60626056e+01] [ 1.24063271e-02 -2.77761810e-04 9.99923000e-01 6.31115824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6992541539998 meters 0.02030145054938838 Centerline is valid? [True, True] Translation: X:901.69, Y:56.08, Z:6.31 [[ 6.51017742e-01 -7.59016589e-01 -8.34961386e-03 9.01687990e+02] [ 7.58959864e-01 6.51071218e-01 -9.28404204e-03 5.60835735e+01] [ 1.24829352e-02 -2.92945706e-04 9.99922042e-01 6.31072870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7292541539998 meters 0.01897306423189425 Centerline is valid? [True, True] Translation: X:901.71, Y:56.11, Z:6.31 [[ 6.49093588e-01 -7.60666709e-01 -7.97949992e-03 9.01706411e+02] [ 7.60614988e-01 6.49142560e-01 -8.87567241e-03 5.61060175e+01] [ 1.19312615e-02 -3.08185183e-04 9.99928772e-01 6.31174321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7592541539999 meters 0.018466076933160575 Centerline is valid? [True, True] Translation: X:901.73, Y:56.13, Z:6.31 [[ 6.48073756e-01 -7.61536892e-01 -7.87205471e-03 9.01725337e+02] [ 7.61486567e-01 6.48121487e-01 -8.76048978e-03 5.61280693e+01] [ 1.17734840e-02 -3.17020413e-04 9.99930640e-01 6.31235481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7892541539999 meters 0.02159247240772304 Centerline is valid? [True, True] Translation: X:901.74, Y:56.15, Z:6.31 [[ 6.45619239e-01 -7.63617805e-01 -7.97785314e-03 9.01743021e+02] [ 7.63566238e-01 6.45668429e-01 -8.88146829e-03 5.61505842e+01] [ 1.19330952e-02 -3.57572516e-04 9.99928734e-01 6.31070188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8192541539999 meters 0.0191831487927603 Centerline is valid? [True, True] Translation: X:901.76, Y:56.17, Z:6.31 [[ 6.45284752e-01 -7.63903036e-01 -7.72917977e-03 9.01761455e+02] [ 7.63854621e-01 6.45330945e-01 -8.60748177e-03 5.61723380e+01] [ 1.15631603e-02 -3.49692946e-04 9.99933083e-01 6.31254904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8492541539998 meters 0.01753611311955848 Centerline is valid? [True, True] Translation: X:901.78, Y:56.19, Z:6.31 [[ 6.45237246e-01 -7.63943225e-01 -7.72298526e-03 9.01778451e+02] [ 7.63894833e-01 6.45283371e-01 -8.60557623e-03 5.61946669e+01] [ 1.15576856e-02 -3.46910223e-04 9.99933148e-01 6.31436604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8792541539999 meters 0.021939908997724723 Centerline is valid? [True, True] Translation: X:901.80, Y:56.22, Z:6.31 [[ 6.44751493e-01 -7.64350391e-01 -7.99953763e-03 9.01797996e+02] [ 7.64298457e-01 6.44801014e-01 -8.91751311e-03 5.62151366e+01] [ 1.19742146e-02 -3.64454375e-04 9.99928240e-01 6.31150244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9092541539999 meters 0.017711290316598755 Centerline is valid? [True, True] Translation: X:901.81, Y:56.24, Z:6.31 [[ 6.46005863e-01 -7.63292831e-01 -7.77687307e-03 9.01814644e+02] [ 7.63243650e-01 6.46052585e-01 -8.67111024e-03 5.62395395e+01] [ 1.16428652e-02 -3.34060939e-04 9.99932164e-01 6.31433439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9392541539999 meters 0.019309297250733718 Centerline is valid? [True, True] Translation: X:901.83, Y:56.26, Z:6.31 [[ 6.46226548e-01 -7.63103698e-01 -7.99965132e-03 9.01832646e+02] [ 7.63051606e-01 6.46275971e-01 -8.92275389e-03 5.62619585e+01] [ 1.19789689e-02 -3.38026346e-04 9.99928192e-01 6.31250121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9692541539998 meters 0.01872854331746806 Centerline is valid? [True, True] Translation: X:901.85, Y:56.28, Z:6.31 [[ 6.46995972e-01 -7.62452256e-01 -7.92266082e-03 9.01850455e+02] [ 7.62401071e-01 6.47044399e-01 -8.84038195e-03 5.62837755e+01] [ 1.18666825e-02 -3.20553583e-04 9.99929537e-01 6.31310365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9992541539999 meters 0.016479778039103325 Centerline is valid? [True, True] Translation: X:901.87, Y:56.31, Z:6.31 [[ 6.48205322e-01 -7.61425430e-01 -7.82140681e-03 9.01865794e+02] [ 7.61375434e-01 6.48252441e-01 -8.73055132e-03 5.63089647e+01] [ 1.17179098e-02 -2.95837172e-04 9.99931299e-01 6.31455704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0292541539999 meters 0.019410612333156756 Centerline is valid? [True, True] Translation: X:901.88, Y:56.33, Z:6.31 [[ 6.47530699e-01 -7.61997213e-01 -8.01503749e-03 9.01884725e+02] [ 7.61944710e-01 6.47580227e-01 -8.95041108e-03 5.63293376e+01] [ 1.20105681e-02 -3.11349466e-04 9.99927822e-01 6.31255571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0592541539999 meters 0.01855825605590068 Centerline is valid? [True, True] Translation: X:901.90, Y:56.35, Z:6.31 [[ 6.46830061e-01 -7.62595343e-01 -7.69510859e-03 9.01901262e+02] [ 7.62546954e-01 6.46875759e-01 -8.59622353e-03 5.63531330e+01] [ 1.15332192e-02 -3.07585824e-04 9.99933443e-01 6.31376424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0892541539998 meters 0.022141420690802487 Centerline is valid? [True, True] Translation: X:901.92, Y:56.37, Z:6.31 [[ 6.45943371e-01 -7.63346480e-01 -7.70151789e-03 9.01921239e+02] [ 7.63298026e-01 6.45989202e-01 -8.60661766e-03 5.63724096e+01] [ 1.15449287e-02 -3.19165785e-04 9.99933304e-01 6.31239035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1192541539999 meters 0.022304298552314257 Centerline is valid? [True, True] Translation: X:901.94, Y:56.40, Z:6.31 [[ 6.45198674e-01 -7.63975883e-01 -7.71504190e-03 9.01938117e+02] [ 7.63927273e-01 6.45244715e-01 -8.62438728e-03 5.63961598e+01] [ 1.15669139e-02 -3.29287682e-04 9.99933047e-01 6.31257224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1492541539999 meters 0.020702729858159286 Centerline is valid? [True, True] Translation: X:901.96, Y:56.42, Z:6.31 [[ 6.44719640e-01 -7.64382130e-01 -7.51960963e-03 9.01955015e+02] [ 7.64335932e-01 6.44763409e-01 -8.41007065e-03 5.64199075e+01] [ 1.12768769e-02 -3.25370108e-04 9.99936361e-01 6.31399660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1792541539999 meters 0.019863892144618582 Centerline is valid? [True, True] Translation: X:901.97, Y:56.44, Z:6.32 [[ 6.44930571e-01 -7.64206148e-01 -7.31583221e-03 9.01972656e+02] [ 7.64162365e-01 6.44971989e-01 -8.18621293e-03 5.64427982e+01] [ 1.09744611e-02 -3.10944662e-04 9.99939730e-01 6.31505153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2092541539998 meters 0.016856556560134895 Centerline is valid? [True, True] Translation: X:901.99, Y:56.47, Z:6.32 [[ 6.46842570e-01 -7.62593510e-01 -6.76971562e-03 9.01988494e+02] [ 7.62555894e-01 6.46877942e-01 -7.57870708e-03 5.64676105e+01] [ 1.01586525e-02 -2.60056181e-04 9.99948366e-01 6.31829989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2392541539999 meters 0.01975175451165273 Centerline is valid? [True, True] Translation: X:902.00, Y:56.49, Z:6.32 [[ 6.47535424e-01 -7.62002235e-01 -7.10408865e-03 9.02004716e+02] [ 7.61960733e-01 6.47574340e-01 -7.95712952e-03 5.64913970e+01] [ 1.06637760e-02 -2.60513355e-04 9.99943106e-01 6.31557797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2692541539999 meters 0.01817266624805819 Centerline is valid? [True, True] Translation: X:902.02, Y:56.51, Z:6.32 [[ 6.48824543e-01 -7.60907699e-01 -6.79600038e-03 9.02021461e+02] [ 7.60869619e-01 6.48860093e-01 -7.61587160e-03 5.65149423e+01] [ 1.02046288e-02 -2.29505807e-04 9.99947905e-01 6.31636467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2992541539999 meters 0.018443094361171364 Centerline is valid? [True, True] Translation: X:902.04, Y:56.54, Z:6.32 [[ 6.50173866e-01 -7.59753966e-01 -6.91775995e-03 9.02038007e+02] [ 7.59714411e-01 6.50210632e-01 -7.75553087e-03 5.65369218e+01] [ 1.03902964e-02 -2.13078435e-04 9.99945997e-01 6.31610343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3292541539998 meters 0.017675348594754375 Centerline is valid? [True, True] Translation: X:902.05, Y:56.56, Z:6.32 [[ 6.53035370e-01 -7.57294095e-01 -7.10343457e-03 9.02052484e+02] [ 7.57252216e-01 6.53073979e-01 -7.96609242e-03 5.65624974e+01] [ 1.06717430e-02 -1.76951458e-04 9.99943040e-01 6.31613102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3592541539999 meters 0.01863499733005674 Centerline is valid? [True, True] Translation: X:902.07, Y:56.59, Z:6.32 [[ 6.54637040e-01 -7.55906716e-01 -7.44193843e-03 9.02069880e+02] [ 7.55860612e-01 6.54679319e-01 -8.35008335e-03 5.65862282e+01] [ 1.11839673e-02 -1.58794291e-04 9.99937445e-01 6.31556695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3892541539999 meters 0.014784693460650469 Centerline is valid? [True, True] Translation: X:902.08, Y:56.61, Z:6.32 [[ 6.58276076e-01 -7.52737742e-01 -7.64850626e-03 9.02084913e+02] [ 7.52688777e-01 6.58320500e-01 -8.58630568e-03 5.66116694e+01] [ 1.14984048e-02 -1.04785214e-04 9.99933886e-01 6.31764452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4192541539999 meters 0.013546374333393943 Centerline is valid? [True, True] Translation: X:902.10, Y:56.63, Z:6.32 [[ 6.59979155e-01 -7.51243975e-01 -7.74626436e-03 9.02101683e+02] [ 7.51193609e-01 6.60024608e-01 -8.69936750e-03 5.66344372e+01] [ 1.16480725e-02 -7.75430749e-05 9.99932156e-01 6.31856089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4492541539998 meters 0.01398438467573533 Centerline is valid? [True, True] Translation: X:902.12, Y:56.66, Z:6.32 [[ 6.61134458e-01 -7.50227993e-01 -7.69329509e-03 9.02118537e+02] [ 7.50178222e-01 6.61179216e-01 -8.64175022e-03 5.66566076e+01] [ 1.15699297e-02 -5.79835770e-05 9.99933064e-01 6.31788708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4792541539998 meters 0.01784240058642966 Centerline is valid? [True, True] Translation: X:902.13, Y:56.68, Z:6.32 [[ 6.62439408e-01 -7.49073355e-01 -7.94600628e-03 9.02134355e+02] [ 7.49020149e-01 6.62487062e-01 -8.92799075e-03 5.66793460e+01] [ 1.19518463e-02 -3.74658925e-05 9.99928573e-01 6.31560700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5092541539999 meters 0.018489969484344476 Centerline is valid? [True, True] Translation: X:902.15, Y:56.70, Z:6.32 [[ 6.62608425e-01 -7.48926004e-01 -7.74052842e-03 9.02152202e+02] [ 7.48875466e-01 6.62653635e-01 -8.70040202e-03 5.67007151e+01] [ 1.16452466e-02 -3.17321493e-05 9.99932191e-01 6.31616570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5392541539999 meters 0.013125954286133256 Centerline is valid? [True, True] Translation: X:902.17, Y:56.72, Z:6.32 [[ 6.62799858e-01 -7.48768478e-01 -6.48958826e-03 9.02170680e+02] [ 7.48732911e-01 6.62831627e-01 -7.29807167e-03 5.67223272e+01] [ 9.76607036e-03 -2.18074507e-05 9.99952311e-01 6.32049700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5692541539999 meters 0.017146288696624035 Centerline is valid? [True, True] Translation: X:902.19, Y:56.74, Z:6.32 [[ 6.60674707e-01 -7.50641267e-01 -6.82795438e-03 9.02190236e+02] [ 7.50601948e-01 6.60709987e-01 -7.68303661e-03 5.67441398e+01] [ 1.02785020e-02 -4.90879009e-05 9.99947174e-01 6.31756484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5992541539998 meters 0.014914943502922261 Centerline is valid? [True, True] Translation: X:902.21, Y:56.76, Z:6.32 [[ 6.59954554e-01 -7.51277219e-01 -6.52132798e-03 9.02209095e+02] [ 7.51241353e-01 6.59986771e-01 -7.34112722e-03 5.67638353e+01] [ 9.81921184e-03 -5.42809065e-05 9.99951789e-01 6.31944102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6292541539999 meters 0.01752280008272541 Centerline is valid? [True, True] Translation: X:902.23, Y:56.78, Z:6.32 [[ 6.56678391e-01 -7.54138420e-01 -6.98094886e-03 9.02230091e+02] [ 7.54097452e-01 6.56715488e-01 -7.86131054e-03 5.67839636e+01] [ 1.05130136e-02 -1.01962996e-04 9.99944732e-01 6.31788590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6592541539999 meters 0.014908240639477835 Centerline is valid? [True, True] Translation: X:902.25, Y:56.81, Z:6.32 [[ 6.55387336e-01 -7.55265244e-01 -6.46929720e-03 9.02250246e+02] [ 7.55230082e-01 6.55419255e-01 -7.28863751e-03 5.68050313e+01] [ 9.74495654e-03 -1.08927130e-04 9.99952511e-01 6.32017327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6892541539999 meters 0.014187596255107989 Centerline is valid? [True, True] Translation: X:902.27, Y:56.82, Z:6.32 [[ 6.53940886e-01 -7.56518200e-01 -6.44438278e-03 9.02269442e+02] [ 7.56483340e-01 6.53972627e-01 -7.26354059e-03 5.68248765e+01] [ 9.70945059e-03 -1.25142043e-04 9.99952854e-01 6.32099441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7192541539998 meters 0.018091954806980653 Centerline is valid? [True, True] Translation: X:902.29, Y:56.85, Z:6.32 [[ 6.51823498e-01 -7.58336547e-01 -7.19776395e-03 9.02288834e+02] [ 7.58293143e-01 6.51863216e-01 -8.11520616e-03 5.68460300e+01] [ 1.08460150e-02 -1.68332980e-04 9.99941166e-01 6.31802199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7492541539999 meters 0.019753860312498612 Centerline is valid? [True, True] Translation: X:902.31, Y:56.86, Z:6.32 [[ 6.49083234e-01 -7.60675565e-01 -7.97753785e-03 9.02309681e+02] [ 7.60622379e-01 6.49132216e-01 -8.99797012e-03 5.68645213e+01] [ 1.20230128e-02 -2.27462273e-04 9.99927695e-01 6.31700161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7792541539999 meters 0.017555282721367985 Centerline is valid? [True, True] Translation: X:902.33, Y:56.89, Z:6.32 [[ 6.47643672e-01 -7.61901111e-01 -8.02314221e-03 9.02327820e+02] [ 7.61847374e-01 6.47693318e-01 -9.05231529e-03 5.68867353e+01] [ 1.20935047e-02 -2.49735116e-04 9.99926840e-01 6.31899019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8092541539999 meters 0.018562872230784594 Centerline is valid? [True, True] Translation: X:902.35, Y:56.91, Z:6.32 [[ 6.46623587e-01 -7.62766434e-01 -8.08112611e-03 9.02347077e+02] [ 7.62711943e-01 6.46674027e-01 -9.12111137e-03 5.69065268e+01] [ 1.21831320e-02 -2.65645643e-04 9.99925748e-01 6.31865103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8392541539998 meters 0.02088424059604508 Centerline is valid? [True, True] Translation: X:902.37, Y:56.93, Z:6.32 [[ 6.45038039e-01 -7.64099079e-01 -8.86150263e-03 9.02366618e+02] [ 7.64033647e-01 6.45098828e-01 -1.00044325e-02 5.69257619e+01] [ 1.33609226e-02 -3.17246658e-04 9.99910689e-01 6.31754559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8692541539999 meters 0.0200285371834407 Centerline is valid? [True, True] Translation: X:902.38, Y:56.95, Z:6.32 [[ 6.44494999e-01 -7.64555138e-01 -9.03531224e-03 9.02384006e+02] [ 7.64487102e-01 6.44558245e-01 -1.02048438e-02 5.69495630e+01] [ 1.36259508e-02 -3.30408860e-04 9.99907108e-01 6.31799775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8992541539999 meters 0.020640095477780045 Centerline is valid? [True, True] Translation: X:902.40, Y:56.97, Z:6.32 [[ 6.44034138e-01 -7.64940994e-01 -9.23601622e-03 9.02403467e+02] [ 7.64869891e-01 6.44100270e-01 -1.04351653e-02 5.69697031e+01] [ 1.39312063e-02 -3.43748013e-04 9.99902897e-01 6.31771884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9292541539999 meters 0.019882530284799162 Centerline is valid? [True, True] Translation: X:902.42, Y:56.99, Z:6.32 [[ 6.43105905e-01 -7.65718205e-01 -9.50927637e-03 9.02421067e+02] [ 7.65642888e-01 6.43176099e-01 -1.07458730e-02 5.69920016e+01] [ 1.43444498e-02 -3.69975461e-04 9.99897045e-01 6.31823907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9592541539998 meters 0.017181181295590504 Centerline is valid? [True, True] Translation: X:902.44, Y:57.01, Z:6.32 [[ 6.43046717e-01 -7.65777922e-01 -8.66566623e-03 9.02439394e+02] [ 7.65715354e-01 6.43105015e-01 -9.79467022e-03 5.70124071e+01] [ 1.30734756e-02 -3.37003159e-04 9.99914482e-01 6.32107456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9892541539999 meters 0.021401810027426745 Centerline is valid? [True, True] Translation: X:902.46, Y:57.03, Z:6.32 [[ 6.43331914e-01 -7.65524057e-01 -9.84719524e-03 9.02457611e+02] [ 7.65443188e-01 6.43407164e-01 -1.11332184e-02 5.70326342e+01] [ 1.48585025e-02 -3.75113788e-04 9.99889536e-01 6.31786242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0192541539999 meters 0.018743007485993307 Centerline is valid? [True, True] Translation: X:902.48, Y:57.06, Z:6.32 [[ 6.44141753e-01 -7.64848473e-01 -9.39232965e-03 9.02475054e+02] [ 7.64774775e-01 6.44210135e-01 -1.06228942e-02 5.70553914e+01] [ 1.41755383e-02 -3.40367123e-04 9.99899464e-01 6.31988284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0492541539999 meters 0.01794071506239201 Centerline is valid? [True, True] Translation: X:902.49, Y:57.08, Z:6.32 [[ 6.45039912e-01 -7.64093192e-01 -9.22531468e-03 9.02493252e+02] [ 7.64021943e-01 6.45105802e-01 -1.04391634e-02 5.70780434e+01] [ 1.39277977e-02 -3.14665805e-04 9.99902954e-01 6.32090823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0792541539998 meters 0.019395969558834217 Centerline is valid? [True, True] Translation: X:902.51, Y:57.10, Z:6.32 [[ 6.47549102e-01 -7.61966690e-01 -9.32333846e-03 9.02510276e+02] [ 7.61893647e-01 6.47616160e-01 -1.05536502e-02 5.71000906e+01] [ 1.40794746e-02 -2.69385613e-04 9.99900843e-01 6.32030329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1092541539998 meters 0.01484698644435741 Centerline is valid? [True, True] Translation: X:902.53, Y:57.12, Z:6.33 [[ 6.48997393e-01 -7.60749636e-01 -7.89780889e-03 9.02527820e+02] [ 7.60697111e-01 6.49045415e-01 -8.94177065e-03 5.71235715e+01] [ 1.19284854e-02 -2.04654561e-04 9.99928832e-01 6.32519439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1392541539999 meters 0.014557082611855347 Centerline is valid? [True, True] Translation: X:902.55, Y:57.15, Z:6.33 [[ 6.49826491e-01 -7.60045090e-01 -7.54935213e-03 9.02545985e+02] [ 7.59997016e-01 6.49870316e-01 -8.55025294e-03 5.71460021e+01] [ 1.14046776e-02 -1.81304233e-04 9.99934948e-01 6.32608595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1692541539999 meters 0.014723492044465207 Centerline is valid? [True, True] Translation: X:902.56, Y:57.17, Z:6.33 [[ 6.51018803e-01 -7.59025003e-01 -7.45404517e-03 9.02563001e+02] [ 7.58978021e-01 6.51061456e-01 -8.44654326e-03 5.71695493e+01] [ 1.12641790e-02 -1.58597964e-04 9.99936545e-01 6.32590813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1992541539998 meters 0.017481901483936087 Centerline is valid? [True, True] Translation: X:902.58, Y:57.19, Z:6.32 [[ 6.51083548e-01 -7.58965958e-01 -7.80304528e-03 9.02580533e+02] [ 7.58914426e-01 6.51130285e-01 -8.84568305e-03 5.71897111e+01] [ 1.17943714e-02 -1.62564927e-04 9.99930431e-01 6.32339868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2292541539998 meters 0.01700135278561235 Centerline is valid? [True, True] Translation: X:902.60, Y:57.21, Z:6.32 [[ 6.50962305e-01 -7.59063612e-01 -8.39708954e-03 9.02597238e+02] [ 7.59003892e-01 6.51016439e-01 -9.52308235e-03 5.72127863e+01] [ 1.26952686e-02 -1.74256002e-04 9.99919397e-01 6.32394008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2592541539999 meters 0.01854450932425931 Centerline is valid? [True, True] Translation: X:902.62, Y:57.23, Z:6.32 [[ 6.50534905e-01 -7.59422750e-01 -9.02356011e-03 9.02616074e+02] [ 7.59353763e-01 6.50597456e-01 -1.02378123e-02 5.72332834e+01] [ 1.36455328e-02 -1.92020096e-04 9.99906877e-01 6.32252205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2892541539999 meters 0.018552908984301418 Centerline is valid? [True, True] Translation: X:902.64, Y:57.25, Z:6.32 [[ 6.49997340e-01 -7.59882170e-01 -9.08541700e-03 9.02635320e+02] [ 7.59812253e-01 6.50060802e-01 -1.03098520e-02 5.72533132e+01] [ 1.37403462e-02 -2.01834767e-04 9.99905577e-01 6.32227697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3192541539999 meters 0.015821836179838483 Centerline is valid? [True, True] Translation: X:902.65, Y:57.28, Z:6.33 [[ 6.48144236e-01 -7.61470726e-01 -8.44881414e-03 9.02652875e+02] [ 7.61410358e-01 6.48199264e-01 -9.59060037e-03 5.72765943e+01] [ 1.27794765e-02 -2.16922251e-04 9.99918316e-01 6.32544776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3492541539998 meters 0.01781850529161448 Centerline is valid? [True, True] Translation: X:902.67, Y:57.30, Z:6.32 [[ 6.46652437e-01 -7.62734120e-01 -8.79134417e-03 9.02672077e+02] [ 7.62668825e-01 6.46712146e-01 -9.98314629e-03 5.72975394e+01] [ 1.32999554e-02 -2.49258251e-04 9.99911521e-01 6.32489057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3792541539999 meters 0.015206960051166698 Centerline is valid? [True, True] Translation: X:902.69, Y:57.32, Z:6.33 [[ 6.45823632e-01 -7.63447341e-01 -7.74557974e-03 9.02691718e+02] [ 7.63396690e-01 6.45870037e-01 -8.79713342e-03 5.73175402e+01] [ 1.17187860e-02 -2.31553276e-04 9.99931306e-01 6.32801602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4092541539999 meters 0.01537277591614049 Centerline is valid? [True, True] Translation: X:902.71, Y:57.34, Z:6.33 [[ 6.44798165e-01 -7.64314321e-01 -7.67752564e-03 9.02711080e+02] [ 7.64264586e-01 6.44843826e-01 -8.72258464e-03 5.73389918e+01] [ 1.16176014e-02 -2.43354381e-04 9.99932484e-01 6.32815834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4392541539999 meters 0.019717205753241877 Centerline is valid? [True, True] Translation: X:902.73, Y:57.36, Z:6.32 [[ 6.43651408e-01 -7.65259264e-01 -9.54589523e-03 9.02729243e+02] [ 7.65182389e-01 6.43722112e-01 -1.08514943e-02 5.73613976e+01] [ 1.44491104e-02 -3.19771310e-04 9.99895555e-01 6.32433250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4692541539998 meters 0.019717205753241877 Centerline is valid? [True, True] Translation: X:902.75, Y:57.38, Z:6.32 [[ 6.43426461e-01 -7.65448446e-01 -9.54289527e-03 9.02747390e+02] [ 7.65371552e-01 6.43497144e-01 -1.08541323e-02 5.73821204e+01] [ 1.44491045e-02 -3.20024666e-04 9.99895555e-01 6.32452301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4992541539999 meters 0.01882199004354621 Centerline is valid? [True, True] Translation: X:902.77, Y:57.40, Z:6.32 [[ 6.44006569e-01 -7.64960017e-01 -9.57658552e-03 9.02766760e+02] [ 7.64882466e-01 6.44077695e-01 -1.08965908e-02 5.74023103e+01] [ 1.45035214e-02 -3.07486304e-04 9.99894771e-01 6.32455142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5292541539999 meters 0.01766010681502217 Centerline is valid? [True, True] Translation: X:902.78, Y:57.43, Z:6.33 [[ 6.45511170e-01 -7.63691687e-01 -9.50456346e-03 9.02784213e+02] [ 7.63615106e-01 6.45581081e-01 -1.08184207e-02 5.74259112e+01] [ 1.43979043e-02 -2.74416844e-04 9.99896307e-01 6.32533965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5592541539999 meters 0.014788136986641793 Centerline is valid? [True, True] Translation: X:902.80, Y:57.45, Z:6.33 [[ 6.46827390e-01 -7.62590783e-01 -8.34422992e-03 9.02802681e+02] [ 7.62531611e-01 6.46881173e-01 -9.50215584e-03 5.74481088e+01] [ 1.26439817e-02 -2.16484424e-04 9.99920038e-01 6.32811496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5892541539998 meters 0.016550933695468 Centerline is valid? [True, True] Translation: X:902.82, Y:57.47, Z:6.33 [[ 6.46679601e-01 -7.62712693e-01 -8.65111641e-03 9.02820231e+02] [ 7.62649028e-01 6.46737426e-01 -9.85707563e-03 5.74699281e+01] [ 1.31131175e-02 -2.23395789e-04 9.99913994e-01 6.32685772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6192541539999 meters 0.01839214833994535 Centerline is valid? [True, True] Translation: X:902.84, Y:57.49, Z:6.33 [[ 6.47249634e-01 -7.62228812e-01 -8.66888871e-03 9.02839315e+02] [ 7.62164790e-01 6.47307650e-01 -9.88124109e-03 5.74896621e+01] [ 1.31432046e-02 -2.11492064e-04 9.99913602e-01 6.32560145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6492541539999 meters 0.01647231959291287 Centerline is valid? [True, True] Translation: X:902.86, Y:57.51, Z:6.33 [[ 6.47348248e-01 -7.62144399e-01 -8.72699289e-03 9.02856494e+02] [ 7.62079460e-01 6.47407036e-01 -9.95120443e-03 5.75124973e+01] [ 1.32341713e-02 -2.08767273e-04 9.99912403e-01 6.32730407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6792541539999 meters 0.016037481525873566 Centerline is valid? [True, True] Translation: X:902.87, Y:57.53, Z:6.33 [[ 6.47463160e-01 -7.62046267e-01 -8.77174512e-03 9.02874190e+02] [ 7.61980593e-01 6.47522544e-01 -1.00065227e-02 5.75324300e+01] [ 1.33053360e-02 -2.05044728e-04 9.99911459e-01 6.32754046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7092541539998 meters 0.016959816563633785 Centerline is valid? [True, True] Translation: X:902.89, Y:57.55, Z:6.33 [[ 6.47303154e-01 -7.62170033e-01 -9.77073924e-03 9.02892970e+02] [ 7.62088495e-01 6.47376852e-01 -1.11506707e-02 5.75544218e+01] [ 1.48240575e-02 -2.28303654e-04 9.99890092e-01 6.32641832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7392541539999 meters 0.019064330491917417 Centerline is valid? [True, True] Translation: X:902.91, Y:57.57, Z:6.32 [[ 6.47382961e-01 -7.62095859e-01 -1.02568507e-02 9.02911646e+02] [ 7.62005926e-01 6.47464166e-01 -1.17099049e-02 5.75741373e+01] [ 1.55650133e-02 -2.34988042e-04 9.99878830e-01 6.32478379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7692541539999 meters 0.017757878938610312 Centerline is valid? [True, True] Translation: X:902.93, Y:57.59, Z:6.33 [[ 6.47396331e-01 -7.62088301e-01 -9.97061120e-03 9.02929845e+02] [ 7.62003245e-01 6.47473066e-01 -1.13878866e-02 5.75949547e+01] [ 1.51342774e-02 -2.25162058e-04 9.99885445e-01 6.32563734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7992541539999 meters 0.020105396492011447 Centerline is valid? [True, True] Translation: X:902.95, Y:57.62, Z:6.32 [[ 6.47607262e-01 -7.61906748e-01 -1.01460269e-02 9.02948207e+02] [ 7.61818549e-01 6.47686698e-01 -1.15947991e-02 5.76166636e+01] [ 1.54056024e-02 -2.20555370e-04 9.99881302e-01 6.32470889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8292541539998 meters 0.01940648368047875 Centerline is valid? [True, True] Translation: X:902.97, Y:57.64, Z:6.33 [[ 6.48074686e-01 -7.61515709e-01 -9.64507205e-03 9.02966497e+02] [ 7.61435879e-01 6.48146424e-01 -1.10279800e-02 5.76390995e+01] [ 1.46493990e-02 -1.97149244e-04 9.99892672e-01 6.32539107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8592541539998 meters 0.01697336579299858 Centerline is valid? [True, True] Translation: X:902.99, Y:57.66, Z:6.33 [[ 6.49360253e-01 -7.60425763e-01 -9.16079626e-03 9.02985049e+02] [ 7.60353568e-01 6.49424848e-01 -1.04794087e-02 5.76616771e+01] [ 1.39180610e-02 -1.60532663e-04 9.99903126e-01 6.32687572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8892541539999 meters 0.01493449849962084 Centerline is valid? [True, True] Translation: X:903.00, Y:57.68, Z:6.33 [[ 6.50045243e-01 -7.59842662e-01 -8.96161527e-03 9.03004179e+02] [ 7.59773447e-01 6.50106998e-01 -1.02566909e-02 5.76833514e+01] [ 1.36194801e-02 -1.41484212e-04 9.99907241e-01 6.32803049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9192541539999 meters 0.015988226934964676 Centerline is valid? [True, True] Translation: X:903.02, Y:57.70, Z:6.33 [[ 6.50641059e-01 -7.59327657e-01 -9.36593178e-03 9.03022415e+02] [ 7.59251933e-01 6.50708453e-01 -1.07243426e-02 5.77033274e+01] [ 1.42377809e-02 -1.33404187e-04 9.99898629e-01 6.32659761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9492541539998 meters 0.016317304231464005 Centerline is valid? [True, True] Translation: X:903.04, Y:57.72, Z:6.33 [[ 6.51142526e-01 -7.58893724e-01 -9.68126476e-03 9.03040683e+02] [ 7.58812685e-01 6.51214481e-01 -1.10909264e-02 5.77249169e+01] [ 1.47214142e-02 -1.24492698e-04 9.99891626e-01 6.32648970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9792541539998 meters 0.015709170469629972 Centerline is valid? [True, True] Translation: X:903.06, Y:57.75, Z:6.33 [[ 6.52622367e-01 -7.57622790e-01 -9.57886244e-03 9.03059343e+02] [ 7.57543261e-01 6.52692653e-01 -1.09776416e-02 5.77458943e+01] [ 1.45689646e-02 -9.21482182e-05 9.99893863e-01 6.32633367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0092541539999 meters 0.013395591526938243 Centerline is valid? [True, True] Translation: X:903.08, Y:57.77, Z:6.33 [[ 6.53475301e-01 -7.56898116e-01 -8.67600256e-03 9.03078060e+02] [ 7.56832766e-01 6.53532890e-01 -9.94614133e-03 5.77673979e+01] [ 1.31982687e-02 -6.67253145e-05 9.99912897e-01 6.32864967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0392541539999 meters 0.019124010071021543 Centerline is valid? [True, True] Translation: X:903.10, Y:57.79, Z:6.33 [[ 6.54592093e-01 -7.55923865e-01 -9.39692802e-03 9.03096937e+02] [ 7.55847017e-01 6.54659536e-01 -1.07786291e-02 5.77877142e+01] [ 1.42996115e-02 -4.70346532e-05 9.99897754e-01 6.32567243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0692541539999 meters 0.01587807948528218 Centerline is valid? [True, True] Translation: X:903.12, Y:57.81, Z:6.33 [[ 6.55380170e-01 -7.55254726e-01 -8.19338332e-03 9.03116021e+02] [ 7.55196204e-01 6.55431383e-01 -9.40186543e-03 5.78086085e+01] [ 1.24710039e-02 -2.58158208e-05 9.99922234e-01 6.32789040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0992541539998 meters 0.01778085083233551 Centerline is valid? [True, True] Translation: X:903.13, Y:57.83, Z:6.33 [[ 6.55869598e-01 -7.54828767e-01 -8.28268731e-03 9.03134886e+02] [ 7.54768879e-01 6.55921895e-01 -9.50823563e-03 5.78290788e+01] [ 1.26098857e-02 -1.53519395e-05 9.99920492e-01 6.32778433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1292541539999 meters 0.016740897214670415 Centerline is valid? [True, True] Translation: X:903.16, Y:57.85, Z:6.33 [[ 6.57108907e-01 -7.53755199e-01 -7.80925557e-03 9.03155164e+02] [ 7.53701826e-01 6.57155308e-01 -8.96980121e-03 5.78489575e+01] [ 1.18929281e-02 8.28607539e-06 9.99929277e-01 6.32905300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1592541539999 meters 0.01592984389898467 Centerline is valid? [True, True] Translation: X:903.17, Y:57.87, Z:6.33 [[ 6.57761173e-01 -7.53187170e-01 -7.70230254e-03 9.03174481e+02] [ 7.53135150e-01 6.57806268e-01 -8.85212029e-03 5.78695526e+01] [ 1.17339263e-02 2.17062546e-05 9.99931155e-01 6.32973065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1892541539999 meters 0.015683432199811637 Centerline is valid? [True, True] Translation: X:903.19, Y:57.89, Z:6.33 [[ 6.58589604e-01 -7.52462679e-01 -7.72335414e-03 9.03192535e+02] [ 7.52410270e-01 6.58634888e-01 -8.88087330e-03 5.78896858e+01] [ 1.17693962e-02 3.77198490e-05 9.99930738e-01 6.32962306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2192541539998 meters 0.01836948238612422 Centerline is valid? [True, True] Translation: X:903.21, Y:57.91, Z:6.33 [[ 6.60503409e-01 -7.50775302e-01 -8.46714662e-03 9.03212536e+02] [ 7.50712114e-01 6.60557673e-01 -9.74074777e-03 5.79108852e+01] [ 1.29061515e-02 7.74075677e-05 9.99916709e-01 6.32780478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2492541539999 meters 0.019397482633479915 Centerline is valid? [True, True] Translation: X:903.23, Y:57.93, Z:6.33 [[ 6.61460437e-01 -7.49926593e-01 -8.95515718e-03 9.03232182e+02] [ 7.49855759e-01 6.61521046e-01 -1.03075799e-02 5.79326174e+01] [ 1.36539532e-02 1.02980141e-04 9.99906775e-01 6.32717610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2792541539999 meters 0.01811343169799982 Centerline is valid? [True, True] Translation: X:903.25, Y:57.95, Z:6.33 [[ 6.62642710e-01 -7.48880007e-01 -9.13093092e-03 9.03250946e+02] [ 7.48806214e-01 6.62705604e-01 -1.05135651e-02 5.79534518e+01] [ 1.39245178e-02 1.29439473e-04 9.99903041e-01 6.32745673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3092541539999 meters 0.014580973374829052 Centerline is valid? [True, True] Translation: X:903.27, Y:57.97, Z:6.33 [[ 6.64889943e-01 -7.46898433e-01 -8.00592520e-03 9.03272139e+02] [ 7.46841526e-01 6.64938123e-01 -9.22102966e-03 5.79734046e+01] [ 1.22106175e-02 1.51812488e-04 9.99925436e-01 6.33104728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3392541539998 meters 0.018224891512572932 Centerline is valid? [True, True] Translation: X:903.29, Y:57.99, Z:6.33 [[ 6.65199692e-01 -7.46610327e-01 -9.07689557e-03 9.03291440e+02] [ 7.46537095e-01 6.65261593e-01 -1.04584413e-02 5.79938660e+01] [ 1.38468903e-02 1.80712713e-04 9.99904111e-01 6.32774458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3692541539999 meters 0.01902575565532991 Centerline is valid? [True, True] Translation: X:903.31, Y:58.01, Z:6.33 [[ 6.65809525e-01 -7.46062102e-01 -9.43483874e-03 9.03311986e+02] [ 7.45982871e-01 6.65876339e-01 -1.08745916e-02 5.80140346e+01] [ 1.43955566e-02 2.02178573e-04 9.99896358e-01 6.32748627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3992541539999 meters 0.017758196715159637 Centerline is valid? [True, True] Translation: X:903.34, Y:58.03, Z:6.33 [[ 6.66738637e-01 -7.45228965e-01 -9.66328373e-03 9.03335428e+02] [ 7.45145680e-01 6.66808621e-01 -1.11435163e-02 5.80324535e+01] [ 1.47480320e-02 2.29258738e-04 9.99891216e-01 6.32806246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4292541539999 meters 0.020370957454309703 Centerline is valid? [True, True] Translation: X:903.36, Y:58.05, Z:6.33 [[ 6.66898292e-01 -7.45072864e-01 -1.06346453e-02 9.03357310e+02] [ 7.44971865e-01 6.66983028e-01 -1.22702824e-02 5.80523041e+01] [ 1.62353824e-02 2.60518803e-04 9.99868164e-01 6.32695167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4592541539998 meters 0.017324023317918012 Centerline is valid? [True, True] Translation: X:903.38, Y:58.07, Z:6.33 [[ 6.67217360e-01 -7.44794219e-01 -1.01274382e-02 9.03376256e+02] [ 7.44702513e-01 6.67294166e-01 -1.16903125e-02 5.80717837e+01] [ 1.54648576e-02 2.58050746e-04 9.99880379e-01 6.32797908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4892541539999 meters 0.018345452624965 Centerline is valid? [True, True] Translation: X:903.40, Y:58.09, Z:6.33 [[ 6.67290838e-01 -7.44723635e-01 -1.04711542e-02 9.03400273e+02] [ 7.44625496e-01 6.67372935e-01 -1.20928186e-02 5.80887550e+01] [ 1.59939727e-02 2.72338689e-04 9.99872051e-01 6.32718239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5192541539999 meters 0.02002092026482226 Centerline is valid? [True, True] Translation: X:903.42, Y:58.11, Z:6.33 [[ 6.67200175e-01 -7.44802727e-01 -1.06218677e-02 9.03420517e+02] [ 7.44701679e-01 6.67284663e-01 -1.22714188e-02 5.81074689e+01] [ 1.62275956e-02 2.77370070e-04 9.99868285e-01 6.32683172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5492541539999 meters 0.018781435300563344 Centerline is valid? [True, True] Translation: X:903.44, Y:58.13, Z:6.33 [[ 6.66892101e-01 -7.45084801e-01 -1.01766999e-02 9.03442073e+02] [ 7.44991999e-01 6.66969692e-01 -1.17622477e-02 5.81265033e+01] [ 1.55514224e-02 2.62590059e-04 9.99879035e-01 6.32773596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5792541539998 meters 0.01551798409905255 Centerline is valid? [True, True] Translation: X:903.46, Y:58.14, Z:6.33 [[ 6.67212905e-01 -7.44816240e-01 -8.70109023e-03 9.03462349e+02] [ 7.44748327e-01 6.67269597e-01 -1.00605574e-02 5.81449127e+01] [ 1.32992395e-02 2.32411303e-04 9.99911534e-01 6.33131830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6092541539998 meters 0.014942634011002615 Centerline is valid? [True, True] Translation: X:903.49, Y:58.16, Z:6.33 [[ 6.66580353e-01 -7.45386166e-01 -8.37235623e-03 9.03488803e+02] [ 7.45323289e-01 6.66632896e-01 -9.68386052e-03 5.81608330e+01] [ 1.27995037e-02 2.14959082e-04 9.99918060e-01 6.33235351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6392541539999 meters 0.015448812629505865 Centerline is valid? [True, True] Translation: X:903.51, Y:58.18, Z:6.33 [[ 6.65940767e-01 -7.45958246e-01 -8.31809850e-03 9.03509954e+02] [ 7.45896183e-01 6.65992683e-01 -9.62445361e-03 5.81797100e+01] [ 1.27192333e-02 2.04878096e-04 9.99919086e-01 6.33210381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6692541539999 meters 0.01491169107695967 Centerline is valid? [True, True] Translation: X:903.53, Y:58.20, Z:6.33 [[ 6.64944937e-01 -7.46847377e-01 -8.19916115e-03 9.03534857e+02] [ 7.46787105e-01 6.64995459e-01 -9.48997103e-03 5.81957548e+01] [ 1.25399649e-02 1.87280377e-04 9.99921354e-01 6.33257755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6992541539998 meters 0.01568768122997698 Centerline is valid? [True, True] Translation: X:903.56, Y:58.21, Z:6.33 [[ 6.64112010e-01 -7.47584132e-01 -8.55593716e-03 9.03556404e+02] [ 7.47518513e-01 6.64167096e-01 -9.90656073e-03 5.82144311e+01] [ 1.30885595e-02 1.83344533e-04 9.99914324e-01 6.33170952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7292541539998 meters 0.017685031197300465 Centerline is valid? [True, True] Translation: X:903.58, Y:58.23, Z:6.33 [[ 6.63113758e-01 -7.48459939e-01 -9.37360651e-03 9.03577810e+02] [ 7.48381204e-01 6.63179980e-01 -1.08575787e-02 5.82328686e+01] [ 1.43428508e-02 1.84778855e-04 9.99897119e-01 6.32993314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7592541539999 meters 0.01782724287325938 Centerline is valid? [True, True] Translation: X:903.60, Y:58.25, Z:6.33 [[ 6.61896401e-01 -7.49534424e-01 -9.55513528e-03 9.03603423e+02] [ 7.49452633e-01 6.61965345e-01 -1.10739777e-02 5.82485526e+01] [ 1.46254959e-02 1.68704677e-04 9.99893027e-01 6.33005416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7892541539999 meters 0.018159193258589695 Centerline is valid? [True, True] Translation: X:903.62, Y:58.27, Z:6.33 [[ 6.61268745e-01 -7.50081953e-01 -1.00354919e-02 9.03623610e+02] [ 7.49991724e-01 6.61344869e-01 -1.16352303e-02 5.82673220e+01] [ 1.53642973e-02 1.67478222e-04 9.99881948e-01 6.32920904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8192541539999 meters 0.017945303466156318 Centerline is valid? [True, True] Translation: X:903.65, Y:58.28, Z:6.33 [[ 6.60485042e-01 -7.50766514e-01 -1.04475297e-02 9.03646554e+02] [ 7.50668751e-01 6.60567647e-01 -1.21165088e-02 5.82830500e+01] [ 1.59979692e-02 1.60138701e-04 9.99872011e-01 6.32817634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8492541539998 meters 0.015609429111700445 Centerline is valid? [True, True] Translation: X:903.67, Y:58.30, Z:6.33 [[ 6.60238486e-01 -7.50987375e-01 -1.01540709e-02 9.03667866e+02] [ 7.50894972e-01 6.60316545e-01 -1.17814163e-02 5.83019537e+01] [ 1.55525959e-02 1.53903656e-04 9.99879039e-01 6.32977215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8792541539999 meters 0.01819841849806397 Centerline is valid? [True, True] Translation: X:903.69, Y:58.32, Z:6.33 [[ 6.59340080e-01 -7.51766421e-01 -1.08584847e-02 9.03689177e+02] [ 7.51660736e-01 6.59429470e-01 -1.26060772e-02 5.83201469e+01] [ 1.66372303e-02 1.49795372e-04 9.99861580e-01 6.32879878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9092541539999 meters 0.015351466003333536 Centerline is valid? [True, True] Translation: X:903.71, Y:58.34, Z:6.33 [[ 6.59349598e-01 -7.51768796e-01 -1.00888708e-02 9.03710144e+02] [ 7.51677462e-01 6.59426764e-01 -1.17190763e-02 5.83391942e+01] [ 1.54629073e-02 1.43391483e-04 9.99880432e-01 6.33077268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9392541539999 meters 0.01424958188201849 Centerline is valid? [True, True] Translation: X:903.73, Y:58.36, Z:6.33 [[ 6.59258791e-01 -7.51851812e-01 -9.83360042e-03 9.03734004e+02] [ 7.51764951e-01 6.59332111e-01 -1.14291618e-02 5.83550585e+01] [ 1.50766446e-02 1.42219281e-04 9.99886331e-01 6.33227943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9692541539998 meters 0.016663478093539498 Centerline is valid? [True, True] Translation: X:903.75, Y:58.37, Z:6.33 [[ 6.59037105e-01 -7.52035616e-01 -1.06078407e-02 9.03754363e+02] [ 7.51934485e-01 6.59122454e-01 -1.23337194e-02 5.83748192e+01] [ 1.62672622e-02 1.51977511e-04 9.99867668e-01 6.33012656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9992541539999 meters 0.018105759982789675 Centerline is valid? [True, True] Translation: X:903.78, Y:58.39, Z:6.33 [[ 6.59142191e-01 -7.51935953e-01 -1.11307755e-02 9.03775619e+02] [ 7.51824508e-01 6.59236145e-01 -1.29465865e-02 5.83943765e+01] [ 1.70728134e-02 1.65251600e-04 9.99854235e-01 6.32961185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0292541539999 meters 0.01610371327564821 Centerline is valid? [True, True] Translation: X:903.80, Y:58.41, Z:6.33 [[ 6.59578199e-01 -7.51564264e-01 -1.03806066e-02 9.03796636e+02] [ 7.51467212e-01 6.59659859e-01 -1.20789379e-02 5.84139356e+01] [ 1.59257676e-02 1.66318614e-04 9.99873163e-01 6.33105149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0592541539999 meters 0.017237192599501194 Centerline is valid? [True, True] Translation: X:903.82, Y:58.43, Z:6.33 [[ 6.60795435e-01 -7.50493129e-01 -1.04621305e-02 9.03820234e+02] [ 7.50394323e-01 6.60878222e-01 -1.21793240e-02 5.84316008e+01] [ 1.60546932e-02 1.97318393e-04 9.99871096e-01 6.33123549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0892541539998 meters 0.014852661011286086 Centerline is valid? [True, True] Translation: X:903.84, Y:58.45, Z:6.33 [[ 6.62196732e-01 -7.49276503e-01 -8.95598240e-03 9.03839141e+02] [ 7.49203935e-01 6.62257264e-01 -1.04297628e-02 5.84520629e+01] [ 1.37459406e-02 1.96697596e-04 9.99905501e-01 6.33277343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1192541539999 meters 0.017280535717123062 Centerline is valid? [True, True] Translation: X:903.86, Y:58.47, Z:6.33 [[ 6.62985807e-01 -7.48569353e-01 -9.68210290e-03 9.03863319e+02] [ 7.48484395e-01 6.63056461e-01 -1.12800819e-02 5.84693332e+01] [ 1.48637045e-02 2.31631293e-04 9.99889502e-01 6.33195202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1492541539999 meters 0.015514617444082002 Centerline is valid? [True, True] Translation: X:903.88, Y:58.49, Z:6.33 [[ 6.64179642e-01 -7.47522676e-01 -8.67482940e-03 9.03883336e+02] [ 7.47454343e-01 6.64236250e-01 -1.01098949e-02 5.84890653e+01] [ 1.33195118e-02 2.30747446e-04 9.99911265e-01 6.33356146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1792541539999 meters 0.01901247141536856 Centerline is valid? [True, True] Translation: X:903.90, Y:58.51, Z:6.33 [[ 6.64549551e-01 -7.47185183e-01 -9.39127447e-03 9.03902891e+02] [ 7.47105033e-01 6.64615855e-01 -1.09469350e-02 5.85084097e+01] [ 1.44209775e-02 2.58512292e-04 9.99895979e-01 6.33179533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2092541539998 meters 0.018609851893531506 Centerline is valid? [True, True] Translation: X:903.93, Y:58.53, Z:6.33 [[ 6.66395799e-01 -7.45551223e-01 -8.36739812e-03 9.03925972e+02] [ 7.45487427e-01 6.66448276e-01 -9.75659323e-03 5.85271458e+01] [ 1.28504781e-02 2.63962643e-04 9.99917394e-01 6.33308356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2392541539999 meters 0.017835486070013187 Centerline is valid? [True, True] Translation: X:903.95, Y:58.55, Z:6.33 [[ 6.67465651e-01 -7.44600952e-01 -7.68289563e-03 9.03946534e+02] [ 7.44547054e-01 6.67509815e-01 -8.96279749e-03 5.85478419e+01] [ 1.18021158e-02 2.62082153e-04 9.99930318e-01 6.33431757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2692541539999 meters 0.01766478812645875 Centerline is valid? [True, True] Translation: X:903.97, Y:58.57, Z:6.34 [[ 6.69624470e-01 -7.42670888e-01 -6.55904680e-03 9.03967079e+02] [ 7.42631484e-01 6.69656545e-01 -7.65445220e-03 5.85668903e+01] [ 1.00770474e-02 2.54653839e-04 9.99949193e-01 6.33586844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2992541539999 meters 0.019147725225055246 Centerline is valid? [True, True] Translation: X:903.99, Y:58.59, Z:6.33 [[ 6.69396218e-01 -7.42873657e-01 -6.88719334e-03 9.03987804e+02] [ 7.42830195e-01 6.69431594e-01 -8.04001328e-03 5.85858567e+01] [ 1.05832189e-02 2.65939304e-04 9.99943961e-01 6.33453753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3292541539998 meters 0.01980498686120071 Centerline is valid? [True, True] Translation: X:904.01, Y:58.61, Z:6.33 [[ 6.69389473e-01 -7.42881790e-01 -6.66175647e-03 9.04007345e+02] [ 7.42841089e-01 6.69422571e-01 -7.78062302e-03 5.86050492e+01] [ 1.02396133e-02 2.59640711e-04 9.99947540e-01 6.33461030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3592541539998 meters 0.017913460986480743 Centerline is valid? [True, True] Translation: X:904.03, Y:58.62, Z:6.34 [[ 6.69860225e-01 -7.42463501e-01 -5.93542048e-03 9.04028114e+02] [ 7.42431157e-01 6.69886478e-01 -6.93426090e-03 5.86245880e+01] [ 9.12449354e-03 2.38344477e-04 9.99958343e-01 6.33639842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3892541539999 meters 0.017913460986480743 Centerline is valid? [True, True] Translation: X:904.05, Y:58.65, Z:6.34 [[ 6.69648919e-01 -7.42654098e-01 -5.93427782e-03 9.04045992e+02] [ 7.42621753e-01 6.69675170e-01 -6.93523866e-03 5.86456030e+01] [ 9.12452192e-03 2.37251268e-04 9.99958343e-01 6.33658928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4192541539999 meters 0.01844279567568262 Centerline is valid? [True, True] Translation: X:904.07, Y:58.67, Z:6.34 [[ 6.69196443e-01 -7.43060190e-01 -6.13803038e-03 9.04066229e+02] [ 7.43025570e-01 6.69224548e-01 -7.17686271e-03 5.86652120e+01] [ 9.44056157e-03 2.42017470e-04 9.99955408e-01 6.33608291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4492541539998 meters 0.019534076948479227 Centerline is valid? [True, True] Translation: X:904.09, Y:58.68, Z:6.33 [[ 6.67789891e-01 -7.44308406e-01 -7.85230288e-03 9.04091387e+02] [ 7.44251794e-01 6.67835993e-01 -9.18441981e-03 5.86824753e+01] [ 1.20800914e-02 2.89172196e-04 9.99926991e-01 6.33294463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4792541539998 meters 0.019052838686868596 Centerline is valid? [True, True] Translation: X:904.11, Y:58.70, Z:6.33 [[ 6.67097430e-01 -7.44922860e-01 -8.42332394e-03 9.04113097e+02] [ 7.44857693e-01 6.67150539e-01 -9.85773382e-03 5.87014372e+01] [ 1.29628764e-02 3.01891258e-04 9.99915933e-01 6.33246483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5092541539999 meters 0.017365217326611407 Centerline is valid? [True, True] Translation: X:904.13, Y:58.72, Z:6.33 [[ 6.66943173e-01 -7.45054292e-01 -8.99474041e-03 9.04133583e+02] [ 7.44979924e-01 6.67003746e-01 -1.05316099e-02 5.87199211e+01] [ 1.38461467e-02 3.23084268e-04 9.99904085e-01 6.33238567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5392541539999 meters 0.01870770484702435 Centerline is valid? [True, True] Translation: X:904.16, Y:58.74, Z:6.33 [[ 6.65694908e-01 -7.46151380e-01 -1.04119165e-02 9.04155095e+02] [ 7.46051774e-01 6.65776235e-01 -1.21965097e-02 5.87391341e+01] [ 1.60324490e-02 3.51325617e-04 9.99871410e-01 6.32996560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5692541539999 meters 0.016734830228468583 Centerline is valid? [True, True] Translation: X:904.18, Y:58.76, Z:6.33 [[ 6.65366464e-01 -7.46437608e-01 -1.08796162e-02 9.04177552e+02] [ 7.46328772e-01 6.65455306e-01 -1.27514520e-02 5.87570964e+01] [ 1.67580617e-02 3.64617908e-04 9.99859507e-01 6.33071341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5992541539998 meters 0.01623105953831987 Centerline is valid? [True, True] Translation: X:904.20, Y:58.78, Z:6.33 [[ 6.64471426e-01 -7.47236655e-01 -1.07287336e-02 9.04199155e+02] [ 7.47130810e-01 6.64557946e-01 -1.25813245e-02 5.87765146e+01] [ 1.65310920e-02 3.44163167e-04 9.99863293e-01 6.33145203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6292541539999 meters 0.016206332176063473 Centerline is valid? [True, True] Translation: X:904.22, Y:58.80, Z:6.33 [[ 6.63533213e-01 -7.48070642e-01 -1.06766394e-02 9.04219544e+02] [ 7.47965865e-01 6.63619024e-01 -1.25242163e-02 5.87953209e+01] [ 1.64542196e-02 3.24471642e-04 9.99864568e-01 6.33186765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6592541539999 meters 0.01568000249551271 Centerline is valid? [True, True] Translation: X:904.24, Y:58.81, Z:6.33 [[ 6.61404422e-01 -7.49955588e-01 -1.05265182e-02 9.04241151e+02] [ 7.49853901e-01 6.61488125e-01 -1.23526185e-02 5.88148633e+01] [ 1.62270821e-02 2.76725726e-04 9.99868294e-01 6.33221434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6892541539999 meters 0.014552459424974226 Centerline is valid? [True, True] Translation: X:904.27, Y:58.83, Z:6.33 [[ 6.56382635e-01 -7.54362555e-01 -9.94846953e-03 9.04265971e+02] [ 7.54272144e-01 6.56458003e-01 -1.16800022e-02 5.88314311e+01] [ 1.53417088e-02 1.62697199e-04 9.99882296e-01 6.33282188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7192541539998 meters 0.014120768290894833 Centerline is valid? [True, True] Translation: X:904.29, Y:58.85, Z:6.33 [[ 6.53994946e-01 -7.56441264e-01 -9.33939189e-03 9.04287522e+02] [ 7.56361721e-01 6.54061619e-01 -1.09702096e-02 5.88515556e+01] [ 1.44068570e-02 1.10503093e-04 9.99896210e-01 6.33408769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7492541539999 meters 0.016820326170005662 Centerline is valid? [True, True] Translation: X:904.31, Y:58.87, Z:6.33 [[ 6.51838360e-01 -7.58303130e-01 -9.11679283e-03 9.04307819e+02] [ 7.58227441e-01 6.51902108e-01 -1.07139850e-02 5.88721112e+01] [ 1.40677048e-02 7.11839353e-05 9.99901042e-01 6.33317224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7792541539999 meters 0.01485864976816758 Centerline is valid? [True, True] Translation: X:904.33, Y:58.89, Z:6.34 [[ 6.50491523e-01 -7.59475270e-01 -7.62186645e-03 9.04326023e+02] [ 7.59422402e-01 6.50536174e-01 -8.96115650e-03 5.88949830e+01] [ 1.17640766e-02 4.09402199e-05 9.99930800e-01 6.33591583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8092541539999 meters 0.015525235036655866 Centerline is valid? [True, True] Translation: X:904.34, Y:58.92, Z:6.34 [[ 6.50209235e-01 -7.59716598e-01 -7.65769144e-03 9.04343447e+02] [ 7.59663194e-01 6.50254326e-01 -9.00797418e-03 5.89172728e+01] [ 1.18229545e-02 3.98016674e-05 9.99930106e-01 6.33575289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8392541539998 meters 0.01394151437522442 Centerline is valid? [True, True] Translation: X:904.36, Y:58.94, Z:6.34 [[ 6.51489112e-01 -7.58617285e-01 -7.85823960e-03 9.04356540e+02] [ 7.58560905e-01 6.51536500e-01 -9.24891181e-03 5.89414543e+01] [ 1.21363143e-02 6.46120089e-05 9.99926350e-01 6.33560940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8692541539999 meters 0.013970856242973631 Centerline is valid? [True, True] Translation: X:904.37, Y:58.96, Z:6.34 [[ 6.52417353e-01 -7.57811032e-01 -8.60446646e-03 9.04374347e+02] [ 7.57743295e-01 6.52474085e-01 -1.01325243e-02 5.89648159e+01] [ 1.32927301e-02 9.06579481e-05 9.99911644e-01 6.33532259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8992541539999 meters 0.014225639974857186 Centerline is valid? [True, True] Translation: X:904.39, Y:58.99, Z:6.33 [[ 6.53766644e-01 -7.56640222e-01 -9.20598106e-03 9.04391218e+02] [ 7.56562512e-01 6.53831445e-01 -1.08446768e-02 5.89876594e+01] [ 1.42246785e-02 1.24987777e-04 9.99898816e-01 6.33495022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9292541539999 meters 0.015356910602562852 Centerline is valid? [True, True] Translation: X:904.41, Y:59.01, Z:6.33 [[ 6.56732023e-01 -7.54058744e-01 -9.92275714e-03 9.04406057e+02] [ 7.53968132e-01 6.56806952e-01 -1.16911952e-02 5.90117472e+01] [ 1.53331838e-02 1.96539601e-04 9.99882421e-01 6.33339082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9592541539998 meters 0.015449709651368434 Centerline is valid? [True, True] Translation: X:904.42, Y:59.04, Z:6.33 [[ 6.58640426e-01 -7.52390924e-01 -1.00342740e-02 9.04422995e+02] [ 7.52298005e-01 6.58716812e-01 -1.18267968e-02 5.90351187e+01] [ 1.55081195e-02 2.40842169e-04 9.99879713e-01 6.33383062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9892541539999 meters 0.01575633656461804 Centerline is valid? [True, True] Translation: X:904.44, Y:59.06, Z:6.33 [[ 6.59951755e-01 -7.51239387e-01 -1.01520768e-02 9.04440506e+02] [ 7.51144041e-01 6.60029778e-01 -1.19716938e-02 5.90580227e+01] [ 1.56942809e-02 2.75068337e-04 9.99876799e-01 6.33392677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0192541539999 meters 0.01760440369390085 Centerline is valid? [True, True] Translation: X:904.46, Y:59.08, Z:6.33 [[ 6.61472665e-01 -7.49896030e-01 -1.04813077e-02 9.04457432e+02] [ 7.49794127e-01 6.61555622e-01 -1.23663173e-02 5.90814106e+01] [ 1.62074203e-02 3.21157897e-04 9.99868600e-01 6.33255208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0492541539999 meters 0.017523523937903945 Centerline is valid? [True, True] Translation: X:904.47, Y:59.10, Z:6.33 [[ 6.61895300e-01 -7.49529410e-01 -1.00137679e-02 9.04473515e+02] [ 7.49436280e-01 6.61970968e-01 -1.18194619e-02 5.91031235e+01] [ 1.54878579e-02 3.18565355e-04 9.99880005e-01 6.33275017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0792541539998 meters 0.017510566169966428 Centerline is valid? [True, True] Translation: X:904.49, Y:59.12, Z:6.33 [[ 6.61642496e-01 -7.49755983e-01 -9.75573648e-03 9.04491158e+02] [ 7.49667536e-01 6.61714343e-01 -1.15201917e-02 5.91246478e+01] [ 1.50928434e-02 3.08689433e-04 9.99886049e-01 6.33343647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1092541539998 meters 0.015791965924418765 Centerline is valid? [True, True] Translation: X:904.51, Y:59.15, Z:6.34 [[ 6.60079609e-01 -7.51145944e-01 -8.64180330e-03 9.04511406e+02] [ 7.51076592e-01 6.60136129e-01 -1.02099724e-02 5.91450778e+01] [ 1.33739459e-02 2.48738383e-04 9.99910534e-01 6.33642256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1392541539999 meters 0.01598340119953136 Centerline is valid? [True, True] Translation: X:904.53, Y:59.17, Z:6.34 [[ 6.58718820e-01 -7.52344289e-01 -8.22108303e-03 9.04529868e+02] [ 7.52281576e-01 6.58770084e-01 -9.71626355e-03 5.91664550e+01] [ 1.27257790e-02 2.15716364e-04 9.99919001e-01 6.33669326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1692541539999 meters 0.01526804407305256 Centerline is valid? [True, True] Translation: X:904.55, Y:59.19, Z:6.34 [[ 6.57246832e-01 -7.53633534e-01 -7.94351975e-03 9.04550190e+02] [ 7.53575041e-01 6.57294806e-01 -9.39121099e-03 5.91873430e+01] [ 1.22987658e-02 1.86305446e-04 9.99924350e-01 6.33754382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1992541539998 meters 0.016674234140384096 Centerline is valid? [True, True] Translation: X:904.57, Y:59.21, Z:6.34 [[ 6.54251067e-01 -7.56237162e-01 -7.80358895e-03 9.04570887e+02] [ 7.56180840e-01 6.54297590e-01 -9.23041448e-03 5.92078739e+01] [ 1.20862519e-02 1.38084071e-04 9.99926949e-01 6.33564746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2292541539998 meters 0.015445919501820471 Centerline is valid? [True, True] Translation: X:904.59, Y:59.23, Z:6.34 [[ 6.53618780e-01 -7.56786735e-01 -7.50515997e-03 9.04587840e+02] [ 7.56734633e-01 6.53661856e-01 -8.88111470e-03 5.92294460e+01] [ 1.16269466e-02 1.25448884e-04 9.99932397e-01 6.33624671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2592541539999 meters 0.014440645918772622 Centerline is valid? [True, True] Translation: X:904.61, Y:59.25, Z:6.34 [[ 6.52943620e-01 -7.57372475e-01 -7.18076727e-03 9.04606606e+02] [ 7.57324777e-01 6.52983094e-01 -8.50063426e-03 5.92498982e+01] [ 1.11270660e-02 1.12261927e-04 9.99938086e-01 6.33740967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2892541539999 meters 0.016858403469877804 Centerline is valid? [True, True] Translation: X:904.63, Y:59.27, Z:6.33 [[ 6.51163765e-01 -7.58898322e-01 -7.68693342e-03 9.04625724e+02] [ 7.58843721e-01 6.51209128e-01 -9.10376055e-03 5.92700399e+01] [ 1.19146298e-02 9.48578297e-05 9.99929014e-01 6.33471112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3192541539999 meters 0.01576862591138301 Centerline is valid? [True, True] Translation: X:904.64, Y:59.29, Z:6.34 [[ 6.50799227e-01 -7.59211067e-01 -7.67610206e-03 9.04643815e+02] [ 7.59156605e-01 6.50844488e-01 -9.09401041e-03 5.92914026e+01] [ 1.19002221e-02 9.10113657e-05 9.99929186e-01 6.33564485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3492541539998 meters 0.01572548125865016 Centerline is valid? [True, True] Translation: X:904.66, Y:59.31, Z:6.33 [[ 6.50656157e-01 -7.59328375e-01 -8.18444101e-03 9.04661178e+02] [ 7.59266412e-01 6.50707622e-01 -9.70083732e-03 5.93126594e+01] [ 1.26917992e-02 9.77383673e-05 9.99919451e-01 6.33481753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3792541539999 meters 0.0144308635995373 Centerline is valid? [True, True] Translation: X:904.68, Y:59.33, Z:6.34 [[ 6.50911579e-01 -7.59113349e-01 -7.81271945e-03 9.04678855e+02] [ 7.59056825e-01 6.50958457e-01 -9.26405968e-03 5.93349636e+01] [ 1.21182272e-02 9.97856917e-05 9.99926567e-01 6.33586284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4092541539999 meters 0.015105573040860947 Centerline is valid? [True, True] Translation: X:904.70, Y:59.36, Z:6.33 [[ 6.50503999e-01 -7.59455179e-01 -8.50752529e-03 9.04696667e+02] [ 7.59388105e-01 6.50559620e-01 -1.00938378e-02 5.93562269e+01] [ 1.32004698e-02 1.05568363e-04 9.99912864e-01 6.33470925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4392541539999 meters 0.014568088298559411 Centerline is valid? [True, True] Translation: X:904.71, Y:59.38, Z:6.33 [[ 6.51331595e-01 -7.58741075e-01 -8.89579473e-03 9.04713686e+02] [ 7.58667593e-01 6.51392328e-01 -1.05602358e-02 5.93791799e+01] [ 1.38071371e-02 1.29264042e-04 9.99904669e-01 6.33441888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4692541539998 meters 0.015244702856623066 Centerline is valid? [True, True] Translation: X:904.73, Y:59.40, Z:6.33 [[ 6.51390184e-01 -7.58687757e-01 -9.14963649e-03 9.04732032e+02] [ 7.58609932e-01 6.51454426e-01 -1.08674878e-02 5.94010514e+01] [ 1.42056012e-02 1.37969792e-04 9.99899086e-01 6.33388432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4992541539999 meters 0.01501636361820181 Centerline is valid? [True, True] Translation: X:904.75, Y:59.42, Z:6.33 [[ 6.52207814e-01 -7.57986033e-01 -9.06315696e-03 9.04748649e+02] [ 7.57909543e-01 6.52270764e-01 -1.07691967e-02 5.94229558e+01] [ 1.40745330e-02 1.54701094e-04 9.99900937e-01 6.33406873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5292541539999 meters 0.016876503047130235 Centerline is valid? [True, True] Translation: X:904.77, Y:59.44, Z:6.33 [[ 6.52156083e-01 -7.58023673e-01 -9.62054917e-03 9.04766049e+02] [ 7.57937433e-01 6.52227019e-01 -1.14351763e-02 5.94439910e+01] [ 1.49429164e-02 1.65745407e-04 9.99888335e-01 6.33251186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5592541539999 meters 0.018042800847339162 Centerline is valid? [True, True] Translation: X:904.78, Y:59.47, Z:6.33 [[ 6.52685629e-01 -7.57577266e-01 -8.84058467e-03 9.04783485e+02] [ 7.57504339e-01 6.52745478e-01 -1.05127101e-02 5.94659090e+01] [ 1.37348418e-02 1.64713537e-04 9.99905659e-01 6.33304921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5892541539998 meters 0.016705084814541107 Centerline is valid? [True, True] Translation: X:904.80, Y:59.49, Z:6.34 [[ 6.53126739e-01 -7.57203427e-01 -8.27244588e-03 9.04801665e+02] [ 7.57139474e-01 6.53179105e-01 -9.84243256e-03 5.94869045e+01] [ 1.28561125e-02 1.64960565e-04 9.99917343e-01 6.33524419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6192541539999 meters 0.015422959635295351 Centerline is valid? [True, True] Translation: X:904.82, Y:59.51, Z:6.34 [[ 6.54008647e-01 -7.56452447e-01 -7.23770714e-03 9.04818908e+02] [ 7.56403398e-01 6.54048675e-01 -8.61565948e-03 5.95098613e+01] [ 1.12511495e-02 1.60089524e-04 9.99936691e-01 6.33793414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6492541539999 meters 0.015647958449840522 Centerline is valid? [True, True] Translation: X:904.84, Y:59.53, Z:6.34 [[ 6.54352880e-01 -7.56157237e-01 -6.96716212e-03 9.04836902e+02] [ 7.56111726e-01 6.54389950e-01 -8.29769666e-03 5.95325950e+01] [ 1.08336043e-02 1.61668727e-04 9.99941302e-01 6.33799555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6792541539999 meters 0.015721684230450717 Centerline is valid? [True, True] Translation: X:904.86, Y:59.55, Z:6.34 [[ 6.54157059e-01 -7.56327519e-01 -6.87214128e-03 9.04855031e+02] [ 7.56283203e-01 6.54193136e-01 -8.18886986e-03 5.95536863e+01] [ 1.06891753e-02 1.59522010e-04 9.99942856e-01 6.33783195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7092541539998 meters 0.015918677038536003 Centerline is valid? [True, True] Translation: X:904.87, Y:59.58, Z:6.34 [[ 6.54404343e-01 -7.56112557e-01 -6.98267470e-03 9.04871470e+02] [ 7.56066746e-01 6.54441574e-01 -8.32479568e-03 5.95758893e+01] [ 1.08642352e-02 1.68414304e-04 9.99940968e-01 6.33765147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7392541539999 meters 0.01642373390006949 Centerline is valid? [True, True] Translation: X:904.89, Y:59.60, Z:6.34 [[ 6.53792032e-01 -7.56636081e-01 -7.60391970e-03 9.04890068e+02] [ 7.56581742e-01 6.53836226e-01 -9.06955859e-03 5.95968899e+01] [ 1.18340734e-02 1.76618323e-04 9.99929959e-01 6.33645986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7692541539999 meters 0.01627015989386247 Centerline is valid? [True, True] Translation: X:904.91, Y:59.62, Z:6.34 [[ 6.52590454e-01 -7.57668853e-01 -7.97547865e-03 9.04909978e+02] [ 7.57609085e-01 6.52639166e-01 -9.51806192e-03 5.96173782e+01] [ 1.24166488e-02 1.69101272e-04 9.99922896e-01 6.33583845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7992541539999 meters 0.01646936769355351 Centerline is valid? [True, True] Translation: X:904.93, Y:59.64, Z:6.34 [[ 6.51384343e-01 -7.58702562e-01 -8.29824422e-03 9.04929531e+02] [ 7.58637876e-01 6.51437178e-01 -9.90837986e-03 5.96385144e+01] [ 1.29232980e-02 1.58801135e-04 9.99916478e-01 6.33574648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8292541539998 meters 0.017037899307060907 Centerline is valid? [True, True] Translation: X:904.95, Y:59.66, Z:6.34 [[ 6.50045166e-01 -7.59852233e-01 -8.11578984e-03 9.04949146e+02] [ 7.59790388e-01 6.50095813e-01 -9.69537148e-03 5.96593465e+01] [ 1.26430907e-02 1.36130258e-04 9.99920064e-01 6.33563277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8592541539998 meters 0.014852342237275384 Centerline is valid? [True, True] Translation: X:904.97, Y:59.68, Z:6.34 [[ 6.49409031e-01 -7.60407931e-01 -6.90574141e-03 9.04966715e+02] [ 7.60363155e-01 6.49445738e-01 -8.25264057e-03 5.96810203e+01] [ 1.07602777e-02 1.08467994e-04 9.99942101e-01 6.33846474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8892541539999 meters 0.015840249645345996 Centerline is valid? [True, True] Translation: X:904.99, Y:59.70, Z:6.34 [[ 6.46522499e-01 -7.62864260e-01 -6.83955176e-03 9.04987021e+02] [ 7.62820450e-01 6.46558672e-01 -8.17591221e-03 5.97020214e+01] [ 1.06592827e-02 6.85612504e-05 9.99943186e-01 6.33807265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9192541539999 meters 0.014250092974537155 Centerline is valid? [True, True] Translation: X:905.00, Y:59.72, Z:6.34 [[ 6.45460308e-01 -7.63766431e-01 -6.46759807e-03 9.05004851e+02] [ 7.63727269e-01 6.45492708e-01 -7.73444648e-03 5.97222728e+01] [ 1.00820980e-02 5.27972017e-05 9.99949173e-01 6.33994733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9492541539998 meters 0.013962163005231789 Centerline is valid? [True, True] Translation: X:905.03, Y:59.74, Z:6.34 [[ 6.42455424e-01 -7.66295275e-01 -6.52528024e-03 9.05026084e+02] [ 7.66255514e-01 6.42488561e-01 -7.80618027e-03 5.97426596e+01] [ 1.01742570e-02 1.50908901e-05 9.99948241e-01 6.34064630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9792541539998 meters 0.014001802005834356 Centerline is valid? [True, True] Translation: X:905.04, Y:59.76, Z:6.34 [[ 6.40981396e-01 -7.67529151e-01 -6.46938236e-03 9.05044252e+02] [ 7.67490095e-01 6.41014043e-01 -7.74279356e-03 5.97625377e+01] [ 1.00897847e-02 -2.20026214e-06 9.99949097e-01 6.34053878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0092541539999 meters 0.01634439185867414 Centerline is valid? [True, True] Translation: X:905.06, Y:59.78, Z:6.34 [[ 6.38921667e-01 -7.69238109e-01 -7.19972718e-03 9.05063978e+02] [ 7.69189803e-01 6.38962230e-01 -8.62062821e-03 5.97831648e+01] [ 1.12316695e-02 -3.00505886e-05 9.99936922e-01 6.33831999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0392541539999 meters 0.015337484782117265 Centerline is valid? [True, True] Translation: X:905.08, Y:59.80, Z:6.34 [[ 6.37562469e-01 -7.70364369e-01 -7.26898001e-03 9.05081650e+02] [ 7.70315147e-01 6.37603903e-01 -8.70849082e-03 5.98046768e+01] [ 1.13434411e-02 -4.71984974e-05 9.99935660e-01 6.33914505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0692541539999 meters 0.01442873349207915 Centerline is valid? [True, True] Translation: X:905.10, Y:59.83, Z:6.34 [[ 6.37509848e-01 -7.70407480e-01 -7.31498177e-03 9.05097909e+02] [ 7.70357587e-01 6.37551812e-01 -8.76781600e-03 5.98257101e+01] [ 1.14184709e-02 -4.55826645e-05 9.99934806e-01 6.33931075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0992541539998 meters 0.01691294883439797 Centerline is valid? [True, True] Translation: X:905.12, Y:59.85, Z:6.34 [[ 6.36971456e-01 -7.70844835e-01 -8.09961675e-03 9.05115892e+02] [ 7.70783648e-01 6.37022948e-01 -9.71245977e-03 5.98483875e+01] [ 1.26464412e-02 -5.64924978e-05 9.99920029e-01 6.33707658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1292541539999 meters 0.01397767487215648 Centerline is valid? [True, True] Translation: X:905.13, Y:59.87, Z:6.34 [[ 6.38419306e-01 -7.69646887e-01 -8.02861301e-03 9.05130505e+02] [ 7.69586622e-01 6.38469786e-01 -9.63133757e-03 5.98713522e+01] [ 1.25387558e-02 -2.98813189e-05 9.99921386e-01 6.33906215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1592541539999 meters 0.016690098793980264 Centerline is valid? [True, True] Translation: X:905.15, Y:59.89, Z:6.34 [[ 6.38488517e-01 -7.69580748e-01 -8.82534053e-03 9.05148090e+02] [ 7.69507856e-01 6.38549506e-01 -1.05918589e-02 5.98936146e+01] [ 1.37867075e-02 -2.83886159e-05 9.99904958e-01 6.33691642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1892541539999 meters 0.015547080534888841 Centerline is valid? [True, True] Translation: X:905.16, Y:59.92, Z:6.34 [[ 6.40303032e-01 -7.68068711e-01 -9.08202365e-03 9.05163805e+02] [ 7.67991273e-01 6.40367438e-01 -1.09063497e-02 5.99175721e+01] [ 1.41926582e-02 8.45389212e-06 9.99899279e-01 6.33834487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2192541539998 meters 0.016100721157754103 Centerline is valid? [True, True] Translation: X:905.18, Y:59.94, Z:6.34 [[ 6.41157806e-01 -7.67351763e-01 -9.37758839e-03 9.05179524e+02] [ 7.67269050e-01 6.41226380e-01 -1.12665461e-02 5.99393731e+01] [ 1.46585610e-02 2.85006198e-05 9.99892557e-01 6.33715217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2492541539999 meters 0.014073770931054318 Centerline is valid? [True, True] Translation: X:905.20, Y:59.96, Z:6.34 [[ 6.42507859e-01 -7.66224434e-01 -9.15251155e-03 9.05195505e+02] [ 7.66145456e-01 6.42573041e-01 -1.10011955e-02 5.99622172e+01] [ 1.43105420e-02 5.61994210e-05 9.99897597e-01 6.33925848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2792541539999 meters 0.014073770931054318 Centerline is valid? [True, True] Translation: X:905.21, Y:59.98, Z:6.34 [[ 6.42288070e-01 -7.66408719e-01 -9.14935540e-03 9.05213091e+02] [ 7.66329723e-01 6.42353230e-01 -1.10038201e-02 5.99834791e+01] [ 1.43105417e-02 5.61994198e-05 9.99897597e-01 6.33944891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3092541539999 meters 0.014193364338073547 Centerline is valid? [True, True] Translation: X:905.23, Y:60.01, Z:6.34 [[ 6.43329209e-01 -7.65531597e-01 -9.42883187e-03 9.05229113e+02] [ 7.65447536e-01 6.43398296e-01 -1.13447186e-02 6.00064344e+01] [ 1.47512349e-02 8.11127079e-05 9.99891191e-01 6.33852282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3392541539998 meters 0.014275322857691609 Centerline is valid? [True, True] Translation: X:905.25, Y:60.03, Z:6.34 [[ 6.44978720e-01 -7.64142839e-01 -9.38999386e-03 9.05245574e+02] [ 7.64059257e-01 6.45047058e-01 -1.13024169e-02 6.00305581e+01] [ 1.46936488e-02 1.15306621e-04 9.99892036e-01 6.33896105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3692541539999 meters 0.014282127602377959 Centerline is valid? [True, True] Translation: X:905.26, Y:60.05, Z:6.34 [[ 6.45650435e-01 -7.63574885e-01 -9.42926430e-03 9.05263369e+02] [ 7.63490455e-01 6.45719271e-01 -1.13555491e-02 6.00532371e+01] [ 1.47594698e-02 1.32561949e-04 9.99891064e-01 6.33975593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3992541539999 meters 0.014504515796078745 Centerline is valid? [True, True] Translation: X:905.28, Y:60.08, Z:6.34 [[ 6.46820267e-01 -7.62590677e-01 -8.88827447e-03 9.05279388e+02] [ 7.62515505e-01 6.46881316e-01 -1.07083136e-02 6.00756180e+01] [ 1.39157188e-02 1.48907161e-04 9.99903161e-01 6.34018468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4292541539999 meters 0.014672448471840455 Centerline is valid? [True, True] Translation: X:905.30, Y:60.10, Z:6.34 [[ 6.47181334e-01 -7.62288572e-01 -8.51200885e-03 9.05297100e+02] [ 7.62219544e-01 6.47237290e-01 -1.02594593e-02 6.00978038e+01] [ 1.33299581e-02 1.51711058e-04 9.99911141e-01 6.34091511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4592541539998 meters 0.015006883994921977 Centerline is valid? [True, True] Translation: X:905.31, Y:60.12, Z:6.34 [[ 6.47074850e-01 -7.62381962e-01 -8.23905191e-03 9.05314896e+02] [ 7.62317224e-01 6.47127284e-01 -9.93618293e-03 6.01193008e+01] [ 1.29068819e-02 1.48682897e-04 9.99916692e-01 6.34088679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4892541539999 meters 0.01475140904090019 Centerline is valid? [True, True] Translation: X:905.33, Y:60.14, Z:6.34 [[ 6.47814367e-01 -7.61759253e-01 -7.70623458e-03 9.05332694e+02] [ 7.61702515e-01 6.47860183e-01 -9.29854734e-03 6.01415094e+01] [ 1.20758170e-02 1.53874304e-04 9.99927073e-01 6.34216179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5192541539999 meters 0.016703924785319423 Centerline is valid? [True, True] Translation: X:905.35, Y:60.16, Z:6.34 [[ 6.47083986e-01 -7.62375795e-01 -8.09083184e-03 9.05350455e+02] [ 7.62313231e-01 6.47134548e-01 -9.76802464e-03 6.01630554e+01] [ 1.26827624e-02 1.52984159e-04 9.99919559e-01 6.34014371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5492541539999 meters 0.014936210222570596 Centerline is valid? [True, True] Translation: X:905.37, Y:60.19, Z:6.34 [[ 6.47941540e-01 -7.61651977e-01 -7.61760533e-03 9.05367978e+02] [ 7.61596419e-01 6.47986297e-01 -9.20076689e-03 6.01853761e+01] [ 1.19438862e-02 1.60018132e-04 9.99928656e-01 6.34243171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5792541539998 meters 0.015751677068135655 Centerline is valid? [True, True] Translation: X:905.39, Y:60.21, Z:6.34 [[ 6.47733810e-01 -7.61829092e-01 -7.57274807e-03 9.05385281e+02] [ 7.61774161e-01 6.47778056e-01 -9.14969010e-03 6.02065149e+01] [ 1.18759601e-02 1.57839819e-04 9.99929466e-01 6.34117741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6092541539998 meters 0.015485155473552337 Centerline is valid? [True, True] Translation: X:905.40, Y:60.23, Z:6.34 [[ 6.47322599e-01 -7.62176980e-01 -7.72686313e-03 9.05403957e+02] [ 7.62119761e-01 6.47368694e-01 -9.34039200e-03 6.02278965e+01] [ 1.21211611e-02 1.57451738e-04 9.99926524e-01 6.34139460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6392541539999 meters 0.015259916302139909 Centerline is valid? [True, True] Translation: X:905.42, Y:60.25, Z:6.34 [[ 6.47398160e-01 -7.62108793e-01 -8.11234932e-03 9.05422216e+02] [ 7.62045646e-01 6.47448962e-01 -9.81197068e-03 6.02500717e+01] [ 1.27301213e-02 1.70271290e-04 9.99918954e-01 6.34069287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6692541539999 meters 0.014925374561929251 Centerline is valid? [True, True] Translation: X:905.44, Y:60.27, Z:6.34 [[ 6.47360785e-01 -7.62136864e-01 -8.45069477e-03 9.05439120e+02] [ 7.62068282e-01 6.47415916e-01 -1.02257067e-02 6.02707496e+01] [ 1.32645024e-02 1.79715101e-04 9.99912006e-01 6.34056484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6992541539998 meters 0.01705834057301208 Centerline is valid? [True, True] Translation: X:905.46, Y:60.29, Z:6.34 [[ 6.46264848e-01 -7.63059159e-01 -9.08108163e-03 9.05457484e+02] [ 7.62979980e-01 6.46328623e-01 -1.09936936e-02 6.02914185e+01] [ 1.42582016e-02 1.76154252e-04 9.99898331e-01 6.33779635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7292541539998 meters 0.015126613193728397 Centerline is valid? [True, True] Translation: X:905.48, Y:60.31, Z:6.34 [[ 6.46734790e-01 -7.62657577e-01 -9.35585217e-03 9.05476183e+02] [ 7.62573400e-01 6.46802429e-01 -1.13325732e-02 6.03130614e+01] [ 1.46942607e-02 1.94645334e-04 9.99892015e-01 6.33918338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7592541539999 meters 0.015532733270642982 Centerline is valid? [True, True] Translation: X:905.49, Y:60.33, Z:6.34 [[ 6.46420639e-01 -7.62920286e-01 -9.64340697e-03 9.05493494e+02] [ 7.62830811e-01 6.46492535e-01 -1.16857225e-02 6.03336510e+01] [ 1.51496654e-02 1.97604225e-04 9.99885218e-01 6.33812419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7892541539999 meters 0.015530579239165144 Centerline is valid? [True, True] Translation: X:905.51, Y:60.36, Z:6.34 [[ 6.46368236e-01 -7.62961570e-01 -9.88671247e-03 9.05511424e+02] [ 7.62867441e-01 6.46443811e-01 -1.19861224e-02 6.03550050e+01] [ 1.55361549e-02 2.05197768e-04 9.99879286e-01 6.33793339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8192541539999 meters 0.014707471768184087 Centerline is valid? [True, True] Translation: X:905.53, Y:60.38, Z:6.34 [[ 6.46591805e-01 -7.62766074e-01 -1.03419078e-02 9.05531254e+02] [ 7.62662939e-01 6.46674467e-01 -1.25448885e-02 6.03764457e+01] [ 1.62566631e-02 2.24032300e-04 9.99867827e-01 6.33842188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8492541539998 meters 0.01620902233937883 Centerline is valid? [True, True] Translation: X:905.55, Y:60.40, Z:6.34 [[ 6.45553285e-01 -7.63638287e-01 -1.08408533e-02 9.05549259e+02] [ 7.63524980e-01 6.45644268e-01 -1.31561351e-02 6.03972809e+01] [ 1.70458632e-02 2.15723934e-04 9.99854685e-01 6.33644535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8792541539999 meters 0.017591684162899197 Centerline is valid? [True, True] Translation: X:905.57, Y:60.42, Z:6.34 [[ 6.44504657e-01 -7.64522580e-01 -1.09074210e-02 9.05569392e+02] [ 7.64407898e-01 6.44596917e-01 -1.32431143e-02 6.04184544e+01] [ 1.71555499e-02 1.97530092e-04 9.99852813e-01 6.33590969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9092541539999 meters 0.014504630564037427 Centerline is valid? [True, True] Translation: X:905.59, Y:60.44, Z:6.34 [[ 6.44644611e-01 -7.64419017e-01 -9.84341314e-03 9.05587545e+02] [ 7.64325509e-01 6.44719732e-01 -1.19575840e-02 6.04396812e+01] [ 1.54868473e-02 1.84820328e-04 9.99880055e-01 6.33941484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9392541539999 meters 0.01468590155201785 Centerline is valid? [True, True] Translation: X:905.61, Y:60.46, Z:6.34 [[ 6.43587728e-01 -7.65313926e-01 -9.45677061e-03 9.05607062e+02] [ 7.65227626e-01 6.43657183e-01 -1.14940097e-02 6.04613387e+01] [ 1.48834440e-02 1.60821468e-04 9.99889222e-01 6.33940676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9692541539998 meters 0.014087207063433919 Centerline is valid? [True, True] Translation: X:905.63, Y:60.48, Z:6.34 [[ 6.41861322e-01 -7.66773579e-01 -8.50425256e-03 9.05627639e+02] [ 7.66703850e-01 6.41917647e-01 -1.03412610e-02 6.04820670e+01] [ 1.33884355e-02 1.17412306e-04 9.99910364e-01 6.34136093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9992541539999 meters 0.01582543219674214 Centerline is valid? [True, True] Translation: X:905.65, Y:60.50, Z:6.34 [[ 6.40099740e-01 -7.68244914e-01 -8.48976722e-03 9.05646711e+02] [ 7.68175481e-01 6.40156032e-01 -1.03288521e-02 6.05034010e+01] [ 1.33698638e-02 8.98645534e-05 9.99910615e-01 6.33971096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0292541539999 meters 0.01383675419381918 Centerline is valid? [True, True] Translation: X:905.67, Y:60.53, Z:6.34 [[ 6.39926305e-01 -7.68398020e-01 -7.66860748e-03 9.05665126e+02] [ 7.68341324e-01 6.39972247e-01 -9.33452459e-03 6.05250767e+01] [ 1.20803262e-02 8.12998034e-05 9.99927027e-01 6.34215184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0592541539999 meters 0.01591315699608764 Centerline is valid? [True, True] Translation: X:905.68, Y:60.55, Z:6.34 [[ 6.37614984e-01 -7.70311879e-01 -8.16957630e-03 9.05684652e+02] [ 7.70247614e-01 6.37667317e-01 -9.95023538e-03 6.05455394e+01] [ 1.28742563e-02 5.18225216e-05 9.99917122e-01 6.33996168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0892541539998 meters 0.01567556469656234 Centerline is valid? [True, True] Translation: X:905.70, Y:60.57, Z:6.34 [[ 6.37064441e-01 -7.70767155e-01 -8.17869536e-03 9.05702274e+02] [ 7.70702725e-01 6.37116937e-01 -9.96585979e-03 6.05659221e+01] [ 1.28921427e-02 4.55520931e-05 9.99916892e-01 6.34014757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1192541539999 meters 0.013656372324594492 Centerline is valid? [True, True] Translation: X:905.72, Y:60.59, Z:6.34 [[ 6.37125119e-01 -7.70719641e-01 -7.92577173e-03 9.05719732e+02] [ 7.70659080e-01 6.37174413e-01 -9.66172480e-03 6.05877211e+01] [ 1.24965800e-02 4.76596050e-05 9.99921914e-01 6.34225213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1492541539999 meters 0.013644557643271094 Centerline is valid? [True, True] Translation: X:905.74, Y:60.61, Z:6.34 [[ 6.36772751e-01 -7.71012895e-01 -7.71879531e-03 9.05737058e+02] [ 7.70955414e-01 6.36819531e-01 -9.41464489e-03 6.06096789e+01] [ 1.21742922e-02 4.41422940e-05 9.99925890e-01 6.34241586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1792541539999 meters 0.015306085227168292 Centerline is valid? [True, True] Translation: X:905.75, Y:60.63, Z:6.34 [[ 6.35861545e-01 -7.71760175e-01 -8.14425638e-03 9.05754814e+02] [ 7.71696168e-01 6.35913698e-01 -9.93943012e-03 6.06313034e+01] [ 1.28499005e-02 3.52099484e-05 9.99917436e-01 6.34108121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2092541539998 meters 0.013527496730018587 Centerline is valid? [True, True] Translation: X:905.77, Y:60.65, Z:6.34 [[ 6.36410091e-01 -7.71310502e-01 -7.89342029e-03 9.05771785e+02] [ 7.71250274e-01 6.36459038e-01 -9.63886036e-03 6.06536462e+01] [ 1.24583929e-02 4.64654335e-05 9.99922390e-01 6.34308265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2392541539999 meters 0.013889574541507863 Centerline is valid? [True, True] Translation: X:905.79, Y:60.68, Z:6.34 [[ 6.36179947e-01 -7.71498467e-01 -8.07411347e-03 9.05788048e+02] [ 7.71435390e-01 6.36231179e-01 -9.86540174e-03 6.06766368e+01] [ 1.27481450e-02 4.75138848e-05 9.99918738e-01 6.34210372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2692541539999 meters 0.01452793854680185 Centerline is valid? [True, True] Translation: X:905.80, Y:60.70, Z:6.34 [[ 6.35889642e-01 -7.71737177e-01 -8.12972070e-03 9.05804509e+02] [ 7.71673188e-01 6.35941607e-01 -9.93801344e-03 6.06983190e+01] [ 1.28395621e-02 4.59923178e-05 9.99917568e-01 6.34079671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2992541539999 meters 0.015225969858061902 Centerline is valid? [True, True] Translation: X:905.82, Y:60.72, Z:6.34 [[ 6.35136793e-01 -7.72350951e-01 -8.67538205e-03 9.05822477e+02] [ 7.72278073e-01 6.35196038e-01 -1.06099735e-02 6.07199288e+01] [ 1.37051914e-02 3.89772255e-05 9.99906079e-01 6.34064218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3292541539998 meters 0.013615760019609357 Centerline is valid? [True, True] Translation: X:905.84, Y:60.74, Z:6.34 [[ 6.35150121e-01 -7.72344979e-01 -8.21939929e-03 9.05840154e+02] [ 7.72279486e-01 6.35203300e-01 -1.00579954e-02 6.07421962e+01] [ 1.29892318e-02 4.06635515e-05 9.99915636e-01 6.34242263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3592541539998 meters 0.013685178729755066 Centerline is valid? [True, True] Translation: X:905.86, Y:60.76, Z:6.34 [[ 6.34848077e-01 -7.72594408e-01 -8.11170169e-03 9.05856976e+02] [ 7.72530578e-01 6.34899897e-01 -9.93107896e-03 6.07640348e+01] [ 1.28228146e-02 3.81887860e-05 9.99917784e-01 6.34189932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3892541539999 meters 0.014164257246964325 Centerline is valid? [True, True] Translation: X:905.87, Y:60.79, Z:6.34 [[ 6.34483635e-01 -7.72895612e-01 -7.93031722e-03 9.05873551e+02] [ 7.72834575e-01 6.34533193e-01 -9.71321632e-03 6.07852826e+01] [ 1.25393518e-02 3.40534628e-05 9.99921379e-01 6.34173705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4192541539999 meters 0.013627905263940015 Centerline is valid? [True, True] Translation: X:905.89, Y:60.81, Z:6.34 [[ 6.34628645e-01 -7.72784096e-01 -7.15704115e-03 9.05889762e+02] [ 7.72734327e-01 6.34669000e-01 -8.77043385e-03 6.08078653e+01] [ 1.13200039e-02 3.54771748e-05 9.99935926e-01 6.34398202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4492541539998 meters 0.015950398626736535 Centerline is valid? [True, True] Translation: X:905.91, Y:60.83, Z:6.34 [[ 6.33841555e-01 -7.73428794e-01 -7.26523530e-03 9.05906834e+02] [ 7.73377492e-01 6.33883190e-01 -8.90821935e-03 6.08303700e+01] [ 1.14951839e-02 2.76301444e-05 9.99933928e-01 6.34187448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4792541539998 meters 0.014499424215661 Centerline is valid? [True, True] Translation: X:905.92, Y:60.85, Z:6.34 [[ 6.34836584e-01 -7.72615941e-01 -6.86428635e-03 9.05922717e+02] [ 7.72570046e-01 6.34873692e-01 -8.42131377e-03 6.08530751e+01] [ 1.08643961e-02 4.30160478e-05 9.99940980e-01 6.34350361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5092541539999 meters 0.013761665469238534 Centerline is valid? [True, True] Translation: X:905.94, Y:60.88, Z:6.34 [[ 6.35250116e-01 -7.72278312e-01 -6.59533235e-03 9.05939356e+02] [ 7.72235877e-01 6.35284351e-01 -8.09590854e-03 6.08751490e+01] [ 1.04422060e-02 4.97745775e-05 9.99945477e-01 6.34437086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5392541539999 meters 0.014187280010682209 Centerline is valid? [True, True] Translation: X:905.96, Y:60.90, Z:6.34 [[ 6.35315514e-01 -7.72224100e-01 -6.64350399e-03 9.05955784e+02] [ 7.72180998e-01 6.35350247e-01 -8.15904751e-03 6.08968470e+01] [ 1.05215650e-02 5.35819206e-05 9.99944645e-01 6.34361074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5692541539999 meters 0.01654188255500199 Centerline is valid? [True, True] Translation: X:905.97, Y:60.92, Z:6.34 [[ 6.35153707e-01 -7.72350299e-01 -7.40167454e-03 9.05972624e+02] [ 7.72296758e-01 6.35196830e-01 -9.09418627e-03 6.09199311e+01] [ 1.17254177e-02 5.99168711e-05 9.99931253e-01 6.34094448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5992541539998 meters 0.013884713611895525 Centerline is valid? [True, True] Translation: X:905.99, Y:60.94, Z:6.34 [[ 6.36152012e-01 -7.71532779e-01 -6.91291506e-03 9.05989140e+02] [ 7.71485980e-01 6.36189567e-01 -8.49808572e-03 6.09420144e+01] [ 1.09544761e-02 7.28572806e-05 9.99939995e-01 6.34353271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6292541539999 meters 0.013919465351118335 Centerline is valid? [True, True] Translation: X:906.01, Y:60.96, Z:6.34 [[ 6.36198150e-01 -7.71493257e-01 -7.07588893e-03 9.06006210e+02] [ 7.71444170e-01 6.36237494e-01 -8.70310936e-03 6.09643075e+01] [ 1.12163360e-02 7.82488088e-05 9.99937092e-01 6.34311969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6592541539999 meters 0.014017101051268637 Centerline is valid? [True, True] Translation: X:906.02, Y:60.99, Z:6.34 [[ 6.36336596e-01 -7.71375730e-01 -7.43101626e-03 9.06022941e+02] [ 7.71321522e-01 6.36379978e-01 -9.14515898e-03 6.09863240e+01] [ 1.17833036e-02 8.76965645e-05 9.99930571e-01 6.34269013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6892541539999 meters 0.01708501832597851 Centerline is valid? [True, True] Translation: X:906.04, Y:61.01, Z:6.34 [[ 6.35738895e-01 -7.71862303e-01 -8.04007477e-03 9.06038241e+02] [ 7.71798813e-01 6.35789728e-01 -9.90022355e-03 6.10083357e+01] [ 1.27534063e-02 8.86370161e-05 9.99918668e-01 6.33875850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7192541539998 meters 0.01419064702810633 Centerline is valid? [True, True] Translation: X:906.06, Y:61.03, Z:6.34 [[ 6.36568524e-01 -7.71182388e-01 -7.63142464e-03 9.06055221e+02] [ 7.71125082e-01 6.36614259e-01 -9.40178300e-03 6.10307627e+01] [ 1.21087632e-02 1.00096180e-04 9.99926681e-01 6.34182767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7492541539999 meters 0.0164392616140963 Centerline is valid? [True, True] Translation: X:906.07, Y:61.05, Z:6.34 [[ 6.35592997e-01 -7.71982396e-01 -8.04496607e-03 9.06072941e+02] [ 7.71918703e-01 6.35643903e-01 -9.91690499e-03 6.10524747e+01] [ 1.27694097e-02 9.30555989e-05 9.99918463e-01 6.33986280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7792541539999 meters 0.014183823828251885 Centerline is valid? [True, True] Translation: X:906.09, Y:61.07, Z:6.34 [[ 6.35517442e-01 -7.72049623e-01 -7.54721918e-03 9.06090978e+02] [ 7.71993510e-01 6.35562249e-01 -9.30851472e-03 6.10737028e+01] [ 1.19833629e-02 8.93192469e-05 9.99928193e-01 6.34250591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8092541539999 meters 0.015710203342427648 Centerline is valid? [True, True] Translation: X:906.11, Y:61.10, Z:6.34 [[ 6.34787776e-01 -7.72649437e-01 -7.57144781e-03 9.06106679e+02] [ 7.72592949e-01 6.34832923e-01 -9.34320997e-03 6.10955163e+01] [ 1.20256303e-02 8.13082854e-05 9.99927686e-01 6.34038775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8392541539998 meters 0.017581265279235963 Centerline is valid? [True, True] Translation: X:906.13, Y:61.12, Z:6.34 [[ 6.33648060e-01 -7.73583528e-01 -7.65912657e-03 9.06125487e+02] [ 7.73525735e-01 6.33694344e-01 -9.45599103e-03 6.11158322e+01] [ 1.21685441e-02 6.72388572e-05 9.99925958e-01 6.33982170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8692541539999 meters 0.013766936401098662 Centerline is valid? [True, True] Translation: X:906.14, Y:61.14, Z:6.34 [[ 6.34147670e-01 -7.73182346e-01 -6.76699738e-03 9.06143512e+02] [ 7.73137161e-01 6.34183771e-01 -8.35912847e-03 6.11372315e+01] [ 1.07546505e-02 6.91047024e-05 9.99942165e-01 6.34351300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8992541539999 meters 0.013766936401098662 Centerline is valid? [True, True] Translation: X:906.16, Y:61.16, Z:6.34 [[ 6.33921281e-01 -7.73367991e-01 -6.76455129e-03 9.06160815e+02] [ 7.73322796e-01 6.33957369e-01 -8.36110769e-03 6.11587237e+01] [ 1.07546502e-02 6.91023865e-05 9.99942165e-01 6.34370342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9292541539999 meters 0.015408616410301152 Centerline is valid? [True, True] Translation: X:906.18, Y:61.18, Z:6.34 [[ 6.33404815e-01 -7.73790033e-01 -6.87930400e-03 9.06177332e+02] [ 7.73743269e-01 6.33442168e-01 -8.50724138e-03 6.11797767e+01] [ 1.09404598e-02 6.57124829e-05 9.99940149e-01 6.34178556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9592541539998 meters 0.01624090202093369 Centerline is valid? [True, True] Translation: X:906.19, Y:61.20, Z:6.34 [[ 6.34058695e-01 -7.73253479e-01 -6.97344285e-03 9.06194576e+02] [ 7.73205354e-01 6.34097036e-01 -8.62722778e-03 6.12019849e+01] [ 1.10928733e-02 7.82654326e-05 9.99938469e-01 6.34114042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9892541539999 meters 0.015852535211931452 Centerline is valid? [True, True] Translation: X:906.21, Y:61.22, Z:6.34 [[ 6.34721851e-01 -7.72710276e-01 -6.85578869e-03 9.06212049e+02] [ 7.72663679e-01 6.34758869e-01 -8.48626501e-03 6.12247347e+01] [ 1.09091969e-02 8.91989229e-05 9.99940489e-01 6.34127839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0192541539999 meters 0.014243665840039303 Centerline is valid? [True, True] Translation: X:906.23, Y:61.25, Z:6.34 [[ 6.36185052e-01 -7.71506050e-01 -6.85525737e-03 9.06229510e+02] [ 7.71459342e-01 6.36221976e-01 -8.49007384e-03 6.12478179e+01] [ 1.09116087e-02 1.12705736e-04 9.99940460e-01 6.34341142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0492541539999 meters 0.014753565674191784 Centerline is valid? [True, True] Translation: X:906.25, Y:61.27, Z:6.34 [[ 6.38007576e-01 -7.69998717e-01 -6.95041880e-03 9.06247053e+02] [ 7.69950565e-01 6.38045418e-01 -8.61231663e-03 6.12709117e+01] [ 1.10661556e-02 1.43244373e-04 9.99938758e-01 6.34304058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0792541539998 meters 0.015620975121448276 Centerline is valid? [True, True] Translation: X:906.27, Y:61.29, Z:6.34 [[ 6.38341732e-01 -7.69717762e-01 -7.37562125e-03 9.06265397e+02] [ 7.69663463e-01 6.38384321e-01 -9.14395229e-03 6.12938009e+01] [ 1.17467435e-02 1.60220147e-04 9.99930992e-01 6.34163184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1092541539998 meters 0.018297802943279966 Centerline is valid? [True, True] Translation: X:906.28, Y:61.32, Z:6.34 [[ 6.37983789e-01 -7.70010021e-01 -7.82644776e-03 9.06283877e+02] [ 7.69948835e-01 6.38031770e-01 -9.70830207e-03 6.13153560e+01] [ 1.24690122e-02 1.67775003e-04 9.99922245e-01 6.33946463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1392541539999 meters 0.01497952143006145 Centerline is valid? [True, True] Translation: X:906.30, Y:61.34, Z:6.34 [[ 6.39132002e-01 -7.69061291e-01 -7.41718603e-03 9.06300893e+02] [ 7.69006229e-01 6.39175014e-01 -9.20436926e-03 6.13368364e+01] [ 1.18196041e-02 1.78944698e-04 9.99930130e-01 6.34284807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1692541539999 meters 0.016683239649098756 Centerline is valid? [True, True] Translation: X:906.32, Y:61.36, Z:6.34 [[ 6.38241326e-01 -7.69799421e-01 -7.54064207e-03 9.06320029e+02] [ 7.69742526e-01 6.38285847e-01 -9.36060257e-03 6.13584547e+01] [ 1.20188716e-02 1.69970519e-04 9.99927756e-01 6.34085610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1992541539998 meters 0.016683239649098756 Centerline is valid? [True, True] Translation: X:906.34, Y:61.38, Z:6.34 [[ 6.38022359e-01 -7.69980938e-01 -7.53816888e-03 9.06337273e+02] [ 7.69924033e-01 6.38066866e-01 -9.36259406e-03 6.13799931e+01] [ 1.20188748e-02 1.69726968e-04 9.99927756e-01 6.34104663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2292541539998 meters 0.014602511938793828 Centerline is valid? [True, True] Translation: X:906.36, Y:61.40, Z:6.34 [[ 6.37399628e-01 -7.70503187e-01 -6.82296053e-03 9.06356868e+02] [ 7.70456550e-01 6.37436127e-01 -8.47870550e-03 6.14016081e+01] [ 1.08820711e-02 1.47529101e-04 9.99940778e-01 6.34432562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2592541539999 meters 0.014338820633789535 Centerline is valid? [True, True] Translation: X:906.38, Y:61.42, Z:6.34 [[ 6.36700224e-01 -7.71085615e-01 -6.30866281e-03 9.06376166e+02] [ 7.71045732e-01 6.36731464e-01 -7.84355955e-03 6.14230415e+01] [ 1.00649800e-02 1.29728582e-04 9.99949338e-01 6.34497271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2892541539999 meters 0.015389160288559911 Centerline is valid? [True, True] Translation: X:906.40, Y:61.45, Z:6.34 [[ 6.35476744e-01 -7.72094719e-01 -6.24927914e-03 9.06395121e+02] [ 7.72055589e-01 6.35507460e-01 -7.77404452e-03 6.14453771e+01] [ 9.97376224e-03 1.15433614e-04 9.99950254e-01 6.34358855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3192541539999 meters 0.014249828763044895 Centerline is valid? [True, True] Translation: X:906.41, Y:61.47, Z:6.35 [[ 6.34852260e-01 -7.72612815e-01 -5.66094194e-03 9.06412171e+02] [ 7.72580699e-01 6.34877491e-01 -7.04517535e-03 6.14658180e+01] [ 9.03719737e-03 9.91110116e-05 9.99959159e-01 6.34593228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3492541539998 meters 0.015493912146877526 Centerline is valid? [True, True] Translation: X:906.43, Y:61.49, Z:6.34 [[ 6.33849601e-01 -7.73436792e-01 -5.49661189e-03 9.06430440e+02] [ 7.73406524e-01 6.33873427e-01 -6.84302305e-03 6.14872502e+01] [ 8.77680201e-03 8.63319363e-05 9.99961479e-01 6.34432998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3792541539999 meters 0.015548373170496912 Centerline is valid? [True, True] Translation: X:906.45, Y:61.51, Z:6.34 [[ 6.33421815e-01 -7.73787088e-01 -5.50874785e-03 9.06447880e+02] [ 7.73756664e-01 6.33445763e-01 -6.86221094e-03 6.15090619e+01] [ 8.79938321e-03 8.42437516e-05 9.99961281e-01 6.34446307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4092541539999 meters 0.014070650626789662 Centerline is valid? [True, True] Translation: X:906.47, Y:61.53, Z:6.35 [[ 6.33554060e-01 -7.73682119e-01 -5.02313036e-03 9.06465161e+02] [ 7.73656792e-01 6.33573968e-01 -6.26069766e-03 6.15313733e+01] [ 8.02631446e-03 8.03115076e-05 9.99967785e-01 6.34712462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4392541539999 meters 0.014082445804291506 Centerline is valid? [True, True] Translation: X:906.48, Y:61.55, Z:6.35 [[ 6.33528644e-01 -7.73704456e-01 -4.78244424e-03 9.06480876e+02] [ 7.73681473e-01 6.33546690e-01 -5.96407235e-03 6.15541695e+01] [ 7.64433107e-03 7.83221607e-05 9.99970779e-01 6.34657010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4692541539998 meters 0.016495037310020368 Centerline is valid? [True, True] Translation: X:906.50, Y:61.58, Z:6.34 [[ 6.33326139e-01 -7.73867115e-01 -5.26211097e-03 9.06496716e+02] [ 7.73839262e-01 6.33347994e-01 -6.56623452e-03 6.15761840e+01] [ 8.41414039e-03 8.65398914e-05 9.99964597e-01 6.34333764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4992541539999 meters 0.01425713149030333 Centerline is valid? [True, True] Translation: X:906.51, Y:61.60, Z:6.35 [[ 6.34104910e-01 -7.73228267e-01 -5.38613410e-03 9.06513714e+02] [ 7.73199037e-01 6.34127777e-01 -6.72389565e-03 6.15990475e+01] [ 8.61460343e-03 9.91015422e-05 9.99962889e-01 6.34580402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5292541539999 meters 0.014677639402574 Centerline is valid? [True, True] Translation: X:906.53, Y:61.62, Z:6.34 [[ 6.35018418e-01 -7.72471618e-01 -6.26165467e-03 9.06528744e+02] [ 7.72432040e-01 6.35049276e-01 -7.82053420e-03 6.16223313e+01] [ 1.00176000e-02 1.29480571e-04 9.99949814e-01 6.34395837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5592541539999 meters 0.015827987375914464 Centerline is valid? [True, True] Translation: X:906.55, Y:61.64, Z:6.34 [[ 6.34805761e-01 -7.72643715e-01 -6.58300067e-03 9.06546369e+02] [ 7.72599951e-01 6.34839879e-01 -8.22458626e-03 6.16439903e+01] [ 1.05338262e-02 1.34988744e-04 9.99944509e-01 6.34163200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5892541539998 meters 0.01440408192523027 Centerline is valid? [True, True] Translation: X:906.56, Y:61.67, Z:6.34 [[ 6.35185015e-01 -7.72330658e-01 -6.73433486e-03 9.06563890e+02] [ 7.72284789e-01 6.35220696e-01 -8.41851508e-03 6.16664131e+01] [ 1.07796662e-02 1.46490248e-04 9.99941887e-01 6.34356441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6192541539999 meters 0.014828802419371174 Centerline is valid? [True, True] Translation: X:906.58, Y:61.69, Z:6.34 [[ 6.35439149e-01 -7.72120547e-01 -6.85185286e-03 9.06579791e+02] [ 7.72073008e-01 6.35476071e-01 -8.56938052e-03 6.16880529e+01] [ 1.09707833e-02 1.55189221e-04 9.99939807e-01 6.34325795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6492541539999 meters 0.015047050822378649 Centerline is valid? [True, True] Translation: X:906.60, Y:61.71, Z:6.34 [[ 6.35148300e-01 -7.72358812e-01 -6.96437670e-03 9.06595850e+02] [ 7.72309677e-01 6.35186462e-01 -8.71329809e-03 6.17097204e+01] [ 1.11534704e-02 1.55580958e-04 9.99937786e-01 6.34303897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6792541539999 meters 0.014635031342874607 Centerline is valid? [True, True] Translation: X:906.61, Y:61.73, Z:6.34 [[ 6.34940317e-01 -7.72529422e-01 -7.00611544e-03 9.06613531e+02] [ 7.72479661e-01 6.34978950e-01 -8.76962068e-03 6.17310762e+01] [ 1.12235258e-02 1.56104060e-04 9.99937002e-01 6.34374662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7092541539998 meters 0.016418284561519697 Centerline is valid? [True, True] Translation: X:906.63, Y:61.75, Z:6.34 [[ 6.34132221e-01 -7.73196922e-01 -6.54568842e-03 9.06631205e+02] [ 7.73153476e-01 6.34165989e-01 -8.19768514e-03 6.17543321e+01] [ 1.04894779e-02 1.37594535e-04 9.99944974e-01 6.34173920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7392541539999 meters 0.017257520533866966 Centerline is valid? [True, True] Translation: X:906.65, Y:61.78, Z:6.34 [[ 6.33650145e-01 -7.73592023e-01 -6.54793037e-03 9.06647888e+02] [ 7.73548527e-01 6.33683962e-01 -8.20436259e-03 6.17755386e+01] [ 1.04961479e-02 1.33553652e-04 9.99944905e-01 6.34137492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7692541539999 meters 0.014258460587037329 Centerline is valid? [True, True] Translation: X:906.67, Y:61.80, Z:6.35 [[ 6.33061168e-01 -7.74080657e-01 -5.71784107e-03 9.06666332e+02] [ 7.74047484e-01 6.33086980e-01 -7.16720261e-03 6.17971774e+01] [ 9.16788364e-03 1.11397166e-04 9.99957968e-01 6.34583263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7992541539999 meters 0.01559541433127796 Centerline is valid? [True, True] Translation: X:906.68, Y:61.82, Z:6.34 [[ 6.32438282e-01 -7.74588241e-01 -5.90566949e-03 9.06681914e+02] [ 7.74552835e-01 6.32465845e-01 -7.40678405e-03 6.18196907e+01] [ 9.47234208e-03 1.10080735e-04 9.99955130e-01 6.34454157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8292541539998 meters 0.014977270359794638 Centerline is valid? [True, True] Translation: X:906.70, Y:61.84, Z:6.35 [[ 6.31944997e-01 -7.74993140e-01 -5.58156769e-03 9.06700554e+02] [ 7.74961502e-01 6.31969638e-01 -7.00330470e-03 6.18409017e+01] [ 8.95489441e-03 1.00203283e-04 9.99959899e-01 6.34534014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8592541539998 meters 0.014266148615355204 Centerline is valid? [True, True] Translation: X:906.72, Y:61.86, Z:6.35 [[ 6.31809483e-01 -7.75107721e-01 -4.97973822e-03 9.06717336e+02] [ 7.75082515e-01 6.31829101e-01 -6.25149637e-03 6.18630300e+01] [ 7.99192662e-03 9.00466678e-05 9.99968060e-01 6.34680765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8892541539999 meters 0.014101227362687567 Centerline is valid? [True, True] Translation: X:906.73, Y:61.89, Z:6.35 [[ 6.31505707e-01 -7.75359627e-01 -4.24166856e-03 9.06734405e+02] [ 7.75341327e-01 6.31519947e-01 -5.32757068e-03 6.18857610e+01] [ 6.80948152e-03 7.56503545e-05 9.99976812e-01 6.34725957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9192541539999 meters 0.016417767186669836 Centerline is valid? [True, True] Translation: X:906.75, Y:61.91, Z:6.34 [[ 6.30855134e-01 -7.75886205e-01 -4.73253334e-03 9.06750433e+02] [ 7.75863411e-01 6.30872880e-01 -5.94784855e-03 6.19071532e+01] [ 7.60048058e-03 8.04313307e-05 9.99971113e-01 6.34424715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9492541539998 meters 0.01517572565859608 Centerline is valid? [True, True] Translation: X:906.77, Y:61.93, Z:6.35 [[ 6.31000549e-01 -7.75768764e-01 -4.59688348e-03 9.06766091e+02] [ 7.75747243e-01 6.31017288e-01 -5.77911237e-03 6.19291686e+01] [ 7.38396781e-03 8.06033883e-05 9.99972735e-01 6.34565303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9792541539998 meters 0.015577512529231726 Centerline is valid? [True, True] Translation: X:906.78, Y:61.95, Z:6.34 [[ 6.30566909e-01 -7.76115954e-01 -5.42217011e-03 9.06784487e+02] [ 7.76085997e-01 6.30590214e-01 -6.81961424e-03 6.19507340e+01] [ 8.71197882e-03 9.21527734e-05 9.99962046e-01 6.34351048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0092541539999 meters 0.014073217633487976 Centerline is valid? [True, True] Translation: X:906.80, Y:61.97, Z:6.34 [[ 6.30682454e-01 -7.76020181e-01 -5.68509751e-03 9.06800673e+02] [ 7.75987207e-01 6.30708069e-01 -7.15442086e-03 6.19718458e+01] [ 9.13761184e-03 1.00604763e-04 9.99958246e-01 6.34475933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0392541539999 meters 0.0148555143403779 Centerline is valid? [True, True] Translation: X:906.82, Y:61.99, Z:6.34 [[ 6.30347229e-01 -7.76285118e-01 -6.61715422e-03 9.06817075e+02] [ 7.76240423e-01 6.30381949e-01 -8.33088525e-03 6.19940069e+01] [ 1.06384768e-02 1.14847840e-04 9.99943403e-01 6.34259347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0692541539999 meters 0.016734799703841865 Centerline is valid? [True, True] Translation: X:906.84, Y:62.02, Z:6.34 [[ 6.29835458e-01 -7.76689737e-01 -7.76839371e-03 9.06836016e+02] [ 7.76628109e-01 6.29883351e-01 -9.78495674e-03 6.20152670e+01] [ 1.24930573e-02 1.29759796e-04 9.99921950e-01 6.34066484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0992541539998 meters 0.014190924964740805 Centerline is valid? [True, True] Translation: X:906.85, Y:62.04, Z:6.34 [[ 6.30262890e-01 -7.76348713e-01 -7.16690327e-03 9.06852291e+02] [ 7.76296186e-01 6.30303624e-01 -9.03179625e-03 6.20372914e+01] [ 1.15291485e-02 1.28766335e-04 9.99933529e-01 6.34307871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1292541539999 meters 0.015232235398159271 Centerline is valid? [True, True] Translation: X:906.87, Y:62.06, Z:6.34 [[ 6.29654663e-01 -7.76835657e-01 -7.83368477e-03 9.06870152e+02] [ 7.76772875e-01 6.29703377e-01 -9.87710737e-03 6.20596156e+01] [ 1.26057870e-02 1.34172879e-04 9.99920535e-01 6.34138091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1592541539999 meters 0.01399082749809851 Centerline is valid? [True, True] Translation: X:906.89, Y:62.08, Z:6.34 [[ 6.29036616e-01 -7.77338296e-01 -7.62301007e-03 9.06888245e+02] [ 7.77278813e-01 6.29082792e-01 -9.61705923e-03 6.20812758e+01] [ 1.22712129e-02 1.24278173e-04 9.99924698e-01 6.34259918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1892541539999 meters 0.013802292462773995 Centerline is valid? [True, True] Translation: X:906.91, Y:62.10, Z:6.34 [[ 6.28340313e-01 -7.77897893e-01 -7.95740261e-03 9.06905466e+02] [ 7.77833060e-01 6.28390686e-01 -1.00437484e-02 6.21021990e+01] [ 1.28133684e-02 1.21361212e-04 9.99917898e-01 6.34290674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2192541539998 meters 0.013720800521789235 Centerline is valid? [True, True] Translation: X:906.92, Y:62.12, Z:6.34 [[ 6.27330683e-01 -7.78713415e-01 -7.85061267e-03 9.06922715e+02] [ 7.78650339e-01 6.27379795e-01 -9.91177675e-03 6.21229598e+01] [ 1.26437493e-02 1.05079463e-04 9.99920059e-01 6.34297067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2492541539999 meters 0.013439729785603394 Centerline is valid? [True, True] Translation: X:906.94, Y:62.14, Z:6.34 [[ 6.24815373e-01 -7.80736574e-01 -7.49344333e-03 9.06942644e+02] [ 7.80679212e-01 6.24860302e-01 -9.46414362e-03 6.21440381e+01] [ 1.20713583e-02 6.33669833e-05 9.99927136e-01 6.34385168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2792541539999 meters 0.0133188650410251 Centerline is valid? [True, True] Translation: X:906.96, Y:62.17, Z:6.34 [[ 6.23275300e-01 -7.81969532e-01 -7.17991760e-03 9.06961251e+02] [ 7.81916897e-01 6.23316653e-01 -9.07288039e-03 6.21655203e+01] [ 1.15700782e-02 4.08033635e-05 9.99933064e-01 6.34456547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3092541539999 meters 0.013670990429858787 Centerline is valid? [True, True] Translation: X:906.98, Y:62.19, Z:6.34 [[ 6.21420681e-01 -7.83447427e-01 -6.81660854e-03 9.06979528e+02] [ 7.83400020e-01 6.21458066e-01 -8.61859515e-03 6.21869126e+01] [ 1.09884526e-02 1.56419996e-05 9.99939625e-01 6.34470012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3392541539998 meters 0.013171619313211907 Centerline is valid? [True, True] Translation: X:907.00, Y:62.21, Z:6.35 [[ 6.18707822e-01 -7.85598071e-01 -6.02513592e-03 9.06998047e+02] [ 7.85561096e-01 6.18737158e-01 -7.62194339e-03 6.22079125e+01] [ 9.71575950e-03 -1.73563828e-05 9.99952801e-01 6.34654840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3692541539999 meters 0.013183326319419536 Centerline is valid? [True, True] Translation: X:907.02, Y:62.23, Z:6.35 [[ 6.17320500e-01 -7.86689673e-01 -5.89555572e-03 9.07015380e+02] [ 7.86654280e-01 6.17348651e-01 -7.46236805e-03 6.22296760e+01] [ 9.51018125e-03 -3.10913606e-05 9.99954777e-01 6.34695112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3992541539999 meters 0.013441172735011605 Centerline is valid? [True, True] Translation: X:907.03, Y:62.25, Z:6.35 [[ 6.15034537e-01 -7.88478425e-01 -5.85597207e-03 9.07033767e+02] [ 7.88443550e-01 6.15062412e-01 -7.41602820e-03 6.22507252e+01] [ 9.44916654e-03 -5.59899371e-05 9.99955354e-01 6.34678685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4292541539999 meters 0.01512524666924661 Centerline is valid? [True, True] Translation: X:907.05, Y:62.27, Z:6.34 [[ 6.13388147e-01 -7.89754054e-01 -6.59663106e-03 9.07051493e+02] [ 7.89709840e-01 6.13423611e-01 -8.35713196e-03 6.22732458e+01] [ 1.06466081e-02 -8.32587711e-05 9.99943320e-01 6.34487568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4592541539998 meters 0.01628116155066276 Centerline is valid? [True, True] Translation: X:907.07, Y:62.29, Z:6.34 [[ 6.12234215e-01 -7.90640212e-01 -7.57099889e-03 9.07068738e+02] [ 7.90581991e-01 6.12281016e-01 -9.59551177e-03 6.22946764e+01] [ 1.22221764e-02 -1.10794756e-04 9.99925300e-01 6.34329884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4892541539999 meters 0.015081592589229042 Centerline is valid? [True, True] Translation: X:907.09, Y:62.32, Z:6.34 [[ 6.11407736e-01 -7.91277246e-01 -7.80386780e-03 9.07086380e+02] [ 7.91215398e-01 6.11457524e-01 -9.89393984e-03 6.23174133e+01] [ 1.26005832e-02 -1.25309016e-04 9.99920602e-01 6.34389486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5192541539999 meters 0.01419045099773711 Centerline is valid? [True, True] Translation: X:907.10, Y:62.34, Z:6.34 [[ 6.09779166e-01 -7.92524665e-01 -8.60374550e-03 9.07103964e+02] [ 7.92449530e-01 6.09839839e-01 -1.09138869e-02 6.23401782e+01] [ 1.38964313e-02 -1.62973237e-04 9.99903427e-01 6.34385484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5492541539999 meters 0.014521056280639303 Centerline is valid? [True, True] Translation: X:907.12, Y:62.36, Z:6.34 [[ 6.08954770e-01 -7.93150247e-01 -9.31521073e-03 9.07120843e+02] [ 7.93062179e-01 6.09025984e-01 -1.18207650e-02 6.23617222e+01] [ 1.50488481e-02 -1.89230081e-04 9.99886742e-01 6.34294905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5792541539998 meters 0.014754665722024489 Centerline is valid? [True, True] Translation: X:907.14, Y:62.38, Z:6.34 [[ 6.08107568e-01 -7.93792249e-01 -9.95246851e-03 9.07137993e+02] [ 7.93691753e-01 6.08188966e-01 -1.26325661e-02 6.23843737e+01] [ 1.60806146e-02 -2.17233150e-04 9.99870675e-01 6.34236576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6092541539998 meters 0.01526254048270374 Centerline is valid? [True, True] Translation: X:907.15, Y:62.41, Z:6.34 [[ 6.06818378e-01 -7.94765806e-01 -1.08981262e-02 9.07154520e+02] [ 7.94645402e-01 6.06916175e-01 -1.38362307e-02 6.24061398e+01] [ 1.76108121e-02 -2.64066786e-04 9.99844883e-01 6.34122562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6392541539999 meters 0.016354098045121994 Centerline is valid? [True, True] Translation: X:907.17, Y:62.43, Z:6.34 [[ 6.05761590e-01 -7.95568153e-01 -1.11449325e-02 9.07172215e+02] [ 7.95442270e-01 6.05864036e-01 -1.41550550e-02 6.24286147e+01] [ 1.80136247e-02 -2.90561772e-04 9.99837699e-01 6.34038395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6692541539999 meters 0.016298781226844087 Centerline is valid? [True, True] Translation: X:907.19, Y:62.45, Z:6.34 [[ 6.03760281e-01 -7.97093270e-01 -1.07630179e-02 9.07189988e+02] [ 7.96976022e-01 6.03856122e-01 -1.36749503e-02 6.24496264e+01] [ 1.73995251e-02 -3.21475329e-04 9.99848565e-01 6.34218245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6992541539998 meters 0.01755692349004561 Centerline is valid? [True, True] Translation: X:907.21, Y:62.47, Z:6.34 [[ 6.02422534e-01 -7.98100791e-01 -1.10552636e-02 9.07208581e+02] [ 7.97977155e-01 6.02523859e-01 -1.40520486e-02 6.24718428e+01] [ 1.78760112e-02 -3.56577030e-04 9.99840148e-01 6.34226424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7292541539998 meters 0.018567760516316166 Centerline is valid? [True, True] Translation: X:907.23, Y:62.49, Z:6.34 [[ 6.01273285e-01 -7.98970784e-01 -1.07760403e-02 9.07227025e+02] [ 7.98853339e-01 6.01369729e-01 -1.37037021e-02 6.24942399e+01] [ 1.74292420e-02 -3.68805798e-04 9.99848031e-01 6.34271259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7592541539999 meters 0.017905895397067828 Centerline is valid? [True, True] Translation: X:907.24, Y:62.51, Z:6.35 [[ 6.00046244e-01 -7.99915392e-01 -8.93705434e-03 9.07243888e+02] [ 7.99834644e-01 6.00112706e-01 -1.13702300e-02 6.25148454e+01] [ 1.44584619e-02 -3.25501850e-04 9.99895418e-01 6.34571830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7892541539999 meters 0.01836157891571634 Centerline is valid? [True, True] Translation: X:907.26, Y:62.54, Z:6.35 [[ 5.99510726e-01 -8.00307773e-01 -9.71378635e-03 9.07259383e+02] [ 8.00212329e-01 5.99589308e-01 -1.23648684e-02 6.25395117e+01] [ 1.57199828e-02 -3.60220330e-04 9.99876369e-01 6.34607336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8192541539999 meters 0.01655543610435369 Centerline is valid? [True, True] Translation: X:907.28, Y:62.56, Z:6.35 [[ 6.00201730e-01 -7.99807317e-01 -8.13258633e-03 9.07275606e+02] [ 7.99740330e-01 6.00256755e-01 -1.03553030e-02 6.25616389e+01] [ 1.31638870e-02 -2.88686489e-04 9.99913311e-01 6.34809409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8492541539998 meters 0.016377568490919373 Centerline is valid? [True, True] Translation: X:907.29, Y:62.59, Z:6.35 [[ 6.01156712e-01 -7.99090872e-01 -8.02411668e-03 9.07291907e+02] [ 7.99025553e-01 6.01210202e-01 -1.02205135e-02 6.25850418e+01] [ 1.29912998e-02 -2.67344013e-04 9.99915574e-01 6.34807677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8792541539999 meters 0.016109598773979918 Centerline is valid? [True, True] Translation: X:907.30, Y:62.61, Z:6.35 [[ 6.04622639e-01 -7.96456643e-01 -9.39573638e-03 9.07304450e+02] [ 7.96366664e-01 6.04695590e-01 -1.19741417e-02 6.26123786e+01] [ 1.52184451e-02 -2.42614061e-04 9.99884163e-01 6.34677608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9092541539999 meters 0.0167487756428024 Centerline is valid? [True, True] Translation: X:907.32, Y:62.64, Z:6.35 [[ 6.06956251e-01 -7.94670780e-01 -1.01222849e-02 9.07320283e+02] [ 7.94566024e-01 6.07040614e-01 -1.29045049e-02 6.26356629e+01] [ 1.63994711e-02 -2.10353728e-04 9.99865498e-01 6.34547968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9392541539999 meters 0.017935287118067182 Centerline is valid? [True, True] Translation: X:907.33, Y:62.66, Z:6.34 [[ 6.12198103e-01 -7.90620055e-01 -1.15503786e-02 9.07334041e+02] [ 7.90482821e-01 6.12307044e-01 -1.47306804e-02 6.26622911e+01] [ 1.87187495e-02 -1.12281234e-04 9.99824783e-01 6.34466921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9692541539998 meters 0.013206105528282558 Centerline is valid? [True, True] Translation: X:907.35, Y:62.69, Z:6.35 [[ 6.15298801e-01 -7.88238890e-01 -9.31866047e-03 9.07349515e+02] [ 7.88149211e-01 6.15369362e-01 -1.18899096e-02 6.26869053e+01] [ 1.51065073e-02 -2.86477961e-05 9.99885890e-01 6.34632606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9992541539999 meters 0.01665182782138768 Centerline is valid? [True, True] Translation: X:907.36, Y:62.71, Z:6.34 [[ 6.17844883e-01 -7.86211620e-01 -1.17893589e-02 9.07364307e+02] [ 7.86067605e-01 6.17957351e-01 -1.50476812e-02 6.27105434e+01] [ 1.91159828e-02 2.98996814e-05 9.99817272e-01 6.34462471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0292541539999 meters 0.015013259822581577 Centerline is valid? [True, True] Translation: X:907.38, Y:62.74, Z:6.34 [[ 6.23307370e-01 -7.81897617e-01 -1.11372825e-02 9.07376694e+02] [ 7.81768353e-01 6.23406843e-01 -1.42179302e-02 6.27359079e+01] [ 1.80600238e-02 1.55365703e-04 9.99836892e-01 6.34405840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0592541539999 meters 0.015409977525135735 Centerline is valid? [True, True] Translation: X:907.39, Y:62.76, Z:6.34 [[ 6.25478391e-01 -7.80161346e-01 -1.11828854e-02 9.07392843e+02] [ 7.80030642e-01 6.25578317e-01 -1.42816974e-02 6.27599577e+01] [ 1.81377989e-02 2.09899895e-04 9.99835475e-01 6.34385696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0892541539998 meters 0.015409977525135735 Centerline is valid? [True, True] Translation: X:907.41, Y:62.78, Z:6.34 [[ 6.25255230e-01 -7.80340264e-01 -1.11789943e-02 9.07409786e+02] [ 7.80209535e-01 6.25355122e-01 -1.42847431e-02 6.27817255e+01] [ 1.81378015e-02 2.09652383e-04 9.99835475e-01 6.34404748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1192541539999 meters 0.016574260292575024 Centerline is valid? [True, True] Translation: X:907.43, Y:62.81, Z:6.34 [[ 6.26733154e-01 -7.79148320e-01 -1.15519771e-02 9.07425864e+02] [ 7.79008366e-01 6.26839556e-01 -1.47694352e-02 6.28054487e+01] [ 1.87488168e-02 2.57407926e-04 9.99824192e-01 6.34325700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1492541539999 meters 0.015133750558035407 Centerline is valid? [True, True] Translation: X:907.44, Y:62.83, Z:6.34 [[ 6.28789149e-01 -7.77513837e-01 -9.82032721e-03 9.07442452e+02] [ 7.77412404e-01 6.28865775e-01 -1.25614802e-02 6.28290902e+01] [ 1.59423923e-02 2.64078254e-04 9.99872877e-01 6.34452633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1792541539999 meters 0.015221992493486079 Centerline is valid? [True, True] Translation: X:907.46, Y:62.85, Z:6.35 [[ 6.28973901e-01 -7.77367453e-01 -9.57471923e-03 9.07459964e+02] [ 7.77270910e-01 6.29046717e-01 -1.22539821e-02 6.28511494e+01] [ 1.55487926e-02 2.65284188e-04 9.99879075e-01 6.34516910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2092541539998 meters 0.01674396535383067 Centerline is valid? [True, True] Translation: X:907.48, Y:62.87, Z:6.35 [[ 6.29018859e-01 -7.77317309e-01 -1.06337219e-02 9.07479076e+02] [ 7.77198084e-01 6.29108663e-01 -1.36171971e-02 6.28723520e+01] [ 1.72746496e-02 3.00965514e-04 9.99850737e-01 6.34574544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2392541539999 meters 0.01668106067624781 Centerline is valid? [True, True] Translation: X:907.49, Y:62.89, Z:6.35 [[ 6.29512289e-01 -7.76929789e-01 -9.71499320e-03 9.07494673e+02] [ 7.76830151e-01 6.29587182e-01 -1.24457127e-02 6.28945272e+01] [ 1.57858801e-02 2.87829444e-04 9.99875354e-01 6.34549076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2692541539999 meters 0.015605661512420007 Centerline is valid? [True, True] Translation: X:907.51, Y:62.92, Z:6.35 [[ 6.29678878e-01 -7.76807065e-01 -8.67726577e-03 9.07512030e+02] [ 7.76727496e-01 6.29738608e-01 -1.11212462e-02 6.29162215e+01] [ 1.41034719e-02 2.62942900e-04 9.99900507e-01 6.34655841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2992541539999 meters 0.017801602232017873 Centerline is valid? [True, True] Translation: X:907.53, Y:62.94, Z:6.35 [[ 6.29329198e-01 -7.77069526e-01 -1.03784458e-02 9.07531414e+02] [ 7.76955601e-01 6.29414691e-01 -1.33094466e-02 6.29375794e+01] [ 1.68747116e-02 3.12431706e-04 9.99857563e-01 6.34533713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3292541539998 meters 0.015371426861416449 Centerline is valid? [True, True] Translation: X:907.55, Y:62.96, Z:6.35 [[ 6.28949083e-01 -7.77395834e-01 -8.87511491e-03 9.07550006e+02] [ 7.77312478e-01 6.29011643e-01 -1.13870440e-02 6.29602599e+01] [ 1.44347912e-02 2.63133299e-04 9.99895778e-01 6.34655481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3592541539998 meters 0.015157821087681489 Centerline is valid? [True, True] Translation: X:907.57, Y:62.98, Z:6.35 [[ 6.28033577e-01 -7.78136249e-01 -8.82064817e-03 9.07568939e+02] [ 7.78053901e-01 6.28095467e-01 -1.13230187e-02 6.29821657e+01] [ 1.43510605e-02 2.48296238e-04 9.99896987e-01 6.34657200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3892541539999 meters 0.014973933233357115 Centerline is valid? [True, True] Translation: X:907.59, Y:63.00, Z:6.35 [[ 6.25258448e-01 -7.80360297e-01 -9.46988843e-03 9.07589775e+02] [ 7.80265534e-01 6.25330120e-01 -1.21629322e-02 6.30019097e+01] [ 1.54132758e-02 2.15948555e-04 9.99881185e-01 6.34629790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4192541539999 meters 0.014341500507521497 Centerline is valid? [True, True] Translation: X:907.61, Y:63.02, Z:6.35 [[ 6.23565191e-01 -7.81712701e-01 -9.57631155e-03 9.07608726e+02] [ 7.81615878e-01 6.23638692e-01 -1.23045189e-02 6.30224557e+01] [ 1.55907571e-02 1.87672557e-04 9.99878439e-01 6.34666913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4492541539998 meters 0.016008311039872294 Centerline is valid? [True, True] Translation: X:907.63, Y:63.04, Z:6.35 [[ 6.21160837e-01 -7.83612622e-01 -1.05106477e-02 9.07628935e+02] [ 7.83496153e-01 6.21249736e-01 -1.35109058e-02 6.30434422e+01] [ 1.71170534e-02 1.57393527e-04 9.99853480e-01 6.34544776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4792541539998 meters 0.013501962306944726 Centerline is valid? [True, True] Translation: X:907.65, Y:63.06, Z:6.35 [[ 6.18988003e-01 -7.85341689e-01 -9.60642295e-03 9.07648960e+02] [ 7.85244511e-01 6.19062534e-01 -1.23546180e-02 6.30648092e+01] [ 1.56495731e-02 1.03969459e-04 9.99877533e-01 6.34684900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5092541539999 meters 0.0137196414314784 Centerline is valid? [True, True] Translation: X:907.67, Y:63.08, Z:6.35 [[ 6.15074406e-01 -7.88409378e-01 -9.70191903e-03 9.07669493e+02] [ 7.88310573e-01 6.15150918e-01 -1.24815321e-02 6.30844061e+01] [ 1.58087014e-02 2.89456072e-05 9.99875034e-01 6.34676120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5392541539999 meters 0.015327026067497885 Centerline is valid? [True, True] Translation: X:907.69, Y:63.11, Z:6.35 [[ 6.12393324e-01 -7.90498896e-01 -9.26885887e-03 9.07686905e+02] [ 7.90408882e-01 6.12463464e-01 -1.19291662e-02 6.31070238e+01] [ 1.51068301e-02 -2.08466352e-05 9.99885885e-01 6.34771551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5692541539999 meters 0.01317557678876732 Centerline is valid? [True, True] Translation: X:907.70, Y:63.13, Z:6.35 [[ 6.11430765e-01 -7.91252731e-01 -8.45786660e-03 9.07703208e+02] [ 7.91177789e-01 6.11489260e-01 -1.08899771e-02 6.31285145e+01] [ 1.37886187e-02 -3.32091602e-05 9.99904932e-01 6.34896380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5992541539998 meters 0.013321218502231046 Centerline is valid? [True, True] Translation: X:907.72, Y:63.15, Z:6.35 [[ 6.09971361e-01 -7.92374982e-01 -8.76504604e-03 9.07721636e+02] [ 7.92294546e-01 6.10034330e-01 -1.12901875e-02 6.31514023e+01] [ 1.42930411e-02 -5.78071216e-05 9.99897848e-01 6.34911974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6292541539999 meters 0.01344766982413739 Centerline is valid? [True, True] Translation: X:907.74, Y:63.17, Z:6.35 [[ 6.08386256e-01 -7.93589866e-01 -9.01592814e-03 9.07739396e+02] [ 7.93504826e-01 6.08453052e-01 -1.16178584e-02 6.31724798e+01] [ 1.47055837e-02 -8.60371177e-05 9.99891863e-01 6.34885812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6592541539999 meters 0.013773622605320428 Centerline is valid? [True, True] Translation: X:907.76, Y:63.19, Z:6.35 [[ 6.05720483e-01 -7.95622328e-01 -9.37056847e-03 9.07758209e+02] [ 7.95530632e-01 6.05792945e-01 -1.20797447e-02 6.31945382e+01] [ 1.52875389e-02 -1.37625462e-04 9.99883129e-01 6.34900336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6892541539999 meters 0.014004951097569683 Centerline is valid? [True, True] Translation: X:907.78, Y:63.22, Z:6.35 [[ 6.04882708e-01 -7.96257765e-01 -9.51212339e-03 9.07775760e+02] [ 7.96163284e-01 6.04957476e-01 -1.22668904e-02 6.32163384e+01] [ 1.55220369e-02 -1.53173482e-04 9.99879514e-01 6.34864584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7192541539998 meters 0.013959729435214199 Centerline is valid? [True, True] Translation: X:907.79, Y:63.24, Z:6.35 [[ 6.03981569e-01 -7.96938073e-01 -9.79648512e-03 9.07792774e+02] [ 7.96837865e-01 6.04060988e-01 -1.26388243e-02 6.32396738e+01] [ 1.59900348e-02 -1.72593342e-04 9.99872136e-01 6.34913130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7492541539999 meters 0.017443646402280872 Centerline is valid? [True, True] Translation: X:907.81, Y:63.26, Z:6.35 [[ 6.02653971e-01 -7.97930165e-01 -1.07537171e-02 9.07808341e+02] [ 7.97809491e-01 6.02749869e-01 -1.38784691e-02 6.32624791e+01] [ 1.75558507e-02 -2.15502999e-04 9.99845861e-01 6.34678961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7792541539999 meters 0.016171429653948372 Centerline is valid? [True, True] Translation: X:907.82, Y:63.29, Z:6.35 [[ 6.02263958e-01 -7.98228901e-01 -1.04281818e-02 9.07824068e+02] [ 7.98115370e-01 6.02354195e-01 -1.34640160e-02 6.32852804e+01] [ 1.70288258e-02 -2.14000595e-04 9.99854976e-01 6.34760242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8092541539999 meters 0.014525773298756864 Centerline is valid? [True, True] Translation: X:907.84, Y:63.31, Z:6.35 [[ 6.02450844e-01 -7.98096168e-01 -9.77174783e-03 9.07840501e+02] [ 7.97996381e-01 6.02530056e-01 -1.26216797e-02 6.33079575e+01] [ 1.59610860e-02 -1.93877807e-04 9.99872595e-01 6.34884549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8392541539998 meters 0.016864855476553708 Centerline is valid? [True, True] Translation: X:907.86, Y:63.33, Z:6.35 [[ 6.02846864e-01 -7.97790336e-01 -1.03072029e-02 9.07855472e+02] [ 7.97679162e-01 6.02934941e-01 -1.33196135e-02 6.33319155e+01] [ 1.68408317e-02 -1.92153767e-04 9.99858165e-01 6.34828496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8692541539999 meters 0.013820071846384339 Centerline is valid? [True, True] Translation: X:907.87, Y:63.36, Z:6.35 [[ 6.03838543e-01 -7.97048212e-01 -9.65207636e-03 9.07870784e+02] [ 7.96950521e-01 6.03915659e-01 -1.24797216e-02 6.33563185e+01] [ 1.57759798e-02 -1.56490406e-04 9.99875539e-01 6.35123413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8992541539999 meters 0.013732785758613322 Centerline is valid? [True, True] Translation: X:907.89, Y:63.38, Z:6.35 [[ 6.05899046e-01 -7.95493794e-01 -8.71604794e-03 9.07885420e+02] [ 7.95413919e-01 6.05961726e-01 -1.12732024e-02 6.33796981e+01] [ 1.42493540e-02 -1.02443266e-04 9.99898468e-01 6.35172885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9292541539999 meters 0.017178107280591697 Centerline is valid? [True, True] Translation: X:907.90, Y:63.40, Z:6.35 [[ 6.06448988e-01 -7.95073119e-01 -8.85216967e-03 9.07900851e+02] [ 7.94990641e-01 6.06513584e-01 -1.14522126e-02 6.34019865e+01] [ 1.44743076e-02 -9.22092825e-05 9.99895237e-01 6.35010841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9592541539998 meters 0.0144948510453023 Centerline is valid? [True, True] Translation: X:907.92, Y:63.43, Z:6.35 [[ 6.07585465e-01 -7.94214419e-01 -7.95994580e-03 9.07917100e+02] [ 7.94147606e-01 6.07637601e-01 -1.03017853e-02 6.34265611e+01] [ 1.30185888e-02 -6.21568667e-05 9.99915253e-01 6.35193999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9892541539999 meters 0.016146614948394075 Centerline is valid? [True, True] Translation: X:907.93, Y:63.45, Z:6.35 [[ 6.08262461e-01 -7.93696232e-01 -7.94159801e-03 9.07932775e+02] [ 7.93629612e-01 6.08314301e-01 -1.02834985e-02 6.34502069e+01] [ 1.29929617e-02 -4.76212158e-05 9.99915587e-01 6.35123351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0192541539999 meters 0.013427133238398382 Centerline is valid? [True, True] Translation: X:907.95, Y:63.47, Z:6.35 [[ 6.10305147e-01 -7.92134838e-01 -7.07282447e-03 9.07948124e+02] [ 7.92081836e-01 6.10346129e-01 -9.16336537e-03 6.34748789e+01] [ 1.15754920e-02 -9.80673710e-06 9.99933002e-01 6.35275247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0492541539999 meters 0.01346320391693512 Centerline is valid? [True, True] Translation: X:907.96, Y:63.50, Z:6.35 [[ 6.10957810e-01 -7.91630834e-01 -7.15381820e-03 9.07963868e+02] [ 7.91576527e-01 6.10999691e-01 -9.27245075e-03 6.34964616e+01] [ 1.17113386e-02 2.28163335e-06 9.99931420e-01 6.35257517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0792541539998 meters 0.013506216776748192 Centerline is valid? [True, True] Translation: X:907.98, Y:63.52, Z:6.35 [[ 6.12167130e-01 -7.90695910e-01 -7.16826261e-03 9.07980181e+02] [ 7.90641271e-01 6.12209097e-01 -9.29527897e-03 6.35196038e+01] [ 1.17382146e-02 2.27399806e-05 9.99931105e-01 6.35223875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1092541539998 meters 0.013583678598466445 Centerline is valid? [True, True] Translation: X:908.00, Y:63.54, Z:6.35 [[ 6.12826436e-01 -7.90182791e-01 -7.41054281e-03 9.07997010e+02] [ 7.90124288e-01 6.12871239e-01 -9.61531884e-03 6.35423485e+01] [ 1.21395680e-02 3.72717171e-05 9.99926312e-01 6.35212017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1392541539999 meters 0.013716223187268846 Centerline is valid? [True, True] Translation: X:908.01, Y:63.57, Z:6.35 [[ 6.14153094e-01 -7.89147981e-01 -7.83846102e-03 9.08013928e+02] [ 7.89082366e-01 6.14203109e-01 -1.01764586e-02 6.35655886e+01] [ 1.28451389e-02 6.47121848e-05 9.99917496e-01 6.35169008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1692541539999 meters 0.015553570453608672 Centerline is valid? [True, True] Translation: X:908.03, Y:63.59, Z:6.35 [[ 6.14376173e-01 -7.88967145e-01 -8.53009174e-03 9.08030302e+02] [ 7.88889357e-01 6.14435382e-01 -1.10789850e-02 6.35876890e+01] [ 1.39821453e-02 7.73657869e-05 9.99902242e-01 6.35020866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1992541539998 meters 0.014299705268314925 Centerline is valid? [True, True] Translation: X:908.05, Y:63.61, Z:6.35 [[ 6.14647532e-01 -7.88754001e-01 -8.69121244e-03 9.08046801e+02] [ 7.88673176e-01 6.14708970e-01 -1.12917667e-02 6.36097436e+01] [ 1.42489924e-02 8.59304201e-05 9.99898474e-01 6.35060066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2292541539998 meters 0.013858027558793267 Centerline is valid? [True, True] Translation: X:908.06, Y:63.63, Z:6.35 [[ 6.13840526e-01 -7.89373284e-01 -9.46713372e-03 9.08064125e+02] [ 7.89277386e-01 6.13913522e-01 -1.23042866e-02 6.36310865e+01] [ 1.55246765e-02 8.06752108e-05 9.99879482e-01 6.34948814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2592541539999 meters 0.013876896546456338 Centerline is valid? [True, True] Translation: X:908.08, Y:63.65, Z:6.35 [[ 6.12388492e-01 -7.90499283e-01 -9.55078912e-03 9.08082545e+02] [ 7.90401726e-01 6.12462962e-01 -1.24190117e-02 6.36524851e+01] [ 1.56667244e-02 5.62996204e-05 9.99877268e-01 6.34936459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2892541539999 meters 0.01666279691920423 Centerline is valid? [True, True] Translation: X:908.10, Y:63.67, Z:6.35 [[ 6.10006433e-01 -7.92328917e-01 -1.03460092e-02 9.08101407e+02] [ 7.92214559e-01 6.10094163e-01 -1.34612352e-02 6.36730447e+01] [ 1.69777657e-02 1.51809029e-05 9.99855867e-01 6.34750588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3192541539999 meters 0.01389434204531972 Centerline is valid? [True, True] Translation: X:908.12, Y:63.69, Z:6.35 [[ 6.07812834e-01 -7.94017726e-01 -9.97047198e-03 9.08120215e+02] [ 7.93911624e-01 6.07894605e-01 -1.29801024e-02 6.36937920e+01] [ 1.63674275e-02 -2.62007630e-05 9.99866044e-01 6.34930294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3492541539998 meters 0.014310412453417097 Centerline is valid? [True, True] Translation: X:908.14, Y:63.71, Z:6.35 [[ 6.02205603e-01 -7.98277758e-01 -1.00514686e-02 9.08142430e+02] [ 7.98170394e-01 6.02289466e-01 -1.30927847e-02 6.37128010e+01] [ 1.65055725e-02 -1.38236350e-04 9.99863764e-01 6.35025200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3792541539999 meters 0.0146466525719861 Centerline is valid? [True, True] Translation: X:908.16, Y:63.73, Z:6.35 [[ 5.99371074e-01 -8.00408136e-01 -1.00564127e-02 9.08162709e+02] [ 8.00300849e-01 5.99455402e-01 -1.31061542e-02 6.37340543e+01] [ 1.65186434e-02 -1.92705885e-04 9.99863539e-01 6.35046674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4092541539999 meters 0.015940874612066485 Centerline is valid? [True, True] Translation: X:908.18, Y:63.75, Z:6.35 [[ 5.94281253e-01 -8.04195878e-01 -9.93894280e-03 9.08184641e+02] [ 8.04091527e-01 5.94364287e-01 -1.29580271e-02 6.37520521e+01] [ 1.63281446e-02 -2.91107102e-04 9.99866645e-01 6.35084068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4392541539999 meters 0.01802575434554705 Centerline is valid? [True, True] Translation: X:908.20, Y:63.77, Z:6.35 [[ 5.91380115e-01 -8.06329878e-01 -1.00840180e-02 9.08204126e+02] [ 8.06222685e-01 5.91465979e-01 -1.31521015e-02 6.37723123e+01] [ 1.65692860e-02 -3.52072774e-04 9.99862658e-01 6.34974091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4692541539998 meters 0.016983767179984767 Centerline is valid? [True, True] Translation: X:908.22, Y:63.79, Z:6.35 [[ 5.89551707e-01 -8.07666249e-01 -1.01988006e-02 9.08223169e+02] [ 8.07556692e-01 5.89639787e-01 -1.33083155e-02 6.37944230e+01] [ 1.67622959e-02 -3.90169533e-04 9.99859427e-01 6.35100590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4992541539999 meters 0.01776609082791488 Centerline is valid? [True, True] Translation: X:908.24, Y:63.82, Z:6.35 [[ 5.86780780e-01 -8.09671742e-01 -1.09538490e-02 9.08242048e+02] [ 8.09545605e-01 5.86882819e-01 -1.42993219e-02 6.38158569e+01] [ 1.80063826e-02 -4.77073071e-04 9.99837758e-01 6.35051143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5292541539999 meters 0.01795116695369828 Centerline is valid? [True, True] Translation: X:908.26, Y:63.84, Z:6.35 [[ 5.86624112e-01 -8.09779133e-01 -1.13976606e-02 9.08258098e+02] [ 8.09642508e-01 5.86734615e-01 -1.48829252e-02 6.38386419e+01] [ 1.87392842e-02 -4.97347750e-04 9.99824280e-01 6.35008941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5592541539999 meters 0.02001187240356977 Centerline is valid? [True, True] Translation: X:908.28, Y:63.86, Z:6.35 [[ 5.85732376e-01 -8.10412566e-01 -1.22089046e-02 9.08275399e+02] [ 8.10255796e-01 5.85859344e-01 -1.59491403e-02 6.38613805e+01] [ 2.00780845e-02 -5.50407867e-04 9.99798263e-01 6.34845342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5892541539998 meters 0.018166610447901257 Centerline is valid? [True, True] Translation: X:908.29, Y:63.88, Z:6.35 [[ 5.84742835e-01 -8.11118582e-01 -1.27461067e-02 9.08292576e+02] [ 8.10947695e-01 5.84881435e-01 -1.66596470e-02 6.38848132e+01] [ 2.09679104e-02 -5.94816610e-04 9.99779972e-01 6.34947340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6192541539999 meters 0.019978959353290433 Centerline is valid? [True, True] Translation: X:908.31, Y:63.91, Z:6.35 [[ 5.83339557e-01 -8.12121365e-01 -1.31852099e-02 9.08310628e+02] [ 8.11938595e-01 5.83488191e-01 -1.72409239e-02 6.39064598e+01] [ 2.16951370e-02 -6.48267885e-04 9.99764423e-01 6.34855305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6492541539999 meters 0.02051872150688183 Centerline is valid? [True, True] Translation: X:908.33, Y:63.93, Z:6.35 [[ 5.80507551e-01 -8.14155583e-01 -1.27149180e-02 9.08327551e+02] [ 8.13985941e-01 5.80646368e-01 -1.66337696e-02 6.39299214e+01] [ 2.09253473e-02 -6.93735653e-04 9.99780800e-01 6.34931937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6792541539999 meters 0.020713589876226908 Centerline is valid? [True, True] Translation: X:908.34, Y:63.95, Z:6.35 [[ 5.79305899e-01 -8.15013400e-01 -1.25631537e-02 9.08344755e+02] [ 8.14847863e-01 5.79441670e-01 -1.64411187e-02 6.39525025e+01] [ 2.06793468e-02 -7.12621910e-04 9.99785905e-01 6.35024412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7092541539998 meters 0.020506492200074833 Centerline is valid? [True, True] Translation: X:908.36, Y:63.97, Z:6.35 [[ 5.78710555e-01 -8.15448895e-01 -1.17129141e-02 9.08361280e+02] [ 8.15305006e-01 5.78828681e-01 -1.53331396e-02 6.39743345e+01] [ 1.92831624e-02 -6.76147798e-04 9.99813834e-01 6.35116344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7392541539999 meters 0.021727905784113242 Centerline is valid? [True, True] Translation: X:908.38, Y:64.00, Z:6.35 [[ 5.77735405e-01 -8.16144202e-01 -1.14212152e-02 9.08377023e+02] [ 8.16007401e-01 5.77847888e-01 -1.49579475e-02 6.39984922e+01] [ 1.88075672e-02 -6.78060266e-04 9.99822892e-01 6.35100407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7692541539999 meters 0.020317400242205012 Centerline is valid? [True, True] Translation: X:908.39, Y:64.02, Z:6.35 [[ 5.79323134e-01 -8.15038270e-01 -9.86537405e-03 9.08391522e+02] [ 8.14935976e-01 5.79406864e-01 -1.29244533e-02 6.40219198e+01] [ 1.62499895e-02 -5.52213417e-04 9.99867808e-01 6.35393388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7992541539999 meters 0.022023517673969407 Centerline is valid? [True, True] Translation: X:908.41, Y:64.05, Z:6.35 [[ 5.80213488e-01 -8.14409172e-01 -9.48733269e-03 9.08407633e+02] [ 8.14314410e-01 5.80290823e-01 -1.24338881e-02 6.40457769e+01] [ 1.56316846e-02 -5.11362118e-04 9.99877687e-01 6.35324314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8292541539998 meters 0.02083704634532089 Centerline is valid? [True, True] Translation: X:908.42, Y:64.07, Z:6.35 [[ 5.82428837e-01 -8.12830098e-01 -9.15865824e-03 9.08422792e+02] [ 8.12741499e-01 5.82500669e-01 -1.20093881e-02 6.40699588e+01] [ 1.50965167e-02 -4.49007666e-04 9.99885940e-01 6.35442802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8592541539998 meters 0.017138347419743027 Centerline is valid? [True, True] Translation: X:908.43, Y:64.10, Z:6.36 [[ 5.89417461e-01 -8.07782098e-01 -8.66823567e-03 9.08433030e+02] [ 8.07702100e-01 5.89481122e-01 -1.13721294e-02 6.40965989e+01] [ 1.42959638e-02 -2.98420535e-04 9.99897763e-01 6.35603647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8892541539999 meters 0.018212774921305765 Centerline is valid? [True, True] Translation: X:908.45, Y:64.12, Z:6.35 [[ 5.92635103e-01 -8.05419800e-01 -9.08734390e-03 9.08446883e+02] [ 8.05331507e-01 5.92704719e-01 -1.19280987e-02 6.41223360e+01] [ 1.49932385e-02 -2.49314362e-04 9.99887564e-01 6.35461091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9192541539999 meters 0.016313506101331057 Centerline is valid? [True, True] Translation: X:908.45, Y:64.15, Z:6.36 [[ 6.01335437e-01 -7.98949349e-01 -8.69649393e-03 9.08454544e+02] [ 7.98867719e-01 6.01398313e-01 -1.14208658e-02 6.41526596e+01] [ 1.43547501e-02 -7.95769374e-05 9.99896962e-01 6.35543884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9492541539998 meters 0.014006414640615554 Centerline is valid? [True, True] Translation: X:908.47, Y:64.18, Z:6.36 [[ 6.06379762e-01 -7.95130295e-01 -8.44976383e-03 9.08467661e+02] [ 7.95052776e-01 6.06438632e-01 -1.11026915e-02 6.41788313e+01] [ 1.39523496e-02 1.44392657e-05 9.99902661e-01 6.35718534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9792541539998 meters 0.014286299636400936 Centerline is valid? [True, True] Translation: X:908.48, Y:64.20, Z:6.36 [[ 6.10728684e-01 -7.91795427e-01 -8.39499063e-03 9.08481128e+02] [ 7.91718511e-01 6.10786372e-01 -1.10366085e-02 6.42044069e+01] [ 1.38662820e-02 9.39039137e-05 9.99903854e-01 6.35717077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0092541539999 meters 0.014286299636400936 Centerline is valid? [True, True] Translation: X:908.50, Y:64.23, Z:6.36 [[ 6.10494954e-01 -7.91975686e-01 -8.39193789e-03 9.08497771e+02] [ 7.91898755e-01 6.10552622e-01 -1.10389296e-02 6.42263989e+01] [ 1.38662835e-02 9.36456406e-05 9.99903854e-01 6.35736128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0392541539999 meters 0.01560471897704466 Centerline is valid? [True, True] Translation: X:908.51, Y:64.25, Z:6.36 [[ 6.18308506e-01 -7.85892064e-01 -8.26168749e-03 9.08508828e+02] [ 7.85816887e-01 6.18363656e-01 -1.08724128e-02 6.42539955e+01] [ 1.36532702e-02 2.30331787e-04 9.99906763e-01 6.35753943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0692541539999 meters 0.017325707213481464 Centerline is valid? [True, True] Translation: X:908.52, Y:64.28, Z:6.36 [[ 6.21175342e-01 -7.83627897e-01 -8.27726586e-03 9.08522869e+02] [ 7.83552200e-01 6.21230423e-01 -1.08954712e-02 6.42786947e+01] [ 1.36800846e-02 2.82328202e-04 9.99906383e-01 6.35634357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0992541539998 meters 0.018986394443834615 Centerline is valid? [True, True] Translation: X:908.54, Y:64.30, Z:6.36 [[ 6.23183191e-01 -7.82024338e-01 -8.98033091e-03 9.08539074e+02] [ 7.81935023e-01 6.23247796e-01 -1.18238665e-02 6.43020545e+01] [ 1.48435228e-02 3.46399566e-04 9.99889769e-01 6.35544249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1292541539999 meters 0.01866764830722704 Centerline is valid? [True, True] Translation: X:908.55, Y:64.33, Z:6.36 [[ 6.25899209e-01 -7.79856117e-01 -8.63813547e-03 9.08552875e+02] [ 7.79773224e-01 6.25958696e-01 -1.13767830e-02 6.43258535e+01] [ 1.42793699e-02 3.84932758e-04 9.99897971e-01 6.35658556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1592541539999 meters 0.020197738351863687 Centerline is valid? [True, True] Translation: X:908.57, Y:64.35, Z:6.36 [[ 6.25558731e-01 -7.80121722e-01 -9.29368698e-03 9.08570890e+02] [ 7.80025705e-01 6.25627629e-01 -1.22462313e-02 6.43479197e+01] [ 1.53679384e-02 4.11422165e-04 9.99881822e-01 6.35501446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1892541539999 meters 0.01984184968176851 Centerline is valid? [True, True] Translation: X:908.59, Y:64.37, Z:6.36 [[ 6.25138635e-01 -7.80457865e-01 -9.33847475e-03 9.08586490e+02] [ 7.80360875e-01 6.25208248e-01 -1.23106343e-02 6.43695094e+01] [ 1.54464228e-02 4.08472776e-04 9.99880613e-01 6.35513359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2192541539998 meters 0.019085401438638114 Centerline is valid? [True, True] Translation: X:908.60, Y:64.39, Z:6.36 [[ 6.23128008e-01 -7.82068007e-01 -9.00654872e-03 9.08603747e+02] [ 7.81977907e-01 6.23192991e-01 -1.18763616e-02 6.43911804e+01] [ 1.49009405e-02 3.57571392e-04 9.99888911e-01 6.35559479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2492541539999 meters 0.01722807374352805 Centerline is valid? [True, True] Translation: X:908.62, Y:64.41, Z:6.36 [[ 6.21710735e-01 -7.83198350e-01 -8.72387477e-03 9.08623863e+02] [ 7.83113863e-01 6.21771855e-01 -1.15081762e-02 6.44123192e+01] [ 1.44374444e-02 3.22969452e-04 9.99895723e-01 6.35734454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2792541539999 meters 0.015919221253478753 Centerline is valid? [True, True] Translation: X:908.65, Y:64.43, Z:6.36 [[ 6.17896351e-01 -7.86208220e-01 -8.98526808e-03 9.08645108e+02] [ 7.86118815e-01 6.17961621e-01 -1.18593120e-02 6.44322145e+01] [ 1.48764394e-02 2.64337308e-04 9.99889305e-01 6.35752473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3092541539999 meters 0.015344765385121846 Centerline is valid? [True, True] Translation: X:908.66, Y:64.45, Z:6.36 [[ 6.15359772e-01 -7.88189419e-01 -9.47581292e-03 9.08664702e+02] [ 7.88090112e-01 6.15432682e-01 -1.25135368e-02 6.44540969e+01] [ 1.56947622e-02 2.32532662e-04 9.99876803e-01 6.35710292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3392541539998 meters 0.016896648293962806 Centerline is valid? [True, True] Translation: X:908.68, Y:64.48, Z:6.36 [[ 6.12243756e-01 -7.90595663e-01 -1.07740698e-02 9.08684861e+02] [ 7.90467509e-01 6.12338516e-01 -1.42358666e-02 6.44752752e+01] [ 1.78521923e-02 1.99268336e-04 9.99840617e-01 6.35512010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3692541539999 meters 0.014548355824329458 Centerline is valid? [True, True] Translation: X:908.70, Y:64.50, Z:6.36 [[ 6.09654294e-01 -7.92597223e-01 -1.05491325e-02 9.08704766e+02] [ 7.92474542e-01 6.09745539e-01 -1.39455620e-02 6.44970215e+01] [ 1.74855002e-02 1.42052857e-04 9.99847107e-01 6.35630247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3992541539999 meters 0.014271337588829737 Centerline is valid? [True, True] Translation: X:908.73, Y:64.51, Z:6.36 [[ 6.03372222e-01 -7.97372312e-01 -1.18050168e-02 9.08727590e+02] [ 7.97219407e-01 6.03487693e-01 -1.56147553e-02 6.45147467e+01] [ 1.95749559e-02 1.03211210e-05 9.99808392e-01 6.35550777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4292541539999 meters 0.014282097212427281 Centerline is valid? [True, True] Translation: X:908.75, Y:64.53, Z:6.36 [[ 6.00316378e-01 -7.99666212e-01 -1.24175863e-02 9.08748056e+02] [ 7.99497374e-01 6.00444790e-01 -1.64317919e-02 6.45348391e+01] [ 2.05960238e-02 -6.35538244e-05 9.99787877e-01 6.35581916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4592541539998 meters 0.01462851467415658 Centerline is valid? [True, True] Translation: X:908.77, Y:64.56, Z:6.36 [[ 5.96930712e-01 -8.02187703e-01 -1.29851051e-02 9.08768814e+02] [ 8.02003502e-01 5.97071910e-01 -1.71906445e-02 6.45555071e+01] [ 2.15431651e-02 -1.52476067e-04 9.99767907e-01 6.35649472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4892541539999 meters 0.016050338558124908 Centerline is valid? [True, True] Translation: X:908.79, Y:64.57, Z:6.36 [[ 5.90644130e-01 -8.06812125e-01 -1.39178273e-02 9.08792577e+02] [ 8.06601642e-01 5.90807988e-01 -1.84312837e-02 6.45720941e+01] [ 2.30933468e-02 -3.39812851e-04 9.99733255e-01 6.35644339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5192541539999 meters 0.016208867930467295 Centerline is valid? [True, True] Translation: X:908.81, Y:64.59, Z:6.36 [[ 5.87579097e-01 -8.09033607e-01 -1.46774801e-02 9.08812334e+02] [ 8.08799998e-01 5.87762218e-01 -1.94457984e-02 6.45938571e+01] [ 2.43591727e-02 -4.45201219e-04 9.99703172e-01 6.35847570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5492541539999 meters 0.01721253143265241 Centerline is valid? [True, True] Translation: X:908.83, Y:64.61, Z:6.36 [[ 5.84426127e-01 -8.11308509e-01 -1.49868723e-02 9.08832593e+02] [ 8.11065440e-01 5.84618001e-01 -1.98657064e-02 6.46138953e+01] [ 2.48788120e-02 -5.45296341e-04 9.99690326e-01 6.35879928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5792541539998 meters 0.018920026501172898 Centerline is valid? [True, True] Translation: X:908.86, Y:64.63, Z:6.36 [[ 5.78838170e-01 -8.15299531e-01 -1.52659210e-02 9.08855816e+02] [ 8.15048420e-01 5.79038990e-01 -2.02465099e-02 6.46319184e+01] [ 2.53465335e-02 -7.23012107e-04 9.99678464e-01 6.36041226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6092541539998 meters 0.020077289138957476 Centerline is valid? [True, True] Translation: X:908.88, Y:64.65, Z:6.36 [[ 5.76174067e-01 -8.17185318e-01 -1.52184457e-02 9.08875889e+02] [ 8.16936159e-01 5.76374463e-01 -2.01938458e-02 6.46517378e+01] [ 2.52736378e-02 -7.97328311e-04 9.99680253e-01 6.36140286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6392541539999 meters 0.02107232720059521 Centerline is valid? [True, True] Translation: X:908.90, Y:64.67, Z:6.36 [[ 5.73669723e-01 -8.18950532e-01 -1.49356776e-02 9.08895861e+02] [ 8.18710896e-01 5.73863484e-01 -1.98285377e-02 6.46726179e+01] [ 2.48096315e-02 -8.52970242e-04 9.99691830e-01 6.36238885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6692541539999 meters 0.02237946376678874 Centerline is valid? [True, True] Translation: X:908.92, Y:64.69, Z:6.36 [[ 5.70271016e-01 -8.21322317e-01 -1.48532699e-02 9.08916634e+02] [ 8.21085870e-01 5.70463634e-01 -1.97290608e-02 6.46930381e+01] [ 2.46771682e-02 -9.44898463e-04 9.99695026e-01 6.36429082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6992541539998 meters 0.021530885141569377 Centerline is valid? [True, True] Translation: X:908.93, Y:64.72, Z:6.37 [[ 5.69551424e-01 -8.21822697e-01 -1.47861311e-02 9.08933281e+02] [ 8.21588305e-01 5.69742520e-01 -1.96498915e-02 6.47162328e+01] [ 2.45730145e-02 -9.56488719e-04 9.99697580e-01 6.36551267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7292541539998 meters 0.02099587466702334 Centerline is valid? [True, True] Translation: X:908.95, Y:64.74, Z:6.37 [[ 5.70864457e-01 -8.20909578e-01 -1.48740200e-02 9.08950250e+02] [ 8.20671912e-01 5.71057458e-01 -1.97735400e-02 6.47401017e+01] [ 2.47262084e-02 -9.18679227e-04 9.99693838e-01 6.36672911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7592541539999 meters 0.021332046286519857 Centerline is valid? [True, True] Translation: X:908.97, Y:64.76, Z:6.37 [[ 5.72295074e-01 -8.19914528e-01 -1.47822581e-02 9.08967248e+02] [ 8.19679238e-01 5.72485300e-01 -1.96603176e-02 6.47628745e+01] [ 2.45824054e-02 -8.65207121e-04 9.99697433e-01 6.36658270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7892541539999 meters 0.022205933226571814 Centerline is valid? [True, True] Translation: X:908.98, Y:64.79, Z:6.37 [[ 5.74390803e-01 -8.18446286e-01 -1.48620873e-02 9.08983440e+02] [ 8.18207809e-01 5.74582485e-01 -1.97724499e-02 6.47852803e+01] [ 2.47221832e-02 -8.03162512e-04 9.99694037e-01 6.36616054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8192541539999 meters 0.02132426613624315 Centerline is valid? [True, True] Translation: X:909.00, Y:64.81, Z:6.37 [[ 5.77007606e-01 -8.16598745e-01 -1.51232410e-02 9.08997118e+02] [ 8.16350946e-01 5.77205297e-01 -2.01290421e-02 6.48104749e+01] [ 2.51665654e-02 -7.31261683e-04 9.99683004e-01 6.36721441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8492541539998 meters 0.016425968247377704 Centerline is valid? [True, True] Translation: X:909.01, Y:64.84, Z:6.37 [[ 5.83413165e-01 -8.12056556e-01 -1.39006976e-02 9.09007377e+02] [ 8.11845676e-01 5.83578542e-01 -1.85116910e-02 6.48385060e+01] [ 2.31446889e-02 -4.85257024e-04 9.99732008e-01 6.36988330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8792541539999 meters 0.016362014033382236 Centerline is valid? [True, True] Translation: X:909.02, Y:64.86, Z:6.37 [[ 5.85995725e-01 -8.10197156e-01 -1.37687922e-02 9.09022282e+02] [ 8.09989595e-01 5.86157322e-01 -1.83425912e-02 6.48638962e+01] [ 2.29317936e-02 -4.03898402e-04 9.99736950e-01 6.37011299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9092541539999 meters 0.014624377894886376 Centerline is valid? [True, True] Translation: X:909.04, Y:64.89, Z:6.37 [[ 5.88379990e-01 -8.08473388e-01 -1.34077208e-02 9.09036385e+02] [ 8.08275946e-01 5.88532646e-01 -1.78695267e-02 6.48891377e+01] [ 2.23379182e-02 -3.23066266e-04 9.99750425e-01 6.37110644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9392541539999 meters 0.014535407424842741 Centerline is valid? [True, True] Translation: X:909.05, Y:64.91, Z:6.37 [[ 5.91369082e-01 -8.06289533e-01 -1.34089008e-02 9.09050307e+02] [ 8.06091375e-01 5.91521034e-01 -1.78762839e-02 6.49140132e+01] [ 2.23451074e-02 -2.37317714e-04 9.99750289e-01 6.36965306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9692541539998 meters 0.013997801281082196 Centerline is valid? [True, True] Translation: X:909.07, Y:64.94, Z:6.37 [[ 5.92037318e-01 -8.05795446e-01 -1.36203436e-02 9.09065199e+02] [ 8.05590665e-01 5.92193931e-01 -1.81666721e-02 6.49373716e+01] [ 2.27045065e-02 -2.17073857e-04 9.99742196e-01 6.37029394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9992541539999 meters 0.013863836221979987 Centerline is valid? [True, True] Translation: X:909.08, Y:64.96, Z:6.37 [[ 5.92401345e-01 -8.05527791e-01 -1.36244398e-02 9.09080405e+02] [ 8.05322571e-01 5.92557962e-01 -1.81828968e-02 6.49608784e+01] [ 2.27200990e-02 -2.00496364e-04 9.99741845e-01 6.37020329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0292541539999 meters 0.014012694330633882 Centerline is valid? [True, True] Translation: X:909.10, Y:64.98, Z:6.37 [[ 5.92196285e-01 -8.05679208e-01 -1.35858022e-02 9.09096107e+02] [ 8.05475023e-01 5.92352069e-01 -1.81387364e-02 6.49827702e+01] [ 2.26615808e-02 -2.01331991e-04 9.99743173e-01 6.36995709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0592541539999 meters 0.013961341243530184 Centerline is valid? [True, True] Translation: X:909.11, Y:65.01, Z:6.37 [[ 5.91745636e-01 -8.06013224e-01 -1.34084014e-02 9.09112382e+02] [ 8.05814221e-01 5.91897492e-01 -1.79109021e-02 6.50061842e+01] [ 2.23728231e-02 -2.05982400e-04 9.99749676e-01 6.37001404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0892541539998 meters 0.013894161034797594 Centerline is valid? [True, True] Translation: X:909.13, Y:65.03, Z:6.37 [[ 5.91308637e-01 -8.06338542e-01 -1.31244540e-02 9.09128342e+02] [ 8.06147735e-01 5.91454235e-01 -1.75418810e-02 6.50296410e+01] [ 2.19072086e-02 -2.07583114e-04 9.99759987e-01 6.37060331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1192541539999 meters 0.014928943449876978 Centerline is valid? [True, True] Translation: X:909.14, Y:65.05, Z:6.37 [[ 5.90491873e-01 -8.06937547e-01 -1.30821964e-02 9.09143768e+02] [ 8.06747952e-01 5.90636729e-01 -1.74927566e-02 6.50519212e+01] [ 2.18423878e-02 -2.24704501e-04 9.99761401e-01 6.36960090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1492541539999 meters 0.014454912447026085 Centerline is valid? [True, True] Translation: X:909.16, Y:65.07, Z:6.37 [[ 5.90040189e-01 -8.07273667e-01 -1.27201122e-02 9.09160489e+02] [ 8.07094336e-01 5.90177240e-01 -1.70163963e-02 6.50735718e+01] [ 2.12440093e-02 -2.25972807e-04 9.99774295e-01 6.36938068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1792541539999 meters 0.014465382104809812 Centerline is valid? [True, True] Translation: X:909.18, Y:65.10, Z:6.37 [[ 5.89328618e-01 -8.07804949e-01 -1.19559313e-02 9.09176998e+02] [ 8.07646455e-01 5.89449840e-01 -1.60028164e-02 6.50960523e+01] [ 1.99745761e-02 -2.25247856e-04 9.99800463e-01 6.37049059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2092541539998 meters 0.017384309691067138 Centerline is valid? [True, True] Translation: X:909.19, Y:65.12, Z:6.37 [[ 5.88771192e-01 -8.08209327e-01 -1.20899386e-02 9.09193642e+02] [ 8.08047158e-01 5.88895260e-01 -1.61914561e-02 6.51185431e+01] [ 2.02057934e-02 -2.36177558e-04 9.99795814e-01 6.37003280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2392541539999 meters 0.016566208116847954 Centerline is valid? [True, True] Translation: X:909.21, Y:65.14, Z:6.37 [[ 5.89238796e-01 -8.07873344e-01 -1.17601151e-02 9.09209961e+02] [ 8.07719672e-01 5.89356101e-01 -1.57581153e-02 6.51421551e+01] [ 1.96614569e-02 -2.13583424e-04 9.99806672e-01 6.37060293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2692541539999 meters 0.013705560531105583 Centerline is valid? [True, True] Translation: X:909.23, Y:65.17, Z:6.37 [[ 5.90498159e-01 -8.06961333e-01 -1.11951053e-02 9.09225123e+02] [ 8.06821766e-01 5.90604248e-01 -1.50086727e-02 6.51668024e+01] [ 1.87232953e-02 -1.69861055e-04 9.99824689e-01 6.37236532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2992541539999 meters 0.013872008496776137 Centerline is valid? [True, True] Translation: X:909.24, Y:65.19, Z:6.37 [[ 5.93432620e-01 -8.04808363e-01 -1.10101802e-02 9.09239651e+02] [ 8.04672914e-01 5.93534741e-01 -1.47652765e-02 6.51911554e+01] [ 1.84181425e-02 -9.73970571e-05 9.99830367e-01 6.37008092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3292541539998 meters 0.014084019393238636 Centerline is valid? [True, True] Translation: X:909.25, Y:65.22, Z:6.37 [[ 5.94582217e-01 -8.03955741e-01 -1.12762177e-02 9.09253785e+02] [ 8.03813386e-01 5.94689130e-01 -1.51287572e-02 6.52152260e+01] [ 1.88686953e-02 -6.86847985e-05 9.99821968e-01 6.37129483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3592541539998 meters 0.014588917893394983 Centerline is valid? [True, True] Translation: X:909.27, Y:65.24, Z:6.37 [[ 5.98374687e-01 -8.01127104e-01 -1.19623152e-02 9.09267109e+02] [ 8.00966202e-01 5.98494246e-01 -1.60555703e-02 6.52401486e+01] [ 2.00219293e-02 2.58366623e-05 9.99799541e-01 6.36858369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3892541539999 meters 0.013821818239822316 Centerline is valid? [True, True] Translation: X:909.28, Y:65.26, Z:6.37 [[ 6.00504039e-01 -7.99525187e-01 -1.24247785e-02 9.09282232e+02] [ 7.99351097e-01 6.00632557e-01 -1.66839630e-02 6.52639934e+01] [ 2.08019751e-02 8.70267841e-05 9.99783612e-01 6.36854073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4192541539999 meters 0.013583138804311015 Centerline is valid? [True, True] Translation: X:909.30, Y:65.29, Z:6.37 [[ 6.02472462e-01 -7.98035136e-01 -1.29172194e-02 9.09298145e+02] [ 7.97846428e-01 6.02610902e-01 -1.73544804e-02 6.52885799e+01] [ 2.16335423e-02 1.49639199e-04 9.99765956e-01 6.36825632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4492541539998 meters 0.015153679124737465 Centerline is valid? [True, True] Translation: X:909.31, Y:65.31, Z:6.37 [[ 6.03739922e-01 -7.97066549e-01 -1.35285717e-02 9.09314561e+02] [ 7.96859091e-01 6.03891444e-01 -1.81854977e-02 6.53128421e+01] [ 2.26648406e-02 1.98945662e-04 9.99743100e-01 6.36768573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4792541539998 meters 0.017108168577993677 Centerline is valid? [True, True] Translation: X:909.33, Y:65.34, Z:6.37 [[ 6.06062545e-01 -7.95292746e-01 -1.40584267e-02 9.09329322e+02] [ 7.95068001e-01 6.06225509e-01 -1.89078282e-02 6.53379382e+01] [ 2.35598355e-02 2.81921309e-04 9.99722389e-01 6.36608693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5092541539999 meters 0.014196223295233115 Centerline is valid? [True, True] Translation: X:909.35, Y:65.36, Z:6.37 [[ 6.07371325e-01 -7.94302974e-01 -1.35225008e-02 9.09345717e+02] [ 7.94094577e-01 6.07521758e-01 -1.81966007e-02 6.53615823e+01] [ 2.26688276e-02 3.13948944e-04 9.99742980e-01 6.36678055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5392541539999 meters 0.01625899325684769 Centerline is valid? [True, True] Translation: X:909.36, Y:65.38, Z:6.37 [[ 6.07209564e-01 -7.94421792e-01 -1.38044386e-02 9.09362827e+02] [ 7.94204413e-01 6.07366375e-01 -1.85859484e-02 6.53847602e+01] [ 2.31494343e-02 3.22019630e-04 9.99731964e-01 6.36652044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5692541539999 meters 0.014713260852493484 Centerline is valid? [True, True] Translation: X:909.38, Y:65.41, Z:6.37 [[ 6.07217520e-01 -7.94430249e-01 -1.29407433e-02 9.09380522e+02] [ 7.94239029e-01 6.07355320e-01 -1.74321199e-02 6.54079728e+01] [ 2.17082327e-02 3.07045231e-04 9.99764301e-01 6.36621730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5992541539998 meters 0.014167762842932244 Centerline is valid? [True, True] Translation: X:909.40, Y:65.43, Z:6.37 [[ 6.06208244e-01 -7.95204841e-01 -1.26817519e-02 9.09398684e+02] [ 7.95021178e-01 6.06340815e-01 -1.70921692e-02 6.54299371e+01] [ 2.12812395e-02 2.79152529e-04 9.99773490e-01 6.36639807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6292541539999 meters 0.016787767138396525 Centerline is valid? [True, True] Translation: X:909.42, Y:65.45, Z:6.37 [[ 6.01567610e-01 -7.98719128e-01 -1.28126647e-02 9.09419868e+02] [ 7.98532335e-01 6.01704021e-01 -1.72737408e-02 6.54491672e+01] [ 2.15062990e-02 1.59995929e-04 9.99768700e-01 6.36636330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6592541539999 meters 0.013309333191395947 Centerline is valid? [True, True] Translation: X:909.44, Y:65.47, Z:6.37 [[ 5.99688840e-01 -8.00143453e-01 -1.19895820e-02 9.09439372e+02] [ 7.99980043e-01 5.99808673e-01 -1.61705443e-02 6.54706824e+01] [ 2.01302104e-02 1.05868631e-04 9.99797361e-01 6.36698580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6892541539999 meters 0.017257476032542872 Centerline is valid? [True, True] Translation: X:909.46, Y:65.49, Z:6.37 [[ 5.95559692e-01 -8.03222721e-01 -1.19127718e-02 9.09459226e+02] [ 8.03061915e-01 5.95678823e-01 -1.60717414e-02 6.54904059e+01] [ 2.00053738e-02 4.98799329e-06 9.99799872e-01 6.36753616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7192541539998 meters 0.013844095280044143 Centerline is valid? [True, True] Translation: X:909.48, Y:65.51, Z:6.37 [[ 5.89610619e-01 -8.07621970e-01 -1.02991265e-02 9.09481747e+02] [ 8.07502343e-01 5.89700550e-01 -1.39006254e-02 6.55086469e+01] [ 1.72998510e-02 -1.20612426e-04 9.99850339e-01 6.37025035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7492541539999 meters 0.013979488331098716 Centerline is valid? [True, True] Translation: X:909.50, Y:65.53, Z:6.37 [[ 5.86639974e-01 -8.09793368e-01 -9.39369235e-03 9.09501706e+02] [ 8.09694050e-01 5.86715156e-01 -1.26835027e-02 6.55285459e+01] [ 1.57824381e-02 -1.65367087e-04 9.99875436e-01 6.37051950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7792541539999 meters 0.01651671034946404 Centerline is valid? [True, True] Translation: X:909.52, Y:65.55, Z:6.37 [[ 5.82887826e-01 -8.12500778e-01 -9.17982271e-03 9.09521389e+02] [ 8.12406188e-01 5.82960062e-01 -1.23997028e-02 6.55498360e+01] [ 1.54262382e-02 -2.30108977e-04 9.99880982e-01 6.37170533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8092541539999 meters 0.017116307168823168 Centerline is valid? [True, True] Translation: X:909.54, Y:65.57, Z:6.37 [[ 5.78846116e-01 -8.15386351e-01 -9.07044739e-03 9.09542826e+02] [ 8.15294279e-01 5.78917100e-01 -1.22568203e-02 6.55693503e+01] [ 1.52450811e-02 -3.00271065e-04 9.99883742e-01 6.37172559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8392541539998 meters 0.015945321186796615 Centerline is valid? [True, True] Translation: X:909.56, Y:65.59, Z:6.37 [[ 5.77876381e-01 -8.16073579e-01 -9.09956050e-03 9.09561043e+02] [ 8.15980922e-01 5.77947933e-01 -1.23012903e-02 6.55915397e+01] [ 1.52978302e-02 -3.16442646e-04 9.99882931e-01 6.37140783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8692541539999 meters 0.01636844901452462 Centerline is valid? [True, True] Translation: X:909.58, Y:65.61, Z:6.37 [[ 5.77276642e-01 -8.16496486e-01 -9.22855527e-03 9.09578369e+02] [ 8.16401136e-01 5.77350309e-01 -1.24821882e-02 6.56127104e+01] [ 1.55197721e-02 -3.28527313e-04 9.99879507e-01 6.37068139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8992541539999 meters 0.01636844901452462 Centerline is valid? [True, True] Translation: X:909.59, Y:65.63, Z:6.37 [[ 5.77050981e-01 -8.16656023e-01 -9.22524870e-03 9.09594701e+02] [ 8.16560654e-01 5.77124624e-01 -1.24846319e-02 6.56349475e+01] [ 1.55197680e-02 -3.28706034e-04 9.99879507e-01 6.37087192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9292541539999 meters 0.01625138629670847 Centerline is valid? [True, True] Translation: X:909.61, Y:65.66, Z:6.37 [[ 5.77170250e-01 -8.16565848e-01 -9.73233195e-03 9.09611274e+02] [ 8.16459565e-01 5.77252199e-01 -1.31786851e-02 6.56570076e+01] [ 1.63792742e-02 -3.39710553e-04 9.99865793e-01 6.37057934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9592541539998 meters 0.01526109160369109 Centerline is valid? [True, True] Translation: X:909.63, Y:65.68, Z:6.37 [[ 5.78378471e-01 -8.15704871e-01 -1.01935252e-02 9.09627766e+02] [ 8.15588010e-01 5.78468199e-01 -1.38109032e-02 6.56807644e+01] [ 1.71622512e-02 -3.25787900e-04 9.99852665e-01 6.37055130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9892541539999 meters 0.014934618804513418 Centerline is valid? [True, True] Translation: X:909.64, Y:65.70, Z:6.37 [[ 5.79151914e-01 -8.15154122e-01 -1.03352515e-02 9.09644464e+02] [ 8.15033772e-01 5.79244043e-01 -1.40103049e-02 6.57040527e+01] [ 1.74071907e-02 -3.09484119e-04 9.99848435e-01 6.37021484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0192541539999 meters 0.015524168936740686 Centerline is valid? [True, True] Translation: X:909.66, Y:65.73, Z:6.37 [[ 5.82078531e-01 -8.13061796e-01 -1.07284310e-02 9.09662094e+02] [ 8.12931673e-01 5.82177336e-01 -1.45479849e-02 6.57261502e+01] [ 1.80742601e-02 -2.53411713e-04 9.99836615e-01 6.36771813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0492541539999 meters 0.014099009394869522 Centerline is valid? [True, True] Translation: X:909.68, Y:65.75, Z:6.37 [[ 5.83656170e-01 -8.11932970e-01 -1.05036738e-02 9.09676520e+02] [ 8.11807954e-01 5.83750639e-01 -1.42491173e-02 6.57505521e+01] [ 1.77008544e-02 -2.10380721e-04 9.99843305e-01 6.36956721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0792541539998 meters 0.014470914177410126 Centerline is valid? [True, True] Translation: X:909.69, Y:65.78, Z:6.37 [[ 5.87808298e-01 -8.08937089e-01 -1.01089703e-02 9.09691052e+02] [ 8.08820723e-01 5.87895207e-01 -1.37209285e-02 6.57757333e+01] [ 1.70423831e-02 -1.11069056e-04 9.99854762e-01 6.37037163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1092541539998 meters 0.01391011206955117 Centerline is valid? [True, True] Translation: X:909.71, Y:65.80, Z:6.37 [[ 5.90549251e-01 -8.06942479e-01 -9.76823567e-03 9.09706288e+02] [ 8.06833467e-01 5.90630031e-01 -1.32635984e-02 6.57986691e+01] [ 1.64723743e-02 -4.85313637e-05 9.99864320e-01 6.36925899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1392541539999 meters 0.015226535661876522 Centerline is valid? [True, True] Translation: X:909.72, Y:65.82, Z:6.37 [[ 5.92768030e-01 -8.05314922e-01 -9.69223018e-03 9.09721159e+02] [ 8.05207282e-01 5.92847262e-01 -1.31665110e-02 6.58228510e+01] [ 1.63491999e-02 4.32439270e-07 9.99866343e-01 6.37101482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1692541539999 meters 0.012685658703330533 Centerline is valid? [True, True] Translation: X:909.74, Y:65.85, Z:6.37 [[ 5.95499997e-01 -8.03302983e-01 -9.16899431e-03 9.09736044e+02] [ 8.03206302e-01 5.95570578e-01 -1.24628888e-02 6.58463154e+01] [ 1.54722590e-02 5.70562115e-05 9.99880296e-01 6.37271643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1992541539998 meters 0.015814975682314717 Centerline is valid? [True, True] Translation: X:909.75, Y:65.87, Z:6.37 [[ 6.00433923e-01 -7.99624313e-01 -8.94773362e-03 9.09750844e+02] [ 7.99531729e-01 6.00500570e-01 -1.21687894e-02 6.58711745e+01] [ 1.51035790e-02 1.52556997e-04 9.99885923e-01 6.37316774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2292541539998 meters 0.013850087945552836 Centerline is valid? [True, True] Translation: X:909.77, Y:65.90, Z:6.37 [[ 6.02743777e-01 -7.97887588e-01 -8.67964116e-03 9.09766687e+02] [ 7.97800200e-01 6.02806237e-01 -1.18102187e-02 6.58955343e+01] [ 1.46553687e-02 1.93916373e-04 9.99892586e-01 6.37443219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2592541539999 meters 0.014344639757320785 Centerline is valid? [True, True] Translation: X:909.78, Y:65.92, Z:6.37 [[ 6.04474215e-01 -7.96578481e-01 -8.58178695e-03 9.09783259e+02] [ 7.96492833e-01 6.04535087e-01 -1.16831145e-02 6.59194737e+01] [ 1.44945090e-02 2.26809687e-04 9.99894923e-01 6.37487753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2892541539999 meters 0.015498033387421303 Centerline is valid? [True, True] Translation: X:909.80, Y:65.94, Z:6.37 [[ 6.07108305e-01 -7.94572333e-01 -8.62050590e-03 9.09797902e+02] [ 7.94485628e-01 6.07169440e-01 -1.17412736e-02 6.59429227e+01] [ 1.45633989e-02 2.79356652e-04 9.99893909e-01 6.37490257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3192541539999 meters 0.01590792849320176 Centerline is valid? [True, True] Translation: X:909.81, Y:65.97, Z:6.38 [[ 6.07786030e-01 -7.94054561e-01 -8.57300055e-03 9.09814270e+02] [ 7.93968679e-01 6.07846418e-01 -1.16819506e-02 6.59667832e+01] [ 1.44871739e-02 2.93432466e-04 9.99895012e-01 6.37503645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3492541539998 meters 0.016648909671369363 Centerline is valid? [True, True] Translation: X:909.83, Y:65.99, Z:6.37 [[ 6.08948246e-01 -7.93159296e-01 -8.96464248e-03 9.09829365e+02] [ 7.93065214e-01 6.09014139e-01 -1.22206717e-02 6.59899937e+01] [ 1.51525334e-02 3.32210513e-04 9.99885139e-01 6.37443116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3792541539999 meters 0.0160377772264951 Centerline is valid? [True, True] Translation: X:909.85, Y:66.01, Z:6.37 [[ 6.08981958e-01 -7.93127599e-01 -9.46500572e-03 9.09847179e+02] [ 7.93022627e-01 6.09055404e-01 -1.29084250e-02 6.60123491e+01] [ 1.60027410e-02 3.55034217e-04 9.99871885e-01 6.37429782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4092541539999 meters 0.015780513269539876 Centerline is valid? [True, True] Translation: X:909.86, Y:66.03, Z:6.37 [[ 6.08446830e-01 -7.93532278e-01 -9.94886310e-03 9.09864013e+02] [ 7.93416220e-01 6.08528052e-01 -1.35761735e-02 6.60343515e+01] [ 1.68272941e-02 3.66790365e-04 9.99858344e-01 6.37404824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4392541539999 meters 0.017691618487316946 Centerline is valid? [True, True] Translation: X:909.88, Y:66.06, Z:6.37 [[ 6.07147685e-01 -7.94515826e-01 -1.07838390e-02 9.09880447e+02] [ 7.94379469e-01 6.07243331e-01 -1.47240023e-02 6.60575289e+01] [ 1.82468671e-02 3.73183620e-04 9.99833442e-01 6.37228772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4692541539998 meters 0.016135739206151387 Centerline is valid? [True, True] Translation: X:909.90, Y:66.08, Z:6.37 [[ 6.03780402e-01 -7.97068263e-01 -1.14634096e-02 9.09901407e+02] [ 7.96914473e-01 6.03889130e-01 -1.56601975e-02 6.60780705e+01] [ 1.94048748e-02 3.19963312e-04 9.99811656e-01 6.37232026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4992541539999 meters 0.015586329325099447 Centerline is valid? [True, True] Translation: X:909.92, Y:66.10, Z:6.37 [[ 6.01094672e-01 -7.99095850e-01 -1.14463229e-02 9.09921032e+02] [ 7.98942727e-01 6.01203589e-01 -1.56449127e-02 6.60999752e+01] [ 1.93833552e-02 2.59117231e-04 9.99812092e-01 6.37261191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5292541539999 meters 0.013432001946739595 Centerline is valid? [True, True] Translation: X:909.94, Y:66.12, Z:6.37 [[ 5.94879951e-01 -8.03739547e-01 -1.09810775e-02 9.09943671e+02] [ 8.03599256e-01 5.94981284e-01 -1.50168765e-02 6.61185751e+01] [ 1.86031931e-02 1.08853075e-04 9.99826940e-01 6.37371443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5592541539999 meters 0.013208391796376853 Centerline is valid? [True, True] Translation: X:909.96, Y:66.14, Z:6.37 [[ 5.90928499e-01 -8.06651801e-01 -1.07879895e-02 9.09963762e+02] [ 8.06516734e-01 5.91026963e-01 -1.47610029e-02 6.61393476e+01] [ 1.82829822e-02 2.20031867e-05 9.99832852e-01 6.37461031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5892541539998 meters 0.013210696441163334 Centerline is valid? [True, True] Translation: X:909.98, Y:66.16, Z:6.38 [[ 5.87942832e-01 -8.08841226e-01 -9.95474257e-03 9.09981746e+02] [ 8.08726403e-01 5.88027099e-01 -1.36284745e-02 6.61611798e+01] [ 1.68769304e-02 -3.78992536e-05 9.99857574e-01 6.37610799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6192541539999 meters 0.014230324903521992 Centerline is valid? [True, True] Translation: X:910.00, Y:66.18, Z:6.38 [[ 5.82333590e-01 -8.12892944e-01 -9.62554634e-03 9.10001333e+02] [ 8.12786024e-01 5.82413118e-01 -1.31848113e-02 6.61829571e+01] [ 1.63238846e-02 -1.45551010e-04 9.99866746e-01 6.37700733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6492541539999 meters 0.014472135777038285 Centerline is valid? [True, True] Translation: X:910.02, Y:66.20, Z:6.38 [[ 5.79829952e-01 -8.14678570e-01 -9.80077353e-03 9.10019657e+02] [ 8.14567888e-01 5.79912743e-01 -1.34300343e-02 6.62045309e+01] [ 1.66247546e-02 -1.96259271e-04 9.99861780e-01 6.37701120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6792541539999 meters 0.01611598791569577 Centerline is valid? [True, True] Translation: X:910.04, Y:66.23, Z:6.38 [[ 5.74871199e-01 -8.18170604e-01 -1.09529185e-02 9.10038432e+02] [ 8.18032869e-01 5.74975438e-01 -1.50156980e-02 6.62254643e+01] [ 1.85830618e-02 -3.27755001e-04 9.99827266e-01 6.37587151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7092541539998 meters 0.01940411367855423 Centerline is valid? [True, True] Translation: X:910.06, Y:66.25, Z:6.37 [[ 5.72166040e-01 -8.20044162e-01 -1.23933500e-02 9.10056225e+02] [ 8.19868058e-01 5.72300082e-01 -1.69995114e-02 6.62485054e+01] [ 2.10330653e-02 -4.34368689e-04 9.99778686e-01 6.37455557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7392541539999 meters 0.019670313336901418 Centerline is valid? [True, True] Translation: X:910.07, Y:66.27, Z:6.37 [[ 5.70430957e-01 -8.21242420e-01 -1.30157731e-02 9.10073579e+02] [ 8.21048293e-01 5.70579214e-01 -1.78622696e-02 6.62714989e+01] [ 2.20957831e-02 -4.97386734e-04 9.99755735e-01 6.37395218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7692541539999 meters 0.01804244805606219 Centerline is valid? [True, True] Translation: X:910.09, Y:66.30, Z:6.37 [[ 5.69285362e-01 -8.22034125e-01 -1.31936598e-02 9.10090029e+02] [ 8.21834664e-01 5.69437982e-01 -1.81154546e-02 6.62950654e+01] [ 2.24044929e-02 -5.30143838e-04 9.99748847e-01 6.37375479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7992541539999 meters 0.020117644598568574 Centerline is valid? [True, True] Translation: X:910.11, Y:66.32, Z:6.37 [[ 5.65400263e-01 -8.24688082e-01 -1.45640072e-02 9.10106882e+02] [ 8.24445635e-01 5.65587380e-01 -2.00077462e-02 6.63175068e+01] [ 2.47373685e-02 -6.94847183e-04 9.99693743e-01 6.37161598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8292541539998 meters 0.02064194510678958 Centerline is valid? [True, True] Translation: X:910.12, Y:66.34, Z:6.37 [[ 5.63136320e-01 -8.26234641e-01 -1.46219995e-02 9.10123817e+02] [ 8.25990524e-01 5.63325607e-01 -2.00976093e-02 6.63405350e+01] [ 2.48422878e-02 -7.59939228e-04 9.99691094e-01 6.37155380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8592541539998 meters 0.020514942880546134 Centerline is valid? [True, True] Translation: X:910.14, Y:66.37, Z:6.37 [[ 5.58310813e-01 -8.29506527e-01 -1.44207327e-02 9.10138014e+02] [ 8.29269899e-01 5.58496317e-01 -1.98317569e-02 6.63652470e+01] [ 2.45044979e-02 -8.86395266e-04 9.99699327e-01 6.37411418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8892541539999 meters 0.02110626190809273 Centerline is valid? [True, True] Translation: X:910.15, Y:66.39, Z:6.38 [[ 5.56654406e-01 -8.30636308e-01 -1.33864489e-02 9.10154914e+02] [ 8.30432574e-01 5.56814670e-01 -1.84163948e-02 6.63874294e+01] [ 2.27510973e-02 -8.64975863e-04 9.99740786e-01 6.37522462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9192541539999 meters 0.021527725052038676 Centerline is valid? [True, True] Translation: X:910.17, Y:66.41, Z:6.38 [[ 5.55054974e-01 -8.31719259e-01 -1.25319675e-02 9.10171474e+02] [ 8.31540818e-01 5.55195783e-01 -1.72485265e-02 6.64115626e+01] [ 2.13036272e-02 -8.46962055e-04 9.99772693e-01 6.37644876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9492541539998 meters 0.023207400000984545 Centerline is valid? [True, True] Translation: X:910.19, Y:66.44, Z:6.38 [[ 5.53529335e-01 -8.32756188e-01 -1.10637109e-02 9.10185007e+02] [ 8.32617177e-01 5.53639345e-01 -1.52352359e-02 6.64370875e+01] [ 1.88125426e-02 -7.78685709e-04 9.99822725e-01 6.37951385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9792541539998 meters 0.022646225551314972 Centerline is valid? [True, True] Translation: X:910.20, Y:66.46, Z:6.38 [[ 5.54206275e-01 -8.32320229e-01 -9.92178088e-03 9.10199780e+02] [ 8.32208249e-01 5.54294663e-01 -1.36695541e-02 6.64621445e+01] [ 1.68770366e-02 -6.81235218e-04 9.99857341e-01 6.38020565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0092541539999 meters 0.022350537384210653 Centerline is valid? [True, True] Translation: X:910.21, Y:66.49, Z:6.38 [[ 5.55747503e-01 -8.31302704e-01 -8.97370575e-03 9.10214558e+02] [ 8.31210873e-01 5.55819641e-01 -1.23698039e-02 6.64858346e+01] [ 1.52708133e-02 -5.84554161e-04 9.99883223e-01 6.38040179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0392541539999 meters 0.021667362245211597 Centerline is valid? [True, True] Translation: X:910.22, Y:66.51, Z:6.38 [[ 5.60638878e-01 -8.28017342e-01 -8.44566207e-03 9.10224177e+02] [ 8.27935536e-01 5.60702298e-01 -1.16482253e-02 6.65142873e+01] [ 1.43804347e-02 -4.62015769e-04 9.99896489e-01 6.38010018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0692541539999 meters 0.017788377177956376 Centerline is valid? [True, True] Translation: X:910.24, Y:66.54, Z:6.38 [[ 5.64114954e-01 -8.25663938e-01 -7.30617882e-03 9.10236860e+02] [ 8.25602454e-01 5.64162161e-01 -1.00819146e-02 6.65396726e+01] [ 1.24461430e-02 -3.44640340e-04 9.99922484e-01 6.38014111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0992541539998 meters 0.017614782547383023 Centerline is valid? [True, True] Translation: X:910.24, Y:66.57, Z:6.38 [[ 5.71419429e-01 -8.20619830e-01 -7.93287943e-03 9.10244654e+02] [ 8.20546767e-01 5.71474436e-01 -1.09531543e-02 6.65685456e+01] [ 1.35218135e-02 -2.50453370e-04 9.99908545e-01 6.37871177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1292541539999 meters 0.014294025512851154 Centerline is valid? [True, True] Translation: X:910.26, Y:66.60, Z:6.38 [[ 5.75564870e-01 -8.17722457e-01 -7.42051736e-03 9.10256916e+02] [ 8.17658217e-01 5.75612679e-01 -1.02510476e-02 6.65954291e+01] [ 1.26538557e-02 -1.67304092e-04 9.99919923e-01 6.37830690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1592541539999 meters 0.016236022969227198 Centerline is valid? [True, True] Translation: X:910.27, Y:66.62, Z:6.38 [[ 5.79383086e-01 -8.15011395e-01 -8.46557022e-03 9.10269740e+02] [ 8.14927430e-01 5.79444917e-01 -1.16992518e-02 6.66208703e+01] [ 1.44403551e-02 -1.20476793e-04 9.99895725e-01 6.37684390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1892541539999 meters 0.013399588371817022 Centerline is valid? [True, True] Translation: X:910.28, Y:66.65, Z:6.38 [[ 5.83469242e-01 -8.12095835e-01 -7.99981718e-03 9.10281943e+02] [ 8.12020553e-01 5.83524080e-01 -1.10575691e-02 6.66461844e+01] [ 1.36478918e-02 -4.42644991e-05 9.99906862e-01 6.37625534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2192541539998 meters 0.015268863278339068 Centerline is valid? [True, True] Translation: X:910.29, Y:66.68, Z:6.38 [[ 5.89752412e-01 -8.07540902e-01 -8.35368407e-03 9.10290985e+02] [ 8.07458287e-01 5.89811569e-01 -1.15511047e-02 6.66750558e+01] [ 1.42550890e-02 6.70404216e-05 9.99898389e-01 6.37513830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2492541539999 meters 0.016301039591960335 Centerline is valid? [True, True] Translation: X:910.30, Y:66.70, Z:6.38 [[ 5.92376641e-01 -8.05619402e-01 -8.20331754e-03 9.10304806e+02] [ 8.05539482e-01 5.92433427e-01 -1.13480394e-02 6.67000441e+01] [ 1.40021202e-02 1.14217295e-04 9.99901959e-01 6.37558056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2792541539999 meters 0.016085164066347583 Centerline is valid? [True, True] Translation: X:910.32, Y:66.73, Z:6.38 [[ 5.96447727e-01 -8.02622897e-01 -6.82597048e-03 9.10315538e+02] [ 8.02567333e-01 5.96486765e-01 -9.44535893e-03 6.67271792e+01] [ 1.16526624e-02 1.55361941e-04 9.99932093e-01 6.37561500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3092541539999 meters 0.015225288731162282 Centerline is valid? [True, True] Translation: X:910.33, Y:66.75, Z:6.38 [[ 5.97956515e-01 -8.01506265e-01 -5.97602365e-03 9.10330088e+02] [ 8.01463591e-01 5.97986356e-01 -8.27221859e-03 6.67518266e+01] [ 1.02038156e-02 1.56861624e-04 9.99947927e-01 6.37605114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3392541539998 meters 0.017275723856288054 Centerline is valid? [True, True] Translation: X:910.35, Y:66.78, Z:6.38 [[ 5.98666218e-01 -8.00976650e-01 -5.93011334e-03 9.10346340e+02] [ 8.00934560e-01 5.98695564e-01 -8.21290970e-03 6.67753474e+01] [ 1.01286814e-02 1.67158866e-04 9.99948690e-01 6.37611923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3692541539999 meters 0.01576656401634905 Centerline is valid? [True, True] Translation: X:910.36, Y:66.80, Z:6.38 [[ 5.99778216e-01 -8.00154020e-01 -4.43116194e-03 9.10361170e+02] [ 8.00130480e-01 5.99794569e-01 -6.13927113e-03 6.67994803e+01] [ 7.57014934e-03 1.36693354e-04 9.99971337e-01 6.37641578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3992541539999 meters 0.01677196333021754 Centerline is valid? [True, True] Translation: X:910.38, Y:66.82, Z:6.38 [[ 5.99421803e-01 -8.00421214e-01 -4.40255127e-03 9.10378114e+02] [ 8.00397973e-01 5.99437956e-01 -6.10097547e-03 6.68216841e+01] [ 7.52240652e-03 1.33264609e-04 9.99971697e-01 6.37668908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4292541539999 meters 0.02041405571941989 Centerline is valid? [True, True] Translation: X:910.39, Y:66.84, Z:6.38 [[ 5.98820005e-01 -8.00868323e-01 -4.95294627e-03 9.10392491e+02] [ 8.00838888e-01 5.98840470e-01 -6.86789865e-03 6.68441385e+01] [ 8.46630715e-03 1.46123123e-04 9.99964150e-01 6.37588887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4592541539998 meters 0.017247367947883733 Centerline is valid? [True, True] Translation: X:910.41, Y:66.87, Z:6.38 [[ 5.97224235e-01 -8.02059571e-01 -4.86395344e-03 9.10412107e+02] [ 8.02031205e-01 5.97244027e-01 -6.74672158e-03 6.68661516e+01] [ 8.31623975e-03 1.28263194e-04 9.99965411e-01 6.37507013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4892541539999 meters 0.01873557505849896 Centerline is valid? [True, True] Translation: X:910.43, Y:66.89, Z:6.37 [[ 5.96180692e-01 -8.02831397e-01 -5.50730968e-03 9.10430242e+02] [ 8.02795022e-01 5.96206113e-01 -7.64348449e-03 6.68889453e+01] [ 9.41992103e-03 1.35657075e-04 9.99955622e-01 6.37406190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5192541539999 meters 0.015087925869475547 Centerline is valid? [True, True] Translation: X:910.45, Y:66.91, Z:6.37 [[ 5.94517158e-01 -8.04061813e-01 -5.82661199e-03 9.10448276e+02] [ 8.04021113e-01 5.94545696e-01 -8.09105929e-03 6.69111959e+01] [ 9.96989888e-03 1.25554515e-04 9.99950291e-01 6.37302152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5492541539999 meters 0.014655703113837413 Centerline is valid? [True, True] Translation: X:910.46, Y:66.93, Z:6.37 [[ 5.93761494e-01 -8.04616257e-01 -6.32191649e-03 9.10464394e+02] [ 8.04568326e-01 5.93795134e-01 -8.78334296e-03 6.69328844e+01] [ 1.08211438e-02 1.28797068e-04 9.99941441e-01 6.37227943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5792541539998 meters 0.017455566653838135 Centerline is valid? [True, True] Translation: X:910.48, Y:66.95, Z:6.37 [[ 5.92760368e-01 -8.05345923e-01 -7.28633618e-03 9.10481922e+02] [ 8.05282239e-01 5.92805133e-01 -1.01286280e-02 6.69547439e+01] [ 1.24764267e-02 1.36292137e-04 9.99922157e-01 6.37120683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6092541539998 meters 0.015470424075886816 Centerline is valid? [True, True] Translation: X:910.50, Y:66.98, Z:6.37 [[ 5.90361245e-01 -8.07099125e-01 -8.03761415e-03 9.10500480e+02] [ 8.07021727e-01 5.90415946e-01 -1.11777718e-02 6.69759519e+01] [ 1.37671054e-02 1.12394048e-04 9.99905223e-01 6.36998900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6392541539999 meters 0.014219008430358936 Centerline is valid? [True, True] Translation: X:910.52, Y:67.00, Z:6.37 [[ 5.88428929e-01 -8.08505484e-01 -8.38321968e-03 9.10518366e+02] [ 8.08421392e-01 5.88488637e-01 -1.16609571e-02 6.69970231e+01] [ 1.43613773e-02 8.44703813e-05 9.99896867e-01 6.36952188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6692541539999 meters 0.015617824342526298 Centerline is valid? [True, True] Translation: X:910.54, Y:67.02, Z:6.37 [[ 5.85934714e-01 -8.10309270e-01 -8.91051950e-03 9.10537639e+02] [ 8.10214390e-01 5.86002461e-01 -1.23999067e-02 6.70181460e+01] [ 1.52693457e-02 4.61046541e-05 9.99883416e-01 6.36906258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6992541539998 meters 0.014183218039970887 Centerline is valid? [True, True] Translation: X:910.56, Y:67.04, Z:6.37 [[ 5.79360765e-01 -8.15019404e-01 -9.19110350e-03 9.10560984e+02] [ 8.14918926e-01 5.79433660e-01 -1.27975773e-02 6.70375293e+01] [ 1.57559086e-02 -7.55899954e-05 9.99875865e-01 6.36912805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7292541539998 meters 0.014853972540650922 Centerline is valid? [True, True] Translation: X:910.58, Y:67.06, Z:6.37 [[ 5.75401184e-01 -8.17820461e-01 -9.11983920e-03 9.10581444e+02] [ 8.17721806e-01 5.75473433e-01 -1.27033523e-02 6.70575657e+01] [ 1.56372866e-02 -1.47967415e-04 9.99877719e-01 6.36908675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7592541539999 meters 0.016532261216629558 Centerline is valid? [True, True] Translation: X:910.61, Y:67.08, Z:6.37 [[ 5.67334049e-01 -8.23443569e-01 -8.53021732e-03 9.10606691e+02] [ 8.23357816e-01 5.67398105e-01 -1.18868335e-02 6.70750501e+01] [ 1.46281657e-02 -2.79615734e-04 9.99892964e-01 6.37086967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7892541539999 meters 0.01919030674657074 Centerline is valid? [True, True] Translation: X:910.63, Y:67.09, Z:6.37 [[ 5.63360006e-01 -8.26170648e-01 -8.21971953e-03 9.10627807e+02] [ 8.26091231e-01 5.63419869e-01 -1.14599042e-02 6.70944884e+01] [ 1.40989898e-02 -3.34186541e-04 9.99900548e-01 6.37109732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8192541539999 meters 0.01919030674657074 Centerline is valid? [True, True] Translation: X:910.64, Y:67.12, Z:6.37 [[ 5.63133273e-01 -8.26325239e-01 -8.21677329e-03 9.10643812e+02] [ 8.26245808e-01 5.63193117e-01 -1.14620165e-02 6.71169553e+01] [ 1.40989837e-02 -3.34431594e-04 9.99900548e-01 6.37128788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8492541539998 meters 0.020876996547022447 Centerline is valid? [True, True] Translation: X:910.66, Y:67.14, Z:6.37 [[ 5.59449851e-01 -8.28825050e-01 -8.05610172e-03 9.10664319e+02] [ 8.28748866e-01 5.59507719e-01 -1.12441189e-02 6.71372313e+01] [ 1.38268585e-02 -3.85964545e-04 9.99904330e-01 6.37217452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8792541539999 meters 0.022189716018782477 Centerline is valid? [True, True] Translation: X:910.69, Y:67.15, Z:6.37 [[ 5.53663590e-01 -8.32708078e-01 -7.34072015e-03 9.10687247e+02] [ 8.32645093e-01 5.53712079e-01 -1.02509302e-02 6.71549938e+01] [ 1.26006778e-02 -4.36647781e-04 9.99920513e-01 6.37372777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9092541539999 meters 0.022186353230797297 Centerline is valid? [True, True] Translation: X:910.71, Y:67.18, Z:6.37 [[ 5.51640263e-01 -8.34051124e-01 -7.19317279e-03 9.10705404e+02] [ 8.33990695e-01 5.51686972e-01 -1.00501261e-02 6.71777393e+01] [ 1.23506987e-02 -4.54984979e-04 9.99923624e-01 6.37405607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9392541539999 meters 0.022955472370567612 Centerline is valid? [True, True] Translation: X:910.72, Y:67.20, Z:6.37 [[ 5.50280427e-01 -8.34947586e-01 -7.34718579e-03 9.10724259e+02] [ 8.34884554e-01 5.50329262e-01 -1.02705439e-02 6.71996551e+01] [ 1.26187371e-02 -4.82372674e-04 9.99920264e-01 6.37404220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9692541539998 meters 0.03008547621349551 Centerline is valid? [True, True] Translation: X:910.75, Y:67.22, Z:6.37 [[ 5.50015357e-01 -8.35117780e-01 -7.83592945e-03 9.10748335e+02] [ 8.35046033e-01 5.50070930e-01 -1.09587402e-02 6.72160373e+01] [ 1.34621558e-02 -5.15886414e-04 9.99909248e-01 6.37169540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9992541539999 meters 0.022411573968317854 Centerline is valid? [True, True] Translation: X:910.76, Y:67.24, Z:6.37 [[ 5.50890398e-01 -8.34539672e-01 -7.95644617e-03 9.10759027e+02] [ 8.34465575e-01 5.50947619e-01 -1.11321749e-02 6.72441912e+01] [ 1.36738267e-02 -5.06772151e-04 9.99906380e-01 6.37406317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0292541539999 meters 0.022039063617623093 Centerline is valid? [True, True] Translation: X:910.77, Y:67.27, Z:6.37 [[ 5.54815057e-01 -8.31927513e-01 -8.76734180e-03 9.10773528e+02] [ 8.31837110e-01 5.54884114e-01 -1.22736660e-02 6.72674394e+01] [ 1.50756591e-02 -4.83385581e-04 9.99886239e-01 6.37280130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0592541539999 meters 0.020554341526152594 Centerline is valid? [True, True] Translation: X:910.79, Y:67.29, Z:6.37 [[ 5.57458769e-01 -8.30152557e-01 -9.29799296e-03 9.10788089e+02] [ 8.30050551e-01 5.57536116e-01 -1.30215916e-02 6.72907029e+01] [ 1.59938745e-02 -4.58803741e-04 9.99871985e-01 6.37286015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0892541539998 meters 0.017500991465433404 Centerline is valid? [True, True] Translation: X:910.80, Y:67.32, Z:6.37 [[ 5.60345270e-01 -8.28205152e-01 -9.45540082e-03 9.10800315e+02] [ 8.28099297e-01 5.60424893e-01 -1.32474122e-02 6.73175690e+01] [ 1.62706170e-02 -4.06885998e-04 9.99867542e-01 6.37414424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1192541539999 meters 0.018281345680407825 Centerline is valid? [True, True] Translation: X:910.82, Y:67.34, Z:6.37 [[ 5.63561799e-01 -8.26019817e-01 -9.45305825e-03 9.10816737e+02] [ 8.25913612e-01 5.63640973e-01 -1.32498959e-02 6.73393364e+01] [ 1.62728075e-02 -3.40274333e-04 9.99867531e-01 6.37336366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1492541539999 meters 0.015581880554931093 Centerline is valid? [True, True] Translation: X:910.83, Y:67.37, Z:6.38 [[ 5.69854809e-01 -8.21694360e-01 -9.15838579e-03 9.10827585e+02] [ 8.21594018e-01 5.69928361e-01 -1.28426522e-02 6.73667719e+01] [ 1.57723587e-02 -2.06027862e-04 9.99875587e-01 6.37601133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1792541539999 meters 0.017300681444663464 Centerline is valid? [True, True] Translation: X:910.84, Y:67.39, Z:6.38 [[ 5.75084429e-01 -8.18046858e-01 -8.78847231e-03 9.10841614e+02] [ 8.17953936e-01 5.75151570e-01 -1.23300685e-02 6.73929431e+01] [ 1.51412775e-02 -9.77350816e-05 9.99885360e-01 6.37723620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2092541539998 meters 0.014571886805622198 Centerline is valid? [True, True] Translation: X:910.86, Y:67.42, Z:6.38 [[ 5.77333421e-01 -8.16464030e-01 -8.52109399e-03 9.10856327e+02] [ 8.16376447e-01 5.77396298e-01 -1.19587815e-02 6.74171381e+01] [ 1.46839631e-02 -5.22161917e-05 9.99892183e-01 6.37787811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2392541539999 meters 0.015248946416368066 Centerline is valid? [True, True] Translation: X:910.87, Y:67.44, Z:6.38 [[ 5.78680481e-01 -8.15505044e-01 -8.96795412e-03 9.10871365e+02] [ 8.15407834e-01 5.78749966e-01 -1.25913244e-02 6.74406953e+01] [ 1.54584917e-02 -2.61863914e-05 9.99880510e-01 6.37869043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2692541539999 meters 0.017374498589647645 Centerline is valid? [True, True] Translation: X:910.89, Y:67.46, Z:6.38 [[ 5.79366447e-01 -8.15012591e-01 -9.43379235e-03 9.10887387e+02] [ 8.14904818e-01 5.79443247e-01 -1.32537353e-02 6.74641117e+01] [ 1.62683084e-02 -8.87330336e-06 9.99867662e-01 6.37776229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2992541539999 meters 0.014574400107531775 Centerline is valid? [True, True] Translation: X:910.90, Y:67.49, Z:6.38 [[ 5.79728599e-01 -8.14750854e-01 -9.78763174e-03 9.10902907e+02] [ 8.14634697e-01 5.79811216e-01 -1.37573278e-02 6.74868468e+01] [ 1.68837733e-02 2.17198220e-06 9.99857459e-01 6.37794496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3292541539998 meters 0.014629602200524965 Centerline is valid? [True, True] Translation: X:910.92, Y:67.51, Z:6.38 [[ 5.79130883e-01 -8.15170612e-01 -1.02123788e-02 9.10919809e+02] [ 8.15044134e-01 5.79220919e-01 -1.43591967e-02 6.75091853e+01] [ 1.76204186e-02 -7.68520189e-06 9.99844748e-01 6.37723165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3592541539998 meters 0.014678536436181996 Centerline is valid? [True, True] Translation: X:910.94, Y:67.53, Z:6.38 [[ 5.76214919e-01 -8.17222721e-01 -1.11081826e-02 9.10938424e+02] [ 8.17073320e-01 5.76321976e-01 -1.56259480e-02 6.75311384e+01] [ 1.91717695e-02 -7.22952255e-05 9.99816202e-01 6.37726205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3892541539999 meters 0.01487730540594558 Centerline is valid? [True, True] Translation: X:910.96, Y:67.55, Z:6.38 [[ 5.74168693e-01 -8.18655979e-01 -1.15195767e-02 9.10957189e+02] [ 8.18495421e-01 5.74284228e-01 -1.62133266e-02 6.75537948e+01] [ 1.98886480e-02 -1.19536256e-04 9.99802194e-01 6.37757270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4192541539999 meters 0.01784139421450149 Centerline is valid? [True, True] Translation: X:910.98, Y:67.57, Z:6.38 [[ 5.69163431e-01 -8.22122716e-01 -1.29317044e-02 9.10977168e+02] [ 8.21921125e-01 5.69310257e-01 -1.82070128e-02 6.75732028e+01] [ 2.23305508e-02 -2.66075191e-04 9.99750607e-01 6.37699717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4492541539998 meters 0.016138788665414305 Centerline is valid? [True, True] Translation: X:910.99, Y:67.60, Z:6.38 [[ 5.66893373e-01 -8.23691521e-01 -1.28133709e-02 9.10994828e+02] [ 8.23493830e-01 5.67038073e-01 -1.80481426e-02 6.75958895e+01] [ 2.21317712e-02 -3.20359483e-04 9.99755011e-01 6.37722476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4792541539998 meters 0.01786196789480939 Centerline is valid? [True, True] Translation: X:911.01, Y:67.62, Z:6.38 [[ 5.64306988e-01 -8.25456725e-01 -1.33722977e-02 9.11013737e+02] [ 8.25241672e-01 5.64465264e-01 -1.88453605e-02 6.76177633e+01] [ 2.31042271e-02 -4.00808719e-04 9.99732981e-01 6.37679064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5092541539999 meters 0.01895027019283113 Centerline is valid? [True, True] Translation: X:911.04, Y:67.64, Z:6.38 [[ 5.59016359e-01 -8.29047076e-01 -1.34779412e-02 9.11035012e+02] [ 8.28829403e-01 5.59178545e-01 -1.90045955e-02 6.76370047e+01] [ 2.32922799e-02 -5.47034200e-04 9.99728548e-01 6.37630470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5392541539999 meters 0.019726029063210665 Centerline is valid? [True, True] Translation: X:911.05, Y:67.66, Z:6.38 [[ 5.53412522e-01 -8.32796338e-01 -1.35956013e-02 9.11054553e+02] [ 8.32575712e-01 5.53579049e-01 -1.91812387e-02 6.76575984e+01] [ 2.35003054e-02 -7.04229736e-04 9.99723582e-01 6.37860440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5692541539999 meters 0.022068462415471852 Centerline is valid? [True, True] Translation: X:911.07, Y:67.68, Z:6.38 [[ 5.50470135e-01 -8.34740247e-01 -1.38329448e-02 9.11073642e+02] [ 8.34512210e-01 5.50643340e-01 -1.95264751e-02 6.76791986e+01] [ 2.39165536e-02 -7.95019944e-04 9.99713642e-01 6.37866154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5992541539998 meters 0.022223970015140853 Centerline is valid? [True, True] Translation: X:911.09, Y:67.70, Z:6.38 [[ 5.48347560e-01 -8.36143562e-01 -1.33752404e-02 9.11091753e+02] [ 8.35930581e-01 5.48510042e-01 -1.88890964e-02 6.77005719e+01] [ 2.31304501e-02 -8.22982585e-04 9.99732117e-01 6.37936369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6292541539999 meters 0.023354396878912574 Centerline is valid? [True, True] Translation: X:911.11, Y:67.72, Z:6.38 [[ 5.46480296e-01 -8.37354762e-01 -1.40102662e-02 9.11109509e+02] [ 8.37121228e-01 5.46659101e-01 -1.97958599e-02 6.77236371e+01] [ 2.42349971e-02 -9.10243818e-04 9.99705875e-01 6.38026506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6592541539999 meters 0.022204841643428355 Centerline is valid? [True, True] Translation: X:911.13, Y:67.75, Z:6.38 [[ 5.45834415e-01 -8.37785753e-01 -1.34098314e-02 9.11126230e+02] [ 8.37571692e-01 5.45998398e-01 -1.89581305e-02 6.77462086e+01] [ 2.32045981e-02 -8.83695090e-04 9.99730346e-01 6.38151553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6892541539999 meters 0.024099425906891316 Centerline is valid? [True, True] Translation: X:911.14, Y:67.77, Z:6.38 [[ 5.46283736e-01 -8.37476611e-01 -1.43876641e-02 9.11142257e+02] [ 8.37229799e-01 5.46472382e-01 -2.03518989e-02 6.77675052e+01] [ 2.49067004e-02 -9.27869749e-04 9.99689349e-01 6.38062467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7192541539998 meters 0.022350057457967844 Centerline is valid? [True, True] Translation: X:911.15, Y:67.79, Z:6.38 [[ 5.49618076e-01 -8.35274289e-01 -1.53893618e-02 9.11154080e+02] [ 8.34990714e-01 5.49832784e-01 -2.17811159e-02 6.77935590e+01] [ 2.66547817e-02 -8.78679213e-04 9.99644312e-01 6.38064379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7492541539999 meters 0.020417012120187955 Centerline is valid? [True, True] Translation: X:911.17, Y:67.82, Z:6.38 [[ 5.52375685e-01 -8.33455489e-01 -1.52660122e-02 9.11168036e+02] [ 8.33175426e-01 5.52586051e-01 -2.16186371e-02 6.78181948e+01] [ 2.64539572e-02 -7.77656728e-04 9.99649730e-01 6.38092942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7792541539999 meters 0.0185083538639556 Centerline is valid? [True, True] Translation: X:911.18, Y:67.84, Z:6.38 [[ 5.54881883e-01 -8.31787814e-01 -1.53339013e-02 9.11180926e+02] [ 8.31504290e-01 5.55093281e-01 -2.17270762e-02 6.78439168e+01] [ 2.65840628e-02 -6.94243774e-04 9.99646340e-01 6.38185421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8092541539999 meters 0.01882822463368245 Centerline is valid? [True, True] Translation: X:911.19, Y:67.87, Z:6.38 [[ 5.59837466e-01 -8.28432085e-01 -1.68015686e-02 9.11192519e+02] [ 8.28089749e-01 5.60089232e-01 -2.38205829e-02 6.78703558e+01] [ 2.91441128e-02 -5.77551928e-04 9.99575053e-01 6.38181633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8392541539998 meters 0.01658151210003335 Centerline is valid? [True, True] Translation: X:911.21, Y:67.89, Z:6.38 [[ 5.62636873e-01 -8.26552345e-01 -1.58420457e-02 9.11205751e+02] [ 8.26246999e-01 5.62859681e-01 -2.24694255e-02 6.78943294e+01] [ 2.74890051e-02 -4.47315386e-04 9.99622006e-01 6.38227137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8692541539999 meters 0.01762196359686817 Centerline is valid? [True, True] Translation: X:911.22, Y:67.92, Z:6.38 [[ 5.66074283e-01 -8.24185401e-01 -1.66832816e-02 9.11217836e+02] [ 8.23845387e-01 5.66319970e-01 -2.36742734e-02 6.79207447e+01] [ 2.89600660e-02 -3.43047253e-04 9.99580510e-01 6.38330315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8992541539999 meters 0.01691478952205457 Centerline is valid? [True, True] Translation: X:911.23, Y:67.95, Z:6.38 [[ 5.67631562e-01 -8.23122965e-01 -1.62171108e-02 9.11232200e+02] [ 8.22800916e-01 5.67863108e-01 -2.30248543e-02 6.79457741e+01] [ 2.81613853e-02 -2.73819608e-04 9.99603352e-01 6.38418156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9292541539999 meters 0.017809463746639678 Centerline is valid? [True, True] Translation: X:911.25, Y:67.97, Z:6.38 [[ 5.69593132e-01 -8.21753458e-01 -1.68795601e-02 9.11245237e+02] [ 8.21403675e-01 5.69843146e-01 -2.39748209e-02 6.79695469e+01] [ 2.93200936e-02 -2.09039414e-04 9.99570052e-01 6.38338768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9592541539998 meters 0.015134145348917879 Centerline is valid? [True, True] Translation: X:911.26, Y:67.99, Z:6.39 [[ 5.70477689e-01 -8.21166297e-01 -1.55280437e-02 9.11260098e+02] [ 8.20869796e-01 5.70688959e-01 -2.20655635e-02 6.79946934e+01] [ 2.69811802e-02 -1.58590394e-04 9.99635929e-01 6.38504599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9892541539999 meters 0.01597806787665185 Centerline is valid? [True, True] Translation: X:911.28, Y:68.02, Z:6.38 [[ 5.70830528e-01 -8.20917112e-01 -1.57354101e-02 9.11275544e+02] [ 8.20612276e-01 5.71047349e-01 -2.23700216e-02 6.80174832e+01] [ 2.73495977e-02 -1.43179409e-04 9.99625920e-01 6.38302029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0192541539999 meters 0.014957473283186487 Centerline is valid? [True, True] Translation: X:911.29, Y:68.04, Z:6.39 [[ 5.71175261e-01 -8.20686752e-01 -1.52340178e-02 9.11289941e+02] [ 8.20400650e-01 5.71378368e-01 -2.16687077e-02 6.80416498e+01] [ 2.64876095e-02 -1.21368342e-04 9.99649134e-01 6.38561555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0492541539999 meters 0.01524834021613176 Centerline is valid? [True, True] Translation: X:911.30, Y:68.07, Z:6.38 [[ 5.72945311e-01 -8.19460181e-01 -1.47878881e-02 9.11303141e+02] [ 8.19189921e-01 5.73136116e-01 -2.10443556e-02 6.80653842e+01] [ 2.57204842e-02 -5.68240433e-05 9.99669172e-01 6.38463628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0792541539998 meters 0.014762347890607047 Centerline is valid? [True, True] Translation: X:911.32, Y:68.09, Z:6.39 [[ 5.73840626e-01 -8.18839897e-01 -1.44276974e-02 9.11317703e+02] [ 8.18582169e-01 5.74021970e-01 -2.05429019e-02 6.80897854e+01] [ 2.51031630e-02 -2.19041346e-05 9.99684866e-01 6.38749848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1092541539998 meters 0.014622402355361743 Centerline is valid? [True, True] Translation: X:911.33, Y:68.12, Z:6.39 [[ 5.76518636e-01 -8.16965395e-01 -1.39214400e-02 9.11331028e+02] [ 8.16724633e-01 5.76686691e-01 -1.98326337e-02 6.81159666e+01] [ 2.42308846e-02 6.38999964e-05 9.99706387e-01 6.38932925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1392541539999 meters 0.01451959008941496 Centerline is valid? [True, True] Translation: X:911.35, Y:68.14, Z:6.39 [[ 5.77883436e-01 -8.15996347e-01 -1.41667427e-02 9.11345884e+02] [ 8.15746466e-01 5.78057047e-01 -2.01929119e-02 6.81403628e+01] [ 2.46665278e-02 1.12678964e-04 9.99695729e-01 6.39036256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1692541539999 meters 0.014798401915195877 Centerline is valid? [True, True] Translation: X:911.36, Y:68.16, Z:6.39 [[ 5.79117356e-01 -8.15125611e-01 -1.39041505e-02 9.11360135e+02] [ 8.14884443e-01 5.79284226e-01 -1.98275175e-02 6.81638840e+01] [ 2.42163724e-02 1.52183586e-04 9.99706729e-01 6.38989500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1992541539998 meters 0.014915444214753302 Centerline is valid? [True, True] Translation: X:911.38, Y:68.19, Z:6.39 [[ 5.80497867e-01 -8.14138321e-01 -1.41781610e-02 9.11375590e+02] [ 8.13887008e-01 5.80670950e-01 -2.02283484e-02 6.81883967e+01] [ 2.47015198e-02 2.03092042e-04 9.99694850e-01 6.39008200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2292541539998 meters 0.015259673658612692 Centerline is valid? [True, True] Translation: X:911.39, Y:68.21, Z:6.39 [[ 5.83228576e-01 -8.12172969e-01 -1.48154143e-02 9.11389696e+02] [ 8.11897622e-01 5.83416639e-01 -2.11489207e-02 6.82136187e+01] [ 2.58201410e-02 3.06055264e-04 9.99666558e-01 6.39007126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2592541539999 meters 0.01565484391943541 Centerline is valid? [True, True] Translation: X:911.40, Y:68.24, Z:6.39 [[ 5.84499538e-01 -8.11250455e-01 -1.52639936e-02 9.11404608e+02] [ 8.10957553e-01 5.84698697e-01 -2.18009433e-02 6.82384140e+01] [ 2.66108623e-02 3.64190365e-04 9.99645802e-01 6.38931771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2892541539999 meters 0.01653588707109691 Centerline is valid? [True, True] Translation: X:911.42, Y:68.26, Z:6.39 [[ 5.87482105e-01 -8.09073880e-01 -1.62552611e-02 9.11417535e+02] [ 8.08740619e-01 5.87706737e-01 -2.32250249e-02 6.82639116e+01] [ 2.83440874e-02 4.97996521e-04 9.99598102e-01 6.38790495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3192541539999 meters 0.017126004474681093 Centerline is valid? [True, True] Translation: X:911.43, Y:68.29, Z:6.39 [[ 5.88978762e-01 -8.07971312e-01 -1.69226675e-02 9.11431856e+02] [ 8.07609377e-01 5.89221540e-01 -2.41882267e-02 6.82885545e+01] [ 2.95145935e-02 5.79446854e-04 9.99564182e-01 6.38681398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3492541539998 meters 0.017348732498351137 Centerline is valid? [True, True] Translation: X:911.45, Y:68.31, Z:6.39 [[ 5.90160223e-01 -8.07096918e-01 -1.74778934e-02 9.11447182e+02] [ 8.06710266e-01 5.90418620e-01 -2.49880033e-02 6.83123967e+01] [ 3.04870141e-02 6.47329554e-04 9.99534953e-01 6.38667305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3792541539999 meters 0.017927353491955216 Centerline is valid? [True, True] Translation: X:911.46, Y:68.34, Z:6.39 [[ 5.91293315e-01 -8.06253963e-01 -1.80765858e-02 9.11463012e+02] [ 8.05839596e-01 5.91569123e-01 -2.58557194e-02 6.83366125e+01] [ 3.15398263e-02 7.21485400e-04 9.99502236e-01 6.38611825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4092541539999 meters 0.01731648120026032 Centerline is valid? [True, True] Translation: X:911.48, Y:68.36, Z:6.39 [[ 5.90836927e-01 -8.06584489e-01 -1.82534386e-02 9.11480019e+02] [ 8.06161630e-01 5.91118384e-01 -2.61243802e-02 6.83584768e+01] [ 3.18614630e-02 7.20026708e-04 9.99492035e-01 6.38802740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4392541539999 meters 0.017936075660608848 Centerline is valid? [True, True] Translation: X:911.50, Y:68.38, Z:6.39 [[ 5.90079597e-01 -8.07133005e-01 -1.85035297e-02 9.11495132e+02] [ 8.06698408e-01 5.90369218e-01 -2.64927543e-02 6.83805310e+01] [ 3.23070908e-02 7.06065866e-04 9.99477740e-01 6.38763660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4692541539998 meters 0.019470064492114872 Centerline is valid? [True, True] Translation: X:911.51, Y:68.40, Z:6.39 [[ 5.87707134e-01 -8.08836202e-01 -1.96041539e-02 9.11513742e+02] [ 8.08348755e-01 5.88033643e-01 -2.80842613e-02 6.84022302e+01] [ 3.42434693e-02 6.58327371e-04 9.99413304e-01 6.38931625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4992541539999 meters 0.01635893926100417 Centerline is valid? [True, True] Translation: X:911.53, Y:68.43, Z:6.39 [[ 5.86579603e-01 -8.09709151e-01 -1.71889556e-02 9.11531008e+02] [ 8.09334435e-01 5.86831151e-01 -2.46368254e-02 6.84257910e+01] [ 3.00356776e-02 5.39845586e-04 9.99548681e-01 6.39042017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5292541539999 meters 0.015605008443047812 Centerline is valid? [True, True] Translation: X:911.55, Y:68.45, Z:6.39 [[ 5.83243733e-01 -8.12134935e-01 -1.62356143e-02 9.11550232e+02] [ 8.11801207e-01 5.83469526e-01 -2.32833274e-02 6.84469147e+01] [ 2.83821897e-02 3.99763463e-04 9.99597065e-01 6.39204279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5592541539999 meters 0.015052568658109142 Centerline is valid? [True, True] Translation: X:911.57, Y:68.47, Z:6.39 [[ 5.81286011e-01 -8.13547375e-01 -1.57239440e-02 9.11568703e+02] [ 8.13234528e-01 5.81498548e-01 -2.25619219e-02 6.84690649e+01] [ 2.74986430e-02 3.27675392e-04 9.99621787e-01 6.39369154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5892541539998 meters 0.014753514599018495 Centerline is valid? [True, True] Translation: X:911.59, Y:68.49, Z:6.39 [[ 5.79511363e-01 -8.14821696e-01 -1.52375890e-02 9.11586878e+02] [ 8.14528031e-01 5.79711595e-01 -2.18758708e-02 6.84920180e+01] [ 2.66583412e-02 2.65872324e-04 9.99644568e-01 6.39477035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6192541539999 meters 0.014609802560120594 Centerline is valid? [True, True] Translation: X:911.60, Y:68.51, Z:6.40 [[ 5.77155070e-01 -8.16502467e-01 -1.46883371e-02 9.11604586e+02] [ 8.16229947e-01 5.77341915e-01 -2.10946979e-02 6.85137103e+01] [ 2.57040655e-02 1.85851254e-04 9.99669579e-01 6.39538235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6492541539999 meters 0.016393323900515115 Centerline is valid? [True, True] Translation: X:911.62, Y:68.54, Z:6.40 [[ 5.76056499e-01 -8.17254586e-01 -1.59327100e-02 9.11621950e+02] [ 8.16934073e-01 5.76276767e-01 -2.28868391e-02 6.85362568e+01] [ 2.78860248e-02 1.68138729e-04 9.99611095e-01 6.39569782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6792541539999 meters 0.014483014896114943 Centerline is valid? [True, True] Translation: X:911.64, Y:68.56, Z:6.40 [[ 5.75645289e-01 -8.17553962e-01 -1.54279396e-02 9.11638576e+02] [ 8.17253277e-01 5.75851974e-01 -2.21717196e-02 6.85598239e+01] [ 2.70107866e-02 1.54511758e-04 9.99635130e-01 6.39562077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7092541539998 meters 0.014483014896114943 Centerline is valid? [True, True] Translation: X:911.65, Y:68.58, Z:6.40 [[ 5.75408033e-01 -8.17721081e-01 -1.54217110e-02 9.11654270e+02] [ 8.17420340e-01 5.75614636e-01 -2.21760520e-02 6.85825071e+01] [ 2.70107878e-02 1.54258227e-04 9.99635130e-01 6.39581130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7392541539999 meters 0.016104953128707997 Centerline is valid? [True, True] Translation: X:911.67, Y:68.61, Z:6.40 [[ 5.74503377e-01 -8.18327681e-01 -1.69019379e-02 9.11671731e+02] [ 8.17966275e-01 5.74751933e-01 -2.43184744e-02 6.86056822e+01] [ 2.96149023e-02 1.45830525e-04 9.99561372e-01 6.39535828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7692541539999 meters 0.01633100429175821 Centerline is valid? [True, True] Translation: X:911.69, Y:68.63, Z:6.39 [[ 5.73394746e-01 -8.19078053e-01 -1.81551175e-02 9.11689202e+02] [ 8.18661200e-01 5.73682080e-01 -2.61287298e-02 6.86272031e+01] [ 3.18167347e-02 1.19186091e-04 9.99493712e-01 6.39420772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7992541539999 meters 0.016818726715266522 Centerline is valid? [True, True] Translation: X:911.71, Y:68.65, Z:6.39 [[ 5.72452087e-01 -8.19727095e-01 -1.86037053e-02 9.11706750e+02] [ 8.19289322e-01 5.72754294e-01 -2.67866705e-02 6.86505066e+01] [ 3.26131117e-02 9.22683244e-05 9.99468047e-01 6.39399228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8292541539998 meters 0.014948321674601129 Centerline is valid? [True, True] Translation: X:911.72, Y:68.67, Z:6.39 [[ 5.71986174e-01 -8.20073780e-01 -1.76298649e-02 9.11723123e+02] [ 8.19680404e-01 5.72257800e-01 -2.53977503e-02 6.86739165e+01] [ 3.09168568e-02 7.63072324e-05 9.99521957e-01 6.39312671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8592541539998 meters 0.015052845404004154 Centerline is valid? [True, True] Translation: X:911.74, Y:68.70, Z:6.39 [[ 5.70784664e-01 -8.20910391e-01 -1.76351268e-02 9.11740462e+02] [ 8.20516719e-01 5.71057027e-01 -2.54201720e-02 6.86959018e+01] [ 3.09383464e-02 3.95278968e-05 9.99521294e-01 6.39337944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8892541539999 meters 0.01744323868330689 Centerline is valid? [True, True] Translation: X:911.76, Y:68.72, Z:6.39 [[ 5.69844413e-01 -8.21539509e-01 -1.87130977e-02 9.11757572e+02] [ 8.21096203e-01 5.70151590e-01 -2.69849903e-02 6.87176968e+01] [ 3.28385380e-02 1.19924739e-05 9.99460670e-01 6.39397428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9192541539999 meters 0.015002930640409714 Centerline is valid? [True, True] Translation: X:911.77, Y:68.74, Z:6.40 [[ 5.69702500e-01 -8.21684470e-01 -1.65436560e-02 9.11774380e+02] [ 8.21337727e-01 5.69942656e-01 -2.38685321e-02 6.87408259e+01] [ 2.90413374e-02 1.00335989e-05 9.99578211e-01 6.39511888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9492541539998 meters 0.01498339795700395 Centerline is valid? [True, True] Translation: X:911.79, Y:68.76, Z:6.40 [[ 5.69443684e-01 -8.21869880e-01 -1.62416261e-02 9.11791291e+02] [ 8.21535375e-01 5.69675258e-01 -2.34462880e-02 6.87637638e+01] [ 2.85222505e-02 8.27022788e-06 9.99593158e-01 6.39575343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9792541539998 meters 0.015009629145003889 Centerline is valid? [True, True] Translation: X:911.81, Y:68.79, Z:6.40 [[ 5.69217723e-01 -8.22027371e-01 -1.61921203e-02 9.11807570e+02] [ 8.21694576e-01 5.69447979e-01 -2.33885110e-02 6.87860327e+01] [ 2.84465664e-02 8.17759788e-06 9.99595315e-01 6.39653883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0092541539999 meters 0.014969406205579126 Centerline is valid? [True, True] Translation: X:911.82, Y:68.81, Z:6.40 [[ 5.69476595e-01 -8.21867389e-01 -1.51790282e-02 9.11824027e+02] [ 8.21574723e-01 5.69678852e-01 -2.19312418e-02 6.88089720e+01] [ 2.66717438e-02 1.86230127e-05 9.99644246e-01 6.39663772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0392541539999 meters 0.014749237806528512 Centerline is valid? [True, True] Translation: X:911.84, Y:68.83, Z:6.40 [[ 5.69708537e-01 -8.21712909e-01 -1.48350470e-02 9.11839635e+02] [ 8.21433037e-01 5.69901653e-01 -2.14446105e-02 6.88322806e+01] [ 2.60758311e-02 3.11799329e-05 9.99659967e-01 6.39793554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0692541539999 meters 0.014741586814065597 Centerline is valid? [True, True] Translation: X:911.86, Y:68.86, Z:6.40 [[ 5.71090065e-01 -8.20766583e-01 -1.40837810e-02 9.11855461e+02] [ 8.20513764e-01 5.71263695e-01 -2.03704167e-02 6.88558895e+01] [ 2.47649101e-02 7.74064049e-05 9.99693300e-01 6.39901589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0992541539998 meters 0.017572738944879478 Centerline is valid? [True, True] Translation: X:911.87, Y:68.88, Z:6.40 [[ 5.71166118e-01 -8.20696384e-01 -1.50569482e-02 9.11872214e+02] [ 8.20407062e-01 5.71364540e-01 -2.17902679e-02 6.88793596e+01] [ 2.64862003e-02 9.30360811e-05 9.99649175e-01 6.40106287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1292541539999 meters 0.01465206885632135 Centerline is valid? [True, True] Translation: X:911.89, Y:68.90, Z:6.40 [[ 5.72957502e-01 -8.19472282e-01 -1.35970751e-02 9.11887057e+02] [ 8.19235755e-01 5.73118800e-01 -1.96880118e-02 6.89042309e+01] [ 2.39265194e-02 1.41183975e-04 9.99713710e-01 6.40082949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1592541539999 meters 0.01548213704013415 Centerline is valid? [True, True] Translation: X:911.90, Y:68.93, Z:6.40 [[ 5.74080332e-01 -8.18678944e-01 -1.40199918e-02 9.11901944e+02] [ 8.18427086e-01 5.74251473e-01 -2.03064316e-02 6.89279115e+01] [ 2.46754489e-02 1.83181912e-04 9.99695498e-01 6.40034123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1892541539999 meters 0.015372845771371425 Centerline is valid? [True, True] Translation: X:911.92, Y:68.95, Z:6.40 [[ 5.77000490e-01 -8.16626166e-01 -1.38614493e-02 9.11915467e+02] [ 8.16379163e-01 5.77166900e-01 -2.00856268e-02 6.89534323e+01] [ 2.44028182e-02 2.73218087e-04 9.99702170e-01 6.39863537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2192541539998 meters 0.015286807409590026 Centerline is valid? [True, True] Translation: X:911.93, Y:68.98, Z:6.40 [[ 5.78100340e-01 -8.15846865e-01 -1.39244131e-02 9.11931391e+02] [ 8.15597116e-01 5.78267925e-01 -2.01879029e-02 6.89779864e+01] [ 2.45222787e-02 3.13922334e-04 9.99699234e-01 6.39906325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2492541539999 meters 0.015825883026189248 Centerline is valid? [True, True] Translation: X:911.95, Y:69.00, Z:6.40 [[ 5.79790057e-01 -8.14647561e-01 -1.38867369e-02 9.11945567e+02] [ 8.14398671e-01 5.79956220e-01 -2.01392151e-02 6.90015720e+01] [ 2.44600619e-02 3.67176580e-04 9.99700740e-01 6.39862762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2792541539999 meters 0.015972426092554108 Centerline is valid? [True, True] Translation: X:911.96, Y:69.02, Z:6.40 [[ 5.79675840e-01 -8.14727948e-01 -1.39388335e-02 9.11960916e+02] [ 8.14477032e-01 5.79843284e-01 -2.02220006e-02 6.90240860e+01] [ 2.45577680e-02 3.69345431e-04 9.99698344e-01 6.39857109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3092541539999 meters 0.016084909823391738 Centerline is valid? [True, True] Translation: X:911.98, Y:69.05, Z:6.40 [[ 5.79281856e-01 -8.15012578e-01 -1.36758380e-02 9.11976784e+02] [ 8.14771001e-01 5.79443157e-01 -1.98455028e-02 6.90473405e+01] [ 2.40987051e-02 3.53463458e-04 9.99709522e-01 6.39818706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3392541539998 meters 0.01718625208488165 Centerline is valid? [True, True] Translation: X:911.99, Y:69.07, Z:6.40 [[ 5.77351671e-01 -8.16377425e-01 -1.38905744e-02 9.11994493e+02] [ 8.16128361e-01 5.77518663e-01 -2.01666361e-02 6.90688492e+01] [ 2.44856524e-02 3.06749320e-04 9.99700134e-01 6.39857546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3692541539999 meters 0.015508052593188716 Centerline is valid? [True, True] Translation: X:912.01, Y:69.09, Z:6.40 [[ 5.76711537e-01 -8.16841148e-01 -1.32039006e-02 9.12012015e+02] [ 8.16615982e-01 5.76862602e-01 -1.91801013e-02 6.90915645e+01] [ 2.32839324e-02 2.78869460e-04 9.99728854e-01 6.40021732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3992541539999 meters 0.01669672900450979 Centerline is valid? [True, True] Translation: X:912.03, Y:69.11, Z:6.40 [[ 5.75102862e-01 -8.17973861e-01 -1.32461272e-02 9.12030368e+02] [ 8.17747308e-01 5.75255339e-01 -1.92518947e-02 6.91136761e+01] [ 2.33674520e-02 2.39834922e-04 9.99726915e-01 6.40140618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4292541539999 meters 0.014851806243268283 Centerline is valid? [True, True] Translation: X:912.05, Y:69.14, Z:6.40 [[ 5.73564421e-01 -8.19070529e-01 -1.21377115e-02 9.12048438e+02] [ 8.18880352e-01 5.73692805e-01 -1.76503205e-02 6.91366532e+01] [ 2.14201751e-02 1.84262358e-04 9.99770545e-01 6.40216623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4592541539998 meters 0.014897045491281336 Centerline is valid? [True, True] Translation: X:912.06, Y:69.16, Z:6.40 [[ 5.72724466e-01 -8.19660501e-01 -1.19728531e-02 9.12064279e+02] [ 8.19475449e-01 5.72849575e-01 -1.74170154e-02 6.91581529e+01] [ 2.11346834e-02 1.63691658e-04 9.99776624e-01 6.40199404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4892541539999 meters 0.017201912297991655 Centerline is valid? [True, True] Translation: X:912.08, Y:69.18, Z:6.40 [[ 5.71039950e-01 -8.20826346e-01 -1.25493070e-02 9.12082875e+02] [ 8.20623113e-01 5.71177812e-01 -1.82650754e-02 6.91795470e+01] [ 2.21603408e-02 1.31836348e-04 9.99754421e-01 6.40241076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5192541539999 meters 0.016633152693795637 Centerline is valid? [True, True] Translation: X:912.10, Y:69.20, Z:6.40 [[ 5.71171367e-01 -8.20735836e-01 -1.24882490e-02 9.12099274e+02] [ 8.20534308e-01 5.71307857e-01 -1.81874161e-02 6.92024145e+01] [ 2.20616989e-02 1.41094576e-04 9.99756601e-01 6.40244802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5492541539999 meters 0.015922619621343254 Centerline is valid? [True, True] Translation: X:912.12, Y:69.23, Z:6.40 [[ 5.71761435e-01 -8.20325274e-01 -1.24622021e-02 9.12115075e+02] [ 8.20124242e-01 5.71897210e-01 -1.81606275e-02 6.92251568e+01] [ 2.20247204e-02 1.62992380e-04 9.99757413e-01 6.40233447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5792541539998 meters 0.016979847415822907 Centerline is valid? [True, True] Translation: X:912.13, Y:69.25, Z:6.40 [[ 5.73947422e-01 -8.18788941e-01 -1.30010470e-02 9.12130311e+02] [ 8.18569555e-01 5.74094604e-01 -1.89544164e-02 6.92479899e+01] [ 2.29834975e-02 2.36577146e-04 9.99735817e-01 6.40132518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6092541539998 meters 0.016475828143342943 Centerline is valid? [True, True] Translation: X:912.15, Y:69.27, Z:6.40 [[ 5.75414074e-01 -8.17758433e-01 -1.30302673e-02 9.12146138e+02] [ 8.17537582e-01 5.75561521e-01 -1.90062493e-02 6.92720035e+01] [ 2.30422411e-02 2.83730114e-04 9.99734452e-01 6.40168975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6392541539999 meters 0.01642168691865826 Centerline is valid? [True, True] Translation: X:912.16, Y:69.30, Z:6.40 [[ 5.78241705e-01 -8.15759588e-01 -1.31462860e-02 9.12160883e+02] [ 8.15534028e-01 5.78391006e-01 -1.91857685e-02 6.92973884e+01] [ 2.32546682e-02 3.72767981e-04 9.99729504e-01 6.40074989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6692541539999 meters 0.0161697898266628 Centerline is valid? [True, True] Translation: X:912.18, Y:69.32, Z:6.40 [[ 5.79352292e-01 -8.14975019e-01 -1.29089041e-02 9.12177173e+02] [ 8.14757106e-01 5.79495950e-01 -1.88494583e-02 6.93217427e+01] [ 2.28424953e-02 4.02855491e-04 9.99738995e-01 6.40109041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6992541539998 meters 0.016267358274318102 Centerline is valid? [True, True] Translation: X:912.19, Y:69.34, Z:6.40 [[ 5.79922199e-01 -8.14565529e-01 -1.31621493e-02 9.12193556e+02] [ 8.14338741e-01 5.80071387e-01 -1.92250369e-02 6.93449250e+01] [ 2.32950385e-02 4.30577547e-04 9.99728541e-01 6.40167301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7292541539998 meters 0.016454796985376476 Centerline is valid? [True, True] Translation: X:912.21, Y:69.37, Z:6.40 [[ 5.79697824e-01 -8.14729976e-01 -1.28646604e-02 9.12211393e+02] [ 8.14513155e-01 5.79840401e-01 -1.87997555e-02 6.93667270e+01] [ 2.27761742e-02 4.19742241e-04 9.99740501e-01 6.40252778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7592541539999 meters 0.016263094572469116 Centerline is valid? [True, True] Translation: X:912.23, Y:69.39, Z:6.40 [[ 5.79210274e-01 -8.15079623e-01 -1.26753902e-02 9.12228440e+02] [ 8.14868963e-01 5.79348809e-01 -1.85346138e-02 6.93892081e+01] [ 2.24506582e-02 4.06656728e-04 9.99747870e-01 6.40326953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7892541539999 meters 0.017264701497095268 Centerline is valid? [True, True] Translation: X:912.25, Y:69.41, Z:6.40 [[ 5.76601179e-01 -8.16929444e-01 -1.25444888e-02 9.12246518e+02] [ 8.16723381e-01 5.76737523e-01 -1.83507084e-02 6.94101516e+01] [ 2.22261114e-02 3.35662807e-04 9.99752913e-01 6.40332626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8192541539999 meters 0.016408167789438877 Centerline is valid? [True, True] Translation: X:912.26, Y:69.43, Z:6.40 [[ 5.75560454e-01 -8.17670253e-01 -1.20631940e-02 9.12263342e+02] [ 8.17479677e-01 5.75686778e-01 -1.76553605e-02 6.94323070e+01] [ 2.13808844e-02 3.00311423e-04 9.99771358e-01 6.40420904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8492541539998 meters 0.016986153937727427 Centerline is valid? [True, True] Translation: X:912.28, Y:69.45, Z:6.41 [[ 5.72652971e-01 -8.19723192e-01 -1.10662936e-02 9.12281887e+02] [ 8.19563098e-01 5.72759850e-01 -1.62013458e-02 6.94533921e+01] [ 1.96189476e-02 2.08222944e-04 9.99807508e-01 6.40563564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8792541539999 meters 0.015807468490969024 Centerline is valid? [True, True] Translation: X:912.30, Y:69.48, Z:6.41 [[ 5.71986732e-01 -8.20191971e-01 -1.07846543e-02 9.12298690e+02] [ 8.20039873e-01 5.72088362e-01 -1.57959951e-02 6.94758332e+01] [ 1.91255235e-02 1.91253085e-04 9.99817072e-01 6.40685466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9092541539999 meters 0.014910761773766813 Centerline is valid? [True, True] Translation: X:912.32, Y:69.50, Z:6.41 [[ 5.71313810e-01 -8.20667824e-01 -1.02397772e-02 9.12316070e+02] [ 8.20530634e-01 5.71405542e-01 -1.50061784e-02 6.94987540e+01] [ 1.81661532e-02 1.71186060e-04 9.99834967e-01 6.40837379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9392541539999 meters 0.014534695450120238 Centerline is valid? [True, True] Translation: X:912.34, Y:69.52, Z:6.41 [[ 5.69989601e-01 -8.21592054e-01 -9.91727715e-03 9.12335466e+02] [ 8.21463373e-01 5.70075852e-01 -1.45413104e-02 6.95208953e+01] [ 1.76006253e-02 1.41715752e-04 9.99845087e-01 6.41024423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9692541539998 meters 0.014621539685339665 Centerline is valid? [True, True] Translation: X:912.35, Y:69.54, Z:6.41 [[ 5.69441144e-01 -8.21971499e-01 -9.98192257e-03 9.12352259e+02] [ 8.21841040e-01 5.69528609e-01 -1.46447337e-02 6.95439537e+01] [ 1.77225442e-02 1.35760265e-04 9.99842934e-01 6.41052401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9992541539999 meters 0.01601913340396055 Centerline is valid? [True, True] Translation: X:912.37, Y:69.57, Z:6.41 [[ 5.68599544e-01 -8.22546998e-01 -1.05353812e-02 9.12367558e+02] [ 8.22401634e-01 5.68697124e-01 -1.54639541e-02 6.95658210e+01] [ 1.87112700e-02 1.28482502e-04 9.99824921e-01 6.40918921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0292541539999 meters 0.016471449328872144 Centerline is valid? [True, True] Translation: X:912.38, Y:69.59, Z:6.41 [[ 5.68402198e-01 -8.22676899e-01 -1.10300191e-02 9.12383817e+02] [ 8.22517435e-01 5.68509192e-01 -1.61977599e-02 6.95894137e+01] [ 1.95961901e-02 1.34459263e-04 9.99807967e-01 6.40844891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0592541539999 meters 0.015093603383976759 Centerline is valid? [True, True] Translation: X:912.40, Y:69.61, Z:6.41 [[ 5.69245020e-01 -8.22082251e-01 -1.18692592e-02 9.12399456e+02] [ 8.21897323e-01 5.69368724e-01 -1.74369489e-02 6.96126801e+01] [ 2.10925912e-02 1.70583936e-04 9.99777512e-01 6.40757692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0892541539998 meters 0.016220447734537125 Centerline is valid? [True, True] Translation: X:912.42, Y:69.64, Z:6.41 [[ 5.68563520e-01 -8.22528907e-01 -1.34804064e-02 9.12416393e+02] [ 8.22290257e-01 5.68723276e-01 -1.98133233e-02 6.96362320e+01] [ 2.39636521e-02 1.80325972e-04 9.99712814e-01 6.40572366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1192541539999 meters 0.014862303803736569 Centerline is valid? [True, True] Translation: X:912.43, Y:69.66, Z:6.41 [[ 5.68972229e-01 -8.22239253e-01 -1.39001234e-02 9.12433268e+02] [ 8.21985148e-01 5.69141958e-01 -2.04413210e-02 6.96599318e+01] [ 2.47188000e-02 2.04848990e-04 9.99694423e-01 6.40600891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1492541539999 meters 0.01743505993830773 Centerline is valid? [True, True] Translation: X:912.45, Y:69.68, Z:6.41 [[ 5.66952009e-01 -8.23634662e-01 -1.38334399e-02 9.12451126e+02] [ 8.23383132e-01 5.67120730e-01 -2.03542637e-02 6.96825767e+01] [ 2.46097076e-02 1.49669574e-04 9.99697124e-01 6.40661342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1792541539999 meters 0.01488306720122761 Centerline is valid? [True, True] Translation: X:912.47, Y:69.71, Z:6.41 [[ 5.67285396e-01 -8.23413786e-01 -1.33047538e-02 9.12467879e+02] [ 8.23180821e-01 5.67441373e-01 -1.95863110e-02 6.97067031e+01] [ 2.36773062e-02 1.58810038e-04 9.99719641e-01 6.40838546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2092541539998 meters 0.014451456246124374 Centerline is valid? [True, True] Translation: X:912.48, Y:69.73, Z:6.41 [[ 5.66860723e-01 -8.23714593e-01 -1.27745998e-02 9.12484738e+02] [ 8.23499677e-01 5.67004628e-01 -1.88157667e-02 6.97307297e+01] [ 2.27420788e-02 1.46040307e-04 9.99741355e-01 6.40971030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2392541539999 meters 0.014343064803507416 Centerline is valid? [True, True] Translation: X:912.50, Y:69.75, Z:6.41 [[ 5.66086284e-01 -8.24255919e-01 -1.21859806e-02 9.12501215e+02] [ 8.24060271e-01 5.66217418e-01 -1.79584234e-02 6.97542321e+01] [ 2.17022512e-02 1.24034664e-04 9.99764471e-01 6.41046046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2692541539999 meters 0.014170773245794611 Centerline is valid? [True, True] Translation: X:912.52, Y:69.78, Z:6.41 [[ 5.64086839e-01 -8.25641423e-01 -1.10579517e-02 9.12518528e+02] [ 8.25480420e-01 5.64195211e-01 -1.63045879e-02 6.97776582e+01] [ 1.97005866e-02 6.90808481e-05 9.99805922e-01 6.41201590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2992541539999 meters 0.015882964646696703 Centerline is valid? [True, True] Translation: X:912.54, Y:69.80, Z:6.41 [[ 5.62009536e-01 -8.27063589e-01 -1.05404353e-02 9.12535129e+02] [ 8.26917387e-01 5.62108369e-01 -1.55504254e-02 6.98000263e+01] [ 1.87860576e-02 2.34181174e-05 9.99823526e-01 6.41244927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3292541539998 meters 0.014087255240604628 Centerline is valid? [True, True] Translation: X:912.55, Y:69.82, Z:6.41 [[ 5.60364630e-01 -8.28189741e-01 -9.65577364e-03 9.12552778e+02] [ 8.28067077e-01 5.60447815e-01 -1.42535575e-02 6.98220008e+01] [ 1.72162073e-02 -8.43875570e-06 9.99851790e-01 6.41474819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3592541539998 meters 0.015980818634406414 Centerline is valid? [True, True] Translation: X:912.57, Y:69.84, Z:6.42 [[ 5.58416091e-01 -8.29507797e-01 -9.39592198e-03 9.12569331e+02] [ 8.29391692e-01 5.58495132e-01 -1.38783608e-02 6.98446578e+01] [ 1.67597852e-02 -4.29996533e-05 9.99859544e-01 6.41503160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3892541539999 meters 0.015303163334829617 Centerline is valid? [True, True] Translation: X:912.59, Y:69.87, Z:6.42 [[ 5.57652317e-01 -8.30023195e-01 -9.24060298e-03 9.12585130e+02] [ 8.29910830e-01 5.57728870e-01 -1.36573270e-02 6.98673719e+01] [ 1.64896492e-02 -5.28364499e-05 9.99864035e-01 6.41545654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4192541539999 meters 0.015890515842583018 Centerline is valid? [True, True] Translation: X:912.60, Y:69.89, Z:6.41 [[ 5.56885351e-01 -8.30538867e-01 -9.15945891e-03 9.12600139e+02] [ 8.30428408e-01 5.56960669e-01 -1.35452321e-02 6.98896385e+01] [ 1.63513001e-02 -6.31335407e-05 9.99866307e-01 6.41445854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4492541539998 meters 0.01566475186360132 Centerline is valid? [True, True] Translation: X:912.62, Y:69.91, Z:6.41 [[ 5.57161297e-01 -8.30349593e-01 -9.53113109e-03 9.12615164e+02] [ 8.30229817e-01 5.57242811e-01 -1.41032303e-02 6.99135015e+01] [ 1.70217658e-02 -5.52551238e-05 9.99855118e-01 6.41435212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4792541539998 meters 0.014014361645130896 Centerline is valid? [True, True] Translation: X:912.63, Y:69.94, Z:6.41 [[ 5.58493521e-01 -8.29448334e-01 -1.00224002e-02 9.12629715e+02] [ 8.29315582e-01 5.58583442e-01 -1.48392754e-02 6.99373563e+01] [ 1.79067591e-02 -2.40935122e-05 9.99839661e-01 6.41471180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5092541539999 meters 0.014033317919166625 Centerline is valid? [True, True] Translation: X:912.64, Y:69.96, Z:6.41 [[ 5.60130463e-01 -8.28331268e-01 -1.10079352e-02 9.12643851e+02] [ 8.28170718e-01 5.60238619e-01 -1.63079960e-02 6.99628759e+01] [ 1.96754934e-02 1.81557178e-05 9.99806419e-01 6.41377854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5392541539999 meters 0.014042551972061303 Centerline is valid? [True, True] Translation: X:912.66, Y:69.99, Z:6.41 [[ 5.61107302e-01 -8.27660325e-01 -1.17039647e-02 9.12658885e+02] [ 8.27478480e-01 5.61229351e-01 -1.73487767e-02 6.99875180e+01] [ 2.09275027e-02 4.97464036e-05 9.99780995e-01 6.41341881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5692541539999 meters 0.014164762822413145 Centerline is valid? [True, True] Translation: X:912.67, Y:70.01, Z:6.41 [[ 5.62218988e-01 -8.26900414e-01 -1.20629573e-02 9.12672412e+02] [ 8.26706852e-01 5.62348378e-01 -1.78908535e-02 7.00114439e+01] [ 2.15775386e-02 8.60481252e-05 9.99767174e-01 6.41202300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5992541539998 meters 0.014208822420727072 Centerline is valid? [True, True] Translation: X:912.69, Y:70.03, Z:6.41 [[ 5.62321030e-01 -8.26828749e-01 -1.22179905e-02 9.12687244e+02] [ 8.26629929e-01 5.62453741e-01 -1.81314574e-02 7.00348255e+01] [ 2.18636647e-02 9.59432266e-05 9.99760957e-01 6.41188809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6292541539999 meters 0.014208822420727072 Centerline is valid? [True, True] Translation: X:912.70, Y:70.06, Z:6.41 [[ 5.62090638e-01 -8.26985465e-01 -1.22129361e-02 9.12702587e+02] [ 8.26786608e-01 5.62223294e-01 -1.81348620e-02 7.00577521e+01] [ 2.18636644e-02 9.59441678e-05 9.99760957e-01 6.41207853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6592541539999 meters 0.01702905408043647 Centerline is valid? [True, True] Translation: X:912.72, Y:70.08, Z:6.41 [[ 5.60071966e-01 -8.28360266e-01 -1.17755230e-02 9.12717953e+02] [ 8.28175482e-01 5.60195741e-01 -1.74957797e-02 7.00811380e+01] [ 2.10894066e-02 4.66962822e-05 9.99777593e-01 6.41151907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6892541539999 meters 0.015512099881457533 Centerline is valid? [True, True] Translation: X:912.73, Y:70.10, Z:6.41 [[ 5.59317352e-01 -8.28877821e-01 -1.12097051e-02 9.12733227e+02] [ 8.28710296e-01 5.59429671e-01 -1.66639710e-02 7.01037817e+01] [ 2.00834376e-02 3.08500625e-05 9.99798307e-01 6.41267426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7192541539998 meters 0.01574265563719398 Centerline is valid? [True, True] Translation: X:912.75, Y:70.13, Z:6.42 [[ 5.56898139e-01 -8.30519683e-01 -1.00756390e-02 9.12750382e+02] [ 8.30384463e-01 5.56989278e-01 -1.49862689e-02 7.01262524e+01] [ 1.80584142e-02 -2.08288027e-05 9.99836933e-01 6.41501159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7492541539999 meters 0.014967346861579916 Centerline is valid? [True, True] Translation: X:912.77, Y:70.15, Z:6.42 [[ 5.55820305e-01 -8.31247676e-01 -9.54409421e-03 9.12766883e+02] [ 8.31126309e-01 5.55902240e-01 -1.42041953e-02 7.01490249e+01] [ 1.71127876e-02 -3.73676421e-05 9.99853565e-01 6.41702736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7792541539999 meters 0.013756804510313475 Centerline is valid? [True, True] Translation: X:912.78, Y:70.17, Z:6.42 [[ 5.54120596e-01 -8.32387444e-01 -9.02813646e-03 9.12783022e+02] [ 8.32278872e-01 5.54194134e-01 -1.34439870e-02 7.01705388e+01] [ 1.61939463e-02 -6.43371287e-05 9.99868867e-01 6.41844578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8092541539999 meters 0.013756804510313475 Centerline is valid? [True, True] Translation: X:912.80, Y:70.19, Z:6.42 [[ 5.53888516e-01 -8.32541933e-01 -9.02450902e-03 9.12798329e+02] [ 8.32433342e-01 5.53962025e-01 -1.34464220e-02 7.01934888e+01] [ 1.61939454e-02 -6.44834959e-05 9.99868867e-01 6.41863626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8392541539998 meters 0.014208749181351184 Centerline is valid? [True, True] Translation: X:912.81, Y:70.22, Z:6.42 [[ 5.52459879e-01 -8.33489634e-01 -9.11661358e-03 9.12813371e+02] [ 8.33378810e-01 5.52535087e-01 -1.35917552e-02 7.02173644e+01] [ 1.63658360e-02 -8.86931282e-05 9.99866067e-01 6.41902063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8692541539999 meters 0.017025341766542718 Centerline is valid? [True, True] Translation: X:912.83, Y:70.24, Z:6.42 [[ 5.51619677e-01 -8.34041588e-01 -9.50588875e-03 9.12828289e+02] [ 8.33921039e-01 5.51701567e-01 -1.41803513e-02 7.02398384e+01] [ 1.70714164e-02 -1.04999821e-04 9.99854267e-01 6.41584640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8992541539999 meters 0.0160834930160005 Centerline is valid? [True, True] Translation: X:912.84, Y:70.26, Z:6.42 [[ 5.51715404e-01 -8.33973397e-01 -9.92395588e-03 9.12842001e+02] [ 8.33841841e-01 5.51804641e-01 -1.48129184e-02 7.02641156e+01] [ 1.78296648e-02 -1.02494377e-04 9.99841034e-01 6.41642513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9292541539999 meters 0.01674570332013315 Centerline is valid? [True, True] Translation: X:912.86, Y:70.29, Z:6.42 [[ 5.51620920e-01 -8.34032858e-01 -1.01761035e-02 9.12856663e+02] [ 8.33894368e-01 5.51714765e-01 -1.51987451e-02 7.02877499e+01] [ 1.82905594e-02 -1.01849584e-04 9.99832709e-01 6.41605510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9592541539998 meters 0.0138498133736932 Centerline is valid? [True, True] Translation: X:912.87, Y:70.31, Z:6.42 [[ 5.52638738e-01 -8.33355835e-01 -1.04152351e-02 9.12870379e+02] [ 8.33210469e-01 5.52736869e-01 -1.55649766e-02 7.03111662e+01] [ 1.87280485e-02 -7.62738963e-05 9.99824612e-01 6.41783210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9892541539999 meters 0.017666525818975876 Centerline is valid? [True, True] Translation: X:912.89, Y:70.33, Z:6.42 [[ 5.51714303e-01 -8.33967578e-01 -1.04597976e-02 9.12885401e+02] [ 8.33820898e-01 5.51813439e-01 -1.56409123e-02 7.03347197e+01] [ 1.88158706e-02 -9.22827517e-05 9.99822962e-01 6.41565069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0192541539999 meters 0.015451288700454605 Centerline is valid? [True, True] Translation: X:912.90, Y:70.36, Z:6.42 [[ 5.51691116e-01 -8.33982202e-01 -1.05165849e-02 9.12900733e+02] [ 8.33833744e-01 5.51791336e-01 -1.57356057e-02 7.03584993e+01] [ 1.89261755e-02 -8.78895244e-05 9.99820880e-01 6.41749087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0492541539999 meters 0.01728363928967011 Centerline is valid? [True, True] Translation: X:912.92, Y:70.38, Z:6.42 [[ 5.51248710e-01 -8.34275260e-01 -1.04714476e-02 9.12915782e+02] [ 8.34127944e-01 5.51348150e-01 -1.56777317e-02 7.03824574e+01] [ 1.88529569e-02 -9.21976799e-05 9.99822263e-01 6.41631260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0792541539998 meters 0.014207282073003993 Centerline is valid? [True, True] Translation: X:912.93, Y:70.41, Z:6.42 [[ 5.51767756e-01 -8.33937448e-01 -1.00337491e-02 9.12929281e+02] [ 8.33801986e-01 5.51858974e-01 -1.50306528e-02 7.04061878e+01] [ 1.80718387e-02 -7.27303190e-05 9.99836688e-01 6.41858188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1092541539998 meters 0.0136594929679767 Centerline is valid? [True, True] Translation: X:912.94, Y:70.43, Z:6.42 [[ 5.51860075e-01 -8.33875585e-01 -1.00978902e-02 9.12943942e+02] [ 8.33738215e-01 5.51952448e-01 -1.51355406e-02 7.04298527e+01] [ 1.81947130e-02 -6.62963955e-05 9.99834460e-01 6.41971079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1392541539999 meters 0.016222723305838693 Centerline is valid? [True, True] Translation: X:912.96, Y:70.45, Z:6.42 [[ 5.51184319e-01 -8.34321690e-01 -1.01569598e-02 9.12958171e+02] [ 8.34182622e-01 5.51277890e-01 -1.52329209e-02 7.04528697e+01] [ 1.83084637e-02 -7.66122581e-05 9.99832383e-01 6.41750706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1692541539999 meters 0.016458517149597285 Centerline is valid? [True, True] Translation: X:912.97, Y:70.48, Z:6.42 [[ 5.51003785e-01 -8.34443590e-01 -9.93596663e-03 9.12972133e+02] [ 8.34310383e-01 5.51093358e-01 -1.49095611e-02 7.04766706e+01] [ 1.79168329e-02 -7.44555473e-05 9.99839478e-01 6.41725795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1992541539998 meters 0.018255510912226474 Centerline is valid? [True, True] Translation: X:912.99, Y:70.50, Z:6.42 [[ 5.50738156e-01 -8.34616400e-01 -1.01463181e-02 9.12987155e+02] [ 8.34477358e-01 5.50831607e-01 -1.52341795e-02 7.05008984e+01] [ 1.83036088e-02 -7.68287928e-05 9.99832472e-01 6.41718543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2292541539998 meters 0.01689145466064974 Centerline is valid? [True, True] Translation: X:913.00, Y:70.53, Z:6.42 [[ 5.50780688e-01 -8.34593483e-01 -9.71350186e-03 9.13000676e+02] [ 8.34465892e-01 5.50866330e-01 -1.45932103e-02 7.05251023e+01] [ 1.75302393e-02 -6.79275905e-05 9.99846331e-01 6.41889242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2592541539999 meters 0.013705829018145935 Centerline is valid? [True, True] Translation: X:913.01, Y:70.55, Z:6.42 [[ 5.51539534e-01 -8.34095212e-01 -9.45095389e-03 9.13014530e+02] [ 8.33974213e-01 5.51620500e-01 -1.42068838e-02 7.05480768e+01] [ 1.70632337e-02 -4.61937486e-05 9.99854411e-01 6.42179175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2892541539999 meters 0.01590210328293083 Centerline is valid? [True, True] Translation: X:913.03, Y:70.57, Z:6.42 [[ 5.51064833e-01 -8.34408295e-01 -9.50516134e-03 9.13028558e+02] [ 8.34285806e-01 5.51146800e-01 -1.42967859e-02 7.05720237e+01] [ 1.71680960e-02 -5.15652592e-05 9.99852616e-01 6.42028960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3192541539999 meters 0.015705445438645577 Centerline is valid? [True, True] Translation: X:913.04, Y:70.60, Z:6.42 [[ 5.51698746e-01 -8.33991150e-01 -9.34104465e-03 9.13040642e+02] [ 8.33872652e-01 5.51777818e-01 -1.40584785e-02 7.05973901e+01] [ 1.68788279e-02 -3.31967117e-05 9.99857542e-01 6.42128123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3492541539998 meters 0.014728992507542522 Centerline is valid? [True, True] Translation: X:913.05, Y:70.62, Z:6.42 [[ 5.52196391e-01 -8.33666518e-01 -8.90409152e-03 9.13054392e+02] [ 8.33558675e-01 5.52268174e-01 -1.34088951e-02 7.06220308e+01] [ 1.60959932e-02 -1.77392818e-05 9.99870451e-01 6.42223465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3792541539999 meters 0.015676624597709136 Centerline is valid? [True, True] Translation: X:913.07, Y:70.65, Z:6.42 [[ 5.51953316e-01 -8.33827169e-01 -8.93253282e-03 9.13068266e+02] [ 8.33718523e-01 5.52025590e-01 -1.34599858e-02 7.06464735e+01] [ 1.61542886e-02 -1.79342535e-05 9.99869511e-01 6.42166759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4092541539999 meters 0.015115407691662896 Centerline is valid? [True, True] Translation: X:913.08, Y:70.67, Z:6.42 [[ 5.51952022e-01 -8.33827978e-01 -8.93691032e-03 9.13081252e+02] [ 8.33719090e-01 5.52024368e-01 -1.34749760e-02 7.06709634e+01] [ 1.61692043e-02 -1.33324722e-05 9.99869270e-01 6.42350383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4392541539999 meters 0.01747529627978115 Centerline is valid? [True, True] Translation: X:913.10, Y:70.69, Z:6.42 [[ 5.51291331e-01 -8.34260489e-01 -9.34370452e-03 9.13095212e+02] [ 8.34141409e-01 5.51370507e-01 -1.40951619e-02 7.06944730e+01] [ 1.69108797e-02 -2.34303088e-05 9.99857001e-01 6.42187137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4692541539998 meters 0.01670462348656803 Centerline is valid? [True, True] Translation: X:913.11, Y:70.72, Z:6.42 [[ 5.50286529e-01 -8.34927539e-01 -8.98554605e-03 9.13108162e+02] [ 8.34817392e-01 5.50359885e-01 -1.35616964e-02 7.07192473e+01] [ 1.62683179e-02 -3.84712628e-05 9.99867661e-01 6.42317045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4992541539999 meters 0.015959770823782148 Centerline is valid? [True, True] Translation: X:913.12, Y:70.74, Z:6.42 [[ 5.49737685e-01 -8.35290972e-01 -8.80166176e-03 9.13122054e+02] [ 8.35185212e-01 5.49808139e-01 -1.32918186e-02 7.07428009e+01] [ 1.59417613e-02 -4.40041734e-05 9.99872921e-01 6.42328594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5292541539999 meters 0.017352680576317638 Centerline is valid? [True, True] Translation: X:913.14, Y:70.77, Z:6.42 [[ 5.48964359e-01 -8.35794944e-01 -9.21656876e-03 9.13135988e+02] [ 8.35678917e-01 5.49041719e-01 -1.39262186e-02 7.07678280e+01] [ 1.66997438e-02 -5.70945313e-05 9.99860548e-01 6.42391748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5592541539999 meters 0.0160161864135907 Centerline is valid? [True, True] Translation: X:913.15, Y:70.79, Z:6.42 [[ 5.48811848e-01 -8.35899271e-01 -8.82971967e-03 9.13150390e+02] [ 8.35792670e-01 5.48882870e-01 -1.33494581e-02 7.07925107e+01] [ 1.60052842e-02 -5.34742157e-05 9.99871906e-01 6.42498923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5892541539998 meters 0.013562401422590385 Centerline is valid? [True, True] Translation: X:913.16, Y:70.82, Z:6.43 [[ 5.49548164e-01 -8.35416649e-01 -8.70854906e-03 9.13162754e+02] [ 8.35312763e-01 5.49617159e-01 -1.31744177e-02 7.08176458e+01] [ 1.57924959e-02 -3.43851173e-05 9.99875290e-01 6.42775200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6192541539999 meters 0.01357286008103371 Centerline is valid? [True, True] Translation: X:913.18, Y:70.84, Z:6.43 [[ 5.50169918e-01 -8.35004637e-01 -8.96196265e-03 9.13175654e+02] [ 8.34894459e-01 5.50242906e-01 -1.35642028e-02 7.08411934e+01] [ 1.62574286e-02 -1.96766117e-05 9.99867839e-01 6.42746198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6492541539999 meters 0.013536504903477622 Centerline is valid? [True, True] Translation: X:913.19, Y:70.87, Z:6.43 [[ 5.51767630e-01 -8.33946183e-01 -9.28695057e-03 9.13186531e+02] [ 8.33827596e-01 5.51845780e-01 -1.40633014e-02 7.08679118e+01] [ 1.68530010e-02 1.59588073e-05 9.99857978e-01 6.42764578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6792541539999 meters 0.013486626420641851 Centerline is valid? [True, True] Translation: X:913.20, Y:70.89, Z:6.43 [[ 5.52677050e-01 -8.33342540e-01 -9.39627341e-03 9.13199030e+02] [ 8.33220904e-01 5.52756918e-01 -1.42378114e-02 7.08933391e+01] [ 1.70588290e-02 3.97401588e-05 9.99854487e-01 6.42781435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7092541539998 meters 0.014485593041322886 Centerline is valid? [True, True] Translation: X:913.21, Y:70.92, Z:6.43 [[ 5.53733026e-01 -8.32636461e-01 -9.81117861e-03 9.13210806e+02] [ 8.32503614e-01 5.53819933e-01 -1.48732742e-02 7.09186776e+01] [ 1.78176567e-02 6.79814762e-05 9.99841251e-01 6.42593738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7392541539999 meters 0.014038486784559859 Centerline is valid? [True, True] Translation: X:913.22, Y:70.95, Z:6.43 [[ 5.57067092e-01 -8.30403095e-01 -1.03418489e-02 9.13220175e+02] [ 8.30255004e-01 5.57163061e-01 -1.56828626e-02 7.09463887e+01] [ 1.87851938e-02 1.50034841e-04 9.99823531e-01 6.42559343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7692541539999 meters 0.016264301712321433 Centerline is valid? [True, True] Translation: X:913.23, Y:70.97, Z:6.42 [[ 5.58029875e-01 -8.29750100e-01 -1.08365529e-02 9.13233761e+02] [ 8.29587223e-01 5.58135054e-01 -1.64408252e-02 7.09722659e+01] [ 1.96900364e-02 1.84605828e-04 9.99806115e-01 6.42425095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7992541539999 meters 0.015778619290846237 Centerline is valid? [True, True] Translation: X:913.25, Y:71.00, Z:6.42 [[ 5.59597622e-01 -8.28695158e-01 -1.07161533e-02 9.13246516e+02] [ 8.28535587e-01 5.59700174e-01 -1.62633405e-02 7.09970974e+01] [ 1.94751844e-02 2.22212290e-04 9.99810316e-01 6.42478600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8292541539998 meters 0.015087763677564143 Centerline is valid? [True, True] Translation: X:913.26, Y:71.02, Z:6.43 [[ 5.61801055e-01 -8.27200444e-01 -1.09087010e-02 9.13257881e+02] [ 8.27034714e-01 5.61906884e-01 -1.65600777e-02 7.10227238e+01] [ 1.98281778e-02 2.81594671e-04 9.99803363e-01 6.42651346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8592541539998 meters 0.014693433425270682 Centerline is valid? [True, True] Translation: X:913.27, Y:71.05, Z:6.43 [[ 5.62286373e-01 -8.26872045e-01 -1.08007655e-02 9.13273290e+02] [ 8.26709367e-01 5.62390020e-01 -1.64039098e-02 7.10473858e+01] [ 1.96381772e-02 2.94600905e-04 9.99807109e-01 6.42851710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8892541539999 meters 0.014787833996805005 Centerline is valid? [True, True] Translation: X:913.29, Y:71.07, Z:6.43 [[ 5.62650580e-01 -8.26629853e-01 -1.03639484e-02 9.13286549e+02] [ 8.26479850e-01 5.62745945e-01 -1.57498946e-02 7.10721642e+01] [ 1.88516030e-02 2.96092848e-04 9.99822249e-01 6.42948346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9192541539999 meters 0.014832318098361379 Centerline is valid? [True, True] Translation: X:913.30, Y:71.10, Z:6.43 [[ 5.62414808e-01 -8.26791414e-01 -1.02733592e-02 9.13301025e+02] [ 8.26643864e-01 5.62508552e-01 -1.56221102e-02 7.10957592e+01] [ 1.86950790e-02 2.93696804e-04 9.99825189e-01 6.43000117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9492541539998 meters 0.017934214792058294 Centerline is valid? [True, True] Translation: X:913.31, Y:71.12, Z:6.43 [[ 5.61937524e-01 -8.27109814e-01 -1.07505832e-02 9.13314750e+02] [ 8.26948144e-01 5.62040270e-01 -1.63554692e-02 7.11194128e+01] [ 1.95700297e-02 3.00577036e-04 9.99808443e-01 6.42740684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9792541539998 meters 0.018249615764561987 Centerline is valid? [True, True] Translation: X:913.33, Y:71.14, Z:6.43 [[ 5.61946953e-01 -8.27105551e-01 -1.05843793e-02 9.13327343e+02] [ 8.26948734e-01 5.62046544e-01 -1.61082133e-02 7.11429314e+01] [ 1.92721064e-02 2.99222315e-04 9.99814231e-01 6.42733235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0092541539999 meters 0.015342662313975497 Centerline is valid? [True, True] Translation: X:913.34, Y:71.17, Z:6.43 [[ 5.62390661e-01 -8.26810730e-01 -1.00379955e-02 9.13343577e+02] [ 8.26669496e-01 5.62480158e-01 -1.52845267e-02 7.11661341e+01] [ 1.82835840e-02 2.97770414e-04 9.99832797e-01 6.43017168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0392541539999 meters 0.01862415967672136 Centerline is valid? [True, True] Translation: X:913.36, Y:71.19, Z:6.43 [[ 5.62493198e-01 -8.26734627e-01 -1.05479374e-02 9.13357445e+02] [ 8.26578535e-01 5.62591997e-01 -1.60676759e-02 7.11899604e+01] [ 1.92178892e-02 3.19259712e-04 9.99815268e-01 6.42771255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0692541539999 meters 0.018069809930199833 Centerline is valid? [True, True] Translation: X:913.37, Y:71.21, Z:6.43 [[ 5.63091010e-01 -8.26329280e-01 -1.04132355e-02 9.13372624e+02] [ 8.26176948e-01 5.63187189e-01 -1.58694994e-02 7.12148926e+01] [ 1.89780328e-02 3.32797277e-04 9.99819846e-01 6.42853032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0992541539998 meters 0.016599068804792387 Centerline is valid? [True, True] Translation: X:913.39, Y:71.24, Z:6.43 [[ 5.64735034e-01 -8.25214843e-01 -9.73670084e-03 9.13385085e+02] [ 8.25081395e-01 5.64818856e-01 -1.48442399e-02 7.12398312e+01] [ 1.77491593e-02 3.49491625e-04 9.99842410e-01 6.43002531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1292541539999 meters 0.016199124882431845 Centerline is valid? [True, True] Translation: X:913.40, Y:71.26, Z:6.43 [[ 5.65297945e-01 -8.24826552e-01 -9.96958316e-03 9.13401486e+02] [ 8.24686457e-01 5.65385726e-01 -1.52061836e-02 7.12638623e+01] [ 1.81791240e-02 3.74244102e-04 9.99834676e-01 6.43059466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1592541539999 meters 0.01913021427335245 Centerline is valid? [True, True] Translation: X:913.42, Y:71.29, Z:6.43 [[ 5.66249518e-01 -8.24161697e-01 -1.09078010e-02 9.13417065e+02] [ 8.23993682e-01 5.66354399e-01 -1.66465083e-02 7.12882684e+01] [ 1.98970956e-02 4.38118166e-04 9.99801937e-01 6.42807129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1892541539999 meters 0.016664069167805492 Centerline is valid? [True, True] Translation: X:913.43, Y:71.31, Z:6.43 [[ 5.67156750e-01 -8.23545497e-01 -1.02973393e-02 9.13432502e+02] [ 8.23395505e-01 5.67250052e-01 -1.57232412e-02 7.13123663e+01] [ 1.87899708e-02 4.38759443e-04 9.99823357e-01 6.43058841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2192541539998 meters 0.017074318050453695 Centerline is valid? [True, True] Translation: X:913.45, Y:71.34, Z:6.43 [[ 5.67747192e-01 -8.23131318e-01 -1.08609182e-02 9.13447697e+02] [ 8.22964200e-01 5.67850861e-01 -1.65929366e-02 7.13368759e+01] [ 1.98255476e-02 4.82446307e-04 9.99803338e-01 6.43003688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2492541539999 meters 0.018935190602572594 Centerline is valid? [True, True] Translation: X:913.46, Y:71.36, Z:6.43 [[ 5.69069197e-01 -8.22207117e-01 -1.16492806e-02 9.13462554e+02] [ 8.22014538e-01 5.69188149e-01 -1.78030872e-02 7.13609554e+01] [ 2.12684575e-02 5.55310564e-04 9.99773647e-01 6.42748644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2792541539999 meters 0.018754201681656726 Centerline is valid? [True, True] Translation: X:913.48, Y:71.39, Z:6.43 [[ 5.69688154e-01 -8.21779870e-01 -1.15435080e-02 9.13476996e+02] [ 8.21590613e-01 5.69804811e-01 -1.76448723e-02 7.13852382e+01] [ 2.10777473e-02 5.68036916e-04 9.99777678e-01 6.42760987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3092541539999 meters 0.018958479191442786 Centerline is valid? [True, True] Translation: X:913.49, Y:71.41, Z:6.43 [[ 5.70258565e-01 -8.21385275e-01 -1.14629627e-02 9.13491729e+02] [ 8.21198479e-01 5.70373468e-01 -1.75261147e-02 7.14087433e+01] [ 2.09338623e-02 5.81049516e-04 9.99780694e-01 6.42772902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3392541539998 meters 0.018665697835363815 Centerline is valid? [True, True] Translation: X:913.51, Y:71.43, Z:6.43 [[ 5.70137090e-01 -8.21472366e-01 -1.12627698e-02 9.13508814e+02] [ 8.21291878e-01 5.70248037e-01 -1.72286937e-02 7.14307232e+01] [ 2.05754682e-02 5.72695944e-04 9.99788139e-01 6.42880471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3692541539999 meters 0.01801069968466068 Centerline is valid? [True, True] Translation: X:913.53, Y:71.45, Z:6.43 [[ 5.69532468e-01 -8.21900840e-01 -1.05724654e-02 9.13525985e+02] [ 8.21741700e-01 5.69630345e-01 -1.61817389e-02 7.14539680e+01] [ 1.93221818e-02 5.28190006e-04 9.99813170e-01 6.43014455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3992541539999 meters 0.020915575462510057 Centerline is valid? [True, True] Translation: X:913.54, Y:71.48, Z:6.43 [[ 5.67204824e-01 -8.23509734e-01 -1.05074453e-02 9.13543897e+02] [ 8.23352721e-01 5.67301943e-01 -1.60873214e-02 7.14757129e+01] [ 1.92089598e-02 4.73472637e-04 9.99815379e-01 6.42802351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4292541539999 meters 0.01729225637192982 Centerline is valid? [True, True] Translation: X:913.56, Y:71.50, Z:6.43 [[ 5.66573228e-01 -8.23956214e-01 -9.53595981e-03 9.13561554e+02] [ 8.23826859e-01 5.66653317e-01 -1.46056501e-02 7.14984975e+01] [ 1.74379994e-02 4.19190483e-04 9.99847859e-01 6.43222693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4592541539998 meters 0.017077270941406333 Centerline is valid? [True, True] Translation: X:913.58, Y:71.52, Z:6.43 [[ 5.63809910e-01 -8.25853962e-01 -9.14432747e-03 9.13582231e+02] [ 8.25735136e-01 5.63883952e-01 -1.40133268e-02 7.15194704e+01] [ 1.67293010e-02 3.50060066e-04 9.99859994e-01 6.43253760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4892541539999 meters 0.017558833228770946 Centerline is valid? [True, True] Translation: X:913.60, Y:71.54, Z:6.43 [[ 5.62777398e-01 -8.26555630e-01 -9.34834200e-03 9.13598639e+02] [ 8.26431454e-01 5.62854933e-01 -1.43309233e-02 7.15421978e+01] [ 1.71070658e-02 3.39355876e-04 9.99853606e-01 6.43215566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5192541539999 meters 0.017558833228770946 Centerline is valid? [True, True] Translation: X:913.61, Y:71.57, Z:6.43 [[ 5.62544456e-01 -8.26714218e-01 -9.34541869e-03 9.13613632e+02] [ 8.26590033e-01 5.62621976e-01 -1.43328296e-02 7.15653377e+01] [ 1.71070920e-02 3.38023911e-04 9.99853606e-01 6.43234651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5492541539999 meters 0.01528855490467999 Centerline is valid? [True, True] Translation: X:913.63, Y:71.59, Z:6.43 [[ 5.61865560e-01 -8.27179400e-01 -9.01846244e-03 9.13632526e+02] [ 8.27063682e-01 5.61937844e-01 -1.38392896e-02 7.15879494e+01] [ 1.65153906e-02 3.16977450e-04 9.99863561e-01 6.43477478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5792541539998 meters 0.01659052382729322 Centerline is valid? [True, True] Translation: X:913.65, Y:71.61, Z:6.43 [[ 5.60955593e-01 -8.27791245e-01 -9.51198572e-03 9.13647120e+02] [ 8.27662484e-01 5.61036143e-01 -1.46034135e-02 7.16110578e+01] [ 1.74251456e-02 3.19152750e-04 9.99848120e-01 6.43268326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6092541539998 meters 0.01801881098341302 Centerline is valid? [True, True] Translation: X:913.67, Y:71.63, Z:6.43 [[ 5.59125144e-01 -8.29018421e-01 -1.03697347e-02 9.13667537e+02] [ 8.28865447e-01 5.59221209e-01 -1.59282765e-02 7.16321197e+01] [ 1.90038102e-02 3.10785036e-04 9.99819363e-01 6.43076517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6392541539999 meters 0.015022561780183661 Centerline is valid? [True, True] Translation: X:913.69, Y:71.66, Z:6.43 [[ 5.58938317e-01 -8.29151648e-01 -9.77255924e-03 9.13685210e+02] [ 8.29015670e-01 5.59023666e-01 -1.50186492e-02 7.16556833e+01] [ 1.79158296e-02 2.92893754e-04 9.99839456e-01 6.43354962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6692541539999 meters 0.014922032286487112 Centerline is valid? [True, True] Translation: X:913.70, Y:71.68, Z:6.43 [[ 5.57637891e-01 -8.30024753e-01 -9.94441547e-03 9.13703312e+02] [ 8.29884001e-01 5.57726488e-01 -1.52875731e-02 7.16771362e+01] [ 1.82353280e-02 2.72218722e-04 9.99833686e-01 6.43317349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6992541539998 meters 0.014468207582073418 Centerline is valid? [True, True] Translation: X:913.72, Y:71.70, Z:6.43 [[ 5.56677297e-01 -8.30668784e-01 -9.98795116e-03 9.13721130e+02] [ 8.30526781e-01 5.56766833e-01 -1.53609623e-02 7.16993819e+01] [ 1.83208318e-02 2.55838044e-04 9.99832127e-01 6.43408124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7292541539998 meters 0.01428363963572403 Centerline is valid? [True, True] Translation: X:913.74, Y:71.72, Z:6.43 [[ 5.55801082e-01 -8.31257352e-01 -9.81689149e-03 9.13738977e+02] [ 8.31120113e-01 5.55887721e-01 -1.51062697e-02 7.17217880e+01] [ 1.80142872e-02 2.37065054e-04 9.99837701e-01 6.43490503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7592541539999 meters 0.013857258395113176 Centerline is valid? [True, True] Translation: X:913.76, Y:71.74, Z:6.44 [[ 5.53973210e-01 -8.32484706e-01 -9.10473764e-03 9.13758446e+02] [ 8.32366696e-01 5.54047993e-01 -1.40179916e-02 7.17437674e+01] [ 1.67142252e-02 1.87111413e-04 9.99860290e-01 6.43631698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7892541539999 meters 0.01384953608770273 Centerline is valid? [True, True] Translation: X:913.78, Y:71.77, Z:6.44 [[ 5.53088768e-01 -8.33072037e-01 -9.15397736e-03 9.13775476e+02] [ 8.32952685e-01 5.53164487e-01 -1.41023030e-02 7.17666480e+01] [ 1.68118894e-02 1.74995346e-04 9.99858655e-01 6.43685812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8192541539999 meters 0.013799635578603312 Centerline is valid? [True, True] Translation: X:913.79, Y:71.79, Z:6.44 [[ 5.52294622e-01 -8.33600975e-01 -8.94790514e-03 9.13792828e+02] [ 8.33486867e-01 5.52367078e-01 -1.37932550e-02 7.17894239e+01] [ 1.64405991e-02 1.59979160e-04 9.99864831e-01 6.43781203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8492541539998 meters 0.01372862118445849 Centerline is valid? [True, True] Translation: X:913.81, Y:71.81, Z:6.44 [[ 5.51382204e-01 -8.34205460e-01 -8.88343536e-03 9.13809931e+02] [ 8.34092971e-01 5.51453742e-01 -1.36998541e-02 7.18104434e+01] [ 1.63272967e-02 1.44244743e-04 9.99866690e-01 6.43795757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8792541539999 meters 0.013843447096006926 Centerline is valid? [True, True] Translation: X:913.83, Y:71.83, Z:6.44 [[ 5.50957335e-01 -8.34486993e-01 -8.80192592e-03 9.13825155e+02] [ 8.34376522e-01 5.51027621e-01 -1.35786383e-02 7.18325504e+01] [ 1.61813014e-02 1.37130048e-04 9.99869065e-01 6.43776652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9092541539999 meters 0.013798234587620743 Centerline is valid? [True, True] Translation: X:913.84, Y:71.85, Z:6.44 [[ 5.50965139e-01 -8.34483908e-01 -8.60371030e-03 9.13842124e+02] [ 8.34378251e-01 5.51032294e-01 -1.32795473e-02 7.18546882e+01] [ 1.58224907e-02 1.37818843e-04 9.99874807e-01 6.43901171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9392541539999 meters 0.013728145963638031 Centerline is valid? [True, True] Translation: X:913.86, Y:71.88, Z:6.44 [[ 5.51041361e-01 -8.34432726e-01 -8.68592452e-03 9.13858193e+02] [ 8.34324895e-01 5.51109794e-01 -1.34150419e-02 7.18780261e+01] [ 1.59808481e-02 1.45359893e-04 9.99872288e-01 6.43944396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9692541539998 meters 0.015152997630856625 Centerline is valid? [True, True] Translation: X:913.87, Y:71.90, Z:6.44 [[ 5.51402476e-01 -8.34193036e-01 -8.79138511e-03 9.13871619e+02] [ 8.34082433e-01 5.51472533e-01 -1.35845567e-02 7.19012695e+01] [ 1.61803500e-02 1.57818322e-04 9.99869077e-01 6.43739244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9992541539999 meters 0.014618390080026742 Centerline is valid? [True, True] Translation: X:913.89, Y:71.92, Z:6.44 [[ 5.52194167e-01 -8.33667803e-01 -8.92170734e-03 9.13886311e+02] [ 8.33553723e-01 5.52266206e-01 -1.37923300e-02 7.19244947e+01] [ 1.64253789e-02 1.79321783e-04 9.99865078e-01 6.43784305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0292541539999 meters 0.014471655955795736 Centerline is valid? [True, True] Translation: X:913.90, Y:71.95, Z:6.44 [[ 5.53860666e-01 -8.32553485e-01 -9.64658711e-03 9.13903428e+02] [ 8.32419795e-01 5.53944617e-01 -1.49213314e-02 7.19476844e+01] [ 1.77664815e-02 2.34328499e-04 9.99842136e-01 6.43894307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0592541539999 meters 0.01746986334139071 Centerline is valid? [True, True] Translation: X:913.92, Y:71.97, Z:6.44 [[ 5.54265294e-01 -8.32274323e-01 -1.04611208e-02 9.13918520e+02] [ 8.32116872e-01 5.54363940e-01 -1.61905042e-02 7.19721646e+01] [ 1.92742091e-02 2.68959434e-04 9.99814199e-01 6.43633646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0892541539998 meters 0.018473908886430825 Centerline is valid? [True, True] Translation: X:913.93, Y:72.00, Z:6.44 [[ 5.57043555e-01 -8.30415601e-01 -1.06022511e-02 9.13932343e+02] [ 8.30253384e-01 5.57144337e-01 -1.64166330e-02 7.19965927e+01] [ 1.95396123e-02 3.42224756e-04 9.99809025e-01 6.43596197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1192541539999 meters 0.015810025333025005 Centerline is valid? [True, True] Translation: X:913.95, Y:72.02, Z:6.44 [[ 5.58597449e-01 -8.29381998e-01 -9.71550911e-03 9.13947988e+02] [ 8.29245495e-01 5.58681822e-01 -1.50509206e-02 7.20206259e+01] [ 1.79108410e-02 3.50863705e-04 9.99839526e-01 6.43903839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1492541539999 meters 0.01606374642409988 Centerline is valid? [True, True] Translation: X:913.96, Y:72.04, Z:6.44 [[ 5.59823281e-01 -8.28553722e-01 -9.82974470e-03 9.13963551e+02] [ 8.28413708e-01 5.59909440e-01 -1.52363986e-02 7.20446339e+01] [ 1.81279416e-02 3.86595418e-04 9.99835601e-01 6.43968716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1792541539999 meters 0.018846616337331448 Centerline is valid? [True, True] Translation: X:913.98, Y:72.07, Z:6.44 [[ 5.61773762e-01 -8.27227416e-01 -1.02490541e-02 9.13977555e+02] [ 8.27074827e-01 5.61867065e-01 -1.58943808e-02 7.20690086e+01] [ 1.89068735e-02 4.52311442e-04 9.99821147e-01 6.43765039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2092541539998 meters 0.01834659943475681 Centerline is valid? [True, True] Translation: X:913.99, Y:72.09, Z:6.44 [[ 5.62900710e-01 -8.26468988e-01 -9.58139890e-03 9.13991949e+02] [ 8.26335434e-01 5.62982069e-01 -1.48640728e-02 7.20929041e+01] [ 1.76788510e-02 4.49547717e-04 9.99843616e-01 6.43931505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2392541539999 meters 0.017910480980687718 Centerline is valid? [True, True] Translation: X:914.01, Y:72.12, Z:6.44 [[ 5.63958616e-01 -8.25749071e-01 -9.44196227e-03 9.14011247e+02] [ 8.25619162e-01 5.64037456e-01 -1.46542571e-02 7.21151930e+01] [ 1.74263596e-02 4.68929568e-04 9.99848040e-01 6.44035294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2692541539999 meters 0.018729190211096175 Centerline is valid? [True, True] Translation: X:914.03, Y:72.14, Z:6.44 [[ 5.64194971e-01 -8.25584855e-01 -9.67893717e-03 9.14026488e+02] [ 8.25448214e-01 5.64277776e-01 -1.50278864e-02 7.21388741e+01] [ 1.78684046e-02 4.89196541e-04 9.99840228e-01 6.44022114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2992541539999 meters 0.018333989565975466 Centerline is valid? [True, True] Translation: X:914.04, Y:72.16, Z:6.44 [[ 5.64302091e-01 -8.25513908e-01 -9.48356054e-03 9.14042872e+02] [ 8.25382635e-01 5.64381567e-01 -1.47293016e-02 7.21610895e+01] [ 1.75115900e-02 4.84209479e-04 9.99846543e-01 6.44073322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3292541539998 meters 0.01898182102670935 Centerline is valid? [True, True] Translation: X:914.06, Y:72.18, Z:6.44 [[ 5.64979310e-01 -8.25049700e-01 -9.55889289e-03 9.14058437e+02] [ 8.24916182e-01 5.65059942e-01 -1.48511001e-02 7.21847556e+01] [ 1.76542431e-02 5.05278869e-04 9.99844024e-01 6.44040793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3592541539998 meters 0.0187702916383622 Centerline is valid? [True, True] Translation: X:914.08, Y:72.21, Z:6.44 [[ 5.65187405e-01 -8.24904117e-01 -9.81804706e-03 9.14075103e+02] [ 8.24763113e-01 5.65272429e-01 -1.52606937e-02 7.22081515e+01] [ 1.81384803e-02 5.27588800e-04 9.99835345e-01 6.44047477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3892541539999 meters 0.01948231312307908 Centerline is valid? [True, True] Translation: X:914.09, Y:72.23, Z:6.44 [[ 5.66007449e-01 -8.24341728e-01 -9.81236391e-03 9.14091334e+02] [ 8.24200652e-01 5.66092230e-01 -1.52601865e-02 7.22324817e+01] [ 1.81343115e-02 5.50022516e-04 9.99835409e-01 6.44089530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4192541539999 meters 0.021374782962692365 Centerline is valid? [True, True] Translation: X:914.11, Y:72.26, Z:6.44 [[ 5.66161775e-01 -8.24224463e-01 -1.07182014e-02 9.14106067e+02] [ 8.24055979e-01 5.66262893e-01 -1.66757032e-02 7.22560830e+01] [ 1.98138423e-02 6.08747750e-04 9.99803501e-01 6.43901846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4492541539998 meters 0.020528324439632522 Centerline is valid? [True, True] Translation: X:914.12, Y:72.28, Z:6.44 [[ 5.66567143e-01 -8.23948782e-01 -1.04917667e-02 9.14121897e+02] [ 8.23787141e-01 5.66663951e-01 -1.63313541e-02 7.22790942e+01] [ 1.94015052e-02 6.09826135e-04 9.99811587e-01 6.43995616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4792541539998 meters 0.019759003785882266 Centerline is valid? [True, True] Translation: X:914.14, Y:72.30, Z:6.44 [[ 5.67436494e-01 -8.23336627e-01 -1.15162571e-02 9.14139784e+02] [ 8.23141525e-01 5.67552915e-01 -1.79365443e-02 7.23021031e+01] [ 2.13038992e-02 6.98340369e-04 9.99772802e-01 6.44051140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5092541539999 meters 0.021122122276818468 Centerline is valid? [True, True] Translation: X:914.15, Y:72.33, Z:6.44 [[ 5.67607050e-01 -8.23209645e-01 -1.21703217e-02 9.14153670e+02] [ 8.22991552e-01 5.67737018e-01 -1.89626805e-02 7.23266242e+01] [ 2.25198037e-02 7.47279184e-04 9.99746118e-01 6.43925316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5392541539999 meters 0.022564425279648213 Centerline is valid? [True, True] Translation: X:914.17, Y:72.35, Z:6.44 [[ 5.66964290e-01 -8.23637742e-01 -1.31287164e-02 9.14170252e+02] [ 8.23383799e-01 5.67115719e-01 -2.04665561e-02 7.23497754e+01] [ 2.43025295e-02 7.93834078e-04 9.99704335e-01 6.43711841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5692541539999 meters 0.023532533547048484 Centerline is valid? [True, True] Translation: X:914.19, Y:72.37, Z:6.44 [[ 5.66101664e-01 -8.24216528e-01 -1.40007747e-02 9.14186905e+02] [ 8.23927549e-01 5.66274166e-01 -2.18394904e-02 7.23727603e+01] [ 2.59287459e-02 8.27747831e-04 9.99663451e-01 6.43658607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5992541539998 meters 0.019296460388353365 Centerline is valid? [True, True] Translation: X:914.21, Y:72.39, Z:6.44 [[ 5.65140950e-01 -8.24896096e-01 -1.27333348e-02 9.14207039e+02] [ 8.24656987e-01 5.65283909e-01 -1.98735008e-02 7.23944106e+01] [ 2.35915224e-02 7.30695603e-04 9.99721414e-01 6.44053841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6292541539999 meters 0.018624747432644098 Centerline is valid? [True, True] Translation: X:914.23, Y:72.42, Z:6.44 [[ 5.63497884e-01 -8.26016501e-01 -1.29180113e-02 9.14225629e+02] [ 8.25770427e-01 5.63645500e-01 -2.01730467e-02 7.24172501e+01] [ 2.39444483e-02 7.00157425e-04 9.99713045e-01 6.44144424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6592541539999 meters 0.01818768393705784 Centerline is valid? [True, True] Translation: X:914.25, Y:72.44, Z:6.44 [[ 5.59906168e-01 -8.28450876e-01 -1.31995867e-02 9.14245204e+02] [ 8.28194326e-01 5.60061395e-01 -2.06250175e-02 7.24380007e+01] [ 2.44793928e-02 6.16251677e-04 9.99700145e-01 6.44179349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6892541539999 meters 0.018444263867194468 Centerline is valid? [True, True] Translation: X:914.26, Y:72.46, Z:6.44 [[ 5.58143350e-01 -8.29639922e-01 -1.31757824e-02 9.14261702e+02] [ 8.29384471e-01 5.58298558e-01 -2.05941723e-02 7.24604727e+01] [ 2.44417678e-02 5.66711018e-04 9.99701095e-01 6.44116909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7192541539998 meters 0.01655883759590115 Centerline is valid? [True, True] Translation: X:914.28, Y:72.48, Z:6.44 [[ 5.54861052e-01 -8.31837426e-01 -1.32555616e-02 9.14283777e+02] [ 8.31579279e-01 5.55019161e-01 -2.07276139e-02 7.24810975e+01] [ 2.45990956e-02 4.77895323e-04 9.99697282e-01 6.44352178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7492541539999 meters 0.016391772224238793 Centerline is valid? [True, True] Translation: X:914.30, Y:72.50, Z:6.44 [[ 5.53632495e-01 -8.32653657e-01 -1.33771829e-02 9.14300918e+02] [ 8.32390684e-01 5.53793900e-01 -2.09300092e-02 7.25040636e+01] [ 2.48356510e-02 4.52490761e-04 9.99691445e-01 6.44348655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7792541539999 meters 0.016252060973237233 Centerline is valid? [True, True] Translation: X:914.32, Y:72.53, Z:6.44 [[ 5.52469231e-01 -8.33423534e-01 -1.35263595e-02 9.14317731e+02] [ 8.33154565e-01 5.52634625e-01 -2.11764428e-02 7.25267850e+01] [ 2.51240804e-02 4.29784953e-04 9.99684248e-01 6.44393121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8092541539999 meters 0.015450826101918934 Centerline is valid? [True, True] Translation: X:914.34, Y:72.55, Z:6.45 [[ 5.51066528e-01 -8.34348670e-01 -1.37105277e-02 9.14337645e+02] [ 8.34072293e-01 5.51236916e-01 -2.14772653e-02 7.25484332e+01] [ 2.54772767e-02 3.99830790e-04 9.99675322e-01 6.44622773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8392541539998 meters 0.015446364884180386 Centerline is valid? [True, True] Translation: X:914.35, Y:72.57, Z:6.45 [[ 5.50490387e-01 -8.34727137e-01 -1.38181284e-02 9.14353690e+02] [ 8.34446174e-01 5.50663647e-01 -2.16594338e-02 7.25709589e+01] [ 2.56888581e-02 3.92825700e-04 9.99669910e-01 6.44669056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8692541539999 meters 0.017285654982661523 Centerline is valid? [True, True] Translation: X:914.37, Y:72.59, Z:6.44 [[ 5.50445890e-01 -8.34742880e-01 -1.46166121e-02 9.14368363e+02] [ 8.34428252e-01 5.50639762e-01 -2.29203914e-02 7.25945813e+01] [ 2.71811213e-02 4.19921166e-04 9.99630437e-01 6.44495950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8992541539999 meters 0.01580050005955829 Centerline is valid? [True, True] Translation: X:914.39, Y:72.62, Z:6.45 [[ 5.50650571e-01 -8.34615775e-01 -1.41582490e-02 9.14386167e+02] [ 8.34320209e-01 5.50832399e-01 -2.22138909e-02 7.26168670e+01] [ 2.63388860e-02 4.19578427e-04 9.99652983e-01 6.44712610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9292541539999 meters 0.016053895455067257 Centerline is valid? [True, True] Translation: X:914.40, Y:72.64, Z:6.45 [[ 5.51046681e-01 -8.34348888e-01 -1.44737054e-02 9.14401274e+02] [ 8.34039675e-01 5.51236549e-01 -2.27175562e-02 7.26399609e+01] [ 2.69328031e-02 4.46789412e-04 9.99637146e-01 6.44667356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9592541539998 meters 0.016203774734078764 Centerline is valid? [True, True] Translation: X:914.42, Y:72.66, Z:6.45 [[ 5.51438769e-01 -8.34079512e-01 -1.50549422e-02 9.14417737e+02] [ 8.33744534e-01 5.51644027e-01 -2.36414921e-02 7.26641990e+01] [ 2.80238531e-02 4.84859548e-04 9.99607137e-01 6.44655072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9892541539999 meters 0.016992739663009883 Centerline is valid? [True, True] Translation: X:914.43, Y:72.69, Z:6.45 [[ 5.51444061e-01 -8.34067732e-01 -1.55069284e-02 9.14433873e+02] [ 8.33711935e-01 5.51661817e-01 -2.43649286e-02 7.26882493e+01] [ 2.88765810e-02 5.07583906e-04 9.99582856e-01 6.44659340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0192541539999 meters 0.01618459566216007 Centerline is valid? [True, True] Translation: X:914.45, Y:72.71, Z:6.45 [[ 5.51235598e-01 -8.34213292e-01 -1.50830508e-02 9.14449765e+02] [ 8.33876332e-01 5.51441691e-01 -2.37133609e-02 7.27110726e+01] [ 2.80994239e-02 4.94249559e-04 9.99605011e-01 6.44743753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0492541539999 meters 0.018515646394651333 Centerline is valid? [True, True] Translation: X:914.47, Y:72.73, Z:6.45 [[ 5.49787159e-01 -8.35151426e-01 -1.60055053e-02 9.14465995e+02] [ 8.34771928e-01 5.50019876e-01 -2.51786465e-02 7.27330585e+01] [ 2.98313286e-02 4.81950010e-04 9.99554831e-01 6.44719113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0792541539998 meters 0.018355321962003984 Centerline is valid? [True, True] Translation: X:914.48, Y:72.76, Z:6.45 [[ 5.48627865e-01 -8.35916686e-01 -1.58353881e-02 9.14481745e+02] [ 8.35545166e-01 5.48856173e-01 -2.49234204e-02 7.27553299e+01] [ 2.95252535e-02 4.42500917e-04 9.99563937e-01 6.44781642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1092541539998 meters 0.017720352480357478 Centerline is valid? [True, True] Translation: X:914.50, Y:72.78, Z:6.45 [[ 5.46983373e-01 -8.37000909e-01 -1.54489075e-02 9.14498603e+02] [ 8.36647371e-01 5.47201364e-01 -2.43278246e-02 7.27789532e+01] [ 2.88160746e-02 3.81627727e-04 9.99584658e-01 6.44875606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1392541539999 meters 0.015121625175228371 Centerline is valid? [True, True] Translation: X:914.52, Y:72.80, Z:6.45 [[ 5.44040065e-01 -8.38955554e-01 -1.31903805e-02 9.14517393e+02] [ 8.38698128e-01 5.44199889e-01 -2.07829686e-02 7.28005032e+01] [ 2.46141905e-02 2.44020179e-04 9.99696995e-01 6.45218797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1692541539999 meters 0.017227001227674486 Centerline is valid? [True, True] Translation: X:914.53, Y:72.82, Z:6.45 [[ 5.42423074e-01 -8.39986729e-01 -1.41246059e-02 9.14533566e+02] [ 8.39691523e-01 5.42606899e-01 -2.22687689e-02 7.28239333e+01] [ 2.63695789e-02 2.18782246e-04 9.99652238e-01 6.45312355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1992541539998 meters 0.01474323792848018 Centerline is valid? [True, True] Translation: X:914.55, Y:72.85, Z:6.45 [[ 5.40256550e-01 -8.41407672e-01 -1.24895725e-02 9.14549933e+02] [ 8.41176991e-01 5.40400879e-01 -1.97017970e-02 7.28474572e+01] [ 2.33266191e-02 1.38083849e-04 9.99727888e-01 6.45392831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2292541539998 meters 0.014807027113579244 Centerline is valid? [True, True] Translation: X:914.56, Y:72.87, Z:6.45 [[ 5.39302144e-01 -8.42020852e-01 -1.24129923e-02 9.14564591e+02] [ 8.41792901e-01 5.39444966e-01 -1.95918687e-02 7.28702935e+01] [ 2.31928882e-02 1.16768042e-04 9.99731002e-01 6.45328174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2592541539999 meters 0.014812718153489878 Centerline is valid? [True, True] Translation: X:914.58, Y:72.89, Z:6.45 [[ 5.38499414e-01 -8.42530066e-01 -1.27070375e-02 9.14580133e+02] [ 8.42291035e-01 5.38649308e-01 -2.00682845e-02 7.28940360e+01] [ 2.37527700e-02 1.03735662e-04 9.99717858e-01 6.45369171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2892541539999 meters 0.0172166643862791 Centerline is valid? [True, True] Translation: X:914.60, Y:72.92, Z:6.45 [[ 5.37722667e-01 -8.43005299e-01 -1.40142519e-02 9.14595001e+02] [ 8.42714459e-01 5.37905248e-01 -2.21423671e-02 7.29180896e+01] [ 2.62044724e-02 9.64399980e-05 9.99656599e-01 6.45228130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3192541539999 meters 0.015041975922548209 Centerline is valid? [True, True] Translation: X:914.61, Y:72.94, Z:6.45 [[ 5.37305077e-01 -8.43284029e-01 -1.32401403e-02 9.14610116e+02] [ 8.43024250e-01 5.37468176e-01 -2.09302399e-02 7.29415722e+01] [ 2.47662911e-02 8.41648071e-05 9.99693265e-01 6.45300507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3492541539998 meters 0.017001751188739502 Centerline is valid? [True, True] Translation: X:914.62, Y:72.97, Z:6.45 [[ 5.37075093e-01 -8.43417474e-01 -1.40467027e-02 9.14623712e+02] [ 8.43124894e-01 5.37258744e-01 -2.22138428e-02 7.29658167e+01] [ 2.62822570e-02 8.73769575e-05 9.99654558e-01 6.45278287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3792541539999 meters 0.018010214279874006 Centerline is valid? [True, True] Translation: X:914.64, Y:72.99, Z:6.45 [[ 5.37148967e-01 -8.43367550e-01 -1.42183932e-02 9.14637760e+02] [ 8.43067436e-01 5.37337106e-01 -2.24973880e-02 7.29904151e+01] [ 2.66136372e-02 9.73844301e-05 9.99645790e-01 6.45373340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4092541539999 meters 0.015043629752831782 Centerline is valid? [True, True] Translation: X:914.65, Y:73.02, Z:6.45 [[ 5.38101087e-01 -8.42787647e-01 -1.24981092e-02 9.14652475e+02] [ 8.42555376e-01 5.38246197e-01 -1.97855957e-02 7.30158440e+01] [ 2.34021154e-02 1.16301458e-04 9.99726126e-01 6.45468475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4392541539999 meters 0.015043629752831782 Centerline is valid? [True, True] Translation: X:914.67, Y:73.04, Z:6.45 [[ 5.37865625e-01 -8.42938015e-01 -1.24928897e-02 9.14667139e+02] [ 8.42705708e-01 5.38010678e-01 -1.97888915e-02 7.30392208e+01] [ 2.34021170e-02 1.15935096e-04 9.99726126e-01 6.45487533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4692541539998 meters 0.018148988994513254 Centerline is valid? [True, True] Translation: X:914.68, Y:73.06, Z:6.45 [[ 5.38213602e-01 -8.42698479e-01 -1.36158809e-02 9.14679869e+02] [ 8.42422213e-01 5.38385785e-01 -2.15768814e-02 7.30637857e+01] [ 2.55134019e-02 1.42650560e-04 9.99674470e-01 6.45446820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4992541539999 meters 0.016358107156652528 Centerline is valid? [True, True] Translation: X:914.69, Y:73.09, Z:6.46 [[ 5.40436176e-01 -8.41287489e-01 -1.28102172e-02 9.14692158e+02] [ 8.41042294e-01 5.40587940e-01 -2.03110518e-02 7.30896852e+01] [ 2.40124827e-02 2.02892711e-04 9.99711638e-01 6.45506022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5292541539999 meters 0.015413811954817573 Centerline is valid? [True, True] Translation: X:914.71, Y:73.11, Z:6.45 [[ 5.41578018e-01 -8.40558339e-01 -1.24470168e-02 9.14706193e+02] [ 8.40326375e-01 5.41720983e-01 -1.97474361e-02 7.31146171e+01] [ 2.33416823e-02 2.35220833e-04 9.99727518e-01 6.45465313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5592541539999 meters 0.015775965745370345 Centerline is valid? [True, True] Translation: X:914.72, Y:73.14, Z:6.45 [[ 5.43904466e-01 -8.39046007e-01 -1.30280422e-02 9.14718778e+02] [ 8.38791149e-01 5.44060379e-01 -2.06812102e-02 7.31404790e+01] [ 2.44405284e-02 3.20796147e-04 9.99701234e-01 6.45373626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5892541539998 meters 0.017932631902374378 Centerline is valid? [True, True] Translation: X:914.73, Y:73.17, Z:6.45 [[ 5.44279850e-01 -8.38787436e-01 -1.39671561e-02 9.14732526e+02] [ 8.38494092e-01 5.44458910e-01 -2.21845085e-02 7.31655611e+01] [ 2.62126296e-02 3.63203068e-04 9.99656324e-01 6.45361534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6192541539999 meters 0.01629804667793236 Centerline is valid? [True, True] Translation: X:914.75, Y:73.19, Z:6.45 [[ 5.45599643e-01 -8.37946660e-01 -1.29005722e-02 9.14745426e+02] [ 8.37695910e-01 5.45752006e-01 -2.05014952e-02 7.31894853e+01] [ 2.42196726e-02 3.78851904e-04 9.99706589e-01 6.45337613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6492541539999 meters 0.017687138864555977 Centerline is valid? [True, True] Translation: X:914.76, Y:73.22, Z:6.46 [[ 5.47011228e-01 -8.37025364e-01 -1.29327924e-02 9.14758939e+02] [ 8.36772822e-01 5.47163923e-01 -2.05642021e-02 7.32153813e+01] [ 2.42891161e-02 4.27040277e-04 9.99704885e-01 6.45521164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6792541539999 meters 0.016479024425201844 Centerline is valid? [True, True] Translation: X:914.77, Y:73.24, Z:6.46 [[ 5.48500936e-01 -8.36071931e-01 -1.14214362e-02 9.14772101e+02] [ 8.35874534e-01 5.48619676e-01 -1.81717941e-02 7.32401226e+01] [ 2.14589516e-02 4.20358411e-04 9.99769642e-01 6.45692051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7092541539998 meters 0.019109031829911065 Centerline is valid? [True, True] Translation: X:914.79, Y:73.26, Z:6.46 [[ 5.48320291e-01 -8.36186720e-01 -1.16887954e-02 9.14785790e+02] [ 8.35979750e-01 5.48444694e-01 -1.86084682e-02 7.32641241e+01] [ 2.19708117e-02 4.31804443e-04 9.99758519e-01 6.45752006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7392541539999 meters 0.019029078860005644 Centerline is valid? [True, True] Translation: X:914.80, Y:73.29, Z:6.46 [[ 5.48369854e-01 -8.36162558e-01 -1.10760927e-02 9.14800774e+02] [ 8.35976487e-01 5.48481544e-01 -1.76439660e-02 7.32878997e+01] [ 2.08282562e-02 4.16066039e-04 9.99782982e-01 6.45866766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7692541539999 meters 0.016616175957676716 Centerline is valid? [True, True] Translation: X:914.82, Y:73.31, Z:6.46 [[ 5.48457378e-01 -8.36117748e-01 -1.00804852e-02 9.14815013e+02] [ 8.35963453e-01 5.48549873e-01 -1.60668263e-02 7.33113345e+01] [ 1.89634076e-02 3.85052197e-04 9.99820104e-01 6.45937516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7992541539999 meters 0.01921235645905885 Centerline is valid? [True, True] Translation: X:914.83, Y:73.34, Z:6.46 [[ 5.47729086e-01 -8.36593507e-01 -1.02054923e-02 9.14829416e+02] [ 8.36435254e-01 5.47824023e-01 -1.62759343e-02 7.33359460e+01] [ 1.92071548e-02 3.78569125e-04 9.99815454e-01 6.46001141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8292541539998 meters 0.018853034942353325 Centerline is valid? [True, True] Translation: X:914.84, Y:73.36, Z:6.46 [[ 5.47223993e-01 -8.36929519e-01 -9.74067938e-03 9.14843855e+02] [ 8.36785229e-01 5.47310564e-01 -1.55443729e-02 7.33603831e+01] [ 1.83407212e-02 3.55397172e-04 9.99831732e-01 6.45988482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8592541539998 meters 0.01838049410512225 Centerline is valid? [True, True] Translation: X:914.86, Y:73.38, Z:6.46 [[ 5.46001045e-01 -8.37731887e-01 -9.38850597e-03 9.14857960e+02] [ 8.37597798e-01 5.46081662e-01 -1.49915761e-02 7.33848714e+01] [ 1.76858123e-02 3.21624267e-04 9.99843542e-01 6.45956740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8892541539999 meters 0.016036883014815217 Centerline is valid? [True, True] Translation: X:914.87, Y:73.41, Z:6.46 [[ 5.45342562e-01 -8.38166152e-01 -8.88773505e-03 9.14873052e+02] [ 8.38045899e-01 5.45414901e-01 -1.42005584e-02 7.34085152e+01] [ 1.67499305e-02 2.95838967e-04 9.99859666e-01 6.45969609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9192541539999 meters 0.01677524670164908 Centerline is valid? [True, True] Translation: X:914.89, Y:73.43, Z:6.46 [[ 5.44124606e-01 -8.38954030e-01 -9.19502869e-03 9.14887232e+02] [ 8.38825285e-01 5.44202217e-01 -1.46999492e-02 7.34317988e+01] [ 1.73365367e-02 2.85581522e-04 9.99849670e-01 6.45896717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9492541539998 meters 0.015340866426225968 Centerline is valid? [True, True] Translation: X:914.91, Y:73.45, Z:6.46 [[ 5.41608271e-01 -8.40578833e-01 -9.36516137e-03 9.14905166e+02] [ 8.40445371e-01 5.41689179e-01 -1.49803600e-02 7.34545953e+01] [ 1.76651801e-02 2.42580350e-04 9.99843929e-01 6.45927199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9792541539998 meters 0.015358097437982792 Centerline is valid? [True, True] Translation: X:914.92, Y:73.48, Z:6.46 [[ 5.40004304e-01 -8.41607189e-01 -9.62764567e-03 9.14919980e+02] [ 8.41466167e-01 5.40090077e-01 -1.54077522e-02 7.34774910e+01] [ 1.81670709e-02 2.18914428e-04 9.99834941e-01 6.45844832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0092541539999 meters 0.016107178365741985 Centerline is valid? [True, True] Translation: X:914.94, Y:73.50, Z:6.46 [[ 5.37051026e-01 -8.43489341e-01 -1.00959235e-02 9.14936759e+02] [ 8.43334425e-01 5.37145887e-01 -1.61661062e-02 7.34999564e+01] [ 1.90589220e-02 1.67784017e-04 9.99818348e-01 6.45821712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0392541539999 meters 0.016352031351006567 Centerline is valid? [True, True] Translation: X:914.95, Y:73.52, Z:6.46 [[ 5.35684980e-01 -8.44356756e-01 -1.01622837e-02 9.14952075e+02] [ 8.44199757e-01 5.35781344e-01 -1.62825430e-02 7.35238392e+01] [ 1.91930372e-02 1.43316343e-04 9.99815786e-01 6.45804000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0692541539999 meters 0.01753004808333047 Centerline is valid? [True, True] Translation: X:914.97, Y:73.55, Z:6.46 [[ 5.34237470e-01 -8.45273801e-01 -1.01255550e-02 9.14967121e+02] [ 8.45117903e-01 5.34333405e-01 -1.62339553e-02 7.35471597e+01] [ 1.91325594e-02 1.15499437e-04 9.99816949e-01 6.45843694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0992541539998 meters 0.01447692646738738 Centerline is valid? [True, True] Translation: X:914.98, Y:73.57, Z:6.46 [[ 5.32586772e-01 -8.46321469e-01 -9.55517250e-03 9.14982939e+02] [ 8.46182676e-01 5.32672475e-01 -1.53268830e-02 7.35691609e+01] [ 1.80612475e-02 7.74737339e-05 9.99836879e-01 6.45976138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1292541539999 meters 0.01476762263029991 Centerline is valid? [True, True] Translation: X:915.00, Y:73.59, Z:6.46 [[ 5.31018718e-01 -8.47309660e-01 -9.24448601e-03 9.14998192e+02] [ 8.47179760e-01 5.31099178e-01 -1.48363664e-02 7.35923184e+01] [ 1.74807355e-02 4.66468280e-05 9.99847199e-01 6.46006139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1592541539999 meters 0.014192984613416993 Centerline is valid? [True, True] Translation: X:915.01, Y:73.62, Z:6.46 [[ 5.28303927e-01 -8.49013179e-01 -8.46061992e-03 9.15014571e+02] [ 8.48904463e-01 5.28371670e-01 -1.35864428e-02 7.36150604e+01] [ 1.60054209e-02 -4.48691497e-06 9.99871905e-01 6.46142480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1892541539999 meters 0.014214804315069298 Centerline is valid? [True, True] Translation: X:915.03, Y:73.64, Z:6.46 [[ 5.26463568e-01 -8.50156186e-01 -8.40062802e-03 9.15030386e+02] [ 8.50049016e-01 5.26530585e-01 -1.34986035e-02 7.36386338e+01] [ 1.58991089e-02 -3.44226280e-05 9.99873601e-01 6.46176409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2192541539998 meters 0.015201664392369372 Centerline is valid? [True, True] Translation: X:915.05, Y:73.66, Z:6.46 [[ 5.24482262e-01 -8.51382605e-01 -8.12509467e-03 9.15045836e+02] [ 8.51282392e-01 5.24545190e-01 -1.30626140e-02 7.36612487e+01] [ 1.53832616e-02 -6.56406894e-05 9.99881668e-01 6.46135500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2492541539999 meters 0.014519528442315965 Centerline is valid? [True, True] Translation: X:915.06, Y:73.69, Z:6.46 [[ 5.22330046e-01 -8.52705827e-01 -8.00595470e-03 9.15061610e+02] [ 8.52608583e-01 5.22391388e-01 -1.28779825e-02 7.36851406e+01] [ 1.51633725e-02 -9.93885167e-05 9.99885025e-01 6.46276241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2792541539999 meters 0.016429121603274262 Centerline is valid? [True, True] Translation: X:915.08, Y:73.71, Z:6.46 [[ 5.18436178e-01 -8.55076237e-01 -8.27999842e-03 9.15077993e+02] [ 8.54972396e-01 5.18502266e-01 -1.33267665e-02 7.37092273e+01] [ 1.56885993e-02 -1.70092200e-04 9.99876912e-01 6.46301838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3092541539999 meters 0.01711132562233892 Centerline is valid? [True, True] Translation: X:915.09, Y:73.73, Z:6.46 [[ 5.17092376e-01 -8.55889356e-01 -8.29969182e-03 9.15094286e+02] [ 8.55785025e-01 5.17158944e-01 -1.33647577e-02 7.37317293e+01] [ 1.57310137e-02 -1.91937635e-04 9.99876242e-01 6.46241662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3392541539998 meters 0.015524432493325638 Centerline is valid? [True, True] Translation: X:915.11, Y:73.76, Z:6.46 [[ 5.15610536e-01 -8.56785253e-01 -8.05020601e-03 9.15107830e+02] [ 8.56687109e-01 5.15673334e-01 -1.29695800e-02 7.37570271e+01] [ 1.52634215e-02 -2.09255596e-04 9.99883485e-01 6.46452145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3692541539999 meters 0.017276585911573793 Centerline is valid? [True, True] Translation: X:915.12, Y:73.78, Z:6.46 [[ 5.14761311e-01 -8.57294673e-01 -8.16311623e-03 9.15121092e+02] [ 8.57193697e-01 5.14825984e-01 -1.31594913e-02 7.37816804e+01] [ 1.54841462e-02 -2.23374778e-04 9.99880088e-01 6.46413546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3992541539999 meters 0.016788998975777177 Centerline is valid? [True, True] Translation: X:915.13, Y:73.81, Z:6.46 [[ 5.14425309e-01 -8.57495140e-01 -8.28768400e-03 9.15132271e+02] [ 8.57390953e-01 5.14492014e-01 -1.33687005e-02 7.38076349e+01] [ 1.57275430e-02 -2.28587379e-04 9.99876288e-01 6.46395955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4292541539999 meters 0.018622751825947567 Centerline is valid? [True, True] Translation: X:915.15, Y:73.83, Z:6.46 [[ 5.13934178e-01 -8.57788555e-01 -8.39381884e-03 9.15145595e+02] [ 8.57681581e-01 5.14002665e-01 -1.35486281e-02 7.38329108e+01] [ 1.59363034e-02 -2.36120756e-04 9.99872981e-01 6.46387389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4592541539998 meters 0.015371992132416057 Centerline is valid? [True, True] Translation: X:915.16, Y:73.86, Z:6.47 [[ 5.13796229e-01 -8.57875673e-01 -7.92244284e-03 9.15159098e+02] [ 8.57780267e-01 5.13857258e-01 -1.27957652e-02 7.38571508e+01] [ 1.50481804e-02 -2.21299225e-04 9.99886745e-01 6.46502664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4892541539999 meters 0.017811447759180282 Centerline is valid? [True, True] Translation: X:915.17, Y:73.88, Z:6.47 [[ 5.12514246e-01 -8.58644508e-01 -7.66525185e-03 9.15171378e+02] [ 8.58555176e-01 5.12571512e-01 -1.23877262e-02 7.38812857e+01] [ 1.45656428e-02 -2.32155476e-04 9.99893888e-01 6.46504123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5192541539999 meters 0.016521111725158986 Centerline is valid? [True, True] Translation: X:915.19, Y:73.91, Z:6.47 [[ 5.11791399e-01 -8.59078751e-01 -7.29814455e-03 9.15185121e+02] [ 8.58997718e-01 5.11843381e-01 -1.18014284e-02 7.39059722e+01] [ 1.38738633e-02 -2.29219968e-04 9.99903727e-01 6.46634751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5492541539999 meters 0.01854569477560329 Centerline is valid? [True, True] Translation: X:915.20, Y:73.93, Z:6.47 [[ 5.10696575e-01 -8.59734015e-01 -6.81412170e-03 9.15197256e+02] [ 8.59663345e-01 5.10741982e-01 -1.10254755e-02 7.39311684e+01] [ 1.29592344e-02 -2.27178071e-04 9.99916000e-01 6.46645230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5792541539998 meters 0.015723065525311778 Centerline is valid? [True, True] Translation: X:915.21, Y:73.95, Z:6.47 [[ 5.10518083e-01 -8.59840940e-01 -6.69659604e-03 9.15210770e+02] [ 8.59772614e-01 5.10561953e-01 -1.08417761e-02 7.39549844e+01] [ 1.27412301e-02 -2.22627109e-04 9.99918802e-01 6.46706089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6092541539998 meters 0.015336673553982728 Centerline is valid? [True, True] Translation: X:915.22, Y:73.98, Z:6.47 [[ 5.09804158e-01 -8.60264815e-01 -6.64602456e-03 9.15223157e+02] [ 8.60197475e-01 5.09847425e-01 -1.07660609e-02 7.39810218e+01] [ 1.26501219e-02 -2.28310918e-04 9.99919958e-01 6.46711369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6392541539999 meters 0.017707784156567003 Centerline is valid? [True, True] Translation: X:915.24, Y:74.01, Z:6.47 [[ 5.09234299e-01 -8.60599607e-01 -6.98173602e-03 9.15237865e+02] [ 8.60525252e-01 5.09282098e-01 -1.13152913e-02 7.40052711e+01] [ 1.32936084e-02 -2.45825726e-04 9.99911606e-01 6.46554161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6692541539999 meters 0.01600891233939064 Centerline is valid? [True, True] Translation: X:915.25, Y:74.03, Z:6.47 [[ 5.08077477e-01 -8.61282751e-01 -7.02147908e-03 9.15249481e+02] [ 8.61207543e-01 5.08125924e-01 -1.13848124e-02 7.40322491e+01] [ 1.33733381e-02 -2.62583973e-04 9.99910538e-01 6.46517881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6992541539998 meters 0.016737238613554115 Centerline is valid? [True, True] Translation: X:915.26, Y:74.06, Z:6.46 [[ 5.07301291e-01 -8.61738683e-01 -7.20015100e-03 9.15263392e+02] [ 8.61659565e-01 5.07352308e-01 -1.16803197e-02 7.40554832e+01] [ 1.37183965e-02 -2.78637740e-04 9.99905860e-01 6.46447867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7292541539998 meters 0.017469813360478342 Centerline is valid? [True, True] Translation: X:915.27, Y:74.08, Z:6.46 [[ 5.04401475e-01 -8.63440081e-01 -7.09777783e-03 9.15273947e+02] [ 8.63363287e-01 5.04451312e-01 -1.15199043e-02 7.40825621e+01] [ 1.35272304e-02 -3.17304081e-04 9.99908452e-01 6.46488008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7592541539999 meters 0.016964156514115068 Centerline is valid? [True, True] Translation: X:915.29, Y:74.11, Z:6.47 [[ 5.03253048e-01 -8.64113192e-01 -6.69035624e-03 9.15288567e+02] [ 8.64044961e-01 5.03297420e-01 -1.08633769e-02 7.41065551e+01] [ 1.27544263e-02 -3.13741079e-04 9.99918610e-01 6.46561565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7892541539999 meters 0.019050403446316935 Centerline is valid? [True, True] Translation: X:915.30, Y:74.13, Z:6.47 [[ 5.01326137e-01 -8.65234378e-01 -6.44792743e-03 9.15301809e+02] [ 8.65171041e-01 5.01367494e-01 -1.04740168e-02 7.41318926e+01] [ 1.22952606e-02 -3.27661710e-04 9.99924357e-01 6.46528215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8192541539999 meters 0.017389051931201202 Centerline is valid? [True, True] Translation: X:915.31, Y:74.16, Z:6.47 [[ 4.98806050e-01 -8.66695239e-01 -5.64698638e-03 9.15313159e+02] [ 8.66646702e-01 4.98837913e-01 -9.17773246e-03 7.41591335e+01] [ 1.07712279e-02 -3.16033646e-04 9.99941939e-01 6.46692030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8492541539998 meters 0.018369780025882416 Centerline is valid? [True, True] Translation: X:915.33, Y:74.18, Z:6.47 [[ 4.97458888e-01 -8.67470302e-01 -5.47076359e-03 9.15327254e+02] [ 8.67424749e-01 4.97488866e-01 -8.89563211e-03 7.41828679e+01] [ 1.04383407e-02 -3.20264484e-04 9.99945468e-01 6.46751848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8792541539999 meters 0.02093442358318034 Centerline is valid? [True, True] Translation: X:915.34, Y:74.21, Z:6.47 [[ 4.95151413e-01 -8.68790481e-01 -5.30832168e-03 9.15338896e+02] [ 8.68747637e-01 4.95179752e-01 -8.63452973e-03 7.42079892e+01] [ 1.01301706e-02 -3.36192322e-04 9.99948632e-01 6.46694194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9092541539999 meters 0.021595442006331813 Centerline is valid? [True, True] Translation: X:915.35, Y:74.23, Z:6.47 [[ 4.94117406e-01 -8.69377904e-01 -5.48173000e-03 9.15350427e+02] [ 8.69332209e-01 4.94147683e-01 -8.92064094e-03 7.42346818e+01] [ 1.04641923e-02 -3.57600485e-04 9.99945185e-01 6.46673892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9392541539999 meters 0.018740731360446638 Centerline is valid? [True, True] Translation: X:915.36, Y:74.26, Z:6.47 [[ 4.94088655e-01 -8.69394971e-01 -5.36515358e-03 9.15362397e+02] [ 8.69351148e-01 4.94117661e-01 -8.73601956e-03 7.42602430e+01] [ 1.02460686e-02 -3.47834275e-04 9.99947447e-01 6.46777536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9692541539998 meters 0.019501391707947957 Centerline is valid? [True, True] Translation: X:915.37, Y:74.29, Z:6.47 [[ 4.94457259e-01 -8.69184014e-01 -5.58289186e-03 9.15371063e+02] [ 8.69136487e-01 4.94488649e-01 -9.09633504e-03 7.42891000e+01] [ 1.06670657e-02 -3.54546137e-04 9.99943042e-01 6.46633584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9992541539999 meters 0.021032914782511826 Centerline is valid? [True, True] Translation: X:915.38, Y:74.31, Z:6.46 [[ 4.95239936e-01 -8.68735994e-01 -5.93112203e-03 9.15383023e+02] [ 8.68682261e-01 4.95275317e-01 -9.66901069e-03 7.43136798e+01] [ 1.13373560e-02 -3.63780258e-04 9.99935664e-01 6.46495539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0292541539999 meters 0.021199144562268225 Centerline is valid? [True, True] Translation: X:915.39, Y:74.34, Z:6.46 [[ 4.96330049e-01 -8.68112759e-01 -6.05973581e-03 9.15394903e+02] [ 8.68056567e-01 4.96366913e-01 -9.88351187e-03 7.43408866e+01] [ 1.15878551e-02 -3.54709529e-04 9.99932796e-01 6.46416129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0592541539999 meters 0.01795092522956176 Centerline is valid? [True, True] Translation: X:915.41, Y:74.37, Z:6.47 [[ 4.97776610e-01 -8.67281933e-01 -6.36358207e-03 9.15405997e+02] [ 8.67219828e-01 4.97817162e-01 -1.03847522e-02 7.43676408e+01] [ 1.21744083e-02 -3.49337793e-04 9.99925828e-01 6.46579207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0892541539998 meters 0.02095953858417421 Centerline is valid? [True, True] Translation: X:915.42, Y:74.39, Z:6.46 [[ 5.00128640e-01 -8.65928980e-01 -6.19237011e-03 9.15415528e+02] [ 8.65870020e-01 5.00166880e-01 -1.01094442e-02 7.43944898e+01] [ 1.18512792e-02 -3.05765029e-04 9.99929724e-01 6.46368445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1192541539999 meters 0.017040111107677097 Centerline is valid? [True, True] Translation: X:915.43, Y:74.42, Z:6.47 [[ 5.01804738e-01 -8.64958403e-01 -6.24227005e-03 9.15426147e+02] [ 8.64898370e-01 5.01843482e-01 -1.01945245e-02 7.44217157e+01] [ 1.19504822e-02 -2.83268484e-04 9.99928550e-01 6.46610772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1492541539999 meters 0.016033135524132318 Centerline is valid? [True, True] Translation: X:915.43, Y:74.45, Z:6.47 [[ 5.04998967e-01 -8.63099321e-01 -5.96708730e-03 9.15434480e+02] [ 8.63044274e-01 5.05034169e-01 -9.75034413e-03 7.44507020e+01] [ 1.14290984e-02 -2.25946813e-04 9.99934660e-01 6.46679366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1792541539999 meters 0.01717409114745903 Centerline is valid? [True, True] Translation: X:915.45, Y:74.48, Z:6.47 [[ 5.06525759e-01 -8.62206836e-01 -5.57013841e-03 9.15445888e+02] [ 8.62158765e-01 5.06556350e-01 -9.10653251e-03 7.44772203e+01] [ 1.06733036e-02 -1.89650352e-04 9.99943021e-01 6.46569611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2092541539998 meters 0.015198102224730612 Centerline is valid? [True, True] Translation: X:915.46, Y:74.50, Z:6.47 [[ 5.09082437e-01 -8.60699942e-01 -5.53917270e-03 9.15457133e+02] [ 8.60652273e-01 5.09112547e-01 -9.05975447e-03 7.45032702e+01] [ 1.06177925e-02 -1.55139696e-04 9.99943618e-01 6.46710692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2392541539999 meters 0.0176922887000553 Centerline is valid? [True, True] Translation: X:915.46, Y:74.53, Z:6.47 [[ 5.13554821e-01 -8.58044190e-01 -4.64904055e-03 9.15463895e+02] [ 8.58010490e-01 5.13575857e-01 -7.60516333e-03 7.45319133e+01] [ 8.91320120e-03 -8.32572615e-05 9.99960273e-01 6.46546725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2692541539999 meters 0.01693198344852844 Centerline is valid? [True, True] Translation: X:915.47, Y:74.56, Z:6.47 [[ 5.16065793e-01 -8.56537991e-01 -4.33223030e-03 9.15474863e+02] [ 8.56508659e-01 5.16083974e-01 -7.08861083e-03 7.45589091e+01] [ 8.30745911e-03 -5.24031977e-05 9.99965491e-01 6.46627383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2992541539999 meters 0.014659478111670142 Centerline is valid? [True, True] Translation: X:915.48, Y:74.59, Z:6.47 [[ 5.23292028e-01 -8.52143768e-01 -4.05619061e-03 9.15481353e+02] [ 8.52117894e-01 5.23307748e-01 -6.64045030e-03 7.45876746e+01] [ 7.78125431e-03 1.85421056e-05 9.99969725e-01 6.46813718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3292541539998 meters 0.014659478111670142 Centerline is valid? [True, True] Translation: X:915.50, Y:74.61, Z:6.47 [[ 5.23052622e-01 -8.52290746e-01 -4.05435688e-03 9.15495642e+02] [ 8.52264869e-01 5.23068335e-01 -6.64156975e-03 7.46112381e+01] [ 7.78125414e-03 1.85045428e-05 9.99969725e-01 6.46832760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3592541539998 meters 0.01571149449166677 Centerline is valid? [True, True] Translation: X:915.51, Y:74.64, Z:6.47 [[ 5.26592055e-01 -8.50108826e-01 -3.97376829e-03 9.15505699e+02] [ 8.50083875e-01 5.26607046e-01 -6.51338711e-03 7.46380453e+01] [ 7.62970225e-03 5.18615583e-05 9.99970892e-01 6.46811417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3892541539999 meters 0.018793138896667762 Centerline is valid? [True, True] Translation: X:915.52, Y:74.67, Z:6.47 [[ 5.29733382e-01 -8.48156434e-01 -3.63428062e-03 9.15516691e+02] [ 8.48135507e-01 5.29745843e-01 -5.95848757e-03 7.46654556e+01] [ 6.97897462e-03 7.40473361e-05 9.99975644e-01 6.46670498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4192541539999 meters 0.02155537330674144 Centerline is valid? [True, True] Translation: X:915.52, Y:74.69, Z:6.47 [[ 5.36612013e-01 -8.43821972e-01 -3.46813921e-03 9.15524701e+02] [ 8.43802803e-01 5.36623205e-01 -5.68906289e-03 7.46939944e+01] [ 6.66164024e-03 1.26393896e-04 9.99977803e-01 6.46528144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4492541539998 meters 0.021951393078547213 Centerline is valid? [True, True] Translation: X:915.54, Y:74.72, Z:6.47 [[ 5.40031500e-01 -8.41636736e-01 -3.68550314e-03 9.15535631e+02] [ 8.41615015e-01 5.40044051e-01 -6.04889950e-03 7.47200306e+01] [ 7.08131008e-03 1.64821488e-04 9.99974914e-01 6.46541369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4792541539998 meters 0.024728185890333078 Centerline is valid? [True, True] Translation: X:915.54, Y:74.75, Z:6.46 [[ 5.43937668e-01 -8.39116985e-01 -3.80779350e-03 9.15544957e+02] [ 8.39093724e-01 5.43950957e-01 -6.25134224e-03 7.47465814e+01] [ 7.31686037e-03 2.05244894e-04 9.99973210e-01 6.46407347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5092541539999 meters 0.023388277308158945 Centerline is valid? [True, True] Translation: X:915.56, Y:74.77, Z:6.47 [[ 5.46014613e-01 -8.37766976e-01 -3.81259280e-03 9.15557416e+02] [ 8.37743608e-01 5.46027877e-01 -6.26134485e-03 7.47711056e+01] [ 7.32732990e-03 2.24810536e-04 9.99973129e-01 6.46514453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5392541539999 meters 0.025105587528125195 Centerline is valid? [True, True] Translation: X:915.57, Y:74.79, Z:6.46 [[ 5.45963580e-01 -8.37799871e-01 -3.89166149e-03 9.15572548e+02] [ 8.37775511e-01 5.45977402e-01 -6.39295202e-03 7.47947730e+01] [ 7.48077361e-03 2.29980279e-04 9.99971992e-01 6.46359700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5692541539999 meters 0.025835361989137634 Centerline is valid? [True, True] Translation: X:915.58, Y:74.82, Z:6.46 [[ 5.46712945e-01 -8.37311480e-01 -3.80013182e-03 9.15582132e+02] [ 8.37288213e-01 5.46726102e-01 -6.24645942e-03 7.48213505e+01] [ 7.30786344e-03 2.33214643e-04 9.99973270e-01 6.46484928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5992541539998 meters 0.026970260411813378 Centerline is valid? [True, True] Translation: X:915.60, Y:74.84, Z:6.46 [[ 5.45636957e-01 -8.38009681e-01 -4.48165702e-03 9.15601244e+02] [ 8.37977324e-01 5.45655298e-01 -7.36894841e-03 7.48439128e+01] [ 8.62069000e-03 2.65243637e-04 9.99962806e-01 6.46193082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6292541539999 meters 0.026317638187831647 Centerline is valid? [True, True] Translation: X:915.62, Y:74.87, Z:6.46 [[ 5.44672665e-01 -8.38634491e-01 -4.88657951e-03 9.15618365e+02] [ 8.38596001e-01 5.44694513e-01 -8.03957134e-03 7.48672115e+01] [ 9.40395487e-03 2.81068713e-04 9.99955742e-01 6.46109214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6592541539999 meters 0.025212592692840943 Centerline is valid? [True, True] Translation: X:915.63, Y:74.89, Z:6.46 [[ 5.44504761e-01 -8.38741767e-01 -5.17816159e-03 9.15632663e+02] [ 8.38698507e-01 5.44529301e-01 -8.52380224e-03 7.48899111e+01] [ 9.96892966e-03 2.98334505e-04 9.99950264e-01 6.46113691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6892541539999 meters 0.024269543246317755 Centerline is valid? [True, True] Translation: X:915.65, Y:74.91, Z:6.46 [[ 5.43876445e-01 -8.39148375e-01 -5.33075752e-03 9.15649788e+02] [ 8.39102508e-01 5.43902486e-01 -8.77881447e-03 7.49133318e+01] [ 1.02661402e-02 3.01538407e-04 9.99947256e-01 6.46112350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7192541539998 meters 0.025507717389350815 Centerline is valid? [True, True] Translation: X:915.66, Y:74.94, Z:6.46 [[ 5.43401704e-01 -8.39454739e-01 -5.50717538e-03 9.15664250e+02] [ 8.39405756e-01 5.43429523e-01 -9.07359004e-03 7.49369848e+01] [ 1.06096298e-02 3.07849581e-04 9.99943669e-01 6.46090877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7492541539999 meters 0.023574756012737407 Centerline is valid? [True, True] Translation: X:915.68, Y:74.96, Z:6.46 [[ 5.43263805e-01 -8.39547701e-01 -4.90872159e-03 9.15682323e+02] [ 8.39508764e-01 5.43285912e-01 -8.09025886e-03 7.49586842e+01] [ 9.45899752e-03 2.74230013e-04 9.99955225e-01 6.46312545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7792541539999 meters 0.026507589379615473 Centerline is valid? [True, True] Translation: X:915.70, Y:74.98, Z:6.46 [[ 5.42622999e-01 -8.39962066e-01 -4.89982928e-03 9.15698071e+02] [ 8.39923240e-01 5.42645054e-01 -8.08053429e-03 7.49825770e+01] [ 9.44621040e-03 2.69203269e-04 9.99955347e-01 6.46284592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8092541539999 meters 0.022797777984339948 Centerline is valid? [True, True] Translation: X:915.71, Y:75.01, Z:6.47 [[ 5.43529300e-01 -8.39378800e-01 -4.37374997e-03 9.15714907e+02] [ 8.39347815e-01 5.43546840e-01 -7.21658803e-03 7.50057406e+01] [ 8.43478898e-03 2.51329563e-04 9.99964395e-01 6.46607455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8392541539998 meters 0.024876450266521345 Centerline is valid? [True, True] Translation: X:915.73, Y:75.03, Z:6.47 [[ 5.44257316e-01 -8.38909862e-01 -3.77066313e-03 9.15730488e+02] [ 8.38886800e-01 5.44270331e-01 -6.22445025e-03 7.50288781e+01] [ 7.27401277e-03 2.24543060e-04 9.99973519e-01 6.46607746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8692541539999 meters 0.02443069718331241 Centerline is valid? [True, True] Translation: X:915.75, Y:75.05, Z:6.47 [[ 5.45083777e-01 -8.38373438e-01 -3.69521432e-03 9.15745477e+02] [ 8.38351264e-01 5.45096254e-01 -6.10184264e-03 7.50527565e+01] [ 7.12987028e-03 2.28127844e-04 9.99974556e-01 6.46728459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8992541539999 meters 0.025725857934930162 Centerline is valid? [True, True] Translation: X:915.76, Y:75.08, Z:6.47 [[ 5.45664331e-01 -8.37993355e-01 -4.19230328e-03 9.15764904e+02] [ 8.37964780e-01 5.45680371e-01 -6.92540149e-03 7.50750556e+01] [ 8.09109803e-03 2.65942082e-04 9.99967231e-01 6.46541777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9292541539999 meters 0.02568537454001183 Centerline is valid? [True, True] Translation: X:915.78, Y:75.10, Z:6.47 [[ 5.45851600e-01 -8.37869258e-01 -4.59748124e-03 9.15780515e+02] [ 8.37834852e-01 5.45870881e-01 -7.59885906e-03 7.50986221e+01] [ 8.87648154e-03 2.95919359e-04 9.99960559e-01 6.46524799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9592541539998 meters 0.026174669970135823 Centerline is valid? [True, True] Translation: X:915.80, Y:75.12, Z:6.46 [[ 5.46151277e-01 -8.37671548e-01 -5.01589609e-03 9.15797436e+02] [ 8.37630555e-01 5.46174212e-01 -8.29358909e-03 7.51226667e+01] [ 9.68685670e-03 3.28086446e-04 9.99953027e-01 6.46459663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9892541539999 meters 0.027057206174611877 Centerline is valid? [True, True] Translation: X:915.81, Y:75.14, Z:6.46 [[ 5.47348024e-01 -8.36879875e-01 -6.49726695e-03 9.15813738e+02] [ 8.36810959e-01 5.47386404e-01 -1.07491531e-02 7.51449692e+01] [ 1.25522655e-02 4.46543551e-04 9.99921118e-01 6.46301485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0192541539999 meters 0.02517212600217963 Centerline is valid? [True, True] Translation: X:915.83, Y:75.17, Z:6.46 [[ 5.48311734e-01 -8.36249819e-01 -6.36261090e-03 9.15828754e+02] [ 8.36183639e-01 5.48348461e-01 -1.05302945e-02 7.51683941e+01] [ 1.22948848e-02 4.53572888e-04 9.99924312e-01 6.46456678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0492541539999 meters 0.026055190999808756 Centerline is valid? [True, True] Translation: X:915.84, Y:75.19, Z:6.46 [[ 5.48690825e-01 -8.35994863e-01 -7.13911586e-03 9.15843820e+02] [ 8.35911463e-01 5.48737023e-01 -1.18196682e-02 7.51915994e+01] [ 1.37986790e-02 5.17674691e-04 9.99904660e-01 6.46368712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0792541539998 meters 0.02487097910891444 Centerline is valid? [True, True] Translation: X:915.86, Y:75.21, Z:6.46 [[ 5.48794163e-01 -8.35921371e-01 -7.77350346e-03 9.15862761e+02] [ 8.35822394e-01 5.48848920e-01 -1.28758770e-02 7.52139624e+01] [ 1.50296997e-02 5.68937880e-04 9.99886886e-01 6.46353779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1092541539998 meters 0.028358400285611422 Centerline is valid? [True, True] Translation: X:915.88, Y:75.24, Z:6.46 [[ 5.48238067e-01 -8.36271899e-01 -9.18327584e-03 9.15878036e+02] [ 8.36133681e-01 5.48314571e-01 -1.52183694e-02 7.52363697e+01] [ 1.77620186e-02 6.64843183e-04 9.99842022e-01 6.46049270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1392541539999 meters 0.02899097660367961 Centerline is valid? [True, True] Translation: X:915.90, Y:75.26, Z:6.46 [[ 5.47108038e-01 -8.37007310e-01 -9.56856666e-03 9.15895127e+02] [ 8.36857210e-01 5.47191293e-01 -1.58650228e-02 7.52589797e+01] [ 1.85149764e-02 6.72357492e-04 9.99828357e-01 6.45997036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1692541539999 meters 0.02531925404230399 Centerline is valid? [True, True] Translation: X:915.92, Y:75.28, Z:6.46 [[ 5.44040287e-01 -8.39003977e-01 -9.61734317e-03 9.15917804e+02] [ 8.38852524e-01 5.44124942e-01 -1.59527517e-02 7.52789274e+01] [ 1.86174584e-02 6.11407021e-04 9.99826493e-01 6.46209365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1992541539998 meters 0.021484989286718874 Centerline is valid? [True, True] Translation: X:915.94, Y:75.30, Z:6.46 [[ 5.41851725e-01 -8.40421998e-01 -9.35805368e-03 9.15938872e+02] [ 8.40278675e-01 5.41932248e-01 -1.55301956e-02 7.52998570e+01] [ 1.81233491e-02 5.51690316e-04 9.99835606e-01 6.46463174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2292541539998 meters 0.021561431698302908 Centerline is valid? [True, True] Translation: X:915.96, Y:75.32, Z:6.46 [[ 5.38839794e-01 -8.42353055e-01 -9.64403182e-03 9.15958612e+02] [ 8.42200968e-01 5.38925852e-01 -1.60142226e-02 7.53215611e+01] [ 1.86870474e-02 5.06887503e-04 9.99825253e-01 6.46464839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2592541539999 meters 0.019820333034119866 Centerline is valid? [True, True] Translation: X:915.98, Y:75.34, Z:6.47 [[ 5.32714142e-01 -8.46244403e-01 -9.27645461e-03 9.15981304e+02] [ 8.46104112e-01 5.32794782e-01 -1.54127613e-02 7.53406614e+01] [ 1.79854096e-02 3.61749507e-04 9.99838184e-01 6.46661886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2892541539999 meters 0.01793883842239361 Centerline is valid? [True, True] Translation: X:916.00, Y:75.36, Z:6.47 [[ 5.29195055e-01 -8.48455996e-01 -8.66125977e-03 9.15999680e+02] [ 8.48333883e-01 5.29265859e-01 -1.43969716e-02 7.53614584e+01] [ 1.67993060e-02 2.71166043e-04 9.99858845e-01 6.46816095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3192541539999 meters 0.017121217339837583 Centerline is valid? [True, True] Translation: X:916.02, Y:75.38, Z:6.47 [[ 5.25440814e-01 -8.50787611e-01 -8.50831221e-03 9.16019877e+02] [ 8.50669966e-01 5.25509659e-01 -1.41494666e-02 7.53834237e+01] [ 1.65093911e-02 1.96941599e-04 9.99863691e-01 6.46947165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3492541539998 meters 0.016794529709337536 Centerline is valid? [True, True] Translation: X:916.04, Y:75.40, Z:6.47 [[ 5.18390240e-01 -8.55104735e-01 -8.21282082e-03 9.16043495e+02] [ 8.54995579e-01 5.18455290e-01 -1.36628102e-02 7.54018847e+01] [ 1.59411141e-02 6.07419658e-05 9.99872931e-01 6.47001157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3792541539999 meters 0.016646952174196535 Centerline is valid? [True, True] Translation: X:916.06, Y:75.42, Z:6.47 [[ 5.15040823e-01 -8.57121501e-01 -8.69955720e-03 9.16062173e+02] [ 8.56999194e-01 5.15114290e-01 -1.44793032e-02 7.54235331e+01] [ 1.68917883e-02 1.91872958e-06 9.99857324e-01 6.47080225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4092541539999 meters 0.016366510032777202 Centerline is valid? [True, True] Translation: X:916.08, Y:75.44, Z:6.47 [[ 5.11917480e-01 -8.58989693e-01 -8.78637198e-03 9.16079736e+02] [ 8.58865053e-01 5.11992874e-01 -1.46327574e-02 7.54446720e+01] [ 1.70679476e-02 -5.55435398e-05 9.99854330e-01 6.47028080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4392541539999 meters 0.018957520682437137 Centerline is valid? [True, True] Translation: X:916.10, Y:75.47, Z:6.47 [[ 5.06930167e-01 -8.61927524e-01 -1.01365525e-02 9.16099957e+02] [ 8.61762034e-01 5.07031473e-01 -1.68903040e-02 7.54656143e+01] [ 1.96977690e-02 -1.73091483e-04 9.99805965e-01 6.46888279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4692541539998 meters 0.01699064213920884 Centerline is valid? [True, True] Translation: X:916.12, Y:75.49, Z:6.47 [[ 5.04817289e-01 -8.63172379e-01 -9.64102715e-03 9.16116997e+02] [ 8.63022774e-01 5.04909301e-01 -1.60714051e-02 7.54874221e+01] [ 1.87402372e-02 -2.07302841e-04 9.99824365e-01 6.46935970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4992541539999 meters 0.01711831721088805 Centerline is valid? [True, True] Translation: X:916.14, Y:75.51, Z:6.47 [[ 5.01209740e-01 -8.65265403e-01 -1.02264059e-02 9.16135658e+02] [ 8.65097329e-01 5.01313967e-01 -1.70563030e-02 7.55096522e+01] [ 1.98848690e-02 -2.98051235e-04 9.99802232e-01 6.47010570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5292541539999 meters 0.019303726454645224 Centerline is valid? [True, True] Translation: X:916.15, Y:75.53, Z:6.47 [[ 4.99767944e-01 -8.66093363e-01 -1.06905900e-02 9.16152524e+02] [ 8.65909715e-01 4.99882155e-01 -1.78380832e-02 7.55316906e+01] [ 2.07934806e-02 -3.42183577e-04 9.99783734e-01 6.46860081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5592541539999 meters 0.017670092512483998 Centerline is valid? [True, True] Translation: X:916.17, Y:75.56, Z:6.47 [[ 4.98361337e-01 -8.66908456e-01 -1.02813670e-02 9.16168458e+02] [ 8.66738592e-01 4.98467251e-01 -1.71643027e-02 7.55550925e+01] [ 2.00048040e-02 -3.57232747e-04 9.99799820e-01 6.46980180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5892541539998 meters 0.018274937685329444 Centerline is valid? [True, True] Translation: X:916.19, Y:75.58, Z:6.47 [[ 4.96255728e-01 -8.68121143e-01 -9.79460903e-03 9.16185727e+02] [ 8.67967036e-01 4.96352230e-01 -1.63612065e-02 7.55779404e+01] [ 1.90650853e-02 -3.82055306e-04 9.99818172e-01 6.47013751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6192541539999 meters 0.019657064301783607 Centerline is valid? [True, True] Translation: X:916.20, Y:75.60, Z:6.47 [[ 4.95243042e-01 -8.68702053e-01 -9.54321255e-03 9.16201503e+02] [ 8.68555725e-01 4.95334828e-01 -1.59486936e-02 7.55998959e+01] [ 1.85817484e-02 -3.90332362e-04 9.99827268e-01 6.46973461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6492541539999 meters 0.019131344524928446 Centerline is valid? [True, True] Translation: X:916.22, Y:75.62, Z:6.47 [[ 4.94206143e-01 -8.69305799e-01 -8.22897959e-03 9.16217721e+02] [ 8.69196980e-01 4.94274523e-01 -1.37588630e-02 7.56215228e+01] [ 1.60280344e-02 -3.52889565e-04 9.99871481e-01 6.47144192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6792541539999 meters 0.019115368680546994 Centerline is valid? [True, True] Translation: X:916.23, Y:75.65, Z:6.47 [[ 4.93944875e-01 -8.69455096e-01 -8.14227015e-03 9.16232426e+02] [ 8.69348449e-01 4.94011856e-01 -1.36220954e-02 7.56455406e+01] [ 1.58661782e-02 -3.49905728e-04 9.99874063e-01 6.47203846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7092541539998 meters 0.0186247965021638 Centerline is valid? [True, True] Translation: X:916.25, Y:75.67, Z:6.47 [[ 4.94166397e-01 -8.69330477e-01 -8.00586866e-03 9.16247178e+02] [ 8.69227225e-01 4.94231129e-01 -1.34023213e-02 7.56694853e+01] [ 1.56077959e-02 -3.35942151e-04 9.99878134e-01 6.47290146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7392541539999 meters 0.01754251818752648 Centerline is valid? [True, True] Translation: X:916.26, Y:75.70, Z:6.47 [[ 4.96228525e-01 -8.68158502e-01 -7.62017888e-03 9.16261127e+02] [ 8.68064715e-01 4.96286950e-01 -1.27637832e-02 7.56954978e+01] [ 1.48627822e-02 -2.81055105e-04 9.99889503e-01 6.47379553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7692541539999 meters 0.01702711548565371 Centerline is valid? [True, True] Translation: X:916.27, Y:75.72, Z:6.47 [[ 4.98105223e-01 -8.67083806e-01 -7.54054972e-03 9.16274172e+02] [ 8.66991745e-01 4.98162237e-01 -1.26372410e-02 7.57208951e+01] [ 1.47139641e-02 -2.42918617e-04 9.99891714e-01 6.47357449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7992541539999 meters 0.01678839969657806 Centerline is valid? [True, True] Translation: X:916.29, Y:75.75, Z:6.47 [[ 5.00528994e-01 -8.65685329e-01 -7.72246834e-03 9.16286886e+02] [ 8.65588533e-01 5.00588523e-01 -1.29469410e-02 7.57457459e+01] [ 1.50737559e-02 -2.04160685e-04 9.99886364e-01 6.47309995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8292541539998 meters 0.01560537664387722 Centerline is valid? [True, True] Translation: X:916.30, Y:75.77, Z:6.47 [[ 5.05940619e-01 -8.62531406e-01 -7.97901878e-03 9.16297013e+02] [ 8.62427590e-01 5.06003520e-01 -1.33824686e-02 7.57734945e+01] [ 1.55802110e-02 -1.10591487e-04 9.99878615e-01 6.47267708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8592541539998 meters 0.015423868565467506 Centerline is valid? [True, True] Translation: X:916.31, Y:75.80, Z:6.47 [[ 5.08361869e-01 -8.61103173e-01 -8.33876780e-03 9.16309404e+02] [ 8.60989450e-01 5.08430251e-01 -1.39945324e-02 7.57988815e+01] [ 1.62904181e-02 -6.53044303e-05 9.99867300e-01 6.47229283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8892541539999 meters 0.015211223644613766 Centerline is valid? [True, True] Translation: X:916.32, Y:75.82, Z:6.47 [[ 5.12472526e-01 -8.58657504e-01 -8.89943479e-03 9.16321060e+02] [ 8.58527429e-01 5.12549792e-01 -1.49453592e-02 7.58245812e+01] [ 1.73943483e-02 1.86771024e-05 9.99848707e-01 6.47117992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9192541539999 meters 0.015210865880407494 Centerline is valid? [True, True] Translation: X:916.33, Y:75.85, Z:6.47 [[ 5.14055094e-01 -8.57707920e-01 -9.19158215e-03 9.16334061e+02] [ 8.57568841e-01 5.14137259e-01 -1.54454307e-02 7.58489149e+01] [ 1.79734031e-02 5.73878792e-05 9.99838464e-01 6.47064667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9492541539998 meters 0.015165792421585417 Centerline is valid? [True, True] Translation: X:916.35, Y:75.87, Z:6.47 [[ 5.14918925e-01 -8.57186826e-01 -9.44698149e-03 9.16347772e+02] [ 8.57039640e-01 5.15005571e-01 -1.58844896e-02 7.58735497e+01] [ 1.84812234e-02 8.27867147e-05 9.99829204e-01 6.47080375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9792541539998 meters 0.01582042555208626 Centerline is valid? [True, True] Translation: X:916.36, Y:75.90, Z:6.47 [[ 5.15846187e-01 -8.56627238e-01 -9.61697161e-03 9.16360267e+02] [ 8.56474424e-01 5.15935813e-01 -1.61801788e-02 7.58981745e+01] [ 1.88221219e-02 1.09793334e-04 9.99822842e-01 6.46862469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0092541539999 meters 0.015175420319848493 Centerline is valid? [True, True] Translation: X:916.37, Y:75.92, Z:6.47 [[ 5.17501157e-01 -8.55631228e-01 -9.36768827e-03 9.16374729e+02] [ 8.55485895e-01 5.17585915e-01 -1.57703603e-02 7.59222087e+01] [ 1.83421962e-02 1.47254510e-04 9.99831757e-01 6.47133604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0392541539999 meters 0.015186798922605082 Centerline is valid? [True, True] Translation: X:916.39, Y:75.95, Z:6.47 [[ 5.19006833e-01 -8.54719324e-01 -9.31581110e-03 9.16389939e+02] [ 8.54575269e-01 5.19090400e-01 -1.56928848e-02 7.59462289e+01] [ 1.82487600e-02 1.83652671e-04 9.99833461e-01 6.47330893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0692541539999 meters 0.015313601493991125 Centerline is valid? [True, True] Translation: X:916.40, Y:75.97, Z:6.47 [[ 5.19666417e-01 -8.54319238e-01 -9.24422360e-03 9.16404608e+02] [ 8.54177145e-01 5.19748593e-01 -1.55821988e-02 7.59706369e+01] [ 1.81168444e-02 2.01340899e-04 9.99835856e-01 6.47401830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0992541539998 meters 0.015263402436396825 Centerline is valid? [True, True] Translation: X:916.42, Y:76.00, Z:6.48 [[ 5.20500681e-01 -8.53811362e-01 -9.23037347e-03 9.16420079e+02] [ 8.53669444e-01 5.20582470e-01 -1.55683139e-02 7.59951309e+01] [ 1.80975739e-02 2.23630195e-04 9.99836200e-01 6.47553965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1292541539999 meters 0.01590159127696811 Centerline is valid? [True, True] Translation: X:916.43, Y:76.02, Z:6.47 [[ 5.21303722e-01 -8.53320064e-01 -9.34336957e-03 9.16432984e+02] [ 8.53174453e-01 5.21387387e-01 -1.57653301e-02 7.60196549e+01] [ 1.83243876e-02 2.47001055e-04 9.99832064e-01 6.47448132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1592541539999 meters 0.01659371056071756 Centerline is valid? [True, True] Translation: X:916.45, Y:76.04, Z:6.47 [[ 5.23606715e-01 -8.51902819e-01 -9.87902911e-03 9.16447741e+02] [ 8.51739626e-01 5.23699806e-01 -1.66770298e-02 7.60446736e+01] [ 1.93808543e-02 3.17844210e-04 9.99812123e-01 6.47479971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1892541539999 meters 0.01683587433325871 Centerline is valid? [True, True] Translation: X:916.46, Y:76.07, Z:6.47 [[ 5.24952608e-01 -8.51072540e-01 -1.00145625e-02 9.16461454e+02] [ 8.50904551e-01 5.25048002e-01 -1.69127312e-02 7.60691960e+01] [ 1.96520871e-02 3.56945510e-04 9.99806815e-01 6.47468052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2192541539998 meters 0.01665192525358559 Centerline is valid? [True, True] Translation: X:916.48, Y:76.09, Z:6.47 [[ 5.26130683e-01 -8.50337388e-01 -1.06222118e-02 9.16476724e+02] [ 8.50148108e-01 5.26237739e-01 -1.79454039e-02 7.60930685e+01] [ 2.08494566e-02 4.11174363e-04 9.99782542e-01 6.47477551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2492541539999 meters 0.01665192525358559 Centerline is valid? [True, True] Translation: X:916.49, Y:76.12, Z:6.47 [[ 5.25887791e-01 -8.50487680e-01 -1.06178206e-02 9.16490708e+02] [ 8.50298377e-01 5.25994808e-01 -1.79480022e-02 7.61168525e+01] [ 2.08494732e-02 4.10319590e-04 9.99782542e-01 6.47496628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2792541539999 meters 0.017065787431506024 Centerline is valid? [True, True] Translation: X:916.51, Y:76.14, Z:6.47 [[ 5.28379689e-01 -8.48928574e-01 -1.16267658e-02 9.16506578e+02] [ 8.48700923e-01 5.28507335e-01 -1.96656960e-02 7.61413506e+01] [ 2.28396023e-02 5.23307495e-04 9.99739005e-01 6.47473599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3092541539999 meters 0.01891168218563528 Centerline is valid? [True, True] Translation: X:916.52, Y:76.17, Z:6.47 [[ 5.29122817e-01 -8.48457962e-01 -1.21709208e-02 9.16518733e+02] [ 8.48208165e-01 5.29262465e-01 -2.05949493e-02 7.61661165e+01] [ 2.39155603e-02 5.73783177e-04 9.99713817e-01 6.47240356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3392541539998 meters 0.017197885876785255 Centerline is valid? [True, True] Translation: X:916.54, Y:76.19, Z:6.48 [[ 5.28962995e-01 -8.48554618e-01 -1.23778480e-02 9.16537666e+02] [ 8.48296013e-01 5.29107474e-01 -2.09560458e-02 7.61884056e+01] [ 2.43315613e-02 5.84893616e-04 9.99703773e-01 6.47504651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3692541539999 meters 0.01712349477728955 Centerline is valid? [True, True] Translation: X:916.56, Y:76.21, Z:6.48 [[ 5.26960302e-01 -8.49803276e-01 -1.21339531e-02 9.16555895e+02] [ 8.49554938e-01 5.27099727e-01 -2.05495701e-02 7.62104062e+01] [ 2.38588954e-02 5.20347955e-04 9.99715201e-01 6.47533316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3992541539999 meters 0.016254432878526112 Centerline is valid? [True, True] Translation: X:916.57, Y:76.23, Z:6.48 [[ 5.24459284e-01 -8.51349620e-01 -1.20947674e-02 9.16574398e+02] [ 8.51103063e-01 5.24598531e-01 -2.04928712e-02 7.62331169e+01] [ 2.37914954e-02 4.53782966e-04 9.99716839e-01 6.47693931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4292541539999 meters 0.014915472534232505 Centerline is valid? [True, True] Translation: X:916.60, Y:76.25, Z:6.48 [[ 5.18185560e-01 -8.55193211e-01 -1.13268369e-02 9.16596413e+02] [ 8.54977623e-01 5.18309271e-01 -1.92032307e-02 7.62530562e+01] [ 2.22932771e-02 2.66644751e-04 9.99751438e-01 6.47853000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4592541539998 meters 0.01444288473122297 Centerline is valid? [True, True] Translation: X:916.62, Y:76.27, Z:6.48 [[ 5.14077477e-01 -8.57671370e-01 -1.11430801e-02 9.16615167e+02] [ 8.57463160e-01 5.14198206e-01 -1.88979863e-02 7.62746048e+01] [ 2.19380136e-02 1.60248404e-04 9.99759320e-01 6.47885114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4892541539999 meters 0.01574274384465539 Centerline is valid? [True, True] Translation: X:916.63, Y:76.30, Z:6.48 [[ 5.09540030e-01 -8.60374290e-01 -1.11820911e-02 9.16634266e+02] [ 8.60165057e-01 5.09662711e-01 -1.89735408e-02 7.62959103e+01] [ 2.20234416e-02 4.93345355e-05 9.99757453e-01 6.47896479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5192541539999 meters 0.014558303905432233 Centerline is valid? [True, True] Translation: X:916.66, Y:76.31, Z:6.48 [[ 5.00424127e-01 -8.65718088e-01 -1.03868102e-02 9.16657375e+02] [ 8.65538480e-01 5.00531882e-01 -1.76344683e-02 7.63133746e+01] [ 2.04654078e-02 -1.65470578e-04 9.99790548e-01 6.48090254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5492541539999 meters 0.015415241725677034 Centerline is valid? [True, True] Translation: X:916.68, Y:76.34, Z:6.48 [[ 4.96050339e-01 -8.68235306e-01 -1.00754298e-02 9.16676804e+02] [ 8.68066631e-01 4.96152585e-01 -1.71154059e-02 7.63356478e+01] [ 1.98591502e-02 -2.56041491e-04 9.99802755e-01 6.48157925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5792541539998 meters 0.018703258587858127 Centerline is valid? [True, True] Translation: X:916.70, Y:76.35, Z:6.48 [[ 4.89486487e-01 -8.71946664e-01 -1.05827105e-02 9.16697866e+02] [ 8.71761250e-01 4.89600691e-01 -1.79857319e-02 7.63545858e+01] [ 2.08639013e-02 -4.21824194e-04 9.99782236e-01 6.48130516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6092541539998 meters 0.017883525146502724 Centerline is valid? [True, True] Translation: X:916.71, Y:76.38, Z:6.48 [[ 4.88243371e-01 -8.72643229e-01 -1.05927065e-02 9.16712743e+02] [ 8.72457433e-01 4.88358060e-01 -1.80120170e-02 7.63798939e+01] [ 2.08910983e-02 -4.47437621e-04 9.99781657e-01 6.48261364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6392541539999 meters 0.01717822863510612 Centerline is valid? [True, True] Translation: X:916.73, Y:76.40, Z:6.48 [[ 4.87787428e-01 -8.72904441e-01 -1.00628844e-02 9.16727135e+02] [ 8.72736620e-01 4.87891023e-01 -1.71213799e-02 7.64045595e+01] [ 1.98549196e-02 -4.30653886e-04 9.99802779e-01 6.48298128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6692541539999 meters 0.01888086718937245 Centerline is valid? [True, True] Translation: X:916.74, Y:76.43, Z:6.48 [[ 4.89488386e-01 -8.71932931e-01 -1.15794642e-02 9.16739531e+02] [ 8.71710129e-01 4.89625129e-01 -1.97150549e-02 7.64301033e+01] [ 2.28598023e-02 -4.43645828e-04 9.99738582e-01 6.48156840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6992541539998 meters 0.01594570026462337 Centerline is valid? [True, True] Translation: X:916.75, Y:76.46, Z:6.48 [[ 4.90657012e-01 -8.71278165e-01 -1.14041608e-02 9.16753214e+02] [ 8.71061617e-01 4.90789362e-01 -1.94283695e-02 7.64554124e+01] [ 2.25245549e-02 -4.01061055e-04 9.99746210e-01 6.48293564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7292541539998 meters 0.01583274667195766 Centerline is valid? [True, True] Translation: X:916.77, Y:76.48, Z:6.48 [[ 4.91705093e-01 -8.70683992e-01 -1.16399187e-02 9.16767073e+02] [ 8.70457943e-01 4.91842704e-01 -1.98424718e-02 7.64803192e+01] [ 2.30015316e-02 -3.75415256e-04 9.99735359e-01 6.48247262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7592541539999 meters 0.015682067248971407 Centerline is valid? [True, True] Translation: X:916.78, Y:76.50, Z:6.48 [[ 4.94441706e-01 -8.69127670e-01 -1.20205041e-02 9.16780013e+02] [ 8.68885970e-01 4.94587704e-01 -2.04981279e-02 7.65046136e+01] [ 2.37606837e-02 -3.09318083e-04 9.99717627e-01 6.48167364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7892541539999 meters 0.0151996051852036 Centerline is valid? [True, True] Translation: X:916.79, Y:76.53, Z:6.48 [[ 4.95488673e-01 -8.68529498e-01 -1.21444082e-02 9.16792414e+02] [ 8.68282355e-01 4.95637402e-01 -2.07199888e-02 7.65301530e+01] [ 2.40151444e-02 -2.78255616e-04 9.99711556e-01 6.48239487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8192541539999 meters 0.014629307713353383 Centerline is valid? [True, True] Translation: X:916.80, Y:76.56, Z:6.48 [[ 4.97956191e-01 -8.67123491e-01 -1.16825529e-02 9.16802870e+02] [ 8.66894137e-01 4.98093176e-01 -1.99434872e-02 7.65575286e+01] [ 2.31124661e-02 -1.96553679e-04 9.99732852e-01 6.48319834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8492541539998 meters 0.014163372953937927 Centerline is valid? [True, True] Translation: X:916.81, Y:76.58, Z:6.48 [[ 4.99110260e-01 -8.66466401e-01 -1.11769641e-02 9.16814891e+02] [ 8.66256051e-01 4.99235368e-01 -1.90918913e-02 7.65837317e+01] [ 2.21224181e-02 -1.53153959e-04 9.99755258e-01 6.48421174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8792541539999 meters 0.014105646530749664 Centerline is valid? [True, True] Translation: X:916.83, Y:76.61, Z:6.48 [[ 5.00424860e-01 -8.65713365e-01 -1.07391288e-02 9.16826888e+02] [ 8.65518791e-01 5.00540066e-01 -1.83538891e-02 7.66082986e+01] [ 2.12645713e-02 -1.10175413e-04 9.99773877e-01 6.48414283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9092541539999 meters 0.013810061423074015 Centerline is valid? [True, True] Translation: X:916.84, Y:76.64, Z:6.49 [[ 5.03404451e-01 -8.63993714e-01 -9.94090867e-03 9.16837770e+02] [ 8.63826476e-01 5.03502594e-01 -1.69987315e-02 7.66353777e+01] [ 1.96920705e-02 -2.99830035e-05 9.99806092e-01 6.48564914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9392541539999 meters 0.013773823885164438 Centerline is valid? [True, True] Translation: X:916.85, Y:76.66, Z:6.49 [[ 5.04558812e-01 -8.63324511e-01 -9.54959033e-03 9.16849678e+02] [ 8.63169893e-01 5.04649174e-01 -1.63384903e-02 7.66600986e+01] [ 1.89246120e-02 8.10378035e-07 9.99820913e-01 6.48618402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9692541539998 meters 0.013790379028328754 Centerline is valid? [True, True] Translation: X:916.86, Y:76.68, Z:6.49 [[ 5.05792826e-01 -8.62603087e-01 -9.46214818e-03 9.16861543e+02] [ 8.62450974e-01 5.05881324e-01 -1.61988547e-02 7.66849467e+01] [ 1.87599061e-02 3.26255563e-05 9.99824017e-01 6.48640798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9992541539999 meters 0.016533950256441277 Centerline is valid? [True, True] Translation: X:916.87, Y:76.71, Z:6.49 [[ 5.08768104e-01 -8.60843594e-01 -1.01648097e-02 9.16871782e+02] [ 8.60667520e-01 5.08869625e-01 -1.74104957e-02 7.67114136e+01] [ 2.01602765e-02 1.09383359e-04 9.99796755e-01 6.48542574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0292541539999 meters 0.014950485489577198 Centerline is valid? [True, True] Translation: X:916.88, Y:76.74, Z:6.49 [[ 5.10808250e-01 -8.59642391e-01 -9.48110836e-03 9.16882627e+02] [ 8.59488851e-01 5.10896210e-01 -1.62473972e-02 7.67361145e+01] [ 1.88108137e-02 1.50397598e-04 9.99823050e-01 6.48551328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0592541539999 meters 0.015149064249498863 Centerline is valid? [True, True] Translation: X:916.89, Y:76.76, Z:6.49 [[ 5.14815576e-01 -8.57252207e-01 -9.14205132e-03 9.16892228e+02] [ 8.57108913e-01 5.14896688e-01 -1.56751848e-02 7.67637883e+01] [ 1.81447987e-02 2.34095624e-04 9.99835342e-01 6.48558589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0892541539998 meters 0.015293366340078976 Centerline is valid? [True, True] Translation: X:916.91, Y:76.79, Z:6.49 [[ 5.16613590e-01 -8.56167927e-01 -9.32092897e-03 9.16905467e+02] [ 8.56018667e-01 5.16697593e-01 -1.59886991e-02 7.67889203e+01] [ 1.85051129e-02 2.81090062e-04 9.99828726e-01 6.48637216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1192541539999 meters 0.015502606750443728 Centerline is valid? [True, True] Translation: X:916.92, Y:76.81, Z:6.49 [[ 5.17744061e-01 -8.55484109e-01 -9.38224731e-03 9.16918712e+02] [ 8.55332624e-01 5.17828970e-01 -1.61015660e-02 7.68141728e+01] [ 1.86330333e-02 3.11547944e-04 9.99826341e-01 6.48673072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1492541539999 meters 0.018643033739082177 Centerline is valid? [True, True] Translation: X:916.93, Y:76.84, Z:6.48 [[ 5.18747107e-01 -8.54872215e-01 -9.74346369e-03 9.16929458e+02] [ 8.54708598e-01 5.18838485e-01 -1.67283785e-02 7.68398048e+01] [ 1.93559099e-02 3.49975767e-04 9.99812596e-01 6.48457792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1792541539999 meters 0.016947405373812428 Centerline is valid? [True, True] Translation: X:916.94, Y:76.86, Z:6.49 [[ 5.20146730e-01 -8.54028944e-01 -9.05220184e-03 9.16943261e+02] [ 8.53887513e-01 5.20225370e-01 -1.55460391e-02 7.68645967e+01] [ 1.79859524e-02 3.56659278e-04 9.99838176e-01 6.48623486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2092541539998 meters 0.016908946497243334 Centerline is valid? [True, True] Translation: X:916.96, Y:76.89, Z:6.49 [[ 5.20749195e-01 -8.53665275e-01 -8.71062145e-03 9.16956642e+02] [ 8.53534142e-01 5.20821918e-01 -1.49665617e-02 7.68895394e+01] [ 1.73131165e-02 3.59012132e-04 9.99850052e-01 6.48660580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2392541539999 meters 0.01903334151126204 Centerline is valid? [True, True] Translation: X:916.97, Y:76.91, Z:6.48 [[ 5.20966076e-01 -8.53524311e-01 -9.51829923e-03 9.16969124e+02] [ 8.53367573e-01 5.21052866e-01 -1.63614154e-02 7.69141716e+01] [ 1.89244029e-02 4.01134488e-04 9.99820837e-01 6.48476335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2692541539999 meters 0.017963552291495804 Centerline is valid? [True, True] Translation: X:916.98, Y:76.94, Z:6.48 [[ 5.21275929e-01 -8.53338236e-01 -9.23374556e-03 9.16981771e+02] [ 8.53190566e-01 5.21357551e-01 -1.58796176e-02 7.69378336e+01] [ 1.83647679e-02 3.99517827e-04 9.99831274e-01 6.48445187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2992541539999 meters 0.01759398873741443 Centerline is valid? [True, True] Translation: X:917.00, Y:76.96, Z:6.48 [[ 5.21163698e-01 -8.53401514e-01 -9.70852862e-03 9.16996982e+02] [ 8.53238085e-01 5.21253947e-01 -1.67061047e-02 7.69620976e+01] [ 1.93176239e-02 4.22928946e-04 9.99813308e-01 6.48393328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3292541539998 meters 0.018199721584641212 Centerline is valid? [True, True] Translation: X:917.01, Y:76.98, Z:6.48 [[ 5.19898832e-01 -8.54163674e-01 -1.04700765e-02 9.17011780e+02] [ 8.53973532e-01 5.20004070e-01 -1.80270342e-02 7.69846843e+01] [ 2.08425201e-02 4.31065795e-04 9.99782678e-01 6.48244029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3592541539998 meters 0.017147763683863355 Centerline is valid? [True, True] Translation: X:917.03, Y:77.01, Z:6.48 [[ 5.18655332e-01 -8.54918329e-01 -1.05497589e-02 9.17026811e+02] [ 8.54725211e-01 5.18762453e-01 -1.81750054e-02 7.70079186e+01] [ 2.10109641e-02 4.09418539e-04 9.99779161e-01 6.48266772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3892541539999 meters 0.016963726692450214 Centerline is valid? [True, True] Translation: X:917.04, Y:77.03, Z:6.48 [[ 5.17398748e-01 -8.55680526e-01 -1.04581681e-02 9.17042186e+02] [ 8.55490673e-01 5.17504293e-01 -1.80281788e-02 7.70318328e+01] [ 2.08385084e-02 3.80891863e-04 9.99782782e-01 6.48263557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4192541539999 meters 0.015949028866944607 Centerline is valid? [True, True] Translation: X:917.06, Y:77.05, Z:6.48 [[ 5.14508314e-01 -8.57424018e-01 -1.02590528e-02 9.17059765e+02] [ 8.57241459e-01 5.14610491e-01 -1.76952944e-02 7.70538368e+01] [ 2.04517866e-02 3.09890705e-04 9.99790792e-01 6.48278104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4492541539998 meters 0.015423354022022533 Centerline is valid? [True, True] Translation: X:917.08, Y:77.08, Z:6.48 [[ 5.12512659e-01 -8.58620078e-01 -1.01161464e-02 9.17075768e+02] [ 8.58442630e-01 5.12612420e-01 -1.74572935e-02 7.70763163e+01] [ 2.01748450e-02 2.62952593e-04 9.99796433e-01 6.48277498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4792541539998 meters 0.01691639540879954 Centerline is valid? [True, True] Translation: X:917.09, Y:77.10, Z:6.48 [[ 5.09426764e-01 -8.60448618e-01 -1.06088929e-02 9.17092906e+02] [ 8.60253640e-01 5.09537176e-01 -1.83177633e-02 7.70992064e+01] [ 2.11671194e-02 2.05220159e-04 9.99775930e-01 6.48217341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5092541539999 meters 0.013690039746142855 Centerline is valid? [True, True] Translation: X:917.11, Y:77.12, Z:6.48 [[ 5.03486570e-01 -8.63948361e-01 -9.72124215e-03 9.17114305e+02] [ 8.63785156e-01 5.03580406e-01 -1.67922106e-02 7.71183265e+01] [ 1.94030299e-02 5.75878756e-05 9.99811742e-01 6.48422610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5392541539999 meters 0.01523907734753151 Centerline is valid? [True, True] Translation: X:917.13, Y:77.14, Z:6.48 [[ 4.99404452e-01 -8.66314781e-01 -9.68987665e-03 9.17132901e+02] [ 8.66152907e-01 4.99498448e-01 -1.67464271e-02 7.71404131e+01] [ 1.93477557e-02 -2.96745949e-05 9.99812814e-01 6.48453324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5692541539999 meters 0.016562044300145524 Centerline is valid? [True, True] Translation: X:917.16, Y:77.16, Z:6.49 [[ 4.91359805e-01 -8.70912052e-01 -8.81707471e-03 9.17156134e+02] [ 8.70778610e-01 4.91438871e-01 -1.52462583e-02 7.71602588e+01] [ 1.76112033e-02 -1.86321571e-04 9.99844893e-01 6.48652630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5992541539998 meters 0.01647015598525174 Centerline is valid? [True, True] Translation: X:917.17, Y:77.18, Z:6.49 [[ 4.87827026e-01 -8.72902373e-01 -8.13875676e-03 9.17173686e+02] [ 8.72788821e-01 4.87894857e-01 -1.40812997e-02 7.71812286e+01] [ 1.62624575e-02 -2.34177342e-04 9.99867730e-01 6.48790989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6292541539999 meters 0.017953032609205485 Centerline is valid? [True, True] Translation: X:917.19, Y:77.20, Z:6.49 [[ 4.84452012e-01 -8.74781225e-01 -8.00349048e-03 9.17191306e+02] [ 8.74671541e-01 4.84518033e-01 -1.38553821e-02 7.72035945e+01] [ 1.59982636e-02 -2.88157635e-04 9.99871978e-01 6.48828542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6592541539999 meters 0.020629614532567904 Centerline is valid? [True, True] Translation: X:917.21, Y:77.23, Z:6.49 [[ 4.80717826e-01 -8.76837817e-01 -8.11261694e-03 9.17207721e+02] [ 8.76725280e-01 4.80786143e-01 -1.40523651e-02 7.72263116e+01] [ 1.62220790e-02 -3.57313928e-04 9.99868350e-01 6.48778876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6892541539999 meters 0.021615725776937336 Centerline is valid? [True, True] Translation: X:917.22, Y:77.25, Z:6.49 [[ 4.80023538e-01 -8.77216096e-01 -8.32611084e-03 9.17220764e+02] [ 8.77097481e-01 4.80095595e-01 -1.44301437e-02 7.72485437e+01] [ 1.66556834e-02 -3.76002210e-04 9.99861214e-01 6.48717420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7192541539998 meters 0.020150738132941673 Centerline is valid? [True, True] Translation: X:917.23, Y:77.27, Z:6.49 [[ 4.81158670e-01 -8.76594016e-01 -8.32263186e-03 9.17233818e+02] [ 8.76475285e-01 4.81230515e-01 -1.44314337e-02 7.72712160e+01] [ 1.66556128e-02 -3.50771707e-04 9.99861224e-01 6.48778832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7492541539999 meters 0.020022108215687034 Centerline is valid? [True, True] Translation: X:917.25, Y:77.30, Z:6.49 [[ 4.81664605e-01 -8.76313205e-01 -8.62411455e-03 9.17246211e+02] [ 8.76185521e-01 4.81741679e-01 -1.49628692e-02 7.72951485e+01] [ 1.72667553e-02 -3.49239803e-04 9.99850857e-01 6.48700553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7792541539999 meters 0.019456924766264927 Centerline is valid? [True, True] Translation: X:917.26, Y:77.32, Z:6.49 [[ 4.82890929e-01 -8.75635519e-01 -8.87629668e-03 9.17257976e+02] [ 8.75499970e-01 4.82972390e-01 -1.54101387e-02 7.73199378e+01] [ 1.77806710e-02 -3.29781280e-04 9.99841857e-01 6.48615705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8092541539999 meters 0.018622014719483566 Centerline is valid? [True, True] Translation: X:917.27, Y:77.35, Z:6.49 [[ 4.84462232e-01 -8.74765933e-01 -8.99492202e-03 9.17269526e+02] [ 8.74626423e-01 4.84545637e-01 -1.56251998e-02 7.73456606e+01] [ 1.80268427e-02 -2.97377292e-04 9.99837459e-01 6.48548031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8392541539998 meters 0.016988766819808362 Centerline is valid? [True, True] Translation: X:917.28, Y:77.37, Z:6.48 [[ 4.88190686e-01 -8.72689882e-01 -9.06772499e-03 9.17277837e+02] [ 8.72547585e-01 4.88274843e-01 -1.57604083e-02 7.73726877e+01] [ 1.81814909e-02 -2.17936970e-04 9.99834679e-01 6.48435602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8692541539999 meters 0.016102496482274187 Centerline is valid? [True, True] Translation: X:917.29, Y:77.40, Z:6.48 [[ 4.90084965e-01 -8.71629793e-01 -8.84483043e-03 9.17288864e+02] [ 8.71494085e-01 4.90164743e-01 -1.53813458e-02 7.73992041e+01] [ 1.77422633e-02 -1.70051063e-04 9.99842579e-01 6.48433822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8992541539999 meters 0.01604796484007181 Centerline is valid? [True, True] Translation: X:917.30, Y:77.43, Z:6.48 [[ 4.94229064e-01 -8.69288097e-01 -8.70841894e-03 9.17295799e+02] [ 8.69156033e-01 4.94305774e-01 -1.51522964e-02 7.74270701e+01] [ 1.74763326e-02 -8.02695962e-05 9.99847274e-01 6.48386534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9292541539999 meters 0.014060071339395278 Centerline is valid? [True, True] Translation: X:917.31, Y:77.45, Z:6.49 [[ 4.96657762e-01 -8.67908052e-01 -8.16576650e-03 9.17306760e+02] [ 8.67791621e-01 4.96724886e-01 -1.42158454e-02 7.74527552e+01] [ 1.63941861e-02 -2.57738043e-05 9.99865606e-01 6.48521191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9592541539998 meters 0.016385218252870384 Centerline is valid? [True, True] Translation: X:917.32, Y:77.48, Z:6.48 [[ 4.98240991e-01 -8.66996968e-01 -8.49538355e-03 9.17316992e+02] [ 8.66870663e-01 4.98313412e-01 -1.47985601e-02 7.74780701e+01] [ 1.70636703e-02 8.85046704e-06 9.99854405e-01 6.48461187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9892541539999 meters 0.014430487387893884 Centerline is valid? [True, True] Translation: X:917.32, Y:77.50, Z:6.49 [[ 5.02711957e-01 -8.64419093e-01 -7.76663319e-03 9.17324244e+02] [ 8.64313092e-01 5.02771940e-01 -1.35371973e-02 7.75039474e+01] [ 1.56066570e-02 9.25081700e-05 9.99878204e-01 6.48631510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0192541539999 meters 0.01724306226209838 Centerline is valid? [True, True] Translation: X:917.34, Y:77.53, Z:6.49 [[ 5.03555881e-01 -8.63923981e-01 -8.17494667e-03 9.17335263e+02] [ 8.63806338e-01 5.03622221e-01 -1.42572580e-02 7.75304071e+01] [ 1.64342719e-02 1.17755391e-04 9.99864941e-01 6.48534805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0492541539999 meters 0.014103225981225317 Centerline is valid? [True, True] Translation: X:917.35, Y:77.56, Z:6.49 [[ 5.05879822e-01 -8.62568266e-01 -7.84813101e-03 9.17349936e+02] [ 8.62459560e-01 5.05940670e-01 -1.36947241e-02 7.75551764e+01] [ 1.57833230e-02 1.59188944e-04 9.99875423e-01 6.48990080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0792541539998 meters 0.015888559981150022 Centerline is valid? [True, True] Translation: X:917.36, Y:77.58, Z:6.49 [[ 5.05554794e-01 -8.62758625e-01 -7.86799315e-03 9.17358209e+02] [ 8.62649265e-01 5.05615991e-01 -1.37373443e-02 7.75812573e+01] [ 1.58301954e-02 1.57661766e-04 9.99874682e-01 6.48537927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1092541539998 meters 0.013972882003155163 Centerline is valid? [True, True] Translation: X:917.38, Y:77.60, Z:6.49 [[ 5.04836441e-01 -8.63177172e-01 -8.08316462e-03 9.17376155e+02] [ 8.63061657e-01 5.04901125e-01 -1.41219548e-02 7.76035937e+01] [ 1.62709479e-02 1.53007955e-04 9.99867608e-01 6.48946488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1392541539999 meters 0.013972882003155163 Centerline is valid? [True, True] Translation: X:917.39, Y:77.63, Z:6.49 [[ 5.04592324e-01 -8.63319937e-01 -8.07917300e-03 9.17389785e+02] [ 8.63204404e-01 5.04656976e-01 -1.41242385e-02 7.76275819e+01] [ 1.62709477e-02 1.53004607e-04 9.99867608e-01 6.48965531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1692541539999 meters 0.0143569094960385 Centerline is valid? [True, True] Translation: X:917.40, Y:77.65, Z:6.49 [[ 5.01681839e-01 -8.65011007e-01 -8.44341337e-03 9.17404106e+02] [ 8.64884910e-01 5.01752874e-01 -1.47697569e-02 7.76509066e+01] [ 1.70125092e-02 1.07137990e-04 9.99855271e-01 6.48842104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1992541539998 meters 0.014201255669353707 Centerline is valid? [True, True] Translation: X:917.42, Y:77.67, Z:6.49 [[ 4.99221587e-01 -8.66436102e-01 -8.14181272e-03 9.17418028e+02] [ 8.66318907e-01 4.99287971e-01 -1.42504039e-02 7.76739534e+01] [ 1.64121736e-02 6.07029571e-05 9.99865309e-01 6.48546486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2292541539998 meters 0.016035742118817975 Centerline is valid? [True, True] Translation: X:917.44, Y:77.70, Z:6.49 [[ 4.93258018e-01 -8.69840770e-01 -8.57689146e-03 9.17436450e+02] [ 8.69711064e-01 4.93332578e-01 -1.50210585e-02 7.76951615e+01] [ 1.72971890e-02 -5.01598906e-05 9.99850391e-01 6.48997268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2592541539999 meters 0.01589758023629235 Centerline is valid? [True, True] Translation: X:917.45, Y:77.72, Z:6.49 [[ 4.89858702e-01 -8.71763165e-01 -8.21201603e-03 9.17452613e+02] [ 8.71644388e-01 4.89927518e-01 -1.43905328e-02 7.77189287e+01] [ 1.65684290e-02 -1.08630001e-04 9.99862728e-01 6.49058921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2892541539999 meters 0.014566620038452703 Centerline is valid? [True, True] Translation: X:917.47, Y:77.74, Z:6.49 [[ 4.86852700e-01 -8.73449775e-01 -7.74206056e-03 9.17468630e+02] [ 8.73344288e-01 4.86914230e-01 -1.35752646e-02 7.77418741e+01] [ 1.56270313e-02 -1.52330156e-04 9.99877879e-01 6.49124234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3192541539999 meters 0.015385650715759393 Centerline is valid? [True, True] Translation: X:917.48, Y:77.77, Z:6.49 [[ 4.83618424e-01 -8.75242748e-01 -7.95937705e-03 9.17484533e+02] [ 8.75131359e-01 4.83683870e-01 -1.39648795e-02 7.77653733e+01] [ 1.60724818e-02 -2.11827443e-04 9.99870807e-01 6.49107602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3492541539998 meters 0.01723991054020863 Centerline is valid? [True, True] Translation: X:917.50, Y:77.79, Z:6.49 [[ 4.78192491e-01 -8.78216810e-01 -8.19614320e-03 9.17502037e+02] [ 8.78098979e-01 4.78262622e-01 -1.43891563e-02 7.77870809e+01] [ 1.65567078e-02 -3.16238507e-04 9.99862878e-01 6.49015417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3792541539999 meters 0.018255096360796034 Centerline is valid? [True, True] Translation: X:917.52, Y:77.81, Z:6.49 [[ 4.75567023e-01 -8.79637679e-01 -8.57677238e-03 9.17516124e+02] [ 8.79508748e-01 4.75644206e-01 -1.50648776e-02 7.78112259e+01] [ 1.73311260e-02 -3.78987356e-04 9.99849733e-01 6.49034032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4092541539999 meters 0.01793270185111878 Centerline is valid? [True, True] Translation: X:917.53, Y:77.83, Z:6.49 [[ 4.72859616e-01 -8.81094581e-01 -8.72488293e-03 9.17532085e+02] [ 8.80961281e-01 4.72939900e-01 -1.53320893e-02 7.78348278e+01] [ 1.76353661e-02 -4.36358184e-04 9.99844390e-01 6.49093450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4392541539999 meters 0.019009083996774846 Centerline is valid? [True, True] Translation: X:917.55, Y:77.86, Z:6.49 [[ 4.71275132e-01 -8.81936129e-01 -9.40288007e-03 9.17545581e+02] [ 8.81781295e-01 4.71368661e-01 -1.65327820e-02 7.78600037e+01] [ 1.90130807e-02 -4.99794747e-04 9.99819110e-01 6.49020368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4692541539998 meters 0.019410237783838564 Centerline is valid? [True, True] Translation: X:917.56, Y:77.88, Z:6.49 [[ 4.70609833e-01 -8.82287093e-01 -9.79134514e-03 9.17559661e+02] [ 8.82119078e-01 4.70711380e-01 -1.72258054e-02 7.78848093e+01] [ 1.98070034e-02 -5.30498946e-04 9.99803681e-01 6.48946253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4992541539999 meters 0.01831227058148585 Centerline is valid? [True, True] Translation: X:917.57, Y:77.91, Z:6.49 [[ 4.71357735e-01 -8.81886590e-01 -9.89586437e-03 9.17573978e+02] [ 8.81714714e-01 4.71461321e-01 -1.74179664e-02 7.79083510e+01] [ 2.00261883e-02 -5.15236037e-04 9.99799323e-01 6.48914823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5292541539999 meters 0.018657323653381193 Centerline is valid? [True, True] Translation: X:917.59, Y:77.93, Z:6.49 [[ 4.72068411e-01 -8.81505034e-01 -1.00145047e-02 9.17587807e+02] [ 8.81328775e-01 4.72174358e-01 -1.76342259e-02 7.79314391e+01] [ 2.02732512e-02 -5.01510164e-04 9.99794351e-01 6.48878513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5592541539999 meters 0.018627161590811975 Centerline is valid? [True, True] Translation: X:917.60, Y:77.96, Z:6.49 [[ 4.73108890e-01 -8.80947910e-01 -9.93776830e-03 9.17600717e+02] [ 8.80774066e-01 4.73213017e-01 -1.75067360e-02 7.79550337e+01] [ 2.01252038e-02 -4.70336156e-04 9.99797357e-01 6.48872730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5892541539998 meters 0.01881707904027788 Centerline is valid? [True, True] Translation: X:917.61, Y:77.98, Z:6.49 [[ 4.75681467e-01 -8.79558537e-01 -1.01942285e-02 9.17611481e+02] [ 8.79375076e-01 4.75790506e-01 -1.79685835e-02 7.79815816e+01] [ 2.06547382e-02 -4.17228330e-04 9.99786581e-01 6.48924583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6192541539999 meters 0.016774962312089605 Centerline is valid? [True, True] Translation: X:917.62, Y:78.01, Z:6.49 [[ 4.77924148e-01 -8.78349161e-01 -9.55300789e-03 9.17624568e+02] [ 8.78187618e-01 4.78019495e-01 -1.68484536e-02 7.80070200e+01] [ 1.93653491e-02 -3.37050403e-04 9.99812417e-01 6.49004183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6492541539999 meters 0.014700908513607742 Centerline is valid? [True, True] Translation: X:917.63, Y:78.03, Z:6.49 [[ 4.82589319e-01 -8.75800267e-01 -9.02446056e-03 9.17633689e+02] [ 8.75655479e-01 4.82673642e-01 -1.59259934e-02 7.80343867e+01] [ 1.83038585e-02 -2.16604045e-04 9.99832447e-01 6.49176199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6792541539999 meters 0.015032911744817572 Centerline is valid? [True, True] Translation: X:917.65, Y:78.06, Z:6.49 [[ 4.85240299e-01 -8.74336445e-01 -8.81097887e-03 9.17645195e+02] [ 8.74198082e-01 4.85320263e-01 -1.55549034e-02 7.80599919e+01] [ 1.78763656e-02 -1.54674831e-04 9.99840193e-01 6.49161302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7092541539998 meters 0.013778872279278733 Centerline is valid? [True, True] Translation: X:917.66, Y:78.09, Z:6.49 [[ 4.88490659e-01 -8.72530565e-01 -8.20304579e-03 9.17657168e+02] [ 8.72410279e-01 4.88559523e-01 -1.44878291e-02 7.80863034e+01] [ 1.66487498e-02 -7.92522995e-05 9.99861397e-01 6.49271800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7392541539999 meters 0.013592082937005714 Centerline is valid? [True, True] Translation: X:917.67, Y:78.11, Z:6.49 [[ 4.95205407e-01 -8.68744279e-01 -7.41497371e-03 9.17665306e+02] [ 8.68645462e-01 4.95260916e-01 -1.31029194e-02 7.81129089e+01] [ 1.50554329e-02 4.76532574e-05 9.99886659e-01 6.49360147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7692541539999 meters 0.01579138206187178 Centerline is valid? [True, True] Translation: X:917.68, Y:78.14, Z:6.49 [[ 4.98138507e-01 -8.67066643e-01 -7.31192733e-03 9.17675869e+02] [ 8.66970261e-01 4.98192158e-01 -1.29282932e-02 7.81391777e+01] [ 1.48524367e-02 1.00857142e-04 9.99889691e-01 6.49371817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7992541539999 meters 0.01421519804902708 Centerline is valid? [True, True] Translation: X:917.69, Y:78.17, Z:6.50 [[ 5.01760477e-01 -8.64981664e-01 -6.56849983e-03 9.17687479e+02] [ 8.64903616e-01 5.01803446e-01 -1.16204921e-02 7.81657271e+01] [ 1.33476084e-02 1.49584394e-04 9.99910906e-01 6.49524338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8292541539998 meters 0.016751555803279177 Centerline is valid? [True, True] Translation: X:917.69, Y:78.19, Z:6.50 [[ 5.08481207e-01 -8.61050415e-01 -6.24863842e-03 9.17694287e+02] [ 8.60979425e-01 5.08519541e-01 -1.10591938e-02 7.81932717e+01] [ 1.27000781e-02 2.43443086e-04 9.99919321e-01 6.49530300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8592541539998 meters 0.0173694070289386 Centerline is valid? [True, True] Translation: X:917.71, Y:78.22, Z:6.50 [[ 5.11519269e-01 -8.59249231e-01 -6.22870050e-03 9.17705412e+02] [ 8.59178504e-01 5.11557109e-01 -1.10282566e-02 7.82199551e+01] [ 1.26623570e-02 2.89600156e-04 9.99919787e-01 6.49523306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8892541539999 meters 0.020039882132527234 Centerline is valid? [True, True] Translation: X:917.71, Y:78.25, Z:6.49 [[ 5.16325708e-01 -8.56366552e-01 -6.64013703e-03 9.17713314e+02] [ 8.56285865e-01 5.16368258e-01 -1.17618082e-02 7.82467137e+01] [ 1.35011751e-02 3.87068478e-04 9.99908780e-01 6.49433081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9192541539999 meters 0.020183139939671385 Centerline is valid? [True, True] Translation: X:917.73, Y:78.27, Z:6.49 [[ 5.17920566e-01 -8.55404601e-01 -6.42299511e-03 9.17725717e+02] [ 8.55328973e-01 5.17960237e-01 -1.13816176e-02 7.82732983e+01] [ 1.30627441e-02 4.01000000e-04 9.99914598e-01 6.49434051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9492541539998 meters 0.022710127378932986 Centerline is valid? [True, True] Translation: X:917.74, Y:78.30, Z:6.49 [[ 5.18584985e-01 -8.54996840e-01 -7.07227273e-03 9.17738452e+02] [ 8.54905003e-01 5.18633006e-01 -1.25395623e-02 7.82997333e+01] [ 1.43892002e-02 4.56707382e-04 9.99896366e-01 6.49315678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9792541539998 meters 0.022605229305722386 Centerline is valid? [True, True] Translation: X:917.75, Y:78.33, Z:6.49 [[ 5.19047416e-01 -8.54717015e-01 -6.97165347e-03 9.17750330e+02] [ 8.54627674e-01 5.19094030e-01 -1.23663592e-02 7.83250439e+01] [ 1.41886813e-02 4.60558810e-04 9.99899230e-01 6.49267480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0092541539999 meters 0.021365188872462033 Centerline is valid? [True, True] Translation: X:917.76, Y:78.35, Z:6.49 [[ 5.18100563e-01 -8.55293618e-01 -6.68084550e-03 9.17764979e+02] [ 8.55211551e-01 5.18143458e-01 -1.18557628e-02 7.83495982e+01] [ 1.36017947e-02 4.28941164e-04 9.99907399e-01 6.49302985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0392541539999 meters 0.019876199857627983 Centerline is valid? [True, True] Translation: X:917.78, Y:78.37, Z:6.49 [[ 5.14389946e-01 -8.57529050e-01 -6.84918591e-03 9.17781451e+02] [ 8.57442911e-01 5.14435401e-01 -1.21603282e-02 7.83711462e+01] [ 1.39512984e-02 3.82364668e-04 9.99902603e-01 6.49337135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0692541539999 meters 0.018943310082620957 Centerline is valid? [True, True] Translation: X:917.80, Y:78.39, Z:6.49 [[ 5.11485737e-01 -8.59262791e-01 -7.05671655e-03 9.17799358e+02] [ 8.59171430e-01 5.11534295e-01 -1.25346893e-02 7.83937262e+01] [ 1.43803447e-02 3.48385559e-04 9.99896537e-01 6.49350992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0992541539998 meters 0.019300309560870102 Centerline is valid? [True, True] Translation: X:917.82, Y:78.42, Z:6.49 [[ 5.08106036e-01 -8.61263008e-01 -7.36798704e-03 9.17816084e+02] [ 8.61163505e-01 5.08159360e-01 -1.30951413e-02 7.84177612e+01] [ 1.50224724e-02 3.08678806e-04 9.99887109e-01 6.49360170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1292541539999 meters 0.017291087487882797 Centerline is valid? [True, True] Translation: X:917.83, Y:78.44, Z:6.49 [[ 5.04568303e-01 -8.63342155e-01 -7.15203400e-03 9.17833401e+02] [ 8.63248503e-01 5.04618930e-01 -1.27183760e-02 7.84408792e+01] [ 1.45893619e-02 2.43306744e-04 9.99893540e-01 6.49429484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1592541539999 meters 0.017433723899828547 Centerline is valid? [True, True] Translation: X:917.85, Y:78.46, Z:6.49 [[ 4.96885138e-01 -8.67783322e-01 -7.56738156e-03 9.17853017e+02] [ 8.67678889e-01 4.96942744e-01 -1.34630740e-02 7.84609521e+01] [ 1.54435864e-02 1.23544170e-04 9.99880733e-01 6.49355394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1892541539999 meters 0.013682696780879178 Centerline is valid? [True, True] Translation: X:917.87, Y:78.48, Z:6.49 [[ 4.92963766e-01 -8.70020586e-01 -7.13479812e-03 9.17871450e+02] [ 8.69927898e-01 4.93015392e-01 -1.26993873e-02 7.84830018e+01] [ 1.45662937e-02 5.35778516e-05 9.99893904e-01 6.49497230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2192541539998 meters 0.013939313203491559 Centerline is valid? [True, True] Translation: X:917.89, Y:78.50, Z:6.50 [[ 4.84235559e-01 -8.74906372e-01 -7.40024629e-03 9.17892156e+02] [ 8.74807097e-01 4.84292094e-01 -1.31799349e-02 7.85032463e+01] [ 1.51150898e-02 -9.15948041e-05 9.99885756e-01 6.49511775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2492541539999 meters 0.0157878592225286 Centerline is valid? [True, True] Translation: X:917.91, Y:78.53, Z:6.49 [[ 4.79883199e-01 -8.77297444e-01 -7.83005893e-03 9.17909366e+02] [ 8.77186514e-01 4.79947044e-01 -1.39518770e-02 7.85257437e+01] [ 1.59979597e-02 -1.73150728e-04 9.99872009e-01 6.49467802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2792541539999 meters 0.01571851509348028 Centerline is valid? [True, True] Translation: X:917.93, Y:78.55, Z:6.50 [[ 4.75680625e-01 -8.79585383e-01 -7.58266154e-03 9.17927018e+02] [ 8.79481539e-01 4.75740997e-01 -1.35176116e-02 7.85474706e+01] [ 1.54972765e-02 -2.38744911e-04 9.99879881e-01 6.49512957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3092541539999 meters 0.017863265322737232 Centerline is valid? [True, True] Translation: X:917.95, Y:78.57, Z:6.50 [[ 4.67062732e-01 -8.84192979e-01 -7.42836815e-03 9.17947315e+02] [ 8.84093766e-01 4.67121646e-01 -1.32506616e-02 7.85687110e+01] [ 1.51860935e-02 -3.78483752e-04 9.99884613e-01 6.49602238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3392541539998 meters 0.019280280904215994 Centerline is valid? [True, True] Translation: X:917.96, Y:78.59, Z:6.50 [[ 4.62831327e-01 -8.86414942e-01 -7.46413755e-03 9.17964238e+02] [ 8.86314930e-01 4.62891292e-01 -1.33227489e-02 7.85916038e+01] [ 1.52645680e-02 -4.49390988e-04 9.99883389e-01 6.49632688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3692541539999 meters 0.024570669935717587 Centerline is valid? [True, True] Translation: X:917.98, Y:78.61, Z:6.50 [[ 4.55219568e-01 -8.90344390e-01 -7.87475939e-03 9.17984605e+02] [ 8.90233501e-01 4.55287269e-01 -1.40647433e-02 7.86110086e+01] [ 1.61077430e-02 -6.07828256e-04 9.99870077e-01 6.49571893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3992541539999 meters 0.02212225694056074 Centerline is valid? [True, True] Translation: X:918.00, Y:78.64, Z:6.50 [[ 4.52139985e-01 -8.91914858e-01 -7.57093456e-03 9.17997385e+02] [ 8.91812454e-01 4.52202923e-01 -1.35301285e-02 7.86369195e+01] [ 1.54913214e-02 -6.34341625e-04 9.99879801e-01 6.49741460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4292541539999 meters 0.023323250333949056 Centerline is valid? [True, True] Translation: X:918.01, Y:78.66, Z:6.50 [[ 4.49575545e-01 -8.93211496e-01 -7.41970274e-03 9.18012310e+02] [ 8.93113192e-01 4.49636281e-01 -1.32680503e-02 7.86598454e+01] [ 1.51873426e-02 -6.61643460e-04 9.99884447e-01 6.49759318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4592541539998 meters 0.02526300771917262 Centerline is valid? [True, True] Translation: X:918.03, Y:78.68, Z:6.50 [[ 4.46606709e-01 -8.94702260e-01 -7.09321077e-03 9.18026495e+02] [ 8.94612504e-01 4.46662519e-01 -1.26909617e-02 7.86829982e+01] [ 1.45229035e-02 -6.77806435e-04 9.99894307e-01 6.49793305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4892541539999 meters 0.025284302366055146 Centerline is valid? [True, True] Translation: X:918.04, Y:78.71, Z:6.50 [[ 4.45541776e-01 -8.95233275e-01 -7.06467097e-03 9.18039492e+02] [ 8.95144210e-01 4.45597250e-01 -1.26465191e-02 7.87078086e+01] [ 1.44695827e-02 -6.89346727e-04 9.99895072e-01 6.49842048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5192541539999 meters 0.02608581229915715 Centerline is valid? [True, True] Translation: X:918.05, Y:78.73, Z:6.50 [[ 4.44594186e-01 -8.95700269e-01 -7.55235721e-03 9.18051299e+02] [ 8.95598419e-01 4.44657696e-01 -1.35279687e-02 7.87338124e+01] [ 1.54752190e-02 -7.49422925e-04 9.99879971e-01 6.49804883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5492541539999 meters 0.02656436556544125 Centerline is valid? [True, True] Translation: X:918.06, Y:78.76, Z:6.50 [[ 4.44817760e-01 -8.95593610e-01 -7.01757397e-03 9.18064909e+02] [ 8.95505556e-01 4.44872577e-01 -1.25773535e-02 7.87570944e+01] [ 1.43861237e-02 -6.89646262e-04 9.99896277e-01 6.49836589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5792541539998 meters 0.023261883642318928 Centerline is valid? [True, True] Translation: X:918.07, Y:78.79, Z:6.50 [[ 4.45268137e-01 -8.95370304e-01 -6.95011486e-03 9.18073432e+02] [ 8.95283804e-01 4.45321867e-01 -1.24637558e-02 7.87858382e+01] [ 1.42547150e-02 -6.72611922e-04 9.99898170e-01 6.49929200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6092541539998 meters 0.02278637290826788 Centerline is valid? [True, True] Translation: X:918.08, Y:78.81, Z:6.50 [[ 4.47851124e-01 -8.94080864e-01 -6.98419715e-03 9.18081068e+02] [ 8.93993244e-01 4.47905135e-01 -1.25327674e-02 7.88134422e+01] [ 1.43335652e-02 -6.31011120e-04 9.99897070e-01 6.49881115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6392541539999 meters 0.02230612425569448 Centerline is valid? [True, True] Translation: X:918.09, Y:78.84, Z:6.50 [[ 4.49712840e-01 -8.93147799e-01 -6.73581508e-03 9.18092152e+02] [ 8.93066089e-01 4.49762912e-01 -1.20947884e-02 7.88393062e+01] [ 1.38319534e-02 -5.76346401e-04 9.99904168e-01 6.49891751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6692541539999 meters 0.020638690573492574 Centerline is valid? [True, True] Translation: X:918.10, Y:78.87, Z:6.50 [[ 4.54535163e-01 -8.90706185e-01 -6.34643256e-03 9.18099281e+02] [ 8.90633320e-01 4.54579224e-01 -1.14025388e-02 7.88682779e+01] [ 1.30412683e-02 -4.69489456e-04 9.99914849e-01 6.49963254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6992541539998 meters 0.019496952965036365 Centerline is valid? [True, True] Translation: X:918.11, Y:78.90, Z:6.50 [[ 4.56979764e-01 -8.89455756e-01 -6.16055951e-03 9.18109218e+02] [ 8.89386897e-01 4.57021097e-01 -1.10754057e-02 7.88952031e+01] [ 1.26665890e-02 -4.17884637e-04 9.99919688e-01 6.50022759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7292541539998 meters 0.018952325606371306 Centerline is valid? [True, True] Translation: X:918.12, Y:78.92, Z:6.50 [[ 4.59376088e-01 -8.88220013e-01 -6.23042495e-03 9.18119430e+02] [ 8.88149378e-01 4.59418176e-01 -1.12081485e-02 7.89221464e+01] [ 1.28176723e-02 -3.84792615e-04 9.99917776e-01 6.50055093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7592541539999 meters 0.01793384542518362 Centerline is valid? [True, True] Translation: X:918.13, Y:78.95, Z:6.50 [[ 4.61957197e-01 -8.86881293e-01 -6.09266801e-03 9.18129835e+02] [ 8.86813547e-01 4.61997250e-01 -1.09669430e-02 7.89493940e+01] [ 1.25411724e-02 -3.36802288e-04 9.99921300e-01 6.50071792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7892541539999 meters 0.016430945315605017 Centerline is valid? [True, True] Translation: X:918.13, Y:78.98, Z:6.50 [[ 4.67685215e-01 -8.83873290e-01 -6.20860491e-03 9.18134709e+02] [ 8.83802609e-01 4.67726352e-01 -1.11806972e-02 7.89774700e+01] [ 1.27862477e-02 -2.58134448e-04 9.99918219e-01 6.50002912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8192541539999 meters 0.015078400848000394 Centerline is valid? [True, True] Translation: X:918.14, Y:79.01, Z:6.50 [[ 4.73010634e-01 -8.81034675e-01 -6.23230473e-03 9.18138847e+02] [ 8.80963139e-01 4.73051656e-01 -1.12284563e-02 7.90064724e+01] [ 1.28408614e-02 -1.79251513e-04 9.99917537e-01 6.49971400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8492541539998 meters 0.014331179715600467 Centerline is valid? [True, True] Translation: X:918.15, Y:79.03, Z:6.50 [[ 4.75381485e-01 -8.79757827e-01 -6.21362374e-03 9.18148217e+02] [ 8.79686522e-01 4.75422071e-01 -1.12016389e-02 7.90342294e+01] [ 1.28088234e-02 -1.40989329e-04 9.99917954e-01 6.49975499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8792541539999 meters 0.014651181225359433 Centerline is valid? [True, True] Translation: X:918.16, Y:79.06, Z:6.50 [[ 4.77549705e-01 -8.78582305e-01 -6.27800264e-03 9.18157293e+02] [ 8.78509323e-01 4.77590957e-01 -1.13246493e-02 7.90613168e+01] [ 1.29479538e-02 -1.07200899e-04 9.99916166e-01 6.49991746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9092541539999 meters 0.01358438046892237 Centerline is valid? [True, True] Translation: X:918.17, Y:79.09, Z:6.50 [[ 4.79727280e-01 -8.77395957e-01 -6.17020591e-03 9.18167501e+02] [ 8.77325277e-01 4.79766953e-01 -1.11368417e-02 7.90871175e+01] [ 1.27316807e-02 -7.06308567e-05 9.99918946e-01 6.50018909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9392541539999 meters 0.01379565174877079 Centerline is valid? [True, True] Translation: X:918.17, Y:79.12, Z:6.50 [[ 4.83658025e-01 -8.75234749e-01 -6.24889726e-03 9.18174126e+02] [ 8.75161985e-01 4.83698391e-01 -1.12856736e-02 7.91151206e+01] [ 1.29001953e-02 -1.03907267e-05 9.99916789e-01 6.50007393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9692541539998 meters 0.013764165249093829 Centerline is valid? [True, True] Translation: X:918.18, Y:79.14, Z:6.50 [[ 4.85275088e-01 -8.74337698e-01 -6.45589595e-03 9.18183585e+02] [ 8.74259852e-01 4.85318029e-01 -1.16671322e-02 7.91406730e+01] [ 1.33341762e-02 1.76379951e-05 9.99911096e-01 6.49978519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9992541539999 meters 0.013802474976176123 Centerline is valid? [True, True] Translation: X:918.19, Y:79.17, Z:6.50 [[ 4.86851217e-01 -8.73460843e-01 -6.48446251e-03 9.18193691e+02] [ 8.73382127e-01 4.86894397e-01 -1.17262973e-02 7.91670664e+01] [ 1.33997100e-02 4.55484734e-05 9.99910219e-01 6.49994599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0292541539999 meters 0.013513313824688027 Centerline is valid? [True, True] Translation: X:918.20, Y:79.20, Z:6.50 [[ 4.90308503e-01 -8.71526036e-01 -6.31981569e-03 9.18201675e+02] [ 8.71451028e-01 4.90349221e-01 -1.14344657e-02 7.91951046e+01] [ 1.30643513e-02 9.90058996e-05 9.99914653e-01 6.50053247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0592541539999 meters 0.013513313824688027 Centerline is valid? [True, True] Translation: X:918.21, Y:79.22, Z:6.50 [[ 4.90051401e-01 -8.71670646e-01 -6.31731058e-03 9.18214956e+02] [ 8.71595632e-01 4.90092108e-01 -1.14358497e-02 7.92192728e+01] [ 1.30643586e-02 9.80138821e-05 9.99914653e-01 6.50072320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0892541539998 meters 0.013701689437494136 Centerline is valid? [True, True] Translation: X:918.23, Y:79.25, Z:6.50 [[ 4.91398633e-01 -8.70911083e-01 -6.42416691e-03 9.18225595e+02] [ 8.70833365e-01 4.91440608e-01 -1.16353042e-02 7.92453335e+01] [ 1.32904119e-02 1.23193705e-04 9.99911671e-01 6.50054711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1192541539999 meters 0.014308442303731872 Centerline is valid? [True, True] Translation: X:918.23, Y:79.27, Z:6.50 [[ 4.94622943e-01 -8.69081837e-01 -6.70103394e-03 9.18234396e+02] [ 8.68997047e-01 4.94668300e-01 -1.21411012e-02 7.92725699e+01] [ 1.38663996e-02 1.82088505e-04 9.99903840e-01 6.50084431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1492541539999 meters 0.016182974866031236 Centerline is valid? [True, True] Translation: X:918.25, Y:79.30, Z:6.50 [[ 4.95462691e-01 -8.68603009e-01 -6.74798492e-03 9.18246692e+02] [ 8.68516895e-01 4.95508600e-01 -1.22323020e-02 7.92990337e+01] [ 1.39686988e-02 1.99910325e-04 9.99902413e-01 6.49967688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1792541539999 meters 0.015514900165680787 Centerline is valid? [True, True] Translation: X:918.26, Y:79.32, Z:6.50 [[ 4.97107481e-01 -8.67660052e-01 -7.08418559e-03 9.18257831e+02] [ 8.67564956e-01 4.97157898e-01 -1.28480050e-02 7.93247943e+01] [ 1.46696595e-02 2.40848264e-04 9.99892366e-01 6.50039268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2092541539998 meters 0.01525567900813301 Centerline is valid? [True, True] Translation: X:918.27, Y:79.35, Z:6.50 [[ 4.98525197e-01 -8.66844546e-01 -7.29114952e-03 9.18269833e+02] [ 8.66743654e-01 4.98578436e-01 -1.32280235e-02 7.93505712e+01] [ 1.51018500e-02 2.74945462e-04 9.99885923e-01 6.50076778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2392541539999 meters 0.015809111254965914 Centerline is valid? [True, True] Translation: X:918.28, Y:79.38, Z:6.50 [[ 5.00280816e-01 -8.65826275e-01 -7.99790260e-03 9.18280397e+02] [ 8.65704623e-01 5.00344627e-01 -1.45175647e-02 7.93774914e+01] [ 1.65713966e-02 3.39037851e-04 9.99862627e-01 6.49973825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2692541539999 meters 0.01537983828849912 Centerline is valid? [True, True] Translation: X:918.29, Y:79.40, Z:6.50 [[ 5.00127854e-01 -8.65910041e-01 -8.48121075e-03 9.18294926e+02] [ 8.65773084e-01 5.00199631e-01 -1.54044155e-02 7.94026570e+01] [ 1.75811365e-02 3.61373277e-04 9.99845375e-01 6.50006161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2992541539999 meters 0.018592428068833263 Centerline is valid? [True, True] Translation: X:918.31, Y:79.43, Z:6.50 [[ 4.98945495e-01 -8.66589122e-01 -8.75702862e-03 9.18307503e+02] [ 8.66443108e-01 4.99022213e-01 -1.59113728e-02 7.94276782e+01] [ 1.81585744e-02 3.51440681e-04 9.99835058e-01 6.49756439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3292541539998 meters 0.01693974729185416 Centerline is valid? [True, True] Translation: X:918.32, Y:79.45, Z:6.50 [[ 4.97777638e-01 -8.67261671e-01 -8.63811569e-03 9.18322663e+02] [ 8.67119569e-01 4.97852475e-01 -1.57024241e-02 7.94521634e+01] [ 1.79186178e-02 3.26036412e-04 9.99839396e-01 6.49924119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3592541539998 meters 0.016237757116067442 Centerline is valid? [True, True] Translation: X:918.34, Y:79.48, Z:6.50 [[ 4.94367326e-01 -8.69214833e-01 -8.15608486e-03 9.18338528e+02] [ 8.69088270e-01 4.94434540e-01 -1.48345711e-02 7.94770897e+01] [ 1.69270793e-02 2.45369574e-04 9.99856697e-01 6.50039729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3892541539999 meters 0.014280717622533582 Centerline is valid? [True, True] Translation: X:918.35, Y:79.50, Z:6.50 [[ 4.92779879e-01 -8.70117416e-01 -7.97951030e-03 9.18353179e+02] [ 8.69996288e-01 4.92844434e-01 -1.45197595e-02 7.95003719e+01] [ 1.65665528e-02 2.12900963e-04 9.99862743e-01 6.50247763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4192541539999 meters 0.013958540604367416 Centerline is valid? [True, True] Translation: X:918.37, Y:79.52, Z:6.50 [[ 4.90672132e-01 -8.71311634e-01 -7.54291752e-03 9.18368551e+02] [ 8.71203434e-01 4.90730078e-01 -1.37319814e-02 7.95244340e+01] [ 1.56663716e-02 1.66484924e-04 9.99877261e-01 6.50346304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4492541539998 meters 0.013546344748859263 Centerline is valid? [True, True] Translation: X:918.39, Y:79.55, Z:6.50 [[ 4.86287072e-01 -8.73768379e-01 -7.32832053e-03 9.18385336e+02] [ 8.73666447e-01 4.86342280e-01 -1.33464121e-02 7.95468261e+01] [ 1.52257450e-02 8.76799133e-05 9.99884078e-01 6.50417597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4792541539998 meters 0.013714943919147604 Centerline is valid? [True, True] Translation: X:918.40, Y:79.57, Z:6.50 [[ 4.83963461e-01 -8.75058244e-01 -7.24135221e-03 9.18401012e+02] [ 8.74958770e-01 4.84017631e-01 -1.31940911e-02 7.95707924e+01] [ 1.50505403e-02 4.95733668e-05 9.99886733e-01 6.50455216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5092541539999 meters 0.013228079889646294 Centerline is valid? [True, True] Translation: X:918.42, Y:79.59, Z:6.51 [[ 4.81821641e-01 -8.76238759e-01 -7.31742686e-03 9.18416813e+02] [ 8.76137181e-01 4.81877202e-01 -1.33417825e-02 7.95944860e+01] [ 1.52166881e-02 1.72897694e-05 9.99884219e-01 6.50580296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5392541539999 meters 0.013228389686071018 Centerline is valid? [True, True] Translation: X:918.43, Y:79.62, Z:6.51 [[ 4.78330590e-01 -8.78148048e-01 -7.47339055e-03 9.18432882e+02] [ 8.78042178e-01 4.78388967e-01 -1.36356245e-02 7.96172572e+01] [ 1.55492846e-02 -3.96158019e-05 9.99879102e-01 6.50628715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5692541539999 meters 0.013261632798222175 Centerline is valid? [True, True] Translation: X:918.45, Y:79.64, Z:6.51 [[ 4.76820067e-01 -8.78967516e-01 -7.66347694e-03 9.18447303e+02] [ 8.78856140e-01 4.76881643e-01 -1.39922882e-02 7.96413169e+01] [ 1.59533383e-02 -6.32899530e-05 9.99872735e-01 6.50623224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5992541539998 meters 0.016182473417957643 Centerline is valid? [True, True] Translation: X:918.46, Y:79.66, Z:6.50 [[ 4.74254208e-01 -8.80352498e-01 -7.90093803e-03 9.18462603e+02] [ 8.80234189e-01 4.74320005e-01 -1.44328236e-02 7.96645541e+01] [ 1.64535453e-02 -1.09848449e-04 9.99864625e-01 6.50350702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6292541539999 meters 0.013522488998421275 Centerline is valid? [True, True] Translation: X:918.48, Y:79.69, Z:6.51 [[ 4.73710589e-01 -8.80646177e-01 -7.78388774e-03 9.18477683e+02] [ 8.80531267e-01 4.73774522e-01 -1.42263951e-02 7.96885782e+01] [ 1.62162282e-02 -1.14762509e-04 9.99868502e-01 6.50594938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6592541539999 meters 0.016057624970053253 Centerline is valid? [True, True] Translation: X:918.49, Y:79.71, Z:6.50 [[ 4.72693828e-01 -8.81191815e-01 -7.84408369e-03 9.18491500e+02] [ 8.81075067e-01 4.72758890e-01 -1.43443041e-02 7.97126109e+01] [ 1.63484436e-02 -1.30762560e-04 9.99866347e-01 6.50409874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6892541539999 meters 0.013700021084628707 Centerline is valid? [True, True] Translation: X:918.51, Y:79.74, Z:6.51 [[ 4.72646786e-01 -8.81217041e-01 -7.84488292e-03 9.18505916e+02] [ 8.81100145e-01 4.72711868e-01 -1.43535850e-02 7.97356326e+01] [ 1.63569929e-02 -1.27951677e-04 9.99866207e-01 6.50607855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7192541539998 meters 0.013601154868611744 Centerline is valid? [True, True] Translation: X:918.52, Y:79.76, Z:6.51 [[ 4.72349566e-01 -8.81375433e-01 -7.95194778e-03 9.18520600e+02] [ 8.81255188e-01 4.72416478e-01 -1.45590353e-02 7.97595008e+01] [ 1.65886072e-02 -1.30741224e-04 9.99862391e-01 6.50662931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7492541539999 meters 0.013557635021037615 Centerline is valid? [True, True] Translation: X:918.53, Y:79.78, Z:6.51 [[ 4.72601876e-01 -8.81241249e-01 -7.83120560e-03 9.18534070e+02] [ 8.81124461e-01 4.72666739e-01 -1.43470667e-02 7.97829587e+01] [ 1.63447774e-02 -1.19816176e-04 9.99866408e-01 6.50651635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7792541539999 meters 0.013390732644462411 Centerline is valid? [True, True] Translation: X:918.55, Y:79.81, Z:6.51 [[ 4.73113599e-01 -8.80967909e-01 -7.68535997e-03 9.18547257e+02] [ 8.80855248e-01 4.73176005e-01 -1.40890408e-02 7.98080324e+01] [ 1.60485208e-02 -1.03972850e-04 9.99871209e-01 6.50713541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8092541539999 meters 0.014614926872790023 Centerline is valid? [True, True] Translation: X:918.56, Y:79.83, Z:6.51 [[ 4.74595892e-01 -8.80173323e-01 -7.32538447e-03 9.18559903e+02] [ 8.80070748e-01 4.74652418e-01 -1.34372963e-02 7.98317473e+01] [ 1.53041612e-02 -6.95709629e-05 9.99882882e-01 6.50579073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8392541539998 meters 0.01493406822151419 Centerline is valid? [True, True] Translation: X:918.57, Y:79.86, Z:6.51 [[ 4.75414751e-01 -8.79732192e-01 -7.21694004e-03 9.18573236e+02] [ 8.79632456e-01 4.75469523e-01 -1.32467271e-02 7.98569902e+01] [ 1.50850073e-02 -5.05652133e-05 9.99886214e-01 6.50608765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8692541539999 meters 0.014469956936331707 Centerline is valid? [True, True] Translation: X:918.59, Y:79.88, Z:6.51 [[ 4.76770038e-01 -8.78999847e-01 -7.04277186e-03 9.18586048e+02] [ 8.78904663e-01 4.76822052e-01 -1.29353772e-02 7.98805787e+01] [ 1.47283435e-02 -2.27247630e-05 9.99891532e-01 6.50610860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8992541539999 meters 0.013455474607148852 Centerline is valid? [True, True] Translation: X:918.60, Y:79.91, Z:6.51 [[ 4.80081838e-01 -8.77194635e-01 -7.14158362e-03 9.18598606e+02] [ 8.77096431e-01 4.80134951e-01 -1.31255261e-02 7.99052036e+01] [ 1.49425649e-02 3.74691609e-05 9.99888353e-01 6.50813342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9292541539999 meters 0.01362203729407762 Centerline is valid? [True, True] Translation: X:918.61, Y:79.93, Z:6.51 [[ 4.82054979e-01 -8.76112993e-01 -7.00145615e-03 9.18611091e+02] [ 8.76018361e-01 4.82105816e-01 -1.28768489e-02 7.99299347e+01] [ 1.46570174e-02 7.39450033e-05 9.99892577e-01 6.50835153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9592541539998 meters 0.013828051409641648 Centerline is valid? [True, True] Translation: X:918.62, Y:79.96, Z:6.51 [[ 4.87843329e-01 -8.72900675e-01 -7.30060280e-03 9.18621414e+02] [ 8.72797297e-01 4.87897919e-01 -1.34350008e-02 7.99561020e+01] [ 1.52893701e-02 1.82229107e-04 9.99883094e-01 6.50861507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9892541539998 meters 0.017112052388109457 Centerline is valid? [True, True] Translation: X:918.63, Y:79.98, Z:6.51 [[ 4.90191648e-01 -8.71584335e-01 -7.27285805e-03 9.18633720e+02] [ 8.71481483e-01 4.90245546e-01 -1.33914006e-02 7.99821078e+01] [ 1.52372213e-02 2.26191625e-04 9.99883881e-01 6.50601059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0192541539999 meters 0.01541448782796537 Centerline is valid? [True, True] Translation: X:918.64, Y:80.01, Z:6.51 [[ 4.93612956e-01 -8.69650037e-01 -7.42037877e-03 9.18644287e+02] [ 8.69542626e-01 4.93668639e-01 -1.36710043e-02 8.00078935e+01] [ 1.55521977e-02 2.95849231e-04 9.99879013e-01 6.50784651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0492541539999 meters 0.015464765093320008 Centerline is valid? [True, True] Translation: X:918.66, Y:80.03, Z:6.51 [[ 4.96490199e-01 -8.68010770e-01 -7.40177546e-03 9.18657809e+02] [ 8.67903590e-01 4.96545246e-01 -1.36447000e-02 8.00330450e+01] [ 1.55190629e-02 3.50432316e-04 9.99879511e-01 6.50856914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0792541539998 meters 0.01803076901741302 Centerline is valid? [True, True] Translation: X:918.67, Y:80.06, Z:6.51 [[ 5.01353457e-01 -8.65210962e-01 -7.39611649e-03 9.18667554e+02] [ 8.65103550e-01 5.01407815e-01 -1.36400151e-02 8.00588171e+01] [ 1.55099612e-02 4.40062076e-04 9.99879616e-01 6.50798500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1092541539998 meters 0.019828366791211933 Centerline is valid? [True, True] Translation: X:918.68, Y:80.08, Z:6.51 [[ 5.03174707e-01 -8.64153752e-01 -7.31480685e-03 9.18678526e+02] [ 8.64048525e-01 5.03227654e-01 -1.34935163e-02 8.00840593e+01] [ 1.53414858e-02 4.69248051e-04 9.99882202e-01 6.50813326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1392541539999 meters 0.020723270975425763 Centerline is valid? [True, True] Translation: X:918.69, Y:80.11, Z:6.51 [[ 5.03625998e-01 -8.63892685e-01 -7.09110357e-03 9.18692779e+02] [ 8.63793686e-01 5.03675702e-01 -1.30864550e-02 8.01087191e+01] [ 1.48769093e-02 4.65428466e-04 9.99889224e-01 6.50701957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1692541539999 meters 0.021829133133599243 Centerline is valid? [True, True] Translation: X:918.71, Y:80.13, Z:6.51 [[ 5.04253043e-01 -8.63528636e-01 -6.86758085e-03 9.18706712e+02] [ 8.63435667e-01 5.04299594e-01 -1.26794562e-02 8.01330068e+01] [ 1.44123918e-02 4.63940140e-04 9.99896028e-01 6.50729571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1992541539998 meters 0.019066839089205003 Centerline is valid? [True, True] Translation: X:918.72, Y:80.16, Z:6.51 [[ 5.04039182e-01 -8.63653864e-01 -6.81949894e-03 9.18723088e+02] [ 8.63562114e-01 5.04085103e-01 -1.25970316e-02 8.01554857e+01] [ 1.43170828e-02 4.60336585e-04 9.99897399e-01 6.50997967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2292541539998 meters 0.020643024336080035 Centerline is valid? [True, True] Translation: X:918.74, Y:80.18, Z:6.51 [[ 5.02904791e-01 -8.64314152e-01 -6.91511606e-03 9.18735621e+02] [ 8.64219762e-01 5.02952128e-01 -1.27812111e-02 8.01795890e+01] [ 1.45249540e-02 4.51552328e-04 9.99894405e-01 6.50904805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2592541539999 meters 0.018704208404002158 Centerline is valid? [True, True] Translation: X:918.75, Y:80.20, Z:6.51 [[ 5.01964925e-01 -8.64858641e-01 -7.12357842e-03 9.18752760e+02] [ 8.64758412e-01 5.02015265e-01 -1.31743230e-02 8.02022730e+01] [ 1.49700722e-02 4.52873702e-04 9.99887840e-01 6.50941807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2892541539999 meters 0.022171313126296808 Centerline is valid? [True, True] Translation: X:918.77, Y:80.23, Z:6.51 [[ 5.00870294e-01 -8.65491368e-01 -7.32394550e-03 9.18766168e+02] [ 8.65385366e-01 5.00923635e-01 -1.35528447e-02 8.02261321e+01] [ 1.53986075e-02 4.50182060e-04 9.99881333e-01 6.50554292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3192541539999 meters 0.01886449961150643 Centerline is valid? [True, True] Translation: X:918.78, Y:80.25, Z:6.51 [[ 5.00469149e-01 -8.65719402e-01 -7.78120452e-03 9.18782323e+02] [ 8.65599632e-01 5.00529410e-01 -1.44078781e-02 8.02492360e+01] [ 1.63679014e-02 4.75290750e-04 9.99865924e-01 6.50825719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3492541539998 meters 0.020988087079628005 Centerline is valid? [True, True] Translation: X:918.80, Y:80.27, Z:6.51 [[ 4.99757679e-01 -8.66129635e-01 -7.85600583e-03 9.18795196e+02] [ 8.66007456e-01 4.99819200e-01 -1.45551810e-02 8.02732929e+01] [ 1.65332562e-02 4.70703864e-04 9.99863206e-01 6.50509119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3792541539999 meters 0.0193617647894802 Centerline is valid? [True, True] Translation: X:918.81, Y:80.30, Z:6.51 [[ 4.99474823e-01 -8.66291480e-01 -7.99830167e-03 9.18810253e+02] [ 8.66164698e-01 4.99538630e-01 -1.48281522e-02 8.02966511e+01] [ 1.68409626e-02 4.78442154e-04 9.99858066e-01 6.50645236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4092541539999 meters 0.019592364142116382 Centerline is valid? [True, True] Translation: X:918.83, Y:80.32, Z:6.51 [[ 4.98864455e-01 -8.66640947e-01 -8.22949310e-03 9.18827666e+02] [ 8.66506591e-01 4.98932093e-01 -1.52674492e-02 8.03194732e+01] [ 1.73373549e-02 4.85477732e-04 9.99849579e-01 6.50541402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4392541539999 meters 0.01791594100581145 Centerline is valid? [True, True] Translation: X:918.84, Y:80.34, Z:6.51 [[ 4.98759544e-01 -8.66700577e-01 -8.30824608e-03 9.18841670e+02] [ 8.66563466e-01 4.98828494e-01 -1.54238128e-02 8.03429554e+01] [ 1.75122173e-02 4.93151313e-04 9.99846528e-01 6.50762235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4692541539998 meters 0.01782738515444909 Centerline is valid? [True, True] Translation: X:918.86, Y:80.37, Z:6.51 [[ 4.97854594e-01 -8.67219973e-01 -8.38580342e-03 9.18859318e+02] [ 8.67080225e-01 4.97924979e-01 -1.55755860e-02 8.03661313e+01] [ 1.76829602e-02 4.83212707e-04 9.99843527e-01 6.50743681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4992541539999 meters 0.0172773957970831 Centerline is valid? [True, True] Translation: X:918.87, Y:80.39, Z:6.51 [[ 4.97376265e-01 -8.67494104e-01 -8.41607878e-03 9.18874829e+02] [ 8.67353221e-01 4.97447233e-01 -1.56409899e-02 8.03897653e+01] [ 1.77550217e-02 4.79744126e-04 9.99842252e-01 6.50826489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5292541539999 meters 0.018112717575005523 Centerline is valid? [True, True] Translation: X:918.89, Y:80.41, Z:6.51 [[ 4.96695879e-01 -8.67884275e-01 -8.37195031e-03 9.18887966e+02] [ 8.67744749e-01 4.96766209e-01 -1.55686647e-02 8.04136192e+01] [ 1.76707013e-02 4.68175651e-04 9.99843751e-01 6.50777257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5592541539999 meters 0.01731357524440364 Centerline is valid? [True, True] Translation: X:918.90, Y:80.44, Z:6.51 [[ 4.96220319e-01 -8.68157685e-01 -8.22363694e-03 9.18903805e+02] [ 8.68022927e-01 4.96288249e-01 -1.53026587e-02 8.04364366e+01] [ 1.73664152e-02 4.55184796e-04 9.99849089e-01 6.50872070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5892541539998 meters 0.01747479431542271 Centerline is valid? [True, True] Translation: X:918.92, Y:80.46, Z:6.51 [[ 4.95660889e-01 -8.68480486e-01 -7.86946692e-03 9.18919694e+02] [ 8.68356981e-01 4.95723170e-01 -1.46523806e-02 8.04587510e+01] [ 1.66263837e-02 4.29105457e-04 9.99861680e-01 6.50942117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6192541539999 meters 0.01709617319439603 Centerline is valid? [True, True] Translation: X:918.94, Y:80.48, Z:6.51 [[ 4.95140172e-01 -8.68779884e-01 -7.59766805e-03 9.18935511e+02] [ 8.68664657e-01 4.95198290e-01 -1.41550767e-02 8.04825804e+01] [ 1.60599981e-02 4.08921385e-04 9.99870946e-01 6.51031876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6492541539999 meters 0.017498022475410827 Centerline is valid? [True, True] Translation: X:918.95, Y:80.51, Z:6.51 [[ 4.94424843e-01 -8.69189355e-01 -7.34436626e-03 9.18951667e+02] [ 8.69081588e-01 4.94479236e-01 -1.36922856e-02 8.05053985e+01] [ 1.55328255e-02 3.86952682e-04 9.99879284e-01 6.51078181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6792541539999 meters 0.01744554464655995 Centerline is valid? [True, True] Translation: X:918.97, Y:80.53, Z:6.51 [[ 4.93803901e-01 -8.69542990e-01 -7.25911896e-03 9.18966822e+02] [ 8.69437610e-01 4.93857112e-01 -1.35423990e-02 8.05295241e+01] [ 1.53606657e-02 3.75938436e-04 9.99881947e-01 6.51108791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7092541539998 meters 0.016262904029013373 Centerline is valid? [True, True] Translation: X:918.99, Y:80.55, Z:6.51 [[ 4.92695640e-01 -8.70171180e-01 -7.28866690e-03 9.18985637e+02] [ 8.70064865e-01 4.92749416e-01 -1.36067835e-02 8.05515534e+01] [ 1.54317172e-02 3.62389921e-04 9.99880858e-01 6.51191749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7392541539998 meters 0.018113155288631857 Centerline is valid? [True, True] Translation: X:919.00, Y:80.57, Z:6.51 [[ 4.91477437e-01 -8.70858769e-01 -7.41171778e-03 9.18999084e+02] [ 8.70748779e-01 4.91533195e-01 -1.38449461e-02 8.05749257e+01] [ 1.57000981e-02 3.50734447e-04 9.99876684e-01 6.50967821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7692541539999 meters 0.01623873986949961 Centerline is valid? [True, True] Translation: X:919.01, Y:80.60, Z:6.51 [[ 4.91087349e-01 -8.71078942e-01 -7.39543566e-03 9.19014454e+02] [ 8.70969324e-01 4.91142908e-01 -1.38231899e-02 8.05982961e+01] [ 1.56733054e-02 3.47196087e-04 9.99877106e-01 6.51181622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7992541539999 meters 0.016233184089093414 Centerline is valid? [True, True] Translation: X:919.03, Y:80.62, Z:6.51 [[ 4.90089387e-01 -8.71641923e-01 -7.26291504e-03 9.19029159e+02] [ 8.71536118e-01 4.90143091e-01 -1.35847199e-02 8.06220933e+01] [ 1.54008790e-02 3.27834293e-04 9.99881346e-01 6.51171329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8292541539998 meters 0.01592422089483774 Centerline is valid? [True, True] Translation: X:919.05, Y:80.65, Z:6.51 [[ 4.88486238e-01 -8.72539837e-01 -7.44505788e-03 9.19045747e+02] [ 8.72428612e-01 4.88542871e-01 -1.39348672e-02 8.06452032e+01] [ 1.57959567e-02 3.11709353e-04 9.99875188e-01 6.51153346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8592541539998 meters 0.015416496047216652 Centerline is valid? [True, True] Translation: X:919.06, Y:80.67, Z:6.51 [[ 4.87645316e-01 -8.73009612e-01 -7.50087537e-03 9.19061439e+02] [ 8.72896614e-01 4.87702906e-01 -1.40490537e-02 8.06682642e+01] [ 1.59231577e-02 3.03466531e-04 9.99873172e-01 6.51203858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8892541539999 meters 0.016842325299338573 Centerline is valid? [True, True] Translation: X:919.07, Y:80.69, Z:6.51 [[ 4.86320815e-01 -8.73749951e-01 -7.28616542e-03 9.19074169e+02] [ 8.73643286e-01 4.86375316e-01 -1.36550973e-02 8.06921954e+01] [ 1.54749516e-02 2.75248572e-04 9.99880218e-01 6.51137477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9192541539999 meters 0.015034231737392495 Centerline is valid? [True, True] Translation: X:919.09, Y:80.71, Z:6.51 [[ 4.85714927e-01 -8.74087415e-01 -7.22499685e-03 9.19091748e+02] [ 8.73982440e-01 4.85768587e-01 -1.35489917e-02 8.07143016e+01] [ 1.53526797e-02 2.66427169e-04 9.99882105e-01 6.51344469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9492541539998 meters 0.015034231737392495 Centerline is valid? [True, True] Translation: X:919.10, Y:80.74, Z:6.51 [[ 4.85455556e-01 -8.74231526e-01 -7.22097511e-03 9.19104674e+02] [ 8.74126535e-01 4.85509185e-01 -1.35511352e-02 8.07386872e+01] [ 1.53526794e-02 2.66427941e-04 9.99882105e-01 6.51363513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9792541539998 meters 0.015397923890787504 Centerline is valid? [True, True] Translation: X:919.12, Y:80.76, Z:6.51 [[ 4.85107235e-01 -8.74424873e-01 -7.21889777e-03 9.19117183e+02] [ 8.74319841e-01 4.85160872e-01 -1.35552204e-02 8.07621711e+01] [ 1.53553486e-02 2.64109949e-04 9.99882065e-01 6.51287551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0092541539999 meters 0.015470404816703821 Centerline is valid? [True, True] Translation: X:919.13, Y:80.79, Z:6.51 [[ 4.84759080e-01 -8.74614444e-01 -7.62949896e-03 9.19131944e+02] [ 8.74497012e-01 4.84819036e-01 -1.43345263e-02 8.07854689e+01] [ 1.62361101e-02 2.76817720e-04 9.99868147e-01 6.51239840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0392541539999 meters 0.015509793727451414 Centerline is valid? [True, True] Translation: X:919.15, Y:80.81, Z:6.51 [[ 4.84499551e-01 -8.74757521e-01 -7.71128226e-03 9.19145784e+02] [ 8.74637417e-01 4.84560833e-01 -1.44978329e-02 8.08097400e+01] [ 1.64186737e-02 2.79617522e-04 9.99865165e-01 6.51205319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0692541539999 meters 0.015477857920756236 Centerline is valid? [True, True] Translation: X:919.16, Y:80.83, Z:6.51 [[ 4.84193227e-01 -8.74923630e-01 -8.09691281e-03 9.19159696e+02] [ 8.74791051e-01 4.84260834e-01 -1.52335760e-02 8.08338793e+01] [ 1.72492334e-02 2.92887446e-04 9.99851178e-01 6.51202210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0992541539998 meters 0.015412402841887277 Centerline is valid? [True, True] Translation: X:919.17, Y:80.86, Z:6.51 [[ 4.83881506e-01 -8.75093368e-01 -8.38366791e-03 9.19173766e+02] [ 8.74951068e-01 4.83954033e-01 -1.57835979e-02 8.08576547e+01] [ 1.78694318e-02 3.02091940e-04 9.99840283e-01 6.51144489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1292541539999 meters 0.015451716354917247 Centerline is valid? [True, True] Translation: X:919.19, Y:80.88, Z:6.51 [[ 4.83762202e-01 -8.75158839e-01 -8.43433434e-03 9.19187207e+02] [ 8.75014632e-01 4.83835625e-01 -1.58896933e-02 8.08826895e+01] [ 1.79868370e-02 3.06667055e-04 9.99838177e-01 6.51144191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1592541539999 meters 0.015514175306846999 Centerline is valid? [True, True] Translation: X:919.20, Y:80.91, Z:6.51 [[ 4.83562188e-01 -8.75270547e-01 -8.31144857e-03 9.19199969e+02] [ 8.75130336e-01 4.83633516e-01 -1.56689946e-02 8.09078618e+01] [ 1.77343046e-02 3.03332547e-04 9.99842689e-01 6.51147594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1892541539999 meters 0.016856716509103274 Centerline is valid? [True, True] Translation: X:919.21, Y:80.93, Z:6.51 [[ 4.83243358e-01 -8.75444941e-01 -8.48603725e-03 9.19212357e+02] [ 8.75298613e-01 4.83317764e-01 -1.60086318e-02 8.09320546e+01] [ 1.81161283e-02 3.08248377e-04 9.99835842e-01 6.51021960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2192541539998 meters 0.015487142160906232 Centerline is valid? [True, True] Translation: X:919.23, Y:80.96, Z:6.51 [[ 4.82968748e-01 -8.75598634e-01 -8.25965402e-03 9.19226350e+02] [ 8.75459851e-01 4.83039277e-01 -1.55918449e-02 8.09568652e+01] [ 1.76419354e-02 2.99378337e-04 9.99844324e-01 6.51218125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2492541539999 meters 0.015366178102458865 Centerline is valid? [True, True] Translation: X:919.24, Y:80.98, Z:6.51 [[ 4.82581828e-01 -8.75815350e-01 -7.88998947e-03 9.19239641e+02] [ 8.75688571e-01 4.82646240e-01 -1.49041724e-02 8.09811162e+01] [ 1.68613767e-02 2.83309171e-04 9.99857797e-01 6.51265423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2792541539999 meters 0.015568590558644553 Centerline is valid? [True, True] Translation: X:919.25, Y:81.01, Z:6.51 [[ 4.82202596e-01 -8.76025945e-01 -7.69417114e-03 9.19252515e+02] [ 8.75905244e-01 4.82263900e-01 -1.45442349e-02 8.10061042e+01] [ 1.64517481e-02 2.73902997e-04 9.99864623e-01 6.51270602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3092541539999 meters 0.015459039588892852 Centerline is valid? [True, True] Translation: X:919.27, Y:81.03, Z:6.51 [[ 4.82269531e-01 -8.75990169e-01 -7.57119534e-03 9.19265406e+02] [ 8.75873132e-01 4.82328880e-01 -1.43216033e-02 8.10307390e+01] [ 1.61973898e-02 2.75466323e-04 9.99868776e-01 6.51343947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3392541539998 meters 0.015618712142974434 Centerline is valid? [True, True] Translation: X:919.28, Y:81.06, Z:6.51 [[ 4.82233199e-01 -8.76010260e-01 -7.56087366e-03 9.19278054e+02] [ 8.75893385e-01 4.82292387e-01 -1.43119248e-02 8.10561793e+01] [ 1.61839447e-02 2.79166031e-04 9.99868992e-01 6.51340462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3692541539999 meters 0.015976156439381547 Centerline is valid? [True, True] Translation: X:919.29, Y:81.08, Z:6.51 [[ 4.82646469e-01 -8.75783532e-01 -7.45592150e-03 9.19289158e+02] [ 8.75669708e-01 4.82703969e-01 -1.41223350e-02 8.10806794e+01] [ 1.59671114e-02 2.87170517e-04 9.99872476e-01 6.51280126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3992541539999 meters 0.01594415051587937 Centerline is valid? [True, True] Translation: X:919.30, Y:81.11, Z:6.51 [[ 4.82520023e-01 -8.75852280e-01 -7.56381112e-03 9.19301715e+02] [ 8.75734993e-01 4.82579214e-01 -1.43361095e-02 8.11059061e+01] [ 1.62064522e-02 2.93565794e-04 9.99868624e-01 6.51277026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4292541539999 meters 0.015782939322537392 Centerline is valid? [True, True] Translation: X:919.31, Y:81.13, Z:6.51 [[ 4.82418457e-01 -8.75907986e-01 -7.59160875e-03 9.19314539e+02] [ 8.75789681e-01 4.82478094e-01 -1.43987113e-02 8.11308648e+01] [ 1.62747312e-02 2.97551498e-04 9.99867514e-01 6.51303273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4592541539998 meters 0.016090387367214593 Centerline is valid? [True, True] Translation: X:919.33, Y:81.15, Z:6.51 [[ 4.82050631e-01 -8.76110999e-01 -7.53031121e-03 9.19325852e+02] [ 8.75994473e-01 4.82109356e-01 -1.42917050e-02 8.11549984e+01] [ 1.61515535e-02 2.92814431e-04 9.99869512e-01 6.51284967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4892541539998 meters 0.01542824311432184 Centerline is valid? [True, True] Translation: X:919.34, Y:81.18, Z:6.51 [[ 4.80944386e-01 -8.76720727e-01 -7.29824409e-03 9.19340441e+02] [ 8.76611203e-01 4.80999683e-01 -1.38601818e-02 8.11792043e+01] [ 1.56619618e-02 2.68254107e-04 9.99877308e-01 6.51367787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5192541539999 meters 0.015504171675478967 Centerline is valid? [True, True] Translation: X:919.35, Y:81.20, Z:6.51 [[ 4.79824713e-01 -8.77334324e-01 -7.26151053e-03 9.19352907e+02] [ 8.77225837e-01 4.79879591e-01 -1.37988591e-02 8.12030062e+01] [ 1.55908634e-02 2.51048956e-04 9.99878424e-01 6.51383319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5492541539999 meters 0.015201614266061092 Centerline is valid? [True, True] Translation: X:919.37, Y:81.23, Z:6.51 [[ 4.78484944e-01 -8.78066886e-01 -7.12058986e-03 9.19366564e+02] [ 8.77962523e-01 4.78537870e-01 -1.35394214e-02 8.12274591e+01] [ 1.52959895e-02 2.26798258e-04 9.99882984e-01 6.51379131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5792541539998 meters 0.017568403149995804 Centerline is valid? [True, True] Translation: X:919.38, Y:81.25, Z:6.51 [[ 4.77010007e-01 -8.78865205e-01 -7.57663580e-03 9.19378573e+02] [ 8.78746994e-01 4.77070125e-01 -1.44158517e-02 8.12516554e+01] [ 1.62841771e-02 2.18559600e-04 9.99867380e-01 6.51096724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6092541539998 meters 0.014342880881993285 Centerline is valid? [True, True] Translation: X:919.39, Y:81.28, Z:6.51 [[ 4.74315411e-01 -8.80326896e-01 -7.03189398e-03 9.19394371e+02] [ 8.80225114e-01 4.74367506e-01 -1.33872094e-02 8.12757514e+01] [ 1.51208225e-02 1.60110028e-04 9.99885661e-01 6.51418865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6392541539999 meters 0.014198213088998232 Centerline is valid? [True, True] Translation: X:919.41, Y:81.30, Z:6.51 [[ 4.72505869e-01 -8.81299807e-01 -6.98948136e-03 9.19408119e+02] [ 8.81199226e-01 4.72557544e-01 -1.33151386e-02 8.13003022e+01] [ 1.50375613e-02 1.32355599e-04 9.99886921e-01 6.51398111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6692541539999 meters 0.016018885125897424 Centerline is valid? [True, True] Translation: X:919.42, Y:81.32, Z:6.51 [[ 4.67812272e-01 -8.83794039e-01 -7.73145920e-03 9.19422625e+02] [ 8.83671162e-01 4.67876152e-01 -1.47371931e-02 8.13239787e+01] [ 1.66420087e-02 6.21722321e-05 9.99861510e-01 6.51104262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6992541539998 meters 0.015946942774522386 Centerline is valid? [True, True] Translation: X:919.44, Y:81.35, Z:6.51 [[ 4.65243735e-01 -8.85147086e-01 -7.93108251e-03 9.19437327e+02] [ 8.85017823e-01 4.65311331e-01 -1.51267560e-02 8.13483743e+01] [ 1.70798266e-02 1.84791004e-05 9.99854129e-01 6.51204476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7292541539998 meters 0.013938301106620124 Centerline is valid? [True, True] Translation: X:919.45, Y:81.37, Z:6.51 [[ 4.63170459e-01 -8.86237604e-01 -7.48565781e-03 9.19452001e+02] [ 8.86122440e-01 4.63230945e-01 -1.42867953e-02 8.13725422e+01] [ 1.61290836e-02 -1.59878355e-05 9.99869918e-01 6.51391567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7592541539999 meters 0.014292066362756132 Centerline is valid? [True, True] Translation: X:919.47, Y:81.40, Z:6.51 [[ 4.57939034e-01 -8.88949958e-01 -7.73390940e-03 9.19467511e+02] [ 8.88827250e-01 4.58004323e-01 -1.47702453e-02 8.13954078e+01] [ 1.66721729e-02 -1.10237567e-04 9.99861004e-01 6.51365719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7892541539999 meters 0.017353255054653106 Centerline is valid? [True, True] Translation: X:919.48, Y:81.42, Z:6.51 [[ 4.55162363e-01 -8.90367633e-01 -8.52647274e-03 9.19481454e+02] [ 8.90218536e-01 4.55242185e-01 -1.62944923e-02 8.14200518e+01] [ 1.83896986e-02 -1.73784469e-04 9.99830880e-01 6.51183420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8192541539999 meters 0.014761085440561384 Centerline is valid? [True, True] Translation: X:919.50, Y:81.44, Z:6.51 [[ 4.53548595e-01 -8.91195778e-01 -7.98476149e-03 9.19495152e+02] [ 8.91064983e-01 4.53618836e-01 -1.52691850e-02 8.14446672e+01] [ 1.72298714e-02 -1.89623941e-04 9.99851537e-01 6.51434349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8492541539998 meters 0.015453074795690391 Centerline is valid? [True, True] Translation: X:919.51, Y:81.47, Z:6.51 [[ 4.50591970e-01 -8.92693070e-01 -8.12157647e-03 9.19509050e+02] [ 8.92557816e-01 4.50665089e-01 -1.55410208e-02 8.14684918e+01] [ 1.75334726e-02 -2.46317378e-04 9.99846247e-01 6.51436033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8792541539999 meters 0.015472606236142245 Centerline is valid? [True, True] Translation: X:919.52, Y:81.49, Z:6.52 [[ 4.49442615e-01 -8.93272475e-01 -8.10068796e-03 9.19521774e+02] [ 8.93137833e-01 4.49515535e-01 -1.55111633e-02 8.14937856e+01] [ 1.74970803e-02 -2.63653100e-04 9.99846880e-01 6.51511174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9092541539999 meters 0.015611180951983376 Centerline is valid? [True, True] Translation: X:919.53, Y:81.52, Z:6.52 [[ 4.48863282e-01 -8.93562430e-01 -8.24243024e-03 9.19533850e+02] [ 8.93422901e-01 4.48938868e-01 -1.57927693e-02 8.15181348e+01] [ 1.78121726e-02 -2.75181709e-04 9.99841313e-01 6.51565424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9392541539999 meters 0.018430390930700147 Centerline is valid? [True, True] Translation: X:919.55, Y:81.54, Z:6.51 [[ 4.48396742e-01 -8.93789847e-01 -8.94827219e-03 9.19546030e+02] [ 8.93625230e-01 4.48485917e-01 -1.71560533e-02 8.15424543e+01] [ 1.93470803e-02 -3.03683403e-04 9.99812782e-01 6.51407655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9692541539998 meters 0.015257764706665873 Centerline is valid? [True, True] Translation: X:919.56, Y:81.57, Z:6.52 [[ 4.49985864e-01 -8.92998411e-01 -8.15839481e-03 9.19557852e+02] [ 8.92861276e-01 4.50059750e-01 -1.56512836e-02 8.15677887e+01] [ 1.76483365e-02 -2.41458416e-04 9.99844227e-01 6.51711094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9992541539999 meters 0.015153780113058627 Centerline is valid? [True, True] Translation: X:919.57, Y:81.59, Z:6.52 [[ 4.51371928e-01 -8.92300432e-01 -7.95753668e-03 9.19569184e+02] [ 8.92169710e-01 4.51442020e-01 -1.52745180e-02 8.15922360e+01] [ 1.72218254e-02 -2.04984556e-04 9.99851672e-01 6.51743005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0292541539999 meters 0.014298110380835883 Centerline is valid? [True, True] Translation: X:919.58, Y:81.62, Z:6.52 [[ 4.56046822e-01 -8.89916953e-01 -8.31346833e-03 9.19577903e+02] [ 8.89773702e-01 4.56122576e-01 -1.59673134e-02 8.16198375e+01] [ 1.80015435e-02 -1.15262957e-04 9.99837952e-01 6.51751631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0592541539999 meters 0.017202556595714118 Centerline is valid? [True, True] Translation: X:919.59, Y:81.65, Z:6.51 [[ 4.58437961e-01 -8.88677620e-01 -9.31256832e-03 9.19587307e+02] [ 8.88497352e-01 4.58532533e-01 -1.78989542e-02 8.16454153e+01] [ 2.01765156e-02 -6.86321981e-05 9.99796431e-01 6.51479541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0892541539998 meters 0.014087326496168059 Centerline is valid? [True, True] Translation: X:919.59, Y:81.67, Z:6.52 [[ 4.65956901e-01 -8.84763394e-01 -8.82629583e-03 9.19593858e+02] [ 8.84600528e-01 4.66040478e-01 -1.69758580e-02 8.16740680e+01] [ 1.91330288e-02 1.02272238e-04 9.99816942e-01 6.51751772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1192541539999 meters 0.014482093182660846 Centerline is valid? [True, True] Translation: X:919.60, Y:81.70, Z:6.52 [[ 4.69404240e-01 -8.82938510e-01 -8.90207249e-03 9.19603947e+02] [ 8.82772295e-01 4.69488609e-01 -1.71324372e-02 8.17010933e+01] [ 1.93063102e-02 1.83535719e-04 9.99813599e-01 6.51762627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1492541539999 meters 0.015357952034853047 Centerline is valid? [True, True] Translation: X:919.61, Y:81.73, Z:6.52 [[ 4.72682131e-01 -8.81186030e-01 -9.09852918e-03 9.19612995e+02] [ 8.81011853e-01 4.72769615e-01 -1.75215932e-02 8.17274034e+01] [ 1.97412913e-02 2.66231948e-04 9.99805086e-01 6.51710736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1792541539999 meters 0.01668573650734112 Centerline is valid? [True, True] Translation: X:919.62, Y:81.75, Z:6.52 [[ 4.78301917e-01 -8.78150942e-01 -8.84308295e-03 9.19620933e+02] [ 8.77985722e-01 4.78383502e-01 -1.70381062e-02 8.17547027e+01] [ 1.91924140e-02 3.85258283e-04 9.99815734e-01 6.51828595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2092541539998 meters 0.017585886408635242 Centerline is valid? [True, True] Translation: X:919.63, Y:81.78, Z:6.52 [[ 4.80266573e-01 -8.77080670e-01 -8.57419828e-03 9.19630853e+02] [ 8.76925034e-01 4.80342922e-01 -1.65275959e-02 8.17800128e+01] [ 1.86145904e-02 4.18722741e-04 9.99826646e-01 6.51890558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2392541539998 meters 0.02021176695987857 Centerline is valid? [True, True] Translation: X:919.64, Y:81.81, Z:6.52 [[ 4.82882778e-01 -8.75642846e-01 -8.59239858e-03 9.19639536e+02] [ 8.75486135e-01 4.82958980e-01 -1.65726148e-02 8.18067001e+01] [ 1.86614676e-02 4.80104450e-04 9.99825744e-01 6.51847182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2692541539999 meters 0.0185868564484715 Centerline is valid? [True, True] Translation: X:919.65, Y:81.83, Z:6.52 [[ 4.83977691e-01 -8.75042146e-01 -8.17545212e-03 9.19653197e+02] [ 8.74900017e-01 4.84046495e-01 -1.57781544e-02 8.18316847e+01] [ 1.77638490e-02 4.83571534e-04 9.99842093e-01 6.52092170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2992541539999 meters 0.0178234837162342 Centerline is valid? [True, True] Translation: X:919.67, Y:81.86, Z:6.52 [[ 4.84594712e-01 -8.74701783e-01 -8.04714089e-03 9.19667103e+02] [ 8.74563867e-01 4.84661272e-01 -1.55400636e-02 8.18569648e+01] [ 1.74930588e-02 4.92893972e-04 9.99846863e-01 6.52196608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3292541539998 meters 0.020605443377905822 Centerline is valid? [True, True] Translation: X:919.67, Y:81.88, Z:6.52 [[ 4.85020554e-01 -8.74463283e-01 -8.30835785e-03 9.19674979e+02] [ 8.74316084e-01 4.85091429e-01 -1.60527696e-02 8.18837929e+01] [ 1.80678708e-02 5.21792295e-04 9.99836627e-01 6.52030265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3592541539998 meters 0.01887089696316497 Centerline is valid? [True, True] Translation: X:919.69, Y:81.91, Z:6.52 [[ 4.85212263e-01 -8.74353532e-01 -8.65798938e-03 9.19690347e+02] [ 8.74193490e-01 4.85289188e-01 -1.67375532e-02 8.19087198e+01] [ 1.88361674e-02 5.52508119e-04 9.99822431e-01 6.52109356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3892541539999 meters 0.020895007020530144 Centerline is valid? [True, True] Translation: X:919.70, Y:81.93, Z:6.52 [[ 4.84634112e-01 -8.74668267e-01 -9.23036867e-03 9.19700108e+02] [ 8.74486190e-01 4.84721656e-01 -1.78555179e-02 8.19336223e+01] [ 2.00918145e-02 5.81563143e-04 9.99797970e-01 6.51899366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4192541539999 meters 0.01853255238601532 Centerline is valid? [True, True] Translation: X:919.72, Y:81.96, Z:6.52 [[ 4.84201703e-01 -8.74909173e-01 -9.09121876e-03 9.19715588e+02] [ 8.74732351e-01 4.84286708e-01 -1.75982478e-02 8.19570069e+01] [ 1.97996249e-02 5.68718410e-04 9.99803806e-01 6.52092452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4492541539998 meters 0.01784195228306317 Centerline is valid? [True, True] Translation: X:919.73, Y:81.98, Z:6.52 [[ 4.82339748e-01 -8.75934065e-01 -9.37453368e-03 9.19729717e+02] [ 8.75745997e-01 4.82430527e-01 -1.81585998e-02 8.19819598e+01] [ 2.04282973e-02 5.48904090e-04 9.99791170e-01 6.52083793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4792541539998 meters 0.01785368803319549 Centerline is valid? [True, True] Translation: X:919.74, Y:82.01, Z:6.52 [[ 4.81355280e-01 -8.76474208e-01 -9.48979930e-03 9.19742158e+02] [ 8.76281369e-01 4.81448515e-01 -1.83926472e-02 8.20057373e+01] [ 2.06895307e-02 5.37663512e-04 9.99785804e-01 6.52048774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5092541539999 meters 0.018399558319354033 Centerline is valid? [True, True] Translation: X:919.76, Y:82.03, Z:6.52 [[ 4.78605767e-01 -8.77965058e-01 -1.06713026e-02 9.19755800e+02] [ 8.77721329e-01 4.78724418e-01 -2.06930242e-02 8.20291655e+01] [ 2.32763653e-02 5.37370777e-04 9.99728924e-01 6.51882901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5392541539999 meters 0.017049033874674376 Centerline is valid? [True, True] Translation: X:919.77, Y:82.05, Z:6.52 [[ 4.77328402e-01 -8.78662157e-01 -1.05076099e-02 9.19769990e+02] [ 8.78425756e-01 4.77443779e-01 -2.03869713e-02 8.20544849e+01] [ 2.29300532e-02 5.01125264e-04 9.99736946e-01 6.51934341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5692541539999 meters 0.016373107696531553 Centerline is valid? [True, True] Translation: X:919.79, Y:82.08, Z:6.52 [[ 4.73881567e-01 -8.80520067e-01 -1.09851047e-02 9.19785947e+02] [ 8.80261870e-01 4.74008672e-01 -2.13264674e-02 8.20782875e+01] [ 2.39854174e-02 4.36450928e-04 9.99712213e-01 6.51905629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5992541539998 meters 0.016043842004153857 Centerline is valid? [True, True] Translation: X:919.80, Y:82.10, Z:6.52 [[ 4.71819701e-01 -8.81625955e-01 -1.10383734e-02 9.19800896e+02] [ 8.81365216e-01 4.71948646e-01 -2.14436994e-02 8.21028715e+01] [ 2.41148673e-02 3.88721508e-04 9.99709119e-01 6.51932432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6292541539999 meters 0.01559796920635102 Centerline is valid? [True, True] Translation: X:919.82, Y:82.13, Z:6.52 [[ 4.69279833e-01 -8.82979529e-01 -1.11170850e-02 9.19815469e+02] [ 8.82715157e-01 4.69411380e-01 -2.16080588e-02 8.21264818e+01] [ 2.42979599e-02 3.27006779e-04 9.99704708e-01 6.51970764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6592541539999 meters 0.014700002504190292 Centerline is valid? [True, True] Translation: X:919.83, Y:82.15, Z:6.52 [[ 4.63830209e-01 -8.85859379e-01 -1.07096730e-02 9.19833181e+02] [ 8.85614496e-01 4.63953800e-01 -2.08287155e-02 8.21488805e+01] [ 2.34201065e-02 1.76345767e-04 9.99725696e-01 6.52056780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6892541539999 meters 0.014373524754375415 Centerline is valid? [True, True] Translation: X:919.85, Y:82.17, Z:6.52 [[ 4.60596191e-01 -8.87545979e-01 -1.06434643e-02 9.19849062e+02] [ 8.87304240e-01 4.60719139e-01 -2.07137631e-02 8.21725337e+01] [ 2.32880649e-02 9.66893908e-05 9.99728792e-01 6.52118399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7192541539998 meters 0.01431434571114799 Centerline is valid? [True, True] Translation: X:919.86, Y:82.19, Z:6.52 [[ 4.57619558e-01 -8.89084761e-01 -1.06125921e-02 9.19864414e+02] [ 8.88844573e-01 4.57742598e-01 -2.06649069e-02 8.21949015e+01] [ 2.32306894e-02 2.37206679e-05 9.99730131e-01 6.52170118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7492541539999 meters 0.015015982881073957 Centerline is valid? [True, True] Translation: X:919.88, Y:82.22, Z:6.52 [[ 4.52082321e-01 -8.91915041e-01 -1.04467820e-02 9.19882444e+02] [ 8.91682748e-01 4.52202993e-01 -2.03550852e-02 8.22169675e+01] [ 2.28790727e-02 -1.13041179e-04 9.99738233e-01 6.52483948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7792541539999 meters 0.01764701062611664 Centerline is valid? [True, True] Translation: X:919.90, Y:82.24, Z:6.52 [[ 4.49487237e-01 -8.93221104e-01 -1.08297455e-02 9.19898078e+02] [ 8.92971516e-01 4.49617645e-01 -2.11150314e-02 8.22416332e+01] [ 2.37296363e-02 -1.79717171e-04 9.99718396e-01 6.52478415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8092541539999 meters 0.01655205227293311 Centerline is valid? [True, True] Translation: X:919.91, Y:82.27, Z:6.53 [[ 4.47859469e-01 -8.94043694e-01 -1.03812074e-02 9.19912478e+02] [ 8.93814339e-01 4.47979720e-01 -2.02508915e-02 8.22650687e+01] [ 2.27557523e-02 -2.09318499e-04 9.99741032e-01 6.52541154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8392541539998 meters 0.018256745706763913 Centerline is valid? [True, True] Translation: X:919.93, Y:82.29, Z:6.53 [[ 4.46079281e-01 -8.94930442e-01 -1.06197138e-02 9.19927487e+02] [ 8.94690396e-01 4.46205601e-01 -2.07281795e-02 8.22883637e+01] [ 2.32888546e-02 -2.54944519e-04 9.99728745e-01 6.52511074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8692541539999 meters 0.018256745706763913 Centerline is valid? [True, True] Translation: X:919.94, Y:82.31, Z:6.53 [[ 4.45830673e-01 -8.95054385e-01 -1.06141188e-02 9.19939994e+02] [ 8.94814305e-01 4.45956930e-01 -2.07310448e-02 8.23129641e+01] [ 2.32888524e-02 -2.55129637e-04 9.99728745e-01 6.52530126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8992541539999 meters 0.014525382018067953 Centerline is valid? [True, True] Translation: X:919.95, Y:82.34, Z:6.53 [[ 4.46122779e-01 -8.94919084e-01 -9.71075277e-03 9.19952450e+02] [ 8.94717851e-01 4.46228398e-01 -1.89785053e-02 8.23391085e+01] [ 2.13174403e-02 -2.21640318e-04 9.99772733e-01 6.52784497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9292541539999 meters 0.014579258757336485 Centerline is valid? [True, True] Translation: X:919.97, Y:82.36, Z:6.53 [[ 4.47866143e-01 -8.94043423e-01 -1.01131363e-02 9.19965009e+02] [ 8.93824661e-01 4.47980272e-01 -1.97775578e-02 8.23635054e+01] [ 2.22124810e-02 -1.81672079e-04 9.99753256e-01 6.52670710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9592541539998 meters 0.01440345274965558 Centerline is valid? [True, True] Translation: X:919.98, Y:82.39, Z:6.53 [[ 4.49576630e-01 -8.93181572e-01 -1.03697694e-02 9.19976438e+02] [ 8.92951042e-01 4.49696186e-01 -2.02922677e-02 8.23877635e+01] [ 2.27879254e-02 -1.36767066e-04 9.99740312e-01 6.52649880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9892541539998 meters 0.014278950080785571 Centerline is valid? [True, True] Translation: X:919.99, Y:82.41, Z:6.53 [[ 4.51593602e-01 -8.92160541e-01 -1.06201532e-02 9.19988214e+02] [ 8.91918144e-01 4.51718455e-01 -2.07957047e-02 8.24138456e+01] [ 2.33504263e-02 -8.11001229e-05 9.99727338e-01 6.52654981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0192541539999 meters 0.014452333803280114 Centerline is valid? [True, True] Translation: X:920.00, Y:82.44, Z:6.53 [[ 4.56754725e-01 -8.89521969e-01 -1.12155298e-02 9.19997519e+02] [ 8.89250478e-01 4.56892398e-01 -2.19755257e-02 8.24399263e+01] [ 2.46720032e-02 6.40099810e-05 9.99695598e-01 6.52652218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0492541539999 meters 0.014580135854688222 Centerline is valid? [True, True] Translation: X:920.01, Y:82.47, Z:6.53 [[ 4.59487576e-01 -8.88110004e-01 -1.14799173e-02 9.20008486e+02] [ 8.87824748e-01 4.59630938e-01 -2.25081646e-02 8.24663052e+01] [ 2.52662513e-02 1.50067329e-04 9.99680746e-01 6.52695273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0792541539998 meters 0.015327752256065906 Centerline is valid? [True, True] Translation: X:920.02, Y:82.49, Z:6.53 [[ 4.65295154e-01 -8.85073537e-01 -1.20521289e-02 9.20018412e+02] [ 8.84757701e-01 4.65451092e-01 -2.36451290e-02 8.24936937e+01] [ 2.65373545e-02 3.38750096e-04 9.99647765e-01 6.52878716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1092541539998 meters 0.015950268087672616 Centerline is valid? [True, True] Translation: X:920.03, Y:82.52, Z:6.53 [[ 4.67874155e-01 -8.83713055e-01 -1.20420564e-02 9.20029593e+02] [ 8.83397025e-01 4.68028909e-01 -2.36354930e-02 8.25198407e+01] [ 2.65230242e-02 4.20519502e-04 9.99648114e-01 6.52943029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1392541539999 meters 0.01626449547385199 Centerline is valid? [True, True] Translation: X:920.04, Y:82.55, Z:6.53 [[ 4.70294995e-01 -8.82427395e-01 -1.20212334e-02 9.20041694e+02] [ 8.82111689e-01 4.70448344e-01 -2.36077283e-02 8.25461963e+01] [ 2.64874755e-02 4.98525980e-04 9.99649021e-01 6.53103579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1692541539999 meters 0.017266604163178198 Centerline is valid? [True, True] Translation: X:920.05, Y:82.57, Z:6.53 [[ 4.72656189e-01 -8.81166237e-01 -1.19243192e-02 9.20052385e+02] [ 8.80854898e-01 4.72806237e-01 -2.34288335e-02 8.25724226e+01] [ 2.62825895e-02 5.70188125e-04 9.99654390e-01 6.53181312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1992541539998 meters 0.01788523571591963 Centerline is valid? [True, True] Translation: X:920.06, Y:82.60, Z:6.53 [[ 4.76408605e-01 -8.79149907e-01 -1.14141159e-02 9.20063358e+02] [ 8.78863742e-01 4.76544864e-01 -2.24391661e-02 8.25992471e+01] [ 2.51667291e-02 6.58759199e-04 9.99683051e-01 6.53440837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2292541539998 meters 0.020037228139203642 Centerline is valid? [True, True] Translation: X:920.07, Y:82.63, Z:6.53 [[ 4.77735139e-01 -8.78422528e-01 -1.19582093e-02 9.20074120e+02] [ 8.78107844e-01 4.77884211e-01 -2.35222351e-02 8.26251615e+01] [ 2.63771006e-02 7.36800852e-04 9.99651792e-01 6.53440162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2592541539999 meters 0.021267418958915783 Centerline is valid? [True, True] Translation: X:920.08, Y:82.65, Z:6.54 [[ 4.79556681e-01 -8.77429518e-01 -1.19511982e-02 9.20084273e+02] [ 8.77114572e-01 4.79704916e-01 -2.35206419e-02 8.26517293e+01] [ 2.63707540e-02 7.96910875e-04 9.99651914e-01 6.53509811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2892541539999 meters 0.01919259725047075 Centerline is valid? [True, True] Translation: X:920.10, Y:82.68, Z:6.54 [[ 4.79886058e-01 -8.77255500e-01 -1.14960323e-02 9.20097657e+02] [ 8.76963661e-01 4.80023098e-01 -2.26398428e-02 8.26759701e+01] [ 2.53792877e-02 7.82942391e-04 9.99677587e-01 6.53728763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3192541539999 meters 0.02180536521686204 Centerline is valid? [True, True] Translation: X:920.11, Y:82.70, Z:6.54 [[ 4.79604122e-01 -8.77400551e-01 -1.21720771e-02 9.20108249e+02] [ 8.77073112e-01 4.79757845e-01 -2.39826089e-02 8.27022603e+01] [ 2.68820037e-02 8.26356550e-04 9.99638272e-01 6.53555589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3492541539998 meters 0.018537809469645585 Centerline is valid? [True, True] Translation: X:920.12, Y:82.73, Z:6.54 [[ 4.79050912e-01 -8.77700927e-01 -1.23006383e-02 9.20123897e+02] [ 8.77366213e-01 4.79208097e-01 -2.42513613e-02 8.27259545e+01] [ 2.71800078e-02 8.25472330e-04 9.99630215e-01 6.53885612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3792541539999 meters 0.019461315145374344 Centerline is valid? [True, True] Translation: X:920.13, Y:82.75, Z:6.54 [[ 4.78057624e-01 -8.78233236e-01 -1.29341563e-02 9.20134906e+02] [ 8.77862844e-01 4.78231817e-01 -2.55177724e-02 8.27511152e+01] [ 2.85960809e-02 8.44550358e-04 9.99590692e-01 6.53747423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4092541539999 meters 0.020195952616052636 Centerline is valid? [True, True] Translation: X:920.15, Y:82.78, Z:6.54 [[ 4.77098548e-01 -8.78746708e-01 -1.34610092e-02 9.20148143e+02] [ 8.78345171e-01 4.77287640e-01 -2.65757358e-02 8.27758289e+01] [ 2.97781137e-02 8.55832535e-04 9.99556167e-01 6.53688662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4392541539999 meters 0.01858584836062569 Centerline is valid? [True, True] Translation: X:920.16, Y:82.80, Z:6.54 [[ 4.75138574e-01 -8.79790081e-01 -1.45859246e-02 9.20162135e+02] [ 8.79318429e-01 4.75361613e-01 -2.88173006e-02 8.28003816e+01] [ 3.22867639e-02 8.66538819e-04 9.99478271e-01 6.53690303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4692541539998 meters 0.01745900784328066 Centerline is valid? [True, True] Translation: X:920.18, Y:82.82, Z:6.54 [[ 4.73633369e-01 -8.80596585e-01 -1.48689751e-02 9.20177517e+02] [ 8.80106188e-01 4.73865967e-01 -2.93963169e-02 8.28247755e+01] [ 3.29321976e-02 8.36799610e-04 9.99457238e-01 6.53789391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4992541539999 meters 0.01666399587146686 Centerline is valid? [True, True] Translation: X:920.19, Y:82.85, Z:6.54 [[ 4.69322728e-01 -8.82883618e-01 -1.58963350e-02 9.20193526e+02] [ 8.82323672e-01 4.69591289e-01 -3.14477091e-02 8.28487504e+01] [ 3.52294477e-02 7.33411971e-04 9.99378981e-01 6.53720657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5292541539999 meters 0.015772805620027378 Centerline is valid? [True, True] Translation: X:920.21, Y:82.87, Z:6.54 [[ 4.66239191e-01 -8.84512332e-01 -1.60919575e-02 9.20209282e+02] [ 8.83938749e-01 4.66516388e-01 -3.18550877e-02 8.28736091e+01] [ 3.56833798e-02 6.27785516e-04 9.99362948e-01 6.53791406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5592541539999 meters 0.016759717024124744 Centerline is valid? [True, True] Translation: X:920.22, Y:82.90, Z:6.54 [[ 4.62374649e-01 -8.86534042e-01 -1.63424823e-02 9.20223951e+02] [ 8.85943344e-01 4.62663116e-01 -3.23609714e-02 8.28973933e+01] [ 3.62501666e-02 4.84379362e-04 9.99342629e-01 6.53608681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5892541539998 meters 0.01667406983907425 Centerline is valid? [True, True] Translation: X:920.24, Y:82.92, Z:6.54 [[ 4.54134284e-01 -8.90777592e-01 -1.66533420e-02 9.20243421e+02] [ 8.90166327e-01 4.54439496e-01 -3.29947533e-02 8.29195080e+01] [ 3.69589232e-02 1.59804350e-04 9.99316773e-01 6.53744409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6192541539999 meters 0.014731641690466899 Centerline is valid? [True, True] Translation: X:920.26, Y:82.94, Z:6.54 [[ 4.50716832e-01 -8.92522086e-01 -1.60830007e-02 9.20258171e+02] [ 8.91952385e-01 4.51003686e-01 -3.18844571e-02 8.29439302e+01] [ 3.57110748e-02 2.55906388e-05 9.99362156e-01 6.53913913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6492541539999 meters 0.015464205642473576 Centerline is valid? [True, True] Translation: X:920.27, Y:82.97, Z:6.54 [[ 4.47438656e-01 -8.94174136e-01 -1.58512958e-02 9.20272097e+02] [ 8.93620999e-01 4.47719338e-01 -3.14468626e-02 8.29686699e+01] [ 3.52159028e-02 -9.45088841e-05 9.99379723e-01 6.54060478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6792541539999 meters 0.01732010685108689 Centerline is valid? [True, True] Translation: X:920.29, Y:82.99, Z:6.54 [[ 4.41730536e-01 -8.97012738e-01 -1.55653897e-02 9.20288201e+02] [ 8.96480697e-01 4.42004584e-01 -3.08918532e-02 8.29915842e+01] [ 3.45903594e-02 -3.08196585e-04 9.99401527e-01 6.54134146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7092541539998 meters 0.015482406434882457 Centerline is valid? [True, True] Translation: X:920.30, Y:83.02, Z:6.54 [[ 4.39702216e-01 -8.98017984e-01 -1.50220645e-02 9.20301824e+02] [ 8.97522599e-01 4.39958596e-01 -2.98264610e-02 8.30155130e+01] [ 3.33937847e-02 -3.67881368e-04 9.99442204e-01 6.54232257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7392541539998 meters 0.01651254251495501 Centerline is valid? [True, True] Translation: X:920.32, Y:83.04, Z:6.54 [[ 4.35648567e-01 -8.99995122e-01 -1.48022380e-02 9.20316689e+02] [ 8.99514672e-01 4.35899675e-01 -2.94079614e-02 8.30401402e+01] [ 3.29193126e-02 -5.03294061e-04 9.99457886e-01 6.54229675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7692541539999 meters 0.018819197994966955 Centerline is valid? [True, True] Translation: X:920.33, Y:83.06, Z:6.54 [[ 4.33489946e-01 -9.01036834e-01 -1.48017101e-02 9.20329388e+02] [ 9.00556404e-01 4.33742198e-01 -2.94256339e-02 8.30645904e+01] [ 3.29337063e-02 -5.74058364e-04 9.99457374e-01 6.54138675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7992541539999 meters 0.01709759846056219 Centerline is valid? [True, True] Translation: X:920.34, Y:83.09, Z:6.54 [[ 4.32349236e-01 -9.01590828e-01 -1.44262851e-02 9.20341338e+02] [ 9.01134154e-01 4.32589446e-01 -2.86985765e-02 8.30897786e+01] [ 3.21150320e-02 -5.92210543e-04 9.99484004e-01 6.54227836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8292541539998 meters 0.018866207482207534 Centerline is valid? [True, True] Translation: X:920.35, Y:83.12, Z:6.54 [[ 4.29777897e-01 -9.02824233e-01 -1.41196067e-02 9.20352462e+02] [ 9.02386874e-01 4.30009263e-01 -2.81062889e-02 8.31150994e+01] [ 3.14466004e-02 -6.61885995e-04 9.99505214e-01 6.54197885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8592541539998 meters 0.018511753354736985 Centerline is valid? [True, True] Translation: X:920.36, Y:83.14, Z:6.55 [[ 4.28715298e-01 -9.03332833e-01 -1.38919864e-02 9.20362348e+02] [ 9.02909136e-01 4.28939776e-01 -2.76723758e-02 8.31419905e+01] [ 3.09561912e-02 -6.79630603e-04 9.99520511e-01 6.54514085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8892541539999 meters 0.016569138970796256 Centerline is valid? [True, True] Translation: X:920.37, Y:83.17, Z:6.55 [[ 4.28320904e-01 -9.03530402e-01 -1.31915147e-02 9.20373515e+02] [ 9.03147924e-01 4.28523499e-01 -2.62951987e-02 8.31676200e+01] [ 2.94113855e-02 -6.51105855e-04 9.99567180e-01 6.54659740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9192541539999 meters 0.016527899073077192 Centerline is valid? [True, True] Translation: X:920.38, Y:83.19, Z:6.55 [[ 4.27766380e-01 -9.03800524e-01 -1.26702892e-02 9.20383421e+02] [ 9.03447303e-01 4.27953512e-01 -2.52737631e-02 8.31942040e+01] [ 2.82647351e-02 -6.35672432e-04 9.99600270e-01 6.54779198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9492541539998 meters 0.016720623943278983 Centerline is valid? [True, True] Translation: X:920.39, Y:83.22, Z:6.55 [[ 4.27756629e-01 -9.03808253e-01 -1.24462174e-02 9.20394197e+02] [ 9.03466994e-01 4.27937214e-01 -2.48421298e-02 8.32191685e+01] [ 2.77787215e-02 -6.18360955e-04 9.99613906e-01 6.54748822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9792541539998 meters 0.016976501255037538 Centerline is valid? [True, True] Translation: X:920.40, Y:83.25, Z:6.55 [[ 4.28377034e-01 -9.03520136e-01 -1.20199778e-02 9.20403526e+02] [ 9.03201411e-01 4.28545253e-01 -2.40036767e-02 8.32454694e+01] [ 2.68389097e-02 -5.73837133e-04 9.99639607e-01 6.54721758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0092541539999 meters 0.016548299233045207 Centerline is valid? [True, True] Translation: X:920.41, Y:83.27, Z:6.55 [[ 4.28687043e-01 -9.03375033e-01 -1.18730289e-02 9.20413844e+02] [ 9.03063602e-01 4.28851076e-01 -2.37252227e-02 8.32723845e+01] [ 2.65245351e-02 -5.51404700e-04 9.99648011e-01 6.54760482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0392541539999 meters 0.016556910532388395 Centerline is valid? [True, True] Translation: X:920.42, Y:83.30, Z:6.55 [[ 4.29135046e-01 -9.03165173e-01 -1.16525880e-02 9.20423341e+02] [ 9.02864813e-01 4.29292903e-01 -2.32966202e-02 8.32976993e+01] [ 2.60430693e-02 -5.23315490e-04 9.99660685e-01 6.54711726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0692541539999 meters 0.016041604355083096 Centerline is valid? [True, True] Translation: X:920.43, Y:83.33, Z:6.55 [[ 4.30842451e-01 -9.02357403e-01 -1.12204598e-02 9.20430323e+02] [ 9.02078299e-01 4.30988298e-01 -2.24461207e-02 8.33257327e+01] [ 2.50903101e-02 -4.50991674e-04 9.99685087e-01 6.54705139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0992541539998 meters 0.01584795793172011 Centerline is valid? [True, True] Translation: X:920.44, Y:83.35, Z:6.55 [[ 4.31685299e-01 -9.01959471e-01 -1.08127389e-02 9.20439756e+02] [ 9.01699883e-01 4.31820503e-01 -2.16419407e-02 8.33516570e+01] [ 2.41893157e-02 -4.07337716e-04 9.99707313e-01 6.54721347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1292541539999 meters 0.014820848483332311 Centerline is valid? [True, True] Translation: X:920.45, Y:83.38, Z:6.55 [[ 4.33629059e-01 -9.01031775e-01 -1.03720480e-02 9.20446417e+02] [ 9.00792359e-01 4.33752957e-01 -2.07725205e-02 8.33804189e+01] [ 2.32156075e-02 -3.35493026e-04 9.99730425e-01 6.54927097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1592541539999 meters 0.015085337248970274 Centerline is valid? [True, True] Translation: X:920.46, Y:83.41, Z:6.55 [[ 4.34299457e-01 -9.00713071e-01 -9.99724130e-03 9.20457050e+02] [ 9.00490312e-01 4.34414402e-01 -2.00331052e-02 8.34060297e+01] [ 2.23870253e-02 -3.02052225e-04 9.99749334e-01 6.54841722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1892541539999 meters 0.01425707123807531 Centerline is valid? [True, True] Translation: X:920.47, Y:83.43, Z:6.55 [[ 4.34642010e-01 -9.00548587e-01 -9.92800892e-03 9.20465742e+02] [ 9.00328576e-01 4.34755288e-01 -1.99071532e-02 8.34327391e+01] [ 2.22436130e-02 -2.85985068e-04 9.99752539e-01 6.54978572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2192541539998 meters 0.013584918309104202 Centerline is valid? [True, True] Translation: X:920.47, Y:83.46, Z:6.55 [[ 4.35313325e-01 -9.00226833e-01 -9.69323681e-03 9.20472652e+02] [ 9.00016729e-01 4.35421156e-01 -1.94500282e-02 8.34608465e+01] [ 2.17300776e-02 -2.57218862e-04 9.99763841e-01 6.55079939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2492541539999 meters 0.014001891023716458 Centerline is valid? [True, True] Translation: X:920.48, Y:83.49, Z:6.55 [[ 4.35414765e-01 -9.00180277e-01 -9.45783186e-03 9.20483001e+02] [ 8.99979985e-01 4.35517404e-01 -1.89899479e-02 8.34857522e+01] [ 2.12134269e-02 -2.43355673e-04 9.99774940e-01 6.54957368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2792541539999 meters 0.013554906118697606 Centerline is valid? [True, True] Translation: X:920.49, Y:83.51, Z:6.55 [[ 4.35754737e-01 -9.00016262e-01 -9.40937855e-03 9.20489688e+02] [ 8.99817706e-01 4.35856255e-01 -1.89055578e-02 8.35134370e+01] [ 2.11164460e-02 -2.28539061e-04 9.99776997e-01 6.55027450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3092541539999 meters 0.013434971051864666 Centerline is valid? [True, True] Translation: X:920.50, Y:83.54, Z:6.55 [[ 4.35585607e-01 -9.00099544e-01 -9.27308296e-03 9.20499315e+02] [ 8.99906443e-01 4.35684244e-01 -1.86449391e-02 8.35395352e+01] [ 2.08224373e-02 -2.23439982e-04 9.99783165e-01 6.55029000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3392541539998 meters 0.013413703585765196 Centerline is valid? [True, True] Translation: X:920.51, Y:83.57, Z:6.55 [[ 4.35758781e-01 -9.00017039e-01 -9.14406787e-03 9.20509017e+02] [ 8.99828988e-01 4.35854660e-01 -1.83985505e-02 8.35656127e+01] [ 2.05444935e-02 -2.10767407e-04 9.99788917e-01 6.55036334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3692541539999 meters 0.013039804276154185 Centerline is valid? [True, True] Translation: X:920.52, Y:83.59, Z:6.55 [[ 4.37036170e-01 -8.99400957e-01 -8.79229505e-03 9.20516502e+02] [ 8.99226731e-01 4.37124570e-01 -1.77030038e-02 8.35938683e+01] [ 1.97654267e-02 -1.69413766e-04 9.99804631e-01 6.55112208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3992541539999 meters 0.015055743090469644 Centerline is valid? [True, True] Translation: X:920.53, Y:83.62, Z:6.55 [[ 4.37302956e-01 -8.99272366e-01 -8.67961120e-03 9.20526032e+02] [ 8.99102330e-01 4.37389057e-01 -1.74875262e-02 8.36193783e+01] [ 1.95224161e-02 -1.56511722e-04 9.99809407e-01 6.55057479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4292541539999 meters 0.012707847735556882 Centerline is valid? [True, True] Translation: X:920.54, Y:83.65, Z:6.55 [[ 4.38610988e-01 -8.98634929e-01 -8.69855468e-03 9.20535430e+02] [ 8.98463786e-01 4.38697218e-01 -1.75378763e-02 8.36460871e+01] [ 1.95761799e-02 -1.23031115e-04 9.99808361e-01 6.55196017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4592541539998 meters 0.0124968359865882 Centerline is valid? [True, True] Translation: X:920.54, Y:83.67, Z:6.55 [[ 4.40654077e-01 -8.97633378e-01 -8.84886354e-03 9.20541870e+02] [ 8.97455825e-01 4.40742910e-01 -1.78530137e-02 8.36735974e+01] [ 1.99255348e-02 -7.44608756e-05 9.99801464e-01 6.55131793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4892541539998 meters 0.01251599904041692 Centerline is valid? [True, True] Translation: X:920.55, Y:83.70, Z:6.55 [[ 4.41634992e-01 -8.97150160e-01 -8.95116788e-03 9.20551248e+02] [ 8.96968141e-01 4.41725693e-01 -1.80711660e-02 8.36993176e+01] [ 2.01665103e-02 -4.80531620e-05 9.99796634e-01 6.55097415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5192541539999 meters 0.012626876197805255 Centerline is valid? [True, True] Translation: X:920.56, Y:83.73, Z:6.55 [[ 4.43167113e-01 -8.96392897e-01 -9.09306061e-03 9.20558119e+02] [ 8.96204656e-01 4.43260390e-01 -1.83695518e-02 8.37258134e+01] [ 2.04969293e-02 -8.46203131e-06 9.99789916e-01 6.55027484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5492541539999 meters 0.012454314934478869 Centerline is valid? [True, True] Translation: X:920.57, Y:83.75, Z:6.55 [[ 4.43640887e-01 -8.96161154e-01 -8.82894660e-03 9.20568178e+02] [ 8.95983398e-01 4.43728731e-01 -1.78483712e-02 8.37517545e+01] [ 1.99126742e-02 7.67764391e-06 9.99801723e-01 6.55180793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5792541539998 meters 0.013515011859014742 Centerline is valid? [True, True] Translation: X:920.58, Y:83.78, Z:6.55 [[ 4.43985288e-01 -8.95989073e-01 -8.98025632e-03 9.20578364e+02] [ 8.95804866e-01 4.44076098e-01 -1.81675719e-02 8.37778127e+01] [ 2.02658630e-02 2.15773138e-05 9.99794626e-01 6.55154035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6092541539998 meters 0.012779734274326115 Centerline is valid? [True, True] Translation: X:920.59, Y:83.80, Z:6.55 [[ 4.44532865e-01 -8.95716183e-01 -9.11326719e-03 9.20587674e+02] [ 8.95526142e-01 4.44626268e-01 -1.84501971e-02 8.38048308e+01] [ 2.05781381e-02 4.05499897e-05 9.99788247e-01 6.55203734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6392541539999 meters 0.014209200868984582 Centerline is valid? [True, True] Translation: X:920.60, Y:83.83, Z:6.55 [[ 4.44414175e-01 -8.95774419e-01 -9.17770283e-03 9.20598438e+02] [ 8.95581412e-01 4.44508928e-01 -1.85942944e-02 8.38311689e+01] [ 2.07358641e-02 4.41879463e-05 9.99784988e-01 6.55148487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6692541539999 meters 0.013197683303186249 Centerline is valid? [True, True] Translation: X:920.61, Y:83.86, Z:6.55 [[ 4.44571118e-01 -8.95698047e-01 -9.02932478e-03 9.20607984e+02] [ 8.95510962e-01 4.44662799e-01 -1.83060641e-02 8.38570460e+01] [ 2.04117107e-02 5.24880620e-05 9.99791658e-01 6.55000439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6992541539998 meters 0.014353265828435586 Centerline is valid? [True, True] Translation: X:920.62, Y:83.88, Z:6.55 [[ 4.43896998e-01 -8.96035195e-01 -8.73976008e-03 9.20619747e+02] [ 8.95859741e-01 4.43983025e-01 -1.77312423e-02 8.38826421e+01] [ 1.97681223e-02 4.12460165e-05 9.99804591e-01 6.55156237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7292541539998 meters 0.012898171491981261 Centerline is valid? [True, True] Translation: X:920.63, Y:83.91, Z:6.55 [[ 4.44091510e-01 -8.95939229e-01 -8.69654151e-03 9.20631406e+02] [ 8.95765236e-01 4.44176650e-01 -1.76563177e-02 8.39081483e+01] [ 1.96817883e-02 5.09612284e-05 9.99806294e-01 6.55314483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7592541539999 meters 0.012898171491981261 Centerline is valid? [True, True] Translation: X:920.64, Y:83.93, Z:6.55 [[ 4.43833972e-01 -8.96066886e-01 -8.69146510e-03 9.20643519e+02] [ 8.95892869e-01 4.43919063e-01 -1.76588168e-02 8.39329153e+01] [ 1.96817880e-02 5.09612271e-05 9.99806294e-01 6.55333525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7892541539999 meters 0.012856620846270272 Centerline is valid? [True, True] Translation: X:920.65, Y:83.96, Z:6.55 [[ 4.44077073e-01 -8.95951006e-01 -8.20664170e-03 9.20652750e+02] [ 8.95795643e-01 4.44152893e-01 -1.66845298e-02 8.39580297e+01] [ 1.85935249e-02 5.77432894e-05 9.99827124e-01 6.55397434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8192541539999 meters 0.012790197665997968 Centerline is valid? [True, True] Translation: X:920.66, Y:83.98, Z:6.55 [[ 4.44253023e-01 -8.95866846e-01 -7.86424749e-03 9.20663958e+02] [ 8.95723974e-01 4.44322620e-01 -1.59990900e-02 8.39832740e+01] [ 1.78273173e-02 6.34490764e-05 9.99841079e-01 6.55462234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8492541539998 meters 0.01650979616262533 Centerline is valid? [True, True] Translation: X:920.67, Y:84.01, Z:6.55 [[ 4.44622342e-01 -8.95683994e-01 -7.82017973e-03 9.20673988e+02] [ 8.95542489e-01 4.44691102e-01 -1.59208865e-02 8.40091990e+01] [ 1.77376476e-02 7.54786284e-05 9.99842673e-01 6.55443550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8792541539999 meters 0.012795009240857452 Centerline is valid? [True, True] Translation: X:920.69, Y:84.03, Z:6.56 [[ 4.45504544e-01 -8.95251864e-01 -7.05693880e-03 9.20685996e+02] [ 8.95136418e-01 4.45560424e-01 -1.43771041e-02 8.40344789e+01] [ 1.60154219e-02 8.81422829e-05 9.99871741e-01 6.55651296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9092541539999 meters 0.01296968360542278 Centerline is valid? [True, True] Translation: X:920.70, Y:84.06, Z:6.56 [[ 4.45901444e-01 -8.95054001e-01 -7.08780269e-03 9.20697099e+02] [ 8.94937356e-01 4.45957761e-01 -1.44500677e-02 8.40595497e+01] [ 1.60944515e-02 1.00166657e-04 9.99870471e-01 6.55630735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9392541539999 meters 0.01632758977045533 Centerline is valid? [True, True] Translation: X:920.71, Y:84.09, Z:6.56 [[ 4.45445659e-01 -8.95281665e-01 -6.99323975e-03 9.20708719e+02] [ 8.95167983e-01 4.45500540e-01 -1.42671373e-02 8.40854799e+01] [ 1.58885985e-02 9.51100679e-05 9.99873764e-01 6.55532276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9692541539998 meters 0.01296505725448084 Centerline is valid? [True, True] Translation: X:920.72, Y:84.11, Z:6.56 [[ 4.46429553e-01 -8.94796428e-01 -6.32509062e-03 9.20719978e+02] [ 8.94703263e-01 4.46474346e-01 -1.29123405e-02 8.41104663e+01] [ 1.43779069e-02 1.05371198e-04 9.99896627e-01 6.55707709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9992541539999 meters 0.013411068998907181 Centerline is valid? [True, True] Translation: X:920.73, Y:84.14, Z:6.56 [[ 4.46358526e-01 -8.94831738e-01 -6.34246562e-03 9.20732137e+02] [ 8.94737936e-01 4.46403572e-01 -1.29567407e-02 8.41353624e+01] [ 1.44254021e-02 1.08507078e-04 9.99895943e-01 6.55727450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0292541539999 meters 0.012879661934248464 Centerline is valid? [True, True] Translation: X:920.75, Y:84.16, Z:6.56 [[ 4.46349819e-01 -8.94835328e-01 -6.44784156e-03 9.20745525e+02] [ 8.94738239e-01 4.46396374e-01 -1.31818889e-02 8.41605975e+01] [ 1.46739130e-02 1.14603338e-04 9.99892326e-01 6.55766891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0592541539999 meters 0.0130213992303771 Centerline is valid? [True, True] Translation: X:920.76, Y:84.19, Z:6.56 [[ 4.46294243e-01 -8.94862533e-01 -6.51881541e-03 9.20757476e+02] [ 8.94763173e-01 4.46341833e-01 -1.33353692e-02 8.41852569e+01] [ 1.48429422e-02 1.18702524e-04 9.99889830e-01 6.55758703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0892541539998 meters 0.01326743409891347 Centerline is valid? [True, True] Translation: X:920.77, Y:84.21, Z:6.56 [[ 4.46112654e-01 -8.94952104e-01 -6.65071420e-03 9.20768667e+02] [ 8.94848587e-01 4.46162210e-01 -1.36120805e-02 8.42093842e+01] [ 1.51494574e-02 1.21139160e-04 9.99885233e-01 6.55703626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1192541539999 meters 0.013619828578048302 Centerline is valid? [True, True] Translation: X:920.78, Y:84.23, Z:6.56 [[ 4.45724287e-01 -8.95147015e-01 -6.45606692e-03 9.20781476e+02] [ 8.95049374e-01 4.45771026e-01 -1.32215790e-02 8.42345070e+01] [ 1.47131845e-02 1.14680216e-04 9.99891749e-01 6.55684636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1492541539999 meters 0.012981653613875545 Centerline is valid? [True, True] Translation: X:920.79, Y:84.26, Z:6.56 [[ 4.45384477e-01 -8.95316260e-01 -6.43916224e-03 9.20794692e+02] [ 8.95219010e-01 4.45431007e-01 -1.31962760e-02 8.42587854e+01] [ 1.46830430e-02 1.12956019e-04 9.99892192e-01 6.55754682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1792541539999 meters 0.014709623406765527 Centerline is valid? [True, True] Translation: X:920.81, Y:84.28, Z:6.56 [[ 4.44149845e-01 -8.95926016e-01 -6.89115779e-03 9.20809132e+02] [ 8.95814539e-01 4.44203289e-01 -1.41332821e-02 8.42825237e+01] [ 1.57234501e-02 1.04095731e-04 9.99876373e-01 6.55746648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2092541539998 meters 0.012799957104029924 Centerline is valid? [True, True] Translation: X:920.82, Y:84.31, Z:6.56 [[ 4.44276200e-01 -8.95865258e-01 -6.64055438e-03 9.20822175e+02] [ 8.95761621e-01 4.44325813e-01 -1.36268571e-02 8.43062662e+01] [ 1.51583976e-02 1.05734546e-04 9.99885099e-01 6.55834637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2392541539998 meters 0.012768420937066184 Centerline is valid? [True, True] Translation: X:920.84, Y:84.33, Z:6.56 [[ 4.43952699e-01 -8.96023689e-01 -6.89569541e-03 9.20836360e+02] [ 8.95911817e-01 4.44006236e-01 -1.41590133e-02 8.43308517e+01] [ 1.57485431e-02 1.07997184e-04 9.99875978e-01 6.55856673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2692541539999 meters 0.0164070749255898 Centerline is valid? [True, True] Translation: X:920.85, Y:84.36, Z:6.56 [[ 4.43619340e-01 -8.96186292e-01 -7.21190954e-03 9.20848063e+02] [ 8.96063793e-01 4.43677944e-01 -1.48175661e-02 8.43552340e+01] [ 1.64790648e-02 1.11027889e-04 9.99864205e-01 6.55682344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2992541539999 meters 0.016608486675146684 Centerline is valid? [True, True] Translation: X:920.86, Y:84.38, Z:6.56 [[ 4.43754163e-01 -8.96120398e-01 -7.10459185e-03 9.20860584e+02] [ 8.96001358e-01 4.43811018e-01 -1.46064016e-02 8.43798940e+01] [ 1.62421906e-02 1.15927591e-04 9.99868080e-01 6.55694559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3292541539998 meters 0.013001751032463866 Centerline is valid? [True, True] Translation: X:920.87, Y:84.40, Z:6.56 [[ 4.44934162e-01 -8.95537012e-01 -6.85945386e-03 9.20874931e+02] [ 8.95425815e-01 4.44987013e-01 -1.41126849e-02 8.44038640e+01] [ 1.56907995e-02 1.37083564e-04 9.99876882e-01 6.55893395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3592541539998 meters 0.013163973718850806 Centerline is valid? [True, True] Translation: X:920.89, Y:84.43, Z:6.56 [[ 4.44954002e-01 -8.95525579e-01 -7.06209521e-03 9.20887379e+02] [ 8.95407547e-01 4.45010018e-01 -1.45399050e-02 8.44283934e+01] [ 1.61635600e-02 1.46135571e-04 9.99869350e-01 6.55847825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3892541539999 meters 0.014717584653266419 Centerline is valid? [True, True] Translation: X:920.90, Y:84.45, Z:6.56 [[ 4.45323713e-01 -8.95339011e-01 -7.40576087e-03 9.20901890e+02] [ 8.95209001e-01 4.45385257e-01 -1.52583221e-02 8.44525322e+01] [ 1.69597877e-02 1.65188855e-04 9.99856159e-01 6.55805498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4192541539999 meters 0.013361440525555799 Centerline is valid? [True, True] Translation: X:920.92, Y:84.48, Z:6.56 [[ 4.45735998e-01 -8.95137242e-01 -6.98125080e-03 9.20915036e+02] [ 8.95021532e-01 4.45790634e-01 -1.43933197e-02 8.44761253e+01] [ 1.59961727e-02 1.67250921e-04 9.99872039e-01 6.55897808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4492541539998 meters 0.01647927140639676 Centerline is valid? [True, True] Translation: X:920.93, Y:84.50, Z:6.56 [[ 4.45272046e-01 -8.95363572e-01 -7.54182826e-03 9.20928332e+02] [ 8.95228370e-01 4.45335877e-01 -1.55602933e-02 8.45006254e+01] [ 1.72907665e-02 1.76905033e-04 9.99850488e-01 6.55791041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4792541539998 meters 0.013485446423662726 Centerline is valid? [True, True] Translation: X:920.94, Y:84.52, Z:6.56 [[ 4.46090526e-01 -8.94960952e-01 -6.93807662e-03 9.20942741e+02] [ 8.94846353e-01 4.46144440e-01 -1.43228484e-02 8.45239798e+01] [ 1.59137744e-02 1.80774421e-04 9.99873352e-01 6.56025692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5092541539999 meters 0.013642600776733155 Centerline is valid? [True, True] Translation: X:920.96, Y:84.55, Z:6.56 [[ 4.46169587e-01 -8.94923800e-01 -6.64015491e-03 9.20956050e+02] [ 8.94818699e-01 4.46218960e-01 -1.37162386e-02 8.45488165e+01] [ 1.52379514e-02 1.78033746e-04 9.99883880e-01 6.56066783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5392541539999 meters 0.01708092594652566 Centerline is valid? [True, True] Translation: X:920.97, Y:84.57, Z:6.56 [[ 4.47260350e-01 -8.94378285e-01 -6.75736060e-03 9.20969772e+02] [ 8.94269263e-01 4.47311347e-01 -1.39658057e-02 8.45733732e+01] [ 1.55133574e-02 2.03451248e-04 9.99879640e-01 6.55955509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5692541539999 meters 0.014164400557482066 Centerline is valid? [True, True] Translation: X:920.98, Y:84.60, Z:6.56 [[ 4.48277823e-01 -8.93872244e-01 -6.27726057e-03 9.20983372e+02] [ 8.93778015e-01 4.48321723e-01 -1.29804287e-02 8.45983837e+01] [ 1.44170772e-02 2.08360820e-04 9.99896047e-01 6.56155391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5992541539998 meters 0.01809766694354697 Centerline is valid? [True, True] Translation: X:921.00, Y:84.62, Z:6.56 [[ 4.48930289e-01 -8.93540291e-01 -6.88076921e-03 9.20996031e+02] [ 8.93426877e-01 4.48982950e-01 -1.42381805e-02 8.46240246e+01] [ 1.58117360e-02 2.44486344e-04 9.99874957e-01 6.55970536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6292541539999 meters 0.019441767834047767 Centerline is valid? [True, True] Translation: X:921.01, Y:84.65, Z:6.56 [[ 4.51157077e-01 -8.92416395e-01 -7.09010435e-03 9.21010252e+02] [ 8.92295712e-01 4.51212689e-01 -1.46789921e-02 8.46486238e+01] [ 1.62989183e-02 2.96061485e-04 9.99867120e-01 6.55977654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6592541539999 meters 0.01615344455012328 Centerline is valid? [True, True] Translation: X:921.02, Y:84.67, Z:6.56 [[ 4.52424891e-01 -8.91776548e-01 -6.80483639e-03 9.21022933e+02] [ 8.91665228e-01 4.52475958e-01 -1.40935640e-02 8.46729734e+01] [ 1.56473347e-02 3.08643170e-04 9.99877525e-01 6.56109931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6892541539999 meters 0.016981276617969717 Centerline is valid? [True, True] Translation: X:921.04, Y:84.70, Z:6.56 [[ 4.53355032e-01 -8.91302953e-01 -6.94700836e-03 9.21035977e+02] [ 8.91186799e-01 4.53408133e-01 -1.43928658e-02 8.46982197e+01] [ 1.59782338e-02 3.33995978e-04 9.99872284e-01 6.56114789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7192541539998 meters 0.017716489026903218 Centerline is valid? [True, True] Translation: X:921.05, Y:84.72, Z:6.56 [[ 4.54264107e-01 -8.90837648e-01 -7.23917876e-03 9.21052850e+02] [ 8.90711326e-01 4.54321636e-01 -1.50061591e-02 8.47217162e+01] [ 1.66569670e-02 3.68740972e-04 9.99861195e-01 6.56131595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7492541539999 meters 0.01684889619894688 Centerline is valid? [True, True] Translation: X:921.06, Y:84.75, Z:6.56 [[ 4.55046834e-01 -8.90438258e-01 -7.21719632e-03 9.21064025e+02] [ 8.90312517e-01 4.55103901e-01 -1.49686985e-02 8.47467713e+01] [ 1.66132760e-02 3.85898636e-04 9.99861916e-01 6.56150372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7792541539999 meters 0.018982560719464216 Centerline is valid? [True, True] Translation: X:921.08, Y:84.77, Z:6.56 [[ 4.55514607e-01 -8.90196299e-01 -7.54937664e-03 9.21076905e+02] [ 8.90058527e-01 4.55576971e-01 -1.56665990e-02 8.47707283e+01] [ 1.73856706e-02 4.16977649e-04 9.99848771e-01 6.55971540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8092541539999 meters 0.01928132569918944 Centerline is valid? [True, True] Translation: X:921.09, Y:84.79, Z:6.56 [[ 4.55644027e-01 -8.90128727e-01 -7.70525657e-03 9.21090411e+02] [ 8.89985004e-01 4.55708967e-01 -1.60009208e-02 8.47949275e+01] [ 1.77542338e-02 4.33161178e-04 9.99842287e-01 6.55955254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8392541539998 meters 0.01802566384319565 Centerline is valid? [True, True] Translation: X:921.10, Y:84.82, Z:6.56 [[ 4.55819975e-01 -8.90040141e-01 -7.52975613e-03 9.21104067e+02] [ 8.89902693e-01 4.55881959e-01 -1.56472451e-02 8.48196884e+01] [ 1.73593562e-02 4.31576606e-04 9.99849222e-01 6.56053564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8692541539999 meters 0.018284277163117434 Centerline is valid? [True, True] Translation: X:921.12, Y:84.84, Z:6.56 [[ 4.55849278e-01 -8.90022584e-01 -7.82539062e-03 9.21118916e+02] [ 8.89873954e-01 4.55916215e-01 -1.62711590e-02 8.48424764e+01] [ 1.80494215e-02 4.53584793e-04 9.99836993e-01 6.56024612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8992541539999 meters 0.021015761707653347 Centerline is valid? [True, True] Translation: X:921.13, Y:84.87, Z:6.56 [[ 4.55355512e-01 -8.90268251e-01 -8.59063063e-03 9.21132269e+02] [ 8.90088946e-01 4.55436273e-01 -1.78737294e-02 8.48668682e+01] [ 1.98248986e-02 4.92475855e-04 9.99803346e-01 6.55827612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9292541539999 meters 0.01896366772497103 Centerline is valid? [True, True] Translation: X:921.15, Y:84.89, Z:6.56 [[ 4.55450033e-01 -8.90224586e-01 -8.09033020e-03 9.21147632e+02] [ 8.90065334e-01 4.55521640e-01 -1.68444682e-02 8.48891854e+01] [ 1.86806802e-02 4.70891131e-04 9.99825390e-01 6.56007419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9592541539998 meters 0.018544329146326224 Centerline is valid? [True, True] Translation: X:921.16, Y:84.91, Z:6.56 [[ 4.54818451e-01 -8.90545757e-01 -8.27230218e-03 9.21164762e+02] [ 8.90379073e-01 4.54893427e-01 -1.72359335e-02 8.49119795e+01] [ 1.91124034e-02 4.73735846e-04 9.99817229e-01 6.56094385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9892541539998 meters 0.018722547386528905 Centerline is valid? [True, True] Translation: X:921.18, Y:84.94, Z:6.56 [[ 4.54634673e-01 -8.90642896e-01 -7.90853466e-03 9.21175511e+02] [ 8.90490395e-01 4.54703228e-01 -1.64872967e-02 8.49366539e+01] [ 1.82803299e-02 4.53222599e-04 9.99832798e-01 6.56095670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0192541539999 meters 0.018746098598428535 Centerline is valid? [True, True] Translation: X:921.19, Y:84.96, Z:6.56 [[ 4.53815358e-01 -8.91063104e-01 -7.62656343e-03 9.21190583e+02] [ 8.90921176e-01 4.53879239e-01 -1.59089870e-02 8.49589571e+01] [ 1.76374501e-02 4.25075759e-04 9.99844358e-01 6.56146765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0492541539999 meters 0.017594111032861987 Centerline is valid? [True, True] Translation: X:921.21, Y:84.98, Z:6.56 [[ 4.52912001e-01 -8.91522625e-01 -7.62416795e-03 9.21208063e+02] [ 8.91380655e-01 4.52975980e-01 -1.59150932e-02 8.49823009e+01] [ 1.76422306e-02 4.12100894e-04 9.99844279e-01 6.56258586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0792541539998 meters 0.015678291214000183 Centerline is valid? [True, True] Translation: X:921.23, Y:85.01, Z:6.56 [[ 4.51174198e-01 -8.92406010e-01 -7.30451029e-03 9.21225468e+02] [ 8.92275633e-01 4.51233176e-01 -1.52582924e-02 8.50057280e+01] [ 1.69126292e-02 3.66511288e-04 9.99856904e-01 6.56385408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1092541539998 meters 0.018338731684350653 Centerline is valid? [True, True] Translation: X:921.24, Y:85.03, Z:6.56 [[ 4.49704697e-01 -8.93144266e-01 -7.68158986e-03 9.21239606e+02] [ 8.92999982e-01 4.49770153e-01 -1.60574320e-02 8.50303805e+01] [ 1.77965531e-02 3.61442963e-04 9.99841563e-01 6.56214758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1392541539999 meters 0.015034831089446168 Centerline is valid? [True, True] Translation: X:921.25, Y:85.06, Z:6.56 [[ 4.48839614e-01 -8.93583302e-01 -7.20299712e-03 9.21254547e+02] [ 8.93456323e-01 4.48897288e-01 -1.50672793e-02 8.50550167e+01] [ 1.66972751e-02 3.27228508e-04 9.99860537e-01 6.56392308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1692541539999 meters 0.014129165773493565 Centerline is valid? [True, True] Translation: X:921.27, Y:85.08, Z:6.56 [[ 4.46752668e-01 -8.94629852e-01 -7.03426659e-03 9.21272278e+02] [ 8.94508724e-01 4.46807952e-01 -1.47240398e-02 8.50786982e+01] [ 1.63155318e-02 2.85791256e-04 9.99866852e-01 6.56392909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1992541539998 meters 0.015317650102493396 Centerline is valid? [True, True] Translation: X:921.29, Y:85.10, Z:6.56 [[ 4.44264113e-01 -8.95866131e-01 -7.29885571e-03 9.21288391e+02] [ 8.95735778e-01 4.44323994e-01 -1.52841019e-02 8.51023449e+01] [ 1.69355660e-02 2.52331790e-04 9.99856551e-01 6.56271194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2292541539998 meters 0.013333021085061634 Centerline is valid? [True, True] Translation: X:921.30, Y:85.13, Z:6.56 [[ 4.43006249e-01 -8.96489158e-01 -7.25626602e-03 9.21303923e+02] [ 8.96360273e-01 4.43065612e-01 -1.52027532e-02 8.51257349e+01] [ 1.68441054e-02 2.30686085e-04 9.99858101e-01 6.56411472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2592541539999 meters 0.01302883876018833 Centerline is valid? [True, True] Translation: X:921.32, Y:85.15, Z:6.56 [[ 4.41515090e-01 -8.97224604e-01 -7.24119125e-03 9.21319221e+02] [ 8.97096169e-01 4.41574418e-01 -1.51821153e-02 8.51500510e+01] [ 1.68192922e-02 2.07088051e-04 9.99858524e-01 6.56477893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2892541539999 meters 0.013080849034416293 Centerline is valid? [True, True] Translation: X:921.33, Y:85.17, Z:6.56 [[ 4.40399212e-01 -8.97773040e-01 -7.21821816e-03 9.21333144e+02] [ 8.97645322e-01 4.40458321e-01 -1.51440548e-02 8.51739332e+01] [ 1.67752484e-02 1.90030031e-04 9.99859268e-01 6.56479010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3192541539999 meters 0.012820180232162429 Centerline is valid? [True, True] Translation: X:921.35, Y:85.20, Z:6.57 [[ 4.38881690e-01 -8.98518654e-01 -6.86226676e-03 9.21349013e+02] [ 8.98403186e-01 4.38935307e-01 -1.44052833e-02 8.51967843e+01] [ 1.59555069e-02 1.57132738e-04 9.99872690e-01 6.56546704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3492541539998 meters 0.012561414888852356 Centerline is valid? [True, True] Translation: X:921.36, Y:85.22, Z:6.57 [[ 4.38389768e-01 -8.98758262e-01 -6.92801903e-03 9.21364443e+02] [ 8.98640448e-01 4.38444481e-01 -1.45527601e-02 8.52202809e+01] [ 1.61169651e-02 1.53983015e-04 9.99870101e-01 6.56627005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3792541539999 meters 0.012639826161055303 Centerline is valid? [True, True] Translation: X:921.38, Y:85.25, Z:6.57 [[ 4.38535971e-01 -8.98685664e-01 -7.09085754e-03 9.21377324e+02] [ 8.98562052e-01 4.38593264e-01 -1.49059764e-02 8.52452659e+01] [ 1.65057896e-02 1.65231332e-04 9.99863757e-01 6.56618392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4092541539999 meters 0.012749795310518862 Centerline is valid? [True, True] Translation: X:921.39, Y:85.27, Z:6.57 [[ 4.38802971e-01 -8.98554447e-01 -7.20132273e-03 9.21389472e+02] [ 8.98426746e-01 4.38862022e-01 -1.51494947e-02 8.52707442e+01] [ 1.67730329e-02 1.77782325e-04 9.99859307e-01 6.56537381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4392541539999 meters 0.01298254647249941 Centerline is valid? [True, True] Translation: X:921.40, Y:85.30, Z:6.57 [[ 4.39608696e-01 -8.98159758e-01 -7.29676821e-03 9.21401581e+02] [ 8.98028405e-01 4.39669204e-01 -1.53614741e-02 8.52965883e+01] [ 1.70052222e-02 2.00332496e-04 9.99855381e-01 6.56505436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4692541539998 meters 0.01344876508504033 Centerline is valid? [True, True] Translation: X:921.41, Y:85.32, Z:6.56 [[ 4.41831628e-01 -8.97069231e-01 -7.18387563e-03 9.21411775e+02] [ 8.96941597e-01 4.41889959e-01 -1.51339346e-02 8.53237252e+01] [ 1.67506696e-02 2.43134080e-04 9.99859668e-01 6.56456355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4992541539999 meters 0.013565035749058879 Centerline is valid? [True, True] Translation: X:921.42, Y:85.35, Z:6.56 [[ 4.42032826e-01 -8.96971242e-01 -7.04072592e-03 9.21422645e+02] [ 8.96848463e-01 4.42088826e-01 -1.48426546e-02 8.53493273e+01] [ 1.64260606e-02 2.46476310e-04 9.99865053e-01 6.56407521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5292541539999 meters 0.01359379641145032 Centerline is valid? [True, True] Translation: X:921.43, Y:85.37, Z:6.56 [[ 4.40794037e-01 -8.97579120e-01 -7.23471416e-03 9.21432188e+02] [ 8.97449387e-01 4.40853342e-01 -1.52620210e-02 8.53746040e+01] [ 1.68883193e-02 2.34618055e-04 9.99857355e-01 6.56281507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5592541539999 meters 0.01343315555305381 Centerline is valid? [True, True] Translation: X:921.44, Y:85.40, Z:6.56 [[ 4.39518908e-01 -8.98205854e-01 -7.02656461e-03 9.21443599e+02] [ 8.98083396e-01 4.39575022e-01 -1.48328504e-02 8.54002600e+01] [ 1.64116553e-02 2.08877194e-04 9.99865298e-01 6.56231844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5892541539998 meters 0.015384228694764066 Centerline is valid? [True, True] Translation: X:921.45, Y:85.43, Z:6.56 [[ 4.37207598e-01 -8.99335177e-01 -6.76432924e-03 9.21454961e+02] [ 8.99221689e-01 4.37259892e-01 -1.42877816e-02 8.54250586e+01] [ 1.58072744e-02 1.64095103e-04 9.99875044e-01 6.56210380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6192541539999 meters 0.013050714772313617 Centerline is valid? [True, True] Translation: X:921.47, Y:85.45, Z:6.56 [[ 4.36199549e-01 -8.99834436e-01 -5.28587746e-03 9.21467779e+02] [ 8.99765101e-01 4.36231560e-01 -1.11709452e-02 8.54499454e+01] [ 1.23578678e-02 1.16713205e-04 9.99923632e-01 6.56380589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6492541539999 meters 0.014662374822386377 Centerline is valid? [True, True] Translation: X:921.48, Y:85.48, Z:6.56 [[ 4.35594457e-01 -9.00127481e-01 -5.29021989e-03 9.21480729e+02] [ 9.00057954e-01 4.35626566e-01 -1.11881418e-02 8.54751517e+01] [ 1.23753143e-02 1.11988085e-04 9.99923417e-01 6.56475533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6792541539999 meters 0.014662374822386377 Centerline is valid? [True, True] Translation: X:921.49, Y:85.50, Z:6.56 [[ 4.35339283e-01 -9.00250941e-01 -5.28702728e-03 9.21492448e+02] [ 9.00181404e-01 4.35371371e-01 -1.11896506e-02 8.55001340e+01] [ 1.23753138e-02 1.12010807e-04 9.99923417e-01 6.56494574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7092541539998 meters 0.0129665649689683 Centerline is valid? [True, True] Translation: X:921.50, Y:85.53, Z:6.57 [[ 4.34933008e-01 -9.00453370e-01 -4.12394906e-03 9.21504928e+02] [ 9.00411020e-01 4.34952550e-01 -8.73347677e-03 8.55253357e+01] [ 9.65781075e-03 8.52281306e-05 9.99953359e-01 6.56575542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7392541539998 meters 0.013144785489047989 Centerline is valid? [True, True] Translation: X:921.52, Y:85.55, Z:6.56 [[ 4.34856696e-01 -9.00492118e-01 -3.68768467e-03 9.21516109e+02] [ 9.00458211e-01 4.34872325e-01 -7.81485776e-03 8.55512012e+01] [ 8.64088982e-03 7.77372902e-05 9.99962664e-01 6.56485872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7692541539999 meters 0.013207252160899578 Centerline is valid? [True, True] Translation: X:921.53, Y:85.58, Z:6.56 [[ 4.34477451e-01 -9.00674332e-01 -3.88482688e-03 9.21527299e+02] [ 9.00636652e-01 4.34494811e-01 -8.23898678e-03 8.55770196e+01] [ 9.10858103e-03 8.08365072e-05 9.99958513e-01 6.56388410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7992541539999 meters 0.01322216935315111 Centerline is valid? [True, True] Translation: X:921.54, Y:85.60, Z:6.56 [[ 4.33167167e-01 -9.01303571e-01 -4.25177851e-03 9.21538488e+02] [ 9.01258396e-01 4.33188026e-01 -9.02429337e-03 8.56029870e+01] [ 9.97544738e-03 7.70765109e-05 9.99950241e-01 6.56124194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8292541539998 meters 0.013138183994958528 Centerline is valid? [True, True] Translation: X:921.55, Y:85.63, Z:6.56 [[ 4.32326228e-01 -9.01706203e-01 -4.46730331e-03 9.21550762e+02] [ 9.01656277e-01 4.32349301e-01 -9.48894871e-03 8.56282431e+01] [ 1.04876794e-02 7.43493283e-05 9.99945000e-01 6.56051333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8592541539998 meters 0.01320082353222849 Centerline is valid? [True, True] Translation: X:921.56, Y:85.65, Z:6.56 [[ 4.31383605e-01 -9.02156795e-01 -4.61559137e-03 9.21562482e+02] [ 9.02103447e-01 4.31408291e-01 -9.81106948e-03 8.56530251e+01] [ 1.08423274e-02 6.85936328e-05 9.99941218e-01 6.55998247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8892541539999 meters 0.014271752016834461 Centerline is valid? [True, True] Translation: X:921.57, Y:85.68, Z:6.56 [[ 4.30982074e-01 -9.02346162e-01 -5.08492032e-03 9.21574985e+02] [ 9.02281332e-01 4.31012064e-01 -1.08165801e-02 8.56776535e+01] [ 1.19519616e-02 7.37234546e-05 9.99928570e-01 6.56004015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9192541539999 meters 0.013446733286374742 Centerline is valid? [True, True] Translation: X:921.59, Y:85.70, Z:6.56 [[ 4.30928630e-01 -9.02373536e-01 -4.74537002e-03 9.21587157e+02] [ 9.02316998e-01 4.30954751e-01 -1.01013959e-02 8.57032028e+01] [ 1.11602721e-02 7.11526543e-05 9.99937720e-01 6.56014281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9492541539998 meters 0.013619235225288724 Centerline is valid? [True, True] Translation: X:921.60, Y:85.73, Z:6.56 [[ 4.31537854e-01 -9.02082298e-01 -4.75480341e-03 9.21598709e+02] [ 9.02025434e-01 4.31564041e-01 -1.01289551e-02 8.57293361e+01] [ 1.11891532e-02 8.20739348e-05 9.99937396e-01 6.56032896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9792541539998 meters 0.013903684479519396 Centerline is valid? [True, True] Translation: X:921.61, Y:85.76, Z:6.56 [[ 4.32850640e-01 -9.01453842e-01 -4.61458135e-03 9.21609228e+02] [ 9.01400172e-01 4.32875226e-01 -9.83711685e-03 8.57550651e+01] [ 1.08652447e-02 9.84178982e-05 9.99940967e-01 6.56051820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0092541539999 meters 0.01583507636624034 Centerline is valid? [True, True] Translation: X:921.62, Y:85.78, Z:6.56 [[ 4.33569957e-01 -9.01105189e-01 -5.15085046e-03 9.21619742e+02] [ 9.01038211e-01 4.33600535e-01 -1.09872102e-02 8.57802609e+01] [ 1.21340436e-02 1.22611180e-04 9.99926372e-01 6.56004886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0392541539999 meters 0.01684281580209094 Centerline is valid? [True, True] Translation: X:921.63, Y:85.81, Z:6.56 [[ 4.34464279e-01 -9.00672192e-01 -5.51294245e-03 9.21630490e+02] [ 9.00595357e-01 4.34499230e-01 -1.17652900e-02 8.58057015e+01] [ 1.29920388e-02 1.46667861e-04 9.99915589e-01 6.55913717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0692541539999 meters 0.014517168798281414 Centerline is valid? [True, True] Translation: X:921.64, Y:85.83, Z:6.56 [[ 4.34149247e-01 -9.00827402e-01 -4.94185617e-03 9.21642332e+02] [ 9.00765606e-01 4.34177353e-01 -1.05522430e-02 8.58307039e+01] [ 1.16513917e-02 1.29794307e-04 9.99932112e-01 6.55923280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0992541539998 meters 0.016129794749610602 Centerline is valid? [True, True] Translation: X:921.65, Y:85.86, Z:6.56 [[ 4.34044295e-01 -9.00877303e-01 -5.06322178e-03 9.21654998e+02] [ 9.00812340e-01 4.34073804e-01 -1.08194231e-02 8.58562408e+01] [ 1.19447847e-02 1.35096221e-04 9.99928649e-01 6.55983519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1292541539999 meters 0.014653011021327862 Centerline is valid? [True, True] Translation: X:921.67, Y:85.88, Z:6.56 [[ 4.33556293e-01 -9.01116308e-01 -4.28257524e-03 9.21667986e+02] [ 9.01069785e-01 4.33577429e-01 -9.15730482e-03 8.58814400e+01] [ 1.01086247e-02 1.11307975e-04 9.99948900e-01 6.56094647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1592541539999 meters 0.014693330371734988 Centerline is valid? [True, True] Translation: X:921.68, Y:85.91, Z:6.56 [[ 4.33087355e-01 -9.01343596e-01 -3.88140192e-03 9.21680430e+02] [ 9.01305338e-01 4.33104736e-01 -8.30515959e-03 8.59071069e+01] [ 9.16685596e-03 9.85313236e-05 9.99957979e-01 6.56162558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1892541539999 meters 0.014681507597243395 Centerline is valid? [True, True] Translation: X:921.69, Y:85.93, Z:6.56 [[ 4.32439216e-01 -9.01656671e-01 -3.40186850e-03 9.21692679e+02] [ 9.01627254e-01 4.32452589e-01 -7.28379538e-03 8.59311945e+01] [ 8.03862953e-03 8.25814143e-05 9.99967686e-01 6.56254239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2192541539998 meters 0.014625280672984377 Centerline is valid? [True, True] Translation: X:921.70, Y:85.96, Z:6.56 [[ 4.32093786e-01 -9.01823089e-01 -3.17423989e-03 9.21704864e+02] [ 9.01797450e-01 4.32105439e-01 -6.80060992e-03 8.59560980e+01] [ 7.50455336e-03 7.59798494e-05 9.99971838e-01 6.56282630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2492541539999 meters 0.014639590993013252 Centerline is valid? [True, True] Translation: X:921.72, Y:85.98, Z:6.56 [[ 4.31150860e-01 -9.02274699e-01 -3.05015328e-03 9.21718155e+02] [ 9.02251004e-01 4.31161643e-01 -6.53932974e-03 8.59810977e+01] [ 7.21538087e-03 6.74337809e-05 9.99973967e-01 6.56262121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2792541539999 meters 0.014369347736967115 Centerline is valid? [True, True] Translation: X:921.73, Y:86.01, Z:6.56 [[ 4.30513403e-01 -9.02579264e-01 -2.98028095e-03 9.21731528e+02] [ 9.02556618e-01 4.30523714e-01 -6.39404549e-03 8.60059204e+01] [ 7.05421449e-03 6.28499841e-05 9.99975117e-01 6.56238789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3092541539999 meters 0.014435999211597989 Centerline is valid? [True, True] Translation: X:921.74, Y:86.03, Z:6.56 [[ 4.29864893e-01 -9.02888248e-01 -2.99767006e-03 9.21743774e+02] [ 9.02865309e-01 4.29875340e-01 -6.43622920e-03 8.60306664e+01] [ 7.09982014e-03 6.02166637e-05 9.99974794e-01 6.56234488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3392541539998 meters 0.014345983215137826 Centerline is valid? [True, True] Translation: X:921.76, Y:86.06, Z:6.56 [[ 4.29736441e-01 -9.02949183e-01 -3.06002689e-03 9.21756176e+02] [ 9.02925245e-01 4.29747332e-01 -6.57515188e-03 8.60557884e+01] [ 7.25206641e-03 6.26068362e-05 9.99973701e-01 6.56219807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3692541539999 meters 0.014583627707234658 Centerline is valid? [True, True] Translation: X:921.77, Y:86.08, Z:6.56 [[ 4.29747505e-01 -9.02944142e-01 -2.99311416e-03 9.21766708e+02] [ 9.02921206e-01 4.29757924e-01 -6.43607596e-03 8.60805448e+01] [ 7.09773161e-03 6.33413383e-05 9.99974809e-01 6.56150450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3992541539999 meters 0.014468880694896541 Centerline is valid? [True, True] Translation: X:921.78, Y:86.11, Z:6.56 [[ 4.30104097e-01 -9.02774388e-01 -2.97831018e-03 9.21779384e+02] [ 9.02751651e-01 4.30114404e-01 -6.40753494e-03 8.61055788e+01] [ 7.06557254e-03 6.72326018e-05 9.99975036e-01 6.56127126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4292541539999 meters 0.01676400698941734 Centerline is valid? [True, True] Translation: X:921.79, Y:86.13, Z:6.56 [[ 4.30457563e-01 -9.02603789e-01 -3.56183768e-03 9.21790590e+02] [ 9.02571207e-01 4.30472290e-01 -7.66966708e-03 8.61310629e+01] [ 8.45594299e-03 8.66540724e-05 9.99964244e-01 6.56103015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4592541539998 meters 0.016752437254646323 Centerline is valid? [True, True] Translation: X:921.80, Y:86.16, Z:6.56 [[ 4.30733580e-01 -9.02471299e-01 -3.75988006e-03 9.21802002e+02] [ 9.02434931e-01 4.30749979e-01 -8.10246701e-03 8.61563043e+01] [ 8.93181219e-03 9.69575202e-05 9.99960106e-01 6.56060536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4892541539998 meters 0.014869630537002531 Centerline is valid? [True, True] Translation: X:921.81, Y:86.18, Z:6.56 [[ 4.31249556e-01 -9.02225933e-01 -3.49090966e-03 9.21812852e+02] [ 9.02194531e-01 4.31263674e-01 -7.52812349e-03 8.61810671e+01] [ 8.29757077e-03 9.70203131e-05 9.99965570e-01 6.56026020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5192541539999 meters 0.015068856655631785 Centerline is valid? [True, True] Translation: X:921.82, Y:86.21, Z:6.56 [[ 4.32338074e-01 -9.01703554e-01 -3.80666042e-03 9.21823556e+02] [ 9.01666139e-01 4.32354816e-01 -8.21504832e-03 8.62068234e+01] [ 9.05336623e-03 1.19341372e-04 9.99959010e-01 6.55997989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5492541539999 meters 0.015282653621376943 Centerline is valid? [True, True] Translation: X:921.83, Y:86.23, Z:6.56 [[ 4.33180517e-01 -9.01298635e-01 -3.92547873e-03 9.21834354e+02] [ 9.01258778e-01 4.33198282e-01 -8.47723797e-03 8.62325431e+01] [ 9.34103365e-03 1.34302165e-04 9.99956363e-01 6.56009058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5792541539998 meters 0.017112092185438632 Centerline is valid? [True, True] Translation: X:921.84, Y:86.26, Z:6.56 [[ 4.34335520e-01 -9.00740907e-01 -4.29823146e-03 9.21844819e+02] [ 9.00693026e-01 4.34356757e-01 -9.28874795e-03 8.62597702e+01] [ 1.02337211e-02 1.63046073e-04 9.99947621e-01 6.55980785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6092541539998 meters 0.016529667768295155 Centerline is valid? [True, True] Translation: X:921.86, Y:86.29, Z:6.56 [[ 4.34691122e-01 -9.00570374e-01 -4.07804048e-03 9.21856101e+02] [ 9.00527210e-01 4.34710220e-01 -8.81866188e-03 8.62858481e+01] [ 9.71459150e-03 1.61007606e-04 9.99952799e-01 6.56031065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6392541539999 meters 0.015760234788320688 Centerline is valid? [True, True] Translation: X:921.87, Y:86.31, Z:6.56 [[ 4.34502038e-01 -9.00663060e-01 -3.74579971e-03 9.21867685e+02] [ 9.00626596e-01 4.34518158e-01 -8.10578774e-03 8.63114844e+01] [ 8.92820158e-03 1.48414453e-04 9.99960132e-01 6.56056943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6692541539999 meters 0.01673639244430343 Centerline is valid? [True, True] Translation: X:921.88, Y:86.34, Z:6.56 [[ 4.32524255e-01 -9.01615528e-01 -3.49407013e-03 9.21880055e+02] [ 9.01583790e-01 4.32538351e-01 -7.56608880e-03 8.63360416e+01] [ 8.33302248e-03 1.22319936e-04 9.99965272e-01 6.56186608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6992541539998 meters 0.018395421306366202 Centerline is valid? [True, True] Translation: X:921.89, Y:86.36, Z:6.56 [[ 4.30622432e-01 -9.02525515e-01 -3.46626658e-03 9.21893902e+02] [ 9.02494274e-01 4.30636370e-01 -7.51010799e-03 8.63610243e+01] [ 8.27076454e-03 1.05735227e-04 9.99965791e-01 6.56246197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7292541539998 meters 0.01745231459068852 Centerline is valid? [True, True] Translation: X:921.91, Y:86.39, Z:6.56 [[ 4.28708285e-01 -9.03436916e-01 -3.30822746e-03 9.21907655e+02] [ 9.03408447e-01 4.28721041e-01 -7.17272017e-03 8.63859739e+01] [ 7.89840691e-03 8.63239309e-05 9.99968803e-01 6.56321838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7592541539999 meters 0.015535262820814487 Centerline is valid? [True, True] Translation: X:921.92, Y:86.41, Z:6.56 [[ 4.24844944e-01 -9.05261231e-01 -2.97931720e-03 9.21923339e+02] [ 9.05238156e-01 4.24855388e-01 -6.46381739e-03 8.64098644e+01] [ 7.11722225e-03 4.91285331e-05 9.99974671e-01 6.56454214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7892541539999 meters 0.014478236166331785 Centerline is valid? [True, True] Translation: X:921.94, Y:86.44, Z:6.57 [[ 4.23618841e-01 -9.05835897e-01 -2.89924566e-03 9.21936374e+02] [ 9.05814048e-01 4.23628761e-01 -6.29153364e-03 8.64353179e+01] [ 6.92730086e-03 3.90347397e-05 9.99976005e-01 6.56543228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8192541539999 meters 0.016452236273664444 Centerline is valid? [True, True] Translation: X:921.95, Y:86.46, Z:6.56 [[ 4.21871140e-01 -9.06650758e-01 -3.02387888e-03 9.21946650e+02] [ 9.06626977e-01 4.21881976e-01 -6.56678954e-03 8.64606595e+01] [ 7.22950471e-03 2.88088228e-05 9.99973866e-01 6.56466662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8492541539998 meters 0.016818306787619863 Centerline is valid? [True, True] Translation: X:921.96, Y:86.49, Z:6.56 [[ 4.21449314e-01 -9.06846466e-01 -3.15653406e-03 9.21957906e+02] [ 9.06820516e-01 4.21461133e-01 -6.86043142e-03 8.64861867e+01] [ 7.55171441e-03 2.89142654e-05 9.99971485e-01 6.56410598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8792541539999 meters 0.015286804525111752 Centerline is valid? [True, True] Translation: X:921.97, Y:86.51, Z:6.56 [[ 4.20814963e-01 -9.07138610e-01 -3.78268087e-03 9.21968833e+02] [ 9.07101291e-01 4.20831963e-01 -8.22844039e-03 8.65108892e+01] [ 9.05620900e-03 3.13761396e-05 9.99958991e-01 6.56312795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9092541539999 meters 0.01744196946882894 Centerline is valid? [True, True] Translation: X:921.98, Y:86.54, Z:6.56 [[ 4.20223587e-01 -9.07412103e-01 -3.92578054e-03 9.21980410e+02] [ 9.07371855e-01 4.20241924e-01 -8.54648052e-03 8.65364191e+01] [ 9.40495743e-03 2.92899288e-05 9.99955772e-01 6.56236557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9392541539999 meters 0.015713782710844032 Centerline is valid? [True, True] Translation: X:921.99, Y:86.56, Z:6.56 [[ 4.19868046e-01 -9.07576052e-01 -4.06618861e-03 9.21992533e+02] [ 9.07532816e-01 4.19887734e-01 -8.85877299e-03 8.65621281e+01] [ 9.74735294e-03 2.93161070e-05 9.99952493e-01 6.56328527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9692541539998 meters 0.014577202450939282 Centerline is valid? [True, True] Translation: X:922.00, Y:86.59, Z:6.56 [[ 4.18964939e-01 -9.07993216e-01 -4.08651830e-03 9.22004280e+02] [ 9.07949501e-01 4.18984868e-01 -8.90976534e-03 8.65876157e+01] [ 9.80219581e-03 2.25270436e-05 9.99951957e-01 6.56400214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9992541539999 meters 0.01684053615801826 Centerline is valid? [True, True] Translation: X:922.02, Y:86.61, Z:6.56 [[ 4.18039579e-01 -9.08420353e-01 -3.92084303e-03 9.22015016e+02] [ 9.08380071e-01 4.18057965e-01 -8.55474619e-03 8.66127004e+01] [ 9.41044522e-03 1.46068207e-05 9.99955721e-01 6.56299694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0292541539999 meters 0.014587142773460543 Centerline is valid? [True, True] Translation: X:922.03, Y:86.64, Z:6.56 [[ 4.17482838e-01 -9.08676990e-01 -3.76918248e-03 9.22025989e+02] [ 9.08639724e-01 4.17499853e-01 -8.22947505e-03 8.66389457e+01] [ 9.05156775e-03 1.08356700e-05 9.99959034e-01 6.56409942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0592541539999 meters 0.017192305345020833 Centerline is valid? [True, True] Translation: X:922.04, Y:86.66, Z:6.56 [[ 4.17093280e-01 -9.08856702e-01 -3.56246753e-03 9.22037354e+02] [ 9.08823370e-01 4.17108493e-01 -7.78377200e-03 8.66648331e+01] [ 8.56026881e-03 8.90524168e-06 9.99963360e-01 6.56315132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0892541539998 meters 0.014669759215746423 Centerline is valid? [True, True] Translation: X:922.05, Y:86.69, Z:6.56 [[ 4.17999925e-01 -9.08438567e-01 -3.92830679e-03 9.22047696e+02] [ 9.08397954e-01 4.18018383e-01 -8.59005433e-03 8.66910743e+01] [ 9.44564110e-03 2.21762172e-05 9.99955389e-01 6.56370797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1192541539999 meters 0.01671755377974445 Centerline is valid? [True, True] Translation: X:922.06, Y:86.72, Z:6.56 [[ 4.18500679e-01 -9.08208886e-01 -3.71494141e-03 9.22058268e+02] [ 9.08172503e-01 4.18517166e-01 -8.12932300e-03 8.67170395e+01] [ 8.93789014e-03 2.83195564e-05 9.99960056e-01 6.56279555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1492541539999 meters 0.01793829801314379 Centerline is valid? [True, True] Translation: X:922.07, Y:86.74, Z:6.56 [[ 4.19634672e-01 -9.07686303e-01 -3.50958427e-03 9.22068533e+02] [ 9.07653767e-01 4.19649346e-01 -7.68545864e-03 8.67433223e+01] [ 8.44878029e-03 3.95975281e-05 9.99964308e-01 6.56231505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1792541539999 meters 0.01807374513398205 Centerline is valid? [True, True] Translation: X:922.08, Y:86.77, Z:6.56 [[ 4.20943166e-01 -9.07080941e-01 -3.31923584e-03 9.22077407e+02] [ 9.07051778e-01 4.20956249e-01 -7.27381240e-03 8.67690710e+01] [ 7.99518967e-03 5.11428484e-05 9.99968037e-01 6.56223586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2092541539998 meters 0.016141763476387627 Centerline is valid? [True, True] Translation: X:922.08, Y:86.80, Z:6.56 [[ 4.24774348e-01 -9.05293485e-01 -3.23400425e-03 9.22083941e+02] [ 9.05265711e-01 4.24786650e-01 -7.09177977e-03 8.67975234e+01] [ 7.79390386e-03 8.47729697e-05 9.99969623e-01 6.56248752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2392541539998 meters 0.016398836931298195 Centerline is valid? [True, True] Translation: X:922.09, Y:86.82, Z:6.56 [[ 4.26625402e-01 -9.04422673e-01 -3.22424311e-03 9.22093415e+02] [ 9.04395004e-01 4.26637573e-01 -7.07512515e-03 8.68246010e+01] [ 7.77448685e-03 1.02438743e-04 9.99969773e-01 6.56253429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2692541539999 meters 0.017470192176108845 Centerline is valid? [True, True] Translation: X:922.10, Y:86.85, Z:6.56 [[ 4.30080311e-01 -9.02784486e-01 -3.33137652e-03 9.22099205e+02] [ 9.02754861e-01 4.30093190e-01 -7.31497314e-03 8.68520656e+01] [ 8.03664662e-03 1.38609575e-04 9.99967696e-01 6.56207671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2992541539999 meters 0.017478446975812786 Centerline is valid? [True, True] Translation: X:922.11, Y:86.88, Z:6.56 [[ 4.30930247e-01 -9.02379023e-01 -3.34961110e-03 9.22110468e+02] [ 9.02349040e-01 4.30943240e-01 -7.35757112e-03 8.68786770e+01] [ 8.08281010e-03 1.48081584e-04 9.99967323e-01 6.56190194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3292541539998 meters 0.01912055414478404 Centerline is valid? [True, True] Translation: X:922.12, Y:86.90, Z:6.56 [[ 4.31445675e-01 -9.02132426e-01 -3.42273730e-03 9.22120386e+02] [ 9.02101071e-01 4.31459222e-01 -7.52317054e-03 8.69039314e+01] [ 8.26366766e-03 1.58184405e-04 9.99965843e-01 6.56213250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3592541539998 meters 0.01789890674958882 Centerline is valid? [True, True] Translation: X:922.13, Y:86.93, Z:6.56 [[ 4.30960903e-01 -9.02363420e-01 -3.59972652e-03 9.22130729e+02] [ 9.02328707e-01 4.30975905e-01 -7.91667982e-03 8.69295786e+01] [ 8.69511767e-03 1.63642903e-04 9.99962183e-01 6.56242112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3892541539999 meters 0.019809876452777955 Centerline is valid? [True, True] Translation: X:922.14, Y:86.95, Z:6.56 [[ 4.30706237e-01 -9.02485805e-01 -3.39252341e-03 9.22142703e+02] [ 9.02454932e-01 4.30719570e-01 -7.46638037e-03 8.69549623e+01] [ 8.19952852e-03 1.54217110e-04 9.99966371e-01 6.56274397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4192541539999 meters 0.018069774808785986 Centerline is valid? [True, True] Translation: X:922.15, Y:86.98, Z:6.56 [[ 4.29770467e-01 -9.02931482e-01 -3.47635683e-03 9.22152441e+02] [ 9.02899030e-01 4.29784500e-01 -7.65672074e-03 8.69803773e+01] [ 8.40757848e-03 1.51833237e-04 9.99964644e-01 6.56293474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4492541539998 meters 0.01720739553878817 Centerline is valid? [True, True] Translation: X:922.16, Y:87.01, Z:6.56 [[ 4.28002499e-01 -9.03769258e-01 -3.87145280e-03 9.22163857e+02] [ 9.03728987e-01 4.28019981e-01 -8.53307290e-03 8.70064513e+01] [ 9.36898812e-03 1.53432413e-04 9.99956098e-01 6.56244491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4792541539998 meters 0.017100655186346684 Centerline is valid? [True, True] Translation: X:922.17, Y:87.03, Z:6.56 [[ 4.26831871e-01 -9.04321699e-01 -4.10103422e-03 9.22174817e+02] [ 9.04276470e-01 4.26851544e-01 -9.04573451e-03 8.70308075e+01] [ 9.93078679e-03 1.52539030e-04 9.99950677e-01 6.56189209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5092541539999 meters 0.016417797283898413 Centerline is valid? [True, True] Translation: X:922.19, Y:87.06, Z:6.56 [[ 4.23805106e-01 -9.05742011e-01 -4.54332736e-03 9.22188638e+02] [ 9.05686504e-01 4.23829437e-01 -1.00282070e-02 8.70562116e+01] [ 1.10085643e-02 1.35175069e-04 9.99939395e-01 6.56142332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5392541539999 meters 0.015983282274928387 Centerline is valid? [True, True] Translation: X:922.20, Y:87.08, Z:6.56 [[ 4.21750388e-01 -9.06700035e-01 -4.65361244e-03 9.22202321e+02] [ 9.06641776e-01 4.21776045e-01 -1.02789846e-02 8.70813356e+01] [ 1.12827379e-02 1.16006285e-04 9.99936341e-01 6.56180261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5692541539999 meters 0.015983282274928387 Centerline is valid? [True, True] Translation: X:922.21, Y:87.11, Z:6.56 [[ 4.21488020e-01 -9.06822044e-01 -4.65068066e-03 9.22213631e+02] [ 9.06763778e-01 4.21513661e-01 -1.02803111e-02 8.71065037e+01] [ 1.12827381e-02 1.15959185e-04 9.99936341e-01 6.56199305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5992541539998 meters 0.01714183110235066 Centerline is valid? [True, True] Translation: X:922.23, Y:87.13, Z:6.56 [[ 4.19935203e-01 -9.07541693e-01 -4.74353295e-03 9.22226777e+02] [ 9.07481028e-01 4.19961981e-01 -1.04936951e-02 8.71310330e+01] [ 1.15155693e-02 1.02005813e-04 9.99933688e-01 6.56231656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6292541539999 meters 0.01613549612597136 Centerline is valid? [True, True] Translation: X:922.24, Y:87.16, Z:6.56 [[ 4.16875050e-01 -9.08950970e-01 -4.82973166e-03 9.22240054e+02] [ 9.08888087e-01 4.16903021e-01 -1.06918722e-02 8.71551617e+01] [ 1.17319173e-02 6.74891872e-05 9.99931176e-01 6.56237272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6592541539999 meters 0.015349009394720179 Centerline is valid? [True, True] Translation: X:922.25, Y:87.18, Z:6.56 [[ 4.15362017e-01 -9.09643957e-01 -4.71874385e-03 9.22251673e+02] [ 9.09583896e-01 4.15388817e-01 -1.04530755e-02 8.71793380e+01] [ 1.14686904e-02 4.97170982e-05 9.99934231e-01 6.56254640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6892541539999 meters 0.015250518389346242 Centerline is valid? [True, True] Translation: X:922.27, Y:87.20, Z:6.56 [[ 4.12814647e-01 -9.10804085e-01 -4.47060226e-03 9.22265244e+02] [ 9.10750163e-01 4.12838853e-01 -9.91073579e-03 8.72035811e+01] [ 1.08723769e-02 1.96951637e-05 9.99940894e-01 6.56327835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7192541539998 meters 0.015124624482381322 Centerline is valid? [True, True] Translation: X:922.28, Y:87.23, Z:6.56 [[ 4.11391739e-01 -9.11447502e-01 -4.50431742e-03 9.22278186e+02] [ 9.11392719e-01 4.11416397e-01 -9.99302902e-03 8.72285202e+01] [ 1.09612714e-02 5.84748182e-06 9.99939923e-01 6.56376840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7492541539999 meters 0.0170235437804992 Centerline is valid? [True, True] Translation: X:922.29, Y:87.25, Z:6.56 [[ 4.09867357e-01 -9.12133928e-01 -4.52174237e-03 9.22291642e+02] [ 9.12078678e-01 4.09892299e-01 -1.00393479e-02 8.72537012e+01] [ 1.10106572e-02 -9.38382823e-06 9.99939381e-01 6.56384570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7792541539999 meters 0.01512446365844575 Centerline is valid? [True, True] Translation: X:922.31, Y:87.28, Z:6.56 [[ 4.07905774e-01 -9.13012394e-01 -4.60948342e-03 9.22305054e+02] [ 9.12954949e-01 4.07931817e-01 -1.02417383e-02 8.72772184e+01] [ 1.12311890e-02 -3.05864938e-05 9.99936928e-01 6.56428540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8092541539999 meters 0.01661116224337157 Centerline is valid? [True, True] Translation: X:922.32, Y:87.30, Z:6.56 [[ 4.06984156e-01 -9.13422517e-01 -4.81677691e-03 9.22317135e+02] [ 9.13359726e-01 4.07012657e-01 -1.07101586e-02 8.73020596e+01] [ 1.17433892e-02 -4.05851760e-05 9.99931043e-01 6.56412676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8392541539998 meters 0.015275696186368525 Centerline is valid? [True, True] Translation: X:922.33, Y:87.33, Z:6.56 [[ 4.06096609e-01 -9.13814570e-01 -5.33626661e-03 9.22329217e+02] [ 9.13737415e-01 4.06131664e-01 -1.18746723e-02 8.73272357e+01] [ 1.30184754e-02 -5.36822913e-05 9.99915255e-01 6.56348590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8692541539999 meters 0.01529455631002669 Centerline is valid? [True, True] Translation: X:922.34, Y:87.35, Z:6.56 [[ 4.05570675e-01 -9.14045596e-01 -5.75117414e-03 9.22340760e+02] [ 9.13955858e-01 4.05611446e-01 -1.28079769e-02 8.73526227e+01] [ 1.40398170e-02 -6.17794361e-05 9.99901435e-01 6.56331852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8992541539999 meters 0.016834545962814047 Centerline is valid? [True, True] Translation: X:922.35, Y:87.38, Z:6.56 [[ 4.05244953e-01 -9.14188621e-01 -5.97440515e-03 9.22352583e+02] [ 9.14091654e-01 4.05288985e-01 -1.33149159e-02 8.73775109e+01] [ 1.45937052e-02 -6.53514293e-05 9.99893504e-01 6.56282371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9292541539999 meters 0.015357320728853279 Centerline is valid? [True, True] Translation: X:922.36, Y:87.40, Z:6.56 [[ 4.05045447e-01 -9.14277310e-01 -5.93180303e-03 9.22364456e+02] [ 9.14181593e-01 4.05088874e-01 -1.32294573e-02 8.74031318e+01] [ 1.44983000e-02 -6.42137153e-05 9.99894892e-01 6.56373740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9592541539998 meters 0.015314857999589503 Centerline is valid? [True, True] Translation: X:922.38, Y:87.43, Z:6.56 [[ 4.04715347e-01 -9.14423860e-01 -5.87290849e-03 9.22375707e+02] [ 9.14329906e-01 4.04757952e-01 -1.31081413e-02 8.74275544e+01] [ 1.43635036e-02 -6.47099011e-05 9.99896837e-01 6.56397408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9892541539998 meters 0.018187399981993833 Centerline is valid? [True, True] Translation: X:922.39, Y:87.45, Z:6.56 [[ 4.04431169e-01 -9.14547997e-01 -6.11475279e-03 9.22387597e+02] [ 9.14446001e-01 4.04477386e-01 -1.36585359e-02 8.74529072e+01] [ 1.49646658e-02 -6.76736163e-05 9.99888021e-01 6.56367934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0192541539999 meters 0.01661427565802284 Centerline is valid? [True, True] Translation: X:922.40, Y:87.48, Z:6.56 [[ 4.04636879e-01 -9.14457313e-01 -6.06780317e-03 9.22398699e+02] [ 9.14356718e-01 4.04682368e-01 -1.35636592e-02 8.74790754e+01] [ 1.48589203e-02 -5.97798744e-05 9.99889598e-01 6.56438763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0492541539999 meters 0.015420226941429529 Centerline is valid? [True, True] Translation: X:922.41, Y:87.51, Z:6.56 [[ 4.05037022e-01 -9.14279940e-01 -6.09935902e-03 9.22409669e+02] [ 9.14178125e-01 4.05082941e-01 -1.36443045e-02 8.75051932e+01] [ 1.49454602e-02 -4.94521434e-05 9.99888309e-01 6.56488626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0792541539998 meters 0.01609341577215516 Centerline is valid? [True, True] Translation: X:922.42, Y:87.53, Z:6.56 [[ 4.05745355e-01 -9.13965041e-01 -6.21378188e-03 9.22420242e+02] [ 9.13859176e-01 4.05792931e-01 -1.39105782e-02 8.75312723e+01] [ 1.52352909e-02 -3.43691083e-05 9.99883936e-01 6.56473031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1092541539998 meters 0.014870993397478613 Centerline is valid? [True, True] Translation: X:922.43, Y:87.56, Z:6.57 [[ 4.06178671e-01 -9.13772074e-01 -6.28360762e-03 9.22430902e+02] [ 9.13663629e-01 4.06227271e-01 -1.40775681e-02 8.75572624e+01] [ 1.54162614e-02 -2.30958229e-05 9.99881162e-01 6.56567110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1392541539999 meters 0.014738396641238842 Centerline is valid? [True, True] Translation: X:922.44, Y:87.58, Z:6.57 [[ 4.06750294e-01 -9.13516940e-01 -6.40310176e-03 9.22441273e+02] [ 9.13404154e-01 4.06800689e-01 -1.43544712e-02 8.75819232e+01] [ 1.57178388e-02 -9.93438165e-06 9.99876467e-01 6.56540422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1692541539999 meters 0.017258598861071974 Centerline is valid? [True, True] Translation: X:922.45, Y:87.61, Z:6.57 [[ 4.06726567e-01 -9.13526582e-01 -6.53333674e-03 9.22452809e+02] [ 9.13409005e-01 4.06779036e-01 -1.46562074e-02 8.76075640e+01] [ 1.60464595e-02 -6.53970648e-06 9.99871247e-01 6.56500304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1992541539998 meters 0.014644139611351779 Centerline is valid? [True, True] Translation: X:922.46, Y:87.63, Z:6.57 [[ 4.07172816e-01 -9.13329900e-01 -6.22825817e-03 9.22463905e+02] [ 9.13222875e-01 4.07220448e-01 -1.39816832e-02 8.76325419e+01] [ 1.53061634e-02 5.17348225e-06 9.99882854e-01 6.56607247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2292541539998 meters 0.016811085872371238 Centerline is valid? [True, True] Translation: X:922.48, Y:87.66, Z:6.57 [[ 4.06935367e-01 -9.13433935e-01 -6.48491074e-03 9.22475280e+02] [ 9.13317749e-01 4.06987035e-01 -1.45685679e-02 8.76584168e+01] [ 1.59466989e-02 5.68145192e-06 9.99872843e-01 6.56573881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2592541539999 meters 0.014581154408798126 Centerline is valid? [True, True] Translation: X:922.49, Y:87.68, Z:6.57 [[ 4.06671545e-01 -9.13552818e-01 -6.28518842e-03 9.22485537e+02] [ 9.13443525e-01 4.06720111e-01 -1.41307405e-02 8.76836612e+01] [ 1.54654904e-02 5.40541850e-06 9.99880402e-01 6.56606321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2892541539999 meters 0.014521179690071922 Centerline is valid? [True, True] Translation: X:922.50, Y:87.71, Z:6.57 [[ 4.05706813e-01 -9.13981587e-01 -6.29604456e-03 9.22496361e+02] [ 9.13871798e-01 4.05755663e-01 -1.41660813e-02 8.77100825e+01] [ 1.55021932e-02 -6.50185725e-06 9.99879834e-01 6.56572681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3192541539999 meters 0.015933251391271077 Centerline is valid? [True, True] Translation: X:922.51, Y:87.74, Z:6.57 [[ 4.04364456e-01 -9.14574959e-01 -6.48310131e-03 9.22507953e+02] [ 9.14458448e-01 4.04416423e-01 -1.45980856e-02 8.77359540e+01] [ 1.59729162e-02 -2.55798024e-05 9.99872425e-01 6.56527954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3492541539998 meters 0.014386964951204808 Centerline is valid? [True, True] Translation: X:922.52, Y:87.76, Z:6.57 [[ 4.03074284e-01 -9.15146117e-01 -6.22136019e-03 9.22519460e+02] [ 9.15038731e-01 4.03122292e-01 -1.40192339e-02 8.77619718e+01] [ 1.53376164e-02 -4.19928744e-05 9.99882371e-01 6.56619759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3792541539999 meters 0.017577313165451015 Centerline is valid? [True, True] Translation: X:922.53, Y:87.79, Z:6.56 [[ 4.00221405e-01 -9.16396194e-01 -6.39077165e-03 9.22532652e+02] [ 9.16282896e-01 4.00272416e-01 -1.44099438e-02 8.77864811e+01] [ 1.57632673e-02 -8.85867948e-05 9.99875748e-01 6.56444975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4092541539999 meters 0.015576523701259776 Centerline is valid? [True, True] Translation: X:922.54, Y:87.81, Z:6.57 [[ 3.98944939e-01 -9.16953748e-01 -6.22569528e-03 9.22544075e+02] [ 9.16846158e-01 3.98993500e-01 -1.40467324e-02 8.78123233e+01] [ 1.53642158e-02 -1.04132014e-04 9.99881958e-01 6.56646360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4392541539999 meters 0.014816104993618661 Centerline is valid? [True, True] Translation: X:922.56, Y:87.84, Z:6.57 [[ 3.97029915e-01 -9.17784691e-01 -6.20548210e-03 9.22555759e+02] [ 9.17677765e-01 3.97078385e-01 -1.40098263e-02 8.78373042e+01] [ 1.53220669e-02 -1.32312812e-04 9.99882601e-01 6.56690596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4692541539998 meters 0.016540628633813885 Centerline is valid? [True, True] Translation: X:922.57, Y:87.86, Z:6.57 [[ 3.96296820e-01 -9.18100486e-01 -6.35048089e-03 9.22566904e+02] [ 9.17988407e-01 3.96347672e-01 -1.43460076e-02 8.78616567e+01] [ 1.56880749e-02 -1.44390653e-04 9.99876924e-01 6.56560802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4992541539999 meters 0.01638415409959433 Centerline is valid? [True, True] Translation: X:922.58, Y:87.89, Z:6.57 [[ 3.95885975e-01 -9.18276999e-01 -6.45356270e-03 9.22576800e+02] [ 9.18161102e-01 3.95938545e-01 -1.45897156e-02 8.78876772e+01] [ 1.59526145e-02 -1.49546446e-04 9.99872738e-01 6.56584493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5292541539999 meters 0.014944267060994533 Centerline is valid? [True, True] Translation: X:922.59, Y:87.91, Z:6.56 [[ 3.96881309e-01 -9.17842752e-01 -7.06455988e-03 9.22585714e+02] [ 9.17703571e-01 3.96944155e-01 -1.59841529e-02 8.79129642e+01] [ 1.74751746e-02 -1.39360299e-04 9.99847288e-01 6.56450801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5592541539999 meters 0.017245857228590747 Centerline is valid? [True, True] Translation: X:922.60, Y:87.94, Z:6.56 [[ 3.97223474e-01 -9.17689588e-01 -7.70275186e-03 9.22595686e+02] [ 9.17523826e-01 3.97298126e-01 -1.74421271e-02 8.79394099e+01] [ 1.90667473e-02 -1.39036038e-04 9.99818203e-01 6.56306603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5892541539998 meters 0.01564463929457791 Centerline is valid? [True, True] Translation: X:922.60, Y:87.97, Z:6.56 [[ 3.99256360e-01 -9.16800776e-01 -8.40816258e-03 9.22604035e+02] [ 9.16602751e-01 3.99344874e-01 -1.90543651e-02 8.79662884e+01] [ 2.08268133e-02 -9.93685083e-05 9.99783093e-01 6.56230268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6192541539999 meters 0.01706357367523958 Centerline is valid? [True, True] Translation: X:922.61, Y:87.99, Z:6.56 [[ 3.99878255e-01 -9.16527137e-01 -8.68269489e-03 9.22614211e+02] [ 9.16315565e-01 3.99972501e-01 -1.96922482e-02 8.79917996e+01] [ 2.15213191e-02 -8.15866150e-05 9.99768386e-01 6.56089889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6492541539999 meters 0.015942425458504328 Centerline is valid? [True, True] Translation: X:922.62, Y:88.02, Z:6.56 [[ 4.00563965e-01 -9.16228176e-01 -8.62779588e-03 9.22623972e+02] [ 9.16018867e-01 4.00656867e-01 -1.95834071e-02 8.80171180e+01] [ 2.13996550e-02 -5.88166219e-05 9.99770999e-01 6.56135326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6792541539999 meters 0.014113708760441164 Centerline is valid? [True, True] Translation: X:922.63, Y:88.04, Z:6.56 [[ 4.01799750e-01 -9.15690380e-01 -8.25161855e-03 9.22633434e+02] [ 9.15498523e-01 4.01884471e-01 -1.87437072e-02 8.80434125e+01] [ 2.04796298e-02 -2.31277018e-05 9.99790270e-01 6.56350090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7092541539998 meters 0.01607346578657625 Centerline is valid? [True, True] Translation: X:922.64, Y:88.07, Z:6.56 [[ 4.01912954e-01 -9.15641462e-01 -8.16644240e-03 9.22643828e+02] [ 9.15453240e-01 4.01995912e-01 -1.85647826e-02 8.80684021e+01] [ 2.02815612e-02 -1.45695319e-05 9.99794308e-01 6.56304967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7392541539998 meters 0.013971747188954057 Centerline is valid? [True, True] Translation: X:922.65, Y:88.09, Z:6.57 [[ 4.03922692e-01 -9.14763173e-01 -7.40247560e-03 9.22652441e+02] [ 9.14608141e-01 4.03990516e-01 -1.68407610e-02 8.80942414e+01] [ 1.83958379e-02 3.20010853e-05 9.99830782e-01 6.56517027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7692541539999 meters 0.01764566580771747 Centerline is valid? [True, True] Translation: X:922.66, Y:88.12, Z:6.56 [[ 4.04312453e-01 -9.14589721e-01 -7.55536230e-03 9.22662811e+02] [ 9.14427943e-01 4.04383037e-01 -1.72016349e-02 8.81200316e+01] [ 1.87876988e-02 4.60007889e-05 9.99823495e-01 6.56426469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7992541539999 meters 0.013968093178088049 Centerline is valid? [True, True] Translation: X:922.67, Y:88.15, Z:6.57 [[ 4.05948632e-01 -9.13869936e-01 -6.88819930e-03 9.22672353e+02] [ 9.13735171e-01 4.06007061e-01 -1.56940700e-02 8.81467869e+01] [ 1.71389964e-02 7.69963084e-05 9.99853114e-01 6.56707968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8292541539998 meters 0.014326503045127828 Centerline is valid? [True, True] Translation: X:922.68, Y:88.17, Z:6.57 [[ 4.09256043e-01 -9.12396492e-01 -6.49093237e-03 9.22679716e+02] [ 9.12276455e-01 4.09307491e-01 -1.48002504e-02 8.81735744e+01] [ 1.61604838e-02 1.35567157e-04 9.99869402e-01 6.56778259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8592541539998 meters 0.014509340161459758 Centerline is valid? [True, True] Translation: X:922.69, Y:88.20, Z:6.57 [[ 4.10747533e-01 -9.11726037e-01 -6.48828084e-03 9.22689377e+02] [ 9.11605828e-01 4.10798741e-01 -1.48056757e-02 8.82002344e+01] [ 1.61640976e-02 1.66640144e-04 9.99869339e-01 6.56813563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8892541539999 meters 0.015265811261462639 Centerline is valid? [True, True] Translation: X:922.70, Y:88.23, Z:6.57 [[ 4.13998640e-01 -9.10254604e-01 -6.45619770e-03 9.22696296e+02] [ 9.10135280e-01 4.14048916e-01 -1.47399694e-02 8.82266705e+01] [ 1.60903067e-02 2.26313977e-04 9.99870517e-01 6.56835590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9192541539999 meters 0.01756577002179107 Centerline is valid? [True, True] Translation: X:922.71, Y:88.25, Z:6.57 [[ 4.14924342e-01 -9.09832398e-01 -6.54204486e-03 9.22705485e+02] [ 9.09709694e-01 4.14975837e-01 -1.49441394e-02 8.82531749e+01] [ 1.63114527e-02 2.49325585e-04 9.99866928e-01 6.56722992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9492541539998 meters 0.018211160990652793 Centerline is valid? [True, True] Translation: X:922.72, Y:88.28, Z:6.57 [[ 4.16070114e-01 -9.09308295e-01 -6.63968418e-03 9.22716267e+02] [ 9.09181658e-01 4.16122996e-01 -1.51777826e-02 8.82796777e+01] [ 1.65642089e-02 2.78342689e-04 9.99862765e-01 6.56797879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9792541539998 meters 0.01760033902389483 Centerline is valid? [True, True] Translation: X:922.72, Y:88.31, Z:6.57 [[ 4.18825249e-01 -9.08044005e-01 -6.44176024e-03 9.22723775e+02] [ 9.07924534e-01 4.18874662e-01 -1.47328968e-02 8.83066947e+01] [ 1.60764088e-02 3.21877016e-04 9.99870714e-01 6.56829210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0092541539999 meters 0.016487792839265616 Centerline is valid? [True, True] Translation: X:922.73, Y:88.33, Z:6.57 [[ 4.20269033e-01 -9.07376435e-01 -6.47659694e-03 9.22733949e+02] [ 9.07255454e-01 4.20318786e-01 -1.48208917e-02 8.83340355e+01] [ 1.61703632e-02 3.52833895e-04 9.99869189e-01 6.56970058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0392541539999 meters 0.01828860224191502 Centerline is valid? [True, True] Translation: X:922.74, Y:88.36, Z:6.57 [[ 4.20534104e-01 -9.07246948e-01 -7.35139401e-03 9.22744542e+02] [ 9.07090833e-01 4.20598153e-01 -1.68349146e-02 8.83611178e+01] [ 1.83654076e-02 4.11273596e-04 9.99831257e-01 6.56726415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0692541539999 meters 0.017615877465589815 Centerline is valid? [True, True] Translation: X:922.75, Y:88.39, Z:6.57 [[ 4.20610882e-01 -9.07209057e-01 -7.62971922e-03 9.22752930e+02] [ 9.07040654e-01 4.20679853e-01 -1.74846572e-02 8.83872482e+01] [ 1.90719086e-02 4.33771594e-04 9.99818021e-01 6.56686322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0992541539998 meters 0.018276483598701355 Centerline is valid? [True, True] Translation: X:922.76, Y:88.41, Z:6.57 [[ 4.19502325e-01 -9.07721243e-01 -7.74236082e-03 9.22762668e+02] [ 9.07547659e-01 4.19573553e-01 -1.77561563e-02 8.84127370e+01] [ 1.93661301e-02 4.22187417e-04 9.99812370e-01 6.56550146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1292541539999 meters 0.017709756607376358 Centerline is valid? [True, True] Translation: X:922.78, Y:88.44, Z:6.57 [[ 4.15474466e-01 -9.09570259e-01 -7.93172501e-03 9.22778840e+02] [ 9.09388134e-01 4.15550023e-01 -1.82044043e-02 8.84362055e+01] [ 1.98542133e-02 3.50448568e-04 9.99802824e-01 6.56577956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1592541539999 meters 0.017676471557297496 Centerline is valid? [True, True] Translation: X:922.79, Y:88.46, Z:6.57 [[ 4.12986864e-01 -9.10703420e-01 -7.81861379e-03 9.22790781e+02] [ 9.10526447e-01 4.13060762e-01 -1.79554099e-02 8.84611821e+01] [ 1.95816158e-02 2.96293814e-04 9.99808218e-01 6.56567987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1892541539999 meters 0.014843953215857257 Centerline is valid? [True, True] Translation: X:922.81, Y:88.48, Z:6.57 [[ 4.08519126e-01 -9.12721207e-01 -7.21954887e-03 9.22806318e+02] [ 9.12570483e-01 4.08582872e-01 -1.65876633e-02 8.84841930e+01] [ 1.80896961e-02 1.88030507e-04 9.99836350e-01 6.56894140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2192541539998 meters 0.016980669709921285 Centerline is valid? [True, True] Translation: X:922.82, Y:88.51, Z:6.57 [[ 4.04822909e-01 -9.14367180e-01 -7.14648115e-03 9.22821115e+02] [ 9.14219556e-01 4.04885967e-01 -1.64304059e-02 8.85082790e+01] [ 1.79169338e-02 1.17951879e-04 9.99839472e-01 6.56939779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2492541539999 meters 0.013743939723477414 Centerline is valid? [True, True] Translation: X:922.84, Y:88.53, Z:6.57 [[ 4.00379639e-01 -9.16325620e-01 -6.59571333e-03 9.22835697e+02] [ 9.16199984e-01 4.00433962e-01 -1.51733933e-02 8.85321130e+01] [ 1.65449166e-02 3.21252826e-05 9.99863123e-01 6.57122125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2792541539999 meters 0.013645598658775973 Centerline is valid? [True, True] Translation: X:922.85, Y:88.56, Z:6.57 [[ 3.97825297e-01 -9.17436985e-01 -6.66420402e-03 9.22848835e+02] [ 9.17308706e-01 3.97881111e-01 -1.53414134e-02 8.85567150e+01] [ 1.67263410e-02 -9.93001600e-06 9.99860105e-01 6.57267813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3092541539999 meters 0.013697591150900261 Centerline is valid? [True, True] Translation: X:922.86, Y:88.58, Z:6.57 [[ 3.95496000e-01 -9.18443350e-01 -6.68782199e-03 9.22861568e+02] [ 9.18314103e-01 3.95552539e-01 -1.54076819e-02 8.85820064e+01] [ 1.67964679e-02 -4.78447055e-05 9.99858928e-01 6.57288487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3392541539998 meters 0.013928279922746641 Centerline is valid? [True, True] Translation: X:922.88, Y:88.61, Z:6.57 [[ 3.92135319e-01 -9.19883352e-01 -6.67167738e-03 9.22875332e+02] [ 9.19754737e-01 3.92192056e-01 -1.53823081e-02 8.86066105e+01] [ 1.67665080e-02 -1.04360587e-04 9.99859427e-01 6.57277194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3692541539999 meters 0.0166265950072044 Centerline is valid? [True, True] Translation: X:922.89, Y:88.63, Z:6.57 [[ 3.90054986e-01 -9.20764717e-01 -7.03169149e-03 9.22887697e+02] [ 9.20621778e-01 3.90118335e-01 -1.62242315e-02 8.86310373e+01] [ 1.76818917e-02 -1.45185951e-04 9.99843653e-01 6.57117313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3992541539999 meters 0.014743490871952716 Centerline is valid? [True, True] Translation: X:922.90, Y:88.66, Z:6.57 [[ 3.89426133e-01 -9.21031517e-01 -6.94495733e-03 9.22898746e+02] [ 9.20891916e-01 3.89488026e-01 -1.60360887e-02 8.86557984e+01] [ 1.74747208e-02 -1.50683052e-04 9.99847294e-01 6.57261122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4292541539999 meters 0.014342006203211868 Centerline is valid? [True, True] Translation: X:922.91, Y:88.68, Z:6.57 [[ 3.89338061e-01 -9.21068901e-01 -6.92482199e-03 9.22909166e+02] [ 9.20929894e-01 3.89399612e-01 -1.60022464e-02 8.86813033e+01] [ 1.74356945e-02 -1.46992002e-04 9.99847976e-01 6.57265444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4592541539998 meters 0.01394083788050105 Centerline is valid? [True, True] Translation: X:922.92, Y:88.71, Z:6.57 [[ 3.90271083e-01 -9.20673176e-01 -7.02747865e-03 9.22918004e+02] [ 9.20529725e-01 3.90334328e-01 -1.62522892e-02 8.87081372e+01] [ 1.77061129e-02 -1.26204489e-04 9.99843227e-01 6.57409106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4892541539998 meters 0.01394083788050105 Centerline is valid? [True, True] Translation: X:922.93, Y:88.73, Z:6.57 [[ 3.90008882e-01 -9.20784313e-01 -7.02285085e-03 9.22928882e+02] [ 9.20640845e-01 3.90072087e-01 -1.62542892e-02 8.87334936e+01] [ 1.77061126e-02 -1.26206185e-04 9.99843227e-01 6.57428149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5192541539999 meters 0.01404795341833106 Centerline is valid? [True, True] Translation: X:922.94, Y:88.76, Z:6.57 [[ 3.90585436e-01 -9.20539519e-01 -7.07184805e-03 9.22938886e+02] [ 9.20393788e-01 3.90649435e-01 -1.63796884e-02 8.87586366e+01] [ 1.78407640e-02 -1.11217272e-04 9.99840835e-01 6.57361144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5492541539999 meters 0.013832954211253709 Centerline is valid? [True, True] Translation: X:922.95, Y:88.78, Z:6.57 [[ 3.92767148e-01 -9.19611263e-01 -7.00663805e-03 9.22947281e+02] [ 9.19467884e-01 3.92829634e-01 -1.62385131e-02 8.87845730e+01] [ 1.76855346e-02 -6.44241864e-05 9.99843597e-01 6.57339526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5792541539998 meters 0.014076549654902262 Centerline is valid? [True, True] Translation: X:922.96, Y:88.81, Z:6.57 [[ 3.93756383e-01 -9.19187215e-01 -7.12563750e-03 9.22957382e+02] [ 9.19038653e-01 3.93820851e-01 -1.65254962e-02 8.88108521e+01] [ 1.79962495e-02 -4.17166501e-05 9.99838054e-01 6.57314572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6092541539998 meters 0.0162926587151607 Centerline is valid? [True, True] Translation: X:922.97, Y:88.84, Z:6.57 [[ 3.94106271e-01 -9.19034697e-01 -7.44799863e-03 9.22967458e+02] [ 9.18872110e-01 3.94176641e-01 -1.72864568e-02 8.88370614e+01] [ 1.88226807e-02 -3.10571928e-05 9.99822837e-01 6.57204863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6392541539999 meters 0.013649614205503003 Centerline is valid? [True, True] Translation: X:922.98, Y:88.86, Z:6.57 [[ 3.97105950e-01 -9.17742882e-01 -7.40727096e-03 9.22975587e+02] [ 9.17581589e-01 3.97175027e-01 -1.72053725e-02 8.88637124e+01] [ 1.87320912e-02 3.55803348e-05 9.99824538e-01 6.57384057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6692541539999 meters 0.013711880856479121 Centerline is valid? [True, True] Translation: X:922.99, Y:88.89, Z:6.57 [[ 3.98185170e-01 -9.17275338e-01 -7.38407192e-03 9.22985165e+02] [ 9.17114772e-01 3.98253625e-01 -1.71623286e-02 8.88886965e+01] [ 1.86833142e-02 6.17433111e-05 9.99825450e-01 6.57383498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6992541539998 meters 0.015425888646149825 Centerline is valid? [True, True] Translation: X:922.99, Y:88.91, Z:6.57 [[ 3.98806294e-01 -9.17007079e-01 -7.18033838e-03 9.22994625e+02] [ 9.16855000e-01 3.98870921e-01 -1.67002218e-02 8.89147798e+01] [ 1.81782498e-02 7.68244128e-05 9.99834759e-01 6.57311477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7292541539998 meters 0.013982370826719345 Centerline is valid? [True, True] Translation: X:923.00, Y:88.94, Z:6.57 [[ 3.99709660e-01 -9.16615008e-01 -7.00813914e-03 9.23003587e+02] [ 9.16469866e-01 3.99771081e-01 -1.63115835e-02 8.89406484e+01] [ 1.77530936e-02 9.71491380e-05 9.99842397e-01 6.57312533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7592541539999 meters 0.01395258325196398 Centerline is valid? [True, True] Translation: X:923.01, Y:88.97, Z:6.57 [[ 3.99742801e-01 -9.16602467e-01 -6.75355289e-03 9.23014277e+02] [ 9.16467483e-01 3.99799835e-01 -1.57303720e-02 8.89662304e+01] [ 1.71185671e-02 9.86913348e-05 9.99853462e-01 6.57460547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7892541539999 meters 0.013840204687713712 Centerline is valid? [True, True] Translation: X:923.03, Y:88.99, Z:6.58 [[ 3.99659680e-01 -9.16640259e-01 -6.54029575e-03 9.23025344e+02] [ 9.16513479e-01 3.99713179e-01 -1.52452096e-02 8.89917815e+01] [ 1.65886153e-02 9.86263965e-05 9.99862395e-01 6.57599635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8192541539999 meters 0.013955754933154686 Centerline is valid? [True, True] Translation: X:923.04, Y:89.02, Z:6.58 [[ 3.99678009e-01 -9.16633770e-01 -6.32617230e-03 9.23035145e+02] [ 9.16514984e-01 3.99728059e-01 -1.47567628e-02 8.90170896e+01] [ 1.60552957e-02 9.99218644e-05 9.99871100e-01 6.57675545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8492541539998 meters 0.01591287507570516 Centerline is valid? [True, True] Translation: X:923.05, Y:89.04, Z:6.58 [[ 3.98824080e-01 -9.17005816e-01 -6.29971832e-03 9.23046637e+02] [ 9.16887893e-01 3.98873821e-01 -1.47060161e-02 8.90431656e+01] [ 1.59982950e-02 8.89778785e-05 9.99872015e-01 6.57625914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8792541539999 meters 0.013939449027538573 Centerline is valid? [True, True] Translation: X:923.06, Y:89.07, Z:6.58 [[ 3.98655589e-01 -9.17080672e-01 -6.06316164e-03 9.23055952e+02] [ 9.16971310e-01 3.98701684e-01 -1.41627534e-02 8.90690547e+01] [ 1.54057802e-02 8.63155403e-05 9.99881320e-01 6.57739075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9092541539999 meters 0.013823912543867452 Centerline is valid? [True, True] Translation: X:923.07, Y:89.10, Z:6.58 [[ 3.97714799e-01 -9.17488791e-01 -6.10380143e-03 9.23067304e+02] [ 9.17377854e-01 3.97761627e-01 -1.42675055e-02 8.90952153e+01] [ 1.55181344e-02 7.49058429e-05 9.99879584e-01 6.57808197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9392541539999 meters 0.013792731616577928 Centerline is valid? [True, True] Translation: X:923.08, Y:89.12, Z:6.58 [[ 3.96494598e-01 -9.18016231e-01 -6.18330181e-03 9.23077723e+02] [ 9.17902274e-01 3.96542804e-01 -1.44644553e-02 8.91202006e+01] [ 1.57305485e-02 5.94115799e-05 9.99876266e-01 6.57769769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9692541539998 meters 0.016652277963045733 Centerline is valid? [True, True] Translation: X:923.09, Y:89.15, Z:6.58 [[ 3.92844138e-01 -9.19579812e-01 -6.81557654e-03 9.23089792e+02] [ 9.19441369e-01 3.92903257e-01 -1.59561780e-02 8.91455715e+01] [ 1.73508414e-02 1.76798871e-06 9.99849463e-01 6.57556680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9992541539999 meters 0.015441552447893987 Centerline is valid? [True, True] Translation: X:923.10, Y:89.17, Z:6.58 [[ 3.91106801e-01 -9.20319762e-01 -6.85615763e-03 9.23101233e+02] [ 9.20179556e-01 3.91166890e-01 -1.60638944e-02 8.91711667e+01] [ 1.74658213e-02 -2.61977379e-05 9.99847461e-01 6.57640051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0292541539999 meters 0.01476291571223013 Centerline is valid? [True, True] Translation: X:923.11, Y:89.20, Z:6.58 [[ 3.88084193e-01 -9.21597932e-01 -6.92176123e-03 9.23113327e+02] [ 9.21455019e-01 3.88145907e-01 -1.62296841e-02 8.91959074e+01] [ 1.76438966e-02 -7.96077773e-05 9.99844331e-01 6.57678308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0592541539999 meters 0.016496100805354283 Centerline is valid? [True, True] Translation: X:923.13, Y:89.22, Z:6.58 [[ 3.86093724e-01 -9.22430394e-01 -7.33518031e-03 9.23125194e+02] [ 9.22269808e-01 3.86163377e-01 -1.72118543e-02 8.92218793e+01] [ 1.87093155e-02 -1.19626422e-04 9.99824958e-01 6.57547871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0892541539998 meters 0.014272957273374002 Centerline is valid? [True, True] Translation: X:923.14, Y:89.25, Z:6.58 [[ 3.85248531e-01 -9.22783932e-01 -7.30644863e-03 9.23136213e+02] [ 9.22624421e-01 3.85317788e-01 -1.71574862e-02 8.92475024e+01] [ 1.86479572e-02 -1.31211578e-04 9.99826103e-01 6.57665356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1192541539999 meters 0.015401519881927943 Centerline is valid? [True, True] Translation: X:923.15, Y:89.27, Z:6.58 [[ 3.83310712e-01 -9.23585576e-01 -7.91088013e-03 9.23146991e+02] [ 9.23398523e-01 3.83392295e-01 -1.85880416e-02 8.92724049e+01] [ 2.02006176e-02 -1.79899560e-04 9.99795931e-01 6.57508919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1492541539999 meters 0.017825292243751296 Centerline is valid? [True, True] Translation: X:923.16, Y:89.30, Z:6.57 [[ 3.82901625e-01 -9.23751766e-01 -8.30785627e-03 9.23160076e+02] [ 9.23545282e-01 3.82991694e-01 -1.95313668e-02 8.92965361e+01] [ 2.12239745e-02 -1.94089384e-04 9.99774727e-01 6.56936139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1792541539999 meters 0.01601115641254209 Centerline is valid? [True, True] Translation: X:923.17, Y:89.32, Z:6.57 [[ 3.83135366e-01 -9.23653933e-01 -8.40847154e-03 9.23167618e+02] [ 9.23442099e-01 3.83227578e-01 -1.97816430e-02 8.93238738e+01] [ 2.14937505e-02 -1.85689591e-04 9.99768965e-01 6.57431313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2092541539998 meters 0.018150645322196738 Centerline is valid? [True, True] Translation: X:923.18, Y:89.35, Z:6.57 [[ 3.82949850e-01 -9.23727296e-01 -8.79178776e-03 9.23178002e+02] [ 9.23495368e-01 3.83050710e-01 -2.06992357e-02 8.93496932e+01] [ 2.24881496e-02 -1.92406066e-04 9.99747091e-01 6.57291761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2392541539998 meters 0.01447588118037792 Centerline is valid? [True, True] Translation: X:923.19, Y:89.37, Z:6.58 [[ 3.84755936e-01 -9.22979952e-01 -8.41893542e-03 9.23187503e+02] [ 9.22766843e-01 3.84848009e-01 -1.98333911e-02 8.93746390e+01] [ 2.15458329e-02 -1.37699506e-04 9.99767852e-01 6.57535691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2692541539999 meters 0.01608877032190058 Centerline is valid? [True, True] Translation: X:923.20, Y:89.40, Z:6.57 [[ 3.84697726e-01 -9.23003109e-01 -8.53935500e-03 9.23198095e+02] [ 9.22783564e-01 3.84792467e-01 -2.01308348e-02 8.94007088e+01] [ 2.18667026e-02 -1.35690073e-04 9.99760886e-01 6.57463787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2992541539999 meters 0.01599237160596775 Centerline is valid? [True, True] Translation: X:923.21, Y:89.43, Z:6.58 [[ 3.86314603e-01 -9.22330234e-01 -8.24419461e-03 9.23206860e+02] [ 9.22125147e-01 3.86402551e-01 -1.94494936e-02 8.94262798e+01] [ 2.11244338e-02 -8.85557687e-05 9.99776850e-01 6.57507612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3292541539998 meters 0.014022134535820477 Centerline is valid? [True, True] Translation: X:923.22, Y:89.45, Z:6.58 [[ 3.88221971e-01 -9.21532987e-01 -7.78815781e-03 9.23216541e+02] [ 9.21349536e-01 3.88300081e-01 -1.83869386e-02 8.94527202e+01] [ 1.99683127e-02 -3.74020357e-05 9.99800613e-01 6.57690331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3592541539998 meters 0.01592058791934915 Centerline is valid? [True, True] Translation: X:923.23, Y:89.48, Z:6.58 [[ 3.90684565e-01 -9.20491976e-01 -7.75191946e-03 9.23225478e+02] [ 9.20309748e-01 3.90761463e-01 -1.83151979e-02 8.94786513e+01] [ 1.98881441e-02 2.12980733e-05 9.99802211e-01 6.57711075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3892541539999 meters 0.017924013781134063 Centerline is valid? [True, True] Translation: X:923.24, Y:89.51, Z:6.58 [[ 3.92169576e-01 -9.19860720e-01 -7.69933146e-03 9.23235252e+02] [ 9.19680568e-01 3.92245144e-01 -1.82043814e-02 8.95050476e+01] [ 1.97655207e-02 5.82789911e-05 9.99804641e-01 6.57708879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4192541539999 meters 0.014445122649382067 Centerline is valid? [True, True] Translation: X:923.24, Y:89.53, Z:6.58 [[ 3.96572354e-01 -9.17979090e-01 -6.69017403e-03 9.23242604e+02] [ 9.17842608e-01 3.96628758e-01 -1.58295516e-02 8.95314279e+01] [ 1.71847128e-02 1.37035750e-04 9.99852323e-01 6.58093540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4492541539998 meters 0.015042928823256052 Centerline is valid? [True, True] Translation: X:923.25, Y:89.56, Z:6.58 [[ 3.98731293e-01 -9.17044479e-01 -6.54057552e-03 9.23251360e+02] [ 9.16913718e-01 3.98784893e-01 -1.54868540e-02 8.95578913e+01] [ 1.68104167e-02 1.77949891e-04 9.99858679e-01 6.58105769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4792541539998 meters 0.016707060785601 Centerline is valid? [True, True] Translation: X:923.26, Y:89.58, Z:6.58 [[ 4.02939108e-01 -9.15201765e-01 -6.76783208e-03 9.23257847e+02] [ 9.15061318e-01 4.02995852e-01 -1.60352270e-02 8.95840938e+01] [ 1.74028763e-02 2.68238722e-04 9.99848523e-01 6.57990646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5092541539999 meters 0.019553818001083162 Centerline is valid? [True, True] Translation: X:923.27, Y:89.61, Z:6.58 [[ 4.04116320e-01 -9.14676833e-01 -7.50274278e-03 9.23267514e+02] [ 9.14503900e-01 4.04185829e-01 -1.77885727e-02 8.96107746e+01] [ 1.93032976e-02 3.27365001e-04 9.99813620e-01 6.57742480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5392541539999 meters 0.01850631804304187 Centerline is valid? [True, True] Translation: X:923.28, Y:89.64, Z:6.58 [[ 4.05999697e-01 -9.13845017e-01 -7.17854359e-03 9.23276878e+02] [ 9.13686359e-01 4.06062999e-01 -1.70316760e-02 8.96376893e+01] [ 1.84792531e-02 3.55917931e-04 9.99829181e-01 6.57901116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5692541539999 meters 0.02030634925284472 Centerline is valid? [True, True] Translation: X:923.28, Y:89.66, Z:6.58 [[ 4.08675740e-01 -9.12650000e-01 -7.35645149e-03 9.23284984e+02] [ 9.12482943e-01 4.08741724e-01 -1.74665650e-02 8.96636366e+01] [ 1.89477492e-02 4.25524873e-04 9.99820385e-01 6.57852798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5992541539998 meters 0.023150772263930853 Centerline is valid? [True, True] Translation: X:923.30, Y:89.69, Z:6.58 [[ 4.09538518e-01 -9.12255277e-01 -8.27712513e-03 9.23295104e+02] [ 9.12043395e-01 4.09621842e-01 -1.96670271e-02 8.96895689e+01] [ 2.13318405e-02 5.05307834e-04 9.99772323e-01 6.57558165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6292541539999 meters 0.02267533510199113 Centerline is valid? [True, True] Translation: X:923.30, Y:89.72, Z:6.58 [[ 4.11643475e-01 -9.11307606e-01 -8.25209494e-03 9.23304229e+02] [ 9.11096514e-01 4.11725801e-01 -1.96216129e-02 8.97156513e+01] [ 2.12789255e-02 5.58653983e-04 9.99773422e-01 6.57633755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6592541539999 meters 0.02331902026311936 Centerline is valid? [True, True] Translation: X:923.31, Y:89.74, Z:6.58 [[ 4.12115624e-01 -9.11092233e-01 -8.46497653e-03 9.23314494e+02] [ 9.10869752e-01 4.12202128e-01 -2.01419911e-02 8.97416288e+01] [ 2.18404930e-02 5.90338139e-04 9.99761294e-01 6.57535109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6892541539999 meters 0.024142384158813233 Centerline is valid? [True, True] Translation: X:923.33, Y:89.77, Z:6.57 [[ 4.12183278e-01 -9.11056657e-01 -8.98402740e-03 9.23325812e+02] [ 9.10805699e-01 4.12280687e-01 -2.13919308e-02 8.97676696e+01] [ 2.31932020e-02 6.34692821e-04 9.99730800e-01 6.57356158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7192541539998 meters 0.02577516857888089 Centerline is valid? [True, True] Translation: X:923.34, Y:89.79, Z:6.57 [[ 4.11436467e-01 -9.11385146e-01 -9.85643297e-03 9.23338555e+02] [ 9.11082828e-01 4.11553946e-01 -2.34825244e-02 8.97921579e+01] [ 2.54580778e-02 6.81540024e-04 9.99675658e-01 6.57078695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7492541539999 meters 0.02344801810973279 Centerline is valid? [True, True] Translation: X:923.35, Y:89.82, Z:6.57 [[ 4.10230352e-01 -9.11934941e-01 -9.25854752e-03 9.23352541e+02] [ 9.11668018e-01 4.10334359e-01 -2.20712047e-02 8.98159265e+01] [ 2.39266029e-02 6.13556397e-04 9.99713530e-01 6.57334565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7792541539999 meters 0.022989820373374024 Centerline is valid? [True, True] Translation: X:923.37, Y:89.84, Z:6.57 [[ 4.08888555e-01 -9.12537984e-01 -9.19658626e-03 9.23365512e+02] [ 9.12274430e-01 4.08991554e-01 -2.19379651e-02 8.98407029e+01] [ 2.37805525e-02 5.80372360e-04 9.99717034e-01 6.57367758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8092541539999 meters 0.02222217051525148 Centerline is valid? [True, True] Translation: X:923.38, Y:89.86, Z:6.57 [[ 4.07412001e-01 -9.13200055e-01 -9.00673436e-03 9.23378683e+02] [ 9.12947070e-01 4.07511192e-01 -2.15005820e-02 8.98644075e+01] [ 2.33046777e-02 5.36923380e-04 9.99728265e-01 6.57459817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8392541539998 meters 0.02105342739321145 Centerline is valid? [True, True] Translation: X:923.39, Y:89.89, Z:6.58 [[ 4.04355137e-01 -9.14558671e-01 -8.90844423e-03 9.23394508e+02] [ 9.14311126e-01 4.04452995e-01 -2.12823844e-02 8.98859330e+01] [ 2.30670362e-02 4.60551789e-04 9.99733814e-01 6.57592159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8692541539999 meters 0.022212918604585238 Centerline is valid? [True, True] Translation: X:923.41, Y:89.91, Z:6.57 [[ 4.02360067e-01 -9.15434736e-01 -9.25311481e-03 9.23408463e+02] [ 9.15167487e-01 4.02466217e-01 -2.21227250e-02 8.99099250e+01] [ 2.39759771e-02 4.33151299e-04 9.99712441e-01 6.57493913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8992541539999 meters 0.018755044292332455 Centerline is valid? [True, True] Translation: X:923.42, Y:89.93, Z:6.58 [[ 4.00144593e-01 -9.16414920e-01 -8.24610671e-03 9.23422789e+02] [ 9.16202577e-01 4.00229407e-01 -1.97296513e-02 8.99320958e+01] [ 2.13808812e-02 3.39609057e-04 9.99771345e-01 6.57814118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9292541539999 meters 0.02082776144091027 Centerline is valid? [True, True] Translation: X:923.44, Y:89.96, Z:6.58 [[ 3.98484764e-01 -9.17131467e-01 -8.93112705e-03 9.23435545e+02] [ 9.16882145e-01 3.98584698e-01 -2.13862146e-02 8.99550014e+01] [ 2.31737810e-02 3.33289774e-04 9.99731396e-01 6.57618038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9592541539998 meters 0.01471292869479003 Centerline is valid? [True, True] Translation: X:923.45, Y:89.98, Z:6.59 [[ 3.97795886e-01 -9.17436380e-01 -8.30189988e-03 9.23454022e+02] [ 9.17220711e-01 3.97882394e-01 -1.98939460e-02 8.99781147e+01] [ 2.15546096e-02 2.99055360e-04 9.99767628e-01 6.58529471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9892541539998 meters 0.014762823444380166 Centerline is valid? [True, True] Translation: X:923.47, Y:90.00, Z:6.58 [[ 3.96410973e-01 -9.18032967e-01 -8.59135366e-03 9.23467155e+02] [ 9.17801799e-01 3.96503962e-01 -2.06025805e-02 9.00022674e+01] [ 2.23203538e-02 2.81929129e-04 9.99750830e-01 6.58482639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0192541539999 meters 0.014345906527847802 Centerline is valid? [True, True] Translation: X:923.48, Y:90.03, Z:6.59 [[ 3.95718395e-01 -9.18330547e-01 -8.71543919e-03 9.23479825e+02] [ 9.18092346e-01 3.95814263e-01 -2.09168304e-02 9.00275276e+01] [ 2.26582594e-02 2.75596542e-04 9.99743231e-01 6.58531000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0492541539999 meters 0.01631880373392746 Centerline is valid? [True, True] Translation: X:923.49, Y:90.05, Z:6.58 [[ 3.94426335e-01 -9.18878624e-01 -9.48368208e-03 9.23492494e+02] [ 9.18596440e-01 3.94540240e-01 -2.27723542e-02 9.00528568e+01] [ 2.46667237e-02 2.70339624e-04 9.99695694e-01 6.58262256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0792541539998 meters 0.014381959236290246 Centerline is valid? [True, True] Translation: X:923.50, Y:90.08, Z:6.58 [[ 3.94272909e-01 -9.18947628e-01 -9.17227638e-03 9.23504553e+02] [ 9.18683337e-01 3.94379498e-01 -2.20394763e-02 9.00779558e+01] [ 2.38704822e-02 2.63150966e-04 9.99715025e-01 6.58449571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1092541539998 meters 0.01503240584051838 Centerline is valid? [True, True] Translation: X:923.52, Y:90.10, Z:6.58 [[ 3.92047571e-01 -9.19895983e-01 -9.49114920e-03 9.23516557e+02] [ 9.19612847e-01 3.92162379e-01 -2.28228036e-02 9.01024463e+01] [ 2.47166770e-02 2.19441958e-04 9.99694472e-01 6.58360403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1392541539999 meters 0.014554112462564335 Centerline is valid? [True, True] Translation: X:923.53, Y:90.13, Z:6.58 [[ 3.91291221e-01 -9.20220323e-01 -9.25944960e-03 9.23527464e+02] [ 9.19950521e-01 3.91400711e-01 -2.22828007e-02 9.01283344e+01] [ 2.41292412e-02 2.00828823e-04 9.99708827e-01 6.58377527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1692541539999 meters 0.01409337848094641 Centerline is valid? [True, True] Translation: X:923.54, Y:90.15, Z:6.58 [[ 3.90907096e-01 -9.20387265e-01 -8.88396656e-03 9.23538242e+02] [ 9.20138575e-01 3.91007988e-01 -2.13952362e-02 9.01547689e+01] [ 2.31656048e-02 1.89069300e-04 9.99731623e-01 6.58442007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1992541539998 meters 0.01605761152913773 Centerline is valid? [True, True] Translation: X:923.55, Y:90.18, Z:6.58 [[ 3.90604874e-01 -9.20511994e-01 -9.24672517e-03 9.23547965e+02] [ 9.20242189e-01 3.90714258e-01 -2.22863839e-02 9.01812107e+01] [ 2.41277111e-02 1.95943580e-04 9.99708865e-01 6.58365717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2292541539998 meters 0.013995149136385387 Centerline is valid? [True, True] Translation: X:923.56, Y:90.21, Z:6.58 [[ 3.91520872e-01 -9.20128403e-01 -8.66772605e-03 9.23557266e+02] [ 9.19890887e-01 3.91616749e-01 -2.09064168e-02 9.02083953e+01] [ 2.26310146e-02 2.11936351e-04 9.99743863e-01 6.58499155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2592541539999 meters 0.014051335350376044 Centerline is valid? [True, True] Translation: X:923.57, Y:90.24, Z:6.59 [[ 3.91658314e-01 -9.20070183e-01 -8.63854124e-03 9.23567253e+02] [ 9.19833881e-01 3.91753507e-01 -2.08523876e-02 9.02350103e+01] [ 2.25698389e-02 2.20988031e-04 9.99745244e-01 6.58510742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2892541539999 meters 0.015327439396523633 Centerline is valid? [True, True] Translation: X:923.58, Y:90.26, Z:6.58 [[ 3.91279367e-01 -9.20229679e-01 -8.82013138e-03 9.23576776e+02] [ 9.19982964e-01 3.91378702e-01 -2.13086186e-02 9.02608685e+01] [ 2.30608348e-02 2.23252201e-04 9.99734039e-01 6.58441392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3192541539999 meters 0.014161194741590187 Centerline is valid? [True, True] Translation: X:923.59, Y:90.29, Z:6.59 [[ 3.91546699e-01 -9.20121715e-01 -8.19831356e-03 9.23586941e+02] [ 9.19908204e-01 3.91632458e-01 -1.98220697e-02 9.02873595e+01] [ 2.14494425e-02 2.19570077e-04 9.99769910e-01 6.58598610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3492541539998 meters 0.01752473149082016 Centerline is valid? [True, True] Translation: X:923.60, Y:90.31, Z:6.59 [[ 3.90716840e-01 -9.20474961e-01 -8.13616193e-03 9.23596175e+02] [ 9.20264409e-01 3.90801489e-01 -1.96879231e-02 9.03128384e+01] [ 2.13018645e-02 2.04982857e-04 9.99773069e-01 6.58590093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3792541539999 meters 0.01752473149082016 Centerline is valid? [True, True] Translation: X:923.61, Y:90.34, Z:6.59 [[ 3.90460823e-01 -9.20583641e-01 -8.13058072e-03 9.23606628e+02] [ 9.20373064e-01 3.90545411e-01 -1.96902284e-02 9.03383735e+01] [ 2.13018631e-02 2.05095283e-04 9.99773069e-01 6.58609133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4092541539999 meters 0.016130496538136915 Centerline is valid? [True, True] Translation: X:923.62, Y:90.36, Z:6.59 [[ 3.90403356e-01 -9.20612072e-01 -7.65716519e-03 9.23616688e+02] [ 9.20425023e-01 3.90478390e-01 -1.85581236e-02 9.03648593e+01] [ 2.00747902e-02 1.97307299e-04 9.99798462e-01 6.58880109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4392541539999 meters 0.01631500709547352 Centerline is valid? [True, True] Translation: X:923.63, Y:90.39, Z:6.59 [[ 3.90167995e-01 -9.20712836e-01 -7.53715597e-03 9.23625391e+02] [ 9.20531325e-01 3.90240740e-01 -1.82823463e-02 9.03909402e+01] [ 1.97740962e-02 1.94998218e-04 9.99804454e-01 6.58778319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4692541539998 meters 0.013967983530418428 Centerline is valid? [True, True] Translation: X:923.63, Y:90.42, Z:6.59 [[ 3.89916386e-01 -9.20822562e-01 -7.14293788e-03 9.23634552e+02] [ 9.20659301e-01 3.89981763e-01 -1.73399977e-02 9.04171504e+01] [ 1.87526766e-02 1.84937059e-04 9.99824136e-01 6.58906590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4992541539999 meters 0.01389043635906998 Centerline is valid? [True, True] Translation: X:923.64, Y:90.44, Z:6.59 [[ 3.88940448e-01 -9.21236570e-01 -6.96486020e-03 9.23644958e+02] [ 9.21081170e-01 3.89002768e-01 -1.69210980e-02 9.04435968e+01] [ 1.82976842e-02 1.66097845e-04 9.99832570e-01 6.58905599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5292541539999 meters 0.01659002542922504 Centerline is valid? [True, True] Translation: X:923.65, Y:90.47, Z:6.59 [[ 3.86367027e-01 -9.22315506e-01 -7.39107167e-03 9.23654612e+02] [ 9.22140461e-01 3.86437694e-01 -1.79688272e-02 9.04688472e+01] [ 1.94291166e-02 1.26956097e-04 9.99811229e-01 6.58678408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5592541539999 meters 0.01368192990185079 Centerline is valid? [True, True] Translation: X:923.66, Y:90.49, Z:6.59 [[ 3.85578453e-01 -9.22651330e-01 -6.61663263e-03 9.23664765e+02] [ 9.22510904e-01 3.85635207e-01 -1.60971724e-02 9.04939113e+01] [ 1.74036840e-02 1.02807063e-04 9.99848539e-01 6.58825169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5892541539998 meters 0.013575527688769976 Centerline is valid? [True, True] Translation: X:923.68, Y:90.52, Z:6.59 [[ 3.83991864e-01 -9.23314843e-01 -6.32050716e-03 9.23675814e+02] [ 9.23186606e-01 3.84043871e-01 -1.53881798e-02 9.05202456e+01] [ 1.66354869e-02 7.39282920e-05 9.99861618e-01 6.58868771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6192541539999 meters 0.013456789215524416 Centerline is valid? [True, True] Translation: X:923.69, Y:90.54, Z:6.59 [[ 3.81158890e-01 -9.24491865e-01 -5.71764352e-03 9.23686914e+02] [ 9.24386904e-01 3.81201771e-01 -1.39306027e-02 9.05447727e+01] [ 1.50583047e-02 2.44582840e-05 9.99886617e-01 6.58921366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6492541539999 meters 0.013439915065374588 Centerline is valid? [True, True] Translation: X:923.70, Y:90.57, Z:6.59 [[ 3.79647414e-01 -9.25114770e-01 -5.52301484e-03 9.23697740e+02] [ 9.25016747e-01 3.79687586e-01 -1.34668350e-02 9.05709353e+01] [ 1.45553882e-02 3.76788325e-06 9.99894065e-01 6.58942424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6792541539999 meters 0.015493494443134042 Centerline is valid? [True, True] Translation: X:923.71, Y:90.60, Z:6.59 [[ 3.76515203e-01 -9.26391854e-01 -5.86803576e-03 9.23708752e+02] [ 9.26281175e-01 3.76560925e-01 -1.43197420e-02 9.05969923e+01] [ 1.54753653e-02 -4.38504874e-05 9.99880248e-01 6.58816959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7092541539998 meters 0.016035051951868537 Centerline is valid? [True, True] Translation: X:923.72, Y:90.62, Z:6.59 [[ 3.74960150e-01 -9.27022015e-01 -5.92198263e-03 9.23719787e+02] [ 9.26909195e-01 3.75006906e-01 -1.44625108e-02 9.06218291e+01] [ 1.56278502e-02 -6.62749509e-05 9.99877875e-01 6.58679517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7392541539998 meters 0.01400086224704092 Centerline is valid? [True, True] Translation: X:923.73, Y:90.65, Z:6.59 [[ 3.72411223e-01 -9.28051712e-01 -5.46818279e-03 9.23730889e+02] [ 9.27955488e-01 3.72451353e-01 -1.33642077e-02 9.06476687e+01] [ 1.44393079e-02 -9.72493044e-05 9.99895743e-01 6.58689766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7692541539999 meters 0.014282474933667398 Centerline is valid? [True, True] Translation: X:923.74, Y:90.67, Z:6.59 [[ 3.71194223e-01 -9.28539392e-01 -5.42651039e-03 9.23742643e+02] [ 9.28444524e-01 3.71233869e-01 -1.32732587e-02 9.06725328e+01] [ 1.43392480e-02 -1.11256924e-04 9.99897182e-01 6.58653174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7992541539999 meters 0.01417163535395851 Centerline is valid? [True, True] Translation: X:923.75, Y:90.70, Z:6.59 [[ 3.69960499e-01 -9.29033120e-01 -5.16641670e-03 9.23753197e+02] [ 9.28947038e-01 3.69996552e-01 -1.26472368e-02 9.06983000e+01] [ 1.36612582e-02 -1.20349463e-04 9.99906673e-01 6.58740250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8292541539998 meters 0.016650294710150206 Centerline is valid? [True, True] Translation: X:923.76, Y:90.72, Z:6.59 [[ 3.68703459e-01 -9.29531688e-01 -5.34800381e-03 9.23764291e+02] [ 9.29439345e-01 3.68742216e-01 -1.31027705e-02 9.07235648e+01] [ 1.41514752e-02 -1.39608334e-04 9.99899853e-01 6.58650429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8592541539998 meters 0.01672015097237569 Centerline is valid? [True, True] Translation: X:923.77, Y:90.75, Z:6.59 [[ 3.69442442e-01 -9.29237433e-01 -5.48407750e-03 9.23773698e+02] [ 9.29140131e-01 3.69483121e-01 -1.34476559e-02 9.07493793e+01] [ 1.45223394e-02 -1.27341639e-04 9.99894537e-01 6.58501757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8892541539999 meters 0.01700517995504563 Centerline is valid? [True, True] Translation: X:923.78, Y:90.78, Z:6.58 [[ 3.70326859e-01 -9.28884782e-01 -5.57488912e-03 9.23783216e+02] [ 9.28784027e-01 3.70368802e-01 -1.36814530e-02 9.07756543e+01] [ 1.47732585e-02 -1.11258453e-04 9.99890863e-01 6.58445601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9192541539999 meters 0.01398548517062686 Centerline is valid? [True, True] Translation: X:923.79, Y:90.80, Z:6.59 [[ 3.72084201e-01 -9.28184263e-01 -5.22688407e-03 9.23792615e+02] [ 9.28095492e-01 3.72120904e-01 -1.28370618e-02 9.08025320e+01] [ 1.38601915e-02 -7.45796685e-05 9.99903940e-01 6.58526082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9492541539998 meters 0.014223694381516053 Centerline is valid? [True, True] Translation: X:923.80, Y:90.83, Z:6.59 [[ 3.75343919e-01 -9.26871727e-01 -5.07381162e-03 9.23801166e+02] [ 9.26787828e-01 3.75378211e-01 -1.24708111e-02 9.08288807e+01] [ 1.34634405e-02 -2.15037428e-05 9.99909364e-01 6.58630754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9792541539998 meters 0.013743639793070226 Centerline is valid? [True, True] Translation: X:923.81, Y:90.85, Z:6.59 [[ 3.77342642e-01 -9.26060548e-01 -4.93873434e-03 9.23809943e+02] [ 9.25980858e-01 3.77374960e-01 -1.21486498e-02 9.08540650e+01] [ 1.31141400e-02 1.10301494e-05 9.99914006e-01 6.58680429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0092541539999 meters 0.01616850325183432 Centerline is valid? [True, True] Translation: X:923.82, Y:90.88, Z:6.59 [[ 3.81305910e-01 -9.24435566e-01 -4.96855572e-03 9.23818027e+02] [ 9.24354638e-01 3.81338273e-01 -1.22320827e-02 9.08816304e+01] [ 1.32024728e-02 7.14579150e-05 9.99912841e-01 6.58768855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0392541539999 meters 0.014105883182575243 Centerline is valid? [True, True] Translation: X:923.83, Y:90.91, Z:6.59 [[ 3.83426895e-01 -9.23560195e-01 -4.51468692e-03 9.23826281e+02] [ 9.23493215e-01 3.83453462e-01 -1.11231839e-02 9.09086471e+01] [ 1.20041022e-02 9.56451219e-05 9.99927944e-01 6.58876154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0692541539999 meters 0.016346965951305244 Centerline is valid? [True, True] Translation: X:923.83, Y:90.94, Z:6.59 [[ 3.86311042e-01 -9.22357558e-01 -4.50714153e-03 9.23834232e+02] [ 9.22290633e-01 3.86337310e-01 -1.11117604e-02 9.09360491e+01] [ 1.19902931e-02 1.35701318e-04 9.99928105e-01 6.58838676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0992541539998 meters 0.015524427885334107 Centerline is valid? [True, True] Translation: X:923.84, Y:90.96, Z:6.59 [[ 3.87576789e-01 -9.21828070e-01 -4.15233124e-03 9.23843312e+02] [ 9.21771179e-01 3.87599005e-01 -1.02422863e-02 9.09620340e+01] [ 1.10510664e-02 1.42173159e-04 9.99938925e-01 6.58905436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1292541539999 meters 0.01720633707042927 Centerline is valid? [True, True] Translation: X:923.85, Y:90.99, Z:6.59 [[ 3.88957779e-01 -9.21246873e-01 -4.00557520e-03 9.23853848e+02] [ 9.21193826e-01 3.88978372e-01 -9.88743730e-03 9.09878610e+01] [ 1.06668528e-02 1.55884507e-04 9.99943095e-01 6.58912705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1592541539999 meters 0.015091608224529042 Centerline is valid? [True, True] Translation: X:923.86, Y:91.01, Z:6.59 [[ 3.89605383e-01 -9.20974083e-01 -3.79263740e-03 9.23864665e+02] [ 9.20926452e-01 3.89623810e-01 -9.36789094e-03 9.10134520e+01] [ 1.01052866e-02 1.57040631e-04 9.99948928e-01 6.59039366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1892541539999 meters 0.015336746842843101 Centerline is valid? [True, True] Translation: X:923.88, Y:91.04, Z:6.59 [[ 3.90317424e-01 -9.20671503e-01 -4.03640715e-03 9.23875588e+02] [ 9.20617464e-01 3.90338254e-01 -9.97654750e-03 9.10396096e+01] [ 1.07606871e-02 1.78033409e-04 9.99942086e-01 6.58990753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2192541539998 meters 0.01690049074576128 Centerline is valid? [True, True] Translation: X:923.89, Y:91.06, Z:6.59 [[ 3.90545655e-01 -9.20572224e-01 -4.56852145e-03 9.23885132e+02] [ 9.20502877e-01 3.90572319e-01 -1.13011933e-02 9.10647023e+01] [ 1.21879027e-02 2.08294797e-04 9.99925703e-01 6.58844621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2492541539999 meters 0.015546450714022138 Centerline is valid? [True, True] Translation: X:923.89, Y:91.09, Z:6.59 [[ 3.91319356e-01 -9.20241475e-01 -4.97884432e-03 9.23894887e+02] [ 9.20158957e-01 3.91350954e-01 -1.23257907e-02 9.10922157e+01] [ 1.32911792e-02 2.41992266e-04 9.99911639e-01 6.58763481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2792541539999 meters 0.015958592612707982 Centerline is valid? [True, True] Translation: X:923.90, Y:91.12, Z:6.59 [[ 3.91411527e-01 -9.20199315e-01 -5.49881043e-03 9.23904073e+02] [ 9.20098500e-01 3.91450055e-01 -1.36236935e-02 9.11181535e+01] [ 1.46890231e-02 2.73023449e-04 9.99892073e-01 6.58667202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3092541539999 meters 0.016023538468639402 Centerline is valid? [True, True] Translation: X:923.91, Y:91.14, Z:6.59 [[ 3.90854560e-01 -9.20433413e-01 -5.91995247e-03 9.23914277e+02] [ 9.20316409e-01 3.90899283e-01 -1.46784873e-02 9.11435191e+01] [ 1.58246753e-02 2.88924289e-04 9.99874740e-01 6.58578475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3392541539998 meters 0.018942852925144756 Centerline is valid? [True, True] Translation: X:923.93, Y:91.17, Z:6.58 [[ 3.89493189e-01 -9.21007731e-01 -6.30996634e-03 9.23925645e+02] [ 9.20874681e-01 3.89544191e-01 -1.56571225e-02 9.11681124e+01] [ 1.68783416e-02 2.87654323e-04 9.99857509e-01 6.58383942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3692541539999 meters 0.017425137970154773 Centerline is valid? [True, True] Translation: X:923.94, Y:91.19, Z:6.58 [[ 3.87627125e-01 -9.21792309e-01 -6.64468671e-03 9.23937757e+02] [ 9.21644647e-01 3.87683977e-01 -1.65008551e-02 9.11921073e+01] [ 1.77863999e-02 2.72139097e-04 9.99841772e-01 6.58439029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3992541539999 meters 0.015622753988623075 Centerline is valid? [True, True] Translation: X:923.95, Y:91.22, Z:6.59 [[ 3.86188211e-01 -9.22396164e-01 -6.63192779e-03 9.23950463e+02] [ 9.22248915e-01 3.86245071e-01 -1.64828386e-02 9.12171496e+01] [ 1.77652565e-02 2.49189740e-04 9.99842154e-01 6.58616811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4292541539999 meters 0.014611005744114818 Centerline is valid? [True, True] Translation: X:923.96, Y:91.24, Z:6.59 [[ 3.83207293e-01 -9.23638745e-01 -6.60599492e-03 9.23963428e+02] [ 9.23492689e-01 3.83264179e-01 -1.64262782e-02 9.12416953e+01] [ 1.77037882e-02 1.94081587e-04 9.99843257e-01 6.58659604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4592541539998 meters 0.01445460198203916 Centerline is valid? [True, True] Translation: X:923.98, Y:91.27, Z:6.59 [[ 3.81409040e-01 -9.24383454e-01 -6.50949654e-03 9.23975495e+02] [ 9.24241574e-01 3.81464551e-01 -1.61959537e-02 9.12672539e+01] [ 1.74544138e-02 1.60935830e-04 9.99847647e-01 6.58725450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4892541539998 meters 0.01691911335386796 Centerline is valid? [True, True] Translation: X:923.99, Y:91.29, Z:6.59 [[ 3.79243924e-01 -9.25272836e-01 -6.65015073e-03 9.23987493e+02] [ 9.25124649e-01 3.79302204e-01 -1.65596593e-02 9.12926906e+01] [ 1.78446197e-02 1.27931799e-04 9.99840764e-01 6.58675830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5192541539999 meters 0.01612439981280297 Centerline is valid? [True, True] Translation: X:924.00, Y:91.32, Z:6.59 [[ 3.76589764e-01 -9.26359177e-01 -6.23096681e-03 9.24000485e+02] [ 9.26229025e-01 3.76641301e-01 -1.55281749e-02 9.13182353e+01] [ 1.67315068e-02 7.64494091e-05 9.99860016e-01 6.58861497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5492541539999 meters 0.014097514684098067 Centerline is valid? [True, True] Translation: X:924.01, Y:91.34, Z:6.59 [[ 3.75927520e-01 -9.26628584e-01 -6.16173650e-03 9.24011109e+02] [ 9.26501149e-01 3.75978008e-01 -1.53674243e-02 9.13431258e+01] [ 1.65565720e-02 6.81817398e-05 9.99862928e-01 6.59039159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5792541539998 meters 0.014131884189255756 Centerline is valid? [True, True] Translation: X:924.02, Y:91.37, Z:6.59 [[ 3.74350600e-01 -9.27265817e-01 -6.30336452e-03 9.24022387e+02] [ 9.27132334e-01 3.74403662e-01 -1.57331828e-02 9.13691571e+01] [ 1.69488454e-02 4.56733612e-05 9.99856357e-01 6.59056396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6092541539998 meters 0.01752360208995698 Centerline is valid? [True, True] Translation: X:924.03, Y:91.39, Z:6.59 [[ 3.73360903e-01 -9.27661217e-01 -6.80463402e-03 9.24033115e+02] [ 9.27505463e-01 3.73422905e-01 -1.69985209e-02 9.13948879e+01] [ 1.83098747e-02 3.52478697e-05 9.99832360e-01 6.58916783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6392541539999 meters 0.014368681494861492 Centerline is valid? [True, True] Translation: X:924.04, Y:91.42, Z:6.59 [[ 3.75200323e-01 -9.26918741e-01 -6.80926838e-03 9.24042034e+02] [ 9.26762398e-01 3.75262098e-01 -1.70239369e-02 9.14214408e+01] [ 1.83350665e-02 7.68127190e-05 9.99831896e-01 6.59029185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6692541539999 meters 0.014490840753002736 Centerline is valid? [True, True] Translation: X:924.05, Y:91.45, Z:6.59 [[ 3.76443195e-01 -9.26411377e-01 -7.24436336e-03 9.24051317e+02] [ 9.26234043e-01 3.76512878e-01 -1.81259551e-02 9.14477579e+01] [ 1.95196871e-02 1.13416472e-04 9.99809466e-01 6.59031248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6992541539998 meters 0.016083504368275263 Centerline is valid? [True, True] Translation: X:924.06, Y:91.47, Z:6.59 [[ 3.78998086e-01 -9.25364266e-01 -7.83747797e-03 9.24057916e+02] [ 9.25156158e-01 3.79079068e-01 -1.96250682e-02 9.14745523e+01] [ 2.11313606e-02 1.86972248e-04 9.99776690e-01 6.58860583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7292541539998 meters 0.017037519336643405 Centerline is valid? [True, True] Translation: X:924.07, Y:91.50, Z:6.59 [[ 3.79918764e-01 -9.24983062e-01 -8.25028948e-03 9.24067098e+02] [ 9.24752002e-01 3.80008268e-01 -2.06749114e-02 9.15016289e+01] [ 2.22591211e-02 2.25315073e-04 9.99752210e-01 6.58858114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7592541539999 meters 0.015320730031744334 Centerline is valid? [True, True] Translation: X:924.08, Y:91.53, Z:6.59 [[ 3.82256401e-01 -9.24020221e-01 -8.16555647e-03 9.24075028e+02] [ 9.23793310e-01 3.82343499e-01 -2.04785143e-02 9.15292891e+01] [ 2.20446087e-02 2.84756727e-04 9.99756948e-01 6.59064483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7892541539999 meters 0.015966536797890216 Centerline is valid? [True, True] Translation: X:924.08, Y:91.55, Z:6.59 [[ 3.82243438e-01 -9.24026576e-01 -8.05236106e-03 9.24083668e+02] [ 9.23805545e-01 3.82328137e-01 -2.02116535e-02 9.15547454e+01] [ 2.17547492e-02 2.86956121e-04 9.99763296e-01 6.59087350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8192541539999 meters 0.015236304142040125 Centerline is valid? [True, True] Translation: X:924.09, Y:91.58, Z:6.59 [[ 3.81737192e-01 -9.24239806e-01 -7.58272064e-03 9.24094346e+02] [ 9.24043531e-01 3.81812404e-01 -1.90484122e-02 9.15809614e+01] [ 2.05004775e-02 2.64723429e-04 9.99789808e-01 6.59266548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8492541539998 meters 0.016465857100669914 Centerline is valid? [True, True] Translation: X:924.11, Y:91.61, Z:6.59 [[ 3.78962226e-01 -9.25383941e-01 -7.22452461e-03 9.24105241e+02] [ 9.25205754e-01 3.79031032e-01 -1.81600994e-02 9.16062430e+01] [ 1.95433834e-02 1.97819946e-04 9.99808990e-01 6.59383178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8792541539999 meters 0.01765561883849 Centerline is valid? [True, True] Translation: X:924.12, Y:91.63, Z:6.59 [[ 3.76790424e-01 -9.26271634e-01 -7.05955513e-03 9.24116711e+02] [ 9.26101407e-01 3.76856521e-01 -1.77580078e-02 9.16319341e+01] [ 1.91091783e-02 1.53183336e-04 9.99817391e-01 6.59461430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9092541539999 meters 0.014021498701051693 Centerline is valid? [True, True] Translation: X:924.13, Y:91.66, Z:6.60 [[ 3.72245354e-01 -9.28110874e-01 -6.60314653e-03 9.24129852e+02] [ 9.27962011e-01 3.72303910e-01 -1.66224165e-02 9.16576744e+01] [ 1.78858228e-02 6.01481738e-05 9.99840034e-01 6.59725840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9392541539999 meters 0.013922717579962622 Centerline is valid? [True, True] Translation: X:924.14, Y:91.68, Z:6.60 [[ 3.68915493e-01 -9.29440508e-01 -6.45767255e-03 9.24141345e+02] [ 9.29298108e-01 3.68972008e-01 -1.62691031e-02 9.16828425e+01] [ 1.75038638e-02 8.21315649e-07 9.99846796e-01 6.59787525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9692541539998 meters 0.014259632618274487 Centerline is valid? [True, True] Translation: X:924.15, Y:91.71, Z:6.60 [[ 3.61885143e-01 -9.32201549e-01 -6.27816535e-03 9.24154468e+02] [ 9.32067148e-01 3.61939576e-01 -1.58295355e-02 9.17081529e+01] [ 1.70286340e-02 -1.23197970e-04 9.99854995e-01 6.59847200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9992541539999 meters 0.014701435986708642 Centerline is valid? [True, True] Translation: X:924.17, Y:91.73, Z:6.60 [[ 3.57948896e-01 -9.33721009e-01 -6.13720255e-03 9.24166250e+02] [ 9.33592596e-01 3.58001456e-01 -1.54862206e-02 9.17341774e+01] [ 1.66569370e-02 -1.86371301e-04 9.99861246e-01 6.59863550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0292541539999 meters 0.017453755188872745 Centerline is valid? [True, True] Translation: X:924.18, Y:91.76, Z:6.60 [[ 3.51226601e-01 -9.36267607e-01 -6.54545751e-03 9.24179005e+02] [ 9.36121728e-01 3.51287439e-01 -1.65301609e-02 9.17587215e+01] [ 1.77759912e-02 -3.21512777e-04 9.99841943e-01 6.59794140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0592541539999 meters 0.016614064766268994 Centerline is valid? [True, True] Translation: X:924.19, Y:91.78, Z:6.60 [[ 3.48898989e-01 -9.37136930e-01 -6.62348227e-03 9.24190081e+02] [ 9.36987467e-01 3.48961662e-01 -1.67405442e-02 9.17848252e+01] [ 1.79995236e-02 -3.65360923e-04 9.99837929e-01 6.59843706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0892541539998 meters 0.01947083370338954 Centerline is valid? [True, True] Translation: X:924.20, Y:91.81, Z:6.60 [[ 3.45111398e-01 -9.38533093e-01 -7.33190472e-03 9.24200906e+02] [ 9.38349948e-01 3.45188940e-01 -1.85464331e-02 9.18103302e+01] [ 1.99373337e-02 -4.79306944e-04 9.99801117e-01 6.59635383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1192541539999 meters 0.019633794954946146 Centerline is valid? [True, True] Translation: X:924.21, Y:91.84, Z:6.60 [[ 3.44007694e-01 -9.38935367e-01 -7.68649454e-03 9.24210493e+02] [ 9.38733926e-01 3.44093160e-01 -1.94554432e-02 9.18367083e+01] [ 2.09122739e-02 -5.22751056e-04 9.99781178e-01 6.59594287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1492541539999 meters 0.021430789704763725 Centerline is valid? [True, True] Translation: X:924.22, Y:91.86, Z:6.60 [[ 3.43133221e-01 -9.39254459e-01 -7.78802646e-03 9.24220109e+02] [ 9.39047470e-01 3.43221159e-01 -1.97252349e-02 9.18626613e+01] [ 2.12000304e-02 -5.44943146e-04 9.99775106e-01 6.59516629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1792541539999 meters 0.020884551277763286 Centerline is valid? [True, True] Translation: X:924.23, Y:91.89, Z:6.60 [[ 3.42641041e-01 -9.39433543e-01 -7.85715445e-03 9.24227226e+02] [ 9.39222567e-01 3.42730665e-01 -1.99163623e-02 9.18887808e+01] [ 2.14029866e-02 -5.55453676e-04 9.99770776e-01 6.59507347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2092541539998 meters 0.018523513629554542 Centerline is valid? [True, True] Translation: X:924.23, Y:91.92, Z:6.60 [[ 3.43562988e-01 -9.39100264e-01 -7.42748377e-03 9.24233299e+02] [ 9.38911360e-01 3.43642902e-01 -1.88418416e-02 9.19165762e+01] [ 2.02467805e-02 -5.00389467e-04 9.99794888e-01 6.59605583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2392541539998 meters 0.020504167058570562 Centerline is valid? [True, True] Translation: X:924.24, Y:91.94, Z:6.60 [[ 3.43748177e-01 -9.39030450e-01 -7.68152607e-03 9.24242902e+02] [ 9.38828047e-01 3.43833618e-01 -1.95023489e-02 9.19420629e+01] [ 2.09544663e-02 -5.07735243e-04 9.99780302e-01 6.59536032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2692541539999 meters 0.01771467535701809 Centerline is valid? [True, True] Translation: X:924.25, Y:91.97, Z:6.60 [[ 3.44990238e-01 -9.38577937e-01 -7.29322729e-03 9.24249730e+02] [ 9.38395093e-01 3.45067025e-01 -1.85309610e-02 9.19699534e+01] [ 1.99094034e-02 -4.50928051e-04 9.99801686e-01 6.59726936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2992541539999 meters 0.01771467535701809 Centerline is valid? [True, True] Translation: X:924.26, Y:92.00, Z:6.60 [[ 3.44733026e-01 -9.38672479e-01 -7.28822245e-03 9.24259752e+02] [ 9.38489614e-01 3.44809765e-01 -1.85329297e-02 9.19956627e+01] [ 1.99094014e-02 -4.51008121e-04 9.99801687e-01 6.59745986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3292541539998 meters 0.01856879271768471 Centerline is valid? [True, True] Translation: X:924.26, Y:92.02, Z:6.60 [[ 3.47369714e-01 -9.37694426e-01 -7.96532529e-03 9.24264115e+02] [ 9.37475397e-01 3.47460765e-01 -2.02705962e-02 9.20246851e+01] [ 2.17752631e-02 -4.25905290e-04 9.99762800e-01 6.59827137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3592541539998 meters 0.017597730479976793 Centerline is valid? [True, True] Translation: X:924.27, Y:92.05, Z:6.60 [[ 3.49269563e-01 -9.36989578e-01 -7.82963339e-03 9.24271454e+02] [ 9.36777458e-01 3.49357115e-01 -1.99399269e-02 9.20526877e+01] [ 2.14188418e-02 -3.70214515e-04 9.99770522e-01 6.59857437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3892541539999 meters 0.016567954869875053 Centerline is valid? [True, True] Translation: X:924.28, Y:92.08, Z:6.60 [[ 3.54143233e-01 -9.35159961e-01 -7.64310810e-03 9.24276753e+02] [ 9.34957146e-01 3.54225613e-01 -1.94769181e-02 9.20797112e+01] [ 2.09214186e-02 -2.48359804e-04 9.99781092e-01 6.59621888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4192541539999 meters 0.014992241592064255 Centerline is valid? [True, True] Translation: X:924.28, Y:92.11, Z:6.60 [[ 3.56906422e-01 -9.34111004e-01 -7.37817889e-03 9.24282823e+02] [ 9.33921518e-01 3.56982634e-01 -1.88148373e-02 9.21075500e+01] [ 2.02090283e-02 -1.75503782e-04 9.99795761e-01 6.59705348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4492541539998 meters 0.014209530289928206 Centerline is valid? [True, True] Translation: X:924.29, Y:92.14, Z:6.60 [[ 3.61946534e-01 -9.32169438e-01 -7.40573902e-03 9.24285388e+02] [ 9.31977825e-01 3.62022284e-01 -1.88996990e-02 9.21357215e+01] [ 2.02987643e-02 -6.13040213e-05 9.99793957e-01 6.59691991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4792541539998 meters 0.017010798000821472 Centerline is valid? [True, True] Translation: X:924.29, Y:92.16, Z:6.60 [[ 3.63704097e-01 -9.31481405e-01 -7.85630629e-03 9.24291924e+02] [ 9.31265240e-01 3.63788938e-01 -2.00664058e-02 9.21624103e+01] [ 2.15495212e-02 -1.80709670e-05 9.99767782e-01 6.59641822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5092541539999 meters 0.014212314519126768 Centerline is valid? [True, True] Translation: X:924.29, Y:92.19, Z:6.60 [[ 3.68276901e-01 -9.29688903e-01 -7.11806169e-03 9.24294140e+02] [ 9.29510829e-01 3.68345674e-01 -1.81956844e-02 9.21905755e+01] [ 1.95382331e-02 8.47348353e-05 9.99809107e-01 6.59825072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5392541539999 meters 0.017926893900041926 Centerline is valid? [True, True] Translation: X:924.30, Y:92.22, Z:6.60 [[ 3.69362052e-01 -9.29254826e-01 -7.55928321e-03 9.24302374e+02] [ 9.29053571e-01 3.69439377e-01 -1.93392886e-02 9.22181813e+01] [ 2.07638241e-02 1.20220239e-04 9.99784401e-01 6.59909074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5692541539999 meters 0.015178575357650773 Centerline is valid? [True, True] Translation: X:924.31, Y:92.25, Z:6.60 [[ 3.70890050e-01 -9.28650165e-01 -7.03149901e-03 9.24309597e+02] [ 9.28475648e-01 3.70956667e-01 -1.80034174e-02 9.22450982e+01] [ 1.93272579e-02 1.48712762e-04 9.99813200e-01 6.60099979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5992541539998 meters 0.016521576007730604 Centerline is valid? [True, True] Translation: X:924.32, Y:92.27, Z:6.60 [[ 3.72782648e-01 -9.27891191e-01 -7.14386453e-03 9.24315519e+02] [ 9.27710629e-01 3.72851041e-01 -1.83054721e-02 9.22739618e+01] [ 1.96490836e-02 1.96523312e-04 9.99806919e-01 6.60084474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6292541539999 meters 0.01424949650219297 Centerline is valid? [True, True] Translation: X:924.32, Y:92.30, Z:6.60 [[ 3.73531826e-01 -9.27593616e-01 -6.63769602e-03 9.24323488e+02] [ 9.27437444e-01 3.73590743e-01 -1.70218808e-02 9.23015054e+01] [ 1.82691698e-02 2.02166399e-04 9.99833084e-01 6.60157909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6592541539999 meters 0.014774361392093614 Centerline is valid? [True, True] Translation: X:924.33, Y:92.33, Z:6.60 [[ 3.73335853e-01 -9.27669715e-01 -7.01711770e-03 9.24331014e+02] [ 9.27494910e-01 3.73401731e-01 -1.80094018e-02 9.23281952e+01] [ 1.93269805e-02 2.15214434e-04 9.99813193e-01 6.60043945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6892541539999 meters 0.016127222575695675 Centerline is valid? [True, True] Translation: X:924.34, Y:92.35, Z:6.60 [[ 3.72597926e-01 -9.27960486e-01 -7.75384025e-03 9.24338986e+02] [ 9.27746841e-01 3.72678528e-01 -1.99126735e-02 9.23544144e+01] [ 2.13678640e-02 2.25820053e-04 9.99771656e-01 6.59864307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7192541539998 meters 0.015046425927238748 Centerline is valid? [True, True] Translation: X:924.35, Y:92.38, Z:6.60 [[ 3.72156396e-01 -9.28138281e-01 -7.67776693e-03 9.24348881e+02] [ 9.27928531e-01 3.72235521e-01 -1.97321443e-02 9.23810498e+01] [ 2.11720961e-02 2.19024716e-04 9.99775822e-01 6.60022358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7492541539999 meters 0.014430798250277276 Centerline is valid? [True, True] Translation: X:924.36, Y:92.41, Z:6.60 [[ 3.72185678e-01 -9.28127833e-01 -7.51970257e-03 9.24356108e+02] [ 9.27926360e-01 3.72261570e-01 -1.93389362e-02 9.24067880e+01] [ 2.07483013e-02 2.19944857e-04 9.99784707e-01 6.59917386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7792541539999 meters 0.01434258367553937 Centerline is valid? [True, True] Translation: X:924.36, Y:92.43, Z:6.60 [[ 3.71964023e-01 -9.28213715e-01 -7.87815673e-03 9.24364168e+02] [ 9.27992264e-01 3.72047371e-01 -2.02758905e-02 9.24340027e+01] [ 2.17514071e-02 2.31033286e-04 9.99763383e-01 6.59904276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8092541539999 meters 0.014952702513644209 Centerline is valid? [True, True] Translation: X:924.37, Y:92.46, Z:6.60 [[ 3.71811347e-01 -9.28271509e-01 -8.26609634e-03 9.24373197e+02] [ 9.28027347e-01 3.71903140e-01 -2.12907671e-02 9.24599795e+01] [ 2.28377997e-02 2.44985317e-04 9.99739153e-01 6.59819494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8392541539998 meters 0.017375322918514378 Centerline is valid? [True, True] Translation: X:924.38, Y:92.49, Z:6.60 [[ 3.70726007e-01 -9.28700750e-01 -8.78314988e-03 9.24382626e+02] [ 9.28424740e-01 3.70829960e-01 -2.26416276e-02 9.24857629e+01] [ 2.42843516e-02 2.39346549e-04 9.99705063e-01 6.59658236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8692541539999 meters 0.01712713254742468 Centerline is valid? [True, True] Translation: X:924.39, Y:92.51, Z:6.60 [[ 3.69960310e-01 -9.29005389e-01 -8.85194125e-03 9.24393197e+02] [ 9.28724649e-01 3.70066124e-01 -2.28383458e-02 9.25115185e+01] [ 2.44927499e-02 2.28265481e-04 9.99699982e-01 6.59800391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8992541539999 meters 0.01655831583967366 Centerline is valid? [True, True] Translation: X:924.40, Y:92.54, Z:6.60 [[ 3.68201700e-01 -9.29707445e-01 -8.46019831e-03 9.24403932e+02] [ 9.29450779e-01 3.68298839e-01 -2.18452405e-02 9.25375027e+01] [ 2.34255640e-02 1.80116789e-04 9.99725568e-01 6.59899279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9292541539999 meters 0.016203239403064486 Centerline is valid? [True, True] Translation: X:924.41, Y:92.56, Z:6.60 [[ 3.66997545e-01 -9.30186364e-01 -8.13207231e-03 9.24414470e+02] [ 9.29948963e-01 3.67087600e-01 -2.10147727e-02 9.25640459e+01] [ 2.25328379e-02 1.49957793e-04 9.99746092e-01 6.59964744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9592541539998 meters 0.01694169552434542 Centerline is valid? [True, True] Translation: X:924.43, Y:92.59, Z:6.60 [[ 3.64756450e-01 -9.31072020e-01 -7.59119246e-03 9.24425828e+02] [ 9.30865024e-01 3.64835422e-01 -1.96321473e-02 9.25902539e+01] [ 2.10484789e-02 9.45768069e-05 9.99778452e-01 6.60122228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9892541539998 meters 0.016026962189398513 Centerline is valid? [True, True] Translation: X:924.44, Y:92.62, Z:6.60 [[ 3.63911975e-01 -9.31406533e-01 -7.06716263e-03 9.24435751e+02] [ 9.31226907e-01 3.63980583e-01 -1.82916114e-02 9.26157366e+01] [ 1.96092363e-02 7.54044153e-05 9.99807718e-01 6.60200054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0192541539999 meters 0.01709565132411391 Centerline is valid? [True, True] Translation: X:924.45, Y:92.64, Z:6.60 [[ 3.63020365e-01 -9.31753622e-01 -7.16960977e-03 9.24445859e+02] [ 9.31568508e-01 3.63091152e-01 -1.85722952e-02 9.26414313e+01] [ 1.99080252e-02 6.31386945e-05 9.99801814e-01 6.60236602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0492541539999 meters 0.014412616998870751 Centerline is valid? [True, True] Translation: X:924.46, Y:92.67, Z:6.60 [[ 3.63137535e-01 -9.31712421e-01 -6.56470270e-03 9.24455488e+02] [ 9.31556985e-01 3.63196862e-01 -1.70182960e-02 9.26682971e+01] [ 1.82404372e-02 6.45873935e-05 9.99833627e-01 6.60359266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0792541539998 meters 0.017346184298150283 Centerline is valid? [True, True] Translation: X:924.46, Y:92.70, Z:6.60 [[ 3.63910946e-01 -9.31406675e-01 -7.10141049e-03 9.24464312e+02] [ 9.31224431e-01 3.63980216e-01 -1.84244919e-02 9.26950778e+01] [ 1.97454677e-02 9.18673238e-05 9.99805035e-01 6.60224503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1092541539998 meters 0.014129016151039836 Centerline is valid? [True, True] Translation: X:924.47, Y:92.72, Z:6.60 [[ 3.65054586e-01 -9.30961491e-01 -6.77133149e-03 9.24472833e+02] [ 9.30795454e-01 3.65117363e-01 -1.75822029e-02 9.27215418e+01] [ 1.88406845e-02 1.15739243e-04 9.99822492e-01 6.60300652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1392541539999 meters 0.013825509292810052 Centerline is valid? [True, True] Translation: X:924.48, Y:92.75, Z:6.60 [[ 3.66128945e-01 -9.30538767e-01 -6.87017983e-03 9.24481699e+02] [ 9.30367488e-01 3.66193367e-01 -1.78537110e-02 9.27482207e+01] [ 1.91293845e-02 1.44968403e-04 9.99817006e-01 6.60255049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1692541539999 meters 0.017450591544750774 Centerline is valid? [True, True] Translation: X:924.49, Y:92.78, Z:6.60 [[ 3.68631864e-01 -9.29542442e-01 -7.83561129e-03 9.24491087e+02] [ 9.29319097e-01 3.68715059e-01 -2.03769599e-02 9.27750156e+01] [ 2.18303569e-02 2.29813482e-04 9.99761663e-01 6.60113648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1992541539998 meters 0.018285148423398387 Centerline is valid? [True, True] Translation: X:924.50, Y:92.80, Z:6.60 [[ 3.70068111e-01 -9.28971062e-01 -7.89678881e-03 9.24499192e+02] [ 9.28743764e-01 3.70152256e-01 -2.05506193e-02 9.28016918e+01] [ 2.20139448e-02 2.71035488e-04 9.99757627e-01 6.59981169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2292541539998 meters 0.0170270262716846 Centerline is valid? [True, True] Translation: X:924.51, Y:92.83, Z:6.60 [[ 3.73004955e-01 -9.27797020e-01 -7.74557760e-03 9.24509821e+02] [ 9.27577756e-01 3.73085211e-01 -2.01725500e-02 9.28289589e+01] [ 2.16057922e-02 3.39835598e-04 9.99766510e-01 6.60214496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2592541539999 meters 0.0154097948018382 Centerline is valid? [True, True] Translation: X:924.52, Y:92.85, Z:6.60 [[ 3.74166505e-01 -9.27332446e-01 -7.34579196e-03 9.24517437e+02] [ 9.27134839e-01 3.74238439e-01 -1.91462914e-02 9.28545926e+01] [ 2.05040550e-02 3.53361294e-04 9.99789707e-01 6.60251153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2892541539999 meters 0.018288527409289247 Centerline is valid? [True, True] Translation: X:924.53, Y:92.88, Z:6.60 [[ 3.75030573e-01 -9.26982040e-01 -7.50778987e-03 9.24529157e+02] [ 9.26775327e-01 3.75105518e-01 -1.95791802e-02 9.28804555e+01] [ 2.09657618e-02 3.84756766e-04 9.99780120e-01 6.60233117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3192541539999 meters 0.016188765029321192 Centerline is valid? [True, True] Translation: X:924.54, Y:92.91, Z:6.60 [[ 3.75602357e-01 -9.26755114e-01 -6.91582152e-03 9.24538070e+02] [ 9.26579457e-01 3.75665838e-01 -1.80468197e-02 9.29062852e+01] [ 1.93230204e-02 3.70369881e-04 9.99813224e-01 6.60335084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3492541539998 meters 0.01579232879020879 Centerline is valid? [True, True] Translation: X:924.55, Y:92.93, Z:6.61 [[ 3.75875352e-01 -9.26647861e-01 -6.43908971e-03 9.24550168e+02] [ 9.26495329e-01 3.75930334e-01 -1.68163284e-02 9.29312954e+01] [ 1.80034639e-02 3.55056825e-04 9.99837861e-01 6.60507441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3792541539999 meters 0.015799628861307563 Centerline is valid? [True, True] Translation: X:924.56, Y:92.96, Z:6.61 [[ 3.76041645e-01 -9.26581521e-01 -6.27420696e-03 9.24561229e+02] [ 9.26436448e-01 3.76093817e-01 -1.63996762e-02 9.29569655e+01] [ 1.75553274e-02 3.54307225e-04 9.99845831e-01 6.60581019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4092541539999 meters 0.019188566758758387 Centerline is valid? [True, True] Translation: X:924.57, Y:92.98, Z:6.60 [[ 3.76473484e-01 -9.26404897e-01 -6.45621699e-03 9.24572176e+02] [ 9.26251082e-01 3.76528651e-01 -1.68851464e-02 9.29829126e+01] [ 1.80734330e-02 3.76731929e-04 9.99836591e-01 6.60420212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4392541539999 meters 0.01809373651499168 Centerline is valid? [True, True] Translation: X:924.58, Y:93.01, Z:6.60 [[ 3.77828243e-01 -9.25854228e-01 -6.30621154e-03 9.24582881e+02] [ 9.25707216e-01 3.77880657e-01 -1.65032751e-02 9.30093729e+01] [ 1.76626224e-02 3.97697894e-04 9.99843925e-01 6.60497693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4692541539998 meters 0.01934713462476951 Centerline is valid? [True, True] Translation: X:924.59, Y:93.04, Z:6.60 [[ 3.78712418e-01 -9.25493033e-01 -6.28887376e-03 9.24592645e+02] [ 9.25346548e-01 3.78764400e-01 -1.64710357e-02 9.30359876e+01] [ 1.76258302e-02 4.18398125e-04 9.99844565e-01 6.60439354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4992541539999 meters 0.017977135293214878 Centerline is valid? [True, True] Translation: X:924.60, Y:93.06, Z:6.61 [[ 3.80232849e-01 -9.24871603e-01 -5.95801977e-03 9.24601751e+02] [ 9.24739848e-01 3.80279284e-01 -1.56166174e-02 9.30627227e+01] [ 1.67090775e-02 4.28332626e-04 9.99860302e-01 6.60585718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5292541539999 meters 0.02095268166465989 Centerline is valid? [True, True] Translation: X:924.61, Y:93.09, Z:6.60 [[ 3.81736600e-01 -9.24249634e-01 -6.30732348e-03 9.24612934e+02] [ 9.24101656e-01 3.81788392e-01 -1.65454902e-02 9.30893099e+01] [ 1.77002261e-02 4.87411091e-04 9.99843220e-01 6.60454314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5592541539999 meters 0.020688236668783767 Centerline is valid? [True, True] Translation: X:924.62, Y:93.12, Z:6.61 [[ 3.82517252e-01 -9.23927248e-01 -6.24437409e-03 9.24623576e+02] [ 9.23781940e-01 3.82567887e-01 -1.63932559e-02 9.31157556e+01] [ 1.75350728e-02 5.02263171e-04 9.99846123e-01 6.60549520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5892541539998 meters 0.01980134517359972 Centerline is valid? [True, True] Translation: X:924.64, Y:93.14, Z:6.61 [[ 3.82800025e-01 -9.23811418e-01 -6.05017817e-03 9.24636303e+02] [ 9.23674774e-01 3.82847512e-01 -1.58963445e-02 9.31413392e+01] [ 1.70015202e-02 4.96724106e-04 9.99855340e-01 6.60632119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6192541539999 meters 0.018283653185772526 Centerline is valid? [True, True] Translation: X:924.65, Y:93.17, Z:6.61 [[ 3.82262696e-01 -9.24034632e-01 -5.93552465e-03 9.24649060e+02] [ 9.23902921e-01 3.82308470e-01 -1.56085364e-02 9.31666247e+01] [ 1.66920295e-02 4.82712646e-04 9.99860562e-01 6.60730096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6492541539999 meters 0.01911468094356553 Centerline is valid? [True, True] Translation: X:924.66, Y:93.19, Z:6.61 [[ 3.78996860e-01 -9.25379207e-01 -5.89100485e-03 9.24661220e+02] [ 9.25249453e-01 3.79042403e-01 -1.55018194e-02 9.31917373e+01] [ 1.65780020e-02 4.24491849e-04 9.99862485e-01 6.60636037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6792541539999 meters 0.01837280453693475 Centerline is valid? [True, True] Translation: X:924.67, Y:93.22, Z:6.61 [[ 3.76219735e-01 -9.26512551e-01 -5.76225781e-03 9.24674481e+02] [ 9.26388372e-01 3.76263678e-01 -1.51732858e-02 9.32171606e+01] [ 1.62263681e-02 3.70400935e-04 9.99868275e-01 6.60672453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7092541539998 meters 0.014935929872879223 Centerline is valid? [True, True] Translation: X:924.69, Y:93.24, Z:6.61 [[ 3.69468785e-01 -9.29226709e-01 -5.52633271e-03 9.24694904e+02] [ 9.29112612e-01 3.69510031e-01 -1.45633495e-02 9.32404728e+01] [ 1.55746887e-02 2.46117603e-04 9.99878677e-01 6.60922730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7392541539998 meters 0.017012939999007635 Centerline is valid? [True, True] Translation: X:924.71, Y:93.26, Z:6.61 [[ 3.60110447e-01 -9.32892302e-01 -5.69382690e-03 9.24714691e+02] [ 9.32771484e-01 3.60155445e-01 -1.50137926e-02 9.32620785e+01] [ 1.60569143e-02 9.55841899e-05 9.99871075e-01 6.60831228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7692541539999 meters 0.016350227217698104 Centerline is valid? [True, True] Translation: X:924.73, Y:93.29, Z:6.61 [[ 3.55572032e-01 -9.34632246e-01 -5.57627047e-03 9.24729268e+02] [ 9.34516423e-01 3.55615754e-01 -1.47135915e-02 9.32870252e+01] [ 1.57348067e-02 2.06253019e-05 9.99876200e-01 6.60871713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7992541539999 meters 0.0135044685931164 Centerline is valid? [True, True] Translation: X:924.74, Y:93.31, Z:6.61 [[ 3.51887776e-01 -9.36026125e-01 -5.48504285e-03 9.24743218e+02] [ 9.35914040e-01 3.51930521e-01 -1.44850952e-02 9.33122839e+01] [ 1.54887815e-02 -3.64006869e-05 9.99880041e-01 6.61052064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8292541539998 meters 0.014581774904374017 Centerline is valid? [True, True] Translation: X:924.76, Y:93.34, Z:6.61 [[ 3.45303836e-01 -9.38474081e-01 -5.62668706e-03 9.24760580e+02] [ 9.38356253e-01 3.45349646e-01 -1.48715728e-02 9.33365978e+01] [ 1.58997600e-02 -1.44625864e-04 9.99873580e-01 6.61020244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8592541539998 meters 0.015526751903947329 Centerline is valid? [True, True] Translation: X:924.77, Y:93.36, Z:6.61 [[ 3.42593596e-01 -9.39466636e-01 -5.66290985e-03 9.24773354e+02] [ 9.39347264e-01 3.42640344e-01 -1.49770311e-02 9.33609370e+01] [ 1.60107624e-02 -1.88403937e-04 9.99871802e-01 6.60999107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8892541539999 meters 0.016324481718301663 Centerline is valid? [True, True] Translation: X:924.79, Y:93.39, Z:6.61 [[ 3.39706157e-01 -9.40513939e-01 -5.76692751e-03 9.24786283e+02] [ 9.40390167e-01 3.39755019e-01 -1.52597655e-02 9.33864304e+01] [ 1.63113647e-02 -2.39325635e-04 9.99866932e-01 6.61038706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9192541539999 meters 0.015002955232372642 Centerline is valid? [True, True] Translation: X:924.80, Y:93.41, Z:6.61 [[ 3.39208970e-01 -9.40693325e-01 -5.77428012e-03 9.24797486e+02] [ 9.40569099e-01 3.39258025e-01 -1.52892659e-02 9.34111299e+01] [ 1.63414813e-02 -2.44853315e-04 9.99866439e-01 6.61121233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9492541539998 meters 0.01685872120158179 Centerline is valid? [True, True] Translation: X:924.81, Y:93.44, Z:6.61 [[ 3.37661758e-01 -9.41249849e-01 -5.76699353e-03 9.24809984e+02] [ 9.41125817e-01 3.37710897e-01 -1.52822194e-02 9.34364704e+01] [ 1.63319633e-02 -2.67245421e-04 9.99866589e-01 6.61068920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9792541539998 meters 0.01527033583589163 Centerline is valid? [True, True] Translation: X:924.82, Y:93.46, Z:6.61 [[ 3.38541676e-01 -9.40933580e-01 -5.79061957e-03 9.24820784e+02] [ 9.40808270e-01 3.38591104e-01 -1.53578572e-02 9.34618263e+01] [ 1.64113758e-02 -2.48588070e-04 9.99865293e-01 6.61187410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0092541539999 meters 0.017543144417865662 Centerline is valid? [True, True] Translation: X:924.83, Y:93.49, Z:6.61 [[ 3.38718192e-01 -9.40868926e-01 -5.97076296e-03 9.24830921e+02] [ 9.40735456e-01 3.38770722e-01 -1.58493178e-02 9.34882906e+01] [ 1.69348502e-02 -2.48456156e-04 9.99856564e-01 6.61063067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0392541539999 meters 0.014646826745658807 Centerline is valid? [True, True] Translation: X:924.84, Y:93.51, Z:6.61 [[ 3.40315392e-01 -9.40293172e-01 -5.84669394e-03 9.24839612e+02] [ 9.40164890e-01 3.40365547e-01 -1.55330121e-02 9.35147136e+01] [ 1.65955984e-02 -2.10733271e-04 9.99862261e-01 6.61256903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0692541539999 meters 0.01653169913972208 Centerline is valid? [True, True] Translation: X:924.85, Y:93.54, Z:6.61 [[ 3.43076807e-01 -9.39288554e-01 -5.94283997e-03 9.24847287e+02] [ 9.39155640e-01 3.43128237e-01 -1.58018038e-02 9.35416858e+01] [ 1.68816096e-02 -1.60019283e-04 9.99857483e-01 6.61150008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0992541539998 meters 0.014564195376095766 Centerline is valid? [True, True] Translation: X:924.86, Y:93.57, Z:6.61 [[ 3.45425701e-01 -9.38427631e-01 -5.88774446e-03 9.24855508e+02] [ 9.38296825e-01 3.45475858e-01 -1.56684559e-02 9.35689986e+01] [ 1.67377856e-02 -1.12164552e-04 9.99859907e-01 6.61287215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1292541539999 meters 0.013494337886643464 Centerline is valid? [True, True] Translation: X:924.86, Y:93.60, Z:6.61 [[ 3.50441675e-01 -9.36566323e-01 -5.84430593e-03 9.24862284e+02] [ 9.36436982e-01 3.50490404e-01 -1.55645303e-02 9.35958866e+01] [ 1.66255881e-02 -1.83641213e-05 9.99861785e-01 6.61222849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1592541539999 meters 0.01723207145007346 Centerline is valid? [True, True] Translation: X:924.87, Y:93.62, Z:6.61 [[ 3.51645535e-01 -9.36114192e-01 -5.96965321e-03 9.24871035e+02] [ 9.35978964e-01 3.51696202e-01 -1.59109871e-02 9.36229775e+01] [ 1.69940052e-02 7.55772190e-06 9.99855591e-01 6.61112411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1892541539999 meters 0.01723207145007346 Centerline is valid? [True, True] Translation: X:924.88, Y:93.65, Z:6.61 [[ 3.51380374e-01 -9.36213784e-01 -5.96514602e-03 9.24880649e+02] [ 9.36078542e-01 3.51431003e-01 -1.59126771e-02 9.36488348e+01] [ 1.69940049e-02 7.55723592e-06 9.99855591e-01 6.61131453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2192541539998 meters 0.013557254561062878 Centerline is valid? [True, True] Translation: X:924.89, Y:93.68, Z:6.61 [[ 3.56719038e-01 -9.34193931e-01 -5.76440357e-03 9.24887676e+02] [ 9.34067167e-01 3.56765594e-01 -1.53895457e-02 9.36758833e+01] [ 1.64333611e-02 1.05403820e-04 9.99864958e-01 6.61450131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2492541539999 meters 0.01386614111271741 Centerline is valid? [True, True] Translation: X:924.90, Y:93.70, Z:6.61 [[ 3.58673196e-01 -9.33445310e-01 -5.77864441e-03 9.24895950e+02] [ 9.33317623e-01 3.58719714e-01 -1.54396091e-02 9.37021891e+01] [ 1.64849443e-02 1.44463261e-04 9.99864104e-01 6.61453455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2792541539999 meters 0.014201811088199023 Centerline is valid? [True, True] Translation: X:924.90, Y:93.73, Z:6.62 [[ 3.62378955e-01 -9.32013657e-01 -5.66002645e-03 9.24904462e+02] [ 9.31890795e-01 3.62423094e-01 -1.51343179e-02 9.37300996e+01] [ 1.61567153e-02 2.09831754e-04 9.99869450e-01 6.61511693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3092541539999 meters 0.017655594480348584 Centerline is valid? [True, True] Translation: X:924.91, Y:93.76, Z:6.61 [[ 3.63251543e-01 -9.31674400e-01 -5.57940847e-03 9.24912821e+02] [ 9.31554787e-01 3.63294319e-01 -1.49303831e-02 9.37561210e+01] [ 1.59372231e-02 2.25960015e-04 9.99872969e-01 6.61261778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3392541539998 meters 0.015879949893174487 Centerline is valid? [True, True] Translation: X:924.92, Y:93.78, Z:6.61 [[ 3.66081333e-01 -9.30567537e-01 -5.34002941e-03 9.24921806e+02] [ 9.30457678e-01 3.66120181e-01 -1.43010996e-02 9.37825678e+01] [ 1.52632316e-02 2.66694239e-04 9.99883475e-01 6.61495351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3692541539999 meters 0.018050117259878196 Centerline is valid? [True, True] Translation: X:924.93, Y:93.81, Z:6.61 [[ 3.66430728e-01 -9.30430126e-01 -5.31995177e-03 9.24931766e+02] [ 9.30320895e-01 3.66469241e-01 -1.42592778e-02 9.38092682e+01] [ 1.52168604e-02 2.75775261e-04 9.99884179e-01 6.61381449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3992541539999 meters 0.016161110824504558 Centerline is valid? [True, True] Translation: X:924.94, Y:93.84, Z:6.62 [[ 3.68366492e-01 -9.29666502e-01 -5.13054016e-03 9.24940541e+02] [ 9.29564673e-01 3.68402096e-01 -1.37628086e-02 9.38356212e+01] [ 1.46849239e-02 3.00588644e-04 9.99892126e-01 6.61693046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4292541539999 meters 0.01632107689392666 Centerline is valid? [True, True] Translation: X:924.95, Y:93.86, Z:6.62 [[ 3.69568424e-01 -9.29189035e-01 -5.18819635e-03 9.24950838e+02] [ 9.29084690e-01 3.69604694e-01 -1.39287211e-02 9.38615998e+01] [ 1.48599967e-02 3.27341705e-04 9.99889531e-01 6.61702001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4592541539998 meters 0.01675317351709756 Centerline is valid? [True, True] Translation: X:924.96, Y:93.89, Z:6.62 [[ 3.70030338e-01 -9.29004361e-01 -5.33347090e-03 9.24959998e+02] [ 9.28893896e-01 3.70068609e-01 -1.43302124e-02 9.38875201e+01] [ 1.52865800e-02 3.48384771e-04 9.99883093e-01 6.61649879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4892541539998 meters 0.017200428109088697 Centerline is valid? [True, True] Translation: X:924.97, Y:93.91, Z:6.62 [[ 3.71588429e-01 -9.28379695e-01 -5.76028258e-03 9.24969932e+02] [ 9.28250554e-01 3.71632849e-01 -1.54897983e-02 9.39140846e+01] [ 1.65211244e-02 4.08844313e-04 9.99863433e-01 6.61533372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5192541539999 meters 0.017475981291342774 Centerline is valid? [True, True] Translation: X:924.98, Y:93.94, Z:6.61 [[ 3.71709440e-01 -9.28330013e-01 -5.95648107e-03 9.24981261e+02] [ 9.28191684e-01 3.71756913e-01 -1.60310666e-02 9.39404125e+01] [ 1.70964833e-02 4.30142601e-04 9.99853752e-01 6.61389683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5492541539999 meters 0.01981470482983525 Centerline is valid? [True, True] Translation: X:924.99, Y:93.97, Z:6.61 [[ 3.71854569e-01 -9.28268213e-01 -6.50414692e-03 9.24990412e+02] [ 9.28103068e-01 3.71911141e-01 -1.75156835e-02 9.39669231e+01] [ 1.86782169e-02 4.76768215e-04 9.99825433e-01 6.61102124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5792541539998 meters 0.017834332540741404 Centerline is valid? [True, True] Translation: X:925.00, Y:93.99, Z:6.61 [[ 3.73202399e-01 -9.27721586e-01 -7.25460320e-03 9.25003432e+02] [ 9.27515747e-01 3.73272471e-01 -1.95499576e-02 9.39928578e+01] [ 2.08448614e-02 5.67332377e-04 9.99782561e-01 6.61199097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6092541539998 meters 0.017632969169934242 Centerline is valid? [True, True] Translation: X:925.01, Y:94.02, Z:6.61 [[ 3.74058159e-01 -9.27373038e-01 -7.72922342e-03 9.25014955e+02] [ 9.27138937e-01 3.74137473e-01 -2.08457020e-02 9.40197551e+01] [ 2.22235341e-02 6.31440922e-04 9.99752827e-01 6.61246963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6392541539999 meters 0.017568082445031507 Centerline is valid? [True, True] Translation: X:925.03, Y:94.05, Z:6.61 [[ 3.73786847e-01 -9.27482208e-01 -7.75542627e-03 9.25026050e+02] [ 9.27246136e-01 3.73866757e-01 -2.09344781e-02 9.40453988e+01] [ 2.23158520e-02 6.33843514e-04 9.99750769e-01 6.61266420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6692541539999 meters 0.019228261544531618 Centerline is valid? [True, True] Translation: X:925.04, Y:94.07, Z:6.61 [[ 3.72171954e-01 -9.28133337e-01 -7.51972946e-03 9.25040103e+02] [ 9.27911169e-01 3.72247457e-01 -2.03148494e-02 9.40707304e+01] [ 2.16540892e-02 5.82976243e-04 9.99765353e-01 6.61172487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6992541539998 meters 0.019372407095894398 Centerline is valid? [True, True] Translation: X:925.05, Y:94.10, Z:6.61 [[ 3.71224828e-01 -9.28515514e-01 -7.14621596e-03 9.25050805e+02] [ 9.28314688e-01 3.71293216e-01 -1.93180792e-02 9.40962989e+01] [ 2.05904777e-02 5.37413365e-04 9.99787849e-01 6.61244688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7292541539998 meters 0.017704690704091836 Centerline is valid? [True, True] Translation: X:925.07, Y:94.12, Z:6.62 [[ 3.68968652e-01 -9.29418927e-01 -6.52623673e-03 9.25066405e+02] [ 9.29251359e-01 3.69026091e-01 -1.76537620e-02 9.41217098e+01] [ 1.88160922e-02 4.49170427e-04 9.99822861e-01 6.61574878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7592541539999 meters 0.015835296447516915 Centerline is valid? [True, True] Translation: X:925.08, Y:94.15, Z:6.62 [[ 3.66139899e-01 -9.30540497e-01 -5.99649231e-03 9.25080600e+02] [ 9.30398978e-01 3.66188818e-01 -1.62324209e-02 9.41477476e+01] [ 1.73007734e-02 3.64206618e-04 9.99850264e-01 6.61883063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7892541539999 meters 0.01568799109025137 Centerline is valid? [True, True] Translation: X:925.09, Y:94.17, Z:6.62 [[ 3.64131347e-01 -9.31329764e-01 -5.76472766e-03 9.25092825e+02] [ 9.31198875e-01 3.64176837e-01 -1.56168820e-02 9.41744069e+01] [ 1.66438473e-02 3.18488375e-04 9.99861431e-01 6.61879652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8192541539999 meters 0.015334793977156709 Centerline is valid? [True, True] Translation: X:925.11, Y:94.20, Z:6.62 [[ 3.60867655e-01 -9.32598888e-01 -5.81807311e-03 9.25105927e+02] [ 9.32465552e-01 3.60914455e-01 -1.57718373e-02 9.41989913e+01] [ 1.68086246e-02 2.66393178e-04 9.99858690e-01 6.61907203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8492541539998 meters 0.014619749932438744 Centerline is valid? [True, True] Translation: X:925.12, Y:94.23, Z:6.62 [[ 3.58603802e-01 -9.33471145e-01 -5.91051717e-03 9.25118373e+02] [ 9.33333508e-01 3.58652433e-01 -1.60311048e-02 9.42250889e+01] [ 1.70843952e-02 2.32331428e-04 9.99854024e-01 6.61982468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8792541539999 meters 0.014619749932438744 Centerline is valid? [True, True] Translation: X:925.13, Y:94.25, Z:6.62 [[ 3.58335393e-01 -9.33574238e-01 -5.90668711e-03 9.25127847e+02] [ 9.33436591e-01 3.58383997e-01 -1.60325162e-02 9.42510092e+01] [ 1.70844062e-02 2.31500119e-04 9.99854024e-01 6.62001543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9092541539999 meters 0.016243741860278663 Centerline is valid? [True, True] Translation: X:925.14, Y:94.28, Z:6.62 [[ 3.58370395e-01 -9.33558336e-01 -6.28442900e-03 9.25135596e+02] [ 9.33402225e-01 3.58425404e-01 -1.70738435e-02 9.42774861e+01] [ 1.81919279e-02 2.52860023e-04 9.99834481e-01 6.61790616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9392541539999 meters 0.015039639385506606 Centerline is valid? [True, True] Translation: X:925.14, Y:94.30, Z:6.62 [[ 3.59357447e-01 -9.33178061e-01 -6.39780773e-03 9.25143900e+02] [ 9.33015921e-01 3.59414283e-01 -1.73972425e-02 9.43042384e+01] [ 1.85341885e-02 2.82572187e-04 9.99828187e-01 6.61936309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9692541539998 meters 0.018356993008228926 Centerline is valid? [True, True] Translation: X:925.15, Y:94.33, Z:6.62 [[ 3.60324044e-01 -9.32801272e-01 -6.95482288e-03 9.25150268e+02] [ 9.32609275e-01 3.60391003e-01 -1.89279161e-02 9.43308127e+01] [ 2.01624398e-02 3.34050963e-04 9.99796662e-01 6.61543021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9992541539999 meters 0.01568021817277809 Centerline is valid? [True, True] Translation: X:925.16, Y:94.36, Z:6.62 [[ 3.62310524e-01 -9.32031200e-01 -6.99476324e-03 9.25158919e+02] [ 9.31836529e-01 3.62377833e-01 -1.90522808e-02 9.43573659e+01] [ 2.02920673e-02 3.84865931e-04 9.99794021e-01 6.61910724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0292541539999 meters 0.01850740079938361 Centerline is valid? [True, True] Translation: X:925.17, Y:94.38, Z:6.62 [[ 3.61380661e-01 -9.32390278e-01 -7.23782690e-03 9.25167542e+02] [ 9.32181575e-01 3.61452932e-01 -1.97304321e-02 9.43833260e+01] [ 2.10125969e-02 3.83227731e-04 9.99779138e-01 6.61594246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0592541539999 meters 0.016833713515077776 Centerline is valid? [True, True] Translation: X:925.18, Y:94.41, Z:6.62 [[ 3.61036881e-01 -9.32524108e-01 -7.15247652e-03 9.25177520e+02] [ 9.32319980e-01 3.61107526e-01 -1.95143651e-02 9.44094790e+01] [ 2.07804290e-02 3.77008747e-04 9.99783992e-01 6.61800574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0892541539998 meters 0.017084301168226707 Centerline is valid? [True, True] Translation: X:925.19, Y:94.44, Z:6.62 [[ 3.58712881e-01 -9.33421309e-01 -7.05187422e-03 9.25188304e+02] [ 9.33222714e-01 3.58782041e-01 -1.92565138e-02 9.44354822e+01] [ 2.05045261e-02 3.26590333e-04 9.99789707e-01 6.61843734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1192541539999 meters 0.017897232906617697 Centerline is valid? [True, True] Translation: X:925.20, Y:94.46, Z:6.62 [[ 3.56950579e-01 -9.34097221e-01 -6.97605793e-03 9.25198320e+02] [ 9.33902670e-01 3.57018623e-01 -1.90658169e-02 9.44614606e+01] [ 2.02999092e-02 2.90595258e-04 9.99793893e-01 6.61795393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1492541539999 meters 0.01449264823807472 Centerline is valid? [True, True] Translation: X:925.21, Y:94.49, Z:6.62 [[ 3.53623146e-01 -9.35365301e-01 -6.51343509e-03 9.25209673e+02] [ 9.35195698e-01 3.53683066e-01 -1.78127797e-02 9.44862364e+01] [ 1.89651478e-02 2.07674746e-04 9.99820124e-01 6.62160523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1792541539999 meters 0.014081958042453087 Centerline is valid? [True, True] Translation: X:925.22, Y:94.51, Z:6.62 [[ 3.51136618e-01 -9.36302281e-01 -6.41204601e-03 9.25221100e+02] [ 9.36137830e-01 3.51195122e-01 -1.75485078e-02 9.45123335e+01] [ 1.86825872e-02 1.59364852e-04 9.99825453e-01 6.62222682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2092541539998 meters 0.013546690613558952 Centerline is valid? [True, True] Translation: X:925.23, Y:94.54, Z:6.62 [[ 3.46429312e-01 -9.38057493e-01 -5.90521814e-03 9.25234738e+02] [ 9.37918034e-01 3.46479633e-01 -1.61748696e-02 9.45378499e+01] [ 1.72189954e-02 6.48383575e-05 9.99851740e-01 6.62446096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2392541539998 meters 0.01687642356046672 Centerline is valid? [True, True] Translation: X:925.25, Y:94.56, Z:6.62 [[ 3.43145648e-01 -9.39262606e-01 -6.06811011e-03 9.25245805e+02] [ 9.39115315e-01 3.43199297e-01 -1.66333323e-02 9.45623263e+01] [ 1.77056382e-02 9.00045420e-06 9.99843243e-01 6.62104407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2692541539999 meters 0.013674907179605547 Centerline is valid? [True, True] Translation: X:925.26, Y:94.59, Z:6.62 [[ 3.39593737e-01 -9.40554894e-01 -5.70835195e-03 9.25257147e+02] [ 9.40424527e-01 3.39641707e-01 -1.56594898e-02 9.45873129e+01] [ 1.66674042e-02 -5.04095210e-05 9.99861088e-01 6.62390359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2992541539999 meters 0.015495505638985262 Centerline is valid? [True, True] Translation: X:925.27, Y:94.61, Z:6.62 [[ 3.36472981e-01 -9.41675559e-01 -5.75096841e-03 9.25267427e+02] [ 9.41543163e-01 3.36522110e-01 -1.57905644e-02 9.46135460e+01] [ 1.68049166e-02 -1.01686696e-04 9.99858782e-01 6.62277176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3292541539998 meters 0.014277713733390478 Centerline is valid? [True, True] Translation: X:925.28, Y:94.64, Z:6.62 [[ 3.32758409e-01 -9.42993555e-01 -5.91586598e-03 9.25278633e+02] [ 9.42853495e-01 3.32810948e-01 -1.62529807e-02 9.46381295e+01] [ 1.72953210e-02 -1.69478932e-04 9.99850410e-01 6.62427899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3592541539998 meters 0.014665044658230124 Centerline is valid? [True, True] Translation: X:925.29, Y:94.66, Z:6.62 [[ 3.28896570e-01 -9.44346096e-01 -6.12354065e-03 9.25288881e+02] [ 9.44196060e-01 3.28953479e-01 -1.68347498e-02 9.46641546e+01] [ 1.79121902e-02 -2.44931509e-04 9.99839534e-01 6.62488577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3892541539999 meters 0.01667202408334038 Centerline is valid? [True, True] Translation: X:925.30, Y:94.69, Z:6.62 [[ 3.26561161e-01 -9.45155398e-01 -6.25159170e-03 9.25299016e+02] [ 9.44998901e-01 3.26620866e-01 -1.72013688e-02 9.46912496e+01] [ 1.82998668e-02 -2.90448340e-04 9.99832501e-01 6.62290927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4192541539999 meters 0.018661891691513426 Centerline is valid? [True, True] Translation: X:925.31, Y:94.72, Z:6.62 [[ 3.24981590e-01 -9.45698806e-01 -6.38228940e-03 9.25310380e+02] [ 9.45535563e-01 3.25044094e-01 -1.75737223e-02 9.47158502e+01] [ 1.86939737e-02 -3.23545370e-04 9.99825200e-01 6.62097143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4492541539998 meters 0.015959088666706388 Centerline is valid? [True, True] Translation: X:925.32, Y:94.74, Z:6.63 [[ 3.23357378e-01 -9.46256883e-01 -6.15769458e-03 9.25318418e+02] [ 9.46104791e-01 3.23415825e-01 -1.69684300e-02 9.47427824e+01] [ 1.80479896e-02 -3.38957301e-04 9.99837064e-01 6.62509010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4792541539998 meters 0.016371262426117545 Centerline is valid? [True, True] Translation: X:925.33, Y:94.77, Z:6.63 [[ 3.22250796e-01 -9.46636311e-01 -5.84123733e-03 9.25327618e+02] [ 9.46499278e-01 3.22303555e-01 -1.61100629e-02 9.47691560e+01] [ 1.71330221e-02 -3.37246325e-04 9.99853162e-01 6.62538103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5092541539999 meters 0.01713887687825492 Centerline is valid? [True, True] Translation: X:925.34, Y:94.80, Z:6.62 [[ 3.21153732e-01 -9.47010172e-01 -5.65808450e-03 9.25335322e+02] [ 9.46881432e-01 3.21203389e-01 -1.56184636e-02 9.47964648e+01] [ 1.66082398e-02 -3.41607295e-04 9.99862015e-01 6.62475470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5392541539999 meters 0.016366514874059258 Centerline is valid? [True, True] Translation: X:925.34, Y:94.82, Z:6.63 [[ 3.21203672e-01 -9.46994250e-01 -5.48561234e-03 9.25344288e+02] [ 9.46873018e-01 3.21250346e-01 -1.51559661e-02 9.48216358e+01] [ 1.61148676e-02 -3.26026349e-04 9.99870094e-01 6.62630991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5692541539999 meters 0.018904725180559547 Centerline is valid? [True, True] Translation: X:925.35, Y:94.85, Z:6.62 [[ 3.21617276e-01 -9.46853400e-01 -5.56481855e-03 9.25351373e+02] [ 9.46728395e-01 3.21665257e-01 -1.53886084e-02 9.48488126e+01] [ 1.63607649e-02 -3.19129421e-04 9.99866103e-01 6.62311681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5992541539998 meters 0.016045909152471644 Centerline is valid? [True, True] Translation: X:925.36, Y:94.88, Z:6.63 [[ 3.22795459e-01 -9.46453531e-01 -5.36715141e-03 9.25358578e+02] [ 9.46336994e-01 3.22839951e-01 -1.48546131e-02 9.48765539e+01] [ 1.57919319e-02 -2.84132278e-04 9.99875259e-01 6.62580861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6292541539999 meters 0.016131337520261337 Centerline is valid? [True, True] Translation: X:925.36, Y:94.90, Z:6.63 [[ 3.25911250e-01 -9.45384320e-01 -5.50862601e-03 9.25364544e+02] [ 9.45261231e-01 3.25957716e-01 -1.52569022e-02 9.49032055e+01] [ 1.62192152e-02 -2.34694545e-04 9.99868432e-01 6.62506138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6592541539999 meters 0.015261396314569782 Centerline is valid? [True, True] Translation: X:925.37, Y:94.93, Z:6.63 [[ 3.27853113e-01 -9.44712180e-01 -5.58860079e-03 9.25370998e+02] [ 9.44585200e-01 3.27900681e-01 -1.54901035e-02 9.49312830e+01] [ 1.64661954e-02 -2.00430937e-04 9.99864403e-01 6.62622431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6892541539999 meters 0.016293017609212018 Centerline is valid? [True, True] Translation: X:925.38, Y:94.96, Z:6.62 [[ 3.29869446e-01 -9.44009342e-01 -5.70182074e-03 9.25378475e+02] [ 9.43876822e-01 3.29918680e-01 -1.58180142e-02 9.49580741e+01] [ 1.68134904e-02 -1.63936840e-04 9.99858630e-01 6.62482321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7192541539998 meters 0.014323471502749636 Centerline is valid? [True, True] Translation: X:925.38, Y:94.99, Z:6.63 [[ 3.34705501e-01 -9.42306379e-01 -5.56012563e-03 9.25382925e+02] [ 9.42179908e-01 3.34751673e-01 -1.54382146e-02 9.49866671e+01] [ 1.64087894e-02 -7.13833026e-05 9.99865364e-01 6.62647736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7492541539999 meters 0.014614556415255798 Centerline is valid? [True, True] Translation: X:925.39, Y:95.02, Z:6.63 [[ 3.38757953e-01 -9.40857081e-01 -5.56801426e-03 9.25387797e+02] [ 9.40729826e-01 3.38803710e-01 -1.54739008e-02 9.50152788e+01] [ 1.64451930e-02 3.90988189e-06 9.99864769e-01 6.62658201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7792541539999 meters 0.01587346126912962 Centerline is valid? [True, True] Translation: X:925.40, Y:95.04, Z:6.63 [[ 3.40023939e-01 -9.40400970e-01 -5.45314508e-03 9.25395464e+02] [ 9.40278631e-01 3.40067662e-01 -1.51684009e-02 9.50425902e+01] [ 1.61188172e-02 3.01436350e-05 9.99870083e-01 6.62612907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8092541539999 meters 0.013290179840864376 Centerline is valid? [True, True] Translation: X:925.40, Y:95.07, Z:6.63 [[ 3.43029017e-01 -9.39311525e-01 -4.99517023e-03 9.25401635e+02] [ 9.39208578e-01 3.43065376e-01 -1.39066642e-02 9.50701692e+01] [ 1.47763599e-02 7.88826089e-05 9.99890821e-01 6.62963462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8392541539998 meters 0.013392174709679974 Centerline is valid? [True, True] Translation: X:925.41, Y:95.10, Z:6.63 [[ 3.44001165e-01 -9.38956206e-01 -4.94380624e-03 9.25409488e+02] [ 9.38855145e-01 3.44036675e-01 -1.37762033e-02 9.50969895e+01] [ 1.46361022e-02 9.75120544e-05 9.99892882e-01 6.62994847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8692541539999 meters 0.0168881050093872 Centerline is valid? [True, True] Translation: X:925.42, Y:95.12, Z:6.63 [[ 3.44295470e-01 -9.38846952e-01 -5.19909723e-03 9.25416699e+02] [ 9.38735000e-01 3.44334704e-01 -1.44986769e-02 9.51232267e+01] [ 1.54022682e-02 1.11254240e-04 9.99881372e-01 6.62585418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8992541539999 meters 0.013774030466102932 Centerline is valid? [True, True] Translation: X:925.42, Y:95.15, Z:6.63 [[ 3.46648776e-01 -9.37983259e-01 -4.69376311e-03 9.25423076e+02] [ 9.37891804e-01 3.46680524e-01 -1.30987825e-02 9.51507827e+01] [ 1.39136750e-02 1.38434967e-04 9.99903191e-01 6.63022358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9292541539999 meters 0.015706817199754832 Centerline is valid? [True, True] Translation: X:925.43, Y:95.18, Z:6.63 [[ 3.47473999e-01 -9.37677768e-01 -4.71413423e-03 9.25430335e+02] [ 9.37585327e-01 3.47505941e-01 -1.31672393e-02 9.51784972e+01] [ 1.39848172e-02 1.55370203e-04 9.99902196e-01 6.62851664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9592541539998 meters 0.014128609330413912 Centerline is valid? [True, True] Translation: X:925.44, Y:95.21, Z:6.63 [[ 3.48270152e-01 -9.37383032e-01 -4.57746045e-03 9.25438847e+02] [ 9.37295696e-01 3.48300193e-01 -1.27966622e-02 9.52051473e+01] [ 1.35897044e-02 1.66261505e-04 9.99907642e-01 6.63129699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9892541539998 meters 0.017178548166239087 Centerline is valid? [True, True] Translation: X:925.45, Y:95.23, Z:6.63 [[ 3.47785522e-01 -9.37560673e-01 -5.02140823e-03 9.25446725e+02] [ 9.37455404e-01 3.47821724e-01 -1.40504059e-02 9.52306124e+01] [ 1.49196629e-02 1.79181459e-04 9.99888680e-01 6.62747493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0192541539999 meters 0.01435966353918423 Centerline is valid? [True, True] Translation: X:925.46, Y:95.26, Z:6.63 [[ 3.49037273e-01 -9.37094867e-01 -5.11787792e-03 9.25455382e+02] [ 9.36985284e-01 3.49074731e-01 -1.43321070e-02 9.52585491e+01] [ 1.52170657e-02 2.07063247e-04 9.99884192e-01 6.63126416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0492541539999 meters 0.014330980620688043 Centerline is valid? [True, True] Translation: X:925.46, Y:95.29, Z:6.63 [[ 3.49536086e-01 -9.36906114e-01 -5.60866954e-03 9.25463559e+02] [ 9.36774260e-01 3.49580999e-01 -1.57197816e-02 9.52861007e+01] [ 1.66886438e-02 2.40573695e-04 9.99860706e-01 6.63074292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0792541539998 meters 0.015125539271235711 Centerline is valid? [True, True] Translation: X:925.47, Y:95.31, Z:6.63 [[ 3.49682195e-01 -9.36849262e-01 -5.98522621e-03 9.25469978e+02] [ 9.36698888e-01 3.49733314e-01 -1.67869613e-02 9.53126772e+01] [ 1.78200853e-02 2.63746733e-04 9.99841175e-01 6.62878695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1092541539998 meters 0.015125539271235711 Centerline is valid? [True, True] Translation: X:925.48, Y:95.34, Z:6.63 [[ 3.49424154e-01 -9.36945562e-01 -5.98117722e-03 9.25479153e+02] [ 9.36795178e-01 3.49475242e-01 -1.67884042e-02 9.53386899e+01] [ 1.78200941e-02 2.63135936e-04 9.99841175e-01 6.62897760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1392541539999 meters 0.014814460050157522 Centerline is valid? [True, True] Translation: X:925.49, Y:95.37, Z:6.63 [[ 3.49293607e-01 -9.36992193e-01 -6.29343742e-03 9.25489203e+02] [ 9.36825402e-01 3.49350186e-01 -1.76809039e-02 9.53653271e+01] [ 1.87654824e-02 2.79974642e-04 9.99823874e-01 6.62916378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1692541539999 meters 0.014441946762034641 Centerline is valid? [True, True] Translation: X:925.50, Y:95.39, Z:6.63 [[ 3.47952831e-01 -9.37488106e-01 -6.69911592e-03 9.25499287e+02] [ 9.37298857e-01 3.48017204e-01 -1.88381899e-02 9.53915396e+01] [ 1.99919866e-02 2.75727818e-04 9.99800102e-01 6.62920497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1992541539998 meters 0.014206126016994915 Centerline is valid? [True, True] Translation: X:925.51, Y:95.42, Z:6.63 [[ 3.46304217e-01 -9.38098011e-01 -6.74616158e-03 9.25509680e+02] [ 9.37905862e-01 3.46369831e-01 -1.89877387e-02 9.54176926e+01] [ 2.01490268e-02 2.48269515e-04 9.99796957e-01 6.62956621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2292541539998 meters 0.015083379972171438 Centerline is valid? [True, True] Translation: X:925.52, Y:95.44, Z:6.63 [[ 3.40899145e-01 -9.40075455e-01 -6.77589589e-03 9.25522136e+02] [ 9.39881722e-01 3.40966451e-01 -1.90847539e-02 9.54424120e+01] [ 2.02514619e-02 1.37435578e-04 9.99794909e-01 6.62847790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2592541539999 meters 0.01336609321010245 Centerline is valid? [True, True] Translation: X:925.53, Y:95.47, Z:6.63 [[ 3.37639521e-01 -9.41255332e-01 -6.16066668e-03 9.25534264e+02] [ 9.41095142e-01 3.37695715e-01 -1.73648631e-02 9.54681109e+01] [ 1.84252007e-02 6.52905906e-05 9.99830239e-01 6.63189794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2892541539999 meters 0.0133376211788733 Centerline is valid? [True, True] Translation: X:925.55, Y:95.49, Z:6.63 [[ 3.29836643e-01 -9.44021215e-01 -5.63329400e-03 9.25548826e+02] [ 9.43887444e-01 3.29884736e-01 -1.58919643e-02 9.54923291e+01] [ 1.68606891e-02 -7.54433320e-05 9.99857846e-01 6.63431158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3192541539999 meters 0.013716399719751108 Centerline is valid? [True, True] Translation: X:925.56, Y:95.52, Z:6.64 [[ 3.25527368e-01 -9.45516728e-01 -5.48185822e-03 9.25560563e+02] [ 9.45390041e-01 3.25573490e-01 -1.54781783e-02 9.55180959e+01] [ 1.64196242e-02 -1.43923527e-04 9.99865179e-01 6.63528930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3492541539998 meters 0.014298427682877621 Centerline is valid? [True, True] Translation: X:925.57, Y:95.54, Z:6.64 [[ 3.21769643e-01 -9.46802658e-01 -5.38739686e-03 9.25571811e+02] [ 9.46680297e-01 3.21814677e-01 -1.52226480e-02 9.55427998e+01] [ 1.61465870e-02 -2.01956442e-04 9.99869615e-01 6.63574622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3792541539999 meters 0.01566223251027698 Centerline is valid? [True, True] Translation: X:925.58, Y:95.57, Z:6.64 [[ 3.14860130e-01 -9.49123339e-01 -5.29022274e-03 9.25584642e+02] [ 9.49005493e-01 3.14904417e-01 -1.49593891e-02 9.55682765e+01] [ 1.58642198e-02 -3.10335239e-04 9.99874107e-01 6.63612793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4092541539999 meters 0.016980912453328872 Centerline is valid? [True, True] Translation: X:925.60, Y:95.60, Z:6.64 [[ 3.11428460e-01 -9.50254296e-01 -5.39330840e-03 9.25595029e+02] [ 9.50131767e-01 3.11474937e-01 -1.52639735e-02 9.55950370e+01] [ 1.61845368e-02 -3.70717865e-04 9.99868953e-01 6.63537817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4392541539999 meters 0.01798771807957739 Centerline is valid? [True, True] Translation: X:925.61, Y:95.62, Z:6.64 [[ 3.06538389e-01 -9.51841548e-01 -5.64652601e-03 9.25605828e+02] [ 9.51707315e-01 3.06590027e-01 -1.59919485e-02 9.56199097e+01] [ 1.69529696e-02 -4.71693983e-04 9.99856177e-01 6.63563674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4692541539998 meters 0.018431123835122024 Centerline is valid? [True, True] Translation: X:925.62, Y:95.65, Z:6.64 [[ 3.03900100e-01 -9.52686273e-01 -5.79604552e-03 9.25615134e+02] [ 9.52544775e-01 3.03954906e-01 -1.64276132e-02 9.56470309e+01] [ 1.74120981e-02 -5.28639588e-04 9.99848258e-01 6.63536874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4992541539999 meters 0.02031906920780008 Centerline is valid? [True, True] Translation: X:925.63, Y:95.67, Z:6.63 [[ 2.99318196e-01 -9.54132573e-01 -6.29683940e-03 9.25625538e+02] [ 9.53965618e-01 2.99383693e-01 -1.78606936e-02 9.56717716e+01] [ 1.89266406e-02 -6.60937685e-04 9.99820657e-01 6.63480405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5292541539999 meters 0.023915736981952783 Centerline is valid? [True, True] Translation: X:925.64, Y:95.70, Z:6.63 [[ 2.96634841e-01 -9.54966154e-01 -6.88587103e-03 9.25636330e+02] [ 9.54766378e-01 2.96713738e-01 -1.95479355e-02 9.56973593e+01] [ 2.07107493e-02 -7.75799417e-04 9.99785208e-01 6.63180001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5592541539999 meters 0.020904912246056125 Centerline is valid? [True, True] Translation: X:925.64, Y:95.72, Z:6.64 [[ 2.92675539e-01 -9.56189806e-01 -6.48719342e-03 9.25643239e+02] [ 9.56012477e-01 2.92746312e-01 -1.84320354e-02 9.57247744e+01] [ 1.95236263e-02 -8.07231962e-04 9.99809070e-01 6.63586899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5892541539998 meters 0.02379897431641283 Centerline is valid? [True, True] Translation: X:925.66, Y:95.75, Z:6.63 [[ 2.90453713e-01 -9.56866974e-01 -6.49877236e-03 9.25655675e+02] [ 9.56688854e-01 2.90525166e-01 -1.84814585e-02 9.57494500e+01] [ 1.95723542e-02 -8.49294837e-04 9.99808082e-01 6.63495547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6192541539999 meters 0.027543255374271394 Centerline is valid? [True, True] Translation: X:925.67, Y:95.77, Z:6.63 [[ 2.87215173e-01 -9.57842299e-01 -6.75090297e-03 9.25667869e+02] [ 9.57650058e-01 2.87292941e-01 -1.92128197e-02 9.57735496e+01] [ 2.03423382e-02 -9.46789279e-04 9.99792625e-01 6.63398497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6492541539999 meters 0.023494157361944802 Centerline is valid? [True, True] Translation: X:925.67, Y:95.80, Z:6.64 [[ 2.85647494e-01 -9.58310853e-01 -6.76886870e-03 9.25670460e+02] [ 9.58117410e-01 2.85726007e-01 -1.92789595e-02 9.58025177e+01] [ 2.04092780e-02 -9.78384475e-04 9.99791230e-01 6.63573003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6792541539999 meters 0.03002229808478531 Centerline is valid? [True, True] Translation: X:925.68, Y:95.83, Z:6.63 [[ 2.84428548e-01 -9.58672426e-01 -6.89781031e-03 9.25684846e+02] [ 9.58471422e-01 2.84510347e-01 -1.96569449e-02 9.58260343e+01] [ 2.08070694e-02 -1.02035776e-03 9.99782989e-01 6.63221665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7092541539998 meters 0.02443168061235667 Centerline is valid? [True, True] Translation: X:925.69, Y:95.86, Z:6.64 [[ 2.84526655e-01 -9.58648140e-01 -6.19090898e-03 9.25685760e+02] [ 9.58485999e-01 2.84592542e-01 -1.76542864e-02 9.58559118e+01] [ 1.86861354e-02 -9.10784522e-04 9.99824984e-01 6.63721688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7392541539998 meters 0.022933185895510202 Centerline is valid? [True, True] Translation: X:925.69, Y:95.88, Z:6.64 [[ 2.86411727e-01 -9.58089990e-01 -5.64744594e-03 9.25689426e+02] [ 9.57954727e-01 2.86466300e-01 -1.61183130e-02 9.58844454e+01] [ 1.70605973e-02 -7.93523671e-04 9.99854143e-01 6.63849909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7692541539999 meters 0.024726158271021603 Centerline is valid? [True, True] Translation: X:925.70, Y:95.91, Z:6.64 [[ 2.88061753e-01 -9.57591496e-01 -6.24119287e-03 9.25695732e+02] [ 9.57425941e-01 2.88128131e-01 -1.78254980e-02 9.59112783e+01] [ 1.88678085e-02 -8.40635751e-04 9.99821634e-01 6.63587558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7992541539999 meters 0.022428407988645604 Centerline is valid? [True, True] Translation: X:925.70, Y:95.94, Z:6.64 [[ 2.91205983e-01 -9.56642636e-01 -5.82602829e-03 9.25701659e+02] [ 9.56497963e-01 2.91263359e-01 -1.66524225e-02 9.59378347e+01] [ 1.76273259e-02 -7.23299122e-04 9.99844365e-01 6.63817056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8292541539998 meters 0.022048916618314384 Centerline is valid? [True, True] Translation: X:925.70, Y:95.97, Z:6.63 [[ 2.98757933e-01 -9.54306594e-01 -6.52849354e-03 9.25700417e+02] [ 9.54124012e-01 2.98828551e-01 -1.86779809e-02 9.59677060e+01] [ 1.97754206e-02 -6.48797470e-04 9.99804237e-01 6.63478159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8592541539998 meters 0.017040262439227342 Centerline is valid? [True, True] Translation: X:925.70, Y:96.00, Z:6.64 [[ 3.03516934e-01 -9.52806545e-01 -6.09576947e-03 9.25702372e+02] [ 9.52646774e-01 3.03577714e-01 -1.74555378e-02 9.59965812e+01] [ 1.84822905e-02 -5.09063794e-04 9.99829058e-01 6.63798442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8892541539999 meters 0.01802166082086259 Centerline is valid? [True, True] Translation: X:925.70, Y:96.03, Z:6.63 [[ 3.12625719e-01 -9.49851927e-01 -6.81735620e-03 9.25701173e+02] [ 9.49651119e-01 3.12699826e-01 -1.95338197e-02 9.60255034e+01] [ 2.06860224e-02 -3.67335532e-04 9.99785954e-01 6.63386461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9192541539999 meters 0.015045793058641045 Centerline is valid? [True, True] Translation: X:925.71, Y:96.05, Z:6.64 [[ 3.17135024e-01 -9.48358850e-01 -6.39284837e-03 9.25705449e+02] [ 9.48181799e-01 3.17199353e-01 -1.83261299e-02 9.60523450e+01] [ 1.94075548e-02 -2.49724807e-04 9.99811624e-01 6.63535744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9492541539998 meters 0.013739921018009705 Centerline is valid? [True, True] Translation: X:925.71, Y:96.08, Z:6.64 [[ 3.24079852e-01 -9.46007890e-01 -6.42823736e-03 9.25705618e+02] [ 9.45828144e-01 3.24143582e-01 -1.84407106e-02 9.60827022e+01] [ 1.95287296e-02 -1.03745057e-04 9.99809291e-01 6.63598958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9792541539998 meters 0.015520654940470145 Centerline is valid? [True, True] Translation: X:925.71, Y:96.11, Z:6.63 [[ 3.26406793e-01 -9.45206518e-01 -6.57598462e-03 9.25711106e+02] [ 9.45017937e-01 3.26473024e-01 -1.88802383e-02 9.61097040e+01] [ 1.99926059e-02 -5.17853671e-05 9.99800127e-01 6.63396739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0092541539999 meters 0.017070629120729125 Centerline is valid? [True, True] Translation: X:925.72, Y:96.14, Z:6.63 [[ 3.28238375e-01 -9.44570941e-01 -6.73100842e-03 9.25717745e+02] [ 9.44372872e-01 3.28307382e-01 -1.93427643e-02 9.61373095e+01] [ 2.04804529e-02 -7.54422818e-06 9.99790254e-01 6.63321416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0392541539999 meters 0.013161393025626513 Centerline is valid? [True, True] Translation: X:925.72, Y:96.17, Z:6.64 [[ 3.31322061e-01 -9.43497732e-01 -6.14181088e-03 9.25722778e+02] [ 9.43332342e-01 3.31378977e-01 -1.76653967e-02 9.61652978e+01] [ 1.87025287e-02 5.91668017e-05 9.99825091e-01 6.63715971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0692541539999 meters 0.013281084233248981 Centerline is valid? [True, True] Translation: X:925.73, Y:96.19, Z:6.64 [[ 3.32152068e-01 -9.43206506e-01 -6.04079582e-03 9.25730101e+02] [ 9.43046186e-01 3.32206985e-01 -1.73899572e-02 9.61917143e+01] [ 1.84091154e-02 7.93608082e-05 9.99830535e-01 6.63716118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0992541539998 meters 0.016154416896550564 Centerline is valid? [True, True] Translation: X:925.74, Y:96.22, Z:6.64 [[ 3.33000418e-01 -9.42906705e-01 -6.13737283e-03 9.25736884e+02] [ 9.42740887e-01 3.33056955e-01 -1.76829062e-02 9.62179711e+01] [ 1.87174255e-02 1.02462847e-04 9.99824808e-01 6.63533718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1292541539999 meters 0.014323866301064364 Centerline is valid? [True, True] Translation: X:925.75, Y:96.25, Z:6.64 [[ 3.33554734e-01 -9.42713868e-01 -5.63933106e-03 9.25745334e+02] [ 9.42573603e-01 3.33602385e-01 -1.62619790e-02 9.62451361e+01] [ 1.72116874e-02 1.08775482e-04 9.99851862e-01 6.63781679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1592541539999 meters 0.013460624610170313 Centerline is valid? [True, True] Translation: X:925.75, Y:96.27, Z:6.64 [[ 3.34879574e-01 -9.42245824e-01 -5.33648609e-03 9.25753267e+02] [ 9.42119930e-01 3.34922066e-01 -1.54028531e-02 9.62724617e+01] [ 1.63005810e-02 1.30490988e-04 9.99867128e-01 6.64020970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1892541539999 meters 0.015103080886533478 Centerline is valid? [True, True] Translation: X:925.76, Y:96.30, Z:6.64 [[ 3.35229694e-01 -9.42118810e-01 -5.76198620e-03 9.25761616e+02] [ 9.41971739e-01 3.35279174e-01 -1.66468755e-02 9.62995137e+01] [ 1.76152085e-02 1.52898812e-04 9.99844828e-01 6.63844231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2192541539998 meters 0.013725336091564925 Centerline is valid? [True, True] Translation: X:925.77, Y:96.33, Z:6.64 [[ 3.36060709e-01 -9.41823963e-01 -5.55189366e-03 9.25769722e+02] [ 9.41687132e-01 3.36106524e-01 -1.60545877e-02 9.63265094e+01] [ 1.69866231e-02 1.67169300e-04 9.99855703e-01 6.63958449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2492541539999 meters 0.014118540656392418 Centerline is valid? [True, True] Translation: X:925.78, Y:96.35, Z:6.64 [[ 3.37932164e-01 -9.41151140e-01 -6.03192198e-03 9.25776717e+02] [ 9.40989292e-01 3.37985920e-01 -1.74548136e-02 9.63532461e+01] [ 1.84663224e-02 2.22568947e-04 9.99829458e-01 6.63825878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2792541539999 meters 0.015520890870908619 Centerline is valid? [True, True] Translation: X:925.79, Y:96.38, Z:6.64 [[ 3.38802354e-01 -9.40832592e-01 -6.85551314e-03 9.25785626e+02] [ 9.40623234e-01 3.38871593e-01 -1.98488010e-02 9.63797292e+01] [ 2.09975376e-02 2.76365560e-04 9.99779489e-01 6.63588591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3092541539999 meters 0.014648649554812126 Centerline is valid? [True, True] Translation: X:925.80, Y:96.41, Z:6.64 [[ 3.38815261e-01 -9.40828192e-01 -6.82138295e-03 9.25795321e+02] [ 9.40620585e-01 3.38883806e-01 -1.97656340e-02 9.64063874e+01] [ 2.09077220e-02 2.80565241e-04 9.99781370e-01 6.63666171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3392541539998 meters 0.014637581736041377 Centerline is valid? [True, True] Translation: X:925.81, Y:96.43, Z:6.64 [[ 3.38276558e-01 -9.41020757e-01 -6.99331058e-03 9.25805386e+02] [ 9.40802187e-01 3.38348720e-01 -2.02827363e-02 9.64328733e+01] [ 2.14526536e-02 2.81852339e-04 9.99769826e-01 6.63702071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3692541539999 meters 0.01700071923493594 Centerline is valid? [True, True] Translation: X:925.82, Y:96.46, Z:6.63 [[ 3.36098816e-01 -9.41798472e-01 -7.29550741e-03 9.25816305e+02] [ 9.41560379e-01 3.36177895e-01 -2.11772311e-02 9.64579626e+01] [ 2.23972722e-02 2.48481583e-04 9.99749119e-01 6.63479773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3992541539999 meters 0.014587741547102401 Centerline is valid? [True, True] Translation: X:925.83, Y:96.48, Z:6.64 [[ 3.34921184e-01 -9.42221108e-01 -6.86903775e-03 9.25827946e+02] [ 9.42009784e-01 3.34991548e-01 -1.99556913e-02 9.64843504e+01] [ 2.11037432e-02 2.12883001e-04 9.99777269e-01 6.63849936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4292541539999 meters 0.014312393480476306 Centerline is valid? [True, True] Translation: X:925.84, Y:96.51, Z:6.64 [[ 3.31626359e-01 -9.43387335e-01 -6.65543288e-03 9.25841054e+02] [ 9.43188855e-01 3.31693107e-01 -1.93511198e-02 9.65103354e+01] [ 2.04631625e-02 1.40011282e-04 9.99790598e-01 6.63933663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4592541539998 meters 0.015499756486483413 Centerline is valid? [True, True] Translation: X:925.85, Y:96.54, Z:6.64 [[ 3.29513265e-01 -9.44125856e-01 -6.88311532e-03 9.25852247e+02] [ 9.43913363e-01 3.29585131e-01 -2.00300965e-02 9.65352426e+01] [ 2.11795045e-02 1.03117964e-04 9.99775684e-01 6.63865736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4892541539998 meters 0.013670486718879308 Centerline is valid? [True, True] Translation: X:925.87, Y:96.56, Z:6.64 [[ 3.25890059e-01 -9.45384706e-01 -6.58991897e-03 9.25866618e+02] [ 9.45189925e-01 3.25956680e-01 -1.91898019e-02 9.65590362e+01] [ 2.02897733e-02 2.50406549e-05 9.99794141e-01 6.64065079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5192541539999 meters 0.01366476660875426 Centerline is valid? [True, True] Translation: X:925.88, Y:96.58, Z:6.64 [[ 3.23634547e-01 -9.46159385e-01 -6.56483388e-03 9.25878167e+02] [ 9.45965916e-01 3.23701123e-01 -1.91329145e-02 9.65840483e+01] [ 2.02278307e-02 -1.80369803e-05 9.99795396e-01 6.64071510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5492541539999 meters 0.015593000479828973 Centerline is valid? [True, True] Translation: X:925.89, Y:96.61, Z:6.64 [[ 3.19963793e-01 -9.47403356e-01 -7.07472825e-03 9.25892602e+02] [ 9.47178544e-01 3.20041983e-01 -2.06381640e-02 9.66094560e+01] [ 2.18168759e-02 -9.75655858e-05 9.99761979e-01 6.64077118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5792541539998 meters 0.01574639710420969 Centerline is valid? [True, True] Translation: X:925.90, Y:96.64, Z:6.64 [[ 3.18878190e-01 -9.47769674e-01 -7.02463905e-03 9.25903419e+02] [ 9.47547717e-01 3.18955534e-01 -2.05107750e-02 9.66354289e+01] [ 2.16800380e-02 -1.15741889e-04 9.99764954e-01 6.64141853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6092541539998 meters 0.013972000742961987 Centerline is valid? [True, True] Translation: X:925.91, Y:96.66, Z:6.64 [[ 3.18768600e-01 -9.47809834e-01 -6.56489649e-03 9.25913831e+02] [ 9.47615640e-01 3.18836176e-01 -1.91857243e-02 9.66613457e+01] [ 2.02775446e-02 -1.05192130e-04 9.99794384e-01 6.64333814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6392541539999 meters 0.01666010364866506 Centerline is valid? [True, True] Translation: X:925.92, Y:96.69, Z:6.64 [[ 3.18216583e-01 -9.47991853e-01 -7.04642131e-03 9.25924738e+02] [ 9.47767771e-01 3.18294567e-01 -2.06111952e-02 9.66861837e+01] [ 2.17820828e-02 -1.19546883e-04 9.99762735e-01 6.64206785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6692541539999 meters 0.014002414092780899 Centerline is valid? [True, True] Translation: X:925.93, Y:96.71, Z:6.64 [[ 3.18963925e-01 -9.47744427e-01 -6.52034252e-03 9.25934951e+02] [ 9.47552172e-01 3.19030551e-01 -1.90889957e-02 9.67119212e+01] [ 2.01716777e-02 -8.96637266e-05 9.99796527e-01 6.64424306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6992541539998 meters 0.015488033308771392 Centerline is valid? [True, True] Translation: X:925.95, Y:96.74, Z:6.64 [[ 3.19121905e-01 -9.47688856e-01 -6.85874326e-03 9.25945047e+02] [ 9.47475697e-01 3.19195591e-01 -2.00992180e-02 9.67375471e+01] [ 2.12370855e-02 -8.43918038e-05 9.99774464e-01 6.64323011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7292541539998 meters 0.015027042518880785 Centerline is valid? [True, True] Translation: X:925.95, Y:96.76, Z:6.64 [[ 3.19281484e-01 -9.47635037e-01 -6.86810218e-03 9.25954590e+02] [ 9.47420869e-01 3.19355337e-01 -2.01461027e-02 9.67630745e+01] [ 2.12845179e-02 -7.47057614e-05 9.99773456e-01 6.64347322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7592541539999 meters 0.014153548804278774 Centerline is valid? [True, True] Translation: X:925.97, Y:96.79, Z:6.64 [[ 3.18949628e-01 -9.47748212e-01 -6.66789600e-03 9.25965486e+02] [ 9.47546004e-01 3.19019311e-01 -1.95767620e-02 9.67894230e+01] [ 2.06810288e-02 -7.41372399e-05 9.99786122e-01 6.64419439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7892541539999 meters 0.01629842220282789 Centerline is valid? [True, True] Translation: X:925.98, Y:96.82, Z:6.64 [[ 3.17705115e-01 -9.48163385e-01 -7.04661213e-03 9.25975455e+02] [ 9.47937240e-01 3.17783236e-01 -2.07075739e-02 9.68162558e+01] [ 2.18734586e-02 -1.00843905e-04 9.99760742e-01 6.64425283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8192541539999 meters 0.014207394310232045 Centerline is valid? [True, True] Translation: X:925.99, Y:96.84, Z:6.65 [[ 3.16628672e-01 -9.48526164e-01 -6.66334461e-03 9.25987469e+02] [ 9.48323667e-01 3.16698758e-01 -1.95989606e-02 9.68417451e+01] [ 2.07003998e-02 -1.13414536e-04 9.99785717e-01 6.64666363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8492541539998 meters 0.017607392623597624 Centerline is valid? [True, True] Translation: X:926.00, Y:96.87, Z:6.65 [[ 3.14777931e-01 -9.49137526e-01 -7.26708982e-03 9.25997765e+02] [ 9.48896392e-01 3.14861764e-01 -2.13940749e-02 9.68670805e+01] [ 2.25940480e-02 -1.61332694e-04 9.99744709e-01 6.64500495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8792541539999 meters 0.01441461545927667 Centerline is valid? [True, True] Translation: X:926.01, Y:96.89, Z:6.65 [[ 3.13366345e-01 -9.49608572e-01 -6.71522495e-03 9.26008807e+02] [ 9.49402416e-01 3.13438239e-01 -1.97869496e-02 9.68926060e+01] [ 2.08946652e-02 -1.74886730e-04 9.99781667e-01 6.64797241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9092541539999 meters 0.014538845064181684 Centerline is valid? [True, True] Translation: X:926.02, Y:96.92, Z:6.65 [[ 3.12652405e-01 -9.49843734e-01 -6.73451605e-03 9.26018749e+02] [ 9.49636077e-01 3.12724872e-01 -1.98614205e-02 9.69181896e+01] [ 2.09712965e-02 -1.85618498e-04 9.99780061e-01 6.64856148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9392541539999 meters 0.014804496764029175 Centerline is valid? [True, True] Translation: X:926.03, Y:96.94, Z:6.65 [[ 3.11456030e-01 -9.50237682e-01 -6.59466865e-03 9.26029020e+02] [ 9.50038307e-01 3.11525773e-01 -1.94655325e-02 9.69435921e+01] [ 2.05512918e-02 -2.02530351e-04 9.99788779e-01 6.64898336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9692541539998 meters 0.014764920885651284 Centerline is valid? [True, True] Translation: X:926.04, Y:96.97, Z:6.65 [[ 3.11070640e-01 -9.50364207e-01 -6.55223904e-03 9.26037971e+02] [ 9.50167062e-01 3.11139572e-01 -1.93577414e-02 9.69697902e+01] [ 2.04355654e-02 -2.04096698e-04 9.99791151e-01 6.64948600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9992541539999 meters 0.014764920885651284 Centerline is valid? [True, True] Translation: X:926.05, Y:97.00, Z:6.65 [[ 3.10802615e-01 -9.50451931e-01 -6.54677757e-03 9.26046737e+02] [ 9.50254767e-01 3.10871492e-01 -1.93595889e-02 9.69959438e+01] [ 2.04355652e-02 -2.04095730e-04 9.99791151e-01 6.64967644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0292541539999 meters 0.01466710701589767 Centerline is valid? [True, True] Translation: X:926.06, Y:97.02, Z:6.65 [[ 3.10979302e-01 -9.50394140e-01 -6.54611335e-03 9.26056044e+02] [ 9.50196634e-01 3.11048131e-01 -1.93756663e-02 9.70220587e+01] [ 2.04506760e-02 -1.94663696e-04 9.99790844e-01 6.64964355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0592541539999 meters 0.018123086582366308 Centerline is valid? [True, True] Translation: X:926.07, Y:97.05, Z:6.65 [[ 3.10696396e-01 -9.50480473e-01 -7.39057111e-03 9.26065130e+02] [ 9.50228264e-01 3.10784206e-01 -2.18957586e-02 9.70493628e+01] [ 2.31083638e-02 -2.19796265e-04 9.99732942e-01 6.64888351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0892541539998 meters 0.01607848076526228 Centerline is valid? [True, True] Translation: X:926.07, Y:97.07, Z:6.65 [[ 3.12707848e-01 -9.49822440e-01 -7.15082742e-03 9.26073590e+02] [ 9.49585717e-01 3.12789558e-01 -2.12051805e-02 9.70748868e+01] [ 2.23778605e-02 -1.59297200e-04 9.99749572e-01 6.64872086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1192541539999 meters 0.016062133900890174 Centerline is valid? [True, True] Translation: X:926.08, Y:97.10, Z:6.65 [[ 3.13929794e-01 -9.49417645e-01 -7.36339740e-03 9.26081824e+02] [ 9.49166048e-01 3.14016113e-01 -2.18562253e-02 9.71018065e+01] [ 2.30629114e-02 -1.27766503e-04 9.99734008e-01 6.64851870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1492541539999 meters 0.017419357270271076 Centerline is valid? [True, True] Translation: X:926.09, Y:97.13, Z:6.65 [[ 3.15179585e-01 -9.49001569e-01 -7.60595041e-03 9.26089888e+02] [ 9.48732497e-01 3.15271332e-01 -2.25972874e-02 9.71285322e+01] [ 2.38427993e-02 -9.38086547e-05 9.99715716e-01 6.64772822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1792541539999 meters 0.016255502854655882 Centerline is valid? [True, True] Translation: X:926.10, Y:97.15, Z:6.65 [[ 3.18761091e-01 -9.47805504e-01 -7.48960531e-03 9.26096388e+02] [ 9.47543878e-01 3.18849066e-01 -2.22681985e-02 9.71546901e+01] [ 2.34939747e-02 1.50557647e-06 9.99723978e-01 6.64796756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2092541539998 meters 0.013993662084967006 Centerline is valid? [True, True] Translation: X:926.10, Y:97.18, Z:6.65 [[ 3.23037644e-01 -9.46357735e-01 -7.32929856e-03 9.26103527e+02] [ 9.46106379e-01 3.23120760e-01 -2.18104201e-02 9.71818937e+01] [ 2.30087083e-02 1.11290591e-04 9.99735258e-01 6.64973195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2392541539998 meters 0.015356665085632139 Centerline is valid? [True, True] Translation: X:926.11, Y:97.21, Z:6.65 [[ 3.24729558e-01 -9.45776026e-01 -7.64350972e-03 9.26112175e+02] [ 9.45502006e-01 3.24819460e-01 -2.27656620e-02 9.72096815e+01] [ 2.40139781e-02 1.65729593e-04 9.99711609e-01 6.64967446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2692541539999 meters 0.01428705083223901 Centerline is valid? [True, True] Translation: X:926.12, Y:97.24, Z:6.65 [[ 3.26764186e-01 -9.45078010e-01 -7.26103270e-03 9.26119646e+02] [ 9.44830211e-01 3.26844781e-01 -2.16416609e-02 9.72356237e+01] [ 2.28262884e-02 2.11276645e-04 9.99739424e-01 6.65009545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2992541539999 meters 0.015495753227627838 Centerline is valid? [True, True] Translation: X:926.13, Y:97.26, Z:6.65 [[ 3.30687663e-01 -9.43714220e-01 -7.00999212e-03 9.26125049e+02] [ 9.43482586e-01 3.30761818e-01 -2.09100393e-02 9.72625502e+01] [ 2.20517392e-02 3.00886534e-04 9.99756786e-01 6.64899182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3292541539998 meters 0.01505577619051373 Centerline is valid? [True, True] Translation: X:926.14, Y:97.29, Z:6.65 [[ 3.32151963e-01 -9.43199701e-01 -7.02837506e-03 9.26135383e+02] [ 9.42966339e-01 3.32226140e-01 -2.09827233e-02 9.72896076e+01] [ 2.21259082e-02 3.41931635e-04 9.99755134e-01 6.65143711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3592541539998 meters 0.019485761601352656 Centerline is valid? [True, True] Translation: X:926.14, Y:97.32, Z:6.65 [[ 3.35232024e-01 -9.42107896e-01 -7.22504810e-03 9.26142322e+02] [ 9.41860673e-01 3.35309596e-01 -2.15858212e-02 9.73158372e+01] [ 2.27588006e-02 4.31269871e-04 9.99740892e-01 6.64948889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3892541539999 meters 0.016092005335952723 Centerline is valid? [True, True] Translation: X:926.15, Y:97.34, Z:6.65 [[ 3.36678580e-01 -9.41595620e-01 -6.72468379e-03 9.26151942e+02] [ 9.41380997e-01 3.36745445e-01 -2.01077861e-02 9.73428604e+01] [ 2.11979099e-02 4.39371330e-04 9.99775203e-01 6.65213160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4192541539999 meters 0.017401254021625824 Centerline is valid? [True, True] Translation: X:926.16, Y:97.37, Z:6.65 [[ 3.39511320e-01 -9.40578482e-01 -6.64699573e-03 9.26158971e+02] [ 9.40368203e-01 3.39576008e-01 -1.98941402e-02 9.73696050e+01] [ 2.09691605e-02 5.03662363e-04 9.99779996e-01 6.65174339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4492541539998 meters 0.019358494875827675 Centerline is valid? [True, True] Translation: X:926.17, Y:97.40, Z:6.65 [[ 3.40623940e-01 -9.40174630e-01 -6.85538676e-03 9.26168388e+02] [ 9.39950467e-01 3.40692472e-01 -2.05367733e-02 9.73967903e+01] [ 2.16437319e-02 5.51592644e-04 9.99765595e-01 6.65089062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4792541539998 meters 0.020905648601449667 Centerline is valid? [True, True] Translation: X:926.17, Y:97.42, Z:6.65 [[ 3.43861429e-01 -9.38996230e-01 -6.73784996e-03 9.26174362e+02] [ 9.38779212e-01 3.43926878e-01 -2.01963755e-02 9.74233828e+01] [ 2.12816482e-02 6.19401069e-04 9.99773328e-01 6.65028456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5092541539999 meters 0.020472591269427253 Centerline is valid? [True, True] Translation: X:926.18, Y:97.45, Z:6.65 [[ 3.45379740e-01 -9.38439770e-01 -6.60558264e-03 9.26181933e+02] [ 9.38230790e-01 3.45442299e-01 -1.98142116e-02 9.74496571e+01] [ 2.08762918e-02 6.45866248e-04 9.99781858e-01 6.65078560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5392541539999 meters 0.02016546206952156 Centerline is valid? [True, True] Translation: X:926.19, Y:97.48, Z:6.65 [[ 3.46648619e-01 -9.37971715e-01 -6.61792568e-03 9.26192002e+02] [ 9.37761503e-01 3.46711115e-01 -1.98687231e-02 9.74761299e+01] [ 2.09308086e-02 6.81429465e-04 9.99780694e-01 6.65103601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5692541539999 meters 0.0226943161133668 Centerline is valid? [True, True] Translation: X:926.20, Y:97.50, Z:6.65 [[ 3.49190925e-01 -9.37025280e-01 -7.02297481e-03 9.26199167e+02] [ 9.36788044e-01 3.49260652e-01 -2.10987662e-02 9.75023310e+01] [ 2.22229261e-02 7.88458858e-04 9.99752729e-01 6.64922658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5992541539998 meters 0.02333742828480586 Centerline is valid? [True, True] Translation: X:926.21, Y:97.53, Z:6.65 [[ 3.49379742e-01 -9.36953328e-01 -7.22888094e-03 9.26210230e+02] [ 9.36701570e-01 3.49453552e-01 -2.17343787e-02 9.75285061e+01] [ 2.28902566e-02 8.22247518e-04 9.99737646e-01 6.64879052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6292541539999 meters 0.021309314601637045 Centerline is valid? [True, True] Translation: X:926.22, Y:97.55, Z:6.65 [[ 3.49857463e-01 -9.36776272e-01 -7.06909636e-03 9.26223128e+02] [ 9.36535078e-01 3.49927909e-01 -2.12721977e-02 9.75535909e+01] [ 2.24009642e-02 8.21780429e-04 9.99748729e-01 6.65053063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6592541539999 meters 0.019829852211719273 Centerline is valid? [True, True] Translation: X:926.24, Y:97.58, Z:6.65 [[ 3.49199156e-01 -9.37022700e-01 -6.95764908e-03 9.26235781e+02] [ 9.36788673e-01 3.49267547e-01 -2.09561985e-02 9.75790678e+01] [ 2.20665147e-02 8.00039987e-04 9.99756185e-01 6.65157863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6892541539999 meters 0.02037816581413146 Centerline is valid? [True, True] Translation: X:926.25, Y:97.60, Z:6.65 [[ 3.47086442e-01 -9.37809156e-01 -6.70736894e-03 9.26247676e+02] [ 9.37591522e-01 3.47150482e-01 -2.02158584e-02 9.76045564e+01] [ 2.12870835e-02 7.27878114e-04 9.99773139e-01 6.65130152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7192541539998 meters 0.02031270303571555 Centerline is valid? [True, True] Translation: X:926.26, Y:97.63, Z:6.65 [[ 3.45416974e-01 -9.38426809e-01 -6.49901861e-03 9.26258791e+02] [ 9.38222361e-01 3.45477454e-01 -1.95992465e-02 9.76299057e+01] [ 2.06377228e-02 6.72387849e-04 9.99786793e-01 6.65150516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7492541539999 meters 0.017984599478585054 Centerline is valid? [True, True] Translation: X:926.28, Y:97.65, Z:6.65 [[ 3.41890135e-01 -9.39720144e-01 -6.09812060e-03 9.26276622e+02] [ 9.39540063e-01 3.41944052e-01 -1.84047879e-02 9.76542240e+01] [ 1.93805660e-02 5.62986813e-04 9.99812021e-01 6.65341306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7792541539999 meters 0.018390403294889095 Centerline is valid? [True, True] Translation: X:926.29, Y:97.68, Z:6.65 [[ 3.38248364e-01 -9.41036381e-01 -6.21081330e-03 9.26290775e+02] [ 9.40849548e-01 3.38305008e-01 -1.87576485e-02 9.76779183e+01] [ 1.97527789e-02 5.01303017e-04 9.99804769e-01 6.65307108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8092541539999 meters 0.017044201512300378 Centerline is valid? [True, True] Translation: X:926.30, Y:97.70, Z:6.65 [[ 3.37104580e-01 -9.41447536e-01 -6.08604432e-03 9.26302102e+02] [ 9.41267914e-01 3.37159182e-01 -1.83956663e-02 9.77034901e+01] [ 1.93705205e-02 4.72665131e-04 9.99812262e-01 6.65353259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8392541539998 meters 0.018121960300738427 Centerline is valid? [True, True] Translation: X:926.32, Y:97.73, Z:6.65 [[ 3.34313493e-01 -9.42439918e-01 -6.44124550e-03 9.26315786e+02] [ 9.42238517e-01 3.34375242e-01 -1.94877889e-02 9.77290561e+01] [ 2.05198632e-02 4.45841179e-04 9.99789346e-01 6.65234644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8692541539999 meters 0.017975933647547904 Centerline is valid? [True, True] Translation: X:926.33, Y:97.76, Z:6.65 [[ 3.33053371e-01 -9.42885609e-01 -6.49460056e-03 9.26327474e+02] [ 9.42680555e-01 3.33116413e-01 -1.96678994e-02 9.77551895e+01] [ 2.07080373e-02 4.28126531e-04 9.99785474e-01 6.65253601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8992541539999 meters 0.01544422178015215 Centerline is valid? [True, True] Translation: X:926.34, Y:97.78, Z:6.65 [[ 3.32442481e-01 -9.43102483e-01 -6.30110905e-03 9.26339956e+02] [ 9.42909136e-01 3.32501941e-01 -1.91002791e-02 9.77809655e+01] [ 2.01086516e-02 4.08370876e-04 9.99797717e-01 6.65427315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9292541539999 meters 0.015170144275927501 Centerline is valid? [True, True] Translation: X:926.35, Y:97.81, Z:6.65 [[ 3.30590255e-01 -9.43752814e-01 -6.38038445e-03 9.26353534e+02] [ 9.43554311e-01 3.30651601e-01 -1.93592441e-02 9.78062144e+01] [ 2.03800255e-02 3.79738190e-04 9.99792234e-01 6.65480963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9592541539998 meters 0.015283302100734291 Centerline is valid? [True, True] Translation: X:926.36, Y:97.83, Z:6.65 [[ 3.29635762e-01 -9.44086507e-01 -6.39770644e-03 9.26363481e+02] [ 9.43886689e-01 3.29697639e-01 -1.94263966e-02 9.78319550e+01] [ 2.04495077e-02 3.64925114e-04 9.99790820e-01 6.65447542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9892541539998 meters 0.015018528862999128 Centerline is valid? [True, True] Translation: X:926.38, Y:97.86, Z:6.65 [[ 3.28195672e-01 -9.44587166e-01 -6.53346204e-03 9.26376445e+02] [ 9.44378520e-01 3.28260514e-01 -1.98556453e-02 9.78572225e+01] [ 2.09000654e-02 3.46475648e-04 9.99781510e-01 6.65452001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0192541539999 meters 0.01479841377181584 Centerline is valid? [True, True] Translation: X:926.39, Y:97.88, Z:6.65 [[ 3.27086946e-01 -9.44972145e-01 -6.46341465e-03 9.26387336e+02] [ 9.44767635e-01 3.27150639e-01 -1.96615354e-02 9.78833940e+01] [ 2.06941135e-02 3.24606582e-04 9.99785801e-01 6.65467252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0492541539999 meters 0.014528956475179555 Centerline is valid? [True, True] Translation: X:926.40, Y:97.91, Z:6.66 [[ 3.26127252e-01 -9.45303944e-01 -6.43959059e-03 9.26398349e+02] [ 9.45100613e-01 3.26190677e-01 -1.96079845e-02 9.79093021e+01] [ 2.06360395e-02 3.08637082e-04 9.99787007e-01 6.65506389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0792541539998 meters 0.01738656506508885 Centerline is valid? [True, True] Translation: X:926.41, Y:97.93, Z:6.65 [[ 3.24319945e-01 -9.45922797e-01 -6.82900856e-03 9.26410017e+02] [ 9.45693812e-01 3.24391703e-01 -2.08143363e-02 9.79345891e+01] [ 2.19040289e-02 2.92353265e-04 9.99760035e-01 6.65367124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1092541539998 meters 0.01472198743329871 Centerline is valid? [True, True] Translation: X:926.42, Y:97.96, Z:6.65 [[ 3.25609738e-01 -9.45483412e-01 -6.27828838e-03 9.26417181e+02] [ 9.45289414e-01 3.25670120e-01 -1.91545430e-02 9.79610508e+01] [ 2.01549536e-02 3.02106188e-04 9.99796823e-01 6.65490073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1392541539999 meters 0.014529848562273738 Centerline is valid? [True, True] Translation: X:926.43, Y:97.99, Z:6.66 [[ 3.25389128e-01 -9.45559498e-01 -6.25699825e-03 9.26425302e+02] [ 9.45366451e-01 3.25449141e-01 -1.91083634e-02 9.79877672e+01] [ 2.01044292e-02 3.02497480e-04 9.99797840e-01 6.65504250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1692541539999 meters 0.014523028328219913 Centerline is valid? [True, True] Translation: X:926.43, Y:98.01, Z:6.65 [[ 3.25232685e-01 -9.45612722e-01 -6.34674071e-03 9.26433509e+02] [ 9.45413726e-01 3.25294458e-01 -1.94011064e-02 9.80146933e+01] [ 2.04104926e-02 3.09578123e-04 9.99791636e-01 6.65494705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1992541539998 meters 0.014430241166710198 Centerline is valid? [True, True] Translation: X:926.44, Y:98.04, Z:6.66 [[ 3.24245973e-01 -9.45951824e-01 -6.30038239e-03 9.26441195e+02] [ 9.45755417e-01 3.24307047e-01 -1.92777240e-02 9.80422127e+01] [ 2.02790566e-02 2.92103613e-04 9.99794316e-01 6.65501552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2292541539998 meters 0.014148347765237525 Centerline is valid? [True, True] Translation: X:926.45, Y:98.07, Z:6.66 [[ 3.23830591e-01 -9.46095282e-01 -6.12094817e-03 9.26449832e+02] [ 9.45909576e-01 3.23888312e-01 -1.87466110e-02 9.80688859e+01] [ 1.97185837e-02 2.80862608e-04 9.99805530e-01 6.65600163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2592541539999 meters 0.014076518781511055 Centerline is valid? [True, True] Translation: X:926.46, Y:98.10, Z:6.66 [[ 3.24080436e-01 -9.46012918e-01 -5.60626225e-03 9.26457012e+02] [ 9.45856826e-01 3.24128813e-01 -1.71865141e-02 9.80963120e+01] [ 1.80758155e-02 2.67091552e-04 9.99836583e-01 6.65734160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2892541539999 meters 0.016019397151254326 Centerline is valid? [True, True] Translation: X:926.46, Y:98.12, Z:6.66 [[ 3.25935251e-01 -9.45377079e-01 -5.32837051e-03 9.26460989e+02] [ 9.45235786e-01 3.25978672e-01 -1.63466824e-02 9.81240683e+01] [ 1.71907140e-02 2.91393543e-04 9.99852186e-01 6.65731408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3192541539999 meters 0.015007688760026661 Centerline is valid? [True, True] Translation: X:926.47, Y:98.15, Z:6.66 [[ 3.27380152e-01 -9.44878646e-01 -5.15563409e-03 9.26468287e+02] [ 9.44746099e-01 3.27420597e-01 -1.58291335e-02 9.81516664e+01] [ 1.66446710e-02 3.11378925e-04 9.99861419e-01 6.65797670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3492541539998 meters 0.015604004830056603 Centerline is valid? [True, True] Translation: X:926.47, Y:98.18, Z:6.66 [[ 3.28751060e-01 -9.44402191e-01 -5.21945985e-03 9.26474454e+02] [ 9.44266038e-01 3.28792310e-01 -1.60395385e-02 9.81787063e+01] [ 1.68638936e-02 3.44456624e-04 9.99857735e-01 6.65787796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3792541539999 meters 0.015736959991505716 Centerline is valid? [True, True] Translation: X:926.48, Y:98.21, Z:6.66 [[ 3.29464839e-01 -9.44152381e-01 -5.40391848e-03 9.26481660e+02] [ 9.44006134e-01 3.29508940e-01 -1.66216102e-02 9.82063231e+01] [ 1.74739723e-02 3.74903952e-04 9.99847248e-01 6.65782637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4092541539999 meters 0.016831333485705355 Centerline is valid? [True, True] Translation: X:926.49, Y:98.23, Z:6.66 [[ 3.30908477e-01 -9.43645391e-01 -5.74072412e-03 9.26486160e+02] [ 9.43479961e-01 3.30957987e-01 -1.76740796e-02 9.82337923e+01] [ 1.85780023e-02 4.32244607e-04 9.99827321e-01 6.65603470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4392541539999 meters 0.01787231694506045 Centerline is valid? [True, True] Translation: X:926.49, Y:98.26, Z:6.66 [[ 3.30218089e-01 -9.43885494e-01 -6.01572885e-03 9.26492848e+02] [ 9.43703529e-01 3.30272580e-01 -1.85383896e-02 9.82607569e+01] [ 1.94849473e-02 4.44647043e-04 9.99810052e-01 6.65533423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4692541539998 meters 0.016056160141198417 Centerline is valid? [True, True] Translation: X:926.50, Y:98.29, Z:6.66 [[ 3.29591230e-01 -9.44105742e-01 -5.82835233e-03 9.26502545e+02] [ 9.43934647e-01 3.29642486e-01 -1.79781427e-02 9.82869822e+01] [ 1.88945403e-02 4.23854457e-04 9.99821392e-01 6.65681921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4992541539999 meters 0.01723063346863265 Centerline is valid? [True, True] Translation: X:926.51, Y:98.31, Z:6.66 [[ 3.26936863e-01 -9.45027491e-01 -5.94390642e-03 9.26510043e+02] [ 9.44849425e-01 3.26990666e-01 -1.83485465e-02 9.83129926e+01] [ 1.92834827e-02 3.82719653e-04 9.99813983e-01 6.65595108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5292541539999 meters 0.017384579143533262 Centerline is valid? [True, True] Translation: X:926.52, Y:98.34, Z:6.66 [[ 3.24929754e-01 -9.45718513e-01 -6.09505252e-03 9.26520312e+02] [ 9.45531092e-01 3.24986720e-01 -1.88304306e-02 9.83397266e+01] [ 1.97890979e-02 3.55505522e-04 9.99804113e-01 6.65660199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5592541539999 meters 0.016815161854190606 Centerline is valid? [True, True] Translation: X:926.53, Y:98.37, Z:6.66 [[ 3.21143922e-01 -9.47010339e-01 -6.16434891e-03 9.26530801e+02] [ 9.46818598e-01 3.21202953e-01 -1.90579277e-02 9.83653924e+01] [ 2.00280617e-02 2.83817445e-04 9.99799378e-01 6.65637402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5892541539998 meters 0.014017794280465512 Centerline is valid? [True, True] Translation: X:926.54, Y:98.39, Z:6.66 [[ 3.18879683e-01 -9.47776853e-01 -5.89788124e-03 9.26541224e+02] [ 9.47601192e-01 3.18934137e-01 -1.82482087e-02 9.83921115e+01] [ 1.91762655e-02 2.30143715e-04 9.99816092e-01 6.65691920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6192541539999 meters 0.013482037614793453 Centerline is valid? [True, True] Translation: X:926.55, Y:98.42, Z:6.66 [[ 3.14548205e-01 -9.49220185e-01 -6.36140762e-03 9.26553749e+02] [ 9.49015726e-01 3.14612484e-01 -1.97011844e-02 9.84171782e+01] [ 2.07021402e-02 1.59896324e-04 9.99785675e-01 6.65607545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6492541539999 meters 0.01344549155312801 Centerline is valid? [True, True] Translation: X:926.56, Y:98.44, Z:6.66 [[ 3.12200356e-01 -9.49993911e-01 -6.51974489e-03 9.26564037e+02] [ 9.49778887e-01 3.12268403e-01 -2.02116362e-02 9.84427639e+01] [ 2.12368416e-02 1.17763971e-04 9.99774466e-01 6.65555996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6792541539999 meters 0.013314685346109155 Centerline is valid? [True, True] Translation: X:926.58, Y:98.47, Z:6.65 [[ 3.08421404e-01 -9.51226548e-01 -6.65521586e-03 9.26576228e+02] [ 9.51002330e-01 3.08493197e-01 -2.06522497e-02 9.84667974e+01] [ 2.16980570e-02 4.04700460e-05 9.99764569e-01 6.65480785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7092541539998 meters 0.016109805155192936 Centerline is valid? [True, True] Translation: X:926.59, Y:98.49, Z:6.65 [[ 3.06242839e-01 -9.51927292e-01 -7.05372542e-03 9.26586690e+02] [ 9.51675126e-01 3.06324063e-01 -2.19094149e-02 9.84934910e+01] [ 2.30168958e-02 -3.25361922e-06 9.99735076e-01 6.65459301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7392541539998 meters 0.014065914131107832 Centerline is valid? [True, True] Translation: X:926.60, Y:98.52, Z:6.66 [[ 3.05007082e-01 -9.52326791e-01 -6.66055186e-03 9.26597125e+02] [ 9.52101639e-01 3.05079797e-01 -2.07071653e-02 9.85197358e+01] [ 2.17519881e-02 -2.56902885e-05 9.99763397e-01 6.65643108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7692541539999 meters 0.013243028288500743 Centerline is valid? [True, True] Translation: X:926.61, Y:98.55, Z:6.66 [[ 3.03242941e-01 -9.52893440e-01 -6.14903966e-03 9.26608226e+02] [ 9.52701316e-01 3.03305274e-01 -1.91340840e-02 9.85461773e+01] [ 2.00977792e-02 -5.59222733e-05 9.99798018e-01 6.65822982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7992541539999 meters 0.016177613401910367 Centerline is valid? [True, True] Translation: X:926.62, Y:98.57, Z:6.66 [[ 3.02543610e-01 -9.53114595e-01 -6.31933639e-03 9.26617193e+02] [ 9.52911325e-01 3.02609592e-01 -1.96835175e-02 9.85716904e+01] [ 2.06729396e-02 -6.66447709e-05 9.99786290e-01 6.65759507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8292541539998 meters 0.013970616008057558 Centerline is valid? [True, True] Translation: X:926.63, Y:98.60, Z:6.66 [[ 3.02916528e-01 -9.52999629e-01 -5.76919379e-03 9.26626788e+02] [ 9.52829867e-01 3.02971458e-01 -1.79871946e-02 9.85978211e+01] [ 1.88896908e-02 -4.84416116e-05 9.99821573e-01 6.66031934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8592541539998 meters 0.013127187091062437 Centerline is valid? [True, True] Translation: X:926.64, Y:98.62, Z:6.66 [[ 3.03430281e-01 -9.52838068e-01 -5.44795228e-03 9.26635298e+02] [ 9.52686364e-01 3.03479184e-01 -1.70022733e-02 9.86233302e+01] [ 1.78537533e-02 -3.11852789e-05 9.99840609e-01 6.66101430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8892541539999 meters 0.014288446060970478 Centerline is valid? [True, True] Translation: X:926.64, Y:98.65, Z:6.66 [[ 3.03712893e-01 -9.52747744e-01 -5.49689182e-03 9.26643473e+02] [ 9.52592974e-01 3.03762632e-01 -1.71723428e-02 9.86503036e+01] [ 1.80306611e-02 -2.08386398e-05 9.99837434e-01 6.66195491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9192541539999 meters 0.014288446060970478 Centerline is valid? [True, True] Translation: X:926.65, Y:98.68, Z:6.66 [[ 3.03436433e-01 -9.52835857e-01 -5.49190655e-03 9.26651818e+02] [ 9.52681073e-01 3.03486127e-01 -1.71739374e-02 9.86766119e+01] [ 1.80306608e-02 -2.08371084e-05 9.99837434e-01 6.66214533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9492541539998 meters 0.016175600779206264 Centerline is valid? [True, True] Translation: X:926.66, Y:98.70, Z:6.66 [[ 3.05291521e-01 -9.52243889e-01 -5.35379241e-03 9.26658905e+02] [ 9.52096400e-01 3.05338460e-01 -1.67591874e-02 9.87026420e+01] [ 1.75935525e-02 1.91113317e-05 9.99845221e-01 6.66179588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9792541539998 meters 0.013120686963562058 Centerline is valid? [True, True] Translation: X:926.67, Y:98.73, Z:6.66 [[ 3.08149869e-01 -9.51325687e-01 -4.80584841e-03 9.26665330e+02] [ 9.51206538e-01 3.08187335e-01 -1.50561900e-02 9.87290390e+01] [ 1.58044419e-02 6.82085456e-05 9.99875100e-01 6.66274424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0092541539999 meters 0.01347231345851139 Centerline is valid? [True, True] Translation: X:926.67, Y:98.76, Z:6.66 [[ 3.09118242e-01 -9.51011375e-01 -4.82452857e-03 9.26673499e+02] [ 9.50891050e-01 3.09155876e-01 -1.51279424e-02 9.87563027e+01] [ 1.58783767e-02 8.87219165e-05 9.99873927e-01 6.66339817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0392541539999 meters 0.015247290514649915 Centerline is valid? [True, True] Translation: X:926.68, Y:98.78, Z:6.66 [[ 3.09928051e-01 -9.50747601e-01 -4.85827388e-03 9.26680584e+02] [ 9.50625302e-01 3.09966108e-01 -1.52495225e-02 9.87824221e+01] [ 1.60043472e-02 1.07856707e-04 9.99871916e-01 6.66262308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0692541539999 meters 0.014006438294229921 Centerline is valid? [True, True] Translation: X:926.69, Y:98.81, Z:6.66 [[ 3.12212233e-01 -9.50000478e-01 -4.75538069e-03 9.26685133e+02] [ 9.49883017e-01 3.12248411e-01 -1.49393558e-02 9.88089204e+01] [ 1.56772552e-02 1.47194286e-04 9.99877093e-01 6.66160029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0992541539998 meters 0.01673744346500513 Centerline is valid? [True, True] Translation: X:926.69, Y:98.84, Z:6.66 [[ 3.12885714e-01 -9.49776994e-01 -5.11779306e-03 9.26694176e+02] [ 9.49640679e-01 3.12927517e-01 -1.60919254e-02 9.88360478e+01] [ 1.68852388e-02 1.74869091e-04 9.99857419e-01 6.66228921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1292541539999 meters 0.014162531098933685 Centerline is valid? [True, True] Translation: X:926.70, Y:98.86, Z:6.66 [[ 3.15060731e-01 -9.49058502e-01 -4.96947738e-03 9.26699921e+02] [ 9.48929694e-01 3.15099850e-01 -1.56371663e-02 9.88629621e+01] [ 1.64064672e-02 2.10972384e-04 9.99865383e-01 6.66244174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1592541539999 meters 0.014512268948828 Centerline is valid? [True, True] Translation: X:926.71, Y:98.89, Z:6.66 [[ 3.16485258e-01 -9.48585175e-01 -4.82155121e-03 9.26705942e+02] [ 9.48463676e-01 3.16521898e-01 -1.51836515e-02 9.88906174e+01] [ 1.59291132e-02 2.32335680e-04 9.99873097e-01 6.66215198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1892541539999 meters 0.017117851028072853 Centerline is valid? [True, True] Translation: X:926.71, Y:98.92, Z:6.66 [[ 3.16606641e-01 -9.48544034e-01 -4.94476748e-03 9.26713819e+02] [ 9.48415992e-01 3.16645157e-01 -1.55868659e-02 9.89178125e+01] [ 1.63505653e-02 2.45208679e-04 9.99866291e-01 6.66172168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2192541539998 meters 0.015250561259909406 Centerline is valid? [True, True] Translation: X:926.72, Y:98.94, Z:6.66 [[ 3.16721657e-01 -9.48507094e-01 -4.65668937e-03 9.26720267e+02] [ 9.48393349e-01 3.16755800e-01 -1.46907524e-02 9.89444098e+01] [ 1.54093162e-02 2.36506203e-04 9.99881241e-01 6.66194014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2492541539999 meters 0.015192327394148471 Centerline is valid? [True, True] Translation: X:926.73, Y:98.97, Z:6.66 [[ 3.15682036e-01 -9.48854569e-01 -4.45628019e-03 9.26730879e+02] [ 9.48750262e-01 3.15713415e-01 -1.40705034e-02 9.89704318e+01] [ 1.47577689e-02 2.13908167e-04 9.99891075e-01 6.66341833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2792541539999 meters 0.015515281206736226 Centerline is valid? [True, True] Translation: X:926.74, Y:99.00, Z:6.66 [[ 3.14754591e-01 -9.49163673e-01 -4.22724908e-03 9.26739648e+02] [ 9.49069659e-01 3.14782917e-01 -1.33603112e-02 9.89971830e+01] [ 1.40117878e-02 1.93265432e-04 9.99901811e-01 6.66342206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3092541539999 meters 0.014130180267113162 Centerline is valid? [True, True] Translation: X:926.75, Y:99.02, Z:6.66 [[ 3.13732310e-01 -9.49502605e-01 -4.10382909e-03 9.26748907e+02] [ 9.49413856e-01 3.13759099e-01 -1.29830001e-02 9.90232890e+01] [ 1.36150062e-02 1.76954419e-04 9.99907296e-01 6.66376202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3392541539998 meters 0.014682394406978107 Centerline is valid? [True, True] Translation: X:926.76, Y:99.05, Z:6.66 [[ 3.13177488e-01 -9.49685709e-01 -4.11279361e-03 9.26755891e+02] [ 9.49596405e-01 3.13204444e-01 -1.30247585e-02 9.90498305e+01] [ 1.36575722e-02 1.73567112e-04 9.99906716e-01 6.66257364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3692541539999 meters 0.014847649231403966 Centerline is valid? [True, True] Translation: X:926.77, Y:99.08, Z:6.66 [[ 3.13174898e-01 -9.49685509e-01 -4.34937595e-03 9.26765075e+02] [ 9.49585426e-01 3.13205042e-01 -1.37884250e-02 9.90761072e+01] [ 1.44569139e-02 1.88084561e-04 9.99895476e-01 6.66250694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3992541539999 meters 0.01710648220598328 Centerline is valid? [True, True] Translation: X:926.77, Y:99.10, Z:6.66 [[ 3.13300376e-01 -9.49643460e-01 -4.49141178e-03 9.26773759e+02] [ 9.49536514e-01 3.13332504e-01 -1.42530782e-02 9.91031987e+01] [ 1.49426478e-02 2.00735290e-04 9.99888332e-01 6.66185251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4292541539999 meters 0.015467378083177526 Centerline is valid? [True, True] Translation: X:926.78, Y:99.13, Z:6.66 [[ 3.13746667e-01 -9.49496319e-01 -4.44625470e-03 9.26781034e+02] [ 9.49391283e-01 3.13778100e-01 -1.41242701e-02 9.91289115e+01] [ 1.48060798e-02 2.10207204e-04 9.99890362e-01 6.66235263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4592541539998 meters 0.016280591708390125 Centerline is valid? [True, True] Translation: X:926.79, Y:99.16, Z:6.66 [[ 3.15192652e-01 -9.49017051e-01 -4.49768418e-03 9.26785457e+02] [ 9.48909314e-01 3.15224650e-01 -1.43015226e-02 9.91559618e+01] [ 1.49901697e-02 2.39840442e-04 9.99887612e-01 6.66158364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4892541539998 meters 0.01597855752734235 Centerline is valid? [True, True] Translation: X:926.79, Y:99.18, Z:6.66 [[ 3.16688147e-01 -9.48519402e-01 -4.42283105e-03 9.26794897e+02] [ 9.48414989e-01 3.16718920e-01 -1.40760390e-02 9.91827305e+01] [ 1.47521904e-02 2.63035438e-04 9.99891146e-01 6.66335231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5192541539999 meters 0.01710143900727877 Centerline is valid? [True, True] Translation: X:926.80, Y:99.21, Z:6.66 [[ 3.16901585e-01 -9.48448091e-01 -4.42776141e-03 9.26803297e+02] [ 9.48343241e-01 3.16932400e-01 -1.41050303e-02 9.92099787e+01] [ 1.47811901e-02 2.70868855e-04 9.99890716e-01 6.66329495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5492541539999 meters 0.016365093498496693 Centerline is valid? [True, True] Translation: X:926.81, Y:99.24, Z:6.66 [[ 3.18320856e-01 -9.47973308e-01 -4.29411131e-03 9.26810752e+02] [ 9.47874466e-01 3.18349688e-01 -1.36920591e-02 9.92371846e+01] [ 1.43467356e-02 2.88189514e-04 9.99897039e-01 6.66475329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5792541539998 meters 0.018283600801629076 Centerline is valid? [True, True] Translation: X:926.82, Y:99.26, Z:6.66 [[ 3.18179762e-01 -9.48020427e-01 -4.34857058e-03 9.26819802e+02] [ 9.47918870e-01 3.18209341e-01 -1.38791559e-02 9.92643078e+01] [ 1.45414791e-02 2.93974402e-04 9.99894224e-01 6.66391511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6092541539998 meters 0.0164064989569234 Centerline is valid? [True, True] Translation: X:926.83, Y:99.29, Z:6.66 [[ 3.17970893e-01 -9.48090637e-01 -4.31928926e-03 9.26827388e+02] [ 9.47990245e-01 3.18000093e-01 -1.37998633e-02 9.92906917e+01] [ 1.44570555e-02 2.93310759e-04 9.99895448e-01 6.66465859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6392541539999 meters 0.01784032037050099 Centerline is valid? [True, True] Translation: X:926.84, Y:99.32, Z:6.66 [[ 3.16647390e-01 -9.48532643e-01 -4.50069393e-03 9.26838164e+02] [ 9.48423457e-01 3.16679241e-01 -1.43946121e-02 9.93170935e+01] [ 1.50790358e-02 2.89452654e-04 9.99886263e-01 6.66391331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6692541539999 meters 0.016026753900910125 Centerline is valid? [True, True] Translation: X:926.85, Y:99.34, Z:6.66 [[ 3.13928656e-01 -9.49436309e-01 -4.41527734e-03 9.26847795e+02] [ 9.49331146e-01 3.13959609e-01 -1.41329218e-02 9.93426052e+01] [ 1.48045278e-02 2.45168860e-04 9.99890377e-01 6.66421285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6992541539998 meters 0.014771109727254182 Centerline is valid? [True, True] Translation: X:926.86, Y:99.37, Z:6.67 [[ 3.12047350e-01 -9.50056366e-01 -4.39925914e-03 9.26858374e+02] [ 9.49951850e-01 3.12078282e-01 -1.40935420e-02 9.93684372e+01] [ 1.47625726e-02 2.18768082e-04 9.99891003e-01 6.66566151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7292541539998 meters 0.015481722353787726 Centerline is valid? [True, True] Translation: X:926.87, Y:99.39, Z:6.67 [[ 3.09242601e-01 -9.50973197e-01 -4.35802130e-03 9.26868709e+02] [ 9.50870520e-01 3.09273256e-01 -1.39752381e-02 9.93944988e+01] [ 1.46378963e-02 1.77824987e-04 9.99892844e-01 6.66524693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7592541539999 meters 0.013591083490318723 Centerline is valid? [True, True] Translation: X:926.88, Y:99.42, Z:6.67 [[ 3.03922447e-01 -9.52687734e-01 -4.15075688e-03 9.26881285e+02] [ 9.52594579e-01 3.03950774e-01 -1.33227263e-02 9.94208286e+01] [ 1.39540237e-02 9.50870855e-05 9.99902633e-01 6.66683804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7892541539999 meters 0.01459313702936849 Centerline is valid? [True, True] Translation: X:926.89, Y:99.45, Z:6.67 [[ 2.98005438e-01 -9.54556161e-01 -3.91069620e-03 9.26892695e+02] [ 9.54473476e-01 2.98031096e-01 -1.25638038e-02 9.94457671e+01] [ 1.31583655e-02 1.14260745e-05 9.99913425e-01 6.66685158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8192541539999 meters 0.013754219109064348 Centerline is valid? [True, True] Translation: X:926.90, Y:99.47, Z:6.67 [[ 2.94990195e-01 -9.55493144e-01 -3.69277105e-03 9.26901922e+02] [ 9.55419343e-01 2.95013307e-01 -1.18755212e-02 9.94708992e+01] [ 1.24363957e-02 -2.49825616e-05 9.99922665e-01 6.66790946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8492541539998 meters 0.013449957967594248 Centerline is valid? [True, True] Translation: X:926.91, Y:99.50, Z:6.67 [[ 2.91916834e-01 -9.56436835e-01 -3.62532837e-03 9.26911320e+02] [ 9.56365633e-01 2.91939338e-01 -1.16704647e-02 9.94972553e+01] [ 1.22204383e-02 -6.03343547e-05 9.99925326e-01 6.66875345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8792541539999 meters 0.014454164866341197 Centerline is valid? [True, True] Translation: X:926.92, Y:99.52, Z:6.67 [[ 2.85207101e-01 -9.58458897e-01 -3.66780962e-03 9.26923325e+02] [ 9.58386036e-01 2.85230648e-01 -1.18187404e-02 9.95226062e+01] [ 1.23739486e-02 -1.44388823e-04 9.99923429e-01 6.66852439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9092541539999 meters 0.015388449327644216 Centerline is valid? [True, True] Translation: X:926.93, Y:99.55, Z:6.67 [[ 2.81032183e-01 -9.59690724e-01 -3.82453208e-03 9.26933703e+02] [ 9.59611466e-01 2.81058132e-01 -1.23353616e-02 9.95492361e+01] [ 1.29130480e-02 -2.03431224e-04 9.99916602e-01 6.66845962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9392541539999 meters 0.019873064464383288 Centerline is valid? [True, True] Translation: X:926.95, Y:99.57, Z:6.67 [[ 2.72240013e-01 -9.62220824e-01 -4.05729983e-03 9.26945965e+02] [ 9.62131721e-01 2.72270036e-01 -1.30988305e-02 9.95747906e+01] [ 1.37086486e-02 -3.37631090e-04 9.99905975e-01 6.66647854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9692541539998 meters 0.017136268789416143 Centerline is valid? [True, True] Translation: X:926.95, Y:99.60, Z:6.67 [[ 2.68031532e-01 -9.63401361e-01 -4.11281262e-03 9.26952347e+02] [ 9.63309757e-01 2.68062787e-01 -1.32911546e-02 9.96023677e+01] [ 1.39072085e-02 -3.99463980e-04 9.99903210e-01 6.66901659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9992541539999 meters 0.024673148216454263 Centerline is valid? [True, True] Translation: X:926.97, Y:99.63, Z:6.67 [[ 2.59140242e-01 -9.65830526e-01 -4.21073207e-03 9.26968524e+02] [ 9.65734618e-01 2.59173894e-01 -1.36213233e-02 9.96259549e+01] [ 1.42472016e-02 -5.36616720e-04 9.99898359e-01 6.66640319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0292541539999 meters 0.025432554550312354 Centerline is valid? [True, True] Translation: X:926.98, Y:99.65, Z:6.67 [[ 2.55723752e-01 -9.66740473e-01 -4.26847413e-03 9.26977894e+02] [ 9.66641842e-01 2.55758690e-01 -1.38217600e-02 9.96523001e+01] [ 1.44537542e-02 -5.91533367e-04 9.99895364e-01 6.66779433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0592541539999 meters 0.025757879390658253 Centerline is valid? [True, True] Translation: X:926.98, Y:99.68, Z:6.67 [[ 2.49764883e-01 -9.68298295e-01 -3.98949690e-03 9.26981518e+02] [ 9.68212160e-01 2.49795941e-01 -1.29306002e-02 9.96803063e+01] [ 1.35172382e-02 -6.33069575e-04 9.99908438e-01 6.66767681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0892541539998 meters 0.023060409360084425 Centerline is valid? [True, True] Translation: X:926.99, Y:99.71, Z:6.67 [[ 2.48766686e-01 -9.68555566e-01 -3.90536948e-03 9.26986793e+02] [ 9.68472894e-01 2.48796541e-01 -1.26702113e-02 9.97082011e+01] [ 1.32434460e-02 -6.30318022e-04 9.99912103e-01 6.67012932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1192541539999 meters 0.024264967725228893 Centerline is valid? [True, True] Translation: X:926.99, Y:99.73, Z:6.67 [[ 2.48504426e-01 -9.68623852e-01 -3.65832480e-03 9.26991579e+02] [ 9.68551174e-01 2.48530649e-01 -1.18802100e-02 9.97345812e+01] [ 1.24166606e-02 -5.90990020e-04 9.99922736e-01 6.67045003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1492541539999 meters 0.02085887081672869 Centerline is valid? [True, True] Translation: X:926.99, Y:99.76, Z:6.67 [[ 2.49704566e-01 -9.68315389e-01 -3.59678297e-03 9.26992681e+02] [ 9.68244958e-01 2.49729835e-01 -1.16923358e-02 9.97635338e+01] [ 1.22200927e-02 -5.62937327e-04 9.99925173e-01 6.67161973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1792541539999 meters 0.021768780696266726 Centerline is valid? [True, True] Translation: X:927.00, Y:99.79, Z:6.67 [[ 2.54093971e-01 -9.67172843e-01 -3.59804079e-03 9.26995579e+02] [ 9.67102101e-01 2.54118944e-01 -1.17085115e-02 9.97912922e+01] [ 1.22384847e-02 -5.04610610e-04 9.99924980e-01 6.67040128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2092541539998 meters 0.020544521572610174 Centerline is valid? [True, True] Translation: X:927.00, Y:99.82, Z:6.67 [[ 2.57450398e-01 -9.66284499e-01 -3.68234803e-03 9.26998780e+02] [ 9.66210152e-01 2.57476303e-01 -1.19956682e-02 9.98193198e+01] [ 1.25393456e-02 -4.69632509e-04 9.99921269e-01 6.66999949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2392541539998 meters 0.01958251023424811 Centerline is valid? [True, True] Translation: X:927.00, Y:99.85, Z:6.67 [[ 2.65311087e-01 -9.64154775e-01 -3.94925125e-03 9.26997116e+02] [ 9.64068836e-01 2.65340191e-01 -1.28787873e-02 9.98481594e+01] [ 1.34650394e-02 -3.90464990e-04 9.99909266e-01 6.66763538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2692541539999 meters 0.017322491203380995 Centerline is valid? [True, True] Translation: X:927.00, Y:99.88, Z:6.67 [[ 2.69843743e-01 -9.62896240e-01 -3.89676871e-03 9.26998368e+02] [ 9.62812266e-01 2.69871689e-01 -1.27205374e-02 9.98772164e+01] [ 1.33001852e-02 -3.19299283e-04 9.99911498e-01 6.66801358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2992541539999 meters 0.01536814133472763 Centerline is valid? [True, True] Translation: X:927.00, Y:99.90, Z:6.67 [[ 2.75143606e-01 -9.61394770e-01 -4.01148809e-03 9.27001124e+02] [ 9.61305477e-01 2.75172734e-01 -1.31052367e-02 9.99044254e+01] [ 1.37031582e-02 -2.50443392e-04 9.99906076e-01 6.66902901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3292541539998 meters 0.015762249587029965 Centerline is valid? [True, True] Translation: X:927.00, Y:99.93, Z:6.67 [[ 2.83638627e-01 -9.58924643e-01 -3.55774753e-03 9.26997902e+02] [ 9.58854111e-01 2.83660916e-01 -1.16309051e-02 9.99345106e+01] [ 1.21623555e-02 -1.12386887e-04 9.99926030e-01 6.66807169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3592541539998 meters 0.013042965243159966 Centerline is valid? [True, True] Translation: X:927.00, Y:99.97, Z:6.67 [[ 2.92193203e-01 -9.56353846e-01 -3.23312988e-03 9.26995936e+02] [ 9.56295343e-01 2.92211090e-01 -1.05781142e-02 9.99651850e+01] [ 1.10611766e-02 -9.73980843e-07 9.99938823e-01 6.67055874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3892541539999 meters 0.015156646917279786 Centerline is valid? [True, True] Translation: X:927.00, Y:99.99, Z:6.67 [[ 2.94331537e-01 -9.55698652e-01 -3.00548755e-03 9.26999558e+02] [ 9.55647991e-01 2.94346880e-01 -9.84028557e-03 9.99929823e+01] [ 1.02890035e-02 2.41182330e-05 9.99947067e-01 6.66904304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4192541539999 meters 0.016157583323041902 Centerline is valid? [True, True] Translation: X:927.00, Y:100.02, Z:6.67 [[ 2.98250735e-01 -9.54483327e-01 -2.84214819e-03 9.27000665e+02] [ 9.54437879e-01 2.98264270e-01 -9.31449202e-03 1.00021597e+02] [ 9.73823859e-03 6.54002033e-05 9.99952580e-01 6.66877533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4492541539998 meters 0.014687962616271017 Centerline is valid? [True, True] Translation: X:927.01, Y:100.05, Z:6.67 [[ 2.99391505e-01 -9.54126038e-01 -2.86867694e-03 9.27006892e+02] [ 9.54079633e-01 2.99405237e-01 -9.41051174e-03 1.00048960e+02] [ 9.83771118e-03 8.04810310e-05 9.99951605e-01 6.66992172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4792541539998 meters 0.014431744485598634 Centerline is valid? [True, True] Translation: X:927.01, Y:100.08, Z:6.67 [[ 3.00119036e-01 -9.53897398e-01 -2.88404316e-03 9.27012040e+02] [ 9.53850396e-01 3.00132879e-01 -9.46984178e-03 1.00075539e+02] [ 9.89885361e-03 9.11340737e-05 9.99951001e-01 6.67012619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5092541539999 meters 0.013739740916596133 Centerline is valid? [True, True] Translation: X:927.02, Y:100.10, Z:6.67 [[ 3.00543997e-01 -9.53762962e-01 -3.08508866e-03 9.27015587e+02] [ 9.53709083e-01 3.00559813e-01 -1.01382522e-02 1.00103016e+02] [ 1.05967432e-02 1.04713768e-04 9.99943847e-01 6.67014151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5392541539999 meters 0.01562962729951603 Centerline is valid? [True, True] Translation: X:927.02, Y:100.13, Z:6.67 [[ 2.99544595e-01 -9.54077537e-01 -3.01489191e-03 9.27022625e+02] [ 9.54025998e-01 2.99559752e-01 -9.91716916e-03 1.00130599e+02] [ 1.03648886e-02 9.43491528e-05 9.99946279e-01 6.66817735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5692541539999 meters 0.014527480147972224 Centerline is valid? [True, True] Translation: X:927.03, Y:100.16, Z:6.67 [[ 3.00004467e-01 -9.53931799e-01 -3.38262659e-03 9.27027206e+02] [ 9.53866795e-01 3.00023514e-01 -1.11367962e-02 1.00157216e+02] [ 1.16386116e-02 1.14513421e-04 9.99932263e-01 6.66793316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5992541539998 meters 0.015087304243836242 Centerline is valid? [True, True] Translation: X:927.03, Y:100.18, Z:6.67 [[ 3.00053603e-01 -9.53915565e-01 -3.59570806e-03 9.27033422e+02] [ 9.53842009e-01 3.00075121e-01 -1.18466724e-02 1.00183826e+02] [ 1.23797078e-02 1.24899349e-04 9.99923361e-01 6.66695747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6292541539999 meters 0.01367919932296847 Centerline is valid? [True, True] Translation: X:927.04, Y:100.21, Z:6.67 [[ 3.00754294e-01 -9.53693304e-01 -3.99207103e-03 9.27040965e+02] [ 9.53602430e-01 3.00780749e-01 -1.31660999e-02 1.00211440e+02] [ 1.37571594e-02 1.52912455e-04 9.99905354e-01 6.66801423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6592541539999 meters 0.017209425074489935 Centerline is valid? [True, True] Translation: X:927.05, Y:100.24, Z:6.66 [[ 3.00694597e-01 -9.53710404e-01 -4.38460918e-03 9.27045458e+02] [ 9.53600579e-01 3.00726514e-01 -1.44741104e-02 1.00238089e+02] [ 1.51226779e-02 1.71120925e-04 9.99885631e-01 6.66320257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6892541539999 meters 0.01450503499946473 Centerline is valid? [True, True] Translation: X:927.05, Y:100.27, Z:6.67 [[ 3.00707107e-01 -9.53704651e-01 -4.76174728e-03 9.27052463e+02] [ 9.53574873e-01 3.00744746e-01 -1.57340479e-02 1.00265283e+02] [ 1.64377052e-02 1.90657479e-04 9.99864874e-01 6.66508960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7192541539998 meters 0.01447633413071089 Centerline is valid? [True, True] Translation: X:927.06, Y:100.29, Z:6.67 [[ 3.00202284e-01 -9.53863447e-01 -4.80769822e-03 9.27060321e+02] [ 9.53730899e-01 3.00240719e-01 -1.59022883e-02 1.00292206e+02] [ 1.66120783e-02 1.88652920e-04 9.99861992e-01 6.66510689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7492541539999 meters 0.017079144961749712 Centerline is valid? [True, True] Translation: X:927.07, Y:100.32, Z:6.66 [[ 2.97758355e-01 -9.54629593e-01 -4.72256321e-03 9.27068718e+02] [ 9.54501531e-01 2.97795766e-01 -1.56367700e-02 1.00318302e+02] [ 1.63336827e-02 1.48285095e-04 9.99866586e-01 6.66309667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7792541539999 meters 0.013525846048721321 Centerline is valid? [True, True] Translation: X:927.08, Y:100.34, Z:6.67 [[ 2.97080801e-01 -9.54840968e-01 -4.66089636e-03 9.27078034e+02] [ 9.54715996e-01 2.97117328e-01 -1.54486342e-02 1.00344764e+02] [ 1.61358219e-02 1.39660310e-04 9.99869799e-01 6.66712194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8092541539999 meters 0.013525846048721321 Centerline is valid? [True, True] Translation: X:927.09, Y:100.37, Z:6.67 [[ 2.96804043e-01 -9.54927054e-01 -4.65642180e-03 9.27085925e+02] [ 9.54802071e-01 2.96840534e-01 -1.54499832e-02 1.00371188e+02] [ 1.61358216e-02 1.39656285e-04 9.99869799e-01 6.66731236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8392541539998 meters 0.016622584808322547 Centerline is valid? [True, True] Translation: X:927.09, Y:100.40, Z:6.67 [[ 2.94992824e-01 -9.55488621e-01 -4.55297755e-03 9.27094664e+02] [ 9.55368951e-01 2.95027937e-01 -1.51223168e-02 1.00397651e+02] [ 1.57924572e-02 1.11201551e-04 9.99875285e-01 6.66507847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8692541539999 meters 0.016374407642163188 Centerline is valid? [True, True] Translation: X:927.10, Y:100.42, Z:6.67 [[ 2.92596649e-01 -9.56226275e-01 -4.30261355e-03 9.27104283e+02] [ 9.56119271e-01 2.92628273e-01 -1.43050224e-02 1.00424259e+02] [ 1.49379047e-02 7.17898850e-05 9.99888421e-01 6.66632920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8992541539999 meters 0.013120208709625039 Centerline is valid? [True, True] Translation: X:927.11, Y:100.45, Z:6.67 [[ 2.91211709e-01 -9.56649554e-01 -4.16786580e-03 9.27113717e+02] [ 9.56548986e-01 2.91241528e-01 -1.38711581e-02 1.00450524e+02] [ 1.44836928e-02 5.26758361e-05 9.99895104e-01 6.67073097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9292541539999 meters 0.013115266103715554 Centerline is valid? [True, True] Translation: X:927.12, Y:100.48, Z:6.67 [[ 2.90454309e-01 -9.56880426e-01 -4.01810252e-03 9.27121737e+02] [ 9.56786796e-01 2.90482098e-01 -1.33857560e-02 1.00476103e+02] [ 1.39757548e-02 4.34830901e-05 9.99902333e-01 6.67135961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9592541539998 meters 0.013945885773870813 Centerline is valid? [True, True] Translation: X:927.13, Y:100.50, Z:6.67 [[ 2.89369094e-01 -9.57209154e-01 -4.02031809e-03 9.27129980e+02] [ 9.57115267e-01 2.89397019e-01 -1.34063865e-02 1.00502518e+02] [ 1.39961840e-02 3.14861028e-05 9.99902048e-01 6.67080690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9892541539998 meters 0.013461976239447424 Centerline is valid? [True, True] Translation: X:927.14, Y:100.53, Z:6.67 [[ 2.87859362e-01 -9.57664978e-01 -3.84419665e-03 9.27138853e+02] [ 9.57579003e-01 2.87885029e-01 -1.28321269e-02 1.00529498e+02] [ 1.33955652e-02 1.27258728e-05 9.99910275e-01 6.67219949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0192541539999 meters 0.013981237131351097 Centerline is valid? [True, True] Translation: X:927.15, Y:100.56, Z:6.67 [[ 2.86626544e-01 -9.58035007e-01 -3.76148456e-03 9.27147202e+02] [ 9.57952577e-01 2.86651225e-01 -1.25672814e-02 1.00555434e+02] [ 1.31181297e-02 -1.20739206e-06 9.99913954e-01 6.67180473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0492541539999 meters 0.015024945693211637 Centerline is valid? [True, True] Translation: X:927.16, Y:100.58, Z:6.67 [[ 2.82975172e-01 -9.59120258e-01 -3.65831558e-03 9.27157523e+02] [ 9.59042241e-01 2.82998814e-01 -1.22332126e-02 1.00581384e+02] [ 1.27684210e-02 -4.67837261e-05 9.99918479e-01 6.67119381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0792541539998 meters 0.013290781987576791 Centerline is valid? [True, True] Translation: X:927.17, Y:100.61, Z:6.67 [[ 2.80688300e-01 -9.59792101e-01 -3.63345423e-03 9.27167355e+02] [ 9.59715039e-01 2.80711806e-01 -1.21625026e-02 1.00607810e+02] [ 1.26934274e-02 -7.32085048e-05 9.99919433e-01 6.67391450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1092541539998 meters 0.01722836715683171 Centerline is valid? [True, True] Translation: X:927.18, Y:100.63, Z:6.67 [[ 2.73806634e-01 -9.61777467e-01 -3.74593807e-03 9.27180528e+02] [ 9.61695571e-01 2.73832206e-01 -1.25519299e-02 1.00632651e+02] [ 1.30979218e-02 -1.65650388e-04 9.99914205e-01 6.67043846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1392541539999 meters 0.01596345724706607 Centerline is valid? [True, True] Translation: X:927.19, Y:100.66, Z:6.67 [[ 2.70198020e-01 -9.62796962e-01 -3.87828758e-03 9.27191494e+02] [ 9.62709105e-01 2.70225763e-01 -1.30083078e-02 1.00658619e+02] [ 1.35723725e-02 -2.18843751e-04 9.99907867e-01 6.67251479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1692541539999 meters 0.018944717750688518 Centerline is valid? [True, True] Translation: X:927.21, Y:100.68, Z:6.67 [[ 2.61999828e-01 -9.65059865e-01 -3.94291588e-03 9.27205823e+02] [ 9.64969146e-01 2.62029279e-01 -1.32364468e-02 1.00682336e+02] [ 1.38071230e-02 -3.36845373e-04 9.99904620e-01 6.67127306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1992541539998 meters 0.017636490887965033 Centerline is valid? [True, True] Translation: X:927.22, Y:100.71, Z:6.67 [[ 2.58087721e-01 -9.66113751e-01 -3.86633051e-03 9.27215106e+02] [ 9.66026483e-01 2.58116397e-01 -1.29907483e-02 1.00708863e+02] [ 1.35485038e-02 -3.82225041e-04 9.99908142e-01 6.67381347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2292541539998 meters 0.022530586979646536 Centerline is valid? [True, True] Translation: X:927.23, Y:100.73, Z:6.67 [[ 2.53638730e-01 -9.67291019e-01 -3.93426206e-03 9.27228179e+02] [ 9.67200605e-01 2.53668844e-01 -1.32328266e-02 1.00733432e+02] [ 1.37979940e-02 -4.48863310e-04 9.99904702e-01 6.67068849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2592541539999 meters 0.022557585353819017 Centerline is valid? [True, True] Translation: X:927.24, Y:100.76, Z:6.67 [[ 2.46772893e-01 -9.69065324e-01 -3.94174464e-03 9.27236725e+02] [ 9.68974591e-01 2.46803772e-01 -1.32718079e-02 1.00760525e+02] [ 1.38340863e-02 -5.44327965e-04 9.99904156e-01 6.67138668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2892541539999 meters 0.022311796182831713 Centerline is valid? [True, True] Translation: X:927.25, Y:100.79, Z:6.67 [[ 2.44280817e-01 -9.69696777e-01 -3.87857251e-03 9.27246227e+02] [ 9.69608822e-01 2.44310948e-01 -1.30725792e-02 1.00787077e+02] [ 1.36240157e-02 -5.67317787e-04 9.99907028e-01 6.67276804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3192541539999 meters 0.02332925182065912 Centerline is valid? [True, True] Translation: X:927.26, Y:100.81, Z:6.67 [[ 2.42151521e-01 -9.70230454e-01 -3.93784499e-03 9.27255896e+02] [ 9.70139703e-01 2.42182785e-01 -1.32836183e-02 1.00813067e+02] [ 1.38418493e-02 -6.03611394e-04 9.99904015e-01 6.67328944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3492541539998 meters 0.02212778344260301 Centerline is valid? [True, True] Translation: X:927.26, Y:100.84, Z:6.68 [[ 2.42506579e-01 -9.70141689e-01 -3.95752338e-03 9.27262821e+02] [ 9.70049862e-01 2.42538130e-01 -1.33611958e-02 1.00839921e+02] [ 1.39221034e-02 -5.98817118e-04 9.99902904e-01 6.67523232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3792541539999 meters 0.022891419903953797 Centerline is valid? [True, True] Translation: X:927.27, Y:100.87, Z:6.67 [[ 2.46060058e-01 -9.69245203e-01 -4.26430121e-03 9.27267230e+02] [ 9.69138265e-01 2.46096306e-01 -1.44094230e-02 1.00866710e+02] [ 1.50156929e-02 -5.87114001e-04 9.99887086e-01 6.67210651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4092541539999 meters 0.020609930249335898 Centerline is valid? [True, True] Translation: X:927.27, Y:100.89, Z:6.67 [[ 2.49343679e-01 -9.68405668e-01 -4.26514578e-03 9.27272257e+02] [ 9.68298380e-01 2.49379585e-01 -1.44245899e-02 1.00894494e+02] [ 1.50324949e-02 -5.33253424e-04 9.99886863e-01 6.67399577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4392541539999 meters 0.02064743951610414 Centerline is valid? [True, True] Translation: X:927.27, Y:100.92, Z:6.67 [[ 2.56893315e-01 -9.66428745e-01 -4.61587465e-03 9.27272308e+02] [ 9.66302481e-01 2.56934394e-01 -1.56279048e-02 1.00922248e+02] [ 1.62892334e-02 -4.45626846e-04 9.99867222e-01 6.67038876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4692541539998 meters 0.019665568654894196 Centerline is valid? [True, True] Translation: X:927.28, Y:100.95, Z:6.67 [[ 2.60885836e-01 -9.65358322e-01 -4.67874786e-03 9.27275885e+02] [ 9.65228147e-01 2.60927512e-01 -1.58574304e-02 1.00950686e+02] [ 1.65289165e-02 -3.79080131e-04 9.99863316e-01 6.67020475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4992541539999 meters 0.014254174175892526 Centerline is valid? [True, True] Translation: X:927.27, Y:100.98, Z:6.67 [[ 2.69427889e-01 -9.63010729e-01 -4.35296177e-03 9.27273690e+02] [ 9.62897508e-01 2.69462967e-01 -1.47681687e-02 1.00980459e+02] [ 1.53948669e-02 -2.12499519e-04 9.99881469e-01 6.67426974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5292541539999 meters 0.015973970631848553 Centerline is valid? [True, True] Translation: X:927.28, Y:101.01, Z:6.67 [[ 2.72795990e-01 -9.62061376e-01 -4.50065595e-03 9.27277985e+02] [ 9.61939992e-01 2.72833067e-01 -1.52829738e-02 1.01007601e+02] [ 1.59310865e-02 -1.60226990e-04 9.99873079e-01 6.67169703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5592541539999 meters 0.013248625376018935 Centerline is valid? [True, True] Translation: X:927.28, Y:101.04, Z:6.67 [[ 2.79415296e-01 -9.60160876e-01 -4.26425663e-03 9.27279410e+02] [ 9.60051541e-01 2.79447829e-01 -1.44896037e-02 1.01037178e+02] [ 1.51039879e-02 -4.52892354e-05 9.99885927e-01 6.67413502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5892541539998 meters 0.013181161813997607 Centerline is valid? [True, True] Translation: X:927.28, Y:101.07, Z:6.67 [[ 2.83642819e-01 -9.58921168e-01 -4.11633368e-03 9.27282283e+02] [ 9.58818988e-01 2.83672685e-01 -1.39984397e-02 1.01065083e+02] [ 1.45910916e-02 2.37379897e-05 9.99893544e-01 6.67379898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6192541539999 meters 0.017279584531234654 Centerline is valid? [True, True] Translation: X:927.29, Y:101.09, Z:6.67 [[ 2.84655265e-01 -9.58620014e-01 -4.36461513e-03 9.27288974e+02] [ 9.58504853e-01 2.84688720e-01 -1.48586453e-02 1.01092484e+02] [ 1.54863514e-02 4.60868165e-05 9.99880078e-01 6.67123354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6492541539999 meters 0.015127256611671188 Centerline is valid? [True, True] Translation: X:927.30, Y:101.12, Z:6.67 [[ 2.85455990e-01 -9.58383222e-01 -4.05925227e-03 9.27295861e+02] [ 9.58283385e-01 2.85484844e-01 -1.38332390e-02 1.01120039e+02] [ 1.44163992e-02 5.88669334e-05 9.99896077e-01 6.67353583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6792541539999 meters 0.013262676332974795 Centerline is valid? [True, True] Translation: X:927.30, Y:101.15, Z:6.68 [[ 2.86229136e-01 -9.58152909e-01 -3.98559206e-03 9.27302066e+02] [ 9.58056435e-01 2.86256874e-01 -1.35966816e-02 1.01147629e+02] [ 1.41686032e-02 7.33443014e-05 9.99899618e-01 6.67573401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7092541539998 meters 0.013729312040554515 Centerline is valid? [True, True] Translation: X:927.31, Y:101.17, Z:6.68 [[ 2.86016498e-01 -9.58215780e-01 -4.13297849e-03 9.27310003e+02] [ 9.58111817e-01 2.86046347e-01 -1.41150337e-02 1.01174997e+02] [ 1.47074714e-02 7.72769709e-05 9.99891836e-01 6.67527084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7392541539998 meters 0.017527694986093415 Centerline is valid? [True, True] Translation: X:927.32, Y:101.20, Z:6.67 [[ 2.84598086e-01 -9.58636990e-01 -4.36469469e-03 9.27318518e+02] [ 9.58520833e-01 2.84631546e-01 -1.49230124e-02 1.01201407e+02] [ 1.55480815e-02 6.34099830e-05 9.99879119e-01 6.67243519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7692541539999 meters 0.01623275349795303 Centerline is valid? [True, True] Translation: X:927.33, Y:101.23, Z:6.67 [[ 2.83531182e-01 -9.58953839e-01 -4.19575122e-03 9.27327083e+02] [ 9.58846307e-01 2.83562221e-01 -1.43606128e-02 1.01228078e+02] [ 1.49609213e-02 4.86009689e-05 9.99888078e-01 6.67347630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7992541539999 meters 0.013104434418439477 Centerline is valid? [True, True] Translation: X:927.34, Y:101.25, Z:6.68 [[ 2.81814180e-01 -9.59460658e-01 -4.00176143e-03 9.27336766e+02] [ 9.59362684e-01 2.81842590e-01 -1.37110958e-02 1.01254140e+02] [ 1.42831238e-02 2.48406378e-05 9.99897991e-01 6.67697525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8292541539998 meters 0.015079069930608322 Centerline is valid? [True, True] Translation: X:927.35, Y:101.28, Z:6.67 [[ 2.80406890e-01 -9.59871605e-01 -4.29865406e-03 9.27345503e+02] [ 9.59758361e-01 2.80439837e-01 -1.47439871e-02 1.01280129e+02] [ 1.53578484e-02 8.64640787e-06 9.99882061e-01 6.67468225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8592541539998 meters 0.013240507612823818 Centerline is valid? [True, True] Translation: X:927.36, Y:101.31, Z:6.68 [[ 2.78950088e-01 -9.60295285e-01 -4.45115976e-03 9.27355864e+02] [ 9.60173655e-01 2.78985599e-01 -1.52835592e-02 1.01305050e+02] [ 1.59185393e-02 -1.05361565e-05 9.99873292e-01 6.67618975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8892541539999 meters 0.016108529194732872 Centerline is valid? [True, True] Translation: X:927.37, Y:101.33, Z:6.67 [[ 2.77670872e-01 -9.60663538e-01 -4.94498315e-03 9.27365510e+02] [ 9.60513138e-01 2.77714899e-01 -1.69984299e-02 1.01331647e+02] [ 1.77030673e-02 -2.97524388e-05 9.99843288e-01 6.67300068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9192541539999 meters 0.01701765108441448 Centerline is valid? [True, True] Translation: X:927.38, Y:101.36, Z:6.67 [[ 2.77143590e-01 -9.60814028e-01 -5.27580465e-03 9.27375043e+02] [ 9.60642484e-01 2.77193799e-01 -1.81553225e-02 1.01358259e+02] [ 1.89063088e-02 -3.65308443e-05 9.99821259e-01 6.67306573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9492541539998 meters 0.01330791142432784 Centerline is valid? [True, True] Translation: X:927.39, Y:101.38, Z:6.68 [[ 2.77229751e-01 -9.60789673e-01 -5.18347803e-03 9.27385253e+02] [ 9.60623720e-01 2.77278204e-01 -1.78568248e-02 1.01384035e+02] [ 1.85939183e-02 -2.89288616e-05 9.99827118e-01 6.67647037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9792541539998 meters 0.013840178767888787 Centerline is valid? [True, True] Translation: X:927.39, Y:101.41, Z:6.68 [[ 2.77667086e-01 -9.60662218e-01 -5.39366402e-03 9.27393519e+02] [ 9.60482130e-01 2.77719467e-01 -1.86004463e-02 1.01409557e+02] [ 1.93666715e-02 -1.57861647e-05 9.99812448e-01 6.67570525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0092541539999 meters 0.014531967245465148 Centerline is valid? [True, True] Translation: X:927.40, Y:101.44, Z:6.67 [[ 2.79710744e-01 -9.60067985e-01 -5.60029792e-03 9.27401783e+02] [ 9.59873324e-01 2.79766800e-01 -1.93323419e-02 1.01435090e+02] [ 2.01271399e-02 3.18871378e-05 9.99797428e-01 6.67399237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0392541539999 meters 0.01623023778822176 Centerline is valid? [True, True] Translation: X:927.41, Y:101.46, Z:6.67 [[ 2.80592816e-01 -9.59809864e-01 -5.71808180e-03 9.27410301e+02] [ 9.59606449e-01 2.80651067e-01 -1.97596122e-02 1.01461924e+02] [ 2.05702564e-02 5.72970429e-05 9.99788408e-01 6.67312056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0692541539999 meters 0.013536600979711022 Centerline is valid? [True, True] Translation: X:927.42, Y:101.49, Z:6.68 [[ 2.83387432e-01 -9.58990447e-01 -5.37455604e-03 9.27420094e+02] [ 9.58810214e-01 2.83438369e-01 -1.85920588e-02 1.01488273e+02] [ 1.93529621e-02 1.15576561e-04 9.99812707e-01 6.67726526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0992541539998 meters 0.016322838536888915 Centerline is valid? [True, True] Translation: X:927.43, Y:101.51, Z:6.67 [[ 2.84437474e-01 -9.58678455e-01 -5.56268288e-03 9.27428793e+02] [ 9.58484932e-01 2.84491825e-01 -1.92623138e-02 1.01514662e+02] [ 2.00489031e-02 1.47176155e-04 9.99798990e-01 6.67495563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1292541539999 meters 0.01380891681134375 Centerline is valid? [True, True] Translation: X:927.44, Y:101.54, Z:6.68 [[ 2.86675627e-01 -9.58014341e-01 -5.06033834e-03 9.27439580e+02] [ 9.57853767e-01 2.86720228e-01 -1.75405468e-02 1.01540668e+02] [ 1.82549968e-02 1.81383120e-04 9.99833347e-01 6.67993201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1592541539999 meters 0.017048062050475706 Centerline is valid? [True, True] Translation: X:927.45, Y:101.57, Z:6.68 [[ 2.86954265e-01 -9.57929504e-01 -5.32121755e-03 9.27449137e+02] [ 9.57751539e-01 2.87003527e-01 -1.84652087e-02 1.01567191e+02] [ 1.92155764e-02 2.02266077e-04 9.99815343e-01 6.67770585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1892541539999 meters 0.013898248548269607 Centerline is valid? [True, True] Translation: X:927.46, Y:101.59, Z:6.68 [[ 2.87479658e-01 -9.57774749e-01 -4.79327158e-03 9.27458283e+02] [ 9.57630025e-01 2.87519548e-01 -1.66506848e-02 1.01593517e+02] [ 1.73257648e-02 1.96552407e-04 9.99849878e-01 6.68118999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2192541539998 meters 0.017089164669729175 Centerline is valid? [True, True] Translation: X:927.47, Y:101.62, Z:6.68 [[ 2.87274192e-01 -9.57836566e-01 -4.75946989e-03 9.27470270e+02] [ 9.57693569e-01 2.87313548e-01 -1.65515163e-02 1.01619286e+02] [ 1.72211077e-02 1.96709760e-04 9.99851686e-01 6.67953449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2492541539999 meters 0.013990277588320395 Centerline is valid? [True, True] Translation: X:927.48, Y:101.65, Z:6.68 [[ 2.87546623e-01 -9.57757398e-01 -4.20782487e-03 9.27482593e+02] [ 9.57645388e-01 2.87577351e-01 -1.46484619e-02 1.01645353e+02] [ 1.52397479e-02 1.82511676e-04 9.99883852e-01 6.68398352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2792541539999 meters 0.014009686866794503 Centerline is valid? [True, True] Translation: X:927.49, Y:101.67, Z:6.68 [[ 2.87438985e-01 -9.57790038e-01 -4.13190364e-03 9.27492510e+02] [ 9.57681800e-01 2.87468623e-01 -1.43999977e-02 1.01672120e+02] [ 1.49799670e-02 1.82071808e-04 9.99887777e-01 6.68437418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3092541539999 meters 0.014219902229528982 Centerline is valid? [True, True] Translation: X:927.50, Y:101.70, Z:6.68 [[ 2.87289962e-01 -9.57834478e-01 -4.19408409e-03 9.27503945e+02] [ 9.57722726e-01 2.87320513e-01 -1.46322247e-02 1.01696717e+02] [ 1.52202957e-02 1.86921623e-04 9.99884147e-01 6.68445347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3392541539998 meters 0.014306541456721653 Centerline is valid? [True, True] Translation: X:927.51, Y:101.72, Z:6.68 [[ 2.86855802e-01 -9.57964687e-01 -4.17224669e-03 9.27513422e+02] [ 9.57853870e-01 2.86886084e-01 -1.45718510e-02 1.01722025e+02] [ 1.51562782e-02 1.83617368e-04 9.99885120e-01 6.68435237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3692541539999 meters 0.015455072237647435 Centerline is valid? [True, True] Translation: X:927.52, Y:101.75, Z:6.68 [[ 2.86024797e-01 -9.58211458e-01 -4.54069101e-03 9.27523582e+02] [ 9.58079930e-01 2.86060773e-01 -1.58770829e-02 1.01748181e+02] [ 1.65125164e-02 1.90894505e-04 9.99863641e-01 6.68281381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3992541539999 meters 0.015053532320822509 Centerline is valid? [True, True] Translation: X:927.54, Y:101.77, Z:6.68 [[ 2.84749624e-01 -9.58590043e-01 -4.77288021e-03 9.27536514e+02] [ 9.58444451e-01 2.84789563e-01 -1.67074411e-02 1.01774003e+02] [ 1.73748532e-02 1.82897025e-04 9.99849029e-01 6.68281242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4292541539999 meters 0.015604338999006826 Centerline is valid? [True, True] Translation: X:927.55, Y:101.80, Z:6.68 [[ 2.83619368e-01 -9.58923939e-01 -4.99335063e-03 9.27546766e+02] [ 9.58764274e-01 2.83663266e-01 -1.74990946e-02 1.01799742e+02] [ 1.81967309e-02 1.75635960e-04 9.99834410e-01 6.68170403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4592541539998 meters 0.015229141788451205 Centerline is valid? [True, True] Translation: X:927.56, Y:101.83, Z:6.68 [[ 2.81693596e-01 -9.59490615e-01 -5.14571141e-03 9.27560505e+02] [ 9.59320772e-01 2.81740551e-01 -1.80531816e-02 1.01825088e+02] [ 1.87716139e-02 1.49077804e-04 9.99823787e-01 6.68198586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4892541539998 meters 0.016301776954306745 Centerline is valid? [True, True] Translation: X:927.57, Y:101.85, Z:6.68 [[ 2.80585952e-01 -9.59814003e-01 -5.34812849e-03 9.27570482e+02] [ 9.59630177e-01 2.80636882e-01 -1.87846506e-02 1.01850364e+02] [ 1.95306528e-02 1.38483574e-04 9.99809249e-01 6.68035440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5192541539999 meters 0.01385714099851232 Centerline is valid? [True, True] Translation: X:927.58, Y:101.87, Z:6.68 [[ 2.79196093e-01 -9.60219148e-01 -5.36006332e-03 9.27583130e+02] [ 9.60034158e-01 2.79247516e-01 -1.88478282e-02 1.01874872e+02] [ 1.95948299e-02 1.16396112e-04 9.99807996e-01 6.68193533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5492541539999 meters 0.016045196915872008 Centerline is valid? [True, True] Translation: X:927.59, Y:101.90, Z:6.68 [[ 2.77491573e-01 -9.60710943e-01 -5.73680870e-03 9.27593484e+02] [ 9.60498652e-01 2.77550852e-01 -2.01956409e-02 1.01900275e+02] [ 2.09944293e-02 9.39231364e-05 9.99779588e-01 6.67895259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5792541539998 meters 0.013630402983374878 Centerline is valid? [True, True] Translation: X:927.61, Y:101.93, Z:6.68 [[ 2.75778546e-01 -9.61204887e-01 -5.59995174e-03 9.27608091e+02] [ 9.61002263e-01 2.75835390e-01 -1.97354628e-02 1.01925381e+02] [ 2.05144881e-02 6.10509467e-05 9.99789554e-01 6.68276771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6092541539998 meters 0.014395851896577726 Centerline is valid? [True, True] Translation: X:927.62, Y:101.95, Z:6.68 [[ 2.74449780e-01 -9.61584289e-01 -5.74230076e-03 9.27619050e+02] [ 9.61370842e-01 2.74509844e-01 -2.02595726e-02 1.01951939e+02] [ 2.10576048e-02 3.97547145e-05 9.99778263e-01 6.68241221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6392541539999 meters 0.013563994020403935 Centerline is valid? [True, True] Translation: X:927.63, Y:101.98, Z:6.68 [[ 2.73024771e-01 -9.61991957e-01 -5.38050975e-03 9.27632139e+02] [ 9.61804229e-01 2.73077783e-01 -1.90039272e-02 1.01976213e+02] [ 1.97509228e-02 1.35458510e-05 9.99804931e-01 6.68408131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6692541539999 meters 0.01704344138926335 Centerline is valid? [True, True] Translation: X:927.64, Y:102.00, Z:6.68 [[ 2.72072914e-01 -9.62260233e-01 -5.61895472e-03 9.27641789e+02] [ 9.62055080e-01 2.72130931e-01 -1.98690444e-02 1.02001919e+02] [ 2.06482827e-02 8.48778538e-08 9.99786801e-01 6.68019059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6992541539998 meters 0.01349719142655805 Centerline is valid? [True, True] Translation: X:927.65, Y:102.03, Z:6.69 [[ 2.72551985e-01 -9.62128141e-01 -4.98551228e-03 9.27651160e+02] [ 9.61966275e-01 2.72597578e-01 -1.76478261e-02 1.02028746e+02] [ 1.83385087e-02 1.40553669e-05 9.99831835e-01 6.68568390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7292541539998 meters 0.01349719142655805 Centerline is valid? [True, True] Translation: X:927.66, Y:102.06, Z:6.69 [[ 2.72278559e-01 -9.62205581e-01 -4.98049514e-03 9.27658584e+02] [ 9.62043702e-01 2.72324106e-01 -1.76492424e-02 1.02055326e+02] [ 1.83385084e-02 1.40563164e-05 9.99831835e-01 6.68587432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7592541539999 meters 0.015268352091865956 Centerline is valid? [True, True] Translation: X:927.67, Y:102.08, Z:6.69 [[ 2.72744509e-01 -9.62074710e-01 -4.76293996e-03 9.27669257e+02] [ 9.61926328e-01 2.72786092e-01 -1.68963806e-02 1.02081768e+02] [ 1.75548442e-02 2.67976830e-05 9.99845901e-01 6.68545943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7892541539999 meters 0.013986800520723666 Centerline is valid? [True, True] Translation: X:927.68, Y:102.11, Z:6.69 [[ 2.74269009e-01 -9.61643312e-01 -4.31868101e-03 9.27679392e+02] [ 9.61521069e-01 2.74303003e-01 -1.53328546e-02 1.02108551e+02] [ 1.59293643e-02 5.28240439e-05 9.99873118e-01 6.68741217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8192541539999 meters 0.01352628691738115 Centerline is valid? [True, True] Translation: X:927.69, Y:102.14, Z:6.69 [[ 2.75036812e-01 -9.61424408e-01 -4.22613882e-03 9.27687970e+02] [ 9.61307112e-01 2.75069270e-01 -1.50177639e-02 1.02135588e+02] [ 1.56009257e-02 6.78205906e-05 9.99878296e-01 6.68811037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8492541539998 meters 0.01368223330762727 Centerline is valid? [True, True] Translation: X:927.69, Y:102.16, Z:6.69 [[ 2.76751696e-01 -9.60932686e-01 -4.10765214e-03 9.27694546e+02] [ 9.60821582e-01 2.76782160e-01 -1.46124194e-02 1.02162458e+02] [ 1.51784763e-02 9.72910162e-05 9.99884796e-01 6.68879492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8792541539999 meters 0.015155002420356488 Centerline is valid? [True, True] Translation: X:927.70, Y:102.19, Z:6.69 [[ 2.80387077e-01 -9.59877924e-01 -4.17836004e-03 9.27698771e+02] [ 9.59762630e-01 2.80418162e-01 -1.48777801e-02 1.02189248e+02] [ 1.54525407e-02 1.61303455e-04 9.99880589e-01 6.68734574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9092541539999 meters 0.014831430572433206 Centerline is valid? [True, True] Translation: X:927.71, Y:102.22, Z:6.69 [[ 2.81810704e-01 -9.59461180e-01 -4.11968637e-03 9.27705949e+02] [ 9.59348844e-01 2.81840754e-01 -1.46828372e-02 1.02216482e+02] [ 1.52487078e-02 1.85564338e-04 9.99883714e-01 6.68811783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9392541539999 meters 0.014839728941202762 Centerline is valid? [True, True] Translation: X:927.71, Y:102.24, Z:6.69 [[ 2.83073951e-01 -9.59088633e-01 -4.25824229e-03 9.27711454e+02] [ 9.58968319e-01 2.83105894e-01 -1.51926404e-02 1.02242972e+02] [ 1.57766222e-02 2.17121287e-04 9.99875518e-01 6.68787849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9692541539998 meters 0.014736493661023364 Centerline is valid? [True, True] Translation: X:927.72, Y:102.27, Z:6.69 [[ 2.83176488e-01 -9.59057830e-01 -4.37660868e-03 9.27719037e+02] [ 9.58930460e-01 2.83210214e-01 -1.56316005e-02 1.02270145e+02] [ 1.62311091e-02 2.29638354e-04 9.99868241e-01 6.68773735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9992541539999 meters 0.01482769720134743 Centerline is valid? [True, True] Translation: X:927.73, Y:102.30, Z:6.69 [[ 2.82434795e-01 -9.59275524e-01 -4.58857775e-03 9.27725550e+02] [ 9.59135220e-01 2.82471971e-01 -1.64077652e-02 1.02296620e+02] [ 1.70357121e-02 2.33057267e-04 9.99854855e-01 6.68657195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0292541539999 meters 0.014785792134315313 Centerline is valid? [True, True] Translation: X:927.73, Y:102.32, Z:6.69 [[ 2.81658683e-01 -9.59503245e-01 -4.68065228e-03 9.27732692e+02] [ 9.59356956e-01 2.81697479e-01 -1.67559339e-02 1.02323299e+02] [ 1.73959009e-02 2.29037961e-04 9.99848654e-01 6.68635607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0592541539999 meters 0.016833099491040927 Centerline is valid? [True, True] Translation: X:927.74, Y:102.35, Z:6.68 [[ 2.80535240e-01 -9.59830798e-01 -4.98169257e-03 9.27740264e+02] [ 9.59664766e-01 2.80579376e-01 -1.78535981e-02 1.02350827e+02] [ 1.85341935e-02 2.27808598e-04 9.99828201e-01 6.68374803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0892541539998 meters 0.016147786309768736 Centerline is valid? [True, True] Translation: X:927.75, Y:102.38, Z:6.68 [[ 2.79642825e-01 -9.60091748e-01 -4.87104479e-03 9.27747333e+02] [ 9.59932695e-01 2.79685165e-01 -1.74765362e-02 1.02376984e+02] [ 1.81414372e-02 2.11312795e-04 9.99835408e-01 6.68447294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1192541539999 meters 0.016832950927323193 Centerline is valid? [True, True] Translation: X:927.75, Y:102.40, Z:6.68 [[ 2.79119824e-01 -9.60243384e-01 -4.97672248e-03 9.27754819e+02] [ 9.60077009e-01 2.79164108e-01 -1.78756070e-02 1.02403862e+02] [ 1.85542557e-02 2.11399443e-04 9.99827833e-01 6.68428914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1492541539999 meters 0.01793954442137695 Centerline is valid? [True, True] Translation: X:927.76, Y:102.43, Z:6.68 [[ 2.78197911e-01 -9.60511114e-01 -4.93176745e-03 9.27762475e+02] [ 9.60347419e-01 2.78241552e-01 -1.77333946e-02 1.02431266e+02] [ 1.84053452e-02 1.97183183e-04 9.99830588e-01 6.68422419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1792541539999 meters 0.014496893071760867 Centerline is valid? [True, True] Translation: X:927.77, Y:102.46, Z:6.69 [[ 2.78127902e-01 -9.60533446e-01 -4.51329812e-03 9.27768797e+02] [ 9.60396061e-01 2.78164458e-01 -1.62462440e-02 1.02458042e+02] [ 1.68604999e-02 1.83980018e-04 9.99857835e-01 6.68754897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2092541539998 meters 0.014373627692474349 Centerline is valid? [True, True] Translation: X:927.78, Y:102.49, Z:6.69 [[ 2.77714606e-01 -9.60653875e-01 -4.32777382e-03 9.27775934e+02] [ 9.60527294e-01 2.77748270e-01 -1.55953756e-02 1.02485615e+02] [ 1.61837897e-02 1.74118724e-04 9.99869019e-01 6.68821633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2392541539998 meters 0.015101090562737828 Centerline is valid? [True, True] Translation: X:927.78, Y:102.51, Z:6.69 [[ 2.77410999e-01 -9.60741555e-01 -4.33609051e-03 9.27782992e+02] [ 9.60614222e-01 2.77444830e-01 -1.56423434e-02 1.02512699e+02] [ 1.62312752e-02 1.74047897e-04 9.99868249e-01 6.68781335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2692541539999 meters 0.01734790283251664 Centerline is valid? [True, True] Translation: X:927.79, Y:102.54, Z:6.69 [[ 2.77281941e-01 -9.60777871e-01 -4.53961153e-03 9.27788352e+02] [ 9.60637989e-01 2.77319038e-01 -1.63952689e-02 1.02539794e+02] [ 1.70111323e-02 1.85188698e-04 9.99855283e-01 6.68532002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2992541539999 meters 0.01465252594161059 Centerline is valid? [True, True] Translation: X:927.80, Y:102.57, Z:6.69 [[ 2.77873677e-01 -9.60607904e-01 -4.32143128e-03 9.27795165e+02] [ 9.60480853e-01 2.77907213e-01 -1.56240865e-02 1.02567378e+02] [ 1.62095779e-02 1.90870363e-04 9.99868598e-01 6.68845864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3292541539998 meters 0.015891209878261817 Centerline is valid? [True, True] Translation: X:927.80, Y:102.59, Z:6.69 [[ 2.78418372e-01 -9.60449609e-01 -4.44506284e-03 9.27800427e+02] [ 9.60314907e-01 2.78453774e-01 -1.60864600e-02 1.02593506e+02] [ 1.66879788e-02 2.10105913e-04 9.99860724e-01 6.68688894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3592541539998 meters 0.014964499225575495 Centerline is valid? [True, True] Translation: X:927.81, Y:102.62, Z:6.69 [[ 2.78629334e-01 -9.60387947e-01 -4.54821480e-03 9.27808355e+02] [ 9.60246615e-01 2.78666363e-01 -1.64771574e-02 1.02619952e+02] [ 1.70918979e-02 2.23611537e-04 9.99853898e-01 6.68845299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3892541539999 meters 0.016401336829885916 Centerline is valid? [True, True] Translation: X:927.81, Y:102.65, Z:6.69 [[ 2.78482606e-01 -9.60430163e-01 -4.61952059e-03 9.27812775e+02] [ 9.60284028e-01 2.78520823e-01 -1.67552129e-02 1.02646980e+02] [ 1.73788445e-02 2.29983510e-04 9.99848950e-01 6.68648628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4192541539999 meters 0.015137113525055033 Centerline is valid? [True, True] Translation: X:927.82, Y:102.67, Z:6.69 [[ 2.78763163e-01 -9.60349951e-01 -4.36700013e-03 9.27819917e+02] [ 9.60219066e-01 2.78797274e-01 -1.58563895e-02 1.02674561e+02] [ 1.64451906e-02 2.26900490e-04 9.99864743e-01 6.68854128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4492541539998 meters 0.015229541691502122 Centerline is valid? [True, True] Translation: X:927.83, Y:102.70, Z:6.69 [[ 2.78594395e-01 -9.60398887e-01 -4.37499677e-03 9.27828351e+02] [ 9.60267240e-01 2.78628650e-01 -1.59029215e-02 1.02701122e+02] [ 1.64921476e-02 2.29298732e-04 9.99863969e-01 6.68916050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4792541539998 meters 0.014963820542484671 Centerline is valid? [True, True] Translation: X:927.83, Y:102.73, Z:6.69 [[ 2.78622386e-01 -9.60392240e-01 -4.03872036e-03 9.27834531e+02] [ 9.60279809e-01 2.78651572e-01 -1.46965723e-02 1.02728683e+02] [ 1.52398698e-02 2.16492428e-04 9.99883843e-01 6.69000293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5092541539999 meters 0.016359064324386243 Centerline is valid? [True, True] Translation: X:927.84, Y:102.76, Z:6.69 [[ 2.78046899e-01 -9.60558657e-01 -4.12163520e-03 9.27840536e+02] [ 9.60441354e-01 2.78077362e-01 -1.50128453e-02 1.02755370e+02] [ 1.55668520e-02 2.15686196e-04 9.99878806e-01 6.68827849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5392541539999 meters 0.014661063446639588 Centerline is valid? [True, True] Translation: X:927.85, Y:102.78, Z:6.69 [[ 2.77880629e-01 -9.60607044e-01 -4.05742387e-03 9.27847830e+02] [ 9.60493153e-01 2.77910167e-01 -1.47933476e-02 1.02782117e+02] [ 1.53381933e-02 2.13656891e-04 9.99882340e-01 6.69044603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5692541539999 meters 0.014684032945287197 Centerline is valid? [True, True] Translation: X:927.86, Y:102.81, Z:6.69 [[ 2.77629223e-01 -9.60679882e-01 -4.02219535e-03 9.27855150e+02] [ 9.60567721e-01 2.77658277e-01 -1.46810920e-02 1.02809128e+02] [ 1.52206256e-02 2.12309151e-04 9.99884137e-01 6.69051674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5992541539998 meters 0.014644692941008558 Centerline is valid? [True, True] Translation: X:927.86, Y:102.84, Z:6.69 [[ 2.77141217e-01 -9.60820053e-01 -4.19185652e-03 9.27862371e+02] [ 9.60697971e-01 2.77172831e-01 -1.53176662e-02 1.02836158e+02] [ 1.58793896e-02 2.18048615e-04 9.99873891e-01 6.69068261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6292541539999 meters 0.015593025384122638 Centerline is valid? [True, True] Translation: X:927.87, Y:102.86, Z:6.69 [[ 2.76337920e-01 -9.61050587e-01 -4.37314230e-03 9.27869152e+02] [ 9.60917435e-01 2.76372434e-01 -1.59987848e-02 1.02862640e+02] [ 1.65842575e-02 2.18842222e-04 9.99862448e-01 6.68846034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6592541539999 meters 0.01630437988676827 Centerline is valid? [True, True] Translation: X:927.88, Y:102.89, Z:6.69 [[ 2.75529425e-01 -9.61282054e-01 -4.51103409e-03 9.27876821e+02] [ 9.61140080e-01 2.75566266e-01 -1.65220897e-02 1.02889896e+02] [ 1.71254772e-02 2.16586213e-04 9.99853325e-01 6.68723594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6892541539999 meters 0.01764156643325866 Centerline is valid? [True, True] Translation: X:927.88, Y:102.92, Z:6.69 [[ 2.74659761e-01 -9.61529847e-01 -4.72957789e-03 9.27884338e+02] [ 9.61373461e-01 2.74700394e-01 -1.73424805e-02 1.02915862e+02] [ 1.79745295e-02 2.16390869e-04 9.99838422e-01 6.68586451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7192541539998 meters 0.017093589659772205 Centerline is valid? [True, True] Translation: X:927.89, Y:102.94, Z:6.69 [[ 2.72230473e-01 -9.62220799e-01 -4.65863077e-03 9.27894424e+02] [ 9.62068827e-01 2.72270276e-01 -1.71017067e-02 1.02942198e+02] [ 1.77240245e-02 1.73682257e-04 9.99842902e-01 6.68698989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7492541539999 meters 0.015915182274522204 Centerline is valid? [True, True] Translation: X:927.90, Y:102.97, Z:6.69 [[ 2.70846557e-01 -9.62611974e-01 -4.50885317e-03 9.27901697e+02] [ 9.62469348e-01 2.70884044e-01 -1.65707314e-02 1.02968447e+02] [ 1.71725608e-02 1.48492573e-04 9.99852530e-01 6.68711862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7792541539999 meters 0.013800577073704322 Centerline is valid? [True, True] Translation: X:927.91, Y:102.99, Z:6.69 [[ 2.69393777e-01 -9.63020207e-01 -4.36735371e-03 9.27911181e+02] [ 9.62886147e-01 2.69429148e-01 -1.60687035e-02 1.02994523e+02] [ 1.66511786e-02 1.23544345e-04 9.99861352e-01 6.69036973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8092541539999 meters 0.017051506917645877 Centerline is valid? [True, True] Translation: X:927.92, Y:103.02, Z:6.69 [[ 2.65312413e-01 -9.64151913e-01 -4.51790735e-03 9.27921635e+02] [ 9.64008287e-01 2.65350870e-01 -1.66414611e-02 1.03020825e+02] [ 1.72437273e-02 5.98860783e-05 9.99851314e-01 6.68834367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8392541539998 meters 0.014711452630238733 Centerline is valid? [True, True] Translation: X:927.93, Y:103.05, Z:6.69 [[ 2.61775515e-01 -9.65119261e-01 -4.28850073e-03 9.27931487e+02] [ 9.64989695e-01 2.61810640e-01 -1.58138109e-02 1.03046985e+02] [ 1.63849886e-02 1.30947367e-06 9.99865757e-01 6.69064056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8692541539999 meters 0.01344037684909037 Centerline is valid? [True, True] Translation: X:927.94, Y:103.07, Z:6.69 [[ 2.60072472e-01 -9.65580279e-01 -4.12732478e-03 9.27939841e+02] [ 9.65460052e-01 2.60105219e-01 -1.52368677e-02 1.03072883e+02] [ 1.57859577e-02 -2.20773433e-05 9.99875394e-01 6.69234854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8992541539999 meters 0.016958032675591813 Centerline is valid? [True, True] Translation: X:927.95, Y:103.10, Z:6.69 [[ 2.57928461e-01 -9.66154339e-01 -4.32457501e-03 9.27948658e+02] [ 9.66022118e-01 2.57964707e-01 -1.59836619e-02 1.03099944e+02] [ 1.65582720e-02 -5.49937839e-05 9.99862901e-01 6.68951291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9292541539999 meters 0.01378588309239099 Centerline is valid? [True, True] Translation: X:927.96, Y:103.13, Z:6.69 [[ 2.56285347e-01 -9.66592849e-01 -4.01066166e-03 9.27957717e+02] [ 9.66478930e-01 2.56316716e-01 -1.48398027e-02 1.03125393e+02] [ 1.53720468e-02 -7.29960181e-05 9.99881840e-01 6.69339669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9592541539998 meters 0.014459821535381608 Centerline is valid? [True, True] Translation: X:927.97, Y:103.15, Z:6.69 [[ 2.55304507e-01 -9.66852280e-01 -4.03459210e-03 9.27965293e+02] [ 9.66736766e-01 2.55336370e-01 -1.49453724e-02 1.03152166e+02] [ 1.54801455e-02 -8.47675862e-05 9.99880172e-01 6.69340619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9892541539998 meters 0.01671464449446955 Centerline is valid? [True, True] Translation: X:927.97, Y:103.18, Z:6.69 [[ 2.54667127e-01 -9.67019959e-01 -4.12965546e-03 9.27972139e+02] [ 9.66898727e-01 2.54700591e-01 -1.53121236e-02 1.03178129e+02] [ 1.58589548e-02 -9.34640856e-05 9.99874235e-01 6.69192137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0192541539999 meters 0.013606813676078624 Centerline is valid? [True, True] Translation: X:927.98, Y:103.21, Z:6.70 [[ 2.55606610e-01 -9.66773039e-01 -3.89264046e-03 9.27978194e+02] [ 9.66665088e-01 2.55636239e-01 -1.44471529e-02 1.03205522e+02] [ 1.49622179e-02 -7.00918519e-05 9.99888057e-01 6.69514036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0492541539999 meters 0.013509989198534514 Centerline is valid? [True, True] Translation: X:927.98, Y:103.23, Z:6.69 [[ 2.57127150e-01 -9.66369864e-01 -3.86200640e-03 9.27983477e+02] [ 9.66263315e-01 2.57156149e-01 -1.43499838e-02 1.03232509e+02] [ 1.48605306e-02 -4.19446525e-05 9.99889575e-01 6.69479301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0792541539998 meters 0.015949479055744037 Centerline is valid? [True, True] Translation: X:927.99, Y:103.26, Z:6.69 [[ 2.57635351e-01 -9.66233496e-01 -4.10575235e-03 9.27989749e+02] [ 9.66112769e-01 2.57668062e-01 -1.52737635e-02 1.03260218e+02] [ 1.58159431e-02 -3.15583626e-05 9.99874920e-01 6.69234935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1092541539998 meters 0.017437517007863137 Centerline is valid? [True, True] Translation: X:928.00, Y:103.29, Z:6.69 [[ 2.58781844e-01 -9.65926015e-01 -4.34641179e-03 9.27995323e+02] [ 9.65790351e-01 2.58818342e-01 -1.61883667e-02 1.03286330e+02] [ 1.67616956e-02 -8.46719515e-06 9.99859513e-01 6.69068391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1392541539999 meters 0.01608265290758134 Centerline is valid? [True, True] Translation: X:928.00, Y:103.31, Z:6.69 [[ 2.61976756e-01 -9.65063345e-01 -4.57374714e-03 9.27999739e+02] [ 9.64912631e-01 2.62016673e-01 -1.70551461e-02 1.03314378e+02] [ 1.76576944e-02 5.47854639e-05 9.99844089e-01 6.69173324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1692541539999 meters 0.018433072228346132 Centerline is valid? [True, True] Translation: X:928.00, Y:103.34, Z:6.69 [[ 2.64619781e-01 -9.64341074e-01 -4.76077740e-03 9.28004497e+02] [ 9.64177294e-01 2.64662579e-01 -1.77725938e-02 1.03342711e+02] [ 1.83988418e-02 1.12746414e-04 9.99830721e-01 6.69100910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1992541539998 meters 0.01556871171401507 Centerline is valid? [True, True] Translation: X:928.01, Y:103.37, Z:6.69 [[ 2.65795019e-01 -9.64019750e-01 -4.35072023e-03 9.28009829e+02] [ 9.63882618e-01 2.65830594e-01 -1.62602118e-02 1.03369595e+02] [ 1.68317199e-02 1.28299703e-04 9.99858328e-01 6.69261993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2292541539998 meters 0.015014531936215634 Centerline is valid? [True, True] Translation: X:928.02, Y:103.40, Z:6.69 [[ 2.66795435e-01 -9.63744198e-01 -4.16147863e-03 9.28015516e+02] [ 9.63618407e-01 2.66827849e-01 -1.55712738e-02 1.03396341e+02] [ 1.61171232e-02 1.44267360e-04 9.99870100e-01 6.69385388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2592541539999 meters 0.014536194651126209 Centerline is valid? [True, True] Translation: X:928.02, Y:103.42, Z:6.70 [[ 2.67247469e-01 -9.63619868e-01 -3.94199759e-03 9.28022426e+02] [ 9.63506728e-01 2.67276499e-01 -1.47668081e-02 1.03423377e+02] [ 1.52831930e-02 1.48250888e-04 9.99883194e-01 6.69561543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2892541539999 meters 0.018127877412337588 Centerline is valid? [True, True] Translation: X:928.03, Y:103.45, Z:6.69 [[ 2.67033170e-01 -9.63679362e-01 -3.92084548e-03 9.28028993e+02] [ 9.63567182e-01 2.67061912e-01 -1.47044490e-02 1.03450873e+02] [ 1.52174825e-02 1.48577605e-04 9.99884196e-01 6.69374386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3192541539999 meters 0.01624466065409187 Centerline is valid? [True, True] Translation: X:928.03, Y:103.48, Z:6.70 [[ 2.67367935e-01 -9.63587967e-01 -3.55200294e-03 9.28034612e+02] [ 9.63495686e-01 2.67391490e-01 -1.33362227e-02 1.03477144e+02] [ 1.38003991e-02 1.43338830e-04 9.99904760e-01 6.69557818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3492541539998 meters 0.015105622945598803 Centerline is valid? [True, True] Translation: X:928.04, Y:103.50, Z:6.70 [[ 2.67666744e-01 -9.63505116e-01 -3.52220117e-03 9.28040869e+02] [ 9.63414157e-01 2.67689875e-01 -1.32398242e-02 1.03504114e+02] [ 1.36994959e-02 1.50522170e-04 9.99906146e-01 6.69657534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3792541539999 meters 0.016684818501741062 Centerline is valid? [True, True] Translation: X:928.05, Y:103.53, Z:6.69 [[ 2.67230100e-01 -9.63625097e-01 -3.84012562e-03 9.28047353e+02] [ 9.63516732e-01 2.67257641e-01 -1.44519761e-02 1.03531818e+02] [ 1.49525898e-02 1.61977733e-04 9.99888191e-01 6.69488833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4092541539999 meters 0.014491455193974864 Centerline is valid? [True, True] Translation: X:928.05, Y:103.56, Z:6.70 [[ 2.67575062e-01 -9.63529979e-01 -3.68326474e-03 9.28053512e+02] [ 9.63430088e-01 2.67600361e-01 -1.38748765e-02 1.03558664e+02] [ 1.43545024e-02 1.64002864e-04 9.99896955e-01 6.69678364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4392541539999 meters 0.017507497839414878 Centerline is valid? [True, True] Translation: X:928.06, Y:103.59, Z:6.69 [[ 2.66493188e-01 -9.63827773e-01 -4.17185093e-03 9.28060173e+02] [ 9.63699435e-01 2.66525785e-01 -1.57290795e-02 1.03585315e+02] [ 1.62720295e-02 1.71282149e-04 9.99867587e-01 6.69320724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4692541539998 meters 0.014553987861809128 Centerline is valid? [True, True] Translation: X:928.07, Y:103.61, Z:6.70 [[ 2.67017932e-01 -9.63683679e-01 -3.89764974e-03 9.28066255e+02] [ 9.63571466e-01 2.67046322e-01 -1.47068714e-02 1.03611818e+02] [ 1.52136250e-02 1.71334314e-04 9.99884251e-01 6.69577786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4992541539999 meters 0.014351352772510118 Centerline is valid? [True, True] Translation: X:928.07, Y:103.64, Z:6.70 [[ 2.66953967e-01 -9.63701373e-01 -3.90419544e-03 9.28073424e+02] [ 9.63588562e-01 2.66982458e-01 -1.47461987e-02 1.03638536e+02] [ 1.52532837e-02 1.74518182e-04 9.99883647e-01 6.69624435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5292541539999 meters 0.01512589229066821 Centerline is valid? [True, True] Translation: X:928.08, Y:103.67, Z:6.69 [[ 2.67003460e-01 -9.63686252e-01 -4.23795927e-03 9.28079471e+02] [ 9.63553010e-01 2.67037019e-01 -1.60258402e-02 1.03666487e+02] [ 1.65755739e-02 1.95456357e-04 9.99862597e-01 6.69431930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5592541539999 meters 0.014465315559974282 Centerline is valid? [True, True] Translation: X:928.09, Y:103.69, Z:6.69 [[ 2.67005337e-01 -9.63685407e-01 -4.31118005e-03 9.28085638e+02] [ 9.63547192e-01 2.67040062e-01 -1.63222005e-02 1.03692586e+02] [ 1.68807242e-02 2.04089198e-04 9.99857490e-01 6.69459427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5892541539998 meters 0.014232482577733806 Centerline is valid? [True, True] Translation: X:928.09, Y:103.72, Z:6.69 [[ 2.66498835e-01 -9.63824368e-01 -4.57800182e-03 9.28093276e+02] [ 9.63668157e-01 2.66538068e-01 -1.73534547e-02 1.03719830e+02] [ 1.79458942e-02 2.13000868e-04 9.99838937e-01 6.69386611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6192541539999 meters 0.014232482577733806 Centerline is valid? [True, True] Translation: X:928.10, Y:103.75, Z:6.69 [[ 2.66221710e-01 -9.63900975e-01 -4.57300825e-03 9.28100239e+02] [ 9.63744751e-01 2.66260898e-01 -1.73547710e-02 1.03746534e+02] [ 1.79458939e-02 2.13004106e-04 9.99838937e-01 6.69405654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6492541539999 meters 0.017704150289013506 Centerline is valid? [True, True] Translation: X:928.11, Y:103.77, Z:6.69 [[ 2.65203964e-01 -9.64178987e-01 -5.07337417e-03 9.28107518e+02] [ 9.63986272e-01 2.65252394e-01 -1.92778391e-02 1.03772602e+02] [ 1.99330120e-02 2.21896281e-04 9.99801293e-01 6.69070409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6792541539999 meters 0.015810434315060923 Centerline is valid? [True, True] Translation: X:928.12, Y:103.80, Z:6.69 [[ 2.64227514e-01 -9.64446953e-01 -5.08883824e-03 9.28116886e+02] [ 9.64252651e-01 2.64276431e-01 -1.93595936e-02 1.03799396e+02] [ 2.00161610e-02 2.08411506e-04 9.99799635e-01 6.69186280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7092541539998 meters 0.013832577381597242 Centerline is valid? [True, True] Translation: X:928.13, Y:103.83, Z:6.69 [[ 2.62276401e-01 -9.64980597e-01 -4.85145428e-03 9.28126012e+02] [ 9.64803706e-01 2.62321215e-01 -1.84767326e-02 1.03826507e+02] [ 1.91023278e-02 1.65309859e-04 9.99817520e-01 6.69307652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7392541539998 meters 0.013738040530551504 Centerline is valid? [True, True] Translation: X:928.13, Y:103.85, Z:6.69 [[ 2.60742880e-01 -9.65396874e-01 -4.69328746e-03 9.28134509e+02] [ 9.65231040e-01 2.60785081e-01 -1.78935902e-02 1.03853808e+02] [ 1.84983554e-02 1.35519522e-04 9.99828882e-01 6.69363791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7692541539999 meters 0.01446415053013001 Centerline is valid? [True, True] Translation: X:928.14, Y:103.88, Z:6.69 [[ 2.58952668e-01 -9.65878722e-01 -4.67002378e-03 9.28143277e+02] [ 9.65714250e-01 2.58994753e-01 -1.78242574e-02 1.03881043e+02] [ 1.84255826e-02 1.05730483e-04 9.99830229e-01 6.69339797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7992541539999 meters 0.015580989464187659 Centerline is valid? [True, True] Translation: X:928.15, Y:103.91, Z:6.69 [[ 2.56342238e-01 -9.66576346e-01 -4.33861808e-03 9.28153494e+02] [ 9.66434177e-01 2.56378945e-01 -1.65776558e-02 1.03907584e+02] [ 1.71359003e-02 5.65646003e-05 9.99853168e-01 6.69464309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8292541539998 meters 0.015904067647813443 Centerline is valid? [True, True] Translation: X:928.16, Y:103.93, Z:6.70 [[ 2.55415300e-01 -9.66822924e-01 -4.05683383e-03 9.28161422e+02] [ 9.66698373e-01 2.55447512e-01 -1.55185412e-02 1.03934851e+02] [ 1.60399895e-02 4.19381988e-05 9.99871350e-01 6.69565667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8592541539998 meters 0.013337664304953289 Centerline is valid? [True, True] Translation: X:928.17, Y:103.96, Z:6.70 [[ 2.55835189e-01 -9.66714634e-01 -3.34238326e-03 9.28168096e+02] [ 9.66629900e-01 2.55857018e-01 -1.27992978e-02 1.03961394e+02] [ 1.32284407e-02 4.36631768e-05 9.99912499e-01 6.69878778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8892541539999 meters 0.013372538795608272 Centerline is valid? [True, True] Translation: X:928.18, Y:103.99, Z:6.70 [[ 2.55960502e-01 -9.66681334e-01 -3.37932791e-03 9.28175001e+02] [ 9.66594508e-01 2.55982805e-01 -1.29560892e-02 1.03988381e+02] [ 1.33894594e-02 4.98073018e-05 9.99910356e-01 6.69885721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9192541539999 meters 0.013482334082817423 Centerline is valid? [True, True] Translation: X:928.18, Y:104.01, Z:6.70 [[ 2.56837914e-01 -9.66448203e-01 -3.48665082e-03 9.28180398e+02] [ 9.66355573e-01 2.56861571e-01 -1.33805633e-02 1.04014435e+02] [ 1.38272080e-02 6.72915238e-05 9.99904397e-01 6.69735868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9492541539998 meters 0.013980046174755035 Centerline is valid? [True, True] Translation: X:928.19, Y:104.04, Z:6.70 [[ 2.57138114e-01 -9.66367673e-01 -3.67577430e-03 9.28186835e+02] [ 9.66264512e-01 2.57164373e-01 -1.41201149e-02 1.04041381e+02] [ 1.45905007e-02 7.90494571e-05 9.99893550e-01 6.69663299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9792541539998 meters 0.013744267743754146 Centerline is valid? [True, True] Translation: X:928.19, Y:104.07, Z:6.70 [[ 2.58336947e-01 -9.66047931e-01 -3.66278656e-03 9.28192209e+02] [ 9.65945276e-01 2.58362892e-01 -1.40833352e-02 1.04067423e+02] [ 1.45515050e-02 1.00194448e-04 9.99894116e-01 6.69627749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0092541539999 meters 0.013832648542037279 Centerline is valid? [True, True] Translation: X:928.20, Y:104.09, Z:6.70 [[ 2.59319459e-01 -9.65784290e-01 -3.75821734e-03 9.28197901e+02] [ 9.65675975e-01 2.59346662e-01 -1.44644399e-02 1.04094905e+02] [ 1.49442099e-02 1.21690541e-04 9.99888322e-01 6.69665132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0392541539999 meters 0.01394741381859638 Centerline is valid? [True, True] Translation: X:928.20, Y:104.12, Z:6.70 [[ 2.59746505e-01 -9.65669449e-01 -3.77737517e-03 9.28203898e+02] [ 9.65559760e-01 2.59773936e-01 -1.45551266e-02 1.04122486e+02] [ 1.50367047e-02 1.33361807e-04 9.99886933e-01 6.69672399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0692541539999 meters 0.013971273903677138 Centerline is valid? [True, True] Translation: X:928.21, Y:104.15, Z:6.70 [[ 2.60194902e-01 -9.65549222e-01 -3.64881225e-03 9.28210136e+02] [ 9.65446628e-01 2.60220447e-01 -1.40757928e-02 1.04150229e+02] [ 1.45403663e-02 1.39716042e-04 9.99894274e-01 6.69684585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0992541539998 meters 0.015382370330964705 Centerline is valid? [True, True] Translation: X:928.22, Y:104.18, Z:6.70 [[ 2.60809047e-01 -9.65382812e-01 -3.82983254e-03 9.28215660e+02] [ 9.65269501e-01 2.60837116e-01 -1.47915545e-02 1.04178224e+02] [ 1.52784749e-02 1.60950684e-04 9.99883264e-01 6.69550975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1292541539999 meters 0.017011131932428147 Centerline is valid? [True, True] Translation: X:928.22, Y:104.21, Z:6.69 [[ 2.61306779e-01 -9.65246601e-01 -4.21508350e-03 9.28222189e+02] [ 9.65109007e-01 2.61340704e-01 -1.62984922e-02 1.04205864e+02] [ 1.68336371e-02 1.90891456e-04 9.99858286e-01 6.69449745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1592541539999 meters 0.015723923488423316 Centerline is valid? [True, True] Translation: X:928.23, Y:104.23, Z:6.69 [[ 2.61527470e-01 -9.65187681e-01 -4.01543522e-03 9.28227335e+02] [ 9.65062521e-01 2.61558225e-01 -1.55442914e-02 1.04232865e+02] [ 1.60534287e-02 1.90113156e-04 9.99871117e-01 6.69483810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1892541539999 meters 0.0144545103345936 Centerline is valid? [True, True] Translation: X:928.24, Y:104.26, Z:6.70 [[ 2.61349742e-01 -9.65236626e-01 -3.81673035e-03 9.28235326e+02] [ 9.65123293e-01 2.61377546e-01 -1.47921166e-02 1.04259802e+02] [ 1.52755003e-02 1.82300481e-04 9.99883306e-01 6.69676519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2192541539998 meters 0.01483484083291972 Centerline is valid? [True, True] Translation: X:928.24, Y:104.29, Z:6.70 [[ 2.60085924e-01 -9.65578358e-01 -3.70774118e-03 9.28240941e+02] [ 9.65471233e-01 2.60112301e-01 -1.43836206e-02 1.04286036e+02] [ 1.48529418e-02 1.61259799e-04 9.99889676e-01 6.69567694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2492541539999 meters 0.014159602833203283 Centerline is valid? [True, True] Translation: X:928.25, Y:104.31, Z:6.70 [[ 2.58781362e-01 -9.65928937e-01 -3.67363117e-03 9.28249906e+02] [ 9.65823599e-01 2.58807396e-01 -1.42655999e-02 1.04312533e+02] [ 1.47303187e-02 1.43591707e-04 9.99891493e-01 6.69705046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2792541539999 meters 0.015716093722462934 Centerline is valid? [True, True] Translation: X:928.26, Y:104.34, Z:6.70 [[ 2.55819228e-01 -9.66717430e-01 -3.73275954e-03 9.28258341e+02] [ 9.66608500e-01 2.55846438e-01 -1.45123654e-02 1.04338141e+02] [ 1.49843699e-02 1.04425020e-04 9.99887723e-01 6.69633642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3092541539999 meters 0.013729720843094463 Centerline is valid? [True, True] Translation: X:928.27, Y:104.37, Z:6.70 [[ 2.54904307e-01 -9.66959924e-01 -3.50701692e-03 9.28266188e+02] [ 9.66863578e-01 2.54928415e-01 -1.36500993e-02 1.04365336e+02] [ 1.40931372e-02 8.86621720e-05 9.99900683e-01 6.69853244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3392541539998 meters 0.013594237492997423 Centerline is valid? [True, True] Translation: X:928.27, Y:104.39, Z:6.70 [[ 2.53256805e-01 -9.67393186e-01 -3.37842676e-03 9.28274666e+02] [ 9.67303615e-01 2.53279330e-01 -1.31642564e-02 1.04392446e+02] [ 1.35906976e-02 6.59730972e-05 9.99907640e-01 6.69906169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3692541539999 meters 0.01346517204745105 Centerline is valid? [True, True] Translation: X:928.28, Y:104.42, Z:6.70 [[ 2.50055861e-01 -9.68225828e-01 -3.28822471e-03 9.28284439e+02] [ 9.68140856e-01 2.50077479e-01 -1.28272284e-02 1.04419023e+02] [ 1.32419648e-02 2.40589443e-05 9.99912321e-01 6.70032154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3992541539999 meters 0.014949517707643772 Centerline is valid? [True, True] Translation: X:928.29, Y:104.45, Z:6.70 [[ 2.46261606e-01 -9.69197727e-01 -3.31475711e-03 9.28293829e+02] [ 9.69111265e-01 2.46283912e-01 -1.29456762e-02 1.04445438e+02] [ 1.33632913e-02 -2.43454488e-05 9.99910707e-01 6.69905488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4292541539999 meters 0.014771786097951886 Centerline is valid? [True, True] Translation: X:928.30, Y:104.47, Z:6.70 [[ 2.44609781e-01 -9.69616009e-01 -3.29397005e-03 9.28301611e+02] [ 9.69530471e-01 2.44631955e-01 -1.28791622e-02 1.04472531e+02] [ 1.32936522e-02 -4.32352828e-05 9.99911635e-01 6.69919177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4592541539998 meters 0.013927573754374355 Centerline is valid? [True, True] Translation: X:928.31, Y:104.50, Z:6.70 [[ 2.42198563e-01 -9.70220681e-01 -3.41847892e-03 9.28310444e+02] [ 9.70128393e-01 2.42222674e-01 -1.33819427e-02 1.04498056e+02] [ 1.38114707e-02 -7.52761711e-05 9.99904614e-01 6.69927621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4892541539998 meters 0.01569430710605523 Centerline is valid? [True, True] Translation: X:928.32, Y:104.52, Z:6.70 [[ 2.40130022e-01 -9.70734142e-01 -3.57740087e-03 9.28317849e+02] [ 9.70632883e-01 2.40156645e-01 -1.40211153e-02 1.04524971e+02] [ 1.44699120e-02 -1.05452194e-04 9.99895300e-01 6.69880682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5192541539999 meters 0.016307175793004353 Centerline is valid? [True, True] Translation: X:928.33, Y:104.55, Z:6.70 [[ 2.39119304e-01 -9.70983347e-01 -3.64679035e-03 9.28325213e+02] [ 9.70877900e-01 2.39147082e-01 -1.43100447e-02 1.04552079e+02] [ 1.47669344e-02 -1.18780222e-04 9.99890956e-01 6.69878502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5492541539999 meters 0.01429046742071573 Centerline is valid? [True, True] Translation: X:928.33, Y:104.58, Z:6.70 [[ 2.39343123e-01 -9.70928759e-01 -3.49499937e-03 9.28331675e+02] [ 9.70831673e-01 2.39368616e-01 -1.37305808e-02 1.04578840e+02] [ 1.41680089e-02 -1.06735994e-04 9.99899623e-01 6.69982013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5792541539998 meters 0.014210757333383997 Centerline is valid? [True, True] Translation: X:928.34, Y:104.61, Z:6.70 [[ 2.39275958e-01 -9.70944752e-01 -3.64753484e-03 9.28337935e+02] [ 9.70838750e-01 2.39303733e-01 -1.43472605e-02 1.04606217e+02] [ 1.48032660e-02 -1.08213684e-04 9.99890420e-01 6.69995176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6092541539998 meters 0.014140690209595743 Centerline is valid? [True, True] Translation: X:928.34, Y:104.63, Z:6.70 [[ 2.39152174e-01 -9.70974345e-01 -3.88052230e-03 9.28344417e+02] [ 9.70854087e-01 2.39183628e-01 -1.52818232e-02 1.04633576e+02] [ 1.57664157e-02 -1.12739698e-04 9.99875696e-01 6.70002099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6392541539999 meters 0.014722123634108332 Centerline is valid? [True, True] Translation: X:928.35, Y:104.66, Z:6.70 [[ 2.38494008e-01 -9.71135998e-01 -3.93458429e-03 9.28351170e+02] [ 9.71012090e-01 2.38526431e-01 -1.55132759e-02 1.04660296e+02] [ 1.60040030e-02 -1.20705566e-04 9.99871920e-01 6.69940403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6692541539999 meters 0.015405505579765836 Centerline is valid? [True, True] Translation: X:928.36, Y:104.69, Z:6.70 [[ 2.37147233e-01 -9.71465769e-01 -3.93051435e-03 9.28357521e+02] [ 9.71341868e-01 2.37179763e-01 -1.55156838e-02 1.04687832e+02] [ 1.60051942e-02 -1.38371661e-04 9.99871899e-01 6.69956910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6992541539998 meters 0.015139584968627417 Centerline is valid? [True, True] Translation: X:928.36, Y:104.71, Z:6.70 [[ 2.36612499e-01 -9.71596831e-01 -3.75807866e-03 9.28363718e+02] [ 9.71483310e-01 2.36642302e-01 -1.48525594e-02 1.04713806e+02] [ 1.53200201e-02 -1.36609507e-04 9.99882632e-01 6.70025543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7292541539998 meters 0.0143648968692158 Centerline is valid? [True, True] Translation: X:928.37, Y:104.74, Z:6.70 [[ 2.35994195e-01 -9.71748024e-01 -3.53797879e-03 9.28369737e+02] [ 9.71647195e-01 2.36020676e-01 -1.39988936e-02 1.04741275e+02] [ 1.44384333e-02 -1.34009542e-04 9.99895751e-01 6.70126214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7592541539999 meters 0.017734781563750204 Centerline is valid? [True, True] Translation: X:928.38, Y:104.77, Z:6.70 [[ 2.34622413e-01 -9.72078852e-01 -3.87673292e-03 9.28375948e+02] [ 9.71957541e-01 2.34654381e-01 -1.53577102e-02 1.04768911e+02] [ 1.58385976e-02 -1.64756770e-04 9.99874548e-01 6.69999639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7892541539999 meters 0.015097159680089914 Centerline is valid? [True, True] Translation: X:928.38, Y:104.80, Z:6.70 [[ 2.35049773e-01 -9.71977299e-01 -3.42568698e-03 9.28382037e+02] [ 9.71882355e-01 2.35074696e-01 -1.35858423e-02 1.04795267e+02] [ 1.40104226e-02 -1.36015575e-04 9.99901840e-01 6.70148259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8192541539999 meters 0.016359338697717985 Centerline is valid? [True, True] Translation: X:928.39, Y:104.82, Z:6.70 [[ 2.35675422e-01 -9.71825325e-01 -3.55435327e-03 9.28385653e+02] [ 9.71722849e-01 2.35702189e-01 -1.41131842e-02 1.04823548e+02] [ 1.45533187e-02 -1.27715627e-04 9.99894087e-01 6.70189606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8492541539998 meters 0.013894186831435855 Centerline is valid? [True, True] Translation: X:928.39, Y:104.85, Z:6.70 [[ 2.36957371e-01 -9.71514868e-01 -3.17271468e-03 9.28390887e+02] [ 9.71433003e-01 2.36978592e-01 -1.26121875e-02 1.04850344e+02] [ 1.30047931e-02 -9.35289627e-05 9.99915430e-01 6.70349395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8792541539999 meters 0.014132959509577379 Centerline is valid? [True, True] Translation: X:928.40, Y:104.88, Z:6.70 [[ 2.38016888e-01 -9.71255479e-01 -3.27962148e-03 9.28396224e+02] [ 9.71167764e-01 2.38039469e-01 -1.30531531e-02 1.04877623e+02] [ 1.34586258e-02 -7.81917825e-05 9.99909426e-01 6.70375877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9092541539999 meters 0.013505712917170318 Centerline is valid? [True, True] Translation: X:928.40, Y:104.91, Z:6.70 [[ 2.40662553e-01 -9.70603399e-01 -3.25231648e-03 9.28399537e+02] [ 9.70516874e-01 2.40684525e-01 -1.29597844e-02 1.04905549e+02] [ 1.33615930e-02 -3.74932446e-05 9.99910729e-01 6.70428212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9392541539999 meters 0.015892674894192785 Centerline is valid? [True, True] Translation: X:928.40, Y:104.93, Z:6.70 [[ 2.42200490e-01 -9.70219873e-01 -3.51008779e-03 9.28403078e+02] [ 9.70118798e-01 2.42225923e-01 -1.40042731e-02 1.04933655e+02] [ 1.44374583e-02 -1.33603472e-05 9.99895774e-01 6.70261250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9692541539998 meters 0.016742521190439223 Centerline is valid? [True, True] Translation: X:928.41, Y:104.96, Z:6.70 [[ 2.42762722e-01 -9.70079006e-01 -3.60329552e-03 9.28408281e+02] [ 9.69972214e-01 2.42789462e-01 -1.43937773e-02 1.04960983e+02] [ 1.48379434e-02 -8.23966632e-07 9.99889912e-01 6.70228027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9992541539999 meters 0.014142152291146542 Centerline is valid? [True, True] Translation: X:928.41, Y:104.99, Z:6.70 [[ 2.43822410e-01 -9.69813669e-01 -3.47551640e-03 9.28413679e+02] [ 9.69714052e-01 2.43847178e-01 -1.39000180e-02 1.04988353e+02] [ 1.43279223e-02 1.88787923e-05 9.99897350e-01 6.70350119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0292541539999 meters 0.013390230858500145 Centerline is valid? [True, True] Translation: X:928.42, Y:105.02, Z:6.70 [[ 2.44903657e-01 -9.69541244e-01 -3.46046754e-03 9.28418279e+02] [ 9.69442213e-01 2.44928101e-01 -1.38571573e-02 1.05015009e+02] [ 1.42826513e-02 3.89452039e-05 9.99897997e-01 6.70349335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0592541539999 meters 0.015821756044704274 Centerline is valid? [True, True] Translation: X:928.42, Y:105.04, Z:6.70 [[ 2.44300745e-01 -9.69692154e-01 -3.77794727e-03 9.28424394e+02] [ 9.69573820e-01 2.44329952e-01 -1.51486736e-02 1.05041519e+02] [ 1.56126156e-02 3.78334742e-05 9.99878115e-01 6.70173415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0892541539998 meters 0.013401896958306212 Centerline is valid? [True, True] Translation: X:928.43, Y:105.07, Z:6.70 [[ 2.44830692e-01 -9.69558815e-01 -3.69264688e-03 9.28429507e+02] [ 9.69445474e-01 2.44858533e-01 -1.48247256e-02 1.05069137e+02] [ 1.52776195e-02 4.97280140e-05 9.99883289e-01 6.70215444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1192541539999 meters 0.014669707032016591 Centerline is valid? [True, True] Translation: X:928.44, Y:105.10, Z:6.70 [[ 2.44193847e-01 -9.69717957e-01 -4.05583591e-03 9.28435973e+02] [ 9.69580902e-01 2.44227522e-01 -1.63031380e-02 1.05096669e+02] [ 1.67999925e-02 4.86649599e-05 9.99858869e-01 6.70110334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1492541539999 meters 0.01509283393294131 Centerline is valid? [True, True] Translation: X:928.44, Y:105.12, Z:6.70 [[ 2.44033182e-01 -9.69757402e-01 -4.28797387e-03 9.28441406e+02] [ 9.69603899e-01 2.44070846e-01 -1.72540028e-02 1.05122756e+02] [ 1.77787663e-02 5.29130236e-05 9.99841944e-01 6.69968032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1792541539999 meters 0.015000380033545646 Centerline is valid? [True, True] Translation: X:928.45, Y:105.15, Z:6.70 [[ 2.43924796e-01 -9.69784308e-01 -4.36910554e-03 9.28447743e+02] [ 9.69624603e-01 2.43963915e-01 -1.75993365e-02 1.05150319e+02] [ 1.81334644e-02 5.65223234e-05 9.99835574e-01 6.69992009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2092541539998 meters 0.013507564342604552 Centerline is valid? [True, True] Translation: X:928.45, Y:105.18, Z:6.70 [[ 2.44829587e-01 -9.69556438e-01 -4.33428636e-03 9.28453148e+02] [ 9.69398859e-01 2.44867937e-01 -1.74798443e-02 1.05177657e+02] [ 1.80090233e-02 7.79307944e-05 9.99837821e-01 6.70066450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2392541539998 meters 0.013509804840689702 Centerline is valid? [True, True] Translation: X:928.46, Y:105.20, Z:6.70 [[ 2.44989026e-01 -9.69515757e-01 -4.42437644e-03 9.28459275e+02] [ 9.69351149e-01 2.45028957e-01 -1.78650749e-02 1.05204689e+02] [ 1.84045720e-02 8.79729157e-05 9.99830618e-01 6.70098931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2692541539999 meters 0.013575474296336607 Centerline is valid? [True, True] Translation: X:928.47, Y:105.23, Z:6.70 [[ 2.45433611e-01 -9.69403001e-01 -4.49041191e-03 9.28465283e+02] [ 9.69233005e-01 2.45474663e-01 -1.81541272e-02 1.05232543e+02] [ 1.87009478e-02 1.03377569e-04 9.99825117e-01 6.70087310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2992541539999 meters 0.013615496385248466 Centerline is valid? [True, True] Translation: X:928.47, Y:105.26, Z:6.70 [[ 2.45940858e-01 -9.69274201e-01 -4.54078623e-03 9.28470403e+02] [ 9.69099919e-01 2.45982743e-01 -1.83803288e-02 1.05260695e+02] [ 1.89325336e-02 1.19998267e-04 9.99820756e-01 6.70041999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3292541539998 meters 0.01367249732249706 Centerline is valid? [True, True] Translation: X:928.48, Y:105.29, Z:6.70 [[ 2.45955524e-01 -9.69270525e-01 -4.53088062e-03 9.28476619e+02] [ 9.69096578e-01 2.45997221e-01 -1.83627545e-02 1.05288052e+02] [ 1.89130607e-02 1.25559990e-04 9.99821124e-01 6.70094776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3592541539998 meters 0.017385051526550975 Centerline is valid? [True, True] Translation: X:928.48, Y:105.32, Z:6.70 [[ 2.45257424e-01 -9.69446063e-01 -4.80899058e-03 9.28482766e+02] [ 9.69249643e-01 2.45304535e-01 -1.95144794e-02 1.05315822e+02] [ 2.00979024e-02 1.24958554e-04 9.99798009e-01 6.69979501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3892541539999 meters 0.013628584007368487 Centerline is valid? [True, True] Translation: X:928.49, Y:105.34, Z:6.70 [[ 2.46183719e-01 -9.69213297e-01 -4.37739525e-03 9.28489062e+02] [ 9.69050130e-01 2.46222595e-01 -1.77842216e-02 1.05343585e+02] [ 1.83145177e-02 1.36270366e-04 9.99832266e-01 6.70215254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4192541539999 meters 0.014195716777846456 Centerline is valid? [True, True] Translation: X:928.49, Y:105.37, Z:6.70 [[ 2.46208322e-01 -9.69207085e-01 -4.36903259e-03 9.28494371e+02] [ 9.69044128e-01 2.46247043e-01 -1.77727744e-02 1.05369744e+02] [ 1.83013602e-02 1.42019590e-04 9.99832506e-01 6.70222905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4492541539998 meters 0.013818028622338442 Centerline is valid? [True, True] Translation: X:928.50, Y:105.40, Z:6.70 [[ 2.46185666e-01 -9.69212822e-01 -4.37316412e-03 9.28500275e+02] [ 9.69049151e-01 2.46224460e-01 -1.78117273e-02 1.05396869e+02] [ 1.83401344e-02 1.47180966e-04 9.99831795e-01 6.70269628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4792541539998 meters 0.013819747637826358 Centerline is valid? [True, True] Translation: X:928.51, Y:105.42, Z:6.70 [[ 2.45240333e-01 -9.69452627e-01 -4.33387875e-03 9.28505868e+02] [ 9.69291520e-01 2.45278588e-01 -1.76737899e-02 1.05423108e+02] [ 1.81969097e-02 1.33534214e-04 9.99834414e-01 6.70233681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5092541539999 meters 0.016435444606447205 Centerline is valid? [True, True] Translation: X:928.51, Y:105.45, Z:6.70 [[ 2.43439806e-01 -9.69904809e-01 -4.66071916e-03 9.28512886e+02] [ 9.69718095e-01 2.43484391e-01 -1.90306818e-02 1.05450481e+02] [ 1.95927622e-02 1.13241780e-04 9.99808037e-01 6.70124025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5392541539999 meters 0.016435444606447205 Centerline is valid? [True, True] Translation: X:928.52, Y:105.48, Z:6.70 [[ 2.43170911e-01 -9.69972286e-01 -4.65544094e-03 9.28519360e+02] [ 9.69785560e-01 2.43215445e-01 -1.90319734e-02 1.05477299e+02] [ 1.95927619e-02 1.13242924e-04 9.99808037e-01 6.70143067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5692541539999 meters 0.013529368064863614 Centerline is valid? [True, True] Translation: X:928.53, Y:105.50, Z:6.70 [[ 2.41689764e-01 -9.70343761e-01 -4.36379673e-03 9.28526407e+02] [ 9.70179369e-01 2.41729142e-01 -1.78609736e-02 1.05503476e+02] [ 1.83861411e-02 8.31489325e-05 9.99830957e-01 6.70270399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5992541539998 meters 0.01348887259312303 Centerline is valid? [True, True] Translation: X:928.53, Y:105.53, Z:6.70 [[ 2.40402439e-01 -9.70663419e-01 -4.38119579e-03 9.28533298e+02] [ 9.70497367e-01 2.40442349e-01 -1.79537700e-02 1.05530632e+02] [ 1.84804928e-02 6.41911281e-05 9.99829219e-01 6.70277347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6292541539999 meters 0.013494136601692209 Centerline is valid? [True, True] Translation: X:928.54, Y:105.56, Z:6.70 [[ 2.38620682e-01 -9.71102677e-01 -4.44526959e-03 9.28540652e+02] [ 9.70931402e-01 2.38662082e-01 -1.82379557e-02 1.05558058e+02] [ 1.87718449e-02 3.59015886e-05 9.99823793e-01 6.70268503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6592541539999 meters 0.01379571794071464 Centerline is valid? [True, True] Translation: X:928.55, Y:105.59, Z:6.70 [[ 2.37833959e-01 -9.71294269e-01 -4.73823783e-03 9.28547284e+02] [ 9.71099225e-01 2.37881152e-01 -1.94641201e-02 1.05585519e+02] [ 2.00325257e-02 2.79296454e-05 9.99799328e-01 6.70320333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6892541539999 meters 0.01566063019305239 Centerline is valid? [True, True] Translation: X:928.55, Y:105.61, Z:6.70 [[ 2.37464101e-01 -9.71382641e-01 -5.15418374e-03 9.28553290e+02] [ 9.71151319e-01 2.37520029e-01 -2.11979213e-02 1.05612789e+02] [ 2.18155146e-02 2.82529925e-05 9.99762013e-01 6.70224245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7192541539998 meters 0.016938666002727754 Centerline is valid? [True, True] Translation: X:928.56, Y:105.64, Z:6.70 [[ 2.37678128e-01 -9.71329661e-01 -5.27233687e-03 9.28558138e+02] [ 9.71086989e-01 2.37736595e-01 -2.17111042e-02 1.05639691e+02] [ 2.23420669e-02 4.03568720e-05 9.99750384e-01 6.69899643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7492541539999 meters 0.013433594632600708 Centerline is valid? [True, True] Translation: X:928.56, Y:105.67, Z:6.70 [[ 2.38390410e-01 -9.71156787e-01 -4.95042302e-03 9.28564579e+02] [ 9.70942275e-01 2.38441797e-01 -2.04109772e-02 1.05666719e+02] [ 2.10026468e-02 5.92062386e-05 9.99779418e-01 6.70335331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7792541539999 meters 0.01679097060705696 Centerline is valid? [True, True] Translation: X:928.57, Y:105.69, Z:6.70 [[ 2.38025691e-01 -9.71244431e-01 -5.29400996e-03 9.28570459e+02] [ 9.70998541e-01 2.38084549e-01 -2.18536313e-02 1.05693769e+02] [ 2.24856396e-02 6.12497358e-05 9.99747164e-01 6.70203519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8092541539999 meters 0.013467542221381256 Centerline is valid? [True, True] Translation: X:928.58, Y:105.72, Z:6.70 [[ 2.39941364e-01 -9.70775958e-01 -4.70960112e-03 9.28575583e+02] [ 9.70580822e-01 2.39987560e-01 -1.94637950e-02 1.05721244e+02] [ 2.00252299e-02 9.91210011e-05 9.99799470e-01 6.70466930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8392541539998 meters 0.016486771775396234 Centerline is valid? [True, True] Translation: X:928.58, Y:105.75, Z:6.70 [[ 2.41032761e-01 -9.70505913e-01 -4.63476212e-03 9.28579937e+02] [ 9.70316393e-01 2.41077284e-01 -1.91791611e-02 1.05748064e+02] [ 1.97308251e-02 1.25620483e-04 9.99805320e-01 6.70467831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8692541539998 meters 0.014664644190397187 Centerline is valid? [True, True] Translation: X:928.59, Y:105.78, Z:6.71 [[ 2.42105303e-01 -9.70240518e-01 -4.28478491e-03 9.28585149e+02] [ 9.70078103e-01 2.42143175e-01 -1.77526515e-02 1.05775679e+02] [ 1.82618732e-02 1.41435057e-04 9.99833228e-01 6.70571937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8992541539999 meters 0.013840490182600794 Centerline is valid? [True, True] Translation: X:928.59, Y:105.80, Z:6.71 [[ 2.43455653e-01 -9.69903664e-01 -4.02846323e-03 9.28589938e+02] [ 9.69759708e-01 2.43488927e-01 -1.67108332e-02 1.05803183e+02] [ 1.71887845e-02 1.61705484e-04 9.99852249e-01 6.70657658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9292541539999 meters 0.015634260652686464 Centerline is valid? [True, True] Translation: X:928.60, Y:105.83, Z:6.71 [[ 2.43438497e-01 -9.69906341e-01 -4.40315017e-03 9.28596214e+02] [ 9.69733930e-01 2.43478247e-01 -1.82879190e-02 1.05830617e+02] [ 1.88096399e-02 1.82099406e-04 9.99823066e-01 6.70583229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9592541539998 meters 0.014050594071831998 Centerline is valid? [True, True] Translation: X:928.60, Y:105.86, Z:6.71 [[ 2.43313621e-01 -9.69938529e-01 -4.21090043e-03 9.28602351e+02] [ 9.69780461e-01 2.43349991e-01 -1.75111390e-02 1.05857188e+02] [ 1.80094509e-02 1.77049664e-04 9.99837801e-01 6.70627861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9892541539998 meters 0.015369868336108478 Centerline is valid? [True, True] Translation: X:928.61, Y:105.88, Z:6.71 [[ 2.42022661e-01 -9.70259664e-01 -4.60616690e-03 9.28609464e+02] [ 9.70070085e-01 2.42066426e-01 -1.91800589e-02 1.05884159e+02] [ 1.97246359e-02 1.73704165e-04 9.99805435e-01 6.70560441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0192541539999 meters 0.014300099626771978 Centerline is valid? [True, True] Translation: X:928.62, Y:105.91, Z:6.71 [[ 2.41387159e-01 -9.70418173e-01 -4.56178088e-03 9.28615919e+02] [ 9.70231798e-01 2.41430203e-01 -1.90188145e-02 1.05911290e+02] [ 1.95575549e-02 1.64912734e-04 9.99808719e-01 6.70560142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0492541539999 meters 0.015825143535965498 Centerline is valid? [True, True] Translation: X:928.62, Y:105.94, Z:6.70 [[ 2.39796344e-01 -9.70811456e-01 -4.77809675e-03 9.28621046e+02] [ 9.70606528e-01 2.39843899e-01 -1.99467143e-02 1.05937966e+02] [ 2.05104961e-02 1.45497263e-04 9.99789627e-01 6.70148485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0792541539998 meters 0.01366287697221174 Centerline is valid? [True, True] Translation: X:928.63, Y:105.97, Z:6.71 [[ 2.38878721e-01 -9.71038578e-01 -4.58659759e-03 9.28630243e+02] [ 9.70849429e-01 2.38922717e-01 -1.91656230e-02 1.05965078e+02] [ 1.97064016e-02 1.25363844e-04 9.99805802e-01 6.70659203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1092541539998 meters 0.014796788252518109 Centerline is valid? [True, True] Translation: X:928.64, Y:105.99, Z:6.71 [[ 2.36441333e-01 -9.71632748e-01 -5.02988206e-03 9.28638241e+02] [ 9.71404875e-01 2.36494812e-01 -2.10421757e-02 1.05992423e+02] [ 2.16348080e-02 8.91881256e-05 9.99765936e-01 6.70577561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1392541539999 meters 0.013971797551008467 Centerline is valid? [True, True] Translation: X:928.65, Y:106.02, Z:6.71 [[ 2.35065537e-01 -9.71966898e-01 -4.95411132e-03 9.28646107e+02] [ 9.71745493e-01 2.35117728e-01 -2.07449166e-02 1.06019897e+02] [ 2.13281716e-02 6.22796086e-05 9.99772527e-01 6.70602016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1692541539999 meters 0.013583469977608831 Centerline is valid? [True, True] Translation: X:928.66, Y:106.05, Z:6.71 [[ 2.31342061e-01 -9.72859696e-01 -4.98620353e-03 9.28655643e+02] [ 9.72635089e-01 2.31395789e-01 -2.09038891e-02 1.06045701e+02] [ 2.14903377e-02 -1.38077402e-05 9.99769056e-01 6.70554170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1992541539998 meters 0.013854152504121043 Centerline is valid? [True, True] Translation: X:928.66, Y:106.07, Z:6.70 [[ 2.29085086e-01 -9.73394121e-01 -4.88962894e-03 9.28664127e+02] [ 9.73177674e-01 2.29137256e-01 -2.05263811e-02 1.06071734e+02] [ 2.11006548e-02 -5.61899417e-05 9.99777355e-01 6.70454924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2292541539998 meters 0.0166759416221812 Centerline is valid? [True, True] Translation: X:928.67, Y:106.10, Z:6.71 [[ 2.24752333e-01 -9.74402380e-01 -5.13722281e-03 9.28674684e+02] [ 9.74163111e-01 2.24810986e-01 -2.15929151e-02 1.06098476e+02] [ 2.21950920e-02 -1.51434905e-04 9.99753647e-01 6.70634272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2592541539999 meters 0.013967856878081126 Centerline is valid? [True, True] Translation: X:928.68, Y:106.13, Z:6.71 [[ 2.22948216e-01 -9.74819531e-01 -4.57986273e-03 9.28683025e+02] [ 9.74628997e-01 2.22995189e-01 -1.92733707e-02 1.06125762e+02] [ 1.98093456e-02 -1.66703396e-04 9.99803762e-01 6.70803274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2892541539999 meters 0.016454772410239082 Centerline is valid? [True, True] Translation: X:928.69, Y:106.15, Z:6.71 [[ 2.19391864e-01 -9.75625222e-01 -4.75773315e-03 9.28692282e+02] [ 9.75419451e-01 2.19443309e-01 -2.00381966e-02 1.06151295e+02] [ 2.05938227e-02 -2.44568155e-04 9.99787895e-01 6.70792971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3192541539999 meters 0.014454959365722633 Centerline is valid? [True, True] Translation: X:928.70, Y:106.18, Z:6.71 [[ 2.18111963e-01 -9.75913974e-01 -4.36874709e-03 9.28699615e+02] [ 9.75740187e-01 2.18155573e-01 -1.84183103e-02 1.06178494e+02] [ 1.89277530e-02 -2.45508275e-04 9.99820824e-01 6.70885425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3492541539998 meters 0.017218486292152644 Centerline is valid? [True, True] Translation: X:928.71, Y:106.21, Z:6.71 [[ 2.16163617e-01 -9.76344782e-01 -4.91500811e-03 9.28707625e+02] [ 9.76124354e-01 2.16219262e-01 -2.07479405e-02 1.06205796e+02] [ 2.13198629e-02 -3.12709228e-04 9.99772657e-01 6.70833622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3792541539999 meters 0.015765397517347384 Centerline is valid? [True, True] Translation: X:928.72, Y:106.23, Z:6.71 [[ 2.13565012e-01 -9.76918898e-01 -4.41057999e-03 9.28718003e+02] [ 9.76741068e-01 2.13610301e-01 -1.86420484e-02 1.06231558e+02] [ 1.91539147e-02 -3.26705313e-04 9.99816494e-01 6.70812581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4092541539999 meters 0.01578411398482317 Centerline is valid? [True, True] Translation: X:928.73, Y:106.26, Z:6.71 [[ 2.11161438e-01 -9.77440834e-01 -4.50146991e-03 9.28726281e+02] [ 9.77255245e-01 2.11209078e-01 -1.90502445e-02 1.06258971e+02] [ 1.95712382e-02 -3.76408065e-04 9.99808394e-01 6.70887974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4392541539999 meters 0.01908246666133123 Centerline is valid? [True, True] Translation: X:928.73, Y:106.29, Z:6.71 [[ 2.09709391e-01 -9.77751250e-01 -4.94624649e-03 9.28733488e+02] [ 9.77526701e-01 2.09767253e-01 -2.09582419e-02 1.06286163e+02] [ 2.15295077e-02 -4.39947890e-04 9.99768116e-01 6.70839115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4692541539998 meters 0.017854689355667322 Centerline is valid? [True, True] Translation: X:928.74, Y:106.31, Z:6.71 [[ 2.08549512e-01 -9.77999969e-01 -4.81271367e-03 9.28738867e+02] [ 9.77786909e-01 2.08604556e-01 -2.04181069e-02 1.06313296e+02] [ 2.09728619e-02 -4.47622203e-04 9.99779945e-01 6.70984564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4992541539999 meters 0.016238348008194483 Centerline is valid? [True, True] Translation: X:928.75, Y:106.34, Z:6.71 [[ 2.08200351e-01 -9.78076698e-01 -4.31124748e-03 9.28746212e+02] [ 9.77905308e-01 2.08244594e-01 -1.83138859e-02 1.06339361e+02] [ 1.88101790e-02 -4.03034320e-04 9.99822992e-01 6.70973657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5292541539999 meters 0.01564855483960481 Centerline is valid? [True, True] Translation: X:928.75, Y:106.37, Z:6.71 [[ 2.07839848e-01 -9.78153794e-01 -4.21343291e-03 9.28751710e+02] [ 9.77989678e-01 2.07882175e-01 -1.79218029e-02 1.06366809e+02] [ 1.84061771e-02 -3.95829095e-04 9.99830514e-01 6.71060398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5592541539999 meters 0.016216706509063344 Centerline is valid? [True, True] Translation: X:928.76, Y:106.39, Z:6.71 [[ 2.07951365e-01 -9.78131185e-01 -3.95146045e-03 9.28759577e+02] [ 9.77986462e-01 2.07988584e-01 -1.68294048e-02 1.06392514e+02] [ 1.72832243e-02 -3.64777125e-04 9.99850567e-01 6.71102355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5892541539998 meters 0.016662595961406887 Centerline is valid? [True, True] Translation: X:928.76, Y:106.42, Z:6.71 [[ 2.08863830e-01 -9.77936984e-01 -3.89307228e-03 9.28764963e+02] [ 9.77796105e-01 2.08899834e-01 -1.66023158e-02 1.06420532e+02] [ 1.70492808e-02 -3.39007651e-04 9.99854593e-01 6.71155621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6192541539998 meters 0.016167954548716924 Centerline is valid? [True, True] Translation: X:928.77, Y:106.45, Z:6.71 [[ 2.09753091e-01 -9.77746892e-01 -3.82839417e-03 9.28770439e+02] [ 9.77610275e-01 2.09787792e-01 -1.63472433e-02 1.06448428e+02] [ 1.67866167e-02 -3.13792651e-04 9.99859046e-01 6.71167315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6492541539999 meters 0.014956643595026145 Centerline is valid? [True, True] Translation: X:928.78, Y:106.48, Z:6.71 [[ 2.11442844e-01 -9.77383537e-01 -3.65304992e-03 9.28775102e+02] [ 9.77258789e-01 2.11474229e-01 -1.56176304e-02 1.06476041e+02] [ 1.60369408e-02 -2.67738954e-04 9.99871364e-01 6.71165521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6792541539999 meters 0.014148140597107785 Centerline is valid? [True, True] Translation: X:928.78, Y:106.50, Z:6.71 [[ 2.16022240e-01 -9.76381354e-01 -3.72077142e-03 9.28777751e+02] [ 9.76251466e-01 2.16054195e-01 -1.59267188e-02 1.06503968e+02] [ 1.63544395e-02 -1.91883083e-04 9.99866239e-01 6.71091328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7092541539998 meters 0.013365638082732131 Centerline is valid? [True, True] Translation: X:928.78, Y:106.53, Z:6.71 [[ 2.22048276e-01 -9.75028236e-01 -3.80820046e-03 9.28779221e+02] [ 9.74891697e-01 2.22080912e-01 -1.63170831e-02 1.06531784e+02] [ 1.67553454e-02 -8.94028316e-05 9.99859615e-01 6.70991524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7392541539998 meters 0.01642062964978492 Centerline is valid? [True, True] Translation: X:928.78, Y:106.56, Z:6.71 [[ 2.24145609e-01 -9.74545732e-01 -4.40019472e-03 9.28783155e+02] [ 9.74362937e-01 2.24188787e-01 -1.88746956e-02 1.06560046e+02] [ 1.93807284e-02 -5.67065143e-05 9.99812174e-01 6.70980139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7692541539999 meters 0.013106317646553676 Centerline is valid? [True, True] Translation: X:928.78, Y:106.59, Z:6.71 [[ 2.30028394e-01 -9.73175608e-01 -4.02166794e-03 9.28784685e+02] [ 9.73022326e-01 2.30063539e-01 -1.72719705e-02 1.06588460e+02] [ 1.77338995e-02 5.98709271e-05 9.99842740e-01 6.70925664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7992541539999 meters 0.013191110232051457 Centerline is valid? [True, True] Translation: X:928.79, Y:106.62, Z:6.71 [[ 2.32044629e-01 -9.72696578e-01 -4.08127973e-03 9.28788675e+02] [ 9.72538236e-01 2.32080495e-01 -1.75506060e-02 1.06616021e+02] [ 1.80185998e-02 1.03323273e-04 9.99837647e-01 6.70930669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8292541539998 meters 0.013272302149635342 Centerline is valid? [True, True] Translation: X:928.79, Y:106.64, Z:6.71 [[ 2.33693073e-01 -9.72302238e-01 -3.98819474e-03 9.28793557e+02] [ 9.72150588e-01 2.33727062e-01 -1.71725227e-02 1.06643666e+02] [ 1.76290313e-02 1.35973750e-04 9.99844587e-01 6.71001371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8592541539998 meters 0.013376908292858614 Centerline is valid? [True, True] Translation: X:928.80, Y:106.67, Z:6.71 [[ 2.35559171e-01 -9.71852540e-01 -3.81005705e-03 9.28798114e+02] [ 9.71713717e-01 2.35589923e-01 -1.64268213e-02 1.06671626e+02] [ 1.68620590e-02 1.67203712e-04 9.99857811e-01 6.71105054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8892541539999 meters 0.01358290067280104 Centerline is valid? [True, True] Translation: X:928.80, Y:106.70, Z:6.71 [[ 2.35624629e-01 -9.71837114e-01 -3.69568484e-03 9.28803308e+02] [ 9.71706146e-01 2.35653550e-01 -1.59552813e-02 1.06697913e+02] [ 1.63768358e-02 1.68337560e-04 9.99865876e-01 6.71153030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9192541539999 meters 0.013829259853847057 Centerline is valid? [True, True] Translation: X:928.81, Y:106.73, Z:6.71 [[ 2.35094709e-01 -9.71966128e-01 -3.51052835e-03 9.28809737e+02] [ 9.71847668e-01 2.35120866e-01 -1.51752865e-02 1.06725769e+02] [ 1.55752629e-02 1.55930770e-04 9.99878686e-01 6.71297842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9492541539998 meters 0.016863180711050228 Centerline is valid? [True, True] Translation: X:928.82, Y:106.75, Z:6.71 [[ 2.33710025e-01 -9.72299055e-01 -3.76442926e-03 9.28815727e+02] [ 9.72162510e-01 2.33740293e-01 -1.62950687e-02 1.06752008e+02] [ 1.67235787e-02 1.48683919e-04 9.99860140e-01 6.71272592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9792541539998 meters 0.013162647418916304 Centerline is valid? [True, True] Translation: X:928.82, Y:106.78, Z:6.71 [[ 2.32057336e-01 -9.72696190e-01 -3.39348044e-03 9.28823243e+02] [ 9.72584984e-01 2.32082119e-01 -1.47084732e-02 1.06779167e+02] [ 1.50944419e-02 1.12760979e-04 9.99886066e-01 6.71364146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0092541539999 meters 0.013104301302045698 Centerline is valid? [True, True] Translation: X:928.83, Y:106.81, Z:6.71 [[ 2.30618340e-01 -9.73038292e-01 -3.41513249e-03 9.28829792e+02] [ 9.72925389e-01 2.30643606e-01 -1.48227662e-02 1.06805191e+02] [ 1.52107976e-02 9.57326298e-05 9.99884305e-01 6.71350514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0392541539999 meters 0.01309714634339935 Centerline is valid? [True, True] Translation: X:928.84, Y:106.83, Z:6.71 [[ 2.28058061e-01 -9.73641169e-01 -3.52073485e-03 9.28837520e+02] [ 9.73520963e-01 2.28085228e-01 -1.52991154e-02 1.06831527e+02] [ 1.56988762e-02 6.15774046e-05 9.99876763e-01 6.71307680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0692541539999 meters 0.013766288406941373 Centerline is valid? [True, True] Translation: X:928.84, Y:106.86, Z:6.71 [[ 2.26258606e-01 -9.74060560e-01 -3.61515985e-03 9.28844833e+02] [ 9.73933579e-01 2.26287483e-01 -1.57276474e-02 1.06858357e+02] [ 1.61377464e-02 3.75900147e-05 9.99869777e-01 6.71330788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0992541539998 meters 0.01391025049309592 Centerline is valid? [True, True] Translation: X:928.85, Y:106.89, Z:6.71 [[ 2.23034608e-01 -9.74803235e-01 -3.77050167e-03 9.28852777e+02] [ 9.74664850e-01 2.23066476e-01 -1.64249201e-02 1.06885635e+02] [ 1.68521377e-02 -1.16498375e-05 9.99857993e-01 6.71263365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1292541539999 meters 0.01315190558691519 Centerline is valid? [True, True] Translation: X:928.86, Y:106.91, Z:6.71 [[ 2.21316084e-01 -9.75194523e-01 -3.85134759e-03 9.28859654e+02] [ 9.75049822e-01 2.21349589e-01 -1.67989111e-02 1.06912637e+02] [ 1.72347004e-02 -3.73865475e-05 9.99851471e-01 6.71250128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1592541539999 meters 0.015722076649185325 Centerline is valid? [True, True] Translation: X:928.87, Y:106.94, Z:6.71 [[ 2.17062931e-01 -9.76147897e-01 -4.35513250e-03 9.28868910e+02] [ 9.75962565e-01 2.17106583e-01 -1.90211042e-02 1.06939710e+02] [ 1.95129388e-02 -1.21669662e-04 9.99809597e-01 6.71150401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1892541539999 meters 0.013797067463986302 Centerline is valid? [True, True] Translation: X:928.88, Y:106.97, Z:6.71 [[ 2.14978153e-01 -9.76609522e-01 -4.27039374e-03 9.28876778e+02] [ 9.76430974e-01 2.15020507e-01 -1.86744406e-02 1.06967009e+02] [ 1.91558587e-02 -1.55147980e-04 9.99816498e-01 6.71138542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2192541539998 meters 0.014513365089283971 Centerline is valid? [True, True] Translation: X:928.89, Y:106.99, Z:6.71 [[ 2.10240216e-01 -9.77639845e-01 -4.40281388e-03 9.28885765e+02] [ 9.77449785e-01 2.10286163e-01 -1.92781661e-02 1.06993855e+02] [ 1.97729542e-02 -2.50483678e-04 9.99804465e-01 6.71204390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2492541539999 meters 0.01681594927402555 Centerline is valid? [True, True] Translation: X:928.89, Y:107.02, Z:6.71 [[ 2.07726941e-01 -9.78175976e-01 -4.61281738e-03 9.28893705e+02] [ 9.77966955e-01 2.07777919e-01 -2.02230443e-02 1.07020218e+02] [ 2.07401377e-02 -3.10311835e-04 9.99784852e-01 6.71183155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2792541539999 meters 0.01708048499451888 Centerline is valid? [True, True] Translation: X:928.90, Y:107.05, Z:6.71 [[ 2.04133941e-01 -9.78932375e-01 -4.55398846e-03 9.28902596e+02] [ 9.78728333e-01 2.04184384e-01 -1.99896643e-02 1.07047466e+02] [ 2.04983828e-02 -3.76548589e-04 9.99789815e-01 6.71219312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3092541539999 meters 0.01576135148620418 Centerline is valid? [True, True] Translation: X:928.91, Y:107.07, Z:6.71 [[ 2.02842609e-01 -9.79201821e-01 -4.32078899e-03 9.28909829e+02] [ 9.79017820e-01 2.02888269e-01 -1.89857361e-02 1.07073821e+02] [ 1.94675047e-02 -3.79013184e-04 9.99810418e-01 6.71268027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3392541539998 meters 0.015951672091274113 Centerline is valid? [True, True] Translation: X:928.92, Y:107.10, Z:6.71 [[ 2.01089328e-01 -9.79563602e-01 -4.26994987e-03 9.28916904e+02] [ 9.79383573e-01 2.01134251e-01 -1.87837747e-02 1.07101189e+02] [ 1.92587351e-02 -4.04702126e-04 9.99814451e-01 6.71359218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3692541539998 meters 0.01771774330899062 Centerline is valid? [True, True] Translation: X:928.93, Y:107.13, Z:6.71 [[ 1.97937797e-01 -9.80205857e-01 -4.13594472e-03 9.28925652e+02] [ 9.80036736e-01 1.97980495e-01 -1.82131530e-02 1.07126998e+02] [ 1.86714757e-02 -4.48306378e-04 9.99825572e-01 6.71434857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3992541539999 meters 0.018683236465016996 Centerline is valid? [True, True] Translation: X:928.93, Y:107.15, Z:6.72 [[ 1.96407644e-01 -9.80513733e-01 -4.10568074e-03 9.28932931e+02] [ 9.80346768e-01 1.96449989e-01 -1.81001676e-02 1.07154183e+02] [ 1.85540238e-02 -4.69979584e-04 9.99827749e-01 6.71525017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4292541539999 meters 0.018683236465016996 Centerline is valid? [True, True] Translation: X:928.94, Y:107.18, Z:6.72 [[ 1.96131346e-01 -9.80569059e-01 -4.10068170e-03 9.28938960e+02] [ 9.80402083e-01 1.96173646e-01 -1.81013005e-02 1.07181120e+02] [ 1.85540209e-02 -4.70084442e-04 9.99827749e-01 6.71544069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4592541539998 meters 0.01990880948977701 Centerline is valid? [True, True] Translation: X:928.95, Y:107.21, Z:6.72 [[ 1.94571929e-01 -9.80880623e-01 -3.86879043e-03 9.28946619e+02] [ 9.80731742e-01 1.94609825e-01 -1.70957711e-02 1.07206979e+02] [ 1.75218153e-02 -4.67888409e-04 9.99846372e-01 6.71663532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4892541539998 meters 0.019529547550741606 Centerline is valid? [True, True] Translation: X:928.95, Y:107.23, Z:6.72 [[ 1.94096965e-01 -9.80974944e-01 -3.81149729e-03 9.28951699e+02] [ 9.80830121e-01 1.94133827e-01 -1.68621462e-02 1.07234264e+02] [ 1.72812835e-02 -4.65539938e-04 9.99850559e-01 6.71757888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5192541539999 meters 0.018968170100424165 Centerline is valid? [True, True] Translation: X:928.96, Y:107.26, Z:6.72 [[ 1.94990061e-01 -9.80798057e-01 -3.74809004e-03 9.28956769e+02] [ 9.80657670e-01 1.95025587e-01 -1.65998255e-02 1.07260736e+02] [ 1.70120500e-02 -4.38792260e-04 9.99855188e-01 6.71755902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5492541539999 meters 0.01672537315945156 Centerline is valid? [True, True] Translation: X:928.96, Y:107.29, Z:6.72 [[ 1.96163579e-01 -9.80564396e-01 -3.64909756e-03 9.28960665e+02] [ 9.80430984e-01 1.96197101e-01 -1.61796995e-02 1.07289285e+02] [ 1.65811796e-02 -4.03820556e-04 9.99862441e-01 6.71827231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5792541539998 meters 0.019480480821805753 Centerline is valid? [True, True] Translation: X:928.97, Y:107.32, Z:6.72 [[ 1.97989009e-01 -9.80195931e-01 -4.03606381e-03 9.28965258e+02] [ 9.80032272e-01 1.98029722e-01 -1.79157497e-02 1.07316197e+02] [ 1.83602056e-02 -4.08351253e-04 9.99831354e-01 6.71654383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6092541539998 meters 0.015255136006727487 Centerline is valid? [True, True] Translation: X:928.97, Y:107.34, Z:6.72 [[ 2.01454899e-01 -9.79490958e-01 -3.65887838e-03 9.28966411e+02] [ 9.79356033e-01 2.01487888e-01 -1.62601397e-02 1.07344606e+02] [ 1.66638795e-02 -3.07659805e-04 9.99861101e-01 6.71836617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6392541539999 meters 0.015449461477849495 Centerline is valid? [True, True] Translation: X:928.97, Y:107.37, Z:6.72 [[ 2.02669977e-01 -9.79240492e-01 -3.59698683e-03 9.28971737e+02] [ 9.79109702e-01 2.02701704e-01 -1.60066098e-02 1.07371184e+02] [ 1.64034358e-02 -2.77785454e-04 9.99865416e-01 6.71782608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6692541539999 meters 0.017613670512425662 Centerline is valid? [True, True] Translation: X:928.98, Y:107.40, Z:6.72 [[ 2.03778830e-01 -9.79009750e-01 -3.75480858e-03 9.28976477e+02] [ 9.78866805e-01 2.03813246e-01 -1.67313764e-02 1.07398397e+02] [ 1.71454604e-02 -2.65957174e-04 9.99852970e-01 6.71675831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6992541539998 meters 0.017521570534341883 Centerline is valid? [True, True] Translation: X:928.98, Y:107.43, Z:6.72 [[ 2.06930223e-01 -9.78348436e-01 -3.77115292e-03 9.28978286e+02] [ 9.78203757e-01 2.06964479e-01 -1.68260159e-02 1.07427292e+02] [ 1.72422010e-02 -2.07144741e-04 9.99851321e-01 6.71758459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7292541539998 meters 0.014058542821442649 Centerline is valid? [True, True] Translation: X:928.98, Y:107.45, Z:6.72 [[ 2.09216773e-01 -9.77863009e-01 -3.50400440e-03 9.28983066e+02] [ 9.77737770e-01 2.09246059e-01 -1.56505396e-02 1.07453854e+02] [ 1.60372829e-02 -1.51642046e-04 9.99871383e-01 6.71751361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7592541539999 meters 0.01355730352695303 Centerline is valid? [True, True] Translation: X:928.99, Y:107.48, Z:6.72 [[ 2.12589249e-01 -9.77134953e-01 -3.61873456e-03 9.28985474e+02] [ 9.77000948e-01 2.12620024e-01 -1.61824863e-02 1.07482063e+02] [ 1.65818884e-02 -9.52845074e-05 9.99862507e-01 6.71792640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7892541539999 meters 0.01627391419908917 Centerline is valid? [True, True] Translation: X:928.99, Y:107.51, Z:6.72 [[ 2.13471821e-01 -9.76941699e-01 -3.83375191e-03 9.28990545e+02] [ 9.76790825e-01 2.13506229e-01 -1.71689835e-02 1.07508350e+02] [ 1.75916258e-02 -7.96795189e-05 9.99845252e-01 6.71666302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8192541539999 meters 0.015646385945706255 Centerline is valid? [True, True] Translation: X:928.99, Y:107.54, Z:6.72 [[ 2.16518273e-01 -9.76271361e-01 -3.75061176e-03 9.28994093e+02] [ 9.76126461e-01 2.16550755e-01 -1.68197066e-02 1.07536757e+02] [ 1.72327956e-02 -1.92975564e-05 9.99851504e-01 6.71663852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8492541539998 meters 0.016726581219739037 Centerline is valid? [True, True] Translation: X:929.00, Y:107.56, Z:6.72 [[ 2.17691317e-01 -9.76010276e-01 -3.79887316e-03 9.28998607e+02] [ 9.75861182e-01 2.17724461e-01 -1.70590864e-02 1.07564864e+02] [ 1.74769513e-02 6.44213576e-06 9.99847266e-01 6.71635154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8792541539999 meters 0.016625600204344025 Centerline is valid? [True, True] Translation: X:929.00, Y:107.59, Z:6.72 [[ 2.20861743e-01 -9.75298353e-01 -3.63508934e-03 9.29002728e+02] [ 9.75161381e-01 2.20891645e-01 -1.63451056e-02 1.07593068e+02] [ 1.67443154e-02 6.52097596e-05 9.99859802e-01 6.71623373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9092541539999 meters 0.014561665528706488 Centerline is valid? [True, True] Translation: X:929.01, Y:107.62, Z:6.72 [[ 2.22630489e-01 -9.74896449e-01 -3.54662651e-03 9.29008268e+02] [ 9.74765665e-01 2.22658716e-01 -1.59685769e-02 1.07620775e+02] [ 1.63573963e-02 9.79623428e-05 9.99866204e-01 6.71696711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9392541539999 meters 0.01405963549422681 Centerline is valid? [True, True] Translation: X:929.01, Y:107.65, Z:6.72 [[ 2.24326580e-01 -9.74507848e-01 -3.46992671e-03 9.29013277e+02] [ 9.74382267e-01 2.24353378e-01 -1.56447942e-02 1.07646961e+02] [ 1.60244645e-02 1.28508116e-04 9.99871592e-01 6.71711686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9692541539998 meters 0.01508489109601642 Centerline is valid? [True, True] Translation: X:929.02, Y:107.67, Z:6.72 [[ 2.26484121e-01 -9.74009101e-01 -3.34878574e-03 9.29019810e+02] [ 9.73891762e-01 2.26508819e-01 -1.51192485e-02 1.07674689e+02] [ 1.54848151e-02 1.62914865e-04 9.99880090e-01 6.71809526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9992541539999 meters 0.017017969382993207 Centerline is valid? [True, True] Translation: X:929.03, Y:107.70, Z:6.72 [[ 2.27315730e-01 -9.73815378e-01 -3.34182772e-03 9.29025121e+02] [ 9.73698178e-01 2.27340222e-01 -1.51089899e-02 1.07701680e+02] [ 1.54730986e-02 1.80579521e-04 9.99880268e-01 6.71770653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0292541539999 meters 0.01721654736275474 Centerline is valid? [True, True] Translation: X:929.03, Y:107.73, Z:6.72 [[ 2.29942672e-01 -9.73198610e-01 -3.29126762e-03 9.29031575e+02] [ 9.73084563e-01 2.29966116e-01 -1.49003076e-02 1.07729794e+02] [ 1.52578387e-02 2.23534825e-04 9.99883567e-01 6.71816619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0592541539999 meters 0.018909566742376992 Centerline is valid? [True, True] Translation: X:929.04, Y:107.76, Z:6.72 [[ 2.31147088e-01 -9.72912725e-01 -3.44269879e-03 9.29037252e+02] [ 9.72787586e-01 2.31172580e-01 -1.56061195e-02 1.07757362e+02] [ 1.59792499e-02 2.58294450e-04 9.99872290e-01 6.71725853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0892541539998 meters 0.018738010834596208 Centerline is valid? [True, True] Translation: X:929.04, Y:107.78, Z:6.72 [[ 2.32484560e-01 -9.72593594e-01 -3.55387775e-03 9.29043180e+02] [ 9.72459868e-01 2.32511535e-01 -1.61304591e-02 1.07784692e+02] [ 1.65146988e-02 2.94079205e-04 9.99863580e-01 6.71688643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1192541539998 meters 0.016563054302395647 Centerline is valid? [True, True] Translation: X:929.05, Y:107.81, Z:6.72 [[ 2.35561195e-01 -9.71852273e-01 -3.75284935e-03 9.29050469e+02] [ 9.71702658e-01 2.35590795e-01 -1.70564414e-02 1.07811910e+02] [ 1.74604781e-02 3.71182023e-04 9.99847485e-01 6.71662602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1492541539999 meters 0.017100800948975082 Centerline is valid? [True, True] Translation: X:929.06, Y:107.84, Z:6.72 [[ 2.37586500e-01 -9.71357538e-01 -4.14579461e-03 9.29058188e+02] [ 9.71174372e-01 2.37622230e-01 -1.88683389e-02 1.07839456e+02] [ 1.93130362e-02 4.56573140e-04 9.99813382e-01 6.71568366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1792541539999 meters 0.019944309421946572 Centerline is valid? [True, True] Translation: X:929.06, Y:107.87, Z:6.71 [[ 2.37603058e-01 -9.71352017e-01 -4.47716845e-03 9.29064824e+02] [ 9.71137951e-01 2.37644713e-01 -2.03977920e-02 1.07865767e+02] [ 2.08774118e-02 4.98629561e-04 9.99781919e-01 6.71431887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2092541539998 meters 0.020961962484758918 Centerline is valid? [True, True] Translation: X:929.07, Y:107.89, Z:6.71 [[ 2.38186718e-01 -9.71208673e-01 -4.56084291e-03 9.29071419e+02] [ 9.70986008e-01 2.38229799e-01 -2.08022853e-02 1.07892138e+02] [ 2.12898885e-02 5.26313403e-04 9.99773206e-01 6.71344033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2392541539998 meters 0.0197870647330107 Centerline is valid? [True, True] Translation: X:929.08, Y:107.92, Z:6.71 [[ 2.38025366e-01 -9.71248574e-01 -4.48695989e-03 9.29080278e+02] [ 9.71032506e-01 2.38067085e-01 -2.04923110e-02 1.07919437e+02] [ 2.09713253e-02 5.20705932e-04 9.99779942e-01 6.71481314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2692541539999 meters 0.017839136768425277 Centerline is valid? [True, True] Translation: X:929.09, Y:107.95, Z:6.72 [[ 2.37246998e-01 -9.71440049e-01 -4.25365933e-03 9.29090201e+02] [ 9.71245379e-01 2.37284634e-01 -1.94529465e-02 1.07946059e+02] [ 1.99066993e-02 4.83806188e-04 9.99801725e-01 6.71662330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2992541539999 meters 0.017597718538774617 Centerline is valid? [True, True] Translation: X:929.10, Y:107.97, Z:6.72 [[ 2.35740764e-01 -9.71807253e-01 -4.11762751e-03 9.29098975e+02] [ 9.71624413e-01 2.35776304e-01 -1.88556381e-02 1.07973336e+02] [ 1.92948848e-02 4.44255112e-04 9.99813738e-01 6.71745686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3292541539998 meters 0.01846129049198223 Centerline is valid? [True, True] Translation: X:929.11, Y:108.00, Z:6.72 [[ 2.30738955e-01 -9.73007501e-01 -3.99209280e-03 9.29110767e+02] [ 9.72835362e-01 2.30773237e-01 -1.83049662e-02 1.07999336e+02] [ 1.87321376e-02 3.40019738e-04 9.99824480e-01 6.71898152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3592541539998 meters 0.01887210314562383 Centerline is valid? [True, True] Translation: X:929.12, Y:108.03, Z:6.72 [[ 2.28096432e-01 -9.73630760e-01 -3.89369684e-03 9.29120434e+02] [ 9.73466656e-01 2.28129482e-01 -1.78776304e-02 1.08026474e+02] [ 1.82944779e-02 2.87439682e-04 9.99832601e-01 6.72025960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3892541539999 meters 0.015820832577709738 Centerline is valid? [True, True] Translation: X:929.13, Y:108.05, Z:6.72 [[ 2.26667108e-01 -9.73965594e-01 -3.61172723e-03 9.29126923e+02] [ 9.73824126e-01 2.26695747e-01 -1.66014808e-02 1.08052592e+02] [ 1.69880343e-02 2.45822517e-04 9.99855663e-01 6.72114816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4192541539999 meters 0.015170008231690993 Centerline is valid? [True, True] Translation: X:929.13, Y:108.08, Z:6.72 [[ 2.23039114e-01 -9.74803115e-01 -3.52702744e-03 9.29133504e+02] [ 9.74668059e-01 2.23066926e-01 -1.62271660e-02 1.08078913e+02] [ 1.66050552e-02 1.81611750e-04 9.99862110e-01 6.72095576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4492541539998 meters 0.016170030195833598 Centerline is valid? [True, True] Translation: X:929.14, Y:108.11, Z:6.72 [[ 2.20921471e-01 -9.75284878e-01 -3.62073048e-03 9.29140870e+02] [ 9.75142277e-01 2.20951086e-01 -1.66780524e-02 1.08105833e+02] [ 1.70658566e-02 1.53812506e-04 9.99854356e-01 6.72152346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4792541539998 meters 0.016570262650543142 Centerline is valid? [True, True] Translation: X:929.15, Y:108.13, Z:6.72 [[ 2.17451315e-01 -9.76063872e-01 -3.77412504e-03 9.29147452e+02] [ 9.75908611e-01 2.17484041e-01 -1.74090704e-02 1.08133256e+02] [ 1.78131766e-02 1.02424134e-04 9.99841328e-01 6.72131235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5092541539999 meters 0.014164687517485033 Centerline is valid? [True, True] Translation: X:929.15, Y:108.16, Z:6.72 [[ 2.16540205e-01 -9.76266778e-01 -3.67676762e-03 9.29154241e+02] [ 9.76119046e-01 2.16571400e-01 -1.69834257e-02 1.08160585e+02] [ 1.73766370e-02 8.86315833e-05 9.99849011e-01 6.72241257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5392541539999 meters 0.015397692698171475 Centerline is valid? [True, True] Translation: X:929.16, Y:108.19, Z:6.72 [[ 2.12906387e-01 -9.77065456e-01 -3.73691821e-03 9.29161210e+02] [ 9.76912528e-01 2.12939177e-01 -1.72864117e-02 1.08186597e+02] [ 1.76856920e-02 2.97452351e-05 9.99843595e-01 6.72254600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5692541539999 meters 0.014025988066643822 Centerline is valid? [True, True] Translation: X:929.17, Y:108.21, Z:6.72 [[ 2.12043961e-01 -9.77252862e-01 -3.76851631e-03 9.29166855e+02] [ 9.77096907e-01 2.12077445e-01 -1.74582638e-02 1.08212797e+02] [ 1.78603556e-02 1.97137878e-05 9.99840491e-01 6.72266361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5992541539998 meters 0.017241530893931576 Centerline is valid? [True, True] Translation: X:929.17, Y:108.24, Z:6.72 [[ 2.10149074e-01 -9.77660924e-01 -4.06002215e-03 9.29172586e+02] [ 9.77479456e-01 2.10188289e-01 -1.88360491e-02 1.08240245e+02] [ 1.92686383e-02 -1.02099692e-05 9.99814343e-01 6.72127707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6292541539999 meters 0.018221625233254008 Centerline is valid? [True, True] Translation: X:929.18, Y:108.27, Z:6.72 [[ 2.08083017e-01 -9.78101835e-01 -4.27297276e-03 9.29177196e+02] [ 9.77900334e-01 2.08126880e-01 -1.98529141e-02 1.08267297e+02] [ 2.03074922e-02 -4.74872197e-05 9.99793780e-01 6.71916316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6592541539999 meters 0.016861421510497403 Centerline is valid? [True, True] Translation: X:929.18, Y:108.29, Z:6.72 [[ 2.06463546e-01 -9.78445075e-01 -4.24731751e-03 9.29182186e+02] [ 9.78245599e-01 2.06507215e-01 -1.97564828e-02 1.08293978e+02] [ 2.02077350e-02 -7.59261550e-05 9.99795800e-01 6.71784466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6892541539999 meters 0.014062422760935873 Centerline is valid? [True, True] Translation: X:929.19, Y:108.32, Z:6.72 [[ 2.05719687e-01 -9.78602104e-01 -4.16325500e-03 9.29187661e+02] [ 9.78410002e-01 2.05761793e-01 -1.93894853e-02 1.08321159e+02] [ 1.98312299e-02 -8.45714845e-05 9.99803338e-01 6.71992232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7192541539998 meters 0.015666066003209998 Centerline is valid? [True, True] Translation: X:929.19, Y:108.35, Z:6.72 [[ 2.04127924e-01 -9.78935806e-01 -4.05927778e-03 9.29193821e+02] [ 9.78752748e-01 2.04168252e-01 -1.89310228e-02 1.08348410e+02] [ 1.93610317e-02 -1.08678899e-04 9.99812552e-01 6.71996115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7492541539999 meters 0.01400625748137156 Centerline is valid? [True, True] Translation: X:929.20, Y:108.38, Z:6.72 [[ 2.02607640e-01 -9.79252956e-01 -3.71376572e-03 9.29199218e+02] [ 9.79099374e-01 2.02641636e-01 -1.73430882e-02 1.08375787e+02] [ 1.77358339e-02 -1.22303533e-04 9.99842700e-01 6.72265980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7792541539999 meters 0.016129313959231725 Centerline is valid? [True, True] Translation: X:929.20, Y:108.40, Z:6.72 [[ 2.01329658e-01 -9.79517082e-01 -3.55728334e-03 9.29204664e+02] [ 9.79375807e-01 2.01361037e-01 -1.66361629e-02 1.08402266e+02] [ 1.70117040e-02 -1.34564254e-04 9.99855281e-01 6.72222765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8092541539999 meters 0.01768453308268468 Centerline is valid? [True, True] Translation: X:929.21, Y:108.43, Z:6.72 [[ 2.01424477e-01 -9.79498818e-01 -3.20071578e-03 9.29207708e+02] [ 9.79384124e-01 2.01449873e-01 -1.49895130e-02 1.08429128e+02] [ 1.53269940e-02 -1.15475406e-04 9.99882528e-01 6.72183878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8392541539998 meters 0.016023026169335552 Centerline is valid? [True, True] Translation: X:929.21, Y:108.46, Z:6.72 [[ 2.02205106e-01 -9.79338252e-01 -3.11194245e-03 9.29211486e+02] [ 9.79229511e-01 2.02229028e-01 -1.45940208e-02 1.08457501e+02] [ 1.49218079e-02 -9.63203642e-05 9.99888659e-01 6.72233870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8692541539998 meters 0.016132203892454327 Centerline is valid? [True, True] Translation: X:929.21, Y:108.49, Z:6.72 [[ 2.04515941e-01 -9.78858688e-01 -2.98299705e-03 9.29213643e+02] [ 9.78758446e-01 2.04537687e-01 -1.40085509e-02 1.08485011e+02] [ 1.43225270e-02 -5.46615984e-05 9.99897426e-01 6.72152033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8992541539999 meters 0.013320653211410264 Centerline is valid? [True, True] Translation: X:929.22, Y:108.51, Z:6.72 [[ 2.06163140e-01 -9.78513256e-01 -2.92702789e-03 9.29217520e+02] [ 9.78416438e-01 2.06183916e-01 -1.37646833e-02 1.08512941e+02] [ 1.40724312e-02 -2.60818659e-05 9.99900978e-01 6.72293998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9292541539999 meters 0.015781787760379865 Centerline is valid? [True, True] Translation: X:929.22, Y:108.54, Z:6.72 [[ 2.08317726e-01 -9.78057192e-01 -2.80269368e-03 9.29219501e+02] [ 9.77968147e-01 2.08336579e-01 -1.31975053e-02 1.08540748e+02] [ 1.34918186e-02 8.32915106e-06 9.99908981e-01 6.72053407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9592541539998 meters 0.013303439542477752 Centerline is valid? [True, True] Translation: X:929.22, Y:108.57, Z:6.72 [[ 2.10216146e-01 -9.77651049e-01 -2.75643087e-03 9.29223333e+02] [ 9.77564648e-01 2.10234213e-01 -1.29974785e-02 1.08569090e+02] [ 1.32864945e-02 3.76904482e-05 9.99911730e-01 6.72324732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9892541539998 meters 0.013412271766032838 Centerline is valid? [True, True] Translation: X:929.23, Y:108.60, Z:6.72 [[ 2.12965810e-01 -9.77056400e-01 -2.52113908e-03 9.29225001e+02] [ 9.76983878e-01 2.12980720e-01 -1.19044337e-02 1.08596364e+02] [ 1.21682571e-02 7.21251193e-05 9.99925961e-01 6.72358919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0192541539999 meters 0.013760094206197067 Centerline is valid? [True, True] Translation: X:929.23, Y:108.63, Z:6.72 [[ 2.15477083e-01 -9.76505938e-01 -2.40397741e-03 9.29226930e+02] [ 9.76439780e-01 2.15490468e-01 -1.13672785e-02 1.08625135e+02] [ 1.16182492e-02 1.02048853e-04 9.99932501e-01 6.72319271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0492541539999 meters 0.013737662864365993 Centerline is valid? [True, True] Translation: X:929.23, Y:108.65, Z:6.72 [[ 2.16611196e-01 -9.76254801e-01 -2.48065045e-03 9.29231550e+02] [ 9.76184135e-01 2.16625365e-01 -1.17466932e-02 1.08652806e+02] [ 1.20051374e-02 1.22893644e-04 9.99927928e-01 6.72304409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0792541539998 meters 0.01621200959650508 Centerline is valid? [True, True] Translation: X:929.24, Y:108.68, Z:6.72 [[ 2.16314600e-01 -9.76320634e-01 -2.45245034e-03 9.29235817e+02] [ 9.76251369e-01 2.16328467e-01 -1.16300641e-02 1.08680067e+02] [ 1.18852063e-02 1.21544645e-04 9.99929361e-01 6.72040438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1092541539998 meters 0.013933043945496278 Centerline is valid? [True, True] Translation: X:929.24, Y:108.71, Z:6.72 [[ 2.18164408e-01 -9.75908205e-01 -2.73229841e-03 9.29240709e+02] [ 9.75821935e-01 2.18181455e-01 -1.29770667e-02 1.08707933e+02] [ 1.32605627e-02 1.64897352e-04 9.99912061e-01 6.72134112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1392541539999 meters 0.014253204528708182 Centerline is valid? [True, True] Translation: X:929.24, Y:108.73, Z:6.72 [[ 2.18549484e-01 -9.75821554e-01 -2.90135339e-03 9.29244921e+02] [ 9.75723978e-01 2.18568663e-01 -1.38006377e-02 1.08734293e+02] [ 1.41011046e-02 1.85202172e-04 9.99900557e-01 6.72044710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1692541539999 meters 0.015006354457358038 Centerline is valid? [True, True] Translation: X:929.25, Y:108.76, Z:6.72 [[ 2.18408432e-01 -9.75853209e-01 -2.87614254e-03 9.29250379e+02] [ 9.75757042e-01 2.18427289e-01 -1.37009007e-02 1.08761549e+02] [ 1.39982959e-02 1.85975891e-04 9.99902002e-01 6.71947816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1992541539998 meters 0.014509787851937664 Centerline is valid? [True, True] Translation: X:929.26, Y:108.79, Z:6.72 [[ 2.18923154e-01 -9.75737466e-01 -3.00826797e-03 9.29255304e+02] [ 9.75631934e-01 2.18943724e-01 -1.43518043e-02 1.08788139e+02] [ 1.46622345e-02 2.06979963e-04 9.99892482e-01 6.71976237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2292541539998 meters 0.015508356645074444 Centerline is valid? [True, True] Translation: X:929.26, Y:108.82, Z:6.72 [[ 2.18277351e-01 -9.75882463e-01 -2.90118982e-03 9.29261653e+02] [ 9.75784041e-01 2.18296543e-01 -1.38609082e-02 1.08815415e+02] [ 1.41599370e-02 1.94587598e-04 9.99899724e-01 6.71901847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2592541539999 meters 0.014555911532459673 Centerline is valid? [True, True] Translation: X:929.27, Y:108.84, Z:6.72 [[ 2.17544318e-01 -9.76045690e-01 -3.04627671e-03 9.29268722e+02] [ 9.75936875e-01 2.17565556e-01 -1.45755185e-02 1.08842599e+02] [ 1.48891369e-02 1.97847462e-04 9.99889131e-01 6.71959259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2892541539999 meters 0.014313071860422131 Centerline is valid? [True, True] Translation: X:929.27, Y:108.87, Z:6.72 [[ 2.16781357e-01 -9.76215240e-01 -3.10635378e-03 9.29274738e+02] [ 9.76101767e-01 2.16803524e-01 -1.48853230e-02 1.08868622e+02] [ 1.52047476e-02 1.94743102e-04 9.99884382e-01 6.71943092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3192541539999 meters 0.014165331074646025 Centerline is valid? [True, True] Translation: X:929.28, Y:108.90, Z:6.72 [[ 2.16018585e-01 -9.76384201e-01 -3.14045042e-03 9.29281306e+02] [ 9.76267888e-01 2.16041328e-01 -1.50716633e-02 1.08895184e+02] [ 1.53942010e-02 1.89838487e-04 9.99881484e-01 6.71969170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3492541539998 meters 0.014165331074646025 Centerline is valid? [True, True] Translation: X:929.29, Y:108.92, Z:6.72 [[ 2.15743506e-01 -9.76445034e-01 -3.13607269e-03 9.29286848e+02] [ 9.76328714e-01 2.15766214e-01 -1.50725745e-02 1.08922211e+02] [ 1.53941991e-02 1.89972261e-04 9.99881484e-01 6.71988208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3792541539999 meters 0.013775229489428107 Centerline is valid? [True, True] Translation: X:929.30, Y:108.95, Z:6.72 [[ 2.14461745e-01 -9.76727607e-01 -3.05637542e-03 9.29296300e+02] [ 9.76616851e-01 2.14483456e-01 -1.47096608e-02 1.08949426e+02] [ 1.50228738e-02 1.69751797e-04 9.99887136e-01 6.72127603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4092541539999 meters 0.01661715443453251 Centerline is valid? [True, True] Translation: X:929.30, Y:108.98, Z:6.72 [[ 2.12813275e-01 -9.77088883e-01 -2.79740996e-03 9.29302457e+02] [ 9.76995878e-01 2.12831617e-01 -1.34816998e-02 1.08975751e+02] [ 1.37681963e-02 1.36026690e-04 9.99905205e-01 6.71902145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4392541539999 meters 0.013589071875961454 Centerline is valid? [True, True] Translation: X:929.31, Y:109.00, Z:6.72 [[ 2.12491505e-01 -9.77159267e-01 -2.66967153e-03 9.29311346e+02] [ 9.77074335e-01 2.12508235e-01 -1.28838819e-02 1.09003063e+02] [ 1.31569318e-02 1.29247932e-04 9.99913435e-01 6.72329448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4692541539998 meters 0.015139742952048573 Centerline is valid? [True, True] Translation: X:929.32, Y:109.03, Z:6.72 [[ 2.11367840e-01 -9.77403704e-01 -2.37399301e-03 9.29317530e+02] [ 9.77336383e-01 2.11381145e-01 -1.14719976e-02 1.09029098e+02] [ 1.17145903e-02 1.04621623e-04 9.99931376e-01 6.72201187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4992541539999 meters 0.013639773745250694 Centerline is valid? [True, True] Translation: X:929.32, Y:109.06, Z:6.72 [[ 2.11764622e-01 -9.77317933e-01 -2.32454387e-03 9.29324265e+02] [ 9.77253195e-01 2.11777351e-01 -1.12492567e-02 1.09056129e+02] [ 1.14863860e-02 1.10526670e-04 9.99934023e-01 6.72447294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5292541539999 meters 0.01639515588036469 Centerline is valid? [True, True] Translation: X:929.33, Y:109.08, Z:6.72 [[ 2.10768851e-01 -9.77533800e-01 -2.03992941e-03 9.29330827e+02] [ 9.77483824e-01 2.10778704e-01 -9.88488617e-03 1.09083814e+02] [ 1.00927840e-02 8.94281065e-05 9.99949063e-01 6.72196659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5592541539999 meters 0.013742559521569497 Centerline is valid? [True, True] Translation: X:929.34, Y:109.11, Z:6.72 [[ 2.11657680e-01 -9.77341261e-01 -2.25517789e-03 9.29336097e+02] [ 9.77279978e-01 2.11669664e-01 -1.09451992e-02 1.09110433e+02] [ 1.11745475e-02 1.12695266e-04 9.99937556e-01 6.72436619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5892541539998 meters 0.013759684816453602 Centerline is valid? [True, True] Translation: X:929.34, Y:109.14, Z:6.72 [[ 2.12075285e-01 -9.77250598e-01 -2.31120944e-03 9.29343470e+02] [ 9.77186032e-01 2.12087842e-01 -1.12341844e-02 1.09137515e+02] [ 1.14687928e-02 1.24011272e-04 9.99934224e-01 6.72426075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6192541539998 meters 0.014263817383023247 Centerline is valid? [True, True] Translation: X:929.35, Y:109.16, Z:6.72 [[ 2.12750059e-01 -9.77103713e-01 -2.39728854e-03 9.29350110e+02] [ 9.77034030e-01 2.12763518e-01 -1.16700677e-02 1.09164299e+02] [ 1.19129220e-02 1.40575104e-04 9.99929029e-01 6.72376678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6492541539999 meters 0.014100167389920227 Centerline is valid? [True, True] Translation: X:929.36, Y:109.19, Z:6.72 [[ 2.12778366e-01 -9.77097332e-01 -2.48405093e-03 9.29357421e+02] [ 9.77022286e-01 2.12792812e-01 -1.21108012e-02 1.09191533e+02] [ 1.23620197e-02 1.49943370e-04 9.99923576e-01 6.72448037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6792541539999 meters 0.014028787308393978 Centerline is valid? [True, True] Translation: X:929.36, Y:109.22, Z:6.73 [[ 2.13046675e-01 -9.77039062e-01 -2.40528350e-03 9.29363868e+02] [ 9.76968494e-01 2.13060198e-01 -1.17436671e-02 1.09218603e+02] [ 1.19864916e-02 1.52063018e-04 9.99928148e-01 6.72513692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7092541539998 meters 0.01731667637127269 Centerline is valid? [True, True] Translation: X:929.37, Y:109.25, Z:6.72 [[ 2.13451972e-01 -9.76951473e-01 -2.01855155e-03 9.29367969e+02] [ 9.76901637e-01 2.13461473e-01 -9.86873224e-03 1.09245490e+02] [ 1.00721555e-02 1.34574039e-04 9.99949266e-01 6.72271758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7392541539998 meters 0.014421773791899333 Centerline is valid? [True, True] Translation: X:929.37, Y:109.27, Z:6.73 [[ 2.14669918e-01 -9.76684413e-01 -2.09391924e-03 9.29373330e+02] [ 9.76630606e-01 2.14680073e-01 -1.02531137e-02 1.09273819e+02] [ 1.04635790e-02 1.56049455e-04 9.99945243e-01 6.72611983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7692541539999 meters 0.0149049483227187 Centerline is valid? [True, True] Translation: X:929.38, Y:109.30, Z:6.73 [[ 2.15481185e-01 -9.76505991e-01 -1.97699179e-03 9.29376698e+02] [ 9.76457884e-01 2.15490196e-01 -9.69416840e-03 1.09300591e+02] [ 9.89243587e-03 1.58461673e-04 9.99951056e-01 6.72645607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7992541539999 meters 0.014757496197476936 Centerline is valid? [True, True] Translation: X:929.38, Y:109.33, Z:6.73 [[ 2.15247811e-01 -9.76557455e-01 -1.97925263e-03 9.29382536e+02] [ 9.76509091e-01 2.15256852e-01 -9.72020464e-03 1.09328039e+02] [ 9.91838599e-03 1.59494587e-04 9.99950799e-01 6.72646334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8292541539998 meters 0.014845488649945738 Centerline is valid? [True, True] Translation: X:929.39, Y:109.35, Z:6.73 [[ 2.14016046e-01 -9.76827765e-01 -2.15609173e-03 9.29388254e+02] [ 9.76770206e-01 2.14026844e-01 -1.06053838e-02 1.09354657e+02] [ 1.08210948e-02 1.63716144e-04 9.99941437e-01 6.72533418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8592541539998 meters 0.014638789247641231 Centerline is valid? [True, True] Translation: X:929.40, Y:109.38, Z:6.73 [[ 2.12702147e-01 -9.77114647e-01 -2.18245639e-03 9.29395105e+02] [ 9.77055509e-01 2.12713288e-01 -1.07512507e-02 1.09382001e+02] [ 1.09694420e-02 1.54433072e-04 9.99939822e-01 6.72536138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8892541539999 meters 0.014035350444927588 Centerline is valid? [True, True] Translation: X:929.40, Y:109.41, Z:6.73 [[ 2.09824324e-01 -9.77736937e-01 -2.05810353e-03 9.29403656e+02] [ 9.77684232e-01 2.09834384e-01 -1.01524832e-02 1.09409250e+02] [ 1.03583187e-02 1.18062559e-04 9.99946344e-01 6.72635743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9192541539999 meters 0.014648308418883099 Centerline is valid? [True, True] Translation: X:929.41, Y:109.44, Z:6.73 [[ 2.08256275e-01 -9.78072622e-01 -1.80828914e-03 9.29409825e+02] [ 9.78031844e-01 2.08264106e-01 -8.93164549e-03 1.09436927e+02] [ 9.11239965e-03 9.15068660e-05 9.99958477e-01 6.72594161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9492541539998 meters 0.013595149584370235 Centerline is valid? [True, True] Translation: X:929.42, Y:109.46, Z:6.73 [[ 2.06224502e-01 -9.78503426e-01 -1.58134654e-03 9.29415935e+02] [ 9.78472171e-01 2.06230555e-01 -7.82099617e-03 1.09463283e+02] [ 7.97899352e-03 6.55774536e-05 9.99968165e-01 6.72781436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9792541539998 meters 0.014661736263177088 Centerline is valid? [True, True] Translation: X:929.42, Y:109.49, Z:6.73 [[ 2.04611573e-01 -9.78842097e-01 -1.50099271e-03 9.29422168e+02] [ 9.78813867e-01 2.04617072e-01 -7.43428294e-03 1.09491133e+02] [ 7.58411784e-03 5.19478458e-05 9.99971239e-01 6.72671694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0092541539999 meters 0.013330827493511421 Centerline is valid? [True, True] Translation: X:929.43, Y:109.52, Z:6.73 [[ 2.03794375e-01 -9.79012307e-01 -1.66011259e-03 9.29427987e+02] [ 9.78977670e-01 2.03801129e-01 -8.23533799e-03 1.09519017e+02] [ 8.40083006e-03 5.31023979e-05 9.99964711e-01 6.72811199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0392541539999 meters 0.013249184081640093 Centerline is valid? [True, True] Translation: X:929.43, Y:109.55, Z:6.73 [[ 2.03597588e-01 -9.79053120e-01 -1.73512512e-03 9.29433342e+02] [ 9.79015169e-01 2.03604974e-01 -8.62048025e-03 1.09546417e+02] [ 8.79318818e-03 5.63951732e-05 9.99961338e-01 6.72831266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0692541539999 meters 0.01655164037945676 Centerline is valid? [True, True] Translation: X:929.44, Y:109.57, Z:6.72 [[ 2.03246405e-01 -9.79126145e-01 -1.70006696e-03 9.29437818e+02] [ 9.79089609e-01 2.03253508e-01 -8.45868624e-03 1.09574308e+02] [ 8.62766543e-03 5.46796737e-05 9.99962780e-01 6.72471903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0992541539998 meters 0.014823730297736792 Centerline is valid? [True, True] Translation: X:929.44, Y:109.60, Z:6.73 [[ 2.05863560e-01 -9.78578792e-01 -1.93428518e-03 9.29439597e+02] [ 9.78531319e-01 2.05872627e-01 -9.63950173e-03 1.09603171e+02] [ 9.83122834e-03 9.16635173e-05 9.99951668e-01 6.72604862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1292541539999 meters 0.013917390815506817 Centerline is valid? [True, True] Translation: X:929.44, Y:109.63, Z:6.73 [[ 2.07197919e-01 -9.78297029e-01 -1.98641200e-03 9.29442082e+02] [ 9.78246815e-01 2.07207411e-01 -9.91247928e-03 1.09630582e+02] [ 1.01089483e-02 1.10643871e-04 9.99948897e-01 6.72762990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1592541539999 meters 0.014213001559268662 Centerline is valid? [True, True] Translation: X:929.44, Y:109.66, Z:6.73 [[ 2.08985987e-01 -9.77916565e-01 -2.01242640e-03 9.29442966e+02] [ 9.77864886e-01 2.08995633e-01 -1.00543441e-02 1.09659613e+02] [ 1.02528979e-02 1.33335902e-04 9.99947429e-01 6.72746871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1892541539999 meters 0.0143022717274579 Centerline is valid? [True, True] Translation: X:929.45, Y:109.69, Z:6.73 [[ 2.09256319e-01 -9.77858677e-01 -2.04955315e-03 9.29446799e+02] [ 9.77804916e-01 2.09266308e-01 -1.02546701e-02 1.09687540e+02] [ 1.04565206e-02 1.41791384e-04 9.99945319e-01 6.72742485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2192541539998 meters 0.016567599920742002 Centerline is valid? [True, True] Translation: X:929.45, Y:109.71, Z:6.72 [[ 2.09061655e-01 -9.77900262e-01 -2.07425131e-03 9.29449567e+02] [ 9.77845032e-01 2.09071895e-01 -1.03940348e-02 1.09714412e+02] [ 1.05979970e-02 1.44697775e-04 9.99943829e-01 6.72477859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2492541539999 meters 0.014925321226841872 Centerline is valid? [True, True] Translation: X:929.45, Y:109.74, Z:6.73 [[ 2.08939889e-01 -9.77926002e-01 -2.20400080e-03 9.29454000e+02] [ 9.77863447e-01 2.08951455e-01 -1.10620263e-02 1.09741554e+02] [ 1.12783723e-02 1.56086725e-04 9.99936385e-01 6.72681342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2792541539999 meters 0.0144940586418095 Centerline is valid? [True, True] Translation: X:929.46, Y:109.77, Z:6.73 [[ 2.08499871e-01 -9.78019554e-01 -2.35703646e-03 9.29458852e+02] [ 9.77947792e-01 2.08513128e-01 -1.18486893e-02 1.09768997e+02] [ 1.20797229e-02 1.65391599e-04 9.99927024e-01 6.72744524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3092541539999 meters 0.01722880174135933 Centerline is valid? [True, True] Translation: X:929.46, Y:109.80, Z:6.72 [[ 2.07007992e-01 -9.78336254e-01 -2.42179972e-03 9.29461926e+02] [ 9.78260288e-01 2.07022100e-01 -1.21925802e-02 1.09795817e+02] [ 1.24298093e-02 1.54811037e-04 9.99922735e-01 6.72292821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3392541539998 meters 0.014883433650724458 Centerline is valid? [True, True] Translation: X:929.47, Y:109.82, Z:6.73 [[ 2.06842801e-01 -9.78371198e-01 -2.41974149e-03 9.29466314e+02] [ 9.78295139e-01 2.06856895e-01 -1.22002294e-02 1.09823492e+02] [ 1.24368933e-02 1.56308300e-04 9.99922647e-01 6.72590962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3692541539998 meters 0.014400614369824037 Centerline is valid? [True, True] Translation: X:929.47, Y:109.85, Z:6.73 [[ 2.05649233e-01 -9.78623090e-01 -2.28938028e-03 9.29471546e+02] [ 9.78554833e-01 2.05661931e-01 -1.15589567e-02 1.09851291e+02] [ 1.17827003e-02 1.36806445e-04 9.99930572e-01 6.72807708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3992541539999 meters 0.013795953549043598 Centerline is valid? [True, True] Translation: X:929.48, Y:109.88, Z:6.73 [[ 2.04473104e-01 -9.78869767e-01 -2.17464553e-03 9.29478493e+02] [ 9.78808020e-01 2.04484633e-01 -1.09952412e-02 1.09878297e+02] [ 1.12075907e-02 1.19670605e-04 9.99937186e-01 6.72973291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4292541539999 meters 0.0166428611083606 Centerline is valid? [True, True] Translation: X:929.48, Y:109.90, Z:6.73 [[ 2.01701759e-01 -9.79444880e-01 -2.03147610e-03 9.29483981e+02] [ 9.79390867e-01 2.01711971e-01 -1.02863747e-02 1.09904733e+02] [ 1.04847100e-02 8.51707239e-05 9.99945030e-01 6.72726400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4592541539998 meters 0.01401562258726256 Centerline is valid? [True, True] Translation: X:929.49, Y:109.93, Z:6.73 [[ 2.00662382e-01 -9.79658446e-01 -1.98441283e-03 9.29489742e+02] [ 9.79606764e-01 2.00672180e-01 -1.00630393e-02 1.09931945e+02] [ 1.02565579e-02 7.53292184e-05 9.99947397e-01 6.73056513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4892541539998 meters 0.013374584646994897 Centerline is valid? [True, True] Translation: X:929.50, Y:109.96, Z:6.73 [[ 1.98386450e-01 -9.80121818e-01 -2.00960876e-03 9.29496088e+02] [ 9.80068682e-01 1.98396621e-01 -1.02058920e-02 1.09959220e+02] [ 1.04017170e-02 5.51560787e-05 9.99945899e-01 6.73155157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5192541539999 meters 0.016208423695127455 Centerline is valid? [True, True] Translation: X:929.50, Y:109.99, Z:6.73 [[ 1.96987296e-01 -9.80403982e-01 -2.00907695e-03 9.29501388e+02] [ 9.80350731e-01 1.96997536e-01 -1.02184056e-02 1.09986438e+02] [ 1.04139487e-02 4.32960297e-05 9.99945772e-01 6.72790308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5492541539999 meters 0.013296570749812485 Centerline is valid? [True, True] Translation: X:929.51, Y:110.01, Z:6.73 [[ 1.96581235e-01 -9.80485427e-01 -2.03610740e-03 9.29506918e+02] [ 9.80430572e-01 1.96591775e-01 -1.03714442e-02 1.10013894e+02] [ 1.05693319e-02 4.25693724e-05 9.99944142e-01 6.73157024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5792541539998 meters 0.013320275101410163 Centerline is valid? [True, True] Translation: X:929.51, Y:110.04, Z:6.73 [[ 1.96069737e-01 -9.80587468e-01 -2.20834248e-03 9.29512253e+02] [ 9.80522743e-01 1.96082168e-01 -1.12664912e-02 1.10041462e+02] [ 1.14807967e-02 4.36879452e-05 9.99934093e-01 6.73150206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6092541539998 meters 0.014709992661367634 Centerline is valid? [True, True] Translation: X:929.52, Y:110.07, Z:6.73 [[ 1.95733059e-01 -9.80654238e-01 -2.41554725e-03 9.29516660e+02] [ 9.80576551e-01 1.95747958e-01 -1.23436327e-02 1.10068384e+02] [ 1.25776742e-02 4.74279986e-05 9.99920897e-01 6.72871680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6392541539999 meters 0.013369669635999334 Centerline is valid? [True, True] Translation: X:929.52, Y:110.10, Z:6.73 [[ 1.96269184e-01 -9.80546971e-01 -2.45887456e-03 9.29521730e+02] [ 9.80466210e-01 1.96284576e-01 -1.25847196e-02 1.10096472e+02] [ 1.28225479e-02 5.91492277e-05 9.99917786e-01 6.73090606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6692541539999 meters 0.014608918307539862 Centerline is valid? [True, True] Translation: X:929.53, Y:110.12, Z:6.73 [[ 1.95916651e-01 -9.80617405e-01 -2.48405983e-03 9.29526539e+02] [ 9.80534739e-01 1.95932390e-01 -1.27328191e-02 1.10124116e+02] [ 1.29727318e-02 5.88643326e-05 9.99915849e-01 6.72921001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6992541539998 meters 0.013884284413582585 Centerline is valid? [True, True] Translation: X:929.53, Y:110.15, Z:6.73 [[ 1.96913224e-01 -9.80417920e-01 -2.42564661e-03 9.29530331e+02] [ 9.80338841e-01 1.96928150e-01 -1.24523163e-02 1.10150750e+02] [ 1.26861521e-02 7.40701601e-05 9.99919525e-01 6.73049257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7292541539998 meters 0.01350773449693954 Centerline is valid? [True, True] Translation: X:929.54, Y:110.18, Z:6.73 [[ 1.97285403e-01 -9.80343400e-01 -2.29952691e-03 9.29535373e+02] [ 9.80272113e-01 1.97298788e-01 -1.18225495e-02 1.10178671e+02] [ 1.20438523e-02 7.82543365e-05 9.99927467e-01 6.73172509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7592541539999 meters 0.013755992669031275 Centerline is valid? [True, True] Translation: X:929.54, Y:110.21, Z:6.73 [[ 1.98182217e-01 -9.80162692e-01 -2.21484146e-03 9.29539894e+02] [ 9.80096351e-01 1.98194573e-01 -1.14040889e-02 1.10205345e+02] [ 1.16168320e-02 8.93295931e-05 9.99932518e-01 6.73256438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7892541539999 meters 0.01372768986427665 Centerline is valid? [True, True] Translation: X:929.54, Y:110.23, Z:6.73 [[ 1.98663199e-01 -9.80065297e-01 -2.22419419e-03 9.29544789e+02] [ 9.79998183e-01 1.98675625e-01 -1.14698160e-02 1.10232827e+02] [ 1.16830618e-02 9.89240681e-05 9.99931746e-01 6.73318967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8192541539999 meters 0.013787577956918868 Centerline is valid? [True, True] Translation: X:929.55, Y:110.26, Z:6.73 [[ 2.00194868e-01 -9.79753621e-01 -2.20369008e-03 9.29550214e+02] [ 9.79687552e-01 2.00206961e-01 -1.13786449e-02 1.10260170e+02] [ 1.15894626e-02 1.19018574e-04 9.99932833e-01 6.73402502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8492541539998 meters 0.014159719376814503 Centerline is valid? [True, True] Translation: X:929.55, Y:110.29, Z:6.73 [[ 2.00617026e-01 -9.79667274e-01 -2.20040475e-03 9.29553854e+02] [ 9.79601228e-01 2.00629053e-01 -1.13761460e-02 1.10286741e+02] [ 1.15863031e-02 1.26729394e-04 9.99932869e-01 6.73363649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8792541539999 meters 0.014465003302925446 Centerline is valid? [True, True] Translation: X:929.56, Y:110.31, Z:6.73 [[ 2.01872430e-01 -9.79409552e-01 -2.10989646e-03 9.29558427e+02] [ 9.79348624e-01 2.01883407e-01 -1.09253489e-02 1.10314705e+02] [ 1.11263442e-02 1.39202537e-04 9.99938091e-01 6.73400044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9092541539999 meters 0.01440324105413686 Centerline is valid? [True, True] Translation: X:929.56, Y:110.34, Z:6.73 [[ 2.02308418e-01 -9.79319620e-01 -2.09439554e-03 9.29564122e+02] [ 9.79259396e-01 2.02319206e-01 -1.08616267e-02 1.10342159e+02] [ 1.10607406e-02 1.46442005e-04 9.99938817e-01 6.73441313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9392541539999 meters 0.014437615206110744 Centerline is valid? [True, True] Translation: X:929.57, Y:110.37, Z:6.73 [[ 2.02300026e-01 -9.79321329e-01 -2.10560468e-03 9.29570070e+02] [ 9.79260269e-01 2.02310927e-01 -1.09368347e-02 1.10369495e+02] [ 1.11366623e-02 1.50586932e-04 9.99937974e-01 6.73482649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9692541539998 meters 0.015625259140745713 Centerline is valid? [True, True] Translation: X:929.58, Y:110.40, Z:6.73 [[ 2.01387370e-01 -9.79509356e-01 -2.13282532e-03 9.29575821e+02] [ 9.79446521e-01 2.01398611e-01 -1.10956064e-02 1.10397280e+02] [ 1.12977983e-02 1.45526654e-04 9.99936167e-01 6.73329406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9992541539999 meters 0.01414144139937477 Centerline is valid? [True, True] Translation: X:929.58, Y:110.42, Z:6.74 [[ 1.99950453e-01 -9.79803992e-01 -1.98857857e-03 9.29583123e+02] [ 9.79749220e-01 1.99960303e-01 -1.03606037e-02 1.10424570e+02] [ 1.05489976e-02 1.23299091e-04 9.99944350e-01 6.73558156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0292541539999 meters 0.01601912723407225 Centerline is valid? [True, True] Translation: X:929.59, Y:110.45, Z:6.73 [[ 1.98240150e-01 -9.80151477e-01 -1.98094818e-03 9.29589707e+02] [ 9.80096973e-01 1.98250018e-01 -1.03370129e-02 1.10452313e+02] [ 1.05245615e-02 1.07689674e-04 9.99944609e-01 6.73326160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0592541539999 meters 0.016357749989970558 Centerline is valid? [True, True] Translation: X:929.60, Y:110.48, Z:6.73 [[ 1.96820047e-01 -9.80437679e-01 -1.95633097e-03 9.29595828e+02] [ 9.80384367e-01 1.96829747e-01 -1.02246804e-02 1.10478633e+02] [ 1.04097261e-02 9.44657907e-05 9.99945813e-01 6.73341819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0892541539998 meters 0.013548604766367288 Centerline is valid? [True, True] Translation: X:929.60, Y:110.51, Z:6.74 [[ 1.93879823e-01 -9.81023687e-01 -1.77213149e-03 9.29604201e+02] [ 9.80979834e-01 1.93887913e-01 -9.27592694e-03 1.10505403e+02] [ 9.44349892e-03 5.99898164e-05 9.99955407e-01 6.73741039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1192541539998 meters 0.014524185373142607 Centerline is valid? [True, True] Translation: X:929.61, Y:110.53, Z:6.74 [[ 1.89687538e-01 -9.81842836e-01 -1.81208409e-03 9.29611805e+02] [ 9.81796874e-01 1.89696192e-01 -9.50012707e-03 1.10532059e+02] [ 9.67137716e-03 2.29572162e-05 9.99953231e-01 6.73520614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1492541539999 meters 0.013264107913554037 Centerline is valid? [True, True] Translation: X:929.62, Y:110.56, Z:6.74 [[ 1.88121783e-01 -9.82144006e-01 -1.82925723e-03 9.29618316e+02] [ 9.82097038e-01 1.88130676e-01 -9.60504017e-03 1.10559760e+02] [ 9.77767203e-03 1.04091714e-05 9.99952197e-01 6.73684131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1792541539999 meters 0.013229641939807005 Centerline is valid? [True, True] Translation: X:929.62, Y:110.59, Z:6.74 [[ 1.86387442e-01 -9.82474634e-01 -1.82087357e-03 9.29624728e+02] [ 9.82427970e-01 1.86396336e-01 -9.57547001e-03 1.10587312e+02] [ 9.74706055e-03 -4.12976295e-06 9.99952496e-01 6.73698282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2092541539998 meters 0.016325648145082017 Centerline is valid? [True, True] Translation: X:929.63, Y:110.61, Z:6.73 [[ 1.83365147e-01 -9.83042668e-01 -2.08218478e-03 9.29631988e+02] [ 9.82981480e-01 1.83376966e-01 -1.09680538e-02 1.10614911e+02] [ 1.11638896e-02 -3.55902610e-05 9.99937681e-01 6.73318208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2392541539998 meters 0.016325648145082017 Centerline is valid? [True, True] Translation: X:929.64, Y:110.64, Z:6.73 [[ 1.83086062e-01 -9.83094691e-01 -2.07906711e-03 9.29637053e+02] [ 9.83033500e-01 1.83097862e-01 -1.09686450e-02 1.10642033e+02] [ 1.11638894e-02 -3.55866108e-05 9.99937681e-01 6.73337248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2692541539999 meters 0.013419094514909856 Centerline is valid? [True, True] Translation: X:929.64, Y:110.67, Z:6.74 [[ 1.82670374e-01 -9.83172226e-01 -1.97727071e-03 9.29642767e+02] [ 9.83116717e-01 1.82681071e-01 -1.04473381e-02 1.10669896e+02] [ 1.06327426e-02 -3.54687337e-05 9.99943470e-01 6.73666047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2992541539999 meters 0.013540909042385293 Centerline is valid? [True, True] Translation: X:929.65, Y:110.70, Z:6.74 [[ 1.82398429e-01 -9.83222374e-01 -2.13926302e-03 9.29648027e+02] [ 9.83157186e-01 1.82410970e-01 -1.13218865e-02 1.10697360e+02] [ 1.15221571e-02 -3.81375095e-05 9.99933617e-01 6.73631808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3292541539998 meters 0.015911878438347113 Centerline is valid? [True, True] Translation: X:929.65, Y:110.73, Z:6.73 [[ 1.81748967e-01 -9.83342130e-01 -2.35976026e-03 9.29652667e+02] [ 9.83262556e-01 1.81764280e-01 -1.25096638e-02 1.10725439e+02] [ 1.27301996e-02 -4.66454254e-05 9.99918967e-01 6.73320066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3592541539998 meters 0.013705380056831713 Centerline is valid? [True, True] Translation: X:929.66, Y:110.75, Z:6.74 [[ 1.83058151e-01 -9.83099006e-01 -2.46127372e-03 9.29657069e+02] [ 9.83012137e-01 1.83074695e-01 -1.30688701e-02 1.10753466e+02] [ 1.32985901e-02 -2.70987403e-05 9.99911569e-01 6.73546304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3892541539999 meters 0.01653701928904263 Centerline is valid? [True, True] Translation: X:929.66, Y:110.78, Z:6.73 [[ 1.82754949e-01 -9.83154666e-01 -2.74422138e-03 9.29661644e+02] [ 9.83046322e-01 1.82775549e-01 -1.45954473e-02 1.10780847e+02] [ 1.48511587e-02 -3.03064925e-05 9.99889715e-01 6.73162245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4192541539999 meters 0.015102172120407781 Centerline is valid? [True, True] Translation: X:929.67, Y:110.81, Z:6.73 [[ 1.83459363e-01 -9.83023037e-01 -2.89306450e-03 9.29665934e+02] [ 9.82902289e-01 1.83482172e-01 -1.54072024e-02 1.10807059e+02] [ 1.56764607e-02 -1.70041838e-05 9.99877117e-01 6.73224073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4492541539998 meters 0.013721359637279072 Centerline is valid? [True, True] Translation: X:929.67, Y:110.84, Z:6.73 [[ 1.85490957e-01 -9.82640879e-01 -3.16339303e-03 9.29669960e+02] [ 9.82496051e-01 1.85517928e-01 -1.68703110e-02 1.10835251e+02] [ 1.71643233e-02 2.12689571e-05 9.99852682e-01 6.73378693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4792541539998 meters 0.013682396880965923 Centerline is valid? [True, True] Translation: X:929.67, Y:110.86, Z:6.73 [[ 1.87551405e-01 -9.82249623e-01 -3.18568842e-03 9.29672239e+02] [ 9.82102209e-01 1.87578448e-01 -1.70169321e-02 1.10862852e+02] [ 1.73124416e-02 6.28778786e-05 9.99850126e-01 6.73356114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5092541539999 meters 0.015419516050039323 Centerline is valid? [True, True] Translation: X:929.68, Y:110.89, Z:6.73 [[ 1.88014867e-01 -9.82160786e-01 -3.25589572e-03 9.29676337e+02] [ 9.82006286e-01 1.88043040e-01 -1.74203428e-02 1.10891050e+02] [ 1.77218261e-02 7.79733645e-05 9.99842953e-01 6.73283415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5392541539999 meters 0.01366280654051877 Centerline is valid? [True, True] Translation: X:929.68, Y:110.92, Z:6.74 [[ 1.89112383e-01 -9.81950916e-01 -2.98403354e-03 9.29680617e+02] [ 9.81820718e-01 1.89135901e-01 -1.59902685e-02 1.10919155e+02] [ 1.62660467e-02 9.41718159e-05 9.99867695e-01 6.73581340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5692541539999 meters 0.013678403317053464 Centerline is valid? [True, True] Translation: X:929.68, Y:110.95, Z:6.74 [[ 1.89780983e-01 -9.81822508e-01 -2.78217956e-03 9.29684889e+02] [ 9.81708967e-01 1.89801348e-01 -1.49316102e-02 1.10946689e+02] [ 1.51882525e-02 1.02445050e-04 9.99884647e-01 6.73690501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5992541539998 meters 0.01377112445843202 Centerline is valid? [True, True] Translation: X:929.69, Y:110.97, Z:6.74 [[ 1.90420698e-01 -9.81699587e-01 -2.42458137e-03 9.29688790e+02] [ 9.81613085e-01 1.90436106e-01 -1.30322838e-02 1.10973812e+02] [ 1.32555154e-02 1.01615774e-04 9.99912137e-01 6.73891173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6292541539999 meters 0.013782076925732505 Centerline is valid? [True, True] Translation: X:929.69, Y:111.00, Z:6.74 [[ 1.90057085e-01 -9.81770406e-01 -2.27490964e-03 9.29693213e+02] [ 9.81694020e-01 1.90070676e-01 -1.22470308e-02 1.11001989e+02] [ 1.24561660e-02 9.43697922e-05 9.99922415e-01 6.73999261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6592541539999 meters 0.013799852352080734 Centerline is valid? [True, True] Translation: X:929.70, Y:111.03, Z:6.74 [[ 1.89639783e-01 -9.81851206e-01 -2.22756139e-03 9.29698175e+02] [ 9.81777745e-01 1.89652844e-01 -1.20107522e-02 1.11029802e+02] [ 1.22152349e-02 9.07462516e-05 9.99925387e-01 6.74049995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6892541539999 meters 0.013713571475673125 Centerline is valid? [True, True] Translation: X:929.70, Y:111.06, Z:6.74 [[ 1.89301473e-01 -9.81916462e-01 -2.23902354e-03 9.29703048e+02] [ 9.81842014e-01 1.89314692e-01 -1.20915676e-02 1.11057746e+02] [ 1.22967893e-02 9.05841718e-05 9.99924388e-01 6.74057798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7192541539998 meters 0.01368611211293588 Centerline is valid? [True, True] Translation: X:929.71, Y:111.09, Z:6.74 [[ 1.89208942e-01 -9.81934086e-01 -2.32967275e-03 9.29707744e+02] [ 9.81853226e-01 1.89223258e-01 -1.26016254e-02 1.11085253e+02] [ 1.28147938e-02 9.69435089e-05 9.99917882e-01 6.74083923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7492541539999 meters 0.013787915923188208 Centerline is valid? [True, True] Translation: X:929.71, Y:111.11, Z:6.74 [[ 1.89934490e-01 -9.81793098e-01 -2.68356703e-03 9.29711043e+02] [ 9.81685486e-01 1.89953405e-01 -1.45365458e-02 1.11112569e+02] [ 1.47816330e-02 1.26572612e-04 9.99890738e-01 6.73896563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7792541539999 meters 0.01393936506231879 Centerline is valid? [True, True] Translation: X:929.72, Y:111.14, Z:6.74 [[ 1.89808478e-01 -9.81816808e-01 -2.91503389e-03 9.29715308e+02] [ 9.81689480e-01 1.89830809e-01 -1.58123204e-02 1.11140393e+02] [ 1.60781652e-02 1.39654369e-04 9.99870728e-01 6.73775664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8092541539999 meters 0.015739419684107362 Centerline is valid? [True, True] Translation: X:929.72, Y:111.17, Z:6.74 [[ 1.89867264e-01 -9.81803989e-01 -3.36899494e-03 9.29719753e+02] [ 9.81633350e-01 1.89897076e-01 -1.83048169e-02 1.11168948e+02] [ 1.86115046e-02 1.68367713e-04 9.99826777e-01 6.73513477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8392541539998 meters 0.014043139375407089 Centerline is valid? [True, True] Translation: X:929.72, Y:111.20, Z:6.73 [[ 1.89994397e-01 -9.81778277e-01 -3.68031161e-03 9.29724333e+02] [ 9.81573996e-01 1.90029941e-01 -2.00277753e-02 1.11197153e+02] [ 2.03622041e-02 1.92666912e-04 9.99792650e-01 6.73488868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8692541539998 meters 0.014034158670167121 Centerline is valid? [True, True] Translation: X:929.73, Y:111.22, Z:6.74 [[ 1.89648307e-01 -9.81845040e-01 -3.71987068e-03 9.29729640e+02] [ 9.81635687e-01 1.89684686e-01 -2.02755668e-02 1.11224868e+02] [ 2.06130672e-02 1.93669092e-04 9.99787509e-01 6.73509288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8992541539999 meters 0.014132103604907395 Centerline is valid? [True, True] Translation: X:929.73, Y:111.25, Z:6.73 [[ 1.89046857e-01 -9.81960423e-01 -3.87475070e-03 9.29734479e+02] [ 9.81732514e-01 1.89086461e-01 -2.11560933e-02 1.11251942e+02] [ 2.15071092e-02 1.95524208e-04 9.99768676e-01 6.73477890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9292541539999 meters 0.014190872201596282 Centerline is valid? [True, True] Translation: X:929.74, Y:111.28, Z:6.73 [[ 1.88257801e-01 -9.82111877e-01 -3.90648770e-03 9.29739404e+02] [ 9.81879463e-01 1.88298236e-01 -2.13657438e-02 1.11278390e+02] [ 2.17191355e-02 1.86567911e-04 9.99764094e-01 6.73489942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9592541539998 meters 0.013896676274314087 Centerline is valid? [True, True] Translation: X:929.75, Y:111.31, Z:6.74 [[ 1.86511332e-01 -9.82445635e-01 -3.75455350e-03 9.29745125e+02] [ 9.82230326e-01 1.86549060e-01 -2.05677932e-02 1.11305698e+02] [ 2.09071471e-02 1.48290209e-04 9.99781411e-01 6.73620641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9892541539998 meters 0.01379240045032406 Centerline is valid? [True, True] Translation: X:929.75, Y:111.33, Z:6.74 [[ 1.85416249e-01 -9.82653254e-01 -3.66007537e-03 9.29750502e+02] [ 9.82448038e-01 1.85452326e-01 -2.00820061e-02 1.11333719e+02] [ 2.04124181e-02 1.27696371e-04 9.99791637e-01 6.73683075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0192541539999 meters 0.01666436088742276 Centerline is valid? [True, True] Translation: X:929.76, Y:111.36, Z:6.74 [[ 1.84150772e-01 -9.82890411e-01 -3.86426416e-03 9.29755758e+02] [ 9.82661098e-01 1.84191278e-01 -2.12306161e-02 1.11360763e+02] [ 2.15791328e-02 1.12372294e-04 9.99767137e-01 6.73517908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0492541539999 meters 0.015403040904379108 Centerline is valid? [True, True] Translation: X:929.76, Y:111.39, Z:6.74 [[ 1.82409998e-01 -9.83215646e-01 -3.68593931e-03 9.29762940e+02] [ 9.83006484e-01 1.82447219e-01 -2.02796550e-02 1.11388116e+02] [ 2.06117634e-02 7.59095798e-05 9.99787552e-01 6.73721925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0792541539998 meters 0.014031577581777203 Centerline is valid? [True, True] Translation: X:929.77, Y:111.42, Z:6.74 [[ 1.81142600e-01 -9.83450537e-01 -3.52140634e-03 9.29769089e+02] [ 9.83259087e-01 1.81176817e-01 -1.94043722e-02 1.11415981e+02] [ 1.97212374e-02 5.25036533e-05 9.99805516e-01 6.73845044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1092541539998 meters 0.01364416501391598 Centerline is valid? [True, True] Translation: X:929.78, Y:111.44, Z:6.74 [[ 1.79596410e-01 -9.83734134e-01 -3.50479514e-03 9.29775492e+02] [ 9.83543924e-01 1.79630603e-01 -1.93441473e-02 1.11442077e+02] [ 1.96590665e-02 2.70194613e-05 9.99806742e-01 6.73883231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1392541539999 meters 0.015674934978864342 Centerline is valid? [True, True] Translation: X:929.78, Y:111.47, Z:6.74 [[ 1.78507475e-01 -9.83930816e-01 -3.90269263e-03 9.29781501e+02] [ 9.83694240e-01 1.78550131e-01 -2.15752816e-02 1.11470225e+02] [ 2.19254107e-02 1.22927668e-05 9.99759609e-01 6.73844072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1692541539999 meters 0.01384716963620239 Centerline is valid? [True, True] Translation: X:929.79, Y:111.50, Z:6.74 [[ 1.77714256e-01 -9.84075033e-01 -3.73811368e-03 9.29787100e+02] [ 9.83857325e-01 1.77753566e-01 -2.06986580e-02 1.11496988e+02] [ 2.10334956e-02 6.76068790e-07 9.99778772e-01 6.73777439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1992541539998 meters 0.013736235797593628 Centerline is valid? [True, True] Translation: X:929.79, Y:111.52, Z:6.74 [[ 1.77108612e-01 -9.84184036e-01 -3.78446345e-03 9.29792378e+02] [ 9.83960189e-01 1.77149041e-01 -2.09896148e-02 1.11524391e+02] [ 2.13280579e-02 -6.31982486e-06 9.99772531e-01 6.73876217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2292541539998 meters 0.01383021169513827 Centerline is valid? [True, True] Translation: X:929.80, Y:111.55, Z:6.74 [[ 1.76392583e-01 -9.84312212e-01 -3.88926096e-03 9.29798210e+02] [ 9.84075029e-01 1.76435454e-01 -2.16071011e-02 1.11550699e+02] [ 2.19543370e-02 -1.59922100e-05 9.99758974e-01 6.73885338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2592541539999 meters 0.014988926328275452 Centerline is valid? [True, True] Translation: X:929.80, Y:111.58, Z:6.74 [[ 1.76029068e-01 -9.84376816e-01 -4.00633160e-03 9.29803628e+02] [ 9.84124319e-01 1.76074652e-01 -2.22944323e-02 1.11578514e+02] [ 2.26515357e-02 -1.82602151e-05 9.99743421e-01 6.73879900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2892541539999 meters 0.016215570902150808 Centerline is valid? [True, True] Translation: X:929.81, Y:111.61, Z:6.74 [[ 1.74985696e-01 -9.84562670e-01 -4.04417003e-03 9.29809395e+02] [ 9.84304587e-01 1.75032419e-01 -2.25418111e-02 1.11605668e+02] [ 2.29016866e-02 -3.62006072e-05 9.99737721e-01 6.73863207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3192541539999 meters 0.013797476442836128 Centerline is valid? [True, True] Translation: X:929.82, Y:111.63, Z:6.74 [[ 1.74639123e-01 -9.84625369e-01 -3.74970534e-03 9.29815227e+02] [ 9.84402805e-01 1.74679370e-01 -2.09340563e-02 1.11633586e+02] [ 2.12671990e-02 -3.53152341e-05 9.99773827e-01 6.74053070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3492541539998 meters 0.01391602054151917 Centerline is valid? [True, True] Translation: X:929.82, Y:111.66, Z:6.74 [[ 1.73345575e-01 -9.84854818e-01 -3.50704491e-03 9.29822755e+02] [ 9.84659535e-01 1.73381040e-01 -1.96116294e-02 1.11659878e+02] [ 1.99226628e-02 -5.36560310e-05 9.99801523e-01 6.74027987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3792541539999 meters 0.016450928703184244 Centerline is valid? [True, True] Translation: X:929.83, Y:111.69, Z:6.74 [[ 1.72819889e-01 -9.84946130e-01 -3.79567629e-03 9.29828790e+02] [ 9.84716651e-01 1.72861555e-01 -2.12603029e-02 1.11687991e+02] [ 2.15963796e-02 -6.34624608e-05 9.99766769e-01 6.73896111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4092541539999 meters 0.013960857800699368 Centerline is valid? [True, True] Translation: X:929.84, Y:111.72, Z:6.74 [[ 1.74097428e-01 -9.84722697e-01 -3.36104102e-03 9.29835309e+02] [ 9.84542183e-01 1.74129866e-01 -1.88541860e-02 1.11715808e+02] [ 1.91514025e-02 -2.66213757e-05 9.99816595e-01 6.74114232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4392541539999 meters 0.013936150607827364 Centerline is valid? [True, True] Translation: X:929.84, Y:111.74, Z:6.74 [[ 1.75304206e-01 -9.84508884e-01 -3.27001624e-03 9.29839912e+02] [ 9.84337427e-01 1.75334701e-01 -1.83731388e-02 1.11743434e+02] [ 1.86618657e-02 2.08913220e-06 9.99825852e-01 6.74124494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4692541539998 meters 0.013998318144636618 Centerline is valid? [True, True] Translation: X:929.84, Y:111.77, Z:6.74 [[ 1.78928286e-01 -9.83856896e-01 -3.20578825e-03 9.29842778e+02] [ 9.83691435e-01 1.78956986e-01 -1.80432257e-02 1.11770952e+02] [ 1.83256502e-02 7.49369968e-05 9.99832068e-01 6.74116298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4992541539999 meters 0.014160624295411437 Centerline is valid? [True, True] Translation: X:929.85, Y:111.80, Z:6.74 [[ 1.80952157e-01 -9.83486974e-01 -3.11282022e-03 9.29846141e+02] [ 9.83330368e-01 1.80978893e-01 -1.75507092e-02 1.11798208e+02] [ 1.78242487e-02 1.14908045e-04 9.99841129e-01 6.74090754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5292541539999 meters 0.015290112887746714 Centerline is valid? [True, True] Translation: X:929.85, Y:111.83, Z:6.74 [[ 1.83105123e-01 -9.83088017e-01 -3.23481461e-03 9.29849577e+02] [ 9.82918287e-01 1.83133620e-01 -1.82679714e-02 1.11825852e+02] [ 1.85514271e-02 1.65400721e-04 9.99827894e-01 6.74032711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5592541539999 meters 0.015860156075542885 Centerline is valid? [True, True] Translation: X:929.85, Y:111.85, Z:6.74 [[ 1.87620563e-01 -9.82236484e-01 -3.16451114e-03 9.29852230e+02] [ 9.82073437e-01 1.87647081e-01 -1.78979641e-02 1.11854034e+02] [ 1.81738446e-02 2.50243766e-04 9.99834811e-01 6.74069790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5892541539998 meters 0.015695277006163348 Centerline is valid? [True, True] Translation: X:929.86, Y:111.88, Z:6.74 [[ 1.90984796e-01 -9.81588526e-01 -2.96195559e-03 9.29855930e+02] [ 9.81445171e-01 1.91007531e-01 -1.67779207e-02 1.11882046e+02] [ 1.70347703e-02 2.97330757e-04 9.99854854e-01 6.74184214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6192541539998 meters 0.015800304978669456 Centerline is valid? [True, True] Translation: X:929.86, Y:111.91, Z:6.74 [[ 1.91875707e-01 -9.81414669e-01 -2.99347792e-03 9.29860454e+02] [ 9.81267754e-01 1.91898787e-01 -1.69838228e-02 1.11910137e+02] [ 1.72426176e-02 3.21379640e-04 9.99851283e-01 6.74240792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6492541539999 meters 0.017079588304049594 Centerline is valid? [True, True] Translation: X:929.86, Y:111.94, Z:6.74 [[ 1.92751735e-01 -9.81242650e-01 -3.10326143e-03 9.29861776e+02] [ 9.81084389e-01 1.92776391e-01 -1.76262501e-02 1.11937269e+02] [ 1.78938639e-02 3.52928933e-04 9.99839830e-01 6.74031838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6792541539999 meters 0.017452435630264 Centerline is valid? [True, True] Translation: X:929.87, Y:111.96, Z:6.74 [[ 1.92281139e-01 -9.81334190e-01 -3.34227153e-03 9.29867618e+02] [ 9.81150115e-01 1.92309817e-01 -1.90101636e-02 1.11964779e+02] [ 1.92980752e-02 3.76025813e-04 9.99813704e-01 6.74043117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7092541539998 meters 0.01852079980644747 Centerline is valid? [True, True] Translation: X:929.87, Y:111.99, Z:6.74 [[ 1.91609980e-01 -9.81464746e-01 -3.54515399e-03 9.29872305e+02] [ 9.81256940e-01 1.91642373e-01 -2.01994448e-02 1.11992613e+02] [ 2.05044447e-02 3.91708263e-04 9.99789685e-01 6.73941552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7392541539998 meters 0.015800113071665504 Centerline is valid? [True, True] Translation: X:929.88, Y:112.02, Z:6.74 [[ 1.89994947e-01 -9.81779946e-01 -3.17148535e-03 9.29877571e+02] [ 9.81613267e-01 1.90021138e-01 -1.80931363e-02 1.12019043e+02] [ 1.83661276e-02 3.24432368e-04 9.99831276e-01 6.74038887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7692541539999 meters 0.015582540305162259 Centerline is valid? [True, True] Translation: X:929.88, Y:112.05, Z:6.74 [[ 1.88918321e-01 -9.81987857e-01 -3.11708954e-03 9.29882984e+02] [ 9.81826407e-01 1.88943791e-01 -1.78087145e-02 1.12046358e+02] [ 1.80768961e-02 3.03951623e-04 9.99836553e-01 6.74099102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7992541539999 meters 0.015488527877745592 Centerline is valid? [True, True] Translation: X:929.89, Y:112.07, Z:6.74 [[ 1.87599895e-01 -9.82241016e-01 -2.97772090e-03 9.29888786e+02] [ 9.82093224e-01 1.87623328e-01 -1.70407253e-02 1.12073780e+02] [ 1.72967893e-02 2.72438761e-04 9.99850362e-01 6.74191833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8292541539998 meters 0.015504613551612307 Centerline is valid? [True, True] Translation: X:929.89, Y:112.10, Z:6.74 [[ 1.86557126e-01 -9.82439849e-01 -2.89512135e-03 9.29893312e+02] [ 9.82299691e-01 1.86579419e-01 -1.65963043e-02 1.12100489e+02] [ 1.68450407e-02 2.52282022e-04 9.99858080e-01 6.74195593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8592541539998 meters 0.01511557004683953 Centerline is valid? [True, True] Translation: X:929.90, Y:112.13, Z:6.74 [[ 1.85749761e-01 -9.82592694e-01 -2.93674579e-03 9.29899140e+02] [ 9.82447997e-01 1.85772810e-01 -1.68640436e-02 1.12127884e+02] [ 1.71160536e-02 2.47292048e-04 9.99853479e-01 6.74201213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8892541539999 meters 0.016560973594692642 Centerline is valid? [True, True] Translation: X:929.91, Y:112.16, Z:6.74 [[ 1.83605832e-01 -9.82994646e-01 -3.22876824e-03 9.29905497e+02] [ 9.82819185e-01 1.83634066e-01 -1.85736005e-02 1.12155033e+02] [ 1.88506617e-02 2.36926000e-04 9.99822282e-01 6.74121033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9192541539999 meters 0.014638652659359033 Centerline is valid? [True, True] Translation: X:929.91, Y:112.18, Z:6.74 [[ 1.82279635e-01 -9.83242282e-01 -2.95802313e-03 9.29911260e+02] [ 9.83094564e-01 1.82303526e-01 -1.70441138e-02 1.12182444e+02] [ 1.72977513e-02 1.98778376e-04 9.99850363e-01 6.74177401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9492541539998 meters 0.014462070291707964 Centerline is valid? [True, True] Translation: X:929.92, Y:112.21, Z:6.74 [[ 1.80545193e-01 -9.83562341e-01 -2.92489298e-03 9.29916571e+02] [ 9.83417456e-01 1.80568802e-01 -1.68823746e-02 1.12208741e+02] [ 1.71330123e-02 1.71640769e-04 9.99853204e-01 6.74184031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9792541539998 meters 0.014286482631049669 Centerline is valid? [True, True] Translation: X:929.92, Y:112.24, Z:6.74 [[ 1.79184693e-01 -9.83811172e-01 -2.90239883e-03 9.29922390e+02] [ 9.83668051e-01 1.79208134e-01 -1.67812417e-02 1.12236174e+02] [ 1.70297065e-02 1.51944651e-04 9.99854972e-01 6.74228947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0092541539999 meters 0.01411946342892829 Centerline is valid? [True, True] Translation: X:929.93, Y:112.26, Z:6.74 [[ 1.76881741e-01 -9.84228256e-01 -2.75513360e-03 9.29928317e+02] [ 9.84098916e-01 1.76903162e-01 -1.59560124e-02 1.12263531e+02] [ 1.61917501e-02 1.11003264e-04 9.99868899e-01 6.74290633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0392541539999 meters 0.01639494787347856 Centerline is valid? [True, True] Translation: X:929.93, Y:112.29, Z:6.74 [[ 1.75881082e-01 -9.84406462e-01 -3.12458007e-03 9.29933579e+02] [ 9.84239547e-01 1.75908798e-01 -1.81275987e-02 1.12291512e+02] [ 1.83945664e-02 1.12966400e-04 9.99830799e-01 6.74253022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0692541539999 meters 0.01706411279856211 Centerline is valid? [True, True] Translation: X:929.94, Y:112.32, Z:6.74 [[ 1.74360315e-01 -9.84676805e-01 -3.17322882e-03 9.29937913e+02] [ 9.84504114e-01 1.74389164e-01 -1.84409519e-02 1.12319231e+02] [ 1.87117544e-02 9.13133564e-05 9.99824916e-01 6.74204985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0992541539998 meters 0.014751852389208855 Centerline is valid? [True, True] Translation: X:929.94, Y:112.35, Z:6.74 [[ 1.73864722e-01 -9.84765288e-01 -2.89576528e-03 9.29941772e+02] [ 9.84621017e-01 1.73888817e-01 -1.68562022e-02 1.12347022e+02] [ 1.71029440e-02 7.94675592e-05 9.99853731e-01 6.74254143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1292541539999 meters 0.013921013051386088 Centerline is valid? [True, True] Translation: X:929.95, Y:112.37, Z:6.74 [[ 1.73792375e-01 -9.84778278e-01 -2.82016332e-03 9.29945796e+02] [ 9.84640962e-01 1.73815236e-01 -1.64450642e-02 1.12373785e+02] [ 1.66849294e-02 8.11784390e-05 9.99860794e-01 6.74230562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1592541539999 meters 0.013921013051386088 Centerline is valid? [True, True] Translation: X:929.95, Y:112.40, Z:6.74 [[ 1.73513060e-01 -9.84827544e-01 -2.81536595e-03 9.29950378e+02] [ 9.84690221e-01 1.73535880e-01 -1.64458859e-02 1.12400994e+02] [ 1.66849284e-02 8.13126652e-05 9.99860794e-01 6.74249598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1892541539999 meters 0.013981101622451555 Centerline is valid? [True, True] Translation: X:929.95, Y:112.43, Z:6.74 [[ 1.73481931e-01 -9.84832819e-01 -2.88756265e-03 9.29954443e+02] [ 9.84687862e-01 1.73505938e-01 -1.68968704e-02 1.12428413e+02] [ 1.71416017e-02 8.79537968e-05 9.99853068e-01 6.74211915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2192541539998 meters 0.014018049977641915 Centerline is valid? [True, True] Translation: X:929.96, Y:112.46, Z:6.74 [[ 1.73238440e-01 -9.84875593e-01 -2.91701467e-03 9.29958389e+02] [ 9.84727158e-01 1.73262974e-01 -1.70987379e-02 1.12455934e+02] [ 1.73455402e-02 8.96951139e-05 9.99849551e-01 6.74215481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2492541539999 meters 0.015667634630222756 Centerline is valid? [True, True] Translation: X:929.96, Y:112.48, Z:6.74 [[ 1.72400087e-01 -9.85022051e-01 -3.12544981e-03 9.29961701e+02] [ 9.84851067e-01 1.72428394e-01 -1.83527787e-02 1.12483964e+02] [ 1.86168080e-02 8.59180558e-05 9.99826689e-01 6.74124429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2792541539999 meters 0.016603815340516342 Centerline is valid? [True, True] Translation: X:929.97, Y:112.51, Z:6.74 [[ 1.71457096e-01 -9.85186307e-01 -3.22567072e-03 9.29966124e+02] [ 9.85003580e-01 1.71487419e-01 -1.89739792e-02 1.12512171e+02] [ 1.92460664e-02 7.59261677e-05 9.99814774e-01 6.74073494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3092541539999 meters 0.014418405656133037 Centerline is valid? [True, True] Translation: X:929.97, Y:112.54, Z:6.74 [[ 1.70008047e-01 -9.85438556e-01 -2.84902663e-03 9.29970255e+02] [ 9.85295581e-01 1.70031911e-01 -1.67859021e-02 1.12539230e+02] [ 1.70259005e-02 4.66050729e-05 9.99855048e-01 6.74122241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3392541539998 meters 0.013988567400553896 Centerline is valid? [True, True] Translation: X:929.98, Y:112.57, Z:6.74 [[ 1.68639922e-01 -9.85673788e-01 -2.78561643e-03 9.29975372e+02] [ 9.85536679e-01 1.68662924e-01 -1.64399844e-02 1.12567238e+02] [ 1.66742919e-02 2.71105131e-05 9.99860974e-01 6.74139666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3692541539998 meters 0.014371692384442537 Centerline is valid? [True, True] Translation: X:929.98, Y:112.59, Z:6.74 [[ 1.67298668e-01 -9.85901980e-01 -2.90551096e-03 9.29980556e+02] [ 9.85752317e-01 1.67323896e-01 -1.71779680e-02 1.12593873e+02] [ 1.74219541e-02 9.73700553e-06 9.99848226e-01 6.74117197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3992541539999 meters 0.017764792526909358 Centerline is valid? [True, True] Translation: X:929.99, Y:112.62, Z:6.74 [[ 1.63960066e-01 -9.86460943e-01 -3.45032504e-03 9.29987307e+02] [ 9.86249251e-01 1.63996357e-01 -2.04354781e-02 1.12621656e+02] [ 2.07246417e-02 -5.22781587e-05 9.99785220e-01 6.74098288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4292541539999 meters 0.014309409417698472 Centerline is valid? [True, True] Translation: X:929.99, Y:112.65, Z:6.74 [[ 1.62594760e-01 -9.86688635e-01 -2.91217628e-03 9.29992397e+02] [ 9.86537476e-01 1.62620825e-01 -1.72706562e-02 1.12648624e+02] [ 1.75143407e-02 -6.48528339e-05 9.99846610e-01 6.74069798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4592541539998 meters 0.016925728973919026 Centerline is valid? [True, True] Translation: X:930.00, Y:112.68, Z:6.74 [[ 1.60161152e-01 -9.87085581e-01 -3.23437206e-03 9.29996813e+02] [ 9.86898617e-01 1.60193766e-01 -1.92113576e-02 1.12676341e+02] [ 1.94813803e-02 -1.15084141e-04 9.99810213e-01 6.74114812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4892541539998 meters 0.016745953754645014 Centerline is valid? [True, True] Translation: X:930.00, Y:112.70, Z:6.74 [[ 1.58808617e-01 -9.87304373e-01 -3.14605520e-03 9.30001506e+02] [ 9.87126927e-01 1.58839720e-01 -1.87182814e-02 1.12704497e+02] [ 1.89803596e-02 -1.32931422e-04 9.99819848e-01 6.74112831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5192541539999 meters 0.01626484744648956 Centerline is valid? [True, True] Translation: X:930.01, Y:112.73, Z:6.74 [[ 1.57211868e-01 -9.87560282e-01 -3.01968855e-03 9.30006302e+02] [ 9.87396290e-01 1.57240792e-01 -1.79972355e-02 1.12732652e+02] [ 1.82481731e-02 -1.52250270e-04 9.99833477e-01 6.74157188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5492541539999 meters 0.014658876907884543 Centerline is valid? [True, True] Translation: X:930.01, Y:112.76, Z:6.74 [[ 1.57104536e-01 -9.87578106e-01 -2.76555055e-03 9.30011068e+02] [ 9.87440098e-01 1.57128816e-01 -1.65102672e-02 1.12760684e+02] [ 1.67397261e-02 -1.36977628e-04 9.99859872e-01 6.74251030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5792541539998 meters 0.015041144070864142 Centerline is valid? [True, True] Translation: X:930.02, Y:112.79, Z:6.74 [[ 1.56675889e-01 -9.87646124e-01 -2.79275522e-03 9.30015873e+02] [ 9.87504906e-01 1.56700714e-01 -1.67017294e-02 1.12788803e+02] [ 1.69330250e-02 -1.41101183e-04 9.99856616e-01 6.74292133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6092541539998 meters 0.018166806037864597 Centerline is valid? [True, True] Translation: X:930.02, Y:112.82, Z:6.74 [[ 1.56484916e-01 -9.87675636e-01 -3.05123820e-03 9.30020141e+02] [ 9.87506464e-01 1.56514586e-01 -1.82802478e-02 1.12816581e+02] [ 1.85325187e-02 -1.52534410e-04 9.99828246e-01 6.74254646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6392541539999 meters 0.014375197224053681 Centerline is valid? [True, True] Translation: X:930.02, Y:112.85, Z:6.74 [[ 1.57480802e-01 -9.87518603e-01 -2.60888355e-03 9.30022917e+02] [ 9.87394507e-01 1.57502372e-01 -1.56553913e-02 1.12845053e+02] [ 1.58708954e-02 -1.10573708e-04 9.99874043e-01 6.74373408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6692541539999 meters 0.01419366728210573 Centerline is valid? [True, True] Translation: X:930.03, Y:112.87, Z:6.74 [[ 1.59364542e-01 -9.87216433e-01 -2.58009277e-03 9.30025141e+02] [ 9.87094593e-01 1.59385408e-01 -1.55098832e-02 1.12873576e+02] [ 1.57228407e-02 -7.50701962e-05 9.99876386e-01 6.74356598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6992541539998 meters 0.014077495501419488 Centerline is valid? [True, True] Translation: X:930.03, Y:112.90, Z:6.74 [[ 1.61654352e-01 -9.86844096e-01 -2.56925384e-03 9.30026949e+02] [ 9.86722860e-01 1.61674764e-01 -1.54682911e-02 1.12900379e+02] [ 1.56801752e-02 -3.46249380e-05 9.99877058e-01 6.74270529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7292541539998 meters 0.01485323706220888 Centerline is valid? [True, True] Translation: X:930.03, Y:112.93, Z:6.74 [[ 1.62372261e-01 -9.86725833e-01 -2.71630926e-03 9.30030216e+02] [ 9.86589864e-01 1.62394979e-01 -1.63801936e-02 1.12928374e+02] [ 1.66038752e-02 -2.01941091e-05 9.99862146e-01 6.74294848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7592541539999 meters 0.013990662225699646 Centerline is valid? [True, True] Translation: X:930.03, Y:112.96, Z:6.74 [[ 1.64200340e-01 -9.86423426e-01 -2.65953778e-03 9.30032435e+02] [ 9.86292563e-01 1.64221876e-01 -1.60672449e-02 1.12955578e+02] [ 1.62858610e-02 1.51647356e-05 9.99867376e-01 6.74227490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7892541539999 meters 0.014468186274115105 Centerline is valid? [True, True] Translation: X:930.04, Y:112.98, Z:6.74 [[ 1.64840057e-01 -9.86316536e-01 -2.72877961e-03 9.30036439e+02] [ 9.86178247e-01 1.64862639e-01 -1.65159035e-02 1.12983040e+02] [ 1.67397825e-02 3.14193859e-05 9.99859880e-01 6.74196985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8192541539999 meters 0.016399121554720758 Centerline is valid? [True, True] Translation: X:930.04, Y:113.01, Z:6.74 [[ 1.64406921e-01 -9.86388406e-01 -2.87692622e-03 9.30041219e+02] [ 9.86234148e-01 1.64432088e-01 -1.74440380e-02 1.13010873e+02] [ 1.76796558e-02 3.05976989e-05 9.99843702e-01 6.74130240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8492541539998 meters 0.01412272193445636 Centerline is valid? [True, True] Translation: X:930.05, Y:113.04, Z:6.74 [[ 1.64066143e-01 -9.86445874e-01 -2.61516192e-03 9.30045464e+02] [ 9.86317976e-01 1.64086982e-01 -1.58843815e-02 1.13037965e+02] [ 1.60981966e-02 2.67079917e-05 9.99870415e-01 6.74182443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8792541539999 meters 0.013994006943639298 Centerline is valid? [True, True] Translation: X:930.05, Y:113.07, Z:6.74 [[ 1.63168184e-01 -9.86594811e-01 -2.61215765e-03 9.30050243e+02] [ 9.86466768e-01 1.63189091e-01 -1.58945093e-02 1.13065582e+02] [ 1.61077160e-02 1.66715054e-05 9.99870262e-01 6.74212146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9092541539999 meters 0.01399635292111206 Centerline is valid? [True, True] Translation: X:930.06, Y:113.09, Z:6.74 [[ 1.61963739e-01 -9.86793281e-01 -2.60141827e-03 9.30055393e+02] [ 9.86665865e-01 1.61984630e-01 -1.58571899e-02 1.13093141e+02] [ 1.60691582e-02 1.55916453e-06 9.99870883e-01 6.74259464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9392541539999 meters 0.016392351519027598 Centerline is valid? [True, True] Translation: X:930.06, Y:113.12, Z:6.74 [[ 1.59136826e-01 -9.87252562e-01 -2.80183733e-03 9.30062150e+02] [ 9.87104279e-01 1.59161484e-01 -1.71103589e-02 1.13120469e+02] [ 1.73381902e-02 -4.28174150e-05 9.99849681e-01 6.74271665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9692541539998 meters 0.014084821363523242 Centerline is valid? [True, True] Translation: X:930.07, Y:113.15, Z:6.74 [[ 1.58214060e-01 -9.87401278e-01 -2.65101322e-03 9.30067108e+02] [ 9.87268088e-01 1.58236260e-01 -1.62175384e-02 1.13148334e+02] [ 1.64327045e-02 -5.14181622e-05 9.99864973e-01 6.74342672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9992541539999 meters 0.01646354159045491 Centerline is valid? [True, True] Translation: X:930.07, Y:113.18, Z:6.74 [[ 1.56787460e-01 -9.87628312e-01 -2.83009302e-03 9.30072494e+02] [ 9.87475999e-01 1.56812982e-01 -1.73447581e-02 1.13176256e+02] [ 1.75739694e-02 -7.52083748e-05 9.99845563e-01 6.74305229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0292541539999 meters 0.014648962639211283 Centerline is valid? [True, True] Translation: X:930.08, Y:113.20, Z:6.74 [[ 1.55940757e-01 -9.87762618e-01 -2.73708094e-03 9.30077487e+02] [ 9.87619653e-01 1.55964754e-01 -1.68052546e-02 1.13203376e+02] [ 1.70264904e-02 -8.25708176e-05 9.99855035e-01 6.74347921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0592541539999 meters 0.015783201874587222 Centerline is valid? [True, True] Translation: X:930.08, Y:113.23, Z:6.74 [[ 1.54833813e-01 -9.87936445e-01 -2.84082145e-03 9.30081931e+02] [ 9.87781865e-01 1.54859840e-01 -1.74762103e-02 1.13230630e+02] [ 1.77053143e-02 -1.00203619e-04 9.99843244e-01 6.74434397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0892541539998 meters 0.016537291743855258 Centerline is valid? [True, True] Translation: X:930.09, Y:113.26, Z:6.74 [[ 1.54653686e-01 -9.87964416e-01 -2.92391956e-03 9.30086418e+02] [ 9.87800143e-01 1.54681290e-01 -1.80160058e-02 1.13257160e+02] [ 1.82514483e-02 -1.02006459e-04 9.99833423e-01 6.74399204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1192541539998 meters 0.016227134549553088 Centerline is valid? [True, True] Translation: X:930.09, Y:113.28, Z:6.74 [[ 1.54813805e-01 -9.87939142e-01 -2.98951825e-03 9.30090804e+02] [ 9.87766825e-01 1.54842636e-01 -1.84514989e-02 1.13284061e+02] [ 1.86918629e-02 -9.64002035e-05 9.99825287e-01 6.74416939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1492541539999 meters 0.014240632791977275 Centerline is valid? [True, True] Translation: X:930.09, Y:113.31, Z:6.74 [[ 1.55517223e-01 -9.87829042e-01 -2.85971033e-03 9.30094981e+02] [ 9.87670782e-01 1.55543496e-01 -1.76818362e-02 1.13312220e+02] [ 1.79114406e-02 -7.46222717e-05 9.99839574e-01 6.74476499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1792541539999 meters 0.014246271510476709 Centerline is valid? [True, True] Translation: X:930.10, Y:113.34, Z:6.75 [[ 1.55545391e-01 -9.87824581e-01 -2.86859627e-03 9.30099614e+02] [ 9.87664771e-01 1.55571825e-01 -1.77681657e-02 1.13339692e+02] [ 1.79981036e-02 -6.94551963e-05 9.99838019e-01 6.74508261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2092541539998 meters 0.014113919716269916 Centerline is valid? [True, True] Translation: X:930.10, Y:113.37, Z:6.75 [[ 1.56442161e-01 -9.87682909e-01 -2.88470297e-03 9.30103331e+02] [ 9.87520693e-01 1.56468747e-01 -1.79000550e-02 1.13367618e+02] [ 1.81309442e-02 -4.83806065e-05 9.99835620e-01 6.74580448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2392541539998 meters 0.015363367240422596 Centerline is valid? [True, True] Translation: X:930.11, Y:113.40, Z:6.75 [[ 1.56614408e-01 -9.87655391e-01 -2.95887898e-03 9.30107521e+02] [ 9.87484088e-01 1.56642351e-01 -1.83942617e-02 1.13395010e+02] [ 1.86306775e-02 -4.10394972e-05 9.99826433e-01 6.74596616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2692541539999 meters 0.015968178703138346 Centerline is valid? [True, True] Translation: X:930.11, Y:113.42, Z:6.75 [[ 1.57809552e-01 -9.87464921e-01 -3.02891558e-03 9.30111441e+02] [ 9.87284709e-01 1.57838616e-01 -1.88646365e-02 1.13422443e+02] [ 1.91062466e-02 -1.33822067e-05 9.99817459e-01 6.74628600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2992541539999 meters 0.016012239066829848 Centerline is valid? [True, True] Translation: X:930.12, Y:113.45, Z:6.75 [[ 1.58160348e-01 -9.87408822e-01 -3.02045696e-03 9.30115394e+02] [ 9.87229058e-01 1.58189187e-01 -1.88406185e-02 1.13449113e+02] [ 1.90811965e-02 -2.04410113e-06 9.99817937e-01 6.74609328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3292541539998 meters 0.01403795369174681 Centerline is valid? [True, True] Translation: X:930.12, Y:113.48, Z:6.75 [[ 1.58954334e-01 -9.87281926e-01 -2.81395335e-03 9.30119319e+02] [ 9.87125384e-01 1.58979238e-01 -1.75805884e-02 1.13476674e+02] [ 1.78043573e-02 1.67859270e-05 9.99841490e-01 6.74676504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3592541539998 meters 0.014002992205734754 Centerline is valid? [True, True] Translation: X:930.12, Y:113.50, Z:6.75 [[ 1.58673338e-01 -9.87327164e-01 -2.80041567e-03 9.30123917e+02] [ 9.87171570e-01 1.58698047e-01 -1.75277278e-02 1.13504011e+02] [ 1.77500223e-02 1.66923498e-05 9.99842456e-01 6.74700150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3892541539999 meters 0.015916591307654472 Centerline is valid? [True, True] Translation: X:930.13, Y:113.53, Z:6.75 [[ 1.57877406e-01 -9.87454456e-01 -2.90220760e-03 9.30129547e+02] [ 9.87286729e-01 1.57904079e-01 -1.81993827e-02 1.13531028e+02] [ 1.84293320e-02 7.96029017e-06 9.99830165e-01 6.74684276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4192541539999 meters 0.015961000256053952 Centerline is valid? [True, True] Translation: X:930.13, Y:113.56, Z:6.75 [[ 1.57640304e-01 -9.87492550e-01 -2.82827748e-03 9.30133973e+02] [ 9.87332665e-01 1.57665673e-01 -1.77691843e-02 1.13557458e+02] [ 1.79928594e-02 8.68886971e-06 9.99838115e-01 6.74628435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4492541539998 meters 0.014036938201993322 Centerline is valid? [True, True] Translation: X:930.14, Y:113.58, Z:6.75 [[ 1.58545229e-01 -9.87348043e-01 -2.69300552e-03 9.30138042e+02] [ 9.87202541e-01 1.58568097e-01 -1.69500047e-02 1.13584862e+02] [ 1.71625788e-02 2.88005013e-05 9.99852712e-01 6.74912795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4792541539998 meters 0.014799805078560086 Centerline is valid? [True, True] Translation: X:930.14, Y:113.61, Z:6.75 [[ 1.58621602e-01 -9.87335723e-01 -2.71245286e-03 9.30142068e+02] [ 9.87187570e-01 1.58644788e-01 -1.71035863e-02 1.13612812e+02] [ 1.73172982e-02 3.52985009e-05 9.99850044e-01 6.74939390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5092541539999 meters 0.014116233105717866 Centerline is valid? [True, True] Translation: X:930.14, Y:113.64, Z:6.75 [[ 1.60556668e-01 -9.87023312e-01 -2.55677532e-03 9.30143929e+02] [ 9.86891155e-01 1.60577009e-01 -1.61515440e-02 1.13639501e+02] [ 1.63525098e-02 6.99791486e-05 9.99866286e-01 6.74972202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5392541539999 meters 0.015718865743564396 Centerline is valid? [True, True] Translation: X:930.15, Y:113.67, Z:6.75 [[ 1.60865672e-01 -9.86972597e-01 -2.70704249e-03 9.30147389e+02] [ 9.86823879e-01 1.60888425e-01 -1.71332244e-02 1.13667730e+02] [ 1.73455547e-02 8.47734805e-05 9.99849551e-01 6.74932909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5692541539999 meters 0.01439102762106965 Centerline is valid? [True, True] Translation: X:930.15, Y:113.70, Z:6.75 [[ 1.63291654e-01 -9.86574507e-01 -2.56467717e-03 9.30150164e+02] [ 9.86440490e-01 1.63311745e-01 -1.62613959e-02 1.13695736e+02] [ 1.64619205e-02 1.25448823e-04 9.99864486e-01 6.75075196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5992541539998 meters 0.014726642698704856 Centerline is valid? [True, True] Translation: X:930.15, Y:113.72, Z:6.75 [[ 1.64141765e-01 -9.86433253e-01 -2.63029475e-03 9.30152787e+02] [ 9.86291723e-01 1.64162771e-01 -1.67099578e-02 1.13722822e+02] [ 1.69150545e-02 1.48564023e-04 9.99856919e-01 6.74982745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6292541539999 meters 0.014810945085796777 Centerline is valid? [True, True] Translation: X:930.16, Y:113.75, Z:6.75 [[ 1.66019751e-01 -9.86118612e-01 -2.74341847e-03 9.30156194e+02] [ 9.85964025e-01 1.66042303e-01 -1.74612249e-02 1.13750997e+02] [ 1.76743623e-02 1.93996277e-04 9.99843777e-01 6.74999824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6592541539999 meters 0.014819421944535319 Centerline is valid? [True, True] Translation: X:930.16, Y:113.78, Z:6.75 [[ 1.66750035e-01 -9.85995430e-01 -2.72722876e-03 9.30160513e+02] [ 9.85842084e-01 1.66772202e-01 -1.73901673e-02 1.13779236e+02] [ 1.76014514e-02 2.11194120e-04 9.99845060e-01 6.75059998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6892541539999 meters 0.015890105479115863 Centerline is valid? [True, True] Translation: X:930.16, Y:113.81, Z:6.75 [[ 1.67392807e-01 -9.85886178e-01 -2.84460944e-03 9.30161596e+02] [ 9.85718728e-01 1.67416807e-01 -1.81714660e-02 1.13807012e+02] [ 1.83912326e-02 2.37787904e-04 9.99830839e-01 6.74827997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7192541539998 meters 0.015167425364355067 Centerline is valid? [True, True] Translation: X:930.17, Y:113.83, Z:6.75 [[ 1.67086385e-01 -9.85938115e-01 -2.85879158e-03 9.30167696e+02] [ 9.85768392e-01 1.67110670e-01 -1.82948707e-02 1.13834607e+02] [ 1.85153449e-02 2.38717432e-04 9.99828548e-01 6.74948529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7492541539999 meters 0.015338584708111301 Centerline is valid? [True, True] Translation: X:930.17, Y:113.86, Z:6.75 [[ 1.64870326e-01 -9.86310988e-01 -2.90009824e-03 9.30173580e+02] [ 9.86135729e-01 1.64895702e-01 -1.85938540e-02 1.13861684e+02] [ 1.88175362e-02 2.05684274e-04 9.99822913e-01 6.74987940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7792541539999 meters 0.01463550284796933 Centerline is valid? [True, True] Translation: X:930.18, Y:113.89, Z:6.75 [[ 1.63062455e-01 -9.86611816e-01 -2.78564358e-03 9.30179269e+02] [ 9.86449566e-01 1.63086159e-01 -1.78930012e-02 1.13889337e+02] [ 1.81077463e-02 1.69779799e-04 9.99836027e-01 6.75046878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8092541539999 meters 0.014267864938752322 Centerline is valid? [True, True] Translation: X:930.19, Y:113.92, Z:6.75 [[ 1.60568601e-01 -9.87020810e-01 -2.76507491e-03 9.30185626e+02] [ 9.86860400e-01 1.60592356e-01 -1.77945802e-02 1.13916620e+02] [ 1.80076708e-02 1.28507908e-04 9.99837840e-01 6.75116845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8392541539998 meters 0.01396598812978915 Centerline is valid? [True, True] Translation: X:930.19, Y:113.94, Z:6.75 [[ 1.55094021e-01 -9.87896032e-01 -2.69728262e-03 9.30194067e+02] [ 9.87742935e-01 1.55117470e-01 -1.73914991e-02 1.13943089e+02] [ 1.75993886e-02 3.30956717e-05 9.99845118e-01 6.75186967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8692541539998 meters 0.016327993346554256 Centerline is valid? [True, True] Translation: X:930.20, Y:113.97, Z:6.75 [[ 1.51336649e-01 -9.88478354e-01 -2.78593266e-03 9.30201292e+02] [ 9.88314492e-01 1.51362287e-01 -1.79978594e-02 1.13970596e+02] [ 1.82121796e-02 -2.96418990e-05 9.99834144e-01 6.75102290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8992541539999 meters 0.015056896712988864 Centerline is valid? [True, True] Translation: X:930.21, Y:114.00, Z:6.75 [[ 1.45490786e-01 -9.89355943e-01 -2.69260483e-03 9.30209691e+02] [ 9.89202484e-01 1.45515643e-01 -1.74253434e-02 1.13997477e+02] [ 1.76316832e-02 -1.28304469e-04 9.99844542e-01 6.75249497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9292541539999 meters 0.01450381418995534 Centerline is valid? [True, True] Translation: X:930.22, Y:114.02, Z:6.75 [[ 1.42662380e-01 -9.89768004e-01 -2.59696367e-03 9.30215828e+02] [ 9.89624810e-01 1.42685916e-01 -1.68364183e-02 1.14024928e+02] [ 1.70346983e-02 -1.68096168e-04 9.99854885e-01 6.75325340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9592541539998 meters 0.01653287859824429 Centerline is valid? [True, True] Translation: X:930.22, Y:114.05, Z:6.75 [[ 1.37240789e-01 -9.90534216e-01 -2.63296603e-03 9.30223849e+02] [ 9.90386608e-01 1.37265796e-01 -1.71017134e-02 1.14051438e+02] [ 1.73012484e-02 -2.60601657e-04 9.99850288e-01 6.75283823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9892541539998 meters 0.015658485570832152 Centerline is valid? [True, True] Translation: X:930.23, Y:114.08, Z:6.75 [[ 1.35707537e-01 -9.90745765e-01 -2.50887251e-03 9.30229115e+02] [ 9.90611287e-01 1.35730458e-01 -1.63254925e-02 1.14079136e+02] [ 1.65149430e-02 -2.69825041e-04 9.99863583e-01 6.75405740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0192541539999 meters 0.016004780634578487 Centerline is valid? [True, True] Translation: X:930.23, Y:114.11, Z:6.75 [[ 1.34129183e-01 -9.90960771e-01 -2.47256156e-03 9.30234439e+02] [ 9.90829732e-01 1.34151661e-01 -1.61174849e-02 1.14105752e+02] [ 1.63034935e-02 -2.88062430e-04 9.99867048e-01 6.75468702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0492541539999 meters 0.016004780634578487 Centerline is valid? [True, True] Translation: X:930.24, Y:114.13, Z:6.75 [[ 1.33852606e-01 -9.90998177e-01 -2.46825008e-03 9.30238541e+02] [ 9.90867133e-01 1.33875051e-01 -1.61181455e-02 1.14133044e+02] [ 1.63034899e-02 -2.88252108e-04 9.99867048e-01 6.75487753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0792541539998 meters 0.016285551422474044 Centerline is valid? [True, True] Translation: X:930.24, Y:114.16, Z:6.76 [[ 1.32792483e-01 -9.91141040e-01 -2.36533729e-03 9.30243655e+02] [ 9.91020277e-01 1.32813232e-01 -1.54743370e-02 1.14160284e+02] [ 1.56513986e-02 -2.89221580e-04 9.99877468e-01 6.75571977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1092541539998 meters 0.01662232271848781 Centerline is valid? [True, True] Translation: X:930.25, Y:114.19, Z:6.76 [[ 1.34065604e-01 -9.90969430e-01 -2.44999965e-03 9.30246792e+02] [ 9.90839422e-01 1.34087706e-01 -1.60538565e-02 1.14186876e+02] [ 1.62373958e-02 -2.75286277e-04 9.99868127e-01 6.75527484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1392541539999 meters 0.015726453502137774 Centerline is valid? [True, True] Translation: X:930.25, Y:114.21, Z:6.76 [[ 1.35550987e-01 -9.90767231e-01 -2.49470090e-03 9.30248238e+02] [ 9.90631943e-01 1.35573708e-01 -1.63744500e-02 1.14214610e+02] [ 1.65614844e-02 -2.51757524e-04 9.99862818e-01 6.75611769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1692541539999 meters 0.016994421561647773 Centerline is valid? [True, True] Translation: X:930.25, Y:114.24, Z:6.75 [[ 1.39720970e-01 -9.90186897e-01 -2.82137100e-03 9.30248709e+02] [ 9.90013053e-01 1.39749309e-01 -1.85549239e-02 1.14242708e+02] [ 1.87671272e-02 -2.00682149e-04 9.99823862e-01 6.75414803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1992541539998 meters 0.014385784519378627 Centerline is valid? [True, True] Translation: X:930.25, Y:114.27, Z:6.75 [[ 1.42999827e-01 -9.89718652e-01 -2.83525173e-03 9.30249943e+02] [ 9.89542340e-01 1.43027869e-01 -1.86811489e-02 1.14271252e+02] [ 1.88946015e-02 -1.34200564e-04 9.99821472e-01 6.75424501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2292541539998 meters 0.014139538554473469 Centerline is valid? [True, True] Translation: X:930.25, Y:114.30, Z:6.75 [[ 1.49203062e-01 -9.88801762e-01 -3.08565934e-03 9.30248586e+02] [ 9.88591912e-01 1.49234965e-01 -2.03704793e-02 1.14299971e+02] [ 2.06028541e-02 -1.11199898e-05 9.99787739e-01 6.75275422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2592541539999 meters 0.015234912996679013 Centerline is valid? [True, True] Translation: X:930.25, Y:114.33, Z:6.75 [[ 1.51576669e-01 -9.88440067e-01 -3.27837000e-03 9.30250034e+02] [ 9.88202153e-01 1.51612111e-01 -2.16857865e-02 1.14326768e+02] [ 2.19321408e-02 4.73669937e-05 9.99759461e-01 6.75153844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2892541539999 meters 0.01461614490106083 Centerline is valid? [True, True] Translation: X:930.25, Y:114.35, Z:6.75 [[ 1.57840491e-01 -9.87459271e-01 -3.25078931e-03 9.30249292e+02] [ 9.87224234e-01 1.57873847e-01 -2.15443601e-02 1.14354921e+02] [ 2.17873928e-02 1.91314393e-04 9.99762608e-01 6.75256573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3192541539999 meters 0.016905203092960275 Centerline is valid? [True, True] Translation: X:930.25, Y:114.38, Z:6.75 [[ 1.59431694e-01 -9.87203543e-01 -3.27113559e-03 9.30252698e+02] [ 9.86964612e-01 1.59465076e-01 -2.17196837e-02 1.14383236e+02] [ 2.19633806e-02 2.34310895e-04 9.99758748e-01 6.75345434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3492541539998 meters 0.015323512661338997 Centerline is valid? [True, True] Translation: X:930.25, Y:114.41, Z:6.76 [[ 1.63261326e-01 -9.86578756e-01 -2.84561651e-03 9.30252833e+02] [ 9.86397168e-01 1.63285878e-01 -1.89301182e-02 1.14410955e+02] [ 1.91407015e-02 2.83648143e-04 9.99816760e-01 6.75587347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3792541539999 meters 0.015692125935479345 Centerline is valid? [True, True] Translation: X:930.26, Y:114.44, Z:6.76 [[ 1.64405449e-01 -9.86389236e-01 -2.66912285e-03 9.30255409e+02] [ 9.86228840e-01 1.64426855e-01 -1.77900134e-02 1.14438501e+02] [ 1.79867532e-02 2.92409207e-04 9.99838183e-01 6.75675644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4092541539999 meters 0.015556462064146803 Centerline is valid? [True, True] Translation: X:930.26, Y:114.47, Z:6.76 [[ 1.65239039e-01 -9.86250633e-01 -2.39749770e-03 9.30258492e+02] [ 9.86120730e-01 1.65256192e-01 -1.60092455e-02 1.14466537e+02] [ 1.61853299e-02 2.81130164e-04 9.99868969e-01 6.75859046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4392541539999 meters 0.01553702332906953 Centerline is valid? [True, True] Translation: X:930.26, Y:114.49, Z:6.76 [[ 1.65412372e-01 -9.86221925e-01 -2.25003083e-03 9.30262131e+02] [ 9.86107073e-01 1.65427452e-01 -1.50531767e-02 1.14494442e+02] [ 1.52179898e-02 2.71210355e-04 9.99884163e-01 6.75917161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4692541539998 meters 0.016509207870828123 Centerline is valid? [True, True] Translation: X:930.27, Y:114.52, Z:6.76 [[ 1.65123522e-01 -9.86270655e-01 -2.10181302e-03 9.30266180e+02] [ 9.86170059e-01 1.65136704e-01 -1.40884263e-02 1.14522546e+02] [ 1.42420879e-02 2.53585501e-04 9.99898544e-01 6.75944941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4992541539999 meters 0.015500567865405166 Centerline is valid? [True, True] Translation: X:930.27, Y:114.55, Z:6.76 [[ 1.65532545e-01 -9.86202236e-01 -2.03116147e-03 9.30269828e+02] [ 9.86107905e-01 1.65544809e-01 -1.36424010e-02 1.14549904e+02] [ 1.37904146e-02 2.55316980e-04 9.99904875e-01 6.76046244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5292541539999 meters 0.017103401925954692 Centerline is valid? [True, True] Translation: X:930.27, Y:114.58, Z:6.76 [[ 1.65919734e-01 -9.86136723e-01 -2.23708166e-03 9.30272861e+02] [ 9.86021808e-01 1.65934557e-01 -1.50571135e-02 1.14578513e+02] [ 1.52195817e-02 2.92460968e-04 9.99884133e-01 6.75852895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5592541539999 meters 0.018867042701522178 Centerline is valid? [True, True] Translation: X:930.27, Y:114.61, Z:6.76 [[ 1.66568547e-01 -9.86026915e-01 -2.41696154e-03 9.30273498e+02] [ 9.85892253e-01 1.66585751e-01 -1.62988522e-02 1.14605918e+02] [ 1.64737383e-02 3.32012470e-04 9.99864244e-01 6.75648212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5892541539998 meters 0.016354876752852122 Centerline is valid? [True, True] Translation: X:930.28, Y:114.63, Z:6.76 [[ 1.67654283e-01 -9.85842660e-01 -2.50833052e-03 9.30278762e+02] [ 9.85697059e-01 1.67672640e-01 -1.69467643e-02 1.14634025e+02] [ 1.71274216e-02 3.68743593e-04 9.99853247e-01 6.75789465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6192541539998 meters 0.017064439644750677 Centerline is valid? [True, True] Translation: X:930.28, Y:114.66, Z:6.76 [[ 1.69112377e-01 -9.85592784e-01 -2.80516485e-03 9.30280405e+02] [ 9.85410170e-01 1.69135055e-01 -1.89770833e-02 1.14660982e+02] [ 1.91781281e-02 4.45021698e-04 9.99815984e-01 6.75571653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6492541539999 meters 0.017143899145946124 Centerline is valid? [True, True] Translation: X:930.28, Y:114.69, Z:6.75 [[ 1.69356811e-01 -9.85550375e-01 -2.95440856e-03 9.30284065e+02] [ 9.85347180e-01 1.69381902e-01 -2.00176649e-02 1.14689062e+02] [ 2.02288405e-02 4.79009756e-04 9.99795261e-01 6.75479358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6792541539999 meters 0.018460458025668893 Centerline is valid? [True, True] Translation: X:930.29, Y:114.72, Z:6.75 [[ 1.67780132e-01 -9.85819112e-01 -3.24128794e-03 9.30288637e+02] [ 9.85573565e-01 1.67810699e-01 -2.20072091e-02 1.14715428e+02] [ 2.22390501e-02 4.97844733e-04 9.99752558e-01 6.75204522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7092541539998 meters 0.01698924129125117 Centerline is valid? [True, True] Translation: X:930.29, Y:114.74, Z:6.75 [[ 1.66311376e-01 -9.86067931e-01 -3.24984763e-03 9.30294114e+02] [ 9.85820146e-01 1.66342452e-01 -2.21094539e-02 1.14743308e+02] [ 2.23420111e-02 4.73288444e-04 9.99750274e-01 6.75301949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7392541539998 meters 0.0167464442583473 Centerline is valid? [True, True] Translation: X:930.30, Y:114.77, Z:6.75 [[ 1.60097785e-01 -9.87095999e-01 -3.19183990e-03 9.30304302e+02] [ 9.86856474e-01 1.60129256e-01 -2.17467705e-02 1.14770494e+02] [ 2.19772571e-02 3.31721927e-04 9.99758416e-01 6.75284960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7692541539999 meters 0.016068151263219716 Centerline is valid? [True, True] Translation: X:930.31, Y:114.80, Z:6.75 [[ 1.56065004e-01 -9.87741845e-01 -3.12431444e-03 9.30312081e+02] [ 9.87511693e-01 1.56096086e-01 -2.13229696e-02 1.14797269e+02] [ 2.15492826e-02 2.42472292e-04 9.99767758e-01 6.75419568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7992541539999 meters 0.013893682427132622 Centerline is valid? [True, True] Translation: X:930.32, Y:114.82, Z:6.76 [[ 1.47206067e-01 -9.89102111e-01 -2.71819985e-03 9.30324297e+02] [ 9.88927505e-01 1.47231154e-01 -1.85843386e-02 1.14824315e+02] [ 1.87820122e-02 4.76247993e-05 9.99823601e-01 6.75798339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8292541539998 meters 0.015699151582927406 Centerline is valid? [True, True] Translation: X:930.33, Y:114.85, Z:6.76 [[ 1.41519791e-01 -9.89932154e-01 -2.54541467e-03 9.30332439e+02] [ 9.89778542e-01 1.41542671e-01 -1.74387325e-02 1.14849895e+02] [ 1.76234468e-02 -5.14710362e-05 9.99844694e-01 6.75818122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8592541539998 meters 0.014816801194638617 Centerline is valid? [True, True] Translation: X:930.34, Y:114.88, Z:6.76 [[ 1.32163607e-01 -9.91225526e-01 -2.17674569e-03 9.30343897e+02] [ 9.91112918e-01 1.32181405e-01 -1.49419063e-02 1.14876488e+02] [ 1.50985242e-02 -1.82624538e-04 9.99885994e-01 6.76190874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8892541539999 meters 0.01979290638417016 Centerline is valid? [True, True] Translation: X:930.36, Y:114.90, Z:6.76 [[ 1.22300401e-01 -9.92490707e-01 -2.19281965e-03 9.30356699e+02] [ 9.92376210e-01 1.22319607e-01 -1.50788634e-02 1.14901323e+02] [ 1.52338566e-02 -3.31951013e-04 9.99883903e-01 6.76099855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9192541539999 meters 0.021104929174930922 Centerline is valid? [True, True] Translation: X:930.36, Y:114.93, Z:6.76 [[ 1.18103288e-01 -9.92998814e-01 -2.22924112e-03 9.30364030e+02] [ 9.92880147e-01 1.18123649e-01 -1.53563680e-02 1.14928775e+02] [ 1.55121813e-02 -3.99731705e-04 9.99879599e-01 6.76096616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9492541539998 meters 0.022341760555027054 Centerline is valid? [True, True] Translation: X:930.37, Y:114.95, Z:6.76 [[ 1.11451114e-01 -9.93767153e-01 -2.34415857e-03 9.30372737e+02] [ 9.93635633e-01 1.11474521e-01 -1.61759297e-02 1.14953903e+02] [ 1.63364215e-02 -5.26414098e-04 9.99866413e-01 6.76139871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9792541539998 meters 0.019407461755589956 Centerline is valid? [True, True] Translation: X:930.37, Y:114.98, Z:6.76 [[ 1.08174716e-01 -9.94128931e-01 -2.42869192e-03 9.30371827e+02] [ 9.93987329e-01 1.08200325e-01 -1.67892380e-02 1.14982810e+02] [ 1.69534524e-02 -5.97917939e-04 9.99856101e-01 6.76277931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0092541539999 meters 0.021400028021856105 Centerline is valid? [True, True] Translation: X:930.38, Y:115.01, Z:6.76 [[ 1.05367705e-01 -9.94430160e-01 -2.51051630e-03 9.30378257e+02] [ 9.94278326e-01 1.05395518e-01 -1.73895402e-02 1.15009956e+02] [ 1.75572804e-02 -6.63856010e-04 9.99845639e-01 6.76178085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0392541539999 meters 0.022199396957406168 Centerline is valid? [True, True] Translation: X:930.38, Y:115.04, Z:6.76 [[ 1.00906147e-01 -9.94892287e-01 -2.69937239e-03 9.30381806e+02] [ 9.94716184e-01 1.00939118e-01 -1.87351926e-02 1.15038299e+02] [ 1.89119709e-02 -7.94613307e-04 9.99820837e-01 6.76162002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0692541539999 meters 0.022181075871544338 Centerline is valid? [True, True] Translation: X:930.38, Y:115.07, Z:6.76 [[ 9.87824433e-02 -9.95105280e-01 -2.74064270e-03 9.30384459e+02] [ 9.94923125e-01 9.88168491e-02 -1.90579819e-02 1.15067096e+02] [ 1.92355201e-02 -8.44134783e-04 9.99814624e-01 6.76180792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0992541539998 meters 0.02357065156885056 Centerline is valid? [True, True] Translation: X:930.39, Y:115.10, Z:6.76 [[ 9.70991968e-02 -9.95270629e-01 -2.84984290e-03 9.30387347e+02] [ 9.95072934e-01 9.71367682e-02 -1.98571168e-02 1.15095090e+02] [ 2.00400297e-02 -9.07691441e-04 9.99798766e-01 6.76124670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1292541539999 meters 0.0237184796296296 Centerline is valid? [True, True] Translation: X:930.39, Y:115.12, Z:6.76 [[ 9.68608542e-02 -9.95293797e-01 -2.86911713e-03 9.30390733e+02] [ 9.95092571e-01 9.68990223e-02 -2.00338509e-02 1.15121835e+02] [ 2.02175822e-02 -9.14541229e-04 9.99795186e-01 6.76222904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1592541539999 meters 0.02524496871930882 Centerline is valid? [True, True] Translation: X:930.39, Y:115.15, Z:6.76 [[ 9.72111973e-02 -9.95259347e-01 -2.96902471e-03 9.30393078e+02] [ 9.95042949e-01 9.72520340e-02 -2.07742883e-02 1.15149524e+02] [ 2.09645483e-02 -9.34813668e-04 9.99779783e-01 6.76160358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1892541539999 meters 0.021702467569490704 Centerline is valid? [True, True] Translation: X:930.39, Y:115.18, Z:6.76 [[ 1.00843566e-01 -9.94898629e-01 -2.70044577e-03 9.30388047e+02] [ 9.94718785e-01 1.00876724e-01 -1.89321110e-02 1.15178401e+02] [ 1.91079434e-02 -7.77002552e-04 9.99817125e-01 6.76371776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2192541539998 meters 0.02217237709023675 Centerline is valid? [True, True] Translation: X:930.39, Y:115.21, Z:6.76 [[ 1.03037636e-01 -9.94674084e-01 -2.59079094e-03 9.30388513e+02] [ 9.94507837e-01 1.03067816e-01 -1.81985355e-02 1.15207288e+02] [ 1.83686388e-02 -7.01427812e-04 9.99831036e-01 6.76398343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2492541539999 meters 0.020989459009337547 Centerline is valid? [True, True] Translation: X:930.38, Y:115.24, Z:6.76 [[ 1.09816761e-01 -9.93949025e-01 -2.36942027e-03 9.30384447e+02] [ 9.93809244e-01 1.09841072e-01 -1.66770758e-02 1.15235156e+02] [ 1.68364229e-02 -5.23329325e-04 9.99858120e-01 6.76494535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2792541539999 meters 0.019205974315901667 Centerline is valid? [True, True] Translation: X:930.38, Y:115.26, Z:6.77 [[ 1.13808097e-01 -9.93500251e-01 -2.22880601e-03 9.30382028e+02] [ 9.93375991e-01 1.13829125e-01 -1.57184634e-02 1.15264562e+02] [ 1.58700004e-02 -4.25153969e-04 9.99873973e-01 6.76583879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3092541539999 meters 0.016938005063467463 Centerline is valid? [True, True] Translation: X:930.37, Y:115.29, Z:6.77 [[ 1.23353892e-01 -9.92360435e-01 -2.14126341e-03 9.30374971e+02] [ 9.92245095e-01 1.23372205e-01 -1.51317503e-02 1.15292463e+02] [ 1.52803227e-02 -2.58097829e-04 9.99883216e-01 6.76603031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3392541539998 meters 0.01317802526058485 Centerline is valid? [True, True] Translation: X:930.37, Y:115.32, Z:6.77 [[ 1.34750738e-01 -9.90877500e-01 -2.00457492e-03 9.30366131e+02] [ 9.90775823e-01 1.34765628e-01 -1.41948649e-02 1.15321946e+02] [ 1.43355201e-02 -7.33158350e-05 9.99897238e-01 6.76743912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3692541539998 meters 0.013387336736838526 Centerline is valid? [True, True] Translation: X:930.36, Y:115.35, Z:6.77 [[ 1.39775133e-01 -9.90181231e-01 -2.01041721e-03 9.30363259e+02] [ 9.90078454e-01 1.39789591e-01 -1.42662134e-02 1.15349573e+02] [ 1.44071722e-02 3.59111558e-06 9.99896211e-01 6.76709507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3992541539999 meters 0.013434912006187986 Centerline is valid? [True, True] Translation: X:930.36, Y:115.38, Z:6.77 [[ 1.49450100e-01 -9.88767458e-01 -1.89270042e-03 9.30355140e+02] [ 9.88675879e-01 1.49462019e-01 -1.34577418e-02 1.15379894e+02] [ 1.35894640e-02 1.39993609e-04 9.99907649e-01 6.76712781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4292541539999 meters 0.015923016651345035 Centerline is valid? [True, True] Translation: X:930.35, Y:115.41, Z:6.77 [[ 1.52569899e-01 -9.88290840e-01 -1.90807923e-03 9.30353452e+02] [ 9.88197365e-01 1.52581713e-01 -1.35937130e-02 1.15407564e+02] [ 1.37256801e-02 1.88432555e-04 9.99905781e-01 6.76525155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4592541539998 meters 0.014462489263181128 Centerline is valid? [True, True] Translation: X:930.35, Y:115.44, Z:6.77 [[ 1.55379865e-01 -9.87853052e-01 -1.85630398e-03 9.30353992e+02] [ 9.87764208e-01 1.55390790e-01 -1.32503393e-02 1.15435673e+02] [ 1.33778407e-02 2.25245297e-04 9.99910487e-01 6.76694496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4892541539998 meters 0.015115546223963692 Centerline is valid? [True, True] Translation: X:930.35, Y:115.46, Z:6.77 [[ 1.57009212e-01 -9.87595387e-01 -1.85979325e-03 9.30353444e+02] [ 9.87505842e-01 1.57020024e-01 -1.33012450e-02 1.15463547e+02] [ 1.34282730e-02 2.51861287e-04 9.99909805e-01 6.76680346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5192541539999 meters 0.01879341972794772 Centerline is valid? [True, True] Translation: X:930.36, Y:115.49, Z:6.76 [[ 1.53714376e-01 -9.88113388e-01 -1.95524379e-03 9.30357657e+02] [ 9.88014055e-01 1.53726651e-01 -1.40123024e-02 1.15491510e+02] [ 1.41463166e-02 2.22083974e-04 9.99899911e-01 6.76388991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5492541539999 meters 0.016655301180133322 Centerline is valid? [True, True] Translation: X:930.36, Y:115.52, Z:6.76 [[ 1.50248795e-01 -9.88646242e-01 -1.97668452e-03 9.30362243e+02] [ 9.88544415e-01 1.50261692e-01 -1.41902810e-02 1.15518024e+02] [ 1.43261880e-02 1.78032179e-04 9.99897359e-01 6.76386500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5792541539998 meters 0.016655301180133322 Centerline is valid? [True, True] Translation: X:930.37, Y:115.55, Z:6.76 [[ 1.49969433e-01 -9.88688664e-01 -1.97329946e-03 9.30365963e+02] [ 9.88586834e-01 1.49982310e-01 -1.41907519e-02 1.15545348e+02] [ 1.43261956e-02 1.77401165e-04 9.99897359e-01 6.76405562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6092541539998 meters 0.01582663255904923 Centerline is valid? [True, True] Translation: X:930.37, Y:115.57, Z:6.76 [[ 1.46622651e-01 -9.89190319e-01 -2.07634155e-03 9.30371260e+02] [ 9.89077141e-01 1.46637285e-01 -1.49637982e-02 1.15573053e+02] [ 1.51065134e-02 1.40369807e-04 9.99885880e-01 6.76371900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6392541539999 meters 0.016392898057797096 Centerline is valid? [True, True] Translation: X:930.38, Y:115.60, Z:6.76 [[ 1.45099404e-01 -9.89414669e-01 -2.18546472e-03 9.30375545e+02] [ 9.89288748e-01 1.45115805e-01 -1.57853120e-02 1.15599853e+02] [ 1.59353648e-02 1.28383714e-04 9.99873016e-01 6.76257422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6692541539999 meters 0.013695202729519155 Centerline is valid? [True, True] Translation: X:930.38, Y:115.63, Z:6.76 [[ 1.44152270e-01 -9.89552224e-01 -2.55332139e-03 9.30380819e+02] [ 9.89379628e-01 1.44174815e-01 -1.84817488e-02 1.15626729e+02] [ 1.86567802e-02 1.37981874e-04 9.99825938e-01 6.76275651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6992541539998 meters 0.017955057023983617 Centerline is valid? [True, True] Translation: X:930.39, Y:115.65, Z:6.76 [[ 1.42112233e-01 -9.89846867e-01 -2.70065066e-03 9.30386031e+02] [ 9.89653041e-01 1.42137848e-01 -1.95880222e-02 1.15654308e+02] [ 1.97730070e-02 1.10990434e-04 9.99804489e-01 6.75977994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7292541539998 meters 0.016745924343765643 Centerline is valid? [True, True] Translation: X:930.39, Y:115.68, Z:6.76 [[ 1.40972065e-01 -9.90009505e-01 -2.83835787e-03 9.30391037e+02] [ 9.89794502e-01 1.41000601e-01 -2.06319000e-02 1.15681285e+02] [ 2.08259873e-02 9.91305322e-05 9.99783111e-01 6.75976746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7592541539999 meters 0.015118986392522479 Centerline is valid? [True, True] Translation: X:930.40, Y:115.71, Z:6.76 [[ 1.38001725e-01 -9.90427836e-01 -2.86811021e-03 9.30398324e+02] [ 9.90207463e-01 1.38031519e-01 -2.08921159e-02 1.15709016e+02] [ 2.10880227e-02 4.31238880e-05 9.99777622e-01 6.76075699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7892541539999 meters 0.01876375221252863 Centerline is valid? [True, True] Translation: X:930.40, Y:115.74, Z:6.76 [[ 1.35186301e-01 -9.90816066e-01 -2.86127778e-03 9.30404276e+02] [ 9.90595901e-01 1.35216578e-01 -2.08863357e-02 1.15736955e+02] [ 2.10814092e-02 -1.08235661e-05 9.99777762e-01 6.76077000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8192541539999 meters 0.016675678847435094 Centerline is valid? [True, True] Translation: X:930.41, Y:115.76, Z:6.76 [[ 1.29836455e-01 -9.91532071e-01 -2.57825598e-03 9.30413188e+02] [ 9.91352708e-01 1.29862008e-01 -1.88591243e-02 1.15763978e+02] [ 1.90342441e-02 -1.07359194e-04 9.99818827e-01 6.76370897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8492541539998 meters 0.017818605123151844 Centerline is valid? [True, True] Translation: X:930.42, Y:115.79, Z:6.76 [[ 1.26640395e-01 -9.91945548e-01 -2.49820016e-03 9.30419963e+02] [ 9.91776510e-01 1.26664934e-01 -1.83125489e-02 1.15791847e+02] [ 1.84814857e-02 -1.58547807e-04 9.99829190e-01 6.76493281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8792541539999 meters 0.018419855815298897 Centerline is valid? [True, True] Translation: X:930.43, Y:115.82, Z:6.77 [[ 1.19829251e-01 -9.92791869e-01 -2.29229863e-03 9.30429614e+02] [ 9.92649112e-01 1.19850898e-01 -1.68375635e-02 1.15817912e+02] [ 1.69909302e-02 -2.57815568e-04 9.99855610e-01 6.76620848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9092541539999 meters 0.016231142948563367 Centerline is valid? [True, True] Translation: X:930.44, Y:115.84, Z:6.77 [[ 1.16679835e-01 -9.93167105e-01 -2.21749846e-03 9.30436495e+02] [ 9.93033046e-01 1.16700525e-01 -1.63204552e-02 1.15844314e+02] [ 1.64677225e-02 -2.97781234e-04 9.99864354e-01 6.76809173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9392541539999 meters 0.018503472064355035 Centerline is valid? [True, True] Translation: X:930.44, Y:115.87, Z:6.77 [[ 1.10185913e-01 -9.93908702e-01 -2.13444085e-03 9.30444514e+02] [ 9.93784112e-01 1.10205906e-01 -1.57416030e-02 1.15871341e+02] [ 1.58809442e-02 -3.86670514e-04 9.99873815e-01 6.76819723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9692541539998 meters 0.018503472064355035 Centerline is valid? [True, True] Translation: X:930.45, Y:115.90, Z:6.77 [[ 1.09900206e-01 -9.93940344e-01 -2.12988302e-03 9.30448150e+02] [ 9.93815748e-01 1.09920163e-01 -1.57422200e-02 1.15898694e+02] [ 1.58809447e-02 -3.86638060e-04 9.99873815e-01 6.76838768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9992541539999 meters 0.020271296528077683 Centerline is valid? [True, True] Translation: X:930.46, Y:115.93, Z:6.77 [[ 1.05307217e-01 -9.94437636e-01 -2.04391005e-03 9.30455447e+02] [ 9.94322491e-01 1.05326139e-01 -1.51389849e-02 1.15926063e+02] [ 1.52700535e-02 -4.38061364e-04 9.99883310e-01 6.76913691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0292541539999 meters 0.020284783852760887 Centerline is valid? [True, True] Translation: X:930.46, Y:115.95, Z:6.77 [[ 1.04132561e-01 -9.94561486e-01 -1.96485930e-03 9.30459869e+02] [ 9.94454651e-01 1.04150186e-01 -1.45837730e-02 1.15953661e+02] [ 1.47090994e-02 -4.35317839e-04 9.99891721e-01 6.76986323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0592541539999 meters 0.018008019509736045 Centerline is valid? [True, True] Translation: X:930.46, Y:115.98, Z:6.77 [[ 1.04112096e-01 -9.94563670e-01 -1.94349640e-03 9.30464968e+02] [ 9.94458689e-01 1.04129356e-01 -1.44566230e-02 1.15980335e+02] [ 1.45804071e-02 -4.27617558e-04 9.99893609e-01 6.77257287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0892541539998 meters 0.018558770531399493 Centerline is valid? [True, True] Translation: X:930.47, Y:116.01, Z:6.77 [[ 1.04319145e-01 -9.94541941e-01 -1.96064402e-03 9.30468163e+02] [ 9.94434613e-01 1.04336703e-01 -1.46168635e-02 1.16008616e+02] [ 1.47416509e-02 -4.24913575e-04 9.99891246e-01 6.77235639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1192541539998 meters 0.017127119667326246 Centerline is valid? [True, True] Translation: X:930.47, Y:116.04, Z:6.77 [[ 1.05594180e-01 -9.94407415e-01 -1.93969187e-03 9.30470734e+02] [ 9.94301898e-01 1.05611243e-01 -1.44914410e-02 1.16036637e+02] [ 1.46152496e-02 -3.98427474e-04 9.99893112e-01 6.77374002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1492541539999 meters 0.01941587313600793 Centerline is valid? [True, True] Translation: X:930.47, Y:116.07, Z:6.77 [[ 1.08505308e-01 -9.94093871e-01 -1.99354627e-03 9.30471972e+02] [ 9.93981896e-01 1.08523015e-01 -1.49246383e-02 1.16065333e+02] [ 1.50528371e-02 -3.62146425e-04 9.99886634e-01 6.77169054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1792541539999 meters 0.015775965303075738 Centerline is valid? [True, True] Translation: X:930.47, Y:116.09, Z:6.77 [[ 1.10805871e-01 -9.93840128e-01 -1.96464234e-03 9.30474011e+02] [ 9.93730892e-01 1.10822827e-01 -1.47382467e-02 1.16093380e+02] [ 1.48651881e-02 -3.19241524e-04 9.99889456e-01 6.77442858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2092541539998 meters 0.018681492933364484 Centerline is valid? [True, True] Translation: X:930.48, Y:116.12, Z:6.77 [[ 1.12432302e-01 -9.93657381e-01 -1.99671885e-03 9.30476633e+02] [ 9.93544038e-01 1.12449641e-01 -1.50107460e-02 1.16121777e+02] [ 1.51400689e-02 -2.96135380e-04 9.99885339e-01 6.77232185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2392541539998 meters 0.016994067929155896 Centerline is valid? [True, True] Translation: X:930.48, Y:116.15, Z:6.77 [[ 1.17072677e-01 -9.93121394e-01 -1.97114079e-03 9.30477274e+02] [ 9.93010488e-01 1.17089064e-01 -1.48432223e-02 1.16148679e+02] [ 1.49719206e-02 -2.19627707e-04 9.99887890e-01 6.77312045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2692541539999 meters 0.017192752071356114 Centerline is valid? [True, True] Translation: X:930.48, Y:116.18, Z:6.77 [[ 1.21601730e-01 -9.92576875e-01 -2.04125942e-03 9.30476744e+02] [ 9.92457534e-01 1.21618763e-01 -1.53922135e-02 1.16176182e+02] [ 1.55262106e-02 -1.54143508e-04 9.99879449e-01 6.77249343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2992541539999 meters 0.014023601887034961 Centerline is valid? [True, True] Translation: X:930.48, Y:116.20, Z:6.77 [[ 1.23682116e-01 -9.92319927e-01 -1.97420730e-03 9.30477629e+02] [ 9.92207858e-01 1.23697818e-01 -1.49136288e-02 1.16204356e+02] [ 1.50432961e-02 -1.14274832e-04 9.99886837e-01 6.77467066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3292541539998 meters 0.013298169932212374 Centerline is valid? [True, True] Translation: X:930.48, Y:116.23, Z:6.78 [[ 1.25342660e-01 -9.92111615e-01 -1.93937204e-03 9.30479329e+02] [ 9.92002961e-01 1.25357635e-01 -1.46829731e-02 1.16232148e+02] [ 1.48102632e-02 -8.34599090e-05 9.99890319e-01 6.77507811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3592541539998 meters 0.015890043446652978 Centerline is valid? [True, True] Translation: X:930.48, Y:116.26, Z:6.77 [[ 1.28498889e-01 -9.91707719e-01 -1.95848780e-03 9.30480205e+02] [ 9.91596352e-01 1.28513809e-01 -1.48618943e-02 1.16259811e+02] [ 1.49903480e-02 -3.22924494e-05 9.99887638e-01 6.77218050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3892541539999 meters 0.015308110459677116 Centerline is valid? [True, True] Translation: X:930.48, Y:116.29, Z:6.77 [[ 1.29853714e-01 -9.91531342e-01 -1.90036669e-03 9.30482614e+02] [ 9.91425994e-01 1.29867619e-01 -1.44533857e-02 1.16287426e+02] [ 1.45777811e-02 -7.24711275e-06 9.99893738e-01 6.77351537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4192541539999 meters 0.015539163051950527 Centerline is valid? [True, True] Translation: X:930.48, Y:116.32, Z:6.77 [[ 1.34032089e-01 -9.90975340e-01 -1.80975594e-03 9.30482952e+02] [ 9.90879329e-01 1.34044295e-01 -1.37942774e-02 1.16315797e+02] [ 1.39123762e-02 5.56260715e-05 9.99903217e-01 6.77362570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4492541539998 meters 0.017588101065653516 Centerline is valid? [True, True] Translation: X:930.49, Y:116.34, Z:6.77 [[ 1.34997527e-01 -9.90844312e-01 -1.79364484e-03 9.30485410e+02] [ 9.90749570e-01 1.35009423e-01 -1.37020229e-02 1.16343613e+02] [ 1.38187305e-02 7.26863676e-05 9.99904514e-01 6.77292894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4792541539998 meters 0.01327074146438475 Centerline is valid? [True, True] Translation: X:930.49, Y:116.37, Z:6.78 [[ 1.36180823e-01 -9.90682654e-01 -1.63157538e-03 9.30487821e+02] [ 9.90603913e-01 1.36190570e-01 -1.24906143e-02 1.16371186e+02] [ 1.25964401e-02 8.47371807e-05 9.99920658e-01 6.77599080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5092541539999 meters 0.01646260617666026 Centerline is valid? [True, True] Translation: X:930.49, Y:116.40, Z:6.77 [[ 1.37286578e-01 -9.90530069e-01 -1.60573579e-03 9.30491484e+02] [ 9.90453443e-01 1.37295931e-01 -1.23208620e-02 1.16398366e+02] [ 1.24246453e-02 1.01082448e-04 9.99922806e-01 6.77370525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5392541539999 meters 0.013583045301253082 Centerline is valid? [True, True] Translation: X:930.49, Y:116.43, Z:6.78 [[ 1.38360591e-01 -9.90380756e-01 -1.51828229e-03 9.30494896e+02] [ 9.90311934e-01 1.38368876e-01 -1.16759301e-02 1.16426169e+02] [ 1.17736995e-02 1.11915524e-04 9.99930681e-01 6.77642151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5692541539999 meters 0.016537575214319634 Centerline is valid? [True, True] Translation: X:930.50, Y:116.45, Z:6.77 [[ 1.39512042e-01 -9.90219212e-01 -1.51730296e-03 9.30498433e+02] [ 9.90150155e-01 1.39520233e-01 -1.16950770e-02 1.16453275e+02] [ 1.17923844e-02 1.29246311e-04 9.99930459e-01 6.77432336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5992541539998 meters 0.014149322421246613 Centerline is valid? [True, True] Translation: X:930.50, Y:116.48, Z:6.78 [[ 1.40427271e-01 -9.90089983e-01 -1.41681756e-03 9.30501699e+02] [ 9.90029498e-01 1.40434354e-01 -1.09446797e-02 1.16480793e+02] [ 1.10351876e-02 1.34240319e-04 9.99939101e-01 6.77657207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6292541539999 meters 0.01574774963286267 Centerline is valid? [True, True] Translation: X:930.51, Y:116.51, Z:6.78 [[ 1.41281961e-01 -9.89968281e-01 -1.48643883e-03 9.30505859e+02] [ 9.89901408e-01 1.41289696e-01 -1.15075551e-02 1.16507581e+02] [ 1.16021331e-02 1.54382065e-04 9.99932681e-01 6.77506975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6592541539999 meters 0.014271253993517195 Centerline is valid? [True, True] Translation: X:930.51, Y:116.54, Z:6.78 [[ 1.41614530e-01 -9.89920776e-01 -1.47742450e-03 9.30510941e+02] [ 9.89854433e-01 1.41622145e-01 -1.14616419e-02 1.16535362e+02] [ 1.15553534e-02 1.60699833e-04 9.99933222e-01 6.77694039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6892541539999 meters 0.015801219880323278 Centerline is valid? [True, True] Translation: X:930.52, Y:116.56, Z:6.78 [[ 1.41967618e-01 -9.89870025e-01 -1.59008580e-03 9.30515210e+02] [ 9.89792812e-01 1.41976406e-01 -1.23648660e-02 1.16563035e+02] [ 1.24653649e-02 1.81555084e-04 9.99922288e-01 6.77553822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7192541539998 meters 0.014998729205863677 Centerline is valid? [True, True] Translation: X:930.52, Y:116.59, Z:6.78 [[ 1.42955830e-01 -9.89727634e-01 -1.68559366e-03 9.30521209e+02] [ 9.89640456e-01 1.42965613e-01 -1.31377693e-02 1.16590617e+02] [ 1.32437953e-02 2.09989029e-04 9.99912275e-01 6.77574282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7492541539999 meters 0.014963188777383571 Centerline is valid? [True, True] Translation: X:930.52, Y:116.62, Z:6.78 [[ 1.43449604e-01 -9.89656015e-01 -1.78423249e-03 9.30524857e+02] [ 9.89557901e-01 1.43460509e-01 -1.39370907e-02 1.16617578e+02] [ 1.40488926e-02 2.33668790e-04 9.99901282e-01 6.77510556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7792541539999 meters 0.015200445217108987 Centerline is valid? [True, True] Translation: X:930.53, Y:116.65, Z:6.77 [[ 1.44345265e-01 -9.89525386e-01 -1.98856900e-03 9.30529598e+02] [ 9.89402956e-01 1.44358691e-01 -1.55678992e-02 1.16645607e+02] [ 1.56918987e-02 2.79656487e-04 9.99876835e-01 6.77351680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8092541539999 meters 0.019557755864515535 Centerline is valid? [True, True] Translation: X:930.53, Y:116.67, Z:6.77 [[ 1.44270757e-01 -9.89535889e-01 -2.16162309e-03 9.30533997e+02] [ 9.89390547e-01 1.44286620e-01 -1.69622097e-02 1.16672918e+02] [ 1.70966086e-02 3.08461379e-04 9.99853795e-01 6.77006765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8392541539998 meters 0.01621684991710615 Centerline is valid? [True, True] Translation: X:930.54, Y:116.70, Z:6.77 [[ 1.45081983e-01 -9.89417619e-01 -1.99837292e-03 9.30539533e+02] [ 9.89292818e-01 1.45095428e-01 -1.57173843e-02 1.16699219e+02] [ 1.58410117e-02 3.03333292e-04 9.99874477e-01 6.77291801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8692541539998 meters 0.018590390033709416 Centerline is valid? [True, True] Translation: X:930.54, Y:116.73, Z:6.77 [[ 1.44889589e-01 -9.89445674e-01 -2.06533566e-03 9.30544720e+02] [ 9.89311737e-01 1.44903964e-01 -1.62827611e-02 1.16726668e+02] [ 1.64101829e-02 3.15941757e-04 9.99865294e-01 6.77180728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8992541539999 meters 0.016295092260199758 Centerline is valid? [True, True] Translation: X:930.55, Y:116.75, Z:6.77 [[ 1.45157416e-01 -9.89406824e-01 -1.86063723e-03 9.30549304e+02] [ 9.89297632e-01 1.45169044e-01 -1.47018336e-02 1.16753156e+02] [ 1.48162014e-02 2.93356176e-04 9.99890191e-01 6.77460196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9292541539999 meters 0.017123952208540995 Centerline is valid? [True, True] Translation: X:930.56, Y:116.78, Z:6.78 [[ 1.46031881e-01 -9.89278404e-01 -1.71171532e-03 9.30557252e+02] [ 9.89185563e-01 1.46041632e-01 -1.35559730e-02 1.16780813e+02] [ 1.36606130e-02 2.86400148e-04 9.99906648e-01 6.77546258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9592541539998 meters 0.01858105673907502 Centerline is valid? [True, True] Translation: X:930.56, Y:116.81, Z:6.78 [[ 1.48053914e-01 -9.88978133e-01 -1.51349692e-03 9.30561475e+02] [ 9.88905229e-01 1.48061382e-01 -1.20114521e-02 1.16807676e+02] [ 1.21031540e-02 2.81637489e-04 9.99926714e-01 6.77577987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9892541539998 meters 0.018402461404482758 Centerline is valid? [True, True] Translation: X:930.56, Y:116.83, Z:6.78 [[ 1.49727692e-01 -9.88726245e-01 -1.42473306e-03 9.30564590e+02] [ 9.88661365e-01 1.49734194e-01 -1.13303369e-02 1.16834703e+02] [ 1.14159327e-02 2.87886663e-04 9.99934795e-01 6.77694089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0192541539999 meters 0.01951577780430001 Centerline is valid? [True, True] Translation: X:930.57, Y:116.86, Z:6.78 [[ 1.50655022e-01 -9.88585382e-01 -1.41649268e-03 9.30569307e+02] [ 9.88520970e-01 1.50661381e-01 -1.12889068e-02 1.16863199e+02] [ 1.13734590e-02 3.00497788e-04 9.99935275e-01 6.77611990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0492541539999 meters 0.02205629031122726 Centerline is valid? [True, True] Translation: X:930.58, Y:116.89, Z:6.77 [[ 1.53315367e-01 -9.88175979e-01 -1.62273145e-03 9.30575213e+02] [ 9.88091025e-01 1.53323473e-01 -1.29630128e-02 1.16891123e+02] [ 1.30585407e-02 3.84022684e-04 9.99914660e-01 6.77443058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0792541539998 meters 0.020153162684297173 Centerline is valid? [True, True] Translation: X:930.58, Y:116.92, Z:6.77 [[ 1.55625487e-01 -9.87814712e-01 -1.67414042e-03 9.30581491e+02] [ 9.87723865e-01 1.55633891e-01 -1.34036884e-02 1.16918859e+02] [ 1.35009136e-02 4.32367092e-04 9.99908765e-01 6.77489081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1092541539998 meters 0.01983278655857953 Centerline is valid? [True, True] Translation: X:930.59, Y:116.95, Z:6.78 [[ 1.56419594e-01 -9.87689201e-01 -1.71833952e-03 9.30585407e+02] [ 9.87593169e-01 1.56428360e-01 -1.37804306e-02 1.16945543e+02] [ 1.38795795e-02 4.58508997e-04 9.99903569e-01 6.77563053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1392541539999 meters 0.022541023006533146 Centerline is valid? [True, True] Translation: X:930.59, Y:116.97, Z:6.77 [[ 1.55971498e-01 -9.87759750e-01 -1.88899994e-03 9.30591996e+02] [ 9.87643264e-01 1.55982130e-01 -1.51775477e-02 1.16972283e+02] [ 1.52864209e-02 5.01606784e-04 9.99883030e-01 6.77207811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1692541539999 meters 0.021526773150245117 Centerline is valid? [True, True] Translation: X:930.59, Y:117.00, Z:6.77 [[ 1.55380515e-01 -9.87852934e-01 -1.86432686e-03 9.30594454e+02] [ 9.87738922e-01 1.55390921e-01 -1.50160920e-02 1.16999341e+02] [ 1.51233900e-02 4.91739902e-04 9.99885514e-01 6.77415443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1992541539998 meters 0.019180851042953136 Centerline is valid? [True, True] Translation: X:930.60, Y:117.03, Z:6.77 [[ 1.52665000e-01 -9.88276130e-01 -1.92049033e-03 9.30602495e+02] [ 9.88154601e-01 1.52676357e-01 -1.55052959e-02 1.17026589e+02] [ 1.56167273e-02 4.69374633e-04 9.99877941e-01 6.77406920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2292541539998 meters 0.018579995370556233 Centerline is valid? [True, True] Translation: X:930.61, Y:117.05, Z:6.77 [[ 1.51212751e-01 -9.88499458e-01 -1.87760032e-03 9.30606129e+02] [ 9.88382792e-01 1.51223763e-01 -1.51930653e-02 1.17054428e+02] [ 1.53022746e-02 4.41597369e-04 9.99882816e-01 6.77423208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2592541539999 meters 0.01871538276735973 Centerline is valid? [True, True] Translation: X:930.61, Y:117.08, Z:6.77 [[ 1.49580659e-01 -9.88747811e-01 -1.84190859e-03 9.30609509e+02] [ 9.88635061e-01 1.49591428e-01 -1.49372130e-02 1.17082743e+02] [ 1.50446704e-02 4.13342742e-04 9.99886737e-01 6.77362171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2892541539999 meters 0.017439361102557307 Centerline is valid? [True, True] Translation: X:930.61, Y:117.11, Z:6.77 [[ 1.46230500e-01 -9.89248870e-01 -1.82022804e-03 9.30613645e+02] [ 9.89138319e-01 1.46241379e-01 -1.47934220e-02 1.17111008e+02] [ 1.49005687e-02 3.62792195e-04 9.99888915e-01 6.77420447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3192541539999 meters 0.020513489393644998 Centerline is valid? [True, True] Translation: X:930.62, Y:117.14, Z:6.77 [[ 1.44281510e-01 -9.89534979e-01 -1.83590365e-03 9.30617232e+02] [ 9.89422117e-01 1.44292789e-01 -1.49487518e-02 1.17138284e+02] [ 1.50572205e-02 3.40344810e-04 9.99886576e-01 6.77215641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3492541539998 meters 0.01820891234016602 Centerline is valid? [True, True] Translation: X:930.62, Y:117.17, Z:6.77 [[ 1.42308613e-01 -9.89821036e-01 -1.60496192e-03 9.30624646e+02] [ 9.89734494e-01 1.42317398e-01 -1.30915927e-02 1.17166478e+02] [ 1.31867479e-02 2.74560232e-04 9.99913013e-01 6.77478440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3792541539999 meters 0.016809140835578586 Centerline is valid? [True, True] Translation: X:930.63, Y:117.19, Z:6.78 [[ 1.42510656e-01 -9.89792307e-01 -1.37894089e-03 9.30625473e+02] [ 9.89728186e-01 1.42517123e-01 -1.12688374e-02 1.17193582e+02] [ 1.13503313e-02 2.41152748e-04 9.99935554e-01 6.77790399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4092541539999 meters 0.017557051064519383 Centerline is valid? [True, True] Translation: X:930.63, Y:117.22, Z:6.78 [[ 1.42594973e-01 -9.89780123e-01 -1.40802908e-03 9.30630070e+02] [ 9.89712989e-01 1.42601705e-01 -1.15305405e-02 1.17221687e+02] [ 1.16134871e-02 2.50652442e-04 9.99932530e-01 6.77669992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4392541539999 meters 0.01949114819126654 Centerline is valid? [True, True] Translation: X:930.63, Y:117.25, Z:6.77 [[ 1.44302758e-01 -9.89532302e-01 -1.59316349e-03 9.30629647e+02] [ 9.89445900e-01 1.44311217e-01 -1.30798615e-02 1.17249147e+02] [ 1.31728568e-02 3.11110996e-04 9.99913186e-01 6.77434522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4692541539998 meters 0.01950098562079286 Centerline is valid? [True, True] Translation: X:930.63, Y:117.28, Z:6.77 [[ 1.45140930e-01 -9.89409468e-01 -1.73657872e-03 9.30631252e+02] [ 9.89306314e-01 1.45150881e-01 -1.42912330e-02 1.17277269e+02] [ 1.43919472e-02 3.56234557e-04 9.99896367e-01 6.77357365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4992541539999 meters 0.019410900896283254 Centerline is valid? [True, True] Translation: X:930.63, Y:117.30, Z:6.77 [[ 1.47122579e-01 -9.89115982e-01 -2.12624892e-03 9.30631033e+02] [ 9.88960651e-01 1.47137169e-01 -1.75352268e-02 1.17304650e+02] [ 1.76572233e-02 4.77051269e-04 9.99843985e-01 6.77165567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5292541539999 meters 0.019410900896283254 Centerline is valid? [True, True] Translation: X:930.63, Y:117.33, Z:6.77 [[ 1.46842171e-01 -9.89157659e-01 -2.12182788e-03 9.30634269e+02] [ 9.89002325e-01 1.46856727e-01 -1.75357621e-02 1.17332056e+02] [ 1.76572380e-02 4.76496667e-04 9.99843985e-01 6.77184635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5592541539999 meters 0.019171301059407293 Centerline is valid? [True, True] Translation: X:930.64, Y:117.36, Z:6.77 [[ 1.47644121e-01 -9.89037843e-01 -2.31475155e-03 9.30636721e+02] [ 9.88852074e-01 1.47661269e-01 -1.91761662e-02 1.17360421e+02] [ 1.93077532e-02 5.42301319e-04 9.99813441e-01 6.77061932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5892541539998 meters 0.0206242895726489 Centerline is valid? [True, True] Translation: X:930.64, Y:117.39, Z:6.77 [[ 1.47915738e-01 -9.88997229e-01 -2.32705068e-03 9.30637432e+02] [ 9.88808643e-01 1.47932994e-01 -1.93209045e-02 1.17387487e+02] [ 1.94525686e-02 5.56858032e-04 9.99810626e-01 6.76958080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6192541539998 meters 0.018655066476762815 Centerline is valid? [True, True] Translation: X:930.64, Y:117.42, Z:6.77 [[ 1.48143508e-01 -9.88963417e-01 -2.20461492e-03 9.30640689e+02] [ 9.88793377e-01 1.48158935e-01 -1.83463155e-02 1.17415579e+02] [ 1.84704683e-02 5.37978912e-04 9.99829262e-01 6.77286162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6492541539999 meters 0.01851257062440075 Centerline is valid? [True, True] Translation: X:930.64, Y:117.44, Z:6.77 [[ 1.47028166e-01 -9.89130163e-01 -2.05879070e-03 9.30644267e+02] [ 9.88981210e-01 1.47041768e-01 -1.71722341e-02 1.17443623e+02] [ 1.72883030e-02 4.88696780e-04 9.99850427e-01 6.77404264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6792541539999 meters 0.018204306656864296 Centerline is valid? [True, True] Translation: X:930.65, Y:117.47, Z:6.77 [[ 1.46057227e-01 -9.89274117e-01 -2.00221496e-03 9.30648188e+02] [ 9.89132588e-01 1.46070211e-01 -1.67396707e-02 1.17471380e+02] [ 1.68525869e-02 4.64493818e-04 9.99857877e-01 6.77467726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7092541539998 meters 0.018521267714313137 Centerline is valid? [True, True] Translation: X:930.65, Y:117.50, Z:6.77 [[ 1.44753437e-01 -9.89465732e-01 -2.00199770e-03 9.30651129e+02] [ 9.89323561e-01 1.44766587e-01 -1.67787840e-02 1.17497896e+02] [ 1.68918542e-02 4.48163159e-04 9.99857222e-01 6.77487614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7392541539998 meters 0.017604396436659342 Centerline is valid? [True, True] Translation: X:930.66, Y:117.53, Z:6.78 [[ 1.41845993e-01 -9.89886775e-01 -1.97136456e-03 9.30656815e+02] [ 9.89748299e-01 1.41859133e-01 -1.65617120e-02 1.17525177e+02] [ 1.66738757e-02 3.98057768e-04 9.99860902e-01 6.77567869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7692541539999 meters 0.018240328663090534 Centerline is valid? [True, True] Translation: X:930.66, Y:117.55, Z:6.77 [[ 1.38628399e-01 -9.90342457e-01 -1.99599704e-03 9.30663228e+02] [ 9.90199869e-01 1.38642316e-01 -1.68085522e-02 1.17552892e+02] [ 1.69229526e-02 3.53706676e-04 9.99856734e-01 6.77404525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7992541539999 meters 0.016729039167869844 Centerline is valid? [True, True] Translation: X:930.66, Y:117.58, Z:6.78 [[ 1.37987996e-01 -9.90432006e-01 -1.93758934e-03 9.30664885e+02] [ 9.90296991e-01 1.38001185e-01 -1.63567343e-02 1.17580199e+02] [ 1.64676228e-02 3.38244098e-04 9.99864342e-01 6.77627475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8292541539998 meters 0.01569136210573458 Centerline is valid? [True, True] Translation: X:930.67, Y:117.61, Z:6.78 [[ 1.37267115e-01 -9.90532143e-01 -1.95287432e-03 9.30670179e+02] [ 9.90394302e-01 1.37280598e-01 -1.65276613e-02 1.17607724e+02] [ 1.66392715e-02 3.34588773e-04 9.99861502e-01 6.77726870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8592541539998 meters 0.01569136210573458 Centerline is valid? [True, True] Translation: X:930.67, Y:117.64, Z:6.78 [[ 1.36978565e-01 -9.90572096e-01 -1.94806206e-03 9.30673340e+02] [ 9.90434252e-01 1.36992009e-01 -1.65282289e-02 1.17635137e+02] [ 1.66392713e-02 3.34585699e-04 9.99861502e-01 6.77745915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8892541539999 meters 0.01702621509426828 Centerline is valid? [True, True] Translation: X:930.68, Y:117.66, Z:6.78 [[ 1.36443975e-01 -9.90645871e-01 -1.94927941e-03 9.30676460e+02] [ 9.90507146e-01 1.36457496e-01 -1.65814798e-02 1.17661653e+02] [ 1.66923682e-02 3.31667830e-04 9.99860618e-01 6.77529688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9192541539999 meters 0.01665169748595497 Centerline is valid? [True, True] Translation: X:930.68, Y:117.69, Z:6.78 [[ 1.35955375e-01 -9.90712971e-01 -1.98600498e-03 9.30681273e+02] [ 9.90568223e-01 1.35969466e-01 -1.69380918e-02 1.17689848e+02] [ 1.70508233e-02 3.35551208e-04 9.99854568e-01 6.77580312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9492541539998 meters 0.01908895688793182 Centerline is valid? [True, True] Translation: X:930.68, Y:117.72, Z:6.77 [[ 1.35111963e-01 -9.90827935e-01 -2.18197499e-03 9.30684064e+02] [ 9.90652266e-01 1.35129102e-01 -1.86604896e-02 1.17717293e+02] [ 1.87841826e-02 3.59676912e-04 9.99823497e-01 6.77256634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9792541539998 meters 0.017880544011836072 Centerline is valid? [True, True] Translation: X:930.69, Y:117.74, Z:6.77 [[ 1.34340863e-01 -9.90932437e-01 -2.33184555e-03 9.30689332e+02] [ 9.90730765e-01 1.34360574e-01 -1.99946655e-02 1.17744830e+02] [ 2.01266707e-02 3.75869502e-04 9.99797367e-01 6.77244349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0092541539999 meters 0.016690894356150638 Centerline is valid? [True, True] Translation: X:930.69, Y:117.77, Z:6.77 [[ 1.34021487e-01 -9.90975554e-01 -2.38609046e-03 9.30692920e+02] [ 9.90763522e-01 1.34042177e-01 -2.05021320e-02 1.17771429e+02] [ 2.06369484e-02 3.83674830e-04 9.99786962e-01 6.77338240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0392541539999 meters 0.015960351456929214 Centerline is valid? [True, True] Translation: X:930.70, Y:117.80, Z:6.77 [[ 1.32824982e-01 -9.91136553e-01 -2.42010844e-03 9.30697740e+02] [ 9.90917436e-01 1.32846511e-01 -2.08432077e-02 1.17798300e+02] [ 2.09799680e-02 3.70371027e-04 9.99779828e-01 6.77415811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0692541539999 meters 0.015719989968233046 Centerline is valid? [True, True] Translation: X:930.70, Y:117.83, Z:6.77 [[ 1.31503839e-01 -9.91312675e-01 -2.43309964e-03 9.30702241e+02] [ 9.91090119e-01 1.31525877e-01 -2.10076163e-02 1.17825975e+02] [ 2.11451319e-02 3.51161174e-04 9.99776355e-01 6.77448914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0992541539998 meters 0.016683634653492627 Centerline is valid? [True, True] Translation: X:930.71, Y:117.85, Z:6.77 [[ 1.29697055e-01 -9.91550820e-01 -2.37612844e-03 9.30706797e+02] [ 9.91337567e-01 1.29718445e-01 -2.05658516e-02 1.17853665e+02] [ 2.07003147e-02 3.11785001e-04 9.99785677e-01 6.77348878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1292541539999 meters 0.017745753502411095 Centerline is valid? [True, True] Translation: X:930.71, Y:117.88, Z:6.77 [[ 1.26396913e-01 -9.91977299e-01 -2.20440110e-03 9.30712896e+02] [ 9.91792965e-01 1.26415923e-01 -1.91240664e-02 1.17880515e+02] [ 1.92493111e-02 2.30913451e-04 9.99814688e-01 6.77351917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1592541539999 meters 0.014392382087805805 Centerline is valid? [True, True] Translation: X:930.72, Y:117.91, Z:6.78 [[ 1.25459788e-01 -9.92096616e-01 -2.03636104e-03 9.30718528e+02] [ 9.91938575e-01 1.25476151e-01 -1.77087253e-02 1.17908014e+02] [ 1.78242812e-02 2.01787845e-04 9.99841115e-01 6.77901729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1892541539999 meters 0.014449932922138876 Centerline is valid? [True, True] Translation: X:930.72, Y:117.93, Z:6.78 [[ 1.23817226e-01 -9.92303237e-01 -1.89197324e-03 9.30722833e+02] [ 9.92166274e-01 1.23831571e-01 -1.64871880e-02 1.17934438e+02] [ 1.65945760e-02 1.64245838e-04 9.99862287e-01 6.77985544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2192541539998 meters 0.015469336679042992 Centerline is valid? [True, True] Translation: X:930.73, Y:117.96, Z:6.78 [[ 1.20142928e-01 -9.92755030e-01 -1.76812123e-03 9.30729004e+02] [ 9.92634961e-01 1.20155897e-01 -1.54400345e-02 1.17962537e+02] [ 1.55406221e-02 9.99120152e-05 9.99879232e-01 6.77960411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2492541539999 meters 0.014295560028442636 Centerline is valid? [True, True] Translation: X:930.73, Y:117.99, Z:6.78 [[ 1.18856816e-01 -9.92909900e-01 -1.72826898e-03 9.30732697e+02] [ 9.92794626e-01 1.18869352e-01 -1.51297078e-02 1.17989644e+02] [ 1.52278749e-02 8.24527495e-05 9.99884046e-01 6.78123037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2792541539999 meters 0.014335295300301138 Centerline is valid? [True, True] Translation: X:930.74, Y:118.02, Z:6.78 [[ 1.16642963e-01 -9.93172307e-01 -1.78567376e-03 9.30737297e+02] [ 9.93048635e-01 1.16656618e-01 -1.56729743e-02 1.18017289e+02] [ 1.57742747e-02 5.48812706e-05 9.99875577e-01 6.78087874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3092541539999 meters 0.01666113463586457 Centerline is valid? [True, True] Translation: X:930.74, Y:118.04, Z:6.78 [[ 1.15204445e-01 -9.93339892e-01 -1.94808753e-03 9.30740629e+02] [ 9.93191934e-01 1.15220908e-01 -1.71442370e-02 1.18044020e+02] [ 1.72545149e-02 4.02674903e-05 9.99851129e-01 6.77774996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3392541539998 meters 0.014011090463283122 Centerline is valid? [True, True] Translation: X:930.74, Y:118.07, Z:6.78 [[ 1.14804950e-01 -9.93385906e-01 -2.06513840e-03 9.30742989e+02] [ 9.93218762e-01 1.14823515e-01 -1.82222786e-02 1.18072252e+02] [ 1.83388812e-02 4.08735836e-05 9.99831828e-01 6.77969721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3692541539998 meters 0.014050470967883808 Centerline is valid? [True, True] Translation: X:930.75, Y:118.10, Z:6.78 [[ 1.14308841e-01 -9.93442910e-01 -2.16192657e-03 9.30745747e+02] [ 9.93258759e-01 1.14329277e-01 -1.91273302e-02 1.18099444e+02] [ 1.92490820e-02 3.90704505e-05 9.99814718e-01 6.77909091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3992541539999 meters 0.01494939249842206 Centerline is valid? [True, True] Translation: X:930.75, Y:118.13, Z:6.78 [[ 1.13595952e-01 -9.93524343e-01 -2.31065682e-03 9.30748392e+02] [ 9.93313076e-01 1.13619445e-01 -2.04879206e-02 1.18126582e+02] [ 2.06177834e-02 3.21392052e-05 9.99787430e-01 6.77748078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4292541539999 meters 0.014060546840847302 Centerline is valid? [True, True] Translation: X:930.75, Y:118.15, Z:6.78 [[ 1.13200079e-01 -9.93569423e-01 -2.35435977e-03 9.30750735e+02] [ 9.93349057e-01 1.13224556e-01 -2.09248820e-02 1.18154815e+02] [ 2.10568943e-02 2.99972364e-05 9.99778279e-01 6.77971808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4592541539998 meters 0.014113499329338313 Centerline is valid? [True, True] Translation: X:930.75, Y:118.18, Z:6.78 [[ 1.11882856e-01 -9.93718675e-01 -2.32842401e-03 9.30752781e+02] [ 9.93502004e-01 1.11907082e-01 -2.07502397e-02 1.18181889e+02] [ 2.08804678e-02 8.30215774e-06 9.99781979e-01 6.77953902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4892541539998 meters 0.014740751765396822 Centerline is valid? [True, True] Translation: X:930.76, Y:118.21, Z:6.78 [[ 1.10645637e-01 -9.93857060e-01 -2.38495822e-03 9.30756069e+02] [ 9.93628510e-01 1.10671337e-01 -2.13129107e-02 1.18209235e+02] [ 2.14459332e-02 -1.15819092e-05 9.99770009e-01 6.77784394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5192541539999 meters 0.01417203472043542 Centerline is valid? [True, True] Translation: X:930.76, Y:118.24, Z:6.78 [[ 1.07899376e-01 -9.94159333e-01 -2.22371270e-03 9.30759553e+02] [ 9.93959691e-01 1.07922271e-01 -1.99227765e-02 1.18237082e+02] [ 2.00464023e-02 -6.06256398e-05 9.99799049e-01 6.78056370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5492541539999 meters 0.017480834543452405 Centerline is valid? [True, True] Translation: X:930.76, Y:118.27, Z:6.78 [[ 1.05675721e-01 -9.94397984e-01 -2.30030391e-03 9.30763447e+02] [ 9.94183291e-01 1.05700704e-01 -2.06626280e-02 1.18265054e+02] [ 2.07900194e-02 -1.03385591e-04 9.99783859e-01 6.77857645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5792541539998 meters 0.014344029158523461 Centerline is valid? [True, True] Translation: X:930.77, Y:118.29, Z:6.78 [[ 1.03716402e-01 -9.94604884e-01 -2.00835275e-03 9.30767058e+02] [ 9.94440466e-01 1.03735774e-01 -1.80844690e-02 1.18292502e+02] [ 1.81952392e-02 -1.21531186e-04 9.99834446e-01 6.78364422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6092541539998 meters 0.017204342041356197 Centerline is valid? [True, True] Translation: X:930.77, Y:118.32, Z:6.78 [[ 1.02338347e-01 -9.94747587e-01 -2.02501196e-03 9.30770361e+02] [ 9.94579560e-01 1.02358280e-01 -1.82833388e-02 1.18318983e+02] [ 1.83945839e-02 -1.42948829e-04 9.99830795e-01 6.78162491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6392541539999 meters 0.014489673716387635 Centerline is valid? [True, True] Translation: X:930.77, Y:118.35, Z:6.78 [[ 1.02210339e-01 -9.94761114e-01 -1.83668437e-03 9.30772247e+02] [ 9.94622182e-01 1.02226760e-01 -1.66253946e-02 1.18346157e+02] [ 1.67260544e-02 -1.27519799e-04 9.99860102e-01 6.78492963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6692541539999 meters 0.014325901818524115 Centerline is valid? [True, True] Translation: X:930.77, Y:118.37, Z:6.79 [[ 1.02381313e-01 -9.94743660e-01 -1.76553646e-03 9.30772425e+02] [ 9.94614621e-01 1.02396470e-01 -1.60224204e-02 1.18374083e+02] [ 1.61189858e-02 -1.15631935e-04 9.99870074e-01 6.78587331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6992541539998 meters 0.014266958810864289 Centerline is valid? [True, True] Translation: X:930.77, Y:118.40, Z:6.79 [[ 1.02766818e-01 -9.94703898e-01 -1.77126728e-03 9.30774034e+02] [ 9.94573333e-01 1.02782028e-01 -1.61164357e-02 1.18402336e+02] [ 1.62131359e-02 -1.05420383e-04 9.99868553e-01 6.78602194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7292541539998 meters 0.014187042395327394 Centerline is valid? [True, True] Translation: X:930.77, Y:118.43, Z:6.78 [[ 1.04675185e-01 -9.94504715e-01 -1.86479384e-03 9.30773459e+02] [ 9.94359166e-01 1.04691769e-01 -1.70142047e-02 1.18429195e+02] [ 1.71159354e-02 -7.33098152e-05 9.99853509e-01 6.78496447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7592541539999 meters 0.0141256148060559 Centerline is valid? [True, True] Translation: X:930.77, Y:118.46, Z:6.79 [[ 1.05675432e-01 -9.94398761e-01 -1.95101330e-03 9.30774514e+02] [ 9.94238541e-01 1.05693428e-01 -1.78499870e-02 1.18457224e+02] [ 1.79562142e-02 -5.34675197e-05 9.99838773e-01 6.78510108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7892541539999 meters 0.014071370868758254 Centerline is valid? [True, True] Translation: X:930.77, Y:118.48, Z:6.78 [[ 1.08606293e-01 -9.94082762e-01 -2.03375457e-03 9.30773603e+02] [ 9.93907624e-01 1.08625333e-01 -1.86593886e-02 1.18484397e+02] [ 1.87698938e-02 5.16285601e-06 9.99823830e-01 6.78422235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8192541539999 meters 0.014191487374309666 Centerline is valid? [True, True] Translation: X:930.77, Y:118.51, Z:6.78 [[ 1.10190033e-01 -9.93908279e-01 -2.11880285e-03 9.30774140e+02] [ 9.93717066e-01 1.10210393e-01 -1.94951934e-02 1.18511581e+02] [ 1.96099482e-02 4.26854441e-05 9.99807706e-01 6.78376223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8492541539998 meters 0.01423959279672834 Centerline is valid? [True, True] Translation: X:930.77, Y:118.54, Z:6.78 [[ 1.13339918e-01 -9.93553908e-01 -2.16693161e-03 9.30772447e+02] [ 9.93352776e-01 1.13360574e-01 -1.99910591e-02 1.18540190e+02] [ 2.01078395e-02 1.13257470e-04 9.99797811e-01 6.78340484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8792541539999 meters 0.018804480205459596 Centerline is valid? [True, True] Translation: X:930.77, Y:118.57, Z:6.78 [[ 1.14008590e-01 -9.93476938e-01 -2.36951051e-03 9.30773794e+02] [ 9.93235203e-01 1.14033119e-01 -2.19152808e-02 1.18567442e+02] [ 2.20425288e-02 1.45049018e-04 9.99757023e-01 6.77937001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9092541539999 meters 0.015696105633869403 Centerline is valid? [True, True] Translation: X:930.78, Y:118.60, Z:6.78 [[ 1.15172269e-01 -9.93342907e-01 -2.28400789e-03 9.30775450e+02] [ 9.93117114e-01 1.15194787e-01 -2.11791996e-02 1.18595672e+02] [ 2.13013135e-02 1.70969155e-04 9.99773087e-01 6.78253387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9392541539999 meters 0.015685000545968643 Centerline is valid? [True, True] Translation: X:930.78, Y:118.62, Z:6.78 [[ 1.15964537e-01 -9.93250973e-01 -2.17485938e-03 9.30777255e+02] [ 9.93045122e-01 1.15984781e-01 -2.02216794e-02 1.18623976e+02] [ 2.03374534e-02 1.85264183e-04 9.99793155e-01 6.78383086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9692541539998 meters 0.014414624197527145 Centerline is valid? [True, True] Translation: X:930.78, Y:118.65, Z:6.79 [[ 1.15281242e-01 -9.93330829e-01 -2.02480575e-03 9.30779836e+02] [ 9.93151435e-01 1.15298904e-01 -1.88782773e-02 1.18650465e+02] [ 1.89858327e-02 1.65372507e-04 9.99819739e-01 6.78630643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9992541539999 meters 0.014279364189269733 Centerline is valid? [True, True] Translation: X:930.78, Y:118.68, Z:6.79 [[ 1.14340724e-01 -9.93439623e-01 -1.97863444e-03 9.30783012e+02] [ 9.93267390e-01 1.14357744e-01 -1.84985790e-02 1.18678631e+02] [ 1.86034935e-02 1.49827834e-04 9.99826929e-01 6.78696744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0292541539999 meters 0.014195457746554072 Centerline is valid? [True, True] Translation: X:930.79, Y:118.71, Z:6.79 [[ 1.13293252e-01 -9.93559683e-01 -1.94837902e-03 9.30786217e+02] [ 9.93391786e-01 1.13309926e-01 -1.82652501e-02 1.18706084e+02] [ 1.83683867e-02 1.33825866e-04 9.99831278e-01 6.78726352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0592541539999 meters 0.016212186347356702 Centerline is valid? [True, True] Translation: X:930.79, Y:118.73, Z:6.79 [[ 1.10706046e-01 -9.93851042e-01 -2.06832868e-03 9.30789820e+02] [ 9.93661005e-01 1.10725324e-01 -1.94347578e-02 1.18733088e+02] [ 1.95442707e-02 9.63276492e-05 9.99808988e-01 6.78534666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0892541539998 meters 0.013905648302467174 Centerline is valid? [True, True] Translation: X:930.79, Y:118.76, Z:6.79 [[ 1.09559927e-01 -9.93978280e-01 -1.94959554e-03 9.30792813e+02] [ 9.93808643e-01 1.09577247e-01 -1.83632533e-02 1.18760848e+02] [ 1.84663063e-02 7.43517973e-05 9.99829480e-01 6.78779430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1192541539998 meters 0.014836492789343573 Centerline is valid? [True, True] Translation: X:930.80, Y:118.79, Z:6.79 [[ 1.07009181e-01 -9.94255899e-01 -2.05986849e-03 9.30796794e+02] [ 9.94065484e-01 1.07029000e-01 -1.94578102e-02 1.18787553e+02] [ 1.95665083e-02 3.45201776e-05 9.99808557e-01 6.78665081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1492541539999 meters 0.01567453392240767 Centerline is valid? [True, True] Translation: X:930.80, Y:118.81, Z:6.79 [[ 1.05211698e-01 -9.94447642e-01 -2.09438668e-03 9.30800274e+02] [ 9.94249691e-01 1.05232542e-01 -1.98409473e-02 1.18814551e+02] [ 1.99511809e-02 5.15644393e-06 9.99800955e-01 6.78616311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1792541539999 meters 0.013915467541056884 Centerline is valid? [True, True] Translation: X:930.80, Y:118.84, Z:6.79 [[ 1.04161859e-01 -9.94558340e-01 -2.00388926e-03 9.30803345e+02] [ 9.94376171e-01 1.04181132e-01 -1.90347745e-02 1.18842788e+02] [ 1.91399611e-02 -9.92224083e-06 9.99816814e-01 6.78817641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2092541539998 meters 0.013976028049618823 Centerline is valid? [True, True] Translation: X:930.81, Y:118.87, Z:6.79 [[ 1.01460659e-01 -9.94837407e-01 -2.06601234e-03 9.30807290e+02] [ 9.94642777e-01 1.01481675e-01 -1.96778247e-02 1.18870355e+02] [ 1.97858985e-02 -5.84191898e-05 9.99804238e-01 6.78853672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2392541539998 meters 0.01821259924052194 Centerline is valid? [True, True] Translation: X:930.81, Y:118.90, Z:6.78 [[ 9.96950218e-02 -9.95015584e-01 -2.21148867e-03 9.30811016e+02] [ 9.94791353e-01 9.97195026e-02 -2.11230854e-02 1.18896806e+02] [ 2.12383277e-02 -9.41033495e-05 9.99774437e-01 6.78465132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2692541539999 meters 0.017104302938417255 Centerline is valid? [True, True] Translation: X:930.81, Y:118.92, Z:6.79 [[ 9.76276251e-02 -9.95220441e-01 -2.26293447e-03 9.30814561e+02] [ 9.94984398e-01 9.76537541e-02 -2.16746897e-02 1.18924245e+02] [ 2.17920783e-02 -1.35536015e-04 9.99762515e-01 6.78636515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2992541539999 meters 0.014230618798194943 Centerline is valid? [True, True] Translation: X:930.82, Y:118.95, Z:6.79 [[ 9.70036356e-02 -9.95281664e-01 -2.16897490e-03 9.30817554e+02] [ 9.95063659e-01 9.70277839e-02 -2.08308574e-02 1.18951936e+02] [ 2.09430213e-02 -1.37599196e-04 9.99780661e-01 6.78935432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3292541539998 meters 0.01825876392086898 Centerline is valid? [True, True] Translation: X:930.82, Y:118.98, Z:6.79 [[ 9.44780873e-02 -9.95524236e-01 -2.32085956e-03 9.30822102e+02] [ 9.95273342e-01 9.45063809e-02 -2.23498997e-02 1.18980495e+02] [ 2.24692028e-02 -1.98313885e-04 9.99747516e-01 6.78680162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3592541539998 meters 0.014511350021905867 Centerline is valid? [True, True] Translation: X:930.82, Y:119.01, Z:6.79 [[ 9.37797707e-02 -9.95590595e-01 -2.17319365e-03 9.30824950e+02] [ 9.95369429e-01 9.38047445e-02 -2.09849856e-02 1.19007793e+02] [ 2.10963101e-02 -1.95163386e-04 9.99777429e-01 6.79003758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3892541539999 meters 0.014937928100578732 Centerline is valid? [True, True] Translation: X:930.83, Y:119.04, Z:6.79 [[ 9.27716525e-02 -9.95685053e-01 -2.16690484e-03 9.30828354e+02] [ 9.95463954e-01 9.27967170e-02 -2.09829698e-02 1.19036164e+02] [ 2.10935111e-02 -2.10450882e-04 9.99777485e-01 6.79035765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4192541539999 meters 0.017602774257904567 Centerline is valid? [True, True] Translation: X:930.83, Y:119.06, Z:6.79 [[ 9.03332620e-02 -9.95909159e-01 -2.20219684e-03 9.30832615e+02] [ 9.95679625e-01 9.03597239e-02 -2.13823423e-02 1.19064693e+02] [ 2.14938604e-02 -2.61145789e-04 9.99768946e-01 6.78923662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4492541539998 meters 0.01662375839218888 Centerline is valid? [True, True] Translation: X:930.84, Y:119.09, Z:6.79 [[ 8.84792585e-02 -9.96075810e-01 -2.09787529e-03 9.30836795e+02] [ 9.95866430e-01 8.85036762e-02 -2.04243190e-02 1.19092010e+02] [ 2.05298398e-02 -2.82074969e-04 9.99789201e-01 6.79069787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4792541539998 meters 0.017325888380419187 Centerline is valid? [True, True] Translation: X:930.84, Y:119.12, Z:6.79 [[ 8.74363505e-02 -9.96167765e-01 -2.16069106e-03 9.30839855e+02] [ 9.95944445e-01 8.74625029e-02 -2.10943776e-02 1.19120040e+02] [ 2.12025184e-02 -3.07512868e-04 9.99775154e-01 6.79114567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5092541539999 meters 0.01524979084622903 Centerline is valid? [True, True] Translation: X:930.84, Y:119.15, Z:6.79 [[ 8.68506849e-02 -9.96219188e-01 -2.07088403e-03 9.30843481e+02] [ 9.96012873e-01 8.68748470e-02 -2.02760628e-02 1.19147067e+02] [ 2.03793105e-02 -3.01637208e-04 9.99792275e-01 6.79355121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5392541539999 meters 0.01940006385508442 Centerline is valid? [True, True] Translation: X:930.85, Y:119.17, Z:6.79 [[ 8.47912980e-02 -9.96396361e-01 -2.17441845e-03 9.30848086e+02] [ 9.96168111e-01 8.48184205e-02 -2.13291149e-02 1.19173816e+02] [ 2.14366832e-02 -3.57562985e-04 9.99770144e-01 6.79022061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5692541539999 meters 0.018116085288063622 Centerline is valid? [True, True] Translation: X:930.85, Y:119.20, Z:6.79 [[ 8.41983242e-02 -9.96446873e-01 -2.06656465e-03 9.30849544e+02] [ 9.96239795e-01 8.42229616e-02 -2.03165603e-02 1.19202222e+02] [ 2.04184252e-02 -3.48173610e-04 9.99791462e-01 6.79244388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5992541539998 meters 0.015422297350954503 Centerline is valid? [True, True] Translation: X:930.85, Y:119.23, Z:6.80 [[ 8.45173639e-02 -9.96420131e-01 -1.93332662e-03 9.30850958e+02] [ 9.96237886e-01 8.45388856e-02 -1.90591764e-02 1.19230070e+02] [ 1.91543883e-02 -3.15221880e-04 9.99816488e-01 6.79581880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6292541539999 meters 0.01638888749582307 Centerline is valid? [True, True] Translation: X:930.85, Y:119.26, Z:6.80 [[ 8.36799365e-02 -9.96490810e-01 -1.93254606e-03 9.30853435e+02] [ 9.96307688e-01 8.37016118e-02 -1.91057888e-02 1.19258404e+02] [ 1.92005002e-02 -3.26639304e-04 9.99815600e-01 6.79512784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6592541539999 meters 0.01575020346422467 Centerline is valid? [True, True] Translation: X:930.86, Y:119.28, Z:6.80 [[ 8.40007798e-02 -9.96463948e-01 -1.86265095e-03 9.30856460e+02] [ 9.96293030e-01 8.40208741e-02 -1.84578206e-02 1.19284833e+02] [ 1.85490544e-02 -3.05274829e-04 9.99827905e-01 6.79656132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6892541539999 meters 0.015400221877727547 Centerline is valid? [True, True] Translation: X:930.86, Y:119.31, Z:6.80 [[ 8.37803115e-02 -9.96482558e-01 -1.83619705e-03 9.30857877e+02] [ 9.96315614e-01 8.37998899e-02 -1.82421278e-02 1.19312443e+02] [ 1.83318353e-02 -3.01100637e-04 9.99831912e-01 6.79778354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7192541539998 meters 0.017371760879654738 Centerline is valid? [True, True] Translation: X:930.86, Y:119.34, Z:6.80 [[ 8.33677459e-02 -9.96516904e-01 -1.96961292e-03 9.30858276e+02] [ 9.96323685e-01 8.33903711e-02 -1.96254940e-02 1.19340869e+02] [ 1.97213832e-02 -3.26238811e-04 9.99805461e-01 6.79600452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7492541539999 meters 0.018606190147048327 Centerline is valid? [True, True] Translation: X:930.86, Y:119.37, Z:6.79 [[ 8.32367025e-02 -9.96527790e-01 -2.00378863e-03 9.30861121e+02] [ 9.96326594e-01 8.32601661e-02 -2.00265301e-02 1.19367380e+02] [ 2.01238295e-02 -3.29485572e-04 9.99797441e-01 6.79407144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7792541539999 meters 0.018606190147048327 Centerline is valid? [True, True] Translation: X:930.86, Y:119.39, Z:6.79 [[ 8.29633343e-02 -9.96550597e-01 -1.99809274e-03 9.30863778e+02] [ 9.96349395e-01 8.29867386e-02 -2.00270989e-02 1.19394841e+02] [ 2.01238325e-02 -3.29283594e-04 9.99797441e-01 6.79426180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8092541539999 meters 0.01539345778467058 Centerline is valid? [True, True] Translation: X:930.86, Y:119.42, Z:6.80 [[ 8.37055688e-02 -9.96488716e-01 -1.90200647e-03 9.30864420e+02] [ 9.96305371e-01 8.37266563e-02 -1.91168654e-02 1.19423068e+02] [ 1.92089893e-02 -2.94791169e-04 9.99815447e-01 6.79759396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8392541539998 meters 0.015633802221238783 Centerline is valid? [True, True] Translation: X:930.87, Y:119.45, Z:6.80 [[ 8.28137960e-02 -9.96563117e-01 -1.95665189e-03 9.30865612e+02] [ 9.96367985e-01 8.28363042e-02 -1.97226985e-02 1.19451053e+02] [ 1.98169957e-02 -3.16233771e-04 9.99803574e-01 6.79714140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8692541539998 meters 0.015573679608474196 Centerline is valid? [True, True] Translation: X:930.87, Y:119.48, Z:6.80 [[ 8.13813989e-02 -9.96681008e-01 -2.00883398e-03 9.30867158e+02] [ 9.96474202e-01 8.14054391e-02 -2.03056513e-02 1.19479641e+02] [ 2.04017871e-02 -3.49248922e-04 9.99791801e-01 6.79756062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8992541539999 meters 0.01601117197154886 Centerline is valid? [True, True] Translation: X:930.87, Y:119.51, Z:6.80 [[ 8.00998860e-02 -9.96784816e-01 -2.00984678e-03 9.30869577e+02] [ 9.96576646e-01 8.01242383e-02 -2.03738984e-02 1.19507832e+02] [ 2.04694300e-02 -3.71019425e-04 9.99790410e-01 6.79745633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9292541539999 meters 0.015989608352945876 Centerline is valid? [True, True] Translation: X:930.87, Y:119.54, Z:6.80 [[ 7.94007177e-02 -9.96840882e-01 -1.94489707e-03 9.30871784e+02] [ 9.96644844e-01 7.94236793e-02 -1.97720404e-02 1.19535725e+02] [ 1.98640491e-02 -3.68457440e-04 9.99802622e-01 6.79790173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9592541539998 meters 0.017866147564286648 Centerline is valid? [True, True] Translation: X:930.87, Y:119.56, Z:6.80 [[ 7.77735477e-02 -9.96969020e-01 -2.01224812e-03 9.30872723e+02] [ 9.96758049e-01 7.77984928e-02 -2.05130830e-02 1.19563170e+02] [ 2.06074582e-02 -4.10349269e-04 9.99787560e-01 6.79596099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9892541539998 meters 0.015688867657680888 Centerline is valid? [True, True] Translation: X:930.87, Y:119.59, Z:6.80 [[ 7.77266666e-02 -9.96972952e-01 -1.87057306e-03 9.30871730e+02] [ 9.96789623e-01 7.77482518e-02 -1.91221544e-02 1.19591564e+02] [ 1.92097045e-02 -3.78266497e-04 9.99815405e-01 6.79917044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0192541539999 meters 0.016634058525024704 Centerline is valid? [True, True] Translation: X:930.87, Y:119.62, Z:6.80 [[ 7.75484696e-02 -9.96986852e-01 -1.85794942e-03 9.30874922e+02] [ 9.96805095e-01 7.75698145e-02 -1.90401218e-02 1.19618432e+02] [ 1.91268718e-02 -3.75481147e-04 9.99816994e-01 6.79860277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0492541539999 meters 0.016902833820581664 Centerline is valid? [True, True] Translation: X:930.87, Y:119.65, Z:6.80 [[ 7.75428942e-02 -9.96987259e-01 -1.87223053e-03 9.30874759e+02] [ 9.96801721e-01 7.75645886e-02 -1.92370260e-02 1.19647069e+02] [ 1.93242886e-02 -3.74547945e-04 9.99813198e-01 6.79843417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0792541539998 meters 0.01566910169717961 Centerline is valid? [True, True] Translation: X:930.87, Y:119.68, Z:6.80 [[ 7.81584458e-02 -9.96939277e-01 -1.82641437e-03 9.30874502e+02] [ 9.96761668e-01 7.81790016e-02 -1.88207655e-02 1.19675631e+02] [ 1.89059476e-02 -3.49498057e-04 9.99821206e-01 6.79974117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1092541539998 meters 0.01563059970503131 Centerline is valid? [True, True] Translation: X:930.88, Y:119.70, Z:6.80 [[ 7.87669536e-02 -9.96891281e-01 -1.88181159e-03 9.30875466e+02] [ 9.96701635e-01 7.87886793e-02 -1.94472068e-02 1.19704238e+02] [ 1.95350164e-02 -3.43807450e-04 9.99809114e-01 6.79967786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1392541539999 meters 0.01578948003059821 Centerline is valid? [True, True] Translation: X:930.87, Y:119.73, Z:6.80 [[ 8.10522125e-02 -9.96708125e-01 -1.85803607e-03 9.30874736e+02] [ 9.96522360e-01 8.10729815e-02 -1.92446985e-02 1.19731831e+02] [ 1.93319839e-02 -2.91749095e-04 9.99813077e-01 6.79874654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1692541539999 meters 0.018318617597603507 Centerline is valid? [True, True] Translation: X:930.87, Y:119.76, Z:6.80 [[ 8.09992893e-02 -9.96712215e-01 -1.96883662e-03 9.30873792e+02] [ 9.96502512e-01 8.10226370e-02 -2.04469216e-02 1.19760322e+02] [ 2.05392169e-02 -3.05764514e-04 9.99789001e-01 6.79663274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1992541539998 meters 0.017824001268685823 Centerline is valid? [True, True] Translation: X:930.87, Y:119.79, Z:6.80 [[ 8.36476097e-02 -9.96493513e-01 -1.93802388e-03 9.30871671e+02] [ 9.96289094e-01 8.36697064e-02 -2.01846607e-02 1.19788422e+02] [ 2.02760373e-02 -2.42433438e-04 9.99794391e-01 6.79611060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2292541539998 meters 0.01893095207873914 Centerline is valid? [True, True] Translation: X:930.87, Y:119.82, Z:6.80 [[ 8.47563560e-02 -9.96399802e-01 -1.94815122e-03 9.30870747e+02] [ 9.96191971e-01 8.47784678e-02 -2.03511338e-02 1.19816450e+02] [ 2.04430269e-02 -2.15844667e-04 9.99790996e-01 6.79678216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2592541539999 meters 0.016698216748547386 Centerline is valid? [True, True] Translation: X:930.87, Y:119.84, Z:6.80 [[ 8.72590339e-02 -9.96183870e-01 -1.88637133e-03 9.30869790e+02] [ 9.95987763e-01 8.72792855e-02 -1.97662154e-02 1.19843504e+02] [ 1.98554261e-02 -1.54021896e-04 9.99802850e-01 6.79805155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2892541539999 meters 0.015218118099026104 Centerline is valid? [True, True] Translation: X:930.87, Y:119.87, Z:6.80 [[ 8.84169577e-02 -9.96081930e-01 -1.79708461e-03 9.30870680e+02] [ 9.95902851e-01 8.84351377e-02 -1.88875076e-02 1.19872034e+02] [ 1.89724305e-02 -1.19745720e-04 9.99820000e-01 6.79961131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3192541539999 meters 0.016168990206425538 Centerline is valid? [True, True] Translation: X:930.87, Y:119.90, Z:6.80 [[ 9.06824104e-02 -9.95878316e-01 -1.75519652e-03 9.30869295e+02] [ 9.95706389e-01 9.06993684e-02 -1.85043743e-02 1.19899269e+02] [ 1.85873003e-02 -6.96391208e-05 9.99827239e-01 6.79929381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3492541539998 meters 0.013932648988494795 Centerline is valid? [True, True] Translation: X:930.87, Y:119.93, Z:6.80 [[ 9.50152537e-02 -9.95474515e-01 -1.61005453e-03 9.30866943e+02] [ 9.95328908e-01 9.50288929e-02 -1.70257190e-02 1.19926690e+02] [ 1.71016710e-02 1.51691910e-05 9.99853756e-01 6.80164701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3792541539999 meters 0.01346668320701291 Centerline is valid? [True, True] Translation: X:930.87, Y:119.96, Z:6.80 [[ 9.74427106e-02 -9.95239884e-01 -1.57826994e-03 9.30866869e+02] [ 9.95099083e-01 9.74554723e-02 -1.67405376e-02 1.19955367e+02] [ 1.68146617e-02 6.07083869e-05 9.99858622e-01 6.80264236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4092541539999 meters 0.014431208595661103 Centerline is valid? [True, True] Translation: X:930.86, Y:119.98, Z:6.80 [[ 1.02612815e-01 -9.94720068e-01 -1.61115436e-03 9.30864069e+02] [ 9.94572402e-01 1.02625344e-01 -1.71398816e-02 1.19984490e+02] [ 1.72147294e-02 1.56361835e-04 9.99851803e-01 6.80151777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4392541539999 meters 0.017123638382153222 Centerline is valid? [True, True] Translation: X:930.86, Y:120.01, Z:6.80 [[ 1.04729852e-01 -9.94499214e-01 -1.72367069e-03 9.30863602e+02] [ 9.94329197e-01 1.04743821e-01 -1.83896819e-02 1.20011796e+02] [ 1.84690680e-02 2.12052570e-04 9.99829410e-01 6.79825240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4692541539998 meters 0.014605078571383249 Centerline is valid? [True, True] Translation: X:930.87, Y:120.04, Z:6.80 [[ 1.07912110e-01 -9.94159073e-01 -1.64773585e-03 9.30865313e+02] [ 9.94002797e-01 1.07924365e-01 -1.76286763e-02 1.20039734e+02] [ 1.77035393e-02 2.64493614e-04 9.99843245e-01 6.80234509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4992541539999 meters 0.018893292763380143 Centerline is valid? [True, True] Translation: X:930.86, Y:120.07, Z:6.80 [[ 1.11067193e-01 -9.93811316e-01 -1.77382137e-03 9.30862479e+02] [ 9.93629034e-01 1.11080799e-01 -1.90367970e-02 1.20067926e+02] [ 1.91160217e-02 3.51843182e-04 9.99817210e-01 6.79751520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5292541539999 meters 0.016699133098243817 Centerline is valid? [True, True] Translation: X:930.86, Y:120.10, Z:6.80 [[ 1.13252308e-01 -9.93564800e-01 -1.70384382e-03 9.30863370e+02] [ 9.93395624e-01 1.13264472e-01 -1.83382851e-02 1.20095970e+02] [ 1.84132595e-02 3.84262115e-04 9.99830388e-01 6.80092690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5592541539999 meters 0.017297082836693234 Centerline is valid? [True, True] Translation: X:930.86, Y:120.12, Z:6.80 [[ 1.15014015e-01 -9.93362341e-01 -1.74249688e-03 9.30863968e+02] [ 9.93184370e-01 1.15026400e-01 -1.88078313e-02 1.20124661e+02] [ 1.88834245e-02 4.32543528e-04 9.99821599e-01 6.80045575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5892541539998 meters 0.01800120579209231 Centerline is valid? [True, True] Translation: X:930.87, Y:120.15, Z:6.80 [[ 1.14940422e-01 -9.93370675e-01 -1.84428458e-03 9.30867954e+02] [ 9.93170057e-01 1.14954283e-01 -1.99687576e-02 1.20152207e+02] [ 2.00483866e-02 4.63529203e-04 9.99798903e-01 6.79911631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6192541539998 meters 0.018883827942810343 Centerline is valid? [True, True] Translation: X:930.87, Y:120.18, Z:6.80 [[ 1.15138769e-01 -9.93347671e-01 -1.86218623e-03 9.30870180e+02] [ 9.93141821e-01 1.15152828e-01 -2.02274361e-02 1.20179836e+02] [ 2.03073126e-02 4.79547071e-04 9.99793670e-01 6.79838011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6492541539999 meters 0.018847453511173663 Centerline is valid? [True, True] Translation: X:930.87, Y:120.21, Z:6.80 [[ 1.15776105e-01 -9.93273508e-01 -1.90555565e-03 9.30870904e+02] [ 9.93056647e-01 1.15790657e-01 -2.07610210e-02 1.20207031e+02] [ 2.08420177e-02 5.11305435e-04 9.99782651e-01 6.79800926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6792541539999 meters 0.02082587820581424 Centerline is valid? [True, True] Translation: X:930.88, Y:120.23, Z:6.80 [[ 1.14911104e-01 -9.93373710e-01 -2.02722587e-03 9.30875001e+02] [ 9.93126767e-01 1.14927750e-01 -2.21548278e-02 1.20234454e+02] [ 2.22410080e-02 5.32543429e-04 9.99752496e-01 6.79614852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7092541539998 meters 0.01830271806585723 Centerline is valid? [True, True] Translation: X:930.88, Y:120.26, Z:6.80 [[ 1.14990382e-01 -9.93364896e-01 -1.84271918e-03 9.30877006e+02] [ 9.93159861e-01 1.15004096e-01 -2.01878026e-02 1.20261048e+02] [ 2.02657747e-02 4.91288403e-04 9.99794507e-01 6.79992804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7392541539998 meters 0.018604705143988712 Centerline is valid? [True, True] Translation: X:930.88, Y:120.29, Z:6.80 [[ 1.13650108e-01 -9.93519031e-01 -1.89440344e-03 9.30883502e+02] [ 9.93301098e-01 1.13664866e-01 -2.08141262e-02 1.20288737e+02] [ 2.08945576e-02 4.83814678e-04 9.99781568e-01 6.79926300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7692541539999 meters 0.0202929727901374 Centerline is valid? [True, True] Translation: X:930.89, Y:120.32, Z:6.80 [[ 1.11630614e-01 -9.93747932e-01 -1.91124897e-03 9.30890108e+02] [ 9.93524761e-01 1.11646057e-01 -2.10643804e-02 1.20316499e+02] [ 2.11460679e-02 4.52556534e-04 9.99776294e-01 6.79878587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7992541539999 meters 0.018349103411240485 Centerline is valid? [True, True] Translation: X:930.90, Y:120.34, Z:6.80 [[ 1.10642848e-01 -9.93858619e-01 -1.79049804e-03 9.30895032e+02] [ 9.93661600e-01 1.10656572e-01 -1.97926406e-02 1.20344437e+02] [ 1.98692168e-02 4.10764981e-04 9.99802503e-01 6.80098535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8292541539998 meters 0.017828151687219428 Centerline is valid? [True, True] Translation: X:930.90, Y:120.37, Z:6.80 [[ 1.08650017e-01 -9.94078510e-01 -1.75777483e-03 9.30903379e+02] [ 9.93887495e-01 1.08663603e-01 -1.94902332e-02 1.20372327e+02] [ 1.95658281e-02 3.70583754e-04 9.99808502e-01 6.80236477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8592541539998 meters 0.015845083168826483 Centerline is valid? [True, True] Translation: X:930.91, Y:120.40, Z:6.80 [[ 1.08516536e-01 -9.94093270e-01 -1.65293288e-03 9.30906756e+02] [ 9.93923492e-01 1.08528556e-01 -1.83751198e-02 1.20399304e+02] [ 1.84459733e-02 3.51115525e-04 9.99829797e-01 6.80495683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8892541539999 meters 0.015278122647005803 Centerline is valid? [True, True] Translation: X:930.91, Y:120.43, Z:6.81 [[ 1.07202697e-01 -9.94235858e-01 -1.62503835e-03 9.30914634e+02] [ 9.94070814e-01 1.07214515e-01 -1.81180723e-02 1.20426875e+02] [ 1.81878649e-02 3.26903023e-04 9.99834534e-01 6.80555687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9192541539999 meters 0.017985722032537173 Centerline is valid? [True, True] Translation: X:930.92, Y:120.45, Z:6.80 [[ 1.04885770e-01 -9.94482718e-01 -1.76057678e-03 9.30921175e+02] [ 9.94287934e-01 1.04900075e-01 -1.96844853e-02 1.20453870e+02] [ 1.97605650e-02 3.14102148e-04 9.99804692e-01 6.80166165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9492541539998 meters 0.016819755193802903 Centerline is valid? [True, True] Translation: X:930.93, Y:120.48, Z:6.80 [[ 1.04096620e-01 -9.94565602e-01 -1.77654729e-03 9.30926435e+02] [ 9.94366105e-01 1.04111325e-01 -1.99219033e-02 1.20481424e+02] [ 1.99985984e-02 3.07264389e-04 9.99799961e-01 6.80292453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9792541539998 meters 0.015095877524870887 Centerline is valid? [True, True] Translation: X:930.93, Y:120.51, Z:6.81 [[ 1.03386788e-01 -9.94639765e-01 -1.70571163e-03 9.30930595e+02] [ 9.94454663e-01 1.03400457e-01 -1.91903130e-02 1.20508675e+02] [ 1.92638198e-02 2.87771931e-04 9.99814394e-01 6.80519550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0092541539999 meters 0.014628870644662824 Centerline is valid? [True, True] Translation: X:930.94, Y:120.54, Z:6.81 [[ 1.02321677e-01 -9.94749935e-01 -1.68537992e-03 9.30936564e+02] [ 9.94568032e-01 1.02335200e-01 -1.90246357e-02 1.20536212e+02] [ 1.90972288e-02 2.70407650e-04 9.99817595e-01 6.80648061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0392541539999 meters 0.014464018178191328 Centerline is valid? [True, True] Translation: X:930.94, Y:120.56, Z:6.81 [[ 1.00201173e-01 -9.94965901e-01 -1.60651364e-03 9.30943868e+02] [ 9.94799766e-01 1.00213801e-01 -1.81829613e-02 1.20562970e+02] [ 1.82524213e-02 2.23794650e-04 9.99833386e-01 6.80697346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0692541539999 meters 0.016488565673899724 Centerline is valid? [True, True] Translation: X:930.95, Y:120.59, Z:6.80 [[ 9.77693383e-02 -9.95207734e-01 -1.65004427e-03 9.30951706e+02] [ 9.95031436e-01 9.77830773e-02 -1.87326008e-02 1.20589574e+02] [ 1.88041756e-02 1.89628063e-04 9.99823168e-01 6.80461136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0992541539998 meters 0.01686516610503104 Centerline is valid? [True, True] Translation: X:930.96, Y:120.62, Z:6.80 [[ 9.64936074e-02 -9.95332215e-01 -1.66284885e-03 9.30957019e+02] [ 9.95151972e-01 9.65077790e-02 -1.89420624e-02 1.20617480e+02] [ 1.90141228e-02 1.73000621e-04 9.99819200e-01 6.80469407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1292541539999 meters 0.014695094704730792 Centerline is valid? [True, True] Translation: X:930.96, Y:120.64, Z:6.81 [[ 9.69625123e-02 -9.95286585e-01 -1.69829690e-03 9.30961865e+02] [ 9.95097508e-01 9.69771956e-02 -1.94003143e-02 1.20644498e+02] [ 1.94735686e-02 1.91132193e-04 9.99810354e-01 6.80500399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1592541539999 meters 0.015429977055105345 Centerline is valid? [True, True] Translation: X:930.97, Y:120.67, Z:6.81 [[ 9.61878243e-02 -9.95361596e-01 -1.78785298e-03 9.30968200e+02] [ 9.95150768e-01 9.62042480e-02 -2.04863677e-02 1.20672097e+02] [ 2.05633427e-02 1.91355866e-04 9.99788534e-01 6.80535672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1892541539999 meters 0.014266930215639406 Centerline is valid? [True, True] Translation: X:930.97, Y:120.70, Z:6.81 [[ 9.71609300e-02 -9.95267055e-01 -1.80088855e-03 9.30974304e+02] [ 9.95051687e-01 9.71773700e-02 -2.07050695e-02 1.20699358e+02] [ 2.07820792e-02 2.19746628e-04 9.99784005e-01 6.80731185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2192541539998 meters 0.014374332761436844 Centerline is valid? [True, True] Translation: X:930.98, Y:120.73, Z:6.81 [[ 9.73530512e-02 -9.95248272e-01 -1.80566025e-03 9.30978042e+02] [ 9.95030244e-01 9.73695201e-02 -2.08324153e-02 1.20726153e+02] [ 2.09092416e-02 2.31412638e-04 9.99781351e-01 6.80736319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2492541539999 meters 0.014354843108566646 Centerline is valid? [True, True] Translation: X:930.98, Y:120.75, Z:6.81 [[ 9.73309884e-02 -9.95250421e-01 -1.81082175e-03 9.30982472e+02] [ 9.95029631e-01 9.73475395e-02 -2.09640315e-02 1.20753849e+02] [ 2.10407402e-02 2.38628609e-04 9.99778591e-01 6.80800373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2792541539999 meters 0.015352441091278032 Centerline is valid? [True, True] Translation: X:930.99, Y:120.78, Z:6.81 [[ 9.66980312e-02 -9.95311966e-01 -1.89226210e-03 9.30988284e+02] [ 9.95069153e-01 9.67162388e-02 -2.19852017e-02 1.20780959e+02] [ 2.20651468e-02 2.42994077e-04 9.99756505e-01 6.80593529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3092541539999 meters 0.01782932995075393 Centerline is valid? [True, True] Translation: X:930.99, Y:120.81, Z:6.80 [[ 9.53191979e-02 -9.95444821e-01 -1.96433020e-03 9.30993041e+02] [ 9.95181370e-01 9.53391632e-02 -2.29016525e-02 1.20808640e+02] [ 2.29846090e-02 2.28102325e-04 9.99735793e-01 6.80369859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3392541539998 meters 0.017420828145506356 Centerline is valid? [True, True] Translation: X:931.00, Y:120.84, Z:6.80 [[ 9.32198870e-02 -9.95643719e-01 -1.90736039e-03 9.31001144e+02] [ 9.95393711e-01 9.32392218e-02 -2.23116075e-02 1.20835832e+02] [ 2.23922527e-02 1.81310992e-04 9.99749246e-01 6.80438989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3692541539998 meters 0.018219275972992513 Centerline is valid? [True, True] Translation: X:931.01, Y:120.86, Z:6.80 [[ 9.14339360e-02 -9.95809400e-01 -1.86402706e-03 9.31006569e+02] [ 9.95569059e-01 9.14528203e-02 -2.18776105e-02 1.20863607e+02] [ 2.19564008e-02 1.44588373e-04 9.99758919e-01 6.80495835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3992541539999 meters 0.013875726548052272 Centerline is valid? [True, True] Translation: X:931.01, Y:120.89, Z:6.81 [[ 8.94985496e-02 -9.95985515e-01 -1.69195896e-03 9.31014645e+02] [ 9.95786509e-01 8.95144887e-02 -1.99094232e-02 1.20890339e+02] [ 1.99809520e-02 9.70345911e-05 9.99800356e-01 6.81000275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4292541539999 meters 0.01580743689832616 Centerline is valid? [True, True] Translation: X:931.02, Y:120.92, Z:6.81 [[ 8.67990996e-02 -9.96224425e-01 -1.67685204e-03 9.31020467e+02] [ 9.96027793e-01 8.68152823e-02 -1.97925009e-02 1.20917904e+02] [ 1.98633492e-02 4.77800217e-05 9.99802703e-01 6.80933993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4592541539998 meters 0.01468316803674823 Centerline is valid? [True, True] Translation: X:931.03, Y:120.94, Z:6.81 [[ 8.52261861e-02 -9.96360336e-01 -1.60578979e-03 9.31025312e+02] [ 9.96178758e-01 8.52413098e-02 -1.90210487e-02 1.20944966e+02] [ 1.90886981e-02 2.14377560e-05 9.99817794e-01 6.81030664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4892541539998 meters 0.01686045367926407 Centerline is valid? [True, True] Translation: X:931.03, Y:120.97, Z:6.81 [[ 8.22613611e-02 -9.96609530e-01 -1.58529556e-03 9.31032482e+02] [ 9.96431414e-01 8.22766298e-02 -1.88412898e-02 1.20973059e+02] [ 1.89078417e-02 -2.97281550e-05 9.99821230e-01 6.80964304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5192541539999 meters 0.01370698347079653 Centerline is valid? [True, True] Translation: X:931.04, Y:121.00, Z:6.81 [[ 8.32244760e-02 -9.96529778e-01 -1.44536143e-03 9.31036018e+02] [ 9.96380734e-01 8.32370257e-02 -1.72345891e-02 1.21000130e+02] [ 1.72950888e-02 -5.79063611e-06 9.99850429e-01 6.81311320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5492541539999 meters 0.013782323028375254 Centerline is valid? [True, True] Translation: X:931.04, Y:121.03, Z:6.81 [[ 8.48005398e-02 -9.96396927e-01 -1.42534977e-03 9.31036942e+02] [ 9.96250970e-01 8.48125137e-02 -1.70540965e-02 1.21028181e+02] [ 1.71135369e-02 2.61904988e-05 9.99853552e-01 6.81336653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5792541539998 meters 0.01794288606112175 Centerline is valid? [True, True] Translation: X:931.04, Y:121.06, Z:6.81 [[ 8.74207677e-02 -9.96170231e-01 -1.57515901e-03 9.31037103e+02] [ 9.95990710e-01 8.74349165e-02 -1.89113749e-02 1.21056739e+02] [ 1.89766726e-02 8.44031749e-05 9.99819923e-01 6.80966488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6092541539998 meters 0.014170341555754957 Centerline is valid? [True, True] Translation: X:931.04, Y:121.08, Z:6.81 [[ 9.01102328e-02 -9.95930644e-01 -1.51598583e-03 9.31037633e+02] [ 9.95763171e-01 9.01228812e-02 -1.82640110e-02 1.21084080e+02] [ 1.83263133e-02 1.36211427e-04 9.99832050e-01 6.81274134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6392541539999 meters 0.015479882810753753 Centerline is valid? [True, True] Translation: X:931.04, Y:121.11, Z:6.81 [[ 9.07323848e-02 -9.95874031e-01 -1.59670010e-03 9.31039626e+02] [ 9.95686926e-01 9.07462890e-02 -1.93042967e-02 1.21112642e+02] [ 1.93695423e-02 1.61711456e-04 9.99812380e-01 6.81130724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6692541539999 meters 0.015479882810753753 Centerline is valid? [True, True] Translation: X:931.04, Y:121.14, Z:6.81 [[ 9.04463798e-02 -9.95900055e-01 -1.59124521e-03 9.31041823e+02] [ 9.95712947e-01 9.04602319e-02 -1.93047468e-02 1.21140152e+02] [ 1.93695428e-02 1.61620998e-04 9.99812380e-01 6.81149770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6992541539998 meters 0.01529849271327941 Centerline is valid? [True, True] Translation: X:931.04, Y:121.17, Z:6.81 [[ 9.21030971e-02 -9.95748098e-01 -1.65650281e-03 9.31043365e+02] [ 9.95543902e-01 9.21177569e-02 -2.01657596e-02 1.21168135e+02] [ 2.02326101e-02 2.08207650e-04 9.99795278e-01 6.81163694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7292541539998 meters 0.017072266333777404 Centerline is valid? [True, True] Translation: X:931.04, Y:121.20, Z:6.81 [[ 9.10451701e-02 -9.95845272e-01 -1.72371228e-03 9.31044818e+02] [ 9.95622569e-01 9.10612633e-02 -2.10605499e-02 1.21195438e+02] [ 2.11300124e-02 2.01294504e-04 9.99776716e-01 6.80899602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7592541539999 meters 0.014452010382149163 Centerline is valid? [True, True] Translation: X:931.05, Y:121.22, Z:6.81 [[ 9.09228347e-02 -9.95856544e-01 -1.66811099e-03 9.31046647e+02] [ 9.95646500e-01 9.09379180e-02 -2.04534126e-02 1.21223082e+02] [ 2.05203593e-02 1.98833382e-04 9.99789415e-01 6.81211406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7892541539999 meters 0.016088268045253904 Centerline is valid? [True, True] Translation: X:931.05, Y:121.25, Z:6.81 [[ 8.71081323e-02 -9.96197491e-01 -1.65287452e-03 9.31050740e+02] [ 9.95989866e-01 8.71237223e-02 -2.03382463e-02 1.21251128e+02] [ 2.04049146e-02 1.25380380e-04 9.99791790e-01 6.81113930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8192541539999 meters 0.016953266404882813 Centerline is valid? [True, True] Translation: X:931.05, Y:121.28, Z:6.81 [[ 8.48530241e-02 -9.96392137e-01 -1.63503547e-03 9.31054002e+02] [ 9.96187555e-01 8.48687334e-02 -2.01904276e-02 1.21279187e+02] [ 2.02563467e-02 8.44168560e-05 9.99794816e-01 6.81112379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8492541539998 meters 0.01808415662513706 Centerline is valid? [True, True] Translation: X:931.06, Y:121.31, Z:6.81 [[ 8.11697728e-02 -9.96698985e-01 -1.61296331e-03 9.31058360e+02] [ 9.96498530e-01 8.11857958e-02 -1.99886648e-02 1.21306912e+02] [ 2.00536316e-02 1.51598103e-05 9.99798906e-01 6.81129301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8792541539999 meters 0.01369162715645399 Centerline is valid? [True, True] Translation: X:931.06, Y:121.33, Z:6.82 [[ 8.06045673e-02 -9.96745048e-01 -1.48779409e-03 9.31061276e+02] [ 9.96573303e-01 8.06182965e-02 -1.85024854e-02 1.21334846e+02] [ 1.85622041e-02 8.68895690e-06 9.99827707e-01 6.81655133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9092541539999 meters 0.016273672383498416 Centerline is valid? [True, True] Translation: X:931.06, Y:121.36, Z:6.81 [[ 7.81737718e-02 -9.96938572e-01 -1.53122651e-03 9.31064260e+02] [ 9.96755288e-01 7.81887603e-02 -1.91157794e-02 1.21361543e+02] [ 1.91769825e-02 -3.19055453e-05 9.99816104e-01 6.81349202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9392541539999 meters 0.014961250949532167 Centerline is valid? [True, True] Translation: X:931.07, Y:121.39, Z:6.82 [[ 7.68319360e-02 -9.97042972e-01 -1.47165920e-03 9.31065921e+02] [ 9.96872448e-01 7.68460125e-02 -1.84394502e-02 1.21389808e+02] [ 1.84980154e-02 -5.03178455e-05 9.99828896e-01 6.81507965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9692541539998 meters 0.016976150414143798 Centerline is valid? [True, True] Translation: X:931.07, Y:121.42, Z:6.81 [[ 7.59417804e-02 -9.97111102e-01 -1.51512151e-03 9.31067984e+02] [ 9.96929039e-01 7.59568666e-02 -1.90537798e-02 1.21418063e+02] [ 1.91138192e-02 -6.34906757e-05 9.99817312e-01 6.81324412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9992541539999 meters 0.014231780840851617 Centerline is valid? [True, True] Translation: X:931.07, Y:121.45, Z:6.82 [[ 7.65158648e-02 -9.97067325e-01 -1.43961757e-03 9.31069006e+02] [ 9.96901765e-01 7.65293933e-02 -1.81692974e-02 1.21445896e+02] [ 1.82261859e-02 -4.49177861e-05 9.99833888e-01 6.81626012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0292541539999 meters 0.013750642931549638 Centerline is valid? [True, True] Translation: X:931.07, Y:121.47, Z:6.82 [[ 7.70605404e-02 -9.97025396e-01 -1.42589062e-03 9.31070407e+02] [ 9.96861736e-01 7.70737257e-02 -1.80643313e-02 1.21473420e+02] [ 1.81204958e-02 -2.93686605e-05 9.99835810e-01 6.81706939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0592541539999 meters 0.01687871428867921 Centerline is valid? [True, True] Translation: X:931.07, Y:121.50, Z:6.81 [[ 7.72208760e-02 -9.97012852e-01 -1.51954701e-03 9.31071394e+02] [ 9.96825548e-01 7.72358220e-02 -1.93249599e-02 1.21501549e+02] [ 1.93845968e-02 -2.24329488e-05 9.99812101e-01 6.81400705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0892541539998 meters 0.013723100485244792 Centerline is valid? [True, True] Translation: X:931.07, Y:121.53, Z:6.82 [[ 7.86619143e-02 -9.96900324e-01 -1.43057771e-03 9.31072001e+02] [ 9.96733298e-01 7.86749211e-02 -1.82479966e-02 1.21528213e+02] [ 1.83039843e-02 9.51790267e-06 9.99832468e-01 6.81704805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1192541539998 meters 0.0141191991764056 Centerline is valid? [True, True] Translation: X:931.07, Y:121.56, Z:6.82 [[ 7.92557955e-02 -9.96853345e-01 -1.38824167e-03 9.31072937e+02] [ 9.96695022e-01 7.92679490e-02 -1.77658240e-02 1.21555930e+02] [ 1.78199642e-02 2.43909569e-05 9.99841212e-01 6.81680881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1492541539999 meters 0.014172454240866692 Centerline is valid? [True, True] Translation: X:931.07, Y:121.58, Z:6.82 [[ 8.11191463e-02 -9.96703486e-01 -1.35863652e-03 9.31072465e+02] [ 9.96550708e-01 8.11304998e-02 -1.74507162e-02 1.21583691e+02] [ 1.75034165e-02 6.16370185e-05 9.99846802e-01 6.81725108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1792541539999 meters 0.01381565732439417 Centerline is valid? [True, True] Translation: X:931.07, Y:121.61, Z:6.82 [[ 8.23010989e-02 -9.96606613e-01 -1.33687165e-03 9.31073264e+02] [ 9.96457547e-01 8.23119106e-02 -1.72367543e-02 1.21611198e+02] [ 1.72883038e-02 8.64679803e-05 9.99850542e-01 6.81778285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2092541539998 meters 0.01399373166212535 Centerline is valid? [True, True] Translation: X:931.07, Y:121.64, Z:6.82 [[ 8.36917886e-02 -9.96490807e-01 -1.32514440e-03 9.31073611e+02] [ 9.96343219e-01 8.37021998e-02 -1.71502803e-02 1.21639634e+02] [ 1.72010142e-02 1.15038996e-04 9.99852045e-01 6.81764293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2392541539998 meters 0.013973597509492858 Centerline is valid? [True, True] Translation: X:931.08, Y:121.67, Z:6.82 [[ 8.38298027e-02 -9.96479161e-01 -1.35885425e-03 9.31075422e+02] [ 9.96322790e-01 8.38407206e-02 -1.76531081e-02 1.21667932e+02] [ 1.77048816e-02 1.25999111e-04 9.99843248e-01 6.81767337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2692541539999 meters 0.014026372956872812 Centerline is valid? [True, True] Translation: X:931.08, Y:121.69, Z:6.82 [[ 8.34441288e-02 -9.96511428e-01 -1.43242430e-03 9.31077889e+02] [ 9.96336283e-01 8.34563185e-02 -1.86829654e-02 1.21694862e+02] [ 1.87373334e-02 1.31807469e-04 9.99824432e-01 6.81676549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2992541539999 meters 0.016609491974978866 Centerline is valid? [True, True] Translation: X:931.08, Y:121.72, Z:6.81 [[ 8.21095360e-02 -9.96622100e-01 -1.55348448e-03 9.31080500e+02] [ 9.96414431e-01 8.21241389e-02 -2.03447362e-02 1.21722299e+02] [ 2.04035923e-02 1.22582496e-04 9.99791818e-01 6.81366911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3292541539998 meters 0.013892867878677191 Centerline is valid? [True, True] Translation: X:931.08, Y:121.75, Z:6.82 [[ 8.13093639e-02 -9.96687839e-01 -1.46236037e-03 9.31083674e+02] [ 9.96502440e-01 8.13224444e-02 -1.92236098e-02 1.21749922e+02] [ 1.92788608e-02 1.05813806e-04 9.99814140e-01 6.81677459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3592541539998 meters 0.016225974819997758 Centerline is valid? [True, True] Translation: X:931.09, Y:121.78, Z:6.81 [[ 8.01339923e-02 -9.96782984e-01 -1.49172754e-03 9.31086742e+02] [ 9.96588602e-01 8.01478243e-02 -1.96846208e-02 1.21778056e+02] [ 1.97408538e-02 9.07685871e-05 9.99805126e-01 6.81484252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3892541539999 meters 0.01581495246733559 Centerline is valid? [True, True] Translation: X:931.09, Y:121.81, Z:6.82 [[ 7.91701149e-02 -9.96860090e-01 -1.43304628e-03 9.31090210e+02] [ 9.96679365e-01 7.91830485e-02 -1.89812563e-02 1.21806078e+02] [ 1.90351299e-02 7.44605813e-05 9.99818813e-01 6.81634920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4192541539999 meters 0.014769042579933488 Centerline is valid? [True, True] Translation: X:931.09, Y:121.83, Z:6.82 [[ 7.90402051e-02 -9.96870516e-01 -1.34922197e-03 9.31093083e+02] [ 9.96709109e-01 7.90516862e-02 -1.79383180e-02 1.21834166e+02] [ 1.79888386e-02 7.30665086e-05 9.99838185e-01 6.81832571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4492541539998 meters 0.01527253933339889 Centerline is valid? [True, True] Translation: X:931.10, Y:121.86, Z:6.82 [[ 7.85731338e-02 -9.96907528e-01 -1.28171918e-03 9.31096362e+02] [ 9.96760730e-01 7.85835588e-02 -1.71076172e-02 1.21860747e+02] [ 1.71554344e-02 6.66317457e-05 9.99852832e-01 6.81870749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4792541539998 meters 0.015637889843856494 Centerline is valid? [True, True] Translation: X:931.10, Y:121.89, Z:6.82 [[ 7.85503538e-02 -9.96909337e-01 -1.27147309e-03 9.31098850e+02] [ 9.96763736e-01 7.85606115e-02 -1.70377620e-02 1.21888279e+02] [ 1.70849917e-02 7.09639643e-05 9.99854038e-01 6.81908969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5092541539999 meters 0.015469482806171124 Centerline is valid? [True, True] Translation: X:931.10, Y:121.92, Z:6.82 [[ 7.99185283e-02 -9.96800596e-01 -1.26488438e-03 9.31100063e+02] [ 9.96655333e-01 7.99284757e-02 -1.70172253e-02 1.21915809e+02] [ 1.70638806e-02 9.93378359e-05 9.99854396e-01 6.81874736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5392541539999 meters 0.015816445855210068 Centerline is valid? [True, True] Translation: X:931.10, Y:121.94, Z:6.82 [[ 8.07042779e-02 -9.96737268e-01 -1.27994429e-03 9.31101892e+02] [ 9.96587319e-01 8.07143382e-02 -1.72890353e-02 1.21944249e+02] [ 1.73359357e-02 1.19722865e-04 9.99849714e-01 6.81878172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5692541539999 meters 0.01445775194738931 Centerline is valid? [True, True] Translation: X:931.10, Y:121.97, Z:6.82 [[ 8.37870792e-02 -9.96482892e-01 -1.25327361e-03 9.31102965e+02] [ 9.96338009e-01 8.37962689e-02 -1.69928776e-02 1.21972759e+02] [ 1.70381315e-02 1.75099454e-04 9.99854825e-01 6.82079653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5992541539998 meters 0.014487595688150348 Centerline is valid? [True, True] Translation: X:931.10, Y:122.00, Z:6.82 [[ 8.51553691e-02 -9.96366904e-01 -1.24731124e-03 9.31103345e+02] [ 9.96222349e-01 8.51642623e-02 -1.69729280e-02 1.22000085e+02] [ 1.70174901e-02 2.02736621e-04 9.99855171e-01 6.82072710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6292541539999 meters 0.014829682368897512 Centerline is valid? [True, True] Translation: X:931.10, Y:122.03, Z:6.82 [[ 8.73033959e-02 -9.96180938e-01 -1.28692860e-03 9.31104271e+02] [ 9.96025871e-01 8.73125146e-02 -1.75780762e-02 1.22028191e+02] [ 1.76233094e-02 2.52811568e-04 9.99844665e-01 6.82117295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6592541539999 meters 0.016842992978547317 Centerline is valid? [True, True] Translation: X:931.11, Y:122.06, Z:6.82 [[ 8.74110348e-02 -9.96171362e-01 -1.38898209e-03 9.31106200e+02] [ 9.95989315e-01 8.74216168e-02 -1.90458899e-02 1.22056694e+02] [ 1.90943972e-02 2.81409631e-04 9.99817646e-01 6.81957049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6892541539999 meters 0.01532907402609898 Centerline is valid? [True, True] Translation: X:931.11, Y:122.08, Z:6.82 [[ 8.82531527e-02 -9.96097176e-01 -1.34080159e-03 9.31106867e+02] [ 9.95926191e-01 8.82628489e-02 -1.84578106e-02 1.22083731e+02] [ 1.85041160e-02 2.93620556e-04 9.99828741e-01 6.82092084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7192541539998 meters 0.015078355463661852 Centerline is valid? [True, True] Translation: X:931.11, Y:122.11, Z:6.82 [[ 8.90073994e-02 -9.96030068e-01 -1.33659985e-03 9.31109816e+02] [ 9.95858766e-01 8.90168831e-02 -1.84746634e-02 1.22112017e+02] [ 1.85203002e-02 3.13317064e-04 9.99828435e-01 6.82181740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7492541539999 meters 0.015470253205322138 Centerline is valid? [True, True] Translation: X:931.11, Y:122.14, Z:6.82 [[ 8.84215441e-02 -9.96082237e-01 -1.34417080e-03 9.31111273e+02] [ 9.95907551e-01 8.84312136e-02 -1.86566669e-02 1.22139504e+02] [ 1.87024411e-02 3.10981445e-04 9.99825046e-01 6.82127287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7792541539999 meters 0.016191938883055396 Centerline is valid? [True, True] Translation: X:931.12, Y:122.17, Z:6.82 [[ 8.61193038e-02 -9.96283843e-01 -1.40320040e-03 9.31115757e+02] [ 9.96091919e-01 8.61302582e-02 -1.95567757e-02 1.22167718e+02] [ 1.96049577e-02 2.86499329e-04 9.99807763e-01 6.82063244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8092541539999 meters 0.015036020166005432 Centerline is valid? [True, True] Translation: X:931.12, Y:122.20, Z:6.82 [[ 8.48642167e-02 -9.96391621e-01 -1.34258105e-03 9.31118869e+02] [ 9.96214552e-01 8.48744478e-02 -1.87854976e-02 1.22196059e+02] [ 1.88316632e-02 2.56717760e-04 9.99822636e-01 6.82185357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8392541539998 meters 0.014402769595914054 Centerline is valid? [True, True] Translation: X:931.12, Y:122.22, Z:6.82 [[ 8.34175224e-02 -9.96513763e-01 -1.35526821e-03 9.31122239e+02] [ 9.96331891e-01 8.34281918e-02 -1.90394197e-02 1.22224143e+02] [ 1.90861113e-02 2.37924277e-04 9.99817815e-01 6.82294400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8692541539998 meters 0.01562960968545687 Centerline is valid? [True, True] Translation: X:931.13, Y:122.25, Z:6.82 [[ 8.03338390e-02 -9.96767068e-01 -1.37329790e-03 9.31126861e+02] [ 9.96578851e-01 8.03453575e-02 -1.93705191e-02 1.22251731e+02] [ 1.94182337e-02 1.87508515e-04 9.99811431e-01 6.82220023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8992541539999 meters 0.013917132545505834 Centerline is valid? [True, True] Translation: X:931.13, Y:122.28, Z:6.82 [[ 7.87493175e-02 -9.96893600e-01 -1.30210411e-03 9.31131052e+02] [ 9.96723306e-01 7.87599328e-02 -1.84261928e-02 1.22278167e+02] [ 1.84715073e-02 1.53212597e-04 9.99829375e-01 6.82452708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9292541539999 meters 0.01487002139503984 Centerline is valid? [True, True] Translation: X:931.13, Y:122.31, Z:6.82 [[ 7.73791233e-02 -9.97000874e-01 -1.31444354e-03 9.31134208e+02] [ 9.96826076e-01 7.73901702e-02 -1.86691186e-02 1.22305668e+02] [ 1.87148526e-02 1.34328436e-04 9.99824853e-01 6.82432124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9592541539998 meters 0.01502165225931407 Centerline is valid? [True, True] Translation: X:931.14, Y:122.33, Z:6.82 [[ 7.62290260e-02 -9.97089516e-01 -1.27767728e-03 9.31136506e+02] [ 9.96922994e-01 7.62396456e-02 -1.82225368e-02 1.22332283e+02] [ 1.82669101e-02 1.15340371e-04 9.99833139e-01 6.82457153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9892541539998 meters 0.013675169333627838 Centerline is valid? [True, True] Translation: X:931.14, Y:122.36, Z:6.83 [[ 7.63457962e-02 -9.97080678e-01 -1.20065464e-03 9.31138473e+02] [ 9.96932426e-01 7.63551490e-02 -1.71938865e-02 1.22360509e+02] [ 1.72353682e-02 1.15709417e-04 9.99851453e-01 6.82609818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0192541539999 meters 0.01372678325476502 Centerline is valid? [True, True] Translation: X:931.14, Y:122.39, Z:6.83 [[ 7.62780680e-02 -9.97085874e-01 -1.19023096e-03 9.31139280e+02] [ 9.96939180e-01 7.62872623e-02 -1.71033447e-02 1.22387477e+02] [ 1.71443028e-02 1.18022207e-04 9.99853019e-01 6.82562475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0492541539999 meters 0.01546957965320814 Centerline is valid? [True, True] Translation: X:931.14, Y:122.42, Z:6.82 [[ 7.71855181e-02 -9.97015974e-01 -1.24245325e-03 9.31139989e+02] [ 9.96854905e-01 7.71953817e-02 -1.79212780e-02 1.22415673e+02] [ 1.79637121e-02 1.44717508e-04 9.99838629e-01 6.82440092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0792541539998 meters 0.017148735955739212 Centerline is valid? [True, True] Translation: X:931.14, Y:122.44, Z:6.82 [[ 7.90242187e-02 -9.96871822e-01 -1.32064581e-03 9.31139907e+02] [ 9.96688316e-01 7.90350120e-02 -1.91276475e-02 1.22444223e+02] [ 1.91721901e-02 1.95275150e-04 9.99816178e-01 6.82292330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1092541539998 meters 0.01427657103419931 Centerline is valid? [True, True] Translation: X:931.14, Y:122.47, Z:6.83 [[ 8.01968551e-02 -9.96778260e-01 -1.25112341e-03 9.31140502e+02] [ 9.96612235e-01 8.02063331e-02 -1.81933368e-02 1.22472159e+02] [ 1.82350706e-02 2.12163492e-04 9.99833705e-01 6.82565840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1392541539999 meters 0.015277452082880949 Centerline is valid? [True, True] Translation: X:931.14, Y:122.50, Z:6.82 [[ 8.11325299e-02 -9.96702476e-01 -1.29859218e-03 9.31141015e+02] [ 9.96522435e-01 8.11425579e-02 -1.89452472e-02 1.22500156e+02] [ 1.89881458e-02 2.42999594e-04 9.99819679e-01 6.82467395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1692541539999 meters 0.016179992147946822 Centerline is valid? [True, True] Translation: X:931.14, Y:122.53, Z:6.82 [[ 8.23892505e-02 -9.96599340e-01 -1.32906753e-03 9.31140847e+02] [ 9.96409408e-01 8.23994979e-02 -1.94580249e-02 1.22528605e+02] [ 1.95013693e-02 2.78836698e-04 9.99809791e-01 6.82352384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1992541539998 meters 0.015246800134451701 Centerline is valid? [True, True] Translation: X:931.14, Y:122.56, Z:6.82 [[ 8.38315150e-02 -9.96479124e-01 -1.27773493e-03 9.31140748e+02] [ 9.96302088e-01 8.38407087e-02 -1.87852087e-02 1.22555740e+02] [ 1.88261945e-02 3.01782529e-04 9.99822726e-01 6.82497899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2292541539998 meters 0.01765128231434452 Centerline is valid? [True, True] Translation: X:931.14, Y:122.58, Z:6.82 [[ 8.34569062e-02 -9.96510488e-01 -1.33870143e-03 9.31141940e+02] [ 9.96314462e-01 8.34670443e-02 -1.97672648e-02 1.22583740e+02] [ 1.98100242e-02 3.15947171e-04 9.99803712e-01 6.82284982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2592541539999 meters 0.015554724158697679 Centerline is valid? [True, True] Translation: X:931.14, Y:122.61, Z:6.83 [[ 8.39272708e-02 -9.96471079e-01 -1.26537907e-03 9.31143016e+02] [ 9.96294439e-01 8.39362214e-02 -1.87643704e-02 1.22610559e+02] [ 1.88043636e-02 3.14152261e-04 9.99823133e-01 6.82534424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2892541539999 meters 0.015492237059878348 Centerline is valid? [True, True] Translation: X:931.14, Y:122.64, Z:6.83 [[ 8.36844097e-02 -9.96491524e-01 -1.25019271e-03 9.31144947e+02] [ 9.96317617e-01 8.36931642e-02 -1.86188395e-02 1.22638735e+02] [ 1.86581483e-02 3.12517572e-04 9.99825873e-01 6.82599274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3192541539999 meters 0.014889828446732797 Centerline is valid? [True, True] Translation: X:931.15, Y:122.67, Z:6.83 [[ 8.24189960e-02 -9.96597057e-01 -1.18945934e-03 9.31147277e+02] [ 9.96438308e-01 8.24270997e-02 -1.77896577e-02 1.22666881e+02] [ 1.78271642e-02 2.80982875e-04 9.99841044e-01 6.82744548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3492541539998 meters 0.0164295965730131 Centerline is valid? [True, True] Translation: X:931.15, Y:122.69, Z:6.83 [[ 7.98776414e-02 -9.96804007e-01 -1.15538877e-03 9.31148248e+02] [ 9.96653184e-01 7.98856553e-02 -1.73410996e-02 1.22693946e+02] [ 1.73779765e-02 2.33644239e-04 9.99848964e-01 6.82586887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3792541539999 meters 0.014477498585141064 Centerline is valid? [True, True] Translation: X:931.15, Y:122.72, Z:6.83 [[ 7.85966811e-02 -9.96905959e-01 -1.03440608e-03 9.31151260e+02] [ 9.96784196e-01 7.86032492e-02 -1.55819206e-02 1.22721889e+02] [ 1.56150171e-02 1.93607609e-04 9.99878059e-01 6.82840305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4092541539999 meters 0.016150335900590566 Centerline is valid? [True, True] Translation: X:931.15, Y:122.75, Z:6.83 [[ 7.61772815e-02 -9.97093729e-01 -1.05744666e-03 9.31153866e+02] [ 9.96965361e-01 7.61844428e-02 -1.59999643e-02 1.22750306e+02] [ 1.60340251e-02 1.64596092e-04 9.99871433e-01 6.82755954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4392541539999 meters 0.01384416860468549 Centerline is valid? [True, True] Translation: X:931.16, Y:122.78, Z:6.83 [[ 7.28044776e-02 -9.97345836e-01 -8.89554068e-04 9.31157551e+02] [ 9.97254408e-01 7.28098485e-02 -1.35045202e-02 1.22777445e+02] [ 1.35334453e-02 9.60778222e-05 9.99908414e-01 6.83076533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4692541539998 meters 0.013770449126329127 Centerline is valid? [True, True] Translation: X:931.16, Y:122.81, Z:6.83 [[ 7.06911737e-02 -9.97497857e-01 -8.85406058e-04 9.31160343e+02] [ 9.97406637e-01 7.06966832e-02 -1.34899794e-02 1.22805162e+02] [ 1.35188208e-02 7.05126001e-05 9.99908614e-01 6.83106364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4992541539999 meters 0.01647341809533255 Centerline is valid? [True, True] Translation: X:931.16, Y:122.83, Z:6.83 [[ 6.59031095e-02 -9.97825575e-01 -9.49777455e-04 9.31163718e+02] [ 9.97719694e-01 6.59099523e-02 -1.45358625e-02 1.22833160e+02] [ 1.45668552e-02 1.03468693e-05 9.99893898e-01 6.82819280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5292541539999 meters 0.016564388615298756 Centerline is valid? [True, True] Translation: X:931.17, Y:122.86, Z:6.83 [[ 6.36984128e-02 -9.97968721e-01 -9.71381939e-04 9.31165888e+02] [ 9.97856986e-01 6.37058165e-02 -1.49333426e-02 1.22860892e+02] [ 1.49648915e-02 -1.80700297e-05 9.99888020e-01 6.82794605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5592541539999 meters 0.01617389884875873 Centerline is valid? [True, True] Translation: X:931.17, Y:122.89, Z:6.83 [[ 6.04384418e-02 -9.98171403e-01 -1.02220318e-03 9.31168224e+02] [ 9.98046511e-01 6.04470496e-02 -1.57897199e-02 1.22887616e+02] [ 1.58226360e-02 -6.59002487e-05 9.99874812e-01 6.82633945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5892541539998 meters 0.01617389884875873 Centerline is valid? [True, True] Translation: X:931.17, Y:122.92, Z:6.83 [[ 6.01556415e-02 -9.98188491e-01 -1.01756164e-03 9.31169922e+02] [ 9.98063597e-01 6.01642112e-02 -1.57900194e-02 1.22915159e+02] [ 1.58226364e-02 -6.57324824e-05 9.99874812e-01 6.82652979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6192541539998 meters 0.01379772970449323 Centerline is valid? [True, True] Translation: X:931.17, Y:122.94, Z:6.83 [[ 5.89435547e-02 -9.98260832e-01 -9.84457270e-04 9.31171966e+02] [ 9.98142903e-01 5.89517233e-02 -1.53440285e-02 1.22943653e+02] [ 1.53753781e-02 -7.81974528e-05 9.99881789e-01 6.82888026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6492541539999 meters 0.014024983218266498 Centerline is valid? [True, True] Translation: X:931.17, Y:122.97, Z:6.83 [[ 5.58632847e-02 -9.98437902e-01 -1.02481058e-03 9.31174471e+02] [ 9.98308984e-01 5.58725401e-02 -1.60446663e-02 1.22971856e+02] [ 1.60768617e-02 -1.26769850e-04 9.99870751e-01 6.82826069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6792541539999 meters 0.017203874378094747 Centerline is valid? [True, True] Translation: X:931.18, Y:123.00, Z:6.83 [[ 5.40704239e-02 -9.98536501e-01 -1.11556276e-03 9.31176545e+02] [ 9.98382399e-01 5.40816784e-02 -1.75429997e-02 1.22999967e+02] [ 1.75776571e-02 -1.65200795e-04 9.99845487e-01 6.82539732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7092541539998 meters 0.015164559358621252 Centerline is valid? [True, True] Translation: X:931.18, Y:123.03, Z:6.83 [[ 5.31625573e-02 -9.98585298e-01 -1.07011823e-03 9.31178522e+02] [ 9.98442223e-01 5.31730555e-02 -1.69042344e-02 1.23026901e+02] [ 1.69372214e-02 -1.69778893e-04 9.99856541e-01 6.82713826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7392541539998 meters 0.016811901535708107 Centerline is valid? [True, True] Translation: X:931.18, Y:123.06, Z:6.83 [[ 5.18379863e-02 -9.98654925e-01 -1.07929337e-03 9.31179473e+02] [ 9.98508049e-01 5.18488734e-02 -1.71280732e-02 1.23055291e+02] [ 1.71609948e-02 -1.89798292e-04 9.99852721e-01 6.82623875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7692541539999 meters 0.01450864979215592 Centerline is valid? [True, True] Translation: X:931.18, Y:123.08, Z:6.83 [[ 5.20250979e-02 -9.98645279e-01 -9.97543451e-04 9.31180252e+02] [ 9.98518694e-01 5.20343868e-02 -1.59009596e-02 1.23082477e+02] [ 1.59313248e-02 -1.68816806e-04 9.99873074e-01 6.82832002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7992541539999 meters 0.014763448327920429 Centerline is valid? [True, True] Translation: X:931.18, Y:123.11, Z:6.83 [[ 5.27284612e-02 -9.98608382e-01 -1.00403123e-03 9.31179588e+02] [ 9.98478956e-01 5.27377925e-02 -1.60778950e-02 1.23111143e+02] [ 1.61084711e-02 -1.54741389e-04 9.99870238e-01 6.82815703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8292541539998 meters 0.014231036694891973 Centerline is valid? [True, True] Translation: X:931.18, Y:123.14, Z:6.83 [[ 5.34954409e-02 -9.98567595e-01 -9.97831011e-04 9.31180289e+02] [ 9.98438778e-01 5.35045676e-02 -1.60395919e-02 1.23138132e+02] [ 1.60700053e-02 -1.38228132e-04 9.99870860e-01 6.82860209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8592541539998 meters 0.015788813755579646 Centerline is valid? [True, True] Translation: X:931.18, Y:123.16, Z:6.83 [[ 5.35514052e-02 -9.98564565e-01 -1.02782374e-03 9.31180468e+02] [ 9.98426652e-01 5.35610915e-02 -1.65960866e-02 1.23164072e+02] [ 1.66273154e-02 -1.37462859e-04 9.99861747e-01 6.82707481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8892541539999 meters 0.01619214616219562 Centerline is valid? [True, True] Translation: X:931.18, Y:123.19, Z:6.83 [[ 5.51947793e-02 -9.98475100e-01 -1.00508704e-03 9.31179125e+02] [ 9.98341934e-01 5.52038330e-02 -1.63070446e-02 1.23192645e+02] [ 1.63376626e-02 -1.03356817e-04 9.99866526e-01 6.82758662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9192541539999 meters 0.01447998197594434 Centerline is valid? [True, True] Translation: X:931.18, Y:123.22, Z:6.83 [[ 5.65164123e-02 -9.98401189e-01 -9.80331650e-04 9.31178567e+02] [ 9.98273304e-01 5.65248636e-02 -1.59796541e-02 1.23220518e+02] [ 1.60095187e-02 -7.55261986e-05 9.99871837e-01 6.83043105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9492541539998 meters 0.014480600329922181 Centerline is valid? [True, True] Translation: X:931.18, Y:123.25, Z:6.83 [[ 5.84209074e-02 -9.98291562e-01 -9.77075185e-04 9.31176703e+02] [ 9.98163234e-01 5.84290637e-02 -1.60063343e-02 1.23248255e+02] [ 1.60360781e-02 -4.01759520e-05 9.99871413e-01 6.82990682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9792541539998 meters 0.017149917435340178 Centerline is valid? [True, True] Translation: X:931.18, Y:123.28, Z:6.83 [[ 5.85693806e-02 -9.98282833e-01 -1.00629664e-03 9.31176487e+02] [ 9.98145348e-01 5.85780148e-02 -1.65674249e-02 1.23276008e+02] [ 1.65979227e-02 -3.40864899e-05 9.99862244e-01 6.82823376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0092541539999 meters 0.016027484402434275 Centerline is valid? [True, True] Translation: X:931.18, Y:123.30, Z:6.83 [[ 5.95730434e-02 -9.98223489e-01 -9.58016830e-04 9.31175622e+02] [ 9.98097884e-01 5.95807446e-02 -1.58350476e-02 1.23303336e+02] [ 1.58639958e-02 -1.28525951e-05 9.99874159e-01 6.82926967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0392541539999 meters 0.013556199307278752 Centerline is valid? [True, True] Translation: X:931.18, Y:123.33, Z:6.83 [[ 5.96682091e-02 -9.98217848e-01 -9.12167782e-04 9.31176704e+02] [ 9.98103042e-01 5.96751806e-02 -1.51390303e-02 1.23331629e+02] [ 1.51664841e-02 -7.11861065e-06 9.99884982e-01 6.83246056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0692541539999 meters 0.01597823367617649 Centerline is valid? [True, True] Translation: X:931.18, Y:123.36, Z:6.83 [[ 5.81492113e-02 -9.98307520e-01 -8.74901346e-04 9.31177439e+02] [ 9.98200916e-01 5.81557873e-02 -1.45888802e-02 1.23359918e+02] [ 1.46150693e-02 -2.49954504e-05 9.99893194e-01 6.83147016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0992541539998 meters 0.01392867807499635 Centerline is valid? [True, True] Translation: X:931.18, Y:123.39, Z:6.83 [[ 5.72569664e-02 -9.98359127e-01 -8.32352934e-04 9.31178998e+02] [ 9.98261734e-01 5.72630069e-02 -1.39448472e-02 1.23388223e+02] [ 1.39696285e-02 -3.24664363e-05 9.99902419e-01 6.83414815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1292541539999 meters 0.015332508586759951 Centerline is valid? [True, True] Translation: X:931.18, Y:123.42, Z:6.83 [[ 5.44904508e-02 -9.98513963e-01 -8.09688004e-04 9.31179731e+02] [ 9.98420938e-01 5.44964266e-02 -1.36297822e-02 1.23416663e+02] [ 1.36536529e-02 -6.57164809e-05 9.99906782e-01 6.83320746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1592541539999 meters 0.01612462283747938 Centerline is valid? [True, True] Translation: X:931.18, Y:123.44, Z:6.83 [[ 5.27730938e-02 -9.98606211e-01 -7.97563930e-04 9.31180840e+02] [ 9.98515091e-01 5.27790527e-02 -1.34902017e-02 1.23444259e+02] [ 1.35134938e-02 -8.44599413e-05 9.99908685e-01 6.83265257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1892541539999 meters 0.015477487429094229 Centerline is valid? [True, True] Translation: X:931.18, Y:123.47, Z:6.83 [[ 5.06525967e-02 -9.98715999e-01 -8.17289378e-04 9.31181682e+02] [ 9.98619381e-01 5.06590650e-02 -1.38921268e-02 1.23472162e+02] [ 1.39156924e-02 -1.12488716e-04 9.99903166e-01 6.83297449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2192541539998 meters 0.015545269065326276 Centerline is valid? [True, True] Translation: X:931.18, Y:123.50, Z:6.83 [[ 4.96526334e-02 -9.98766184e-01 -8.51770673e-04 9.31182677e+02] [ 9.98660187e-01 4.96597734e-02 -1.45512173e-02 1.23499913e+02] [ 1.45755625e-02 -1.28123203e-04 9.99893763e-01 6.83269809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2492541539999 meters 0.017512994597425283 Centerline is valid? [True, True] Translation: X:931.18, Y:123.53, Z:6.83 [[ 4.92738421e-02 -9.98784851e-01 -9.54301755e-04 9.31182707e+02] [ 9.98650491e-01 4.92828668e-02 -1.63828088e-02 1.23527316e+02] [ 1.64099319e-02 -1.45769984e-04 9.99865337e-01 6.82991708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2792541539999 meters 0.013896467783078794 Centerline is valid? [True, True] Translation: X:931.18, Y:123.55, Z:6.83 [[ 4.98997232e-02 -9.98753808e-01 -9.21705703e-04 9.31183153e+02] [ 9.98627305e-01 4.99080728e-02 -1.58962404e-02 1.23554927e+02] [ 1.59224312e-02 -1.27222485e-04 9.99873222e-01 6.83286205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3092541539999 meters 0.016715897827575765 Centerline is valid? [True, True] Translation: X:931.18, Y:123.58, Z:6.83 [[ 5.14651746e-02 -9.98674264e-01 -1.02475983e-03 9.31180976e+02] [ 9.98516220e-01 5.14752609e-02 -1.77667157e-02 1.23582141e+02] [ 1.77959115e-02 -1.08872179e-04 9.99841634e-01 6.82947646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3392541539998 meters 0.014591602853460332 Centerline is valid? [True, True] Translation: X:931.18, Y:123.61, Z:6.83 [[ 5.28411384e-02 -9.98602450e-01 -9.79981442e-04 9.31180220e+02] [ 9.98456483e-01 5.28501699e-02 -1.70737077e-02 1.23610216e+02] [ 1.71016386e-02 -7.62746713e-05 9.99853753e-01 6.83135092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3692541539998 meters 0.017434513156119037 Centerline is valid? [True, True] Translation: X:931.18, Y:123.64, Z:6.83 [[ 5.37058939e-02 -9.98556264e-01 -1.03219448e-03 9.31179128e+02] [ 9.98392682e-01 5.37157787e-02 -1.80739236e-02 1.23638913e+02] [ 1.81032748e-02 -5.98591864e-05 9.99836121e-01 6.82921453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3992541539999 meters 0.013912669853994537 Centerline is valid? [True, True] Translation: X:931.18, Y:123.67, Z:6.83 [[ 5.75326630e-02 -9.98343180e-01 -9.42304644e-04 9.31175957e+02] [ 9.98205724e-01 5.75403780e-02 -1.65661687e-02 1.23666574e+02] [ 1.65929421e-02 1.24819113e-05 9.99862328e-01 6.83232044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4292541539999 meters 0.01569088620895891 Centerline is valid? [True, True] Translation: X:931.17, Y:123.69, Z:6.83 [[ 6.05506599e-02 -9.98164642e-01 -9.82728627e-04 9.31173092e+02] [ 9.98013731e-01 6.05585935e-02 -1.73565517e-02 1.23694909e+02] [ 1.73842088e-02 7.01739936e-05 9.99848881e-01 6.83210957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4592541539998 meters 0.01364122847130724 Centerline is valid? [True, True] Translation: X:931.17, Y:123.72, Z:6.83 [[ 6.24430687e-02 -9.98048090e-01 -9.34553520e-04 9.31171893e+02] [ 9.97910167e-01 6.24499761e-02 -1.65921640e-02 1.23721852e+02] [ 1.66181405e-02 1.03465180e-04 9.99861904e-01 6.83345239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4892541539998 meters 0.013707621815443346 Centerline is valid? [True, True] Translation: X:931.17, Y:123.75, Z:6.83 [[ 6.36568763e-02 -9.97971390e-01 -9.52236460e-04 9.31171517e+02] [ 9.97826659e-01 6.36638618e-02 -1.69961944e-02 1.23749536e+02] [ 1.70223388e-02 1.31757717e-04 9.99855101e-01 6.83402317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5192541539999 meters 0.014708321016837262 Centerline is valid? [True, True] Translation: X:931.17, Y:123.78, Z:6.83 [[ 6.50211847e-02 -9.97883430e-01 -9.51451028e-04 9.31169993e+02] [ 9.97737382e-01 6.50279468e-02 -1.70728418e-02 1.23776821e+02] [ 1.70985769e-02 1.60798144e-04 9.99853796e-01 6.83285165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5492541539999 meters 0.01560403914073449 Centerline is valid? [True, True] Translation: X:931.17, Y:123.81, Z:6.83 [[ 6.73032421e-02 -9.97732159e-01 -9.01930042e-04 9.31168966e+02] [ 9.97599578e-01 6.73090027e-02 -1.62659225e-02 1.23805442e+02] [ 1.62897420e-02 1.94984290e-04 9.99867294e-01 6.83419317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5792541539998 meters 0.015582778829826237 Centerline is valid? [True, True] Translation: X:931.17, Y:123.83, Z:6.84 [[ 6.88841201e-02 -9.97624329e-01 -8.21900365e-04 9.31166237e+02] [ 9.97513116e-01 6.88887143e-02 -1.48972793e-02 1.23832426e+02] [ 1.49185079e-02 2.06329580e-04 9.99888692e-01 6.83534969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6092541539998 meters 0.015844742116434662 Centerline is valid? [True, True] Translation: X:931.17, Y:123.86, Z:6.84 [[ 6.89390058e-02 -9.97620557e-01 -7.98348721e-04 9.31166611e+02] [ 9.97514449e-01 6.89433181e-02 -1.45513686e-02 1.23859034e+02] [ 1.45717852e-02 2.06792497e-04 9.99893805e-01 6.83599593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6392541539999 meters 0.01452739922005828 Centerline is valid? [True, True] Translation: X:931.17, Y:123.89, Z:6.84 [[ 6.85826577e-02 -9.97645121e-01 -7.94278257e-04 9.31169921e+02] [ 9.97538924e-01 6.85869473e-02 -1.45576982e-02 1.23886497e+02] [ 1.45778937e-02 2.06082155e-04 9.99893716e-01 6.83823015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6692541539999 meters 0.014343440936920054 Centerline is valid? [True, True] Translation: X:931.17, Y:123.91, Z:6.84 [[ 6.74032711e-02 -9.97725494e-01 -7.98916139e-04 9.31170661e+02] [ 9.97616901e-01 6.74077228e-02 -1.47213120e-02 1.23914199e+02] [ 1.47416814e-02 1.95252338e-04 9.99891316e-01 6.83797393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6992541539998 meters 0.015691463317245302 Centerline is valid? [True, True] Translation: X:931.17, Y:123.94, Z:6.84 [[ 6.59737452e-02 -9.97821031e-01 -8.09582848e-04 9.31171866e+02] [ 9.97708288e-01 6.59784616e-02 -1.50004587e-02 1.23940859e+02] [ 1.50211882e-02 1.81908921e-04 9.99887159e-01 6.83612166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7292541539998 meters 0.016942071393841567 Centerline is valid? [True, True] Translation: X:931.17, Y:123.97, Z:6.83 [[ 6.31755751e-02 -9.98002047e-01 -8.71814795e-04 9.31174942e+02] [ 9.97869815e-01 6.31813967e-02 -1.62463410e-02 1.23968525e+02] [ 1.62689641e-02 1.56414268e-04 9.99867639e-01 6.83495848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7592541539999 meters 0.013826569537225945 Centerline is valid? [True, True] Translation: X:931.18, Y:124.00, Z:6.84 [[ 6.19749438e-02 -9.98077354e-01 -8.37299226e-04 9.31177165e+02] [ 9.97954063e-01 6.19804489e-02 -1.56879846e-02 1.23996719e+02] [ 1.57097183e-02 1.36675798e-04 9.99876585e-01 6.83809966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7892541539999 meters 0.013636582603514068 Centerline is valid? [True, True] Translation: X:931.18, Y:124.02, Z:6.84 [[ 5.85106643e-02 -9.98286412e-01 -8.61224237e-04 9.31180304e+02] [ 9.98154747e-01 5.85169345e-02 -1.62132438e-02 1.24023786e+02] [ 1.62358572e-02 8.90126044e-05 9.99868186e-01 6.83772358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8192541539999 meters 0.014024190947433514 Centerline is valid? [True, True] Translation: X:931.18, Y:124.05, Z:6.84 [[ 5.67389151e-02 -9.98388655e-01 -8.87809830e-04 9.31183149e+02] [ 9.98247351e-01 5.67458213e-02 -1.67969548e-02 1.24051631e+02] [ 1.68202686e-02 6.67871785e-05 9.99858527e-01 6.83752147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8492541539998 meters 0.013460677817091322 Centerline is valid? [True, True] Translation: X:931.19, Y:124.08, Z:6.84 [[ 5.34759780e-02 -9.98568713e-01 -9.18851801e-04 9.31186690e+02] [ 9.98415677e-01 5.34838687e-02 -1.74817464e-02 1.24079947e+02] [ 1.75058687e-02 1.74574408e-05 9.99846760e-01 6.83777938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8792541539999 meters 0.013466357882108244 Centerline is valid? [True, True] Translation: X:931.19, Y:124.11, Z:6.84 [[ 5.20566237e-02 -9.98643708e-01 -9.23579142e-04 9.31189212e+02] [ 9.98487364e-01 5.20648160e-02 -1.76702924e-02 1.24108078e+02] [ 1.76944123e-02 -2.32634297e-06 9.99843442e-01 6.83815448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9092541539999 meters 0.01542380218645694 Centerline is valid? [True, True] Translation: X:931.19, Y:124.14, Z:6.84 [[ 4.97097915e-02 -9.98763207e-01 -9.96195147e-04 9.31192372e+02] [ 9.98579357e-01 4.97197545e-02 -1.91628065e-02 1.24135206e+02] [ 1.91886366e-02 -4.22007966e-05 9.99815880e-01 6.83592156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9392541539999 meters 0.01897663415576387 Centerline is valid? [True, True] Translation: X:931.19, Y:124.16, Z:6.83 [[ 4.85941997e-02 -9.98818049e-01 -1.05343793e-03 9.31194483e+02] [ 9.98610375e-01 4.86055768e-02 -2.03670440e-02 1.24162257e+02] [ 2.03941741e-02 -6.22538430e-05 9.99792015e-01 6.83335566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9692541539998 meters 0.01578477563013337 Centerline is valid? [True, True] Translation: X:931.20, Y:124.19, Z:6.84 [[ 4.84599049e-02 -9.98824619e-01 -1.00898380e-03 9.31196439e+02] [ 9.98632115e-01 4.84703738e-02 -1.96092375e-02 1.24190497e+02] [ 1.96350950e-02 -5.73418440e-05 9.99807211e-01 6.83560006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9992541539999 meters 0.013648985824218082 Centerline is valid? [True, True] Translation: X:931.20, Y:124.22, Z:6.84 [[ 4.84249666e-02 -9.98826346e-01 -9.76533044e-04 9.31198996e+02] [ 9.98644047e-01 4.84347850e-02 -1.90824046e-02 1.24218215e+02] [ 1.91073067e-02 -5.11441035e-05 9.99817437e-01 6.83826590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0292541539999 meters 0.016312452814051283 Centerline is valid? [True, True] Translation: X:931.20, Y:124.25, Z:6.84 [[ 4.74535673e-02 -9.98872938e-01 -1.00681043e-03 9.31201220e+02] [ 9.98676949e-01 4.74642001e-02 -1.97864078e-02 1.24246159e+02] [ 1.98118947e-02 -6.65427304e-05 9.99803723e-01 6.83722618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0592541539999 meters 0.013714525976236222 Centerline is valid? [True, True] Translation: X:931.20, Y:124.27, Z:6.84 [[ 4.73230190e-02 -9.98879224e-01 -9.09966864e-04 9.31203752e+02] [ 9.98717340e-01 4.73317317e-02 -1.79828421e-02 1.24273520e+02] [ 1.80057577e-02 -5.77973055e-05 9.99837882e-01 6.83889397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0892541539998 meters 0.01772344718014717 Centerline is valid? [True, True] Translation: X:931.21, Y:124.30, Z:6.84 [[ 4.64022902e-02 -9.98922375e-01 -9.57517596e-04 9.31206104e+02] [ 9.98741041e-01 4.64121107e-02 -1.90328402e-02 1.24301831e+02] [ 1.90567704e-02 -7.31447449e-05 9.99818401e-01 6.83754577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1192541539998 meters 0.013500072674947586 Centerline is valid? [True, True] Translation: X:931.21, Y:124.33, Z:6.84 [[ 4.67309284e-02 -9.98907142e-01 -8.60835399e-04 9.31207875e+02] [ 9.98758947e-01 4.67388233e-02 -1.72060458e-02 1.24329904e+02] [ 1.72274765e-02 -5.57125604e-05 9.99851594e-01 6.84166163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1492541539999 meters 0.013483096421220597 Centerline is valid? [True, True] Translation: X:931.21, Y:124.36, Z:6.84 [[ 4.78642034e-02 -9.98853504e-01 -8.34106749e-04 9.31209696e+02] [ 9.98712741e-01 4.78714610e-02 -1.67685591e-02 1.24357947e+02] [ 1.67892639e-02 -3.04193164e-05 9.99859050e-01 6.84199315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1792541539999 meters 0.013476632737181849 Centerline is valid? [True, True] Translation: X:931.21, Y:124.38, Z:6.84 [[ 4.86429190e-02 -9.98815889e-01 -8.27957757e-04 9.31210923e+02] [ 9.98675813e-01 4.86499631e-02 -1.67272908e-02 1.24384851e+02] [ 1.67477640e-02 -1.31971324e-05 9.99859746e-01 6.84151100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2092541539998 meters 0.013470915374715148 Centerline is valid? [True, True] Translation: X:931.21, Y:124.41, Z:6.84 [[ 4.94306493e-02 -9.98777228e-01 -8.12760667e-04 9.31211803e+02] [ 9.98640850e-01 4.94373306e-02 -1.65046618e-02 1.24412730e+02] [ 1.65246611e-02 4.18014612e-06 9.99863458e-01 6.84152492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2392541539998 meters 0.01839523465299015 Centerline is valid? [True, True] Translation: X:931.21, Y:124.44, Z:6.84 [[ 5.07703647e-02 -9.98709913e-01 -9.37458760e-04 9.31212611e+02] [ 9.98526302e-01 5.07790061e-02 -1.91498260e-02 1.24441279e+02] [ 1.91727243e-02 3.61664201e-05 9.99816186e-01 6.83755894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2692541539999 meters 0.01725614254010146 Centerline is valid? [True, True] Translation: X:931.21, Y:124.47, Z:6.84 [[ 5.15454721e-02 -9.98670210e-01 -9.36482058e-04 9.31213991e+02] [ 9.98484859e-01 5.15539473e-02 -1.92399775e-02 1.24469136e+02] [ 1.92626717e-02 5.66705665e-05 9.99814456e-01 6.83825359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2992541539999 meters 0.01361458533541314 Centerline is valid? [True, True] Translation: X:931.22, Y:124.50, Z:6.84 [[ 5.31384130e-02 -9.98586785e-01 -8.60908816e-04 9.31215674e+02] [ 9.98428337e-01 5.31453174e-02 -1.77885234e-02 1.24497244e+02] [ 1.78091376e-02 8.56981443e-05 9.99841401e-01 6.84027139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3292541539998 meters 0.014655270023629473 Centerline is valid? [True, True] Translation: X:931.22, Y:124.52, Z:6.84 [[ 5.36042856e-02 -9.98561861e-01 -8.88949564e-04 9.31216995e+02] [ 9.98390885e-01 5.36115572e-02 -1.84781633e-02 1.24524892e+02] [ 1.84992471e-02 1.02989601e-04 9.99828869e-01 6.83959050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3592541539998 meters 0.01619661531462758 Centerline is valid? [True, True] Translation: X:931.22, Y:124.55, Z:6.84 [[ 5.48170022e-02 -9.98495973e-01 -9.42852027e-04 9.31218612e+02] [ 9.98301330e-01 5.48249327e-02 -1.97150097e-02 1.24553136e+02] [ 1.97370495e-02 1.39467294e-04 9.99805196e-01 6.83883142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3892541539999 meters 0.01674903564829939 Centerline is valid? [True, True] Translation: X:931.22, Y:124.58, Z:6.84 [[ 5.54768624e-02 -9.98459531e-01 -9.39909129e-04 9.31219485e+02] [ 9.98263788e-01 5.54845975e-02 -1.97704319e-02 1.24581088e+02] [ 1.97921267e-02 1.58524286e-04 9.99804104e-01 6.83850888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4192541539999 meters 0.014260988687785702 Centerline is valid? [True, True] Translation: X:931.22, Y:124.61, Z:6.84 [[ 5.70858773e-02 -9.98368893e-01 -8.69531999e-04 9.31220371e+02] [ 9.98199714e-01 5.70922116e-02 -1.83796065e-02 1.24607846e+02] [ 1.83992709e-02 1.81249370e-04 9.99830703e-01 6.84013972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4492541539998 meters 0.01467945412497683 Centerline is valid? [True, True] Translation: X:931.22, Y:124.64, Z:6.84 [[ 5.71102248e-02 -9.98367507e-01 -8.62333750e-04 9.31222066e+02] [ 9.98199286e-01 5.71164322e-02 -1.83275123e-02 1.24635708e+02] [ 1.83468461e-02 1.85907411e-04 9.99831665e-01 6.84039375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4792541539998 meters 0.01467945412497683 Centerline is valid? [True, True] Translation: X:931.22, Y:124.66, Z:6.84 [[ 5.68235006e-02 -9.98383872e-01 -8.57068594e-04 9.31223284e+02] [ 9.98215650e-01 5.68296597e-02 -1.83277589e-02 1.24663269e+02] [ 1.83468459e-02 1.85908138e-04 9.99831665e-01 6.84058417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5092541539999 meters 0.014344965786367387 Centerline is valid? [True, True] Translation: X:931.22, Y:124.69, Z:6.84 [[ 5.69810116e-02 -9.98374924e-01 -8.21648525e-04 9.31224769e+02] [ 9.98218745e-01 5.69866315e-02 -1.76595778e-02 1.24690571e+02] [ 1.76777027e-02 1.86075652e-04 9.99843720e-01 6.84120749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5392541539999 meters 0.014381590471603258 Centerline is valid? [True, True] Translation: X:931.23, Y:124.72, Z:6.84 [[ 5.70502929e-02 -9.98370988e-01 -7.96903095e-04 9.31227388e+02] [ 9.98222462e-01 5.70555519e-02 -1.72214945e-02 1.24718183e+02] [ 1.72389083e-02 1.87004737e-04 9.99851381e-01 6.84229841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5692541539999 meters 0.016632625079492026 Centerline is valid? [True, True] Translation: X:931.23, Y:124.75, Z:6.84 [[ 5.66154012e-02 -9.98395693e-01 -8.58266999e-04 9.31227817e+02] [ 9.98221123e-01 5.66215520e-02 -1.86705439e-02 1.24745744e+02] [ 1.86891871e-02 2.00300089e-04 9.99825322e-01 6.83936372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5992541539998 meters 0.015738049006074645 Centerline is valid? [True, True] Translation: X:931.23, Y:124.77, Z:6.84 [[ 5.65496757e-02 -9.98399422e-01 -8.52984220e-04 9.31230810e+02] [ 9.98224790e-01 5.65557386e-02 -1.86739874e-02 1.24774144e+02] [ 1.86923394e-02 2.04537940e-04 9.99825262e-01 6.84074125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6292541539999 meters 0.014671840485693307 Centerline is valid? [True, True] Translation: X:931.23, Y:124.80, Z:6.84 [[ 5.70883072e-02 -9.98368761e-01 -8.61574507e-04 9.31232558e+02] [ 9.98188251e-01 5.70943695e-02 -1.89854753e-02 1.24801364e+02] [ 1.90036965e-02 2.23835095e-04 9.99819388e-01 6.84016663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6592541539999 meters 0.01530452252277984 Centerline is valid? [True, True] Translation: X:931.24, Y:124.83, Z:6.84 [[ 5.68967927e-02 -9.98379672e-01 -8.86816276e-04 9.31235403e+02] [ 9.98185878e-01 5.69032221e-02 -1.96716958e-02 1.24829141e+02] [ 1.96902839e-02 2.34048916e-04 9.99806100e-01 6.84085524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6892541539999 meters 0.016637024625512104 Centerline is valid? [True, True] Translation: X:931.24, Y:124.86, Z:6.84 [[ 5.68820098e-02 -9.98380480e-01 -9.23908392e-04 9.31236788e+02] [ 9.98167226e-01 5.68889563e-02 -2.06357670e-02 1.24855830e+02] [ 2.06549071e-02 2.51588823e-04 9.99786633e-01 6.83971236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7192541539998 meters 0.016034496747682033 Centerline is valid? [True, True] Translation: X:931.24, Y:124.88, Z:6.84 [[ 5.73578392e-02 -9.98353296e-01 -8.79679195e-04 9.31239255e+02] [ 9.98157433e-01 5.73640120e-02 -1.97765013e-02 1.24883542e+02] [ 1.97943972e-02 2.56279053e-04 9.99804039e-01 6.84049326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7492541539999 meters 0.017342565555444233 Centerline is valid? [True, True] Translation: X:931.24, Y:124.91, Z:6.84 [[ 5.75191658e-02 -9.98344015e-01 -8.79257930e-04 9.31240893e+02] [ 9.98145770e-01 5.75252671e-02 -1.98963682e-02 1.24911539e+02] [ 1.99139997e-02 2.66794920e-04 9.99801661e-01 6.83996708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7792541539999 meters 0.0178947128702056 Centerline is valid? [True, True] Translation: X:931.24, Y:124.94, Z:6.84 [[ 5.82583241e-02 -9.98301189e-01 -8.38573439e-04 9.31242573e+02] [ 9.98118437e-01 5.82637057e-02 -1.91030353e-02 1.24938845e+02] [ 1.91194412e-02 2.75915210e-04 9.99817169e-01 6.84014636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8092541539999 meters 0.017400129405104353 Centerline is valid? [True, True] Translation: X:931.25, Y:124.97, Z:6.84 [[ 5.82766782e-02 -9.98300149e-01 -8.00961477e-04 9.31245505e+02] [ 9.98131172e-01 5.82815520e-02 -1.83691005e-02 1.24966897e+02] [ 1.83845571e-02 2.71025542e-04 9.99830953e-01 6.84107426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8392541539998 meters 0.01820852132118359 Centerline is valid? [True, True] Translation: X:931.25, Y:124.99, Z:6.84 [[ 5.83260712e-02 -9.98297263e-01 -8.03142359e-04 9.31248456e+02] [ 9.98124962e-01 5.83309273e-02 -1.85489523e-02 1.24993655e+02] [ 1.85642164e-02 2.80251079e-04 9.99827631e-01 6.84053789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8692541539998 meters 0.01580079740508151 Centerline is valid? [True, True] Translation: X:931.25, Y:125.02, Z:6.84 [[ 5.80638968e-02 -9.98312586e-01 -7.51145601e-04 9.31251427e+02] [ 9.98159821e-01 5.80681533e-02 -1.74659796e-02 1.25021852e+02] [ 1.74801249e-02 2.64379477e-04 9.99847176e-01 6.84247450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8992541539999 meters 0.015057571232563514 Centerline is valid? [True, True] Translation: X:931.25, Y:125.05, Z:6.84 [[ 5.76409160e-02 -9.98337107e-01 -7.37988054e-04 9.31254094e+02] [ 9.98187640e-01 5.76450574e-02 -1.72766515e-02 1.25050045e+02] [ 1.72904636e-02 2.59191461e-04 9.99850475e-01 6.84302714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9292541539999 meters 0.014926500635541117 Centerline is valid? [True, True] Translation: X:931.26, Y:125.08, Z:6.84 [[ 5.62656288e-02 -9.98415559e-01 -7.41581161e-04 9.31258552e+02] [ 9.98262559e-01 5.62699899e-02 -1.74800372e-02 1.25078145e+02] [ 1.74940698e-02 2.43232574e-04 9.99846937e-01 6.84311479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9592541539998 meters 0.017202234701075597 Centerline is valid? [True, True] Translation: X:931.26, Y:125.11, Z:6.84 [[ 5.47342287e-02 -9.98500674e-01 -7.54117170e-04 9.31262266e+02] [ 9.98340273e-01 5.47389537e-02 -1.78982146e-02 1.25106127e+02] [ 1.79126590e-02 2.26779431e-04 9.99839530e-01 6.84130326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9892541539998 meters 0.01470987870460978 Centerline is valid? [True, True] Translation: X:931.27, Y:125.13, Z:6.84 [[ 5.49113269e-02 -9.98490984e-01 -7.08263161e-04 9.31265281e+02] [ 9.98347566e-01 5.49154447e-02 -1.69243015e-02 1.25134562e+02] [ 1.69376570e-02 2.22243049e-04 9.99856523e-01 6.84412802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0192541539999 meters 0.01705022129377267 Centerline is valid? [True, True] Translation: X:931.27, Y:125.16, Z:6.84 [[ 5.43139832e-02 -9.98523659e-01 -7.01955327e-04 9.31267977e+02] [ 9.98380725e-01 5.43180861e-02 -1.68959613e-02 1.25161881e+02] [ 1.69091460e-02 2.16868289e-04 9.99857007e-01 6.84236409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0492541539999 meters 0.01526535020284406 Centerline is valid? [True, True] Translation: X:931.27, Y:125.19, Z:6.84 [[ 5.46048025e-02 -9.98507809e-01 -6.85906724e-04 9.31269595e+02] [ 9.98369375e-01 5.46086543e-02 -1.66278726e-02 1.25190094e+02] [ 1.66405171e-02 2.23173434e-04 9.99861512e-01 6.84347499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0792541539998 meters 0.014926312530246877 Centerline is valid? [True, True] Translation: X:931.27, Y:125.22, Z:6.84 [[ 5.49020587e-02 -9.98491502e-01 -6.96690950e-04 9.31272740e+02] [ 9.98346632e-01 5.49059616e-02 -1.70099096e-02 1.25217975e+02] [ 1.70225027e-02 2.38339995e-04 9.99855078e-01 6.84333143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1092541539998 meters 0.015003562460622942 Centerline is valid? [True, True] Translation: X:931.28, Y:125.25, Z:6.84 [[ 5.46369335e-02 -9.98506042e-01 -6.99376618e-04 9.31275795e+02] [ 9.98357962e-01 5.46408763e-02 -1.71974937e-02 1.25245895e+02] [ 1.72100160e-02 2.41390106e-04 9.99851868e-01 6.84275019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1392541539999 meters 0.015061329212085223 Centerline is valid? [True, True] Translation: X:931.28, Y:125.27, Z:6.84 [[ 5.43031801e-02 -9.98524260e-01 -6.83235356e-04 9.31277654e+02] [ 9.98381252e-01 5.43069669e-02 -1.69005604e-02 1.25273196e+02] [ 1.69127241e-02 2.35624806e-04 9.99856942e-01 6.84234125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1692541539999 meters 0.017934060937742472 Centerline is valid? [True, True] Translation: X:931.28, Y:125.30, Z:6.84 [[ 5.30937233e-02 -9.98589278e-01 -7.15026711e-04 9.31279985e+02] [ 9.98430611e-01 5.30980341e-02 -1.78020999e-02 1.25300909e+02] [ 1.78149526e-02 2.31275210e-04 9.99841274e-01 6.84012089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1992541539998 meters 0.01497780795022932 Centerline is valid? [True, True] Translation: X:931.28, Y:125.33, Z:6.84 [[ 5.25752986e-02 -9.98616748e-01 -6.55303196e-04 9.31283325e+02] [ 9.98481633e-01 5.25789653e-02 -1.64280400e-02 1.25329302e+02] [ 1.64397711e-02 2.09400903e-04 9.99864836e-01 6.84275607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2292541539998 meters 0.014857278511497088 Centerline is valid? [True, True] Translation: X:931.29, Y:125.36, Z:6.84 [[ 5.18181142e-02 -9.98656347e-01 -6.20084665e-04 9.31285498e+02] [ 9.98533663e-01 5.18214685e-02 -1.56543606e-02 1.25357372e+02] [ 1.56654602e-02 1.92004031e-04 9.99877271e-01 6.84348713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2592541539999 meters 0.016903312532917405 Centerline is valid? [True, True] Translation: X:931.29, Y:125.39, Z:6.84 [[ 4.98712525e-02 -9.98755495e-01 -5.65316785e-04 9.31288932e+02] [ 9.98652112e-01 4.98742244e-02 -1.43708499e-02 1.25385214e+02] [ 1.43811601e-02 1.52137484e-04 9.99896574e-01 6.84264692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2892541539999 meters 0.014493434144348654 Centerline is valid? [True, True] Translation: X:931.29, Y:125.41, Z:6.85 [[ 4.93368214e-02 -9.98782057e-01 -5.28867584e-04 9.31291639e+02] [ 9.98690289e-01 4.93394578e-02 -1.35397152e-02 1.25413256e+02] [ 1.35493186e-02 1.39831590e-04 9.99908194e-01 6.84533983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3192541539999 meters 0.01447820128933921 Centerline is valid? [True, True] Translation: X:931.29, Y:125.44, Z:6.85 [[ 4.77416533e-02 -9.98859578e-01 -5.27204789e-04 9.31294639e+02] [ 9.98767006e-01 4.77444065e-02 -1.35992214e-02 1.25440423e+02] [ 1.36088836e-02 1.22694563e-04 9.99907387e-01 6.84540292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3492541539998 meters 0.016657515069381918 Centerline is valid? [True, True] Translation: X:931.30, Y:125.47, Z:6.84 [[ 4.62639359e-02 -9.98929107e-01 -5.36239728e-04 9.31295908e+02] [ 9.98831828e-01 4.62669143e-02 -1.39409886e-02 1.25467629e+02] [ 1.39508694e-02 1.09351693e-04 9.99902676e-01 6.84320761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3792541539999 meters 0.014506452788753812 Centerline is valid? [True, True] Translation: X:931.30, Y:125.50, Z:6.84 [[ 4.67840566e-02 -9.98904886e-01 -5.30460627e-04 9.31296577e+02] [ 9.98808241e-01 4.67869093e-02 -1.38954260e-02 1.25495936e+02] [ 1.39050276e-02 1.20255954e-04 9.99903313e-01 6.84465150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4092541539999 meters 0.01461185198550762 Centerline is valid? [True, True] Translation: X:931.30, Y:125.52, Z:6.84 [[ 4.74633584e-02 -9.98872819e-01 -5.66928620e-04 9.31295590e+02] [ 9.98760708e-01 4.74665254e-02 -1.49658987e-02 1.25524400e+02] [ 1.49759396e-02 1.44105784e-04 9.99887844e-01 6.84363981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4392541539999 meters 0.014380461558086153 Centerline is valid? [True, True] Translation: X:931.30, Y:125.55, Z:6.84 [[ 4.73564044e-02 -9.98877886e-01 -5.82339373e-04 9.31296239e+02] [ 9.98757731e-01 4.73597405e-02 -1.54935600e-02 1.25552603e+02] [ 1.55037540e-02 1.52103344e-04 9.99879798e-01 6.84404034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4692541539998 meters 0.017796667567764653 Centerline is valid? [True, True] Translation: X:931.29, Y:125.58, Z:6.84 [[ 4.70150353e-02 -9.98893999e-01 -6.03996693e-04 9.31294364e+02] [ 9.98762580e-01 4.70186475e-02 -1.62035914e-02 1.25579695e+02] [ 1.62140693e-02 1.58563124e-04 9.99868531e-01 6.84108989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4992541539999 meters 0.014657941361820696 Centerline is valid? [True, True] Translation: X:931.30, Y:125.61, Z:6.84 [[ 4.75578552e-02 -9.98868329e-01 -5.57684873e-04 9.31295262e+02] [ 9.98754540e-01 4.75608556e-02 -1.50775820e-02 1.25607967e+02] [ 1.50870431e-02 1.60067164e-04 9.99886171e-01 6.84454548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5292541539999 meters 0.017002198305447913 Centerline is valid? [True, True] Translation: X:931.30, Y:125.64, Z:6.84 [[ 4.63982756e-02 -9.98922895e-01 -4.99342083e-04 9.31296099e+02] [ 9.98830305e-01 4.64007739e-02 -1.36011066e-02 1.25636473e+02] [ 1.36096266e-02 1.32309887e-04 9.99907376e-01 6.84431678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5592541539999 meters 0.014424729362329424 Centerline is valid? [True, True] Translation: X:931.30, Y:125.66, Z:6.85 [[ 4.64058052e-02 -9.98922552e-01 -4.85498660e-04 9.31296578e+02] [ 9.98833642e-01 4.64081526e-02 -1.33281413e-02 1.25664870e+02] [ 1.33363120e-02 1.33570733e-04 9.99911059e-01 6.84682603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5892541539998 meters 0.014752630418501042 Centerline is valid? [True, True] Translation: X:931.30, Y:125.69, Z:6.85 [[ 4.54568355e-02 -9.98966192e-01 -4.71752879e-04 9.31296286e+02] [ 9.98881089e-01 4.54591209e-02 -1.30398464e-02 1.25691569e+02] [ 1.30478111e-02 1.21525121e-04 9.99914866e-01 6.84628106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6192541539998 meters 0.014411767766456229 Centerline is valid? [True, True] Translation: X:931.30, Y:125.72, Z:6.85 [[ 4.49438652e-02 -9.98989409e-01 -4.58422725e-04 9.31295923e+02] [ 9.98907927e-01 4.49460546e-02 -1.27595309e-02 1.25718998e+02] [ 1.27672406e-02 1.15540544e-04 9.99918489e-01 6.84634284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6492541539999 meters 0.014239835304040922 Centerline is valid? [True, True] Translation: X:931.30, Y:125.75, Z:6.85 [[ 4.47563526e-02 -9.98997835e-01 -4.41339019e-04 9.31296229e+02] [ 9.98921083e-01 4.47583850e-02 -1.23837063e-02 1.25746827e+02] [ 1.23910494e-02 1.13386677e-04 9.99923222e-01 6.84653320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6792541539999 meters 0.01506724899402646 Centerline is valid? [True, True] Translation: X:931.30, Y:125.77, Z:6.85 [[ 4.43235396e-02 -9.99017137e-01 -4.29799707e-04 9.31296282e+02] [ 9.98943154e-01 4.43254880e-02 -1.21583992e-02 1.25773881e+02] [ 1.21655002e-02 1.09557813e-04 9.99925992e-01 6.84580269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7092541539998 meters 0.014086528949360513 Centerline is valid? [True, True] Translation: X:931.30, Y:125.80, Z:6.85 [[ 4.41177520e-02 -9.99026252e-01 -4.14225065e-04 9.31296975e+02] [ 9.98956388e-01 4.41195657e-02 -1.18151967e-02 1.25802369e+02] [ 1.18219671e-02 1.07467144e-04 9.99930112e-01 6.84757832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7392541539998 meters 0.016841220950060912 Centerline is valid? [True, True] Translation: X:931.30, Y:125.83, Z:6.85 [[ 4.32544585e-02 -9.99063997e-01 -4.25548361e-04 9.31297196e+02] [ 9.98988970e-01 4.32564256e-02 -1.22441435e-02 1.25829680e+02] [ 1.22510906e-02 1.04495676e-04 9.99924947e-01 6.84519039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7692541539999 meters 0.014099917391260429 Centerline is valid? [True, True] Translation: X:931.30, Y:125.86, Z:6.85 [[ 4.29708210e-02 -9.99076244e-01 -4.08101729e-04 9.31297265e+02] [ 9.99006043e-01 4.29726396e-02 -1.18439330e-02 1.25856296e+02] [ 1.18505293e-02 1.01247430e-04 9.99929775e-01 6.84736957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7992541539999 meters 0.013968009309757274 Centerline is valid? [True, True] Translation: X:931.30, Y:125.88, Z:6.85 [[ 4.26032478e-02 -9.99091989e-01 -4.02085026e-04 9.31298605e+02] [ 9.99022659e-01 4.26050284e-02 -1.17701941e-02 1.25884085e+02] [ 1.17766375e-02 9.97564453e-05 9.99930648e-01 6.84754367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8292541539998 meters 0.014013927602327803 Centerline is valid? [True, True] Translation: X:931.30, Y:125.91, Z:6.85 [[ 4.24000663e-02 -9.99100630e-01 -4.06739378e-04 9.31298982e+02] [ 9.99028430e-01 4.24018922e-02 -1.20114462e-02 1.25910694e+02] [ 1.20178900e-02 1.02941914e-04 9.99927777e-01 6.84706874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8592541539998 meters 0.013944364006722365 Centerline is valid? [True, True] Translation: X:931.30, Y:125.94, Z:6.85 [[ 4.20272626e-02 -9.99116388e-01 -3.90372156e-04 9.31299892e+02] [ 9.99048728e-01 4.20289597e-02 -1.16277630e-02 1.25938571e+02] [ 1.16338955e-02 9.86822442e-05 9.99932319e-01 6.84745341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8892541539999 meters 0.014579294913697055 Centerline is valid? [True, True] Translation: X:931.30, Y:125.97, Z:6.85 [[ 4.10590288e-02 -9.99156652e-01 -3.75006295e-04 9.31301353e+02] [ 9.99093156e-01 4.10606474e-02 -1.12645174e-02 1.25966287e+02] [ 1.12704155e-02 8.78439239e-05 9.99936483e-01 6.84717429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9192541539999 meters 0.014572892351696549 Centerline is valid? [True, True] Translation: X:931.30, Y:125.99, Z:6.85 [[ 4.03380735e-02 -9.99186025e-01 -3.57601149e-04 9.31301758e+02] [ 9.99127267e-01 4.03395795e-02 -1.08362137e-02 1.25993640e+02] [ 1.08418187e-02 7.98229244e-05 9.99941223e-01 6.84740374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9492541539998 meters 0.013729800485364364 Centerline is valid? [True, True] Translation: X:931.30, Y:126.02, Z:6.85 [[ 3.98005052e-02 -9.99207585e-01 -3.49357825e-04 9.31302597e+02] [ 9.99150481e-01 3.98019657e-02 -1.06826460e-02 1.26021874e+02] [ 1.06880860e-02 7.61136672e-05 9.99942878e-01 6.84829707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9792541539998 meters 0.013733199672579069 Centerline is valid? [True, True] Translation: X:931.30, Y:126.05, Z:6.85 [[ 3.92522431e-02 -9.99229283e-01 -3.19040754e-04 9.31303509e+02] [ 9.99180866e-01 3.92534819e-02 -9.83669640e-03 1.26049991e+02] [ 9.84163855e-03 6.73329810e-05 9.99951568e-01 6.84852004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0092541539999 meters 0.013701689354704706 Centerline is valid? [True, True] Translation: X:931.30, Y:126.08, Z:6.85 [[ 3.86611728e-02 -9.99252323e-01 -3.28288633e-04 9.31304777e+02] [ 9.99200124e-01 3.86625088e-02 -1.02138161e-02 1.26078085e+02] [ 1.02188719e-02 6.68520660e-05 9.99947784e-01 6.84816398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0392541539999 meters 0.013598471596926485 Centerline is valid? [True, True] Translation: X:931.31, Y:126.11, Z:6.85 [[ 3.83915883e-02 -9.99262716e-01 -3.33449043e-04 9.31305953e+02] [ 9.99207881e-01 3.83929749e-02 -1.04685134e-02 1.26106548e+02] [ 1.04735973e-02 6.87179467e-05 9.99945148e-01 6.84838689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0692541539999 meters 0.013675824158272142 Centerline is valid? [True, True] Translation: X:931.31, Y:126.13, Z:6.85 [[ 3.83735893e-02 -9.99263395e-01 -3.66716000e-04 9.31306970e+02] [ 9.99195792e-01 3.83752589e-02 -1.16236708e-02 1.26134737e+02] [ 1.16291815e-02 7.96208845e-05 9.99932376e-01 6.84718372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0992541539998 meters 0.013674346960001511 Centerline is valid? [True, True] Translation: X:931.31, Y:126.16, Z:6.85 [[ 3.83573551e-02 -9.99264010e-01 -3.89618138e-04 9.31307877e+02] [ 9.99186239e-01 3.83592308e-02 -1.24671467e-02 1.26162360e+02] [ 1.24729164e-02 8.89056901e-05 9.99922206e-01 6.84659563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1292541539999 meters 0.01382210045590902 Centerline is valid? [True, True] Translation: X:931.31, Y:126.19, Z:6.85 [[ 3.92790865e-02 -9.99228194e-01 -4.11445716e-04 9.31308674e+02] [ 9.99139778e-01 3.92810845e-02 -1.32928577e-02 1.26190325e+02] [ 1.32987602e-02 1.11039526e-04 9.99911561e-01 6.84614979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1592541539999 meters 0.013929917265071107 Centerline is valid? [True, True] Translation: X:931.31, Y:126.22, Z:6.85 [[ 4.06339282e-02 -9.99174016e-01 -4.12423627e-04 9.31309530e+02] [ 9.99083463e-01 4.06357983e-02 -1.34523516e-02 1.26218763e+02] [ 1.34579993e-02 1.34576264e-04 9.99909428e-01 6.84670963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1892541539999 meters 0.01610016589556976 Centerline is valid? [True, True] Translation: X:931.31, Y:126.25, Z:6.84 [[ 4.09231998e-02 -9.99162213e-01 -4.03823989e-04 9.31309791e+02] [ 9.99073937e-01 4.09249524e-02 -1.32821644e-02 1.26246271e+02] [ 1.32875632e-02 1.40098644e-04 9.99911707e-01 6.84458818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2192541539998 meters 0.01495343382941113 Centerline is valid? [True, True] Translation: X:931.31, Y:126.27, Z:6.85 [[ 4.16165955e-02 -9.99133572e-01 -4.05599901e-04 9.31309951e+02] [ 9.99043246e-01 4.16182873e-02 -1.34354299e-02 1.26273830e+02] [ 1.34406694e-02 1.53925010e-04 9.99909658e-01 6.84610958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2492541539999 meters 0.01426077380226834 Centerline is valid? [True, True] Translation: X:931.31, Y:126.30, Z:6.85 [[ 4.24804888e-02 -9.99097214e-01 -4.07508229e-04 9.31310799e+02] [ 9.99004504e-01 4.24820987e-02 -1.36114462e-02 1.26301658e+02] [ 1.36164698e-02 1.71118331e-04 9.99907277e-01 6.84715729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2792541539999 meters 0.01678338996213202 Centerline is valid? [True, True] Translation: X:931.31, Y:126.33, Z:6.84 [[ 4.17870553e-02 -9.99126464e-01 -3.88973677e-04 9.31311855e+02] [ 9.99040394e-01 4.17885614e-02 -1.31151631e-02 1.26330074e+02] [ 1.31199612e-02 1.59443631e-04 9.99913917e-01 6.84457806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3092541539999 meters 0.016480588512321873 Centerline is valid? [True, True] Translation: X:931.32, Y:126.36, Z:6.85 [[ 4.04365858e-02 -9.99182041e-01 -3.62647079e-04 9.31315281e+02] [ 9.99106061e-01 4.04379833e-02 -1.23226587e-02 1.26358502e+02] [ 1.23272440e-02 1.35963350e-04 9.99924007e-01 6.84600782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3392541539998 meters 0.014102864058109474 Centerline is valid? [True, True] Translation: X:931.32, Y:126.39, Z:6.85 [[ 3.95190414e-02 -9.99218759e-01 -3.42759749e-04 9.31317124e+02] [ 9.99149840e-01 3.95203415e-02 -1.17362591e-02 1.26385943e+02] [ 1.17406362e-02 1.21337359e-04 9.99931069e-01 6.84921899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3692541539998 meters 0.013812485487034471 Centerline is valid? [True, True] Translation: X:931.32, Y:126.41, Z:6.85 [[ 3.82995569e-02 -9.99266249e-01 -3.28223066e-04 9.31318920e+02] [ 9.99201792e-01 3.83008145e-02 -1.13501414e-02 1.26414244e+02] [ 1.13543845e-02 1.06744311e-04 9.99935531e-01 6.84999111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3992541539999 meters 0.013812485487034471 Centerline is valid? [True, True] Translation: X:931.32, Y:126.44, Z:6.85 [[ 3.80175732e-02 -9.99277018e-01 -3.25019978e-04 9.31319631e+02] [ 9.99212561e-01 3.80188126e-02 -1.13502333e-02 1.26441829e+02] [ 1.13543842e-02 1.06744282e-04 9.99935531e-01 6.85018152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4292541539999 meters 0.013575667935389486 Centerline is valid? [True, True] Translation: X:931.32, Y:126.47, Z:6.85 [[ 3.58783781e-02 -9.99356118e-01 -3.03203452e-04 9.31321883e+02] [ 9.99299055e-01 3.58795696e-02 -1.06796781e-02 1.26469297e+02] [ 1.06836804e-02 8.01786057e-05 9.99942925e-01 6.85079965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4592541539998 meters 0.013484178651661547 Centerline is valid? [True, True] Translation: X:931.32, Y:126.50, Z:6.85 [[ 3.38566141e-02 -9.99426658e-01 -2.90062898e-04 9.31324165e+02] [ 9.99373536e-01 3.38578053e-02 -1.03045564e-02 1.26495868e+02] [ 1.03084693e-02 5.89962063e-05 9.99946865e-01 6.85101041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4892541539998 meters 0.013334763308659715 Centerline is valid? [True, True] Translation: X:931.33, Y:126.52, Z:6.85 [[ 3.31436640e-02 -9.99450554e-01 -2.95224335e-04 9.31325328e+02] [ 9.99394220e-01 3.31449304e-02 -1.06116407e-02 1.26522727e+02] [ 1.06155954e-02 5.66631615e-05 9.99943651e-01 6.85121953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5192541539999 meters 0.01577480500620441 Centerline is valid? [True, True] Translation: X:931.33, Y:126.55, Z:6.85 [[ 3.18822778e-02 -9.99491581e-01 -3.15504966e-04 9.31326072e+02] [ 9.99425695e-01 3.18837988e-02 -1.14762597e-02 1.26548876e+02] [ 1.14804844e-02 5.05655300e-05 9.99934096e-01 6.84773690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5492541539999 meters 0.015496300561612707 Centerline is valid? [True, True] Translation: X:931.33, Y:126.58, Z:6.85 [[ 3.18481448e-02 -9.99492668e-01 -3.20551776e-04 9.31326386e+02] [ 9.99423047e-01 3.18497098e-02 -1.17969874e-02 1.26576088e+02] [ 1.18012119e-02 5.53453298e-05 9.99930362e-01 6.84761669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5792541539998 meters 0.013590697595517207 Centerline is valid? [True, True] Translation: X:931.33, Y:126.60, Z:6.85 [[ 3.27029342e-02 -9.99465055e-01 -3.48346746e-04 9.31326314e+02] [ 9.99381072e-01 3.27047021e-02 -1.29566917e-02 1.26602357e+02] [ 1.29611532e-02 7.55906933e-05 9.99915998e-01 6.84857375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6092541539998 meters 0.01376570890499071 Centerline is valid? [True, True] Translation: X:931.33, Y:126.63, Z:6.85 [[ 3.35939829e-02 -9.99435492e-01 -3.76941590e-04 9.31326102e+02] [ 9.99335087e-01 3.35959511e-02 -1.41667077e-02 1.26629558e+02] [ 1.41713741e-02 9.92251779e-05 9.99899576e-01 6.84783761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6392541539999 meters 0.014978950754777119 Centerline is valid? [True, True] Translation: X:931.33, Y:126.66, Z:6.85 [[ 3.41016163e-02 -9.99418301e-01 -3.74121710e-04 9.31326814e+02] [ 9.99317182e-01 3.41034880e-02 -1.42169698e-02 1.26657824e+02] [ 1.42214587e-02 1.10955398e-04 9.99898864e-01 6.84730062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6692541539999 meters 0.015121052984626744 Centerline is valid? [True, True] Translation: X:931.33, Y:126.69, Z:6.85 [[ 3.49990209e-02 -9.99387273e-01 -3.84745096e-04 9.31326590e+02] [ 9.99277927e-01 3.50008831e-02 -1.47838496e-02 1.26686366e+02] [ 1.47882576e-02 1.32952981e-04 9.99890639e-01 6.84762552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6992541539998 meters 0.014967253251564347 Centerline is valid? [True, True] Translation: X:931.32, Y:126.71, Z:6.85 [[ 3.76040288e-02 -9.99292641e-01 -3.92602115e-04 9.31323379e+02] [ 9.99176136e-01 3.76056399e-02 -1.52599337e-02 1.26713795e+02] [ 1.52639035e-02 1.81556323e-04 9.99883483e-01 6.84753908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7292541539998 meters 0.01426571098957582 Centerline is valid? [True, True] Translation: X:931.33, Y:126.74, Z:6.85 [[ 3.87618556e-02 -9.99248400e-01 -3.90891725e-04 9.31325369e+02] [ 9.99130369e-01 3.87632855e-02 -1.53594471e-02 1.26741640e+02] [ 1.53630551e-02 2.04808876e-04 9.99881960e-01 6.84934382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7592541539999 meters 0.01733500376699657 Centerline is valid? [True, True] Translation: X:931.32, Y:126.77, Z:6.85 [[ 4.06641043e-02 -9.99172805e-01 -3.68154186e-04 9.31321063e+02] [ 9.99065999e-01 4.06651410e-02 -1.46108159e-02 1.26769088e+02] [ 1.46137009e-02 2.26325411e-04 9.99893189e-01 6.84686048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7892541539999 meters 0.015063019840779103 Centerline is valid? [True, True] Translation: X:931.32, Y:126.80, Z:6.85 [[ 4.16119078e-02 -9.99133784e-01 -3.62600345e-04 9.31324456e+02] [ 9.99027909e-01 4.16127776e-02 -1.45469332e-02 1.26797142e+02] [ 1.45494212e-02 2.43077778e-04 9.99894122e-01 6.85058347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8192541539999 meters 0.017060100223914066 Centerline is valid? [True, True] Translation: X:931.32, Y:126.83, Z:6.85 [[ 4.29797097e-02 -9.99075889e-01 -3.34392309e-04 9.31324131e+02] [ 9.98983832e-01 4.29802895e-02 -1.35645722e-02 1.26825688e+02] [ 1.35664093e-02 2.48948866e-04 9.99907941e-01 6.85015436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8492541539998 meters 0.015702288432957935 Centerline is valid? [True, True] Translation: X:931.32, Y:126.85, Z:6.85 [[ 4.36875979e-02 -9.99045193e-01 -3.08530677e-04 9.31324678e+02] [ 9.98965059e-01 4.36880021e-02 -1.26558237e-02 1.26854093e+02] [ 1.26572189e-02 2.44691169e-04 9.99919864e-01 6.85309217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8792541539999 meters 0.017871156344187067 Centerline is valid? [True, True] Translation: X:931.32, Y:126.88, Z:6.85 [[ 4.43467566e-02 -9.99016157e-01 -2.89261993e-04 9.31323239e+02] [ 9.98944298e-01 4.43470369e-02 -1.19845972e-02 1.26881090e+02] [ 1.19856341e-02 2.42521396e-04 9.99928140e-01 6.85179318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9092541539999 meters 0.016430589450306454 Centerline is valid? [True, True] Translation: X:931.32, Y:126.91, Z:6.85 [[ 4.47394461e-02 -9.98998652e-01 -2.76143412e-04 9.31324075e+02] [ 9.98931871e-01 4.47396490e-02 -1.15533685e-02 1.26909444e+02] [ 1.15541541e-02 2.41042854e-04 9.99933219e-01 6.85388490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9392541539999 meters 0.016464129047301736 Centerline is valid? [True, True] Translation: X:931.32, Y:126.94, Z:6.85 [[ 4.60139498e-02 -9.98940757e-01 -2.83062168e-04 9.31322835e+02] [ 9.98868901e-01 4.60140358e-02 -1.19844316e-02 1.26937417e+02] [ 1.19847621e-02 2.68709039e-04 9.99928144e-01 6.85426112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9692541539998 meters 0.01633591938722941 Centerline is valid? [True, True] Translation: X:931.32, Y:126.97, Z:6.85 [[ 4.68410022e-02 -9.98902310e-01 -3.09970702e-04 9.31322588e+02] [ 9.98814051e-01 4.68409851e-02 -1.32820894e-02 1.26965827e+02] [ 1.32820292e-02 3.12543288e-04 9.99911741e-01 6.85365404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9992541539999 meters 0.016734762516486888 Centerline is valid? [True, True] Translation: X:931.32, Y:126.99, Z:6.85 [[ 4.69828084e-02 -9.98895646e-01 -3.22250342e-04 9.31321840e+02] [ 9.98797778e-01 4.69827174e-02 -1.39865284e-02 1.26993201e+02] [ 1.39862225e-02 3.35263457e-04 9.99902132e-01 6.85322196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0292541539999 meters 0.017261981143547024 Centerline is valid? [True, True] Translation: X:931.32, Y:127.02, Z:6.85 [[ 4.73082642e-02 -9.98880281e-01 -3.34416506e-04 9.31321080e+02] [ 9.98772212e-01 4.73080664e-02 -1.46974820e-02 1.27020720e+02] [ 1.46968456e-02 3.61306448e-04 9.99891930e-01 6.85278554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0592541539999 meters 0.017620746906437175 Centerline is valid? [True, True] Translation: X:931.32, Y:127.05, Z:6.85 [[ 4.72096341e-02 -9.98884946e-01 -3.40230670e-04 9.31321883e+02] [ 9.98770309e-01 4.72093721e-02 -1.51375230e-02 1.27049036e+02] [ 1.51367059e-02 3.74824629e-04 9.99885363e-01 6.85142753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0892541539998 meters 0.017280894851024024 Centerline is valid? [True, True] Translation: X:931.32, Y:127.08, Z:6.85 [[ 4.71255344e-02 -9.98888913e-01 -3.52034113e-04 9.31322231e+02] [ 9.98762867e-01 4.71251819e-02 -1.58730032e-02 1.27077221e+02] [ 1.58719566e-02 3.96425159e-04 9.99873954e-01 6.85162938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1192541539998 meters 0.017709191482709323 Centerline is valid? [True, True] Translation: X:931.32, Y:127.10, Z:6.85 [[ 4.62033615e-02 -9.98931989e-01 -3.61214092e-04 9.31320067e+02] [ 9.98795655e-01 4.62030250e-02 -1.65082080e-02 1.27104876e+02] [ 1.65072663e-02 4.01955637e-04 9.99863665e-01 6.85100967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1492541539999 meters 0.019395219215714677 Centerline is valid? [True, True] Translation: X:931.32, Y:127.13, Z:6.85 [[ 4.50134332e-02 -9.98986309e-01 -3.81959275e-04 9.31321258e+02] [ 9.98829690e-01 4.50131412e-02 -1.76937376e-02 1.27132678e+02] [ 1.76929948e-02 4.14943613e-04 9.99843381e-01 6.84812580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1792541539999 meters 0.01738661761370928 Centerline is valid? [True, True] Translation: X:931.32, Y:127.16, Z:6.85 [[ 4.33402634e-02 -9.99060299e-01 -3.74704866e-04 9.31324251e+02] [ 9.98905604e-01 4.33401479e-02 -1.75848099e-02 1.27160776e+02] [ 1.75845252e-02 3.87835501e-04 9.99845305e-01 6.85013469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2092541539998 meters 0.017716726623864122 Centerline is valid? [True, True] Translation: X:931.33, Y:127.19, Z:6.85 [[ 4.24369073e-02 -9.99099081e-01 -3.68539730e-04 9.31325305e+02] [ 9.98945373e-01 4.24368444e-02 -1.75287279e-02 1.27189044e+02] [ 1.75285756e-02 3.75713946e-04 9.99846292e-01 6.85043958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2392541539998 meters 0.01618020690744371 Centerline is valid? [True, True] Translation: X:931.33, Y:127.22, Z:6.85 [[ 4.22059359e-02 -9.99108873e-01 -3.44305281e-04 9.31326067e+02] [ 9.98971070e-01 4.22058343e-02 -1.65972765e-02 1.27216745e+02] [ 1.65970179e-02 3.56552575e-04 9.99862196e-01 6.85323089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2692541539999 meters 0.01585441154373773 Centerline is valid? [True, True] Translation: X:931.33, Y:127.25, Z:6.85 [[ 4.17431100e-02 -9.99128324e-01 -3.24956720e-04 9.31326876e+02] [ 9.99002921e-01 4.17430203e-02 -1.58329961e-02 1.27245291e+02] [ 1.58327595e-02 3.36285785e-04 9.99874597e-01 6.85418255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2992541539999 meters 0.016543942343201026 Centerline is valid? [True, True] Translation: X:931.33, Y:127.27, Z:6.85 [[ 4.16511246e-02 -9.99132166e-01 -3.14981916e-04 9.31326100e+02] [ 9.99011446e-01 4.16509895e-02 -1.55346898e-02 1.27272610e+02] [ 1.55343276e-02 3.32366762e-04 9.99879280e-01 6.85453943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3292541539998 meters 0.015872907224902564 Centerline is valid? [True, True] Translation: X:931.33, Y:127.30, Z:6.86 [[ 4.11201874e-02 -9.99154161e-01 -3.03741885e-04 9.31327865e+02] [ 9.99038704e-01 4.11200543e-02 -1.51924056e-02 1.27301169e+02] [ 1.51920452e-02 3.21264667e-04 9.99884543e-01 6.85535307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3592541539998 meters 0.017046513415991834 Centerline is valid? [True, True] Translation: X:931.33, Y:127.33, Z:6.85 [[ 4.05151465e-02 -9.99178880e-01 -2.97477854e-04 9.31326990e+02] [ 9.99064884e-01 4.05150185e-02 -1.50960767e-02 1.27328698e+02] [ 1.50957333e-02 3.14420080e-04 9.99886003e-01 6.85471798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3892541539999 meters 0.016027447996483524 Centerline is valid? [True, True] Translation: X:931.33, Y:127.36, Z:6.86 [[ 3.93334851e-02 -9.99226099e-01 -2.83231880e-04 9.31328970e+02] [ 9.99119788e-01 3.93334326e-02 -1.45783975e-02 1.27357218e+02] [ 1.45782558e-02 2.90436606e-04 9.99893689e-01 6.85617613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4192541539999 meters 0.01647921051055788 Centerline is valid? [True, True] Translation: X:931.33, Y:127.38, Z:6.86 [[ 3.85001070e-02 -9.99258558e-01 -2.76520874e-04 9.31328251e+02] [ 9.99154050e-01 3.85000803e-02 -1.44543251e-02 1.27383443e+02] [ 1.44542542e-02 2.80206113e-04 9.99895493e-01 6.85608867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4492541539998 meters 0.015203317294909134 Centerline is valid? [True, True] Translation: X:931.33, Y:127.41, Z:6.86 [[ 3.76231131e-02 -9.99291960e-01 -2.83655396e-04 9.31331125e+02] [ 9.99178272e-01 3.76231122e-02 -1.50758773e-02 1.27411661e+02] [ 1.50758749e-02 2.83779126e-04 9.99886312e-01 6.85681795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4792541539998 meters 0.015209292241198314 Centerline is valid? [True, True] Translation: X:931.33, Y:127.44, Z:6.86 [[ 3.70826538e-02 -9.99312156e-01 -3.03032966e-04 9.31331119e+02] [ 9.99178158e-01 3.70826446e-02 -1.63672199e-02 1.27440220e+02] [ 1.63671991e-02 3.04156030e-04 9.99866002e-01 6.85566047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5092541539999 meters 0.015273485503050896 Centerline is valid? [True, True] Translation: X:931.33, Y:127.47, Z:6.86 [[ 3.65812444e-02 -9.99330634e-01 -3.09915663e-04 9.31331144e+02] [ 9.99185767e-01 3.65812191e-02 -1.70181701e-02 1.27467105e+02] [ 1.70181158e-02 3.12882519e-04 9.99855132e-01 6.85526550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5392541539999 meters 0.015185053484410153 Centerline is valid? [True, True] Translation: X:931.33, Y:127.50, Z:6.85 [[ 3.57688474e-02 -9.99360043e-01 -3.08036369e-04 9.31331688e+02] [ 9.99212158e-01 3.57688542e-02 -1.71945687e-02 1.27495076e+02] [ 1.71945830e-02 3.07236220e-04 9.99852115e-01 6.85497568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5692541539999 meters 0.014916094683934861 Centerline is valid? [True, True] Translation: X:931.33, Y:127.52, Z:6.86 [[ 3.48569724e-02 -9.99392264e-01 -3.06103737e-04 9.31332585e+02] [ 9.99241388e-01 3.48570296e-02 -1.73676545e-02 1.27523231e+02] [ 1.73677694e-02 2.99512330e-04 9.99849124e-01 6.85508505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5992541539998 meters 0.019177730002783222 Centerline is valid? [True, True] Translation: X:931.33, Y:127.55, Z:6.85 [[ 3.20826482e-02 -9.99485162e-01 -3.38671819e-04 9.31331550e+02] [ 9.99293816e-01 3.20831335e-02 -1.95586962e-02 1.27550212e+02] [ 1.95594923e-02 2.89062114e-04 9.99808653e-01 6.84905087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6292541539999 meters 0.015398938616731736 Centerline is valid? [True, True] Translation: X:931.34, Y:127.58, Z:6.85 [[ 2.88706493e-02 -9.99583104e-01 -3.22982742e-04 9.31336918e+02] [ 9.99403561e-01 2.88715855e-02 -1.89461017e-02 1.27578939e+02] [ 1.89475281e-02 2.24196155e-04 9.99820454e-01 6.85324339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6592541539999 meters 0.01379169864025367 Centerline is valid? [True, True] Translation: X:931.34, Y:127.61, Z:6.86 [[ 2.70613811e-02 -9.99633728e-01 -3.04113541e-04 9.31338940e+02] [ 9.99469378e-01 2.70624466e-02 -1.81269481e-02 1.27606948e+02] [ 1.81285387e-02 1.86588077e-04 9.99835647e-01 6.85548604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6892541539999 meters 0.015167887031677058 Centerline is valid? [True, True] Translation: X:931.34, Y:127.64, Z:6.85 [[ 2.43844845e-02 -9.99702606e-01 -3.10087195e-04 9.31340443e+02] [ 9.99525687e-01 2.43860029e-02 -1.88075550e-02 1.27635255e+02] [ 1.88095235e-02 1.48672417e-04 9.99823074e-01 6.85351944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7192541539998 meters 0.013637126469611264 Centerline is valid? [True, True] Translation: X:931.34, Y:127.66, Z:6.86 [[ 1.94913224e-02 -9.99809986e-01 -2.84905117e-04 9.31344018e+02] [ 9.99655585e-01 1.94933192e-02 -1.75704656e-02 1.27663632e+02] [ 1.75726807e-02 5.76646182e-05 9.99845587e-01 6.85562752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7492541539999 meters 0.013492152041176042 Centerline is valid? [True, True] Translation: X:931.35, Y:127.69, Z:6.86 [[ 1.66431994e-02 -9.99861455e-01 -2.73828014e-04 9.31346062e+02] [ 9.99713721e-01 1.66454473e-02 -1.71873725e-02 1.27691965e+02] [ 1.71895493e-02 1.23032455e-05 9.99852249e-01 6.85656663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7792541539999 meters 0.013809621077727784 Centerline is valid? [True, True] Translation: X:931.35, Y:127.72, Z:6.86 [[ 1.04341593e-02 -9.99945529e-01 -2.60387324e-04 9.31349911e+02] [ 9.99806829e-01 1.04370488e-02 -1.66545134e-02 1.27719460e+02] [ 1.66563239e-02 -8.65611793e-05 9.99861270e-01 6.85696429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8092541539999 meters 0.013553538108394726 Centerline is valid? [True, True] Translation: X:931.35, Y:127.75, Z:6.86 [[ 7.47801551e-03 -9.99972007e-01 -2.53510593e-04 9.31352264e+02] [ 9.99835441e-01 7.48118398e-03 -1.65264006e-02 1.27747952e+02] [ 1.65278345e-02 -1.29884196e-04 9.99863398e-01 6.85773591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8392541539998 meters 0.014278437698533342 Centerline is valid? [True, True] Translation: X:931.36, Y:127.78, Z:6.86 [[ 2.42962882e-03 -9.99997018e-01 -2.47574879e-04 9.31355437e+02] [ 9.99861979e-01 2.43336957e-03 -1.64347786e-02 1.27776754e+02] [ 1.64353321e-02 -2.07610297e-04 9.99864909e-01 6.85799819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8692541539998 meters 0.01671875823527107 Centerline is valid? [True, True] Translation: X:931.36, Y:127.81, Z:6.86 [[ 1.32543420e-04 -9.99999958e-01 -2.57349574e-04 9.31356887e+02] [ 9.99848598e-01 1.37001264e-04 -1.74000948e-02 1.27805311e+02] [ 1.74001294e-02 -2.55004342e-04 9.99848574e-01 6.85621910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8992541539999 meters 0.014920905999533707 Centerline is valid? [True, True] Translation: X:931.36, Y:127.83, Z:6.86 [[-1.95483627e-03 -9.99998062e-01 -2.35867746e-04 9.31357500e+02] [ 9.99866159e-01 -1.95074705e-03 -1.62437173e-02 1.27833028e+02] [ 1.62432257e-02 -2.67589985e-04 9.99868034e-01 6.85849957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9292541539999 meters 0.017986801118865744 Centerline is valid? [True, True] Translation: X:931.36, Y:127.86, Z:6.86 [[-2.66755444e-03 -9.99996411e-01 -2.48644734e-04 9.31358157e+02] [ 9.99843536e-01 -2.66279844e-03 -1.74875263e-02 1.27859765e+02] [ 1.74868014e-02 -2.95254758e-04 9.99847051e-01 6.85536236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9592541539998 meters 0.014855689672175397 Centerline is valid? [True, True] Translation: X:931.35, Y:127.89, Z:6.86 [[-1.62725826e-03 -9.99998648e-01 -2.36878159e-04 9.31354525e+02] [ 9.99854109e-01 -1.62299525e-03 -1.70037025e-02 1.27887702e+02] [ 1.70032951e-02 -2.64513016e-04 9.99855399e-01 6.85773477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9892541539998 meters 0.014948548900223681 Centerline is valid? [True, True] Translation: X:931.35, Y:127.91, Z:6.86 [[-9.10051654e-04 -9.99999557e-01 -2.38492486e-04 9.31353654e+02] [ 9.99846603e-01 -9.05740882e-04 -1.74914291e-02 1.27914344e+02] [ 1.74912054e-02 -2.54374006e-04 9.99846985e-01 6.85700730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0192541539999 meters 0.01465792204383893 Centerline is valid? [True, True] Translation: X:931.35, Y:127.94, Z:6.86 [[ 1.69774221e-03 -9.99998527e-01 -2.50971465e-04 9.31349482e+02] [ 9.99821823e-01 1.70216038e-03 -1.87996248e-02 1.27942994e+02] [ 1.88000243e-02 -2.19009831e-04 9.99823240e-01 6.85621555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0492541539999 meters 0.014045839644484196 Centerline is valid? [True, True] Translation: X:931.35, Y:127.97, Z:6.86 [[ 3.35543333e-03 -9.99994340e-01 -2.47100136e-04 9.31347863e+02] [ 9.99815764e-01 3.35950397e-03 -1.88984534e-02 1.27971164e+02] [ 1.88991765e-02 -1.83642111e-04 9.99821378e-01 6.85655024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0792541539998 meters 0.013810525842216544 Centerline is valid? [True, True] Translation: X:931.35, Y:128.00, Z:6.86 [[ 4.82880292e-03 -9.99988314e-01 -2.35121302e-04 9.31345823e+02] [ 9.99819551e-01 4.83230758e-03 -1.83715559e-02 1.27999177e+02] [ 1.83724774e-02 -1.46366252e-04 9.99831201e-01 6.85670896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1092541539998 meters 0.013330338514883463 Centerline is valid? [True, True] Translation: X:931.34, Y:128.03, Z:6.86 [[ 8.81357301e-03 -9.99961134e-01 -2.25160900e-04 9.31341070e+02] [ 9.99799267e-01 8.81619750e-03 -1.79916883e-02 1.28027558e+02] [ 1.79929741e-02 -6.65446440e-05 9.99838111e-01 6.85797484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1392541539999 meters 0.015014838856459153 Centerline is valid? [True, True] Translation: X:931.34, Y:128.06, Z:6.86 [[ 1.01863821e-02 -9.99948092e-01 -2.25734307e-04 9.31339008e+02] [ 9.99777535e-01 1.01888137e-02 -1.84680306e-02 1.28055526e+02] [ 1.84693719e-02 -3.75616731e-05 9.99829426e-01 6.85668406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1692541539999 meters 0.015134994385369218 Centerline is valid? [True, True] Translation: X:931.33, Y:128.08, Z:6.86 [[ 1.39259983e-02 -9.99903007e-01 -2.08007126e-04 9.31334494e+02] [ 9.99751271e-01 1.39275087e-02 -1.74189728e-02 1.28083389e+02] [ 1.74201803e-02 3.46211974e-05 9.99848257e-01 6.85745344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1992541539998 meters 0.013326775528859962 Centerline is valid? [True, True] Translation: X:931.33, Y:128.11, Z:6.86 [[ 1.60131124e-02 -9.99871764e-01 -1.90628828e-04 9.31332480e+02] [ 9.99738141e-01 1.60140888e-02 -1.63461934e-02 1.28111702e+02] [ 1.63471500e-02 7.11745223e-05 9.99866374e-01 6.85992599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2292541539998 meters 0.01647456971299607 Centerline is valid? [True, True] Translation: X:931.33, Y:128.14, Z:6.86 [[ 1.95763348e-02 -9.99808346e-01 -1.93886807e-04 9.31328114e+02] [ 9.99663202e-01 1.95767966e-02 -1.70362023e-02 1.28140625e+02] [ 1.70367329e-02 1.39684893e-04 9.99854855e-01 6.85782434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2592541539999 meters 0.015211185675531164 Centerline is valid? [True, True] Translation: X:931.33, Y:128.17, Z:6.86 [[ 2.11758319e-02 -9.99775751e-01 -1.79800216e-04 9.31326156e+02] [ 9.99644750e-01 2.11759679e-02 -1.61849409e-02 1.28169042e+02] [ 1.61851189e-02 1.62993245e-04 9.99868999e-01 6.85949021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2892541539999 meters 0.015211185675531164 Centerline is valid? [True, True] Translation: X:931.33, Y:128.20, Z:6.86 [[ 2.08921951e-02 -9.99781719e-01 -1.75207944e-04 9.31326379e+02] [ 9.99650718e-01 2.08922939e-02 -1.61849910e-02 1.28196631e+02] [ 1.61851186e-02 1.62993242e-04 9.99868999e-01 6.85968063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3192541539999 meters 0.016451677395133806 Centerline is valid? [True, True] Translation: X:931.32, Y:128.22, Z:6.86 [[ 2.30621619e-02 -9.99734019e-01 -1.68657677e-04 9.31322372e+02] [ 9.99606245e-01 2.30619110e-02 -1.59844715e-02 1.28224751e+02] [ 1.59841095e-02 2.00045204e-04 9.99872226e-01 6.85941468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3492541539998 meters 0.014328285777249152 Centerline is valid? [True, True] Translation: X:931.32, Y:128.25, Z:6.86 [[ 2.39645876e-02 -9.99712796e-01 -1.52607110e-04 9.31320983e+02] [ 9.99602586e-01 2.39642119e-02 -1.48453954e-02 1.28252931e+02] [ 1.48447889e-02 2.03217317e-04 9.99889789e-01 6.86222226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3792541539999 meters 0.014954409071168509 Centerline is valid? [True, True] Translation: X:931.32, Y:128.28, Z:6.86 [[ 2.46721413e-02 -9.99695585e-01 -1.49231974e-04 9.31316801e+02] [ 9.99583766e-01 2.46716139e-02 -1.49534610e-02 1.28280079e+02] [ 1.49525907e-02 2.19764045e-04 9.99888180e-01 6.86151466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4092541539999 meters 0.015000154786789774 Centerline is valid? [True, True] Translation: X:931.32, Y:128.31, Z:6.86 [[ 2.44531621e-02 -9.99700966e-01 -1.44373777e-04 9.31315772e+02] [ 9.99589496e-01 2.44525916e-02 -1.49301946e-02 1.28307214e+02] [ 1.49292603e-02 2.20775958e-04 9.99888528e-01 6.86149536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4392541539999 meters 0.015348206436546882 Centerline is valid? [True, True] Translation: X:931.32, Y:128.33, Z:6.86 [[ 2.37647997e-02 -9.99717566e-01 -1.46883405e-04 9.31316142e+02] [ 9.99594492e-01 2.37641790e-02 -1.56880817e-02 1.28334800e+02] [ 1.56871414e-02 2.26000276e-04 9.99876924e-01 6.86156750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4692541539998 meters 0.01687688928354041 Centerline is valid? [True, True] Translation: X:931.31, Y:128.36, Z:6.86 [[ 2.26420155e-02 -9.99743626e-01 -1.47804055e-04 9.31313988e+02] [ 9.99610505e-01 2.26414128e-02 -1.63157548e-02 1.28361818e+02] [ 1.63149184e-02 2.21675087e-04 9.99866878e-01 6.85929944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4992541539999 meters 0.01453020425846773 Centerline is valid? [True, True] Translation: X:931.31, Y:128.39, Z:6.86 [[ 2.21315547e-02 -9.99755057e-01 -1.40858061e-04 9.31312840e+02] [ 9.99625941e-01 2.21309604e-02 -1.60685343e-02 1.28390053e+02] [ 1.60677157e-02 2.14816274e-04 9.99870883e-01 6.86164396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5292541539999 meters 0.014514224625356837 Centerline is valid? [True, True] Translation: X:931.31, Y:128.42, Z:6.86 [[ 2.16992606e-02 -9.99764533e-01 -1.41337839e-04 9.31311693e+02] [ 9.99625460e-01 2.16985997e-02 -1.66766309e-02 1.28417971e+02] [ 1.66757709e-02 2.20585658e-04 9.99860925e-01 6.86117799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5592541539999 meters 0.014664842627055306 Centerline is valid? [True, True] Translation: X:931.31, Y:128.45, Z:6.86 [[ 2.18464633e-02 -9.99761328e-01 -1.37359228e-04 9.31310791e+02] [ 9.99620664e-01 2.18456938e-02 -1.67718177e-02 1.28446430e+02] [ 1.67708154e-02 2.29097776e-04 9.99859334e-01 6.86090646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5892541539998 meters 0.016283458848641734 Centerline is valid? [True, True] Translation: X:931.31, Y:128.47, Z:6.86 [[ 2.17242214e-02 -9.99763990e-01 -1.49302973e-04 9.31310184e+02] [ 9.99585332e-01 2.17231620e-02 -1.89015382e-02 1.28474799e+02] [ 1.89003206e-02 2.61380140e-04 9.99821339e-01 6.85875343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6192541539998 meters 0.016551456911604867 Centerline is valid? [True, True] Translation: X:931.31, Y:128.50, Z:6.86 [[ 2.12914558e-02 -9.99773300e-01 -1.47363894e-04 9.31310279e+02] [ 9.99585743e-01 2.12903161e-02 -1.93665797e-02 1.28503356e+02] [ 1.93653267e-02 2.65039828e-04 9.99812439e-01 6.85859099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6492541539999 meters 0.016658148190803572 Centerline is valid? [True, True] Translation: X:931.31, Y:128.53, Z:6.86 [[ 2.04116078e-02 -9.99791651e-01 -1.44882909e-04 9.31309774e+02] [ 9.99594757e-01 2.04104635e-02 -1.98427531e-02 1.28529995e+02] [ 1.98415760e-02 2.60198298e-04 9.99803103e-01 6.85811720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6792541539999 meters 0.014232342617821055 Centerline is valid? [True, True] Translation: X:931.31, Y:128.56, Z:6.86 [[ 1.92258579e-02 -9.99815157e-01 -1.31591896e-04 9.31310992e+02] [ 9.99638951e-01 1.92249402e-02 -1.87715270e-02 1.28558227e+02] [ 1.87705871e-02 2.29354325e-04 9.99823791e-01 6.86128353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7092541539998 meters 0.01415019013805071 Centerline is valid? [True, True] Translation: X:931.31, Y:128.59, Z:6.86 [[ 1.79879448e-02 -9.99838196e-01 -1.23656274e-04 9.31311310e+02] [ 9.99669030e-01 1.79871761e-02 -1.83927059e-02 1.28586268e+02] [ 1.83919542e-02 2.07231631e-04 9.99830832e-01 6.86173087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7392541539998 meters 0.014037442033747339 Centerline is valid? [True, True] Translation: X:931.31, Y:128.61, Z:6.86 [[ 1.69049011e-02 -9.99857096e-01 -1.11223857e-04 9.31311873e+02] [ 9.99708047e-01 1.69043016e-02 -1.72645823e-02 1.28613955e+02] [ 1.72639953e-02 1.80664672e-04 9.99850950e-01 6.86259586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7692541539999 meters 0.01380670229086624 Centerline is valid? [True, True] Translation: X:931.31, Y:128.64, Z:6.86 [[ 1.50016777e-02 -9.99887464e-01 -9.89392757e-05 9.31313239e+02] [ 9.99760466e-01 1.50013492e-02 -1.59364130e-02 1.28640682e+02] [ 1.59361038e-02 1.40157355e-04 9.99873002e-01 6.86411380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7992541539999 meters 0.013655196105065232 Centerline is valid? [True, True] Translation: X:931.31, Y:128.67, Z:6.86 [[ 1.39308973e-02 -9.99902956e-01 -8.91329526e-05 9.31313674e+02] [ 9.99791313e-01 1.39306738e-02 -1.49421407e-02 1.28668335e+02] [ 1.49419323e-02 1.19043076e-04 9.99888356e-01 6.86481123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8292541539998 meters 0.013556404385072336 Centerline is valid? [True, True] Translation: X:931.31, Y:128.70, Z:6.87 [[ 1.25129656e-02 -9.99921707e-01 -8.04815794e-05 9.31314021e+02] [ 9.99821440e-01 1.25128506e-02 -1.41603610e-02 1.28695008e+02] [ 1.41602594e-02 9.67209016e-05 9.99899734e-01 6.86580271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8592541539998 meters 0.016867816065477558 Centerline is valid? [True, True] Translation: X:931.31, Y:128.72, Z:6.86 [[ 1.09892142e-02 -9.99939614e-01 -7.98386451e-05 9.31313405e+02] [ 9.99829959e-01 1.09891915e-02 -1.48084814e-02 1.28723537e+02] [ 1.48084645e-02 8.29085049e-05 9.99890345e-01 6.86273555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8892541539999 meters 0.013452489657055184 Centerline is valid? [True, True] Translation: X:931.31, Y:128.75, Z:6.87 [[ 1.16844776e-02 -9.99931732e-01 -7.02100089e-05 9.31313145e+02] [ 9.99837669e-01 1.16843415e-02 -1.37154175e-02 1.28751516e+02] [ 1.37153015e-02 9.00588773e-05 9.99905937e-01 6.86615351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9192541539999 meters 0.013552568680540977 Centerline is valid? [True, True] Translation: X:931.31, Y:128.78, Z:6.87 [[ 1.19297980e-02 -9.99928835e-01 -6.73072892e-05 9.31312247e+02] [ 9.99831696e-01 1.19295773e-02 -1.39379095e-02 1.28779972e+02] [ 1.39377205e-02 9.89804840e-05 9.99902860e-01 6.86589734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9492541539998 meters 0.016465783006353474 Centerline is valid? [True, True] Translation: X:931.31, Y:128.81, Z:6.86 [[ 1.17752057e-02 -9.99930667e-01 -6.96502890e-05 9.31311729e+02] [ 9.99812172e-01 1.17748825e-02 -1.53939257e-02 1.28807825e+02] [ 1.53936786e-02 1.11629435e-04 9.99881504e-01 6.86329148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9792541539998 meters 0.015982134746122804 Centerline is valid? [True, True] Translation: X:931.31, Y:128.83, Z:6.86 [[ 1.38389500e-02 -9.99904235e-01 -6.45422390e-05 9.31309154e+02] [ 9.99790363e-01 1.38383480e-02 -1.50907600e-02 1.28834582e+02] [ 1.50902080e-02 1.44311564e-04 9.99886126e-01 6.86329502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0092541539999 meters 0.016268516751982865 Centerline is valid? [True, True] Translation: X:931.31, Y:128.86, Z:6.86 [[ 1.68263744e-02 -9.99858424e-01 -6.41904434e-05 9.31306564e+02] [ 9.99731421e-01 1.68252603e-02 -1.59372484e-02 1.28862611e+02] [ 1.59360721e-02 2.03992906e-04 9.99872992e-01 6.86297444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0392541539999 meters 0.016841114225411652 Centerline is valid? [True, True] Translation: X:931.30, Y:128.89, Z:6.86 [[ 1.80054817e-02 -9.99837886e-01 -6.13603966e-05 9.31304549e+02] [ 9.99704965e-01 1.80040886e-02 -1.63044860e-02 1.28889933e+02] [ 1.63029476e-02 2.32227831e-04 9.99867071e-01 6.86212733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0692541539999 meters 0.015204440672436245 Centerline is valid? [True, True] Translation: X:931.30, Y:128.92, Z:6.86 [[ 2.09741328e-02 -9.99780017e-01 -5.81690053e-05 9.31301976e+02] [ 9.99641607e-01 2.09721972e-02 -1.66380723e-02 1.28917948e+02] [ 1.66356322e-02 2.90820982e-04 9.99861576e-01 6.86356820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0992541539998 meters 0.015442213884656802 Centerline is valid? [True, True] Translation: X:931.30, Y:128.95, Z:6.86 [[ 2.18846265e-02 -9.99760501e-01 -5.47789603e-05 9.31300974e+02] [ 9.99616099e-01 2.18823967e-02 -1.69945666e-02 1.28946665e+02] [ 1.69916951e-02 3.17161813e-04 9.99855580e-01 6.86336535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1292541539999 meters 0.01685444154075357 Centerline is valid? [True, True] Translation: X:931.30, Y:128.97, Z:6.86 [[ 2.23940487e-02 -9.99749221e-01 -4.98688709e-05 9.31297962e+02] [ 9.99604905e-01 2.23916635e-02 -1.69896363e-02 1.28973983e+02] [ 1.69864923e-02 3.30617575e-04 9.99855664e-01 6.86211740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1592541539999 meters 0.01796332799683354 Centerline is valid? [True, True] Translation: X:931.30, Y:129.00, Z:6.86 [[ 2.27305796e-02 -9.99741626e-01 -4.43149557e-05 9.31297971e+02] [ 9.99600462e-01 2.27281149e-02 -1.68032530e-02 1.29001005e+02] [ 1.67999187e-02 3.37650429e-04 9.99858814e-01 6.86180100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1892541539999 meters 0.01745857173399381 Centerline is valid? [True, True] Translation: X:931.30, Y:129.03, Z:6.86 [[ 2.24808103e-02 -9.99747274e-01 -3.76975452e-05 9.31297716e+02] [ 9.99616997e-01 2.24784895e-02 -1.61423925e-02 1.29027000e+02] [ 1.61391603e-02 3.25210957e-04 9.99869702e-01 6.86335795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2192541539998 meters 0.017354110591109657 Centerline is valid? [True, True] Translation: X:931.30, Y:129.05, Z:6.86 [[ 2.15182280e-02 -9.99768456e-01 -3.05904602e-05 9.31298952e+02] [ 9.99656397e-01 2.15162742e-02 -1.49712664e-02 1.29054212e+02] [ 1.49684581e-02 2.91575174e-04 9.99887924e-01 6.86488115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2492541539999 meters 0.016930615636691987 Centerline is valid? [True, True] Translation: X:931.30, Y:129.08, Z:6.87 [[ 2.00135741e-02 -9.99799708e-01 -2.66731436e-05 9.31303224e+02] [ 9.99683727e-01 2.00116588e-02 -1.52308495e-02 1.29082494e+02] [ 1.52283326e-02 2.78159026e-04 9.99884004e-01 6.86506253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2792541539999 meters 0.014989280568754074 Centerline is valid? [True, True] Translation: X:931.30, Y:129.11, Z:6.87 [[ 1.88860949e-02 -9.99821642e-01 -2.04977173e-05 9.31304769e+02] [ 9.99725276e-01 1.88845592e-02 -1.38833298e-02 1.29110441e+02] [ 1.38812407e-02 2.41709797e-04 9.99903622e-01 6.86788305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3092541539999 meters 0.01616569199318454 Centerline is valid? [True, True] Translation: X:931.31, Y:129.14, Z:6.87 [[ 1.74294040e-02 -9.99848096e-01 -1.80660734e-05 9.31305159e+02] [ 9.99738595e-01 1.74277626e-02 -1.47991722e-02 1.29137380e+02] [ 1.47972390e-02 2.39879400e-04 9.99890486e-01 6.86650337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3392541539998 meters 0.014605881815538875 Centerline is valid? [True, True] Translation: X:931.31, Y:129.17, Z:6.87 [[ 1.54470024e-02 -9.99880688e-01 -1.42244084e-05 9.31306647e+02] [ 9.99773915e-01 1.54455608e-02 -1.46134695e-02 1.29165627e+02] [ 1.46119457e-02 2.11513106e-04 9.99893217e-01 6.86821511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3692541539998 meters 0.016022161105623916 Centerline is valid? [True, True] Translation: X:931.31, Y:129.19, Z:6.87 [[ 1.38934269e-02 -9.99903482e-01 -1.07885530e-05 9.31307189e+02] [ 9.99777414e-01 1.38918465e-02 -1.58788722e-02 1.29193751e+02] [ 1.58774895e-02 2.09825798e-04 9.99873923e-01 6.86658567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3992541539999 meters 0.01417496046767563 Centerline is valid? [True, True] Translation: X:931.31, Y:129.22, Z:6.87 [[ 1.22809257e-02 -9.99924587e-01 -6.28042057e-06 9.31308248e+02] [ 9.99800076e-01 1.22794956e-02 -1.57804173e-02 1.29221284e+02] [ 1.57793044e-02 1.87518968e-04 9.99875481e-01 6.86817338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4292541539999 meters 0.014114401172686352 Centerline is valid? [True, True] Translation: X:931.31, Y:129.25, Z:6.87 [[ 1.12543728e-02 -9.99936668e-01 -1.86304347e-06 9.31308748e+02] [ 9.99810834e-01 1.12529861e-02 -1.58639745e-02 1.29249165e+02] [ 1.58629907e-02 1.76676393e-04 9.99874159e-01 6.86802906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4592541539998 meters 0.013961595305994723 Centerline is valid? [True, True] Translation: X:931.31, Y:129.28, Z:6.87 [[ 9.46912478e-03 -9.99955167e-01 2.89310343e-06 9.31309696e+02] [ 9.99809650e-01 9.46769745e-03 -1.70594860e-02 1.29277463e+02] [ 1.70586937e-02 1.64430954e-04 9.99854476e-01 6.86720486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4892541539998 meters 0.013858945366031822 Centerline is valid? [True, True] Translation: X:931.31, Y:129.31, Z:6.87 [[ 8.42681748e-03 -9.99964494e-01 8.33000500e-06 9.31310175e+02] [ 9.99809078e-01 8.42536091e-03 -1.76300947e-02 1.29305018e+02] [ 1.76293985e-02 1.56894005e-04 9.99844578e-01 6.86712851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5192541539999 meters 0.01504692440956336 Centerline is valid? [True, True] Translation: X:931.31, Y:129.33, Z:6.87 [[ 6.56178559e-03 -9.99978471e-01 1.48354188e-05 9.31312541e+02] [ 9.99796384e-01 6.56030764e-03 -1.90827738e-02 1.29333289e+02] [ 1.90822656e-02 1.40049468e-04 9.99817907e-01 6.86622535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5492541539999 meters 0.013530437105032763 Centerline is valid? [True, True] Translation: X:931.31, Y:129.36, Z:6.87 [[ 6.00835048e-03 -9.99981950e-01 1.97673757e-05 9.31313225e+02] [ 9.99808139e-01 6.00693759e-03 -1.86441080e-02 1.29361797e+02] [ 1.86436527e-02 1.31783918e-04 9.99826183e-01 6.86780102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5792541539998 meters 0.01449409741156961 Centerline is valid? [True, True] Translation: X:931.31, Y:129.39, Z:6.87 [[ 4.07078617e-03 -9.99991714e-01 2.67874264e-05 9.31314601e+02] [ 9.99795634e-01 4.06945750e-03 -1.98022863e-02 1.29389911e+02] [ 1.98020132e-02 1.07392825e-04 9.99803915e-01 6.86682457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6092541539998 meters 0.01603592733882336 Centerline is valid? [True, True] Translation: X:931.32, Y:129.42, Z:6.87 [[ 3.19435830e-03 -9.99994897e-01 3.44679408e-05 9.31315206e+02] [ 9.99775820e-01 3.19293702e-03 -2.09311747e-02 1.29417670e+02] [ 2.09309578e-02 1.01321885e-04 9.99780918e-01 6.86604411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6392541539999 meters 0.014905971609810165 Centerline is valid? [True, True] Translation: X:931.32, Y:129.45, Z:6.87 [[ 2.33684289e-03 -9.99997269e-01 4.07947216e-05 9.31316029e+02] [ 9.99775318e-01 2.33546476e-03 -2.10679519e-02 1.29445744e+02] [ 2.10677991e-02 9.00180493e-05 9.99778045e-01 6.86653574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6692541539999 meters 0.014285769788281406 Centerline is valid? [True, True] Translation: X:931.32, Y:129.47, Z:6.87 [[ 2.03713870e-03 -9.99997924e-01 4.68013960e-05 9.31316482e+02] [ 9.99776647e-01 2.03570341e-03 -2.10359870e-02 1.29473708e+02] [ 2.10358481e-02 8.96441660e-05 9.99778718e-01 6.86728650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6992541539998 meters 0.015729225533068925 Centerline is valid? [True, True] Translation: X:931.32, Y:129.50, Z:6.87 [[ 1.60900875e-03 -9.99998704e-01 5.53451334e-05 9.31316567e+02] [ 9.99758899e-01 1.60741091e-03 -2.18988570e-02 1.29501116e+02] [ 2.18987396e-02 9.05672422e-05 9.99760190e-01 6.86631906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7292541539998 meters 0.014341190165704077 Centerline is valid? [True, True] Translation: X:931.32, Y:129.53, Z:6.87 [[ 2.07024623e-03 -9.99997855e-01 5.68594245e-05 9.31316242e+02] [ 9.99785810e-01 2.06863636e-03 -2.05925793e-02 1.29528035e+02] [ 2.05924175e-02 9.94789554e-05 9.99787949e-01 6.86716525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7592541539999 meters 0.01350057468304092 Centerline is valid? [True, True] Translation: X:931.32, Y:129.56, Z:6.87 [[ 2.96043751e-03 -9.99995616e-01 6.10848309e-05 9.31316221e+02] [ 9.99790451e-01 2.95859280e-03 -2.02558801e-02 1.29555997e+02] [ 2.02556106e-02 1.21038298e-04 9.99794827e-01 6.86860992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7892541539999 meters 0.014384929868865286 Centerline is valid? [True, True] Translation: X:931.32, Y:129.58, Z:6.87 [[ 2.99278669e-03 -9.99995519e-01 7.01038991e-05 9.31316216e+02] [ 9.99770721e-01 2.99062750e-03 -2.12028712e-02 1.29584263e+02] [ 2.12025666e-02 1.33543497e-04 9.99775191e-01 6.86888833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8192541539999 meters 0.0143048292213336 Centerline is valid? [True, True] Translation: X:931.32, Y:129.61, Z:6.87 [[ 3.14224793e-03 -9.99995060e-01 7.63691303e-05 9.31315979e+02] [ 9.99769559e-01 3.13991756e-03 -2.12360409e-02 1.29612058e+02] [ 2.12356962e-02 1.43080437e-04 9.99774487e-01 6.86952550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8492541539998 meters 0.013438597552462496 Centerline is valid? [True, True] Translation: X:931.32, Y:129.64, Z:6.87 [[ 3.53569844e-03 -9.99993747e-01 7.60155622e-05 9.31315691e+02] [ 9.99802218e-01 3.53353351e-03 -1.95713802e-02 1.29638749e+02] [ 1.95709892e-02 1.45199026e-04 9.99808459e-01 6.87077876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8792541539999 meters 0.013424317243761478 Centerline is valid? [True, True] Translation: X:931.32, Y:129.67, Z:6.87 [[ 4.27007829e-03 -9.99990880e-01 7.67376887e-05 9.31316043e+02] [ 9.99821386e-01 4.26794166e-03 -1.84114305e-02 1.29666902e+02] [ 1.84109351e-02 1.55342232e-04 9.99830492e-01 6.87238712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9092541539999 meters 0.013461794709418306 Centerline is valid? [True, True] Translation: X:931.32, Y:129.69, Z:6.87 [[ 4.40003889e-03 -9.99990316e-01 8.34269892e-05 9.31315756e+02] [ 9.99814893e-01 4.39770434e-03 -1.87307404e-02 1.29694930e+02] [ 1.87301922e-02 1.65827533e-04 9.99824561e-01 6.87256117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9392541539999 meters 0.014038083871489474 Centerline is valid? [True, True] Translation: X:931.31, Y:129.72, Z:6.87 [[ 5.39045727e-03 -9.99985467e-01 8.99735582e-05 9.31313876e+02] [ 9.99801512e-01 5.38773984e-03 -1.91809665e-02 1.29722405e+02] [ 1.91802030e-02 1.93349880e-04 9.99816024e-01 6.87084474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9692541539998 meters 0.01367995164511999 Centerline is valid? [True, True] Translation: X:931.31, Y:129.75, Z:6.87 [[ 5.69117742e-03 -9.99983801e-01 9.60155407e-05 9.31314650e+02] [ 9.99795375e-01 5.68824109e-03 -1.94126582e-02 1.29750651e+02] [ 1.94117976e-02 2.06476776e-04 9.99811552e-01 6.87222846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9992541539999 meters 0.013843701035987357 Centerline is valid? [True, True] Translation: X:931.31, Y:129.78, Z:6.87 [[ 6.04759181e-03 -9.99981708e-01 1.03478754e-04 9.31314214e+02] [ 9.99786621e-01 6.04436793e-03 -1.97529510e-02 1.29777928e+02] [ 1.97519642e-02 2.22914458e-04 9.99804886e-01 6.87193997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0292541539999 meters 0.014088591688996463 Centerline is valid? [True, True] Translation: X:931.31, Y:129.81, Z:6.87 [[ 7.21105531e-03 -9.99973994e-01 1.10379286e-04 9.31314767e+02] [ 9.99774442e-01 7.20741108e-03 -1.99779695e-02 1.29806268e+02] [ 1.99766544e-02 2.54416633e-04 9.99800414e-01 6.87250981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0592541539999 meters 0.016180974677057362 Centerline is valid? [True, True] Translation: X:931.32, Y:129.83, Z:6.87 [[ 8.25517867e-03 -9.99965917e-01 1.30367635e-04 9.31315128e+02] [ 9.99714575e-01 8.25018064e-03 -2.24210625e-02 1.29834048e+02] [ 2.24192228e-02 3.15420303e-04 9.99748608e-01 6.87123443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0892541539998 meters 0.014093711201150686 Centerline is valid? [True, True] Translation: X:931.32, Y:129.86, Z:6.87 [[ 9.39339809e-03 -9.99955873e-01 1.29206613e-04 9.31316349e+02] [ 9.99731400e-01 9.38855152e-03 -2.11892312e-02 1.29862518e+02] [ 2.11870831e-02 3.28210792e-04 9.99775475e-01 6.87358813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1192541539998 meters 0.014209301274112747 Centerline is valid? [True, True] Translation: X:931.32, Y:129.89, Z:6.87 [[ 1.04144670e-02 -9.99945758e-01 1.37877907e-04 9.31316330e+02] [ 9.99712523e-01 1.04090596e-02 -2.15991459e-02 1.29891054e+02] [ 2.15965392e-02 3.62781863e-04 9.99766702e-01 6.87361357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1492541539999 meters 0.016544535672324917 Centerline is valid? [True, True] Translation: X:931.31, Y:129.92, Z:6.87 [[ 1.30161737e-02 -9.99915275e-01 1.49510269e-04 9.31312295e+02] [ 9.99664033e-01 1.30095512e-02 -2.24181378e-02 1.29918544e+02] [ 2.24142934e-02 4.41258414e-04 9.99748671e-01 6.87064505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1792541539999 meters 0.01600288050285531 Centerline is valid? [True, True] Translation: X:931.31, Y:129.95, Z:6.87 [[ 1.53248435e-02 -9.99882555e-01 1.58099664e-04 9.31314070e+02] [ 9.99623355e-01 1.53172703e-02 -2.27712607e-02 1.29947123e+02] [ 2.27661646e-02 5.07006122e-04 9.99740689e-01 6.87259208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2092541539998 meters 0.01600288050285531 Centerline is valid? [True, True] Translation: X:931.31, Y:129.97, Z:6.87 [[ 1.50388865e-02 -9.99886896e-01 1.64485218e-04 9.31313796e+02] [ 9.99627697e-01 1.50312421e-02 -2.27712152e-02 1.29974717e+02] [ 2.27661672e-02 5.06877701e-04 9.99740689e-01 6.87278260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2392541539998 meters 0.016405305671348968 Centerline is valid? [True, True] Translation: X:931.31, Y:130.00, Z:6.87 [[ 1.56500395e-02 -9.99877516e-01 1.70931730e-04 9.31313673e+02] [ 9.99614791e-01 1.56420081e-02 -2.29259131e-02 1.30002139e+02] [ 2.29204313e-02 5.29657331e-04 9.99737152e-01 6.87309751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2692541539999 meters 0.019644464384413307 Centerline is valid? [True, True] Translation: X:931.31, Y:130.03, Z:6.87 [[ 1.57519789e-02 -9.99875913e-01 1.85056544e-04 9.31311508e+02] [ 9.99589521e-01 1.57430370e-02 -2.39363096e-02 1.30029270e+02] [ 2.39304260e-02 5.62024825e-04 9.99713468e-01 6.87070186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2992541539999 meters 0.019658427100066028 Centerline is valid? [True, True] Translation: X:931.31, Y:130.06, Z:6.87 [[ 1.57259023e-02 -9.99876323e-01 1.85370718e-04 9.31313313e+02] [ 9.99605511e-01 1.57173278e-02 -2.32763440e-02 1.30057003e+02] [ 2.32705517e-02 5.51339103e-04 9.99729052e-01 6.87249707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3292541539998 meters 0.018831371809627247 Centerline is valid? [True, True] Translation: X:931.31, Y:130.08, Z:6.87 [[ 1.55158594e-02 -9.99879606e-01 1.77381464e-04 9.31313219e+02] [ 9.99644708e-01 1.55083685e-02 -2.16782768e-02 1.30082865e+02] [ 2.16729159e-02 5.13675536e-04 9.99764983e-01 6.87388566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3592541539998 meters 0.021055434365818606 Centerline is valid? [True, True] Translation: X:931.31, Y:130.11, Z:6.87 [[ 1.49745130e-02 -9.99887855e-01 2.02807953e-04 9.31314739e+02] [ 9.99597704e-01 1.49652809e-02 -2.40929620e-02 1.30109128e+02] [ 2.40872250e-02 5.63506738e-04 9.99709702e-01 6.87254464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3892541539999 meters 0.017502792075933304 Centerline is valid? [True, True] Translation: X:931.32, Y:130.14, Z:6.88 [[ 1.47713313e-02 -9.99890878e-01 2.01954577e-04 9.31319852e+02] [ 9.99620485e-01 1.47626391e-02 -2.32583537e-02 1.30137538e+02] [ 2.32528344e-02 5.45434780e-04 9.99729468e-01 6.87708631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4192541539999 meters 0.019205595674531072 Centerline is valid? [True, True] Translation: X:931.32, Y:130.16, Z:6.88 [[ 1.45452273e-02 -9.99894193e-01 2.00095290e-04 9.31315908e+02] [ 9.99645582e-01 1.45371478e-02 -2.23020630e-02 1.30164827e+02] [ 2.22967944e-02 5.24412948e-04 9.99751258e-01 6.87504272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4492541539998 meters 0.017168407846925048 Centerline is valid? [True, True] Translation: X:931.32, Y:130.19, Z:6.88 [[ 1.44337733e-02 -9.99895803e-01 2.24201203e-04 9.31322954e+02] [ 9.99602626e-01 1.44241109e-02 -2.42184679e-02 1.30193221e+02] [ 2.42127105e-02 5.73675988e-04 9.99706665e-01 6.87819653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4792541539998 meters 0.01890549330274642 Centerline is valid? [True, True] Translation: X:931.33, Y:130.22, Z:6.88 [[ 1.39583487e-02 -9.99902544e-01 2.57033330e-04 9.31325087e+02] [ 9.99539450e-01 1.39463519e-02 -2.69515722e-02 1.30221382e+02] [ 2.69453609e-02 6.33114396e-04 9.99636707e-01 6.87785367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5092541539999 meters 0.016541232709880727 Centerline is valid? [True, True] Translation: X:931.33, Y:130.25, Z:6.88 [[ 1.38142009e-02 -9.99904548e-01 2.48864329e-04 9.31325169e+02] [ 9.99583260e-01 1.38034521e-02 -2.53529241e-02 1.30249485e+02] [ 2.53470689e-02 5.98991004e-04 9.99678532e-01 6.87863394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5392541539999 meters 0.01645028409826322 Centerline is valid? [True, True] Translation: X:931.33, Y:130.28, Z:6.88 [[ 1.35729859e-02 -9.99907848e-01 2.63091050e-04 9.31326062e+02] [ 9.99569176e-01 1.35615399e-02 -2.60297193e-02 1.30277567e+02] [ 2.60237527e-02 6.16278718e-04 9.99661135e-01 6.87880438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5692541539999 meters 0.016735160762374603 Centerline is valid? [True, True] Translation: X:931.33, Y:130.30, Z:6.88 [[ 1.27774826e-02 -9.99918326e-01 2.79333497e-04 9.31327406e+02] [ 9.99558450e-01 1.27653882e-02 -2.68318778e-02 1.30304369e+02] [ 2.68261206e-02 6.22054009e-04 9.99639921e-01 6.87807511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5992541539998 meters 0.01610850303093531 Centerline is valid? [True, True] Translation: X:931.33, Y:130.33, Z:6.88 [[ 1.17860088e-02 -9.99930499e-01 2.94609406e-04 9.31329388e+02] [ 9.99551968e-01 1.17734394e-02 -2.75181525e-02 1.30332572e+02] [ 2.75127714e-02 6.18806598e-04 9.99621261e-01 6.87905243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6292541539999 meters 0.01546120005120425 Centerline is valid? [True, True] Translation: X:931.33, Y:130.36, Z:6.88 [[ 9.27281683e-03 -9.99956961e-01 3.01682893e-04 9.31333269e+02] [ 9.99580144e-01 9.26103952e-03 -2.74548341e-02 1.30360974e+02] [ 2.74508585e-02 5.56139877e-04 9.99622999e-01 6.88034860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6592541539999 meters 0.01579175930570986 Centerline is valid? [True, True] Translation: X:931.34, Y:130.39, Z:6.88 [[ 5.57822329e-03 -9.99984392e-01 3.14649551e-04 9.31336937e+02] [ 9.99594508e-01 5.56726155e-03 -2.79253562e-02 1.30388942e+02] [ 2.79231686e-02 4.70295835e-04 9.99609962e-01 6.88074743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6892541539999 meters 0.014671207624272755 Centerline is valid? [True, True] Translation: X:931.34, Y:130.42, Z:6.88 [[ 3.54554810e-03 -9.99993667e-01 3.08376703e-04 9.31338733e+02] [ 9.99636562e-01 3.53604046e-03 -2.67252793e-02 1.30416856e+02] [ 2.67240196e-02 4.03020390e-04 9.99642768e-01 6.88155271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7192541539998 meters 0.017003551575692128 Centerline is valid? [True, True] Translation: X:931.34, Y:130.44, Z:6.88 [[ 1.21652982e-03 -9.99999204e-01 3.34634670e-04 9.31340681e+02] [ 9.99598662e-01 1.20657137e-03 -2.83030021e-02 1.30444989e+02] [ 2.83025758e-02 3.68931815e-04 9.99599334e-01 6.88206310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7492541539999 meters 0.013585117699003614 Centerline is valid? [True, True] Translation: X:931.34, Y:130.47, Z:6.88 [[-2.05757799e-03 -9.99997840e-01 2.92973396e-04 9.31344815e+02] [ 9.99704097e-01 -2.06407456e-03 -2.42375245e-02 1.30473404e+02] [ 2.42380769e-02 2.43016107e-04 9.99706185e-01 6.88490566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7792541539999 meters 0.013488872839518445 Centerline is valid? [True, True] Translation: X:931.35, Y:130.50, Z:6.89 [[-4.22630633e-03 -9.99991027e-01 2.91106359e-04 9.31346352e+02] [ 9.99714079e-01 -4.23198682e-03 -2.35340280e-02 1.30501019e+02] [ 2.35350488e-02 1.91561114e-04 9.99722994e-01 6.88533941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8092541539999 meters 0.013294605237020262 Centerline is valid? [True, True] Translation: X:931.35, Y:130.53, Z:6.89 [[-4.74860532e-03 -9.99988683e-01 2.91516867e-04 9.31346785e+02] [ 9.99723469e-01 -4.75405965e-03 -2.30300747e-02 1.30528908e+02] [ 2.30312000e-02 1.82075518e-04 9.99734730e-01 6.88658512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8392541539998 meters 0.013373264156814809 Centerline is valid? [True, True] Translation: X:931.35, Y:130.56, Z:6.89 [[-4.89429310e-03 -9.99987978e-01 3.00166440e-04 9.31345549e+02] [ 9.99719769e-01 -4.89993226e-03 -2.31597735e-02 1.30555993e+02] [ 2.31609659e-02 1.86731605e-04 9.99731731e-01 6.88611449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8692541539998 meters 0.013599013294009301 Centerline is valid? [True, True] Translation: X:931.34, Y:130.58, Z:6.89 [[-3.55662242e-03 -9.99993625e-01 3.16565422e-04 9.31342637e+02] [ 9.99708370e-01 -3.56316899e-03 -2.38847119e-02 1.30583757e+02] [ 2.38856877e-02 2.31524200e-04 9.99714669e-01 6.88534850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8992541539999 meters 0.013566444334784683 Centerline is valid? [True, True] Translation: X:931.34, Y:130.61, Z:6.89 [[-2.85935172e-03 -9.99995857e-01 3.30662691e-04 9.31340699e+02] [ 9.99697735e-01 -2.86657332e-03 -2.44176265e-02 1.30612193e+02] [ 2.44184732e-02 2.60744161e-04 9.99701791e-01 6.88560580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9292541539999 meters 0.014205530473894779 Centerline is valid? [True, True] Translation: X:931.34, Y:130.64, Z:6.88 [[-4.66874551e-04 -9.99999825e-01 3.63815016e-04 9.31336492e+02] [ 9.99653748e-01 -4.76284543e-04 -2.63088767e-02 1.30639632e+02] [ 2.63090453e-02 3.51406100e-04 9.99653795e-01 6.88406100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9592541539998 meters 0.01463385417603266 Centerline is valid? [True, True] Translation: X:931.34, Y:130.67, Z:6.88 [[ 2.28403751e-04 -9.99999902e-01 3.78402384e-04 9.31335030e+02] [ 9.99640061e-01 2.18170067e-04 -2.68272446e-02 1.30668477e+02] [ 2.68271595e-02 3.84393626e-04 9.99640013e-01 6.88457025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9892541539998 meters 0.014245704294497513 Centerline is valid? [True, True] Translation: X:931.33, Y:130.70, Z:6.88 [[ 1.32212595e-03 -9.99999052e-01 3.85133634e-04 9.31333026e+02] [ 9.99641054e-01 1.31134684e-03 -2.67589773e-02 1.30696293e+02] [ 2.67584469e-02 4.20374130e-04 9.99641840e-01 6.88474118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0192541539999 meters 0.01794089244209827 Centerline is valid? [True, True] Translation: X:931.33, Y:130.72, Z:6.88 [[ 1.13166831e-03 -9.99999270e-01 4.22664980e-04 9.31330737e+02] [ 9.99584350e-01 1.11902280e-03 -2.88075465e-02 1.30723988e+02] [ 2.88070525e-02 4.55089887e-04 9.99584887e-01 6.88457646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0492541539999 meters 0.014457874815944672 Centerline is valid? [True, True] Translation: X:931.33, Y:130.75, Z:6.89 [[ 7.12887400e-04 -9.99999673e-01 3.80971916e-04 9.31330308e+02] [ 9.99674428e-01 7.02938557e-04 -2.55057534e-02 1.30752079e+02] [ 2.55054772e-02 3.99030613e-04 9.99674603e-01 6.88543978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0792541539998 meters 0.014049684586810392 Centerline is valid? [True, True] Translation: X:931.33, Y:130.78, Z:6.89 [[-1.40660341e-03 -9.99998942e-01 3.70617561e-04 9.31329773e+02] [ 9.99701974e-01 -1.41521813e-03 -2.43712864e-02 1.30780349e+02] [ 2.43717851e-02 3.36226373e-04 9.99702907e-01 6.88628927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1092541539998 meters 0.013850414978312285 Centerline is valid? [True, True] Translation: X:931.33, Y:130.81, Z:6.89 [[-2.71084252e-03 -9.99996259e-01 3.66129094e-04 9.31329388e+02] [ 9.99716785e-01 -2.71874108e-03 -2.36423140e-02 1.30808567e+02] [ 2.36432209e-02 3.01934811e-04 9.99720414e-01 6.88685759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1392541539999 meters 0.013534209544366668 Centerline is valid? [True, True] Translation: X:931.33, Y:130.84, Z:6.89 [[-4.83619906e-03 -9.99988239e-01 3.64512693e-04 9.31329065e+02] [ 9.99721041e-01 -4.84333326e-03 -2.31167195e-02 1.30836501e+02] [ 2.31182131e-02 2.52613951e-04 9.99732706e-01 6.88692128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1692541539999 meters 0.013102482598840297 Centerline is valid? [True, True] Translation: X:931.33, Y:130.86, Z:6.89 [[-6.09613792e-03 -9.99981350e-01 3.69253712e-04 9.31329438e+02] [ 9.99716938e-01 -6.10301737e-03 -2.29956099e-02 1.30864565e+02] [ 2.29974346e-02 2.28964781e-04 9.99735498e-01 6.88798961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1992541539998 meters 0.013050958828223226 Centerline is valid? [True, True] Translation: X:931.33, Y:130.89, Z:6.89 [[-7.33952026e-03 -9.99972997e-01 3.68815747e-04 9.31329573e+02] [ 9.99718549e-01 -7.34597262e-03 -2.25579306e-02 1.30892292e+02] [ 2.25600308e-02 2.03147555e-04 9.99745469e-01 6.88810539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2292541539998 meters 0.013046537491428098 Centerline is valid? [True, True] Translation: X:931.33, Y:130.92, Z:6.89 [[-9.30534275e-03 -9.99956635e-01 3.72039624e-04 9.31329307e+02] [ 9.99706975e-01 -9.31133277e-03 -2.23441989e-02 1.30919164e+02] [ 2.23466942e-02 1.64010177e-04 9.99750268e-01 6.88630647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2592541539999 meters 0.012799165274413011 Centerline is valid? [True, True] Translation: X:931.33, Y:130.95, Z:6.89 [[-1.05624146e-02 -9.99944146e-01 3.75457982e-04 9.31329643e+02] [ 9.99698479e-01 -1.05681419e-02 -2.21645222e-02 1.30947673e+02] [ 2.21672521e-02 1.41233901e-04 9.99754266e-01 6.88694607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2892541539999 meters 0.012735532549831653 Centerline is valid? [True, True] Translation: X:931.33, Y:130.98, Z:6.89 [[-1.26343144e-02 -9.99920110e-01 3.84469144e-04 9.31330066e+02] [ 9.99670898e-01 -1.26397488e-02 -2.23233632e-02 1.30976084e+02] [ 2.23264393e-02 1.02302226e-04 9.99750729e-01 6.88690841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3192541539999 meters 0.012700528797482237 Centerline is valid? [True, True] Translation: X:931.33, Y:131.00, Z:6.89 [[-1.36550814e-02 -9.99906691e-01 3.85082134e-04 9.31329938e+02] [ 9.99664603e-01 -1.36602487e-02 -2.20017998e-02 1.31004561e+02] [ 2.20050071e-02 8.45166106e-05 9.99757857e-01 6.88674385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3492541539998 meters 0.014536249088841787 Centerline is valid? [True, True] Translation: X:931.33, Y:131.03, Z:6.89 [[-1.61349948e-02 -9.99869740e-01 4.06524415e-04 9.31330093e+02] [ 9.99609472e-01 -1.61400698e-02 -2.28122989e-02 1.31031285e+02] [ 2.28158887e-02 3.82893318e-05 9.99739683e-01 6.88667894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3792541539999 meters 0.012558254828459856 Centerline is valid? [True, True] Translation: X:931.33, Y:131.06, Z:6.89 [[-1.64044015e-02 -9.99865365e-01 3.83902447e-04 9.31330253e+02] [ 9.99640646e-01 -1.64088535e-02 -2.11973793e-02 1.31059607e+02] [ 2.12008248e-02 3.60341692e-05 9.99775237e-01 6.88762265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4092541539999 meters 0.012478832621969083 Centerline is valid? [True, True] Translation: X:931.33, Y:131.09, Z:6.89 [[-1.75451702e-02 -9.99846002e-01 3.72648084e-04 9.31330699e+02] [ 9.99640683e-01 -1.75491189e-02 -2.02616392e-02 1.31087543e+02] [ 2.02650586e-02 1.70202770e-05 9.99794642e-01 6.88807944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4392541539999 meters 0.012447744064237345 Centerline is valid? [True, True] Translation: X:931.33, Y:131.12, Z:6.89 [[-1.78894786e-02 -9.99839898e-01 3.80098049e-04 9.31330420e+02] [ 9.99632879e-01 -1.78935090e-02 -2.03452767e-02 1.31116013e+02] [ 2.03488206e-02 1.59921161e-05 9.99792941e-01 6.88875915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4692541539998 meters 0.012422914819634891 Centerline is valid? [True, True] Translation: X:931.33, Y:131.14, Z:6.89 [[-1.85148137e-02 -9.99828514e-01 3.79987505e-04 9.31329988e+02] [ 9.99627880e-01 -1.85187104e-02 -2.00289522e-02 1.31144462e+02] [ 2.00325544e-02 9.01378508e-06 9.99799328e-01 6.88864059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4992541539999 meters 0.012578673530109488 Centerline is valid? [True, True] Translation: X:931.33, Y:131.17, Z:6.89 [[-1.88298244e-02 -9.99822631e-01 3.80672340e-04 9.31329967e+02] [ 9.99626239e-01 -1.88336704e-02 -1.98160167e-02 1.31171670e+02] [ 1.98196714e-02 7.39794607e-06 9.99803571e-01 6.88838239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5292541539999 meters 0.012512402713473232 Centerline is valid? [True, True] Translation: X:931.33, Y:131.20, Z:6.89 [[-1.86422863e-02 -9.99826146e-01 3.77307515e-04 9.31329579e+02] [ 9.99638259e-01 -1.86460974e-02 -1.93823327e-02 1.31200242e+02] [ 1.93859984e-02 1.58400316e-05 9.99812074e-01 6.88896231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5592541539999 meters 0.012518033092788471 Centerline is valid? [True, True] Translation: X:931.33, Y:131.23, Z:6.89 [[-1.82829933e-02 -9.99832783e-01 3.70738946e-04 9.31328563e+02] [ 9.99656478e-01 -1.82867314e-02 -1.87755750e-02 1.31228361e+02] [ 1.87792150e-02 2.73378766e-05 9.99823655e-01 6.88923901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5892541539998 meters 0.013287612305791438 Centerline is valid? [True, True] Translation: X:931.33, Y:131.26, Z:6.89 [[-1.79847599e-02 -9.99838187e-01 3.85927637e-04 9.31327185e+02] [ 9.99652512e-01 -1.79888573e-02 -1.92679943e-02 1.31256017e+02] [ 1.92718189e-02 3.92632802e-05 9.99814280e-01 6.88969360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6192541539998 meters 0.013423871842410534 Centerline is valid? [True, True] Translation: X:931.32, Y:131.28, Z:6.89 [[-1.55994572e-02 -9.99878251e-01 3.74598626e-04 9.31324399e+02] [ 9.99708062e-01 -1.56037133e-02 -1.84476104e-02 1.31283616e+02] [ 1.84512095e-02 8.67165583e-05 9.99829758e-01 6.88970806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6492541539999 meters 0.012670938318983289 Centerline is valid? [True, True] Translation: X:931.32, Y:131.31, Z:6.89 [[-1.40748753e-02 -9.99900879e-01 3.60117913e-04 9.31322962e+02] [ 9.99747810e-01 -1.40790217e-02 -1.74956256e-02 1.31312043e+02] [ 1.74989615e-02 1.13778348e-04 9.99846875e-01 6.88981660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6792541539999 meters 0.013541871579052322 Centerline is valid? [True, True] Translation: X:931.32, Y:131.34, Z:6.89 [[-1.14308681e-02 -9.99934596e-01 3.73098091e-04 9.31319439e+02] [ 9.99774925e-01 -1.14357104e-02 -1.78696259e-02 1.31338718e+02] [ 1.78727238e-02 1.68748780e-04 9.99840256e-01 6.88888410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7092541539998 meters 0.0136483696389186 Centerline is valid? [True, True] Translation: X:931.32, Y:131.37, Z:6.89 [[-8.88902148e-03 -9.99960425e-01 3.64880233e-04 9.31316912e+02] [ 9.99811781e-01 -8.89399178e-03 -1.72423801e-02 1.31366687e+02] [ 1.72449430e-02 2.11543668e-04 9.99851273e-01 6.88852289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7392541539998 meters 0.013632243524948807 Centerline is valid? [True, True] Translation: X:931.32, Y:131.40, Z:6.89 [[-7.96742712e-03 -9.99968198e-01 3.52296393e-04 9.31316253e+02] [ 9.99833196e-01 -7.97214075e-03 -1.64324559e-02 1.31395113e+02] [ 1.64347418e-02 2.21313234e-04 9.99864916e-01 6.88939382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7692541539999 meters 0.015653735293619426 Centerline is valid? [True, True] Translation: X:931.31, Y:131.42, Z:6.89 [[-7.88100642e-03 -9.99968880e-01 3.58849737e-04 9.31314182e+02] [ 9.99832586e-01 -7.88585741e-03 -1.65109988e-02 1.31421780e+02] [ 1.65133148e-02 2.28666373e-04 9.99863620e-01 6.88953611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7992541539999 meters 0.015124995012310044 Centerline is valid? [True, True] Translation: X:931.31, Y:131.45, Z:6.89 [[-6.66325266e-03 -9.99977745e-01 3.33669789e-04 9.31313984e+02] [ 9.99862941e-01 -6.66754423e-03 -1.51540059e-02 1.31449928e+02] [ 1.51558934e-02 2.32649086e-04 9.99885116e-01 6.89065273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8292541539998 meters 0.014255877845333036 Centerline is valid? [True, True] Translation: X:931.31, Y:131.48, Z:6.89 [[-5.50736852e-03 -9.99984788e-01 3.04131563e-04 9.31313147e+02] [ 9.99891834e-01 -5.51100388e-03 -1.36363328e-02 1.31477111e+02] [ 1.36378014e-02 2.28998356e-04 9.99906975e-01 6.89066866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8592541539998 meters 0.015464098011550622 Centerline is valid? [True, True] Translation: X:931.31, Y:131.50, Z:6.89 [[-5.79142782e-03 -9.99983181e-01 3.12771054e-04 9.31311958e+02] [ 9.99887468e-01 -5.79520143e-03 -1.38371567e-02 1.31504988e+02] [ 1.38387365e-02 2.32598963e-04 9.99904213e-01 6.89073527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8892541539999 meters 0.01571955776373483 Centerline is valid? [True, True] Translation: X:931.31, Y:131.53, Z:6.89 [[-5.48281037e-03 -9.99984921e-01 3.09323876e-04 9.31310935e+02] [ 9.99893633e-01 -5.48649004e-03 -1.35137598e-02 1.31533533e+02] [ 1.35152532e-02 2.35197591e-04 9.99908637e-01 6.89090328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9192541539999 meters 0.014623141043229714 Centerline is valid? [True, True] Translation: X:931.31, Y:131.56, Z:6.89 [[-5.03000537e-03 -9.99987314e-01 2.66142317e-04 9.31310517e+02] [ 9.99921297e-01 -5.03273192e-03 -1.14922673e-02 1.31560845e+02] [ 1.14934610e-02 2.08315204e-04 9.99933926e-01 6.89112681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9492541539998 meters 0.014743741692247079 Centerline is valid? [True, True] Translation: X:931.31, Y:131.59, Z:6.89 [[-5.38601909e-03 -9.99985459e-01 2.70137630e-04 9.31309577e+02] [ 9.99919155e-01 -5.38877323e-03 -1.15171522e-02 1.31588707e+02] [ 1.15184405e-02 2.08084189e-04 9.99933639e-01 6.89145160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9792541539998 meters 0.014719389870490778 Centerline is valid? [True, True] Translation: X:931.31, Y:131.62, Z:6.89 [[-6.03715232e-03 -9.99981746e-01 2.44183063e-04 9.31308796e+02] [ 9.99928793e-01 -6.03934593e-03 -1.02924998e-02 1.31616107e+02] [ 1.02937866e-02 1.82028286e-04 9.99947001e-01 6.89139378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0092541539999 meters 0.01468854399043627 Centerline is valid? [True, True] Translation: X:931.31, Y:131.64, Z:6.89 [[-6.70366135e-03 -9.99977501e-01 2.43183401e-04 9.31308256e+02] [ 9.99926285e-01 -6.70577959e-03 -1.01220904e-02 1.31643603e+02] [ 1.01234934e-02 1.75310409e-04 9.99948741e-01 6.89150150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0392541539999 meters 0.014108082684310108 Centerline is valid? [True, True] Translation: X:931.31, Y:131.67, Z:6.89 [[-7.79161440e-03 -9.99969612e-01 2.58088066e-04 9.31309105e+02] [ 9.99913417e-01 -7.79391302e-03 -1.06025486e-02 1.31672113e+02] [ 1.06042380e-02 1.75454749e-04 9.99943758e-01 6.89078349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0692541539999 meters 0.01591808757682923 Centerline is valid? [True, True] Translation: X:931.31, Y:131.70, Z:6.89 [[-8.70377282e-03 -9.99962082e-01 2.82140641e-04 9.31306829e+02] [ 9.99896613e-01 -8.70643187e-03 -1.14438709e-02 1.31699058e+02] [ 1.14458934e-02 1.82506619e-04 9.99934477e-01 6.89006037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0992541539998 meters 0.01591808757682923 Centerline is valid? [True, True] Translation: X:931.31, Y:131.73, Z:6.89 [[-9.01528021e-03 -9.99959321e-01 2.85681858e-04 9.31306042e+02] [ 9.99893853e-01 -9.01795939e-03 -1.14437827e-02 1.31725817e+02] [ 1.14458934e-02 1.82482626e-04 9.99934477e-01 6.89024502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1292541539999 meters 0.014058658838975087 Centerline is valid? [True, True] Translation: X:931.31, Y:131.75, Z:6.89 [[-1.01187406e-02 -9.99948757e-01 3.06307101e-04 9.31307771e+02] [ 9.99875335e-01 -1.01217099e-02 -1.21188379e-02 1.31754013e+02] [ 1.21213172e-02 1.83641539e-04 9.99926517e-01 6.88964452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1592541539999 meters 0.014020085246730783 Centerline is valid? [True, True] Translation: X:931.31, Y:131.78, Z:6.89 [[-1.05148125e-02 -9.99944669e-01 3.13439688e-04 9.31307433e+02] [ 9.99869506e-01 -1.05178656e-02 -1.22615336e-02 1.31782190e+02] [ 1.22641519e-02 1.84471059e-04 9.99924775e-01 6.88959544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1892541539999 meters 0.01493485196882317 Centerline is valid? [True, True] Translation: X:931.31, Y:131.81, Z:6.89 [[-1.15682835e-02 -9.99933030e-01 3.33103155e-04 9.31306553e+02] [ 9.99850090e-01 -1.15716146e-02 -1.28800451e-02 1.31809345e+02] [ 1.28830371e-02 1.84053207e-04 9.99916993e-01 6.88907226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2192541539998 meters 0.01674352776198205 Centerline is valid? [True, True] Translation: X:931.31, Y:131.84, Z:6.89 [[-1.31272518e-02 -9.99913772e-01 3.51787433e-04 9.31306833e+02] [ 9.99823365e-01 -1.31307958e-02 -1.34469511e-02 1.31837566e+02] [ 1.34504109e-02 1.75203782e-04 9.99909524e-01 6.88922368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2492541539999 meters 0.013420841409315298 Centerline is valid? [True, True] Translation: X:931.31, Y:131.86, Z:6.89 [[-1.50060428e-02 -9.99887352e-01 3.20687370e-04 9.31308075e+02] [ 9.99813752e-01 -1.50088294e-02 -1.21324716e-02 1.31864479e+02] [ 1.21359180e-02 1.38567255e-04 9.99926347e-01 6.88924807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2792541539999 meters 0.013176365678763785 Centerline is valid? [True, True] Translation: X:931.31, Y:131.89, Z:6.89 [[-1.66456639e-02 -9.99861402e-01 3.13710767e-04 9.31308374e+02] [ 9.99792440e-01 -1.66482005e-02 -1.17437177e-02 1.31892557e+02] [ 1.17473127e-02 1.18163676e-04 9.99930991e-01 6.88986683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3092541539999 meters 0.012960552356077319 Centerline is valid? [True, True] Translation: X:931.31, Y:131.92, Z:6.89 [[-1.85218010e-02 -9.99828412e-01 2.98287733e-04 9.31308978e+02] [ 9.99767308e-01 -1.85239669e-02 -1.10540497e-02 1.31920748e+02] [ 1.10576784e-02 9.34774150e-05 9.99938858e-01 6.89031923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3392541539998 meters 0.012634424823352537 Centerline is valid? [True, True] Translation: X:931.31, Y:131.95, Z:6.89 [[-2.29490736e-02 -9.99736598e-01 2.74140321e-04 9.31311830e+02] [ 9.99685970e-01 -2.29506703e-02 -1.00612358e-02 1.31948777e+02] [ 1.00648773e-02 4.31581926e-05 9.99949347e-01 6.89135690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3692541539998 meters 0.014244688291808676 Centerline is valid? [True, True] Translation: X:931.31, Y:131.98, Z:6.89 [[-2.74127578e-02 -9.99624160e-01 2.81518643e-04 9.31313966e+02] [ 9.99571858e-01 -2.74142033e-02 -1.02255332e-02 1.31976683e+02] [ 1.02294076e-02 1.08804844e-06 9.99947678e-01 6.89217577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3992541539999 meters 0.012568942807607935 Centerline is valid? [True, True] Translation: X:931.31, Y:132.00, Z:6.89 [[-2.93851733e-02 -9.99568126e-01 2.70766469e-04 9.31314934e+02] [ 9.99520695e-01 -2.93864167e-02 -9.73751112e-03 1.32004624e+02] [ 9.74126259e-03 -1.55017624e-05 9.99952553e-01 6.89221077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4292541539999 meters 0.012598153031458722 Centerline is valid? [True, True] Translation: X:931.32, Y:132.03, Z:6.89 [[-3.11159440e-02 -9.99515743e-01 2.78855964e-04 9.31315278e+02] [ 9.99466483e-01 -3.11171790e-02 -9.92321554e-03 1.32032024e+02] [ 9.92708737e-03 -3.00630295e-05 9.99950725e-01 6.89219821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4592541539998 meters 0.013942637301903758 Centerline is valid? [True, True] Translation: X:931.31, Y:132.06, Z:6.89 [[-3.37693053e-02 -9.99429607e-01 3.08484768e-04 9.31314816e+02] [ 9.99370673e-01 -3.37706641e-02 -1.08535781e-02 1.32059641e+02] [ 1.08578050e-02 -5.82271630e-05 9.99941051e-01 6.89223132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4892541539998 meters 0.012849439257110504 Centerline is valid? [True, True] Translation: X:931.31, Y:132.09, Z:6.89 [[-3.44283185e-02 -9.99407123e-01 3.04510874e-04 9.31314628e+02] [ 9.99350889e-01 -3.44296116e-02 -1.06019829e-02 1.32086449e+02] [ 1.06061814e-02 -6.06952293e-05 9.99943751e-01 6.89199277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5192541539999 meters 0.013001843464797129 Centerline is valid? [True, True] Translation: X:931.31, Y:132.11, Z:6.89 [[-3.52865109e-02 -9.99377184e-01 3.26468595e-04 9.31313020e+02] [ 9.99313904e-01 -3.52879505e-02 -1.12463882e-02 1.32114214e+02] [ 1.12509042e-02 -7.06011946e-05 9.99936704e-01 6.89207343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5492541539999 meters 0.01410714104665964 Centerline is valid? [True, True] Translation: X:931.31, Y:132.14, Z:6.89 [[-3.54706108e-02 -9.99370655e-01 3.61061283e-04 9.31310897e+02] [ 9.99294822e-01 -3.54723673e-02 -1.23113391e-02 1.32142743e+02] [ 1.23163987e-02 -7.58840462e-05 9.99924147e-01 6.89218121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5792541539998 meters 0.01297052706372443 Centerline is valid? [True, True] Translation: X:931.31, Y:132.17, Z:6.89 [[-3.48438025e-02 -9.99392698e-01 3.80670997e-04 9.31308264e+02] [ 9.99310048e-01 -3.48458166e-02 -1.28528761e-02 1.32170777e+02] [ 1.28583353e-02 -6.74347225e-05 9.99917326e-01 6.89132971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6092541539998 meters 0.012906834766336386 Centerline is valid? [True, True] Translation: X:931.31, Y:132.20, Z:6.89 [[-3.40069100e-02 -9.99421517e-01 4.00860285e-04 9.31306005e+02] [ 9.99331631e-01 -3.40092277e-02 -1.34038400e-02 1.32199047e+02] [ 1.34097190e-02 -5.52308170e-05 9.99910084e-01 6.89107540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6392541539999 meters 0.014392790401354922 Centerline is valid? [True, True] Translation: X:931.30, Y:132.23, Z:6.89 [[-3.30792435e-02 -9.99452630e-01 4.52020544e-04 9.31301846e+02] [ 9.99340587e-01 -3.30823034e-02 -1.49650260e-02 1.32227047e+02] [ 1.49717885e-02 -4.33092648e-05 9.99887916e-01 6.89070439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6692541539999 meters 0.015834230407110086 Centerline is valid? [True, True] Translation: X:931.30, Y:132.26, Z:6.89 [[-3.27871735e-02 -9.99462239e-01 4.83805386e-04 9.31299464e+02] [ 9.99336332e-01 -3.27907224e-02 -1.58639367e-02 1.32255118e+02] [ 1.58712700e-02 -3.66493457e-05 9.99874043e-01 6.89124897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6992541539998 meters 0.012808335971524708 Centerline is valid? [True, True] Translation: X:931.30, Y:132.28, Z:6.89 [[-3.25070057e-02 -9.99471402e-01 4.59682773e-04 9.31298426e+02] [ 9.99359825e-01 -3.25102453e-02 -1.49340180e-02 1.32281726e+02] [ 1.49410683e-02 -2.60717120e-05 9.99888376e-01 6.89104083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7292541539998 meters 0.012752100866518836 Centerline is valid? [True, True] Translation: X:931.30, Y:132.31, Z:6.89 [[-3.21393788e-02 -9.99483304e-01 4.31163008e-04 9.31295659e+02] [ 9.99386915e-01 -3.21422672e-02 -1.38805244e-02 1.32309594e+02] [ 1.38872110e-02 -1.52127647e-05 9.99903568e-01 6.89290982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7592541539999 meters 0.01273709821284906 Centerline is valid? [True, True] Translation: X:931.29, Y:132.34, Z:6.89 [[-3.18628339e-02 -9.99492165e-01 4.13979878e-04 9.31292929e+02] [ 9.99404678e-01 -3.18655222e-02 -1.32241270e-02 1.32336590e+02] [ 1.32306030e-02 -7.62473463e-06 9.99912472e-01 6.89311545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7892541539999 meters 0.01275942650882186 Centerline is valid? [True, True] Translation: X:931.29, Y:132.37, Z:6.89 [[-3.22169918e-02 -9.99480818e-01 3.99900095e-04 9.31290912e+02] [ 9.99400416e-01 -3.22194725e-02 -1.26772986e-02 1.32365039e+02] [ 1.26836013e-02 -8.76410313e-06 9.99919560e-01 6.89413852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8192541539999 meters 0.013072827009342886 Centerline is valid? [True, True] Translation: X:931.29, Y:132.39, Z:6.90 [[-3.23033582e-02 -9.99478036e-01 3.84685969e-04 9.31288464e+02] [ 9.99404966e-01 -3.23056481e-02 -1.20854674e-02 1.32391641e+02] [ 1.20915868e-02 -5.94411538e-06 9.99926894e-01 6.89509275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8492541539998 meters 0.012700770789570345 Centerline is valid? [True, True] Translation: X:931.29, Y:132.42, Z:6.90 [[-3.27693974e-02 -9.99462870e-01 3.71360459e-04 9.31286658e+02] [ 9.99395990e-01 -3.27715007e-02 -1.15621790e-02 1.32419310e+02] [ 1.15681387e-02 -7.74948590e-06 9.99933087e-01 6.89562367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8792541539999 meters 0.012718597028813707 Centerline is valid? [True, True] Translation: X:931.28, Y:132.45, Z:6.90 [[-3.29306843e-02 -9.99457560e-01 3.94749232e-04 9.31283543e+02] [ 9.99383388e-01 -3.29330495e-02 -1.21761185e-02 1.32446054e+02] [ 1.21825140e-02 -6.46209002e-06 9.99925790e-01 6.89536430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9092541539999 meters 0.012615725151573966 Centerline is valid? [True, True] Translation: X:931.28, Y:132.47, Z:6.90 [[-3.31063726e-02 -9.99451748e-01 4.14107026e-04 9.31281423e+02] [ 9.99371611e-01 -3.31089620e-02 -1.26562209e-02 1.32473941e+02] [ 1.26629928e-02 -5.15476051e-06 9.99919821e-01 6.89515686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9392541539999 meters 0.012628610990792493 Centerline is valid? [True, True] Translation: X:931.28, Y:132.50, Z:6.89 [[-3.27753430e-02 -9.99462646e-01 4.43790932e-04 9.31277502e+02] [ 9.99372228e-01 -3.27783473e-02 -1.34435899e-02 1.32501828e+02] [ 1.34509126e-02 2.89406311e-06 9.99909532e-01 6.89486788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9692541539998 meters 0.012600994751783572 Centerline is valid? [True, True] Translation: X:931.27, Y:132.53, Z:6.89 [[-3.25216963e-02 -9.99470924e-01 4.60492240e-04 9.31274729e+02] [ 9.99375239e-01 -3.25249546e-02 -1.38296423e-02 1.32529781e+02] [ 1.38373029e-02 1.04411146e-05 9.99904260e-01 6.89466179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9992541539998 meters 0.012574063430809152 Centerline is valid? [True, True] Translation: X:931.27, Y:132.56, Z:6.89 [[-3.26374258e-02 -9.99467144e-01 4.76076620e-04 9.31271916e+02] [ 9.99366759e-01 -3.26408950e-02 -1.41652364e-02 1.32556243e+02] [ 1.41732280e-02 1.34582961e-05 9.99899555e-01 6.89387157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0292541539999 meters 0.014722024135876349 Centerline is valid? [True, True] Translation: X:931.27, Y:132.58, Z:6.89 [[-3.17463095e-02 -9.99495820e-01 5.26142022e-04 9.31266791e+02] [ 9.99375235e-01 -3.17506521e-02 -1.55253308e-02 1.32583669e+02] [ 1.55342086e-02 3.29413490e-05 9.99879336e-01 6.89367882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0592541539999 meters 0.015509441946561958 Centerline is valid? [True, True] Translation: X:931.26, Y:132.61, Z:6.89 [[-3.12703926e-02 -9.99510818e-01 5.35126188e-04 9.31263746e+02] [ 9.99388011e-01 -3.12749388e-02 -1.56678655e-02 1.32610591e+02] [ 1.56769371e-02 4.48583931e-05 9.99877108e-01 6.89273307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0892541539998 meters 0.014710334728309668 Centerline is valid? [True, True] Translation: X:931.26, Y:132.64, Z:6.89 [[-3.07955216e-02 -9.99525534e-01 5.86250623e-04 9.31259430e+02] [ 9.99380763e-01 -3.08010389e-02 -1.70113846e-02 1.32638950e+02] [ 1.70213704e-02 6.20131322e-05 9.99855124e-01 6.89280184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1192541539998 meters 0.012682082510962624 Centerline is valid? [True, True] Translation: X:931.26, Y:132.67, Z:6.89 [[-3.05180760e-02 -9.99534034e-01 6.01548478e-04 9.31256821e+02] [ 9.99383886e-01 -3.05239180e-02 -1.73245260e-02 1.32665457e+02] [ 1.73348150e-02 7.24666540e-05 9.99849738e-01 6.89153719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1492541539999 meters 0.01510288852563034 Centerline is valid? [True, True] Translation: X:931.25, Y:132.69, Z:6.89 [[-2.96976191e-02 -9.99558721e-01 6.43459960e-04 9.31251305e+02] [ 9.99389599e-01 -2.97044308e-02 -1.83868631e-02 1.32693566e+02] [ 1.83978630e-02 9.70211336e-05 9.99830740e-01 6.89138409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1792541539999 meters 0.013562550767473647 Centerline is valid? [True, True] Translation: X:931.25, Y:132.72, Z:6.89 [[-2.98559843e-02 -9.99553993e-01 6.60529911e-04 9.31248909e+02] [ 9.99378684e-01 -2.98631186e-02 -1.87200581e-02 1.32721812e+02] [ 1.87314343e-02 1.01213753e-04 9.99824546e-01 6.89134829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2092541539998 meters 0.013459491976939715 Centerline is valid? [True, True] Translation: X:931.25, Y:132.75, Z:6.89 [[-3.10822314e-02 -9.99516627e-01 6.37426373e-04 9.31246642e+02] [ 9.99355940e-01 -3.10886640e-02 -1.79220782e-02 1.32750038e+02] [ 1.79332319e-02 7.99576488e-05 9.99839183e-01 6.89247760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2392541539998 meters 0.01443992909628813 Centerline is valid? [True, True] Translation: X:931.25, Y:132.78, Z:6.89 [[-3.22194832e-02 -9.99480622e-01 6.25746183e-04 9.31245049e+02] [ 9.99327809e-01 -3.22254990e-02 -1.74770599e-02 1.32776717e+02] [ 1.74881477e-02 6.22237232e-05 9.99847069e-01 6.89193217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2692541539999 meters 0.012381842883008342 Centerline is valid? [True, True] Translation: X:931.25, Y:132.80, Z:6.89 [[-3.36215499e-02 -9.99434467e-01 5.81066620e-04 9.31245365e+02] [ 9.99304487e-01 -3.36265484e-02 -1.61182462e-02 1.32804413e+02] [ 1.61286701e-02 3.87420609e-05 9.99869924e-01 6.89498772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2992541539999 meters 0.013177094078500862 Centerline is valid? [True, True] Translation: X:931.24, Y:132.83, Z:6.90 [[-3.57320057e-02 -9.99361263e-01 5.38579926e-04 9.31244141e+02] [ 9.99251295e-01 -3.57360634e-02 -1.48250559e-02 1.32832053e+02] [ 1.48348333e-02 8.44770655e-06 9.99889958e-01 6.89676719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3292541539998 meters 0.01316991815455477 Centerline is valid? [True, True] Translation: X:931.24, Y:132.86, Z:6.90 [[-3.67080860e-02 -9.99325891e-01 5.29779852e-04 9.31242681e+02] [ 9.99220922e-01 -3.67119087e-02 -1.44839819e-02 1.32859337e+02] [ 1.44936673e-02 -2.31213884e-06 9.99894961e-01 6.89686156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3592541539998 meters 0.01221991375380079 Centerline is valid? [True, True] Translation: X:931.24, Y:132.89, Z:6.90 [[-3.79172410e-02 -9.99280745e-01 5.24735550e-04 9.31240269e+02] [ 9.99179160e-01 -3.79208684e-02 -1.42482887e-02 1.32887530e+02] [ 1.42579390e-02 -1.59509699e-05 9.99898350e-01 6.89709164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3892541539999 meters 0.012162838726791119 Centerline is valid? [True, True] Translation: X:931.24, Y:132.91, Z:6.90 [[-3.82589269e-02 -9.99267718e-01 5.30609512e-04 9.31238500e+02] [ 9.99165508e-01 -3.82626026e-02 -1.42920076e-02 1.32914183e+02] [ 1.43018443e-02 -1.66301519e-05 9.99897723e-01 6.89675679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4192541539999 meters 0.013605460230465731 Centerline is valid? [True, True] Translation: X:931.24, Y:132.94, Z:6.90 [[-3.83343705e-02 -9.99264799e-01 5.81412185e-04 9.31235400e+02] [ 9.99144078e-01 -3.83387766e-02 -1.55322312e-02 1.32942388e+02] [ 1.55431025e-02 -1.45037638e-05 9.99879199e-01 6.89528964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4492541539998 meters 0.012340026349711342 Centerline is valid? [True, True] Translation: X:931.23, Y:132.97, Z:6.89 [[-3.90546728e-02 -9.99236887e-01 6.14118491e-04 9.31233502e+02] [ 9.99104336e-01 -3.90594946e-02 -1.62752152e-02 1.32969919e+02] [ 1.62867826e-02 -2.20547582e-05 9.99867361e-01 6.89464779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4792541539998 meters 0.013527283393985609 Centerline is valid? [True, True] Translation: X:931.23, Y:133.00, Z:6.89 [[-3.92022426e-02 -9.99231095e-01 6.34110855e-04 9.31231517e+02] [ 9.99091945e-01 -3.92073656e-02 -1.66753785e-02 1.32997772e+02] [ 1.66874185e-02 -2.01771856e-05 9.99860755e-01 6.89425778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5092541539999 meters 0.012158565514490866 Centerline is valid? [True, True] Translation: X:931.23, Y:133.03, Z:6.89 [[-3.97647388e-02 -9.99208871e-01 6.29952891e-04 9.31229488e+02] [ 9.99073548e-01 -3.97697208e-02 -1.64442877e-02 1.33026067e+02] [ 1.64563312e-02 -2.45335365e-05 9.99864585e-01 6.89475161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5392541539999 meters 0.015557700711084387 Centerline is valid? [True, True] Translation: X:931.23, Y:133.05, Z:6.89 [[-3.95197771e-02 -9.99218578e-01 6.47795237e-04 9.31226770e+02] [ 9.99077598e-01 -3.95250827e-02 -1.67845498e-02 1.33053998e+02] [ 1.67970382e-02 -1.61239594e-05 9.99858920e-01 6.89466465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5692541539999 meters 0.012124840640262724 Centerline is valid? [True, True] Translation: X:931.23, Y:133.08, Z:6.90 [[-3.97683676e-02 -9.99208720e-01 6.40517281e-04 9.31225467e+02] [ 9.99072943e-01 -3.97735226e-02 -1.64718656e-02 1.33081358e+02] [ 1.64843073e-02 -1.51357200e-05 9.99864124e-01 6.89514524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5992541539998 meters 0.011984923947530236 Centerline is valid? [True, True] Translation: X:931.22, Y:133.11, Z:6.90 [[-3.86457439e-02 -9.99252785e-01 6.14431882e-04 9.31221764e+02] [ 9.99129824e-01 -3.86506272e-02 -1.56756068e-02 1.33107179e+02] [ 1.56876420e-02 8.10173165e-06 9.99876941e-01 6.89515765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6292541539999 meters 0.015066213988391778 Centerline is valid? [True, True] Translation: X:931.22, Y:133.13, Z:6.90 [[-3.74274501e-02 -9.99299147e-01 6.33778814e-04 9.31218271e+02] [ 9.99170349e-01 -3.74328014e-02 -1.60436821e-02 1.33134715e+02] [ 1.60561619e-02 3.27788871e-05 9.99871091e-01 6.89509815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6592541539999 meters 0.012204821662149848 Centerline is valid? [True, True] Translation: X:931.21, Y:133.16, Z:6.89 [[-3.45067361e-02 -9.99404246e-01 6.61707150e-04 9.31214012e+02] [ 9.99265937e-01 -3.45129691e-02 -1.66265740e-02 1.33161772e+02] [ 1.66395062e-02 8.74926135e-05 9.99861550e-01 6.89447883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6892541539999 meters 0.015958458851127573 Centerline is valid? [True, True] Translation: X:931.21, Y:133.19, Z:6.89 [[-3.24733759e-02 -9.99472356e-01 6.99449955e-04 9.31210412e+02] [ 9.99320058e-01 -3.24806380e-02 -1.74479301e-02 1.33190345e+02] [ 1.74614424e-02 1.32381177e-04 9.99847529e-01 6.89481229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7192541539998 meters 0.012554372392911621 Centerline is valid? [True, True] Translation: X:931.21, Y:133.22, Z:6.89 [[-3.05510162e-02 -9.99532969e-01 6.93003291e-04 9.31206992e+02] [ 9.99385422e-01 -3.05584139e-02 -1.71744673e-02 1.33217942e+02] [ 1.71876233e-02 1.67879958e-04 9.99852268e-01 6.89465973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7492541539998 meters 0.016609039022913333 Centerline is valid? [True, True] Translation: X:931.20, Y:133.25, Z:6.89 [[-2.54254783e-02 -9.99676457e-01 7.25971581e-04 9.31199749e+02] [ 9.99516779e-01 -2.54343937e-02 -1.78689741e-02 1.33245951e+02] [ 1.78816574e-02 2.71293562e-04 9.99840074e-01 6.89413472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7792541539999 meters 0.017391249563446495 Centerline is valid? [True, True] Translation: X:931.20, Y:133.27, Z:6.89 [[-2.32728081e-02 -9.99728889e-01 7.23943566e-04 9.31195783e+02] [ 9.99572291e-01 -2.32819777e-02 -1.76970385e-02 1.33274256e+02] [ 1.77090955e-02 3.11774148e-04 9.99843133e-01 6.89413151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8092541539999 meters 0.015034866409180858 Centerline is valid? [True, True] Translation: X:931.19, Y:133.30, Z:6.90 [[-1.94946317e-02 -9.99809711e-01 7.07746364e-04 9.31191621e+02] [ 9.99662104e-01 -1.95039176e-02 -1.71835857e-02 1.33302054e+02] [ 1.71941196e-02 3.72519545e-04 9.99852101e-01 6.89525552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8392541539998 meters 0.01630370508424891 Centerline is valid? [True, True] Translation: X:931.19, Y:133.33, Z:6.90 [[-1.80803537e-02 -9.99836294e-01 6.97646969e-04 9.31188886e+02] [ 9.99694775e-01 -1.80895353e-02 -1.68263400e-02 1.33330646e+02] [ 1.68362055e-02 3.93207853e-04 9.99858184e-01 6.89554110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8692541539998 meters 0.019031188326054764 Centerline is valid? [True, True] Translation: X:931.19, Y:133.36, Z:6.90 [[-1.60921144e-02 -9.99870296e-01 6.59299527e-04 9.31186094e+02] [ 9.99745530e-01 -1.61005248e-02 -1.58002686e-02 1.33358944e+02] [ 1.58088343e-02 4.04872026e-04 9.99874951e-01 6.89649504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8992541539999 meters 0.01712894119204887 Centerline is valid? [True, True] Translation: X:931.18, Y:133.39, Z:6.90 [[-1.57245108e-02 -9.99876170e-01 6.19473777e-04 9.31183762e+02] [ 9.99767508e-01 -1.57319376e-02 -1.47456857e-02 1.33385654e+02] [ 1.47536052e-02 3.87461062e-04 9.99891085e-01 6.89707384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9292541539999 meters 0.020178349127465273 Centerline is valid? [True, True] Translation: X:931.18, Y:133.41, Z:6.90 [[-1.50181118e-02 -9.99887038e-01 6.05803910e-04 9.31180599e+02] [ 9.99784489e-01 -1.50252509e-02 -1.43254316e-02 1.33413424e+02] [ 1.43329157e-02 3.90532420e-04 9.99897202e-01 6.89697052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9592541539998 meters 0.01609750248667735 Centerline is valid? [True, True] Translation: X:931.18, Y:133.44, Z:6.90 [[-1.53080876e-02 -9.99882654e-01 5.83708645e-04 9.31180167e+02] [ 9.99788651e-01 -1.53146552e-02 -1.37154546e-02 1.33441097e+02] [ 1.37227845e-02 3.73627898e-04 9.99905768e-01 6.89760403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9892541539998 meters 0.017201112902812916 Centerline is valid? [True, True] Translation: X:931.18, Y:133.47, Z:6.90 [[-1.55224642e-02 -9.99879343e-01 5.94546821e-04 9.31177072e+02] [ 9.99783184e-01 -1.55292198e-02 -1.38718723e-02 1.33467954e+02] [ 1.38794314e-02 3.79092272e-04 9.99903604e-01 6.89702978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0192541539999 meters 0.017201112902812916 Centerline is valid? [True, True] Translation: X:931.18, Y:133.50, Z:6.90 [[-1.58036427e-02 -9.99874935e-01 5.98623925e-04 9.31175799e+02] [ 9.99778779e-01 -1.58104279e-02 -1.38716967e-02 1.33495507e+02] [ 1.38794263e-02 3.79268159e-04 9.99903604e-01 6.89722019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0492541539999 meters 0.018397971884163276 Centerline is valid? [True, True] Translation: X:931.17, Y:133.52, Z:6.90 [[-1.63020683e-02 -9.99866909e-01 6.37206501e-04 9.31174013e+02] [ 9.99759533e-01 -1.63096594e-02 -1.46584881e-02 1.33521945e+02] [ 1.46669298e-02 3.98089599e-04 9.99892356e-01 6.89639378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0792541539998 meters 0.0168049996154266 Centerline is valid? [True, True] Translation: X:931.17, Y:133.55, Z:6.90 [[-1.64654179e-02 -9.99864226e-01 6.48141659e-04 9.31174211e+02] [ 9.99754693e-01 -1.64732112e-02 -1.48049675e-02 1.33549770e+02] [ 1.48136344e-02 4.04212688e-04 9.99890190e-01 6.89637728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1092541539998 meters 0.01916481245810178 Centerline is valid? [True, True] Translation: X:931.17, Y:133.58, Z:6.89 [[-1.61204158e-02 -9.99869787e-01 7.36315723e-04 9.31173197e+02] [ 9.99730266e-01 -1.61304714e-02 -1.67093584e-02 1.33577700e+02] [ 1.67190598e-02 4.66755307e-04 9.99860118e-01 6.89491585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1392541539999 meters 0.019152336460002042 Centerline is valid? [True, True] Translation: X:931.17, Y:133.60, Z:6.89 [[-1.58705551e-02 -9.99873753e-01 7.77059951e-04 9.31171448e+02] [ 9.99720217e-01 -1.58817407e-02 -1.75287639e-02 1.33604991e+02] [ 1.75388920e-02 4.98651329e-04 9.99846057e-01 6.89427742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1692541539999 meters 0.019405491965071065 Centerline is valid? [True, True] Translation: X:931.17, Y:133.63, Z:6.89 [[-1.53351262e-02 -9.99882079e-01 8.13515248e-04 9.31170285e+02] [ 9.99715837e-01 -1.53474169e-02 -1.82401164e-02 1.33633828e+02] [ 1.82504509e-02 5.33569591e-04 9.99833304e-01 6.89350179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1992541539998 meters 0.019211303538025474 Centerline is valid? [True, True] Translation: X:931.17, Y:133.66, Z:6.89 [[-1.53887995e-02 -9.99881235e-01 8.37242385e-04 9.31168719e+02] [ 9.99707450e-01 -1.54017408e-02 -1.86494432e-02 1.33660944e+02] [ 1.86601233e-02 5.50004907e-04 9.99825733e-01 6.89353302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2292541539998 meters 0.01939783902846859 Centerline is valid? [True, True] Translation: X:931.17, Y:133.69, Z:6.89 [[-1.55817484e-02 -9.99878248e-01 8.36118552e-04 9.31168445e+02] [ 9.99707136e-01 -1.55945565e-02 -1.85054449e-02 1.33689338e+02] [ 1.85162307e-02 5.47526497e-04 9.99828410e-01 6.89392473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2592541539999 meters 0.016715421166984944 Centerline is valid? [True, True] Translation: X:931.17, Y:133.72, Z:6.90 [[-1.62666207e-02 -9.99867361e-01 8.11241195e-04 9.31170628e+02] [ 9.99708281e-01 -1.62785094e-02 -1.78427430e-02 1.33717148e+02] [ 1.78535821e-02 5.20763408e-04 9.99840476e-01 6.89558296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2892541539999 meters 0.01647147546060834 Centerline is valid? [True, True] Translation: X:931.17, Y:133.74, Z:6.90 [[-1.79472122e-02 -9.99838631e-01 7.81261518e-04 9.31172259e+02] [ 9.99692533e-01 -1.79579502e-02 -1.70982911e-02 1.33744728e+02] [ 1.71095618e-02 4.74154647e-04 9.99853508e-01 6.89685837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3192541539999 meters 0.019059093643354952 Centerline is valid? [True, True] Translation: X:931.17, Y:133.77, Z:6.90 [[-1.91742534e-02 -9.99815860e-01 7.70553492e-04 9.31170723e+02] [ 9.99674972e-01 -1.91844915e-02 -1.67900719e-02 1.33771782e+02] [ 1.68017629e-02 4.48365946e-04 9.99858740e-01 6.89664490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3492541539998 meters 0.019172627187615768 Centerline is valid? [True, True] Translation: X:931.17, Y:133.80, Z:6.90 [[-2.03643290e-02 -9.99792338e-01 7.58731897e-04 9.31172490e+02] [ 9.99657172e-01 -2.03740558e-02 -1.64449772e-02 1.33800492e+02] [ 1.64570207e-02 4.23580854e-04 9.99864484e-01 6.89752028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3792541539999 meters 0.014812360918063844 Centerline is valid? [True, True] Translation: X:931.18, Y:133.83, Z:6.90 [[-2.24600418e-02 -9.99747489e-01 7.10104492e-04 9.31175859e+02] [ 9.99630396e-01 -2.24682822e-02 -1.53051807e-02 1.33829411e+02] [ 1.53172708e-02 3.66087036e-04 9.99882617e-01 6.89981849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4092541539999 meters 0.01807444247724423 Centerline is valid? [True, True] Translation: X:931.17, Y:133.86, Z:6.90 [[-2.33468029e-02 -9.99727171e-01 7.14852394e-04 9.31172780e+02] [ 9.99609705e-01 -2.33550207e-02 -1.53290704e-02 1.33856059e+02] [ 1.53415836e-02 3.56688605e-04 9.99882247e-01 6.89846622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4392541539999 meters 0.016949170818774766 Centerline is valid? [True, True] Translation: X:931.17, Y:133.88, Z:6.90 [[-2.31037147e-02 -9.99732783e-01 7.62595663e-04 9.31174719e+02] [ 9.99600507e-01 -2.31130662e-02 -1.62669433e-02 1.33884048e+02] [ 1.62802224e-02 3.86464194e-04 9.99867394e-01 6.89907209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4692541539998 meters 0.01714008245026633 Centerline is valid? [True, True] Translation: X:931.17, Y:133.91, Z:6.90 [[-2.15437362e-02 -9.99767577e-01 8.11966295e-04 9.31172094e+02] [ 9.99619369e-01 -2.15545276e-02 -1.72197185e-02 1.33911536e+02] [ 1.72332178e-02 4.40680163e-04 9.99851400e-01 6.89766540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4992541539998 meters 0.016723843504917863 Centerline is valid? [True, True] Translation: X:931.17, Y:133.94, Z:6.90 [[-2.01209803e-02 -9.99797196e-01 8.43970448e-04 9.31171948e+02] [ 9.99638948e-01 -2.01328165e-02 -1.77944657e-02 1.33939755e+02] [ 1.78078485e-02 4.85623637e-04 9.99841310e-01 6.89790291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5292541539999 meters 0.01836391258613638 Centerline is valid? [True, True] Translation: X:931.17, Y:133.97, Z:6.90 [[-1.86422914e-02 -9.99825843e-01 8.64997700e-04 9.31169964e+02] [ 9.99661541e-01 -1.86549154e-02 -1.81327710e-02 1.33968507e+02] [ 1.81457495e-02 5.26668533e-04 9.99835214e-01 6.89743964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5592541539999 meters 0.02052231092230617 Centerline is valid? [True, True] Translation: X:931.17, Y:134.00, Z:6.90 [[-1.52279017e-02 -9.99883677e-01 8.62459887e-04 9.31166833e+02] [ 9.99722310e-01 -1.52409466e-02 -1.79726640e-02 1.33995701e+02] [ 1.79837180e-02 5.88534431e-04 9.99838107e-01 6.89712097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5892541539998 meters 0.019580210260915363 Centerline is valid? [True, True] Translation: X:931.16, Y:134.02, Z:6.90 [[-1.34772366e-02 -9.99908820e-01 8.45732803e-04 9.31164365e+02] [ 9.99755475e-01 -1.34899898e-02 -1.75217066e-02 1.34023435e+02] [ 1.75315179e-02 6.09381815e-04 9.99846125e-01 6.89767316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6192541539998 meters 0.021109526787293147 Centerline is valid? [True, True] Translation: X:931.16, Y:134.05, Z:6.90 [[-1.03467931e-02 -9.99946129e-01 8.26844415e-04 9.31161518e+02] [ 9.99801009e-01 -1.03593881e-02 -1.70477655e-02 1.34050708e+02] [ 1.70554128e-02 6.50290176e-04 9.99854334e-01 6.89796299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6492541539999 meters 0.021582506576146063 Centerline is valid? [True, True] Translation: X:931.16, Y:134.08, Z:6.90 [[-9.37994323e-03 -9.99955675e-01 8.15361016e-04 9.31159801e+02] [ 9.99816024e-01 -9.39227023e-03 -1.67243336e-02 1.34078577e+02] [ 1.67312504e-02 6.58337709e-04 9.99859806e-01 6.89850179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6792541539999 meters 0.02321147686384144 Centerline is valid? [True, True] Translation: X:931.16, Y:134.11, Z:6.90 [[-8.31320725e-03 -9.99965112e-01 8.15636805e-04 9.31158473e+02] [ 9.99826988e-01 -8.32562645e-03 -1.66336586e-02 1.34106709e+02] [ 1.66398689e-02 6.77216639e-04 9.99861318e-01 6.89805516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7092541539998 meters 0.02261366748392756 Centerline is valid? [True, True] Translation: X:931.16, Y:134.14, Z:6.90 [[-8.29277608e-03 -9.99965293e-01 8.01600812e-04 9.31159875e+02] [ 9.99833415e-01 -8.30471161e-03 -1.62534209e-02 1.34135292e+02] [ 1.62595138e-02 6.66681298e-04 9.99867583e-01 6.89834383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7392541539998 meters 0.022934919661481704 Centerline is valid? [True, True] Translation: X:931.16, Y:134.16, Z:6.90 [[-8.37001004e-03 -9.99964640e-01 8.13051491e-04 9.31159594e+02] [ 9.99830308e-01 -8.38222348e-03 -1.64040908e-02 1.34162535e+02] [ 1.64103259e-02 6.75611118e-04 9.99865113e-01 6.89806887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7692541539999 meters 0.023944689211315363 Centerline is valid? [True, True] Translation: X:931.16, Y:134.19, Z:6.90 [[-8.79610680e-03 -9.99960967e-01 8.32915755e-04 9.31160219e+02] [ 9.99821440e-01 -8.80880472e-03 -1.67180280e-02 1.34190471e+02] [ 1.67247124e-02 6.85713470e-04 9.99859897e-01 6.89764947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7992541539999 meters 0.01993625921667094 Centerline is valid? [True, True] Translation: X:931.16, Y:134.22, Z:6.90 [[-8.70567729e-03 -9.99961764e-01 8.25854654e-04 9.31164006e+02] [ 9.99826191e-01 -8.71810739e-03 -1.64797566e-02 1.34218489e+02] [ 1.64863263e-02 6.82243671e-04 9.99863859e-01 6.89944667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8292541539998 meters 0.025218546666055597 Centerline is valid? [True, True] Translation: X:931.16, Y:134.25, Z:6.90 [[-9.25903314e-03 -9.99956773e-01 8.50089625e-04 9.31158889e+02] [ 9.99814885e-01 -9.27205160e-03 -1.68589782e-02 1.34245672e+02] [ 1.68661316e-02 6.93834423e-04 9.99857516e-01 6.89768001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8592541539998 meters 0.0239538674800528 Centerline is valid? [True, True] Translation: X:931.16, Y:134.27, Z:6.90 [[-8.80676031e-03 -9.99960884e-01 8.19525405e-04 9.31158000e+02] [ 9.99830531e-01 -8.81885610e-03 -1.61597193e-02 1.34273796e+02] [ 1.61663145e-02 6.77071747e-04 9.99869087e-01 6.89868348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8892541539999 meters 0.024977356714587503 Centerline is valid? [True, True] Translation: X:931.16, Y:134.30, Z:6.90 [[-7.38150475e-03 -9.99972446e-01 7.87515435e-04 9.31156295e+02] [ 9.99853441e-01 -7.39278713e-03 -1.54416061e-02 1.34300697e+02] [ 1.54470025e-02 6.73417729e-04 9.99880461e-01 6.89927945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9192541539999 meters 0.0254170124296764 Centerline is valid? [True, True] Translation: X:931.16, Y:134.33, Z:6.90 [[-6.97295767e-03 -9.99975377e-01 7.88916415e-04 9.31155389e+02] [ 9.99857297e-01 -6.98426967e-03 -1.53819603e-02 1.34329148e+02] [ 1.53870916e-02 6.81546076e-04 9.99881379e-01 6.89943215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9492541539998 meters 0.021999345318461073 Centerline is valid? [True, True] Translation: X:931.16, Y:134.36, Z:6.90 [[-6.18476027e-03 -9.99980566e-01 7.84786105e-04 9.31158757e+02] [ 9.99864989e-01 -6.19598922e-03 -1.52188547e-02 1.34358224e+02] [ 1.52234215e-02 6.90555182e-04 9.99883879e-01 6.90059134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9792541539998 meters 0.026865550693219234 Centerline is valid? [True, True] Translation: X:931.15, Y:134.39, Z:6.90 [[-6.72294389e-03 -9.99977066e-01 8.18555833e-04 9.31153234e+02] [ 9.99852779e-01 -6.73502673e-03 -1.57816204e-02 1.34385392e+02] [ 1.57867715e-02 7.12336376e-04 9.99875127e-01 6.89822899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0092541539999 meters 0.024125016207816916 Centerline is valid? [True, True] Translation: X:931.16, Y:134.41, Z:6.90 [[-6.96084081e-03 -9.99975449e-01 8.05128918e-04 9.31157327e+02] [ 9.99856578e-01 -6.97244002e-03 -1.54340063e-02 1.34414146e+02] [ 1.54392411e-02 6.97579784e-04 9.99880564e-01 6.89884327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0392541539999 meters 0.022754700469078563 Centerline is valid? [True, True] Translation: X:931.16, Y:134.44, Z:6.90 [[-7.14198887e-03 -9.99974180e-01 7.95001213e-04 9.31156830e+02] [ 9.99859560e-01 -7.15321927e-03 -1.51556032e-02 1.34442523e+02] [ 1.51608987e-02 6.86648414e-04 9.99884831e-01 6.90014077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0692541539999 meters 0.02370198036672912 Centerline is valid? [True, True] Translation: X:931.16, Y:134.47, Z:6.90 [[-7.86333166e-03 -9.99968767e-01 7.95521451e-04 9.31156147e+02] [ 9.99855252e-01 -7.87443751e-03 -1.50820613e-02 1.34470488e+02] [ 1.50878545e-02 6.76811051e-04 9.99885943e-01 6.89993182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0992541539998 meters 0.025653741318338814 Centerline is valid? [True, True] Translation: X:931.15, Y:134.50, Z:6.90 [[-8.68217373e-03 -9.99961982e-01 8.08776489e-04 9.31154852e+02] [ 9.99845950e-01 -8.69349893e-03 -1.52479541e-02 1.34497346e+02] [ 1.52544055e-02 6.76266510e-04 9.99883416e-01 6.89877520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1292541539999 meters 0.023952204187807403 Centerline is valid? [True, True] Translation: X:931.16, Y:134.53, Z:6.90 [[-7.96349937e-03 -9.99967902e-01 8.81723755e-04 9.31155149e+02] [ 9.99831559e-01 -7.97698839e-03 -1.65293806e-02 1.34525818e+02] [ 1.65358836e-02 7.49943525e-04 9.99862992e-01 6.89930553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1592541539999 meters 0.027792622829561218 Centerline is valid? [True, True] Translation: X:931.15, Y:134.55, Z:6.90 [[-8.42368350e-03 -9.99964073e-01 9.45475373e-04 9.31152500e+02] [ 9.99809064e-01 -8.43904170e-03 -1.76243477e-02 1.34552718e+02] [ 1.76316934e-02 7.96832921e-04 9.99844232e-01 6.89691607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1892541539999 meters 0.02598822126208449 Centerline is valid? [True, True] Translation: X:931.15, Y:134.58, Z:6.90 [[-8.18180414e-03 -9.99966045e-01 9.83716583e-04 9.31152016e+02] [ 9.99800010e-01 -8.19839000e-03 -1.82407795e-02 1.34580452e+02] [ 1.82482250e-02 8.34277364e-04 9.99833139e-01 6.89745455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2192541539998 meters 0.025821187329469003 Centerline is valid? [True, True] Translation: X:931.15, Y:134.61, Z:6.90 [[-8.25908066e-03 -9.99965381e-01 1.01237971e-03 9.31150886e+02] [ 9.99791485e-01 -8.27654391e-03 -1.86677645e-02 1.34608094e+02] [ 1.86754972e-02 8.57990043e-04 9.99825230e-01 6.89815964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2492541539998 meters 0.026808172391427566 Centerline is valid? [True, True] Translation: X:931.15, Y:134.63, Z:6.90 [[-8.46354327e-03 -9.99963657e-01 1.02627665e-03 9.31147913e+02] [ 9.99787101e-01 -8.48135396e-03 -1.88100652e-02 1.34634064e+02] [ 1.88180858e-02 8.66858352e-04 9.99822548e-01 6.89850935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2792541539999 meters 0.02770698104361757 Centerline is valid? [True, True] Translation: X:931.15, Y:134.66, Z:6.90 [[-1.02526021e-02 -9.99946909e-01 1.03137316e-03 9.31147908e+02] [ 9.99770506e-01 -1.02701848e-02 -1.88005201e-02 1.34662001e+02] [ 1.88101144e-02 8.38382215e-04 9.99822723e-01 6.89768215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3092541539999 meters 0.026272242465418635 Centerline is valid? [True, True] Translation: X:931.15, Y:134.69, Z:6.90 [[-1.21651095e-02 -9.99925552e-01 9.48581852e-04 9.31147435e+02] [ 9.99777727e-01 -1.21796365e-02 -1.72091134e-02 1.34690461e+02] [ 1.72193856e-02 7.39020260e-04 9.99851462e-01 6.89933950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3392541539998 meters 0.02354623036523427 Centerline is valid? [True, True] Translation: X:931.15, Y:134.72, Z:6.90 [[-1.31858019e-02 -9.99912626e-01 9.35856500e-04 9.31146937e+02] [ 9.99770143e-01 -1.31997353e-02 -1.68946042e-02 1.34718955e+02] [ 1.69054811e-02 7.12872483e-04 9.99856838e-01 6.90201205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3692541539998 meters 0.022824874685939803 Centerline is valid? [True, True] Translation: X:931.15, Y:134.75, Z:6.90 [[-1.46958950e-02 -9.99891594e-01 9.11789838e-04 9.31146985e+02] [ 9.99757684e-01 -1.47088614e-02 -1.63775078e-02 1.34746790e+02] [ 1.63891438e-02 6.70886761e-04 9.99865464e-01 6.90229327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3992541539999 meters 0.02505155148632016 Centerline is valid? [True, True] Translation: X:931.15, Y:134.77, Z:6.90 [[-1.62773996e-02 -9.99867087e-01 9.23937419e-04 9.31145107e+02] [ 9.99730947e-01 -1.62904416e-02 -1.65122549e-02 1.34773799e+02] [ 1.65251115e-02 6.54912260e-04 9.99863237e-01 6.90139402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4292541539999 meters 0.021225494191174924 Centerline is valid? [True, True] Translation: X:931.15, Y:134.80, Z:6.90 [[-1.71889631e-02 -9.99851801e-01 9.56984863e-04 9.31145539e+02] [ 9.99707219e-01 -1.72027639e-02 -1.70159235e-02 1.34801737e+02] [ 1.70298645e-02 6.64218595e-04 9.99854761e-01 6.90383123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4592541539998 meters 0.022990996059421356 Centerline is valid? [True, True] Translation: X:931.14, Y:134.83, Z:6.90 [[-1.75913119e-02 -9.99844789e-01 9.71280312e-04 9.31141177e+02] [ 9.99697413e-01 -1.76054075e-02 -1.71794212e-02 1.34829051e+02] [ 1.71938546e-02 6.68777860e-04 9.99851951e-01 6.90348425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4892541539998 meters 0.022255884098350758 Centerline is valid? [True, True] Translation: X:931.14, Y:134.86, Z:6.90 [[-1.79698920e-02 -9.99838075e-01 9.52139966e-04 9.31139970e+02] [ 9.99697974e-01 -1.79833248e-02 -1.67499384e-02 1.34855952e+02] [ 1.67643489e-02 6.50857810e-04 9.99859257e-01 6.90450864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5192541539999 meters 0.023237340355764885 Centerline is valid? [True, True] Translation: X:931.14, Y:134.88, Z:6.90 [[-1.86024442e-02 -9.99826477e-01 9.81930041e-04 9.31137516e+02] [ 9.99679065e-01 -1.86165751e-02 -1.71810742e-02 1.34883600e+02] [ 1.71963731e-02 6.62004930e-04 9.99851912e-01 6.90373258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5492541539999 meters 0.023341176609953156 Centerline is valid? [True, True] Translation: X:931.14, Y:134.91, Z:6.90 [[-1.85595946e-02 -9.99827251e-01 1.00487068e-03 9.31135427e+02] [ 9.99674531e-01 -1.85743358e-02 -1.74878682e-02 1.34911096e+02] [ 1.75035120e-02 6.79975880e-04 9.99846571e-01 6.90390890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5792541539998 meters 0.024284162937937417 Centerline is valid? [True, True] Translation: X:931.13, Y:134.94, Z:6.90 [[-1.86807149e-02 -9.99824934e-01 1.06391968e-03 9.31133168e+02] [ 9.99655632e-01 -1.86971450e-02 -1.84129051e-02 1.34937857e+02] [ 1.84295738e-02 7.19587067e-04 9.99829902e-01 6.90342099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6092541539998 meters 0.02006876328931768 Centerline is valid? [True, True] Translation: X:931.14, Y:134.97, Z:6.91 [[-1.86134707e-02 -9.99826164e-01 1.08681993e-03 9.31135014e+02] [ 9.99651336e-01 -1.86305552e-02 -1.87111944e-02 1.34966515e+02] [ 1.87281898e-02 7.38160729e-04 9.99824340e-01 6.90643538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6392541539999 meters 0.023930357251510413 Centerline is valid? [True, True] Translation: X:931.13, Y:134.99, Z:6.90 [[-1.81621507e-02 -9.99834410e-01 1.13533664e-03 9.31127370e+02] [ 9.99645458e-01 -1.81808076e-02 -1.94529363e-02 1.34993659e+02] [ 1.94703565e-02 7.81626958e-04 9.99810129e-01 6.90475573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6692541539999 meters 0.02219720956405964 Centerline is valid? [True, True] Translation: X:931.13, Y:135.02, Z:6.91 [[-1.84067778e-02 -9.99829858e-01 1.20268922e-03 9.31128372e+02] [ 9.99619871e-01 -1.84275797e-02 -2.05070329e-02 1.35021794e+02] [ 2.05257064e-02 8.24763647e-04 9.99788985e-01 6.90543090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6992541539998 meters 0.02725047660889662 Centerline is valid? [True, True] Translation: X:931.12, Y:135.05, Z:6.90 [[-1.80248424e-02 -9.99836735e-01 1.26858311e-03 9.31119588e+02] [ 9.99605508e-01 -1.80479780e-02 -2.15197183e-02 1.35048457e+02] [ 2.15391002e-02 8.80193138e-04 9.99767619e-01 6.90275459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7292541539998 meters 0.02379813386613126 Centerline is valid? [True, True] Translation: X:931.12, Y:135.08, Z:6.91 [[-1.74821111e-02 -9.99846406e-01 1.24070431e-03 9.31120875e+02] [ 9.99627364e-01 -1.75042730e-02 -2.09459878e-02 1.35076742e+02] [ 2.09644883e-02 8.74061894e-04 9.99779839e-01 6.90567374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7592541539999 meters 0.02286968487984883 Centerline is valid? [True, True] Translation: X:931.12, Y:135.10, Z:6.91 [[-1.80623658e-02 -9.99835948e-01 1.35206798e-03 9.31121184e+02] [ 9.99578462e-01 -1.80884236e-02 -2.27091716e-02 1.35104390e+02] [ 2.27299029e-02 9.41316669e-04 9.99741199e-01 6.90653767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7892541539999 meters 0.021688678040503725 Centerline is valid? [True, True] Translation: X:931.12, Y:135.13, Z:6.91 [[-1.82094943e-02 -9.99833330e-01 1.31401902e-03 9.31119788e+02] [ 9.99591896e-01 -1.82339973e-02 -2.19900765e-02 1.35132911e+02] [ 2.20103712e-02 9.13054589e-04 9.99757326e-01 6.90780001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8192541539999 meters 0.024925797630648033 Centerline is valid? [True, True] Translation: X:931.11, Y:135.16, Z:6.91 [[-1.89110181e-02 -9.99820145e-01 1.43242868e-03 9.31114980e+02] [ 9.99535187e-01 -1.89398539e-02 -2.38891556e-02 1.35159283e+02] [ 2.39119890e-02 9.79994616e-04 9.99713587e-01 6.90664966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8492541539998 meters 0.024062160014915963 Centerline is valid? [True, True] Translation: X:931.11, Y:135.19, Z:6.91 [[-1.96544849e-02 -9.99805769e-01 1.45802719e-03 9.31114315e+02] [ 9.99513335e-01 -1.96840270e-02 -2.41998367e-02 1.35186583e+02] [ 2.42238362e-02 9.81682293e-04 9.99706078e-01 6.90738095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8792541539999 meters 0.023526421964958626 Centerline is valid? [True, True] Translation: X:931.11, Y:135.21, Z:6.91 [[-2.06810071e-02 -9.99784984e-01 1.51043643e-03 9.31112344e+02] [ 9.99474425e-01 -2.07122576e-02 -2.49374611e-02 1.35214003e+02] [ 2.49633837e-02 9.93910771e-04 9.99687872e-01 6.90752638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9092541539999 meters 0.023526421964958626 Centerline is valid? [True, True] Translation: X:931.11, Y:135.24, Z:6.91 [[-2.09958834e-02 -9.99778409e-01 1.51829443e-03 9.31110600e+02] [ 9.99467860e-01 -2.10272317e-02 -2.49369836e-02 1.35240730e+02] [ 2.49633833e-02 9.93912481e-04 9.99687872e-01 6.90771117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9392541539999 meters 0.02339688565195037 Centerline is valid? [True, True] Translation: X:931.11, Y:135.27, Z:6.91 [[-2.12411460e-02 -9.99773288e-01 1.47836738e-03 9.31107630e+02] [ 9.99481970e-01 -2.12706713e-02 -2.41526479e-02 1.35267062e+02] [ 2.41786180e-02 9.64571617e-04 9.99707189e-01 6.90801208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9692541539998 meters 0.02303851310173666 Centerline is valid? [True, True] Translation: X:931.11, Y:135.29, Z:6.91 [[-2.18542492e-02 -9.99759869e-01 1.61135274e-03 9.31107924e+02] [ 9.99417191e-01 -2.18889772e-02 -2.61944999e-02 1.35294996e+02] [ 2.62234806e-02 1.03795250e-03 9.99655567e-01 6.90928587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9992541539998 meters 0.022400421408905597 Centerline is valid? [True, True] Translation: X:931.10, Y:135.32, Z:6.91 [[-2.19742342e-02 -9.99757384e-01 1.51840607e-03 9.31104674e+02] [ 9.99455914e-01 -2.20049236e-02 -2.45694849e-02 1.35321736e+02] [ 2.45969363e-02 9.77684315e-04 9.99696972e-01 6.90983877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0292541539999 meters 0.02217143204831749 Centerline is valid? [True, True] Translation: X:931.10, Y:135.35, Z:6.91 [[-2.22788464e-02 -9.99750548e-01 1.57961985e-03 9.31102137e+02] [ 9.99427566e-01 -2.23118299e-02 -2.54307589e-02 1.35348584e+02] [ 2.54596593e-02 1.01214765e-03 9.99675338e-01 6.91063948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0592541539999 meters 0.024359404092017842 Centerline is valid? [True, True] Translation: X:931.10, Y:135.37, Z:6.91 [[-2.22316564e-02 -9.99751609e-01 1.57274094e-03 9.31096590e+02] [ 9.99434803e-01 -2.22642339e-02 -2.51868845e-02 1.35374574e+02] [ 2.52156442e-02 1.01190587e-03 9.99681523e-01 6.90978241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0892541539998 meters 0.025174092671397915 Centerline is valid? [True, True] Translation: X:931.09, Y:135.40, Z:6.91 [[-2.16526077e-02 -9.99764269e-01 1.60361466e-03 9.31092259e+02] [ 9.99437950e-01 -2.16865436e-02 -2.55632060e-02 1.35402767e+02] [ 2.55919568e-02 1.04920328e-03 9.99671922e-01 6.91061721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1192541539998 meters 0.02205325540652946 Centerline is valid? [True, True] Translation: X:931.09, Y:135.43, Z:6.91 [[-2.17553146e-02 -9.99761959e-01 1.65270211e-03 9.31094978e+02] [ 9.99418401e-01 -2.17911990e-02 -2.62298311e-02 1.35431706e+02] [ 2.62596017e-02 1.08110267e-03 9.99654573e-01 6.91342334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1492541539999 meters 0.0227940329144962 Centerline is valid? [True, True] Translation: X:931.09, Y:135.46, Z:6.91 [[-2.20568457e-02 -9.99755291e-01 1.68909374e-03 9.31091207e+02] [ 9.99399037e-01 -2.20941124e-02 -2.67098328e-02 1.35458384e+02] [ 2.67406157e-02 1.09894400e-03 9.99641802e-01 6.91305020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1792541539999 meters 0.026133082324366973 Centerline is valid? [True, True] Translation: X:931.08, Y:135.48, Z:6.91 [[-2.30050633e-02 -9.99733956e-01 1.66885766e-03 9.31083027e+02] [ 9.99388751e-01 -2.30410080e-02 -2.62913829e-02 1.35484049e+02] [ 2.63228403e-02 1.06300264e-03 9.99652929e-01 6.91046990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2092541539998 meters 0.02205907076285512 Centerline is valid? [True, True] Translation: X:931.09, Y:135.51, Z:6.91 [[-2.57273975e-02 -9.99667380e-01 1.79743963e-03 9.31088922e+02] [ 9.99270267e-01 -2.57678728e-02 -2.81948473e-02 1.35512604e+02] [ 2.82317854e-02 1.07074794e-03 9.99600830e-01 6.91399330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2392541539998 meters 0.019994895781009304 Centerline is valid? [True, True] Translation: X:931.09, Y:135.54, Z:6.91 [[-2.73996494e-02 -9.99623126e-01 1.69252648e-03 9.31087311e+02] [ 9.99273942e-01 -2.74348406e-02 -2.64370675e-02 1.35539601e+02] [ 2.64735383e-02 9.66931220e-04 9.99649047e-01 6.91468695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2692541539999 meters 0.01897529964060852 Centerline is valid? [True, True] Translation: X:931.09, Y:135.57, Z:6.92 [[-3.08839351e-02 -9.99521611e-01 1.65274810e-03 9.31086509e+02] [ 9.99191510e-01 -3.09162321e-02 -2.57004480e-02 1.35567454e+02] [ 2.57392499e-02 8.57680898e-04 9.99668323e-01 6.91519941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2992541539999 meters 0.018426665636436187 Centerline is valid? [True, True] Translation: X:931.09, Y:135.60, Z:6.92 [[-3.31458381e-02 -9.99449145e-01 1.66108749e-03 9.31085133e+02] [ 9.99118598e-01 -3.31776146e-02 -2.57152471e-02 1.35595321e+02] [ 2.57561927e-02 8.07269982e-04 9.99667928e-01 6.91554918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3292541539998 meters 0.01913895377399048 Centerline is valid? [True, True] Translation: X:931.08, Y:135.62, Z:6.92 [[-3.47578970e-02 -9.99394280e-01 1.72086590e-03 9.31083500e+02] [ 9.99042590e-01 -3.47913357e-02 -2.65229452e-02 1.35623796e+02] [ 2.65667509e-02 7.97336530e-04 9.99646724e-01 6.91577077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3592541539998 meters 0.016551001434230342 Centerline is valid? [True, True] Translation: X:931.08, Y:135.65, Z:6.92 [[-3.79967727e-02 -9.99276508e-01 1.64485369e-03 9.31082925e+02] [ 9.98957958e-01 -3.80262045e-02 -2.52389874e-02 1.35651430e+02] [ 2.52832747e-02 6.84139614e-04 9.99680093e-01 6.91701873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3892541539999 meters 0.016526590568562774 Centerline is valid? [True, True] Translation: X:931.08, Y:135.68, Z:6.92 [[-4.12084425e-02 -9.99149166e-01 1.67574453e-03 9.31080566e+02] [ 9.98821278e-01 -4.12378592e-02 -2.56026176e-02 1.35678717e+02] [ 2.56499382e-02 6.18725300e-04 9.99670795e-01 6.91592063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4192541539999 meters 0.015290347188971591 Centerline is valid? [True, True] Translation: X:931.08, Y:135.71, Z:6.92 [[-4.31305293e-02 -9.99067980e-01 1.71164484e-03 9.31080974e+02] [ 9.98728809e-01 -4.31604952e-02 -2.60372256e-02 1.35706985e+02] [ 2.60868338e-02 5.86469692e-04 9.99659509e-01 6.91706580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4492541539998 meters 0.016331072269982178 Centerline is valid? [True, True] Translation: X:931.08, Y:135.73, Z:6.92 [[-4.73514267e-02 -9.98876617e-01 1.82932849e-03 9.31079863e+02] [ 9.98491618e-01 -4.73839700e-02 -2.77353416e-02 1.35734028e+02] [ 2.77908650e-02 5.13261172e-04 9.99613628e-01 6.91584631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4792541539998 meters 0.013972283213039456 Centerline is valid? [True, True] Translation: X:931.08, Y:135.76, Z:6.92 [[-4.96122708e-02 -9.98766923e-01 1.80420510e-03 9.31079692e+02] [ 9.98395234e-01 -4.96430318e-02 -2.72493313e-02 1.35762520e+02] [ 2.73052970e-02 4.49408565e-04 9.99627040e-01 6.91699982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5092541539999 meters 0.01326810811863867 Centerline is valid? [True, True] Translation: X:931.08, Y:135.79, Z:6.92 [[-5.39129410e-02 -9.98543902e-01 1.86311800e-03 9.31079812e+02] [ 9.98150750e-01 -5.39439950e-02 -2.80200819e-02 1.35790665e+02] [ 2.80797860e-02 3.49027609e-04 9.99605624e-01 6.91710035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5392541539999 meters 0.013142006453589686 Centerline is valid? [True, True] Translation: X:931.08, Y:135.82, Z:6.92 [[-5.63245895e-02 -9.98410742e-01 1.87903634e-03 9.31078604e+02] [ 9.98014284e-01 -5.63551746e-02 -2.81350740e-02 1.35817921e+02] [ 2.81962535e-02 2.90608616e-04 9.99602364e-01 6.91669703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5692541539999 meters 0.012876237008531079 Centerline is valid? [True, True] Translation: X:931.08, Y:135.85, Z:6.92 [[-6.04668869e-02 -9.98168540e-01 1.82256473e-03 9.31079147e+02] [ 9.97798004e-01 -6.04940975e-02 -2.71957315e-02 1.35845213e+02] [ 2.72561780e-02 1.74110232e-04 9.99628466e-01 6.91710032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5992541539998 meters 0.012838573610670187 Centerline is valid? [True, True] Translation: X:931.08, Y:135.87, Z:6.92 [[-6.24815308e-02 -9.98044422e-01 1.84110329e-03 9.31078558e+02] [ 9.97669225e-01 -6.25085211e-02 -2.73642458e-02 1.35873139e+02] [ 2.74258175e-02 1.27052123e-04 9.99623833e-01 6.91767243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6292541539999 meters 0.012595629320831794 Centerline is valid? [True, True] Translation: X:931.08, Y:135.90, Z:6.92 [[-6.57420072e-02 -9.97835125e-01 1.74687865e-03 9.31078753e+02] [ 9.97500080e-01 -6.57651980e-02 -2.58559212e-02 1.35901603e+02] [ 2.59148302e-02 4.26914341e-05 9.99664153e-01 6.91949983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6592541539999 meters 0.014442568715998636 Centerline is valid? [True, True] Translation: X:931.08, Y:135.93, Z:6.92 [[-6.71766179e-02 -9.97739598e-01 1.73088562e-03 9.31076858e+02] [ 9.97413406e-01 -6.71989122e-02 -2.55108460e-02 1.35930052e+02] [ 2.55694949e-02 1.26761632e-05 9.99673047e-01 6.92020446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6892541539999 meters 0.013967093322832682 Centerline is valid? [True, True] Translation: X:931.07, Y:135.96, Z:6.92 [[-6.71273265e-02 -9.97743101e-01 1.62048562e-03 9.31074325e+02] [ 9.97459113e-01 -6.71468808e-02 -2.38036691e-02 1.35957108e+02] [ 2.38587572e-02 1.84914795e-05 9.99715339e-01 6.92113959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7192541539998 meters 0.012609728527502759 Centerline is valid? [True, True] Translation: X:931.07, Y:135.99, Z:6.92 [[-6.62587826e-02 -9.97801236e-01 1.57101074e-03 9.31071607e+02] [ 9.97536380e-01 -6.62773900e-02 -2.29886378e-02 1.35985177e+02] [ 2.30422137e-02 4.39412156e-05 9.99734492e-01 6.92234756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7492541539998 meters 0.012650733873403673 Centerline is valid? [True, True] Translation: X:931.07, Y:136.01, Z:6.92 [[-6.40582741e-02 -9.97945031e-01 1.50091681e-03 9.31066428e+02] [ 9.97705231e-01 -6.40757832e-02 -2.18761718e-02 1.36013456e+02] [ 2.19273893e-02 9.61227434e-05 9.99759561e-01 6.92273483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7792541539999 meters 0.013991390686499551 Centerline is valid? [True, True] Translation: X:931.06, Y:136.04, Z:6.92 [[-6.03703285e-02 -9.98174941e-01 1.48666579e-03 9.31060106e+02] [ 9.97941161e-01 -6.03883643e-02 -2.16028724e-02 1.36040113e+02] [ 2.16532232e-02 1.79432481e-04 9.99765525e-01 6.92121567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8092541539999 meters 0.013364845682852896 Centerline is valid? [True, True] Translation: X:931.06, Y:136.07, Z:6.92 [[-5.83427143e-02 -9.98295415e-01 1.54679489e-03 9.31056739e+02] [ 9.98044181e-01 -5.83627336e-02 -2.23965324e-02 1.36068816e+02] [ 2.24486308e-02 2.37095146e-04 9.99747970e-01 6.92152237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8392541539998 meters 0.015161417936697315 Centerline is valid? [True, True] Translation: X:931.05, Y:136.10, Z:6.92 [[-5.50622897e-02 -9.98481619e-01 1.61253809e-03 9.31048996e+02] [ 9.98210816e-01 -5.50849134e-02 -2.32555165e-02 1.36096124e+02] [ 2.33090323e-02 3.29150979e-04 9.99728253e-01 6.91751105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8692541539998 meters 0.017159332749720285 Centerline is valid? [True, True] Translation: X:931.05, Y:136.12, Z:6.92 [[-5.49182877e-02 -9.98489493e-01 1.64758309e-03 9.31046745e+02] [ 9.98209084e-01 -5.49419131e-02 -2.36645391e-02 1.36124333e+02] [ 2.37193150e-02 3.45016442e-04 9.99718598e-01 6.91805044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8992541539999 meters 0.01786176508811456 Centerline is valid? [True, True] Translation: X:931.04, Y:136.15, Z:6.92 [[-5.44374411e-02 -9.98515767e-01 1.68183211e-03 9.31043513e+02] [ 9.98226063e-01 -5.44621620e-02 -2.40541219e-02 1.36151338e+02] [ 2.41100162e-02 3.69403797e-04 9.99709243e-01 6.91739015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9292541539999 meters 0.018358517662020853 Centerline is valid? [True, True] Translation: X:931.04, Y:136.18, Z:6.92 [[-5.44146505e-02 -9.98517120e-01 1.61456577e-03 9.31041176e+02] [ 9.98252292e-01 -5.44374063e-02 -2.29985017e-02 1.36179632e+02] [ 2.30522905e-02 3.60288550e-04 9.99734196e-01 6.91844587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9592541539998 meters 0.014812778980155743 Centerline is valid? [True, True] Translation: X:931.04, Y:136.21, Z:6.92 [[-5.50418069e-02 -9.98482975e-01 1.46537593e-03 9.31040060e+02] [ 9.98266510e-01 -5.50603892e-02 -2.07924897e-02 1.36207159e+02] [ 2.08416311e-02 3.18379517e-04 9.99782739e-01 6.92102191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9892541539998 meters 0.014715345644718386 Centerline is valid? [True, True] Translation: X:931.04, Y:136.23, Z:6.92 [[-5.63316812e-02 -9.98411095e-01 1.42355690e-03 9.31038878e+02] [ 9.98208578e-01 -5.63489290e-02 -2.01105369e-02 1.36233215e+02] [ 2.01587991e-02 2.88146350e-04 9.99796749e-01 6.92173884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0192541539999 meters 0.014614757390252987 Centerline is valid? [True, True] Translation: X:931.04, Y:136.26, Z:6.92 [[-5.95442819e-02 -9.98224805e-01 1.31057827e-03 9.31039916e+02] [ 9.98054491e-01 -5.95583329e-02 -1.84401433e-02 1.36261708e+02] [ 1.84854643e-02 2.10023435e-04 9.99829107e-01 6.92310613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0492541539999 meters 0.014771068929289847 Centerline is valid? [True, True] Translation: X:931.04, Y:136.29, Z:6.92 [[-6.15802777e-02 -9.98101342e-01 1.25742278e-03 9.31040040e+02] [ 9.97945466e-01 -6.15928835e-02 -1.76398158e-02 1.36290307e+02] [ 1.76837722e-02 1.68574606e-04 9.99843616e-01 6.92407331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0792541539998 meters 0.015795268754260447 Centerline is valid? [True, True] Translation: X:931.04, Y:136.32, Z:6.92 [[-6.38165963e-02 -9.97960907e-01 1.21286312e-03 9.31039940e+02] [ 9.97816846e-01 -6.38279922e-02 -1.69566686e-02 1.36318147e+02] [ 1.69995070e-02 1.28098377e-04 9.99855490e-01 6.92451652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1092541539998 meters 0.015570434798080606 Centerline is valid? [True, True] Translation: X:931.04, Y:136.35, Z:6.92 [[-6.63724025e-02 -9.97794224e-01 1.17892766e-03 9.31040510e+02] [ 9.97659012e-01 -6.63828163e-02 -1.64261194e-02 1.36345420e+02] [ 1.64681476e-02 8.59267983e-05 9.99864387e-01 6.92460826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1392541539999 meters 0.01557488501403401 Centerline is valid? [True, True] Translation: X:931.04, Y:136.37, Z:6.93 [[-6.72526027e-02 -9.97735288e-01 1.17622814e-03 9.31039529e+02] [ 9.97601649e-01 -6.72628458e-02 -1.63296965e-02 1.36373159e+02] [ 1.63718309e-02 7.51925415e-05 9.99865970e-01 6.92539933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1692541539999 meters 0.012912404819123724 Centerline is valid? [True, True] Translation: X:931.04, Y:136.40, Z:6.93 [[-6.73323180e-02 -9.97729889e-01 1.19479960e-03 9.31038607e+02] [ 9.97593145e-01 -6.73428707e-02 -1.65183182e-02 1.36400054e+02] [ 1.65612810e-02 7.97072436e-05 9.99862849e-01 6.92635698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1992541539998 meters 0.012951799436874299 Centerline is valid? [True, True] Translation: X:931.04, Y:136.43, Z:6.93 [[-6.64712212e-02 -9.97787574e-01 1.23878359e-03 9.31036669e+02] [ 9.97641796e-01 -6.64826849e-02 -1.70558050e-02 1.36427919e+02] [ 1.71004279e-02 1.02142100e-04 9.99853772e-01 6.92665798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2292541539998 meters 0.01572582305501791 Centerline is valid? [True, True] Translation: X:931.03, Y:136.45, Z:6.93 [[-6.64482203e-02 -9.97789064e-01 1.27161107e-03 9.31033991e+02] [ 9.97636717e-01 -6.64602955e-02 -1.74358986e-02 1.36454917e+02] [ 1.74818606e-02 1.10021458e-04 9.99847175e-01 6.92557377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2592541539999 meters 0.01357225889056643 Centerline is valid? [True, True] Translation: X:931.03, Y:136.48, Z:6.93 [[-6.55103587e-02 -9.97851078e-01 1.27278693e-03 9.31031311e+02] [ 9.97699714e-01 -6.55225904e-02 -1.73801946e-02 1.36482168e+02] [ 1.74262422e-02 1.31276371e-04 9.99848143e-01 6.92619696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2892541539999 meters 0.013084463049171468 Centerline is valid? [True, True] Translation: X:931.03, Y:136.51, Z:6.93 [[-6.58234920e-02 -9.97830525e-01 1.22935686e-03 9.31029175e+02] [ 9.97690519e-01 -6.58348500e-02 -1.67153039e-02 1.36508308e+02] [ 1.67599750e-02 1.26258009e-04 9.99859534e-01 6.92657786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3192541539999 meters 0.013061763775010603 Centerline is valid? [True, True] Translation: X:931.03, Y:136.54, Z:6.93 [[-6.61581265e-02 -9.97808410e-01 1.21609740e-03 9.31027325e+02] [ 9.97672587e-01 -6.61691862e-02 -1.64635529e-02 1.36535042e+02] [ 1.65079397e-02 1.24069226e-04 9.99863727e-01 6.92734375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3492541539998 meters 0.012857230943358475 Centerline is valid? [True, True] Translation: X:931.03, Y:136.56, Z:6.93 [[-6.72385913e-02 -9.97736253e-01 1.15852609e-03 9.31026401e+02] [ 9.97614019e-01 -6.72484883e-02 -1.56176283e-02 1.36561269e+02] [ 1.56601831e-02 1.05654541e-04 9.99877366e-01 6.92903524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3792541539999 meters 0.012690201938352226 Centerline is valid? [True, True] Translation: X:931.03, Y:136.59, Z:6.93 [[-6.83722605e-02 -9.97659295e-01 1.07921230e-03 9.31025993e+02] [ 9.97553985e-01 -6.83807239e-02 -1.44956327e-02 1.36587107e+02] [ 1.45355001e-02 8.54733579e-05 9.99894350e-01 6.93078925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4092541539999 meters 0.012681338829413493 Centerline is valid? [True, True] Translation: X:931.02, Y:136.61, Z:6.93 [[-6.89149388e-02 -9.97621949e-01 1.08531214e-03 9.31024268e+02] [ 9.97516217e-01 -6.89234359e-02 -1.45243671e-02 1.36614780e+02] [ 1.45646308e-02 8.16705954e-05 9.99893927e-01 6.93126437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4392541539999 meters 0.012525724925155602 Centerline is valid? [True, True] Translation: X:931.02, Y:136.64, Z:6.93 [[-6.92110992e-02 -9.97601448e-01 1.08366726e-03 9.31022879e+02] [ 9.97496855e-01 -6.92195349e-02 -1.44457403e-02 1.36643296e+02] [ 1.44861024e-02 8.11491211e-05 9.99895068e-01 6.93246211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4692541539998 meters 0.012633504733851313 Centerline is valid? [True, True] Translation: X:931.02, Y:136.67, Z:6.93 [[-6.88702618e-02 -9.97624987e-01 1.12772544e-03 9.31019606e+02] [ 9.97512614e-01 -6.88794305e-02 -1.49735782e-02 1.36670086e+02] [ 1.50156929e-02 9.36860952e-05 9.99887254e-01 6.93190385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4992541539998 meters 0.012680667670217638 Centerline is valid? [True, True] Translation: X:931.02, Y:136.70, Z:6.93 [[-6.81461688e-02 -9.97674671e-01 1.16226930e-03 9.31016610e+02] [ 9.97556301e-01 -6.81559874e-02 -1.53683899e-02 1.36697207e+02] [ 1.54118689e-02 1.12132173e-04 9.99881224e-01 6.93178242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5292541539999 meters 0.013078356496093273 Centerline is valid? [True, True] Translation: X:931.01, Y:136.72, Z:6.93 [[-6.61047274e-02 -9.97811830e-01 1.31035006e-03 9.31012639e+02] [ 9.97662626e-01 -6.61175033e-02 -1.72557185e-02 1.36724825e+02] [ 1.73045971e-02 1.66602719e-04 9.99850250e-01 6.93060413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5592541539999 meters 0.013118770994533912 Centerline is valid? [True, True] Translation: X:931.01, Y:136.75, Z:6.93 [[-6.52041064e-02 -9.97871005e-01 1.37210584e-03 9.31010006e+02] [ 9.97708654e-01 -6.52182493e-02 -1.80006228e-02 1.36752809e+02] [ 1.80517859e-02 1.95247343e-04 9.99837034e-01 6.93056333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5892541539998 meters 0.0164839431157495 Centerline is valid? [True, True] Translation: X:931.01, Y:136.78, Z:6.93 [[-6.36250094e-02 -9.97972603e-01 1.59433865e-03 9.31006772e+02] [ 9.97754927e-01 -6.36444323e-02 -2.08444483e-02 1.36779197e+02] [ 2.09036591e-02 2.64531022e-04 9.99781460e-01 6.92836599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6192541539998 meters 0.014224706157069765 Centerline is valid? [True, True] Translation: X:931.00, Y:136.80, Z:6.93 [[-6.35470540e-02 -9.97977601e-01 1.57450652e-03 9.31003491e+02] [ 9.97766942e-01 -6.35659923e-02 -2.05059560e-02 1.36804816e+02] [ 2.05645698e-02 2.67897463e-04 9.99788491e-01 6.92792832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6492541539999 meters 0.013693861220143539 Centerline is valid? [True, True] Translation: X:931.00, Y:136.83, Z:6.93 [[-6.46998853e-02 -9.97903487e-01 1.59870087e-03 9.31003491e+02] [ 9.97688096e-01 -6.47191373e-02 -2.07339557e-02 1.36831851e+02] [ 2.07939532e-02 2.53520267e-04 9.99783750e-01 6.92921740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6792541539999 meters 0.013427379545645012 Centerline is valid? [True, True] Translation: X:931.00, Y:136.86, Z:6.93 [[-6.60730115e-02 -9.97813539e-01 1.58061172e-03 9.31002771e+02] [ 9.97604561e-01 -6.60915231e-02 -2.04218155e-02 1.36860077e+02] [ 2.04816290e-02 2.27494615e-04 9.99790204e-01 6.93009738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7092541539998 meters 0.015085655796125768 Centerline is valid? [True, True] Translation: X:931.00, Y:136.89, Z:6.93 [[-6.95042464e-02 -9.97580417e-01 1.57175086e-03 9.31003701e+02] [ 9.97375302e-01 -6.95218279e-02 -2.02292422e-02 1.36886638e+02] [ 2.02895669e-02 1.61607247e-04 9.99794132e-01 6.92957668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7392541539998 meters 0.012773357041705452 Centerline is valid? [True, True] Translation: X:931.00, Y:136.91, Z:6.93 [[-7.13080517e-02 -9.97453245e-01 1.47819789e-03 9.31003621e+02] [ 9.97273211e-01 -7.13232657e-02 -1.89508639e-02 1.36913576e+02] [ 1.90080306e-02 1.22817969e-04 9.99819324e-01 6.93076784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7692541539999 meters 0.016654155429075543 Centerline is valid? [True, True] Translation: X:931.01, Y:136.94, Z:6.93 [[-7.47408092e-02 -9.97201743e-01 1.57983454e-03 9.31005436e+02] [ 9.96997772e-01 -7.47574736e-02 -2.01683732e-02 1.36939592e+02] [ 2.02300413e-02 6.76909841e-05 9.99795349e-01 6.92979365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7992541539999 meters 0.014429921073756503 Centerline is valid? [True, True] Translation: X:931.00, Y:136.97, Z:6.93 [[-7.62674702e-02 -9.97086173e-01 1.56097335e-03 9.31004983e+02] [ 9.96888602e-01 -7.62834310e-02 -1.98482622e-02 1.36966541e+02] [ 1.99095042e-02 4.23397924e-05 9.99801785e-01 6.92993777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8292541539998 meters 0.014429921073756503 Centerline is valid? [True, True] Translation: X:931.00, Y:136.99, Z:6.93 [[-7.65722366e-02 -9.97062805e-01 1.56703963e-03 9.31002755e+02] [ 9.96865239e-01 -7.65882579e-02 -1.98477839e-02 1.36993211e+02] [ 1.99095039e-02 4.23381284e-05 9.99801785e-01 6.93012240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8592541539998 meters 0.014013954974109046 Centerline is valid? [True, True] Translation: X:931.00, Y:137.02, Z:6.93 [[-7.83863846e-02 -9.96921733e-01 1.62295784e-03 9.31003515e+02] [ 9.96711494e-01 -7.84031831e-02 -2.04728904e-02 1.37020021e+02] [ 2.05371144e-02 1.28248683e-05 9.99789091e-01 6.92970216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8892541539999 meters 0.013176037684882232 Centerline is valid? [True, True] Translation: X:931.00, Y:137.05, Z:6.93 [[-7.88845455e-02 -9.96882482e-01 1.59558869e-03 9.31002337e+02] [ 9.96680880e-01 -7.89006802e-02 -2.00475743e-02 1.37047682e+02] [ 2.01109686e-02 8.84896226e-06 9.99797754e-01 6.93080823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9192541539999 meters 0.012763960086267746 Centerline is valid? [True, True] Translation: X:931.00, Y:137.07, Z:6.93 [[-7.84561694e-02 -9.96916275e-01 1.60289649e-03 9.31000992e+02] [ 9.96714436e-01 -7.84725380e-02 -2.00597520e-02 1.37074590e+02] [ 2.01236766e-02 2.38187639e-05 9.99797498e-01 6.93058033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9492541539998 meters 0.016010171212456764 Centerline is valid? [True, True] Translation: X:931.00, Y:137.10, Z:6.93 [[-7.81627113e-02 -9.96939082e-01 1.74845550e-03 9.30998557e+02] [ 9.96700709e-01 -7.81822552e-02 -2.17998313e-02 1.37102896e+02] [ 2.18698020e-02 3.87529199e-05 9.99760827e-01 6.93056513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9792541539998 meters 0.012864028175578109 Centerline is valid? [True, True] Translation: X:931.00, Y:137.13, Z:6.93 [[-7.61133991e-02 -9.97097994e-01 1.53029633e-03 9.30995159e+02] [ 9.96916728e-01 -7.61287408e-02 -1.90119083e-02 1.37129503e+02] [ 1.90732351e-02 7.85170422e-05 9.99818086e-01 6.93127348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0092541539999 meters 0.013335233948966185 Centerline is valid? [True, True] Translation: X:930.99, Y:137.16, Z:6.93 [[-7.52367004e-02 -9.97164537e-01 1.52509363e-03 9.30992051e+02] [ 9.96985911e-01 -7.52520890e-02 -1.88737017e-02 1.37156905e+02] [ 1.89349525e-02 1.00501824e-04 9.99820713e-01 6.93234779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0392541539999 meters 0.015704042108255233 Centerline is valid? [True, True] Translation: X:930.99, Y:137.18, Z:6.93 [[-7.34910606e-02 -9.97294631e-01 1.57574489e-03 9.30987846e+02] [ 9.97105413e-01 -7.35078117e-02 -1.94267283e-02 1.37184123e+02] [ 1.94900014e-02 1.43492897e-04 9.99810042e-01 6.93297610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0692541539999 meters 0.013501777017678476 Centerline is valid? [True, True] Translation: X:930.98, Y:137.21, Z:6.93 [[-7.27407216e-02 -9.97349956e-01 1.36078499e-03 9.30984061e+02] [ 9.97209887e-01 -7.27533120e-02 -1.67151862e-02 1.37210581e+02] [ 1.67698918e-02 1.41113538e-04 9.99859366e-01 6.93266336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0992541539998 meters 0.013616425634280874 Centerline is valid? [True, True] Translation: X:930.98, Y:137.24, Z:6.93 [[-7.10213098e-02 -9.97474002e-01 1.26014723e-03 9.30980854e+02] [ 9.97354803e-01 -7.10323047e-02 -1.54210573e-02 1.37237604e+02] [ 1.54716149e-02 1.61590202e-04 9.99880294e-01 6.93420266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1292541539999 meters 0.014267093924448816 Centerline is valid? [True, True] Translation: X:930.98, Y:137.26, Z:6.93 [[-6.89679713e-02 -9.97618078e-01 1.26050838e-03 9.30976771e+02] [ 9.97499556e-01 -6.89792089e-02 -1.53787293e-02 1.37264329e+02] [ 1.54290473e-02 1.96716786e-04 9.99880946e-01 6.93400334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1592541539999 meters 0.013823890882794038 Centerline is valid? [True, True] Translation: X:930.98, Y:137.29, Z:6.93 [[-6.82447967e-02 -9.97667850e-01 1.22829989e-03 9.30975308e+02] [ 9.97555988e-01 -6.82555397e-02 -1.49409405e-02 1.37291912e+02] [ 1.49899343e-02 2.05656467e-04 9.99887623e-01 6.93499728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1892541539999 meters 0.014827594675712968 Centerline is valid? [True, True] Translation: X:930.97, Y:137.32, Z:6.93 [[-6.74796640e-02 -9.97719857e-01 1.25807231e-03 9.30969932e+02] [ 9.97603297e-01 -6.74910126e-02 -1.52520464e-02 1.37319233e+02] [ 1.53021781e-02 2.25854123e-04 9.99882889e-01 6.93390026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2192541539998 meters 0.018022087832242586 Centerline is valid? [True, True] Translation: X:930.96, Y:137.35, Z:6.93 [[-6.58644010e-02 -9.97827445e-01 1.50660925e-03 9.30964912e+02] [ 9.97661489e-01 -6.58809272e-02 -1.82004636e-02 1.37346158e+02] [ 1.82601789e-02 3.04323402e-04 9.99833223e-01 6.93349771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2492541539998 meters 0.01603671274011651 Centerline is valid? [True, True] Translation: X:930.96, Y:137.37, Z:6.93 [[-6.49323861e-02 -9.97888809e-01 1.30772351e-03 9.30961722e+02] [ 9.97764623e-01 -6.49449393e-02 -1.57451990e-02 1.37373151e+02] [ 1.57968879e-02 2.82426914e-04 9.99875182e-01 6.93317739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2792541539999 meters 0.015522995079816986 Centerline is valid? [True, True] Translation: X:930.96, Y:137.40, Z:6.93 [[-6.33186302e-02 -9.97992362e-01 1.41295361e-03 9.30960175e+02] [ 9.97848452e-01 -6.33334988e-02 -1.69509612e-02 1.37401129e+02] [ 1.70064171e-02 3.36601923e-04 9.99855324e-01 6.93352877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3092541539999 meters 0.016036635869676494 Centerline is valid? [True, True] Translation: X:930.96, Y:137.43, Z:6.93 [[-6.27455626e-02 -9.98028463e-01 1.47726942e-03 9.30956917e+02] [ 9.97872071e-01 -6.27618872e-02 -1.76713404e-02 1.37428417e+02] [ 1.77292169e-02 3.65327698e-04 9.99842758e-01 6.93271351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3392541539998 meters 0.01675480869542902 Centerline is valid? [True, True] Translation: X:930.95, Y:137.46, Z:6.93 [[-6.26451198e-02 -9.98034653e-01 1.55552767e-03 9.30953347e+02] [ 9.97862354e-01 -6.26632143e-02 -1.85484509e-02 1.37455027e+02] [ 1.86094711e-02 3.90232571e-04 9.99826753e-01 6.93148973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3692541539998 meters 0.016819189024423722 Centerline is valid? [True, True] Translation: X:930.95, Y:137.48, Z:6.93 [[-6.33925925e-02 -9.97987352e-01 1.62016071e-03 9.30951112e+02] [ 9.97801823e-01 -6.34120531e-02 -1.92466396e-02 1.37480733e+02] [ 1.93106406e-02 3.96504933e-04 9.99813454e-01 6.92999489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3992541539999 meters 0.015242590486212383 Centerline is valid? [True, True] Translation: X:930.95, Y:137.51, Z:6.93 [[-6.43686620e-02 -9.97924833e-01 1.64390124e-03 9.30952098e+02] [ 9.97735171e-01 -6.43884834e-02 -1.94589955e-02 1.37509023e+02] [ 1.95244631e-02 3.87628581e-04 9.99809304e-01 6.93184138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4292541539999 meters 0.0152235158733809 Centerline is valid? [True, True] Translation: X:930.95, Y:137.54, Z:6.93 [[-6.69514586e-02 -9.97754777e-01 1.70497794e-03 9.30952560e+02] [ 9.97552109e-01 -6.69722276e-02 -2.01124360e-02 1.37536417e+02] [ 2.01814653e-02 3.54247411e-04 9.99796271e-01 6.93203877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4592541539998 meters 0.014035723450424175 Centerline is valid? [True, True] Translation: X:930.95, Y:137.57, Z:6.93 [[-6.90047990e-02 -9.97614924e-01 1.67361333e-03 9.30953275e+02] [ 9.97420900e-01 -6.90243887e-02 -1.96769227e-02 1.37565325e+02] [ 1.97455119e-02 3.11494822e-04 9.99804990e-01 6.93327190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4892541539998 meters 0.01478186916658772 Centerline is valid? [True, True] Translation: X:930.96, Y:137.59, Z:6.93 [[-7.33752444e-02 -9.97302861e-01 1.75432983e-03 9.30955123e+02] [ 9.97090691e-01 -7.33958220e-02 -2.05720166e-02 1.37593183e+02] [ 2.06452915e-02 2.39749191e-04 9.99786835e-01 6.93430174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5192541539999 meters 0.014023063513430026 Centerline is valid? [True, True] Translation: X:930.95, Y:137.62, Z:6.93 [[-7.59694203e-02 -9.97108772e-01 1.65680503e-03 9.30954979e+02] [ 9.96920585e-01 -7.59872715e-02 -1.93721687e-02 1.37620524e+02] [ 1.94420554e-02 1.80010617e-04 9.99810969e-01 6.93416882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5492541539999 meters 0.01541227287256662 Centerline is valid? [True, True] Translation: X:930.95, Y:137.65, Z:6.94 [[-7.84466849e-02 -9.96916828e-01 1.71897641e-03 9.30954748e+02] [ 9.96715575e-01 -7.84653879e-02 -2.00310929e-02 1.37649125e+02] [ 2.01042137e-02 1.41957728e-04 9.99797880e-01 6.93541045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5792541539998 meters 0.012388740758690581 Centerline is valid? [True, True] Translation: X:930.96, Y:137.68, Z:6.94 [[-8.20346114e-02 -9.96628438e-01 1.44203726e-03 9.30956265e+02] [ 9.96487627e-01 -8.20472608e-02 -1.67527700e-02 1.37677952e+02] [ 1.68146022e-02 6.26653104e-05 9.99858623e-01 6.93537305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6092541539998 meters 0.013997609509950746 Centerline is valid? [True, True] Translation: X:930.96, Y:137.71, Z:6.94 [[-8.42620945e-02 -9.96442504e-01 1.49495722e-03 9.30955587e+02] [ 9.96292145e-01 -8.42753494e-02 -1.73097564e-02 1.37706054e+02] [ 1.73741650e-02 3.08578038e-05 9.99849057e-01 6.93624890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6392541539999 meters 0.012177954896328627 Centerline is valid? [True, True] Translation: X:930.95, Y:137.73, Z:6.94 [[-8.44842530e-02 -9.96423898e-01 1.35144457e-03 9.30953726e+02] [ 9.96301801e-01 -8.44950566e-02 -1.55982860e-02 1.37734525e+02] [ 1.56566953e-02 2.86371235e-05 9.99877426e-01 6.93611846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6692541539999 meters 0.01207406012877499 Centerline is valid? [True, True] Translation: X:930.95, Y:137.76, Z:6.94 [[-8.46360468e-02 -9.96411093e-01 1.29337092e-03 9.30951362e+02] [ 9.96300010e-01 -8.46459235e-02 -1.48780673e-02 1.37761736e+02] [ 1.49341499e-02 2.93646581e-05 9.99888479e-01 6.93613242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6992541539998 meters 0.012058730857902995 Centerline is valid? [True, True] Translation: X:930.95, Y:137.79, Z:6.94 [[-8.35967807e-02 -9.96498923e-01 1.21420555e-03 9.30947888e+02] [ 9.96401675e-01 -8.36055854e-02 -1.39215086e-02 1.37789493e+02] [ 1.39742826e-02 4.60431481e-05 9.99902354e-01 6.93636437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7292541539998 meters 0.012238456820358921 Centerline is valid? [True, True] Translation: X:930.94, Y:137.82, Z:6.94 [[-8.09902403e-02 -9.96714176e-01 1.19694254e-03 9.30942699e+02] [ 9.96620329e-01 -8.09990397e-02 -1.36775405e-02 1.37816267e+02] [ 1.37295497e-02 8.51499746e-05 9.99905742e-01 6.93537219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7592541539999 meters 0.012483888019023656 Centerline is valid? [True, True] Translation: X:930.94, Y:137.84, Z:6.93 [[-7.95533142e-02 -9.96829871e-01 1.21613892e-03 9.30938642e+02] [ 9.96733687e-01 -7.95625325e-02 -1.38477548e-02 1.37842818e+02] [ 1.39006147e-02 1.10531843e-04 9.99903376e-01 6.93466635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7892541539999 meters 0.013077329875180961 Centerline is valid? [True, True] Translation: X:930.93, Y:137.87, Z:6.93 [[-7.60454210e-02 -9.97103603e-01 1.22416644e-03 9.30933297e+02] [ 9.97006857e-01 -7.60550963e-02 -1.38906278e-02 1.37870078e+02] [ 1.39434991e-02 1.64183697e-04 9.99902771e-01 6.93397235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8192541539999 meters 0.013602921111198957 Centerline is valid? [True, True] Translation: X:930.93, Y:137.90, Z:6.93 [[-7.41223099e-02 -9.97248292e-01 1.31433475e-03 9.30929303e+02] [ 9.97137543e-01 -7.41336676e-02 -1.48633492e-02 1.37897814e+02] [ 1.49198861e-02 2.08866740e-04 9.99888670e-01 6.93352071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8492541539998 meters 0.014121361278288709 Centerline is valid? [True, True] Translation: X:930.93, Y:137.93, Z:6.93 [[-7.26663554e-02 -9.97355385e-01 1.35520532e-03 9.30925232e+02] [ 9.97238435e-01 -7.26785902e-02 -1.52750099e-02 1.37925152e+02] [ 1.53331078e-02 2.41483536e-04 9.99882412e-01 6.93296141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8792541539999 meters 0.014458231374768824 Centerline is valid? [True, True] Translation: X:930.92, Y:137.95, Z:6.93 [[-6.96789666e-02 -9.97568432e-01 1.43732871e-03 9.30921177e+02] [ 9.97437802e-01 -6.96931063e-02 -1.61462653e-02 1.37952879e+02] [ 1.62071765e-02 3.08590905e-04 9.99868607e-01 6.93230675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9092541539999 meters 0.016556000754022835 Centerline is valid? [True, True] Translation: X:930.92, Y:137.98, Z:6.93 [[-6.86016359e-02 -9.97642966e-01 1.52590073e-03 9.30915719e+02] [ 9.97496575e-01 -6.86177143e-02 -1.70936521e-02 1.37979076e+02] [ 1.71580656e-02 3.49428253e-04 9.99852729e-01 6.93120838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9392541539999 meters 0.01709015427536393 Centerline is valid? [True, True] Translation: X:930.91, Y:138.01, Z:6.93 [[-6.72585545e-02 -9.97734264e-01 1.62058396e-03 9.30914090e+02] [ 9.97569888e-01 -6.72768965e-02 -1.81145754e-02 1.38006974e+02] [ 1.81825604e-02 3.98285602e-04 9.99834604e-01 6.93197620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9692541539998 meters 0.015207237289329647 Centerline is valid? [True, True] Translation: X:930.91, Y:138.03, Z:6.93 [[-6.71271684e-02 -9.97743267e-01 1.52182080e-03 9.30911990e+02] [ 9.97599098e-01 -6.71433449e-02 -1.69650153e-02 1.38034534e+02] [ 1.70289099e-02 3.79353622e-04 9.99854926e-01 6.93191768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9992541539998 meters 0.015242433273998565 Centerline is valid? [True, True] Translation: X:930.91, Y:138.06, Z:6.93 [[-6.76199265e-02 -9.97710181e-01 1.39296687e-03 9.30909818e+02] [ 9.97590132e-01 -6.76334037e-02 -1.54806444e-02 1.38062722e+02] [ 1.55394076e-02 3.42809967e-04 9.99879197e-01 6.93344207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0292541539999 meters 0.016930022874217788 Centerline is valid? [True, True] Translation: X:930.91, Y:138.09, Z:6.93 [[-6.80438643e-02 -9.97681357e-01 1.39344579e-03 9.30907043e+02] [ 9.97561987e-01 -6.80572830e-02 -1.54365778e-02 1.38091041e+02] [ 1.54956201e-02 3.39684143e-04 9.99879878e-01 6.93473541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0592541539999 meters 0.01525275024241111 Centerline is valid? [True, True] Translation: X:930.90, Y:138.12, Z:6.93 [[-6.86927644e-02 -9.97637046e-01 1.27641546e-03 9.30904904e+02] [ 9.97537487e-01 -6.87039457e-02 -1.40971416e-02 1.38119431e+02] [ 1.41515255e-02 3.04900640e-04 9.99899816e-01 6.93457833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0892541539998 meters 0.01639887866771954 Centerline is valid? [True, True] Translation: X:930.90, Y:138.15, Z:6.93 [[-6.95925252e-02 -9.97574723e-01 1.24630355e-03 9.30900962e+02] [ 9.97480442e-01 -6.96030862e-02 -1.37178172e-02 1.38145600e+02] [ 1.37712942e-02 2.88505881e-04 9.99905130e-01 6.93425796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1192541539998 meters 0.014787379243628152 Centerline is valid? [True, True] Translation: X:930.90, Y:138.17, Z:6.94 [[-6.96561052e-02 -9.97570276e-01 1.25322769e-03 9.30901334e+02] [ 9.97475603e-01 -6.96667638e-02 -1.37463892e-02 1.38173413e+02] [ 1.38002976e-02 2.92544110e-04 9.99904729e-01 6.93530276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1492541539999 meters 0.014850990336378858 Centerline is valid? [True, True] Translation: X:930.90, Y:138.20, Z:6.93 [[-6.97704307e-02 -9.97562283e-01 1.25625307e-03 9.30898444e+02] [ 9.97467755e-01 -6.97811172e-02 -1.37358598e-02 1.38201765e+02] [ 1.37900384e-02 2.94715076e-04 9.99904869e-01 6.93473272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1792541539999 meters 0.01615950545601507 Centerline is valid? [True, True] Translation: X:930.90, Y:138.23, Z:6.94 [[-6.98092991e-02 -9.97559448e-01 1.34503682e-03 9.30895421e+02] [ 9.97451793e-01 -6.98215300e-02 -1.46585709e-02 1.38229977e+02] [ 1.47167084e-02 3.18304827e-04 9.99891653e-01 6.93521573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2092541539998 meters 0.015784969852055755 Centerline is valid? [True, True] Translation: X:930.89, Y:138.26, Z:6.93 [[-6.89094137e-02 -9.97621951e-01 1.39099360e-03 9.30890872e+02] [ 9.97507585e-01 -6.89225812e-02 -1.51094495e-02 1.38256939e+02] [ 1.51693893e-02 3.46343362e-04 9.99884878e-01 6.93335567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2392541539998 meters 0.017083393313333178 Centerline is valid? [True, True] Translation: X:930.89, Y:138.28, Z:6.93 [[-6.72689775e-02 -9.97733704e-01 1.52977501e-03 9.30886646e+02] [ 9.97596321e-01 -6.72851083e-02 -1.65618288e-02 1.38284408e+02] [ 1.66272259e-02 4.12000636e-04 9.99861673e-01 6.93302456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2692541539999 meters 0.01650215596114659 Centerline is valid? [True, True] Translation: X:930.88, Y:138.31, Z:6.93 [[-6.65360763e-02 -9.97782857e-01 1.52355754e-03 9.30883637e+02] [ 9.97647439e-01 -6.65521548e-02 -1.64437660e-02 1.38312125e+02] [ 1.65087039e-02 4.25869609e-04 9.99863631e-01 6.93328961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2992541539999 meters 0.018390448097500334 Centerline is valid? [True, True] Translation: X:930.88, Y:138.34, Z:6.93 [[-6.61456055e-02 -9.97808692e-01 1.60381535e-03 9.30880894e+02] [ 9.97659561e-01 -6.61634569e-02 -1.72567785e-02 1.38340585e+02] [ 1.73250776e-02 4.58601658e-04 9.99849804e-01 6.93423613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3292541539998 meters 0.017546053412863586 Centerline is valid? [True, True] Translation: X:930.88, Y:138.37, Z:6.93 [[-6.48361028e-02 -9.97894770e-01 1.51914514e-03 9.30875342e+02] [ 9.97761660e-01 -6.48522761e-02 -1.63049574e-02 1.38367529e+02] [ 1.63691518e-02 4.58594878e-04 9.99865911e-01 6.93407386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3592541539998 meters 0.018072737575454457 Centerline is valid? [True, True] Translation: X:930.87, Y:138.40, Z:6.93 [[-6.45688743e-02 -9.97912153e-01 1.48146534e-03 9.30871214e+02] [ 9.97786250e-01 -6.45842698e-02 -1.58578482e-02 1.38395603e+02] [ 1.59204188e-02 4.54262332e-04 9.99873159e-01 6.93466981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3892541539999 meters 0.018047238933219766 Centerline is valid? [True, True] Translation: X:930.87, Y:138.42, Z:6.94 [[-6.32583098e-02 -9.97996271e-01 1.35286469e-03 9.30865726e+02] [ 9.97891911e-01 -6.32712680e-02 -1.44388807e-02 1.38423616e+02] [ 1.44955465e-02 4.36633545e-04 9.99894839e-01 6.93574203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4192541539999 meters 0.02093729738621524 Centerline is valid? [True, True] Translation: X:930.86, Y:138.45, Z:6.94 [[-6.29414820e-02 -9.98016384e-01 1.29146581e-03 9.30860558e+02] [ 9.97921905e-01 -6.29533020e-02 -1.37387532e-02 1.38449911e+02] [ 1.37928028e-02 4.24044539e-04 9.99904785e-01 6.93672019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4492541539998 meters 0.0192172309941056 Centerline is valid? [True, True] Translation: X:930.85, Y:138.48, Z:6.94 [[-6.15120996e-02 -9.98105671e-01 1.15409842e-03 9.30854918e+02] [ 9.98030707e-01 -6.15216317e-02 -1.22391232e-02 1.38477926e+02] [ 1.22869403e-02 3.98971499e-04 9.99924433e-01 6.93746774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4792541539998 meters 0.02204048580807144 Centerline is valid? [True, True] Translation: X:930.85, Y:138.50, Z:6.94 [[-6.09275812e-02 -9.98141605e-01 1.07969662e-03 9.30849312e+02] [ 9.98076390e-01 -6.09359494e-02 -1.14162241e-02 1.38504473e+02] [ 1.14608006e-02 3.82056788e-04 9.99934250e-01 6.93841676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5092541539999 meters 0.021306004622736 Centerline is valid? [True, True] Translation: X:930.84, Y:138.53, Z:6.94 [[-5.86893384e-02 -9.98275817e-01 9.77519951e-04 9.30842056e+02] [ 9.98222693e-01 -5.86963063e-02 -1.03053040e-02 1.38531618e+02] [ 1.03449126e-02 3.70971123e-04 9.99946421e-01 6.93831250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5392541539999 meters 0.02187185170979363 Centerline is valid? [True, True] Translation: X:930.84, Y:138.56, Z:6.94 [[-5.78771037e-02 -9.98323224e-01 9.90890713e-04 9.30836565e+02] [ 9.98268981e-01 -5.78842955e-02 -1.04139224e-02 1.38559349e+02] [ 1.04538176e-02 3.86447794e-04 9.99945283e-01 6.93813457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5692541539999 meters 0.022493354961742026 Centerline is valid? [True, True] Translation: X:930.83, Y:138.59, Z:6.94 [[-5.68539552e-02 -9.98381976e-01 1.02884496e-03 9.30831206e+02] [ 9.98323858e-01 -5.68617548e-02 -1.07802931e-02 1.38587184e+02] [ 1.08213522e-02 4.14218176e-04 9.99941362e-01 6.93744325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5992541539998 meters 0.022306541542724313 Centerline is valid? [True, True] Translation: X:930.83, Y:138.61, Z:6.94 [[-5.46827576e-02 -9.98503161e-01 1.11087852e-03 9.30825053e+02] [ 9.98435856e-01 -5.46919805e-02 -1.16029261e-02 1.38614427e+02] [ 1.16463145e-02 4.74660946e-04 9.99932067e-01 6.93625363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6292541539999 meters 0.023873831117618975 Centerline is valid? [True, True] Translation: X:930.82, Y:138.64, Z:6.94 [[-5.27282889e-02 -9.98608239e-01 1.14588037e-03 9.30816998e+02] [ 9.98537109e-01 -5.27382224e-02 -1.19298931e-02 1.38641134e+02] [ 1.19737212e-02 5.15161222e-04 9.99928180e-01 6.93536032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6592541539999 meters 0.02519489717873071 Centerline is valid? [True, True] Translation: X:930.81, Y:138.67, Z:6.94 [[-5.25470795e-02 -9.98617806e-01 1.13250667e-03 9.30812714e+02] [ 9.98548753e-01 -5.25567767e-02 -1.17547173e-02 1.38668936e+02] [ 1.17979909e-02 5.13187062e-04 9.99930270e-01 6.93550881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6892541539999 meters 0.024041583344129727 Centerline is valid? [True, True] Translation: X:930.81, Y:138.70, Z:6.94 [[-5.23812397e-02 -9.98626422e-01 1.21491922e-03 9.30808838e+02] [ 9.98547445e-01 -5.23923912e-02 -1.25712743e-02 1.38696985e+02] [ 1.26176592e-02 5.54655556e-04 9.99920240e-01 6.93509235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7192541539998 meters 0.024041583344129727 Centerline is valid? [True, True] Translation: X:930.81, Y:138.72, Z:6.94 [[-5.26641788e-02 -9.98611536e-01 1.21848727e-03 9.30806091e+02] [ 9.98532563e-01 -5.26753528e-02 -1.25709287e-02 1.38724451e+02] [ 1.26176586e-02 5.54661579e-04 9.99920240e-01 6.93528293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7492541539998 meters 0.0244592265715324 Centerline is valid? [True, True] Translation: X:930.80, Y:138.75, Z:6.94 [[-5.27708689e-02 -9.98605989e-01 1.14611119e-03 9.30800315e+02] [ 9.98536537e-01 -5.27807290e-02 -1.17889567e-02 1.38751346e+02] [ 1.18330154e-02 5.22320414e-04 9.99929851e-01 6.93554846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7792541539999 meters 0.022780389231779764 Centerline is valid? [True, True] Translation: X:930.80, Y:138.78, Z:6.94 [[-5.30995578e-02 -9.98588625e-01 1.09306767e-03 9.30798905e+02] [ 9.98525841e-01 -5.31084884e-02 -1.12086592e-02 1.38779063e+02] [ 1.12508907e-02 4.96281470e-04 9.99936584e-01 6.93629573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8092541539999 meters 0.02671148716154922 Centerline is valid? [True, True] Translation: X:930.79, Y:138.81, Z:6.94 [[-5.40945546e-02 -9.98535385e-01 9.29758347e-04 9.30790196e+02] [ 9.98490174e-01 -5.41009613e-02 -9.51097653e-03 1.38806010e+02] [ 9.54734743e-03 4.13862534e-04 9.99954337e-01 6.93688505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8392541539998 meters 0.026313941217200463 Centerline is valid? [True, True] Translation: X:930.79, Y:138.83, Z:6.94 [[-5.48235813e-02 -9.98495641e-01 9.10561655e-04 9.30785552e+02] [ 9.98452479e-01 -5.48296857e-02 -9.29266762e-03 1.38832365e+02] [ 9.32861393e-03 3.99695222e-04 9.99956408e-01 6.93710006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8692541539998 meters 0.02501065437278199 Centerline is valid? [True, True] Translation: X:930.78, Y:138.86, Z:6.94 [[-5.66001709e-02 -9.98396607e-01 7.97881059e-04 9.30784447e+02] [ 9.98363649e-01 -5.66047911e-02 -8.11923666e-03 1.38860999e+02] [ 8.15138222e-03 3.37025263e-04 9.99966720e-01 6.93835817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8992541539999 meters 0.023717316562015766 Centerline is valid? [True, True] Translation: X:930.78, Y:138.89, Z:6.94 [[-5.76071139e-02 -9.98338996e-01 8.18202882e-04 9.30781087e+02] [ 9.98304530e-01 -5.76119295e-02 -8.30244969e-03 1.38887878e+02] [ 8.33579753e-03 3.38535479e-04 9.99965199e-01 6.93874952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9292541539999 meters 0.023133381678825404 Centerline is valid? [True, True] Translation: X:930.78, Y:138.91, Z:6.94 [[-5.86815543e-02 -9.98276409e-01 8.28490901e-04 9.30778278e+02] [ 9.98241295e-01 -5.86864447e-02 -8.37964019e-03 1.38914941e+02] [ 8.41381830e-03 3.35303519e-04 9.99964547e-01 6.93899101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9592541539998 meters 0.023539120658130963 Centerline is valid? [True, True] Translation: X:930.77, Y:138.94, Z:6.94 [[-5.99747052e-02 -9.98199611e-01 7.55522906e-04 9.30772577e+02] [ 9.98170571e-01 -5.99787278e-02 -7.61992368e-03 1.38941178e+02] [ 7.65152016e-03 2.97138054e-04 9.99970683e-01 6.93924991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9892541539998 meters 0.024132151908743134 Centerline is valid? [True, True] Translation: X:930.77, Y:138.97, Z:6.94 [[-6.02431806e-02 -9.98183513e-01 6.58478175e-04 9.30770288e+02] [ 9.98161531e-01 -6.02462272e-02 -6.62944057e-03 1.38969559e+02] [ 6.65706910e-03 2.57888998e-04 9.99977808e-01 6.93937492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0192541539999 meters 0.023063729585127805 Centerline is valid? [True, True] Translation: X:930.76, Y:139.00, Z:6.94 [[-6.11213657e-02 -9.98130020e-01 8.00843907e-04 9.30763324e+02] [ 9.98097728e-01 -6.11258349e-02 -8.03475549e-03 1.38995502e+02] [ 8.06868291e-03 3.08225256e-04 9.99967400e-01 6.93869080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0492541539999 meters 0.02210986731220786 Centerline is valid? [True, True] Translation: X:930.76, Y:139.02, Z:6.94 [[-6.15064084e-02 -9.98106350e-01 8.21514176e-04 9.30760179e+02] [ 9.98072600e-01 -6.15110894e-02 -8.21402803e-03 1.39022812e+02] [ 8.24900577e-03 3.14715427e-04 9.99965927e-01 6.93794381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0792541539998 meters 0.02229081658357418 Centerline is valid? [True, True] Translation: X:930.76, Y:139.05, Z:6.94 [[-6.15629310e-02 -9.98102829e-01 8.65220970e-04 9.30755393e+02] [ 9.98065640e-01 -6.15681117e-02 -8.62239888e-03 1.39049672e+02] [ 8.65931074e-03 3.32727173e-04 9.99962452e-01 6.93734009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1092541539998 meters 0.023208279517218506 Centerline is valid? [True, True] Translation: X:930.75, Y:139.08, Z:6.94 [[-6.09990134e-02 -9.98137392e-01 9.31500128e-04 9.30748624e+02] [ 9.98094555e-01 -6.10050321e-02 -9.25451814e-03 1.39076179e+02] [ 9.29410679e-03 3.65208729e-04 9.99956742e-01 6.93606437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1392541539999 meters 0.026480773139107787 Centerline is valid? [True, True] Translation: X:930.74, Y:139.10, Z:6.93 [[-6.08827843e-02 -9.98144520e-01 8.97070312e-04 9.30742595e+02] [ 9.98104959e-01 -6.08883643e-02 -8.89364833e-03 1.39101435e+02] [ 8.93176748e-03 3.53900255e-04 9.99960048e-01 6.93427970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1692541539999 meters 0.02587835323839299 Centerline is valid? [True, True] Translation: X:930.74, Y:139.13, Z:6.93 [[-6.17276358e-02 -9.98092605e-01 9.22001006e-04 9.30739248e+02] [ 9.98051042e-01 -6.17334859e-02 -9.11559057e-03 1.39128538e+02] [ 9.15512188e-03 3.57520210e-04 9.99958027e-01 6.93417804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1992541539998 meters 0.023560272496716564 Centerline is valid? [True, True] Translation: X:930.73, Y:139.16, Z:6.93 [[-6.28355025e-02 -9.98023368e-01 1.02765394e-03 9.30734688e+02] [ 9.97972067e-01 -6.28426999e-02 -1.01265826e-02 1.39155284e+02] [ 1.01711466e-02 3.89261020e-04 9.99948197e-01 6.93468473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2292541539998 meters 0.02563797284777104 Centerline is valid? [True, True] Translation: X:930.73, Y:139.18, Z:6.93 [[-6.31604346e-02 -9.98003010e-01 8.66409082e-04 9.30729627e+02] [ 9.97966739e-01 -6.31655312e-02 -8.51495672e-03 1.39181641e+02] [ 8.55267963e-03 3.26839079e-04 9.99963372e-01 6.93440342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2592541539999 meters 0.02495695359457538 Centerline is valid? [True, True] Translation: X:930.73, Y:139.21, Z:6.94 [[-6.37829283e-02 -9.97963414e-01 8.72825666e-04 9.30725951e+02] [ 9.97926823e-01 -6.37880693e-02 -8.55204058e-03 1.39208230e+02] [ 8.59029948e-03 3.25541953e-04 9.99963050e-01 6.93505920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2892541539999 meters 0.02514399593699835 Centerline is valid? [True, True] Translation: X:930.72, Y:139.24, Z:6.94 [[-6.49005605e-02 -9.97891422e-01 7.91934549e-04 9.30721027e+02] [ 9.97861458e-01 -6.49047530e-02 -7.73851437e-03 1.39235139e+02] [ 7.77359743e-03 2.88007043e-04 9.99969744e-01 6.93552598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3192541539999 meters 0.026766922487858412 Centerline is valid? [True, True] Translation: X:930.72, Y:139.26, Z:6.94 [[-6.53090913e-02 -9.97864810e-01 7.36713413e-04 9.30716724e+02] [ 9.97839007e-01 -6.53127042e-02 -7.18103193e-03 1.39261075e+02] [ 7.21381581e-03 2.66134710e-04 9.99973945e-01 6.93565329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3492541539998 meters 0.022917158832521413 Centerline is valid? [True, True] Translation: X:930.72, Y:139.29, Z:6.93 [[-6.63383934e-02 -9.97796913e-01 7.33238126e-04 9.30719467e+02] [ 9.97771505e-01 -6.63419402e-02 -7.12538236e-03 1.39289358e+02] [ 7.15832896e-03 2.58917691e-04 9.99974345e-01 6.93498654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3792541539999 meters 0.02176414394575773 Centerline is valid? [True, True] Translation: X:930.71, Y:139.32, Z:6.94 [[-6.73083198e-02 -9.97731886e-01 8.21232850e-04 9.30713973e+02] [ 9.97700207e-01 -6.73127310e-02 -7.95572853e-03 1.39315796e+02] [ 7.99296345e-03 2.83857465e-04 9.99968015e-01 6.93527240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4092541539999 meters 0.02301421142327845 Centerline is valid? [True, True] Translation: X:930.71, Y:139.34, Z:6.93 [[-6.84280195e-02 -9.97655741e-01 7.92735212e-04 9.30711406e+02] [ 9.97626381e-01 -6.84320912e-02 -7.65848552e-03 1.39344086e+02] [ 7.69478058e-03 2.66798564e-04 9.99970359e-01 6.93353511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4392541539999 meters 0.022349758851577108 Centerline is valid? [True, True] Translation: X:930.71, Y:139.37, Z:6.93 [[-6.96887198e-02 -9.97568487e-01 7.71993251e-04 9.30708582e+02] [ 9.97540789e-01 -6.96925409e-02 -7.43806481e-03 1.39372059e+02] [ 7.47378123e-03 2.51745543e-04 9.99972039e-01 6.93368699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4692541539998 meters 0.021557871771974817 Centerline is valid? [True, True] Translation: X:930.71, Y:139.40, Z:6.93 [[-7.10903066e-02 -9.97469561e-01 8.01927003e-04 9.30705556e+02] [ 9.97439837e-01 -7.10943823e-02 -7.70454665e-03 1.39398785e+02] [ 7.74206327e-03 2.52155356e-04 9.99969998e-01 6.93431372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4992541539998 meters 0.019676437678196948 Centerline is valid? [True, True] Translation: X:930.70, Y:139.43, Z:6.93 [[-7.30346637e-02 -9.97329074e-01 8.10147535e-04 9.30703890e+02] [ 9.97298896e-01 -7.30387591e-02 -7.76218822e-03 1.39426418e+02] [ 7.80062816e-03 2.41050436e-04 9.99969546e-01 6.93498886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5292541539999 meters 0.018301853307505573 Centerline is valid? [True, True] Translation: X:930.70, Y:139.45, Z:6.94 [[-7.60356700e-02 -9.97104775e-01 8.02435475e-04 9.30704161e+02] [ 9.97075317e-01 -7.60395942e-02 -7.66766329e-03 1.39454476e+02] [ 7.70648055e-03 2.17072689e-04 9.99970281e-01 6.93610877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5592541539999 meters 0.016502688261075732 Centerline is valid? [True, True] Translation: X:930.71, Y:139.48, Z:6.94 [[-7.92962549e-02 -9.96850802e-01 7.63069937e-04 9.30705676e+02] [ 9.96824292e-01 -7.92997129e-02 -7.27234813e-03 1.39482677e+02] [ 7.30995729e-03 1.83976679e-04 9.99973265e-01 6.93702829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5892541539998 meters 0.02026868622784389 Centerline is valid? [True, True] Translation: X:930.70, Y:139.51, Z:6.94 [[-8.09447636e-02 -9.96718292e-01 7.68850473e-04 9.30701691e+02] [ 9.96691523e-01 -8.09482262e-02 -7.30704334e-03 1.39509575e+02] [ 7.34530084e-03 1.74839852e-04 9.99973008e-01 6.93644587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6192541539998 meters 0.016950603798698893 Centerline is valid? [True, True] Translation: X:930.70, Y:139.54, Z:6.94 [[-8.27902025e-02 -9.96566697e-01 7.74973771e-04 9.30699765e+02] [ 9.96539648e-01 -8.27936667e-02 -7.34436054e-03 1.39537598e+02] [ 7.38330804e-03 1.64250992e-04 9.99972730e-01 6.93764238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6492541539999 meters 0.018363820490504508 Centerline is valid? [True, True] Translation: X:930.70, Y:139.57, Z:6.94 [[-8.48843282e-02 -9.96390432e-01 8.70864538e-04 9.30699786e+02] [ 9.96356465e-01 -8.48886268e-02 -8.22890813e-03 1.39565456e+02] [ 8.27313182e-03 1.69186175e-04 9.99965763e-01 6.93654813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6792541539999 meters 0.01579381158969989 Centerline is valid? [True, True] Translation: X:930.70, Y:139.59, Z:6.94 [[-8.57275764e-02 -9.96318169e-01 9.43156029e-04 9.30697797e+02] [ 9.96278554e-01 -8.57325799e-02 -8.88634464e-03 1.39593789e+02] [ 8.93448582e-03 1.77841336e-04 9.99960071e-01 6.93729031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7092541539998 meters 0.015970213144006297 Centerline is valid? [True, True] Translation: X:930.70, Y:139.62, Z:6.94 [[-8.64735066e-02 -9.96253557e-01 1.08730085e-03 9.30695581e+02] [ 9.96201222e-01 -8.64801109e-02 -1.02135212e-02 1.39620754e+02] [ 1.02692867e-02 1.99971444e-04 9.99947249e-01 6.93657453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7392541539998 meters 0.018385854616834747 Centerline is valid? [True, True] Translation: X:930.69, Y:139.65, Z:6.94 [[-8.64938026e-02 -9.96251702e-01 1.17000081e-03 9.30692768e+02] [ 9.96191468e-01 -8.65014413e-02 -1.09571820e-02 1.39648343e+02] [ 1.10173179e-02 2.17816493e-04 9.99939284e-01 6.93546585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7692541539999 meters 0.016269872913840445 Centerline is valid? [True, True] Translation: X:930.69, Y:139.67, Z:6.94 [[-8.67683887e-02 -9.96227739e-01 1.24038081e-03 9.30690841e+02] [ 9.96160416e-01 -8.67769479e-02 -1.15838822e-02 1.39674330e+02] [ 1.16478213e-02 2.30503471e-04 9.99932135e-01 6.93547474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7992541539999 meters 0.016555412605845615 Centerline is valid? [True, True] Translation: X:930.69, Y:139.70, Z:6.94 [[-8.69508386e-02 -9.96211773e-01 1.28645331e-03 9.30688273e+02] [ 9.96139690e-01 -8.69600255e-02 -1.19862925e-02 1.39700590e+02] [ 1.20527558e-02 2.39269017e-04 9.99927334e-01 6.93545789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8292541539998 meters 0.018018434253864613 Centerline is valid? [True, True] Translation: X:930.69, Y:139.73, Z:6.94 [[-8.71558538e-02 -9.96193761e-01 1.35929367e-03 9.30687527e+02] [ 9.96113687e-01 -8.71660860e-02 -1.26331587e-02 1.39728307e+02] [ 1.27035581e-02 2.52957297e-04 9.99919275e-01 6.93529997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8592541539998 meters 0.019903226783237037 Centerline is valid? [True, True] Translation: X:930.69, Y:139.76, Z:6.93 [[-8.75337735e-02 -9.96160453e-01 1.48001785e-03 9.30685166e+02] [ 9.96066061e-01 -8.75458571e-02 -1.37158943e-02 1.39755659e+02] [ 1.37928009e-02 2.73591568e-04 9.99904837e-01 6.93445134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8892541539999 meters 0.016407443456724242 Centerline is valid? [True, True] Translation: X:930.68, Y:139.78, Z:6.94 [[-8.78821950e-02 -9.96129821e-01 1.44897008e-03 9.30683042e+02] [ 9.96039855e-01 -8.78937353e-02 -1.33902592e-02 1.39782863e+02] [ 1.34657919e-02 2.66466580e-04 9.99909297e-01 6.93588904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9192541539999 meters 0.01757818330374111 Centerline is valid? [True, True] Translation: X:930.68, Y:139.81, Z:6.94 [[-8.85971463e-02 -9.96066361e-01 1.53327501e-03 9.30683680e+02] [ 9.95966192e-01 -8.86099850e-02 -1.41285416e-02 1.39811186e+02] [ 1.42088285e-02 2.75341606e-04 9.99899012e-01 6.93630397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9492541539998 meters 0.018077412138592656 Centerline is valid? [True, True] Translation: X:930.68, Y:139.84, Z:6.94 [[-8.92644515e-02 -9.96006744e-01 1.55677661e-03 9.30678386e+02] [ 9.95904048e-01 -8.92776068e-02 -1.43051121e-02 1.39837637e+02] [ 1.43869734e-02 2.73462144e-04 9.99896465e-01 6.93542981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9792541539998 meters 0.01949034515653388 Centerline is valid? [True, True] Translation: X:930.68, Y:139.87, Z:6.94 [[-9.05031318e-02 -9.95894851e-01 1.62167179e-03 9.30677077e+02] [ 9.95784027e-01 -9.05172568e-02 -1.48592487e-02 1.39865149e+02] [ 1.49450385e-02 2.70026328e-04 9.99888280e-01 6.93500752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0092541539999 meters 0.017500620939610134 Centerline is valid? [True, True] Translation: X:930.68, Y:139.89, Z:6.94 [[-9.32877779e-02 -9.95637778e-01 1.67525281e-03 9.30681731e+02] [ 9.95520107e-01 -9.33025110e-02 -1.53087804e-02 1.39894157e+02] [ 1.53983053e-02 2.39625758e-04 9.99881410e-01 6.93721564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0392541539999 meters 0.017339383470341377 Centerline is valid? [True, True] Translation: X:930.68, Y:139.92, Z:6.94 [[-9.49272621e-02 -9.95482770e-01 1.69389744e-03 9.30679845e+02] [ 9.95363093e-01 -9.49421176e-02 -1.54371942e-02 1.39921392e+02] [ 1.55282830e-02 2.20632420e-04 9.99879405e-01 6.93684206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0692541539999 meters 0.01434628457513662 Centerline is valid? [True, True] Translation: X:930.68, Y:139.95, Z:6.94 [[-9.78639652e-02 -9.95198278e-01 1.74125103e-03 9.30681686e+02] [ 9.95072459e-01 -9.78792818e-02 -1.58255615e-02 1.39949998e+02] [ 1.59200039e-02 1.83918748e-04 9.99873252e-01 6.93811686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0992541539998 meters 0.014727025060269038 Centerline is valid? [True, True] Translation: X:930.68, Y:139.98, Z:6.94 [[-9.94807261e-02 -9.95037801e-01 1.83282527e-03 9.30680688e+02] [ 9.94899139e-01 -9.94974618e-02 -1.66119952e-02 1.39976994e+02] [ 1.67119246e-02 1.70902938e-04 9.99860331e-01 6.93831579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1292541539999 meters 0.01770531688709495 Centerline is valid? [True, True] Translation: X:930.68, Y:140.01, Z:6.94 [[-1.00796509e-01 -9.94905183e-01 1.93397507e-03 9.30679326e+02] [ 9.94751603e-01 -1.00814931e-01 -1.74813565e-02 1.40005426e+02] [ 1.75872658e-02 1.61765086e-04 9.99845319e-01 6.93778521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1592541539999 meters 0.014805616724631716 Centerline is valid? [True, True] Translation: X:930.68, Y:140.03, Z:6.94 [[-1.02999917e-01 -9.94679650e-01 1.84704616e-03 9.30680219e+02] [ 9.94540313e-01 -1.03016404e-01 -1.66488983e-02 1.40032320e+02] [ 1.67505964e-02 1.22126724e-04 9.99859691e-01 6.93929403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1892541539999 meters 0.01667563985015425 Centerline is valid? [True, True] Translation: X:930.68, Y:140.06, Z:6.94 [[-1.04299388e-01 -9.94544219e-01 1.85293441e-03 9.30679212e+02] [ 9.94404746e-01 -1.04315792e-01 -1.66558486e-02 1.40060673e+02] [ 1.67582682e-02 1.05371965e-04 9.99859565e-01 6.93954757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2192541539998 meters 0.016346770038736594 Centerline is valid? [True, True] Translation: X:930.68, Y:140.09, Z:6.94 [[-1.05593346e-01 -9.94407668e-01 1.85321219e-03 9.30678349e+02] [ 9.94268859e-01 -1.05609570e-01 -1.66148789e-02 1.40089038e+02] [ 1.67176799e-02 8.81705169e-05 9.99860246e-01 6.94044526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2492541539998 meters 0.015436231812537433 Centerline is valid? [True, True] Translation: X:930.68, Y:140.12, Z:6.94 [[-1.07616015e-01 -9.94190963e-01 1.76698289e-03 9.30678862e+02] [ 9.94065393e-01 -1.07630506e-01 -1.58009245e-02 1.40117482e+02] [ 1.58993176e-02 5.60640058e-05 9.99873596e-01 6.94152478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2792541539999 meters 0.013553549961230742 Centerline is valid? [True, True] Translation: X:930.68, Y:140.15, Z:6.94 [[-1.08389518e-01 -9.94107114e-01 1.66109369e-03 9.30677486e+02] [ 9.93996699e-01 -1.08402236e-01 -1.48161067e-02 1.40145250e+02] [ 1.49088633e-02 4.52109850e-05 9.99888856e-01 6.94242997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3092541539999 meters 0.014052066955098808 Centerline is valid? [True, True] Translation: X:930.68, Y:140.17, Z:6.94 [[-1.09083567e-01 -9.94031250e-01 1.62803018e-03 9.30676694e+02] [ 9.93925745e-01 -1.09095708e-01 -1.44824072e-02 1.40172613e+02] [ 1.45735764e-02 3.83484815e-05 9.99893799e-01 6.94251247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3392541539998 meters 0.01357002694185543 Centerline is valid? [True, True] Translation: X:930.67, Y:140.20, Z:6.94 [[-1.09193648e-01 -9.94019147e-01 1.63808808e-03 9.30674427e+02] [ 9.93912898e-01 -1.09205927e-01 -1.45333077e-02 1.40200678e+02] [ 1.46252751e-02 4.11719788e-05 9.99893044e-01 6.94298619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3692541539998 meters 0.01359508152833189 Centerline is valid? [True, True] Translation: X:930.67, Y:140.23, Z:6.94 [[-1.08121337e-01 -9.94136363e-01 1.63345358e-03 9.30672390e+02] [ 9.94031310e-01 -1.08133658e-01 -1.44521986e-02 1.40227224e+02] [ 1.45440875e-02 6.11129646e-05 9.99894227e-01 6.94308135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3992541539999 meters 0.013639338958623362 Centerline is valid? [True, True] Translation: X:930.67, Y:140.25, Z:6.94 [[-1.07576253e-01 -9.94195403e-01 1.68820912e-03 9.30669668e+02] [ 9.94083854e-01 -1.07589472e-01 -1.48928216e-02 1.40254616e+02] [ 1.49880083e-02 7.61074788e-05 9.99887671e-01 6.94342148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4292541539999 meters 0.013662278469738796 Centerline is valid? [True, True] Translation: X:930.67, Y:140.28, Z:6.94 [[-1.06794142e-01 -9.94279739e-01 1.67708394e-03 9.30666855e+02] [ 9.94170250e-01 -1.06807270e-01 -1.47553452e-02 1.40282469e+02] [ 1.48500655e-02 9.15225312e-05 9.99889728e-01 6.94381204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4592541539998 meters 0.013911328727777346 Centerline is valid? [True, True] Translation: X:930.66, Y:140.31, Z:6.94 [[-1.04423381e-01 -9.94531392e-01 1.75146355e-03 9.30663185e+02] [ 9.94412611e-01 -1.04437979e-01 -1.53709970e-02 1.40310695e+02] [ 1.54698584e-02 1.36585975e-04 9.99880325e-01 6.94354793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4892541539998 meters 0.01424534718005047 Centerline is valid? [True, True] Translation: X:930.66, Y:140.34, Z:6.94 [[-1.02856671e-01 -9.94694540e-01 1.81048826e-03 9.30659348e+02] [ 9.94568181e-01 -1.02872464e-01 -1.58552643e-02 1.40337499e+02] [ 1.59573942e-02 1.69834301e-04 9.99872658e-01 6.94330744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5192541539999 meters 0.014623154744310765 Centerline is valid? [True, True] Translation: X:930.66, Y:140.36, Z:6.94 [[-1.01168997e-01 -9.94867518e-01 1.85877928e-03 9.30655332e+02] [ 9.94734851e-01 -1.01185863e-01 -1.62479996e-02 1.40363849e+02] [ 1.63526892e-02 2.05198722e-04 9.99866265e-01 6.94295081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5492541539999 meters 0.019414500659228756 Centerline is valid? [True, True] Translation: X:930.65, Y:140.39, Z:6.94 [[-9.87119978e-02 -9.95113896e-01 2.06752019e-03 9.30650891e+02] [ 9.94950561e-01 -9.87332585e-02 -1.80312167e-02 1.40391401e+02] [ 1.81472473e-02 2.77182949e-04 9.99835287e-01 6.94053011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5792541539998 meters 0.015717577437411798 Centerline is valid? [True, True] Translation: X:930.65, Y:140.42, Z:6.94 [[-9.77058613e-02 -9.95213324e-01 2.00100833e-03 9.30646885e+02] [ 9.95061172e-01 -9.77259173e-02 -1.74042780e-02 1.40417487e+02] [ 1.75165197e-02 2.90625723e-04 9.99846532e-01 6.94189975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6092541539998 meters 0.017328217293308523 Centerline is valid? [True, True] Translation: X:930.64, Y:140.44, Z:6.94 [[-9.71099572e-02 -9.95271574e-01 2.03721718e-03 9.30643902e+02] [ 9.95114762e-01 -9.71308246e-02 -1.76695576e-02 1.40444321e+02] [ 1.77838850e-02 3.11374910e-04 9.99841806e-01 6.94136020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6392541539999 meters 0.017328217293308523 Centerline is valid? [True, True] Translation: X:930.64, Y:140.47, Z:6.94 [[-9.74178547e-02 -9.95241473e-01 2.04268539e-03 9.30640709e+02] [ 9.95084667e-01 -9.74387706e-02 -1.76689259e-02 1.40470893e+02] [ 1.77838846e-02 3.11376056e-04 9.99841806e-01 6.94154485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6692541539999 meters 0.016457235716148773 Centerline is valid? [True, True] Translation: X:930.64, Y:140.50, Z:6.94 [[-9.60497028e-02 -9.95374715e-01 1.90540849e-03 9.30637949e+02] [ 9.95238995e-01 -9.60680764e-02 -1.64398300e-02 1.40498191e+02] [ 1.65468401e-02 3.17296044e-04 9.99863041e-01 6.94353920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6992541539998 meters 0.017965927036263596 Centerline is valid? [True, True] Translation: X:930.64, Y:140.53, Z:6.94 [[-9.59883383e-02 -9.95380685e-01 1.87895460e-03 9.30636435e+02] [ 9.95249406e-01 -9.60062000e-02 -1.61687792e-02 1.40525478e+02] [ 1.62744818e-02 3.18014195e-04 9.99867511e-01 6.94404414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7292541539998 meters 0.016890063789951427 Centerline is valid? [True, True] Translation: X:930.63, Y:140.55, Z:6.95 [[-9.54131322e-02 -9.95436156e-01 1.78701870e-03 9.30632449e+02] [ 9.95318074e-01 -9.54293441e-02 -1.53352841e-02 1.40551501e+02] [ 1.54358303e-02 3.15464519e-04 9.99880811e-01 6.94560080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7592541539999 meters 0.019136442161676093 Centerline is valid? [True, True] Translation: X:930.63, Y:140.58, Z:6.95 [[-9.43992677e-02 -9.95532847e-01 1.76870303e-03 9.30628904e+02] [ 9.95417706e-01 -9.44152556e-02 -1.51442901e-02 1.40578792e+02] [ 1.52436308e-02 3.30988418e-04 9.99883754e-01 6.94510222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7892541539999 meters 0.019599028188329336 Centerline is valid? [True, True] Translation: X:930.63, Y:140.61, Z:6.94 [[-9.37321335e-02 -9.95595864e-01 1.77841590e-03 9.30625242e+02] [ 9.95479942e-01 -9.37483648e-02 -1.51963787e-02 1.40606640e+02] [ 1.52961754e-02 3.45988357e-04 9.99882947e-01 6.94483696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8192541539999 meters 0.018182066969941537 Centerline is valid? [True, True] Translation: X:930.62, Y:140.63, Z:6.95 [[-9.18289479e-02 -9.95773012e-01 1.88514616e-03 9.30622665e+02] [ 9.95643417e-01 -9.18474194e-02 -1.60697596e-02 1.40634503e+02] [ 1.61749787e-02 4.01264242e-04 9.99869096e-01 6.94548141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8492541539998 meters 0.019786377859624553 Centerline is valid? [True, True] Translation: X:930.62, Y:140.66, Z:6.94 [[-9.09153965e-02 -9.95856738e-01 1.93588162e-03 9.30617365e+02] [ 9.95720675e-01 -9.09349858e-02 -1.64670999e-02 1.40660661e+02] [ 1.65749117e-02 4.30484437e-04 9.99862534e-01 6.94386998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8792541539999 meters 0.018048062750435464 Centerline is valid? [True, True] Translation: X:930.62, Y:140.69, Z:6.94 [[-9.02801964e-02 -9.95914361e-01 2.01788387e-03 9.30617617e+02] [ 9.95767208e-01 -9.03015567e-02 -1.71259126e-02 1.40688841e+02] [ 1.72381603e-02 4.63211841e-04 9.99851305e-01 6.94489536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9092541539999 meters 0.02303916753897808 Centerline is valid? [True, True] Translation: X:930.61, Y:140.72, Z:6.94 [[-8.94692294e-02 -9.95987185e-01 2.18734489e-03 9.30611117e+02] [ 9.95815192e-01 -8.94944437e-02 -1.85161447e-02 1.40715604e+02] [ 1.86375980e-02 5.21566074e-04 9.99826169e-01 6.94102294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9392541539999 meters 0.01932003711900652 Centerline is valid? [True, True] Translation: X:930.61, Y:140.74, Z:6.94 [[-8.92319281e-02 -9.96008624e-01 2.11751837e-03 9.30610240e+02] [ 9.95848278e-01 -8.92555731e-02 -1.78787721e-02 1.40743300e+02] [ 1.79964115e-02 5.13369717e-04 9.99837920e-01 6.94431704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9692541539998 meters 0.01965870940895404 Centerline is valid? [True, True] Translation: X:930.61, Y:140.77, Z:6.94 [[-8.94642344e-02 -9.95987765e-01 2.12661778e-03 9.30610986e+02] [ 9.95826855e-01 -8.94880219e-02 -1.79100150e-02 1.40771588e+02] [ 1.80284626e-02 5.15437317e-04 9.99837341e-01 6.94459218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9992541539998 meters 0.020202851521133727 Centerline is valid? [True, True] Translation: X:930.61, Y:140.80, Z:6.94 [[-8.96350791e-02 -9.95972491e-01 2.08581469e-03 9.30607783e+02] [ 9.95818475e-01 -8.96579137e-02 -1.75220752e-02 1.40798316e+02] [ 1.76385147e-02 5.06500204e-04 9.99844301e-01 6.94469915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0292541539999 meters 0.020533048440739454 Centerline is valid? [True, True] Translation: X:930.60, Y:140.82, Z:6.95 [[-8.99895627e-02 -9.95940716e-01 1.99236489e-03 9.30602949e+02] [ 9.95800820e-01 -9.00103290e-02 -1.66993164e-02 1.40824558e+02] [ 1.68108625e-02 4.81234414e-04 9.99858572e-01 6.94501545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0592541539999 meters 0.01896625472364986 Centerline is valid? [True, True] Translation: X:930.60, Y:140.85, Z:6.95 [[-9.01573918e-02 -9.95925567e-01 1.97755059e-03 9.30602225e+02] [ 9.95788410e-01 -9.01778081e-02 -1.65349875e-02 1.40851796e+02] [ 1.66459479e-02 4.78470611e-04 9.99861332e-01 6.94649524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0892541539998 meters 0.020940929889005797 Centerline is valid? [True, True] Translation: X:930.60, Y:140.88, Z:6.95 [[-9.01723149e-02 -9.95924031e-01 2.06855812e-03 9.30601399e+02] [ 9.95774730e-01 -9.01946289e-02 -1.72515376e-02 1.40880200e+02] [ 1.73677937e-02 5.04206823e-04 9.99849041e-01 6.94589029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1192541539998 meters 0.01796513371754678 Centerline is valid? [True, True] Translation: X:930.60, Y:140.91, Z:6.95 [[-9.05329355e-02 -9.95891453e-01 2.00028969e-03 9.30599101e+02] [ 9.95752511e-01 -9.05537311e-02 -1.66421008e-02 1.40908635e+02] [ 1.67548597e-02 4.85135244e-04 9.99859510e-01 6.94776480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1492541539999 meters 0.019659321687978046 Centerline is valid? [True, True] Translation: X:930.59, Y:140.94, Z:6.95 [[-9.10481014e-02 -9.95844403e-01 2.04153972e-03 9.30593311e+02] [ 9.95700396e-01 -9.10696676e-02 -1.69421560e-02 1.40935495e+02] [ 1.70576736e-02 4.90210765e-04 9.99854387e-01 6.94671647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1792541539999 meters 0.017945259734467107 Centerline is valid? [True, True] Translation: X:930.59, Y:140.96, Z:6.95 [[-9.12554559e-02 -9.95825335e-01 2.08416256e-03 9.30592638e+02] [ 9.95676000e-01 -9.12778790e-02 -1.72525883e-02 1.40963283e+02] [ 1.73708025e-02 5.00757831e-04 9.99848991e-01 6.94780611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2092541539998 meters 0.01844814224241869 Centerline is valid? [True, True] Translation: X:930.59, Y:140.99, Z:6.95 [[-9.12575288e-02 -9.95825004e-01 2.15040913e-03 9.30588413e+02] [ 9.95666830e-01 -9.12813763e-02 -1.77559445e-02 1.40990048e+02] [ 1.78781058e-02 5.20727425e-04 9.99840038e-01 6.94741883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2392541539998 meters 0.019322978559918616 Centerline is valid? [True, True] Translation: X:930.58, Y:141.02, Z:6.95 [[-9.04506044e-02 -9.95898472e-01 2.21827008e-03 9.30583116e+02] [ 9.95731041e-01 -9.04760911e-02 -1.82694103e-02 1.41016508e+02] [ 1.83951783e-02 5.56321172e-04 9.99830640e-01 6.94712805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2692541539999 meters 0.019929991258550748 Centerline is valid? [True, True] Translation: X:930.58, Y:141.04, Z:6.95 [[-9.00463281e-02 -9.95935062e-01 2.23839678e-03 9.30578507e+02] [ 9.95765443e-01 -9.00723223e-02 -1.83891228e-02 1.41043002e+02] [ 1.85159898e-02 5.73045175e-04 9.99828400e-01 6.94720846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2992541539999 meters 0.02020083774879255 Centerline is valid? [True, True] Translation: X:930.57, Y:141.07, Z:6.95 [[-8.96974298e-02 -9.95966512e-01 2.25335562e-03 9.30574189e+02] [ 9.95795447e-01 -8.97238070e-02 -1.84679966e-02 1.41070535e+02] [ 1.85956858e-02 5.87349442e-04 9.99826913e-01 6.94731364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3292541539998 meters 0.0227311239706214 Centerline is valid? [True, True] Translation: X:930.57, Y:141.10, Z:6.95 [[-8.91947390e-02 -9.96011495e-01 2.32389671e-03 9.30566500e+02] [ 9.95830272e-01 -8.92228625e-02 -1.90092327e-02 1.41096799e+02] [ 1.91407590e-02 6.18683142e-04 9.99816607e-01 6.94604571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3592541539998 meters 0.020851808555296815 Centerline is valid? [True, True] Translation: X:930.57, Y:141.12, Z:6.95 [[-8.92519895e-02 -9.96006326e-01 2.34109161e-03 9.30566583e+02] [ 9.95823251e-01 -8.92804929e-02 -1.91061896e-02 1.41124249e+02] [ 1.92388996e-02 6.26048022e-04 9.99814719e-01 6.94720359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3892541539999 meters 0.022775988226749776 Centerline is valid? [True, True] Translation: X:930.56, Y:141.15, Z:6.95 [[-8.92583126e-02 -9.96005644e-01 2.38992408e-03 9.30561349e+02] [ 9.95815708e-01 -8.92879882e-02 -1.94610253e-02 1.41149715e+02] [ 1.95966826e-02 6.42865656e-04 9.99807760e-01 6.94635937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4192541539999 meters 0.022247085479645875 Centerline is valid? [True, True] Translation: X:930.56, Y:141.18, Z:6.95 [[-9.08431111e-02 -9.95862253e-01 2.42959626e-03 9.30556845e+02] [ 9.95666615e-01 -9.08734455e-02 -1.97486580e-02 1.41176342e+02] [ 1.98877288e-02 6.25038352e-04 9.99802024e-01 6.94584812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4492541539998 meters 0.019163513322557946 Centerline is valid? [True, True] Translation: X:930.56, Y:141.20, Z:6.95 [[-9.18787434e-02 -9.95767444e-01 2.34402296e-03 9.30555378e+02] [ 9.95586070e-01 -9.19067664e-02 -1.90137821e-02 1.41204358e+02] [ 1.91487368e-02 5.86714197e-04 9.99816474e-01 6.94757284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4792541539998 meters 0.021774355366748207 Centerline is valid? [True, True] Translation: X:930.55, Y:141.23, Z:6.95 [[-9.35447546e-02 -9.95612531e-01 2.25107543e-03 9.30549921e+02] [ 9.95445967e-01 -9.35702975e-02 -1.82188211e-02 1.41231064e+02] [ 1.83495204e-02 5.36548803e-04 9.99831489e-01 6.94720758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5092541539999 meters 0.02072350625649979 Centerline is valid? [True, True] Translation: X:930.55, Y:141.26, Z:6.95 [[-9.41056424e-02 -9.95559822e-01 2.18365053e-03 9.30548397e+02] [ 9.95403836e-01 -9.41295679e-02 -1.76303025e-02 1.41258178e+02] [ 1.77575669e-02 5.14503173e-04 9.99842190e-01 6.94899813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5392541539999 meters 0.021783358840788535 Centerline is valid? [True, True] Translation: X:930.54, Y:141.28, Z:6.95 [[-9.45162354e-02 -9.95521044e-01 2.12886914e-03 9.30542636e+02] [ 9.95373554e-01 -9.45388921e-02 -1.71431279e-02 1.41283533e+02] [ 1.72676056e-02 4.98716127e-04 9.99850779e-01 6.94930892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5692541539999 meters 0.019297435159853722 Centerline is valid? [True, True] Translation: X:930.54, Y:141.31, Z:6.95 [[-9.43747619e-02 -9.95534485e-01 2.11963129e-03 9.30540578e+02] [ 9.95389040e-01 -9.43972208e-02 -1.70242260e-02 1.41310732e+02] [ 1.71482913e-02 5.03200483e-04 9.99852831e-01 6.95189770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5992541539998 meters 0.019151809099441208 Centerline is valid? [True, True] Translation: X:930.54, Y:141.34, Z:6.95 [[-9.43709244e-02 -9.95534707e-01 2.18525250e-03 9.30535743e+02] [ 9.95380919e-01 -9.43947723e-02 -1.75057817e-02 1.41338083e+02] [ 1.76338896e-02 5.23121843e-04 9.99844374e-01 6.95150083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6292541539999 meters 0.01925638363382615 Centerline is valid? [True, True] Translation: X:930.53, Y:141.37, Z:6.95 [[-9.46916744e-02 -9.95503929e-01 2.32697188e-03 9.30530361e+02] [ 9.95330448e-01 -9.47186325e-02 -1.85924812e-02 1.41365277e+02] [ 1.87292957e-02 5.55552786e-04 9.99824437e-01 6.95012358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6592541539999 meters 0.018457804624235605 Centerline is valid? [True, True] Translation: X:930.53, Y:141.39, Z:6.95 [[-9.50324866e-02 -9.95471320e-01 2.38267606e-03 9.30527599e+02] [ 9.95290303e-01 -9.50606627e-02 -1.89916738e-02 1.41393301e+02] [ 1.91321654e-02 5.66628388e-04 9.99816803e-01 6.95062442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6892541539999 meters 0.020076625433360397 Centerline is valid? [True, True] Translation: X:930.52, Y:141.42, Z:6.95 [[-9.52153718e-02 -9.95453630e-01 2.47062392e-03 9.30521376e+02] [ 9.95260008e-01 -9.52456005e-02 -1.96415813e-02 1.41419377e+02] [ 1.97875995e-02 5.88732714e-04 9.99804033e-01 6.94987212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7192541539998 meters 0.01949278439878407 Centerline is valid? [True, True] Translation: X:930.52, Y:141.45, Z:6.95 [[-9.45483264e-02 -9.95516997e-01 2.55376460e-03 9.30517897e+02] [ 9.95311155e-01 -9.45807314e-02 -2.02531513e-02 1.41447183e+02] [ 2.04038933e-02 6.26888838e-04 9.99791622e-01 6.95114077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7492541539998 meters 0.01904814541275236 Centerline is valid? [True, True] Translation: X:930.51, Y:141.47, Z:6.95 [[-9.43838367e-02 -9.95532817e-01 2.47012029e-03 9.30514695e+02] [ 9.95341111e-01 -9.44141587e-02 -1.95458271e-02 1.41474760e+02] [ 1.96917267e-02 6.13802122e-04 9.99805911e-01 6.95221181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7792541539999 meters 0.022043896925597762 Centerline is valid? [True, True] Translation: X:930.51, Y:141.50, Z:6.95 [[-9.47046561e-02 -9.95501998e-01 2.60774791e-03 9.30509951e+02] [ 9.95289432e-01 -9.47383476e-02 -2.05813678e-02 1.41500335e+02] [ 2.07358465e-02 6.46312581e-04 9.99784780e-01 6.95117043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8092541539999 meters 0.02028478912067688 Centerline is valid? [True, True] Translation: X:930.50, Y:141.53, Z:6.95 [[-9.43277626e-02 -9.95538515e-01 2.31047097e-03 9.30504998e+02] [ 9.95372491e-01 -9.43542478e-02 -1.81900957e-02 1.41526860e+02] [ 1.83269436e-02 5.83948213e-04 9.99831877e-01 6.95413421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8392541539998 meters 0.022235834923401872 Centerline is valid? [True, True] Translation: X:930.50, Y:141.55, Z:6.95 [[-9.44162831e-02 -9.95529992e-01 2.36646441e-03 9.30499550e+02] [ 9.95356736e-01 -9.44440227e-02 -1.85821172e-02 1.41553088e+02] [ 1.87225534e-02 6.01021858e-04 9.99824537e-01 6.95351545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8692541539998 meters 0.020505457646065213 Centerline is valid? [True, True] Translation: X:930.50, Y:141.58, Z:6.96 [[-9.40351660e-02 -9.95566464e-01 2.19153455e-03 9.30495320e+02] [ 9.95418620e-01 -9.40589894e-02 -1.71661845e-02 1.41579924e+02] [ 1.72962111e-02 5.67269283e-04 9.99850248e-01 6.95586273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8992541539999 meters 0.02155251329912885 Centerline is valid? [True, True] Translation: X:930.49, Y:141.61, Z:6.96 [[-9.27888360e-02 -9.95683410e-01 2.18593995e-03 9.30488956e+02] [ 9.95536924e-01 -9.28127023e-02 -1.70890568e-02 1.41606148e+02] [ 1.72181734e-02 5.90510240e-04 9.99851582e-01 6.95614792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9292541539999 meters 0.019831533352870415 Centerline is valid? [True, True] Translation: X:930.49, Y:141.63, Z:6.96 [[-9.23019509e-02 -9.95728579e-01 2.22427347e-03 9.30486824e+02] [ 9.95577534e-01 -9.23267144e-02 -1.73537336e-02 1.41633892e+02] [ 1.74849683e-02 6.12653227e-04 9.99846939e-01 6.95721152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9592541539998 meters 0.021679196701438103 Centerline is valid? [True, True] Translation: X:930.48, Y:141.66, Z:6.96 [[-9.10332354e-02 -9.95844829e-01 2.45482311e-03 9.30481289e+02] [ 9.95661726e-01 -9.10636019e-02 -1.91088477e-02 1.41662059e+02] [ 1.92529922e-02 7.04633183e-04 9.99814396e-01 6.95599517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9892541539998 meters 0.025058636896052252 Centerline is valid? [True, True] Translation: X:930.47, Y:141.69, Z:6.95 [[-8.99814549e-02 -9.95940796e-01 2.29544577e-03 9.30468302e+02] [ 9.95781385e-01 -9.00081507e-02 -1.78315780e-02 1.41688475e+02] [ 1.79658048e-02 6.81250837e-04 9.99838370e-01 6.95498581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0192541539999 meters 0.027612059925291445 Centerline is valid? [True, True] Translation: X:930.46, Y:141.71, Z:6.95 [[-8.91980206e-02 -9.96010888e-01 2.45434555e-03 9.30461240e+02] [ 9.95829531e-01 -8.92286499e-02 -1.90208599e-02 1.41714384e+02] [ 1.91639815e-02 7.47486722e-04 9.99816075e-01 6.95326080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0492541539999 meters 0.023942312291908775 Centerline is valid? [True, True] Translation: X:930.46, Y:141.74, Z:6.95 [[-8.82030393e-02 -9.96099211e-01 2.56629102e-03 9.30462447e+02] [ 9.95901901e-01 -8.82366866e-02 -1.98416404e-02 1.41742717e+02] [ 1.99906834e-02 8.05681111e-04 9.99799842e-01 6.95486784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0792541539998 meters 0.023634091827853507 Centerline is valid? [True, True] Translation: X:930.45, Y:141.77, Z:6.96 [[-8.62075914e-02 -9.96274245e-01 2.42469556e-03 9.30453986e+02] [ 9.96098810e-01 -8.62379540e-02 -1.87129894e-02 1.41769036e+02] [ 1.88523702e-02 8.02034615e-04 9.99821957e-01 6.95578378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1092541539998 meters 0.022674166270897637 Centerline is valid? [True, True] Translation: X:930.45, Y:141.80, Z:6.96 [[-8.52721916e-02 -9.96354484e-01 2.52887363e-03 9.30450587e+02] [ 9.96164445e-01 -8.53053650e-02 -1.94780389e-02 1.41797058e+02] [ 1.96227579e-02 8.58238935e-04 9.99807087e-01 6.95584950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1392541539999 meters 0.02632472741909317 Centerline is valid? [True, True] Translation: X:930.44, Y:141.82, Z:6.95 [[-8.55880188e-02 -9.96327128e-01 2.63545203e-03 9.30441768e+02] [ 9.96121700e-01 -8.56239389e-02 -2.02509408e-02 1.41822871e+02] [ 2.04022194e-02 8.91993056e-04 9.99791455e-01 6.95395764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1692541539999 meters 0.024398590847448342 Centerline is valid? [True, True] Translation: X:930.44, Y:141.85, Z:6.96 [[-8.60359699e-02 -9.96289153e-01 2.39479728e-03 9.30437553e+02] [ 9.96120325e-01 -8.60655185e-02 -1.83582332e-02 1.41849740e+02] [ 1.84962181e-02 8.06037851e-04 9.99828605e-01 6.95582820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1992541539998 meters 0.024236062727621428 Centerline is valid? [True, True] Translation: X:930.43, Y:141.88, Z:6.96 [[-8.71056459e-02 -9.96196219e-01 2.38747398e-03 9.30432958e+02] [ 9.96029159e-01 -8.71348011e-02 -1.82603640e-02 1.41877418e+02] [ 1.83989376e-02 7.87412900e-04 9.99830415e-01 6.95578424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2292541539998 meters 0.024715505632058068 Centerline is valid? [True, True] Translation: X:930.43, Y:141.90, Z:6.96 [[-8.93765479e-02 -9.95994945e-01 2.42954855e-03 9.30427809e+02] [ 9.95822609e-01 -8.94063155e-02 -1.85429968e-02 1.41904174e+02] [ 1.86859481e-02 7.62090330e-04 9.99825112e-01 6.95510630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2592541539999 meters 0.020791484269161428 Centerline is valid? [True, True] Translation: X:930.43, Y:141.93, Z:6.96 [[-9.26539750e-02 -9.95695925e-01 2.20594910e-03 9.30427184e+02] [ 9.95554378e-01 -9.26780252e-02 -1.68007182e-02 1.41932165e+02] [ 1.69328497e-02 6.39488958e-04 9.99856425e-01 6.95686276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2892541539999 meters 0.02081523227645249 Centerline is valid? [True, True] Translation: X:930.42, Y:141.96, Z:6.96 [[-9.51792718e-02 -9.95457437e-01 2.32327385e-03 9.30424639e+02] [ 9.95301052e-01 -9.52055255e-02 -1.76556958e-02 1.41960956e+02] [ 1.77966822e-02 6.31900642e-04 9.99841427e-01 6.95640325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3192541539999 meters 0.018929965820948354 Centerline is valid? [True, True] Translation: X:930.42, Y:141.99, Z:6.96 [[-9.76768945e-02 -9.95215935e-01 2.11368050e-03 9.30421083e+02] [ 9.95086983e-01 -9.76982822e-02 -1.60293886e-02 1.41988910e+02] [ 1.61592059e-02 5.37595060e-04 9.99869287e-01 6.95722635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3492541539998 meters 0.017799222641013374 Centerline is valid? [True, True] Translation: X:930.42, Y:142.02, Z:6.96 [[-1.02887735e-01 -9.94690702e-01 2.12621414e-03 9.30418156e+02] [ 9.94560622e-01 -1.02908679e-01 -1.60926430e-02 1.42015477e+02] [ 1.62260082e-02 4.58913280e-04 9.99868244e-01 6.95603501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3792541539999 meters 0.0187223698990374 Centerline is valid? [True, True] Translation: X:930.41, Y:142.04, Z:6.95 [[-1.05591861e-01 -9.94406875e-01 2.30789564e-03 9.30414715e+02] [ 9.94254170e-01 -1.05616104e-01 -1.74322746e-02 1.42042463e+02] [ 1.75785247e-02 4.53928538e-04 9.99845383e-01 6.95464755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4092541539999 meters 0.016154958437469315 Centerline is valid? [True, True] Translation: X:930.41, Y:142.07, Z:6.96 [[-1.10476333e-01 -9.93876165e-01 2.26912354e-03 9.30413385e+02] [ 9.93729079e-01 -1.10499029e-01 -1.71020981e-02 1.42070566e+02] [ 1.72481036e-02 3.65516954e-04 9.99851174e-01 6.95512140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4392541539999 meters 0.015225936367306764 Centerline is valid? [True, True] Translation: X:930.41, Y:142.10, Z:6.96 [[-1.12833317e-01 -9.93611374e-01 2.25393298e-03 9.30410010e+02] [ 9.93466834e-01 -1.12855354e-01 -1.69504754e-02 1.42098778e+02] [ 1.70965536e-02 3.26629303e-04 9.99853790e-01 6.95514639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4692541539998 meters 0.014960680200682006 Centerline is valid? [True, True] Translation: X:930.41, Y:142.13, Z:6.95 [[-1.14856747e-01 -9.93379396e-01 2.30276877e-03 9.30406169e+02] [ 9.93229181e-01 -1.14879430e-01 -1.72774481e-02 1.42125783e+02] [ 1.74276017e-02 3.02745652e-04 9.99848082e-01 6.95494862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4992541539998 meters 0.016646875580757583 Centerline is valid? [True, True] Translation: X:930.40, Y:142.15, Z:6.95 [[-1.16642619e-01 -9.93170802e-01 2.50150141e-03 9.30402858e+02] [ 9.92994371e-01 -1.16669053e-01 -1.87219246e-02 1.42153075e+02] [ 1.88859167e-02 3.00202497e-04 9.99821600e-01 6.95421294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5292541539999 meters 0.016646875580757583 Centerline is valid? [True, True] Translation: X:930.40, Y:142.18, Z:6.95 [[-1.16956626e-01 -9.93133858e-01 2.50742394e-03 9.30399196e+02] [ 9.92957436e-01 -1.16983116e-01 -1.87211320e-02 1.42179582e+02] [ 1.88859163e-02 3.00204811e-04 9.99821600e-01 6.95439759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5592541539999 meters 0.015426789341397516 Centerline is valid? [True, True] Translation: X:930.40, Y:142.21, Z:6.96 [[-1.19272435e-01 -9.92858537e-01 2.45176560e-03 9.30396335e+02] [ 9.92690553e-01 -1.19297358e-01 -1.82649055e-02 1.42207435e+02] [ 1.84269565e-02 2.55344795e-04 9.99830177e-01 6.95540027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5892541539998 meters 0.013710902890563627 Centerline is valid? [True, True] Translation: X:930.39, Y:142.23, Z:6.96 [[-1.19854329e-01 -9.92788801e-01 2.31026735e-03 9.30390879e+02] [ 9.92640288e-01 -1.19876363e-01 -1.71731003e-02 1.42234267e+02] [ 1.73262081e-02 2.34994026e-04 9.99849862e-01 6.95551295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6192541539998 meters 0.0156692281054216 Centerline is valid? [True, True] Translation: X:930.39, Y:142.26, Z:6.95 [[-1.20060846e-01 -9.92763474e-01 2.46551198e-03 9.30386175e+02] [ 9.92595119e-01 -1.20085894e-01 -1.82840582e-02 1.42261004e+02] [ 1.84478183e-02 2.52055658e-04 9.99829793e-01 6.95491142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6492541539999 meters 0.01365346671930791 Centerline is valid? [True, True] Translation: X:930.38, Y:142.29, Z:6.96 [[-1.19744608e-01 -9.92802065e-01 2.29985496e-03 9.30382293e+02] [ 9.92656221e-01 -1.19766441e-01 -1.70184108e-02 1.42288526e+02] [ 1.71713588e-02 2.45102413e-04 9.99852531e-01 6.95669176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6792541539999 meters 0.013801566275329923 Centerline is valid? [True, True] Translation: X:930.38, Y:142.32, Z:6.96 [[-1.19345834e-01 -9.92849935e-01 2.36170641e-03 9.30377182e+02] [ 9.92696835e-01 -1.19368908e-01 -1.74372449e-02 1.42316369e+02] [ 1.75944818e-02 2.63395942e-04 9.99845170e-01 6.95678346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7092541539998 meters 0.015541679239532783 Centerline is valid? [True, True] Translation: X:930.37, Y:142.34, Z:6.96 [[-1.18452517e-01 -9.92956703e-01 2.44702270e-03 9.30370248e+02] [ 9.92793045e-01 -1.18477426e-01 -1.80297008e-02 1.42342968e+02] [ 1.81926292e-02 2.93723673e-04 9.99834457e-01 6.95573471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7392541539998 meters 0.015519818773615964 Centerline is valid? [True, True] Translation: X:930.36, Y:142.37, Z:6.96 [[-1.17482924e-01 -9.93071976e-01 2.41116982e-03 9.30364988e+02] [ 9.92913752e-01 -1.17507253e-01 -1.77292838e-02 1.42370258e+02] [ 1.78897848e-02 3.11195559e-04 9.99839917e-01 6.95624048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7692541539999 meters 0.015415025307728546 Centerline is valid? [True, True] Translation: X:930.36, Y:142.40, Z:6.96 [[-1.14197195e-01 -9.93455348e-01 2.33916750e-03 9.30358401e+02] [ 9.93307137e-01 -1.14220572e-01 -1.71636856e-02 1.42397408e+02] [ 1.73185363e-02 3.63467011e-04 9.99849957e-01 6.95732879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7992541539999 meters 0.018101822923648533 Centerline is valid? [True, True] Translation: X:930.35, Y:142.43, Z:6.96 [[-1.12631833e-01 -9.93633451e-01 2.57582585e-03 9.30352210e+02] [ 9.93454570e-01 -1.12660443e-01 -1.88584933e-02 1.42425268e+02] [ 1.90286234e-02 4.34899308e-04 9.99818845e-01 6.95620195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8292541539998 meters 0.016838032071133956 Centerline is valid? [True, True] Translation: X:930.34, Y:142.45, Z:6.96 [[-1.08390922e-01 -9.94105270e-01 2.47372136e-03 9.30344588e+02] [ 9.93941076e-01 -1.08417995e-01 -1.80741710e-02 1.42452801e+02] [ 1.82358245e-02 4.99657223e-04 9.99833589e-01 6.95746109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8592541539998 meters 0.018787892585778447 Centerline is valid? [True, True] Translation: X:930.34, Y:142.48, Z:6.96 [[-1.06485662e-01 -9.94311251e-01 2.43718326e-03 9.30336546e+02] [ 9.94152570e-01 -1.06512227e-01 -1.77711224e-02 1.42479426e+02] [ 1.79296167e-02 5.30562279e-04 9.99839111e-01 6.95683374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8892541539999 meters 0.018074348447976705 Centerline is valid? [True, True] Translation: X:930.33, Y:142.51, Z:6.96 [[-1.04952095e-01 -9.94474384e-01 2.39960628e-03 9.30332807e+02] [ 9.94321220e-01 -1.04978065e-01 -1.74618692e-02 1.42507657e+02] [ 1.76172877e-02 5.53319695e-04 9.99844650e-01 6.95812079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9192541539999 meters 0.02558918118581704 Centerline is valid? [True, True] Translation: X:930.32, Y:142.53, Z:6.96 [[-1.02871620e-01 -9.94691484e-01 2.50628714e-03 9.30320746e+02] [ 9.94525167e-01 -1.02900276e-01 -1.81996180e-02 1.42533931e+02] [ 1.83609026e-02 6.20341461e-04 9.99831232e-01 6.95539049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9492541539998 meters 0.021818131225333215 Centerline is valid? [True, True] Translation: X:930.32, Y:142.56, Z:6.96 [[-1.01826481e-01 -9.94799259e-01 2.40867669e-03 9.30320090e+02] [ 9.94646316e-01 -1.01853087e-01 -1.74543603e-02 1.42562443e+02] [ 1.76089158e-02 6.18465317e-04 9.99844760e-01 6.95816783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9792541539998 meters 0.02233323705931028 Centerline is valid? [True, True] Translation: X:930.32, Y:142.59, Z:6.96 [[-1.01602424e-01 -9.94822180e-01 2.40354152e-03 9.30315810e+02] [ 9.94670542e-01 -1.01628929e-01 -1.73802603e-02 1.42590424e+02] [ 1.75345378e-02 6.24855362e-04 9.99846063e-01 6.95841807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0092541539999 meters 0.020466024139726962 Centerline is valid? [True, True] Translation: X:930.31, Y:142.62, Z:6.96 [[-1.01138290e-01 -9.94869961e-01 2.19238714e-03 9.30310311e+02] [ 9.94744323e-01 -1.01160383e-01 -1.58211745e-02 1.42617815e+02] [ 1.59617939e-02 5.80738123e-04 9.99872434e-01 6.96025687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0392541539999 meters 0.02209234554246155 Centerline is valid? [True, True] Translation: X:930.31, Y:142.65, Z:6.96 [[-1.01568501e-01 -9.94825721e-01 2.37173042e-03 9.30305361e+02] [ 9.94679313e-01 -1.01594269e-01 -1.70783317e-02 1.42645897e+02] [ 1.72309178e-02 6.24490634e-04 9.99851342e-01 6.95906436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0692541539999 meters 0.022470494873525412 Centerline is valid? [True, True] Translation: X:930.30, Y:142.67, Z:6.96 [[-1.02405263e-01 -9.94739791e-01 2.43128340e-03 9.30300664e+02] [ 9.94586515e-01 -1.02432191e-01 -1.74731228e-02 1.42671667e+02] [ 1.76302522e-02 6.28781942e-04 9.99844377e-01 6.95806874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0992541539998 meters 0.020464053227647976 Centerline is valid? [True, True] Translation: X:930.30, Y:142.70, Z:6.96 [[-1.02634442e-01 -9.94716348e-01 2.35767838e-03 9.30297491e+02] [ 9.94572772e-01 -1.02659711e-01 -1.69110750e-02 1.42699612e+02] [ 1.70637613e-02 6.09223985e-04 9.99854218e-01 6.95909121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1292541539999 meters 0.021503608731792783 Centerline is valid? [True, True] Translation: X:930.29, Y:142.73, Z:6.96 [[-1.03690220e-01 -9.94606497e-01 2.50083076e-03 9.30293696e+02] [ 9.94445663e-01 -1.03718453e-01 -1.78970650e-02 1.42726964e+02] [ 1.80599194e-02 6.31189693e-04 9.99836707e-01 6.95818070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1592541539999 meters 0.022651682617612228 Centerline is valid? [True, True] Translation: X:930.29, Y:142.75, Z:6.96 [[-1.05549896e-01 -9.94410549e-01 2.62278577e-03 9.30290852e+02] [ 9.94234359e-01 -1.05580593e-01 -1.87290763e-02 1.42753505e+02] [ 1.89013063e-02 6.30811674e-04 9.99821155e-01 6.95716196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1892541539999 meters 0.02318785976788326 Centerline is valid? [True, True] Translation: X:930.29, Y:142.78, Z:6.96 [[-1.06707648e-01 -9.94286900e-01 2.65318634e-03 9.30287303e+02] [ 9.94107356e-01 -1.06738825e-01 -1.89047150e-02 1.42780478e+02] [ 1.90799084e-02 6.20274389e-04 9.99817770e-01 6.95691930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2192541539998 meters 0.021164261413629388 Centerline is valid? [True, True] Translation: X:930.29, Y:142.81, Z:6.96 [[-1.08983791e-01 -9.94040163e-01 2.58599024e-03 9.30285138e+02] [ 9.93870246e-01 -1.09012997e-01 -1.83875308e-02 1.42808180e+02] [ 1.85598507e-02 5.66195942e-04 9.99827591e-01 6.95745973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2492541539998 meters 0.01956214364702121 Centerline is valid? [True, True] Translation: X:930.28, Y:142.84, Z:6.96 [[-1.10240980e-01 -9.93901842e-01 2.46067954e-03 9.30282232e+02] [ 9.93748565e-01 -1.10267212e-01 -1.74622808e-02 1.42836356e+02] [ 1.76271253e-02 5.20237818e-04 9.99844495e-01 6.95863563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2792541539999 meters 0.021491038864666513 Centerline is valid? [True, True] Translation: X:930.28, Y:142.86, Z:6.96 [[-1.13103124e-01 -9.93579544e-01 2.71534400e-03 9.30281286e+02] [ 9.93393571e-01 -1.13134507e-01 -1.92300856e-02 1.42864038e+02] [ 1.94138187e-02 5.22422530e-04 9.99811398e-01 6.95740804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3092541539999 meters 0.0196259852277927 Centerline is valid? [True, True] Translation: X:930.28, Y:142.89, Z:6.96 [[-1.14302838e-01 -9.93442575e-01 2.59070846e-03 9.30278575e+02] [ 9.93273902e-01 -1.14331186e-01 -1.83121755e-02 1.42891855e+02] [ 1.84882936e-02 4.80149465e-04 9.99828962e-01 6.95838166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3392541539998 meters 0.019668754606880223 Centerline is valid? [True, True] Translation: X:930.28, Y:142.92, Z:6.96 [[-1.15579208e-01 -9.93294991e-01 2.55087218e-03 9.30275522e+02] [ 9.93132135e-01 -1.15606463e-01 -1.79918648e-02 1.42917945e+02] [ 1.81661265e-02 4.53867648e-04 9.99834879e-01 6.95847233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3692541539998 meters 0.017264131190384523 Centerline is valid? [True, True] Translation: X:930.28, Y:142.95, Z:6.96 [[-1.16681152e-01 -9.93166428e-01 2.44043538e-03 9.30276034e+02] [ 9.93017972e-01 -1.16705918e-01 -1.71766349e-02 1.42945986e+02] [ 1.73440704e-02 4.19206643e-04 9.99849492e-01 6.96101094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3992541539999 meters 0.018948271299071506 Centerline is valid? [True, True] Translation: X:930.27, Y:142.97, Z:6.96 [[-1.16621653e-01 -9.93173754e-01 2.29884183e-03 9.30268101e+02] [ 9.93042573e-01 -1.16643623e-01 -1.61466302e-02 1.42971951e+02] [ 1.63045545e-02 3.99801105e-04 9.99866992e-01 6.96041721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4292541539999 meters 0.02157049094117313 Centerline is valid? [True, True] Translation: X:930.26, Y:143.00, Z:6.96 [[-1.14863527e-01 -9.93378196e-01 2.47601272e-03 9.30262951e+02] [ 9.93226748e-01 -1.14889265e-01 -1.73517456e-02 1.42997867e+02] [ 1.75213130e-02 4.66159362e-04 9.99846381e-01 6.95957498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4592541539998 meters 0.02261575880907993 Centerline is valid? [True, True] Translation: X:930.26, Y:143.02, Z:6.96 [[-1.14255733e-01 -9.93448099e-01 2.54993185e-03 9.30258008e+02] [ 9.93288185e-01 -1.14283110e-01 -1.78312448e-02 1.43024563e+02] [ 1.80058304e-02 4.95495230e-04 9.99837759e-01 6.95895798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4892541539998 meters 0.022940096604869866 Centerline is valid? [True, True] Translation: X:930.25, Y:143.05, Z:6.96 [[-1.13557561e-01 -9.93527887e-01 2.64902685e-03 9.30253198e+02] [ 9.93356048e-01 -1.13587207e-01 -1.84853557e-02 1.43051122e+02] [ 1.86666120e-02 5.32274944e-04 9.99825622e-01 6.95842782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5192541539999 meters 0.01834915517418609 Centerline is valid? [True, True] Translation: X:930.26, Y:143.08, Z:6.96 [[-1.12718298e-01 -9.93623025e-01 2.80527691e-03 9.30255198e+02] [ 9.93431149e-01 -1.12751684e-01 -1.95348630e-02 1.43080024e+02] [ 1.97265893e-02 5.84912962e-04 9.99805241e-01 6.96047614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5492541539999 meters 0.022692033425609784 Centerline is valid? [True, True] Translation: X:930.25, Y:143.11, Z:6.96 [[-1.12914134e-01 -9.93600413e-01 2.93551396e-03 9.30245491e+02] [ 9.93391199e-01 -1.12950623e-01 -2.03981129e-02 1.43105724e+02] [ 2.05991415e-02 6.12878484e-04 9.99787627e-01 6.95731257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5792541539998 meters 0.017899628463501568 Centerline is valid? [True, True] Translation: X:930.25, Y:143.14, Z:6.96 [[-1.14127245e-01 -9.93461721e-01 2.96337360e-03 9.30250841e+02] [ 9.93249359e-01 -1.14164144e-01 -2.05489606e-02 1.43135157e+02] [ 2.07529168e-02 5.98172662e-04 9.99784456e-01 6.96067220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6092541539998 meters 0.022327722539803255 Centerline is valid? [True, True] Translation: X:930.24, Y:143.16, Z:6.96 [[-1.15497068e-01 -9.93303419e-01 2.95722089e-03 9.30241386e+02] [ 9.93092744e-01 -1.15533499e-01 -2.04649175e-02 1.43161686e+02] [ 2.06695306e-02 5.73156644e-04 9.99786198e-01 6.95777260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6392541539999 meters 0.023147987225462796 Centerline is valid? [True, True] Translation: X:930.24, Y:143.19, Z:6.96 [[-1.17630513e-01 -9.93052841e-01 3.01960264e-03 9.30240193e+02] [ 9.92833981e-01 -1.17668002e-01 -2.08549196e-02 1.43188614e+02] [ 2.10653478e-02 5.44789215e-04 9.99777953e-01 6.95758969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6692541539999 meters 0.01714649378963618 Centerline is valid? [True, True] Translation: X:930.25, Y:143.22, Z:6.96 [[-1.21552235e-01 -9.92581464e-01 2.66289203e-03 9.30246415e+02] [ 9.92411809e-01 -1.21580703e-01 -1.83557675e-02 1.43217163e+02] [ 1.85433508e-02 4.11500944e-04 9.99827973e-01 6.96343237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6992541539998 meters 0.015165144008690597 Centerline is valid? [True, True] Translation: X:930.25, Y:143.25, Z:6.97 [[-1.23767768e-01 -9.92307766e-01 2.61487268e-03 9.30247321e+02] [ 9.92144604e-01 -1.23794844e-01 -1.79978059e-02 1.43246447e+02] [ 1.81830703e-02 3.66783555e-04 9.99834607e-01 6.96561189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7292541539998 meters 0.01635710901612221 Centerline is valid? [True, True] Translation: X:930.24, Y:143.27, Z:6.96 [[-1.25659737e-01 -9.92070173e-01 2.53013017e-03 9.30242501e+02] [ 9.91917766e-01 -1.25684788e-01 -1.73919142e-02 1.43273487e+02] [ 1.75719982e-02 3.24217700e-04 9.99845548e-01 6.96437714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7592541539999 meters 0.018137322963186632 Centerline is valid? [True, True] Translation: X:930.24, Y:143.30, Z:6.97 [[-1.28047798e-01 -9.91764594e-01 2.59841529e-03 9.30244946e+02] [ 9.91604365e-01 -1.28073823e-01 -1.78291380e-02 1.43302237e+02] [ 1.80150968e-02 2.93618071e-04 9.99837672e-01 6.96597009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7892541539999 meters 0.015318165352195729 Centerline is valid? [True, True] Translation: X:930.24, Y:143.33, Z:6.97 [[-1.28385618e-01 -9.91721458e-01 2.38374819e-03 9.30241290e+02] [ 9.91587143e-01 -1.28407466e-01 -1.63236132e-02 1.43329038e+02] [ 1.64945685e-02 2.67976887e-04 9.99863919e-01 6.96679136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8192541539999 meters 0.015050001535115768 Centerline is valid? [True, True] Translation: X:930.24, Y:143.36, Z:6.97 [[-1.27358055e-01 -9.91854181e-01 2.28250588e-03 9.30237792e+02] [ 9.91731560e-01 -1.27378206e-01 -1.55982427e-02 1.43355892e+02] [ 1.57619237e-02 2.77071267e-04 9.99875735e-01 6.96749108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8492541539998 meters 0.016734152828859553 Centerline is valid? [True, True] Translation: X:930.23, Y:143.38, Z:6.97 [[-1.26535537e-01 -9.91959067e-01 2.44289224e-03 9.30234101e+02] [ 9.91819214e-01 -1.26558724e-01 -1.66594351e-02 1.43384165e+02] [ 1.68346470e-02 3.14896904e-04 9.99858238e-01 6.96725421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8792541539999 meters 0.01704697072297736 Centerline is valid? [True, True] Translation: X:930.23, Y:143.41, Z:6.97 [[-1.25413604e-01 -9.92101535e-01 2.44386564e-03 9.30230500e+02] [ 9.91962142e-01 -1.25436957e-01 -1.66336524e-02 1.43412396e+02] [ 1.68088232e-02 3.38135901e-04 9.99858665e-01 6.96749001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9092541539999 meters 0.01656168434173489 Centerline is valid? [True, True] Translation: X:930.22, Y:143.44, Z:6.97 [[-1.21772030e-01 -9.92555053e-01 2.45771022e-03 9.30224763e+02] [ 9.92414593e-01 -1.21796155e-01 -1.67024665e-02 1.43439126e+02] [ 1.68774572e-02 4.05174235e-04 9.99857483e-01 6.96685012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9392541539999 meters 0.020063429828785933 Centerline is valid? [True, True] Translation: X:930.22, Y:143.47, Z:6.96 [[-1.20312959e-01 -9.92732203e-01 2.75046651e-03 9.30218271e+02] [ 9.92556976e-01 -1.20343415e-01 -1.86577703e-02 1.43465489e+02] [ 1.88531700e-02 4.85223168e-04 9.99822145e-01 6.96427703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9692541539998 meters 0.01854932725386258 Centerline is valid? [True, True] Translation: X:930.22, Y:143.49, Z:6.96 [[-1.17032712e-01 -9.93124150e-01 2.78704377e-03 9.30215317e+02] [ 9.92945068e-01 -1.17064557e-01 -1.88674599e-02 1.43493519e+02] [ 1.90639941e-02 5.59271370e-04 9.99818109e-01 6.96445903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9992541539998 meters 0.019436624818808347 Centerline is valid? [True, True] Translation: X:930.21, Y:143.52, Z:6.96 [[-1.15853100e-01 -9.93262360e-01 2.81847171e-03 9.30209963e+02] [ 9.93079896e-01 -1.15885865e-01 -1.90469677e-02 1.43519527e+02] [ 1.92452571e-02 5.92317336e-04 9.99814617e-01 6.96367628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0292541539999 meters 0.0197878440493792 Centerline is valid? [True, True] Translation: X:930.21, Y:143.55, Z:6.96 [[-1.15041833e-01 -9.93356350e-01 2.92224250e-03 9.30205973e+02] [ 9.93160955e-01 -1.15077192e-01 -1.97118333e-02 1.43547100e+02] [ 1.99171583e-02 6.34571716e-04 9.99801432e-01 6.96343310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0592541539999 meters 0.02077924059252098 Centerline is valid? [True, True] Translation: X:930.20, Y:143.57, Z:6.96 [[-1.14072644e-01 -9.93468323e-01 2.85000246e-03 9.30201869e+02] [ 9.93283248e-01 -1.14106433e-01 -1.91862107e-02 1.43573691e+02] [ 1.93860962e-02 6.42237913e-04 9.99811866e-01 6.96316723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0892541539998 meters 0.021173420597318502 Centerline is valid? [True, True] Translation: X:930.20, Y:143.60, Z:6.96 [[-1.14009412e-01 -9.93476089e-01 2.66712956e-03 9.30199585e+02] [ 9.93314675e-01 -1.14038993e-01 -1.79182937e-02 1.43600947e+02] [ 1.81055531e-02 6.06444799e-04 9.99835897e-01 6.96397214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1192541539998 meters 0.020221432773639636 Centerline is valid? [True, True] Translation: X:930.20, Y:143.63, Z:6.96 [[-1.14557587e-01 -9.93413243e-01 2.58608901e-03 9.30198469e+02] [ 9.93262124e-01 -1.14585292e-01 -1.73368022e-02 1.43628072e+02] [ 1.75189366e-02 5.82602043e-04 9.99846362e-01 6.96487742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1492541539999 meters 0.021364946647509694 Centerline is valid? [True, True] Translation: X:930.20, Y:143.65, Z:6.96 [[-1.15105415e-01 -9.93349834e-01 2.61733608e-03 9.30195135e+02] [ 9.93195722e-01 -1.15133686e-01 -1.75069258e-02 1.43654322e+02] [ 1.76918453e-02 5.84385038e-04 9.99843316e-01 6.96471586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1792541539999 meters 0.021165160463609077 Centerline is valid? [True, True] Translation: X:930.20, Y:143.68, Z:6.97 [[-1.16665448e-01 -9.93167419e-01 2.76623405e-03 9.30197989e+02] [ 9.92995963e-01 -1.16696733e-01 -1.84632231e-02 1.43682950e+02] [ 1.86598821e-02 5.92839049e-04 9.99825713e-01 6.96550251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2092541539998 meters 0.020383857989365293 Centerline is valid? [True, True] Translation: X:930.20, Y:143.71, Z:6.97 [[-1.17234780e-01 -9.93100557e-01 2.69987645e-03 9.30195064e+02] [ 9.92937857e-01 -1.17264468e-01 -1.79848763e-02 1.43710454e+02] [ 1.81773902e-02 5.72356514e-04 9.99834614e-01 6.96546781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2392541539998 meters 0.020426727943230173 Centerline is valid? [True, True] Translation: X:930.19, Y:143.74, Z:6.96 [[-1.17511460e-01 -9.93067759e-01 2.73553626e-03 9.30192523e+02] [ 9.92901280e-01 -1.17541873e-01 -1.81922125e-02 1.43737479e+02] [ 1.83876398e-02 5.78324011e-04 9.99830766e-01 6.96452996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2692541539999 meters 0.020126935890370765 Centerline is valid? [True, True] Translation: X:930.19, Y:143.77, Z:6.96 [[-1.17774963e-01 -9.93036130e-01 2.88132745e-03 9.30189710e+02] [ 9.92852093e-01 -1.17808634e-01 -1.91271417e-02 1.43765070e+02] [ 1.93333880e-02 6.08033577e-04 9.99812908e-01 6.96416291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2992541539999 meters 0.020567415728945507 Centerline is valid? [True, True] Translation: X:930.19, Y:143.79, Z:6.96 [[-1.18035676e-01 -9.93004830e-01 2.99789884e-03 9.30185786e+02] [ 9.92806244e-01 -1.18072053e-01 -1.98683458e-02 1.43791760e+02] [ 2.00833314e-02 6.31159068e-04 9.99798110e-01 6.96283322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3292541539998 meters 0.019591413756982833 Centerline is valid? [True, True] Translation: X:930.18, Y:143.82, Z:6.96 [[-1.18934899e-01 -9.92897121e-01 3.13009795e-03 9.30183229e+02] [ 9.92681436e-01 -1.18974333e-01 -2.07044796e-02 1.43819077e+02] [ 2.09298195e-02 6.44704953e-04 9.99780739e-01 6.96152435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3592541539998 meters 0.01913925499362548 Centerline is valid? [True, True] Translation: X:930.18, Y:143.85, Z:6.96 [[-1.19896056e-01 -9.92781166e-01 3.23926463e-03 9.30181455e+02] [ 9.92551070e-01 -1.19938037e-01 -2.13831959e-02 1.43847215e+02] [ 2.16173451e-02 6.51374732e-04 9.99766106e-01 6.96169885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3892541539999 meters 0.01814833467350504 Centerline is valid? [True, True] Translation: X:930.18, Y:143.88, Z:6.96 [[-1.21636842e-01 -9.92569760e-01 3.12259824e-03 9.30180049e+02] [ 9.92356694e-01 -1.21675455e-01 -2.05736647e-02 1.43875606e+02] [ 2.08007410e-02 5.96215669e-04 9.99783463e-01 6.96314272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4192541539999 meters 0.01846117222484729 Centerline is valid? [True, True] Translation: X:930.18, Y:143.90, Z:6.96 [[-1.22671131e-01 -9.92442790e-01 3.01701566e-03 9.30176286e+02] [ 9.92244611e-01 -1.22706949e-01 -1.98402797e-02 1.43902879e+02] [ 2.00605513e-02 5.59787974e-04 9.99798610e-01 6.96400541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4492541539998 meters 0.01846117222484729 Centerline is valid? [True, True] Translation: X:930.17, Y:143.93, Z:6.96 [[-1.22953811e-01 -9.92407791e-01 3.02266785e-03 9.30172052e+02] [ 9.92209622e-01 -1.22989686e-01 -1.98394191e-02 1.43930151e+02] [ 2.00605510e-02 5.59787939e-04 9.99798610e-01 6.96419590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4792541539998 meters 0.017172290026086688 Centerline is valid? [True, True] Translation: X:930.17, Y:143.96, Z:6.97 [[-1.24103830e-01 -9.92265316e-01 2.78980912e-03 9.30169165e+02] [ 9.92097066e-01 -1.24134179e-01 -1.82788711e-02 1.43958841e+02] [ 1.84838005e-02 4.99283531e-04 9.99829035e-01 6.96641134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5092541539999 meters 0.020373607801961333 Centerline is valid? [True, True] Translation: X:930.16, Y:143.99, Z:6.97 [[-1.27118033e-01 -9.91884137e-01 2.62020190e-03 9.30163401e+02] [ 9.91736180e-01 -1.27144340e-01 -1.71366722e-02 1.43986061e+02] [ 1.73307371e-02 4.20168969e-04 9.99849723e-01 6.96667717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5392541539999 meters 0.016164700634381995 Centerline is valid? [True, True] Translation: X:930.16, Y:144.01, Z:6.97 [[-1.28472837e-01 -9.91710529e-01 2.22633356e-03 9.30161456e+02] [ 9.91604047e-01 -1.28491676e-01 -1.45362536e-02 1.44014868e+02] [ 1.47018211e-02 3.40127621e-04 9.99891865e-01 6.96914322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5692541539999 meters 0.01869652082818748 Centerline is valid? [True, True] Translation: X:930.16, Y:144.04, Z:6.97 [[-1.32850304e-01 -9.91133195e-01 2.40567497e-03 9.30159956e+02] [ 9.91009135e-01 -1.32871744e-01 -1.56842229e-02 1.44042130e+02] [ 1.58648002e-02 3.00392087e-04 9.99874101e-01 6.96779594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5992541539998 meters 0.017513008860782997 Centerline is valid? [True, True] Translation: X:930.16, Y:144.07, Z:6.97 [[-1.35103622e-01 -9.90828473e-01 2.43881846e-03 9.30158804e+02] [ 9.90701318e-01 -1.35125360e-01 -1.58756205e-02 1.44070367e+02] [ 1.60595630e-02 2.71286840e-04 9.99871000e-01 6.96809669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6292541539999 meters 0.014985575608647935 Centerline is valid? [True, True] Translation: X:930.16, Y:144.10, Z:6.97 [[-1.36788000e-01 -9.90597561e-01 2.34865051e-03 9.30155478e+02] [ 9.90480040e-01 -1.36807953e-01 -1.52602048e-02 1.44097502e+02] [ 1.54380357e-02 2.38878558e-04 9.99880798e-01 6.96781467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6592541539999 meters 0.015864704987845674 Centerline is valid? [True, True] Translation: X:930.15, Y:144.13, Z:6.97 [[-1.37571709e-01 -9.90488647e-01 2.50298492e-03 9.30151972e+02] [ 9.90355685e-01 -1.37594257e-01 -1.62307877e-02 1.44125175e+02] [ 1.64208073e-02 2.45948138e-04 9.99865139e-01 6.96750730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6892541539999 meters 0.01581183107338775 Centerline is valid? [True, True] Translation: X:930.15, Y:144.15, Z:6.97 [[-1.37290329e-01 -9.90527508e-01 2.57336084e-03 9.30146998e+02] [ 9.90387519e-01 -1.37314194e-01 -1.66545392e-02 1.44152737e+02] [ 1.68501382e-02 2.62117302e-04 9.99857992e-01 6.96715369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7192541539998 meters 0.014940955939874281 Centerline is valid? [True, True] Translation: X:930.14, Y:144.18, Z:6.97 [[-1.35798555e-01 -9.90732317e-01 2.86844275e-03 9.30140310e+02] [ 9.90559098e-01 -1.35828457e-01 -1.85284700e-02 1.44179170e+02] [ 1.87463702e-02 3.25222602e-04 9.99824218e-01 6.96571298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7492541539998 meters 0.017167092553667322 Centerline is valid? [True, True] Translation: X:930.13, Y:144.21, Z:6.96 [[-1.35608853e-01 -9.90757306e-01 3.19366438e-03 9.30134957e+02] [ 9.90543385e-01 -1.35645946e-01 -2.05907469e-02 1.44207494e+02] [ 2.08336406e-02 3.71175547e-04 9.99782887e-01 6.96464132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7792541539999 meters 0.016706034729764223 Centerline is valid? [True, True] Translation: X:930.13, Y:144.24, Z:6.96 [[-1.35438434e-01 -9.90780213e-01 3.31657489e-03 9.30129835e+02] [ 9.90550389e-01 -1.35478460e-01 -2.13427788e-02 1.44235242e+02] [ 2.15953274e-02 3.94602021e-04 9.99766716e-01 6.96448220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8092541539999 meters 0.015877089898281585 Centerline is valid? [True, True] Translation: X:930.12, Y:144.26, Z:6.96 [[-1.35648818e-01 -9.90751485e-01 3.30057898e-03 9.30124629e+02] [ 9.90524760e-01 -1.35688395e-01 -2.11981101e-02 1.44262310e+02] [ 2.14499093e-02 3.93806619e-04 9.99769847e-01 6.96369704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8392541539998 meters 0.015438856092218746 Centerline is valid? [True, True] Translation: X:930.12, Y:144.29, Z:6.96 [[-1.36781880e-01 -9.90595661e-01 3.30971670e-03 9.30120450e+02] [ 9.90368606e-01 -1.36821399e-01 -2.12115258e-02 1.44288343e+02] [ 2.14648854e-02 3.76487130e-04 9.99769532e-01 6.96373154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8692541539998 meters 0.01627559557296942 Centerline is valid? [True, True] Translation: X:930.12, Y:144.32, Z:6.96 [[-1.40981001e-01 -9.90006879e-01 3.27658757e-03 9.30118808e+02] [ 9.89785061e-01 -1.41018777e-01 -2.09579771e-02 1.44316277e+02] [ 2.12106018e-02 2.88440846e-04 9.99774988e-01 6.96457377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8992541539999 meters 0.014081507536757685 Centerline is valid? [True, True] Translation: X:930.12, Y:144.34, Z:6.97 [[-1.43445306e-01 -9.89653610e-01 3.02928091e-03 9.30116322e+02] [ 9.89464503e-01 -1.43477116e-01 -1.93472311e-02 1.44342988e+02] [ 1.95816896e-02 2.22096459e-04 9.99808236e-01 6.96546271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9292541539999 meters 0.01750778510049212 Centerline is valid? [True, True] Translation: X:930.11, Y:144.37, Z:6.97 [[-1.46969783e-01 -9.89135982e-01 3.14519042e-03 9.30114761e+02] [ 9.88932755e-01 -1.47003342e-01 -2.00505330e-02 1.44370447e+02] [ 2.02950572e-02 1.63559348e-04 9.99794021e-01 6.96570412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9592541539998 meters 0.014306674650204272 Centerline is valid? [True, True] Translation: X:930.12, Y:144.40, Z:6.97 [[-1.52974298e-01 -9.88226154e-01 2.81642489e-03 9.30115110e+02] [ 9.88063635e-01 -1.53000217e-01 -1.79216735e-02 1.44398733e+02] [ 1.81415801e-02 4.12515982e-05 9.99835427e-01 6.96767580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9892541539998 meters 0.013170383211710414 Centerline is valid? [True, True] Translation: X:930.11, Y:144.43, Z:6.97 [[-1.55891928e-01 -9.87770290e-01 2.74961056e-03 9.30112999e+02] [ 9.87615923e-01 -1.55916175e-01 -1.74623873e-02 1.44426061e+02] [ 1.76775361e-02 -6.68605264e-06 9.99843740e-01 6.96867775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0192541539999 meters 0.013427508344646443 Centerline is valid? [True, True] Translation: X:930.11, Y:144.45, Z:6.97 [[-1.60468776e-01 -9.87037151e-01 2.72675502e-03 9.30112414e+02] [ 9.86885849e-01 -1.60491920e-01 -1.72819347e-02 1.44453334e+02] [ 1.74955337e-02 -8.22149624e-05 9.99846938e-01 6.96949817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0492541539999 meters 0.013543956646173746 Centerline is valid? [True, True] Translation: X:930.11, Y:144.48, Z:6.97 [[-1.62398633e-01 -9.86721407e-01 2.74741440e-03 9.30109175e+02] [ 9.86568383e-01 -1.62421833e-01 -1.73773664e-02 1.44480172e+02] [ 1.75928595e-02 -1.11548364e-04 9.99845227e-01 6.96945314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0792541539998 meters 0.014523809323632437 Centerline is valid? [True, True] Translation: X:930.11, Y:144.51, Z:6.97 [[-1.64021028e-01 -9.86452703e-01 2.85764103e-03 9.30105411e+02] [ 9.86287794e-01 -1.64045860e-01 -1.80372973e-02 1.44507567e+02] [ 1.82617248e-02 -1.40039583e-04 9.99833231e-01 6.96935116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1092541539998 meters 0.014066490183734303 Centerline is valid? [True, True] Translation: X:930.10, Y:144.53, Z:6.97 [[-1.65890870e-01 -9.86139682e-01 2.95765949e-03 9.30102448e+02] [ 9.85963670e-01 -1.65917141e-01 -1.86317675e-02 1.44534816e+02] [ 1.88642517e-02 -1.74695313e-04 9.99822039e-01 6.96922355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1392541539999 meters 0.016837633875743083 Centerline is valid? [True, True] Translation: X:930.10, Y:144.56, Z:6.97 [[-1.67194362e-01 -9.85918967e-01 3.13615250e-03 9.30097608e+02] [ 9.85721758e-01 -1.67223646e-01 -1.97197310e-02 1.44562446e+02] [ 1.99664957e-02 -2.05654098e-04 9.99800629e-01 6.96949152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1692541539999 meters 0.015608477924915846 Centerline is valid? [True, True] Translation: X:930.09, Y:144.59, Z:6.97 [[-1.67358688e-01 -9.85891002e-01 3.16241625e-03 9.30092744e+02] [ 9.85691201e-01 -1.67388439e-01 -1.98485981e-02 1.44590453e+02] [ 2.00979062e-02 -2.04669474e-04 9.99797996e-01 6.97001528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1992541539998 meters 0.014033446333866393 Centerline is valid? [True, True] Translation: X:930.09, Y:144.62, Z:6.97 [[-1.66922478e-01 -9.85965014e-01 3.14273164e-03 9.30088687e+02] [ 9.85768455e-01 -1.66951954e-01 -1.96874986e-02 1.44617018e+02] [ 1.99358700e-02 -1.88280336e-04 9.99801243e-01 6.96993837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2292541539998 meters 0.01449240508146971 Centerline is valid? [True, True] Translation: X:930.08, Y:144.64, Z:6.97 [[-1.66522543e-01 -9.86032696e-01 3.12507159e-03 9.30083048e+02] [ 9.85839076e-01 -1.66551774e-01 -1.95403068e-02 1.44644144e+02] [ 1.97878676e-02 -1.73083887e-04 9.99804186e-01 6.97107589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2592541539999 meters 0.01455678498321939 Centerline is valid? [True, True] Translation: X:930.08, Y:144.67, Z:6.97 [[-1.64116737e-01 -9.86436592e-01 2.92341785e-03 9.30076706e+02] [ 9.86267825e-01 -1.64142735e-01 -1.82466229e-02 1.44670968e+02] [ 1.84789943e-02 -1.11303250e-04 9.99829243e-01 6.97222165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2892541539999 meters 0.013178262239528032 Centerline is valid? [True, True] Translation: X:930.07, Y:144.70, Z:6.97 [[-1.62412570e-01 -9.86718803e-01 2.85681843e-03 9.30071278e+02] [ 9.86558324e-01 -1.62437678e-01 -1.77953264e-02 1.44696557e+02] [ 1.80230381e-02 -7.17666915e-05 9.99837569e-01 6.97318175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3192541539999 meters 0.012885784255020079 Centerline is valid? [True, True] Translation: X:930.07, Y:144.72, Z:6.97 [[-1.60799791e-01 -9.86983008e-01 2.82297809e-03 9.30065029e+02] [ 9.86826955e-01 -1.60824565e-01 -1.75505021e-02 1.44724275e+02] [ 1.77760515e-02 -3.63261877e-05 9.99841993e-01 6.97464591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3492541539998 meters 0.016087484406366728 Centerline is valid? [True, True] Translation: X:930.06, Y:144.75, Z:6.97 [[-1.57049660e-01 -9.87587004e-01 2.70448992e-03 9.30056525e+02] [ 9.87444396e-01 -1.57072941e-01 -1.67826283e-02 1.44750720e+02] [ 1.69991078e-02 3.48273411e-05 9.99855504e-01 6.97375717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3792541539999 meters 0.012917417079846076 Centerline is valid? [True, True] Translation: X:930.05, Y:144.78, Z:6.98 [[-1.54193935e-01 -9.88037151e-01 2.61126573e-03 9.30049737e+02] [ 9.87904758e-01 -1.54216021e-01 -1.61743143e-02 1.44778159e+02] [ 1.63835224e-02 8.57006747e-05 9.99865777e-01 6.97575839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4092541539999 meters 0.014362741179740691 Centerline is valid? [True, True] Translation: X:930.04, Y:144.81, Z:6.98 [[-1.48494574e-01 -9.88909663e-01 2.65326349e-03 9.30039545e+02] [ 9.88773610e-01 -1.48518158e-01 -1.64043987e-02 1.44805193e+02] [ 1.66165262e-02 1.87512722e-04 9.99861918e-01 6.97559038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4392541539999 meters 0.01599909927487894 Centerline is valid? [True, True] Translation: X:930.03, Y:144.83, Z:6.97 [[-1.46272591e-01 -9.89240841e-01 2.62439729e-03 9.30031389e+02] [ 9.89108211e-01 -1.46295957e-01 -1.62000021e-02 1.44830824e+02] [ 1.64096425e-02 2.26196627e-04 9.99865327e-01 6.97433189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4692541539998 meters 0.014660533419196202 Centerline is valid? [True, True] Translation: X:930.02, Y:144.86, Z:6.98 [[-1.43757054e-01 -9.89609448e-01 2.65528493e-03 9.30024638e+02] [ 9.89474189e-01 -1.43781312e-01 -1.63634982e-02 1.44858265e+02] [ 1.65752527e-02 2.74967607e-04 9.99862583e-01 6.97554253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4992541539998 meters 0.017875037066137783 Centerline is valid? [True, True] Translation: X:930.02, Y:144.88, Z:6.97 [[-1.40756070e-01 -9.90040309e-01 2.81335673e-03 9.30015304e+02] [ 9.89889016e-01 -1.40783752e-01 -1.73110293e-02 1.44884284e+02] [ 1.75346917e-02 3.48278468e-04 9.99846195e-01 6.97294913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5292541539999 meters 0.017126808022778852 Centerline is valid? [True, True] Translation: X:930.01, Y:144.91, Z:6.97 [[-1.39722653e-01 -9.90186425e-01 2.90240144e-03 9.30008960e+02] [ 9.90025951e-01 -1.39752272e-01 -1.78302934e-02 1.44911997e+02] [ 1.80609316e-02 3.82156861e-04 9.99836815e-01 6.97314529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5592541539999 meters 0.0168201922678873 Centerline is valid? [True, True] Translation: X:930.00, Y:144.94, Z:6.97 [[-1.37279171e-01 -9.90527910e-01 2.98128031e-03 9.30001691e+02] [ 9.90359178e-01 -1.37310828e-01 -1.82875870e-02 1.44938708e+02] [ 1.85237274e-02 4.42033523e-04 9.99828323e-01 6.97364062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5892541539998 meters 0.019290824631986454 Centerline is valid? [True, True] Translation: X:930.00, Y:144.97, Z:6.97 [[-1.37357654e-01 -9.90516866e-01 3.03524545e-03 9.29995810e+02] [ 9.90342575e-01 -1.37390439e-01 -1.85863478e-02 1.44965393e+02] [ 1.88271046e-02 4.52955664e-04 9.99822652e-01 6.97200573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6192541539998 meters 0.017879482006051668 Centerline is valid? [True, True] Translation: X:929.99, Y:144.99, Z:6.97 [[-1.37280003e-01 -9.90527090e-01 3.20688271e-03 9.29991286e+02] [ 9.90333269e-01 -1.37316597e-01 -1.96002107e-02 1.44993210e+02] [ 1.98548979e-02 4.85165658e-04 9.99802754e-01 6.97278417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6492541539999 meters 0.018095250718797612 Centerline is valid? [True, True] Translation: X:929.98, Y:145.02, Z:6.97 [[-1.38195607e-01 -9.90399334e-01 3.33682150e-03 9.29984800e+02] [ 9.90190301e-01 -1.38235013e-01 -2.03531256e-02 1.45018865e+02] [ 2.06189876e-02 4.91375744e-04 9.99787285e-01 6.97191645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6792541539999 meters 0.0199820374763813 Centerline is valid? [True, True] Translation: X:929.98, Y:145.05, Z:6.97 [[-1.39810488e-01 -9.90172817e-01 3.28929028e-03 9.29979532e+02] [ 9.89970382e-01 -1.39848431e-01 -2.00264457e-02 1.45045919e+02] [ 2.02896443e-02 4.56392812e-04 9.99794040e-01 6.97044850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7092541539998 meters 0.01637145556875637 Centerline is valid? [True, True] Translation: X:929.98, Y:145.07, Z:6.97 [[-1.42874880e-01 -9.89735427e-01 3.24849753e-03 9.29978668e+02] [ 9.89538537e-01 -1.42911264e-01 -1.97447082e-02 1.45074245e+02] [ 2.00062841e-02 3.93490674e-04 9.99799777e-01 6.97339234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7392541539998 meters 0.014915348197002062 Centerline is valid? [True, True] Translation: X:929.98, Y:145.10, Z:6.98 [[-1.44997602e-01 -9.89426904e-01 3.17747411e-03 9.29977944e+02] [ 9.89239110e-01 -1.45031996e-01 -1.92796109e-02 1.45102907e+02] [ 1.95366011e-02 3.47784315e-04 9.99809082e-01 6.97575055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7692541539999 meters 0.014381569979271498 Centerline is valid? [True, True] Translation: X:929.98, Y:145.13, Z:6.98 [[-1.47868746e-01 -9.89002348e-01 3.03145068e-03 9.29975393e+02] [ 9.88831913e-01 -1.47899547e-01 -1.83622504e-02 1.45129528e+02] [ 1.86086589e-02 2.82392250e-04 9.99826804e-01 6.97659106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7992541539999 meters 0.013816783107479679 Centerline is valid? [True, True] Translation: X:929.98, Y:145.16, Z:6.98 [[-1.53131294e-01 -9.88201653e-01 2.88096985e-03 9.29975080e+02] [ 9.88048101e-01 -1.53158288e-01 -1.74209240e-02 1.45158109e+02] [ 1.76566303e-02 1.78848163e-04 9.99844094e-01 6.97794199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8292541539998 meters 0.01370811933111896 Centerline is valid? [True, True] Translation: X:929.97, Y:145.18, Z:6.98 [[-1.55703796e-01 -9.87799705e-01 2.84083764e-03 9.29972133e+02] [ 9.87650911e-01 -1.55729650e-01 -1.71450776e-02 1.45184143e+02] [ 1.73783053e-02 1.36202222e-04 9.99848977e-01 6.97806598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8592541539998 meters 0.012974713592102522 Centerline is valid? [True, True] Translation: X:929.97, Y:145.21, Z:6.98 [[-1.57836216e-01 -9.87461293e-01 2.81476584e-03 9.29968929e+02] [ 9.87315737e-01 -1.57861279e-01 -1.69544033e-02 1.45211453e+02] [ 1.71861596e-02 1.03043750e-04 9.99852302e-01 6.97890511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8892541539999 meters 0.012745699421537287 Centerline is valid? [True, True] Translation: X:929.97, Y:145.24, Z:6.98 [[-1.60526280e-01 -9.87027805e-01 2.72482071e-03 9.29967390e+02] [ 9.86891833e-01 -1.60549394e-01 -1.63830014e-02 1.45239575e+02] [ 1.66079462e-02 5.92010401e-05 9.99862077e-01 6.98082850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9192541539999 meters 0.012911237339520982 Centerline is valid? [True, True] Translation: X:929.96, Y:145.27, Z:6.98 [[-1.61344382e-01 -9.86894273e-01 2.77206195e-03 9.29963364e+02] [ 9.86753947e-01 -1.61368186e-01 -1.66419911e-02 1.45266702e+02] [ 1.68712083e-02 5.02513054e-05 9.99857670e-01 6.98008875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9492541539998 meters 0.014578557076857289 Centerline is valid? [True, True] Translation: X:929.96, Y:145.29, Z:6.98 [[-1.62537489e-01 -9.86698127e-01 2.89316817e-03 9.29959982e+02] [ 9.86545765e-01 -1.62563232e-01 -1.73392614e-02 1.45292461e+02] [ 1.75789395e-02 3.59628060e-05 9.99845478e-01 6.97941655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9792541539998 meters 0.014153117338440343 Centerline is valid? [True, True] Translation: X:929.96, Y:145.32, Z:6.98 [[-1.62618399e-01 -9.86684513e-01 2.98815876e-03 9.29955554e+02] [ 9.86522601e-01 -1.62645846e-01 -1.78742059e-02 1.45319695e+02] [ 1.81222138e-02 4.12113974e-05 9.99835778e-01 6.98118143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0092541539999 meters 0.01273534011891426 Centerline is valid? [True, True] Translation: X:929.95, Y:145.35, Z:6.98 [[-1.62419532e-01 -9.86716924e-01 3.09956018e-03 9.29950532e+02] [ 9.86543353e-01 -1.62449097e-01 -1.85068683e-02 1.45347465e+02] [ 1.87645609e-02 5.19736152e-05 9.99823929e-01 6.98212962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0392541539999 meters 0.0128300465483501 Centerline is valid? [True, True] Translation: X:929.94, Y:145.37, Z:6.98 [[-1.62571931e-01 -9.86691570e-01 3.18010387e-03 9.29944826e+02] [ 9.86509524e-01 -1.62603022e-01 -1.89530120e-02 1.45373908e+02] [ 1.92178717e-02 5.59749849e-05 9.99815318e-01 6.98162782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0692541539999 meters 0.014830578719412688 Centerline is valid? [True, True] Translation: X:929.94, Y:145.40, Z:6.98 [[-1.63284779e-01 -9.86573668e-01 3.23698465e-03 9.29940156e+02] [ 9.86385747e-01 -1.63316854e-01 -1.92552136e-02 1.45400336e+02] [ 1.95253408e-02 4.88322190e-05 9.99809361e-01 6.98068633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0992541539998 meters 0.01536052275783526 Centerline is valid? [True, True] Translation: X:929.94, Y:145.43, Z:6.98 [[-1.64211488e-01 -9.86419730e-01 3.27167964e-03 9.29935725e+02] [ 9.86228464e-01 -1.64244073e-01 -1.94242271e-02 1.45427619e+02] [ 1.96977948e-02 3.69423415e-05 9.99805979e-01 6.98070277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1292541539999 meters 0.013237946169985422 Centerline is valid? [True, True] Translation: X:929.93, Y:145.45, Z:6.98 [[-1.66767163e-01 -9.85991155e-01 3.18664540e-03 9.29933203e+02] [ 9.85810330e-01 -1.66797606e-01 -1.88825663e-02 1.45453617e+02] [ 1.91495682e-02 -7.56405773e-06 9.99816630e-01 6.98330153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1592541539999 meters 0.013164810954233665 Centerline is valid? [True, True] Translation: X:929.93, Y:145.48, Z:6.98 [[-1.69393443e-01 -9.85543665e-01 3.08954232e-03 9.29929657e+02] [ 9.85374230e-01 -1.69421608e-01 -1.82741858e-02 1.45481949e+02] [ 1.85334432e-02 -5.11718588e-05 9.99828240e-01 6.98471016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1892541539999 meters 0.012905377317429936 Centerline is valid? [True, True] Translation: X:929.93, Y:145.51, Z:6.99 [[-1.71963660e-01 -9.85098534e-01 3.06239600e-03 9.29926487e+02] [ 9.84932563e-01 -1.71990900e-01 -1.80824833e-02 1.45509853e+02] [ 1.83397321e-02 -9.32764692e-05 9.99831809e-01 6.98620549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2192541539998 meters 0.017407746653450032 Centerline is valid? [True, True] Translation: X:929.92, Y:145.54, Z:6.99 [[-1.78204076e-01 -9.83988959e-01 3.00607551e-03 9.29924736e+02] [ 9.83829401e-01 -1.78229316e-01 -1.77206161e-02 1.45538671e+02] [ 1.79726614e-02 -2.00420555e-04 9.99838459e-01 6.98615780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2492541539998 meters 0.015628704483192733 Centerline is valid? [True, True] Translation: X:929.92, Y:145.57, Z:6.99 [[-1.81257634e-01 -9.83431398e-01 2.89058558e-03 9.29922312e+02] [ 9.83284300e-01 -1.81280521e-01 -1.70105407e-02 1.45565603e+02] [ 1.72527067e-02 -2.41022951e-04 9.99851132e-01 6.98743717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2792541539999 meters 0.014981848282934244 Centerline is valid? [True, True] Translation: X:929.92, Y:145.59, Z:6.99 [[-1.87076924e-01 -9.82341178e-01 2.83455928e-03 9.29918813e+02] [ 9.82200093e-01 -1.87098104e-01 -1.66516181e-02 1.45593428e+02] [ 1.68879108e-02 -3.31029112e-04 9.99857334e-01 6.98965933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3092541539999 meters 0.018614470035383333 Centerline is valid? [True, True] Translation: X:929.92, Y:145.62, Z:6.99 [[-1.90139755e-01 -9.81752470e-01 2.99347061e-03 9.29915981e+02] [ 9.81595594e-01 -1.90162898e-01 -1.75545642e-02 1.45621048e+02] [ 1.78034838e-02 -3.99442957e-04 9.99841426e-01 6.98780022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3392541539998 meters 0.018614470035383333 Centerline is valid? [True, True] Translation: X:929.91, Y:145.65, Z:6.99 [[-1.90448661e-01 -9.81692577e-01 2.99875443e-03 9.29911368e+02] [ 9.81535707e-01 -1.90471849e-01 -1.75536620e-02 1.45647425e+02] [ 1.78034780e-02 -3.99686866e-04 9.99841426e-01 6.98798499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3692541539998 meters 0.017112018389376076 Centerline is valid? [True, True] Translation: X:929.91, Y:145.67, Z:6.99 [[-1.92558800e-01 -9.81280904e-01 2.98251447e-03 9.29907579e+02] [ 9.81126241e-01 -1.92581418e-01 -1.74269076e-02 1.45674556e+02] [ 1.76750685e-02 -4.29481213e-04 9.99843692e-01 6.98927438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3992541539999 meters 0.019584067684476424 Centerline is valid? [True, True] Translation: X:929.90, Y:145.70, Z:6.99 [[-1.95701958e-01 -9.80657483e-01 3.41237483e-03 9.29901842e+02] [ 9.80455685e-01 -1.95730936e-01 -1.99009976e-02 1.45701551e+02] [ 2.01839695e-02 -5.48981888e-04 9.99796132e-01 6.98773676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4292541539999 meters 0.019825132029645334 Centerline is valid? [True, True] Translation: X:929.90, Y:145.73, Z:6.99 [[-1.96562926e-01 -9.80484816e-01 3.54154169e-03 9.29896669e+02] [ 9.80268178e-01 -1.96593969e-01 -2.06182120e-02 1.45729422e+02] [ 2.09120895e-02 -5.81115457e-04 9.99781149e-01 6.98741470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4592541539998 meters 0.017850773880941515 Centerline is valid? [True, True] Translation: X:929.89, Y:145.76, Z:6.99 [[-1.96235450e-01 -9.80550126e-01 3.61914140e-03 9.29888711e+02] [ 9.80324660e-01 -1.96267965e-01 -2.10344071e-02 1.45756331e+02] [ 2.13356120e-02 -5.79762771e-04 9.99772202e-01 6.98837481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4892541539998 meters 0.019583660098527 Centerline is valid? [True, True] Translation: X:929.88, Y:145.78, Z:6.99 [[-1.95929097e-01 -9.80610501e-01 3.85164806e-03 9.29881353e+02] [ 9.80356021e-01 -1.95966026e-01 -2.23469907e-02 1.45783740e+02] [ 2.26684859e-02 -6.02439329e-04 9.99742855e-01 6.98808304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5192541539999 meters 0.019353702054013874 Centerline is valid? [True, True] Translation: X:929.88, Y:145.81, Z:6.99 [[-1.95100501e-01 -9.80775712e-01 3.84661848e-03 9.29875464e+02] [ 9.80522795e-01 -1.95137570e-01 -2.22795464e-02 1.45809756e+02] [ 2.26018578e-02 -5.75053549e-04 9.99744380e-01 6.98819045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5492541539999 meters 0.019761700798450396 Centerline is valid? [True, True] Translation: X:929.87, Y:145.84, Z:6.99 [[-1.94075165e-01 -9.80978792e-01 3.92944218e-03 9.29869863e+02] [ 9.80715907e-01 -1.94114147e-01 -2.27158098e-02 1.45835691e+02] [ 2.30464879e-02 -5.54908079e-04 9.99734240e-01 6.98789126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5792541539998 meters 0.018482189519780347 Centerline is valid? [True, True] Translation: X:929.86, Y:145.86, Z:6.99 [[-1.90912184e-01 -9.81599220e-01 3.93806383e-03 9.29858531e+02] [ 9.81336247e-01 -1.90952208e-01 -2.27249827e-02 1.45862268e+02] [ 2.30588073e-02 -4.73911303e-04 9.99733998e-01 6.98929912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6092541539998 meters 0.01635884433797354 Centerline is valid? [True, True] Translation: X:929.85, Y:145.89, Z:6.99 [[-1.88753035e-01 -9.82017159e-01 3.81990888e-03 9.29850526e+02] [ 9.81770639e-01 -1.88791253e-01 -2.20062677e-02 1.45889202e+02] [ 2.23316979e-02 -4.03475429e-04 9.99750535e-01 6.99044938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6392541539999 meters 0.01492006328051599 Centerline is valid? [True, True] Translation: X:929.84, Y:145.92, Z:6.99 [[-1.86432654e-01 -9.82460945e-01 3.65476935e-03 9.29841578e+02] [ 9.82236061e-01 -1.86468183e-01 -2.10223205e-02 1.45917019e+02] [ 2.13351071e-02 -3.29400742e-04 9.99772326e-01 6.99151980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6692541539999 meters 0.015429979508337513 Centerline is valid? [True, True] Translation: X:929.83, Y:145.94, Z:6.99 [[-1.80154843e-01 -9.83631601e-01 3.62027038e-03 9.29829378e+02] [ 9.83411859e-01 -1.80191119e-01 -2.07912578e-02 1.45944030e+02] [ 2.11032788e-02 -1.85428957e-04 9.99777284e-01 6.99254757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6992541539998 meters 0.016474446923685087 Centerline is valid? [True, True] Translation: X:929.82, Y:145.97, Z:6.99 [[-1.76925737e-01 -9.84217383e-01 3.66419993e-03 9.29821426e+02] [ 9.83993174e-01 -1.76963641e-01 -2.10072100e-02 1.45970437e+02] [ 2.13240914e-02 -1.11168387e-04 9.99772610e-01 6.99215463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7292541539998 meters 0.013250904873371178 Centerline is valid? [True, True] Translation: X:929.81, Y:146.00, Z:6.99 [[-1.69954496e-01 -9.85446636e-01 3.22453036e-03 9.29808069e+02] [ 9.85273764e-01 -1.69985078e-01 -1.84576043e-02 1.45997161e+02] [ 1.87371061e-02 4.00923182e-05 9.99824444e-01 6.99387185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7592541539999 meters 0.013334176727330305 Centerline is valid? [True, True] Translation: X:929.80, Y:146.02, Z:6.99 [[-1.66673395e-01 -9.86006764e-01 3.26193835e-03 9.29799648e+02] [ 9.85830556e-01 -1.66705276e-01 -1.86404143e-02 1.46024022e+02] [ 1.89233569e-02 1.08857363e-04 9.99820931e-01 6.99462661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7892541539999 meters 0.01618286020964143 Centerline is valid? [True, True] Translation: X:929.79, Y:146.05, Z:6.99 [[-1.63281847e-01 -9.86572790e-01 3.62875066e-03 9.29791375e+02] [ 9.86355608e-01 -1.63322043e-01 -2.07008398e-02 1.46050638e+02] [ 2.10155402e-02 1.99167205e-04 9.99779129e-01 6.99300618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8192541539999 meters 0.015187109299723571 Centerline is valid? [True, True] Translation: X:929.78, Y:146.08, Z:6.99 [[-1.56829873e-01 -9.87618530e-01 3.74558201e-03 9.29778031e+02] [ 9.87388198e-01 -1.56874198e-01 -2.13314800e-02 1.46076417e+02] [ 2.16549501e-02 3.52930184e-04 9.99765442e-01 6.99097560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8492541539998 meters 0.01985939039994797 Centerline is valid? [True, True] Translation: X:929.77, Y:146.10, Z:6.99 [[-1.54271150e-01 -9.88018684e-01 4.41503080e-03 9.29770724e+02] [ 9.87699932e-01 -1.54333540e-01 -2.50998397e-02 1.46103543e+02] [ 2.54804979e-02 4.88544477e-04 9.99675200e-01 6.98900178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8792541539999 meters 0.01608974583440555 Centerline is valid? [True, True] Translation: X:929.76, Y:146.13, Z:6.99 [[-1.52327610e-01 -9.88321470e-01 4.11969234e-03 9.29763393e+02] [ 9.88044971e-01 -1.52382460e-01 -2.33820563e-02 1.46130784e+02] [ 2.37367571e-02 5.08708536e-04 9.99718114e-01 6.99032249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9092541539999 meters 0.020946984153831692 Centerline is valid? [True, True] Translation: X:929.76, Y:146.16, Z:6.99 [[-1.50410445e-01 -9.88612006e-01 4.79574309e-03 9.29755794e+02] [ 9.88238352e-01 -1.50485475e-01 -2.71860547e-02 1.46156964e+02] [ 2.75981498e-02 6.50270656e-04 9.99618887e-01 6.98823357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9392541539999 meters 0.01762601595521034 Centerline is valid? [True, True] Translation: X:929.75, Y:146.18, Z:6.99 [[-1.50841254e-01 -9.88547597e-01 4.53489517e-03 9.29751517e+02] [ 9.88214442e-01 -1.50908177e-01 -2.56698056e-02 1.46184718e+02] [ 2.60601774e-02 6.09383226e-04 9.99660190e-01 6.99055666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9692541539998 meters 0.016897677159836158 Centerline is valid? [True, True] Translation: X:929.75, Y:146.21, Z:6.99 [[-1.52896068e-01 -9.88233663e-01 4.12556453e-03 9.29745522e+02] [ 9.87958475e-01 -1.52950869e-01 -2.33255876e-02 1.46211362e+02] [ 2.36821395e-02 5.09495819e-04 9.99719409e-01 6.99063482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9992541539998 meters 0.018869051193524857 Centerline is valid? [True, True] Translation: X:929.74, Y:146.24, Z:6.99 [[-1.54962633e-01 -9.87910318e-01 4.44808829e-03 9.29743458e+02] [ 9.87591255e-01 -1.55025647e-01 -2.51109704e-02 1.46239818e+02] [ 2.54969545e-02 5.01631018e-04 9.99674774e-01 6.99134549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0292541539999 meters 0.01869563738064581 Centerline is valid? [True, True] Translation: X:929.74, Y:146.27, Z:6.99 [[-1.57290584e-01 -9.87542480e-01 4.41850867e-03 9.29740829e+02] [ 9.87228538e-01 -1.57352004e-01 -2.49030111e-02 1.46267971e+02] [ 2.52880425e-02 4.45068687e-04 9.99680107e-01 6.99247384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0592541539999 meters 0.017704451801254933 Centerline is valid? [True, True] Translation: X:929.74, Y:146.30, Z:6.99 [[-1.61766943e-01 -9.86819651e-01 4.29334936e-03 9.29739637e+02] [ 9.86523684e-01 -1.61823579e-01 -2.41692032e-02 1.46295248e+02] [ 2.45454098e-02 3.25712697e-04 9.99698663e-01 6.99300049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0892541539998 meters 0.014098719123468552 Centerline is valid? [True, True] Translation: X:929.74, Y:146.32, Z:6.99 [[-1.63914971e-01 -9.86466801e-01 3.89013705e-03 9.29736119e+02] [ 9.86224400e-01 -1.63960933e-01 -2.18688415e-02 1.46323675e+02] [ 2.22107166e-02 2.51917548e-04 9.99753280e-01 6.99455456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1192541539998 meters 0.016103446382273557 Centerline is valid? [True, True] Translation: X:929.73, Y:146.35, Z:6.99 [[-1.66002219e-01 -9.86116375e-01 4.21400277e-03 9.29733361e+02] [ 9.85832815e-01 -1.66055540e-01 -2.36478112e-02 1.46350768e+02] [ 2.40192524e-02 2.28713070e-04 9.99711470e-01 6.99416187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1492541539999 meters 0.014696863340547824 Centerline is valid? [True, True] Translation: X:929.73, Y:146.38, Z:6.99 [[-1.68236271e-01 -9.85738296e-01 4.07037207e-03 9.29731006e+02] [ 9.85474507e-01 -1.68285413e-01 -2.28038488e-02 1.46378327e+02] [ 2.31636113e-02 1.74813417e-04 9.99731672e-01 6.99458751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1792541539999 meters 0.015870129613931656 Centerline is valid? [True, True] Translation: X:929.73, Y:146.41, Z:6.99 [[-1.69297089e-01 -9.85556277e-01 4.16189369e-03 9.29727282e+02] [ 9.85281348e-01 -1.69348163e-01 -2.32779768e-02 1.46406273e+02] [ 2.36465652e-02 1.59742512e-04 9.99720368e-01 6.99466974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2092541539998 meters 0.013798972838654435 Centerline is valid? [True, True] Translation: X:929.72, Y:146.43, Z:6.99 [[-1.70074447e-01 -9.85423476e-01 3.90590642e-03 9.29724079e+02] [ 9.85182085e-01 -1.70119236e-01 -2.18106521e-02 1.46433124e+02] [ 2.21571984e-02 1.38594430e-04 9.99754490e-01 6.99486259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2392541539998 meters 0.017556932222869286 Centerline is valid? [True, True] Translation: X:929.72, Y:146.46, Z:6.99 [[-1.70408185e-01 -9.85363975e-01 4.34599437e-03 9.29720359e+02] [ 9.85065912e-01 -1.70463528e-01 -2.42349706e-02 1.46460524e+02] [ 2.46211005e-02 1.51253547e-04 9.99696843e-01 6.99390282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2692541539999 meters 0.015678495276575614 Centerline is valid? [True, True] Translation: X:929.72, Y:146.49, Z:7.00 [[-1.70106036e-01 -9.85416717e-01 4.22256308e-03 9.29716478e+02] [ 9.85136220e-01 -1.70158360e-01 -2.35108745e-02 1.46488718e+02] [ 2.38865132e-02 1.60458168e-04 9.99714664e-01 6.99577958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2992541539999 meters 0.015109011729923528 Centerline is valid? [True, True] Translation: X:929.71, Y:146.52, Z:6.99 [[-1.69396257e-01 -9.85538743e-01 4.27729774e-03 9.29712078e+02] [ 9.85251967e-01 -1.69450146e-01 -2.37741432e-02 1.46515213e+02] [ 2.41551280e-02 1.86965143e-04 9.99708205e-01 6.99349684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3292541539998 meters 0.014297525352223901 Centerline is valid? [True, True] Translation: X:929.71, Y:146.54, Z:6.99 [[-1.69150300e-01 -9.85581720e-01 4.10469767e-03 9.29707244e+02] [ 9.85318557e-01 -1.69199987e-01 -2.27751194e-02 1.46542202e+02] [ 2.31412561e-02 1.92016517e-04 9.99732187e-01 6.99368676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3592541539998 meters 0.014308580881847445 Centerline is valid? [True, True] Translation: X:929.70, Y:146.57, Z:6.99 [[-1.68951800e-01 -9.85615443e-01 4.18184800e-03 9.29703056e+02] [ 9.85343278e-01 -1.69003419e-01 -2.31617791e-02 1.46568933e+02] [ 2.35353537e-02 2.07331556e-04 9.99722984e-01 6.99406138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3892541539999 meters 0.014218187337621462 Centerline is valid? [True, True] Translation: X:929.70, Y:146.60, Z:6.99 [[-1.68951099e-01 -9.85615290e-01 4.24576271e-03 9.29698828e+02] [ 9.85335679e-01 -1.69004300e-01 -2.34765218e-02 1.46596692e+02] [ 2.38563710e-02 2.17117313e-04 9.99715373e-01 6.99483511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4192541539999 meters 0.015459236595973948 Centerline is valid? [True, True] Translation: X:929.70, Y:146.62, Z:7.00 [[-1.69696050e-01 -9.85487695e-01 4.15381292e-03 9.29696182e+02] [ 9.85220992e-01 -1.69746761e-01 -2.29267282e-02 1.46623078e+02] [ 2.32991048e-02 2.01848464e-04 9.99728519e-01 6.99503510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4492541539998 meters 0.017044806676143276 Centerline is valid? [True, True] Translation: X:929.69, Y:146.65, Z:7.00 [[-1.70181076e-01 -9.85403772e-01 4.21998746e-03 9.29693047e+02] [ 9.85129431e-01 -1.70233271e-01 -2.32516219e-02 1.46651368e+02] [ 2.36306182e-02 2.00247824e-04 9.99720738e-01 6.99715028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4792541539998 meters 0.014336325097541115 Centerline is valid? [True, True] Translation: X:929.69, Y:146.68, Z:7.00 [[-1.69729578e-01 -9.85484619e-01 3.45496051e-03 9.29689525e+02] [ 9.85301178e-01 -1.69764647e-01 -1.90145702e-02 1.46678649e+02] [ 1.93250967e-02 1.76841666e-04 9.99813237e-01 6.99919564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5092541539999 meters 0.014434214688289345 Centerline is valid? [True, True] Translation: X:929.68, Y:146.71, Z:7.00 [[-1.69757252e-01 -9.85480533e-01 3.25490842e-03 9.29684937e+02] [ 9.85318169e-01 -1.69788369e-01 -1.78889671e-02 1.46706013e+02] [ 1.81818744e-02 1.70338501e-04 9.99834682e-01 7.00001609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5392541539999 meters 0.017476885867406967 Centerline is valid? [True, True] Translation: X:929.68, Y:146.73, Z:7.00 [[-1.69443983e-01 -9.85533378e-01 3.56325476e-03 9.29680252e+02] [ 9.85339303e-01 -1.69481331e-01 -1.95585226e-02 1.46733563e+02] [ 1.98794820e-02 1.96940991e-04 9.99802364e-01 6.99977451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5692541539999 meters 0.01790354838083703 Centerline is valid? [True, True] Translation: X:929.67, Y:146.76, Z:7.00 [[-1.67141926e-01 -9.85926438e-01 3.55456139e-03 9.29674251e+02] [ 9.85733940e-01 -1.67179536e-01 -1.94833926e-02 1.46761080e+02] [ 1.98034418e-02 2.47360032e-04 9.99803862e-01 6.99904799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5992541539998 meters 0.015956014077658554 Centerline is valid? [True, True] Translation: X:929.67, Y:146.79, Z:7.00 [[-1.65757694e-01 -9.86160522e-01 3.43675221e-03 9.29668500e+02] [ 9.85981195e-01 -1.65793097e-01 -1.88077641e-02 1.46788757e+02] [ 1.91172643e-02 2.71041428e-04 9.99817212e-01 6.99888222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6292541539999 meters 0.017597391624190786 Centerline is valid? [True, True] Translation: X:929.66, Y:146.82, Z:7.00 [[-1.64802549e-01 -9.86319500e-01 3.73691633e-03 9.29663158e+02] [ 9.86108215e-01 -1.64844600e-01 -2.04168220e-02 1.46816542e+02] [ 2.07535201e-02 3.20259582e-04 9.99784571e-01 6.99769135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6592541539999 meters 0.01845461555874212 Centerline is valid? [True, True] Translation: X:929.66, Y:146.84, Z:7.00 [[-1.62258077e-01 -9.86740227e-01 4.00511883e-03 9.29657698e+02] [ 9.86498468e-01 -1.62306991e-01 -2.18452315e-02 1.46842905e+02] [ 2.22056275e-02 4.06478333e-04 9.99753342e-01 6.99676532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6892541539999 meters 0.01593414343147355 Centerline is valid? [True, True] Translation: X:929.65, Y:146.87, Z:7.00 [[-1.60949680e-01 -9.86955744e-01 3.68231106e-03 9.29653051e+02] [ 9.86752094e-01 -1.60991286e-01 -2.00526868e-02 1.46870790e+02] [ 2.03839344e-02 4.06054630e-04 9.99792144e-01 6.99805831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7192541539998 meters 0.0163130690104745 Centerline is valid? [True, True] Translation: X:929.65, Y:146.90, Z:7.00 [[-1.60473757e-01 -9.87033274e-01 3.67274505e-03 9.29647993e+02] [ 9.86831402e-01 -1.60515230e-01 -1.99660706e-02 1.46897580e+02] [ 2.02967076e-02 4.20349779e-04 9.99793912e-01 6.99823999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7492541539998 meters 0.01615846796431353 Centerline is valid? [True, True] Translation: X:929.64, Y:146.93, Z:7.00 [[-1.59766345e-01 -9.87148250e-01 3.61224098e-03 9.29644636e+02] [ 9.86953659e-01 -1.59806588e-01 -1.96043157e-02 1.46925157e+02] [ 1.99296259e-02 4.33004588e-04 9.99801292e-01 6.99854465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7792541539999 meters 0.01645323265722217 Centerline is valid? [True, True] Translation: X:929.64, Y:146.95, Z:7.00 [[-1.60301578e-01 -9.87061547e-01 3.59256480e-03 9.29640096e+02] [ 9.86869697e-01 -1.60341266e-01 -1.94648129e-02 1.46951372e+02] [ 1.97890047e-02 4.25153124e-04 9.99804088e-01 6.99793161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8092541539999 meters 0.018878187895612603 Centerline is valid? [True, True] Translation: X:929.64, Y:146.98, Z:7.00 [[-1.61788987e-01 -9.86817811e-01 3.86406603e-03 9.29635298e+02] [ 9.86596627e-01 -1.61834549e-01 -2.08967729e-02 1.46977489e+02] [ 2.12466471e-02 4.31406800e-04 9.99774171e-01 6.99587448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8392541539998 meters 0.01578455695849983 Centerline is valid? [True, True] Translation: X:929.64, Y:147.01, Z:7.00 [[-1.62992013e-01 -9.86620806e-01 3.60393019e-03 9.29636034e+02] [ 9.86428993e-01 -1.63031400e-01 -1.94577782e-02 1.47005759e+02] [ 1.97850026e-02 3.83558784e-04 9.99804184e-01 6.99793064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8692541539998 meters 0.01860275440945538 Centerline is valid? [True, True] Translation: X:929.63, Y:147.03, Z:7.00 [[-1.65064224e-01 -9.86275364e-01 3.83519125e-03 9.29633311e+02] [ 9.86058773e-01 -1.65108358e-01 -2.06718912e-02 1.47032425e+02] [ 2.10213991e-02 3.69534313e-04 9.99778958e-01 6.99722286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8992541539999 meters 0.014978987233349533 Centerline is valid? [True, True] Translation: X:929.63, Y:147.06, Z:7.00 [[-1.66422066e-01 -9.86048912e-01 3.35237828e-03 9.29632011e+02] [ 9.85883891e-01 -1.66455553e-01 -1.80417102e-02 1.47060779e+02] [ 1.83480307e-02 3.02517053e-04 9.99831615e-01 6.99913680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9292541539999 meters 0.014954567732133635 Centerline is valid? [True, True] Translation: X:929.63, Y:147.09, Z:7.00 [[-1.67161890e-01 -9.85924003e-01 3.28078145e-03 9.29628440e+02] [ 9.85766431e-01 -1.67193835e-01 -1.76285474e-02 1.47089007e+02] [ 1.79289344e-02 2.87262912e-04 9.99839222e-01 6.99941691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9592541539998 meters 0.014974792041560851 Centerline is valid? [True, True] Translation: X:929.62, Y:147.12, Z:7.00 [[-1.67988773e-01 -9.85783497e-01 3.26642281e-03 9.29624787e+02] [ 9.85627768e-01 -1.68020300e-01 -1.75237362e-02 1.47116956e+02] [ 1.78234353e-02 2.75686087e-04 9.99841112e-01 6.99989119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9892541539998 meters 0.014798028430743789 Centerline is valid? [True, True] Translation: X:929.62, Y:147.14, Z:7.00 [[-1.67598208e-01 -9.85849915e-01 3.28427550e-03 9.29622796e+02] [ 9.85692998e-01 -1.67630135e-01 -1.75912523e-02 1.47144883e+02] [ 1.78928782e-02 2.89024994e-04 9.99839868e-01 7.00059699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0192541539999 meters 0.014835283813167894 Centerline is valid? [True, True] Translation: X:929.62, Y:147.17, Z:7.00 [[-1.66937609e-01 -9.85961997e-01 3.28251676e-03 9.29618726e+02] [ 9.85805782e-01 -1.66969598e-01 -1.75531574e-02 1.47172328e+02] [ 1.78548266e-02 3.05641880e-04 9.99840543e-01 7.00078089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0492541539999 meters 0.018569403353721058 Centerline is valid? [True, True] Translation: X:929.61, Y:147.20, Z:7.00 [[-1.65611033e-01 -9.86184554e-01 3.60707483e-03 9.29613614e+02] [ 9.85996456e-01 -1.65649905e-01 -1.92638829e-02 1.47199429e+02] [ 1.95952554e-02 3.66251462e-04 9.99807927e-01 6.99860695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0792541539998 meters 0.016501918059075252 Centerline is valid? [True, True] Translation: X:929.61, Y:147.23, Z:7.00 [[-1.63923140e-01 -9.86467084e-01 3.44912579e-03 9.29609265e+02] [ 9.86295620e-01 -1.63958968e-01 -1.83958479e-02 1.47227294e+02] [ 1.87124136e-02 3.86352501e-04 9.99824833e-01 6.99942298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1092541539998 meters 0.016317667724383707 Centerline is valid? [True, True] Translation: X:929.60, Y:147.25, Z:7.00 [[-1.62114632e-01 -9.86766275e-01 3.34145361e-03 9.29603524e+02] [ 9.86605891e-01 -1.62148541e-01 -1.77951229e-02 1.47254501e+02] [ 1.81014389e-02 4.11848023e-04 9.99836071e-01 6.99974458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1392541539999 meters 0.017546541476833544 Centerline is valid? [True, True] Translation: X:929.60, Y:147.28, Z:7.00 [[-1.60383913e-01 -9.87049108e-01 3.32555989e-03 9.29597324e+02] [ 9.86890680e-01 -1.60417771e-01 -1.76896619e-02 1.47280997e+02] [ 1.79940439e-02 4.44826863e-04 9.99837995e-01 6.99981034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1692541539999 meters 0.01801291810446451 Centerline is valid? [True, True] Translation: X:929.59, Y:147.31, Z:7.00 [[-1.57415782e-01 -9.87527409e-01 3.14438994e-03 9.29594336e+02] [ 9.87386243e-01 -1.57446466e-01 -1.67038353e-02 1.47308833e+02] [ 1.69905683e-02 4.75280077e-04 9.99855537e-01 7.00188435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1992541539998 meters 0.021945750625092367 Centerline is valid? [True, True] Translation: X:929.59, Y:147.34, Z:7.00 [[-1.57245108e-01 -9.87554299e-01 3.23767423e-03 9.29588988e+02] [ 9.87405137e-01 -1.57277652e-01 -1.71708007e-02 1.47335652e+02] [ 1.74663118e-02 4.96871758e-04 9.99847329e-01 7.00112741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2292541539998 meters 0.018489077243823933 Centerline is valid? [True, True] Translation: X:929.59, Y:147.36, Z:7.00 [[-1.57030200e-01 -9.87589626e-01 2.87161250e-03 9.29585198e+02] [ 9.87472657e-01 -1.57055816e-01 -1.52059907e-02 1.47363759e+02] [ 1.54682822e-02 4.47839049e-04 9.99880259e-01 7.00268093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2592541539999 meters 0.018489077243823933 Centerline is valid? [True, True] Translation: X:929.58, Y:147.39, Z:7.00 [[-1.57314543e-01 -9.87544360e-01 2.87599099e-03 9.29579996e+02] [ 9.87427398e-01 -1.57340193e-01 -1.52051629e-02 1.47390867e+02] [ 1.54682819e-02 4.47839041e-04 9.99880259e-01 7.00287141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2892541539999 meters 0.01865446125017331 Centerline is valid? [True, True] Translation: X:929.58, Y:147.42, Z:7.00 [[-1.59082243e-01 -9.87260808e-01 2.98950628e-03 9.29576907e+02] [ 9.87134783e-01 -1.59109720e-01 -1.57802887e-02 1.47419132e+02] [ 1.60549201e-02 4.40681908e-04 9.99871014e-01 7.00265198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3192541539999 meters 0.020623506568357146 Centerline is valid? [True, True] Translation: X:929.57, Y:147.45, Z:7.00 [[-1.61162118e-01 -9.86923231e-01 3.05090777e-03 9.29572049e+02] [ 9.86792323e-01 -1.61190448e-01 -1.60794856e-02 1.47446628e+02] [ 1.63609951e-02 4.19208413e-04 9.99866062e-01 7.00184781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3492541539998 meters 0.01737909270134621 Centerline is valid? [True, True] Translation: X:929.57, Y:147.47, Z:7.00 [[-1.63025038e-01 -9.86617606e-01 2.92160655e-03 9.29569309e+02] [ 9.86497872e-01 -1.63050783e-01 -1.53750295e-02 1.47474933e+02] [ 1.56456450e-02 3.75643872e-04 9.99877529e-01 7.00302041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3792541539999 meters 0.018691195627320734 Centerline is valid? [True, True] Translation: X:929.56, Y:147.50, Z:7.00 [[-1.64448549e-01 -9.86381104e-01 2.99871428e-03 9.29564873e+02] [ 9.86255329e-01 -1.64475479e-01 -1.57557521e-02 1.47501541e+02] [ 1.60343911e-02 3.66487369e-04 9.99871374e-01 7.00245834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4092541539999 meters 0.01937244218383091 Centerline is valid? [True, True] Translation: X:929.56, Y:147.53, Z:7.00 [[-1.65342704e-01 -9.86231569e-01 3.01363810e-03 9.29560682e+02] [ 9.86104918e-01 -1.65369779e-01 -1.58090952e-02 1.47529176e+02] [ 1.60897934e-02 3.57844807e-04 9.99870487e-01 7.00223480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4392541539999 meters 0.017259829590329925 Centerline is valid? [True, True] Translation: X:929.56, Y:147.56, Z:7.00 [[-1.65466397e-01 -9.86211041e-01 2.94170671e-03 9.29556501e+02] [ 9.86090739e-01 -1.65492171e-01 -1.54076748e-02 1.47557358e+02] [ 1.56820485e-02 3.51337308e-04 9.99876967e-01 7.00372239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4692541539998 meters 0.017190732567794957 Centerline is valid? [True, True] Translation: X:929.55, Y:147.58, Z:7.00 [[-1.65186416e-01 -9.86258664e-01 2.70091883e-03 9.29549228e+02] [ 9.86157578e-01 -1.65208165e-01 -1.41242426e-02 1.47583986e+02] [ 1.43763705e-02 3.30398552e-04 9.99896600e-01 7.00409068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4992541539998 meters 0.016866071940623728 Centerline is valid? [True, True] Translation: X:929.54, Y:147.61, Z:7.01 [[-1.65045365e-01 -9.86282462e-01 2.63309174e-03 9.29544410e+02] [ 9.86186710e-01 -1.65066041e-01 -1.37468485e-02 1.47611162e+02] [ 1.39929096e-02 3.27866452e-04 9.99902041e-01 7.00508938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5292541539999 meters 0.018519056492972502 Centerline is valid? [True, True] Translation: X:929.54, Y:147.64, Z:7.00 [[-1.65332366e-01 -9.86234841e-01 2.45925691e-03 9.29537797e+02] [ 9.86151577e-01 -1.65350373e-01 -1.28188249e-02 1.47637883e+02] [ 1.30490107e-02 3.05833430e-04 9.99914811e-01 7.00479640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5592541539999 meters 0.01933799592851829 Centerline is valid? [True, True] Translation: X:929.53, Y:147.67, Z:7.00 [[-1.65676874e-01 -9.86177339e-01 2.33016552e-03 9.29533268e+02] [ 9.86102817e-01 -1.65693008e-01 -1.21268985e-02 1.47666026e+02] [ 1.23453646e-02 2.88636154e-04 9.99923751e-01 7.00477626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5892541539998 meters 0.017837966545236766 Centerline is valid? [True, True] Translation: X:929.53, Y:147.69, Z:7.01 [[-1.63890281e-01 -9.86475848e-01 2.31894265e-03 9.29525815e+02] [ 9.86402247e-01 -1.63906389e-01 -1.20541692e-02 1.47692138e+02] [ 1.22712363e-02 3.11849066e-04 9.99924657e-01 7.00661730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6192541539998 meters 0.01698308071171674 Centerline is valid? [True, True] Translation: X:929.52, Y:147.72, Z:7.01 [[-1.63418468e-01 -9.86554145e-01 2.30710327e-03 9.29521995e+02] [ 9.86481460e-01 -1.63434443e-01 -1.19796935e-02 1.47719612e+02] [ 1.21956764e-02 3.18211449e-04 9.99925579e-01 7.00770813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6492541539999 meters 0.018545658165059833 Centerline is valid? [True, True] Translation: X:929.52, Y:147.75, Z:7.01 [[-1.63937101e-01 -9.86468294e-01 2.22060515e-03 9.29515322e+02] [ 9.86401165e-01 -1.63951860e-01 -1.15121429e-02 1.47745649e+02] [ 1.17204363e-02 3.03140182e-04 9.99931267e-01 7.00695808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6792541539999 meters 0.017931926118943387 Centerline is valid? [True, True] Translation: X:929.51, Y:147.77, Z:7.01 [[-1.62543359e-01 -9.86698885e-01 2.22866823e-03 9.29508510e+02] [ 9.86631505e-01 -1.62558314e-01 -1.15355399e-02 1.47773564e+02] [ 1.17443929e-02 3.23848893e-04 9.99930980e-01 7.00780131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7092541539998 meters 0.01946300129988422 Centerline is valid? [True, True] Translation: X:929.50, Y:147.80, Z:7.01 [[-1.59607029e-01 -9.87177887e-01 2.32730336e-03 9.29498749e+02] [ 9.87104659e-01 -1.59623550e-01 -1.20297493e-02 1.47798948e+02] [ 1.22469950e-02 3.77259442e-04 9.99924932e-01 7.00708416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7392541539998 meters 0.02053072279588267 Centerline is valid? [True, True] Translation: X:929.49, Y:147.83, Z:7.01 [[-1.59634309e-01 -9.87173365e-01 2.37395768e-03 9.29491849e+02] [ 9.87097373e-01 -1.59651491e-01 -1.22546770e-02 1.47826287e+02] [ 1.24764966e-02 3.87060496e-04 9.99922091e-01 7.00588917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7692541539999 meters 0.020073478396163417 Centerline is valid? [True, True] Translation: X:929.49, Y:147.85, Z:7.01 [[-1.57173148e-01 -9.87567431e-01 2.67794398e-03 9.29485076e+02] [ 9.87471095e-01 -1.57195242e-01 -1.38019109e-02 1.47854100e+02] [ 1.40512778e-02 4.75102485e-04 9.99901163e-01 7.00544532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7992541539999 meters 0.022461178659101067 Centerline is valid? [True, True] Translation: X:929.48, Y:147.88, Z:7.00 [[-1.57524833e-01 -9.87511118e-01 2.77814535e-03 9.29478063e+02] [ 9.87407760e-01 -1.57548563e-01 -1.42956855e-02 1.47880066e+02] [ 1.45548412e-02 4.91236818e-04 9.99893952e-01 7.00371787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8292541539998 meters 0.022435263127304227 Centerline is valid? [True, True] Translation: X:929.47, Y:147.91, Z:7.00 [[-1.56954162e-01 -9.87601825e-01 2.83289048e-03 9.29471394e+02] [ 9.87494722e-01 -1.56978887e-01 -1.45534241e-02 1.47906092e+02] [ 1.48176922e-02 5.13243903e-04 9.99890080e-01 7.00369848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8592541539998 meters 0.022885668309749144 Centerline is valid? [True, True] Translation: X:929.47, Y:147.93, Z:7.00 [[-1.56756882e-01 -9.87633563e-01 2.68793175e-03 9.29465422e+02] [ 9.87537443e-01 -1.56779150e-01 -1.37875632e-02 1.47933564e+02] [ 1.40384718e-02 4.93137836e-04 9.99901334e-01 7.00406159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8892541539999 meters 0.021356744650329645 Centerline is valid? [True, True] Translation: X:929.46, Y:147.96, Z:7.01 [[-1.55450579e-01 -9.87840185e-01 2.62428580e-03 9.29459012e+02] [ 9.87748870e-01 -1.55471916e-01 -1.34407565e-02 1.47961188e+02] [ 1.36853221e-02 5.02761955e-04 9.99906225e-01 7.00631421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9192541539999 meters 0.021846368583061753 Centerline is valid? [True, True] Translation: X:929.45, Y:147.99, Z:7.01 [[-1.57140787e-01 -9.87573173e-01 2.44988533e-03 9.29453749e+02] [ 9.87493791e-01 -1.57159238e-01 -1.25293968e-02 1.47988977e+02] [ 1.27587183e-02 4.50367269e-04 9.99918503e-01 7.00573940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9492541539998 meters 0.02093091533230967 Centerline is valid? [True, True] Translation: X:929.45, Y:148.02, Z:7.01 [[-1.58535292e-01 -9.87350607e-01 2.31067945e-03 9.29448226e+02] [ 9.87280173e-01 -1.58551599e-01 -1.18004283e-02 1.48015550e+02] [ 1.20175220e-02 4.10503661e-04 9.99927703e-01 7.00763823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9792541539998 meters 0.020636552328919495 Centerline is valid? [True, True] Translation: X:929.45, Y:148.04, Z:7.01 [[-1.61281005e-01 -9.86906229e-01 2.12882876e-03 9.29445037e+02] [ 9.86846578e-01 -1.61294674e-01 -1.08563236e-02 1.48043822e+02] [ 1.10575421e-02 3.49908596e-04 9.99938802e-01 7.00719568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0092541539999 meters 0.01866031797283373 Centerline is valid? [True, True] Translation: X:929.44, Y:148.07, Z:7.01 [[-1.64120584e-01 -9.86437977e-01 2.13352891e-03 9.29441960e+02] [ 9.86378201e-01 -1.64134136e-01 -1.08641374e-02 1.48071703e+02] [ 1.10669826e-02 3.21437835e-04 9.99938707e-01 7.00781130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0392541539999 meters 0.01787356194908607 Centerline is valid? [True, True] Translation: X:929.44, Y:148.10, Z:7.01 [[-1.66258100e-01 -9.86079655e-01 2.27117037e-03 9.29438557e+02] [ 9.86012097e-01 -1.66273304e-01 -1.15469873e-02 1.48099717e+02] [ 1.17638842e-02 3.19621305e-04 9.99930752e-01 7.00764132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0692541539999 meters 0.018881762188800923 Centerline is valid? [True, True] Translation: X:929.43, Y:148.13, Z:7.01 [[-1.69429313e-01 -9.85539212e-01 2.48397314e-03 9.29433760e+02] [ 9.85458590e-01 -1.69447234e-01 -1.26095762e-02 1.48126259e+02] [ 1.28481342e-02 3.11420838e-04 9.99917411e-01 7.00544227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0992541539998 meters 0.016434397989819546 Centerline is valid? [True, True] Translation: X:929.43, Y:148.15, Z:7.01 [[-1.72469350e-01 -9.85010140e-01 3.05727243e-03 9.29431555e+02] [ 9.84888324e-01 -1.72496113e-01 -1.54945496e-02 1.48154523e+02] [ 1.57896561e-02 3.38737010e-04 9.99875278e-01 7.00517199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1292541539999 meters 0.01639125187763048 Centerline is valid? [True, True] Translation: X:929.43, Y:148.18, Z:7.00 [[-1.74612886e-01 -9.84631693e-01 3.28169504e-03 9.29426650e+02] [ 9.84491709e-01 -1.74643408e-01 -1.66058629e-02 1.48181266e+02] [ 1.69237853e-02 3.31203904e-04 9.99856728e-01 7.00412268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1592541539999 meters 0.016449457683147158 Centerline is valid? [True, True] Translation: X:929.42, Y:148.21, Z:7.00 [[-1.76957209e-01 -9.84212171e-01 3.54236006e-03 9.29424256e+02] [ 9.84049501e-01 -1.76992373e-01 -1.78963657e-02 1.48209497e+02] [ 1.82407916e-02 3.18966736e-04 9.99833572e-01 7.00389006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1892541539999 meters 0.01606747713395933 Centerline is valid? [True, True] Translation: X:929.42, Y:148.24, Z:7.00 [[-1.79812239e-01 -9.83693502e-01 3.82795487e-03 9.29420638e+02] [ 9.83504038e-01 -1.79852741e-01 -1.93079987e-02 1.48236475e+02] [ 1.96816210e-02 2.92994613e-04 9.99806255e-01 7.00352581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2192541539998 meters 0.014841828275621034 Centerline is valid? [True, True] Translation: X:929.42, Y:148.26, Z:7.01 [[-1.81130923e-01 -9.83451238e-01 3.90528931e-03 9.29417211e+02] [ 9.83254600e-01 -1.81172806e-01 -1.96673894e-02 1.48264069e+02] [ 2.00494507e-02 2.77521294e-04 9.99798951e-01 7.00529286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2492541539998 meters 0.01478309020495413 Centerline is valid? [True, True] Translation: X:929.41, Y:148.29, Z:7.01 [[-1.83373344e-01 -9.83036285e-01 3.72557563e-03 9.29413327e+02] [ 9.82857676e-01 -1.83411048e-01 -1.87397089e-02 1.48291091e+02] [ 1.91051255e-02 2.25347520e-04 9.99817455e-01 7.00608993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2792541539999 meters 0.016091874477572512 Centerline is valid? [True, True] Translation: X:929.41, Y:148.32, Z:7.01 [[-1.85057165e-01 -9.82720998e-01 3.64495854e-03 9.29409135e+02] [ 9.82550432e-01 -1.85092957e-01 -1.83097040e-02 1.48318607e+02] [ 1.86679867e-02 1.93013684e-04 9.99825719e-01 7.00669064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3092541539999 meters 0.014423865819205054 Centerline is valid? [True, True] Translation: X:929.40, Y:148.35, Z:7.01 [[-1.85344225e-01 -9.82667384e-01 3.51162268e-03 9.29404674e+02] [ 9.82509547e-01 -1.85377395e-01 -1.76128285e-02 1.48345145e+02] [ 1.79585276e-02 1.85766758e-04 9.99838715e-01 7.00866802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3392541539998 meters 0.014765762243608808 Centerline is valid? [True, True] Translation: X:929.40, Y:148.37, Z:7.01 [[-1.86509046e-01 -9.82447927e-01 3.23205937e-03 9.29399576e+02] [ 9.82314584e-01 -1.86536983e-01 -1.61868040e-02 1.48373212e+02] [ 1.65055907e-02 1.55913675e-04 9.99863761e-01 7.00975539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3692541539998 meters 0.017054278307785078 Centerline is valid? [True, True] Translation: X:929.39, Y:148.40, Z:7.01 [[-1.87359553e-01 -9.82285991e-01 3.26050231e-03 9.29393780e+02] [ 9.82150710e-01 -1.87387863e-01 -1.63025234e-02 1.48399333e+02] [ 1.66247189e-02 1.47871164e-04 9.99861789e-01 7.00886706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3992541539999 meters 0.014303477670487709 Centerline is valid? [True, True] Translation: X:929.39, Y:148.43, Z:7.01 [[-1.87127038e-01 -9.82330376e-01 3.24099929e-03 9.29388358e+02] [ 9.82197163e-01 -1.87155037e-01 -1.61779181e-02 1.48426011e+02] [ 1.64986297e-02 1.55974415e-04 9.99863876e-01 7.01049531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4292541539999 meters 0.01669380277869961 Centerline is valid? [True, True] Translation: X:929.38, Y:148.45, Z:7.01 [[-1.87455890e-01 -9.82266734e-01 3.51457880e-03 9.29381707e+02] [ 9.82110566e-01 -1.87488759e-01 -1.75157492e-02 1.48453099e+02] [ 1.78640818e-02 1.68274624e-04 9.99840410e-01 7.00887077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4592541539998 meters 0.014495555776580613 Centerline is valid? [True, True] Translation: X:929.38, Y:148.48, Z:7.01 [[-1.87225314e-01 -9.82310598e-01 3.54550444e-03 9.29375898e+02] [ 9.82152126e-01 -1.87258796e-01 -1.76449841e-02 1.48478208e+02] [ 1.79967818e-02 1.78637031e-04 9.99838029e-01 7.00911461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4892541539998 meters 0.01786165954284551 Centerline is valid? [True, True] Translation: X:929.37, Y:148.51, Z:7.01 [[-1.87603272e-01 -9.82237197e-01 3.88599039e-03 9.29369514e+02] [ 9.82047364e-01 -1.87643415e-01 -1.93112454e-02 1.48505953e+02] [ 1.96974040e-02 1.93373796e-04 9.99805969e-01 7.00765333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5192541539999 meters 0.01901496524798903 Centerline is valid? [True, True] Translation: X:929.36, Y:148.53, Z:7.01 [[-1.88240798e-01 -9.82114543e-01 4.05290449e-03 9.29364139e+02] [ 9.81908668e-01 -1.88284323e-01 -2.01092599e-02 1.48533020e+02] [ 2.05126950e-02 1.94198915e-04 9.99789574e-01 7.00821230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5492541539999 meters 0.015350341141902554 Centerline is valid? [True, True] Translation: X:929.36, Y:148.56, Z:7.01 [[-1.88394349e-01 -9.82085807e-01 3.87772295e-03 9.29357270e+02] [ 9.81897924e-01 -1.88434158e-01 -1.92102578e-02 1.48559290e+02] [ 1.95968170e-02 1.88424112e-04 9.99807946e-01 7.00827035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5792541539998 meters 0.014474501314449282 Centerline is valid? [True, True] Translation: X:929.35, Y:148.59, Z:7.01 [[-1.88768001e-01 -9.82014143e-01 3.85542860e-03 9.29351582e+02] [ 9.81828983e-01 -1.88807278e-01 -1.90698823e-02 1.48585662e+02] [ 1.94548271e-02 1.85587984e-04 9.99810720e-01 7.00878561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6092541539998 meters 0.013990079505911135 Centerline is valid? [True, True] Translation: X:929.35, Y:148.61, Z:7.01 [[-1.91160113e-01 -9.81551670e-01 3.75915350e-03 9.29347324e+02] [ 9.81376111e-01 -1.91197020e-01 -1.85641727e-02 1.48613022e+02] [ 1.89404337e-02 1.40414079e-04 9.99820604e-01 7.01011194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6392541539999 meters 0.017054844090933097 Centerline is valid? [True, True] Translation: X:929.34, Y:148.64, Z:7.01 [[-1.93462454e-01 -9.81100481e-01 3.75826558e-03 9.29342656e+02] [ 9.80925454e-01 -1.93498928e-01 -1.85315524e-02 1.48641191e+02] [ 1.89085354e-02 1.01418766e-04 9.99821213e-01 7.00954537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6692541539999 meters 0.01353431286596482 Centerline is valid? [True, True] Translation: X:929.34, Y:148.67, Z:7.01 [[-1.97359413e-01 -9.80325282e-01 3.40640826e-03 9.29340566e+02] [ 9.80181785e-01 -1.97388806e-01 -1.67728471e-02 1.48668061e+02] [ 1.71152329e-02 2.86200798e-05 9.99853523e-01 7.01184463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6992541539998 meters 0.013407321702010519 Centerline is valid? [True, True] Translation: X:929.34, Y:148.70, Z:7.01 [[-1.99724470e-01 -9.79846516e-01 3.30777434e-03 9.29336608e+02] [ 9.79711532e-01 -1.99751859e-01 -1.62637613e-02 1.48696247e+02] [ 1.65967239e-02 -7.60643504e-06 9.99862265e-01 7.01304920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7292541539998 meters 0.01350431187443304 Centerline is valid? [True, True] Translation: X:929.33, Y:148.72, Z:7.01 [[-2.02094933e-01 -9.79360769e-01 3.18163459e-03 9.29332894e+02] [ 9.79236151e-01 -2.02119971e-01 -1.56230103e-02 1.48721895e+02] [ 1.59436353e-02 -4.17596034e-05 9.99872891e-01 7.01302996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7592541539999 meters 0.016037735791296418 Centerline is valid? [True, True] Translation: X:929.33, Y:148.75, Z:7.01 [[-2.06283855e-01 -9.78486960e-01 3.19993807e-03 9.29329206e+02] [ 9.78361146e-01 -2.06308646e-01 -1.56911065e-02 1.48748961e+02] [ 1.60137180e-02 -1.06126859e-04 9.99871767e-01 7.01221489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7892541539999 meters 0.013813119290513555 Centerline is valid? [True, True] Translation: X:929.32, Y:148.78, Z:7.01 [[-2.07474441e-01 -9.78235843e-01 2.99875568e-03 9.29324075e+02] [ 9.78125658e-01 -2.07496081e-01 -1.46824418e-02 1.48775614e+02] [ 1.49851209e-02 -1.13071530e-04 9.99887710e-01 7.01457712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8192541539999 meters 0.016256171450441663 Centerline is valid? [True, True] Translation: X:929.32, Y:148.80, Z:7.01 [[-2.09743555e-01 -9.77751195e-01 3.20035496e-03 9.29319867e+02] [ 9.77625968e-01 -2.09767914e-01 -1.56489161e-02 1.48801935e+02] [ 1.59720782e-02 -1.53509180e-04 9.99872426e-01 7.01246960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8492541539998 meters 0.01424041508223373 Centerline is valid? [True, True] Translation: X:929.31, Y:148.83, Z:7.01 [[-2.10685732e-01 -9.77548599e-01 3.20282574e-03 9.29314097e+02] [ 9.77423491e-01 -2.10710011e-01 -1.56400520e-02 1.48828132e+02] [ 1.59637784e-02 -1.64618707e-04 9.99872557e-01 7.01428078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8792541539999 meters 0.015470189255680404 Centerline is valid? [True, True] Translation: X:929.31, Y:148.86, Z:7.01 [[-2.12045694e-01 -9.77253921e-01 3.37596396e-03 9.29307597e+02] [ 9.77115300e-01 -2.12072480e-01 -1.64606617e-02 1.48855568e+02] [ 1.68021953e-02 -1.91706406e-04 9.99858815e-01 7.01372020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9092541539999 meters 0.015752129398942532 Centerline is valid? [True, True] Translation: X:929.30, Y:148.88, Z:7.01 [[-2.13605374e-01 -9.76913697e-01 3.51754723e-03 9.29301963e+02] [ 9.76763542e-01 -2.13634218e-01 -1.71290137e-02 1.48881527e+02] [ 1.74850365e-02 -2.23037474e-04 9.99847100e-01 7.01297682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9392541539999 meters 0.014594335953629523 Centerline is valid? [True, True] Translation: X:929.30, Y:148.91, Z:7.01 [[-2.14288818e-01 -9.76764158e-01 3.47606671e-03 9.29295663e+02] [ 9.76617892e-01 -2.14316889e-01 -1.69045800e-02 1.48908987e+02] [ 1.72567676e-02 -2.27673521e-04 9.99851065e-01 7.01400224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9692541539998 meters 0.01654771198632429 Centerline is valid? [True, True] Translation: X:929.29, Y:148.94, Z:7.01 [[-2.15884673e-01 -9.76412750e-01 3.45683363e-03 9.29288946e+02] [ 9.76268466e-01 -2.15912204e-01 -1.67869552e-02 1.48936346e+02] [ 1.71373697e-02 -2.49248680e-04 9.99853113e-01 7.01411639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9992541539998 meters 0.017628970769685115 Centerline is valid? [True, True] Translation: X:929.28, Y:148.96, Z:7.01 [[-2.16834402e-01 -9.76202434e-01 3.41315276e-03 9.29283580e+02] [ 9.76062160e-01 -2.16861111e-01 -1.65504546e-02 1.48962466e+02] [ 1.68967742e-02 -2.57258683e-04 9.99857206e-01 7.01429156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0292541539999 meters 0.0174231804263029 Centerline is valid? [True, True] Translation: X:929.28, Y:148.99, Z:7.02 [[-2.17397964e-01 -9.76077617e-01 3.25731915e-03 9.29276223e+02] [ 9.75950218e-01 -2.17422221e-01 -1.57718045e-02 1.48989158e+02] [ 1.61027189e-02 -2.49776851e-04 9.99870312e-01 7.01600360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0592541539999 meters 0.015223901176338313 Centerline is valid? [True, True] Translation: X:929.27, Y:149.02, Z:7.02 [[-2.16542509e-01 -9.76268923e-01 2.88632654e-03 9.29270109e+02] [ 9.76169146e-01 -2.16561647e-01 -1.39589274e-02 1.49015185e+02] [ 1.42527347e-02 -2.05158258e-04 9.99898404e-01 7.01818577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0892541539998 meters 0.015430391180221858 Centerline is valid? [True, True] Translation: X:929.26, Y:149.04, Z:7.02 [[-2.16248063e-01 -9.76334094e-01 2.91746238e-03 9.29262548e+02] [ 9.76232414e-01 -2.16267651e-01 -1.40917573e-02 1.49041811e+02] [ 1.43892158e-02 -1.99193875e-04 9.99896450e-01 7.01812007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1192541539998 meters 0.014673757204543192 Centerline is valid? [True, True] Translation: X:929.26, Y:149.07, Z:7.02 [[-2.15265352e-01 -9.76551275e-01 2.90429973e-03 9.29255513e+02] [ 9.76450841e-01 -2.15284869e-01 -1.40064615e-02 1.49067117e+02] [ 1.43032796e-02 -1.79199948e-04 9.99897687e-01 7.01852806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1492541539999 meters 0.014673757204543192 Centerline is valid? [True, True] Translation: X:929.25, Y:149.09, Z:7.02 [[-2.15572635e-01 -9.76483475e-01 2.90883451e-03 9.29249963e+02] [ 9.76383047e-01 -2.15592185e-01 -1.40055200e-02 1.49093307e+02] [ 1.43032809e-02 -1.79070147e-04 9.99897687e-01 7.01871264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1792541539999 meters 0.016664298393605295 Centerline is valid? [True, True] Translation: X:929.24, Y:149.12, Z:7.02 [[-2.12554836e-01 -9.77143600e-01 3.29045757e-03 9.29238046e+02] [ 9.77015574e-01 -2.12580252e-01 -1.58178642e-02 1.49119583e+02] [ 1.61558111e-02 -1.47335250e-04 9.99869476e-01 7.01713863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2092541539998 meters 0.016491388932195934 Centerline is valid? [True, True] Translation: X:929.23, Y:149.15, Z:7.02 [[-2.10309543e-01 -9.77628996e-01 3.38278076e-03 9.29229205e+02] [ 9.77494136e-01 -2.10336719e-01 -1.62381881e-02 1.49146001e+02] [ 1.65864465e-02 -1.08397566e-04 9.99862430e-01 7.01695343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2392541539998 meters 0.018232380018735988 Centerline is valid? [True, True] Translation: X:929.22, Y:149.17, Z:7.02 [[-2.05167806e-01 -9.78720283e-01 3.57475516e-03 9.29216582e+02] [ 9.78570279e-01 -2.05198946e-01 -1.71348170e-02 1.49172099e+02] [ 1.75037290e-02 -1.73636654e-05 9.99846798e-01 7.01526781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2692541539999 meters 0.013501749360749297 Centerline is valid? [True, True] Translation: X:929.21, Y:149.20, Z:7.02 [[-2.02428074e-01 -9.79291617e-01 3.28687959e-03 9.29207984e+02] [ 9.79165221e-01 -2.02454754e-01 -1.57334715e-02 1.49199069e+02] [ 1.60731011e-02 3.35018506e-05 9.99870819e-01 7.01753106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2992541539999 meters 0.016441237622612445 Centerline is valid? [True, True] Translation: X:929.20, Y:149.23, Z:7.02 [[-2.00936886e-01 -9.79597744e-01 3.55355782e-03 9.29198777e+02] [ 9.79450495e-01 -2.00968294e-01 -1.69844678e-02 1.49225055e+02] [ 1.73520988e-02 6.77279126e-05 9.99849439e-01 7.01531249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3292541539998 meters 0.013759879483122293 Centerline is valid? [True, True] Translation: X:929.19, Y:149.25, Z:7.02 [[-1.97841211e-01 -9.80228263e-01 3.37750629e-03 9.29189607e+02] [ 9.80095711e-01 -1.97870001e-01 -1.61201892e-02 1.49251599e+02] [ 1.64697722e-02 1.21041686e-04 9.99864357e-01 7.01786533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3592541539998 meters 0.016709262077199357 Centerline is valid? [True, True] Translation: X:929.18, Y:149.28, Z:7.02 [[-1.96804715e-01 -9.80435957e-01 3.63842466e-03 9.29180639e+02] [ 9.80282616e-01 -1.96838285e-01 -1.73402004e-02 1.49278302e+02] [ 1.77171372e-02 1.54051247e-04 9.99843027e-01 7.01680889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3892541539999 meters 0.014018649973568624 Centerline is valid? [True, True] Translation: X:929.17, Y:149.31, Z:7.02 [[-1.96030669e-01 -9.80591779e-01 3.42644290e-03 9.29174173e+02] [ 9.80456186e-01 -1.96060544e-01 -1.63073555e-02 1.49305619e+02] [ 1.66626490e-02 1.62735339e-04 9.99861155e-01 7.01894428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4192541539999 meters 0.016099700709159875 Centerline is valid? [True, True] Translation: X:929.17, Y:149.33, Z:7.02 [[-1.95950619e-01 -9.80607340e-01 3.54965428e-03 9.29167017e+02] [ 9.80462247e-01 -1.95982689e-01 -1.68691542e-02 1.49332705e+02] [ 1.72376872e-02 1.74780814e-04 9.99851405e-01 7.01864888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4492541539998 meters 0.014192852578804824 Centerline is valid? [True, True] Translation: X:929.16, Y:149.36, Z:7.02 [[-1.95335517e-01 -9.80730554e-01 3.40835910e-03 9.29160449e+02] [ 9.80597194e-01 -1.95365165e-01 -1.61739064e-02 1.49359046e+02] [ 1.65281188e-02 1.82889002e-04 9.99863385e-01 7.02020271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4792541539998 meters 0.0159524367805272 Centerline is valid? [True, True] Translation: X:929.15, Y:149.39, Z:7.02 [[-1.94328977e-01 -9.80929643e-01 3.64481120e-03 9.29151206e+02] [ 9.80777617e-01 -1.94363032e-01 -1.72706938e-02 1.49385954e+02] [ 1.76497521e-02 2.18552984e-04 9.99844207e-01 7.01895259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5092541539999 meters 0.017584857983137324 Centerline is valid? [True, True] Translation: X:929.14, Y:149.41, Z:7.02 [[-1.93825742e-01 -9.81028212e-01 3.90245930e-03 9.29143418e+02] [ 9.80854451e-01 -1.93864865e-01 -1.84650998e-02 1.49413000e+02] [ 1.88713336e-02 2.48732900e-04 9.99821890e-01 7.01773905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5392541539999 meters 0.014920397396343885 Centerline is valid? [True, True] Translation: X:929.14, Y:149.44, Z:7.02 [[-1.92398786e-01 -9.81308486e-01 4.04497357e-03 9.29135896e+02] [ 9.81122400e-01 -1.92441081e-01 -1.91119492e-02 1.49439899e+02] [ 1.95331370e-02 2.91498350e-04 9.99809168e-01 7.01837401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5692541539999 meters 0.01679512583926662 Centerline is valid? [True, True] Translation: X:929.13, Y:149.47, Z:7.02 [[-1.92472126e-01 -9.81292467e-01 4.42433308e-03 9.29129618e+02] [ 9.81070468e-01 -1.92522700e-01 -2.08745551e-02 1.49467802e+02] [ 2.13358283e-02 3.22812516e-04 9.99772313e-01 7.01763983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5992541539998 meters 0.015130208608255497 Centerline is valid? [True, True] Translation: X:929.12, Y:149.49, Z:7.02 [[-1.92400786e-01 -9.81306996e-01 4.30323373e-03 9.29123075e+02] [ 9.81097601e-01 -1.92448635e-01 -2.02736314e-02 1.49494293e+02] [ 2.07228078e-02 3.21229669e-04 9.99785208e-01 7.01813073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6292541539999 meters 0.014861648334602375 Centerline is valid? [True, True] Translation: X:929.12, Y:149.52, Z:7.02 [[-1.93440886e-01 -9.81101911e-01 4.43436601e-03 9.29117776e+02] [ 9.80880165e-01 -1.93491450e-01 -2.08604924e-02 1.49521474e+02] [ 2.13242809e-02 3.14309527e-04 9.99772562e-01 7.01921174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6592541539999 meters 0.016480582560574733 Centerline is valid? [True, True] Translation: X:929.11, Y:149.55, Z:7.02 [[-1.94206846e-01 -9.80949916e-01 4.57858402e-03 9.29112038e+02] [ 9.80714157e-01 -1.94260558e-01 -2.15076338e-02 1.49548779e+02] [ 2.19873498e-02 3.13352445e-04 9.99758200e-01 7.01887924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6892541539999 meters 0.014765916432103761 Centerline is valid? [True, True] Translation: X:929.11, Y:149.58, Z:7.02 [[-1.94532735e-01 -9.80886529e-01 4.31659358e-03 9.29106687e+02] [ 9.80677449e-01 -1.94580399e-01 -2.02536245e-02 1.49575414e+02] [ 2.07064319e-02 2.93193020e-04 9.99785556e-01 7.02037080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7192541539998 meters 0.01803623502439988 Centerline is valid? [True, True] Translation: X:929.10, Y:149.60, Z:7.02 [[-1.95380347e-01 -9.80717459e-01 4.44817997e-03 9.29101036e+02] [ 9.80495973e-01 -1.95430762e-01 -2.08437836e-02 1.49602668e+02] [ 2.13111737e-02 2.88956886e-04 9.99772849e-01 7.01933537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7492541539998 meters 0.014777142232435234 Centerline is valid? [True, True] Translation: X:929.10, Y:149.63, Z:7.02 [[-1.95491270e-01 -9.80696267e-01 4.24208755e-03 9.29096103e+02] [ 9.80495287e-01 -1.95537093e-01 -1.98554055e-02 1.49629194e+02] [ 2.03016076e-02 2.77788399e-04 9.99793863e-01 7.02106865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7792541539999 meters 0.014774913375524638 Centerline is valid? [True, True] Translation: X:929.09, Y:149.66, Z:7.02 [[-1.96146909e-01 -9.80564950e-01 4.33230456e-03 9.29091902e+02] [ 9.80355838e-01 -1.96194554e-01 -2.02516047e-02 1.49656732e+02] [ 2.07079883e-02 2.74910412e-04 9.99785529e-01 7.02150443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8092541539999 meters 0.01820746738796832 Centerline is valid? [True, True] Translation: X:929.09, Y:149.68, Z:7.02 [[-1.96613169e-01 -9.80470527e-01 4.56155059e-03 9.29086018e+02] [ 9.80239357e-01 -1.96665871e-01 -2.12917470e-02 1.49683712e+02] [ 2.17730317e-02 2.85173549e-04 9.99762899e-01 7.01980119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8392541539998 meters 0.017982998564964735 Centerline is valid? [True, True] Translation: X:929.08, Y:149.71, Z:7.02 [[-1.96253205e-01 -9.80542247e-01 4.64548721e-03 9.29081733e+02] [ 9.80303198e-01 -1.96307942e-01 -2.16525321e-02 1.49711922e+02] [ 2.21431685e-02 3.04607153e-04 9.99754764e-01 7.02103899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8692541539998 meters 0.01721769405771618 Centerline is valid? [True, True] Translation: X:929.08, Y:149.74, Z:7.02 [[-1.95914991e-01 -9.80610148e-01 4.58856398e-03 9.29076089e+02] [ 9.80377613e-01 -1.95968466e-01 -2.13563985e-02 1.49738167e+02] [ 2.18415149e-02 3.14486778e-04 9.99761396e-01 7.02171645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8992541539999 meters 0.016518961002774557 Centerline is valid? [True, True] Translation: X:929.07, Y:149.77, Z:7.02 [[-1.95112584e-01 -9.80770834e-01 4.43284333e-03 9.29070313e+02] [ 9.80554513e-01 -1.95162659e-01 -2.06005693e-02 1.49765224e+02] [ 2.10695631e-02 3.27214221e-04 9.99777959e-01 7.02279063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9292541539999 meters 0.018386473514995585 Centerline is valid? [True, True] Translation: X:929.06, Y:149.79, Z:7.02 [[-1.93210721e-01 -9.81145920e-01 4.72244640e-03 9.29063645e+02] [ 9.80901233e-01 -1.93268015e-01 -2.19144924e-02 1.49792583e+02] [ 2.24140127e-02 3.98138605e-04 9.99748695e-01 7.02239141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9592541539998 meters 0.016956321108877462 Centerline is valid? [True, True] Translation: X:929.06, Y:149.82, Z:7.02 [[-1.91673910e-01 -9.81447685e-01 4.64260609e-03 9.29057808e+02] [ 9.81211937e-01 -1.91729641e-01 -2.15146450e-02 1.49819599e+02] [ 2.20056237e-02 4.31584394e-04 9.99757754e-01 7.02368112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9892541539998 meters 0.01816022428120645 Centerline is valid? [True, True] Translation: X:929.05, Y:149.85, Z:7.02 [[-1.89571994e-01 -9.81854557e-01 4.90795822e-03 9.29052305e+02] [ 9.81591824e-01 -1.89634828e-01 -2.27183446e-02 1.49846532e+02] [ 2.32368299e-02 5.10849790e-04 9.99729858e-01 7.02390877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0192541539999 meters 0.017325502101059157 Centerline is valid? [True, True] Translation: X:929.05, Y:149.87, Z:7.02 [[-1.88735773e-01 -9.82015796e-01 4.87692708e-03 9.29045766e+02] [ 9.81757117e-01 -1.88798020e-01 -2.25448686e-02 1.49873223e+02] [ 2.30601713e-02 5.32934658e-04 9.99733937e-01 7.02398253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0492541539999 meters 0.017700309755335236 Centerline is valid? [True, True] Translation: X:929.04, Y:149.90, Z:7.02 [[-1.88372256e-01 -9.82085042e-01 4.98632559e-03 9.29040196e+02] [ 9.81815412e-01 -1.88437409e-01 -2.30182394e-02 1.49900504e+02] [ 2.35454789e-02 5.59653633e-04 9.99722610e-01 7.02398714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0792541539998 meters 0.019605437935173914 Centerline is valid? [True, True] Translation: X:929.04, Y:149.93, Z:7.02 [[-1.88333280e-01 -9.82092212e-01 5.04610798e-03 9.29035481e+02] [ 9.81816909e-01 -1.88399996e-01 -2.32593890e-02 1.49927360e+02] [ 2.37935515e-02 5.73837112e-04 9.99716729e-01 7.02409336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1092541539998 meters 0.01700035478046103 Centerline is valid? [True, True] Translation: X:929.03, Y:149.96, Z:7.03 [[-1.88232953e-01 -9.82113675e-01 4.59190545e-03 9.29031334e+02] [ 9.81886352e-01 -1.88288207e-01 -2.11362994e-02 1.49955397e+02] [ 2.16228503e-02 5.30181238e-04 9.99766058e-01 7.02649530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1392541539999 meters 0.016823773449918047 Centerline is valid? [True, True] Translation: X:929.03, Y:149.98, Z:7.03 [[-1.89199765e-01 -9.81928485e-01 4.46079035e-03 9.29028268e+02] [ 9.81714508e-01 -1.89251684e-01 -2.05042868e-02 1.49983480e+02] [ 2.09779554e-02 4.99816359e-04 9.99779814e-01 7.02823643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1692541539999 meters 0.01878392902597155 Centerline is valid? [True, True] Translation: X:929.02, Y:150.01, Z:7.03 [[-1.89545218e-01 -9.81861924e-01 4.44658736e-03 9.29020474e+02] [ 9.81649780e-01 -1.89596721e-01 -2.04155143e-02 1.50009935e+02] [ 2.08882746e-02 4.95328386e-04 9.99781693e-01 7.02695250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1992541539998 meters 0.01816128508681815 Centerline is valid? [True, True] Translation: X:929.02, Y:150.04, Z:7.03 [[-1.89605745e-01 -9.81850272e-01 4.43914210e-03 9.29015813e+02] [ 9.81639394e-01 -1.89657048e-01 -2.03544798e-02 1.50036563e+02] [ 2.08269661e-02 4.98310459e-04 9.99782971e-01 7.02751036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2292541539998 meters 0.01657699934204459 Centerline is valid? [True, True] Translation: X:929.01, Y:150.07, Z:7.03 [[-1.89643509e-01 -9.81842908e-01 4.45452648e-03 9.29013798e+02] [ 9.81631171e-01 -1.89695146e-01 -2.03959678e-02 1.50065073e+02] [ 2.08706384e-02 5.04739157e-04 9.99782057e-01 7.02929437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2592541539999 meters 0.019733126660187884 Centerline is valid? [True, True] Translation: X:929.01, Y:150.09, Z:7.03 [[-1.89986595e-01 -9.81774434e-01 4.90449082e-03 9.29007126e+02] [ 9.81518423e-01 -1.90049083e-01 -2.24261384e-02 1.50091337e+02] [ 2.29495033e-02 5.53182431e-04 9.99736472e-01 7.02591922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2892541539999 meters 0.019083762192140453 Centerline is valid? [True, True] Translation: X:929.00, Y:150.12, Z:7.02 [[-1.89615841e-01 -9.81846426e-01 4.84041744e-03 9.28999244e+02] [ 9.81597821e-01 -1.89676784e-01 -2.21005749e-02 1.50116533e+02] [ 2.26174853e-02 5.60724128e-04 9.99744035e-01 7.02493770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3192541539999 meters 0.020026438387767354 Centerline is valid? [True, True] Translation: X:929.00, Y:150.14, Z:7.03 [[-1.89306939e-01 -9.81904586e-01 5.12506735e-03 9.28996927e+02] [ 9.81626743e-01 -1.89375326e-01 -2.33650104e-02 1.50144233e+02] [ 2.39127722e-02 6.07744571e-04 9.99713864e-01 7.02545530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3492541539998 meters 0.019470891598866665 Centerline is valid? [True, True] Translation: X:928.99, Y:150.17, Z:7.03 [[-1.89528978e-01 -9.81861831e-01 5.10984651e-03 9.28991666e+02] [ 9.81586450e-01 -1.89596876e-01 -2.32608405e-02 1.50171194e+02] [ 2.38077424e-02 6.07152775e-04 9.99716371e-01 7.02602568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3792541539999 meters 0.019863129530458698 Centerline is valid? [True, True] Translation: X:928.99, Y:150.20, Z:7.03 [[-1.90337538e-01 -9.81705341e-01 5.12308647e-03 9.28986791e+02] [ 9.81429319e-01 -1.90405539e-01 -2.32856759e-02 1.50198359e+02] [ 2.38351364e-02 5.95809055e-04 9.99715725e-01 7.02624983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4092541539999 meters 0.01793834772017413 Centerline is valid? [True, True] Translation: X:928.98, Y:150.23, Z:7.03 [[-1.91632762e-01 -9.81455193e-01 4.75280484e-03 9.28982928e+02] [ 9.81218206e-01 -1.91690961e-01 -2.15732911e-02 1.50225961e+02] [ 2.20842883e-02 5.29389282e-04 9.99755972e-01 7.02727818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4392541539999 meters 0.019912937677625968 Centerline is valid? [True, True] Translation: X:928.98, Y:150.25, Z:7.03 [[-1.92957918e-01 -9.81195104e-01 4.83841595e-03 9.28978275e+02] [ 9.80950165e-01 -1.93017883e-01 -2.19287792e-02 1.50251368e+02] [ 2.24503116e-02 5.14913358e-04 9.99747827e-01 7.02667143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4692541539998 meters 0.016687443311759628 Centerline is valid? [True, True] Translation: X:928.97, Y:150.28, Z:7.03 [[-1.93787150e-01 -9.81033182e-01 4.52058851e-03 9.28974306e+02] [ 9.80819941e-01 -1.93839302e-01 -2.04589379e-02 1.50278829e+02] [ 2.09471647e-02 4.69204097e-04 9.99780474e-01 7.02858031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4992541539998 meters 0.016648402192350895 Centerline is valid? [True, True] Translation: X:928.97, Y:150.31, Z:7.03 [[-1.95538770e-01 -9.80686276e-01 4.36088649e-03 9.28969868e+02] [ 9.80488281e-01 -1.95586937e-01 -1.97099001e-02 1.50305886e+02] [ 2.01821610e-02 4.21748470e-04 9.99796230e-01 7.02829803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5292541539999 meters 0.017737691176296397 Centerline is valid? [True, True] Translation: X:928.97, Y:150.33, Z:7.03 [[-1.96465211e-01 -9.80501162e-01 4.34650357e-03 9.28965390e+02] [ 9.80304986e-01 -1.96512864e-01 -1.96170311e-02 1.50332449e+02] [ 2.00886656e-02 4.06834973e-04 9.99798120e-01 7.02824485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5592541539999 meters 0.01651174860885479 Centerline is valid? [True, True] Translation: X:928.96, Y:150.36, Z:7.03 [[-1.96743205e-01 -9.80446432e-01 4.11158766e-03 9.28960547e+02] [ 9.80271404e-01 -1.96785786e-01 -1.85291270e-02 1.50358634e+02] [ 1.89759185e-02 3.84991967e-04 9.99819867e-01 7.02917000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5892541539998 meters 0.016642409399353707 Centerline is valid? [True, True] Translation: X:928.95, Y:150.39, Z:7.03 [[-1.96726514e-01 -9.80450372e-01 3.96815874e-03 9.28954480e+02] [ 9.80287823e-01 -1.96766169e-01 -1.78566250e-02 1.50385410e+02] [ 1.82883340e-02 3.77066109e-04 9.99832683e-01 7.02946589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6192541539998 meters 0.015704514410142083 Centerline is valid? [True, True] Translation: X:928.95, Y:150.41, Z:7.03 [[-1.96240289e-01 -9.80547758e-01 3.98043867e-03 9.28950323e+02] [ 9.80384678e-01 -1.96280262e-01 -1.78869265e-02 1.50413201e+02] [ 1.83202672e-02 3.92225465e-04 9.99832093e-01 7.03080018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6492541539999 meters 0.016404201908295304 Centerline is valid? [True, True] Translation: X:928.94, Y:150.44, Z:7.03 [[-1.95117988e-01 -9.80771157e-01 4.11196529e-03 9.28943198e+02] [ 9.80597667e-01 -1.95160833e-01 -1.84516867e-02 1.50439640e+02] [ 1.88993767e-02 4.31927591e-04 9.99821298e-01 7.03005972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6792541539999 meters 0.020251061458527078 Centerline is valid? [True, True] Translation: X:928.94, Y:150.47, Z:7.03 [[-1.94565146e-01 -9.80879476e-01 4.45616938e-03 9.28935838e+02] [ 9.80676229e-01 -1.94615567e-01 -1.99728298e-02 1.50465800e+02] [ 2.04581787e-02 4.84042857e-04 9.99790592e-01 7.02801953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7092541539998 meters 0.018442953969604273 Centerline is valid? [True, True] Translation: X:928.93, Y:150.49, Z:7.03 [[-1.94250646e-01 -9.80942517e-01 4.29716023e-03 9.28927940e+02] [ 9.80754037e-01 -1.94297582e-01 -1.92345706e-02 1.50491228e+02] [ 1.97029359e-02 4.78129489e-04 9.99805764e-01 7.02743459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7392541539998 meters 0.02015880481233124 Centerline is valid? [True, True] Translation: X:928.92, Y:150.52, Z:7.03 [[-1.93414065e-01 -9.81105997e-01 4.69276139e-03 9.28923291e+02] [ 9.80881903e-01 -1.93470215e-01 -2.09754106e-02 1.50518679e+02] [ 2.14870107e-02 5.46105295e-04 9.99768978e-01 7.02674901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7692541539999 meters 0.018845450522045632 Centerline is valid? [True, True] Translation: X:928.92, Y:150.55, Z:7.03 [[-1.93328685e-01 -9.81123504e-01 4.54855893e-03 9.28917603e+02] [ 9.80913571e-01 -1.93381441e-01 -2.03023365e-02 1.50545590e+02] [ 2.07987064e-02 5.36719165e-04 9.99783539e-01 7.02751835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7992541539999 meters 0.017025501666725444 Centerline is valid? [True, True] Translation: X:928.91, Y:150.57, Z:7.03 [[-1.93539321e-01 -9.81083341e-01 4.24374728e-03 9.28913237e+02] [ 9.80901092e-01 -1.93585191e-01 -1.89161446e-02 1.50573851e+02] [ 1.93798409e-02 5.01678580e-04 9.99812067e-01 7.02949188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8292541539998 meters 0.019511213455173707 Centerline is valid? [True, True] Translation: X:928.91, Y:150.60, Z:7.03 [[-1.94020955e-01 -9.80987393e-01 4.42753562e-03 9.28906789e+02] [ 9.80789555e-01 -1.94070772e-01 -1.97074437e-02 1.50600413e+02] [ 2.01920091e-02 5.18823649e-04 9.99795986e-01 7.02926290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8592541539998 meters 0.01995153743745665 Centerline is valid? [True, True] Translation: X:928.90, Y:150.63, Z:7.03 [[-1.94802299e-01 -9.80833103e-01 4.29972468e-03 9.28901418e+02] [ 9.80647032e-01 -1.94849120e-01 -1.91107335e-02 1.50627503e+02] [ 1.95822376e-02 4.93697431e-04 9.99808128e-01 7.02991307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8892541539999 meters 0.01680757952589181 Centerline is valid? [True, True] Translation: X:928.90, Y:150.66, Z:7.03 [[-1.96304680e-01 -9.80534827e-01 3.99061811e-03 9.28896965e+02] [ 9.80374825e-01 -1.96344758e-01 -1.77183304e-02 1.50655813e+02] [ 1.81569769e-02 4.34110355e-04 9.99835054e-01 7.03159294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9192541539999 meters 0.01667730633326969 Centerline is valid? [True, True] Translation: X:928.89, Y:150.68, Z:7.03 [[-1.97410617e-01 -9.80313492e-01 3.80860760e-03 9.28890755e+02] [ 9.80167978e-01 -1.97446952e-01 -1.68948768e-02 1.50681786e+02] [ 1.73142736e-02 3.97847166e-04 9.99850018e-01 7.03118338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9492541539998 meters 0.018103113972748424 Centerline is valid? [True, True] Translation: X:928.89, Y:150.71, Z:7.03 [[-2.00424560e-01 -9.79700749e-01 4.05445894e-03 9.28886619e+02] [ 9.79536114e-01 -2.00465221e-01 -1.79637349e-02 1.50709934e+02] [ 1.84118625e-02 3.71115310e-04 9.99830418e-01 7.03042128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9792541539998 meters 0.01716125252123823 Centerline is valid? [True, True] Translation: X:928.88, Y:150.74, Z:7.03 [[-2.02238139e-01 -9.79328140e-01 4.01613806e-03 9.28881754e+02] [ 9.79166986e-01 -2.02277729e-01 -1.77688961e-02 1.50735939e+02] [ 1.82139552e-02 3.38921314e-04 9.99834055e-01 7.03039912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0092541539999 meters 0.015680829803173046 Centerline is valid? [True, True] Translation: X:928.88, Y:150.76, Z:7.03 [[-2.04191749e-01 -9.78922882e-01 3.96506582e-03 9.28877547e+02] [ 9.78766156e-01 -2.04230017e-01 -1.75189332e-02 1.50764150e+02] [ 1.79594701e-02 3.03650615e-04 9.99838670e-01 7.03083649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0392541539999 meters 0.01478892051255766 Centerline is valid? [True, True] Translation: X:928.87, Y:150.79, Z:7.03 [[-2.08285258e-01 -9.78059737e-01 4.05003840e-03 9.28874223e+02] [ 9.77896480e-01 -2.08324494e-01 -1.78712027e-02 1.50791096e+02] [ 1.83228260e-02 2.38210214e-04 9.99832095e-01 7.03045751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0692541539999 meters 0.01478892051255766 Centerline is valid? [True, True] Translation: X:928.87, Y:150.82, Z:7.03 [[-2.08591933e-01 -9.77994356e-01 4.05537112e-03 9.28868188e+02] [ 9.77831110e-01 -2.08631215e-01 -1.78699931e-02 1.50817180e+02] [ 1.83228294e-02 2.37931649e-04 9.99832095e-01 7.03064225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0992541539998 meters 0.014543071790961684 Centerline is valid? [True, True] Translation: X:928.86, Y:150.84, Z:7.03 [[-2.10817288e-01 -9.77516824e-01 4.11461773e-03 9.28863477e+02] [ 9.77349171e-01 -2.10857338e-01 -1.81047281e-02 1.50843835e+02] [ 1.85652736e-02 2.04628561e-04 9.99827630e-01 7.03062147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1292541539999 meters 0.01693883779137845 Centerline is valid? [True, True] Translation: X:928.86, Y:150.87, Z:7.03 [[-2.13382600e-01 -9.76958684e-01 4.42663547e-03 9.28858880e+02] [ 9.76765068e-01 -2.13428440e-01 -1.94500041e-02 1.50871271e+02] [ 1.99466203e-02 1.73490451e-04 9.99801031e-01 7.02980342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1592541539999 meters 0.013452260964285657 Centerline is valid? [True, True] Translation: X:928.86, Y:150.90, Z:7.03 [[-2.17514779e-01 -9.76048576e-01 4.06190793e-03 9.28855769e+02] [ 9.75885796e-01 -2.17552685e-01 -1.78253309e-02 1.50898459e+02] [ 1.82820678e-02 8.66853328e-05 9.99832865e-01 7.03055728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1892541539999 meters 0.013336017005427197 Centerline is valid? [True, True] Translation: X:928.85, Y:150.92, Z:7.03 [[-2.19534748e-01 -9.75596138e-01 4.08290153e-03 9.28851071e+02] [ 9.75432034e-01 -2.19572704e-01 -1.78934136e-02 1.50924886e+02] [ 1.83532389e-02 5.43669056e-05 9.99831564e-01 7.03103421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2192541539998 meters 0.017388339377900828 Centerline is valid? [True, True] Translation: X:928.85, Y:150.95, Z:7.03 [[-2.23998034e-01 -9.74580076e-01 4.30761617e-03 9.28848326e+02] [ 9.74397737e-01 -2.24039448e-01 -1.88514383e-02 1.50952720e+02] [ 1.93373122e-02 -2.53536851e-05 9.99813016e-01 7.03069240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2492541539998 meters 0.014732048592392704 Centerline is valid? [True, True] Translation: X:928.84, Y:150.98, Z:7.03 [[-2.26095778e-01 -9.74096424e-01 4.10569739e-03 9.28843954e+02] [ 9.73931164e-01 -2.26133046e-01 -1.79425303e-02 1.50979490e+02] [ 1.84061884e-02 -5.80637080e-05 9.99830590e-01 7.03286189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2792541539999 meters 0.014355822015933987 Centerline is valid? [True, True] Translation: X:928.84, Y:151.01, Z:7.03 [[-2.28576559e-01 -9.73517575e-01 4.03575674e-03 9.28839396e+02] [ 9.73358266e-01 -2.28612164e-01 -1.76115195e-02 1.51006140e+02] [ 1.80677468e-02 -9.73433492e-05 9.99836760e-01 7.03286183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3092541539999 meters 0.01531395895073385 Centerline is valid? [True, True] Translation: X:928.84, Y:151.03, Z:7.03 [[-2.30746918e-01 -9.73005004e-01 4.13792711e-03 9.28835050e+02] [ 9.72837927e-01 -2.30783977e-01 -1.80312025e-02 1.51032780e+02] [ 1.84994175e-02 -1.35111957e-04 9.99828862e-01 7.03291740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3392541539998 meters 0.014114517201083804 Centerline is valid? [True, True] Translation: X:928.83, Y:151.06, Z:7.03 [[-2.34840661e-01 -9.72026037e-01 3.90488637e-03 9.28831231e+02] [ 9.71877503e-01 -2.34873042e-01 -1.69933562e-02 1.51060869e+02] [ 1.74351373e-02 -1.95659798e-04 9.99847977e-01 7.03395883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3692541539998 meters 0.015998766085443525 Centerline is valid? [True, True] Translation: X:928.83, Y:151.09, Z:7.03 [[-2.36971694e-01 -9.71507844e-01 4.11400521e-03 9.28826410e+02] [ 9.71343325e-01 -2.37007280e-01 -1.78799767e-02 1.51088260e+02] [ 1.83455868e-02 -2.40936864e-04 9.99831677e-01 7.03419534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3992541539999 meters 0.015570525319659124 Centerline is valid? [True, True] Translation: X:928.82, Y:151.12, Z:7.04 [[-2.40419818e-01 -9.70660865e-01 3.97435054e-03 9.28821282e+02] [ 9.70507601e-01 -2.40452491e-01 -1.72509535e-02 1.51116351e+02] [ 1.77004680e-02 -2.90333698e-04 9.99843292e-01 7.03534636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4292541539999 meters 0.01776858243288109 Centerline is valid? [True, True] Translation: X:928.82, Y:151.14, Z:7.04 [[-2.41574548e-01 -9.70372712e-01 4.30554932e-03 9.28815264e+02] [ 9.70193256e-01 -2.41612686e-01 -1.86642732e-02 1.51144317e+02] [ 1.91515767e-02 -3.31598446e-04 9.99816537e-01 7.03540296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4592541539998 meters 0.017724058116696605 Centerline is valid? [True, True] Translation: X:928.81, Y:151.17, Z:7.04 [[-2.42856480e-01 -9.70051388e-01 4.58639776e-03 9.28808632e+02] [ 9.69848211e-01 -2.42899496e-01 -1.98565335e-02 1.51171795e+02] [ 2.03758916e-02 -3.74178185e-04 9.99792320e-01 7.03569899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4892541539998 meters 0.015593957845298103 Centerline is valid? [True, True] Translation: X:928.80, Y:151.20, Z:7.04 [[-2.43472762e-01 -9.69897305e-01 4.49790266e-03 9.28801869e+02] [ 9.69702367e-01 -2.43514019e-01 -1.94484252e-02 1.51199224e+02] [ 1.99582775e-02 -3.73534930e-04 9.99800744e-01 7.03615818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5192541539999 meters 0.01756438755276352 Centerline is valid? [True, True] Translation: X:928.80, Y:151.23, Z:7.04 [[-2.43624150e-01 -9.69857791e-01 4.81033944e-03 9.28795776e+02] [ 9.69635372e-01 -2.43671313e-01 -2.07734696e-02 1.51225780e+02] [ 2.13194530e-02 -3.96643597e-04 9.99772636e-01 7.03538900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5492541539999 meters 0.016227130268276654 Centerline is valid? [True, True] Translation: X:928.79, Y:151.25, Z:7.04 [[-2.43328787e-01 -9.69931297e-01 4.93769672e-03 9.28788741e+02] [ 9.69697544e-01 -2.43378561e-01 -2.12966913e-02 1.51252936e+02] [ 2.18580570e-02 -3.94025679e-04 9.99761006e-01 7.03531735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5792541539998 meters 0.01798109451619128 Centerline is valid? [True, True] Translation: X:928.78, Y:151.28, Z:7.04 [[-2.42756778e-01 -9.70073962e-01 5.06501279e-03 9.28781262e+02] [ 9.69828668e-01 -2.42809308e-01 -2.18172931e-02 1.51279571e+02] [ 2.23942203e-02 -3.84101177e-04 9.99749144e-01 7.03574442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6092541539998 meters 0.016821137256297088 Centerline is valid? [True, True] Translation: X:928.77, Y:151.31, Z:7.04 [[-2.40325365e-01 -9.70679521e-01 4.99871848e-03 9.28772874e+02] [ 9.70441342e-01 -2.40377137e-01 -2.15042667e-02 1.51305552e+02] [ 2.20753289e-02 -3.17057675e-04 9.99756260e-01 7.03537846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6392541539999 meters 0.016474675175144178 Centerline is valid? [True, True] Translation: X:928.76, Y:151.33, Z:7.04 [[-2.38241612e-01 -9.71193450e-01 4.92105346e-03 9.28763349e+02] [ 9.70963309e-01 -2.38292290e-01 -2.11432635e-02 1.51332564e+02] [ 2.17068481e-02 -2.59042835e-04 9.99764345e-01 7.03635428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6692541539999 meters 0.017336171686567318 Centerline is valid? [True, True] Translation: X:928.75, Y:151.36, Z:7.04 [[-2.35529469e-01 -9.71854714e-01 4.92789217e-03 9.28754479e+02] [ 9.71624735e-01 -2.35580938e-01 -2.11422848e-02 1.51357291e+02] [ 2.17081466e-02 -1.91569185e-04 9.99764332e-01 7.03612368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6992541539998 meters 0.015500071881458168 Centerline is valid? [True, True] Translation: X:928.74, Y:151.38, Z:7.04 [[-2.31907194e-01 -9.72726011e-01 4.81267429e-03 9.28743850e+02] [ 9.72507431e-01 -2.31957104e-01 -2.06203522e-02 1.51383937e+02] [ 2.11742869e-02 -1.01646510e-04 9.99775794e-01 7.03714039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7292541539998 meters 0.016007132856138778 Centerline is valid? [True, True] Translation: X:928.73, Y:151.41, Z:7.04 [[-2.24131388e-01 -9.74547405e-01 4.74086182e-03 9.28729029e+02] [ 9.74336274e-01 -2.24181510e-01 -2.02848673e-02 1.51408582e+02] [ 2.08313783e-02 7.27181909e-05 9.99783001e-01 7.03765708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7592541539999 meters 0.01409524812395579 Centerline is valid? [True, True] Translation: X:928.71, Y:151.43, Z:7.04 [[-2.16370792e-01 -9.76300750e-01 4.53056141e-03 9.28714713e+02] [ 9.76108810e-01 -2.16418093e-01 -1.93597785e-02 1.51433961e+02] [ 1.98814618e-02 2.33430291e-04 9.99802317e-01 7.03862308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7892541539999 meters 0.016820582988767107 Centerline is valid? [True, True] Translation: X:928.71, Y:151.46, Z:7.04 [[-2.13299622e-01 -9.76976083e-01 4.58297656e-03 9.28705052e+02] [ 9.76780318e-01 -2.13348634e-01 -1.95593993e-02 1.51460677e+02] [ 2.00868372e-02 3.04548813e-04 9.99798193e-01 7.03846202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8192541539999 meters 0.015122447656160928 Centerline is valid? [True, True] Translation: X:928.70, Y:151.49, Z:7.04 [[-2.10061479e-01 -9.77677514e-01 4.56650574e-03 9.28695372e+02] [ 9.77483790e-01 -2.10110775e-01 -1.94654348e-02 1.51487430e+02] [ 1.99903900e-02 3.74747314e-04 9.99800102e-01 7.03906595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8492541539998 meters 0.015900612526336278 Centerline is valid? [True, True] Translation: X:928.69, Y:151.51, Z:7.04 [[-2.07664563e-01 -9.78189352e-01 4.58495126e-03 9.28686178e+02] [ 9.77994554e-01 -2.07714728e-01 -1.95254758e-02 1.51514017e+02] [ 2.00519745e-02 4.29307953e-04 9.99798847e-01 7.03920535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8792541539999 meters 0.016663248520707934 Centerline is valid? [True, True] Translation: X:928.67, Y:151.54, Z:7.04 [[-2.03663203e-01 -9.79030912e-01 4.44674449e-03 9.28674062e+02] [ 9.78848268e-01 -2.03711128e-01 -1.89167736e-02 1.51540538e+02] [ 1.94259574e-02 5.00037446e-04 9.99811173e-01 7.03876660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9092541539999 meters 0.020344184201324132 Centerline is valid? [True, True] Translation: X:928.66, Y:151.57, Z:7.04 [[-2.02858361e-01 -9.79198371e-01 4.36289672e-03 9.28663862e+02] [ 9.79023004e-01 -2.02904630e-01 -1.85383173e-02 1.51566365e+02] [ 1.90379421e-02 5.10723571e-04 9.99818632e-01 7.03707854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9392541539999 meters 0.017984511047992213 Centerline is valid? [True, True] Translation: X:928.66, Y:151.59, Z:7.04 [[-2.01086208e-01 -9.79564718e-01 4.15946989e-03 9.28655285e+02] [ 9.79405790e-01 -2.01128540e-01 -1.76524423e-02 1.51593197e+02] [ 1.81282977e-02 5.24146220e-04 9.99835532e-01 7.03933208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9692541539998 meters 0.018153750133961276 Centerline is valid? [True, True] Translation: X:928.65, Y:151.62, Z:7.04 [[-2.01283038e-01 -9.79524504e-01 4.10906656e-03 9.28647640e+02] [ 9.79369795e-01 -2.01324308e-01 -1.74163226e-02 1.51620538e+02] [ 1.78869698e-02 5.18685329e-04 9.99839881e-01 7.03990982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9992541539998 meters 0.020512900595718964 Centerline is valid? [True, True] Translation: X:928.64, Y:151.65, Z:7.04 [[-2.01982232e-01 -9.79380966e-01 4.01264022e-03 9.28639891e+02] [ 9.79233751e-01 -2.02021472e-01 -1.69878328e-02 1.51645842e+02] [ 1.74481996e-02 4.98072355e-04 9.99847645e-01 7.03874026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0292541539999 meters 0.02010574768771729 Centerline is valid? [True, True] Translation: X:928.63, Y:151.67, Z:7.04 [[-2.04466541e-01 -9.78866226e-01 3.78764014e-03 9.28633163e+02] [ 9.78735278e-01 -2.04501163e-01 -1.60165530e-02 1.51672815e+02] [ 1.64526396e-02 4.32247840e-04 9.99864553e-01 7.03842105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0592541539999 meters 0.017209946712264494 Centerline is valid? [True, True] Translation: X:928.63, Y:151.70, Z:7.04 [[-2.06045225e-01 -9.78534856e-01 3.86026463e-03 9.28627758e+02] [ 9.78399152e-01 -2.06080959e-01 -1.63014568e-02 1.51699094e+02] [ 1.67470707e-02 4.18042296e-04 9.99859671e-01 7.03978799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0892541539998 meters 0.016945943914793156 Centerline is valid? [True, True] Translation: X:928.62, Y:151.73, Z:7.04 [[-2.08481158e-01 -9.78018791e-01 3.85383189e-03 9.28621610e+02] [ 9.77883804e-01 -2.08516428e-01 -1.62531477e-02 1.51725092e+02] [ 1.66994712e-02 3.80124735e-04 9.99860482e-01 7.03927757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1192541539998 meters 0.015494461018332645 Centerline is valid? [True, True] Translation: X:928.62, Y:151.75, Z:7.04 [[-2.13524829e-01 -9.76930403e-01 3.75972471e-03 9.28618256e+02] [ 9.76802076e-01 -2.13557729e-01 -1.58366936e-02 1.51753003e+02] [ 1.62742657e-02 2.90979613e-04 9.99867523e-01 7.03939441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1492541539999 meters 0.014830641779481764 Centerline is valid? [True, True] Translation: X:928.61, Y:151.78, Z:7.04 [[-2.16405334e-01 -9.76296601e-01 3.69845553e-03 9.28613409e+02] [ 9.76172638e-01 -2.16436799e-01 -1.55593126e-02 1.51781080e+02] [ 1.59909859e-02 2.43212851e-04 9.99872106e-01 7.03967930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1792541539999 meters 0.016219884620197682 Centerline is valid? [True, True] Translation: X:928.61, Y:151.81, Z:7.04 [[-2.21120123e-01 -9.75240266e-01 3.50927907e-03 9.28610022e+02] [ 9.75128795e-01 -2.21147910e-01 -1.47457018e-02 1.51809360e+02] [ 1.51566719e-02 1.61427663e-04 9.99885118e-01 7.04004090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2092541539998 meters 0.013636786328458479 Centerline is valid? [True, True] Translation: X:928.60, Y:151.84, Z:7.04 [[-2.22555779e-01 -9.74913682e-01 3.49825795e-03 9.28604901e+02] [ 9.74803090e-01 -2.22583226e-01 -1.46848022e-02 1.51837484e+02] [ 1.50950681e-02 1.41925075e-04 9.99886053e-01 7.04246507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2392541539998 meters 0.013466637560855916 Centerline is valid? [True, True] Translation: X:928.60, Y:151.87, Z:7.04 [[-2.24932681e-01 -9.74368277e-01 3.42771216e-03 9.28599612e+02] [ 9.74262259e-01 -2.24958772e-01 -1.43736612e-02 1.51865304e+02] [ 1.47763334e-02 1.06384443e-04 9.99890818e-01 7.04276862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2692541539999 meters 0.013469009458841611 Centerline is valid? [True, True] Translation: X:928.59, Y:151.89, Z:7.04 [[-2.25854867e-01 -9.74154716e-01 3.48829670e-03 9.28593329e+02] [ 9.74045173e-01 -2.25881782e-01 -1.46089214e-02 1.51893077e+02] [ 1.50192924e-02 9.82625509e-05 9.99887199e-01 7.04289559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2992541539999 meters 0.013348388000146597 Centerline is valid? [True, True] Translation: X:928.59, Y:151.92, Z:7.04 [[-2.26371020e-01 -9.74034698e-01 3.54520079e-03 9.28586836e+02] [ 9.73921827e-01 -2.26398759e-01 -1.48282256e-02 1.51920223e+02] [ 1.52458353e-02 9.60678768e-05 9.99883771e-01 7.04293064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3292541539998 meters 0.015473156939052761 Centerline is valid? [True, True] Translation: X:928.58, Y:151.95, Z:7.04 [[-2.26515720e-01 -9.74001129e-01 3.52541221e-03 9.28579839e+02] [ 9.73889794e-01 -2.26543132e-01 -1.47268237e-02 1.51947666e+02] [ 1.51426009e-02 9.75058894e-05 9.99885340e-01 7.04088789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3592541539998 meters 0.01363680180617936 Centerline is valid? [True, True] Translation: X:928.57, Y:151.97, Z:7.04 [[-2.25794803e-01 -9.74167513e-01 3.78982759e-03 9.28572377e+02] [ 9.74039219e-01 -2.25826573e-01 -1.58100886e-02 1.51973942e+02] [ 1.62575185e-02 1.21604863e-04 9.99867830e-01 7.04141643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3892541539999 meters 0.014363262277473261 Centerline is valid? [True, True] Translation: X:928.56, Y:152.00, Z:7.04 [[-2.24861293e-01 -9.74384133e-01 3.59997944e-03 9.28564834e+02] [ 9.74268709e-01 -2.24890068e-01 -1.49979703e-02 1.52000171e+02] [ 1.54233839e-02 1.34884328e-04 9.99881043e-01 7.04137344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4192541539999 meters 0.014248853560525854 Centerline is valid? [True, True] Translation: X:928.56, Y:152.03, Z:7.04 [[-2.24042911e-01 -9.74572568e-01 3.61713370e-03 9.28557162e+02] [ 9.74456374e-01 -2.24072056e-01 -1.50495229e-02 1.52027568e+02] [ 1.54773508e-02 1.53000060e-04 9.99880207e-01 7.04214252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4492541539998 meters 0.015795420938472998 Centerline is valid? [True, True] Translation: X:928.55, Y:152.05, Z:7.04 [[-2.23776143e-01 -9.74634392e-01 3.46984429e-03 9.28549919e+02] [ 9.74527765e-01 -2.23802989e-01 -1.44172906e-02 1.52052650e+02] [ 1.48281487e-02 1.55213933e-04 9.99890045e-01 7.04125370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4792541539998 meters 0.014185674498109454 Centerline is valid? [True, True] Translation: X:928.54, Y:152.08, Z:7.04 [[-2.22401184e-01 -9.74948499e-01 3.62454777e-03 9.28542491e+02] [ 9.74832512e-01 -2.22430637e-01 -1.50394765e-02 1.52079856e+02] [ 1.54689255e-02 1.88529634e-04 9.99880331e-01 7.04300165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5092541539999 meters 0.015558624952055013 Centerline is valid? [True, True] Translation: X:928.53, Y:152.11, Z:7.04 [[-2.21364684e-01 -9.75184534e-01 3.57787410e-03 9.28534625e+02] [ 9.75071841e-01 -2.21393500e-01 -1.48264307e-02 1.52105677e+02] [ 1.52506240e-02 2.06636142e-04 9.99883681e-01 7.04220269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5392541539999 meters 0.014880089195947622 Centerline is valid? [True, True] Translation: X:928.53, Y:152.13, Z:7.04 [[-2.20392981e-01 -9.75404049e-01 3.72486057e-03 9.28527001e+02] [ 9.75282269e-01 -2.20424330e-01 -1.54146252e-02 1.52131269e+02] [ 1.58565377e-02 2.35515261e-04 9.99874249e-01 7.04266514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5692541539999 meters 0.01591766538442461 Centerline is valid? [True, True] Translation: X:928.52, Y:152.16, Z:7.04 [[-2.19806388e-01 -9.75537059e-01 3.54944719e-03 9.28520075e+02] [ 9.75426785e-01 -2.19834916e-01 -1.46696181e-02 1.52157445e+02] [ 1.50910485e-02 2.37750095e-04 9.99886095e-01 7.04250089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5992541539998 meters 0.015298102227565483 Centerline is valid? [True, True] Translation: X:928.51, Y:152.18, Z:7.04 [[-2.19578502e-01 -9.75588512e-01 3.51237401e-03 9.28513404e+02] [ 9.75480829e-01 -2.19606458e-01 -1.44967884e-02 1.52183639e+02] [ 1.49142402e-02 2.43070434e-04 9.99888747e-01 7.04387498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6292541539999 meters 0.015698262013195984 Centerline is valid? [True, True] Translation: X:928.51, Y:152.21, Z:7.04 [[-2.20198251e-01 -9.75449338e-01 3.36451624e-03 9.28507734e+02] [ 9.75350779e-01 -2.20223836e-01 -1.38679225e-02 1.52209970e+02] [ 1.42684025e-02 2.27891247e-04 9.99898175e-01 7.04455106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6592541539999 meters 0.015835020886506672 Centerline is valid? [True, True] Translation: X:928.50, Y:152.24, Z:7.05 [[-2.21115827e-01 -9.75242758e-01 3.05842945e-03 9.28500850e+02] [ 9.75161516e-01 -2.21136889e-01 -1.25894094e-02 1.52235346e+02] [ 1.29540620e-02 1.98745014e-04 9.99916073e-01 7.04584576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6892541539999 meters 0.015218344637464269 Centerline is valid? [True, True] Translation: X:928.50, Y:152.26, Z:7.05 [[-2.21477578e-01 -9.75160855e-01 2.99829053e-03 9.28495234e+02] [ 9.75082984e-01 -2.21497787e-01 -1.23249338e-02 1.52261622e+02] [ 1.26829077e-02 1.93885589e-04 9.99919550e-01 7.04717902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7192541539998 meters 0.017588524040881966 Centerline is valid? [True, True] Translation: X:928.49, Y:152.29, Z:7.05 [[-2.23512390e-01 -9.74696674e-01 2.93336182e-03 9.28489627e+02] [ 9.74622276e-01 -2.23531575e-01 -1.20438587e-02 1.52287682e+02] [ 1.23948080e-02 1.66968137e-04 9.99923167e-01 7.04609427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7492541539998 meters 0.015515629208036471 Centerline is valid? [True, True] Translation: X:928.49, Y:152.31, Z:7.05 [[-2.24152214e-01 -9.74549968e-01 2.85392909e-03 9.28485820e+02] [ 9.74479696e-01 -2.24170326e-01 -1.17041785e-02 1.52314334e+02] [ 1.20460730e-02 1.57578430e-04 9.99927431e-01 7.04790029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7792541539999 meters 0.01437769659602547 Centerline is valid? [True, True] Translation: X:928.48, Y:152.34, Z:7.05 [[-2.24552635e-01 -9.74457628e-01 2.90604475e-03 9.28480101e+02] [ 9.74384960e-01 -2.24571382e-01 -1.19014031e-02 1.52340986e+02] [ 1.22500275e-02 1.59114872e-04 9.99924953e-01 7.04857110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8092541539999 meters 0.014402985349170873 Centerline is valid? [True, True] Translation: X:928.47, Y:152.37, Z:7.05 [[-2.25711837e-01 -9.74189029e-01 3.14681545e-03 9.28474797e+02] [ 9.74104037e-01 -2.25733715e-01 -1.28691195e-02 1.52367234e+02] [ 1.32472974e-02 1.60613029e-04 9.99912238e-01 7.04836757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8392541539998 meters 0.016258367059949704 Centerline is valid? [True, True] Translation: X:928.47, Y:152.39, Z:7.05 [[-2.26986007e-01 -9.73892246e-01 3.35356793e-03 9.28469499e+02] [ 9.73795946e-01 -2.27010725e-01 -1.36962448e-02 1.52394699e+02] [ 1.40999625e-02 1.56834934e-04 9.99900578e-01 7.04737175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8692541539998 meters 0.016103898744560145 Centerline is valid? [True, True] Translation: X:928.46, Y:152.42, Z:7.05 [[-2.27286538e-01 -9.73821695e-01 3.48370789e-03 9.28463026e+02] [ 9.73718037e-01 -2.27313176e-01 -1.42092874e-02 1.52420568e+02] [ 1.46292051e-02 1.62569467e-04 9.99892974e-01 7.04695381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8992541539999 meters 0.014841245561921502 Centerline is valid? [True, True] Translation: X:928.46, Y:152.45, Z:7.05 [[-2.27529688e-01 -9.73764740e-01 3.53153543e-03 9.28456843e+02] [ 9.73658481e-01 -2.27557033e-01 -1.43860390e-02 1.52447898e+02] [ 1.48122433e-02 1.65258450e-04 9.99890279e-01 7.04721839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9292541539999 meters 0.015277810623325979 Centerline is valid? [True, True] Translation: X:928.45, Y:152.47, Z:7.05 [[-2.27454805e-01 -9.73781214e-01 3.80238767e-03 9.28450249e+02] [ 9.73658376e-01 -2.27486511e-01 -1.54678515e-02 1.52473079e+02] [ 1.59272951e-02 1.83989470e-04 9.99873136e-01 7.04556291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9592541539998 meters 0.015277810623325979 Centerline is valid? [True, True] Translation: X:928.44, Y:152.50, Z:7.05 [[-2.27749477e-01 -9.73712319e-01 3.80728501e-03 9.28443728e+02] [ 9.73589491e-01 -2.27781223e-01 -1.54666464e-02 1.52499033e+02] [ 1.59272922e-02 1.84212048e-04 9.99873136e-01 7.04574746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9892541539998 meters 0.014498515950925753 Centerline is valid? [True, True] Translation: X:928.44, Y:152.53, Z:7.05 [[-2.27722298e-01 -9.73718901e-01 3.74927351e-03 9.28438534e+02] [ 9.73600088e-01 -2.27753084e-01 -1.52118826e-02 1.52526865e+02] [ 1.56660062e-02 1.86208149e-04 9.99877263e-01 7.04676137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0192541539999 meters 0.014407381334107825 Centerline is valid? [True, True] Translation: X:928.43, Y:152.55, Z:7.05 [[-2.26918462e-01 -9.73906738e-01 3.69817053e-03 9.28431889e+02] [ 9.73791459e-01 -2.26948507e-01 -1.49856515e-02 1.52553480e+02] [ 1.54339212e-02 2.00725886e-04 9.99880870e-01 7.04641677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0492541539999 meters 0.014435912749079521 Centerline is valid? [True, True] Translation: X:928.43, Y:152.58, Z:7.05 [[-2.26766405e-01 -9.73942284e-01 3.66390026e-03 9.28425801e+02] [ 9.73829436e-01 -2.26795909e-01 -1.48271898e-02 1.52580281e+02] [ 1.52717847e-02 2.05705390e-04 9.99883358e-01 7.04684022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0792541539998 meters 0.014539687837248818 Centerline is valid? [True, True] Translation: X:928.42, Y:152.61, Z:7.05 [[-2.25732265e-01 -9.74183171e-01 3.47766469e-03 9.28419809e+02] [ 9.74081802e-01 -2.25758950e-01 -1.40549026e-02 1.52607048e+02] [ 1.44771635e-02 2.14884890e-04 9.99895177e-01 7.04679328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1092541539998 meters 0.015120161966103845 Centerline is valid? [True, True] Translation: X:928.41, Y:152.63, Z:7.05 [[-2.25251367e-01 -9.74294486e-01 3.47503590e-03 9.28413340e+02] [ 9.74193560e-01 -2.25278057e-01 -1.40251630e-02 1.52633634e+02] [ 1.44474883e-02 2.26170463e-04 9.99895604e-01 7.04675998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1392541539999 meters 0.014810240634359295 Centerline is valid? [True, True] Translation: X:928.41, Y:152.66, Z:7.05 [[-2.24600653e-01 -9.74444872e-01 3.42622476e-03 9.28406821e+02] [ 9.74347030e-01 -2.24626660e-01 -1.38104443e-02 1.52661380e+02] [ 1.42271381e-02 2.36497113e-04 9.99898761e-01 7.04733509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1692541539999 meters 0.015100078631239864 Centerline is valid? [True, True] Translation: X:928.40, Y:152.69, Z:7.05 [[-2.23759625e-01 -9.74638814e-01 3.28831084e-03 9.28400186e+02] [ 9.74548929e-01 -2.23783655e-01 -1.32386481e-02 1.52688346e+02] [ 1.36387705e-02 2.42344866e-04 9.99906958e-01 7.04731830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1992541539998 meters 0.016990753956154 Centerline is valid? [True, True] Translation: X:928.39, Y:152.72, Z:7.05 [[-2.21737012e-01 -9.75100280e-01 3.48445883e-03 9.28393011e+02] [ 9.74999669e-01 -2.21764198e-01 -1.40101953e-02 1.52715095e+02] [ 1.44340735e-02 2.90767368e-04 9.99895781e-01 7.04628598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2292541539998 meters 0.01636245194116788 Centerline is valid? [True, True] Translation: X:928.39, Y:152.74, Z:7.05 [[-2.20409820e-01 -9.75402166e-01 3.18218578e-03 9.28385451e+02] [ 9.75318486e-01 -2.20432604e-01 -1.27796174e-02 1.52742496e+02] [ 1.31667240e-02 2.86891453e-04 9.99913274e-01 7.04623343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2592541539999 meters 0.016244436743358202 Centerline is valid? [True, True] Translation: X:928.38, Y:152.77, Z:7.05 [[-2.18760927e-01 -9.75773737e-01 3.04489164e-03 9.28380199e+02] [ 9.75697336e-01 -2.18781912e-01 -1.22140904e-02 1.52770344e+02] [ 1.25843559e-02 2.98926923e-04 9.99920769e-01 7.04596400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2892541539999 meters 0.016443438337285593 Centerline is valid? [True, True] Translation: X:928.37, Y:152.80, Z:7.05 [[-2.18339109e-01 -9.75868278e-01 3.02299924e-03 9.28374042e+02] [ 9.75793161e-01 -2.18359822e-01 -1.21117737e-02 1.52797777e+02] [ 1.24795973e-02 3.05348109e-04 9.99922080e-01 7.04588862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3192541539999 meters 0.016521030392785425 Centerline is valid? [True, True] Translation: X:928.37, Y:152.83, Z:7.05 [[-2.18214216e-01 -9.75896557e-01 2.90978869e-03 9.28367968e+02] [ 9.75827134e-01 -2.18233411e-01 -1.16440321e-02 1.52825597e+02] [ 1.19983839e-02 2.98557428e-04 9.99927972e-01 7.04558326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3492541539998 meters 0.01716627316908068 Centerline is valid? [True, True] Translation: X:928.36, Y:152.85, Z:7.05 [[-2.18268166e-01 -9.75884690e-01 2.84232776e-03 9.28363113e+02] [ 9.75818593e-01 -2.18286474e-01 -1.13617203e-02 1.52852058e+02] [ 1.17081706e-02 2.93694428e-04 9.99931414e-01 7.04522930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3792541539999 meters 0.018595123258177793 Centerline is valid? [True, True] Translation: X:928.36, Y:152.88, Z:7.04 [[-2.18527364e-01 -9.75825976e-01 3.07495531e-03 9.28357530e+02] [ 9.75748795e-01 -2.18548766e-01 -1.22770760e-02 1.52878244e+02] [ 1.26523174e-02 3.17506879e-04 9.99919906e-01 7.04496941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4092541539999 meters 0.016829317742057225 Centerline is valid? [True, True] Translation: X:928.35, Y:152.91, Z:7.05 [[-2.18525109e-01 -9.75827320e-01 2.79619365e-03 9.28352706e+02] [ 9.75763662e-01 -2.18542803e-01 -1.11498810e-02 1.52906347e+02] [ 1.14914465e-02 2.91895179e-04 9.99933929e-01 7.04562365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4392541539999 meters 0.01719534027454434 Centerline is valid? [True, True] Translation: X:928.35, Y:152.93, Z:7.05 [[-2.18441188e-01 -9.75846607e-01 2.61689760e-03 9.28347135e+02] [ 9.75790984e-01 -2.18456687e-01 -1.04226403e-02 1.52933486e+02] [ 1.07425769e-02 2.76811163e-04 9.99942259e-01 7.04518202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4692541539998 meters 0.017610845879047904 Centerline is valid? [True, True] Translation: X:928.34, Y:152.96, Z:7.04 [[-2.18678163e-01 -9.75793832e-01 2.50189002e-03 9.28340608e+02] [ 9.75743098e-01 -2.18692314e-01 -9.95381409e-03 1.52959602e+02] [ 1.02600145e-02 2.64520147e-04 9.99947330e-01 7.04490502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4992541539998 meters 0.016836612540624445 Centerline is valid? [True, True] Translation: X:928.34, Y:152.99, Z:7.04 [[-2.19857466e-01 -9.75529040e-01 2.40542864e-03 9.28337360e+02] [ 9.75482219e-01 -2.19870488e-01 -9.56077133e-03 1.52987637e+02] [ 9.85569285e-03 2.44445912e-04 9.99951402e-01 7.04466924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5292541539999 meters 0.01868893241964609 Centerline is valid? [True, True] Translation: X:928.33, Y:153.01, Z:7.04 [[-2.21353448e-01 -9.75189633e-01 2.79846715e-03 9.28331893e+02] [ 9.75126404e-01 -2.21370973e-01 -1.11080514e-02 1.53014699e+02] [ 1.14519559e-02 2.70053734e-04 9.99934388e-01 7.04366755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5592541539999 meters 0.019074058783748616 Centerline is valid? [True, True] Translation: X:928.33, Y:153.04, Z:7.04 [[-2.24429210e-01 -9.74486081e-01 2.89950328e-03 9.28327253e+02] [ 9.74418311e-01 -2.24447805e-01 -1.14951031e-02 1.53041110e+02] [ 1.18526052e-02 2.45492172e-04 9.99929725e-01 7.04233393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5892541539998 meters 0.018366539159133596 Centerline is valid? [True, True] Translation: X:928.32, Y:153.07, Z:7.04 [[-2.26070737e-01 -9.74106517e-01 2.91808292e-03 9.28322539e+02] [ 9.74038015e-01 -2.26089452e-01 -1.15544509e-02 1.53067696e+02] [ 1.19150137e-02 2.30200464e-04 9.99928987e-01 7.04259287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6192541539998 meters 0.015784205987366615 Centerline is valid? [True, True] Translation: X:928.32, Y:153.09, Z:7.04 [[-2.27166551e-01 -9.73853017e-01 2.37899857e-03 9.28316257e+02] [ 9.73807579e-01 -2.27178937e-01 -9.40899628e-03 1.53094160e+02] [ 9.70343778e-03 1.79277600e-04 9.99952904e-01 7.04301998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6492541539999 meters 0.015463395829701023 Centerline is valid? [True, True] Translation: X:928.31, Y:153.12, Z:7.04 [[-2.27752181e-01 -9.73716415e-01 2.29920559e-03 9.28309767e+02] [ 9.73674075e-01 -2.27763723e-01 -9.08194497e-03 1.53121107e+02] [ 9.36691453e-03 1.70244094e-04 9.99956115e-01 7.04314783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6792541539999 meters 0.016058315931260846 Centerline is valid? [True, True] Translation: X:928.30, Y:153.15, Z:7.04 [[-2.27763259e-01 -9.73713553e-01 2.41150609e-03 9.28300643e+02] [ 9.73667087e-01 -2.27775953e-01 -9.51416367e-03 1.53145793e+02] [ 9.81335320e-03 1.81027186e-04 9.99951832e-01 7.04188534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7092541539998 meters 0.01623620039704651 Centerline is valid? [True, True] Translation: X:928.29, Y:153.17, Z:7.04 [[-2.27999492e-01 -9.73657688e-01 2.63419094e-03 9.28294402e+02] [ 9.73602369e-01 -2.28014623e-01 -1.03806542e-02 1.53172975e+02] [ 1.07078378e-02 1.97870660e-04 9.99942650e-01 7.04141947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7392541539998 meters 0.015919383663470347 Centerline is valid? [True, True] Translation: X:928.29, Y:153.20, Z:7.04 [[-2.28225490e-01 -9.73604941e-01 2.55828664e-03 9.28285201e+02] [ 9.73552888e-01 -2.28239747e-01 -1.00693898e-02 1.53198152e+02] [ 1.03875104e-02 1.92535914e-04 9.99946030e-01 7.04039464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7692541539999 meters 0.015589096794702226 Centerline is valid? [True, True] Translation: X:928.28, Y:153.23, Z:7.04 [[-2.28634153e-01 -9.73508924e-01 2.60734483e-03 9.28278670e+02] [ 9.73454986e-01 -2.28648937e-01 -1.02495692e-02 1.53225908e+02] [ 1.05742137e-02 1.94731256e-04 9.99944072e-01 7.04041606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7992541539999 meters 0.018251056949146197 Centerline is valid? [True, True] Translation: X:928.27, Y:153.25, Z:7.04 [[-2.29550653e-01 -9.73291772e-01 3.10242167e-03 9.28271847e+02] [ 9.73215601e-01 -2.29571508e-01 -1.21785467e-02 1.53251133e+02] [ 1.25655069e-02 2.23731827e-04 9.99921026e-01 7.03979000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8292541539998 meters 0.014938680553184865 Centerline is valid? [True, True] Translation: X:928.27, Y:153.28, Z:7.04 [[-2.32395166e-01 -9.72618170e-01 2.52616934e-03 9.28266164e+02] [ 9.72567743e-01 -2.32408844e-01 -9.90525784e-03 1.53279115e+02] [ 1.02211378e-02 1.54936774e-04 9.99947751e-01 7.04062556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8592541539998 meters 0.015489071796140416 Centerline is valid? [True, True] Translation: X:928.26, Y:153.31, Z:7.04 [[-2.34485628e-01 -9.72116289e-01 2.53194469e-03 9.28259891e+02] [ 9.72065722e-01 -2.34499258e-01 -9.91617994e-03 1.53305869e+02] [ 1.02334192e-02 1.36014957e-04 9.99947628e-01 7.04055020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8892541539999 meters 0.015508684833654234 Centerline is valid? [True, True] Translation: X:928.25, Y:153.33, Z:7.04 [[-2.36735607e-01 -9.71570882e-01 2.50494070e-03 9.28254124e+02] [ 9.71521486e-01 -2.36748831e-01 -9.79758737e-03 1.53332114e+02] [ 1.01120924e-02 1.14165924e-04 9.99948865e-01 7.04062778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9192541539999 meters 0.016428697917569235 Centerline is valid? [True, True] Translation: X:928.25, Y:153.36, Z:7.04 [[-2.41589685e-01 -9.70375205e-01 2.52686269e-03 9.28250054e+02] [ 9.70325003e-01 -2.41602890e-01 -9.87075735e-03 1.53359813e+02] [ 1.01888355e-02 6.72048878e-05 9.99948090e-01 7.04056945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9492541539998 meters 0.013477018140734764 Centerline is valid? [True, True] Translation: X:928.24, Y:153.39, Z:7.04 [[-2.44357995e-01 -9.69682670e-01 2.16585144e-03 9.28244628e+02] [ 9.69645838e-01 -2.44367590e-01 -8.45155698e-03 1.53386641e+02] [ 8.72459223e-03 3.49033184e-05 9.99961939e-01 7.04106217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9792541539998 meters 0.013819947499993747 Centerline is valid? [True, True] Translation: X:928.24, Y:153.41, Z:7.04 [[-2.48792632e-01 -9.68554657e-01 2.02541623e-03 9.28240684e+02] [ 9.68522488e-01 -2.48800876e-01 -7.89394203e-03 1.53414631e+02] [ 8.14963965e-03 -2.29345018e-06 9.99966791e-01 7.04130347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0092541539999 meters 0.013473904751958176 Centerline is valid? [True, True] Translation: X:928.23, Y:153.44, Z:7.04 [[-2.50956300e-01 -9.67996678e-01 1.83502017e-03 9.28234997e+02] [ 9.67970314e-01 -2.50963008e-01 -7.14420765e-03 1.53441818e+02] [ 7.37609145e-03 -1.66388630e-05 9.99972796e-01 7.04169079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0392541539999 meters 0.016964455763735488 Centerline is valid? [True, True] Translation: X:928.23, Y:153.47, Z:7.04 [[-2.52972824e-01 -9.67471015e-01 2.14131277e-03 9.28229603e+02] [ 9.67435190e-01 -2.52981884e-01 -8.32585051e-03 1.53467776e+02] [ 8.59673238e-03 -3.46325907e-05 9.99963047e-01 7.04177443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0692541539999 meters 0.013646376434227123 Centerline is valid? [True, True] Translation: X:928.22, Y:153.49, Z:7.04 [[-2.54531364e-01 -9.67062977e-01 1.72751100e-03 9.28223131e+02] [ 9.67039689e-01 -2.54537223e-01 -6.71139143e-03 1.53494690e+02] [ 6.93005403e-03 -3.76879193e-05 9.99975986e-01 7.04217438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0992541539998 meters 0.01388233590287576 Centerline is valid? [True, True] Translation: X:928.22, Y:153.52, Z:7.04 [[-2.56751298e-01 -9.66476215e-01 1.58022187e-03 9.28217327e+02] [ 9.66456758e-01 -2.56756157e-01 -6.13280007e-03 1.53520564e+02] [ 6.33293709e-03 -4.73882763e-05 9.99979946e-01 7.04202167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1292541539999 meters 0.016789705391750828 Centerline is valid? [True, True] Translation: X:928.21, Y:153.55, Z:7.04 [[-2.57762396e-01 -9.66206410e-01 1.92891848e-03 9.28210191e+02] [ 9.66177505e-01 -2.57769606e-01 -7.47392102e-03 1.53547468e+02] [ 7.71856696e-03 -6.28181450e-05 9.99970209e-01 7.04179248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1592541539999 meters 0.013820082583843488 Centerline is valid? [True, True] Translation: X:928.20, Y:153.57, Z:7.04 [[-2.57404342e-01 -9.66302326e-01 1.67944046e-03 9.28203368e+02] [ 9.66280461e-01 -2.57409815e-01 -6.50064825e-03 1.53574058e+02] [ 6.71389598e-03 -5.04845806e-05 9.99977460e-01 7.04207037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1892541539999 meters 0.013709477129238694 Centerline is valid? [True, True] Translation: X:928.20, Y:153.60, Z:7.04 [[-2.57097042e-01 -9.66384018e-01 1.74389137e-03 9.28195472e+02] [ 9.66360505e-01 -2.57102951e-01 -6.74143136e-03 1.53600657e+02] [ 6.96317114e-03 -4.79743122e-05 9.99975756e-01 7.04212750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2192541539998 meters 0.016606632333828128 Centerline is valid? [True, True] Translation: X:928.19, Y:153.63, Z:7.04 [[-2.56612690e-01 -9.66512243e-01 2.00307268e-03 9.28187399e+02] [ 9.66481316e-01 -2.56620503e-01 -7.73198558e-03 1.53627217e+02] [ 7.98708824e-03 -4.81932987e-05 9.99968102e-01 7.04189214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2492541539998 meters 0.016107044114589138 Centerline is valid? [True, True] Translation: X:928.18, Y:153.65, Z:7.04 [[-2.53439668e-01 -9.67349251e-01 1.93939629e-03 9.28177395e+02] [ 9.67320357e-01 -2.53447087e-01 -7.47668443e-03 1.53651494e+02] [ 7.72409942e-03 -1.88709103e-05 9.99970169e-01 7.04183264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2792541539999 meters 0.01528560534322447 Centerline is valid? [True, True] Translation: X:928.17, Y:153.68, Z:7.04 [[-2.48927340e-01 -9.68520446e-01 1.82337753e-03 9.28165501e+02] [ 9.68495002e-01 -2.48934017e-01 -7.02047119e-03 1.53676571e+02] [ 7.25337058e-03 1.83448005e-05 9.99973694e-01 7.04171839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3092541539999 meters 0.015547141358361652 Centerline is valid? [True, True] Translation: X:928.16, Y:153.70, Z:7.04 [[-2.46533725e-01 -9.69132359e-01 1.89584875e-03 9.28156067e+02] [ 9.69104940e-01 -2.46541011e-01 -7.29012952e-03 1.53701072e+02] [ 7.53250488e-03 4.00136043e-05 9.99971629e-01 7.04176609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3392541539998 meters 0.013821272160634957 Centerline is valid? [True, True] Translation: X:928.15, Y:153.73, Z:7.04 [[-2.43983518e-01 -9.69777632e-01 1.84066298e-03 9.28146317e+02] [ 9.69751853e-01 -2.43990454e-01 -7.07115440e-03 1.53727617e+02] [ 7.30655156e-03 5.97412071e-05 9.99973305e-01 7.04226149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3692541539998 meters 0.014212817112781023 Centerline is valid? [True, True] Translation: X:928.14, Y:153.75, Z:7.04 [[-2.41804717e-01 -9.70323309e-01 1.77648317e-03 9.28136895e+02] [ 9.70299364e-01 -2.41811231e-01 -6.81712991e-03 1.53753745e+02] [ 7.04439363e-03 7.53063216e-05 9.99975185e-01 7.04228071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3992541539999 meters 0.014769095931404616 Centerline is valid? [True, True] Translation: X:928.13, Y:153.78, Z:7.04 [[-2.38331702e-01 -9.71181905e-01 1.92529002e-03 9.28126743e+02] [ 9.71153878e-01 -2.38339452e-01 -7.37910436e-03 1.53779594e+02] [ 7.62532520e-03 1.11078370e-04 9.99970921e-01 7.04279123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4292541539999 meters 0.0171455989044305 Centerline is valid? [True, True] Translation: X:928.12, Y:153.81, Z:7.04 [[-2.37355483e-01 -9.71420781e-01 2.00997583e-03 9.28118698e+02] [ 9.71390320e-01 -2.37363960e-01 -7.69391989e-03 1.53806387e+02] [ 7.95112950e-03 1.26276987e-04 9.99968381e-01 7.04276398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4592541539998 meters 0.017336655270452164 Centerline is valid? [True, True] Translation: X:928.11, Y:153.83, Z:7.04 [[-2.35150768e-01 -9.71956841e-01 2.00407081e-03 9.28106938e+02] [ 9.71926646e-01 -2.35159263e-01 -7.66265537e-03 1.53831291e+02] [ 7.91904612e-03 1.45930525e-04 9.99968633e-01 7.04292091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4892541539998 meters 0.015575544365209604 Centerline is valid? [True, True] Translation: X:928.10, Y:153.86, Z:7.04 [[-2.34392364e-01 -9.72139896e-01 2.05957241e-03 9.28100349e+02] [ 9.72108072e-01 -2.34401360e-01 -7.86761405e-03 1.53858462e+02] [ 8.13118808e-03 1.58018302e-04 9.99966929e-01 7.04299614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5192541539999 meters 0.01671207581392383 Centerline is valid? [True, True] Translation: X:928.09, Y:153.88, Z:7.04 [[-2.33681591e-01 -9.72309856e-01 2.54136001e-03 9.28091410e+02] [ 9.72261545e-01 -2.33695319e-01 -9.69462174e-03 1.53884245e+02] [ 1.00200802e-02 2.05411979e-04 9.99949777e-01 7.04173895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5492541539999 meters 0.016203617495649563 Centerline is valid? [True, True] Translation: X:928.08, Y:153.91, Z:7.04 [[-2.33748467e-01 -9.72293263e-01 2.73228099e-03 9.28083611e+02] [ 9.72237570e-01 -2.33764328e-01 -1.04089159e-02 1.53909570e+02] [ 1.07592286e-02 2.23358107e-04 9.99942093e-01 7.04112630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5792541539998 meters 0.016621703935932132 Centerline is valid? [True, True] Translation: X:928.08, Y:153.94, Z:7.04 [[-2.34441479e-01 -9.72125639e-01 2.98933423e-03 9.28076662e+02] [ 9.72059142e-01 -2.34460414e-01 -1.13726995e-02 1.53936764e+02] [ 1.17565733e-02 2.39577188e-04 9.99930860e-01 7.04063275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6092541539998 meters 0.01577606269626867 Centerline is valid? [True, True] Translation: X:928.07, Y:153.96, Z:7.04 [[-2.36245605e-01 -9.71688102e-01 3.20092756e-03 9.28070209e+02] [ 9.71612017e-01 -2.36267170e-01 -1.21618959e-02 1.53961990e+02] [ 1.25738436e-02 2.36865238e-04 9.99920918e-01 7.03974429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6392541539999 meters 0.01538941812455743 Centerline is valid? [True, True] Translation: X:928.06, Y:153.99, Z:7.04 [[-2.38013596e-01 -9.71256039e-01 3.35192665e-03 9.28064043e+02] [ 9.71172791e-01 -2.38037088e-01 -1.27183047e-02 1.53988712e+02] [ 1.31506131e-02 2.28170515e-04 9.99913501e-01 7.03934523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6692541539999 meters 0.015372742868283181 Centerline is valid? [True, True] Translation: X:928.06, Y:154.01, Z:7.04 [[-2.40072494e-01 -9.70748825e-01 3.45202128e-03 9.28057568e+02] [ 9.70660714e-01 -2.40097219e-01 -1.30806616e-02 1.54014384e+02] [ 1.35268576e-02 2.10434388e-04 9.99908486e-01 7.03873643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6992541539998 meters 0.01384935128684316 Centerline is valid? [True, True] Translation: X:928.06, Y:154.04, Z:7.04 [[-2.45016259e-01 -9.69512217e-01 3.61865322e-03 9.28055977e+02] [ 9.69415503e-01 -2.45042932e-01 -1.36946772e-02 1.54043208e+02] [ 1.41638822e-02 1.52559960e-04 9.99899676e-01 7.03939314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7292541539998 meters 0.014765344862821795 Centerline is valid? [True, True] Translation: X:928.05, Y:154.07, Z:7.04 [[-2.47910957e-01 -9.68775784e-01 3.69283455e-03 9.28050698e+02] [ 9.68675222e-01 -2.47938432e-01 -1.39588132e-02 1.54069679e+02] [ 1.44385558e-02 1.16614576e-04 9.99895752e-01 7.03896197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7592541539999 meters 0.013346752937672438 Centerline is valid? [True, True] Translation: X:928.05, Y:154.10, Z:7.04 [[-2.53372753e-01 -9.67362033e-01 3.59797155e-03 9.28048429e+02] [ 9.67266646e-01 -2.53398295e-01 -1.35845499e-02 1.54098290e+02] [ 1.40528976e-02 3.82430786e-05 9.99901252e-01 7.04071592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7892541539999 meters 0.017249351218261984 Centerline is valid? [True, True] Translation: X:928.04, Y:154.13, Z:7.04 [[-2.56824255e-01 -9.66450901e-01 3.73611432e-03 9.28043694e+02] [ 9.66348189e-01 -2.56851429e-01 -1.40897272e-02 1.54126537e+02] [ 1.45766559e-02 -8.19637850e-06 9.99893755e-01 7.04051482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8192541539999 meters 0.015676269138669457 Centerline is valid? [True, True] Translation: X:928.04, Y:154.15, Z:7.04 [[-2.59513103e-01 -9.65732757e-01 3.63189663e-03 9.28038636e+02] [ 9.65635846e-01 -2.59538513e-01 -1.36811445e-02 1.54154747e+02] [ 1.41549465e-02 -4.33467012e-05 9.99899813e-01 7.04171877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8492541539998 meters 0.015635209119549628 Centerline is valid? [True, True] Translation: X:928.03, Y:154.18, Z:7.04 [[-2.64395766e-01 -9.64407418e-01 3.63457728e-03 9.28034695e+02] [ 9.64310459e-01 -2.64420724e-01 -1.36755320e-02 1.54183039e+02] [ 1.41498420e-02 -1.10891871e-04 9.99899880e-01 7.04245078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8792541539999 meters 0.015635209119549628 Centerline is valid? [True, True] Translation: X:928.03, Y:154.21, Z:7.04 [[-2.64670346e-01 -9.64332085e-01 3.63847380e-03 9.28027531e+02] [ 9.64235132e-01 -2.64695331e-01 -1.36744955e-02 1.54209687e+02] [ 1.41498418e-02 -1.10889183e-04 9.99899880e-01 7.04264118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9092541539999 meters 0.015018209767812731 Centerline is valid? [True, True] Translation: X:928.02, Y:154.24, Z:7.04 [[-2.66734503e-01 -9.63763789e-01 3.47340004e-03 9.28021364e+02] [ 9.63675582e-01 -2.66757086e-01 -1.30395295e-02 1.54237474e+02] [ 1.34935804e-02 -1.30861627e-04 9.99908949e-01 7.04304206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9392541539999 meters 0.01704040575396272 Centerline is valid? [True, True] Translation: X:928.02, Y:154.26, Z:7.04 [[-2.69411129e-01 -9.63018304e-01 3.65920922e-03 9.28015780e+02] [ 9.62920557e-01 -2.69435922e-01 -1.37216900e-02 1.54264922e+02] [ 1.42001611e-02 -1.73248230e-04 9.99899158e-01 7.04284996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9692541539998 meters 0.014199682064533068 Centerline is valid? [True, True] Translation: X:928.01, Y:154.29, Z:7.04 [[-2.70142307e-01 -9.62813587e-01 3.62368751e-03 9.28009366e+02] [ 9.62717918e-01 -2.70166551e-01 -1.35736847e-02 1.54292139e+02] [ 1.40479272e-02 -1.78237604e-04 9.99901307e-01 7.04416163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9992541539998 meters 0.016458328413550268 Centerline is valid? [True, True] Translation: X:928.00, Y:154.32, Z:7.04 [[-2.71063402e-01 -9.62554671e-01 3.62466508e-03 9.28002855e+02] [ 9.62459146e-01 -2.71087570e-01 -1.35617716e-02 1.54319480e+02] [ 1.40365482e-02 -1.87507876e-04 9.99901465e-01 7.04401005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0292541539999 meters 0.014363568903890475 Centerline is valid? [True, True] Translation: X:928.00, Y:154.35, Z:7.04 [[-2.70789898e-01 -9.62631015e-01 3.78954976e-03 9.27996238e+02] [ 9.62526818e-01 -2.70816348e-01 -1.41643802e-02 1.54346071e+02] [ 1.46613437e-02 -1.88027803e-04 9.99892499e-01 7.04450369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0592541539999 meters 0.015166399462365733 Centerline is valid? [True, True] Translation: X:927.99, Y:154.37, Z:7.04 [[-2.70781003e-01 -9.62632901e-01 3.94290910e-03 9.27989124e+02] [ 9.62520343e-01 -2.70809641e-01 -1.47216486e-02 1.54371911e+02] [ 1.52393211e-02 -1.91212546e-04 9.99883857e-01 7.04410437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0892541539998 meters 0.014856217550717529 Centerline is valid? [True, True] Translation: X:927.98, Y:154.40, Z:7.04 [[-2.69213891e-01 -9.63071304e-01 4.18867655e-03 9.27980682e+02] [ 9.62944655e-01 -2.69246420e-01 -1.56191246e-02 1.54397867e+02] [ 1.61701169e-02 -1.71421618e-04 9.99869240e-01 7.04378650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1192541539998 meters 0.013914822042724442 Centerline is valid? [True, True] Translation: X:927.97, Y:154.42, Z:7.04 [[-2.68184748e-01 -9.63358026e-01 4.27251355e-03 9.27972263e+02] [ 9.63226625e-01 -2.68218736e-01 -1.59115673e-02 1.54424231e+02] [ 1.64745043e-02 -1.51840856e-04 9.99864275e-01 7.04401475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1492541539999 meters 0.013783021723640066 Centerline is valid? [True, True] Translation: X:927.96, Y:154.45, Z:7.04 [[-2.67082333e-01 -9.63663562e-01 4.42354019e-03 9.27964010e+02] [ 9.63523105e-01 -2.67118930e-01 -1.64530471e-02 1.54450383e+02] [ 1.70368133e-02 -1.32135017e-04 9.99854854e-01 7.04390034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1792541539999 meters 0.014696689502458728 Centerline is valid? [True, True] Translation: X:927.95, Y:154.48, Z:7.04 [[-2.64780121e-01 -9.64297845e-01 4.59933882e-03 9.27954237e+02] [ 9.64146480e-01 -2.64820049e-01 -1.70852773e-02 1.54476297e+02] [ 1.76932932e-02 -8.94054670e-05 9.99843457e-01 7.04291416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2092541539998 meters 0.013360599657436608 Centerline is valid? [True, True] Translation: X:927.95, Y:154.50, Z:7.04 [[-2.63343606e-01 -9.64691460e-01 4.53123392e-03 9.27945521e+02] [ 9.64544968e-01 -2.63382580e-01 -1.68113539e-02 1.54502398e+02] [ 1.74112176e-02 -5.65836636e-05 9.99848412e-01 7.04393758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2392541539998 meters 0.015720961783877312 Centerline is valid? [True, True] Translation: X:927.94, Y:154.53, Z:7.04 [[-2.61220930e-01 -9.65268593e-01 4.49096132e-03 9.27935881e+02] [ 9.65125148e-01 -2.61259531e-01 -1.66404857e-02 1.54527253e+02] [ 1.72358447e-02 -1.25034369e-05 9.99851452e-01 7.04343660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2692541539999 meters 0.013152010087923466 Centerline is valid? [True, True] Translation: X:927.93, Y:154.55, Z:7.04 [[-2.59250189e-01 -9.65800238e-01 4.38642938e-03 9.27927185e+02] [ 9.65663813e-01 -2.59287293e-01 -1.62326719e-02 1.54552890e+02] [ 1.68148638e-02 2.74928505e-05 9.99858620e-01 7.04484124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2992541539999 meters 0.01606424035419803 Centerline is valid? [True, True] Translation: X:927.92, Y:154.58, Z:7.04 [[-2.58444231e-01 -9.66016176e-01 4.39635059e-03 9.27918806e+02] [ 9.65879508e-01 -2.58481617e-01 -1.62489694e-02 1.54578551e+02] [ 1.68331431e-02 4.68925475e-05 9.99858312e-01 7.04436928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3292541539998 meters 0.013752065444156383 Centerline is valid? [True, True] Translation: X:927.91, Y:154.60, Z:7.04 [[-2.54130102e-01 -9.67160571e-01 4.28023600e-03 9.27906918e+02] [ 9.67031445e-01 -2.54166115e-01 -1.58041515e-02 1.54603782e+02] [ 1.63730432e-02 1.22812166e-04 9.99865945e-01 7.04469370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3592541539998 meters 0.013993941897559092 Centerline is valid? [True, True] Translation: X:927.90, Y:154.63, Z:7.05 [[-2.52320640e-01 -9.67634405e-01 4.23714118e-03 9.27897866e+02] [ 9.67508183e-01 -2.52356166e-01 -1.56295011e-02 1.54629920e+02] [ 1.61929117e-02 1.55823055e-04 9.99868874e-01 7.04520562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3892541539999 meters 0.014345067148591933 Centerline is valid? [True, True] Translation: X:927.89, Y:154.66, Z:7.05 [[-2.48399701e-01 -9.68648465e-01 4.21184466e-03 9.27887638e+02] [ 9.68524170e-01 -2.48435305e-01 -1.55187232e-02 1.54656517e+02] [ 1.60785583e-02 2.24427145e-04 9.99870706e-01 7.04637918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4192541539999 meters 0.016726328553818365 Centerline is valid? [True, True] Translation: X:927.88, Y:154.68, Z:7.04 [[-2.46715393e-01 -9.69078579e-01 4.26882159e-03 9.27876067e+02] [ 9.68951260e-01 -2.46752184e-01 -1.57103495e-02 1.54681548e+02] [ 1.62779042e-02 2.60295021e-04 9.99867472e-01 7.04475214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4492541539998 meters 0.016288538945874526 Centerline is valid? [True, True] Translation: X:927.87, Y:154.71, Z:7.05 [[-2.45201589e-01 -9.69462446e-01 4.32976136e-03 9.27869885e+02] [ 9.69331829e-01 -2.45239636e-01 -1.59162113e-02 1.54708596e+02] [ 1.64919983e-02 2.94295195e-04 9.99863954e-01 7.04631117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4792541539998 meters 0.018670668171435045 Centerline is valid? [True, True] Translation: X:927.86, Y:154.73, Z:7.05 [[-2.41743619e-01 -9.70330695e-01 4.28543926e-03 9.27855497e+02] [ 9.70203132e-01 -2.41781342e-01 -1.57373859e-02 1.54732215e+02] [ 1.63066079e-02 3.53333963e-04 9.99866976e-01 7.04507823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5092541539999 meters 0.01666790430234359 Centerline is valid? [True, True] Translation: X:927.85, Y:154.76, Z:7.05 [[-2.40977763e-01 -9.70520320e-01 4.47512754e-03 9.27851380e+02] [ 9.70381552e-01 -2.41019002e-01 -1.64159546e-02 1.54759734e+02] [ 1.70106082e-02 3.86701207e-04 9.99855234e-01 7.04699094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5392541539999 meters 0.01817160633168722 Centerline is valid? [True, True] Translation: X:927.84, Y:154.79, Z:7.05 [[-2.40557017e-01 -9.70624376e-01 4.54343052e-03 9.27841203e+02] [ 9.70481698e-01 -2.40599579e-01 -1.66468178e-02 1.54785368e+02] [ 1.72509546e-02 4.04807320e-04 9.99851109e-01 7.04597033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5692541539999 meters 0.017092248567274197 Centerline is valid? [True, True] Translation: X:927.84, Y:154.81, Z:7.05 [[-2.40285153e-01 -9.70690484e-01 4.79895340e-03 9.27835161e+02] [ 9.70531702e-01 -2.40332671e-01 -1.75619590e-02 1.54812350e+02] [ 1.82005718e-02 4.37658408e-04 9.99834260e-01 7.04626142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5992541539998 meters 0.016656801448812167 Centerline is valid? [True, True] Translation: X:927.83, Y:154.84, Z:7.05 [[-2.40574495e-01 -9.70617825e-01 4.99509331e-03 9.27828533e+02] [ 9.70446184e-01 -2.40625916e-01 -1.82584969e-02 1.54839301e+02] [ 1.89239715e-02 4.54940566e-04 9.99820822e-01 7.04611273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6292541539999 meters 0.018258075863523984 Centerline is valid? [True, True] Translation: X:927.82, Y:154.87, Z:7.04 [[-2.42255676e-01 -9.70197350e-01 5.41204769e-03 9.27821541e+02] [ 9.69996231e-01 -2.42315679e-01 -1.97591237e-02 1.54865004e+02] [ 2.04816735e-02 4.62905987e-04 9.99790121e-01 7.04381619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6592541539999 meters 0.01682074008693299 Centerline is valid? [True, True] Translation: X:927.81, Y:154.89, Z:7.04 [[-2.43006061e-01 -9.70009915e-01 5.36834772e-03 9.27814888e+02] [ 9.69812464e-01 -2.43064936e-01 -1.95760344e-02 1.54891317e+02] [ 2.02938046e-02 4.49195516e-04 9.99793959e-01 7.04471623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6892541539999 meters 0.017866671103228936 Centerline is valid? [True, True] Translation: X:927.81, Y:154.92, Z:7.04 [[-2.45043184e-01 -9.69495774e-01 5.63750383e-03 9.27809082e+02] [ 9.69278432e-01 -2.45107641e-01 -2.05320350e-02 1.54917631e+02] [ 2.12875165e-02 4.33075637e-04 9.99773301e-01 7.04379923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7192541539998 meters 0.016086848841896383 Centerline is valid? [True, True] Translation: X:927.80, Y:154.94, Z:7.04 [[-2.47727310e-01 -9.68814167e-01 5.50368297e-03 9.27804283e+02] [ 9.68607308e-01 -2.47788162e-01 -2.00227481e-02 1.54944128e+02] [ 2.07620695e-02 3.70726005e-04 9.99784376e-01 7.04495476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7492541539998 meters 0.01480579842045618 Centerline is valid? [True, True] Translation: X:927.80, Y:154.97, Z:7.05 [[-2.49709891e-01 -9.68306254e-01 5.28851328e-03 9.27800228e+02] [ 9.68115553e-01 -2.49765681e-01 -1.92192695e-02 1.54972467e+02] [ 1.99310280e-02 3.20650269e-04 9.99801306e-01 7.04696380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7792541539999 meters 0.01602849788012788 Centerline is valid? [True, True] Translation: X:927.80, Y:155.00, Z:7.05 [[-2.54148593e-01 -9.67150577e-01 5.31541675e-03 9.27795615e+02] [ 9.66958094e-01 -2.54204063e-01 -1.92960693e-02 1.54999666e+02] [ 2.00134051e-02 2.35716373e-04 9.99799684e-01 7.04630231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8092541539999 meters 0.014173591230573806 Centerline is valid? [True, True] Translation: X:927.79, Y:155.03, Z:7.05 [[-2.55490596e-01 -9.66798330e-01 5.05412028e-03 9.27790044e+02] [ 9.66624633e-01 -2.55540501e-01 -1.83267651e-02 1.55026489e+02] [ 1.90098184e-02 2.03121013e-04 9.99819276e-01 7.04783064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8392541539998 meters 0.013639389298028928 Centerline is valid? [True, True] Translation: X:927.79, Y:155.05, Z:7.05 [[-2.57222938e-01 -9.66339184e-01 4.99411230e-03 9.27785173e+02] [ 9.66169888e-01 -2.57271357e-01 -1.80885751e-02 1.55054468e+02] [ 1.87645410e-02 1.72364490e-04 9.99823916e-01 7.04923929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8692541539998 meters 0.01585983903547781 Centerline is valid? [True, True] Translation: X:927.78, Y:155.08, Z:7.05 [[-2.60288226e-01 -9.65515982e-01 5.37837788e-03 9.27780278e+02] [ 9.65319898e-01 -2.60343757e-01 -1.94582425e-02 1.55082547e+02] [ 2.01874712e-02 1.27103755e-04 9.99796204e-01 7.04834634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8992541539999 meters 0.013369516892525378 Centerline is valid? [True, True] Translation: X:927.77, Y:155.11, Z:7.05 [[-2.60845704e-01 -9.65367293e-01 5.05062826e-03 9.27773877e+02] [ 9.65194769e-01 -2.60894571e-01 -1.82505012e-02 1.55108412e+02] [ 1.89361185e-02 1.14275139e-04 9.99820689e-01 7.04925257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9292541539999 meters 0.013185748343588261 Centerline is valid? [True, True] Translation: X:927.77, Y:155.14, Z:7.05 [[-2.61497835e-01 -9.65190547e-01 5.10781437e-03 9.27767295e+02] [ 9.65014477e-01 -2.61547694e-01 -1.84353692e-02 1.55135975e+02] [ 1.91295811e-02 1.08305677e-04 9.99817007e-01 7.04974752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9592541539998 meters 0.015262098879169865 Centerline is valid? [True, True] Translation: X:927.76, Y:155.16, Z:7.05 [[-2.63050005e-01 -9.64766743e-01 5.46134815e-03 9.27761465e+02] [ 9.64565869e-01 -2.63106677e-01 -1.96865478e-02 1.55161238e+02] [ 2.04298438e-02 8.92835393e-05 9.99791285e-01 7.04833251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9892541539998 meters 0.014656364318171253 Centerline is valid? [True, True] Translation: X:927.75, Y:155.19, Z:7.05 [[-2.63414687e-01 -9.64667351e-01 5.44105523e-03 9.27754709e+02] [ 9.64468443e-01 -2.63470861e-01 -1.95889617e-02 1.55187211e+02] [ 2.03303913e-02 8.77058515e-05 9.99793312e-01 7.04887296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0192541539999 meters 0.013273255218690943 Centerline is valid? [True, True] Translation: X:927.75, Y:155.21, Z:7.05 [[-2.63436593e-01 -9.64662102e-01 5.30938454e-03 9.27748561e+02] [ 9.64473095e-01 -2.63490076e-01 -1.90952649e-02 1.55212744e+02] [ 1.98194485e-02 9.03670130e-05 9.99803571e-01 7.04955723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0492541539999 meters 0.014133823434427019 Centerline is valid? [True, True] Translation: X:927.74, Y:155.24, Z:7.05 [[-2.63732160e-01 -9.64581296e-01 5.31710431e-03 9.27741458e+02] [ 9.64392143e-01 -2.63785738e-01 -1.91018241e-02 1.55239245e+02] [ 1.98278385e-02 9.00083074e-05 9.99803405e-01 7.04941152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0792541539998 meters 0.015386330055338147 Centerline is valid? [True, True] Translation: X:927.73, Y:155.27, Z:7.05 [[-2.63867686e-01 -9.64544026e-01 5.35411674e-03 9.27734087e+02] [ 9.64352682e-01 -2.63921983e-01 -1.92117737e-02 1.55265993e+02] [ 1.99436707e-02 9.38905599e-05 9.99801101e-01 7.04951578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1092541539998 meters 0.013391031079847697 Centerline is valid? [True, True] Translation: X:927.73, Y:155.29, Z:7.05 [[-2.62397458e-01 -9.64947589e-01 4.87076274e-03 9.27726204e+02] [ 9.64789680e-01 -2.62442634e-01 -1.74566979e-02 1.55291451e+02] [ 1.81230944e-02 1.18668463e-04 9.99835756e-01 7.05105369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1392541539999 meters 0.013408842041595002 Centerline is valid? [True, True] Translation: X:927.72, Y:155.32, Z:7.05 [[-2.62180420e-01 -9.65006743e-01 4.83872565e-03 9.27718297e+02] [ 9.64851289e-01 -2.62225036e-01 -1.73211148e-02 1.55317956e+02] [ 1.79838276e-02 1.27393533e-04 9.99838270e-01 7.05110755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1692541539999 meters 0.013847305360613883 Centerline is valid? [True, True] Translation: X:927.71, Y:155.34, Z:7.05 [[-2.60799103e-01 -9.65380594e-01 4.91290872e-03 9.27709686e+02] [ 9.65220766e-01 -2.60845324e-01 -1.75667552e-02 1.55343318e+02] [ 1.82401138e-02 1.60647526e-04 9.99833622e-01 7.05029541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1992541539998 meters 0.014315545080723283 Centerline is valid? [True, True] Translation: X:927.70, Y:155.37, Z:7.05 [[-2.60570155e-01 -9.65441562e-01 5.07782504e-03 9.27701807e+02] [ 9.65271226e-01 -2.60619568e-01 -1.81356177e-02 1.55369171e+02] [ 1.88322597e-02 1.75877681e-04 9.99822642e-01 7.05012481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2292541539998 meters 0.015480721584716138 Centerline is valid? [True, True] Translation: X:927.69, Y:155.40, Z:7.05 [[-2.60128832e-01 -9.65559491e-01 5.27835035e-03 9.27694652e+02] [ 9.65375898e-01 -2.60182303e-01 -1.88293577e-02 1.55395054e+02] [ 1.95541984e-02 1.97533384e-04 9.99808779e-01 7.05003504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2592541539999 meters 0.014236967617963189 Centerline is valid? [True, True] Translation: X:927.69, Y:155.42, Z:7.05 [[-2.59614468e-01 -9.65699675e-01 4.94629490e-03 9.27686733e+02] [ 9.65538802e-01 -2.59661507e-01 -1.76273573e-02 1.55419917e+02] [ 1.83070956e-02 1.99522666e-04 9.99832391e-01 7.05041439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2892541539999 meters 0.013859630097157268 Centerline is valid? [True, True] Translation: X:927.68, Y:155.45, Z:7.05 [[-2.58471713e-01 -9.66007704e-01 4.63560111e-03 9.27680115e+02] [ 9.65866741e-01 -2.58513192e-01 -1.65035685e-02 1.55447218e+02] [ 1.71409383e-02 2.11667322e-04 9.99853061e-01 7.05268901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3192541539999 meters 0.014452340407402647 Centerline is valid? [True, True] Translation: X:927.67, Y:155.47, Z:7.05 [[-2.57807737e-01 -9.66185841e-01 4.48243032e-03 9.27671037e+02] [ 9.66054362e-01 -2.57846607e-01 -1.59404173e-02 1.55472512e+02] [ 1.65571850e-02 2.20708449e-04 9.99862896e-01 7.05224569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3492541539998 meters 0.014881174457056098 Centerline is valid? [True, True] Translation: X:927.66, Y:155.50, Z:7.05 [[-2.56886888e-01 -9.66432059e-01 4.26641729e-03 9.27661872e+02] [ 9.66313254e-01 -2.56922212e-01 -1.51549131e-02 1.55498337e+02] [ 1.57423312e-02 2.29597107e-04 9.99876055e-01 7.05280261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3792541539999 meters 0.014168348412625502 Centerline is valid? [True, True] Translation: X:927.66, Y:155.53, Z:7.05 [[-2.56729637e-01 -9.66473995e-01 4.23203402e-03 9.27655159e+02] [ 9.66357370e-01 -2.56764409e-01 -1.50156935e-02 1.55525770e+02] [ 1.55989130e-02 2.34683713e-04 9.99878302e-01 7.05410743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4092541539999 meters 0.01464438358257331 Centerline is valid? [True, True] Translation: X:927.65, Y:155.55, Z:7.05 [[-2.56842818e-01 -9.66444533e-01 4.09055202e-03 9.27646211e+02] [ 9.66335819e-01 -2.56875287e-01 -1.44973240e-02 1.55550893e+02] [ 1.50616212e-02 2.29313388e-04 9.99886541e-01 7.05347445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4392541539999 meters 0.014632521515719199 Centerline is valid? [True, True] Translation: X:927.64, Y:155.58, Z:7.05 [[-2.57419851e-01 -9.66290762e-01 4.14534818e-03 9.27638170e+02] [ 9.66179365e-01 -2.57453126e-01 -1.46738977e-02 1.55576874e+02] [ 1.52464846e-02 2.27797317e-04 9.99883740e-01 7.05277225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4692541539998 meters 0.014283012487713785 Centerline is valid? [True, True] Translation: X:927.63, Y:155.60, Z:7.05 [[-2.58198505e-01 -9.66082719e-01 4.20865994e-03 9.27631382e+02] [ 9.65968132e-01 -2.58232707e-01 -1.48807566e-02 1.55603972e+02] [ 1.54628555e-02 2.23242267e-04 9.99880418e-01 7.05307568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4992541539998 meters 0.015311291924608205 Centerline is valid? [True, True] Translation: X:927.62, Y:155.63, Z:7.05 [[-2.59218604e-01 -9.65808320e-01 4.47256059e-03 9.27624249e+02] [ 9.65679165e-01 -2.59257089e-01 -1.57959433e-02 1.55631297e+02] [ 1.64153965e-02 2.24456206e-04 9.99865233e-01 7.05287977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5292541539999 meters 0.014023035646271201 Centerline is valid? [True, True] Translation: X:927.62, Y:155.66, Z:7.05 [[-2.60719034e-01 -9.65405546e-01 4.20915429e-03 9.27617494e+02] [ 9.65291353e-01 -2.60752939e-01 -1.48495455e-02 1.55657110e+02] [ 1.54333830e-02 1.91501066e-04 9.99880880e-01 7.05333383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5592541539999 meters 0.016255142754884815 Centerline is valid? [True, True] Translation: X:927.61, Y:155.68, Z:7.05 [[-2.62123603e-01 -9.65023281e-01 4.61351952e-03 9.27609946e+02] [ 9.64886346e-01 -2.62164131e-01 -1.62575563e-02 1.55684393e+02] [ 1.68984196e-02 1.90032762e-04 9.99857193e-01 7.05269432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5892541539998 meters 0.013740811180052838 Centerline is valid? [True, True] Translation: X:927.60, Y:155.71, Z:7.05 [[-2.63426660e-01 -9.64669865e-01 4.29497281e-03 9.27602084e+02] [ 9.64551390e-01 -2.63461622e-01 -1.51191661e-02 1.55711457e+02] [ 1.57165644e-02 1.59930578e-04 9.99876474e-01 7.05342040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6192541539998 meters 0.014103892841741404 Centerline is valid? [True, True] Translation: X:927.59, Y:155.74, Z:7.05 [[-2.64208645e-01 -9.64455299e-01 4.44617919e-03 9.27594165e+02] [ 9.64328583e-01 -2.64246007e-01 -1.56342939e-02 1.55738378e+02] [ 1.62534627e-02 1.56862057e-04 9.99867891e-01 7.05279210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6492541539999 meters 0.013768745390970179 Centerline is valid? [True, True] Translation: X:927.59, Y:155.76, Z:7.05 [[-2.64801631e-01 -9.64292402e-01 4.50106757e-03 9.27586354e+02] [ 9.64162817e-01 -2.64839838e-01 -1.58089556e-02 1.55764908e+02] [ 1.64365177e-02 1.53524776e-04 9.99864900e-01 7.05248386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6792541539999 meters 0.013756064197254982 Centerline is valid? [True, True] Translation: X:927.58, Y:155.79, Z:7.05 [[-2.66061376e-01 -9.63943927e-01 4.84257115e-03 9.27578745e+02] [ 9.63794246e-01 -2.66105401e-01 -1.69872910e-02 1.55791472e+02] [ 1.76634303e-02 1.47580198e-04 9.99843979e-01 7.05170847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7092541539998 meters 0.014212821282981207 Centerline is valid? [True, True] Translation: X:927.57, Y:155.82, Z:7.05 [[-2.66458742e-01 -9.63832594e-01 5.14487005e-03 9.27571274e+02] [ 9.63664035e-01 -2.66508361e-01 -1.80255535e-02 1.55817762e+02] [ 1.87447669e-02 1.54859927e-04 9.99824289e-01 7.05136801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7392541539998 meters 0.015836193630567253 Centerline is valid? [True, True] Translation: X:927.56, Y:155.84, Z:7.05 [[-2.67444212e-01 -9.63557264e-01 5.56714587e-03 9.27563879e+02] [ 9.63360339e-01 -2.67502105e-01 -1.94802791e-02 1.55842967e+02] [ 2.02595876e-02 1.53279646e-04 9.99794742e-01 7.05010102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7692541539999 meters 0.015836193630567253 Centerline is valid? [True, True] Translation: X:927.56, Y:155.87, Z:7.05 [[-2.67746082e-01 -9.63473390e-01 5.57337242e-03 9.27556406e+02] [ 9.63276484e-01 -2.67804039e-01 -1.94784982e-02 1.55868674e+02] [ 2.02595863e-02 1.53407016e-04 9.99794742e-01 7.05028560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7992541539999 meters 0.015118228263133122 Centerline is valid? [True, True] Translation: X:927.55, Y:155.89, Z:7.05 [[-2.68374130e-01 -9.63298738e-01 5.55590256e-03 9.27548699e+02] [ 9.63103492e-01 -2.68431593e-01 -1.93944174e-02 1.55894638e+02] [ 2.01739975e-02 1.45949276e-04 9.99796474e-01 7.05087688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8292541539998 meters 0.01659067479408334 Centerline is valid? [True, True] Translation: X:927.54, Y:155.92, Z:7.05 [[-2.68965562e-01 -9.63132246e-01 5.81401510e-03 9.27541003e+02] [ 9.62918914e-01 -2.69028354e-01 -2.02709017e-02 1.55921073e+02] [ 2.10876940e-02 1.46250632e-04 9.99777619e-01 7.05084234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8592541539998 meters 0.016887823389681093 Centerline is valid? [True, True] Translation: X:927.53, Y:155.95, Z:7.05 [[-2.70048070e-01 -9.62829271e-01 5.81674436e-03 9.27533156e+02] [ 9.62616147e-01 -2.70110678e-01 -2.02577362e-02 1.55948200e+02] [ 2.10759061e-02 1.28729471e-04 9.99777870e-01 7.05206613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8892541539999 meters 0.013754242066711924 Centerline is valid? [True, True] Translation: X:927.53, Y:155.98, Z:7.05 [[-2.70460195e-01 -9.62716314e-01 5.34628597e-03 9.27525188e+02] [ 9.62536628e-01 -2.70513006e-01 -1.85998028e-02 1.55975110e+02] [ 1.93525735e-02 1.15489788e-04 9.99812715e-01 7.05332548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9192541539999 meters 0.013690521179653208 Centerline is valid? [True, True] Translation: X:927.52, Y:156.00, Z:7.05 [[-2.71514927e-01 -9.62420189e-01 5.19843306e-03 9.27517924e+02] [ 9.62250615e-01 -2.71564670e-01 -1.80660857e-02 1.56002569e+02] [ 1.87988764e-02 9.69834623e-05 9.99823281e-01 7.05419200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9492541539998 meters 0.013591917087655904 Centerline is valid? [True, True] Translation: X:927.51, Y:156.03, Z:7.06 [[-2.73654521e-01 -9.61814454e-01 5.11453993e-03 9.27511914e+02] [ 9.61650557e-01 -2.73702305e-01 -1.77554284e-02 1.56030479e+02] [ 1.84772890e-02 5.95469256e-05 9.99829279e-01 7.05532403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9792541539998 meters 0.01597852042748191 Centerline is valid? [True, True] Translation: X:927.51, Y:156.06, Z:7.05 [[-2.74983491e-01 -9.61433566e-01 5.43860307e-03 9.27505416e+02] [ 9.61248587e-01 -2.75037265e-01 -1.88588443e-02 1.56056555e+02] [ 1.96273444e-02 4.19786919e-05 9.99807364e-01 7.05473186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.0092541539998 meters 0.015963365492791665 Centerline is valid? [True, True] Translation: X:927.50, Y:156.08, Z:7.06 [[-2.76493868e-01 -9.60999956e-01 5.49783302e-03 9.27498751e+02] [ 9.60811256e-01 -2.76548522e-01 -1.90432715e-02 1.56083651e+02] [ 1.98210006e-02 1.70320576e-05 9.99803545e-01 7.05569422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.0392541539998 meters 0.013620529417464382 Centerline is valid? [True, True] Translation: X:927.49, Y:156.11, Z:7.06 [[-2.76830423e-01 -9.60904638e-01 5.21476347e-03 9.27490817e+02] [ 9.60735209e-01 -2.76879535e-01 -1.80438780e-02 1.56110676e+02] [ 1.87823073e-02 1.49124942e-05 9.99823597e-01 7.05645604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.069254154 meters 0.015650892068142623 Centerline is valid? [True, True] Translation: X:927.48, Y:156.14, Z:7.06 [[-2.77156283e-01 -9.60809001e-01 5.51897512e-03 9.27482474e+02] [ 9.60619621e-01 -2.77211226e-01 -1.90756108e-02 1.56137333e+02] [ 1.98579404e-02 1.47104269e-05 9.99802812e-01 7.05637813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.099254154 meters 0.013617653405625133 Centerline is valid? [True, True] Translation: X:927.47, Y:156.16, Z:7.06 [[-2.76446764e-01 -9.61015719e-01 5.09646192e-03 9.27472785e+02] [ 9.60854599e-01 -2.76493737e-01 -1.75969473e-02 1.56163615e+02] [ 1.83200828e-02 3.23397134e-05 9.99832173e-01 7.05650161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.129254154 meters 0.01696779601850729 Centerline is valid? [True, True] Translation: X:927.46, Y:156.19, Z:7.06 [[-2.75981062e-01 -9.61145700e-01 5.77901693e-03 9.27464006e+02] [ 9.60939035e-01 -2.76041556e-01 -1.99306516e-02 1.56189727e+02] [ 2.07515089e-02 5.28005659e-05 9.99784663e-01 7.05565009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1592541539999 meters 0.01410644269374755 Centerline is valid? [True, True] Translation: X:927.46, Y:156.22, Z:7.06 [[-2.75142978e-01 -9.61388517e-01 5.33486577e-03 9.27455060e+02] [ 9.61212840e-01 -2.75194684e-01 -1.83783138e-02 1.56215090e+02] [ 1.91368265e-02 7.12774857e-05 9.99816872e-01 7.05634973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1892541539999 meters 0.0147316341437257 Centerline is valid? [True, True] Translation: X:927.45, Y:156.24, Z:7.06 [[-2.73604450e-01 -9.61825782e-01 5.63653352e-03 9.27445323e+02] [ 9.61630211e-01 -2.73662479e-01 -1.93954658e-02 1.56240231e+02] [ 2.01975668e-02 1.13575184e-04 9.99796002e-01 7.05644193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2192541539998 meters 0.016188056773775432 Centerline is valid? [True, True] Translation: X:927.44, Y:156.27, Z:7.06 [[-2.72813167e-01 -9.62047683e-01 6.10170779e-03 9.27437161e+02] [ 9.61819080e-01 -2.72881354e-01 -2.09719677e-02 1.56266580e+02] [ 2.18410752e-02 1.47310038e-04 9.99761444e-01 7.05766518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2492541539998 meters 0.017812871231761562 Centerline is valid? [True, True] Translation: X:927.43, Y:156.29, Z:7.06 [[-2.72735860e-01 -9.62067849e-01 6.37217865e-03 9.27428856e+02] [ 9.61819105e-01 -2.72810241e-01 -2.18764961e-02 1.56292012e+02] [ 2.27850691e-02 1.62378181e-04 9.99740373e-01 7.05696590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2792541539998 meters 0.013937425944959652 Centerline is valid? [True, True] Translation: X:927.42, Y:156.32, Z:7.06 [[-2.72781498e-01 -9.62058222e-01 5.85079036e-03 9.27420010e+02] [ 9.61848962e-01 -2.72844193e-01 -2.00654185e-02 1.56319100e+02] [ 2.09004550e-02 1.54101715e-04 9.99781550e-01 7.05758097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.3092541539997 meters 0.013899325019724348 Centerline is valid? [True, True] Translation: X:927.41, Y:156.35, Z:7.06 [[-2.73064864e-01 -9.61977279e-01 5.94098841e-03 9.27411817e+02] [ 9.61761958e-01 -2.73129439e-01 -2.03530057e-02 1.56345927e+02] [ 2.12017879e-02 1.56125918e-04 9.99775205e-01 7.05791627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.339254154 meters 0.013873391883561932 Centerline is valid? [True, True] Translation: X:927.40, Y:156.37, Z:7.06 [[-2.74064267e-01 -9.61694060e-01 5.77175019e-03 9.27403517e+02] [ 9.61491210e-01 -2.74125002e-01 -1.97518652e-02 1.56372088e+02] [ 2.05774325e-02 1.36206631e-04 9.99788253e-01 7.05758568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.369254154 meters 0.013740941529468255 Centerline is valid? [True, True] Translation: X:927.40, Y:156.40, Z:7.06 [[-2.75070452e-01 -9.61407606e-01 5.62687202e-03 9.27396324e+02] [ 9.61215163e-01 -2.75127973e-01 -1.92356242e-02 1.56399052e+02] [ 2.00413853e-02 1.17482871e-04 9.99799144e-01 7.05871453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.399254154 meters 0.015221493617703896 Centerline is valid? [True, True] Translation: X:927.39, Y:156.43, Z:7.06 [[-2.77665932e-01 -9.60661552e-01 5.56891612e-03 9.27390662e+02] [ 9.60473265e-01 -2.77721763e-01 -1.90191979e-02 1.56425109e+02] [ 1.98176213e-02 6.78117513e-05 9.99803609e-01 7.05935651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4292541539999 meters 0.013425291291879304 Centerline is valid? [True, True] Translation: X:927.38, Y:156.45, Z:7.06 [[-2.78792990e-01 -9.60338123e-01 5.01581942e-03 9.27383540e+02] [ 9.60185624e-01 -2.78838103e-01 -1.71137328e-02 1.56452028e+02] [ 1.78335716e-02 4.49289693e-05 9.99840968e-01 7.06087088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4592541539998 meters 0.016073895805613875 Centerline is valid? [True, True] Translation: X:927.38, Y:156.48, Z:7.06 [[-2.80697202e-01 -9.59782578e-01 5.14630057e-03 9.27376750e+02] [ 9.59622312e-01 -2.80744374e-01 -1.75389567e-02 1.56478902e+02] [ 1.82783800e-02 1.53687787e-05 9.99832936e-01 7.06091857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4892541539998 meters 0.013285773458106465 Centerline is valid? [True, True] Translation: X:927.37, Y:156.50, Z:7.06 [[-2.82630231e-01 -9.59217810e-01 4.62009545e-03 9.27370002e+02] [ 9.59088867e-01 -2.82667990e-01 -1.57274404e-02 1.56504540e+02] [ 1.63919940e-02 -1.39679873e-05 9.99865642e-01 7.06182842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.5192541539998 meters 0.01635575814419383 Centerline is valid? [True, True] Translation: X:927.36, Y:156.53, Z:7.06 [[-2.85181138e-01 -9.58461265e-01 4.87049432e-03 9.27363119e+02] [ 9.58318203e-01 -2.85222720e-01 -1.65596384e-02 1.56531320e+02] [ 1.72609476e-02 -5.50131622e-05 9.99851017e-01 7.06083433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.5492541539998 meters 0.014334119060017783 Centerline is valid? [True, True] Translation: X:927.36, Y:156.56, Z:7.06 [[-2.86182833e-01 -9.58163361e-01 4.72858276e-03 9.27355407e+02] [ 9.58028783e-01 -2.86221888e-01 -1.60586838e-02 1.56557764e+02] [ 1.67402664e-02 -6.56012455e-05 9.99859870e-01 7.06121716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.579254154 meters 0.013640965008697988 Centerline is valid? [True, True] Translation: X:927.35, Y:156.58, Z:7.06 [[-2.87904842e-01 -9.57647917e-01 4.61183198e-03 9.27348582e+02] [ 9.57520138e-01 -2.87941764e-01 -1.56437490e-02 1.56582983e+02] [ 1.63091426e-02 -8.79890802e-05 9.99866993e-01 7.06103859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.609254154 meters 0.013577863218685897 Centerline is valid? [True, True] Translation: X:927.34, Y:156.61, Z:7.06 [[-2.88974743e-01 -9.57325357e-01 4.66451221e-03 9.27340148e+02] [ 9.57194893e-01 -2.89012369e-01 -1.58046673e-02 1.56609755e+02] [ 1.64783105e-02 -1.02302415e-04 9.99864218e-01 7.06180680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.639254154 meters 0.013685141220202196 Centerline is valid? [True, True] Translation: X:927.33, Y:156.64, Z:7.06 [[-2.89327321e-01 -9.57218671e-01 4.70295378e-03 9.27332261e+02] [ 9.57086320e-01 -2.89365522e-01 -1.59176229e-02 1.56635659e+02] [ 1.65975185e-02 -1.04270476e-04 9.99862246e-01 7.06142118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6692541539999 meters 0.013526638629275852 Centerline is valid? [True, True] Translation: X:927.32, Y:156.66, Z:7.06 [[-2.89053914e-01 -9.57301293e-01 4.69785001e-03 9.27323625e+02] [ 9.57169522e-01 -2.89092072e-01 -1.58833438e-02 1.56662466e+02] [ 1.65632567e-02 -9.45038299e-05 9.99862815e-01 7.06165703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6992541539998 meters 0.013526638629275852 Centerline is valid? [True, True] Translation: X:927.32, Y:156.69, Z:7.06 [[-2.89326021e-01 -9.57219067e-01 4.70236624e-03 9.27315722e+02] [ 9.57087306e-01 -2.89364216e-01 -1.58820070e-02 1.56688903e+02] [ 1.65632564e-02 -9.45028494e-05 9.99862815e-01 7.06184743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7292541539998 meters 0.013500714838442986 Centerline is valid? [True, True] Translation: X:927.31, Y:156.71, Z:7.06 [[-2.88431349e-01 -9.57488000e-01 4.90788273e-03 9.27306390e+02] [ 9.57344845e-01 -2.88473091e-01 -1.65566976e-02 1.56713280e+02] [ 1.72686313e-02 -7.69343892e-05 9.99850883e-01 7.06115995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7592541539998 meters 0.01340122349470242 Centerline is valid? [True, True] Translation: X:927.30, Y:156.74, Z:7.06 [[-2.87859079e-01 -9.57660142e-01 4.91960476e-03 9.27297260e+02] [ 9.57516668e-01 -2.87901108e-01 -1.65765742e-02 1.56739157e+02] [ 1.72910841e-02 -6.11138233e-05 9.99850496e-01 7.06135438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7892541539998 meters 0.014138616032874349 Centerline is valid? [True, True] Translation: X:927.29, Y:156.76, Z:7.06 [[-2.86199097e-01 -9.58157043e-01 5.01568222e-03 9.27287093e+02] [ 9.58008331e-01 -2.86243043e-01 -1.68806960e-02 1.56764649e+02] [ 1.76100619e-02 -2.61746015e-05 9.99844931e-01 7.06124019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.819254154 meters 0.013199743891438777 Centerline is valid? [True, True] Translation: X:927.28, Y:156.79, Z:7.06 [[-2.85176195e-01 -9.58462930e-01 4.83224070e-03 9.27277730e+02] [ 9.58325251e-01 -2.85217132e-01 -1.62450055e-02 1.56789897e+02] [ 1.69484734e-02 -1.83055848e-06 9.99856364e-01 7.06152951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.849254154 meters 0.014886399301110834 Centerline is valid? [True, True] Translation: X:927.27, Y:156.81, Z:7.06 [[-2.84324596e-01 -9.58715391e-01 4.93194359e-03 9.27268856e+02] [ 9.58572294e-01 -2.84367367e-01 -1.65637338e-02 1.56814749e+02] [ 1.72823903e-02 1.81475692e-05 9.99850648e-01 7.06037420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.879254154 meters 0.013338210343043548 Centerline is valid? [True, True] Translation: X:927.26, Y:156.84, Z:7.06 [[-2.82410858e-01 -9.59282271e-01 4.65094266e-03 9.27258210e+02] [ 9.59155351e-01 -2.82449148e-01 -1.56041956e-02 1.56839837e+02] [ 1.62824830e-02 5.41822698e-05 9.99867430e-01 7.06174998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9092541539999 meters 0.013334584988806304 Centerline is valid? [True, True] Translation: X:927.25, Y:156.87, Z:7.06 [[-2.81648236e-01 -9.59506322e-01 4.67858193e-03 9.27249021e+02] [ 9.59378215e-01 -2.81687083e-01 -1.56788676e-02 1.56865762e+02] [ 1.63618687e-02 7.26041783e-05 9.99866133e-01 7.06201323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9392541539999 meters 0.014809389945848071 Centerline is valid? [True, True] Translation: X:927.24, Y:156.89, Z:7.06 [[-2.79985378e-01 -9.59993968e-01 4.44622231e-03 9.27238417e+02] [ 9.59878599e-01 -2.80020661e-01 -1.48830186e-02 1.56890049e+02] [ 1.55326422e-02 1.00806052e-04 9.99879356e-01 7.06135470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9692541539998 meters 0.013849715727971891 Centerline is valid? [True, True] Translation: X:927.23, Y:156.92, Z:7.06 [[-2.78752915e-01 -9.60353608e-01 4.21421220e-03 9.27229675e+02] [ 9.60250236e-01 -2.78784743e-01 -1.40908525e-02 1.56916861e+02] [ 1.47070591e-02 1.18832049e-04 9.99891838e-01 7.06343818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9992541539998 meters 0.016011233134164526 Centerline is valid? [True, True] Translation: X:927.22, Y:156.94, Z:7.06 [[-2.77920237e-01 -9.60594954e-01 4.20425651e-03 9.27220390e+02] [ 9.60492324e-01 -2.77952002e-01 -1.40421176e-02 1.56942110e+02] [ 1.46573688e-02 1.35567463e-04 9.99892566e-01 7.06278803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.0292541539998 meters 0.015699766450340574 Centerline is valid? [True, True] Translation: X:927.21, Y:156.97, Z:7.06 [[-2.75171750e-01 -9.61386963e-01 3.95170447e-03 9.27209249e+02] [ 9.61296564e-01 -2.75200070e-01 -1.31847643e-02 1.56968277e+02] [ 1.37631699e-02 1.70685267e-04 9.99905269e-01 7.06310518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.0592541539997 meters 0.014682840182609496 Centerline is valid? [True, True] Translation: X:927.20, Y:156.99, Z:7.06 [[-2.73633685e-01 -9.61826737e-01 3.73295472e-03 9.27199870e+02] [ 9.61746278e-01 -2.73659083e-01 -1.24419910e-02 1.56994283e+02] [ 1.29885966e-02 1.85607471e-04 9.99915627e-01 7.06360721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.089254154 meters 0.017036857196909345 Centerline is valid? [True, True] Translation: X:927.19, Y:157.02, Z:7.06 [[-2.71531454e-01 -9.62421946e-01 3.82980044e-03 9.27189705e+02] [ 9.62337497e-01 -2.71558370e-01 -1.27512061e-02 1.57020534e+02] [ 1.33120550e-02 2.23207031e-04 9.99911366e-01 7.06353931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.119254154 meters 0.015422836678625054 Centerline is valid? [True, True] Translation: X:927.18, Y:157.05, Z:7.06 [[-2.69989792e-01 -9.62856327e-01 3.63387922e-03 9.27179789e+02] [ 9.62780485e-01 -2.70014143e-01 -1.20872063e-02 1.57047243e+02] [ 1.26194419e-02 2.35205683e-04 9.99920344e-01 7.06411621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.149254154 meters 0.018976742705219624 Centerline is valid? [True, True] Translation: X:927.17, Y:157.07, Z:7.06 [[-2.69637887e-01 -9.62954027e-01 3.86677331e-03 9.27170006e+02] [ 9.62868343e-01 -2.69665488e-01 -1.28482984e-02 1.57074113e+02] [ 1.34150560e-02 2.58805564e-04 9.99909981e-01 7.06325196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.1792541539999 meters 0.018873114213703523 Centerline is valid? [True, True] Translation: X:927.16, Y:157.10, Z:7.06 [[-2.67423986e-01 -9.63571112e-01 3.88887564e-03 9.27158604e+02] [ 9.63484693e-01 -2.67452098e-01 -1.29082218e-02 1.57100383e+02] [ 1.34780776e-02 2.94904030e-04 9.99909123e-01 7.06285152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2092541539998 meters 0.017532540305442785 Centerline is valid? [True, True] Translation: X:927.15, Y:157.13, Z:7.06 [[-2.66703475e-01 -9.63770691e-01 3.91305914e-03 9.27150475e+02] [ 9.63683395e-01 -2.66731999e-01 -1.29751273e-02 1.57127459e+02] [ 1.35487855e-02 3.10438563e-04 9.99908163e-01 7.06338751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2392541539998 meters 0.018787466611432813 Centerline is valid? [True, True] Translation: X:927.14, Y:157.15, Z:7.06 [[-2.65892744e-01 -9.63993159e-01 4.27067573e-03 9.27141404e+02] [ 9.63889426e-01 -2.65926802e-01 -1.41460463e-02 1.57154689e+02] [ 1.47723790e-02 3.55128096e-04 9.99890819e-01 7.06221087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2692541539998 meters 0.018386625068715544 Centerline is valid? [True, True] Translation: X:927.13, Y:157.18, Z:7.06 [[-2.65793329e-01 -9.64020266e-01 4.33976726e-03 9.27132588e+02] [ 9.63913344e-01 -2.65828504e-01 -1.43621363e-02 1.57179815e+02] [ 1.49990243e-02 3.65799554e-04 9.99887441e-01 7.06180992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2992541539998 meters 0.016647100817102103 Centerline is valid? [True, True] Translation: X:927.12, Y:157.21, Z:7.06 [[-2.66192265e-01 -9.63909411e-01 4.50842829e-03 9.27124890e+02] [ 9.63794220e-01 -2.66230174e-01 -1.49062140e-02 1.57207110e+02] [ 1.55685196e-02 3.77278262e-04 9.99878732e-01 7.06198241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.329254154 meters 0.018763451815352956 Centerline is valid? [True, True] Translation: X:927.12, Y:157.23, Z:7.06 [[-2.67356190e-01 -9.63586166e-01 4.72951812e-03 9.27117116e+02] [ 9.63459625e-01 -2.67397748e-01 -1.56203369e-02 1.57234395e+02] [ 1.63162030e-02 3.80506005e-04 9.99866810e-01 7.06108849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.359254154 meters 0.017149958560991874 Centerline is valid? [True, True] Translation: X:927.11, Y:157.26, Z:7.06 [[-2.67665571e-01 -9.63501095e-01 4.55881868e-03 9.27107298e+02] [ 9.63383757e-01 -2.67704140e-01 -1.50409719e-02 1.57260233e+02] [ 1.57124075e-02 3.65941529e-04 9.99876486e-01 7.06122076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.389254154 meters 0.0191284293131439 Centerline is valid? [True, True] Translation: X:927.10, Y:157.29, Z:7.06 [[-2.69432847e-01 -9.63006934e-01 4.85662038e-03 9.27100894e+02] [ 9.62873970e-01 -2.69476369e-01 -1.60063774e-02 1.57287405e+02] [ 1.67229969e-02 3.63669507e-04 9.99860095e-01 7.06066547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4192541539999 meters 0.018370037944682775 Centerline is valid? [True, True] Translation: X:927.09, Y:157.31, Z:7.06 [[-2.70209341e-01 -9.62789950e-01 4.73535230e-03 9.27092592e+02] [ 9.62663731e-01 -2.70250610e-01 -1.55932227e-02 1.57313495e+02] [ 1.62927300e-02 3.45117470e-04 9.99867205e-01 7.06068167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4492541539998 meters 0.016620937270420976 Centerline is valid? [True, True] Translation: X:927.09, Y:157.34, Z:7.06 [[-2.72282991e-01 -9.62207252e-01 4.37912527e-03 9.27087704e+02] [ 9.62099422e-01 -2.72318049e-01 -1.44077141e-02 1.57341397e+02] [ 1.50557218e-02 2.90178401e-04 9.99886614e-01 7.06241152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4792541539998 meters 0.017413373247609578 Centerline is valid? [True, True] Translation: X:927.08, Y:157.37, Z:7.06 [[-2.74053894e-01 -9.61704344e-01 4.38387139e-03 9.27080423e+02] [ 9.61596439e-01 -2.74088825e-01 -1.44084950e-02 1.57368908e+02] [ 1.50582824e-02 2.66810960e-04 9.99886582e-01 7.06272020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.5092541539998 meters 0.017659780774070214 Centerline is valid? [True, True] Translation: X:927.07, Y:157.39, Z:7.06 [[-2.75761788e-01 -9.61216110e-01 4.36197793e-03 9.27073234e+02] [ 9.61109445e-01 -2.75796178e-01 -1.43214389e-02 1.57394638e+02] [ 1.49690146e-02 2.43032594e-04 9.99887928e-01 7.06275141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.5392541539998 meters 0.016940369330478454 Centerline is valid? [True, True] Translation: X:927.07, Y:157.42, Z:7.06 [[-2.79052671e-01 -9.60265716e-01 4.40017730e-03 9.27066772e+02] [ 9.60157283e-01 -2.79087290e-01 -1.44318146e-02 1.57420740e+02] [ 1.50864103e-02 1.97625890e-04 9.99886174e-01 7.06299165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.569254154 meters 0.0138785977564187 Centerline is valid? [True, True] Translation: X:927.06, Y:157.45, Z:7.06 [[-2.80326687e-01 -9.59895160e-01 4.26977633e-03 9.27059773e+02] [ 9.59793223e-01 -2.80359147e-01 -1.39898880e-02 1.57447553e+02] [ 1.46258966e-02 1.76363443e-04 9.99893020e-01 7.06401215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.599254154 meters 0.014561551039884926 Centerline is valid? [True, True] Translation: X:927.05, Y:157.47, Z:7.06 [[-2.83552440e-01 -9.58945938e-01 4.54989049e-03 9.27053407e+02] [ 9.58830317e-01 -2.83588907e-01 -1.48914659e-02 1.57474261e+02] [ 1.55704092e-02 1.40061451e-04 9.99878764e-01 7.06261640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.629254154 meters 0.013781209048480467 Centerline is valid? [True, True] Translation: X:927.05, Y:157.50, Z:7.06 [[-2.84809262e-01 -9.58572852e-01 4.66590942e-03 9.27045986e+02] [ 9.58451444e-01 -2.84847451e-01 -1.52564161e-02 1.57499361e+02] [ 1.59534587e-02 1.26879004e-04 9.99872727e-01 7.06197895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6592541539999 meters 0.013633799592477423 Centerline is valid? [True, True] Translation: X:927.04, Y:157.52, Z:7.06 [[-2.86224179e-01 -9.58151507e-01 4.62704583e-03 9.27039512e+02] [ 9.58032298e-01 -2.86261556e-01 -1.51141354e-02 1.57524486e+02] [ 1.58061769e-02 1.06828370e-04 9.99875069e-01 7.06219186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6892541539999 meters 0.013633799592477423 Centerline is valid? [True, True] Translation: X:927.03, Y:157.55, Z:7.06 [[-2.86538336e-01 -9.58057580e-01 4.63190019e-03 9.27031748e+02] [ 9.57938384e-01 -2.86575751e-01 -1.51126480e-02 1.57549231e+02] [ 1.58061773e-02 1.06721966e-04 9.99875069e-01 7.06237073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7192541539998 meters 0.013622508287648577 Centerline is valid? [True, True] Translation: X:927.03, Y:157.58, Z:7.06 [[-2.88108056e-01 -9.57586622e-01 4.64865202e-03 9.27025410e+02] [ 9.57466760e-01 -2.88145544e-01 -1.51508787e-02 1.57577148e+02] [ 1.58477671e-02 8.58395823e-05 9.99874413e-01 7.06402778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7492541539998 meters 0.013206414234712726 Centerline is valid? [True, True] Translation: X:927.02, Y:157.60, Z:7.06 [[-2.90012702e-01 -9.57011897e-01 4.56746885e-03 9.27017846e+02] [ 9.56896370e-01 -2.90048661e-01 -1.48698363e-02 1.57602117e+02] [ 1.55553984e-02 5.81529691e-05 9.99879006e-01 7.06336859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7792541539998 meters 0.014337779986837143 Centerline is valid? [True, True] Translation: X:927.01, Y:157.63, Z:7.06 [[-2.91039101e-01 -9.56700088e-01 4.60248357e-03 9.27010373e+02] [ 9.56583016e-01 -2.91075486e-01 -1.49664734e-02 1.57628611e+02] [ 1.56580966e-02 4.68286630e-05 9.99877403e-01 7.06431838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.8092541539997 meters 0.015805806318563365 Centerline is valid? [True, True] Translation: X:927.00, Y:157.66, Z:7.06 [[-2.91578649e-01 -9.56534469e-01 4.86837078e-03 9.27002482e+02] [ 9.56403741e-01 -2.91619285e-01 -1.58138456e-02 1.57655243e+02] [ 1.65461992e-02 4.51482948e-05 9.99863101e-01 7.06478263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.839254154 meters 0.01306924576536667 Centerline is valid? [True, True] Translation: X:926.99, Y:157.68, Z:7.07 [[-2.90772308e-01 -9.56780519e-01 4.74376778e-03 9.26993721e+02] [ 9.56656681e-01 -2.90810994e-01 -1.53935323e-02 1.57682112e+02] [ 1.61077716e-02 6.21442258e-05 9.99870260e-01 7.06575695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.869254154 meters 0.013296298738571702 Centerline is valid? [True, True] Translation: X:926.98, Y:157.71, Z:7.06 [[-2.90494441e-01 -9.56863491e-01 5.02389383e-03 9.26984796e+02] [ 9.56724907e-01 -2.90537871e-01 -1.62849269e-02 1.57707731e+02] [ 1.70420834e-02 7.58036248e-05 9.99854770e-01 7.06437674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.899254154 meters 0.016186135938462493 Centerline is valid? [True, True] Translation: X:926.98, Y:157.73, Z:7.06 [[-2.90421105e-01 -9.56882708e-01 5.57355456e-03 9.26976691e+02] [ 9.56712504e-01 -2.90474568e-01 -1.80474579e-02 1.57734696e+02] [ 1.88882763e-02 9.09266619e-05 9.99821596e-01 7.06451533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9292541539999 meters 0.01660206221088955 Centerline is valid? [True, True] Translation: X:926.97, Y:157.76, Z:7.06 [[-2.88626774e-01 -9.57423448e-01 5.90991697e-03 9.26967033e+02] [ 9.57232560e-01 -2.88687240e-01 -1.91181361e-02 1.57760908e+02] [ 2.00102694e-02 1.39159004e-04 9.99799765e-01 7.06340479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9592541539998 meters 0.01566444372478662 Centerline is valid? [True, True] Translation: X:926.96, Y:157.79, Z:7.06 [[-2.87517616e-01 -9.57756848e-01 5.95322632e-03 9.26956911e+02] [ 9.57563623e-01 -2.87579193e-01 -1.92383971e-02 1.57785698e+02] [ 2.01377306e-02 1.69214887e-04 9.99797201e-01 7.06165529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9892541539998 meters 0.015847385965708335 Centerline is valid? [True, True] Translation: X:926.95, Y:157.81, Z:7.06 [[-2.85757395e-01 -9.58283223e-01 5.99791421e-03 9.26947747e+02] [ 9.58087607e-01 -2.85820255e-01 -1.93628355e-02 1.57812487e+02] [ 2.02694058e-02 2.13453842e-04 9.99794532e-01 7.06366455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.0192541539998 meters 0.015211786440966248 Centerline is valid? [True, True] Translation: X:926.94, Y:157.84, Z:7.06 [[-2.84908105e-01 -9.58537395e-01 5.78220804e-03 9.26938955e+02] [ 9.58356012e-01 -2.84966682e-01 -1.86479136e-02 1.57839452e+02] [ 1.95224592e-02 2.28472102e-04 9.99809393e-01 7.06484050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.0492541539998 meters 0.014197729680740975 Centerline is valid? [True, True] Translation: X:926.93, Y:157.87, Z:7.07 [[-2.84104496e-01 -9.58777611e-01 5.48894321e-03 9.26930044e+02] [ 9.58614530e-01 -2.84157415e-01 -1.76846236e-02 1.57866031e+02] [ 1.85153451e-02 2.37499642e-04 9.99828548e-01 7.06618771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.079254154 meters 0.01573602360057593 Centerline is valid? [True, True] Translation: X:926.92, Y:157.89, Z:7.07 [[-2.83635288e-01 -9.58916565e-01 5.48129442e-03 9.26921283e+02] [ 9.58754329e-01 -2.83688135e-01 -1.76402817e-02 1.57890443e+02] [ 1.84705365e-02 2.51808373e-04 9.99829373e-01 7.06702920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.109254154 meters 0.014608212731918244 Centerline is valid? [True, True] Translation: X:926.91, Y:157.92, Z:7.07 [[-2.83361268e-01 -9.59000233e-01 4.99449703e-03 9.26912824e+02] [ 9.58865845e-01 -2.83405179e-01 -1.60560128e-02 1.57916479e+02] [ 1.68131864e-02 2.39400462e-04 9.99858620e-01 7.06826662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.139254154 meters 0.019216577605708073 Centerline is valid? [True, True] Translation: X:926.90, Y:157.94, Z:7.07 [[-2.83942983e-01 -9.58825632e-01 5.45799167e-03 9.26904275e+02] [ 9.58665490e-01 -2.83995320e-01 -1.75253105e-02 1.57941049e+02] [ 1.83537611e-02 2.56199294e-04 9.99831523e-01 7.06710469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1692541539999 meters 0.014357898855697349 Centerline is valid? [True, True] Translation: X:926.90, Y:157.97, Z:7.07 [[-2.83614408e-01 -9.58926923e-01 4.69301257e-03 9.26896288e+02] [ 9.58808781e-01 -2.83653140e-01 -1.50538251e-02 1.57967855e+02] [ 1.57667059e-02 2.30219983e-04 9.99875671e-01 7.06955030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1992541539998 meters 0.016057926929643238 Centerline is valid? [True, True] Translation: X:926.89, Y:157.99, Z:7.07 [[-2.84192537e-01 -9.58753875e-01 5.06055924e-03 9.26888162e+02] [ 9.58616772e-01 -2.84237486e-01 -1.62152778e-02 1.57993402e+02] [ 1.69848611e-02 2.42876015e-04 9.99855717e-01 7.06898619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2292541539998 meters 0.01641589834204189 Centerline is valid? [True, True] Translation: X:926.88, Y:158.02, Z:7.07 [[-2.84771208e-01 -9.58581893e-01 5.11018805e-03 9.26879620e+02] [ 9.58442350e-01 -2.84816954e-01 -1.63574182e-02 1.58019688e+02] [ 1.71353931e-02 2.39698895e-04 9.99853150e-01 7.06881370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2592541539998 meters 0.015191032073981483 Centerline is valid? [True, True] Translation: X:926.87, Y:158.05, Z:7.07 [[-2.85437678e-01 -9.58383791e-01 5.08339144e-03 9.26872466e+02] [ 9.58245958e-01 -2.85482846e-01 -1.62551370e-02 1.58046677e+02] [ 1.70298809e-02 2.31310729e-04 9.99854954e-01 7.06957120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2892541539998 meters 0.016459200902267615 Centerline is valid? [True, True] Translation: X:926.86, Y:158.07, Z:7.07 [[-2.86024431e-01 -9.58206929e-01 5.43200548e-03 9.26864253e+02] [ 9.58049842e-01 -2.86075906e-01 -1.73515609e-02 1.58073890e+02] [ 1.81803518e-02 2.41161658e-04 9.99834695e-01 7.06931773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.319254154 meters 0.014503671589991536 Centerline is valid? [True, True] Translation: X:926.85, Y:158.10, Z:7.07 [[-2.86966297e-01 -9.57926407e-01 5.22914243e-03 9.26854992e+02] [ 9.57781090e-01 -2.87013852e-01 -1.66862968e-02 1.58099762e+02] [ 1.74850806e-02 2.19968951e-04 9.99847100e-01 7.06817480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.349254154 meters 0.01540528159421426 Centerline is valid? [True, True] Translation: X:926.85, Y:158.13, Z:7.07 [[-2.88227384e-01 -9.57546191e-01 5.50151026e-03 9.26848047e+02] [ 9.57385632e-01 -2.88279806e-01 -1.75358506e-02 1.58125671e+02] [ 1.83773613e-02 2.12754523e-04 9.99831099e-01 7.06775628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.379254154 meters 0.014176063936639017 Centerline is valid? [True, True] Translation: X:926.84, Y:158.15, Z:7.07 [[-2.89103620e-01 -9.57282498e-01 5.41438154e-03 9.26840081e+02] [ 9.57127282e-01 -2.89154248e-01 -1.72390816e-02 1.58151543e+02] [ 1.80682626e-02 1.98371379e-04 9.99836736e-01 7.06755264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4092541539999 meters 0.01575145697728385 Centerline is valid? [True, True] Translation: X:926.83, Y:158.18, Z:7.07 [[-2.91685252e-01 -9.56494497e-01 6.16362839e-03 9.26833627e+02] [ 9.56293608e-01 -2.91750314e-01 -1.96032818e-02 1.58179469e+02] [ 2.05486717e-02 1.76250240e-04 9.99788838e-01 7.06656600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4392541539999 meters 0.015451548322403884 Centerline is valid? [True, True] Translation: X:926.83, Y:158.21, Z:7.07 [[-2.92934500e-01 -9.56111968e-01 6.26756045e-03 9.26826116e+02] [ 9.55904576e-01 -2.93001500e-01 -1.99138922e-02 1.58206331e+02] [ 2.08763153e-02 1.57723654e-04 9.99782054e-01 7.06610932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4692541539998 meters 0.016086105264058292 Centerline is valid? [True, True] Translation: X:926.82, Y:158.23, Z:7.07 [[-2.94537657e-01 -9.55618375e-01 6.41021278e-03 9.26818984e+02] [ 9.55401751e-01 -2.94607374e-01 -2.03467404e-02 1.58233829e+02] [ 2.13322149e-02 1.31447276e-04 9.99772434e-01 7.06601734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4992541539998 meters 0.014838483358606 Centerline is valid? [True, True] Translation: X:926.81, Y:158.26, Z:7.07 [[-2.97447814e-01 -9.54717405e-01 6.28286507e-03 9.26813248e+02] [ 9.54509512e-01 -2.97514153e-01 -1.99228488e-02 1.58261080e+02] [ 2.08899318e-02 7.10466603e-05 9.99781779e-01 7.06637782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.5292541539998 meters 0.015293455316274627 Centerline is valid? [True, True] Translation: X:926.81, Y:158.29, Z:7.07 [[-2.99152143e-01 -9.54184090e-01 6.38109163e-03 9.26806298e+02] [ 9.53969984e-01 -2.99220189e-01 -2.02125649e-02 1.58287500e+02] [ 2.11958592e-02 4.07377940e-05 9.99775342e-01 7.06633537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.5592541539997 meters 0.01458183197729504 Centerline is valid? [True, True] Translation: X:926.80, Y:158.31, Z:7.07 [[-3.01858198e-01 -9.53333371e-01 6.09193220e-03 9.26800134e+02] [ 9.53138458e-01 -3.01919664e-01 -1.92768214e-02 1.58314693e+02] [ 2.02165113e-02 -1.24117189e-05 9.99795625e-01 7.06776808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.589254154 meters 0.013524317545697516 Centerline is valid? [True, True] Translation: X:926.79, Y:158.34, Z:7.07 [[-3.02686986e-01 -9.53072013e-01 5.85881609e-03 9.26792645e+02] [ 9.52892055e-01 -3.02743682e-01 -1.85201395e-02 1.58341081e+02] [ 1.94247462e-02 -2.29859043e-05 9.99811322e-01 7.06830737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.619254154 meters 0.015259520785490178 Centerline is valid? [True, True] Translation: X:926.79, Y:158.37, Z:7.07 [[-3.03626652e-01 -9.52771984e-01 6.03349645e-03 9.26785832e+02] [ 9.52581478e-01 -3.03686591e-01 -1.90520834e-02 1.58367157e+02] [ 1.99845833e-02 -3.73233420e-05 9.99800288e-01 7.06815076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.649254154 meters 0.013518138723291847 Centerline is valid? [True, True] Translation: X:926.78, Y:158.39, Z:7.07 [[-3.03201265e-01 -9.52909295e-01 5.73304051e-03 9.26778167e+02] [ 9.52737681e-01 -3.03255461e-01 -1.80841447e-02 1.58392844e+02] [ 1.89711255e-02 -2.10518472e-05 9.99820032e-01 7.06932810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.6792541539999 meters 0.015184310292225677 Centerline is valid? [True, True] Translation: X:926.77, Y:158.42, Z:7.07 [[-3.03151904e-01 -9.52923239e-01 6.01864155e-03 9.26769587e+02] [ 9.52734498e-01 -3.03211643e-01 -1.89651378e-02 1.58419233e+02] [ 1.98972427e-02 -1.51501864e-05 9.99802030e-01 7.06933977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7092541539998 meters 0.013897664608434146 Centerline is valid? [True, True] Translation: X:926.76, Y:158.45, Z:7.07 [[-3.01919233e-01 -9.53315750e-01 5.81877967e-03 9.26760445e+02] [ 9.53139753e-01 -3.01975299e-01 -1.83174560e-02 1.58445372e+02] [ 1.92194470e-02 1.57179589e-05 9.99815289e-01 7.06954059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7392541539998 meters 0.013557973211537911 Centerline is valid? [True, True] Translation: X:926.75, Y:158.47, Z:7.07 [[-2.98820239e-01 -9.54293350e-01 5.53782224e-03 9.26749506e+02] [ 9.54134415e-01 -2.98871539e-01 -1.74161189e-02 1.58471780e+02] [ 1.82751839e-02 7.95379741e-05 9.99832992e-01 7.07011233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7692541539998 meters 0.014998540847894374 Centerline is valid? [True, True] Translation: X:926.74, Y:158.50, Z:7.07 [[-2.97508822e-01 -9.54702706e-01 5.58962955e-03 9.26740032e+02] [ 9.54541176e-01 -2.97561306e-01 -1.75616932e-02 1.58498115e+02] [ 1.84294535e-02 1.10772923e-04 9.99830157e-01 7.06990169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7992541539998 meters 0.015204223614122915 Centerline is valid? [True, True] Translation: X:926.73, Y:158.52, Z:7.07 [[-2.94345505e-01 -9.55681652e-01 5.77098590e-03 9.26730616e+02] [ 9.55509989e-01 -2.94402017e-01 -1.81139237e-02 1.58524954e+02] [ 1.90101344e-02 1.82482654e-04 9.99819274e-01 7.07094414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.829254154 meters 0.015017239551654888 Centerline is valid? [True, True] Translation: X:926.72, Y:158.55, Z:7.07 [[-2.93196377e-01 -9.56034595e-01 5.80849578e-03 9.26721649e+02] [ 9.55861103e-01 -2.93253830e-01 -1.82137925e-02 1.58551185e+02] [ 1.91163794e-02 2.11897208e-04 9.99817243e-01 7.07095885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.859254154 meters 0.0162803175463595 Centerline is valid? [True, True] Translation: X:926.71, Y:158.58, Z:7.07 [[-2.92106661e-01 -9.56366910e-01 6.00266820e-03 9.26712799e+02] [ 9.56182082e-01 -2.92168226e-01 -1.88030007e-02 1.58576637e+02] [ 1.97363566e-02 2.47162031e-04 9.99805189e-01 7.06989941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.889254154 meters 0.015201094045203272 Centerline is valid? [True, True] Translation: X:926.70, Y:158.60, Z:7.07 [[-2.89607012e-01 -9.57127128e-01 5.95305854e-03 9.26704088e+02] [ 9.56945881e-01 -2.89668033e-01 -1.86282365e-02 1.58602906e+02] [ 1.95540013e-02 3.01886937e-04 9.99808757e-01 7.06988511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9192541539999 meters 0.015543749217116543 Centerline is valid? [True, True] Translation: X:926.70, Y:158.63, Z:7.07 [[-2.88696895e-01 -9.57401741e-01 6.00074162e-03 9.26695396e+02] [ 9.57218006e-01 -2.88759066e-01 -1.87587519e-02 1.58629552e+02] [ 1.96924303e-02 3.28424502e-04 9.99806031e-01 7.06982237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9492541539998 meters 0.01584495930899482 Centerline is valid? [True, True] Translation: X:926.69, Y:158.66, Z:7.07 [[-2.87997696e-01 -9.57611829e-01 6.07547344e-03 9.26686802e+02] [ 9.57423903e-01 -2.88061556e-01 -1.89739263e-02 1.58656061e+02] [ 1.99197666e-02 3.52356422e-04 9.99801520e-01 7.06945659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9792541539998 meters 0.01633082043612792 Centerline is valid? [True, True] Translation: X:926.68, Y:158.68, Z:7.07 [[-2.87336448e-01 -9.57809488e-01 6.22499616e-03 9.26678049e+02] [ 9.57612560e-01 -2.87403620e-01 -1.94253273e-02 1.58681751e+02] [ 2.03948492e-02 3.79529963e-04 9.99791931e-01 7.06905706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.0092541539998 meters 0.016759182422629082 Centerline is valid? [True, True] Translation: X:926.67, Y:158.71, Z:7.07 [[-2.86842254e-01 -9.57956144e-01 6.44577792e-03 9.26670142e+02] [ 9.57745407e-01 -2.86914376e-01 -2.00966626e-02 1.58709151e+02] [ 2.11011078e-02 4.08842205e-04 9.99777263e-01 7.06826770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.0392541539998 meters 0.01709323473002109 Centerline is valid? [True, True] Translation: X:926.66, Y:158.74, Z:7.07 [[-2.87452812e-01 -9.57771984e-01 6.61116466e-03 9.26663988e+02] [ 9.57550715e-01 -2.87528533e-01 -2.05905677e-02 1.58735360e+02] [ 2.16219674e-02 4.11708853e-04 9.99766133e-01 7.06923419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.069254154 meters 0.01769145248020619 Centerline is valid? [True, True] Translation: X:926.66, Y:158.76, Z:7.07 [[-2.87984911e-01 -9.57612045e-01 6.62291022e-03 9.26656711e+02] [ 9.57390449e-01 -2.88060768e-01 -2.06039121e-02 1.58761065e+02] [ 2.16383550e-02 4.07095191e-04 9.99765781e-01 7.06911735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.099254154 meters 0.017864133724144797 Centerline is valid? [True, True] Translation: X:926.65, Y:158.79, Z:7.07 [[-2.89491788e-01 -9.57158709e-01 6.45838276e-03 9.26651374e+02] [ 9.56948308e-01 -2.89563584e-01 -2.00715513e-02 1.58788996e+02] [ 2.10817726e-02 3.69789184e-04 9.99777686e-01 7.07084302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.129254154 meters 0.017248441812333842 Centerline is valid? [True, True] Translation: X:926.64, Y:158.82, Z:7.07 [[-2.90626859e-01 -9.56816885e-01 6.12195667e-03 9.26644787e+02] [ 9.56628128e-01 -2.90691140e-01 -1.90075366e-02 1.58816446e+02] [ 1.99663305e-02 3.32335291e-04 9.99800598e-01 7.07255246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1592541539999 meters 0.017455958041553542 Centerline is valid? [True, True] Translation: X:926.64, Y:158.84, Z:7.07 [[-2.91836709e-01 -9.56449868e-01 5.91478799e-03 9.26637300e+02] [ 9.56273941e-01 -2.91896485e-01 -1.83464149e-02 1.58843991e+02] [ 1.92739319e-02 3.02000297e-04 9.99814195e-01 7.07338014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1892541539999 meters 0.014809415145764383 Centerline is valid? [True, True] Translation: X:926.63, Y:158.87, Z:7.08 [[-2.94388389e-01 -9.55670328e-01 5.44976303e-03 9.26630859e+02] [ 9.55521130e-01 -2.94438734e-01 -1.68879488e-02 1.58871761e+02] [ 1.77439329e-02 2.35747684e-04 9.99842536e-01 7.07509463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2192541539998 meters 0.014618177110786801 Centerline is valid? [True, True] Translation: X:926.62, Y:158.90, Z:7.08 [[-2.95993985e-01 -9.55174747e-01 5.36312821e-03 9.26623273e+02] [ 9.55030454e-01 -2.96042496e-01 -1.66033996e-02 1.58899145e+02] [ 1.74468619e-02 2.07444335e-04 9.99847770e-01 7.07516611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2492541539998 meters 0.017087451208922022 Centerline is valid? [True, True] Translation: X:926.62, Y:158.93, Z:7.07 [[-2.99243877e-01 -9.54158315e-01 5.91716947e-03 9.26617792e+02] [ 9.53982859e-01 -2.99302326e-01 -1.82981635e-02 1.58925364e+02] [ 1.92303675e-02 1.69264848e-04 9.99815065e-01 7.07436174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2792541539998 meters 0.014123559538649204 Centerline is valid? [True, True] Translation: X:926.61, Y:158.95, Z:7.08 [[-3.00447437e-01 -9.53781703e-01 5.63922095e-03 9.26609944e+02] [ 9.53622531e-01 -3.00500321e-01 -1.74248587e-02 1.58952825e+02] [ 1.83140992e-02 1.42434000e-04 9.99832273e-01 7.07511255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.3092541539997 meters 0.014518315825897235 Centerline is valid? [True, True] Translation: X:926.60, Y:158.98, Z:7.07 [[-3.02132738e-01 -9.53247215e-01 5.96285660e-03 9.26602557e+02] [ 9.53069461e-01 -3.02191549e-01 -1.84084228e-02 1.58978411e+02] [ 1.93497026e-02 1.21229354e-04 9.99812770e-01 7.07410731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.339254154 meters 0.014104722977524528 Centerline is valid? [True, True] Translation: X:926.60, Y:159.00, Z:7.07 [[-3.03334569e-01 -9.52864362e-01 6.13577581e-03 9.26595076e+02] [ 9.52676411e-01 -3.03396601e-01 -1.89250655e-02 1.59003842e+02] [ 1.98945940e-02 1.04782301e-04 9.99802077e-01 7.07354361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.369254154 meters 0.014045880748365032 Centerline is valid? [True, True] Translation: X:926.59, Y:159.03, Z:7.07 [[-3.05202083e-01 -9.52266098e-01 6.40049521e-03 9.26587678e+02] [ 9.52061857e-01 -3.05269180e-01 -1.97217585e-02 1.59030524e+02] [ 2.07342359e-02 7.45455896e-05 9.99785020e-01 7.07352786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.399254154 meters 0.01658513559168235 Centerline is valid? [True, True] Translation: X:926.58, Y:159.06, Z:7.07 [[-3.06485574e-01 -9.51849427e-01 7.01871829e-03 9.26579179e+02] [ 9.51604214e-01 -3.06565924e-01 -2.16044936e-02 1.59057564e+02] [ 2.27159247e-02 5.75762744e-05 9.99741958e-01 7.07348492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4292541539999 meters 0.014075647843234939 Centerline is valid? [True, True] Translation: X:926.57, Y:159.08, Z:7.07 [[-3.06698812e-01 -9.51784478e-01 6.49198518e-03 9.26570261e+02] [ 9.51575119e-01 -3.06767509e-01 -1.99621784e-02 1.59082312e+02] [ 2.09912217e-02 5.52351678e-05 9.99779659e-01 7.07306180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4592541539998 meters 0.015518195037150514 Centerline is valid? [True, True] Translation: X:926.56, Y:159.11, Z:7.07 [[-3.06967531e-01 -9.51695561e-01 6.81869938e-03 9.26560859e+02] [ 9.51465082e-01 -3.07043248e-01 -2.09437575e-02 1.59108168e+02] [ 2.20257166e-02 5.87008514e-05 9.99757403e-01 7.07467439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4892541539998 meters 0.016657355280974524 Centerline is valid? [True, True] Translation: X:926.55, Y:159.13, Z:7.07 [[-3.06831725e-01 -9.51738795e-01 6.89624790e-03 9.26551774e+02] [ 9.51503572e-01 -3.06909206e-01 -2.11587446e-02 1.59133196e+02] [ 2.22541201e-02 6.96303952e-05 9.99752344e-01 7.07480122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.5192541539998 meters 0.016289040075833365 Centerline is valid? [True, True] Translation: X:926.54, Y:159.16, Z:7.08 [[-3.05140834e-01 -9.52282948e-01 6.80127759e-03 9.26541037e+02] [ 9.52054782e-01 -3.05216600e-01 -2.08451311e-02 1.59158765e+02] [ 2.19263257e-02 1.14488162e-04 9.99759583e-01 7.07662499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.5492541539998 meters 0.01427911210633176 Centerline is valid? [True, True] Translation: X:926.53, Y:159.18, Z:7.08 [[-3.03710528e-01 -9.52743687e-01 6.27545697e-03 9.26530670e+02] [ 9.52549950e-01 -3.03775321e-01 -1.92132159e-02 1.59183155e+02] [ 2.02115991e-02 1.42430275e-04 9.99795715e-01 7.07691139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.579254154 meters 0.01427911210633176 Centerline is valid? [True, True] Translation: X:926.52, Y:159.21, Z:7.08 [[-3.04000745e-01 -9.52651085e-01 6.28144714e-03 9.26522233e+02] [ 9.52457368e-01 -3.04065601e-01 -1.92112580e-02 1.59208559e+02] [ 2.02115978e-02 1.42573859e-04 9.99795715e-01 7.07709596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.609254154 meters 0.015257977262480035 Centerline is valid? [True, True] Translation: X:926.51, Y:159.23, Z:7.08 [[-3.02912363e-01 -9.52996269e-01 6.49709764e-03 9.26512044e+02] [ 9.52789432e-01 -3.02981981e-01 -1.98549165e-02 1.59233608e+02] [ 2.08901649e-02 1.76066300e-04 9.99781761e-01 7.07715778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.639254154 meters 0.01647174701940328 Centerline is valid? [True, True] Translation: X:926.50, Y:159.26, Z:7.08 [[-2.99978205e-01 -9.53921171e-01 6.89032203e-03 9.26500607e+02] [ 9.53689193e-01 -3.00057215e-01 -2.10378613e-02 1.59259423e+02] [ 2.21359521e-02 2.60325770e-04 9.99754936e-01 7.07893996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6692541539999 meters 0.014787810595462251 Centerline is valid? [True, True] Translation: X:926.49, Y:159.29, Z:7.08 [[-2.98377549e-01 -9.54426102e-01 6.45400483e-03 9.26489520e+02] [ 9.54223085e-01 -2.98447206e-01 -1.96867884e-02 1.59285805e+02] [ 2.07157644e-02 2.84464732e-04 9.99785365e-01 7.07917494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6992541539998 meters 0.015207084462882861 Centerline is valid? [True, True] Translation: X:926.48, Y:159.31, Z:7.08 [[-2.97156425e-01 -9.54805929e-01 6.61036534e-03 9.26478510e+02] [ 9.54593486e-01 -2.97229764e-01 -2.01430827e-02 1.59310982e+02] [ 2.11975322e-02 3.24565240e-04 9.99775254e-01 7.07886067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7292541539998 meters 0.01729020109712824 Centerline is valid? [True, True] Translation: X:926.47, Y:159.34, Z:7.08 [[-2.96403399e-01 -9.55035506e-01 7.22549993e-03 9.26468394e+02] [ 9.54782263e-01 -2.96491212e-01 -2.19952506e-02 1.59337168e+02] [ 2.31485426e-02 3.79312119e-04 9.99731965e-01 7.07878005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7592541539998 meters 0.016092162209523336 Centerline is valid? [True, True] Translation: X:926.46, Y:159.36, Z:7.08 [[-2.94781153e-01 -9.55540002e-01 6.88307209e-03 9.26457794e+02] [ 9.55310779e-01 -2.94861223e-01 -2.09326242e-02 1.59362999e+02] [ 2.20315108e-02 4.04929874e-04 9.99757195e-01 7.08049339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7892541539998 meters 0.01828721036220899 Centerline is valid? [True, True] Translation: X:926.45, Y:159.39, Z:7.08 [[-2.94940502e-01 -9.55488095e-01 7.25269403e-03 9.26447952e+02] [ 9.55234047e-01 -2.95029350e-01 -2.20362885e-02 1.59388763e+02] [ 2.31951689e-02 4.28626284e-04 9.99730864e-01 7.08031480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.819254154 meters 0.018724181996393318 Centerline is valid? [True, True] Translation: X:926.44, Y:159.42, Z:7.08 [[-2.95168240e-01 -9.55416657e-01 7.39736073e-03 9.26438015e+02] [ 9.55152853e-01 -2.95260596e-01 -2.24545621e-02 1.59415327e+02] [ 2.36376118e-02 4.37736627e-04 9.99720497e-01 7.08083434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.849254154 meters 0.017424366036177533 Centerline is valid? [True, True] Translation: X:926.43, Y:159.44, Z:7.08 [[-2.96005917e-01 -9.55159527e-01 7.12560756e-03 9.26428885e+02] [ 9.54915151e-01 -2.96091389e-01 -2.16088793e-02 1.59442264e+02] [ 2.27497580e-02 4.07994469e-04 9.99741108e-01 7.08154479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.879254154 meters 0.015486828276693884 Centerline is valid? [True, True] Translation: X:926.42, Y:159.47, Z:7.08 [[-2.96575984e-01 -9.54987682e-01 6.41968366e-03 9.26419530e+02] [ 9.54789598e-01 -2.96645237e-01 -1.94532025e-02 1.59467218e+02] [ 2.04819374e-02 3.60094498e-04 9.99790158e-01 7.08135322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9092541539999 meters 0.014928413950786104 Centerline is valid? [True, True] Translation: X:926.41, Y:159.49, Z:7.08 [[-2.99221754e-01 -9.54163425e-01 6.20488350e-03 9.26410364e+02] [ 9.53978519e-01 -2.99285933e-01 -1.87860199e-02 1.59493963e+02] [ 1.97819675e-02 2.98139731e-04 9.99804273e-01 7.08149796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9392541539999 meters 0.014709552452319677 Centerline is valid? [True, True] Translation: X:926.40, Y:159.52, Z:7.08 [[-3.00830669e-01 -9.53657220e-01 6.23020591e-03 9.26401833e+02] [ 9.53470991e-01 -3.00895054e-01 -1.88476745e-02 1.59519610e+02] [ 1.98488590e-02 2.70362088e-04 9.99802955e-01 7.08111345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9692541539998 meters 0.015513838290794033 Centerline is valid? [True, True] Translation: X:926.39, Y:159.55, Z:7.08 [[-3.02901751e-01 -9.52999922e-01 6.45584716e-03 9.26393677e+02] [ 9.52800190e-01 -3.02970445e-01 -1.95117048e-02 1.59545874e+02] [ 2.05505840e-02 2.41002875e-04 9.99788785e-01 7.08147716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9992541539998 meters 0.014024181508395161 Centerline is valid? [True, True] Translation: X:926.39, Y:159.57, Z:7.08 [[-3.06313195e-01 -9.51911501e-01 6.05973839e-03 9.26385855e+02] [ 9.51735653e-01 -3.06373086e-01 -1.82969832e-02 1.59572358e+02] [ 1.92736495e-02 1.62661686e-04 9.99814233e-01 7.08127455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.0292541539998 meters 0.014866713242775097 Centerline is valid? [True, True] Translation: X:926.38, Y:159.60, Z:7.08 [[-3.08667575e-01 -9.51147693e-01 6.51105625e-03 9.26378217e+02] [ 9.50944922e-01 -3.08736212e-01 -1.96394239e-02 1.59598650e+02] [ 2.06901916e-02 1.29602519e-04 9.99785927e-01 7.08163160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.0592541539997 meters 0.013603256689394702 Centerline is valid? [True, True] Translation: X:926.37, Y:159.63, Z:7.08 [[-3.12452017e-01 -9.49912446e-01 6.33105640e-03 9.26370895e+02] [ 9.49720858e-01 -3.12516148e-01 -1.90774610e-02 1.59625421e+02] [ 2.01004750e-02 5.19451503e-05 9.99797964e-01 7.08112601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.089254154 meters 0.013468125225790011 Centerline is valid? [True, True] Translation: X:926.36, Y:159.65, Z:7.08 [[-3.14184716e-01 -9.49338964e-01 6.59510835e-03 9.26362439e+02] [ 9.49131341e-01 -3.14253927e-01 -1.98536203e-02 1.59652408e+02] [ 2.09203540e-02 2.19199772e-05 9.99781145e-01 7.08181463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.119254154 meters 0.01376796659246027 Centerline is valid? [True, True] Translation: X:926.35, Y:159.68, Z:7.08 [[-3.16784186e-01 -9.48471675e-01 7.01864078e-03 9.26353787e+02] [ 9.48236788e-01 -3.16861927e-01 -2.11071891e-02 1.59678466e+02] [ 2.22435111e-02 -3.10903268e-05 9.99752582e-01 7.07981614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.149254154 meters 0.014952615348424477 Centerline is valid? [True, True] Translation: X:926.35, Y:159.71, Z:7.08 [[-3.17966367e-01 -9.48072094e-01 7.52948541e-03 9.26345020e+02] [ 9.47802183e-01 -3.18055499e-01 -2.26212775e-02 1.59705020e+02] [ 2.38413962e-02 -5.63427218e-05 9.99715752e-01 7.08024705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.1792541539999 meters 0.014197394014470805 Centerline is valid? [True, True] Translation: X:926.34, Y:159.73, Z:7.08 [[-3.18993703e-01 -9.47727779e-01 7.42121909e-03 9.26336537e+02] [ 9.47466031e-01 -3.19080008e-01 -2.22725836e-02 1.59729596e+02] [ 2.34763089e-02 -7.34609216e-05 9.99724391e-01 7.07812738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2092541539998 meters 0.014217588056251758 Centerline is valid? [True, True] Translation: X:926.33, Y:159.76, Z:7.08 [[-3.20014295e-01 -9.47381578e-01 7.68095950e-03 9.26327173e+02] [ 9.47101650e-01 -3.20106447e-01 -2.30288556e-02 1.59755732e+02] [ 2.42758382e-02 -9.49135735e-05 9.99705294e-01 7.08060040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2392541539998 meters 0.0156489374441802 Centerline is valid? [True, True] Translation: X:926.32, Y:159.78, Z:7.08 [[-3.22309101e-01 -9.46599516e-01 8.13628479e-03 9.26319008e+02] [ 9.46285792e-01 -3.22411742e-01 -2.43694093e-02 1.59781717e+02] [ 2.56913048e-02 -1.55231689e-04 9.99669912e-01 7.08074093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2692541539998 meters 0.014106465684686268 Centerline is valid? [True, True] Translation: X:926.31, Y:159.81, Z:7.08 [[-3.23218805e-01 -9.46293565e-01 7.62190247e-03 9.26310414e+02] [ 9.46018736e-01 -3.23308619e-01 -2.28054524e-02 1.59807971e+02] [ 2.40448796e-02 -1.60688546e-04 9.99710867e-01 7.08073364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2992541539998 meters 0.014226026503969019 Centerline is valid? [True, True] Translation: X:926.30, Y:159.83, Z:7.08 [[-3.24811617e-01 -9.45749841e-01 7.39272423e-03 9.26302263e+02] [ 9.45491686e-01 -3.24895681e-01 -2.20967783e-02 1.59834307e+02] [ 2.32998888e-02 -1.87530997e-04 9.99728503e-01 7.08129710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.329254154 meters 0.016852594715298964 Centerline is valid? [True, True] Translation: X:926.29, Y:159.86, Z:7.08 [[-3.28107045e-01 -9.44609939e-01 7.60454913e-03 9.26294911e+02] [ 9.44336994e-01 -3.28195048e-01 -2.27079682e-02 1.59861828e+02] [ 2.39459479e-02 -2.69387298e-04 9.99713218e-01 7.08323867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.359254154 meters 0.014824778295730213 Centerline is valid? [True, True] Translation: X:926.29, Y:159.89, Z:7.08 [[-3.29391540e-01 -9.44168107e-01 6.91372009e-03 9.26286261e+02] [ 9.43942847e-01 -3.29463981e-01 -2.06249224e-02 1.59888013e+02] [ 2.17512156e-02 -2.67518327e-04 9.99763379e-01 7.08352849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.389254154 meters 0.014814531806207655 Centerline is valid? [True, True] Translation: X:926.28, Y:159.91, Z:7.09 [[-3.32075786e-01 -9.43230651e-01 6.45063885e-03 9.26277269e+02] [ 9.43034755e-01 -3.32138297e-01 -1.92250779e-02 1.59914595e+02] [ 2.02761869e-02 -3.01006237e-04 9.99794372e-01 7.08556142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4192541539999 meters 0.017942727238878846 Centerline is valid? [True, True] Translation: X:926.27, Y:159.94, Z:7.09 [[-3.33793781e-01 -9.42619200e-01 7.12425484e-03 9.26268854e+02] [ 9.42380590e-01 -3.33869599e-01 -2.12112019e-02 1.59940608e+02] [ 2.23726583e-02 -3.66407813e-04 9.99749634e-01 7.08652874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4492541539998 meters 0.014899509300037356 Centerline is valid? [True, True] Translation: X:926.26, Y:159.97, Z:7.09 [[-3.33804758e-01 -9.42620132e-01 6.45528682e-03 9.26258237e+02] [ 9.42424589e-01 -3.33867010e-01 -1.92019131e-02 1.59967239e+02] [ 2.02553172e-02 -3.26068919e-04 9.99794787e-01 7.08663864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4792541539998 meters 0.015110726464212163 Centerline is valid? [True, True] Translation: X:926.25, Y:159.99, Z:7.09 [[-3.34201810e-01 -9.42479942e-01 6.38043963e-03 9.26248686e+02] [ 9.42289236e-01 -3.34262553e-01 -1.89615707e-02 1.59993589e+02] [ 2.00036421e-02 -3.24771653e-04 9.99799854e-01 7.08683604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.5092541539998 meters 0.017407427128387713 Centerline is valid? [True, True] Translation: X:926.24, Y:160.02, Z:7.09 [[-3.34424103e-01 -9.42397426e-01 6.90012158e-03 9.26237325e+02] [ 9.42174785e-01 -3.34495097e-01 -2.04867128e-02 1.60019592e+02] [ 2.16146823e-02 -3.50129994e-04 9.99766314e-01 7.08754703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.5392541539998 meters 0.014900319604600264 Centerline is valid? [True, True] Translation: X:926.23, Y:160.05, Z:7.09 [[-3.33626262e-01 -9.42682456e-01 6.58060867e-03 9.26226514e+02] [ 9.42480381e-01 -3.33691011e-01 -1.95202488e-02 1.60046034e+02] [ 2.05972860e-02 -3.10373063e-04 9.99787805e-01 7.08665371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.569254154 meters 0.014490541992308762 Centerline is valid? [True, True] Translation: X:926.22, Y:160.07, Z:7.09 [[-3.33440816e-01 -9.42747216e-01 6.70142394e-03 9.26215465e+02] [ 9.42538064e-01 -3.33508011e-01 -1.98595967e-02 1.60071653e+02] [ 2.09575580e-02 -3.05652967e-04 9.99780320e-01 7.08711433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.599254154 meters 0.014879159904852285 Centerline is valid? [True, True] Translation: X:926.20, Y:160.10, Z:7.09 [[-3.32579888e-01 -9.43049786e-01 6.90784675e-03 9.26204033e+02] [ 9.42827965e-01 -3.32651494e-01 -2.04551283e-02 1.60096072e+02] [ 2.15881099e-02 -2.90053199e-04 9.99766908e-01 7.08608326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.629254154 meters 0.017536425387823483 Centerline is valid? [True, True] Translation: X:926.19, Y:160.12, Z:7.09 [[-3.33134441e-01 -9.42851462e-01 7.25009696e-03 9.26193014e+02] [ 9.42607488e-01 -3.33213179e-01 -2.14499661e-02 1.60121877e+02] [ 2.26399597e-02 -3.11726781e-04 9.99743635e-01 7.08665736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6592541539999 meters 0.014147640739180971 Centerline is valid? [True, True] Translation: X:926.18, Y:160.15, Z:7.09 [[-3.31382626e-01 -9.43472403e-01 6.73650706e-03 9.26179528e+02] [ 9.43262275e-01 -3.31451000e-01 -1.99126998e-02 1.60147553e+02] [ 2.10199048e-02 -2.44429785e-04 9.99779028e-01 7.08782169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6892541539999 meters 0.013986745964352967 Centerline is valid? [True, True] Translation: X:926.17, Y:160.17, Z:7.09 [[-3.30964997e-01 -9.43621428e-01 6.38518174e-03 9.26168670e+02] [ 9.43433021e-01 -3.31026514e-01 -1.88568900e-02 1.60173084e+02] [ 1.99074299e-02 -2.16979248e-04 9.99801804e-01 7.08869077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7192541539998 meters 0.013842999429494218 Centerline is valid? [True, True] Translation: X:926.16, Y:160.20, Z:7.09 [[-3.29330625e-01 -9.44196186e-01 5.90774029e-03 9.26155567e+02] [ 9.44035290e-01 -3.29383569e-01 -1.74309176e-02 1.60197691e+02] [ 1.84041185e-02 -1.63419673e-04 9.99830617e-01 7.08862401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7492541539998 meters 0.013404908680573325 Centerline is valid? [True, True] Translation: X:926.14, Y:160.22, Z:7.09 [[-3.28524191e-01 -9.44478533e-01 5.67075244e-03 9.26142773e+02] [ 9.44330605e-01 -3.28573101e-01 -1.67160354e-02 1.60222905e+02] [ 1.76511933e-02 -1.36556914e-04 9.99844196e-01 7.08996959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7792541539998 meters 0.015540710461347355 Centerline is valid? [True, True] Translation: X:926.13, Y:160.25, Z:7.09 [[-3.28227249e-01 -9.44582774e-01 5.50056892e-03 9.26131092e+02] [ 9.44443877e-01 -3.28273314e-01 -1.61986083e-02 1.60247739e+02] [ 1.71066164e-02 -1.21846017e-04 9.99853664e-01 7.08967340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.8092541539997 meters 0.015206136384992889 Centerline is valid? [True, True] Translation: X:926.12, Y:160.27, Z:7.09 [[-3.27269333e-01 -9.44916438e-01 5.26397854e-03 9.26118851e+02] [ 9.44789521e-01 -3.27311651e-01 -1.54868783e-02 1.60273173e+02] [ 1.63567674e-02 -9.50285764e-05 9.99866215e-01 7.09010736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.839254154 meters 0.013423765171370172 Centerline is valid? [True, True] Translation: X:926.10, Y:160.30, Z:7.09 [[-3.24133826e-01 -9.45998738e-01 4.86325115e-03 9.26104693e+02] [ 9.45890733e-01 -3.24170306e-01 -1.42945463e-02 1.60297501e+02] [ 1.50991444e-02 -3.32417890e-05 9.99886001e-01 7.08994402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.869254154 meters 0.012937935315696139 Centerline is valid? [True, True] Translation: X:926.09, Y:160.32, Z:7.09 [[-3.22463215e-01 -9.46570097e-01 4.74614741e-03 9.26093160e+02] [ 9.46467493e-01 -3.22498141e-01 -1.39367657e-02 1.60322642e+02] [ 1.47227494e-02 -2.02003735e-06 9.99891614e-01 7.09017489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.899254154 meters 0.012946917334141609 Centerline is valid? [True, True] Translation: X:926.08, Y:160.35, Z:7.09 [[-3.19785738e-01 -9.47478169e-01 4.71173020e-03 9.26078378e+02] [ 9.47377340e-01 -3.19820444e-01 -1.38224017e-02 1.60347732e+02] [ 1.46033315e-02 4.35795160e-05 9.99893365e-01 7.08963258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9292541539999 meters 0.013573804075071975 Centerline is valid? [True, True] Translation: X:926.07, Y:160.37, Z:7.09 [[-3.18492394e-01 -9.47913744e-01 4.70414705e-03 9.26066419e+02] [ 9.47813476e-01 -3.18527125e-01 -1.37871752e-02 1.60373489e+02] [ 1.45674513e-02 6.75435151e-05 9.99893887e-01 7.08905580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9592541539998 meters 0.013171969316932923 Centerline is valid? [True, True] Translation: X:926.05, Y:160.40, Z:7.09 [[-3.17391146e-01 -9.48281846e-01 4.93980712e-03 9.26054229e+02] [ 9.48171538e-01 -3.17429571e-01 -1.44638165e-02 1.60399289e+02] [ 1.52838154e-02 9.30972355e-05 9.99883191e-01 7.08848440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9892541539998 meters 0.01349178600832314 Centerline is valid? [True, True] Translation: X:926.04, Y:160.42, Z:7.09 [[-3.15465815e-01 -9.48923116e-01 5.12250392e-03 9.26040643e+02] [ 9.48804817e-01 -3.15507374e-01 -1.49838877e-02 1.60423624e+02] [ 1.58347452e-02 1.33352040e-04 9.99874614e-01 7.08652917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.0192541539998 meters 0.014973652037986309 Centerline is valid? [True, True] Translation: X:926.03, Y:160.45, Z:7.09 [[-3.15249027e-01 -9.48995537e-01 5.05196980e-03 9.26030101e+02] [ 9.48880710e-01 -3.15289473e-01 -1.47630202e-02 1.60449000e+02] [ 1.56028732e-02 1.39688940e-04 9.99878258e-01 7.08600173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.0492541539998 meters 0.01546698714297878 Centerline is valid? [True, True] Translation: X:926.02, Y:160.47, Z:7.09 [[-3.14771683e-01 -9.49154394e-01 4.97238580e-03 9.26019828e+02] [ 9.49043400e-01 -3.14810919e-01 -1.45158493e-02 1.60474062e+02] [ 1.53431435e-02 1.49831603e-04 9.99882276e-01 7.08591702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.079254154 meters 0.013819888374363648 Centerline is valid? [True, True] Translation: X:926.01, Y:160.50, Z:7.09 [[-3.13381892e-01 -9.49616876e-01 4.42471571e-03 9.26008995e+02] [ 9.49529199e-01 -3.13413088e-01 -1.29049454e-02 1.60499789e+02] [ 1.36415177e-02 1.57220561e-04 9.99906938e-01 7.08710136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.109254154 meters 0.0169608176485681 Centerline is valid? [True, True] Translation: X:926.00, Y:160.52, Z:7.09 [[-3.13676143e-01 -9.49520413e-01 4.27356219e-03 9.25997752e+02] [ 9.49438772e-01 -3.13705217e-01 -1.24521458e-02 1.60524395e+02] [ 1.31642054e-02 1.51544552e-04 9.99913337e-01 7.08562145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.139254154 meters 0.015123031040061439 Centerline is valid? [True, True] Translation: X:925.99, Y:160.55, Z:7.09 [[-3.13382174e-01 -9.49619095e-01 3.89714149e-03 9.25988159e+02] [ 9.49551342e-01 -3.13406371e-01 -1.13443659e-02 1.60550143e+02] [ 1.19942154e-02 1.45413888e-04 9.99928056e-01 7.08651253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1692541539999 meters 0.014280294145600695 Centerline is valid? [True, True] Translation: X:925.98, Y:160.58, Z:7.09 [[-3.13164156e-01 -9.49690636e-01 3.98845636e-03 9.25978465e+02] [ 9.49619820e-01 -3.13189515e-01 -1.15984847e-02 1.60576349e+02] [ 1.22641150e-02 1.55287552e-04 9.99924781e-01 7.08677259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1992541539998 meters 0.01620054068149007 Centerline is valid? [True, True] Translation: X:925.97, Y:160.60, Z:7.09 [[-3.13193413e-01 -9.49681657e-01 3.82590195e-03 9.25969222e+02] [ 9.49616615e-01 -3.13216743e-01 -1.11156036e-02 1.60602369e+02] [ 1.17546214e-02 1.51806243e-04 9.99930901e-01 7.08640999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2292541539998 meters 0.01748217805450577 Centerline is valid? [True, True] Translation: X:925.96, Y:160.63, Z:7.09 [[-3.12573137e-01 -9.49886090e-01 3.80138429e-03 9.25958274e+02] [ 9.49822001e-01 -3.12596210e-01 -1.10351852e-02 1.60626909e+02] [ 1.16704673e-02 1.61335970e-04 9.99931885e-01 7.08575673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2592541539998 meters 0.016511646198587162 Centerline is valid? [True, True] Translation: X:925.95, Y:160.65, Z:7.09 [[-3.11263863e-01 -9.50315998e-01 3.78299807e-03 9.25949180e+02] [ 9.50252660e-01 -3.11286799e-01 -1.09732128e-02 1.60653610e+02] [ 1.16056170e-02 1.79239387e-04 9.99932637e-01 7.08655552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2892541539998 meters 0.015639152707083125 Centerline is valid? [True, True] Translation: X:925.94, Y:160.68, Z:7.09 [[-3.10916870e-01 -9.50429536e-01 3.79428177e-03 9.25939050e+02] [ 9.50365950e-01 -3.10939965e-01 -1.09954292e-02 1.60679002e+02] [ 1.16301745e-02 1.87291773e-04 9.99932350e-01 7.08703522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.319254154 meters 0.01761020188952755 Centerline is valid? [True, True] Translation: X:925.93, Y:160.71, Z:7.09 [[-3.09851950e-01 -9.50777425e-01 3.74914552e-03 9.25928753e+02] [ 9.50715487e-01 -3.09874566e-01 -1.08543244e-02 1.60705418e+02] [ 1.14818114e-02 2.01137131e-04 9.99934062e-01 7.08646365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.349254154 meters 0.019208516914972162 Centerline is valid? [True, True] Translation: X:925.92, Y:160.73, Z:7.09 [[-3.09537501e-01 -9.50880041e-01 3.69900510e-03 9.25919194e+02] [ 9.50819871e-01 -3.09559533e-01 -1.06990126e-02 1.60731105e+02] [ 1.13185399e-02 2.05341919e-04 9.99935922e-01 7.08602027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.379254154 meters 0.01731393520314877 Centerline is valid? [True, True] Translation: X:925.91, Y:160.76, Z:7.09 [[-3.08888471e-01 -9.51090264e-01 3.90152983e-03 9.25909721e+02] [ 9.51023476e-01 -3.08913026e-01 -1.12734597e-02 1.60757280e+02] [ 1.19273112e-02 2.28204711e-04 9.99928841e-01 7.08649177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4092541539999 meters 0.016797889246196965 Centerline is valid? [True, True] Translation: X:925.90, Y:160.78, Z:7.09 [[-3.08257401e-01 -9.51294133e-01 4.10452340e-03 9.25900394e+02] [ 9.51220374e-01 -3.08284623e-01 -1.18486885e-02 1.60783036e+02] [ 1.25369493e-02 2.51860383e-04 9.99921378e-01 7.08590018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4392541539999 meters 0.01882294886395505 Centerline is valid? [True, True] Translation: X:925.89, Y:160.81, Z:7.08 [[-3.08941060e-01 -9.51072627e-01 4.03472237e-03 9.25894086e+02] [ 9.51001471e-01 -3.08967310e-01 -1.16362828e-02 1.60810440e+02] [ 1.23135473e-02 2.42101379e-04 9.99924156e-01 7.08499636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4692541539998 meters 0.016406417977017897 Centerline is valid? [True, True] Translation: X:925.89, Y:160.84, Z:7.09 [[-3.09451913e-01 -9.50906048e-01 4.14743333e-03 9.25885872e+02] [ 9.50830992e-01 -3.09479608e-01 -1.19497367e-02 1.60836171e+02] [ 1.26466229e-02 2.45639279e-04 9.99919998e-01 7.08599053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4992541539998 meters 0.016406417977017897 Centerline is valid? [True, True] Translation: X:925.88, Y:160.86, Z:7.09 [[-3.09723156e-01 -9.50817720e-01 4.15097192e-03 9.25876751e+02] [ 9.50742673e-01 -3.09750873e-01 -1.19485076e-02 1.60862194e+02] [ 1.26466199e-02 2.45776663e-04 9.99919998e-01 7.08618091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.5292541539998 meters 0.015783896282458194 Centerline is valid? [True, True] Translation: X:925.87, Y:160.89, Z:7.09 [[-3.11598406e-01 -9.50205028e-01 4.10338115e-03 9.25871700e+02] [ 9.50131774e-01 -3.11625344e-01 -1.18007125e-02 1.60890521e+02] [ 1.24918139e-02 2.21669613e-04 9.99921950e-01 7.08686665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.5592541539997 meters 0.016714062249511493 Centerline is valid? [True, True] Translation: X:925.87, Y:160.92, Z:7.09 [[-3.13324244e-01 -9.49637816e-01 3.99219899e-03 9.25865190e+02] [ 9.49568568e-01 -3.13349614e-01 -1.14697331e-02 1.60915592e+02] [ 1.21430463e-02 1.97121217e-04 9.99926251e-01 7.08678974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.589254154 meters 0.014839107839621606 Centerline is valid? [True, True] Translation: X:925.86, Y:160.94, Z:7.09 [[-3.16146382e-01 -9.48703178e-01 3.70737461e-03 9.25861385e+02] [ 9.48643512e-01 -3.16168082e-01 -1.06410332e-02 1.60944328e+02] [ 1.12673355e-02 1.52852737e-04 9.99936510e-01 7.08833189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.619254154 meters 0.015430321589321262 Centerline is valid? [True, True] Translation: X:925.85, Y:160.97, Z:7.09 [[-3.18043590e-01 -9.48069475e-01 3.54202095e-03 9.25854835e+02] [ 9.48015070e-01 -3.18063287e-01 -1.01573468e-02 1.60971921e+02] [ 1.07564572e-02 1.27410214e-04 9.99942140e-01 7.08875716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.649254154 meters 0.014517467176626296 Centerline is valid? [True, True] Translation: X:925.85, Y:161.00, Z:7.09 [[-3.19674069e-01 -9.47521654e-01 3.34734615e-03 9.25848287e+02] [ 9.47473127e-01 -3.19691576e-01 -9.59012022e-03 1.60997331e+02] [ 1.01569649e-02 1.05807766e-04 9.99948411e-01 7.08952524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.6792541539999 meters 0.018376096756220612 Centerline is valid? [True, True] Translation: X:925.84, Y:161.02, Z:7.09 [[-3.22026889e-01 -9.46725161e-01 3.18618875e-03 9.25842163e+02] [ 9.46681239e-01 -3.22042641e-01 -9.11965728e-03 1.61022822e+02] [ 9.65989765e-03 7.95302515e-05 9.99953339e-01 7.08839608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7092541539998 meters 0.013901837595657706 Centerline is valid? [True, True] Translation: X:925.84, Y:161.05, Z:7.09 [[-3.24491738e-01 -9.45883015e-01 3.23021538e-03 9.25838925e+02] [ 9.45837904e-01 -3.24507811e-01 -9.23794311e-03 1.61051062e+02] [ 9.78624360e-03 5.76239322e-05 9.99952112e-01 7.09012374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7392541539998 meters 0.015461881517994262 Centerline is valid? [True, True] Translation: X:925.83, Y:161.08, Z:7.09 [[-3.26267009e-01 -9.45271761e-01 3.33722436e-03 9.25832405e+02] [ 9.45223670e-01 -3.26284073e-01 -9.53505034e-03 1.61079047e+02] [ 1.01020970e-02 4.34511064e-05 9.99948972e-01 7.08953237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7692541539998 meters 0.013773756062235113 Centerline is valid? [True, True] Translation: X:925.83, Y:161.11, Z:7.09 [[-3.28670976e-01 -9.44437146e-01 3.72379401e-03 9.25827230e+02] [ 9.44377317e-01 -3.28692070e-01 -1.06304297e-02 1.61105889e+02] [ 1.12637542e-02 2.27528986e-05 9.99936562e-01 7.08939410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7992541539998 meters 0.01495163626684931 Centerline is valid? [True, True] Translation: X:925.82, Y:161.13, Z:7.09 [[-3.30116316e-01 -9.43932516e-01 3.82389489e-03 9.25819878e+02] [ 9.43869493e-01 -3.30138462e-01 -1.09076273e-02 1.61133408e+02] [ 1.15584789e-02 8.47198291e-06 9.99933199e-01 7.08879024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.829254154 meters 0.014152111296917031 Centerline is valid? [True, True] Translation: X:925.81, Y:161.16, Z:7.09 [[-3.32271706e-01 -9.43175539e-01 3.92640308e-03 9.25814794e+02] [ 9.43109161e-01 -3.32294903e-01 -1.11896165e-02 1.61161323e+02] [ 1.18584963e-02 -1.49662581e-05 9.99929685e-01 7.08929074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.859254154 meters 0.013684918045370012 Centerline is valid? [True, True] Translation: X:925.81, Y:161.19, Z:7.09 [[-3.33268957e-01 -9.42822945e-01 4.08622084e-03 9.25807532e+02] [ 9.42751164e-01 -3.33294005e-01 -1.16339610e-02 1.61187204e+02] [ 1.23306783e-02 -2.49485921e-05 9.99923974e-01 7.08978111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.889254154 meters 0.014583322470338493 Centerline is valid? [True, True] Translation: X:925.80, Y:161.21, Z:7.09 [[-3.34182834e-01 -9.42499254e-01 4.12188884e-03 9.25800061e+02] [ 9.42426328e-01 -3.34208252e-01 -1.17243692e-02 1.61213868e+02] [ 1.24277785e-02 -3.35063715e-05 9.99922772e-01 7.09000007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9192541539999 meters 0.013843234820946381 Centerline is valid? [True, True] Translation: X:925.79, Y:161.24, Z:7.09 [[-3.35245464e-01 -9.42121294e-01 4.23629046e-03 9.25794008e+02] [ 9.42044382e-01 -3.35272226e-01 -1.20381830e-02 1.61240380e+02] [ 1.27617391e-02 -4.49726257e-05 9.99918565e-01 7.09025490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9492541539998 meters 0.01696807865190868 Centerline is valid? [True, True] Translation: X:925.79, Y:161.27, Z:7.09 [[-3.35679767e-01 -9.41966957e-01 4.16494069e-03 9.25786481e+02] [ 9.41892741e-01 -3.35705601e-01 -1.18243151e-02 1.61267357e+02] [ 1.25363081e-02 -4.62559458e-05 9.99921416e-01 7.08916697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9792541539998 meters 0.014935343120602624 Centerline is valid? [True, True] Translation: X:925.78, Y:161.29, Z:7.09 [[-3.35595297e-01 -9.41996665e-01 4.25209183e-03 9.25778236e+02] [ 9.41919459e-01 -3.35622231e-01 -1.20602992e-02 1.61293513e+02] [ 1.27878582e-02 -4.22516735e-05 9.99918231e-01 7.08989877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.0092541539998 meters 0.016443150496404584 Centerline is valid? [True, True] Translation: X:925.77, Y:161.32, Z:7.09 [[-3.35754248e-01 -9.41940024e-01 4.25148879e-03 9.25771281e+02] [ 9.41862980e-01 -3.35781162e-01 -1.20473159e-02 1.61321185e+02] [ 1.27754189e-02 -4.06175898e-05 9.99918390e-01 7.08965228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.0392541539998 meters 0.013725068998123022 Centerline is valid? [True, True] Translation: X:925.76, Y:161.35, Z:7.09 [[-3.35609790e-01 -9.41992215e-01 4.09085220e-03 9.25763038e+02] [ 9.41921013e-01 -3.35634720e-01 -1.15818913e-02 1.61348185e+02] [ 1.22830835e-02 -3.37364709e-05 9.99924560e-01 7.09126920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.069254154 meters 0.013615520079424999 Centerline is valid? [True, True] Translation: X:925.76, Y:161.38, Z:7.09 [[-3.35239450e-01 -9.42122937e-01 4.34554920e-03 9.25756454e+02] [ 9.42042752e-01 -3.35267612e-01 -1.22915317e-02 1.61375979e+02] [ 1.30370559e-02 -2.69132101e-05 9.99915014e-01 7.09181727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.099254154 meters 0.015696345835664174 Centerline is valid? [True, True] Translation: X:925.75, Y:161.40, Z:7.09 [[-3.35375572e-01 -9.42074598e-01 4.32181422e-03 9.25749068e+02] [ 9.41995432e-01 -3.35403417e-01 -1.22128462e-02 1.61402044e+02] [ 1.29549634e-02 -2.47610234e-05 9.99916081e-01 7.09076534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.129254154 meters 0.015170079474856326 Centerline is valid? [True, True] Translation: X:925.74, Y:161.43, Z:7.09 [[-3.34749360e-01 -9.42295643e-01 4.66760551e-03 9.25740899e+02] [ 9.42203508e-01 -3.34781900e-01 -1.31768775e-02 1.61428550e+02] [ 1.39791441e-02 -1.31170143e-05 9.99902287e-01 7.09110626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1592541539999 meters 0.016712317712077665 Centerline is valid? [True, True] Translation: X:925.73, Y:161.45, Z:7.09 [[-3.34068292e-01 -9.42536162e-01 4.89480113e-03 9.25732770e+02] [ 9.42435057e-01 -3.34104150e-01 -1.38050597e-02 1.61454577e+02] [ 1.46471414e-02 1.19947120e-06 9.99892725e-01 7.09014767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1892541539999 meters 0.013615467476272349 Centerline is valid? [True, True] Translation: X:925.72, Y:161.48, Z:7.09 [[-3.31108864e-01 -9.43579112e-01 5.03790787e-03 9.25724562e+02] [ 9.43472330e-01 -3.31147184e-01 -1.41952673e-02 1.61481005e+02] [ 1.50626467e-02 5.29478566e-05 9.99886551e-01 7.09190436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2192541539998 meters 0.016123610845705207 Centerline is valid? [True, True] Translation: X:925.72, Y:161.51, Z:7.09 [[-3.30251907e-01 -9.43878724e-01 5.16073113e-03 9.25716245e+02] [ 9.43766920e-01 -3.30292219e-01 -1.45276099e-02 1.61506706e+02] [ 1.54168513e-02 7.27564354e-05 9.99881151e-01 7.09005797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2492541539998 meters 0.014972812963096353 Centerline is valid? [True, True] Translation: X:925.71, Y:161.53, Z:7.09 [[-3.27084886e-01 -9.44981979e-01 4.95338837e-03 9.25707980e+02] [ 9.44879292e-01 -3.27122368e-01 -1.39312393e-02 1.61534065e+02] [ 1.47851342e-02 1.23656277e-04 9.99890686e-01 7.09152168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2792541539998 meters 0.01486696972869085 Centerline is valid? [True, True] Translation: X:925.70, Y:161.56, Z:7.09 [[-3.25697122e-01 -9.45461526e-01 4.88737756e-03 9.25699162e+02] [ 9.45361793e-01 -3.25733757e-01 -1.37331659e-02 1.61560704e+02] [ 1.45761639e-02 1.47487396e-04 9.99893751e-01 7.09240625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.3092541539997 meters 0.014569127328397111 Centerline is valid? [True, True] Translation: X:925.69, Y:161.59, Z:7.09 [[-3.22413356e-01 -9.46586770e-01 4.80776283e-03 9.25690685e+02] [ 9.46490554e-01 -3.22449139e-01 -1.34975313e-02 1.61587890e+02] [ 1.43268435e-02 1.98717751e-04 9.99897346e-01 7.09384267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.339254154 meters 0.01656163677179008 Centerline is valid? [True, True] Translation: X:925.68, Y:161.61, Z:7.09 [[-3.21563368e-01 -9.46876009e-01 4.77744035e-03 9.25681790e+02] [ 9.46781181e-01 -3.21598784e-01 -1.34021577e-02 1.61613955e+02] [ 1.42266006e-02 2.13547649e-04 9.99898774e-01 7.09253073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.369254154 meters 0.015126641244532696 Centerline is valid? [True, True] Translation: X:925.67, Y:161.64, Z:7.09 [[-3.19743145e-01 -9.47491571e-01 4.90357495e-03 9.25673287e+02] [ 9.47391867e-01 -3.19780645e-01 -1.37473660e-02 1.61640555e+02] [ 1.45935818e-02 2.49980970e-04 9.99893477e-01 7.09432906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.399254154 meters 0.015645003502506666 Centerline is valid? [True, True] Translation: X:925.66, Y:161.67, Z:7.09 [[-3.18700957e-01 -9.47841704e-01 5.07978431e-03 9.25664247e+02] [ 9.47734903e-01 -3.18741316e-01 -1.42311749e-02 1.61666610e+02] [ 1.51080382e-02 2.78799822e-04 9.99885828e-01 7.09419840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4292541539999 meters 0.01618679552050845 Centerline is valid? [True, True] Translation: X:925.66, Y:161.69, Z:7.09 [[-3.16305151e-01 -9.48641935e-01 5.43426407e-03 9.25656675e+02] [ 9.48520037e-01 -3.16351643e-01 -1.52110974e-02 1.61694420e+02] [ 1.61490233e-02 3.43159882e-04 9.99869537e-01 7.09428373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4592541539998 meters 0.017120830473768084 Centerline is valid? [True, True] Translation: X:925.65, Y:161.72, Z:7.09 [[-3.16023386e-01 -9.48734432e-01 5.67428800e-03 9.25647917e+02] [ 9.48601784e-01 -3.16074109e-01 -1.58686166e-02 1.61721342e+02] [ 1.68485985e-02 3.67785780e-04 9.99857985e-01 7.09378339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4892541539998 meters 0.01677714945624207 Centerline is valid? [True, True] Translation: X:925.64, Y:161.75, Z:7.09 [[-3.14054751e-01 -9.49387761e-01 5.70016141e-03 9.25640360e+02] [ 9.49254247e-01 -3.14106210e-01 -1.59268392e-02 1.61748338e+02] [ 1.69112023e-02 4.09002906e-04 9.99856912e-01 7.09485997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.5192541539998 meters 0.019640594695441025 Centerline is valid? [True, True] Translation: X:925.63, Y:161.77, Z:7.09 [[-3.14519421e-01 -9.49231933e-01 6.02257523e-03 9.25631502e+02] [ 9.49083133e-01 -3.14576786e-01 -1.68122906e-02 1.61774518e+02] [ 1.78533254e-02 4.28132672e-04 9.99840525e-01 7.09272592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.5492541539998 meters 0.018503724380693014 Centerline is valid? [True, True] Translation: X:925.62, Y:161.80, Z:7.09 [[-3.13874836e-01 -9.49445168e-01 6.03817052e-03 9.25622004e+02] [ 9.49295910e-01 -3.13932594e-01 -1.68404627e-02 1.61800688e+02] [ 1.78846745e-02 4.46213103e-04 9.99839957e-01 7.09314165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.579254154 meters 0.019548937761769202 Centerline is valid? [True, True] Translation: X:925.61, Y:161.83, Z:7.09 [[-3.14119280e-01 -9.49361923e-01 6.40450153e-03 9.25612044e+02] [ 9.49194311e-01 -3.14184206e-01 -1.78450305e-02 1.61826126e+02] [ 1.89535857e-02 4.73648290e-04 9.99820252e-01 7.09125481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.609254154 meters 0.01926836985995218 Centerline is valid? [True, True] Translation: X:925.60, Y:161.85, Z:7.09 [[-3.14473657e-01 -9.49242809e-01 6.66388790e-03 9.25603246e+02] [ 9.49061659e-01 -3.14543873e-01 -1.85504828e-02 1.61852997e+02] [ 1.97049975e-02 4.90802339e-04 9.99805717e-01 7.09121779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.639254154 meters 0.018287015102003888 Centerline is valid? [True, True] Translation: X:925.59, Y:161.88, Z:7.09 [[-3.15174415e-01 -9.49008545e-01 6.91874810e-03 9.25593482e+02] [ 9.48813575e-01 -3.15249951e-01 -1.92423432e-02 1.61879844e+02] [ 2.04422831e-02 4.99907860e-04 9.99790910e-01 7.09152967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6692541539999 meters 0.018803032994037808 Centerline is valid? [True, True] Translation: X:925.58, Y:161.91, Z:7.09 [[-3.15989642e-01 -9.48734771e-01 7.27190594e-03 9.25583545e+02] [ 9.48519713e-01 -3.16072890e-01 -2.02059804e-02 1.61906364e+02] [ 2.14685685e-02 5.12665611e-04 9.99769392e-01 7.09087704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6992541539998 meters 0.01670009041179041 Centerline is valid? [True, True] Translation: X:925.57, Y:161.93, Z:7.09 [[-3.16663607e-01 -9.48510194e-01 7.25067470e-03 9.25574489e+02] [ 9.48296723e-01 -3.16746208e-01 -2.01287144e-02 1.61932663e+02] [ 2.13889145e-02 5.01759743e-04 9.99771105e-01 7.09241997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7292541539998 meters 0.01663230526748608 Centerline is valid? [True, True] Translation: X:925.56, Y:161.96, Z:7.09 [[-3.19500564e-01 -9.47558255e-01 7.26243333e-03 9.25564941e+02] [ 9.47344228e-01 -3.19582784e-01 -2.01434438e-02 1.61958234e+02] [ 2.14080351e-02 4.44182639e-04 9.99770723e-01 7.09250700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7592541539998 meters 0.01640740125643866 Centerline is valid? [True, True] Translation: X:925.56, Y:161.98, Z:7.09 [[-3.21015297e-01 -9.47046690e-01 7.19349356e-03 9.25556240e+02] [ 9.46836980e-01 -3.21095620e-01 -1.99332866e-02 1.61984125e+02] [ 2.11875524e-02 4.12175803e-04 9.99775434e-01 7.09334042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7892541539998 meters 0.01632055852759068 Centerline is valid? [True, True] Translation: X:925.55, Y:162.01, Z:7.09 [[-3.22926177e-01 -9.46398139e-01 7.01762970e-03 9.25548681e+02] [ 9.46198776e-01 -3.23002212e-01 -1.94280206e-02 1.62011093e+02] [ 2.06533524e-02 3.66256209e-04 9.99786630e-01 7.09402969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.819254154 meters 0.01701379705916842 Centerline is valid? [True, True] Translation: X:925.54, Y:162.04, Z:7.09 [[-3.26618063e-01 -9.45132157e-01 6.77101405e-03 9.25540520e+02] [ 9.44946609e-01 -3.26688118e-01 -1.87291264e-02 1.62036701e+02] [ 1.99135094e-02 2.80975801e-04 9.99801667e-01 7.09293224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.849254154 meters 0.01469448168802637 Centerline is valid? [True, True] Translation: X:925.53, Y:162.06, Z:7.10 [[-3.28349823e-01 -9.44533348e-01 6.56869176e-03 9.25533035e+02] [ 9.44358909e-01 -3.28415431e-01 -1.81536845e-02 1.62064311e+02] [ 1.93040202e-02 2.42443474e-04 9.99813631e-01 7.09550619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.879254154 meters 0.015232855522110051 Centerline is valid? [True, True] Translation: X:925.53, Y:162.09, Z:7.10 [[-3.33606630e-01 -9.42690778e-01 6.38065352e-03 9.25527232e+02] [ 9.42526134e-01 -3.33667616e-01 -1.76184455e-02 1.62091796e+02] [ 1.87377636e-02 1.36302456e-04 9.99824423e-01 7.09537608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9092541539999 meters 0.01625763609839903 Centerline is valid? [True, True] Translation: X:925.52, Y:162.12, Z:7.09 [[-3.36500455e-01 -9.41660671e-01 6.52882173e-03 9.25519480e+02] [ 9.41488405e-01 -3.36563774e-01 -1.80113642e-02 1.62118468e+02] [ 1.91579582e-02 8.59777298e-05 9.99816466e-01 7.09493364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9392541539999 meters 0.01682666645078183 Centerline is valid? [True, True] Translation: X:925.51, Y:162.14, Z:7.09 [[-3.39200413e-01 -9.40692557e-01 6.37121924e-03 9.25511778e+02] [ 9.40528634e-01 -3.39260242e-01 -1.75606642e-02 1.62144434e+02] [ 1.86806875e-02 3.57295861e-05 9.99825500e-01 7.09484754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9692541539998 meters 0.01360270115812049 Centerline is valid? [True, True] Translation: X:925.50, Y:162.17, Z:7.10 [[-3.42059626e-01 -9.39658924e-01 6.02656068e-03 9.25504052e+02] [ 9.39512356e-01 -3.42112711e-01 -1.65959985e-02 1.62171524e+02] [ 1.76563411e-02 -1.47927987e-05 9.99844115e-01 7.09908020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9992541539998 meters 0.017018548906510108 Centerline is valid? [True, True] Translation: X:925.49, Y:162.20, Z:7.10 [[-3.43877930e-01 -9.38994055e-01 6.17522931e-03 9.25494800e+02] [ 9.38840334e-01 -3.43933369e-01 -1.69901348e-02 1.62198496e+02] [ 1.80775030e-02 -4.49780329e-05 9.99836588e-01 7.09735704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.0292541539998 meters 0.01647040139313425 Centerline is valid? [True, True] Translation: X:925.49, Y:162.22, Z:7.10 [[-3.44504197e-01 -9.38765702e-01 5.98455342e-03 9.25485320e+02] [ 9.38621555e-01 -3.44556169e-01 -1.64506061e-02 1.62223705e+02] [ 1.75052796e-02 -5.00720057e-05 9.99846770e-01 7.09797076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.0592541539997 meters 0.014420591934001505 Centerline is valid? [True, True] Translation: X:925.47, Y:162.25, Z:7.10 [[-3.44198277e-01 -9.38877565e-01 6.03850480e-03 9.25473779e+02] [ 9.38731091e-01 -3.44251240e-01 -1.65837924e-02 1.62249608e+02] [ 1.76489134e-02 -3.95805658e-05 9.99844245e-01 7.09949982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.089254154 meters 0.01689826015027395 Centerline is valid? [True, True] Translation: X:925.46, Y:162.27, Z:7.10 [[-3.44433842e-01 -9.38787552e-01 6.57725810e-03 9.25463823e+02] [ 9.38614086e-01 -3.44496633e-01 -1.80462438e-02 1.62274765e+02] [ 1.92074323e-02 -4.22299839e-05 9.99815519e-01 7.09708272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.119254154 meters 0.01583071231347782 Centerline is valid? [True, True] Translation: X:925.45, Y:162.30, Z:7.10 [[-3.43585392e-01 -9.39096238e-01 6.87994635e-03 9.25452815e+02] [ 9.38906871e-01 -3.43654267e-01 -1.88582257e-02 1.62299647e+02] [ 2.00740117e-02 -1.97819623e-05 9.99798497e-01 7.09692688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.149254154 meters 0.015968921905441955 Centerline is valid? [True, True] Translation: X:925.44, Y:162.32, Z:7.10 [[-3.43233034e-01 -9.39224050e-01 7.01921589e-03 9.25442756e+02] [ 9.39027294e-01 -3.43304799e-01 -1.92238261e-02 1.62324250e+02] [ 2.04652103e-02 -7.01683956e-06 9.99790566e-01 7.09501600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.1792541539999 meters 0.016276814048567227 Centerline is valid? [True, True] Translation: X:925.43, Y:162.35, Z:7.10 [[-3.43022469e-01 -9.39300875e-01 7.03225970e-03 9.25432058e+02] [ 9.39103736e-01 -3.43094545e-01 -1.92433692e-02 1.62350731e+02] [ 2.04880435e-02 3.11333094e-06 9.99790098e-01 7.09757346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2092541539998 meters 0.017579061811315126 Centerline is valid? [True, True] Translation: X:925.42, Y:162.38, Z:7.10 [[-3.42487514e-01 -9.39496445e-01 6.98084199e-03 9.25420620e+02] [ 9.39302563e-01 -3.42558650e-01 -1.90857805e-02 1.62376200e+02] [ 2.03223708e-02 2.04812391e-05 9.99793479e-01 7.09868364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2392541539998 meters 0.01389572257878656 Centerline is valid? [True, True] Translation: X:925.41, Y:162.40, Z:7.10 [[-3.41923344e-01 -9.39706006e-01 6.40699686e-03 9.25409817e+02] [ 9.39543014e-01 -3.41983364e-01 -1.75015221e-02 1.62400690e+02] [ 1.86373717e-02 3.54701997e-05 9.99826308e-01 7.10130172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2692541539998 meters 0.013897433431760194 Centerline is valid? [True, True] Translation: X:925.40, Y:162.43, Z:7.10 [[-3.42114540e-01 -9.39636053e-01 6.45987948e-03 9.25399504e+02] [ 9.39470664e-01 -3.42175520e-01 -1.76290684e-02 1.62426316e+02] [ 1.87753209e-02 3.77066363e-05 9.99823727e-01 7.10241598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2992541539998 meters 0.01678940806021631 Centerline is valid? [True, True] Translation: X:925.39, Y:162.45, Z:7.10 [[-3.43402056e-01 -9.39163818e-01 6.80810557e-03 9.25389113e+02] [ 9.38980365e-01 -3.43469536e-01 -1.85621248e-02 1.62452207e+02] [ 1.97712529e-02 1.84056060e-05 9.99804530e-01 7.10102889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.329254154 meters 0.015489824438544285 Centerline is valid? [True, True] Translation: X:925.38, Y:162.48, Z:7.10 [[-3.43794361e-01 -9.39021076e-01 6.69745673e-03 9.25379091e+02] [ 9.38843825e-01 -3.43859591e-01 -1.82442873e-02 1.62478178e+02] [ 1.94347550e-02 1.55827992e-05 9.99811127e-01 7.10272995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.359254154 meters 0.016465578573301533 Centerline is valid? [True, True] Translation: X:925.37, Y:162.50, Z:7.10 [[-3.44752974e-01 -9.38668964e-01 6.77950995e-03 9.25369038e+02] [ 9.38487614e-01 -3.44819627e-01 -1.84505433e-02 1.62503859e+02] [ 1.96566605e-02 1.60644319e-06 9.99806789e-01 7.10147659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.389254154 meters 0.016465578573301533 Centerline is valid? [True, True] Translation: X:925.36, Y:162.53, Z:7.10 [[-3.45048305e-01 -9.38560402e-01 6.78526631e-03 9.25359695e+02] [ 9.38379072e-01 -3.45115013e-01 -1.84484268e-02 1.62528947e+02] [ 1.96566601e-02 1.55351708e-06 9.99806789e-01 7.10166123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4192541539999 meters 0.016025836441134582 Centerline is valid? [True, True] Translation: X:925.35, Y:162.56, Z:7.10 [[-3.45350357e-01 -9.38450248e-01 6.65303596e-03 9.25349516e+02] [ 9.38276214e-01 -3.45414435e-01 -1.80724633e-02 1.62555062e+02] [ 1.92581623e-02 1.05374139e-06 9.99814544e-01 7.10304294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4492541539998 meters 0.017430114878621165 Centerline is valid? [True, True] Translation: X:925.34, Y:162.58, Z:7.10 [[-3.45627990e-01 -9.38347263e-01 6.76072882e-03 9.25339575e+02] [ 9.38167793e-01 -3.45694106e-01 -1.83514993e-02 1.62579779e+02] [ 1.95572232e-02 -9.37677686e-08 9.99808739e-01 7.10231362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4792541539998 meters 0.01602051232096546 Centerline is valid? [True, True] Translation: X:925.33, Y:162.61, Z:7.10 [[-3.45738460e-01 -9.38307024e-01 6.69675743e-03 9.25329222e+02] [ 9.38131205e-01 -3.45803310e-01 -1.81635230e-02 1.62605439e+02] [ 1.93587221e-02 2.60861825e-06 9.99812602e-01 7.10337251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.5092541539998 meters 0.013942075777444368 Centerline is valid? [True, True] Translation: X:925.32, Y:162.63, Z:7.11 [[-3.45150225e-01 -9.38526435e-01 6.28115804e-03 9.25317614e+02] [ 9.38372064e-01 -3.45207373e-01 -1.70217299e-02 1.62630718e+02] [ 1.81436456e-02 1.90093181e-05 9.99835390e-01 7.10510966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.5392541539998 meters 0.01601349779911441 Centerline is valid? [True, True] Translation: X:925.31, Y:162.66, Z:7.10 [[-3.45189361e-01 -9.38508658e-01 6.76781849e-03 9.25307170e+02] [ 9.38329756e-01 -3.45255699e-01 -1.83240482e-02 1.62657014e+02] [ 1.95339058e-02 2.51789963e-05 9.99809195e-01 7.10425819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.569254154 meters 0.01395481374776437 Centerline is valid? [True, True] Translation: X:925.30, Y:162.68, Z:7.11 [[-3.43668172e-01 -9.39067286e-01 6.69475448e-03 9.25295223e+02] [ 9.38892639e-01 -3.43733368e-01 -1.81103273e-02 1.62682652e+02] [ 1.93080264e-02 6.17126318e-05 9.99813581e-01 7.10511039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.599254154 meters 0.016845846634490274 Centerline is valid? [True, True] Translation: X:925.28, Y:162.71, Z:7.10 [[-3.43206738e-01 -9.39228483e-01 7.68057818e-03 9.25284702e+02] [ 9.38999088e-01 -3.43292657e-01 -2.07572600e-02 1.62708083e+02] [ 2.21324959e-02 8.80244156e-05 9.99755042e-01 7.10259726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.629254154 meters 0.014102373982356899 Centerline is valid? [True, True] Translation: X:925.27, Y:162.73, Z:7.10 [[-3.41846719e-01 -9.39726029e-01 7.47066760e-03 9.25273839e+02] [ 9.39509510e-01 -3.41928318e-01 -2.01719064e-02 1.62733949e+02] [ 2.15104983e-02 1.23063234e-04 9.99768615e-01 7.10456043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6592541539999 meters 0.015383659305330399 Centerline is valid? [True, True] Translation: X:925.26, Y:162.76, Z:7.10 [[-3.39600285e-01 -9.40534530e-01 8.15127949e-03 9.25261540e+02] [ 9.40277477e-01 -3.39698040e-01 -2.19888277e-02 1.62758199e+02] [ 2.34502254e-02 1.97052341e-04 9.99724986e-01 7.10274076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6892541539999 meters 0.015536407162227095 Centerline is valid? [True, True] Translation: X:925.25, Y:162.78, Z:7.10 [[-3.38615596e-01 -9.40889932e-01 8.10019602e-03 9.25250421e+02] [ 9.40636681e-01 -3.38712390e-01 -2.18300452e-02 1.62783190e+02] [ 2.32833065e-02 2.27347741e-04 9.99728881e-01 7.10262360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7192541539998 meters 0.014828636777753965 Centerline is valid? [True, True] Translation: X:925.24, Y:162.81, Z:7.10 [[-3.37705403e-01 -9.41218097e-01 7.97210901e-03 9.25239480e+02] [ 9.40973360e-01 -3.37799393e-01 -2.14640444e-02 1.62808412e+02] [ 2.28953206e-02 2.53018427e-04 9.99737836e-01 7.10324867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7492541539998 meters 0.014928269974790014 Centerline is valid? [True, True] Translation: X:925.23, Y:162.83, Z:7.11 [[-3.36117406e-01 -9.41789353e-01 7.60944340e-03 9.25228361e+02] [ 9.41566925e-01 -3.36203411e-01 -2.04693245e-02 1.62834507e+02] [ 2.18361127e-02 2.84703958e-04 9.99761523e-01 7.10503198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7792541539998 meters 0.01699282955593261 Centerline is valid? [True, True] Translation: X:925.22, Y:162.86, Z:7.11 [[-3.36070587e-01 -9.41802580e-01 8.02873978e-03 9.25218783e+02] [ 9.41555399e-01 -3.36166336e-01 -2.15783295e-02 1.62860916e+02] [ 2.30215184e-02 3.07661439e-04 9.99734922e-01 7.10536296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.8092541539997 meters 0.01516138869168161 Centerline is valid? [True, True] Translation: X:925.21, Y:162.89, Z:7.11 [[-3.34460318e-01 -9.42381884e-01 7.25811535e-03 9.25207419e+02] [ 9.42180299e-01 -3.34538911e-01 -1.94936345e-02 1.62885402e+02] [ 2.07985700e-02 3.18606109e-04 9.99783636e-01 7.10693330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.839254154 meters 0.015243990426521596 Centerline is valid? [True, True] Translation: X:925.20, Y:162.91, Z:7.11 [[-3.34293295e-01 -9.42441280e-01 7.24060132e-03 9.25197004e+02] [ 9.42241005e-01 -3.34371540e-01 -1.94309679e-02 1.62911378e+02] [ 2.07335973e-02 3.26749161e-04 9.99784982e-01 7.10732712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.869254154 meters 0.015658173381131544 Centerline is valid? [True, True] Translation: X:925.19, Y:162.94, Z:7.11 [[-3.33849890e-01 -9.42598074e-01 7.28841087e-03 9.25186497e+02] [ 9.42395555e-01 -3.33929261e-01 -1.95414133e-02 1.62936080e+02] [ 2.08535122e-02 3.44667328e-04 9.99782482e-01 7.10688602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.899254154 meters 0.015534487489251732 Centerline is valid? [True, True] Translation: X:925.18, Y:162.96, Z:7.11 [[-3.33496723e-01 -9.42722203e-01 7.40160536e-03 9.25176312e+02] [ 9.42513751e-01 -3.33578650e-01 -1.98270690e-02 1.62962629e+02] [ 2.11604357e-02 3.63852281e-04 9.99776027e-01 7.10731091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9292541539999 meters 0.01682436473934502 Centerline is valid? [True, True] Translation: X:925.17, Y:162.99, Z:7.11 [[-3.32511369e-01 -9.43064681e-01 8.07441895e-03 9.25165291e+02] [ 9.42817172e-01 -3.32609116e-01 -2.16091529e-02 1.62987725e+02] [ 2.30644542e-02 4.27411825e-04 9.99733889e-01 7.10592562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9592541539998 meters 0.016531040454167235 Centerline is valid? [True, True] Translation: X:925.16, Y:163.01, Z:7.11 [[-3.32285106e-01 -9.43143150e-01 8.22237054e-03 9.25155872e+02] [ 9.42886977e-01 -3.32386520e-01 -2.19852046e-02 1.63014024e+02] [ 2.34682003e-02 4.47410052e-04 9.99724484e-01 7.10666705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9892541539998 meters 0.01664796420059463 Centerline is valid? [True, True] Translation: X:925.15, Y:163.04, Z:7.11 [[-3.32223003e-01 -9.43163894e-01 8.35140122e-03 9.25145844e+02] [ 9.42900116e-01 -3.32327633e-01 -2.23095650e-02 1.63039516e+02] [ 2.38169776e-02 4.62786488e-04 9.99716228e-01 7.10653770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.0192541539998 meters 0.01724897303072054 Centerline is valid? [True, True] Translation: X:925.14, Y:163.06, Z:7.11 [[-3.32912500e-01 -9.42919539e-01 8.48593804e-03 9.25136640e+02] [ 9.42647623e-01 -3.33020318e-01 -2.26478951e-02 1.63064694e+02] [ 2.41811326e-02 4.59481957e-04 9.99707488e-01 7.10610544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.0492541539998 meters 0.015486789374035371 Centerline is valid? [True, True] Translation: X:925.13, Y:163.09, Z:7.11 [[-3.34745024e-01 -9.42273103e-01 8.19567034e-03 9.25129253e+02] [ 9.42019728e-01 -3.34845092e-01 -2.18539836e-02 1.63092026e+02] [ 2.33367010e-02 4.04970877e-04 9.99727580e-01 7.10783206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.079254154 meters 0.01674812383084955 Centerline is valid? [True, True] Translation: X:925.12, Y:163.12, Z:7.11 [[-3.36776148e-01 -9.41545731e-01 8.57109127e-03 9.25121278e+02] [ 9.41268864e-01 -3.36884988e-01 -2.28348603e-02 1.63119267e+02] [ 2.43875372e-02 3.77465055e-04 9.99702509e-01 7.10766208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.109254154 meters 0.015698445646134308 Centerline is valid? [True, True] Translation: X:925.11, Y:163.15, Z:7.11 [[-3.38641085e-01 -9.40879208e-01 8.27842076e-03 9.25113357e+02] [ 9.40621156e-01 -3.38742102e-01 -2.20369835e-02 1.63146821e+02] [ 2.35383892e-02 3.24229706e-04 9.99722881e-01 7.10883929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.139254154 meters 0.01479139039809325 Centerline is valid? [True, True] Translation: X:925.11, Y:163.17, Z:7.11 [[-3.42716324e-01 -9.39405737e-01 7.89828860e-03 9.25106818e+02] [ 9.39170832e-01 -3.42807256e-01 -2.10079682e-02 1.63173157e+02] [ 2.24425964e-02 2.18068638e-04 9.99748109e-01 7.10825370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1692541539999 meters 0.015736179120575945 Centerline is valid? [True, True] Translation: X:925.10, Y:163.20, Z:7.11 [[-3.45454162e-01 -9.38400657e-01 8.10118726e-03 9.25100276e+02] [ 9.38153674e-01 -3.45549100e-01 -2.15291261e-02 1.63201189e+02] [ 2.30023041e-02 1.62832372e-04 9.99735399e-01 7.11008404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1992541539998 meters 0.013720836431979801 Centerline is valid? [True, True] Translation: X:925.09, Y:163.23, Z:7.11 [[-3.49666071e-01 -9.36841828e-01 7.81199327e-03 9.25094632e+02] [ 9.36612166e-01 -3.49753319e-01 -2.07428635e-02 1.63229090e+02] [ 2.21650527e-02 6.37323503e-05 9.99754323e-01 7.11157993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2292541539998 meters 0.01384588746146571 Centerline is valid? [True, True] Translation: X:925.09, Y:163.25, Z:7.11 [[-3.51749095e-01 -9.36061935e-01 7.78637204e-03 9.25087031e+02] [ 9.35833943e-01 -3.51835264e-01 -2.06586282e-02 1.63254780e+02] [ 2.20772758e-02 2.00974589e-05 9.99756267e-01 7.11103494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2592541539998 meters 0.01654215836532942 Centerline is valid? [True, True] Translation: X:925.08, Y:163.28, Z:7.11 [[-3.53609303e-01 -9.35353543e-01 8.61458315e-03 9.25079038e+02] [ 9.35074719e-01 -3.53714220e-01 -2.28368169e-02 1.63281574e+02] [ 2.44075982e-02 -2.00320049e-05 9.99702090e-01 7.11051909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2892541539998 meters 0.015767283737840497 Centerline is valid? [True, True] Translation: X:925.07, Y:163.31, Z:7.11 [[-3.55628910e-01 -9.34585286e-01 8.85559072e-03 9.25072099e+02] [ 9.34290946e-01 -3.55739144e-01 -2.34540101e-02 1.63307648e+02] [ 2.50700530e-02 -6.72258277e-05 9.99685695e-01 7.11047968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.319254154 meters 0.014094159375786687 Centerline is valid? [True, True] Translation: X:925.06, Y:163.33, Z:7.11 [[-3.56358236e-01 -9.34309222e-01 8.66514548e-03 9.25062514e+02] [ 9.34027821e-01 -3.56463562e-01 -2.29294101e-02 1.63334237e+02] [ 2.45119679e-02 -7.75971689e-05 9.99699534e-01 7.11151731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.349254154 meters 0.01692398165580305 Centerline is valid? [True, True] Translation: X:925.05, Y:163.36, Z:7.11 [[-3.56882800e-01 -9.34099719e-01 9.61151077e-03 9.25053514e+02] [ 9.33754044e-01 -3.57012192e-01 -2.54102256e-02 1.63359638e+02] [ 2.71671112e-02 -9.36854310e-05 9.99630902e-01 7.11060249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.379254154 meters 0.014144976259813782 Centerline is valid? [True, True] Translation: X:925.04, Y:163.39, Z:7.11 [[-3.56480636e-01 -9.34262002e-01 8.72172759e-03 9.25042997e+02] [ 9.33977775e-01 -3.56587307e-01 -2.30436311e-02 1.63386091e+02] [ 2.46388463e-02 -6.87085508e-05 9.99696415e-01 7.11168305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4092541539999 meters 0.014095956759650948 Centerline is valid? [True, True] Translation: X:925.03, Y:163.41, Z:7.11 [[-3.56057577e-01 -9.34422261e-01 8.83400832e-03 9.25032600e+02] [ 9.34131172e-01 -3.56167145e-01 -2.33220700e-02 1.63411956e+02] [ 2.49390449e-02 -5.18772029e-05 9.99688972e-01 7.11228158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4392541539999 meters 0.017259117056756593 Centerline is valid? [True, True] Translation: X:925.02, Y:163.44, Z:7.11 [[-3.54432756e-01 -9.35033274e-01 9.49724644e-03 9.25021949e+02] [ 9.34697666e-01 -3.54559975e-01 -2.50499073e-02 1.63437285e+02] [ 2.67898403e-02 -1.45361707e-06 9.99641088e-01 7.11150832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4692541539998 meters 0.01409784706889699 Centerline is valid? [True, True] Translation: X:925.01, Y:163.46, Z:7.11 [[-3.53121210e-01 -9.35536597e-01 8.75708567e-03 9.25011019e+02] [ 9.35251908e-01 -3.53229775e-01 -2.30780090e-02 1.63462750e+02] [ 2.46835854e-02 4.07465958e-05 9.99695313e-01 7.11223584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4992541539998 meters 0.014127301700859804 Centerline is valid? [True, True] Translation: X:925.00, Y:163.49, Z:7.11 [[-3.51932747e-01 -9.35984615e-01 8.72595931e-03 9.25000355e+02] [ 9.35702566e-01 -3.52040899e-01 -2.29763816e-02 1.63488589e+02] [ 2.45774343e-02 7.87614132e-05 9.99697926e-01 7.11243610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.5292541539998 meters 0.0180913157779102 Centerline is valid? [True, True] Translation: X:924.99, Y:163.51, Z:7.11 [[-3.49620399e-01 -9.36841383e-01 9.68506000e-03 9.24989046e+02] [ 9.36494727e-01 -3.49754483e-01 -2.54838654e-02 1.63512897e+02] [ 2.72617329e-02 1.60328415e-04 9.99628317e-01 7.11118023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.5592541539997 meters 0.014422392163344124 Centerline is valid? [True, True] Translation: X:924.98, Y:163.54, Z:7.11 [[-3.47828128e-01 -9.37518041e-01 8.68996453e-03 9.24978200e+02] [ 9.37239606e-01 -3.47936608e-01 -2.28481408e-02 1.63539320e+02] [ 2.44441010e-02 1.97352886e-04 9.99701179e-01 7.11332316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.589254154 meters 0.017069984033643557 Centerline is valid? [True, True] Translation: X:924.97, Y:163.56, Z:7.11 [[-3.47284569e-01 -9.37714966e-01 9.16902704e-03 9.24967860e+02] [ 9.37405614e-01 -3.47405512e-01 -2.40857794e-02 1.63563980e+02] [ 2.57709663e-02 2.30477916e-04 9.99667847e-01 7.11264372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.619254154 meters 0.016195567515097778 Centerline is valid? [True, True] Translation: X:924.96, Y:163.59, Z:7.11 [[-3.46366447e-01 -9.38058738e-01 8.72292780e-03 9.24957556e+02] [ 9.37779357e-01 -3.46476178e-01 -2.28939889e-02 1.63590174e+02] [ 2.44981930e-02 2.50472045e-04 9.99699843e-01 7.11369611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.649254154 meters 0.014984428662984358 Centerline is valid? [True, True] Translation: X:924.95, Y:163.62, Z:7.11 [[-3.44470894e-01 -9.38765868e-01 7.64510976e-03 9.24946869e+02] [ 9.38551803e-01 -3.44555616e-01 -2.00484435e-02 1.63615922e+02] [ 2.14549599e-02 2.69226311e-04 9.99769780e-01 7.11499652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.6792541539999 meters 0.017230672691346444 Centerline is valid? [True, True] Translation: X:924.94, Y:163.64, Z:7.12 [[-3.44357382e-01 -9.38803400e-01 8.13444987e-03 9.24936744e+02] [ 9.38561478e-01 -3.44453318e-01 -2.13134679e-02 1.63642077e+02] [ 2.28110944e-02 2.95231282e-04 9.99739750e-01 7.11549594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7092541539998 meters 0.015436716886695937 Centerline is valid? [True, True] Translation: X:924.93, Y:163.67, Z:7.12 [[-3.42443241e-01 -9.39514429e-01 6.72789873e-03 9.24925979e+02] [ 9.39349296e-01 -3.42509205e-01 -1.76166144e-02 1.63666576e+02] [ 1.88554307e-02 2.87156399e-04 9.99822179e-01 7.11608429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7392541539998 meters 0.01797652782558967 Centerline is valid? [True, True] Translation: X:924.92, Y:163.69, Z:7.12 [[-3.42543493e-01 -9.39472147e-01 7.48594078e-03 9.24915502e+02] [ 9.39268023e-01 -3.42625131e-01 -1.95857464e-02 1.63692793e+02] [ 2.09651347e-02 3.22334799e-04 9.99780155e-01 7.11615698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7692541539998 meters 0.018690912674746676 Centerline is valid? [True, True] Translation: X:924.91, Y:163.72, Z:7.12 [[-3.42049652e-01 -9.39652478e-01 7.43344701e-03 9.24905243e+02] [ 9.39451593e-01 -3.42130249e-01 -1.94318452e-02 1.63718642e+02] [ 2.08023886e-02 3.36707743e-04 9.99783550e-01 7.11630577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7992541539998 meters 0.01647247196004701 Centerline is valid? [True, True] Translation: X:924.89, Y:163.74, Z:7.12 [[-3.40880470e-01 -9.40082564e-01 6.72893964e-03 9.24894373e+02] [ 9.39918343e-01 -3.40946715e-01 -1.75740040e-02 1.63742717e+02] [ 1.88152246e-02 3.34019062e-04 9.99822922e-01 7.11562407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.829254154 meters 0.018643148225447794 Centerline is valid? [True, True] Translation: X:924.88, Y:163.77, Z:7.12 [[-3.41288453e-01 -9.39929695e-01 7.37293555e-03 9.24884118e+02] [ 9.39732866e-01 -3.41367891e-01 -1.92380783e-02 1.63768857e+02] [ 2.05993245e-02 3.62855881e-04 9.99787746e-01 7.11506870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.859254154 meters 0.015972340051492707 Centerline is valid? [True, True] Translation: X:924.87, Y:163.80, Z:7.11 [[-3.40568014e-01 -9.40194903e-01 6.85363848e-03 9.24874431e+02] [ 9.40025164e-01 -3.40636781e-01 -1.78682241e-02 1.63795528e+02] [ 1.91342146e-02 3.57247041e-04 9.99816860e-01 7.11473564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.889254154 meters 0.015811595766980373 Centerline is valid? [True, True] Translation: X:924.86, Y:163.82, Z:7.11 [[-3.40750232e-01 -9.40127860e-01 6.99182736e-03 9.24864745e+02] [ 9.39951504e-01 -3.40821760e-01 -1.82125870e-02 1.63822020e+02] [ 1.95051273e-02 3.66035408e-04 9.99809690e-01 7.11488013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9192541539999 meters 0.016072899436032753 Centerline is valid? [True, True] Translation: X:924.85, Y:163.85, Z:7.11 [[-3.41493286e-01 -9.39859120e-01 6.86808499e-03 9.24854507e+02] [ 9.39689200e-01 -3.41562165e-01 -1.78743966e-02 1.63847347e+02] [ 1.91452927e-02 3.49878849e-04 9.99816651e-01 7.11400766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9492541539998 meters 0.018181645922838392 Centerline is valid? [True, True] Translation: X:924.84, Y:163.87, Z:7.11 [[-3.42517457e-01 -9.39482850e-01 7.33260285e-03 9.24844813e+02] [ 9.39289450e-01 -3.42595750e-01 -1.90651671e-02 1.63873210e+02] [ 2.04235161e-02 3.57283938e-04 9.99791354e-01 7.11359351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9792541539998 meters 0.01654603247982262 Centerline is valid? [True, True] Translation: X:924.83, Y:163.90, Z:7.11 [[-3.42587364e-01 -9.39460958e-01 6.85613766e-03 9.24834466e+02] [ 9.39292197e-01 -3.42655795e-01 -1.78094110e-02 1.63896882e+02] [ 1.90805416e-02 3.38637437e-04 9.99817893e-01 7.11270956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.0092541539998 meters 0.016450939023430453 Centerline is valid? [True, True] Translation: X:924.83, Y:163.92, Z:7.11 [[-3.43201295e-01 -9.39234279e-01 7.20002842e-03 9.24826452e+02] [ 9.39048456e-01 -3.43276635e-01 -1.86855436e-02 1.63924148e+02] [ 2.00217046e-02 3.48272818e-04 9.99799485e-01 7.11362850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.0392541539998 meters 0.016179035214645483 Centerline is valid? [True, True] Translation: X:924.82, Y:163.95, Z:7.11 [[-3.44111511e-01 -9.38898044e-01 7.59805931e-03 9.24817300e+02] [ 9.38691387e-01 -3.44195203e-01 -1.97013047e-02 1.63951070e+02] [ 2.11127320e-02 3.52787120e-04 9.99777039e-01 7.11312025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.069254154 meters 0.015687341887766302 Centerline is valid? [True, True] Translation: X:924.81, Y:163.98, Z:7.11 [[-3.44347445e-01 -9.38811829e-01 7.56224410e-03 9.24807544e+02] [ 9.38607461e-01 -3.44430293e-01 -1.95910196e-02 1.63976758e+02] [ 2.09969469e-02 3.51861180e-04 9.99779478e-01 7.11271003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.099254154 meters 0.01742170817889708 Centerline is valid? [True, True] Translation: X:924.80, Y:164.00, Z:7.11 [[-3.46125285e-01 -9.38153738e-01 8.05301776e-03 9.24799203e+02] [ 9.37922216e-01 -3.46218788e-01 -2.08438781e-02 1.64004092e+02] [ 2.23428682e-02 3.38511029e-04 9.99750310e-01 7.11315061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.129254154 meters 0.01764071414449126 Centerline is valid? [True, True] Translation: X:924.79, Y:164.03, Z:7.11 [[-3.46827675e-01 -9.37893942e-01 8.09424068e-03 9.24789837e+02] [ 9.37660374e-01 -3.46921957e-01 -2.09327336e-02 1.64030535e+02] [ 2.24407539e-02 3.29597406e-04 9.99748120e-01 7.11340943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1592541539999 meters 0.01813739764610837 Centerline is valid? [True, True] Translation: X:924.78, Y:164.06, Z:7.11 [[-3.47659998e-01 -9.37585782e-01 8.08873353e-03 9.24780436e+02] [ 9.37352893e-01 -3.47753939e-01 -2.08986095e-02 1.64055002e+02] [ 2.24071280e-02 3.16387243e-04 9.99748879e-01 7.11337735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1892541539999 meters 0.01584706924751751 Centerline is valid? [True, True] Translation: X:924.77, Y:164.08, Z:7.11 [[-3.48887065e-01 -9.37139378e-01 6.89944092e-03 9.24770338e+02] [ 9.36970133e-01 -3.48955188e-01 -1.78114164e-02 1.64080122e+02] [ 1.90993754e-02 2.50397306e-04 9.99817559e-01 7.11355830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2192541539998 meters 0.014847374413252451 Centerline is valid? [True, True] Translation: X:924.76, Y:164.11, Z:7.12 [[-3.49792091e-01 -9.36803046e-01 6.74874327e-03 9.24763002e+02] [ 9.36641338e-01 -3.49857111e-01 -1.74070563e-02 1.64106536e+02] [ 1.86680792e-02 2.32301307e-04 9.99825709e-01 7.11607760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2492541539998 meters 0.014522116368725699 Centerline is valid? [True, True] Translation: X:924.75, Y:164.13, Z:7.12 [[-3.51680800e-01 -9.36096310e-01 6.65684919e-03 9.24754624e+02] [ 9.35939125e-01 -3.51743742e-01 -1.71550291e-02 1.64132996e+02] [ 1.84002645e-02 1.97311234e-04 9.99830681e-01 7.11681635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2792541539998 meters 0.016186836044517587 Centerline is valid? [True, True] Translation: X:924.75, Y:164.16, Z:7.12 [[-3.53068854e-01 -9.35572004e-01 6.88538755e-03 9.24745764e+02] [ 9.35404031e-01 -3.53135939e-01 -1.77287098e-02 1.64159186e+02] [ 1.90179624e-02 1.81163990e-04 9.99819126e-01 7.11740056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.3092541539997 meters 0.016186836044517587 Centerline is valid? [True, True] Translation: X:924.74, Y:164.18, Z:7.12 [[-3.53339006e-01 -9.35469971e-01 6.89050973e-03 9.24735700e+02] [ 9.35302017e-01 -3.53406140e-01 -1.77267194e-02 1.64184885e+02] [ 1.90179621e-02 1.81166243e-04 9.99819126e-01 7.11759097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.339254154 meters 0.017210127472462068 Centerline is valid? [True, True] Translation: X:924.72, Y:164.21, Z:7.11 [[-3.54231425e-01 -9.35131954e-01 6.95170745e-03 9.24724057e+02] [ 9.34961181e-01 -3.54299591e-01 -1.78714632e-02 1.64209602e+02] [ 1.91751634e-02 1.68942740e-04 9.99816125e-01 7.11448382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.369254154 meters 0.01493285209521199 Centerline is valid? [True, True] Translation: X:924.72, Y:164.24, Z:7.12 [[-3.55622747e-01 -9.34603638e-01 6.96423459e-03 9.24716690e+02] [ 9.34432431e-01 -3.55690902e-01 -1.78889268e-02 1.64236406e+02] [ 1.91961710e-02 1.45897355e-04 9.99815726e-01 7.11759442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.399254154 meters 0.014161781949891336 Centerline is valid? [True, True] Translation: X:924.71, Y:164.26, Z:7.12 [[-3.56574482e-01 -9.34240435e-01 7.03187926e-03 9.24707024e+02] [ 9.34066144e-01 -3.56643787e-01 -1.80457019e-02 1.64261498e+02] [ 1.93669005e-02 1.33603527e-04 9.99812435e-01 7.11804112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4292541539999 meters 0.014165294137643288 Centerline is valid? [True, True] Translation: X:924.70, Y:164.29, Z:7.12 [[-3.57125075e-01 -9.34030060e-01 7.03761402e-03 9.24696683e+02] [ 9.33855749e-01 -3.57194388e-01 -1.80446324e-02 1.64287764e+02] [ 1.93680253e-02 1.27925630e-04 9.99812414e-01 7.11820062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4592541539998 meters 0.014780764306385379 Centerline is valid? [True, True] Translation: X:924.69, Y:164.31, Z:7.12 [[-3.57674243e-01 -9.33817381e-01 7.36437903e-03 9.24686769e+02] [ 9.33626811e-01 -3.57750027e-01 -1.88651830e-02 1.64313008e+02] [ 2.02512426e-02 1.27991662e-04 9.99794914e-01 7.11829043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4892541539998 meters 0.016760073829180853 Centerline is valid? [True, True] Translation: X:924.68, Y:164.34, Z:7.12 [[-3.59029796e-01 -9.33291167e-01 8.07489503e-03 9.24677431e+02] [ 9.33062336e-01 -3.59120572e-01 -2.06662190e-02 1.64338218e+02] [ 2.21874606e-02 1.14592018e-04 9.99753821e-01 7.11843327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.5192541539998 meters 0.014199153733109808 Centerline is valid? [True, True] Translation: X:924.67, Y:164.36, Z:7.12 [[-3.59304292e-01 -9.33191268e-01 7.38119824e-03 9.24667234e+02] [ 9.33000386e-01 -3.59380085e-01 -1.88741864e-02 1.64363930e+02] [ 2.02658816e-02 1.05084597e-04 9.99794620e-01 7.11875298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.5492541539998 meters 0.01452914911126851 Centerline is valid? [True, True] Translation: X:924.66, Y:164.39, Z:7.12 [[-3.60231148e-01 -9.32832160e-01 7.59488551e-03 9.24657760e+02] [ 9.32630373e-01 -3.60311190e-01 -1.94019057e-02 1.64388789e+02] [ 2.08352439e-02 9.40501284e-05 9.99782918e-01 7.11901419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.579254154 meters 0.014158470291616706 Centerline is valid? [True, True] Translation: X:924.65, Y:164.41, Z:7.12 [[-3.61778698e-01 -9.32231902e-01 7.73662771e-03 9.24647730e+02] [ 9.32022765e-01 -3.61861406e-01 -1.97455735e-02 1.64413891e+02] [ 2.12070405e-02 6.71852924e-05 9.99775103e-01 7.11873624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.609254154 meters 0.01573046916221451 Centerline is valid? [True, True] Translation: X:924.64, Y:164.44, Z:7.12 [[-3.62441261e-01 -9.31971488e-01 8.09182427e-03 9.24637787e+02] [ 9.31743059e-01 -3.62531574e-01 -2.06332385e-02 1.64438817e+02] [ 2.21631318e-02 6.11640888e-05 9.99754366e-01 7.11852418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.639254154 meters 0.014634152035309765 Centerline is valid? [True, True] Translation: X:924.63, Y:164.46, Z:7.12 [[-3.62989213e-01 -9.31759418e-01 7.95098371e-03 9.24627408e+02] [ 9.31539214e-01 -3.63076279e-01 -2.02560636e-02 1.64463975e+02] [ 2.17605916e-02 5.39205069e-05 9.99763209e-01 7.11808845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6692541539999 meters 0.017376689064298286 Centerline is valid? [True, True] Translation: X:924.62, Y:164.49, Z:7.12 [[-3.64325026e-01 -9.31228043e-01 9.03371124e-03 9.24617716e+02] [ 9.30944117e-01 -3.64437006e-01 -2.29938909e-02 1.64489947e+02] [ 2.47047747e-02 3.26304430e-05 9.99694790e-01 7.11994970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6992541539998 meters 0.015939894455046098 Centerline is valid? [True, True] Translation: X:924.61, Y:164.52, Z:7.12 [[-3.65081188e-01 -9.30934067e-01 8.80277788e-03 9.24607662e+02] [ 9.30664855e-01 -3.65187298e-01 -2.23867218e-02 1.64515179e+02] [ 2.40552246e-02 1.94649990e-05 9.99710631e-01 7.11993742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7292541539998 meters 0.016400149086137995 Centerline is valid? [True, True] Translation: X:924.60, Y:164.54, Z:7.12 [[-3.66153197e-01 -9.30511404e-01 8.96453244e-03 9.24597498e+02] [ 9.30232555e-01 -3.66262920e-01 -2.27786602e-02 1.64541471e+02] [ 2.44791789e-02 -1.37935102e-06 9.99700340e-01 7.12055488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7592541539998 meters 0.01737703675573356 Centerline is valid? [True, True] Translation: X:924.59, Y:164.57, Z:7.12 [[-3.68386324e-01 -9.29629887e-01 8.93251972e-03 9.24587734e+02] [ 9.29353227e-01 -3.68494601e-01 -2.26783549e-02 1.64568063e+02] [ 2.43740618e-02 -5.29297801e-05 9.99702907e-01 7.12202051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7892541539998 meters 0.016457809355991424 Centerline is valid? [True, True] Translation: X:924.58, Y:164.59, Z:7.12 [[-3.70131208e-01 -9.28938223e-01 8.75597656e-03 9.24577697e+02] [ 9.28672646e-01 -3.70234750e-01 -2.22113899e-02 1.64594384e+02] [ 2.38747759e-02 -8.96926541e-05 9.99714953e-01 7.12349508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.819254154 meters 0.016386419165102674 Centerline is valid? [True, True] Translation: X:924.57, Y:164.62, Z:7.13 [[-3.73262837e-01 -9.27688139e-01 8.34097625e-03 9.24568370e+02] [ 9.27447231e-01 -3.73355988e-01 -2.11409600e-02 1.64620786e+02] [ 2.27263712e-02 -1.55319374e-04 9.99741711e-01 7.12500314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.849254154 meters 0.01546281412001818 Centerline is valid? [True, True] Translation: X:924.56, Y:164.65, Z:7.12 [[-3.74901734e-01 -9.27029834e-01 8.02354897e-03 9.24559126e+02] [ 9.26807150e-01 -3.74987539e-01 -2.03187820e-02 1.64646636e+02] [ 2.18448480e-02 -1.81264049e-04 9.99761356e-01 7.12443156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.879254154 meters 0.01778084904657849 Centerline is valid? [True, True] Translation: X:924.55, Y:164.67, Z:7.13 [[-3.77019358e-01 -9.26165842e-01 8.55781746e-03 9.24548631e+02] [ 9.25912712e-01 -3.77116394e-01 -2.16535197e-02 1.64673160e+02] [ 2.32820435e-02 -2.40004105e-04 9.99728908e-01 7.12622328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9092541539999 meters 0.01525597316950703 Centerline is valid? [True, True] Translation: X:924.54, Y:164.70, Z:7.13 [[-3.80089578e-01 -9.24914827e-01 8.02965594e-03 9.24539471e+02] [ 9.24692075e-01 -3.80174273e-01 -2.02999594e-02 1.64699038e+02] [ 2.18284021e-02 -2.90843796e-04 9.99761690e-01 7.12558451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9392541539999 meters 0.017239375017773294 Centerline is valid? [True, True] Translation: X:924.53, Y:164.72, Z:7.13 [[-3.81869111e-01 -9.24176922e-01 8.54395961e-03 9.24530293e+02] [ 9.23924887e-01 -3.81964522e-01 -2.15848710e-02 1.64724347e+02] [ 2.32117290e-02 -3.48618566e-04 9.99730511e-01 7.12570579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9692541539998 meters 0.016100516537418813 Centerline is valid? [True, True] Translation: X:924.52, Y:164.75, Z:7.13 [[-3.83852114e-01 -9.23357957e-01 8.22421457e-03 9.24519871e+02] [ 9.23124628e-01 -3.83940023e-01 -2.07600491e-02 1.64749366e+02] [ 2.23265617e-02 -3.76813734e-04 9.99750660e-01 7.12525041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9992541539998 meters 0.018321093626205525 Centerline is valid? [True, True] Translation: X:924.51, Y:164.78, Z:7.13 [[-3.84858111e-01 -9.22931386e-01 9.04938542e-03 9.24509472e+02] [ 9.22649251e-01 -3.84964243e-01 -2.28230587e-02 1.64775249e+02] [ 2.45478070e-02 -4.34230582e-04 9.99698563e-01 7.12556473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.0292541539998 meters 0.01687103270009454 Centerline is valid? [True, True] Translation: X:924.50, Y:164.80, Z:7.13 [[-3.85233309e-01 -9.22778677e-01 8.64932067e-03 9.24498582e+02] [ 9.22521348e-01 -3.85330169e-01 -2.17950320e-02 1.64800221e+02] [ 2.34448350e-02 -4.16989342e-04 9.99725045e-01 7.12500238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.0592541539997 meters 0.016153328522019797 Centerline is valid? [True, True] Translation: X:924.49, Y:164.83, Z:7.13 [[-3.84341814e-01 -9.23148184e-01 8.87696859e-03 9.24485974e+02] [ 9.22877723e-01 -3.84444109e-01 -2.23480481e-02 1.64825061e+02] [ 2.40432583e-02 -3.96932817e-04 9.99710840e-01 7.12567546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.089254154 meters 0.015675250868551333 Centerline is valid? [True, True] Translation: X:924.47, Y:164.85, Z:7.13 [[-3.83794080e-01 -9.23376480e-01 8.83064432e-03 9.24473451e+02] [ 9.23109351e-01 -3.83895476e-01 -2.22123856e-02 1.64850264e+02] [ 2.39004388e-02 -3.73331735e-04 9.99714274e-01 7.12671212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.119254154 meters 0.016388756293556683 Centerline is valid? [True, True] Translation: X:924.46, Y:164.87, Z:7.13 [[-3.81309628e-01 -9.24398128e-01 9.54298705e-03 9.24460472e+02] [ 9.24087021e-01 -3.81428885e-01 -2.39829826e-02 1.64873845e+02] [ 2.58097951e-02 -3.26391695e-04 9.99666818e-01 7.12681437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.149254154 meters 0.01503016578469695 Centerline is valid? [True, True] Translation: X:924.45, Y:164.90, Z:7.13 [[-3.79734640e-01 -9.25048877e-01 9.28322337e-03 9.24447595e+02] [ 9.24755161e-01 -3.79848001e-01 -2.33107069e-02 1.64899154e+02] [ 2.50897570e-02 -2.67174161e-04 9.99685167e-01 7.12651623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.1792541539999 meters 0.016361706423664576 Centerline is valid? [True, True] Translation: X:924.44, Y:164.92, Z:7.13 [[-3.78182976e-01 -9.25676290e-01 1.00520043e-02 9.24435546e+02] [ 9.25332725e-01 -3.78316468e-01 -2.52190155e-02 1.64923463e+02] [ 2.71474834e-02 -2.35953765e-04 9.99631411e-01 7.12663254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2092541539998 meters 0.016573551424440242 Centerline is valid? [True, True] Translation: X:924.42, Y:164.95, Z:7.13 [[-3.74239278e-01 -9.27275187e-01 1.02805510e-02 9.24419992e+02] [ 9.26917016e-01 -3.74380440e-01 -2.57707448e-02 1.64947370e+02] [ 2.77454094e-02 -1.15207224e-04 9.99615015e-01 7.12653580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2392541539998 meters 0.014508399472257868 Centerline is valid? [True, True] Translation: X:924.41, Y:164.97, Z:7.13 [[-3.71935875e-01 -9.28208279e-01 9.64855985e-03 9.24406694e+02] [ 9.27893613e-01 -3.72061002e-01 -2.41671992e-02 1.64972373e+02] [ 2.60220472e-02 -3.58113201e-05 9.99661369e-01 7.12705427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2692541539998 meters 0.016216018989444317 Centerline is valid? [True, True] Translation: X:924.39, Y:165.00, Z:7.13 [[-3.68308351e-01 -9.29651550e-01 9.84657098e-03 9.24392345e+02] [ 9.29324889e-01 -3.68439942e-01 -2.46426620e-02 1.64996683e+02] [ 2.65369590e-02 7.45652697e-05 9.99647830e-01 7.12833715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2992541539998 meters 0.014378127398179386 Centerline is valid? [True, True] Translation: X:924.38, Y:165.02, Z:7.13 [[-3.66666943e-01 -9.30307099e-01 9.16809284e-03 9.24380176e+02] [ 9.30024582e-01 -3.66781524e-01 -2.29257458e-02 1.65022047e+02] [ 2.46906711e-02 1.20438587e-04 9.99695132e-01 7.12899285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.329254154 meters 0.015340837423696465 Centerline is valid? [True, True] Translation: X:924.37, Y:165.05, Z:7.13 [[-3.63551998e-01 -9.31533704e-01 8.65463386e-03 9.24366237e+02] [ 9.31282712e-01 -3.63654944e-01 -2.16238654e-02 1.65046514e+02] [ 2.32906598e-02 1.98511434e-04 9.99728716e-01 7.13042594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.359254154 meters 0.01439118519976384 Centerline is valid? [True, True] Translation: X:924.35, Y:165.07, Z:7.13 [[-3.62059526e-01 -9.32118822e-01 8.20983586e-03 9.24353388e+02] [ 9.31893493e-01 -3.62152521e-01 -2.04955952e-02 1.65072140e+02] [ 2.20775428e-02 2.30067140e-04 9.99756235e-01 7.13022342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.389254154 meters 0.018491015340768833 Centerline is valid? [True, True] Translation: X:924.34, Y:165.10, Z:7.13 [[-3.60560199e-01 -9.32693299e-01 8.91923654e-03 9.24341763e+02] [ 9.32427887e-01 -3.60670381e-01 -2.22510985e-02 1.65096346e+02] [ 2.39703549e-02 2.93684390e-04 9.99712627e-01 7.13160132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4192541539999 meters 0.017487166455689002 Centerline is valid? [True, True] Translation: X:924.33, Y:165.12, Z:7.13 [[-3.56650209e-01 -9.34200140e-01 8.40990287e-03 9.24327222e+02] [ 9.33964936e-01 -3.56749149e-01 -2.09652913e-02 1.65120815e+02] [ 2.25860037e-02 3.77278898e-04 9.99744833e-01 7.13155906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4492541539998 meters 0.017241848790375207 Centerline is valid? [True, True] Translation: X:924.31, Y:165.15, Z:7.13 [[-3.54746682e-01 -9.34926384e-01 8.21265476e-03 9.24314267e+02] [ 9.34702631e-01 -3.54841486e-01 -2.04575631e-02 1.65146102e+02] [ 2.20405061e-02 4.19137390e-04 9.99756991e-01 7.13084386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4792541539998 meters 0.016551484633301142 Centerline is valid? [True, True] Translation: X:924.30, Y:165.17, Z:7.13 [[-3.52950308e-01 -9.35610565e-01 7.67794618e-03 9.24301739e+02] [ 9.35415419e-01 -3.53033541e-01 -1.91131659e-02 1.65170216e+02] [ 2.05930524e-02 4.36071461e-04 9.99787846e-01 7.12947252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.5092541539998 meters 0.01874744384383425 Centerline is valid? [True, True] Translation: X:924.29, Y:165.19, Z:7.13 [[-3.50572744e-01 -9.36498213e-01 8.35750519e-03 9.24288452e+02] [ 9.36267528e-01 -3.50671941e-01 -2.07919681e-02 1.65194156e+02] [ 2.24023836e-02 5.35763403e-04 9.99748892e-01 7.12869705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.5392541539998 meters 0.017967776712592604 Centerline is valid? [True, True] Translation: X:924.28, Y:165.22, Z:7.13 [[-3.49503352e-01 -9.36902007e-01 7.87634277e-03 9.24277602e+02] [ 9.36697555e-01 -3.49591681e-01 -1.95792298e-02 1.65218734e+02] [ 2.10973236e-02 5.34744569e-04 9.99777284e-01 7.12855271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.569254154 meters 0.018566095980480018 Centerline is valid? [True, True] Translation: X:924.27, Y:165.24, Z:7.13 [[-3.48982502e-01 -9.37091598e-01 8.39937991e-03 9.24267288e+02] [ 9.36859550e-01 -3.49083070e-01 -2.08612939e-02 1.65244635e+02] [ 2.24810246e-02 5.88812726e-04 9.99747096e-01 7.12854398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.599254154 meters 0.02028871724069884 Centerline is valid? [True, True] Translation: X:924.26, Y:165.27, Z:7.13 [[-3.49303231e-01 -9.36968012e-01 8.84294813e-03 9.24257145e+02] [ 9.36711213e-01 -3.49414600e-01 -2.19440204e-02 1.65269545e+02] [ 2.36507003e-02 6.18171450e-04 9.99720092e-01 7.12829822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.629254154 meters 0.019960405499699196 Centerline is valid? [True, True] Translation: X:924.25, Y:165.30, Z:7.13 [[-3.49878612e-01 -9.36752408e-01 8.93775982e-03 9.24247643e+02] [ 9.36490481e-01 -3.49992209e-01 -2.21592587e-02 1.65295408e+02] [ 2.38858852e-02 6.17076306e-04 9.99714501e-01 7.12874228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6592541539999 meters 0.019950129229490552 Centerline is valid? [True, True] Translation: X:924.24, Y:165.32, Z:7.13 [[-3.52136714e-01 -9.35903588e-01 9.17649546e-03 9.24239573e+02] [ 9.35627661e-01 -3.52255782e-01 -2.27319984e-02 1.65323093e+02] [ 2.45074325e-02 5.81011775e-04 9.99699479e-01 7.12953111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6892541539999 meters 0.016771845846591183 Centerline is valid? [True, True] Translation: X:924.23, Y:165.35, Z:7.13 [[-3.54609416e-01 -9.34979070e-01 8.14248645e-03 9.24230511e+02] [ 9.34761937e-01 -3.54702583e-01 -2.01543775e-02 1.65348886e+02] [ 2.17320821e-02 4.64354345e-04 9.99763723e-01 7.12857624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7192541539998 meters 0.018429751926276428 Centerline is valid? [True, True] Translation: X:924.22, Y:165.37, Z:7.13 [[-3.56736175e-01 -9.34164826e-01 8.68210041e-03 9.24222472e+02] [ 9.33918167e-01 -3.56841527e-01 -2.14704676e-02 1.65374661e+02] [ 2.31550897e-02 4.49078804e-04 9.99731784e-01 7.12963778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7492541539998 meters 0.018710244834752275 Centerline is valid? [True, True] Translation: X:924.21, Y:165.40, Z:7.13 [[-3.58881686e-01 -9.33343420e-01 8.60204392e-03 9.24213594e+02] [ 9.33101460e-01 -3.58984541e-01 -2.12547445e-02 1.65400454e+02] [ 2.29259768e-02 3.98641186e-04 9.99737086e-01 7.12964167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7792541539998 meters 0.017167200675854904 Centerline is valid? [True, True] Translation: X:924.21, Y:165.43, Z:7.13 [[-3.61187806e-01 -9.32455309e-01 8.39437335e-03 9.24205120e+02] [ 9.32225009e-01 -3.61285180e-01 -2.07256423e-02 1.65427882e+02] [ 2.23584978e-02 3.39595524e-04 9.99749960e-01 7.12988947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.8092541539997 meters 0.014578920145283123 Centerline is valid? [True, True] Translation: X:924.20, Y:165.46, Z:7.13 [[-3.65657021e-01 -9.30716456e-01 7.86266507e-03 9.24197839e+02] [ 9.30514310e-01 -3.65741478e-01 -1.93981898e-02 1.65455719e+02] [ 2.09299172e-02 2.23238090e-04 9.99780920e-01 7.12936126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.839254154 meters 0.01656895311409515 Centerline is valid? [True, True] Translation: X:924.19, Y:165.48, Z:7.13 [[-3.68677999e-01 -9.29519701e-01 8.34616080e-03 9.24190063e+02] [ 9.29291995e-01 -3.68772418e-01 -2.05740493e-02 1.65482426e+02] [ 2.22018180e-02 1.70821097e-04 9.99753495e-01 7.12964057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.869254154 meters 0.01583145745424666 Centerline is valid? [True, True] Translation: X:924.18, Y:165.51, Z:7.13 [[-3.74288753e-01 -9.27275076e-01 8.29839609e-03 9.24184457e+02] [ 9.27049784e-01 -3.74380731e-01 -2.04393303e-02 1.65509377e+02] [ 2.20596412e-02 4.28148536e-05 9.99756656e-01 7.12906039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.899254154 meters 0.01713066843291938 Centerline is valid? [True, True] Translation: X:924.18, Y:165.54, Z:7.13 [[-3.77523292e-01 -9.25960697e-01 8.54113141e-03 9.24177059e+02] [ 9.25722119e-01 -3.77619897e-01 -2.10183856e-02 1.65535871e+02] [ 2.26875002e-02 -2.82158844e-05 9.99742605e-01 7.12942340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9292541539999 meters 0.016280302390805343 Centerline is valid? [True, True] Translation: X:924.17, Y:165.56, Z:7.13 [[-3.80496328e-01 -9.24745812e-01 8.22968775e-03 9.24169409e+02] [ 9.24524429e-01 -3.80585306e-01 -2.02337619e-02 1.65561689e+02] [ 2.18431848e-02 -9.03247425e-05 9.99761405e-01 7.12994438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9592541539998 meters 0.017577583003118694 Centerline is valid? [True, True] Translation: X:924.16, Y:165.59, Z:7.13 [[-3.86331789e-01 -9.22324064e-01 8.12837732e-03 9.24163153e+02] [ 9.22107916e-01 -3.86417227e-01 -1.99679095e-02 1.65589353e+02] [ 2.15578285e-02 -2.18997145e-04 9.99767579e-01 7.13044014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9892541539998 meters 0.01656413199107641 Centerline is valid? [True, True] Translation: X:924.15, Y:165.62, Z:7.13 [[-3.89311103e-01 -9.21072802e-01 7.85866376e-03 9.24154671e+02] [ 9.20870827e-01 -3.89390317e-01 -1.92899286e-02 1.65615942e+02] [ 2.08275162e-02 -2.72969183e-04 9.99783047e-01 7.13036269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.0192541539998 meters 0.01659191812347142 Centerline is valid? [True, True] Translation: X:924.15, Y:165.64, Z:7.13 [[-3.95692681e-01 -9.18354564e-01 7.22470202e-03 9.24149163e+02] [ 9.18183679e-01 -3.95758451e-01 -1.77194608e-02 1.65642863e+02] [ 1.91319846e-02 -3.77857487e-04 9.99816895e-01 7.13017121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.0492541539998 meters 0.01918928821652731 Centerline is valid? [True, True] Translation: X:924.14, Y:165.67, Z:7.13 [[-4.00000286e-01 -9.16485833e-01 7.31362060e-03 9.24141792e+02] [ 9.16310694e-01 -4.00066868e-01 -1.79223938e-02 1.65669823e+02] [ 1.93515573e-02 -4.67413878e-04 9.99812632e-01 7.13054100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.079254154 meters 0.018888285980364815 Centerline is valid? [True, True] Translation: X:924.13, Y:165.70, Z:7.13 [[-4.03826734e-01 -9.14807669e-01 7.13424314e-03 9.24133191e+02] [ 9.14641017e-01 -4.03889401e-01 -1.74688668e-02 1.65696921e+02] [ 1.88620985e-02 -5.29124017e-04 9.99821955e-01 7.13090153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.109254154 meters 0.022562897833056036 Centerline is valid? [True, True] Translation: X:924.13, Y:165.72, Z:7.13 [[-4.12334653e-01 -9.11008536e-01 6.60160576e-03 9.24130316e+02] [ 9.10865581e-01 -4.12386989e-01 -1.61513230e-02 1.65724115e+02] [ 1.74364095e-02 -6.46574692e-04 9.99847765e-01 7.13117306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.139254154 meters 0.025829049169755904 Centerline is valid? [True, True] Translation: X:924.12, Y:165.75, Z:7.13 [[-4.17022201e-01 -9.08870357e-01 6.86718551e-03 9.24122892e+02] [ 9.08715643e-01 -4.17078046e-01 -1.67864018e-02 1.65751030e+02] [ 1.81208153e-02 -7.59983332e-04 9.99835516e-01 7.13221402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1692541539999 meters 0.03002172775655121 Centerline is valid? [True, True] Translation: X:924.12, Y:165.78, Z:7.13 [[-4.24375630e-01 -9.05463624e-01 6.39927463e-03 9.24118791e+02] [ 9.05329068e-01 -4.24423043e-01 -1.56319667e-02 1.65778044e+02] [ 1.68701768e-02 -8.40376384e-04 9.99857335e-01 7.13295508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1992541539998 meters 0.03002172775655121 Centerline is valid? [True, True] Translation: X:924.11, Y:165.80, Z:7.13 [[-4.24645803e-01 -9.05336920e-01 6.40339512e-03 9.24108517e+02] [ 9.05202375e-01 -4.24693247e-01 -1.56302790e-02 1.65802803e+02] [ 1.68701473e-02 -8.40963903e-04 9.99857335e-01 7.13314017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2292541539998 meters 0.03143854154391302 Centerline is valid? [True, True] Translation: X:924.10, Y:165.83, Z:7.13 [[-4.27428466e-01 -9.04027680e-01 6.23382973e-03 9.24099840e+02] [ 9.03900234e-01 -4.27473050e-01 -1.52039306e-02 1.65828950e+02] [ 1.64095683e-02 -8.63832600e-04 9.99864981e-01 7.13341910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2592541539998 meters 0.031037475536969908 Centerline is valid? [True, True] Translation: X:924.09, Y:165.86, Z:7.13 [[-4.28931160e-01 -9.03317946e-01 5.89476563e-03 9.24089642e+02] [ 9.03204090e-01 -4.28970846e-01 -1.43661073e-02 1.65855139e+02] [ 1.55058451e-02 -8.37894624e-04 9.99879426e-01 7.13347732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2892541539998 meters 0.03057931038113614 Centerline is valid? [True, True] Translation: X:924.08, Y:165.88, Z:7.13 [[-4.30235001e-01 -9.02698767e-01 5.72532763e-03 9.24076444e+02] [ 9.02591465e-01 -4.30272292e-01 -1.39428235e-02 1.65880484e+02] [ 1.50496195e-02 -8.31058842e-04 9.99886403e-01 7.13381685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.319254154 meters 0.03087062512027555 Centerline is valid? [True, True] Translation: X:924.06, Y:165.90, Z:7.13 [[-4.30206271e-01 -9.02710078e-01 6.08936425e-03 9.24062964e+02] [ 9.02588895e-01 -4.30248468e-01 -1.48169611e-02 1.65904878e+02] [ 1.59953598e-02 -8.78157036e-04 9.99871680e-01 7.13429513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.349254154 meters 0.023482123961640348 Centerline is valid? [True, True] Translation: X:924.04, Y:165.93, Z:7.13 [[-4.25701349e-01 -9.04843253e-01 6.08686353e-03 9.24041120e+02] [ 9.04722582e-01 -4.25744125e-01 -1.47982754e-02 1.65925901e+02] [ 1.59815660e-02 -7.92722898e-04 9.99871972e-01 7.13430626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.379254154 meters 0.02723030781796203 Centerline is valid? [True, True] Translation: X:924.03, Y:165.95, Z:7.13 [[-4.23599407e-01 -9.05826676e-01 6.44790068e-03 9.24031632e+02] [ 9.05691571e-01 -4.23647731e-01 -1.56645790e-02 1.65950883e+02] [ 1.69210320e-02 -7.95697074e-04 9.99856512e-01 7.13348214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4092541539999 meters 0.022200083734788312 Centerline is valid? [True, True] Translation: X:924.01, Y:165.97, Z:7.13 [[-4.20261614e-01 -9.07379636e-01 6.50942321e-03 9.24012267e+02] [ 9.07242279e-01 -4.20311378e-01 -1.58048473e-02 1.65973060e+02] [ 1.70769812e-02 -7.36546698e-04 9.99853906e-01 7.13443225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4392541539999 meters 0.02216973763152516 Centerline is valid? [True, True] Translation: X:924.00, Y:166.00, Z:7.13 [[-4.12711276e-01 -9.10837488e-01 6.66887538e-03 9.23995552e+02] [ 9.10693966e-01 -4.12764710e-01 -1.61800399e-02 1.65995813e+02] [ 1.74900633e-02 -6.04380357e-04 9.99846854e-01 7.13343351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4692541539998 meters 0.020304113943370013 Centerline is valid? [True, True] Translation: X:923.98, Y:166.02, Z:7.13 [[-4.08464378e-01 -9.12751095e-01 6.50306815e-03 9.23979293e+02] [ 9.12615088e-01 -4.08515830e-01 -1.57644479e-02 1.66019221e+02] [ 1.70456234e-02 -5.04417288e-04 9.99854586e-01 7.13351688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4992541539998 meters 0.01697115238484627 Centerline is valid? [True, True] Translation: X:923.96, Y:166.04, Z:7.13 [[-3.98933711e-01 -9.16958705e-01 6.21515737e-03 9.23958655e+02] [ 9.16835175e-01 -3.98982004e-01 -1.50540081e-02 1.66040786e+02] [ 1.62836397e-02 -3.07276426e-04 9.99867366e-01 7.13416547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.5292541539998 meters 0.014329714132341896 Centerline is valid? [True, True] Translation: X:923.94, Y:166.06, Z:7.13 [[-3.93800572e-01 -9.19177480e-01 5.81980844e-03 9.23942513e+02] [ 9.19069572e-01 -3.93843524e-01 -1.40854497e-02 1.66064905e+02] [ 1.52391220e-02 -1.98049283e-04 9.99883858e-01 7.13486173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.5592541539997 meters 0.016338220393365105 Centerline is valid? [True, True] Translation: X:923.93, Y:166.09, Z:7.13 [[-3.90010905e-01 -9.20792319e-01 5.74451375e-03 9.23928142e+02] [ 9.20687493e-01 -3.90053187e-01 -1.38942938e-02 1.66088430e+02] [ 1.50344249e-02 -1.30024144e-04 9.99886968e-01 7.13495273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.589254154 meters 0.01481402539672484 Centerline is valid? [True, True] Translation: X:923.91, Y:166.11, Z:7.14 [[-3.81037615e-01 -9.24545173e-01 5.15355876e-03 9.23907272e+02] [ 9.24461249e-01 -3.81072464e-01 -1.24569469e-02 1.66110046e+02] [ 1.34808895e-02 1.77000227e-05 9.99909129e-01 7.13615651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.619254154 meters 0.013555521479769801 Centerline is valid? [True, True] Translation: X:923.89, Y:166.13, Z:7.14 [[-3.76655408e-01 -9.26341047e-01 4.79258994e-03 9.23891584e+02] [ 9.26268725e-01 -3.76685889e-01 -1.15753896e-02 1.66133817e+02] [ 1.25280595e-02 7.92930712e-05 9.99921518e-01 7.13652066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.649254154 meters 0.015762007574036497 Centerline is valid? [True, True] Translation: X:923.87, Y:166.16, Z:7.14 [[-3.70597573e-01 -9.28782589e-01 4.51003900e-03 9.23873028e+02] [ 9.28718811e-01 -3.70624983e-01 -1.08853679e-02 1.66155533e+02] [ 1.17816734e-02 1.54467115e-04 9.99930582e-01 7.13678037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.6792541539999 meters 0.018745083826668348 Centerline is valid? [True, True] Translation: X:923.86, Y:166.18, Z:7.14 [[-3.68504362e-01 -9.29615255e-01 4.47360256e-03 9.23859087e+02] [ 9.29552649e-01 -3.68531470e-01 -1.07901784e-02 1.66179839e+02] [ 1.16793778e-02 1.82221301e-04 9.99931777e-01 7.13674033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7092541539998 meters 0.01550846260720065 Centerline is valid? [True, True] Translation: X:923.85, Y:166.20, Z:7.14 [[-3.65784731e-01 -9.30689720e-01 4.26328780e-03 9.23845458e+02] [ 9.30633024e-01 -3.65809515e-01 -1.02749181e-02 1.66204570e+02] [ 1.11223119e-02 2.09148268e-04 9.99938123e-01 7.13735418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7392541539998 meters 0.019954670113231838 Centerline is valid? [True, True] Translation: X:923.83, Y:166.23, Z:7.14 [[-3.63268095e-01 -9.31674408e-01 4.36900328e-03 9.23830423e+02] [ 9.31615027e-01 -3.63294282e-01 -1.05216419e-02 1.66227107e+02] [ 1.13899784e-02 2.48052294e-04 9.99935101e-01 7.13628715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7692541539998 meters 0.019672189041552535 Centerline is valid? [True, True] Translation: X:923.82, Y:166.25, Z:7.14 [[-3.62695748e-01 -9.31895577e-01 4.73576488e-03 9.23817976e+02] [ 9.31825933e-01 -3.62726557e-01 -1.13962933e-02 1.66252643e+02] [ 1.23379430e-02 2.79521420e-04 9.99923846e-01 7.13579720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7992541539998 meters 0.019529982988858923 Centerline is valid? [True, True] Translation: X:923.81, Y:166.28, Z:7.14 [[-3.62628537e-01 -9.31920591e-01 4.95549314e-03 9.23805907e+02] [ 9.31844470e-01 -3.62662273e-01 -1.19146604e-02 1.66277038e+02] [ 1.29006878e-02 2.97153013e-04 9.99916739e-01 7.13519876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.829254154 meters 0.020247719396494526 Centerline is valid? [True, True] Translation: X:923.79, Y:166.30, Z:7.13 [[-3.63190919e-01 -9.31699066e-01 5.40434975e-03 9.23794695e+02] [ 9.31608672e-01 -3.63230985e-01 -1.29820877e-02 1.66302789e+02] [ 1.40584263e-02 3.19762728e-04 9.99901124e-01 7.13402120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.859254154 meters 0.01912291176294758 Centerline is valid? [True, True] Translation: X:923.78, Y:166.33, Z:7.13 [[-3.63752271e-01 -9.31478394e-01 5.68220701e-03 9.23782149e+02] [ 9.31378615e-01 -3.63796498e-01 -1.36375996e-02 1.66327000e+02] [ 1.47702964e-02 3.31578268e-04 9.99890858e-01 7.13330482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.889254154 meters 0.01885276145651809 Centerline is valid? [True, True] Translation: X:923.77, Y:166.35, Z:7.13 [[-3.65680138e-01 -9.30720770e-01 6.07333883e-03 9.23772195e+02] [ 9.30606885e-01 -3.65730423e-01 -1.45631095e-02 1.66351925e+02] [ 1.57753933e-02 3.26451025e-04 9.99875507e-01 7.13255467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9192541539999 meters 0.018512960656837274 Centerline is valid? [True, True] Translation: X:923.76, Y:166.38, Z:7.13 [[-3.67290703e-01 -9.30084885e-01 6.29657815e-03 9.23762489e+02] [ 9.29962603e-01 -3.67344536e-01 -1.50847276e-02 1.66377839e+02] [ 1.63430907e-02 3.15101995e-04 9.99866393e-01 7.13224449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9492541539998 meters 0.018044562439147892 Centerline is valid? [True, True] Translation: X:923.75, Y:166.40, Z:7.13 [[-3.69056630e-01 -9.29384661e-01 6.43092179e-03 9.23752927e+02] [ 9.29257231e-01 -3.69112538e-01 -1.53926133e-02 1.66403307e+02] [ 1.66793926e-02 2.95234581e-04 9.99860846e-01 7.13185626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9792541539998 meters 0.014388461166818666 Centerline is valid? [True, True] Translation: X:923.75, Y:166.43, Z:7.13 [[-3.72481069e-01 -9.28015679e-01 6.68971833e-03 9.23745634e+02] [ 9.27877798e-01 -3.72541054e-01 -1.59985673e-02 1.66430833e+02] [ 1.73391160e-02 2.48077673e-04 9.99849635e-01 7.13333367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.0092541539998 meters 0.016611041733981317 Centerline is valid? [True, True] Translation: X:923.74, Y:166.46, Z:7.13 [[-3.75425930e-01 -9.26829000e-01 6.58607846e-03 9.23736637e+02] [ 9.26695387e-01 -3.75483645e-01 -1.57382564e-02 1.66456989e+02] [ 1.70596372e-02 1.94738962e-04 9.99854455e-01 7.13219645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.0392541539998 meters 0.016474876777814382 Centerline is valid? [True, True] Translation: X:923.73, Y:166.49, Z:7.13 [[-3.80551828e-01 -9.24737616e-01 6.37556205e-03 9.23731442e+02] [ 9.24612309e-01 -3.80605218e-01 -1.52232090e-02 1.66485346e+02] [ 1.65040462e-02 1.01703133e-04 9.99863794e-01 7.13424544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.069254154 meters 0.014150110314013782 Centerline is valid? [True, True] Translation: X:923.72, Y:166.51, Z:7.14 [[-3.82867371e-01 -9.23782047e-01 6.26945016e-03 9.23722821e+02] [ 9.23660913e-01 -3.82918694e-01 -1.49596936e-02 1.66511320e+02] [ 1.62201860e-02 6.32674965e-05 9.99868442e-01 7.13543271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.099254154 meters 0.015725973092379837 Centerline is valid? [True, True] Translation: X:923.71, Y:166.54, Z:7.14 [[-3.85587823e-01 -9.22651507e-01 6.01897855e-03 9.23714752e+02] [ 9.22539888e-01 -3.85634798e-01 -1.43512608e-02 1.66536918e+02] [ 1.55623399e-02 1.90763979e-05 9.99878899e-01 7.13568615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.129254154 meters 0.013482403883855696 Centerline is valid? [True, True] Translation: X:923.71, Y:166.56, Z:7.14 [[-3.89160549e-01 -9.21155435e-01 5.17023003e-03 9.23707107e+02] [ 9.21073073e-01 -3.89194891e-01 -1.23178823e-02 1.66564121e+02] [ 1.33589114e-02 -3.14741903e-05 9.99910765e-01 7.13896852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1592541539999 meters 0.016613126133385135 Centerline is valid? [True, True] Translation: X:923.70, Y:166.59, Z:7.14 [[-3.91193737e-01 -9.20296141e-01 4.74063398e-03 9.23698362e+02] [ 9.20226944e-01 -3.91222456e-01 -1.12854633e-02 1.66589734e+02] [ 1.22406108e-02 -5.23434223e-05 9.99925080e-01 7.13850607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1892541539999 meters 0.01714738900773694 Centerline is valid? [True, True] Translation: X:923.69, Y:166.62, Z:7.14 [[-3.93287043e-01 -9.19404851e-01 4.47458648e-03 9.23690261e+02] [ 9.19343246e-01 -3.93312490e-01 -1.06433763e-02 1.66615274e+02] [ 1.15454826e-02 -7.22211463e-05 9.99933346e-01 7.13897394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2192541539998 meters 0.01621699079841098 Centerline is valid? [True, True] Translation: X:923.68, Y:166.64, Z:7.14 [[-3.94352457e-01 -9.18948615e-01 4.42525853e-03 9.23680222e+02] [ 9.18888430e-01 -3.94377277e-01 -1.05174446e-02 1.66641035e+02] [ 1.14102126e-02 -8.12612633e-05 9.99934898e-01 7.13943022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2492541539998 meters 0.017435856590008195 Centerline is valid? [True, True] Translation: X:923.67, Y:166.67, Z:7.14 [[-3.95339863e-01 -9.18524805e-01 4.31001762e-03 9.23670760e+02] [ 9.18467781e-01 -3.95363346e-01 -1.02352354e-02 1.66666344e+02] [ 1.11053406e-02 -8.77842476e-05 9.99938330e-01 7.13911900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2792541539998 meters 0.017254429951296512 Centerline is valid? [True, True] Translation: X:923.66, Y:166.69, Z:7.14 [[-3.96765757e-01 -9.17910339e-01 4.18848592e-03 9.23662581e+02] [ 9.17856537e-01 -3.96787853e-01 -9.93872704e-03 1.66691068e+02] [ 1.07848006e-02 -9.89173807e-05 9.99941837e-01 7.13910260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.3092541539997 meters 0.015803458299386723 Centerline is valid? [True, True] Translation: X:923.65, Y:166.72, Z:7.14 [[-3.97341139e-01 -9.17661374e-01 4.19800160e-03 9.23651762e+02] [ 9.17607390e-01 -3.97363301e-01 -9.95411761e-03 1.66716994e+02] [ 1.08026410e-02 -1.03063130e-04 9.99941644e-01 7.14013485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.339254154 meters 0.015504065183910185 Centerline is valid? [True, True] Translation: X:923.64, Y:166.74, Z:7.14 [[-3.98521195e-01 -9.17149700e-01 4.15758000e-03 9.23643471e+02] [ 9.17096811e-01 -3.98542866e-01 -9.85002750e-03 1.66742295e+02] [ 1.06909236e-02 -1.12541375e-04 9.99942844e-01 7.14037566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.369254154 meters 0.016768487163266118 Centerline is valid? [True, True] Translation: X:923.63, Y:166.77, Z:7.14 [[-3.99374649e-01 -9.16777951e-01 4.25197722e-03 9.23634293e+02] [ 9.16722715e-01 -3.99397264e-01 -1.00642733e-02 1.66766881e+02] [ 1.09249319e-02 -1.21531524e-04 9.99940314e-01 7.13958658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.399254154 meters 0.01660040290241268 Centerline is valid? [True, True] Translation: X:923.62, Y:166.79, Z:7.14 [[-3.99801958e-01 -9.16591359e-01 4.32148611e-03 9.23622610e+02] [ 9.16534390e-01 -3.99825294e-01 -1.02198803e-02 1.66791981e+02] [ 1.10952935e-02 -1.25137533e-04 9.99938438e-01 7.13946391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4292541539999 meters 0.01590197122590016 Centerline is valid? [True, True] Translation: X:923.61, Y:166.82, Z:7.14 [[-3.99391209e-01 -9.16768612e-01 4.68774902e-03 9.23613034e+02] [ 9.16701704e-01 -3.99418699e-01 -1.10764877e-02 1.66817047e+02] [ 1.20269509e-02 -1.26584303e-04 9.99927666e-01 7.13908374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4592541539998 meters 0.015726275227463945 Centerline is valid? [True, True] Translation: X:923.60, Y:166.84, Z:7.14 [[-3.99061916e-01 -9.16912670e-01 4.55433503e-03 9.23601465e+02] [ 9.16849629e-01 -3.99087887e-01 -1.07524760e-02 1.66842383e+02] [ 1.16766614e-02 -1.15263278e-04 9.99931819e-01 7.13913997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4892541539998 meters 0.013964270070120577 Centerline is valid? [True, True] Translation: X:923.59, Y:166.87, Z:7.14 [[-3.97487871e-01 -9.17596867e-01 4.40248696e-03 9.23590008e+02] [ 9.17538095e-01 -3.97512241e-01 -1.03857062e-02 1.66867205e+02] [ 1.12799339e-02 -8.87427383e-05 9.99936376e-01 7.14010639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.5192541539998 meters 0.0161570600518357 Centerline is valid? [True, True] Translation: X:923.58, Y:166.89, Z:7.14 [[-3.97404191e-01 -9.17634518e-01 4.09891596e-03 9.23578514e+02] [ 9.17583652e-01 -3.97425321e-01 -9.66204261e-03 1.66893030e+02] [ 1.04952368e-02 -7.86379520e-05 9.99944920e-01 7.13915836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.5492541539998 meters 0.016191972729062625 Centerline is valid? [True, True] Translation: X:923.57, Y:166.92, Z:7.14 [[-3.97058447e-01 -9.17784037e-01 4.12921296e-03 9.23567295e+02] [ 9.17732508e-01 -3.97079911e-01 -9.72565401e-03 1.66919118e+02] [ 1.05656775e-02 -7.21401150e-05 9.99944179e-01 7.13961491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.579254154 meters 0.015432898215003156 Centerline is valid? [True, True] Translation: X:923.56, Y:166.94, Z:7.14 [[-3.95796640e-01 -9.18330016e-01 3.87311198e-03 9.23555385e+02] [ 9.18284776e-01 -3.95815586e-01 -9.11545368e-03 1.66944632e+02] [ 9.90403282e-03 -5.12461694e-05 9.99950953e-01 7.14038366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.609254154 meters 0.01650095369929824 Centerline is valid? [True, True] Translation: X:923.54, Y:166.97, Z:7.14 [[-3.95214900e-01 -9.18580506e-01 3.87774858e-03 9.23543815e+02] [ 9.18535241e-01 -3.95233922e-01 -9.11907853e-03 1.66970029e+02] [ 9.90922554e-03 -4.21469833e-05 9.99950902e-01 7.14003796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.639254154 meters 0.01397544758613404 Centerline is valid? [True, True] Translation: X:923.53, Y:166.99, Z:7.14 [[-3.92827156e-01 -9.19604184e-01 3.86924011e-03 9.23531609e+02] [ 9.19559233e-01 -3.92846210e-01 -9.09243806e-03 1.66993830e+02] [ 9.88146039e-03 -1.37611136e-05 9.99951177e-01 7.14077160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6692541539999 meters 0.01308413406309014 Centerline is valid? [True, True] Translation: X:923.52, Y:167.02, Z:7.14 [[-3.91484991e-01 -9.20175297e-01 4.11385586e-03 9.23519285e+02] [ 9.20124583e-01 -3.91506606e-01 -9.66071719e-03 1.67019565e+02] [ 1.05001551e-02 3.23412140e-06 9.99944872e-01 7.14134857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6992541539998 meters 0.017079481897659524 Centerline is valid? [True, True] Translation: X:923.51, Y:167.04, Z:7.14 [[-3.90881414e-01 -9.20432780e-01 3.90101622e-03 9.23507326e+02] [ 9.20387254e-01 -3.90900879e-01 -9.15447437e-03 1.67044442e+02] [ 9.95098897e-03 1.21317254e-05 9.99950488e-01 7.13873469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7292541539998 meters 0.013593291514008015 Centerline is valid? [True, True] Translation: X:923.49, Y:167.07, Z:7.14 [[-3.87586655e-01 -9.21824317e-01 4.06377158e-03 9.23494334e+02] [ 9.21775055e-01 -3.87607955e-01 -9.53002048e-03 1.67069921e+02] [ 1.03601548e-02 5.21745189e-05 9.99946331e-01 7.14046469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7592541539998 meters 0.013307676952787185 Centerline is valid? [True, True] Translation: X:923.48, Y:167.10, Z:7.14 [[-3.85771403e-01 -9.22585490e-01 4.05454575e-03 9.23482553e+02] [ 9.22536573e-01 -3.85792702e-01 -9.50071652e-03 1.67095690e+02] [ 1.03294374e-02 7.53619968e-05 9.99946647e-01 7.14122229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7892541539998 meters 0.01901192793340692 Centerline is valid? [True, True] Translation: X:923.47, Y:167.12, Z:7.14 [[-3.82813824e-01 -9.23817283e-01 3.89930827e-03 9.23469085e+02] [ 9.23772167e-01 -3.82833667e-01 -9.13056138e-03 1.67119358e+02] [ 9.92775689e-03 1.06767337e-04 9.99950713e-01 7.13783471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.819254154 meters 0.018738539724695323 Centerline is valid? [True, True] Translation: X:923.46, Y:167.15, Z:7.14 [[-3.81271474e-01 -9.24455082e-01 3.85541562e-03 9.23457395e+02] [ 9.24411060e-01 -3.81290946e-01 -9.02252558e-03 1.67145391e+02] [ 9.81095470e-03 1.23957220e-04 9.99951864e-01 7.13794614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.849254154 meters 0.017551367137813762 Centerline is valid? [True, True] Translation: X:923.45, Y:167.17, Z:7.14 [[-3.79381417e-01 -9.25232312e-01 3.86123938e-03 9.23445309e+02] [ 9.25188261e-01 -3.79401038e-01 -9.02961960e-03 1.67169587e+02] [ 9.81945404e-03 1.46703464e-04 9.99951777e-01 7.13854023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.879254154 meters 0.01711510459625622 Centerline is valid? [True, True] Translation: X:923.43, Y:167.20, Z:7.14 [[-3.76240067e-01 -9.26513154e-01 4.09724460e-03 9.23433227e+02] [ 9.26463695e-01 -3.76262326e-01 -9.57514507e-03 1.67195185e+02] [ 1.04131366e-02 1.93395154e-04 9.99945763e-01 7.13878900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9092541539999 meters 0.01967771990753326 Centerline is valid? [True, True] Translation: X:923.42, Y:167.22, Z:7.14 [[-3.75303222e-01 -9.26892354e-01 4.24918689e-03 9.23419488e+02] [ 9.26839269e-01 -3.75327214e-01 -9.92225855e-03 1.67219072e+02] [ 1.07917011e-02 2.14457674e-04 9.99941745e-01 7.13729425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9392541539999 meters 0.015579593031988253 Centerline is valid? [True, True] Translation: X:923.41, Y:167.25, Z:7.14 [[-3.73015474e-01 -9.27814096e-01 4.52320333e-03 9.23411723e+02] [ 9.27754114e-01 -3.73042807e-01 -1.05531551e-02 1.67246619e+02] [ 1.14787145e-02 2.59930334e-04 9.99934084e-01 7.14013286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9692541539998 meters 0.016693667786020456 Centerline is valid? [True, True] Translation: X:923.40, Y:167.27, Z:7.14 [[-3.72379906e-01 -9.28068818e-01 4.63410301e-03 9.23399435e+02] [ 9.28005955e-01 -3.72408637e-01 -1.08052713e-02 1.67270625e+02] [ 1.17538153e-02 2.76809285e-04 9.99930883e-01 7.13985009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9992541539998 meters 0.0188019102542257 Centerline is valid? [True, True] Translation: X:923.39, Y:167.30, Z:7.14 [[-3.72477148e-01 -9.28030463e-01 4.49817936e-03 9.23388527e+02] [ 9.27971295e-01 -3.72504211e-01 -1.04828239e-02 1.67296634e+02] [ 1.14039707e-02 2.69568978e-04 9.99934936e-01 7.13773482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.0292541539998 meters 0.019787325737131357 Centerline is valid? [True, True] Translation: X:923.38, Y:167.32, Z:7.14 [[-3.71882281e-01 -9.28268249e-01 4.65039251e-03 9.23378622e+02] [ 9.28205129e-01 -3.71911244e-01 -1.08288944e-02 1.67323072e+02] [ 1.17816521e-02 2.89444243e-04 9.99930552e-01 7.13712588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.0592541539997 meters 0.01701985673012483 Centerline is valid? [True, True] Translation: X:923.37, Y:167.35, Z:7.14 [[-3.71401052e-01 -9.28460159e-01 4.79500841e-03 9.23368449e+02] [ 9.28393173e-01 -3.71431876e-01 -1.11569419e-02 1.67349301e+02] [ 1.21397951e-02 3.07953100e-04 9.99926263e-01 7.13994183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.089254154 meters 0.020295510277681967 Centerline is valid? [True, True] Translation: X:923.36, Y:167.38, Z:7.14 [[-3.72799151e-01 -9.27898423e-01 5.03085428e-03 9.23359202e+02] [ 9.27824751e-01 -3.72832968e-01 -1.16965867e-02 1.67376465e+02] [ 1.27289127e-02 3.07273531e-04 9.99918937e-01 7.13671842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.119254154 meters 0.020295510277681967 Centerline is valid? [True, True] Translation: X:923.35, Y:167.40, Z:7.14 [[-3.73068326e-01 -9.27790214e-01 5.03413051e-03 9.23348228e+02] [ 9.27716551e-01 -3.73102163e-01 -1.16951767e-02 1.67401777e+02] [ 1.27289155e-02 3.07146186e-04 9.99918937e-01 7.13690891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.149254154 meters 0.01771812845150983 Centerline is valid? [True, True] Translation: X:923.34, Y:167.43, Z:7.14 [[-3.73672380e-01 -9.27545160e-01 5.37849954e-03 9.23338531e+02] [ 9.27461189e-01 -3.73710946e-01 -1.24848781e-02 1.67428687e+02] [ 1.35902924e-02 3.23095458e-04 9.99907596e-01 7.13868397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.1792541539999 meters 0.019087852924000802 Centerline is valid? [True, True] Translation: X:923.33, Y:167.46, Z:7.14 [[-3.75779080e-01 -9.26691884e-01 5.67762716e-03 9.23331123e+02] [ 9.26598369e-01 -3.75821840e-01 -1.31684573e-02 1.67455664e+02] [ 1.43368788e-02 3.12449277e-04 9.99897173e-01 7.13662137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2092541539998 meters 0.018843889311578984 Centerline is valid? [True, True] Translation: X:923.32, Y:167.48, Z:7.14 [[-3.78222044e-01 -9.25697475e-01 5.68068839e-03 9.23324690e+02] [ 9.25603894e-01 -3.78264599e-01 -1.31652935e-02 1.67483946e+02] [ 1.43358823e-02 2.78663076e-04 9.99897197e-01 7.13679155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2392541539998 meters 0.018843889311578984 Centerline is valid? [True, True] Translation: X:923.31, Y:167.51, Z:7.14 [[-3.78491764e-01 -9.25587204e-01 5.68444412e-03 9.23313687e+02] [ 9.25493634e-01 -3.78534345e-01 -1.31636720e-02 1.67509248e+02] [ 1.43358837e-02 2.78575404e-04 9.99897197e-01 7.13698201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2692541539998 meters 0.016002870866707847 Centerline is valid? [True, True] Translation: X:923.31, Y:167.54, Z:7.14 [[-3.81001430e-01 -9.24557531e-01 5.59308897e-03 9.23306889e+02] [ 9.24466977e-01 -3.81042406e-01 -1.29419310e-02 1.67535773e+02] [ 1.40967639e-02 2.39731822e-04 9.99900607e-01 7.14046672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2992541539998 meters 0.01602440031094952 Centerline is valid? [True, True] Translation: X:923.30, Y:167.56, Z:7.14 [[-3.82925030e-01 -9.23763862e-01 5.36174879e-03 9.23299423e+02] [ 9.23680696e-01 -3.82962510e-01 -1.23970901e-02 1.67563470e+02] [ 1.35053326e-02 2.05387769e-04 9.99908778e-01 7.14064500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.329254154 meters 0.01750161718917096 Centerline is valid? [True, True] Translation: X:923.29, Y:167.59, Z:7.14 [[-3.85064538e-01 -9.22875947e-01 5.02870936e-03 9.23290437e+02] [ 9.22802829e-01 -3.85097336e-01 -1.16180738e-02 1.67589268e+02] [ 1.26585835e-02 1.66798993e-04 9.99919863e-01 7.13949322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.359254154 meters 0.01795030857476401 Centerline is valid? [True, True] Translation: X:923.28, Y:167.62, Z:7.14 [[-3.89291912e-01 -9.21103426e-01 4.50404816e-03 9.23284692e+02] [ 9.21044738e-01 -3.89317954e-01 -1.03981632e-02 1.67616431e+02] [ 1.13312906e-02 1.00509004e-04 9.99935794e-01 7.13969551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.389254154 meters 0.014610214768674098 Centerline is valid? [True, True] Translation: X:923.28, Y:167.64, Z:7.14 [[-3.91157859e-01 -9.20311821e-01 4.65636130e-03 9.23277514e+02] [ 9.20249139e-01 -3.91185564e-01 -1.07413322e-02 1.67643393e+02] [ 1.17068763e-02 8.34559744e-05 9.99931469e-01 7.14324615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4192541539999 meters 0.016906398302174972 Centerline is valid? [True, True] Translation: X:923.27, Y:167.67, Z:7.14 [[-3.95689630e-01 -9.18372987e-01 4.55788565e-03 9.23272324e+02] [ 9.18312891e-01 -3.95715879e-01 -1.05061006e-02 1.67671664e+02] [ 1.14521467e-02 2.84101022e-05 9.99934422e-01 7.14109987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4492541539998 meters 0.01681587933265835 Centerline is valid? [True, True] Translation: X:923.26, Y:167.70, Z:7.14 [[-3.97343306e-01 -9.17658312e-01 4.63887556e-03 9.23263867e+02] [ 9.17596111e-01 -3.97370384e-01 -1.06843660e-02 1.67698209e+02] [ 1.16479490e-02 1.12528703e-05 9.99932160e-01 7.14120268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4792541539998 meters 0.01575274477072159 Centerline is valid? [True, True] Translation: X:923.25, Y:167.73, Z:7.14 [[-3.98826155e-01 -9.17015430e-01 4.51648362e-03 9.23254790e+02] [ 9.16956517e-01 -3.98851728e-01 -1.03944607e-02 1.67725087e+02] [ 1.13332881e-02 -4.16369560e-06 9.99935776e-01 7.14240896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.5092541539998 meters 0.018914716107392884 Centerline is valid? [True, True] Translation: X:923.25, Y:167.75, Z:7.14 [[-4.01011469e-01 -9.16061962e-01 4.50375830e-03 9.23247788e+02] [ 9.16003413e-01 -4.01036758e-01 -1.03568875e-02 1.67751768e+02] [ 1.12937233e-02 -2.77727009e-05 9.99936223e-01 7.14024779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.5392541539998 meters 0.01452754076768537 Centerline is valid? [True, True] Translation: X:923.24, Y:167.78, Z:7.14 [[-4.01289174e-01 -9.15940512e-01 4.46962030e-03 9.23238973e+02] [ 9.15882939e-01 -4.01314064e-01 -1.02695858e-02 1.67776443e+02] [ 1.12000511e-02 -2.74246075e-05 9.99937277e-01 7.14394740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.569254154 meters 0.01778753377418953 Centerline is valid? [True, True] Translation: X:923.23, Y:167.80, Z:7.14 [[-4.02073057e-01 -9.15597082e-01 4.38625763e-03 9.23230330e+02] [ 9.15541714e-01 -4.02096980e-01 -1.00691590e-02 1.67802941e+02] [ 1.09829935e-02 -3.27357095e-05 9.99939685e-01 7.14097290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.599254154 meters 0.017086735718777078 Centerline is valid? [True, True] Translation: X:923.22, Y:167.83, Z:7.14 [[-4.01972149e-01 -9.15641257e-01 4.41359779e-03 9.23219775e+02] [ 9.15585293e-01 -4.01996378e-01 -1.01234407e-02 1.67829134e+02] [ 1.10436903e-02 -2.83159986e-05 9.99939016e-01 7.14177600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.629254154 meters 0.017055974937320594 Centerline is valid? [True, True] Translation: X:923.21, Y:167.85, Z:7.14 [[-4.01578057e-01 -9.15813925e-01 4.46317186e-03 9.23209622e+02] [ 9.15756800e-01 -4.01602857e-01 -1.02288064e-02 1.67854255e+02] [ 1.11601059e-02 -2.04842379e-05 9.99937724e-01 7.14157632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6592541539999 meters 0.014392935902698686 Centerline is valid? [True, True] Translation: X:923.20, Y:167.88, Z:7.14 [[-3.99822655e-01 -9.16579053e-01 4.96836721e-03 9.23198700e+02] [ 9.16508444e-01 -3.99853523e-01 -1.13767824e-02 1.67880001e+02] [ 1.24143396e-02 4.85515763e-06 9.99922939e-01 7.14386613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6892541539999 meters 0.018277229396359843 Centerline is valid? [True, True] Translation: X:923.19, Y:167.91, Z:7.14 [[-3.99712091e-01 -9.16626465e-01 5.11549302e-03 9.23187278e+02] [ 9.16551735e-01 -3.99744823e-01 -1.17043857e-02 1.67905882e+02] [ 1.27734415e-02 1.02295370e-05 9.99918416e-01 7.13974579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7192541539998 meters 0.01604242499149961 Centerline is valid? [True, True] Translation: X:923.18, Y:167.93, Z:7.14 [[-3.98006805e-01 -9.17366997e-01 5.32686628e-03 9.23176172e+02] [ 9.17286160e-01 -3.98042448e-01 -1.21783004e-02 1.67932111e+02] [ 1.32922898e-02 3.92142813e-05 9.99911653e-01 7.14114453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7492541539998 meters 0.01702423639963846 Centerline is valid? [True, True] Translation: X:923.17, Y:167.96, Z:7.14 [[-3.97727947e-01 -9.17486752e-01 5.52638289e-03 9.23165324e+02] [ 9.17399898e-01 -3.97766336e-01 -1.26241110e-02 1.67957494e+02] [ 1.37806637e-02 4.89413374e-05 9.99905041e-01 7.14036160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7792541539998 meters 0.015324885421332486 Centerline is valid? [True, True] Translation: X:923.15, Y:167.98, Z:7.14 [[-3.97289039e-01 -9.17678112e-01 5.32003284e-03 9.23154564e+02] [ 9.17597768e-01 -3.97324653e-01 -1.21431826e-02 1.67983122e+02] [ 1.32573131e-02 5.72969060e-05 9.99912116e-01 7.14210358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.8092541539997 meters 0.01610011239614362 Centerline is valid? [True, True] Translation: X:923.14, Y:168.01, Z:7.14 [[-3.97035503e-01 -9.17788454e-01 5.21185892e-03 9.23144448e+02] [ 9.17711472e-01 -3.97069705e-01 -1.18871384e-02 1.68009359e+02] [ 1.29793497e-02 6.33667406e-05 9.99915763e-01 7.14190505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.839254154 meters 0.01614545892450203 Centerline is valid? [True, True] Translation: X:923.13, Y:168.03, Z:7.14 [[-3.97240217e-01 -9.17700476e-01 5.10361187e-03 9.23134143e+02] [ 9.17626774e-01 -3.97272996e-01 -1.16306105e-02 1.68033679e+02] [ 1.27009440e-02 6.30646471e-05 9.99919338e-01 7.14258320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.869254154 meters 0.014387320612879296 Centerline is valid? [True, True] Translation: X:923.12, Y:168.06, Z:7.15 [[-3.97264081e-01 -9.17694029e-01 4.34964096e-03 9.23123045e+02] [ 9.17640578e-01 -3.97287889e-01 -9.90469606e-03 1.68059172e+02] [ 1.08175401e-02 5.66270595e-05 9.99941487e-01 7.14542231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.899254154 meters 0.014972301259422451 Centerline is valid? [True, True] Translation: X:923.11, Y:168.08, Z:7.14 [[-3.97314006e-01 -9.17673853e-01 4.03474526e-03 9.23111709e+02] [ 9.17627926e-01 -3.97334488e-01 -9.18116816e-03 1.68082410e+02] [ 1.00284614e-02 5.45882177e-05 9.99949712e-01 7.14484843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9292541539999 meters 0.016579848794788722 Centerline is valid? [True, True] Translation: X:923.10, Y:168.11, Z:7.14 [[-3.97531874e-01 -9.17579519e-01 4.02947316e-03 9.23100882e+02] [ 9.17533773e-01 -3.97552291e-01 -9.16244028e-03 1.68105821e+02] [ 1.00091938e-02 5.48156612e-05 9.99949905e-01 7.14323866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9592541539998 meters 0.01716644389530629 Centerline is valid? [True, True] Translation: X:923.09, Y:168.13, Z:7.14 [[-3.97683569e-01 -9.17512692e-01 4.27063176e-03 9.23090345e+02] [ 9.17461394e-01 -3.97706495e-01 -9.70230731e-03 1.68131776e+02] [ 1.06004481e-02 5.96915664e-05 9.99943812e-01 7.14292102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9892541539998 meters 0.014347157510650755 Centerline is valid? [True, True] Translation: X:923.08, Y:168.16, Z:7.15 [[-3.97670144e-01 -9.17519126e-01 4.13643226e-03 9.23079381e+02] [ 9.17471076e-01 -3.97691652e-01 -9.39012081e-03 1.68156390e+02] [ 1.02606400e-02 6.08862621e-05 9.99947356e-01 7.14590638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.0192541539998 meters 0.01481957647238438 Centerline is valid? [True, True] Translation: X:923.07, Y:168.18, Z:7.14 [[-3.97748990e-01 -9.17483096e-01 4.52865466e-03 9.23067737e+02] [ 9.17425600e-01 -3.97774764e-01 -1.02715547e-02 1.68181422e+02] [ 1.12253624e-02 6.92031910e-05 9.99936991e-01 7.14499673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.0492541539998 meters 0.014473560976525371 Centerline is valid? [True, True] Translation: X:923.06, Y:168.21, Z:7.15 [[-3.97688109e-01 -9.17508981e-01 4.63013264e-03 9.23056325e+02] [ 9.17448986e-01 -3.97715054e-01 -1.04925869e-02 1.68205217e+02] [ 1.14685162e-02 7.51334455e-05 9.99934232e-01 7.14566424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.079254154 meters 0.015310258632473817 Centerline is valid? [True, True] Translation: X:923.04, Y:168.23, Z:7.14 [[-3.97582063e-01 -9.17553746e-01 4.86075774e-03 9.23043976e+02] [ 9.17487744e-01 -3.97611767e-01 -1.10055564e-02 1.68230553e+02] [ 1.20308840e-02 8.40738233e-05 9.99927623e-01 7.14440867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.109254154 meters 0.015540985278229646 Centerline is valid? [True, True] Translation: X:923.03, Y:168.25, Z:7.14 [[-3.96552342e-01 -9.17998097e-01 5.07280600e-03 9.23030128e+02] [ 9.17926367e-01 -3.96584773e-01 -1.14761478e-02 1.68254041e+02] [ 1.25468795e-02 1.05569075e-04 9.99921279e-01 7.14385577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.139254154 meters 0.015510563857957651 Centerline is valid? [True, True] Translation: X:923.02, Y:168.28, Z:7.14 [[-3.95901000e-01 -9.18277868e-01 5.30614995e-03 9.23017622e+02] [ 9.18199545e-01 -3.95936538e-01 -1.19938801e-02 1.68279591e+02] [ 1.31146133e-02 1.23715346e-04 9.99913992e-01 7.14377955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1692541539999 meters 0.017395826241651542 Centerline is valid? [True, True] Translation: X:923.00, Y:168.30, Z:7.14 [[-3.95529754e-01 -9.18435500e-01 5.69617182e-03 9.23004726e+02] [ 9.18345407e-01 -3.95570742e-01 -1.28647375e-02 1.68303980e+02] [ 1.40686706e-02 1.42666751e-04 9.99901021e-01 7.14144984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1992541539998 meters 0.01528601904525729 Centerline is valid? [True, True] Translation: X:922.99, Y:168.33, Z:7.14 [[-3.93792660e-01 -9.19180388e-01 5.89533802e-03 9.22990927e+02] [ 9.19084129e-01 -3.93836745e-01 -1.33034927e-02 1.68327921e+02] [ 1.45501103e-02 1.79493839e-04 9.99894125e-01 7.14422337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2292541539998 meters 0.016151676708866105 Centerline is valid? [True, True] Translation: X:922.98, Y:168.35, Z:7.14 [[-3.93607354e-01 -9.19258568e-01 6.07755422e-03 9.22979029e+02] [ 9.19156449e-01 -3.93654225e-01 -1.37030388e-02 1.68352409e+02] [ 1.49890907e-02 1.92606303e-04 9.99887639e-01 7.14308807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2592541539998 meters 0.018907112838291284 Centerline is valid? [True, True] Translation: X:922.97, Y:168.37, Z:7.14 [[-3.93313033e-01 -9.19381414e-01 6.53252846e-03 9.22965218e+02] [ 9.19263634e-01 -3.93367219e-01 -1.47174128e-02 1.68374904e+02] [ 1.61005983e-02 2.16565587e-04 9.99870354e-01 7.13962148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2892541539998 meters 0.015707260635048476 Centerline is valid? [True, True] Translation: X:922.95, Y:168.40, Z:7.14 [[-3.92960976e-01 -9.19533874e-01 6.25498130e-03 9.22954004e+02] [ 9.19426073e-01 -3.93010695e-01 -1.40815218e-02 1.68399237e+02] [ 1.54067109e-02 2.17504334e-04 9.99881286e-01 7.14426489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.319254154 meters 0.017324536406362213 Centerline is valid? [True, True] Translation: X:922.94, Y:168.42, Z:7.14 [[-3.93390172e-01 -9.19349176e-01 6.42375989e-03 9.22942267e+02] [ 9.19235650e-01 -3.93442554e-01 -1.44491268e-02 1.68423451e+02] [ 1.58111733e-02 2.20804612e-04 9.99874971e-01 7.14203310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.349254154 meters 0.018600311090168936 Centerline is valid? [True, True] Translation: X:922.93, Y:168.45, Z:7.14 [[-3.93995744e-01 -9.19088934e-01 6.54873364e-03 9.22931124e+02] [ 9.18971112e-01 -3.94050103e-01 -1.47177082e-02 1.68448249e+02] [ 1.61074119e-02 2.19382639e-04 9.99870243e-01 7.14209166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.379254154 meters 0.015482240240446633 Centerline is valid? [True, True] Translation: X:922.92, Y:168.47, Z:7.15 [[-3.94756683e-01 -9.18765540e-01 6.08637790e-03 9.22920076e+02] [ 9.18663897e-01 -3.94803551e-01 -1.36674936e-02 1.68473520e+02] [ 1.49601457e-02 1.96001208e-04 9.99888072e-01 7.14614103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4092541539999 meters 0.01484294774063745 Centerline is valid? [True, True] Translation: X:922.91, Y:168.50, Z:7.15 [[-3.96763350e-01 -9.17901515e-01 5.97098849e-03 9.22910567e+02] [ 9.17803748e-01 -3.96808242e-01 -1.33976963e-02 1.68500474e+02] [ 1.46671032e-02 1.64480752e-04 9.99892419e-01 7.14769305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4392541539999 meters 0.014695384595513587 Centerline is valid? [True, True] Translation: X:922.90, Y:168.53, Z:7.15 [[-3.98293431e-01 -9.17238542e-01 5.98335249e-03 9.22900081e+02] [ 9.17140450e-01 -3.98338345e-01 -1.34148431e-02 1.68525096e+02] [ 1.46880098e-02 1.44530715e-04 9.99892115e-01 7.14763938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4692541539998 meters 0.014974156066125231 Centerline is valid? [True, True] Translation: X:922.89, Y:168.55, Z:7.15 [[-4.00080166e-01 -9.16460808e-01 5.95389388e-03 9.22889360e+02] [ 9.16363740e-01 -4.00124448e-01 -1.33387267e-02 1.68551636e+02] [ 1.46067187e-02 1.19372477e-04 9.99893309e-01 7.14763692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4992541539998 meters 0.017530145686336828 Centerline is valid? [True, True] Translation: X:922.88, Y:168.58, Z:7.15 [[-4.03533995e-01 -9.14943206e-01 6.26449129e-03 9.22880076e+02] [ 9.14835727e-01 -4.03582611e-01 -1.40238552e-02 1.68578163e+02] [ 1.53592708e-02 7.18781077e-05 9.99882037e-01 7.14579408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.5292541539998 meters 0.01629626546532731 Centerline is valid? [True, True] Translation: X:922.87, Y:168.60, Z:7.15 [[-4.04954413e-01 -9.14316817e-01 6.05645864e-03 9.22869370e+02] [ 9.14216440e-01 -4.04999697e-01 -1.35478871e-02 1.68603819e+02] [ 1.48399249e-02 5.06373882e-05 9.99889881e-01 7.14692258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.5592541539997 meters 0.01584274431520043 Centerline is valid? [True, True] Translation: X:922.86, Y:168.63, Z:7.15 [[-4.06826156e-01 -9.13485483e-01 6.06223098e-03 9.22859006e+02] [ 9.13384986e-01 -4.06871321e-01 -1.35497546e-02 1.68629370e+02] [ 1.48440521e-02 2.47561522e-05 9.99889821e-01 7.14817529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.589254154 meters 0.017221015266693576 Centerline is valid? [True, True] Translation: X:922.85, Y:168.65, Z:7.15 [[-4.07465190e-01 -9.13198993e-01 6.30228387e-03 9.22847838e+02] [ 9.13090523e-01 -4.07513926e-01 -1.40747272e-02 1.68654943e+02] [ 1.54212951e-02 1.95942746e-05 9.99881085e-01 7.14706903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.619254154 meters 0.016200545077849977 Centerline is valid? [True, True] Translation: X:922.84, Y:168.68, Z:7.15 [[-4.07773824e-01 -9.13060755e-01 6.36913110e-03 9.22836595e+02] [ 9.12950126e-01 -4.07823561e-01 -1.42130466e-02 1.68680376e+02] [ 1.55748568e-02 1.89906848e-05 9.99878704e-01 7.14851891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.649254154 meters 0.0174739625275415 Centerline is valid? [True, True] Translation: X:922.82, Y:168.71, Z:7.15 [[-4.07311175e-01 -9.13262142e-01 7.06166550e-03 9.22824837e+02] [ 9.13126400e-01 -4.07372384e-01 -1.57454288e-02 1.68705162e+02] [ 1.72564315e-02 3.49041126e-05 9.99851096e-01 7.14731368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.6792541539999 meters 0.016734516949709375 Centerline is valid? [True, True] Translation: X:922.81, Y:168.73, Z:7.15 [[-4.06996317e-01 -9.13403750e-01 6.89843415e-03 9.22813177e+02] [ 9.13274445e-01 -4.07054773e-01 -1.53687923e-02 1.68729736e+02] [ 1.68459530e-02 4.51217813e-05 9.99858096e-01 7.14833238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7092541539998 meters 0.014208656064920921 Centerline is valid? [True, True] Translation: X:922.80, Y:168.75, Z:7.15 [[-4.06434424e-01 -9.13657903e-01 6.34789346e-03 9.22801476e+02] [ 9.13548624e-01 -4.06483989e-01 -1.41307653e-02 1.68754184e+02] [ 1.54910024e-02 5.58798922e-05 9.99880006e-01 7.15169337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7392541539998 meters 0.016831562285424404 Centerline is valid? [True, True] Translation: X:922.79, Y:168.78, Z:7.15 [[-4.04948894e-01 -9.14313761e-01 6.83664151e-03 9.22788717e+02] [ 9.14187311e-01 -4.05006590e-01 -1.52060138e-02 1.68778000e+02] [ 1.66719525e-02 9.23124531e-05 9.99861009e-01 7.14961370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7692541539998 meters 0.014385275893210273 Centerline is valid? [True, True] Translation: X:922.78, Y:168.80, Z:7.15 [[-4.03985083e-01 -9.14744961e-01 6.14080011e-03 9.22776239e+02] [ 9.14643151e-01 -4.04031739e-01 -1.36477127e-02 1.68802644e+02] [ 1.49652546e-02 1.03168422e-04 9.99888009e-01 7.15291277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7992541539998 meters 0.016256830992528712 Centerline is valid? [True, True] Translation: X:922.76, Y:168.83, Z:7.15 [[-4.02002869e-01 -9.15614626e-01 6.59923151e-03 9.22762590e+02] [ 9.15497358e-01 -4.02057003e-01 -1.46544752e-02 1.68827350e+02] [ 1.60711191e-02 1.50437942e-04 9.99870840e-01 7.15073339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.829254154 meters 0.016366208941783526 Centerline is valid? [True, True] Translation: X:922.75, Y:168.85, Z:7.15 [[-4.00964022e-01 -9.16068709e-01 6.78036275e-03 9.22750004e+02] [ 9.15945172e-01 -4.01021307e-01 -1.50450439e-02 1.68852533e+02] [ 1.65013639e-02 1.77919209e-04 9.99863827e-01 7.15100888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.859254154 meters 0.016734028387845608 Centerline is valid? [True, True] Translation: X:922.74, Y:168.88, Z:7.15 [[-4.00226440e-01 -9.16389985e-01 6.94215145e-03 9.22737322e+02] [ 9.16260730e-01 -4.00286593e-01 -1.53921850e-02 1.68877534e+02] [ 1.68840944e-02 2.00461333e-04 9.99857433e-01 7.15051459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.889254154 meters 0.015422118892505709 Centerline is valid? [True, True] Translation: X:922.72, Y:168.90, Z:7.15 [[-3.97970479e-01 -9.17373816e-01 6.69181980e-03 9.22723872e+02] [ 9.17254034e-01 -3.98026665e-01 -1.48260537e-02 1.68902116e+02] [ 1.62645561e-02 2.37767031e-04 9.99867695e-01 7.15263960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9192541539999 meters 0.016340220859279723 Centerline is valid? [True, True] Translation: X:922.71, Y:168.93, Z:7.15 [[-3.97362535e-01 -9.17635660e-01 6.91460215e-03 9.22711807e+02] [ 9.17508008e-01 -3.97422606e-01 -1.53077721e-02 1.68927547e+02] [ 1.67949767e-02 2.61467722e-04 9.99858920e-01 7.15168243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9492541539998 meters 0.016127849706447494 Centerline is valid? [True, True] Translation: X:922.70, Y:168.95, Z:7.15 [[-3.96204957e-01 -9.18137305e-01 6.74698824e-03 9.22699373e+02] [ 9.18015996e-01 -3.96262302e-01 -1.49271414e-02 1.68951153e+02] [ 1.63787425e-02 2.79635698e-04 9.99865820e-01 7.15250310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9792541539998 meters 0.015967432094847467 Centerline is valid? [True, True] Translation: X:922.69, Y:168.98, Z:7.15 [[-3.96050497e-01 -9.18200977e-01 7.13929398e-03 9.22688361e+02] [ 9.18065350e-01 -3.96114723e-01 -1.57841665e-02 1.68976626e+02] [ 1.73210165e-02 3.03011456e-04 9.99849934e-01 7.15276862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.0092541539998 meters 0.015967432094847467 Centerline is valid? [True, True] Translation: X:922.68, Y:169.00, Z:7.15 [[-3.96311678e-01 -9.18088242e-01 7.14378340e-03 9.22676912e+02] [ 9.17952633e-01 -3.96375942e-01 -1.57821348e-02 1.69001735e+02] [ 1.73210163e-02 3.03010472e-04 9.99849934e-01 7.15295905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.0392541539998 meters 0.01922799274554946 Centerline is valid? [True, True] Translation: X:922.66, Y:169.02, Z:7.15 [[-3.96320931e-01 -9.18079825e-01 7.69118925e-03 9.22664911e+02] [ 9.17922861e-01 -3.96395415e-01 -1.69793069e-02 1.69024949e+02] [ 1.86371113e-02 3.30663713e-04 9.99826259e-01 7.14914487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.069254154 meters 0.016971549154103517 Centerline is valid? [True, True] Translation: X:922.65, Y:169.05, Z:7.15 [[-3.96240590e-01 -9.18116693e-01 7.42518144e-03 9.22654728e+02] [ 9.17970631e-01 -3.96310020e-01 -1.63795065e-02 1.69050010e+02] [ 1.79809721e-02 3.25873184e-04 9.99838276e-01 7.15189588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.099254154 meters 0.016626926121972543 Centerline is valid? [True, True] Translation: X:922.64, Y:169.07, Z:7.15 [[-3.95983183e-01 -9.18233266e-01 6.70728886e-03 9.22643556e+02] [ 9.18114302e-01 -3.96039867e-01 -1.47835139e-02 1.69073599e+02] [ 1.62310681e-02 3.04034936e-04 9.99868221e-01 7.15309523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.129254154 meters 0.019037152874565148 Centerline is valid? [True, True] Translation: X:922.63, Y:169.10, Z:7.15 [[-3.96065599e-01 -9.18192199e-01 7.42478564e-03 9.22631817e+02] [ 9.18046657e-01 -3.96135041e-01 -1.63513241e-02 1.69099442e+02] [ 1.79548760e-02 3.40102668e-04 9.99838740e-01 7.15036849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1592541539999 meters 0.016116342699304818 Centerline is valid? [True, True] Translation: X:922.62, Y:169.13, Z:7.15 [[-3.95924376e-01 -9.18260549e-01 6.43831513e-03 9.22621974e+02] [ 9.18151280e-01 -3.95976606e-01 -1.41687735e-02 1.69125343e+02] [ 1.55600479e-02 3.01584467e-04 9.99878890e-01 7.15430452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1892541539999 meters 0.017481832109652148 Centerline is valid? [True, True] Translation: X:922.61, Y:169.15, Z:7.15 [[-3.96135161e-01 -9.18168285e-01 6.62838838e-03 9.22611154e+02] [ 9.18052639e-01 -3.96190490e-01 -1.45755943e-02 1.69150887e+02] [ 1.60089528e-02 3.11304078e-04 9.99871800e-01 7.15278201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2192541539998 meters 0.0162755913231578 Centerline is valid? [True, True] Translation: X:922.60, Y:169.18, Z:7.15 [[-3.96056711e-01 -9.18205652e-01 6.12070073e-03 9.22599502e+02] [ 9.18107203e-01 -3.96103894e-01 -1.34487463e-02 1.69175137e+02] [ 1.47731482e-02 2.92993222e-04 9.99890828e-01 7.15485399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2492541539998 meters 0.016484544461376194 Centerline is valid? [True, True] Translation: X:922.59, Y:169.20, Z:7.16 [[-3.95735916e-01 -9.18344506e-01 6.03768722e-03 9.22588060e+02] [ 9.18248878e-01 -3.95781859e-01 -1.32558863e-02 1.69200417e+02] [ 1.45630774e-02 2.98269228e-04 9.99893908e-01 7.15506508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2792541539998 meters 0.017015815409651493 Centerline is valid? [True, True] Translation: X:922.58, Y:169.22, Z:7.15 [[-3.95530623e-01 -9.18433398e-01 5.96824796e-03 9.22575862e+02] [ 9.18340115e-01 -3.95575534e-01 -1.30931753e-02 1.69224142e+02] [ 1.43861024e-02 3.02129727e-04 9.99896469e-01 7.15498990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.3092541539997 meters 0.018303850847099682 Centerline is valid? [True, True] Translation: X:922.56, Y:169.25, Z:7.15 [[-3.94683484e-01 -9.18794136e-01 6.50250381e-03 9.22563491e+02] [ 9.18683635e-01 -3.94736892e-01 -1.42536068e-02 1.69249533e+02] [ 1.56629085e-02 3.48080640e-04 9.99877269e-01 7.15273673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.339254154 meters 0.017418378202652383 Centerline is valid? [True, True] Translation: X:922.55, Y:169.27, Z:7.15 [[-3.94007905e-01 -9.19084276e-01 6.47024894e-03 9.22550985e+02] [ 9.18975050e-01 -3.94060862e-01 -1.41737397e-02 1.69273266e+02] [ 1.55765332e-02 3.61431841e-04 9.99878613e-01 7.15401569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.369254154 meters 0.01909239030295283 Centerline is valid? [True, True] Translation: X:922.54, Y:169.30, Z:7.15 [[-3.93486996e-01 -9.19304028e-01 6.93449922e-03 9.22537855e+02] [ 9.19178772e-01 -3.93547891e-01 -1.51803182e-02 1.69298005e+02] [ 1.66843852e-02 4.00786665e-04 9.99860726e-01 7.15172194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.399254154 meters 0.02144771126564285 Centerline is valid? [True, True] Translation: X:922.52, Y:169.32, Z:7.15 [[-3.92051957e-01 -9.19911409e-01 7.63297599e-03 9.22523432e+02] [ 9.19759961e-01 -3.92125968e-01 -1.66984679e-02 1.69321803e+02] [ 1.83541993e-02 4.73838672e-04 9.99831435e-01 7.14914879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4292541539999 meters 0.021309889320046897 Centerline is valid? [True, True] Translation: X:922.51, Y:169.35, Z:7.15 [[-3.91583712e-01 -9.20110794e-01 7.63696989e-03 9.22511573e+02] [ 9.19959433e-01 -3.91657872e-01 -1.66958994e-02 1.69346968e+02] [ 1.83531566e-02 4.87860248e-04 9.99831448e-01 7.14943017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4592541539998 meters 0.020326136414936746 Centerline is valid? [True, True] Translation: X:922.50, Y:169.37, Z:7.15 [[-3.90586639e-01 -9.20536969e-01 7.33251513e-03 9.22497861e+02] [ 9.20397728e-01 -3.90655150e-01 -1.60179872e-02 1.69370610e+02] [ 1.76096342e-02 4.92418467e-04 9.99844817e-01 7.15098633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4892541539998 meters 0.019169025985407345 Centerline is valid? [True, True] Translation: X:922.49, Y:169.39, Z:7.15 [[-3.90621556e-01 -9.20527041e-01 6.69081551e-03 9.22485395e+02] [ 9.20411290e-01 -3.90678591e-01 -1.46046659e-02 1.69394455e+02] [ 1.60579483e-02 4.53404789e-04 9.99870960e-01 7.15321263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.5192541539998 meters 0.02017124115951244 Centerline is valid? [True, True] Translation: X:922.47, Y:169.42, Z:7.15 [[-3.90812012e-01 -9.20444632e-01 6.90300313e-03 9.22473120e+02] [ 9.20321626e-01 -3.90872690e-01 -1.50547418e-02 1.69417761e+02] [ 1.65552517e-02 4.69409148e-04 9.99862842e-01 7.15235048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.5492541539998 meters 0.019389514937660154 Centerline is valid? [True, True] Translation: X:922.46, Y:169.44, Z:7.15 [[-3.91584164e-01 -9.20120859e-01 6.28065569e-03 9.22461620e+02] [ 9.20019160e-01 -3.91634305e-01 -1.36863649e-02 1.69442220e+02] [ 1.50528301e-02 4.18959807e-04 9.99886612e-01 7.15429087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.579254154 meters 0.02234942969999059 Centerline is valid? [True, True] Translation: X:922.45, Y:169.47, Z:7.15 [[-3.92509284e-01 -9.19720885e-01 7.06784626e-03 9.22450584e+02] [ 9.19592255e-01 -3.92572645e-01 -1.53883893e-02 1.69467155e+02] [ 1.69276661e-02 4.59451027e-04 9.99856611e-01 7.15190783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.609254154 meters 0.01954153672016491 Centerline is valid? [True, True] Translation: X:922.44, Y:169.49, Z:7.15 [[-3.93429919e-01 -9.19332627e-01 6.35764715e-03 9.22439639e+02] [ 9.19228655e-01 -3.93481078e-01 -1.38318604e-02 1.69492691e+02] [ 1.52176944e-02 4.02263709e-04 9.99884123e-01 7.15495790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.639254154 meters 0.01729067362770912 Centerline is valid? [True, True] Translation: X:922.43, Y:169.52, Z:7.16 [[-3.95550986e-01 -9.18425449e-01 5.84062352e-03 9.22430580e+02] [ 9.18337729e-01 -3.95593957e-01 -1.26978813e-02 1.69519353e+02] [ 1.39725727e-02 3.41005457e-04 9.99902321e-01 7.15747347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6692541539999 meters 0.016758562189410502 Centerline is valid? [True, True] Translation: X:922.42, Y:169.55, Z:7.16 [[-3.97181994e-01 -9.17720351e-01 5.98509139e-03 9.22419533e+02] [ 9.17628301e-01 -3.97226950e-01 -1.30019586e-02 1.69545404e+02] [ 1.43096016e-02 3.27945382e-04 9.99897559e-01 7.15745942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6992541539998 meters 0.018156885848004144 Centerline is valid? [True, True] Translation: X:922.41, Y:169.57, Z:7.15 [[-3.98498400e-01 -9.17144986e-01 6.64071005e-03 9.22407841e+02] [ 9.17031766e-01 -3.98553578e-01 -1.44147511e-02 1.69571083e+02] [ 1.58670954e-02 3.45486836e-04 9.99874050e-01 7.15497754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7292541539998 meters 0.01798498210664444 Centerline is valid? [True, True] Translation: X:922.40, Y:169.60, Z:7.15 [[-4.01127341e-01 -9.15995628e-01 6.99035594e-03 9.22395440e+02] [ 9.15870161e-01 -4.01188119e-01 -1.51637924e-02 1.69595402e+02] [ 1.66944153e-02 3.19646685e-04 9.99860587e-01 7.15337699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7592541539998 meters 0.015570243954999992 Centerline is valid? [True, True] Translation: X:922.39, Y:169.62, Z:7.16 [[-4.02476999e-01 -9.15403622e-01 6.96233333e-03 9.22387487e+02] [ 9.15279239e-01 -4.02537104e-01 -1.50928311e-02 1.69622490e+02] [ 1.66186297e-02 2.97961781e-04 9.99861857e-01 7.15551564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7892541539998 meters 0.018069152536332036 Centerline is valid? [True, True] Translation: X:922.38, Y:169.65, Z:7.15 [[-4.04280872e-01 -9.14601129e-01 7.85826620e-03 9.22377025e+02] [ 9.14442783e-01 -4.04357123e-01 -1.70209931e-02 1.69647206e+02] [ 1.87449654e-02 3.04672880e-04 9.99824251e-01 7.15243808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.819254154 meters 0.014857497878643815 Centerline is valid? [True, True] Translation: X:922.37, Y:169.67, Z:7.16 [[-4.06892170e-01 -9.13443666e-01 7.70909832e-03 9.22367528e+02] [ 9.13291293e-01 -4.06965115e-01 -1.66855866e-02 1.69674202e+02] [ 1.83786775e-02 2.51417848e-04 9.99831066e-01 7.15511847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.849254154 meters 0.014461007386200915 Centerline is valid? [True, True] Translation: X:922.36, Y:169.70, Z:7.16 [[-4.08465591e-01 -9.12740648e-01 7.76986678e-03 9.22357536e+02] [ 9.12585967e-01 -4.08539421e-01 -1.68045778e-02 1.69700310e+02] [ 1.85125181e-02 2.26579587e-04 9.99828603e-01 7.15561068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.879254154 meters 0.014362922002053618 Centerline is valid? [True, True] Translation: X:922.35, Y:169.73, Z:7.16 [[-4.11125275e-01 -9.11546593e-01 7.66923282e-03 9.22348233e+02] [ 9.11395917e-01 -4.11196763e-01 -1.65742367e-02 1.69725452e+02] [ 1.82617527e-02 1.75619865e-04 9.99833225e-01 7.15511729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9092541539999 meters 0.016759772629670853 Centerline is valid? [True, True] Translation: X:922.34, Y:169.75, Z:7.15 [[-4.12091053e-01 -9.11105070e-01 8.27747486e-03 9.22337246e+02] [ 9.10929727e-01 -4.12174140e-01 -1.78748529e-02 1.69750876e+02] [ 1.96976302e-02 1.74130960e-04 9.99805968e-01 7.15309177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9392541539999 meters 0.014321176558742111 Centerline is valid? [True, True] Translation: X:922.33, Y:169.77, Z:7.16 [[-4.12393462e-01 -9.10975372e-01 7.45006297e-03 9.22326842e+02] [ 9.10833541e-01 -4.12460721e-01 -1.60752507e-02 1.69774535e+02] [ 1.77170159e-02 1.56438933e-04 9.99843029e-01 7.15575510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9692541539998 meters 0.014605683059068482 Centerline is valid? [True, True] Translation: X:922.32, Y:169.80, Z:7.16 [[-4.12095206e-01 -9.11112150e-01 7.22438396e-03 9.22315695e+02] [ 9.10979017e-01 -4.12158494e-01 -1.55758379e-02 1.69800444e+02] [ 1.71689264e-02 1.62534065e-04 9.99852590e-01 7.15696866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9992541539998 meters 0.014377906062688905 Centerline is valid? [True, True] Translation: X:922.30, Y:169.82, Z:7.16 [[-4.11982532e-01 -9.11164176e-01 7.08789153e-03 9.22303884e+02] [ 9.11036235e-01 -4.12043465e-01 -1.52696259e-02 1.69824362e+02] [ 1.68336555e-02 1.66506887e-04 9.99858290e-01 7.15734827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.0292541539998 meters 0.01586815127475463 Centerline is valid? [True, True] Translation: X:922.29, Y:169.85, Z:7.16 [[-4.11722038e-01 -9.11281675e-01 7.11840566e-03 9.22292196e+02] [ 9.11152868e-01 -4.11783532e-01 -1.53223548e-02 1.69847487e+02] [ 1.68942234e-02 1.77404586e-04 9.99857267e-01 7.15611434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.0592541539997 meters 0.016381901541267594 Centerline is valid? [True, True] Translation: X:922.28, Y:169.87, Z:7.16 [[-4.10802038e-01 -9.11696382e-01 7.16887437e-03 9.22280064e+02] [ 9.11566027e-01 -4.10864535e-01 -1.54179336e-02 1.69871653e+02] [ 1.70019105e-02 2.01183787e-04 9.99855437e-01 7.15584570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.089254154 meters 0.01565190763457097 Centerline is valid? [True, True] Translation: X:922.27, Y:169.90, Z:7.16 [[-4.10252964e-01 -9.11945549e-01 6.91524349e-03 9.22268136e+02] [ 9.11824489e-01 -4.10311189e-01 -1.48603587e-02 1.69896647e+02] [ 1.63892398e-02 2.08982147e-04 9.99865666e-01 7.15677400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.119254154 meters 0.016366835277367334 Centerline is valid? [True, True] Translation: X:922.26, Y:169.92, Z:7.16 [[-4.09509453e-01 -9.12281117e-01 6.72094490e-03 9.22256047e+02] [ 9.12167003e-01 -4.09564542e-01 -1.44306815e-02 1.69919775e+02] [ 1.59174990e-02 2.21123676e-04 9.99873284e-01 7.15674139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.149254154 meters 0.015049601654698706 Centerline is valid? [True, True] Translation: X:922.24, Y:169.95, Z:7.16 [[-4.08766271e-01 -9.12615535e-01 6.55897858e-03 9.22244395e+02] [ 9.12507072e-01 -4.08818823e-01 -1.40717498e-02 1.69945436e+02] [ 1.55235314e-02 2.33057636e-04 9.99879476e-01 7.15926328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.1792541539999 meters 0.015215515498651012 Centerline is valid? [True, True] Translation: X:922.23, Y:169.97, Z:7.16 [[-4.08311398e-01 -9.12819727e-01 6.47668766e-03 9.22231595e+02] [ 9.12714152e-01 -4.08362690e-01 -1.38848867e-02 1.69970301e+02] [ 1.53192361e-02 2.42006988e-04 9.99882624e-01 7.15947347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2092541539998 meters 0.01591955356764756 Centerline is valid? [True, True] Translation: X:922.22, Y:169.99, Z:7.16 [[-4.07869384e-01 -9.13017791e-01 6.40924675e-03 9.22218733e+02] [ 9.12914597e-01 -4.07919661e-01 -1.37291527e-02 1.69992911e+02] [ 1.51494184e-02 2.51393874e-04 9.99885209e-01 7.15933228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2392541539998 meters 0.01564237153282609 Centerline is valid? [True, True] Translation: X:922.21, Y:170.02, Z:7.16 [[-4.07017474e-01 -9.13398821e-01 6.27448685e-03 9.22206935e+02] [ 9.13300125e-01 -4.07065748e-01 -1.34297455e-02 1.70018040e+02] [ 1.48208424e-02 2.64348532e-04 9.99890130e-01 7.16034646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2692541539998 meters 0.01610131318860246 Centerline is valid? [True, True] Translation: X:922.19, Y:170.04, Z:7.16 [[-4.06661883e-01 -9.13556748e-01 6.33884016e-03 9.22194116e+02] [ 9.13456193e-01 -4.06711189e-01 -1.35569967e-02 1.70041750e+02] [ 1.49631631e-02 2.77138991e-04 9.99888007e-01 7.16008910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2992541539998 meters 0.016658283193937425 Centerline is valid? [True, True] Translation: X:922.18, Y:170.07, Z:7.16 [[-4.06639281e-01 -9.13565804e-01 6.48203525e-03 9.22181435e+02] [ 9.13460828e-01 -4.06690839e-01 -1.38519974e-02 1.70065838e+02] [ 1.52908955e-02 2.88319040e-04 9.99883046e-01 7.15920475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.329254154 meters 0.015994655555254284 Centerline is valid? [True, True] Translation: X:922.17, Y:170.09, Z:7.16 [[-4.07022374e-01 -9.13394971e-01 6.51255984e-03 9.22170910e+02] [ 9.13289150e-01 -4.07074371e-01 -1.39062790e-02 1.70091704e+02] [ 1.53530215e-02 2.87683537e-04 9.99882094e-01 7.15977551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.359254154 meters 0.016121030772718797 Centerline is valid? [True, True] Translation: X:922.16, Y:170.12, Z:7.16 [[-4.07723512e-01 -9.13082478e-01 6.47498860e-03 9.22159728e+02] [ 9.12977996e-01 -4.07774828e-01 -1.38155058e-02 1.70117151e+02] [ 1.52550336e-02 2.78615591e-04 9.99883596e-01 7.15943289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.389254154 meters 0.015265362998173397 Centerline is valid? [True, True] Translation: X:922.15, Y:170.14, Z:7.16 [[-4.09047365e-01 -9.12487732e-01 6.81112716e-03 9.22148595e+02] [ 9.12372225e-01 -4.09103976e-01 -1.45209979e-02 1.70142250e+02] [ 1.60366917e-02 2.74507312e-04 9.99871366e-01 7.15982828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4192541539999 meters 0.016877135867019454 Centerline is valid? [True, True] Translation: X:922.14, Y:170.17, Z:7.16 [[-4.10413247e-01 -9.11871515e-01 7.16279895e-03 9.22137150e+02] [ 9.11743880e-01 -4.10475660e-01 -1.52587351e-02 1.70167801e+02] [ 1.68541606e-02 2.68251073e-04 9.99857923e-01 7.15768968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4492541539998 meters 0.015006257421359415 Centerline is valid? [True, True] Translation: X:922.13, Y:170.19, Z:7.16 [[-4.11992599e-01 -9.11158478e-01 7.23362187e-03 9.22127570e+02] [ 9.11028414e-01 -4.12056023e-01 -1.53968193e-02 1.70191856e+02] [ 1.70096000e-02 2.46659437e-04 9.99855296e-01 7.15930491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4792541539998 meters 0.016831008338660396 Centerline is valid? [True, True] Translation: X:922.12, Y:170.22, Z:7.16 [[-4.13435605e-01 -9.10501722e-01 7.59046550e-03 9.22116574e+02] [ 9.10358647e-01 -4.13505211e-01 -1.61423149e-02 1.70216919e+02] [ 1.78363026e-02 2.36238153e-04 9.99840893e-01 7.15725476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.5092541539998 meters 0.014632599626012082 Centerline is valid? [True, True] Translation: X:922.11, Y:170.24, Z:7.16 [[-4.13953045e-01 -9.10267252e-01 7.51036744e-03 9.22105379e+02] [ 9.10127362e-01 -4.14021107e-01 -1.59596078e-02 1.70242942e+02] [ 1.76369590e-02 2.28862668e-04 9.99844431e-01 7.15981012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.5392541539998 meters 0.014440787026002997 Centerline is valid? [True, True] Translation: X:922.09, Y:170.27, Z:7.16 [[-4.15214144e-01 -9.09692918e-01 7.48396384e-03 9.22094429e+02] [ 9.09554123e-01 -4.15281533e-01 -1.58916938e-02 1.70268779e+02] [ 1.75645133e-02 2.08614125e-04 9.99845710e-01 7.16044030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.569254154 meters 0.014382682724625102 Centerline is valid? [True, True] Translation: X:922.08, Y:170.29, Z:7.16 [[-4.15951254e-01 -9.09355185e-01 7.59613171e-03 9.22082843e+02] [ 9.09212358e-01 -4.16020559e-01 -1.61177678e-02 1.70293886e+02] [ 1.78169226e-02 2.02291114e-04 9.99841246e-01 7.16098082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.599254154 meters 0.014774842773338216 Centerline is valid? [True, True] Translation: X:922.07, Y:170.32, Z:7.16 [[-4.16694623e-01 -9.09016106e-01 7.43702346e-03 9.22071302e+02] [ 9.08879355e-01 -4.16760942e-01 -1.57681479e-02 1.70318665e+02] [ 1.74329613e-02 1.88854636e-04 9.99848017e-01 7.16040144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.629254154 meters 0.017427279598834614 Centerline is valid? [True, True] Translation: X:922.06, Y:170.34, Z:7.16 [[-4.17681429e-01 -9.08562065e-01 7.56285945e-03 9.22059305e+02] [ 9.08420790e-01 -4.17749855e-01 -1.60227021e-02 1.70344261e+02] [ 1.77170028e-02 1.77873635e-04 9.99843026e-01 7.15818538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6592541539999 meters 0.015100273648273049 Centerline is valid? [True, True] Translation: X:922.05, Y:170.37, Z:7.16 [[-4.17663635e-01 -9.08571291e-01 7.43624387e-03 9.22047240e+02] [ 9.08434909e-01 -4.17729790e-01 -1.57428701e-02 1.70369885e+02] [ 1.74098604e-02 1.80119195e-04 9.99848421e-01 7.16039086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6892541539999 meters 0.01602618384076563 Centerline is valid? [True, True] Translation: X:922.04, Y:170.39, Z:7.16 [[-4.17824197e-01 -9.08497051e-01 7.48655457e-03 9.22035656e+02] [ 9.08359012e-01 -4.17891223e-01 -1.58376286e-02 1.70394972e+02] [ 1.75170043e-02 1.83134866e-04 9.99846549e-01 7.16028739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7192541539998 meters 0.014766054339257411 Centerline is valid? [True, True] Translation: X:922.02, Y:170.42, Z:7.16 [[-4.17117336e-01 -9.08822075e-01 7.45409747e-03 9.22023270e+02] [ 9.08685470e-01 -4.17183887e-01 -1.57582308e-02 1.70418293e+02] [ 1.74311573e-02 2.00398834e-04 9.99848046e-01 7.16211865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7492541539998 meters 0.01468372247725423 Centerline is valid? [True, True] Translation: X:922.01, Y:170.44, Z:7.16 [[-4.16761027e-01 -9.08985488e-01 7.45850240e-03 9.22011405e+02] [ 9.08848953e-01 -4.16827707e-01 -1.57557301e-02 1.70443272e+02] [ 1.74306405e-02 2.12277845e-04 9.99848052e-01 7.16313852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7792541539998 meters 0.015126387394166177 Centerline is valid? [True, True] Translation: X:922.00, Y:170.47, Z:7.16 [[-4.15288327e-01 -9.09659639e-01 7.41259911e-03 9.21997647e+02] [ 9.09525099e-01 -4.15354405e-01 -1.56464708e-02 1.70467013e+02] [ 1.73118187e-02 2.44148257e-04 9.99850109e-01 7.16309714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.8092541539997 meters 0.01509568711144715 Centerline is valid? [True, True] Translation: X:921.99, Y:170.49, Z:7.16 [[-4.14542055e-01 -9.09998931e-01 7.53861522e-03 9.21985314e+02] [ 9.09860052e-01 -4.14610510e-01 -1.59000268e-02 1.70491692e+02] [ 1.75945964e-02 2.67855060e-04 9.99845167e-01 7.16381214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.839254154 meters 0.016090026379244896 Centerline is valid? [True, True] Translation: X:921.97, Y:170.51, Z:7.16 [[-4.13965227e-01 -9.10261089e-01 7.58557984e-03 9.21972983e+02] [ 9.10120716e-01 -4.14034623e-01 -1.59879170e-02 1.70514593e+02] [ 1.76938714e-02 2.85351647e-04 9.99843410e-01 7.16274835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.869254154 meters 0.015950438742703358 Centerline is valid? [True, True] Translation: X:921.96, Y:170.54, Z:7.16 [[-4.12116591e-01 -9.11098504e-01 7.70917340e-03 9.21959810e+02] [ 9.10953865e-01 -4.12188557e-01 -1.62372783e-02 1.70539433e+02] [ 1.79713930e-02 3.31049524e-04 9.99838447e-01 7.16417299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.899254154 meters 0.016354545207367722 Centerline is valid? [True, True] Translation: X:921.95, Y:170.56, Z:7.16 [[-4.11331671e-01 -9.11453883e-01 7.62068166e-03 9.21946122e+02] [ 9.11312823e-01 -4.11402112e-01 -1.60387520e-02 1.70563145e+02] [ 1.77537473e-02 3.47578264e-04 9.99842329e-01 7.16430899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9292541539999 meters 0.016354545207367722 Centerline is valid? [True, True] Translation: X:921.93, Y:170.59, Z:7.16 [[-4.11620686e-01 -9.11323356e-01 7.62570853e-03 9.21934524e+02] [ 9.11182317e-01 -4.11691170e-01 -1.60363622e-02 1.70587276e+02] [ 1.77537483e-02 3.47512377e-04 9.99842329e-01 7.16449367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9592541539998 meters 0.0180016854052088 Centerline is valid? [True, True] Translation: X:921.92, Y:170.61, Z:7.16 [[-4.11571085e-01 -9.11344928e-01 7.72427650e-03 9.21922057e+02] [ 9.11200462e-01 -4.11643406e-01 -1.62303609e-02 1.70611144e+02] [ 1.79711046e-02 3.58417073e-04 9.99838442e-01 7.16255008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9892541539998 meters 0.016471517810438645 Centerline is valid? [True, True] Translation: X:921.91, Y:170.64, Z:7.17 [[-4.10625773e-01 -9.11774964e-01 7.27246665e-03 9.21909919e+02] [ 9.11647166e-01 -4.10690011e-01 -1.52695800e-02 1.70636555e+02] [ 1.69091502e-02 3.59840492e-04 9.99856965e-01 7.16615261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.0192541539998 meters 0.016390225531851373 Centerline is valid? [True, True] Translation: X:921.90, Y:170.66, Z:7.17 [[-4.10654816e-01 -9.11762527e-01 7.19141886e-03 9.21898184e+02] [ 9.11637746e-01 -4.10717622e-01 -1.50882673e-02 1.70662126e+02] [ 1.67105591e-02 3.59899267e-04 9.99860304e-01 7.16706430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.0492541539998 meters 0.021200629401527782 Centerline is valid? [True, True] Translation: X:921.88, Y:170.69, Z:7.16 [[-4.11598453e-01 -9.11336039e-01 7.30322268e-03 9.21884453e+02] [ 9.11207444e-01 -4.11663091e-01 -1.53131904e-02 1.70685570e+02] [ 1.69619295e-02 3.51865394e-04 9.99856074e-01 7.16232664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.079254154 meters 0.017728085949776894 Centerline is valid? [True, True] Translation: X:921.87, Y:170.71, Z:7.17 [[-4.11594942e-01 -9.11338887e-01 7.14400649e-03 9.21874483e+02] [ 9.11216012e-01 -4.11656789e-01 -1.49688800e-02 1.70710953e+02] [ 1.65826012e-02 3.48617805e-04 9.99862438e-01 7.16616464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.109254154 meters 0.017399851542779243 Centerline is valid? [True, True] Translation: X:921.86, Y:170.74, Z:7.17 [[-4.11934621e-01 -9.11185239e-01 7.16437900e-03 9.21862503e+02] [ 9.11061844e-01 -4.11996770e-01 -1.49992766e-02 1.70735216e+02] [ 1.66188205e-02 3.48471009e-04 9.99861837e-01 7.16701153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.139254154 meters 0.018029413143955723 Centerline is valid? [True, True] Translation: X:921.85, Y:170.76, Z:7.17 [[-4.12265088e-01 -9.11034501e-01 7.32360676e-03 9.21850485e+02] [ 9.10905722e-01 -4.12329980e-01 -1.53216874e-02 1.70758270e+02] [ 1.69783285e-02 3.54518499e-04 9.99855795e-01 7.16610409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1692541539999 meters 0.017486499218148377 Centerline is valid? [True, True] Translation: X:921.84, Y:170.78, Z:7.17 [[-4.12275305e-01 -9.11028945e-01 7.43871281e-03 9.21838822e+02] [ 9.10896284e-01 -4.12342247e-01 -1.55509337e-02 1.70783377e+02] [ 1.72346462e-02 3.64629927e-04 9.99851406e-01 7.16695628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1992541539998 meters 0.016580184903594558 Centerline is valid? [True, True] Translation: X:921.83, Y:170.81, Z:7.17 [[-4.12486355e-01 -9.10929371e-01 7.91757015e-03 9.21826866e+02] [ 9.10779299e-01 -4.12562152e-01 -1.65390125e-02 1.70809100e+02] [ 1.83323621e-02 3.89041991e-04 9.99831872e-01 7.16740790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2292541539998 meters 0.01925270002143209 Centerline is valid? [True, True] Translation: X:921.81, Y:170.83, Z:7.16 [[-4.12935382e-01 -9.10721670e-01 8.39101918e-03 9.21813430e+02] [ 9.10553334e-01 -4.13020427e-01 -1.75143584e-02 1.70832593e+02] [ 1.94163680e-02 4.08172216e-04 9.99811401e-01 7.16360912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2592541539998 meters 0.01764454413493319 Centerline is valid? [True, True] Translation: X:921.80, Y:170.86, Z:7.17 [[-4.13151578e-01 -9.10625050e-01 8.23358569e-03 9.21801737e+02] [ 9.10463215e-01 -4.13233417e-01 -1.71719724e-02 1.70856266e+02] [ 1.90396209e-02 4.01749435e-04 9.99818649e-01 7.16592219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2892541539998 meters 0.018710657866595048 Centerline is valid? [True, True] Translation: X:921.79, Y:170.88, Z:7.17 [[-4.14380500e-01 -9.10066341e-01 8.24966151e-03 9.21792399e+02] [ 9.09904004e-01 -4.14462435e-01 -1.71928389e-02 1.70883526e+02] [ 1.90657988e-02 3.82022841e-04 9.99818158e-01 7.16515472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.319254154 meters 0.016240487824926677 Centerline is valid? [True, True] Translation: X:921.78, Y:170.91, Z:7.17 [[-4.15299087e-01 -9.09653262e-01 7.59021654e-03 9.21781071e+02] [ 9.09515987e-01 -4.15368304e-01 -1.58063436e-02 1.70907088e+02] [ 1.75310274e-02 3.39063209e-04 9.99846262e-01 7.16853825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.349254154 meters 0.015895233661382 Centerline is valid? [True, True] Translation: X:921.77, Y:170.93, Z:7.17 [[-4.16294773e-01 -9.09200681e-01 7.26527345e-03 9.21769832e+02] [ 9.09075036e-01 -4.16358049e-01 -1.51180193e-02 1.70932779e+02] [ 1.67702685e-02 3.11126303e-04 9.99859321e-01 7.16960565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.379254154 meters 0.016913827559771184 Centerline is valid? [True, True] Translation: X:921.76, Y:170.96, Z:7.17 [[-4.18645218e-01 -9.08121526e-01 7.17463156e-03 9.21759413e+02] [ 9.07998989e-01 -4.18706606e-01 -1.49202468e-02 1.70958158e+02] [ 1.65534629e-02 2.68268235e-04 9.99862946e-01 7.16858465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4092541539999 meters 0.015302047072604682 Centerline is valid? [True, True] Translation: X:921.75, Y:170.98, Z:7.17 [[-4.20054373e-01 -9.07471835e-01 7.01376032e-03 9.21748017e+02] [ 9.07354803e-01 -4.20112855e-01 -1.45756840e-02 1.70982724e+02] [ 1.61735936e-02 2.41389306e-04 9.99869170e-01 7.17051710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4392541539999 meters 0.014969292073786439 Centerline is valid? [True, True] Translation: X:921.74, Y:171.01, Z:7.17 [[-4.22585340e-01 -9.06294614e-01 7.19054380e-03 9.21737597e+02] [ 9.06171638e-01 -4.22646460e-01 -1.49309017e-02 1.71007385e+02] [ 1.65708537e-02 2.06286667e-04 9.99862673e-01 7.17044469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4692541539998 meters 0.014505240297471477 Centerline is valid? [True, True] Translation: X:921.73, Y:171.03, Z:7.17 [[-4.23913570e-01 -9.05673579e-01 7.25619071e-03 9.21726849e+02] [ 9.05548449e-01 -4.23975627e-01 -1.50557075e-02 1.71033479e+02] [ 1.67120045e-02 1.88513518e-04 9.99860327e-01 7.17137918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4992541539998 meters 0.014446081333798228 Centerline is valid? [True, True] Translation: X:921.72, Y:171.06, Z:7.17 [[-4.25306260e-01 -9.05019933e-01 7.31480411e-03 9.21715856e+02] [ 9.04892883e-01 -4.25369125e-01 -1.51650308e-02 1.71057496e+02] [ 1.68361469e-02 1.69331669e-04 9.99858248e-01 7.17097933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.5292541539998 meters 0.01424022336238709 Centerline is valid? [True, True] Translation: X:921.70, Y:171.08, Z:7.17 [[-4.28249657e-01 -9.03628882e-01 7.55476690e-03 9.21704912e+02] [ 9.03493377e-01 -4.28316271e-01 -1.56489307e-02 1.71081719e+02] [ 1.73766553e-02 1.24032669e-04 9.99849007e-01 7.16994168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.5592541539997 meters 0.016364996654591096 Centerline is valid? [True, True] Translation: X:921.69, Y:171.11, Z:7.17 [[-4.30157978e-01 -9.02716272e-01 8.21260545e-03 9.21694369e+02] [ 9.02556244e-01 -4.30236357e-01 -1.69971574e-02 1.71106620e+02] [ 1.88769720e-02 1.00875494e-04 9.99821809e-01 7.16820335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.589254154 meters 0.013823987216022154 Centerline is valid? [True, True] Translation: X:921.68, Y:171.13, Z:7.17 [[-4.33296961e-01 -9.01215948e-01 7.97240841e-03 9.21683975e+02] [ 9.01065127e-01 -4.33370297e-01 -1.64870330e-02 1.71131534e+02] [ 1.83133821e-02 3.98779092e-05 9.99832295e-01 7.17055549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.619254154 meters 0.016153869707543615 Centerline is valid? [True, True] Translation: X:921.67, Y:171.16, Z:7.17 [[-4.35466592e-01 -9.00166054e-01 8.36202992e-03 9.21673504e+02] [ 9.00000212e-01 -4.35546870e-01 -1.72783924e-02 1.71155908e+02] [ 1.91954783e-02 1.66603661e-06 9.99815750e-01 7.16720921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.649254154 meters 0.01431552057853652 Centerline is valid? [True, True] Translation: X:921.66, Y:171.18, Z:7.17 [[-4.37016297e-01 -8.99418614e-01 7.93181902e-03 9.21662597e+02] [ 8.99269510e-01 -4.37088271e-01 -1.63765474e-02 1.71180442e+02] [ 1.81962767e-02 -2.39751223e-05 9.99834434e-01 7.17059537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.6792541539999 meters 0.01758589305902384 Centerline is valid? [True, True] Translation: X:921.65, Y:171.21, Z:7.17 [[-4.38922853e-01 -8.98483963e-01 8.56135353e-03 9.21651711e+02] [ 8.98310333e-01 -4.39006337e-01 -1.76630064e-02 1.71205945e+02] [ 1.96284164e-02 -6.19448307e-05 9.99807342e-01 7.16879012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7092541539998 meters 0.015056437888091535 Centerline is valid? [True, True] Translation: X:921.64, Y:171.23, Z:7.17 [[-4.41109088e-01 -8.97421193e-01 7.61414614e-03 9.21639858e+02] [ 8.97283891e-01 -4.41174788e-01 -1.56979202e-02 1.71231629e+02] [ 1.74468156e-02 -9.24445901e-05 9.99847788e-01 7.17301469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7392541539998 meters 0.01392989235169384 Centerline is valid? [True, True] Translation: X:921.63, Y:171.26, Z:7.17 [[-4.41586183e-01 -8.97190588e-01 7.11980788e-03 9.21627830e+02] [ 8.97070678e-01 -4.41643567e-01 -1.46682624e-02 1.71256436e+02] [ 1.63046444e-02 -9.03311473e-05 9.99867066e-01 7.17442567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7692541539998 meters 0.01648881732471389 Centerline is valid? [True, True] Translation: X:921.62, Y:171.28, Z:7.17 [[-4.42483437e-01 -8.96744666e-01 7.57703863e-03 9.21615454e+02] [ 8.96608998e-01 -4.42548293e-01 -1.55984647e-02 1.71281154e+02] [ 1.73410455e-02 -1.08421255e-04 9.99849627e-01 7.17307940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7992541539998 meters 0.01692470674568124 Centerline is valid? [True, True] Translation: X:921.60, Y:171.30, Z:7.17 [[-4.42414440e-01 -8.96780315e-01 7.38438800e-03 9.21602901e+02] [ 8.96651658e-01 -4.42476052e-01 -1.51904049e-02 1.71304713e+02] [ 1.68898709e-02 -9.92307204e-05 9.99857351e-01 7.17240313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.829254154 meters 0.01380891460370321 Centerline is valid? [True, True] Translation: X:921.59, Y:171.33, Z:7.18 [[-4.41530908e-01 -8.97220156e-01 6.81530435e-03 9.21589563e+02] [ 8.97110785e-01 -4.41583498e-01 -1.40090868e-02 1.71328795e+02] [ 1.55787610e-02 -7.13617959e-05 9.99878641e-01 7.17557691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.859254154 meters 0.013682865797652252 Centerline is valid? [True, True] Translation: X:921.58, Y:171.35, Z:7.18 [[-4.39709666e-01 -8.98111035e-01 7.20961972e-03 9.21575817e+02] [ 8.97988957e-01 -4.39768766e-01 -1.48076036e-02 1.71351932e+02] [ 1.64694378e-02 -3.68875505e-05 9.99864369e-01 7.17539646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.889254154 meters 0.013703656869669968 Centerline is valid? [True, True] Translation: X:921.56, Y:171.38, Z:7.18 [[-4.38668942e-01 -8.98618042e-01 7.42796669e-03 9.21562228e+02] [ 8.98488738e-01 -4.38731826e-01 -1.52437816e-02 1.71376018e+02] [ 1.69572226e-02 -1.30291485e-05 9.99856216e-01 7.17566850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9192541539999 meters 0.0158358850462463 Centerline is valid? [True, True] Translation: X:921.55, Y:171.40, Z:7.17 [[-4.37417264e-01 -8.99221889e-01 8.13215293e-03 9.21548350e+02] [ 8.99067251e-01 -4.37492851e-01 -1.66758309e-02 1.71400895e+02] [ 1.85530309e-02 1.70560713e-05 9.99827878e-01 7.17370397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9492541539998 meters 0.014016638246941923 Centerline is valid? [True, True] Translation: X:921.53, Y:171.42, Z:7.17 [[-4.33321683e-01 -9.01203373e-01 8.04981604e-03 9.21531301e+02] [ 9.01052418e-01 -4.33396435e-01 -1.64945795e-02 1.71423175e+02] [ 1.83537322e-02 1.05847265e-04 9.99831550e-01 7.17424672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9792541539998 meters 0.014203381966627338 Centerline is valid? [True, True] Translation: X:921.52, Y:171.45, Z:7.17 [[-4.30993541e-01 -9.02317288e-01 8.25105088e-03 9.21516699e+02] [ 9.02159130e-01 -4.31072484e-01 -1.68943234e-02 1.71447372e+02] [ 1.88008410e-02 1.62416628e-04 9.99823235e-01 7.17491303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.0092541539998 meters 0.014834172663111546 Centerline is valid? [True, True] Translation: X:921.50, Y:171.47, Z:7.17 [[-4.26267981e-01 -9.04559350e-01 8.24568038e-03 9.21499113e+02] [ 9.04402042e-01 -4.26347643e-01 -1.68710766e-02 1.71470490e+02] [ 1.87764164e-02 2.65810427e-04 9.99823672e-01 7.17496692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.0392541539998 meters 0.016639086074718333 Centerline is valid? [True, True] Translation: X:921.48, Y:171.49, Z:7.17 [[-4.24620585e-01 -9.05331024e-01 8.54962563e-03 9.21484520e+02] [ 9.05162312e-01 -4.24706531e-01 -1.74800203e-02 1.71494772e+02] [ 1.94562865e-02 3.16422478e-04 9.99810658e-01 7.17366839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.069254154 meters 0.015754150673091414 Centerline is valid? [True, True] Translation: X:921.47, Y:171.52, Z:7.18 [[-4.22405381e-01 -9.06372609e-01 7.89865044e-03 9.21469906e+02] [ 9.06229008e-01 -4.22479086e-01 -1.61371650e-02 1.71518382e+02] [ 1.79632989e-02 3.41560827e-04 9.99838589e-01 7.17620598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.099254154 meters 0.017066342156032217 Centerline is valid? [True, True] Translation: X:921.45, Y:171.54, Z:7.18 [[-4.20343934e-01 -9.07334290e-01 7.44740559e-03 9.21453839e+02] [ 9.07206973e-01 -4.20409745e-01 -1.52037736e-02 1.71541055e+02] [ 1.69258670e-02 3.65524286e-04 9.99856680e-01 7.17653500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.129254154 meters 0.01907225475992045 Centerline is valid? [True, True] Translation: X:921.44, Y:171.56, Z:7.18 [[-4.20229419e-01 -9.07386251e-01 7.57805973e-03 9.21440236e+02] [ 9.07254648e-01 -4.20297570e-01 -1.54582214e-02 1.71564807e+02] [ 1.72116177e-02 3.79230498e-04 9.99851797e-01 7.17500546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1592541539999 meters 0.017961486913641838 Centerline is valid? [True, True] Translation: X:921.43, Y:171.59, Z:7.18 [[-4.19932307e-01 -9.07528121e-01 7.04046413e-03 9.21426860e+02] [ 9.07414716e-01 -4.19991166e-01 -1.43510992e-02 1.71589438e+02] [ 1.59809588e-02 3.62130581e-04 9.99872231e-01 7.17692124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1892541539999 meters 0.02019519515435484 Centerline is valid? [True, True] Translation: X:921.41, Y:171.61, Z:7.18 [[-4.20390932e-01 -9.07312430e-01 7.45772109e-03 9.21413474e+02] [ 9.07185326e-01 -4.20456906e-01 -1.51912389e-02 1.71611933e+02] [ 1.69188502e-02 3.79276050e-04 9.99856794e-01 7.17567312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2192541539998 meters 0.017009390853384664 Centerline is valid? [True, True] Translation: X:921.40, Y:171.64, Z:7.18 [[-4.20176190e-01 -9.07417308e-01 6.76745779e-03 9.21398323e+02] [ 9.07312797e-01 -4.20230538e-01 -1.37761932e-02 1.71636216e+02] [ 1.53446486e-02 3.51772689e-04 9.99882202e-01 7.17934754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2492541539998 meters 0.01736309175844949 Centerline is valid? [True, True] Translation: X:921.38, Y:171.66, Z:7.18 [[-4.20447725e-01 -9.07290189e-01 6.94433925e-03 9.21384758e+02] [ 9.07180304e-01 -4.20504914e-01 -1.41249422e-02 1.71658329e+02] [ 1.57355503e-02 3.60967968e-04 9.99876123e-01 7.17856656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2792541539998 meters 0.018493065102569445 Centerline is valid? [True, True] Translation: X:921.37, Y:171.68, Z:7.18 [[-4.21109792e-01 -9.06975780e-01 7.84079910e-03 9.21372133e+02] [ 9.06835866e-01 -4.21182592e-01 -1.59354022e-02 1.71683292e+02] [ 1.77554319e-02 3.99763946e-04 9.99842280e-01 7.17603071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.3092541539997 meters 0.018712192454795374 Centerline is valid? [True, True] Translation: X:921.36, Y:171.71, Z:7.17 [[-4.21450100e-01 -9.06811041e-01 8.57607789e-03 9.21358289e+02] [ 9.06643873e-01 -4.21537124e-01 -1.74166939e-02 1.71707710e+02] [ 1.94087856e-02 4.35181071e-04 9.99811537e-01 7.17491718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.339254154 meters 0.016780399015852532 Centerline is valid? [True, True] Translation: X:921.35, Y:171.73, Z:7.18 [[-4.21502856e-01 -9.06787059e-01 8.51890169e-03 9.21345058e+02] [ 9.06622359e-01 -4.21588708e-01 -1.72875625e-02 1.71731335e+02] [ 1.92676107e-02 4.36669778e-04 9.99814267e-01 7.17681473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.369254154 meters 0.016021122200468797 Centerline is valid? [True, True] Translation: X:921.33, Y:171.76, Z:7.18 [[-4.23263795e-01 -9.05963153e-01 8.86144300e-03 9.21333409e+02] [ 9.05785032e-01 -4.23356337e-01 -1.79690829e-02 1.71756484e+02] [ 2.00308751e-02 4.20900211e-04 9.99799273e-01 7.17731422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.399254154 meters 0.01580588787348857 Centerline is valid? [True, True] Translation: X:921.32, Y:171.78, Z:7.18 [[-4.24691741e-01 -9.05293421e-01 8.98588428e-03 9.21321452e+02] [ 9.05110384e-01 -4.24786606e-01 -1.82080183e-02 1.71781465e+02] [ 2.03006825e-02 4.00422163e-04 9.99793840e-01 7.17768186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4292541539999 meters 0.015435550392018825 Centerline is valid? [True, True] Translation: X:921.31, Y:171.81, Z:7.18 [[-4.26661860e-01 -9.04367303e-01 8.91288734e-03 9.21309431e+02] [ 9.04187283e-01 -4.26754793e-01 -1.80472800e-02 1.71807092e+02] [ 2.01249874e-02 3.58833331e-04 9.99797408e-01 7.17811736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4592541539998 meters 0.014873971157468751 Centerline is valid? [True, True] Translation: X:921.30, Y:171.83, Z:7.18 [[-4.28663353e-01 -9.03422169e-01 8.72433511e-03 9.21298293e+02] [ 9.03249736e-01 -4.28752010e-01 -1.76529872e-02 1.71833058e+02] [ 1.96886762e-02 3.13064719e-04 9.99806110e-01 7.17921822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4892541539998 meters 0.01772614463878268 Centerline is valid? [True, True] Translation: X:921.29, Y:171.86, Z:7.18 [[-4.33797523e-01 -9.00966317e-01 8.91091582e-03 9.21287820e+02] [ 9.00786109e-01 -4.33888986e-01 -1.80203662e-02 1.71858763e+02] [ 2.01020912e-02 2.09638967e-04 9.99797911e-01 7.17686860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.5192541539998 meters 0.014876965909617417 Centerline is valid? [True, True] Translation: X:921.28, Y:171.88, Z:7.18 [[-4.35966427e-01 -8.99925971e-01 8.15610294e-03 9.21276398e+02] [ 8.99775005e-01 -4.36042686e-01 -1.64837885e-02 1.71883703e+02] [ 1.83905984e-02 1.52279188e-04 9.99830867e-01 7.17911995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.5492541539998 meters 0.01353066242184162 Centerline is valid? [True, True] Translation: X:921.27, Y:171.91, Z:7.18 [[-4.40133043e-01 -8.97898826e-01 7.78478406e-03 9.21266528e+02] [ 8.97761169e-01 -4.40201878e-01 -1.57222769e-02 1.71910022e+02] [ 1.75438905e-02 6.89832744e-05 9.99846092e-01 7.18145890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.579254154 meters 0.01341748041465934 Centerline is valid? [True, True] Translation: X:921.25, Y:171.94, Z:7.18 [[-4.41906730e-01 -8.97027784e-01 7.71993706e-03 9.21254866e+02] [ 8.96892471e-01 -4.41974155e-01 -1.55801750e-02 1.71935399e+02] [ 1.73878625e-02 3.89692547e-05 9.99848819e-01 7.18223092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.609254154 meters 0.01483906301257449 Centerline is valid? [True, True] Translation: X:921.24, Y:171.96, Z:7.18 [[-4.44104917e-01 -8.95939817e-01 7.91623513e-03 9.21242913e+02] [ 8.95797569e-01 -4.44175465e-01 -1.59646757e-02 1.71960446e+02] [ 1.78195861e-02 1.35322283e-06 9.99841219e-01 7.18116226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.639254154 meters 0.016903967879485515 Centerline is valid? [True, True] Translation: X:921.23, Y:171.98, Z:7.18 [[-4.46276798e-01 -8.94856500e-01 8.29843257e-03 9.21231046e+02] [ 8.94700234e-01 -4.46353944e-01 -1.67227066e-02 1.71984710e+02] [ 1.86684608e-02 -3.83464030e-05 9.99825728e-01 7.17983230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6692541539999 meters 0.01344840286356574 Centerline is valid? [True, True] Translation: X:921.22, Y:172.01, Z:7.18 [[-4.45985860e-01 -8.95004983e-01 7.91785794e-03 9.21217805e+02] [ 8.94862950e-01 -4.46056139e-01 -1.59443031e-02 1.72009182e+02] [ 1.78020399e-02 -2.55360267e-05 9.99841531e-01 7.18314861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6992541539998 meters 0.013406750733042429 Centerline is valid? [True, True] Translation: X:921.20, Y:172.03, Z:7.18 [[-4.46076074e-01 -8.94960525e-01 7.86097459e-03 9.21204120e+02] [ 8.94820718e-01 -4.46145333e-01 -1.58185190e-02 1.72033809e+02] [ 1.76640872e-02 -2.20999169e-05 9.99843978e-01 7.18348644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7292541539998 meters 0.013386873286685329 Centerline is valid? [True, True] Translation: X:921.19, Y:172.06, Z:7.18 [[-4.45210526e-01 -8.95390611e-01 7.95242911e-03 9.21189100e+02] [ 8.95247805e-01 -4.45281544e-01 -1.59910672e-02 1.72057512e+02] [ 1.78593213e-02 3.27495763e-09 9.99840510e-01 7.18413895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7592541539998 meters 0.013310373949737388 Centerline is valid? [True, True] Translation: X:921.17, Y:172.08, Z:7.18 [[-4.44565379e-01 -8.95712174e-01 7.83105926e-03 9.21174904e+02] [ 8.95573941e-01 -4.44634345e-01 -1.57357828e-02 1.72081867e+02] [ 1.75766901e-02 1.77083838e-05 9.99845518e-01 7.18425903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7892541539998 meters 0.015533569428663447 Centerline is valid? [True, True] Translation: X:921.16, Y:172.10, Z:7.18 [[-4.43830942e-01 -8.96072150e-01 8.29438217e-03 9.21159119e+02] [ 8.95917373e-01 -4.43908437e-01 -1.66541628e-02 1.72104573e+02] [ 1.86052777e-02 3.94483237e-05 9.99826906e-01 7.18156906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.8192541539997 meters 0.015533569428663447 Centerline is valid? [True, True] Translation: X:921.15, Y:172.13, Z:7.18 [[-4.44084441e-01 -8.95946501e-01 8.29921113e-03 9.21146747e+02] [ 8.95791747e-01 -4.44161981e-01 -1.66517566e-02 1.72129226e+02] [ 1.86052771e-02 3.95788236e-05 9.99826906e-01 7.18175941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.849254154 meters 0.016661224598441417 Centerline is valid? [True, True] Translation: X:921.13, Y:172.15, Z:7.18 [[-4.43794179e-01 -8.96086269e-01 8.72503604e-03 9.21132644e+02] [ 8.95915501e-01 -4.43879935e-01 -1.74933731e-02 1.72153382e+02] [ 1.95484398e-02 5.34379144e-05 9.99808910e-01 7.18151188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.879254154 meters 0.013527305310450545 Centerline is valid? [True, True] Translation: X:921.12, Y:172.18, Z:7.18 [[-4.42299556e-01 -8.96827345e-01 8.47447431e-03 9.21118515e+02] [ 8.96666610e-01 -4.42380725e-01 -1.69789358e-02 1.72177263e+02] [ 1.89761180e-02 8.90024068e-05 9.99819933e-01 7.18414343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9092541539999 meters 0.01352427599737409 Centerline is valid? [True, True] Translation: X:921.10, Y:172.20, Z:7.18 [[-4.40998998e-01 -8.97466317e-01 8.60776146e-03 9.21102778e+02] [ 8.97300851e-01 -4.41082979e-01 -1.72333690e-02 1.72201106e+02] [ 1.92631052e-02 1.23853237e-04 9.99814442e-01 7.18459098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9392541539999 meters 0.016100753435890767 Centerline is valid? [True, True] Translation: X:921.09, Y:172.22, Z:7.18 [[-4.41249884e-01 -8.97338159e-01 9.09771637e-03 9.21088654e+02] [ 8.97153577e-01 -4.41343643e-01 -1.82002122e-02 1.72224781e+02] [ 2.03469642e-02 1.31207277e-04 9.99792970e-01 7.18176800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9692541539998 meters 0.013672523909910493 Centerline is valid? [True, True] Translation: X:921.07, Y:172.25, Z:7.18 [[-4.39962047e-01 -8.97974251e-01 8.69717096e-03 9.21074526e+02] [ 8.97805939e-01 -4.40047973e-01 -1.73861213e-02 1.72249563e+02] [ 1.94394617e-02 1.59138203e-04 9.99811023e-01 7.18434417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9992541539998 meters 0.015961744466902492 Centerline is valid? [True, True] Translation: X:921.06, Y:172.27, Z:7.18 [[-4.39088989e-01 -8.98395496e-01 9.29470292e-03 9.21059131e+02] [ 8.98203573e-01 -4.39187311e-01 -1.85700666e-02 1.72273078e+02] [ 2.07653798e-02 1.94623612e-04 9.99784357e-01 7.18219269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.0292541539998 meters 0.014101456774835203 Centerline is valid? [True, True] Translation: X:921.04, Y:172.30, Z:7.18 [[-4.36606046e-01 -8.99607156e-01 9.06234646e-03 9.21043513e+02] [ 8.99425191e-01 -4.36700014e-01 -1.80948301e-02 1.72296791e+02] [ 2.02357654e-02 2.50590496e-04 9.99795205e-01 7.18421651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.0592541539997 meters 0.01771713713027541 Centerline is valid? [True, True] Translation: X:921.03, Y:172.32, Z:7.18 [[-4.36859395e-01 -8.99478915e-01 9.56822423e-03 9.21029612e+02] [ 8.99276278e-01 -4.36964086e-01 -1.90935517e-02 1.72320571e+02] [ 2.13552175e-02 2.63279624e-04 9.99771917e-01 7.18082143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.089254154 meters 0.016533935543543574 Centerline is valid? [True, True] Translation: X:921.02, Y:172.35, Z:7.18 [[-4.36127342e-01 -8.99835785e-01 9.40751355e-03 9.21016112e+02] [ 8.99640240e-01 -4.36228702e-01 -1.87605411e-02 1.72345470e+02] [ 2.09852336e-02 2.81392837e-04 9.99779746e-01 7.18237188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.119254154 meters 0.01466363213491981 Centerline is valid? [True, True] Translation: X:921.00, Y:172.37, Z:7.19 [[-4.35059526e-01 -9.00357328e-01 8.93823146e-03 9.21002395e+02] [ 9.00181167e-01 -4.35151232e-01 -1.78121031e-02 1.72369820e+02] [ 1.99267400e-02 2.96702515e-04 9.99801399e-01 7.18510927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.149254154 meters 0.016276076239268574 Centerline is valid? [True, True] Translation: X:920.99, Y:172.39, Z:7.18 [[-4.34709821e-01 -9.00528017e-01 8.75572911e-03 9.20988084e+02] [ 9.00359263e-01 -4.34797883e-01 -1.74355500e-02 1.72392633e+02] [ 1.95081738e-02 3.03896970e-04 9.99809651e-01 7.18422995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.1792541539999 meters 0.015114315994382663 Centerline is valid? [True, True] Translation: X:920.97, Y:172.42, Z:7.19 [[-4.33871017e-01 -9.00934401e-01 8.55253204e-03 9.20974457e+02] [ 9.00773703e-01 -4.33955186e-01 -1.70186099e-02 1.72417193e+02] [ 1.90440668e-02 3.20014345e-04 9.99818594e-01 7.18658662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2092541539998 meters 0.017139734496962673 Centerline is valid? [True, True] Translation: X:920.96, Y:172.44, Z:7.19 [[-4.33378995e-01 -9.01168324e-01 8.84863197e-03 9.20960180e+02] [ 9.00996600e-01 -4.33469181e-01 -1.75953562e-02 1.72441359e+02] [ 1.96919869e-02 3.47129537e-04 9.99806034e-01 7.18505469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2392541539998 meters 0.016993434015078312 Centerline is valid? [True, True] Translation: X:920.95, Y:172.47, Z:7.19 [[-4.32576975e-01 -9.01554557e-01 8.74883119e-03 9.20946620e+02] [ 9.01387004e-01 -4.32665283e-01 -1.73845095e-02 1.72465653e+02] [ 1.94583992e-02 3.65944233e-04 9.99810600e-01 7.18560360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2692541539998 meters 0.019115007810187917 Centerline is valid? [True, True] Translation: X:920.93, Y:172.49, Z:7.18 [[-4.32287146e-01 -9.01691189e-01 8.99016862e-03 9.20932138e+02] [ 9.01514538e-01 -4.32380445e-01 -1.78518745e-02 1.72489129e+02] [ 1.99840511e-02 3.87631833e-04 9.99800224e-01 7.18361807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2992541539998 meters 0.019356031213547387 Centerline is valid? [True, True] Translation: X:920.92, Y:172.51, Z:7.18 [[-4.30321938e-01 -9.02628567e-01 9.20327707e-03 9.20917882e+02] [ 9.02443914e-01 -4.30420110e-01 -1.82622829e-02 1.72513700e+02] [ 2.04453338e-02 4.46780391e-04 9.99790872e-01 7.18444175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.329254154 meters 0.017904102687264792 Centerline is valid? [True, True] Translation: X:920.90, Y:172.54, Z:7.19 [[-4.27737690e-01 -9.03859230e-01 8.88594972e-03 9.20902472e+02] [ 9.03687611e-01 -4.27829695e-01 -1.76196771e-02 1.72536371e+02] [ 1.97273809e-02 4.93522707e-04 9.99805274e-01 7.18660545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.359254154 meters 0.01848071803937152 Centerline is valid? [True, True] Translation: X:920.89, Y:172.56, Z:7.19 [[-4.27289944e-01 -9.04066533e-01 9.32781241e-03 9.20890442e+02] [ 9.03877752e-01 -4.27391412e-01 -1.84821735e-02 1.72561280e+02] [ 2.06957414e-02 5.33955223e-04 9.99785678e-01 7.18560530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.389254154 meters 0.021611575960825434 Centerline is valid? [True, True] Translation: X:920.88, Y:172.59, Z:7.18 [[-4.27461439e-01 -9.03976700e-01 1.01412075e-02 9.20877499e+02] [ 9.03753862e-01 -4.27581322e-01 -2.00791048e-02 1.72586044e+02] [ 2.24872338e-02 5.82112374e-04 9.99746961e-01 7.18326903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4192541539999 meters 0.021147347844916727 Centerline is valid? [True, True] Translation: X:920.86, Y:172.61, Z:7.18 [[-4.27040613e-01 -9.04177856e-01 9.93581304e-03 9.20862348e+02] [ 9.03964327e-01 -4.27155780e-01 -1.96579368e-02 1.72608693e+02] [ 2.20184111e-02 5.86883168e-04 9.99757393e-01 7.18318493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4492541539998 meters 0.020599489395820333 Centerline is valid? [True, True] Translation: X:920.85, Y:172.64, Z:7.18 [[-4.27848175e-01 -9.03793457e-01 1.01649422e-02 9.20854046e+02] [ 9.03570189e-01 -4.27968507e-01 -2.00965233e-02 1.72636240e+02] [ 2.25133814e-02 5.86477902e-04 9.99746370e-01 7.18454343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4792541539998 meters 0.020014918621113983 Centerline is valid? [True, True] Translation: X:920.84, Y:172.66, Z:7.19 [[-4.28589774e-01 -9.03442924e-01 1.00840657e-02 9.20842561e+02] [ 9.03223417e-01 -4.28708010e-01 -1.99223539e-02 1.72662015e+02] [ 2.23218294e-02 5.69647084e-04 9.99750675e-01 7.18536271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.5092541539998 meters 0.01676668277827108 Centerline is valid? [True, True] Translation: X:920.83, Y:172.69, Z:7.19 [[-4.30406604e-01 -9.02586724e-01 9.34674962e-03 9.20832329e+02] [ 9.02398210e-01 -4.30507798e-01 -1.84528203e-02 1.72688591e+02] [ 2.06791192e-02 4.92274428e-04 9.99786043e-01 7.18867250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.5392541539998 meters 0.017100606392057214 Centerline is valid? [True, True] Translation: X:920.82, Y:172.71, Z:7.19 [[-4.32201210e-01 -9.01726873e-01 9.52682299e-03 9.20819987e+02] [ 9.01531098e-01 -4.32305944e-01 -1.87949205e-02 1.72713231e+02] [ 2.10663871e-02 4.65539803e-04 9.99777971e-01 7.18767074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.5692541539997 meters 0.015172731217767193 Centerline is valid? [True, True] Translation: X:920.81, Y:172.74, Z:7.19 [[-4.35954837e-01 -8.99917341e-01 9.59998971e-03 9.20813369e+02] [ 8.99718376e-01 -4.36060352e-01 -1.89264951e-02 1.72742163e+02] [ 2.12184561e-02 3.86190042e-04 9.99774789e-01 7.18937875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.599254154 meters 0.016345561012460628 Centerline is valid? [True, True] Translation: X:920.80, Y:172.77, Z:7.19 [[-4.38692038e-01 -8.98583314e-01 9.86529622e-03 9.20803181e+02] [ 8.98373104e-01 -4.38802821e-01 -1.94383700e-02 1.72767350e+02] [ 2.17959147e-02 3.35258637e-04 9.99762385e-01 7.18780715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.629254154 meters 0.017064669887244036 Centerline is valid? [True, True] Translation: X:920.79, Y:172.79, Z:7.19 [[-4.41575357e-01 -8.97169454e-01 9.90833246e-03 9.20794258e+02] [ 8.96957326e-01 -4.41686423e-01 -1.95104921e-02 1.72794534e+02] [ 2.18805935e-02 2.71998883e-04 9.99760554e-01 7.18856582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6592541539999 meters 0.016425747768426542 Centerline is valid? [True, True] Translation: X:920.79, Y:172.82, Z:7.19 [[-4.46742458e-01 -8.94609294e-01 9.76664372e-03 9.20786581e+02] [ 8.94402862e-01 -4.46849179e-01 -1.92180134e-02 1.72822447e+02] [ 2.15568302e-02 1.49811534e-04 9.99767613e-01 7.19005029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6892541539999 meters 0.013418721337886734 Centerline is valid? [True, True] Translation: X:920.78, Y:172.85, Z:7.19 [[-4.48794836e-01 -8.93589754e-01 8.97481897e-03 9.20775831e+02] [ 8.93415470e-01 -4.48884554e-01 -1.76480741e-02 1.72848954e+02] [ 1.97987958e-02 9.78775854e-05 9.99803980e-01 7.19281641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7192541539998 meters 0.01817786574124425 Centerline is valid? [True, True] Translation: X:920.77, Y:172.87, Z:7.19 [[-4.52086106e-01 -8.91920427e-01 9.80327280e-03 9.20765763e+02] [ 8.91712402e-01 -4.52192382e-01 -1.92624507e-02 1.72874396e+02] [ 2.16135386e-02 3.34135862e-05 9.99766400e-01 7.18916023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7492541539998 meters 0.016875659308828585 Centerline is valid? [True, True] Translation: X:920.76, Y:172.90, Z:7.19 [[-4.57390670e-01 -8.89214871e-01 9.52301494e-03 9.20758041e+02] [ 8.89018263e-01 -4.57489788e-01 -1.86981850e-02 1.72902360e+02] [ 2.09833862e-02 -8.62411487e-05 9.99779821e-01 7.19034107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7792541539998 meters 0.01365110357104464 Centerline is valid? [True, True] Translation: X:920.75, Y:172.93, Z:7.19 [[-4.59557909e-01 -8.88101082e-01 9.11025296e-03 9.20748005e+02] [ 8.87921184e-01 -4.59648184e-01 -1.78750732e-02 1.72928609e+02] [ 2.00623831e-02 -1.25444700e-04 9.99798722e-01 7.19354463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.8092541539997 meters 0.014750403591053582 Centerline is valid? [True, True] Translation: X:920.74, Y:172.96, Z:7.19 [[-4.62508623e-01 -8.86565412e-01 9.35646733e-03 9.20737722e+02] [ 8.86375607e-01 -4.62603214e-01 -1.83453137e-02 1.72955305e+02] [ 2.05926525e-02 -1.91521391e-04 9.99787931e-01 7.19267267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.839254154 meters 0.01613649930444033 Centerline is valid? [True, True] Translation: X:920.73, Y:172.98, Z:7.19 [[-4.68111617e-01 -8.83617515e-01 9.57082230e-03 9.20730508e+02] [ 8.83418496e-01 -4.68209335e-01 -1.87557862e-02 1.72982258e+02] [ 2.10540895e-02 -3.24759963e-04 9.99778285e-01 7.19178322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.869254154 meters 0.01538329234451546 Centerline is valid? [True, True] Translation: X:920.72, Y:173.01, Z:7.19 [[-4.70812598e-01 -8.82184304e-01 9.29253606e-03 9.20719592e+02] [ 8.81996629e-01 -4.70904146e-01 -1.81997669e-02 1.73008609e+02] [ 2.04314424e-02 -3.72694043e-04 9.99791187e-01 7.19329069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.899254154 meters 0.01825244302891621 Centerline is valid? [True, True] Translation: X:920.71, Y:173.04, Z:7.19 [[-4.77034649e-01 -8.78834661e-01 9.35850595e-03 9.20713543e+02] [ 8.78643936e-01 -4.77126161e-01 -1.83155852e-02 1.73035824e+02] [ 2.05615592e-02 -5.14374278e-04 9.99788456e-01 7.19239465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9292541539999 meters 0.01876383286612432 Centerline is valid? [True, True] Translation: X:920.70, Y:173.06, Z:7.19 [[-4.80037495e-01 -8.77196888e-01 9.46696839e-03 9.20703178e+02] [ 8.77001674e-01 -4.80130480e-01 -1.85144954e-02 1.73061767e+02] [ 2.07862378e-02 -5.85104870e-04 9.99783772e-01 7.19293153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9592541539998 meters 0.01880006622877331 Centerline is valid? [True, True] Translation: X:920.69, Y:173.09, Z:7.19 [[-4.82562810e-01 -8.75812440e-01 9.25768082e-03 9.20692968e+02] [ 8.75625762e-01 -4.82651199e-01 -1.80926767e-02 1.73088095e+02] [ 2.03140220e-02 -6.24589064e-04 9.99793454e-01 7.19423131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9892541539998 meters 0.01922023614790444 Centerline is valid? [True, True] Translation: X:920.68, Y:173.11, Z:7.20 [[-4.87018780e-01 -8.73343677e-01 9.13944223e-03 9.20682382e+02] [ 8.73161546e-01 -4.87104007e-01 -1.78493832e-02 1.73114531e+02] [ 2.00405049e-02 -7.12775340e-04 9.99798915e-01 7.19549158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.0192541539998 meters 0.022309367022715878 Centerline is valid? [True, True] Translation: X:920.67, Y:173.14, Z:7.19 [[-4.89298916e-01 -8.72065416e-01 9.40644694e-03 9.20670972e+02] [ 8.71872507e-01 -4.89388700e-01 -1.83584577e-02 1.73140451e+02] [ 2.06131849e-02 -7.81550996e-04 9.99787220e-01 7.19360896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.0492541539998 meters 0.02276449965893476 Centerline is valid? [True, True] Translation: X:920.66, Y:173.17, Z:7.19 [[-4.91037677e-01 -8.71095730e-01 8.61561570e-03 9.20660750e+02] [ 8.70933969e-01 -4.91112686e-01 -1.68033211e-02 1.73165373e+02] [ 1.88685394e-02 -7.47431371e-04 9.99821694e-01 7.19471002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.079254154 meters 0.020897741652709738 Centerline is valid? [True, True] Translation: X:920.65, Y:173.19, Z:7.20 [[-4.90230654e-01 -8.71556085e-01 7.99352698e-03 9.20648247e+02] [ 8.71417092e-01 -4.90295359e-01 -1.55792266e-02 1.73190909e+02] [ 1.74973589e-02 -6.71718399e-04 9.99846684e-01 7.19707396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.109254154 meters 0.02060031337385903 Centerline is valid? [True, True] Translation: X:920.63, Y:173.22, Z:7.20 [[-4.89602656e-01 -8.71912028e-01 7.65866233e-03 9.20634815e+02] [ 8.71784645e-01 -4.89662152e-01 -1.49167808e-02 1.73216204e+02] [ 1.67562777e-02 -6.26591286e-04 9.99859407e-01 7.19782101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.139254154 meters 0.022170030992545067 Centerline is valid? [True, True] Translation: X:920.62, Y:173.24, Z:7.20 [[-4.87638553e-01 -8.73012730e-01 7.57728514e-03 9.20621379e+02] [ 8.72888328e-01 -4.87697078e-01 -1.47488155e-02 1.73239486e+02] [ 1.65713235e-02 -5.77967299e-04 9.99862519e-01 7.19579928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1692541539999 meters 0.019731940037622523 Centerline is valid? [True, True] Translation: X:920.61, Y:173.26, Z:7.20 [[-4.84945777e-01 -8.74516312e-01 6.98661543e-03 9.20606787e+02] [ 8.74410813e-01 -4.84995863e-01 -1.35920151e-02 1.73263416e+02] [ 1.52749185e-02 -4.82218241e-04 9.99883215e-01 7.19788447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1992541539998 meters 0.020812176749777155 Centerline is valid? [True, True] Translation: X:920.59, Y:173.29, Z:7.20 [[-4.83376445e-01 -8.75382661e-01 7.23939128e-03 9.20591102e+02] [ 8.75269613e-01 -4.83430427e-01 -1.40757666e-02 1.73287567e+02] [ 1.58214240e-02 -4.67474798e-04 9.99874724e-01 7.19581352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2292541539998 meters 0.019617178393769533 Centerline is valid? [True, True] Translation: X:920.57, Y:173.31, Z:7.20 [[-4.77563299e-01 -8.78569343e-01 7.01465590e-03 9.20572181e+02] [ 8.78463685e-01 -4.77614687e-01 -1.36295401e-02 1.73308615e+02] [ 1.53247988e-02 -3.46847664e-04 9.99882508e-01 7.19501036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2592541539998 meters 0.017572974480169645 Centerline is valid? [True, True] Translation: X:920.56, Y:173.33, Z:7.20 [[-4.73892983e-01 -8.80555964e-01 6.82893978e-03 9.20555402e+02] [ 8.80456168e-01 -4.73942107e-01 -1.32595667e-02 1.73331910e+02] [ 1.49123126e-02 -2.71033452e-04 9.99888769e-01 7.19571311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2892541539998 meters 0.015283608376534523 Centerline is valid? [True, True] Translation: X:920.54, Y:173.35, Z:7.20 [[-4.65343574e-01 -8.85104508e-01 6.73551580e-03 9.20536060e+02] [ 8.85008017e-01 -4.65392302e-01 -1.30696222e-02 1.73351831e+02] [ 1.47026387e-02 -1.20879216e-04 9.99891903e-01 7.19548602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.3192541539997 meters 0.014467779787541272 Centerline is valid? [True, True] Translation: X:920.52, Y:173.37, Z:7.20 [[-4.61250019e-01 -8.87245815e-01 6.57903730e-03 9.20519185e+02] [ 8.87154101e-01 -4.61296934e-01 -1.27569642e-02 1.73373967e+02] [ 1.43534528e-02 -4.75300373e-05 9.99896983e-01 7.19547191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.349254154 meters 0.016125903684173826 Centerline is valid? [True, True] Translation: X:920.50, Y:173.40, Z:7.19 [[-4.57605766e-01 -8.89128899e-01 6.83837032e-03 9.20502838e+02] [ 8.89030180e-01 -4.57656859e-01 -1.32491036e-02 1.73395089e+02] [ 1.49097880e-02 1.66513854e-05 9.99888843e-01 7.19288286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.379254154 meters 0.014950900609221615 Centerline is valid? [True, True] Translation: X:920.48, Y:173.42, Z:7.19 [[-4.49358977e-01 -8.93329122e-01 6.29206992e-03 9.20482320e+02] [ 8.93246071e-01 -4.49403003e-01 -1.21818229e-02 1.73416287e+02] [ 1.37100522e-02 1.46355272e-04 9.99906002e-01 7.19434380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4092541539999 meters 0.016841259707423634 Centerline is valid? [True, True] Translation: X:920.47, Y:173.44, Z:7.19 [[-4.46336252e-01 -8.94841281e-01 6.55981109e-03 9.20466303e+02] [ 8.94751309e-01 -4.46384407e-01 -1.26907993e-02 1.73438180e+02] [ 1.42844485e-02 2.05035758e-04 9.99897951e-01 7.19313961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4392541539999 meters 0.01853482513682898 Centerline is valid? [True, True] Translation: X:920.45, Y:173.46, Z:7.19 [[-4.40705805e-01 -8.97629436e-01 6.30783233e-03 9.20448834e+02] [ 8.97546642e-01 -4.40750851e-01 -1.21948184e-02 1.73460970e+02] [ 1.37266104e-02 2.87246483e-04 9.99905744e-01 7.19316511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4692541539998 meters 0.018301950854734628 Centerline is valid? [True, True] Translation: X:920.43, Y:173.48, Z:7.19 [[-4.38386976e-01 -8.98766058e-01 6.03597669e-03 9.20433573e+02] [ 8.98690455e-01 -4.38428416e-01 -1.16614904e-02 1.73484259e+02] [ 1.31272955e-02 3.12229114e-04 9.99913785e-01 7.19428404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4992541539998 meters 0.01800512444965557 Centerline is valid? [True, True] Translation: X:920.42, Y:173.51, Z:7.20 [[-4.35979509e-01 -8.99939137e-01 5.60521257e-03 9.20418768e+02] [ 8.99874126e-01 -4.36015417e-01 -1.08218616e-02 1.73507108e+02] [ 1.21829758e-02 3.25875883e-04 9.99925732e-01 7.19640662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.5292541539998 meters 0.01917468638729063 Centerline is valid? [True, True] Translation: X:920.40, Y:173.53, Z:7.20 [[-4.33223269e-01 -9.01269913e-01 5.49019961e-03 9.20402894e+02] [ 9.01207740e-01 -4.33257908e-01 -1.05922136e-02 1.73530505e+02] [ 1.19251158e-02 3.59016989e-04 9.99928829e-01 7.19685574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.5592541539997 meters 0.02250924253517707 Centerline is valid? [True, True] Translation: X:920.39, Y:173.55, Z:7.19 [[-4.32378320e-01 -9.01671946e-01 6.05721484e-03 9.20387775e+02] [ 9.01596419e-01 -4.32420550e-01 -1.16775682e-02 1.73554566e+02] [ 1.31485998e-02 4.12035897e-04 9.99913469e-01 7.19315229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.589254154 meters 0.020269808993159964 Centerline is valid? [True, True] Translation: X:920.37, Y:173.58, Z:7.20 [[-4.31383368e-01 -9.02148993e-01 5.96528472e-03 9.20374749e+02] [ 9.02075889e-01 -4.31424403e-01 -1.14923706e-02 1.73579637e+02] [ 1.29414000e-02 4.23521968e-04 9.99916167e-01 7.19599770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.619254154 meters 0.02177695262980072 Centerline is valid? [True, True] Translation: X:920.36, Y:173.60, Z:7.19 [[-4.31786607e-01 -9.01953121e-01 6.39486559e-03 9.20361331e+02] [ 9.01869218e-01 -4.31833723e-01 -1.23105369e-02 1.73603763e+02] [ 1.38650458e-02 4.51807479e-04 9.99903774e-01 7.19378070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.649254154 meters 0.024500177174405863 Centerline is valid? [True, True] Translation: X:920.35, Y:173.63, Z:7.19 [[-4.32157576e-01 -9.01771070e-01 6.98329427e-03 9.20347038e+02] [ 9.01671162e-01 -4.32213715e-01 -1.34320751e-02 1.73625933e+02] [ 1.51309323e-02 4.91862028e-04 9.99885400e-01 7.19149163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.6792541539999 meters 0.01932809994818296 Centerline is valid? [True, True] Translation: X:920.34, Y:173.65, Z:7.19 [[-4.32859630e-01 -9.01433157e-01 7.12771807e-03 9.20339224e+02] [ 9.01329191e-01 -4.32918028e-01 -1.36992823e-02 1.73653780e+02] [ 1.54347049e-02 4.94554108e-04 9.99880756e-01 7.19415027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7092541539998 meters 0.01847329356508095 Centerline is valid? [True, True] Translation: X:920.33, Y:173.68, Z:7.20 [[-4.33733057e-01 -9.01010732e-01 7.43613694e-03 9.20327001e+02] [ 9.00897680e-01 -4.33796504e-01 -1.42816095e-02 1.73678973e+02] [ 1.60936537e-02 5.04792340e-04 9.99870361e-01 7.19503042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7392541539998 meters 0.01847329356508095 Centerline is valid? [True, True] Translation: X:920.31, Y:173.70, Z:7.20 [[-4.33997482e-01 -9.00883359e-01 7.44032605e-03 9.20314191e+02] [ 9.00770326e-01 -4.34060961e-01 -1.42794272e-02 1.73703412e+02] [ 1.60936535e-02 5.04789456e-04 9.99870361e-01 7.19522090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7692541539998 meters 0.017608841313406863 Centerline is valid? [True, True] Translation: X:920.30, Y:173.73, Z:7.19 [[-4.37640576e-01 -8.99116038e-01 7.81518934e-03 9.20304414e+02] [ 8.98991231e-01 -4.37710102e-01 -1.49878012e-02 1.73730087e+02] [ 1.68965598e-02 4.66516724e-04 9.99857134e-01 7.19477905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7992541539998 meters 0.017677213777237667 Centerline is valid? [True, True] Translation: X:920.29, Y:173.76, Z:7.19 [[-4.40489625e-01 -8.97723788e-01 7.80322802e-03 9.20293782e+02] [ 8.97599322e-01 -4.40558539e-01 -1.49542954e-02 1.73756410e+02] [ 1.68626054e-02 4.16960212e-04 9.99857729e-01 7.19405164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.829254154 meters 0.017841248508720008 Centerline is valid? [True, True] Translation: X:920.28, Y:173.78, Z:7.19 [[-4.44070211e-01 -8.95959449e-01 7.63635501e-03 9.20284155e+02] [ 8.95840150e-01 -4.44135730e-01 -1.46246405e-02 1.73783603e+02] [ 1.64946630e-02 3.46586199e-04 9.99863894e-01 7.19369245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.859254154 meters 0.01666910123471246 Centerline is valid? [True, True] Translation: X:920.28, Y:173.81, Z:7.20 [[-4.51092682e-01 -8.92449282e-01 7.04777217e-03 9.20278382e+02] [ 8.92347332e-01 -4.51147689e-01 -1.34907836e-02 1.73811119e+02] [ 1.52194263e-02 2.03466925e-04 9.99884157e-01 7.19512174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.889254154 meters 0.014130102556832575 Centerline is valid? [True, True] Translation: X:920.27, Y:173.84, Z:7.20 [[-4.54076937e-01 -8.90937284e-01 6.70006292e-03 9.20269140e+02] [ 8.90845079e-01 -4.54126341e-01 -1.28184213e-02 1.73838396e+02] [ 1.44630846e-02 1.48168582e-04 9.99895393e-01 7.19837179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9192541539999 meters 0.014440253949695942 Centerline is valid? [True, True] Translation: X:920.26, Y:173.87, Z:7.20 [[-4.61040638e-01 -8.87358228e-01 6.07499732e-03 9.20263491e+02] [ 8.87282196e-01 -4.61080659e-01 -1.16159663e-02 1.73866104e+02] [ 1.31085871e-02 3.48044344e-05 9.99914078e-01 7.19862381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9492541539998 meters 0.015664502127486657 Centerline is valid? [True, True] Translation: X:920.25, Y:173.89, Z:7.20 [[-4.64463119e-01 -8.85572833e-01 5.89642249e-03 9.20253373e+02] [ 8.85501145e-01 -4.64500546e-01 -1.12678698e-02 1.73892483e+02] [ 1.27174109e-02 -1.22211108e-05 9.99919130e-01 7.19826324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9792541539998 meters 0.016906952724575302 Centerline is valid? [True, True] Translation: X:920.24, Y:173.92, Z:7.20 [[-4.67139766e-01 -8.84165769e-01 5.59752927e-03 9.20242911e+02] [ 8.84101150e-01 -4.67173299e-01 -1.06894909e-02 1.73918622e+02] [ 1.20662982e-02 -4.47042330e-05 9.99927199e-01 7.19789669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.0092541539998 meters 0.015456029059342567 Centerline is valid? [True, True] Translation: X:920.23, Y:173.94, Z:7.20 [[-4.69862152e-01 -8.82723498e-01 5.36509570e-03 9.20234605e+02] [ 8.82664125e-01 -4.69892776e-01 -1.02382215e-02 1.73944308e+02] [ 1.15585384e-02 -7.49753053e-05 9.99933195e-01 7.19922206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.0392541539998 meters 0.013789667574095044 Centerline is valid? [True, True] Translation: X:920.22, Y:173.97, Z:7.20 [[-4.70050023e-01 -8.82623831e-01 5.30553316e-03 9.20223404e+02] [ 8.82565854e-01 -4.70079959e-01 -1.01165709e-02 1.73969174e+02] [ 1.14231514e-02 -7.28119949e-05 9.99934751e-01 7.20101804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.0692541539997 meters 0.013808116579292236 Centerline is valid? [True, True] Translation: X:920.21, Y:173.99, Z:7.20 [[-4.69823707e-01 -8.82740599e-01 5.89226719e-03 9.20212581e+02] [ 8.82669217e-01 -4.69860649e-01 -1.12260280e-02 1.73993648e+02] [ 1.26782152e-02 -7.33312189e-05 9.99919626e-01 7.19994449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.099254154 meters 0.015839149004278085 Centerline is valid? [True, True] Translation: X:920.20, Y:174.02, Z:7.20 [[-4.69454924e-01 -8.82932948e-01 6.44070680e-03 9.20199797e+02] [ 8.82847816e-01 -4.69499099e-01 -1.22609436e-02 1.74017612e+02] [ 1.38494971e-02 -6.97964154e-05 9.99904089e-01 7.19736184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.129254154 meters 0.016884901783567427 Centerline is valid? [True, True] Translation: X:920.19, Y:174.04, Z:7.20 [[-4.68571581e-01 -8.83400124e-01 6.70032068e-03 9.20186820e+02] [ 8.83308177e-01 -4.68619481e-01 -1.27454362e-02 1.74041684e+02] [ 1.43992207e-02 -5.37011355e-05 9.99896324e-01 7.19657937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1592541539999 meters 0.01574980594847183 Centerline is valid? [True, True] Translation: X:920.17, Y:174.06, Z:7.20 [[-4.64782328e-01 -8.85398576e-01 6.83737656e-03 9.20173305e+02] [ 8.85303191e-01 -4.64832617e-01 -1.29960886e-02 1.74064722e+02] [ 1.46849540e-02 1.27989532e-05 9.99892170e-01 7.19658996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1892541539999 meters 0.01612186365237588 Centerline is valid? [True, True] Translation: X:920.16, Y:174.09, Z:7.20 [[-4.62743955e-01 -8.86464627e-01 6.96400492e-03 9.20159992e+02] [ 8.86365945e-01 -4.62796351e-01 -1.32268466e-02 1.74088923e+02] [ 1.49480477e-02 5.20134969e-05 9.99888270e-01 7.19752823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2192541539998 meters 0.015219484452137366 Centerline is valid? [True, True] Translation: X:920.15, Y:174.11, Z:7.20 [[-4.58050843e-01 -8.88899849e-01 6.81786987e-03 9.20146184e+02] [ 8.88805658e-01 -4.58101561e-01 -1.29406817e-02 1.74112492e+02] [ 1.46262469e-02 1.32271142e-04 9.99893022e-01 7.19822932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2492541539998 meters 0.015897371813746838 Centerline is valid? [True, True] Translation: X:920.13, Y:174.14, Z:7.20 [[-4.55858282e-01 -8.90027285e-01 6.68277401e-03 9.20132735e+02] [ 8.89937028e-01 -4.55907232e-01 -1.26760620e-02 1.74137146e+02] [ 1.43287660e-02 1.68760200e-04 9.99897324e-01 7.19839988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2792541539998 meters 0.015261706333772782 Centerline is valid? [True, True] Translation: X:920.12, Y:174.16, Z:7.20 [[-4.50806572e-01 -8.92600543e-01 6.14037692e-03 9.20118857e+02] [ 8.92524680e-01 -4.50848329e-01 -1.16396223e-02 1.74161680e+02] [ 1.31579119e-02 2.33219698e-04 9.99913404e-01 7.20091820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.3092541539997 meters 0.01857311583244889 Centerline is valid? [True, True] Translation: X:920.10, Y:174.19, Z:7.20 [[-4.49190884e-01 -8.93412773e-01 6.41609017e-03 9.20104762e+02] [ 8.93330148e-01 -4.49236622e-01 -1.21533333e-02 1.74185474e+02] [ 1.37402858e-02 2.72520270e-04 9.99905561e-01 7.19849812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.339254154 meters 0.017458012472499628 Centerline is valid? [True, True] Translation: X:920.09, Y:174.21, Z:7.20 [[-4.46355449e-01 -8.94835666e-01 5.99538863e-03 9.20091409e+02] [ 8.94763750e-01 -4.46395612e-01 -1.13485769e-02 1.74209816e+02] [ 1.28314265e-02 2.98957270e-04 9.99917629e-01 7.20088465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.369254154 meters 0.018266506030615172 Centerline is valid? [True, True] Translation: X:920.08, Y:174.23, Z:7.20 [[-4.40507079e-01 -8.97729993e-01 5.86285043e-03 9.20077310e+02] [ 8.97661555e-01 -4.40545931e-01 -1.10912389e-02 1.74234204e+02] [ 1.25397928e-02 3.77086166e-04 9.99921303e-01 7.20286551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.399254154 meters 0.020581301516739633 Centerline is valid? [True, True] Translation: X:920.06, Y:174.26, Z:7.20 [[-4.38442161e-01 -8.98742049e-01 5.58573587e-03 9.20061767e+02] [ 8.98680081e-01 -4.38477568e-01 -1.05610033e-02 1.74256998e+02] [ 1.19408376e-02 3.89400470e-04 9.99928630e-01 7.20200503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4292541539999 meters 0.02401442988723322 Centerline is valid? [True, True] Translation: X:920.05, Y:174.28, Z:7.20 [[-4.34918272e-01 -9.00451230e-01 5.80330147e-03 9.20048225e+02] [ 9.00384595e-01 -4.34956748e-01 -1.09639885e-02 1.74281057e+02] [ 1.23967221e-02 4.56764292e-04 9.99923053e-01 7.19954362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4592541539998 meters 0.02119946539519198 Centerline is valid? [True, True] Translation: X:920.04, Y:174.31, Z:7.20 [[-4.32964289e-01 -9.01394469e-01 5.47134738e-03 9.20036709e+02] [ 9.01335396e-01 -4.32998615e-01 -1.03297268e-02 1.74307247e+02] [ 1.16802444e-02 4.59116250e-04 9.99931678e-01 7.20352274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4892541539998 meters 0.02588763820290906 Centerline is valid? [True, True] Translation: X:920.02, Y:174.33, Z:7.20 [[-4.32726849e-01 -9.01508230e-01 5.51222194e-03 9.20020126e+02] [ 9.01448366e-01 -4.32761702e-01 -1.03996307e-02 1.74329528e+02] [ 1.17608312e-02 4.68784036e-04 9.99930729e-01 7.20082711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.5192541539998 meters 0.02067295526075816 Centerline is valid? [True, True] Translation: X:920.01, Y:174.36, Z:7.20 [[-4.32439055e-01 -9.01647578e-01 5.30179984e-03 9.20014345e+02] [ 9.01592287e-01 -4.32471312e-01 -9.99556859e-03 1.74358652e+02] [ 1.13053565e-02 4.57587605e-04 9.99935988e-01 7.20385520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.5492541539998 meters 0.023797603268915616 Centerline is valid? [True, True] Translation: X:920.00, Y:174.38, Z:7.20 [[-4.33638213e-01 -9.01071635e-01 5.27335717e-03 9.19998646e+02] [ 9.01016962e-01 -4.33670050e-01 -9.93587891e-03 1.74381549e+02] [ 1.12398357e-02 4.42807485e-04 9.99936733e-01 7.20216594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.579254154 meters 0.02543940467389603 Centerline is valid? [True, True] Translation: X:919.99, Y:174.41, Z:7.20 [[-4.36605998e-01 -8.99636152e-01 5.47696962e-03 9.19987327e+02] [ 8.99577127e-01 -4.36640144e-01 -1.03139257e-02 1.74406114e+02] [ 1.16702452e-02 4.23834793e-04 9.99931811e-01 7.20040472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.609254154 meters 0.02175673968967654 Centerline is valid? [True, True] Translation: X:919.98, Y:174.44, Z:7.20 [[-4.38878900e-01 -8.98527725e-01 5.76526916e-03 9.19981403e+02] [ 8.98462313e-01 -4.38916567e-01 -1.08498808e-02 1.74435107e+02] [ 1.22793909e-02 4.18093292e-04 9.99924518e-01 7.20076881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.639254154 meters 0.018351368205106647 Centerline is valid? [True, True] Translation: X:919.98, Y:174.46, Z:7.20 [[-4.43666645e-01 -8.96171371e-01 6.06487962e-03 9.19975515e+02] [ 8.96098866e-01 -4.43707938e-01 -1.14056395e-02 1.74463527e+02] [ 1.29124428e-02 3.74429956e-04 9.99916561e-01 7.20292830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6692541539999 meters 0.02087562261892487 Centerline is valid? [True, True] Translation: X:919.96, Y:174.49, Z:7.20 [[-4.46604759e-01 -8.94707753e-01 6.49822103e-03 9.19964805e+02] [ 8.94624486e-01 -4.46651887e-01 -1.22115078e-02 1.74489226e+02] [ 1.38281734e-02 3.59750135e-04 9.99904322e-01 7.19911151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6992541539998 meters 0.0190879279982585 Centerline is valid? [True, True] Translation: X:919.95, Y:174.51, Z:7.20 [[-4.48341831e-01 -8.93838072e-01 6.56535201e-03 9.19952995e+02] [ 8.93753104e-01 -4.48389770e-01 -1.23289692e-02 1.74514143e+02] [ 1.39639388e-02 3.40211088e-04 9.99902442e-01 7.20088691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7292541539998 meters 0.018800535474819642 Centerline is valid? [True, True] Translation: X:919.94, Y:174.54, Z:7.20 [[-4.50776327e-01 -8.92609081e-01 7.05208175e-03 9.19942035e+02] [ 8.92511038e-01 -4.50831367e-01 -1.32334904e-02 1.74540512e+02] [ 1.49916334e-02 3.28716585e-04 9.99887565e-01 7.20047260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7592541539998 meters 0.018399071930030545 Centerline is valid? [True, True] Translation: X:919.93, Y:174.56, Z:7.20 [[-4.51524411e-01 -8.92230737e-01 7.07228306e-03 9.19929634e+02] [ 8.92132214e-01 -4.51579681e-01 -1.32628698e-02 1.74563783e+02] [ 1.50272394e-02 3.20902067e-04 9.99887033e-01 7.20042469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7892541539998 meters 0.016621734356263854 Centerline is valid? [True, True] Translation: X:919.92, Y:174.59, Z:7.20 [[-4.52260302e-01 -8.91854271e-01 7.52182697e-03 9.19917045e+02] [ 8.91742932e-01 -4.52322725e-01 -1.40959163e-02 1.74588439e+02] [ 1.59737964e-02 3.32512681e-04 9.99872355e-01 7.20205505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.8192541539997 meters 0.019421170504071935 Centerline is valid? [True, True] Translation: X:919.90, Y:174.61, Z:7.20 [[-4.53775862e-01 -8.91081503e-01 7.82449713e-03 9.19904324e+02] [ 8.90961086e-01 -4.53843202e-01 -1.46523523e-02 1.74613116e+02] [ 1.66075350e-02 3.22438639e-04 9.99862033e-01 7.19840040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.849254154 meters 0.016252818377271588 Centerline is valid? [True, True] Translation: X:919.89, Y:174.64, Z:7.20 [[-4.54251663e-01 -8.90840398e-01 7.66888880e-03 9.19891594e+02] [ 8.90724854e-01 -4.54316287e-01 -1.43508037e-02 1.74637126e+02] [ 1.62683768e-02 3.11993399e-04 9.99867613e-01 7.20164125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.879254154 meters 0.017257660652703226 Centerline is valid? [True, True] Translation: X:919.88, Y:174.66, Z:7.20 [[-4.55909885e-01 -8.89992606e-01 7.70311965e-03 9.19878571e+02] [ 8.89876084e-01 -4.55974866e-01 -1.44040614e-02 1.74660661e+02] [ 1.63319371e-02 2.87867971e-04 9.99866584e-01 7.20038417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9092541539999 meters 0.018197090197284143 Centerline is valid? [True, True] Translation: X:919.87, Y:174.69, Z:7.20 [[-4.57119152e-01 -8.89371574e-01 7.76427860e-03 9.19865865e+02] [ 8.89253278e-01 -4.57185005e-01 -1.45079088e-02 1.74685978e+02] [ 1.64526334e-02 2.72567259e-04 9.99864609e-01 7.19971055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9392541539999 meters 0.017169772121649426 Centerline is valid? [True, True] Translation: X:919.85, Y:174.71, Z:7.20 [[-4.59923454e-01 -8.87925890e-01 7.61777153e-03 9.19854789e+02] [ 8.87811973e-01 -4.59986483e-01 -1.42244932e-02 1.74711756e+02] [ 1.61343677e-02 2.20970746e-04 9.99869808e-01 7.20129822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9692541539998 meters 0.014787087464826853 Centerline is valid? [True, True] Translation: X:919.84, Y:174.74, Z:7.20 [[-4.61409540e-01 -8.87156781e-01 7.35404780e-03 9.19842741e+02] [ 8.87050665e-01 -4.61468102e-01 -1.37225499e-02 1.74736216e+02] [ 1.55677117e-02 1.91697552e-04 9.99878797e-01 7.20393483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9992541539998 meters 0.017159056805524334 Centerline is valid? [True, True] Translation: X:919.83, Y:174.76, Z:7.20 [[-4.65449352e-01 -8.85045765e-01 7.13405445e-03 9.19831648e+02] [ 8.84945794e-01 -4.65504005e-01 -1.33027687e-02 1.74762413e+02] [ 1.50944901e-02 1.21486391e-04 9.99886064e-01 7.20219534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.0292541539998 meters 0.014072894992278751 Centerline is valid? [True, True] Translation: X:919.82, Y:174.79, Z:7.21 [[-4.67254046e-01 -8.84096673e-01 6.83583723e-03 9.19819787e+02] [ 8.84004909e-01 -4.67304038e-01 -1.27380332e-02 1.74787516e+02] [ 1.44560671e-02 9.10161093e-05 9.99895501e-01 7.20570686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.0592541539997 meters 0.01757891874069335 Centerline is valid? [True, True] Translation: X:919.81, Y:174.81, Z:7.20 [[-4.69365617e-01 -8.82976561e-01 6.95058321e-03 9.19806805e+02] [ 8.82881702e-01 -4.69417073e-01 -1.29425991e-02 1.74811240e+02] [ 1.46907340e-02 6.17317537e-05 9.99892083e-01 7.20224383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.089254154 meters 0.015793735205824496 Centerline is valid? [True, True] Translation: X:919.79, Y:174.84, Z:7.20 [[-4.72392321e-01 -8.81364472e-01 6.49321770e-03 9.19794919e+02] [ 8.81281653e-01 -4.72436945e-01 -1.20822277e-02 1.74835573e+02] [ 1.37164822e-02 1.48020453e-05 9.99905925e-01 7.20460807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.119254154 meters 0.013766141946543934 Centerline is valid? [True, True] Translation: X:919.78, Y:174.86, Z:7.21 [[-4.74068066e-01 -8.80467907e-01 5.97777795e-03 9.19782019e+02] [ 8.80397742e-01 -4.74105753e-01 -1.11153415e-02 1.74860601e+02] [ 1.26208004e-02 -6.60625236e-06 9.99920355e-01 7.20747629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.149254154 meters 0.014471326861066426 Centerline is valid? [True, True] Translation: X:919.77, Y:174.88, Z:7.21 [[-4.76978014e-01 -8.78897182e-01 5.63184867e-03 9.19769208e+02] [ 8.78834879e-01 -4.77011259e-01 -1.04649202e-02 1.74884502e+02] [ 1.18840441e-02 -4.20718291e-05 9.99929381e-01 7.20735671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.1792541539999 meters 0.014647940184606727 Centerline is valid? [True, True] Translation: X:919.76, Y:174.91, Z:7.21 [[-4.78832535e-01 -8.77888876e-01 5.52491716e-03 9.19756140e+02] [ 8.77828933e-01 -4.78864404e-01 -1.02589395e-02 1.74909281e+02] [ 1.16518950e-02 -6.23818572e-05 9.99932112e-01 7.20821062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2092541539998 meters 0.016635059718875075 Centerline is valid? [True, True] Translation: X:919.74, Y:174.93, Z:7.21 [[-4.80847778e-01 -8.76786768e-01 5.51162763e-03 9.19743706e+02] [ 8.76727126e-01 -4.80879357e-01 -1.02269794e-02 1.74933583e+02] [ 1.16173081e-02 -8.54268466e-05 9.99932513e-01 7.20679642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2392541539998 meters 0.014519456624701388 Centerline is valid? [True, True] Translation: X:919.73, Y:174.96, Z:7.21 [[-4.84755105e-01 -8.74633799e-01 5.31082577e-03 9.19731215e+02] [ 8.74578371e-01 -4.84784179e-01 -9.84751325e-03 1.74959245e+02] [ 1.11875722e-02 -1.28898975e-04 9.99937409e-01 7.21011286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2692541539998 meters 0.014902704705836 Centerline is valid? [True, True] Translation: X:919.72, Y:174.98, Z:7.21 [[-4.86755095e-01 -8.73521688e-01 5.41636687e-03 9.19718361e+02] [ 8.73464044e-01 -4.86785205e-01 -1.00363193e-02 1.74984073e+02] [ 1.14035499e-02 -1.54227867e-04 9.99934966e-01 7.20980135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2992541539998 meters 0.01737260574486653 Centerline is valid? [True, True] Translation: X:919.71, Y:175.01, Z:7.21 [[-4.90347670e-01 -8.71506329e-01 5.99016560e-03 9.19705011e+02] [ 8.71435772e-01 -4.90384208e-01 -1.10916389e-02 1.75008658e+02] [ 1.26039161e-02 -2.18714696e-04 9.99920544e-01 7.20750321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.329254154 meters 0.01606583818724395 Centerline is valid? [True, True] Translation: X:919.69, Y:175.03, Z:7.21 [[-4.91811798e-01 -8.70681954e-01 5.83877791e-03 9.19691779e+02] [ 8.70614948e-01 -4.91846401e-01 -1.08041799e-02 1.75032992e+02] [ 1.22787864e-02 -2.30295819e-04 9.99924586e-01 7.20974234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.359254154 meters 0.01654967776274129 Centerline is valid? [True, True] Translation: X:919.68, Y:175.06, Z:7.21 [[-4.93304379e-01 -8.69837803e-01 5.74331051e-03 9.19677988e+02] [ 8.69772998e-01 -4.93337751e-01 -1.06205097e-02 1.75057118e+02] [ 1.20715127e-02 -2.43767538e-04 9.99927107e-01 7.20994736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.389254154 meters 0.01725339452199286 Centerline is valid? [True, True] Translation: X:919.66, Y:175.08, Z:7.21 [[-4.95197636e-01 -8.68759689e-01 5.99207324e-03 9.19661519e+02] [ 8.68689164e-01 -4.95233809e-01 -1.10729403e-02 1.75079931e+02] [ 1.25872014e-02 -2.78044743e-04 9.99920739e-01 7.20889720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4192541539999 meters 0.017017430959084354 Centerline is valid? [True, True] Translation: X:919.65, Y:175.10, Z:7.21 [[-4.95706532e-01 -8.68468695e-01 6.09588076e-03 9.19648031e+02] [ 8.68395790e-01 -4.95743930e-01 -1.12564851e-02 1.75102972e+02] [ 1.27979008e-02 -2.86276000e-04 9.99918063e-01 7.20999337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4492541539998 meters 0.016378212704742084 Centerline is valid? [True, True] Translation: X:919.63, Y:175.13, Z:7.21 [[-4.95429436e-01 -8.68624840e-01 6.36880619e-03 9.19630528e+02] [ 8.68545392e-01 -4.95470285e-01 -1.17515482e-02 1.75125613e+02] [ 1.33632409e-02 -2.90465617e-04 9.99910666e-01 7.21066242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4792541539998 meters 0.017606742696826445 Centerline is valid? [True, True] Translation: X:919.61, Y:175.15, Z:7.21 [[-4.95430460e-01 -8.68621872e-01 6.68603569e-03 9.19614367e+02] [ 8.68534433e-01 -4.95475482e-01 -1.23282311e-02 1.75148992e+02] [ 1.40213380e-02 -3.00729003e-04 9.99901651e-01 7.20912875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.5092541539998 meters 0.017541940701903496 Centerline is valid? [True, True] Translation: X:919.60, Y:175.17, Z:7.21 [[-4.95092639e-01 -8.68814012e-01 6.74478295e-03 9.19599834e+02] [ 8.68725171e-01 -4.95138493e-01 -1.24277714e-02 1.75171761e+02] [ 1.41370236e-02 -2.93535416e-04 9.99900024e-01 7.20937581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.5392541539998 meters 0.01575068241633667 Centerline is valid? [True, True] Translation: X:919.58, Y:175.19, Z:7.21 [[-4.93005400e-01 -8.69999557e-01 6.81515123e-03 9.19581630e+02] [ 8.69909091e-01 -4.93052436e-01 -1.25486437e-02 1.75193837e+02] [ 1.42775414e-02 -2.57987109e-04 9.99898037e-01 7.21102544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.5692541539997 meters 0.016513820000217394 Centerline is valid? [True, True] Translation: X:919.56, Y:175.22, Z:7.21 [[-4.89980240e-01 -8.71702602e-01 7.34425302e-03 9.19561956e+02] [ 8.71597879e-01 -4.90035228e-01 -1.35134190e-02 1.75215062e+02] [ 1.53786252e-02 -2.20072950e-04 9.99881718e-01 7.20933767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.599254154 meters 0.017444324592669834 Centerline is valid? [True, True] Translation: X:919.55, Y:175.24, Z:7.21 [[-4.88210480e-01 -8.72694652e-01 7.38728624e-03 9.19546191e+02] [ 8.72588967e-01 -4.88266332e-01 -1.35825051e-02 1.75236370e+02] [ 1.54603427e-02 -1.85056851e-04 9.99880465e-01 7.20796842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.629254154 meters 0.017444324592669834 Centerline is valid? [True, True] Translation: X:919.53, Y:175.26, Z:7.21 [[-4.88484625e-01 -8.72541194e-01 7.39167315e-03 9.19533299e+02] [ 8.72435527e-01 -4.88540511e-01 -1.35801178e-02 1.75259829e+02] [ 1.54603439e-02 -1.84920473e-04 9.99880465e-01 7.20815299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6592541539999 meters 0.014127308687932305 Centerline is valid? [True, True] Translation: X:919.52, Y:175.28, Z:7.21 [[-4.86198677e-01 -8.73821812e-01 6.80339300e-03 9.19516481e+02] [ 8.73732544e-01 -4.86246258e-01 -1.24907430e-02 1.75282934e+02] [ 1.42228081e-02 -1.28636855e-04 9.99898842e-01 7.21184360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6892541539999 meters 0.015803965825634765 Centerline is valid? [True, True] Translation: X:919.50, Y:175.30, Z:7.21 [[-4.81478940e-01 -8.76431438e-01 6.77975200e-03 9.19496748e+02] [ 8.76343165e-01 -4.81526668e-01 -1.24388360e-02 1.75302562e+02] [ 1.41664183e-02 -4.76482559e-05 9.99899650e-01 7.20983707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7192541539998 meters 0.013441076103168647 Centerline is valid? [True, True] Translation: X:919.48, Y:175.33, Z:7.21 [[-4.78690720e-01 -8.77962097e-01 6.14406693e-03 9.19480336e+02] [ 8.77889821e-01 -4.78730149e-01 -1.12652545e-02 1.75325273e+02] [ 1.28318165e-02 1.24104609e-06 9.99917669e-01 7.21288516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7492541539998 meters 0.016747911576480257 Centerline is valid? [True, True] Translation: X:919.46, Y:175.35, Z:7.21 [[-4.72938874e-01 -8.81070977e-01 6.53873082e-03 9.19458878e+02] [ 8.80989523e-01 -4.72984064e-01 -1.19806590e-02 1.75346287e+02] [ 1.36485264e-02 9.44339589e-05 9.99906850e-01 7.21071170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7792541539998 meters 0.016045616602886656 Centerline is valid? [True, True] Translation: X:919.44, Y:175.37, Z:7.21 [[-4.69850245e-01 -8.82725220e-01 6.07733622e-03 9.19442259e+02] [ 8.82655071e-01 -4.69889528e-01 -1.11291450e-02 1.75367489e+02] [ 1.26796536e-02 1.35160128e-04 9.99919601e-01 7.21170257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.8092541539997 meters 0.017088181449140056 Centerline is valid? [True, True] Translation: X:919.42, Y:175.39, Z:7.21 [[-4.66760025e-01 -8.84363117e-01 6.07915003e-03 9.19424981e+02] [ 8.84293147e-01 -4.66799576e-01 -1.11259296e-02 1.75389136e+02] [ 1.26771064e-02 1.82611541e-04 9.99919626e-01 7.21176712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.839254154 meters 0.016579281730266376 Centerline is valid? [True, True] Translation: X:919.41, Y:175.41, Z:7.21 [[-4.60806577e-01 -8.87482783e-01 5.62213209e-03 9.19405245e+02] [ 8.87423249e-01 -4.60840804e-01 -1.02824871e-02 1.75409513e+02] [ 1.17164382e-02 2.50973020e-04 9.99931329e-01 7.21424890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.869254154 meters 0.019736619048615015 Centerline is valid? [True, True] Translation: X:919.39, Y:175.43, Z:7.21 [[-4.58824388e-01 -8.88505304e-01 6.20527605e-03 9.19389207e+02] [ 8.88432984e-01 -4.58866242e-01 -1.13403891e-02 1.75432163e+02] [ 1.29233876e-02 3.09724823e-04 9.99916442e-01 7.21125333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.899254154 meters 0.02052491548318027 Centerline is valid? [True, True] Translation: X:919.37, Y:175.45, Z:7.21 [[-4.55839430e-01 -8.90039081e-01 6.39135920e-03 9.19370954e+02] [ 8.89962618e-01 -4.55884086e-01 -1.16721399e-02 1.75454477e+02] [ 1.33023796e-02 3.67449168e-04 9.99911452e-01 7.21092372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9292541539999 meters 0.01853886210703109 Centerline is valid? [True, True] Translation: X:919.36, Y:175.48, Z:7.21 [[-4.55342789e-01 -8.90295372e-01 6.09057668e-03 9.19356193e+02] [ 8.90226053e-01 -4.55383377e-01 -1.11155105e-02 1.75478199e+02] [ 1.26696349e-02 3.60622489e-04 9.99919672e-01 7.21368185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9592541539998 meters 0.022318648483105198 Centerline is valid? [True, True] Translation: X:919.34, Y:175.50, Z:7.21 [[-4.55691431e-01 -8.90112052e-01 6.77164353e-03 9.19341554e+02] [ 8.90026473e-01 -4.55741567e-01 -1.23491483e-02 1.75501808e+02] [ 1.40782451e-02 3.99540972e-04 9.99900817e-01 7.20952454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9892541539998 meters 0.017467200295728163 Centerline is valid? [True, True] Translation: X:919.33, Y:175.53, Z:7.21 [[-4.56923650e-01 -8.89482422e-01 6.46522807e-03 9.19329183e+02] [ 8.89404461e-01 -4.56969240e-01 -1.17821292e-02 1.75527273e+02] [ 1.34344072e-02 3.66669212e-04 9.99909687e-01 7.21326844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.0192541539998 meters 0.02025249934134012 Centerline is valid? [True, True] Translation: X:919.32, Y:175.55, Z:7.21 [[-4.58286522e-01 -8.88774772e-01 7.27101040e-03 9.19315996e+02] [ 8.88676217e-01 -4.58344030e-01 -1.32413136e-02 1.75552675e+02] [ 1.51011697e-02 3.93258429e-04 9.99885894e-01 7.20980162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.0492541539998 meters 0.017263421978922597 Centerline is valid? [True, True] Translation: X:919.30, Y:175.58, Z:7.21 [[-4.61131888e-01 -8.87301561e-01 7.30215800e-03 9.19304736e+02] [ 8.87202083e-01 -4.61189567e-01 -1.32908273e-02 1.75577883e+02] [ 1.51606509e-02 3.49665509e-04 9.99885010e-01 7.21147568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.079254154 meters 0.016778058960323767 Centerline is valid? [True, True] Translation: X:919.29, Y:175.60, Z:7.21 [[-4.62835781e-01 -8.86411530e-01 7.59201283e-03 9.19291936e+02] [ 8.86304006e-01 -4.62897921e-01 -1.38102872e-02 1.75602303e+02] [ 1.57559248e-02 3.36936307e-04 9.99875811e-01 7.21171576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.109254154 meters 0.01838457930552174 Centerline is valid? [True, True] Translation: X:919.28, Y:175.63, Z:7.21 [[-4.66750821e-01 -8.84353852e-01 7.86999252e-03 9.19280989e+02] [ 8.84238170e-01 -4.66817080e-01 -1.43063843e-02 1.75626909e+02] [ 1.63257530e-02 2.81431180e-04 9.99866686e-01 7.20950886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.139254154 meters 0.01741862621463172 Centerline is valid? [True, True] Translation: X:919.27, Y:175.65, Z:7.21 [[-4.68755760e-01 -8.83293493e-01 7.78738619e-03 9.19271093e+02] [ 8.83180231e-01 -4.68820376e-01 -1.41469109e-02 1.75653095e+02] [ 1.61467597e-02 2.46219575e-04 9.99869602e-01 7.21132227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1692541539999 meters 0.017246630722148874 Centerline is valid? [True, True] Translation: X:919.26, Y:175.68, Z:7.21 [[-4.70946100e-01 -8.82130759e-01 7.42262735e-03 9.19260031e+02] [ 8.82027851e-01 -4.71004548e-01 -1.34753585e-02 1.75677732e+02] [ 1.53831195e-02 2.00796498e-04 9.99881653e-01 7.21198868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1992541539998 meters 0.01706005444439418 Centerline is valid? [True, True] Translation: X:919.25, Y:175.71, Z:7.21 [[-4.75752054e-01 -8.79548332e-01 7.39695257e-03 9.19251786e+02] [ 8.79445957e-01 -4.75809539e-01 -1.34197959e-02 1.75705721e+02] [ 1.53228997e-02 1.20724572e-04 9.99882590e-01 7.21317338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2292541539998 meters 0.013542349071437603 Centerline is valid? [True, True] Translation: X:919.24, Y:175.73, Z:7.22 [[-4.78106974e-01 -8.78276931e-01 6.58430521e-03 9.19241273e+02] [ 8.78195800e-01 -4.78152304e-01 -1.19377751e-02 1.75730679e+02] [ 1.36329732e-02 7.47756567e-05 9.99907064e-01 7.21606051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2592541539998 meters 0.014749562157723991 Centerline is valid? [True, True] Translation: X:919.23, Y:175.76, Z:7.21 [[-4.83194783e-01 -8.75483543e-01 7.16715623e-03 9.19232669e+02] [ 8.75387239e-01 -4.83247934e-01 -1.29852054e-02 1.75757544e+02] [ 1.48318470e-02 -3.46377034e-07 9.99890002e-01 7.21431182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2892541539998 meters 0.015716111755131615 Centerline is valid? [True, True] Translation: X:919.22, Y:175.78, Z:7.21 [[-4.86033761e-01 -8.73908929e-01 7.37346355e-03 9.19222099e+02] [ 8.73806962e-01 -4.86089685e-01 -1.33495391e-02 1.75782296e+02] [ 1.52504460e-02 -4.53428857e-05 9.99883704e-01 7.21367579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.3192541539997 meters 0.01572087564045019 Centerline is valid? [True, True] Translation: X:919.21, Y:175.81, Z:7.21 [[-4.91620963e-01 -8.70777068e-01 7.49175165e-03 9.19213253e+02] [ 8.70671582e-01 -4.91678023e-01 -1.35542838e-02 1.75809734e+02] [ 1.54862891e-02 -1.40714790e-04 9.99880070e-01 7.21419889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.349254154 meters 0.017609467923332494 Centerline is valid? [True, True] Translation: X:919.20, Y:175.84, Z:7.21 [[-4.94624075e-01 -8.69072452e-01 7.75221358e-03 9.19201829e+02] [ 8.68959445e-01 -4.94684782e-01 -1.40160516e-02 1.75835706e+02] [ 1.60158664e-02 -1.96317344e-04 9.99871719e-01 7.21337147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.379254154 meters 0.01474954445881869 Centerline is valid? [True, True] Translation: X:919.19, Y:175.86, Z:7.22 [[-4.97476090e-01 -8.67448085e-01 7.16658785e-03 9.19189861e+02] [ 8.67351459e-01 -4.97527656e-01 -1.29490815e-02 1.75861458e+02] [ 1.47982316e-02 -2.25908011e-04 9.99890475e-01 7.21684380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4092541539999 meters 0.018724059349335888 Centerline is valid? [True, True] Translation: X:919.18, Y:175.89, Z:7.21 [[-5.00360178e-01 -8.65780950e-01 7.93966515e-03 9.19178908e+02] [ 8.65662286e-01 -5.00423077e-01 -1.43370146e-02 1.75885705e+02] [ 1.63859058e-02 -3.00602478e-04 9.99865697e-01 7.21392003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4392541539999 meters 0.017652094799404605 Centerline is valid? [True, True] Translation: X:919.17, Y:175.91, Z:7.22 [[-5.04984605e-01 -8.63094960e-01 7.59202356e-03 9.19171207e+02] [ 8.62986264e-01 -5.05041538e-01 -1.37023127e-02 1.75912033e+02] [ 1.56606843e-02 -3.67644926e-04 9.99877296e-01 7.21625035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4692541539998 meters 0.01988934708075192 Centerline is valid? [True, True] Translation: X:919.16, Y:175.94, Z:7.21 [[-5.08619948e-01 -8.60953832e-01 8.01543090e-03 9.19160135e+02] [ 8.60832553e-01 -5.08682900e-01 -1.44576007e-02 1.75937408e+02] [ 1.65246393e-02 -4.53480251e-04 9.99863356e-01 7.21461097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4992541539998 meters 0.02557196702188839 Centerline is valid? [True, True] Translation: X:919.15, Y:175.96, Z:7.21 [[-5.09973057e-01 -8.60149693e-01 8.36576701e-03 9.19153068e+02] [ 8.60017652e-01 -5.10041430e-01 -1.50790831e-02 1.75964772e+02] [ 1.72371565e-02 -4.95218829e-04 9.99851307e-01 7.21112684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.5292541539998 meters 0.021099511689512386 Centerline is valid? [True, True] Translation: X:919.13, Y:175.99, Z:7.21 [[-5.10525969e-01 -8.59823890e-01 8.13103316e-03 9.19134530e+02] [ 8.59699282e-01 -5.10590483e-01 -1.46459001e-02 1.75985623e+02] [ 1.67445229e-02 -4.86868950e-04 9.99859682e-01 7.21436160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.5592541539997 meters 0.02076752577639142 Centerline is valid? [True, True] Translation: X:919.12, Y:176.01, Z:7.21 [[-5.10112726e-01 -8.60066936e-01 8.35899698e-03 9.19117794e+02] [ 8.59935465e-01 -5.10180977e-01 -1.50454542e-02 1.76007899e+02] [ 1.72046989e-02 -4.86679701e-04 9.99851870e-01 7.21458484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.589254154 meters 0.018315982027831364 Centerline is valid? [True, True] Translation: X:919.10, Y:176.03, Z:7.22 [[-5.08876741e-01 -8.60798812e-01 8.35867949e-03 9.19101208e+02] [ 8.60667628e-01 -5.08945181e-01 -1.50345493e-02 1.76030741e+02] [ 1.71958318e-02 -4.56687592e-04 9.99852036e-01 7.21646996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.619254154 meters 0.017689318178120996 Centerline is valid? [True, True] Translation: X:919.08, Y:176.05, Z:7.22 [[-5.05091235e-01 -8.63025023e-01 8.40557397e-03 9.19082859e+02] [ 8.62892846e-01 -5.05161030e-01 -1.51086252e-02 1.76052985e+02] [ 1.72852900e-02 -3.78124514e-04 9.99850527e-01 7.21608053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.649254154 meters 0.015267649660533691 Centerline is valid? [True, True] Translation: X:919.07, Y:176.08, Z:7.22 [[-5.02234790e-01 -8.64693521e-01 8.08270329e-03 9.19067814e+02] [ 8.64571644e-01 -5.02299732e-01 -1.45207415e-02 1.76076032e+02] [ 1.66159308e-02 -3.04745511e-04 9.99861899e-01 7.21783691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.6792541539999 meters 0.01712145715713527 Centerline is valid? [True, True] Translation: X:919.05, Y:176.10, Z:7.22 [[-4.99597104e-01 -8.66215732e-01 8.54633552e-03 9.19051593e+02] [ 8.66079813e-01 -4.99670127e-01 -1.53467397e-02 1.76097868e+02] [ 1.75639359e-02 -2.65378042e-04 9.99845707e-01 7.21520911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7092541539998 meters 0.013678341059299926 Centerline is valid? [True, True] Translation: X:919.03, Y:176.12, Z:7.22 [[-4.92924388e-01 -8.70037117e-01 7.80782673e-03 9.19032049e+02] [ 8.69924277e-01 -4.92986208e-01 -1.40124986e-02 1.76119183e+02] [ 1.60405447e-02 -1.14884254e-04 9.99871336e-01 7.21701348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7392541539998 meters 0.01522294985139042 Centerline is valid? [True, True] Translation: X:919.02, Y:176.14, Z:7.22 [[-4.90140767e-01 -8.71605055e-01 8.16433822e-03 9.19015858e+02] [ 8.71482067e-01 -4.90208756e-01 -1.46418005e-02 1.76140939e+02] [ 1.67640974e-02 -6.14689941e-05 9.99859471e-01 7.21539284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7692541539998 meters 0.018072716826134615 Centerline is valid? [True, True] Translation: X:919.00, Y:176.16, Z:7.21 [[-4.84492614e-01 -8.74754898e-01 8.41287990e-03 9.18996673e+02] [ 8.74624958e-01 -4.84565647e-01 -1.50769931e-02 1.76162568e+02] [ 1.72652662e-02 5.34229257e-05 9.99850943e-01 7.21456488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7992541539998 meters 0.013446330040672447 Centerline is valid? [True, True] Translation: X:918.98, Y:176.19, Z:7.22 [[-4.81514891e-01 -8.76408382e-01 7.19424826e-03 9.18980702e+02] [ 8.76313666e-01 -4.81568621e-01 -1.28849198e-02 1.76185943e+02] [ 1.47569759e-02 1.00137326e-04 9.99891105e-01 7.21825092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.829254154 meters 0.013848835267792315 Centerline is valid? [True, True] Translation: X:918.96, Y:176.21, Z:7.22 [[-4.79084889e-01 -8.77741367e-01 6.91098056e-03 9.18964633e+02] [ 8.77654201e-01 -4.79134713e-01 -1.23705309e-02 1.76207826e+02] [ 1.41694174e-02 1.38916703e-04 9.99899599e-01 7.21837638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.859254154 meters 0.0175647319338362 Centerline is valid? [True, True] Translation: X:918.95, Y:176.23, Z:7.22 [[-4.75015315e-01 -8.79950248e-01 6.92904751e-03 9.18946293e+02] [ 8.79862962e-01 -4.75065804e-01 -1.23956024e-02 1.76229400e+02] [ 1.41992669e-02 2.08511284e-04 9.99899164e-01 7.21653645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.889254154 meters 0.01709772004095255 Centerline is valid? [True, True] Translation: X:918.93, Y:176.25, Z:7.22 [[-4.73349159e-01 -8.80851583e-01 6.40800235e-03 9.18929944e+02] [ 8.80777113e-01 -4.73392479e-01 -1.14558875e-02 1.76251533e+02] [ 1.31244367e-02 2.21387121e-04 9.99913846e-01 7.21732698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9192541539999 meters 0.018253999020921768 Centerline is valid? [True, True] Translation: X:918.91, Y:176.27, Z:7.22 [[-4.70963056e-01 -8.82131801e-01 6.10623914e-03 9.18912742e+02] [ 8.82064377e-01 -4.71002574e-01 -1.09091512e-02 1.76274529e+02] [ 1.24993635e-02 2.48288852e-04 9.99921849e-01 7.21709674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9492541539998 meters 0.017609966470509535 Centerline is valid? [True, True] Translation: X:918.90, Y:176.30, Z:7.22 [[-4.70340655e-01 -8.82463819e-01 6.10538532e-03 9.18899546e+02] [ 8.82396532e-01 -4.70380208e-01 -1.09004840e-02 1.76299858e+02] [ 1.24911352e-02 2.60430044e-04 9.99921949e-01 7.21782650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9792541539998 meters 0.020705188737615978 Centerline is valid? [True, True] Translation: X:918.88, Y:176.32, Z:7.22 [[-4.70093994e-01 -8.82593587e-01 6.34007014e-03 9.18883569e+02] [ 8.82521143e-01 -4.70136664e-01 -1.13115257e-02 1.76321810e+02] [ 1.29641795e-02 2.77765633e-04 9.99915923e-01 7.21568967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.0092541539998 meters 0.01757267434298501 Centerline is valid? [True, True] Translation: X:918.87, Y:176.35, Z:7.22 [[-4.69361547e-01 -8.82985803e-01 5.98419821e-03 9.18871140e+02] [ 8.82921383e-01 -4.69399612e-01 -1.06693391e-02 1.76346806e+02] [ 1.22298553e-02 2.75799060e-04 9.99925174e-01 7.21747147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.0392541539998 meters 0.018765493779165813 Centerline is valid? [True, True] Translation: X:918.86, Y:176.37, Z:7.22 [[-4.68823007e-01 -8.83266133e-01 6.77687899e-03 9.18857746e+02] [ 8.83183665e-01 -4.68871873e-01 -1.20739487e-02 1.76371061e+02] [ 1.38419979e-02 3.24683897e-04 9.99904142e-01 7.21540115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.0692541539997 meters 0.021120568471286908 Centerline is valid? [True, True] Translation: X:918.84, Y:176.40, Z:7.21 [[-4.68963274e-01 -8.83184436e-01 7.66150825e-03 9.18843873e+02] [ 8.83079173e-01 -4.69025708e-01 -1.36403517e-02 1.76395374e+02] [ 1.56403906e-02 3.68894389e-04 9.99877614e-01 7.21331316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.099254154 meters 0.019750445711074746 Centerline is valid? [True, True] Translation: X:918.83, Y:176.42, Z:7.21 [[-4.68914451e-01 -8.83209626e-01 7.74561728e-03 9.18830987e+02] [ 8.83102189e-01 -4.68978266e-01 -1.37807581e-02 1.76420858e+02] [ 1.58038243e-02 3.78174969e-04 9.99875040e-01 7.21382226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.129254154 meters 0.016869474556430317 Centerline is valid? [True, True] Translation: X:918.82, Y:176.45, Z:7.22 [[-4.68768850e-01 -8.83286904e-01 7.74671756e-03 9.18819448e+02] [ 8.83179599e-01 -4.68832697e-01 -1.37730908e-02 1.76445657e+02] [ 1.57975052e-02 3.85346987e-04 9.99875137e-01 7.21547566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1592541539999 meters 0.017487945037968737 Centerline is valid? [True, True] Translation: X:918.81, Y:176.47, Z:7.21 [[-4.69191875e-01 -8.83059664e-01 8.03836118e-03 9.18807641e+02] [ 8.82944260e-01 -4.69260560e-01 -1.42814769e-02 1.76471610e+02] [ 1.63834821e-02 3.96671933e-04 9.99865703e-01 7.21456550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1892541539999 meters 0.018072440022357663 Centerline is valid? [True, True] Translation: X:918.80, Y:176.50, Z:7.21 [[-4.70184324e-01 -8.82530488e-01 8.16330302e-03 9.18798170e+02] [ 8.82411557e-01 -4.70255023e-01 -1.44933815e-02 1.76498234e+02] [ 1.66296853e-02 3.88832134e-04 9.99861642e-01 7.21454620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2192541539998 meters 0.01635144432251545 Centerline is valid? [True, True] Translation: X:918.79, Y:176.52, Z:7.22 [[-4.71091566e-01 -8.82049011e-01 7.89170895e-03 9.18785978e+02] [ 8.81937951e-01 -4.71157521e-01 -1.40014759e-02 1.76522844e+02] [ 1.60682260e-02 3.64020417e-04 9.99870831e-01 7.21659888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2492541539998 meters 0.01581448723693063 Centerline is valid? [True, True] Translation: X:918.77, Y:176.55, Z:7.22 [[-4.72740065e-01 -8.81168670e-01 7.65541721e-03 9.18774622e+02] [ 8.81064191e-01 -4.72801931e-01 -1.35729794e-02 1.76548752e+02] [ 1.55795802e-02 3.28422824e-04 9.99878577e-01 7.21724496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2792541539998 meters 0.017136717683124022 Centerline is valid? [True, True] Translation: X:918.77, Y:176.58, Z:7.22 [[-4.77142756e-01 -8.78793838e-01 7.49538402e-03 9.18766446e+02] [ 8.78693522e-01 -4.77201560e-01 -1.32802709e-02 1.76576738e+02] [ 1.52474292e-02 2.49560319e-04 9.99883720e-01 7.21630590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.3092541539997 meters 0.017453648520091018 Centerline is valid? [True, True] Translation: X:918.76, Y:176.60, Z:7.22 [[-4.80106950e-01 -8.77182448e-01 6.94764261e-03 9.18755348e+02] [ 8.77096202e-01 -4.80157181e-01 -1.23018189e-02 1.76603174e+02] [ 1.41269001e-02 1.87562216e-04 9.99900193e-01 7.21681005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.339254154 meters 0.013465923108181491 Centerline is valid? [True, True] Translation: X:918.75, Y:176.63, Z:7.22 [[-4.84745583e-01 -8.74635459e-01 5.87648716e-03 9.18747994e+02] [ 8.74573644e-01 -4.84781191e-01 -1.03989239e-02 1.76631274e+02] [ 1.19440780e-02 9.85883603e-05 9.99928662e-01 7.22163439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.369254154 meters 0.013282714369311844 Centerline is valid? [True, True] Translation: X:918.74, Y:176.66, Z:7.22 [[-4.87393440e-01 -8.73164539e-01 5.59665683e-03 9.18737064e+02] [ 8.73108448e-01 -4.87425568e-01 -9.89719303e-03 1.76656277e+02] [ 1.13698316e-02 6.26613941e-05 9.99935359e-01 7.22203211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.399254154 meters 0.017420526203910425 Centerline is valid? [True, True] Translation: X:918.73, Y:176.68, Z:7.22 [[-4.90175770e-01 -8.71602940e-01 6.00244037e-03 9.18725637e+02] [ 8.71538397e-01 -4.90212519e-01 -1.06070501e-02 1.76682197e+02] [ 1.21876075e-02 3.20383056e-05 9.99925728e-01 7.21940360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4292541539999 meters 0.013088962940336577 Centerline is valid? [True, True] Translation: X:918.72, Y:176.71, Z:7.22 [[-4.93070269e-01 -8.69970506e-01 5.74715220e-03 9.18715427e+02] [ 8.69911304e-01 -4.93103761e-01 -1.01491061e-02 1.76708765e+02] [ 1.16633654e-02 -4.70982680e-06 9.99931981e-01 7.22256418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4592541539998 meters 0.014058772965156495 Centerline is valid? [True, True] Translation: X:918.70, Y:176.73, Z:7.22 [[-4.94392972e-01 -8.69218680e-01 5.87156240e-03 9.18703070e+02] [ 8.69156923e-01 -4.94427837e-01 -1.03613935e-02 1.76733199e+02] [ 1.19093807e-02 -1.92910093e-05 9.99929081e-01 7.22148713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4892541539998 meters 0.01626005596189615 Centerline is valid? [True, True] Translation: X:918.69, Y:176.76, Z:7.22 [[-4.95810394e-01 -8.68409058e-01 6.14507994e-03 9.18690448e+02] [ 8.68341447e-01 -4.95848472e-01 -1.08362059e-02 1.76758362e+02] [ 1.24572878e-02 -3.66758968e-05 9.99922404e-01 7.21940320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.5192541539998 meters 0.016157692961237813 Centerline is valid? [True, True] Translation: X:918.68, Y:176.78, Z:7.22 [[-4.96035146e-01 -8.68280642e-01 6.15301578e-03 9.18676744e+02] [ 8.68212939e-01 -4.96073306e-01 -1.08428454e-02 1.76783195e+02] [ 1.24669796e-02 -3.63044783e-05 9.99922284e-01 7.21927737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.5492541539998 meters 0.016157692961237813 Centerline is valid? [True, True] Translation: X:918.66, Y:176.81, Z:7.22 [[-4.96287434e-01 -8.68136443e-01 6.15616529e-03 9.18663063e+02] [ 8.68068751e-01 -4.96325613e-01 -1.08410572e-02 1.76807155e+02] [ 1.24669793e-02 -3.63057361e-05 9.99922284e-01 7.21946776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.579254154 meters 0.013050931296841218 Centerline is valid? [True, True] Translation: X:918.65, Y:176.83, Z:7.22 [[-4.95914469e-01 -8.68350432e-01 6.03047200e-03 9.18649738e+02] [ 8.68285579e-01 -4.95951133e-01 -1.06125815e-02 1.76831455e+02] [ 1.22062591e-02 -2.67608227e-05 9.99925500e-01 7.22214187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.609254154 meters 0.013009453815152576 Centerline is valid? [True, True] Translation: X:918.64, Y:176.86, Z:7.22 [[-4.95659891e-01 -8.68495623e-01 6.05195585e-03 9.18635930e+02] [ 8.68430407e-01 -4.95696836e-01 -1.06431051e-02 1.76856292e+02] [ 1.22434256e-02 -1.96578408e-05 9.99925046e-01 7.22170927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.639254154 meters 0.017049283370633987 Centerline is valid? [True, True] Translation: X:918.62, Y:176.88, Z:7.22 [[-4.95961943e-01 -8.68320998e-01 6.35580735e-03 9.18622439e+02] [ 8.68249142e-01 -4.96002666e-01 -1.11705875e-02 1.76879828e+02] [ 1.28521530e-02 -2.17619851e-05 9.99917407e-01 7.21829873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6692541539999 meters 0.013490671836055878 Centerline is valid? [True, True] Translation: X:918.61, Y:176.90, Z:7.22 [[-4.94985326e-01 -8.68879873e-01 6.10679842e-03 9.18608760e+02] [ 8.68813655e-01 -4.95022995e-01 -1.07269530e-02 1.76904412e+02] [ 1.23434392e-02 -4.01446424e-06 9.99923817e-01 7.22063609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6992541539998 meters 0.013044351523778653 Centerline is valid? [True, True] Translation: X:918.59, Y:176.93, Z:7.22 [[-4.94497959e-01 -8.69157044e-01 6.14832785e-03 9.18594900e+02] [ 8.69090032e-01 -4.94536180e-01 -1.07927397e-02 1.76928726e+02] [ 1.24211563e-02 6.46269049e-06 9.99922854e-01 7.22127704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7292541539998 meters 0.013037217828016038 Centerline is valid? [True, True] Translation: X:918.58, Y:176.95, Z:7.22 [[-4.92872158e-01 -8.70080412e-01 6.09200483e-03 9.18580776e+02] [ 8.70014784e-01 -4.92909805e-01 -1.06864786e-02 1.76951949e+02] [ 1.23009046e-02 3.30665112e-05 9.99924340e-01 7.22118168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7592541539998 meters 0.013163398897839098 Centerline is valid? [True, True] Translation: X:918.57, Y:176.98, Z:7.22 [[-4.91931758e-01 -8.70613532e-01 5.93488388e-03 9.18566405e+02] [ 8.70551375e-01 -4.91967555e-01 -1.04032849e-02 1.76975291e+02] [ 1.19770109e-02 4.89151008e-05 9.99928272e-01 7.22141073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7892541539998 meters 0.01618828644993259 Centerline is valid? [True, True] Translation: X:918.55, Y:177.00, Z:7.22 [[-4.91138611e-01 -8.71060723e-01 6.00680668e-03 9.18551887e+02] [ 8.70997178e-01 -4.91175338e-01 -1.05215340e-02 1.76998124e+02] [ 1.21152903e-02 6.43801015e-05 9.99926605e-01 7.21915096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.8192541539997 meters 0.014529820054163119 Centerline is valid? [True, True] Translation: X:918.54, Y:177.02, Z:7.22 [[-4.87949516e-01 -8.72856598e-01 5.16027406e-03 9.18536448e+02] [ 8.72809864e-01 -4.87976792e-01 -9.03282992e-03 1.77020704e+02] [ 1.04024592e-02 9.63731091e-05 9.99945888e-01 7.22153122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.849254154 meters 0.01409555953162553 Centerline is valid? [True, True] Translation: X:918.52, Y:177.04, Z:7.22 [[-4.86177666e-01 -8.73845917e-01 4.95891546e-03 9.18521460e+02] [ 8.73802867e-01 -4.86202942e-01 -8.67462566e-03 1.77044192e+02] [ 9.99132550e-03 1.15705286e-04 9.99950079e-01 7.22295556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.879254154 meters 0.01634042269619951 Centerline is valid? [True, True] Translation: X:918.51, Y:177.07, Z:7.22 [[-4.82803356e-01 -8.75715333e-01 4.85546659e-03 9.18505145e+02] [ 8.75674207e-01 -4.82827746e-01 -8.48825139e-03 1.77067249e+02] [ 9.77764588e-03 1.53650601e-04 9.99952186e-01 7.22186228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9092541539999 meters 0.016919723683597697 Centerline is valid? [True, True] Translation: X:918.49, Y:177.09, Z:7.22 [[-4.81211990e-01 -8.76590647e-01 4.88444664e-03 9.18490137e+02] [ 8.76549129e-01 -4.81236747e-01 -8.53336948e-03 1.77090586e+02] [ 9.83084709e-03 1.75097734e-04 9.99951661e-01 7.22229386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9392541539999 meters 0.016374680895554522 Centerline is valid? [True, True] Translation: X:918.48, Y:177.11, Z:7.22 [[-4.79392340e-01 -8.77588352e-01 4.65503996e-03 9.18475370e+02] [ 8.77550736e-01 -4.79414903e-01 -8.12753085e-03 1.77114280e+02] [ 9.36432193e-03 1.88757711e-04 9.99956136e-01 7.22398023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9692541539998 meters 0.017760397692963965 Centerline is valid? [True, True] Translation: X:918.46, Y:177.14, Z:7.22 [[-4.76334690e-01 -8.79251180e-01 4.75655561e-03 9.18459484e+02] [ 8.79212036e-01 -4.76358384e-01 -8.29974726e-03 1.77136665e+02] [ 9.56338772e-03 2.28563408e-04 9.99954244e-01 7.22371232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9992541539998 meters 0.02177438295726757 Centerline is valid? [True, True] Translation: X:918.44, Y:177.16, Z:7.22 [[-4.74289283e-01 -8.80354898e-01 4.99302549e-03 9.18444070e+02] [ 8.80311869e-01 -4.74315490e-01 -8.70800354e-03 1.77158469e+02] [ 1.00344029e-02 2.65306847e-04 9.99949619e-01 7.22088431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.0292541539998 meters 0.022310004486413963 Centerline is valid? [True, True] Translation: X:918.43, Y:177.18, Z:7.22 [[-4.73694261e-01 -8.80674814e-01 5.06149660e-03 9.18429491e+02] [ 8.80630666e-01 -4.73721220e-01 -8.82249549e-03 1.77182367e+02] [ 1.01674879e-02 2.78143639e-04 9.99948271e-01 7.22100367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.0592541539997 meters 0.02331082416123973 Centerline is valid? [True, True] Translation: X:918.42, Y:177.21, Z:7.22 [[-4.73576168e-01 -8.80736856e-01 5.31077755e-03 9.18415878e+02] [ 8.80688321e-01 -4.73605852e-01 -9.25083694e-03 1.77205569e+02] [ 1.06627684e-02 2.96163856e-04 9.99943107e-01 7.22036333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.089254154 meters 0.02308501347590537 Centerline is valid? [True, True] Translation: X:918.40, Y:177.23, Z:7.22 [[-4.73649915e-01 -8.80697257e-01 5.30090944e-03 9.18402944e+02] [ 8.80648968e-01 -4.73679484e-01 -9.22723762e-03 1.77229175e+02] [ 1.06373349e-02 2.97760110e-04 9.99943378e-01 7.22068691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.119254154 meters 0.02080689300038789 Centerline is valid? [True, True] Translation: X:918.39, Y:177.25, Z:7.22 [[-4.74280240e-01 -8.80359156e-01 5.09999831e-03 9.18392127e+02] [ 8.80314501e-01 -4.74307576e-01 -8.87141325e-03 1.77253005e+02] [ 1.02289977e-02 2.82066461e-04 9.99947643e-01 7.22308696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.149254154 meters 0.02248269492328386 Centerline is valid? [True, True] Translation: X:918.38, Y:177.28, Z:7.22 [[-4.75455723e-01 -8.79720990e-01 5.73026145e-03 9.18379833e+02] [ 8.79664660e-01 -4.75490155e-01 -9.95986308e-03 1.77276850e+02] [ 1.14865835e-02 3.05234587e-04 9.99933980e-01 7.22026560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.1792541539999 meters 0.019604884500126967 Centerline is valid? [True, True] Translation: X:918.37, Y:177.30, Z:7.22 [[-4.77520573e-01 -8.78602689e-01 5.60506344e-03 9.18369795e+02] [ 8.78548795e-01 -4.77553388e-01 -9.73529808e-03 1.77302416e+02] [ 1.12301761e-02 2.75516611e-04 9.99936902e-01 7.22192173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2092541539998 meters 0.0212539991809171 Centerline is valid? [True, True] Translation: X:918.36, Y:177.33, Z:7.22 [[-4.79478345e-01 -8.77532901e-01 6.04362541e-03 9.18358253e+02] [ 8.77470249e-01 -4.79516354e-01 -1.04894775e-02 1.77325717e+02] [ 1.21028788e-02 2.73624201e-04 9.99926720e-01 7.21896699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2392541539998 meters 0.01985511360551068 Centerline is valid? [True, True] Translation: X:918.35, Y:177.35, Z:7.22 [[-4.81263190e-01 -8.76555954e-01 5.94990213e-03 9.18347353e+02] [ 8.76495241e-01 -4.81299904e-01 -1.03196721e-02 1.77350798e+02] [ 1.19094573e-02 2.48582596e-04 9.99929049e-01 7.21966787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2692541539998 meters 0.015240227991221333 Centerline is valid? [True, True] Translation: X:918.34, Y:177.38, Z:7.22 [[-4.84793504e-01 -8.74611635e-01 5.45414213e-03 9.18341292e+02] [ 8.74560550e-01 -4.84824148e-01 -9.45462595e-03 1.77380221e+02] [ 1.09134257e-02 1.86436303e-04 9.99940429e-01 7.22225241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2992541539998 meters 0.015855988648248383 Centerline is valid? [True, True] Translation: X:918.33, Y:177.41, Z:7.22 [[-4.87351822e-01 -8.73187901e-01 5.57600751e-03 9.18329835e+02] [ 8.73134469e-01 -4.87383693e-01 -9.66097705e-03 1.77405435e+02] [ 1.11535034e-02 1.60309594e-04 9.99937785e-01 7.22118112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.329254154 meters 0.015404645096276969 Centerline is valid? [True, True] Translation: X:918.32, Y:177.43, Z:7.22 [[-4.92843723e-01 -8.70099784e-01 5.60632387e-03 9.18322165e+02] [ 8.70045637e-01 -4.92875600e-01 -9.70733013e-03 1.77432026e+02] [ 1.12095661e-02 9.35608990e-05 9.99937166e-01 7.22056464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.359254154 meters 0.014960453554957438 Centerline is valid? [True, True] Translation: X:918.31, Y:177.46, Z:7.22 [[-4.96019176e-01 -8.68295154e-01 5.33870173e-03 9.18311514e+02] [ 8.68246009e-01 -4.96047903e-01 -9.23827153e-03 1.77458662e+02] [ 1.06697982e-02 5.29466408e-05 9.99943075e-01 7.22116794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.389254154 meters 0.014794036001350142 Centerline is valid? [True, True] Translation: X:918.30, Y:177.48, Z:7.22 [[-4.99492028e-01 -8.66300879e-01 5.52282765e-03 9.18300874e+02] [ 8.66248228e-01 -4.99522559e-01 -9.55095283e-03 1.77483771e+02] [ 1.10327758e-02 1.35148649e-05 9.99939137e-01 7.22083182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4192541539999 meters 0.01627427364460856 Centerline is valid? [True, True] Translation: X:918.29, Y:177.51, Z:7.22 [[-5.06435888e-01 -8.62261331e-01 5.29992645e-03 9.18291907e+02] [ 8.62212672e-01 -5.06463615e-01 -9.16055234e-03 1.77511552e+02] [ 1.05830100e-02 -6.95687105e-05 9.99943996e-01 7.22054775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4492541539998 meters 0.017264160760554332 Centerline is valid? [True, True] Translation: X:918.28, Y:177.54, Z:7.22 [[-5.09056441e-01 -8.60717787e-01 5.14114338e-03 9.18278489e+02] [ 8.60671979e-01 -5.09082392e-01 -8.88042436e-03 1.77536111e+02] [ 1.02608048e-02 -9.57991640e-05 9.99947352e-01 7.22033824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4792541539998 meters 0.016288598891449457 Centerline is valid? [True, True] Translation: X:918.27, Y:177.56, Z:7.22 [[-5.13014706e-01 -8.58365963e-01 4.87694679e-03 9.18266514e+02] [ 8.58324687e-01 -5.13037870e-01 -8.41873678e-03 1.77560196e+02] [ 9.72841549e-03 -1.32931951e-04 9.99952669e-01 7.22085883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.5092541539998 meters 0.01822253762587645 Centerline is valid? [True, True] Translation: X:918.26, Y:177.59, Z:7.22 [[-5.14984367e-01 -8.57184333e-01 5.11083166e-03 9.18257103e+02] [ 8.57139010e-01 -5.15009703e-01 -8.81612823e-03 1.77586455e+02] [ 1.01891749e-02 -1.59475029e-04 9.99948076e-01 7.21958968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.5392541539998 meters 0.016927765050600285 Centerline is valid? [True, True] Translation: X:918.24, Y:177.61, Z:7.22 [[-5.16754865e-01 -8.56114859e-01 5.63548217e-03 9.18238970e+02] [ 8.56059767e-01 -5.16785556e-01 -9.71417451e-03 1.77608305e+02] [ 1.12287849e-02 -1.95537382e-04 9.99936936e-01 7.21943163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.5692541539997 meters 0.017906035872837404 Centerline is valid? [True, True] Translation: X:918.23, Y:177.63, Z:7.22 [[-5.19747540e-01 -8.54296753e-01 6.28905429e-03 9.18225529e+02] [ 8.54228103e-01 -5.19785524e-01 -1.08331464e-02 1.77632956e+02] [ 1.25236811e-02 -2.58214254e-04 9.99921542e-01 7.21799517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.599254154 meters 0.017161848731745446 Centerline is valid? [True, True] Translation: X:918.21, Y:177.66, Z:7.22 [[-5.20336894e-01 -8.53938910e-01 6.15260238e-03 9.18210059e+02] [ 8.53873267e-01 -5.20373204e-01 -1.05911953e-02 1.77656951e+02] [ 1.22458832e-02 -2.57446965e-04 9.99924983e-01 7.21847618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.629254154 meters 0.015694393483767298 Centerline is valid? [True, True] Translation: X:918.19, Y:177.68, Z:7.22 [[-5.20633045e-01 -8.53758901e-01 6.08047621e-03 9.18193051e+02] [ 8.53694857e-01 -5.20668488e-01 -1.04601939e-02 1.77679365e+02] [ 1.20963960e-02 -2.55051321e-04 9.99926803e-01 7.21962047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6592541539999 meters 0.017003608951870537 Centerline is valid? [True, True] Translation: X:918.18, Y:177.70, Z:7.22 [[-5.21047102e-01 -8.53504173e-01 6.36741574e-03 9.18178146e+02] [ 8.53434006e-01 -5.21085937e-01 -1.09473048e-02 1.77701899e+02] [ 1.26615411e-02 -2.69892304e-04 9.99919803e-01 7.21835464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6892541539999 meters 0.018664229492979842 Centerline is valid? [True, True] Translation: X:918.16, Y:177.72, Z:7.22 [[-5.21314676e-01 -8.53340962e-01 6.34116999e-03 9.18163738e+02] [ 8.53271444e-01 -5.21353172e-01 -1.08955707e-02 1.77723979e+02] [ 1.26036258e-02 -2.69281621e-04 9.99920535e-01 7.21733505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7192541539998 meters 0.017154622311235303 Centerline is valid? [True, True] Translation: X:918.14, Y:177.75, Z:7.22 [[-5.20068683e-01 -8.54105778e-01 5.64674170e-03 9.18144834e+02] [ 8.54050768e-01 -5.20099291e-01 -9.69600967e-03 1.77745887e+02] [ 1.12182842e-02 -2.19986895e-04 9.99937049e-01 7.21930508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7492541539998 meters 0.014957785901843651 Centerline is valid? [True, True] Translation: X:918.13, Y:177.77, Z:7.22 [[-5.19190254e-01 -8.54642583e-01 5.24734708e-03 9.18128225e+02] [ 8.54595165e-01 -5.19216735e-01 -9.00477151e-03 1.77768614e+02] [ 1.04203716e-02 -1.90832164e-04 9.99945688e-01 7.22152615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7792541539998 meters 0.01539930496142426 Centerline is valid? [True, True] Translation: X:918.11, Y:177.79, Z:7.22 [[-5.16588818e-01 -8.56219096e-01 4.98528715e-03 9.18109773e+02] [ 8.56176422e-01 -5.16612851e-01 -8.54970219e-03 1.77789100e+02] [ 9.89588169e-03 -1.48395232e-04 9.99951024e-01 7.22059548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.8092541539997 meters 0.01751949400839434 Centerline is valid? [True, True] Translation: X:918.09, Y:177.81, Z:7.22 [[-5.15128719e-01 -8.57097154e-01 5.18374642e-03 9.18093235e+02] [ 8.57051121e-01 -5.15154783e-01 -8.88399143e-03 1.77810636e+02] [ 1.02848755e-02 -1.33663437e-04 9.99947100e-01 7.21887399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.839254154 meters 0.013565636674570327 Centerline is valid? [True, True] Translation: X:918.08, Y:177.83, Z:7.22 [[-5.12795778e-01 -8.58498834e-01 4.49913301e-03 9.18076123e+02] [ 8.58464255e-01 -5.12815507e-01 -7.70576992e-03 1.77833225e+02] [ 8.92261967e-03 -8.91414074e-05 9.99960189e-01 7.22205964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.869254154 meters 0.01465332365594534 Centerline is valid? [True, True] Translation: X:918.06, Y:177.85, Z:7.22 [[-5.07493392e-01 -8.61641194e-01 4.99110235e-03 9.18056175e+02] [ 8.61598844e-01 -5.07517933e-01 -8.54282591e-03 1.77853027e+02] [ 9.89392466e-03 -3.50996815e-05 9.99951053e-01 7.21987351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.899254154 meters 0.015423124341328472 Centerline is valid? [True, True] Translation: X:918.04, Y:177.87, Z:7.22 [[-5.04676840e-01 -8.63292831e-01 5.17452023e-03 9.18038493e+02] [ 8.63247447e-01 -5.04703367e-01 -8.85189565e-03 1.77874831e+02] [ 1.02533758e-02 -4.55342547e-07 9.99947433e-01 7.21967751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9292541539999 meters 0.013369608503387191 Centerline is valid? [True, True] Translation: X:918.02, Y:177.90, Z:7.22 [[-4.97097185e-01 -8.67679946e-01 5.08914022e-03 9.18016981e+02] [ 8.67636333e-01 -4.97123227e-01 -8.70011579e-03 1.77895038e+02] [ 1.00788458e-02 9.07198888e-05 9.99949203e-01 7.22124961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9592541539998 meters 0.014346909824135615 Centerline is valid? [True, True] Translation: X:918.00, Y:177.92, Z:7.22 [[-4.94003687e-01 -8.69443256e-01 5.36478290e-03 9.17998730e+02] [ 8.69394959e-01 -4.94032798e-01 -9.16517094e-03 1.77917754e+02] [ 1.06189748e-02 1.36486969e-04 9.99943608e-01 7.22063211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9892541539998 meters 0.014618819976053158 Centerline is valid? [True, True] Translation: X:917.98, Y:177.94, Z:7.22 [[-4.90544759e-01 -8.71399513e-01 5.35995287e-03 9.17981008e+02] [ 8.71351478e-01 -4.90574007e-01 -9.15120481e-03 1.77940421e+02] [ 1.06038090e-02 1.81327298e-04 9.99943762e-01 7.22093803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.0192541539998 meters 0.019358538938981925 Centerline is valid? [True, True] Translation: X:917.96, Y:177.96, Z:7.22 [[-4.85766420e-01 -8.74068451e-01 5.94376096e-03 9.17961198e+02] [ 8.74009660e-01 -4.85802708e-01 -1.01411781e-02 1.77959450e+02] [ 1.17515790e-02 2.68660708e-04 9.99930912e-01 7.21738009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.0492541539998 meters 0.017490617007187636 Centerline is valid? [True, True] Translation: X:917.94, Y:177.98, Z:7.22 [[-4.83022126e-01 -8.75591093e-01 5.46472935e-03 9.17944531e+02] [ 8.75541556e-01 -4.83052955e-01 -9.31804658e-03 1.77981326e+02] [ 1.07985522e-02 2.83774975e-04 9.99941654e-01 7.22021495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.079254154 meters 0.02081210325187674 Centerline is valid? [True, True] Translation: X:917.93, Y:178.00, Z:7.22 [[-4.80646072e-01 -8.76894397e-01 5.96406392e-03 9.17926792e+02] [ 8.76835581e-01 -4.80682949e-01 -1.01620303e-02 1.78002220e+02] [ 1.17778513e-02 3.45163505e-04 9.99930579e-01 7.21747095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.109254154 meters 0.020120161261025414 Centerline is valid? [True, True] Translation: X:917.91, Y:178.03, Z:7.22 [[-4.79691289e-01 -8.77418203e-01 5.79352753e-03 9.17911645e+02] [ 8.77362815e-01 -4.79726145e-01 -9.86495726e-03 1.78025605e+02] [ 1.14349997e-02 3.50891556e-04 9.99934557e-01 7.21858548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.139254154 meters 0.021378613544508953 Centerline is valid? [True, True] Translation: X:917.90, Y:178.05, Z:7.22 [[-4.79728668e-01 -8.77396045e-01 6.04858910e-03 9.17897707e+02] [ 8.77335755e-01 -4.79766656e-01 -1.02922211e-02 1.78049414e+02] [ 1.19322655e-02 3.69169944e-04 9.99928740e-01 7.21675648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1692541539999 meters 0.02019694607777997 Centerline is valid? [True, True] Translation: X:917.88, Y:178.07, Z:7.22 [[-4.79214249e-01 -8.77680065e-01 5.60421101e-03 9.17882263e+02] [ 8.77628389e-01 -4.79246889e-01 -9.53050005e-03 1.78071680e+02] [ 1.10505306e-02 3.51263252e-04 9.99938879e-01 7.21932280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1992541539998 meters 0.022624470046248547 Centerline is valid? [True, True] Translation: X:917.87, Y:178.09, Z:7.22 [[-4.80272499e-01 -8.77097570e-01 6.17889565e-03 9.17868285e+02] [ 8.77034784e-01 -4.80312098e-01 -1.05012585e-02 1.78094424e+02] [ 1.21784267e-02 3.75640718e-04 9.99925770e-01 7.21601852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2292541539998 meters 0.02049339472349235 Centerline is valid? [True, True] Translation: X:917.86, Y:178.12, Z:7.22 [[-4.81032441e-01 -8.76678667e-01 6.50428771e-03 9.17856879e+02] [ 8.76609158e-01 -4.81076257e-01 -1.10462350e-02 1.78120603e+02] [ 1.28130570e-02 3.88120771e-04 9.99917834e-01 7.21620592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2592541539998 meters 0.020779805985141484 Centerline is valid? [True, True] Translation: X:917.84, Y:178.15, Z:7.22 [[-4.81803900e-01 -8.76251760e-01 6.91770667e-03 9.17843180e+02] [ 8.76173199e-01 -4.81853390e-01 -1.17404047e-02 1.78145236e+02] [ 1.36208707e-02 4.04536400e-04 9.99907150e-01 7.21535218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2892541539998 meters 0.018697976012272362 Centerline is valid? [True, True] Translation: X:917.83, Y:178.17, Z:7.22 [[-4.81825966e-01 -8.76238523e-01 7.05611793e-03 9.17830113e+02] [ 8.76156901e-01 -4.81877450e-01 -1.19669328e-02 1.78168763e+02] [ 1.38860716e-02 4.16287467e-04 9.99903497e-01 7.21779243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.3192541539997 meters 0.0184563876051491 Centerline is valid? [True, True] Translation: X:917.82, Y:178.19, Z:7.22 [[-4.83530946e-01 -8.75294464e-01 7.57791250e-03 9.17818054e+02] [ 8.75200344e-01 -4.83590139e-01 -1.28427535e-02 1.78193267e+02] [ 1.49057948e-02 4.22322880e-04 9.99888813e-01 7.21707645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.349254154 meters 0.01912640370717352 Centerline is valid? [True, True] Translation: X:917.80, Y:178.22, Z:7.22 [[-4.85256529e-01 -8.74337178e-01 7.78461541e-03 9.17804593e+02] [ 8.74237860e-01 -4.85318795e-01 -1.31845017e-02 1.78218191e+02] [ 1.53057202e-02 4.07739972e-04 9.99882777e-01 7.21539104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.379254154 meters 0.019305943903894125 Centerline is valid? [True, True] Translation: X:917.79, Y:178.25, Z:7.21 [[-4.88991654e-01 -8.72251204e-01 8.06218891e-03 9.17794009e+02] [ 8.72144505e-01 -4.89057981e-01 -1.36474627e-02 1.78245135e+02] [ 1.58468936e-02 3.57898406e-04 9.99874366e-01 7.21371994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4092541539999 meters 0.017523916668919483 Centerline is valid? [True, True] Translation: X:917.78, Y:178.27, Z:7.22 [[-4.91367200e-01 -8.70918028e-01 7.75011585e-03 9.17782008e+02] [ 8.70819368e-01 -4.91428220e-01 -1.31123270e-02 1.78269556e+02] [ 1.52283876e-02 3.05983575e-04 9.99883995e-01 7.21515593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4392541539999 meters 0.017523916668919483 Centerline is valid? [True, True] Translation: X:917.77, Y:178.29, Z:7.22 [[-4.91642476e-01 -8.70762626e-01 7.75400973e-03 9.17768285e+02] [ 8.70663983e-01 -4.91703524e-01 -1.31100244e-02 1.78292534e+02] [ 1.52283932e-02 3.05692144e-04 9.99883995e-01 7.21534067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4692541539998 meters 0.014838688908485938 Centerline is valid? [True, True] Translation: X:917.76, Y:178.32, Z:7.22 [[-4.94043395e-01 -8.69407254e-01 7.22151042e-03 9.17757878e+02] [ 8.69321665e-01 -4.94096108e-01 -1.22015772e-02 1.78318698e+02] [ 1.41762599e-02 2.49706840e-04 9.99899481e-01 7.21855808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4992541539998 meters 0.01642122665949544 Centerline is valid? [True, True] Translation: X:917.75, Y:178.35, Z:7.22 [[-5.01324266e-01 -8.65229763e-01 7.17201379e-03 9.17749428e+02] [ 8.65145020e-01 -5.01375548e-01 -1.21101304e-02 1.78346778e+02] [ 1.40739176e-02 1.33729792e-04 9.99900949e-01 7.21714671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.5292541539998 meters 0.0164392016421071 Centerline is valid? [True, True] Translation: X:917.74, Y:178.37, Z:7.22 [[-5.04906483e-01 -8.63147248e-01 6.80238877e-03 9.17738193e+02] [ 8.63070908e-01 -5.04952298e-01 -1.14797697e-02 1.78371512e+02] [ 1.33436135e-02 7.47337097e-05 9.99910967e-01 7.21720475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.5592541539997 meters 0.015421631065049108 Centerline is valid? [True, True] Translation: X:917.73, Y:178.40, Z:7.22 [[-5.12069792e-01 -8.58919570e-01 6.45756779e-03 9.17730588e+02] [ 8.58850509e-01 -5.12110506e-01 -1.08918923e-02 1.78399700e+02] [ 1.26622478e-02 -3.13236323e-05 9.99919830e-01 7.22010723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.589254154 meters 0.016439398864448285 Centerline is valid? [True, True] Translation: X:917.72, Y:178.42, Z:7.22 [[-5.15508098e-01 -8.56860919e-01 6.38487740e-03 9.17720229e+02] [ 8.56793334e-01 -5.15547631e-01 -1.07620960e-02 1.78424627e+02] [ 1.25133279e-02 -7.74272447e-05 9.99921702e-01 7.21901171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.619254154 meters 0.014612632209987635 Centerline is valid? [True, True] Translation: X:917.71, Y:178.45, Z:7.22 [[-5.18298550e-01 -8.55179172e-01 5.93264196e-03 9.17708640e+02] [ 8.55120785e-01 -5.18332492e-01 -9.99356695e-03 1.78450495e+02] [ 1.16213714e-02 -1.06525819e-04 9.99932464e-01 7.22135598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.649254154 meters 0.0172072403462258 Centerline is valid? [True, True] Translation: X:917.70, Y:178.48, Z:7.22 [[-5.23350949e-01 -8.52097211e-01 5.84177097e-03 9.17699784e+02] [ 8.52040474e-01 -5.23383525e-01 -9.83450193e-03 1.78476717e+02] [ 1.14374384e-02 -1.69470617e-04 9.99934576e-01 7.22074756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.6792541539999 meters 0.01531746902345749 Centerline is valid? [True, True] Translation: X:917.68, Y:178.50, Z:7.22 [[-5.25219260e-01 -8.50949691e-01 5.41774406e-03 9.17684769e+02] [ 8.50900889e-01 -5.25247172e-01 -9.11511284e-03 1.78500571e+02] [ 1.06021572e-02 -1.77469589e-04 9.99943780e-01 7.22306901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7092541539998 meters 0.014993234657383916 Centerline is valid? [True, True] Translation: X:917.67, Y:178.53, Z:7.22 [[-5.27465709e-01 -8.49556936e-01 5.73917130e-03 9.17672326e+02] [ 8.49502161e-01 -5.27496888e-01 -9.64942242e-03 1.78525966e+02] [ 1.12251287e-02 -2.14301018e-04 9.99936973e-01 7.22363761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7392541539998 meters 0.015113016395263858 Centerline is valid? [True, True] Translation: X:917.66, Y:178.55, Z:7.22 [[-5.28309653e-01 -8.49031369e-01 5.88606623e-03 9.17658160e+02] [ 8.48973796e-01 -5.28342392e-01 -9.88989841e-03 1.78550783e+02] [ 1.15066923e-02 -2.27812804e-04 9.99933770e-01 7.22318984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7692541539998 meters 0.01611348575633583 Centerline is valid? [True, True] Translation: X:917.64, Y:178.57, Z:7.22 [[-5.28888272e-01 -8.48666432e-01 6.51793585e-03 9.17644456e+02] [ 8.48595907e-01 -5.28928371e-01 -1.09437125e-02 1.78574132e+02] [ 1.27350826e-02 -2.56907508e-04 9.99918873e-01 7.22168186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7992541539998 meters 0.01851917858427562 Centerline is valid? [True, True] Translation: X:917.63, Y:178.60, Z:7.22 [[-5.28182127e-01 -8.49097753e-01 7.52645189e-03 9.17631370e+02] [ 8.49003901e-01 -5.28235675e-01 -1.26272879e-02 1.78597510e+02] [ 1.46975422e-02 -2.79520775e-04 9.99891946e-01 7.21807273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.829254154 meters 0.015937381281112883 Centerline is valid? [True, True] Translation: X:917.61, Y:178.62, Z:7.22 [[-5.27552036e-01 -8.49489088e-01 7.55905205e-03 9.17614346e+02] [ 8.49394588e-01 -5.27606122e-01 -1.26733630e-02 1.78620240e+02] [ 1.47540857e-02 -2.65240583e-04 9.99891117e-01 7.21996659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.859254154 meters 0.01474755954011038 Centerline is valid? [True, True] Translation: X:917.60, Y:178.64, Z:7.22 [[-5.25728487e-01 -8.50620478e-01 7.37292820e-03 9.17600568e+02] [ 8.50530799e-01 -5.25780136e-01 -1.23534886e-02 1.78643388e+02] [ 1.43846696e-02 -2.23678381e-04 9.99896510e-01 7.22124419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.889254154 meters 0.015794776804043616 Centerline is valid? [True, True] Translation: X:917.58, Y:178.67, Z:7.22 [[-5.25629794e-01 -8.50679752e-01 7.56837132e-03 9.17584680e+02] [ 8.50585382e-01 -5.25684231e-01 -1.26727094e-02 1.78666137e+02] [ 1.47589908e-02 -2.23607633e-04 9.99891055e-01 7.22049433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9192541539999 meters 0.013838479294774053 Centerline is valid? [True, True] Translation: X:917.57, Y:178.69, Z:7.22 [[-5.25063632e-01 -8.51033985e-01 7.02421687e-03 9.17568974e+02] [ 8.50952831e-01 -5.25110578e-01 -1.17541721e-02 1.78689783e+02] [ 1.36916905e-02 -1.94411060e-04 9.99906246e-01 7.22353531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9492541539998 meters 0.01644982122457944 Centerline is valid? [True, True] Translation: X:917.55, Y:178.71, Z:7.22 [[-5.25648951e-01 -8.50671828e-01 7.11486472e-03 9.17554828e+02] [ 8.50588645e-01 -5.25697061e-01 -1.18977951e-02 1.78713015e+02] [ 1.38613826e-02 -2.02240371e-04 9.99903906e-01 7.22156190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9792541539998 meters 0.015005237748463096 Centerline is valid? [True, True] Translation: X:917.54, Y:178.74, Z:7.22 [[-5.25744887e-01 -8.50615580e-01 6.74152888e-03 9.17539802e+02] [ 8.50540990e-01 -5.25788074e-01 -1.12661119e-02 1.78736335e+02] [ 1.31277458e-02 -1.89154101e-04 9.99913810e-01 7.22365992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.0092541539998 meters 0.01507238450709485 Centerline is valid? [True, True] Translation: X:917.53, Y:178.76, Z:7.22 [[-5.25842287e-01 -8.50560625e-01 6.04263733e-03 9.17525016e+02] [ 8.50500769e-01 -5.25876978e-01 -1.00918379e-02 1.78758506e+02] [ 1.17614038e-02 -1.67447429e-04 9.99930818e-01 7.22405912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.0392541539998 meters 0.01676389122194739 Centerline is valid? [True, True] Translation: X:917.51, Y:178.78, Z:7.22 [[-5.26042657e-01 -8.50436267e-01 6.10570251e-03 9.17509397e+02] [ 8.50375229e-01 -5.26078063e-01 -1.01902468e-02 1.78781661e+02] [ 1.18782316e-02 -1.68366306e-04 9.99929437e-01 7.22316208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.0692541539997 meters 0.013762916383917417 Centerline is valid? [True, True] Translation: X:917.49, Y:178.80, Z:7.23 [[-5.25147875e-01 -8.50993112e-01 5.51656804e-03 9.17494500e+02] [ 8.50943371e-01 -5.25176832e-01 -9.20187383e-03 1.78804206e+02] [ 1.07279050e-02 -1.38057484e-04 9.99942445e-01 7.22603177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.099254154 meters 0.017102816430036846 Centerline is valid? [True, True] Translation: X:917.48, Y:178.83, Z:7.22 [[-5.25379672e-01 -8.50847695e-01 5.86513413e-03 9.17478685e+02] [ 8.50791524e-01 -5.25412388e-01 -9.77776467e-03 1.78826933e+02] [ 1.14010027e-02 -1.47032383e-04 9.99934996e-01 7.22296896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.129254154 meters 0.015219495175799203 Centerline is valid? [True, True] Translation: X:917.46, Y:178.85, Z:7.22 [[-5.24867746e-01 -8.51164245e-01 5.76865966e-03 9.17462720e+02] [ 8.51109995e-01 -5.24899429e-01 -9.61074690e-03 1.78850042e+02] [ 1.12082903e-02 -1.34607165e-04 9.99937176e-01 7.22421312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1592541539999 meters 0.013351099364984713 Centerline is valid? [True, True] Translation: X:917.45, Y:178.87, Z:7.23 [[-5.23546513e-01 -8.51977255e-01 5.81429607e-03 9.17446323e+02] [ 8.51922266e-01 -5.23578785e-01 -9.68034163e-03 1.78871789e+02] [ 1.12916730e-02 -1.14780827e-04 9.99936240e-01 7.22501740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1892541539999 meters 0.01495550618412577 Centerline is valid? [True, True] Translation: X:917.43, Y:178.90, Z:7.22 [[-5.22921307e-01 -8.52358389e-01 6.20343330e-03 9.17429831e+02] [ 8.52295906e-01 -5.22958090e-01 -1.03211028e-02 1.78895055e+02] [ 1.20414142e-02 -1.09963774e-04 9.99927494e-01 7.22318664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2192541539998 meters 0.016629942813294663 Centerline is valid? [True, True] Translation: X:917.41, Y:178.92, Z:7.22 [[-5.20790851e-01 -8.53655115e-01 7.05929481e-03 9.17412812e+02] [ 8.53574433e-01 -5.20838686e-01 -1.17367214e-02 1.78916813e+02] [ 1.36958661e-02 -8.67435520e-05 9.99906203e-01 7.22066896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2492541539998 meters 0.012847851786444913 Centerline is valid? [True, True] Translation: X:917.40, Y:178.94, Z:7.22 [[-5.19496110e-01 -8.54442637e-01 7.18130775e-03 9.17396853e+02] [ 8.54359327e-01 -5.19545740e-01 -1.19316341e-02 1.78939840e+02] [ 1.39259148e-02 -6.30202647e-05 9.99903028e-01 7.22317716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2792541539998 meters 0.016325146571602743 Centerline is valid? [True, True] Translation: X:917.38, Y:178.96, Z:7.22 [[-5.18672159e-01 -8.54937614e-01 7.80179777e-03 9.17380650e+02] [ 8.54839472e-01 -5.18730830e-01 -1.29538757e-02 1.78963073e+02] [ 1.51217887e-02 -4.95300142e-05 9.99885658e-01 7.21972273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.3092541539997 meters 0.01639716717021416 Centerline is valid? [True, True] Translation: X:917.36, Y:178.98, Z:7.22 [[-5.16310847e-01 -8.56355660e-01 8.83705200e-03 9.17364078e+02] [ 8.56230126e-01 -5.16386468e-01 -1.46624441e-02 1.78984493e+02] [ 1.71196011e-02 -3.82877519e-06 9.99853449e-01 7.21816467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.339254154 meters 0.01608759963278589 Centerline is valid? [True, True] Translation: X:917.35, Y:179.01, Z:7.22 [[-5.15669140e-01 -8.56738278e-01 9.21205207e-03 9.17349519e+02] [ 8.56602126e-01 -5.15751416e-01 -1.52733209e-02 1.79006183e+02] [ 1.78363676e-02 1.50831337e-05 9.99840919e-01 7.21761561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.369254154 meters 0.016284228907101933 Centerline is valid? [True, True] Translation: X:917.33, Y:179.03, Z:7.22 [[-5.14029836e-01 -8.57719097e-01 9.55398485e-03 9.17333898e+02] [ 8.57573034e-01 -5.14118613e-01 -1.58285465e-02 1.79028149e+02] [ 1.84883281e-02 5.68946006e-05 9.99829075e-01 7.21716864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.399254154 meters 0.01671031492916906 Centerline is valid? [True, True] Translation: X:917.32, Y:179.05, Z:7.22 [[-5.13483686e-01 -8.58046228e-01 9.54854005e-03 9.17319351e+02] [ 8.57900597e-01 -5.13572453e-01 -1.58082304e-02 1.79050791e+02] [ 1.84680596e-02 7.44298044e-05 9.99829448e-01 7.21754368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4292541539999 meters 0.01602125146261372 Centerline is valid? [True, True] Translation: X:917.30, Y:179.07, Z:7.22 [[-5.11593859e-01 -8.59173458e-01 9.62769607e-03 9.17304261e+02] [ 8.59025802e-01 -5.11684428e-01 -1.59285094e-02 1.79074323e+02] [ 1.86116947e-02 1.21511739e-04 9.99826780e-01 7.21902274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4592541539998 meters 0.014354506158979876 Centerline is valid? [True, True] Translation: X:917.29, Y:179.10, Z:7.22 [[-5.10410731e-01 -8.59881080e-01 9.24195742e-03 9.17289694e+02] [ 8.59745310e-01 -5.10494375e-01 -1.52805331e-02 1.79097950e+02] [ 1.78574086e-02 1.46381495e-04 9.99840533e-01 7.22121544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4892541539998 meters 0.01546446725267202 Centerline is valid? [True, True] Translation: X:917.27, Y:179.12, Z:7.22 [[-5.09285155e-01 -8.60547414e-01 9.31551742e-03 9.17274588e+02] [ 8.60409767e-01 -5.09370314e-01 -1.53921062e-02 1.79121338e+02] [ 1.79906852e-02 1.76190969e-04 9.99838139e-01 7.22074284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.5192541539998 meters 0.017543327513524335 Centerline is valid? [True, True] Translation: X:917.26, Y:179.14, Z:7.22 [[-5.05680353e-01 -8.62671297e-01 9.25274724e-03 9.17258978e+02] [ 8.62536023e-01 -5.05764934e-01 -1.52788007e-02 1.79144875e+02] [ 1.78602979e-02 2.54638491e-04 9.99840460e-01 7.22106233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.5492541539998 meters 0.01750065949997546 Centerline is valid? [True, True] Translation: X:917.24, Y:179.17, Z:7.22 [[-5.03851262e-01 -8.63744036e-01 8.95243999e-03 9.17243728e+02] [ 8.63617721e-01 -5.03930707e-01 -1.47741221e-02 1.79168317e+02] [ 1.72724693e-02 2.87525736e-04 9.99850778e-01 7.22203262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.579254154 meters 0.01626159562619439 Centerline is valid? [True, True] Translation: X:917.23, Y:179.19, Z:7.22 [[-5.01858873e-01 -8.64907639e-01 8.51166226e-03 9.17228355e+02] [ 8.64793770e-01 -5.01930948e-01 -1.40377499e-02 1.79190848e+02] [ 1.64136238e-02 3.15863151e-04 9.99865238e-01 7.22427169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.609254154 meters 0.020146434994894023 Centerline is valid? [True, True] Translation: X:917.21, Y:179.21, Z:7.22 [[-4.98333579e-01 -8.66940124e-01 8.85812303e-03 9.17212431e+02] [ 8.66817289e-01 -4.98412138e-01 -1.45988928e-02 1.79213466e+02] [ 1.70713620e-02 4.03255677e-04 9.99854192e-01 7.22229716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.639254154 meters 0.020303678671012494 Centerline is valid? [True, True] Translation: X:917.20, Y:179.24, Z:7.22 [[-4.96775952e-01 -8.67833132e-01 8.90553643e-03 9.17197445e+02] [ 8.67709295e-01 -4.96855572e-01 -1.46669525e-02 1.79235990e+02] [ 1.71532327e-02 4.41227456e-04 9.99852775e-01 7.22272880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6692541539999 meters 0.018486787747529754 Centerline is valid? [True, True] Translation: X:917.18, Y:179.26, Z:7.23 [[-4.94334103e-01 -8.69230974e-01 8.44444761e-03 9.17184146e+02] [ 8.69119974e-01 -4.94406001e-01 -1.38987942e-02 1.79261005e+02] [ 1.62562480e-02 4.68590124e-04 9.99867749e-01 7.22579180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6992541539998 meters 0.019849787218510967 Centerline is valid? [True, True] Translation: X:917.17, Y:179.28, Z:7.22 [[-4.93676334e-01 -8.69602986e-01 8.62113285e-03 9.17168898e+02] [ 8.69487492e-01 -4.93751356e-01 -1.41809421e-02 1.79283397e+02] [ 1.65884856e-02 4.95171693e-04 9.99862279e-01 7.22482953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7292541539998 meters 0.021434039678360717 Centerline is valid? [True, True] Translation: X:917.15, Y:179.31, Z:7.22 [[-4.93318659e-01 -8.69801121e-01 9.09456878e-03 9.17154900e+02] [ 8.69672790e-01 -4.93402194e-01 -1.49503657e-02 1.79308590e+02] [ 1.74911250e-02 5.34004644e-04 9.99846876e-01 7.22337527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7592541539998 meters 0.019566867306558596 Centerline is valid? [True, True] Translation: X:917.14, Y:179.33, Z:7.22 [[-4.92954517e-01 -8.70002250e-01 9.58795187e-03 9.17142162e+02] [ 8.69859839e-01 -4.93047415e-01 -1.57514117e-02 1.79333824e+02] [ 1.84310785e-02 5.75444739e-04 9.99829968e-01 7.22419886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7892541539998 meters 0.02091261624648576 Centerline is valid? [True, True] Translation: X:917.13, Y:179.36, Z:7.22 [[-4.93567706e-01 -8.69648400e-01 1.01281557e-02 9.17128036e+02] [ 8.69489635e-01 -4.93671248e-01 -1.66275134e-02 1.79357437e+02] [ 1.94600697e-02 5.99522787e-04 9.99810455e-01 7.22246703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.8192541539997 meters 0.020156449252061205 Centerline is valid? [True, True] Translation: X:917.12, Y:179.38, Z:7.22 [[-4.96381055e-01 -8.68042517e-01 1.03940614e-02 9.17117608e+02] [ 8.67875174e-01 -4.96489556e-01 -1.70529518e-02 1.79384486e+02] [ 1.99632301e-02 5.55985613e-04 9.99800560e-01 7.22164235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.849254154 meters 0.01883728105925865 Centerline is valid? [True, True] Translation: X:917.11, Y:179.41, Z:7.22 [[-4.98897729e-01 -8.66598445e-01 1.04014628e-02 9.17105595e+02] [ 8.66430758e-01 -4.99005893e-01 -1.70546671e-02 1.79410524e+02] [ 1.99699392e-02 5.03612651e-04 9.99800454e-01 7.22236817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.879254154 meters 0.018432137522637445 Centerline is valid? [True, True] Translation: X:917.09, Y:179.44, Z:7.22 [[-5.01917837e-01 -8.64853305e-01 1.03559406e-02 9.17094792e+02] [ 8.64686924e-01 -5.02024471e-01 -1.69692176e-02 1.79436878e+02] [ 1.98748195e-02 4.37493397e-04 9.99802381e-01 7.22288716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9092541539999 meters 0.015265919316419772 Centerline is valid? [True, True] Translation: X:917.09, Y:179.46, Z:7.23 [[-5.09655308e-01 -8.60327438e-01 9.38973133e-03 9.17089348e+02] [ 8.60190064e-01 -5.09741741e-01 -1.53756745e-02 1.79464938e+02] [ 1.80144526e-02 2.40659463e-04 9.99837698e-01 7.22613130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9392541539999 meters 0.013780109290483462 Centerline is valid? [True, True] Translation: X:917.08, Y:179.49, Z:7.23 [[-5.14287809e-01 -8.57572613e-01 8.78993488e-03 9.17079687e+02] [ 8.57451983e-01 -5.14362901e-01 -1.43841473e-02 1.79491315e+02] [ 1.68566672e-02 1.39355515e-04 9.99857907e-01 7.22812726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9692541539998 meters 0.013415473753228645 Centerline is valid? [True, True] Translation: X:917.08, Y:179.52, Z:7.23 [[-5.24112043e-01 -8.51610761e-01 8.10423002e-03 9.17075443e+02] [ 8.51507618e-01 -5.24174694e-01 -1.32539073e-02 1.79522008e+02] [ 1.55352024e-02 -4.57188250e-05 9.99879320e-01 7.23029298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9992541539998 meters 0.016369089411349742 Centerline is valid? [True, True] Translation: X:917.07, Y:179.55, Z:7.23 [[-5.29274881e-01 -8.48410342e-01 8.24579248e-03 9.17065854e+02] [ 8.48303309e-01 -5.29339091e-01 -1.34767760e-02 1.79549029e+02] [ 1.57986564e-02 -1.37985962e-04 9.99875184e-01 7.22869277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.0292541539998 meters 0.016671125725127058 Centerline is valid? [True, True] Translation: X:917.06, Y:179.57, Z:7.23 [[-5.33759467e-01 -8.45598403e-01 8.01079281e-03 9.17055849e+02] [ 8.45497195e-01 -5.33819536e-01 -1.30842208e-02 1.79574923e+02] [ 1.53403139e-02 -2.10723898e-04 9.99882308e-01 7.22966247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.0592541539997 meters 0.01542262236826965 Centerline is valid? [True, True] Translation: X:917.04, Y:179.60, Z:7.23 [[-5.37409413e-01 -8.43295357e-01 6.63811796e-03 9.17042289e+02] [ 8.43225768e-01 -5.37450361e-01 -1.08357938e-02 1.79599472e+02] [ 1.27054335e-02 -2.25825452e-04 9.99919257e-01 7.23305735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.089254154 meters 0.01563274488724287 Centerline is valid? [True, True] Translation: X:917.03, Y:179.62, Z:7.23 [[-5.38987197e-01 -8.42285854e-01 6.88046602e-03 9.17027619e+02] [ 8.42211104e-01 -5.39031052e-01 -1.12241169e-02 1.79623659e+02] [ 1.31626997e-02 -2.54850403e-04 9.99913335e-01 7.23331040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.119254154 meters 0.016828744714709916 Centerline is valid? [True, True] Translation: X:917.01, Y:179.65, Z:7.23 [[-5.41067963e-01 -8.40946130e-01 7.42067314e-03 9.17011360e+02] [ 8.40859166e-01 -5.41118760e-01 -1.20974991e-02 1.79647631e+02] [ 1.41888105e-02 -3.05828160e-04 9.99899287e-01 7.23158005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.149254154 meters 0.018420614320203525 Centerline is valid? [True, True] Translation: X:917.00, Y:179.67, Z:7.23 [[-5.42473232e-01 -8.40035721e-01 7.92344958e-03 9.16998628e+02] [ 8.39936607e-01 -5.42530983e-01 -1.29084871e-02 1.79671695e+02] [ 1.51423071e-02 -3.47313339e-04 9.99885288e-01 7.23017306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.1792541539999 meters 0.019948894060465232 Centerline is valid? [True, True] Translation: X:916.98, Y:179.70, Z:7.23 [[-5.43962545e-01 -8.39065742e-01 8.56912755e-03 9.16983570e+02] [ 8.38949853e-01 -5.44029889e-01 -1.39508004e-02 1.79695241e+02] [ 1.63675002e-02 -3.99644565e-04 9.99865964e-01 7.22937475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2092541539998 meters 0.017554038751069402 Centerline is valid? [True, True] Translation: X:916.97, Y:179.72, Z:7.23 [[-5.45505081e-01 -8.38066935e-01 8.24731658e-03 9.16969158e+02] [ 8.37959611e-01 -5.45567269e-01 -1.34180765e-02 1.79718108e+02] [ 1.57447123e-02 -4.08710732e-04 9.99875961e-01 7.23125390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2392541539998 meters 0.017087444113673866 Centerline is valid? [True, True] Translation: X:916.95, Y:179.74, Z:7.23 [[-5.46387180e-01 -8.37492239e-01 8.23401587e-03 9.16949648e+02] [ 8.37385335e-01 -5.46449058e-01 -1.33875898e-02 1.79739027e+02] [ 1.57114728e-02 -4.19763278e-04 9.99876479e-01 7.23097790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2692541539998 meters 0.018108013417674738 Centerline is valid? [True, True] Translation: X:916.93, Y:179.76, Z:7.23 [[-5.46790732e-01 -8.37230942e-01 8.01531097e-03 9.16933380e+02] [ 8.37129744e-01 -5.46849322e-01 -1.30234582e-02 1.79761316e+02] [ 1.52868095e-02 -4.11250997e-04 9.99883065e-01 7.23012855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2992541539998 meters 0.017316773253362474 Centerline is valid? [True, True] Translation: X:916.92, Y:179.78, Z:7.23 [[-5.46285751e-01 -8.37564957e-01 7.53794993e-03 9.16917520e+02] [ 8.37475610e-01 -5.46337627e-01 -1.22393023e-02 1.79782285e+02] [ 1.43694764e-02 -3.73307233e-04 9.99896684e-01 7.23151515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.329254154 meters 0.017217937598661155 Centerline is valid? [True, True] Translation: X:916.90, Y:179.80, Z:7.23 [[-5.45549065e-01 -8.38047596e-01 7.24186849e-03 9.16900928e+02] [ 8.37965282e-01 -5.45597022e-01 -1.17506042e-02 1.79804320e+02] [ 1.37987075e-02 -3.42096760e-04 9.99904735e-01 7.23188965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.359254154 meters 0.017217937598661155 Centerline is valid? [True, True] Translation: X:916.89, Y:179.83, Z:7.23 [[-5.45811768e-01 -8.37876494e-01 7.24536782e-03 9.16886780e+02] [ 8.37794193e-01 -5.45859747e-01 -1.17484465e-02 1.79827057e+02] [ 1.37987018e-02 -3.42313260e-04 9.99904735e-01 7.23207439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.389254154 meters 0.018929438675632123 Centerline is valid? [True, True] Translation: X:916.87, Y:179.85, Z:7.23 [[-5.43883740e-01 -8.39133096e-01 6.79151003e-03 9.16866539e+02] [ 8.39060973e-01 -5.43926066e-01 -1.10053912e-02 1.79847968e+02] [ 1.29290673e-02 -2.87162307e-04 9.99916375e-01 7.23122493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4192541539999 meters 0.017412045841883172 Centerline is valid? [True, True] Translation: X:916.85, Y:179.87, Z:7.23 [[-5.42340250e-01 -8.40136164e-01 6.18702220e-03 9.16848899e+02] [ 8.40076445e-01 -5.42375488e-01 -1.00198019e-02 1.79870038e+02] [ 1.17736871e-02 -2.36570252e-04 9.99930660e-01 7.23268448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4492541539998 meters 0.01692229634616922 Centerline is valid? [True, True] Translation: X:916.83, Y:179.89, Z:7.23 [[-5.38615453e-01 -8.42533357e-01 5.56199113e-03 9.16826857e+02] [ 8.42485278e-01 -5.38644145e-01 -9.00231146e-03 1.79890006e+02] [ 1.05806817e-02 -1.62888426e-04 9.99944010e-01 7.23229029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4792541539998 meters 0.014519049295002683 Centerline is valid? [True, True] Translation: X:916.81, Y:179.91, Z:7.23 [[-5.36461010e-01 -8.43910000e-01 5.04953891e-03 9.16808148e+02] [ 8.43870477e-01 -5.36484760e-01 -8.16820472e-03 1.79911134e+02] [ 9.60223031e-03 -1.20766543e-04 9.99953890e-01 7.23391820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.5092541539998 meters 0.01477155060964181 Centerline is valid? [True, True] Translation: X:916.79, Y:179.93, Z:7.23 [[-5.32540287e-01 -8.46387601e-01 5.37332429e-03 9.16785481e+02] [ 8.46343031e-01 -5.32567389e-01 -8.68623335e-03 1.79930222e+02] [ 1.02135775e-02 -7.80936331e-05 9.99947837e-01 7.23200912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.5392541539998 meters 0.013271390551002318 Centerline is valid? [True, True] Translation: X:916.77, Y:179.95, Z:7.23 [[-5.30493613e-01 -8.47672467e-01 5.28351249e-03 9.16766874e+02] [ 8.47629492e-01 -5.30519921e-01 -8.53572523e-03 1.79952082e+02] [ 1.00385079e-02 -4.96867153e-05 9.99949612e-01 7.23296048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.5692541539997 meters 0.013144514685814608 Centerline is valid? [True, True] Translation: X:916.75, Y:179.97, Z:7.23 [[-5.27247702e-01 -8.49693744e-01 5.51385446e-03 9.16745865e+02] [ 8.49647111e-01 -5.27276532e-01 -8.90194940e-03 1.79972036e+02] [ 1.04712568e-02 -8.70184704e-06 9.99945175e-01 7.23294417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.599254154 meters 0.016442228214766964 Centerline is valid? [True, True] Translation: X:916.73, Y:179.99, Z:7.23 [[-5.26280295e-01 -8.50288881e-01 6.15389631e-03 9.16728545e+02] [ 8.50230914e-01 -5.26316273e-01 -9.92843459e-03 1.79994255e+02] [ 1.16809333e-02 7.09339793e-06 9.99931776e-01 7.23014061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.629254154 meters 0.015038778397217154 Centerline is valid? [True, True] Translation: X:916.71, Y:180.02, Z:7.23 [[-5.25089178e-01 -8.51026482e-01 5.93987277e-03 9.16711701e+02] [ 8.50972583e-01 -5.25122772e-01 -9.57791098e-03 1.80015049e+02] [ 1.12702183e-02 2.54114760e-05 9.99936489e-01 7.23100553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6592541539999 meters 0.013278647736513072 Centerline is valid? [True, True] Translation: X:916.69, Y:180.04, Z:7.23 [[-5.23116500e-01 -8.52244130e-01 5.39166221e-03 9.16691397e+02] [ 8.52199827e-01 -5.23144283e-01 -8.68991591e-03 1.80035193e+02] [ 1.02265471e-02 4.89352015e-05 9.99947706e-01 7.23277381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6892541539999 meters 0.014576166330301985 Centerline is valid? [True, True] Translation: X:916.67, Y:180.06, Z:7.23 [[-5.23167725e-01 -8.52210354e-01 5.74845402e-03 9.16674725e+02] [ 8.52160058e-01 -5.23199303e-01 -9.25880633e-03 1.80057606e+02] [ 1.08980378e-02 5.46942600e-05 9.99940613e-01 7.23108928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7192541539998 meters 0.01652979850865939 Centerline is valid? [True, True] Translation: X:916.66, Y:180.08, Z:7.23 [[-5.23246695e-01 -8.52159948e-01 6.02652575e-03 9.16658640e+02] [ 8.52104739e-01 -5.23281395e-01 -9.70026972e-03 1.80080119e+02] [ 1.14197502e-02 5.95970843e-05 9.99934791e-01 7.22940855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7492541539998 meters 0.01748792866301012 Centerline is valid? [True, True] Translation: X:916.64, Y:180.10, Z:7.23 [[-5.22882584e-01 -8.52380804e-01 6.38504958e-03 9.16641415e+02] [ 8.52318931e-01 -5.22921562e-01 -1.02703425e-02 1.80101308e+02] [ 1.20931229e-02 7.19153874e-05 9.99926873e-01 7.22821878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7792541539998 meters 0.014937654072629819 Centerline is valid? [True, True] Translation: X:916.63, Y:180.12, Z:7.23 [[-5.22426799e-01 -8.52660021e-01 6.41310523e-03 9.16625597e+02] [ 8.52597708e-01 -5.22466153e-01 -1.03085714e-02 1.80124499e+02] [ 1.21403371e-02 8.23248686e-05 9.99926300e-01 7.22992206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.8092541539997 meters 0.01806910416132444 Centerline is valid? [True, True] Translation: X:916.61, Y:180.15, Z:7.23 [[-5.22087577e-01 -8.52858895e-01 7.50117771e-03 9.16608674e+02] [ 8.52773777e-01 -5.22141451e-01 -1.20495101e-02 1.80146734e+02] [ 1.41932077e-02 1.05908120e-04 9.99899266e-01 7.22675042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.839254154 meters 0.016436854075397148 Centerline is valid? [True, True] Translation: X:916.59, Y:180.17, Z:7.23 [[-5.21583739e-01 -8.53164104e-01 7.83674491e-03 9.16592448e+02] [ 8.53071352e-01 -5.21642594e-01 -1.25806630e-02 1.80169495e+02] [ 1.48213500e-02 1.23433325e-04 9.99890150e-01 7.22699215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.869254154 meters 0.017104561389099687 Centerline is valid? [True, True] Translation: X:916.58, Y:180.19, Z:7.23 [[-5.20665785e-01 -8.53716315e-01 8.69445140e-03 9.16575376e+02] [ 8.53602374e-01 -5.20738349e-01 -1.39484314e-02 1.80191971e+02] [ 1.64355377e-02 1.59133374e-04 9.99864915e-01 7.22550043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.899254154 meters 0.016835711507971366 Centerline is valid? [True, True] Translation: X:916.56, Y:180.21, Z:7.22 [[-5.20624658e-01 -8.53738905e-01 8.93577407e-03 9.16559407e+02] [ 8.53618713e-01 -5.20701310e-01 -1.43261344e-02 1.80214431e+02] [ 1.68836476e-02 1.69205127e-04 9.99857447e-01 7.22477447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9292541539999 meters 0.016693538256592453 Centerline is valid? [True, True] Translation: X:916.55, Y:180.24, Z:7.23 [[-5.20716911e-01 -8.53679538e-01 9.22736839e-03 9.16545409e+02] [ 8.53551536e-01 -5.20798631e-01 -1.47837828e-02 1.80238230e+02] [ 1.74262137e-02 1.77868748e-04 9.99848136e-01 7.22605221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9592541539998 meters 0.01522867783115852 Centerline is valid? [True, True] Translation: X:916.53, Y:180.26, Z:7.23 [[-5.21806887e-01 -8.53021124e-01 8.51677326e-03 9.16531219e+02] [ 8.52912129e-01 -5.21876365e-01 -1.36367248e-02 1.80262010e+02] [ 1.60771170e-02 1.48322303e-04 9.99870744e-01 7.22801539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9892541539998 meters 0.0166512336108442 Centerline is valid? [True, True] Translation: X:916.52, Y:180.28, Z:7.23 [[-5.23072944e-01 -8.52243382e-01 8.71277769e-03 9.16517126e+02] [ 8.52129332e-01 -5.23145487e-01 -1.39427634e-02 1.80284998e+02] [ 1.64406781e-02 1.31331147e-04 9.99864834e-01 7.22660645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.0192541539998 meters 0.013612926531374187 Centerline is valid? [True, True] Translation: X:916.51, Y:180.31, Z:7.23 [[-5.26885411e-01 -8.49900995e-01 7.74997551e-03 9.16505402e+02] [ 8.49810603e-01 -5.26942402e-01 -1.23953518e-02 1.80310628e+02] [ 1.46186125e-02 5.50813526e-05 9.99893141e-01 7.23054923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.0492541539998 meters 0.01494046654457816 Centerline is valid? [True, True] Translation: X:916.49, Y:180.34, Z:7.23 [[-5.30324471e-01 -8.47757659e-01 7.93143589e-03 9.16492987e+02] [ 8.47662865e-01 -5.30383778e-01 -1.26773732e-02 1.80335413e+02] [ 1.49540452e-02 6.24209026e-08 9.99888182e-01 7.22956289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.079254154 meters 0.013599270623834295 Centerline is valid? [True, True] Translation: X:916.48, Y:180.36, Z:7.23 [[-5.33385744e-01 -8.45839801e-01 7.39452493e-03 9.16480947e+02] [ 8.45757327e-01 -5.33436996e-01 -1.18116751e-02 1.80359552e+02] [ 1.39352981e-02 -4.62054681e-05 9.99902898e-01 7.23144019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.109254154 meters 0.014497271976137819 Centerline is valid? [True, True] Translation: X:916.47, Y:180.39, Z:7.23 [[-5.40390390e-01 -8.41385109e-01 7.02316195e-03 9.16472554e+02] [ 8.41310427e-01 -5.40436005e-01 -1.12111481e-02 1.80386234e+02] [ 1.32284626e-02 -1.49737291e-04 9.99912489e-01 7.23263529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.139254154 meters 0.01658673351334548 Centerline is valid? [True, True] Translation: X:916.46, Y:180.41, Z:7.23 [[-5.43955062e-01 -8.39083339e-01 7.21391248e-03 9.16460279e+02] [ 8.39004445e-01 -5.44002856e-01 -1.15080342e-02 1.80411885e+02] [ 1.35805888e-02 -2.07348850e-04 9.99907758e-01 7.23210767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1692541539999 meters 0.01616161007944244 Centerline is valid? [True, True] Translation: X:916.45, Y:180.44, Z:7.23 [[-5.49022264e-01 -8.35781055e-01 6.67694453e-03 9.16449003e+02] [ 8.35713304e-01 -5.49062799e-01 -1.06449659e-02 1.80438037e+02] [ 1.25629227e-02 -2.64311892e-04 9.99921048e-01 7.23457863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1992541539998 meters 0.019332566376027628 Centerline is valid? [True, True] Translation: X:916.44, Y:180.46, Z:7.23 [[-5.51287622e-01 -8.34283629e-01 7.26523729e-03 9.16436279e+02] [ 8.34203389e-01 -5.51335400e-01 -1.15750499e-02 1.80462243e+02] [ 1.36624572e-02 -3.20496166e-04 9.99906613e-01 7.23206160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2292541539998 meters 0.019823009298442343 Centerline is valid? [True, True] Translation: X:916.42, Y:180.49, Z:7.23 [[-5.53143050e-01 -8.33050797e-01 7.69001379e-03 9.16422454e+02] [ 8.32960897e-01 -5.53196380e-01 -1.22437053e-02 1.80486515e+02] [ 1.44537163e-02 -3.67039713e-04 9.99895472e-01 7.23177987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2592541539998 meters 0.018752221243806683 Centerline is valid? [True, True] Translation: X:916.41, Y:180.51, Z:7.23 [[-5.53222386e-01 -8.32997545e-01 7.75128449e-03 9.16408809e+02] [ 8.32906307e-01 -5.53276563e-01 -1.23340695e-02 1.80509182e+02] [ 1.45628537e-02 -3.67389630e-04 9.99893889e-01 7.23289968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2892541539998 meters 0.017264106352838055 Centerline is valid? [True, True] Translation: X:916.39, Y:180.53, Z:7.23 [[-5.52766761e-01 -8.33300735e-01 7.66765871e-03 9.16393418e+02] [ 8.33211593e-01 -5.52819828e-01 -1.21934270e-02 1.80531498e+02] [ 1.43996254e-02 -3.51339027e-04 9.99896258e-01 7.23419265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.3192541539997 meters 0.01714932070273377 Centerline is valid? [True, True] Translation: X:916.38, Y:180.55, Z:7.23 [[-5.50939295e-01 -8.34507667e-01 7.92767156e-03 9.16378236e+02] [ 8.34412625e-01 -5.50996233e-01 -1.25985050e-02 1.80554561e+02] [ 1.48816662e-02 -3.26062204e-04 9.99889209e-01 7.23382163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.349254154 meters 0.01958524361683047 Centerline is valid? [True, True] Translation: X:916.36, Y:180.58, Z:7.23 [[-5.50387142e-01 -8.34864430e-01 8.68203411e-03 9.16362246e+02] [ 8.34750632e-01 -5.50455509e-01 -1.37881904e-02 1.80577299e+02] [ 1.62903432e-02 -3.41509259e-04 9.99867245e-01 7.23132411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.379254154 meters 0.018424340392905258 Centerline is valid? [True, True] Translation: X:916.34, Y:180.60, Z:7.23 [[-5.46996191e-01 -8.37092087e-01 8.48561323e-03 9.16343724e+02] [ 8.36983754e-01 -5.47061942e-01 -1.34694706e-02 1.80599406e+02] [ 1.59173433e-02 -2.65428669e-04 9.99873276e-01 7.23184792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4092541539999 meters 0.018080806215129794 Centerline is valid? [True, True] Translation: X:916.33, Y:180.62, Z:7.23 [[-5.45223551e-01 -8.38248304e-01 8.42971751e-03 9.16327662e+02] [ 8.38141644e-01 -5.45288667e-01 -1.33736632e-02 1.80621998e+02] [ 1.58070799e-02 -2.26338870e-04 9.99875035e-01 7.23202079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4392541539999 meters 0.015255494017964234 Centerline is valid? [True, True] Translation: X:916.31, Y:180.65, Z:7.23 [[-5.43033907e-01 -8.39673261e-01 7.93669473e-03 9.16310972e+02] [ 8.39578976e-01 -5.43091877e-01 -1.25840123e-02 1.80645306e+02] [ 1.48768131e-02 -1.70063353e-04 9.99889320e-01 7.23443944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4692541539998 meters 0.015944876249305052 Centerline is valid? [True, True] Translation: X:916.29, Y:180.67, Z:7.23 [[-5.38720159e-01 -8.42444744e-01 8.21246542e-03 9.16292690e+02] [ 8.42344235e-01 -5.38782744e-01 -1.30132713e-02 1.80667407e+02] [ 1.53876966e-02 -9.27886726e-05 9.99881598e-01 7.23339673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4992541539998 meters 0.015711886616488736 Centerline is valid? [True, True] Translation: X:916.28, Y:180.69, Z:7.23 [[-5.36280061e-01 -8.44000684e-01 8.15724966e-03 9.16276382e+02] [ 8.43901828e-01 -5.36342095e-01 -1.29175082e-02 1.80689256e+02] [ 1.52774621e-02 -4.34841875e-05 9.99883292e-01 7.23303855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.5292541539998 meters 0.01568547098278927 Centerline is valid? [True, True] Translation: X:916.26, Y:180.71, Z:7.23 [[-5.30669532e-01 -8.47537696e-01 8.34879833e-03 9.16257250e+02] [ 8.47434712e-01 -5.30735198e-01 -1.32120349e-02 1.80710534e+02] [ 1.56286988e-02 6.38371093e-05 9.99877862e-01 7.23341650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.5592541539997 meters 0.01627127427478597 Centerline is valid? [True, True] Translation: X:916.24, Y:180.73, Z:7.23 [[-5.27353768e-01 -8.49605053e-01 8.32210087e-03 9.16240345e+02] [ 8.49503109e-01 -5.27419414e-01 -1.31617010e-02 1.80731952e+02] [ 1.55714852e-02 1.28777936e-04 9.99878749e-01 7.23304334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.589254154 meters 0.014308470779150598 Centerline is valid? [True, True] Translation: X:916.22, Y:180.75, Z:7.24 [[-5.23670502e-01 -8.51886404e-01 7.66556238e-03 9.16222891e+02] [ 8.51800252e-01 -5.23726571e-01 -1.21165265e-02 1.80753713e+02] [ 1.43365629e-02 1.84460446e-04 9.99897209e-01 7.23540657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.619254154 meters 0.016360213632865248 Centerline is valid? [True, True] Translation: X:916.20, Y:180.77, Z:7.24 [[-5.17288980e-01 -8.55779249e-01 7.34767972e-03 9.16203694e+02] [ 8.55700576e-01 -5.17341084e-01 -1.16071950e-02 1.80773045e+02] [ 1.37344532e-02 2.83139709e-04 9.99905638e-01 7.23513669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.649254154 meters 0.017664173297650205 Centerline is valid? [True, True] Translation: X:916.19, Y:180.80, Z:7.23 [[-5.14823536e-01 -8.57264055e-01 7.42074210e-03 9.16187113e+02] [ 8.57184064e-01 -5.14876910e-01 -1.17152984e-02 1.80795892e+02] [ 1.38638730e-02 3.29630509e-04 9.99903838e-01 7.23487754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.6792541539999 meters 0.01969749363541039 Centerline is valid? [True, True] Translation: X:916.17, Y:180.82, Z:7.24 [[-5.11235388e-01 -8.59411478e-01 7.09158151e-03 9.16169669e+02] [ 8.59338713e-01 -5.11284434e-01 -1.11894600e-02 1.80816318e+02] [ 1.32421656e-02 3.73622593e-04 9.99912249e-01 7.23539847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7092541539998 meters 0.019102027205571255 Centerline is valid? [True, True] Translation: X:916.16, Y:180.84, Z:7.24 [[-5.10581818e-01 -8.59800596e-01 7.01017544e-03 9.16156040e+02] [ 8.59729609e-01 -5.10629797e-01 -1.10548503e-02 1.80841350e+02] [ 1.30845713e-02 3.82449827e-04 9.99914320e-01 7.23616406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7392541539998 meters 0.02014490671965541 Centerline is valid? [True, True] Translation: X:916.14, Y:180.87, Z:7.23 [[-5.11166097e-01 -8.59449366e-01 7.48383674e-03 9.16144310e+02] [ 8.59368532e-01 -5.11220720e-01 -1.17941154e-02 1.80867378e+02] [ 1.39623374e-02 4.02621874e-04 9.99902441e-01 7.23440917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7692541539998 meters 0.020478079099321544 Centerline is valid? [True, True] Translation: X:916.13, Y:180.89, Z:7.23 [[-5.12051382e-01 -8.58923785e-01 7.30160468e-03 9.16130241e+02] [ 8.58846886e-01 -5.12103295e-01 -1.14996639e-02 1.80892160e+02] [ 1.36165107e-02 3.82541658e-04 9.99907218e-01 7.23428876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7992541539998 meters 0.017873244267689693 Centerline is valid? [True, True] Translation: X:916.12, Y:180.92, Z:7.24 [[-5.12828041e-01 -8.58467160e-01 6.44487176e-03 9.16116265e+02] [ 8.58407284e-01 -5.12868431e-01 -1.01443293e-02 1.80916885e+02] [ 1.20139448e-02 3.30028356e-04 9.99927776e-01 7.23725600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.829254154 meters 0.018741419448673812 Centerline is valid? [True, True] Translation: X:916.10, Y:180.94, Z:7.23 [[-5.14494086e-01 -8.57464643e-01 7.08671522e-03 9.16104542e+02] [ 8.57392253e-01 -5.14542777e-01 -1.11469809e-02 1.80942337e+02] [ 1.32045601e-02 3.41038988e-04 9.99912758e-01 7.23492237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.859254154 meters 0.019069864518123533 Centerline is valid? [True, True] Translation: X:916.09, Y:180.97, Z:7.23 [[-5.15128890e-01 -8.57080432e-01 7.44039100e-03 9.16091108e+02] [ 8.57000710e-01 -5.15182501e-01 -1.16950701e-02 1.80966194e+02] [ 1.38567750e-02 3.51951864e-04 9.99903928e-01 7.23397461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.889254154 meters 0.01769665776419073 Centerline is valid? [True, True] Translation: X:916.08, Y:180.99, Z:7.23 [[-5.15372665e-01 -8.56929384e-01 7.94025235e-03 9.16079085e+02] [ 8.56838709e-01 -5.15433691e-01 -1.24714707e-02 1.80990253e+02] [ 1.47798433e-02 3.76060478e-04 9.99890701e-01 7.23406107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9192541539999 meters 0.019290220892697035 Centerline is valid? [True, True] Translation: X:916.07, Y:181.01, Z:7.23 [[-5.15461430e-01 -8.56863792e-01 9.16279425e-03 9.16065499e+02] [ 8.56743208e-01 -5.15542677e-01 -1.43813756e-02 1.81014947e+02] [ 1.70466915e-02 4.37117296e-04 9.99854599e-01 7.23103877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9492541539998 meters 0.018121801558980834 Centerline is valid? [True, True] Translation: X:916.05, Y:181.04, Z:7.23 [[-5.15212649e-01 -8.57011621e-01 9.32783131e-03 9.16054475e+02] [ 8.56886849e-01 -5.15296880e-01 -1.46305825e-02 1.81039773e+02] [ 1.73451816e-02 4.55034830e-04 9.99849457e-01 7.23191701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9792541539998 meters 0.020666760845600787 Centerline is valid? [True, True] Translation: X:916.04, Y:181.06, Z:7.23 [[-5.15850057e-01 -8.56616630e-01 1.03280133e-02 9.16042218e+02] [ 8.56463816e-01 -5.15953199e-01 -1.61872855e-02 1.81063277e+02] [ 1.91950694e-02 4.95357503e-04 9.99815635e-01 7.22876666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.0092541539998 meters 0.01871771347777981 Centerline is valid? [True, True] Translation: X:916.03, Y:181.09, Z:7.23 [[-5.15846393e-01 -8.56625570e-01 9.75349605e-03 9.16029341e+02] [ 8.56489452e-01 -5.15938377e-01 -1.52777630e-02 1.81086470e+02] [ 1.81195254e-02 4.72787543e-04 9.99835716e-01 7.23139180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.0392541539998 meters 0.017450151419421914 Centerline is valid? [True, True] Translation: X:916.02, Y:181.11, Z:7.23 [[-5.16023831e-01 -8.56519387e-01 9.69254949e-03 9.16018292e+02] [ 8.56385109e-01 -5.16114637e-01 -1.51732544e-02 1.81113048e+02] [ 1.79986532e-02 4.70794200e-04 9.99837900e-01 7.23279444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.0692541539997 meters 0.020478264292058707 Centerline is valid? [True, True] Translation: X:916.01, Y:181.14, Z:7.23 [[-5.16953469e-01 -8.55952352e-01 1.02314177e-02 9.16007093e+02] [ 8.55802812e-01 -5.17054484e-01 -1.60064856e-02 1.81139213e+02] [ 1.89909894e-02 4.81467743e-04 9.99819539e-01 7.23018269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.099254154 meters 0.020351705338603615 Centerline is valid? [True, True] Translation: X:916.00, Y:181.16, Z:7.23 [[-5.17008906e-01 -8.55925324e-01 9.67631376e-03 9.15996174e+02] [ 8.55791721e-01 -5.17099246e-01 -1.51294756e-02 1.81163842e+02] [ 1.79533159e-02 4.58835561e-04 9.99838721e-01 7.23096400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.129254154 meters 0.018843254940801028 Centerline is valid? [True, True] Translation: X:915.98, Y:181.19, Z:7.23 [[-5.17302798e-01 -8.55757253e-01 8.79426563e-03 9.15983313e+02] [ 8.55647011e-01 -5.17377377e-01 -1.37419655e-02 1.81188126e+02] [ 1.63097407e-02 4.16029925e-04 9.99866901e-01 7.23315452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1592541539999 meters 0.019050445240358916 Centerline is valid? [True, True] Translation: X:915.97, Y:181.21, Z:7.23 [[-5.17907714e-01 -8.55390271e-01 8.89291352e-03 9.15971106e+02] [ 8.55277648e-01 -5.17983892e-01 -1.38863858e-02 1.81213037e+02] [ 1.64846653e-02 4.14043837e-04 9.99864033e-01 7.23310688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1892541539999 meters 0.01812528582796846 Centerline is valid? [True, True] Translation: X:915.96, Y:181.24, Z:7.23 [[-5.18858587e-01 -8.54816518e-01 8.63063646e-03 9.15961093e+02] [ 8.54710503e-01 -5.18930217e-01 -1.34679830e-02 1.81240361e+02] [ 1.59913524e-02 3.88716997e-04 9.99872055e-01 7.23341599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2192541539998 meters 0.017436220126374555 Centerline is valid? [True, True] Translation: X:915.95, Y:181.26, Z:7.23 [[-5.19420049e-01 -8.54476128e-01 8.56499438e-03 9.15947867e+02] [ 8.54371812e-01 -5.19490522e-01 -1.33567927e-02 1.81263910e+02] [ 1.58624939e-02 3.79903871e-04 9.99874111e-01 7.23496260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2492541539998 meters 0.017436220126374555 Centerline is valid? [True, True] Translation: X:915.93, Y:181.29, Z:7.24 [[-5.19692025e-01 -8.54310698e-01 8.56916914e-03 9.15933315e+02] [ 8.54206404e-01 -5.19762530e-01 -1.33541143e-02 1.81286382e+02] [ 1.58624957e-02 3.79812451e-04 9.99874111e-01 7.23514730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2792541539998 meters 0.0174701222453094 Centerline is valid? [True, True] Translation: X:915.92, Y:181.31, Z:7.24 [[-5.19446889e-01 -8.54463366e-01 8.20273192e-03 9.15920083e+02] [ 8.54367954e-01 -5.19511518e-01 -1.27742575e-02 1.81310788e+02] [ 1.51765488e-02 3.72602951e-04 9.99884760e-01 7.23625152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.3092541539997 meters 0.018341363056709994 Centerline is valid? [True, True] Translation: X:915.90, Y:181.33, Z:7.24 [[-5.19279739e-01 -8.54565884e-01 8.10567757e-03 9.15903717e+02] [ 8.54472865e-01 -5.19342862e-01 -1.26140493e-02 1.81331833e+02] [ 1.49891620e-02 3.75861302e-04 9.99887586e-01 7.23608011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.339254154 meters 0.020153501409782254 Centerline is valid? [True, True] Translation: X:915.89, Y:181.35, Z:7.23 [[-5.19150329e-01 -8.54635294e-01 9.02496233e-03 9.15887899e+02] [ 8.54520157e-01 -5.19228594e-01 -1.40345688e-02 1.81353728e+02] [ 1.66804563e-02 4.25961234e-04 9.99860781e-01 7.23349873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.369254154 meters 0.018206979902546862 Centerline is valid? [True, True] Translation: X:915.87, Y:181.38, Z:7.24 [[-5.18887219e-01 -8.54797804e-01 8.76174752e-03 9.15873098e+02] [ 8.54689456e-01 -5.18961015e-01 -1.36161416e-02 1.81377128e+02] [ 1.61860533e-02 4.23331360e-04 9.99868908e-01 7.23570920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.399254154 meters 0.0179994234175347 Centerline is valid? [True, True] Translation: X:915.86, Y:181.40, Z:7.23 [[-5.19662086e-01 -8.54322966e-01 9.14256148e-03 9.15856163e+02] [ 8.54205091e-01 -5.19742325e-01 -1.41978050e-02 1.81398885e+02] [ 1.68812871e-02 4.31561580e-04 9.99857408e-01 7.23483890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4292541539999 meters 0.017476023440573436 Centerline is valid? [True, True] Translation: X:915.84, Y:181.42, Z:7.24 [[-5.20730480e-01 -8.53672520e-01 9.11025140e-03 9.15841269e+02] [ 8.53555534e-01 -5.20810002e-01 -1.41383398e-02 1.81422472e+02] [ 1.68142222e-02 4.13841058e-04 9.99858545e-01 7.23526805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4592541539998 meters 0.017064290960848154 Centerline is valid? [True, True] Translation: X:915.83, Y:181.45, Z:7.24 [[-5.21393027e-01 -8.53269121e-01 9.00663621e-03 9.15826858e+02] [ 8.53154867e-01 -5.21470658e-01 -1.39687530e-02 1.81447133e+02] [ 1.66158021e-02 4.00845130e-04 9.99861868e-01 7.23614416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4892541539998 meters 0.016831922531261846 Centerline is valid? [True, True] Translation: X:915.81, Y:181.47, Z:7.24 [[-5.21952635e-01 -8.52927831e-01 8.91975505e-03 9.15812390e+02] [ 8.52815865e-01 -5.22028699e-01 -1.38252458e-02 1.81470662e+02] [ 1.64483051e-02 3.90785131e-04 9.99864641e-01 7.23661442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.5192541539998 meters 0.01729571046195052 Centerline is valid? [True, True] Translation: X:915.80, Y:181.49, Z:7.24 [[-5.22731845e-01 -8.52452547e-01 8.72202533e-03 9.15796882e+02] [ 8.52345564e-01 -5.22804473e-01 -1.35100898e-02 1.81493181e+02] [ 1.60766243e-02 3.72025429e-04 9.99870694e-01 7.23621727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.5492541539998 meters 0.01750747268917905 Centerline is valid? [True, True] Translation: X:915.78, Y:181.52, Z:7.23 [[-5.24643931e-01 -8.51271496e-01 9.25125351e-03 9.15783403e+02] [ 8.51151078e-01 -5.24725366e-01 -1.43224430e-02 1.81518414e+02] [ 1.70466549e-02 3.60031606e-04 9.99854630e-01 7.23468279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.579254154 meters 0.016248354604870553 Centerline is valid? [True, True] Translation: X:915.77, Y:181.54, Z:7.24 [[-5.25521053e-01 -8.50734446e-01 8.86144094e-03 9.15768109e+02] [ 8.50624003e-01 -5.25595654e-01 -1.37117965e-02 1.81542303e+02] [ 1.63226325e-02 3.31916623e-04 9.99866722e-01 7.23596147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.609254154 meters 0.015933847689196493 Centerline is valid? [True, True] Translation: X:915.75, Y:181.57, Z:7.24 [[-5.27563512e-01 -8.49471019e-01 8.70222527e-03 9.15753913e+02] [ 8.49364470e-01 -5.27635199e-01 -1.34571122e-02 1.81565127e+02] [ 1.60230272e-02 2.91879560e-04 9.99871580e-01 7.23542053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.639254154 meters 0.01742140705910323 Centerline is valid? [True, True] Translation: X:915.74, Y:181.59, Z:7.23 [[-5.28952710e-01 -8.48600888e-01 9.25004222e-03 9.15740074e+02] [ 8.48480534e-01 -5.29033506e-01 -1.42944994e-02 1.81589177e+02] [ 1.70239072e-02 2.87366557e-04 9.99855042e-01 7.23381101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6692541539999 meters 0.015360881447602318 Centerline is valid? [True, True] Translation: X:915.73, Y:181.61, Z:7.24 [[-5.29908685e-01 -8.48013316e-01 8.37863688e-03 9.15726444e+02] [ 8.47914632e-01 -5.29974862e-01 -1.29391947e-02 1.81612693e+02] [ 1.54130764e-02 2.47777135e-04 9.99881181e-01 7.23712802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6992541539998 meters 0.015524375686961158 Centerline is valid? [True, True] Translation: X:915.71, Y:181.63, Z:7.24 [[-5.29941633e-01 -8.47995301e-01 8.11388583e-03 9.15711755e+02] [ 8.47902886e-01 -5.30003688e-01 -1.25214578e-02 1.81634619e+02] [ 1.49185268e-02 2.44145414e-04 9.99888683e-01 7.23757145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7292541539998 meters 0.01578224067652977 Centerline is valid? [True, True] Translation: X:915.70, Y:181.66, Z:7.24 [[-5.29894731e-01 -8.48024498e-01 8.12559285e-03 9.15696550e+02] [ 8.47931956e-01 -5.29956969e-01 -1.25303598e-02 1.81656153e+02] [ 1.49322666e-02 2.50178189e-04 9.99888476e-01 7.23761789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7592541539998 meters 0.01565735241778388 Centerline is valid? [True, True] Translation: X:915.68, Y:181.68, Z:7.24 [[-5.29140999e-01 -8.48490985e-01 8.53530007e-03 9.15681258e+02] [ 8.48389077e-01 -5.29209759e-01 -1.31531331e-02 1.81679532e+02] [ 1.56772790e-02 2.81393362e-04 9.99877064e-01 7.23758481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7892541539998 meters 0.015931997922834704 Centerline is valid? [True, True] Translation: X:915.67, Y:181.70, Z:7.24 [[-5.29022395e-01 -8.48566287e-01 8.40016724e-03 9.15665666e+02] [ 8.48467722e-01 -5.29089006e-01 -1.29363259e-02 1.81701782e+02] [ 1.54217662e-02 2.83664632e-04 9.99881037e-01 7.23726824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.8192541539997 meters 0.01625124177504653 Centerline is valid? [True, True] Translation: X:915.65, Y:181.72, Z:7.24 [[-5.28502673e-01 -8.48886674e-01 8.73723390e-03 9.15649743e+02] [ 8.48780232e-01 -5.28574800e-01 -1.34461682e-02 1.81723910e+02] [ 1.60325546e-02 3.09655602e-04 9.99871422e-01 7.23684511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.849254154 meters 0.016495604479227752 Centerline is valid? [True, True] Translation: X:915.64, Y:181.75, Z:7.24 [[-5.28473725e-01 -8.48904530e-01 8.75339239e-03 9.15635192e+02] [ 8.48797823e-01 -5.28546120e-01 -1.34631137e-02 1.81745461e+02] [ 1.60554698e-02 3.14958552e-04 9.99871053e-01 7.23689600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.879254154 meters 0.01661032260201917 Centerline is valid? [True, True] Translation: X:915.62, Y:181.77, Z:7.24 [[-5.28618722e-01 -8.48812208e-01 8.94887645e-03 9.15620190e+02] [ 8.48700810e-01 -5.28694364e-01 -1.37551728e-02 1.81768037e+02] [ 1.64067791e-02 3.23676831e-04 9.99865347e-01 7.23664204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9092541539999 meters 0.016731436559860764 Centerline is valid? [True, True] Translation: X:915.60, Y:181.79, Z:7.24 [[-5.28714270e-01 -8.48750752e-01 9.13134737e-03 9.15604790e+02] [ 8.48634917e-01 -5.28793012e-01 -1.40260084e-02 1.81790860e+02] [ 1.67331779e-02 3.33429426e-04 9.99859935e-01 7.23665020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9392541539999 meters 0.01684433337880545 Centerline is valid? [True, True] Translation: X:915.59, Y:181.81, Z:7.24 [[-5.29018435e-01 -8.48556173e-01 9.58726316e-03 9.15589927e+02] [ 8.48428634e-01 -5.29105187e-01 -1.47158008e-02 1.81812457e+02] [ 1.75598543e-02 3.49178665e-04 9.99845753e-01 7.23625507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9692541539998 meters 0.0170329343203227 Centerline is valid? [True, True] Translation: X:915.57, Y:181.83, Z:7.24 [[-5.29282795e-01 -8.48390811e-01 9.63093236e-03 9.15574938e+02] [ 8.48262264e-01 -5.29370294e-01 -1.47723444e-02 1.81834554e+02] [ 1.76310507e-02 3.50808787e-04 9.99844499e-01 7.23617516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9992541539998 meters 0.017026134525489366 Centerline is valid? [True, True] Translation: X:915.56, Y:181.86, Z:7.24 [[-5.30129884e-01 -8.47862637e-01 9.55276107e-03 9.15559750e+02] [ 8.47736256e-01 -5.30215840e-01 -1.46425274e-02 1.81857577e+02] [ 1.74798772e-02 3.35780519e-04 9.99847159e-01 7.23618424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.0292541539998 meters 0.016827011882736 Centerline is valid? [True, True] Translation: X:915.55, Y:181.88, Z:7.24 [[-5.31030586e-01 -8.47295819e-01 9.81386602e-03 9.15545313e+02] [ 8.47162518e-01 -5.31121159e-01 -1.50326984e-02 1.81880427e+02] [ 1.79494944e-02 3.31116810e-04 9.99838840e-01 7.23602780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.0592541539997 meters 0.01668462738588828 Centerline is valid? [True, True] Translation: X:915.53, Y:181.90, Z:7.24 [[-5.31856199e-01 -8.46772746e-01 1.02420940e-02 9.15531050e+02] [ 8.46627657e-01 -5.31954703e-01 -1.56781695e-02 1.81903690e+02] [ 1.87241767e-02 3.32708403e-04 9.99824632e-01 7.23581136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.089254154 meters 0.016375059387984607 Centerline is valid? [True, True] Translation: X:915.52, Y:181.93, Z:7.24 [[-5.33793171e-01 -8.45547174e-01 1.07157512e-02 9.15517924e+02] [ 8.45388326e-01 -5.33900628e-01 -1.63919760e-02 1.81926906e+02] [ 1.95813353e-02 3.09046127e-04 9.99808220e-01 7.23522337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.119254154 meters 0.01607870884761984 Centerline is valid? [True, True] Translation: X:915.50, Y:181.95, Z:7.24 [[-5.35046571e-01 -8.44753405e-01 1.08097810e-02 9.15503893e+02] [ 8.44591811e-01 -5.35155680e-01 -1.65248760e-02 1.81950798e+02] [ 1.97443610e-02 2.88274289e-04 9.99805020e-01 7.23519474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.149254154 meters 0.014768787963959092 Centerline is valid? [True, True] Translation: X:915.49, Y:181.98, Z:7.24 [[-5.37963966e-01 -8.42894046e-01 1.11534292e-02 9.15492797e+02] [ 8.42721831e-01 -5.38079524e-01 -1.70394410e-02 1.81977782e+02] [ 2.03638752e-02 2.32633056e-04 9.99792608e-01 7.23802611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.1792541539999 meters 0.01578620587085481 Centerline is valid? [True, True] Translation: X:915.48, Y:182.00, Z:7.24 [[-5.39816994e-01 -8.41707332e-01 1.12419073e-02 9.15478375e+02] [ 8.41532342e-01 -5.39934004e-01 -1.71635667e-02 1.82000924e+02] [ 2.05165880e-02 1.95243654e-04 9.99789494e-01 7.23687335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2092541539998 meters 0.015180365185187675 Centerline is valid? [True, True] Translation: X:915.46, Y:182.02, Z:7.24 [[-5.41200708e-01 -8.40825201e-01 1.07133323e-02 9.15462678e+02] [ 8.40666321e-01 -5.41306712e-01 -1.63456724e-02 1.82022690e+02] [ 1.95430519e-02 1.60048151e-04 9.99809004e-01 7.23629997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2392541539998 meters 0.014775332887112334 Centerline is valid? [True, True] Translation: X:915.45, Y:182.05, Z:7.24 [[-5.44575587e-01 -8.38643210e-01 1.07236060e-02 9.15450038e+02] [ 8.38483807e-01 -5.44681153e-01 -1.63507499e-02 1.82048378e+02] [ 1.95533915e-02 8.73507879e-05 9.99808810e-01 7.23947245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2692541539998 meters 0.01591567125365712 Centerline is valid? [True, True] Translation: X:915.44, Y:182.07, Z:7.24 [[-5.46013552e-01 -8.37705628e-01 1.08849479e-02 9.15435035e+02] [ 8.37541419e-01 -5.46122036e-01 -1.65859655e-02 1.82071195e+02] [ 1.98386666e-02 6.04327484e-05 9.99803192e-01 7.23604645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2992541539998 meters 0.018397826385191704 Centerline is valid? [True, True] Translation: X:915.42, Y:182.09, Z:7.23 [[-5.48021999e-01 -8.36383125e-01 1.16257044e-02 9.15422028e+02] [ 8.36195772e-01 -5.48145298e-01 -1.77020720e-02 1.82093499e+02] [ 2.11782895e-02 2.02399891e-05 9.99775715e-01 7.23394954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.329254154 meters 0.014254322928206492 Centerline is valid? [True, True] Translation: X:915.41, Y:182.12, Z:7.24 [[-5.47653876e-01 -8.36634372e-01 1.08701378e-02 9.15406511e+02] [ 8.36470853e-01 -5.47761742e-01 -1.65404348e-02 1.82115249e+02] [ 1.97925419e-02 3.41201649e-05 9.99804108e-01 7.23770845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.359254154 meters 0.014285542084655146 Centerline is valid? [True, True] Translation: X:915.39, Y:182.14, Z:7.24 [[-5.47885671e-01 -8.36475136e-01 1.14297355e-02 9.15391264e+02] [ 8.36294549e-01 -5.48004878e-01 -1.73804687e-02 1.82137330e+02] [ 2.08018807e-02 3.61157732e-05 9.99783617e-01 7.23846962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.389254154 meters 0.015309583314265848 Centerline is valid? [True, True] Translation: X:915.37, Y:182.16, Z:7.24 [[-5.47916112e-01 -8.36451925e-01 1.16666686e-02 9.15374793e+02] [ 8.36264023e-01 -5.48040304e-01 -1.77287763e-02 1.82158578e+02] [ 2.12230737e-02 4.25329804e-05 9.99774764e-01 7.23953125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4192541539999 meters 0.013987877655193985 Centerline is valid? [True, True] Translation: X:915.36, Y:182.18, Z:7.24 [[-5.47198062e-01 -8.36927885e-01 1.12248221e-02 9.15358439e+02] [ 8.36754284e-01 -5.47313175e-01 -1.70457274e-02 1.82180089e+02] [ 2.04095377e-02 6.50290009e-05 9.99791702e-01 7.24123520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4492541539998 meters 0.01657824432283574 Centerline is valid? [True, True] Translation: X:915.34, Y:182.20, Z:7.24 [[-5.46954135e-01 -8.37081012e-01 1.16855625e-02 9.15342018e+02] [ 8.36893125e-01 -5.47078945e-01 -1.77348668e-02 1.82200579e+02] [ 2.12384455e-02 7.94082131e-05 9.99774436e-01 7.23936580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4792541539998 meters 0.014126178144402651 Centerline is valid? [True, True] Translation: X:915.33, Y:182.22, Z:7.24 [[-5.45810179e-01 -8.37835924e-01 1.10549889e-02 9.15325554e+02] [ 8.37668133e-01 -5.45922112e-01 -1.67674373e-02 1.82221971e+02] [ 2.00835243e-02 1.08573974e-04 9.99798300e-01 7.24219883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.5092541539998 meters 0.017031599349220283 Centerline is valid? [True, True] Translation: X:915.31, Y:182.24, Z:7.24 [[-5.45068898e-01 -8.38307080e-01 1.18801081e-02 9.15307919e+02] [ 8.38113666e-01 -5.45198331e-01 -1.80072915e-02 1.82244309e+02] [ 2.15726551e-02 1.41666389e-04 9.99767273e-01 7.23979444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.5392541539998 meters 0.016473697919985965 Centerline is valid? [True, True] Translation: X:915.29, Y:182.27, Z:7.24 [[-5.44246563e-01 -8.38842540e-01 1.17844308e-02 9.15291778e+02] [ 8.38652593e-01 -5.44374105e-01 -1.78511284e-02 1.82267440e+02] [ 2.13894249e-02 1.67628137e-04 9.99771206e-01 7.24169551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.5692541539997 meters 0.01448371569457261 Centerline is valid? [True, True] Translation: X:915.27, Y:182.29, Z:7.24 [[-5.42597491e-01 -8.39918356e-01 1.11855928e-02 9.15274468e+02] [ 8.39747668e-01 -5.42712735e-01 -1.69334483e-02 1.82289986e+02] [ 2.02932778e-02 2.05028913e-04 9.99794049e-01 7.24371168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.599254154 meters 0.017650561311962708 Centerline is valid? [True, True] Translation: X:915.26, Y:182.31, Z:7.24 [[-5.41079621e-01 -8.40885798e-01 1.19965851e-02 9.15257007e+02] [ 8.40689961e-01 -5.41212531e-01 -1.81489789e-02 1.82310880e+02] [ 2.17539208e-02 2.65365990e-04 9.99763320e-01 7.24042246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.629254154 meters 0.018132166663593772 Centerline is valid? [True, True] Translation: X:915.24, Y:182.33, Z:7.24 [[-5.40092900e-01 -8.41523979e-01 1.17069532e-02 9.15240093e+02] [ 8.41337900e-01 -5.40219685e-01 -1.76982938e-02 1.82330834e+02] [ 2.12178652e-02 2.90780609e-04 9.99774833e-01 7.23920288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6592541539999 meters 0.016040294011981118 Centerline is valid? [True, True] Translation: X:915.22, Y:182.35, Z:7.24 [[-5.37227838e-01 -8.43367607e-01 1.08318971e-02 9.15223565e+02] [ 8.43208885e-01 -5.37336918e-01 -1.63649775e-02 1.82353683e+02] [ 1.96220701e-02 3.41830402e-04 9.99807410e-01 7.24376930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6892541539999 meters 0.01640315775406967 Centerline is valid? [True, True] Translation: X:915.21, Y:182.37, Z:7.24 [[-5.36635172e-01 -8.43749614e-01 1.04537422e-02 9.15208193e+02] [ 8.43602021e-01 -5.36736870e-01 -1.57848916e-02 1.82374951e+02] [ 1.89294051e-02 3.48069971e-04 9.99820762e-01 7.24413523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7192541539998 meters 0.016114620016739193 Centerline is valid? [True, True] Translation: X:915.19, Y:182.40, Z:7.25 [[-5.36081560e-01 -8.44100682e-01 1.05166446e-02 9.15193214e+02] [ 8.43951554e-01 -5.36184580e-01 -1.58704413e-02 1.82398433e+02] [ 1.90351130e-02 3.67687608e-04 9.99818748e-01 7.24543804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7492541539998 meters 0.016514837480458042 Centerline is valid? [True, True] Translation: X:915.18, Y:182.42, Z:7.25 [[-5.35234792e-01 -8.44644836e-01 9.94075342e-03 9.15176866e+02] [ 8.44511853e-01 -5.35326969e-01 -1.49922090e-02 1.82420855e+02] [ 1.79846453e-02 3.70732253e-04 9.99838194e-01 7.24598875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7792541539998 meters 0.01769380833146424 Centerline is valid? [True, True] Translation: X:915.16, Y:182.44, Z:7.24 [[-5.35786979e-01 -8.44292510e-01 1.01227769e-02 9.15161692e+02] [ 8.44154726e-01 -5.35882468e-01 -1.52570817e-02 1.82444256e+02] [ 1.83060585e-02 3.70644242e-04 9.99832361e-01 7.24451544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.8092541539997 meters 0.018688669312564257 Centerline is valid? [True, True] Translation: X:915.15, Y:182.47, Z:7.24 [[-5.35563686e-01 -8.44437137e-01 9.87219104e-03 9.15145520e+02] [ 8.44306280e-01 -5.35654538e-01 -1.48701506e-02 1.82467395e+02] [ 1.78449913e-02 3.71240244e-04 9.99840697e-01 7.24342792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.839254154 meters 0.016644127438878827 Centerline is valid? [True, True] Translation: X:915.13, Y:182.49, Z:7.25 [[-5.34408944e-01 -8.45173378e-01 9.43619088e-03 9.15129410e+02] [ 8.45054085e-01 -5.34492109e-01 -1.42048991e-02 1.82491192e+02] [ 1.70491721e-02 3.82866535e-04 9.99854579e-01 7.24696433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.869254154 meters 0.018774870601659693 Centerline is valid? [True, True] Translation: X:915.11, Y:182.51, Z:7.24 [[-5.35169042e-01 -8.44685052e-01 1.00628035e-02 9.15113862e+02] [ 8.44549476e-01 -5.35263492e-01 -1.51385859e-02 1.82514265e+02] [ 1.81735885e-02 3.96832866e-04 9.99834768e-01 7.24410388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.899254154 meters 0.01709110058194994 Centerline is valid? [True, True] Translation: X:915.10, Y:182.54, Z:7.25 [[-5.33534701e-01 -8.45720165e-01 9.90581266e-03 9.15097050e+02] [ 8.45589124e-01 -5.33626478e-01 -1.48934627e-02 1.82536708e+02] [ 1.78817057e-02 4.30068266e-04 9.99840017e-01 7.24580954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9292541539999 meters 0.01791432759755391 Centerline is valid? [True, True] Translation: X:915.08, Y:182.56, Z:7.24 [[-5.32901088e-01 -8.46112952e-01 1.04547760e-02 9.15080544e+02] [ 8.45967252e-01 -5.33003422e-01 -1.57086183e-02 1.82558611e+02] [ 1.88636968e-02 4.73258397e-04 9.99821953e-01 7.24460638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9592541539998 meters 0.01993365955703796 Centerline is valid? [True, True] Translation: X:915.06, Y:182.58, Z:7.24 [[-5.33021414e-01 -8.46028134e-01 1.11610242e-02 9.15064027e+02] [ 8.45862291e-01 -5.33138010e-01 -1.67585077e-02 1.82580426e+02] [ 2.01285352e-02 5.08046081e-04 9.99797271e-01 7.24136229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9892541539998 meters 0.018236732635699523 Centerline is valid? [True, True] Translation: X:915.05, Y:182.60, Z:7.24 [[-5.30399201e-01 -8.47666277e-01 1.17716511e-02 9.15049060e+02] [ 8.47482433e-01 -5.30529466e-01 -1.76638490e-02 1.82604058e+02] [ 2.12182569e-02 6.07376134e-04 9.99774683e-01 7.24324364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.0192541539998 meters 0.021771754468179094 Centerline is valid? [True, True] Translation: X:915.03, Y:182.63, Z:7.24 [[-5.30753153e-01 -8.47431406e-01 1.26926298e-02 9.15032498e+02] [ 8.47217892e-01 -5.30904500e-01 -1.90329982e-02 1.82625151e+02] [ 2.28677347e-02 6.51599223e-04 9.99738287e-01 7.23856156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.0492541539998 meters 0.019537070741794216 Centerline is valid? [True, True] Translation: X:915.02, Y:182.65, Z:7.24 [[-5.28264366e-01 -8.48981664e-01 1.29187430e-02 9.15017798e+02] [ 8.48761237e-01 -5.28421791e-01 -1.93590657e-02 1.82648369e+02] [ 2.32620371e-02 7.38223765e-04 9.99729130e-01 7.24219105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.079254154 meters 0.0199142998458686 Centerline is valid? [True, True] Translation: X:915.00, Y:182.67, Z:7.24 [[-5.28025604e-01 -8.49130283e-01 1.29121348e-02 9.15002293e+02] [ 8.48910425e-01 -5.28182920e-01 -1.93363029e-02 1.82671167e+02] [ 2.32390095e-02 7.51182813e-04 9.99729656e-01 7.24236268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.109254154 meters 0.020259642917144396 Centerline is valid? [True, True] Translation: X:914.99, Y:182.69, Z:7.24 [[-5.28106733e-01 -8.49079147e-01 1.29569150e-02 9.14987007e+02] [ 8.48858045e-01 -5.28265111e-01 -1.93905286e-02 1.82693824e+02] [ 2.33087796e-02 7.58312803e-04 9.99728026e-01 7.24256037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.139254154 meters 0.02001375311835002 Centerline is valid? [True, True] Translation: X:914.97, Y:182.72, Z:7.24 [[-5.29404984e-01 -8.48280421e-01 1.22755849e-02 9.14972974e+02] [ 8.48082000e-01 -5.29546834e-01 -1.83595327e-02 1.82718319e+02] [ 2.20745292e-02 6.91074469e-04 9.99756089e-01 7.24334555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1692541539999 meters 0.02001375311835002 Centerline is valid? [True, True] Translation: X:914.96, Y:182.74, Z:7.24 [[-5.29676348e-01 -8.48110923e-01 1.22812544e-02 9.14957993e+02] [ 8.47912543e-01 -5.29818257e-01 -1.83557403e-02 1.82740514e+02] [ 2.20745366e-02 6.90828189e-04 9.99756089e-01 7.24353035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1992541539998 meters 0.019911274406368862 Centerline is valid? [True, True] Translation: X:914.95, Y:182.77, Z:7.24 [[-5.31315162e-01 -8.47084491e-01 1.23314151e-02 9.14945088e+02] [ 8.46884469e-01 -5.31457838e-01 -1.84190495e-02 1.82766053e+02] [ 2.21561184e-02 6.56963666e-04 9.99754307e-01 7.24371854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2292541539998 meters 0.01899207906237307 Centerline is valid? [True, True] Translation: X:914.93, Y:182.79, Z:7.25 [[-5.31859019e-01 -8.46755765e-01 1.14306258e-02 9.14930449e+02] [ 8.46584037e-01 -5.31981497e-01 -1.70632772e-02 1.82789422e+02] [ 2.05293098e-02 6.01727488e-04 9.99789070e-01 7.24612285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2592541539998 meters 0.01793332840606042 Centerline is valid? [True, True] Translation: X:914.92, Y:182.82, Z:7.25 [[-5.34556154e-01 -8.45068189e-01 1.04630044e-02 9.14918460e+02] [ 8.44924157e-01 -5.34658311e-01 -1.56095944e-02 1.82815701e+02] [ 1.87853039e-02 4.96240455e-04 9.99823417e-01 7.24799645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2892541539998 meters 0.01842822042526978 Centerline is valid? [True, True] Translation: X:914.90, Y:182.84, Z:7.25 [[-5.35831372e-01 -8.44261356e-01 1.03684120e-02 9.14903383e+02] [ 8.44119944e-01 -5.35931473e-01 -1.54588963e-02 1.82837989e+02] [ 1.86081070e-02 4.68821712e-04 9.99826744e-01 7.24795261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.3192541539997 meters 0.017627295874224895 Centerline is valid? [True, True] Translation: X:914.89, Y:182.86, Z:7.25 [[-5.38499497e-01 -8.42568604e-01 9.82036973e-03 9.14891868e+02] [ 8.42441617e-01 -5.38588891e-01 -1.46331084e-02 1.82864668e+02] [ 1.76185398e-02 3.93166621e-04 9.99844704e-01 7.24913416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.349254154 meters 0.016960666054642394 Centerline is valid? [True, True] Translation: X:914.88, Y:182.89, Z:7.25 [[-5.38801695e-01 -8.42376884e-01 9.69119696e-03 9.14877157e+02] [ 8.42253338e-01 -5.38888705e-01 -1.44318659e-02 1.82888430e+02] [ 1.73795468e-02 3.86529167e-04 9.99848890e-01 7.25047558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.379254154 meters 0.01704676779728704 Centerline is valid? [True, True] Translation: X:914.86, Y:182.91, Z:7.25 [[-5.39454902e-01 -8.41959189e-01 9.65057140e-03 9.14862290e+02] [ 8.41836769e-01 -5.39541085e-01 -1.43621859e-02 1.82911407e+02] [ 1.72992542e-02 3.76454247e-04 9.99850286e-01 7.25046919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4092541539999 meters 0.018808613848571392 Centerline is valid? [True, True] Translation: X:914.85, Y:182.94, Z:7.25 [[-5.40174443e-01 -8.41488527e-01 1.04225485e-02 9.14847366e+02] [ 8.41345838e-01 -5.40274839e-01 -1.55009534e-02 1.82935772e+02] [ 1.86749151e-02 3.95748911e-04 9.99825530e-01 7.24785001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4392541539999 meters 0.01734281145903146 Centerline is valid? [True, True] Translation: X:914.83, Y:182.96, Z:7.25 [[-5.38904986e-01 -8.42304201e-01 1.02493479e-02 9.14830893e+02] [ 8.42166534e-01 -5.39002278e-01 -1.52339959e-02 1.82958325e+02] [ 1.83560806e-02 4.21981407e-04 9.99831424e-01 7.24959501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4692541539998 meters 0.01800607015754463 Centerline is valid? [True, True] Translation: X:914.81, Y:182.98, Z:7.25 [[-5.37430925e-01 -8.43238452e-01 1.08126735e-02 9.14814616e+02] [ 8.43085625e-01 -5.37539467e-01 -1.60608173e-02 1.82980581e+02] [ 1.93553375e-02 4.84429728e-04 9.99812551e-01 7.24899490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4992541539998 meters 0.017920606439923322 Centerline is valid? [True, True] Translation: X:914.80, Y:183.00, Z:7.25 [[-5.36979104e-01 -8.43521882e-01 1.11478925e-02 9.14799164e+02] [ 8.43359704e-01 -5.37094562e-01 -1.65481591e-02 1.83003823e+02] [ 1.99462067e-02 5.15667638e-04 9.99800922e-01 7.24909667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.5292541539998 meters 0.01779345829666574 Centerline is valid? [True, True] Translation: X:914.78, Y:183.03, Z:7.25 [[-5.35996384e-01 -8.44141136e-01 1.15593619e-02 9.14783542e+02] [ 8.43967124e-01 -5.36120718e-01 -1.71484610e-02 1.83027744e+02] [ 2.06729347e-02 5.64208350e-04 9.99786133e-01 7.24897992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.5592541539997 meters 0.018658630245844757 Centerline is valid? [True, True] Translation: X:914.77, Y:183.05, Z:7.25 [[-5.36110763e-01 -8.44069500e-01 1.14860467e-02 9.14767075e+02] [ 8.43897897e-01 -5.36233496e-01 -1.70287498e-02 1.83049098e+02] [ 2.05326513e-02 5.63754550e-04 9.99789024e-01 7.24819355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.589254154 meters 0.01922973893801559 Centerline is valid? [True, True] Translation: X:914.75, Y:183.07, Z:7.25 [[-5.36698478e-01 -8.43696499e-01 1.14437897e-02 9.14752089e+02] [ 8.43526316e-01 -5.36820184e-01 -1.69541707e-02 1.83071215e+02] [ 2.04474317e-02 5.53860197e-04 9.99790776e-01 7.24753813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.619254154 meters 0.017949226439165154 Centerline is valid? [True, True] Translation: X:914.74, Y:183.10, Z:7.25 [[-5.37183023e-01 -8.43392984e-01 1.10758276e-02 9.14739317e+02] [ 8.43233717e-01 -5.37296932e-01 -1.63983294e-02 1.83096236e+02] [ 1.97812441e-02 5.30607106e-04 9.99804191e-01 7.25044518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.649254154 meters 0.017767539508417328 Centerline is valid? [True, True] Translation: X:914.72, Y:183.12, Z:7.25 [[-5.37818855e-01 -8.42991198e-01 1.08037002e-02 9.14724098e+02] [ 8.42839772e-01 -5.37927116e-01 -1.59854974e-02 1.83120109e+02] [ 1.92872369e-02 5.08486295e-04 9.99813855e-01 7.25139054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.6792541539999 meters 0.019851335211638 Centerline is valid? [True, True] Translation: X:914.71, Y:183.14, Z:7.25 [[-5.39200931e-01 -8.42105602e-01 1.09777879e-02 9.14708975e+02] [ 8.41949274e-01 -5.39312447e-01 -1.62327989e-02 1.83142593e+02] [ 1.95901886e-02 4.90000310e-04 9.99807974e-01 7.24936750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7092541539998 meters 0.018000974817884624 Centerline is valid? [True, True] Translation: X:914.69, Y:183.17, Z:7.25 [[-5.38601536e-01 -8.42506338e-01 9.56330490e-03 9.14693885e+02] [ 8.42387908e-01 -5.38686248e-01 -1.41328532e-02 1.83166740e+02] [ 1.70586392e-02 4.44035965e-04 9.99854392e-01 7.25405447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7392541539998 meters 0.018382840105799218 Centerline is valid? [True, True] Translation: X:914.68, Y:183.19, Z:7.25 [[-5.38495759e-01 -8.42577205e-01 9.27211952e-03 9.14678664e+02] [ 8.42466042e-01 -5.38575401e-01 -1.36932933e-02 1.83187844e+02] [ 1.65313923e-02 4.37665452e-04 9.99863251e-01 7.25479534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7692541539998 meters 0.018806122194285593 Centerline is valid? [True, True] Translation: X:914.66, Y:183.21, Z:7.25 [[-5.38486521e-01 -8.42583298e-01 9.25489619e-03 9.14662987e+02] [ 8.42472711e-01 -5.38565865e-01 -1.36579647e-02 1.83208945e+02] [ 1.64923441e-02 4.42367594e-04 9.99863894e-01 7.25491868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7992541539998 meters 0.018542790516445848 Centerline is valid? [True, True] Translation: X:914.65, Y:183.23, Z:7.26 [[-5.38302190e-01 -8.42698261e-01 9.50755430e-03 9.14647178e+02] [ 8.42581730e-01 -5.38385946e-01 -1.40214635e-02 1.83232558e+02] [ 1.69345965e-02 4.63107065e-04 9.99856492e-01 7.25528168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.829254154 meters 0.01854610110919958 Centerline is valid? [True, True] Translation: X:914.63, Y:183.26, Z:7.26 [[-5.38199814e-01 -8.42763082e-01 9.55761573e-03 9.14631198e+02] [ 8.42645479e-01 -5.38284465e-01 -1.40865663e-02 1.83255154e+02] [ 1.70163541e-02 4.72294330e-04 9.99855100e-01 7.25533382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.859254154 meters 0.020251566024530654 Centerline is valid? [True, True] Translation: X:914.61, Y:183.27, Z:7.25 [[-5.37157446e-01 -8.43423596e-01 9.92554290e-03 9.14612740e+02] [ 8.43297016e-01 -5.37248892e-01 -1.46209367e-02 1.83274732e+02] [ 1.76641300e-02 5.16435668e-04 9.99843844e-01 7.25420742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.889254154 meters 0.02126171937376233 Centerline is valid? [True, True] Translation: X:914.60, Y:183.30, Z:7.25 [[-5.36312344e-01 -8.43955504e-01 1.04008562e-02 9.14596113e+02] [ 8.43816769e-01 -5.36412891e-01 -1.53124416e-02 1.83296999e+02] [ 1.85021727e-02 5.64165455e-04 9.99828661e-01 7.25255602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9192541539999 meters 0.021241513802974604 Centerline is valid? [True, True] Translation: X:914.58, Y:183.32, Z:7.25 [[-5.34754070e-01 -8.44946705e-01 1.01562526e-02 9.14579688e+02] [ 8.44814740e-01 -5.34850183e-01 -1.49444312e-02 1.83317916e+02] [ 1.80593215e-02 5.88556507e-04 9.99836744e-01 7.25455893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9492541539998 meters 0.020226543503365915 Centerline is valid? [True, True] Translation: X:914.57, Y:183.34, Z:7.26 [[-5.34224559e-01 -8.45280611e-01 1.02376470e-02 9.14565135e+02] [ 8.45146740e-01 -5.34322298e-01 -1.50555912e-02 1.83341703e+02] [ 1.81964024e-02 6.09247365e-04 9.99834246e-01 7.25570087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9792541539998 meters 0.02075361801240737 Centerline is valid? [True, True] Translation: X:914.55, Y:183.36, Z:7.26 [[-5.33764581e-01 -8.45569858e-01 1.03434931e-02 9.14548162e+02] [ 8.45433431e-01 -5.33864420e-01 -1.52018286e-02 1.83364371e+02] [ 1.83762310e-02 6.30537201e-04 9.99830944e-01 7.25572520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.0092541539998 meters 0.021138371095954102 Centerline is valid? [True, True] Translation: X:914.53, Y:183.39, Z:7.26 [[-5.32801463e-01 -8.46177102e-01 1.03398496e-02 9.14531501e+02] [ 8.46041058e-01 -5.32901380e-01 -1.51871089e-02 1.83386593e+02] [ 1.83611039e-02 6.56223448e-04 9.99831205e-01 7.25607911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.0392541539998 meters 0.021508483572348785 Centerline is valid? [True, True] Translation: X:914.52, Y:183.41, Z:7.26 [[-5.32418116e-01 -8.46415805e-01 1.05468128e-02 9.14515415e+02] [ 8.46274492e-01 -5.32522130e-01 -1.54810998e-02 1.83409042e+02] [ 1.87198588e-02 6.83080691e-04 9.99824535e-01 7.25665453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.0692541539997 meters 0.02232747764399426 Centerline is valid? [True, True] Translation: X:914.50, Y:183.43, Z:7.26 [[-5.32892748e-01 -8.46116815e-01 1.05666308e-02 9.14499124e+02] [ 8.45975116e-01 -5.32997067e-01 -1.54993429e-02 1.83430176e+02] [ 1.87462378e-02 6.79619314e-04 9.99824043e-01 7.25636244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.099254154 meters 0.023000730121252668 Centerline is valid? [True, True] Translation: X:914.48, Y:183.45, Z:7.25 [[-5.34365318e-01 -8.45181811e-01 1.10187505e-02 9.14482955e+02] [ 8.45027727e-01 -5.34478478e-01 -1.61523061e-02 1.83453787e+02] [ 1.95409203e-02 6.79917444e-04 9.99808827e-01 7.25448232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.129254154 meters 0.020659126806470654 Centerline is valid? [True, True] Translation: X:914.47, Y:183.48, Z:7.26 [[-5.34446771e-01 -8.45134501e-01 1.06922579e-02 9.14468996e+02] [ 8.44989581e-01 -5.34553304e-01 -1.56643953e-02 1.83477866e+02] [ 1.89541026e-02 6.63061040e-04 9.99820135e-01 7.25696878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1592541539999 meters 0.020990190046438453 Centerline is valid? [True, True] Translation: X:914.45, Y:183.50, Z:7.26 [[-5.37133884e-01 -8.43427079e-01 1.08606372e-02 9.14453963e+02] [ 8.43277400e-01 -5.37243317e-01 -1.59010921e-02 1.83500755e+02] [ 1.92462164e-02 6.17514520e-04 9.99814584e-01 7.25605691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1892541539999 meters 0.021782609153713082 Centerline is valid? [True, True] Translation: X:914.44, Y:183.52, Z:7.26 [[-5.38780330e-01 -8.42375099e-01 1.09520569e-02 9.14438652e+02] [ 8.42222864e-01 -5.38891310e-01 -1.60251111e-02 1.83523746e+02] [ 1.94011228e-02 5.90058049e-04 9.99811606e-01 7.25509821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2192541539998 meters 0.022516062659317496 Centerline is valid? [True, True] Translation: X:914.42, Y:183.55, Z:7.25 [[-5.41495503e-01 -8.40630929e-01 1.10571623e-02 9.14423238e+02] [ 8.40475577e-01 -5.41608116e-01 -1.61695094e-02 1.83545890e+02] [ 1.95812385e-02 5.37558205e-04 9.99808125e-01 7.25370299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2492541539998 meters 0.020525578227938032 Centerline is valid? [True, True] Translation: X:914.41, Y:183.57, Z:7.26 [[-5.42513560e-01 -8.39976874e-01 1.08576398e-02 9.14408969e+02] [ 8.39827138e-01 -5.42621959e-01 -1.58677981e-02 1.83569163e+02] [ 1.92201772e-02 5.10044878e-04 9.99815145e-01 7.25538746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2792541539998 meters 0.01920819456082856 Centerline is valid? [True, True] Translation: X:914.39, Y:183.59, Z:7.26 [[-5.43148670e-01 -8.39571328e-01 1.04645590e-02 9.14393539e+02] [ 8.39432349e-01 -5.43249254e-01 -1.52833348e-02 1.83592003e+02] [ 1.85163136e-02 4.83166353e-04 9.99828442e-01 7.25732319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.3092541539997 meters 0.019678648972576613 Centerline is valid? [True, True] Translation: X:914.38, Y:183.62, Z:7.25 [[-5.46628437e-01 -8.37300875e-01 1.11622975e-02 9.14378599e+02] [ 8.37142471e-01 -5.46742217e-01 -1.62920802e-02 1.83616064e+02] [ 1.97442723e-02 4.38719006e-04 9.99804967e-01 7.25493694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.339254154 meters 0.016816214321577677 Centerline is valid? [True, True] Translation: X:914.36, Y:183.64, Z:7.26 [[-5.47068493e-01 -8.37016449e-01 1.09329064e-02 9.14364663e+02] [ 8.36864617e-01 -5.47177562e-01 -1.59476907e-02 1.83640919e+02] [ 1.93307205e-02 4.24883455e-04 9.99813054e-01 7.25864908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.369254154 meters 0.01579505135967222 Centerline is valid? [True, True] Translation: X:914.35, Y:183.66, Z:7.26 [[-5.49719054e-01 -8.35279817e-01 1.07976090e-02 9.14349774e+02] [ 8.35131570e-01 -5.49824967e-01 -1.57406315e-02 1.83664999e+02] [ 1.90846268e-02 3.64499123e-04 9.99817805e-01 7.25928447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.399254154 meters 0.015397915638554185 Centerline is valid? [True, True] Translation: X:914.33, Y:183.69, Z:7.26 [[-5.51086094e-01 -8.34381564e-01 1.05604042e-02 9.14333909e+02] [ 8.34239772e-01 -5.51187169e-01 -1.53853121e-02 1.83688249e+02] [ 1.86579801e-02 3.31277669e-04 9.99825870e-01 7.25989271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4292541539999 meters 0.0179758878783335 Centerline is valid? [True, True] Translation: X:914.32, Y:183.71, Z:7.26 [[-5.53532544e-01 -8.32751839e-01 1.12292805e-02 9.14318182e+02] [ 8.32591386e-01 -5.53646354e-01 -1.63493062e-02 1.83711553e+02] [ 1.98319650e-02 2.99529177e-04 9.99803282e-01 7.25759927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4592541539998 meters 0.01528093254591383 Centerline is valid? [True, True] Translation: X:914.30, Y:183.73, Z:7.26 [[-5.54836421e-01 -8.31899267e-01 1.00077574e-02 9.14301640e+02] [ 8.31771810e-01 -5.54926616e-01 -1.45639031e-02 1.83733309e+02] [ 1.76692713e-02 2.43586605e-04 9.99843857e-01 7.25896987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4892541539998 meters 0.017290067277453636 Centerline is valid? [True, True] Translation: X:914.29, Y:183.76, Z:7.26 [[-5.57014689e-01 -8.30434167e-01 1.06644834e-02 9.14287408e+02] [ 8.30289335e-01 -5.57116728e-01 -1.55103610e-02 1.83756684e+02] [ 1.88216958e-02 2.15107940e-04 9.99822833e-01 7.25763718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.5192541539998 meters 0.014421659884356904 Centerline is valid? [True, True] Translation: X:914.27, Y:183.78, Z:7.26 [[-5.57294440e-01 -8.30253753e-01 1.00802631e-02 9.14272108e+02] [ 8.30124491e-01 -5.57385561e-01 -1.46514793e-02 1.83780479e+02] [ 1.77830388e-02 2.02685293e-04 9.99841849e-01 7.26041135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.5492541539998 meters 0.014226791227096448 Centerline is valid? [True, True] Translation: X:914.26, Y:183.80, Z:7.26 [[-5.58918180e-01 -8.29161204e-01 1.01077174e-02 9.14256844e+02] [ 8.29031222e-01 -5.59009541e-01 -1.46821435e-02 1.83803278e+02] [ 1.78241743e-02 1.73496400e-04 9.99841122e-01 7.25994197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.579254154 meters 0.01408238008652579 Centerline is valid? [True, True] Translation: X:914.24, Y:183.83, Z:7.26 [[-5.60193324e-01 -8.28299253e-01 1.01876223e-02 9.14241046e+02] [ 8.28167241e-01 -5.60285931e-01 -1.47883711e-02 1.83825649e+02] [ 1.79571782e-02 1.52708244e-04 9.99838745e-01 7.26030916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.609254154 meters 0.01395720845717533 Centerline is valid? [True, True] Translation: X:914.22, Y:183.85, Z:7.26 [[-5.60626151e-01 -8.28005727e-01 1.02389190e-02 9.14224875e+02] [ 8.27872505e-01 -5.60719622e-01 -1.48533299e-02 1.83848273e+02] [ 1.80398050e-02 1.49354365e-04 9.99837258e-01 7.26084299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.639254154 meters 0.015703124301964435 Centerline is valid? [True, True] Translation: X:914.21, Y:183.87, Z:7.26 [[-5.61496214e-01 -8.27415345e-01 1.02882785e-02 9.14208832e+02] [ 8.27280889e-01 -5.61590446e-01 -1.49165112e-02 1.83869081e+02] [ 1.81199492e-02 1.35731570e-04 9.99835811e-01 7.25965740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6692541539999 meters 0.01644565762950344 Centerline is valid? [True, True] Translation: X:914.19, Y:183.89, Z:7.26 [[-5.61785087e-01 -8.27219545e-01 1.02635436e-02 9.14192654e+02] [ 8.27085870e-01 -5.61878818e-01 -1.48713493e-02 1.83891080e+02] [ 1.80687385e-02 1.34329594e-04 9.99836738e-01 7.26007376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6992541539998 meters 0.01374947433702863 Centerline is valid? [True, True] Translation: X:914.18, Y:183.91, Z:7.26 [[-5.61787858e-01 -8.27233503e-01 8.89570062e-03 9.14175624e+02] [ 8.27133195e-01 -5.61858271e-01 -1.28826351e-02 1.83912958e+02] [ 1.56550703e-02 1.20621324e-04 9.99877445e-01 7.26369005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7292541539998 meters 0.015021801492530433 Centerline is valid? [True, True] Translation: X:914.16, Y:183.93, Z:7.26 [[-5.62680785e-01 -8.26629007e-01 8.64974303e-03 9.14159625e+02] [ 8.26534212e-01 -5.62747255e-01 -1.25189511e-02 1.83933923e+02] [ 1.52161472e-02 1.05135312e-04 9.99884222e-01 7.26305510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7592541539998 meters 0.01568112501844443 Centerline is valid? [True, True] Translation: X:914.14, Y:183.96, Z:7.26 [[-5.63883034e-01 -8.25813358e-01 8.25964739e-03 9.14141907e+02] [ 8.25726923e-01 -5.63943518e-01 -1.19480867e-02 1.83956363e+02] [ 1.45248642e-02 8.28898639e-05 9.99894505e-01 7.26344058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7892541539998 meters 0.013554323444937915 Centerline is valid? [True, True] Translation: X:914.13, Y:183.98, Z:7.27 [[-5.63939383e-01 -8.25780017e-01 7.72885122e-03 9.14125211e+02] [ 8.25704406e-01 -5.63992337e-01 -1.11748617e-02 1.83978773e+02] [ 1.35869904e-02 7.98018757e-05 9.99907689e-01 7.26557335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.8192541539997 meters 0.01481374275091622 Centerline is valid? [True, True] Translation: X:914.11, Y:184.00, Z:7.26 [[-5.65020848e-01 -8.25038624e-01 7.91898869e-03 9.14107941e+02] [ 8.24959272e-01 -5.65076336e-01 -1.14426877e-02 1.84001343e+02] [ 1.39154925e-02 6.74860019e-05 9.99903173e-01 7.26462595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.849254154 meters 0.013516642293801505 Centerline is valid? [True, True] Translation: X:914.09, Y:184.02, Z:7.27 [[-5.65644601e-01 -8.24609106e-01 8.12451143e-03 9.14090585e+02] [ 8.24525650e-01 -5.65702942e-01 -1.17317499e-02 1.84021667e+02] [ 1.42701678e-02 6.28670815e-05 9.99898174e-01 7.26551811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.879254154 meters 0.01483084223916888 Centerline is valid? [True, True] Translation: X:914.07, Y:184.04, Z:7.26 [[-5.66432990e-01 -8.24062246e-01 8.66501932e-03 9.14073391e+02] [ 8.23967382e-01 -5.66499260e-01 -1.25036674e-02 1.84043498e+02] [ 1.52125273e-02 5.72035574e-05 9.99884281e-01 7.26399585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9092541539999 meters 0.014921927601330402 Centerline is valid? [True, True] Translation: X:914.05, Y:184.06, Z:7.26 [[-5.66416728e-01 -8.24062017e-01 9.68932125e-03 9.14054701e+02] [ 8.23943528e-01 -5.66499592e-01 -1.39740751e-02 1.84064036e+02] [ 1.70045010e-02 6.83036324e-05 9.99855411e-01 7.26274883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9392541539999 meters 0.013601488119183157 Centerline is valid? [True, True] Translation: X:914.04, Y:184.09, Z:7.26 [[-5.66451553e-01 -8.24039353e-01 9.58029149e-03 9.14037331e+02] [ 8.23923639e-01 -5.66532558e-01 -1.38093497e-02 1.84086113e+02] [ 1.68069946e-02 7.11010550e-05 9.99858750e-01 7.26367070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9692541539998 meters 0.013555730699278333 Centerline is valid? [True, True] Translation: X:914.02, Y:184.11, Z:7.26 [[-5.66686259e-01 -8.23876565e-01 9.69999163e-03 9.14020399e+02] [ 8.23758073e-01 -5.66769266e-01 -1.39727359e-02 1.84107445e+02] [ 1.70094668e-02 7.22889716e-05 9.99855326e-01 7.26367976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9992541539998 meters 0.013555262584024553 Centerline is valid? [True, True] Translation: X:914.00, Y:184.13, Z:7.26 [[-5.66988735e-01 -8.23668188e-01 9.72059249e-03 9.14001804e+02] [ 8.23549315e-01 -5.67072050e-01 -1.39933970e-02 1.84129061e+02] [ 1.70381922e-02 7.12888446e-05 9.99854837e-01 7.26452314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.0292541539998 meters 0.013432377238109531 Centerline is valid? [True, True] Translation: X:913.99, Y:184.15, Z:7.27 [[-5.67647704e-01 -8.23212812e-01 9.83614241e-03 9.13985205e+02] [ 8.23091179e-01 -5.67732914e-01 -1.41509528e-02 1.84151212e+02] [ 1.72335475e-02 6.32861714e-05 9.99851489e-01 7.26506189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.0592541539997 meters 0.013432377238109531 Centerline is valid? [True, True] Translation: X:913.97, Y:184.17, Z:7.27 [[-5.67885945e-01 -8.23048433e-01 9.84023902e-03 9.13969399e+02] [ 8.22926824e-01 -5.67971191e-01 -1.41481041e-02 1.84173820e+02] [ 1.72335472e-02 6.32871857e-05 9.99851489e-01 7.26525228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.089254154 meters 0.015726015315703588 Centerline is valid? [True, True] Translation: X:913.95, Y:184.19, Z:7.26 [[-5.69591884e-01 -8.21864300e-01 1.02057608e-02 9.13952551e+02] [ 8.21733467e-01 -5.69683308e-01 -1.46641579e-02 1.84194736e+02] [ 1.78659994e-02 3.38298271e-05 9.99840390e-01 7.26379620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.119254154 meters 0.013354473049176063 Centerline is valid? [True, True] Translation: X:913.94, Y:184.22, Z:7.27 [[-5.70210043e-01 -8.21439977e-01 9.84229076e-03 9.13936229e+02] [ 8.21318386e-01 -5.70294979e-01 -1.41331394e-02 1.84217317e+02] [ 1.72225347e-02 2.47963361e-05 9.99851681e-01 7.26666631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.149254154 meters 0.017154357665523538 Centerline is valid? [True, True] Translation: X:913.92, Y:184.24, Z:7.26 [[-5.71529237e-01 -8.20519644e-01 1.00918159e-02 9.13919019e+02] [ 8.20391824e-01 -5.71618329e-01 -1.44824857e-02 1.84239778e+02] [ 1.76518309e-02 2.07922554e-06 9.99844194e-01 7.26403614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.1792541539999 meters 0.016035914161081688 Centerline is valid? [True, True] Translation: X:913.90, Y:184.26, Z:7.27 [[-5.72931019e-01 -8.19545764e-01 9.73593562e-03 9.13901050e+02] [ 8.19426802e-01 -5.73013735e-01 -1.39633735e-02 1.84262027e+02] [ 1.70224485e-02 -2.21632457e-05 9.99855107e-01 7.26540127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2092541539998 meters 0.015248598660576448 Centerline is valid? [True, True] Translation: X:913.88, Y:184.28, Z:7.27 [[-5.73761214e-01 -8.18965468e-01 9.67637309e-03 9.13883406e+02] [ 8.18848022e-01 -5.73842802e-01 -1.38692446e-02 1.84282331e+02] [ 1.69111494e-02 -3.41556201e-05 9.99856996e-01 7.26553774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2392541539998 meters 0.013440507384117666 Centerline is valid? [True, True] Translation: X:913.87, Y:184.30, Z:7.27 [[-5.73641755e-01 -8.19050603e-01 9.55231822e-03 9.13866138e+02] [ 8.18936311e-01 -5.73721282e-01 -1.36824603e-02 1.84303714e+02] [ 1.66869956e-02 -2.60902819e-05 9.99860762e-01 7.26687704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2692541539998 meters 0.01341693104225722 Centerline is valid? [True, True] Translation: X:913.85, Y:184.32, Z:7.27 [[-5.73435496e-01 -8.19188278e-01 1.01141792e-02 9.13848448e+02] [ 8.19060341e-01 -5.73524685e-01 -1.44773210e-02 1.84324831e+02] [ 1.76603831e-02 -1.76867213e-05 9.99844043e-01 7.26671408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2992541539998 meters 0.017438924685202684 Centerline is valid? [True, True] Translation: X:913.83, Y:184.35, Z:7.26 [[-5.73353640e-01 -8.19234540e-01 1.09713896e-02 9.13830046e+02] [ 8.19084203e-01 -5.73458602e-01 -1.56939506e-02 1.84346075e+02] [ 1.91486641e-02 -1.16918232e-05 9.99816647e-01 7.26478297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.329254154 meters 0.013317365362808408 Centerline is valid? [True, True] Translation: X:913.81, Y:184.37, Z:7.27 [[-5.70721249e-01 -8.21074082e-01 1.07055404e-02 9.13810351e+02] [ 8.20931448e-01 -5.70821644e-01 -1.53038904e-02 1.84365144e+02] [ 1.86765819e-02 5.42593836e-05 9.99825576e-01 7.26739153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.359254154 meters 0.014445665884097871 Centerline is valid? [True, True] Translation: X:913.79, Y:184.39, Z:7.27 [[-5.69854173e-01 -8.21674157e-01 1.08536280e-02 9.13791488e+02] [ 8.21527845e-01 -5.69957519e-01 -1.55056955e-02 1.84386307e+02] [ 1.89267362e-02 8.05723365e-05 9.99820870e-01 7.26633961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.389254154 meters 0.017447260700150305 Centerline is valid? [True, True] Translation: X:913.77, Y:184.41, Z:7.26 [[-5.67722942e-01 -8.23130794e-01 1.20977980e-02 9.13769670e+02] [ 8.22949568e-01 -5.67851805e-01 -1.72724127e-02 1.84406099e+02] [ 2.10872112e-02 1.49932682e-04 9.99777629e-01 7.26349667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4192541539999 meters 0.015800005695121442 Centerline is valid? [True, True] Translation: X:913.75, Y:184.43, Z:7.26 [[-5.66650998e-01 -8.23872047e-01 1.18952482e-02 9.13751963e+02] [ 8.23697176e-01 -5.66775809e-01 -1.69748175e-02 1.84426323e+02] [ 2.07270166e-02 1.79285078e-04 9.99785156e-01 7.26376203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4492541539998 meters 0.015848420020014117 Centerline is valid? [True, True] Translation: X:913.73, Y:184.45, Z:7.26 [[-5.65296396e-01 -8.24806698e-01 1.15713257e-02 9.13733228e+02] [ 8.24641602e-01 -5.65414773e-01 -1.65034072e-02 1.84447356e+02] [ 2.01547193e-02 2.12879951e-04 9.99796850e-01 7.26468400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4792541539998 meters 0.01433794591227192 Centerline is valid? [True, True] Translation: X:913.72, Y:184.47, Z:7.27 [[-5.64971329e-01 -8.25036016e-01 1.10891491e-02 9.13716609e+02] [ 8.24884630e-01 -5.65080104e-01 -1.58058058e-02 1.84468277e+02] [ 1.93066166e-02 2.17441564e-04 9.99813586e-01 7.26597992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.5092541539998 meters 0.014118661530860948 Centerline is valid? [True, True] Translation: X:913.70, Y:184.49, Z:7.27 [[-5.64782125e-01 -8.25167179e-01 1.09671345e-02 9.13699875e+02] [ 8.25019317e-01 -5.64888552e-01 -1.56221317e-02 1.84491349e+02] [ 1.90860790e-02 2.24997056e-04 9.99817819e-01 7.26724741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.5392541539998 meters 0.01646802098702175 Centerline is valid? [True, True] Translation: X:913.68, Y:184.51, Z:7.27 [[-5.65357246e-01 -8.24774046e-01 1.09067897e-02 9.13682543e+02] [ 8.24627920e-01 -5.65462401e-01 -1.55263146e-02 1.84512688e+02] [ 1.89730808e-02 2.16128786e-04 9.99819972e-01 7.26559421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.5692541539997 meters 0.01641502848129283 Centerline is valid? [True, True] Translation: X:913.67, Y:184.54, Z:7.27 [[-5.65616491e-01 -8.24600181e-01 1.06078705e-02 9.13666391e+02] [ 8.24462099e-01 -5.65715916e-01 -1.50913878e-02 1.84535393e+02] [ 1.84454023e-02 2.09849354e-04 9.99829847e-01 7.26672066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.599254154 meters 0.017845799864656044 Centerline is valid? [True, True] Translation: X:913.65, Y:184.56, Z:7.27 [[-5.65376120e-01 -8.24768555e-01 1.03282817e-02 9.13649259e+02] [ 8.24637852e-01 -5.65470410e-01 -1.46843342e-02 1.84556470e+02] [ 1.79515148e-02 2.14920185e-04 9.99838835e-01 7.26635662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.629254154 meters 0.016278815085619396 Centerline is valid? [True, True] Translation: X:913.63, Y:184.58, Z:7.27 [[-5.64993550e-01 -8.25033373e-01 1.01105319e-02 9.13633500e+02] [ 8.24908324e-01 -5.65083962e-01 -1.43656804e-02 1.84576853e+02] [ 1.75654652e-02 2.23745167e-04 9.99845690e-01 7.26751097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6592541539999 meters 0.014802800241711529 Centerline is valid? [True, True] Translation: X:913.62, Y:184.60, Z:7.27 [[-5.64138601e-01 -8.25624376e-01 9.59314965e-03 9.13617133e+02] [ 8.25512034e-01 -5.64220112e-01 -1.36215505e-02 1.84597742e+02] [ 1.66589321e-02 2.34818046e-04 9.99861203e-01 7.26861286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6892541539999 meters 0.015242735220107082 Centerline is valid? [True, True] Translation: X:913.60, Y:184.62, Z:7.27 [[-5.62358147e-01 -8.26833328e-01 9.99804704e-03 9.13599481e+02] [ 8.26711630e-01 -5.62446944e-01 -1.41885909e-02 1.84619024e+02] [ 1.73549708e-02 2.86432082e-04 9.99849350e-01 7.26819980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7192541539998 meters 0.01498446315104942 Centerline is valid? [True, True] Translation: X:913.58, Y:184.64, Z:7.27 [[-5.61221282e-01 -8.27601636e-01 1.03055654e-02 9.13583329e+02] [ 8.27472604e-01 -5.61315800e-01 -1.46172092e-02 1.84642486e+02] [ 1.78819030e-02 3.24084138e-04 9.99840053e-01 7.26894790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7492541539998 meters 0.01658716867014109 Centerline is valid? [True, True] Translation: X:913.56, Y:184.66, Z:7.27 [[-5.59027230e-01 -8.29081215e-01 1.06251979e-02 9.13564340e+02] [ 8.28944486e-01 -5.59128061e-01 -1.50615470e-02 1.84663127e+02] [ 1.84280920e-02 3.87884351e-04 9.99830113e-01 7.26714317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7792541539998 meters 0.01957162822461604 Centerline is valid? [True, True] Translation: X:913.55, Y:184.69, Z:7.27 [[-5.58267389e-01 -8.29580627e-01 1.15544776e-02 9.13547735e+02] [ 8.29419252e-01 -5.58386770e-01 -1.63682377e-02 1.84685243e+02] [ 2.00306403e-02 4.45652851e-04 9.99799267e-01 7.26535764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.8092541539997 meters 0.016323254386135355 Centerline is valid? [True, True] Translation: X:913.53, Y:184.71, Z:7.27 [[-5.57285210e-01 -8.30253247e-01 1.06179415e-02 9.13532117e+02] [ 8.30117265e-01 -5.57386181e-01 -1.50323629e-02 1.84708227e+02] [ 1.83989619e-02 4.36823049e-04 9.99830629e-01 7.26845619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.839254154 meters 0.01739953334324678 Centerline is valid? [True, True] Translation: X:913.51, Y:184.73, Z:7.27 [[-5.55500584e-01 -8.31450708e-01 1.04317360e-02 9.13514646e+02] [ 8.31319834e-01 -5.55598322e-01 -1.47593603e-02 1.84729122e+02] [ 1.80675356e-02 4.73275752e-04 9.99836657e-01 7.26850320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.869254154 meters 0.022322426105145652 Centerline is valid? [True, True] Translation: X:913.50, Y:184.75, Z:7.27 [[-5.54952625e-01 -8.31803496e-01 1.14249286e-02 9.13497476e+02] [ 8.31646799e-01 -5.55069956e-01 -1.61538181e-02 1.84750675e+02] [ 1.97784370e-02 5.36901513e-04 9.99804243e-01 7.26555161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.899254154 meters 0.01863154096441272 Centerline is valid? [True, True] Translation: X:913.48, Y:184.77, Z:7.27 [[-5.52954001e-01 -8.33149646e-01 1.01754564e-02 9.13481743e+02] [ 8.33025733e-01 -5.53047368e-01 -1.43783467e-02 1.84773201e+02] [ 1.76068238e-02 5.25852715e-04 9.99844850e-01 7.26970021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9292541539999 meters 0.02074627550276549 Centerline is valid? [True, True] Translation: X:913.46, Y:184.80, Z:7.27 [[-5.52303602e-01 -8.33577385e-01 1.04629654e-02 9.13464812e+02] [ 8.33446614e-01 -5.52402416e-01 -1.47753924e-02 1.84795535e+02] [ 1.80962003e-02 5.59820608e-04 9.99836094e-01 7.26813007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9592541539998 meters 0.02100464129694851 Centerline is valid? [True, True] Translation: X:913.45, Y:184.82, Z:7.27 [[-5.51634565e-01 -8.34018747e-01 1.05847624e-02 9.13448732e+02] [ 8.33885159e-01 -5.51735794e-01 -1.49383478e-02 1.84819021e+02] [ 1.82988544e-02 5.85967245e-04 9.99832390e-01 7.26819689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9892541539998 meters 0.01866596361917403 Centerline is valid? [True, True] Translation: X:913.44, Y:184.84, Z:7.27 [[-5.50592778e-01 -8.34708470e-01 1.04576531e-02 9.13435884e+02] [ 8.34578354e-01 -5.50691748e-01 -1.47502592e-02 1.84844509e+02] [ 1.80711096e-02 6.06344703e-04 9.99836520e-01 7.27044903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.0192541539998 meters 0.018855432180356638 Centerline is valid? [True, True] Translation: X:913.42, Y:184.87, Z:7.27 [[-5.50645023e-01 -8.34673873e-01 1.04682822e-02 9.13420209e+02] [ 8.34543647e-01 -5.50744181e-01 -1.47562696e-02 1.84868348e+02] [ 1.80820182e-02 6.10772027e-04 9.99836320e-01 7.27069979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.0492541539998 meters 0.020509393539994952 Centerline is valid? [True, True] Translation: X:913.41, Y:184.89, Z:7.27 [[-5.50775102e-01 -8.34592136e-01 1.01367704e-02 9.13405346e+02] [ 8.34470173e-01 -5.50868055e-01 -1.42798995e-02 1.84891150e+02] [ 1.75019148e-02 5.93819496e-04 9.99846653e-01 7.27056139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.079254154 meters 0.01890723787088395 Centerline is valid? [True, True] Translation: X:913.39, Y:184.92, Z:7.27 [[-5.51148306e-01 -8.34351254e-01 9.67108563e-03 9.13390996e+02] [ 8.34240345e-01 -5.51232861e-01 -1.36153942e-02 1.84915771e+02] [ 1.66910415e-02 5.63908344e-04 9.99860536e-01 7.27246039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.109254154 meters 0.021390186619194403 Centerline is valid? [True, True] Translation: X:913.38, Y:184.94, Z:7.27 [[-5.52138298e-01 -8.33694931e-01 9.80110966e-03 9.13376491e+02] [ 8.33581064e-01 -5.52225002e-01 -1.37897554e-02 1.84938822e+02] [ 1.69088670e-02 5.56167311e-04 9.99856880e-01 7.27064883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.139254154 meters 0.021703819019902683 Centerline is valid? [True, True] Translation: X:913.36, Y:184.96, Z:7.27 [[-5.53171065e-01 -8.33008275e-01 9.94925071e-03 9.13362788e+02] [ 8.32890979e-01 -5.53260259e-01 -1.39894174e-02 1.84963440e+02] [ 1.71578255e-02 5.48100224e-04 9.99852643e-01 7.27058679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1692541539999 meters 0.02129058119961965 Centerline is valid? [True, True] Translation: X:913.35, Y:184.99, Z:7.27 [[-5.54564196e-01 -8.32084292e-01 9.70999480e-03 9.13347760e+02] [ 8.31972566e-01 -5.54648960e-01 -1.36447617e-02 1.84985859e+02] [ 1.67392304e-02 5.11552981e-04 9.99859758e-01 7.27082640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1992541539998 meters 0.021962708252991972 Centerline is valid? [True, True] Translation: X:913.34, Y:185.01, Z:7.27 [[-5.58664800e-01 -8.29328329e-01 1.04001993e-02 9.13337180e+02] [ 8.29199827e-01 -5.58761405e-01 -1.46061462e-02 1.85011069e+02] [ 1.79245208e-02 4.63903709e-04 9.99839235e-01 7.26917795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2292541539998 meters 0.017987764471622706 Centerline is valid? [True, True] Translation: X:913.32, Y:185.04, Z:7.27 [[-5.61455418e-01 -8.27446751e-01 9.98435360e-03 9.13323930e+02] [ 8.27328159e-01 -5.61544050e-01 -1.40141897e-02 1.85036198e+02] [ 1.72026501e-02 3.91994125e-04 9.99851947e-01 7.27123179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2592541539998 meters 0.016773323212377927 Centerline is valid? [True, True] Translation: X:913.32, Y:185.06, Z:7.27 [[-5.67961350e-01 -8.22989737e-01 1.03825347e-02 9.13315187e+02] [ 8.22860876e-01 -5.68056176e-01 -1.45657153e-02 1.85064371e+02] [ 1.78852972e-02 2.70618224e-04 9.99840009e-01 7.27049092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2892541539998 meters 0.016329368728175742 Centerline is valid? [True, True] Translation: X:913.30, Y:185.09, Z:7.27 [[-5.71636385e-01 -8.20438555e-01 1.06028947e-02 9.13302985e+02] [ 8.20303872e-01 -5.71734675e-01 -1.48667440e-02 1.85089914e+02] [ 1.82592925e-02 1.99223808e-04 9.99833265e-01 7.27092206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.3192541539997 meters 0.014094609800700911 Centerline is valid? [True, True] Translation: X:913.29, Y:185.12, Z:7.27 [[-5.75207817e-01 -8.17941889e-01 1.03456710e-02 9.13290614e+02] [ 8.17813409e-01 -5.75300835e-01 -1.44974718e-02 1.85115637e+02] [ 1.78099626e-02 1.21769411e-04 9.99841383e-01 7.27249111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.349254154 meters 0.013576269620438883 Centerline is valid? [True, True] Translation: X:913.28, Y:185.14, Z:7.27 [[-5.81792415e-01 -8.13268745e-01 1.05609788e-02 9.13281577e+02] [ 8.13134250e-01 -5.81888261e-01 -1.47899660e-02 1.85142906e+02] [ 1.81735267e-02 -1.71964345e-05 9.99834848e-01 7.27263955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.379254154 meters 0.013266510382486538 Centerline is valid? [True, True] Translation: X:913.27, Y:185.17, Z:7.27 [[-5.84829002e-01 -8.11086120e-01 1.06932248e-02 9.13268486e+02] [ 8.10948038e-01 -5.84926747e-01 -1.49659438e-02 1.85167981e+02] [ 1.83934225e-02 -8.08683111e-05 9.99830823e-01 7.27319124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4092541539999 meters 0.017028195541080246 Centerline is valid? [True, True] Translation: X:913.26, Y:185.19, Z:7.27 [[-5.90068620e-01 -8.07272639e-01 1.13978225e-02 9.13257375e+02] [ 8.07115202e-01 -5.90178654e-01 -1.59438807e-02 1.85193955e+02] [ 1.95978102e-02 -2.08627864e-04 9.99807923e-01 7.27116838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4392541539999 meters 0.01674863841638495 Centerline is valid? [True, True] Translation: X:913.24, Y:185.22, Z:7.27 [[-5.92149157e-01 -8.05746971e-01 1.14540420e-02 9.13242944e+02] [ 8.05587859e-01 -5.92259870e-01 -1.60140007e-02 1.85218320e+02] [ 1.96870019e-02 -2.55439830e-04 9.99806160e-01 7.27158800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4692541539998 meters 0.01662208042648196 Centerline is valid? [True, True] Translation: X:913.23, Y:185.24, Z:7.27 [[-5.93652543e-01 -8.04637425e-01 1.16306313e-02 9.13229080e+02] [ 8.04473316e-01 -5.93766392e-01 -1.62528646e-02 1.85242131e+02] [ 1.99835411e-02 -2.92021911e-04 9.99800266e-01 7.27189373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4992541539998 meters 0.017711153845858973 Centerline is valid? [True, True] Translation: X:913.22, Y:185.26, Z:7.27 [[-5.95081476e-01 -8.03579235e-01 1.17664707e-02 9.13215286e+02] [ 8.03411219e-01 -5.95197703e-01 -1.64349259e-02 1.85264991e+02] [ 2.02101415e-02 -3.26805396e-04 9.99795701e-01 7.27121665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.5292541539998 meters 0.014777269474347331 Centerline is valid? [True, True] Translation: X:913.20, Y:185.29, Z:7.27 [[-5.96198339e-01 -8.02757215e-01 1.13311205e-02 9.13200455e+02] [ 8.02601428e-01 -5.96305912e-01 -1.58179417e-02 1.85288829e+02] [ 1.94547810e-02 -3.36257065e-04 9.99810681e-01 7.27466464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.5592541539997 meters 0.01515629513629466 Centerline is valid? [True, True] Translation: X:913.19, Y:185.31, Z:7.27 [[-5.95921448e-01 -8.02959947e-01 1.15304928e-02 9.13186102e+02] [ 8.02798871e-01 -5.96032898e-01 -1.60859483e-02 1.85312309e+02] [ 1.97889252e-02 -3.29295039e-04 9.99804126e-01 7.27447357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.589254154 meters 0.015900154220798803 Centerline is valid? [True, True] Translation: X:913.17, Y:185.34, Z:7.27 [[-5.95511712e-01 -8.03257553e-01 1.19626453e-02 9.13170025e+02] [ 8.03084450e-01 -5.95631764e-01 -1.66783615e-02 1.85335332e+02] [ 2.05223513e-02 -3.25145196e-04 9.99789342e-01 7.27367053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.619254154 meters 0.015939383093207315 Centerline is valid? [True, True] Translation: X:913.15, Y:185.36, Z:7.27 [[-5.94718618e-01 -8.03846702e-01 1.18425231e-02 9.13154640e+02] [ 8.03677380e-01 -5.94836442e-01 -1.65007894e-02 1.85357416e+02] [ 2.03084694e-02 -2.95758731e-04 9.99793718e-01 7.27332979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.649254154 meters 0.01578701069027774 Centerline is valid? [True, True] Translation: X:913.14, Y:185.38, Z:7.27 [[-5.92592394e-01 -8.05414980e-01 1.18728537e-02 9.13137516e+02] [ 8.05245305e-01 -5.92711273e-01 -1.65331299e-02 1.85379391e+02] [ 2.03532047e-02 -2.36847331e-04 9.99792824e-01 7.27294160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.6792541539999 meters 0.01813356429410057 Centerline is valid? [True, True] Translation: X:913.12, Y:185.40, Z:7.27 [[-5.91453751e-01 -8.06245862e-01 1.22502851e-02 9.13120645e+02] [ 8.06065637e-01 -5.91580566e-01 -1.70476724e-02 1.85400777e+02] [ 2.09916460e-02 -2.08375929e-04 9.99779629e-01 7.27178366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7092541539998 meters 0.014406852073400324 Centerline is valid? [True, True] Translation: X:913.10, Y:185.42, Z:7.27 [[-5.87798094e-01 -8.08928513e-01 1.13164238e-02 9.13102429e+02] [ 8.08775397e-01 -5.87907009e-01 -1.57386664e-02 1.85422031e+02] [ 1.93844609e-02 -9.87129651e-05 9.99812099e-01 7.27423684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7392541539998 meters 0.016834335833290127 Centerline is valid? [True, True] Translation: X:913.08, Y:185.44, Z:7.27 [[-5.85865479e-01 -8.10327090e-01 1.14738264e-02 9.13084524e+02] [ 8.10170142e-01 -5.85977820e-01 -1.59478915e-02 1.85443741e+02] [ 1.96464163e-02 -4.75674905e-05 9.99806989e-01 7.27393322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7692541539998 meters 0.014515900283589338 Centerline is valid? [True, True] Translation: X:913.07, Y:185.47, Z:7.28 [[-5.83654259e-01 -8.11930317e-01 1.08104989e-02 9.13066549e+02] [ 8.11791433e-01 -5.83754367e-01 -1.50169277e-02 1.85465890e+02] [ 1.85033748e-02 1.11765836e-05 9.99828798e-01 7.27531079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7992541539998 meters 0.014886311141358457 Centerline is valid? [True, True] Translation: X:913.05, Y:185.49, Z:7.28 [[-5.78742519e-01 -8.15445197e-01 1.03066923e-02 9.13047600e+02] [ 8.15319636e-01 -5.78834273e-01 -1.43099410e-02 1.85485997e+02] [ 1.76348394e-02 1.21477337e-04 9.99844487e-01 7.27531261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.829254154 meters 0.014723110483210159 Centerline is valid? [True, True] Translation: X:913.03, Y:185.51, Z:7.28 [[-5.76407050e-01 -8.17100003e-01 1.01240843e-02 9.13030024e+02] [ 8.16979243e-01 -5.76495928e-01 -1.40485727e-02 1.85506717e+02] [ 1.73155822e-02 1.73470414e-04 9.99850059e-01 7.27550032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.859254154 meters 0.014246733782232091 Centerline is valid? [True, True] Translation: X:913.01, Y:185.53, Z:7.28 [[-5.71552258e-01 -8.20508528e-01 9.68354638e-03 9.13011194e+02] [ 8.20398670e-01 -5.71634221e-01 -1.34290977e-02 1.85528225e+02] [ 1.65541357e-02 2.68937456e-04 9.99862935e-01 7.27735129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.889254154 meters 0.01449938567188823 Centerline is valid? [True, True] Translation: X:912.99, Y:185.55, Z:7.28 [[-5.69709582e-01 -8.21792702e-01 9.36736213e-03 9.12993977e+02] [ 8.21690195e-01 -5.69786509e-01 -1.29830167e-02 1.85551335e+02] [ 1.60067450e-02 3.00520566e-04 9.99871839e-01 7.27771728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9192541539999 meters 0.017435514632332953 Centerline is valid? [True, True] Translation: X:912.98, Y:185.57, Z:7.28 [[-5.68296128e-01 -8.22768668e-01 9.55142384e-03 9.12976239e+02] [ 8.22662332e-01 -5.68376288e-01 -1.32318746e-02 1.85572891e+02] [ 1.63155747e-02 3.37973479e-04 9.99866835e-01 7.27533572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9492541539998 meters 0.016475253890739755 Centerline is valid? [True, True] Translation: X:912.96, Y:185.60, Z:7.28 [[-5.65728163e-01 -8.24537156e-01 9.49341362e-03 9.12960102e+02] [ 8.24432464e-01 -5.65807676e-01 -1.31447792e-02 1.85595714e+02] [ 1.62098051e-02 3.90306627e-04 9.99868536e-01 7.27726594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9792541539998 meters 0.016475253890739755 Centerline is valid? [True, True] Translation: X:912.94, Y:185.62, Z:7.28 [[-5.65967454e-01 -8.24372879e-01 9.49722727e-03 9.12943882e+02] [ 8.24268211e-01 -5.66046998e-01 -1.31420237e-02 1.85618038e+02] [ 1.62098049e-02 3.90304856e-04 9.99868536e-01 7.27745638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.0092541539998 meters 0.016945294693404417 Centerline is valid? [True, True] Translation: X:912.93, Y:185.64, Z:7.28 [[-5.65516170e-01 -8.24684590e-01 9.31597462e-03 9.12927908e+02] [ 8.24584046e-01 -5.65592759e-01 -1.28833572e-02 1.85640986e+02] [ 1.58937540e-02 3.96057208e-04 9.99873608e-01 7.27745314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.0392541539998 meters 0.017564033125226322 Centerline is valid? [True, True] Translation: X:912.91, Y:185.66, Z:7.28 [[-5.64741894e-01 -8.25216651e-01 9.16906929e-03 9.12912243e+02] [ 8.25119441e-01 -5.64816175e-01 -1.26726413e-02 1.85664936e+02] [ 1.56365132e-02 4.08805898e-04 9.99877659e-01 7.27686108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.0692541539997 meters 0.0182780040313514 Centerline is valid? [True, True] Translation: X:912.89, Y:185.69, Z:7.28 [[-5.64110442e-01 -8.25646845e-01 9.31109689e-03 9.12893984e+02] [ 8.25546756e-01 -5.64187116e-01 -1.28627970e-02 1.85686126e+02] [ 1.58733287e-02 4.30707734e-04 9.99873918e-01 7.27724762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.099254154 meters 0.019284906820844015 Centerline is valid? [True, True] Translation: X:912.88, Y:185.71, Z:7.28 [[-5.64424389e-01 -8.25429784e-01 9.52786226e-03 9.12879956e+02] [ 8.25325068e-01 -5.64504632e-01 -1.31549441e-02 1.85709035e+02] [ 1.62370050e-02 4.38612286e-04 9.99868075e-01 7.27541838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.129254154 meters 0.019077761654767596 Centerline is valid? [True, True] Translation: X:912.86, Y:185.73, Z:7.28 [[-5.63717584e-01 -8.25907853e-01 9.93498295e-03 9.12863902e+02] [ 8.25794204e-01 -5.63804923e-01 -1.37091815e-02 1.85730174e+02] [ 1.69239130e-02 4.76144669e-04 9.99856667e-01 7.27559799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1592541539999 meters 0.018291956686138346 Centerline is valid? [True, True] Translation: X:912.85, Y:185.75, Z:7.28 [[-5.64050463e-01 -8.25676859e-01 1.02372160e-02 9.12850020e+02] [ 8.25556298e-01 -5.64143144e-01 -1.41177806e-02 1.85753513e+02] [ 1.74319799e-02 4.88257469e-04 9.99847932e-01 7.27550912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1892541539999 meters 0.01727451308410527 Centerline is valid? [True, True] Translation: X:912.84, Y:185.78, Z:7.28 [[-5.64447049e-01 -8.25395729e-01 1.10190718e-02 9.12837258e+02] [ 8.25256180e-01 -5.64554354e-01 -1.51861647e-02 1.85779497e+02] [ 1.87554604e-02 5.21771269e-04 9.99823965e-01 7.27542532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2192541539998 meters 0.01905075171810245 Centerline is valid? [True, True] Translation: X:912.82, Y:185.80, Z:7.27 [[-5.65236487e-01 -8.24851379e-01 1.13099988e-02 9.12822136e+02] [ 8.24704444e-01 -5.65349387e-01 -1.55772831e-02 1.85802200e+02] [ 1.92430443e-02 5.22557481e-04 9.99814699e-01 7.27318771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2492541539998 meters 0.017936948584644345 Centerline is valid? [True, True] Translation: X:912.81, Y:185.83, Z:7.27 [[-5.66032617e-01 -8.24303168e-01 1.14613868e-02 9.12808181e+02] [ 8.24152350e-01 -5.66148409e-01 -1.57760202e-02 1.85826245e+02] [ 1.94930693e-02 5.16186867e-04 9.99809859e-01 7.27408592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2792541539998 meters 0.018364702732075532 Centerline is valid? [True, True] Translation: X:912.80, Y:185.85, Z:7.27 [[-5.67923041e-01 -8.23005270e-01 1.12136136e-02 9.12795700e+02] [ 8.22860826e-01 -5.68033545e-01 -1.54257000e-02 1.85851715e+02] [ 1.90651411e-02 4.66632893e-04 9.99818135e-01 7.27414739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.3092541539997 meters 0.01677430982845922 Centerline is valid? [True, True] Translation: X:912.78, Y:185.88, Z:7.28 [[-5.68918265e-01 -8.22323447e-01 1.07775640e-02 9.12781271e+02] [ 8.22190054e-01 -5.69020178e-01 -1.48173190e-02 1.85876548e+02] [ 1.83172802e-02 4.31362522e-04 9.99832132e-01 7.27607145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.339254154 meters 0.016011070174691954 Centerline is valid? [True, True] Translation: X:912.77, Y:185.90, Z:7.28 [[-5.70641269e-01 -8.21136931e-01 1.01332494e-02 9.12768401e+02] [ 8.21018961e-01 -5.70731110e-01 -1.39235373e-02 1.85901112e+02] [ 1.72164914e-02 3.74244923e-04 9.99851715e-01 7.27777162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.369254154 meters 0.015748447531917762 Centerline is valid? [True, True] Translation: X:912.75, Y:185.93, Z:7.28 [[-5.71825558e-01 -8.20317284e-01 9.75111322e-03 9.12754018e+02] [ 8.20208055e-01 -5.71908591e-01 -1.33906492e-02 1.85925487e+02] [ 1.65613264e-02 3.40826180e-04 9.99862794e-01 7.27841386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.399254154 meters 0.016017833571095375 Centerline is valid? [True, True] Translation: X:912.74, Y:185.95, Z:7.28 [[-5.74267034e-01 -8.18610058e-01 9.74407558e-03 9.12741935e+02] [ 8.18500866e-01 -5.74349619e-01 -1.33733810e-02 1.85951998e+02] [ 1.65440903e-02 2.95642482e-04 9.99863093e-01 7.27788401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4292541539999 meters 0.015802795003308997 Centerline is valid? [True, True] Translation: X:912.73, Y:185.98, Z:7.28 [[-5.75552012e-01 -8.17704740e-01 9.94185044e-03 9.12728146e+02] [ 8.17591077e-01 -5.75637803e-01 -1.36363623e-02 1.85975241e+02] [ 1.68734230e-02 2.79932458e-04 9.99857594e-01 7.27802948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4592541539998 meters 0.01466023860663662 Centerline is valid? [True, True] Translation: X:912.71, Y:186.00, Z:7.28 [[-5.76441127e-01 -8.17073754e-01 1.03008751e-02 9.12714500e+02] [ 8.16951798e-01 -5.76533091e-01 -1.41192924e-02 1.85998610e+02] [ 1.74752986e-02 2.76377569e-04 9.99847257e-01 7.27970421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4892541539998 meters 0.014820406223104975 Centerline is valid? [True, True] Translation: X:912.70, Y:186.02, Z:7.28 [[-5.77193040e-01 -8.16545275e-01 1.00999580e-02 9.12700058e+02] [ 8.16428098e-01 -5.77281341e-01 -1.38352829e-02 1.86022452e+02] [ 1.71276521e-02 2.60260505e-04 9.99853277e-01 7.28039078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.5192541539998 meters 0.01509500409971296 Centerline is valid? [True, True] Translation: X:912.68, Y:186.05, Z:7.28 [[-5.77390691e-01 -8.16404910e-01 1.01495374e-02 9.12683640e+02] [ 8.16286702e-01 -5.77479831e-01 -1.38947953e-02 1.86045306e+02] [ 1.72049322e-02 2.62206938e-04 9.99851950e-01 7.28009164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.5492541539998 meters 0.014521420967743703 Centerline is valid? [True, True] Translation: X:912.67, Y:186.07, Z:7.28 [[-5.77005105e-01 -8.16679370e-01 9.99578322e-03 9.12666285e+02] [ 8.16564897e-01 -5.77091616e-01 -1.36760989e-02 1.86066958e+02] [ 1.69374705e-02 2.71026846e-04 9.99856514e-01 7.28186264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.579254154 meters 0.014561084876596998 Centerline is valid? [True, True] Translation: X:912.65, Y:186.09, Z:7.28 [[-5.77347163e-01 -8.16440054e-01 9.79247533e-03 9.12649121e+02] [ 8.16330289e-01 -5.77430143e-01 -1.33899285e-02 1.86089167e+02] [ 1.65865444e-02 2.63256987e-04 9.99862399e-01 7.28257926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.609254154 meters 0.01509988605678023 Centerline is valid? [True, True] Translation: X:912.63, Y:186.11, Z:7.28 [[-5.78088769e-01 -8.15920208e-01 9.35894315e-03 9.12631961e+02] [ 8.15820011e-01 -5.78164472e-01 -1.27888048e-02 1.86109693e+02] [ 1.58456527e-02 2.42148685e-04 9.99874420e-01 7.28246231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.639254154 meters 0.014616903957155753 Centerline is valid? [True, True] Translation: X:912.62, Y:186.13, Z:7.28 [[-5.78523984e-01 -8.15613343e-01 9.21278680e-03 9.12615941e+02] [ 8.15516346e-01 -5.78597287e-01 -1.25805410e-02 1.86131163e+02] [ 1.55913505e-02 2.35033544e-04 9.99878420e-01 7.28394983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6692541539999 meters 0.014348216481467467 Centerline is valid? [True, True] Translation: X:912.60, Y:186.15, Z:7.28 [[-5.79206136e-01 -8.15130029e-01 9.12621040e-03 9.12599494e+02] [ 8.15034907e-01 -5.79277986e-01 -1.24545117e-02 1.86154091e+02] [ 1.54386593e-02 2.24450449e-04 9.99880792e-01 7.28439703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6992541539998 meters 0.014256937259585042 Centerline is valid? [True, True] Translation: X:912.58, Y:186.18, Z:7.28 [[-5.80444109e-01 -8.14244706e-01 9.49708965e-03 9.12583745e+02] [ 8.14141694e-01 -5.80521759e-01 -1.29533102e-02 1.86175369e+02] [ 1.60604314e-02 2.13304089e-04 9.99871000e-01 7.28416836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7292541539998 meters 0.015824769770915174 Centerline is valid? [True, True] Translation: X:912.57, Y:186.20, Z:7.28 [[-5.82010671e-01 -8.13122157e-01 9.79475732e-03 9.12567869e+02] [ 8.13012557e-01 -5.82093052e-01 -1.33514758e-02 1.86199081e+02] [ 1.65578410e-02 1.92559288e-04 9.99862891e-01 7.28222891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7592541539998 meters 0.013676421316648181 Centerline is valid? [True, True] Translation: X:912.55, Y:186.22, Z:7.28 [[-5.83944926e-01 -8.11728908e-01 1.02227055e-02 9.12551916e+02] [ 8.11609462e-01 -5.84034376e-01 -1.39258372e-02 1.86220703e+02] [ 1.72744160e-02 1.64922490e-04 9.99850773e-01 7.28369302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7892541539998 meters 0.01610861597392865 Centerline is valid? [True, True] Translation: X:912.54, Y:186.24, Z:7.28 [[-5.85648417e-01 -8.10494547e-01 1.07014038e-02 9.12536220e+02] [ 8.10363628e-01 -5.85746164e-01 -1.45678375e-02 1.86242396e+02] [ 1.80754590e-02 1.40397431e-04 9.99836616e-01 7.28048883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.8192541539997 meters 0.013757809876832845 Centerline is valid? [True, True] Translation: X:912.52, Y:186.27, Z:7.28 [[-5.87008973e-01 -8.09507827e-01 1.08417508e-02 9.12520809e+02] [ 8.09373458e-01 -5.87109073e-01 -1.47492968e-02 1.86265444e+02] [ 1.83049615e-02 1.17055784e-04 9.99832443e-01 7.28390012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.849254154 meters 0.014751652496625883 Centerline is valid? [True, True] Translation: X:912.51, Y:186.29, Z:7.28 [[-5.90401092e-01 -8.07037024e-01 1.08531903e-02 9.12506314e+02] [ 8.06902120e-01 -5.90500838e-01 -1.47556563e-02 1.86288303e+02] [ 1.83171789e-02 4.57067141e-05 9.99832225e-01 7.28284672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.879254154 meters 0.014931529942689115 Centerline is valid? [True, True] Translation: X:912.49, Y:186.31, Z:7.28 [[-5.92236952e-01 -8.05690863e-01 1.08455883e-02 9.12490472e+02] [ 8.05556086e-01 -5.92336251e-01 -1.47362862e-02 1.86311731e+02] [ 1.82971263e-02 9.35647314e-06 9.99832594e-01 7.28319290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9092541539999 meters 0.013318206778199013 Centerline is valid? [True, True] Translation: X:912.48, Y:186.33, Z:7.29 [[-5.95605741e-01 -8.03205651e-01 1.06996702e-02 9.12476759e+02] [ 8.03074249e-01 -5.95701836e-01 -1.45283595e-02 1.86334586e+02] [ 1.80430736e-02 -6.05447315e-05 9.99837209e-01 7.28575003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9392541539999 meters 0.014251602656514251 Centerline is valid? [True, True] Translation: X:912.46, Y:186.36, Z:7.29 [[-5.97727219e-01 -8.01631046e-01 1.04803777e-02 9.12460815e+02] [ 8.01504892e-01 -5.97819083e-01 -1.42215131e-02 1.86358026e+02] [ 1.76657762e-02 -1.00511511e-04 9.99843943e-01 7.28540783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9692541539998 meters 0.013559146162165678 Centerline is valid? [True, True] Translation: X:912.44, Y:186.38, Z:7.29 [[-5.99468064e-01 -8.00326943e-01 1.07156070e-02 9.12444720e+02] [ 8.00195013e-01 -5.99563813e-01 -1.45319031e-02 1.86381569e+02] [ 1.80549638e-02 -1.36836561e-04 9.99836987e-01 7.28700978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9992541539998 meters 0.01452363778731132 Centerline is valid? [True, True] Translation: X:912.43, Y:186.40, Z:7.29 [[-6.03081651e-01 -7.97613759e-01 1.02379115e-02 9.12430194e+02] [ 7.97493082e-01 -6.03168510e-01 -1.38756384e-02 1.86404371e+02] [ 1.72425859e-02 -2.03479329e-04 9.99851315e-01 7.28641489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.0292541539998 meters 0.01459130231039348 Centerline is valid? [True, True] Translation: X:912.41, Y:186.43, Z:7.29 [[-6.04688744e-01 -7.96397423e-01 1.01325135e-02 9.12414269e+02] [ 7.96279188e-01 -6.04773587e-01 -1.37245329e-02 1.86427727e+02] [ 1.70580591e-02 -2.30760970e-04 9.99854474e-01 7.28795304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.0592541539997 meters 0.019173703946803993 Centerline is valid? [True, True] Translation: X:912.40, Y:186.45, Z:7.29 [[-6.08268814e-01 -7.93674808e-01 9.45248750e-03 9.12403343e+02] [ 7.93571701e-01 -6.08342189e-01 -1.27959380e-02 1.86453136e+02] [ 1.59061606e-02 -2.82143457e-04 9.99873449e-01 7.28553877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.089254154 meters 0.015728174620277105 Centerline is valid? [True, True] Translation: X:912.38, Y:186.47, Z:7.29 [[-6.09167109e-01 -7.92988879e-01 9.16903312e-03 9.12384267e+02] [ 7.92891905e-01 -6.09236043e-01 -1.24044528e-02 1.86472422e+02] [ 1.54226986e-02 -2.86332495e-04 9.99881022e-01 7.29077300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.119254154 meters 0.017555335801477855 Centerline is valid? [True, True] Translation: X:912.37, Y:186.49, Z:7.29 [[-6.10541720e-01 -7.91931846e-01 9.09723334e-03 9.12367937e+02] [ 7.91836385e-01 -6.10609416e-01 -1.22996243e-02 1.86494643e+02] [ 1.52953205e-02 -3.05913417e-04 9.99882973e-01 7.28913530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.149254154 meters 0.016509582348378682 Centerline is valid? [True, True] Translation: X:912.35, Y:186.52, Z:7.29 [[-6.10841364e-01 -7.91697362e-01 9.38696893e-03 9.12352055e+02] [ 7.91595827e-01 -6.10913404e-01 -1.26830393e-02 1.86515090e+02] [ 1.57757539e-02 -3.16639592e-04 9.99875505e-01 7.29079588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.1792541539999 meters 0.016350211994805904 Centerline is valid? [True, True] Translation: X:912.33, Y:186.54, Z:7.29 [[-6.10589224e-01 -7.91888157e-01 9.69258399e-03 9.12334841e+02] [ 7.91780068e-01 -6.10666068e-01 -1.30872780e-02 1.86535765e+02] [ 1.62825926e-02 -3.16556094e-04 9.99867380e-01 7.29044284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2092541539998 meters 0.016563259509782394 Centerline is valid? [True, True] Translation: X:912.31, Y:186.55, Z:7.29 [[-6.08902733e-01 -7.93173136e-01 1.06694864e-02 9.12314208e+02] [ 7.93042529e-01 -6.08996128e-01 -1.43966328e-02 1.86554893e+02] [ 1.79166983e-02 -3.04792565e-04 9.99839437e-01 7.28780065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2392541539998 meters 0.016285316809661523 Centerline is valid? [True, True] Translation: X:912.29, Y:186.58, Z:7.29 [[-6.07843875e-01 -7.93979271e-01 1.10788606e-02 9.12294680e+02] [ 7.93838757e-01 -6.07944764e-01 -1.49396212e-02 1.86575707e+02] [ 1.85970849e-02 -2.86128319e-04 9.99827018e-01 7.28713234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2692541539998 meters 0.014702237201273307 Centerline is valid? [True, True] Translation: X:912.28, Y:186.60, Z:7.29 [[-6.06444849e-01 -7.95045543e-01 1.12796620e-02 9.12277406e+02] [ 7.94900259e-01 -6.06549686e-01 -1.52005701e-02 1.86596264e+02] [ 1.89268209e-02 -2.52101170e-04 9.99820840e-01 7.28810048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2992541539998 meters 0.01695971517699231 Centerline is valid? [True, True] Translation: X:912.26, Y:186.62, Z:7.29 [[-6.04153234e-01 -7.96777098e-01 1.20468725e-02 9.12256562e+02] [ 7.96611928e-01 -6.04273295e-01 -1.62241116e-02 1.86616012e+02] [ 2.02066038e-02 -2.05167145e-04 9.99795805e-01 7.28572567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.329254154 meters 0.014647512698621684 Centerline is valid? [True, True] Translation: X:912.24, Y:186.64, Z:7.29 [[-6.02516838e-01 -7.98021651e-01 1.16148001e-02 9.12239130e+02] [ 7.97868530e-01 -6.02628759e-01 -1.56329104e-02 1.86636323e+02] [ 1.94748135e-02 -1.52008250e-04 9.99810336e-01 7.28782629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.359254154 meters 0.016874771050530254 Centerline is valid? [True, True] Translation: X:912.22, Y:186.66, Z:7.29 [[-5.99419298e-01 -8.00353649e-01 1.14254681e-02 9.12220613e+02] [ 8.00206096e-01 -5.99528174e-01 -1.53679044e-02 1.86655320e+02] [ 1.91496484e-02 -6.90891897e-05 9.99816626e-01 7.28654263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.389254154 meters 0.013259275427138171 Centerline is valid? [True, True] Translation: X:912.20, Y:186.68, Z:7.29 [[-5.97451912e-01 -8.01837385e-01 1.03933532e-02 9.12202072e+02] [ 8.01715670e-01 -5.97542307e-01 -1.39705534e-02 1.86675901e+02] [ 1.74125803e-02 -1.42197240e-05 9.99848389e-01 7.29188025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4192541539999 meters 0.013183802539218269 Centerline is valid? [True, True] Translation: X:912.18, Y:186.70, Z:7.29 [[-5.95858945e-01 -8.03028531e-01 9.86385950e-03 9.12184142e+02] [ 8.02919207e-01 -5.95940582e-01 -1.32502597e-02 1.86696094e+02] [ 1.65186107e-02 2.45964907e-05 9.99863558e-01 7.29295278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4492541539998 meters 0.013313788818639637 Centerline is valid? [True, True] Translation: X:912.16, Y:186.72, Z:7.29 [[-5.92742142e-01 -8.05337810e-01 9.36834616e-03 9.12163666e+02] [ 8.05239602e-01 -5.92816164e-01 -1.25769526e-02 1.86716252e+02] [ 1.56824025e-02 8.88735392e-05 9.99877020e-01 7.29405539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4792541539998 meters 0.014780583419095793 Centerline is valid? [True, True] Translation: X:912.15, Y:186.74, Z:7.29 [[-5.91681327e-01 -8.06116349e-01 9.46775206e-03 9.12145116e+02] [ 8.06016266e-01 -5.91757060e-01 -1.27027996e-02 1.86737199e+02] [ 1.58425436e-02 1.15152838e-04 9.99874492e-01 7.29224426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.5092541539998 meters 0.01391016222234426 Centerline is valid? [True, True] Translation: X:912.13, Y:186.76, Z:7.29 [[-5.88736822e-01 -8.08268058e-01 9.57604844e-03 9.12125754e+02] [ 8.08166079e-01 -5.88814668e-01 -1.28403641e-02 1.86757554e+02] [ 1.60169739e-02 1.79442389e-04 9.99871704e-01 7.29421448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.5392541539998 meters 0.01598771610310087 Centerline is valid? [True, True] Translation: X:912.11, Y:186.78, Z:7.29 [[-5.87928696e-01 -8.08851331e-01 9.96855394e-03 9.12107590e+02] [ 8.08741041e-01 -5.88013163e-01 -1.33584628e-02 1.86778922e+02] [ 1.66666514e-02 2.08155066e-04 9.99861080e-01 7.29147550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.5692541539997 meters 0.014706881047878918 Centerline is valid? [True, True] Translation: X:912.09, Y:186.80, Z:7.29 [[-5.86592441e-01 -8.09819423e-01 1.00900942e-02 9.12089287e+02] [ 8.09706712e-01 -5.86679165e-01 -1.35128646e-02 1.86799234e+02] [ 1.68626282e-02 2.43472769e-04 9.99857786e-01 7.29340364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.599254154 meters 0.016192260365021555 Centerline is valid? [True, True] Translation: X:912.07, Y:186.82, Z:7.29 [[-5.85073381e-01 -8.10910107e-01 1.06741117e-02 9.12070051e+02] [ 8.10784311e-01 -5.85170668e-01 -1.42860329e-02 1.86819981e+02] [ 1.78308655e-02 2.96024694e-04 9.99840974e-01 7.29127277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.629254154 meters 0.017043801739894573 Centerline is valid? [True, True] Translation: X:912.05, Y:186.84, Z:7.29 [[-5.84605263e-01 -8.11246199e-01 1.07838314e-02 9.12052466e+02] [ 8.11118018e-01 -5.84704631e-01 -1.44241232e-02 1.86842368e+02] [ 1.80068712e-02 3.14541605e-04 9.99837814e-01 7.29062993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6592541539999 meters 0.0174586795163231 Centerline is valid? [True, True] Translation: X:912.04, Y:186.86, Z:7.29 [[-5.84229524e-01 -8.11514362e-01 1.09683119e-02 9.12035026e+02] [ 8.11381975e-01 -5.84332379e-01 -1.46615969e-02 1.86863051e+02] [ 1.83072362e-02 3.33752804e-04 9.99832353e-01 7.29049587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6892541539999 meters 0.018103062368614392 Centerline is valid? [True, True] Translation: X:912.02, Y:186.89, Z:7.29 [[-5.84483180e-01 -8.11332732e-01 1.08908078e-02 9.12017471e+02] [ 8.11202340e-01 -5.84584543e-01 -1.45490671e-02 1.86885152e+02] [ 1.81707323e-02 3.30963733e-04 9.99834844e-01 7.29053057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7192541539998 meters 0.017419706403158527 Centerline is valid? [True, True] Translation: X:912.00, Y:186.91, Z:7.29 [[-5.84976595e-01 -8.10977788e-01 1.08356359e-02 9.12000670e+02] [ 8.10848809e-01 -5.85076852e-01 -1.44667283e-02 1.86907939e+02] [ 1.80718751e-02 3.23365034e-04 9.99836638e-01 7.29165273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7492541539998 meters 0.0165537595314595 Centerline is valid? [True, True] Translation: X:911.99, Y:186.93, Z:7.29 [[-5.86704165e-01 -8.09733233e-01 1.05030881e-02 9.11985139e+02] [ 8.09611995e-01 -5.86798102e-01 -1.40144187e-02 1.86931436e+02] [ 1.75111327e-02 2.81108240e-04 9.99846629e-01 7.29321822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7792541539998 meters 0.017661810254725945 Centerline is valid? [True, True] Translation: X:911.97, Y:186.95, Z:7.29 [[-5.87888913e-01 -8.08872189e-01 1.06022612e-02 9.11968956e+02] [ 8.08748666e-01 -5.87984449e-01 -1.41379945e-02 1.86953653e+02] [ 1.76697953e-02 2.62994395e-04 9.99843842e-01 7.29219722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.8092541539997 meters 0.016868922934434837 Centerline is valid? [True, True] Translation: X:911.95, Y:186.98, Z:7.29 [[-5.89492401e-01 -8.07706703e-01 1.04207060e-02 9.11952940e+02] [ 8.07587339e-01 -5.89584455e-01 -1.38874361e-02 1.86976390e+02] [ 1.73608614e-02 2.29092168e-04 9.99849263e-01 7.29288762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.839254154 meters 0.018262164820638367 Centerline is valid? [True, True] Translation: X:911.94, Y:187.00, Z:7.29 [[-5.90616016e-01 -8.06879182e-01 1.08953063e-02 9.11936214e+02] [ 8.06748717e-01 -5.90716461e-01 -1.45110350e-02 1.86998343e+02] [ 1.81446888e-02 2.19324668e-04 9.99835348e-01 7.29129813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.869254154 meters 0.018262164820638367 Centerline is valid? [True, True] Translation: X:911.92, Y:187.02, Z:7.29 [[-5.90874149e-01 -8.06690111e-01 1.08997726e-02 9.11920050e+02] [ 8.06559675e-01 -5.90974633e-01 -1.45076801e-02 1.87019681e+02] [ 1.81446911e-02 2.19103939e-04 9.99835348e-01 7.29148284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.899254154 meters 0.01843943524513772 Centerline is valid? [True, True] Translation: X:911.90, Y:187.04, Z:7.29 [[-5.91648072e-01 -8.06119062e-01 1.11631765e-02 9.11903875e+02] [ 8.05982304e-01 -5.91753338e-01 -1.48497000e-02 1.87040469e+02] [ 1.85764732e-02 2.11526327e-04 9.99827420e-01 7.29044827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9292541539999 meters 0.014452128262113756 Centerline is valid? [True, True] Translation: X:911.89, Y:187.06, Z:7.29 [[-5.92365948e-01 -8.05597101e-01 1.07654381e-02 9.11888067e+02] [ 8.05469978e-01 -5.92463732e-01 -1.43122912e-02 1.87062785e+02] [ 1.79080719e-02 1.93123277e-04 9.99839619e-01 7.29448795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9592541539998 meters 0.016675330856312308 Centerline is valid? [True, True] Translation: X:911.87, Y:187.09, Z:7.29 [[-5.95436643e-01 -8.03321640e-01 1.13818343e-02 9.11874255e+02] [ 8.03179303e-01 -5.95545400e-01 -1.51223064e-02 1.87087467e+02] [ 1.89264750e-02 1.37278360e-04 9.99820869e-01 7.29231249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9892541539998 meters 0.01360705286438672 Centerline is valid? [True, True] Translation: X:911.86, Y:187.11, Z:7.30 [[-5.96688345e-01 -8.02395811e-01 1.11346977e-02 9.11859330e+02] [ 8.02259594e-01 -5.96792217e-01 -1.47849416e-02 1.87109767e+02] [ 1.85084761e-02 1.10915720e-04 9.99828697e-01 7.29567215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.0192541539998 meters 0.01564460117167889 Centerline is valid? [True, True] Translation: X:911.85, Y:187.13, Z:7.29 [[-6.00633413e-01 -7.99447755e-01 1.10810522e-02 9.11845295e+02] [ 7.99312506e-01 -6.00735621e-01 -1.47048274e-02 1.87134837e+02] [ 1.84125240e-02 2.50129885e-05 9.99830475e-01 7.29413311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.0492541539998 meters 0.01640528983028994 Centerline is valid? [True, True] Translation: X:911.83, Y:187.16, Z:7.29 [[-6.02689096e-01 -7.97901067e-01 1.09426132e-02 9.11829549e+02] [ 7.97769077e-01 -6.02788426e-01 -1.45125250e-02 1.87158727e+02] [ 1.81756397e-02 -1.68621340e-05 9.99834809e-01 7.29412372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.079254154 meters 0.01885506309473617 Centerline is valid? [True, True] Translation: X:911.81, Y:187.18, Z:7.29 [[-6.05086893e-01 -7.96078803e-01 1.13309819e-02 9.11814934e+02] [ 7.95937145e-01 -6.05192973e-01 -1.50175382e-02 1.87180805e+02] [ 1.88125745e-02 -6.81661609e-05 9.99823026e-01 7.29301587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.109254154 meters 0.014961026965945517 Centerline is valid? [True, True] Translation: X:911.80, Y:187.20, Z:7.30 [[-6.09034135e-01 -7.93073201e-01 1.05981077e-02 9.11802364e+02] [ 7.92948986e-01 -6.09126322e-01 -1.40367259e-02 1.87203785e+02] [ 1.75877375e-02 -1.45086460e-04 9.99845313e-01 7.29657616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.139254154 meters 0.01581493895404947 Centerline is valid? [True, True] Translation: X:911.79, Y:187.23, Z:7.30 [[-6.11669812e-01 -7.91042993e-01 1.05368424e-02 9.11786234e+02] [ 7.90920062e-01 -6.11760529e-01 -1.39466963e-02 1.87227260e+02] [ 1.74784607e-02 -1.96973098e-04 9.99847221e-01 7.29707924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1692541539999 meters 0.01716143560508642 Centerline is valid? [True, True] Translation: X:911.77, Y:187.25, Z:7.30 [[-6.14537907e-01 -7.88817387e-01 1.05019271e-02 9.11771812e+02] [ 7.88695094e-01 -6.14627582e-01 -1.38918354e-02 1.87250862e+02] [ 1.74128954e-02 -2.54241071e-04 9.99848352e-01 7.29629229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1992541539998 meters 0.01988776406220155 Centerline is valid? [True, True] Translation: X:911.76, Y:187.28, Z:7.30 [[-6.20342686e-01 -7.84264178e-01 1.02299465e-02 9.11757974e+02] [ 7.84147652e-01 -6.20426921e-01 -1.35238954e-02 1.87275676e+02] [ 1.69532410e-02 -3.67661048e-04 9.99856216e-01 7.29610660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2292541539998 meters 0.019045181015910333 Centerline is valid? [True, True] Translation: X:911.74, Y:187.30, Z:7.30 [[-6.22825925e-01 -7.82299666e-01 9.75190798e-03 9.11744614e+02] [ 7.82193636e-01 -6.22902139e-01 -1.28856720e-02 1.87299658e+02] [ 1.61549413e-02 -3.97650234e-04 9.99869421e-01 7.29877941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2592541539998 meters 0.021065802817746577 Centerline is valid? [True, True] Translation: X:911.73, Y:187.32, Z:7.30 [[-6.28389920e-01 -7.77831879e-01 1.01821656e-02 9.11727760e+02] [ 7.77715813e-01 -6.28472184e-01 -1.34472182e-02 1.87322481e+02] [ 1.68588829e-02 -5.31265213e-04 9.99857738e-01 7.29829825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2892541539998 meters 0.021788292284208297 Centerline is valid? [True, True] Translation: X:911.71, Y:187.35, Z:7.30 [[-6.30776641e-01 -7.75898715e-01 1.01001933e-02 9.11710752e+02] [ 7.75784388e-01 -6.30857239e-01 -1.33314580e-02 1.87345391e+02] [ 1.67156411e-02 -5.73600033e-04 9.99860119e-01 7.29852403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.3192541539997 meters 0.023046671629234617 Centerline is valid? [True, True] Translation: X:911.70, Y:187.37, Z:7.30 [[-6.32799223e-01 -7.74247511e-01 1.02924877e-02 9.11696496e+02] [ 7.74128711e-01 -6.32882614e-01 -1.35770151e-02 1.87368355e+02] [ 1.70259067e-02 -6.23814375e-04 9.99854854e-01 7.29862022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.349254154 meters 0.02094534570323542 Centerline is valid? [True, True] Translation: X:911.68, Y:187.39, Z:7.30 [[-6.35439892e-01 -7.72085502e-01 1.00060468e-02 9.11678557e+02] [ 7.71973087e-01 -6.35518328e-01 -1.31911893e-02 1.87390214e+02] [ 1.65437522e-02 -6.57809051e-04 9.99862926e-01 7.30266492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.379254154 meters 0.023150574062540417 Centerline is valid? [True, True] Translation: X:911.66, Y:187.41, Z:7.30 [[-6.36637729e-01 -7.71090320e-01 1.05886770e-02 9.11660549e+02] [ 7.70964444e-01 -6.36725374e-01 -1.39507883e-02 1.87411718e+02] [ 1.74993972e-02 -7.18104692e-04 9.99846616e-01 7.29979466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4092541539999 meters 0.024187188171550255 Centerline is valid? [True, True] Translation: X:911.64, Y:187.43, Z:7.30 [[-6.36851323e-01 -7.70910353e-01 1.08452708e-02 9.11643188e+02] [ 7.70778434e-01 -6.36943237e-01 -1.42800138e-02 1.87432253e+02] [ 1.79164324e-02 -7.34944872e-04 9.99839218e-01 7.29967411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4392541539999 meters 0.023608728507483693 Centerline is valid? [True, True] Translation: X:911.62, Y:187.45, Z:7.30 [[-6.36883131e-01 -7.70877011e-01 1.13362663e-02 9.11622149e+02] [ 7.70733043e-01 -6.36983556e-01 -1.49172883e-02 1.87451850e+02] [ 1.87204098e-02 -7.63334229e-04 9.99824466e-01 7.29952071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4692541539998 meters 0.022781427395589356 Centerline is valid? [True, True] Translation: X:911.60, Y:187.47, Z:7.30 [[-6.36472792e-01 -7.71213379e-01 1.15025451e-02 9.11603581e+02] [ 7.71065382e-01 -6.36576271e-01 -1.51270583e-02 1.87472655e+02] [ 1.89884370e-02 -7.58746729e-04 9.99819415e-01 7.30061637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4992541539998 meters 0.025924272176086963 Centerline is valid? [True, True] Translation: X:911.59, Y:187.49, Z:7.30 [[-6.35250549e-01 -7.72211395e-01 1.20955409e-02 9.11585361e+02] [ 7.72048082e-01 -6.35365235e-01 -1.58989703e-02 1.87493085e+02] [ 1.99624522e-02 -7.61490427e-04 9.99800440e-01 7.29852431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.5292541539998 meters 0.023945020175328655 Centerline is valid? [True, True] Translation: X:911.56, Y:187.51, Z:7.30 [[-6.34705733e-01 -7.72661507e-01 1.19511095e-02 9.11562799e+02] [ 7.72502316e-01 -6.34817815e-01 -1.57007120e-02 1.87511368e+02] [ 1.97181130e-02 -7.33072174e-04 9.99805310e-01 7.29987081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.5592541539997 meters 0.02314173097031666 Centerline is valid? [True, True] Translation: X:911.54, Y:187.53, Z:7.30 [[-6.34132526e-01 -7.73132731e-01 1.19046268e-02 9.11543668e+02] [ 7.72975040e-01 -6.34243862e-01 -1.56304202e-02 1.87531765e+02] [ 1.96348259e-02 -7.09778475e-04 9.99806966e-01 7.30101892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.589254154 meters 0.02357372983481161 Centerline is valid? [True, True] Translation: X:911.52, Y:187.55, Z:7.30 [[-6.32173370e-01 -7.74744965e-01 1.12725046e-02 9.11522821e+02] [ 7.74603978e-01 -6.32273561e-01 -1.47926079e-02 1.87549280e+02] [ 1.85878051e-02 -6.19765900e-04 9.99827040e-01 7.30091291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.619254154 meters 0.02152006783548493 Centerline is valid? [True, True] Translation: X:911.50, Y:187.57, Z:7.30 [[-6.31128182e-01 -7.75606162e-01 1.05971226e-02 9.11501359e+02] [ 7.75481786e-01 -6.31216898e-01 -1.39006091e-02 1.87568828e+02] [ 1.74704809e-02 -5.55190585e-04 9.99847225e-01 7.30297812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.649254154 meters 0.02166280833000746 Centerline is valid? [True, True] Translation: X:911.48, Y:187.59, Z:7.30 [[-6.29879216e-01 -7.76618404e-01 1.07715989e-02 9.11479066e+02] [ 7.76490164e-01 -6.29971088e-01 -1.41228082e-02 1.87588119e+02] [ 1.77538286e-02 -5.31622778e-04 9.99842247e-01 7.30281798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.6792541539999 meters 0.020948973778035878 Centerline is valid? [True, True] Translation: X:911.46, Y:187.61, Z:7.30 [[-6.27356449e-01 -7.78662847e-01 1.03950482e-02 9.11456667e+02] [ 7.78543818e-01 -6.27442401e-01 -1.36219108e-02 1.87605007e+02] [ 1.71291698e-02 -4.52793094e-04 9.99853182e-01 7.30267683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7092541539998 meters 0.019931198021236975 Centerline is valid? [True, True] Translation: X:911.44, Y:187.62, Z:7.30 [[-6.26283812e-01 -7.79528815e-01 1.01691982e-02 9.11436910e+02] [ 7.79415122e-01 -6.26366229e-01 -1.33197122e-02 1.87624270e+02] [ 1.67527417e-02 -4.15893272e-04 9.99859576e-01 7.30325487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7392541539998 meters 0.019996243275848494 Centerline is valid? [True, True] Translation: X:911.41, Y:187.64, Z:7.30 [[-6.24037447e-01 -7.81324177e-01 1.04783565e-02 9.11412371e+02] [ 7.81203837e-01 -6.24125300e-01 -1.37176456e-02 1.87641322e+02] [ 1.72577355e-02 -3.74592238e-04 9.99851004e-01 7.30210262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7692541539998 meters 0.020708346191204947 Centerline is valid? [True, True] Translation: X:911.39, Y:187.66, Z:7.30 [[-6.23233098e-01 -7.81959363e-01 1.09571526e-02 9.11393438e+02] [ 7.81828027e-01 -6.23329302e-01 -1.43358619e-02 1.87660735e+02] [ 1.80399757e-02 -3.67974676e-04 9.99837199e-01 7.30125425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7992541539998 meters 0.020310196371332963 Centerline is valid? [True, True] Translation: X:911.37, Y:187.68, Z:7.30 [[-6.21828781e-01 -7.83072202e-01 1.12647094e-02 9.11370742e+02] [ 7.82933735e-01 -6.21930713e-01 -1.47294200e-02 1.87677842e+02] [ 1.85400681e-02 -3.39656287e-04 9.99828060e-01 7.30079423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.829254154 meters 0.019914910187365183 Centerline is valid? [True, True] Translation: X:911.35, Y:187.70, Z:7.30 [[-6.21006132e-01 -7.83721466e-01 1.14912147e-02 9.11351150e+02] [ 7.83577663e-01 -6.21112358e-01 -1.50161307e-02 1.87697043e+02] [ 1.89057994e-02 -3.20850101e-04 9.99821218e-01 7.30074883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.859254154 meters 0.020263403656707958 Centerline is valid? [True, True] Translation: X:911.33, Y:187.72, Z:7.30 [[-6.20427811e-01 -7.84174140e-01 1.18426856e-02 9.11331602e+02] [ 7.84021686e-01 -6.20540750e-01 -1.54652589e-02 1.87716646e+02] [ 1.94763251e-02 -3.10154453e-04 9.99810270e-01 7.30054368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.889254154 meters 0.02044675699757778 Centerline is valid? [True, True] Translation: X:911.31, Y:187.74, Z:7.30 [[-6.19740121e-01 -7.84712923e-01 1.21577577e-02 9.11311762e+02] [ 7.84552561e-01 -6.19859292e-01 -1.58662248e-02 1.87735681e+02] [ 1.99865307e-02 -2.94536094e-04 9.99800206e-01 7.30069864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9192541539999 meters 0.01634746047868389 Centerline is valid? [True, True] Translation: X:911.29, Y:187.75, Z:7.30 [[-6.17898204e-01 -7.86179864e-01 1.10919531e-02 9.11288852e+02] [ 7.86046779e-01 -6.17997713e-01 -1.44668179e-02 1.87753252e+02] [ 1.82283225e-02 -2.20226804e-04 9.99833826e-01 7.30333316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9492541539998 meters 0.019406267373095674 Centerline is valid? [True, True] Translation: X:911.27, Y:187.77, Z:7.30 [[-6.17059630e-01 -7.86821460e-01 1.22230652e-02 9.11269399e+02] [ 7.86660177e-01 -6.17180641e-01 -1.59317992e-02 1.87773162e+02] [ 2.00793208e-02 -2.15471463e-04 9.99798367e-01 7.30051449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9792541539998 meters 0.020207075600955447 Centerline is valid? [True, True] Translation: X:911.25, Y:187.79, Z:7.30 [[-6.15355383e-01 -7.88144527e-01 1.28824304e-02 9.11246924e+02] [ 7.87965880e-01 -6.15490190e-01 -1.67808705e-02 1.87791072e+02] [ 2.11547608e-02 -1.75283336e-04 9.99776198e-01 7.29977977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.0092541539998 meters 0.017016820526650583 Centerline is valid? [True, True] Translation: X:911.23, Y:187.81, Z:7.30 [[-6.14591471e-01 -7.88745467e-01 1.25662897e-02 9.11227792e+02] [ 7.88575818e-01 -6.14719910e-01 -1.63588294e-02 1.87811048e+02] [ 2.06277010e-02 -1.44524815e-04 9.99787216e-01 7.30099134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.0392541539998 meters 0.019675774928275512 Centerline is valid? [True, True] Translation: X:911.21, Y:187.83, Z:7.30 [[-6.13937662e-01 -7.89242472e-01 1.32991202e-02 9.11208319e+02] [ 7.89052813e-01 -6.14081675e-01 -1.73018997e-02 1.87831464e+02] [ 2.18221401e-02 -1.28579611e-04 9.99761860e-01 7.30044897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.0692541539997 meters 0.015733434958941823 Centerline is valid? [True, True] Translation: X:911.19, Y:187.85, Z:7.30 [[-6.12513418e-01 -7.90367534e-01 1.21026236e-02 9.11188934e+02] [ 7.90210838e-01 -6.12632969e-01 -1.57377377e-02 1.87850172e+02] [ 1.98530632e-02 -7.59511740e-05 9.99802906e-01 7.30092311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.099254154 meters 0.015249893645376711 Centerline is valid? [True, True] Translation: X:911.17, Y:187.87, Z:7.30 [[-6.11974904e-01 -7.90784338e-01 1.21180969e-02 9.11169264e+02] [ 7.90627493e-01 -6.12094868e-01 -1.57492710e-02 1.87870995e+02] [ 1.98717018e-02 -5.72580425e-05 9.99802537e-01 7.30418339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.129254154 meters 0.019291480896448412 Centerline is valid? [True, True] Translation: X:911.15, Y:187.89, Z:7.30 [[-6.11456866e-01 -7.91173112e-01 1.28688680e-02 9.11151676e+02] [ 7.90996538e-01 -6.11592270e-01 -1.67144069e-02 1.87891206e+02] [ 2.10944895e-02 -4.09088006e-05 9.99777486e-01 7.29929013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1592541539999 meters 0.01736188547784954 Centerline is valid? [True, True] Translation: X:911.13, Y:187.91, Z:7.30 [[-6.09459839e-01 -7.92732828e-01 1.15485257e-02 9.11130854e+02] [ 7.92591086e-01 -6.09569244e-01 -1.49902120e-02 1.87909339e+02] [ 1.89228592e-02 1.73263101e-05 9.99820947e-01 7.30350166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1892541539999 meters 0.01694583046147773 Centerline is valid? [True, True] Translation: X:911.11, Y:187.93, Z:7.30 [[-6.08337242e-01 -7.93598011e-01 1.13135767e-02 9.11111363e+02] [ 7.93462293e-01 -6.08442433e-01 -1.46763265e-02 1.87930180e+02] [ 1.85307636e-02 4.87405592e-05 9.99828289e-01 7.30475319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2192541539998 meters 0.017019872048237676 Centerline is valid? [True, True] Translation: X:911.09, Y:187.95, Z:7.31 [[-6.05450780e-01 -7.95806733e-01 1.09998138e-02 9.11091289e+02] [ 7.95678969e-01 -6.05550682e-01 -1.42600629e-02 1.87947437e+02] [ 1.80091988e-02 1.18554265e-04 9.99837814e-01 7.30527409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2492541539998 meters 0.018957104434034512 Centerline is valid? [True, True] Translation: X:911.07, Y:187.97, Z:7.30 [[-6.04258548e-01 -7.96711672e-01 1.10507166e-02 9.11072636e+02] [ 7.96583048e-01 -6.04359568e-01 -1.43164270e-02 1.87967867e+02] [ 1.80846708e-02 1.51990097e-04 9.99836447e-01 7.30475621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2792541539998 meters 0.015539427422971791 Centerline is valid? [True, True] Translation: X:911.05, Y:187.99, Z:7.31 [[-6.03201088e-01 -7.97528028e-01 9.87382588e-03 9.11053891e+02] [ 7.97425581e-01 -6.03281874e-01 -1.27837493e-02 1.87987804e+02] [ 1.61520985e-02 1.62469855e-04 9.99869533e-01 7.30758292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.3092541539997 meters 0.01767680565528398 Centerline is valid? [True, True] Translation: X:911.04, Y:188.01, Z:7.31 [[-6.01906206e-01 -7.98500821e-01 1.02644075e-02 9.11035596e+02] [ 7.98390392e-01 -6.01993687e-01 -1.32809295e-02 1.88007921e+02] [ 1.67839416e-02 2.01130419e-04 9.99859120e-01 7.30580467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.339254154 meters 0.018653104442073305 Centerline is valid? [True, True] Translation: X:911.02, Y:188.03, Z:7.31 [[-6.01734418e-01 -7.98628142e-01 1.04297816e-02 9.11018185e+02] [ 7.98514292e-01 -6.01824763e-01 -1.34863096e-02 1.88029268e+02] [ 1.70474472e-02 2.13153004e-04 9.99854659e-01 7.30515202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.369254154 meters 0.018477684405699343 Centerline is valid? [True, True] Translation: X:911.00, Y:188.05, Z:7.31 [[-6.02354823e-01 -7.98160772e-01 1.03946386e-02 9.11001588e+02] [ 7.98047753e-01 -6.02444470e-01 -1.34329596e-02 1.88052515e+02] [ 1.69838540e-02 2.04010002e-04 9.99855743e-01 7.30568122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.399254154 meters 0.01863995020730151 Centerline is valid? [True, True] Translation: X:910.99, Y:188.08, Z:7.31 [[-6.03083045e-01 -7.97603116e-01 1.09594970e-02 9.10985410e+02] [ 7.97477546e-01 -6.03182583e-01 -1.41540258e-02 1.88075051e+02] [ 1.78998727e-02 2.03899780e-04 9.99839764e-01 7.30593962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4292541539999 meters 0.015255900803251805 Centerline is valid? [True, True] Translation: X:910.97, Y:188.10, Z:7.31 [[-6.04874696e-01 -7.96256526e-01 1.01067699e-02 9.10970221e+02] [ 7.96149676e-01 -6.04959106e-01 -1.30450575e-02 1.88099072e+02] [ 1.65013946e-02 1.55876389e-04 9.99863831e-01 7.30895171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4592541539998 meters 0.017577498063512713 Centerline is valid? [True, True] Translation: X:910.95, Y:188.12, Z:7.31 [[-6.06017994e-01 -7.95378497e-01 1.07348508e-02 9.10954599e+02] [ 7.95257965e-01 -6.06113047e-01 -1.38471308e-02 1.88120803e+02] [ 1.75202432e-02 1.45365140e-04 9.99846498e-01 7.30615270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4892541539998 meters 0.01722303989607724 Centerline is valid? [True, True] Translation: X:910.94, Y:188.14, Z:7.31 [[-6.07320986e-01 -7.94385923e-01 1.05936622e-02 9.10939723e+02] [ 7.94268532e-01 -6.07413361e-01 -1.36567813e-02 1.88144178e+02] [ 1.72834867e-02 1.20162625e-04 9.99850622e-01 7.30771686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.5192541539998 meters 0.01614333327068118 Centerline is valid? [True, True] Translation: X:910.93, Y:188.17, Z:7.31 [[-6.10170473e-01 -7.92200583e-01 1.04990297e-02 9.10925379e+02] [ 7.92085093e-01 -6.10260790e-01 -1.35267595e-02 1.88169006e+02] [ 1.71230529e-02 6.24956469e-05 9.99853388e-01 7.30903272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.5492541539998 meters 0.015194169368130308 Centerline is valid? [True, True] Translation: X:910.91, Y:188.19, Z:7.31 [[-6.11802009e-01 -7.90941249e-01 1.04996206e-02 9.10910431e+02] [ 7.90825677e-01 -6.11892098e-01 -1.35207270e-02 1.88191064e+02] [ 1.71187356e-02 3.13616717e-05 9.99853463e-01 7.30941382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.579254154 meters 0.01624734667364604 Centerline is valid? [True, True] Translation: X:910.90, Y:188.22, Z:7.31 [[-6.15587436e-01 -7.87995511e-01 1.07323349e-02 9.10897816e+02] [ 7.87874445e-01 -6.15680982e-01 -1.38125878e-02 1.88215729e+02] [ 1.74919516e-02 -4.71230986e-05 9.99847003e-01 7.30888133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.609254154 meters 0.01709653163263377 Centerline is valid? [True, True] Translation: X:910.88, Y:188.24, Z:7.31 [[-6.17750712e-01 -7.86294708e-01 1.11665263e-02 9.10882771e+02] [ 7.86163529e-01 -6.17851620e-01 -1.43625338e-02 1.88238996e+02] [ 1.81924406e-02 -9.37497783e-05 9.99834499e-01 7.30886572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.639254154 meters 0.01819939887856913 Centerline is valid? [True, True] Translation: X:910.87, Y:188.26, Z:7.31 [[-6.19606720e-01 -7.84830396e-01 1.13473043e-02 9.10868830e+02] [ 7.84694865e-01 -6.19710603e-01 -1.45855267e-02 1.88261100e+02] [ 1.84792095e-02 -1.33118991e-04 9.99829236e-01 7.30831177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6692541539999 meters 0.018026927123224915 Centerline is valid? [True, True] Translation: X:910.85, Y:188.29, Z:7.31 [[-6.22450318e-01 -7.82579495e-01 1.11774873e-02 9.10854079e+02] [ 7.82447787e-01 -6.22550639e-01 -1.43583405e-02 1.88285419e+02] [ 1.81950947e-02 -1.91553450e-04 9.99834437e-01 7.30990879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6992541539998 meters 0.018783534917945925 Centerline is valid? [True, True] Translation: X:910.84, Y:188.31, Z:7.31 [[-6.23415695e-01 -7.81811658e-01 1.11086388e-02 9.10839778e+02] [ 7.81681585e-01 -6.23514625e-01 -1.42622545e-02 1.88307145e+02] [ 1.80767956e-02 -2.07894963e-04 9.99836580e-01 7.30958174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7292541539998 meters 0.01820204602127464 Centerline is valid? [True, True] Translation: X:910.83, Y:188.33, Z:7.31 [[-6.24199142e-01 -7.81194156e-01 1.05414748e-02 9.10825049e+02] [ 7.81077076e-01 -6.24288112e-01 -1.35260796e-02 1.88329020e+02] [ 1.71474118e-02 -2.09263018e-04 9.99852950e-01 7.31090276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7592541539998 meters 0.01867063604786141 Centerline is valid? [True, True] Translation: X:910.81, Y:188.35, Z:7.31 [[-6.24329435e-01 -7.81090341e-01 1.05183881e-02 9.10808587e+02] [ 7.80973906e-01 -6.24417999e-01 -1.34878284e-02 1.88350708e+02] [ 1.71030833e-02 -2.06261601e-04 9.99853710e-01 7.31095142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7892541539998 meters 0.01867063604786141 Centerline is valid? [True, True] Translation: X:910.79, Y:188.37, Z:7.31 [[-6.24565291e-01 -7.80901706e-01 1.05224617e-02 9.10792040e+02] [ 7.80785298e-01 -6.24653890e-01 -1.34846502e-02 1.88371714e+02] [ 1.71030830e-02 -2.06261070e-04 9.99853710e-01 7.31113604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.8192541539997 meters 0.017173432140445 Centerline is valid? [True, True] Translation: X:910.77, Y:188.39, Z:7.31 [[-6.24330682e-01 -7.81095424e-01 1.00567172e-02 9.10773906e+02] [ 7.80989243e-01 -6.24411645e-01 -1.28801739e-02 1.88392868e+02] [ 1.63401762e-02 -1.87299761e-04 9.99866473e-01 7.31352736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.849254154 meters 0.019042413192460708 Centerline is valid? [True, True] Translation: X:910.76, Y:188.42, Z:7.31 [[-6.23412488e-01 -7.81822939e-01 1.04767816e-02 9.10756172e+02] [ 7.81707941e-01 -6.23500492e-01 -1.34100961e-02 1.88415247e+02] [ 1.70165993e-02 -1.70237987e-04 9.99855193e-01 7.31262446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.879254154 meters 0.014853350482348494 Centerline is valid? [True, True] Translation: X:910.74, Y:188.44, Z:7.32 [[-6.22059849e-01 -7.82915119e-01 9.24444190e-03 9.10739182e+02] [ 7.82825806e-01 -6.22128525e-01 -1.18260716e-02 1.88436071e+02] [ 1.50100413e-02 -1.19736640e-04 9.99887336e-01 7.31644393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9092541539999 meters 0.01560917983880102 Centerline is valid? [True, True] Translation: X:910.72, Y:188.46, Z:7.32 [[-6.19589888e-01 -7.84869035e-01 9.43235066e-03 9.10720672e+02] [ 7.84776366e-01 -6.19661676e-01 -1.20607365e-02 1.88457843e+02] [ 1.53109648e-02 -7.04244891e-05 9.99882778e-01 7.31539715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9392541539999 meters 0.0182049827814594 Centerline is valid? [True, True] Translation: X:910.70, Y:188.48, Z:7.31 [[-6.17983711e-01 -7.86124947e-01 1.01833599e-02 9.10702369e+02] [ 7.86017213e-01 -6.18067606e-01 -1.30144242e-02 1.88479546e+02] [ 1.65249684e-02 -3.84059906e-05 9.99863453e-01 7.31315823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9692541539998 meters 0.018248045705476224 Centerline is valid? [True, True] Translation: X:910.68, Y:188.50, Z:7.31 [[-6.15939710e-01 -7.87724603e-01 1.04030423e-02 9.10684441e+02] [ 7.87612535e-01 -6.16027556e-01 -1.32870392e-02 1.88499520e+02] [ 1.68750884e-02 9.55146007e-06 9.99857606e-01 7.31277172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9992541539998 meters 0.01567068806464532 Centerline is valid? [True, True] Translation: X:910.67, Y:188.52, Z:7.31 [[-6.13341433e-01 -7.89757164e-01 9.79331021e-03 9.10666238e+02] [ 7.89658234e-01 -6.13419610e-01 -1.25002642e-02 1.88518418e+02] [ 1.58795817e-02 6.64380879e-05 9.99873909e-01 7.31341950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.0292541539998 meters 0.018760974114900325 Centerline is valid? [True, True] Translation: X:910.65, Y:188.54, Z:7.31 [[-6.08977500e-01 -7.93112615e-01 1.08988473e-02 9.10647345e+02] [ 7.92990779e-01 -6.09074994e-01 -1.39023683e-02 1.88539716e+02] [ 1.76643590e-02 1.76455912e-04 9.99843957e-01 7.31234943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.0592541539997 meters 0.01981593148703814 Centerline is valid? [True, True] Translation: X:910.63, Y:188.56, Z:7.31 [[-6.06821697e-01 -7.94755074e-01 1.14804555e-02 9.10629763e+02] [ 7.94620315e-01 -6.06930239e-01 -1.46369539e-02 1.88559753e+02] [ 1.86006290e-02 2.40581985e-04 9.99826964e-01 7.31185050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.089254154 meters 0.01953536358005912 Centerline is valid? [True, True] Translation: X:910.61, Y:188.58, Z:7.31 [[-6.05019018e-01 -7.96130244e-01 1.13412078e-02 9.10611403e+02] [ 7.95999112e-01 -6.05125239e-01 -1.44519730e-02 1.88580994e+02] [ 1.83685039e-02 2.83872815e-04 9.99831245e-01 7.31201394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.119254154 meters 0.02083479826904172 Centerline is valid? [True, True] Translation: X:910.59, Y:188.60, Z:7.31 [[-6.02112067e-01 -7.98330763e-01 1.13600784e-02 9.10593521e+02] [ 7.98199740e-01 -6.02219118e-01 -1.44675287e-02 1.88601286e+02] [ 1.83911296e-02 3.56538063e-04 9.99830805e-01 7.31217265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.149254154 meters 0.017781664199870394 Centerline is valid? [True, True] Translation: X:910.58, Y:188.62, Z:7.32 [[-6.00777019e-01 -7.99352539e-01 1.01237818e-02 9.10576244e+02] [ 7.99248746e-01 -6.00862210e-01 -1.28858990e-02 1.88623372e+02] [ 1.63833740e-02 3.49867951e-04 9.99865722e-01 7.31615489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.1792541539999 meters 0.021296128235472635 Centerline is valid? [True, True] Translation: X:910.56, Y:188.65, Z:7.31 [[-6.00403968e-01 -7.99615636e-01 1.13978104e-02 9.10560559e+02] [ 7.99484281e-01 -6.00512005e-01 -1.44988185e-02 1.88647272e+02] [ 1.84380039e-02 4.07222112e-04 9.99829923e-01 7.31289656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2092541539998 meters 0.017144811418351558 Centerline is valid? [True, True] Translation: X:910.55, Y:188.67, Z:7.32 [[-5.99964201e-01 -7.99962202e-01 1.01702216e-02 9.10545407e+02] [ 7.99857790e-01 -6.00050275e-01 -1.29299350e-02 1.88671148e+02] [ 1.64461035e-02 3.77232898e-04 9.99864683e-01 7.31756477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2392541539998 meters 0.02129486269384534 Centerline is valid? [True, True] Translation: X:910.53, Y:188.69, Z:7.31 [[-6.00474490e-01 -7.99562988e-01 1.13760706e-02 9.10528846e+02] [ 7.99432448e-01 -6.00582097e-01 -1.44536023e-02 1.88692540e+02] [ 1.83888298e-02 4.15380447e-04 9.99830825e-01 7.31309083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2692541539998 meters 0.020163017833358606 Centerline is valid? [True, True] Translation: X:910.52, Y:188.72, Z:7.31 [[-6.00489059e-01 -7.99546084e-01 1.17876983e-02 9.10515130e+02] [ 7.99406098e-01 -6.00604588e-01 -1.49672776e-02 1.88717378e+02] [ 1.90467739e-02 4.35471408e-04 9.99818499e-01 7.31455227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2992541539998 meters 0.020232187010086992 Centerline is valid? [True, True] Translation: X:910.50, Y:188.74, Z:7.31 [[-6.00446048e-01 -7.99564278e-01 1.27086390e-02 9.10500360e+02] [ 7.99401764e-01 -6.00580336e-01 -1.61270108e-02 1.88741568e+02] [ 2.05271404e-02 4.75908587e-04 9.99789183e-01 7.31393535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.329254154 meters 0.01845797420247756 Centerline is valid? [True, True] Translation: X:910.48, Y:188.76, Z:7.32 [[-6.00319998e-01 -7.99657522e-01 1.27963820e-02 9.10484222e+02] [ 7.99492976e-01 -6.00456167e-01 -1.62287863e-02 1.88764432e+02] [ 2.06611375e-02 4.88152609e-04 9.99786417e-01 7.31506806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.359254154 meters 0.018008567454098127 Centerline is valid? [True, True] Translation: X:910.47, Y:188.79, Z:7.32 [[-5.99934154e-01 -7.99948348e-01 1.27142128e-02 9.10468609e+02] [ 7.99786135e-01 -6.00068655e-01 -1.61166989e-02 1.88786491e+02] [ 2.05219272e-02 4.99692964e-04 9.99789278e-01 7.31565013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.389254154 meters 0.02161968351482806 Centerline is valid? [True, True] Translation: X:910.46, Y:188.81, Z:7.31 [[-6.01061717e-01 -7.99063887e-01 1.48901344e-02 9.10456329e+02] [ 7.98841377e-01 -6.01245869e-01 -1.88642345e-02 1.88812107e+02] [ 2.40263603e-02 5.56286289e-04 9.99711171e-01 7.31216552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4192541539999 meters 0.021303288621038734 Centerline is valid? [True, True] Translation: X:910.44, Y:188.83, Z:7.31 [[-6.01572328e-01 -7.98678580e-01 1.49418783e-02 9.10441189e+02] [ 7.98454693e-01 -6.01757612e-01 -1.89176976e-02 1.88834225e+02] [ 2.41005488e-02 5.50049497e-04 9.99709388e-01 7.31219717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4492541539998 meters 0.018666922245031747 Centerline is valid? [True, True] Translation: X:910.43, Y:188.86, Z:7.31 [[-6.02792123e-01 -7.97772635e-01 1.41590871e-02 9.10428524e+02] [ 7.97571587e-01 -6.02958191e-01 -1.79160204e-02 1.88859987e+02] [ 2.28302484e-02 4.93249596e-04 9.99739234e-01 7.31420426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4792541539998 meters 0.021147939137613255 Centerline is valid? [True, True] Translation: X:910.41, Y:188.89, Z:7.31 [[-6.04537593e-01 -7.96435829e-01 1.49756361e-02 9.10414870e+02] [ 7.96210783e-01 -6.04722866e-01 -1.89378956e-02 1.88885238e+02] [ 2.41389281e-02 4.75093124e-04 9.99708501e-01 7.31337136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.5092541539998 meters 0.019136412641755588 Centerline is valid? [True, True] Translation: X:910.40, Y:188.91, Z:7.31 [[-6.05867479e-01 -7.95439235e-01 1.41781932e-02 9.10400384e+02] [ 7.95237486e-01 -6.06033207e-01 -1.79190598e-02 1.88908860e+02] [ 2.28459791e-02 4.18455100e-04 9.99738909e-01 7.31487461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.5392541539998 meters 0.018653710876775677 Centerline is valid? [True, True] Translation: X:910.39, Y:188.93, Z:7.32 [[-6.08142850e-01 -7.93726044e-01 1.26980697e-02 9.10388689e+02] [ 7.93564027e-01 -6.08275319e-01 -1.60397133e-02 1.88934142e+02] [ 2.04550606e-02 3.22294379e-04 9.99790721e-01 7.31609053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.5692541539997 meters 0.0157461398815641 Centerline is valid? [True, True] Translation: X:910.38, Y:188.96, Z:7.32 [[-6.08894974e-01 -7.93170422e-01 1.12956557e-02 9.10375321e+02] [ 7.93042265e-01 -6.08999676e-01 -1.42604537e-02 1.88959092e+02] [ 1.81900207e-02 2.74813788e-04 9.99834510e-01 7.32018838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.599254154 meters 0.017888396561639233 Centerline is valid? [True, True] Translation: X:910.36, Y:188.98, Z:7.32 [[-6.10095298e-01 -7.92241642e-01 1.17007731e-02 9.10362037e+02] [ 7.92104122e-01 -6.10207434e-01 -1.47630338e-02 1.88984238e+02] [ 1.88357889e-02 2.61373128e-04 9.99822557e-01 7.31903479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.629254154 meters 0.0163015771165739 Centerline is valid? [True, True] Translation: X:910.35, Y:189.01, Z:7.32 [[-6.09333017e-01 -7.92839650e-01 1.08886691e-02 9.10345094e+02] [ 7.92720799e-01 -6.09430241e-01 -1.37301062e-02 1.89005665e+02] [ 1.75216569e-02 2.65467438e-04 9.99846449e-01 7.31983132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6592541539999 meters 0.017408565635972362 Centerline is valid? [True, True] Translation: X:910.33, Y:189.03, Z:7.32 [[-6.09385297e-01 -7.92789818e-01 1.15699630e-02 9.10329685e+02] [ 7.92655788e-01 -6.09495055e-01 -1.45800947e-02 1.89029853e+02] [ 1.86107858e-02 2.86102838e-04 9.99826763e-01 7.31920192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6892541539999 meters 0.018401161239895835 Centerline is valid? [True, True] Translation: X:910.31, Y:189.05, Z:7.32 [[-6.07942091e-01 -7.93884441e-01 1.24059414e-02 9.10313875e+02] [ 7.93730752e-01 -6.08068559e-01 -1.56243933e-02 1.89053960e+02] [ 1.99476257e-02 3.48250842e-04 9.99800966e-01 7.31812331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7192541539998 meters 0.018851165413212936 Centerline is valid? [True, True] Translation: X:910.30, Y:189.08, Z:7.32 [[-6.07212978e-01 -7.94439121e-01 1.26048283e-02 9.10297444e+02] [ 7.94280779e-01 -6.07343675e-01 -1.58652089e-02 1.89075100e+02] [ 2.02594054e-02 3.78212038e-04 9.99794686e-01 7.31730012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7492541539998 meters 0.019038400007782813 Centerline is valid? [True, True] Translation: X:910.28, Y:189.10, Z:7.32 [[-6.05803898e-01 -7.95508471e-01 1.29579635e-02 9.10282280e+02] [ 7.95341582e-01 -6.05942312e-01 -1.62997384e-02 1.89099357e+02] [ 2.08183583e-02 4.31562128e-04 9.99783181e-01 7.31677736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7792541539998 meters 0.018498640280340612 Centerline is valid? [True, True] Translation: X:910.27, Y:189.12, Z:7.32 [[-6.05183119e-01 -7.95982166e-01 1.28757445e-02 9.10265928e+02] [ 7.95817692e-01 -6.05319906e-01 -1.61867715e-02 1.89121728e+02] [ 2.06783258e-02 4.50784413e-04 9.99786079e-01 7.31686441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.8092541539997 meters 0.017867753211169395 Centerline is valid? [True, True] Translation: X:910.25, Y:189.14, Z:7.32 [[-6.04741842e-01 -7.96322481e-01 1.25623026e-02 9.10250569e+02] [ 7.96166200e-01 -6.04872133e-01 -1.57823916e-02 1.89142898e+02] [ 2.01664600e-02 4.57408180e-04 9.99796532e-01 7.31735710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.839254154 meters 0.017490772278553095 Centerline is valid? [True, True] Translation: X:910.24, Y:189.17, Z:7.32 [[-6.05035903e-01 -7.96102641e-01 1.23345773e-02 9.10236898e+02] [ 7.95952134e-01 -6.05161454e-01 -1.54859783e-02 1.89167048e+02] [ 1.97928389e-02 4.48160246e-04 9.99804002e-01 7.31767289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.869254154 meters 0.01874377129285941 Centerline is valid? [True, True] Translation: X:910.22, Y:189.19, Z:7.32 [[-6.06559431e-01 -7.94937314e-01 1.26619420e-02 9.10223587e+02] [ 7.94778609e-01 -6.06691426e-01 -1.58894863e-02 1.89192899e+02] [ 2.03130372e-02 4.25522929e-04 9.99793578e-01 7.31668627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.899254154 meters 0.01801784539656888 Centerline is valid? [True, True] Translation: X:910.21, Y:189.21, Z:7.32 [[-6.07159893e-01 -7.94491052e-01 1.18672441e-02 9.10208333e+02] [ 7.94351721e-01 -6.07275733e-01 -1.48837853e-02 1.89214490e+02] [ 1.90317236e-02 3.89928267e-04 9.99818804e-01 7.31769531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9292541539999 meters 0.019612623606535512 Centerline is valid? [True, True] Translation: X:910.19, Y:189.24, Z:7.32 [[-6.08636919e-01 -7.93356281e-01 1.21207197e-02 9.10194043e+02] [ 7.93210901e-01 -6.08757485e-01 -1.51917861e-02 1.89238643e+02] [ 1.94310778e-02 3.68005142e-04 9.99811131e-01 7.31727636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9592541539998 meters 0.018137923501732788 Centerline is valid? [True, True] Translation: X:910.18, Y:189.26, Z:7.32 [[-6.09428844e-01 -7.92761986e-01 1.11766415e-02 9.10179308e+02] [ 7.92638430e-01 -6.09531235e-01 -1.39997628e-02 1.89261317e+02] [ 1.79109919e-02 3.27176327e-04 9.99839532e-01 7.31898582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9892541539998 meters 0.017633164742982516 Centerline is valid? [True, True] Translation: X:910.17, Y:189.29, Z:7.32 [[-6.11503697e-01 -7.91177443e-01 1.00738536e-02 9.10166031e+02] [ 7.91076971e-01 -6.11586615e-01 -1.26110416e-02 1.89286512e+02] [ 1.61386057e-02 2.57495029e-04 9.99869731e-01 7.32024952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.0192541539998 meters 0.01667636549803346 Centerline is valid? [True, True] Translation: X:910.15, Y:189.31, Z:7.32 [[-6.12797400e-01 -7.90182469e-01 9.53997020e-03 9.10151380e+02] [ 7.90092355e-01 -6.12871614e-01 -1.19354624e-02 1.89309425e+02] [ 1.52779701e-02 2.23437191e-04 9.99883260e-01 7.32157789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.0492541539998 meters 0.016453188040548045 Centerline is valid? [True, True] Translation: X:910.14, Y:189.33, Z:7.32 [[-6.16052543e-01 -7.87651928e-01 9.14900708e-03 9.10139165e+02] [ 7.87568868e-01 -6.16120455e-01 -1.14395537e-02 1.89334137e+02] [ 1.46472770e-02 1.58106970e-04 9.99892710e-01 7.32176243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.079254154 meters 0.014794980185179822 Centerline is valid? [True, True] Translation: X:910.12, Y:189.36, Z:7.32 [[-6.17134488e-01 -7.86807980e-01 8.84456881e-03 9.10124269e+02] [ 7.86730361e-01 -6.17197849e-01 -1.10523499e-02 1.89356492e+02] [ 1.41549259e-02 1.37504523e-04 9.99899805e-01 7.32325273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.109254154 meters 0.015332555144782694 Centerline is valid? [True, True] Translation: X:910.11, Y:189.38, Z:7.32 [[-6.19164311e-01 -7.85209096e-01 9.06811078e-03 9.10109354e+02] [ 7.85127439e-01 -6.19230703e-01 -1.13243889e-02 1.89379588e+02] [ 1.45072658e-02 1.07965136e-04 9.99894758e-01 7.32220452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.139254154 meters 0.014164415026418782 Centerline is valid? [True, True] Translation: X:910.10, Y:189.40, Z:7.32 [[-6.21853396e-01 -7.83078088e-01 9.33074385e-03 9.10096007e+02] [ 7.82991498e-01 -6.21923391e-01 -1.16451710e-02 1.89404699e+02] [ 1.49220861e-02 6.43039633e-05 9.99888657e-01 7.32294880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1692541539999 meters 0.015301265143715525 Centerline is valid? [True, True] Translation: X:910.08, Y:189.43, Z:7.32 [[-6.23820626e-01 -7.81505090e-01 9.88032652e-03 9.10081467e+02] [ 7.81407929e-01 -6.23898865e-01 -1.23229215e-02 1.89426273e+02] [ 1.57947504e-02 3.32728534e-05 9.99875255e-01 7.32086508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1992541539998 meters 0.016503104683679347 Centerline is valid? [True, True] Translation: X:910.07, Y:189.45, Z:7.32 [[-6.25501921e-01 -7.80151587e-01 1.05284028e-02 9.10066665e+02] [ 7.80041224e-01 -6.25590522e-01 -1.31220705e-02 1.89447776e+02] [ 1.68236732e-02 4.70789177e-06 9.99858472e-01 7.31870062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2292541539998 meters 0.01666799172405342 Centerline is valid? [True, True] Translation: X:910.05, Y:189.47, Z:7.32 [[-6.27160754e-01 -7.78811062e-01 1.10778452e-02 9.10051415e+02] [ 7.78688827e-01 -6.27258582e-01 -1.37978878e-02 1.89470603e+02] [ 1.76946212e-02 -2.72994216e-05 9.99843438e-01 7.31825103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2592541539998 meters 0.01429522510117269 Centerline is valid? [True, True] Translation: X:910.03, Y:189.49, Z:7.32 [[-6.26707322e-01 -7.79178910e-01 1.08700975e-02 9.10034172e+02] [ 7.79061421e-01 -6.26801584e-01 -1.35305924e-02 1.89490563e+02] [ 1.73561466e-02 -1.12477131e-05 9.99849371e-01 7.31994216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2892541539998 meters 0.014240815451796318 Centerline is valid? [True, True] Translation: X:910.02, Y:189.51, Z:7.32 [[-6.26990621e-01 -7.78955637e-01 1.05298058e-02 9.10016359e+02] [ 7.78845497e-01 -6.27079034e-01 -1.30987185e-02 1.89511449e+02] [ 1.68063410e-02 -1.16817993e-05 9.99858763e-01 7.32151948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.3192541539997 meters 0.01581561071909722 Centerline is valid? [True, True] Translation: X:910.00, Y:189.53, Z:7.32 [[-6.27833769e-01 -7.78275092e-01 1.06131644e-02 9.09999428e+02] [ 7.78163247e-01 -6.27923467e-01 -1.31939728e-02 1.89532734e+02] [ 1.69327954e-02 -2.48471509e-05 9.99856630e-01 7.32057424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.349254154 meters 0.016112639776749482 Centerline is valid? [True, True] Translation: X:909.98, Y:189.55, Z:7.32 [[-6.28111610e-01 -7.78054352e-01 1.03552263e-02 9.09983065e+02] [ 7.77947964e-01 -6.28196963e-01 -1.28662759e-02 1.89553158e+02] [ 1.65157836e-02 -2.56300942e-05 9.99863605e-01 7.32099291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.379254154 meters 0.01647557197014083 Centerline is valid? [True, True] Translation: X:909.97, Y:189.57, Z:7.32 [[-6.28343623e-01 -7.77873548e-01 9.85064880e-03 9.09967004e+02] [ 7.77777364e-01 -6.28420833e-01 -1.22322908e-02 1.89573728e+02] [ 1.57055284e-02 -2.44702784e-05 9.99876660e-01 7.32192524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4092541539999 meters 0.016101593623259535 Centerline is valid? [True, True] Translation: X:909.95, Y:189.59, Z:7.32 [[-6.28079849e-01 -7.78088349e-01 9.70692227e-03 9.09949358e+02] [ 7.77995096e-01 -6.28154854e-01 -1.20461622e-02 1.89594813e+02] [ 1.54704288e-02 -1.40138405e-05 9.99880326e-01 7.32249660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4392541539999 meters 0.01528823369950169 Centerline is valid? [True, True] Translation: X:909.93, Y:189.61, Z:7.32 [[-6.26927435e-01 -7.79011643e-01 1.01415659e-02 9.09930652e+02] [ 7.78910104e-01 -6.27009457e-01 -1.25773697e-02 1.89613345e+02] [ 1.61567752e-02 1.42700015e-05 9.99869471e-01 7.32183164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4692541539998 meters 0.015759616021220932 Centerline is valid? [True, True] Translation: X:909.91, Y:189.63, Z:7.32 [[-6.26388296e-01 -7.79441492e-01 1.04241277e-02 9.09912132e+02] [ 7.79334412e-01 -6.26475027e-01 -1.29195490e-02 1.89633533e+02] [ 1.66004882e-02 3.12271605e-05 9.99862202e-01 7.32119556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4992541539998 meters 0.017494050781854956 Centerline is valid? [True, True] Translation: X:909.89, Y:189.65, Z:7.32 [[-6.26038520e-01 -7.79711859e-01 1.11887624e-02 9.09893651e+02] [ 7.79588692e-01 -6.26138495e-01 -1.38584473e-02 1.89653661e+02] [ 1.78113106e-02 4.67107929e-05 9.99841365e-01 7.31917005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.5292541539998 meters 0.014494378076492145 Centerline is valid? [True, True] Translation: X:909.87, Y:189.67, Z:7.32 [[-6.23639345e-01 -7.81629880e-01 1.13444894e-02 9.09874151e+02] [ 7.81503712e-01 -6.23742510e-01 -1.40438504e-02 1.89672235e+02] [ 1.80531334e-02 1.07462928e-04 9.99837023e-01 7.32063439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.5592541539997 meters 0.01688613587045921 Centerline is valid? [True, True] Translation: X:909.86, Y:189.69, Z:7.32 [[-6.23743021e-01 -7.81539053e-01 1.18892087e-02 9.09856015e+02] [ 7.81400617e-01 -6.23856310e-01 -1.47098764e-02 1.89693021e+02] [ 1.89135007e-02 1.15052306e-04 9.99821117e-01 7.31846771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.589254154 meters 0.014617828101554384 Centerline is valid? [True, True] Translation: X:909.84, Y:189.71, Z:7.32 [[-6.22891543e-01 -7.82227055e-01 1.12676322e-02 9.09837575e+02] [ 7.82102978e-01 -6.22993432e-01 -1.39325748e-02 1.89713758e+02] [ 1.79180979e-02 1.33965680e-04 9.99839449e-01 7.32145427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.619254154 meters 0.017164987096297248 Centerline is valid? [True, True] Translation: X:909.82, Y:189.73, Z:7.32 [[-6.23574338e-01 -7.81679383e-01 1.15059621e-02 9.09820329e+02] [ 7.81550066e-01 -6.23680468e-01 -1.42186174e-02 1.89734864e+02] [ 1.82904439e-02 1.26120533e-04 9.99832708e-01 7.31975080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.649254154 meters 0.01730671667497329 Centerline is valid? [True, True] Translation: X:909.80, Y:189.75, Z:7.32 [[-6.24079877e-01 -7.81280993e-01 1.11497798e-02 9.09803560e+02] [ 7.81159644e-01 -6.24179459e-01 -1.37700224e-02 1.89754960e+02] [ 1.77177203e-02 1.16164182e-04 9.99843022e-01 7.31995228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.6792541539999 meters 0.01730671667497329 Centerline is valid? [True, True] Translation: X:909.79, Y:189.78, Z:7.32 [[-6.24330059e-01 -7.81081022e-01 1.11541276e-02 9.09787090e+02] [ 7.80959704e-01 -6.24429679e-01 -1.37665003e-02 1.89775002e+02] [ 1.77177205e-02 1.16084255e-04 9.99843022e-01 7.32013114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7092541539998 meters 0.015551545766353146 Centerline is valid? [True, True] Translation: X:909.77, Y:189.80, Z:7.32 [[-6.25129003e-01 -7.80457271e-01 1.00088426e-02 9.09770921e+02] [ 7.80359633e-01 -6.25209116e-01 -1.23452337e-02 1.89795418e+02] [ 1.58925470e-02 9.31331019e-05 9.99873701e-01 7.32273571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7392541539998 meters 0.01404658369629596 Centerline is valid? [True, True] Translation: X:909.76, Y:189.82, Z:7.33 [[-6.26419937e-01 -7.79437825e-01 8.64523309e-03 9.09755849e+02] [ 7.79364974e-01 -6.26479587e-01 -1.06566265e-02 1.89815909e+02] [ 1.37222398e-02 6.22685610e-05 9.99905844e-01 7.32514774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7692541539998 meters 0.014332410631921578 Centerline is valid? [True, True] Translation: X:909.74, Y:189.84, Z:7.33 [[-6.27692204e-01 -7.78413932e-01 8.61674629e-03 9.09739888e+02] [ 7.78341561e-01 -6.27751343e-01 -1.06144328e-02 1.89837190e+02] [ 1.36715964e-02 4.41750625e-05 9.99906538e-01 7.32510117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7992541539998 meters 0.013708541446803479 Centerline is valid? [True, True] Translation: X:909.72, Y:189.86, Z:7.33 [[-6.29542711e-01 -7.76923028e-01 8.15987819e-03 9.09724693e+02] [ 7.76858084e-01 -6.29595592e-01 -1.00453306e-02 1.89859621e+02] [ 1.29418720e-02 1.51026890e-05 9.99916250e-01 7.32695555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.829254154 meters 0.013684612154657078 Centerline is valid? [True, True] Translation: X:909.71, Y:189.88, Z:7.33 [[-6.30374152e-01 -7.76244595e-01 8.52981025e-03 9.09708296e+02] [ 7.76173660e-01 -6.30431859e-01 -1.04938023e-02 1.89881160e+02] [ 1.35232214e-02 5.59231787e-06 9.99908557e-01 7.32701406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.859254154 meters 0.01764733579628504 Centerline is valid? [True, True] Translation: X:909.69, Y:189.90, Z:7.32 [[-6.31363606e-01 -7.75430711e-01 9.33859769e-03 9.09692557e+02] [ 7.75345699e-01 -6.31432667e-01 -1.14819519e-02 1.89901848e+02] [ 1.48001538e-02 -8.64502034e-06 9.99890472e-01 7.32387862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.889254154 meters 0.013696932209542542 Centerline is valid? [True, True] Translation: X:909.68, Y:189.92, Z:7.33 [[-6.30868891e-01 -7.75835773e-01 9.12667587e-03 9.09675136e+02] [ 7.75754710e-01 -6.30934904e-01 -1.12150442e-02 1.89922575e+02] [ 1.44593709e-02 4.83929016e-06 9.99895458e-01 7.32626730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9192541539999 meters 0.013726922517848947 Centerline is valid? [True, True] Translation: X:909.66, Y:189.94, Z:7.33 [[-6.30784811e-01 -7.75896875e-01 9.72424386e-03 9.09657116e+02] [ 7.75804977e-01 -6.30859761e-01 -1.19414571e-02 1.89943682e+02] [ 1.53999734e-02 1.16270236e-05 9.99881413e-01 7.32553954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9492541539998 meters 0.016887410375613053 Centerline is valid? [True, True] Translation: X:909.64, Y:189.97, Z:7.32 [[-6.31059328e-01 -7.75655168e-01 1.10989141e-02 9.09639112e+02] [ 7.75535564e-01 -6.31156922e-01 -1.36208731e-02 1.89965528e+02] [ 1.75702571e-02 1.20235841e-05 9.99845631e-01 7.32204522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9792541539998 meters 0.01677027845009294 Centerline is valid? [True, True] Translation: X:909.62, Y:189.99, Z:7.32 [[-6.31108894e-01 -7.75590707e-01 1.26735542e-02 9.09621865e+02] [ 7.75434898e-01 -6.31236133e-01 -1.55455469e-02 1.89985935e+02] [ 2.00569871e-02 1.65833089e-05 9.99798838e-01 7.31972335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.0092541539998 meters 0.016713898844925336 Centerline is valid? [True, True] Translation: X:909.60, Y:190.01, Z:7.32 [[-6.31614417e-01 -7.75171831e-01 1.31096052e-02 9.09604722e+02] [ 7.75005214e-01 -6.31750452e-01 -1.60712524e-02 1.90007660e+02] [ 2.07399812e-02 9.17770428e-06 9.99784903e-01 7.31929677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.0392541539998 meters 0.015878182896314326 Centerline is valid? [True, True] Translation: X:909.59, Y:190.03, Z:7.32 [[-6.32701208e-01 -7.74289254e-01 1.28581996e-02 9.09587742e+02] [ 7.74128976e-01 -6.32831851e-01 -1.57536202e-02 1.90029651e+02] [ 2.03349371e-02 -1.34296017e-05 9.99793224e-01 7.32106425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.0692541539997 meters 0.013833118269491362 Centerline is valid? [True, True] Translation: X:909.57, Y:190.05, Z:7.32 [[-6.32981914e-01 -7.74075415e-01 1.18805413e-02 9.09571601e+02] [ 7.73938691e-01 -6.33093398e-01 -1.45482320e-02 1.90050105e+02] [ 1.87829210e-02 -1.39571479e-05 9.99823585e-01 7.32354323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.099254154 meters 0.017268736778012363 Centerline is valid? [True, True] Translation: X:909.56, Y:190.07, Z:7.32 [[-6.34027377e-01 -7.73214933e-01 1.21635450e-02 9.09555297e+02] [ 7.73071638e-01 -6.34144042e-01 -1.48854624e-02 1.90071380e+02] [ 1.92231014e-02 -3.44990426e-05 9.99815219e-01 7.32207279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.129254154 meters 0.016454958596328558 Centerline is valid? [True, True] Translation: X:909.54, Y:190.09, Z:7.32 [[-6.34302662e-01 -7.73015065e-01 1.03847217e-02 9.09537927e+02] [ 7.72910721e-01 -6.34387665e-01 -1.27007225e-02 1.90092183e+02] [ 1.64057892e-02 -2.96394193e-05 9.99865416e-01 7.32472223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1592541539999 meters 0.01360131768378699 Centerline is valid? [True, True] Translation: X:909.52, Y:190.11, Z:7.33 [[-6.33862312e-01 -7.73390730e-01 9.23836776e-03 9.09519900e+02] [ 7.73308293e-01 -6.33929632e-01 -1.12918198e-02 1.90112920e+02] [ 1.45894639e-02 -1.33526261e-05 9.99893568e-01 7.32794206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1892541539999 meters 0.013546502314949901 Centerline is valid? [True, True] Translation: X:909.50, Y:190.13, Z:7.33 [[-6.33405804e-01 -7.73774464e-01 8.37655821e-03 9.09502074e+02] [ 7.73706807e-01 -6.33461190e-01 -1.02321448e-02 1.90133177e+02] [ 1.32235969e-02 -9.98150815e-08 9.99912564e-01 7.32925760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2192541539998 meters 0.01357114931899421 Centerline is valid? [True, True] Translation: X:909.48, Y:190.15, Z:7.33 [[-6.32795482e-01 -7.74274402e-01 8.30830597e-03 9.09484581e+02] [ 7.74207964e-01 -6.32850022e-01 -1.01428974e-02 1.90152952e+02] [ 1.31112974e-02 1.39770316e-05 9.99914043e-01 7.32914120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2492541539998 meters 0.016815727484716957 Centerline is valid? [True, True] Translation: X:909.47, Y:190.17, Z:7.33 [[-6.32530040e-01 -7.74487346e-01 8.66598661e-03 9.09466920e+02] [ 7.74415169e-01 -6.32589401e-01 -1.05733469e-02 1.90173481e+02] [ 1.36709346e-02 2.31119644e-05 9.99906548e-01 7.32757730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2792541539998 meters 0.013783971481989609 Centerline is valid? [True, True] Translation: X:909.45, Y:190.19, Z:7.33 [[-6.29723983e-01 -7.76769714e-01 8.74734528e-03 9.09447371e+02] [ 7.76696486e-01 -6.29784729e-01 -1.06659941e-02 1.90193244e+02] [ 1.37939657e-02 7.74000214e-05 9.99904856e-01 7.32978901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.3092541539997 meters 0.013936358301091148 Centerline is valid? [True, True] Translation: X:909.43, Y:190.21, Z:7.33 [[-6.28368685e-01 -7.77862376e-01 9.10600929e-03 9.09427962e+02] [ 7.77783235e-01 -6.28434652e-01 -1.10963316e-02 1.90213006e+02] [ 1.43539506e-02 1.09914070e-04 9.99896971e-01 7.32950839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.339254154 meters 0.014099020533371724 Centerline is valid? [True, True] Translation: X:909.41, Y:190.23, Z:7.33 [[-6.26733089e-01 -7.79174924e-01 9.59552582e-03 9.09408142e+02] [ 7.79087307e-01 -6.26806522e-01 -1.16855839e-02 1.90233634e+02] [ 1.51196521e-02 1.52010278e-04 9.99885680e-01 7.32931219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.369254154 meters 0.015295981720199888 Centerline is valid? [True, True] Translation: X:909.39, Y:190.25, Z:7.33 [[-6.23221525e-01 -7.81976049e-01 1.04110225e-02 9.09385696e+02] [ 7.81873424e-01 -6.23308430e-01 -1.26708182e-02 1.90250775e+02] [ 1.63975544e-02 2.43375167e-04 9.99865521e-01 7.32725092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.399254154 meters 0.01760566548581761 Centerline is valid? [True, True] Translation: X:909.37, Y:190.27, Z:7.33 [[-6.22357181e-01 -7.82656370e-01 1.09793121e-02 9.09366499e+02] [ 7.82542482e-01 -6.22453956e-01 -1.33542478e-02 1.90271782e+02] [ 1.72859034e-02 2.80666109e-04 9.99850548e-01 7.32530637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4292541539999 meters 0.01649765124757926 Centerline is valid? [True, True] Translation: X:909.35, Y:190.29, Z:7.33 [[-6.20743270e-01 -7.83934983e-01 1.11236291e-02 9.09346962e+02] [ 7.83818425e-01 -6.20842844e-01 -1.35218321e-02 1.90291789e+02] [ 1.75062627e-02 3.25319207e-04 9.99846701e-01 7.32607306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4592541539998 meters 0.017445071126336104 Centerline is valid? [True, True] Translation: X:909.33, Y:190.31, Z:7.33 [[-6.21072841e-01 -7.83666573e-01 1.16288045e-02 9.09329875e+02] [ 7.83539311e-01 -6.21181607e-01 -1.41265876e-02 1.90311592e+02] [ 1.82941339e-02 3.37985595e-04 9.99832591e-01 7.32546429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4892541539998 meters 0.0178329539455898 Centerline is valid? [True, True] Translation: X:909.31, Y:190.33, Z:7.33 [[-6.21988070e-01 -7.82938593e-01 1.17473089e-02 9.09313151e+02] [ 7.82808770e-01 -6.22098909e-01 -1.42610062e-02 1.90333197e+02] [ 1.84734802e-02 3.25720699e-04 9.99829298e-01 7.32514654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.5192541539998 meters 0.015123741156696034 Centerline is valid? [True, True] Translation: X:909.30, Y:190.36, Z:7.33 [[-6.24278204e-01 -7.81133266e-01 1.03703753e-02 9.09296816e+02] [ 7.81031964e-01 -6.24364285e-01 -1.25821729e-02 1.90356316e+02] [ 1.63032458e-02 2.44818315e-04 9.99867063e-01 7.32850852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.5492541539998 meters 0.015996742060450056 Centerline is valid? [True, True] Translation: X:909.28, Y:190.38, Z:7.33 [[-6.26127405e-01 -7.79655631e-01 1.00781934e-02 9.09281416e+02] [ 7.79559867e-01 -6.26208476e-01 -1.22212172e-02 1.90377188e+02] [ 1.58393909e-02 2.04516154e-04 9.99874528e-01 7.32789928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.579254154 meters 0.014834235070126578 Centerline is valid? [True, True] Translation: X:909.27, Y:190.40, Z:7.33 [[-6.29542875e-01 -7.76916945e-01 8.70801493e-03 9.09266264e+02] [ 7.76845258e-01 -6.29603087e-01 -1.05545465e-02 1.90401807e+02] [ 1.36825991e-02 1.20240555e-04 9.99906382e-01 7.33044335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.609254154 meters 0.015069242447525819 Centerline is valid? [True, True] Translation: X:909.25, Y:190.42, Z:7.33 [[-6.31465270e-01 -7.75359947e-01 8.28043393e-03 9.09250303e+02] [ 7.75295069e-01 -6.31519552e-01 -1.00305201e-02 1.90424160e+02] [ 1.30065195e-02 8.58544901e-05 9.99915408e-01 7.33076750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.639254154 meters 0.013661600526444953 Centerline is valid? [True, True] Translation: X:909.23, Y:190.45, Z:7.33 [[-6.33068181e-01 -7.74061679e-01 7.29354355e-03 9.09233848e+02] [ 7.74011319e-01 -6.33110191e-01 -8.82973757e-03 1.90446236e+02] [ 1.14523782e-02 5.54593598e-05 9.99934418e-01 7.33261738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6692541539999 meters 0.01667043331918474 Centerline is valid? [True, True] Translation: X:909.22, Y:190.47, Z:7.33 [[-6.36940848e-01 -7.70874098e-01 7.71239442e-03 9.09218732e+02] [ 7.70817625e-01 -6.36987539e-01 -9.33079697e-03 1.90470259e+02] [ 1.21055688e-02 1.68381196e-06 9.99926725e-01 7.33046932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6992541539998 meters 0.015581656429296036 Centerline is valid? [True, True] Translation: X:909.20, Y:190.49, Z:7.33 [[-6.38418583e-01 -7.69652510e-01 7.53169768e-03 9.09202754e+02] [ 7.69598634e-01 -6.38463009e-01 -9.10653101e-03 1.90491315e+02] [ 1.18175748e-02 -1.73943832e-05 9.99930170e-01 7.33023614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7292541539998 meters 0.013821924620546325 Centerline is valid? [True, True] Translation: X:909.19, Y:190.51, Z:7.33 [[-6.40225476e-01 -7.68144024e-01 8.13004085e-03 9.09187275e+02] [ 7.68081215e-01 -6.40277093e-01 -9.82302676e-03 1.90513146e+02] [ 1.27509782e-02 -4.44203346e-05 9.99918702e-01 7.32957283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7592541539998 meters 0.013682907629462532 Centerline is valid? [True, True] Translation: X:909.17, Y:190.53, Z:7.33 [[-6.40627094e-01 -7.67802428e-01 8.73835121e-03 9.09169491e+02] [ 7.67729929e-01 -6.40686686e-01 -1.05511657e-02 1.90534478e+02] [ 1.36997559e-02 -5.06688541e-05 9.99906153e-01 7.32969448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7892541539998 meters 0.015465407482491079 Centerline is valid? [True, True] Translation: X:909.15, Y:190.55, Z:7.33 [[-6.40375726e-01 -7.67993334e-01 1.02551923e-02 9.09151609e+02] [ 7.67893611e-01 -6.40457833e-01 -1.23760105e-02 1.90554183e+02] [ 1.60727118e-02 -5.04000826e-05 9.99870824e-01 7.32646768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.8192541539997 meters 0.013631609489409384 Centerline is valid? [True, True] Translation: X:909.13, Y:190.57, Z:7.33 [[-6.39634693e-01 -7.68609937e-01 1.03065562e-02 9.09132255e+02] [ 7.68509397e-01 -6.39717722e-01 -1.24315013e-02 1.90574904e+02] [ 1.61482621e-02 -3.09342564e-05 9.99869608e-01 7.32788416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.849254154 meters 0.013642366917854417 Centerline is valid? [True, True] Translation: X:909.11, Y:190.60, Z:7.33 [[-6.39074064e-01 -7.69071445e-01 1.06514543e-02 9.09113943e+02] [ 7.68964259e-01 -6.39162822e-01 -1.28395953e-02 1.90595086e+02] [ 1.66825797e-02 -1.48647310e-05 9.99860836e-01 7.32725826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.879254154 meters 0.016202041799936062 Centerline is valid? [True, True] Translation: X:909.10, Y:190.61, Z:7.32 [[-6.38390761e-01 -7.69623734e-01 1.16852117e-02 9.09095092e+02] [ 7.69494989e-01 -6.38497696e-01 -1.40767308e-02 1.90614711e+02] [ 1.82947669e-02 5.25690239e-06 9.99832637e-01 7.32444507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9092541539999 meters 0.015365010765489882 Centerline is valid? [True, True] Translation: X:909.08, Y:190.64, Z:7.33 [[-6.37992161e-01 -7.69959826e-01 1.13078733e-02 9.09076108e+02] [ 7.69839457e-01 -6.38092364e-01 -1.36141297e-02 1.90635969e+02] [ 1.76978005e-02 1.95390300e-05 9.99843381e-01 7.32598646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9392541539999 meters 0.015864769428664414 Centerline is valid? [True, True] Translation: X:909.06, Y:190.66, Z:7.33 [[-6.36726355e-01 -7.71016366e-01 1.06448240e-02 9.09057754e+02] [ 7.70909974e-01 -6.36815328e-01 -1.28082537e-02 1.90655436e+02] [ 1.66541603e-02 5.08483089e-05 9.99861309e-01 7.32705014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9692541539998 meters 0.013851112775557206 Centerline is valid? [True, True] Translation: X:909.04, Y:190.67, Z:7.33 [[-6.35775852e-01 -7.71812951e-01 9.68682037e-03 9.09039461e+02] [ 7.71725034e-01 -6.35849640e-01 -1.16493461e-02 1.90674621e+02] [ 1.51504774e-02 6.91888527e-05 9.99885223e-01 7.32929610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9992541539998 meters 0.013978732118095154 Centerline is valid? [True, True] Translation: X:909.02, Y:190.69, Z:7.33 [[-6.34419056e-01 -7.72941425e-01 8.60317415e-03 9.09019860e+02] [ 7.72872259e-01 -6.34477380e-01 -1.03405223e-02 1.90693540e+02] [ 1.34511375e-02 8.89302230e-05 9.99909525e-01 7.33003090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.0292541539998 meters 0.014060312261015296 Centerline is valid? [True, True] Translation: X:909.00, Y:190.71, Z:7.33 [[-6.33810261e-01 -7.73441897e-01 8.49616608e-03 9.09001172e+02] [ 7.73374573e-01 -6.33867195e-01 -1.02053469e-02 1.90713380e+02] [ 1.32786838e-02 1.02465247e-04 9.99911829e-01 7.33026617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.0592541539997 meters 0.01740138575721081 Centerline is valid? [True, True] Translation: X:908.98, Y:190.73, Z:7.33 [[-6.32465604e-01 -7.74530930e-01 9.43918512e-03 9.08981585e+02] [ 7.74448058e-01 -6.32536021e-01 -1.13308213e-02 1.90733744e+02] [ 1.47466961e-02 1.43803871e-04 9.99891251e-01 7.32756350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.089254154 meters 0.014702863534939888 Centerline is valid? [True, True] Translation: X:908.96, Y:190.75, Z:7.33 [[-6.31605371e-01 -7.75238829e-01 8.91142496e-03 9.08963097e+02] [ 7.75165120e-01 -6.31668215e-01 -1.06912546e-02 1.90754841e+02] [ 1.39173396e-02 1.55171946e-04 9.99903137e-01 7.32997675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.119254154 meters 0.01460297108354132 Centerline is valid? [True, True] Translation: X:908.94, Y:190.78, Z:7.33 [[-6.30811446e-01 -7.75887406e-01 8.69782904e-03 9.08944875e+02] [ 7.75817332e-01 -6.30871385e-01 -1.04289080e-02 1.90775624e+02] [ 1.35788699e-02 1.69251959e-04 9.99907789e-01 7.33027559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.149254154 meters 0.016846235732994926 Centerline is valid? [True, True] Translation: X:908.93, Y:190.79, Z:7.33 [[-6.29827636e-01 -7.76675189e-01 9.63329836e-03 9.08926145e+02] [ 7.76589433e-01 -6.29901267e-01 -1.15431934e-02 1.90794850e+02] [ 1.50333387e-02 2.10895528e-04 9.99886971e-01 7.32825234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.1792541539999 meters 0.015463294544581483 Centerline is valid? [True, True] Translation: X:908.91, Y:190.82, Z:7.33 [[-6.29019172e-01 -7.77339489e-01 8.84306902e-03 9.08908668e+02] [ 7.77267377e-01 -6.29081293e-01 -1.05901390e-02 1.90816991e+02] [ 1.37951425e-02 2.12028618e-04 9.99904820e-01 7.33030444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2092541539998 meters 0.01574984863357389 Centerline is valid? [True, True] Translation: X:908.89, Y:190.84, Z:7.33 [[-6.29077267e-01 -7.77291255e-01 8.94971814e-03 9.08890881e+02] [ 7.77217479e-01 -6.29140889e-01 -1.07113296e-02 1.90837532e+02] [ 1.39564565e-02 2.17623413e-04 9.99902580e-01 7.33025890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2392541539998 meters 0.015920016948727345 Centerline is valid? [True, True] Translation: X:908.87, Y:190.86, Z:7.33 [[-6.29539448e-01 -7.76918696e-01 8.79907313e-03 9.08873686e+02] [ 7.76847433e-01 -6.29600902e-01 -1.05247370e-02 1.90859845e+02] [ 1.37167693e-02 2.09800263e-04 9.99905899e-01 7.33041449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2692541539998 meters 0.016600723652127076 Centerline is valid? [True, True] Translation: X:908.86, Y:190.88, Z:7.33 [[-6.30175135e-01 -7.76402547e-01 8.85353787e-03 9.08857007e+02] [ 7.76330438e-01 -6.30237292e-01 -1.05833174e-02 1.90880786e+02] [ 1.37967443e-02 2.03927464e-04 9.99904800e-01 7.33014055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2992541539998 meters 0.015252808168729539 Centerline is valid? [True, True] Translation: X:908.84, Y:190.90, Z:7.33 [[-6.31035899e-01 -7.75708915e-01 8.32907898e-03 9.08840426e+02] [ 7.75645119e-01 -6.31090839e-01 -9.94996960e-03 1.90901682e+02] [ 1.29746856e-02 1.81621443e-04 9.99915809e-01 7.33153879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.329254154 meters 0.01558727717402191 Centerline is valid? [True, True] Translation: X:908.82, Y:190.92, Z:7.33 [[-6.31489132e-01 -7.75335304e-01 8.75450763e-03 9.08824013e+02] [ 7.75264888e-01 -6.31549785e-01 -1.04509559e-02 1.90921929e+02] [ 1.36319025e-02 1.87397288e-04 9.99907064e-01 7.33056586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.359254154 meters 0.016321156556783626 Centerline is valid? [True, True] Translation: X:908.81, Y:190.95, Z:7.33 [[-6.31801570e-01 -7.75070870e-01 9.58760813e-03 9.08807867e+02] [ 7.74986495e-01 -6.31874280e-01 -1.14379926e-02 1.90945693e+02] [ 1.49234178e-02 2.03725151e-04 9.99888619e-01 7.33021621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.389254154 meters 0.01787647787572629 Centerline is valid? [True, True] Translation: X:908.79, Y:190.97, Z:7.33 [[-6.31883061e-01 -7.74997185e-01 1.01568203e-02 9.08790042e+02] [ 7.74902603e-01 -6.31964648e-01 -1.21095105e-02 1.90966527e+02] [ 1.58035879e-02 2.18751895e-04 9.99875092e-01 7.32879824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4192541539999 meters 0.01690224090276121 Centerline is valid? [True, True] Translation: X:908.77, Y:190.99, Z:7.33 [[-6.31547284e-01 -7.75271635e-01 1.00955104e-02 9.08772073e+02] [ 7.75178340e-01 -6.31627928e-01 -1.20291785e-02 1.90987874e+02] [ 1.57024872e-02 2.28826000e-04 9.99876682e-01 7.32950616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4492541539998 meters 0.015399676058720507 Centerline is valid? [True, True] Translation: X:908.75, Y:191.01, Z:7.33 [[-6.30769590e-01 -7.75904956e-01 1.00610071e-02 9.08753002e+02] [ 7.75812492e-01 -6.30849774e-01 -1.19808053e-02 1.91007709e+02] [ 1.56429503e-02 2.48327357e-04 9.99877611e-01 7.33056497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4792541539998 meters 0.01644067588569917 Centerline is valid? [True, True] Translation: X:908.73, Y:191.03, Z:7.33 [[-6.30372878e-01 -7.76211764e-01 1.11952005e-02 9.08734269e+02] [ 7.76097447e-01 -6.30472215e-01 -1.33243591e-02 1.91027148e+02] [ 1.74007872e-02 2.89251964e-04 9.99848553e-01 7.32834029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.5092541539998 meters 0.01597713364868104 Centerline is valid? [True, True] Translation: X:908.72, Y:191.05, Z:7.33 [[-6.30299460e-01 -7.76271420e-01 1.11925236e-02 9.08716080e+02] [ 7.76157298e-01 -6.30398759e-01 -1.33136754e-02 1.91047786e+02] [ 1.73907786e-02 2.95556446e-04 9.99848725e-01 7.32850068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.5392541539998 meters 0.016145438414179866 Centerline is valid? [True, True] Translation: X:908.70, Y:191.07, Z:7.33 [[-6.30092890e-01 -7.76434787e-01 1.14878942e-02 9.08697598e+02] [ 7.76314755e-01 -6.30197527e-01 -1.36557324e-02 1.91066546e+02] [ 1.78424282e-02 3.13841866e-04 9.99840762e-01 7.32820461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.5692541539997 meters 0.016773823786308772 Centerline is valid? [True, True] Translation: X:908.68, Y:191.09, Z:7.33 [[-6.29646395e-01 -7.76792275e-01 1.17973870e-02 9.08679951e+02] [ 7.76665911e-01 -6.29756816e-01 -1.40148519e-02 1.91087952e+02] [ 1.83161136e-02 3.38227385e-04 9.99832189e-01 7.32809569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.599254154 meters 0.016773823786308772 Centerline is valid? [True, True] Translation: X:908.66, Y:191.11, Z:7.33 [[-6.29895377e-01 -7.76590326e-01 1.18016930e-02 9.08662621e+02] [ 7.76463994e-01 -6.30005834e-01 -1.40112257e-02 1.91108362e+02] [ 1.83161177e-02 3.37983393e-04 9.99832189e-01 7.32828042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.629254154 meters 0.01619955163639311 Centerline is valid? [True, True] Translation: X:908.64, Y:191.13, Z:7.33 [[-6.29546951e-01 -7.76879363e-01 1.13618465e-02 9.08644571e+02] [ 7.76762473e-01 -6.29649379e-01 -1.34803775e-02 1.91128854e+02] [ 1.76266067e-02 3.38925454e-04 9.99844582e-01 7.32953831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6592541539999 meters 0.02008920490295741 Centerline is valid? [True, True] Translation: X:908.63, Y:191.15, Z:7.33 [[-6.29720723e-01 -7.76728553e-01 1.20235632e-02 9.08627328e+02] [ 7.76597806e-01 -6.29835395e-01 -1.42556489e-02 1.91149390e+02] [ 1.86456352e-02 3.60395264e-04 9.99826090e-01 7.32751525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6892541539999 meters 0.018323073857496985 Centerline is valid? [True, True] Translation: X:908.61, Y:191.17, Z:7.33 [[-6.29580161e-01 -7.76848701e-01 1.16153604e-02 9.08608752e+02] [ 7.76726855e-01 -6.29687199e-01 -1.37631757e-02 1.91171065e+02] [ 1.80059489e-02 3.56939917e-04 9.99837816e-01 7.32928089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7192541539998 meters 0.018980450193039882 Centerline is valid? [True, True] Translation: X:908.59, Y:191.19, Z:7.33 [[-6.29585347e-01 -7.76849275e-01 1.12913884e-02 9.08590725e+02] [ 7.76734256e-01 -6.29686494e-01 -1.33721623e-02 1.91189793e+02] [ 1.74981893e-02 3.51490730e-04 9.99846833e-01 7.32886678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7492541539998 meters 0.016339586578819162 Centerline is valid? [True, True] Translation: X:908.57, Y:191.21, Z:7.33 [[-6.29461747e-01 -7.76959531e-01 1.05733935e-02 9.08573218e+02] [ 7.76858802e-01 -6.29550454e-01 -1.25150908e-02 1.91212068e+02] [ 1.63802038e-02 3.36262938e-04 9.99865779e-01 7.33169866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7792541539998 meters 0.0163551582244146 Centerline is valid? [True, True] Translation: X:908.56, Y:191.23, Z:7.33 [[-6.30061431e-01 -7.76470144e-01 1.08031740e-02 9.08555220e+02] [ 7.76365043e-01 -6.30153952e-01 -1.27795374e-02 1.91233382e+02] [ 1.67305920e-02 3.35313029e-04 9.99859978e-01 7.33159796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.8092541539997 meters 0.01788605619856895 Centerline is valid? [True, True] Translation: X:908.54, Y:191.25, Z:7.33 [[-6.31825366e-01 -7.75012841e-01 1.23208763e-02 9.08539078e+02] [ 7.74876043e-01 -6.31945392e-01 -1.45650218e-02 1.91254295e+02] [ 1.90741999e-02 3.44601623e-04 9.99818012e-01 7.32913053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.839254154 meters 0.017454985307106742 Centerline is valid? [True, True] Translation: X:908.52, Y:191.28, Z:7.33 [[-6.32322955e-01 -7.74602034e-01 1.26241757e-02 9.08521601e+02] [ 7.74458530e-01 -6.32448867e-01 -1.49136145e-02 1.91275153e+02] [ 1.95362617e-02 3.46679741e-04 9.99809089e-01 7.32942450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.869254154 meters 0.016457396376042394 Centerline is valid? [True, True] Translation: X:908.50, Y:191.30, Z:7.33 [[-6.32531786e-01 -7.74438299e-01 1.22008477e-02 9.08503555e+02] [ 7.74304393e-01 -6.32649357e-01 -1.44048390e-02 1.91296849e+02] [ 1.88745174e-02 3.35651395e-04 9.99821804e-01 7.33085220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.899254154 meters 0.0169224438087326 Centerline is valid? [True, True] Translation: X:908.48, Y:191.32, Z:7.33 [[-6.32459082e-01 -7.74491846e-01 1.25654403e-02 9.08484589e+02] [ 7.74349998e-01 -6.32583794e-01 -1.48264668e-02 1.91317438e+02] [ 1.94316716e-02 3.52915072e-04 9.99811125e-01 7.33083221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9292541539999 meters 0.01756834882548289 Centerline is valid? [True, True] Translation: X:908.47, Y:191.34, Z:7.33 [[-6.32693043e-01 -7.74295517e-01 1.28827850e-02 9.08466190e+02] [ 7.74146552e-01 -6.32824085e-01 -1.51918728e-02 1.91338819e+02] [ 1.99155356e-02 3.61371351e-04 9.99801601e-01 7.33040807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9592541539998 meters 0.01847318863698946 Centerline is valid? [True, True] Translation: X:908.45, Y:191.36, Z:7.33 [[-6.32984064e-01 -7.74058056e-01 1.28569196e-02 9.08447631e+02] [ 7.73909824e-01 -6.33114521e-01 -1.51521182e-02 1.91358631e+02] [ 1.98685216e-02 3.59047053e-04 9.99802537e-01 7.32979444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9892541539998 meters 0.01835628747754765 Centerline is valid? [True, True] Translation: X:908.43, Y:191.38, Z:7.33 [[-6.33417846e-01 -7.73702904e-01 1.28704363e-02 9.08430210e+02] [ 7.73554467e-01 -6.33548491e-01 -1.51590240e-02 1.91380489e+02] [ 1.98826264e-02 3.53987211e-04 9.99802258e-01 7.33049434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.0192541539998 meters 0.016583707585937274 Centerline is valid? [True, True] Translation: X:908.41, Y:191.40, Z:7.33 [[-6.34526562e-01 -7.72815476e-01 1.15013614e-02 9.08412062e+02] [ 7.72696929e-01 -6.34630721e-01 -1.35390133e-02 1.91401264e+02] [ 1.77622763e-02 2.96203089e-04 9.99842194e-01 7.33246224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.0492541539998 meters 0.01836047084313055 Centerline is valid? [True, True] Translation: X:908.40, Y:191.43, Z:7.33 [[-6.35901362e-01 -7.71670353e-01 1.24227542e-02 9.08397162e+02] [ 7.71531997e-01 -6.36022627e-01 -1.46148880e-02 1.91425232e+02] [ 1.91790285e-02 2.90925172e-04 9.99816023e-01 7.33246896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.079254154 meters 0.015367909693984685 Centerline is valid? [True, True] Translation: X:908.38, Y:191.45, Z:7.33 [[-6.36351389e-01 -7.71321646e-01 1.09466295e-02 9.08379392e+02] [ 7.71214269e-01 -6.36445485e-01 -1.28722993e-02 1.91445675e+02] [ 1.68956161e-02 2.50891329e-04 9.99857227e-01 7.33479956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.109254154 meters 0.01568409729118601 Centerline is valid? [True, True] Translation: X:908.36, Y:191.47, Z:7.33 [[-6.37317692e-01 -7.70510611e-01 1.18134915e-02 9.08362670e+02] [ 7.70385550e-01 -6.37427122e-01 -1.38841264e-02 1.91468545e+02] [ 1.82281066e-02 2.52343737e-04 9.99833822e-01 7.33459816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.139254154 meters 0.01748390739588581 Centerline is valid? [True, True] Translation: X:908.34, Y:191.49, Z:7.33 [[-6.37710381e-01 -7.70174809e-01 1.24993093e-02 9.08344912e+02] [ 7.70034883e-01 -6.37832811e-01 -1.46827920e-02 1.91489388e+02] [ 1.92807862e-02 2.61535299e-04 9.99814074e-01 7.33335850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1692541539999 meters 0.01732676854538173 Centerline is valid? [True, True] Translation: X:908.33, Y:191.51, Z:7.33 [[-6.38052012e-01 -7.69889609e-01 1.26340394e-02 9.08326467e+02] [ 7.69746754e-01 -6.38177030e-01 -1.48328552e-02 1.91509022e+02] [ 1.94824148e-02 2.60877720e-04 9.99810166e-01 7.33236496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1992541539998 meters 0.01636859803678176 Centerline is valid? [True, True] Translation: X:908.31, Y:191.53, Z:7.33 [[-6.38358352e-01 -7.69640532e-01 1.23315018e-02 9.08308746e+02] [ 7.69504552e-01 -6.38477398e-01 -1.44691481e-02 1.91530655e+02] [ 1.90094280e-02 2.52645239e-04 9.99819273e-01 7.33371378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2292541539998 meters 0.017358445512809007 Centerline is valid? [True, True] Translation: X:908.29, Y:191.55, Z:7.33 [[-6.39806967e-01 -7.68443268e-01 1.19158938e-02 9.08291559e+02] [ 7.68316251e-01 -6.39917883e-01 -1.39728842e-02 1.91551563e+02] [ 1.83625623e-02 2.15226203e-04 9.99831371e-01 7.33409401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2592541539998 meters 0.014614137503216875 Centerline is valid? [True, True] Translation: X:908.27, Y:191.57, Z:7.34 [[-6.40287204e-01 -7.68062064e-01 1.06283844e-02 9.08273982e+02] [ 7.67961091e-01 -6.40375383e-01 -1.24551778e-02 1.91571652e+02] [ 1.63725053e-02 1.87294699e-04 9.99865944e-01 7.33652135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2892541539998 meters 0.014358390215657582 Centerline is valid? [True, True] Translation: X:908.26, Y:191.59, Z:7.34 [[-6.42148830e-01 -7.66519410e-01 9.63712742e-03 9.08257382e+02] [ 7.66436320e-01 -6.42221126e-01 -1.12868567e-02 1.91593239e+02] [ 1.48407616e-02 1.38402661e-04 9.99889860e-01 7.33756110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.3192541539997 meters 0.016407348784228885 Centerline is valid? [True, True] Translation: X:908.24, Y:191.61, Z:7.34 [[-6.43549935e-01 -7.65339602e-01 9.93850920e-03 9.08241022e+02] [ 7.65251203e-01 -6.43626661e-01 -1.16326424e-02 1.91614514e+02] [ 1.52996114e-02 1.19269864e-04 9.99882947e-01 7.33675689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.349254154 meters 0.01582609135391286 Centerline is valid? [True, True] Translation: X:908.22, Y:191.64, Z:7.34 [[-6.44706329e-01 -7.64370962e-01 9.52797075e-03 9.08223236e+02] [ 7.64289706e-01 -6.44776724e-01 -1.11454690e-02 1.91636326e+02] [ 1.46626866e-02 9.65755812e-05 9.99892492e-01 7.33757958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.379254154 meters 0.013880384165328044 Centerline is valid? [True, True] Translation: X:908.21, Y:191.66, Z:7.34 [[-6.45956005e-01 -7.63328892e-01 8.35713035e-03 9.08205271e+02] [ 7.63266361e-01 -6.46010060e-01 -9.77056700e-03 1.91658176e+02] [ 1.28569464e-02 6.73600454e-05 9.99917344e-01 7.33905002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4092541539999 meters 0.015869428662549333 Centerline is valid? [True, True] Translation: X:908.19, Y:191.68, Z:7.34 [[-6.47653833e-01 -7.61888447e-01 8.39688783e-03 9.08186883e+02] [ 7.61825271e-01 -6.47708262e-01 -9.81135551e-03 1.91679937e+02] [ 1.29138920e-02 4.25993452e-05 9.99916611e-01 7.33775533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4392541539999 meters 0.015671959819498815 Centerline is valid? [True, True] Translation: X:908.17, Y:191.70, Z:7.34 [[-6.48222182e-01 -7.61406376e-01 8.26640693e-03 9.08169623e+02] [ 7.61345176e-01 -6.48274888e-01 -9.65370045e-03 1.91699438e+02] [ 1.27092931e-02 3.58462610e-05 9.99919233e-01 7.33758478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4692541539998 meters 0.016919555683573298 Centerline is valid? [True, True] Translation: X:908.15, Y:191.72, Z:7.34 [[-6.48768586e-01 -7.60934529e-01 8.82975264e-03 9.08152090e+02] [ 7.60864741e-01 -6.48828669e-01 -1.03055214e-02 1.91719776e+02] [ 1.35708237e-02 3.23489332e-05 9.99907912e-01 7.33676941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4992541539998 meters 0.01398026136747635 Centerline is valid? [True, True] Translation: X:908.13, Y:191.74, Z:7.34 [[-6.48477122e-01 -7.61186899e-01 8.48096303e-03 9.08132287e+02] [ 7.61122615e-01 -6.48532577e-01 -9.89248884e-03 1.91740201e+02] [ 1.30302137e-02 4.00000683e-05 9.99915102e-01 7.33730714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.5292541539998 meters 0.015144871207482912 Centerline is valid? [True, True] Translation: X:908.11, Y:191.76, Z:7.34 [[-6.48642663e-01 -7.61034437e-01 9.44888696e-03 9.08114181e+02] [ 7.60954726e-01 -6.48711479e-01 -1.10145656e-02 1.91760271e+02] [ 1.45120652e-02 4.56580107e-05 9.99894693e-01 7.33560967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.5592541539997 meters 0.016807960058022122 Centerline is valid? [True, True] Translation: X:908.09, Y:191.78, Z:7.33 [[-6.48167894e-01 -7.61424605e-01 1.05333770e-02 9.08094641e+02] [ 7.61325728e-01 -6.48253474e-01 -1.22706856e-02 1.91779499e+02] [ 1.61715002e-02 6.58664592e-05 9.99869231e-01 7.33338124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.589254154 meters 0.016190680844427544 Centerline is valid? [True, True] Translation: X:908.08, Y:191.80, Z:7.33 [[-6.47901480e-01 -7.61648717e-01 1.07193301e-02 9.08076300e+02] [ 7.61546484e-01 -6.47990143e-01 -1.24790727e-02 1.91798200e+02] [ 1.64506899e-02 7.80585028e-05 9.99864675e-01 7.33283808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.619254154 meters 0.016240414559002034 Centerline is valid? [True, True] Translation: X:908.06, Y:191.82, Z:7.33 [[-6.47424095e-01 -7.62055430e-01 1.06565956e-02 9.08057182e+02] [ 7.61954570e-01 -6.47511786e-01 -1.23983702e-02 1.91819229e+02] [ 1.63485165e-02 9.28381310e-05 9.99866350e-01 7.33329525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.649254154 meters 0.016242470529567933 Centerline is valid? [True, True] Translation: X:908.04, Y:191.84, Z:7.33 [[-6.46507608e-01 -7.62839777e-01 1.01680010e-02 9.08037809e+02] [ 7.62748160e-01 -6.46587552e-01 -1.18229357e-02 1.91838016e+02] [ 1.55935085e-02 1.12006224e-04 9.99878408e-01 7.33307429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.6792541539999 meters 0.014460927638231898 Centerline is valid? [True, True] Translation: X:908.02, Y:191.86, Z:7.33 [[-6.45718512e-01 -7.63515345e-01 9.58749448e-03 9.08018984e+02] [ 7.63434067e-01 -6.45789673e-01 -1.11411038e-02 1.91857863e+02] [ 1.46979086e-02 1.25402942e-04 9.99891972e-01 7.33467930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7092541539998 meters 0.016058836292985622 Centerline is valid? [True, True] Translation: X:908.00, Y:191.88, Z:7.33 [[-6.45288362e-01 -7.63882633e-01 9.28725115e-03 9.08000333e+02] [ 7.63806496e-01 -6.45355178e-01 -1.07856703e-02 1.91878334e+02] [ 1.42325619e-02 1.33795222e-04 9.99898703e-01 7.33463511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7392541539998 meters 0.014633068627993828 Centerline is valid? [True, True] Translation: X:907.98, Y:191.90, Z:7.34 [[-6.44711870e-01 -7.64379529e-01 8.39887013e-03 9.07981307e+02] [ 7.64317365e-01 -6.44766561e-01 -9.74922124e-03 1.91898006e+02] [ 1.28674157e-02 1.33963632e-04 9.99917202e-01 7.33603285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7692541539998 meters 0.01678500987625507 Centerline is valid? [True, True] Translation: X:907.96, Y:191.92, Z:7.34 [[-6.45017785e-01 -7.64116688e-01 8.81724643e-03 9.07962631e+02] [ 7.64048223e-01 -6.45078033e-01 -1.02295927e-02 1.91919480e+02] [ 1.35044145e-02 1.38532232e-04 9.99908802e-01 7.33500212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7992541539998 meters 0.015007866511528927 Centerline is valid? [True, True] Translation: X:907.94, Y:191.94, Z:7.34 [[-6.44104193e-01 -7.64900889e-01 7.51128444e-03 9.07943292e+02] [ 7.64851307e-01 -6.44147974e-01 -8.71009095e-03 1.91937239e+02] [ 1.15007350e-02 1.34809623e-04 9.99933855e-01 7.33644727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.829254154 meters 0.014992010691856331 Centerline is valid? [True, True] Translation: X:907.92, Y:191.96, Z:7.34 [[-6.43860197e-01 -7.65107751e-01 7.36043594e-03 9.07924927e+02] [ 7.65060208e-01 -6.43902251e-01 -8.53045473e-03 1.91957614e+02] [ 1.12661183e-02 1.38756387e-04 9.99936526e-01 7.33649680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.859254154 meters 0.01639593339105387 Centerline is valid? [True, True] Translation: X:907.91, Y:191.98, Z:7.34 [[-6.43060598e-01 -7.65780496e-01 7.30058260e-03 9.07905888e+02] [ 7.65733825e-01 -6.43102020e-01 -8.45580113e-03 1.91976673e+02] [ 1.11703070e-02 1.52710511e-04 9.99937599e-01 7.33535853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.889254154 meters 0.01761148689493234 Centerline is valid? [True, True] Translation: X:907.89, Y:192.00, Z:7.33 [[-6.42651558e-01 -7.66119378e-01 7.75069832e-03 9.07887841e+02] [ 7.66066861e-01 -6.42698272e-01 -8.97193997e-03 1.91996421e+02] [ 1.18549375e-02 1.71721926e-04 9.99929713e-01 7.33448993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9192541539999 meters 0.015619887107111092 Centerline is valid? [True, True] Translation: X:907.87, Y:192.02, Z:7.34 [[-6.41994893e-01 -7.66674175e-01 7.29841306e-03 9.07869183e+02] [ 7.66627694e-01 -6.42036354e-01 -8.44389007e-03 1.92016905e+02] [ 1.11595590e-02 1.74231272e-04 9.99937715e-01 7.33623472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9492541539998 meters 0.017811724117622513 Centerline is valid? [True, True] Translation: X:907.85, Y:192.04, Z:7.33 [[-6.42177811e-01 -7.66508780e-01 8.48226915e-03 9.07851787e+02] [ 7.66446073e-01 -6.42233796e-01 -9.80655747e-03 1.92036084e+02] [ 1.29644123e-02 2.03648275e-04 9.99915938e-01 7.33341665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9792541539998 meters 0.015833468957726915 Centerline is valid? [True, True] Translation: X:907.83, Y:192.06, Z:7.33 [[-6.42081245e-01 -7.66590673e-01 8.39135969e-03 9.07833336e+02] [ 7.66529391e-01 -6.42136043e-01 -9.69510004e-03 1.92056752e+02] [ 1.28205678e-02 2.07181921e-04 9.99917792e-01 7.33452664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.0092541539998 meters 0.015205952056527526 Centerline is valid? [True, True] Translation: X:907.82, Y:192.08, Z:7.33 [[-6.43314661e-01 -7.65544784e-01 9.35047179e-03 9.07817317e+02] [ 7.65468682e-01 -6.43382576e-01 -1.07961994e-02 1.92079447e+02] [ 1.42809047e-02 2.12139965e-04 9.99898000e-01 7.33371898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.0392541539998 meters 0.015478633549472825 Centerline is valid? [True, True] Translation: X:907.80, Y:192.10, Z:7.33 [[-6.44570365e-01 -7.64486430e-01 9.46278130e-03 9.07799741e+02] [ 7.64408469e-01 -6.44639792e-01 -1.09192953e-02 1.92100208e+02] [ 1.44477384e-02 1.95176036e-04 9.99895607e-01 7.33284052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.0692541539997 meters 0.014790810445431943 Centerline is valid? [True, True] Translation: X:907.78, Y:192.12, Z:7.33 [[-6.46870582e-01 -7.62541029e-01 9.46729632e-03 9.07784854e+02] [ 7.62462878e-01 -6.46939839e-01 -1.09180520e-02 1.92123972e+02] [ 1.44502337e-02 1.55895372e-04 9.99895578e-01 7.33340282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.099254154 meters 0.014545956262797524 Centerline is valid? [True, True] Translation: X:907.77, Y:192.15, Z:7.33 [[-6.47958920e-01 -7.61619988e-01 9.17781371e-03 9.07767090e+02] [ 7.61546536e-01 -6.48023901e-01 -1.05781765e-02 1.92146107e+02] [ 1.40039933e-02 1.35108426e-04 9.99901930e-01 7.33411811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.129254154 meters 0.01440988873450911 Centerline is valid? [True, True] Translation: X:907.75, Y:192.17, Z:7.33 [[-6.48701908e-01 -7.60989938e-01 8.95256447e-03 9.07748924e+02] [ 7.60920069e-01 -6.48763669e-01 -1.03126320e-02 1.92167732e+02] [ 1.36559078e-02 1.22361899e-04 9.99906746e-01 7.33454644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1592541539999 meters 0.014358149727325001 Centerline is valid? [True, True] Translation: X:907.73, Y:192.19, Z:7.33 [[-6.49953503e-01 -7.59920224e-01 9.03861316e-03 9.07730756e+02] [ 7.59848985e-01 -6.50016340e-01 -1.04056876e-02 1.92189339e+02] [ 1.37827387e-02 1.04767923e-04 9.99905008e-01 7.33426069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1892541539999 meters 0.01442132270987063 Centerline is valid? [True, True] Translation: X:907.71, Y:192.21, Z:7.33 [[-6.50033369e-01 -7.59848200e-01 9.34512027e-03 9.07712708e+02] [ 7.59772138e-01 -6.50100531e-01 -1.07516548e-02 1.92208802e+02] [ 1.42448932e-02 1.11227615e-04 9.99898530e-01 7.33369229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2192541539998 meters 0.014256380507606354 Centerline is valid? [True, True] Translation: X:907.70, Y:192.23, Z:7.33 [[-6.50474077e-01 -7.59457767e-01 1.03621844e-02 9.07695175e+02] [ 7.59364322e-01 -6.50556597e-01 -1.19139101e-02 1.92230689e+02] [ 1.57892990e-02 1.18983413e-04 9.99875334e-01 7.33332813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2492541539998 meters 0.016154263738692415 Centerline is valid? [True, True] Translation: X:907.68, Y:192.25, Z:7.33 [[-6.50946399e-01 -7.59040853e-01 1.12147160e-02 9.07677297e+02] [ 7.58931469e-01 -6.51042986e-01 -1.28862914e-02 1.92252198e+02] [ 1.70824837e-02 1.22915913e-04 9.99854076e-01 7.33171053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2792541539998 meters 0.015824011644942612 Centerline is valid? [True, True] Translation: X:907.66, Y:192.27, Z:7.33 [[-6.50707532e-01 -7.59239486e-01 1.16237328e-02 9.07658206e+02] [ 7.59122149e-01 -6.50811328e-01 -1.33483540e-02 1.92273166e+02] [ 1.76994544e-02 1.37958516e-04 9.99843343e-01 7.33217599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.3092541539997 meters 0.016616734883588107 Centerline is valid? [True, True] Translation: X:907.64, Y:192.29, Z:7.33 [[-6.50829229e-01 -7.59130092e-01 1.19506347e-02 9.07639648e+02] [ 7.59006196e-01 -6.50938924e-01 -1.37153908e-02 1.92293262e+02] [ 1.81908992e-02 1.44228571e-04 9.99834522e-01 7.33197390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.339254154 meters 0.01430687054922999 Centerline is valid? [True, True] Translation: X:907.62, Y:192.31, Z:7.33 [[-6.50483416e-01 -7.59435081e-01 1.13879004e-02 9.07620232e+02] [ 7.59322758e-01 -6.50583074e-01 -1.30619171e-02 1.92313852e+02] [ 1.73284533e-02 1.50531474e-04 9.99849840e-01 7.33445057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.369254154 meters 0.014973789352065586 Centerline is valid? [True, True] Translation: X:907.60, Y:192.33, Z:7.33 [[-6.51015533e-01 -7.58982615e-01 1.11429537e-02 9.07601635e+02] [ 7.58875135e-01 -6.51110874e-01 -1.27733483e-02 1.92333458e+02] [ 1.69500476e-02 1.40462372e-04 9.99856328e-01 7.33435702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.399254154 meters 0.014315660847901451 Centerline is valid? [True, True] Translation: X:907.58, Y:192.35, Z:7.34 [[-6.51029940e-01 -7.58975308e-01 1.07934546e-02 9.07583620e+02] [ 7.58874595e-01 -6.51119391e-01 -1.23647461e-02 1.92352832e+02] [ 1.64123646e-02 1.41058629e-04 9.99865298e-01 7.33533118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4292541539999 meters 0.014102456683347368 Centerline is valid? [True, True] Translation: X:907.57, Y:192.37, Z:7.34 [[-6.51755185e-01 -7.58353758e-01 1.07124808e-02 9.07566002e+02] [ 7.58254598e-01 -6.51843203e-01 -1.22639164e-02 1.92373578e+02] [ 1.62832449e-02 1.29716773e-04 9.99867411e-01 7.33656268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4592541539998 meters 0.014862846111483603 Centerline is valid? [True, True] Translation: X:907.55, Y:192.39, Z:7.34 [[-6.52792785e-01 -7.57462002e-01 1.06252552e-02 9.07548139e+02] [ 7.57364457e-01 -6.52879241e-01 -1.21562795e-02 1.92394152e+02] [ 1.61449283e-02 1.11659090e-04 9.99869656e-01 7.33615998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4892541539998 meters 0.014862846111483603 Centerline is valid? [True, True] Translation: X:907.53, Y:192.41, Z:7.34 [[-6.53032765e-01 -7.57255063e-01 1.06291082e-02 9.07530434e+02] [ 7.57157546e-01 -6.53119252e-01 -1.21529102e-02 1.92414229e+02] [ 1.61449280e-02 1.11660878e-04 9.99869656e-01 7.33634459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.5192541539998 meters 0.013920555815222085 Centerline is valid? [True, True] Translation: X:907.51, Y:192.43, Z:7.34 [[-6.53938789e-01 -7.56477217e-01 1.03092463e-02 9.07512630e+02] [ 7.56385502e-01 -6.54020039e-01 -1.17797143e-02 1.92434608e+02] [ 1.56535392e-02 9.45523490e-05 9.99877471e-01 7.33763966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.5492541539998 meters 0.013776425468509608 Centerline is valid? [True, True] Translation: X:907.49, Y:192.46, Z:7.34 [[-6.54931878e-01 -7.55617846e-01 1.02910665e-02 9.07494186e+02] [ 7.55526459e-01 -6.55012721e-01 -1.17518139e-02 1.92456350e+02] [ 1.56206598e-02 7.85354979e-05 9.99877987e-01 7.33798920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.579254154 meters 0.013752947795399791 Centerline is valid? [True, True] Translation: X:907.48, Y:192.48, Z:7.34 [[-6.55620816e-01 -7.55022035e-01 1.01524875e-02 9.07477135e+02] [ 7.54933133e-01 -6.55699415e-01 -1.15862793e-02 1.92476037e+02] [ 1.54048763e-02 6.82432884e-05 9.99881336e-01 7.33841100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.609254154 meters 0.0177658269505883 Centerline is valid? [True, True] Translation: X:907.46, Y:192.50, Z:7.34 [[-6.57450537e-01 -7.53427619e-01 1.02769401e-02 9.07460161e+02] [ 7.53336449e-01 -6.57530853e-01 -1.17205992e-02 1.92496789e+02] [ 1.55880283e-02 3.62793366e-05 9.99878499e-01 7.33658196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.639254154 meters 0.015981747624838272 Centerline is valid? [True, True] Translation: X:907.44, Y:192.52, Z:7.34 [[-6.58034060e-01 -7.52924238e-01 9.81166010e-03 9.07441579e+02] [ 7.52841179e-01 -6.58107204e-01 -1.11833529e-02 1.92518152e+02] [ 1.48773416e-02 2.75946593e-05 9.99889326e-01 7.33860506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6692541539999 meters 0.0159600918251628 Centerline is valid? [True, True] Translation: X:907.42, Y:192.54, Z:7.34 [[-6.58631408e-01 -7.52404020e-01 9.63637981e-03 9.07423771e+02] [ 7.52323944e-01 -6.58701898e-01 -1.09768801e-02 1.92538629e+02] [ 1.46065504e-02 1.99612411e-05 9.99893318e-01 7.33904322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6992541539998 meters 0.016309865596751735 Centerline is valid? [True, True] Translation: X:907.41, Y:192.56, Z:7.34 [[-6.59622238e-01 -7.51537694e-01 9.46566633e-03 9.07405357e+02] [ 7.51460435e-01 -6.59690151e-01 -1.07758845e-02 1.92560060e+02] [ 1.43428902e-02 5.06072784e-06 9.99897135e-01 7.33970368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7292541539998 meters 0.015894514188990433 Centerline is valid? [True, True] Translation: X:907.39, Y:192.58, Z:7.34 [[-6.60253136e-01 -7.50984815e-01 9.35973425e-03 9.07388104e+02] [ 7.50909315e-01 -6.60319474e-01 -1.06485978e-02 1.92579826e+02] [ 1.41773500e-02 -2.45845618e-06 9.99899496e-01 7.34019664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7592541539998 meters 0.013445953382547908 Centerline is valid? [True, True] Translation: X:907.37, Y:192.60, Z:7.34 [[-6.60645390e-01 -7.50640337e-01 9.31417504e-03 9.07370160e+02] [ 7.50565635e-01 -6.60711045e-01 -1.05897731e-02 1.92600251e+02] [ 1.41030892e-02 -5.18509332e-06 9.99900546e-01 7.34187591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7892541539998 meters 0.01648144265234751 Centerline is valid? [True, True] Translation: X:907.35, Y:192.62, Z:7.34 [[-6.61661055e-01 -7.49742428e-01 9.53629094e-03 9.07352660e+02] [ 7.49664128e-01 -6.61729772e-01 -1.08352819e-02 1.92620594e+02] [ 1.44341182e-02 -2.02688347e-05 9.99895822e-01 7.33949446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.8192541539997 meters 0.013476667383425038 Centerline is valid? [True, True] Translation: X:907.33, Y:192.64, Z:7.34 [[-6.61215423e-01 -7.50136754e-01 9.43477677e-03 9.07334723e+02] [ 7.50060253e-01 -6.61282731e-01 -1.07129564e-02 1.92640219e+02] [ 1.42752373e-02 -6.92093658e-06 9.99898104e-01 7.34129188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.849254154 meters 0.015160407942139192 Centerline is valid? [True, True] Translation: X:907.32, Y:192.66, Z:7.34 [[-6.61524059e-01 -7.49859805e-01 9.80776350e-03 9.07316380e+02] [ 7.49777214e-01 -6.61596760e-01 -1.11291006e-02 1.92660893e+02] [ 1.48340498e-02 -8.53020412e-06 9.99889969e-01 7.33986008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.879254154 meters 0.015561752038294165 Centerline is valid? [True, True] Translation: X:907.30, Y:192.68, Z:7.34 [[-6.61244234e-01 -7.50103549e-01 1.00363284e-02 9.07297840e+02] [ 7.50017203e-01 -6.61320395e-01 -1.13810988e-02 1.92681059e+02] [ 1.51742312e-02 1.73299663e-06 9.99884865e-01 7.33985315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9092541539999 meters 0.01359786066200535 Centerline is valid? [True, True] Translation: X:907.28, Y:192.70, Z:7.34 [[-6.59303677e-01 -7.51799349e-01 1.07888662e-02 9.07279093e+02] [ 7.51699931e-01 -6.59391944e-01 -1.22261141e-02 1.92699271e+02] [ 1.63056760e-02 4.92679811e-05 9.99867052e-01 7.34066348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9392541539999 meters 0.016063107842056633 Centerline is valid? [True, True] Translation: X:907.26, Y:192.72, Z:7.34 [[-6.59133036e-01 -7.51939114e-01 1.14547117e-02 9.07260540e+02] [ 7.51827216e-01 -6.59232558e-01 -1.29719600e-02 1.92719880e+02] [ 1.73054429e-02 6.17166337e-05 9.99850248e-01 7.33835988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9692541539998 meters 0.01418430143586584 Centerline is valid? [True, True] Translation: X:907.24, Y:192.74, Z:7.34 [[-6.57485651e-01 -7.53366718e-01 1.22966431e-02 9.07241100e+02] [ 7.53238174e-01 -6.57600620e-01 -1.39167965e-02 1.92740289e+02] [ 1.85707314e-02 1.12206958e-04 9.99827543e-01 7.33967085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9992541539998 meters 0.017105598940997245 Centerline is valid? [True, True] Translation: X:907.22, Y:192.76, Z:7.34 [[-6.57374133e-01 -7.53454274e-01 1.28804621e-02 9.07221996e+02] [ 7.53313417e-01 -6.57500298e-01 -1.45689632e-02 1.92761489e+02] [ 1.94459553e-02 1.25765340e-04 9.99810902e-01 7.33735702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.0292541539998 meters 0.014052499218179465 Centerline is valid? [True, True] Translation: X:907.20, Y:192.78, Z:7.34 [[-6.55605509e-01 -7.54999625e-01 1.25292820e-02 9.07202647e+02] [ 7.54866791e-01 -6.55725199e-01 -1.41630248e-02 1.92780620e+02] [ 1.89088444e-02 1.72581826e-04 9.99821197e-01 7.34015811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.0592541539997 meters 0.014285089821347836 Centerline is valid? [True, True] Translation: X:907.18, Y:192.80, Z:7.34 [[-6.55189504e-01 -7.55360281e-01 1.25522955e-02 9.07183942e+02] [ 7.55227198e-01 -6.55309705e-01 -1.41798981e-02 1.92800536e+02] [ 1.89365729e-02 1.89314589e-04 9.99820669e-01 7.34010819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.089254154 meters 0.014325923159277361 Centerline is valid? [True, True] Translation: X:907.17, Y:192.82, Z:7.34 [[-6.54949350e-01 -7.55567650e-01 1.26045453e-02 9.07165336e+02] [ 7.55433669e-01 -6.55070595e-01 -1.42297742e-02 1.92820705e+02] [ 1.90084241e-02 2.02116562e-04 9.99819303e-01 7.33997510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.119254154 meters 0.017529892905933125 Centerline is valid? [True, True] Translation: X:907.15, Y:192.84, Z:7.34 [[-6.55603354e-01 -7.54993144e-01 1.30228864e-02 9.07148669e+02] [ 7.54850200e-01 -6.55732654e-01 -1.46922375e-02 1.92840748e+02] [ 1.96320704e-02 1.98048227e-04 9.99807253e-01 7.33685071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.149254154 meters 0.01502555005798205 Centerline is valid? [True, True] Translation: X:907.13, Y:192.86, Z:7.34 [[-6.55952808e-01 -7.54697601e-01 1.25476719e-02 9.07131628e+02] [ 7.54565018e-01 -6.56072782e-01 -1.41470449e-02 1.92861467e+02] [ 1.89089269e-02 1.88240433e-04 9.99821193e-01 7.33983105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.1792541539999 meters 0.014150344313175748 Centerline is valid? [True, True] Translation: X:907.12, Y:192.88, Z:7.34 [[-6.57436485e-01 -7.53420664e-01 1.16005321e-02 9.07115509e+02] [ 7.53307275e-01 -6.57538807e-01 -1.30716290e-02 1.92884246e+02] [ 1.74762354e-02 1.44999380e-04 9.99847268e-01 7.34244008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2092541539998 meters 0.013847994426172353 Centerline is valid? [True, True] Translation: X:907.10, Y:192.91, Z:7.34 [[-6.58727797e-01 -7.52294664e-01 1.14205054e-02 9.07098310e+02] [ 7.52184725e-01 -6.58826779e-01 -1.28613809e-02 1.92906820e+02] [ 1.71996830e-02 1.18180545e-04 9.99852068e-01 7.34419716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2392541539998 meters 0.013689257986253554 Centerline is valid? [True, True] Translation: X:907.08, Y:192.93, Z:7.35 [[-6.60240263e-01 -7.50977599e-01 1.07443213e-02 9.07081157e+02] [ 7.50880230e-01 -6.60327675e-01 -1.20930202e-02 1.92929012e+02] [ 1.61763600e-02 8.33996166e-05 9.99869151e-01 7.34528442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2692541539998 meters 0.013612502403361527 Centerline is valid? [True, True] Translation: X:907.06, Y:192.95, Z:7.35 [[-6.61685732e-01 -7.49711193e-01 1.02527188e-02 9.07064625e+02] [ 7.49622482e-01 -6.61765158e-01 -1.15329946e-02 1.92950128e+02] [ 1.54313072e-02 5.44504961e-05 9.99880929e-01 7.34629759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2992541539998 meters 0.013622327511863546 Centerline is valid? [True, True] Translation: X:907.05, Y:192.97, Z:7.35 [[-6.64292350e-01 -7.47415399e-01 9.26794194e-03 9.07048166e+02] [ 7.47342775e-01 -6.64356998e-01 -1.04190462e-02 1.92972125e+02] [ 1.39445777e-02 5.03677495e-06 9.99902770e-01 7.34748202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.329254154 meters 0.013547946575816332 Centerline is valid? [True, True] Translation: X:907.03, Y:192.99, Z:7.35 [[-6.65721204e-01 -7.46145211e-01 9.08859200e-03 9.07031133e+02] [ 7.46075340e-01 -6.65783241e-01 -1.02109290e-02 1.92992961e+02] [ 1.36698680e-02 -1.68575945e-05 9.99906563e-01 7.34753541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.359254154 meters 0.014202210631276043 Centerline is valid? [True, True] Translation: X:907.02, Y:193.01, Z:7.35 [[-6.69002346e-01 -7.43203430e-01 9.19363722e-03 9.07015048e+02] [ 7.43131748e-01 -6.69065510e-01 -1.03222758e-02 1.93014962e+02] [ 1.38226963e-02 -7.35429981e-05 9.99904459e-01 7.34687029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.389254154 meters 0.015206693654671814 Centerline is valid? [True, True] Translation: X:907.00, Y:193.04, Z:7.35 [[-6.70878819e-01 -7.41506403e-01 9.47968849e-03 9.06997565e+02] [ 7.41430117e-01 -6.70945783e-01 -1.06366689e-02 1.93036355e+02] [ 1.42475151e-02 -1.07389347e-04 9.99898493e-01 7.34609085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4192541539999 meters 0.014298467841677489 Centerline is valid? [True, True] Translation: X:906.98, Y:193.06, Z:7.35 [[-6.72606851e-01 -7.39937237e-01 9.63894311e-03 9.06980704e+02] [ 7.39858283e-01 -6.72675900e-01 -1.08099141e-02 1.93056958e+02] [ 1.44825427e-02 -1.39370353e-04 9.99895113e-01 7.34708055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4492541539998 meters 0.01519452173108264 Centerline is valid? [True, True] Translation: X:906.97, Y:193.08, Z:7.35 [[-6.76113371e-01 -7.36732107e-01 9.82410565e-03 9.06965274e+02] [ 7.36649833e-01 -6.76184708e-01 -1.10119788e-02 1.93079460e+02] [ 1.47557883e-02 -2.08420291e-04 9.99891106e-01 7.34707802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4792541539998 meters 0.01772256770179149 Centerline is valid? [True, True] Translation: X:906.95, Y:193.10, Z:7.35 [[-6.78071928e-01 -7.34922852e-01 1.03374549e-02 9.06947147e+02] [ 7.34831651e-01 -6.78150674e-01 -1.15804986e-02 1.93101329e+02] [ 1.55211251e-02 -2.56121963e-04 9.99879507e-01 7.34529312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.5092541539998 meters 0.017225081018918686 Centerline is valid? [True, True] Translation: X:906.93, Y:193.12, Z:7.35 [[-6.80649849e-01 -7.32535321e-01 1.03820261e-02 9.06929257e+02] [ 7.32443158e-01 -6.80728954e-01 -1.16237768e-02 1.93122588e+02] [ 1.55821728e-02 -3.07477954e-04 9.99878543e-01 7.34644111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.5392541539998 meters 0.018787511668806496 Centerline is valid? [True, True] Translation: X:906.91, Y:193.14, Z:7.35 [[-6.81912042e-01 -7.31350787e-01 1.10450620e-02 9.06910774e+02] [ 7.31246440e-01 -6.82001395e-01 -1.23588439e-02 1.93144069e+02] [ 1.65713979e-02 -3.50982205e-04 9.99862623e-01 7.34556588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.5692541539997 meters 0.016369857449159652 Centerline is valid? [True, True] Translation: X:906.89, Y:193.16, Z:7.35 [[-6.82158364e-01 -7.31127911e-01 1.05804103e-02 9.06892449e+02] [ 7.31032245e-01 -6.82240328e-01 -1.18318111e-02 1.93163795e+02] [ 1.58689499e-02 -3.36547802e-04 9.99874024e-01 7.34806921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.599254154 meters 0.01646178512589916 Centerline is valid? [True, True] Translation: X:906.87, Y:193.18, Z:7.35 [[-6.82456189e-01 -7.30843799e-01 1.09950847e-02 9.06872243e+02] [ 7.30740574e-01 -6.82544664e-01 -1.22880098e-02 1.93183440e+02] [ 1.64852522e-02 -3.51473790e-04 9.99864047e-01 7.34758774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.629254154 meters 0.016617406886981722 Centerline is valid? [True, True] Translation: X:906.85, Y:193.20, Z:7.35 [[-6.82497281e-01 -7.30803570e-01 1.11177271e-02 9.06853667e+02] [ 7.30698155e-01 -6.82587738e-01 -1.24171957e-02 1.93202694e+02] [ 1.66633551e-02 -3.50999598e-04 9.99861095e-01 7.34689544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6592541539999 meters 0.018521512413123276 Centerline is valid? [True, True] Translation: X:906.83, Y:193.22, Z:7.34 [[-6.82058087e-01 -7.31194756e-01 1.22879512e-02 9.06833506e+02] [ 7.31066215e-01 -6.82168667e-01 -1.37148801e-02 1.93221086e+02] [ 1.84107037e-02 -3.71038866e-04 9.99830440e-01 7.34394815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6892541539999 meters 0.017004463998406313 Centerline is valid? [True, True] Translation: X:906.81, Y:193.24, Z:7.35 [[-6.81749488e-01 -7.31482219e-01 1.23044193e-02 9.06814124e+02] [ 7.31353542e-01 -6.81860422e-01 -1.37244543e-02 1.93240034e+02] [ 1.84290909e-02 -3.57759072e-04 9.99830106e-01 7.34514742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7192541539998 meters 0.01728419238749911 Centerline is valid? [True, True] Translation: X:906.80, Y:193.26, Z:7.34 [[-6.81449087e-01 -7.31762504e-01 1.22792383e-02 9.06796287e+02] [ 7.31634565e-01 -6.81559623e-01 -1.36873231e-02 1.93259149e+02] [ 1.83849029e-02 -3.43298709e-04 9.99830924e-01 7.34487015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7492541539998 meters 0.01696218067920009 Centerline is valid? [True, True] Translation: X:906.77, Y:193.28, Z:7.35 [[-6.79762680e-01 -7.33322601e-01 1.26752585e-02 9.06774215e+02] [ 7.33186713e-01 -6.79880777e-01 -1.41199833e-02 1.93276738e+02] [ 1.89721674e-02 -3.04906606e-04 9.99819966e-01 7.34610890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7792541539998 meters 0.01843739584528649 Centerline is valid? [True, True] Translation: X:906.76, Y:193.30, Z:7.34 [[-6.78754675e-01 -7.34251734e-01 1.29027803e-02 9.06755169e+02] [ 7.34111256e-01 -6.78877245e-01 -1.43649075e-02 1.93296193e+02] [ 1.93068622e-02 -2.78171857e-04 9.99813566e-01 7.34476867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.8092541539997 meters 0.014254137952630357 Centerline is valid? [True, True] Translation: X:906.73, Y:193.31, Z:7.35 [[-6.74702679e-01 -7.37998575e-01 1.15929992e-02 9.06730327e+02] [ 7.37885843e-01 -6.74802253e-01 -1.28997023e-02 1.93312012e+02] [ 1.73429439e-02 -1.49153749e-04 9.99849589e-01 7.34898803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.839254154 meters 0.014029612379336092 Centerline is valid? [True, True] Translation: X:906.71, Y:193.33, Z:7.35 [[-6.72427303e-01 -7.40070648e-01 1.17028790e-02 9.06710295e+02] [ 7.39956224e-01 -6.72529127e-01 -1.30137962e-02 1.93329193e+02] [ 1.75016556e-02 -9.12136818e-05 9.99846830e-01 7.34889888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.869254154 meters 0.016637941729606875 Centerline is valid? [True, True] Translation: X:906.69, Y:193.35, Z:7.35 [[-6.70538977e-01 -7.41770374e-01 1.24174781e-02 9.06690897e+02] [ 7.41641986e-01 -6.70653943e-01 -1.38005098e-02 1.93346411e+02] [ 1.85646400e-02 -4.44566003e-05 9.99827661e-01 7.34523723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.899254154 meters 0.013807576737324164 Centerline is valid? [True, True] Translation: X:906.67, Y:193.36, Z:7.35 [[-6.65220458e-01 -7.46559148e-01 1.14534209e-02 9.06665728e+02] [ 7.46450742e-01 -6.65319044e-01 -1.27223975e-02 1.93362148e+02] [ 1.71182013e-02 8.62154115e-05 9.99853469e-01 7.34954915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9292541539999 meters 0.013890027763046068 Centerline is valid? [True, True] Translation: X:906.64, Y:193.38, Z:7.35 [[-6.63240417e-01 -7.48315701e-01 1.16516292e-02 9.06644300e+02] [ 7.48203908e-01 -6.63342741e-01 -1.29352150e-02 1.93381415e+02] [ 1.74086481e-02 1.38637138e-04 9.99848448e-01 7.34990890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9592541539998 meters 0.016452920310832533 Centerline is valid? [True, True] Translation: X:906.62, Y:193.40, Z:7.35 [[-6.60729061e-01 -7.50523254e-01 1.23269246e-02 9.06622202e+02] [ 7.50398661e-01 -6.60844006e-01 -1.36766048e-02 1.93398461e+02] [ 1.84107841e-02 2.13577457e-04 9.99830484e-01 7.34829289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9892541539998 meters 0.014904102416223574 Centerline is valid? [True, True] Translation: X:906.60, Y:193.42, Z:7.35 [[-6.59700774e-01 -7.51438626e-01 1.16138113e-02 9.06601807e+02] [ 7.51328305e-01 -6.59802954e-01 -1.28778900e-02 1.93417898e+02] [ 1.73397710e-02 2.30231122e-04 9.99849628e-01 7.35059608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.0192541539998 meters 0.014740053687571654 Centerline is valid? [True, True] Translation: X:906.58, Y:193.44, Z:7.35 [[-6.58939870e-01 -7.52111286e-01 1.12632489e-02 9.06581016e+02] [ 7.52007745e-01 -6.59036079e-01 -1.24819583e-02 1.93437427e+02] [ 1.68107091e-02 2.45190439e-04 9.99858660e-01 7.35107869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.0492541539998 meters 0.018276280071545033 Centerline is valid? [True, True] Translation: X:906.56, Y:193.46, Z:7.35 [[-6.58822604e-01 -7.52185693e-01 1.30176782e-02 9.06560852e+02] [ 7.52047557e-01 -6.58951135e-01 -1.44178191e-02 1.93456880e+02] [ 1.94228911e-02 2.91127933e-04 9.99811315e-01 7.34825156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.079254154 meters 0.015009590149788827 Centerline is valid? [True, True] Translation: X:906.54, Y:193.48, Z:7.35 [[-6.58383214e-01 -7.52587603e-01 1.19767681e-02 9.06541207e+02] [ 7.52470873e-01 -6.58492080e-01 -1.32577045e-02 1.93476728e+02] [ 1.78641911e-02 2.83519046e-04 9.99840382e-01 7.35096469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.109254154 meters 0.015946569108579476 Centerline is valid? [True, True] Translation: X:906.52, Y:193.49, Z:7.35 [[-6.58580120e-01 -7.52395092e-01 1.31852862e-02 9.06521355e+02] [ 7.52253753e-01 -6.58712022e-01 -1.45863667e-02 1.93494978e+02] [ 1.96600172e-02 3.12389970e-04 9.99806674e-01 7.34916954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.139254154 meters 0.017501999033795325 Centerline is valid? [True, True] Translation: X:906.50, Y:193.52, Z:7.35 [[-6.59086407e-01 -7.51920268e-01 1.48666765e-02 9.06503420e+02] [ 7.51740680e-01 -6.59253967e-01 -1.64364864e-02 1.93516945e+02] [ 2.21598427e-02 3.42820744e-04 9.99754382e-01 7.34824519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1692541539999 meters 0.01532545203005238 Centerline is valid? [True, True] Translation: X:906.48, Y:193.54, Z:7.35 [[-6.58826322e-01 -7.52156779e-01 1.44242052e-02 9.06483297e+02] [ 7.51987941e-01 -6.58984112e-01 -1.59397901e-02 1.93535855e+02] [ 2.14945432e-02 3.45275064e-04 9.99768906e-01 7.34910238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1992541539998 meters 0.016404588307712967 Centerline is valid? [True, True] Translation: X:906.46, Y:193.56, Z:7.35 [[-6.59165385e-01 -7.51832812e-01 1.57612758e-02 9.06464193e+02] [ 7.51631349e-01 -6.59353687e-01 -1.74077922e-02 1.93556858e+02] [ 2.34800047e-02 3.72054889e-04 9.99724237e-01 7.34768648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2292541539998 meters 0.015088551937729937 Centerline is valid? [True, True] Translation: X:906.45, Y:193.58, Z:7.35 [[-6.59264924e-01 -7.51741277e-01 1.59628643e-02 9.06445382e+02] [ 7.51534846e-01 -6.59458041e-01 -1.76200781e-02 1.93577284e+02] [ 2.37725793e-02 3.80349306e-04 9.99717320e-01 7.34876195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2592541539998 meters 0.01526772832704084 Centerline is valid? [True, True] Translation: X:906.43, Y:193.60, Z:7.35 [[-6.59752690e-01 -7.51304627e-01 1.63629226e-02 9.06427664e+02] [ 7.51087794e-01 -6.59955463e-01 -1.80530392e-02 1.93597369e+02] [ 2.43621321e-02 3.79450209e-04 9.99703127e-01 7.34830250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2892541539998 meters 0.01582354137425198 Centerline is valid? [True, True] Translation: X:906.41, Y:193.62, Z:7.35 [[-6.60576805e-01 -7.50586280e-01 1.60785892e-02 9.06409932e+02] [ 7.50376962e-01 -6.60772359e-01 -1.77286419e-02 1.93616542e+02] [ 2.39311627e-02 3.53873301e-04 9.99713546e-01 7.34759624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.3192541539997 meters 0.015242533509009663 Centerline is valid? [True, True] Translation: X:906.39, Y:193.64, Z:7.35 [[-6.61338530e-01 -7.49921719e-01 1.57722419e-02 9.06393194e+02] [ 7.49720377e-01 -6.61526496e-01 -1.73796190e-02 1.93638207e+02] [ 2.34671096e-02 3.30959441e-04 9.99724555e-01 7.34977781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.349254154 meters 0.016576641935356767 Centerline is valid? [True, True] Translation: X:906.38, Y:193.66, Z:7.35 [[-6.62898609e-01 -7.48540551e-01 1.58895101e-02 9.06376891e+02] [ 7.48336080e-01 -6.63088952e-01 -1.74972543e-02 1.93658278e+02] [ 2.36335630e-02 2.91788148e-04 9.99720646e-01 7.34930210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.379254154 meters 0.014355109549989507 Centerline is valid? [True, True] Translation: X:906.36, Y:193.68, Z:7.35 [[-6.63464879e-01 -7.48066172e-01 1.45381527e-02 9.06359069e+02] [ 7.47895093e-01 -6.63624093e-01 -1.59997748e-02 1.93680223e+02] [ 2.16167587e-02 2.57724410e-04 9.99766297e-01 7.35347350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4092541539999 meters 0.014355109549989507 Centerline is valid? [True, True] Translation: X:906.34, Y:193.70, Z:7.35 [[-6.63686987e-01 -7.47869032e-01 1.45428471e-02 9.06340464e+02] [ 7.47698000e-01 -6.63846251e-01 -1.59955075e-02 1.93700598e+02] [ 2.16167593e-02 2.57647529e-04 9.99766297e-01 7.35366394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4392541539999 meters 0.015770668409485683 Centerline is valid? [True, True] Translation: X:906.32, Y:193.72, Z:7.35 [[-6.64761384e-01 -7.46900504e-01 1.52295322e-02 9.06322549e+02] [ 7.46712912e-01 -6.64935769e-01 -1.67406558e-02 1.93722289e+02] [ 2.26302650e-02 2.43546754e-04 9.99743873e-01 7.35306393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4692541539998 meters 0.016878848301376658 Centerline is valid? [True, True] Translation: X:906.31, Y:193.74, Z:7.35 [[-6.66539877e-01 -7.45306091e-01 1.56020457e-02 9.06305193e+02] [ 7.45109008e-01 -6.66722424e-01 -1.71398651e-02 1.93744396e+02] [ 2.31766796e-02 2.00821255e-04 9.99731365e-01 7.35289929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4992541539998 meters 0.01801896649907211 Centerline is valid? [True, True] Translation: X:906.29, Y:193.77, Z:7.35 [[-6.67649964e-01 -7.44303016e-01 1.60170334e-02 9.06287296e+02] [ 7.44095222e-01 -6.67842039e-01 -1.75872306e-02 1.93765345e+02] [ 2.37870770e-02 1.76084094e-04 9.99717032e-01 7.35224497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.5292541539998 meters 0.016384896745023934 Centerline is valid? [True, True] Translation: X:906.27, Y:193.79, Z:7.35 [[-6.70151151e-01 -7.42058047e-01 1.57254852e-02 9.06270748e+02] [ 7.41857347e-01 -6.70335622e-01 -1.72577842e-02 1.93788189e+02] [ 2.33476305e-02 1.00742750e-04 9.99727402e-01 7.35346992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.5592541539997 meters 0.013788020359947917 Centerline is valid? [True, True] Translation: X:906.25, Y:193.81, Z:7.36 [[-6.71541527e-01 -7.40825049e-01 1.44991192e-02 9.06253335e+02] [ 7.40654306e-01 -6.71698030e-01 -1.59045638e-02 1.93809307e+02] [ 2.15215291e-02 5.82600413e-05 9.99768383e-01 7.35523023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.589254154 meters 0.016793632504177133 Centerline is valid? [True, True] Translation: X:906.24, Y:193.83, Z:7.35 [[-6.73941186e-01 -7.38616558e-01 1.57752400e-02 9.06236575e+02] [ 7.38414003e-01 -6.74125789e-01 -1.72968171e-02 1.93831294e+02] [ 2.34102116e-02 -8.37927907e-06 9.99725943e-01 7.35354722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.619254154 meters 0.01689635619973128 Centerline is valid? [True, True] Translation: X:906.22, Y:193.85, Z:7.35 [[-6.78268042e-01 -7.34662011e-01 1.49730651e-02 9.06221910e+02] [ 7.34478765e-01 -6.78433278e-01 -1.64082765e-02 1.93854961e+02] [ 2.22127630e-02 -1.31811209e-04 9.99753257e-01 7.35383130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.649254154 meters 0.017479467904496327 Centerline is valid? [True, True] Translation: X:906.21, Y:193.88, Z:7.35 [[-6.80563863e-01 -7.32535542e-01 1.49836115e-02 9.06205018e+02] [ 7.32351736e-01 -6.80728758e-01 -1.64101763e-02 1.93877265e+02] [ 2.22208126e-02 -1.94899084e-04 9.99753068e-01 7.35438603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.6792541539999 meters 0.01585073631902515 Centerline is valid? [True, True] Translation: X:906.19, Y:193.90, Z:7.36 [[-6.84160608e-01 -7.29199228e-01 1.38833449e-02 9.06190923e+02] [ 7.29040890e-01 -6.84301402e-01 -1.51977284e-02 1.93900343e+02] [ 2.05825642e-02 -2.76160947e-04 9.99788118e-01 7.35618725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7092541539998 meters 0.015042078128244471 Centerline is valid? [True, True] Translation: X:906.17, Y:193.92, Z:7.36 [[-6.85544140e-01 -7.27911929e-01 1.31702139e-02 9.06173306e+02] [ 7.27769353e-01 -6.85670575e-01 -1.44094272e-02 1.93921935e+02] [ 1.95192220e-02 -2.93420351e-04 9.99809439e-01 7.35762585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7392541539998 meters 0.016099038766925027 Centerline is valid? [True, True] Translation: X:906.16, Y:193.94, Z:7.36 [[-6.86697301e-01 -7.26816803e-01 1.35702734e-02 9.06156712e+02] [ 7.26665400e-01 -6.86831295e-01 -1.48381131e-02 1.93943990e+02] [ 2.01050783e-02 -3.28244073e-04 9.99797819e-01 7.35651400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7692541539998 meters 0.01779621995085148 Centerline is valid? [True, True] Translation: X:906.14, Y:193.97, Z:7.36 [[-6.87414621e-01 -7.26126831e-01 1.41761904e-02 9.06138822e+02] [ 7.25961649e-01 -6.87560686e-01 -1.54915179e-02 1.93965598e+02] [ 2.09957980e-02 -3.57725371e-04 9.99779500e-01 7.35511035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7992541539998 meters 0.01812416121161142 Centerline is valid? [True, True] Translation: X:906.12, Y:193.98, Z:7.35 [[-6.86991738e-01 -7.26519036e-01 1.45753825e-02 9.06120927e+02] [ 7.26344726e-01 -6.87146250e-01 -1.59176075e-02 1.93984983e+02] [ 2.15798643e-02 -3.48512646e-04 9.99767067e-01 7.35445536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.829254154 meters 0.014998776030014566 Centerline is valid? [True, True] Translation: X:906.10, Y:194.00, Z:7.36 [[-6.83978639e-01 -7.29371294e-01 1.38107503e-02 9.06100881e+02] [ 7.29215553e-01 -6.84118015e-01 -1.50737632e-02 1.94004224e+02] [ 2.04425533e-02 -2.39118153e-04 9.99791001e-01 7.35514817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.859254154 meters 0.015140230937917394 Centerline is valid? [True, True] Translation: X:906.08, Y:194.02, Z:7.36 [[-6.82375391e-01 -7.30860348e-01 1.43866805e-02 9.06080924e+02] [ 7.30691869e-01 -6.82527005e-01 -1.56933003e-02 1.94023632e+02] [ 2.12889089e-02 -1.96491467e-04 9.99773346e-01 7.35512344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.889254154 meters 0.01634621734434069 Centerline is valid? [True, True] Translation: X:906.06, Y:194.04, Z:7.35 [[-6.80637533e-01 -7.32464971e-01 1.50868999e-02 9.06061563e+02] [ 7.32280306e-01 -6.80804704e-01 -1.64471637e-02 1.94043308e+02] [ 2.23182037e-02 -1.46717289e-04 9.99750907e-01 7.35380734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9192541539999 meters 0.01716860268909093 Centerline is valid? [True, True] Translation: X:906.04, Y:194.06, Z:7.35 [[-6.76204778e-01 -7.36550837e-01 1.54907025e-02 9.06041062e+02] [ 7.36357470e-01 -6.76382188e-01 -1.68763681e-02 1.94060282e+02] [ 2.29079383e-02 -5.18625963e-06 9.99737579e-01 7.35274240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9492541539998 meters 0.013898301537490935 Centerline is valid? [True, True] Translation: X:906.02, Y:194.08, Z:7.36 [[-6.73296179e-01 -7.39243010e-01 1.38573766e-02 9.06020817e+02] [ 7.39089035e-01 -6.73438761e-01 -1.50875214e-02 1.94078831e+02] [ 2.04854393e-02 8.34646350e-05 9.99790148e-01 7.35564191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9792541539998 meters 0.015098209145463061 Centerline is valid? [True, True] Translation: X:906.00, Y:194.10, Z:7.36 [[-6.69161009e-01 -7.42985609e-01 1.39974318e-02 9.05999023e+02] [ 7.42829506e-01 -6.69307360e-01 -1.52309724e-02 1.94096774e+02] [ 2.06849775e-02 2.05732477e-04 9.99786022e-01 7.35537886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.0092541539998 meters 0.014629732305080644 Centerline is valid? [True, True] Translation: X:905.98, Y:194.12, Z:7.36 [[-6.67056830e-01 -7.44888579e-01 1.32736591e-02 9.05978665e+02] [ 7.44748739e-01 -6.67188833e-01 -1.44352792e-02 1.94116740e+02] [ 1.96087117e-02 2.56389296e-04 9.99807698e-01 7.35672706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.0392541539998 meters 0.01533469993705768 Centerline is valid? [True, True] Translation: X:905.96, Y:194.14, Z:7.36 [[-6.65224174e-01 -7.46527514e-01 1.31707589e-02 9.05958877e+02] [ 7.46390320e-01 -6.65354474e-01 -1.43148362e-02 1.94135410e+02] [ 1.94496424e-02 3.07951868e-04 9.99810790e-01 7.35693917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.0692541539997 meters 0.018123620174632933 Centerline is valid? [True, True] Translation: X:905.94, Y:194.16, Z:7.36 [[-6.63036347e-01 -7.48475667e-01 1.29220122e-02 9.05938712e+02] [ 7.48344131e-01 -6.63162155e-01 -1.40363173e-02 1.94155173e+02] [ 1.90752314e-02 3.63523477e-04 9.99817985e-01 7.35645819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.099254154 meters 0.01991521576300034 Centerline is valid? [True, True] Translation: X:905.92, Y:194.18, Z:7.36 [[-6.62250585e-01 -7.49174226e-01 1.27335091e-02 9.05919074e+02] [ 7.49046776e-01 -6.62372880e-01 -1.38236965e-02 1.94175344e+02] [ 1.87906882e-02 3.83242832e-04 9.99823366e-01 7.35624455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.129254154 meters 0.01678727279513809 Centerline is valid? [True, True] Translation: X:905.90, Y:194.20, Z:7.36 [[-6.60024229e-01 -7.51168358e-01 1.06824528e-02 9.05899307e+02] [ 7.51079020e-01 -6.60110566e-01 -1.15908404e-02 1.94195763e+02] [ 1.57582725e-02 3.73130691e-04 9.99875761e-01 7.35994664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1592541539999 meters 0.017676881536863663 Centerline is valid? [True, True] Translation: X:905.88, Y:194.21, Z:7.36 [[-6.59822811e-01 -7.51347561e-01 1.05214388e-02 9.05880165e+02] [ 7.51261023e-01 -6.59906585e-01 -1.14093848e-02 1.94214331e+02] [ 1.55155802e-02 3.76174563e-04 9.99879555e-01 7.35934746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1892541539999 meters 0.01850436707931525 Centerline is valid? [True, True] Translation: X:905.86, Y:194.24, Z:7.36 [[-6.60362308e-01 -7.50858436e-01 1.15426097e-02 9.05863105e+02] [ 7.50754340e-01 -6.60463054e-01 -1.25090147e-02 1.94236242e+02] [ 1.70159665e-02 4.05182546e-04 9.99855136e-01 7.35837028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2192541539998 meters 0.01735334188030364 Centerline is valid? [True, True] Translation: X:905.85, Y:194.26, Z:7.36 [[-6.59899271e-01 -7.51267058e-01 1.14349751e-02 9.05845195e+02] [ 7.51165081e-01 -6.59998207e-01 -1.23849595e-02 1.94256723e+02] [ 1.68514752e-02 4.16728259e-04 9.99857917e-01 7.35901204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2492541539998 meters 0.017045603588542974 Centerline is valid? [True, True] Translation: X:905.83, Y:194.28, Z:7.36 [[-6.60443632e-01 -7.50783583e-01 1.17567008e-02 9.05827275e+02] [ 7.50675842e-01 -6.60548131e-01 -1.27258001e-02 1.94278187e+02] [ 1.73201886e-02 4.20797674e-04 9.99849906e-01 7.35870035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2792541539998 meters 0.017750768559062723 Centerline is valid? [True, True] Translation: X:905.81, Y:194.30, Z:7.36 [[-6.61874662e-01 -7.49499424e-01 1.31356329e-02 9.05810109e+02] [ 7.49364837e-01 -6.62004849e-01 -1.42098882e-02 1.94300417e+02] [ 1.93461557e-02 4.38216421e-04 9.99812750e-01 7.35686409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.3092541539997 meters 0.016793029320615 Centerline is valid? [True, True] Translation: X:905.79, Y:194.32, Z:7.36 [[-6.62409590e-01 -7.49031941e-01 1.28330548e-02 9.05793222e+02] [ 7.48903561e-01 -6.62533754e-01 -1.38737675e-02 1.94320028e+02] [ 1.88942270e-02 4.20603811e-04 9.99821400e-01 7.35732576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.339254154 meters 0.017829342380380614 Centerline is valid? [True, True] Translation: X:905.78, Y:194.34, Z:7.36 [[-6.63799295e-01 -7.47784259e-01 1.37549401e-02 9.05776233e+02] [ 7.47636709e-01 -6.63941659e-01 -1.48601904e-02 1.94339989e+02] [ 2.02446942e-02 4.19514177e-04 9.99794967e-01 7.35552697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.369254154 meters 0.01647084887200925 Centerline is valid? [True, True] Translation: X:905.76, Y:194.36, Z:7.36 [[-6.65644434e-01 -7.46142742e-01 1.37293895e-02 9.05760889e+02] [ 7.45995566e-01 -6.65785903e-01 -1.48238626e-02 1.94362187e+02] [ 2.02015514e-02 3.74642010e-04 9.99795858e-01 7.35551707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.399254154 meters 0.015622659176661799 Centerline is valid? [True, True] Translation: X:905.75, Y:194.38, Z:7.36 [[-6.67367232e-01 -7.44598398e-01 1.39356718e-02 9.05745560e+02] [ 7.44446618e-01 -6.67512629e-01 -1.50373510e-02 1.94384945e+02] [ 2.04990244e-02 3.38928458e-04 9.99789815e-01 7.35625739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4292541539999 meters 0.014789480615908936 Centerline is valid? [True, True] Translation: X:905.73, Y:194.41, Z:7.36 [[-6.70080912e-01 -7.42155780e-01 1.40131645e-02 9.05730053e+02] [ 7.42001957e-01 -6.70227367e-01 -1.51119702e-02 1.94408798e+02] [ 2.06074424e-02 2.71552708e-04 9.99787607e-01 7.35663380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4592541539998 meters 0.01685562702776001 Centerline is valid? [True, True] Translation: X:905.71, Y:194.43, Z:7.35 [[-6.72097022e-01 -7.40318298e-01 1.46427709e-02 9.05712232e+02] [ 7.40150114e-01 -6.72256472e-01 -1.57811271e-02 1.94429914e+02] [ 2.15267547e-02 2.31400040e-04 9.99768246e-01 7.35487229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4892541539998 meters 0.015487859518929753 Centerline is valid? [True, True] Translation: X:905.69, Y:194.45, Z:7.36 [[-6.72697240e-01 -7.39786989e-01 1.39152632e-02 9.05694063e+02] [ 7.39635187e-01 -6.72841116e-01 -1.49874085e-02 1.94449146e+02] [ 2.04502510e-02 2.10229928e-04 9.99790850e-01 7.35583297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.5192541539998 meters 0.014361634136805917 Centerline is valid? [True, True] Translation: X:905.68, Y:194.47, Z:7.36 [[-6.73250830e-01 -7.39299808e-01 1.30043665e-02 9.05675878e+02] [ 7.39167308e-01 -6.73376387e-01 -1.39975543e-02 1.94469337e+02] [ 1.91052225e-02 1.88537494e-04 9.99817461e-01 7.35779157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.5492541539998 meters 0.014195119167907671 Centerline is valid? [True, True] Translation: X:905.66, Y:194.49, Z:7.36 [[-6.73541073e-01 -7.39034094e-01 1.30778575e-02 9.05657092e+02] [ 7.38900215e-01 -6.73667998e-01 -1.40677094e-02 1.94488883e+02] [ 1.92066510e-02 1.88051575e-04 9.99815518e-01 7.35863871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.579254154 meters 0.01641589131800947 Centerline is valid? [True, True] Translation: X:905.64, Y:194.51, Z:7.36 [[-6.73649904e-01 -7.38924441e-01 1.36556499e-02 9.05637400e+02] [ 7.38778643e-01 -6.73788268e-01 -1.46794380e-02 1.94506807e+02] [ 2.00480123e-02 1.99700497e-04 9.99798998e-01 7.35692791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.609254154 meters 0.017826528617566693 Centerline is valid? [True, True] Translation: X:905.62, Y:194.53, Z:7.36 [[-6.73758141e-01 -7.38810003e-01 1.44826532e-02 9.05618654e+02] [ 7.38646201e-01 -6.73913743e-01 -1.55581714e-02 1.94526185e+02] [ 2.12545917e-02 2.15112167e-04 9.99774073e-01 7.35654629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.639254154 meters 0.0149349223013099 Centerline is valid? [True, True] Translation: X:905.60, Y:194.55, Z:7.36 [[-6.71420689e-01 -7.40944174e-01 1.39996372e-02 9.05597217e+02] [ 7.40791759e-01 -6.71566566e-01 -1.50305366e-02 1.94545182e+02] [ 2.05384768e-02 2.79002610e-04 9.99789024e-01 7.35871370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6692541539999 meters 0.015430490644933516 Centerline is valid? [True, True] Translation: X:905.58, Y:194.56, Z:7.36 [[-6.69442181e-01 -7.42737347e-01 1.37258751e-02 9.05575276e+02] [ 7.42591379e-01 -6.69582798e-01 -1.47282564e-02 1.94563243e+02] [ 2.01298360e-02 3.33000402e-04 9.99797319e-01 7.35865150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6992541539998 meters 0.015490569999044681 Centerline is valid? [True, True] Translation: X:905.56, Y:194.58, Z:7.36 [[-6.68613451e-01 -7.43485590e-01 1.36099480e-02 9.05555580e+02] [ 7.43342400e-01 -6.68751859e-01 -1.45954270e-02 1.94582867e+02] [ 1.99531676e-02 3.58152600e-04 9.99800852e-01 7.35942338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7292541539998 meters 0.015919282238028312 Centerline is valid? [True, True] Translation: X:905.54, Y:194.60, Z:7.36 [[-6.67975419e-01 -7.44060120e-01 1.35416944e-02 9.05535575e+02] [ 7.43918654e-01 -6.68112561e-01 -1.45134994e-02 1.94601871e+02] [ 1.98462922e-02 3.79258181e-04 9.99802971e-01 7.35927870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7592541539998 meters 0.01702350316139783 Centerline is valid? [True, True] Translation: X:905.51, Y:194.62, Z:7.36 [[-6.67251168e-01 -7.44705458e-01 1.37716743e-02 9.05514677e+02] [ 7.44559460e-01 -6.67393146e-01 -1.47512581e-02 1.94620381e+02] [ 2.01764634e-02 4.11036218e-04 9.99796350e-01 7.35897455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7892541539998 meters 0.018207743551223655 Centerline is valid? [True, True] Translation: X:905.49, Y:194.64, Z:7.36 [[-6.67687523e-01 -7.44309639e-01 1.40189837e-02 9.05494959e+02] [ 7.44158454e-01 -6.67834553e-01 -1.50068013e-02 1.94639762e+02] [ 2.05320686e-02 4.12491273e-04 9.99789110e-01 7.35807013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.8192541539997 meters 0.01708113893336991 Centerline is valid? [True, True] Translation: X:905.48, Y:194.66, Z:7.36 [[-6.68350161e-01 -7.43720728e-01 1.36945567e-02 9.05476465e+02] [ 7.43576512e-01 -6.68490333e-01 -1.46507799e-02 1.94661085e+02] [ 2.00507675e-02 3.91099556e-04 9.99798887e-01 7.35894736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.849254154 meters 0.016120742447234646 Centerline is valid? [True, True] Translation: X:905.46, Y:194.68, Z:7.36 [[-6.69315198e-01 -7.42860666e-01 1.32362036e-02 9.05458157e+02] [ 7.42725931e-01 -6.69445967e-01 -1.41523491e-02 1.94682164e+02] [ 1.93741466e-02 3.58489281e-04 9.99812239e-01 7.36004092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.879254154 meters 0.01680740533855251 Centerline is valid? [True, True] Translation: X:905.44, Y:194.70, Z:7.36 [[-6.71106396e-01 -7.41244514e-01 1.31444187e-02 9.05439630e+02] [ 7.41111479e-01 -6.71235035e-01 -1.40464710e-02 1.94704004e+02] [ 1.92348639e-02 3.14803089e-04 9.99814943e-01 7.35977147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9092541539999 meters 0.01692408085947017 Centerline is valid? [True, True] Translation: X:905.42, Y:194.73, Z:7.36 [[-6.74322185e-01 -7.38337116e-01 1.21611466e-02 9.05423135e+02] [ 7.38222895e-01 -6.74431801e-01 -1.29885850e-02 1.94727307e+02] [ 1.77918184e-02 2.19145758e-04 9.99841689e-01 7.36107405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9392541539999 meters 0.01439492448024284 Centerline is valid? [True, True] Translation: X:905.41, Y:194.75, Z:7.36 [[-6.75540781e-01 -7.37238423e-01 1.11427581e-02 9.05406024e+02] [ 7.37142491e-01 -6.75632649e-01 -1.18942257e-02 1.94748111e+02] [ 1.62972913e-02 1.78765941e-04 9.99867174e-01 7.36370039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9692541539998 meters 0.01617296777775631 Centerline is valid? [True, True] Translation: X:905.39, Y:194.77, Z:7.36 [[-6.80053764e-01 -7.33079797e-01 1.09949739e-02 9.05389550e+02] [ 7.32985953e-01 -6.80142636e-01 -1.17297663e-02 1.94771326e+02] [ 1.60770052e-02 8.22897187e-05 9.99870753e-01 7.36274622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9992541539998 meters 0.013699976168702516 Centerline is valid? [True, True] Translation: X:905.37, Y:194.79, Z:7.36 [[-6.81504532e-01 -7.31737725e-01 1.05581461e-02 9.05371522e+02] [ 7.31651127e-01 -6.81586311e-01 -1.12573933e-02 1.94793239e+02] [ 1.54337472e-02 5.29149874e-05 9.99880891e-01 7.36472197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.0292541539998 meters 0.015071886100354698 Centerline is valid? [True, True] Translation: X:905.36, Y:194.82, Z:7.36 [[-6.86201860e-01 -7.27326445e-01 1.11017851e-02 9.05355690e+02] [ 7.27230231e-01 -6.86291658e-01 -1.18300722e-02 1.94816346e+02] [ 1.62233869e-02 -4.42638152e-05 9.99868391e-01 7.36361085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.0592541539997 meters 0.016007539340309393 Centerline is valid? [True, True] Translation: X:905.34, Y:194.84, Z:7.36 [[-6.88696661e-01 -7.24964514e-01 1.11068568e-02 9.05338767e+02] [ 7.24868022e-01 -6.88786211e-01 -1.18282376e-02 1.94837762e+02] [ 1.62253023e-02 -9.50624394e-05 9.99868357e-01 7.36337380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.089254154 meters 0.017226340658937266 Centerline is valid? [True, True] Translation: X:905.32, Y:194.86, Z:7.36 [[-6.91041938e-01 -7.22726336e-01 1.12997305e-02 9.05321252e+02] [ 7.22626282e-01 -6.91134301e-01 -1.20263871e-02 1.94859531e+02] [ 1.65014180e-02 -1.45255594e-04 9.99863832e-01 7.36306686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.119254154 meters 0.018113472920152012 Centerline is valid? [True, True] Translation: X:905.30, Y:194.88, Z:7.36 [[-6.95043697e-01 -7.18879470e-01 1.12501939e-02 9.05304533e+02] [ 7.18779897e-01 -6.95134703e-01 -1.19668362e-02 1.94882059e+02] [ 1.64231130e-02 -2.31060851e-04 9.99865105e-01 7.36307520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.149254154 meters 0.018123652732668465 Centerline is valid? [True, True] Translation: X:905.29, Y:194.90, Z:7.36 [[-6.96847688e-01 -7.17134420e-01 1.10238099e-02 9.05286038e+02] [ 7.17038703e-01 -6.96934829e-01 -1.17193722e-02 1.94903118e+02] [ 1.60872423e-02 -2.62119096e-04 9.99870558e-01 7.36365484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.1792541539999 meters 0.017181761806068136 Centerline is valid? [True, True] Translation: X:905.27, Y:194.92, Z:7.36 [[-6.97904716e-01 -7.16105024e-01 1.10725922e-02 9.05268190e+02] [ 7.16008420e-01 -6.97992489e-01 -1.17655373e-02 1.94923777e+02] [ 1.61539465e-02 -2.83154727e-04 9.99869476e-01 7.36425380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2092541539998 meters 0.01762348880048947 Centerline is valid? [True, True] Translation: X:905.25, Y:194.94, Z:7.36 [[-7.00172784e-01 -7.13883701e-01 1.13195770e-02 9.05248786e+02] [ 7.13782550e-01 -7.00264198e-01 -1.20218433e-02 1.94944191e+02] [ 1.65088925e-02 -3.37650986e-04 9.99863662e-01 7.36408935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2392541539998 meters 0.018634315364651127 Centerline is valid? [True, True] Translation: X:905.23, Y:194.96, Z:7.36 [[-7.01052602e-01 -7.13018299e-01 1.14084867e-02 9.05230757e+02] [ 7.12915557e-01 -7.01145333e-01 -1.21091081e-02 1.94964339e+02] [ 1.66330229e-02 -3.55834122e-04 9.99861598e-01 7.36318566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2692541539998 meters 0.020211316111140153 Centerline is valid? [True, True] Translation: X:905.21, Y:194.99, Z:7.36 [[-7.01829271e-01 -7.12250963e-01 1.15861755e-02 9.05213354e+02] [ 7.12145015e-01 -7.01924800e-01 -1.22903178e-02 1.94985391e+02] [ 1.68864146e-02 -3.74667641e-04 9.99857344e-01 7.36258411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2992541539998 meters 0.020211316111140153 Centerline is valid? [True, True] Translation: X:905.19, Y:195.00, Z:7.36 [[-7.02045385e-01 -7.12037887e-01 1.15898705e-02 9.05194893e+02] [ 7.11931968e-01 -7.02140945e-01 -1.22868330e-02 1.95004788e+02] [ 1.68864132e-02 -3.74715128e-04 9.99857344e-01 7.36276878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.329254154 meters 0.016382175608752984 Centerline is valid? [True, True] Translation: X:905.17, Y:195.02, Z:7.37 [[-7.01830269e-01 -7.12256536e-01 1.11758767e-02 9.05173604e+02] [ 7.12158188e-01 -7.01919157e-01 -1.18410951e-02 1.95022864e+02] [ 1.62784594e-02 -3.51446881e-04 9.99867435e-01 7.36631989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.359254154 meters 0.019187035430384795 Centerline is valid? [True, True] Translation: X:905.16, Y:195.04, Z:7.36 [[-7.02436678e-01 -7.11649194e-01 1.17532532e-02 9.05155519e+02] [ 7.11540465e-01 -7.02534897e-01 -1.24453315e-02 1.95042582e+02] [ 1.71137806e-02 -3.79142083e-04 9.99853477e-01 7.36407652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.389254154 meters 0.019091744144961932 Centerline is valid? [True, True] Translation: X:905.13, Y:195.06, Z:7.36 [[-7.01892087e-01 -7.12185989e-01 1.17734663e-02 9.05134962e+02] [ 7.12077094e-01 -7.01990731e-01 -1.24589795e-02 1.95060300e+02] [ 1.71379749e-02 -3.61243432e-04 9.99853069e-01 7.36383581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4192541539999 meters 0.01818596391171719 Centerline is valid? [True, True] Translation: X:905.12, Y:195.08, Z:7.36 [[-7.01318753e-01 -7.12751812e-01 1.16988225e-02 9.05115478e+02] [ 7.12644508e-01 -7.01416239e-01 -1.23719408e-02 1.95078504e+02] [ 1.70238673e-02 -3.39572481e-04 9.99855026e-01 7.36424946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4492541539998 meters 0.017169308421901158 Centerline is valid? [True, True] Translation: X:905.09, Y:195.10, Z:7.36 [[-6.99483448e-01 -7.14555091e-01 1.15727739e-02 9.05093005e+02] [ 7.14450458e-01 -6.99579116e-01 -1.22312640e-02 1.95095376e+02] [ 1.68359829e-02 -2.87393090e-04 9.99858224e-01 7.36458592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4792541539998 meters 0.018488754209706797 Centerline is valid? [True, True] Translation: X:905.07, Y:195.11, Z:7.36 [[-6.98783285e-01 -7.15238091e-01 1.16787463e-02 9.05073829e+02] [ 7.15131760e-01 -6.98880820e-01 -1.23355293e-02 1.95112942e+02] [ 1.69848922e-02 -2.68019240e-04 9.99855710e-01 7.36346040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.5092541539998 meters 0.014523539904958879 Centerline is valid? [True, True] Translation: X:905.05, Y:195.13, Z:7.37 [[-6.95858046e-01 -7.18093411e-01 1.11100788e-02 9.05051289e+02] [ 7.17997658e-01 -6.95946707e-01 -1.17278773e-02 1.95130255e+02] [ 1.61537342e-02 -1.83927219e-04 9.99869503e-01 7.36653534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.5392541539998 meters 0.01474642814011962 Centerline is valid? [True, True] Translation: X:905.03, Y:195.15, Z:7.37 [[-6.94731594e-01 -7.19182179e-01 1.11806139e-02 9.05031806e+02] [ 7.19085449e-01 -6.94821538e-01 -1.17961011e-02 1.95148138e+02] [ 1.62520770e-02 -1.55307353e-04 9.99867914e-01 7.36584505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.5692541539997 meters 0.015158495581472827 Centerline is valid? [True, True] Translation: X:905.01, Y:195.16, Z:7.37 [[-6.92040878e-01 -7.21773291e-01 1.10788072e-02 9.05009797e+02] [ 7.21678753e-01 -6.92129546e-01 -1.16820290e-02 1.95164376e+02] [ 1.60997463e-02 -8.91018121e-05 9.99870387e-01 7.36571025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.599254154 meters 0.016701499030625688 Centerline is valid? [True, True] Translation: X:904.99, Y:195.18, Z:7.36 [[-6.90745816e-01 -7.23013875e-01 1.10069808e-02 9.04988991e+02] [ 7.22920832e-01 -6.90833506e-01 -1.15990111e-02 1.95182476e+02] [ 1.59902371e-02 -5.47926896e-05 9.99872146e-01 7.36462777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.629254154 meters 0.013579033371648251 Centerline is valid? [True, True] Translation: X:904.97, Y:195.20, Z:7.37 [[-6.87258431e-01 -7.26346700e-01 9.81434487e-03 9.04966722e+02] [ 7.26273154e-01 -6.87328503e-01 -1.03360427e-02 1.95198560e+02] [ 1.42532295e-02 2.43627206e-05 9.99898417e-01 7.36826809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6592541539999 meters 0.015622286080053643 Centerline is valid? [True, True] Translation: X:904.95, Y:195.22, Z:7.37 [[-6.86436223e-01 -7.27125409e-01 9.69286249e-03 9.04945964e+02] [ 7.27053837e-01 -6.86504653e-01 -1.02019380e-02 1.95217673e+02] [ 1.40722835e-02 4.42530955e-05 9.99900980e-01 7.36774793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6892541539999 meters 0.015375383551627417 Centerline is valid? [True, True] Translation: X:904.93, Y:195.24, Z:7.37 [[-6.85352826e-01 -7.28147866e-01 9.60155359e-03 9.04926070e+02] [ 7.28077807e-01 -6.85420076e-01 -1.01007765e-02 1.95235652e+02] [ 1.39359564e-02 6.80823835e-05 9.99902888e-01 7.36814302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7192541539998 meters 0.013831492181235043 Centerline is valid? [True, True] Translation: X:904.91, Y:195.25, Z:7.37 [[-6.84347706e-01 -7.29096752e-01 9.28142668e-03 9.04905268e+02] [ 7.29031439e-01 -6.84410636e-01 -9.75921804e-03 1.95254716e+02] [ 1.34677213e-02 8.77533702e-05 9.99909302e-01 7.36985651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7492541539998 meters 0.01396741989147348 Centerline is valid? [True, True] Translation: X:904.88, Y:195.27, Z:7.37 [[-6.83400514e-01 -7.29984989e-01 9.25494267e-03 9.04883739e+02] [ 7.29920205e-01 -6.83463170e-01 -9.72575222e-03 1.95273322e+02] [ 1.34250656e-02 1.08785580e-04 9.99909874e-01 7.37047966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7792541539998 meters 0.017317427245319247 Centerline is valid? [True, True] Translation: X:904.86, Y:195.29, Z:7.37 [[-6.83415501e-01 -7.29967218e-01 9.54536443e-03 9.04863377e+02] [ 7.29898386e-01 -6.83482149e-01 -1.00248603e-02 1.95290976e+02] [ 1.38419056e-02 1.16001189e-04 9.99904190e-01 7.36782192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.8092541539997 meters 0.014582077736326993 Centerline is valid? [True, True] Translation: X:904.84, Y:195.31, Z:7.37 [[-6.82769178e-01 -7.30575162e-01 9.28341240e-03 9.04843563e+02] [ 7.30510185e-01 -6.82832275e-01 -9.74441557e-03 1.95308460e+02] [ 1.34580416e-02 1.28440692e-04 9.99909428e-01 7.36999506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.839254154 meters 0.01509313269097439 Centerline is valid? [True, True] Translation: X:904.82, Y:195.33, Z:7.37 [[-6.82802964e-01 -7.30536364e-01 9.83534059e-03 9.04824476e+02] [ 7.30463508e-01 -6.82873782e-01 -1.03180019e-02 1.95329727e+02] [ 1.42539718e-02 1.39195133e-04 9.99898397e-01 7.37015819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.869254154 meters 0.014412420806736347 Centerline is valid? [True, True] Translation: X:904.80, Y:195.35, Z:7.37 [[-6.82334401e-01 -7.30966418e-01 1.03856115e-02 9.04803863e+02] [ 7.30885333e-01 -6.82413415e-01 -1.08885161e-02 1.95348078e+02] [ 1.50464203e-02 1.61082015e-04 9.99886783e-01 7.36979346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.899254154 meters 0.015679942706564195 Centerline is valid? [True, True] Translation: X:904.78, Y:195.37, Z:7.37 [[-6.82415196e-01 -7.30878961e-01 1.12002477e-02 9.04783733e+02] [ 7.30784761e-01 -6.82507080e-01 -1.17353650e-02 1.95368182e+02] [ 1.62213797e-02 1.76578937e-04 9.99868409e-01 7.36826110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9292541539999 meters 0.017946464094050714 Centerline is valid? [True, True] Translation: X:904.76, Y:195.39, Z:7.37 [[-6.82799101e-01 -7.30500873e-01 1.24041178e-02 9.04764504e+02] [ 7.30385416e-01 -6.82911736e-01 -1.29886876e-02 1.95387188e+02] [ 1.79591653e-02 1.91122528e-04 9.99838703e-01 7.36546740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9592541539998 meters 0.014882021732242448 Centerline is valid? [True, True] Translation: X:904.75, Y:195.41, Z:7.37 [[-6.82861461e-01 -7.30447683e-01 1.20999415e-02 9.04745090e+02] [ 7.30337940e-01 -6.82968628e-01 -1.26627917e-02 1.95407845e+02] [ 1.75133873e-02 1.90113966e-04 9.99846611e-01 7.36824045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9892541539998 meters 0.01654295042537301 Centerline is valid? [True, True] Translation: X:904.73, Y:195.43, Z:7.37 [[-6.83383453e-01 -7.29951801e-01 1.25469054e-02 9.04725625e+02] [ 7.29833856e-01 -6.83498597e-01 -1.31229140e-02 1.95428748e+02] [ 1.81548869e-02 1.89174064e-04 9.99835169e-01 7.36691525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.0192541539998 meters 0.017500898096393075 Centerline is valid? [True, True] Translation: X:904.71, Y:195.45, Z:7.37 [[-6.84524411e-01 -7.28887274e-01 1.22340475e-02 9.04707065e+02] [ 7.28775097e-01 -6.84633709e-01 -1.27883982e-02 1.95450226e+02] [ 1.76971420e-02 1.61898349e-04 9.99843380e-01 7.36741289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.0492541539998 meters 0.016401365776518323 Centerline is valid? [True, True] Translation: X:904.69, Y:195.47, Z:7.37 [[-6.85153208e-01 -7.28301571e-01 1.19123737e-02 9.04688267e+02] [ 7.28195249e-01 -6.85256741e-01 -1.24450087e-02 1.95471167e+02] [ 1.72267538e-02 1.47796352e-04 9.99851598e-01 7.36871737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.079254154 meters 0.013992672242499166 Centerline is valid? [True, True] Translation: X:904.67, Y:195.49, Z:7.37 [[-6.86921540e-01 -7.26645846e-01 1.11630165e-02 9.04670363e+02] [ 7.26552369e-01 -6.87012230e-01 -1.16555259e-02 1.95493118e+02] [ 1.61385684e-02 1.04084304e-04 9.99869759e-01 7.37166046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.109254154 meters 0.016660401754222214 Centerline is valid? [True, True] Translation: X:904.65, Y:195.51, Z:7.37 [[-6.90138754e-01 -7.23584047e-01 1.16029346e-02 9.04654418e+02] [ 7.23482746e-01 -6.90236283e-01 -1.21074680e-02 1.95514749e+02] [ 1.67695371e-02 3.86901053e-05 9.99859381e-01 7.36894296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.139254154 meters 0.017067262325336376 Centerline is valid? [True, True] Translation: X:904.64, Y:195.54, Z:7.37 [[-6.91746612e-01 -7.22041939e-01 1.19190730e-02 9.04636420e+02] [ 7.21934941e-01 -6.91849289e-01 -1.24298986e-02 1.95536734e+02] [ 1.72211102e-02 6.45503434e-06 9.99851706e-01 7.36909698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1692541539999 meters 0.01701037217839167 Centerline is valid? [True, True] Translation: X:904.62, Y:195.56, Z:7.37 [[-6.94456651e-01 -7.19433453e-01 1.20609046e-02 9.04620037e+02] [ 7.19323631e-01 -6.94561375e-01 -1.25702399e-02 1.95559173e+02] [ 1.74204896e-02 -5.37930158e-05 9.99848250e-01 7.36920617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1992541539998 meters 0.017794045292557403 Centerline is valid? [True, True] Translation: X:904.60, Y:195.58, Z:7.37 [[-6.95505905e-01 -7.18418821e-01 1.20803205e-02 9.04601233e+02] [ 7.18308621e-01 -6.95610806e-01 -1.25830155e-02 1.95580153e+02] [ 1.74430766e-02 -7.41632458e-05 9.99847855e-01 7.36957365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2292541539998 meters 0.015079083030916518 Centerline is valid? [True, True] Translation: X:904.58, Y:195.60, Z:7.37 [[-6.96359097e-01 -7.17592235e-01 1.20578386e-02 9.04582826e+02] [ 7.17482448e-01 -6.96463478e-01 -1.25523424e-02 1.95601066e+02] [ 1.74053077e-02 -8.96503059e-05 9.99848512e-01 7.37205652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2592541539998 meters 0.016468838949285396 Centerline is valid? [True, True] Translation: X:904.56, Y:195.62, Z:7.37 [[-6.96722007e-01 -7.17239304e-01 1.20923483e-02 9.04563316e+02] [ 7.17128963e-01 -6.96826931e-01 -1.25809223e-02 1.95620888e+02] [ 1.74498059e-02 -9.36322770e-05 9.99847736e-01 7.37139431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2892541539998 meters 0.015856611484167216 Centerline is valid? [True, True] Translation: X:904.54, Y:195.64, Z:7.37 [[-6.96692317e-01 -7.17267575e-01 1.21260847e-02 9.04544453e+02] [ 7.17156754e-01 -6.96797832e-01 -1.26083719e-02 1.95639675e+02] [ 1.74930058e-02 -8.78523175e-05 9.99846982e-01 7.37204325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.3192541539997 meters 0.015020540243596253 Centerline is valid? [True, True] Translation: X:904.52, Y:195.66, Z:7.37 [[-6.96211941e-01 -7.17739860e-01 1.17655060e-02 9.04524214e+02] [ 7.17635722e-01 -6.96311345e-01 -1.22262442e-02 1.95659355e+02] [ 1.69677181e-02 -6.87098382e-05 9.99856036e-01 7.37271991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.349254154 meters 0.013522852852236282 Centerline is valid? [True, True] Translation: X:904.50, Y:195.68, Z:7.38 [[-6.95104937e-01 -7.18813437e-01 1.16777133e-02 9.04503680e+02] [ 7.18711117e-01 -6.95203022e-01 -1.21279930e-02 1.95678689e+02] [ 1.68361460e-02 -3.73254404e-05 9.99858261e-01 7.37501543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.379254154 meters 0.014809358963336842 Centerline is valid? [True, True] Translation: X:904.48, Y:195.70, Z:7.37 [[-6.93998831e-01 -7.19885078e-01 1.14497636e-02 9.04482861e+02] [ 7.19786972e-01 -6.94093275e-01 -1.18844155e-02 1.95697479e+02] [ 1.65026173e-02 -6.37980692e-06 9.99863823e-01 7.37429753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4092541539999 meters 0.014041482988848103 Centerline is valid? [True, True] Translation: X:904.46, Y:195.72, Z:7.38 [[-6.93206935e-01 -7.20645274e-01 1.15989118e-02 9.04462777e+02] [ 7.20544819e-01 -6.93303966e-01 -1.20322263e-02 1.95716603e+02] [ 1.67125386e-02 1.67130884e-05 9.99860336e-01 7.37516458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4392541539999 meters 0.014584807250676552 Centerline is valid? [True, True] Translation: X:904.44, Y:195.74, Z:7.37 [[-6.92360877e-01 -7.21454545e-01 1.18218021e-02 9.04442757e+02] [ 7.21350412e-01 -6.92461795e-01 -1.22574498e-02 1.95735143e+02] [ 1.70293392e-02 4.10831261e-05 9.99854989e-01 7.37421575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4692541539998 meters 0.013766199171758477 Centerline is valid? [True, True] Translation: X:904.42, Y:195.75, Z:7.38 [[-6.90615920e-01 -7.23130596e-01 1.14801223e-02 9.04420988e+02] [ 7.23032726e-01 -6.90711325e-01 -1.18971885e-02 1.95753584e+02] [ 1.65326715e-02 8.41163222e-05 9.99863323e-01 7.37551397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4992541539998 meters 0.016425557182344612 Centerline is valid? [True, True] Translation: X:904.40, Y:195.77, Z:7.37 [[-6.90151341e-01 -7.23560762e-01 1.22861808e-02 9.04401566e+02] [ 7.23448855e-01 -6.90260685e-01 -1.27256350e-02 1.95771852e+02] [ 1.76884377e-02 1.05809363e-04 9.99843542e-01 7.37288818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.5292541539998 meters 0.016782893358691677 Centerline is valid? [True, True] Translation: X:904.38, Y:195.79, Z:7.37 [[-6.89243416e-01 -7.24429638e-01 1.20504685e-02 9.04382024e+02] [ 7.24322233e-01 -6.89348738e-01 -1.24747597e-02 1.95791396e+02] [ 1.73440609e-02 1.30276274e-04 9.99849572e-01 7.37361253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.5592541539997 meters 0.015277404722462303 Centerline is valid? [True, True] Translation: X:904.36, Y:195.81, Z:7.38 [[-6.89038252e-01 -7.24627123e-01 1.19088230e-02 9.04362230e+02] [ 7.24522380e-01 -6.89141142e-01 -1.23210037e-02 1.95811852e+02] [ 1.71349933e-02 1.38565943e-04 9.99853176e-01 7.37574690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.589254154 meters 0.014026573522298134 Centerline is valid? [True, True] Translation: X:904.34, Y:195.83, Z:7.38 [[-6.88781653e-01 -7.24879944e-01 1.13534937e-02 9.04342274e+02] [ 7.24784887e-01 -6.88875204e-01 -1.17397272e-02 1.95831804e+02] [ 1.63310330e-02 1.42731960e-04 9.99866630e-01 7.37730442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.619254154 meters 0.016893698050089525 Centerline is valid? [True, True] Translation: X:904.32, Y:195.85, Z:7.37 [[-6.88744216e-01 -7.24910193e-01 1.16882798e-02 9.04322619e+02] [ 7.24809575e-01 -6.88843370e-01 -1.20785429e-02 1.95850514e+02] [ 1.68072529e-02 1.52750507e-04 9.99858736e-01 7.37463401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.649254154 meters 0.014132859167494542 Centerline is valid? [True, True] Translation: X:904.30, Y:195.87, Z:7.38 [[-6.88548288e-01 -7.25102556e-01 1.12933357e-02 9.04303568e+02] [ 7.25008763e-01 -6.88640878e-01 -1.16633887e-02 1.95869352e+02] [ 1.62342055e-02 1.56961036e-04 9.99868204e-01 7.37716546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.6792541539999 meters 0.015038719885679043 Centerline is valid? [True, True] Translation: X:904.28, Y:195.89, Z:7.38 [[-6.88727924e-01 -7.24927714e-01 1.15609564e-02 9.04283635e+02] [ 7.24829516e-01 -6.88824929e-01 -1.19327089e-02 1.95889592e+02] [ 1.66138264e-02 1.61332617e-04 9.99861968e-01 7.37656233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7092541539998 meters 0.0168679644119721 Centerline is valid? [True, True] Translation: X:904.26, Y:195.91, Z:7.38 [[-6.89011592e-01 -7.24650825e-01 1.20086552e-02 9.04264587e+02] [ 7.24544958e-01 -6.89116212e-01 -1.23875133e-02 1.95909990e+02] [ 1.72519807e-02 1.65670354e-04 9.99851160e-01 7.37569727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7392541539998 meters 0.016152816755032717 Centerline is valid? [True, True] Translation: X:904.25, Y:195.93, Z:7.38 [[-6.89430882e-01 -7.24252931e-01 1.19478108e-02 9.04245472e+02] [ 7.24148199e-01 -6.89534384e-01 -1.23174805e-02 1.95930910e+02] [ 1.71593977e-02 1.59934264e-04 9.99852754e-01 7.37652991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7692541539998 meters 0.014827146947058212 Centerline is valid? [True, True] Translation: X:904.23, Y:195.95, Z:7.38 [[-6.89680433e-01 -7.24011143e-01 1.21968998e-02 9.04226369e+02] [ 7.23902071e-01 -6.89788256e-01 -1.25679580e-02 1.95950252e+02] [ 1.75126199e-02 1.61486343e-04 9.99846629e-01 7.37760861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7992541539998 meters 0.013974088739725346 Centerline is valid? [True, True] Translation: X:904.21, Y:195.97, Z:7.38 [[-6.89966447e-01 -7.23740185e-01 1.21014905e-02 9.04207179e+02] [ 7.23632884e-01 -6.90072546e-01 -1.24631655e-02 1.95970300e+02] [ 1.73710001e-02 1.57870423e-04 9.99849100e-01 7.37891739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.829254154 meters 0.013940973939301446 Centerline is valid? [True, True] Translation: X:904.19, Y:195.99, Z:7.38 [[-6.90919615e-01 -7.22824393e-01 1.24491693e-02 9.04188612e+02] [ 7.22710826e-01 -6.91031748e-01 -1.28134849e-02 1.95990232e+02] [ 1.78646707e-02 1.44061391e-04 9.99840404e-01 7.37846072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.859254154 meters 0.01688330137982423 Centerline is valid? [True, True] Translation: X:904.17, Y:196.01, Z:7.38 [[-6.91430056e-01 -7.22325840e-01 1.30329986e-02 9.04169968e+02] [ 7.22201443e-01 -6.91552861e-01 -1.34058245e-02 1.96010214e+02] [ 1.86963809e-02 1.43260399e-04 9.99825197e-01 7.37539652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.889254154 meters 0.015228090517226055 Centerline is valid? [True, True] Translation: X:904.15, Y:196.03, Z:7.38 [[-6.91657655e-01 -7.22101988e-01 1.33569495e-02 9.04151881e+02] [ 7.21971462e-01 -6.91786599e-01 -1.37299126e-02 1.96029311e+02] [ 1.91545558e-02 1.46937235e-04 9.99816524e-01 7.37656953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9192541539999 meters 0.016608862601656053 Centerline is valid? [True, True] Translation: X:904.13, Y:196.05, Z:7.38 [[-6.92015428e-01 -7.21751224e-01 1.37774318e-02 9.04133002e+02] [ 7.21612464e-01 -6.92152547e-01 -1.41528709e-02 1.96048841e+02] [ 1.97509364e-02 1.47961456e-04 9.99804920e-01 7.37513367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9492541539998 meters 0.016569029923549326 Centerline is valid? [True, True] Translation: X:904.11, Y:196.07, Z:7.38 [[-6.92178667e-01 -7.21591086e-01 1.39641491e-02 9.04114360e+02] [ 7.21448689e-01 -6.92319494e-01 -1.43355296e-02 1.96068519e+02] [ 2.00120430e-02 1.51669288e-04 9.99799728e-01 7.37532564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9792541539998 meters 0.016588664482003943 Centerline is valid? [True, True] Translation: X:904.10, Y:196.09, Z:7.38 [[-6.92475419e-01 -7.21301716e-01 1.41996290e-02 9.04096049e+02] [ 7.21154594e-01 -6.92620973e-01 -1.45684670e-02 1.96089360e+02] [ 2.03432211e-02 1.51822432e-04 9.99793044e-01 7.37586272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.0092541539998 meters 0.01606370286551523 Centerline is valid? [True, True] Translation: X:904.08, Y:196.11, Z:7.38 [[-6.93202191e-01 -7.20606698e-01 1.40253083e-02 9.04078484e+02] [ 7.20463197e-01 -6.93344048e-01 -1.43809935e-02 1.96109662e+02] [ 2.00874043e-02 1.35782286e-04 9.99798219e-01 7.37680866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.0392541539998 meters 0.014332799522177522 Centerline is valid? [True, True] Translation: X:904.06, Y:196.13, Z:7.38 [[-6.93524841e-01 -7.20307748e-01 1.34180437e-02 9.04060323e+02] [ 7.20176477e-01 -6.93654621e-01 -1.37517250e-02 1.96129712e+02] [ 1.92129620e-02 1.26196543e-04 9.99815406e-01 7.37915625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.0692541539997 meters 0.01648904778677816 Centerline is valid? [True, True] Translation: X:904.04, Y:196.15, Z:7.38 [[-6.94352422e-01 -7.19515413e-01 1.31257053e-02 9.04042860e+02] [ 7.19389776e-01 -6.94476464e-01 -1.34458838e-02 1.96149086e+02] [ 1.87900140e-02 1.06316260e-04 9.99823446e-01 7.37740726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.099254154 meters 0.013719452498977889 Centerline is valid? [True, True] Translation: X:904.03, Y:196.17, Z:7.38 [[-6.95457653e-01 -7.18468867e-01 1.18801863e-02 9.04025739e+02] [ 7.18365907e-01 -6.95559114e-01 -1.21631606e-02 1.96170030e+02] [ 1.70022241e-02 7.53576986e-05 9.99855449e-01 7.38267416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.129254154 meters 0.014096695912522487 Centerline is valid? [True, True] Translation: X:904.01, Y:196.19, Z:7.38 [[-6.96618593e-01 -7.17352212e-01 1.13287286e-02 9.04007316e+02] [ 7.17258559e-01 -6.96710702e-01 -1.15913000e-02 1.96190487e+02] [ 1.62078911e-02 5.09124629e-05 9.99868642e-01 7.38273070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1592541539999 meters 0.015960538166836034 Centerline is valid? [True, True] Translation: X:903.99, Y:196.21, Z:7.38 [[-6.98395801e-01 -7.15625874e-01 1.10866670e-02 9.03989602e+02] [ 7.15536069e-01 -6.98483792e-01 -1.13368896e-02 1.96212247e+02] [ 1.58568288e-02 1.52740416e-05 9.99874272e-01 7.38139183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1892541539999 meters 0.016934760030741815 Centerline is valid? [True, True] Translation: X:903.97, Y:196.23, Z:7.38 [[-6.99559268e-01 -7.14488013e-01 1.11224934e-02 9.03970697e+02] [ 7.14397586e-01 -6.99647683e-01 -1.13670235e-02 1.96233546e+02] [ 1.59034288e-02 -6.02423944e-06 9.99873532e-01 7.38075501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2192541539998 meters 0.016934760030741815 Centerline is valid? [True, True] Translation: X:903.95, Y:196.25, Z:7.38 [[-6.99763602e-01 -7.14287841e-01 1.11257444e-02 9.03951344e+02] [ 7.14197440e-01 -6.99852042e-01 -1.13638411e-02 1.96253211e+02] [ 1.59034285e-02 -6.02423873e-06 9.99873532e-01 7.38094539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2492541539998 meters 0.016622075661923728 Centerline is valid? [True, True] Translation: X:903.93, Y:196.27, Z:7.38 [[-7.02023289e-01 -7.12055210e-01 1.18608419e-02 9.03934983e+02] [ 7.11952259e-01 -7.02123476e-01 -1.21080908e-02 1.96274241e+02] [ 1.69494047e-02 -5.58085020e-05 9.99856347e-01 7.38055693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2792541539998 meters 0.01864194913286108 Centerline is valid? [True, True] Translation: X:903.92, Y:196.30, Z:7.38 [[-7.03839630e-01 -7.10249116e-01 1.24887305e-02 9.03916851e+02] [ 7.10134820e-01 -7.03950412e-01 -1.27418216e-02 1.96295147e+02] [ 1.78413146e-02 -9.95165844e-05 9.99840826e-01 7.37894568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.3092541539997 meters 0.016826771604689757 Centerline is valid? [True, True] Translation: X:903.90, Y:196.32, Z:7.38 [[-7.06504288e-01 -7.07595513e-01 1.26602291e-02 9.03900490e+02] [ 7.07477768e-01 -7.06617692e-01 -1.29090840e-02 1.96316902e+02] [ 1.80803518e-02 -1.63492619e-04 9.99836524e-01 7.38005458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.339254154 meters 0.01822256824524155 Centerline is valid? [True, True] Translation: X:903.88, Y:196.34, Z:7.38 [[-7.08084118e-01 -7.06005133e-01 1.31769923e-02 9.03881969e+02] [ 7.05877449e-01 -7.08206685e-01 -1.34282567e-02 1.96338076e+02] [ 1.88124522e-02 -2.06993604e-04 9.99823009e-01 7.37918169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.369254154 meters 0.017807697364514874 Centerline is valid? [True, True] Translation: X:903.86, Y:196.36, Z:7.38 [[-7.10137756e-01 -7.03940845e-01 1.31017016e-02 9.03864898e+02] [ 7.03814378e-01 -7.10258560e-01 -1.33454210e-02 1.96359774e+02] [ 1.86999826e-02 -2.55921375e-04 9.99825107e-01 7.38027983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.399254154 meters 0.0166938179496202 Centerline is valid? [True, True] Translation: X:903.84, Y:196.38, Z:7.38 [[-7.11127988e-01 -7.02944775e-01 1.28696225e-02 9.03844863e+02] [ 7.02822708e-01 -7.11244380e-01 -1.31024052e-02 1.96379903e+02] [ 1.83637140e-02 -2.72424093e-04 9.99831336e-01 7.38227934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4292541539999 meters 0.018260086306772044 Centerline is valid? [True, True] Translation: X:903.83, Y:196.40, Z:7.38 [[-7.12125406e-01 -7.01931898e-01 1.30006432e-02 9.03826982e+02] [ 7.01807309e-01 -7.12244005e-01 -1.32279466e-02 1.96400162e+02] [ 1.85447478e-02 -2.96010430e-04 9.99827988e-01 7.38144567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4592541539998 meters 0.016270907143309078 Centerline is valid? [True, True] Translation: X:903.81, Y:196.42, Z:7.38 [[-7.12436085e-01 -7.01631735e-01 1.21545585e-02 9.03808509e+02] [ 7.01522922e-01 -7.12539704e-01 -1.23595822e-02 1.96419704e+02] [ 1.73324806e-02 -2.78710982e-04 9.99849742e-01 7.38462972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4892541539998 meters 0.01669546898587473 Centerline is valid? [True, True] Translation: X:903.79, Y:196.44, Z:7.38 [[-7.12751876e-01 -7.01319121e-01 1.16727900e-02 9.03790387e+02] [ 7.01218848e-01 -7.12847402e-01 -1.18620864e-02 1.96438753e+02] [ 1.66400261e-02 -2.69544011e-04 9.99861509e-01 7.38455503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.5192541539998 meters 0.017703802979222246 Centerline is valid? [True, True] Translation: X:903.77, Y:196.46, Z:7.38 [[-7.12381482e-01 -7.01703770e-01 1.11554340e-02 9.03770958e+02] [ 7.01612349e-01 -7.12468778e-01 -1.13292250e-02 1.96457679e+02] [ 1.58976583e-02 -2.43939855e-04 9.99873594e-01 7.38467729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.5492541539998 meters 0.016945308453220915 Centerline is valid? [True, True] Translation: X:903.75, Y:196.48, Z:7.39 [[-7.12166657e-01 -7.01923937e-01 1.10199126e-02 9.03749670e+02] [ 7.01834855e-01 -7.12251874e-01 -1.11849495e-02 1.96476593e+02] [ 1.56999372e-02 -2.31389383e-04 9.99876722e-01 7.38582413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.579254154 meters 0.017025969291099053 Centerline is valid? [True, True] Translation: X:903.73, Y:196.50, Z:7.39 [[-7.10691799e-01 -7.03413820e-01 1.12323058e-02 9.03729450e+02] [ 7.03321562e-01 -7.10780527e-01 -1.13939298e-02 1.96495458e+02] [ 1.59983519e-02 -1.97649536e-04 9.99871999e-01 7.38514748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.609254154 meters 0.015689531845746868 Centerline is valid? [True, True] Translation: X:903.71, Y:196.51, Z:7.39 [[-7.09718270e-01 -7.04397830e-01 1.11209007e-02 9.03709342e+02] [ 7.04307622e-01 -7.09805374e-01 -1.12740989e-02 1.96513792e+02] [ 1.58351259e-02 -1.68898859e-04 9.99874602e-01 7.38609958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.639254154 meters 0.01415247116735763 Centerline is valid? [True, True] Translation: X:903.69, Y:196.53, Z:7.39 [[-7.08772945e-01 -7.05340518e-01 1.16475819e-02 9.03687900e+02] [ 7.05241810e-01 -7.08868628e-01 -1.18007210e-02 1.96532512e+02] [ 1.65801320e-02 -1.49670052e-04 9.99862529e-01 7.38772660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6692541539999 meters 0.014561040776953728 Centerline is valid? [True, True] Translation: X:903.67, Y:196.55, Z:7.39 [[-7.07055078e-01 -7.07052576e-01 1.22380910e-02 9.03667687e+02] [ 7.06943971e-01 -7.07160973e-01 -1.23927551e-02 1.96550570e+02] [ 1.74166297e-02 -1.10715796e-04 9.99848313e-01 7.38586350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6992541539998 meters 0.013967934702636855 Centerline is valid? [True, True] Translation: X:903.65, Y:196.57, Z:7.39 [[-7.05959996e-01 -7.08143164e-01 1.23993068e-02 9.03646861e+02] [ 7.08031968e-01 -7.06068872e-01 -1.25490993e-02 1.96567660e+02] [ 1.76413235e-02 -8.00564796e-05 9.99844377e-01 7.38615045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7292541539998 meters 0.016886742704812104 Centerline is valid? [True, True] Translation: X:903.63, Y:196.59, Z:7.38 [[-7.06100329e-01 -7.08004140e-01 1.23475833e-02 9.03627641e+02] [ 7.07893989e-01 -7.06208278e-01 -1.24887191e-02 1.96586040e+02] [ 1.75620304e-02 -7.75086381e-05 9.99845773e-01 7.38289606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7592541539998 meters 0.016826331676818965 Centerline is valid? [True, True] Translation: X:903.61, Y:196.60, Z:7.38 [[-7.06147401e-01 -7.07959455e-01 1.22171215e-02 9.03608283e+02] [ 7.07851731e-01 -7.06253074e-01 -1.23500218e-02 1.96603940e+02] [ 1.73716943e-02 -7.30251794e-05 9.99849098e-01 7.38368817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7892541539998 meters 0.013834792485861565 Centerline is valid? [True, True] Translation: X:903.59, Y:196.62, Z:7.39 [[-7.06176314e-01 -7.07940698e-01 1.16181806e-02 9.03588919e+02] [ 7.07843383e-01 -7.06271877e-01 -1.17379932e-02 1.96622492e+02] [ 1.65153974e-02 -6.52404994e-05 9.99863609e-01 7.38797504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.8192541539997 meters 0.015424053856136447 Centerline is valid? [True, True] Translation: X:903.57, Y:196.64, Z:7.39 [[-7.06627313e-01 -7.07493046e-01 1.14643634e-02 9.03569169e+02] [ 7.07398344e-01 -7.06720302e-01 -1.15757108e-02 1.96642492e+02] [ 1.62918333e-02 -6.98417364e-05 9.99867277e-01 7.38732748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.849254154 meters 0.017071728090384184 Centerline is valid? [True, True] Translation: X:903.55, Y:196.66, Z:7.39 [[-7.06943973e-01 -7.07177778e-01 1.13933938e-02 9.03549047e+02] [ 7.07084310e-01 -7.07035774e-01 -1.14975147e-02 1.96662154e+02] [ 1.61863239e-02 -7.20087126e-05 9.99868990e-01 7.38699074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.879254154 meters 0.013714693396830017 Centerline is valid? [True, True] Translation: X:903.53, Y:196.68, Z:7.39 [[-7.06577182e-01 -7.07552389e-01 1.08767278e-02 9.03528554e+02] [ 7.07467345e-01 -7.06660891e-01 -1.09700011e-02 1.96681809e+02] [ 1.54480087e-02 -5.62227501e-05 9.99880671e-01 7.39056436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9092541539999 meters 0.015318190883045188 Centerline is valid? [True, True] Translation: X:903.51, Y:196.70, Z:7.39 [[-7.06556821e-01 -7.07566337e-01 1.12843644e-02 9.03508118e+02] [ 7.07474907e-01 -7.06646924e-01 -1.13745343e-02 1.96701131e+02] [ 1.60222989e-02 -5.33501286e-05 9.99871633e-01 7.38920144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9392541539999 meters 0.017227601008027518 Centerline is valid? [True, True] Translation: X:903.49, Y:196.72, Z:7.39 [[-7.05163036e-01 -7.08937096e-01 1.23809022e-02 9.03486161e+02] [ 7.08827374e-01 -7.05271716e-01 -1.24723905e-02 1.96719484e+02] [ 1.75740405e-02 -1.91463582e-05 9.99845564e-01 7.38724439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9692541539998 meters 0.014188670883400952 Centerline is valid? [True, True] Translation: X:903.47, Y:196.74, Z:7.39 [[-7.03737700e-01 -7.10351285e-01 1.24217987e-02 9.03465579e+02] [ 7.10241188e-01 -7.03847321e-01 -1.25061303e-02 1.96737820e+02] [ 1.76267955e-02 2.14376768e-05 9.99844636e-01 7.38931003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9992541539998 meters 0.01698232322627319 Centerline is valid? [True, True] Translation: X:903.44, Y:196.76, Z:7.39 [[-7.00845318e-01 -7.13176375e-01 1.39748963e-02 9.03443889e+02] [ 7.13037761e-01 -7.00984626e-01 -1.40607743e-02 1.96755190e+02] [ 1.98239995e-02 1.10200951e-04 9.99803479e-01 7.38633275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.0292541539998 meters 0.015189996011424008 Centerline is valid? [True, True] Translation: X:903.42, Y:196.77, Z:7.39 [[-6.98865864e-01 -7.15109552e-01 1.43119846e-02 9.03423237e+02] [ 7.14964754e-01 -6.99012374e-01 -1.43910307e-02 1.96772741e+02] [ 2.02954178e-02 1.75164489e-04 9.99794011e-01 7.38784183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.0592541539997 meters 0.014866578503087289 Centerline is valid? [True, True] Translation: X:903.40, Y:196.79, Z:7.39 [[-6.95171859e-01 -7.18693403e-01 1.46927964e-02 9.03400448e+02] [ 7.18541769e-01 -6.95327050e-01 -1.47654981e-02 1.96790048e+02] [ 2.08281648e-02 2.92829194e-04 9.99783027e-01 7.38911353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.089254154 meters 0.01528654894673367 Centerline is valid? [True, True] Translation: X:903.38, Y:196.81, Z:7.39 [[-6.93693887e-01 -7.20120132e-01 1.46897197e-02 9.03379352e+02] [ 7.19969055e-01 -6.93849321e-01 -1.47540098e-02 1.96808328e+02] [ 2.08171115e-02 3.41377208e-04 9.99783242e-01 7.38931553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.119254154 meters 0.016495075797752612 Centerline is valid? [True, True] Translation: X:903.36, Y:196.83, Z:7.39 [[-6.91451877e-01 -7.22287997e-01 1.39409997e-02 9.03357745e+02] [ 7.22152531e-01 -6.91592291e-01 -1.39937367e-02 1.96825164e+02] [ 1.97489959e-02 3.91532673e-04 9.99804893e-01 7.38969828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.149254154 meters 0.016578446745249605 Centerline is valid? [True, True] Translation: X:903.34, Y:196.84, Z:7.39 [[-6.91072043e-01 -7.22656102e-01 1.36963715e-02 9.03338788e+02] [ 7.22525588e-01 -6.91207637e-01 -1.37395905e-02 1.96844373e+02] [ 1.93960355e-02 4.00932053e-04 9.99811799e-01 7.39088113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.1792541539999 meters 0.019211774660113395 Centerline is valid? [True, True] Translation: X:903.32, Y:196.87, Z:7.39 [[-6.91158283e-01 -7.22576824e-01 1.35263459e-02 9.03319903e+02] [ 7.22449671e-01 -6.91290514e-01 -1.35608983e-02 1.96865717e+02] [ 1.91494254e-02 3.99376945e-04 9.99816553e-01 7.38942021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2092541539998 meters 0.017578341408174554 Centerline is valid? [True, True] Translation: X:903.30, Y:196.89, Z:7.39 [[-6.91451822e-01 -7.22309124e-01 1.28026344e-02 9.03300962e+02] [ 7.22195302e-01 -6.91570234e-01 -1.28280000e-02 1.96885946e+02] [ 1.81197023e-02 3.76058421e-04 9.99835754e-01 7.39182794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2392541539998 meters 0.01827455904324007 Centerline is valid? [True, True] Translation: X:903.28, Y:196.91, Z:7.39 [[-6.92125405e-01 -7.21676967e-01 1.20324231e-02 9.03281788e+02] [ 7.21576452e-01 -6.92229903e-01 -1.20493001e-02 1.96905256e+02] [ 1.70249054e-02 3.42686450e-04 9.99855007e-01 7.39186775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2692541539998 meters 0.016929963435961284 Centerline is valid? [True, True] Translation: X:903.26, Y:196.93, Z:7.39 [[-6.92398928e-01 -7.21417300e-01 1.18660643e-02 9.03262635e+02] [ 7.21319624e-01 -6.92500517e-01 -1.18757794e-02 1.96925914e+02] [ 1.67846484e-02 3.36448134e-04 9.99859071e-01 7.39393275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2992541539998 meters 0.017629571510625375 Centerline is valid? [True, True] Translation: X:903.24, Y:196.95, Z:7.39 [[-6.93106761e-01 -7.20732398e-01 1.21584575e-02 9.03243805e+02] [ 7.20629869e-01 -6.93213315e-01 -1.21610919e-02 1.96945228e+02] [ 1.71932975e-02 3.32812607e-04 9.99852129e-01 7.39234058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.329254154 meters 0.01796773573744843 Centerline is valid? [True, True] Translation: X:903.23, Y:196.92, Z:7.39 [[-6.43283582e-01 -7.65537680e-01 1.17598510e-02 9.03229286e+02] [ 7.65429586e-01 -6.43390668e-01 -1.28840019e-02 1.96918970e+02] [ 1.74293673e-02 7.13270980e-04 9.99847843e-01 7.39150405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.359254154 meters 0.016061739372444105 Centerline is valid? [True, True] Translation: X:903.21, Y:196.94, Z:7.39 [[-6.43652589e-01 -7.65225183e-01 1.19064370e-02 9.03213071e+02] [ 7.65103992e-01 -6.43762613e-01 -1.36227412e-02 1.96940944e+02] [ 1.80893837e-02 3.41349835e-04 9.99836315e-01 7.39428896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.389254154 meters 0.018465168538043253 Centerline is valid? [True, True] Translation: X:903.20, Y:196.96, Z:7.39 [[-6.44766980e-01 -7.64279147e-01 1.23663805e-02 9.03195587e+02] [ 7.64148405e-01 -6.44885474e-01 -1.41400410e-02 1.96962558e+02] [ 1.87818376e-02 3.32718390e-04 9.99823550e-01 7.39120286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4192541539999 meters 0.016598966308031364 Centerline is valid? [True, True] Translation: X:903.18, Y:196.98, Z:7.39 [[-6.45219339e-01 -7.63902049e-01 1.20691231e-02 9.03177688e+02] [ 7.63777587e-01 -6.45332130e-01 -1.37927697e-02 1.96981844e+02] [ 1.83249180e-02 3.18763922e-04 9.99832034e-01 7.39346291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4492541539998 meters 0.016227758212409175 Centerline is valid? [True, True] Translation: X:903.16, Y:197.01, Z:7.39 [[-6.47046125e-01 -7.62351660e-01 1.22987352e-02 9.03162871e+02] [ 7.62222292e-01 -6.47162936e-01 -1.40468065e-02 1.97005395e+02] [ 1.86678918e-02 2.85438410e-04 9.99825699e-01 7.39360651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4792541539998 meters 0.015390252320879321 Centerline is valid? [True, True] Translation: X:903.15, Y:197.03, Z:7.39 [[-6.47801852e-01 -7.61705995e-01 1.25194867e-02 9.03145624e+02] [ 7.61571996e-01 -6.47922758e-01 -1.42896698e-02 1.97026942e+02] [ 1.89961875e-02 2.77615896e-04 9.99819518e-01 7.39473938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.5092541539998 meters 0.015579376613114804 Centerline is valid? [True, True] Translation: X:903.13, Y:197.05, Z:7.39 [[-6.49634479e-01 -7.60133195e-01 1.31365923e-02 9.03130786e+02] [ 7.59985538e-01 -6.49767238e-01 -1.49839476e-02 1.97048283e+02] [ 1.99255233e-02 2.49531146e-04 9.99801436e-01 7.39283219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.5392541539998 meters 0.01605971675212079 Centerline is valid? [True, True] Translation: X:903.12, Y:197.07, Z:7.39 [[-6.51615194e-01 -7.58422366e-01 1.38979298e-02 9.03115756e+02] [ 7.58256925e-01 -6.51763353e-01 -1.58419760e-02 1.97070759e+02] [ 2.10730703e-02 2.15329218e-04 9.99777915e-01 7.39107666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.5692541539997 meters 0.014807455205789993 Centerline is valid? [True, True] Translation: X:903.10, Y:197.09, Z:7.39 [[-6.52426388e-01 -7.57725155e-01 1.38707822e-02 9.03099458e+02] [ 7.57560409e-01 -6.52573789e-01 -1.58011373e-02 1.97092121e+02] [ 2.10246281e-02 1.98876507e-04 9.99778938e-01 7.39281351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.599254154 meters 0.014576054307670814 Centerline is valid? [True, True] Translation: X:903.08, Y:197.11, Z:7.39 [[-6.53224931e-01 -7.57038832e-01 1.37620964e-02 9.03082984e+02] [ 7.56876711e-01 -6.53369859e-01 -1.56674958e-02 1.97113440e+02] [ 2.08526417e-02 1.81811350e-04 9.99782544e-01 7.39324929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.629254154 meters 0.015002109596241976 Centerline is valid? [True, True] Translation: X:903.07, Y:197.13, Z:7.39 [[-6.54097943e-01 -7.56286922e-01 1.36371640e-02 9.03066121e+02] [ 7.56127769e-01 -6.54240067e-01 -1.55155489e-02 1.97134885e+02] [ 2.06561858e-02 1.62749803e-04 9.99786625e-01 7.39307769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6592541539999 meters 0.014356949363375482 Centerline is valid? [True, True] Translation: X:903.05, Y:197.16, Z:7.39 [[-6.55264072e-01 -7.55290998e-01 1.28259135e-02 9.03049950e+02] [ 7.55150201e-01 -6.55389572e-01 -1.45836551e-02 1.97157211e+02] [ 1.94208734e-02 1.29345944e-04 9.99811389e-01 7.39489685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6892541539999 meters 0.017904806820064817 Centerline is valid? [True, True] Translation: X:903.03, Y:197.18, Z:7.39 [[-6.55848796e-01 -7.54784772e-01 1.27398811e-02 9.03033923e+02] [ 7.54645940e-01 -6.55972510e-01 -1.44765766e-02 1.97178400e+02] [ 1.92837114e-02 1.19654197e-04 9.99814045e-01 7.39216615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7192541539998 meters 0.014376273182416069 Centerline is valid? [True, True] Translation: X:903.02, Y:197.20, Z:7.40 [[-6.55610900e-01 -7.55012660e-01 1.14119067e-02 9.03016228e+02] [ 7.54901433e-01 -6.55710202e-01 -1.29598024e-02 1.97198966e+02] [ 1.72677185e-02 1.18276957e-04 9.99850895e-01 7.39668079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7492541539998 meters 0.014229780708861287 Centerline is valid? [True, True] Translation: X:903.00, Y:197.22, Z:7.40 [[-6.55512740e-01 -7.55102177e-01 1.11243188e-02 9.02998998e+02] [ 7.54996631e-01 -6.55607114e-01 -1.26253495e-02 1.97219928e+02] [ 1.68266114e-02 1.22745759e-04 9.99858415e-01 7.39835596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7792541539998 meters 0.01649635465989006 Centerline is valid? [True, True] Translation: X:902.98, Y:197.24, Z:7.40 [[-6.55004783e-01 -7.55544214e-01 1.10306551e-02 9.02981071e+02] [ 7.55440638e-01 -6.55097643e-01 -1.25108338e-02 1.97238808e+02] [ 1.66786443e-02 1.38349137e-04 9.99860892e-01 7.39501538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.8092541539997 meters 0.01607235076056946 Centerline is valid? [True, True] Translation: X:902.96, Y:197.26, Z:7.40 [[-6.54086952e-01 -7.56331281e-01 1.15434585e-02 9.02963584e+02] [ 7.56218120e-01 -6.54188783e-01 -1.30840081e-02 1.97260178e+02] [ 1.74474457e-02 1.71293509e-04 9.99847767e-01 7.39601402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.839254154 meters 0.01523731982564747 Centerline is valid? [True, True] Translation: X:902.94, Y:197.28, Z:7.40 [[-6.53363510e-01 -7.56962110e-01 1.11574314e-02 9.02944692e+02] [ 7.56856619e-01 -6.53458744e-01 -1.26383983e-02 1.97278966e+02] [ 1.68577097e-02 1.87107577e-04 9.99857881e-01 7.39644302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.869254154 meters 0.014943963142708438 Centerline is valid? [True, True] Translation: X:902.93, Y:197.30, Z:7.40 [[-6.52953362e-01 -7.57309976e-01 1.15545472e-02 9.02927722e+02] [ 7.57197047e-01 -6.53055554e-01 -1.30795924e-02 1.97300023e+02] [ 1.74510671e-02 2.08705175e-04 9.99847697e-01 7.39757362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.899254154 meters 0.01841008243873731 Centerline is valid? [True, True] Translation: X:902.91, Y:197.32, Z:7.39 [[-6.53077934e-01 -7.57190286e-01 1.23321700e-02 9.02910214e+02] [ 7.57061796e-01 -6.53194320e-01 -1.39505029e-02 1.97320154e+02] [ 1.86184887e-02 2.25449207e-04 9.99826636e-01 7.39318450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9292541539999 meters 0.017150343843231507 Centerline is valid? [True, True] Translation: X:902.89, Y:197.34, Z:7.39 [[-6.53114192e-01 -7.57162999e-01 1.20849284e-02 9.02892998e+02] [ 7.57039768e-01 -6.53225950e-01 -1.36618903e-02 1.97339950e+02] [ 1.82384667e-02 2.25996939e-04 9.99833640e-01 7.39430351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9592541539998 meters 0.017882486376969806 Centerline is valid? [True, True] Translation: X:902.88, Y:197.36, Z:7.39 [[-6.53702829e-01 -7.56654028e-01 1.21364473e-02 9.02875729e+02] [ 7.56529816e-01 -6.53815444e-01 -1.37114453e-02 1.97361394e+02] [ 1.83098170e-02 2.18373702e-04 9.99832337e-01 7.39366968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9892541539998 meters 0.015602433904721663 Centerline is valid? [True, True] Translation: X:902.86, Y:197.38, Z:7.40 [[-6.53879320e-01 -7.56508388e-01 1.17001808e-02 9.02858333e+02] [ 7.56393064e-01 -6.53983956e-01 -1.32105186e-02 1.97382130e+02] [ 1.76455987e-02 2.11850718e-04 9.99844282e-01 7.39649966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.0192541539998 meters 0.015070734442146029 Centerline is valid? [True, True] Translation: X:902.84, Y:197.40, Z:7.40 [[-6.54888304e-01 -7.55637158e-01 1.15669752e-02 9.02842690e+02] [ 7.55524453e-01 -6.54990419e-01 -1.30518759e-02 1.97403396e+02] [ 1.74387403e-02 1.91611749e-04 9.99847915e-01 7.39671190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.0492541539998 meters 0.014948038469112395 Centerline is valid? [True, True] Translation: X:902.83, Y:197.42, Z:7.40 [[-6.55495897e-01 -7.55109571e-01 1.16045349e-02 9.02825258e+02] [ 7.54996168e-01 -6.55598584e-01 -1.30875417e-02 1.97424999e+02] [ 1.74904447e-02 1.82549518e-04 9.99847014e-01 7.39699603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.079254154 meters 0.01700413616993029 Centerline is valid? [True, True] Translation: X:902.81, Y:197.45, Z:7.39 [[-6.56908343e-01 -7.53875071e-01 1.19919085e-02 9.02809414e+02] [ 7.53753899e-01 -6.57017771e-01 -1.35169425e-02 1.97446949e+02] [ 1.80689830e-02 1.59555484e-04 9.99836730e-01 7.39469632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.109254154 meters 0.01700413616993029 Centerline is valid? [True, True] Translation: X:902.79, Y:197.47, Z:7.39 [[-6.57141901e-01 -7.53671425e-01 1.19960954e-02 9.02791551e+02] [ 7.53550287e-01 -6.57251366e-01 -1.35132265e-02 1.97466893e+02] [ 1.80689827e-02 1.59553816e-04 9.99836730e-01 7.39488067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.139254154 meters 0.014875510830330008 Centerline is valid? [True, True] Translation: X:902.77, Y:197.49, Z:7.40 [[-6.56899077e-01 -7.53887453e-01 1.17179586e-02 9.02774243e+02] [ 7.53772026e-01 -6.57003562e-01 -1.31928916e-02 1.97486504e+02] [ 1.76446960e-02 1.66271086e-04 9.99844306e-01 7.39748697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1692541539999 meters 0.01491250551424694 Centerline is valid? [True, True] Translation: X:902.76, Y:197.51, Z:7.40 [[-6.56971536e-01 -7.53827245e-01 1.15275996e-02 9.02756037e+02] [ 7.53715654e-01 -6.57072642e-01 -1.29713384e-02 1.97506638e+02] [ 1.73526186e-02 1.66732135e-04 9.99849418e-01 7.39767815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1992541539998 meters 0.015425872372789409 Centerline is valid? [True, True] Translation: X:902.74, Y:197.53, Z:7.40 [[-6.55855467e-01 -7.54798225e-01 1.15432630e-02 9.02736721e+02] [ 7.54686614e-01 -6.55957012e-01 -1.29813057e-02 1.97525472e+02] [ 1.73701508e-02 1.97685812e-04 9.99849108e-01 7.39752005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2292541539998 meters 0.015246813342932345 Centerline is valid? [True, True] Translation: X:902.72, Y:197.55, Z:7.40 [[-6.54249187e-01 -7.56189653e-01 1.16280215e-02 9.02717686e+02] [ 7.56076747e-01 -6.54352467e-01 -1.30691331e-02 1.97546369e+02] [ 1.74915678e-02 2.41206981e-04 9.99846982e-01 7.39927234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2592541539998 meters 0.017732110055959767 Centerline is valid? [True, True] Translation: X:902.70, Y:197.56, Z:7.40 [[-6.53833115e-01 -7.56547534e-01 1.17510364e-02 9.02698497e+02] [ 7.56432407e-01 -6.53938653e-01 -1.32004419e-02 1.97564473e+02] [ 1.76712187e-02 2.57978697e-04 9.99843819e-01 7.39627629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2892541539998 meters 0.015735790204659292 Centerline is valid? [True, True] Translation: X:902.68, Y:197.59, Z:7.40 [[-6.52843359e-01 -7.57405857e-01 1.14855274e-02 9.02679533e+02] [ 7.57296126e-01 -6.52944324e-01 -1.28952759e-02 1.97585576e+02] [ 1.72663674e-02 2.79350152e-04 9.99850886e-01 7.39966762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.3192541539997 meters 0.01805792621517882 Centerline is valid? [True, True] Translation: X:902.66, Y:197.60, Z:7.40 [[-6.51892482e-01 -7.58213529e-01 1.21834619e-02 9.02659475e+02] [ 7.58090347e-01 -6.52006242e-01 -1.36706386e-02 1.97604078e+02] [ 1.83089563e-02 3.24378317e-04 9.99832324e-01 7.39650699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.349254154 meters 0.016760630776965473 Centerline is valid? [True, True] Translation: X:902.64, Y:197.62, Z:7.40 [[-6.50950014e-01 -7.59021810e-01 1.22463191e-02 9.02640104e+02] [ 7.58897647e-01 -6.51065102e-01 -1.37329575e-02 1.97623036e+02] [ 1.83967652e-02 3.54233936e-04 9.99830702e-01 7.39808097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.379254154 meters 0.016852322188123353 Centerline is valid? [True, True] Translation: X:902.62, Y:197.64, Z:7.40 [[-6.50972108e-01 -7.58998989e-01 1.24839389e-02 9.02621232e+02] [ 7.58870119e-01 -6.51091699e-01 -1.39907643e-02 1.97642558e+02] [ 1.87471650e-02 3.66090856e-04 9.99824189e-01 7.39756930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4092541539999 meters 0.016899471735012765 Centerline is valid? [True, True] Translation: X:902.60, Y:197.66, Z:7.40 [[-6.51432366e-01 -7.58600774e-01 1.26782565e-02 9.02602767e+02] [ 7.58467955e-01 -6.51555625e-01 -1.41996232e-02 1.97662305e+02] [ 1.90324345e-02 3.65957188e-04 9.99818800e-01 7.39728733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4392541539999 meters 0.018992597614722866 Centerline is valid? [True, True] Translation: X:902.59, Y:197.68, Z:7.39 [[-6.52852532e-01 -7.57374526e-01 1.29383009e-02 9.02585392e+02] [ 7.57236142e-01 -6.52980636e-01 -1.44815260e-02 1.97681755e+02] [ 1.94163989e-02 3.43048177e-04 9.99811425e-01 7.39438535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4692541539998 meters 0.01841693046988639 Centerline is valid? [True, True] Translation: X:902.57, Y:197.70, Z:7.40 [[-6.53770467e-01 -7.56583352e-01 1.28766752e-02 9.02567612e+02] [ 7.56446304e-01 -6.53897184e-01 -1.44035602e-02 1.97702738e+02] [ 1.93175155e-02 3.23891122e-04 9.99813347e-01 7.39558865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4992541539998 meters 0.015989112852473706 Centerline is valid? [True, True] Translation: X:902.55, Y:197.72, Z:7.40 [[-6.55310466e-01 -7.55275162e-01 1.12970622e-02 9.02549964e+02] [ 7.55169598e-01 -6.55407785e-01 -1.26298541e-02 1.97723764e+02] [ 1.69431976e-02 2.54722399e-04 9.99856421e-01 7.39996230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.5292541539998 meters 0.015846569152689616 Centerline is valid? [True, True] Translation: X:902.53, Y:197.74, Z:7.40 [[-6.56304111e-01 -7.54415653e-01 1.10424951e-02 9.02532625e+02] [ 7.54314788e-01 -6.56396960e-01 -1.23382203e-02 1.97744223e+02] [ 1.65564067e-02 2.31892639e-04 9.99862906e-01 7.40124520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.5592541539997 meters 0.015334493514160384 Centerline is valid? [True, True] Translation: X:902.52, Y:197.77, Z:7.40 [[-6.58214254e-01 -7.52758086e-01 1.04527154e-02 9.02515093e+02] [ 7.52667603e-01 -6.58297220e-01 -1.16726231e-02 1.97765740e+02] [ 1.56676549e-02 1.84333301e-04 9.99877238e-01 7.40191610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.589254154 meters 0.015138320951974732 Centerline is valid? [True, True] Translation: X:902.50, Y:197.79, Z:7.40 [[-6.59075161e-01 -7.52002200e-01 1.06124366e-02 9.02497849e+02] [ 7.51908928e-01 -6.59160573e-01 -1.18449461e-02 1.97785179e+02] [ 1.59027253e-02 1.72876071e-04 9.99873529e-01 7.40180529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.619254154 meters 0.0176199857057137 Centerline is valid? [True, True] Translation: X:902.48, Y:197.81, Z:7.40 [[-6.60898320e-01 -7.50383155e-01 1.17699362e-02 9.02479922e+02] [ 7.50268297e-01 -6.61003099e-01 -1.31295481e-02 1.97805914e+02] [ 1.76321560e-02 1.53313681e-04 9.99844530e-01 7.39677987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.649254154 meters 0.015524425721855811 Centerline is valid? [True, True] Translation: X:902.46, Y:197.83, Z:7.40 [[-6.61368243e-01 -7.49967578e-01 1.18608448e-02 9.02462077e+02] [ 7.49851019e-01 -6.61474573e-01 -1.32226543e-02 1.97825562e+02] [ 1.77622093e-02 1.48822890e-04 9.99842228e-01 7.39866624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.6792541539999 meters 0.014560094755451457 Centerline is valid? [True, True] Translation: X:902.44, Y:197.85, Z:7.40 [[-6.62125388e-01 -7.49290543e-01 1.23956667e-02 9.02444417e+02] [ 7.49163279e-01 -6.62241392e-01 -1.38101674e-02 1.97845992e+02] [ 1.85567514e-02 1.42315866e-04 9.99827799e-01 7.39892747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7092541539998 meters 0.015051152480649884 Centerline is valid? [True, True] Translation: X:902.43, Y:197.87, Z:7.40 [[-6.62864189e-01 -7.48623706e-01 1.31762761e-02 9.02427181e+02] [ 7.48479960e-01 -6.62995119e-01 -1.46704404e-02 1.97866885e+02] [ 1.97184461e-02 1.37669022e-04 9.99805563e-01 7.39909332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7392541539998 meters 0.016148014645108177 Centerline is valid? [True, True] Translation: X:902.41, Y:197.89, Z:7.39 [[-6.63796172e-01 -7.47788714e-01 1.36631124e-02 9.02408918e+02] [ 7.47634143e-01 -6.63936762e-01 -1.52040794e-02 1.97886204e+02] [ 2.04408816e-02 1.22599625e-04 9.99791056e-01 7.39496216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7692541539998 meters 0.017522760831585722 Centerline is valid? [True, True] Translation: X:902.39, Y:197.91, Z:7.39 [[-6.64913014e-01 -7.46795016e-01 1.37072151e-02 9.02392077e+02] [ 7.46639416e-01 -6.65054279e-01 -1.52442687e-02 1.97906479e+02] [ 2.05003860e-02 9.82344518e-05 9.99789840e-01 7.39378452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7992541539998 meters 0.01700136826496821 Centerline is valid? [True, True] Translation: X:902.37, Y:197.93, Z:7.39 [[-6.65345154e-01 -7.46415725e-01 1.33936728e-02 9.02374886e+02] [ 7.46267272e-01 -6.65479945e-01 -1.48863240e-02 1.97926213e+02] [ 2.00246069e-02 9.07160864e-05 9.99799483e-01 7.39481379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.829254154 meters 0.016508851657522555 Centerline is valid? [True, True] Translation: X:902.36, Y:197.95, Z:7.40 [[-6.65797648e-01 -7.46019493e-01 1.29772350e-02 9.02358216e+02] [ 7.45880230e-01 -6.65924102e-01 -1.44143150e-02 1.97945055e+02] [ 1.93952135e-02 8.24460293e-05 9.99811892e-01 7.39591297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.859254154 meters 0.014177879363945956 Centerline is valid? [True, True] Translation: X:902.34, Y:197.97, Z:7.40 [[-6.65965176e-01 -7.45890573e-01 1.17318977e-02 9.02341362e+02] [ 7.45776880e-01 -6.66068500e-01 -1.30229943e-02 1.97965013e+02] [ 1.75279762e-02 7.65173706e-05 9.99846370e-01 7.40138357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.889254154 meters 0.016996933705891268 Centerline is valid? [True, True] Translation: X:902.32, Y:197.99, Z:7.40 [[-6.66732264e-01 -7.45207705e-01 1.15570525e-02 9.02324258e+02] [ 7.45097413e-01 -6.66832417e-01 -1.28207785e-02 1.97986354e+02] [ 1.72607602e-02 6.31031903e-05 9.99851020e-01 7.40098679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9192541539999 meters 0.0176704116013093 Centerline is valid? [True, True] Translation: X:902.31, Y:198.01, Z:7.40 [[-6.67112956e-01 -7.44871721e-01 1.12438325e-02 9.02305850e+02] [ 7.44767414e-01 -6.67207701e-01 -1.24652448e-02 1.98005544e+02] [ 1.67869799e-02 5.83137491e-05 9.99859087e-01 7.39865493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9492541539998 meters 0.013856706893608921 Centerline is valid? [True, True] Translation: X:902.29, Y:198.03, Z:7.41 [[-6.66874581e-01 -7.45101266e-01 1.01191417e-02 9.02288391e+02] [ 7.45016916e-01 -6.66951348e-01 -1.12113724e-02 1.98026351e+02] [ 1.51025830e-02 6.23524682e-05 9.99885948e-01 7.40595336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9792541539998 meters 0.015487106626630736 Centerline is valid? [True, True] Translation: X:902.27, Y:198.05, Z:7.40 [[-6.67353895e-01 -7.44675261e-01 9.87602309e-03 9.02270116e+02] [ 7.44594972e-01 -6.67426965e-01 -1.09350424e-02 1.98046434e+02] [ 1.47345796e-02 5.60940168e-05 9.99891439e-01 7.40435082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.0092541539998 meters 0.014709981224118138 Centerline is valid? [True, True] Translation: X:902.25, Y:198.07, Z:7.41 [[-6.67343569e-01 -7.44689665e-01 9.47970981e-03 9.02251380e+02] [ 7.44615786e-01 -6.67410893e-01 -1.04895992e-02 1.98066692e+02] [ 1.41383577e-02 5.85749856e-05 9.99900047e-01 7.40548009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.0392541539998 meters 0.013904501407441705 Centerline is valid? [True, True] Translation: X:902.23, Y:198.09, Z:7.41 [[-6.66592295e-01 -7.45362544e-01 9.45460465e-03 9.02232442e+02] [ 7.45289214e-01 -6.66659337e-01 -1.04554329e-02 1.98086813e+02] [ 1.40960885e-02 7.69038523e-05 9.99900642e-01 7.40615862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.0692541539997 meters 0.015675832930671672 Centerline is valid? [True, True] Translation: X:902.21, Y:198.11, Z:7.40 [[-6.66396274e-01 -7.45526999e-01 1.02712926e-02 9.02214307e+02] [ 7.45440586e-01 -6.66475420e-01 -1.13511106e-02 1.98106017e+02] [ 1.53081235e-02 9.23005867e-05 9.99882820e-01 7.40345933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.099254154 meters 0.015492541940835802 Centerline is valid? [True, True] Translation: X:902.20, Y:198.13, Z:7.40 [[-6.65378132e-01 -7.46420120e-01 1.13554615e-02 9.02195060e+02] [ 7.46314768e-01 -6.65475009e-01 -1.25411199e-02 1.98126102e+02] [ 1.69177201e-02 1.30161677e-04 9.99856877e-01 7.40304209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.129254154 meters 0.01783042280175031 Centerline is valid? [True, True] Translation: X:902.18, Y:198.15, Z:7.40 [[-6.65276067e-01 -7.46494503e-01 1.23980967e-02 9.02175792e+02] [ 7.46369077e-01 -6.65391565e-01 -1.36845006e-02 1.98146748e+02] [ 1.84649934e-02 1.49585286e-04 9.99829496e-01 7.39999070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1592541539999 meters 0.01642347771898244 Centerline is valid? [True, True] Translation: X:902.16, Y:198.17, Z:7.40 [[-6.65045348e-01 -7.46696764e-01 1.25947847e-02 9.02156675e+02] [ 7.46567524e-01 -6.65164579e-01 -1.38929853e-02 1.98166707e+02] [ 1.87514518e-02 1.63392014e-04 9.99824163e-01 7.40103162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1892541539999 meters 0.017891441318560346 Centerline is valid? [True, True] Translation: X:902.14, Y:198.19, Z:7.40 [[-6.65316376e-01 -7.46451430e-01 1.28211606e-02 9.02138576e+02] [ 7.46317632e-01 -6.65439881e-01 -1.41335366e-02 1.98186541e+02] [ 1.90817102e-02 1.65384927e-04 9.99817914e-01 7.39972366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2192541539998 meters 0.0151609798301984 Centerline is valid? [True, True] Translation: X:902.12, Y:198.21, Z:7.40 [[-6.66272508e-01 -7.45610346e-01 1.20895079e-02 9.02121284e+02] [ 7.45491401e-01 -6.66382167e-01 -1.33183421e-02 1.98206643e+02] [ 1.79865262e-02 1.38979007e-04 9.99838220e-01 7.40291497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2492541539998 meters 0.015729051070177465 Centerline is valid? [True, True] Translation: X:902.10, Y:198.23, Z:7.40 [[-6.67547984e-01 -7.44471199e-01 1.19299290e-02 9.02103933e+02] [ 7.44355343e-01 -6.67654567e-01 -1.31339898e-02 1.98227381e+02] [ 1.77429487e-02 1.12537979e-04 9.99842575e-01 7.40304159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2792541539998 meters 0.016982661089422695 Centerline is valid? [True, True] Translation: X:902.09, Y:198.25, Z:7.40 [[-6.70147661e-01 -7.42147022e-01 1.09503191e-02 9.02087968e+02] [ 7.42049227e-01 -6.70237118e-01 -1.20478414e-02 1.98248705e+02] [ 1.62805800e-02 5.18430647e-05 9.99867461e-01 7.40304564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.3092541539997 meters 0.016888215666291846 Centerline is valid? [True, True] Translation: X:902.07, Y:198.27, Z:7.40 [[-6.72523645e-01 -7.40007333e-01 1.00545642e-02 9.02071352e+02] [ 7.39924746e-01 -6.72598801e-01 -1.10554007e-02 1.98270370e+02] [ 1.49437654e-02 4.60251355e-06 9.99888336e-01 7.40464171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.339254154 meters 0.017535230847391992 Centerline is valid? [True, True] Translation: X:902.05, Y:198.29, Z:7.41 [[-6.73821398e-01 -7.38829694e-01 9.76761206e-03 9.02053714e+02] [ 7.38751729e-01 -6.73892189e-01 -1.07331574e-02 1.98290913e+02] [ 1.45122929e-02 -1.63908583e-05 9.99894691e-01 7.40502791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.369254154 meters 0.0153765801354387 Centerline is valid? [True, True] Translation: X:902.04, Y:198.31, Z:7.41 [[-6.75573603e-01 -7.37242488e-01 8.59188137e-03 9.02035407e+02] [ 7.37182103e-01 -6.75628235e-01 -9.43583432e-03 1.98311852e+02] [ 1.27614156e-02 -4.08194090e-05 9.99918569e-01 7.40772899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.399254154 meters 0.016000654823719925 Centerline is valid? [True, True] Translation: X:902.02, Y:198.33, Z:7.41 [[-6.76450247e-01 -7.36436482e-01 8.73900779e-03 9.02017562e+02] [ 7.36374012e-01 -6.76506692e-01 -9.59216147e-03 1.98331345e+02] [ 1.29760149e-02 -5.34417687e-05 9.99915807e-01 7.40674760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4292541539999 meters 0.01693583625980455 Centerline is valid? [True, True] Translation: X:902.00, Y:198.35, Z:7.41 [[-6.77238435e-01 -7.35710497e-01 8.84113697e-03 9.02000210e+02] [ 7.35646571e-01 -6.77296139e-01 -9.69856077e-03 1.98350509e+02] [ 1.31234009e-02 -6.42860251e-05 9.99913882e-01 7.40583027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4592541539998 meters 0.017388100087722753 Centerline is valid? [True, True] Translation: X:901.98, Y:198.37, Z:7.40 [[-6.78114327e-01 -7.34895360e-01 9.47468549e-03 9.01982203e+02] [ 7.34821965e-01 -6.78180510e-01 -1.03863331e-02 1.98370253e+02] [ 1.40584150e-02 -8.09142466e-05 9.99901172e-01 7.40478346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4892541539998 meters 0.016276618815011565 Centerline is valid? [True, True] Translation: X:901.96, Y:198.39, Z:7.41 [[-6.78346782e-01 -7.34678972e-01 9.61515318e-03 9.01963045e+02] [ 7.34603462e-01 -6.78414918e-01 -1.05333707e-02 1.98389879e+02] [ 1.42617093e-02 -8.19533279e-05 9.99898293e-01 7.40657607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.5192541539998 meters 0.017322326040346395 Centerline is valid? [True, True] Translation: X:901.94, Y:198.41, Z:7.41 [[-6.78785163e-01 -7.34270688e-01 9.86205911e-03 9.01943212e+02] [ 7.34191304e-01 -6.78856796e-01 -1.07971992e-02 1.98409241e+02] [ 1.46229928e-02 -8.83406075e-05 9.99893074e-01 7.40533777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.5492541539998 meters 0.013714581203446678 Centerline is valid? [True, True] Translation: X:901.93, Y:198.43, Z:7.41 [[-6.78719968e-01 -7.34341630e-01 9.03194750e-03 9.01925208e+02] [ 7.34275123e-01 -6.78780057e-01 -9.88328353e-03 1.98427745e+02] [ 1.33884124e-02 -7.60475227e-05 9.99910368e-01 7.40913056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.579254154 meters 0.013642400299270495 Centerline is valid? [True, True] Translation: X:901.91, Y:198.45, Z:7.41 [[-6.78743249e-01 -7.34322511e-01 8.83465116e-03 9.01905680e+02] [ 7.34258947e-01 -6.78800740e-01 -9.66197563e-03 1.98446613e+02] [ 1.30919739e-02 -7.10790742e-05 9.99914294e-01 7.40960794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.609254154 meters 0.0137153720818913 Centerline is valid? [True, True] Translation: X:901.89, Y:198.47, Z:7.41 [[-6.78934898e-01 -7.34148507e-01 8.56584740e-03 9.01886370e+02] [ 7.34088813e-01 -6.78988929e-01 -9.36211580e-03 1.98465988e+02] [ 1.26892989e-02 -6.81743860e-05 9.99919485e-01 7.40970999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.639254154 meters 0.016405249431745615 Centerline is valid? [True, True] Translation: X:901.87, Y:198.48, Z:7.41 [[-6.78670161e-01 -7.34387449e-01 9.04918181e-03 9.01867145e+02] [ 7.34320927e-01 -6.78730485e-01 -9.88457430e-03 1.98484043e+02] [ 1.34010629e-02 -6.33620575e-05 9.99910200e-01 7.40676182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6692541539999 meters 0.015601258897345082 Centerline is valid? [True, True] Translation: X:901.85, Y:198.50, Z:7.41 [[-6.78009693e-01 -7.34999910e-01 8.83110584e-03 9.01848137e+02] [ 7.34936680e-01 -6.78067202e-01 -9.64090092e-03 1.98501620e+02] [ 1.30741445e-02 -4.63206691e-05 9.99914529e-01 7.40749959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6992541539998 meters 0.013442828558506424 Centerline is valid? [True, True] Translation: X:901.83, Y:198.52, Z:7.41 [[-6.77688636e-01 -7.35303753e-01 8.15489683e-03 9.01828994e+02] [ 7.35249924e-01 -6.77737699e-01 -8.89720309e-03 1.98520769e+02] [ 1.20690278e-02 -3.36461532e-05 9.99927166e-01 7.40979876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7292541539998 meters 0.015596062098858146 Centerline is valid? [True, True] Translation: X:901.81, Y:198.54, Z:7.41 [[-6.77241147e-01 -7.35705542e-01 9.04343225e-03 9.01809972e+02] [ 7.35639467e-01 -6.77301524e-01 -9.85999888e-03 1.98538701e+02] [ 1.33791863e-02 -2.48912770e-05 9.99910494e-01 7.40660283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7592541539998 meters 0.013330191524143225 Centerline is valid? [True, True] Translation: X:901.79, Y:198.56, Z:7.41 [[-6.76868503e-01 -7.36055910e-01 8.40989602e-03 9.01790786e+02] [ 7.35998867e-01 -6.76920746e-01 -9.16355770e-03 1.98557523e+02] [ 1.24377239e-02 -1.28496448e-05 9.99922648e-01 7.40978277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7892541539998 meters 0.0141047999211938 Centerline is valid? [True, True] Translation: X:901.77, Y:198.58, Z:7.41 [[-6.76546121e-01 -7.36350114e-01 8.59393518e-03 9.01772612e+02] [ 7.36290640e-01 -6.76600702e-01 -9.35862927e-03 1.98576037e+02] [ 1.27058903e-02 -3.91029836e-06 9.99919277e-01 7.40855227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.8192541539997 meters 0.015822309893557276 Centerline is valid? [True, True] Translation: X:901.75, Y:198.60, Z:7.41 [[-6.75683109e-01 -7.37137487e-01 8.98116802e-03 9.01752417e+02] [ 7.37072674e-01 -6.75742795e-01 -9.77494198e-03 1.98595650e+02] [ 1.32744357e-02 1.50103402e-05 9.99911891e-01 7.40743457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.849254154 meters 0.016261417587368838 Centerline is valid? [True, True] Translation: X:901.73, Y:198.61, Z:7.41 [[-6.75216898e-01 -7.37564342e-01 8.99904590e-03 9.01733014e+02] [ 7.37499373e-01 -6.75276863e-01 -9.78942326e-03 1.98614615e+02] [ 1.32971770e-02 2.68067024e-05 9.99911588e-01 7.40640716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.879254154 meters 0.013468017582598489 Centerline is valid? [True, True] Translation: X:901.71, Y:198.63, Z:7.41 [[-6.73343530e-01 -7.39281572e-01 8.44088323e-03 9.01712522e+02] [ 7.39224607e-01 -6.73396432e-01 -9.17751080e-03 1.98631818e+02] [ 1.24688253e-02 6.00910680e-05 9.99922259e-01 7.40857366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9092541539999 meters 0.013613310418933763 Centerline is valid? [True, True] Translation: X:901.69, Y:198.65, Z:7.41 [[-6.72480971e-01 -7.40064538e-01 8.59202258e-03 9.01692513e+02] [ 7.40005653e-01 -6.72535852e-01 -9.33596925e-03 1.98651830e+02] [ 1.26876630e-02 7.98836195e-05 9.99919505e-01 7.40877535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9392541539999 meters 0.015917062994831324 Centerline is valid? [True, True] Translation: X:901.67, Y:198.67, Z:7.41 [[-6.70332221e-01 -7.42007290e-01 8.93841183e-03 9.01671293e+02] [ 7.41943809e-01 -6.70391800e-01 -9.70663313e-03 1.98670310e+02] [ 1.31946305e-02 1.25130372e-04 9.99912939e-01 7.40638135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9692541539998 meters 0.016867684797676773 Centerline is valid? [True, True] Translation: X:901.65, Y:198.69, Z:7.41 [[-6.69486871e-01 -7.42770401e-01 8.91412318e-03 9.01651374e+02] [ 7.42707405e-01 -6.69546198e-01 -9.67465081e-03 1.98690132e+02] [ 1.31544615e-02 1.43533602e-04 9.99913466e-01 7.40615724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9992541539998 meters 0.015155148537349726 Centerline is valid? [True, True] Translation: X:901.63, Y:198.71, Z:7.41 [[-6.67798855e-01 -7.44298926e-01 7.98732937e-03 9.01631017e+02] [ 7.44248514e-01 -6.67846602e-01 -8.66404287e-03 1.98709406e+02] [ 1.17829486e-02 1.58720107e-04 9.99930566e-01 7.40880922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.0292541539998 meters 0.015155148537349726 Centerline is valid? [True, True] Translation: X:901.61, Y:198.73, Z:7.41 [[-6.68014513e-01 -7.44105351e-01 7.98983841e-03 9.01612256e+02] [ 7.44054953e-01 -6.68062274e-01 -8.66172873e-03 1.98729642e+02] [ 1.17829483e-02 1.58718347e-04 9.99930566e-01 7.40899934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.0592541539997 meters 0.01605427411295862 Centerline is valid? [True, True] Translation: X:901.59, Y:198.75, Z:7.41 [[-6.67815006e-01 -7.44282362e-01 8.17824257e-03 9.01592609e+02] [ 7.44229635e-01 -6.67865059e-01 -8.86076416e-03 1.98749619e+02] [ 1.20568729e-02 1.69139211e-04 9.99927299e-01 7.40838520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.089254154 meters 0.01831890868335734 Centerline is valid? [True, True] Translation: X:901.57, Y:198.77, Z:7.41 [[-6.67429467e-01 -7.44627312e-01 8.25062135e-03 9.01572244e+02] [ 7.44573739e-01 -6.67480437e-01 -8.93386800e-03 1.98768264e+02] [ 1.21595305e-02 1.80469234e-04 9.99926054e-01 7.40599334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.119254154 meters 0.015605733457969156 Centerline is valid? [True, True] Translation: X:901.55, Y:198.79, Z:7.41 [[-6.66987247e-01 -7.45027272e-01 7.89785173e-03 9.01553618e+02] [ 7.44978270e-01 -6.67033980e-01 -8.54669607e-03 1.98788409e+02] [ 1.16356571e-02 1.83190632e-04 9.99932287e-01 7.40872504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.149254154 meters 0.015373242141269627 Centerline is valid? [True, True] Translation: X:901.53, Y:198.81, Z:7.41 [[-6.66666388e-01 -7.45306542e-01 8.60727256e-03 9.01534585e+02] [ 7.45248443e-01 -6.66721917e-01 -9.30830318e-03 1.98807333e+02] [ 1.26761965e-02 2.09023612e-04 9.99919632e-01 7.40880468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.1792541539999 meters 0.017869849664481456 Centerline is valid? [True, True] Translation: X:901.52, Y:198.83, Z:7.41 [[-6.67516881e-01 -7.44533085e-01 9.57589976e-03 9.01515754e+02] [ 7.44461188e-01 -6.67585527e-01 -1.03491174e-02 1.98827754e+02] [ 1.40979924e-02 2.20675158e-04 9.99900594e-01 7.40515391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2092541539998 meters 0.01489137476518918 Centerline is valid? [True, True] Translation: X:901.50, Y:198.85, Z:7.41 [[-6.68154470e-01 -7.43959658e-01 9.67638075e-03 9.01498411e+02] [ 7.43886276e-01 -6.68224500e-01 -1.04511324e-02 1.98848216e+02] [ 1.42412156e-02 2.15156017e-04 9.99898566e-01 7.40724347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2392541539998 meters 0.016544475390961037 Centerline is valid? [True, True] Translation: X:901.48, Y:198.87, Z:7.40 [[-6.69958078e-01 -7.42322097e-01 1.06807159e-02 9.01481364e+02] [ 7.42232598e-01 -6.70043180e-01 -1.15285940e-02 1.98870561e+02] [ 1.57144710e-02 2.03900832e-04 9.99876499e-01 7.40476643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2692541539998 meters 0.015676455153527797 Centerline is valid? [True, True] Translation: X:901.47, Y:198.89, Z:7.40 [[-6.73258304e-01 -7.39324678e-01 1.10578754e-02 9.01465340e+02] [ 7.39228455e-01 -6.73349092e-01 -1.19286278e-02 1.98892652e+02] [ 1.62649393e-02 1.43248443e-04 9.99867707e-01 7.40469238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2992541539998 meters 0.013351553493470157 Centerline is valid? [True, True] Translation: X:901.45, Y:198.91, Z:7.41 [[-6.74992967e-01 -7.37748798e-01 1.05454089e-02 9.01448962e+02] [ 7.37661204e-01 -6.75075330e-01 -1.13687164e-02 1.98913801e+02] [ 1.55062022e-02 1.05135419e-04 9.99879766e-01 7.40722497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.329254154 meters 0.01433082395664222 Centerline is valid? [True, True] Translation: X:901.44, Y:198.94, Z:7.41 [[-6.80034120e-01 -7.33108817e-01 1.02497762e-02 9.01435023e+02] [ 7.33025646e-01 -6.80111360e-01 -1.10426628e-02 1.98936920e+02] [ 1.50664627e-02 3.96136766e-06 9.99886494e-01 7.40659462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.359254154 meters 0.01353779535650342 Centerline is valid? [True, True] Translation: X:901.42, Y:198.96, Z:7.41 [[-6.82407954e-01 -7.30908275e-01 9.61653809e-03 9.01418361e+02] [ 7.30834936e-01 -6.82475708e-01 -1.03539306e-02 1.98958925e+02] [ 1.41308272e-02 -3.75026022e-05 9.99900154e-01 7.40849246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.389254154 meters 0.014825959080945868 Centerline is valid? [True, True] Translation: X:901.40, Y:198.98, Z:7.41 [[-6.87744369e-01 -7.25893221e-01 9.31203225e-03 9.01402864e+02] [ 7.25824071e-01 -6.87807396e-01 -1.00201451e-02 1.98982955e+02] [ 1.36784401e-02 -1.32401236e-04 9.99906437e-01 7.40854867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4192541539999 meters 0.015432361132734785 Centerline is valid? [True, True] Translation: X:901.39, Y:199.00, Z:7.41 [[-6.90312762e-01 -7.23449739e-01 9.42154846e-03 9.01386203e+02] [ 7.23378808e-01 -6.90377029e-01 -1.01319941e-02 1.99004803e+02] [ 1.38344091e-02 -1.78896307e-04 9.99904284e-01 7.40841802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4492541539998 meters 0.018213937416773487 Centerline is valid? [True, True] Translation: X:901.37, Y:199.03, Z:7.41 [[-6.95062087e-01 -7.18877602e-01 1.01827392e-02 9.01370216e+02] [ 7.18794351e-01 -6.95136613e-01 -1.09439515e-02 1.99028122e+02] [ 1.49457565e-02 -2.87430388e-04 9.99888265e-01 7.40620240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4792541539998 meters 0.015966835961603275 Centerline is valid? [True, True] Translation: X:901.35, Y:199.05, Z:7.41 [[-6.96531766e-01 -7.17457134e-01 9.93781206e-03 9.01352145e+02] [ 7.17377782e-01 -6.96602590e-01 -1.06747585e-02 1.99049913e+02] [ 1.45813873e-02 -3.06142851e-04 9.99893639e-01 7.40890725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.5092541539998 meters 0.017672961994412626 Centerline is valid? [True, True] Translation: X:901.34, Y:199.07, Z:7.41 [[-6.99747518e-01 -7.14310410e-01 1.06793773e-02 9.01336171e+02] [ 7.14218499e-01 -6.99828894e-01 -1.14653260e-02 1.99071637e+02] [ 1.56635385e-02 -3.95424614e-04 9.99877241e-01 7.40804396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.5392541539998 meters 0.017948674757559333 Centerline is valid? [True, True] Translation: X:901.32, Y:199.09, Z:7.41 [[-7.00900805e-01 -7.13174654e-01 1.09533351e-02 9.01317502e+02] [ 7.13077925e-01 -7.00986256e-01 -1.17533640e-02 1.99092993e+02] [ 1.60603387e-02 -4.27360853e-04 9.99870933e-01 7.40827669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.5692541539997 meters 0.018555825570221368 Centerline is valid? [True, True] Translation: X:901.30, Y:199.11, Z:7.41 [[-7.02200082e-01 -7.11885719e-01 1.15658159e-02 9.01298296e+02] [ 7.11777814e-01 -7.02295162e-01 -1.24035716e-02 1.99113813e+02] [ 1.69525420e-02 -4.77497768e-04 9.99856181e-01 7.40824888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.599254154 meters 0.018072379345869808 Centerline is valid? [True, True] Translation: X:901.28, Y:199.13, Z:7.41 [[-7.02800673e-01 -7.11285164e-01 1.20262021e-02 9.01276869e+02] [ 7.11168539e-01 -7.02903378e-01 -1.28899059e-02 1.99132809e+02] [ 1.76216569e-02 -5.06377960e-04 9.99844598e-01 7.40849331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.629254154 meters 0.020554399301268542 Centerline is valid? [True, True] Translation: X:901.26, Y:199.15, Z:7.41 [[-7.02560007e-01 -7.11520699e-01 1.21544880e-02 9.01259781e+02] [ 7.11401744e-01 -7.02664959e-01 -1.30197374e-02 1.99153442e+02] [ 1.78043454e-02 -5.00422850e-04 9.99841365e-01 7.40683239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6592541539999 meters 0.01708092651705623 Centerline is valid? [True, True] Translation: X:901.24, Y:199.17, Z:7.41 [[-7.01783433e-01 -7.12298019e-01 1.14693731e-02 9.01237448e+02] [ 7.12192318e-01 -7.01877006e-01 -1.22788972e-02 1.99170871e+02] [ 1.67963234e-02 -4.48727191e-04 9.99858831e-01 7.41036004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6892541539999 meters 0.01802361919800611 Centerline is valid? [True, True] Translation: X:901.22, Y:199.19, Z:7.41 [[-7.00198343e-01 -7.13855418e-01 1.15204988e-02 9.01215680e+02] [ 7.13749102e-01 -7.00292992e-01 -1.23265700e-02 1.99188778e+02] [ 1.68671133e-02 -4.08298225e-04 9.99857657e-01 7.40928374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7192541539998 meters 0.017090911615722452 Centerline is valid? [True, True] Translation: X:901.19, Y:199.21, Z:7.41 [[-6.98725221e-01 -7.15304326e-01 1.10809479e-02 9.01194935e+02] [ 7.15206258e-01 -6.98812991e-01 -1.18495707e-02 1.99207352e+02] [ 1.62195595e-02 -3.54430595e-04 9.99868391e-01 7.41048360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7492541539998 meters 0.01629085196057271 Centerline is valid? [True, True] Translation: X:901.17, Y:199.23, Z:7.41 [[-6.97210592e-01 -7.16784188e-01 1.08543715e-02 9.01173565e+02] [ 7.16690375e-01 -6.97295011e-01 -1.16006311e-02 1.99225697e+02] [ 1.58838480e-02 -3.08859312e-04 9.99873796e-01 7.41148535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7792541539998 meters 0.01573538678770759 Centerline is valid? [True, True] Translation: X:901.15, Y:199.24, Z:7.41 [[-6.93356139e-01 -7.20518267e-01 1.05209544e-02 9.01151262e+02] [ 7.20430651e-01 -6.93435924e-01 -1.12381705e-02 1.99241378e+02] [ 1.53929149e-02 -2.12436456e-04 9.99881500e-01 7.41168613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.8092541539997 meters 0.014138981523565932 Centerline is valid? [True, True] Translation: X:901.13, Y:199.26, Z:7.41 [[-6.89079524e-01 -7.24610654e-01 1.04311496e-02 9.01127967e+02] [ 7.24525086e-01 -6.89158462e-01 -1.11361281e-02 1.99257557e+02] [ 1.52580721e-02 -1.16048286e-04 9.99883582e-01 7.41265792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.839254154 meters 0.016059440733512825 Centerline is valid? [True, True] Translation: X:901.11, Y:199.28, Z:7.41 [[-6.87574975e-01 -7.26029334e-01 1.10480501e-02 9.01107693e+02] [ 7.25933650e-01 -6.87663725e-01 -1.17871548e-02 1.99275227e+02] [ 1.61551635e-02 -8.44013552e-05 9.99869493e-01 7.41107629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.869254154 meters 0.012964600607380215 Centerline is valid? [True, True] Translation: X:901.08, Y:199.29, Z:7.41 [[-6.83611419e-01 -7.29768471e-01 1.06492560e-02 9.01084856e+02] [ 7.29680135e-01 -6.83694360e-01 -1.13543836e-02 1.99291112e+02] [ 1.55669074e-02 8.56422538e-06 9.99878828e-01 7.41428317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.899254154 meters 0.012931271398953741 Centerline is valid? [True, True] Translation: X:901.06, Y:199.31, Z:7.41 [[-6.81792722e-01 -7.31467731e-01 1.06603939e-02 9.01063770e+02] [ 7.31379523e-01 -6.81876057e-01 -1.13594215e-02 1.99309195e+02] [ 1.55781177e-02 5.20229313e-05 9.99878652e-01 7.41423620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9292541539999 meters 0.014807273265420001 Centerline is valid? [True, True] Translation: X:901.04, Y:199.32, Z:7.41 [[-6.78606083e-01 -7.34405574e-01 1.19263123e-02 9.01041171e+02] [ 7.34295760e-01 -6.78710862e-01 -1.27005054e-02 1.99324668e+02] [ 1.74218397e-02 1.38800350e-04 9.99848219e-01 7.41183367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9592541539998 meters 0.013699331395764054 Centerline is valid? [True, True] Translation: X:901.02, Y:199.34, Z:7.41 [[-6.76768185e-01 -7.36109978e-01 1.12660694e-02 9.01020289e+02] [ 7.36012336e-01 -6.76861928e-01 -1.19905323e-02 1.99343839e+02] [ 1.64519239e-02 1.77155286e-04 9.99864642e-01 7.41369253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9892541539998 meters 0.016444315448935376 Centerline is valid? [True, True] Translation: X:901.00, Y:199.36, Z:7.41 [[-6.75681097e-01 -7.37085501e-01 1.26498370e-02 9.00999350e+02] [ 7.36962718e-01 -6.75799460e-01 -1.34551804e-02 1.99362843e+02] [ 1.84663713e-02 2.31047207e-04 9.99829455e-01 7.41154678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.0192541539998 meters 0.014804151272291271 Centerline is valid? [True, True] Translation: X:900.98, Y:199.38, Z:7.41 [[-6.72434014e-01 -7.40069192e-01 1.14056088e-02 9.00977132e+02] [ 7.39969915e-01 -6.72530675e-01 -1.21250479e-02 1.99380718e+02] [ 1.66439962e-02 2.86512795e-04 9.99861438e-01 7.41457440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.0492541539998 meters 0.015211949645458292 Centerline is valid? [True, True] Translation: X:900.96, Y:199.40, Z:7.42 [[-6.70657261e-01 -7.41677073e-01 1.15739887e-02 9.00956535e+02] [ 7.41575202e-01 -6.70757040e-01 -1.22968872e-02 1.99399474e+02] [ 1.68836537e-02 3.35986329e-04 9.99857405e-01 7.41539508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.079254154 meters 0.01552647209784665 Centerline is valid? [True, True] Translation: X:900.94, Y:199.42, Z:7.42 [[-6.70355712e-01 -7.41944003e-01 1.19296256e-02 9.00936783e+02] [ 7.41835946e-01 -6.70461758e-01 -1.26673056e-02 1.99419288e+02] [ 1.73967892e-02 3.58224474e-04 9.99848600e-01 7.41536776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.109254154 meters 0.01748039604054153 Centerline is valid? [True, True] Translation: X:900.92, Y:199.44, Z:7.41 [[-6.70204216e-01 -7.42049491e-01 1.37427148e-02 9.00917497e+02] [ 7.41906260e-01 -6.70344968e-01 -1.45851412e-02 1.99438133e+02] [ 2.00352563e-02 4.20783004e-04 9.99799186e-01 7.41284847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.139254154 meters 0.017309574491897642 Centerline is valid? [True, True] Translation: X:900.90, Y:199.46, Z:7.41 [[-6.70205184e-01 -7.42041469e-01 1.41233295e-02 9.00898819e+02] [ 7.41890362e-01 -6.70353836e-01 -1.49808141e-02 1.99458415e+02] [ 2.05840134e-02 4.37742777e-04 9.99788031e-01 7.41314426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1692541539999 meters 0.017817371578656243 Centerline is valid? [True, True] Translation: X:900.88, Y:199.48, Z:7.41 [[-6.70381847e-01 -7.41855428e-01 1.54500236e-02 9.00879890e+02] [ 7.41674777e-01 -6.70559687e-01 -1.63777848e-02 1.99478291e+02] [ 2.25101115e-02 4.79523133e-04 9.99746500e-01 7.41189557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1992541539998 meters 0.016402262375955528 Centerline is valid? [True, True] Translation: X:900.86, Y:199.50, Z:7.41 [[-6.70295896e-01 -7.41943327e-01 1.49503203e-02 9.00861360e+02] [ 7.41774417e-01 -6.70462434e-01 -1.58378751e-02 1.99497287e+02] [ 2.17744339e-02 4.73702439e-04 9.99762797e-01 7.41280159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2292541539998 meters 0.015587753907738203 Centerline is valid? [True, True] Translation: X:900.84, Y:199.52, Z:7.41 [[-6.70811395e-01 -7.41453736e-01 1.60757826e-02 9.00843983e+02] [ 7.41258543e-01 -6.71003807e-01 -1.70195270e-02 1.99519253e+02] [ 2.34061031e-02 4.99418548e-04 9.99725915e-01 7.41358163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2592541539998 meters 0.015958972262542837 Centerline is valid? [True, True] Translation: X:900.83, Y:199.54, Z:7.41 [[-6.71874952e-01 -7.40486838e-01 1.62262950e-02 9.00826060e+02] [ 7.40287932e-01 -6.72070693e-01 -1.71686229e-02 1.99539718e+02] [ 2.36183566e-02 4.76962741e-04 9.99720934e-01 7.41310069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2892541539998 meters 0.01598632087553939 Centerline is valid? [True, True] Translation: X:900.81, Y:199.56, Z:7.41 [[-6.72987645e-01 -7.39460288e-01 1.69148526e-02 9.00808754e+02] [ 7.39244078e-01 -6.73200018e-01 -1.78865619e-02 1.99561917e+02] [ 2.46134813e-02 4.66769440e-04 9.99696933e-01 7.41395106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.3192541539997 meters 0.018022030486526362 Centerline is valid? [True, True] Translation: X:900.79, Y:199.58, Z:7.41 [[-6.75563137e-01 -7.37085634e-01 1.78666200e-02 9.00793235e+02] [ 7.36843803e-01 -6.75799232e-01 -1.88840511e-02 1.99583901e+02] [ 2.59934108e-02 4.07539486e-04 9.99662031e-01 7.41328109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.349254154 meters 0.016802232773004327 Centerline is valid? [True, True] Translation: X:900.78, Y:199.61, Z:7.42 [[-6.77386106e-01 -7.35425641e-01 1.72391825e-02 9.00775822e+02] [ 7.35200189e-01 -6.77605351e-01 -1.82118024e-02 1.99606769e+02] [ 2.50747888e-02 3.37828368e-04 9.99685521e-01 7.41513864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.379254154 meters 0.013485660777977557 Centerline is valid? [True, True] Translation: X:900.76, Y:199.63, Z:7.42 [[-6.81455586e-01 -7.31693719e-01 1.55751919e-02 9.00761103e+02] [ 7.31508909e-01 -6.81633529e-01 -1.64453120e-02 1.99631877e+02] [ 2.26495045e-02 1.86641918e-04 9.99743450e-01 7.41800812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4092541539999 meters 0.013098495345580826 Centerline is valid? [True, True] Translation: X:900.75, Y:199.65, Z:7.42 [[-6.84180043e-01 -7.29147703e-01 1.55337170e-02 9.00745150e+02] [ 7.28963444e-01 -6.84356352e-01 -1.63915040e-02 1.99653810e+02] [ 2.25824254e-02 1.08771966e-04 9.99744979e-01 7.41892336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4392541539999 meters 0.013073888344116097 Centerline is valid? [True, True] Translation: X:900.73, Y:199.68, Z:7.42 [[-6.89567107e-01 -7.24059462e-01 1.53329843e-02 9.00731484e+02] [ 7.23878881e-01 -6.89737554e-01 -1.61701331e-02 1.99679133e+02] [ 2.22838729e-02 -5.11683654e-05 9.99751682e-01 7.42018114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4692541539998 meters 0.016524735312107217 Centerline is valid? [True, True] Translation: X:900.72, Y:199.70, Z:7.42 [[-6.92663184e-01 -7.21065317e-01 1.68083973e-02 9.00715915e+02] [ 7.20847626e-01 -6.92867076e-01 -1.77176756e-02 1.99701738e+02] [ 2.44215865e-02 -1.56088326e-04 9.99701736e-01 7.41866784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4992541539998 meters 0.015148677461953636 Centerline is valid? [True, True] Translation: X:900.70, Y:199.72, Z:7.42 [[-6.95525153e-01 -7.18313476e-01 1.64472732e-02 9.00699383e+02] [ 7.18104439e-01 -6.95719550e-01 -1.73298286e-02 1.99724076e+02] [ 2.38909389e-02 -2.42471792e-04 9.99714541e-01 7.42023472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.5292541539998 meters 0.015279173791450471 Centerline is valid? [True, True] Translation: X:900.69, Y:199.75, Z:7.42 [[-7.00643605e-01 -7.13312727e-01 1.68372326e-02 9.00685526e+02] [ 7.13092447e-01 -7.00845760e-01 -1.77308455e-02 1.99748858e+02] [ 2.44479408e-02 -4.16500111e-04 9.99701018e-01 7.42076905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.5592541539997 meters 0.018143309604139124 Centerline is valid? [True, True] Translation: X:900.67, Y:199.77, Z:7.42 [[-7.05368156e-01 -7.08591521e-01 1.88101500e-02 9.00670209e+02] [ 7.08315223e-01 -7.05618627e-01 -1.97964234e-02 1.99772722e+02] [ 2.73003700e-02 -6.40251053e-04 9.99627070e-01 7.42085016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.589254154 meters 0.018336184045157515 Centerline is valid? [True, True] Translation: X:900.65, Y:199.79, Z:7.42 [[-7.07158192e-01 -7.06805943e-01 1.87789617e-02 9.00653202e+02] [ 7.06530251e-01 -7.07407145e-01 -1.97518316e-02 1.99794523e+02] [ 2.72450837e-02 -6.99765032e-04 9.99628539e-01 7.42096209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.619254154 meters 0.018828094326308397 Centerline is valid? [True, True] Translation: X:900.64, Y:199.82, Z:7.42 [[-7.08785526e-01 -7.05180697e-01 1.85273296e-02 9.00636319e+02] [ 7.04912102e-01 -7.09027243e-01 -1.94755849e-02 1.99815842e+02] [ 2.68701880e-02 -7.43873851e-04 9.99638655e-01 7.42096367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.649254154 meters 0.019317657969406602 Centerline is valid? [True, True] Translation: X:900.62, Y:199.84, Z:7.42 [[-7.10943738e-01 -7.02984875e-01 1.92682952e-02 9.00618688e+02] [ 7.02693894e-01 -7.11204289e-01 -2.02422869e-02 1.99837246e+02] [ 2.79337158e-02 -8.51413717e-04 9.99609415e-01 7.42214372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.6792541539999 meters 0.020181589468938547 Centerline is valid? [True, True] Translation: X:900.60, Y:199.86, Z:7.42 [[-7.12006709e-01 -7.01903661e-01 1.94344599e-02 9.00600941e+02] [ 7.01607497e-01 -7.12271332e-01 -2.04075772e-02 1.99858276e+02] [ 2.81667617e-02 -8.94969101e-04 9.99602837e-01 7.42204453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7092541539998 meters 0.021212313537075835 Centerline is valid? [True, True] Translation: X:900.58, Y:199.88, Z:7.42 [[-7.12211905e-01 -7.01642544e-01 2.12589525e-02 9.00580651e+02] [ 7.01288400e-01 -7.12528439e-01 -2.23115136e-02 1.99878078e+02] [ 3.08023154e-02 -9.81868828e-04 9.99525014e-01 7.42296606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7392541539998 meters 0.018954902091768044 Centerline is valid? [True, True] Translation: X:900.56, Y:199.90, Z:7.42 [[-7.11871054e-01 -7.02032554e-01 1.97457730e-02 9.00560418e+02] [ 7.01727505e-01 -7.12144300e-01 -2.07124429e-02 1.99898007e+02] [ 2.86026489e-02 -8.88436529e-04 9.99590466e-01 7.42440855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7692541539998 meters 0.0184606724957825 Centerline is valid? [True, True] Translation: X:900.54, Y:199.92, Z:7.43 [[-7.10269689e-01 -7.03653636e-01 1.97111462e-02 9.00539413e+02] [ 7.03350591e-01 -7.10542678e-01 -2.06651464e-02 1.99917473e+02] [ 2.85467160e-02 -8.13980698e-04 9.99592128e-01 7.42559326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7992541539998 meters 0.01724858923405088 Centerline is valid? [True, True] Translation: X:900.52, Y:199.94, Z:7.43 [[-7.07658594e-01 -7.06278879e-01 1.97347274e-02 9.00517087e+02] [ 7.05976362e-01 -7.07933366e-01 -2.06815087e-02 1.99935608e+02] [ 2.85777848e-02 -7.03196348e-04 9.99591324e-01 7.42662737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.829254154 meters 0.01822702604151151 Centerline is valid? [True, True] Translation: X:900.50, Y:199.95, Z:7.43 [[-7.06541673e-01 -7.07352378e-01 2.12479740e-02 9.00496565e+02] [ 7.07002560e-01 -7.06860751e-01 -2.22544368e-02 1.99953708e+02] [ 3.07610876e-02 -7.01315053e-04 9.99526520e-01 7.42735138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.859254154 meters 0.015059405143448695 Centerline is valid? [True, True] Translation: X:900.47, Y:199.97, Z:7.43 [[-7.03096844e-01 -7.10826657e-01 1.95010859e-02 9.00473814e+02] [ 7.10533662e-01 -7.03367058e-01 -2.04131696e-02 1.99970715e+02] [ 2.82266466e-02 -4.96257136e-04 9.99601426e-01 7.42934961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.889254154 meters 0.014659349597125618 Centerline is valid? [True, True] Translation: X:900.45, Y:199.99, Z:7.43 [[-7.01455589e-01 -7.12446804e-01 1.94835349e-02 9.00453325e+02] [ 7.12155285e-01 -7.01725996e-01 -2.03832337e-02 1.99989306e+02] [ 2.81940726e-02 -4.22630875e-04 9.99602379e-01 7.42936353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9192541539999 meters 0.014659349597125618 Centerline is valid? [True, True] Translation: X:900.43, Y:200.01, Z:7.43 [[-7.01682464e-01 -7.12223185e-01 1.94898534e-02 9.00434739e+02] [ 7.11931749e-01 -7.01952958e-01 -2.03771917e-02 2.00008593e+02] [ 2.81940686e-02 -4.22872633e-04 9.99602379e-01 7.42954802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9492541539998 meters 0.01676345715663352 Centerline is valid? [True, True] Translation: X:900.41, Y:200.03, Z:7.43 [[-7.00363391e-01 -7.13465239e-01 2.14119703e-02 9.00413516e+02] [ 7.13114465e-01 -7.00690511e-01 -2.23733792e-02 2.00026617e+02] [ 3.09657928e-02 -4.00310038e-04 9.99520365e-01 7.43015033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9792541539998 meters 0.01559223067159079 Centerline is valid? [True, True] Translation: X:900.39, Y:200.04, Z:7.43 [[-6.97055260e-01 -7.16717249e-01 2.07448592e-02 9.00391672e+02] [ 7.16389783e-01 -6.97363841e-01 -2.16645171e-02 2.00043090e+02] [ 2.99940478e-02 -2.39960437e-04 9.99550049e-01 7.42937469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.0092541539998 meters 0.015985261387902586 Centerline is valid? [True, True] Translation: X:900.37, Y:200.06, Z:7.43 [[-6.94382601e-01 -7.19303912e-01 2.08491054e-02 9.00370197e+02] [ 7.18974720e-01 -6.94695522e-01 -2.17596925e-02 2.00059127e+02] [ 3.01356121e-02 -1.19572109e-04 9.99545812e-01 7.42850316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.0392541539998 meters 0.012705848197926823 Centerline is valid? [True, True] Translation: X:900.35, Y:200.08, Z:7.43 [[-6.93292540e-01 -7.20396753e-01 1.93383737e-02 9.00349552e+02] [ 7.20114297e-01 -6.93562193e-01 -2.01713723e-02 2.00077974e+02] [ 2.79437560e-02 -5.88225303e-05 9.99609495e-01 7.43170637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.0692541539997 meters 0.01279916276582368 Centerline is valid? [True, True] Translation: X:900.33, Y:200.10, Z:7.43 [[-6.91471342e-01 -7.22135874e-01 1.96764335e-02 9.00327592e+02] [ 7.21844521e-01 -6.91751240e-01 -2.05112018e-02 2.00095279e+02] [ 2.84230720e-02 2.04174335e-05 9.99595983e-01 7.43192488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.099254154 meters 0.01386580422172901 Centerline is valid? [True, True] Translation: X:900.31, Y:200.11, Z:7.43 [[-6.90758095e-01 -7.22796780e-01 2.04467404e-02 9.00306988e+02] [ 7.22482822e-01 -6.91060642e-01 -2.13016372e-02 2.00114294e+02] [ 2.95266924e-02 5.81403891e-05 9.99563990e-01 7.43166979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.129254154 meters 0.014133256240020915 Centerline is valid? [True, True] Translation: X:900.29, Y:200.13, Z:7.43 [[-6.89548681e-01 -7.23931390e-01 2.11177505e-02 9.00285620e+02] [ 7.23597389e-01 -6.89871965e-01 -2.19883948e-02 2.00133745e+02] [ 3.04866332e-02 1.18680489e-04 9.99535168e-01 7.43268399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1592541539999 meters 0.01309383877039072 Centerline is valid? [True, True] Translation: X:900.27, Y:200.15, Z:7.43 [[-6.88919156e-01 -7.24541998e-01 2.07192788e-02 9.00265647e+02] [ 7.24221134e-01 -6.89230636e-01 -2.15610558e-02 2.00153013e+02] [ 2.99022522e-02 1.51515185e-04 9.99552816e-01 7.43324014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1892541539999 meters 0.015272209782629432 Centerline is valid? [True, True] Translation: X:900.24, Y:200.17, Z:7.43 [[-6.87319977e-01 -7.26019460e-01 2.20679115e-02 9.00244267e+02] [ 7.25656635e-01 -6.87674114e-01 -2.29512878e-02 2.00170379e+02] [ 3.18386130e-02 2.38847759e-04 9.99492994e-01 7.43122740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2192541539998 meters 0.012942011201561979 Centerline is valid? [True, True] Translation: X:900.22, Y:200.19, Z:7.43 [[-6.86522350e-01 -7.26799221e-01 2.12121636e-02 9.00224505e+02] [ 7.26464760e-01 -6.86849924e-01 -2.20484466e-02 2.00189140e+02] [ 3.05943668e-02 2.73138028e-04 9.99531845e-01 7.42978919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2492541539998 meters 0.012988788756473918 Centerline is valid? [True, True] Translation: X:900.20, Y:200.21, Z:7.43 [[-6.85327941e-01 -7.27899783e-01 2.20798129e-02 9.00204603e+02] [ 7.27538390e-01 -6.85683445e-01 -2.29369544e-02 2.00208650e+02] [ 3.18355663e-02 3.44575790e-04 9.99493061e-01 7.43012038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2792541539998 meters 0.014773468683932449 Centerline is valid? [True, True] Translation: X:900.18, Y:200.23, Z:7.43 [[-6.84943204e-01 -7.28223747e-01 2.33019686e-02 9.00184921e+02] [ 7.27821890e-01 -6.85339349e-01 -2.41924110e-02 2.00229031e+02] [ 3.35872442e-02 3.89255359e-04 9.99435714e-01 7.43030246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.3092541539997 meters 0.013466974763903442 Centerline is valid? [True, True] Translation: X:900.17, Y:200.25, Z:7.43 [[-6.85260384e-01 -7.27943904e-01 2.27129366e-02 9.00166298e+02] [ 7.27562412e-01 -6.85636588e-01 -2.35670577e-02 2.00249132e+02] [ 3.27283163e-02 3.75507918e-04 9.99464215e-01 7.42995516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.339254154 meters 0.01308280558081572 Centerline is valid? [True, True] Translation: X:900.15, Y:200.27, Z:7.43 [[-6.85740126e-01 -7.27492929e-01 2.26829807e-02 9.00148176e+02] [ 7.27112680e-01 -6.86115082e-01 -2.35211452e-02 2.00269426e+02] [ 3.26746020e-02 3.63689817e-04 9.99465976e-01 7.43034846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.369254154 meters 0.015497195701305509 Centerline is valid? [True, True] Translation: X:900.13, Y:200.29, Z:7.43 [[-6.87602451e-01 -7.25724223e-01 2.29613081e-02 9.00131646e+02] [ 7.25334120e-01 -6.87985658e-01 -2.37938753e-02 2.00290069e+02] [ 3.30648423e-02 2.93893265e-04 9.99453165e-01 7.43071306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.399254154 meters 0.012427620509687688 Centerline is valid? [True, True] Translation: X:900.12, Y:200.31, Z:7.43 [[-6.89642448e-01 -7.23842997e-01 2.10857762e-02 9.00115965e+02] [ 7.23513516e-01 -6.89964693e-01 -2.18383578e-02 2.00312009e+02] [ 3.03559835e-02 1.95185591e-04 9.99539132e-01 7.43201298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4292541539999 meters 0.013680839718448363 Centerline is valid? [True, True] Translation: X:900.10, Y:200.33, Z:7.43 [[-6.90773365e-01 -7.22759364e-01 2.12381749e-02 9.00098682e+02] [ 7.22424996e-01 -6.91099759e-01 -2.19828942e-02 2.00332578e+02] [ 3.05660401e-02 1.57790650e-04 9.99532737e-01 7.43306189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4592541539998 meters 0.014102382887900802 Centerline is valid? [True, True] Translation: X:900.08, Y:200.36, Z:7.44 [[-6.92417911e-01 -7.21194268e-01 2.08869572e-02 9.00081660e+02] [ 7.20870536e-01 -6.92732863e-01 -2.16067426e-02 2.00355589e+02] [ 3.00517406e-02 9.58965205e-05 9.99548340e-01 7.43578990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4892541539998 meters 0.011721206554329653 Centerline is valid? [True, True] Translation: X:900.06, Y:200.38, Z:7.44 [[-6.93247110e-01 -7.20417526e-01 2.01750425e-02 9.00063020e+02] [ 7.20115490e-01 -6.93540614e-01 -2.08589759e-02 2.00377339e+02] [ 2.90193832e-02 6.79358915e-05 9.99578847e-01 7.43630271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.5192541539998 meters 0.011613692199946153 Centerline is valid? [True, True] Translation: X:900.05, Y:200.40, Z:7.44 [[-6.94204231e-01 -7.19499505e-01 2.00236539e-02 9.00045323e+02] [ 7.19201939e-01 -6.94492952e-01 -2.06908209e-02 2.00399061e+02] [ 2.87933219e-02 3.73952859e-05 9.99585386e-01 7.43671067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.5492541539998 meters 0.014014650120267598 Centerline is valid? [True, True] Translation: X:900.03, Y:200.42, Z:7.44 [[-6.94562189e-01 -7.19135070e-01 2.06910050e-02 9.00026854e+02] [ 7.18817553e-01 -6.94870312e-01 -2.13675990e-02 2.00419337e+02] [ 2.97437549e-02 3.19313070e-05 9.99557556e-01 7.43632076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.579254154 meters 0.012629661886302978 Centerline is valid? [True, True] Translation: X:900.01, Y:200.44, Z:7.44 [[-6.94964663e-01 -7.18756764e-01 2.03182472e-02 9.00009038e+02] [ 7.18450807e-01 -6.95261615e-01 -2.09696185e-02 2.00440294e+02] [ 2.91985525e-02 2.45172486e-05 9.99573631e-01 7.43601297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.609254154 meters 0.011492239161019366 Centerline is valid? [True, True] Translation: X:899.99, Y:200.46, Z:7.44 [[-6.95049392e-01 -7.18673920e-01 2.03504217e-02 8.99989782e+02] [ 7.18367318e-01 -6.95347248e-01 -2.09904872e-02 2.00460923e+02] [ 2.92359255e-02 2.96525671e-05 9.99572539e-01 7.43722629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.639254154 meters 0.012091321053720008 Centerline is valid? [True, True] Translation: X:899.97, Y:200.48, Z:7.44 [[-6.94174656e-01 -7.19511135e-01 2.06221520e-02 8.99971726e+02] [ 7.19197070e-01 -6.94480900e-01 -2.12568548e-02 2.00480494e+02] [ 2.96162344e-02 7.54214618e-05 9.99561340e-01 7.43645331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6692541539999 meters 0.011581235674829753 Centerline is valid? [True, True] Translation: X:899.95, Y:200.50, Z:7.44 [[-6.93682449e-01 -7.19981721e-01 2.07601058e-02 8.99952752e+02] [ 7.19664063e-01 -6.93993019e-01 -2.13851574e-02 2.00500542e+02] [ 2.98042909e-02 1.05793720e-04 9.99555748e-01 7.43713589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6992541539998 meters 0.01157434496780984 Centerline is valid? [True, True] Translation: X:899.93, Y:200.52, Z:7.44 [[-6.92628132e-01 -7.20987849e-01 2.10426449e-02 8.99933517e+02] [ 7.20662336e-01 -6.92947686e-01 -2.16633600e-02 2.00520842e+02] [ 3.02004715e-02 1.59989079e-04 9.99543849e-01 7.43795832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7292541539998 meters 0.011595468216268064 Centerline is valid? [True, True] Translation: X:899.91, Y:200.54, Z:7.44 [[-6.92235705e-01 -7.21356326e-01 2.13255805e-02 8.99913471e+02] [ 7.21022561e-01 -6.92564088e-01 -2.19419642e-02 2.00541108e+02] [ 3.05973059e-02 1.87213669e-04 9.99531775e-01 7.43803519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7592541539998 meters 0.011956955458894787 Centerline is valid? [True, True] Translation: X:899.89, Y:200.56, Z:7.44 [[-6.91101067e-01 -7.22455246e-01 2.09220767e-02 8.99894225e+02] [ 7.22134830e-01 -6.91417646e-01 -2.15157161e-02 2.00558747e+02] [ 3.00100350e-02 2.39025968e-04 9.99549569e-01 7.43742881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7892541539998 meters 0.011378286895222389 Centerline is valid? [True, True] Translation: X:899.87, Y:200.58, Z:7.44 [[-6.90964426e-01 -7.22610052e-01 2.00717416e-02 8.99874478e+02] [ 7.22315555e-01 -6.91255852e-01 -2.06297159e-02 2.00578679e+02] [ 2.87819489e-02 2.43731377e-04 9.99585684e-01 7.44010228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.8192541539997 meters 0.01193941382514689 Centerline is valid? [True, True] Translation: X:899.86, Y:200.60, Z:7.44 [[-6.91740176e-01 -7.21878870e-01 1.96577280e-02 8.99855027e+02] [ 7.21596442e-01 -6.92019400e-01 -2.01921833e-02 2.00596982e+02] [ 2.81798396e-02 2.17202181e-04 9.99602846e-01 7.43803324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.849254154 meters 0.011691964328832245 Centerline is valid? [True, True] Translation: X:899.84, Y:200.62, Z:7.44 [[-6.93595310e-01 -7.20123028e-01 1.86646865e-02 8.99836211e+02] [ 7.19868069e-01 -6.93846384e-01 -1.91613840e-02 2.00617760e+02] [ 2.67489791e-02 1.45865719e-04 9.99642171e-01 7.44088831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.879254154 meters 0.010769050743290444 Centerline is valid? [True, True] Translation: X:899.82, Y:200.64, Z:7.44 [[-6.95055039e-01 -7.18735087e-01 1.78428187e-02 8.99817063e+02] [ 7.18501897e-01 -6.95284018e-01 -1.83073608e-02 2.00638732e+02] [ 2.55639692e-02 9.54757340e-05 9.99673184e-01 7.44294767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9092541539999 meters 0.010482453228921456 Centerline is valid? [True, True] Translation: X:899.80, Y:200.66, Z:7.44 [[-6.97530310e-01 -7.16371157e-01 1.62428984e-02 8.99799290e+02] [ 7.16177486e-01 -6.97719403e-01 -1.66566444e-02 2.00658657e+02] [ 2.32653249e-02 1.42838040e-05 9.99729326e-01 7.44487197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9392541539999 meters 0.014209381999358284 Centerline is valid? [True, True] Translation: X:899.78, Y:200.68, Z:7.45 [[-6.98125451e-01 -7.15789335e-01 1.63242605e-02 8.99781076e+02] [ 7.15593809e-01 -6.98316280e-01 -1.67294237e-02 2.00677721e+02] [ 2.33742399e-02 2.30330068e-06 9.99726785e-01 7.44525222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9692541539998 meters 0.010316601033631185 Centerline is valid? [True, True] Translation: X:899.76, Y:200.70, Z:7.45 [[-6.99196084e-01 -7.14767777e-01 1.52270046e-02 8.99762004e+02] [ 7.14597628e-01 -6.99361870e-01 -1.55950475e-02 2.00696943e+02] [ 2.17960238e-02 -2.28147862e-05 9.99762438e-01 7.44597370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9992541539998 meters 0.010397430847842186 Centerline is valid? [True, True] Translation: X:899.74, Y:200.72, Z:7.45 [[-6.99366976e-01 -7.14598818e-01 1.53089353e-02 8.99742451e+02] [ 7.14427013e-01 -6.99534509e-01 -1.56688843e-02 2.00716102e+02] [ 2.19060947e-02 -2.11832832e-05 9.99760033e-01 7.44590490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.0292541539998 meters 0.010594086914990801 Centerline is valid? [True, True] Translation: X:899.72, Y:200.73, Z:7.44 [[-6.99612068e-01 -7.14352693e-01 1.55943962e-02 8.99722830e+02] [ 7.14174596e-01 -6.99785846e-01 -1.59504150e-02 2.00734346e+02] [ 2.23069596e-02 -2.19811520e-05 9.99751169e-01 7.44375271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.0592541539997 meters 0.011956782028403615 Centerline is valid? [True, True] Translation: X:899.70, Y:200.75, Z:7.44 [[-6.99689068e-01 -7.14263650e-01 1.62063709e-02 8.99703728e+02] [ 7.14071529e-01 -6.99876730e-01 -1.65654638e-02 2.00753263e+02] [ 2.31745705e-02 -1.81658397e-05 9.99731433e-01 7.44454373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.089254154 meters 0.010586450890385837 Centerline is valid? [True, True] Translation: X:899.68, Y:200.77, Z:7.44 [[-7.00926076e-01 -7.13054286e-01 1.60068974e-02 8.99684322e+02] [ 7.12866788e-01 -7.01108824e-01 -1.63511497e-02 2.00772706e+02] [ 2.28818343e-02 -5.01616725e-05 9.99738175e-01 7.44423953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.119254154 meters 0.010643385844663887 Centerline is valid? [True, True] Translation: X:899.67, Y:200.79, Z:7.44 [[-7.02582106e-01 -7.11433749e-01 1.55049946e-02 8.99665734e+02] [ 7.11257653e-01 -7.02753166e-01 -1.58284251e-02 2.00792108e+02] [ 2.21570598e-02 -9.27222159e-05 9.99754498e-01 7.44494483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.149254154 meters 0.011138114046634472 Centerline is valid? [True, True] Translation: X:899.65, Y:200.81, Z:7.44 [[-7.03541577e-01 -7.10486393e-01 1.54380918e-02 8.99648190e+02] [ 7.10311773e-01 -7.03710929e-01 -1.57516395e-02 2.00811164e+02] [ 2.20552794e-02 -1.16074916e-04 9.99756746e-01 7.44400926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.1792541539999 meters 0.010917904896177558 Centerline is valid? [True, True] Translation: X:899.63, Y:200.83, Z:7.45 [[-7.05578020e-01 -7.08479180e-01 1.47278289e-02 8.99628867e+02] [ 7.08319991e-01 -7.05731695e-01 -1.50188605e-02 2.00831874e+02] [ 2.10344457e-02 -1.64962230e-04 9.99778738e-01 7.44597295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2092541539998 meters 0.012812595303451212 Centerline is valid? [True, True] Translation: X:899.61, Y:200.85, Z:7.45 [[-7.06362377e-01 -7.07695777e-01 1.47945840e-02 8.99610566e+02] [ 7.07535166e-01 -7.06517271e-01 -1.50776327e-02 2.00851465e+02] [ 2.11230061e-02 -1.82584055e-04 9.99776868e-01 7.44622628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2392541539998 meters 0.01143557583820085 Centerline is valid? [True, True] Translation: X:899.59, Y:200.87, Z:7.45 [[-7.07640921e-01 -7.06430985e-01 1.41276222e-02 8.99592780e+02] [ 7.06284466e-01 -7.07781903e-01 -1.43885852e-02 2.00870963e+02] [ 2.01638177e-02 -2.03831575e-04 9.99796669e-01 7.44614330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2692541539998 meters 0.011790503807164293 Centerline is valid? [True, True] Translation: X:899.57, Y:200.89, Z:7.45 [[-7.09631943e-01 -7.04427086e-01 1.43173409e-02 8.99573997e+02] [ 7.04276377e-01 -7.09776312e-01 -1.45729767e-02 2.00891659e+02] [ 2.04277089e-02 -2.58084828e-04 9.99791299e-01 7.44573310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2992541539998 meters 0.012307943230012426 Centerline is valid? [True, True] Translation: X:899.55, Y:200.91, Z:7.44 [[-7.11068882e-01 -7.02957142e-01 1.52414459e-02 8.99554993e+02] [ 7.02786204e-01 -7.11232141e-01 -1.55046078e-02 2.00911874e+02] [ 2.17392810e-02 -3.13366297e-04 9.99763625e-01 7.44451649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.329254154 meters 0.01263951612862202 Centerline is valid? [True, True] Translation: X:899.54, Y:200.93, Z:7.44 [[-7.11122734e-01 -7.02896999e-01 1.55005124e-02 8.99535320e+02] [ 7.02720402e-01 -7.11291579e-01 -1.57583938e-02 2.00930418e+02] [ 2.21019117e-02 -3.13625765e-04 9.99755674e-01 7.44474805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.359254154 meters 0.014774272518119197 Centerline is valid? [True, True] Translation: X:899.52, Y:200.95, Z:7.44 [[-7.10853265e-01 -7.03162426e-01 1.58188914e-02 8.99515935e+02] [ 7.02978761e-01 -7.11029190e-01 -1.60733606e-02 2.00948733e+02] [ 2.25498768e-02 -3.05456182e-04 9.99745673e-01 7.44427375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.389254154 meters 0.01466899747297625 Centerline is valid? [True, True] Translation: X:899.50, Y:200.97, Z:7.44 [[-7.11088009e-01 -7.02931521e-01 1.55280604e-02 8.99497203e+02] [ 7.02754704e-01 -7.11257468e-01 -1.57683291e-02 2.00966856e+02] [ 2.21285045e-02 -3.00252270e-04 9.99755090e-01 7.44435602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4192541539999 meters 0.012511483872189257 Centerline is valid? [True, True] Translation: X:899.48, Y:200.99, Z:7.44 [[-7.11713984e-01 -7.02311328e-01 1.48998200e-02 8.99478251e+02] [ 7.02148594e-01 -7.11869868e-01 -1.51209321e-02 2.00986027e+02] [ 2.12263348e-02 -2.99891185e-04 9.99774651e-01 7.44456599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4492541539998 meters 0.011799194242902718 Centerline is valid? [True, True] Translation: X:899.46, Y:201.01, Z:7.45 [[-7.12223442e-01 -7.01802146e-01 1.45436137e-02 8.99458027e+02] [ 7.01647174e-01 -7.12371853e-01 -1.47507881e-02 2.01005030e+02] [ 2.07125958e-02 -3.01371586e-04 9.99785426e-01 7.44641252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4792541539998 meters 0.014416403606460489 Centerline is valid? [True, True] Translation: X:899.44, Y:201.03, Z:7.45 [[-7.13247475e-01 -7.00771363e-01 1.40547909e-02 8.99440077e+02] [ 7.00626603e-01 -7.13385869e-01 -1.42465840e-02 2.01025162e+02] [ 2.00100873e-02 -3.14179694e-04 9.99799729e-01 7.44632078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.5092541539998 meters 0.014849540169236617 Centerline is valid? [True, True] Translation: X:899.42, Y:201.04, Z:7.45 [[-7.13781332e-01 -7.00234495e-01 1.37062666e-02 8.99419234e+02] [ 7.00096883e-01 -7.13912847e-01 -1.38852830e-02 2.01043739e+02] [ 1.95080340e-02 -3.15341293e-04 9.99809650e-01 7.44777362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.5392541539998 meters 0.012111211285421983 Centerline is valid? [True, True] Translation: X:899.40, Y:201.06, Z:7.45 [[-7.14386711e-01 -6.99638674e-01 1.25440690e-02 8.99398005e+02] [ 6.99523445e-01 -7.14496772e-01 -1.27008962e-02 2.01062755e+02] [ 1.78487350e-02 -2.98481124e-04 9.99840654e-01 7.44771460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.5692541539997 meters 0.01206397504644113 Centerline is valid? [True, True] Translation: X:899.38, Y:201.08, Z:7.45 [[-7.14092661e-01 -6.99943764e-01 1.22637420e-02 8.99377484e+02] [ 6.99833804e-01 -7.14197907e-01 -1.24095319e-02 2.01081248e+02] [ 1.74447133e-02 -2.78974490e-04 9.99847791e-01 7.44746920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.599254154 meters 0.011665895804939116 Centerline is valid? [True, True] Translation: X:899.36, Y:201.10, Z:7.45 [[-7.13763815e-01 -7.00276292e-01 1.24230115e-02 8.99356243e+02] [ 7.00163642e-01 -7.13871867e-01 -1.25631034e-02 2.01100190e+02] [ 1.76660818e-02 -2.68947644e-04 9.99843906e-01 7.44762851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.629254154 meters 0.01369508394067019 Centerline is valid? [True, True] Translation: X:899.34, Y:201.12, Z:7.45 [[-7.11821792e-01 -7.02234460e-01 1.32852792e-02 8.99335892e+02] [ 7.02106094e-01 -7.11945721e-01 -1.34284730e-02 2.01118247e+02] [ 1.88883342e-02 -2.31004224e-04 9.99821573e-01 7.44562024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6592541539999 meters 0.011528537270301085 Centerline is valid? [True, True] Translation: X:899.32, Y:201.14, Z:7.44 [[-7.10900131e-01 -7.03167130e-01 1.33037911e-02 8.99315092e+02] [ 7.03038707e-01 -7.11024575e-01 -1.34398792e-02 2.01136534e+02] [ 1.89098037e-02 -2.01331772e-04 9.99821173e-01 7.44445872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6892541539999 meters 0.010974794542240433 Centerline is valid? [True, True] Translation: X:899.29, Y:201.15, Z:7.44 [[-7.08361238e-01 -7.05700294e-01 1.45413377e-02 8.99292646e+02] [ 7.05547590e-01 -7.08510462e-01 -1.46807314e-02 2.01152953e+02] [ 2.06628864e-02 -1.39655370e-04 9.99786490e-01 7.44244590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7192541539998 meters 0.01063678663787874 Centerline is valid? [True, True] Translation: X:899.27, Y:201.17, Z:7.44 [[-7.05412676e-01 -7.08630247e-01 1.53665004e-02 8.99269966e+02] [ 7.08460624e-01 -7.05580024e-01 -1.55039725e-02 2.01168795e+02] [ 2.18288796e-02 -5.01382441e-05 9.99761720e-01 7.44049793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7492541539998 meters 0.010494922353868832 Centerline is valid? [True, True] Translation: X:899.25, Y:201.19, Z:7.44 [[-7.02809206e-01 -7.11221491e-01 1.49402441e-02 8.99247877e+02] [ 7.11061933e-01 -7.02967986e-01 -1.50644592e-02 2.01185823e+02] [ 2.12166804e-02 3.59982600e-05 9.99774900e-01 7.44045763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7792541539998 meters 0.010577059512442338 Centerline is valid? [True, True] Translation: X:899.23, Y:201.20, Z:7.44 [[-7.01558179e-01 -7.12465662e-01 1.44499840e-02 8.99227819e+02] [ 7.12316856e-01 -7.01706972e-01 -1.45609900e-02 2.01203655e+02] [ 2.05138599e-02 7.75855212e-05 9.99789566e-01 7.44053879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.8092541539997 meters 0.01093191033385145 Centerline is valid? [True, True] Translation: X:899.21, Y:201.22, Z:7.44 [[-7.00199797e-01 -7.13825070e-01 1.31914214e-02 8.99207010e+02] [ 7.13701453e-01 -7.00324037e-01 -1.32845877e-02 2.01221749e+02] [ 1.87211413e-02 1.12871036e-04 9.99824738e-01 7.44105248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.839254154 meters 0.01093191033385145 Centerline is valid? [True, True] Translation: X:899.19, Y:201.24, Z:7.44 [[-7.00427100e-01 -7.13601957e-01 1.31956513e-02 8.99188067e+02] [ 7.13478379e-01 -7.00551379e-01 -1.32803857e-02 2.01240664e+02] [ 1.87211409e-02 1.12869861e-04 9.99824738e-01 7.44123683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.869254154 meters 0.012144171181255076 Centerline is valid? [True, True] Translation: X:899.17, Y:201.26, Z:7.44 [[-6.99968849e-01 -7.14060128e-01 1.27178674e-02 8.99168177e+02] [ 7.13945551e-01 -7.00084365e-01 -1.27919075e-02 2.01260162e+02] [ 1.80377713e-02 1.25928082e-04 9.99837298e-01 7.44288547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.899254154 meters 0.01144576390820984 Centerline is valid? [True, True] Translation: X:899.15, Y:201.28, Z:7.44 [[-6.99757491e-01 -7.14284999e-01 1.16788071e-02 8.99147819e+02] [ 7.14188521e-01 -6.99854931e-01 -1.17401886e-02 2.01279859e+02] [ 1.65593113e-02 1.25585061e-04 9.99862877e-01 7.44292580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9292541539999 meters 0.011273787778348435 Centerline is valid? [True, True] Translation: X:899.13, Y:201.30, Z:7.44 [[-6.98839805e-01 -7.15209381e-01 9.92308556e-03 8.99128075e+02] [ 7.15139889e-01 -6.98910241e-01 -9.97066587e-03 2.01298254e+02] [ 1.40664599e-02 1.28496114e-04 9.99901054e-01 7.44226626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9592541539998 meters 0.01154672380981342 Centerline is valid? [True, True] Translation: X:899.11, Y:201.32, Z:7.44 [[-6.98511724e-01 -7.15535154e-01 9.52966404e-03 8.99108069e+02] [ 7.15471161e-01 -6.98576714e-01 -9.57037003e-03 2.01317450e+02] [ 1.35051376e-02 1.33184124e-04 9.99908793e-01 7.44216357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9892541539998 meters 0.013518886580762673 Centerline is valid? [True, True] Translation: X:899.09, Y:201.34, Z:7.44 [[-6.97129441e-01 -7.16873213e-01 1.01655488e-02 8.99086996e+02] [ 7.16800628e-01 -6.97203532e-01 -1.02026235e-02 2.01336696e+02] [ 1.44014441e-02 1.74122533e-04 9.99896279e-01 7.44168340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.0192541539998 meters 0.012697094018942388 Centerline is valid? [True, True] Translation: X:899.07, Y:201.36, Z:7.44 [[-6.94598231e-01 -7.19333394e-01 9.63145471e-03 8.99065593e+02] [ 7.19268544e-01 -6.94664970e-01 -9.66134039e-03 2.01355793e+02] [ 1.36403590e-02 2.16852456e-04 9.99906942e-01 7.43980852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.0492541539998 meters 0.013554433346942698 Centerline is valid? [True, True] Translation: X:899.04, Y:201.37, Z:7.44 [[-6.93415530e-01 -7.20470409e-01 9.86366126e-03 8.99044910e+02] [ 7.20402590e-01 -6.93485636e-01 -9.88843891e-03 2.01373163e+02] [ 1.39646350e-02 2.49010003e-04 9.99902459e-01 7.43860543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.079254154 meters 0.014696948831979653 Centerline is valid? [True, True] Translation: X:899.02, Y:201.39, Z:7.44 [[-6.92076218e-01 -7.21753872e-01 1.00924350e-02 8.99023918e+02] [ 7.21683084e-01 -6.92149744e-01 -1.01122876e-02 2.01389764e+02] [ 1.42840590e-02 2.85065867e-04 9.99897937e-01 7.43719895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.109254154 meters 0.015561035684733207 Centerline is valid? [True, True] Translation: X:899.00, Y:201.41, Z:7.44 [[-6.89278414e-01 -7.24418208e-01 1.06549778e-02 8.99002397e+02] [ 7.24339711e-01 -6.89360667e-01 -1.06702405e-02 2.01408075e+02] [ 1.50748391e-02 3.63057073e-04 9.99886302e-01 7.43543927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.139254154 meters 0.016925092107888944 Centerline is valid? [True, True] Translation: X:898.98, Y:201.43, Z:7.43 [[-6.88388841e-01 -7.25260439e-01 1.08673979e-02 8.98981352e+02] [ 7.25178985e-01 -6.88474503e-01 -1.08765023e-02 2.01425562e+02] [ 1.53702232e-02 3.93545770e-04 9.99881794e-01 7.43406365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1692541539999 meters 0.017507880263777656 Centerline is valid? [True, True] Translation: X:898.96, Y:201.45, Z:7.43 [[-6.87377690e-01 -7.26204318e-01 1.17983363e-02 8.98962370e+02] [ 7.26108568e-01 -6.87478787e-01 -1.18010722e-02 2.01446213e+02] [ 1.66810955e-02 4.55079282e-04 9.99860757e-01 7.43405913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1992541539998 meters 0.017395411943448156 Centerline is valid? [True, True] Translation: X:898.94, Y:201.42, Z:7.43 [[-6.36684443e-01 -7.71057079e-01 1.01931794e-02 8.98943607e+02] [ 7.70978024e-01 -6.36765518e-01 -1.10707389e-02 2.01423462e+02] [ 1.50268367e-02 8.10150036e-04 9.99886763e-01 7.43358155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2292541539998 meters 0.017130884044190876 Centerline is valid? [True, True] Translation: X:898.93, Y:201.45, Z:7.44 [[-6.37294914e-01 -7.70568025e-01 8.95051899e-03 8.98927563e+02] [ 7.70500040e-01 -6.37357657e-01 -1.02423646e-02 2.01445315e+02] [ 1.35971205e-02 3.68968349e-04 9.99907487e-01 7.43501773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2592541539998 meters 0.016544005543246917 Centerline is valid? [True, True] Translation: X:898.91, Y:201.47, Z:7.44 [[-6.38419510e-01 -7.69647320e-01 7.97070874e-03 8.98910620e+02] [ 7.69593397e-01 -6.38469188e-01 -9.11587743e-03 2.01467644e+02] [ 1.21050626e-02 3.14450814e-04 9.99926682e-01 7.43586923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2892541539998 meters 0.016209084659433593 Centerline is valid? [True, True] Translation: X:898.89, Y:201.49, Z:7.44 [[-6.40304981e-01 -7.68095808e-01 6.19367410e-03 8.98894612e+02] [ 7.68063206e-01 -6.40334897e-01 -7.08039479e-03 2.01489475e+02] [ 9.40444722e-03 2.23521131e-04 9.99955752e-01 7.43676946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.3192541539997 meters 0.01690674541636169 Centerline is valid? [True, True] Translation: X:898.88, Y:201.51, Z:7.44 [[-6.41705329e-01 -7.66926932e-01 6.11153031e-03 8.98877428e+02] [ 7.66895166e-01 -6.41734398e-01 -6.98329505e-03 2.01511993e+02] [ 9.27765628e-03 2.05685398e-04 9.99956940e-01 7.43742989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.349254154 meters 0.01564210201488189 Centerline is valid? [True, True] Translation: X:898.86, Y:201.53, Z:7.44 [[-6.43387114e-01 -7.65525508e-01 4.87014679e-03 8.98862141e+02] [ 7.65505315e-01 -6.43405529e-01 -5.56226465e-03 2.01534206e+02] [ 7.39153485e-03 1.49433854e-04 9.99972671e-01 7.43737530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.379254154 meters 0.015888233361589336 Centerline is valid? [True, True] Translation: X:898.85, Y:201.56, Z:7.44 [[-6.44098981e-01 -7.64926898e-01 4.83147542e-03 8.98845020e+02] [ 7.64907030e-01 -6.44117085e-01 -5.51498730e-03 2.01555866e+02] [ 7.33059799e-03 1.43431822e-04 9.99973121e-01 7.43757914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4092541539999 meters 0.018645469099555844 Centerline is valid? [True, True] Translation: X:898.83, Y:201.58, Z:7.44 [[-6.44606046e-01 -7.64497261e-01 5.19458867e-03 8.98828620e+02] [ 7.64474312e-01 -6.44626958e-01 -5.92549641e-03 2.01579315e+02] [ 7.87859767e-03 1.51518789e-04 9.99968952e-01 7.43789207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4392541539999 meters 0.014982619194071818 Centerline is valid? [True, True] Translation: X:898.81, Y:201.60, Z:7.44 [[-6.44598875e-01 -7.64510267e-01 4.04256290e-03 8.98809810e+02] [ 7.64496381e-01 -6.44611540e-01 -4.60935775e-03 2.01600757e+02] [ 6.12978402e-03 1.19337889e-04 9.99981206e-01 7.43624009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4692541539998 meters 0.01702623132153819 Centerline is valid? [True, True] Translation: X:898.79, Y:201.62, Z:7.44 [[-6.44856275e-01 -7.64292166e-01 4.22724148e-03 8.98791777e+02] [ 7.64276997e-01 -6.44870118e-01 -4.81697678e-03 2.01621963e+02] [ 6.40759933e-03 1.24525721e-04 9.99979463e-01 7.43683715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4992541539998 meters 0.014977480685834628 Centerline is valid? [True, True] Translation: X:898.77, Y:201.64, Z:7.44 [[-6.44900742e-01 -7.64257085e-01 3.76052284e-03 8.98773973e+02] [ 7.64245092e-01 -6.44911696e-01 -4.28300906e-03 2.01643099e+02] [ 5.69852518e-03 1.11845400e-04 9.99983757e-01 7.43648350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.5292541539998 meters 0.015511320686543319 Centerline is valid? [True, True] Translation: X:898.76, Y:201.66, Z:7.44 [[-6.45045426e-01 -7.64137705e-01 3.15708790e-03 8.98756502e+02] [ 7.64129258e-01 -6.45053145e-01 -3.59415107e-03 2.01663412e+02] [ 4.78291582e-03 9.40325253e-05 9.99988557e-01 7.43716483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.5592541539997 meters 0.015562840024679262 Centerline is valid? [True, True] Translation: X:898.74, Y:201.69, Z:7.44 [[-6.45271263e-01 -7.63947827e-01 2.95187009e-03 8.98739202e+02] [ 7.63940450e-01 -6.45278009e-01 -3.35858021e-03 2.01685782e+02] [ 4.47055691e-03 8.78576722e-05 9.99990003e-01 7.43778583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.589254154 meters 0.01588194731905225 Centerline is valid? [True, True] Translation: X:898.72, Y:201.71, Z:7.44 [[-6.45368396e-01 -7.63867505e-01 2.46339598e-03 8.98720729e+02] [ 7.63862370e-01 -6.45373094e-01 -2.80173669e-03 2.01705938e+02] [ 3.72996510e-03 7.35431708e-05 9.99993041e-01 7.43799703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.619254154 meters 0.01621678876809854 Centerline is valid? [True, True] Translation: X:898.70, Y:201.73, Z:7.44 [[-6.45750144e-01 -7.63545683e-01 2.17746614e-03 8.98702972e+02] [ 7.63541674e-01 -6.45753812e-01 -2.47526907e-03 2.01727763e+02] [ 3.29608807e-03 6.41807847e-05 9.99994566e-01 7.43807082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.649254154 meters 0.01580169192287598 Centerline is valid? [True, True] Translation: X:898.68, Y:201.75, Z:7.44 [[-6.46644818e-01 -7.62789492e-01 1.63395884e-03 8.98684913e+02] [ 7.62787232e-01 -6.46646881e-01 -1.85733512e-03 2.01748667e+02] [ 2.47335010e-03 4.53268151e-05 9.99996940e-01 7.43738945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.6792541539999 meters 0.01524538630134282 Centerline is valid? [True, True] Translation: X:898.67, Y:201.77, Z:7.44 [[-6.47319311e-01 -7.62217858e-01 1.28347094e-03 8.98666768e+02] [ 7.62216463e-01 -6.47320582e-01 -1.45844691e-03 2.01769823e+02] [ 1.94247144e-03 3.42018353e-05 9.99998113e-01 7.43760205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7092541539998 meters 0.014731500771545654 Centerline is valid? [True, True] Translation: X:898.65, Y:201.79, Z:7.44 [[-6.48686111e-01 -7.61055924e-01 4.57928876e-04 8.98649409e+02] [ 7.61055745e-01 -6.48686273e-01 -5.22042137e-04 2.01791841e+02] [ 6.94355437e-04 9.86791776e-06 9.99999759e-01 7.43789414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7392541539998 meters 0.0163641023767136 Centerline is valid? [True, True] Translation: X:898.63, Y:201.81, Z:7.44 [[-6.49605665e-01 -7.60271248e-01 3.31997169e-04 8.98631660e+02] [ 7.60271153e-01 -6.49605750e-01 -3.79077269e-04 2.01813247e+02] [ 5.03868818e-04 6.15712875e-06 9.99999873e-01 7.43843930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7692541539998 meters 0.016055134456199105 Centerline is valid? [True, True] Translation: X:898.61, Y:201.83, Z:7.44 [[-6.50821853e-01 -7.59230474e-01 -6.12242451e-05 8.98613517e+02] [ 7.59230471e-01 -6.50821856e-01 6.61594542e-05 2.01833286e+02] [-9.00763509e-05 -3.42529386e-06 9.99999996e-01 7.43860995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7992541539998 meters 0.01480750890927449 Centerline is valid? [True, True] Translation: X:898.59, Y:201.85, Z:7.44 [[-6.51087920e-01 -7.59002298e-01 1.79178177e-04 8.98594980e+02] [ 7.59002270e-01 -6.51087945e-01 -2.06206186e-04 2.01852206e+02] [ 2.73171720e-04 1.73828622e-06 9.99999963e-01 7.43859331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.829254154 meters 0.015892683696174786 Centerline is valid? [True, True] Translation: X:898.58, Y:201.87, Z:7.44 [[-6.51530966e-01 -7.58622036e-01 -7.85273754e-05 8.98577318e+02] [ 7.58622031e-01 -6.51530971e-01 8.57402378e-05 2.01873442e+02] [-1.16207451e-04 -3.71017698e-06 9.99999993e-01 7.43818779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.859254154 meters 0.015261149168121525 Centerline is valid? [True, True] Translation: X:898.56, Y:201.89, Z:7.44 [[-6.52033711e-01 -7.58189976e-01 -7.61634923e-06 8.98558244e+02] [ 7.58189976e-01 -6.52033711e-01 5.40477014e-06 2.01892278e+02] [-9.06395931e-06 -2.25054728e-06 1.00000000e+00 7.43722113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.889254154 meters 0.015149433991850267 Centerline is valid? [True, True] Translation: X:898.54, Y:201.91, Z:7.44 [[-6.52585078e-01 -7.57715394e-01 3.12022728e-04 8.98539205e+02] [ 7.57715311e-01 -6.52585152e-01 -3.55331030e-04 2.01913499e+02] [ 4.72861191e-04 4.54067061e-06 9.99999888e-01 7.43661690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9192541539999 meters 0.015109001586907473 Centerline is valid? [True, True] Translation: X:898.52, Y:201.94, Z:7.44 [[-6.54630880e-01 -7.55948314e-01 7.46233078e-04 8.98521019e+02] [ 7.55947842e-01 -6.54631305e-01 -8.45159271e-04 2.01935240e+02] [ 1.12740426e-03 1.08459273e-05 9.99999364e-01 7.43572583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9492541539998 meters 0.014016315879246788 Centerline is valid? [True, True] Translation: X:898.50, Y:201.96, Z:7.44 [[-6.57501973e-01 -7.53452363e-01 8.32475305e-04 8.98503877e+02] [ 7.53451774e-01 -6.57502500e-01 -9.41908121e-04 2.01956967e+02] [ 1.25703749e-03 7.92354769e-06 9.99999210e-01 7.43562700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9792541539998 meters 0.013306144678248458 Centerline is valid? [True, True] Translation: X:898.49, Y:201.98, Z:7.44 [[-6.59213580e-01 -7.51955044e-01 1.03346805e-03 8.98485809e+02] [ 7.51954137e-01 -6.59214390e-01 -1.16791950e-03 2.01979039e+02] [ 1.55949996e-03 7.21218226e-06 9.99998784e-01 7.43567670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.0092541539998 meters 0.017546400882100008 Centerline is valid? [True, True] Translation: X:898.47, Y:202.00, Z:7.44 [[-6.62507907e-01 -7.49054651e-01 6.35161296e-04 8.98471565e+02] [ 7.49054306e-01 -6.62508211e-01 -7.18984414e-04 2.02001019e+02] [ 9.59358193e-04 -5.62555733e-07 9.99999540e-01 7.43662490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.0392541539998 meters 0.014795633845725723 Centerline is valid? [True, True] Translation: X:898.45, Y:202.02, Z:7.44 [[-6.64188786e-01 -7.47564765e-01 4.22771709e-04 8.98454024e+02] [ 7.47564612e-01 -6.64188920e-01 -4.78949356e-04 2.02022613e+02] [ 6.38845948e-04 -2.06362253e-06 9.99999796e-01 7.43701475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.0692541539997 meters 0.013631584948310838 Centerline is valid? [True, True] Translation: X:898.44, Y:202.04, Z:7.44 [[-6.67022178e-01 -7.45037549e-01 6.81492478e-04 8.98438025e+02] [ 7.45037151e-01 -6.67022526e-01 -7.69905171e-04 2.02044351e+02] [ 1.02817909e-03 -5.80660995e-06 9.99999471e-01 7.43749362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.099254154 meters 0.015412940093786315 Centerline is valid? [True, True] Translation: X:898.42, Y:202.07, Z:7.44 [[-6.68459195e-01 -7.43748699e-01 4.20264683e-04 8.98420667e+02] [ 7.43748547e-01 -6.68459327e-01 -4.75844959e-04 2.02065732e+02] [ 6.34838916e-04 -5.51169052e-06 9.99999798e-01 7.43723101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.129254154 meters 0.01586795626459892 Centerline is valid? [True, True] Translation: X:898.40, Y:202.09, Z:7.44 [[-6.69553355e-01 -7.42763861e-01 3.88226632e-04 8.98401994e+02] [ 7.42763731e-01 -6.69553468e-01 -4.39277722e-04 2.02087051e+02] [ 5.86218105e-04 -5.75921112e-06 9.99999828e-01 7.43682114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1592541539999 meters 0.013836494353247382 Centerline is valid? [True, True] Translation: X:898.38, Y:202.11, Z:7.44 [[-6.69387630e-01 -7.42912596e-01 1.03709593e-03 8.98383993e+02] [ 7.42911678e-01 -6.69388433e-01 -1.16786575e-03 2.02107259e+02] [ 1.56184220e-03 -1.12842067e-05 9.99998780e-01 7.43723593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1892541539999 meters 0.013331020266526168 Centerline is valid? [True, True] Translation: X:898.37, Y:202.13, Z:7.44 [[-6.69061142e-01 -7.43206323e-01 1.24456966e-03 8.98365593e+02] [ 7.43205004e-01 -6.69062300e-01 -1.40011911e-03 2.02127596e+02] [ 1.87327202e-03 -1.17948955e-05 9.99998245e-01 7.43746135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2192541539998 meters 0.01332747247327205 Centerline is valid? [True, True] Translation: X:898.35, Y:202.15, Z:7.44 [[-6.67903142e-01 -7.44245505e-01 2.00523178e-03 8.98346797e+02] [ 7.44242096e-01 -6.67906152e-01 -2.25247467e-03 2.02146369e+02] [ 3.01570079e-03 -1.20570058e-05 9.99995453e-01 7.43699021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2492541539998 meters 0.01676658879727317 Centerline is valid? [True, True] Translation: X:898.33, Y:202.17, Z:7.44 [[-6.67757629e-01 -7.44376784e-01 1.71827819e-03 8.98328026e+02] [ 7.44374284e-01 -6.67759840e-01 -1.92924266e-03 2.02166724e+02] [ 2.58348061e-03 -9.22440565e-06 9.99996663e-01 7.43608868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2792541539998 meters 0.013341593749842066 Centerline is valid? [True, True] Translation: X:898.31, Y:202.18, Z:7.44 [[-6.65722137e-01 -7.46191391e-01 3.52768231e-03 8.98307541e+02] [ 7.46180911e-01 -6.65731483e-01 -3.95479534e-03 2.02184732e+02] [ 5.29952341e-03 -5.05607922e-07 9.99985957e-01 7.43552629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.3092541539997 meters 0.015316256390759545 Centerline is valid? [True, True] Translation: X:898.29, Y:202.20, Z:7.43 [[-6.64882279e-01 -7.46937007e-01 4.08191658e-03 8.98288234e+02] [ 7.46923010e-01 -6.64894809e-01 -4.57269016e-03 2.02202338e+02] [ 6.12955665e-03 8.57676259e-06 9.99981214e-01 7.43344383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.339254154 meters 0.01428168611317794 Centerline is valid? [True, True] Translation: X:898.27, Y:202.22, Z:7.43 [[-6.64172966e-01 -7.47565614e-01 4.46374811e-03 8.98268193e+02] [ 7.47548915e-01 -6.64187965e-01 -4.99673336e-03 2.02222497e+02] [ 6.70015382e-03 1.81748415e-05 9.99977554e-01 7.43357679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.369254154 meters 0.015518724092022476 Centerline is valid? [True, True] Translation: X:898.25, Y:202.24, Z:7.43 [[-6.64060406e-01 -7.47666187e-01 4.36464853e-03 8.98248932e+02] [ 7.47650241e-01 -6.64074750e-01 -4.88305547e-03 2.02243249e+02] [ 6.54934834e-03 2.05867215e-05 9.99978553e-01 7.43391320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.399254154 meters 0.013951450525951158 Centerline is valid? [True, True] Translation: X:898.23, Y:202.26, Z:7.44 [[-6.62677903e-01 -7.48891279e-01 4.45536437e-03 8.98228870e+02] [ 7.48874711e-01 -6.62692879e-01 -4.98154673e-03 2.02261931e+02] [ 6.68317514e-03 3.53487701e-05 9.99977667e-01 7.43597292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4292541539999 meters 0.015649574502225188 Centerline is valid? [True, True] Translation: X:898.21, Y:202.28, Z:7.44 [[-6.63136919e-01 -7.48487858e-01 3.91839580e-03 8.98210229e+02] [ 7.48475050e-01 -6.63148495e-01 -4.37884108e-03 2.02281780e+02] [ 5.87598766e-03 2.90503065e-05 9.99982736e-01 7.43604304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4592541539998 meters 0.016045773384837463 Centerline is valid? [True, True] Translation: X:898.19, Y:202.30, Z:7.44 [[-6.62630317e-01 -7.48938823e-01 3.42098090e-03 8.98189711e+02] [ 7.48929077e-01 -6.62639147e-01 -3.82087114e-03 2.02301740e+02] [ 5.12847460e-03 3.02470119e-05 9.99986849e-01 7.43685241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4892541539998 meters 0.016025301221207256 Centerline is valid? [True, True] Translation: X:898.17, Y:202.32, Z:7.44 [[-6.62374202e-01 -7.49165707e-01 3.34064007e-03 8.98170346e+02] [ 7.49156427e-01 -6.62382625e-01 -3.72906340e-03 2.02321556e+02] [ 5.00646836e-03 3.26265860e-05 9.99987467e-01 7.43713694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.5192541539998 meters 0.016799186939537896 Centerline is valid? [True, True] Translation: X:898.15, Y:202.34, Z:7.44 [[-6.62182859e-01 -7.49334846e-01 3.33922286e-03 8.98150791e+02] [ 7.49325586e-01 -6.62191277e-01 -3.72535067e-03 2.02341127e+02] [ 5.00273932e-03 3.53017713e-05 9.99987486e-01 7.43710722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.5492541539998 meters 0.014349004051225456 Centerline is valid? [True, True] Translation: X:898.13, Y:202.36, Z:7.44 [[-6.61594173e-01 -7.49849645e-01 4.31976618e-03 8.98130966e+02] [ 7.49834184e-01 -6.61608273e-01 -4.81559051e-03 2.02360102e+02] [ 6.46896188e-03 5.31417233e-05 9.99979075e-01 7.43810346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.579254154 meters 0.01429165602575226 Centerline is valid? [True, True] Translation: X:898.11, Y:202.38, Z:7.44 [[-6.60730315e-01 -7.50603735e-01 5.42982698e-03 8.98111145e+02] [ 7.50579369e-01 -6.60752621e-01 -6.04850076e-03 2.02379192e+02] [ 8.12779967e-03 7.90882943e-05 9.99966966e-01 7.43713608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.609254154 meters 0.014376839826417537 Centerline is valid? [True, True] Translation: X:898.09, Y:202.40, Z:7.44 [[-6.59750264e-01 -7.51449261e-01 7.32098486e-03 8.98090353e+02] [ 7.51405085e-01 -6.59790870e-01 -8.14895568e-03 2.02398750e+02] [ 1.09538457e-02 1.24749588e-04 9.99939997e-01 7.43529699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.639254154 meters 0.016905216883961825 Centerline is valid? [True, True] Translation: X:898.07, Y:202.42, Z:7.43 [[-6.60299820e-01 -7.50962304e-01 7.73082621e-03 8.98071369e+02] [ 7.50913069e-01 -6.60345063e-01 -8.60002716e-03 2.02419123e+02] [ 1.15633091e-02 1.26582052e-04 9.99933135e-01 7.43337332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6692541539999 meters 0.01712149361836882 Centerline is valid? [True, True] Translation: X:898.05, Y:202.44, Z:7.43 [[-6.60151083e-01 -7.51087378e-01 8.26430699e-03 8.98052421e+02] [ 7.51031192e-01 -6.60202795e-01 -9.18795572e-03 2.02439544e+02] [ 1.23570761e-02 1.41313412e-04 9.99923638e-01 7.43319262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6992541539998 meters 0.01480001117425344 Centerline is valid? [True, True] Translation: X:898.03, Y:202.46, Z:7.43 [[-6.59398590e-01 -7.51737781e-01 9.15469975e-03 8.98032132e+02] [ 7.51668985e-01 -6.59462113e-01 -1.01714125e-02 2.02457849e+02] [ 1.36834127e-02 1.74288774e-04 9.99906363e-01 7.43445859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7292541539998 meters 0.01480001117425344 Centerline is valid? [True, True] Translation: X:898.01, Y:202.48, Z:7.43 [[-6.59635808e-01 -7.51529597e-01 9.15786459e-03 8.98014135e+02] [ 7.51460821e-01 -6.59699352e-01 -1.01685627e-02 2.02477663e+02] [ 1.36834132e-02 1.74228360e-04 9.99906363e-01 7.43464268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7592541539998 meters 0.014675507473016249 Centerline is valid? [True, True] Translation: X:898.00, Y:202.50, Z:7.44 [[-6.60348105e-01 -7.50903788e-01 9.15863720e-03 8.97995776e+02] [ 7.50835029e-01 -6.60411594e-01 -1.01629851e-02 2.02497996e+02] [ 1.36798942e-02 1.65517656e-04 9.99906412e-01 7.43502079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7892541539998 meters 0.014552455241156744 Centerline is valid? [True, True] Translation: X:897.98, Y:202.52, Z:7.44 [[-6.62610718e-01 -7.48914241e-01 8.63114127e-03 8.97978317e+02] [ 7.48853078e-01 -6.62666919e-01 -9.57196266e-03 2.02519612e+02] [ 1.28881509e-02 1.20971647e-04 9.99916937e-01 7.43622681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.8192541539997 meters 0.0157440997460736 Centerline is valid? [True, True] Translation: X:897.96, Y:202.54, Z:7.44 [[-6.64694055e-01 -7.47070593e-01 8.20622013e-03 8.97961398e+02] [ 7.47015230e-01 -6.64744704e-01 -9.09531914e-03 2.02541177e+02] [ 1.22498868e-02 8.45668518e-05 9.99924964e-01 7.43629509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.849254154 meters 0.0135553622466619 Centerline is valid? [True, True] Translation: X:897.94, Y:202.56, Z:7.44 [[-6.66929113e-01 -7.45084516e-01 7.39068288e-03 8.97944181e+02] [ 7.45039542e-01 -6.66970061e-01 -8.18652484e-03 2.02562299e+02] [ 1.10290171e-02 4.65192360e-05 9.99939177e-01 7.43989784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.879254154 meters 0.015329256625098991 Centerline is valid? [True, True] Translation: X:897.93, Y:202.58, Z:7.44 [[-6.70500534e-01 -7.41882846e-01 6.23516430e-03 8.97927390e+02] [ 7.41850733e-01 -6.70529524e-01 -6.90266466e-03 2.02584101e+02] [ 9.30183025e-03 -2.67912786e-06 9.99956737e-01 7.43978864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9092541539999 meters 0.013361527899369018 Centerline is valid? [True, True] Translation: X:897.91, Y:202.60, Z:7.44 [[-6.70954428e-01 -7.41475142e-01 5.89656093e-03 8.97909927e+02] [ 7.41446440e-01 -6.70980338e-01 -6.52402085e-03 2.02603455e+02] [ 8.79387573e-03 -5.33657003e-06 9.99961333e-01 7.44200975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9392541539999 meters 0.016760152009168836 Centerline is valid? [True, True] Translation: X:897.89, Y:202.63, Z:7.44 [[-6.73687044e-01 -7.38992158e-01 6.02964405e-03 8.97892409e+02] [ 7.38962077e-01 -6.73714026e-01 -6.66779542e-03 2.02625261e+02] [ 8.98970430e-03 -3.63290957e-05 9.99959591e-01 7.44010929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9692541539998 meters 0.014631397582857517 Centerline is valid? [True, True] Translation: X:897.87, Y:202.65, Z:7.44 [[-6.73611851e-01 -7.39057151e-01 6.44990867e-03 8.97872918e+02] [ 7.39022775e-01 -6.73642729e-01 -7.12825572e-03 2.02645713e+02] [ 9.61312244e-03 -3.50481296e-05 9.99953792e-01 7.44087175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9992541539998 meters 0.01569755174964436 Centerline is valid? [True, True] Translation: X:897.86, Y:202.66, Z:7.44 [[-6.73911330e-01 -7.38779453e-01 6.95987383e-03 8.97855086e+02] [ 7.38739461e-01 -6.73947267e-01 -7.68696460e-03 2.02664759e+02] [ 1.03695594e-02 -3.87990928e-05 9.99946234e-01 7.43932876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.0292541539998 meters 0.015842706695404645 Centerline is valid? [True, True] Translation: X:897.83, Y:202.68, Z:7.44 [[-6.72667091e-01 -7.39895035e-01 8.62102005e-03 8.97834805e+02] [ 7.39833858e-01 -6.72722332e-01 -9.51457449e-03 2.02683305e+02] [ 1.28393391e-02 -2.20186173e-05 9.99917572e-01 7.43741808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.0592541539997 meters 0.01665195056662655 Centerline is valid? [True, True] Translation: X:897.81, Y:202.70, Z:7.44 [[-6.70981221e-01 -7.41408292e-01 9.89670207e-03 8.97814268e+02] [ 7.41327943e-01 -6.71054203e-01 -1.09150250e-02 2.02701310e+02] [ 1.47337136e-02 1.29249616e-05 9.99891453e-01 7.43541091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.089254154 meters 0.013405834752015965 Centerline is valid? [True, True] Translation: X:897.79, Y:202.72, Z:7.44 [[-6.69558904e-01 -7.42684946e-01 1.04854956e-02 8.97794001e+02] [ 7.42595019e-01 -6.69641000e-01 -1.15572312e-02 2.02721072e+02] [ 1.56048994e-02 4.82298005e-05 9.99878235e-01 7.43769130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.119254154 meters 0.01350598810713649 Centerline is valid? [True, True] Translation: X:897.78, Y:202.74, Z:7.44 [[-6.69176318e-01 -7.43023156e-01 1.09382593e-02 8.97775557e+02] [ 7.42925466e-01 -6.69265706e-01 -1.20485171e-02 2.02740002e+02] [ 1.62729290e-02 6.37291101e-05 9.99867585e-01 7.43674924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.149254154 meters 0.015277479912656908 Centerline is valid? [True, True] Translation: X:897.76, Y:202.76, Z:7.44 [[-6.69515737e-01 -7.42705733e-01 1.16992129e-02 8.97757446e+02] [ 7.42594079e-01 -6.69617943e-01 -1.28780579e-02 2.02760568e+02] [ 1.73986103e-02 6.57037699e-05 9.99848631e-01 7.43545878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.1792541539999 meters 0.014787247246072681 Centerline is valid? [True, True] Translation: X:897.74, Y:202.78, Z:7.44 [[-6.69791853e-01 -7.42461184e-01 1.14133463e-02 8.97738540e+02] [ 7.42355011e-01 -6.69889086e-01 -1.25559143e-02 2.02781873e+02] [ 1.69679551e-02 6.29057348e-05 9.99856032e-01 7.43651653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2092541539998 meters 0.016000948834234165 Centerline is valid? [True, True] Translation: X:897.72, Y:202.80, Z:7.44 [[-6.71457894e-01 -7.40960039e-01 1.10687793e-02 8.97721797e+02] [ 7.40860102e-01 -6.71549120e-01 -1.21692002e-02 2.02802582e+02] [ 1.64501200e-02 2.93114101e-05 9.99864687e-01 7.43606723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2392541539998 meters 0.013807834699938699 Centerline is valid? [True, True] Translation: X:897.70, Y:202.82, Z:7.44 [[-6.71944405e-01 -7.40525702e-01 1.06019998e-02 8.97703567e+02] [ 7.40434074e-01 -6.72028039e-01 -1.16489496e-02 2.02823841e+02] [ 1.57511877e-02 2.26354098e-05 9.99875942e-01 7.43908009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2692541539998 meters 0.014677070904634881 Centerline is valid? [True, True] Translation: X:897.69, Y:202.85, Z:7.44 [[-6.73999460e-01 -7.38669549e-01 9.59299453e-03 8.97687149e+02] [ 7.38594431e-01 -6.74067725e-01 -1.05341831e-02 2.02845214e+02] [ 1.42476083e-02 -1.47014119e-05 9.99898498e-01 7.43976962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2992541539998 meters 0.01626492389966103 Centerline is valid? [True, True] Translation: X:897.67, Y:202.87, Z:7.44 [[-6.75836911e-01 -7.37002988e-01 8.43007040e-03 8.97669965e+02] [ 7.36944915e-01 -6.75889484e-01 -9.25190822e-03 2.02867326e+02] [ 1.25164799e-02 -4.02835515e-05 9.99921665e-01 7.44029630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.329254154 meters 0.016568819916617836 Centerline is valid? [True, True] Translation: X:897.65, Y:202.89, Z:7.44 [[-6.76482994e-01 -7.36413095e-01 8.15552010e-03 8.97651273e+02] [ 7.36358762e-01 -6.76532151e-01 -8.94555657e-03 2.02888864e+02] [ 1.21050966e-02 -4.61282088e-05 9.99926730e-01 7.44057959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.359254154 meters 0.01631946945250083 Centerline is valid? [True, True] Translation: X:897.63, Y:202.91, Z:7.44 [[-6.76632096e-01 -7.36272301e-01 8.49149482e-03 8.97633553e+02] [ 7.36213461e-01 -6.76685375e-01 -9.30819281e-03 2.02908861e+02] [ 1.25994349e-02 -4.66692165e-05 9.99920623e-01 7.44109445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.389254154 meters 0.013383821641082164 Centerline is valid? [True, True] Translation: X:897.61, Y:202.93, Z:7.44 [[-6.75263340e-01 -7.37522409e-01 8.95085098e-03 8.97614229e+02] [ 7.37457229e-01 -6.75322661e-01 -9.80508824e-03 2.02928305e+02] [ 1.32761848e-02 -2.01468782e-05 9.99911867e-01 7.44314433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4192541539999 meters 0.017025224874696147 Centerline is valid? [True, True] Translation: X:897.60, Y:202.95, Z:7.44 [[-6.74769703e-01 -7.37957226e-01 1.02460235e-02 8.97595806e+02] [ 7.37871986e-01 -6.74847488e-01 -1.12160275e-02 2.02946625e+02] [ 1.51914518e-02 -7.98183501e-06 9.99884603e-01 7.43865464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4492541539998 meters 0.014034482624983146 Centerline is valid? [True, True] Translation: X:897.58, Y:202.97, Z:7.44 [[-6.73714480e-01 -7.38917703e-01 1.04607923e-02 8.97576310e+02] [ 7.38829084e-01 -6.73795688e-01 -1.14436308e-02 2.02965824e+02] [ 1.55043381e-02 1.89978591e-05 9.99879800e-01 7.44090395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4792541539998 meters 0.013716107668158724 Centerline is valid? [True, True] Translation: X:897.56, Y:202.98, Z:7.44 [[-6.71647035e-01 -7.40786697e-01 1.11950912e-02 8.97555970e+02] [ 7.40685585e-01 -6.71740325e-01 -1.22392461e-02 2.02984085e+02] [ 1.65868649e-02 7.15893099e-05 9.99862426e-01 7.44049512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.5092541539998 meters 0.018506433694305085 Centerline is valid? [True, True] Translation: X:897.54, Y:203.00, Z:7.44 [[-6.71580336e-01 -7.40837709e-01 1.18042879e-02 8.97536554e+02] [ 7.40725440e-01 -6.71684065e-01 -1.28972504e-02 2.03003963e+02] [ 1.74835215e-02 8.21966030e-05 9.99847148e-01 7.43597250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.5392541539998 meters 0.017307870939990012 Centerline is valid? [True, True] Translation: X:897.52, Y:203.02, Z:7.44 [[-6.71065399e-01 -7.41298969e-01 1.21272356e-02 8.97516948e+02] [ 7.41180697e-01 -6.71174961e-01 -1.32418094e-02 2.03023580e+02] [ 1.79556366e-02 1.02352832e-04 9.99838779e-01 7.43629743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.5692541539997 meters 0.015287909805291584 Centerline is valid? [True, True] Translation: X:897.50, Y:203.04, Z:7.44 [[-6.69754871e-01 -7.42477135e-01 1.24946851e-02 8.97497540e+02] [ 7.42351940e-01 -6.69871393e-01 -1.36350301e-02 2.03043475e+02] [ 1.84935302e-02 1.43325895e-04 9.99828970e-01 7.43812186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.599254154 meters 0.014381281567746136 Centerline is valid? [True, True] Translation: X:897.48, Y:203.06, Z:7.44 [[-6.69261722e-01 -7.42921854e-01 1.24846076e-02 8.97479016e+02] [ 7.42797094e-01 -6.69378139e-01 -1.36156222e-02 2.03061872e+02] [ 1.84722666e-02 1.61115460e-04 9.99829360e-01 7.43868289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.629254154 meters 0.017694991658246177 Centerline is valid? [True, True] Translation: X:897.46, Y:203.08, Z:7.44 [[-6.70187868e-01 -7.42081795e-01 1.27605441e-02 8.97462297e+02] [ 7.41951475e-01 -6.70309323e-01 -1.39075297e-02 2.03083573e+02] [ 1.88740363e-02 1.47046857e-04 9.99821859e-01 7.43711998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6592541539999 meters 0.017529205380398517 Centerline is valid? [True, True] Translation: X:897.45, Y:203.10, Z:7.44 [[-6.70797619e-01 -7.41535463e-01 1.24784360e-02 8.97445677e+02] [ 7.41410912e-01 -6.70913660e-01 -1.35912203e-02 2.03104204e+02] [ 1.84503250e-02 1.34690351e-04 9.99829769e-01 7.43765870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6892541539999 meters 0.013909823907646682 Centerline is valid? [True, True] Translation: X:897.43, Y:203.12, Z:7.44 [[-6.70717361e-01 -7.41619367e-01 1.17871143e-02 8.97427615e+02] [ 7.41508389e-01 -6.70820912e-01 -1.28301733e-02 2.03124539e+02] [ 1.74221477e-02 1.34824130e-04 9.99848214e-01 7.44180012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7192541539998 meters 0.01717328631326787 Centerline is valid? [True, True] Translation: X:897.41, Y:203.15, Z:7.44 [[-6.72274209e-01 -7.40217712e-01 1.11859651e-02 8.97411353e+02] [ 7.40117699e-01 -6.72367257e-01 -1.21681348e-02 2.03145515e+02] [ 1.65281456e-02 9.86075161e-05 9.99863396e-01 7.43968832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7492541539998 meters 0.016156639324210385 Centerline is valid? [True, True] Translation: X:897.39, Y:203.17, Z:7.44 [[-6.72591403e-01 -7.39938684e-01 1.05616475e-02 8.97393672e+02] [ 7.39849600e-01 -6.72674316e-01 -1.14818916e-02 2.03165693e+02] [ 1.56004448e-02 9.14091381e-05 9.99878301e-01 7.44107194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7792541539998 meters 0.014217201054083648 Centerline is valid? [True, True] Translation: X:897.38, Y:203.19, Z:7.44 [[-6.72624213e-01 -7.39915272e-01 1.01024597e-02 8.97375515e+02] [ 7.39833862e-01 -6.72700069e-01 -1.09760674e-02 2.03185693e+02] [ 1.49172853e-02 9.13730844e-05 9.99888727e-01 7.44354364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.8092541539997 meters 0.013763049477509911 Centerline is valid? [True, True] Translation: X:897.36, Y:203.21, Z:7.44 [[-6.72681429e-01 -7.39871614e-01 9.47050028e-03 8.97357935e+02] [ 7.39800152e-01 -6.72748086e-01 -1.02833499e-02 2.03205862e+02] [ 1.39796196e-02 8.88590670e-05 9.99902276e-01 7.44441450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.839254154 meters 0.014583287910849535 Centerline is valid? [True, True] Translation: X:897.34, Y:203.23, Z:7.44 [[-6.73380090e-01 -7.39226522e-01 1.01687167e-02 8.97340876e+02] [ 7.39144166e-01 -6.73456859e-01 -1.10345394e-02 2.03226725e+02] [ 1.50052162e-02 8.57084815e-05 9.99887412e-01 7.44280708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.869254154 meters 0.015801321433154086 Centerline is valid? [True, True] Translation: X:897.32, Y:203.25, Z:7.44 [[-6.73848378e-01 -7.38793250e-01 1.06253729e-02 8.97323045e+02] [ 7.38703388e-01 -6.73932139e-01 -1.15229052e-02 2.03247258e+02] [ 1.56738249e-02 8.43079933e-05 9.99877155e-01 7.44156289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.899254154 meters 0.01611247136186444 Centerline is valid? [True, True] Translation: X:897.31, Y:203.27, Z:7.44 [[-6.74112598e-01 -7.38547329e-01 1.09566474e-02 8.97305667e+02] [ 7.38451866e-01 -6.74201628e-01 -1.18746121e-02 2.03268593e+02] [ 1.61569526e-02 8.61311174e-05 9.99869464e-01 7.44140925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9292541539999 meters 0.0161775326184993 Centerline is valid? [True, True] Translation: X:897.29, Y:203.29, Z:7.44 [[-6.74213997e-01 -7.38449331e-01 1.13168683e-02 8.97288160e+02] [ 7.38347610e-01 -6.74308962e-01 -1.22568533e-02 2.03287923e+02] [ 1.66821308e-02 9.20406239e-05 9.99860839e-01 7.44106721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9592541539998 meters 0.013757065674908548 Centerline is valid? [True, True] Translation: X:897.27, Y:203.31, Z:7.44 [[-6.73116936e-01 -7.39459119e-01 1.06677994e-02 8.97269657e+02] [ 7.39368968e-01 -6.73201454e-01 -1.15469026e-02 2.03309189e+02] [ 1.57200405e-02 1.15024176e-04 9.99876426e-01 7.44430576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9892541539998 meters 0.015057043129980211 Centerline is valid? [True, True] Translation: X:897.25, Y:203.33, Z:7.44 [[-6.73029743e-01 -7.39529595e-01 1.12669221e-02 8.97250755e+02] [ 7.39429163e-01 -6.73124032e-01 -1.21881486e-02 2.03330054e+02] [ 1.65975326e-02 1.28104281e-04 9.99862243e-01 7.44279591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.0192541539998 meters 0.014884251484249506 Centerline is valid? [True, True] Translation: X:897.23, Y:203.35, Z:7.44 [[-6.71558060e-01 -7.40860320e-01 1.16515253e-02 8.97231757e+02] [ 7.40753245e-01 -6.71659108e-01 -1.25965542e-02 2.03348965e+02] [ 1.71581402e-02 1.71587652e-04 9.99852774e-01 7.44161505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.0492541539998 meters 0.015126783406324444 Centerline is valid? [True, True] Translation: X:897.21, Y:203.37, Z:7.44 [[-6.70764538e-01 -7.41577444e-01 1.17400534e-02 8.97214119e+02] [ 7.41468985e-01 -6.70867241e-01 -1.26842288e-02 2.03370132e+02] [ 1.72823552e-02 1.96754620e-04 9.99850630e-01 7.44189380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.079254154 meters 0.016575859944219996 Centerline is valid? [True, True] Translation: X:897.20, Y:203.39, Z:7.44 [[-6.70933184e-01 -7.41419333e-01 1.20844823e-02 8.97195201e+02] [ 7.41304533e-01 -6.71041974e-01 -1.30483561e-02 2.03391466e+02] [ 1.77834984e-02 2.03706412e-04 9.99841840e-01 7.44075788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.109254154 meters 0.01672623420188149 Centerline is valid? [True, True] Translation: X:897.18, Y:203.41, Z:7.44 [[-6.70534695e-01 -7.41785701e-01 1.17130570e-02 8.97176686e+02] [ 7.41678030e-01 -6.70636957e-01 -1.26400780e-02 2.03412431e+02] [ 1.72314380e-02 2.11706185e-04 9.99851505e-01 7.44140261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.139254154 meters 0.014374066019740157 Centerline is valid? [True, True] Translation: X:897.16, Y:203.43, Z:7.44 [[-6.70144609e-01 -7.42150733e-01 1.08854641e-02 8.97157333e+02] [ 7.42057890e-01 -6.70232979e-01 -1.17406183e-02 2.03433446e+02] [ 1.60091055e-02 2.09732465e-04 9.99871824e-01 7.44448641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1692541539999 meters 0.014459104578473892 Centerline is valid? [True, True] Translation: X:897.14, Y:203.45, Z:7.44 [[-6.70138895e-01 -7.42160910e-01 1.05377591e-02 8.97137752e+02] [ 7.42074004e-01 -6.70221710e-01 -1.13592726e-02 2.03454011e+02] [ 1.54930430e-02 2.07506684e-04 9.99879954e-01 7.44496376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1992541539998 meters 0.014428067949547988 Centerline is valid? [True, True] Translation: X:897.12, Y:203.47, Z:7.45 [[-6.70259224e-01 -7.42063535e-01 9.70998594e-03 8.97118401e+02] [ 7.41989819e-01 -6.70329526e-01 -1.04611268e-02 2.03474609e+02] [ 1.42717110e-02 1.93043953e-04 9.99898135e-01 7.44559725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2292541539998 meters 0.014848691988122904 Centerline is valid? [True, True] Translation: X:897.10, Y:203.50, Z:7.44 [[-6.71752780e-01 -7.40712048e-01 9.68831367e-03 8.97100590e+02] [ 7.40638607e-01 -6.71822620e-01 -1.04316908e-02 2.03495859e+02] [ 1.42357074e-02 1.68021829e-04 9.99898653e-01 7.44464411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2592541539998 meters 0.017030861138710544 Centerline is valid? [True, True] Translation: X:897.08, Y:203.52, Z:7.44 [[-6.73227782e-01 -7.39364665e-01 1.02101045e-02 8.97082346e+02] [ 7.39283043e-01 -6.73305183e-01 -1.09869484e-02 2.03516746e+02] [ 1.49978777e-02 1.51438200e-04 9.99887514e-01 7.44244723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2892541539998 meters 0.013962046754215694 Centerline is valid? [True, True] Translation: X:897.06, Y:203.54, Z:7.45 [[-6.73886793e-01 -7.38773511e-01 9.50211063e-03 8.97063698e+02] [ 7.38702840e-01 -6.73953768e-01 -1.02192371e-02 2.03536972e+02] [ 1.39536849e-02 1.32627221e-04 9.99902634e-01 7.44569334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.3192541539997 meters 0.013488696918561336 Centerline is valid? [True, True] Translation: X:897.05, Y:203.56, Z:7.45 [[-6.76469474e-01 -7.36412516e-01 9.25509126e-03 8.97046924e+02] [ 7.36345333e-01 -6.76532778e-01 -9.94745569e-03 2.03558553e+02] [ 1.35868035e-02 8.57931339e-05 9.99907691e-01 7.44641615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.349254154 meters 0.013392420809542472 Centerline is valid? [True, True] Translation: X:897.03, Y:203.58, Z:7.45 [[-6.77780195e-01 -7.35209699e-01 8.98364251e-03 8.97028501e+02] [ 7.35146374e-01 -6.77839726e-01 -9.64958531e-03 2.03579299e+02] [ 1.31839385e-02 6.39943968e-05 9.99913086e-01 7.44682507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.379254154 meters 0.013183004088431418 Centerline is valid? [True, True] Translation: X:897.01, Y:203.60, Z:7.45 [[-6.79834728e-01 -7.33312890e-01 8.77200379e-03 8.97009059e+02] [ 7.33252428e-01 -6.79891318e-01 -9.41658323e-03 2.03600238e+02] [ 1.28693111e-02 3.03727814e-05 9.99917187e-01 7.44641432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4092541539999 meters 0.016750609380781014 Centerline is valid? [True, True] Translation: X:896.99, Y:203.62, Z:7.44 [[-6.81245102e-01 -7.31993809e-01 9.49603714e-03 8.96990200e+02] [ 7.31922910e-01 -6.81311283e-01 -1.01877489e-02 2.03620665e+02] [ 1.39271264e-02 1.00130808e-05 9.99903013e-01 7.44298297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4392541539999 meters 0.014537489393297954 Centerline is valid? [True, True] Translation: X:896.97, Y:203.64, Z:7.44 [[-6.82194571e-01 -7.31116190e-01 8.92662844e-03 8.96971670e+02] [ 7.31053537e-01 -6.82252972e-01 -9.57124186e-03 2.03640063e+02] [ 1.30879087e-02 -3.60593508e-06 9.99914350e-01 7.44474456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4692541539998 meters 0.01570607493814179 Centerline is valid? [True, True] Translation: X:896.95, Y:203.66, Z:7.44 [[-6.82973583e-01 -7.30389670e-01 8.83263303e-03 8.96952418e+02] [ 7.30328347e-01 -6.83030695e-01 -9.46443363e-03 2.03659986e+02] [ 1.29456840e-02 -1.32358606e-05 9.99916201e-01 7.44395758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4992541539998 meters 0.016947963991159724 Centerline is valid? [True, True] Translation: X:896.93, Y:203.68, Z:7.44 [[-6.83735651e-01 -7.29670358e-01 9.31280981e-03 8.96932542e+02] [ 7.29602204e-01 -6.83799070e-01 -9.97271632e-03 2.03679788e+02] [ 1.36448862e-02 -2.40551170e-05 9.99906904e-01 7.44367148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.5292541539998 meters 0.01611537395967312 Centerline is valid? [True, True] Translation: X:896.91, Y:203.70, Z:7.44 [[-6.84146684e-01 -7.29283929e-01 9.39491602e-03 8.96912904e+02] [ 7.29214613e-01 -6.84211188e-01 -1.00548239e-02 2.03699880e+02] [ 1.37609281e-02 -2.80644048e-05 9.99905314e-01 7.44413114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.5592541539997 meters 0.013187154498652903 Centerline is valid? [True, True] Translation: X:896.89, Y:203.72, Z:7.45 [[-6.84032279e-01 -7.29386778e-01 9.73498375e-03 8.96892126e+02] [ 7.29312449e-01 -6.84101548e-01 -1.04127042e-02 2.03719511e+02] [ 1.42546062e-02 -2.27809284e-05 9.99898398e-01 7.44584604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.589254154 meters 0.01680441398100321 Centerline is valid? [True, True] Translation: X:896.87, Y:203.74, Z:7.44 [[-6.85405465e-01 -7.28078049e-01 1.10319029e-02 8.96872203e+02] [ 7.27982540e-01 -6.85494239e-01 -1.17927792e-02 2.03739694e+02] [ 1.61483696e-02 -5.18026604e-05 9.99869605e-01 7.44216557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.619254154 meters 0.0148098957211615 Centerline is valid? [True, True] Translation: X:896.85, Y:203.76, Z:7.44 [[-6.86012373e-01 -7.27508196e-01 1.09018036e-02 8.96854054e+02] [ 7.27414970e-01 -6.86098988e-01 -1.16464241e-02 2.03758837e+02] [ 1.59525854e-02 -5.94558400e-05 9.99872748e-01 7.44368286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.649254154 meters 0.0148098957211615 Centerline is valid? [True, True] Translation: X:896.84, Y:203.78, Z:7.44 [[-6.86241259e-01 -7.27292240e-01 1.09055697e-02 8.96835674e+02] [ 7.27199044e-01 -6.86327906e-01 -1.16428971e-02 2.03778300e+02] [ 1.59525856e-02 -5.93165005e-05 9.99872748e-01 7.44386686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.6792541539999 meters 0.013478336441545247 Centerline is valid? [True, True] Translation: X:896.82, Y:203.80, Z:7.45 [[-6.88161312e-01 -7.25484888e-01 1.02803494e-02 8.96816399e+02] [ 7.25401966e-01 -6.88238090e-01 -1.09689947e-02 2.03798534e+02] [ 1.50331679e-02 -9.10520705e-05 9.99886991e-01 7.44618755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7092541539998 meters 0.014858793531137709 Centerline is valid? [True, True] Translation: X:896.80, Y:203.82, Z:7.45 [[-6.90123883e-01 -7.23616085e-01 1.04301731e-02 8.96798614e+02] [ 7.23530598e-01 -6.90202684e-01 -1.11233565e-02 2.03818904e+02] [ 1.52479731e-02 -1.29944605e-04 9.99883734e-01 7.44503672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7392541539998 meters 0.016545667870032695 Centerline is valid? [True, True] Translation: X:896.78, Y:203.84, Z:7.45 [[-6.94156123e-01 -7.19749844e-01 1.03652908e-02 8.96781981e+02] [ 7.19665069e-01 -6.94233476e-01 -1.10485382e-02 2.03840916e+02] [ 1.51481155e-02 -2.09872704e-04 9.99885239e-01 7.44500249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7692541539998 meters 0.014812181849493941 Centerline is valid? [True, True] Translation: X:896.76, Y:203.86, Z:7.45 [[-6.95996353e-01 -7.17976732e-01 9.92413886e-03 8.96762252e+02] [ 7.17898926e-01 -6.96067064e-01 -1.05723066e-02 2.03861509e+02] [ 1.44985364e-02 -2.33758227e-04 9.99894863e-01 7.44831941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7992541539998 meters 0.015080090985763142 Centerline is valid? [True, True] Translation: X:896.74, Y:203.88, Z:7.45 [[-6.98114654e-01 -7.15921761e-01 9.58973514e-03 8.96743320e+02] [ 7.15848995e-01 -6.98180466e-01 -1.02104343e-02 2.03882367e+02] [ 1.40052379e-02 -2.63251558e-04 9.99901887e-01 7.44936707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.829254154 meters 0.018496803775833022 Centerline is valid? [True, True] Translation: X:896.73, Y:203.90, Z:7.45 [[-7.02234514e-01 -7.11884191e-01 9.35878582e-03 8.96726819e+02] [ 7.11814606e-01 -7.02296795e-01 -9.95879098e-03 2.03903671e+02] [ 1.36621512e-02 -3.31686295e-04 9.99906613e-01 7.44795887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.859254154 meters 0.01857023076813193 Centerline is valid? [True, True] Translation: X:896.71, Y:203.92, Z:7.45 [[-7.04239441e-01 -7.09907674e-01 8.82632620e-03 8.96707389e+02] [ 7.09845696e-01 -7.04294665e-01 -9.38678066e-03 2.03923663e+02] [ 1.28800821e-02 -3.45211500e-04 9.99916989e-01 7.44950517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.889254154 meters 0.017335988172258673 Centerline is valid? [True, True] Translation: X:896.69, Y:203.94, Z:7.45 [[-7.04515301e-01 -7.09634411e-01 8.78597634e-03 8.96687040e+02] [ 7.09573046e-01 -7.04569999e-01 -9.33857681e-03 2.03943605e+02] [ 1.28173108e-02 -3.44878259e-04 9.99917795e-01 7.45155356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9192541539999 meters 0.01691774594397003 Centerline is valid? [True, True] Translation: X:896.67, Y:203.96, Z:7.45 [[-7.04004477e-01 -7.10132251e-01 9.48068580e-03 8.96665094e+02] [ 7.10060924e-01 -7.04068220e-01 -1.00710173e-02 2.03961856e+02] [ 1.38268037e-02 -3.58176712e-04 9.99904341e-01 7.45129204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9492541539998 meters 0.019646496902567055 Centerline is valid? [True, True] Translation: X:896.64, Y:203.98, Z:7.45 [[-7.03612146e-01 -7.10505166e-01 1.05999114e-02 8.96644482e+02] [ 7.10416151e-01 -7.03691878e-01 -1.12531614e-02 2.03981004e+02] [ 1.54545009e-02 -3.87512821e-04 9.99880497e-01 7.44792523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9792541539998 meters 0.016223413268994975 Centerline is valid? [True, True] Translation: X:896.62, Y:204.00, Z:7.45 [[-7.01643914e-01 -7.12454521e-01 1.02163836e-02 8.96623751e+02] [ 7.12372125e-01 -7.01718212e-01 -1.08400767e-02 2.03998892e+02] [ 1.48920840e-02 -3.28006938e-04 9.99889053e-01 7.45086642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.0092541539998 meters 0.014834033709490435 Centerline is valid? [True, True] Translation: X:896.60, Y:204.01, Z:7.45 [[-6.97037214e-01 -7.16954214e-01 1.07599790e-02 8.96599407e+02] [ 7.16863452e-01 -6.97120218e-01 -1.14102162e-02 2.04014302e+02] [ 1.56816015e-02 -2.39909656e-04 9.99877007e-01 7.45064007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.0392541539998 meters 0.014629245160419973 Centerline is valid? [True, True] Translation: X:896.57, Y:204.03, Z:7.45 [[-6.91735306e-01 -7.22054737e-01 1.17992707e-02 8.96573882e+02] [ 7.21946455e-01 -6.91835919e-01 -1.25050545e-02 2.04029634e+02] [ 1.71924931e-02 -1.31746027e-04 9.99852189e-01 7.44904190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.0692541539997 meters 0.016939114219034473 Centerline is valid? [True, True] Translation: X:896.55, Y:204.05, Z:7.45 [[-6.89310858e-01 -7.24350689e-01 1.29081594e-02 8.96552090e+02] [ 7.24221657e-01 -6.89431703e-01 -1.36718121e-02 2.04046929e+02] [ 1.88024809e-02 -7.57599258e-05 9.99823215e-01 7.44642196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.099254154 meters 0.01517678470363438 Centerline is valid? [True, True] Translation: X:896.53, Y:204.06, Z:7.45 [[-6.84118681e-01 -7.29249275e-01 1.33088504e-02 8.96527780e+02] [ 7.29113203e-01 -6.84248120e-01 -1.40871163e-02 2.04061720e+02] [ 1.93795752e-02 6.63991767e-05 9.99812196e-01 7.44714239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.129254154 meters 0.015520487171444778 Centerline is valid? [True, True] Translation: X:896.51, Y:204.08, Z:7.45 [[-6.82553983e-01 -7.30704893e-01 1.37992779e-02 8.96506568e+02] [ 7.30559081e-01 -6.82693449e-01 -1.45973731e-02 2.04080242e+02] [ 2.00870486e-02 1.17692668e-04 9.99798228e-01 7.44701322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1592541539999 meters 0.014194230719077638 Centerline is valid? [True, True] Translation: X:896.48, Y:204.10, Z:7.45 [[-6.79541178e-01 -7.33516810e-01 1.32994635e-02 8.96484838e+02] [ 7.33382068e-01 -6.79671280e-01 -1.40603465e-02 2.04096560e+02] [ 1.93527640e-02 1.99003608e-04 9.99812698e-01 7.44932876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1892541539999 meters 0.01441445879855308 Centerline is valid? [True, True] Translation: X:896.47, Y:204.11, Z:7.45 [[-6.79094534e-01 -7.33931555e-01 1.32320357e-02 8.96465367e+02] [ 7.33798429e-01 -6.79223399e-01 -1.39799629e-02 2.04114480e+02] [ 1.92478442e-02 2.15930648e-04 9.99814720e-01 7.44962901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2192541539998 meters 0.014270427611704953 Centerline is valid? [True, True] Translation: X:896.45, Y:204.13, Z:7.45 [[-6.78923871e-01 -7.34096245e-01 1.28483917e-02 8.96445917e+02] [ 7.33970911e-01 -6.79045400e-01 -1.35663950e-02 2.04134421e+02] [ 1.86836809e-02 2.19796320e-04 9.99825421e-01 7.45124461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2492541539998 meters 0.01440065467365569 Centerline is valid? [True, True] Translation: X:896.43, Y:204.15, Z:7.45 [[-6.80137587e-01 -7.33000212e-01 1.11154131e-02 8.96425858e+02] [ 7.32906366e-01 -6.80228389e-01 -1.17301666e-02 2.04154388e+02] [ 1.61592341e-02 1.68429834e-04 9.99869417e-01 7.45372787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2792541539998 meters 0.015883076092297436 Centerline is valid? [True, True] Translation: X:896.41, Y:204.17, Z:7.45 [[-6.81585180e-01 -7.31652445e-01 1.12401844e-02 8.96407442e+02] [ 7.31556393e-01 -6.81677841e-01 -1.18560012e-02 2.04174185e+02] [ 1.63366569e-02 1.41954060e-04 9.99866538e-01 7.45223623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.3092541539997 meters 0.015208176729448925 Centerline is valid? [True, True] Translation: X:896.39, Y:204.19, Z:7.45 [[-6.84673384e-01 -7.28767288e-01 1.09816796e-02 8.96390050e+02] [ 7.28675330e-01 -6.84761444e-01 -1.15770640e-02 2.04194887e+02] [ 1.59568163e-02 7.55714084e-05 9.99872679e-01 7.45304756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.339254154 meters 0.013340122047985944 Centerline is valid? [True, True] Translation: X:896.37, Y:204.22, Z:7.45 [[-6.86223613e-01 -7.27316749e-01 1.03682650e-02 8.96371615e+02] [ 7.27234714e-01 -6.86301935e-01 -1.09235892e-02 2.04215390e+02] [ 1.50606697e-02 4.41374271e-05 9.99886581e-01 7.45483169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.369254154 meters 0.013332188685746092 Centerline is valid? [True, True] Translation: X:896.35, Y:204.24, Z:7.45 [[-6.90440709e-01 -7.23303024e-01 1.11518069e-02 8.96354950e+02] [ 7.23207720e-01 -6.90530763e-01 -1.17413605e-02 2.04236782e+02] [ 1.61932273e-02 -4.16404032e-05 9.99868880e-01 7.45384788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.399254154 meters 0.014972399514474646 Centerline is valid? [True, True] Translation: X:896.34, Y:204.26, Z:7.45 [[-6.92943713e-01 -7.20894233e-01 1.18539511e-02 8.96337376e+02] [ 7.20786326e-01 -6.93045089e-01 -1.24730352e-02 2.04258308e+02] [ 1.72070617e-02 -9.89454316e-05 9.99851943e-01 7.45208133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4292541539999 meters 0.013993350791870184 Centerline is valid? [True, True] Translation: X:896.32, Y:204.28, Z:7.45 [[-6.96993451e-01 -7.16976137e-01 1.20560333e-02 8.96319687e+02] [ 7.16864054e-01 -6.97097684e-01 -1.26786304e-02 2.04280512e+02] [ 1.74945084e-02 -1.94385444e-04 9.99846940e-01 7.45349264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4592541539998 meters 0.01549078596592108 Centerline is valid? [True, True] Translation: X:896.30, Y:204.30, Z:7.45 [[-6.99559677e-01 -7.14457072e-01 1.29363707e-02 8.96301293e+02] [ 7.14327731e-01 -6.99679225e-01 -1.35968224e-02 2.04302426e+02] [ 1.87656558e-02 -2.70980318e-04 9.99823873e-01 7.45259530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4892541539998 meters 0.01629724406300055 Centerline is valid? [True, True] Translation: X:896.28, Y:204.32, Z:7.45 [[-7.04250673e-01 -7.09814891e-01 1.39215401e-02 8.96284413e+02] [ 7.09664361e-01 -7.04388135e-01 -1.46236312e-02 2.04324707e+02] [ 2.01862389e-02 -4.19081269e-04 9.99796149e-01 7.45224465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.5192541539998 meters 0.016870091937250056 Centerline is valid? [True, True] Translation: X:896.27, Y:204.35, Z:7.45 [[-7.06357259e-01 -7.07720139e-01 1.38429319e-02 8.96268018e+02] [ 7.07571066e-01 -7.06492734e-01 -1.45328323e-02 2.04346601e+02] [ 2.00651089e-02 -4.70513499e-04 9.99798565e-01 7.45199790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.5492541539998 meters 0.019639551034412603 Centerline is valid? [True, True] Translation: X:896.25, Y:204.37, Z:7.45 [[-7.09255518e-01 -7.04790539e-01 1.50634281e-02 8.96251528e+02] [ 7.04613562e-01 -7.09415211e-01 -1.58046355e-02 2.04367987e+02] [ 2.18251826e-02 -5.95629203e-04 9.99761625e-01 7.45006965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.579254154 meters 0.020113878344015398 Centerline is valid? [True, True] Translation: X:896.24, Y:204.39, Z:7.45 [[-7.12761519e-01 -7.01245421e-01 1.50292167e-02 8.96236444e+02] [ 7.01068656e-01 -7.12919613e-01 -1.57595919e-02 2.04389892e+02] [ 2.17659650e-02 -6.96317953e-04 9.99762851e-01 7.45107300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.609254154 meters 0.021002251420516357 Centerline is valid? [True, True] Translation: X:896.22, Y:204.41, Z:7.45 [[-7.14648826e-01 -6.99325718e-01 1.48524280e-02 8.96218393e+02] [ 6.99152859e-01 -7.14802765e-01 -1.55655735e-02 2.04411713e+02] [ 2.15019624e-02 -7.39801358e-04 9.99768532e-01 7.45151327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.639254154 meters 0.022807133854893462 Centerline is valid? [True, True] Translation: X:896.20, Y:204.43, Z:7.45 [[-7.17394009e-01 -6.96488532e-01 1.57974760e-02 8.96198540e+02] [ 6.96292504e-01 -7.17567395e-01 -1.65463461e-02 2.04431222e+02] [ 2.28600940e-02 -8.70585384e-04 9.99738295e-01 7.45133898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6692541539999 meters 0.022670093016372798 Centerline is valid? [True, True] Translation: X:896.18, Y:204.45, Z:7.45 [[-7.17398524e-01 -6.96494402e-01 1.53266200e-02 8.96180107e+02] [ 6.96310054e-01 -7.17561735e-01 -1.60457385e-02 2.04450969e+02] [ 2.21735630e-02 -8.39109510e-04 9.99753784e-01 7.45217220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6992541539998 meters 0.02316955816810934 Centerline is valid? [True, True] Translation: X:896.16, Y:204.47, Z:7.45 [[-7.15837740e-01 -6.98105114e-01 1.50193490e-02 8.96158586e+02] [ 6.97928607e-01 -7.15994875e-01 -1.57161973e-02 2.04469916e+02] [ 2.17253346e-02 -7.67813799e-04 9.99763682e-01 7.45329767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7292541539998 meters 0.02058424972041174 Centerline is valid? [True, True] Translation: X:896.14, Y:204.49, Z:7.46 [[-7.13789869e-01 -7.00227475e-01 1.36200716e-02 8.96137251e+02] [ 7.00082834e-01 -7.13919521e-01 -1.42458177e-02 2.04488433e+02] [ 1.96989479e-02 -6.33342020e-04 9.99805756e-01 7.45546258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7592541539998 meters 0.0181045600303368 Centerline is valid? [True, True] Translation: X:896.12, Y:204.51, Z:7.46 [[-7.11019926e-01 -7.03059693e-01 1.25591705e-02 8.96115303e+02] [ 7.02937269e-01 -7.11130657e-01 -1.31295262e-02 2.04505755e+02] [ 1.81620519e-02 -5.07045766e-04 9.99834928e-01 7.45743666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7892541539998 meters 0.01869717433254355 Centerline is valid? [True, True] Translation: X:896.09, Y:204.52, Z:7.46 [[-7.05497586e-01 -7.08596298e-01 1.28235181e-02 8.96092113e+02] [ 7.08469708e-01 -7.05614024e-01 -1.33985993e-02 2.04519876e+02] [ 1.85426521e-02 -3.67605342e-04 9.99828003e-01 7.45521114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.8192541539997 meters 0.016680283305635563 Centerline is valid? [True, True] Translation: X:896.07, Y:204.53, Z:7.46 [[-6.98269699e-01 -7.15719050e-01 1.28712904e-02 8.96066789e+02] [ 7.15592858e-01 -6.98388296e-01 -1.34406352e-02 2.04533569e+02] [ 1.86088772e-02 -1.74584832e-04 9.99826825e-01 7.45531567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.849254154 meters 0.01740507760404138 Centerline is valid? [True, True] Translation: X:896.05, Y:204.55, Z:7.45 [[-6.94986802e-01 -7.18905131e-01 1.29906701e-02 8.96045461e+02] [ 7.18777308e-01 -6.95108197e-01 -1.35564146e-02 2.04549334e+02] [ 1.87756973e-02 -8.41303706e-05 9.99823718e-01 7.45391694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.879254154 meters 0.01400554449125136 Centerline is valid? [True, True] Translation: X:896.02, Y:204.56, Z:7.46 [[-6.87411067e-01 -7.26179592e-01 1.13677031e-02 8.96020383e+02] [ 7.26082818e-01 -6.87505047e-01 -1.18554930e-02 2.04562806e+02] [ 1.64245703e-02 1.04296751e-04 9.99865102e-01 7.45705693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9092541539999 meters 0.014602715794499326 Centerline is valid? [True, True] Translation: X:896.00, Y:204.58, Z:7.46 [[-6.84409258e-01 -7.29015639e-01 1.09619972e-02 8.95998110e+02] [ 7.28926117e-01 -6.84497019e-01 -1.14256967e-02 2.04580633e+02] [ 1.58329660e-02 1.70633416e-04 9.99874636e-01 7.45722087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9392541539999 meters 0.015948026528328045 Centerline is valid? [True, True] Translation: X:895.98, Y:204.60, Z:7.46 [[-6.80127212e-01 -7.33013267e-01 1.08869347e-02 8.95975634e+02] [ 7.32925579e-01 -6.80214289e-01 -1.13408992e-02 2.04596375e+02] [ 1.57184781e-02 2.66058765e-04 9.99876422e-01 7.45716800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9692541539998 meters 0.017727684819496103 Centerline is valid? [True, True] Translation: X:895.96, Y:204.62, Z:7.46 [[-6.79474976e-01 -7.33606966e-01 1.16007049e-02 8.95956110e+02] [ 7.33507609e-01 -6.79573931e-01 -1.20772080e-02 2.04616131e+02] [ 1.67434605e-02 3.03044750e-04 9.99859773e-01 7.45568288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9992541539998 meters 0.02013816729537174 Centerline is valid? [True, True] Translation: X:895.93, Y:204.63, Z:7.45 [[-6.77708505e-01 -7.35241480e-01 1.14519721e-02 8.95934372e+02] [ 7.35145004e-01 -6.77805169e-01 -1.19153471e-02 2.04633001e+02] [ 1.65228633e-02 3.43728047e-04 9.99863429e-01 7.45355403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.0292541539998 meters 0.017589298169963106 Centerline is valid? [True, True] Translation: X:895.92, Y:204.65, Z:7.46 [[-6.77018094e-01 -7.35892037e-01 1.04599759e-02 8.95916210e+02] [ 7.35811727e-01 -6.77098811e-01 -1.08766778e-02 2.04653718e+02] [ 1.50864978e-02 3.32865262e-04 9.99886137e-01 7.45592898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.0592541539997 meters 0.019381109547850658 Centerline is valid? [True, True] Translation: X:895.90, Y:204.68, Z:7.45 [[-6.77421252e-01 -7.35507651e-01 1.13553125e-02 8.95898458e+02] [ 7.35413072e-01 -6.77516323e-01 -1.18002363e-02 2.04675155e+02] [ 1.63725736e-02 3.57114387e-04 9.99865897e-01 7.45396694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.089254154 meters 0.016478029324344938 Centerline is valid? [True, True] Translation: X:895.88, Y:204.70, Z:7.46 [[-6.76837472e-01 -7.36058913e-01 1.04073793e-02 8.95879840e+02] [ 7.35979623e-01 -6.76917394e-01 -1.08090503e-02 2.04696140e+02] [ 1.50010339e-02 3.43648848e-04 9.99887419e-01 7.45677528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.119254154 meters 0.02023545517288542 Centerline is valid? [True, True] Translation: X:895.86, Y:204.72, Z:7.45 [[-6.78506431e-01 -7.34502192e-01 1.16427262e-02 8.95862222e+02] [ 7.34402838e-01 -6.78606224e-01 -1.20857182e-02 2.04716618e+02] [ 1.67778129e-02 3.50213628e-04 9.99859181e-01 7.45249236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.149254154 meters 0.016205704259599992 Centerline is valid? [True, True] Translation: X:895.84, Y:204.74, Z:7.46 [[-6.77995217e-01 -7.34991691e-01 1.04738015e-02 8.95844186e+02] [ 7.34911427e-01 -6.78076032e-01 -1.08669048e-02 2.04738771e+02] [ 1.50891185e-02 3.29606892e-04 9.99886098e-01 7.45622268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.1792541539999 meters 0.020010260619854444 Centerline is valid? [True, True] Translation: X:895.83, Y:204.76, Z:7.45 [[-6.79342379e-01 -7.33726533e-01 1.18028238e-02 8.95826074e+02] [ 7.33624546e-01 -6.79444814e-01 -1.22380447e-02 2.04759606e+02] [ 1.69987455e-02 3.45018864e-04 9.99855451e-01 7.45216481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2092541539998 meters 0.019569944438872024 Centerline is valid? [True, True] Translation: X:895.81, Y:204.78, Z:7.45 [[-6.79376475e-01 -7.33691998e-01 1.19857210e-02 8.95809369e+02] [ 7.33586960e-01 -6.79482102e-01 -1.24195784e-02 2.04779521e+02] [ 1.72562282e-02 3.54999212e-04 9.99851037e-01 7.45185279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2392541539998 meters 0.0164741907542808 Centerline is valid? [True, True] Translation: X:895.79, Y:204.80, Z:7.46 [[-6.78470820e-01 -7.34538511e-01 1.14246423e-02 8.95792350e+02] [ 7.34443315e-01 -6.78566904e-01 -1.18310100e-02 2.04801542e+02] [ 1.64427167e-02 3.63757078e-04 9.99864743e-01 7.45531411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2692541539998 meters 0.01717683119043332 Centerline is valid? [True, True] Translation: X:895.77, Y:204.82, Z:7.46 [[-6.77789337e-01 -7.35168293e-01 1.13664576e-02 8.95774557e+02] [ 7.35074247e-01 -6.77884530e-01 -1.17650044e-02 2.04821850e+02] [ 1.63544040e-02 3.80995689e-04 9.99866185e-01 7.45502714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2992541539998 meters 0.018219775983058014 Centerline is valid? [True, True] Translation: X:895.76, Y:204.84, Z:7.45 [[-6.78272384e-01 -7.34711130e-01 1.20883509e-02 8.95757023e+02] [ 7.34604802e-01 -6.78379979e-01 -1.25055135e-02 2.04843754e+02] [ 1.73884352e-02 3.98016137e-04 9.99848731e-01 7.45390156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.329254154 meters 0.01698497057369447 Centerline is valid? [True, True] Translation: X:895.74, Y:204.87, Z:7.46 [[-6.77066562e-01 -7.35827589e-01 1.17740957e-02 8.95738629e+02] [ 7.35727002e-01 -6.77168799e-01 -1.21735672e-02 2.04865189e+02] [ 1.69306968e-02 4.20204888e-04 9.99856577e-01 7.45519117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.359254154 meters 0.017260337334305275 Centerline is valid? [True, True] Translation: X:895.72, Y:204.89, Z:7.46 [[-6.76661791e-01 -7.36198132e-01 1.18798601e-02 8.95719578e+02] [ 7.36095903e-01 -6.76765926e-01 -1.22760845e-02 2.04885997e+02] [ 1.70775150e-02 4.37959029e-04 9.99854073e-01 7.45518814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.389254154 meters 0.018081282651692978 Centerline is valid? [True, True] Translation: X:895.70, Y:204.91, Z:7.45 [[-6.76041694e-01 -7.36769737e-01 1.17466219e-02 8.95700479e+02] [ 7.36669996e-01 -6.76143587e-01 -1.21312619e-02 2.04905654e+02] [ 1.68803497e-02 4.52145102e-04 9.99857415e-01 7.45472462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4192541539999 meters 0.021171502103089927 Centerline is valid? [True, True] Translation: X:895.68, Y:204.92, Z:7.45 [[-6.74696134e-01 -7.37998179e-01 1.19922420e-02 8.95679860e+02] [ 7.37894547e-01 -6.74802519e-01 -1.23773392e-02 2.04923776e+02] [ 1.72268489e-02 4.98067099e-04 9.99851483e-01 7.45374357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4492541539998 meters 0.01879099342303739 Centerline is valid? [True, True] Translation: X:895.67, Y:204.95, Z:7.46 [[-6.73510350e-01 -7.39074565e-01 1.23529666e-02 8.95665038e+02] [ 7.38964919e-01 -6.73623403e-01 -1.27420240e-02 2.04948415e+02] [ 1.77385532e-02 5.46523909e-04 9.99842510e-01 7.45531987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4792541539998 meters 0.022435372611282246 Centerline is valid? [True, True] Translation: X:895.64, Y:204.97, Z:7.45 [[-6.73579184e-01 -7.39000901e-01 1.29904148e-02 8.95644200e+02] [ 7.38879787e-01 -6.73704188e-01 -1.33913067e-02 2.04965347e+02] [ 1.86478846e-02 5.78249493e-04 9.99825946e-01 7.45194307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.5092541539998 meters 0.022365940896594196 Centerline is valid? [True, True] Translation: X:895.63, Y:204.99, Z:7.45 [[-6.73011847e-01 -7.39505603e-01 1.36571388e-02 8.95628080e+02] [ 7.39372006e-01 -6.73150109e-01 -1.40700962e-02 2.04989376e+02] [ 1.95982195e-02 6.28364696e-04 9.99807739e-01 7.45122601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.5392541539998 meters 0.022365940896594196 Centerline is valid? [True, True] Translation: X:895.61, Y:205.01, Z:7.45 [[-6.73226497e-01 -7.39310121e-01 1.36612242e-02 8.95608799e+02] [ 7.39176565e-01 -6.73364797e-01 -1.40661292e-02 2.05009126e+02] [ 1.95982191e-02 6.28365941e-04 9.99807739e-01 7.45141592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.5692541539997 meters 0.021180517434390877 Centerline is valid? [True, True] Translation: X:895.59, Y:205.03, Z:7.45 [[-6.72789348e-01 -7.39716829e-01 1.31721919e-02 8.95590274e+02] [ 7.39592894e-01 -6.72917993e-01 -1.35545594e-02 2.05028285e+02] [ 1.88903407e-02 6.22696337e-04 9.99821368e-01 7.45313138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.599254154 meters 0.020503481420372855 Centerline is valid? [True, True] Translation: X:895.58, Y:205.05, Z:7.45 [[-6.73241323e-01 -7.39316928e-01 1.25140520e-02 8.95575162e+02] [ 7.39205136e-01 -6.73357362e-01 -1.28697354e-02 2.05052250e+02] [ 1.79412423e-02 5.86013835e-04 9.99838871e-01 7.45410563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.629254154 meters 0.023444144175786465 Centerline is valid? [True, True] Translation: X:895.56, Y:205.07, Z:7.45 [[-6.74023766e-01 -7.38603499e-01 1.25233309e-02 8.95555414e+02] [ 7.38491557e-01 -6.74139854e-01 -1.28715342e-02 2.05071421e+02] [ 1.79494367e-02 5.72654194e-04 9.99838732e-01 7.45215388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6592541539999 meters 0.01946356010732697 Centerline is valid? [True, True] Translation: X:895.54, Y:205.10, Z:7.46 [[-6.75775984e-01 -7.37023985e-01 1.10663728e-02 8.95540866e+02] [ 7.36936466e-01 -6.75866423e-01 -1.13676374e-02 2.05095808e+02] [ 1.58576112e-02 4.73237312e-04 9.99874148e-01 7.45636332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6892541539999 meters 0.019214681767588164 Centerline is valid? [True, True] Translation: X:895.52, Y:205.12, Z:7.46 [[-6.77961364e-01 -7.35014226e-01 1.10669161e-02 8.95523920e+02] [ 7.34926532e-01 -6.78051549e-01 -1.13617566e-02 2.05116931e+02] [ 1.58549923e-02 4.30538233e-04 9.99874209e-01 7.45608227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7192541539998 meters 0.018746009356220044 Centerline is valid? [True, True] Translation: X:895.51, Y:205.14, Z:7.46 [[-6.81604232e-01 -7.31641404e-01 1.07948244e-02 8.95508458e+02] [ 7.31557642e-01 -6.81689619e-01 -1.10761237e-02 2.05140673e+02] [ 1.54624704e-02 3.47503486e-04 9.99880388e-01 7.45546328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7492541539998 meters 0.01682756027170157 Centerline is valid? [True, True] Translation: X:895.49, Y:205.16, Z:7.46 [[-6.82565480e-01 -7.30746030e-01 1.07053808e-02 8.95491194e+02] [ 7.30663644e-01 -6.82649347e-01 -1.09775796e-02 2.05161389e+02] [ 1.53298439e-02 3.29115682e-04 9.99882437e-01 7.45738507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7792541539998 meters 0.016184612624868797 Centerline is valid? [True, True] Translation: X:895.47, Y:205.18, Z:7.46 [[-6.84041706e-01 -7.29358050e-01 1.11256353e-02 8.95474068e+02] [ 7.29268997e-01 -6.84132104e-01 -1.14015066e-02 2.05184049e+02] [ 1.59271849e-02 3.14474890e-04 9.99873105e-01 7.45721107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.8092541539997 meters 0.019287611470080027 Centerline is valid? [True, True] Translation: X:895.45, Y:205.20, Z:7.45 [[-6.84477248e-01 -7.28938880e-01 1.17901260e-02 8.95454367e+02] [ 7.28838941e-01 -6.84578704e-01 -1.20746014e-02 2.05201187e+02] [ 1.68729156e-02 3.28313024e-04 9.99857588e-01 7.45379358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.839254154 meters 0.01646240928122035 Centerline is valid? [True, True] Translation: X:895.44, Y:205.22, Z:7.46 [[-6.83381630e-01 -7.29971647e-01 1.14430132e-02 8.95435206e+02] [ 7.29877769e-01 -6.83477340e-01 -1.17119212e-02 2.05221510e+02] [ 1.63704107e-02 3.48289171e-04 9.99865935e-01 7.45701988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.869254154 meters 0.0191381445828985 Centerline is valid? [True, True] Translation: X:895.41, Y:205.24, Z:7.45 [[-6.82379440e-01 -7.30893232e-01 1.23847785e-02 8.95413178e+02] [ 7.30783555e-01 -6.82491698e-01 -1.26679874e-02 2.05238066e+02] [ 1.77114548e-02 4.06218333e-04 9.99843057e-01 7.45360228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.899254154 meters 0.018063052772225197 Centerline is valid? [True, True] Translation: X:895.39, Y:205.25, Z:7.46 [[-6.80404636e-01 -7.32741741e-01 1.17929021e-02 8.95390125e+02] [ 7.32642690e-01 -6.80506687e-01 -1.20556393e-02 2.05254684e+02] [ 1.68588189e-02 4.37270652e-04 9.99857784e-01 7.45551333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9292541539999 meters 0.01940735028291048 Centerline is valid? [True, True] Translation: X:895.37, Y:205.27, Z:7.45 [[-6.80501454e-01 -7.32653287e-01 1.17017782e-02 8.95370150e+02] [ 7.32555871e-01 -6.80601918e-01 -1.19551738e-02 2.05272761e+02] [ 1.67232501e-02 4.36693157e-04 9.99860061e-01 7.45392497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9592541539998 meters 0.019155526843988052 Centerline is valid? [True, True] Translation: X:895.35, Y:205.29, Z:7.46 [[-6.78951424e-01 -7.34097931e-01 1.11888948e-02 8.95349068e+02] [ 7.34009174e-01 -6.79043459e-01 -1.14242359e-02 2.05289607e+02] [ 1.59842538e-02 4.56250169e-04 9.99872140e-01 7.45605811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9892541539998 meters 0.019538111769305342 Centerline is valid? [True, True] Translation: X:895.33, Y:205.31, Z:7.46 [[-6.78275420e-01 -7.34724199e-01 1.10817346e-02 8.95328006e+02] [ 7.34637322e-01 -6.78365778e-01 -1.13082608e-02 2.05308863e+02] [ 1.58259223e-02 4.70940458e-04 9.99874651e-01 7.45653586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.0192541539998 meters 0.020623086067439806 Centerline is valid? [True, True] Translation: X:895.31, Y:205.33, Z:7.46 [[-6.77187644e-01 -7.35730429e-01 1.08457778e-02 8.95306252e+02] [ 7.35647439e-01 -6.77274315e-01 -1.10610712e-02 2.05325866e+02] [ 1.54835334e-02 4.88247909e-04 9.99880004e-01 7.45681679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.0492541539998 meters 0.022126171191229373 Centerline is valid? [True, True] Translation: X:895.29, Y:205.34, Z:7.45 [[-6.77119502e-01 -7.35791510e-01 1.09560012e-02 8.95286712e+02] [ 7.35706928e-01 -6.77207948e-01 -1.11674310e-02 2.05344207e+02] [ 1.56363920e-02 4.98720693e-04 9.99877620e-01 7.45484284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.079254154 meters 0.021747505781518066 Centerline is valid? [True, True] Translation: X:895.26, Y:205.36, Z:7.46 [[-6.75870419e-01 -7.36936145e-01 1.11487642e-02 8.95264811e+02] [ 7.36848815e-01 -6.75962150e-01 -1.13576432e-02 2.05360576e+02] [ 1.59060004e-02 5.38658622e-04 9.99873346e-01 7.45576005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.109254154 meters 0.023324204604483856 Centerline is valid? [True, True] Translation: X:895.24, Y:205.38, Z:7.45 [[-6.75930256e-01 -7.36875238e-01 1.15400722e-02 8.95244013e+02] [ 7.36781780e-01 -6.76028527e-01 -1.17490343e-02 2.05379018e+02] [ 1.64589905e-02 5.60987158e-04 9.99864384e-01 7.45387059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.139254154 meters 0.023548670321034023 Centerline is valid? [True, True] Translation: X:895.22, Y:205.40, Z:7.45 [[-6.75436521e-01 -7.37314935e-01 1.23366331e-02 8.95224466e+02] [ 7.37208315e-01 -6.75548894e-01 -1.25535651e-02 2.05398421e+02] [ 1.75899299e-02 6.15532094e-04 9.99845096e-01 7.45296280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1692541539999 meters 0.02189436841049071 Centerline is valid? [True, True] Translation: X:895.20, Y:205.42, Z:7.45 [[-6.74959670e-01 -7.37746628e-01 1.26236869e-02 8.95203667e+02] [ 7.37635182e-01 -6.75077400e-01 -1.28390659e-02 2.05417822e+02] [ 1.79939434e-02 6.45823895e-04 9.99837887e-01 7.45479039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1992541539998 meters 0.020777244548177778 Centerline is valid? [True, True] Translation: X:895.18, Y:205.44, Z:7.45 [[-6.75009794e-01 -7.37686018e-01 1.34579497e-02 8.95184586e+02] [ 7.37559497e-01 -6.75143584e-01 -1.36795249e-02 2.05438031e+02] [ 1.91772427e-02 6.92225347e-04 9.99815860e-01 7.45499779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2292541539998 meters 0.022123975867764503 Centerline is valid? [True, True] Translation: X:895.17, Y:205.46, Z:7.45 [[-6.75888914e-01 -7.36872819e-01 1.38789613e-02 8.95165162e+02] [ 7.36738267e-01 -6.76031038e-01 -1.40982941e-02 2.05455430e+02] [ 1.97712583e-02 6.96281196e-04 9.99804287e-01 7.45329376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2592541539998 meters 0.02183144988956117 Centerline is valid? [True, True] Translation: X:895.15, Y:205.48, Z:7.45 [[-6.77162731e-01 -7.35705930e-01 1.36901778e-02 8.95146346e+02] [ 7.35574939e-01 -6.77300783e-01 -1.38981090e-02 2.05476608e+02] [ 1.94972894e-02 6.58870270e-04 9.99809693e-01 7.45336869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2892541539998 meters 0.02039470867335424 Centerline is valid? [True, True] Translation: X:895.13, Y:205.50, Z:7.46 [[-6.77482509e-01 -7.35418821e-01 1.32893768e-02 8.95127007e+02] [ 7.35295490e-01 -6.77612538e-01 -1.34830027e-02 2.05496452e+02] [ 1.89207023e-02 6.37120310e-04 9.99820785e-01 7.45579353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.3192541539997 meters 0.02168614243590189 Centerline is valid? [True, True] Translation: X:895.11, Y:205.52, Z:7.45 [[-6.79454618e-01 -7.33603634e-01 1.29278903e-02 8.95107607e+02] [ 7.33486731e-01 -6.79577352e-01 -1.31087375e-02 2.05517169e+02] [ 1.84021190e-02 5.75643757e-04 9.99830501e-01 7.45476584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.349254154 meters 0.019381638244372532 Centerline is valid? [True, True] Translation: X:895.09, Y:205.54, Z:7.46 [[-6.79708233e-01 -7.33380983e-01 1.22086461e-02 8.95088509e+02] [ 7.33276809e-01 -6.79817651e-01 -1.23726392e-02 2.05537651e+02] [ 1.73735114e-02 5.42532352e-04 9.99848922e-01 7.45844608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.379254154 meters 0.01865522274475632 Centerline is valid? [True, True] Translation: X:895.07, Y:205.56, Z:7.46 [[-6.81223920e-01 -7.31990897e-01 1.11039480e-02 8.95069618e+02] [ 7.31904637e-01 -6.81314252e-01 -1.12468877e-02 2.05558432e+02] [ 1.57978975e-02 4.65382118e-04 9.99875097e-01 7.46029622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4092541539999 meters 0.01878063768890006 Centerline is valid? [True, True] Translation: X:895.05, Y:205.58, Z:7.46 [[-6.81827957e-01 -7.31436452e-01 1.05524007e-02 8.95050802e+02] [ 7.31358582e-01 -6.81909472e-01 -1.06816347e-02 2.05577155e+02] [ 1.50087190e-02 4.34551658e-04 9.99887268e-01 7.46109347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4392541539999 meters 0.018571274397654988 Centerline is valid? [True, True] Translation: X:895.03, Y:205.60, Z:7.46 [[-6.82618432e-01 -7.30706634e-01 9.99452418e-03 8.95032037e+02] [ 7.30636794e-01 -6.82691478e-01 -1.01104423e-02 2.05596390e+02] [ 1.42109438e-02 4.00792802e-04 9.99898939e-01 7.46185104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4692541539998 meters 0.018636783362003854 Centerline is valid? [True, True] Translation: X:895.01, Y:205.62, Z:7.46 [[-6.82990621e-01 -7.30357956e-01 1.00532865e-02 8.95012504e+02] [ 7.30287347e-01 -6.83064489e-01 -1.01633807e-02 2.05615030e+02] [ 1.42899489e-02 4.00294232e-04 9.99897813e-01 7.46167607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4992541539998 meters 0.018599747872356295 Centerline is valid? [True, True] Translation: X:894.99, Y:205.63, Z:7.46 [[-6.83052909e-01 -7.30290051e-01 1.07315069e-02 8.94992636e+02] [ 7.30209694e-01 -6.83137069e-01 -1.08418876e-02 2.05633824e+02] [ 1.52488128e-02 4.30667505e-04 9.99883637e-01 7.46129793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.5292541539998 meters 0.02082224311250062 Centerline is valid? [True, True] Translation: X:894.97, Y:205.65, Z:7.46 [[-6.83825885e-01 -7.29557120e-01 1.13387813e-02 8.94972752e+02] [ 7.29467424e-01 -6.83919742e-01 -1.14482994e-02 2.05653615e+02] [ 1.61070047e-02 4.42628128e-04 9.99870176e-01 7.45794838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.5592541539997 meters 0.020648403330943935 Centerline is valid? [True, True] Translation: X:894.95, Y:205.67, Z:7.46 [[-6.83143263e-01 -7.30192425e-01 1.15890080e-02 8.94952180e+02] [ 7.30098918e-01 -6.83241392e-01 -1.16948756e-02 2.05670650e+02] [ 1.64575996e-02 4.71846731e-04 9.99864453e-01 7.45853143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.589254154 meters 0.01901146382865169 Centerline is valid? [True, True] Translation: X:894.93, Y:205.69, Z:7.46 [[-6.82109826e-01 -7.31153723e-01 1.18498759e-02 8.94931849e+02] [ 7.31056210e-01 -6.82212557e-01 -1.19517606e-02 2.05690136e+02] [ 1.68227084e-02 5.10512017e-04 9.99858358e-01 7.46145885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.619254154 meters 0.01918679567500708 Centerline is valid? [True, True] Translation: X:894.91, Y:205.71, Z:7.46 [[-6.81590944e-01 -7.31629345e-01 1.23404536e-02 8.94910087e+02] [ 7.31523795e-01 -6.81702428e-01 -1.24393120e-02 2.05708726e+02] [ 1.75134829e-02 5.48813020e-04 9.99846477e-01 7.46131425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.649254154 meters 0.019289523427065653 Centerline is valid? [True, True] Translation: X:894.89, Y:205.73, Z:7.46 [[-6.81911296e-01 -7.31327413e-01 1.25379290e-02 8.94890352e+02] [ 7.31218538e-01 -6.82026325e-01 -1.26309927e-02 2.05728416e+02] [ 1.77885888e-02 5.54749488e-04 9.99841617e-01 7.46064988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.6792541539999 meters 0.01795554574329441 Centerline is valid? [True, True] Translation: X:894.87, Y:205.75, Z:7.46 [[-6.83436408e-01 -7.29901407e-01 1.25941211e-02 8.94870752e+02] [ 7.29791442e-01 -6.83552237e-01 -1.26802996e-02 2.05748382e+02] [ 1.78641082e-02 5.24903428e-04 9.99840286e-01 7.46157464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7092541539998 meters 0.018034514209978248 Centerline is valid? [True, True] Translation: X:894.85, Y:205.77, Z:7.46 [[-6.85110507e-01 -7.28339268e-01 1.20625114e-02 8.94850612e+02] [ 7.28238241e-01 -6.85216530e-01 -1.21396594e-02 2.05766426e+02] [ 1.71072228e-02 4.67373876e-04 9.99853552e-01 7.46199054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7392541539998 meters 0.019604920276666767 Centerline is valid? [True, True] Translation: X:894.83, Y:205.79, Z:7.46 [[-6.89983996e-01 -7.23725104e-01 1.20024311e-02 8.94833899e+02] [ 7.23624486e-01 -6.90088289e-01 -1.20729638e-02 2.05788918e+02] [ 1.70202441e-02 3.55101266e-04 9.99855082e-01 7.46028117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7692541539998 meters 0.018009914376100868 Centerline is valid? [True, True] Translation: X:894.82, Y:205.81, Z:7.46 [[-6.92739499e-01 -7.21094268e-01 1.16208375e-02 8.94815750e+02] [ 7.20999685e-01 -6.92836904e-01 -1.16824434e-02 2.05809035e+02] [ 1.64754881e-02 2.85730199e-04 9.99864229e-01 7.46149451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7992541539998 meters 0.01485313593660337 Centerline is valid? [True, True] Translation: X:894.80, Y:205.83, Z:7.46 [[-6.98356486e-01 -7.15658985e-01 1.14208732e-02 8.94799557e+02] [ 7.15567003e-01 -6.98449850e-01 -1.14748535e-02 2.05832068e+02] [ 1.61889892e-02 1.58861656e-04 9.99868937e-01 7.46459839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.829254154 meters 0.01503058506687392 Centerline is valid? [True, True] Translation: X:894.78, Y:205.85, Z:7.46 [[-7.01375000e-01 -7.12700617e-01 1.14429355e-02 8.94781276e+02] [ 7.12607992e-01 -7.01468333e-01 -1.14903252e-02 2.05852890e+02] [ 1.62160187e-02 9.53004955e-05 9.99868507e-01 7.46431392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.859254154 meters 0.015259901106751976 Centerline is valid? [True, True] Translation: X:894.76, Y:205.87, Z:7.46 [[-7.07102654e-01 -7.07014073e-01 1.17020565e-02 8.94763824e+02] [ 7.06916533e-01 -7.07199477e-01 -1.17437026e-02 2.05874501e+02] [ 1.65786513e-02 -3.16260334e-05 9.99862564e-01 7.46403285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.889254154 meters 0.017367631273322 Centerline is valid? [True, True] Translation: X:894.75, Y:205.90, Z:7.46 [[-7.10233430e-01 -7.03863011e-01 1.20556173e-02 8.94745516e+02] [ 7.03759156e-01 -7.10335732e-01 -1.20912683e-02 2.05895151e+02] [ 1.70741322e-02 -1.03371926e-04 9.99854221e-01 7.46243924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9192541539999 meters 0.016399394067844606 Centerline is valid? [True, True] Translation: X:894.73, Y:205.92, Z:7.46 [[-7.15089332e-01 -6.98927784e-01 1.21325584e-02 8.94728760e+02] [ 6.98822010e-01 -7.15192215e-01 -1.21611315e-02 2.05916634e+02] [ 1.71768640e-02 -2.17796536e-04 9.99852443e-01 7.46423581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9492541539998 meters 0.0177473711222015 Centerline is valid? [True, True] Translation: X:894.71, Y:205.94, Z:7.46 [[-7.17461543e-01 -6.96489040e-01 1.23268401e-02 8.94709274e+02] [ 6.96379617e-01 -7.17567377e-01 -1.23486333e-02 2.05937291e+02] [ 1.74460261e-02 -2.75509378e-04 9.99847769e-01 7.46430520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9792541539998 meters 0.015322859266562482 Centerline is valid? [True, True] Translation: X:894.69, Y:205.96, Z:7.47 [[-7.19227195e-01 -6.94674391e-01 1.18208098e-02 8.94689967e+02] [ 6.94573631e-01 -7.19324265e-01 -1.18352222e-02 2.05957803e+02] [ 1.67246211e-02 -3.01790899e-04 9.99860088e-01 7.46832977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.0092541539998 meters 0.01630100240495622 Centerline is valid? [True, True] Translation: X:894.67, Y:205.98, Z:7.47 [[-7.22609245e-01 -6.91163218e-01 1.13703765e-02 8.94671550e+02] [ 6.91069660e-01 -7.22698605e-01 -1.13776898e-02 2.05978402e+02] [ 1.60811959e-02 -3.63901639e-04 9.99870623e-01 7.47028642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.0392541539998 meters 0.019330774314058597 Centerline is valid? [True, True] Translation: X:894.65, Y:206.00, Z:7.47 [[-7.24638318e-01 -6.89032141e-01 1.15765112e-02 8.94652861e+02] [ 6.88934988e-01 -7.24730665e-01 -1.15777940e-02 2.05997393e+02] [ 1.63673249e-02 -4.14249570e-04 9.99865961e-01 7.46800296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.0692541539997 meters 0.020718651121801906 Centerline is valid? [True, True] Translation: X:894.16, Y:205.49, Z:8.43 [[-7.36364322e-01 6.76583840e-01 1.37576090e-03 8.94156329e+02] [ 6.76583827e-01 7.36365417e-01 -5.45589875e-04 2.05487863e+02] [-1.38220004e-03 5.29064659e-04 -9.99998905e-01 8.43463190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.099254154 meters 0.02100327335384863 Centerline is valid? [True, True] Translation: X:894.62, Y:206.02, Z:7.47 [[-7.30403470e-01 -6.82926886e-01 1.10290134e-02 8.94623753e+02] [ 6.82846455e-01 -7.30486724e-01 -1.04816557e-02 2.06019874e+02] [ 1.52147523e-02 -1.24714984e-04 9.99884241e-01 7.46946065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.129254154 meters 0.020420751551149443 Centerline is valid? [True, True] Translation: X:894.13, Y:205.51, Z:8.43 [[-7.37724165e-01 6.75100655e-01 1.46998619e-03 8.94131263e+02] [ 6.75100579e-01 7.37725437e-01 -6.22207099e-04 2.05511961e+02] [-1.50449863e-03 5.33371316e-04 -9.99998726e-01 8.43377309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1592541539999 meters 0.021683802483515653 Centerline is valid? [True, True] Translation: X:894.59, Y:206.04, Z:7.47 [[-7.32461479e-01 -6.80703847e-01 1.19354214e-02 8.94588533e+02] [ 6.80611488e-01 -7.32558711e-01 -1.12133234e-02 2.06043590e+02] [ 1.63763493e-02 -8.99425499e-05 9.99865895e-01 7.46845037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1892541539999 meters 0.02116205641617022 Centerline is valid? [True, True] Translation: X:894.10, Y:205.54, Z:8.44 [[-7.41626228e-01 6.70808665e-01 2.50442335e-03 8.94102812e+02] [ 6.70807223e-01 7.41630241e-01 -1.50192923e-03 2.05541906e+02] [-2.86486323e-03 5.66115167e-04 -9.99995736e-01 8.43567892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2192541539998 meters 0.01885627583115772 Centerline is valid? [True, True] Translation: X:894.55, Y:206.07, Z:7.47 [[-7.32581836e-01 -6.80569543e-01 1.22045511e-02 8.94547325e+02] [ 6.80472739e-01 -7.32683483e-01 -1.14788710e-02 2.06068078e+02] [ 1.67542430e-02 -1.04348094e-04 9.99859632e-01 7.46993071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2492541539998 meters 0.017247366986486642 Centerline is valid? [True, True] Translation: X:894.08, Y:205.58, Z:8.43 [[-7.48342625e-01 6.63306599e-01 2.76968573e-03 8.94076104e+02] [ 6.63304608e-01 7.48347546e-01 -1.71649041e-03 2.05579509e+02] [-3.21124694e-03 5.52622373e-04 -9.99994691e-01 8.43410195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2792541539998 meters 0.015961401918472586 Centerline is valid? [True, True] Translation: X:894.09, Y:205.61, Z:8.43 [[-7.95252418e-01 6.06272310e-01 2.73434007e-03 8.94090979e+02] [ 6.06270916e-01 7.95256937e-01 -1.40733624e-03 2.05605601e+02] [-3.02773190e-03 5.38563314e-04 -9.99995271e-01 8.43276009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.3092541539997 meters 0.016542059627072603 Centerline is valid? [True, True] Translation: X:894.11, Y:205.64, Z:8.43 [[-8.38782883e-01 5.44454621e-01 3.52700032e-03 8.94108900e+02] [ 5.44452374e-01 8.38790129e-01 -1.65294249e-03 2.05636823e+02] [-3.85836523e-03 5.33823833e-04 -9.99992414e-01 8.43419825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.339254154 meters 0.015493615888885605 Centerline is valid? [True, True] Translation: X:894.45, Y:206.18, Z:7.47 [[-8.14632927e-01 -5.79807562e-01 1.40137687e-02 8.94450015e+02] [ 5.79724419e-01 -8.14753444e-01 -9.81950275e-03 2.06184495e+02] [ 1.71111883e-02 1.24833655e-04 9.99853585e-01 7.47267132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.369254154 meters 0.016395434227880402 Centerline is valid? [True, True] Translation: X:894.43, Y:206.16, Z:7.47 [[-7.70671706e-01 -6.37086435e-01 1.36380115e-02 8.94428629e+02] [ 6.36991233e-01 -7.70792342e-01 -1.10152216e-02 2.06155048e+02] [ 1.75297231e-02 1.98174112e-04 9.99846323e-01 7.47151307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.399254154 meters 0.013503771008542984 Centerline is valid? [True, True] Translation: X:894.41, Y:206.13, Z:7.47 [[-7.24266017e-01 -6.89411340e-01 1.22776667e-02 8.94408404e+02] [ 6.89318823e-01 -7.24370020e-01 -1.12975679e-02 2.06129697e+02] [ 1.66822451e-02 2.80782257e-04 9.99860802e-01 7.47417660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4292541539999 meters 0.013787878589820468 Centerline is valid? [True, True] Translation: X:894.38, Y:206.10, Z:7.47 [[-6.73522866e-01 -7.39087228e-01 1.08175119e-02 8.94383554e+02] [ 7.39000761e-01 -6.73609626e-01 -1.13113372e-02 2.06104603e+02] [ 1.56468450e-02 3.75705248e-04 9.99877510e-01 7.47441426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4592541539998 meters 0.013787878589820468 Centerline is valid? [True, True] Translation: X:894.37, Y:206.13, Z:7.47 [[-6.73736772e-01 -7.38896186e-01 1.05446059e-02 8.94365051e+02] [ 7.38805749e-01 -6.73819283e-01 -1.15601867e-02 2.06125048e+02] [ 1.56469367e-02 1.89259927e-06 9.99877579e-01 7.47471891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4892541539998 meters 0.013278825253740339 Centerline is valid? [True, True] Translation: X:894.34, Y:206.14, Z:7.48 [[-6.72725000e-01 -7.39822418e-01 1.01913731e-02 8.94344784e+02] [ 7.39738142e-01 -6.72802192e-01 -1.11665871e-02 2.06143938e+02] [ 1.51180696e-02 2.69050829e-05 9.99885715e-01 7.47644779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.5192541539998 meters 0.013405098022770442 Centerline is valid? [True, True] Translation: X:894.32, Y:206.16, Z:7.48 [[-6.71052949e-01 -7.41344207e-01 9.83400156e-03 8.94323242e+02] [ 7.41265992e-01 -6.71124998e-01 -1.07687095e-02 2.06161523e+02] [ 1.45831647e-02 6.32366368e-05 9.99893658e-01 7.47755780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.5492541539998 meters 0.01699150454392362 Centerline is valid? [True, True] Translation: X:894.30, Y:206.18, Z:7.48 [[-6.69841656e-01 -7.42435062e-01 1.01159979e-02 8.94301704e+02] [ 7.42352523e-01 -6.69918032e-01 -1.10707698e-02 2.06179549e+02] [ 1.49962170e-02 9.39737848e-05 9.99887546e-01 7.47504681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.579254154 meters 0.015983827778500197 Centerline is valid? [True, True] Translation: X:894.28, Y:206.20, Z:7.48 [[-6.69132657e-01 -7.43075399e-01 1.00219240e-02 8.94281559e+02] [ 7.42994558e-01 -6.69207695e-01 -1.09611468e-02 2.06197402e+02] [ 1.48517072e-02 1.11773762e-04 9.99889701e-01 7.47562054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.609254154 meters 0.016003095634309485 Centerline is valid? [True, True] Translation: X:894.26, Y:206.22, Z:7.48 [[-6.68537269e-01 -7.43609625e-01 1.01313792e-02 8.94261193e+02] [ 7.43527171e-01 -6.68614020e-01 -1.10741769e-02 2.06216867e+02] [ 1.50088467e-02 1.29455729e-04 9.99887353e-01 7.47578127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.639254154 meters 0.013705037359578768 Centerline is valid? [True, True] Translation: X:894.24, Y:206.24, Z:7.48 [[-6.67242743e-01 -7.44776329e-01 9.76435307e-03 8.94240282e+02] [ 7.44699954e-01 -6.67314166e-01 -1.06668452e-02 2.06236042e+02] [ 1.44603049e-02 1.54138242e-04 9.99895432e-01 7.47892836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6692541539999 meters 0.01380413410326146 Centerline is valid? [True, True] Translation: X:894.22, Y:206.26, Z:7.48 [[-6.67097597e-01 -7.44903606e-01 9.97059421e-03 8.94220995e+02] [ 7.44824085e-01 -6.67172084e-01 -1.08854488e-02 2.06255403e+02] [ 1.47607122e-02 1.64681938e-04 9.99891041e-01 7.47877086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6992541539998 meters 0.01785187237282267 Centerline is valid? [True, True] Translation: X:894.20, Y:206.27, Z:7.47 [[-6.67345476e-01 -7.44669945e-01 1.08022812e-02 8.94201639e+02] [ 7.44576672e-01 -6.67432875e-01 -1.17871737e-02 2.06273841e+02] [ 1.59873516e-02 1.77009550e-04 9.99872178e-01 7.47448458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7292541539998 meters 0.015640839426004322 Centerline is valid? [True, True] Translation: X:894.18, Y:206.29, Z:7.48 [[-6.67149786e-01 -7.44850906e-01 1.04062909e-02 8.94181787e+02] [ 7.44764458e-01 -6.67230916e-01 -1.13492988e-02 2.06293869e+02] [ 1.53969345e-02 1.78553378e-04 9.99881444e-01 7.47612257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7592541539998 meters 0.015690735351876418 Centerline is valid? [True, True] Translation: X:894.16, Y:206.31, Z:7.48 [[-6.67348358e-01 -7.44664323e-01 1.10097415e-02 8.94162670e+02] [ 7.44567650e-01 -6.67439143e-01 -1.20002275e-02 2.06314432e+02] [ 1.62844737e-02 1.89165230e-04 9.99867381e-01 7.47625053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7892541539998 meters 0.016878569152384216 Centerline is valid? [True, True] Translation: X:894.14, Y:206.33, Z:7.47 [[-6.67677436e-01 -7.44358600e-01 1.17096515e-02 8.94143910e+02] [ 7.44249333e-01 -6.67780080e-01 -1.27551865e-02 2.06334278e+02] [ 1.73139048e-02 1.98550109e-04 9.99850083e-01 7.47491718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.8192541539997 meters 0.013856771276315506 Centerline is valid? [True, True] Translation: X:894.13, Y:206.36, Z:7.48 [[-6.68092150e-01 -7.43995509e-01 1.11158608e-02 8.94125736e+02] [ 7.43897110e-01 -6.68184592e-01 -1.21012679e-02 2.06356090e+02] [ 1.64307359e-02 1.84294687e-04 9.99864989e-01 7.47937139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.849254154 meters 0.014571636470033773 Centerline is valid? [True, True] Translation: X:894.11, Y:206.38, Z:7.48 [[-6.69355458e-01 -7.42858772e-01 1.11407436e-02 8.94107884e+02] [ 7.42759891e-01 -6.69448145e-01 -1.21212507e-02 2.06377558e+02] [ 1.64625275e-02 1.61472172e-04 9.99864470e-01 7.47857988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.879254154 meters 0.017519586979341417 Centerline is valid? [True, True] Translation: X:894.09, Y:206.40, Z:7.48 [[-6.70288543e-01 -7.42009281e-01 1.16402415e-02 8.94089243e+02] [ 7.41901335e-01 -6.70389591e-01 -1.26572076e-02 2.06398543e+02] [ 1.71952623e-02 1.51929512e-04 9.99852139e-01 7.47606349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9092541539999 meters 0.013887067239728624 Centerline is valid? [True, True] Translation: X:894.07, Y:206.42, Z:7.48 [[-6.71288906e-01 -7.41118966e-01 1.06716094e-02 8.94071933e+02] [ 7.41028230e-01 -6.71373714e-01 -1.15973592e-02 2.06420525e+02] [ 1.57596609e-02 1.22785294e-04 9.99875801e-01 7.48065489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9392541539999 meters 0.013923036491655858 Centerline is valid? [True, True] Translation: X:894.05, Y:206.44, Z:7.48 [[-6.71950272e-01 -7.40518148e-01 1.07566193e-02 8.94054242e+02] [ 7.40425977e-01 -6.72036353e-01 -1.16838536e-02 2.06440625e+02] [ 1.58809448e-02 1.13511776e-04 9.99873883e-01 7.48036705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9692541539998 meters 0.015616743991661434 Centerline is valid? [True, True] Translation: X:894.04, Y:206.46, Z:7.48 [[-6.72892223e-01 -7.39662976e-01 1.07115684e-02 8.94036405e+02] [ 7.39571564e-01 -6.72977468e-01 -1.16288161e-02 2.06462622e+02] [ 1.58100488e-02 9.70314585e-05 9.99875009e-01 7.47933021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9992541539998 meters 0.017918535584805644 Centerline is valid? [True, True] Translation: X:894.02, Y:206.48, Z:7.48 [[-6.74247607e-01 -7.38423741e-01 1.09792160e-02 8.94019869e+02] [ 7.38327637e-01 -6.74336988e-01 -1.19133471e-02 2.06484118e+02] [ 1.62007898e-02 7.37128681e-05 9.99868756e-01 7.47792655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.0292541539998 meters 0.016476315380406902 Centerline is valid? [True, True] Translation: X:894.00, Y:206.51, Z:7.48 [[-6.74621109e-01 -7.38083872e-01 1.08884060e-02 8.94001901e+02] [ 7.37989404e-01 -6.74708969e-01 -1.18087235e-02 2.06505636e+02] [ 1.60623335e-02 6.91141304e-05 9.99870990e-01 7.47973074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.0592541539997 meters 0.016868276616693156 Centerline is valid? [True, True] Translation: X:893.98, Y:206.53, Z:7.48 [[-6.75157105e-01 -7.37596884e-01 1.06639719e-02 8.93984781e+02] [ 7.37506318e-01 -6.75241314e-01 -1.15584950e-02 2.06526192e+02] [ 1.57262643e-02 6.09466027e-05 9.99876333e-01 7.47930832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.089254154 meters 0.01635370945907432 Centerline is valid? [True, True] Translation: X:893.97, Y:206.55, Z:7.48 [[-6.74797509e-01 -7.37922697e-01 1.08818858e-02 8.93967359e+02] [ 7.37828552e-01 -6.74885241e-01 -1.17872445e-02 2.06546689e+02] [ 1.60420993e-02 7.49628116e-05 9.99871314e-01 7.48038301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.119254154 meters 0.014451049604037328 Centerline is valid? [True, True] Translation: X:893.95, Y:206.57, Z:7.48 [[-6.74372046e-01 -7.38326223e-01 9.83526366e-03 8.93949179e+02] [ 7.38249451e-01 -6.74443757e-01 -1.06473378e-02 2.06568686e+02] [ 1.44945409e-02 8.06110326e-05 9.99894945e-01 7.48376968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.149254154 meters 0.015060235988839482 Centerline is valid? [True, True] Translation: X:893.93, Y:206.59, Z:7.48 [[-6.74504335e-01 -7.38208318e-01 9.61152522e-03 8.93930986e+02] [ 7.38135074e-01 -6.74572807e-01 -1.03990724e-02 2.06589773e+02] [ 1.41603553e-02 8.03844377e-05 9.99899734e-01 7.48380534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.1792541539999 meters 0.016412820116993136 Centerline is valid? [True, True] Translation: X:893.91, Y:206.61, Z:7.48 [[-6.74700471e-01 -7.38026492e-01 9.80669313e-03 8.93912582e+02] [ 7.37950315e-01 -6.74771732e-01 -1.06038936e-02 2.06611243e+02] [ 1.44432337e-02 8.24002757e-05 9.99895688e-01 7.48352722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2092541539998 meters 0.01402468210352466 Centerline is valid? [True, True] Translation: X:893.89, Y:206.63, Z:7.49 [[-6.74649209e-01 -7.38083692e-01 8.99489081e-03 8.93894335e+02] [ 7.38019686e-01 -6.74709164e-01 -9.72040718e-03 2.06631641e+02] [ 1.32434093e-02 8.05414816e-05 9.99912299e-01 7.48610024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2392541539998 meters 0.01553518053429687 Centerline is valid? [True, True] Translation: X:893.88, Y:206.65, Z:7.48 [[-6.74538140e-01 -7.38181247e-01 9.31370664e-03 8.93875742e+02] [ 7.38112716e-01 -6.74602430e-01 -1.00587675e-02 2.06652996e+02] [ 1.37082427e-02 8.95429824e-05 9.99906034e-01 7.48482529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2692541539998 meters 0.014700024388856252 Centerline is valid? [True, True] Translation: X:893.86, Y:206.67, Z:7.49 [[-6.73527310e-01 -7.39108140e-01 8.95100295e-03 8.93856990e+02] [ 7.39044998e-01 -6.73586777e-01 -9.66154918e-03 2.06674114e+02] [ 1.31702069e-02 1.07876725e-04 9.99913263e-01 7.48594213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2992541539998 meters 0.01327621187814429 Centerline is valid? [True, True] Translation: X:893.84, Y:206.69, Z:7.49 [[-6.73011454e-01 -7.39579424e-01 8.82373481e-03 8.93838462e+02] [ 7.39518176e-01 -6.73069285e-01 -9.51867993e-03 2.06694702e+02] [ 1.29788047e-02 1.19131649e-04 9.99915765e-01 7.48784956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.329254154 meters 0.013532704952707262 Centerline is valid? [True, True] Translation: X:893.82, Y:206.72, Z:7.49 [[-6.72106903e-01 -7.40399656e-01 8.98109162e-03 8.93820693e+02] [ 7.40336355e-01 -6.72166891e-01 -9.68260690e-03 2.06715108e+02] [ 1.32057912e-02 1.41281694e-04 9.99912790e-01 7.48768727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.359254154 meters 0.01739241573589179 Centerline is valid? [True, True] Translation: X:893.80, Y:206.74, Z:7.48 [[-6.72226001e-01 -7.40279069e-01 9.95512916e-03 8.93801669e+02] [ 7.40201375e-01 -6.72299692e-01 -1.07260652e-02 2.06736436e+02] [ 1.46331118e-02 1.58460412e-04 9.99892918e-01 7.48396534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.389254154 meters 0.015749815911859685 Centerline is valid? [True, True] Translation: X:893.78, Y:206.76, Z:7.49 [[-6.71180855e-01 -7.41234481e-01 9.36508259e-03 8.93783712e+02] [ 7.41165896e-01 -6.71246165e-01 -1.00846348e-02 2.06758686e+02] [ 1.37613548e-02 1.72466006e-04 9.99905293e-01 7.48587526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4192541539999 meters 0.015457334389261619 Centerline is valid? [True, True] Translation: X:893.76, Y:206.78, Z:7.49 [[-6.70682595e-01 -7.41687897e-01 9.16080257e-03 8.93764886e+02] [ 7.41622391e-01 -6.70745131e-01 -9.85889958e-03 2.06780047e+02] [ 1.34567902e-02 1.81663956e-04 9.99909437e-01 7.48637452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4492541539998 meters 0.015500664052469863 Centerline is valid? [True, True] Translation: X:893.75, Y:206.80, Z:7.49 [[-6.70353472e-01 -7.41984567e-01 9.22636702e-03 8.93746829e+02] [ 7.41918229e-01 -6.70416934e-01 -9.92353647e-03 2.06801218e+02] [ 1.35486236e-02 1.92932749e-04 9.99908195e-01 7.48655540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4792541539998 meters 0.017750049195773315 Centerline is valid? [True, True] Translation: X:893.73, Y:206.82, Z:7.49 [[-6.69809121e-01 -7.42469891e-01 9.70576385e-03 8.93729711e+02] [ 7.42396609e-01 -6.69879402e-01 -1.04336648e-02 2.06822261e+02] [ 1.42483732e-02 2.16962351e-04 9.99898463e-01 7.48520035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.5092541539998 meters 0.016816998663514174 Centerline is valid? [True, True] Translation: X:893.71, Y:206.85, Z:7.49 [[-6.69443893e-01 -7.42809468e-01 8.88637571e-03 8.93712301e+02] [ 7.42748128e-01 -6.69502838e-01 -9.54816562e-03 2.06845043e+02] [ 1.30419216e-02 2.08377763e-04 9.99914929e-01 7.48649532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.5392541539998 meters 0.017997761297436247 Centerline is valid? [True, True] Translation: X:893.69, Y:206.87, Z:7.49 [[-6.69313079e-01 -7.42925753e-01 9.01813774e-03 8.93693995e+02] [ 7.42862667e-01 -6.69373795e-01 -9.68405057e-03 2.06866397e+02] [ 1.32310357e-02 2.17576141e-04 9.99912442e-01 7.48594663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.5692541539997 meters 0.01562404721311147 Centerline is valid? [True, True] Translation: X:893.68, Y:206.89, Z:7.49 [[-6.68741595e-01 -7.43451456e-01 8.03818474e-03 8.93677483e+02] [ 7.43401430e-01 -6.68789870e-01 -8.62691660e-03 2.06887433e+02] [ 1.17895502e-02 2.06420055e-04 9.99930480e-01 7.48795703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.599254154 meters 0.01808031952486211 Centerline is valid? [True, True] Translation: X:893.66, Y:206.91, Z:7.49 [[-6.68612116e-01 -7.43557863e-01 8.91865751e-03 8.93659240e+02] [ 7.43496365e-01 -6.68671556e-01 -9.56586008e-03 2.06908766e+02] [ 1.30764231e-02 2.35139485e-04 9.99914472e-01 7.48553275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.629254154 meters 0.017395821708357788 Centerline is valid? [True, True] Translation: X:893.64, Y:206.93, Z:7.49 [[-6.67175208e-01 -7.44841798e-01 9.37750686e-03 8.93642542e+02] [ 7.44774006e-01 -6.67241051e-01 -1.00528866e-02 2.06929657e+02] [ 1.37448676e-02 2.77086649e-04 9.99905496e-01 7.48594135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6592541539999 meters 0.018387626220498887 Centerline is valid? [True, True] Translation: X:893.63, Y:206.95, Z:7.48 [[-6.65851970e-01 -7.46010140e-01 1.04892900e-02 8.93625807e+02] [ 7.45925553e-01 -6.65934497e-01 -1.12389851e-02 2.06952780e+02] [ 1.53695769e-02 3.40729138e-04 9.99881823e-01 7.48471720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6892541539999 meters 0.016716102179604383 Centerline is valid? [True, True] Translation: X:893.61, Y:206.97, Z:7.49 [[-6.64981764e-01 -7.46791721e-01 1.00687313e-02 8.93607198e+02] [ 7.46713962e-01 -6.65057895e-01 -1.07821736e-02 2.06971990e+02] [ 1.47483272e-02 3.48513412e-04 9.99891177e-01 7.48738623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7192541539998 meters 0.016364459544930817 Centerline is valid? [True, True] Translation: X:893.59, Y:206.99, Z:7.49 [[-6.64543117e-01 -7.47178078e-01 1.03617544e-02 8.93589400e+02] [ 7.47095875e-01 -6.64623790e-01 -1.10892564e-02 2.06994058e+02] [ 1.51723178e-02 3.71934962e-04 9.99884825e-01 7.48765178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7492541539998 meters 0.01718621645678702 Centerline is valid? [True, True] Translation: X:893.57, Y:207.02, Z:7.49 [[-6.63459429e-01 -7.48134528e-01 1.07848692e-02 8.93572250e+02] [ 7.48045712e-01 -6.63546951e-01 -1.15350591e-02 2.07015275e+02] [ 1.57860431e-02 4.14531419e-04 9.99875307e-01 7.48727456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7792541539998 meters 0.01995506098302329 Centerline is valid? [True, True] Translation: X:893.55, Y:207.04, Z:7.48 [[-6.63351398e-01 -7.48220744e-01 1.14298654e-02 8.93554491e+02] [ 7.48121125e-01 -6.63449711e-01 -1.22173194e-02 2.07035714e+02] [ 1.67243928e-02 4.46547868e-04 9.99860038e-01 7.48413882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.8092541539997 meters 0.01824840595770388 Centerline is valid? [True, True] Translation: X:893.54, Y:207.06, Z:7.49 [[-6.62417790e-01 -7.49051979e-01 1.11267590e-02 8.93537781e+02] [ 7.48957806e-01 -6.62511073e-01 -1.18862591e-02 2.07057758e+02] [ 1.62750270e-02 4.59803541e-04 9.99867447e-01 7.48719332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.839254154 meters 0.022080847916467767 Centerline is valid? [True, True] Translation: X:893.52, Y:207.08, Z:7.48 [[-6.62568248e-01 -7.48900888e-01 1.22791011e-02 8.93519309e+02] [ 7.48786318e-01 -6.62681825e-01 -1.31091341e-02 2.07078142e+02] [ 1.79545793e-02 5.08726900e-04 9.99838674e-01 7.48265762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.869254154 meters 0.01741268783073775 Centerline is valid? [True, True] Translation: X:893.51, Y:207.10, Z:7.49 [[-6.62446341e-01 -7.49017098e-01 1.17572359e-02 8.93505128e+02] [ 7.48912202e-01 -6.62550483e-01 -1.25447396e-02 2.07103208e+02] [ 1.71859867e-02 4.94920583e-04 9.99852188e-01 7.48755972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.899254154 meters 0.022225102280041202 Centerline is valid? [True, True] Translation: X:893.49, Y:207.12, Z:7.48 [[-6.63002671e-01 -7.48510922e-01 1.26038957e-02 8.93486031e+02] [ 7.48390436e-01 -6.63122257e-01 -1.34397888e-02 2.07122782e+02] [ 1.84177525e-02 5.22019137e-04 9.99830243e-01 7.48280136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9292541539999 meters 0.019871717085126684 Centerline is valid? [True, True] Translation: X:893.47, Y:207.15, Z:7.49 [[-6.63720298e-01 -7.47883662e-01 1.20579677e-02 8.93472084e+02] [ 7.47773417e-01 -6.63829640e-01 -1.28501645e-02 2.07148141e+02] [ 1.76148644e-02 4.87712726e-04 9.99844727e-01 7.48545750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9592541539998 meters 0.017812030225064012 Centerline is valid? [True, True] Translation: X:893.45, Y:207.17, Z:7.49 [[-6.63939972e-01 -7.47702509e-01 1.11656183e-02 8.93454546e+02] [ 7.47608065e-01 -6.64033699e-01 -1.18923408e-02 2.07168869e+02] [ 1.63062799e-02 4.51705907e-04 9.99866942e-01 7.48919263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9892541539998 meters 0.017403285782123665 Centerline is valid? [True, True] Translation: X:893.44, Y:207.19, Z:7.49 [[-6.64352385e-01 -7.47343241e-01 1.06765192e-02 8.93439826e+02] [ 7.47256948e-01 -6.64438031e-01 -1.13647467e-02 2.07193333e+02] [ 1.55872520e-02 4.27906531e-04 9.99878420e-01 7.48986397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.0192541539998 meters 0.021031723190748468 Centerline is valid? [True, True] Translation: X:893.42, Y:207.21, Z:7.49 [[-6.64426025e-01 -7.47286975e-01 1.00117542e-02 8.93418707e+02] [ 7.47211163e-01 -6.64501328e-01 -1.06519124e-02 2.07210420e+02] [ 1.46128594e-02 4.03486717e-04 9.99893145e-01 7.48937667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.0492541539998 meters 0.020389081267578397 Centerline is valid? [True, True] Translation: X:893.40, Y:207.23, Z:7.49 [[-6.65364946e-01 -7.46438111e-01 1.09377593e-02 8.93404913e+02] [ 7.46347617e-01 -6.65454706e-01 -1.16305013e-02 2.07234639e+02] [ 1.59600328e-02 4.24842710e-04 9.99872540e-01 7.48791933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.079254154 meters 0.015961365592079786 Centerline is valid? [True, True] Translation: X:893.39, Y:207.26, Z:7.49 [[-6.68152376e-01 -7.43951544e-01 1.04164750e-02 8.93389812e+02] [ 7.43869265e-01 -6.68233474e-01 -1.10697847e-02 2.07259442e+02] [ 1.51960207e-02 3.52192694e-04 9.99884472e-01 7.49133179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.109254154 meters 0.01673252094866379 Centerline is valid? [True, True] Translation: X:893.37, Y:207.28, Z:7.49 [[-6.70673686e-01 -7.41673452e-01 1.08304140e-02 8.93372473e+02] [ 7.41584311e-01 -6.70761053e-01 -1.15030229e-02 2.07281916e+02] [ 1.57961066e-02 3.16890305e-04 9.99875184e-01 7.48922491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.139254154 meters 0.01462823635246982 Centerline is valid? [True, True] Translation: X:893.36, Y:207.30, Z:7.49 [[-6.73250194e-01 -7.39337015e-01 1.07216813e-02 8.93356263e+02] [ 7.39249458e-01 -6.73335510e-01 -1.13811092e-02 2.07303932e+02] [ 1.56337641e-02 2.63663150e-04 9.99877750e-01 7.49152229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1692541539999 meters 0.015190280838771985 Centerline is valid? [True, True] Translation: X:893.34, Y:207.33, Z:7.49 [[-6.78988391e-01 -7.34073428e-01 1.05340705e-02 8.93343224e+02] [ 7.33988361e-01 -6.79070086e-01 -1.11760445e-02 2.07328474e+02] [ 1.53574095e-02 1.43480719e-04 9.99882058e-01 7.49008031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1992541539998 meters 0.01492552079893835 Centerline is valid? [True, True] Translation: X:893.33, Y:207.35, Z:7.49 [[-6.81676218e-01 -7.31581428e-01 1.03028717e-02 8.93327024e+02] [ 7.31499863e-01 -6.81754066e-01 -1.09244570e-02 2.07351176e+02] [ 1.50161545e-02 8.96066739e-05 9.99887247e-01 7.49061719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2292541539998 meters 0.012879718551978928 Centerline is valid? [True, True] Translation: X:893.31, Y:207.37, Z:7.49 [[-6.85273573e-01 -7.28225522e-01 9.36584932e-03 8.93313178e+02] [ 7.28157889e-01 -6.85337572e-01 -9.92472444e-03 2.07373830e+02] [ 1.36462061e-02 1.86656967e-05 9.99906886e-01 7.49460898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2592541539998 meters 0.012876641927428404 Centerline is valid? [True, True] Translation: X:893.29, Y:207.39, Z:7.50 [[-6.85809735e-01 -7.27729521e-01 8.64587364e-03 8.93293858e+02] [ 7.27671918e-01 -6.85864231e-01 -9.15622970e-03 2.07393773e+02] [ 1.25931541e-02 1.19279895e-05 9.99920703e-01 7.49548891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2892541539998 meters 0.01294954426113257 Centerline is valid? [True, True] Translation: X:893.27, Y:207.41, Z:7.50 [[-6.85946744e-01 -7.27603393e-01 8.38847650e-03 8.93274847e+02] [ 7.27549226e-01 -6.85998034e-01 -8.87814566e-03 2.07411905e+02] [ 1.22142473e-02 1.30944748e-05 9.99925403e-01 7.49527262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.3192541539997 meters 0.015046984842656217 Centerline is valid? [True, True] Translation: X:893.25, Y:207.43, Z:7.49 [[-6.85846100e-01 -7.27689979e-01 9.07861542e-03 8.93254850e+02] [ 7.27626626e-01 -6.85906185e-01 -9.60204363e-03 2.07430938e+02] [ 1.32143894e-02 2.03181223e-05 9.99912686e-01 7.49256268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.349254154 meters 0.015046984842656217 Centerline is valid? [True, True] Translation: X:893.24, Y:207.45, Z:7.49 [[-6.86077588e-01 -7.27471695e-01 9.08166788e-03 8.93236370e+02] [ 7.27408361e-01 -6.86137692e-01 -9.59915618e-03 2.07450314e+02] [ 1.32143891e-02 2.03152252e-05 9.99912686e-01 7.49274259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.379254154 meters 0.012895171294358654 Centerline is valid? [True, True] Translation: X:893.22, Y:207.47, Z:7.49 [[-6.85889765e-01 -7.27647526e-01 9.18191734e-03 8.93217486e+02] [ 7.27582885e-01 -6.85951220e-01 -9.69891751e-03 2.07469370e+02] [ 1.33557407e-02 2.82176563e-05 9.99910808e-01 7.49476665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4092541539999 meters 0.01293351786342723 Centerline is valid? [True, True] Translation: X:893.20, Y:207.49, Z:7.49 [[-6.85925675e-01 -7.27607993e-01 9.62165642e-03 8.93198184e+02] [ 7.27537095e-01 -6.85993154e-01 -1.01571494e-02 2.07489257e+02] [ 1.39908136e-02 3.30623822e-05 9.99902123e-01 7.49468957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4392541539999 meters 0.013017325535783488 Centerline is valid? [True, True] Translation: X:893.18, Y:207.51, Z:7.49 [[-6.85430212e-01 -7.28067305e-01 1.01697457e-02 8.93179225e+02] [ 7.27988252e-01 -6.85505651e-01 -1.07288429e-02 2.07507667e+02] [ 1.47827379e-02 4.95823828e-05 9.99890728e-01 7.49344420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4692541539998 meters 0.01667638494104337 Centerline is valid? [True, True] Translation: X:893.16, Y:207.53, Z:7.49 [[-6.85016759e-01 -7.28437906e-01 1.14129870e-02 8.93158157e+02] [ 7.28338525e-01 -6.85111825e-01 -1.20324738e-02 2.07525786e+02] [ 1.65840824e-02 7.00718741e-05 9.99862472e-01 7.48928975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4992541539998 meters 0.01347854729713327 Centerline is valid? [True, True] Translation: X:893.14, Y:207.55, Z:7.49 [[-6.84752649e-01 -7.28696769e-01 1.07158141e-02 8.93138116e+02] [ 7.28609293e-01 -6.84836486e-01 -1.12909326e-02 2.07545999e+02] [ 1.55662466e-02 7.61457309e-05 9.99878836e-01 7.49307943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.5292541539998 meters 0.01319966541506009 Centerline is valid? [True, True] Translation: X:893.12, Y:207.56, Z:7.49 [[-6.84806762e-01 -7.28650710e-01 1.03846687e-02 8.93118297e+02] [ 7.28568651e-01 -6.84885492e-01 -1.09354359e-02 2.07564254e+02] [ 1.50804220e-02 7.72836410e-05 9.99886281e-01 7.49330176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.5592541539997 meters 0.013088449586917253 Centerline is valid? [True, True] Translation: X:893.10, Y:207.58, Z:7.49 [[-6.84991107e-01 -7.28479049e-01 1.02692599e-02 8.93098634e+02] [ 7.28398880e-01 -6.85068076e-01 -1.08074961e-02 2.07583885e+02] [ 1.49081766e-02 7.70786786e-05 9.99888864e-01 7.49401748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.589254154 meters 0.015049958229222202 Centerline is valid? [True, True] Translation: X:893.08, Y:207.60, Z:7.49 [[-6.85442244e-01 -7.28051311e-01 1.04985172e-02 8.93079468e+02] [ 7.27967577e-01 -6.85522635e-01 -1.10419549e-02 2.07602732e+02] [ 1.52360809e-02 7.39577399e-05 9.99883921e-01 7.49219195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.619254154 meters 0.01301978148065172 Centerline is valid? [True, True] Translation: X:893.06, Y:207.62, Z:7.50 [[-6.85953306e-01 -7.27583981e-01 9.46641312e-03 8.93059672e+02] [ 7.27515941e-01 -6.86018620e-01 -9.95034221e-03 2.07621906e+02] [ 1.37338453e-02 6.14963149e-05 9.99905684e-01 7.49554500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.649254154 meters 0.01572923037775848 Centerline is valid? [True, True] Translation: X:893.04, Y:207.64, Z:7.49 [[-6.86804721e-01 -7.26781437e-01 9.38183647e-03 8.93040240e+02] [ 7.26714613e-01 -6.86868794e-01 -9.85547623e-03 2.07641593e+02] [ 1.36068679e-02 4.91300642e-05 9.99907421e-01 7.49313152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.6792541539999 meters 0.012904728709096126 Centerline is valid? [True, True] Translation: X:893.02, Y:207.66, Z:7.50 [[-6.87540917e-01 -7.26103765e-01 7.79814202e-03 8.93020085e+02] [ 7.26057602e-01 -6.87585138e-01 -8.18759366e-03 2.07661204e+02] [ 1.13069291e-02 3.25946440e-05 9.99936074e-01 7.49670754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7092541539998 meters 0.012842128469937661 Centerline is valid? [True, True] Translation: X:893.00, Y:207.68, Z:7.50 [[-6.88452199e-01 -7.25243110e-01 7.48337897e-03 8.93000462e+02] [ 7.25200597e-01 -6.88492869e-01 -7.85260034e-03 2.07680195e+02] [ 1.08472973e-02 2.08109240e-05 9.99941166e-01 7.49653738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7392541539998 meters 0.012868548945046979 Centerline is valid? [True, True] Translation: X:892.98, Y:207.70, Z:7.50 [[-6.88869722e-01 -7.24845277e-01 7.60464083e-03 8.92981319e+02] [ 7.24801405e-01 -6.88911696e-01 -7.97488417e-03 2.07699699e+02] [ 1.10194831e-02 1.81981181e-05 9.99939283e-01 7.49642913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7692541539998 meters 0.014406867666218806 Centerline is valid? [True, True] Translation: X:892.96, Y:207.72, Z:7.49 [[-6.89456092e-01 -7.24272574e-01 8.91829781e-03 8.92962566e+02] [ 7.24212271e-01 -6.89513770e-01 -9.34596431e-03 2.07718803e+02] [ 1.29183148e-02 1.51086776e-05 9.99916555e-01 7.49390858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7992541539998 meters 0.015973396258091126 Centerline is valid? [True, True] Translation: X:892.94, Y:207.74, Z:7.49 [[-6.89488010e-01 -7.24230377e-01 9.83082510e-03 8.92943300e+02] [ 7.24157196e-01 -6.89558091e-01 -1.02953582e-02 2.07738239e+02] [ 1.42351361e-02 2.05367123e-05 9.99898675e-01 7.49233642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.829254154 meters 0.013455296324584955 Centerline is valid? [True, True] Translation: X:892.92, Y:207.76, Z:7.50 [[-6.89176851e-01 -7.24525665e-01 9.89088105e-03 8.92923452e+02] [ 7.24451706e-01 -6.89247822e-01 -1.03520767e-02 2.07757748e+02] [ 1.43176135e-02 3.10540267e-05 9.99897497e-01 7.49503236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.859254154 meters 0.016250828701735533 Centerline is valid? [True, True] Translation: X:892.90, Y:207.77, Z:7.49 [[-6.88363454e-01 -7.25285075e-01 1.08312302e-02 8.92903744e+02] [ 7.25196594e-01 -6.88448660e-01 -1.13288614e-02 2.07774728e+02] [ 1.56734000e-02 5.63970454e-05 9.99877163e-01 7.49133993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.889254154 meters 0.015395662230100417 Centerline is valid? [True, True] Translation: X:892.88, Y:207.79, Z:7.49 [[-6.87411298e-01 -7.26200811e-01 9.90401957e-03 8.92883501e+02] [ 7.26127019e-01 -6.87482637e-01 -1.03525514e-02 2.07792432e+02] [ 1.43268727e-02 7.51154170e-05 9.99897362e-01 7.49224028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9192541539999 meters 0.01733153832997582 Centerline is valid? [True, True] Translation: X:892.86, Y:207.81, Z:7.49 [[-6.87325338e-01 -7.26278178e-01 1.01925104e-02 8.92863414e+02] [ 7.26200129e-01 -6.87400903e-01 -1.06475876e-02 2.07812676e+02] [ 1.47394514e-02 8.34456378e-05 9.99891365e-01 7.49131906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9492541539998 meters 0.014211745542837368 Centerline is valid? [True, True] Translation: X:892.84, Y:207.83, Z:7.49 [[-6.87210774e-01 -7.26399373e-01 9.23595802e-03 8.92844912e+02] [ 7.26335375e-01 -6.87272831e-01 -9.64255310e-03 2.07831054e+02] [ 1.33519675e-02 8.19366643e-05 9.99910855e-01 7.49419270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9792541539998 meters 0.017056914830884694 Centerline is valid? [True, True] Translation: X:892.83, Y:207.85, Z:7.49 [[-6.87070271e-01 -7.26529279e-01 9.46831450e-03 8.92826689e+02] [ 7.26462123e-01 -6.87135502e-01 -9.87855250e-03 2.07850769e+02] [ 1.36830727e-02 9.11121149e-05 9.99906378e-01 7.49169998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.0092541539998 meters 0.014928219718561075 Centerline is valid? [True, True] Translation: X:892.81, Y:207.87, Z:7.49 [[-6.86201354e-01 -7.27352827e-01 9.25022160e-03 8.92808928e+02] [ 7.27288876e-01 -6.86263691e-01 -9.64561310e-03 2.07869505e+02] [ 1.33638552e-02 1.08750504e-04 9.99910694e-01 7.49383284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.0392541539998 meters 0.013781842245163494 Centerline is valid? [True, True] Translation: X:892.79, Y:207.89, Z:7.50 [[-6.85664783e-01 -7.27861602e-01 9.01628765e-03 8.92790038e+02] [ 7.27800957e-01 -6.85724051e-01 -9.39645138e-03 2.07888642e+02] [ 1.30220014e-02 1.19246976e-04 9.99915203e-01 7.49593639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.0692541539997 meters 0.014669703423657327 Centerline is valid? [True, True] Translation: X:892.77, Y:207.91, Z:7.49 [[-6.84175478e-01 -7.29256998e-01 9.38865247e-03 8.92769558e+02] [ 7.29191455e-01 -6.84239875e-01 -9.77835136e-03 2.07906983e+02] [ 1.35550216e-02 1.56016947e-04 9.99908114e-01 7.49387478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.099254154 meters 0.01436175241456577 Centerline is valid? [True, True] Translation: X:892.75, Y:207.93, Z:7.49 [[-6.83065047e-01 -7.30295203e-01 9.54243830e-03 8.92749590e+02] [ 7.30227676e-01 -6.83131673e-01 -9.93267896e-03 2.07926874e+02] [ 1.37725296e-02 1.83486722e-04 9.99905137e-01 7.49448791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.129254154 meters 0.01452251175654681 Centerline is valid? [True, True] Translation: X:892.73, Y:207.95, Z:7.49 [[-6.82164411e-01 -7.31131139e-01 9.94854972e-03 8.92729221e+02] [ 7.31057918e-01 -6.82236917e-01 -1.03493443e-02 2.07946890e+02] [ 1.43539958e-02 2.13011672e-04 9.99896953e-01 7.49438230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1592541539999 meters 0.015368227077894748 Centerline is valid? [True, True] Translation: X:892.71, Y:207.96, Z:7.49 [[-6.79984797e-01 -7.33156385e-01 1.01188474e-02 8.92709306e+02] [ 7.33080935e-01 -6.80060031e-01 -1.05212724e-02 2.07964989e+02] [ 1.45951617e-02 2.63628837e-04 9.99893450e-01 7.49372864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1892541539999 meters 0.01714067704973672 Centerline is valid? [True, True] Translation: X:892.69, Y:207.99, Z:7.49 [[-6.79476524e-01 -7.33623538e-01 1.03998957e-02 8.92689379e+02] [ 7.33543975e-01 -6.79556049e-01 -1.08079946e-02 2.07985025e+02] [ 1.49963113e-02 2.85002213e-04 9.99887508e-01 7.49179423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2192541539998 meters 0.019250778310743972 Centerline is valid? [True, True] Translation: X:892.67, Y:208.00, Z:7.49 [[-6.78311735e-01 -7.34697742e-01 1.06027325e-02 8.92669284e+02] [ 7.34615274e-01 -6.78394521e-01 -1.10124227e-02 2.08004266e+02] [ 1.52836377e-02 3.19073722e-04 9.99883147e-01 7.49017848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2492541539998 meters 0.020472929561828054 Centerline is valid? [True, True] Translation: X:892.65, Y:208.02, Z:7.49 [[-6.78011821e-01 -7.34970389e-01 1.08857046e-02 8.92650349e+02] [ 7.34883590e-01 -6.78099118e-01 -1.13002568e-02 2.08023050e+02] [ 1.56869408e-02 3.38017965e-04 9.99876895e-01 7.48926925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2792541539998 meters 0.015637202135879248 Centerline is valid? [True, True] Translation: X:892.63, Y:208.05, Z:7.49 [[-6.78306166e-01 -7.34710276e-01 1.00774335e-02 8.92633145e+02] [ 7.34635941e-01 -6.78380950e-01 -1.04556481e-02 2.08045641e+02] [ 1.45182110e-02 3.11114266e-04 9.99894557e-01 7.49443634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.3092541539997 meters 0.016766146625818552 Centerline is valid? [True, True] Translation: X:892.61, Y:208.07, Z:7.49 [[-6.79247200e-01 -7.33837608e-01 1.02765176e-02 8.92614933e+02] [ 7.33760303e-01 -6.79324866e-01 -1.06557204e-02 2.08065885e+02] [ 1.48006623e-02 3.02632382e-04 9.99890418e-01 7.49295130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.339254154 meters 0.015614395458011346 Centerline is valid? [True, True] Translation: X:892.60, Y:208.09, Z:7.50 [[-6.79760575e-01 -7.33366704e-01 9.94175324e-03 8.92596024e+02] [ 7.33294390e-01 -6.79833211e-01 -1.03025527e-02 2.08086749e+02] [ 1.43142831e-02 2.86962759e-04 9.99897504e-01 7.49544744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.369254154 meters 0.016417666889293307 Centerline is valid? [True, True] Translation: X:892.58, Y:208.11, Z:7.49 [[-6.80924370e-01 -7.32291031e-01 9.58374365e-03 8.92578226e+02] [ 7.32223792e-01 -6.80991762e-01 -9.92665882e-03 2.08106937e+02] [ 1.37956537e-02 2.58141209e-04 9.99904802e-01 7.49477186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.399254154 meters 0.015445199852812029 Centerline is valid? [True, True] Translation: X:892.56, Y:208.13, Z:7.50 [[-6.81356285e-01 -7.31889105e-01 9.58915020e-03 8.92559641e+02] [ 7.31821819e-01 -6.81423711e-01 -9.92726137e-03 2.08127364e+02] [ 1.37999288e-02 2.53547415e-04 9.99904744e-01 7.49639401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4292541539999 meters 0.01616079686104542 Centerline is valid? [True, True] Translation: X:892.54, Y:208.15, Z:7.49 [[-6.82337628e-01 -7.30967068e-01 1.01245717e-02 8.92541641e+02] [ 7.30892056e-01 -6.82412692e-01 -1.04747895e-02 2.08146848e+02] [ 1.45658624e-02 2.52626028e-04 9.99893880e-01 7.49431896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4592541539998 meters 0.018237721126753075 Centerline is valid? [True, True] Translation: X:892.52, Y:208.17, Z:7.49 [[-6.83223410e-01 -7.30129061e-01 1.08316782e-02 8.92522724e+02] [ 7.30043218e-01 -6.83309219e-01 -1.11987665e-02 2.08167146e+02] [ 1.55779304e-02 2.56333749e-04 9.99878624e-01 7.49128855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4892541539998 meters 0.015260434861203442 Centerline is valid? [True, True] Translation: X:892.51, Y:208.19, Z:7.49 [[-6.83897456e-01 -7.29497502e-01 1.08472731e-02 8.92505214e+02] [ 7.29411443e-01 -6.83983430e-01 -1.12077390e-02 2.08187636e+02] [ 1.55953727e-02 2.47180898e-04 9.99878354e-01 7.49447086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.5192541539998 meters 0.015032497621224482 Centerline is valid? [True, True] Translation: X:892.49, Y:208.21, Z:7.50 [[-6.84228586e-01 -7.29185786e-01 1.09238772e-02 8.92486797e+02] [ 7.29098574e-01 -6.84315737e-01 -1.12800974e-02 2.08208593e+02] [ 1.57006678e-02 2.46418170e-04 9.99876707e-01 7.49557214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.5492541539998 meters 0.016050111800242507 Centerline is valid? [True, True] Translation: X:892.47, Y:208.23, Z:7.49 [[-6.84412988e-01 -7.29013742e-01 1.08547414e-02 8.92467977e+02] [ 7.28927719e-01 -6.84499017e-01 -1.12016489e-02 2.08226498e+02] [ 1.55962158e-02 2.45767876e-04 9.99878341e-01 7.49484569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.579254154 meters 0.018550315785947173 Centerline is valid? [True, True] Translation: X:892.45, Y:208.25, Z:7.49 [[-6.84843378e-01 -7.28605219e-01 1.11347251e-02 8.92448421e+02] [ 7.28514767e-01 -6.84933846e-01 -1.14830576e-02 2.08246064e+02] [ 1.59931658e-02 2.47715689e-04 9.99872070e-01 7.49302458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.609254154 meters 0.01586590250136236 Centerline is valid? [True, True] Translation: X:892.43, Y:208.27, Z:7.50 [[-6.84794715e-01 -7.28669414e-01 9.85309823e-03 8.92429042e+02] [ 7.28598680e-01 -6.84865560e-01 -1.01552393e-02 2.08265396e+02] [ 1.41478599e-02 2.24700143e-04 9.99899889e-01 7.49681849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.639254154 meters 0.015502689171299664 Centerline is valid? [True, True] Translation: X:892.41, Y:208.28, Z:7.50 [[-6.86005333e-01 -7.27536113e-01 9.37479771e-03 8.92410069e+02] [ 7.27472055e-01 -6.86069360e-01 -9.65622394e-03 2.08284564e+02] [ 1.34570131e-02 1.95682237e-04 9.99909431e-01 7.49714152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6692541539999 meters 0.015395735368915997 Centerline is valid? [True, True] Translation: X:892.39, Y:208.30, Z:7.50 [[-6.87034827e-01 -7.26564387e-01 9.34549692e-03 8.92391318e+02] [ 7.26500722e-01 -6.87098362e-01 -9.61986687e-03 2.08304480e+02] [ 1.34107283e-02 1.80326681e-04 9.99910056e-01 7.49692716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6992541539998 meters 0.016595257693438142 Centerline is valid? [True, True] Translation: X:892.37, Y:208.33, Z:7.49 [[-6.89863173e-01 -7.23869119e-01 1.01143695e-02 8.92373365e+02] [ 7.23794352e-01 -6.89937300e-01 -1.04047398e-02 2.08325289e+02] [ 1.45099506e-02 1.42876764e-04 9.99894715e-01 7.49475365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7292541539998 meters 0.014836035717830112 Centerline is valid? [True, True] Translation: X:892.36, Y:208.35, Z:7.50 [[-6.93265115e-01 -7.20610546e-01 1.01941759e-02 8.92356949e+02] [ 7.20534336e-01 -6.93340057e-01 -1.04802840e-02 2.08345795e+02] [ 1.46202337e-02 7.96384017e-05 9.99893116e-01 7.49602046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7592541539998 meters 0.016300637619943124 Centerline is valid? [True, True] Translation: X:892.34, Y:208.37, Z:7.49 [[-6.96960194e-01 -7.17032237e-01 1.05479141e-02 8.92339587e+02] [ 7.16950342e-01 -6.97040007e-01 -1.08367822e-02 2.08366905e+02] [ 1.51226403e-02 9.52475701e-06 9.99885646e-01 7.49468978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7892541539998 meters 0.01386236631180148 Centerline is valid? [True, True] Translation: X:892.32, Y:208.39, Z:7.50 [[-6.99920198e-01 -7.14145577e-01 1.03832381e-02 8.92321768e+02] [ 7.14066001e-01 -6.99997209e-01 -1.06608431e-02 2.08387704e+02] [ 1.48816316e-02 -4.74220904e-05 9.99889261e-01 7.49734302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.8192541539997 meters 0.016138308695579424 Centerline is valid? [True, True] Translation: X:892.30, Y:208.41, Z:7.50 [[-7.01896278e-01 -7.12197145e-01 1.08092961e-02 8.92303515e+02] [ 7.12110784e-01 -7.01979500e-01 -1.10910719e-02 2.08407413e+02] [ 1.54869340e-02 -8.73657113e-05 9.99880066e-01 7.49556555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.849254154 meters 0.0178721433436646 Centerline is valid? [True, True] Translation: X:892.28, Y:208.43, Z:7.50 [[-7.03512711e-01 -7.10597304e-01 1.10152791e-02 8.92284339e+02] [ 7.10507533e-01 -7.03598932e-01 -1.12955189e-02 2.08427531e+02] [ 1.57769039e-02 -1.20102358e-04 9.99875530e-01 7.49501618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.879254154 meters 0.017594903950971626 Centerline is valid? [True, True] Translation: X:892.27, Y:208.45, Z:7.49 [[-7.05784165e-01 -7.08346325e-01 1.06863044e-02 8.92267460e+02] [ 7.08261658e-01 -7.05865043e-01 -1.09528810e-02 2.08448381e+02] [ 1.53015217e-02 -1.61670352e-04 9.99882912e-01 7.49495663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9092541539999 meters 0.014161929367001915 Centerline is valid? [True, True] Translation: X:892.25, Y:208.47, Z:7.50 [[-7.06643511e-01 -7.07496290e-01 1.01955409e-02 8.92246791e+02] [ 7.07419209e-01 -7.06717038e-01 -1.04446841e-02 2.08468082e+02] [ 1.45949377e-02 -1.68146756e-04 9.99893474e-01 7.49994259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9392541539999 meters 0.015012038541998037 Centerline is valid? [True, True] Translation: X:892.23, Y:208.49, Z:7.50 [[-7.07488902e-01 -7.06648909e-01 1.03330972e-02 8.92229046e+02] [ 7.06569737e-01 -7.07564333e-01 -1.05792637e-02 2.08488857e+02] [ 1.47871562e-02 -1.83657901e-04 9.99890647e-01 7.49894769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9692541539998 meters 0.01515176617936548 Centerline is valid? [True, True] Translation: X:892.21, Y:208.51, Z:7.50 [[-7.08516943e-01 -7.05613773e-01 1.06275623e-02 8.92208795e+02] [ 7.05530012e-01 -7.08596613e-01 -1.08738962e-02 2.08507415e+02] [ 1.52034256e-02 -2.06275516e-04 9.99884400e-01 7.49890249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9992541539998 meters 0.016579872940549856 Centerline is valid? [True, True] Translation: X:892.19, Y:208.53, Z:7.50 [[-7.08393668e-01 -7.05728164e-01 1.12325726e-02 8.92188217e+02] [ 7.05634728e-01 -7.08482685e-01 -1.14854897e-02 2.08525753e+02] [ 1.60637168e-02 -2.10154918e-04 9.99870948e-01 7.49698023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.0292541539998 meters 0.016872771780989962 Centerline is valid? [True, True] Translation: X:892.17, Y:208.54, Z:7.50 [[-7.07823017e-01 -7.06291821e-01 1.17660705e-02 8.92168172e+02] [ 7.06189506e-01 -7.07920775e-01 -1.20232501e-02 2.08544333e+02] [ 1.68213689e-02 -2.01257631e-04 9.99858491e-01 7.49646593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.0592541539997 meters 0.014413940185248194 Centerline is valid? [True, True] Translation: X:892.15, Y:208.56, Z:7.50 [[-7.06843030e-01 -7.07277485e-01 1.14669463e-02 8.92147867e+02] [ 7.07180555e-01 -7.06936016e-01 -1.17102997e-02 2.08563081e+02] [ 1.63888287e-02 -1.68142323e-04 9.99865680e-01 7.49910029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.089254154 meters 0.016952642894666057 Centerline is valid? [True, True] Translation: X:892.13, Y:208.58, Z:7.50 [[-7.04835591e-01 -7.09252095e-01 1.29713078e-02 8.92125696e+02] [ 7.09128556e-01 -7.04954926e-01 -1.32379330e-02 2.08580022e+02] [ 1.85332190e-02 -1.32241606e-04 9.99828236e-01 7.49513205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.119254154 meters 0.014284825991448789 Centerline is valid? [True, True] Translation: X:892.10, Y:208.60, Z:7.50 [[-7.03123214e-01 -7.10956126e-01 1.26148025e-02 8.92104706e+02] [ 7.10839701e-01 -7.03236362e-01 -1.28661964e-02 2.08598072e+02] [ 1.80184890e-02 -7.94189232e-05 9.99837651e-01 7.49773314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.149254154 meters 0.015055712189840944 Centerline is valid? [True, True] Translation: X:892.08, Y:208.61, Z:7.50 [[-6.97346452e-01 -7.16619882e-01 1.28011921e-02 8.92080370e+02] [ 7.16501064e-01 -6.97463934e-01 -1.30493318e-02 2.08610318e+02] [ 1.82797804e-02 7.21625479e-05 9.99832908e-01 7.49703218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.1792541539999 meters 0.016843091691738588 Centerline is valid? [True, True] Translation: X:892.06, Y:208.63, Z:7.50 [[-6.95569802e-01 -7.18342819e-01 1.28936316e-02 8.92058838e+02] [ 7.18222704e-01 -6.95689284e-01 -1.31364958e-02 2.08628528e+02] [ 1.84064688e-02 1.23149177e-04 9.99830579e-01 7.49715361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2092541539998 meters 0.01411284916449343 Centerline is valid? [True, True] Translation: X:892.04, Y:208.65, Z:7.50 [[-6.93226967e-01 -7.20616850e-01 1.21543102e-02 8.92037826e+02] [ 7.20510593e-01 -6.93333487e-01 -1.23758421e-02 2.08645523e+02] [ 1.73452306e-02 1.78041780e-04 9.99849544e-01 7.50118714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2392541539998 meters 0.016628153864270523 Centerline is valid? [True, True] Translation: X:892.01, Y:208.66, Z:7.50 [[-6.89846057e-01 -7.23865966e-01 1.14228691e-02 8.92014622e+02] [ 7.23772667e-01 -6.89940579e-01 -1.16243124e-02 2.08661572e+02] [ 1.62955451e-02 2.48574385e-04 9.99867188e-01 7.50070160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2692541539998 meters 0.016628153864270523 Centerline is valid? [True, True] Translation: X:892.00, Y:208.68, Z:7.50 [[-6.90077885e-01 -7.23644906e-01 1.14264190e-02 8.91995777e+02] [ 7.23551635e-01 -6.90172434e-01 -1.16208226e-02 2.08680586e+02] [ 1.62955484e-02 2.48331490e-04 9.99867188e-01 7.50088162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2992541539998 meters 0.01567307619719333 Centerline is valid? [True, True] Translation: X:891.97, Y:208.70, Z:7.50 [[-6.88316753e-01 -7.25334725e-01 1.04682284e-02 8.91974792e+02] [ 7.25256731e-01 -6.88396299e-01 -1.06400036e-02 2.08698150e+02] [ 1.49238538e-02 2.68460384e-04 9.99888597e-01 7.50379329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.329254154 meters 0.016840421698146018 Centerline is valid? [True, True] Translation: X:891.95, Y:208.72, Z:7.51 [[-6.85270058e-01 -7.28219319e-01 1.00782114e-02 8.91952023e+02] [ 7.28147423e-01 -6.85344088e-01 -1.02377520e-02 2.08715078e+02] [ 1.43623713e-02 3.22798746e-04 9.99896804e-01 7.50520465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.359254154 meters 0.01967606622943016 Centerline is valid? [True, True] Translation: X:891.93, Y:208.73, Z:7.50 [[-6.84232513e-01 -7.29186120e-01 1.06522721e-02 8.91930437e+02] [ 7.29106011e-01 -6.84315328e-01 -1.08146765e-02 2.08733082e+02] [ 1.51754251e-02 3.66882378e-04 9.99884779e-01 7.50232750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.389254154 meters 0.020656497087535985 Centerline is valid? [True, True] Translation: X:891.91, Y:208.75, Z:7.50 [[-6.81470853e-01 -7.31769729e-01 1.05137722e-02 8.91907098e+02] [ 7.31692088e-01 -6.81551821e-01 -1.06679255e-02 2.08748188e+02] [ 1.49721456e-02 4.22963634e-04 9.99887822e-01 7.50280413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4192541539999 meters 0.021268433345984085 Centerline is valid? [True, True] Translation: X:891.88, Y:208.76, Z:7.50 [[-6.78744990e-01 -7.34296197e-01 1.06926960e-02 8.91884494e+02] [ 7.34216301e-01 -6.78829032e-01 -1.08429217e-02 2.08764363e+02] [ 1.52204286e-02 4.91172920e-04 9.99884042e-01 7.50304592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4492541539998 meters 0.021957094138859358 Centerline is valid? [True, True] Translation: X:891.86, Y:208.78, Z:7.50 [[-6.77715335e-01 -7.35238893e-01 1.12113879e-02 8.91863134e+02] [ 7.35151294e-01 -6.77807847e-01 -1.13621436e-02 2.08783076e+02] [ 1.59530566e-02 5.41767352e-04 9.99872595e-01 7.50218186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4792541539998 meters 0.02344289120177117 Centerline is valid? [True, True] Translation: X:891.84, Y:208.80, Z:7.50 [[-6.76879256e-01 -7.35986893e-01 1.25605108e-02 8.91841372e+02] [ 7.35877204e-01 -6.76995491e-01 -1.27218505e-02 2.08801231e+02] [ 1.78665244e-02 6.31836836e-04 9.99840181e-01 7.50029853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.5092541539998 meters 0.02249271238824915 Centerline is valid? [True, True] Translation: X:891.82, Y:208.82, Z:7.50 [[-6.76946094e-01 -7.35927399e-01 1.24438463e-02 8.91822085e+02] [ 7.35819866e-01 -6.77060165e-01 -1.25959613e-02 2.08820194e+02] [ 1.76949456e-02 6.29642546e-04 9.99843234e-01 7.50117211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.5392541539998 meters 0.022605016170828156 Centerline is valid? [True, True] Translation: X:891.80, Y:208.84, Z:7.50 [[-6.78546169e-01 -7.34441531e-01 1.30665318e-02 8.91804075e+02] [ 7.34322839e-01 -6.78671677e-01 -1.32182547e-02 2.08841716e+02] [ 1.85759203e-02 6.25856597e-04 9.99827257e-01 7.50059842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.5692541539997 meters 0.020800822039322826 Centerline is valid? [True, True] Translation: X:891.78, Y:208.86, Z:7.50 [[-6.79680588e-01 -7.33405120e-01 1.22974960e-02 8.91783750e+02] [ 7.33299914e-01 -6.79791592e-01 -1.24348993e-02 2.08859957e+02] [ 1.74795532e-02 5.65993146e-04 9.99847061e-01 7.50327805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.599254154 meters 0.01970556338372864 Centerline is valid? [True, True] Translation: X:891.77, Y:208.88, Z:7.50 [[-6.83046346e-01 -7.30264854e-01 1.26859562e-02 8.91767551e+02] [ 7.30152466e-01 -6.83163954e-01 -1.28214048e-02 2.08883907e+02] [ 1.80296093e-02 5.05068505e-04 9.99837326e-01 7.50281427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.629254154 meters 0.01786543413714805 Centerline is valid? [True, True] Translation: X:891.75, Y:208.90, Z:7.50 [[-6.84633758e-01 -7.28784133e-01 1.22598757e-02 8.91748640e+02] [ 7.28679024e-01 -6.84743369e-01 -1.23854228e-02 2.08903775e+02] [ 1.74211682e-02 4.54035739e-04 9.99848137e-01 7.50495415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6592541539999 meters 0.019063421053685563 Centerline is valid? [True, True] Translation: X:891.73, Y:208.92, Z:7.50 [[-6.87145087e-01 -7.26392949e-01 1.35982749e-02 8.91729705e+02] [ 7.26263304e-01 -6.87279484e-01 -1.37303957e-02 2.08924795e+02] [ 1.93194780e-02 4.41154136e-04 9.99813264e-01 7.50257028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6892541539999 meters 0.015651280297617625 Centerline is valid? [True, True] Translation: X:891.71, Y:208.95, Z:7.51 [[-6.88019152e-01 -7.25570381e-01 1.33142334e-02 8.91710406e+02] [ 7.25446084e-01 -6.88147841e-01 -1.34360775e-02 2.08945824e+02] [ 1.89109808e-02 4.14479890e-04 9.99821086e-01 7.50620612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7192541539998 meters 0.019143478686045285 Centerline is valid? [True, True] Translation: X:891.69, Y:208.96, Z:7.50 [[-6.90143443e-01 -7.23499985e-01 1.58050756e-02 8.91691103e+02] [ 7.23324507e-01 -6.90324262e-01 -1.59396002e-02 2.08964844e+02] [ 2.24429276e-02 4.31587994e-04 9.99748033e-01 7.50090123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7492541539998 meters 0.01813876972582898 Centerline is valid? [True, True] Translation: X:891.67, Y:208.99, Z:7.50 [[-6.91203366e-01 -7.22470534e-01 1.65600236e-02 8.91671542e+02] [ 7.22277834e-01 -6.91401582e-01 -1.66908014e-02 2.08985255e+02] [ 2.35082387e-02 4.24199896e-04 9.99723553e-01 7.50110584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7792541539998 meters 0.014777345585798742 Centerline is valid? [True, True] Translation: X:891.65, Y:209.01, Z:7.50 [[-6.93043426e-01 -7.20698343e-01 1.68733110e-02 8.91651957e+02] [ 7.20497996e-01 -6.93248697e-01 -1.69965083e-02 2.09005088e+02] [ 2.39467563e-02 3.77868396e-04 9.99713164e-01 7.50414756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.8092541539997 meters 0.018165110232358863 Centerline is valid? [True, True] Translation: X:891.63, Y:209.02, Z:7.50 [[-6.94483089e-01 -7.19283306e-01 1.80212327e-02 8.91632924e+02] [ 7.19054579e-01 -6.94716775e-01 -1.81415372e-02 2.09023789e+02] [ 2.55685575e-02 3.59259138e-04 9.99673006e-01 7.50038937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.839254154 meters 0.016377737212523818 Centerline is valid? [True, True] Translation: X:891.61, Y:209.04, Z:7.50 [[-6.96997680e-01 -7.16870019e-01 1.70765890e-02 8.91614599e+02] [ 7.16664152e-01 -6.97206789e-01 -1.71809986e-02 2.09043435e+02] [ 2.42224566e-02 2.63063013e-04 9.99706559e-01 7.50337910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.869254154 meters 0.01674891977840293 Centerline is valid? [True, True] Translation: X:891.60, Y:209.06, Z:7.50 [[-6.98306213e-01 -7.15596245e-01 1.70425044e-02 8.91595115e+02] [ 7.15391054e-01 -6.98514111e-01 -1.71369730e-02 2.09064215e+02] [ 2.41675833e-02 2.25200448e-04 9.99707896e-01 7.50462513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.899254154 meters 0.015228750277446712 Centerline is valid? [True, True] Translation: X:891.58, Y:209.08, Z:7.51 [[-7.00152461e-01 -7.13808888e-01 1.62296964e-02 8.91575609e+02] [ 7.13622537e-01 -7.00340521e-01 -1.63103846e-02 2.09084519e+02] [ 2.30088115e-02 1.62121165e-04 9.99735249e-01 7.50794905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9292541539999 meters 0.013671167018162206 Centerline is valid? [True, True] Translation: X:891.56, Y:209.10, Z:7.51 [[-7.01037692e-01 -7.12955639e-01 1.55051904e-02 8.91556226e+02] [ 7.12785546e-01 -7.01209126e-01 -1.55732755e-02 2.09103503e+02] [ 2.19754356e-02 1.34422461e-04 9.99758502e-01 7.51014380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9592541539998 meters 0.01842386223139577 Centerline is valid? [True, True] Translation: X:891.54, Y:209.12, Z:7.51 [[-7.01677810e-01 -7.12303377e-01 1.64969690e-02 8.91535103e+02] [ 7.12110874e-01 -7.01871699e-01 -1.65595893e-02 2.09122350e+02] [ 2.33742071e-02 1.28174663e-04 9.99726778e-01 7.50807183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9892541539998 meters 0.01768856976834636 Centerline is valid? [True, True] Translation: X:891.51, Y:209.14, Z:7.51 [[-7.01445198e-01 -7.12551702e-01 1.56431006e-02 8.91514791e+02] [ 7.12378878e-01 -7.01619593e-01 -1.56933207e-02 2.09140295e+02] [ 2.21578083e-02 1.35810001e-04 9.99754476e-01 7.50930472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.0192541539998 meters 0.01820986853738126 Centerline is valid? [True, True] Translation: X:891.49, Y:209.16, Z:7.51 [[-7.00203059e-01 -7.13785071e-01 1.50515259e-02 8.91491986e+02] [ 7.13625542e-01 -7.00364792e-01 -1.50911578e-02 2.09157886e+02] [ 2.13134020e-02 1.74278473e-04 9.99772828e-01 7.51087628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.0492541539998 meters 0.014393288893769058 Centerline is valid? [True, True] Translation: X:891.47, Y:209.18, Z:7.51 [[-6.99358880e-01 -7.14638217e-01 1.37614115e-02 8.91470510e+02] [ 7.14505181e-01 -6.99494234e-01 -1.37899241e-02 2.09176421e+02] [ 1.94808347e-02 1.88493952e-04 9.99810213e-01 7.51486619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.079254154 meters 0.018188692060824702 Centerline is valid? [True, True] Translation: X:891.45, Y:209.19, Z:7.51 [[-6.97406311e-01 -7.16523836e-01 1.47658314e-02 8.91448237e+02] [ 7.16371241e-01 -6.97562558e-01 -1.47892501e-02 2.09192355e+02] [ 2.08969413e-02 2.63700656e-04 9.99781600e-01 7.51245259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.109254154 meters 0.016869854109409214 Centerline is valid? [True, True] Translation: X:891.43, Y:209.21, Z:7.51 [[-6.96542038e-01 -7.17376047e-01 1.41702392e-02 8.91427297e+02] [ 7.17235851e-01 -6.96686103e-01 -1.41847401e-02 2.09210084e+02] [ 2.00480015e-02 2.83135853e-04 9.99798979e-01 7.51393364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.139254154 meters 0.018727706227290777 Centerline is valid? [True, True] Translation: X:891.40, Y:209.23, Z:7.51 [[-6.95072477e-01 -7.18811091e-01 1.35965853e-02 8.91404855e+02] [ 7.18682452e-01 -6.95205376e-01 -1.36021547e-02 2.09226699e+02] [ 1.92297989e-02 3.17143924e-04 9.99815040e-01 7.51443225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1692541539999 meters 0.014990333054103482 Centerline is valid? [True, True] Translation: X:891.38, Y:209.25, Z:7.52 [[-6.94513146e-01 -7.19387105e-01 1.15621597e-02 8.91383644e+02] [ 7.19294269e-01 -6.94609322e-01 -1.15604846e-02 2.09245433e+02] [ 1.63476474e-02 2.87686691e-04 9.99866327e-01 7.51897075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1992541539998 meters 0.015583663244887521 Centerline is valid? [True, True] Translation: X:891.36, Y:209.22, Z:7.52 [[-6.43798322e-01 -7.65130916e-01 9.91980319e-03 8.91363450e+02] [ 7.65055389e-01 -6.43874408e-01 -1.07702694e-02 2.09221029e+02] [ 1.46277735e-02 6.55317519e-04 9.99892794e-01 7.51938535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2292541539998 meters 0.017459782557159725 Centerline is valid? [True, True] Translation: X:891.34, Y:209.24, Z:7.52 [[-6.44103800e-01 -7.64873928e-01 9.90802541e-03 8.91344610e+02] [ 7.64790021e-01 -6.44179941e-01 -1.13325706e-02 2.09240179e+02] [ 1.50505390e-02 2.78207159e-04 9.99886696e-01 7.51788565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2592541539998 meters 0.017704549295368147 Centerline is valid? [True, True] Translation: X:891.33, Y:209.26, Z:7.52 [[-6.44948106e-01 -7.64170533e-01 9.23777469e-03 8.91325173e+02] [ 7.64097610e-01 -6.45014212e-01 -1.05597580e-02 2.09260766e+02] [ 1.40279519e-02 2.48065634e-04 9.99901573e-01 7.51809697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2892541539998 meters 0.01666271925400792 Centerline is valid? [True, True] Translation: X:891.31, Y:209.28, Z:7.52 [[-6.45808549e-01 -7.63448243e-01 8.83735942e-03 8.91306271e+02] [ 7.63381515e-01 -6.45868972e-01 -1.00962372e-02 2.09281481e+02] [ 1.34157308e-02 2.26040557e-04 9.99909979e-01 7.51865450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.3192541539997 meters 0.019109780083228806 Centerline is valid? [True, True] Translation: X:891.29, Y:209.30, Z:7.52 [[-6.47696273e-01 -7.61835873e-01 9.77959296e-03 8.91287555e+02] [ 7.61754075e-01 -6.47770064e-01 -1.11657557e-02 2.09301525e+02] [ 1.48414008e-02 2.17626462e-04 9.99889837e-01 7.51547698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.349254154 meters 0.018373165799192872 Centerline is valid? [True, True] Translation: X:891.27, Y:209.32, Z:7.51 [[-6.48798112e-01 -7.60889237e-01 1.04201269e-02 8.91268836e+02] [ 7.60796363e-01 -6.48881749e-01 -1.18899191e-02 2.09322439e+02] [ 1.58083416e-02 2.13437577e-04 9.99875018e-01 7.51496741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.379254154 meters 0.01714669219663426 Centerline is valid? [True, True] Translation: X:891.25, Y:209.34, Z:7.51 [[-6.51022914e-01 -7.58965828e-01 1.18337671e-02 8.91251166e+02] [ 7.58845873e-01 -6.51130428e-01 -1.34947164e-02 2.09343724e+02] [ 1.79473544e-02 1.94635696e-04 9.99838914e-01 7.51371781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4092541539999 meters 0.017041377951735392 Centerline is valid? [True, True] Translation: X:891.23, Y:209.36, Z:7.51 [[-6.52321759e-01 -7.57834857e-01 1.27535612e-02 8.91232758e+02] [ 7.57695479e-01 -6.52446394e-01 -1.45349092e-02 2.09364720e+02] [ 1.93360759e-02 1.81878075e-04 9.99813024e-01 7.51286859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4392541539999 meters 0.01868161148870406 Centerline is valid? [True, True] Translation: X:891.21, Y:209.39, Z:7.51 [[-6.54536407e-01 -7.55893527e-01 1.43898456e-02 8.91214492e+02] [ 7.55715832e-01 -6.54694551e-01 -1.63898194e-02 2.09385987e+02] [ 2.18099120e-02 1.46900643e-04 9.99762125e-01 7.51055832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4692541539998 meters 0.013687138504265494 Centerline is valid? [True, True] Translation: X:891.20, Y:209.41, Z:7.51 [[-6.55547573e-01 -7.55040259e-01 1.30991446e-02 8.91196642e+02] [ 7.54892980e-01 -6.55678423e-01 -1.49128523e-02 2.09405967e+02] [ 1.98486304e-02 1.12368177e-04 9.99802990e-01 7.51371832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4992541539998 meters 0.01686275143904643 Centerline is valid? [True, True] Translation: X:891.18, Y:209.43, Z:7.51 [[-6.57806895e-01 -7.53054150e-01 1.41257047e-02 8.91178077e+02] [ 7.52882608e-01 -6.57958542e-01 -1.60727982e-02 2.09427350e+02] [ 2.13978154e-02 6.21999228e-05 9.99771039e-01 7.51140421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.5292541539998 meters 0.017376737066763823 Centerline is valid? [True, True] Translation: X:891.16, Y:209.45, Z:7.51 [[-6.59010956e-01 -7.52000007e-01 1.41615679e-02 8.91159778e+02] [ 7.51827552e-01 -6.59163097e-01 -1.61041306e-02 2.09448211e+02] [ 2.14450893e-02 3.42584405e-05 9.99770027e-01 7.51177949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.5592541539997 meters 0.017123405951527233 Centerline is valid? [True, True] Translation: X:891.14, Y:209.47, Z:7.51 [[-6.60051700e-01 -7.51087846e-01 1.40996760e-02 8.91141441e+02] [ 7.50916889e-01 -6.60202278e-01 -1.60242904e-02 2.09469295e+02] [ 2.13442880e-02 1.08246704e-05 9.99772185e-01 7.51242484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.589254154 meters 0.013974249730600775 Centerline is valid? [True, True] Translation: X:891.12, Y:209.49, Z:7.52 [[-6.61598755e-01 -7.49743689e-01 1.30953636e-02 8.91122811e+02] [ 7.49596128e-01 -6.61728343e-01 -1.48742956e-02 2.09490409e+02] [ 1.98174825e-02 -2.45816113e-05 9.99803614e-01 7.51535394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.619254154 meters 0.018244423992857545 Centerline is valid? [True, True] Translation: X:891.10, Y:209.51, Z:7.51 [[-6.62355150e-01 -7.49049234e-01 1.45224037e-02 8.91103744e+02] [ 7.48867803e-01 -6.62514334e-01 -1.64854901e-02 2.09511712e+02] [ 2.19697444e-02 -4.38886971e-05 9.99758635e-01 7.51263811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.649254154 meters 0.017937291533184414 Centerline is valid? [True, True] Translation: X:891.08, Y:209.53, Z:7.51 [[-6.62893320e-01 -7.48572346e-01 1.45563910e-02 8.91084796e+02] [ 7.48390169e-01 -6.63053120e-01 -1.65141050e-02 2.09531710e+02] [ 2.20136628e-02 -5.32299751e-05 9.99757669e-01 7.51231797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.6792541539999 meters 0.016783714978289278 Centerline is valid? [True, True] Translation: X:891.07, Y:209.55, Z:7.51 [[-6.62974928e-01 -7.48503566e-01 1.43755314e-02 8.91065033e+02] [ 7.48326083e-01 -6.63130763e-01 -1.62992109e-02 2.09552341e+02] [ 2.17328746e-02 -4.83830365e-05 9.99763812e-01 7.51401307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7092541539998 meters 0.014986679345881205 Centerline is valid? [True, True] Translation: X:891.05, Y:209.57, Z:7.52 [[-6.62498226e-01 -7.48945790e-01 1.32779639e-02 8.91045025e+02] [ 7.48794606e-01 -6.62631273e-01 -1.50477500e-02 2.09570656e+02] [ 2.00683431e-02 -2.66399455e-05 9.99798610e-01 7.51605152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7392541539998 meters 0.014881307459362631 Centerline is valid? [True, True] Translation: X:891.02, Y:209.59, Z:7.52 [[-6.61528729e-01 -7.49810919e-01 1.27798803e-02 8.91024219e+02] [ 7.49671174e-01 -6.61652163e-01 -1.44757173e-02 2.09589496e+02] [ 1.93098863e-02 4.60502848e-06 9.99813547e-01 7.51706647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7692541539998 meters 0.01596135299248427 Centerline is valid? [True, True] Translation: X:891.00, Y:209.61, Z:7.52 [[-6.61018168e-01 -7.50260039e-01 1.28396074e-02 8.91004680e+02] [ 7.50119235e-01 -6.61142854e-01 -1.45347659e-02 2.09609470e+02] [ 1.93936687e-02 2.34920991e-05 9.99811925e-01 7.51740451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7992541539998 meters 0.01834542749478986 Centerline is valid? [True, True] Translation: X:890.98, Y:209.63, Z:7.52 [[-6.59969643e-01 -7.51181877e-01 1.28785910e-02 8.90984463e+02] [ 7.51040567e-01 -6.60095285e-01 -1.45699002e-02 2.09627801e+02] [ 1.94457422e-02 5.66524080e-05 9.99810912e-01 7.51681320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.829254154 meters 0.016503311149868423 Centerline is valid? [True, True] Translation: X:890.96, Y:209.65, Z:7.52 [[-6.59600768e-01 -7.51513370e-01 1.24290877e-02 8.90964605e+02] [ 7.51381969e-01 -6.59717856e-01 -1.40530237e-02 2.09647895e+02] [ 1.87607263e-02 6.96071733e-05 9.99824000e-01 7.51794874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.859254154 meters 0.01715518246625219 Centerline is valid? [True, True] Translation: X:890.95, Y:209.67, Z:7.52 [[-6.59131339e-01 -7.51927573e-01 1.22801794e-02 8.90945015e+02] [ 7.51799529e-01 -6.59245718e-01 -1.38762749e-02 2.09667270e+02] [ 1.85296094e-02 8.59454487e-05 9.99828308e-01 7.51778531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.889254154 meters 0.017627106181140228 Centerline is valid? [True, True] Translation: X:890.92, Y:209.69, Z:7.52 [[-6.57632818e-01 -7.53245241e-01 1.18610189e-02 8.90923944e+02] [ 7.53126143e-01 -6.57739760e-01 -1.33948424e-02 2.09685663e+02] [ 1.78910650e-02 1.23955487e-04 9.99839934e-01 7.51771229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9192541539999 meters 0.01808764160743846 Centerline is valid? [True, True] Translation: X:890.90, Y:209.70, Z:7.52 [[-6.55867024e-01 -7.54789129e-01 1.14811584e-02 8.90903565e+02] [ 7.54677914e-01 -6.55967486e-01 -1.29577262e-02 2.09702867e+02] [ 1.73116175e-02 1.66031391e-04 9.99850129e-01 7.51788299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9492541539998 meters 0.01808764160743846 Centerline is valid? [True, True] Translation: X:890.89, Y:209.72, Z:7.52 [[-6.56104616e-01 -7.54582547e-01 1.14853381e-02 8.90885738e+02] [ 7.54471365e-01 -6.56205115e-01 -1.29540211e-02 2.09722806e+02] [ 1.73116158e-02 1.66165638e-04 9.99850129e-01 7.51806259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9792541539998 meters 0.014326556147559118 Centerline is valid? [True, True] Translation: X:890.86, Y:209.74, Z:7.52 [[-6.53296272e-01 -7.57032247e-01 1.03032908e-02 8.90864235e+02] [ 7.56943178e-01 -6.53377481e-01 -1.16142965e-02 2.09742263e+02] [ 1.55243352e-02 2.11429074e-04 9.99879468e-01 7.52202875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.0092541539998 meters 0.014831876351681747 Centerline is valid? [True, True] Translation: X:890.84, Y:209.76, Z:7.52 [[-6.51955183e-01 -7.58184036e-01 1.05549713e-02 8.90843709e+02] [ 7.58090817e-01 -6.52040571e-01 -1.18915046e-02 2.09761238e+02] [ 1.58982185e-02 2.48898759e-04 9.99873584e-01 7.52143480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.0392541539998 meters 0.01702710477343668 Centerline is valid? [True, True] Translation: X:890.82, Y:209.78, Z:7.52 [[-6.49349184e-01 -7.60400218e-01 1.17109384e-02 8.90822408e+02] [ 7.60285959e-01 -6.49454689e-01 -1.31859174e-02 2.09778406e+02] [ 1.76322983e-02 3.41397362e-04 9.99844481e-01 7.51841513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.0692541539997 meters 0.017423113683582195 Centerline is valid? [True, True] Translation: X:890.80, Y:209.80, Z:7.52 [[-6.47143207e-01 -7.62269016e-01 1.23132866e-02 8.90801829e+02] [ 7.62143165e-01 -6.47260206e-01 -1.38571810e-02 2.09797157e+02] [ 1.85328001e-02 4.16906630e-04 9.99828166e-01 7.51775445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.099254154 meters 0.017206649658937263 Centerline is valid? [True, True] Translation: X:890.78, Y:209.82, Z:7.52 [[-6.46615446e-01 -7.62719277e-01 1.21560260e-02 8.90782836e+02] [ 7.62596805e-01 -6.46729558e-01 -1.36744918e-02 2.09815834e+02] [ 1.82914598e-02 4.28008954e-04 9.99832606e-01 7.51842440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.129254154 meters 0.021638001983453302 Centerline is valid? [True, True] Translation: X:890.76, Y:209.84, Z:7.51 [[-6.46670752e-01 -7.62649667e-01 1.35064190e-02 8.90764726e+02] [ 7.62498627e-01 -6.46811608e-01 -1.51851416e-02 2.09836634e+02] [ 2.03170518e-02 4.78839030e-04 9.99793473e-01 7.51486052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1592541539999 meters 0.021638001983453302 Centerline is valid? [True, True] Translation: X:890.75, Y:209.86, Z:7.52 [[-6.46911004e-01 -7.62445803e-01 1.35111156e-02 8.90746858e+02] [ 7.62294805e-01 -6.47051905e-01 -1.51809625e-02 2.09856540e+02] [ 2.03170542e-02 4.78721568e-04 9.99793473e-01 7.51504023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1892541539999 meters 0.017587376983899217 Centerline is valid? [True, True] Translation: X:890.73, Y:209.88, Z:7.52 [[-6.46854515e-01 -7.62522000e-01 1.18082571e-02 8.90728797e+02] [ 7.62406828e-01 -6.46962145e-01 -1.32593867e-02 2.09876032e+02] [ 1.77500694e-02 4.25801698e-04 9.99842364e-01 7.51984724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2192541539998 meters 0.02000821744343741 Centerline is valid? [True, True] Translation: X:890.71, Y:209.90, Z:7.52 [[-6.47679164e-01 -7.61818889e-01 1.19866884e-02 8.90710407e+02] [ 7.61700245e-01 -6.47789939e-01 -1.34510726e-02 2.09896638e+02] [ 1.80121373e-02 4.18284020e-04 9.99837681e-01 7.51773122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2492541539998 meters 0.01776703607599913 Centerline is valid? [True, True] Translation: X:890.69, Y:209.92, Z:7.52 [[-6.47673516e-01 -7.61836282e-01 1.11577724e-02 8.90693457e+02] [ 7.61733606e-01 -6.47769499e-01 -1.25135833e-02 2.09918640e+02] [ 1.67609665e-02 3.94533691e-04 9.99859447e-01 7.52024895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2792541539998 meters 0.01713029817449751 Centerline is valid? [True, True] Translation: X:890.67, Y:209.94, Z:7.52 [[-6.47652847e-01 -7.61861092e-01 1.06520355e-02 8.90674922e+02] [ 7.61767630e-01 -6.47740327e-01 -1.19393304e-02 2.09938550e+02] [ 1.59958643e-02 3.81834521e-04 9.99871985e-01 7.52194348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.3092541539997 meters 0.019600671752843267 Centerline is valid? [True, True] Translation: X:890.66, Y:209.96, Z:7.52 [[-6.48324236e-01 -7.61278537e-01 1.14313146e-02 8.90657883e+02] [ 7.61170954e-01 -6.48424884e-01 -1.28042510e-02 2.09958347e+02] [ 1.71599503e-02 3.99878362e-04 9.99852677e-01 7.51864542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.339254154 meters 0.019351566870065073 Centerline is valid? [True, True] Translation: X:890.64, Y:209.98, Z:7.52 [[-6.48431833e-01 -7.61190175e-01 1.12104702e-02 8.90640075e+02] [ 7.61086832e-01 -6.48528612e-01 -1.25488403e-02 2.09978582e+02] [ 1.68223646e-02 3.95073782e-04 9.99858416e-01 7.51896489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.369254154 meters 0.020539672271657247 Centerline is valid? [True, True] Translation: X:890.62, Y:210.00, Z:7.52 [[-6.48500740e-01 -7.61121042e-01 1.18974374e-02 8.90622761e+02] [ 7.61004786e-01 -6.48609729e-01 -1.33092490e-02 2.09999701e+02] [ 1.78467431e-02 4.22948976e-04 9.99840645e-01 7.51820116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.399254154 meters 0.020539672271657247 Centerline is valid? [True, True] Translation: X:890.60, Y:210.02, Z:7.52 [[-6.48738865e-01 -7.60918022e-01 1.19015997e-02 8.90604839e+02] [ 7.60801800e-01 -6.48847890e-01 -1.33055267e-02 2.10019559e+02] [ 1.78467429e-02 4.22946171e-04 9.99840645e-01 7.51838084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4292541539999 meters 0.019137685738958 Centerline is valid? [True, True] Translation: X:890.59, Y:210.04, Z:7.52 [[-6.48686971e-01 -7.60965444e-01 1.16964380e-02 8.90589310e+02] [ 7.60853340e-01 -6.48792274e-01 -1.30682869e-02 2.10043036e+02] [ 1.75330733e-02 4.22046513e-04 9.99846195e-01 7.51993159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4592541539998 meters 0.02010334408354782 Centerline is valid? [True, True] Translation: X:890.57, Y:210.07, Z:7.52 [[-6.49339043e-01 -7.60404994e-01 1.19604381e-02 8.90572203e+02] [ 7.60287820e-01 -6.49449049e-01 -1.33552893e-02 2.10065263e+02] [ 1.79231238e-02 4.21264628e-04 9.99839279e-01 7.51926486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4892541539998 meters 0.018097457002721393 Centerline is valid? [True, True] Translation: X:890.55, Y:210.09, Z:7.52 [[-6.49819777e-01 -7.60005339e-01 1.12312801e-02 8.90553583e+02] [ 7.59902059e-01 -6.49916712e-01 -1.25350738e-02 2.10085439e+02] [ 1.68261197e-02 3.89134054e-04 9.99858355e-01 7.52065510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.5192541539998 meters 0.018767635396672748 Centerline is valid? [True, True] Translation: X:890.54, Y:210.11, Z:7.52 [[-6.51421268e-01 -7.58626414e-01 1.16745987e-02 8.90537014e+02] [ 7.58514716e-01 -6.51525768e-01 -1.30230300e-02 2.10108766e+02] [ 1.74859165e-02 3.71876204e-04 9.99847041e-01 7.51908545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.5492541539998 meters 0.017643158208798256 Centerline is valid? [True, True] Translation: X:890.52, Y:210.13, Z:7.52 [[-6.52814538e-01 -7.57428418e-01 1.16349352e-02 8.90519579e+02] [ 7.57317416e-01 -6.52918122e-01 -1.29714110e-02 2.10130911e+02] [ 1.74215753e-02 3.43413414e-04 9.99848174e-01 7.51972492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.579254154 meters 0.019780623650555208 Centerline is valid? [True, True] Translation: X:890.50, Y:210.15, Z:7.52 [[-6.54464801e-01 -7.55982318e-01 1.29057640e-02 8.90503320e+02] [ 7.55845626e-01 -6.54591947e-01 -1.43795987e-02 2.10154096e+02] [ 1.93187316e-02 3.43824079e-04 9.99813317e-01 7.51797577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.609254154 meters 0.015891369685958535 Centerline is valid? [True, True] Translation: X:890.49, Y:210.18, Z:7.52 [[-6.57839047e-01 -7.53059627e-01 1.22059940e-02 8.90488110e+02] [ 7.52936995e-01 -6.57952229e-01 -1.35921313e-02 2.10178213e+02] [ 1.82666463e-02 2.48909758e-04 9.99833120e-01 7.52005078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.639254154 meters 0.016998411523290076 Centerline is valid? [True, True] Translation: X:890.47, Y:210.20, Z:7.52 [[-6.59847195e-01 -7.51291066e-01 1.27833070e-02 8.90471677e+02] [ 7.51156387e-01 -6.59970975e-01 -1.42265661e-02 2.10200586e+02] [ 1.91249036e-02 2.14902913e-04 9.99817079e-01 7.51939044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6692541539999 meters 0.016389970500676334 Centerline is valid? [True, True] Translation: X:890.46, Y:210.22, Z:7.52 [[-6.63140058e-01 -7.48388445e-01 1.26490773e-02 8.90456424e+02] [ 7.48256202e-01 -6.63260671e-01 -1.40690423e-02 2.10224487e+02] [ 1.89187442e-02 1.35004991e-04 9.99821015e-01 7.52006491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6992541539998 meters 0.014728179001353262 Centerline is valid? [True, True] Translation: X:890.44, Y:210.25, Z:7.52 [[-6.65366131e-01 -7.46414202e-01 1.23996460e-02 8.90440153e+02] [ 7.46286922e-01 -6.65481655e-01 -1.37839338e-02 2.10248252e+02] [ 1.85402609e-02 8.23309902e-05 9.99828111e-01 7.52229455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7292541539998 meters 0.016374365087118457 Centerline is valid? [True, True] Translation: X:890.42, Y:210.27, Z:7.52 [[-6.66540448e-01 -7.45353567e-01 1.31107290e-02 8.90422664e+02] [ 7.45211231e-01 -6.66669376e-01 -1.45658919e-02 2.10270200e+02] [ 1.95972610e-02 6.15063273e-05 9.99807953e-01 7.52114252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7592541539998 meters 0.0159493928961894 Centerline is valid? [True, True] Translation: X:890.41, Y:210.29, Z:7.52 [[-6.67643046e-01 -7.44362844e-01 1.32936168e-02 8.90405850e+02] [ 7.44216490e-01 -6.67775378e-01 -1.47600964e-02 2.10292012e+02] [ 1.98640173e-02 3.88530804e-05 9.99802690e-01 7.52026656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7892541539998 meters 0.016382515474860342 Centerline is valid? [True, True] Translation: X:890.39, Y:210.31, Z:7.52 [[-6.68141117e-01 -7.43916880e-01 1.32333865e-02 8.90387867e+02] [ 7.43771934e-01 -6.68272156e-01 -1.46845715e-02 2.10313580e+02] [ 1.97676043e-02 3.12554406e-05 9.99804601e-01 7.52102501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.8192541539997 meters 0.017796770981826932 Centerline is valid? [True, True] Translation: X:890.37, Y:210.33, Z:7.52 [[-6.68730374e-01 -7.43375094e-01 1.38980597e-02 8.90370545e+02] [ 7.43215297e-01 -6.68874778e-01 -1.54127843e-02 2.10334880e+02] [ 2.07535416e-02 2.22536037e-05 9.99784622e-01 7.51988312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.849254154 meters 0.013401802752992407 Centerline is valid? [True, True] Translation: X:890.35, Y:210.36, Z:7.52 [[-6.68227562e-01 -7.43843616e-01 1.29846253e-02 8.90351665e+02] [ 7.43704384e-01 -6.68353704e-01 -1.43914967e-02 2.10356187e+02] [ 1.93833453e-02 3.99280018e-05 9.99812125e-01 7.52468446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.879254154 meters 0.01617245264150323 Centerline is valid? [True, True] Translation: X:890.33, Y:210.38, Z:7.52 [[-6.68581745e-01 -7.43510217e-01 1.38205519e-02 8.90333072e+02] [ 7.43352595e-01 -6.68724574e-01 -1.53089378e-02 2.10377743e+02] [ 2.06244944e-02 3.82667514e-05 9.99787292e-01 7.52196078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9092541539999 meters 0.01392078104656785 Centerline is valid? [True, True] Translation: X:890.32, Y:210.40, Z:7.52 [[-6.67683314e-01 -7.44323767e-01 1.34581821e-02 8.90315058e+02] [ 7.44174640e-01 -6.67818932e-01 -1.48989897e-02 2.10398656e+02] [ 2.00773010e-02 6.74309962e-05 9.99798428e-01 7.52424834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9392541539999 meters 0.018197703722095403 Centerline is valid? [True, True] Translation: X:890.30, Y:210.42, Z:7.52 [[-6.67639566e-01 -7.44346036e-01 1.43662389e-02 8.90297031e+02] [ 7.44176318e-01 -6.67794110e-01 -1.58945055e-02 2.10418638e+02] [ 2.14247018e-02 7.92140084e-05 9.99770462e-01 7.52100965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9692541539998 meters 0.015858209631620233 Centerline is valid? [True, True] Translation: X:890.28, Y:210.44, Z:7.52 [[-6.65588776e-01 -7.46199765e-01 1.33226339e-02 8.90277860e+02] [ 7.46054350e-01 -6.65722084e-01 -1.47314242e-02 2.10438996e+02] [ 1.98617569e-02 1.34338341e-04 9.99802727e-01 7.52460093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9992541539998 meters 0.013760640979759741 Centerline is valid? [True, True] Translation: X:890.26, Y:210.46, Z:7.53 [[-6.64222313e-01 -7.47431193e-01 1.24631854e-02 8.90258419e+02] [ 7.47304298e-01 -6.64339209e-01 -1.37732559e-02 2.10458797e+02] [ 1.85743438e-02 1.65288138e-04 9.99827468e-01 7.52749452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.0292541539998 meters 0.014559395785944236 Centerline is valid? [True, True] Translation: X:890.24, Y:210.48, Z:7.53 [[-6.61406836e-01 -7.49931891e-01 1.19647787e-02 8.90238487e+02] [ 7.49815463e-01 -6.61515008e-01 -1.32161483e-02 2.10477347e+02] [ 1.78260918e-02 2.30125287e-04 9.99841076e-01 7.52803290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.0592541539997 meters 0.014805407367193036 Centerline is valid? [True, True] Translation: X:890.22, Y:210.50, Z:7.53 [[-6.59972555e-01 -7.51199477e-01 1.16435127e-02 8.90219452e+02] [ 7.51089529e-01 -6.60075206e-01 -1.28546701e-02 2.10497547e+02] [ 1.73420155e-02 2.61590996e-04 9.99849582e-01 7.52881939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.089254154 meters 0.016681928106426554 Centerline is valid? [True, True] Translation: X:890.20, Y:210.52, Z:7.53 [[-6.57088938e-01 -7.53720936e-01 1.17846305e-02 8.90198938e+02] [ 7.53608842e-01 -6.57194520e-01 -1.30029257e-02 2.10516791e+02] [ 1.75453719e-02 3.36923090e-04 9.99846011e-01 7.52769776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.119254154 meters 0.0160180270538396 Centerline is valid? [True, True] Translation: X:890.18, Y:210.54, Z:7.53 [[-6.55268072e-01 -7.55309392e-01 1.14662941e-02 8.90179020e+02] [ 7.55203634e-01 -6.55368280e-01 -1.26446813e-02 2.10537072e+02] [ 1.70652919e-02 3.73731003e-04 9.99854307e-01 7.52932276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.149254154 meters 0.018685599258979644 Centerline is valid? [True, True] Translation: X:890.16, Y:210.55, Z:7.53 [[-6.52066810e-01 -7.58064795e-01 1.21095598e-02 8.90158776e+02] [ 7.57947445e-01 -6.52179071e-01 -1.33465721e-02 2.10554682e+02] [ 1.80151679e-02 4.75553262e-04 9.99837601e-01 7.52719154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.1792541539999 meters 0.021379915124915674 Centerline is valid? [True, True] Translation: X:890.14, Y:210.58, Z:7.53 [[-6.50767582e-01 -7.59159242e-01 1.33716138e-02 8.90139641e+02] [ 7.59016550e-01 -6.50904699e-01 -1.47291861e-02 2.10575536e+02] [ 1.98854440e-02 5.63999324e-04 9.99802106e-01 7.52523896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2092541539998 meters 0.02031408750957788 Centerline is valid? [True, True] Translation: X:890.12, Y:210.59, Z:7.53 [[-6.47030782e-01 -7.62357085e-01 1.27609428e-02 8.90118497e+02] [ 7.62227900e-01 -6.47156294e-01 -1.40484509e-02 2.10592315e+02] [ 1.89682605e-02 6.36966454e-04 9.99819883e-01 7.52769908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2392541539998 meters 0.02047600756479047 Centerline is valid? [True, True] Translation: X:890.10, Y:210.61, Z:7.53 [[-6.45856426e-01 -7.63347021e-01 1.30691460e-02 8.90099894e+02] [ 7.63211887e-01 -6.45988276e-01 -1.43792366e-02 2.10613079e+02] [ 1.94188625e-02 6.87605240e-04 9.99811200e-01 7.52792239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2692541539998 meters 0.02202491304711937 Centerline is valid? [True, True] Translation: X:890.08, Y:210.64, Z:7.53 [[-6.44983931e-01 -7.64060703e-01 1.43864713e-02 8.90082407e+02] [ 7.63897334e-01 -6.45143877e-01 -1.58190147e-02 2.10635121e+02] [ 2.13680314e-02 7.86776745e-04 9.99771368e-01 7.52528027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2992541539998 meters 0.023890551144968485 Centerline is valid? [True, True] Translation: X:890.06, Y:210.65, Z:7.52 [[-6.44951024e-01 -7.64091484e-01 1.42260908e-02 8.90062127e+02] [ 7.63931947e-01 -6.45107424e-01 -1.56330687e-02 2.10652946e+02] [ 2.11224514e-02 7.85201561e-04 9.99776588e-01 7.52404954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.329254154 meters 0.02212129680760211 Centerline is valid? [True, True] Translation: X:890.05, Y:210.67, Z:7.53 [[-6.45077149e-01 -7.63999345e-01 1.34340072e-02 8.90045612e+02] [ 7.63857244e-01 -6.45216589e-01 -1.47534756e-02 2.10674097e+02] [ 1.99394900e-02 7.44533782e-04 9.99800911e-01 7.52723141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.359254154 meters 0.02535483703502402 Centerline is valid? [True, True] Translation: X:890.03, Y:210.69, Z:7.52 [[-6.46190710e-01 -7.63044575e-01 1.41613309e-02 8.90027121e+02] [ 7.62886658e-01 -6.46345417e-01 -1.55418450e-02 2.10692873e+02] [ 2.10122319e-02 7.60494554e-04 9.99778929e-01 7.52362006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.389254154 meters 0.020171326864011987 Centerline is valid? [True, True] Translation: X:890.01, Y:210.72, Z:7.53 [[-6.46772314e-01 -7.62570679e-01 1.30970843e-02 8.90013569e+02] [ 7.62435677e-01 -6.46904535e-01 -1.43652971e-02 2.10718813e+02] [ 1.94271176e-02 6.94607913e-04 9.99811034e-01 7.52871059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4192541539999 meters 0.021290303562879562 Centerline is valid? [True, True] Translation: X:889.99, Y:210.74, Z:7.53 [[-6.47003792e-01 -7.62373019e-01 1.31708726e-02 8.89994855e+02] [ 7.62236622e-01 -6.47137460e-01 -1.44374756e-02 2.10738614e+02] [ 1.95301069e-02 6.98219997e-04 9.99809025e-01 7.52830648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4492541539998 meters 0.02260146600842511 Centerline is valid? [True, True] Translation: X:889.98, Y:210.76, Z:7.53 [[-6.46648153e-01 -7.62664091e-01 1.37713668e-02 8.89977186e+02] [ 7.62515188e-01 -6.46794349e-01 -1.50883217e-02 2.10759637e+02] [ 2.04145634e-02 7.44040972e-04 9.99791324e-01 7.52726232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4792541539998 meters 0.02310250450024236 Centerline is valid? [True, True] Translation: X:889.96, Y:210.78, Z:7.53 [[-6.46322381e-01 -7.62921403e-01 1.47754282e-02 8.89960400e+02] [ 7.62750251e-01 -6.46490737e-01 -1.61796634e-02 2.10782457e+02] [ 2.18959890e-02 8.12682969e-04 9.99759924e-01 7.52658862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.5092541539998 meters 0.022848703581127724 Centerline is valid? [True, True] Translation: X:889.94, Y:210.80, Z:7.53 [[-6.44481114e-01 -7.64485570e-01 1.43494549e-02 8.89941903e+02] [ 7.64324725e-01 -6.44640285e-01 -1.57041069e-02 2.10803314e+02] [ 2.12557998e-02 8.46642890e-04 9.99773711e-01 7.52798296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.5392541539998 meters 0.0249977967494271 Centerline is valid? [True, True] Translation: X:889.92, Y:210.82, Z:7.53 [[-6.42573310e-01 -7.66103087e-01 1.36235669e-02 8.89921177e+02] [ 7.65958616e-01 -6.42717140e-01 -1.49022382e-02 2.10820577e+02] [ 2.01727506e-02 8.59307936e-04 9.99796140e-01 7.52854015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.5692541539997 meters 0.023290575278276365 Centerline is valid? [True, True] Translation: X:889.90, Y:210.84, Z:7.53 [[-6.41887691e-01 -7.66687829e-01 1.30370719e-02 8.89904190e+02] [ 7.66555798e-01 -6.42019517e-01 -1.42530495e-02 2.10842606e+02] [ 1.92976942e-02 8.44785992e-04 9.99813425e-01 7.53090634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.599254154 meters 0.02498500819306217 Centerline is valid? [True, True] Translation: X:889.89, Y:210.86, Z:7.53 [[-6.40827105e-01 -7.67585011e-01 1.24045441e-02 8.89885290e+02] [ 7.67465791e-01 -6.40946608e-01 -1.35537769e-02 2.10863555e+02] [ 1.83543265e-02 8.34435601e-04 9.99831197e-01 7.53025212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.629254154 meters 0.025910598960291475 Centerline is valid? [True, True] Translation: X:889.87, Y:210.88, Z:7.53 [[-6.39997551e-01 -7.68293273e-01 1.13393899e-02 8.89865487e+02] [ 7.68193857e-01 -6.40097516e-01 -1.23841518e-02 2.10881533e+02] [ 1.67729759e-02 7.85022872e-04 9.99859016e-01 7.53259549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6592541539999 meters 0.0251778908658517 Centerline is valid? [True, True] Translation: X:889.85, Y:210.90, Z:7.53 [[-6.39442733e-01 -7.68763896e-01 1.07267626e-02 8.89847675e+02] [ 7.68675092e-01 -6.39532249e-01 -1.17091706e-02 2.10903634e+02] [ 1.58616982e-02 7.58051189e-04 9.99873908e-01 7.53377638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6892541539999 meters 0.025661909231881212 Centerline is valid? [True, True] Translation: X:889.83, Y:210.92, Z:7.53 [[-6.38928265e-01 -7.69196474e-01 1.03660922e-02 8.89829176e+02] [ 7.69113702e-01 -6.39011914e-01 -1.13087740e-02 2.10924121e+02] [ 1.53227255e-02 7.47208216e-04 9.99882321e-01 7.53417202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7192541539998 meters 0.028246800344296028 Centerline is valid? [True, True] Translation: X:889.81, Y:210.94, Z:7.53 [[-6.38187455e-01 -7.69793991e-01 1.15751073e-02 8.89809901e+02] [ 7.69691015e-01 -6.38291845e-01 -1.26199156e-02 2.10944388e+02] [ 1.71030318e-02 8.55384289e-04 9.99853367e-01 7.53086527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7492541539998 meters 0.02857167837460137 Centerline is valid? [True, True] Translation: X:889.79, Y:210.96, Z:7.53 [[-6.37632984e-01 -7.70253601e-01 1.15571869e-02 8.89790653e+02] [ 7.70151142e-01 -6.37737118e-01 -1.25931157e-02 2.10964983e+02] [ 1.70703397e-02 8.70994746e-04 9.99853912e-01 7.53092012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7792541539998 meters 0.028596399245399383 Centerline is valid? [True, True] Translation: X:889.77, Y:210.98, Z:7.53 [[-6.35848916e-01 -7.71735652e-01 1.09653957e-02 8.89770105e+02] [ 7.71643746e-01 -6.35942867e-01 -1.19415028e-02 2.10983941e+02] [ 1.61890486e-02 8.68387417e-04 9.99868572e-01 7.53283208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.8092541539997 meters 0.02958973315146423 Centerline is valid? [True, True] Translation: X:889.75, Y:211.00, Z:7.53 [[-6.35579045e-01 -7.71955126e-01 1.11607148e-02 8.89751070e+02] [ 7.71860048e-01 -6.35676400e-01 -1.21482719e-02 2.11002986e+02] [ 1.64725238e-02 8.93322782e-04 9.99863920e-01 7.53215877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.839254154 meters 0.02998059584491542 Centerline is valid? [True, True] Translation: X:889.73, Y:211.02, Z:7.53 [[-6.35517765e-01 -7.71996735e-01 1.17563525e-02 8.89733116e+02] [ 7.71891339e-01 -6.35625792e-01 -1.27911389e-02 2.11023927e+02] [ 1.73473583e-02 9.45630667e-04 9.99849076e-01 7.53045354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.869254154 meters 0.03231010713757675 Centerline is valid? [True, True] Translation: X:889.71, Y:211.04, Z:7.53 [[-6.35793947e-01 -7.71763648e-01 1.21214246e-02 8.89713975e+02] [ 7.71651700e-01 -6.35908739e-01 -1.31806495e-02 2.11042283e+02] [ 1.78804660e-02 9.73340720e-04 9.99839658e-01 7.52919478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.899254154 meters 0.02953858332356335 Centerline is valid? [True, True] Translation: X:889.70, Y:211.06, Z:7.53 [[-6.35630388e-01 -7.71913660e-01 1.11045795e-02 8.89696513e+02] [ 7.71819855e-01 -6.35726742e-01 -1.20673268e-02 2.11063576e+02] [ 1.63744125e-02 9.00375362e-04 9.99865525e-01 7.53283250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9292541539999 meters 0.029934949469298346 Centerline is valid? [True, True] Translation: X:889.68, Y:211.08, Z:7.53 [[-6.36458853e-01 -7.71233034e-01 1.09424247e-02 8.89678331e+02] [ 7.71141961e-01 -6.36552310e-01 -1.18841084e-02 2.11084130e+02] [ 1.61308426e-02 8.74416854e-04 9.99869507e-01 7.53259488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9592541539998 meters 0.030095247290953368 Centerline is valid? [True, True] Translation: X:889.66, Y:211.10, Z:7.53 [[-6.36954910e-01 -7.70821971e-01 1.10422456e-02 8.89660097e+02] [ 7.70729286e-01 -6.37050014e-01 -1.19852736e-02 2.11104208e+02] [ 1.62729749e-02 8.76503177e-04 9.99867202e-01 7.53284407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9892541539998 meters 0.032203163803394316 Centerline is valid? [True, True] Translation: X:889.64, Y:211.12, Z:7.53 [[-6.38172459e-01 -7.69810835e-01 1.12778966e-02 8.89641132e+02] [ 7.69714098e-01 -6.38271507e-01 -1.22348443e-02 2.11123993e+02] [ 1.66168758e-02 8.72815311e-04 9.99861549e-01 7.53045374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.0192541539998 meters 0.029257377159825036 Centerline is valid? [True, True] Translation: X:889.63, Y:211.15, Z:7.53 [[-6.38643981e-01 -7.69419632e-01 1.12825280e-02 8.89626102e+02] [ 7.69322866e-01 -6.38743045e-01 -1.22331182e-02 2.11146905e+02] [ 1.66190376e-02 8.67299500e-04 9.99861518e-01 7.53180758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.0492541539998 meters 0.028951195278406956 Centerline is valid? [True, True] Translation: X:889.61, Y:211.17, Z:7.53 [[-6.38002596e-01 -7.69962920e-01 1.04780749e-02 8.89606278e+02] [ 7.69879637e-01 -6.38088102e-01 -1.13542642e-02 2.11167037e+02] [ 1.54282974e-02 8.22806468e-04 9.99880638e-01 7.53407835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.079254154 meters 0.028951195278406956 Centerline is valid? [True, True] Translation: X:889.59, Y:211.19, Z:7.53 [[-6.38248528e-01 -7.69759023e-01 1.04815262e-02 8.89588017e+02] [ 7.69675765e-01 -6.38334058e-01 -1.13510779e-02 2.11186643e+02] [ 1.54283098e-02 8.22567979e-04 9.99880638e-01 7.53425831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.109254154 meters 0.028993555536082783 Centerline is valid? [True, True] Translation: X:889.57, Y:211.21, Z:7.53 [[-6.37465204e-01 -7.70406507e-01 1.05796171e-02 8.89568311e+02] [ 7.70321879e-01 -6.37552422e-01 -1.14503772e-02 2.11206747e+02] [ 1.55665056e-02 8.50493545e-04 9.99878473e-01 7.53476624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.139254154 meters 0.030265116980783522 Centerline is valid? [True, True] Translation: X:889.55, Y:211.23, Z:7.53 [[-6.37631118e-01 -7.70258192e-01 1.13523485e-02 8.89549650e+02] [ 7.70160856e-01 -6.37731513e-01 -1.22789462e-02 2.11226052e+02] [ 1.66977093e-02 9.13696230e-04 9.99860166e-01 7.53218672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1692541539999 meters 0.03447081464979209 Centerline is valid? [True, True] Translation: X:889.53, Y:211.24, Z:7.53 [[-6.36582510e-01 -7.71129648e-01 1.10351694e-02 8.89525865e+02] [ 7.71037911e-01 -6.36677493e-01 -1.19293681e-02 2.11240408e+02] [ 1.62249334e-02 9.14506877e-04 9.99867949e-01 7.53319396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1992541539998 meters 0.031101494671116534 Centerline is valid? [True, True] Translation: X:889.51, Y:211.26, Z:7.53 [[-6.36538074e-01 -7.71151600e-01 1.20204186e-02 8.89510985e+02] [ 7.71042882e-01 -6.36650773e-01 -1.29872017e-02 2.11264845e+02] [ 1.76679101e-02 1.00140988e-03 9.99843409e-01 7.53230935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2292541539998 meters 0.03318611038515483 Centerline is valid? [True, True] Translation: X:889.49, Y:211.28, Z:7.53 [[-6.36729392e-01 -7.71000359e-01 1.15813259e-02 8.89490316e+02] [ 7.70899525e-01 -6.36833978e-01 -1.25062879e-02 2.11281239e+02] [ 1.70177343e-02 9.64917502e-04 9.99854722e-01 7.53218405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2592541539998 meters 0.029465457732972856 Centerline is valid? [True, True] Translation: X:889.48, Y:211.31, Z:7.53 [[-6.38151724e-01 -7.69813247e-01 1.22450398e-02 8.89476259e+02] [ 7.69700441e-01 -6.38268424e-01 -1.32155159e-02 2.11306084e+02] [ 1.79891015e-02 9.91508295e-04 9.99837691e-01 7.53236419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2892541539998 meters 0.029465457732972856 Centerline is valid? [True, True] Translation: X:889.46, Y:211.33, Z:7.53 [[-6.38376940e-01 -7.69626433e-01 1.22489160e-02 8.89457426e+02] [ 7.69513661e-01 -6.38493673e-01 -1.32119229e-02 2.11326291e+02] [ 1.79891005e-02 9.91521257e-04 9.99837691e-01 7.53254973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.3192541539997 meters 0.027838087629887483 Centerline is valid? [True, True] Translation: X:889.44, Y:211.35, Z:7.53 [[-6.40293480e-01 -7.68037162e-01 1.19656873e-02 8.89439121e+02] [ 7.67929403e-01 -6.40404601e-01 -1.28987974e-02 2.11347266e+02] [ 1.75696369e-02 9.29787238e-04 9.99845210e-01 7.53389946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.349254154 meters 0.027630045401984025 Centerline is valid? [True, True] Translation: X:889.42, Y:211.37, Z:7.54 [[-6.41403824e-01 -7.67120523e-01 1.12799549e-02 8.89419427e+02] [ 7.67024737e-01 -6.41502430e-01 -1.21526000e-02 2.11366641e+02] [ 1.65586274e-02 8.57280361e-04 9.99862529e-01 7.53565802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.379254154 meters 0.025958108921023713 Centerline is valid? [True, True] Translation: X:889.40, Y:211.39, Z:7.53 [[-6.45241149e-01 -7.63871955e-01 1.27865623e-02 8.89403588e+02] [ 7.63748392e-01 -6.45367227e-01 -1.37672210e-02 2.11389962e+02] [ 1.87684223e-02 8.82538876e-04 9.99823468e-01 7.53390971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4092541539999 meters 0.02564114842660106 Centerline is valid? [True, True] Translation: X:889.39, Y:211.41, Z:7.53 [[-6.47561522e-01 -7.61900152e-01 1.31237954e-02 8.89385489e+02] [ 7.61769740e-01 -6.47693934e-01 -1.41220135e-02 2.11411759e+02] [ 1.92597669e-02 8.52437626e-04 9.99814150e-01 7.53326363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4392541539999 meters 0.021332316260789262 Centerline is valid? [True, True] Translation: X:889.37, Y:211.44, Z:7.53 [[-6.53009692e-01 -7.57235739e-01 1.31292918e-02 8.89370751e+02] [ 7.57104433e-01 -6.53141269e-01 -1.41194941e-02 2.11435928e+02] [ 1.92670679e-02 7.20078533e-04 9.99814114e-01 7.53484565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4692541539998 meters 0.022780943186673938 Centerline is valid? [True, True] Translation: X:889.35, Y:211.46, Z:7.53 [[-6.56542279e-01 -7.54163130e-01 1.37916588e-02 8.89353038e+02] [ 7.54017718e-01 -6.56686782e-01 -1.48240355e-02 2.11455799e+02] [ 2.02365410e-02 6.66549044e-04 9.99794998e-01 7.53228615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4992541539998 meters 0.01815222494643241 Centerline is valid? [True, True] Translation: X:889.34, Y:211.48, Z:7.53 [[-6.63617316e-01 -7.47941940e-01 1.39610924e-02 8.89340322e+02] [ 7.47791716e-01 -6.63763977e-01 -1.49977620e-02 2.11481724e+02] [ 2.04843254e-02 4.87214658e-04 9.99790055e-01 7.53489583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.5292541539998 meters 0.01767287484205861 Centerline is valid? [True, True] Translation: X:889.32, Y:211.50, Z:7.53 [[-6.67303235e-01 -7.44649352e-01 1.42735585e-02 8.89323473e+02] [ 7.44491764e-01 -6.67455753e-01 -1.53242330e-02 2.11503641e+02] [ 2.09381489e-02 4.00636462e-04 9.99780693e-01 7.53495853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.5592541539997 meters 0.0158849683268679 Centerline is valid? [True, True] Translation: X:889.31, Y:211.53, Z:7.54 [[-6.74535645e-01 -7.38101851e-01 1.43986541e-02 8.89308875e+02] [ 7.37940169e-01 -6.74689274e-01 -1.54496427e-02 2.11528827e+02] [ 2.11180274e-02 2.04010511e-04 9.99776969e-01 7.53642101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.589254154 meters 0.014199267912331712 Centerline is valid? [True, True] Translation: X:889.29, Y:211.55, Z:7.54 [[-6.81018574e-01 -7.32128147e-01 1.42154212e-02 8.89294274e+02] [ 7.31969420e-01 -6.81166922e-01 -1.52444453e-02 2.11552134e+02] [ 2.08439622e-02 2.35031854e-05 9.99782741e-01 7.53861627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.619254154 meters 0.013883038261739304 Centerline is valid? [True, True] Translation: X:889.28, Y:211.57, Z:7.54 [[-6.83943236e-01 -7.29398509e-01 1.41232085e-02 8.89277663e+02] [ 7.29241412e-01 -6.84089038e-01 -1.51376980e-02 2.11572817e+02] [ 2.07029465e-02 -5.40976214e-05 9.99785670e-01 7.53936040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.649254154 meters 0.014583050876982237 Centerline is valid? [True, True] Translation: X:889.26, Y:211.60, Z:7.54 [[-6.89253286e-01 -7.24385202e-01 1.39995574e-02 8.89262104e+02] [ 7.24229976e-01 -6.89395417e-01 -1.49967216e-02 2.11595289e+02] [ 2.05146339e-02 -1.97640509e-04 9.99789533e-01 7.54039356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.6792541539999 meters 0.015041249934375136 Centerline is valid? [True, True] Translation: X:889.24, Y:211.62, Z:7.54 [[-6.91407021e-01 -7.22332388e-01 1.38655288e-02 8.89243978e+02] [ 7.22179877e-01 -6.91545992e-01 -1.48447291e-02 2.11616671e+02] [ 2.03114795e-02 -2.50344068e-04 9.99793669e-01 7.54107965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7092541539998 meters 0.015387430360973413 Centerline is valid? [True, True] Translation: X:889.22, Y:211.64, Z:7.54 [[-6.93226749e-01 -7.20589500e-01 1.36911631e-02 8.89224626e+02] [ 7.20440627e-01 -6.93361874e-01 -1.46497614e-02 2.11637437e+02] [ 2.00493948e-02 -2.91936348e-04 9.99798948e-01 7.54248589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7392541539998 meters 0.01722093515657874 Centerline is valid? [True, True] Translation: X:889.21, Y:211.66, Z:7.54 [[-6.95589727e-01 -7.18308340e-01 1.37134816e-02 8.89205888e+02] [ 7.18158713e-01 -6.95724805e-01 -1.46649010e-02 2.11657830e+02] [ 2.00747300e-02 -3.52298170e-04 9.99798420e-01 7.54282150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7692541539998 meters 0.01666334176606535 Centerline is valid? [True, True] Translation: X:889.19, Y:211.68, Z:7.54 [[-6.96141627e-01 -7.17787750e-01 1.29453244e-02 8.89186685e+02] [ 7.17654464e-01 -6.96261897e-01 -1.38362213e-02 2.11675619e+02] [ 1.89448063e-02 -3.41699732e-04 9.99820473e-01 7.54447243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7992541539998 meters 0.019471743691813214 Centerline is valid? [True, True] Translation: X:889.17, Y:211.69, Z:7.54 [[-6.96182066e-01 -7.17735971e-01 1.36237609e-02 8.89167707e+02] [ 7.17588515e-01 -6.96315266e-01 -1.45524125e-02 2.11694424e+02] [ 1.99312226e-02 -3.54874299e-04 9.99801290e-01 7.54226771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.829254154 meters 0.01585960241874876 Centerline is valid? [True, True] Translation: X:889.15, Y:211.71, Z:7.55 [[-6.95070367e-01 -7.18828218e-01 1.27741106e-02 8.89145420e+02] [ 7.18698918e-01 -6.95187675e-01 -1.36367594e-02 2.11711581e+02] [ 1.86828917e-02 -2.97767927e-04 9.99825415e-01 7.54606757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.859254154 meters 0.015513176018690898 Centerline is valid? [True, True] Translation: X:889.12, Y:211.73, Z:7.55 [[-6.91988819e-01 -7.21784683e-01 1.33546182e-02 8.89123201e+02] [ 7.21644046e-01 -6.92117635e-01 -1.42495470e-02 2.11727443e+02] [ 1.95280715e-02 -2.23246513e-04 9.99809284e-01 7.54526115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.889254154 meters 0.01678548694674674 Centerline is valid? [True, True] Translation: X:889.10, Y:211.74, Z:7.54 [[-6.87987620e-01 -7.25581108e-01 1.43209765e-02 8.89098384e+02] [ 7.25420367e-01 -6.88136645e-01 -1.52724840e-02 2.11742373e+02] [ 2.09362146e-02 -1.18551851e-04 9.99780806e-01 7.54393956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9192541539999 meters 0.01346310580123874 Centerline is valid? [True, True] Translation: X:889.08, Y:211.76, Z:7.55 [[-6.85706690e-01 -7.27748562e-01 1.37246346e-02 8.89075920e+02] [ 7.27601530e-01 -6.85844026e-01 -1.46282523e-02 2.11760256e+02] [ 2.00586482e-02 -4.46253537e-05 9.99798804e-01 7.54630685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9492541539998 meters 0.013350446449033054 Centerline is valid? [True, True] Translation: X:889.05, Y:211.78, Z:7.55 [[-6.83947726e-01 -7.29405321e-01 1.35419834e-02 8.89054133e+02] [ 7.29262664e-01 -6.84081777e-01 -1.44252848e-02 2.11777879e+02] [ 1.97857036e-02 9.52221367e-06 9.99804244e-01 7.54674417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9792541539998 meters 0.015544188307864379 Centerline is valid? [True, True] Translation: X:889.03, Y:211.79, Z:7.55 [[-6.80926198e-01 -7.32233167e-01 1.31947392e-02 8.89030275e+02] [ 7.32098417e-01 -6.81054021e-01 -1.40473334e-02 2.11793839e+02] [ 1.92722536e-02 9.46503673e-05 9.99814268e-01 7.54563156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.0092541539998 meters 0.015704151823885456 Centerline is valid? [True, True] Translation: X:889.01, Y:211.81, Z:7.55 [[-6.79656069e-01 -7.33418163e-01 1.28617908e-02 8.89009079e+02] [ 7.33290488e-01 -6.79777744e-01 -1.36849956e-02 2.11812469e+02] [ 1.87799835e-02 1.30338521e-04 9.99823632e-01 7.54643852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.0392541539998 meters 0.014400639695878414 Centerline is valid? [True, True] Translation: X:888.99, Y:211.83, Z:7.55 [[-6.77417712e-01 -7.35504378e-01 1.17709020e-02 8.88987193e+02] [ 7.35397882e-01 -6.77519948e-01 -1.25169992e-02 2.11828483e+02] [ 1.71813286e-02 1.77059458e-04 9.99852374e-01 7.54862209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.0692541539997 meters 0.01635429011268572 Centerline is valid? [True, True] Translation: X:888.97, Y:211.85, Z:7.55 [[-6.76689342e-01 -7.36167920e-01 1.21790084e-02 8.88965000e+02] [ 7.36054156e-01 -6.76798900e-01 -1.29432585e-02 2.11846600e+02] [ 1.77711512e-02 2.05844711e-04 9.99842059e-01 7.54728693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.099254154 meters 0.014366405338661032 Centerline is valid? [True, True] Translation: X:888.94, Y:211.86, Z:7.55 [[-6.76209425e-01 -7.36622852e-01 1.12954995e-02 8.88944950e+02] [ 7.36525177e-01 -6.76303727e-01 -1.19971701e-02 2.11864649e+02] [ 1.64765781e-02 2.06820285e-04 9.99864231e-01 7.54959830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.129254154 meters 0.014071671616129214 Centerline is valid? [True, True] Translation: X:888.93, Y:211.88, Z:7.55 [[-6.76167072e-01 -7.36663086e-01 1.12066047e-02 8.88925105e+02] [ 7.36567067e-01 -6.76259901e-01 -1.18954668e-02 2.11884964e+02] [ 1.63415286e-02 2.11092965e-04 9.99866446e-01 7.55059612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1592541539999 meters 0.016146402196855078 Centerline is valid? [True, True] Translation: X:888.90, Y:211.90, Z:7.55 [[-6.76634055e-01 -7.36230666e-01 1.14351313e-02 8.88903772e+02] [ 7.36130755e-01 -6.76730642e-01 -1.21305059e-02 2.11902593e+02] [ 1.66693542e-02 2.09838463e-04 9.99861035e-01 7.54777167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1892541539999 meters 0.01568696822238518 Centerline is valid? [True, True] Translation: X:888.88, Y:211.92, Z:7.55 [[-6.77083011e-01 -7.35818402e-01 1.13963098e-02 8.88884705e+02] [ 7.35719237e-01 -6.77178882e-01 -1.20816547e-02 2.11922160e+02] [ 1.66072442e-02 2.04201172e-04 9.99862069e-01 7.54809938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2192541539998 meters 0.015958805627123797 Centerline is valid? [True, True] Translation: X:888.87, Y:211.94, Z:7.55 [[-6.78580985e-01 -7.34418760e-01 1.25272356e-02 8.88865553e+02] [ 7.34298847e-01 -6.78696580e-01 -1.32723713e-02 2.11942279e+02] [ 1.82496704e-02 1.92355847e-04 9.99833442e-01 7.54691422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2492541539998 meters 0.013885098932043358 Centerline is valid? [True, True] Translation: X:888.85, Y:211.96, Z:7.55 [[-6.79302545e-01 -7.33748111e-01 1.27185539e-02 8.88846400e+02] [ 7.33624534e-01 -6.79421575e-01 -1.34672450e-02 2.11962845e+02] [ 1.85228255e-02 1.82309369e-04 9.99828421e-01 7.54866166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2792541539998 meters 0.013795200967373909 Centerline is valid? [True, True] Translation: X:888.83, Y:211.98, Z:7.55 [[-6.81079270e-01 -7.32078936e-01 1.38368909e-02 8.88826941e+02] [ 7.31932501e-01 -6.81219793e-01 -1.46426609e-02 2.11983377e+02] [ 2.01455475e-02 1.54857393e-04 9.99797046e-01 7.54748992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.3092541539997 meters 0.015952975342669273 Centerline is valid? [True, True] Translation: X:888.81, Y:212.00, Z:7.54 [[-6.82616682e-01 -7.30620600e-01 1.50998344e-02 8.88807413e+02] [ 7.30446061e-01 -6.82783657e-01 -1.59696325e-02 2.12004153e+02] [ 2.19776626e-02 1.28476981e-04 9.99758454e-01 7.54465820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.339254154 meters 0.01380943738795207 Centerline is valid? [True, True] Translation: X:888.79, Y:212.02, Z:7.55 [[-6.83038331e-01 -7.30227887e-01 1.50290453e-02 8.88788747e+02] [ 7.30055094e-01 -6.83203644e-01 -1.58852358e-02 2.12023360e+02] [ 2.18677407e-02 1.21806122e-04 9.99760865e-01 7.54628076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.369254154 meters 0.013818301861211997 Centerline is valid? [True, True] Translation: X:888.77, Y:212.04, Z:7.55 [[-6.83622603e-01 -7.29676151e-01 1.52594684e-02 8.88769516e+02] [ 7.29498091e-01 -6.83792879e-01 -1.61193661e-02 2.12043646e+02] [ 2.21962328e-02 1.12190076e-04 9.99753627e-01 7.54624733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.399254154 meters 0.017375634139496603 Centerline is valid? [True, True] Translation: X:888.75, Y:212.06, Z:7.54 [[-6.84629289e-01 -7.28703287e-01 1.65607029e-02 8.88750676e+02] [ 7.28493519e-01 -6.84829549e-01 -1.74837582e-02 2.12064852e+02] [ 2.40817308e-02 9.44718104e-05 9.99709989e-01 7.54433341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4292541539999 meters 0.013687029717237235 Centerline is valid? [True, True] Translation: X:888.73, Y:212.09, Z:7.55 [[-6.84965477e-01 -7.28416761e-01 1.52091316e-02 8.88730990e+02] [ 7.28239959e-01 -6.85134304e-01 -1.60482605e-02 2.12085536e+02] [ 2.21101197e-02 8.33929320e-05 9.99755538e-01 7.54892406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4592541539998 meters 0.014677361719279093 Centerline is valid? [True, True] Translation: X:888.71, Y:212.11, Z:7.55 [[-6.85463480e-01 -7.27938382e-01 1.56693982e-02 8.88712015e+02] [ 7.27750805e-01 -6.85642550e-01 -1.65244955e-02 2.12105847e+02] [ 2.27724206e-02 7.64789818e-05 9.99740672e-01 7.54900468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4892541539998 meters 0.01378574242106062 Centerline is valid? [True, True] Translation: X:888.69, Y:212.13, Z:7.55 [[-6.85433347e-01 -7.27971681e-01 1.54388692e-02 8.88692443e+02] [ 7.27789800e-01 -6.85607194e-01 -1.62721061e-02 2.12125702e+02] [ 2.24306322e-02 8.28074445e-05 9.99748398e-01 7.55036854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.5192541539998 meters 0.015334334324021951 Centerline is valid? [True, True] Translation: X:888.67, Y:212.15, Z:7.55 [[-6.85566990e-01 -7.27832202e-01 1.60682131e-02 8.88673138e+02] [ 7.27635378e-01 -6.85755261e-01 -1.69256657e-02 2.12145804e+02] [ 2.33379062e-02 8.81226390e-05 9.99727630e-01 7.54917687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.5492541539998 meters 0.016606774118558605 Centerline is valid? [True, True] Translation: X:888.65, Y:212.17, Z:7.55 [[-6.84919911e-01 -7.28416096e-01 1.71670299e-02 8.88652998e+02] [ 7.28191874e-01 -6.85135006e-01 -1.80725772e-02 2.12165622e+02] [ 2.49260893e-02 1.22623679e-04 9.99689289e-01 7.54923375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.579254154 meters 0.016312613390926805 Centerline is valid? [True, True] Translation: X:888.63, Y:212.19, Z:7.55 [[-6.84660703e-01 -7.28660374e-01 1.71400255e-02 8.88633140e+02] [ 7.28437192e-01 -6.84875200e-01 -1.80337921e-02 2.12185473e+02] [ 2.48792881e-02 1.38403321e-04 9.99690453e-01 7.54979541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.609254154 meters 0.01610630529812648 Centerline is valid? [True, True] Translation: X:888.61, Y:212.20, Z:7.55 [[-6.83628851e-01 -7.29635224e-01 1.68532848e-02 8.88613222e+02] [ 7.29419998e-01 -6.83836536e-01 -1.77217136e-02 2.12204850e+02] [ 2.44552783e-02 1.78048270e-04 9.99700909e-01 7.55192435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.639254154 meters 0.014014058563777854 Centerline is valid? [True, True] Translation: X:888.59, Y:212.22, Z:7.55 [[-6.83036316e-01 -7.30213675e-01 1.57917440e-02 8.88593917e+02] [ 7.30025093e-01 -6.83218816e-01 -1.65955742e-02 2.12223477e+02] [ 2.29075319e-02 1.92989541e-04 9.99737569e-01 7.55381727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6692541539999 meters 0.0178050756549078 Centerline is valid? [True, True] Translation: X:888.57, Y:212.24, Z:7.55 [[-6.83271226e-01 -7.29969587e-01 1.68770198e-02 8.88574262e+02] [ 7.29754368e-01 -6.83479598e-01 -1.77257629e-02 2.12243879e+02] [ 2.44743665e-02 2.04575170e-04 9.99700437e-01 7.55163493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6992541539998 meters 0.018042821414766888 Centerline is valid? [True, True] Translation: X:888.55, Y:212.26, Z:7.55 [[-6.82540524e-01 -7.30669328e-01 1.61482698e-02 8.88554915e+02] [ 7.30472718e-01 -6.82731486e-01 -1.69507053e-02 2.12263667e+02] [ 2.34102927e-02 2.26327290e-04 9.99725916e-01 7.55274052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7292541539998 meters 0.01715379468659093 Centerline is valid? [True, True] Translation: X:888.54, Y:212.28, Z:7.55 [[-6.82235619e-01 -7.30966641e-01 1.55669485e-02 8.88535929e+02] [ 7.30784232e-01 -6.82413156e-01 -1.63306798e-02 2.12283190e+02] [ 2.25602726e-02 2.34709010e-04 9.99745457e-01 7.55345295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7592541539998 meters 0.015276674470158083 Centerline is valid? [True, True] Translation: X:888.52, Y:212.30, Z:7.56 [[-6.81330691e-01 -7.31831392e-01 1.45362748e-02 8.88516527e+02] [ 7.31672723e-01 -6.81485693e-01 -1.52405967e-02 2.12303065e+02] [ 2.10598104e-02 2.51909476e-04 9.99778186e-01 7.55560324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7892541539998 meters 0.017243918933005756 Centerline is valid? [True, True] Translation: X:888.50, Y:212.32, Z:7.55 [[-6.81040708e-01 -7.32096372e-01 1.47802349e-02 8.88497448e+02] [ 7.31932553e-01 -6.81201019e-01 -1.54889854e-02 2.12322164e+02] [ 2.14077411e-02 2.69505486e-04 9.99770792e-01 7.55414457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.8192541539997 meters 0.01800573927647417 Centerline is valid? [True, True] Translation: X:888.48, Y:212.34, Z:7.55 [[-6.79438273e-01 -7.33580944e-01 1.49208737e-02 8.88477848e+02] [ 7.33414523e-01 -6.79602011e-01 -1.56283285e-02 2.12342306e+02] [ 2.16048997e-02 3.24701002e-04 9.99766534e-01 7.55484799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.849254154 meters 0.018059586817734403 Centerline is valid? [True, True] Translation: X:888.46, Y:212.36, Z:7.55 [[-6.77476450e-01 -7.35392975e-01 1.49275569e-02 8.88457698e+02] [ 7.35227028e-01 -6.77640776e-01 -1.56267819e-02 2.12361204e+02] [ 2.16073468e-02 3.88366551e-04 9.99766459e-01 7.55486430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.879254154 meters 0.019005329111808668 Centerline is valid? [True, True] Translation: X:888.44, Y:212.38, Z:7.55 [[-6.75633322e-01 -7.37077179e-01 1.53898191e-02 8.88438329e+02] [ 7.36901431e-01 -6.75808419e-01 -1.61015987e-02 2.12381352e+02] [ 2.22686902e-02 4.62003042e-04 9.99751915e-01 7.55440832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9092541539999 meters 0.0161910824523349 Centerline is valid? [True, True] Translation: X:888.42, Y:212.40, Z:7.56 [[-6.74472791e-01 -7.38163452e-01 1.41835378e-02 8.88418903e+02] [ 7.38014590e-01 -6.74621748e-01 -1.48311210e-02 2.12400996e+02] [ 2.05163146e-02 4.64470269e-04 9.99789410e-01 7.55721365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9392541539999 meters 0.019672303364065998 Centerline is valid? [True, True] Translation: X:888.40, Y:212.42, Z:7.55 [[-6.74233736e-01 -7.38356819e-01 1.54297733e-02 8.88397920e+02] [ 7.38180899e-01 -6.74410068e-01 -1.61251331e-02 2.12418973e+02] [ 2.23120965e-02 5.17855153e-04 9.99750920e-01 7.55316786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9692541539998 meters 0.019672303364065998 Centerline is valid? [True, True] Translation: X:888.38, Y:212.44, Z:7.55 [[-6.74460445e-01 -7.38149635e-01 1.54345273e-02 8.88379328e+02] [ 7.37973765e-01 -6.74636827e-01 -1.61205823e-02 2.12438211e+02] [ 2.23121025e-02 5.17581119e-04 9.99750920e-01 7.55334763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9992541539998 meters 0.018101896775281533 Centerline is valid? [True, True] Translation: X:888.36, Y:212.46, Z:7.56 [[-6.74053685e-01 -7.38521205e-01 1.54291674e-02 8.88361622e+02] [ 7.38345767e-01 -6.74230037e-01 -1.61054854e-02 2.12460405e+02] [ 2.22970505e-02 5.36098645e-04 9.99751246e-01 7.55565034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.0292541539998 meters 0.0175642386043306 Centerline is valid? [True, True] Translation: X:888.34, Y:212.48, Z:7.56 [[-6.73113861e-01 -7.39388456e-01 1.49144698e-02 8.88343322e+02] [ 7.39224939e-01 -6.73278848e-01 -1.55589833e-02 2.12479776e+02] [ 2.15457297e-02 5.52180688e-04 9.99767711e-01 7.55691582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.0592541539997 meters 0.017701401652567315 Centerline is valid? [True, True] Translation: X:888.33, Y:212.50, Z:7.56 [[-6.73383549e-01 -7.39147684e-01 1.46730464e-02 8.88325356e+02] [ 7.38989565e-01 -6.73543175e-01 -1.52975280e-02 2.12500541e+02] [ 2.11900626e-02 5.42124501e-04 9.99775318e-01 7.55764277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.089254154 meters 0.020271781539680338 Centerline is valid? [True, True] Translation: X:888.31, Y:212.52, Z:7.56 [[-6.74170620e-01 -7.38404748e-01 1.58871944e-02 8.88307377e+02] [ 7.38219420e-01 -6.74357549e-01 -1.65524764e-02 2.12521559e+02] [ 2.29360767e-02 5.69042174e-04 9.99736772e-01 7.55564580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.119254154 meters 0.0185718483344019 Centerline is valid? [True, True] Translation: X:888.29, Y:212.54, Z:7.56 [[-6.74475615e-01 -7.38148383e-01 1.48192469e-02 8.88289374e+02] [ 7.37987281e-01 -6.74638188e-01 -1.54301308e-02 2.12541528e+02] [ 2.13873560e-02 5.29168790e-04 9.99771124e-01 7.55735501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.149254154 meters 0.018002685808911668 Centerline is valid? [True, True] Translation: X:888.27, Y:212.56, Z:7.56 [[-6.75002776e-01 -7.37674560e-01 1.44047370e-02 8.88272448e+02] [ 7.37522441e-01 -6.75156269e-01 -1.49887181e-02 2.12561153e+02] [ 2.07822445e-02 5.06390472e-04 9.99783898e-01 7.55808224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.1792541539999 meters 0.01926113070761746 Centerline is valid? [True, True] Translation: X:888.25, Y:212.58, Z:7.56 [[-6.75879566e-01 -7.36846490e-01 1.56225323e-02 8.88254934e+02] [ 7.36667565e-01 -6.76059888e-01 -1.62458212e-02 2.12582657e+02] [ 2.25324438e-02 5.28394280e-04 9.99745973e-01 7.55691324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2092541539998 meters 0.02044094520450035 Centerline is valid? [True, True] Translation: X:888.24, Y:212.60, Z:7.56 [[-6.77016425e-01 -7.35789503e-01 1.62039548e-02 8.88237429e+02] [ 7.35596965e-01 -6.77210114e-01 -1.68394592e-02 2.12602898e+02] [ 2.33637794e-02 5.18989514e-04 9.99726895e-01 7.55529568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2392541539998 meters 0.01682525345391952 Centerline is valid? [True, True] Translation: X:888.22, Y:212.62, Z:7.56 [[-6.77200831e-01 -7.35640238e-01 1.52471480e-02 8.88219927e+02] [ 7.35469954e-01 -6.77372276e-01 -1.58349930e-02 2.12624475e+02] [ 2.19768534e-02 4.90348793e-04 9.99758360e-01 7.55913944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2692541539998 meters 0.01652923363982695 Centerline is valid? [True, True] Translation: X:888.20, Y:212.65, Z:7.56 [[-6.78466918e-01 -7.34477597e-01 1.50100340e-02 8.88202698e+02] [ 7.34312483e-01 -6.78632784e-01 -1.55795529e-02 2.12646726e+02] [ 2.16291338e-02 4.51844095e-04 9.99765961e-01 7.55984734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2992541539998 meters 0.016538458815592922 Centerline is valid? [True, True] Translation: X:888.18, Y:212.67, Z:7.56 [[-6.79256663e-01 -7.33745118e-01 1.51158384e-02 8.88184127e+02] [ 7.33577682e-01 -6.79424691e-01 -1.56803539e-02 2.12668124e+02] [ 2.17754570e-02 4.37656879e-04 9.99762791e-01 7.56009032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.329254154 meters 0.01586774812380712 Centerline is valid? [True, True] Translation: X:888.17, Y:212.69, Z:7.56 [[-6.79670884e-01 -7.33369665e-01 1.47113614e-02 8.88166500e+02] [ 7.33211169e-01 -6.79829948e-01 -1.52520147e-02 2.12689569e+02] [ 2.11865889e-02 4.20184141e-04 9.99775451e-01 7.56129311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.359254154 meters 0.01801174101953831 Centerline is valid? [True, True] Translation: X:888.15, Y:212.71, Z:7.56 [[-6.80427790e-01 -7.32647000e-01 1.56970111e-02 8.88147829e+02] [ 7.32466585e-01 -6.80608689e-01 -1.62638846e-02 2.12709501e+02] [ 2.25992084e-02 4.31137036e-04 9.99744512e-01 7.55939201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.389254154 meters 0.01726997865839275 Centerline is valid? [True, True] Translation: X:888.13, Y:212.73, Z:7.56 [[-6.80692265e-01 -7.32395362e-01 1.59710334e-02 8.88129449e+02] [ 7.32208748e-01 -6.80879463e-01 -1.65380331e-02 2.12731441e+02] [ 2.29867274e-02 4.36819161e-04 9.99735675e-01 7.55997657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4192541539999 meters 0.015373562046873183 Centerline is valid? [True, True] Translation: X:888.11, Y:212.75, Z:7.56 [[-6.81129358e-01 -7.31998295e-01 1.55336512e-02 8.88111447e+02] [ 7.31821868e-01 -6.81306335e-01 -1.60757930e-02 2.12753421e+02] [ 2.23506280e-02 4.18171097e-04 9.99750106e-01 7.56197942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4492541539998 meters 0.018324426701220812 Centerline is valid? [True, True] Translation: X:888.09, Y:212.77, Z:7.56 [[-6.82468392e-01 -7.30710662e-01 1.72864830e-02 8.88093351e+02] [ 7.30492023e-01 -6.82687152e-01 -1.78789433e-02 2.12774646e+02] [ 2.48655943e-02 4.25824252e-04 9.99690713e-01 7.55984399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4792541539998 meters 0.014917032368284922 Centerline is valid? [True, True] Translation: X:888.07, Y:212.80, Z:7.56 [[-6.83624337e-01 -7.29662772e-01 1.58115388e-02 8.88074604e+02] [ 7.29479772e-01 -6.83807070e-01 -1.63448115e-02 2.12796651e+02] [ 2.27382424e-02 3.60486807e-04 9.99741388e-01 7.56239689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.5092541539998 meters 0.015099538463628034 Centerline is valid? [True, True] Translation: X:888.06, Y:212.82, Z:7.56 [[-6.84423327e-01 -7.28913728e-01 1.57951578e-02 8.88056050e+02] [ 7.28731124e-01 -6.84605478e-01 -1.63183361e-02 2.12816927e+02] [ 2.27081107e-02 3.41773231e-04 9.99742079e-01 7.56250925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.5392541539998 meters 0.01795862393530909 Centerline is valid? [True, True] Translation: X:888.04, Y:212.84, Z:7.56 [[-6.86537478e-01 -7.26894354e-01 1.70554566e-02 8.88039216e+02] [ 7.26681081e-01 -6.86749230e-01 -1.76097135e-02 2.12839725e+02] [ 2.45132231e-02 3.04149352e-04 9.99699460e-01 7.56192824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.5692541539997 meters 0.014677466986738082 Centerline is valid? [True, True] Translation: X:888.02, Y:212.86, Z:7.56 [[-6.86824111e-01 -7.26657691e-01 1.55319189e-02 8.88020251e+02] [ 7.26480965e-01 -6.86999654e-01 -1.60275585e-02 2.12859540e+02] [ 2.23169716e-02 2.75529794e-04 9.99750907e-01 7.56423730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.599254154 meters 0.014525947774337538 Centerline is valid? [True, True] Translation: X:888.00, Y:212.88, Z:7.56 [[-6.87566746e-01 -7.25958480e-01 1.53706307e-02 8.88002048e+02] [ 7.25785433e-01 -6.87738482e-01 -1.58519934e-02 2.12880375e+02] [ 2.20788633e-02 2.56476301e-04 9.99756199e-01 7.56492787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.629254154 meters 0.015217090297118926 Centerline is valid? [True, True] Translation: X:887.98, Y:212.90, Z:7.56 [[-6.88101700e-01 -7.25436666e-01 1.60528808e-02 8.87983151e+02] [ 7.25247997e-01 -6.88288877e-01 -1.65458630e-02 2.12901320e+02] [ 2.30519950e-02 2.57083234e-04 9.99734234e-01 7.56497549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6592541539999 meters 0.01591526567528013 Centerline is valid? [True, True] Translation: X:887.96, Y:212.92, Z:7.56 [[-6.88476997e-01 -7.25064890e-01 1.67430457e-02 8.87964544e+02] [ 7.24859784e-01 -6.88680504e-01 -1.72469732e-02 2.12922428e+02] [ 2.40357839e-02 2.62216177e-04 9.99711064e-01 7.56474188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6892541539999 meters 0.01671616578742201 Centerline is valid? [True, True] Translation: X:887.95, Y:212.94, Z:7.56 [[-6.88452213e-01 -7.25082008e-01 1.70185737e-02 8.87945972e+02] [ 7.24870317e-01 -6.88662477e-01 -1.75218904e-02 2.12941437e+02] [ 2.44248606e-02 2.73274710e-04 9.99701631e-01 7.56405228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7192541539998 meters 0.016954454850609226 Centerline is valid? [True, True] Translation: X:887.93, Y:212.96, Z:7.56 [[-6.88153007e-01 -7.25359958e-01 1.72733875e-02 8.87926839e+02] [ 7.25142209e-01 -6.88369700e-01 -1.77744699e-02 2.12961732e+02] [ 2.47833653e-02 2.94107478e-04 9.99692802e-01 7.56440854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7492541539998 meters 0.016230038488619796 Centerline is valid? [True, True] Translation: X:887.91, Y:212.98, Z:7.57 [[-6.88024386e-01 -7.25493536e-01 1.67801441e-02 8.87907408e+02] [ 7.25288325e-01 -6.88228916e-01 -1.72570341e-02 2.12982143e+02] [ 2.40684471e-02 2.97182310e-04 9.99710269e-01 7.56555956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7792541539998 meters 0.014968642731059002 Centerline is valid? [True, True] Translation: X:887.89, Y:213.00, Z:7.57 [[-6.87126491e-01 -7.26363582e-01 1.59101448e-02 8.87888112e+02] [ 7.26179505e-01 -6.87310590e-01 -1.63547993e-02 2.13001397e+02] [ 2.28147416e-02 3.15805167e-04 9.99739660e-01 7.56713975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.8092541539997 meters 0.014857622859092711 Centerline is valid? [True, True] Translation: X:887.87, Y:213.02, Z:7.57 [[-6.86611493e-01 -7.26861001e-01 1.54189058e-02 8.87869251e+02] [ 7.26688431e-01 -6.86784520e-01 -1.58413348e-02 2.13021816e+02] [ 2.21039143e-02 3.27897892e-04 9.99755625e-01 7.56904184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.839254154 meters 0.015040501624284414 Centerline is valid? [True, True] Translation: X:887.85, Y:213.04, Z:7.57 [[-6.86366230e-01 -7.27102124e-01 1.49632811e-02 8.87849879e+02] [ 7.26939860e-01 -6.86529235e-01 -1.53638789e-02 2.13040656e+02] [ 2.14438389e-02 3.32157864e-04 9.99769999e-01 7.56896689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.869254154 meters 0.017406220721125232 Centerline is valid? [True, True] Translation: X:887.83, Y:213.06, Z:7.57 [[-6.86993167e-01 -7.26491381e-01 1.58323322e-02 8.87830709e+02] [ 7.26309784e-01 -6.87175494e-01 -1.62461909e-02 2.13061738e+02] [ 2.26823083e-02 3.38155647e-04 9.99742666e-01 7.56801709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.899254154 meters 0.016468025323715437 Centerline is valid? [True, True] Translation: X:887.81, Y:213.08, Z:7.57 [[-6.86702283e-01 -7.26781897e-01 1.51013041e-02 8.87811187e+02] [ 7.26616914e-01 -6.86868227e-01 -1.54886642e-02 2.13079946e+02] [ 2.16294867e-02 3.36761879e-04 9.99765999e-01 7.56824247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9292541539999 meters 0.01546379458974443 Centerline is valid? [True, True] Translation: X:887.79, Y:213.10, Z:7.57 [[-6.86751693e-01 -7.26752891e-01 1.42249040e-02 8.87792707e+02] [ 7.26606673e-01 -6.86898924e-01 -1.45812015e-02 2.13098317e+02] [ 2.03680016e-02 3.22245339e-04 9.99792499e-01 7.56921791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9592541539998 meters 0.014827869769338762 Centerline is valid? [True, True] Translation: X:887.78, Y:213.12, Z:7.57 [[-6.87508234e-01 -7.26037950e-01 1.41888347e-02 8.87775021e+02] [ 7.25892504e-01 -6.87654565e-01 -1.45351909e-02 2.13120141e+02] [ 2.03101171e-02 3.06505337e-04 9.99793681e-01 7.57112235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9892541539998 meters 0.01477577762718746 Centerline is valid? [True, True] Translation: X:887.76, Y:213.14, Z:7.57 [[-6.88069758e-01 -7.25507563e-01 1.40990590e-02 8.87755798e+02] [ 7.25364013e-01 -6.88214130e-01 -1.44346957e-02 2.13140219e+02] [ 2.01756526e-02 2.94872420e-04 9.99796407e-01 7.57117369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.0192541539998 meters 0.015121374958875658 Centerline is valid? [True, True] Translation: X:887.74, Y:213.16, Z:7.57 [[-6.88738900e-01 -7.24865677e-01 1.44387841e-02 8.87736468e+02] [ 7.24715172e-01 -6.88890170e-01 -1.47733926e-02 2.13158776e+02] [ 2.06554617e-02 2.88995746e-04 9.99786611e-01 7.57017477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.0492541539998 meters 0.014524861286618895 Centerline is valid? [True, True] Translation: X:887.72, Y:213.18, Z:7.57 [[-6.89529627e-01 -7.24104449e-01 1.48876008e-02 8.87718225e+02] [ 7.23944460e-01 -6.89690270e-01 -1.52233537e-02 2.13180633e+02] [ 2.12911315e-02 2.80842760e-04 9.99773279e-01 7.57081687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.079254154 meters 0.018253788508947415 Centerline is valid? [True, True] Translation: X:887.70, Y:213.20, Z:7.57 [[-6.90583578e-01 -7.23051953e-01 1.70351262e-02 8.87699158e+02] [ 7.22842343e-01 -6.90793594e-01 -1.74114409e-02 2.13200989e+02] [ 2.43571324e-02 2.89655347e-04 9.99703279e-01 7.56764113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.109254154 meters 0.015075764693934537 Centerline is valid? [True, True] Translation: X:887.68, Y:213.22, Z:7.57 [[-6.89824828e-01 -7.23801286e-01 1.59186806e-02 8.87678958e+02] [ 7.23618650e-01 -6.90008411e-01 -1.62616976e-02 2.13219606e+02] [ 2.27542612e-02 3.01331386e-04 9.99741043e-01 7.56868073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.139254154 meters 0.015094343598659533 Centerline is valid? [True, True] Translation: X:887.66, Y:213.24, Z:7.57 [[-6.88710994e-01 -7.24853000e-01 1.62879243e-02 8.87658717e+02] [ 7.24662312e-01 -6.88903481e-01 -1.66291033e-02 2.13239687e+02] [ 2.32744632e-02 3.50598661e-04 9.99729052e-01 7.56927929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1692541539999 meters 0.015356454747114882 Centerline is valid? [True, True] Translation: X:887.64, Y:213.26, Z:7.57 [[-6.88032804e-01 -7.25495741e-01 1.63337268e-02 8.87638552e+02] [ 7.25304384e-01 -6.88226551e-01 -1.66662873e-02 2.13258877e+02] [ 2.33326249e-02 3.79971307e-04 9.99727685e-01 7.56907858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1992541539998 meters 0.01617014967728112 Centerline is valid? [True, True] Translation: X:887.62, Y:213.28, Z:7.57 [[-6.86590455e-01 -7.26852667e-01 1.66957405e-02 8.87617691e+02] [ 7.26653367e-01 -6.86793276e-01 -1.70258397e-02 2.13277885e+02] [ 2.38417994e-02 4.42237035e-04 9.99715646e-01 7.56873224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2292541539998 meters 0.01682287980617232 Centerline is valid? [True, True] Translation: X:887.60, Y:213.30, Z:7.57 [[-6.84642760e-01 -7.28689314e-01 1.66185332e-02 8.87597344e+02] [ 7.28492631e-01 -6.84844233e-01 -1.69370438e-02 2.13296341e+02] [ 2.37229495e-02 5.10654542e-04 9.99718441e-01 7.56886550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2592541539998 meters 0.019485324938145202 Centerline is valid? [True, True] Translation: X:887.58, Y:213.32, Z:7.57 [[-6.84515261e-01 -7.28789087e-01 1.74735489e-02 8.87577530e+02] [ 7.28571932e-01 -6.84738028e-01 -1.77981038e-02 2.13316232e+02] [ 2.49358672e-02 5.47663587e-04 9.99688903e-01 7.56775931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2892541539998 meters 0.017251059588103596 Centerline is valid? [True, True] Translation: X:887.56, Y:213.34, Z:7.57 [[-6.82031735e-01 -7.31142880e-01 1.62111575e-02 8.87558006e+02] [ 7.30956849e-01 -6.82224110e-01 -1.65029776e-02 2.13336466e+02] [ 2.31256770e-02 5.94102164e-04 9.99732389e-01 7.57229687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.3192541539997 meters 0.01849001406567304 Centerline is valid? [True, True] Translation: X:887.54, Y:213.36, Z:7.57 [[-6.81814237e-01 -7.31340397e-01 1.64490074e-02 8.87537970e+02] [ 7.31149148e-01 -6.82012349e-01 -1.67355752e-02 2.13357123e+02] [ 2.34578283e-02 6.16124318e-04 9.99724637e-01 7.57219634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.349254154 meters 0.0179611954951088 Centerline is valid? [True, True] Translation: X:887.52, Y:213.38, Z:7.57 [[-6.80627577e-01 -7.32451915e-01 1.61335998e-02 8.87517892e+02] [ 7.32268469e-01 -6.80818457e-01 -1.64048238e-02 2.13375338e+02] [ 2.29997972e-02 6.48550940e-04 9.99735259e-01 7.57383336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.379254154 meters 0.01967070422930138 Centerline is valid? [True, True] Translation: X:887.50, Y:213.39, Z:7.57 [[-6.79128559e-01 -7.33855997e-01 1.54846970e-02 8.87496413e+02] [ 7.33687586e-01 -6.79304733e-01 -1.57354809e-02 2.13392229e+02] [ 2.20664049e-02 6.74515489e-04 9.99756280e-01 7.57403874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4092541539999 meters 0.019071943102233733 Centerline is valid? [True, True] Translation: X:887.48, Y:213.41, Z:7.58 [[-6.78353064e-01 -7.34583017e-01 1.49970243e-02 8.87477479e+02] [ 7.34425415e-01 -6.78518478e-01 -1.52310380e-02 2.13412737e+02] [ 2.13642200e-02 6.82174484e-04 9.99771526e-01 7.57551988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4392541539999 meters 0.02242613390924328 Centerline is valid? [True, True] Translation: X:887.46, Y:213.43, Z:7.57 [[-6.77097092e-01 -7.35753339e-01 1.43719374e-02 8.87455069e+02] [ 7.35609009e-01 -6.77249248e-01 -1.45891456e-02 2.13427886e+02] [ 2.04673964e-02 6.93858510e-04 9.99790280e-01 7.57475056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4692541539998 meters 0.02102970334044124 Centerline is valid? [True, True] Translation: X:887.44, Y:213.45, Z:7.58 [[-6.77026156e-01 -7.35818335e-01 1.43861923e-02 8.87437823e+02] [ 7.35673905e-01 -6.77178621e-01 -1.45952290e-02 2.13449745e+02] [ 2.04814590e-02 7.02194487e-04 9.99789986e-01 7.57610574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4992541539998 meters 0.020204855270646693 Centerline is valid? [True, True] Translation: X:887.42, Y:213.47, Z:7.58 [[-6.76959859e-01 -7.35872491e-01 1.47318104e-02 8.87420127e+02] [ 7.35721240e-01 -6.77119745e-01 -1.49368005e-02 2.13471361e+02] [ 2.09667803e-02 7.26891426e-04 9.99779909e-01 7.57685993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.5292541539998 meters 0.023789900495209022 Centerline is valid? [True, True] Translation: X:887.40, Y:213.49, Z:7.57 [[-6.77326342e-01 -7.35525393e-01 1.52125717e-02 8.87398488e+02] [ 7.35364226e-01 -6.77496745e-01 -1.54147857e-02 2.13488501e+02] [ 2.16444341e-02 7.45940535e-04 9.99765454e-01 7.57440479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.5592541539997 meters 0.022747180583271145 Centerline is valid? [True, True] Translation: X:887.38, Y:213.51, Z:7.58 [[-6.76319404e-01 -7.36459033e-01 1.48376874e-02 8.87378866e+02] [ 7.36306123e-01 -6.76481715e-01 -1.50260467e-02 2.13507670e+02] [ 2.11034920e-02 7.62673112e-04 9.99777006e-01 7.57690284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.589254154 meters 0.02117284452467099 Centerline is valid? [True, True] Translation: X:887.36, Y:213.53, Z:7.58 [[-6.75819361e-01 -7.36921461e-01 1.46612268e-02 8.87361573e+02] [ 7.36772454e-01 -6.75977930e-01 -1.48388026e-02 2.13530006e+02] [ 2.08456979e-02 7.73637952e-04 9.99782406e-01 7.57890109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.619254154 meters 0.02068650804830645 Centerline is valid? [True, True] Translation: X:887.34, Y:213.55, Z:7.58 [[-6.75658963e-01 -7.37062462e-01 1.49630373e-02 8.87342333e+02] [ 7.36907478e-01 -6.75824154e-01 -1.51354256e-02 2.13551020e+02] [ 2.12681361e-02 7.99988096e-04 9.99773488e-01 7.57952079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.649254154 meters 0.022297941795361167 Centerline is valid? [True, True] Translation: X:887.32, Y:213.57, Z:7.58 [[-6.75704231e-01 -7.37026555e-01 1.46849836e-02 8.87321916e+02] [ 7.36877457e-01 -6.75863324e-01 -1.48452455e-02 2.13568542e+02] [ 2.08663820e-02 7.90038177e-04 9.99781961e-01 7.57876719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.6792541539999 meters 0.026431250987036328 Centerline is valid? [True, True] Translation: X:887.30, Y:213.59, Z:7.58 [[-6.76502306e-01 -7.36287829e-01 1.49954206e-02 8.87301335e+02] [ 7.36132389e-01 -6.76668019e-01 -1.51491898e-02 2.13585453e+02] [ 2.13010856e-02 7.90152953e-04 9.99772794e-01 7.57619018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7092541539998 meters 0.021925585207934042 Centerline is valid? [True, True] Translation: X:887.29, Y:213.61, Z:7.58 [[-6.76133028e-01 -7.36651282e-01 1.37483570e-02 8.87285644e+02] [ 7.36520867e-01 -6.76272386e-01 -1.38806222e-02 2.13607904e+02] [ 1.95228124e-02 7.40804668e-04 9.99809137e-01 7.58058733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7392541539998 meters 0.023060931309210688 Centerline is valid? [True, True] Translation: X:887.27, Y:213.63, Z:7.58 [[-6.77381973e-01 -7.35511848e-01 1.32659433e-02 8.87267027e+02] [ 7.35390355e-01 -6.77511512e-01 -1.33857202e-02 2.13628944e+02] [ 1.88331850e-02 6.88401189e-04 9.99822403e-01 7.58075088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7692541539998 meters 0.021515045165729416 Centerline is valid? [True, True] Translation: X:887.25, Y:213.65, Z:7.58 [[-6.76931152e-01 -7.35942287e-01 1.23760103e-02 8.87247341e+02] [ 7.35836743e-01 -6.77043955e-01 -1.24808229e-02 2.13649263e+02] [ 1.75642683e-02 6.58065344e-04 9.99845520e-01 7.58350832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7992541539998 meters 0.02182816560102762 Centerline is valid? [True, True] Translation: X:887.23, Y:213.67, Z:7.58 [[-6.77241488e-01 -7.35671707e-01 1.14501426e-02 8.87228122e+02] [ 7.35581437e-01 -6.77338003e-01 -1.15402922e-02 2.13668582e+02] [ 1.62454832e-02 6.06947697e-04 9.99867849e-01 7.58421374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.829254154 meters 0.02029612499415123 Centerline is valid? [True, True] Translation: X:887.21, Y:213.69, Z:7.59 [[-6.76551975e-01 -7.36303855e-01 1.15783408e-02 8.87210081e+02] [ 7.36211758e-01 -6.76650746e-01 -1.16626047e-02 2.13690693e+02] [ 1.64217137e-02 6.33752336e-04 9.99864954e-01 7.58505225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.859254154 meters 0.02087200716229413 Centerline is valid? [True, True] Translation: X:887.19, Y:213.71, Z:7.58 [[-6.76334977e-01 -7.36495666e-01 1.20470797e-02 8.87189556e+02] [ 7.36396108e-01 -6.76441931e-01 -1.21279127e-02 2.13710066e+02] [ 1.70813050e-02 6.68891037e-04 9.99853880e-01 7.58464149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.889254154 meters 0.02087200716229413 Centerline is valid? [True, True] Translation: X:887.17, Y:213.73, Z:7.58 [[-6.76550994e-01 -7.36297179e-01 1.20505623e-02 8.87170044e+02] [ 7.36197651e-01 -6.76657976e-01 -1.21244518e-02 2.13729600e+02] [ 1.70813088e-02 6.68785764e-04 9.99853880e-01 7.58482692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9192541539999 meters 0.023518532779476728 Centerline is valid? [True, True] Translation: X:887.15, Y:213.75, Z:7.58 [[-6.76524662e-01 -7.36314966e-01 1.24359018e-02 8.87148665e+02] [ 7.36209109e-01 -6.76638594e-01 -1.25044812e-02 2.13746668e+02] [ 1.76218477e-02 6.95834260e-04 9.99844481e-01 7.58233527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9492541539998 meters 0.022241428754039987 Centerline is valid? [True, True] Translation: X:887.13, Y:213.77, Z:7.58 [[-6.75089291e-01 -7.37616319e-01 1.32896739e-02 8.87129517e+02] [ 7.37495830e-01 -6.75219631e-01 -1.33548017e-02 2.13766992e+02] [ 1.88241684e-02 7.85395508e-04 9.99822501e-01 7.58238090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9792541539998 meters 0.02279353786248532 Centerline is valid? [True, True] Translation: X:887.11, Y:213.79, Z:7.58 [[-6.74602157e-01 -7.38048286e-01 1.40234603e-02 8.87109655e+02] [ 7.37914388e-01 -6.74747368e-01 -1.40835183e-02 2.13786134e+02] [ 1.98566095e-02 8.47341269e-04 9.99802479e-01 7.58171459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.0092541539998 meters 0.024370379240761277 Centerline is valid? [True, True] Translation: X:887.09, Y:213.81, Z:7.58 [[-6.74190241e-01 -7.38399254e-01 1.52990347e-02 8.87089848e+02] [ 7.38240187e-01 -6.74363147e-01 -1.53548784e-02 2.13805518e+02] [ 2.16551359e-02 9.42253078e-04 9.99765056e-01 7.57902702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.0392541539998 meters 0.025071982306882686 Centerline is valid? [True, True] Translation: X:887.07, Y:213.83, Z:7.58 [[-6.74080289e-01 -7.38476100e-01 1.63955323e-02 8.87070562e+02] [ 7.38293664e-01 -6.74278882e-01 -1.64455213e-02 2.13826260e+02] [ 2.31997856e-02 1.01911582e-03 9.99730329e-01 7.57799005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.0692541539997 meters 0.023894278120756708 Centerline is valid? [True, True] Translation: X:887.05, Y:213.85, Z:7.58 [[-6.73940454e-01 -7.38606746e-01 1.62585042e-02 8.87051004e+02] [ 7.38427600e-01 -6.74135766e-01 -1.62987065e-02 2.13846673e+02] [ 2.29987738e-02 1.02137057e-03 9.99734971e-01 7.57947086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.099254154 meters 0.023342963102708572 Centerline is valid? [True, True] Translation: X:887.03, Y:213.87, Z:7.58 [[-6.74570419e-01 -7.38024106e-01 1.65882285e-02 8.87032289e+02] [ 7.37837670e-01 -6.74773564e-01 -1.66195804e-02 2.13867989e+02] [ 2.34589490e-02 1.02834259e-03 9.99724272e-01 7.58010993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.129254154 meters 0.02375556484006204 Centerline is valid? [True, True] Translation: X:887.02, Y:213.89, Z:7.58 [[-6.76833983e-01 -7.35955405e-01 1.62911351e-02 8.87015008e+02] [ 7.35775215e-01 -6.77029354e-01 -1.63121740e-02 2.13889602e+02] [ 2.30346093e-02 9.45979727e-04 9.99734221e-01 7.57950530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1592541539999 meters 0.0224331670030771 Centerline is valid? [True, True] Translation: X:887.00, Y:213.91, Z:7.58 [[-6.78925667e-01 -7.34053463e-01 1.50150539e-02 8.86998217e+02] [ 7.33900123e-01 -6.79091190e-01 -1.50254769e-02 2.13911749e+02] [ 2.12260941e-02 8.18367963e-04 9.99774366e-01 7.58251089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1892541539999 meters 0.02168317616853822 Centerline is valid? [True, True] Translation: X:886.98, Y:213.93, Z:7.58 [[-6.79954315e-01 -7.33119350e-01 1.40765370e-02 8.86979010e+02] [ 7.32984535e-01 -6.80099599e-01 -1.40786037e-02 2.13932852e+02] [ 1.98947439e-02 7.45076602e-04 9.99801802e-01 7.58444383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2192541539998 meters 0.02085174434433034 Centerline is valid? [True, True] Translation: X:886.97, Y:213.91, Z:7.58 [[-6.32309394e-01 -7.74615453e-01 1.24791730e-02 8.86968016e+02] [ 7.74494742e-01 -6.32431742e-01 -1.37107880e-02 2.13910552e+02] [ 1.85128134e-02 9.95593808e-04 9.99828128e-01 7.58494561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2492541539998 meters 0.019211181338028255 Centerline is valid? [True, True] Translation: X:886.95, Y:213.93, Z:7.59 [[-6.33886907e-01 -7.73342663e-01 1.13364240e-02 8.86951954e+02] [ 7.73234076e-01 -6.33988036e-01 -1.29704972e-02 2.13932454e+02] [ 1.72177960e-02 5.43881042e-04 9.99851615e-01 7.58773758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2792541539998 meters 0.01991602961195268 Centerline is valid? [True, True] Translation: X:886.94, Y:213.96, Z:7.59 [[-6.35570855e-01 -7.71956648e-01 1.15161541e-02 8.86935368e+02] [ 7.71844494e-01 -6.35674967e-01 -1.31686357e-02 2.13955102e+02] [ 1.74861468e-02 5.19079038e-04 9.99846971e-01 7.58660793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.3092541539997 meters 0.01883679044036043 Centerline is valid? [True, True] Translation: X:886.92, Y:213.98, Z:7.59 [[-6.35626924e-01 -7.71914084e-01 1.12721274e-02 8.86916797e+02] [ 7.71806759e-01 -6.35726659e-01 -1.28818692e-02 2.13975019e+02] [ 1.71096881e-02 5.11841217e-04 9.99853488e-01 7.58775515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.339254154 meters 0.0187759502182332 Centerline is valid? [True, True] Translation: X:886.90, Y:214.00, Z:7.59 [[-6.36005945e-01 -7.71597636e-01 1.15553750e-02 8.86898950e+02] [ 7.71484946e-01 -6.36110696e-01 -1.31970239e-02 2.13995666e+02] [ 1.75332900e-02 5.21412198e-04 9.99846144e-01 7.58758965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.369254154 meters 0.018964236656598476 Centerline is valid? [True, True] Translation: X:886.88, Y:214.02, Z:7.59 [[-6.36676258e-01 -7.71025871e-01 1.27455374e-02 8.86881683e+02] [ 7.70888851e-01 -6.36803571e-01 -1.45461687e-02 2.14015223e+02] [ 1.93318761e-02 5.64192428e-04 9.99812963e-01 7.58617486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.399254154 meters 0.0175946354231945 Centerline is valid? [True, True] Translation: X:886.87, Y:214.04, Z:7.59 [[-6.38081095e-01 -7.69857923e-01 1.30879539e-02 8.86865653e+02] [ 7.69713381e-01 -6.38215071e-01 -1.49276093e-02 2.14038696e+02] [ 1.98450677e-02 5.48947989e-04 9.99802917e-01 7.58632898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4292541539999 meters 0.01765769260101047 Centerline is valid? [True, True] Translation: X:886.85, Y:214.06, Z:7.59 [[-6.39315048e-01 -7.68831655e-01 1.31968165e-02 8.86847737e+02] [ 7.68684657e-01 -6.39451022e-01 -1.50429028e-02 2.14060831e+02] [ 2.00041776e-02 5.27036251e-04 9.99799758e-01 7.58605783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4592541539998 meters 0.017103408912975907 Centerline is valid? [True, True] Translation: X:886.83, Y:214.08, Z:7.59 [[-6.41358598e-01 -7.67133371e-01 1.28662556e-02 8.86831835e+02] [ 7.66993441e-01 -6.41487470e-01 -1.46590652e-02 2.14082521e+02] [ 1.94989999e-02 4.66616188e-04 9.99809768e-01 7.58710825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4892541539998 meters 0.016471995478922627 Centerline is valid? [True, True] Translation: X:886.82, Y:214.11, Z:7.59 [[-6.43108582e-01 -7.65669639e-01 1.27026167e-02 8.86815568e+02] [ 7.65533104e-01 -6.43233882e-01 -1.44651477e-02 2.14105430e+02] [ 1.92462778e-02 4.21612974e-04 9.99814684e-01 7.58797068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.5192541539998 meters 0.0155073589385942 Centerline is valid? [True, True] Translation: X:886.80, Y:214.13, Z:7.59 [[-6.46060025e-01 -7.63189954e-01 1.21465385e-02 8.86800220e+02] [ 7.63064793e-01 -6.46174111e-01 -1.38253372e-02 2.14128102e+02] [ 1.84001371e-02 3.36598203e-04 9.99830646e-01 7.58894540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.5492541539998 meters 0.0173239351796799 Centerline is valid? [True, True] Translation: X:886.78, Y:214.15, Z:7.59 [[-6.48263363e-01 -7.61315475e-01 1.23837993e-02 8.86782921e+02] [ 7.61185176e-01 -6.48381570e-01 -1.40878385e-02 2.14150554e+02] [ 1.87547167e-02 2.93734913e-04 9.99824072e-01 7.58762586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.5792541539997 meters 0.014937956737030111 Centerline is valid? [True, True] Translation: X:886.77, Y:214.17, Z:7.59 [[-6.49315885e-01 -7.60433029e-01 1.14232521e-02 8.86766378e+02] [ 7.60322151e-01 -6.49416311e-01 -1.29877119e-02 2.14172413e+02] [ 1.72947313e-02 2.52223964e-04 9.99850403e-01 7.59014815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.609254154 meters 0.01676526499235445 Centerline is valid? [True, True] Translation: X:886.75, Y:214.19, Z:7.59 [[-6.50001001e-01 -7.59842588e-01 1.17447861e-02 8.86749340e+02] [ 7.59725439e-01 -6.50107053e-01 -1.33445605e-02 2.14191899e+02] [ 1.77751337e-02 2.48835127e-04 9.99841979e-01 7.58921845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.639254154 meters 0.015373053608445047 Centerline is valid? [True, True] Translation: X:886.73, Y:214.21, Z:7.59 [[-6.48663471e-01 -7.60981631e-01 1.19439463e-02 8.86730820e+02] [ 7.60860825e-01 -6.48773360e-01 -1.35622063e-02 2.14211435e+02] [ 1.80695040e-02 2.90373057e-04 9.99836691e-01 7.59033420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6692541539999 meters 0.015527755501563193 Centerline is valid? [True, True] Translation: X:886.71, Y:214.23, Z:7.59 [[-6.47512452e-01 -7.61948000e-01 1.27620831e-02 8.86711793e+02] [ 7.61810430e-01 -6.47638114e-01 -1.44824533e-02 2.14231959e+02] [ 1.93000877e-02 3.44719177e-04 9.99813677e-01 7.58951143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6992541539998 meters 0.017623232845416923 Centerline is valid? [True, True] Translation: X:886.69, Y:214.25, Z:7.59 [[-6.47373783e-01 -7.62052978e-01 1.35071792e-02 8.86692799e+02] [ 7.61899082e-01 -6.47514570e-01 -1.53189456e-02 2.14252453e+02] [ 2.04199434e-02 3.74023651e-04 9.99791421e-01 7.58745559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7292541539998 meters 0.016821633218065363 Centerline is valid? [True, True] Translation: X:886.67, Y:214.27, Z:7.59 [[-6.46358138e-01 -7.62912214e-01 1.36422275e-02 8.86674255e+02] [ 7.62755602e-01 -6.46501960e-01 -1.54631215e-02 2.14273768e+02] [ 2.06167311e-02 4.10971015e-04 9.99787368e-01 7.58779182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7592541539998 meters 0.01671447721794781 Centerline is valid? [True, True] Translation: X:886.66, Y:214.29, Z:7.59 [[-6.46259468e-01 -7.62992520e-01 1.38244155e-02 8.86656750e+02] [ 7.62831927e-01 -6.46407173e-01 -1.56594148e-02 2.14293607e+02] [ 2.08842177e-02 4.25660450e-04 9.99781810e-01 7.58837705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7892541539998 meters 0.01612603602358192 Centerline is valid? [True, True] Translation: X:886.64, Y:214.32, Z:7.59 [[-6.46341628e-01 -7.62930287e-01 1.34118153e-02 8.86638820e+02] [ 7.62779313e-01 -6.46480629e-01 -1.51827931e-02 2.14315600e+02] [ 2.02538914e-02 4.16984036e-04 9.99794782e-01 7.58943962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.8192541539997 meters 0.01598718702675586 Centerline is valid? [True, True] Translation: X:886.62, Y:214.34, Z:7.59 [[-6.47120475e-01 -7.62276690e-01 1.30129956e-02 8.86621918e+02] [ 7.62134597e-01 -6.47251184e-01 -1.47228127e-02 2.14337730e+02] [ 1.96455338e-02 3.90220597e-04 9.99806932e-01 7.59043007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.849254154 meters 0.01583874335672197 Centerline is valid? [True, True] Translation: X:886.61, Y:214.36, Z:7.59 [[-6.47919172e-01 -7.61611227e-01 1.22100578e-02 8.86605103e+02] [ 7.61486156e-01 -6.48034115e-01 -1.38065127e-02 2.14360164e+02] [ 1.84277291e-02 3.52285730e-04 9.99830133e-01 7.59181037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.879254154 meters 0.017551785897229555 Centerline is valid? [True, True] Translation: X:886.59, Y:214.38, Z:7.59 [[-6.48502438e-01 -7.61116772e-01 1.20767304e-02 8.86587138e+02] [ 7.60994480e-01 -6.48614788e-01 -1.36476152e-02 2.14380728e+02] [ 1.82205748e-02 3.39813447e-04 9.99833934e-01 7.59093447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9092541539999 meters 0.017964285489070097 Centerline is valid? [True, True] Translation: X:886.57, Y:214.40, Z:7.59 [[-6.48176617e-01 -7.61403081e-01 1.15074508e-02 8.86569306e+02] [ 7.61292223e-01 -6.48278671e-01 -1.29967456e-02 2.14402577e+02] [ 1.73557970e-02 3.36346181e-04 9.99849320e-01 7.59193062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9392541539999 meters 0.016922504910634312 Centerline is valid? [True, True] Translation: X:886.55, Y:214.42, Z:7.59 [[-6.47483869e-01 -7.62001587e-01 1.08729828e-02 8.86550731e+02] [ 7.61902815e-01 -6.47575068e-01 -1.22732199e-02 2.14423142e+02] [ 1.63932857e-02 3.37444313e-04 9.99865564e-01 7.59294004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9692541539998 meters 0.016653456989230965 Centerline is valid? [True, True] Translation: X:886.53, Y:214.44, Z:7.59 [[-6.45733086e-01 -7.63490564e-01 1.05327825e-02 8.86532152e+02] [ 7.63398184e-01 -6.45818878e-01 -1.18823477e-02 2.14444488e+02] [ 1.58743301e-02 3.67881967e-04 9.99873927e-01 7.59355531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9992541539998 meters 0.018944181590649135 Centerline is valid? [True, True] Translation: X:886.51, Y:214.46, Z:7.59 [[-6.45338907e-01 -7.63817364e-01 1.09877093e-02 8.86512802e+02] [ 7.63716981e-01 -6.45432319e-01 -1.23893015e-02 2.14463496e+02] [ 1.65549863e-02 3.96201819e-04 9.99862878e-01 7.59172519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.0292541539998 meters 0.020186968216242853 Centerline is valid? [True, True] Translation: X:886.49, Y:214.48, Z:7.59 [[-6.44153039e-01 -7.64811320e-01 1.14239564e-02 8.86494757e+02] [ 7.64703085e-01 -6.44254180e-01 -1.28741249e-02 2.14484537e+02] [ 1.72062081e-02 4.43028032e-04 9.99851864e-01 7.59107651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.0592541539997 meters 0.01795488638651582 Centerline is valid? [True, True] Translation: X:886.48, Y:214.51, Z:7.59 [[-6.43212885e-01 -7.65613725e-01 1.06211194e-02 8.86476731e+02] [ 7.65520389e-01 -6.43300422e-01 -1.19624479e-02 2.14505866e+02] [ 1.59911849e-02 4.36282863e-04 9.99872038e-01 7.59309020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.089254154 meters 0.01797088552824367 Centerline is valid? [True, True] Translation: X:886.46, Y:214.53, Z:7.59 [[-6.42894372e-01 -7.65882087e-01 1.05572358e-02 8.86459451e+02] [ 7.65790021e-01 -6.42980895e-01 -1.18832868e-02 2.14527434e+02] [ 1.58892974e-02 4.44927604e-04 9.99873658e-01 7.59329189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.119254154 meters 0.01853038417624768 Centerline is valid? [True, True] Translation: X:886.44, Y:214.55, Z:7.59 [[-6.43051262e-01 -7.65751368e-01 1.04841556e-02 8.86441381e+02] [ 7.65660670e-01 -6.43136569e-01 -1.17937157e-02 2.14547780e+02] [ 1.57737978e-02 4.43341828e-04 9.99875488e-01 7.59339922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.149254154 meters 0.017810340294894554 Centerline is valid? [True, True] Translation: X:886.43, Y:214.57, Z:7.59 [[-6.43942903e-01 -7.65008343e-01 9.98862250e-03 8.86425448e+02] [ 7.64926027e-01 -6.44020238e-01 -1.12296726e-02 2.14570979e+02] [ 1.50236683e-02 4.09289337e-04 9.99887055e-01 7.59413623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.1792541539999 meters 0.0184630816109199 Centerline is valid? [True, True] Translation: X:886.41, Y:214.59, Z:7.59 [[-6.44269165e-01 -7.64736471e-01 9.76595034e-03 8.86407514e+02] [ 7.64657849e-01 -6.44343055e-01 -1.09727537e-02 2.14590955e+02] [ 1.46838872e-02 3.98203737e-04 9.99892107e-01 7.59461060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2092541539998 meters 0.01973458937767934 Centerline is valid? [True, True] Translation: X:886.39, Y:214.61, Z:7.59 [[-6.44251838e-01 -7.64754847e-01 9.46533825e-03 8.86390077e+02] [ 7.64681089e-01 -6.44321248e-01 -1.06283547e-02 2.14611885e+02] [ 1.42268044e-02 3.90628089e-04 9.99898718e-01 7.59477333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2392541539998 meters 0.01844138383652869 Centerline is valid? [True, True] Translation: X:886.37, Y:214.63, Z:7.60 [[-6.43744986e-01 -7.65187871e-01 8.93952064e-03 8.86372336e+02] [ 7.65122202e-01 -6.43806940e-01 -1.00319395e-02 2.14633689e+02] [ 1.34316439e-02 3.81814936e-04 9.99909719e-01 7.59589483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2692541539998 meters 0.02106421785472253 Centerline is valid? [True, True] Translation: X:886.35, Y:214.66, Z:7.59 [[-6.43170463e-01 -7.65664500e-01 9.46718958e-03 8.86354230e+02] [ 7.65590990e-01 -6.43240000e-01 -1.06178512e-02 2.14655695e+02] [ 1.42193867e-02 4.18906781e-04 9.99898812e-01 7.59446686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2992541539998 meters 0.020456465205631904 Centerline is valid? [True, True] Translation: X:886.34, Y:214.68, Z:7.59 [[-6.42826351e-01 -7.65960078e-01 8.91294419e-03 8.86335904e+02] [ 7.65895029e-01 -6.42888011e-01 -9.99048587e-03 2.14675255e+02] [ 1.33823383e-02 4.04232073e-04 9.99910371e-01 7.59485293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.3292541539997 meters 0.021353193763559708 Centerline is valid? [True, True] Translation: X:886.32, Y:214.70, Z:7.59 [[-6.43073195e-01 -7.65745382e-01 9.53286313e-03 8.86317788e+02] [ 7.65671041e-01 -6.43143703e-01 -1.06786865e-02 2.14696211e+02] [ 1.43081558e-02 4.31860188e-04 9.99897540e-01 7.59361086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.359254154 meters 0.018818499711164477 Centerline is valid? [True, True] Translation: X:886.30, Y:214.72, Z:7.60 [[-6.43671883e-01 -7.65250929e-01 8.80475155e-03 8.86299671e+02] [ 7.65187537e-01 -6.43731980e-01 -9.85753119e-03 2.14718187e+02] [ 1.32113850e-02 3.92270491e-04 9.99912649e-01 7.59508109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.389254154 meters 0.01869874386014769 Centerline is valid? [True, True] Translation: X:886.28, Y:214.74, Z:7.60 [[-6.44367044e-01 -7.64667506e-01 8.64394875e-03 8.86281392e+02] [ 7.64606429e-01 -6.44424909e-01 -9.67192967e-03 2.14739087e+02] [ 1.29661862e-02 3.76946057e-04 9.99915864e-01 7.59518802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4192541539999 meters 0.018444329121452753 Centerline is valid? [True, True] Translation: X:886.26, Y:214.76, Z:7.60 [[-6.45826844e-01 -7.63439892e-01 8.19875977e-03 8.86263801e+02] [ 7.63384908e-01 -6.45878795e-01 -9.16867701e-03 2.14759808e+02] [ 1.22951389e-02 3.37431733e-04 9.99924355e-01 7.59544278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4492541539998 meters 0.021175985306020786 Centerline is valid? [True, True] Translation: X:886.25, Y:214.78, Z:7.59 [[-6.46813385e-01 -7.62605273e-01 8.10205266e-03 8.86246076e+02] [ 7.62551580e-01 -6.46864047e-01 -9.05497898e-03 2.14779099e+02] [ 1.21463013e-02 3.21351451e-04 9.99926179e-01 7.59440527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4792541539998 meters 0.018054726097160297 Centerline is valid? [True, True] Translation: X:886.23, Y:214.80, Z:7.60 [[-6.46750961e-01 -7.62667332e-01 7.19272503e-03 8.86228585e+02] [ 7.62625071e-01 -6.46790891e-01 -8.03393783e-03 2.14800666e+02] [ 1.07794110e-02 2.89395424e-04 9.99941859e-01 7.59652881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.5092541539998 meters 0.01910028691050309 Centerline is valid? [True, True] Translation: X:886.21, Y:214.82, Z:7.60 [[-6.47403352e-01 -7.62108887e-01 7.67752041e-03 8.86210005e+02] [ 7.62060761e-01 -6.47448803e-01 -8.56990423e-03 2.14819782e+02] [ 1.15020016e-02 3.02552328e-04 9.99933804e-01 7.59524048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.5392541539998 meters 0.020084168453450478 Centerline is valid? [True, True] Translation: X:886.19, Y:214.84, Z:7.59 [[-6.48016032e-01 -7.61583220e-01 8.13765119e-03 8.86191978e+02] [ 7.61529188e-01 -6.48067049e-01 -9.07725045e-03 2.14840238e+02] [ 1.21868252e-02 3.14855085e-04 9.99925688e-01 7.59395889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.5692541539997 meters 0.02014596185144988 Centerline is valid? [True, True] Translation: X:886.17, Y:214.86, Z:7.59 [[-6.49054365e-01 -7.60698105e-01 8.17459837e-03 8.86173767e+02] [ 7.60643584e-01 -6.49105770e-01 -9.11252251e-03 2.14861030e+02] [ 1.22380576e-02 3.03433286e-04 9.99925066e-01 7.59299926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.599254154 meters 0.019831242288888946 Centerline is valid? [True, True] Translation: X:886.16, Y:214.88, Z:7.59 [[-6.50332206e-01 -7.59609290e-01 7.85801886e-03 8.86155601e+02] [ 7.59558892e-01 -6.50379621e-01 -8.75434343e-03 2.14881968e+02] [ 1.17605759e-02 2.75396617e-04 9.99930804e-01 7.59353719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.629254154 meters 0.0165491166155582 Centerline is valid? [True, True] Translation: X:886.14, Y:214.90, Z:7.60 [[-6.50920234e-01 -7.59112667e-01 7.12795908e-03 8.86137855e+02] [ 7.59071216e-01 -6.50959214e-01 -7.93668722e-03 2.14904016e+02] [ 1.06648504e-02 2.44478263e-04 9.99943099e-01 7.59572566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6592541539999 meters 0.01825552504453547 Centerline is valid? [True, True] Translation: X:886.12, Y:214.92, Z:7.59 [[-6.51935403e-01 -7.58239345e-01 7.30246424e-03 8.86119406e+02] [ 7.58195837e-01 -6.51976256e-01 -8.12616012e-03 2.14924499e+02] [ 1.09226076e-02 2.38966515e-04 9.99940318e-01 7.59462897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6892541539999 meters 0.016382428036100512 Centerline is valid? [True, True] Translation: X:886.10, Y:214.95, Z:7.60 [[-6.52688193e-01 -7.57594926e-01 6.93190299e-03 8.86102481e+02] [ 7.57555732e-01 -6.52724965e-01 -7.70926976e-03 2.14945572e+02] [ 1.03651298e-02 2.19553499e-04 9.99946257e-01 7.59653132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7192541539998 meters 0.016951341447972494 Centerline is valid? [True, True] Translation: X:886.08, Y:214.97, Z:7.60 [[-6.53439708e-01 -7.56948101e-01 6.79122224e-03 8.86084577e+02] [ 7.56910496e-01 -6.53474965e-01 -7.54796971e-03 2.14966151e+02] [ 1.01513150e-02 2.08204263e-04 9.99948452e-01 7.59615573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7492541539998 meters 0.01598198112566907 Centerline is valid? [True, True] Translation: X:886.07, Y:214.99, Z:7.60 [[-6.54207877e-01 -7.56285775e-01 6.62426960e-03 8.86067068e+02] [ 7.56250009e-01 -6.54241384e-01 -7.35771162e-03 2.14987429e+02] [ 9.89840394e-03 1.96131047e-04 9.99950990e-01 7.59689706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7792541539998 meters 0.01598198112566907 Centerline is valid? [True, True] Translation: X:886.05, Y:215.01, Z:7.60 [[-6.54451969e-01 -7.56074539e-01 6.62664727e-03 8.86049060e+02] [ 7.56038783e-01 -6.54485488e-01 -7.35556980e-03 2.15007259e+02] [ 9.89840351e-03 1.96135196e-04 9.99950990e-01 7.59707644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.8092541539997 meters 0.01570751515995941 Centerline is valid? [True, True] Translation: X:886.03, Y:215.03, Z:7.60 [[-6.54978225e-01 -7.55621156e-01 6.33987946e-03 8.86030817e+02] [ 7.55588448e-01 -6.55008882e-01 -7.03296800e-03 2.15028364e+02] [ 9.46693676e-03 1.83898789e-04 9.99955171e-01 7.59730642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.839254154 meters 0.018057587102743078 Centerline is valid? [True, True] Translation: X:886.01, Y:215.05, Z:7.60 [[-6.55118279e-01 -7.55495294e-01 6.84847911e-03 8.86012209e+02] [ 7.55457169e-01 -6.55154044e-01 -7.59242755e-03 2.15047750e+02] [ 1.02228521e-02 1.99794566e-04 9.99947725e-01 7.59535668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.869254154 meters 0.016421700433300625 Centerline is valid? [True, True] Translation: X:885.99, Y:215.07, Z:7.60 [[-6.54677016e-01 -7.55878617e-01 6.74689185e-03 8.85993398e+02] [ 7.55841681e-01 -6.54711749e-01 -7.47526328e-03 2.15067018e+02] [ 1.00676610e-02 2.05699018e-04 9.99949299e-01 7.59593446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.899254154 meters 0.01824370271098339 Centerline is valid? [True, True] Translation: X:885.97, Y:215.09, Z:7.59 [[-6.55225895e-01 -7.55393365e-01 7.73891016e-03 8.85974896e+02] [ 7.55344799e-01 -6.55271555e-01 -8.56879030e-03 2.15088668e+02] [ 1.15438950e-02 2.31052238e-04 9.99933340e-01 7.59386587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9292541539999 meters 0.016056155820759817 Centerline is valid? [True, True] Translation: X:885.96, Y:215.11, Z:7.60 [[-6.55254596e-01 -7.55370107e-01 7.57735623e-03 8.85956681e+02] [ 7.55323603e-01 -6.55298366e-01 -8.38485543e-03 2.15108673e+02] [ 1.12990983e-02 2.29140958e-04 9.99936137e-01 7.59514714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9592541539998 meters 0.018748276109915304 Centerline is valid? [True, True] Translation: X:885.94, Y:215.13, Z:7.59 [[-6.55684156e-01 -7.54990363e-01 8.23645262e-03 8.85938490e+02] [ 7.54935465e-01 -6.55735839e-01 -9.10785980e-03 2.15127341e+02] [ 1.22772835e-02 2.46110821e-04 9.99924601e-01 7.59263530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9892541539998 meters 0.01613098832432752 Centerline is valid? [True, True] Translation: X:885.92, Y:215.15, Z:7.60 [[-6.55793770e-01 -7.54901240e-01 7.65834373e-03 8.85921310e+02] [ 7.54853833e-01 -6.55838445e-01 -8.46319107e-03 2.15148191e+02] [ 1.14115097e-02 2.30822142e-04 9.99934860e-01 7.59512617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.0192541539998 meters 0.01596007922130586 Centerline is valid? [True, True] Translation: X:885.90, Y:215.17, Z:7.60 [[-6.56325636e-01 -7.54441570e-01 7.38761073e-03 8.85903837e+02] [ 7.54397484e-01 -6.56367176e-01 -8.15885492e-03 2.15169171e+02] [ 1.10043645e-02 2.18329295e-04 9.99939426e-01 7.59647705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.0492541539998 meters 0.015872472615945737 Centerline is valid? [True, True] Translation: X:885.89, Y:215.19, Z:7.60 [[-6.56916102e-01 -7.53932271e-01 6.88227409e-03 8.85885629e+02] [ 7.53894030e-01 -6.56952122e-01 -7.59607040e-03 2.15189546e+02] [ 1.02482472e-02 1.98524395e-04 9.99947466e-01 7.59736086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.0792541539997 meters 0.015862952627796936 Centerline is valid? [True, True] Translation: X:885.87, Y:215.21, Z:7.60 [[-6.57411966e-01 -7.53503952e-01 6.42660603e-03 8.85867074e+02] [ 7.53470629e-01 -6.57443352e-01 -7.08877915e-03 2.15209968e+02] [ 9.56655251e-03 1.82010654e-04 9.99954223e-01 7.59833916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.109254154 meters 0.016199732405686753 Centerline is valid? [True, True] Translation: X:885.85, Y:215.23, Z:7.60 [[-6.58329748e-01 -7.52710444e-01 5.37876431e-03 8.85849483e+02] [ 7.52687100e-01 -6.58351705e-01 -5.92981655e-03 2.15229057e+02] [ 8.00455350e-03 1.44751871e-04 9.99967953e-01 7.59913839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.139254154 meters 0.015623516817790298 Centerline is valid? [True, True] Translation: X:885.83, Y:215.25, Z:7.60 [[-6.58620526e-01 -7.52456695e-01 5.28438301e-03 8.85831516e+02] [ 7.52434179e-01 -6.58641710e-01 -5.82278988e-03 2.15249236e+02] [ 7.86191229e-03 1.41141458e-04 9.99969085e-01 7.59980084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1692541539999 meters 0.01770398352426613 Centerline is valid? [True, True] Translation: X:885.81, Y:215.27, Z:7.60 [[-6.59301849e-01 -7.51854799e-01 5.95263194e-03 8.85811973e+02] [ 7.51826244e-01 -6.59328703e-01 -6.55450405e-03 2.15267672e+02] [ 8.85277641e-03 1.53948275e-04 9.99960802e-01 7.59763537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1992541539998 meters 0.017443748455858478 Centerline is valid? [True, True] Translation: X:885.79, Y:215.29, Z:7.60 [[-6.59380770e-01 -7.51779379e-01 6.69076154e-03 8.85793689e+02] [ 7.51743348e-01 -6.59414691e-01 -7.36230438e-03 2.15289382e+02] [ 9.94681506e-03 1.75173549e-04 9.99950514e-01 7.59702035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2292541539998 meters 0.015910254878182487 Centerline is valid? [True, True] Translation: X:885.77, Y:215.31, Z:7.60 [[-6.58579966e-01 -7.52472666e-01 7.57065433e-03 8.85773724e+02] [ 7.52426641e-01 -6.58623444e-01 -8.32518811e-03 2.15308235e+02] [ 1.12506869e-02 2.13559908e-04 9.99936686e-01 7.59700141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2592541539998 meters 0.016100760988756912 Centerline is valid? [True, True] Translation: X:885.75, Y:215.33, Z:7.60 [[-6.58335834e-01 -7.52680770e-01 8.09860637e-03 8.85754256e+02] [ 7.52628187e-01 -6.58385603e-01 -8.90001323e-03 2.15327638e+02] [ 1.20308747e-02 2.36041789e-04 9.99927599e-01 7.59640956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2892541539998 meters 0.01728591623492342 Centerline is valid? [True, True] Translation: X:885.73, Y:215.35, Z:7.59 [[-6.57942511e-01 -7.53017733e-01 8.71477225e-03 8.85733767e+02] [ 7.52956950e-01 -6.58000171e-01 -9.57113513e-03 2.15347219e+02] [ 1.29415561e-02 2.64591657e-04 9.99916220e-01 7.59497073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.3192541539997 meters 0.018320289201567485 Centerline is valid? [True, True] Translation: X:885.71, Y:215.37, Z:7.59 [[-6.57731698e-01 -7.53198159e-01 9.03029195e-03 8.85714667e+02] [ 7.53132985e-01 -6.57793625e-01 -9.91227730e-03 2.15366012e+02] [ 1.34059775e-02 2.81391754e-04 9.99910096e-01 7.59432184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.349254154 meters 0.017716229230984343 Centerline is valid? [True, True] Translation: X:885.69, Y:215.38, Z:7.60 [[-6.57210017e-01 -7.53662591e-01 8.22755037e-03 8.85694461e+02] [ 7.53608586e-01 -6.57261460e-01 -9.02618929e-03 2.15382906e+02] [ 1.22103530e-02 2.68250588e-04 9.99925415e-01 7.59575079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.379254154 meters 0.016232394175209334 Centerline is valid? [True, True] Translation: X:885.68, Y:215.40, Z:7.60 [[-6.57634355e-01 -7.53297486e-01 7.74295174e-03 8.85677272e+02] [ 7.53249689e-01 -6.57679889e-01 -8.48938916e-03 2.15404667e+02] [ 1.14874191e-02 2.49462026e-04 9.99933986e-01 7.59721963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4092541539999 meters 0.01599592854389462 Centerline is valid? [True, True] Translation: X:885.66, Y:215.43, Z:7.60 [[-6.57966202e-01 -7.53008224e-01 7.68712790e-03 8.85658469e+02] [ 7.52961150e-01 -6.58011059e-01 -8.42327450e-03 2.15425356e+02] [ 1.14010101e-02 2.45878735e-04 9.99934976e-01 7.59781269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4392541539999 meters 0.016173680136107704 Centerline is valid? [True, True] Translation: X:885.64, Y:215.45, Z:7.60 [[-6.58165347e-01 -7.52838119e-01 7.28991206e-03 8.85638232e+02] [ 7.52795824e-01 -6.58205676e-01 -7.98347499e-03 2.15445150e+02] [ 1.08085258e-02 2.33368773e-04 9.99941559e-01 7.59846044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4692541539998 meters 0.016297942804934042 Centerline is valid? [True, True] Translation: X:885.62, Y:215.46, Z:7.60 [[-6.58364585e-01 -7.52663339e-01 7.34657356e-03 8.85619123e+02] [ 7.52620425e-01 -6.58405531e-01 -8.04070310e-03 2.15464107e+02] [ 1.08889671e-02 2.35467157e-04 9.99940686e-01 7.59854051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4992541539998 meters 0.016604418056829454 Centerline is valid? [True, True] Translation: X:885.60, Y:215.48, Z:7.60 [[-6.57719378e-01 -7.53220036e-01 8.04961818e-03 8.85597857e+02] [ 7.53168624e-01 -6.57768579e-01 -8.80459203e-03 2.15483212e+02] [ 1.19265810e-02 2.71769057e-04 9.99928839e-01 7.59784803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.5292541539998 meters 0.01983996562698932 Centerline is valid? [True, True] Translation: X:885.58, Y:215.50, Z:7.59 [[-6.57743966e-01 -7.53187999e-01 8.98409724e-03 8.85578590e+02] [ 7.53124035e-01 -6.57805248e-01 -9.82057009e-03 2.15500526e+02] [ 1.33065218e-02 3.06718853e-04 9.99911417e-01 7.59489883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.5592541539997 meters 0.0174542461716656 Centerline is valid? [True, True] Translation: X:885.56, Y:215.52, Z:7.60 [[-6.56782622e-01 -7.54017611e-01 9.69695508e-03 8.85557483e+02] [ 7.53943276e-01 -6.56854107e-01 -1.05933521e-02 2.15519739e+02] [ 1.43570588e-02 3.53424514e-04 9.99896870e-01 7.59614195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.589254154 meters 0.017757083630429746 Centerline is valid? [True, True] Translation: X:885.54, Y:215.54, Z:7.60 [[-6.56837301e-01 -7.53961802e-01 1.03131268e-02 8.85538336e+02] [ 7.53877823e-01 -6.56918151e-01 -1.12592360e-02 2.15538432e+02] [ 1.52639141e-02 3.79351362e-04 9.99883428e-01 7.59543498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.619254154 meters 0.017671577701021752 Centerline is valid? [True, True] Translation: X:885.52, Y:215.56, Z:7.59 [[-6.57216758e-01 -7.53622319e-01 1.09331475e-02 8.85518654e+02] [ 7.53528021e-01 -6.57307570e-01 -1.19281556e-02 2.15557937e+02] [ 1.61757649e-02 3.99049227e-04 9.99869084e-01 7.59498971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.649254154 meters 0.018679927954014654 Centerline is valid? [True, True] Translation: X:885.50, Y:215.58, Z:7.59 [[-6.58258476e-01 -7.52712307e-01 1.09526972e-02 8.85500218e+02] [ 7.52617662e-01 -6.58349479e-01 -1.19422796e-02 2.15579186e+02] [ 1.61998033e-02 3.82086576e-04 9.99868702e-01 7.59379410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.6792541539999 meters 0.017773943111762874 Centerline is valid? [True, True] Translation: X:885.48, Y:215.60, Z:7.59 [[-6.60392667e-01 -7.50850790e-01 1.02281988e-02 8.85480679e+02] [ 7.50768120e-01 -6.60471793e-01 -1.11463209e-02 2.15599996e+02] [ 1.51246607e-02 3.18057029e-04 9.99885565e-01 7.59489983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7092541539998 meters 0.017804365722575002 Centerline is valid? [True, True] Translation: X:885.46, Y:215.62, Z:7.60 [[-6.63058712e-01 -7.48510166e-01 9.25618457e-03 8.85463440e+02] [ 7.48442304e-01 -6.63123271e-01 -1.00818662e-02 2.15620364e+02] [ 1.36843707e-02 2.42850873e-04 9.99906335e-01 7.59583831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7392541539998 meters 0.01777308121702292 Centerline is valid? [True, True] Translation: X:885.45, Y:215.64, Z:7.60 [[-6.65785253e-01 -7.46091928e-01 8.76537245e-03 8.85445755e+02] [ 7.46030928e-01 -6.65842924e-01 -9.54225833e-03 2.15642977e+02] [ 1.29557631e-02 1.86144069e-04 9.99916053e-01 7.59742594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7692541539998 meters 0.014520087394774735 Centerline is valid? [True, True] Translation: X:885.43, Y:215.66, Z:7.60 [[-6.66569528e-01 -7.45391689e-01 8.73462301e-03 8.85427973e+02] [ 7.45331128e-01 -6.66626731e-01 -9.50318603e-03 2.15663021e+02] [ 1.29063291e-02 1.75652197e-04 9.99916694e-01 7.60033161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7992541539998 meters 0.017097044038277786 Centerline is valid? [True, True] Translation: X:885.41, Y:215.68, Z:7.60 [[-6.67934816e-01 -7.44166770e-01 8.88261721e-03 8.85408666e+02] [ 7.44104113e-01 -6.67993857e-01 -9.65791265e-03 2.15682937e+02] [ 1.31206314e-02 1.58735898e-04 9.99913908e-01 7.59794865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.8292541539997 meters 0.015560932630871358 Centerline is valid? [True, True] Translation: X:885.39, Y:215.70, Z:7.60 [[-6.68538840e-01 -7.43623807e-01 8.91366415e-03 8.85389101e+02] [ 7.43560741e-01 -6.68598243e-01 -9.68572866e-03 2.15703502e+02] [ 1.31621986e-02 1.52564918e-04 9.99913363e-01 7.59913375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.859254154 meters 0.014226595677373124 Centerline is valid? [True, True] Translation: X:885.37, Y:215.72, Z:7.60 [[-6.69356520e-01 -7.42880470e-01 9.51085118e-03 8.85369743e+02] [ 7.42808676e-01 -6.69424069e-01 -1.03288867e-02 2.15720892e+02] [ 1.40399209e-02 1.51035140e-04 9.99901424e-01 7.59916689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.889254154 meters 0.01420359014639199 Centerline is valid? [True, True] Translation: X:885.35, Y:215.74, Z:7.60 [[-6.69425964e-01 -7.42815470e-01 9.69822054e-03 8.85349759e+02] [ 7.42740895e-01 -6.69496193e-01 -1.05266278e-02 2.15740846e+02] [ 1.43122637e-02 1.56467007e-04 9.99897562e-01 7.59935537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9192541539999 meters 0.014369550348890002 Centerline is valid? [True, True] Translation: X:885.33, Y:215.76, Z:7.60 [[-6.68981103e-01 -7.43213958e-01 9.86388608e-03 8.85329693e+02] [ 7.43136940e-01 -6.69053797e-01 -1.07006754e-02 2.15757469e+02] [ 1.45523617e-02 1.71668514e-04 9.99894094e-01 7.59932780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9492541539998 meters 0.014340837945265876 Centerline is valid? [True, True] Translation: X:885.31, Y:215.78, Z:7.60 [[-6.68946504e-01 -7.43242190e-01 1.00807800e-02 8.85309736e+02] [ 7.43161840e-01 -6.69022432e-01 -1.09300033e-02 2.15777019e+02] [ 1.48679075e-02 1.80063537e-04 9.99889450e-01 7.59996098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9792541539998 meters 0.018953267425159577 Centerline is valid? [True, True] Translation: X:885.29, Y:215.79, Z:7.60 [[-6.69380762e-01 -7.42846322e-01 1.04276741e-02 8.85288822e+02] [ 7.42760410e-01 -6.69461954e-01 -1.12988679e-02 2.15793713e+02] [ 1.53742535e-02 1.82018641e-04 9.99881793e-01 7.59693526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.0092541539998 meters 0.014769826307501933 Centerline is valid? [True, True] Translation: X:885.27, Y:215.81, Z:7.60 [[-6.69032969e-01 -7.43164135e-01 1.00972938e-02 8.85269036e+02] [ 7.43083721e-01 -6.69109134e-01 -1.09339000e-02 2.15812824e+02] [ 1.48818739e-02 1.87995044e-04 9.99889241e-01 7.60014927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.0392541539998 meters 0.017942391745064113 Centerline is valid? [True, True] Translation: X:885.25, Y:215.83, Z:7.60 [[-6.69557341e-01 -7.42691434e-01 1.01193382e-02 8.85249259e+02] [ 7.42610716e-01 -6.69633781e-01 -1.09509378e-02 2.15831831e+02] [ 1.49094184e-02 1.82448181e-04 9.99888832e-01 7.59800496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.0692541539997 meters 0.014975653995656639 Centerline is valid? [True, True] Translation: X:885.23, Y:215.85, Z:7.60 [[-6.69379679e-01 -7.42857816e-01 9.64941268e-03 8.85229587e+02] [ 7.42784531e-01 -6.69449201e-01 -1.04358785e-02 2.15849237e+02] [ 1.42121655e-02 1.81869503e-04 9.99898986e-01 7.60137501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.099254154 meters 0.017343615108730875 Centerline is valid? [True, True] Translation: X:885.21, Y:215.87, Z:7.60 [[-6.69696033e-01 -7.42565826e-01 1.01595705e-02 8.85210143e+02] [ 7.42484657e-01 -6.69773064e-01 -1.09807356e-02 2.15869986e+02] [ 1.49585257e-02 1.89570173e-04 9.99888097e-01 7.60037181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.129254154 meters 0.014810150608331518 Centerline is valid? [True, True] Translation: X:885.19, Y:215.89, Z:7.60 [[-6.68950872e-01 -7.43243360e-01 9.69734745e-03 8.85189421e+02] [ 7.43169570e-01 -6.69021126e-01 -1.04748556e-02 2.15887539e+02] [ 1.42730972e-02 1.99609758e-04 9.99898114e-01 7.60315447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1592541539999 meters 0.01595829832076992 Centerline is valid? [True, True] Translation: X:885.17, Y:215.91, Z:7.60 [[-6.68806600e-01 -7.43370504e-01 9.90078674e-03 8.85169025e+02] [ 7.43293695e-01 -6.68879847e-01 -1.06880143e-02 2.15906634e+02] [ 1.45675913e-02 2.10977853e-04 9.99893865e-01 7.60256882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1892541539999 meters 0.016517128295283002 Centerline is valid? [True, True] Translation: X:885.15, Y:215.92, Z:7.60 [[-6.68467725e-01 -7.43672588e-01 1.00986338e-02 8.85147868e+02] [ 7.43592794e-01 -6.68543963e-01 -1.08961453e-02 2.15923929e+02] [ 1.48545452e-02 2.25549903e-04 9.99889640e-01 7.60229572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2192541539998 meters 0.017758473566982413 Centerline is valid? [True, True] Translation: X:885.13, Y:215.94, Z:7.60 [[-6.68779324e-01 -7.43387796e-01 1.04307136e-02 8.85127791e+02] [ 7.43302722e-01 -6.68860622e-01 -1.12486517e-02 2.15943550e+02] [ 1.53388040e-02 2.30312102e-04 9.99882327e-01 7.60129993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2492541539998 meters 0.01781038656129691 Centerline is valid? [True, True] Translation: X:885.11, Y:215.96, Z:7.60 [[-6.69704648e-01 -7.42550501e-01 1.06975679e-02 8.85107676e+02] [ 7.42461017e-01 -6.69790046e-01 -1.15296798e-02 2.15963572e+02] [ 1.57264940e-02 2.21046974e-04 9.99876307e-01 7.60124505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2792541539998 meters 0.01788945007795362 Centerline is valid? [True, True] Translation: X:885.09, Y:215.98, Z:7.60 [[-6.70572812e-01 -7.41764810e-01 1.08198898e-02 8.85088610e+02] [ 7.41673274e-01 -6.70660065e-01 -1.16547096e-02 2.15984110e+02] [ 1.59015214e-02 2.09491742e-04 9.99873541e-01 7.60181654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.3092541539997 meters 0.015595941363277025 Centerline is valid? [True, True] Translation: X:885.07, Y:216.01, Z:7.60 [[-6.72903916e-01 -7.39664311e-01 9.85023503e-03 8.85069657e+02] [ 7.39588305e-01 -6.72975991e-01 -1.06044526e-02 2.16005140e+02] [ 1.44727068e-02 1.49340974e-04 9.99895254e-01 7.60392189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.339254154 meters 0.013792423430667711 Centerline is valid? [True, True] Translation: X:885.05, Y:216.03, Z:7.61 [[-6.74006320e-01 -7.38666213e-01 9.36520074e-03 8.85050423e+02] [ 7.38597489e-01 -6.74071369e-01 -1.00766458e-02 2.16026075e+02] [ 1.37560915e-02 1.25390815e-04 9.99905373e-01 7.60570536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.369254154 meters 0.01642721855358701 Centerline is valid? [True, True] Translation: X:885.03, Y:216.05, Z:7.60 [[-6.76639454e-01 -7.36248848e-01 9.83281491e-03 8.85031693e+02] [ 7.36172926e-01 -6.76710889e-01 -1.05733679e-02 2.16045530e+02] [ 1.44386028e-02 8.42942639e-05 9.99895754e-01 7.60322292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.399254154 meters 0.01698580564022746 Centerline is valid? [True, True] Translation: X:885.01, Y:216.07, Z:7.60 [[-6.78038268e-01 -7.34959041e-01 9.96570541e-03 8.85012623e+02] [ 7.34881006e-01 -6.78111498e-01 -1.07099432e-02 2.16066473e+02] [ 1.46292290e-02 6.18562588e-05 9.99892985e-01 7.60285083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4292541539999 meters 0.013498008516833545 Centerline is valid? [True, True] Translation: X:884.99, Y:216.09, Z:7.61 [[-6.78635988e-01 -7.34412730e-01 9.54663441e-03 8.84993383e+02] [ 7.34341147e-01 -6.78703131e-01 -1.02537865e-02 2.16087200e+02] [ 1.40098420e-02 5.18979027e-05 9.99901856e-01 7.60513045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4592541539998 meters 0.017089666389859384 Centerline is valid? [True, True] Translation: X:884.97, Y:216.11, Z:7.60 [[-6.80108149e-01 -7.33027759e-01 1.11000402e-02 8.84973433e+02] [ 7.32930918e-01 -6.80198724e-01 -1.19149135e-02 2.16107234e+02] [ 1.62841955e-02 3.21329060e-05 9.99867403e-01 7.60163644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4892541539998 meters 0.01523069844145283 Centerline is valid? [True, True] Translation: X:884.95, Y:216.13, Z:7.60 [[-6.80455969e-01 -7.32697653e-01 1.15681870e-02 8.84953121e+02] [ 7.32592548e-01 -6.80554295e-01 -1.24101143e-02 2.16126404e+02] [ 1.69656410e-02 3.02311987e-05 9.99856073e-01 7.60188927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.5192541539998 meters 0.013531265916424198 Centerline is valid? [True, True] Translation: X:884.93, Y:216.15, Z:7.60 [[-6.80315148e-01 -7.32831131e-01 1.13944411e-02 8.84933420e+02] [ 7.32729295e-01 -6.80410562e-01 -1.22166957e-02 2.16146364e+02] [ 1.67056730e-02 3.78376608e-05 9.99860450e-01 7.60295766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.5492541539998 meters 0.01362668692900488 Centerline is valid? [True, True] Translation: X:884.91, Y:216.17, Z:7.60 [[-6.80063022e-01 -7.33065416e-01 1.13746667e-02 8.84913762e+02] [ 7.32964087e-01 -6.80158139e-01 -1.21882366e-02 2.16165135e+02] [ 1.66713469e-02 4.84531852e-05 9.99861022e-01 7.60310884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.5792541539997 meters 0.01564107906008061 Centerline is valid? [True, True] Translation: X:884.89, Y:216.19, Z:7.60 [[-6.80318455e-01 -7.32825536e-01 1.15556338e-02 8.84894245e+02] [ 7.32721048e-01 -6.80416586e-01 -1.23747902e-02 2.16185157e+02] [ 1.69312072e-02 4.82579983e-05 9.99856656e-01 7.60251416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.609254154 meters 0.014481613324920917 Centerline is valid? [True, True] Translation: X:884.87, Y:216.21, Z:7.60 [[-6.79724060e-01 -7.33390913e-01 1.06287554e-02 8.84874051e+02] [ 7.33302683e-01 -6.79807153e-01 -1.13758826e-02 2.16205134e+02] [ 1.55684729e-02 6.16337174e-05 9.99878802e-01 7.60467558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.639254154 meters 0.013722855151432966 Centerline is valid? [True, True] Translation: X:884.85, Y:216.22, Z:7.61 [[-6.78863532e-01 -7.34198051e-01 9.87561086e-03 8.84854739e+02] [ 7.34122060e-01 -6.78935355e-01 -1.05633620e-02 2.16222783e+02] [ 1.44605012e-02 7.88225359e-05 9.99895438e-01 7.60592726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6692541539999 meters 0.017432757940685554 Centerline is valid? [True, True] Translation: X:884.84, Y:216.24, Z:7.60 [[-6.78765857e-01 -7.34274021e-01 1.08891967e-02 8.84835403e+02] [ 7.34181767e-01 -6.78853190e-01 -1.16395727e-02 2.16241906e+02] [ 1.59388018e-02 9.41051444e-05 9.99872965e-01 7.60347814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6992541539998 meters 0.017432757940685554 Centerline is valid? [True, True] Translation: X:884.82, Y:216.26, Z:7.60 [[-6.78999876e-01 -7.34057568e-01 1.08929083e-02 8.84817036e+02] [ 7.33965342e-01 -6.79087239e-01 -1.16360989e-02 2.16261372e+02] [ 1.59388014e-02 9.41074316e-05 9.99872965e-01 7.60365750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7292541539998 meters 0.017486674239665725 Centerline is valid? [True, True] Translation: X:884.80, Y:216.28, Z:7.60 [[-6.78598078e-01 -7.34429452e-01 1.08641112e-02 8.84797752e+02] [ 7.34337881e-01 -6.78685029e-01 -1.15977311e-02 2.16279837e+02] [ 1.58910249e-02 1.07730334e-04 9.99873724e-01 7.60362520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7592541539998 meters 0.01458557222703836 Centerline is valid? [True, True] Translation: X:884.78, Y:216.30, Z:7.61 [[-6.77233750e-01 -7.35694171e-01 1.04179540e-02 8.84777454e+02] [ 7.35610225e-01 -6.77313862e-01 -1.11143883e-02 2.16298316e+02] [ 1.52330153e-02 1.36514621e-04 9.99883962e-01 7.60591682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7892541539998 meters 0.01408754844883208 Centerline is valid? [True, True] Translation: X:884.76, Y:216.32, Z:7.61 [[-6.76752329e-01 -7.36142833e-01 1.00007315e-02 8.84757956e+02] [ 7.36065617e-01 -6.76826203e-01 -1.06629568e-02 2.16318606e+02] [ 1.46182163e-02 1.45013787e-04 9.99893138e-01 7.60736441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.8192541539997 meters 0.01480566762672148 Centerline is valid? [True, True] Translation: X:884.74, Y:216.34, Z:7.61 [[-6.75589527e-01 -7.37205569e-01 1.03315309e-02 8.84737225e+02] [ 7.37123385e-01 -6.75668497e-01 -1.10089667e-02 2.16336777e+02] [ 1.50965616e-02 1.78070405e-04 9.99886025e-01 7.60682789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.849254154 meters 0.01473211008612192 Centerline is valid? [True, True] Translation: X:884.72, Y:216.36, Z:7.61 [[-6.73927193e-01 -7.38727979e-01 1.01544151e-02 8.84716595e+02] [ 7.38648856e-01 -6.74003656e-01 -1.08138671e-02 2.16355953e+02] [ 1.48326191e-02 2.12788062e-04 9.99889968e-01 7.60784003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.879254154 meters 0.014950698697727362 Centerline is valid? [True, True] Translation: X:884.70, Y:216.38, Z:7.61 [[-6.73268681e-01 -7.39325798e-01 1.03270389e-02 8.84696888e+02] [ 7.39244129e-01 -6.73347837e-01 -1.09913132e-02 2.16375385e+02] [ 1.50798507e-02 2.34095930e-04 9.99886265e-01 7.60844960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9092541539999 meters 0.015396736581346339 Centerline is valid? [True, True] Translation: X:884.68, Y:216.39, Z:7.61 [[-6.72417674e-01 -7.40101325e-01 1.02225608e-02 8.84676981e+02] [ 7.40021485e-01 -6.72495327e-01 -1.08736927e-02 2.16394394e+02] [ 1.49222588e-02 2.53251459e-04 9.99888625e-01 7.60857379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9392541539999 meters 0.018743102198883095 Centerline is valid? [True, True] Translation: X:884.66, Y:216.41, Z:7.61 [[-6.70924598e-01 -7.41447547e-01 1.07573066e-02 8.84655449e+02] [ 7.41359418e-01 -6.71010763e-01 -1.14354381e-02 2.16411846e+02] [ 1.56970460e-02 3.02713831e-04 9.99876748e-01 7.60620220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9692541539998 meters 0.018591633071896006 Centerline is valid? [True, True] Translation: X:884.64, Y:216.43, Z:7.61 [[-6.70305583e-01 -7.42006009e-01 1.08401473e-02 8.84637057e+02] [ 7.41916697e-01 -6.70393152e-01 -1.15167554e-02 2.16433289e+02] [ 1.58126622e-02 3.22740841e-04 9.99874920e-01 7.60704022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9992541539998 meters 0.016898378015870925 Centerline is valid? [True, True] Translation: X:884.62, Y:216.45, Z:7.61 [[-6.68885230e-01 -7.43301621e-01 9.75961395e-03 8.84617492e+02] [ 7.43229445e-01 -6.68956349e-01 -1.03631658e-02 2.16453033e+02] [ 1.42317136e-02 3.21863957e-04 9.99898672e-01 7.60935494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.0292541539998 meters 0.01855639296523388 Centerline is valid? [True, True] Translation: X:884.60, Y:216.47, Z:7.61 [[-6.68954702e-01 -7.43229761e-01 1.04464510e-02 8.84598959e+02] [ 7.43147165e-01 -6.69036174e-01 -1.10855702e-02 2.16472805e+02] [ 1.52281794e-02 3.47506138e-04 9.99883984e-01 7.60802897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.0592541539997 meters 0.019343378152746223 Centerline is valid? [True, True] Translation: X:884.58, Y:216.49, Z:7.61 [[-6.68694333e-01 -7.43463210e-01 1.05044899e-02 8.84581132e+02] [ 7.43379832e-01 -6.68776738e-01 -1.11400305e-02 2.16493848e+02] [ 1.53073613e-02 3.59550656e-04 9.99882771e-01 7.60772892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.089254154 meters 0.01748731984305155 Centerline is valid? [True, True] Translation: X:884.56, Y:216.51, Z:7.61 [[-6.68438381e-01 -7.43699764e-01 1.00395204e-02 8.84562947e+02] [ 7.43623728e-01 -6.68513677e-01 -1.06402813e-02 2.16513695e+02] [ 1.46247314e-02 3.53253146e-04 9.99892991e-01 7.60952103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.119254154 meters 0.01796299185939375 Centerline is valid? [True, True] Translation: X:884.55, Y:216.53, Z:7.61 [[-6.68981066e-01 -7.43204992e-01 1.05201671e-02 8.84545588e+02] [ 7.43121553e-01 -6.69063680e-01 -1.11422624e-02 2.16533436e+02] [ 1.53196468e-02 3.63800303e-04 9.99882581e-01 7.60871584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.149254154 meters 0.018035329976198604 Centerline is valid? [True, True] Translation: X:884.53, Y:216.55, Z:7.61 [[-6.69473485e-01 -7.42751671e-01 1.11896664e-02 8.84527596e+02] [ 7.42657336e-01 -6.69566883e-01 -1.18436002e-02 2.16553878e+02] [ 1.62890839e-02 3.81111554e-04 9.99867251e-01 7.60790984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.1792541539999 meters 0.018927225481313967 Centerline is valid? [True, True] Translation: X:884.51, Y:216.58, Z:7.61 [[-6.71523162e-01 -7.40869402e-01 1.30066234e-02 8.84511892e+02] [ 7.40741756e-01 -6.71648996e-01 -1.37578180e-02 2.16575814e+02] [ 1.89286319e-02 3.95855631e-04 9.99820759e-01 7.60549181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2092541539998 meters 0.01704603037320561 Centerline is valid? [True, True] Translation: X:884.50, Y:216.60, Z:7.61 [[-6.72624823e-01 -7.39867721e-01 1.30997431e-02 8.84496447e+02] [ 7.39738218e-01 -6.72752268e-01 -1.38475490e-02 2.16598133e+02] [ 1.90582364e-02 3.76175434e-04 9.99818305e-01 7.60697972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2392541539998 meters 0.016281289005098645 Centerline is valid? [True, True] Translation: X:884.48, Y:216.62, Z:7.61 [[-6.75680860e-01 -7.37081793e-01 1.28765365e-02 8.84480362e+02] [ 7.36956305e-01 -6.75803478e-01 -1.36037993e-02 2.16620130e+02] [ 1.87291209e-02 2.97617963e-04 9.99824550e-01 7.60616740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2692541539998 meters 0.01776467823019237 Centerline is valid? [True, True] Translation: X:884.46, Y:216.64, Z:7.60 [[-6.77956648e-01 -7.34969638e-01 1.39432809e-02 8.84463536e+02] [ 7.34822218e-01 -6.78099964e-01 -1.47223459e-02 2.16642380e+02] [ 2.02754155e-02 2.64720305e-04 9.99794398e-01 7.60493439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2992541539998 meters 0.018192477172455715 Centerline is valid? [True, True] Translation: X:884.45, Y:216.67, Z:7.61 [[-6.80057884e-01 -7.33022230e-01 1.41309744e-02 8.84447884e+02] [ 7.32870568e-01 -6.80204649e-01 -1.49119758e-02 2.16665885e+02] [ 2.05427642e-02 2.15168507e-04 9.99788952e-01 7.60644168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.3292541539997 meters 0.01428136304237235 Centerline is valid? [True, True] Translation: X:884.43, Y:216.69, Z:7.61 [[-6.82868620e-01 -7.30430038e-01 1.27438758e-02 8.84432604e+02] [ 7.30306376e-01 -6.82987513e-01 -1.34408137e-02 2.16690262e+02] [ 1.85214821e-02 1.28623829e-04 9.99828454e-01 7.60963337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.359254154 meters 0.015884326842114948 Centerline is valid? [True, True] Translation: X:884.42, Y:216.71, Z:7.61 [[-6.84860203e-01 -7.28550491e-01 1.34419355e-02 8.84416606e+02] [ 7.28412709e-01 -6.84992098e-01 -1.41686508e-02 2.16713801e+02] [ 1.95301971e-02 8.77315910e-05 9.99809264e-01 7.61082917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.389254154 meters 0.014100624349609035 Centerline is valid? [True, True] Translation: X:884.40, Y:216.73, Z:7.61 [[-6.84998735e-01 -7.28434126e-01 1.26671552e-02 8.84399004e+02] [ 7.28311896e-01 -6.85115842e-01 -1.33441088e-02 2.16733821e+02] [ 1.83987729e-02 8.49421343e-05 9.99830725e-01 7.61165407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4192541539999 meters 0.01693131196087694 Centerline is valid? [True, True] Translation: X:884.38, Y:216.75, Z:7.61 [[-6.84187044e-01 -7.29175723e-01 1.38149689e-02 8.84379093e+02] [ 7.29030670e-01 -6.84326494e-01 -1.45441321e-02 2.16752942e+02] [ 2.00591772e-02 1.20629267e-04 9.99798787e-01 7.60792769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4492541539998 meters 0.017018356094116678 Centerline is valid? [True, True] Translation: X:884.36, Y:216.77, Z:7.61 [[-6.83405225e-01 -7.29899293e-01 1.42940521e-02 8.84360871e+02] [ 7.29744361e-01 -6.83554679e-01 -1.50389122e-02 2.16773357e+02] [ 2.07476576e-02 1.53332784e-04 9.99784732e-01 7.61107666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4792541539998 meters 0.01478255111791191 Centerline is valid? [True, True] Translation: X:884.34, Y:216.79, Z:7.61 [[-6.80897938e-01 -7.32256644e-01 1.33493847e-02 8.84341601e+02] [ 7.32122111e-01 -6.81028753e-01 -1.40375554e-02 2.16791463e+02] [ 1.93704080e-02 2.15237199e-04 9.99812353e-01 7.61263500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.5092541539998 meters 0.01605194781656759 Centerline is valid? [True, True] Translation: X:884.32, Y:216.81, Z:7.61 [[-6.80051001e-01 -7.33028571e-01 1.41332835e-02 8.84321850e+02] [ 7.32878110e-01 -6.80197801e-01 -1.48535459e-02 2.16812026e+02] [ 2.05015019e-02 2.56805361e-04 9.99789789e-01 7.61296378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.5392541539998 meters 0.015376520114370722 Centerline is valid? [True, True] Translation: X:884.30, Y:216.83, Z:7.61 [[-6.78069850e-01 -7.34886342e-01 1.27805581e-02 8.84301887e+02] [ 7.34763774e-01 -6.78190225e-01 -1.34244247e-02 2.16831663e+02] [ 1.85330759e-02 2.87993481e-04 9.99828206e-01 7.61496386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.5692541539997 meters 0.017121805729680122 Centerline is valid? [True, True] Translation: X:884.28, Y:216.85, Z:7.62 [[-6.77758823e-01 -7.35165687e-01 1.32057010e-02 8.84282466e+02] [ 7.35035035e-01 -6.77887392e-01 -1.38629442e-02 2.16851519e+02] [ 1.91435392e-02 3.10920168e-04 9.99816697e-01 7.61503549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.599254154 meters 0.016089947803404808 Centerline is valid? [True, True] Translation: X:884.26, Y:216.87, Z:7.62 [[-6.76884152e-01 -7.36012053e-01 1.06819298e-02 8.84263650e+02] [ 7.35926776e-01 -6.76968376e-01 -1.12070351e-02 2.16870318e+02] [ 1.54798416e-02 2.75253734e-04 9.99880142e-01 7.61761372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.629254154 meters 0.016189737445337082 Centerline is valid? [True, True] Translation: X:884.24, Y:216.89, Z:7.62 [[-6.76719462e-01 -7.36172650e-01 1.00299082e-02 8.84244883e+02] [ 7.36097581e-01 -6.76793734e-01 -1.05162872e-02 2.16889627e+02] [ 1.45299820e-02 2.66414944e-04 9.99894399e-01 7.61890610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.6592541539999 meters 0.01884128744663098 Centerline is valid? [True, True] Translation: X:884.23, Y:216.91, Z:7.62 [[-6.75866145e-01 -7.36951065e-01 1.03962163e-02 8.84225958e+02] [ 7.36870608e-01 -6.75946032e-01 -1.08934807e-02 2.16909765e+02] [ 1.50552433e-02 2.98131422e-04 9.99886619e-01 7.62015896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.6892541539999 meters 0.017222385388923272 Centerline is valid? [True, True] Translation: X:884.21, Y:216.93, Z:7.62 [[-6.75086916e-01 -7.37681309e-01 9.16195938e-03 8.84206644e+02] [ 7.37618963e-01 -6.75149026e-01 -9.59465592e-03 2.16929461e+02] [ 1.32634863e-02 2.80808299e-04 9.99911997e-01 7.62158119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7192541539998 meters 0.017604917373828723 Centerline is valid? [True, True] Translation: X:884.19, Y:216.95, Z:7.62 [[-6.72962547e-01 -7.39626572e-01 8.59912631e-03 8.84186105e+02] [ 7.39571876e-01 -6.73017416e-01 -8.99988930e-03 2.16946917e+02] [ 1.24439190e-02 3.03083557e-04 9.99922526e-01 7.62123300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7492541539998 meters 0.019243120218959804 Centerline is valid? [True, True] Translation: X:884.17, Y:216.97, Z:7.62 [[-6.72083554e-01 -7.40405554e-01 1.01642657e-02 8.84166078e+02] [ 7.40329324e-01 -6.72160302e-01 -1.06311316e-02 2.16966428e+02] [ 1.47033648e-02 3.79895220e-04 9.99891828e-01 7.62021618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7792541539998 meters 0.022345045300791976 Centerline is valid? [True, True] Translation: X:884.14, Y:216.98, Z:7.62 [[-6.69667998e-01 -7.42575141e-01 1.12664665e-02 8.84143700e+02] [ 7.42481889e-01 -6.69762594e-01 -1.17776230e-02 2.16982030e+02] [ 1.62916279e-02 4.78050105e-04 9.99867168e-01 7.61701922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.8092541539997 meters 0.022256070910256543 Centerline is valid? [True, True] Translation: X:884.12, Y:217.00, Z:7.62 [[-6.68617982e-01 -7.43530976e-01 1.05679509e-02 8.84123980e+02] [ 7.43449135e-01 -6.68701326e-01 -1.10417647e-02 2.17000804e+02] [ 1.52766969e-02 4.74011489e-04 9.99883192e-01 7.61677629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.839254154 meters 0.022935111681407595 Centerline is valid? [True, True] Translation: X:884.11, Y:217.02, Z:7.62 [[-6.67583275e-01 -7.44421412e-01 1.30128115e-02 8.84107423e+02] [ 7.44297645e-01 -6.67709806e-01 -1.35879034e-02 2.17024052e+02] [ 1.88039081e-02 6.14347942e-04 9.99823002e-01 7.61609155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.869254154 meters 0.021616231366821764 Centerline is valid? [True, True] Translation: X:884.09, Y:217.05, Z:7.62 [[-6.67580031e-01 -7.44433274e-01 1.24901275e-02 8.84090975e+02] [ 7.44319401e-01 -6.67696597e-01 -1.30339212e-02 2.17045373e+02] [ 1.80425002e-02 5.95458717e-04 9.99837044e-01 7.61625060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.899254154 meters 0.022483408564337382 Centerline is valid? [True, True] Translation: X:884.07, Y:217.07, Z:7.62 [[-6.68222296e-01 -7.43843527e-01 1.32578706e-02 8.84073324e+02] [ 7.43715285e-01 -6.68353515e-01 -1.38258240e-02 2.17065767e+02] [ 1.91451941e-02 6.21357174e-04 9.99816521e-01 7.61590835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9292541539999 meters 0.021892458102813015 Centerline is valid? [True, True] Translation: X:884.06, Y:217.09, Z:7.62 [[-6.69961121e-01 -7.42296729e-01 1.21516550e-02 8.84057008e+02] [ 7.42188870e-01 -6.70071102e-01 -1.26648839e-02 2.17088220e+02] [ 1.75435748e-02 5.33843238e-04 9.99845957e-01 7.61639845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9592541539998 meters 0.020374862710166294 Centerline is valid? [True, True] Translation: X:884.04, Y:217.11, Z:7.62 [[-6.71230054e-01 -7.41159962e-01 1.14945756e-02 8.84041002e+02] [ 7.41063400e-01 -6.71328294e-01 -1.19732300e-02 2.17111816e+02] [ 1.65907125e-02 4.81417459e-04 9.99862249e-01 7.61773477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9892541539998 meters 0.019396694023158294 Centerline is valid? [True, True] Translation: X:884.03, Y:217.14, Z:7.62 [[-6.73873382e-01 -7.38781476e-01 9.82826298e-03 8.84025408e+02] [ 7.38710707e-01 -6.73944951e-01 -1.02320494e-02 2.17136011e+02] [ 1.41829568e-02 3.65137333e-04 9.99899350e-01 7.61921441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.0192541539998 meters 0.017543206320284218 Centerline is valid? [True, True] Translation: X:884.01, Y:217.16, Z:7.62 [[-6.75170721e-01 -7.37619400e-01 7.88153247e-03 8.84007850e+02] [ 7.37573858e-01 -6.75216665e-01 -8.20118315e-03 2.17157658e+02] [ 1.13710939e-02 2.76013575e-04 9.99935309e-01 7.62019777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.0492541539998 meters 0.01692142115612687 Centerline is valid? [True, True] Translation: X:883.99, Y:217.18, Z:7.62 [[-6.78051536e-01 -7.34982917e-01 6.79903113e-03 8.83992596e+02] [ 7.34948927e-01 -6.78085593e-01 -7.07136253e-03 2.17180260e+02] [ 9.80765571e-03 2.02192411e-04 9.99951883e-01 7.62034713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.0792541539997 meters 0.018710666389314644 Centerline is valid? [True, True] Translation: X:883.97, Y:217.20, Z:7.62 [[-6.80023845e-01 -7.33140397e-01 8.52807059e-03 8.83974954e+02] [ 7.33086836e-01 -6.80077281e-01 -8.86467832e-03 2.17202765e+02] [ 1.22988008e-02 2.23623647e-04 9.99924342e-01 7.61983547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.109254154 meters 0.017864465617700425 Centerline is valid? [True, True] Translation: X:883.96, Y:217.23, Z:7.62 [[-6.83066323e-01 -7.30309120e-01 8.30594296e-03 8.83959045e+02] [ 7.30258154e-01 -6.83116799e-01 -8.62944947e-03 2.17225460e+02] [ 1.19760948e-02 1.70996257e-04 9.99928269e-01 7.61880274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.139254154 meters 0.01636611660141623 Centerline is valid? [True, True] Translation: X:883.94, Y:217.25, Z:7.62 [[-6.84248210e-01 -7.29209482e-01 7.61040031e-03 8.83941351e+02] [ 7.29166670e-01 -6.84290517e-01 -7.90287486e-03 2.17245511e+02] [ 1.09705760e-02 1.41722277e-04 9.99939811e-01 7.61848175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1692541539999 meters 0.01859312687589321 Centerline is valid? [True, True] Translation: X:883.93, Y:217.27, Z:7.62 [[-6.86553734e-01 -7.27016005e-01 9.57592447e-03 8.83925771e+02] [ 7.26948112e-01 -6.86620499e-01 -9.93646596e-03 2.17267308e+02] [ 1.37989958e-02 1.39282398e-04 9.99904780e-01 7.61692935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1992541539998 meters 0.01519096529631738 Centerline is valid? [True, True] Translation: X:883.91, Y:217.29, Z:7.62 [[-6.87327243e-01 -7.26305531e-01 7.84446671e-03 8.83907511e+02] [ 7.26259976e-01 -6.87371998e-01 -8.13529251e-03 2.17288673e+02] [ 1.13007747e-02 1.05514035e-04 9.99936139e-01 7.61703628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2292541539998 meters 0.015049987762784827 Centerline is valid? [True, True] Translation: X:883.89, Y:217.31, Z:7.62 [[-6.89140511e-01 -7.24577975e-01 8.49201439e-03 8.83889930e+02] [ 7.24524523e-01 -6.89192826e-01 -8.80142950e-03 2.17309368e+02] [ 1.22299574e-02 8.72510474e-05 9.99925207e-01 7.61516957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2592541539998 meters 0.01499926400296904 Centerline is valid? [True, True] Translation: X:883.87, Y:217.33, Z:7.61 [[-6.89974003e-01 -7.23782510e-01 8.64598602e-03 8.83871246e+02] [ 7.23727109e-01 -6.90028168e-01 -8.95542677e-03 2.17328990e+02] [ 1.24477552e-02 7.83228054e-05 9.99922521e-01 7.61461264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2892541539998 meters 0.014967359414430724 Centerline is valid? [True, True] Translation: X:883.85, Y:217.35, Z:7.61 [[-6.91131556e-01 -7.22680666e-01 8.35622069e-03 8.83852458e+02] [ 7.22628901e-01 -6.91182068e-01 -8.64989414e-03 2.17348137e+02] [ 1.20267812e-02 6.02317760e-05 9.99927674e-01 7.61386168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.3192541539997 meters 0.015521595262139058 Centerline is valid? [True, True] Translation: X:883.83, Y:217.37, Z:7.61 [[-6.91822305e-01 -7.22016351e-01 8.61902329e-03 8.83833612e+02] [ 7.21961298e-01 -6.91875990e-01 -8.91614298e-03 2.17367521e+02] [ 1.24008963e-02 5.42146576e-05 9.99923104e-01 7.61411327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.349254154 meters 0.014974217880865837 Centerline is valid? [True, True] Translation: X:883.81, Y:217.39, Z:7.61 [[-6.91953690e-01 -7.21899667e-01 7.80778405e-03 8.83813339e+02] [ 7.21854538e-01 -6.91997737e-01 -8.07204279e-03 2.17386480e+02] [ 1.12301739e-02 5.06045540e-05 9.99936938e-01 7.61459144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.379254154 meters 0.01500797482761111 Centerline is valid? [True, True] Translation: X:883.79, Y:217.40, Z:7.61 [[-6.91869555e-01 -7.21981431e-01 7.70268042e-03 8.83792150e+02] [ 7.21937570e-01 -6.91912429e-01 -7.95831937e-03 2.17404428e+02] [ 1.10753391e-02 5.47355018e-05 9.99938665e-01 7.61434065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4092541539999 meters 0.015277193469406402 Centerline is valid? [True, True] Translation: X:883.77, Y:217.42, Z:7.61 [[-6.90778293e-01 -7.23019231e-01 8.27900716e-03 8.83770759e+02] [ 7.22968703e-01 -6.90827899e-01 -8.54804956e-03 2.17421421e+02] [ 1.18997733e-02 8.06559822e-05 9.99929192e-01 7.61287377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4392541539999 meters 0.016035947185503868 Centerline is valid? [True, True] Translation: X:883.75, Y:217.44, Z:7.61 [[-6.90228826e-01 -7.23532316e-01 9.22803173e-03 8.83750565e+02] [ 7.23469671e-01 -6.90290502e-01 -9.52144975e-03 2.17439554e+02] [ 1.32590992e-02 1.04222000e-04 9.99912089e-01 7.61156534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4692541539998 meters 0.015793979692899966 Centerline is valid? [True, True] Translation: X:883.73, Y:217.46, Z:7.61 [[-6.88002356e-01 -7.25637405e-01 1.01545456e-02 8.83728221e+02] [ 7.25561874e-01 -6.88077270e-01 -1.04707814e-02 2.17457029e+02] [ 1.45851027e-02 1.63828870e-04 9.99893618e-01 7.60954548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4992541539998 meters 0.01627637662369654 Centerline is valid? [True, True] Translation: X:883.71, Y:217.47, Z:7.61 [[-6.87169838e-01 -7.26419072e-01 1.06276148e-02 8.83707491e+02] [ 7.26336516e-01 -6.87251988e-01 -1.09531121e-02 2.17474727e+02] [ 1.52603989e-02 1.92576430e-04 9.99883535e-01 7.60827293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.5292541539998 meters 0.016594795215197453 Centerline is valid? [True, True] Translation: X:883.69, Y:217.49, Z:7.61 [[-6.85449863e-01 -7.28024738e-01 1.17671659e-02 8.83685374e+02] [ 7.27923872e-01 -6.85550811e-01 -1.21211697e-02 2.17492514e+02] [ 1.68915015e-02 2.57146885e-04 9.99857295e-01 7.60636163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.5592541539997 meters 0.01749517166682108 Centerline is valid? [True, True] Translation: X:883.66, Y:217.51, Z:7.60 [[-6.85073129e-01 -7.28365153e-01 1.26100040e-02 8.83663891e+02] [ 7.28249513e-01 -6.85189113e-01 -1.29817660e-02 2.17511208e+02] [ 1.80957034e-02 2.89770255e-04 9.99836217e-01 7.60462429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.589254154 meters 0.01749517166682108 Centerline is valid? [True, True] Translation: X:883.65, Y:217.53, Z:7.60 [[-6.85306454e-01 -7.28145556e-01 1.26139915e-02 8.83645151e+02] [ 7.28029951e-01 -6.85422472e-01 -1.29778911e-02 2.17530338e+02] [ 1.80957069e-02 2.89531083e-04 9.99836217e-01 7.60480376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.619254154 meters 0.01710871306640892 Centerline is valid? [True, True] Translation: X:883.63, Y:217.55, Z:7.60 [[-6.84979476e-01 -7.28455000e-01 1.25072029e-02 8.83626069e+02] [ 7.28341522e-01 -6.85093587e-01 -1.28609737e-02 2.17547860e+02] [ 1.79372451e-02 3.00012141e-04 9.99839070e-01 7.60472493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.649254154 meters 0.01786035527990369 Centerline is valid? [True, True] Translation: X:883.61, Y:217.57, Z:7.60 [[-6.85755905e-01 -7.27715564e-01 1.29960468e-02 8.83607554e+02] [ 7.27593056e-01 -6.85878976e-01 -1.33557085e-02 2.17567514e+02] [ 1.86328723e-02 2.97077433e-04 9.99826349e-01 7.60456846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.6792541539999 meters 0.018935331419558506 Centerline is valid? [True, True] Translation: X:883.59, Y:217.59, Z:7.60 [[-6.87159355e-01 -7.26381292e-01 1.34996031e-02 8.83589659e+02] [ 7.26249028e-01 -6.87291889e-01 -1.38639396e-02 2.17587019e+02] [ 1.93486741e-02 2.77337819e-04 9.99812758e-01 7.60358624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7092541539998 meters 0.01655303228121396 Centerline is valid? [True, True] Translation: X:883.57, Y:217.61, Z:7.60 [[-6.87663898e-01 -7.25921055e-01 1.25293675e-02 8.83571141e+02] [ 7.25807191e-01 -6.87777986e-01 -1.28593488e-02 2.17606572e+02] [ 1.79522952e-02 2.50995071e-04 9.99838813e-01 7.60480570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7392541539998 meters 0.01844519826004119 Centerline is valid? [True, True] Translation: X:883.55, Y:217.63, Z:7.60 [[-6.90163255e-01 -7.23553843e-01 1.20215825e-02 8.83554357e+02] [ 7.23448785e-01 -6.90267920e-01 -1.23310094e-02 2.17627507e+02] [ 1.72202620e-02 1.86589661e-04 9.99851703e-01 7.60492479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7692541539998 meters 0.018926608445750462 Centerline is valid? [True, True] Translation: X:883.54, Y:217.65, Z:7.61 [[-6.91430689e-01 -7.22356764e-01 1.11493664e-02 8.83535836e+02] [ 7.22266349e-01 -6.91520559e-01 -1.14296616e-02 2.17647683e+02] [ 1.59663094e-02 1.49993374e-04 9.99872519e-01 7.60538888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7992541539998 meters 0.015720618981327365 Centerline is valid? [True, True] Translation: X:883.52, Y:217.67, Z:7.61 [[-6.92292779e-01 -7.21571402e-01 8.08830462e-03 8.83516915e+02] [ 7.21523815e-01 -6.92340020e-01 -8.28745461e-03 2.17668718e+02] [ 1.15798472e-02 9.85594223e-05 9.99932946e-01 7.60941290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.8292541539997 meters 0.015604144101522012 Centerline is valid? [True, True] Translation: X:883.50, Y:217.69, Z:7.61 [[-6.92916488e-01 -7.20985662e-01 6.81290946e-03 8.83498061e+02] [ 7.20951906e-01 -6.92949976e-01 -6.97709219e-03 2.17688931e+02] [ 9.75138888e-03 7.72378422e-05 9.99952451e-01 7.61081084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.859254154 meters 0.017400754862691853 Centerline is valid? [True, True] Translation: X:883.48, Y:217.71, Z:7.61 [[-6.94483815e-01 -7.19495165e-01 4.35167384e-03 8.83479136e+02] [ 7.19481374e-01 -6.94497448e-01 -4.45498208e-03 2.17708495e+02] [ 6.22756445e-03 3.70353204e-05 9.99980608e-01 7.61147314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.889254154 meters 0.015616386196053433 Centerline is valid? [True, True] Translation: X:883.46, Y:217.73, Z:7.61 [[-6.93901834e-01 -7.20059630e-01 3.79135184e-03 8.83459181e+02] [ 7.20049180e-01 -6.93912191e-01 -3.87939026e-03 2.17727636e+02] [ 5.42425757e-03 3.80437641e-05 9.99985288e-01 7.61234668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9192541539999 meters 0.017917690377153333 Centerline is valid? [True, True] Translation: X:883.44, Y:217.75, Z:7.61 [[-6.95221588e-01 -7.18787946e-01 3.29134489e-03 8.83439424e+02] [ 7.18780064e-01 -6.95229378e-01 -3.36620531e-03 2.17747366e+02] [ 4.70782746e-03 2.54944944e-05 9.99988918e-01 7.60873231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9492541539998 meters 0.015548076332752453 Centerline is valid? [True, True] Translation: X:883.42, Y:217.77, Z:7.61 [[-6.95734412e-01 -7.18289888e-01 3.64203802e-03 8.83420482e+02] [ 7.18280243e-01 -6.95743944e-01 -3.72236567e-03 2.17765245e+02] [ 5.20766352e-03 2.62260649e-05 9.99986440e-01 7.60713026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9792541539998 meters 0.015448811433705807 Centerline is valid? [True, True] Translation: X:883.40, Y:217.78, Z:7.61 [[-6.97124916e-01 -7.16940350e-01 3.65861624e-03 8.83401983e+02] [ 7.16930608e-01 -6.97134516e-01 -3.73758689e-03 2.17784880e+02] [ 5.23017452e-03 1.74090154e-05 9.99986322e-01 7.60580574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.0092541539998 meters 0.017385909788953505 Centerline is valid? [True, True] Translation: X:883.39, Y:217.81, Z:7.60 [[-7.01556728e-01 -7.12610239e-01 2.19205491e-03 8.83385450e+02] [ 7.12606720e-01 -7.01560153e-01 -2.23925051e-03 2.17805635e+02] [ 3.13357122e-03 -8.88820336e-06 9.99995090e-01 7.60300166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.0392541539998 meters 0.01727902656939394 Centerline is valid? [True, True] Translation: X:883.37, Y:217.83, Z:7.60 [[-7.03940038e-01 -7.10258465e-01 1.15617988e-03 8.83367217e+02] [ 7.10257482e-01 -7.03940987e-01 -1.18164556e-03 2.17826602e+02] [ 1.65315617e-03 -1.06222098e-05 9.99998633e-01 7.60332506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.0692541539997 meters 0.016451983818528408 Centerline is valid? [True, True] Translation: X:883.35, Y:217.85, Z:7.60 [[-7.06252617e-01 -7.07959883e-01 2.14013656e-04 8.83349446e+02] [ 7.07959848e-01 -7.06252649e-01 -2.20863329e-04 2.17847206e+02] [ 3.07510088e-04 -4.47222906e-06 9.99999953e-01 7.60477681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.099254154 meters 0.018293171579173362 Centerline is valid? [True, True] Translation: X:883.33, Y:217.87, Z:7.61 [[-7.11224685e-01 -7.02958306e-01 -3.01120154e-03 8.83332908e+02] [ 7.02951634e-01 -7.11231057e-01 3.06352389e-03 2.17870163e+02] [-4.29518962e-03 6.21247660e-05 9.99990774e-01 7.60594364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.129254154 meters 0.018810147596130113 Centerline is valid? [True, True] Translation: X:883.31, Y:217.89, Z:7.61 [[-7.13403329e-01 -7.00739677e-01 -4.42670631e-03 8.83313205e+02] [ 7.00725222e-01 -7.13417054e-01 4.50221414e-03 2.17890541e+02] [-6.31296786e-03 1.09989797e-04 9.99980067e-01 7.60505800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.1592541539999 meters 0.02105674335659905 Centerline is valid? [True, True] Translation: X:883.30, Y:217.91, Z:7.61 [[-7.16758496e-01 -6.97286710e-01 -6.96441076e-03 8.83297359e+02] [ 6.97250793e-01 -7.16792297e-01 7.08059114e-03 2.17912510e+02] [-9.92923808e-03 2.19132926e-04 9.99950680e-01 7.60657299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.1892541539999 meters 0.019651612076468386 Centerline is valid? [True, True] Translation: X:883.28, Y:217.93, Z:7.61 [[-7.17680464e-01 -6.96332609e-01 -7.45988913e-03 8.83277084e+02] [ 6.96291390e-01 -7.17719191e-01 7.58039912e-03 2.17931515e+02] [-1.06325847e-02 2.46047782e-04 9.99943442e-01 7.60588020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2192541539998 meters 0.019623838751855267 Centerline is valid? [True, True] Translation: X:883.26, Y:217.95, Z:7.61 [[-7.18754970e-01 -6.95212520e-01 -8.41700636e-03 8.83257879e+02] [ 6.95159998e-01 -7.18804191e-01 8.55057845e-03 2.17950312e+02] [-1.19946486e-02 2.94604631e-04 9.99928018e-01 7.60599029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2492541539998 meters 0.02045133303786917 Centerline is valid? [True, True] Translation: X:883.24, Y:217.97, Z:7.60 [[-7.19625047e-01 -6.94299631e-01 -9.37096393e-03 8.83236707e+02] [ 6.94234530e-01 -7.19685978e-01 9.51368954e-03 2.17968762e+02] [-1.33495025e-02 3.40642545e-04 9.99910833e-01 7.60332247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2792541539998 meters 0.01957661678019227 Centerline is valid? [True, True] Translation: X:883.22, Y:217.99, Z:7.60 [[-7.19848392e-01 -6.94066085e-01 -9.51639408e-03 8.83215068e+02] [ 6.93999002e-01 -7.19911209e-01 9.65588557e-03 2.17986907e+02] [-1.35527815e-02 3.46405703e-04 9.99908097e-01 7.60251804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.3092541539997 meters 0.02030828039162398 Centerline is valid? [True, True] Translation: X:883.20, Y:218.01, Z:7.60 [[-7.20398704e-01 -6.93495304e-01 -9.48533310e-03 8.83195380e+02] [ 6.93428695e-01 -7.20461061e-01 9.61790757e-03 2.18005506e+02] [-1.35037869e-02 3.51325993e-04 9.99908758e-01 7.60112083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.339254154 meters 0.020475771836931538 Centerline is valid? [True, True] Translation: X:883.17, Y:218.02, Z:7.60 [[-7.21986590e-01 -6.91851552e-01 -8.76321969e-03 8.83174123e+02] [ 6.91794640e-01 -7.22039686e-01 8.88077486e-03 2.18024517e+02] [-1.24715703e-02 3.49451941e-04 9.99922166e-01 7.59916448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.369254154 meters 0.02080846815650782 Centerline is valid? [True, True] Translation: X:883.15, Y:218.04, Z:7.60 [[-7.25302995e-01 -6.88382441e-01 -8.07345263e-03 8.83153807e+02] [ 6.88333978e-01 -7.25347831e-01 8.17677091e-03 2.18044120e+02] [-1.14848069e-02 3.73404663e-04 9.99933978e-01 7.59755643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.399254154 meters 0.021049708256378055 Centerline is valid? [True, True] Translation: X:883.14, Y:218.06, Z:7.60 [[-7.27803635e-01 -6.85743048e-01 -7.63817352e-03 8.83135350e+02] [ 6.85699578e-01 -7.27843610e-01 7.73096957e-03 2.18064211e+02] [-1.08608544e-02 3.89135391e-04 9.99940943e-01 7.59875275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4292541539999 meters 0.023560764960742196 Centerline is valid? [True, True] Translation: X:883.12, Y:218.09, Z:7.60 [[-7.33500401e-01 -6.79626629e-01 -9.20904997e-03 8.83117398e+02] [ 6.79563017e-01 -7.33557983e-01 9.31621081e-03 2.18085351e+02] [-1.30869171e-02 5.75314589e-04 9.99914197e-01 7.59988512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4592541539998 meters 0.025202801421258653 Centerline is valid? [True, True] Translation: X:883.10, Y:218.11, Z:7.60 [[-7.36501166e-01 -6.76348675e-01 -1.08859095e-02 8.83097938e+02] [ 6.76259524e-01 -7.36581235e-01 1.10063745e-02 2.18105249e+02] [-1.54625035e-02 7.44507633e-04 9.99880171e-01 7.59897794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4892541539998 meters 0.02724333264980176 Centerline is valid? [True, True] Translation: X:883.08, Y:218.12, Z:7.60 [[-7.38725896e-01 -6.73908079e-01 -1.14870642e-02 8.83080174e+02] [ 6.73808625e-01 -7.38814730e-01 1.16073888e-02 2.18124586e+02] [-1.63091253e-02 8.34595722e-04 9.99866649e-01 7.59924112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.5192541539998 meters 0.02548184308809283 Centerline is valid? [True, True] Translation: X:883.06, Y:218.14, Z:7.60 [[-7.40151948e-01 -6.72338785e-01 -1.16469647e-02 8.83057040e+02] [ 6.72236458e-01 -7.40243061e-01 1.17624394e-02 2.18141391e+02] [-1.65299290e-02 8.76478122e-04 9.99862987e-01 7.60016746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.5492541539998 meters 0.0269213929644599 Centerline is valid? [True, True] Translation: X:883.04, Y:218.16, Z:7.60 [[-7.40427341e-01 -6.72022648e-01 -1.23658072e-02 8.83035496e+02] [ 6.71907376e-01 -7.40530006e-01 1.24815206e-02 2.18159582e+02] [-1.75451158e-02 9.32982076e-04 9.99845637e-01 7.59900680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.5792541539997 meters 0.026750022543756444 Centerline is valid? [True, True] Translation: X:883.01, Y:218.17, Z:7.60 [[-7.37308666e-01 -6.75431015e-01 -1.29952139e-02 8.83011126e+02] [ 6.75304387e-01 -7.37422643e-01 1.31084222e-02 2.18173006e+02] [-1.84367999e-02 8.89228351e-04 9.99829632e-01 7.59872596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.609254154 meters 0.024110282574546518 Centerline is valid? [True, True] Translation: X:882.99, Y:218.19, Z:7.60 [[-7.34411523e-01 -6.78588262e-01 -1.25572701e-02 8.82986364e+02] [ 6.78470616e-01 -7.34518459e-01 1.26592565e-02 2.18187614e+02] [-1.78139695e-02 7.77365104e-04 9.99841016e-01 7.59848955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.639254154 meters 0.022469839798903657 Centerline is valid? [True, True] Translation: X:882.96, Y:218.20, Z:7.60 [[-7.27806179e-01 -6.85681187e-01 -1.18099842e-02 8.82959319e+02] [ 6.85578145e-01 -7.27901773e-01 1.19002684e-02 2.18198444e+02] [-1.67562986e-02 5.64421814e-04 9.99859444e-01 7.59800241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6692541539999 meters 0.019650336117960757 Centerline is valid? [True, True] Translation: X:882.93, Y:218.21, Z:7.60 [[-7.24468618e-01 -6.89217313e-01 -1.11676399e-02 8.82934676e+02] [ 6.89125710e-01 -7.24554547e-01 1.12456536e-02 2.18213152e+02] [-1.58422634e-02 4.51215293e-04 9.99874402e-01 7.59825093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6992541539998 meters 0.016982320790702776 Centerline is valid? [True, True] Translation: X:882.91, Y:218.22, Z:7.60 [[-7.18331817e-01 -6.95609934e-01 -1.12347765e-02 8.82906619e+02] [ 6.95518102e-01 -7.18419602e-01 1.13068634e-02 2.18224606e+02] [-1.59364502e-02 3.08089248e-04 9.99872959e-01 7.59822233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7292541539998 meters 0.016384351891570167 Centerline is valid? [True, True] Translation: X:882.88, Y:218.24, Z:7.60 [[-7.15948679e-01 -6.98049663e-01 -1.20065371e-02 8.82883643e+02] [ 6.97945236e-01 -7.16049298e-01 1.20768629e-02 2.18241257e+02] [-1.70275225e-02 2.66508708e-04 9.99854986e-01 7.59883813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7592541539998 meters 0.015763267331405862 Centerline is valid? [True, True] Translation: X:882.86, Y:218.26, Z:7.60 [[-7.11338656e-01 -7.02725879e-01 -1.31778582e-02 8.82858446e+02] [ 7.02601012e-01 -7.11460689e-01 1.32478698e-02 2.18255953e+02] [-1.86851490e-02 1.64945400e-04 9.99825404e-01 7.59858496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7892541539998 meters 0.01827994389130792 Centerline is valid? [True, True] Translation: X:882.84, Y:218.27, Z:7.60 [[-7.06800298e-01 -7.07283258e-01 -1.35547815e-02 8.82835236e+02] [ 7.07152137e-01 -7.06930259e-01 1.36185176e-02 2.18270619e+02] [-1.92144347e-02 4.02795797e-05 9.99815385e-01 7.59768713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.8192541539997 meters 0.01620180950331091 Centerline is valid? [True, True] Translation: X:882.81, Y:218.29, Z:7.60 [[-7.03483413e-01 -7.10592487e-01 -1.30155701e-02 8.82812555e+02] [ 7.10472294e-01 -7.03603805e-01 1.30692679e-02 2.18288260e+02] [-1.84447283e-02 -5.31887534e-05 9.99829880e-01 7.59800136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.849254154 meters 0.018188064709089596 Centerline is valid? [True, True] Translation: X:882.79, Y:218.31, Z:7.60 [[-7.01723752e-01 -7.12338168e-01 -1.25741772e-02 8.82790844e+02] [ 7.12226399e-01 -7.01836394e-01 1.26187146e-02 2.18306416e+02] [-1.78138073e-02 -1.00809197e-04 9.99841316e-01 7.59584280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.879254154 meters 0.018703538859513882 Centerline is valid? [True, True] Translation: X:882.77, Y:218.32, Z:7.59 [[-6.97916429e-01 -7.16093802e-01 -1.10600437e-02 8.82768777e+02] [ 7.16007911e-01 -6.98004036e-01 1.10922152e-02 2.18324475e+02] [-1.56630217e-02 -1.77639551e-04 9.99877312e-01 7.59259123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9092541539999 meters 0.031505286221075686 Centerline is valid? [True, True] Translation: X:882.75, Y:218.34, Z:7.59 [[-6.97891232e-01 -7.16056120e-01 -1.45417154e-02 8.82749058e+02] [ 7.15907774e-01 -6.98042675e-01 1.45767691e-02 2.18344723e+02] [-2.05885227e-02 -2.37527792e-04 9.99788006e-01 7.58661072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9392541539999 meters 0.03544245779559109 Centerline is valid? [True, True] Translation: X:882.73, Y:218.36, Z:7.59 [[-6.98048964e-01 -7.15908393e-01 -1.42413842e-02 8.82731067e+02] [ 7.15766264e-01 -6.98194184e-01 1.42666261e-02 2.18364741e+02] [-2.01568490e-02 -2.34698754e-04 9.99796803e-01 7.58633568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9692541539998 meters 0.03721267638224895 Centerline is valid? [True, True] Translation: X:882.71, Y:218.39, Z:7.59 [[-6.98877781e-01 -7.15102337e-01 -1.40887736e-02 8.82712985e+02] [ 7.14963235e-01 -6.99019743e-01 1.41057217e-02 2.18386593e+02] [-1.99353655e-02 -2.14779675e-04 9.99801248e-01 7.58544598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9992541539998 meters 0.04096404856269536 Centerline is valid? [True, True] Translation: X:882.70, Y:218.41, Z:7.58 [[-7.01560628e-01 -7.12483621e-01 -1.34080411e-02 8.82698634e+02] [ 7.12357299e-01 -7.01688728e-01 1.34166828e-02 2.18412134e+02] [-1.89674380e-02 -1.38699583e-04 9.99820092e-01 7.58467902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.0292541539998 meters 0.041337717042509214 Centerline is valid? [True, True] Translation: X:882.68, Y:218.44, Z:7.58 [[-7.03768832e-01 -7.10296354e-01 -1.37302843e-02 8.82681925e+02] [ 7.10163630e-01 -7.03902750e-01 1.37308878e-02 2.18435618e+02] [-1.94177844e-02 -8.73776647e-05 9.99811453e-01 7.58461678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.0592541539997 meters 0.0443090817599526 Centerline is valid? [True, True] Translation: X:882.67, Y:218.46, Z:7.59 [[-7.08439202e-01 -7.05623175e-01 -1.44856041e-02 8.82670571e+02] [ 7.05474570e-01 -7.08587280e-01 1.44809190e-02 2.18462264e+02] [-2.04823869e-02 3.96253970e-05 9.99790213e-01 7.58606679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.089254154 meters 0.04686305374618871 Centerline is valid? [True, True] Translation: X:882.68, Y:218.42, Z:7.59 [[-6.61979449e-01 -7.49408310e-01 -1.30534695e-02 8.82675542e+02] [ 7.49248660e-01 -6.62107974e-01 1.54750183e-02 2.18423318e+02] [-2.02399136e-02 4.63849553e-04 9.99795044e-01 7.58506187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.119254154 meters 0.048418482266348074 Centerline is valid? [True, True] Translation: X:882.67, Y:218.45, Z:7.58 [[-6.66698725e-01 -7.45205803e-01 -1.34581644e-02 8.82665791e+02] [ 7.45046899e-01 -6.66834505e-01 1.53903032e-02 2.18451407e+02] [-2.04433117e-02 2.33731852e-04 9.99790986e-01 7.58470734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.149254154 meters 0.05282479843162458 Centerline is valid? [True, True] Translation: X:882.66, Y:218.48, Z:7.58 [[-6.71140530e-01 -7.41214319e-01 -1.31042866e-02 8.82656574e+02] [ 7.41063082e-01 -6.71268365e-01 1.49763796e-02 2.18479327e+02] [-1.98972000e-02 3.40152300e-04 9.99801973e-01 7.58298076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.1792541539999 meters 0.05508586230895016 Centerline is valid? [True, True] Translation: X:882.64, Y:218.50, Z:7.58 [[-6.73202041e-01 -7.39352955e-01 -1.24987965e-02 8.82643363e+02] [ 7.39215218e-01 -6.73317956e-01 1.42755554e-02 2.18503932e+02] [-1.89703382e-02 3.71032438e-04 9.99819978e-01 7.58321292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2092541539998 meters 0.05616045768419059 Centerline is valid? [True, True] Translation: X:882.63, Y:218.53, Z:7.58 [[-6.75396822e-01 -7.37346577e-01 -1.26157789e-02 8.82629297e+02] [ 7.37206052e-01 -6.75514503e-01 1.44011277e-02 2.18528670e+02] [-1.91407638e-02 4.26047287e-04 9.99816708e-01 7.58262225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2392541539998 meters 0.060221800732152254 Centerline is valid? [True, True] Translation: X:882.62, Y:218.56, Z:7.58 [[-6.79584844e-01 -7.33478910e-01 -1.31578338e-02 8.82620119e+02] [ 7.33325494e-01 -6.79711986e-01 1.50111903e-02 2.18556963e+02] [-1.99539288e-02 5.52402450e-04 9.99800748e-01 7.58374055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2692541539998 meters 0.06120439224198596 Centerline is valid? [True, True] Translation: X:882.61, Y:218.58, Z:7.58 [[-6.81440456e-01 -7.31748897e-01 -1.35076526e-02 8.82605499e+02] [ 7.31587053e-01 -6.81574042e-01 1.54015621e-02 2.18581757e+02] [-2.04765415e-02 6.13223736e-04 9.99790146e-01 7.58456564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2992541539998 meters 0.06393161304671036 Centerline is valid? [True, True] Translation: X:882.59, Y:218.61, Z:7.59 [[-6.82449592e-01 -7.30787831e-01 -1.45499305e-02 8.82594599e+02] [ 7.30600046e-01 -6.82604334e-01 1.65799651e-02 2.18607594e+02] [-2.20482824e-02 6.84810485e-04 9.99756673e-01 7.58682986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.3292541539997 meters 0.06594809561652035 Centerline is valid? [True, True] Translation: X:882.58, Y:218.63, Z:7.59 [[-6.82071374e-01 -7.31135275e-01 -1.48273663e-02 8.82578589e+02] [ 7.30940589e-01 -6.82232181e-01 1.68851054e-02 2.18629912e+02] [-2.24610026e-02 6.78923121e-04 9.99747489e-01 7.58772573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.359254154 meters 0.06729499922680646 Centerline is valid? [True, True] Translation: X:882.56, Y:218.65, Z:7.59 [[-6.76538675e-01 -7.36208268e-01 -1.71116363e-02 8.82557880e+02] [ 7.35950805e-01 -6.76754790e-01 1.94773527e-02 2.18647123e+02] [-2.59197699e-02 5.83859836e-04 9.99663856e-01 7.58930506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.389254154 meters 0.06803064428063768 Centerline is valid? [True, True] Translation: X:882.54, Y:218.67, Z:7.59 [[-6.73158289e-01 -7.39283988e-01 -1.78073971e-02 8.82537611e+02] [ 7.39006513e-01 -6.73393612e-01 2.02587684e-02 2.18666982e+02] [-2.69683705e-02 4.77575457e-04 9.99636173e-01 7.59142309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4192541539999 meters 0.06756447672146103 Centerline is valid? [True, True] Translation: X:882.52, Y:218.69, Z:7.59 [[-6.67490595e-01 -7.44410304e-01 -1.75955783e-02 8.82515616e+02] [ 7.44141342e-01 -6.67722420e-01 2.00108273e-02 2.18685264e+02] [-2.66452282e-02 2.63441808e-04 9.99644918e-01 7.58841857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4492541539998 meters 0.0676784554932721 Centerline is valid? [True, True] Translation: X:882.50, Y:218.71, Z:7.59 [[-6.65834882e-01 -7.45905442e-01 -1.69994422e-02 8.82496445e+02] [ 7.45655185e-01 -6.66051826e-01 1.93212290e-02 2.18706495e+02] [-2.57343194e-02 1.89026066e-04 9.99668800e-01 7.58701128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4792541539998 meters 0.06795980974098047 Centerline is valid? [True, True] Translation: X:882.48, Y:218.73, Z:7.59 [[-6.65427240e-01 -7.46281492e-01 -1.64475744e-02 8.82481073e+02] [ 7.46047573e-01 -6.65630459e-01 1.86845144e-02 2.18727758e+02] [-2.48919138e-02 1.62511832e-04 9.99690135e-01 7.58733616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.5092541539998 meters 0.06795980974098047 Centerline is valid? [True, True] Translation: X:882.46, Y:218.75, Z:7.59 [[-6.65671984e-01 -7.46063049e-01 -1.64540762e-02 8.82463268e+02] [ 7.45829204e-01 -6.65875289e-01 1.86787895e-02 2.18747787e+02] [-2.48919174e-02 1.62016347e-04 9.99690135e-01 7.58751557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.5392541539998 meters 0.06782167653427133 Centerline is valid? [True, True] Translation: X:882.45, Y:218.77, Z:7.59 [[-6.66632691e-01 -7.45219796e-01 -1.57578801e-02 8.82446194e+02] [ 7.45005374e-01 -6.66818884e-01 1.78764955e-02 2.18769494e+02] [-2.38295704e-02 1.77350955e-04 9.99716020e-01 7.58776020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.5692541539997 meters 0.06713835284891907 Centerline is valid? [True, True] Translation: X:882.43, Y:218.79, Z:7.59 [[-6.68479304e-01 -7.43540455e-01 -1.68229469e-02 8.82428009e+02] [ 7.43295800e-01 -6.68690909e-01 1.90741302e-02 2.18790555e+02] [-2.54317391e-02 2.46235509e-04 9.99676531e-01 7.58909555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.599254154 meters 0.06700169027318383 Centerline is valid? [True, True] Translation: X:882.41, Y:218.81, Z:7.59 [[-6.69719410e-01 -7.42410132e-01 -1.74100076e-02 8.82409687e+02] [ 7.42148023e-01 -6.69945603e-01 1.97281443e-02 2.18811755e+02] [-2.63101322e-02 2.91518421e-04 9.99653786e-01 7.58991092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.629254154 meters 0.06806169394511076 Centerline is valid? [True, True] Translation: X:882.39, Y:218.83, Z:7.59 [[-6.70963064e-01 -7.41278780e-01 -1.77295408e-02 8.82393311e+02] [ 7.41006906e-01 -6.71197183e-01 2.00775040e-02 2.18833095e+02] [-2.67830455e-02 3.33551449e-04 9.99641214e-01 7.59330253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.6592541539999 meters 0.06682933273204711 Centerline is valid? [True, True] Translation: X:882.37, Y:218.85, Z:7.59 [[-6.72180764e-01 -7.40160568e-01 -1.83126840e-02 8.82374781e+02] [ 7.39870404e-01 -6.72430061e-01 2.07267432e-02 2.18854523e+02] [-2.76551172e-02 3.83105158e-04 9.99617451e-01 7.59392233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.6892541539999 meters 0.06708738313461199 Centerline is valid? [True, True] Translation: X:882.36, Y:218.87, Z:7.60 [[-6.72125761e-01 -7.40205623e-01 -1.85093932e-02 8.82357503e+02] [ 7.39909642e-01 -6.72380469e-01 2.09338473e-02 2.18874259e+02] [-2.79407059e-02 3.74899529e-04 9.99609512e-01 7.59594141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7192541539998 meters 0.06663764833178909 Centerline is valid? [True, True] Translation: X:882.34, Y:218.89, Z:7.60 [[-6.71773785e-01 -7.40509525e-01 -1.91213140e-02 8.82337064e+02] [ 7.40194124e-01 -6.72045764e-01 2.16136454e-02 2.18893908e+02] [-2.88555084e-02 3.65996096e-04 9.99583526e-01 7.59799479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7492541539998 meters 0.06593461622939213 Centerline is valid? [True, True] Translation: X:882.31, Y:218.91, Z:7.60 [[-6.70893888e-01 -7.41297812e-01 -1.94665279e-02 8.82314554e+02] [ 7.40971694e-01 -6.71176167e-01 2.19886645e-02 2.18911082e+02] [-2.93656185e-02 3.27914460e-04 9.99568683e-01 7.59927788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7792541539998 meters 0.0652275248615238 Centerline is valid? [True, True] Translation: X:882.29, Y:218.93, Z:7.60 [[-6.69822987e-01 -7.42250091e-01 -2.00491514e-02 8.82293641e+02] [ 7.41905038e-01 -6.70122915e-01 2.26316956e-02 2.18929520e+02] [-3.02337738e-02 2.84663530e-04 9.99542814e-01 7.60062579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.8092541539997 meters 0.0638779318652537 Centerline is valid? [True, True] Translation: X:882.27, Y:218.95, Z:7.60 [[-6.68431636e-01 -7.43495975e-01 -2.03195368e-02 8.82272054e+02] [ 7.43142616e-01 -6.68740373e-01 2.29208677e-02 2.18946801e+02] [-3.06300675e-02 2.20719385e-04 9.99530765e-01 7.59955240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.839254154 meters 0.06351082224148873 Centerline is valid? [True, True] Translation: X:882.25, Y:218.96, Z:7.60 [[-6.65585455e-01 -7.46050221e-01 -2.01263493e-02 8.82246191e+02] [ 7.45705138e-01 -6.65889675e-01 2.26889546e-02 2.18961021e+02] [-3.03290277e-02 9.31160578e-05 9.99539965e-01 7.59947140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.869254154 meters 0.06295430414624362 Centerline is valid? [True, True] Translation: X:882.22, Y:218.98, Z:7.60 [[-6.64218088e-01 -7.47271427e-01 -1.99936592e-02 8.82223753e+02] [ 7.46931953e-01 -6.64518934e-01 2.25220807e-02 2.18976918e+02] [-3.01162725e-02 2.56704286e-05 9.99546402e-01 7.59534829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.899254154 meters 0.06117470078061683 Centerline is valid? [True, True] Translation: X:882.20, Y:218.99, Z:7.59 [[-6.60654085e-01 -7.50451015e-01 -1.89592627e-02 8.82195738e+02] [ 7.50147394e-01 -6.60926062e-01 2.13454515e-02 2.18990327e+02] [-2.85493866e-02 -1.20281763e-04 9.99592376e-01 7.59224998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9292541539999 meters 0.06064162097240025 Centerline is valid? [True, True] Translation: X:882.17, Y:219.01, Z:7.59 [[-6.58935143e-01 -7.51986387e-01 -1.79151114e-02 8.82173635e+02] [ 7.51716186e-01 -6.59178610e-01 2.01577838e-02 2.19007428e+02] [-2.69676373e-02 -1.84407053e-04 9.99636290e-01 7.59255188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9592541539998 meters 0.059453978902474114 Centerline is valid? [True, True] Translation: X:882.15, Y:219.02, Z:7.59 [[-6.56376193e-01 -7.54247270e-01 -1.67734516e-02 8.82148129e+02] [ 7.54011435e-01 -6.56590423e-01 1.88618974e-02 2.19022602e+02] [-2.52398224e-02 -2.66873902e-04 9.99681389e-01 7.59121951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9892541539998 meters 0.05973329422468032 Centerline is valid? [True, True] Translation: X:882.13, Y:219.04, Z:7.59 [[-6.55205889e-01 -7.55265937e-01 -1.66915321e-02 8.82125634e+02] [ 7.55033008e-01 -6.55418390e-01 1.87587388e-02 2.19040103e+02] [-2.51077735e-02 -3.11821561e-04 9.99684702e-01 7.59204451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.0192541539998 meters 0.06076697511520474 Centerline is valid? [True, True] Translation: X:882.10, Y:219.06, Z:7.59 [[-6.52944151e-01 -7.57234479e-01 -1.61208094e-02 8.82100274e+02] [ 7.57018067e-01 -6.53143016e-01 1.81065256e-02 2.19055767e+02] [-2.42400795e-02 -3.81194007e-04 9.99706093e-01 7.59113107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 15711.80 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%| | 0/37001 [00:00